+ python -m lidar_slam --no-model /working/79aa1111-e3d9-4bb0-ac7b-251745de0001 Lidar SLAM 0.0.14 ===================================================== The recording path: /working/79aa1111-e3d9-4bb0-ac7b-251745de0001 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 0.020714057 Adjusted end_distance from 9.223372036854776e+18 to 934.510714057 -=-=-> Lidar cleaning parameters file not found. --> Creating a generic default one. SLAMing on 0.020714057 meters Centerline goodness : 0.195376 Centerline is valid? [0, False] SLAMing on 0.050714057 meters Centerline goodness : 0.197073 Centerline is valid? [False, False] Translation: X:0.00, Y:0.00, Z:-0.00 [[ 9.99999756e-01 -5.34049431e-04 -4.49617843e-04 1.08696381e-03] [ 5.33736895e-04 9.99999616e-01 -6.94947949e-04 1.95866818e-03] [ 4.49988807e-04 6.94707802e-04 9.99999657e-01 -4.65185029e-05] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.080714057 meters Centerline goodness : 0.197980 Centerline is valid? [False, False] Translation: X:0.00, Y:0.00, Z:-0.00 [[ 0.99999897 -0.00102059 -0.00100881 0.00374201] [ 0.00101941 0.9999988 -0.00116384 0.00488132] [ 0.00100999 0.00116281 0.99999881 -0.00146889] [ 0. 0. 0. 1. ]] SLAMing on 0.110714057 meters Centerline goodness : 0.199754 Centerline is valid? [False, False] Translation: X:0.00, Y:0.01, Z:-0.00 [[ 0.99999805 -0.00139342 -0.0014009 0.00493493] [ 0.00139124 0.99999782 -0.0015554 0.00638761] [ 0.00140307 0.00155345 0.99999781 -0.00177175] [ 0. 0. 0. 1. ]] SLAMing on 0.140714057 meters Centerline goodness : 0.196941 Centerline is valid? [False, False] Translation: X:0.01, Y:0.01, Z:-0.00 [[ 0.9999955 -0.00252525 -0.00161881 0.00605536] [ 0.0025216 0.99999428 -0.00225404 0.00928378] [ 0.00162449 0.00224995 0.99999615 -0.00221979] [ 0. 0. 0. 1. ]] SLAMing on 0.170714057 meters Centerline goodness : 0.197306 Centerline is valid? [False, False] Translation: X:0.01, Y:0.01, Z:-0.00 [[ 0.99999363 -0.00309901 -0.00177261 0.00644687] [ 0.00309423 0.99999158 -0.00269449 0.01054597] [ 0.00178095 0.00268899 0.9999948 -0.00212654] [ 0. 0. 0. 1. ]] SLAMing on 0.200714057 meters Centerline goodness : 0.197021 Centerline is valid? [False, False] Translation: X:0.01, Y:0.01, Z:-0.00 [[ 0.99998963 -0.00404863 -0.00208765 0.00815202] [ 0.00404194 0.99998671 -0.00320173 0.01325266] [ 0.00210058 0.00319326 0.9999927 -0.0028661 ] [ 0. 0. 0. 1. ]] SLAMing on 0.230714057 meters Centerline goodness : 0.197231 Centerline is valid? [False, False] Translation: X:0.01, Y:0.01, Z:-0.00 [[ 0.99998808 -0.00429759 -0.00231559 0.00947736] [ 0.00428984 0.99998521 -0.0033423 0.01473604] [ 0.00232991 0.00333233 0.99999173 -0.00353525] [ 0. 0. 0. 1. ]] SLAMing on 0.260714057 meters Centerline goodness : 0.198254 Centerline is valid? [False, False] Translation: X:0.01, Y:0.02, Z:-0.00 [[ 0.99998305 -0.00516455 -0.00268925 0.01175395] [ 0.00515412 0.99997923 -0.00386955 0.01806335] [ 0.00270918 0.00385562 0.9999889 -0.00454865] [ 0. 0. 0. 1. ]] SLAMing on 0.290714057 meters Centerline goodness : 0.199001 Centerline is valid? [False, False] Translation: X:0.01, Y:0.02, Z:-0.01 [[ 0.99998033 -0.00553883 -0.00294269 0.01313276] [ 0.00552685 0.99997646 -0.00406498 0.01964009] [ 0.00296514 0.00404864 0.99998741 -0.00521344] [ 0. 0. 0. 1. ]] SLAMing on 0.320714057 meters Centerline goodness : 0.138936 Centerline is valid? [False, False] Translation: X:0.01, Y:0.02, Z:-0.01 [[ 0.99997626 -0.00610991 -0.00318409 0.01420059] [ 0.00609653 0.99997262 -0.00419466 0.02072079] [ 0.00320963 0.00417515 0.99998613 -0.00555579] [ 0. 0. 0. 1. ]] SLAMing on 0.35071405699999997 meters Centerline goodness : 0.202349 Centerline is valid? [False, False] Translation: X:0.02, Y:0.03, Z:-0.01 [[ 0.99993572 -0.01069248 -0.00377255 0.01712774] [ 0.01066117 0.99990934 -0.00822522 0.0256046 ] [ 0.00386016 0.00818447 0.99995906 -0.00636364] [ 0. 0. 0. 1. ]] SLAMing on 0.380714057 meters Centerline goodness : 0.213178 Centerline is valid? [False, False] Translation: X:0.02, Y:0.03, Z:-0.01 [[ 0.99993072 -0.0111155 -0.00387341 0.01833423] [ 0.01108337 0.99990479 -0.00822045 0.02563327] [ 0.00396442 0.00817695 0.99995871 -0.00710801] [ 0. 0. 0. 1. ]] SLAMing on 0.410714057 meters Centerline goodness : 0.238141 Centerline is valid? [False, False] Translation: X:0.02, Y:0.03, Z:-0.01 [[ 0.99991281 -0.01254618 -0.00411903 0.02012153] [ 0.01251022 0.99988441 -0.00864103 0.02735866] [ 0.00422696 0.00858875 0.99995418 -0.00764972] [ 0. 0. 0. 1. ]] SLAMing on 0.440714057 meters Centerline goodness : 0.247616 Centerline is valid? [False, False] Translation: X:0.02, Y:0.03, Z:-0.01 [[ 0.99991009 -0.01267259 -0.00438353 0.0217256 ] [ 0.01263446 0.99988302 -0.00862022 0.02799937] [ 0.00449226 0.00856406 0.99995324 -0.00839362] [ 0. 0. 0. 1. ]] SLAMing on 0.47071405699999996 meters Centerline goodness : 0.262349 Centerline is valid? [False, False] Translation: X:0.03, Y:0.03, Z:-0.01 [[ 0.99990418 -0.01290268 -0.00501435 0.02533304] [ 0.01286059 0.99988253 -0.00833813 0.02896166] [ 0.00512134 0.00827284 0.99995266 -0.00994315] [ 0. 0. 0. 1. ]] SLAMing on 0.5007140569999999 meters Centerline goodness : 0.273122 Centerline is valid? [False, False] Translation: X:0.03, Y:0.03, Z:-0.01 [[ 0.9999013 -0.01302545 -0.0052659 0.02691416] [ 0.01298228 0.9998825 -0.00815094 0.02902181] [ 0.00537145 0.00808177 0.99995292 -0.01072389] [ 0. 0. 0. 1. ]] SLAMing on 0.530714057 meters Centerline goodness : 0.288495 Centerline is valid? [False, False] Translation: X:0.03, Y:0.03, Z:-0.01 [[ 0.99989924 -0.0130531 -0.00557977 0.02860403] [ 0.013009 0.99988442 -0.00786832 0.02850946] [ 0.00568183 0.00779494 0.99995348 -0.0114021 ] [ 0. 0. 0. 1. ]] SLAMing on 0.560714057 meters Centerline goodness : 0.306662 Centerline is valid? [False, False] Translation: X:0.03, Y:0.03, Z:-0.01 [[ 0.99988695 -0.01378233 -0.00601142 0.03185438] [ 0.01373511 0.99987504 -0.00782663 0.02818788] [ 0.00611853 0.00774318 0.9999513 -0.01274645] [ 0. 0. 0. 1. ]] SLAMing on 0.5907140569999999 meters Centerline goodness : 0.337121 Centerline is valid? [False, False] Translation: X:0.04, Y:0.03, Z:-0.01 [[ 0.99987936 -0.01404615 -0.00663163 0.03543178] [ 0.01399619 0.99987376 -0.00752191 0.02906524] [ 0.00673645 0.00742818 0.99994972 -0.0138556 ] [ 0. 0. 0. 1. ]] SLAMing on 0.6207140569999999 meters Centerline goodness : 0.345830 Centerline is valid? [False, False] Translation: X:0.04, Y:0.03, Z:-0.01 [[ 0.99987718 -0.01405953 -0.006925 0.03740974] [ 0.01400736 0.99987357 -0.00752576 0.03019848] [ 0.00702993 0.00742784 0.9999477 -0.01475051] [ 0. 0. 0. 1. ]] SLAMing on 0.650714057 meters Centerline goodness : 0.352471 Centerline is valid? [False, False] Translation: X:0.04, Y:0.03, Z:-0.02 [[ 0.999875 -0.01399443 -0.0073586 0.03957188] [ 0.01393859 0.99987407 -0.00758664 0.03160235] [ 0.00746384 0.00748312 0.99994415 -0.01536992] [ 0. 0. 0. 1. ]] SLAMing on 0.6807140569999999 meters Centerline goodness : 0.368620 Centerline is valid? [False, False] Translation: X:0.04, Y:0.03, Z:-0.02 [[ 0.99986472 -0.01439773 -0.00795289 0.04309225] [ 0.01433842 0.99986933 -0.00746506 0.03317539] [ 0.00805933 0.00735001 0.99994051 -0.01623244] [ 0. 0. 0. 1. ]] SLAMing on 0.7107140569999999 meters Centerline goodness : 0.373322 Centerline is valid? [False, False] Translation: X:0.04, Y:0.03, Z:-0.02 [[ 0.99986069 -0.01460061 -0.00808827 0.04488324] [ 0.01454087 0.99986692 -0.00739579 0.03344958] [ 0.00819517 0.00727715 0.99993994 -0.01710822] [ 0. 0. 0. 1. ]] SLAMing on 0.7407140569999999 meters Centerline goodness : 0.755068 Centerline is valid? [False, False] Translation: X:0.05, Y:0.03, Z:-0.02 [[ 0.9998487 -0.01520481 -0.0084493 0.04833156] [ 0.0151418 0.99985744 -0.00747207 0.03448291] [ 0.00856171 0.007343 0.99993639 -0.01819619] [ 0. 0. 0. 1. ]] SLAMing on 0.770714057 meters Centerline goodness : 0.811592 Centerline is valid? [False, False] Translation: X:0.05, Y:0.04, Z:-0.02 [[ 0.99984774 -0.01511317 -0.00872337 0.05054721] [ 0.0150499 0.99986029 -0.00727395 0.035201 ] [ 0.00883208 0.00714155 0.99993549 -0.0192916 ] [ 0. 0. 0. 1. ]] SLAMing on 0.800714057 meters Centerline goodness : 0.814535 Centerline is valid? [False, False] Translation: X:0.06, Y:0.04, Z:-0.02 [[ 0.99984328 -0.01508134 -0.00927147 0.05514521] [ 0.01501739 0.99986323 -0.00692867 0.0375092 ] [ 0.00937469 0.00678835 0.99993301 -0.0213294 ] [ 0. 0. 0. 1. ]] SLAMing on 0.8307140569999999 meters Centerline goodness : 0.091555 Centerline is valid? [False, False] Translation: X:0.06, Y:0.04, Z:-0.02 [[ 0.99984214 -0.01479865 -0.00983348 0.05804781] [ 0.01473325 0.99986908 -0.00669001 0.03875308] [ 0.00993119 0.00654407 0.99992927 -0.02245109] [ 0. 0. 0. 1. ]] SLAMing on 0.8607140569999999 meters Centerline goodness : 0.813531 Centerline is valid? [False, False] Translation: X:0.06, Y:0.04, Z:-0.02 [[ 0.99983673 -0.01484104 -0.01030815 0.06275277] [ 0.01477622 0.99987075 -0.00633618 0.0417496 ] [ 0.01040086 0.00618283 0.99992679 -0.02452536] [ 0. 0. 0. 1. ]] SLAMing on 0.890714057 meters Centerline goodness : 0.813531 Centerline is valid? [False, False] Translation: X:0.06, Y:0.04, Z:-0.02 [[ 0.99983673 -0.01484104 -0.01030815 0.06275277] [ 0.01477622 0.99987075 -0.00633618 0.0417496 ] [ 0.01040086 0.00618283 0.99992679 -0.02452536] [ 0. 0. 0. 1. ]] SLAMing on 0.9207140569999999 meters Centerline goodness : 0.796465 Centerline is valid? [False, False] Translation: X:0.07, Y:0.04, Z:-0.03 [[ 0.99983356 -0.01470645 -0.0107966 0.06538426] [ 0.01464062 0.9998739 -0.00615091 0.04335482] [ 0.01088569 0.00599181 0.9999228 -0.02543172] [ 0. 0. 0. 1. ]] SLAMing on 0.9507140569999999 meters Centerline goodness : 0.820472 Centerline is valid? [False, False] Translation: X:0.07, Y:0.04, Z:-0.03 [[ 0.99983089 -0.01461593 -0.01116069 0.06776303] [ 0.01454965 0.99987616 -0.00599746 0.04481012] [ 0.01124697 0.00583406 0.99991973 -0.02635687] [ 0. 0. 0. 1. ]] SLAMing on 0.9807140569999999 meters Centerline goodness : 0.809116 Centerline is valid? [False, False] Translation: X:0.07, Y:0.05, Z:-0.03 [[ 0.99981932 -0.01507561 -0.01157828 0.07191631] [ 0.01500718 0.99986954 -0.00597431 0.04791943] [ 0.01166683 0.00579947 0.99991512 -0.02794951] [ 0. 0. 0. 1. ]] SLAMing on 1.010714057 meters Centerline goodness : 0.830775 Centerline is valid? [False, False] Translation: X:0.07, Y:0.05, Z:-0.03 [[ 0.99981244 -0.01515371 -0.01206037 0.07439136] [ 0.01508264 0.99986847 -0.00596255 0.04928132] [ 0.01214913 0.00577953 0.99990949 -0.02877947] [ 0. 0. 0. 1. ]] SLAMing on 1.040714057 meters Centerline goodness : 0.088754 Centerline is valid? [False, False] Translation: X:0.08, Y:0.05, Z:-0.03 [[ 0.99979894 -0.01562369 -0.01256933 0.078659 ] [ 0.01554718 0.99986015 -0.00616169 0.05278504] [ 0.01266384 0.00596503 0.99990202 -0.03023005] [ 0. 0. 0. 1. ]] SLAMing on 1.070714057 meters Centerline goodness : 0.843739 Centerline is valid? [False, False] Translation: X:0.08, Y:0.05, Z:-0.03 [[ 0.9997918 -0.01557943 -0.01317702 0.08127652] [ 0.01550112 0.9998617 -0.00602473 0.05444965] [ 0.01326906 0.00581921 0.99989503 -0.03104414] [ 0. 0. 0. 1. ]] SLAMing on 1.100714057 meters Centerline goodness : 0.855606 Centerline is valid? [False, False] Translation: X:0.08, Y:0.06, Z:-0.03 [[ 0.99978601 -0.01554031 -0.01365381 0.08378626] [ 0.01545945 0.99986245 -0.0060078 0.05629436] [ 0.0137453 0.00579543 0.99988873 -0.0319838 ] [ 0. 0. 0. 1. ]] SLAMing on 1.1307140569999998 meters Centerline goodness : 0.851144 Centerline is valid? [False, False] Translation: X:0.09, Y:0.06, Z:-0.03 [[ 0.99977321 -0.01587641 -0.01419384 0.08790339] [ 0.01579317 0.99985753 -0.00595727 0.0594869 ] [ 0.0142864 0.00573175 0.99988152 -0.0336053 ] [ 0. 0. 0. 1. ]] SLAMing on 1.1607140569999999 meters Centerline goodness : 0.842934 Centerline is valid? [False, False] Translation: X:0.09, Y:0.06, Z:-0.03 [[ 0.99976512 -0.01582335 -0.01480971 0.09053493] [ 0.01573627 0.99985831 -0.00597774 0.06087045] [ 0.0149022 0.00574329 0.99987246 -0.03455924] [ 0. 0. 0. 1. ]] SLAMing on 1.1907140569999999 meters Centerline goodness : 0.833199 Centerline is valid? [False, False] Translation: X:0.10, Y:0.06, Z:-0.04 [[ 0.99978298 -0.01425569 -0.01519117 0.09515338] [ 0.01418503 0.99988811 -0.00474888 0.06415137] [ 0.01525717 0.00453237 0.99987333 -0.03686389] [ 0. 0. 0. 1. ]] SLAMing on 1.220714057 meters Centerline goodness : 0.842796 Centerline is valid? [False, False] Translation: X:0.10, Y:0.07, Z:-0.04 [[ 0.99977589 -0.01412925 -0.01576515 0.09723352] [ 0.01405413 0.9998894 -0.00486566 0.06613944] [ 0.01583215 0.00464301 0.99986388 -0.03723387] [ 0. 0. 0. 1. ]] SLAMing on 1.250714057 meters Centerline goodness : 0.855317 Centerline is valid? [False, False] Translation: X:0.10, Y:0.07, Z:-0.04 [[ 0.99977015 -0.01406255 -0.01618297 0.10082088] [ 0.01398688 0.99989075 -0.00477969 0.06869932] [ 0.01624841 0.00455224 0.99985762 -0.0383017 ] [ 0. 0. 0. 1. ]] SLAMing on 1.280714057 meters Centerline goodness : 0.861339 Centerline is valid? [False, False] Translation: X:0.10, Y:0.07, Z:-0.04 [[ 0.99975926 -0.0140036 -0.01689137 0.10328268] [ 0.01392323 0.99989122 -0.00486687 0.06958653] [ 0.01695769 0.00463051 0.99984549 -0.03897943] [ 0. 0. 0. 1. ]] SLAMing on 1.310714057 meters Centerline goodness : 0.839156 Centerline is valid? [False, False] Translation: X:0.11, Y:0.07, Z:-0.04 [[ 0.99974711 -0.01387658 -0.01769608 0.1060213 ] [ 0.01379432 0.99989351 -0.00476203 0.07013256] [ 0.01776028 0.00451672 0.99983207 -0.03984183] [ 0. 0. 0. 1. ]] SLAMing on 1.3407140569999998 meters Centerline goodness : 0.861966 Centerline is valid? [False, False] Translation: X:0.11, Y:0.07, Z:-0.04 [[ 0.99973354 -0.01433368 -0.01809387 0.10942367] [ 0.01425146 0.99988756 -0.00466492 0.0710222 ] [ 0.0181587 0.00440582 0.99982541 -0.04116483] [ 0. 0. 0. 1. ]] SLAMing on 1.3707140569999998 meters Centerline goodness : 0.862585 Centerline is valid? [False, False] Translation: X:0.11, Y:0.07, Z:-0.04 [[ 0.999723 -0.01382035 -0.01905024 0.1126508 ] [ 0.01374008 0.99989619 -0.00433817 0.07151979] [ 0.01910822 0.00407521 0.99980912 -0.04224688] [ 0. 0. 0. 1. ]] SLAMing on 1.4007140569999998 meters Centerline goodness : 0.875529 Centerline is valid? [False, False] Translation: X:0.12, Y:0.07, Z:-0.04 [[ 0.99971533 -0.01342484 -0.01972399 0.11649361] [ 0.01335615 0.99990429 -0.00361003 0.07252481] [ 0.01977056 0.00334557 0.99979895 -0.0435044 ] [ 0. 0. 0. 1. ]] SLAMing on 1.4307140569999999 meters Centerline goodness : 0.880701 Centerline is valid? [False, False] Translation: X:0.12, Y:0.07, Z:-0.04 [[ 0.99970203 -0.01342719 -0.02038552 0.11857887] [ 0.01335777 0.99990452 -0.00353767 0.07282715] [ 0.02043108 0.00326431 0.99978593 -0.04410474] [ 0. 0. 0. 1. ]] SLAMing on 1.460714057 meters Centerline goodness : 0.822040 Centerline is valid? [False, False] Translation: X:0.12, Y:0.07, Z:-0.04 [[ 0.99968488 -0.01328287 -0.02130057 0.12139736] [ 0.01321498 0.99990715 -0.00332505 0.07263648] [ 0.02134276 0.00304251 0.99976759 -0.04497591] [ 0. 0. 0. 1. ]] SLAMing on 1.490714057 meters Centerline goodness : 0.853970 Centerline is valid? [False, False] Translation: X:0.13, Y:0.07, Z:-0.05 [[ 0.99965408 -0.01467768 -0.02182417 0.12640515] [ 0.01457634 0.99988226 -0.00479532 0.07316132] [ 0.02189199 0.00447554 0.99975032 -0.04732888] [ 0. 0. 0. 1. ]] SLAMing on 1.520714057 meters Centerline goodness : 0.834586 Centerline is valid? [False, False] Translation: X:0.13, Y:0.07, Z:-0.05 [[ 0.99963865 -0.01469606 -0.02250778 0.12838051] [ 0.014594 0.99988249 -0.0046918 0.07299481] [ 0.02257408 0.00436163 0.99973566 -0.04768435] [ 0. 0. 0. 1. ]] SLAMing on 1.550714057 meters Centerline goodness : 0.885632 Centerline is valid? [False, False] Translation: X:0.13, Y:0.07, Z:-0.05 [[ 0.99962449 -0.01492746 -0.02297914 0.13092253] [ 0.01482883 0.99988012 -0.00445652 0.0731514 ] [ 0.02304291 0.00411409 0.99972601 -0.0481314 ] [ 0. 0. 0. 1. ]] SLAMing on 1.580714057 meters Centerline goodness : 0.900114 Centerline is valid? [False, False] Translation: X:0.13, Y:0.07, Z:-0.05 [[ 0.99961089 -0.01380419 -0.02423883 0.13459724] [ 0.01371373 0.99989838 -0.0038947 0.07354494] [ 0.02429013 0.00356078 0.99969861 -0.04893563] [ 0. 0. 0. 1. ]] SLAMing on 1.6107140569999998 meters Centerline goodness : 0.899345 Centerline is valid? [False, False] Translation: X:0.14, Y:0.07, Z:-0.05 [[ 0.99959255 -0.01305337 -0.02538398 0.13733073] [ 0.01296542 0.99990937 -0.00362661 0.07403517] [ 0.02542902 0.00329602 0.9996712 -0.04909934] [ 0. 0. 0. 1. ]] SLAMing on 1.6407140569999998 meters Centerline goodness : 0.908305 Centerline is valid? [False, False] Translation: X:0.14, Y:0.07, Z:-0.05 [[ 0.9995953 -0.0118965 -0.02584019 0.14030689] [ 0.01182609 0.99992593 -0.00287596 0.0747749 ] [ 0.02587249 0.00256921 0.99966195 -0.04944689] [ 0. 0. 0. 1. ]] SLAMing on 1.6707140569999999 meters Centerline goodness : 0.911083 Centerline is valid? [False, False] Translation: X:0.14, Y:0.07, Z:-0.05 [[ 0.99959465 -0.01109392 -0.02621958 0.14334713] [ 0.01104855 0.99993721 -0.00187445 0.07376582] [ 0.02623873 0.00158401 0.99965445 -0.0509283 ] [ 0. 0. 0. 1. ]] SLAMing on 1.700714057 meters Centerline goodness : 0.911344 Centerline is valid? [False, False] Translation: X:0.15, Y:0.07, Z:-0.05 [[ 0.99955675 -0.01192286 -0.02727896 0.14760499] [ 0.01183484 0.99992423 -0.00338584 0.07451711] [ 0.02731726 0.0030615 0.99962213 -0.05254338] [ 0. 0. 0. 1. ]] SLAMing on 1.730714057 meters Centerline goodness : 0.916601 Centerline is valid? [False, False] Translation: X:0.15, Y:0.07, Z:-0.05 [[ 0.99953702 -0.01177299 -0.02805601 0.14968854] [ 0.01168648 0.99992644 -0.00324526 0.07421748] [ 0.02809215 0.00291588 0.99960108 -0.05314452] [ 0. 0. 0. 1. ]] SLAMing on 1.760714057 meters Centerline goodness : 0.926395 Centerline is valid? [False, False] Translation: X:0.15, Y:0.07, Z:-0.05 [[ 0.99953094 -0.01214481 -0.02811399 0.15118429] [ 0.0120699 0.99992314 -0.00283263 0.07322306] [ 0.02814623 0.00249197 0.99960071 -0.05356269] [ 0. 0. 0. 1. ]] SLAMing on 1.790714057 meters Centerline goodness : 0.930677 Centerline is valid? [False, False] Translation: X:0.15, Y:0.07, Z:-0.05 [[ 0.9995085 -0.01253617 -0.02873335 0.15229492] [ 0.01245517 0.99991794 -0.00299609 0.07271792] [ 0.02876855 0.00263673 0.99958262 -0.05335554] [ 0. 0. 0. 1. ]] SLAMing on 1.8207140569999998 meters Centerline goodness : 0.934505 Centerline is valid? [False, False] Translation: X:0.15, Y:0.07, Z:-0.05 [[ 0.99943741 -0.01642469 -0.02924195 0.15450665] [ 0.01623934 0.99984658 -0.0065648 0.07197471] [ 0.02934529 0.00608624 0.9995508 -0.05280384] [ 0. 0. 0. 1. ]] SLAMing on 1.8507140569999998 meters Centerline goodness : 0.930288 Centerline is valid? [False, False] Translation: X:0.16, Y:0.07, Z:-0.05 [[ 0.999406 -0.0169786 -0.02998973 0.15601996] [ 0.01679175 0.99983807 -0.00647145 0.07053838] [ 0.03009475 0.00596403 0.99952926 -0.05314668] [ 0. 0. 0. 1. ]] SLAMing on 1.8807140569999998 meters Centerline goodness : 0.932838 Centerline is valid? [False, False] Translation: X:0.16, Y:0.07, Z:-0.05 [[ 0.99937818 -0.01768482 -0.03050399 0.15691977] [ 0.01749636 0.99982622 -0.00643432 0.06905663] [ 0.03061248 0.00589661 0.99951393 -0.05324657] [ 0. 0. 0. 1. ]] SLAMing on 1.9107140569999999 meters Centerline goodness : 0.944151 Centerline is valid? [False, False] Translation: X:0.16, Y:0.07, Z:-0.05 [[ 0.99927284 -0.02223421 -0.03097478 0.15879992] [ 0.02192799 0.99970761 -0.01019079 0.06782958] [ 0.03119231 0.00950416 0.99946821 -0.05306558] [ 0. 0. 0. 1. ]] SLAMing on 1.9407140569999999 meters Centerline goodness : 0.935585 Centerline is valid? [False, False] Translation: X:0.16, Y:0.07, Z:-0.05 [[ 0.99923426 -0.0227577 -0.03182725 0.16041016] [ 0.02244819 0.99969751 -0.01004838 0.06638338] [ 0.0320463 0.00932623 0.99944287 -0.05324763] [ 0. 0. 0. 1. ]] SLAMing on 1.970714057 meters Centerline goodness : 0.936940 Centerline is valid? [False, False] Translation: X:0.16, Y:0.07, Z:-0.05 [[ 0.99910759 -0.02724204 -0.03227825 0.16202098] [ 0.02680476 0.999544 -0.01390328 0.06527563] [ 0.03264229 0.01302566 0.99938222 -0.05272543] [ 0. 0. 0. 1. ]] SLAMing on 2.000714057 meters Centerline goodness : 0.940057 Centerline is valid? [False, False] Translation: X:0.16, Y:0.06, Z:-0.05 [[ 0.99907418 -0.02782937 -0.03280726 0.16316289] [ 0.02738946 0.99952981 -0.01378301 0.06401211] [ 0.03317541 0.01287167 0.99936666 -0.05307147] [ 0. 0. 0. 1. ]] SLAMing on 2.030714057 meters Centerline goodness : 0.946097 Centerline is valid? [False, False] Translation: X:0.16, Y:0.06, Z:-0.05 [[ 0.99904101 -0.02829781 -0.03341105 0.16427984] [ 0.02785121 0.9995174 -0.01375753 0.06289582] [ 0.03378423 0.0128138 0.999347 -0.05311161] [ 0. 0. 0. 1. ]] SLAMing on 2.060714057 meters Centerline goodness : 0.949419 Centerline is valid? [False, False] Translation: X:0.17, Y:0.06, Z:-0.05 [[ 0.99899623 -0.02939642 -0.03379908 0.1654689 ] [ 0.02894972 0.99948793 -0.0136308 0.06132741] [ 0.03418247 0.01263864 0.99933569 -0.05363638] [ 0. 0. 0. 1. ]] SLAMing on 2.090714057 meters Centerline goodness : 0.949722 Centerline is valid? [False, False] Translation: X:0.17, Y:0.06, Z:-0.05 [[ 0.99897107 -0.02947294 -0.03446944 0.16714589] [ 0.02902663 0.99948912 -0.01337759 0.06052782] [ 0.03484611 0.0123633 0.99931621 -0.05417988] [ 0. 0. 0. 1. ]] SLAMing on 2.1207140570000003 meters Centerline goodness : 0.957111 Centerline is valid? [False, True] Translation: X:0.17, Y:0.06, Z:-0.05 [[ 0.99895476 -0.03003133 -0.03446017 0.16762633] [ 0.02958891 0.99947396 -0.01327762 0.05960669] [ 0.03484079 0.01224411 0.99931787 -0.05442189] [ 0. 0. 0. 1. ]] SLAMing on 2.150714057 meters Centerline goodness : 0.956769 Centerline is valid? [True, True] Translation: X:0.20, Y:0.06, Z:-0.06 [[ 0.99900874 -0.02823166 -0.03441678 0.19817188] [ 0.02799373 0.99958089 -0.00737578 0.05526079] [ 0.03461058 0.00640501 0.99938035 -0.05788822] [ 0. 0. 0. 1. ]] SLAMing on 2.1807140570000003 meters Centerline goodness : 0.959033 Centerline is valid? [True, True] Translation: X:0.23, Y:0.05, Z:-0.06 [[ 0.99907288 -0.02426808 -0.0355589 0.23225413] [ 0.02395013 0.99966952 -0.00934042 0.05311512] [ 0.03577382 0.00848012 0.99932393 -0.0552715 ] [ 0. 0. 0. 1. ]] SLAMing on 2.210714057 meters Centerline goodness : 0.964432 Centerline is valid? [True, True] Translation: X:0.27, Y:0.05, Z:-0.06 [[ 0.99924768 -0.02432563 -0.03020477 0.26616411] [ 0.0246051 0.99965749 0.00891548 0.04644679] [ 0.02997755 -0.00965196 0.99950397 -0.06406944] [ 0. 0. 0. 1. ]] SLAMing on 2.240714057 meters Centerline goodness : 0.963635 Centerline is valid? [True, True] Translation: X:0.30, Y:0.05, Z:-0.06 [[ 0.99917469 -0.02055754 -0.0350331 0.29738116] [ 0.02049961 0.99978784 -0.0020118 0.04789261] [ 0.03506703 0.00129198 0.99938413 -0.05823325] [ 0. 0. 0. 1. ]] SLAMing on 2.270714057 meters Centerline goodness : 0.965822 Centerline is valid? [True, True] Translation: X:0.33, Y:0.04, Z:-0.07 [[ 0.99916655 -0.01894346 -0.03615736 0.3309492 ] [ 0.01912389 0.9998063 0.00465088 0.04482715] [ 0.03606225 -0.00533847 0.99933529 -0.06639366] [ 0. 0. 0. 1. ]] SLAMing on 2.300714057 meters Centerline goodness : 0.969654 Centerline is valid? [True, True] Translation: X:0.36, Y:0.04, Z:-0.06 [[ 0.9992951 -0.01253831 -0.03538486 0.36159863] [ 0.01270268 0.99990953 0.00442447 0.04005717] [ 0.03532619 -0.00487083 0.99936397 -0.05819639] [ 0. 0. 0. 1. ]] SLAMing on 2.3307140570000002 meters Centerline goodness : 0.968757 Centerline is valid? [True, True] Translation: X:0.39, Y:0.04, Z:-0.05 [[ 0.99916269 -0.01091495 -0.03943065 0.39391047] [ 0.00995836 0.99965327 -0.02437552 0.04425669] [ 0.03968303 0.02396244 0.99892495 -0.05236337] [ 0. 0. 0. 1. ]] SLAMing on 2.360714057 meters Centerline goodness : 0.972512 Centerline is valid? [True, True] Translation: X:0.42, Y:0.04, Z:-0.06 [[ 0.99940034 -0.00923467 -0.03337179 0.424656 ] [ 0.00891124 0.999912 -0.00982733 0.04064073] [ 0.03345961 0.00952405 0.99939469 -0.05619141] [ 0. 0. 0. 1. ]] SLAMing on 2.3907140570000003 meters Centerline goodness : 0.977323 Centerline is valid? [True, True] Translation: X:0.46, Y:0.04, Z:-0.06 [[ 0.99955427 -0.00829495 -0.02867854 0.4576182 ] [ 0.00860718 0.99990484 0.01078109 0.03582147] [ 0.02858639 -0.01102312 0.99953054 -0.06462034] [ 0. 0. 0. 1. ]] SLAMing on 2.420714057 meters Centerline goodness : 0.978393 Centerline is valid? [True, True] Translation: X:0.49, Y:0.04, Z:-0.05 [[ 0.99950001 -0.00412635 -0.03134819 0.48632169] [ 0.00368576 0.99989381 -0.01409928 0.0402804 ] [ 0.03140304 0.01397669 0.99940908 -0.05174131] [ 0. 0. 0. 1. ]] SLAMing on 2.450714057 meters Centerline goodness : 0.979850 Centerline is valid? [True, True] Translation: X:0.53, Y:0.04, Z:-0.05 [[ 0.99907243 -0.00561192 -0.04269414 0.52972875] [ 0.00444746 0.99961683 -0.02732063 0.04276135] [ 0.0428311 0.02710541 0.99871457 -0.04544672] [ 0. 0. 0. 1. ]] SLAMing on 2.480714057 meters Centerline goodness : 0.979011 Centerline is valid? [True, True] Translation: X:0.56, Y:0.04, Z:-0.05 [[ 0.9989366 -0.00511081 -0.04582089 0.56022307] [ 0.00472154 0.99995188 -0.00859966 0.03907465] [ 0.04586263 0.00837417 0.99891265 -0.05271224] [ 0. 0. 0. 1. ]] SLAMing on 2.510714057 meters Centerline goodness : 0.984695 Centerline is valid? [True, True] Translation: X:0.59, Y:0.03, Z:-0.07 [[ 0.99946146 -0.00705372 -0.03204727 0.58716814] [ 0.00789223 0.99962781 0.02611409 0.03090611] [ 0.03185114 -0.02635295 0.99914515 -0.06859624] [ 0. 0. 0. 1. ]] SLAMing on 2.540714057 meters Centerline goodness : 0.985611 Centerline is valid? [True, True] Translation: X:0.62, Y:0.04, Z:-0.05 [[ 0.99935709 -0.00668083 -0.03522464 0.6178649 ] [ 0.0066046 0.99997559 -0.00228013 0.03706471] [ 0.03523901 0.00204602 0.99937682 -0.05220906] [ 0. 0. 0. 1. ]] SLAMing on 2.570714057 meters Centerline goodness : 0.987135 Centerline is valid? [True, True] Translation: X:0.65, Y:0.04, Z:-0.05 [[ 0.99919143 -0.0062927 -0.03971012 0.6482174 ] [ 0.00578499 0.99990022 -0.01288751 0.03933654] [ 0.03978726 0.01264737 0.99912813 -0.04600821] [ 0. 0. 0. 1. ]] SLAMing on 2.6007140570000002 meters Centerline goodness : 0.988489 Centerline is valid? [True, True] Translation: X:0.68, Y:0.04, Z:-0.05 [[ 9.99205740e-01 -7.36513767e-03 -3.91617569e-02 6.79452067e-01] [ 7.34864117e-03 9.99972839e-01 -5.65173315e-04 3.68936442e-02] [ 3.91648558e-02 2.76938721e-04 9.99232724e-01 -5.25373017e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.630714057 meters Centerline goodness : 0.990986 Centerline is valid? [True, True] Translation: X:0.71, Y:0.03, Z:-0.06 [[ 0.99948631 -0.0118594 -0.02977381 0.71335129] [ 0.01228258 0.99982556 0.01407094 0.03348333] [ 0.02960175 -0.01442941 0.99945762 -0.05808567] [ 0. 0. 0. 1. ]] SLAMing on 2.660714057 meters Centerline goodness : 0.991272 Centerline is valid? [True, True] Translation: X:0.74, Y:0.04, Z:-0.05 [[ 0.99935249 -0.00916883 -0.03479268 0.74217819] [ 0.0090453 0.99995222 -0.00370621 0.035087 ] [ 0.034825 0.0033891 0.99938768 -0.0472745 ] [ 0. 0. 0. 1. ]] SLAMing on 2.690714057 meters Centerline goodness : 0.992371 Centerline is valid? [True, True] Translation: X:0.78, Y:0.04, Z:-0.05 [[ 0.9993367 -0.01559658 -0.03290753 0.77969228] [ 0.01574913 0.99986638 0.00438135 0.03642324] [ 0.0328348 -0.0048967 0.9994488 -0.04884058] [ 0. 0. 0. 1. ]] SLAMing on 2.720714057 meters Centerline goodness : 0.993031 Centerline is valid? [True, True] Translation: X:0.81, Y:0.03, Z:-0.05 [[ 0.99949205 -0.01678403 -0.02709114 0.81047595] [ 0.01725734 0.99970084 0.01733264 0.03212994] [ 0.02679212 -0.01779135 0.99948269 -0.05470697] [ 0. 0. 0. 1. ]] SLAMing on 2.750714057 meters Centerline goodness : 0.991021 Centerline is valid? [True, True] Translation: X:0.83, Y:0.04, Z:-0.04 [[ 0.99926521 -0.01064441 -0.03682022 0.83192221] [ 0.01020341 0.99987419 -0.01214434 0.03800677] [ 0.03694486 0.01175973 0.99924811 -0.03580534] [ 0. 0. 0. 1. ]] SLAMing on 2.780714057 meters Centerline goodness : 0.992760 Centerline is valid? [True, True] Translation: X:0.85, Y:0.02, Z:-0.08 [[ 0.99984768 -0.0073968 -0.01580825 0.84723072] [ 0.00830585 0.99826834 0.05823513 0.02134776] [ 0.01535012 -0.05835756 0.99817772 -0.07512849] [ 0. 0. 0. 1. ]] SLAMing on 2.810714057 meters Centerline goodness : 0.992573 Centerline is valid? [True, True] Translation: X:0.88, Y:0.03, Z:-0.04 [[ 0.99971214 -0.00928256 -0.02212392 0.88082596] [ 0.00923973 0.99995524 -0.00203708 0.0321099 ] [ 0.02214184 0.00183207 0.99975316 -0.04471436] [ 0. 0. 0. 1. ]] SLAMing on 2.840714057 meters Centerline goodness : 0.992573 Centerline is valid? [True, True] Translation: X:0.91, Y:0.03, Z:-0.05 [[ 0.9996963 -0.00924384 -0.02284438 0.91113092] [ 0.00927298 0.99995632 0.00116985 0.02933895] [ 0.02283256 -0.00138133 0.99973835 -0.04584448] [ 0. 0. 0. 1. ]] SLAMing on 2.8707140570000003 meters Centerline goodness : 0.993281 Centerline is valid? [True, True] Translation: X:0.94, Y:0.03, Z:-0.04 [[ 0.99962463 -0.01085766 -0.02515366 0.94104182] [ 0.01072321 0.99992752 -0.00547394 0.03321884] [ 0.02521127 0.00520216 0.99966861 -0.03788471] [ 0. 0. 0. 1. ]] SLAMing on 2.900714057 meters Centerline goodness : 0.993861 Centerline is valid? [True, True] Translation: X:0.98, Y:0.03, Z:-0.05 [[ 0.99967324 -0.01424692 -0.0212237 0.97762099] [ 0.01433617 0.99988899 0.0040588 0.02823222] [ 0.02116352 -0.00436174 0.99976651 -0.04572875] [ 0. 0. 0. 1. ]] SLAMing on 2.930714057 meters Centerline goodness : 0.993588 Centerline is valid? [True, True] Translation: X:1.00, Y:0.03, Z:-0.05 [[ 0.99974078 -0.00986855 -0.02051769 1.00253397] [ 0.01010139 0.9998854 0.01127578 0.02871115] [ 0.02040406 -0.01148011 0.9997259 -0.04521214] [ 0. 0. 0. 1. ]] SLAMing on 2.960714057 meters Centerline goodness : 0.994435 Centerline is valid? [True, True] Translation: X:1.03, Y:0.03, Z:-0.04 [[ 0.99976736 -0.00841022 -0.01986196 1.03457187] [ 0.00849711 0.99995468 0.00429444 0.02858509] [ 0.01982494 -0.00446221 0.99979351 -0.0440501 ] [ 0. 0. 0. 1. ]] SLAMing on 2.990714057 meters Centerline goodness : 0.995830 Centerline is valid? [True, True] Translation: X:1.07, Y:0.03, Z:-0.04 [[ 0.99974785 -0.01320233 -0.01816434 1.06990639] [ 0.01322713 0.99991174 0.00124586 0.03060619] [ 0.01814628 -0.0014858 0.99983424 -0.03826112] [ 0. 0. 0. 1. ]] SLAMing on 3.020714057 meters Centerline goodness : 0.995875 Centerline is valid? [True, True] Translation: X:1.09, Y:0.02, Z:-0.05 [[ 0.99990975 -0.00788262 -0.01087878 1.09201609] [ 0.0081421 0.99967837 0.02401779 0.02198117] [ 0.01068595 -0.0241042 0.99965234 -0.05228705] [ 0. 0. 0. 1. ]] SLAMing on 3.050714057 meters Centerline goodness : 0.996191 Centerline is valid? [True, True] Translation: X:1.13, Y:0.03, Z:-0.03 [[ 0.99978646 -0.01209539 -0.01675495 1.13082309] [ 0.01180985 0.9997851 -0.01703762 0.02857314] [ 0.01695743 0.01683611 0.99971445 -0.02948349] [ 0. 0. 0. 1. ]] SLAMing on 3.0807140570000002 meters Centerline goodness : 0.997002 Centerline is valid? [True, True] Translation: X:1.16, Y:0.02, Z:-0.04 [[ 0.99986302 -0.01062993 -0.01268673 1.1622161 ] [ 0.01068941 0.99993215 0.00463025 0.02112445] [ 0.01263665 -0.00476523 0.9999088 -0.04184317] [ 0. 0. 0. 1. ]] SLAMing on 3.110714057 meters Centerline goodness : 0.998249 Centerline is valid? [True, True] Translation: X:1.20, Y:0.03, Z:-0.03 [[ 0.99971852 -0.01414069 -0.01905029 1.19917891] [ 0.01385741 0.99979264 -0.01492117 0.02600522] [ 0.01925734 0.01465299 0.99970718 -0.02664756] [ 0. 0. 0. 1. ]] SLAMing on 3.1407140570000003 meters Centerline goodness : 0.997627 Centerline is valid? [True, True] Translation: X:1.22, Y:0.01, Z:-0.05 [[ 0.99987776 -0.01136733 -0.01073522 1.22002682] [ 0.01161119 0.99966957 0.0229331 0.01369046] [ 0.01047098 -0.02305494 0.99967936 -0.04753281] [ 0. 0. 0. 1. ]] SLAMing on 3.170714057 meters Centerline goodness : 0.997747 Centerline is valid? [True, True] Translation: X:1.25, Y:0.01, Z:-0.04 [[ 0.99986937 -0.01148203 -0.01137604 1.25211272] [ 0.01149904 0.99993286 0.00143066 0.01353433] [ 0.01135885 -0.00156129 0.99993427 -0.03649512] [ 0. 0. 0. 1. ]] SLAMing on 3.200714057 meters Centerline goodness : 0.998336 Centerline is valid? [True, True] Translation: X:1.29, Y:0.01, Z:-0.04 [[ 0.9998355 -0.01445716 -0.01095292 1.28505292] [ 0.01448829 0.99989121 0.00276819 0.01042214] [ 0.01091171 -0.00292642 0.99993618 -0.03684786] [ 0. 0. 0. 1. ]] SLAMing on 3.230714057 meters Centerline goodness : 0.997993 Centerline is valid? [True, True] Translation: X:1.32, Y:0.01, Z:-0.04 [[ 9.99801910e-01 -1.56072873e-02 -1.23512157e-02 1.31589200e+00] [ 1.56081964e-02 9.99878184e-01 -2.27913581e-05 5.33885449e-03] [ 1.23500669e-02 -1.69993357e-04 9.99923721e-01 -3.66238407e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.260714057 meters Centerline goodness : 0.998109 Centerline is valid? [True, True] Translation: X:1.35, Y:-0.00, Z:-0.05 [[ 0.99978846 -0.01545495 -0.01357122 1.34624656] [ 0.01564832 0.99977588 0.01425928 -0.00346784] [ 0.0133478 -0.01446863 0.99980623 -0.04686686] [ 0. 0. 0. 1. ]] SLAMing on 3.290714057 meters Centerline goodness : 0.997340 Centerline is valid? [True, True] Translation: X:1.37, Y:-0.00, Z:-0.04 [[ 0.9997609 -0.01408204 -0.01672839 1.37206021] [ 0.01419161 0.9998785 0.00644894 -0.00238731] [ 0.01663555 -0.0066848 0.99983927 -0.03769798] [ 0. 0. 0. 1. ]] SLAMing on 3.320714057 meters Centerline goodness : 0.998940 Centerline is valid? [True, True] Translation: X:1.41, Y:-0.00, Z:-0.03 [[ 0.9996415 -0.02088038 -0.0167596 1.41122852] [ 0.02083662 0.99977902 -0.00278201 -0.00304931] [ 0.01681398 0.0024318 0.99985568 -0.0266541 ] [ 0. 0. 0. 1. ]] SLAMing on 3.3507140570000002 meters Centerline goodness : 0.998759 Centerline is valid? [True, True] Translation: X:1.45, Y:-0.01, Z:-0.03 [[ 9.99555590e-01 -2.46342681e-02 -1.67861947e-02 1.44538151e+00] [ 2.46148397e-02 9.99696080e-01 -1.36306212e-03 -8.70578636e-03] [ 1.68146711e-02 9.49266866e-04 9.99858173e-01 -2.66185102e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.380714057 meters Centerline goodness : 0.998497 Centerline is valid? [True, True] Translation: X:1.47, Y:-0.01, Z:-0.03 [[ 0.9996328 -0.02054451 -0.01766867 1.46867862] [ 0.02065687 0.9997674 0.00620011 -0.01402794] [ 0.01753718 -0.00656281 0.99982467 -0.03131794] [ 0. 0. 0. 1. ]] SLAMing on 3.410714057 meters Centerline goodness : 0.998161 Centerline is valid? [True, True] Translation: X:1.50, Y:-0.01, Z:-0.02 [[ 0.99961098 -0.02122281 -0.01809647 1.50250617] [ 0.02097719 0.99968668 -0.01365661 -0.01380435] [ 0.01838063 0.01327168 0.99974297 -0.02430627] [ 0. 0. 0. 1. ]] SLAMing on 3.440714057 meters Centerline goodness : 0.998430 Centerline is valid? [True, True] Translation: X:1.52, Y:-0.02, Z:-0.03 [[ 0.99961438 -0.01931682 -0.01994857 1.52432213] [ 0.01955299 0.99974022 0.0117125 -0.02276707] [ 0.01971713 -0.01209804 0.9997324 -0.03297379] [ 0. 0. 0. 1. ]] SLAMing on 3.470714057 meters Centerline goodness : 0.998278 Centerline is valid? [True, True] Translation: X:1.56, Y:-0.02, Z:-0.03 [[ 9.99501711e-01 -2.21899895e-02 -2.24484715e-02 1.55918320e+00] [ 2.22031384e-02 9.99753423e-01 3.36633816e-04 -2.44192337e-02] [ 2.24354664e-02 -8.34892596e-04 9.99747945e-01 -2.58461030e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.500714057 meters Centerline goodness : 0.997925 Centerline is valid? [True, True] Translation: X:1.59, Y:-0.03, Z:-0.02 [[ 0.99935482 -0.02013319 -0.0297421 1.58690625] [ 0.01996871 0.99978368 -0.00581692 -0.02802889] [ 0.02985278 0.00521925 0.99954068 -0.01968297] [ 0. 0. 0. 1. ]] SLAMing on 3.530714057 meters Centerline goodness : 0.997286 Centerline is valid? [True, True] Translation: X:1.62, Y:-0.03, Z:-0.02 [[ 0.99932894 -0.02105331 -0.0299739 1.61669321] [ 0.02135196 0.99972517 0.00967874 -0.03364232] [ 0.02976189 -0.01031225 0.99950382 -0.02365809] [ 0. 0. 0. 1. ]] SLAMing on 3.560714057 meters Centerline goodness : 0.996547 Centerline is valid? [True, True] Translation: X:1.65, Y:-0.03, Z:-0.01 [[ 0.99934428 -0.0220117 -0.02874893 1.64657727] [ 0.02176428 0.99972359 -0.00889105 -0.03442559] [ 0.02893669 0.00825952 0.99954712 -0.01377266] [ 0. 0. 0. 1. ]] SLAMing on 3.590714057 meters Centerline goodness : 0.997030 Centerline is valid? [True, True] Translation: X:1.68, Y:-0.04, Z:-0.02 [[ 0.99934949 -0.02199984 -0.02857618 1.6774825 ] [ 0.02243951 0.99963329 0.01515746 -0.04168453] [ 0.02823224 -0.01578884 0.99947669 -0.02454278] [ 0. 0. 0. 1. ]] SLAMing on 3.620714057 meters Centerline goodness : 0.996693 Centerline is valid? [True, True] Translation: X:1.71, Y:-0.05, Z:-0.02 [[ 0.99928263 -0.02253704 -0.03043531 1.70777099] [ 0.02296581 0.99964083 0.01381255 -0.04542902] [ 0.03011309 -0.01450162 0.9994413 -0.01737471] [ 0. 0. 0. 1. ]] SLAMing on 3.650714057 meters Centerline goodness : 0.996215 Centerline is valid? [True, True] Translation: X:1.74, Y:-0.05, Z:-0.02 [[ 0.9994869 -0.02348372 -0.02178193 1.73970555] [ 0.02399726 0.99943289 0.02362275 -0.05077495] [ 0.02121483 -0.02413334 0.99948362 -0.02166979] [ 0. 0. 0. 1. ]] SLAMing on 3.680714057 meters Centerline goodness : 0.995894 Centerline is valid? [True, True] Translation: X:1.77, Y:-0.05, Z:-0.01 [[ 0.99948792 -0.02385445 -0.02132756 1.76585999] [ 0.02403869 0.99967553 0.00842423 -0.05191134] [ 0.02111969 -0.0089326 0.99973705 -0.00843007] [ 0. 0. 0. 1. ]] SLAMing on 3.710714057 meters Centerline goodness : 0.995612 Centerline is valid? [True, True] Translation: X:1.80, Y:-0.05, Z:0.01 [[ 0.99918967 -0.02655284 -0.03024817 1.80236994] [ 0.02563934 0.99921504 -0.03019809 -0.04820774] [ 0.03102627 0.02939808 0.99908614 0.01105995] [ 0. 0. 0. 1. ]] SLAMing on 3.740714057 meters Centerline goodness : 0.995698 Centerline is valid? [True, True] Translation: X:1.83, Y:-0.06, Z:-0.01 [[ 0.99938986 -0.02457699 -0.02481709 1.83113181] [ 0.02497666 0.99956118 0.015925 -0.05938137] [ 0.02441481 -0.01653513 0.99956516 -0.01236856] [ 0. 0. 0. 1. ]] SLAMing on 3.770714057 meters Centerline goodness : 0.996433 Centerline is valid? [True, True] Translation: X:1.87, Y:-0.06, Z:-0.01 [[ 0.99932732 -0.0279067 -0.02379336 1.8675285 ] [ 0.02802448 0.99959651 0.00463138 -0.06144555] [ 0.02365451 -0.00529506 0.99970617 -0.00700852] [ 0. 0. 0. 1. ]] SLAMing on 3.800714057 meters Centerline goodness : 0.996939 Centerline is valid? [True, True] Translation: X:1.90, Y:-0.06, Z:-0.01 [[ 0.99933001 -0.02901631 -0.02230681 1.89960369] [ 0.02912929 0.99956433 0.00475686 -0.0639067 ] [ 0.02215907 -0.00540346 0.99973986 -0.00768052] [ 0. 0. 0. 1. ]] SLAMing on 3.8307140570000002 meters Centerline goodness : 0.996827 Centerline is valid? [True, True] Translation: X:1.93, Y:-0.07, Z:-0.01 [[ 0.99933685 -0.02834152 -0.02286076 1.93205026] [ 0.02843636 0.99958825 0.00383431 -0.06949764] [ 0.02274268 -0.00448184 0.99973131 -0.00500461] [ 0. 0. 0. 1. ]] SLAMing on 3.860714057 meters Centerline goodness : 0.996263 Centerline is valid? [True, True] Translation: X:1.96, Y:-0.07, Z:-0.00 [[ 0.99946185 -0.02657999 -0.01922288 1.95801102] [ 0.02637982 0.99959587 -0.0105928 -0.06817008] [ 0.01949667 0.01008001 0.99975911 -0.0027302 ] [ 0. 0. 0. 1. ]] SLAMing on 3.890714057 meters Centerline goodness : 0.996576 Centerline is valid? [True, True] Translation: X:1.99, Y:-0.07, Z:-0.01 [[ 0.99940167 -0.03032857 -0.01662755 1.99487726] [ 0.03013854 0.99947886 -0.01156202 -0.07345696] [ 0.01696954 0.01105397 0.9997949 -0.00502475] [ 0. 0. 0. 1. ]] SLAMing on 3.920714057 meters Centerline goodness : 0.996556 Centerline is valid? [True, True] Translation: X:2.03, Y:-0.08, Z:-0.01 [[ 0.99933947 -0.03157406 -0.01799147 2.02532627] [ 0.03172662 0.99946247 0.00825807 -0.08053748] [ 0.01772106 -0.00882343 0.99980404 -0.00980701] [ 0. 0. 0. 1. ]] SLAMing on 3.950714057 meters Centerline goodness : 0.995531 Centerline is valid? [True, True] Translation: X:2.05, Y:-0.08, Z:-0.01 [[ 0.99944754 -0.03074155 -0.01263208 2.05460583] [ 0.0308436 0.99949248 0.00796542 -0.08342622] [ 0.0123808 -0.00835064 0.99988849 -0.01120077] [ 0. 0. 0. 1. ]] SLAMing on 3.980714057 meters Centerline goodness : 0.996511 Centerline is valid? [True, True] Translation: X:2.09, Y:-0.08, Z:-0.00 [[ 0.99930342 -0.03390588 -0.01559064 2.08851837] [ 0.03379526 0.99940208 -0.00730493 -0.08119872] [ 0.015829 0.00677295 0.99985177 -0.00347747] [ 0. 0. 0. 1. ]] SLAMing on 4.0107140569999995 meters Centerline goodness : 0.996115 Centerline is valid? [True, True] Translation: X:2.12, Y:-0.09, Z:-0.01 [[ 0.99927479 -0.03491184 -0.01520047 2.11772167] [ 0.03495203 0.99938614 0.00238649 -0.08795444] [ 0.01510782 -0.00291604 0.99988162 -0.00590051] [ 0. 0. 0. 1. ]] SLAMing on 4.040714057 meters Centerline goodness : 0.995408 Centerline is valid? [True, True] Translation: X:2.15, Y:-0.09, Z:-0.01 [[ 0.9991428 -0.03897588 -0.01394763 2.14979141] [ 0.03905928 0.9992203 0.00575821 -0.08746978] [ 0.01371232 -0.00629806 0.99988615 -0.00772063] [ 0. 0. 0. 1. ]] SLAMing on 4.070714057 meters Centerline goodness : 0.995299 Centerline is valid? [True, True] Translation: X:2.18, Y:-0.09, Z:-0.00 [[ 9.99103992e-01 -3.91552152e-02 -1.60649706e-02 2.18127768e+00] [ 3.91272526e-02 9.99232130e-01 -2.05134450e-03 -9.01547270e-02] [ 1.61329556e-02 1.42092832e-03 9.99868846e-01 -2.32839549e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.100714057 meters Centerline goodness : 0.995837 Centerline is valid? [True, True] Translation: X:2.21, Y:-0.09, Z:-0.00 [[ 9.99241119e-01 -3.64249958e-02 -1.37987756e-02 2.21374829e+00] [ 3.62709930e-02 9.99278652e-01 -1.12512212e-02 -9.48729029e-02] [ 1.41986476e-02 1.07421876e-02 9.99841489e-01 -1.70627985e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.130714057 meters Centerline goodness : 0.995547 Centerline is valid? [True, True] Translation: X:2.25, Y:-0.10, Z:-0.01 [[ 0.99904558 -0.04101818 -0.01501459 2.24549457] [ 0.04132843 0.99892549 0.02097192 -0.09933139] [ 0.01413823 -0.02157244 0.99966731 -0.01067774] [ 0. 0. 0. 1. ]] SLAMing on 4.160714057 meters Centerline goodness : 0.995352 Centerline is valid? [True, True] Translation: X:2.28, Y:-0.10, Z:0.00 [[ 9.99018888e-01 -4.14551408e-02 -1.55798807e-02 2.27560832e+00] [ 4.14183979e-02 9.99138312e-01 -2.67381337e-03 -9.61042629e-02] [ 1.56772990e-02 2.02589637e-03 9.99875051e-01 1.07732166e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.190714057 meters Centerline goodness : 0.996659 Centerline is valid? [True, True] Translation: X:2.31, Y:-0.10, Z:0.00 [[ 9.99069665e-01 -4.00307724e-02 -1.60418458e-02 2.30630012e+00] [ 4.00412930e-02 9.99197970e-01 3.35041890e-04 -1.00289742e-01] [ 1.60155678e-02 -9.77066437e-04 9.99871265e-01 1.17642871e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.220714057 meters Centerline goodness : 0.996369 Centerline is valid? [True, True] Translation: X:2.34, Y:-0.10, Z:0.00 [[ 0.99909982 -0.03977399 -0.01475046 2.33838983] [ 0.03970543 0.99919935 -0.00491216 -0.10016448] [ 0.01493402 0.00432206 0.99987914 0.00311545] [ 0. 0. 0. 1. ]] SLAMing on 4.250714057 meters Centerline goodness : 0.996252 Centerline is valid? [True, True] Translation: X:2.37, Y:-0.10, Z:0.00 [[ 9.99154033e-01 -3.88189321e-02 -1.35760453e-02 2.36782794e+00] [ 3.89011832e-02 9.99225951e-01 5.84777592e-03 -1.04271229e-01] [ 1.33385323e-02 -6.37095312e-03 9.99890741e-01 2.59124075e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.280714057 meters Centerline goodness : 0.995683 Centerline is valid? [True, True] Translation: X:2.40, Y:-0.11, Z:-0.00 [[ 9.99165950e-01 -3.90664962e-02 -1.18833388e-02 2.39872243e+00] [ 3.91147264e-02 9.99227295e-01 3.85358490e-03 -1.05729961e-01] [ 1.17236105e-02 -4.31518437e-03 9.99921965e-01 -5.64046566e-05] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.310714057 meters Centerline goodness : 0.995855 Centerline is valid? [True, True] Translation: X:2.43, Y:-0.11, Z:0.00 [[ 9.99164050e-01 -3.87497898e-02 -1.30251300e-02 2.42861729e+00] [ 3.88555202e-02 9.99213096e-01 7.96471759e-03 -1.07425404e-01] [ 1.27062494e-02 -8.46415769e-03 9.99883448e-01 1.55208811e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.3407140570000005 meters Centerline goodness : 0.996075 Centerline is valid? [True, True] Translation: X:2.46, Y:-0.11, Z:0.01 [[ 0.99918539 -0.03865334 -0.01159654 2.46160562] [ 0.03854021 0.99920874 -0.00982541 -0.10593304] [ 0.01196715 0.00937048 0.99988448 0.00685766] [ 0. 0. 0. 1. ]] SLAMing on 4.370714057 meters Centerline goodness : 0.996139 Centerline is valid? [True, True] Translation: X:2.49, Y:-0.11, Z:0.00 [[ 9.99118600e-01 -3.95289480e-02 -1.41239543e-02 2.49023088e+00] [ 3.97599799e-02 9.99073526e-01 1.64691860e-02 -1.10605640e-01] [ 1.34598592e-02 -1.70162382e-02 9.99764612e-01 6.91221627e-05] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.400714057 meters Centerline goodness : 0.995738 Centerline is valid? [True, True] Translation: X:2.52, Y:-0.11, Z:0.01 [[ 9.99203873e-01 -3.70165553e-02 -1.48793370e-02 2.52161549e+00] [ 3.69778423e-02 9.99311968e-01 -2.86864381e-03 -1.06849540e-01] [ 1.49752869e-02 2.31615423e-03 9.99885182e-01 9.15641744e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.430714057 meters Centerline goodness : 0.995517 Centerline is valid? [True, True] Translation: X:2.55, Y:-0.11, Z:0.01 [[ 9.99282471e-01 -3.48785384e-02 -1.47658361e-02 2.55423599e+00] [ 3.49093368e-02 9.99388802e-01 1.83312219e-03 -1.07426649e-01] [ 1.46928746e-02 -2.34727241e-03 9.99889299e-01 7.28020031e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.460714057 meters Centerline goodness : 0.994979 Centerline is valid? [True, True] Translation: X:2.58, Y:-0.11, Z:0.01 [[ 0.99930747 -0.03308988 -0.0170189 2.5843914 ] [ 0.03322937 0.9994159 0.0079795 -0.10777475] [ 0.01674492 -0.0085395 0.99982333 0.00784082] [ 0. 0. 0. 1. ]] SLAMing on 4.490714057 meters Centerline goodness : 0.995354 Centerline is valid? [True, True] Translation: X:2.62, Y:-0.11, Z:0.01 [[ 0.99939123 -0.03062091 -0.01671915 2.61611423] [ 0.03069508 0.99951998 0.00419812 -0.10524802] [ 0.01658257 -0.00470876 0.99985141 0.01269692] [ 0. 0. 0. 1. ]] SLAMing on 4.520714057 meters Centerline goodness : 0.995142 Centerline is valid? [True, True] Translation: X:2.65, Y:-0.11, Z:0.02 [[ 9.99435392e-01 -2.92295663e-02 -1.65689640e-02 2.64540610e+00] [ 2.92384273e-02 9.99572423e-01 2.92754537e-04 -1.05210377e-01] [ 1.65533224e-02 -7.77039695e-04 9.99862682e-01 1.52772580e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.550714057 meters Centerline goodness : 0.995565 Centerline is valid? [True, True] Translation: X:2.68, Y:-0.11, Z:0.02 [[ 9.99362817e-01 -3.15487839e-02 -1.66923421e-02 2.67822800e+00] [ 3.15796129e-02 9.99499981e-01 1.58647809e-03 -1.05211943e-01] [ 1.66339441e-02 -2.11260491e-03 9.99859415e-01 1.61738412e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.580714057 meters Centerline goodness : 0.995244 Centerline is valid? [True, True] Translation: X:2.71, Y:-0.11, Z:0.02 [[ 0.99938215 -0.03128901 -0.01600989 2.70845498] [ 0.03135231 0.99950148 0.00371813 -0.10577925] [ 0.01588557 -0.00421778 0.99986492 0.01558264] [ 0. 0. 0. 1. ]] SLAMing on 4.610714057 meters Centerline goodness : 0.995615 Centerline is valid? [True, True] Translation: X:2.74, Y:-0.10, Z:0.02 [[ 9.99349993e-01 -3.15986409e-02 -1.73527574e-02 2.74042046e+00] [ 3.15898665e-02 9.99500612e-01 -7.79595107e-04 -1.04872963e-01] [ 1.73687257e-02 2.30917076e-04 9.99849126e-01 1.86082273e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.640714057 meters Centerline goodness : 0.995196 Centerline is valid? [True, True] Translation: X:2.77, Y:-0.10, Z:0.02 [[ 0.99934779 -0.03221748 -0.0163103 2.77061602] [ 0.03231439 0.99946142 0.00571361 -0.10483299] [ 0.01611743 -0.00623694 0.99985065 0.01611352] [ 0. 0. 0. 1. ]] SLAMing on 4.670714057 meters Centerline goodness : 0.995847 Centerline is valid? [True, True] Translation: X:2.80, Y:-0.10, Z:0.02 [[ 9.99326965e-01 -3.26338760e-02 -1.67525078e-02 2.80316434e+00] [ 3.26282841e-02 9.99467371e-01 -6.07083793e-04 -1.03110918e-01] [ 1.67633965e-02 6.00696196e-05 9.99859483e-01 1.95238791e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.700714057 meters Centerline goodness : 0.995847 Centerline is valid? [True, True] Translation: X:2.84, Y:-0.10, Z:0.02 [[ 9.99328305e-01 -3.26753281e-02 -1.65910200e-02 2.83561970e+00] [ 3.26929133e-02 9.99465132e-01 7.89736751e-04 -1.04258368e-01] [ 1.65563411e-02 -1.33161507e-03 9.99862048e-01 1.91806111e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.730714057 meters Centerline goodness : 0.996161 Centerline is valid? [True, True] Translation: X:2.87, Y:-0.10, Z:0.02 [[ 9.99348946e-01 -3.19686501e-02 -1.67238954e-02 2.86704208e+00] [ 3.19976811e-02 9.99486860e-01 1.47113696e-03 -1.01954143e-01] [ 1.66682834e-02 -2.00530504e-03 9.99859064e-01 2.08813668e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.760714057 meters Centerline goodness : 0.996205 Centerline is valid? [True, True] Translation: X:2.90, Y:-0.10, Z:0.02 [[ 0.99931774 -0.03221133 -0.01806888 2.89867939] [ 0.03231899 0.99946136 0.00569794 -0.10173673] [ 0.01787561 -0.00627802 0.99982051 0.02138462] [ 0. 0. 0. 1. ]] SLAMing on 4.790714057 meters Centerline goodness : 0.996169 Centerline is valid? [True, True] Translation: X:2.93, Y:-0.10, Z:0.03 [[ 0.99928412 -0.03277773 -0.01889083 2.93194539] [ 0.03269573 0.99945461 -0.00463348 -0.09954307] [ 0.0190324 0.00401252 0.99981082 0.02637065] [ 0. 0. 0. 1. ]] SLAMing on 4.820714057 meters Centerline goodness : 0.996207 Centerline is valid? [True, True] Translation: X:2.96, Y:-0.10, Z:0.02 [[ 9.99268424e-01 -3.35063702e-02 -1.84374865e-02 2.96228797e+00] [ 3.35577016e-02 9.99433701e-01 2.48168493e-03 -9.94117027e-02] [ 1.83438931e-02 -3.09858906e-03 9.99826935e-01 2.38999895e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.850714057 meters Centerline goodness : 0.996460 Centerline is valid? [True, True] Translation: X:2.99, Y:-0.10, Z:0.03 [[ 0.99915674 -0.03511108 -0.0212844 2.99457532] [ 0.03523384 0.9993644 0.00542027 -0.09891089] [ 0.02108056 -0.00616563 0.99975877 0.02587137] [ 0. 0. 0. 1. ]] SLAMing on 4.880714057 meters Centerline goodness : 0.996611 Centerline is valid? [True, True] Translation: X:3.03, Y:-0.10, Z:0.03 [[ 0.99921843 -0.03363401 -0.02076753 3.02554502] [ 0.03375458 0.99941511 0.00548281 -0.0984805 ] [ 0.02057098 -0.00617952 0.9997693 0.0256596 ] [ 0. 0. 0. 1. ]] SLAMing on 4.910714057 meters Centerline goodness : 0.996783 Centerline is valid? [True, True] Translation: X:3.06, Y:-0.10, Z:0.03 [[ 9.99157085e-01 -3.46315311e-02 -2.20403402e-02 3.05780001e+00] [ 3.46752254e-02 9.99397348e-01 1.60327748e-03 -9.59792015e-02] [ 2.19715336e-02 -2.36617982e-03 9.99755797e-01 2.94917147e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.940714057 meters Centerline goodness : 0.997506 Centerline is valid? [True, True] Translation: X:3.09, Y:-0.10, Z:0.03 [[ 9.99232246e-01 -3.37618990e-02 -1.98759253e-02 3.09061357e+00] [ 3.37764059e-02 9.99429337e-01 3.94527274e-04 -9.55387383e-02] [ 1.98512628e-02 -1.06556169e-03 9.99802376e-01 2.93814639e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.970714057 meters Centerline goodness : 0.997220 Centerline is valid? [True, True] Translation: X:3.12, Y:-0.09, Z:0.03 [[ 9.99260736e-01 -3.30883695e-02 -1.95740060e-02 3.12346249e+00] [ 3.31026627e-02 9.99451874e-01 4.06567763e-04 -9.39710615e-02] [ 1.95498243e-02 -1.05421892e-03 9.99808328e-01 3.07409301e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.000714057 meters Centerline goodness : 0.997487 Centerline is valid? [True, True] Translation: X:3.16, Y:-0.09, Z:0.03 [[ 0.99925859 -0.03280392 -0.02015386 3.15660066] [ 0.03272839 0.99945601 -0.00406649 -0.09320607] [ 0.02027629 0.00340388 0.99978862 0.03315482] [ 0. 0. 0. 1. ]] SLAMing on 5.030714057 meters Centerline goodness : 0.997805 Centerline is valid? [True, True] Translation: X:3.18, Y:-0.09, Z:0.03 [[ 0.99905326 -0.03804652 -0.0210961 3.17918135] [ 0.03825188 0.99922375 0.00941798 -0.0877602 ] [ 0.0207214 -0.01021603 0.99973309 0.03084207] [ 0. 0. 0. 1. ]] SLAMing on 5.060714057 meters Centerline goodness : 0.998021 Centerline is valid? [True, True] Translation: X:3.22, Y:-0.09, Z:0.04 [[ 0.99899792 -0.03679975 -0.02547413 3.22204179] [ 0.03633583 0.99916948 -0.01844079 -0.08884912] [ 0.02613159 0.01749669 0.99950538 0.04114918] [ 0. 0. 0. 1. ]] SLAMing on 5.090714057 meters Centerline goodness : 0.997029 Centerline is valid? [True, True] Translation: X:3.25, Y:-0.09, Z:0.02 [[ 0.99915509 -0.03554746 -0.02062709 3.24920222] [ 0.03587317 0.99923394 0.01564118 -0.09471161] [ 0.02005528 -0.01636793 0.99966488 0.02382987] [ 0. 0. 0. 1. ]] SLAMing on 5.120714057 meters Centerline goodness : 0.997542 Centerline is valid? [True, True] Translation: X:3.28, Y:-0.09, Z:0.03 [[ 9.98984224e-01 -3.85611006e-02 -2.33144007e-02 3.28257336e+00] [ 3.84965141e-02 9.99253569e-01 -3.21291470e-03 -8.99392950e-02] [ 2.34208916e-02 2.31212794e-03 9.99723020e-01 3.32722924e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.150714057 meters Centerline goodness : 0.997606 Centerline is valid? [True, True] Translation: X:3.31, Y:-0.09, Z:0.03 [[ 0.99902024 -0.03856122 -0.02171623 3.31422703] [ 0.03865129 0.99924575 0.00374305 -0.09116843] [ 0.02155552 -0.00457874 0.99975717 0.03053098] [ 0. 0. 0. 1. ]] SLAMing on 5.180714057 meters Centerline goodness : 0.998350 Centerline is valid? [True, True] Translation: X:3.35, Y:-0.09, Z:0.04 [[ 0.99881328 -0.04192843 -0.0247797 3.34980277] [ 0.04158951 0.99903616 -0.01403808 -0.0871828 ] [ 0.02534441 0.01299084 0.99959437 0.03996265] [ 0. 0. 0. 1. ]] SLAMing on 5.210714057 meters Centerline goodness : 0.997926 Centerline is valid? [True, True] Translation: X:3.38, Y:-0.09, Z:0.03 [[ 0.99896457 -0.04088647 -0.01995208 3.37793317] [ 0.04105916 0.99912205 0.00832322 -0.0902169 ] [ 0.01959426 -0.00913382 0.99976629 0.02810434] [ 0. 0. 0. 1. ]] SLAMing on 5.240714057 meters Centerline goodness : 0.998024 Centerline is valid? [True, True] Translation: X:3.41, Y:-0.09, Z:0.03 [[ 0.99902719 -0.04157654 -0.014699 3.41276392] [ 0.04135602 0.99903186 -0.01500087 -0.08596832] [ 0.01530845 0.01437839 0.99977943 0.03457906] [ 0. 0. 0. 1. ]] SLAMing on 5.270714057 meters Centerline goodness : 0.998543 Centerline is valid? [True, True] Translation: X:3.45, Y:-0.09, Z:0.03 [[ 0.9990749 -0.04132796 -0.01188921 3.44694652] [ 0.04099837 0.99880122 -0.02674426 -0.08521432] [ 0.01298024 0.02623208 0.9995716 0.03413245] [ 0. 0. 0. 1. ]] SLAMing on 5.3007140569999995 meters Centerline goodness : 0.998395 Centerline is valid? [True, True] Translation: X:3.48, Y:-0.09, Z:0.02 [[ 0.99907827 -0.04157847 -0.01066956 3.47880508] [ 0.04162481 0.99912466 0.00415814 -0.0898057 ] [ 0.01048733 -0.00459843 0.99993443 0.01811259] [ 0. 0. 0. 1. ]] SLAMing on 5.330714057 meters Centerline goodness : 0.998437 Centerline is valid? [True, True] Translation: X:3.50, Y:-0.09, Z:0.02 [[ 0.99867711 -0.04694753 -0.02097541 3.49665722] [ 0.0477246 0.99812886 0.03822487 -0.08681198] [ 0.0191416 -0.03917535 0.99904899 0.01666361] [ 0. 0. 0. 1. ]] SLAMing on 5.360714057 meters Centerline goodness : 0.998311 Centerline is valid? [True, True] Translation: X:3.54, Y:-0.08, Z:0.04 [[ 0.99918332 -0.03972485 -0.00739104 3.54040218] [ 0.03927168 0.99778266 -0.05373551 -0.07844784] [ 0.00950929 0.05340136 0.99852785 0.04399726] [ 0. 0. 0. 1. ]] SLAMing on 5.390714057 meters Centerline goodness : 0.997979 Centerline is valid? [True, True] Translation: X:3.57, Y:-0.09, Z:0.01 [[ 0.99915507 -0.04039453 -0.00757828 3.56962236] [ 0.04056714 0.99888358 0.0242054 -0.09062098] [ 0.00659206 -0.02449238 0.99967828 0.01029737] [ 0. 0. 0. 1. ]] SLAMing on 5.420714057 meters Centerline goodness : 0.998633 Centerline is valid? [True, True] Translation: X:3.59, Y:-0.08, Z:0.02 [[ 0.99871326 -0.04626855 -0.02076149 3.59184337] [ 0.04689326 0.99842848 0.03068552 -0.08255961] [ 0.01930908 -0.03161961 0.99931344 0.02362719] [ 0. 0. 0. 1. ]] SLAMing on 5.450714057 meters Centerline goodness : 0.998498 Centerline is valid? [True, True] Translation: X:3.63, Y:-0.08, Z:0.04 [[ 0.99905149 -0.04203529 -0.01136499 3.63311941] [ 0.04154406 0.99831692 -0.04046501 -0.07591361] [ 0.01304682 0.03995448 0.99911632 0.04471388] [ 0. 0. 0. 1. ]] SLAMing on 5.480714057 meters Centerline goodness : 0.997553 Centerline is valid? [True, True] Translation: X:3.66, Y:-0.09, Z:0.01 [[ 0.99899198 -0.04274119 -0.01371893 3.65566046] [ 0.04327506 0.9982085 0.04131658 -0.08643716] [ 0.01192843 -0.04186862 0.99905192 0.00906421] [ 0. 0. 0. 1. ]] SLAMing on 5.510714057 meters Centerline goodness : 0.998341 Centerline is valid? [True, True] Translation: X:3.69, Y:-0.08, Z:0.03 [[ 9.99238408e-01 -3.89508469e-02 -2.33151918e-03 3.69483540e+00] [ 3.88649465e-02 9.98806152e-01 -2.95937023e-02 -7.79948525e-02] [ 3.48143546e-03 2.94805496e-02 9.99559291e-01 3.37103608e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.540714057 meters Centerline goodness : 0.998363 Centerline is valid? [True, True] Translation: X:3.73, Y:-0.09, Z:0.01 [[ 9.99283670e-01 -3.78344820e-02 -8.36085828e-04 3.72526895e+00] [ 3.78434758e-02 9.99112553e-01 1.84926432e-02 -8.69162010e-02] [ 1.35684270e-04 -1.85110367e-02 9.99828647e-01 7.69946637e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.570714057 meters Centerline goodness : 0.998745 Centerline is valid? [True, True] Translation: X:3.75, Y:-0.08, Z:0.02 [[ 0.99902257 -0.04188005 -0.01414127 3.74717121] [ 0.04218818 0.99886204 0.02224349 -0.07864084] [ 0.01319362 -0.02281834 0.99965257 0.02191007] [ 0. 0. 0. 1. ]] SLAMing on 5.600714057 meters Centerline goodness : 0.997486 Centerline is valid? [True, True] Translation: X:3.78, Y:-0.07, Z:0.04 [[ 0.99879399 -0.0449076 -0.01984613 3.78082332] [ 0.04464811 0.99891384 -0.01333015 -0.07001932] [ 0.0204232 0.01242798 0.99971418 0.04391191] [ 0. 0. 0. 1. ]] SLAMing on 5.630714057 meters Centerline goodness : 0.998270 Centerline is valid? [True, True] Translation: X:3.81, Y:-0.07, Z:0.03 [[ 0.9989319 -0.04413059 -0.01369516 3.81085691] [ 0.04437888 0.99884551 0.01838911 -0.07472666] [ 0.01286783 -0.01897724 0.99973711 0.02661918] [ 0. 0. 0. 1. ]] SLAMing on 5.660714057 meters Centerline goodness : 0.997797 Centerline is valid? [True, True] Translation: X:3.84, Y:-0.07, Z:0.04 [[ 9.98917849e-01 -4.41385397e-02 -1.46601316e-02 3.84352713e+00] [ 4.41018927e-02 9.99023075e-01 -2.81387815e-03 -7.11369658e-02] [ 1.47700102e-02 2.16429356e-03 9.99888575e-01 3.85357329e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.690714057 meters Centerline goodness : 0.998028 Centerline is valid? [True, True] Translation: X:3.88, Y:-0.07, Z:0.03 [[ 9.99084134e-01 -4.25924822e-02 4.09553522e-03 3.88237944e+00] [ 4.26404945e-02 9.99012861e-01 -1.24535794e-02 -7.41148737e-02] [-3.56106350e-03 1.26168092e-02 9.99914064e-01 3.18587430e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.720714057 meters Centerline goodness : 0.998082 Centerline is valid? [True, True] Translation: X:3.92, Y:-0.07, Z:0.04 [[ 0.99896983 -0.04501205 -0.00576208 3.91846467] [ 0.04480889 0.99849775 -0.03153411 -0.07049401] [ 0.00717284 0.03124343 0.99948607 0.04004014] [ 0. 0. 0. 1. ]] SLAMing on 5.750714057 meters Centerline goodness : 0.998182 Centerline is valid? [True, True] Translation: X:3.94, Y:-0.08, Z:0.02 [[ 0.99907582 -0.04258396 -0.00584028 3.94301426] [ 0.04263975 0.99904258 0.00978685 -0.07781761] [ 0.00541793 -0.01002684 0.99993505 0.01799938] [ 0. 0. 0. 1. ]] SLAMing on 5.780714057 meters Centerline goodness : 0.998309 Centerline is valid? [True, True] Translation: X:3.98, Y:-0.08, Z:0.01 [[ 0.99894007 -0.04585269 0.00403237 3.97838421] [ 0.04572359 0.99856847 0.02775534 -0.08039026] [-0.00529926 -0.02754155 0.99960661 0.00692927] [ 0. 0. 0. 1. ]] SLAMing on 5.810714057 meters Centerline goodness : 0.998102 Centerline is valid? [True, True] Translation: X:4.01, Y:-0.07, Z:0.02 [[ 9.98925350e-01 -4.63187765e-02 1.64819831e-03 4.00931996e+00] [ 4.63164646e-02 9.98925816e-01 1.41428973e-03 -7.43579651e-02] [-1.71193601e-03 -1.33643115e-03 9.99997642e-01 2.16895338e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.840714057 meters Centerline goodness : 0.998506 Centerline is valid? [True, True] Translation: X:4.04, Y:-0.07, Z:0.02 [[ 9.98963680e-01 -4.54577271e-02 2.27159336e-03 4.04150390e+00] [ 4.54574271e-02 9.98966260e-01 1.83527113e-04 -7.25396120e-02] [-2.27758785e-03 -8.00761312e-05 9.99997403e-01 2.35433505e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.870714057 meters Centerline goodness : 0.997885 Centerline is valid? [True, True] Translation: X:4.08, Y:-0.07, Z:0.03 [[ 0.99906905 -0.04274766 0.00580259 4.07764234] [ 0.0428448 0.99892316 -0.01780019 -0.07126762] [-0.00503543 0.01803223 0.99982473 0.02772641] [ 0. 0. 0. 1. ]] SLAMing on 5.900714057 meters Centerline goodness : 0.998250 Centerline is valid? [True, True] Translation: X:4.11, Y:-0.07, Z:0.03 [[ 0.99898137 -0.04414296 -0.00936028 4.11003984] [ 0.04406918 0.99899686 -0.00794819 -0.07088048] [ 0.00970175 0.00752759 0.9999246 0.02971051] [ 0. 0. 0. 1. ]] SLAMing on 5.930714057 meters Centerline goodness : 0.998080 Centerline is valid? [True, True] Translation: X:4.14, Y:-0.08, Z:0.01 [[ 9.99211320e-01 -3.95867923e-02 3.10225667e-03 4.13994127e+00] [ 3.94832971e-02 9.98818692e-01 2.83247311e-02 -7.65925977e-02] [-4.21987719e-03 -2.81799046e-02 9.99593960e-01 7.75918241e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.960714057 meters Centerline goodness : 0.998314 Centerline is valid? [True, True] Translation: X:4.17, Y:-0.07, Z:0.02 [[ 0.9992684 -0.03787559 0.00530067 4.17483966] [ 0.03791529 0.99925206 -0.00759994 -0.0701846 ] [-0.00500885 0.00779536 0.99995707 0.02309039] [ 0. 0. 0. 1. ]] SLAMing on 5.990714057 meters Centerline goodness : 0.998254 Centerline is valid? [True, True] Translation: X:4.20, Y:-0.07, Z:0.02 [[ 9.99355377e-01 -3.58451338e-02 1.98893877e-03 4.20368406e+00] [ 3.58276421e-02 9.99324131e-01 8.22566973e-03 -7.12284746e-02] [-2.28244473e-03 -8.14910829e-03 9.99964191e-01 1.75718554e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.020714057 meters Centerline goodness : 0.997672 Centerline is valid? [True, True] Translation: X:4.24, Y:-0.07, Z:0.02 [[ 9.99412098e-01 -3.42119283e-02 2.23644370e-03 4.23681043e+00] [ 3.42148156e-02 9.99413700e-01 -1.26574152e-03 -6.96822017e-02] [-2.19182901e-03 1.34151690e-03 9.99996698e-01 2.22241196e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.0507140569999995 meters Centerline goodness : 0.998122 Centerline is valid? [True, True] Translation: X:4.27, Y:-0.07, Z:0.02 [[ 9.99376939e-01 -3.52452990e-02 1.87137380e-03 4.26653755e+00] [ 3.52518670e-02 9.99371972e-01 -3.60106201e-03 -6.58423225e-02] [-1.74327802e-03 3.66478775e-03 9.99991765e-01 2.36309273e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.080714057 meters Centerline goodness : 0.997823 Centerline is valid? [True, True] Translation: X:4.30, Y:-0.07, Z:0.02 [[ 9.99520242e-01 -3.08988758e-02 2.13203669e-03 4.30115102e+00] [ 3.08889611e-02 9.99512528e-01 4.53633906e-03 -7.03265009e-02] [-2.27116515e-03 -4.46830631e-03 9.99987438e-01 1.97680188e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.110714057 meters Centerline goodness : 0.998164 Centerline is valid? [True, True] Translation: X:4.34, Y:-0.07, Z:0.02 [[ 9.99534647e-01 -3.02533347e-02 3.90190195e-03 4.33549993e+00] [ 3.02797536e-02 9.99517651e-01 -6.89941237e-03 -6.89801337e-02] [-3.69128964e-03 7.01435034e-03 9.99968586e-01 2.30599657e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.140714057 meters Centerline goodness : 0.997877 Centerline is valid? [True, True] Translation: X:4.37, Y:-0.07, Z:0.02 [[ 9.99580053e-01 -2.87903881e-02 3.29109489e-03 4.36702238e+00] [ 2.88121391e-02 9.99561954e-01 -6.76462379e-03 -7.02955018e-02] [-3.09489709e-03 6.85660649e-03 9.99971704e-01 1.98056106e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.170714057 meters Centerline goodness : 0.997393 Centerline is valid? [True, True] Translation: X:4.40, Y:-0.07, Z:0.01 [[ 9.99586819e-01 -2.86059925e-02 2.80867955e-03 4.39675222e+00] [ 2.85928469e-02 9.99580492e-01 4.61399157e-03 -7.27137539e-02] [-2.93948910e-03 -4.53177701e-03 9.99985411e-01 1.47987251e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.200714057 meters Centerline goodness : 0.997682 Centerline is valid? [True, True] Translation: X:4.43, Y:-0.07, Z:0.02 [[ 9.99611223e-01 -2.77232163e-02 2.97103995e-03 4.43032548e+00] [ 2.77322066e-02 9.99610800e-01 -3.02872233e-03 -7.20284059e-02] [-2.88591770e-03 3.10993833e-03 9.99991000e-01 1.75720751e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.230714057 meters Centerline goodness : 0.997733 Centerline is valid? [True, True] Translation: X:4.46, Y:-0.07, Z:0.01 [[ 9.99630356e-01 -2.71758533e-02 7.89592113e-04 4.45987063e+00] [ 2.71688352e-02 9.99600089e-01 7.84322002e-03 -7.29342398e-02] [-1.00242254e-03 -7.81886853e-03 9.99968930e-01 1.43752830e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.260714057 meters Centerline goodness : 0.998080 Centerline is valid? [True, True] Translation: X:4.50, Y:-0.07, Z:0.02 [[ 9.99659312e-01 -2.56658481e-02 4.74600536e-03 4.49600430e+00] [ 2.57374812e-02 9.99545374e-01 -1.57043694e-02 -6.95960419e-02] [-4.34078175e-03 1.58211694e-02 9.99865415e-01 2.20096932e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.290714057 meters Centerline goodness : 0.997937 Centerline is valid? [True, True] Translation: X:4.53, Y:-0.07, Z:0.01 [[ 9.99712339e-01 -2.36218149e-02 4.15325299e-03 4.52502664e+00] [ 2.35939221e-02 9.99699565e-01 6.64131247e-03 -7.33929069e-02] [-4.30888506e-03 -6.54141049e-03 9.99969321e-01 1.19474749e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.320714057 meters Centerline goodness : 0.998074 Centerline is valid? [True, True] Translation: X:4.56, Y:-0.07, Z:0.01 [[ 9.99719709e-01 -2.33862454e-02 3.68615341e-03 4.55653657e+00] [ 2.33622600e-02 9.99706445e-01 6.42091031e-03 -7.36382434e-02] [-3.83523231e-03 -6.33299371e-03 9.99972592e-01 1.28930867e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.350714057 meters Centerline goodness : 0.998258 Centerline is valid? [True, True] Translation: X:4.59, Y:-0.07, Z:0.02 [[ 9.99741216e-01 -2.25026351e-02 3.33655493e-03 4.58821710e+00] [ 2.25149208e-02 9.99739692e-01 -3.69149602e-03 -7.31994475e-02] [-3.25261801e-03 3.76566299e-03 9.99987620e-01 1.75595715e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.380714057 meters Centerline goodness : 0.998124 Centerline is valid? [True, True] Translation: X:4.62, Y:-0.07, Z:0.02 [[ 9.99728077e-01 -2.32886929e-02 1.18734489e-03 4.62126640e+00] [ 2.32938474e-02 9.99718399e-01 -4.52988184e-03 -7.31874484e-02] [-1.08151550e-03 4.55630789e-03 9.99989035e-01 1.71146157e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.410714057 meters Centerline goodness : 0.997982 Centerline is valid? [True, True] Translation: X:4.66, Y:-0.07, Z:0.01 [[ 9.99759453e-01 -2.16345352e-02 3.60330154e-03 4.65525014e+00] [ 2.16644361e-02 9.99729361e-01 -8.47687350e-03 -7.44105912e-02] [-3.41893313e-03 8.55289791e-03 9.99957579e-01 1.47619699e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.440714057 meters Centerline goodness : 0.998285 Centerline is valid? [True, True] Translation: X:4.69, Y:-0.08, Z:0.01 [[ 9.99792308e-01 -2.02428327e-02 2.35966369e-03 4.68658804e+00] [ 2.02435276e-02 9.99795042e-01 -2.70989376e-04 -7.72515987e-02] [-2.35369447e-03 3.18701011e-04 9.99997179e-01 1.08503812e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.470714057 meters Centerline goodness : 0.998310 Centerline is valid? [True, True] Translation: X:4.72, Y:-0.08, Z:0.01 [[ 0.99983622 -0.01724262 0.00549803 4.7213712 ] [ 0.01734263 0.99967484 -0.01869358 -0.07532456] [-0.00517391 0.01878587 0.99981014 0.01451914] [ 0. 0. 0. 1. ]] SLAMing on 6.500714057 meters Centerline goodness : 0.997630 Centerline is valid? [True, True] Translation: X:4.75, Y:-0.08, Z:0.00 [[ 9.99851001e-01 -1.67656726e-02 4.10960005e-03 4.75118994e+00] [ 1.67155806e-02 9.99789056e-01 1.19344854e-02 -8.22374918e-02] [-4.30882283e-03 -1.18640128e-02 9.99920336e-01 1.32316889e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.530714057 meters Centerline goodness : 0.997902 Centerline is valid? [True, True] Translation: X:4.78, Y:-0.08, Z:0.01 [[ 9.99851279e-01 -1.68398961e-02 3.71995278e-03 4.78405943e+00] [ 1.68381253e-02 9.99858100e-01 5.06830452e-04 -8.03753962e-02] [-3.72795989e-03 -4.44118044e-04 9.99992953e-01 7.90095042e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.560714057 meters Centerline goodness : 0.997710 Centerline is valid? [True, True] Translation: X:4.81, Y:-0.08, Z:0.01 [[ 9.99861671e-01 -1.63609934e-02 2.99284241e-03 4.81461457e+00] [ 1.63684405e-02 9.99862950e-01 -2.48097604e-03 -8.13416598e-02] [-2.95184101e-03 2.52962101e-03 9.99992444e-01 8.94550754e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.590714057 meters Centerline goodness : 0.998181 Centerline is valid? [True, True] Translation: X:4.85, Y:-0.08, Z:0.01 [[ 9.99846813e-01 -1.71498488e-02 3.49749385e-03 4.84741676e+00] [ 1.71584865e-02 9.99849769e-01 -2.45480230e-03 -8.28907075e-02] [-3.45486893e-03 2.51443796e-03 9.99990871e-01 8.09389218e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.620714057 meters Centerline goodness : 0.998181 Centerline is valid? [True, True] Translation: X:4.88, Y:-0.08, Z:0.01 [[ 9.99844862e-01 -1.73480961e-02 3.04881368e-03 4.88006822e+00] [ 1.73481717e-02 9.99849509e-01 1.64840812e-06 -8.41721095e-02] [-3.04838346e-03 5.12431909e-05 9.99995352e-01 7.50072920e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.650714057 meters Centerline goodness : 0.998010 Centerline is valid? [True, True] Translation: X:4.91, Y:-0.09, Z:0.01 [[ 9.99819620e-01 -1.89667749e-02 9.94210867e-04 4.91084719e+00] [ 1.89571542e-02 9.99780438e-01 8.92757019e-03 -8.71513616e-02] [-1.16331979e-03 -8.90711243e-03 9.99959654e-01 5.17279486e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.680714057 meters Centerline goodness : 0.997834 Centerline is valid? [True, True] Translation: X:4.94, Y:-0.09, Z:0.01 [[ 9.99804850e-01 -1.97481310e-02 5.22350035e-04 4.94363629e+00] [ 1.97483101e-02 9.99804925e-01 -3.40064118e-04 -8.55721499e-02] [-5.15532507e-04 3.50313285e-04 9.99999806e-01 9.80460657e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.710714057 meters Centerline goodness : 0.997934 Centerline is valid? [True, True] Translation: X:4.97, Y:-0.09, Z:0.01 [[ 9.99760671e-01 -2.17640542e-02 -2.21947879e-03 4.97160965e+00] [ 2.17909159e-02 9.99679359e-01 1.28971101e-02 -8.93594221e-02] [ 1.93807373e-03 -1.29423879e-02 9.99914366e-01 6.84341181e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.740714057 meters Centerline goodness : 0.997647 Centerline is valid? [True, True] Translation: X:5.00, Y:-0.09, Z:0.02 [[ 9.99734379e-01 -2.29464780e-02 -2.15188010e-03 5.00449683e+00] [ 2.29346819e-02 9.99722624e-01 -5.35493374e-03 -8.68115165e-02] [ 2.27416009e-03 5.30415868e-03 9.99983347e-01 1.52227338e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.770714057 meters Centerline goodness : 0.997139 Centerline is valid? [True, True] Translation: X:5.04, Y:-0.09, Z:0.01 [[ 9.99710889e-01 -2.39326695e-02 -2.31621226e-03 5.03659679e+00] [ 2.39255996e-02 9.99709140e-01 -3.03339765e-03 -8.96365705e-02] [ 2.38813587e-03 2.97710389e-03 9.99992717e-01 1.40054540e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.8007140569999995 meters Centerline goodness : 0.998137 Centerline is valid? [True, True] Translation: X:5.07, Y:-0.09, Z:0.01 [[ 9.99604114e-01 -2.80699396e-02 -1.92206219e-03 5.06936476e+00] [ 2.80778753e-02 9.99596770e-01 4.23432232e-03 -9.28253951e-02] [ 1.80242998e-03 -4.28661343e-03 9.99989188e-01 1.12371903e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.830714057 meters Centerline goodness : 0.997932 Centerline is valid? [True, True] Translation: X:5.10, Y:-0.10, Z:0.01 [[ 9.99549023e-01 -3.00253002e-02 -4.81956839e-04 5.10153747e+00] [ 3.00260419e-02 9.99547814e-01 1.61360647e-03 -9.50504812e-02] [ 4.33289886e-04 -1.62735003e-03 9.99998582e-01 1.23810662e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.860714057 meters Centerline goodness : 0.997810 Centerline is valid? [True, True] Translation: X:5.13, Y:-0.10, Z:0.01 [[ 9.99459786e-01 -3.28507424e-02 -9.82475281e-04 5.13125772e+00] [ 3.28533912e-02 9.99456221e-01 2.81378118e-03 -9.73608156e-02] [ 8.89506230e-04 -2.84453878e-03 9.99995559e-01 1.31878001e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.890714057 meters Centerline goodness : 0.997993 Centerline is valid? [True, True] Translation: X:5.16, Y:-0.10, Z:0.01 [[ 9.99421858e-01 -3.39725579e-02 1.34745447e-03 5.16463781e+00] [ 3.39798170e-02 9.99405745e-01 -5.79037685e-03 -9.77083370e-02] [-1.14993982e-03 5.83281544e-03 9.99982328e-01 1.49584787e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.920714057 meters Centerline goodness : 0.998079 Centerline is valid? [True, True] Translation: X:5.20, Y:-0.10, Z:0.01 [[ 9.99421540e-01 -3.40084769e-02 9.04146414e-05 5.19659721e+00] [ 3.40078967e-02 9.99414490e-01 3.76043104e-03 -1.01626445e-01] [-2.18248235e-04 -3.75518097e-03 9.99992925e-01 1.14401994e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.950714057 meters Centerline goodness : 0.998131 Centerline is valid? [True, True] Translation: X:5.23, Y:-0.10, Z:0.01 [[ 9.99405232e-01 -3.44714311e-02 -9.49604823e-04 5.22747674e+00] [ 3.44747473e-02 9.99398606e-01 3.73076249e-03 -1.04702449e-01] [ 8.20429014e-04 -3.76128094e-03 9.99992590e-01 1.31079056e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.980714057 meters Centerline goodness : 0.997895 Centerline is valid? [True, True] Translation: X:5.26, Y:-0.11, Z:0.02 [[ 9.99390813e-01 -3.48977379e-02 3.88910483e-04 5.26149248e+00] [ 3.48988903e-02 9.99384677e-01 -3.51216674e-03 -1.05718419e-01] [-2.66104504e-04 3.52359972e-03 9.99993757e-01 1.59055932e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.0107140569999995 meters Centerline goodness : 0.997878 Centerline is valid? [True, True] Translation: X:5.29, Y:-0.11, Z:0.01 [[ 9.99370588e-01 -3.54655768e-02 -7.88079471e-04 5.29297930e+00] [ 3.54653863e-02 9.99370873e-01 -2.54424334e-04 -1.09151965e-01] [ 7.96606974e-04 2.26314653e-04 9.99999657e-01 1.41686195e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.040714057 meters Centerline goodness : 0.997668 Centerline is valid? [True, True] Translation: X:5.32, Y:-0.12, Z:0.01 [[ 9.99348913e-01 -3.60741645e-02 6.36524474e-04 5.32404173e+00] [ 3.60551603e-02 9.99163196e-01 1.93114942e-02 -1.15627798e-01] [-1.33263785e-03 -1.92759708e-02 9.99813313e-01 6.02598338e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.070714057 meters Centerline goodness : 0.998093 Centerline is valid? [True, True] Translation: X:5.36, Y:-0.11, Z:0.02 [[ 9.99333648e-01 -3.64331683e-02 -2.20992391e-03 5.35761870e+00] [ 3.64056919e-02 9.99271975e-01 -1.14081236e-02 -1.10211868e-01] [ 2.62394912e-03 1.13200680e-02 9.99932483e-01 2.10929238e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.100714057 meters Centerline goodness : 0.998096 Centerline is valid? [True, True] Translation: X:5.39, Y:-0.11, Z:0.02 [[ 9.99412249e-01 -3.42179160e-02 -2.07128235e-03 5.38836900e+00] [ 3.42112584e-02 9.99409601e-01 -3.16860818e-03 -1.14708857e-01] [ 2.17848263e-03 3.09588465e-03 9.99992835e-01 1.61382495e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.130714057 meters Centerline goodness : 0.998148 Centerline is valid? [True, True] Translation: X:5.42, Y:-0.12, Z:0.01 [[ 9.99416964e-01 -3.39148829e-02 -3.93867721e-03 5.41998458e+00] [ 3.39437625e-02 9.99395507e-01 7.51278232e-03 -1.16400576e-01] [ 3.68150118e-03 -7.64209562e-03 9.99964022e-01 1.40532803e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.160714057 meters Centerline goodness : 0.997966 Centerline is valid? [True, True] Translation: X:5.45, Y:-0.12, Z:0.02 [[ 9.99474041e-01 -3.22730486e-02 -3.17676442e-03 5.45170170e+00] [ 3.22774968e-02 9.99478022e-01 1.35903332e-03 -1.16001384e-01] [ 3.13124607e-03 -1.46085653e-03 9.99994031e-01 2.01977536e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.190714057 meters Centerline goodness : 0.998251 Centerline is valid? [True, True] Translation: X:5.49, Y:-0.12, Z:0.02 [[ 9.99527553e-01 -3.06737689e-02 -1.94701152e-03 5.48523819e+00] [ 3.06709516e-02 9.99528468e-01 -1.46076513e-03 -1.16661388e-01] [ 1.99090061e-03 1.40035830e-03 9.99997038e-01 2.13436735e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.2207140569999995 meters Centerline goodness : 0.998035 Centerline is valid? [True, True] Translation: X:5.52, Y:-0.12, Z:0.02 [[ 9.99559825e-01 -2.95722178e-02 -2.37493312e-03 5.51712922e+00] [ 2.95778909e-02 9.99559621e-01 2.39024233e-03 -1.18348049e-01] [ 2.30320248e-03 -2.45943572e-03 9.99994323e-01 2.09375942e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.250714057 meters Centerline goodness : 0.998141 Centerline is valid? [True, True] Translation: X:5.55, Y:-0.12, Z:0.02 [[ 9.99557163e-01 -2.95468048e-02 -3.53043104e-03 5.54949261e+00] [ 2.95696060e-02 9.99540994e-01 6.59092845e-03 -1.19602846e-01] [ 3.33406967e-03 -6.69240320e-03 9.99972047e-01 2.18947791e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.280714057 meters Centerline goodness : 0.997623 Centerline is valid? [True, True] Translation: X:5.58, Y:-0.12, Z:0.02 [[ 9.99596308e-01 -2.82110650e-02 -3.37003440e-03 5.58004260e+00] [ 2.82239526e-02 9.99594250e-01 3.83987660e-03 -1.19930141e-01] [ 3.26034000e-03 -3.93344217e-03 9.99986949e-01 2.44767691e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.310714057 meters Centerline goodness : 0.997915 Centerline is valid? [True, True] Translation: X:5.61, Y:-0.12, Z:0.03 [[ 9.99616245e-01 -2.76957940e-02 -5.53097035e-04 5.61318529e+00] [ 2.76903265e-02 9.99582844e-01 -8.20879571e-03 -1.19046846e-01] [ 7.80215421e-04 8.19033010e-03 9.99966154e-01 2.70874543e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.340714057 meters Centerline goodness : 0.997986 Centerline is valid? [True, True] Translation: X:5.64, Y:-0.12, Z:0.03 [[ 0.99965596 -0.02560665 -0.00567959 5.64088735] [ 0.02557112 0.99965352 -0.00624131 -0.12065273] [ 0.00583744 0.00609393 0.99996439 0.02893052] [ 0. 0. 0. 1. ]] SLAMing on 7.370714057 meters Centerline goodness : 0.997497 Centerline is valid? [True, True] Translation: X:5.68, Y:-0.13, Z:0.02 [[ 9.99670579e-01 -2.53503600e-02 -4.01152140e-03 5.67515315e+00] [ 2.53794277e-02 9.99650729e-01 7.36911753e-03 -1.25454290e-01] [ 3.82331051e-03 -7.46850011e-03 9.99964801e-01 2.23276965e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.400714057 meters Centerline goodness : 0.997525 Centerline is valid? [True, True] Translation: X:5.71, Y:-0.13, Z:0.03 [[ 9.99678898e-01 -2.50339192e-02 -3.92477266e-03 5.70689921e+00] [ 2.50374124e-02 9.99686159e-01 8.43425592e-04 -1.25488482e-01] [ 3.90242665e-03 -9.41420918e-04 9.99991942e-01 2.55722364e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.430714057 meters Centerline goodness : 0.998021 Centerline is valid? [True, True] Translation: X:5.74, Y:-0.13, Z:0.02 [[ 9.99657311e-01 -2.58986708e-02 -3.81042137e-03 5.74162317e+00] [ 2.59188156e-02 9.99649810e-01 5.33594453e-03 -1.27849855e-01] [ 3.67089313e-03 -5.43287757e-03 9.99978504e-01 2.37688472e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.460714057 meters Centerline goodness : 0.997834 Centerline is valid? [True, True] Translation: X:5.77, Y:-0.13, Z:0.03 [[ 9.99668396e-01 -2.53093363e-02 -4.74708986e-03 5.77396277e+00] [ 2.53114436e-02 9.99679540e-01 3.84365133e-04 -1.28608726e-01] [ 4.73584058e-03 -5.04393374e-04 9.99988659e-01 2.71724249e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.490714057 meters Centerline goodness : 0.998182 Centerline is valid? [True, True] Translation: X:5.81, Y:-0.13, Z:0.03 [[ 9.99676983e-01 -2.50436809e-02 -4.32941046e-03 5.80537464e+00] [ 2.50505638e-02 9.99684995e-01 1.54293366e-03 -1.30893046e-01] [ 4.28940594e-03 -1.65088944e-03 9.99989438e-01 2.72096148e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.520714057 meters Centerline goodness : 0.998360 Centerline is valid? [True, True] Translation: X:5.84, Y:-0.13, Z:0.03 [[ 9.99709950e-01 -2.40384090e-02 -1.47323659e-03 5.84059818e+00] [ 2.40179440e-02 9.99631942e-01 -1.26142703e-02 -1.30091154e-01] [ 1.77592134e-03 1.25752275e-02 9.99919352e-01 3.05946116e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.5507140569999995 meters Centerline goodness : 0.997849 Centerline is valid? [True, True] Translation: X:5.87, Y:-0.13, Z:0.03 [[ 9.99787445e-01 -2.05524937e-02 -1.63096839e-03 5.87116881e+00] [ 2.05524947e-02 9.99788775e-01 -1.61968007e-05 -1.34424062e-01] [ 1.63095677e-03 -1.73271111e-05 9.99998670e-01 2.62719405e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.580714057 meters Centerline goodness : 0.997720 Centerline is valid? [True, True] Translation: X:5.91, Y:-0.14, Z:0.03 [[ 9.99833970e-01 -1.82202323e-02 2.36653472e-04 5.90638423e+00] [ 1.82214488e-02 9.99809082e-01 -7.05531739e-03 -1.35092067e-01] [-1.08058769e-04 7.05845816e-03 9.99975083e-01 2.69834283e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.610714057 meters Centerline goodness : 0.998152 Centerline is valid? [True, True] Translation: X:5.94, Y:-0.14, Z:0.02 [[ 9.99848894e-01 -1.73815921e-02 -2.63615356e-04 5.93846119e+00] [ 1.73820476e-02 9.99847233e-01 1.83716648e-03 -1.37885346e-01] [ 2.31642206e-04 -1.84147105e-03 9.99998278e-01 2.32442674e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.640714057 meters Centerline goodness : 0.997867 Centerline is valid? [True, True] Translation: X:5.97, Y:-0.14, Z:0.02 [[ 9.99880325e-01 -1.54697191e-02 -1.54487991e-04 5.97250367e+00] [ 1.54692975e-02 9.99877380e-01 -2.43432306e-03 -1.39552132e-01] [ 1.92127341e-04 2.43164191e-03 9.99997025e-01 2.45426356e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.670714057 meters Centerline goodness : 0.998074 Centerline is valid? [True, True] Translation: X:6.01, Y:-0.14, Z:0.03 [[ 9.99897112e-01 -1.43440975e-02 1.07174676e-04 6.00540934e+00] [ 1.43444627e-02 9.99883298e-01 -5.25620963e-03 -1.41047668e-01] [-3.17665850e-05 5.25720620e-03 9.99986180e-01 2.51867951e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.700714057 meters Centerline goodness : 0.998233 Centerline is valid? [True, True] Translation: X:6.04, Y:-0.14, Z:0.02 [[ 9.99910610e-01 -1.33573782e-02 -5.93788516e-04 6.03873581e+00] [ 1.33587170e-02 9.99908098e-01 2.31098182e-03 -1.44866950e-01] [ 5.62865287e-04 -2.31870749e-03 9.99997153e-01 2.21637747e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.730714057 meters Centerline goodness : 0.997720 Centerline is valid? [True, True] Translation: X:6.07, Y:-0.15, Z:0.02 [[ 9.99924071e-01 -1.22573863e-02 -1.26864713e-03 6.06965781e+00] [ 1.22591448e-02 9.99923891e-01 1.38778390e-03 -1.46455878e-01] [ 1.25153997e-03 -1.40323105e-03 9.99998232e-01 2.33264857e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.7607140569999995 meters Centerline goodness : 0.998137 Centerline is valid? [True, True] Translation: X:6.10, Y:-0.15, Z:0.02 [[ 9.99923233e-01 -1.22521437e-02 -1.84770087e-03 6.10121887e+00] [ 1.22543236e-02 9.99924225e-01 1.17314176e-03 -1.47814023e-01] [ 1.83318736e-03 -1.19569403e-03 9.99997605e-01 2.43357386e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.790714057 meters Centerline goodness : 0.998368 Centerline is valid? [True, True] Translation: X:6.13, Y:-0.15, Z:0.03 [[ 9.99917628e-01 -1.24773552e-02 -3.00877895e-03 6.13272817e+00] [ 1.24815788e-02 9.99921137e-01 1.38909739e-03 -1.48997098e-01] [ 2.99120941e-03 -1.42653728e-03 9.99994509e-01 2.57434821e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.820714057 meters Centerline goodness : 0.998089 Centerline is valid? [True, True] Translation: X:6.16, Y:-0.15, Z:0.02 [[ 9.99907237e-01 -1.29946820e-02 -4.08119299e-03 6.16467816e+00] [ 1.30331182e-02 9.99869584e-01 9.53690556e-03 -1.52896610e-01] [ 3.95673168e-03 -9.58921155e-03 9.99946194e-01 2.40294666e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.850714057 meters Centerline goodness : 0.997727 Centerline is valid? [True, True] Translation: X:6.20, Y:-0.15, Z:0.03 [[ 9.99887380e-01 -1.44263830e-02 -4.13600433e-03 6.19818571e+00] [ 1.44317579e-02 9.99895047e-01 1.27265973e-03 -1.53138314e-01] [ 4.11721037e-03 -1.33220622e-03 9.99990637e-01 2.85563397e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.880714057 meters Centerline goodness : 0.997556 Centerline is valid? [True, True] Translation: X:6.23, Y:-0.16, Z:0.03 [[ 9.99848260e-01 -1.65857348e-02 -5.32630715e-03 6.22953575e+00] [ 1.66102130e-02 9.99851529e-01 4.58485012e-03 -1.56202584e-01] [ 5.24947324e-03 -4.67262551e-03 9.99975304e-01 2.90137818e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.910714057 meters Centerline goodness : 0.997696 Centerline is valid? [True, True] Translation: X:6.26, Y:-0.16, Z:0.03 [[ 9.99821965e-01 -1.82310924e-02 -4.86471457e-03 6.26114075e+00] [ 1.82307519e-02 9.99833799e-01 -1.14330002e-04 -1.56751205e-01] [ 4.86599041e-03 2.56222424e-05 9.99988161e-01 3.13127890e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.940714057 meters Centerline goodness : 0.997931 Centerline is valid? [True, True] Translation: X:6.29, Y:-0.16, Z:0.03 [[ 9.99768388e-01 -2.03719367e-02 -6.93930800e-03 6.29343747e+00] [ 2.03978377e-02 9.99785161e-01 3.68240281e-03 -1.58496179e-01] [ 6.86279949e-03 -3.82309680e-03 9.99969142e-01 3.19972513e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.9707140569999995 meters Centerline goodness : 0.997096 Centerline is valid? [True, True] Translation: X:6.33, Y:-0.16, Z:0.03 [[ 9.99668705e-01 -2.43443421e-02 -8.35658166e-03 6.32524391e+00] [ 2.43775954e-02 9.99695212e-01 3.90076154e-03 -1.60402644e-01] [ 8.25907320e-03 -4.10318261e-03 9.99957475e-01 3.37585508e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.000714057 meters Centerline goodness : 0.997784 Centerline is valid? [True, True] Translation: X:6.36, Y:-0.16, Z:0.03 [[ 9.99633153e-01 -2.59271424e-02 -7.83211145e-03 6.35770258e+00] [ 2.59493532e-02 9.99659483e-01 2.74766270e-03 -1.61771511e-01] [ 7.75820544e-03 -2.94989296e-03 9.99965554e-01 3.45527627e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.030714056999999 meters Centerline goodness : 0.996878 Centerline is valid? [True, True] Translation: X:6.39, Y:-0.16, Z:0.04 [[ 9.99560790e-01 -2.84021153e-02 -8.45852914e-03 6.38889474e+00] [ 2.83880082e-02 9.99595389e-01 -1.78323887e-03 -1.63671334e-01] [ 8.50575448e-03 1.54233485e-03 9.99962636e-01 3.67020036e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.060714056999998 meters Centerline goodness : 0.996856 Centerline is valid? [True, True] Translation: X:6.42, Y:-0.16, Z:0.04 [[ 0.99955664 -0.02904399 -0.0065549 6.4230782 ] [ 0.02899542 0.99955225 -0.00738736 -0.1649814 ] [ 0.00676653 0.00719402 0.99995123 0.03692397] [ 0. 0. 0. 1. ]] SLAMing on 8.090714057 meters Centerline goodness : 0.997441 Centerline is valid? [True, True] Translation: X:6.45, Y:-0.17, Z:0.03 [[ 0.99948425 -0.03111282 -0.00795113 6.45435775] [ 0.03117165 0.99948676 0.00738547 -0.16858447] [ 0.00771727 -0.00762951 0.99994112 0.03237751] [ 0. 0. 0. 1. ]] SLAMing on 8.120714056999999 meters Centerline goodness : 0.997116 Centerline is valid? [True, True] Translation: X:6.48, Y:-0.17, Z:0.04 [[ 0.99938255 -0.03385056 -0.00941535 6.48449783] [ 0.0339324 0.9993865 0.00867261 -0.16920551] [ 0.009116 -0.00898674 0.99991807 0.0353993 ] [ 0. 0. 0. 1. ]] SLAMing on 8.150714056999998 meters Centerline goodness : 0.997123 Centerline is valid? [True, True] Translation: X:6.52, Y:-0.17, Z:0.04 [[ 9.99347032e-01 -3.49724718e-02 -9.07936522e-03 6.51771692e+00] [ 3.49808857e-02 9.99387685e-01 7.69510859e-04 -1.68889866e-01] [ 9.04689409e-03 -1.08661263e-03 9.99958486e-01 3.96282607e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.180714057 meters Centerline goodness : 0.997352 Centerline is valid? [True, True] Translation: X:6.55, Y:-0.17, Z:0.04 [[ 0.99935447 -0.03530607 -0.00664278 6.55132222] [ 0.03525637 0.99935049 -0.00745514 -0.16950768] [ 0.00690167 0.00721613 0.99995015 0.04213211] [ 0. 0. 0. 1. ]] SLAMing on 8.210714056999999 meters Centerline goodness : 0.996974 Centerline is valid? [True, True] Translation: X:6.58, Y:-0.17, Z:0.04 [[ 0.99932263 -0.03591765 -0.00801244 6.58286463] [ 0.03597196 0.99933007 0.00673941 -0.17221904] [ 0.00776501 -0.00702307 0.99994519 0.03845036] [ 0. 0. 0. 1. ]] SLAMing on 8.240714056999998 meters Centerline goodness : 0.997068 Centerline is valid? [True, True] Translation: X:6.62, Y:-0.17, Z:0.04 [[ 9.99300554e-01 -3.66420834e-02 -7.46727722e-03 6.61583083e+00] [ 3.66060589e-02 9.99317735e-01 -4.90524073e-03 -1.69578355e-01] [ 7.64192080e-03 4.62846219e-03 9.99960088e-01 4.29741625e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.270714057 meters Centerline goodness : 0.996757 Centerline is valid? [True, True] Translation: X:6.65, Y:-0.17, Z:0.04 [[ 9.99311424e-01 -3.61657918e-02 -8.28936185e-03 6.64897463e+00] [ 3.61500868e-02 9.99344297e-01 -2.03671826e-03 -1.72530194e-01] [ 8.35758601e-03 1.73565467e-03 9.99963568e-01 3.97890516e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.300714056999999 meters Centerline goodness : 0.996859 Centerline is valid? [True, True] Translation: X:6.68, Y:-0.17, Z:0.04 [[ 9.99305900e-01 -3.64327032e-02 -7.77021910e-03 6.68147915e+00] [ 3.64293331e-02 9.99336066e-01 -5.74857424e-04 -1.74612733e-01] [ 7.78600380e-03 2.91394515e-04 9.99969646e-01 3.80838638e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.330714057 meters Centerline goodness : 0.995747 Centerline is valid? [True, True] Translation: X:6.71, Y:-0.18, Z:0.04 [[ 0.99941138 -0.03321247 -0.00859207 6.70502351] [ 0.03311776 0.99939158 -0.01093989 -0.17510425] [ 0.00895019 0.0106489 0.99990324 0.04190558] [ 0. 0. 0. 1. ]] SLAMing on 8.360714057 meters Centerline goodness : 0.997190 Centerline is valid? [True, True] Translation: X:6.75, Y:-0.18, Z:0.04 [[ 9.99349919e-01 -3.54517522e-02 -6.55077249e-03 6.74624631e+00] [ 3.54595739e-02 9.99370526e-01 1.08172574e-03 -1.78670840e-01] [ 6.50829988e-03 -1.31331013e-03 9.99977958e-01 3.52650765e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.390714056999999 meters Centerline goodness : 0.997068 Centerline is valid? [True, True] Translation: X:6.78, Y:-0.18, Z:0.04 [[ 9.99323398e-01 -3.59432051e-02 -7.79955739e-03 6.77694232e+00] [ 3.59814509e-02 9.99340835e-01 4.81989956e-03 -1.79855969e-01] [ 7.62117356e-03 -5.09727780e-03 9.99957967e-01 3.59694022e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.420714057 meters Centerline goodness : 0.997520 Centerline is valid? [True, True] Translation: X:6.81, Y:-0.18, Z:0.04 [[ 9.99324166e-01 -3.60997360e-02 -6.92961270e-03 6.81029138e+00] [ 3.60656598e-02 9.99337009e-01 -4.98105352e-03 -1.78884224e-01] [ 7.10483314e-03 4.72776610e-03 9.99963584e-01 3.96924781e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.450714056999999 meters Centerline goodness : 0.997643 Centerline is valid? [True, True] Translation: X:6.84, Y:-0.18, Z:0.04 [[ 9.99310274e-01 -3.65380206e-02 -6.62941191e-03 6.84187708e+00] [ 3.65540597e-02 9.99328997e-01 2.31453380e-03 -1.81858889e-01] [ 6.54039506e-03 -2.55526933e-03 9.99975347e-01 3.71507119e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.480714056999998 meters Centerline goodness : 0.996755 Centerline is valid? [True, True] Translation: X:6.87, Y:-0.18, Z:0.04 [[ 9.99333325e-01 -3.58923064e-02 -6.68190302e-03 6.87331269e+00] [ 3.58901256e-02 9.99355642e-01 -4.46030600e-04 -1.82656041e-01] [ 6.69360655e-03 2.05918904e-04 9.99977576e-01 3.88710488e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.510714057 meters Centerline goodness : 0.996755 Centerline is valid? [True, True] Translation: X:6.91, Y:-0.18, Z:0.04 [[ 9.99330841e-01 -3.59854142e-02 -6.55134051e-03 6.90672959e+00] [ 3.59878313e-02 9.99352197e-01 2.51405835e-04 -1.83746103e-01] [ 6.53804958e-03 -4.87006141e-04 9.99978508e-01 3.87722618e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.540714056999999 meters Centerline goodness : 0.997300 Centerline is valid? [True, True] Translation: X:6.94, Y:-0.18, Z:0.04 [[ 9.99291357e-01 -3.68330064e-02 -7.75334889e-03 6.93795388e+00] [ 3.68753040e-02 9.99305366e-01 5.38498248e-03 -1.84616299e-01] [ 7.54961805e-03 -5.66707354e-03 9.99955443e-01 3.81516218e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.570714056999998 meters Centerline goodness : 0.997216 Centerline is valid? [True, True] Translation: X:6.97, Y:-0.18, Z:0.04 [[ 9.99299701e-01 -3.67083263e-02 -7.25307960e-03 6.97216781e+00] [ 3.66724401e-02 9.99314730e-01 -5.02031152e-03 -1.82971800e-01] [ 7.43239651e-03 4.75080767e-03 9.99961094e-01 4.28017501e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.600714057 meters Centerline goodness : 0.996248 Centerline is valid? [True, True] Translation: X:7.00, Y:-0.19, Z:0.04 [[ 9.99276651e-01 -3.72310692e-02 -7.74741783e-03 7.00369922e+00] [ 3.72333702e-02 9.99306586e-01 1.52930970e-04 -1.85316365e-01] [ 7.73635188e-03 -4.41282824e-04 9.99969977e-01 4.04803166e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.630714056999999 meters Centerline goodness : 0.996487 Centerline is valid? [True, True] Translation: X:7.04, Y:-0.19, Z:0.04 [[ 9.99228936e-01 -3.85005859e-02 -7.69665157e-03 7.03704088e+00] [ 3.84645062e-02 9.99248524e-01 -4.78208435e-03 -1.85874734e-01] [ 7.87498077e-03 4.48234916e-03 9.99958946e-01 4.13671658e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.660714057 meters Centerline goodness : 0.995861 Centerline is valid? [True, True] Translation: X:7.07, Y:-0.19, Z:0.04 [[ 9.99223928e-01 -3.84553486e-02 -8.52807906e-03 7.06695723e+00] [ 3.84908613e-02 9.99250786e-01 4.03986871e-03 -1.87971201e-01] [ 8.36633514e-03 -4.36498658e-03 9.99955475e-01 3.84817067e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.690714057 meters Centerline goodness : 0.996093 Centerline is valid? [True, True] Translation: X:7.10, Y:-0.19, Z:0.04 [[ 9.99234837e-01 -3.85560713e-02 -6.57043353e-03 7.10072583e+00] [ 3.85495618e-02 9.99256068e-01 -1.11455611e-03 -1.88832475e-01] [ 6.60851848e-03 8.60415956e-04 9.99977793e-01 3.94932593e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.720714056999999 meters Centerline goodness : 0.996209 Centerline is valid? [True, True] Translation: X:7.13, Y:-0.19, Z:0.04 [[ 9.99207089e-01 -3.92149458e-02 -6.88336955e-03 7.13173894e+00] [ 3.92365658e-02 9.99225342e-01 3.03441752e-03 -1.89939691e-01] [ 6.75904277e-03 -3.30209128e-03 9.99971705e-01 3.90594314e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.750714057 meters Centerline goodness : 0.995402 Centerline is valid? [True, True] Translation: X:7.16, Y:-0.19, Z:0.04 [[ 9.99105386e-01 -4.16061632e-02 -7.57333771e-03 7.16445476e+00] [ 4.15696743e-02 9.99123526e-01 -4.91342970e-03 -1.89933324e-01] [ 7.77112883e-03 4.59421289e-03 9.99959251e-01 4.38717446e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.780714056999999 meters Centerline goodness : 0.995666 Centerline is valid? [True, True] Translation: X:7.19, Y:-0.19, Z:0.04 [[ 9.99071662e-01 -4.25251774e-02 -6.88640591e-03 7.19450479e+00] [ 4.25293337e-02 9.99095114e-01 4.58178649e-04 -1.92635116e-01] [ 6.86069037e-03 -7.50627559e-04 9.99976183e-01 4.17355390e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.810714056999998 meters Centerline goodness : 0.996210 Centerline is valid? [True, True] Translation: X:7.23, Y:-0.19, Z:0.04 [[ 9.99042654e-01 -4.33219067e-02 -6.08176664e-03 7.22750218e+00] [ 4.33284881e-02 9.99060424e-01 9.54526453e-04 -1.94395703e-01] [ 6.03470045e-03 -1.21712639e-03 9.99981050e-01 4.20487189e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.840714057 meters Centerline goodness : 0.996132 Centerline is valid? [True, True] Translation: X:7.26, Y:-0.20, Z:0.04 [[ 9.99006585e-01 -4.41431220e-02 -6.10151782e-03 7.25915893e+00] [ 4.41432092e-02 9.99025206e-01 -1.20457711e-04 -1.95470027e-01] [ 6.10088748e-03 -1.49002531e-04 9.99981378e-01 4.27354208e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.870714056999999 meters Centerline goodness : 0.995726 Centerline is valid? [True, True] Translation: X:7.29, Y:-0.20, Z:0.04 [[ 9.98955910e-01 -4.51176776e-02 -7.17529471e-03 7.29261660e+00] [ 4.51111539e-02 9.98981402e-01 -1.06852125e-03 -1.96237303e-01] [ 7.21619517e-03 7.43719792e-04 9.99973686e-01 4.35745621e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.900714056999998 meters Centerline goodness : 0.996422 Centerline is valid? [True, True] Translation: X:7.32, Y:-0.20, Z:0.04 [[ 9.98948258e-01 -4.50432007e-02 -8.57253332e-03 7.32302988e+00] [ 4.50764702e-02 9.98976583e-01 3.72803028e-03 -1.98194014e-01] [ 8.39583763e-03 -4.11052890e-03 9.99956306e-01 4.24602655e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.930714057 meters Centerline goodness : 0.996495 Centerline is valid? [True, True] Translation: X:7.36, Y:-0.20, Z:0.05 [[ 9.98960176e-01 -4.48237386e-02 -8.33065345e-03 7.35652003e+00] [ 4.47934344e-02 9.98989083e-01 -3.78943471e-03 -1.98646391e-01] [ 8.49208848e-03 3.41233579e-03 9.99958119e-01 4.53305290e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.960714056999999 meters Centerline goodness : 0.996484 Centerline is valid? [True, True] Translation: X:7.39, Y:-0.20, Z:0.04 [[ 0.99895255 -0.04483954 -0.00912285 7.38720313] [ 0.04491333 0.99895844 0.00805128 -0.20201328] [ 0.00875233 -0.00845259 0.99992597 0.04158435] [ 0. 0. 0. 1. ]] SLAMing on 8.990714056999998 meters Centerline goodness : 0.996650 Centerline is valid? [True, True] Translation: X:7.42, Y:-0.20, Z:0.05 [[ 9.98852911e-01 -4.65605577e-02 -1.11793290e-02 7.42261188e+00] [ 4.65912780e-02 9.98910900e-01 2.50328202e-03 -2.01673115e-01] [ 1.10505994e-02 -3.02126975e-03 9.99934376e-01 4.60684565e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.020714057 meters Centerline goodness : 0.996166 Centerline is valid? [True, True] Translation: X:7.45, Y:-0.20, Z:0.05 [[ 9.98798632e-01 -4.73765380e-02 -1.25202071e-02 7.45152324e+00] [ 4.74095021e-02 9.98872775e-01 2.34915283e-03 -2.03130765e-01] [ 1.23947993e-02 -2.93990742e-03 9.99918860e-01 4.83250907e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.050714056999999 meters Centerline goodness : 0.996323 Centerline is valid? [True, True] Translation: X:7.49, Y:-0.20, Z:0.05 [[ 0.99876643 -0.04864271 -0.00997491 7.48523714] [ 0.04854993 0.99877707 -0.00934182 -0.20395174] [ 0.01041712 0.00884602 0.99990661 0.05120123] [ 0. 0. 0. 1. ]] SLAMing on 9.080714057 meters Centerline goodness : 0.996176 Centerline is valid? [True, True] Translation: X:7.51, Y:-0.21, Z:0.05 [[ 0.99864959 -0.05098996 -0.00995051 7.51373466] [ 0.0510797 0.99865418 0.00898338 -0.20979863] [ 0.00947905 -0.00947952 0.99991014 0.04543075] [ 0. 0. 0. 1. ]] SLAMing on 9.110714057 meters Centerline goodness : 0.997259 Centerline is valid? [True, True] Translation: X:7.55, Y:-0.20, Z:0.06 [[ 0.99833772 -0.05466319 -0.01826818 7.55096774] [ 0.05422713 0.99825043 -0.02356918 -0.20455937] [ 0.01952458 0.02253937 0.99955528 0.06134055] [ 0. 0. 0. 1. ]] SLAMing on 9.140714056999999 meters Centerline goodness : 0.997009 Centerline is valid? [True, True] Translation: X:7.58, Y:-0.22, Z:0.04 [[ 0.99854123 -0.05266174 -0.01192306 7.57656357] [ 0.05297467 0.99821275 0.02765842 -0.21649686] [ 0.01044521 -0.02824969 0.99954632 0.03716963] [ 0. 0. 0. 1. ]] SLAMing on 9.170714057 meters Centerline goodness : 0.997160 Centerline is valid? [True, True] Translation: X:7.61, Y:-0.21, Z:0.05 [[ 9.98530921e-01 -5.29351435e-02 -1.15702360e-02 7.60957948e+00] [ 5.28588800e-02 9.98578834e-01 -6.80086981e-03 -2.11463294e-01] [ 1.19137978e-02 6.17928908e-03 9.99909935e-01 5.18437023e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.200714056999999 meters Centerline goodness : 0.997343 Centerline is valid? [True, True] Translation: X:7.64, Y:-0.21, Z:0.05 [[ 9.98530170e-01 -5.28299581e-02 -1.21034935e-02 7.64187142e+00] [ 5.28341430e-02 9.98603301e-01 2.60514826e-05 -2.14691301e-01] [ 1.20852122e-02 -6.65490896e-04 9.99926750e-01 5.01450932e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.230714056999998 meters Centerline goodness : 0.997731 Centerline is valid? [True, True] Translation: X:7.67, Y:-0.21, Z:0.05 [[ 9.98563661e-01 -5.27257716e-02 -9.51884978e-03 7.67458149e+00] [ 5.26822870e-02 9.98599966e-01 -4.76280172e-03 -2.14408259e-01] [ 9.75664546e-03 4.25448594e-03 9.99943352e-01 5.33441750e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.260714057 meters Centerline goodness : 0.997489 Centerline is valid? [True, True] Translation: X:7.71, Y:-0.22, Z:0.05 [[ 9.98673935e-01 -5.06022851e-02 -9.47525427e-03 7.70737294e+00] [ 5.06188690e-02 9.98716889e-01 1.51852359e-03 -2.15768557e-01] [ 9.38625570e-03 -1.99613658e-03 9.99953956e-01 5.21265134e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.290714056999999 meters Centerline goodness : 0.997583 Centerline is valid? [True, True] Translation: X:7.74, Y:-0.22, Z:0.05 [[ 9.98685980e-01 -5.05210061e-02 -8.59895480e-03 7.73933587e+00] [ 5.05627427e-02 9.98709792e-01 4.70739703e-03 -2.16668379e-01] [ 8.35003793e-03 -5.13599815e-03 9.99951948e-01 5.11589427e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.320714056999998 meters Centerline goodness : 0.997089 Centerline is valid? [True, True] Translation: X:7.77, Y:-0.22, Z:0.06 [[ 9.98735865e-01 -4.90859093e-02 -1.08279982e-02 7.77049605e+00] [ 4.90278149e-02 9.98781898e-01 -5.56709938e-03 -2.16248146e-01] [ 1.10880748e-02 5.02918872e-03 9.99925878e-01 5.56762242e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.350714057 meters Centerline goodness : 0.996986 Centerline is valid? [True, True] Translation: X:7.80, Y:-0.22, Z:0.05 [[ 9.98705866e-01 -4.95436844e-02 -1.14898843e-02 7.80473390e+00] [ 4.94933529e-02 9.98763747e-01 -4.62441593e-03 -2.17613784e-01] [ 1.17047905e-02 4.04975842e-03 9.99923296e-01 5.45982394e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.380714056999999 meters Centerline goodness : 0.997581 Centerline is valid? [True, True] Translation: X:7.83, Y:-0.22, Z:0.05 [[ 9.98760410e-01 -4.75132949e-02 -1.48367590e-02 7.83420651e+00] [ 4.75761156e-02 9.98859962e-01 3.91007486e-03 -2.20304300e-01] [ 1.46340640e-02 -4.61110334e-03 9.99882284e-01 5.23617464e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.410714056999998 meters Centerline goodness : 0.997285 Centerline is valid? [True, True] Translation: X:7.87, Y:-0.22, Z:0.06 [[ 0.99862307 -0.04928773 -0.0179635 7.87157235] [ 0.04911418 0.99874333 -0.00997779 -0.21843041] [ 0.01843271 0.00908179 0.99978886 0.05920164] [ 0. 0. 0. 1. ]] SLAMing on 9.440714057 meters Centerline goodness : 0.997437 Centerline is valid? [True, True] Translation: X:7.90, Y:-0.23, Z:0.05 [[ 0.99894547 -0.04468339 -0.01055219 7.90045102] [ 0.04487025 0.99882721 0.01818984 -0.22513147] [ 0.00972703 -0.01864414 0.99977887 0.04689596] [ 0. 0. 0. 1. ]] SLAMing on 9.470714056999999 meters Centerline goodness : 0.997207 Centerline is valid? [True, True] Translation: X:7.93, Y:-0.22, Z:0.06 [[ 9.98972724e-01 -4.27953887e-02 -1.49014150e-02 7.93111367e+00] [ 4.26852709e-02 9.99059424e-01 -7.63115588e-03 -2.20015276e-01] [ 1.52139773e-02 6.98724564e-03 9.99859847e-01 6.02968828e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.500714057 meters Centerline goodness : 0.996963 Centerline is valid? [True, True] Translation: X:7.96, Y:-0.22, Z:0.06 [[ 9.99117013e-01 -3.97374003e-02 -1.36430991e-02 7.96292568e+00] [ 3.97619245e-02 9.99208009e-01 1.53092561e-03 -2.23246923e-01] [ 1.35714589e-02 -2.07204970e-03 9.99905757e-01 5.57006334e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.530714056999999 meters Centerline goodness : 0.997120 Centerline is valid? [True, True] Translation: X:8.00, Y:-0.22, Z:0.06 [[ 0.99906349 -0.04064632 -0.01483324 8.00007551] [ 0.04047503 0.99911239 -0.01167107 -0.22196694] [ 0.01529446 0.01105976 0.99982186 0.06121455] [ 0. 0. 0. 1. ]] SLAMing on 9.560714056999998 meters Centerline goodness : 0.997414 Centerline is valid? [True, True] Translation: X:8.03, Y:-0.23, Z:0.05 [[ 9.99103836e-01 -3.94809352e-02 -1.52571779e-02 8.03227084e+00] [ 3.95708486e-02 9.99200868e-01 5.63681632e-03 -2.26428938e-01] [ 1.50224386e-02 -6.23550429e-03 9.99867714e-01 5.39156712e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.590714057 meters Centerline goodness : 0.997135 Centerline is valid? [True, True] Translation: X:8.07, Y:-0.23, Z:0.06 [[ 9.99205294e-01 -3.65476539e-02 -1.59075210e-02 8.06538769e+00] [ 3.65802749e-02 9.99329160e-01 1.76445592e-03 -2.26158480e-01] [ 1.58323629e-02 -2.34495519e-03 9.99871911e-01 5.63974089e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.620714056999999 meters Centerline goodness : 0.996740 Centerline is valid? [True, True] Translation: X:8.09, Y:-0.23, Z:0.05 [[ 0.99933953 -0.03408893 -0.01258803 8.09455646] [ 0.03423747 0.9993443 0.01177946 -0.22893122] [ 0.01217822 -0.01220267 0.99985138 0.05209007] [ 0. 0. 0. 1. ]] SLAMing on 9.650714056999998 meters Centerline goodness : 0.997794 Centerline is valid? [True, True] Translation: X:8.13, Y:-0.22, Z:0.06 [[ 0.99927008 -0.03487339 -0.01559355 8.12980711] [ 0.0346638 0.99930764 -0.01351534 -0.22464929] [ 0.01605408 0.01296495 0.99978707 0.0638766 ] [ 0. 0. 0. 1. ]] SLAMing on 9.680714057 meters Centerline goodness : 0.996409 Centerline is valid? [True, True] Translation: X:8.16, Y:-0.23, Z:0.06 [[ 9.99410786e-01 -3.13269683e-02 -1.40250436e-02 8.15528341e+00] [ 3.14195812e-02 9.99485585e-01 6.43243357e-03 -2.28777576e-01] [ 1.38163203e-02 -6.86930449e-03 9.99880954e-01 5.51779176e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.710714056999999 meters Centerline goodness : 0.996982 Centerline is valid? [True, True] Translation: X:8.19, Y:-0.23, Z:0.06 [[ 0.9993402 -0.03296491 -0.01524738 8.19346404] [ 0.03283195 0.99942135 -0.00888929 -0.22697187] [ 0.01553159 0.00838283 0.99984424 0.059791 ] [ 0. 0. 0. 1. ]] SLAMing on 9.740714056999998 meters Centerline goodness : 0.996523 Centerline is valid? [True, True] Translation: X:8.23, Y:-0.23, Z:0.05 [[ 9.99365924e-01 -3.21763791e-02 -1.52457026e-02 8.22557834e+00] [ 3.22028952e-02 9.99480231e-01 1.49689931e-03 -2.29982919e-01] [ 1.51896136e-02 -1.98690593e-03 9.99882657e-01 5.44065161e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.770714057 meters Centerline goodness : 0.996891 Centerline is valid? [True, True] Translation: X:8.25, Y:-0.23, Z:0.05 [[ 9.99547897e-01 -2.93801807e-02 -6.38807851e-03 8.25422639e+00] [ 2.94632324e-02 9.99477101e-01 1.33207760e-02 -2.33990329e-01] [ 5.99337138e-03 -1.35029671e-02 9.99890869e-01 4.77347562e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.800714056999999 meters Centerline goodness : 0.996076 Centerline is valid? [True, True] Translation: X:8.29, Y:-0.23, Z:0.06 [[ 9.99580286e-01 -2.80046784e-02 -7.41557648e-03 8.28554313e+00] [ 2.78666560e-02 9.99447695e-01 -1.81039662e-02 -2.28590605e-01] [ 7.91847657e-03 1.78897204e-02 9.99808610e-01 6.08707906e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.830714057 meters Centerline goodness : 0.998093 Centerline is valid? [True, True] Translation: X:8.32, Y:-0.23, Z:0.06 [[ 9.99387251e-01 -3.26258951e-02 -1.26757431e-02 8.32243147e+00] [ 3.25740886e-02 9.99460192e-01 -4.27230198e-03 -2.31654708e-01] [ 1.28082883e-02 3.85678336e-03 9.99910532e-01 5.64866371e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.860714057 meters Centerline goodness : 0.997969 Centerline is valid? [True, True] Translation: X:8.36, Y:-0.23, Z:0.05 [[ 9.99341589e-01 -3.37834882e-02 -1.32311677e-02 8.35521954e+00] [ 3.37863696e-02 9.99429078e-01 -5.75454895e-06 -2.33649312e-01] [ 1.32238082e-02 -4.41282363e-04 9.99912464e-01 5.49506493e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.890714056999999 meters Centerline goodness : 0.997474 Centerline is valid? [True, True] Translation: X:8.38, Y:-0.24, Z:0.05 [[ 9.99472410e-01 -3.19825799e-02 -5.65834615e-03 8.38261434e+00] [ 3.20882102e-02 9.99291226e-01 1.96822934e-02 -2.38228927e-01] [ 5.02484514e-03 -1.98534754e-02 9.99790273e-01 4.66113409e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.920714057 meters Centerline goodness : 0.997676 Centerline is valid? [True, True] Translation: X:8.42, Y:-0.23, Z:0.06 [[ 9.99352710e-01 -3.38999280e-02 -1.20397948e-02 8.41557031e+00] [ 3.38169946e-02 9.99403342e-01 -7.02637805e-03 -2.32765070e-01] [ 1.22708049e-02 6.61468027e-03 9.99902832e-01 6.06314760e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.950714056999999 meters Centerline goodness : 0.998235 Centerline is valid? [True, True] Translation: X:8.45, Y:-0.23, Z:0.06 [[ 0.99918689 -0.03733692 -0.01521555 8.45003819] [ 0.03713363 0.99922004 -0.01343125 -0.23129192] [ 0.01570516 0.01285532 0.99979402 0.0642393 ] [ 0. 0. 0. 1. ]] SLAMing on 9.980714056999998 meters Centerline goodness : 0.997644 Centerline is valid? [True, True] Translation: X:8.48, Y:-0.24, Z:0.05 [[ 0.99929003 -0.03520792 -0.01341041 8.47810015] [ 0.03536397 0.99930738 0.01158212 -0.23654752] [ 0.01299334 -0.01204814 0.999843 0.05211316] [ 0. 0. 0. 1. ]] SLAMing on 10.010714057 meters Centerline goodness : 0.997417 Centerline is valid? [True, True] Translation: X:8.51, Y:-0.23, Z:0.06 [[ 0.99912728 -0.03858367 -0.01599907 8.51268909] [ 0.03837866 0.99917963 -0.01292849 -0.23200265] [ 0.01648478 0.01230318 0.99978842 0.06342643] [ 0. 0. 0. 1. ]] SLAMing on 10.040714056999999 meters Centerline goodness : 0.997322 Centerline is valid? [True, True] Translation: X:8.53, Y:-0.23, Z:0.05 [[ 0.99872067 -0.0444303 -0.02414476 8.53381918] [ 0.04525941 0.99836362 0.03495229 -0.23429743] [ 0.02255231 -0.03600035 0.99909728 0.05247138] [ 0. 0. 0. 1. ]] SLAMing on 10.070714056999998 meters Centerline goodness : 0.997741 Centerline is valid? [True, True] Translation: X:8.58, Y:-0.23, Z:0.08 [[ 0.99907332 -0.04027803 -0.01517177 8.57587261] [ 0.03957863 0.99825265 -0.04387678 -0.22745324] [ 0.01691253 0.04323564 0.99892174 0.07690902] [ 0. 0. 0. 1. ]] SLAMing on 10.100714057 meters Centerline goodness : 0.997357 Centerline is valid? [True, True] Translation: X:8.61, Y:-0.24, Z:0.05 [[ 9.99127698e-01 -3.95868468e-02 -1.32937769e-02 8.60730029e+00] [ 3.96827291e-02 9.99187615e-01 7.02785462e-03 -2.38074476e-01] [ 1.30047667e-02 -7.54925755e-03 9.99886936e-01 5.28339394e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.130714056999999 meters Centerline goodness : 0.996913 Centerline is valid? [True, True] Translation: X:8.63, Y:-0.24, Z:0.05 [[ 9.99320455e-01 -3.64396386e-02 -5.54804501e-03 8.63101470e+00] [ 3.65480576e-02 9.99113588e-01 2.08872729e-02 -2.40075125e-01] [ 4.78200248e-03 -2.10758493e-02 9.99766443e-01 4.80162725e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.160714056999998 meters Centerline goodness : 0.996840 Centerline is valid? [True, True] Translation: X:8.67, Y:-0.24, Z:0.06 [[ 9.99308060e-01 -3.70497752e-02 -3.27328795e-03 8.66518903e+00] [ 3.70357356e-02 9.99304903e-01 -4.25042346e-03 -2.35421604e-01] [ 3.42848993e-03 4.12625379e-03 9.99985610e-01 5.74250287e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.190714057 meters Centerline goodness : 0.996755 Centerline is valid? [True, True] Translation: X:8.70, Y:-0.24, Z:0.06 [[ 9.99285998e-01 -3.75814474e-02 -3.88970952e-03 8.69859665e+00] [ 3.75693090e-02 9.99289066e-01 -3.14803963e-03 -2.36212653e-01] [ 4.00525207e-03 2.99965823e-03 9.99987480e-01 5.62914703e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.220714056999999 meters Centerline goodness : 0.996722 Centerline is valid? [True, True] Translation: X:8.73, Y:-0.24, Z:0.06 [[ 9.99260293e-01 -3.82203541e-02 -4.25104219e-03 8.73179176e+00] [ 3.82106662e-02 9.99266972e-01 -2.33731396e-03 -2.37170260e-01] [ 4.33725903e-03 2.17314988e-03 9.99988233e-01 5.51890936e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.250714057 meters Centerline goodness : 0.996033 Centerline is valid? [True, True] Translation: X:8.76, Y:-0.24, Z:0.05 [[ 9.99148859e-01 -4.08731168e-02 -5.56285369e-03 8.76209864e+00] [ 4.09014007e-02 9.99150328e-01 5.06930881e-03 -2.39031991e-01] [ 5.35092863e-03 -5.29252262e-03 9.99971678e-01 5.37487745e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.280714056999999 meters Centerline goodness : 0.996559 Centerline is valid? [True, True] Translation: X:8.80, Y:-0.24, Z:0.06 [[ 9.99128578e-01 -4.15427164e-02 -4.03563626e-03 8.79545147e+00] [ 4.15453862e-02 9.99136449e-01 5.79955413e-04 -2.39199521e-01] [ 4.00805836e-03 -7.47112095e-04 9.99991689e-01 5.55195083e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.310714056999998 meters Centerline goodness : 0.997076 Centerline is valid? [True, True] Translation: X:8.83, Y:-0.24, Z:0.06 [[ 9.99104137e-01 -4.22637284e-02 -2.16794000e-03 8.82987886e+00] [ 4.22553910e-02 9.99099777e-01 -3.75729648e-03 -2.38567239e-01] [ 2.32478573e-03 3.66232331e-03 9.99990591e-01 5.56437308e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.340714057 meters Centerline goodness : 0.997548 Centerline is valid? [True, True] Translation: X:8.87, Y:-0.23, Z:0.07 [[ 0.99876783 -0.0476511 -0.01386319 8.8668365 ] [ 0.04732073 0.99860899 -0.02325579 -0.23498795] [ 0.01495207 0.02257112 0.99963342 0.06595456] [ 0. 0. 0. 1. ]] SLAMing on 10.370714056999999 meters Centerline goodness : 0.997543 Centerline is valid? [True, True] Translation: X:8.89, Y:-0.25, Z:0.04 [[ 9.99005957e-01 -4.44574356e-02 -3.26103845e-03 8.89392311e+00] [ 4.45345644e-02 9.98570132e-01 2.95696604e-02 -2.47248297e-01] [ 1.94178431e-03 -2.96854958e-02 9.99557402e-01 4.22390728e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.400714056999998 meters Centerline goodness : 0.996975 Centerline is valid? [True, True] Translation: X:8.92, Y:-0.24, Z:0.06 [[ 9.98981727e-01 -4.47280669e-02 -5.90833308e-03 8.92352193e+00] [ 4.46557730e-02 9.98932170e-01 -1.18482987e-02 -2.37547078e-01] [ 6.43197548e-03 1.15723927e-02 9.99912351e-01 6.28977855e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.430714057 meters Centerline goodness : 0.996975 Centerline is valid? [True, True] Translation: X:8.96, Y:-0.24, Z:0.06 [[ 9.98984114e-01 -4.46277794e-02 -6.25306872e-03 8.95717815e+00] [ 4.46331152e-02 9.99003189e-01 7.16306242e-04 -2.40986990e-01] [ 6.21486844e-03 -9.94672493e-04 9.99980193e-01 5.75370775e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.460714056999999 meters Centerline goodness : 0.997564 Centerline is valid? [True, True] Translation: X:8.99, Y:-0.24, Z:0.05 [[ 9.98968641e-01 -4.51016464e-02 -5.24355632e-03 8.99018470e+00] [ 4.51779475e-02 9.98859022e-01 1.54792775e-02 -2.43633711e-01] [ 4.53943263e-03 -1.57002059e-02 9.99866440e-01 5.36819028e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.490714056999998 meters Centerline goodness : 0.997466 Centerline is valid? [True, True] Translation: X:9.02, Y:-0.24, Z:0.06 [[ 9.98985583e-01 -4.47098590e-02 -5.36975924e-03 9.02307874e+00] [ 4.47096752e-02 9.99000011e-01 -1.54331844e-04 -2.40254146e-01] [ 5.37128969e-03 -8.59049046e-05 9.99985571e-01 6.14131285e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.520714057 meters Centerline goodness : 0.997681 Centerline is valid? [True, True] Translation: X:9.06, Y:-0.24, Z:0.06 [[ 9.98993549e-01 -4.42246218e-02 -7.48807225e-03 9.05601285e+00] [ 4.42871502e-02 9.98983517e-01 8.40124673e-03 -2.40697617e-01] [ 7.10891880e-03 -8.72441668e-03 9.99936672e-01 6.03123681e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.550714056999999 meters Centerline goodness : 0.997862 Centerline is valid? [True, True] Translation: X:9.09, Y:-0.23, Z:0.08 [[ 0.9987378 -0.04597062 -0.02023655 9.09185522] [ 0.04553869 0.99873523 -0.02131133 -0.23408888] [ 0.02119065 0.02036288 0.99956806 0.07609676] [ 0. 0. 0. 1. ]] SLAMing on 10.580714056999998 meters Centerline goodness : 0.997194 Centerline is valid? [True, True] Translation: X:9.12, Y:-0.25, Z:0.05 [[ 9.99118118e-01 -4.05959975e-02 -1.07215491e-02 9.11852881e+00] [ 4.09899029e-02 9.98378112e-01 3.95091566e-02 -2.45177547e-01] [ 9.10024628e-03 -3.99137894e-02 9.99161686e-01 5.04582452e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.610714057 meters Centerline goodness : 0.997370 Centerline is valid? [True, True] Translation: X:9.15, Y:-0.24, Z:0.07 [[ 9.99125656e-01 -3.96408663e-02 -1.32862950e-02 9.14955606e+00] [ 3.96876680e-02 9.99206759e-01 3.27749295e-03 -2.36460435e-01] [ 1.31458331e-02 -3.80192935e-03 9.99906362e-01 7.17950200e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.640714056999999 meters Centerline goodness : 0.997918 Centerline is valid? [True, True] Translation: X:9.19, Y:-0.23, Z:0.09 [[ 0.99893801 -0.03910057 -0.02437219 9.18546496] [ 0.03859295 0.99903513 -0.02096154 -0.22992397] [ 0.02516829 0.01999869 0.99948317 0.08656701] [ 0. 0. 0. 1. ]] SLAMing on 10.670714057 meters Centerline goodness : 0.998104 Centerline is valid? [True, True] Translation: X:9.22, Y:-0.23, Z:0.08 [[ 9.98931388e-01 -3.84342886e-02 -2.56688232e-02 9.21592120e+00] [ 3.86217385e-02 9.99230444e-01 6.84704532e-03 -2.34109163e-01] [ 2.53859082e-02 -7.83110306e-03 9.99647052e-01 7.60623431e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.700714056999999 meters Centerline goodness : 0.997429 Centerline is valid? [True, True] Translation: X:9.25, Y:-0.23, Z:0.08 [[ 9.99017966e-01 -3.72369673e-02 -2.40106809e-02 9.24888784e+00] [ 3.71758168e-02 9.99304272e-01 -2.98832044e-03 -2.32670953e-01] [ 2.41052519e-02 2.09276914e-03 9.99707236e-01 8.00809165e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.730714056999998 meters Centerline goodness : 0.996217 Centerline is valid? [True, True] Translation: X:9.27, Y:-0.23, Z:0.07 [[ 0.99904567 -0.03514661 -0.02593194 9.27045538] [ 0.03556378 0.99924242 0.01580504 -0.23247088] [ 0.0253568 -0.0167122 0.99953876 0.07368988] [ 0. 0. 0. 1. ]] SLAMing on 10.760714057 meters Centerline goodness : 0.997727 Centerline is valid? [True, True] Translation: X:9.31, Y:-0.23, Z:0.08 [[ 9.99325705e-01 -3.04748288e-02 -2.04797514e-02 9.30817303e+00] [ 3.03586963e-02 9.99521312e-01 -5.95785220e-03 -2.33809663e-01] [ 2.06515125e-02 5.33209629e-03 9.99772516e-01 7.95343414e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.790714056999999 meters Centerline goodness : 0.997726 Centerline is valid? [True, True] Translation: X:9.34, Y:-0.23, Z:0.08 [[ 9.99302244e-01 -2.97513709e-02 -2.25805255e-02 9.34249362e+00] [ 2.96397283e-02 9.99546791e-01 -5.26295348e-03 -2.33336321e-01] [ 2.27268719e-02 4.59000058e-03 9.99731174e-01 8.02029411e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.820714056999998 meters Centerline goodness : 0.997776 Centerline is valid? [True, True] Translation: X:9.37, Y:-0.23, Z:0.08 [[ 9.99344015e-01 -2.80899782e-02 -2.28581130e-02 9.37445653e+00] [ 2.81284463e-02 9.99603388e-01 1.36306182e-03 -2.34370707e-01] [ 2.28107588e-02 -2.00513087e-03 9.99737790e-01 7.85665110e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.850714057 meters Centerline goodness : 0.998156 Centerline is valid? [True, True] Translation: X:9.41, Y:-0.23, Z:0.08 [[ 9.99356343e-01 -2.69966317e-02 -2.36237303e-02 9.40589813e+00] [ 2.71822759e-02 9.99601809e-01 7.57280887e-03 -2.34967902e-01] [ 2.34098832e-02 -8.21008134e-03 9.99692239e-01 7.78057375e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.880714056999999 meters Centerline goodness : 0.997740 Centerline is valid? [True, True] Translation: X:9.44, Y:-0.24, Z:0.07 [[ 9.99672776e-01 -2.27376911e-02 -1.17191399e-02 9.43619178e+00] [ 2.28383507e-02 9.99702795e-01 8.52827341e-03 -2.36415771e-01] [ 1.15217437e-02 -8.79312858e-03 9.99894960e-01 7.39997487e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.910714056999998 meters Centerline goodness : 0.997534 Centerline is valid? [True, True] Translation: X:9.47, Y:-0.23, Z:0.09 [[ 9.99455441e-01 -2.25250403e-02 -2.41131391e-02 9.47008214e+00] [ 2.23393044e-02 9.99718880e-01 -7.94458208e-03 -2.32458241e-01] [ 2.42853125e-02 7.40158503e-03 9.99677668e-01 8.57635187e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.940714057 meters Centerline goodness : 0.997431 Centerline is valid? [True, True] Translation: X:9.50, Y:-0.24, Z:0.07 [[ 0.9997143 -0.01975031 -0.01346286 9.49883403] [ 0.01997072 0.99966541 0.016439 -0.23829829] [ 0.01313368 -0.01670317 0.99977423 0.07301269] [ 0. 0. 0. 1. ]] SLAMing on 10.970714056999999 meters Centerline goodness : 0.997454 Centerline is valid? [True, True] Translation: X:9.53, Y:-0.23, Z:0.08 [[ 9.99751271e-01 -1.69980220e-02 -1.44382607e-02 9.52965526e+00] [ 1.69917872e-02 9.99855475e-01 -5.54397869e-04 -2.34763651e-01] [ 1.44455977e-02 3.08928121e-04 9.99895609e-01 8.14610905e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.000714057 meters Centerline goodness : 0.997028 Centerline is valid? [True, True] Translation: X:9.56, Y:-0.24, Z:0.08 [[ 9.99740821e-01 -1.64636763e-02 -1.57238219e-02 9.56043960e+00] [ 1.65670731e-02 9.99841834e-01 6.46833049e-03 -2.35585713e-01] [ 1.56148424e-02 -6.72715174e-03 9.99855451e-01 8.08791831e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.030714056999999 meters Centerline goodness : 0.997558 Centerline is valid? [True, True] Translation: X:9.59, Y:-0.23, Z:0.08 [[ 9.99789623e-01 -1.50685329e-02 -1.39157951e-02 9.59349957e+00] [ 1.50236015e-02 9.99881602e-01 -3.32772543e-03 -2.34436474e-01] [ 1.39642914e-02 3.11796000e-03 9.99897633e-01 8.41372519e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.060714056999998 meters Centerline goodness : 0.996770 Centerline is valid? [True, True] Translation: X:9.62, Y:-0.24, Z:0.09 [[ 9.99812301e-01 -1.33535213e-02 -1.40373279e-02 9.62473179e+00] [ 1.32935392e-02 9.99902141e-01 -4.35770703e-03 -2.35589744e-01] [ 1.40941450e-02 4.17028333e-03 9.99891976e-01 8.50709496e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.090714057 meters Centerline goodness : 0.998144 Centerline is valid? [True, True] Translation: X:9.66, Y:-0.24, Z:0.08 [[ 9.99891587e-01 -9.82451079e-03 -1.09677886e-02 9.65767235e+00] [ 9.83721539e-03 9.99951003e-01 1.10500781e-03 -2.38374517e-01] [ 1.09563951e-02 -1.21278051e-03 9.99939241e-01 8.02430185e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.120714056999999 meters Centerline goodness : 0.997303 Centerline is valid? [True, True] Translation: X:9.69, Y:-0.24, Z:0.08 [[ 9.99905409e-01 -8.59477995e-03 -1.07378966e-02 9.68898446e+00] [ 8.60368738e-03 9.99962681e-01 7.83612832e-04 -2.39478962e-01] [ 1.07307609e-02 -8.75924216e-04 9.99942040e-01 8.14476809e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.150714056999998 meters Centerline goodness : 0.997237 Centerline is valid? [True, True] Translation: X:9.72, Y:-0.24, Z:0.08 [[ 9.99916594e-01 -7.22198038e-03 -1.07073858e-02 9.72058902e+00] [ 7.16828793e-03 9.99961584e-01 -5.04445113e-03 -2.39672458e-01] [ 1.07434054e-02 4.96727677e-03 9.99929950e-01 8.38346298e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.180714057 meters Centerline goodness : 0.997615 Centerline is valid? [True, True] Translation: X:9.75, Y:-0.24, Z:0.08 [[ 9.99906071e-01 -6.75420609e-03 -1.19259919e-02 9.75184894e+00] [ 6.81283838e-03 9.99964872e-01 4.88258212e-03 -2.43081155e-01] [ 1.18925950e-02 -4.96337336e-03 9.99916962e-01 8.15081060e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.210714056999999 meters Centerline goodness : 0.996726 Centerline is valid? [True, True] Translation: X:9.78, Y:-0.24, Z:0.09 [[ 9.99914486e-01 -5.63368148e-03 -1.18018115e-02 9.78285507e+00] [ 5.55485314e-03 9.99962116e-01 -6.70150786e-03 -2.42736187e-01] [ 1.18391186e-02 6.63537745e-03 9.99907899e-01 8.58755641e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.240714056999998 meters Centerline goodness : 0.997283 Centerline is valid? [True, True] Translation: X:9.81, Y:-0.25, Z:0.08 [[ 9.99940411e-01 -4.04792208e-03 -1.01384546e-02 9.81319212e+00] [ 4.03678065e-03 9.99991226e-01 -1.11915140e-03 -2.47465667e-01] [ 1.01428958e-02 1.07815800e-03 9.99947978e-01 8.07440706e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.270714057 meters Centerline goodness : 0.997766 Centerline is valid? [True, True] Translation: X:9.84, Y:-0.25, Z:0.08 [[ 9.99946057e-01 -4.67275858e-03 -9.27624030e-03 9.84327323e+00] [ 4.71089036e-03 9.99980527e-01 4.09310817e-03 -2.50247005e-01] [ 9.25693356e-03 -4.13658672e-03 9.99948598e-01 7.92801256e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.300714056999999 meters Centerline goodness : 0.997218 Centerline is valid? [True, True] Translation: X:9.87, Y:-0.25, Z:0.08 [[ 9.99951574e-01 -2.44120874e-03 -9.53365324e-03 9.87430255e+00] [ 2.34551912e-03 9.99946894e-01 -1.00353521e-02 -2.51292805e-01] [ 9.55764534e-03 1.00125048e-02 9.99904196e-01 8.47638505e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.330714056999998 meters Centerline goodness : 0.997348 Centerline is valid? [True, True] Translation: X:9.90, Y:-0.26, Z:0.08 [[ 9.99958849e-01 -3.01392699e-03 -8.55661249e-03 9.90349372e+00] [ 3.06200026e-03 9.99979572e-01 5.61073003e-03 -2.56900806e-01] [ 8.53952737e-03 -5.63669950e-03 9.99947651e-01 7.77468976e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.360714057 meters Centerline goodness : 0.996952 Centerline is valid? [True, True] Translation: X:9.93, Y:-0.26, Z:0.08 [[ 9.99978837e-01 -2.24789056e-03 -6.10507791e-03 9.93418968e+00] [ 2.19971457e-03 9.99966482e-01 -7.88641918e-03 -2.59006232e-01] [ 6.12260109e-03 7.87282286e-03 9.99950265e-01 8.09567328e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.390714056999999 meters Centerline goodness : 0.997132 Centerline is valid? [True, True] Translation: X:9.96, Y:-0.26, Z:0.08 [[ 9.99966528e-01 -1.06253509e-03 -8.11262144e-03 9.96327799e+00] [ 1.07699921e-03 9.99997838e-01 1.77875457e-03 -2.63651059e-01] [ 8.11071391e-03 -1.78743231e-03 9.99965510e-01 7.74854288e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.420714057 meters Centerline goodness : 0.996087 Centerline is valid? [True, True] Translation: X:9.99, Y:-0.27, Z:0.08 [[ 9.99982379e-01 -9.99685944e-04 -5.85161837e-03 9.99361770e+00] [ 9.82485646e-04 9.99995191e-01 -2.94154566e-03 -2.65672953e-01] [ 5.85453086e-03 2.93574470e-03 9.99978553e-01 7.73043655e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.450714056999999 meters Centerline goodness : 0.997177 Centerline is valid? [True, True] Translation: X:10.02, Y:-0.27, Z:0.07 [[ 9.99933942e-01 -1.16703936e-03 -1.14345506e-02 1.00217100e+01] [ 1.42747803e-03 9.99739145e-01 2.27948447e-02 -2.72820911e-01] [ 1.14049654e-02 -2.28096615e-02 9.99674770e-01 7.31616753e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.480714056999998 meters Centerline goodness : 0.996453 Centerline is valid? [True, True] Translation: X:10.05, Y:-0.27, Z:0.08 [[ 9.99955432e-01 -4.78634732e-04 -9.42897684e-03 1.00512125e+01] [ 4.17052936e-04 9.99978579e-01 -6.53200577e-03 -2.68904185e-01] [ 9.43190131e-03 6.52778227e-03 9.99934211e-01 8.49317463e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.510714057 meters Centerline goodness : 0.996524 Centerline is valid? [True, True] Translation: X:10.08, Y:-0.27, Z:0.08 [[ 9.99971850e-01 1.78233650e-03 -7.28853206e-03 1.00804395e+01] [-1.88556367e-03 9.99897671e-01 -1.41806987e-02 -2.72144686e-01] [ 7.26251145e-03 1.41940425e-02 9.99872884e-01 8.46018822e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.540714056999999 meters Centerline goodness : 0.996607 Centerline is valid? [True, True] Translation: X:10.11, Y:-0.28, Z:0.08 [[ 9.99980225e-01 2.60918042e-03 -5.72199383e-03 1.01090277e+01] [-2.63724712e-03 9.99984503e-01 -4.90300809e-03 -2.77361669e-01] [ 5.70911233e-03 4.91800145e-03 9.99971609e-01 7.88078911e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.570714056999998 meters Centerline goodness : 0.996101 Centerline is valid? [True, True] Translation: X:10.14, Y:-0.28, Z:0.08 [[ 9.99957131e-01 2.26084995e-03 -8.97916436e-03 1.01365360e+01] [-2.14922501e-03 9.99920537e-01 1.24218047e-02 -2.82216536e-01] [ 9.00653468e-03 -1.24019740e-02 9.99882530e-01 7.56627915e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.600714057 meters Centerline goodness : 0.995801 Centerline is valid? [True, True] Translation: X:10.16, Y:-0.28, Z:0.08 [[ 9.99969271e-01 2.27941085e-03 -7.50075355e-03 1.01641604e+01] [-2.32496530e-03 9.99978873e-01 -6.07021075e-03 -2.83575247e-01] [ 7.48675858e-03 6.08746321e-03 9.99953445e-01 8.22528486e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.630714056999999 meters Centerline goodness : 0.996867 Centerline is valid? [True, True] Translation: X:10.19, Y:-0.29, Z:0.07 [[ 9.99973428e-01 4.09310898e-04 -7.27844246e-03 1.01948801e+01] [-3.07583118e-04 9.99902337e-01 1.39722172e-02 -2.90045410e-01] [ 7.28345061e-03 -1.39696072e-02 9.99875893e-01 7.45957400e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.660714056999998 meters Centerline goodness : 0.994914 Centerline is valid? [True, True] Translation: X:10.22, Y:-0.29, Z:0.09 [[ 9.99946300e-01 -7.25524509e-04 -1.03378425e-02 1.02222838e+01] [ 6.43316934e-04 9.99968166e-01 -7.95320917e-03 -2.90045748e-01] [ 1.03432837e-02 7.94613157e-03 9.99914934e-01 8.56210542e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.690714057 meters Centerline goodness : 0.995355 Centerline is valid? [True, True] Translation: X:10.25, Y:-0.30, Z:0.08 [[ 9.99987922e-01 -2.56934136e-03 -4.18971310e-03 1.02536719e+01] [ 2.60723810e-03 9.99955513e-01 9.06495367e-03 -2.97523300e-01] [ 4.16623575e-03 -9.07576777e-03 9.99950135e-01 7.59943051e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.720714056999999 meters Centerline goodness : 0.995042 Centerline is valid? [True, True] Translation: X:10.28, Y:-0.30, Z:0.08 [[ 9.99971894e-01 -2.65595075e-03 -7.01126482e-03 1.02816021e+01] [ 2.62822488e-03 9.99988702e-01 -3.96073090e-03 -2.97001411e-01] [ 7.02170512e-03 3.94219240e-03 9.99967577e-01 8.29592675e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.750714057 meters Centerline goodness : 0.995200 Centerline is valid? [True, True] Translation: X:10.31, Y:-0.30, Z:0.08 [[ 9.99960067e-01 -7.75578354e-03 -4.43987510e-03 1.03146509e+01] [ 7.75341387e-03 9.99969790e-01 -5.50689296e-04 -3.03979487e-01] [ 4.44401200e-03 5.16243116e-04 9.99989992e-01 7.96310467e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.780714056999999 meters Centerline goodness : 0.993400 Centerline is valid? [True, True] Translation: X:10.34, Y:-0.31, Z:0.08 [[ 9.99934911e-01 -8.47879899e-03 -7.63443950e-03 1.03402306e+01] [ 8.50872949e-03 9.99956208e-01 3.89654865e-03 -3.06209753e-01] [ 7.60106712e-03 -3.96125441e-03 9.99963265e-01 8.07160276e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.810714056999998 meters Centerline goodness : 0.993806 Centerline is valid? [True, True] Translation: X:10.37, Y:-0.31, Z:0.08 [[ 9.99901137e-01 -1.31852980e-02 -4.88508666e-03 1.03741739e+01] [ 1.31875812e-02 9.99912945e-01 4.35464705e-04 -3.10399415e-01] [ 4.87891966e-03 -4.99844130e-04 9.99987973e-01 8.03752570e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.840714057 meters Centerline goodness : 0.993887 Centerline is valid? [True, True] Translation: X:10.40, Y:-0.31, Z:0.08 [[ 9.99856779e-01 -1.41843125e-02 -9.23186117e-03 1.04032922e+01] [ 1.43147865e-02 9.99796364e-01 1.42238122e-02 -3.13497517e-01] [ 9.02822624e-03 -1.43539272e-02 9.99856218e-01 7.90160067e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.870714056999999 meters Centerline goodness : 0.992469 Centerline is valid? [True, True] Translation: X:10.43, Y:-0.31, Z:0.09 [[ 0.99982988 -0.01461933 -0.01124646 10.43150617] [ 0.0144966 0.99983531 -0.01091797 -0.31054283] [ 0.01140422 0.01075308 0.99987715 0.0908362 ] [ 0. 0. 0. 1. ]] SLAMing on 11.900714056999998 meters Centerline goodness : 0.992660 Centerline is valid? [True, True] Translation: X:10.46, Y:-0.32, Z:0.08 [[ 9.99769494e-01 -1.93591174e-02 -9.28352416e-03 1.04649413e+01] [ 1.94356679e-02 9.99777255e-01 8.22775523e-03 -3.19071666e-01] [ 9.12217421e-03 -8.40629018e-03 9.99923057e-01 8.21173808e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.930714057 meters Centerline goodness : 0.991908 Centerline is valid? [True, True] Translation: X:10.50, Y:-0.32, Z:0.09 [[ 9.99737724e-01 -2.14805622e-02 -7.94155594e-03 1.04974609e+01] [ 2.14675894e-02 9.99768073e-01 -1.71518669e-03 -3.20492943e-01] [ 7.97655726e-03 1.54425078e-03 9.99966994e-01 8.65818492e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.960714056999999 meters Centerline goodness : 0.991584 Centerline is valid? [True, True] Translation: X:10.53, Y:-0.33, Z:0.08 [[ 9.99622687e-01 -2.66189972e-02 -6.77592221e-03 1.05306164e+01] [ 2.66540357e-02 9.99631533e-01 5.13433935e-03 -3.26736296e-01] [ 6.63675453e-03 -5.31300777e-03 9.99963862e-01 8.25677419e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.990714056999998 meters Centerline goodness : 0.993191 Centerline is valid? [True, True] Translation: X:10.56, Y:-0.33, Z:0.09 [[ 9.99551223e-01 -2.89203298e-02 -7.80812310e-03 1.05639680e+01] [ 2.89097940e-02 9.99580960e-01 -1.45887489e-03 -3.25080836e-01] [ 7.84704233e-03 1.23248895e-03 9.99968452e-01 8.79571479e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.020714057 meters Centerline goodness : 0.992308 Centerline is valid? [True, True] Translation: X:10.60, Y:-0.33, Z:0.09 [[ 9.99459581e-01 -3.21645826e-02 -6.78122443e-03 1.05968511e+01] [ 3.21814227e-02 9.99479189e-01 2.38899582e-03 -3.28022335e-01] [ 6.70085164e-03 -2.60593421e-03 9.99974154e-01 8.69173641e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.050714056999999 meters Centerline goodness : 0.991935 Centerline is valid? [True, True] Translation: X:10.63, Y:-0.33, Z:0.09 [[ 9.99289355e-01 -3.61046909e-02 -1.08275921e-02 1.06265196e+01] [ 3.61857130e-02 9.99317812e-01 7.38272451e-03 -3.32042095e-01] [ 1.05536546e-02 -7.76928215e-03 9.99914126e-01 8.78411634e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.080714056999998 meters Centerline goodness : 0.991256 Centerline is valid? [True, True] Translation: X:10.66, Y:-0.33, Z:0.09 [[ 9.99200545e-01 -3.79928167e-02 -1.24425040e-02 1.06554514e+01] [ 3.79680407e-02 9.99276485e-01 -2.22152638e-03 -3.31348782e-01] [ 1.25179037e-02 1.74733287e-03 9.99920121e-01 9.26011125e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.110714057 meters Centerline goodness : 0.991200 Centerline is valid? [True, True] Translation: X:10.69, Y:-0.34, Z:0.09 [[ 9.99063496e-01 -4.17076976e-02 -1.15151292e-02 1.06868029e+01] [ 4.17535384e-02 9.99120830e-01 3.76952565e-03 -3.35305548e-01] [ 1.13477872e-02 -4.24679286e-03 9.99926594e-01 9.15154962e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.140714056999999 meters Centerline goodness : 0.992771 Centerline is valid? [True, True] Translation: X:10.72, Y:-0.33, Z:0.09 [[ 9.99017029e-01 -4.28226240e-02 -1.14542250e-02 1.07185927e+01] [ 4.28590154e-02 9.99076773e-01 2.95063147e-03 -3.34917064e-01] [ 1.13172964e-02 -3.43864789e-03 9.99930045e-01 9.19625437e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.170714057 meters Centerline goodness : 0.994194 Centerline is valid? [True, True] Translation: X:10.76, Y:-0.33, Z:0.11 [[ 0.99845224 -0.04932929 -0.02568543 10.75717682] [ 0.04838922 0.99817894 -0.03601783 -0.32792646] [ 0.02741539 0.03471918 0.99902101 0.10729053] [ 0. 0. 0. 1. ]] SLAMing on 12.200714056999999 meters Centerline goodness : 0.993036 Centerline is valid? [True, True] Translation: X:10.78, Y:-0.34, Z:0.08 [[ 9.98973699e-01 -4.46093990e-02 -7.84544594e-03 1.07835057e+01] [ 4.48166018e-02 9.98586121e-01 2.85872572e-02 -3.42922872e-01] [ 6.55909306e-03 -2.89095243e-02 9.99560512e-01 7.82265011e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.230714056999998 meters Centerline goodness : 0.992526 Centerline is valid? [True, True] Translation: X:10.81, Y:-0.34, Z:0.09 [[ 9.98999350e-01 -4.41204210e-02 -7.32719028e-03 1.08139013e+01] [ 4.40613943e-02 9.98996546e-01 -8.03090351e-03 -3.35516525e-01] [ 7.67416462e-03 7.70002116e-03 9.99940907e-01 9.26209305e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.260714057 meters Centerline goodness : 0.992958 Centerline is valid? [True, True] Translation: X:10.85, Y:-0.34, Z:0.09 [[ 9.98989793e-01 -4.45170779e-02 -6.13373989e-03 1.08485782e+01] [ 4.44589580e-02 9.98967861e-01 -9.30668845e-03 -3.36377249e-01] [ 6.54171559e-03 9.02458708e-03 9.99937879e-01 9.12755662e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.290714056999999 meters Centerline goodness : 0.992226 Centerline is valid? [True, True] Translation: X:10.88, Y:-0.34, Z:0.09 [[ 9.99012241e-01 -4.43932087e-02 -1.94583109e-03 1.08818935e+01] [ 4.43877011e-02 9.99010491e-01 -2.78774055e-03 -3.38917525e-01] [ 2.06766242e-03 2.69861597e-03 9.99994221e-01 8.57320793e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.320714056999998 meters Centerline goodness : 0.992226 Centerline is valid? [True, True] Translation: X:10.91, Y:-0.34, Z:0.08 [[ 9.99002685e-01 -4.46138124e-02 -1.80078259e-03 1.09142739e+01] [ 4.46140506e-02 9.99004293e-01 9.23143364e-05 -3.39671757e-01] [ 1.79487104e-03 -1.72562476e-04 9.99998374e-01 8.48249844e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.350714057 meters Centerline goodness : 0.991940 Centerline is valid? [True, True] Translation: X:10.94, Y:-0.34, Z:0.09 [[ 9.99101907e-01 -4.22789455e-02 -2.80527800e-03 1.09440339e+01] [ 4.22765858e-02 9.99105544e-01 -8.95217829e-04 -3.38525270e-01] [ 2.84061767e-03 7.75816264e-04 9.99995664e-01 8.52050314e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.380714056999999 meters Centerline goodness : 0.992452 Centerline is valid? [True, True] Translation: X:10.98, Y:-0.34, Z:0.08 [[ 9.99230593e-01 -3.91997468e-02 -1.26594998e-03 1.09773943e+01] [ 3.91934087e-02 9.99220618e-01 -4.69389352e-03 -3.36786272e-01] [ 1.44896276e-03 4.64066511e-03 9.99988182e-01 8.45514644e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.410714056999998 meters Centerline goodness : 0.992196 Centerline is valid? [True, True] Translation: X:11.01, Y:-0.34, Z:0.08 [[ 9.99278606e-01 -3.78371507e-02 -3.25852397e-03 1.10088064e+01] [ 3.78530364e-02 9.99271008e-01 4.95985008e-03 -3.38173672e-01] [ 3.06848194e-03 -5.07961710e-03 9.99982391e-01 8.26259961e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.440714057 meters Centerline goodness : 0.993391 Centerline is valid? [True, True] Translation: X:11.04, Y:-0.33, Z:0.08 [[ 9.99390238e-01 -3.48991100e-02 -1.09759910e-03 1.10434553e+01] [ 3.48962224e-02 9.99387693e-01 -2.54824338e-03 -3.34781718e-01] [ 1.18585846e-03 2.50838750e-03 9.99996151e-01 8.44069297e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.470714056999999 meters Centerline goodness : 0.992227 Centerline is valid? [True, True] Translation: X:11.07, Y:-0.33, Z:0.08 [[ 9.99466737e-01 -3.25518656e-02 -2.57259785e-03 1.10721323e+01] [ 3.25521460e-02 9.99470036e-01 6.71921597e-05 -3.33836882e-01] [ 2.56904724e-03 -1.50899910e-04 9.99996689e-01 8.47113845e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.500714057 meters Centerline goodness : 0.992824 Centerline is valid? [True, True] Translation: X:11.11, Y:-0.33, Z:0.08 [[ 9.99565727e-01 -2.94674790e-02 -1.57206249e-04 1.11073997e+01] [ 2.94660380e-02 9.99548346e-01 -5.90395546e-03 -3.31709126e-01] [ 3.31109929e-04 5.89675929e-03 9.99982559e-01 8.42183711e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.530714056999999 meters Centerline goodness : 0.992574 Centerline is valid? [True, True] Translation: X:11.14, Y:-0.33, Z:0.08 [[ 9.99598832e-01 -2.82345700e-02 -2.23250269e-03 1.11371188e+01] [ 2.82505489e-02 9.99572865e-01 7.48293810e-03 -3.32980630e-01] [ 2.02027157e-03 -7.54300562e-03 9.99969510e-01 8.14082209e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.560714056999998 meters Centerline goodness : 0.992697 Centerline is valid? [True, True] Translation: X:11.17, Y:-0.33, Z:0.08 [[ 9.99612062e-01 -2.78130112e-02 -1.47014774e-03 1.11693566e+01] [ 2.78135519e-02 9.99613068e-01 3.48602935e-04 -3.30112862e-01] [ 1.45988319e-03 -3.89357729e-04 9.99998859e-01 8.44443375e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.590714057 meters Centerline goodness : 0.993328 Centerline is valid? [True, True] Translation: X:11.20, Y:-0.33, Z:0.09 [[ 9.99678636e-01 -2.53080257e-02 1.45889881e-03 1.12024015e+01] [ 2.53274973e-02 9.99560784e-01 -1.53868810e-02 -3.25953553e-01] [-1.06884646e-03 1.54188864e-02 9.99880551e-01 8.55538842e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.620714056999999 meters Centerline goodness : 0.993505 Centerline is valid? [True, True] Translation: X:11.23, Y:-0.33, Z:0.08 [[ 9.99657329e-01 -2.61688772e-02 -6.43092022e-04 1.12342854e+01] [ 2.61730844e-02 9.99627289e-01 7.76226371e-03 -3.29458229e-01] [ 4.39722608e-04 -7.77643551e-03 9.99969666e-01 7.83713604e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.650714056999998 meters Centerline goodness : 0.990952 Centerline is valid? [True, True] Translation: X:11.26, Y:-0.33, Z:0.08 [[ 9.99703616e-01 -2.43446147e-02 -1.38316870e-04 1.12569366e+01] [ 2.43444919e-02 9.99703285e-01 -8.29094249e-04 -3.25498906e-01] [ 1.58459809e-04 8.25481265e-04 9.99999647e-01 8.13957774e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.680714057 meters Centerline goodness : 0.993323 Centerline is valid? [True, True] Translation: X:11.30, Y:-0.33, Z:0.08 [[ 9.99593862e-01 -2.84965328e-02 2.42908915e-04 1.12964190e+01] [ 2.84969055e-02 9.99592433e-01 -1.70142116e-03 -3.25116158e-01] [-1.94325309e-04 1.70765230e-03 9.99998523e-01 8.20964350e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.710714056999999 meters Centerline goodness : 0.992508 Centerline is valid? [True, True] Translation: X:11.33, Y:-0.33, Z:0.08 [[ 9.99548056e-01 -3.00409956e-02 1.10533060e-03 1.13295139e+01] [ 3.00408410e-02 9.99548660e-01 1.56224514e-04 -3.25370727e-01] [-1.10952486e-03 -1.22948848e-04 9.99999377e-01 8.15842287e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.740714056999998 meters Centerline goodness : 0.993172 Centerline is valid? [True, True] Translation: X:11.36, Y:-0.32, Z:0.08 [[ 9.99496017e-01 -3.17151288e-02 1.36457568e-03 1.13589510e+01] [ 3.17185426e-02 9.99493569e-01 -2.55738171e-03 -3.23741619e-01] [-1.28277692e-03 2.59937519e-03 9.99995799e-01 8.25657795e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.770714057 meters Centerline goodness : 0.992800 Centerline is valid? [True, True] Translation: X:11.39, Y:-0.32, Z:0.08 [[ 9.99375741e-01 -3.53173444e-02 -9.01833890e-04 1.13916291e+01] [ 3.53235449e-02 9.99342514e-01 8.17237050e-03 -3.24846607e-01] [ 6.12614524e-04 -8.19912479e-03 9.99966199e-01 8.11248317e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.800714056999999 meters Centerline goodness : 0.993048 Centerline is valid? [True, True] Translation: X:11.42, Y:-0.32, Z:0.09 [[ 9.99297091e-01 -3.74875800e-02 7.66585662e-05 1.14243827e+01] [ 3.74856763e-02 9.99221137e-01 -1.23265557e-02 -3.19011465e-01] [ 3.85493882e-04 1.23207648e-02 9.99924022e-01 8.66283346e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.830714056999998 meters Centerline goodness : 0.993952 Centerline is valid? [True, True] Translation: X:11.46, Y:-0.32, Z:0.08 [[ 9.99185910e-01 -4.01034412e-02 -4.38536139e-03 1.14558789e+01] [ 4.01267293e-02 9.99180233e-01 5.35801310e-03 -3.21499308e-01] [ 4.16689165e-03 -5.52962140e-03 9.99976030e-01 8.15839875e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.860714057 meters Centerline goodness : 0.993204 Centerline is valid? [True, True] Translation: X:11.49, Y:-0.32, Z:0.08 [[ 9.99151760e-01 -4.11643292e-02 -1.12211107e-03 1.14884095e+01] [ 4.11649667e-02 9.99152212e-01 5.51036889e-04 -3.20545801e-01] [ 1.09847670e-03 -5.96761142e-04 9.99999219e-01 8.23762704e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.890714056999999 meters Centerline goodness : 0.993842 Centerline is valid? [True, True] Translation: X:11.52, Y:-0.32, Z:0.08 [[ 9.99002558e-01 -4.46121226e-02 -1.91003431e-03 1.15205497e+01] [ 4.46203601e-02 9.98993825e-01 4.51242515e-03 -3.19325869e-01] [ 1.70680362e-03 -4.59315068e-03 9.99987995e-01 8.24173711e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.920714057 meters Centerline goodness : 0.994401 Centerline is valid? [True, True] Translation: X:11.55, Y:-0.32, Z:0.08 [[ 9.98840804e-01 -4.79389933e-02 -4.34754325e-03 1.15524141e+01] [ 4.79806043e-02 9.98797873e-01 1.00334378e-02 -3.18422829e-01] [ 3.86132405e-03 -1.02304048e-02 9.99940213e-01 8.38877339e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.950714056999999 meters Centerline goodness : 0.994002 Centerline is valid? [True, True] Translation: X:11.58, Y:-0.31, Z:0.09 [[ 9.98798679e-01 -4.88039575e-02 -4.40148799e-03 1.15833615e+01] [ 4.87807269e-02 9.98795770e-01 -5.23930407e-03 -3.13983153e-01] [ 4.65188636e-03 5.01830220e-03 9.99976588e-01 9.07181338e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.980714056999998 meters Centerline goodness : 0.994168 Centerline is valid? [True, True] Translation: X:11.62, Y:-0.31, Z:0.09 [[ 9.98608988e-01 -5.26537217e-02 -2.77042228e-03 1.16166296e+01] [ 5.26628063e-02 9.98606849e-01 3.31525039e-03 -3.14408527e-01] [ 2.59200239e-03 -3.45653704e-03 9.99990667e-01 8.75695218e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.010714057 meters Centerline goodness : 0.994719 Centerline is valid? [True, True] Translation: X:11.65, Y:-0.31, Z:0.09 [[ 9.98491390e-01 -5.48634060e-02 -2.22484240e-03 1.16493298e+01] [ 5.48660316e-02 9.98493078e-01 1.13675641e-03 -3.13688581e-01] [ 2.15912341e-03 -1.25710976e-03 9.99996879e-01 8.85898876e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.040714056999999 meters Centerline goodness : 0.993636 Centerline is valid? [True, True] Translation: X:11.68, Y:-0.31, Z:0.09 [[ 9.98240442e-01 -5.92151415e-02 -3.09612590e-03 1.16792468e+01] [ 5.92072495e-02 9.98242374e-01 -2.58144591e-03 -3.11906637e-01] [ 3.24354475e-03 2.39359061e-03 9.99991875e-01 8.94417366e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.070714056999998 meters Centerline goodness : 0.994242 Centerline is valid? [True, True] Translation: X:11.71, Y:-0.31, Z:0.09 [[ 9.98049762e-01 -6.23091110e-02 -3.77447425e-03 1.17115701e+01] [ 6.23260148e-02 9.98045519e-01 4.53977654e-03 -3.12931794e-01] [ 3.48422768e-03 -4.76617084e-03 9.99982572e-01 8.72917559e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.100714057 meters Centerline goodness : 0.994285 Centerline is valid? [True, True] Translation: X:11.74, Y:-0.31, Z:0.09 [[ 9.97820572e-01 -6.54252024e-02 -8.58194256e-03 1.17413603e+01] [ 6.55101572e-02 9.97801567e-01 1.00225622e-02 -3.11358342e-01] [ 7.90734757e-03 -1.05629231e-02 9.99912945e-01 8.97467896e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.130714056999999 meters Centerline goodness : 0.994855 Centerline is valid? [True, True] Translation: X:11.77, Y:-0.31, Z:0.09 [[ 9.97500501e-01 -7.01988900e-02 -8.05400134e-03 1.17731942e+01] [ 7.02500103e-02 9.97509837e-01 6.24995117e-03 -3.09078943e-01] [ 7.59520592e-03 -6.80012310e-03 9.99948034e-01 9.22735163e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.160714056999998 meters Centerline goodness : 0.994618 Centerline is valid? [True, True] Translation: X:11.80, Y:-0.31, Z:0.10 [[ 9.97345138e-01 -7.19569736e-02 -1.11744905e-02 1.18035647e+01] [ 7.19825745e-02 9.97404070e-01 1.90544631e-03 -3.06660776e-01] [ 1.10083722e-02 -2.70475622e-03 9.99935748e-01 9.65941751e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.190714057 meters Centerline goodness : 0.994932 Centerline is valid? [True, True] Translation: X:11.83, Y:-0.30, Z:0.10 [[ 9.96981602e-01 -7.61531081e-02 -1.51125671e-02 1.18324524e+01] [ 7.62138058e-02 9.97085421e-01 3.48109712e-03 -3.03265488e-01] [ 1.48034240e-02 -4.62237604e-03 9.99879739e-01 9.98478756e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.220714056999999 meters Centerline goodness : 0.994773 Centerline is valid? [True, True] Translation: X:11.86, Y:-0.30, Z:0.10 [[ 0.99685574 -0.07810787 -0.01333403 11.86415477] [ 0.07828785 0.99683864 0.01355511 -0.30436611] [ 0.01223312 -0.01455638 0.99981921 0.09721422] [ 0. 0. 0. 1. ]] SLAMing on 13.250714056999998 meters Centerline goodness : 0.994936 Centerline is valid? [True, True] Translation: X:11.90, Y:-0.30, Z:0.10 [[ 9.96751663e-01 -7.97054421e-02 -1.15397313e-02 1.18951529e+01] [ 7.96673914e-02 9.96814557e-01 -3.72106211e-03 -2.98126716e-01] [ 1.17995610e-02 2.78963456e-03 9.99926491e-01 1.04362751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.280714056999999 meters Centerline goodness : 0.994956 Centerline is valid? [True, True] Translation: X:11.93, Y:-0.30, Z:0.10 [[ 9.96733128e-01 -8.00807991e-02 -1.04946305e-02 1.19279260e+01] [ 8.00616849e-02 9.96787417e-01 -2.22964990e-03 -2.96907646e-01] [ 1.06394678e-02 1.38214812e-03 9.99942444e-01 1.02657067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.310714056999998 meters Centerline goodness : 0.995183 Centerline is valid? [True, True] Translation: X:11.96, Y:-0.29, Z:0.10 [[ 9.96739453e-01 -7.97953298e-02 -1.19652935e-02 1.19579432e+01] [ 7.97253592e-02 9.96797488e-01 -6.21576053e-03 -2.94330032e-01] [ 1.24229632e-02 5.24155642e-03 9.99909094e-01 1.04830695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.340714057 meters Centerline goodness : 0.995500 Centerline is valid? [True, True] Translation: X:11.99, Y:-0.29, Z:0.10 [[ 9.96803554e-01 -7.94684280e-02 -8.21242735e-03 1.19904447e+01] [ 7.94769579e-02 9.96836445e-01 7.17057825e-04 -2.93563125e-01] [ 8.12946343e-03 -1.36746453e-03 9.99966020e-01 9.96314207e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.370714056999999 meters Centerline goodness : 0.996178 Centerline is valid? [True, True] Translation: X:12.02, Y:-0.29, Z:0.10 [[ 9.96780101e-01 -7.98404192e-02 -7.41204059e-03 1.20236971e+01] [ 7.98438990e-02 9.96807364e-01 1.74284947e-04 -2.91548166e-01] [ 7.37446166e-03 -7.65529987e-04 9.99972515e-01 9.95445571e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.400714056999998 meters Centerline goodness : 0.995002 Centerline is valid? [True, True] Translation: X:12.06, Y:-0.29, Z:0.10 [[ 9.96871864e-01 -7.88885751e-02 -4.80416967e-03 1.20557438e+01] [ 7.88826021e-02 9.96882900e-01 -1.42065165e-03 -2.89156506e-01] [ 4.90126778e-03 1.03724226e-03 9.99987451e-01 1.00571863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.430714057 meters Centerline goodness : 0.996188 Centerline is valid? [True, True] Translation: X:12.09, Y:-0.29, Z:0.10 [[ 9.96827422e-01 -7.93297779e-02 -6.47123420e-03 1.20865645e+01] [ 7.93386243e-02 9.96847092e-01 1.12156759e-03 -2.87579786e-01] [ 6.36185728e-03 -1.63142815e-03 9.99978432e-01 1.00967928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.460714056999999 meters Centerline goodness : 0.995864 Centerline is valid? [True, True] Translation: X:12.12, Y:-0.29, Z:0.10 [[ 9.96808801e-01 -7.96393581e-02 -5.45768207e-03 1.21198975e+01] [ 7.96390889e-02 9.96823728e-01 -2.66981712e-04 -2.85383321e-01] [ 5.46160923e-03 -1.68515107e-04 9.99985071e-01 9.90594796e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.490714056999998 meters Centerline goodness : 0.996444 Centerline is valid? [True, True] Translation: X:12.15, Y:-0.28, Z:0.10 [[ 9.96835306e-01 -7.94190819e-02 -3.46140433e-03 1.21528010e+01] [ 7.93859331e-02 9.96804719e-01 -8.84457824e-03 -2.83735506e-01] [ 4.15277245e-03 8.54180105e-03 9.99954895e-01 1.00484993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.520714057 meters Centerline goodness : 0.996339 Centerline is valid? [True, True] Translation: X:12.18, Y:-0.29, Z:0.09 [[ 9.96765702e-01 -8.01418388e-02 -5.95153344e-03 1.21839459e+01] [ 8.01890621e-02 9.96746173e-01 8.17196354e-03 -2.85905217e-01] [ 5.27725199e-03 -8.62278086e-03 9.99948898e-01 9.42840115e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.550714056999999 meters Centerline goodness : 0.996534 Centerline is valid? [True, True] Translation: X:12.22, Y:-0.28, Z:0.10 [[ 9.96799713e-01 -7.98542120e-02 -3.69291907e-03 1.22154212e+01] [ 7.98072377e-02 9.96744215e-01 -1.14793265e-02 -2.80530188e-01] [ 4.59756829e-03 1.11478676e-02 9.99927291e-01 1.01118186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.580714056999998 meters Centerline goodness : 0.996480 Centerline is valid? [True, True] Translation: X:12.25, Y:-0.28, Z:0.09 [[ 9.96708662e-01 -8.09530310e-02 -4.29535351e-03 1.22461887e+01] [ 8.09984119e-02 9.96645261e-01 1.17252496e-02 -2.83809898e-01] [ 3.33174923e-03 -1.20345746e-02 9.99922031e-01 9.28196105e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.610714057 meters Centerline goodness : 0.996699 Centerline is valid? [True, True] Translation: X:12.28, Y:-0.28, Z:0.10 [[ 9.96623812e-01 -8.20463793e-02 -3.06103652e-03 1.22797307e+01] [ 8.20168731e-02 9.96592400e-01 -8.76478228e-03 -2.78079368e-01] [ 3.76972438e-03 8.48413408e-03 9.99956903e-01 1.01092203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.640714056999999 meters Centerline goodness : 0.996037 Centerline is valid? [True, True] Translation: X:12.31, Y:-0.28, Z:0.10 [[ 9.96561244e-01 -8.28382670e-02 -1.87326835e-03 1.23122031e+01] [ 8.28343586e-02 9.96561167e-01 -2.07584973e-03 -2.79057159e-01] [ 2.03878629e-03 1.91354041e-03 9.99996091e-01 9.68791323e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.670714057 meters Centerline goodness : 0.996403 Centerline is valid? [True, True] Translation: X:12.34, Y:-0.28, Z:0.09 [[ 9.96506935e-01 -8.35030488e-02 -1.08095381e-03 1.23448448e+01] [ 8.35053253e-02 9.96504751e-01 2.26738872e-03 -2.79459891e-01] [ 8.87841734e-04 -2.34973398e-03 9.99996845e-01 9.39252656e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.700714056999999 meters Centerline goodness : 0.996405 Centerline is valid? [True, True] Translation: X:12.38, Y:-0.28, Z:0.09 [[ 9.96503207e-01 -8.35456936e-02 1.21486538e-03 1.23782033e+01] [ 8.35493678e-02 9.96497914e-01 -3.37780174e-03 -2.77588733e-01] [-9.28410026e-04 3.46749150e-03 9.99993557e-01 9.35683851e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.730714056999998 meters Centerline goodness : 0.996006 Centerline is valid? [True, True] Translation: X:12.41, Y:-0.28, Z:0.09 [[ 9.96557651e-01 -8.28927817e-02 -1.27886760e-03 1.24075357e+01] [ 8.28918266e-02 9.96558243e-01 -7.82701057e-04 -2.76898714e-01] [ 1.33934632e-03 6.73999055e-04 9.99998876e-01 9.33074736e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.760714057 meters Centerline goodness : 0.996319 Centerline is valid? [True, True] Translation: X:12.44, Y:-0.28, Z:0.09 [[ 9.96540504e-01 -8.31048582e-02 7.79159436e-04 1.24412983e+01] [ 8.31051477e-02 9.96540724e-01 -3.46819688e-04 -2.75790997e-01] [-7.47641707e-04 4.10372027e-04 9.99999636e-01 9.18103482e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.790714056999999 meters Centerline goodness : 0.996338 Centerline is valid? [True, True] Translation: X:12.47, Y:-0.27, Z:0.09 [[ 9.96593041e-01 -8.24424730e-02 2.35575145e-03 1.24735607e+01] [ 8.24588312e-02 9.96562430e-01 -7.99154669e-03 -2.73969851e-01] [-1.68881052e-03 8.15857233e-03 9.99965292e-01 9.31795067e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.820714056999998 meters Centerline goodness : 0.996483 Centerline is valid? [True, True] Translation: X:12.51, Y:-0.28, Z:0.09 [[ 9.96580516e-01 -8.25470334e-02 3.64168598e-03 1.25054996e+01] [ 8.25415460e-02 9.96586287e-01 1.63250788e-03 -2.75619325e-01] [-3.76401299e-03 -1.32633516e-03 9.99992036e-01 8.86654941e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.850714057 meters Centerline goodness : 0.996996 Centerline is valid? [True, True] Translation: X:12.54, Y:-0.27, Z:0.09 [[ 9.96465774e-01 -8.39473930e-02 2.96603990e-03 1.25370126e+01] [ 8.39565381e-02 9.96464576e-01 -3.10629344e-03 -2.72901938e-01] [-2.69478845e-03 3.34433353e-03 9.99990777e-01 9.16573695e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.880714056999999 meters Centerline goodness : 0.997135 Centerline is valid? [True, True] Translation: X:12.57, Y:-0.27, Z:0.09 [[ 9.96479905e-01 -8.37063936e-02 4.58673815e-03 1.25712196e+01] [ 8.37110141e-02 9.96489732e-01 -8.24464004e-04 -2.73550206e-01] [-4.50162456e-03 1.20552231e-03 9.99989141e-01 8.91379258e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.910714056999998 meters Centerline goodness : 0.997255 Centerline is valid? [True, True] Translation: X:12.60, Y:-0.27, Z:0.09 [[ 9.96431364e-01 -8.42387791e-02 5.32592576e-03 1.26028757e+01] [ 8.42424902e-02 9.96445170e-01 -4.75939678e-04 -2.72696790e-01] [-5.26690042e-03 9.22910472e-04 9.99985704e-01 8.80172062e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.940714057 meters Centerline goodness : 0.996682 Centerline is valid? [True, True] Translation: X:12.63, Y:-0.27, Z:0.09 [[ 9.96488084e-01 -8.35864893e-02 4.97968797e-03 1.26340454e+01] [ 8.35937029e-02 9.96499127e-01 -1.25815955e-03 -2.71337873e-01] [-4.85708958e-03 1.67001156e-03 9.99986810e-01 8.72220446e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.970714056999999 meters Centerline goodness : 0.996414 Centerline is valid? [True, True] Translation: X:12.67, Y:-0.27, Z:0.09 [[ 9.96697228e-01 -8.09780025e-02 6.09904353e-03 1.26656359e+01] [ 8.10199347e-02 9.96688083e-01 -6.97393935e-03 -2.70629904e-01] [-5.51410833e-03 7.44505013e-03 9.99957082e-01 8.81223977e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.000714056999998 meters Centerline goodness : 0.997092 Centerline is valid? [True, True] Translation: X:12.70, Y:-0.27, Z:0.08 [[ 9.96806865e-01 -7.95844059e-02 6.51118253e-03 1.26988508e+01] [ 7.95974880e-02 9.96825506e-01 -1.77491739e-03 -2.70520695e-01] [-6.34925707e-03 2.28752361e-03 9.99977227e-01 8.46110948e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.030714056999999 meters Centerline goodness : 0.997008 Centerline is valid? [True, True] Translation: X:12.73, Y:-0.27, Z:0.08 [[ 9.97207567e-01 -7.41945684e-02 8.49908692e-03 1.27325270e+01] [ 7.42545220e-02 9.97214966e-01 -6.96983093e-03 -2.69277463e-01] [-7.95829307e-03 7.58146378e-03 9.99939592e-01 8.41078068e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.060714056999998 meters Centerline goodness : 0.997812 Centerline is valid? [True, True] Translation: X:12.77, Y:-0.27, Z:0.08 [[ 9.97438759e-01 -7.08830965e-02 9.56602595e-03 1.27679052e+01] [ 7.09613036e-02 9.97446184e-01 -8.09955052e-03 -2.65694508e-01] [-8.96747486e-03 8.75762329e-03 9.99921441e-01 8.44371263e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.090714057 meters Centerline goodness : 0.997170 Centerline is valid? [True, True] Translation: X:12.80, Y:-0.27, Z:0.08 [[ 9.97662339e-01 -6.78919198e-02 7.78098852e-03 1.27981907e+01] [ 6.78591913e-02 9.97685223e-01 4.39604799e-03 -2.67320551e-01] [-8.06143341e-03 -3.85775993e-03 9.99960065e-01 8.02783764e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.120714056999999 meters Centerline goodness : 0.997646 Centerline is valid? [True, True] Translation: X:12.83, Y:-0.26, Z:0.08 [[ 9.97758488e-01 -6.63074457e-02 9.01784551e-03 1.28327194e+01] [ 6.63648607e-02 9.97776012e-01 -6.22369541e-03 -2.64235077e-01] [-8.58511259e-03 6.80821298e-03 9.99939970e-01 8.36529780e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.150714056999998 meters Centerline goodness : 0.997149 Centerline is valid? [True, True] Translation: X:12.86, Y:-0.26, Z:0.08 [[ 9.97969031e-01 -6.29512342e-02 9.74453764e-03 1.28631605e+01] [ 6.29744193e-02 9.98012952e-01 -2.09071713e-03 -2.64557219e-01] [-9.59356154e-03 2.70012755e-03 9.99950335e-01 8.03742441e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.180714057 meters Centerline goodness : 0.997021 Centerline is valid? [True, True] Translation: X:12.90, Y:-0.26, Z:0.08 [[ 9.98266797e-01 -5.79602633e-02 1.01985696e-02 1.28964719e+01] [ 5.80112275e-02 9.98304515e-01 -4.77416948e-03 -2.62659997e-01] [-9.90456600e-03 5.35752642e-03 9.99936596e-01 7.91294642e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.210714056999999 meters Centerline goodness : 0.997662 Centerline is valid? [True, True] Translation: X:12.93, Y:-0.26, Z:0.08 [[ 9.98353322e-01 -5.63484737e-02 1.07468290e-02 1.29308643e+01] [ 5.64215576e-02 9.98385069e-01 -6.62284852e-03 -2.61467689e-01] [-1.03562862e-02 7.21829565e-03 9.99920319e-01 7.88726789e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.240714056999998 meters Centerline goodness : 0.997662 Centerline is valid? [True, True] Translation: X:12.96, Y:-0.26, Z:0.08 [[ 9.98336436e-01 -5.67419839e-02 1.02327036e-02 1.29634756e+01] [ 5.67451037e-02 9.98388698e-01 -1.45753178e-05 -2.62858934e-01] [-1.02153886e-02 5.95206895e-04 9.99947644e-01 7.58525973e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.270714057 meters Centerline goodness : 0.997948 Centerline is valid? [True, True] Translation: X:13.00, Y:-0.26, Z:0.08 [[ 9.98611217e-01 -5.12695080e-02 1.21274750e-02 1.29957875e+01] [ 5.13908262e-02 9.98629421e-01 -9.91273248e-03 -2.58733295e-01] [-1.16026325e-02 1.05222068e-02 9.99877324e-01 7.90516412e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.300714056999999 meters Centerline goodness : 0.997638 Centerline is valid? [True, True] Translation: X:13.03, Y:-0.26, Z:0.07 [[ 9.98776273e-01 -4.81075629e-02 1.14725440e-02 1.30255171e+01] [ 4.80294611e-02 9.98821469e-01 6.98889723e-03 -2.60767045e-01] [-1.17952420e-02 -6.42932462e-03 9.99909764e-01 7.20827667e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.330714056999998 meters Centerline goodness : 0.997401 Centerline is valid? [True, True] Translation: X:13.06, Y:-0.26, Z:0.08 [[ 9.98962448e-01 -4.45373738e-02 9.51050699e-03 1.30579404e+01] [ 4.45482907e-02 9.99006791e-01 -9.39033667e-04 -2.57267596e-01] [-9.45923897e-03 1.36173620e-03 9.99954333e-01 7.61179733e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.360714057 meters Centerline goodness : 0.997651 Centerline is valid? [True, True] Translation: X:13.09, Y:-0.26, Z:0.08 [[ 9.99016741e-01 -4.30251587e-02 1.06951599e-02 1.30916979e+01] [ 4.31153784e-02 9.99035180e-01 -8.35308911e-03 -2.55184528e-01] [-1.03254480e-02 8.80600172e-03 9.99907915e-01 7.74364915e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.390714056999999 meters Centerline goodness : 0.998235 Centerline is valid? [True, True] Translation: X:13.13, Y:-0.25, Z:0.08 [[ 9.98984464e-01 -4.50554594e-02 -2.15128782e-04 1.31272569e+01] [ 4.50398599e-02 9.98743504e-01 -2.19732597e-02 -2.50895614e-01] [ 1.20487378e-03 2.19412557e-02 9.99758536e-01 8.43917457e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.420714056999998 meters Centerline goodness : 0.997416 Centerline is valid? [True, True] Translation: X:13.15, Y:-0.26, Z:0.06 [[ 9.98994545e-01 -4.47448612e-02 2.79233875e-03 1.31490169e+01] [ 4.45605176e-02 9.97862182e-01 4.78061249e-02 -2.64495016e-01] [-4.92544767e-03 -4.76336299e-02 9.98852731e-01 5.72915296e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.450714056999999 meters Centerline goodness : 0.998077 Centerline is valid? [True, True] Translation: X:13.18, Y:-0.25, Z:0.08 [[ 9.98979236e-01 -4.50479197e-02 3.34223665e-03 1.31817827e+01] [ 4.50620832e-02 9.98974973e-01 -4.29084162e-03 -2.51797978e-01] [-3.14551728e-03 4.43706983e-03 9.99985209e-01 8.32047186e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.480714056999998 meters Centerline goodness : 0.998229 Centerline is valid? [True, True] Translation: X:13.22, Y:-0.25, Z:0.10 [[ 9.98837199e-01 -4.79754390e-02 -4.75471431e-03 1.32184515e+01] [ 4.78168969e-02 9.98429470e-01 -2.91914012e-02 -2.45171773e-01] [ 6.14771718e-03 2.89301018e-02 9.99562532e-01 9.56353398e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.510714057 meters Centerline goodness : 0.998201 Centerline is valid? [True, True] Translation: X:13.25, Y:-0.25, Z:0.08 [[ 9.98761654e-01 -4.95317539e-02 -4.66508768e-03 1.32534829e+01] [ 4.94712483e-02 9.98699839e-01 -1.22974845e-02 -2.48596834e-01] [ 5.26813829e-03 1.20514683e-02 9.99913501e-01 8.42174681e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.540714056999999 meters Centerline goodness : 0.998151 Centerline is valid? [True, True] Translation: X:13.28, Y:-0.26, Z:0.06 [[ 9.98758305e-01 -4.97305652e-02 2.95296760e-03 1.32782184e+01] [ 4.95904005e-02 9.98105592e-01 3.64145380e-02 -2.59540135e-01] [-4.75828903e-03 -3.62228834e-02 9.99332408e-01 6.18227200e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.570714056999998 meters Centerline goodness : 0.997283 Centerline is valid? [True, True] Translation: X:13.30, Y:-0.25, Z:0.08 [[ 9.98631826e-01 -5.22412817e-02 -2.30751809e-03 1.33038479e+01] [ 5.22669076e-02 9.98548975e-01 1.29659252e-02 -2.51783848e-01] [ 1.62681327e-03 -1.30687924e-02 9.99913276e-01 8.01887284e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.600714057 meters Centerline goodness : 0.997543 Centerline is valid? [True, True] Translation: X:13.34, Y:-0.25, Z:0.08 [[ 9.98422439e-01 -5.60387912e-02 -3.50538400e-03 1.33363167e+01] [ 5.60793935e-02 9.98344028e-01 1.28180898e-02 -2.51119012e-01] [ 2.78126893e-03 -1.29944483e-02 9.99911701e-01 8.32281007e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.630714056999999 meters Centerline goodness : 0.997545 Centerline is valid? [True, True] Translation: X:13.37, Y:-0.25, Z:0.09 [[ 9.98200833e-01 -5.99423795e-02 -1.41691950e-03 1.33723278e+01] [ 5.99146459e-02 9.98091870e-01 -1.49283258e-02 -2.46395749e-01] [ 2.30905521e-03 1.48165731e-02 9.99887562e-01 9.24752248e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.660714056999998 meters Centerline goodness : 0.997018 Centerline is valid? [True, True] Translation: X:13.40, Y:-0.25, Z:0.08 [[ 9.98045605e-01 -6.22992318e-02 -4.87606480e-03 1.34012650e+01] [ 6.23405575e-02 9.98015790e-01 8.83960153e-03 -2.51180799e-01] [ 4.31568928e-03 -9.12630206e-03 9.99949041e-01 8.30107093e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.690714057 meters Centerline goodness : 0.996854 Centerline is valid? [True, True] Translation: X:13.43, Y:-0.25, Z:0.09 [[ 9.97851916e-01 -6.54404551e-02 -3.01671265e-03 1.34332137e+01] [ 6.54157101e-02 9.97828557e-01 -7.67830105e-03 -2.48701802e-01] [ 3.51263355e-03 7.46446702e-03 9.99965971e-01 8.85807517e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.720714056999999 meters Centerline goodness : 0.997587 Centerline is valid? [True, True] Translation: X:13.47, Y:-0.25, Z:0.10 [[ 9.97434089e-01 -7.03216656e-02 -1.34201584e-02 1.34686908e+01] [ 7.01338144e-02 9.97439485e-01 -1.39900471e-02 -2.46794509e-01] [ 1.43695993e-02 1.30129430e-02 9.99812071e-01 9.54151182e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.750714056999998 meters Centerline goodness : 0.997003 Centerline is valid? [True, True] Translation: X:13.50, Y:-0.25, Z:0.08 [[ 9.97508714e-01 -7.03747840e-02 -4.87389316e-03 1.34977139e+01] [ 7.04512271e-02 9.97355327e-01 1.78598966e-02 -2.54076368e-01] [ 3.60411695e-03 -1.81587742e-02 9.99828620e-01 7.84373026e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.780714056999999 meters Centerline goodness : 0.996837 Centerline is valid? [True, True] Translation: X:13.53, Y:-0.25, Z:0.09 [[ 9.97323008e-01 -7.29786345e-02 -4.57566757e-03 1.35275880e+01] [ 7.29897806e-02 9.97329995e-01 2.31798491e-03 -2.50120332e-01] [ 4.39428714e-03 -2.64575665e-03 9.99986845e-01 8.81595434e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.810714056999998 meters Centerline goodness : 0.997126 Centerline is valid? [True, True] Translation: X:13.56, Y:-0.25, Z:0.09 [[ 9.97226856e-01 -7.42627914e-02 -4.86163856e-03 1.35592934e+01] [ 7.42802998e-02 9.97231171e-01 3.52542747e-03 -2.50200747e-01] [ 4.58636943e-03 -3.87677492e-03 9.99981968e-01 8.81829837e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.840714057 meters Centerline goodness : 0.997127 Centerline is valid? [True, True] Translation: X:13.59, Y:-0.25, Z:0.09 [[ 9.97126422e-01 -7.57075279e-02 -2.69615482e-03 1.35909781e+01] [ 7.56838544e-02 9.97099726e-01 -8.00562016e-03 -2.48550798e-01] [ 3.29442095e-03 7.77856000e-03 9.99964320e-01 9.28072299e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.870714056999999 meters Centerline goodness : 0.996696 Centerline is valid? [True, True] Translation: X:13.62, Y:-0.25, Z:0.09 [[ 9.97101974e-01 -7.60044680e-02 -3.31289699e-03 1.36212174e+01] [ 7.60264530e-02 9.97080445e-01 7.11086599e-03 -2.52019692e-01] [ 2.76276722e-03 -7.34212632e-03 9.99969230e-01 8.66189736e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.900714056999998 meters Centerline goodness : 0.996626 Centerline is valid? [True, True] Translation: X:13.65, Y:-0.25, Z:0.09 [[ 9.96895794e-01 -7.85849921e-02 -4.81405724e-03 1.36548730e+01] [ 7.85762884e-02 9.96906154e-01 -1.97148947e-03 -2.49719411e-01] [ 4.95409277e-03 1.58709881e-03 9.99986469e-01 9.21945147e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.930714057 meters Centerline goodness : 0.997282 Centerline is valid? [True, True] Translation: X:13.69, Y:-0.25, Z:0.09 [[ 9.96697195e-01 -8.09013487e-02 -7.04795227e-03 1.36865981e+01] [ 8.09447888e-02 9.96699842e-01 6.11275791e-03 -2.51268677e-01] [ 6.53016256e-03 -6.66306367e-03 9.99956479e-01 9.05004883e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.960714056999999 meters Centerline goodness : 0.997460 Centerline is valid? [True, True] Translation: X:13.72, Y:-0.25, Z:0.09 [[ 9.96567621e-01 -8.24397648e-02 -7.52741178e-03 1.37207744e+01] [ 8.24622504e-02 9.96590458e-01 2.72679516e-03 -2.50352081e-01] [ 7.27695041e-03 -3.33816308e-03 9.99967951e-01 9.22862268e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.990714056999998 meters Centerline goodness : 0.996705 Centerline is valid? [True, True] Translation: X:13.75, Y:-0.25, Z:0.10 [[ 9.96491021e-01 -8.31989573e-02 -9.14209514e-03 1.37497901e+01] [ 8.31775778e-02 9.96531097e-01 -2.69508347e-03 -2.49975455e-01] [ 9.33461023e-03 1.92520915e-03 9.99954578e-01 9.51409288e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.020714057 meters Centerline goodness : 0.996638 Centerline is valid? [True, True] Translation: X:13.78, Y:-0.25, Z:0.09 [[ 9.96390296e-01 -8.44134670e-02 -8.98577578e-03 1.37836834e+01] [ 8.43921375e-02 9.96428887e-01 -2.72765507e-03 -2.50623616e-01] [ 9.18393738e-03 1.95948022e-03 9.99955907e-01 9.34099367e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.050714056999999 meters Centerline goodness : 0.997174 Centerline is valid? [True, True] Translation: X:13.82, Y:-0.25, Z:0.09 [[ 9.96245396e-01 -8.61944972e-02 -8.10064028e-03 1.38156474e+01] [ 8.62009529e-02 9.96277668e-01 4.50542127e-04 -2.52086354e-01] [ 8.03165276e-03 -1.14713343e-03 9.99967088e-01 9.24549188e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.080714056999998 meters Centerline goodness : 0.996680 Centerline is valid? [True, True] Translation: X:13.84, Y:-0.25, Z:0.09 [[ 9.96253939e-01 -8.59096151e-02 -9.88061516e-03 1.38445370e+01] [ 8.59558826e-02 9.96289419e-01 4.35662660e-03 -2.53108626e-01] [ 9.46967622e-03 -5.18960341e-03 9.99941695e-01 9.19194020e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.110714057 meters Centerline goodness : 0.996689 Centerline is valid? [True, True] Translation: X:13.88, Y:-0.25, Z:0.10 [[ 9.96076484e-01 -8.80276787e-02 -9.09761603e-03 1.38776058e+01] [ 8.79738321e-02 9.96103744e-01 -6.15930141e-03 -2.51014522e-01] [ 9.60435839e-03 5.33478314e-03 9.99939646e-01 9.83145807e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.140714056999999 meters Centerline goodness : 0.996507 Centerline is valid? [True, True] Translation: X:13.91, Y:-0.25, Z:0.10 [[ 9.96003173e-01 -8.88615481e-02 -9.01686292e-03 1.39107300e+01] [ 8.88734397e-02 9.96042496e-01 9.26015631e-04 -2.52924830e-01] [ 8.89889146e-03 -1.72367413e-03 9.99958918e-01 9.54979253e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.170714056999998 meters Centerline goodness : 0.996589 Centerline is valid? [True, True] Translation: X:13.94, Y:-0.25, Z:0.10 [[ 9.96045793e-01 -8.84072250e-02 -8.77158068e-03 1.39414803e+01] [ 8.83958143e-02 9.96084010e-01 -1.68090565e-03 -2.53045545e-01] [ 8.88583546e-03 8.98887987e-04 9.99960116e-01 9.70679333e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.200714056999999 meters Centerline goodness : 0.996943 Centerline is valid? [True, True] Translation: X:13.98, Y:-0.25, Z:0.10 [[ 9.96061392e-01 -8.83355264e-02 -7.65096845e-03 1.39754005e+01] [ 8.83125246e-02 9.96087368e-01 -3.29444872e-03 -2.53181719e-01] [ 7.91204988e-03 2.60579684e-03 9.99965304e-01 9.68432652e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.230714056999998 meters Centerline goodness : 0.996770 Centerline is valid? [True, True] Translation: X:14.01, Y:-0.25, Z:0.10 [[ 9.96124580e-01 -8.76557336e-02 -7.23145339e-03 1.40072909e+01] [ 8.76580406e-02 9.96150625e-01 2.07900231e-06 -2.53750976e-01] [ 7.20343458e-03 -6.35965980e-04 9.99973853e-01 9.60560328e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.260714057 meters Centerline goodness : 0.996988 Centerline is valid? [True, True] Translation: X:14.04, Y:-0.25, Z:0.10 [[ 9.96233269e-01 -8.63551607e-02 -7.87786756e-03 1.40410547e+01] [ 8.63557982e-02 9.96264327e-01 -2.59833070e-04 -2.52733447e-01] [ 7.87087635e-03 -4.21445193e-04 9.99968935e-01 9.73651567e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.290714056999999 meters Centerline goodness : 0.997038 Centerline is valid? [True, True] Translation: X:14.07, Y:-0.25, Z:0.10 [[ 9.96357221e-01 -8.48497516e-02 -8.53271443e-03 1.40717148e+01] [ 8.48593870e-02 9.96392637e-01 7.72943056e-04 -2.52944720e-01] [ 8.43634980e-03 -1.49420831e-03 9.99963297e-01 9.71714005e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.320714056999998 meters Centerline goodness : 0.996588 Centerline is valid? [True, True] Translation: X:14.10, Y:-0.25, Z:0.10 [[ 9.96551115e-01 -8.24535027e-02 -9.34317104e-03 1.41032865e+01] [ 8.24609281e-02 9.96594213e-01 4.11653066e-04 -2.53196177e-01] [ 9.27740795e-03 -1.18067988e-03 9.99956267e-01 9.76174450e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.350714057 meters Centerline goodness : 0.996094 Centerline is valid? [True, True] Translation: X:14.14, Y:-0.25, Z:0.10 [[ 9.96783409e-01 -7.97447407e-02 -7.97573781e-03 1.41387615e+01] [ 7.97416419e-02 9.96815315e-01 -7.06295573e-04 -2.52753831e-01] [ 8.00666095e-03 6.80252811e-05 9.99967944e-01 9.72274336e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.380714056999999 meters Centerline goodness : 0.996585 Centerline is valid? [True, True] Translation: X:14.17, Y:-0.25, Z:0.10 [[ 9.96897820e-01 -7.83220060e-02 -7.77171763e-03 1.41718379e+01] [ 7.83244602e-02 9.96927921e-01 1.14592899e-05 -2.52428323e-01] [ 7.74694478e-03 -6.20139329e-04 9.99969800e-01 9.75271531e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.410714056999998 meters Centerline goodness : 0.996266 Centerline is valid? [True, True] Translation: X:14.20, Y:-0.25, Z:0.10 [[ 9.97325957e-01 -7.25106086e-02 -9.11846368e-03 1.42025763e+01] [ 7.25570851e-02 9.97352355e-01 4.87342150e-03 -2.51769428e-01] [ 8.74094646e-03 -5.52199890e-03 9.99946550e-01 9.79416933e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.440714057 meters Centerline goodness : 0.996017 Centerline is valid? [True, True] Translation: X:14.23, Y:-0.25, Z:0.10 [[ 9.97592639e-01 -6.87191789e-02 -9.30595790e-03 1.42324361e+01] [ 6.87093001e-02 9.97635772e-01 -1.37751290e-03 -2.50160434e-01] [ 9.37861805e-03 7.34790876e-04 9.99955750e-01 1.02204851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.470714056999999 meters Centerline goodness : 0.997983 Centerline is valid? [True, True] Translation: X:14.27, Y:-0.25, Z:0.10 [[ 9.97759945e-01 -6.62635491e-02 -9.17789632e-03 1.42678176e+01] [ 6.63112211e-02 9.97786507e-01 4.99080730e-03 -2.50999034e-01] [ 8.82687251e-03 -5.58822513e-03 9.99945428e-01 9.97508761e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.500714056999998 meters Centerline goodness : 0.997215 Centerline is valid? [True, True] Translation: X:14.30, Y:-0.25, Z:0.10 [[ 9.98096961e-01 -6.05963169e-02 -1.14255278e-02 1.42966940e+01] [ 6.06292534e-02 9.98157076e-01 2.55840190e-03 -2.49077179e-01] [ 1.12494417e-02 -3.24625438e-03 9.99931454e-01 1.04196597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.530714056999999 meters Centerline goodness : 0.997804 Centerline is valid? [True, True] Translation: X:14.33, Y:-0.25, Z:0.10 [[ 9.98187179e-01 -5.88138757e-02 -1.27782172e-02 1.43253673e+01] [ 5.89307819e-02 9.98221741e-01 8.97320425e-03 -2.48650671e-01] [ 1.22277453e-02 -9.70996777e-03 9.99878092e-01 1.04371039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.560714056999998 meters Centerline goodness : 0.998378 Centerline is valid? [True, True] Translation: X:14.36, Y:-0.25, Z:0.11 [[ 9.98354989e-01 -5.60599999e-02 -1.20246538e-02 1.43591128e+01] [ 5.61114205e-02 9.98416572e-01 3.98212438e-03 -2.46327251e-01] [ 1.17823757e-02 -4.65029415e-03 9.99919772e-01 1.08595061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.590714057 meters Centerline goodness : 0.998500 Centerline is valid? [True, True] Translation: X:14.39, Y:-0.24, Z:0.11 [[ 9.98437521e-01 -5.42672589e-02 -1.33259805e-02 1.43878375e+01] [ 5.42731888e-02 9.98526121e-01 8.34885708e-05 -2.44159217e-01] [ 1.33018089e-02 -8.06601578e-04 9.99911202e-01 1.12122287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.620714056999999 meters Centerline goodness : 0.998856 Centerline is valid? [True, True] Translation: X:14.42, Y:-0.24, Z:0.11 [[ 9.98511496e-01 -5.27411467e-02 -1.38983566e-02 1.44206205e+01] [ 5.26652344e-02 9.98595538e-01 -5.77275016e-03 -2.41910190e-01] [ 1.41832983e-02 5.03219718e-03 9.99886749e-01 1.14947443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.650714056999998 meters Centerline goodness : 0.998647 Centerline is valid? [True, True] Translation: X:14.45, Y:-0.24, Z:0.11 [[ 9.98593693e-01 -5.20302756e-02 -1.01728164e-02 1.44532236e+01] [ 5.19790395e-02 9.98634440e-01 -5.23788819e-03 -2.42696693e-01] [ 1.04314536e-02 4.70174889e-03 9.99934537e-01 1.12713582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.680714057 meters Centerline goodness : 0.998341 Centerline is valid? [True, True] Translation: X:14.49, Y:-0.24, Z:0.11 [[ 9.98617007e-01 -5.18869076e-02 -8.47485243e-03 1.44868282e+01] [ 5.18580079e-02 9.98647997e-01 -3.59507125e-03 -2.42993989e-01] [ 8.64993154e-03 3.15061033e-03 9.99957625e-01 1.11139660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.710714056999999 meters Centerline goodness : 0.998749 Centerline is valid? [True, True] Translation: X:14.52, Y:-0.24, Z:0.11 [[ 9.98668105e-01 -5.10444458e-02 -7.51532684e-03 1.45190730e+01] [ 5.09767508e-02 9.98659831e-01 -8.93939251e-03 -2.42131409e-01] [ 7.96156137e-03 8.54437923e-03 9.99931801e-01 1.12155789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.740714056999998 meters Centerline goodness : 0.999055 Centerline is valid? [True, True] Translation: X:14.56, Y:-0.24, Z:0.12 [[ 9.98488353e-01 -5.37452981e-02 -1.15087314e-02 1.45566887e+01] [ 5.34823011e-02 9.98325197e-01 -2.20554784e-02 -2.39520055e-01] [ 1.26748348e-02 2.14066249e-02 9.99690505e-01 1.17462702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.770714057 meters Centerline goodness : 0.999131 Centerline is valid? [True, True] Translation: X:14.58, Y:-0.25, Z:0.10 [[ 9.98680946e-01 -5.07465928e-02 -7.81990440e-03 1.45824824e+01] [ 5.09296562e-02 9.98381100e-01 2.53248663e-02 -2.49299800e-01] [ 6.52209408e-03 -2.56897265e-02 9.99648688e-01 9.62715212e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.800714056999999 meters Centerline goodness : 0.998466 Centerline is valid? [True, True] Translation: X:14.62, Y:-0.24, Z:0.11 [[ 9.98842679e-01 -4.80375370e-02 -2.38701197e-03 1.46170813e+01] [ 4.79928628e-02 9.98716903e-01 -1.61626816e-02 -2.41244244e-01] [ 3.16036461e-03 1.60294166e-02 9.99866526e-01 1.12541346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.830714056999998 meters Centerline goodness : 0.999106 Centerline is valid? [True, True] Translation: X:14.65, Y:-0.24, Z:0.11 [[ 9.98873285e-01 -4.73170095e-02 -3.64147248e-03 1.46485246e+01] [ 4.73056483e-02 9.98875509e-01 -3.14532814e-03 -2.43357167e-01] [ 3.78620520e-03 2.96952203e-03 9.99988423e-01 1.05813628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.860714057 meters Centerline goodness : 0.998898 Centerline is valid? [True, True] Translation: X:14.68, Y:-0.24, Z:0.11 [[ 9.98808667e-01 -4.73076532e-02 -1.19679722e-02 1.46838458e+01] [ 4.72316892e-02 9.98862470e-01 -6.55238496e-03 -2.42242771e-01] [ 1.22643362e-02 5.97931135e-03 9.99906913e-01 1.11626425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.890714056999999 meters Centerline goodness : 0.998617 Centerline is valid? [True, True] Translation: X:14.71, Y:-0.25, Z:0.10 [[ 9.98970333e-01 -4.44521174e-02 -9.07095652e-03 1.47098319e+01] [ 4.46940222e-02 9.98594630e-01 2.84817363e-02 -2.48235363e-01] [ 7.79213498e-03 -2.88578271e-02 9.99553154e-01 9.79327004e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.920714056999998 meters Centerline goodness : 0.998416 Centerline is valid? [True, True] Translation: X:14.74, Y:-0.24, Z:0.11 [[ 9.99052395e-01 -4.22870840e-02 -1.03011530e-02 1.47404863e+01] [ 4.23533884e-02 9.99082794e-01 6.30570925e-03 -2.42477597e-01] [ 1.00250546e-02 -6.73602266e-03 9.99927059e-01 1.11556639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.950714056999999 meters Centerline goodness : 0.998672 Centerline is valid? [True, True] Translation: X:14.78, Y:-0.24, Z:0.12 [[ 9.98958063e-01 -4.28264681e-02 -1.57696345e-02 1.47751068e+01] [ 4.26039926e-02 9.98991355e-01 -1.41835505e-02 -2.38498815e-01] [ 1.63611599e-02 1.34969227e-02 9.99775047e-01 1.22580350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.980714056999998 meters Centerline goodness : 0.998387 Centerline is valid? [True, True] Translation: X:14.81, Y:-0.24, Z:0.11 [[ 9.98941823e-01 -4.23279783e-02 -1.79882404e-02 1.48078744e+01] [ 4.24197726e-02 9.99088574e-01 4.75229603e-03 -2.42504434e-01] [ 1.77706903e-02 -5.51032432e-03 9.99826904e-01 1.14637404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.010714057 meters Centerline goodness : 0.998236 Centerline is valid? [True, True] Translation: X:14.84, Y:-0.25, Z:0.11 [[ 9.99204799e-01 -3.73739748e-02 -1.38908800e-02 1.48357346e+01] [ 3.76068297e-02 9.99149731e-01 1.68979840e-02 -2.45306122e-01] [ 1.32475242e-02 -1.74069387e-02 9.99760722e-01 1.10442974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.040714057 meters Centerline goodness : 0.998132 Centerline is valid? [True, True] Translation: X:14.87, Y:-0.24, Z:0.12 [[ 9.99281143e-01 -3.52474432e-02 -1.39575847e-02 1.48680450e+01] [ 3.52563521e-02 9.99378224e-01 3.92666355e-04 -2.42177424e-01] [ 1.39350657e-02 -8.84477605e-04 9.99902511e-01 1.19283668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.070714057 meters Centerline goodness : 0.998286 Centerline is valid? [True, True] Translation: X:14.90, Y:-0.24, Z:0.13 [[ 0.9993226 -0.03252433 -0.01721935 14.9041583 ] [ 0.03213314 0.9992297 -0.02252686 -0.2381689 ] [ 0.01793876 0.02195829 0.99959794 0.12762135] [ 0. 0. 0. 1. ]] SLAMing on 16.100714056999998 meters Centerline goodness : 0.998064 Centerline is valid? [True, True] Translation: X:14.93, Y:-0.25, Z:0.11 [[ 9.99618726e-01 -2.58761753e-02 -9.63458711e-03 1.49325334e+01] [ 2.59720201e-02 9.99613057e-01 9.95943198e-03 -2.46367532e-01] [ 9.37314706e-03 -1.02058644e-02 9.99903988e-01 1.09422297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.130714057 meters Centerline goodness : 0.998064 Centerline is valid? [True, True] Translation: X:14.96, Y:-0.24, Z:0.12 [[ 9.99606425e-01 -2.63302759e-02 -9.68046697e-03 1.49649712e+01] [ 2.63310973e-02 9.99653276e-01 -4.26095290e-05 -2.43649187e-01] [ 9.67823244e-03 -2.12304558e-04 9.99953142e-01 1.15148225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.160714057 meters Centerline goodness : 0.998029 Centerline is valid? [True, True] Translation: X:15.00, Y:-0.24, Z:0.11 [[ 9.99721039e-01 -2.27585575e-02 -6.31596787e-03 1.49993825e+01] [ 2.27422115e-02 9.99737856e-01 -2.64792291e-03 -2.44648507e-01] [ 6.37457508e-03 2.50354517e-03 9.99976548e-01 1.13987573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.190714056999997 meters Centerline goodness : 0.997605 Centerline is valid? [True, True] Translation: X:15.03, Y:-0.25, Z:0.11 [[ 9.99860042e-01 -1.52292183e-02 -6.92582302e-03 1.50302612e+01] [ 1.52279669e-02 9.99884021e-01 -2.33392247e-04 -2.46703125e-01] [ 6.92857415e-03 1.27893378e-04 9.99975989e-01 1.13267151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.220714057 meters Centerline goodness : 0.998212 Centerline is valid? [True, True] Translation: X:15.06, Y:-0.25, Z:0.11 [[ 9.99906193e-01 -1.28207911e-02 -4.82002399e-03 1.50631339e+01] [ 1.28045807e-02 9.99912308e-01 -3.37909325e-03 -2.46829708e-01] [ 4.86292396e-03 3.31705788e-03 9.99982674e-01 1.14570104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.250714057 meters Centerline goodness : 0.997942 Centerline is valid? [True, True] Translation: X:15.10, Y:-0.25, Z:0.11 [[ 9.99989552e-01 -4.56519118e-03 -2.36005398e-04 1.50971100e+01] [ 4.56148196e-03 9.99893548e-01 -1.38594618e-02 -2.47898212e-01] [ 2.99251368e-04 1.38582404e-02 9.99903925e-01 1.14795503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.280714056999997 meters Centerline goodness : 0.997910 Centerline is valid? [True, True] Translation: X:15.13, Y:-0.25, Z:0.11 [[ 9.99998128e-01 -7.96914400e-04 -1.76312559e-03 1.51275464e+01] [ 8.04803765e-04 9.99989648e-01 4.47847207e-03 -2.53174534e-01] [ 1.75953838e-03 -4.47988266e-03 9.99988417e-01 1.07210452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.310714057 meters Centerline goodness : 0.998121 Centerline is valid? [True, True] Translation: X:15.16, Y:-0.26, Z:0.11 [[ 9.99982915e-01 7.55077491e-04 -5.79646471e-03 1.51563519e+01] [-6.71575794e-04 9.99896174e-01 1.43940795e-02 -2.56305718e-01] [ 5.80673154e-03 -1.43899408e-02 9.99879598e-01 1.07857506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.340714057 meters Centerline goodness : 0.997642 Centerline is valid? [True, True] Translation: X:15.19, Y:-0.26, Z:0.11 [[ 9.99968465e-01 3.45515587e-03 -7.15052359e-03 1.51854754e+01] [-3.39528437e-03 9.99959221e-01 8.36829332e-03 -2.58597705e-01] [ 7.17914576e-03 -8.34375137e-03 9.99939419e-01 1.13154154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.370714056999997 meters Centerline goodness : 0.997317 Centerline is valid? [True, True] Translation: X:15.22, Y:-0.26, Z:0.12 [[ 9.99969648e-01 4.23688892e-03 -6.53847617e-03 1.52153560e+01] [-4.24146896e-03 9.99990769e-01 -6.86766958e-04 -2.58731269e-01] [ 6.53550606e-03 7.14478857e-04 9.99978388e-01 1.17279541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.400714057 meters Centerline goodness : 0.997005 Centerline is valid? [True, True] Translation: X:15.24, Y:-0.26, Z:0.12 [[ 9.99972943e-01 4.00385002e-03 -6.17113401e-03 1.52431325e+01] [-4.00921178e-03 9.99991596e-01 -8.56720470e-04 -2.60626713e-01] [ 6.16765197e-03 8.81438673e-04 9.99980591e-01 1.17888275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.430714057 meters Centerline goodness : 0.997173 Centerline is valid? [True, True] Translation: X:15.27, Y:-0.27, Z:0.12 [[ 9.99975019e-01 2.64562517e-03 -6.55453004e-03 1.52710209e+01] [-2.64429150e-03 9.99996481e-01 2.12129950e-04 -2.66360827e-01] [ 6.55506819e-03 -1.94792563e-04 9.99978496e-01 1.17044230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.460714056999997 meters Centerline goodness : 0.996916 Centerline is valid? [True, True] Translation: X:15.30, Y:-0.27, Z:0.12 [[ 9.99998094e-01 1.21492715e-03 -1.52814285e-03 1.53019421e+01] [-1.23997573e-03 9.99863117e-01 -1.64988035e-02 -2.66431454e-01] [ 1.50788883e-03 1.65006670e-02 9.99862718e-01 1.18656757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.490714056999998 meters Centerline goodness : 0.995211 Centerline is valid? [True, True] Translation: X:15.33, Y:-0.28, Z:0.11 [[ 9.99994209e-01 -3.14733057e-03 1.29451189e-03 1.53313483e+01] [ 3.16006183e-03 9.99945472e-01 -9.95323094e-03 -2.75225476e-01] [-1.26311519e-03 9.95726404e-03 9.99949627e-01 1.10927912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.520714057 meters Centerline goodness : 0.995646 Centerline is valid? [True, True] Translation: X:15.36, Y:-0.28, Z:0.11 [[ 9.99976823e-01 -6.75864095e-03 -8.21388517e-04 1.53630707e+01] [ 6.76104754e-03 9.99972753e-01 2.96331621e-03 -2.80654606e-01] [ 8.01338146e-04 -2.96880098e-03 9.99995272e-01 1.05458375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.550714057 meters Centerline goodness : 0.994302 Centerline is valid? [True, True] Translation: X:15.40, Y:-0.28, Z:0.11 [[ 9.99855100e-01 -1.38987100e-02 9.82880313e-03 1.53969943e+01] [ 1.42429377e-02 9.99255118e-01 -3.58656890e-02 -2.82547454e-01] [-9.32299502e-03 3.60004831e-02 9.99308284e-01 1.10511987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.580714056999998 meters Centerline goodness : 0.994475 Centerline is valid? [True, True] Translation: X:15.43, Y:-0.29, Z:0.10 [[ 9.99747235e-01 -2.23461079e-02 2.47325473e-03 1.54298497e+01] [ 2.23213203e-02 9.99704438e-01 9.63306328e-03 -2.94507461e-01] [-2.68778520e-03 -9.57542207e-03 9.99950542e-01 9.61011170e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.610714057 meters Centerline goodness : 0.993787 Centerline is valid? [True, True] Translation: X:15.46, Y:-0.29, Z:0.10 [[ 9.99624603e-01 -2.70757348e-02 4.19021352e-03 1.54639528e+01] [ 2.71002884e-02 9.99615200e-01 -5.91831921e-03 -2.94924537e-01] [-4.02835828e-03 6.02965348e-03 9.99973707e-01 1.01208620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.640714057 meters Centerline goodness : 0.992488 Centerline is valid? [True, True] Translation: X:15.49, Y:-0.30, Z:0.10 [[ 9.99388230e-01 -3.46529708e-02 4.72616772e-03 1.54906348e+01] [ 3.46358341e-02 9.99393295e-01 3.66083358e-03 -3.03749266e-01] [-4.85015908e-03 -3.49489923e-03 9.99982131e-01 9.62362001e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.670714056999998 meters Centerline goodness : 0.992574 Centerline is valid? [True, True] Translation: X:15.53, Y:-0.30, Z:0.10 [[ 9.99110925e-01 -4.17360932e-02 5.95459618e-03 1.55271470e+01] [ 4.18142263e-02 9.99031975e-01 -1.36631884e-02 -3.02751821e-01] [-5.37858388e-03 1.39000277e-02 9.99888924e-01 1.01697096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.700714057 meters Centerline goodness : 0.990551 Centerline is valid? [True, True] Translation: X:15.55, Y:-0.31, Z:0.09 [[ 9.98872381e-01 -4.70971948e-02 5.98506785e-03 1.55541701e+01] [ 4.70512584e-02 9.98863584e-01 7.59729019e-03 -3.13588651e-01] [-6.33607738e-03 -7.30711836e-03 9.99953229e-01 9.25819618e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.730714057 meters Centerline goodness : 0.992393 Centerline is valid? [True, True] Translation: X:15.59, Y:-0.31, Z:0.10 [[ 9.98470407e-01 -5.52357537e-02 2.42011055e-03 1.55867790e+01] [ 5.52389172e-02 9.98472370e-01 -1.26036073e-03 -3.11041264e-01] [-2.34679654e-03 1.39211718e-03 9.99996277e-01 9.96783086e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.760714056999998 meters Centerline goodness : 0.991717 Centerline is valid? [True, True] Translation: X:15.62, Y:-0.32, Z:0.10 [[ 9.98258658e-01 -5.89748068e-02 1.27413539e-03 1.56182211e+01] [ 5.89645914e-02 9.98235885e-01 6.94946276e-03 -3.15148018e-01] [-1.68173090e-03 -6.86223250e-03 9.99975040e-01 9.79162303e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.790714057 meters Centerline goodness : 0.991139 Centerline is valid? [True, True] Translation: X:15.65, Y:-0.32, Z:0.10 [[ 9.98057431e-01 -6.23005974e-02 -1.88070583e-05 1.56478494e+01] [ 6.22972563e-02 9.98000688e-01 1.06620593e-02 -3.20429427e-01] [-6.45483209e-04 -1.06425192e-02 9.99943158e-01 9.80302877e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.820714057 meters Centerline goodness : 0.989798 Centerline is valid? [True, True] Translation: X:15.67, Y:-0.32, Z:0.10 [[ 9.97901741e-01 -6.46230230e-02 -3.99751218e-03 1.56721927e+01] [ 6.47040411e-02 9.97580902e-01 2.54112309e-02 -3.24089958e-01] [ 2.34569125e-03 -2.56165667e-02 9.99669090e-01 9.69184024e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.850714056999998 meters Centerline goodness : 0.989269 Centerline is valid? [True, True] Translation: X:15.70, Y:-0.32, Z:0.11 [[ 9.97617800e-01 -6.88683708e-02 -3.98398057e-03 1.57020398e+01] [ 6.88910266e-02 9.97606979e-01 5.86024731e-03 -3.18098377e-01] [ 3.57086113e-03 -6.12074754e-03 9.99974892e-01 1.05317324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.880714057 meters Centerline goodness : 0.990318 Centerline is valid? [True, True] Translation: X:15.74, Y:-0.32, Z:0.11 [[ 9.97789175e-01 -6.63979526e-02 -2.84136075e-03 1.57394951e+01] [ 6.63338740e-02 9.97623524e-01 -1.86312237e-02 -3.16484344e-01] [ 4.07168343e-03 1.84015549e-02 9.99822386e-01 1.14795023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.910714057 meters Centerline goodness : 0.990112 Centerline is valid? [True, True] Translation: X:15.77, Y:-0.32, Z:0.11 [[ 9.97747986e-01 -6.63952549e-02 -9.51978839e-03 1.57678789e+01] [ 6.64418195e-02 9.97779414e-01 4.66114866e-03 -3.21387314e-01] [ 9.18917072e-03 -5.28316375e-03 9.99943822e-01 1.09973074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.940714056999997 meters Centerline goodness : 0.990150 Centerline is valid? [True, True] Translation: X:15.80, Y:-0.32, Z:0.11 [[ 9.97716095e-01 -6.71450956e-02 -7.35732558e-03 1.58006481e+01] [ 6.72164775e-02 9.97689030e-01 9.92700152e-03 -3.23988060e-01] [ 6.67377356e-03 -1.03988627e-02 9.99923659e-01 1.06452722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.970714057 meters Centerline goodness : 0.989304 Centerline is valid? [True, True] Translation: X:15.83, Y:-0.32, Z:0.11 [[ 9.97523626e-01 -6.85476121e-02 -1.57429266e-02 1.58278333e+01] [ 6.89469358e-02 9.97270877e-01 2.64029797e-02 -3.24979196e-01] [ 1.38901010e-02 -2.74230226e-02 9.99527410e-01 1.10690071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.000714057 meters Centerline goodness : 0.990234 Centerline is valid? [True, True] Translation: X:15.86, Y:-0.32, Z:0.12 [[ 9.97319921e-01 -7.11589438e-02 -1.70111873e-02 1.58598036e+01] [ 7.11836986e-02 9.97462858e-01 8.53389317e-04 -3.15215359e-01] [ 1.69073013e-02 -2.06202140e-03 9.99854935e-01 1.23956252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.030714056999997 meters Centerline goodness : 0.990408 Centerline is valid? [True, True] Translation: X:15.90, Y:-0.31, Z:0.13 [[ 9.97431254e-01 -7.06805905e-02 -1.16252752e-02 1.58960438e+01] [ 7.04234878e-02 9.97291660e-01 -2.12103091e-02 -3.10732986e-01] [ 1.30929472e-02 2.03371328e-02 9.99707445e-01 1.26225215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.060714057 meters Centerline goodness : 0.990222 Centerline is valid? [True, True] Translation: X:15.93, Y:-0.32, Z:0.12 [[ 9.97354996e-01 -7.15866862e-02 -1.25840795e-02 1.59268649e+01] [ 7.17664371e-02 9.97316574e-01 1.44647820e-02 -3.18055990e-01] [ 1.15148253e-02 -1.53296372e-02 9.99816189e-01 1.15326167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.090714057 meters Centerline goodness : 0.992070 Centerline is valid? [True, True] Translation: X:15.96, Y:-0.31, Z:0.12 [[ 9.97225584e-01 -7.40573728e-02 -7.52592045e-03 1.59604054e+01] [ 7.40655043e-02 9.97253052e-01 8.07176184e-04 -3.12830747e-01] [ 7.44546979e-03 -1.36234784e-03 9.99971354e-01 1.20184055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.120714056999997 meters Centerline goodness : 0.990230 Centerline is valid? [True, True] Translation: X:15.99, Y:-0.31, Z:0.12 [[ 9.97227183e-01 -7.36636219e-02 -1.05648492e-02 1.59887643e+01] [ 7.36145311e-02 9.97274420e-01 -4.96308761e-03 -3.09277272e-01] [ 1.09016528e-02 4.17159946e-03 9.99931874e-01 1.24557969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.150714057 meters Centerline goodness : 0.990974 Centerline is valid? [True, True] Translation: X:16.02, Y:-0.31, Z:0.12 [[ 9.97103123e-01 -7.53383810e-02 -1.04637903e-02 1.60222328e+01] [ 7.52867672e-02 9.97148143e-01 -5.24246106e-03 -3.06237981e-01] [ 1.08289076e-02 4.43948935e-03 9.99931511e-01 1.24024379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.180714057 meters Centerline goodness : 0.990724 Centerline is valid? [True, True] Translation: X:16.05, Y:-0.31, Z:0.12 [[ 9.96927089e-01 -7.71832088e-02 -1.33840207e-02 1.60529001e+01] [ 7.72597671e-02 9.96996910e-01 5.29990278e-03 -3.07892592e-01] [ 1.29347638e-02 -6.31766298e-03 9.99896384e-01 1.22516159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.210714056999997 meters Centerline goodness : 0.991070 Centerline is valid? [True, True] Translation: X:16.09, Y:-0.31, Z:0.12 [[ 9.96654356e-01 -8.06689398e-02 -1.31383526e-02 1.60860939e+01] [ 8.06931752e-02 9.96738109e-01 1.32421842e-03 -3.05720460e-01] [ 1.29886734e-02 -2.37996344e-03 9.99912811e-01 1.23503287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.240714056999998 meters Centerline goodness : 0.991075 Centerline is valid? [True, True] Translation: X:16.12, Y:-0.31, Z:0.12 [[ 9.96474649e-01 -8.24200322e-02 -1.56592818e-02 1.61163731e+01] [ 8.24971524e-02 9.96581836e-01 4.34336370e-03 -3.05026644e-01] [ 1.52477756e-02 -5.61989797e-03 9.99867952e-01 1.24705343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.270714057 meters Centerline goodness : 0.989265 Centerline is valid? [True, True] Translation: X:16.14, Y:-0.30, Z:0.13 [[ 9.96519337e-01 -8.20008582e-02 -1.50023556e-02 1.61429550e+01] [ 8.18104179e-02 9.96564466e-01 -1.28965159e-02 -3.00131912e-01] [ 1.60083399e-02 1.16242785e-02 9.99804285e-01 1.30592637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.300714057 meters Centerline goodness : 0.992262 Centerline is valid? [True, True] Translation: X:16.18, Y:-0.30, Z:0.12 [[ 9.96179859e-01 -8.57674360e-02 -1.64206075e-02 1.61801876e+01] [ 8.59584734e-02 9.96234595e-01 1.13036668e-02 -3.02305385e-01] [ 1.53892908e-02 -1.26719755e-02 9.99801276e-01 1.23479731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.330714056999998 meters Centerline goodness : 0.992522 Centerline is valid? [True, True] Translation: X:16.21, Y:-0.30, Z:0.13 [[ 9.96078066e-01 -8.69648205e-02 -1.62974364e-02 1.62111586e+01] [ 8.69789470e-02 9.96210137e-01 1.58646237e-04 -2.97717017e-01] [ 1.62218747e-02 -1.57555789e-03 9.99867175e-01 1.29433899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.360714057 meters Centerline goodness : 0.992054 Centerline is valid? [True, True] Translation: X:16.24, Y:-0.29, Z:0.13 [[ 9.96039533e-01 -8.72833166e-02 -1.69373034e-02 1.62418335e+01] [ 8.72161532e-02 9.96178485e-01 -4.66577161e-03 -2.93529021e-01] [ 1.72798213e-02 3.17008653e-03 9.99845667e-01 1.31033512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.390714057 meters Centerline goodness : 0.992163 Centerline is valid? [True, True] Translation: X:16.28, Y:-0.29, Z:0.13 [[ 9.95940896e-01 -8.83570668e-02 -1.71685748e-02 1.62755038e+01] [ 8.84622831e-02 9.96064522e-01 5.46731263e-03 -2.94564252e-01] [ 1.66179326e-02 -6.96389157e-03 9.99837661e-01 1.27738609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.420714056999998 meters Centerline goodness : 0.991892 Centerline is valid? [True, True] Translation: X:16.31, Y:-0.29, Z:0.13 [[ 9.95836790e-01 -8.95421903e-02 -1.70670608e-02 1.63077003e+01] [ 8.95405715e-02 9.95982804e-01 -8.60513808e-04 -2.90337219e-01] [ 1.70755514e-02 -6.71263074e-04 9.99853977e-01 1.31058690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.450714057 meters Centerline goodness : 0.992623 Centerline is valid? [True, True] Translation: X:16.34, Y:-0.29, Z:0.13 [[ 9.95969281e-01 -8.80576526e-02 -1.70599488e-02 1.63376575e+01] [ 8.80874772e-02 9.96112238e-01 1.00328438e-03 -2.86602697e-01] [ 1.69052769e-02 -2.50200828e-03 9.99853965e-01 1.31663733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.480714057 meters Centerline goodness : 0.992075 Centerline is valid? [True, True] Translation: X:16.37, Y:-0.28, Z:0.13 [[ 9.96057487e-01 -8.69622180e-02 -1.75230017e-02 1.63677328e+01] [ 8.68955084e-02 9.96207111e-01 -4.53451483e-03 -2.82598947e-01] [ 1.78508704e-02 2.99396731e-03 9.99836178e-01 1.34675883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.510714056999998 meters Centerline goodness : 0.992866 Centerline is valid? [True, True] Translation: X:16.40, Y:-0.28, Z:0.13 [[ 9.96135959e-01 -8.62601136e-02 -1.65028442e-02 1.64014401e+01] [ 8.63503630e-02 9.96253098e-01 4.83530211e-03 -2.80872636e-01] [ 1.60239159e-02 -6.24164489e-03 9.99852127e-01 1.30985062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.540714057 meters Centerline goodness : 0.993019 Centerline is valid? [True, True] Translation: X:16.43, Y:-0.28, Z:0.13 [[ 9.96200501e-01 -8.55759898e-02 -1.61651182e-02 1.64339173e+01] [ 8.55493209e-02 9.96331200e-01 -2.33540936e-03 -2.77120524e-01] [ 1.63056666e-02 9.43621083e-04 9.99866609e-01 1.34060427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.570714057 meters Centerline goodness : 0.993679 Centerline is valid? [True, True] Translation: X:16.47, Y:-0.28, Z:0.13 [[ 9.96207710e-01 -8.53902841e-02 -1.66942427e-02 1.64668838e+01] [ 8.54465446e-02 9.96339138e-01 2.68502477e-03 -2.75554795e-01] [ 1.64038524e-02 -4.10130773e-03 9.99857036e-01 1.33316157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.600714056999998 meters Centerline goodness : 0.993104 Centerline is valid? [True, True] Translation: X:16.50, Y:-0.27, Z:0.14 [[ 9.96426830e-01 -8.29228626e-02 -1.60428017e-02 1.64973569e+01] [ 8.29043852e-02 9.96555854e-01 -1.81454217e-03 -2.70490340e-01] [ 1.61380150e-02 4.78039895e-04 9.99869659e-01 1.36488331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.630714057 meters Centerline goodness : 0.993078 Centerline is valid? [True, True] Translation: X:16.53, Y:-0.27, Z:0.14 [[ 9.96526735e-01 -8.16758431e-02 -1.62333695e-02 1.65280243e+01] [ 8.16388253e-02 9.96657670e-01 -2.93120857e-03 -2.66872127e-01] [ 1.64185211e-02 1.59575449e-03 9.99863934e-01 1.37056541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.660714057 meters Centerline goodness : 0.992885 Centerline is valid? [True, True] Translation: X:16.56, Y:-0.26, Z:0.14 [[ 9.96789619e-01 -7.84557156e-02 -1.59736267e-02 1.65609958e+01] [ 7.83667267e-02 9.96905791e-01 -6.12369371e-03 -2.62115276e-01] [ 1.64046397e-02 4.85223348e-03 9.99853661e-01 1.36857403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.690714056999997 meters Centerline goodness : 0.992998 Centerline is valid? [True, True] Translation: X:16.59, Y:-0.26, Z:0.13 [[ 9.96957515e-01 -7.61271370e-02 -1.67442940e-02 1.65902414e+01] [ 7.62109140e-02 9.97081911e-01 4.42253394e-03 -2.61485597e-01] [ 1.63587578e-02 -5.68517639e-03 9.99850024e-01 1.33950984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.720714057 meters Centerline goodness : 0.992179 Centerline is valid? [True, True] Translation: X:16.62, Y:-0.26, Z:0.14 [[ 9.97178183e-01 -7.35185711e-02 -1.51885188e-02 1.66235108e+01] [ 7.34205068e-02 9.97277085e-01 -6.91697998e-03 -2.56394055e-01] [ 1.56556882e-02 5.78231279e-03 9.99860722e-01 1.37787732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.750714057 meters Centerline goodness : 0.992749 Centerline is valid? [True, True] Translation: X:16.66, Y:-0.25, Z:0.14 [[ 9.97707397e-01 -6.65960838e-02 -1.20378962e-02 1.66556264e+01] [ 6.64400705e-02 9.97706682e-01 -1.29265086e-02 -2.51057291e-01] [ 1.28711443e-02 1.20970746e-02 9.99843985e-01 1.36906002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.780714056999997 meters Centerline goodness : 0.993275 Centerline is valid? [True, True] Translation: X:16.69, Y:-0.25, Z:0.13 [[ 9.97855649e-01 -6.44767881e-02 -1.12627037e-02 1.66894126e+01] [ 6.44206469e-02 9.97908871e-01 -5.27869849e-03 -2.49577560e-01] [ 1.15795055e-02 4.54182845e-03 9.99922640e-01 1.33377008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.810714057 meters Centerline goodness : 0.994324 Centerline is valid? [True, True] Translation: X:16.72, Y:-0.25, Z:0.13 [[ 9.98077230e-01 -6.08916059e-02 -1.15782146e-02 1.67221289e+01] [ 6.09213704e-02 9.98140065e-01 2.23533339e-03 -2.46955837e-01] [ 1.14205668e-02 -2.93639606e-03 9.99930472e-01 1.31063747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.840714057 meters Centerline goodness : 0.994725 Centerline is valid? [True, True] Translation: X:16.75, Y:-0.25, Z:0.13 [[ 9.98003257e-01 -6.13330296e-02 -1.50916905e-02 1.67517291e+01] [ 6.15236092e-02 9.98027286e-01 1.25052428e-02 -2.45966217e-01] [ 1.42949345e-02 -1.34087683e-02 9.99807911e-01 1.31700900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.870714056999997 meters Centerline goodness : 0.994161 Centerline is valid? [True, True] Translation: X:16.78, Y:-0.24, Z:0.14 [[ 9.98077096e-01 -6.05419562e-02 -1.32959573e-02 1.67822130e+01] [ 6.04601541e-02 9.98149637e-01 -6.47088141e-03 -2.39289429e-01] [ 1.36631147e-02 5.65456290e-03 9.99890667e-01 1.39464639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.900714057 meters Centerline goodness : 0.995034 Centerline is valid? [True, True] Translation: X:16.82, Y:-0.24, Z:0.14 [[ 9.98069607e-01 -6.08163811e-02 -1.25868154e-02 1.68157159e+01] [ 6.07817196e-02 9.98146210e-01 -3.11860628e-03 -2.36689386e-01] [ 1.27531444e-02 2.34753786e-03 9.99915920e-01 1.38386625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.930714057 meters Centerline goodness : 0.995129 Centerline is valid? [True, True] Translation: X:16.85, Y:-0.24, Z:0.14 [[ 9.97983685e-01 -6.18820553e-02 -1.41129342e-02 1.68474710e+01] [ 6.19197745e-02 9.98078591e-01 2.25113768e-03 -2.35445379e-01] [ 1.39465125e-02 -3.12046838e-03 9.99897874e-01 1.37557633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.960714056999997 meters Centerline goodness : 0.994416 Centerline is valid? [True, True] Translation: X:16.88, Y:-0.23, Z:0.14 [[ 9.97758520e-01 -6.51075949e-02 -1.54575749e-02 1.68776099e+01] [ 6.51738957e-02 9.97866593e-01 3.82438589e-03 -2.32784095e-01] [ 1.51756010e-02 -4.82324398e-03 9.99873211e-01 1.39219269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.990714056999998 meters Centerline goodness : 0.994701 Centerline is valid? [True, True] Translation: X:16.91, Y:-0.23, Z:0.14 [[ 9.97534550e-01 -6.78884483e-02 -1.77758420e-02 1.69096085e+01] [ 6.80069154e-02 9.97665917e-01 6.14635829e-03 -2.31152738e-01] [ 1.73170850e-02 -7.34008493e-03 9.99823105e-01 1.41104074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.020714057 meters Centerline goodness : 0.994684 Centerline is valid? [True, True] Translation: X:16.94, Y:-0.23, Z:0.14 [[ 9.97181744e-01 -7.25852881e-02 -1.89722132e-02 1.69403347e+01] [ 7.26768315e-02 9.97346783e-01 4.18011776e-03 -2.28731456e-01] [ 1.86184608e-02 -5.54717747e-03 9.99811273e-01 1.44417180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.050714056999997 meters Centerline goodness : 0.994684 Centerline is valid? [True, True] Translation: X:16.97, Y:-0.23, Z:0.15 [[ 9.97166107e-01 -7.27992242e-02 -1.89743811e-02 1.69727107e+01] [ 7.28075118e-02 9.97345979e-01 -2.54574237e-04 -2.26458187e-01] [ 1.89425555e-02 -1.12762467e-03 9.99819938e-01 1.47698341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.080714056999998 meters Centerline goodness : 0.994364 Centerline is valid? [True, True] Translation: X:17.00, Y:-0.22, Z:0.15 [[ 9.97024816e-01 -7.47491795e-02 -1.88169226e-02 1.70047218e+01] [ 7.47038321e-02 9.97200939e-01 -3.10239502e-03 -2.24136789e-01] [ 1.89961544e-02 1.68746860e-03 9.99818133e-01 1.49342716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.110714057 meters Centerline goodness : 0.994693 Centerline is valid? [True, True] Translation: X:17.04, Y:-0.22, Z:0.15 [[ 9.96674647e-01 -7.85716971e-02 -2.15901726e-02 1.70353959e+01] [ 7.88233424e-02 9.96827229e-01 1.10615139e-02 -2.24263360e-01] [ 2.06525500e-02 -1.27265401e-02 9.99705710e-01 1.46763369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.140714057 meters Centerline goodness : 0.994561 Centerline is valid? [True, True] Translation: X:17.07, Y:-0.22, Z:0.15 [[ 9.96597812e-01 -7.99097380e-02 -2.01800627e-02 1.70685408e+01] [ 7.97895962e-02 9.96789269e-01 -6.69137099e-03 -2.18683857e-01] [ 2.06499756e-02 5.05844663e-03 9.99773970e-01 1.54214533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.170714056999998 meters Centerline goodness : 0.994971 Centerline is valid? [True, True] Translation: X:17.10, Y:-0.22, Z:0.15 [[ 9.96437860e-01 -8.15631729e-02 -2.14252101e-02 1.71016270e+01] [ 8.16607226e-02 9.96653255e-01 3.71683186e-03 -2.19328897e-01] [ 2.10503488e-02 -5.45319013e-03 9.99763545e-01 1.51360934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.200714057 meters Centerline goodness : 0.995342 Centerline is valid? [True, True] Translation: X:17.13, Y:-0.22, Z:0.15 [[ 9.96414198e-01 -8.26338360e-02 -1.81767692e-02 1.71348730e+01] [ 8.24479100e-02 9.96537373e-01 -1.07520591e-02 -2.15046817e-01] [ 1.90023137e-02 9.21486773e-03 9.99776974e-01 1.54690669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.230714057 meters Centerline goodness : 0.995534 Centerline is valid? [True, True] Translation: X:17.17, Y:-0.22, Z:0.15 [[ 9.96180453e-01 -8.47054659e-02 -2.12011533e-02 1.71671518e+01] [ 8.49098360e-02 9.96348613e-01 8.93090451e-03 -2.17589722e-01] [ 2.03672432e-02 -1.06969790e-02 9.99735340e-01 1.49051527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.260714056999998 meters Centerline goodness : 0.995536 Centerline is valid? [True, True] Translation: X:17.20, Y:-0.21, Z:0.15 [[ 9.95980234e-01 -8.73086136e-02 -2.00144790e-02 1.72003394e+01] [ 8.72476831e-02 9.96179019e-01 -3.89923570e-03 -2.12214655e-01] [ 2.02784409e-02 2.13734477e-03 9.99792087e-01 1.54868231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.290714057 meters Centerline goodness : 0.995627 Centerline is valid? [True, True] Translation: X:17.24, Y:-0.21, Z:0.15 [[ 9.95746513e-01 -8.97476483e-02 -2.08384736e-02 1.72351143e+01] [ 8.97729239e-02 9.95962220e-01 2.78755217e-04 -2.10902237e-01] [ 2.07293148e-02 -2.14830024e-03 9.99782817e-01 1.54580322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.320714057 meters Centerline goodness : 0.995164 Centerline is valid? [True, True] Translation: X:17.26, Y:-0.21, Z:0.15 [[ 9.95674235e-01 -9.00959977e-02 -2.27052743e-02 1.72638866e+01] [ 9.02606985e-02 9.95898027e-01 6.33445499e-03 -2.10462081e-01] [ 2.20414288e-02 -8.35644755e-03 9.99722134e-01 1.54401205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.350714056999998 meters Centerline goodness : 0.995627 Centerline is valid? [True, True] Translation: X:17.30, Y:-0.21, Z:0.16 [[ 9.95555618e-01 -9.15069691e-02 -2.22595242e-02 1.72964120e+01] [ 9.14629055e-02 9.95803990e-01 -2.99177533e-03 -2.06302057e-01] [ 2.24398913e-02 9.42557975e-04 9.99747750e-01 1.59051408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.380714057 meters Centerline goodness : 0.995091 Centerline is valid? [True, True] Translation: X:17.33, Y:-0.21, Z:0.16 [[ 9.95390718e-01 -9.29819340e-02 -2.34878390e-02 1.73283405e+01] [ 9.31338507e-02 9.95638645e-01 5.45659902e-03 -2.06526605e-01] [ 2.28780351e-02 -7.61896091e-03 9.99709231e-01 1.57118720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.410714057 meters Centerline goodness : 0.994971 Centerline is valid? [True, True] Translation: X:17.36, Y:-0.20, Z:0.16 [[ 9.95268822e-01 -9.43499633e-02 -2.31960226e-02 1.73607028e+01] [ 9.42546939e-02 9.95534697e-01 -5.16915797e-03 -2.01404110e-01] [ 2.35801552e-02 2.95836776e-03 9.99717572e-01 1.62281814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.440714056999997 meters Centerline goodness : 0.995148 Centerline is valid? [True, True] Translation: X:17.39, Y:-0.20, Z:0.16 [[ 9.95354096e-01 -9.36911872e-02 -2.21852613e-02 1.73915439e+01] [ 9.36976315e-02 9.95600417e-01 -7.51116693e-04 -2.00693990e-01] [ 2.21580284e-02 -1.33107936e-03 9.99753595e-01 1.60308410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.470714057 meters Centerline goodness : 0.995452 Centerline is valid? [True, True] Translation: X:17.42, Y:-0.20, Z:0.16 [[ 9.95218493e-01 -9.48096409e-02 -2.34794187e-02 1.74238013e+01] [ 9.49164347e-02 9.95479182e-01 3.47399148e-03 -1.99164634e-01] [ 2.30439046e-02 -5.68596327e-03 9.99718284e-01 1.60966493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.500714057 meters Centerline goodness : 0.995090 Centerline is valid? [True, True] Translation: X:17.46, Y:-0.19, Z:0.16 [[ 9.95216071e-01 -9.53131117e-02 -2.14565354e-02 1.74567296e+01] [ 9.52413328e-02 9.95444729e-01 -4.34504424e-03 -1.94978953e-01] [ 2.17729348e-02 2.28070882e-03 9.99760340e-01 1.64485628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.530714056999997 meters Centerline goodness : 0.995723 Centerline is valid? [True, True] Translation: X:17.49, Y:-0.19, Z:0.16 [[ 9.95171635e-01 -9.58621601e-02 -2.10680497e-02 1.74902438e+01] [ 9.58281867e-02 9.95394445e-01 -2.61858146e-03 -1.93838911e-01] [ 2.12220426e-02 5.87024990e-04 9.99774615e-01 1.64340276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.560714057 meters Centerline goodness : 0.995502 Centerline is valid? [True, True] Translation: X:17.52, Y:-0.19, Z:0.16 [[ 9.95032913e-01 -9.70623273e-02 -2.20999397e-02 1.75209724e+01] [ 9.70851773e-02 9.95276076e-01 -3.91626864e-05 -1.91878072e-01] [ 2.19993425e-02 -2.10660840e-03 9.99755766e-01 1.64315752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.590714057 meters Centerline goodness : 0.995645 Centerline is valid? [True, True] Translation: X:17.55, Y:-0.19, Z:0.16 [[ 9.94938645e-01 -9.75275870e-02 -2.41963147e-02 1.75514952e+01] [ 9.76655989e-02 9.95208720e-01 4.58638446e-03 -1.91088692e-01] [ 2.36330843e-02 -6.92631870e-03 9.99696706e-01 1.64433649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.620714056999997 meters Centerline goodness : 0.994993 Centerline is valid? [True, True] Translation: X:17.58, Y:-0.19, Z:0.17 [[ 9.94810630e-01 -9.87168856e-02 -2.46330424e-02 1.75829500e+01] [ 9.87203457e-02 9.95114632e-01 -1.07854716e-03 -1.88158743e-01] [ 2.46191717e-02 -1.35883228e-03 9.99695979e-01 1.67770074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.650714057 meters Centerline goodness : 0.995145 Centerline is valid? [True, True] Translation: X:17.61, Y:-0.19, Z:0.17 [[ 9.94687973e-01 -9.99430097e-02 -2.46420809e-02 1.76141647e+01] [ 9.99125521e-02 9.94993163e-01 -2.46722311e-03 -1.86677955e-01] [ 2.47652838e-02 -7.93604064e-06 9.99693293e-01 1.68612086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.680714057 meters Centerline goodness : 0.996073 Centerline is valid? [True, True] Translation: X:17.65, Y:-0.19, Z:0.17 [[ 9.94479236e-01 -1.01809045e-01 -2.54158758e-02 1.76485569e+01] [ 1.01874948e-01 9.94796353e-01 1.30837556e-03 -1.85860887e-01] [ 2.51504161e-02 -3.89039335e-03 9.99676108e-01 1.69004102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.710714056999997 meters Centerline goodness : 0.995377 Centerline is valid? [True, True] Translation: X:17.68, Y:-0.18, Z:0.17 [[ 9.94512516e-01 -1.01511955e-01 -2.53017634e-02 1.76781387e+01] [ 1.01552902e-01 9.94830084e-01 3.35344626e-04 -1.83495772e-01] [ 2.51369139e-02 -2.90297191e-03 9.99679803e-01 1.70906067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.740714056999998 meters Centerline goodness : 0.995642 Centerline is valid? [True, True] Translation: X:17.71, Y:-0.18, Z:0.17 [[ 9.94489132e-01 -1.01356892e-01 -2.67982794e-02 1.77105053e+01] [ 1.01465434e-01 9.94835351e-01 2.71853568e-03 -1.81736438e-01] [ 2.63843334e-02 -5.42265323e-03 9.99637165e-01 1.70897360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.770714057 meters Centerline goodness : 0.995766 Centerline is valid? [True, True] Translation: X:17.74, Y:-0.18, Z:0.17 [[ 9.94496617e-01 -1.01419586e-01 -2.62782359e-02 1.77420748e+01] [ 1.01533691e-01 9.94827452e-01 3.04144279e-03 -1.80428465e-01] [ 2.58338486e-02 -5.69283085e-03 9.99650041e-01 1.72385783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.800714056999997 meters Centerline goodness : 0.995576 Centerline is valid? [True, True] Translation: X:17.77, Y:-0.18, Z:0.18 [[ 9.94640437e-01 -1.00185473e-01 -2.55591719e-02 1.77733115e+01] [ 1.00013797e-01 9.94954591e-01 -7.91221052e-03 -1.75523619e-01] [ 2.62229040e-02 5.31353470e-03 9.99641999e-01 1.78229888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.830714056999998 meters Centerline goodness : 0.996274 Centerline is valid? [True, True] Translation: X:17.81, Y:-0.17, Z:0.18 [[ 9.94921724e-01 -9.76104900e-02 -2.45551560e-02 1.78054291e+01] [ 9.74535724e-02 9.95211731e-01 -7.51078663e-03 -1.74598984e-01] [ 2.51707109e-02 5.07965711e-03 9.99670262e-01 1.77050497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.860714057 meters Centerline goodness : 0.996886 Centerline is valid? [True, True] Translation: X:17.84, Y:-0.17, Z:0.17 [[ 9.94972242e-01 -9.70271374e-02 -2.48187880e-02 1.78381738e+01] [ 9.70417245e-02 9.95280122e-01 -6.18841360e-04 -1.74980514e-01] [ 2.47616907e-02 -1.79272801e-03 9.99691775e-01 1.74891782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.890714057 meters Centerline goodness : 0.996459 Centerline is valid? [True, True] Translation: X:17.87, Y:-0.17, Z:0.18 [[ 9.94979422e-01 -9.65144314e-02 -2.64748055e-02 1.78687411e+01] [ 9.66705813e-02 9.95305429e-01 4.67998135e-03 -1.74735388e-01] [ 2.58988319e-02 -7.21581997e-03 9.99638526e-01 1.75702964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.920714056999998 meters Centerline goodness : 0.996886 Centerline is valid? [True, True] Translation: X:17.90, Y:-0.17, Z:0.18 [[ 9.95052946e-01 -9.61521763e-02 -2.49878591e-02 1.79017195e+01] [ 9.60507696e-02 9.95362696e-01 -5.23006487e-03 -1.71137054e-01] [ 2.53748649e-02 2.80408837e-03 9.99674074e-01 1.80636321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.950714057 meters Centerline goodness : 0.997052 Centerline is valid? [True, True] Translation: X:17.94, Y:-0.17, Z:0.18 [[ 9.95072564e-01 -9.61534151e-02 -2.41891191e-02 1.79367037e+01] [ 9.61964965e-02 9.95362169e-01 6.21044653e-04 -1.71238525e-01] [ 2.40172185e-02 -2.94489301e-03 9.99707208e-01 1.77947508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.980714057 meters Centerline goodness : 0.997345 Centerline is valid? [True, True] Translation: X:17.97, Y:-0.17, Z:0.18 [[ 9.94978188e-01 -9.68718299e-02 -2.51844059e-02 1.79694028e+01] [ 9.69292130e-02 9.95290708e-01 1.06496600e-03 -1.69772444e-01] [ 2.49626399e-02 -3.50072258e-03 9.99682255e-01 1.79721174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.010714056999998 meters Centerline goodness : 0.997125 Centerline is valid? [True, True] Translation: X:18.00, Y:-0.17, Z:0.18 [[ 9.95198520e-01 -9.49592342e-02 -2.37202278e-02 1.79994525e+01] [ 9.48135415e-02 9.95469043e-01 -7.19561872e-03 -1.66968354e-01] [ 2.42960429e-02 4.91207030e-03 9.99692740e-01 1.82875663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.040714057 meters Centerline goodness : 0.997168 Centerline is valid? [True, True] Translation: X:18.03, Y:-0.17, Z:0.18 [[ 9.95119609e-01 -9.56778289e-02 -2.41395486e-02 1.80333468e+01] [ 9.56953949e-02 9.95410572e-01 -4.29108237e-04 -1.67669627e-01] [ 2.40698180e-02 -1.88302962e-03 9.99708507e-01 1.81227242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.070714057 meters Centerline goodness : 0.997005 Centerline is valid? [True, True] Translation: X:18.07, Y:-0.16, Z:0.18 [[ 9.95326797e-01 -9.39712918e-02 -2.22252971e-02 1.80653169e+01] [ 9.37631961e-02 9.95541978e-01 -1.02290686e-02 -1.64032355e-01] [ 2.30874550e-02 8.09735115e-03 9.99700656e-01 1.84421320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.100714056999998 meters Centerline goodness : 0.996837 Centerline is valid? [True, True] Translation: X:18.09, Y:-0.17, Z:0.18 [[ 9.95278945e-01 -9.29853441e-02 -2.78127125e-02 1.80919933e+01] [ 9.34462689e-02 9.95499639e-01 1.57563711e-02 -1.67991592e-01] [ 2.62224337e-02 -1.82809786e-02 9.99488964e-01 1.78014476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.130714057 meters Centerline goodness : 0.996628 Centerline is valid? [True, True] Translation: X:18.13, Y:-0.16, Z:0.19 [[ 9.95430300e-01 -9.18261699e-02 -2.62006255e-02 1.81259217e+01] [ 9.16332181e-02 9.95756762e-01 -8.47490785e-03 -1.59733055e-01] [ 2.68676684e-02 6.03533243e-03 9.99620780e-01 1.88846980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.160714057 meters Centerline goodness : 0.997072 Centerline is valid? [True, True] Translation: X:18.16, Y:-0.16, Z:0.19 [[ 9.95557658e-01 -8.99997107e-02 -2.76586476e-02 1.81576805e+01] [ 9.01033193e-02 9.95929235e-01 2.52024750e-03 -1.60717592e-01] [ 2.73192341e-02 -5.00118765e-03 9.99614249e-01 1.85096706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.190714056999997 meters Centerline goodness : 0.996882 Centerline is valid? [True, True] Translation: X:18.19, Y:-0.16, Z:0.19 [[ 9.95579689e-01 -8.96998801e-02 -2.78390730e-02 1.81915104e+01] [ 8.96441446e-02 9.95968568e-01 -3.24621505e-03 -1.58336140e-01] [ 2.80180268e-02 7.36255890e-04 9.99607147e-01 1.88293880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.220714057 meters Centerline goodness : 0.996866 Centerline is valid? [True, True] Translation: X:18.22, Y:-0.16, Z:0.19 [[ 9.95590388e-01 -8.92907244e-02 -2.87566563e-02 1.82223267e+01] [ 8.93151625e-02 9.96003319e-01 -4.36091808e-04 -1.56650648e-01] [ 2.86806641e-02 -2.13423662e-03 9.99586347e-01 1.88283596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.250714057 meters Centerline goodness : 0.997226 Centerline is valid? [True, True] Translation: X:18.25, Y:-0.15, Z:0.19 [[ 9.95847513e-01 -8.63379206e-02 -2.88703020e-02 1.82534039e+01] [ 8.62899842e-02 9.96265829e-01 -2.90450486e-03 -1.53914826e-01] [ 2.90132643e-02 4.01226036e-04 9.99578946e-01 1.89630234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.280714056999997 meters Centerline goodness : 0.997441 Centerline is valid? [True, True] Translation: X:18.29, Y:-0.15, Z:0.19 [[ 9.95972867e-01 -8.48903292e-02 -2.88388817e-02 1.82860934e+01] [ 8.49019587e-02 9.96388970e-01 -8.23212143e-04 -1.52264139e-01] [ 2.88046264e-02 -1.62858059e-03 9.99583734e-01 1.90226171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.310714057 meters Centerline goodness : 0.996506 Centerline is valid? [True, True] Translation: X:18.32, Y:-0.15, Z:0.19 [[ 9.96243079e-01 -8.14158455e-02 -2.95158776e-02 1.83153174e+01] [ 8.15751259e-02 9.96658215e-01 4.23106099e-03 -1.50431246e-01] [ 2.90727665e-02 -6.62292667e-03 9.99555357e-01 1.91216984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.340714057 meters Centerline goodness : 0.997427 Centerline is valid? [True, True] Translation: X:18.35, Y:-0.15, Z:0.20 [[ 9.96445470e-01 -7.95482952e-02 -2.77217344e-02 1.83489849e+01] [ 7.94048337e-02 9.96822922e-01 -6.23976726e-03 -1.45870222e-01] [ 2.81300231e-02 4.01634811e-03 9.99596204e-01 1.95181691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.370714056999997 meters Centerline goodness : 0.996388 Centerline is valid? [True, True] Translation: X:18.38, Y:-0.15, Z:0.19 [[ 9.96761498e-01 -7.44709101e-02 -3.03413990e-02 1.83780992e+01] [ 7.47158694e-02 9.97180155e-01 7.01972022e-03 -1.46196284e-01] [ 2.97330760e-02 -9.26397085e-03 9.99514944e-01 1.91843053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.400714057 meters Centerline goodness : 0.997179 Centerline is valid? [True, True] Translation: X:18.41, Y:-0.14, Z:0.20 [[ 9.96850554e-01 -7.36068122e-02 -2.95128739e-02 1.84115060e+01] [ 7.34958745e-02 9.97283836e-01 -4.82774913e-03 -1.41328325e-01] [ 2.97880673e-02 2.64346992e-03 9.99552742e-01 1.98164627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.430714057 meters Centerline goodness : 0.997026 Centerline is valid? [True, True] Translation: X:18.44, Y:-0.14, Z:0.20 [[ 9.97083302e-01 -6.99274552e-02 -3.05784227e-02 1.84418234e+01] [ 6.99088127e-02 9.97551972e-01 -1.67964918e-03 -1.40515705e-01] [ 3.06210195e-02 -4.62951080e-04 9.99530959e-01 1.97193628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.460714056999997 meters Centerline goodness : 0.997364 Centerline is valid? [True, True] Translation: X:18.48, Y:-0.14, Z:0.20 [[ 9.97427384e-01 -6.53646001e-02 -2.94292669e-02 1.84756120e+01] [ 6.52139305e-02 9.97852955e-01 -6.05177195e-03 -1.38191132e-01] [ 2.97616525e-02 4.11700490e-03 9.99548545e-01 1.98737057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.490714056999998 meters Centerline goodness : 0.997636 Centerline is valid? [True, True] Translation: X:18.51, Y:-0.14, Z:0.20 [[ 9.97456654e-01 -6.47195051e-02 -2.98598189e-02 1.85095378e+01] [ 6.47483641e-02 9.97901623e-01 -4.18302006e-07 -1.38304711e-01] [ 2.97971888e-02 -1.93295719e-03 9.99554096e-01 1.97385109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.520714057 meters Centerline goodness : 0.997903 Centerline is valid? [True, True] Translation: X:18.54, Y:-0.14, Z:0.20 [[ 9.97592252e-01 -6.20482539e-02 -3.09792471e-02 1.85419841e+01] [ 6.22180661e-02 9.98052222e-01 4.54701106e-03 -1.37711721e-01] [ 3.06367723e-02 -6.46353184e-03 9.99509685e-01 1.97866567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.550714056999997 meters Centerline goodness : 0.997929 Centerline is valid? [True, True] Translation: X:18.57, Y:-0.13, Z:0.20 [[ 9.97739894e-01 -6.02781143e-02 -2.96926323e-02 1.85735603e+01] [ 6.01561277e-02 9.98176530e-01 -4.98542642e-03 -1.34345166e-01] [ 2.99390008e-02 3.18796505e-03 9.99546644e-01 2.02058434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.580714056999998 meters Centerline goodness : 0.998002 Centerline is valid? [True, True] Translation: X:18.61, Y:-0.13, Z:0.20 [[ 9.97900050e-01 -5.87098957e-02 -2.73612457e-02 1.86068412e+01] [ 5.86908004e-02 9.98275081e-01 -1.50114426e-03 -1.34596086e-01] [ 2.74021818e-02 -1.07861482e-04 9.99624484e-01 2.00339990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.610714057 meters Centerline goodness : 0.997587 Centerline is valid? [True, True] Translation: X:18.64, Y:-0.13, Z:0.20 [[ 9.97890878e-01 -5.74838260e-02 -3.01563352e-02 1.86365346e+01] [ 5.76074406e-02 9.98334036e-01 3.24573695e-03 -1.34400184e-01] [ 2.99195185e-02 -4.97612058e-03 9.99539924e-01 2.01928414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.640714057 meters Centerline goodness : 0.997511 Centerline is valid? [True, True] Translation: X:18.67, Y:-0.13, Z:0.20 [[ 9.97967030e-01 -5.70837075e-02 -2.83417963e-02 1.86692445e+01] [ 5.69981193e-02 9.98366980e-01 -3.81926920e-03 -1.33838969e-01] [ 2.85135316e-02 2.19607566e-03 9.99590994e-01 2.04670447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.670714056999998 meters Centerline goodness : 0.997318 Centerline is valid? [True, True] Translation: X:18.70, Y:-0.14, Z:0.20 [[ 9.97627592e-01 -6.02830597e-02 -3.32436575e-02 1.87027826e+01] [ 6.06899642e-02 9.98091916e-01 1.13690339e-02 -1.37225178e-01] [ 3.24948657e-02 -1.33596183e-02 9.99382612e-01 2.03857774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.700714057 meters Centerline goodness : 0.998274 Centerline is valid? [True, True] Translation: X:18.74, Y:-0.13, Z:0.22 [[ 9.96914573e-01 -6.61761500e-02 -4.22143495e-02 1.87362478e+01] [ 6.54139951e-02 9.97673695e-01 -1.91887143e-02 -1.28599073e-01] [ 4.33859813e-02 1.63680996e-02 9.98924292e-01 2.21624962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.730714057 meters Centerline goodness : 0.996979 Centerline is valid? [True, True] Translation: X:18.76, Y:-0.14, Z:0.20 [[ 0.99726698 -0.06376531 -0.03731704 18.76351486] [ 0.0647085 0.99760004 0.02463671 -0.13955186] [ 0.03565651 -0.02698411 0.99899974 0.20276493] [ 0. 0. 0. 1. ]] SLAMing on 19.760714056999998 meters Centerline goodness : 0.996459 Centerline is valid? [True, True] Translation: X:18.79, Y:-0.13, Z:0.22 [[ 9.96795895e-01 -6.86371979e-02 -4.10716335e-02 1.87888313e+01] [ 6.84029927e-02 9.97632633e-01 -7.08240742e-03 -1.31872960e-01] [ 4.14605185e-02 4.25029199e-03 9.99131103e-01 2.21400775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.790714057 meters Centerline goodness : 0.996764 Centerline is valid? [True, True] Translation: X:18.82, Y:-0.14, Z:0.21 [[ 9.96661499e-01 -7.15570973e-02 -3.93120717e-02 1.88249205e+01] [ 7.23112065e-02 9.97217759e-01 1.81060716e-02 -1.39126010e-01] [ 3.79070781e-02 -2.08883278e-02 9.99062927e-01 2.11421727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.820714057 meters Centerline goodness : 0.996070 Centerline is valid? [True, True] Translation: X:18.86, Y:-0.14, Z:0.22 [[ 9.96140025e-01 -7.76095430e-02 -4.10098612e-02 1.88555127e+01] [ 7.80292638e-02 9.96912822e-01 8.73263796e-03 -1.37449506e-01] [ 4.02055205e-02 -1.18988995e-02 9.99120579e-01 2.21221522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.850714056999998 meters Centerline goodness : 0.995465 Centerline is valid? [True, True] Translation: X:18.89, Y:-0.13, Z:0.23 [[ 9.95932475e-01 -8.01308073e-02 -4.12014383e-02 1.88875613e+01] [ 8.01765457e-02 9.96780530e-01 -5.43744627e-04 -1.34760307e-01] [ 4.11123622e-02 -2.76185607e-03 9.99150712e-01 2.27501381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.880714057 meters Centerline goodness : 0.995213 Centerline is valid? [True, True] Translation: X:18.92, Y:-0.13, Z:0.23 [[ 9.95764312e-01 -8.19218937e-02 -4.17401214e-02 1.89191381e+01] [ 8.20202734e-02 9.96630451e-01 6.47033557e-04 -1.34832601e-01] [ 4.15464698e-02 -4.06782909e-03 9.99128292e-01 2.28824190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.910714057 meters Centerline goodness : 0.994697 Centerline is valid? [True, True] Translation: X:18.95, Y:-0.14, Z:0.23 [[ 9.95393433e-01 -8.60060513e-02 -4.23659379e-02 1.89500372e+01] [ 8.59571492e-02 9.96294384e-01 -2.97796251e-03 -1.35161159e-01] [ 4.24650688e-02 -6.77410921e-04 9.99097722e-01 2.32670778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.940714056999997 meters Centerline goodness : 0.994697 Centerline is valid? [True, True] Translation: X:18.98, Y:-0.13, Z:0.23 [[ 9.95394422e-01 -8.61456358e-02 -4.20579834e-02 1.89825018e+01] [ 8.61718467e-02 9.96279574e-01 -1.19268353e-03 -1.34064156e-01] [ 4.20042543e-02 -2.43702357e-03 9.99114460e-01 2.33021771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.970714057 meters Centerline goodness : 0.995064 Centerline is valid? [True, True] Translation: X:19.02, Y:-0.14, Z:0.23 [[ 9.95280495e-01 -8.80168954e-02 -4.08627246e-02 1.90153686e+01] [ 8.82080295e-02 9.96097869e-01 2.89480083e-03 -1.35007526e-01] [ 4.04484815e-02 -6.48555923e-03 9.99160577e-01 2.31945936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.000714057 meters Centerline goodness : 0.995211 Centerline is valid? [True, True] Translation: X:19.05, Y:-0.13, Z:0.24 [[ 9.95171402e-01 -8.99775076e-02 -3.92164435e-02 1.90469655e+01] [ 8.97658192e-02 9.95937383e-01 -7.12934031e-03 -1.32540754e-01] [ 3.96986024e-02 3.57461941e-03 9.99205306e-01 2.36396425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.030714056999997 meters Centerline goodness : 0.994563 Centerline is valid? [True, True] Translation: X:19.08, Y:-0.14, Z:0.23 [[ 9.94759430e-01 -9.30763868e-02 -4.23138542e-02 1.90765692e+01] [ 9.34704386e-02 9.95594352e-01 7.42724254e-03 -1.35620057e-01] [ 4.14361333e-02 -1.13434141e-02 9.99076761e-01 2.34922333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.060714057 meters Centerline goodness : 0.994226 Centerline is valid? [True, True] Translation: X:19.11, Y:-0.13, Z:0.24 [[ 9.94666002e-01 -9.40609393e-02 -4.23330115e-02 1.91061259e+01] [ 9.38429946e-02 9.95561614e-01 -7.11086379e-03 -1.31373601e-01] [ 4.28139758e-02 3.10027789e-03 9.99078251e-01 2.42725507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.090714057 meters Centerline goodness : 0.994173 Centerline is valid? [True, True] Translation: X:19.14, Y:-0.13, Z:0.24 [[ 9.94496972e-01 -9.54969741e-02 -4.30824839e-02 1.91371320e+01] [ 9.55002427e-02 9.95427424e-01 -1.98699530e-03 -1.31899746e-01] [ 4.30752380e-02 -2.13832687e-03 9.99069543e-01 2.41737833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.120714056999997 meters Centerline goodness : 0.994356 Centerline is valid? [True, True] Translation: X:19.17, Y:-0.13, Z:0.24 [[ 9.94652041e-01 -9.55257004e-02 -3.92703211e-02 1.91719276e+01] [ 9.53592145e-02 9.95424265e-01 -6.09526061e-03 -1.30453812e-01] [ 3.96728846e-02 2.31787643e-03 9.99210033e-01 2.40348762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.150714057 meters Centerline goodness : 0.995037 Centerline is valid? [True, True] Translation: X:19.20, Y:-0.12, Z:0.24 [[ 9.94736394e-01 -9.63627033e-02 -3.48387070e-02 1.92044412e+01] [ 9.56425635e-02 9.95177400e-01 -2.17816871e-02 -1.24992830e-01] [ 3.67696361e-02 1.83349736e-02 9.99155555e-01 2.43705730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.180714057 meters Centerline goodness : 0.994499 Centerline is valid? [True, True] Translation: X:19.24, Y:-0.13, Z:0.23 [[ 9.94734771e-01 -9.48134221e-02 -3.88992359e-02 1.92355185e+01] [ 9.53618091e-02 9.95364332e-01 1.24889035e-02 -1.32869736e-01] [ 3.75347963e-02 -1.61326481e-02 9.99165090e-01 2.31102111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.210714056999997 meters Centerline goodness : 0.993894 Centerline is valid? [True, True] Translation: X:19.27, Y:-0.13, Z:0.24 [[ 9.94661571e-01 -9.57883861e-02 -3.83789484e-02 1.92668857e+01] [ 9.57133680e-02 9.95401716e-01 -3.79152646e-03 -1.27098938e-01] [ 3.85656553e-02 9.79072476e-05 9.99256064e-01 2.40621789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.240714056999998 meters Centerline goodness : 0.994906 Centerline is valid? [True, True] Translation: X:19.30, Y:-0.12, Z:0.24 [[ 9.94800542e-01 -9.53815050e-02 -3.56966379e-02 1.93001164e+01] [ 9.51119228e-02 9.95424262e-01 -9.17934800e-03 -1.24687165e-01] [ 3.64088395e-02 5.73644450e-03 9.99320514e-01 2.41398232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.270714057 meters Centerline goodness : 0.994247 Centerline is valid? [True, True] Translation: X:19.33, Y:-0.12, Z:0.24 [[ 9.94891123e-01 -9.38727377e-02 -3.71424596e-02 1.93291999e+01] [ 9.37248380e-02 9.95581781e-01 -5.70716255e-03 -1.23703084e-01] [ 3.75141031e-02 2.19683435e-03 9.99293684e-01 2.40885465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.300714056999997 meters Centerline goodness : 0.994575 Centerline is valid? [True, True] Translation: X:19.36, Y:-0.12, Z:0.24 [[ 9.94997379e-01 -9.32833332e-02 -3.57552202e-02 1.93642866e+01] [ 9.34301394e-02 9.95622815e-01 2.45360180e-03 -1.24100464e-01] [ 3.53698328e-02 -5.78194256e-03 9.99357566e-01 2.37181773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.330714056999998 meters Centerline goodness : 0.994553 Centerline is valid? [True, True] Translation: X:19.40, Y:-0.12, Z:0.24 [[ 9.95366739e-01 -8.99721860e-02 -3.39125471e-02 1.93950698e+01] [ 8.97094806e-02 9.95925546e-01 -9.19321617e-03 -1.19302105e-01] [ 3.46015057e-02 6.10834462e-03 9.99382521e-01 2.41545506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.360714057 meters Centerline goodness : 0.995508 Centerline is valid? [True, True] Translation: X:19.43, Y:-0.12, Z:0.24 [[ 9.95501078e-01 -8.82859486e-02 -3.43975906e-02 1.94289085e+01] [ 8.82112273e-02 9.96094969e-01 -3.68680962e-03 -1.18376464e-01] [ 3.45887604e-02 6.35969275e-04 9.99401427e-01 2.39948684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.390714057 meters Centerline goodness : 0.995080 Centerline is valid? [True, True] Translation: X:19.46, Y:-0.11, Z:0.24 [[ 9.96086607e-01 -8.21020187e-02 -3.27219939e-02 1.94627418e+01] [ 8.18553541e-02 9.96605280e-01 -8.81007876e-03 -1.14880050e-01] [ 3.33342371e-02 6.09713106e-03 9.99425662e-01 2.40645357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.420714056999998 meters Centerline goodness : 0.995377 Centerline is valid? [True, True] Translation: X:19.49, Y:-0.12, Z:0.24 [[ 9.96280771e-01 -7.87088711e-02 -3.50647824e-02 1.94932382e+01] [ 7.89743227e-02 9.96857067e-01 6.24856929e-03 -1.16072437e-01] [ 3.44627583e-02 -8.99454688e-03 9.99365507e-01 2.36833473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.450714057 meters Centerline goodness : 0.995411 Centerline is valid? [True, True] Translation: X:19.53, Y:-0.11, Z:0.24 [[ 9.96455514e-01 -7.69223297e-02 -3.40494271e-02 1.95262150e+01] [ 7.69116160e-02 9.97036588e-01 -1.62626318e-03 -1.11887530e-01] [ 3.40736206e-02 -9.98297546e-04 9.99418827e-01 2.41494280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.480714057 meters Centerline goodness : 0.995298 Centerline is valid? [True, True] Translation: X:19.56, Y:-0.11, Z:0.24 [[ 9.96830417e-01 -7.18812742e-02 -3.40910772e-02 1.95574329e+01] [ 7.18845075e-02 9.97412320e-01 -1.13240266e-03 -1.09369108e-01] [ 3.40842589e-02 -1.32180688e-03 9.99418089e-01 2.42839459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.510714056999998 meters Centerline goodness : 0.995452 Centerline is valid? [True, True] Translation: X:19.59, Y:-0.11, Z:0.25 [[ 9.96978568e-01 -7.04968655e-02 -3.26179000e-02 1.95907546e+01] [ 7.03383336e-02 9.97505244e-01 -5.98388976e-03 -1.06342437e-01] [ 3.29583718e-02 3.67152110e-03 9.99449982e-01 2.45538429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.540714057 meters Centerline goodness : 0.995338 Centerline is valid? [True, True] Translation: X:19.62, Y:-0.10, Z:0.25 [[ 9.96911202e-01 -6.87050686e-02 -3.80482470e-02 1.96207382e+01] [ 6.85914418e-02 9.97635630e-01 -4.28528872e-03 -1.04917904e-01] [ 3.82527079e-02 1.66226821e-03 9.99266715e-01 2.46064856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.570714057 meters Centerline goodness : 0.995392 Centerline is valid? [True, True] Translation: X:19.65, Y:-0.11, Z:0.24 [[ 9.97073367e-01 -6.82106756e-02 -3.45254067e-02 1.96497794e+01] [ 6.86318715e-02 9.97579589e-01 1.11637643e-02 -1.07560663e-01] [ 3.36803531e-02 -1.35006354e-02 9.99341466e-01 2.43524244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.600714056999998 meters Centerline goodness : 0.995469 Centerline is valid? [True, True] Translation: X:19.68, Y:-0.10, Z:0.25 [[ 9.96990557e-01 -6.95095957e-02 -3.43255753e-02 1.96805485e+01] [ 6.95347803e-02 9.97579421e-01 -4.60967982e-04 -1.02878429e-01] [ 3.42745292e-02 -1.92724061e-03 9.99410597e-01 2.51341450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.630714057 meters Centerline goodness : 0.995101 Centerline is valid? [True, True] Translation: X:19.71, Y:-0.10, Z:0.25 [[ 9.96735690e-01 -7.29584445e-02 -3.45691925e-02 1.97140431e+01] [ 7.29454980e-02 9.97334585e-01 -1.63725792e-03 -1.01144212e-01] [ 3.45965030e-02 -8.89753556e-04 9.99400966e-01 2.54081496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.660714057 meters Centerline goodness : 0.994532 Centerline is valid? [True, True] Translation: X:19.74, Y:-0.10, Z:0.25 [[ 9.96558041e-01 -7.44327063e-02 -3.64944187e-02 1.97422678e+01] [ 7.46036840e-02 9.97207655e-01 3.34398162e-03 -1.01324621e-01] [ 3.61436121e-02 -6.05508985e-03 9.99328262e-01 2.54876515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.690714056999997 meters Centerline goodness : 0.994690 Centerline is valid? [True, True] Translation: X:19.77, Y:-0.10, Z:0.26 [[ 9.96214100e-01 -7.72301422e-02 -3.99120441e-02 1.97740629e+01] [ 7.76654579e-02 9.96934484e-01 9.47163577e-03 -1.01209964e-01] [ 3.90581973e-02 -1.25355643e-02 9.99158304e-01 2.56058457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.720714057 meters Centerline goodness : 0.995241 Centerline is valid? [True, True] Translation: X:19.81, Y:-0.10, Z:0.26 [[ 9.96178659e-01 -7.93150382e-02 -3.65678095e-02 1.98070770e+01] [ 7.90392807e-02 9.96831520e-01 -8.92821972e-03 -9.86104276e-02] [ 3.71600872e-02 6.00380859e-03 9.99291290e-01 2.62700243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.750714057 meters Centerline goodness : 0.995176 Centerline is valid? [True, True] Translation: X:19.84, Y:-0.10, Z:0.26 [[ 9.95984159e-01 -8.04409772e-02 -3.93040067e-02 1.98403478e+01] [ 8.06287057e-02 9.96739030e-01 3.21219037e-03 -1.00004772e-01] [ 3.89174458e-02 -6.36832191e-03 9.99222136e-01 2.59796963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.780714056999997 meters Centerline goodness : 0.994754 Centerline is valid? [True, True] Translation: X:19.87, Y:-0.10, Z:0.26 [[ 9.96065696e-01 -7.93560213e-02 -3.94430224e-02 1.98735196e+01] [ 7.92043795e-02 9.96843800e-01 -5.39493316e-03 -9.77032813e-02] [ 3.97466528e-02 2.24964774e-03 9.99207257e-01 2.64798431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.810714057 meters Centerline goodness : 0.994326 Centerline is valid? [True, True] Translation: X:19.90, Y:-0.10, Z:0.27 [[ 9.96178484e-01 -7.69747819e-02 -4.12711866e-02 1.99042834e+01] [ 7.69770089e-02 9.97031683e-01 -1.53754317e-03 -9.87646440e-02] [ 4.12670327e-02 -1.64526508e-03 9.99146799e-01 2.65809612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.840714057 meters Centerline goodness : 0.994698 Centerline is valid? [True, True] Translation: X:19.94, Y:-0.10, Z:0.27 [[ 9.96439065e-01 -7.51605008e-02 -3.82111040e-02 1.99377601e+01] [ 7.49619938e-02 9.97164527e-01 -6.60347910e-03 -9.59957334e-02] [ 3.85990782e-02 3.71558400e-03 9.99247870e-01 2.66839495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.870714056999997 meters Centerline goodness : 0.994154 Centerline is valid? [True, True] Translation: X:19.97, Y:-0.10, Z:0.27 [[ 9.96909535e-01 -6.94781508e-02 -3.66628751e-02 1.99714711e+01] [ 6.92577563e-02 9.97572461e-01 -7.24908424e-03 -9.72420827e-02] [ 3.70775275e-02 4.68749273e-03 9.99301398e-01 2.67925803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.900714057 meters Centerline goodness : 0.994061 Centerline is valid? [True, True] Translation: X:20.00, Y:-0.10, Z:0.27 [[ 9.97306736e-01 -6.39863150e-02 -3.58472433e-02 2.00036164e+01] [ 6.38926803e-02 9.97949719e-01 -3.75271817e-03 -9.80228539e-02] [ 3.60138690e-02 1.45223466e-03 9.99350235e-01 2.67510293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.930714057 meters Centerline goodness : 0.994628 Centerline is valid? [True, True] Translation: X:20.03, Y:-0.10, Z:0.27 [[ 9.97597442e-01 -6.05239523e-02 -3.37074789e-02 2.00346964e+01] [ 6.02040596e-02 9.98131633e-01 -1.04266331e-02 -9.65398079e-02] [ 3.42755620e-02 8.37225546e-03 9.99377352e-01 2.69440621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.960714056999997 meters Centerline goodness : 0.992606 Centerline is valid? [True, True] Translation: X:20.07, Y:-0.10, Z:0.27 [[ 9.97887802e-01 -5.62929268e-02 -3.24197509e-02 2.00656799e+01] [ 5.62787942e-02 9.98414181e-01 -1.34899663e-03 -9.91103028e-02] [ 3.24442781e-02 -4.78397214e-04 9.99473431e-01 2.65713822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.990714056999998 meters Centerline goodness : 0.992659 Centerline is valid? [True, True] Translation: X:20.10, Y:-0.10, Z:0.27 [[ 9.98160809e-01 -5.20322669e-02 -3.11069545e-02 2.01010260e+01] [ 5.16558520e-02 9.98583107e-01 -1.27847835e-02 -9.82762373e-02] [ 3.17281005e-02 1.11544136e-02 9.99434293e-01 2.69053237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.020714057 meters Centerline goodness : 0.993013 Centerline is valid? [True, True] Translation: X:20.13, Y:-0.10, Z:0.26 [[ 9.97971049e-01 -5.16015189e-02 -3.72970318e-02 2.01325783e+01] [ 5.19622302e-02 9.98610569e-01 8.76689763e-03 -1.02498723e-01] [ 3.67928249e-02 -1.06871470e-02 9.99265767e-01 2.64385613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.050714056999997 meters Centerline goodness : 0.991053 Centerline is valid? [True, True] Translation: X:20.16, Y:-0.10, Z:0.27 [[ 9.98129796e-01 -4.87710372e-02 -3.68550675e-02 2.01606890e+01] [ 4.90135455e-02 9.98781821e-01 5.70490835e-03 -1.02627917e-01] [ 3.65319372e-02 -7.50063654e-03 9.99304337e-01 2.66864680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.080714056999998 meters Centerline goodness : 0.991991 Centerline is valid? [True, True] Translation: X:20.20, Y:-0.10, Z:0.27 [[ 9.98151471e-01 -4.72011101e-02 -3.82844087e-02 2.01959162e+01] [ 4.71287281e-02 9.98884924e-01 -2.79142092e-03 -1.03488057e-01] [ 3.83734768e-02 9.81965414e-04 9.99262984e-01 2.72747360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.110714057 meters Centerline goodness : 0.991307 Centerline is valid? [True, True] Translation: X:20.23, Y:-0.11, Z:0.27 [[ 9.98060104e-01 -4.52368837e-02 -4.27744478e-02 2.02253269e+01] [ 4.58442654e-02 9.98859704e-01 1.33264613e-02 -1.08356368e-01] [ 4.21228247e-02 -1.52615725e-02 9.98995872e-01 2.71636644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.140714056999997 meters Centerline goodness : 0.990782 Centerline is valid? [True, True] Translation: X:20.26, Y:-0.11, Z:0.28 [[ 9.98044476e-01 -4.51339424e-02 -4.32452351e-02 2.02578672e+01] [ 4.54442032e-02 9.98947527e-01 6.21792962e-03 -1.08367014e-01] [ 4.29190809e-02 -8.17101557e-03 9.99045138e-01 2.78715617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.170714056999998 meters Centerline goodness : 0.992263 Centerline is valid? [True, True] Translation: X:20.29, Y:-0.12, Z:0.28 [[ 0.99768424 -0.04529635 -0.05073848 20.29001478] [ 0.04654937 0.99863262 0.02379188 -0.11536706] [ 0.04959142 -0.02609863 0.99842854 0.28129526] [ 0. 0. 0. 1. ]] SLAMing on 21.200714057 meters Centerline goodness : 0.992282 Centerline is valid? [True, True] Translation: X:20.32, Y:-0.11, Z:0.29 [[ 9.97631080e-01 -4.81791465e-02 -4.91019129e-02 2.03234825e+01] [ 4.86866390e-02 9.98771808e-01 9.19171966e-03 -1.13145751e-01] [ 4.85987571e-02 -1.15605523e-02 9.98751478e-01 2.89970523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.230714057 meters Centerline goodness : 0.992506 Centerline is valid? [True, True] Translation: X:20.35, Y:-0.12, Z:0.30 [[ 9.97469405e-01 -5.17765088e-02 -4.87234907e-02 2.03548469e+01] [ 5.14874029e-02 9.98647898e-01 -7.17092603e-03 -1.15016264e-01] [ 4.90288971e-02 4.64413333e-03 9.98786563e-01 2.97318482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.260714056999998 meters Centerline goodness : 0.990515 Centerline is valid? [True, True] Translation: X:20.38, Y:-0.11, Z:0.30 [[ 9.97279365e-01 -5.63502618e-02 -4.75238583e-02 2.03814012e+01] [ 5.58705303e-02 9.98373346e-01 -1.13642395e-02 -1.13430581e-01] [ 4.80869312e-02 8.67813834e-03 9.98805455e-01 2.98839221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.290714057 meters Centerline goodness : 0.990397 Centerline is valid? [True, True] Translation: X:20.41, Y:-0.11, Z:0.30 [[ 9.97189482e-01 -6.08371287e-02 -4.37262015e-02 2.04135397e+01] [ 6.03006328e-02 9.98089146e-01 -1.34866732e-02 -1.14815850e-01] [ 4.44631376e-02 1.08120510e-02 9.98952516e-01 2.98597964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.320714057 meters Centerline goodness : 0.990824 Centerline is valid? [True, True] Translation: X:20.45, Y:-0.13, Z:0.29 [[ 9.96789822e-01 -6.30429396e-02 -4.93521958e-02 2.04489876e+01] [ 6.39872570e-02 9.97792091e-01 1.77925196e-02 -1.31812710e-01] [ 4.81215379e-02 -2.08933141e-02 9.98622945e-01 2.92662346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.350714056999998 meters Centerline goodness : 0.990279 Centerline is valid? [True, True] Translation: X:20.48, Y:-0.13, Z:0.30 [[ 9.96674250e-01 -6.76842577e-02 -4.53792995e-02 2.04819660e+01] [ 6.77969322e-02 9.97698692e-01 9.46713332e-04 -1.29406720e-01] [ 4.52107902e-02 -4.02014209e-03 9.98969380e-01 2.99577559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.380714057 meters Centerline goodness : 0.990670 Centerline is valid? [True, True] Translation: X:20.51, Y:-0.13, Z:0.30 [[ 9.96423516e-01 -7.18900470e-02 -4.44071856e-02 2.05132982e+01] [ 7.14547497e-02 9.97379659e-01 -1.13152330e-02 -1.32354303e-01] [ 4.51042763e-02 8.10165996e-03 9.98949432e-01 3.04555181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.410714057 meters Centerline goodness : 0.990964 Centerline is valid? [True, True] Translation: X:20.55, Y:-0.14, Z:0.30 [[ 9.95944058e-01 -7.70425711e-02 -4.64744549e-02 2.05462907e+01] [ 7.74972812e-02 9.96959981e-01 8.06026647e-03 -1.37551679e-01] [ 4.57121880e-02 -1.16292184e-02 9.98886959e-01 3.00235642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.440714056999997 meters Centerline goodness : 0.990574 Centerline is valid? [True, True] Translation: X:20.58, Y:-0.14, Z:0.30 [[ 9.95648709e-01 -8.18459223e-02 -4.45521496e-02 2.05768826e+01] [ 8.19184010e-02 9.96639020e-01 -1.99533884e-04 -1.39504191e-01] [ 4.44187418e-02 -3.45097521e-03 9.99007040e-01 3.04617535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.470714057 meters Centerline goodness : 0.992571 Centerline is valid? [True, True] Translation: X:20.62, Y:-0.14, Z:0.31 [[ 9.94932568e-01 -8.72650431e-02 -4.99399303e-02 2.06152090e+01] [ 8.66067945e-02 9.96126603e-01 -1.52004692e-02 -1.37266966e-01] [ 5.10729627e-02 1.07983046e-02 9.98636545e-01 3.10720680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.500714057 meters Centerline goodness : 0.992468 Centerline is valid? [True, True] Translation: X:20.63, Y:-0.13, Z:0.31 [[ 9.94063470e-01 -9.66310120e-02 -5.00026596e-02 2.06311768e+01] [ 9.61778454e-02 9.95298920e-01 -1.13965771e-02 -1.28073906e-01] [ 5.08688559e-02 6.51977291e-03 9.98684060e-01 3.08905080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.530714056999997 meters Centerline goodness : 0.989464 Centerline is valid? [True, True] Translation: X:20.67, Y:-0.15, Z:0.30 [[ 0.99536894 -0.08558367 -0.0437733 20.67189569] [ 0.08657639 0.99601736 0.0213059 -0.14956314] [ 0.04177553 -0.02499696 0.99881428 0.29820161] [ 0. 0. 0. 1. ]] SLAMing on 21.560714057 meters Centerline goodness : 0.990407 Centerline is valid? [True, True] Translation: X:20.70, Y:-0.14, Z:0.31 [[ 9.95395861e-01 -8.62122090e-02 -4.18871641e-02 2.07048030e+01] [ 8.60965630e-02 9.96276359e-01 -4.56042400e-03 -1.44248140e-01] [ 4.21243556e-02 9.33086308e-04 9.99111940e-01 3.08424975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.590714057 meters Centerline goodness : 0.991852 Centerline is valid? [True, True] Translation: X:20.75, Y:-0.14, Z:0.31 [[ 0.99490931 -0.09119098 -0.04289132 20.74560671] [ 0.0901245 0.99558641 -0.0261777 -0.1412239 ] [ 0.04508919 0.02217888 0.99873673 0.31110233] [ 0. 0. 0. 1. ]] SLAMing on 21.620714056999997 meters Centerline goodness : 0.990163 Centerline is valid? [True, True] Translation: X:20.77, Y:-0.15, Z:0.30 [[ 0.99538915 -0.08564137 -0.04319718 20.76763314] [ 0.08663034 0.99600712 0.02156373 -0.15305952] [ 0.04117795 -0.02520649 0.99883382 0.29812923] [ 0. 0. 0. 1. ]] SLAMing on 21.650714057 meters Centerline goodness : 0.991044 Centerline is valid? [True, True] Translation: X:20.81, Y:-0.14, Z:0.31 [[ 9.94764597e-01 -9.29514871e-02 -4.24666576e-02 2.08083818e+01] [ 9.21649158e-02 9.95540398e-01 -2.01232032e-02 -1.43016731e-01] [ 4.41477549e-02 1.61039142e-02 9.98895210e-01 3.11102155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.680714057 meters Centerline goodness : 0.990616 Centerline is valid? [True, True] Translation: X:20.84, Y:-0.15, Z:0.30 [[ 9.94777051e-01 -9.28081587e-02 -4.24883982e-02 2.08390902e+01] [ 9.27952204e-02 9.95682602e-01 -2.28093524e-03 -1.48895114e-01] [ 4.25166483e-02 -1.67369825e-03 9.99094357e-01 3.04195315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.710714056999997 meters Centerline goodness : 0.990078 Centerline is valid? [True, True] Translation: X:20.87, Y:-0.15, Z:0.30 [[ 9.95181430e-01 -8.90006987e-02 -4.11436195e-02 2.08652040e+01] [ 8.86987915e-02 9.96016836e-01 -9.10965694e-03 -1.46701807e-01] [ 4.17905035e-02 5.41637209e-03 9.99111714e-01 3.04672568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.740714056999998 meters Centerline goodness : 0.988776 Centerline is valid? [True, True] Translation: X:20.90, Y:-0.15, Z:0.30 [[ 9.95770854e-01 -8.54778042e-02 -3.36742084e-02 2.08963363e+01] [ 8.58426789e-02 9.96263026e-01 9.54028995e-03 -1.51403096e-01] [ 3.27328857e-02 -1.23906269e-02 9.99387328e-01 2.98460488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.770714057 meters Centerline goodness : 0.990821 Centerline is valid? [True, True] Translation: X:20.92, Y:-0.14, Z:0.31 [[ 9.93885914e-01 -9.71174526e-02 -5.25260903e-02 2.09170271e+01] [ 9.75151162e-02 9.95221203e-01 5.05562838e-03 -1.36531142e-01] [ 5.17840891e-02 -1.01468056e-02 9.98606755e-01 3.10272146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.800714056999997 meters Centerline goodness : 0.990777 Centerline is valid? [True, True] Translation: X:20.95, Y:-0.13, Z:0.31 [[ 9.94173414e-01 -9.41329703e-02 -5.25186337e-02 2.09485722e+01] [ 9.41172329e-02 9.95557245e-01 -2.77824848e-03 -1.33841147e-01] [ 5.25468311e-02 -2.18084770e-03 9.98616080e-01 3.14617669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.830714056999998 meters Centerline goodness : 0.988148 Centerline is valid? [True, True] Translation: X:21.00, Y:-0.14, Z:0.32 [[ 0.99582602 -0.0824924 -0.03905829 20.99500769] [ 0.08090159 0.99589093 -0.0406964 -0.13524501] [ 0.04225494 0.03736665 0.99840786 0.31549242] [ 0. 0. 0. 1. ]] SLAMing on 21.860714057 meters Centerline goodness : 0.988148 Centerline is valid? [True, True] Translation: X:21.03, Y:-0.14, Z:0.30 [[ 9.95814617e-01 -8.11930699e-02 -4.19634955e-02 2.10297886e+01] [ 8.13128864e-02 9.96687957e-01 1.15352128e-03 -1.44534332e-01] [ 4.17308527e-02 -4.56086629e-03 9.99118479e-01 3.01805842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.890714056999997 meters Centerline goodness : 0.988029 Centerline is valid? [True, True] Translation: X:21.04, Y:-0.14, Z:0.30 [[ 0.99543963 -0.07815856 -0.0546917 21.04143731] [ 0.08022423 0.99610286 0.03664933 -0.14200624] [ 0.0516141 -0.0408698 0.99783047 0.3045536 ] [ 0. 0. 0. 1. ]] SLAMing on 21.920714056999998 meters Centerline goodness : 0.984881 Centerline is valid? [True, True] Translation: X:21.08, Y:-0.14, Z:0.31 [[ 0.99763037 -0.06290864 -0.02785949 21.08413183] [ 0.06220522 0.99773924 -0.02543462 -0.13562689] [ 0.02939657 0.02364134 0.99928821 0.31274841] [ 0. 0. 0. 1. ]] SLAMing on 21.950714057 meters Centerline goodness : 0.984608 Centerline is valid? [True, True] Translation: X:21.12, Y:-0.14, Z:0.31 [[ 9.98042863e-01 -5.62638717e-02 -2.72914061e-02 2.11152272e+01] [ 5.62053907e-02 9.98414999e-01 -2.90583777e-03 -1.41317262e-01] [ 2.74116429e-02 1.36622651e-03 9.99623297e-01 3.05294287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.980714057 meters Centerline goodness : 0.984999 Centerline is valid? [True, True] Translation: X:21.15, Y:-0.14, Z:0.31 [[ 9.98210685e-01 -5.25573021e-02 -2.85159405e-02 2.11494164e+01] [ 5.26612512e-02 9.98608205e-01 2.90611369e-03 -1.41206064e-01] [ 2.83235146e-02 -4.40259884e-03 9.99589113e-01 3.05366311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.010714056999998 meters Centerline goodness : 0.984280 Centerline is valid? [True, True] Translation: X:21.18, Y:-0.14, Z:0.31 [[ 9.98368245e-01 -4.96742561e-02 -2.81658656e-02 2.11818132e+01] [ 4.97259901e-02 9.98762248e-01 1.13888614e-03 -1.40182088e-01] [ 2.80744299e-02 -2.53760330e-03 9.99602615e-01 3.07720471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.040714057 meters Centerline goodness : 0.983966 Centerline is valid? [True, True] Translation: X:21.22, Y:-0.14, Z:0.31 [[ 9.98580091e-01 -4.55263093e-02 -2.76614620e-02 2.12171047e+01] [ 4.56389947e-02 9.98952021e-01 3.45581416e-03 -1.43412133e-01] [ 2.74751429e-02 -4.71334854e-03 9.99611375e-01 3.10757855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.070714057 meters Centerline goodness : 0.983732 Centerline is valid? [True, True] Translation: X:21.25, Y:-0.14, Z:0.31 [[ 9.98789368e-01 -4.28251666e-02 -2.42033968e-02 2.12489940e+01] [ 4.27787108e-02 9.99081607e-01 -2.43415470e-03 -1.42061097e-01] [ 2.42854116e-02 1.39581772e-03 9.99704091e-01 3.11970177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.100714056999998 meters Centerline goodness : 0.982023 Centerline is valid? [True, True] Translation: X:21.27, Y:-0.15, Z:0.31 [[ 9.98639431e-01 -4.19086409e-02 -3.10314678e-02 2.12722575e+01] [ 4.24993702e-02 9.98922824e-01 1.86278325e-02 -1.46735051e-01] [ 3.02173743e-02 -1.99213059e-02 9.99344811e-01 3.13730928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.130714057 meters Centerline goodness : 0.983271 Centerline is valid? [True, True] Translation: X:21.30, Y:-0.14, Z:0.32 [[ 9.98512952e-01 -4.32682987e-02 -3.31623062e-02 2.13046420e+01] [ 4.36139899e-02 9.99000661e-01 9.77238537e-03 -1.43605995e-01] [ 3.27063313e-02 -1.12041939e-02 9.99402202e-01 3.22313803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.160714057 meters Centerline goodness : 0.981056 Centerline is valid? [True, True] Translation: X:21.33, Y:-0.15, Z:0.33 [[ 9.98383196e-01 -4.54517563e-02 -3.41340394e-02 2.13331818e+01] [ 4.58497994e-02 9.98888109e-01 1.09699963e-02 -1.48203420e-01] [ 3.35974805e-02 -1.25172988e-02 9.99357057e-01 3.27548074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.190714056999997 meters Centerline goodness : 0.981946 Centerline is valid? [True, True] Translation: X:21.37, Y:-0.14, Z:0.33 [[ 9.98501647e-01 -4.62373207e-02 -2.92672331e-02 2.13679306e+01] [ 4.59581088e-02 9.98891879e-01 -1.01422937e-02 -1.43075489e-01] [ 2.97037540e-02 8.78203031e-03 9.99520166e-01 3.31094134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.220714057 meters Centerline goodness : 0.982832 Centerline is valid? [True, True] Translation: X:21.39, Y:-0.15, Z:0.33 [[ 9.98113545e-01 -4.68204131e-02 -3.97139831e-02 2.13931508e+01] [ 4.70338241e-02 9.98883358e-01 4.45599850e-03 -1.50608365e-01] [ 3.94610051e-02 -6.31549296e-03 9.99201153e-01 3.33236877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.250714057 meters Centerline goodness : 0.982912 Centerline is valid? [True, True] Translation: X:21.43, Y:-0.15, Z:0.34 [[ 9.98067642e-01 -4.75222455e-02 -4.00327256e-02 2.14252523e+01] [ 4.78743024e-02 9.98822274e-01 7.88142151e-03 -1.53438254e-01] [ 3.96110352e-02 -9.78273059e-03 9.99167285e-01 3.35667462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.280714056999997 meters Centerline goodness : 0.985895 Centerline is valid? [True, True] Translation: X:21.45, Y:-0.13, Z:0.34 [[ 0.99725361 -0.05659047 -0.0477781 21.44680183] [ 0.0549298 0.99786305 -0.03538435 -0.13365893] [ 0.04967842 0.03266273 0.99823104 0.34466994] [ 0. 0. 0. 1. ]] SLAMing on 22.310714057 meters Centerline goodness : 0.984287 Centerline is valid? [True, True] Translation: X:21.49, Y:-0.17, Z:0.33 [[ 0.99803937 -0.044404 -0.04411005 21.48523866] [ 0.04624184 0.99806548 0.04155694 -0.16968998] [ 0.04217942 -0.0435152 0.99816197 0.32759872] [ 0. 0. 0. 1. ]] SLAMing on 22.340714057 meters Centerline goodness : 0.982570 Centerline is valid? [True, True] Translation: X:21.51, Y:-0.16, Z:0.34 [[ 9.98117216e-01 -4.52568525e-02 -4.13985464e-02 2.15149590e+01] [ 4.51101567e-02 9.98972012e-01 -4.47129290e-03 -1.59423360e-01] [ 4.15583459e-02 2.59537951e-03 9.99132708e-01 3.43315047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.370714056999997 meters Centerline goodness : 0.983499 Centerline is valid? [True, True] Translation: X:21.55, Y:-0.17, Z:0.34 [[ 9.98419685e-01 -4.31495399e-02 -3.60034714e-02 2.15463743e+01] [ 4.32099127e-02 9.99065610e-01 9.00080016e-04 -1.67900387e-01] [ 3.59309921e-02 -2.45436446e-03 9.99351260e-01 3.40110334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.400714057 meters Centerline goodness : 0.985544 Centerline is valid? [True, True] Translation: X:21.57, Y:-0.15, Z:0.35 [[ 9.97980684e-01 -5.26851986e-02 -3.54799174e-02 2.15661499e+01] [ 5.21512575e-02 9.98514030e-01 -1.58107006e-02 -1.54947674e-01] [ 3.62601852e-02 1.39284514e-02 9.99245314e-01 3.45382088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.430714057 meters Centerline goodness : 0.984100 Centerline is valid? [True, True] Translation: X:21.60, Y:-0.18, Z:0.34 [[ 9.98476920e-01 -4.22659406e-02 -3.54602604e-02 2.16037012e+01] [ 4.26036038e-02 9.99053113e-01 8.82101751e-03 -1.79425996e-01] [ 3.50538550e-02 -1.03183173e-02 9.99332157e-01 3.40066569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.460714056999997 meters Centerline goodness : 0.985710 Centerline is valid? [True, True] Translation: X:21.63, Y:-0.17, Z:0.34 [[ 9.98370902e-01 -4.93671313e-02 -2.86082034e-02 2.16275828e+01] [ 4.88787599e-02 9.98650935e-01 -1.75264520e-02 -1.67036788e-01] [ 2.94348397e-02 1.60995662e-02 9.99437039e-01 3.42975911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.490714056999998 meters Centerline goodness : 0.983935 Centerline is valid? [True, True] Translation: X:21.66, Y:-0.18, Z:0.34 [[ 9.98502916e-01 -4.21579919e-02 -3.48515348e-02 2.16630517e+01] [ 4.22289647e-02 9.99107110e-01 1.30252198e-03 -1.83660297e-01] [ 3.47655046e-02 -2.77231623e-03 9.99391652e-01 3.41385265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.520714057 meters Centerline goodness : 0.985010 Centerline is valid? [True, True] Translation: X:21.69, Y:-0.18, Z:0.34 [[ 9.98466028e-01 -4.69221294e-02 -2.93922586e-02 2.16889999e+01] [ 4.66313406e-02 9.98856957e-01 -1.05022872e-02 -1.82254503e-01] [ 2.98514517e-02 9.11557654e-03 9.99512780e-01 3.39465518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.550714056999997 meters Centerline goodness : 0.982602 Centerline is valid? [True, True] Translation: X:21.72, Y:-0.19, Z:0.34 [[ 9.98654728e-01 -4.14099998e-02 -3.12081221e-02 2.17233863e+01] [ 4.12662540e-02 9.99134464e-01 -5.23640427e-03 -1.93994532e-01] [ 3.13979498e-02 3.94151758e-03 9.99499191e-01 3.41521920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.580714056999998 meters Centerline goodness : 0.986068 Centerline is valid? [True, True] Translation: X:21.75, Y:-0.19, Z:0.34 [[ 9.98131978e-01 -5.08058679e-02 -3.39310935e-02 2.17461056e+01] [ 5.13586185e-02 9.98558084e-01 1.56219324e-02 -1.94626138e-01] [ 3.30884819e-02 -1.73354044e-02 9.99302075e-01 3.39901108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.610714057 meters Centerline goodness : 0.985912 Centerline is valid? [True, True] Translation: X:21.78, Y:-0.19, Z:0.35 [[ 9.98092169e-01 -5.17514132e-02 -3.36721597e-02 2.17773153e+01] [ 5.15200607e-02 9.98642251e-01 -7.70306096e-03 -1.91087012e-01] [ 3.40250856e-02 5.95357310e-03 9.99403246e-01 3.47587359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.640714056999997 meters Centerline goodness : 0.982509 Centerline is valid? [True, True] Translation: X:21.82, Y:-0.20, Z:0.35 [[ 9.99029364e-01 -3.97966524e-02 -1.88827232e-02 2.18203199e+01] [ 3.89725960e-02 9.98350181e-01 -4.21669730e-02 -1.99448247e-01] [ 2.05296745e-02 4.13901354e-02 9.98932124e-01 3.45402769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.670714056999998 meters Centerline goodness : 0.982522 Centerline is valid? [True, True] Translation: X:21.85, Y:-0.22, Z:0.33 [[ 9.99125126e-01 -3.71598668e-02 -1.91866394e-02 2.18533485e+01] [ 3.68392118e-02 9.99179914e-01 -1.68038997e-02 -2.15763053e-01] [ 1.97953354e-02 1.60823778e-02 9.99674698e-01 3.33813330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.700714057 meters Centerline goodness : 0.982428 Centerline is valid? [True, True] Translation: X:21.89, Y:-0.22, Z:0.33 [[ 9.99093882e-01 -3.72217057e-02 -2.06387993e-02 2.18853910e+01] [ 3.71768094e-02 9.99305437e-01 -2.55489942e-03 -2.22181386e-01] [ 2.07195621e-02 1.78529967e-03 9.99783733e-01 3.31164726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.730714057 meters Centerline goodness : 0.986600 Centerline is valid? [True, True] Translation: X:21.90, Y:-0.23, Z:0.34 [[ 0.99813026 -0.04822566 -0.0375536 21.90040819] [ 0.05045133 0.9968762 0.06076596 -0.23114766] [ 0.03450581 -0.06254698 0.99744535 0.3353279 ] [ 0. 0. 0. 1. ]] SLAMing on 22.760714056999998 meters Centerline goodness : 0.986652 Centerline is valid? [True, True] Translation: X:21.93, Y:-0.22, Z:0.35 [[ 9.98156999e-01 -5.08677669e-02 -3.30919226e-02 2.19308948e+01] [ 5.08948312e-02 9.98704018e-01 -2.45136666e-05 -2.16695482e-01] [ 3.30502830e-02 -1.65973933e-03 9.99452312e-01 3.50481292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.790714057 meters Centerline goodness : 0.985392 Centerline is valid? [True, True] Translation: X:21.96, Y:-0.22, Z:0.35 [[ 9.98459211e-01 -4.92160101e-02 -2.56317681e-02 2.19629159e+01] [ 4.86333306e-02 9.98554589e-01 -2.28808163e-02 -2.17705856e-01] [ 2.67208222e-02 2.15990036e-02 9.99409566e-01 3.50328526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.820714057 meters Centerline goodness : 0.985502 Centerline is valid? [True, True] Translation: X:21.99, Y:-0.23, Z:0.35 [[ 9.98234703e-01 -5.09646903e-02 -3.04971895e-02 2.19947101e+01] [ 5.08661719e-02 9.98697476e-01 -3.99806098e-03 -2.30515014e-01] [ 3.06612261e-02 2.43972793e-03 9.99526857e-01 3.50337298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.850714056999998 meters Centerline goodness : 0.983164 Centerline is valid? [True, True] Translation: X:22.02, Y:-0.24, Z:0.34 [[ 9.98161343e-01 -5.44926168e-02 -2.65421974e-02 2.20232480e+01] [ 5.49302590e-02 9.98361224e-01 1.60478587e-02 -2.36980173e-01] [ 2.56242109e-02 -1.74763220e-02 9.99518873e-01 3.44847729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.880714057 meters Centerline goodness : 0.982815 Centerline is valid? [True, True] Translation: X:22.07, Y:-0.22, Z:0.36 [[ 0.99816181 -0.05580406 -0.02364108 22.06549242] [ 0.05417771 0.99643939 -0.06460126 -0.22284138] [ 0.02716191 0.0632017 0.99763108 0.36447203] [ 0. 0. 0. 1. ]] SLAMing on 22.910714057 meters Centerline goodness : 0.984369 Centerline is valid? [True, True] Translation: X:22.08, Y:-0.25, Z:0.36 [[ 0.99609347 -0.06957185 -0.05438342 22.07915807] [ 0.07372942 0.99417575 0.07860372 -0.25289556] [ 0.04859807 -0.08230631 0.99542147 0.36129287] [ 0. 0. 0. 1. ]] SLAMing on 22.940714056999997 meters Centerline goodness : 0.981512 Centerline is valid? [True, True] Translation: X:22.12, Y:-0.23, Z:0.37 [[ 0.99749128 -0.06638861 -0.02457035 22.12367469] [ 0.06439597 0.99513702 -0.07453498 -0.22791094] [ 0.02939914 0.07276576 0.99691566 0.3721573 ] [ 0. 0. 0. 1. ]] SLAMing on 22.970714057 meters Centerline goodness : 0.982263 Centerline is valid? [True, True] Translation: X:22.16, Y:-0.25, Z:0.36 [[ 9.97012432e-01 -7.03676066e-02 -3.18529607e-02 2.21578748e+01] [ 7.02179879e-02 9.97514849e-01 -5.79304634e-03 -2.52633330e-01] [ 3.21814441e-02 3.53908842e-03 9.99475777e-01 3.60099374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.000714057 meters Centerline goodness : 0.981885 Centerline is valid? [True, True] Translation: X:22.19, Y:-0.26, Z:0.36 [[ 9.96539887e-01 -7.43747391e-02 -3.71032701e-02 2.21870138e+01] [ 7.48277483e-02 9.97136111e-01 1.09720175e-02 -2.57229251e-01] [ 3.61809695e-02 -1.37104073e-02 9.99251201e-01 3.62913975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.030714056999997 meters Centerline goodness : 0.984303 Centerline is valid? [True, True] Translation: X:22.22, Y:-0.24, Z:0.37 [[ 0.9957587 -0.08310775 -0.03946779 22.22383027] [ 0.08107445 0.99542317 -0.05059285 -0.2425216 ] [ 0.04349181 0.04717844 0.99793921 0.36732883] [ 0. 0. 0. 1. ]] SLAMing on 23.060714057 meters Centerline goodness : 0.981823 Centerline is valid? [True, True] Translation: X:22.25, Y:-0.27, Z:0.36 [[ 0.99587049 -0.08027296 -0.04240544 22.24776088] [ 0.08220923 0.9955492 0.04608063 -0.27080226] [ 0.03851767 -0.04937646 0.99803725 0.36345277] [ 0. 0. 0. 1. ]] SLAMing on 23.090714057 meters Centerline goodness : 0.981775 Centerline is valid? [True, True] Translation: X:22.28, Y:-0.26, Z:0.37 [[ 9.95638525e-01 -8.42460906e-02 -4.00814727e-02 2.22760830e+01] [ 8.42122615e-02 9.96444615e-01 -2.53462545e-03 -2.56667217e-01] [ 4.01524999e-02 -8.51780709e-04 9.99193200e-01 3.72773908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.120714056999997 meters Centerline goodness : 0.982218 Centerline is valid? [True, True] Translation: X:22.31, Y:-0.26, Z:0.38 [[ 9.95126510e-01 -8.56405619e-02 -4.88766118e-02 2.23057258e+01] [ 8.64882786e-02 9.96132329e-01 1.54971136e-02 -2.61478583e-01] [ 4.73603916e-02 -1.96488426e-02 9.98684593e-01 3.78800152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.150714057 meters Centerline goodness : 0.983891 Centerline is valid? [True, True] Translation: X:22.35, Y:-0.24, Z:0.38 [[ 0.99482353 -0.09262878 -0.04178589 22.34615591] [ 0.08924685 0.99305927 -0.07660468 -0.23768584] [ 0.04859167 0.07247888 0.99618556 0.3792904 ] [ 0. 0. 0. 1. ]] SLAMing on 23.180714057 meters Centerline goodness : 0.983962 Centerline is valid? [True, True] Translation: X:22.35, Y:-0.27, Z:0.38 [[ 0.99333627 -0.09163878 -0.06989555 22.35269779] [ 0.099472 0.98797702 0.11834999 -0.27395849] [ 0.05820974 -0.12451399 0.99050891 0.38086904] [ 0. 0. 0. 1. ]] SLAMing on 23.210714056999997 meters Centerline goodness : 0.983357 Centerline is valid? [True, True] Translation: X:22.40, Y:-0.23, Z:0.39 [[ 0.99441088 -0.09586557 -0.04423575 22.40325714] [ 0.09083942 0.99039124 -0.10427559 -0.22707019] [ 0.05380714 0.09967443 0.99356419 0.39465005] [ 0. 0. 0. 1. ]] SLAMing on 23.240714056999998 meters Centerline goodness : 0.982638 Centerline is valid? [True, True] Translation: X:22.41, Y:-0.27, Z:0.39 [[ 0.99333677 -0.09321954 -0.06776558 22.41300897] [ 0.0996226 0.99016561 0.09822121 -0.26530433] [ 0.05794301 -0.10431772 0.99285468 0.38977548] [ 0. 0. 0. 1. ]] SLAMing on 23.270714057 meters Centerline goodness : 0.982659 Centerline is valid? [True, True] Translation: X:22.44, Y:-0.24, Z:0.41 [[ 9.93204682e-01 -9.98179158e-02 -5.98401418e-02 2.24385636e+01] [ 9.98298349e-02 9.95000591e-01 -2.79788287e-03 -2.36578557e-01] [ 5.98202553e-02 -3.19496111e-03 9.98204052e-01 4.06952042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.300714056999997 meters Centerline goodness : 0.984109 Centerline is valid? [True, True] Translation: X:22.48, Y:-0.23, Z:0.41 [[ 0.992495 -0.1029668 -0.06596604 22.47774313] [ 0.10064148 0.99420967 -0.03766209 -0.22983929] [ 0.06946202 0.03074051 0.99711085 0.41049427] [ 0. 0. 0. 1. ]] SLAMing on 23.330714056999998 meters Centerline goodness : 0.984525 Centerline is valid? [True, True] Translation: X:22.51, Y:-0.24, Z:0.41 [[ 9.92490783e-01 -1.01586717e-01 -6.81335778e-02 2.25055522e+01] [ 1.01492454e-01 9.94824474e-01 -4.85262186e-03 -2.35788246e-01] [ 6.82739126e-02 -2.09886155e-03 9.97664406e-01 4.06124013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.360714057 meters Centerline goodness : 0.983607 Centerline is valid? [True, True] Translation: X:22.53, Y:-0.23, Z:0.41 [[ 9.92638371e-01 -9.98590036e-02 -6.85364457e-02 2.25326406e+01] [ 9.97588386e-02 9.94999624e-01 -4.89112120e-03 -2.34503478e-01] [ 6.86821602e-02 -1.98200164e-03 9.97636623e-01 4.09279575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.390714056999997 meters Centerline goodness : 0.984823 Centerline is valid? [True, True] Translation: X:22.56, Y:-0.23, Z:0.40 [[ 9.93885172e-01 -9.76569700e-02 -5.15303893e-02 2.25570204e+01] [ 9.78085558e-02 9.95205159e-01 4.22140395e-04 -2.30126836e-01] [ 5.12420843e-02 -5.45967204e-03 9.98671338e-01 4.01179011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.420714056999998 meters Centerline goodness : 0.984009 Centerline is valid? [True, True] Translation: X:22.61, Y:-0.21, Z:0.40 [[ 0.99470345 -0.0944256 -0.04060599 22.60680838] [ 0.09009417 0.991122 -0.09777643 -0.21355734] [ 0.04947808 0.09360019 0.99437967 0.39853223] [ 0. 0. 0. 1. ]] SLAMing on 23.450714057 meters Centerline goodness : 0.983990 Centerline is valid? [True, True] Translation: X:22.64, Y:-0.24, Z:0.39 [[ 9.94489347e-01 -8.96356665e-02 -5.43726660e-02 2.26398658e+01] [ 9.06209277e-02 9.95758058e-01 1.59291434e-02 -2.41587537e-01] [ 5.27142009e-02 -2.07686649e-02 9.98393648e-01 3.87334904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.480714057 meters Centerline goodness : 0.985219 Centerline is valid? [True, True] Translation: X:22.65, Y:-0.24, Z:0.40 [[ 0.99245391 -0.09787349 -0.07386484 22.65186503] [ 0.10249162 0.99282753 0.06155452 -0.2382364 ] [ 0.06731049 -0.06866055 0.99536678 0.40418423] [ 0. 0. 0. 1. ]] SLAMing on 23.510714056999998 meters Centerline goodness : 0.985159 Centerline is valid? [True, True] Translation: X:22.70, Y:-0.21, Z:0.40 [[ 0.99464184 -0.09447011 -0.04198826 22.69974698] [ 0.09047625 0.99195324 -0.08855974 -0.20726111] [ 0.05001664 0.08428628 0.99518549 0.40416962] [ 0. 0. 0. 1. ]] SLAMing on 23.540714057 meters Centerline goodness : 0.984149 Centerline is valid? [True, True] Translation: X:22.72, Y:-0.24, Z:0.39 [[ 0.99534802 -0.0840464 -0.04710124 22.72448321] [ 0.08613585 0.99530073 0.04423889 -0.23971905] [ 0.04316178 -0.0480902 0.99791001 0.39267611] [ 0. 0. 0. 1. ]] SLAMing on 23.570714057 meters Centerline goodness : 0.985068 Centerline is valid? [True, True] Translation: X:22.73, Y:-0.22, Z:0.41 [[ 0.99301385 -0.10014557 -0.06240486 22.73194602] [ 0.10362663 0.99307839 0.05528858 -0.22290282] [ 0.05643601 -0.06136913 0.99651834 0.41189629] [ 0. 0. 0. 1. ]] SLAMing on 23.600714056999998 meters Centerline goodness : 0.984160 Centerline is valid? [True, True] Translation: X:22.78, Y:-0.20, Z:0.41 [[ 0.99498351 -0.09350022 -0.03557432 22.78192943] [ 0.09050532 0.99282875 -0.0781016 -0.20051198] [ 0.04262172 0.07449014 0.9963105 0.41391795] [ 0. 0. 0. 1. ]] SLAMing on 23.630714057 meters Centerline goodness : 0.986522 Centerline is valid? [True, True] Translation: X:22.80, Y:-0.22, Z:0.42 [[ 0.99190343 -0.10334018 -0.07381328 22.8007643 ] [ 0.10722555 0.99293794 0.05076337 -0.21895462] [ 0.06804611 -0.05826703 0.99597926 0.41671265] [ 0. 0. 0. 1. ]] SLAMing on 23.660714057 meters Centerline goodness : 0.985782 Centerline is valid? [True, True] Translation: X:22.85, Y:-0.20, Z:0.42 [[ 0.99386089 -0.09701225 -0.05318972 22.84529949] [ 0.09427864 0.99420247 -0.05170095 -0.19964137] [ 0.05789697 0.0463689 0.99724514 0.4183147 ] [ 0. 0. 0. 1. ]] SLAMing on 23.690714056999997 meters Centerline goodness : 0.982561 Centerline is valid? [True, True] Translation: X:22.86, Y:-0.22, Z:0.41 [[ 0.99490025 -0.08532006 -0.05379574 22.86485386] [ 0.08685558 0.99585825 0.02687861 -0.21747058] [ 0.05127964 -0.031414 0.99819014 0.4126252 ] [ 0. 0. 0. 1. ]] SLAMing on 23.720714057 meters Centerline goodness : 0.983336 Centerline is valid? [True, True] Translation: X:22.89, Y:-0.21, Z:0.42 [[ 9.94867497e-01 -8.66499101e-02 -5.22537709e-02 2.28937629e+01] [ 8.72752218e-02 9.96136014e-01 9.80188282e-03 -2.08014134e-01] [ 5.12025308e-02 -1.43120341e-02 9.98585733e-01 4.20930242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.750714057 meters Centerline goodness : 0.983336 Centerline is valid? [True, True] Translation: X:22.92, Y:-0.20, Z:0.42 [[ 9.94797251e-01 -8.79735839e-02 -5.13719479e-02 2.29224548e+01] [ 8.79200654e-02 9.96122050e-01 -3.30505968e-03 -2.02011508e-01] [ 5.14634880e-02 -1.22876073e-03 9.98674121e-01 4.24969811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.780714056999997 meters Centerline goodness : 0.982838 Centerline is valid? [True, True] Translation: X:22.95, Y:-0.19, Z:0.42 [[ 9.95857799e-01 -7.88223780e-02 -4.53241334e-02 2.29500695e+01] [ 7.78722474e-02 9.96712510e-01 -2.23625951e-02 -1.94436850e-01] [ 4.69378037e-02 1.87404726e-02 9.98722002e-01 4.22532357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.810714057 meters Centerline goodness : 0.982704 Centerline is valid? [True, True] Translation: X:22.98, Y:-0.20, Z:0.42 [[ 9.95898364e-01 -7.56388404e-02 -4.96509277e-02 2.29804814e+01] [ 7.59485842e-02 9.97102119e-01 4.37902597e-03 -1.97504614e-01] [ 4.91758208e-02 -8.13198246e-03 9.98757032e-01 4.23938446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.840714057 meters Centerline goodness : 0.982896 Centerline is valid? [True, True] Translation: X:23.01, Y:-0.19, Z:0.43 [[ 9.96547578e-01 -6.46682266e-02 -5.20667352e-02 2.30051051e+01] [ 6.48856745e-02 9.97889585e-01 2.49510575e-03 -1.93195374e-01] [ 5.17954987e-02 -5.86487682e-03 9.98640491e-01 4.25657036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.870714056999997 meters Centerline goodness : 0.984007 Centerline is valid? [True, True] Translation: X:23.03, Y:-0.18, Z:0.43 [[ 9.95492574e-01 -7.29163204e-02 -6.06444238e-02 2.30253177e+01] [ 7.43761030e-02 9.96983801e-01 2.21696864e-02 -1.82501531e-01] [ 5.88449762e-02 -2.65802541e-02 9.97913202e-01 4.31682338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.900714057 meters Centerline goodness : 0.981802 Centerline is valid? [True, True] Translation: X:23.07, Y:-0.18, Z:0.44 [[ 0.99696392 -0.05959857 -0.05010937 23.06745838] [ 0.05821911 0.99789541 -0.02855327 -0.17985868] [ 0.05170565 0.02554926 0.9983355 0.43693997] [ 0. 0. 0. 1. ]] SLAMing on 23.930714057 meters Centerline goodness : 0.983826 Centerline is valid? [True, True] Translation: X:23.10, Y:-0.18, Z:0.44 [[ 9.96614068e-01 -5.38709107e-02 -6.21154088e-02 2.31033383e+01] [ 5.30087651e-02 9.98474578e-01 -1.54463079e-02 -1.84669280e-01] [ 6.28527632e-02 1.21013467e-02 9.97949441e-01 4.35947024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.960714056999997 meters Centerline goodness : 0.985993 Centerline is valid? [True, True] Translation: X:23.12, Y:-0.18, Z:0.44 [[ 9.95794068e-01 -5.78397387e-02 -7.10544734e-02 2.31203448e+01] [ 5.94501262e-02 9.98015370e-01 2.07606180e-02 -1.82231685e-01] [ 6.97126679e-02 -2.48974977e-02 9.97256366e-01 4.38193604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.990714056999998 meters Centerline goodness : 0.982188 Centerline is valid? [True, True] Translation: X:23.15, Y:-0.19, Z:0.44 [[ 9.97045839e-01 -4.40951569e-02 -6.28904742e-02 2.31528705e+01] [ 4.43196777e-02 9.99015024e-01 2.17880316e-03 -1.87123005e-01] [ 6.27324539e-02 -4.95965217e-03 9.98018056e-01 4.44038589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.020714057 meters Centerline goodness : 0.986728 Centerline is valid? [True, True] Translation: X:23.18, Y:-0.18, Z:0.45 [[ 9.96353409e-01 -5.19225843e-02 -6.77047252e-02 2.31760591e+01] [ 5.12373798e-02 9.98616562e-01 -1.18191833e-02 -1.76548583e-01] [ 6.82247425e-02 8.30707088e-03 9.97635393e-01 4.46337539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.050714056999997 meters Centerline goodness : 0.985798 Centerline is valid? [True, True] Translation: X:23.20, Y:-0.18, Z:0.45 [[ 9.96513645e-01 -4.91181016e-02 -6.74386218e-02 2.32039288e+01] [ 4.88651954e-02 9.98790809e-01 -5.39563851e-03 -1.79501845e-01] [ 6.76220991e-02 2.08142597e-03 9.97708835e-01 4.46448170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.080714056999998 meters Centerline goodness : 0.987769 Centerline is valid? [True, True] Translation: X:23.23, Y:-0.19, Z:0.45 [[ 9.96928121e-01 -4.31024875e-02 -6.53949265e-02 2.32313264e+01] [ 4.28506107e-02 9.99067697e-01 -5.25001130e-03 -1.86103895e-01] [ 6.55602472e-02 2.43167137e-03 9.97845650e-01 4.48813181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.110714057 meters Centerline goodness : 0.987974 Centerline is valid? [True, True] Translation: X:23.26, Y:-0.19, Z:0.45 [[ 9.97118053e-01 -4.06373431e-02 -6.40639828e-02 2.32584235e+01] [ 4.03900485e-02 9.99170711e-01 -5.15104555e-03 -1.89032408e-01] [ 6.42201801e-02 2.54865314e-03 9.97932499e-01 4.51037817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.140714056999997 meters Centerline goodness : 0.988056 Centerline is valid? [True, True] Translation: X:23.29, Y:-0.19, Z:0.45 [[ 9.97302402e-01 -3.84820467e-02 -6.25064146e-02 2.32866876e+01] [ 3.82416948e-02 9.99255821e-01 -5.03748535e-03 -1.92065598e-01] [ 6.26537514e-02 2.63354501e-03 9.98031849e-01 4.52703847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.170714056999998 meters Centerline goodness : 0.988251 Centerline is valid? [True, True] Translation: X:23.32, Y:-0.20, Z:0.46 [[ 9.97483177e-01 -3.56613937e-02 -6.12827585e-02 2.33150014e+01] [ 3.54240276e-02 9.99360085e-01 -4.95574710e-03 -1.96386672e-01] [ 6.14202716e-02 2.77239223e-03 9.98108142e-01 4.55182151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.200714057 meters Centerline goodness : 0.991071 Centerline is valid? [True, True] Translation: X:23.34, Y:-0.21, Z:0.46 [[ 9.97679411e-01 -3.26258815e-02 -5.97607271e-02 2.33436812e+01] [ 3.23937668e-02 9.99463421e-01 -4.84901947e-03 -2.06973190e-01] [ 5.98868643e-02 2.90189183e-03 9.98200953e-01 4.55845478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.230714057 meters Centerline goodness : 0.992730 Centerline is valid? [True, True] Translation: X:23.37, Y:-0.22, Z:0.46 [[ 9.97747230e-01 -3.13983803e-02 -5.92841135e-02 2.33728524e+01] [ 3.11668199e-02 9.99502542e-01 -4.82680330e-03 -2.18034297e-01] [ 5.94061760e-02 2.96823233e-03 9.98229481e-01 4.57578808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.260714056999998 meters Centerline goodness : 0.993171 Centerline is valid? [True, True] Translation: X:23.40, Y:-0.22, Z:0.46 [[ 9.97737040e-01 -3.16886525e-02 -5.93011743e-02 2.34003198e+01] [ 3.14564285e-02 9.99493378e-01 -4.84568052e-03 -2.22349067e-01] [ 5.94246841e-02 2.96931178e-03 9.98228376e-01 4.59161373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.290714057 meters Centerline goodness : 0.995018 Centerline is valid? [True, True] Translation: X:23.43, Y:-0.23, Z:0.46 [[ 9.97713902e-01 -3.22624376e-02 -5.93810177e-02 2.34290406e+01] [ 3.20301984e-02 9.99475091e-01 -4.85893441e-03 -2.26896005e-01] [ 5.95066091e-02 2.94584063e-03 9.98223565e-01 4.61344040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.320714057 meters Centerline goodness : 0.995041 Centerline is valid? [True, True] Translation: X:23.46, Y:-0.24, Z:0.46 [[ 9.97635826e-01 -3.35836690e-02 -5.99574504e-02 2.34577263e+01] [ 3.33482355e-02 9.99431667e-01 -4.92328933e-03 -2.39517098e-01] [ 6.00887167e-02 2.91217465e-03 9.98188792e-01 4.63270597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.350714056999998 meters Centerline goodness : 0.995688 Centerline is valid? [True, True] Translation: X:23.49, Y:-0.24, Z:0.47 [[ 9.97621559e-01 -3.45306446e-02 -5.96561735e-02 2.34851459e+01] [ 3.42982115e-02 9.99399552e-01 -4.91609685e-03 -2.44977208e-01] [ 5.97901091e-02 2.85830415e-03 9.98206879e-01 4.65282111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.380714057 meters Centerline goodness : 0.997019 Centerline is valid? [True, True] Translation: X:23.51, Y:-0.26, Z:0.47 [[ 9.97614642e-01 -3.64647475e-02 -5.86118434e-02 2.35138943e+01] [ 3.62433389e-02 9.99331291e-01 -4.83652312e-03 -2.56922082e-01] [ 5.87490117e-02 2.70069737e-03 9.98269132e-01 4.68055423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.410714057 meters Centerline goodness : 0.997224 Centerline is valid? [True, True] Translation: X:23.54, Y:-0.26, Z:0.47 [[ 9.97607638e-01 -3.72583630e-02 -5.82307042e-02 2.35422907e+01] [ 3.70402595e-02 9.99302146e-01 -4.82076090e-03 -2.61369032e-01] [ 5.83696813e-02 2.65234750e-03 9.98291513e-01 4.70370607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.440714056999997 meters Centerline goodness : 0.997789 Centerline is valid? [True, True] Translation: X:23.57, Y:-0.27, Z:0.47 [[ 9.97623476e-01 -3.92210810e-02 -5.66489812e-02 2.35706188e+01] [ 3.90169258e-02 9.99227469e-01 -4.70582820e-03 -2.71942020e-01] [ 5.67897858e-02 2.48437559e-03 9.98383067e-01 4.72435952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.470714057 meters Centerline goodness : 0.998437 Centerline is valid? [True, True] Translation: X:23.60, Y:-0.28, Z:0.47 [[ 9.97606535e-01 -4.00484513e-02 -5.63677549e-02 2.35979370e+01] [ 3.98466595e-02 9.99194754e-01 -4.69975214e-03 -2.76028575e-01] [ 5.65105828e-02 2.44243671e-03 9.98399013e-01 4.73583044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.500714057 meters Centerline goodness : 0.999043 Centerline is valid? [True, True] Translation: X:23.63, Y:-0.29, Z:0.48 [[ 9.97464864e-01 -4.41112569e-02 -5.58394248e-02 2.36268426e+01] [ 4.39192609e-02 9.99024209e-01 -4.66147022e-03 -2.86621226e-01] [ 5.59905605e-02 2.19722649e-03 9.98428880e-01 4.75908973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.530714056999997 meters Centerline goodness : 0.998775 Centerline is valid? [True, True] Translation: X:23.66, Y:-0.29, Z:0.48 [[ 9.97353817e-01 -4.66998093e-02 -5.57179624e-02 2.36550669e+01] [ 4.65117647e-02 9.98906837e-01 -4.66766270e-03 -2.90097460e-01] [ 5.58750325e-02 2.06377045e-03 9.98435637e-01 4.76841414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.560714057 meters Centerline goodness : 0.999499 Centerline is valid? [True, True] Translation: X:23.68, Y:-0.29, Z:0.48 [[ 9.97206697e-01 -4.98911073e-02 -5.55848991e-02 2.36833242e+01] [ 4.97080226e-02 9.98752863e-01 -4.67237021e-03 -2.93451274e-01] [ 5.57486869e-02 1.89630344e-03 9.98443032e-01 4.78598061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.590714057 meters Centerline goodness : 0.999688 Centerline is valid? [True, True] Translation: X:23.71, Y:-0.30, Z:0.48 [[ 9.96760642e-01 -5.83083898e-02 -5.53927186e-02 2.37124435e+01] [ 5.81386552e-02 9.98297585e-01 -4.67211985e-03 -3.02426085e-01] [ 5.55708410e-02 1.43652701e-03 9.98453714e-01 4.80794329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.620714056999997 meters Centerline goodness : 0.999521 Centerline is valid? [True, True] Translation: X:23.74, Y:-0.30, Z:0.48 [[ 9.96432562e-01 -6.30582497e-02 -5.60874876e-02 2.37396690e+01] [ 6.28907588e-02 9.98009122e-01 -4.74809011e-03 -3.04976120e-01] [ 5.62752305e-02 1.20376693e-03 9.98414568e-01 4.80808658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.650714057 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.77, Y:-0.31, Z:0.48 [[ 9.95624155e-01 -7.46999662e-02 -5.61467465e-02 2.37680161e+01] [ 7.45502647e-02 9.97205901e-01 -4.75900925e-03 -3.13255640e-01] [ 5.63453648e-02 5.52429758e-04 9.98411185e-01 4.83709532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.680714057 meters Centerline goodness : 0.999772 Centerline is valid? [True, True] Translation: X:23.80, Y:-0.31, Z:0.48 [[ 9.95110698e-01 -8.09892220e-02 -5.65282610e-02 2.37966906e+01] [ 8.08467138e-02 9.96714954e-01 -4.80713329e-03 -3.14837003e-01] [ 5.67318891e-02 2.13505627e-04 9.98389427e-01 4.83597044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.710714056999997 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:23.82, Y:-0.32, Z:0.49 [[ 9.94649170e-01 -8.71164563e-02 -5.55315292e-02 2.38234129e+01] [ 8.69875863e-02 9.96198127e-01 -4.73820982e-03 -3.16830459e-01] [ 5.57331815e-02 -1.17697222e-04 9.98445691e-01 4.86058344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.740714056999998 meters Centerline goodness : 0.999875 Centerline is valid? [True, True] Translation: X:23.85, Y:-0.32, Z:0.49 [[ 9.94085202e-01 -9.31743556e-02 -5.57956105e-02 2.38515564e+01] [ 9.30532293e-02 9.95649706e-01 -4.77065293e-03 -3.18022902e-01] [ 5.59973857e-02 -4.49526260e-04 9.98430814e-01 4.87000206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.770714057 meters Centerline goodness : 0.999917 Centerline is valid? [True, True] Translation: X:23.88, Y:-0.32, Z:0.49 [[ 9.93007031e-01 -1.03933331e-01 -5.59901722e-02 2.38786854e+01] [ 1.03827467e-01 9.94583720e-01 -4.80431136e-03 -3.21649939e-01] [ 5.61862418e-02 -1.04260278e-03 9.98419761e-01 4.89592598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.800714056999997 meters Centerline goodness : 0.999876 Centerline is valid? [True, True] Translation: X:23.91, Y:-0.32, Z:0.49 [[ 9.92539903e-01 -1.08227846e-01 -5.61362209e-02 2.39053795e+01] [ 1.08127897e-01 9.94125289e-01 -4.82373348e-03 -3.21659670e-01] [ 5.63284991e-02 -1.28214354e-03 9.98411466e-01 4.90913035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.830714056999998 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:23.93, Y:-0.32, Z:0.49 [[ 9.91906034e-01 -1.14478852e-01 -5.49273272e-02 2.39329093e+01] [ 1.14392398e-01 9.93424404e-01 -4.72579800e-03 -3.23208060e-01] [ 5.51071512e-02 -1.59572112e-03 9.98479171e-01 4.94906186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.860714057 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.96, Y:-0.32, Z:0.50 [[ 9.91689516e-01 -1.16513523e-01 -5.45573393e-02 2.39613056e+01] [ 1.16430809e-01 9.93187670e-01 -4.70297556e-03 -3.21736544e-01] [ 5.47336370e-02 -1.68826361e-03 9.98499564e-01 4.96770272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.890714056999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.99, Y:-0.32, Z:0.50 [[ 9.91498735e-01 -1.18531419e-01 -5.36708611e-02 2.39878828e+01] [ 1.18453492e-01 9.92948751e-01 -4.64194752e-03 -3.19064701e-01] [ 5.38426311e-02 -1.75501580e-03 9.98547891e-01 4.99028888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.920714056999998 meters Centerline goodness : 0.999834 Centerline is valid? [True, True] Translation: X:24.02, Y:-0.32, Z:0.50 [[ 9.91451934e-01 -1.18945094e-01 -5.36202203e-02 2.40161677e+01] [ 1.18867091e-01 9.92899272e-01 -4.65291227e-03 -3.15224192e-01] [ 5.37929188e-02 -1.76054074e-03 9.98550561e-01 4.98575265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.950714057 meters Centerline goodness : 0.999834 Centerline is valid? [True, True] Translation: X:24.04, Y:-0.31, Z:0.50 [[ 9.91507522e-01 -1.18515211e-01 -5.35441829e-02 2.40435425e+01] [ 1.18435918e-01 9.92950750e-01 -4.66276855e-03 -3.11810716e-01] [ 5.37193456e-02 -1.71838434e-03 9.98554595e-01 4.99887993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.980714057 meters Centerline goodness : 0.999833 Centerline is valid? [True, True] Translation: X:24.07, Y:-0.31, Z:0.50 [[ 9.91701013e-01 -1.16812045e-01 -5.37033241e-02 2.40714592e+01] [ 1.16728663e-01 9.93152734e-01 -4.69744328e-03 -3.06786592e-01] [ 5.38843211e-02 -1.61025797e-03 9.98545886e-01 5.01711474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.010714056999998 meters Centerline goodness : 0.999792 Centerline is valid? [True, True] Translation: X:24.10, Y:-0.30, Z:0.51 [[ 9.91639392e-01 -1.16529673e-01 -5.54269948e-02 2.40999925e+01] [ 1.16004128e-01 9.93168587e-01 -1.26174629e-02 -3.00450138e-01] [ 5.65186589e-02 6.08221307e-03 9.98383017e-01 5.06827617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.040714057 meters Centerline goodness : 0.999648 Centerline is valid? [True, True] Translation: X:24.13, Y:-0.29, Z:0.51 [[ 9.91857704e-01 -1.13237108e-01 -5.82722322e-02 2.41264799e+01] [ 1.13190034e-01 9.93564821e-01 -4.11859557e-03 -2.94734149e-01] [ 5.83636178e-02 -2.51077518e-03 9.98292234e-01 5.06002136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.070714057 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.15, Y:-0.29, Z:0.51 [[ 9.92072318e-01 -1.11925969e-01 -5.71409965e-02 2.41540070e+01] [ 1.12227869e-01 9.93680295e-01 2.09187207e-03 -2.91736857e-01] [ 5.65457474e-02 -8.48810063e-03 9.98363927e-01 5.09287787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.100714056999998 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:24.18, Y:-0.28, Z:0.51 [[ 9.92161534e-01 -1.11370033e-01 -5.66763279e-02 2.41814567e+01] [ 1.11265171e-01 9.93778113e-01 -5.01228712e-03 -2.84702598e-01] [ 5.68819128e-02 -1.33310284e-03 9.98380023e-01 5.10629474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.130714057 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.21, Y:-0.28, Z:0.51 [[ 9.92341744e-01 -1.09290704e-01 -5.75621774e-02 2.42085256e+01] [ 1.09178069e-01 9.94009086e-01 -5.10746088e-03 -2.76390169e-01] [ 5.77755253e-02 -1.21618076e-03 9.98328858e-01 5.12259671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.160714057 meters Centerline goodness : 0.999875 Centerline is valid? [True, True] Translation: X:24.24, Y:-0.27, Z:0.51 [[ 9.92433047e-01 -1.08248159e-01 -5.79567385e-02 2.42356714e+01] [ 1.08131179e-01 9.94123243e-01 -5.15997472e-03 -2.70383622e-01] [ 5.81746986e-02 -1.14600103e-03 9.98305760e-01 5.11268215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.190714056999997 meters Centerline goodness : 0.999833 Centerline is valid? [True, True] Translation: X:24.26, Y:-0.26, Z:0.51 [[ 9.92497419e-01 -1.07022856e-01 -5.91183623e-02 2.42629945e+01] [ 1.06898561e-01 9.94255964e-01 -5.27021680e-03 -2.61466613e-01] [ 5.93428180e-02 -1.08899129e-03 9.98237068e-01 5.12571828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.220714057 meters Centerline goodness : 0.999876 Centerline is valid? [True, True] Translation: X:24.29, Y:-0.26, Z:0.52 [[ 9.92503373e-01 -1.06710458e-01 -5.95813099e-02 2.42893555e+01] [ 1.06582558e-01 9.94289572e-01 -5.32964810e-03 -2.55724466e-01] [ 5.98098043e-02 -1.06063467e-03 9.98209228e-01 5.16222356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.250714057 meters Centerline goodness : 0.999730 Centerline is valid? [True, True] Translation: X:24.32, Y:-0.25, Z:0.52 [[ 9.92495051e-01 -1.06271970e-01 -6.04966217e-02 2.43152896e+01] [ 1.06138534e-01 9.94336559e-01 -5.42402626e-03 -2.45925304e-01] [ 6.07304246e-02 -1.03770350e-03 9.98153665e-01 5.15377175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.280714056999997 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:24.34, Y:-0.24, Z:0.52 [[ 9.92367530e-01 -1.07136133e-01 -6.10617272e-02 2.43422943e+01] [ 1.07001374e-01 9.94243759e-01 -5.48204530e-03 -2.40360440e-01] [ 6.12975663e-02 -1.09348494e-03 9.98118937e-01 5.19333324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.310714057 meters Centerline goodness : 0.999875 Centerline is valid? [True, True] Translation: X:24.37, Y:-0.23, Z:0.52 [[ 9.92222823e-01 -1.08148586e-01 -6.16259111e-02 2.43704047e+01] [ 1.08012161e-01 9.94134077e-01 -5.55064285e-03 -2.34193601e-01] [ 6.18647124e-02 -1.14887330e-03 9.98083883e-01 5.18781055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.340714057 meters Centerline goodness : 0.999875 Centerline is valid? [True, True] Translation: X:24.40, Y:-0.23, Z:0.52 [[ 9.91985707e-01 -1.10457804e-01 -6.13468131e-02 2.43967947e+01] [ 1.10325891e-01 9.93880005e-01 -5.54381906e-03 -2.25950333e-01] [ 6.15837289e-02 -1.26875256e-03 9.98101114e-01 5.23125114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.370714056999997 meters Centerline goodness : 0.999732 Centerline is valid? [True, True] Translation: X:24.42, Y:-0.22, Z:0.52 [[ 9.91830309e-01 -1.11835702e-01 -6.13629764e-02 2.44230990e+01] [ 1.11705868e-01 9.93725798e-01 -5.55312307e-03 -2.20026201e-01] [ 6.15990101e-02 -1.34684880e-03 9.98100069e-01 5.22055526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.400714057 meters Centerline goodness : 0.999731 Centerline is valid? [True, True] Translation: X:24.45, Y:-0.21, Z:0.53 [[ 9.91552055e-01 -1.14297031e-01 -6.13246393e-02 2.44506701e+01] [ 1.14171602e-01 9.93445501e-01 -5.55706733e-03 -2.14567457e-01] [ 6.15578433e-02 -1.49141078e-03 9.98102403e-01 5.26539503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.430714057 meters Centerline goodness : 0.999255 Centerline is valid? [True, True] Translation: X:24.48, Y:-0.21, Z:0.53 [[ 9.90931047e-01 -1.18715350e-01 -6.29470065e-02 2.44780619e+01] [ 1.18590902e-01 9.92926708e-01 -5.72282331e-03 -2.05369406e-01] [ 6.31811509e-02 -1.79401900e-03 9.98000463e-01 5.26102597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.460714056999997 meters Centerline goodness : 0.999108 Centerline is valid? [True, True] Translation: X:24.51, Y:-0.20, Z:0.53 [[ 9.90536750e-01 -1.21938463e-01 -6.29917285e-02 2.45052422e+01] [ 1.21819188e-01 9.92535682e-01 -5.74509192e-03 -1.99577309e-01] [ 6.32220859e-02 -1.98287652e-03 9.97997513e-01 5.27896535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.490714056999998 meters Centerline goodness : 0.998913 Centerline is valid? [True, True] Translation: X:24.53, Y:-0.19, Z:0.53 [[ 9.89778971e-01 -1.27939033e-01 -6.30015291e-02 2.45324489e+01] [ 1.27830693e-01 9.91779254e-01 -5.76409394e-03 -1.91359532e-01] [ 6.32210621e-02 -2.34835018e-03 9.97996785e-01 5.29829952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.520714057 meters Centerline goodness : 0.998977 Centerline is valid? [True, True] Translation: X:24.56, Y:-0.19, Z:0.53 [[ 9.89279903e-01 -1.31854419e-01 -6.27669090e-02 2.45599800e+01] [ 1.31753596e-01 9.91265758e-01 -5.76078128e-03 -1.85171940e-01] [ 6.29782721e-02 -2.57074082e-03 9.98011587e-01 5.33783192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.550714056999997 meters Centerline goodness : 0.998571 Centerline is valid? [True, True] Translation: X:24.59, Y:-0.17, Z:0.53 [[ 9.88644979e-01 -1.36268319e-01 -6.33407428e-02 2.45857772e+01] [ 1.36173491e-01 9.90667839e-01 -5.83200767e-03 -1.74892866e-01] [ 6.35443547e-02 -2.85954494e-03 9.97974919e-01 5.34017067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.580714056999998 meters Centerline goodness : 0.998497 Centerline is valid? [True, True] Translation: X:24.61, Y:-0.17, Z:0.54 [[ 9.88187508e-01 -1.39535001e-01 -6.33674415e-02 2.46132612e+01] [ 1.39446273e-01 9.90212403e-01 -5.84248586e-03 -1.67732901e-01] [ 6.35624577e-02 -3.06288199e-03 9.97973162e-01 5.37787015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.610714057 meters Centerline goodness : 0.998204 Centerline is valid? [True, True] Translation: X:24.64, Y:-0.16, Z:0.54 [[ 9.87968503e-01 -1.40747484e-01 -6.40966731e-02 2.46396350e+01] [ 1.40658018e-01 9.90040490e-01 -5.92880259e-03 -1.61377568e-01] [ 6.42927657e-02 -3.15824080e-03 9.97926082e-01 5.38183797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.640714056999997 meters Centerline goodness : 0.997808 Centerline is valid? [True, True] Translation: X:24.67, Y:-0.15, Z:0.54 [[ 9.87509856e-01 -1.43906024e-01 -6.41509151e-02 2.46669230e+01] [ 1.43822499e-01 9.89585660e-01 -5.94228162e-03 -1.49893464e-01] [ 6.43379558e-02 -3.35828323e-03 9.97922517e-01 5.39926195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.670714056999998 meters Centerline goodness : 0.997808 Centerline is valid? [True, True] Translation: X:24.70, Y:-0.15, Z:0.54 [[ 9.87469403e-01 -1.44184142e-01 -6.41491306e-02 2.46952039e+01] [ 1.44099957e-01 9.89545180e-01 -5.96148432e-03 -1.47199466e-01] [ 6.43380145e-02 -3.35710362e-03 9.97922517e-01 5.41731462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.700714057 meters Centerline goodness : 0.997401 Centerline is valid? [True, True] Translation: X:24.72, Y:-0.14, Z:0.54 [[ 9.87288424e-01 -1.45304744e-01 -6.44057361e-02 2.47230249e+01] [ 1.45221072e-01 9.89381017e-01 -6.00368269e-03 -1.40021932e-01] [ 6.45941762e-02 -3.42570361e-03 9.97905736e-01 5.43360076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.730714056999997 meters Centerline goodness : 0.997371 Centerline is valid? [True, True] Translation: X:24.75, Y:-0.13, Z:0.55 [[ 9.87132120e-01 -1.46420631e-01 -6.42742352e-02 2.47503959e+01] [ 1.46338398e-01 9.89216327e-01 -6.01090026e-03 -1.32334970e-01] [ 6.44612427e-02 -3.47223590e-03 9.97914171e-01 5.45086059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.760714056999998 meters Centerline goodness : 0.996844 Centerline is valid? [True, True] Translation: X:24.78, Y:-0.12, Z:0.55 [[ 9.87075963e-01 -1.46923216e-01 -6.39891522e-02 2.47766778e+01] [ 1.46841534e-01 9.89141812e-01 -6.00331769e-03 -1.18897054e-01] [ 6.41763727e-02 -3.47053469e-03 9.97932537e-01 5.46765079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.790714057 meters Centerline goodness : 0.995821 Centerline is valid? [True, True] Translation: X:24.80, Y:-0.11, Z:0.55 [[ 9.87022928e-01 -1.47214421e-01 -6.41377656e-02 2.48035919e+01] [ 1.47132420e-01 9.89098448e-01 -6.02584073e-03 -1.10214034e-01] [ 6.43256551e-02 -3.48910169e-03 9.97922861e-01 5.48403959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.820714057 meters Centerline goodness : 0.994751 Centerline is valid? [True, True] Translation: X:24.83, Y:-0.10, Z:0.55 [[ 9.87079871e-01 -1.46922362e-01 -6.39308107e-02 2.48294057e+01] [ 1.46839045e-01 9.89142046e-01 -6.02558864e-03 -9.61420885e-02] [ 6.41219466e-02 -3.43980192e-03 9.97936142e-01 5.48571309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.850714056999998 meters Centerline goodness : 0.993084 Centerline is valid? [True, True] Translation: X:24.86, Y:-0.09, Z:0.55 [[ 9.87174671e-01 -1.45943988e-01 -6.47033347e-02 2.48567549e+01] [ 1.45855659e-01 9.89287000e-01 -6.11216411e-03 -8.92050475e-02] [ 6.49022014e-02 -3.40357393e-03 9.97885825e-01 5.50016757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.880714057 meters Centerline goodness : 0.992873 Centerline is valid? [True, True] Translation: X:24.88, Y:-0.08, Z:0.55 [[ 9.87075954e-01 -1.46410464e-01 -6.51539518e-02 2.48840065e+01] [ 1.46320654e-01 9.89217948e-01 -6.17399508e-03 -8.13932482e-02] [ 6.53553960e-02 -3.43916674e-03 9.97856124e-01 5.51060243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.910714057 meters Centerline goodness : 0.991493 Centerline is valid? [True, True] Translation: X:24.92, Y:-0.07, Z:0.55 [[ 9.87621958e-01 -1.45640046e-01 -5.82395537e-02 2.49169143e+01] [ 1.44073175e-01 9.89103764e-01 -3.02764479e-02 -6.54405681e-02] [ 6.20144250e-02 2.15109273e-02 9.97843420e-01 5.48484675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.940714056999997 meters Centerline goodness : 0.990407 Centerline is valid? [True, True] Translation: X:24.95, Y:-0.06, Z:0.55 [[ 9.87482759e-01 -1.45701828e-01 -6.04051178e-02 2.49456020e+01] [ 1.45545230e-01 9.89326779e-01 -7.00792785e-03 -6.36210791e-02] [ 6.07814685e-02 -1.87146882e-03 9.98149343e-01 5.46177683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.970714057 meters Centerline goodness : 0.988746 Centerline is valid? [True, True] Translation: X:24.98, Y:-0.05, Z:0.55 [[ 9.87026746e-01 -1.48811564e-01 -6.02770354e-02 2.49753976e+01] [ 1.48477532e-01 9.88865135e-01 -1.00083340e-02 -4.98437941e-02] [ 6.10952146e-02 9.28707880e-04 9.98131511e-01 5.45508433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.000714057 meters Centerline goodness : 0.987264 Centerline is valid? [True, True] Translation: X:25.00, Y:-0.04, Z:0.55 [[ 9.86695377e-01 -1.50864237e-01 -6.05987961e-02 2.50015232e+01] [ 1.50638578e-01 9.88554047e-01 -8.30154300e-03 -4.24597571e-02] [ 6.11575911e-02 -9.37422372e-04 9.98127682e-01 5.45575008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.030714056999997 meters Centerline goodness : 0.985417 Centerline is valid? [True, True] Translation: X:25.03, Y:-0.03, Z:0.54 [[ 9.86048105e-01 -1.54620228e-01 -6.16580858e-02 2.50307755e+01] [ 1.54365241e-01 9.87973706e-01 -8.90664916e-03 -3.04771488e-02] [ 6.22937156e-02 -7.35480734e-04 9.98057590e-01 5.44432141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.060714057 meters Centerline goodness : 0.984312 Centerline is valid? [True, True] Translation: X:25.06, Y:-0.02, Z:0.55 [[ 9.85529072e-01 -1.57304429e-01 -6.31487446e-02 2.50596192e+01] [ 1.57127200e-01 9.87547616e-01 -7.79413441e-03 -2.30445340e-02] [ 6.35884441e-02 -2.24103939e-03 9.97973691e-01 5.45197141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.090714057 meters Centerline goodness : 0.983957 Centerline is valid? [True, True] Translation: X:25.09, Y:-0.01, Z:0.55 [[ 9.85250707e-01 -1.59000148e-01 -6.32455361e-02 2.50871884e+01] [ 1.58741115e-01 9.87278009e-01 -9.13192733e-03 -1.46746671e-02] [ 6.38929048e-02 -1.04242907e-03 9.97956217e-01 5.46522512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.120714056999997 meters Centerline goodness : 0.983624 Centerline is valid? [True, True] Translation: X:25.11, Y:-0.01, Z:0.55 [[ 9.84686409e-01 -1.60972738e-01 -6.69361876e-02 2.51146969e+01] [ 1.61481484e-01 9.86873234e-01 2.22505423e-03 -8.84122316e-03] [ 6.56993588e-02 -1.29999356e-02 9.97754777e-01 5.49506317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.150714057 meters Centerline goodness : 0.981137 Centerline is valid? [True, True] Translation: X:25.14, Y:0.01, Z:0.55 [[ 9.84109370e-01 -1.63845098e-01 -6.84363271e-02 2.51418836e+01] [ 1.64279474e-01 9.86413565e-01 7.29772333e-04 5.72817982e-03] [ 6.73869518e-02 -1.19608596e-02 9.97655219e-01 5.53276599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.180714057 meters Centerline goodness : 0.982827 Centerline is valid? [True, True] Translation: X:25.17, Y:0.01, Z:0.56 [[ 9.82717189e-01 -1.68438923e-01 -7.67805633e-02 2.51669979e+01] [ 1.70877040e-01 9.84940543e-01 2.63280212e-02 1.39991709e-02] [ 7.11896261e-02 -3.89930344e-02 9.96700346e-01 5.58314568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.210714056999997 meters Centerline goodness : 0.981820 Centerline is valid? [True, True] Translation: X:25.20, Y:0.04, Z:0.56 [[ 0.98396818 -0.16753733 -0.0611381 25.19866172] [ 0.16499134 0.98528662 -0.04458857 0.03993307] [ 0.06770881 0.03378648 0.99713289 0.5625322 ] [ 0. 0. 0. 1. ]] SLAMing on 26.240714056999998 meters Centerline goodness : 0.982343 Centerline is valid? [True, True] Translation: X:25.23, Y:0.04, Z:0.56 [[ 9.84271519e-01 -1.64539071e-01 -6.43153979e-02 2.52303239e+01] [ 1.64556351e-01 9.86354680e-01 -5.06494414e-03 3.61064971e-02] [ 6.42711749e-02 -5.59822691e-03 9.97916768e-01 5.56336004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.270714057 meters Centerline goodness : 0.981266 Centerline is valid? [True, True] Translation: X:25.26, Y:0.04, Z:0.56 [[ 9.84149876e-01 -1.64512771e-01 -6.62160855e-02 2.52608821e+01] [ 1.64651273e-01 9.86345991e-01 -3.39770761e-03 4.43056358e-02] [ 6.58709368e-02 -7.55870922e-03 9.97799522e-01 5.59217773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.300714056999997 meters Centerline goodness : 0.983845 Centerline is valid? [True, True] Translation: X:25.29, Y:0.06, Z:0.56 [[ 9.84697651e-01 -1.62483959e-01 -6.30039618e-02 2.52936371e+01] [ 1.62105887e-01 9.86710924e-01 -1.11010646e-02 5.90079547e-02] [ 6.39704423e-02 7.17879056e-04 9.97951535e-01 5.60708904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.330714056999998 meters Centerline goodness : 0.985121 Centerline is valid? [True, True] Translation: X:25.31, Y:0.06, Z:0.57 [[ 0.98321285 -0.16518762 -0.07749544 25.31457937] [ 0.16822347 0.98514881 0.03439029 0.06261053] [ 0.07066369 -0.04684953 0.9963994 0.56617558] [ 0. 0. 0. 1. ]] SLAMing on 26.360714057 meters Centerline goodness : 0.985892 Centerline is valid? [True, True] Translation: X:25.34, Y:0.09, Z:0.58 [[ 9.83737078e-01 -1.63977049e-01 -7.32999920e-02 2.53428701e+01] [ 1.63876763e-01 9.86452903e-01 -7.42139461e-03 8.81822839e-02] [ 7.35239283e-02 -4.71146438e-03 9.97282324e-01 5.76420357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.390714056999997 meters Centerline goodness : 0.985613 Centerline is valid? [True, True] Translation: X:25.38, Y:0.08, Z:0.57 [[ 9.86647421e-01 -1.50681155e-01 -6.18227762e-02 2.53782461e+01] [ 1.51649784e-01 9.88370153e-01 1.12598024e-02 8.30107405e-02] [ 5.94071467e-02 -2.04848657e-02 9.98023628e-01 5.69404555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.420714056999998 meters Centerline goodness : 0.987117 Centerline is valid? [True, True] Translation: X:25.40, Y:0.11, Z:0.58 [[ 9.84724728e-01 -1.58730832e-01 -7.15662830e-02 2.53996321e+01] [ 1.57579030e-01 9.87272328e-01 -2.14988105e-02 1.07784385e-01] [ 7.40679350e-02 9.89306481e-03 9.97204126e-01 5.83782246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.450714057 meters Centerline goodness : 0.987446 Centerline is valid? [True, True] Translation: X:25.44, Y:0.11, Z:0.58 [[ 9.86610979e-01 -1.46833786e-01 -7.09832031e-02 2.54400983e+01] [ 1.46647443e-01 9.89157612e-01 -7.85791137e-03 1.08012593e-01] [ 7.13673825e-02 -2.65680358e-03 9.97446559e-01 5.79377854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.480714056999997 meters Centerline goodness : 0.988127 Centerline is valid? [True, True] Translation: X:25.46, Y:0.12, Z:0.58 [[ 9.85769038e-01 -1.51537631e-01 -7.27719099e-02 2.54592802e+01] [ 1.51389035e-01 9.88445153e-01 -7.58553206e-03 1.23340363e-01] [ 7.30805352e-02 -3.53928656e-03 9.97319763e-01 5.84115789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.510714056999998 meters Centerline goodness : 0.986076 Centerline is valid? [True, True] Translation: X:25.49, Y:0.12, Z:0.58 [[ 9.88164276e-01 -1.38404838e-01 -6.61472945e-02 2.54929715e+01] [ 1.38775476e-01 9.90323345e-01 1.01932670e-03 1.20183711e-01] [ 6.53661302e-02 -1.01868845e-02 9.97809349e-01 5.83316076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.540714057 meters Centerline goodness : 0.987651 Centerline is valid? [True, True] Translation: X:25.51, Y:0.14, Z:0.59 [[ 9.87949115e-01 -1.40697734e-01 -6.45034462e-02 2.55127801e+01] [ 1.39933289e-01 9.90027707e-01 -1.62423336e-02 1.44734029e-01] [ 6.61454585e-02 7.02041973e-03 9.97785294e-01 5.89475018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.570714057 meters Centerline goodness : 0.990664 Centerline is valid? [True, True] Translation: X:25.55, Y:0.15, Z:0.59 [[ 9.87580728e-01 -1.38830755e-01 -7.35549227e-02 2.55514768e+01] [ 1.38695872e-01 9.90310540e-01 -6.96336545e-03 1.46875124e-01] [ 7.38089445e-02 -3.32487864e-03 9.97266857e-01 5.90559676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.600714056999998 meters Centerline goodness : 0.990807 Centerline is valid? [True, True] Translation: X:25.58, Y:0.15, Z:0.59 [[ 9.88309930e-01 -1.34367554e-01 -7.20336240e-02 2.55816783e+01] [ 1.34825032e-01 9.90868280e-01 1.50444720e-03 1.50394811e-01] [ 7.11736842e-02 -1.11987958e-02 9.97401070e-01 5.90118084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.630714057 meters Centerline goodness : 0.989410 Centerline is valid? [True, True] Translation: X:25.61, Y:0.16, Z:0.60 [[ 9.88803599e-01 -1.30851310e-01 -7.17312829e-02 2.56103145e+01] [ 1.30092381e-01 9.91385788e-01 -1.51721020e-02 1.62401557e-01] [ 7.30986638e-02 5.67053568e-03 9.97308593e-01 5.95945245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.660714057 meters Centerline goodness : 0.986689 Centerline is valid? [True, True] Translation: X:25.65, Y:0.16, Z:0.59 [[ 9.90580865e-01 -1.22412289e-01 -6.13578074e-02 2.56474969e+01] [ 1.21132769e-01 9.92341996e-01 -2.41705589e-02 1.61378919e-01] [ 6.38467025e-02 1.65104520e-02 9.97823132e-01 5.94241145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.690714056999997 meters Centerline goodness : 0.989562 Centerline is valid? [True, True] Translation: X:25.69, Y:0.17, Z:0.59 [[ 9.90191814e-01 -1.24475518e-01 -6.34509076e-02 2.56850822e+01] [ 1.23309507e-01 9.92124634e-01 -2.19880798e-02 1.66129528e-01] [ 6.56881861e-02 1.39483165e-02 9.97742706e-01 5.92347535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.720714057 meters Centerline goodness : 0.988475 Centerline is valid? [True, True] Translation: X:25.70, Y:0.17, Z:0.59 [[ 9.89348025e-01 -1.27581150e-01 -7.00966193e-02 2.56983678e+01] [ 1.29457646e-01 9.91320609e-01 2.28947347e-02 1.67919656e-01] [ 6.65672867e-02 -3.17254039e-02 9.97277441e-01 5.89981368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.750714057 meters Centerline goodness : 0.987162 Centerline is valid? [True, True] Translation: X:25.74, Y:0.18, Z:0.60 [[ 0.99010556 -0.12576109 -0.06225061 25.73941109] [ 0.12357936 0.99161629 -0.03775278 0.17867683] [ 0.06647655 0.02968635 0.99734627 0.59959346] [ 0. 0. 0. 1. ]] SLAMing on 26.780714056999997 meters Centerline goodness : 0.988078 Centerline is valid? [True, True] Translation: X:25.78, Y:0.17, Z:0.59 [[ 9.89500914e-01 -1.26297299e-01 -7.02633217e-02 2.57776376e+01] [ 1.26783142e-01 9.91927357e-01 2.48050182e-03 1.71487258e-01] [ 6.93828303e-02 -1.13626635e-02 9.97525395e-01 5.94072706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.810714057 meters Centerline goodness : 0.985921 Centerline is valid? [True, True] Translation: X:25.80, Y:0.18, Z:0.60 [[ 9.90016056e-01 -1.24483368e-01 -6.61218548e-02 2.58013388e+01] [ 1.24963827e-01 9.92156252e-01 3.16451664e-03 1.75190712e-01] [ 6.52092819e-02 -1.13957623e-02 9.97806537e-01 5.97684806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.840714057 meters Centerline goodness : 0.987849 Centerline is valid? [True, True] Translation: X:25.84, Y:0.18, Z:0.60 [[ 9.88381157e-01 -1.30996250e-01 -7.70887256e-02 2.58383393e+01] [ 1.32226618e-01 9.91157845e-01 1.10565652e-02 1.77778000e-01] [ 7.49587266e-02 -2.11212822e-02 9.96962928e-01 6.02952572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.870714056999997 meters Centerline goodness : 0.987856 Centerline is valid? [True, True] Translation: X:25.87, Y:0.19, Z:0.61 [[ 9.87633148e-01 -1.36545018e-01 -7.70468889e-02 2.58682342e+01] [ 1.36912937e-01 9.90582953e-01 -5.11534804e-04 1.85634773e-01] [ 7.63911822e-02 -1.00435071e-02 9.97027339e-01 6.11179082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.900714057 meters Centerline goodness : 0.987256 Centerline is valid? [True, True] Translation: X:25.90, Y:0.19, Z:0.62 [[ 9.87425026e-01 -1.39138749e-01 -7.50481598e-02 2.58997709e+01] [ 1.38835339e-01 9.90272087e-01 -9.27046559e-03 1.91516948e-01] [ 7.56079788e-02 -1.26544697e-03 9.97136817e-01 6.15364066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.930714057 meters Centerline goodness : 0.986061 Centerline is valid? [True, True] Translation: X:25.93, Y:0.19, Z:0.61 [[ 9.88126314e-01 -1.36791847e-01 -6.99598385e-02 2.59277185e+01] [ 1.38150872e-01 9.90298385e-01 1.49481042e-02 1.88373557e-01] [ 6.72363363e-02 -2.44356278e-02 9.97437805e-01 6.13897125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.960714056999997 meters Centerline goodness : 0.987000 Centerline is valid? [True, True] Translation: X:25.96, Y:0.20, Z:0.62 [[ 9.87230404e-01 -1.42605451e-01 -7.09916526e-02 2.59579714e+01] [ 1.43392815e-01 9.89647086e-01 6.09477712e-03 1.95121679e-01] [ 6.93875337e-02 -1.61966422e-02 9.97458289e-01 6.20957039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.990714056999998 meters Centerline goodness : 0.986562 Centerline is valid? [True, True] Translation: X:25.99, Y:0.21, Z:0.63 [[ 9.87324208e-01 -1.44990871e-01 -6.45643506e-02 2.59885904e+01] [ 1.43092133e-01 9.89154201e-01 -3.31452633e-02 2.08805164e-01] [ 6.86698592e-02 2.34864702e-02 9.97362941e-01 6.27904093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.020714057 meters Centerline goodness : 0.985527 Centerline is valid? [True, True] Translation: X:26.02, Y:0.20, Z:0.62 [[ 9.86331384e-01 -1.47912432e-01 -7.26107021e-02 2.60174066e+01] [ 1.48775350e-01 9.88849041e-01 6.59310236e-03 2.01894774e-01] [ 7.08258213e-02 -1.73056664e-02 9.97338567e-01 6.23678663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.050714056999997 meters Centerline goodness : 0.986848 Centerline is valid? [True, True] Translation: X:26.05, Y:0.21, Z:0.63 [[ 9.85313944e-01 -1.52594881e-01 -7.66239727e-02 2.60503216e+01] [ 1.51931363e-01 9.88285416e-01 -1.44498523e-02 2.10794977e-01] [ 7.79313282e-02 2.59605641e-03 9.96955349e-01 6.31107987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.080714056999998 meters Centerline goodness : 0.985531 Centerline is valid? [True, True] Translation: X:26.08, Y:0.21, Z:0.63 [[ 9.85864876e-01 -1.52751079e-01 -6.88298927e-02 2.60817381e+01] [ 1.53299993e-01 9.88175916e-01 2.73343334e-03 2.09835642e-01] [ 6.75985074e-02 -1.32464180e-02 9.97624666e-01 6.28178370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.110714057 meters Centerline goodness : 0.985945 Centerline is valid? [True, True] Translation: X:26.11, Y:0.22, Z:0.63 [[ 9.86043178e-01 -1.53391151e-01 -6.47302491e-02 2.61127621e+01] [ 1.52804710e-01 9.88158015e-01 -1.39448407e-02 2.18239084e-01] [ 6.61027297e-02 3.85912811e-03 9.97805360e-01 6.31273800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.140714056999997 meters Centerline goodness : 0.985373 Centerline is valid? [True, True] Translation: X:26.15, Y:0.22, Z:0.63 [[ 9.86240263e-01 -1.52027166e-01 -6.49452400e-02 2.61456584e+01] [ 1.51801683e-01 9.88375095e-01 -8.42145405e-03 2.20356561e-01] [ 6.54705475e-02 -1.55321965e-03 9.97853293e-01 6.31264847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.170714056999998 meters Centerline goodness : 0.986510 Centerline is valid? [True, True] Translation: X:26.18, Y:0.23, Z:0.63 [[ 9.86440262e-01 -1.51007988e-01 -6.42821718e-02 2.61771285e+01] [ 1.50903679e-01 9.88527082e-01 -6.50291256e-03 2.25887043e-01] [ 6.45266594e-02 -3.28568143e-03 9.97910574e-01 6.33561890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.200714057 meters Centerline goodness : 0.986681 Centerline is valid? [True, True] Translation: X:26.21, Y:0.23, Z:0.64 [[ 9.86729470e-01 -1.49198544e-01 -6.40683038e-02 2.62081483e+01] [ 1.49037814e-01 9.88804495e-01 -7.30763253e-03 2.30902126e-01] [ 6.44413149e-02 -2.33794357e-03 9.97918760e-01 6.36034831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.230714056999997 meters Centerline goodness : 0.986261 Centerline is valid? [True, True] Translation: X:26.24, Y:0.24, Z:0.64 [[ 9.86936217e-01 -1.48389687e-01 -6.27487399e-02 2.62393533e+01] [ 1.47399004e-01 9.88871658e-01 -2.01588146e-02 2.38943192e-01] [ 6.50418107e-02 1.06463625e-02 9.97825745e-01 6.40086293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.260714056999998 meters Centerline goodness : 0.986319 Centerline is valid? [True, True] Translation: X:26.27, Y:0.24, Z:0.63 [[ 9.87955109e-01 -1.42863610e-01 -5.94532691e-02 2.62741016e+01] [ 1.42783670e-01 9.89738007e-01 -5.61261233e-03 2.39783079e-01] [ 5.96449982e-02 -2.94394694e-03 9.98215311e-01 6.33588458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.290714057 meters Centerline goodness : 0.988809 Centerline is valid? [True, True] Translation: X:26.31, Y:0.24, Z:0.64 [[ 9.86479892e-01 -1.47654770e-01 -7.11019838e-02 2.63106789e+01] [ 1.48345001e-01 9.88925442e-01 4.49778280e-03 2.41934618e-01] [ 6.96504417e-02 -1.49845961e-02 9.97458910e-01 6.37479949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.320714057 meters Centerline goodness : 0.987182 Centerline is valid? [True, True] Translation: X:26.33, Y:0.25, Z:0.64 [[ 9.87658482e-01 -1.43261324e-01 -6.33002032e-02 2.63339000e+01] [ 1.43808521e-01 9.89596826e-01 4.15092897e-03 2.46265242e-01] [ 6.20470126e-02 -1.32028088e-02 9.97985899e-01 6.41163406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.350714056999998 meters Centerline goodness : 0.987405 Centerline is valid? [True, True] Translation: X:26.37, Y:0.25, Z:0.64 [[ 9.87858166e-01 -1.42341209e-01 -6.22513000e-02 2.63667166e+01] [ 1.42770857e-01 9.89752646e-01 2.48618687e-03 2.51849816e-01] [ 6.12595021e-02 -1.13436715e-02 9.98057410e-01 6.42395664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.380714057 meters Centerline goodness : 0.986859 Centerline is valid? [True, True] Translation: X:26.40, Y:0.26, Z:0.65 [[ 9.88032960e-01 -1.41887635e-01 -6.04877616e-02 2.63953881e+01] [ 1.41128186e-01 9.89850976e-01 -1.66697398e-02 2.61975545e-01] [ 6.22390998e-02 7.93372434e-03 9.98029734e-01 6.50260032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.410714057 meters Centerline goodness : 0.988458 Centerline is valid? [True, True] Translation: X:26.43, Y:0.26, Z:0.65 [[ 9.87899732e-01 -1.40879454e-01 -6.48621565e-02 2.64269899e+01] [ 1.41150402e-01 9.89988079e-01 -4.09117434e-04 2.62029834e-01] [ 6.42703980e-02 -8.75115247e-03 9.97894149e-01 6.46047417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.440714056999997 meters Centerline goodness : 0.986337 Centerline is valid? [True, True] Translation: X:26.46, Y:0.27, Z:0.65 [[ 9.88261734e-01 -1.40891048e-01 -5.90631605e-02 2.64559674e+01] [ 1.39740783e-01 9.89916443e-01 -2.31937509e-02 2.70497938e-01] [ 6.17353856e-02 1.46679643e-02 9.97984766e-01 6.52468164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.470714057 meters Centerline goodness : 0.987792 Centerline is valid? [True, True] Translation: X:26.49, Y:0.27, Z:0.65 [[ 9.88200152e-01 -1.39905247e-01 -6.23456677e-02 2.64908994e+01] [ 1.40650908e-01 9.90029195e-01 7.71456853e-03 2.66564639e-01] [ 6.06447226e-02 -1.63925126e-02 9.98024801e-01 6.46718925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.500714057 meters Centerline goodness : 0.986729 Centerline is valid? [True, True] Translation: X:26.52, Y:0.28, Z:0.66 [[ 9.88562624e-01 -1.39967554e-01 -5.61517711e-02 2.65217704e+01] [ 1.39178761e-01 9.90108363e-01 -1.77398535e-02 2.79011202e-01] [ 5.80793421e-02 9.72182217e-03 9.98264632e-01 6.55342255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.530714056999997 meters Centerline goodness : 0.987028 Centerline is valid? [True, True] Translation: X:26.55, Y:0.28, Z:0.65 [[ 9.88841201e-01 -1.38230037e-01 -5.55475967e-02 2.65543272e+01] [ 1.37976098e-01 9.90399942e-01 -8.39945945e-03 2.79710643e-01] [ 5.61753942e-02 6.41490902e-04 9.98420710e-01 6.52943790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.560714057 meters Centerline goodness : 0.987028 Centerline is valid? [True, True] Translation: X:26.59, Y:0.28, Z:0.65 [[ 9.88875654e-01 -1.38004488e-01 -5.54950608e-02 2.65866561e+01] [ 1.37924285e-01 9.90428643e-01 -5.29110240e-03 2.82182632e-01] [ 5.56940936e-02 -2.42187421e-03 9.98444942e-01 6.53961356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.590714057 meters Centerline goodness : 0.990100 Centerline is valid? [True, True] Translation: X:26.63, Y:0.29, Z:0.66 [[ 9.88041652e-01 -1.42957978e-01 -5.77642642e-02 2.66289200e+01] [ 1.41531523e-01 9.89534994e-01 -2.80949068e-02 2.93099294e-01] [ 6.11761519e-02 1.95834739e-02 9.97934851e-01 6.55738931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.620714056999997 meters Centerline goodness : 0.989866 Centerline is valid? [True, True] Translation: X:26.66, Y:0.29, Z:0.65 [[ 9.88214096e-01 -1.40845599e-01 -5.99617990e-02 2.66612079e+01] [ 1.40876215e-01 9.90020162e-01 -3.73773087e-03 2.89747664e-01] [ 5.98898329e-02 -4.75351297e-03 9.98193675e-01 6.49806323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.650714057 meters Centerline goodness : 0.987005 Centerline is valid? [True, True] Translation: X:26.69, Y:0.29, Z:0.65 [[ 9.89875905e-01 -1.34128580e-01 -4.64243008e-02 2.66856994e+01] [ 1.33976254e-01 9.90963931e-01 -6.39148041e-03 2.94603693e-01] [ 4.68620878e-02 1.07018563e-04 9.98901363e-01 6.49339974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.680714057 meters Centerline goodness : 0.989804 Centerline is valid? [True, True] Translation: X:26.73, Y:0.30, Z:0.65 [[ 9.88749545e-01 -1.39668589e-01 -5.35445763e-02 2.67265282e+01] [ 1.38684379e-01 9.90098985e-01 -2.16942860e-02 3.03524231e-01] [ 5.60444410e-02 1.40244190e-02 9.98329773e-01 6.52223183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.710714056999997 meters Centerline goodness : 0.987366 Centerline is valid? [True, True] Translation: X:26.75, Y:0.30, Z:0.65 [[ 9.90279686e-01 -1.31946807e-01 -4.40020974e-02 2.67500339e+01] [ 1.32566017e-01 9.91108022e-01 1.14516055e-02 2.97134600e-01] [ 4.20998289e-02 -1.71734750e-02 9.98965803e-01 6.45043090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.740714056999998 meters Centerline goodness : 0.989813 Centerline is valid? [True, True] Translation: X:26.79, Y:0.31, Z:0.66 [[ 9.88732834e-01 -1.41134218e-01 -4.98850319e-02 2.67889983e+01] [ 1.39791920e-01 9.89742519e-01 -2.94612347e-02 3.13608064e-01] [ 5.35313255e-02 2.21557656e-02 9.98320349e-01 6.56038711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.770714057 meters Centerline goodness : 0.988162 Centerline is valid? [True, True] Translation: X:26.81, Y:0.30, Z:0.65 [[ 9.89816755e-01 -1.34680443e-01 -4.60865510e-02 2.68134886e+01] [ 1.35960554e-01 9.90376773e-01 2.58568145e-02 3.01240820e-01] [ 4.21606424e-02 -3.18594612e-02 9.98602751e-01 6.47456353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.800714056999997 meters Centerline goodness : 0.988600 Centerline is valid? [True, True] Translation: X:26.85, Y:0.32, Z:0.66 [[ 9.87859153e-01 -1.45014528e-01 -5.57232528e-02 2.68474513e+01] [ 1.44309236e-01 9.89395058e-01 -1.65004432e-02 3.18405909e-01] [ 5.75251149e-02 8.25873386e-03 9.98309899e-01 6.61555463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.830714056999998 meters Centerline goodness : 0.989671 Centerline is valid? [True, True] Translation: X:26.87, Y:0.32, Z:0.66 [[ 9.86235750e-01 -1.52643923e-01 -6.35521651e-02 2.68723997e+01] [ 1.53968582e-01 9.87938518e-01 1.64669350e-02 3.17642101e-01] [ 6.02720543e-02 -2.60253168e-02 9.97842654e-01 6.57405135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.860714057 meters Centerline goodness : 0.988807 Centerline is valid? [True, True] Translation: X:26.89, Y:0.32, Z:0.66 [[ 9.87793167e-01 -1.47742337e-01 -4.93645713e-02 2.68941454e+01] [ 1.48612640e-01 9.88790186e-01 1.44309349e-02 3.20206767e-01] [ 4.66791436e-02 -2.15909781e-02 9.98676568e-01 6.60237650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.890714056999997 meters Centerline goodness : 0.983546 Centerline is valid? [True, True] Translation: X:26.92, Y:0.34, Z:0.67 [[ 9.86293566e-01 -1.58802657e-01 -4.47964005e-02 2.69152892e+01] [ 1.58304394e-01 9.87284149e-01 -1.44819879e-02 3.38691501e-01] [ 4.65265543e-02 7.19202445e-03 9.98891163e-01 6.67477158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.920714056999998 meters Centerline goodness : 0.988095 Centerline is valid? [True, True] Translation: X:26.96, Y:0.33, Z:0.66 [[ 9.87053227e-01 -1.52661462e-01 -4.91976064e-02 2.69579844e+01] [ 1.53723298e-01 9.87939747e-01 1.85527548e-02 3.27249426e-01] [ 4.57719801e-02 -2.58753748e-02 9.98616739e-01 6.59385240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.950714057 meters Centerline goodness : 0.987075 Centerline is valid? [True, True] Translation: X:26.99, Y:0.34, Z:0.67 [[ 9.86815951e-01 -1.55074394e-01 -4.63272236e-02 2.69858044e+01] [ 1.54685516e-01 9.87892255e-01 -1.18862703e-02 3.39463472e-01] [ 4.76095616e-02 4.56341062e-03 9.98855598e-01 6.69640055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.980714056999997 meters Centerline goodness : 0.991124 Centerline is valid? [True, True] Translation: X:27.01, Y:0.36, Z:0.67 [[ 0.98353193 -0.17175584 -0.05625721 27.00864814] [ 0.16965016 0.98467935 -0.04031618 0.36226981] [ 0.06231985 0.03010821 0.99760199 0.67424196] [ 0. 0. 0. 1. ]] SLAMing on 28.010714056999998 meters Centerline goodness : 0.988552 Centerline is valid? [True, True] Translation: X:27.05, Y:0.34, Z:0.66 [[ 0.98640894 -0.15652781 -0.04996455 27.05065542] [ 0.15800826 0.98706376 0.02717574 0.33721621] [ 0.04506444 -0.03470121 0.9983812 0.65780588] [ 0. 0. 0. 1. ]] SLAMing on 28.040714057 meters Centerline goodness : 0.984526 Centerline is valid? [True, True] Translation: X:27.07, Y:0.36, Z:0.67 [[ 9.84898989e-01 -1.67498678e-01 -4.37969614e-02 2.70680488e+01] [ 1.67381377e-01 9.85871721e-01 -6.35799422e-03 3.58080617e-01] [ 4.42431413e-02 -1.06881364e-03 9.99020221e-01 6.66502477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.070714057 meters Centerline goodness : 0.983500 Centerline is valid? [True, True] Translation: X:27.10, Y:0.37, Z:0.68 [[ 9.84691044e-01 -1.69619829e-01 -4.01579574e-02 2.70989101e+01] [ 1.68429642e-01 9.85213697e-01 -3.13915083e-02 3.69469864e-01] [ 4.48887919e-02 2.41471467e-02 9.98700111e-01 6.76605830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.100714056999998 meters Centerline goodness : 0.982921 Centerline is valid? [True, True] Translation: X:27.13, Y:0.38, Z:0.68 [[ 9.83865965e-01 -1.73630513e-01 -4.31301327e-02 2.71306715e+01] [ 1.72388644e-01 9.84539779e-01 -3.10415690e-02 3.75562236e-01] [ 4.78530949e-02 2.31055981e-02 9.98587108e-01 6.80216970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.130714057 meters Centerline goodness : 0.983930 Centerline is valid? [True, True] Translation: X:27.16, Y:0.36, Z:0.66 [[ 9.84443896e-01 -1.70137293e-01 -4.38579208e-02 2.71640269e+01] [ 1.70971202e-01 9.85146208e-01 1.59936244e-02 3.64683351e-01] [ 4.04853525e-02 -2.32432673e-02 9.98909749e-01 6.64309807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.160714057 meters Centerline goodness : 0.987720 Centerline is valid? [True, True] Translation: X:27.21, Y:0.37, Z:0.68 [[ 9.84651082e-01 -1.69120227e-01 -4.31346266e-02 2.72064947e+01] [ 1.68676563e-01 9.85575515e-01 -1.37521569e-02 3.74865948e-01] [ 4.48381997e-02 6.26527562e-03 9.98974615e-01 6.81492169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.190714056999997 meters Centerline goodness : 0.989689 Centerline is valid? [True, True] Translation: X:27.24, Y:0.38, Z:0.69 [[ 9.82977066e-01 -1.72459778e-01 -6.33538769e-02 2.72372472e+01] [ 1.72985224e-01 9.84920259e-01 2.86294784e-03 3.80351250e-01] [ 6.19047735e-02 -1.37734966e-02 9.97987019e-01 6.85611872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.220714057 meters Centerline goodness : 0.988725 Centerline is valid? [True, True] Translation: X:27.26, Y:0.38, Z:0.68 [[ 9.83358497e-01 -1.74104637e-01 -5.19003086e-02 2.72622627e+01] [ 1.75315322e-01 9.84314584e-01 1.97316500e-02 3.81903911e-01] [ 4.76508589e-02 -2.85022050e-02 9.98457320e-01 6.82220084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.250714057 meters Centerline goodness : 0.988878 Centerline is valid? [True, True] Translation: X:27.30, Y:0.40, Z:0.70 [[ 0.98390565 -0.17450392 -0.03844541 27.29959859] [ 0.17273546 0.98392404 -0.04534257 0.40366816] [ 0.04573982 0.03797192 0.99823144 0.69700133] [ 0. 0. 0. 1. ]] SLAMing on 28.280714056999997 meters Centerline goodness : 0.990429 Centerline is valid? [True, True] Translation: X:27.33, Y:0.39, Z:0.68 [[ 9.83126410e-01 -1.75936218e-01 -5.00890176e-02 2.73281666e+01] [ 1.77253515e-01 9.83892581e-01 2.31642115e-02 3.93447681e-01] [ 4.52067890e-02 -3.16518025e-02 9.98476094e-01 6.79448222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.310714057 meters Centerline goodness : 0.991558 Centerline is valid? [True, True] Translation: X:27.35, Y:0.41, Z:0.69 [[ 9.81478907e-01 -1.83272033e-01 -5.57720189e-02 2.73501083e+01] [ 1.84531768e-01 9.82656158e-01 1.83003248e-02 4.07837048e-01] [ 5.14507801e-02 -2.82530920e-02 9.98275804e-01 6.90283216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.340714057 meters Centerline goodness : 0.984647 Centerline is valid? [True, True] Translation: X:27.38, Y:0.43, Z:0.70 [[ 9.80416280e-01 -1.90499354e-01 -4.99391039e-02 2.73755051e+01] [ 1.89760471e-01 9.81642954e-01 -1.91852446e-02 4.30423063e-01] [ 5.26771462e-02 9.33305826e-03 9.98567981e-01 7.00384884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.370714056999997 meters Centerline goodness : 0.991673 Centerline is valid? [True, True] Translation: X:27.41, Y:0.43, Z:0.70 [[ 9.81208544e-01 -1.84877569e-01 -5.52275122e-02 2.74126177e+01] [ 1.85214689e-01 9.82697568e-01 1.00488454e-03 4.25081301e-01] [ 5.40861613e-02 -1.12149478e-02 9.98473291e-01 6.99416159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.400714057 meters Centerline goodness : 0.984616 Centerline is valid? [True, True] Translation: X:27.44, Y:0.44, Z:0.70 [[ 9.80560511e-01 -1.89547628e-01 -5.07225891e-02 2.74393055e+01] [ 1.88981731e-01 9.81853915e-01 -1.57732113e-02 4.41466218e-01] [ 5.27919475e-02 5.88094546e-03 9.98588216e-01 7.01305615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.430714057 meters Centerline goodness : 0.983366 Centerline is valid? [True, True] Translation: X:27.47, Y:0.45, Z:0.70 [[ 9.80717373e-01 -1.89410217e-01 -4.81373406e-02 2.74695212e+01] [ 1.88443170e-01 9.81792454e-01 -2.39321823e-02 4.49377828e-01] [ 5.17938776e-02 1.43995539e-02 9.98553978e-01 7.04827726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.460714056999997 meters Centerline goodness : 0.983787 Centerline is valid? [True, True] Translation: X:27.50, Y:0.45, Z:0.70 [[ 9.80982799e-01 -1.87315524e-01 -5.08492076e-02 2.75010440e+01] [ 1.87051972e-01 9.82299770e-01 -9.93583167e-03 4.50107872e-01] [ 5.18103005e-02 2.35435393e-04 9.98656917e-01 7.01695725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.490714056999998 meters Centerline goodness : 0.990580 Centerline is valid? [True, True] Translation: X:27.55, Y:0.46, Z:0.71 [[ 9.81879221e-01 -1.82350493e-01 -5.15896637e-02 2.75451309e+01] [ 1.81274663e-01 9.83118353e-01 -2.48555919e-02 4.58882457e-01] [ 5.52511747e-02 1.50532903e-02 9.98359007e-01 7.13517264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.520714057 meters Centerline goodness : 0.990525 Centerline is valid? [True, True] Translation: X:27.58, Y:0.46, Z:0.71 [[ 9.82007971e-01 -1.80372095e-01 -5.59128946e-02 2.75759171e+01] [ 1.80798066e-01 9.83516764e-01 2.61411362e-03 4.56497238e-01] [ 5.45197560e-02 -1.26760236e-02 9.98432228e-01 7.08364215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.550714056999997 meters Centerline goodness : 0.989241 Centerline is valid? [True, True] Translation: X:27.60, Y:0.46, Z:0.71 [[ 9.81843615e-01 -1.80170069e-01 -5.93452701e-02 2.76042570e+01] [ 1.80714272e-01 9.83527945e-01 3.89005543e-03 4.62643637e-01] [ 5.76668600e-02 -1.45439634e-02 9.98229937e-01 7.13197539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.580714056999998 meters Centerline goodness : 0.990777 Centerline is valid? [True, True] Translation: X:27.63, Y:0.47, Z:0.72 [[ 9.80836710e-01 -1.82128989e-01 -6.91981159e-02 2.76342240e+01] [ 1.83768717e-01 9.82803488e-01 1.80655018e-02 4.68634037e-01] [ 6.47178981e-02 -3.04357564e-02 9.97439351e-01 7.18134208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.610714057 meters Centerline goodness : 0.989884 Centerline is valid? [True, True] Translation: X:27.66, Y:0.48, Z:0.73 [[ 9.80251591e-01 -1.86495175e-01 -6.57751257e-02 2.76572924e+01] [ 1.86839842e-01 9.82389951e-01 -9.26377895e-04 4.83266736e-01] [ 6.47895875e-02 -1.13813307e-02 9.97834042e-01 7.25747289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.640714056999997 meters Centerline goodness : 0.982754 Centerline is valid? [True, True] Translation: X:27.68, Y:0.50, Z:0.74 [[ 9.79095241e-01 -1.92942378e-01 -6.43874881e-02 2.76800508e+01] [ 1.92067726e-01 9.81186586e-01 -1.95670998e-02 5.01222862e-01] [ 6.69514624e-02 6.79129582e-03 9.97733121e-01 7.35355112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.670714056999998 meters Centerline goodness : 0.983220 Centerline is valid? [True, True] Translation: X:27.71, Y:0.50, Z:0.73 [[ 9.79286011e-01 -1.90953104e-01 -6.73485034e-02 2.77130619e+01] [ 1.91396150e-01 9.81512861e-01 1.28355367e-04 5.00097266e-01] [ 6.60789124e-02 -1.30159409e-02 9.97729504e-01 7.30517082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.700714057 meters Centerline goodness : 0.993264 Centerline is valid? [True, True] Translation: X:27.75, Y:0.51, Z:0.76 [[ 9.77309263e-01 -1.93290555e-01 -8.66335188e-02 2.77487271e+01] [ 1.91464302e-01 9.81071199e-01 -2.89952497e-02 5.13543745e-01] [ 9.05981580e-02 1.17500999e-02 9.95818211e-01 7.56160541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.730714056999997 meters Centerline goodness : 0.991156 Centerline is valid? [True, True] Translation: X:27.79, Y:0.49, Z:0.74 [[ 9.80790967e-01 -1.78510264e-01 -7.86331090e-02 2.77910525e+01] [ 1.81069649e-01 9.83108823e-01 2.66613028e-02 4.94921879e-01] [ 7.25455870e-02 -4.03872344e-02 9.96547043e-01 7.39404896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.760714056999998 meters Centerline goodness : 0.991525 Centerline is valid? [True, True] Translation: X:27.82, Y:0.51, Z:0.75 [[ 9.79566014e-01 -1.82556878e-01 -8.44002927e-02 2.78187360e+01] [ 1.83897211e-01 9.82910245e-01 8.32262784e-03 5.09473503e-01] [ 8.14385594e-02 -2.36735419e-02 9.96397172e-01 7.52961591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.790714057 meters Centerline goodness : 0.991326 Centerline is valid? [True, True] Translation: X:27.85, Y:0.52, Z:0.77 [[ 9.79896660e-01 -1.83736913e-01 -7.77385498e-02 2.78476525e+01] [ 1.82714233e-01 9.82959943e-01 -2.01310543e-02 5.22812135e-01] [ 8.01126983e-02 5.52241342e-03 9.96770514e-01 7.65746842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.820714056999996 meters Centerline goodness : 0.991465 Centerline is valid? [True, True] Translation: X:27.88, Y:0.52, Z:0.76 [[ 9.79980710e-01 -1.82924538e-01 -7.85902081e-02 2.78807207e+01] [ 1.83287509e-01 9.83055830e-01 -2.63150082e-03 5.23866048e-01] [ 7.77399283e-02 -1.18257834e-02 9.96903533e-01 7.60731443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.850714056999998 meters Centerline goodness : 0.992125 Centerline is valid? [True, True] Translation: X:27.91, Y:0.54, Z:0.77 [[ 9.80231659e-01 -1.85023138e-01 -7.00880405e-02 2.79097248e+01] [ 1.82992008e-01 9.82511489e-01 -3.44252696e-02 5.42876717e-01] [ 7.52317764e-02 2.09191879e-02 9.96946622e-01 7.69071429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.880714057 meters Centerline goodness : 0.991980 Centerline is valid? [True, True] Translation: X:27.94, Y:0.53, Z:0.76 [[ 9.80251455e-01 -1.79633094e-01 -8.26984619e-02 2.79414489e+01] [ 1.82308275e-01 9.82898667e-01 2.59596559e-02 5.34190295e-01] [ 7.66209947e-02 -4.05236045e-02 9.96236448e-01 7.56278375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.910714057 meters Centerline goodness : 0.991588 Centerline is valid? [True, True] Translation: X:27.97, Y:0.55, Z:0.77 [[ 9.80563529e-01 -1.81277118e-01 -7.50584593e-02 2.79699127e+01] [ 1.80272081e-01 9.83413184e-01 -2.00121384e-02 5.54091976e-01] [ 7.74412213e-02 6.09222838e-03 9.96978306e-01 7.74913492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.940714056999997 meters Centerline goodness : 0.991941 Centerline is valid? [True, True] Translation: X:28.00, Y:0.56, Z:0.77 [[ 9.81018857e-01 -1.79205231e-01 -7.40775750e-02 2.80019279e+01] [ 1.78784661e-01 9.83811036e-01 -1.23243748e-02 5.57661626e-01] [ 7.50869283e-02 -1.15349004e-03 9.97176325e-01 7.72870215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.970714057 meters Centerline goodness : 0.991486 Centerline is valid? [True, True] Translation: X:28.03, Y:0.56, Z:0.77 [[ 9.81158949e-01 -1.78204008e-01 -7.46354343e-02 2.80315830e+01] [ 1.77809707e-01 9.83992346e-01 -1.19486676e-02 5.63724592e-01] [ 7.55699965e-02 -1.54736256e-03 9.97139299e-01 7.74819959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.000714057 meters Centerline goodness : 0.991204 Centerline is valid? [True, True] Translation: X:28.06, Y:0.57, Z:0.77 [[ 9.81742043e-01 -1.75807127e-01 -7.26251650e-02 2.80635842e+01] [ 1.75560283e-01 9.84419717e-01 -9.81878668e-03 5.69403440e-01] [ 7.32198571e-02 -3.11057885e-03 9.97310973e-01 7.73884282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.030714056999997 meters Centerline goodness : 0.991315 Centerline is valid? [True, True] Translation: X:28.10, Y:0.58, Z:0.77 [[ 9.82028819e-01 -1.74957721e-01 -7.07756662e-02 2.80962613e+01] [ 1.74543311e-01 9.84575808e-01 -1.20462015e-02 5.75221140e-01] [ 7.17915847e-02 -5.23702102e-04 9.97419518e-01 7.74800584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.060714057 meters Centerline goodness : 0.991571 Centerline is valid? [True, True] Translation: X:28.13, Y:0.58, Z:0.78 [[ 9.82771968e-01 -1.72646357e-01 -6.59734395e-02 2.81283633e+01] [ 1.71201642e-01 9.84865954e-01 -2.70009277e-02 5.84097095e-01] [ 6.96366062e-02 1.52409937e-02 9.97455992e-01 7.77414531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.090714057 meters Centerline goodness : 0.991551 Centerline is valid? [True, True] Translation: X:28.16, Y:0.59, Z:0.77 [[ 9.83838396e-01 -1.67337732e-01 -6.37188631e-02 2.81614667e+01] [ 1.66223429e-01 9.85832695e-01 -2.24425724e-02 5.89979687e-01] [ 6.65716277e-02 1.14882966e-02 9.97715509e-01 7.72056693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.120714056999997 meters Centerline goodness : 0.991837 Centerline is valid? [True, True] Translation: X:28.19, Y:0.59, Z:0.77 [[ 9.84170233e-01 -1.63629045e-01 -6.80770753e-02 2.81937632e+01] [ 1.63837833e-01 9.86484008e-01 -2.54296057e-03 5.90149859e-01] [ 6.75730482e-02 -8.65089441e-03 9.97676824e-01 7.66998377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.150714057 meters Centerline goodness : 0.992338 Centerline is valid? [True, True] Translation: X:28.23, Y:0.60, Z:0.77 [[ 9.85793229e-01 -1.56829649e-01 -6.01346114e-02 2.82276457e+01] [ 1.55444403e-01 9.87473133e-01 -2.70896394e-02 6.03966723e-01] [ 6.36297718e-02 1.73571943e-02 9.97822619e-01 7.72356506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.180714057 meters Centerline goodness : 0.991482 Centerline is valid? [True, True] Translation: X:28.26, Y:0.60, Z:0.77 [[ 9.86603611e-01 -1.51553452e-01 -6.03727302e-02 2.82616135e+01] [ 1.51166354e-01 9.88447633e-01 -1.09549498e-02 6.04147292e-01] [ 6.13355427e-02 1.68186749e-03 9.98115786e-01 7.65126731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.210714056999997 meters Centerline goodness : 0.991916 Centerline is valid? [True, True] Translation: X:28.30, Y:0.61, Z:0.77 [[ 9.87992749e-01 -1.43047997e-01 -5.83746475e-02 2.82953344e+01] [ 1.42331557e-01 9.89685257e-01 -1.62732798e-02 6.12633111e-01] [ 6.01003881e-02 7.76932793e-03 9.98162102e-01 7.66468795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.240714056999998 meters Centerline goodness : 0.991784 Centerline is valid? [True, True] Translation: X:28.33, Y:0.62, Z:0.76 [[ 9.88626406e-01 -1.38584879e-01 -5.84128549e-02 2.83294335e+01] [ 1.38292133e-01 9.90350183e-01 -9.04433982e-03 6.15061302e-01] [ 5.91025903e-02 8.63434845e-04 9.98251541e-01 7.64092553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.270714057 meters Centerline goodness : 0.991697 Centerline is valid? [True, True] Translation: X:28.36, Y:0.62, Z:0.77 [[ 9.89073047e-01 -1.35427820e-01 -5.82564351e-02 2.83628421e+01] [ 1.35136218e-01 9.90786746e-01 -8.93461298e-03 6.19595127e-01] [ 5.89296990e-02 9.64430589e-04 9.98261669e-01 7.65903602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.300714056999997 meters Centerline goodness : 0.991328 Centerline is valid? [True, True] Translation: X:28.39, Y:0.62, Z:0.77 [[ 9.89666559e-01 -1.30874617e-01 -5.85827410e-02 2.83944954e+01] [ 1.30891374e-01 9.91390296e-01 -3.56777063e-03 6.22203152e-01] [ 5.85452916e-02 -4.13707220e-03 9.98276181e-01 7.66278612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.330714056999998 meters Centerline goodness : 0.991209 Centerline is valid? [True, True] Translation: X:28.43, Y:0.63, Z:0.77 [[ 9.89903755e-01 -1.29838111e-01 -5.68561366e-02 2.84263080e+01] [ 1.29588444e-01 9.91535011e-01 -8.07204177e-03 6.26707735e-01] [ 5.74229087e-02 6.22646183e-04 9.98349749e-01 7.68329993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.360714057 meters Centerline goodness : 0.992128 Centerline is valid? [True, True] Translation: X:28.46, Y:0.63, Z:0.77 [[ 9.89676117e-01 -1.29523383e-01 -6.13585854e-02 2.84570458e+01] [ 1.30115865e-01 9.91482158e-01 5.74395259e-03 6.26361861e-01] [ 6.00919665e-02 -1.36683781e-02 9.98099259e-01 7.68159941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.390714056999997 meters Centerline goodness : 0.991788 Centerline is valid? [True, True] Translation: X:28.49, Y:0.63, Z:0.78 [[ 9.89514274e-01 -1.30635652e-01 -6.16102857e-02 2.84886660e+01] [ 1.30554555e-01 9.91426652e-01 -5.35739989e-03 6.32891075e-01] [ 6.17819467e-02 -2.74227978e-03 9.98085904e-01 7.75393022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.420714056999998 meters Centerline goodness : 0.991193 Centerline is valid? [True, True] Translation: X:28.52, Y:0.63, Z:0.78 [[ 9.89577752e-01 -1.29966294e-01 -6.20051173e-02 2.85216558e+01] [ 1.30070911e-01 9.91501877e-01 -2.36343399e-03 6.34449262e-01] [ 6.17853570e-02 -5.72626041e-03 9.98073033e-01 7.76885223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.450714057 meters Centerline goodness : 0.992083 Centerline is valid? [True, True] Translation: X:28.55, Y:0.64, Z:0.78 [[ 9.88909685e-01 -1.33218692e-01 -6.56537556e-02 2.85544536e+01] [ 1.33137606e-01 9.91081581e-01 -5.62837561e-03 6.37908787e-01] [ 6.58180327e-02 -3.17502870e-03 9.97826591e-01 7.83598866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.480714056999997 meters Centerline goodness : 0.992083 Centerline is valid? [True, True] Translation: X:28.59, Y:0.64, Z:0.79 [[ 9.88762559e-01 -1.33823560e-01 -6.66322536e-02 2.85867610e+01] [ 1.33785129e-01 9.90997451e-01 -5.05880349e-03 6.41902211e-01] [ 6.67093805e-02 -3.91244919e-03 9.97764778e-01 7.86653616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.510714056999998 meters Centerline goodness : 0.990926 Centerline is valid? [True, True] Translation: X:28.61, Y:0.64, Z:0.79 [[ 9.88910633e-01 -1.32623241e-01 -6.68343981e-02 2.86148799e+01] [ 1.32890324e-01 9.91130645e-01 -4.53425316e-04 6.42529632e-01] [ 6.63017548e-02 -8.43324767e-03 9.97763979e-01 7.87527678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.540714057 meters Centerline goodness : 0.989749 Centerline is valid? [True, True] Translation: X:28.65, Y:0.65, Z:0.79 [[ 9.89134447e-01 -1.32858617e-01 -6.29415046e-02 2.86455047e+01] [ 1.32396301e-01 9.91130397e-01 -1.14784652e-02 6.47776747e-01] [ 6.39082515e-02 3.02052300e-03 9.97951207e-01 7.92049650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.570714056999996 meters Centerline goodness : 0.990379 Centerline is valid? [True, True] Translation: X:28.67, Y:0.64, Z:0.79 [[ 9.88207443e-01 -1.35810703e-01 -7.07213003e-02 2.86746237e+01] [ 1.37059217e-01 9.90476380e-01 1.30886268e-02 6.40379700e-01] [ 6.82702019e-02 -2.26272844e-02 9.97410239e-01 7.91159209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.600714056999998 meters Centerline goodness : 0.989843 Centerline is valid? [True, True] Translation: X:28.71, Y:0.64, Z:0.80 [[ 9.87038611e-01 -1.42815893e-01 -7.32010997e-02 2.87055045e+01] [ 1.43274497e-01 9.89682457e-01 1.02562379e-03 6.43800730e-01] [ 7.22993689e-02 -1.15001810e-02 9.97316673e-01 8.02662992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.630714057 meters Centerline goodness : 0.990341 Centerline is valid? [True, True] Translation: X:28.73, Y:0.64, Z:0.81 [[ 9.86501487e-01 -1.45604844e-01 -7.49269329e-02 2.87315307e+01] [ 1.46073812e-01 9.89273380e-01 7.87924152e-04 6.44836800e-01] [ 7.40084946e-02 -1.17221511e-02 9.97188715e-01 8.07417866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.660714057 meters Centerline goodness : 0.991617 Centerline is valid? [True, True] Translation: X:28.77, Y:0.65, Z:0.81 [[ 9.85355526e-01 -1.52154977e-01 -7.69633003e-02 2.87673865e+01] [ 1.52007661e-01 9.88348512e-01 -7.80315527e-03 6.49903823e-01] [ 7.72538523e-02 -4.01012908e-03 9.97003391e-01 8.14765682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.690714056999997 meters Centerline goodness : 0.992884 Centerline is valid? [True, True] Translation: X:28.80, Y:0.66, Z:0.83 [[ 0.98369636 -0.16349279 -0.07491047 28.80446595] [ 0.15965163 0.98565582 -0.05471712 0.66310498] [ 0.08278179 0.04186545 0.99568793 0.82906597] [ 0. 0. 0. 1. ]] SLAMing on 29.720714057 meters Centerline goodness : 0.991496 Centerline is valid? [True, True] Translation: X:28.83, Y:0.64, Z:0.80 [[ 9.85176422e-01 -1.55215887e-01 -7.30441420e-02 2.88328859e+01] [ 1.56789896e-01 9.87497511e-01 1.62970908e-02 6.41562526e-01] [ 6.96013410e-02 -2.75080930e-02 9.97195547e-01 8.02547603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.750714057 meters Centerline goodness : 0.991192 Centerline is valid? [True, True] Translation: X:28.86, Y:0.64, Z:0.81 [[ 0.98268432 -0.16413142 -0.08597903 28.8587532 ] [ 0.16739118 0.98536666 0.03213638 0.63717694] [ 0.07944628 -0.04597205 0.99577852 0.81058141] [ 0. 0. 0. 1. ]] SLAMing on 29.780714056999997 meters Centerline goodness : 0.992023 Centerline is valid? [True, True] Translation: X:28.89, Y:0.65, Z:0.83 [[ 9.81954094e-01 -1.70986965e-01 -8.08060356e-02 2.88886539e+01] [ 1.71058885e-01 9.85242026e-01 -6.08334304e-03 6.51974205e-01] [ 8.06536746e-02 -7.84902677e-03 9.96711281e-01 8.29171306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.810714057 meters Centerline goodness : 0.990946 Centerline is valid? [True, True] Translation: X:28.92, Y:0.65, Z:0.83 [[ 9.81539723e-01 -1.73269839e-01 -8.09773751e-02 2.89189017e+01] [ 1.73201046e-01 9.84854590e-01 -7.92677825e-03 6.54319702e-01] [ 8.11244111e-02 -6.24491831e-03 9.96684419e-01 8.33486920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.840714057 meters Centerline goodness : 0.993826 Centerline is valid? [True, True] Translation: X:28.94, Y:0.66, Z:0.84 [[ 9.76601426e-01 -1.90284164e-01 -1.00207747e-01 2.89396154e+01] [ 1.91040294e-01 9.81579982e-01 -2.08469750e-03 6.63966631e-01] [ 9.87586031e-02 -1.71077988e-02 9.94964352e-01 8.44425132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.870714056999997 meters Centerline goodness : 0.992931 Centerline is valid? [True, True] Translation: X:28.97, Y:0.67, Z:0.85 [[ 9.76329476e-01 -1.92498558e-01 -9.86157142e-02 2.89714760e+01] [ 1.92239345e-01 9.81272055e-01 -1.22142469e-02 6.69012583e-01] [ 9.91200695e-02 -7.03269107e-03 9.95050628e-01 8.51556214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.900714057 meters Centerline goodness : 0.990703 Centerline is valid? [True, True] Translation: X:29.01, Y:0.66, Z:0.84 [[ 9.79251480e-01 -1.85843523e-01 -8.08005235e-02 2.90061456e+01] [ 1.85647237e-01 9.82565558e-01 -1.00013323e-02 6.61553521e-01] [ 8.12504943e-02 -5.20657447e-03 9.96680114e-01 8.43886640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.930714057 meters Centerline goodness : 0.984674 Centerline is valid? [True, True] Translation: X:29.03, Y:0.67, Z:0.85 [[ 9.77682617e-01 -1.93358710e-01 -8.21529679e-02 2.90285481e+01] [ 1.93511477e-01 9.81078580e-01 -6.17483213e-03 6.70122293e-01] [ 8.17924746e-02 -9.86051613e-03 9.96600603e-01 8.46283170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.960714056999997 meters Centerline goodness : 0.991387 Centerline is valid? [True, True] Translation: X:29.07, Y:0.68, Z:0.87 [[ 0.97840578 -0.19183085 -0.07696141 29.0742217 ] [ 0.18830621 0.98079725 -0.05076942 0.68119761] [ 0.08522269 0.03518079 0.99574063 0.86612719] [ 0. 0. 0. 1. ]] SLAMing on 29.990714056999998 meters Centerline goodness : 0.990801 Centerline is valid? [True, True] Translation: X:29.11, Y:0.67, Z:0.85 [[ 9.78884565e-01 -1.88005008e-01 -8.02441564e-02 2.91086192e+01] [ 1.87602200e-01 9.82164298e-01 -1.25979071e-02 6.70159921e-01] [ 8.11814152e-02 -2.72208344e-03 9.96695625e-01 8.52682607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.020714057 meters Centerline goodness : 0.993712 Centerline is valid? [True, True] Translation: X:29.12, Y:0.67, Z:0.86 [[ 0.97295292 -0.20098416 -0.11387705 29.12306908] [ 0.2063793 0.97774812 0.03763229 0.67149745] [ 0.10377957 -0.06011631 0.99278186 0.85894398] [ 0. 0. 0. 1. ]] SLAMing on 30.050714056999997 meters Centerline goodness : 0.993561 Centerline is valid? [True, True] Translation: X:29.15, Y:0.69, Z:0.88 [[ 9.72313480e-01 -2.07524281e-01 -1.07425176e-01 2.91518639e+01] [ 2.07217896e-01 9.78192755e-01 -1.41307149e-02 6.89573319e-01] [ 1.08014995e-01 -8.52093439e-03 9.94112747e-01 8.80607036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.080714056999998 meters Centerline goodness : 0.990407 Centerline is valid? [True, True] Translation: X:29.19, Y:0.69, Z:0.87 [[ 9.75349511e-01 -2.01050116e-01 -9.09515432e-02 2.91858295e+01] [ 2.00403981e-01 9.79578134e-01 -1.62764985e-02 6.87903495e-01] [ 9.23665348e-02 -2.35177648e-03 9.95722297e-01 8.73124979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.110714057 meters Centerline goodness : 0.989938 Centerline is valid? [True, True] Translation: X:29.22, Y:0.69, Z:0.88 [[ 9.76207847e-01 -1.98834331e-01 -8.65051905e-02 2.92238939e+01] [ 1.96385714e-01 9.79864271e-01 -3.60369378e-02 6.91861605e-01] [ 9.19287259e-02 1.81911579e-02 9.95599413e-01 8.81562454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.140714056999997 meters Centerline goodness : 0.991826 Centerline is valid? [True, True] Translation: X:29.25, Y:0.68, Z:0.87 [[ 9.74737953e-01 -2.01511623e-01 -9.63275116e-02 2.92528855e+01] [ 2.03561237e-01 9.78990576e-01 1.18437948e-02 6.84767841e-01] [ 9.19170638e-02 -3.11531436e-02 9.95279225e-01 8.70456610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.170714056999998 meters Centerline goodness : 0.993012 Centerline is valid? [True, True] Translation: X:29.28, Y:0.70, Z:0.89 [[ 9.70479371e-01 -2.13166819e-01 -1.12825966e-01 2.92780156e+01] [ 2.13655626e-01 9.76877233e-01 -7.88325017e-03 6.99762135e-01] [ 1.11897565e-01 -1.64553707e-02 9.93583492e-01 8.90651036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.200714057 meters Centerline goodness : 0.993268 Centerline is valid? [True, True] Translation: X:29.31, Y:0.71, Z:0.90 [[ 9.70195043e-01 -2.14785152e-01 -1.12200344e-01 2.93104988e+01] [ 2.14487758e-01 9.76613650e-01 -1.48587030e-02 7.05757118e-01] [ 1.12767817e-01 -9.64976041e-03 9.93574507e-01 8.96944423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.230714056999997 meters Centerline goodness : 0.984798 Centerline is valid? [True, True] Translation: X:29.33, Y:0.71, Z:0.89 [[ 9.71894191e-01 -2.15253174e-01 -9.53297074e-02 2.93348332e+01] [ 2.14931735e-01 9.76532279e-01 -1.37498359e-02 7.10011048e-01] [ 9.60522322e-02 -7.12599377e-03 9.95350787e-01 8.90947768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.260714056999998 meters Centerline goodness : 0.992816 Centerline is valid? [True, True] Translation: X:29.37, Y:0.71, Z:0.90 [[ 9.69936718e-01 -2.16750751e-01 -1.10643005e-01 2.93718533e+01] [ 2.16288413e-01 9.76193278e-01 -1.63096905e-02 7.13162171e-01] [ 1.11544095e-01 -8.11143224e-03 9.93726381e-01 9.04484181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.290714057 meters Centerline goodness : 0.990577 Centerline is valid? [True, True] Translation: X:29.40, Y:0.71, Z:0.90 [[ 9.72960564e-01 -2.10158942e-01 -9.58173225e-02 2.94038814e+01] [ 2.09999929e-01 9.77629523e-01 -1.18552340e-02 7.10024659e-01] [ 9.61653266e-02 -8.58695567e-03 9.95328335e-01 8.99854575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.320714056999996 meters Centerline goodness : 0.992984 Centerline is valid? [True, True] Translation: X:29.43, Y:0.72, Z:0.91 [[ 9.69573904e-01 -2.18845867e-01 -1.09694718e-01 2.94349442e+01] [ 2.18464125e-01 9.75719715e-01 -1.56353268e-02 7.20391570e-01] [ 1.10453026e-01 -8.80475576e-03 9.93842344e-01 9.10316957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.350714056999998 meters Centerline goodness : 0.991322 Centerline is valid? [True, True] Translation: X:29.48, Y:0.71, Z:0.90 [[ 9.73264623e-01 -2.06884077e-01 -9.97745125e-02 2.94772346e+01] [ 2.08073828e-01 9.78111888e-01 1.55471192e-03 7.07882432e-01] [ 9.72689916e-02 -2.22736108e-02 9.95008859e-01 9.04663993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.380714057 meters Centerline goodness : 0.990310 Centerline is valid? [True, True] Translation: X:29.50, Y:0.72, Z:0.91 [[ 9.71993164e-01 -2.14321813e-01 -9.64129119e-02 2.95007126e+01] [ 2.13192740e-01 9.76762763e-01 -2.19854407e-02 7.21432519e-01] [ 9.88845018e-02 8.15165276e-04 9.95098583e-01 9.13651449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.410714057 meters Centerline goodness : 0.993507 Centerline is valid? [True, True] Translation: X:29.53, Y:0.73, Z:0.92 [[ 9.68585356e-01 -2.21967603e-01 -1.12128461e-01 2.95317425e+01] [ 2.21519865e-01 9.75014644e-01 -1.65949521e-02 7.29482752e-01] [ 1.13010433e-01 -8.76505402e-03 9.93555140e-01 9.20934386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.440714056999997 meters Centerline goodness : 0.993993 Centerline is valid? [True, True] Translation: X:29.56, Y:0.73, Z:0.92 [[ 9.67848984e-01 -2.24959757e-01 -1.12523118e-01 2.95639456e+01] [ 2.24770072e-01 9.74303411e-01 -1.45354387e-02 7.33599930e-01] [ 1.12901546e-01 -1.12237197e-02 9.93542787e-01 9.23580125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.470714057 meters Centerline goodness : 0.993740 Centerline is valid? [True, True] Translation: X:29.60, Y:0.74, Z:0.93 [[ 9.67693267e-01 -2.25899922e-01 -1.11977528e-01 2.95968676e+01] [ 2.25719823e-01 9.74085073e-01 -1.44510184e-02 7.38013293e-01] [ 1.12340123e-01 -1.12913946e-02 9.93605657e-01 9.26778813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.500714057 meters Centerline goodness : 0.993606 Centerline is valid? [True, True] Translation: X:29.63, Y:0.74, Z:0.93 [[ 9.67426968e-01 -2.27263905e-01 -1.11517614e-01 2.96293953e+01] [ 2.27097912e-01 9.73766075e-01 -1.43585901e-02 7.42436137e-01] [ 1.11855258e-01 -1.14345300e-02 9.93658720e-01 9.30201640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.530714056999997 meters Centerline goodness : 0.992449 Centerline is valid? [True, True] Translation: X:29.68, Y:0.75, Z:0.93 [[ 0.97209787 -0.22048032 -0.08008848 29.67650469] [ 0.21581262 0.97440061 -0.06299499 0.75070682] [ 0.09192742 0.04395319 0.99479519 0.93482558] [ 0. 0. 0. 1. ]] SLAMing on 30.560714057 meters Centerline goodness : 0.994675 Centerline is valid? [True, True] Translation: X:29.69, Y:0.73, Z:0.92 [[ 0.96706855 -0.22465846 -0.11961181 29.69476385] [ 0.23101275 0.97204236 0.04203282 0.73497186] [ 0.10682472 -0.06828047 0.99193057 0.91704721] [ 0. 0. 0. 1. ]] SLAMing on 30.590714057 meters Centerline goodness : 0.991576 Centerline is valid? [True, True] Translation: X:29.73, Y:0.75, Z:0.94 [[ 9.70229233e-01 -2.19674810e-01 -1.01971633e-01 2.97305762e+01] [ 2.20504972e-01 9.75380605e-01 -3.19872745e-03 7.46064607e-01] [ 1.00163833e-01 -1.93817532e-02 9.94782164e-01 9.35272850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.620714056999997 meters Centerline goodness : 0.992832 Centerline is valid? [True, True] Translation: X:29.76, Y:0.76, Z:0.94 [[ 9.70672173e-01 -2.18930794e-01 -9.93218968e-02 2.97606829e+01] [ 2.18258391e-01 9.75730118e-01 -1.77203813e-02 7.57251348e-01] [ 1.00790903e-01 -4.47715636e-03 9.94897557e-01 9.41521133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.650714057 meters Centerline goodness : 0.992832 Centerline is valid? [True, True] Translation: X:29.79, Y:0.76, Z:0.94 [[ 9.70717544e-01 -2.18358243e-01 -1.00135548e-01 2.97942023e+01] [ 2.18375288e-01 9.75803700e-01 -1.09257692e-02 7.59476669e-01] [ 1.00098370e-01 -1.12612935e-02 9.94913815e-01 9.42425683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.680714057 meters Centerline goodness : 0.992800 Centerline is valid? [True, True] Translation: X:29.83, Y:0.77, Z:0.95 [[ 9.71570017e-01 -2.16414148e-01 -9.60032189e-02 2.98272585e+01] [ 2.16006708e-01 9.76280581e-01 -1.47421058e-02 7.66537328e-01] [ 9.69164786e-02 -6.41435128e-03 9.95271848e-01 9.47029586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.710714056999997 meters Centerline goodness : 0.994655 Centerline is valid? [True, True] Translation: X:29.85, Y:0.78, Z:0.95 [[ 9.68185655e-01 -2.24261622e-01 -1.11010194e-01 2.98483177e+01] [ 2.24457195e-01 9.74423043e-01 -1.08950002e-02 7.81264260e-01] [ 1.10614222e-01 -1.43686539e-02 9.93759546e-01 9.53257208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.740714056999998 meters Centerline goodness : 0.993967 Centerline is valid? [True, True] Translation: X:29.90, Y:0.79, Z:0.96 [[ 0.97162285 -0.21790988 -0.09200177 29.89549483] [ 0.21261695 0.97503826 -0.06398772 0.79362195] [ 0.1036488 0.0426108 0.99370078 0.96351362] [ 0. 0. 0. 1. ]] SLAMing on 30.770714057 meters Centerline goodness : 0.992640 Centerline is valid? [True, True] Translation: X:29.92, Y:0.77, Z:0.94 [[ 0.97434198 -0.20178826 -0.09969555 29.92302976] [ 0.2059839 0.97797671 0.03364785 0.77036146] [ 0.09071019 -0.0533202 0.9944489 0.93708974] [ 0. 0. 0. 1. ]] SLAMing on 30.800714056999997 meters Centerline goodness : 0.992753 Centerline is valid? [True, True] Translation: X:29.95, Y:0.80, Z:0.96 [[ 9.74805906e-01 -2.04710040e-01 -8.85846747e-02 2.99544485e+01] [ 2.02952845e-01 9.78773513e-01 -2.85053053e-02 7.97395739e-01] [ 9.25396555e-02 9.80862818e-03 9.95660687e-01 9.60144247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.830714056999998 meters Centerline goodness : 0.993589 Centerline is valid? [True, True] Translation: X:29.99, Y:0.80, Z:0.96 [[ 9.73446221e-01 -2.03007343e-01 -1.05785035e-01 2.99867172e+01] [ 2.03472438e-01 9.79059153e-01 -6.49166666e-03 7.96780835e-01] [ 1.04887662e-01 -1.52050505e-02 9.94367832e-01 9.59417938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.860714057 meters Centerline goodness : 0.992322 Centerline is valid? [True, True] Translation: X:30.02, Y:0.80, Z:0.96 [[ 9.74407161e-01 -1.97544426e-01 -1.07270151e-01 3.00165665e+01] [ 1.97753190e-01 9.80212393e-01 -8.79433909e-03 8.04818952e-01] [ 1.06884805e-01 -1.26437477e-02 9.94191015e-01 9.63471797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.890714056999997 meters Centerline goodness : 0.992651 Centerline is valid? [True, True] Translation: X:30.04, Y:0.81, Z:0.96 [[ 9.76974455e-01 -1.87885624e-01 -1.01093557e-01 3.00431586e+01] [ 1.89422634e-01 9.81878879e-01 5.73873358e-03 8.08389267e-01] [ 9.81834032e-02 -2.47560040e-02 9.94860372e-01 9.61469878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.920714056999998 meters Centerline goodness : 0.992589 Centerline is valid? [True, True] Translation: X:30.07, Y:0.82, Z:0.97 [[ 9.76801822e-01 -1.87185334e-01 -1.04018517e-01 3.00722771e+01] [ 1.88533651e-01 9.82061528e-01 3.19653298e-03 8.16256483e-01] [ 1.01554240e-01 -2.27333700e-02 9.94570224e-01 9.69647699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.950714057 meters Centerline goodness : 0.993401 Centerline is valid? [True, True] Translation: X:30.09, Y:0.83, Z:0.98 [[ 9.75284988e-01 -1.91963815e-01 -1.09403321e-01 3.00912459e+01] [ 1.93244380e-01 9.81150011e-01 1.12468184e-03 8.30476683e-01] [ 1.07125171e-01 -2.22384622e-02 9.93996805e-01 9.81644295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.980714056999997 meters Centerline goodness : 0.991090 Centerline is valid? [True, True] Translation: X:30.13, Y:0.84, Z:0.99 [[ 9.77887035e-01 -1.84498659e-01 -9.84743241e-02 3.01308981e+01] [ 1.82399740e-01 9.82767095e-01 -2.99861895e-02 8.38157276e-01] [ 1.02309737e-01 1.13614148e-02 9.94687708e-01 9.89264464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.010714056999998 meters Centerline goodness : 0.992036 Centerline is valid? [True, True] Translation: X:30.16, Y:0.84, Z:0.98 [[ 9.78823781e-01 -1.80436488e-01 -9.66782269e-02 3.01642574e+01] [ 1.79221027e-01 9.83580731e-01 -2.11841843e-02 8.40438138e-01] [ 9.89132409e-02 3.40881229e-03 9.95090222e-01 9.84714168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.040714057 meters Centerline goodness : 0.991555 Centerline is valid? [True, True] Translation: X:30.20, Y:0.84, Z:0.98 [[ 9.79275606e-01 -1.78673418e-01 -9.53682249e-02 3.01977054e+01] [ 1.77937621e-01 9.83907852e-01 -1.62339920e-02 8.42951716e-01] [ 9.67341281e-02 -1.07204265e-03 9.95309680e-01 9.83586608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.070714056999996 meters Centerline goodness : 0.992122 Centerline is valid? [True, True] Translation: X:30.23, Y:0.85, Z:0.98 [[ 9.79156253e-01 -1.79039905e-01 -9.59048677e-02 3.02317525e+01] [ 1.78801347e-01 9.83822060e-01 -1.11459574e-02 8.45906864e-01] [ 9.63488957e-02 -6.23428564e-03 9.95328099e-01 9.84915308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.100714056999998 meters Centerline goodness : 0.991648 Centerline is valid? [True, True] Translation: X:30.26, Y:0.85, Z:0.99 [[ 9.79205239e-01 -1.77816666e-01 -9.76643899e-02 3.02604862e+01] [ 1.77635983e-01 9.84039041e-01 -1.06124339e-02 8.50556718e-01] [ 9.79926402e-02 -6.95695902e-03 9.95162822e-01 9.88548717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.130714057 meters Centerline goodness : 0.990791 Centerline is valid? [True, True] Translation: X:30.29, Y:0.85, Z:0.99 [[ 9.79032139e-01 -1.77758413e-01 -9.94887841e-02 3.02924351e+01] [ 1.78462268e-01 9.83945014e-01 -1.85154671e-03 8.54413441e-01] [ 9.82206211e-02 -1.59422703e-02 9.95036961e-01 9.90782192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.160714057 meters Centerline goodness : 0.992323 Centerline is valid? [True, True] Translation: X:30.33, Y:0.86, Z:1.00 [[ 9.78756151e-01 -1.80608874e-01 -9.70403563e-02 3.03258822e+01] [ 1.80433963e-01 9.83529462e-01 -1.06481174e-02 8.62460780e-01] [ 9.73651939e-02 -7.08746564e-03 9.95223486e-01 9.97279331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.190714056999997 meters Centerline goodness : 0.992532 Centerline is valid? [True, True] Translation: X:30.36, Y:0.87, Z:1.00 [[ 9.78803348e-01 -1.81024267e-01 -9.57821499e-02 3.03569267e+01] [ 1.80741695e-01 9.83461117e-01 -1.16906095e-02 8.67103758e-01] [ 9.63143041e-02 -5.86902041e-03 9.95333667e-01 9.99804765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.220714057 meters Centerline goodness : 0.991726 Centerline is valid? [True, True] Translation: X:30.39, Y:0.87, Z:1.01 [[ 9.78521432e-01 -1.81782558e-01 -9.72157860e-02 3.03865065e+01] [ 1.80834603e-01 9.83338587e-01 -1.85491355e-02 8.73414488e-01] [ 9.89679429e-02 5.70748544e-04 9.95090458e-01 1.00505189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.250714057 meters Centerline goodness : 0.991569 Centerline is valid? [True, True] Translation: X:30.42, Y:0.87, Z:1.00 [[ 9.78509919e-01 -1.81592661e-01 -9.76854369e-02 3.04215108e+01] [ 1.82410601e-01 9.83222280e-01 -5.66792250e-04 8.72115111e-01] [ 9.61494233e-02 -1.72642475e-02 9.95217179e-01 1.00232974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.280714056999997 meters Centerline goodness : 0.992043 Centerline is valid? [True, True] Translation: X:30.45, Y:0.88, Z:1.01 [[ 9.78149117e-01 -1.83345187e-01 -9.80247303e-02 3.04493004e+01] [ 1.83281322e-01 9.83012318e-01 -9.73340640e-03 8.79629390e-01] [ 9.81440906e-02 -8.44537929e-03 9.95136379e-01 1.01007256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.310714057 meters Centerline goodness : 0.991881 Centerline is valid? [True, True] Translation: X:30.48, Y:0.89, Z:1.01 [[ 9.78349451e-01 -1.83086460e-01 -9.64971530e-02 3.04774508e+01] [ 1.82423496e-01 9.83094309e-01 -1.57240870e-02 8.85760824e-01] [ 9.77446694e-02 -2.21969614e-03 9.95209050e-01 1.01367889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.340714057 meters Centerline goodness : 0.992112 Centerline is valid? [True, True] Translation: X:30.51, Y:0.89, Z:1.02 [[ 9.77743607e-01 -1.84140575e-01 -1.00546938e-01 3.05106905e+01] [ 1.84186206e-01 9.82850984e-01 -8.90986191e-03 8.88059893e-01] [ 1.00463324e-01 -9.80779850e-03 9.94892420e-01 1.01571795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.370714056999997 meters Centerline goodness : 0.992112 Centerline is valid? [True, True] Translation: X:30.54, Y:0.89, Z:1.02 [[ 9.77674065e-01 -1.84653975e-01 -1.00281268e-01 3.05425685e+01] [ 1.84431009e-01 9.82777350e-01 -1.15707528e-02 8.93337399e-01] [ 1.00690744e-01 -7.18255043e-03 9.94891846e-01 1.02032924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.400714057 meters Centerline goodness : 0.992712 Centerline is valid? [True, True] Translation: X:30.58, Y:0.90, Z:1.02 [[ 9.77681602e-01 -1.85770594e-01 -9.81222320e-02 3.05772156e+01] [ 1.85817014e-01 9.82545442e-01 -8.74596756e-03 8.96565338e-01] [ 9.80342954e-02 -9.68200860e-03 9.95135938e-01 1.02164853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.430714057 meters Centerline goodness : 0.991182 Centerline is valid? [True, True] Translation: X:30.60, Y:0.90, Z:1.03 [[ 9.77926409e-01 -1.85736227e-01 -9.57182971e-02 3.06037498e+01] [ 1.84878023e-01 9.82599608e-01 -1.78361191e-02 9.03057283e-01] [ 9.73655746e-02 -2.53797593e-04 9.95248653e-01 1.02678351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.460714056999997 meters Centerline goodness : 0.992481 Centerline is valid? [True, True] Translation: X:30.64, Y:0.90, Z:1.03 [[ 9.76894297e-01 -1.88453569e-01 -1.00810637e-01 3.06367908e+01] [ 1.89421568e-01 9.81895854e-01 3.04607649e-05 9.02342635e-01] [ 9.89798064e-02 -1.91254659e-02 9.94905631e-01 1.02672877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.490714056999998 meters Centerline goodness : 0.992301 Centerline is valid? [True, True] Translation: X:30.67, Y:0.91, Z:1.04 [[ 9.75795499e-01 -1.93083485e-01 -1.02673814e-01 3.06652132e+01] [ 1.93816743e-01 9.81033520e-01 -2.88160719e-03 9.07595229e-01] [ 1.01282844e-01 -1.70880449e-02 9.94710905e-01 1.03549725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.520714057 meters Centerline goodness : 0.991858 Centerline is valid? [True, True] Translation: X:30.69, Y:0.92, Z:1.04 [[ 9.75639835e-01 -1.95641431e-01 -9.92539292e-02 3.06948475e+01] [ 1.94501510e-01 9.80674623e-01 -2.11292896e-02 9.16835158e-01] [ 1.01469574e-01 1.30953756e-03 9.94837781e-01 1.04441171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.550714056999997 meters Centerline goodness : 0.991800 Centerline is valid? [True, True] Translation: X:30.73, Y:0.92, Z:1.05 [[ 9.75775892e-01 -1.96048162e-01 -9.70902986e-02 3.07274422e+01] [ 1.94870341e-01 9.80591977e-01 -2.15621362e-02 9.19848707e-01] [ 9.94331850e-02 2.11979313e-03 9.95041983e-01 1.04516961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.580714056999998 meters Centerline goodness : 0.992096 Centerline is valid? [True, True] Translation: X:30.76, Y:0.92, Z:1.04 [[ 9.75059431e-01 -1.98139821e-01 -9.99985883e-02 3.07614409e+01] [ 1.98683855e-01 9.80052888e-01 -4.58943500e-03 9.19179099e-01] [ 9.89132550e-02 -1.53931332e-02 9.94976994e-01 1.04243359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.610714057 meters Centerline goodness : 0.991436 Centerline is valid? [True, True] Translation: X:30.79, Y:0.92, Z:1.05 [[ 9.74411771e-01 -1.99350506e-01 -1.03831966e-01 3.07895180e+01] [ 1.99961703e-01 9.79792936e-01 -4.59569715e-03 9.23752049e-01] [ 1.02649981e-01 -1.62843153e-02 9.94584236e-01 1.04945059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.640714056999997 meters Centerline goodness : 0.992192 Centerline is valid? [True, True] Translation: X:30.82, Y:0.93, Z:1.06 [[ 9.74137744e-01 -2.01404450e-01 -1.02429997e-01 3.08206707e+01] [ 2.01394946e-01 9.79453386e-01 -1.05423427e-02 9.30062745e-01] [ 1.02448682e-01 -1.03591897e-02 9.94684349e-01 1.05601822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.670714056999998 meters Centerline goodness : 0.992568 Centerline is valid? [True, True] Translation: X:30.85, Y:0.94, Z:1.06 [[ 9.73953852e-01 -2.04079573e-01 -9.88201535e-02 3.08524861e+01] [ 2.03081803e-01 9.78954207e-01 -2.01603835e-02 9.36258315e-01] [ 1.00854728e-01 -4.33291768e-04 9.94901069e-01 1.06101035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.700714057 meters Centerline goodness : 0.991958 Centerline is valid? [True, True] Translation: X:30.88, Y:0.94, Z:1.06 [[ 9.73709042e-01 -2.04306577e-01 -1.00744852e-01 3.08828285e+01] [ 2.04089544e-01 9.78871558e-01 -1.25670183e-02 9.37462547e-01] [ 1.01183795e-01 -8.32435157e-03 9.94832923e-01 1.06127113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.730714056999997 meters Centerline goodness : 0.992303 Centerline is valid? [True, True] Translation: X:30.92, Y:0.94, Z:1.06 [[ 9.73390861e-01 -2.06712110e-01 -9.88955750e-02 3.09152738e+01] [ 2.05836656e-01 9.78400197e-01 -1.90873000e-02 9.41502772e-01] [ 1.00705026e-01 -1.77693104e-03 9.94914740e-01 1.06497016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.760714056999998 meters Centerline goodness : 0.993214 Centerline is valid? [True, True] Translation: X:30.95, Y:0.95, Z:1.07 [[ 9.71781045e-01 -2.12518225e-01 -1.02360175e-01 3.09532483e+01] [ 2.10161632e-01 9.77095724e-01 -3.34071140e-02 9.49531198e-01] [ 1.07115310e-01 1.09522187e-02 9.94186280e-01 1.07218251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.790714057 meters Centerline goodness : 0.991973 Centerline is valid? [True, True] Translation: X:30.98, Y:0.94, Z:1.06 [[ 9.73290531e-01 -2.06058901e-01 -1.01218934e-01 3.09821990e+01] [ 2.07752030e-01 9.78160810e-01 6.36583301e-03 9.39985549e-01] [ 9.76966580e-02 -2.72242441e-02 9.94843809e-01 1.05969847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.820714056999996 meters Centerline goodness : 0.992316 Centerline is valid? [True, True] Translation: X:31.01, Y:0.95, Z:1.07 [[ 9.73187711e-01 -2.08199403e-01 -9.77685430e-02 3.10109884e+01] [ 2.07527301e-01 9.78079625e-01 -1.71075007e-02 9.50767406e-01] [ 9.91871914e-02 -3.64083239e-03 9.95062131e-01 1.07033845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.850714056999998 meters Centerline goodness : 0.992847 Centerline is valid? [True, True] Translation: X:31.05, Y:0.95, Z:1.07 [[ 9.73101770e-01 -2.09131709e-01 -9.66274936e-02 3.10458843e+01] [ 2.08485350e-01 9.77880303e-01 -1.68514771e-02 9.53757933e-01] [ 9.80143009e-02 -3.74721459e-03 9.95177952e-01 1.07282235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.880714057 meters Centerline goodness : 0.992233 Centerline is valid? [True, True] Translation: X:31.08, Y:0.95, Z:1.07 [[ 9.73317514e-01 -2.07192169e-01 -9.86124856e-02 3.10776442e+01] [ 2.07255336e-01 9.78238632e-01 -9.71616812e-03 9.54631555e-01] [ 9.84796570e-02 -1.09810473e-02 9.95078476e-01 1.07366169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.910714057 meters Centerline goodness : 0.991583 Centerline is valid? [True, True] Translation: X:31.11, Y:0.96, Z:1.08 [[ 9.73960521e-01 -2.05548512e-01 -9.56593543e-02 3.11079522e+01] [ 2.05053450e-01 9.78634539e-01 -1.50838147e-02 9.59052846e-01] [ 9.67160038e-02 -4.92424056e-03 9.95299837e-01 1.07649815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.940714056999997 meters Centerline goodness : 0.992389 Centerline is valid? [True, True] Translation: X:31.14, Y:0.96, Z:1.08 [[ 9.73810194e-01 -2.05262004e-01 -9.77814657e-02 3.11407452e+01] [ 2.05415095e-01 9.78637084e-01 -8.60792791e-03 9.60521613e-01] [ 9.74594490e-02 -1.17033011e-02 9.95170683e-01 1.07881767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.970714057 meters Centerline goodness : 0.993241 Centerline is valid? [True, True] Translation: X:31.18, Y:0.97, Z:1.09 [[ 9.72213242e-01 -2.10723949e-01 -1.01964840e-01 3.11774783e+01] [ 2.09074730e-01 9.77534496e-01 -2.67220315e-02 9.70605046e-01] [ 1.05305120e-01 4.66124159e-03 9.94429034e-01 1.08956202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.000714057 meters Centerline goodness : 0.993062 Centerline is valid? [True, True] Translation: X:31.21, Y:0.97, Z:1.09 [[ 9.72274310e-01 -2.07450630e-01 -1.07920811e-01 3.12101886e+01] [ 2.08343811e-01 9.78050873e-01 -3.05719463e-03 9.66630662e-01] [ 1.06186261e-01 -1.95122013e-02 9.94154793e-01 1.08618332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.030714057 meters Centerline goodness : 0.991767 Centerline is valid? [True, True] Translation: X:31.23, Y:0.97, Z:1.09 [[ 9.73564472e-01 -2.02655779e-01 -1.05370084e-01 3.12341365e+01] [ 2.03290098e-01 9.79106791e-01 -4.79863252e-03 9.70299281e-01] [ 1.04141035e-01 -1.67489165e-02 9.94421499e-01 1.08898377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.060714057 meters Centerline goodness : 0.993145 Centerline is valid? [True, True] Translation: X:31.27, Y:0.98, Z:1.10 [[ 9.71885513e-01 -2.06513198e-01 -1.13096630e-01 3.12696963e+01] [ 2.06977572e-01 9.78314994e-01 -7.74961341e-03 9.77055729e-01] [ 1.12244526e-01 -1.58767288e-02 9.93553771e-01 1.09988004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.090714057 meters Centerline goodness : 0.993764 Centerline is valid? [True, True] Translation: X:31.29, Y:0.99, Z:1.10 [[ 9.70281043e-01 -2.12385243e-01 -1.15962093e-01 3.12885896e+01] [ 2.13045927e-01 9.77018442e-01 -6.81149341e-03 9.88496066e-01] [ 1.14743764e-01 -1.80961887e-02 9.93230284e-01 1.10474570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.120714057 meters Centerline goodness : 0.993612 Centerline is valid? [True, True] Translation: X:31.32, Y:1.00, Z:1.11 [[ 9.70227992e-01 -2.13235288e-01 -1.14840567e-01 3.13192426e+01] [ 2.12838342e-01 9.76958839e-01 -1.58513864e-02 9.95006232e-01] [ 1.15574582e-01 -9.06301714e-03 9.93257458e-01 1.11207735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.150714056999995 meters Centerline goodness : 0.993301 Centerline is valid? [True, True] Translation: X:31.35, Y:1.00, Z:1.12 [[ 9.70394526e-01 -2.13493563e-01 -1.12937873e-01 3.13520061e+01] [ 2.13114478e-01 9.76903306e-01 -1.55611701e-02 9.98616914e-01] [ 1.13651591e-01 -8.96822150e-03 9.93480189e-01 1.11635401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.180714056999996 meters Centerline goodness : 0.993864 Centerline is valid? [True, True] Translation: X:31.38, Y:1.00, Z:1.12 [[ 9.70494647e-01 -2.13750866e-01 -1.11582733e-01 3.13844177e+01] [ 2.13383796e-01 9.76847658e-01 -1.53626053e-02 1.00236022e+00] [ 1.12283102e-01 -8.90062092e-03 9.93636394e-01 1.12087855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.210714057 meters Centerline goodness : 0.993679 Centerline is valid? [True, True] Translation: X:31.43, Y:1.00, Z:1.13 [[ 9.72501763e-01 -2.09460922e-01 -1.01815729e-01 3.14280798e+01] [ 2.06975665e-01 9.77737289e-01 -3.45089572e-02 1.00480704e+00] [ 1.06777313e-01 1.24866434e-02 9.94204551e-01 1.12618996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.240714057 meters Centerline goodness : 0.994360 Centerline is valid? [True, True] Translation: X:31.46, Y:1.00, Z:1.12 [[ 9.72224096e-01 -2.07282200e-01 -1.08694052e-01 3.14610115e+01] [ 2.08125122e-01 9.78095373e-01 -3.65707384e-03 1.00018066e+00] [ 1.07071195e-01 -1.90664675e-02 9.94068523e-01 1.12025300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.270714057 meters Centerline goodness : 0.994213 Centerline is valid? [True, True] Translation: X:31.48, Y:1.01, Z:1.13 [[ 9.70642929e-01 -2.12332869e-01 -1.12991405e-01 3.14798986e+01] [ 2.13713083e-01 9.76896467e-01 1.04992558e-04 1.00955740e+00] [ 1.10358611e-01 -2.42496518e-02 9.93595960e-01 1.12518487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.300714057 meters Centerline goodness : 0.994217 Centerline is valid? [True, True] Translation: X:31.51, Y:1.02, Z:1.13 [[ 9.70570262e-01 -2.13244643e-01 -1.11893203e-01 3.15116725e+01] [ 2.12866683e-01 9.76959030e-01 -1.54540864e-02 1.01859268e+00] [ 1.12610576e-01 -8.81905819e-03 9.93600062e-01 1.13396941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.330714057 meters Centerline goodness : 0.994030 Centerline is valid? [True, True] Translation: X:31.54, Y:1.02, Z:1.14 [[ 9.70755057e-01 -2.11919110e-01 -1.12804740e-01 3.15441147e+01] [ 2.11529996e-01 9.77247859e-01 -1.55461812e-02 1.02325265e+00] [ 1.13532723e-01 -8.77005205e-03 9.93495550e-01 1.13799629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.360714056999996 meters Centerline goodness : 0.994286 Centerline is valid? [True, True] Translation: X:31.58, Y:1.03, Z:1.14 [[ 9.70808926e-01 -2.11485038e-01 -1.13155237e-01 3.15763942e+01] [ 2.11094473e-01 9.77341798e-01 -1.55606460e-02 1.02841692e+00] [ 1.13882187e-01 -8.78003121e-03 9.93455464e-01 1.14152591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.390714057 meters Centerline goodness : 0.994212 Centerline is valid? [True, True] Translation: X:31.62, Y:1.02, Z:1.14 [[ 9.72229137e-01 -2.05252033e-01 -1.12437129e-01 3.16207954e+01] [ 2.05000009e-01 9.78662924e-01 -1.39239907e-02 1.02491270e+00] [ 1.12895977e-01 -9.51230305e-03 9.93561279e-01 1.14472299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.420714057 meters Centerline goodness : 0.993682 Centerline is valid? [True, True] Translation: X:31.64, Y:1.04, Z:1.15 [[ 9.70773961e-01 -2.11078353e-01 -1.14209657e-01 3.16371466e+01] [ 2.10926001e-01 9.77408032e-01 -1.35558468e-02 1.03662014e+00] [ 1.14490782e-01 -1.09301231e-02 9.93364180e-01 1.14738389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.450714057 meters Centerline goodness : 0.994485 Centerline is valid? [True, True] Translation: X:31.67, Y:1.04, Z:1.15 [[ 9.70866529e-01 -2.10686814e-01 -1.14145735e-01 3.16691348e+01] [ 2.10281558e-01 9.77514514e-01 -1.57175576e-02 1.04177000e+00] [ 1.14890595e-01 -8.74309251e-03 9.93339675e-01 1.15111008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.480714057 meters Centerline goodness : 0.991793 Centerline is valid? [True, True] Translation: X:31.70, Y:1.05, Z:1.15 [[ 9.69867807e-01 -2.16463616e-01 -1.11803131e-01 3.17002533e+01] [ 2.16034974e-01 9.76253187e-01 -1.60812038e-02 1.05163996e+00] [ 1.12629158e-01 -8.55674447e-03 9.93600249e-01 1.15140284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.510714057 meters Centerline goodness : 0.993666 Centerline is valid? [True, True] Translation: X:31.73, Y:1.05, Z:1.16 [[ 9.70618964e-01 -2.11058097e-01 -1.15556508e-01 3.17318470e+01] [ 2.10726053e-01 9.77426619e-01 -1.52228462e-02 1.05091872e+00] [ 1.16160912e-01 -9.57518360e-03 9.93184252e-01 1.15730201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.540714056999995 meters Centerline goodness : 0.993215 Centerline is valid? [True, True] Translation: X:31.78, Y:1.05, Z:1.16 [[ 9.71795297e-01 -2.05885555e-01 -1.15000168e-01 3.17788475e+01] [ 2.06012074e-01 9.78488586e-01 -1.09138999e-02 1.04680317e+00] [ 1.14773366e-01 -1.30853465e-02 9.93305516e-01 1.16000429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.570714056999996 meters Centerline goodness : 0.993686 Centerline is valid? [True, True] Translation: X:31.82, Y:1.07, Z:1.17 [[ 0.97310773 -0.21054833 -0.09343849 31.81658043] [ 0.20437275 0.97628094 -0.07146543 1.06904064] [ 0.10626914 0.05044728 0.99305687 1.17077886] [ 0. 0. 0. 1. ]] SLAMing on 32.600714057 meters Centerline goodness : 0.994322 Centerline is valid? [True, True] Translation: X:31.85, Y:1.04, Z:1.14 [[ 0.97135706 -0.20199051 -0.12516111 31.84567977] [ 0.20973105 0.97637687 0.051972 1.03715801] [ 0.11170656 -0.07673354 0.99077425 1.1435248 ] [ 0. 0. 0. 1. ]] SLAMing on 32.630714057 meters Centerline goodness : 0.991930 Centerline is valid? [True, True] Translation: X:31.87, Y:1.07, Z:1.17 [[ 9.69183824e-01 -2.16807637e-01 -1.16949411e-01 3.18654826e+01] [ 2.16859472e-01 9.76123619e-01 -1.24358301e-02 1.06993601e+00] [ 1.16853265e-01 -1.33089821e-02 9.93060011e-01 1.17215298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.660714057 meters Centerline goodness : 0.993750 Centerline is valid? [True, True] Translation: X:31.90, Y:1.08, Z:1.19 [[ 9.70513661e-01 -2.14566777e-01 -1.09837755e-01 3.19019773e+01] [ 2.10941027e-01 9.76518474e-01 -4.37670315e-02 1.07907849e+00] [ 1.16649547e-01 1.93072132e-02 9.92985455e-01 1.18580764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.690714057 meters Centerline goodness : 0.993641 Centerline is valid? [True, True] Translation: X:31.93, Y:1.07, Z:1.17 [[ 9.69485646e-01 -2.12315788e-01 -1.22554432e-01 3.19294941e+01] [ 2.16186833e-01 9.76166168e-01 1.90490203e-02 1.06770477e+00] [ 1.15589083e-01 -4.49624064e-02 9.92278966e-01 1.16966923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.720714056999995 meters Centerline goodness : 0.991643 Centerline is valid? [True, True] Translation: X:31.95, Y:1.09, Z:1.19 [[ 9.68265460e-01 -2.20622342e-01 -1.17421382e-01 3.19536003e+01] [ 2.20007755e-01 9.75325826e-01 -1.83336058e-02 1.08851210e+00] [ 1.18568909e-01 -8.08181743e-03 9.92912936e-01 1.18672706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.750714056999996 meters Centerline goodness : 0.992784 Centerline is valid? [True, True] Translation: X:31.99, Y:1.09, Z:1.19 [[ 9.68346084e-01 -2.19482294e-01 -1.18883912e-01 3.19874358e+01] [ 2.19601194e-01 9.75512660e-01 -1.22623872e-02 1.09052724e+00] [ 1.18664138e-01 -1.42328143e-02 9.92832438e-01 1.18884460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.780714057 meters Centerline goodness : 0.986221 Centerline is valid? [True, True] Translation: X:32.01, Y:1.09, Z:1.18 [[ 9.70721108e-01 -2.15290225e-01 -1.06539432e-01 3.20100840e+01] [ 2.16221219e-01 9.76340174e-01 -2.87211662e-03 1.09239382e+00] [ 1.04637067e-01 -2.02480618e-02 9.94304330e-01 1.18250517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.810714057 meters Centerline goodness : 0.994398 Centerline is valid? [True, True] Translation: X:32.04, Y:1.11, Z:1.21 [[ 9.68453370e-01 -2.18757689e-01 -1.19344645e-01 3.20445517e+01] [ 2.16016149e-01 9.75740424e-01 -3.56040561e-02 1.10635876e+00] [ 1.24238055e-01 8.70049764e-03 9.92214295e-01 1.20747651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.840714057 meters Centerline goodness : 0.993829 Centerline is valid? [True, True] Translation: X:32.08, Y:1.11, Z:1.20 [[ 9.68741083e-01 -2.16362532e-01 -1.21358844e-01 3.20779631e+01] [ 2.15953458e-01 9.76261300e-01 -1.66727010e-02 1.10607455e+00] [ 1.22085291e-01 -1.00563316e-02 9.92468665e-01 1.20298609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.870714057 meters Centerline goodness : 0.994096 Centerline is valid? [True, True] Translation: X:32.11, Y:1.11, Z:1.21 [[ 9.68772826e-01 -2.16142126e-01 -1.21498116e-01 3.21102894e+01] [ 2.15734498e-01 9.76309949e-01 -1.66585974e-02 1.11298037e+00] [ 1.22220444e-01 -1.00729387e-02 9.92451862e-01 1.20796512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.900714056999995 meters Centerline goodness : 0.993677 Centerline is valid? [True, True] Translation: X:32.14, Y:1.11, Z:1.20 [[ 9.69966310e-01 -2.11080484e-01 -1.20873430e-01 3.21425263e+01] [ 2.15733055e-01 9.76088813e-01 2.66435494e-02 1.10553669e+00] [ 1.12359270e-01 -5.19197398e-02 9.92310302e-01 1.20106386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.930714056999996 meters Centerline goodness : 0.986652 Centerline is valid? [True, True] Translation: X:32.17, Y:1.13, Z:1.22 [[ 9.69067903e-01 -2.19765377e-01 -1.12296834e-01 3.21658832e+01] [ 2.18101845e-01 9.75551249e-01 -2.70434196e-02 1.13087857e+00] [ 1.15494524e-01 1.71476315e-03 9.93306637e-01 1.22297867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.960714057 meters Centerline goodness : 0.993906 Centerline is valid? [True, True] Translation: X:32.20, Y:1.14, Z:1.24 [[ 9.67294116e-01 -2.19568449e-01 -1.27010980e-01 3.21999292e+01] [ 2.15292995e-01 9.75435333e-01 -4.66351507e-02 1.14037315e+00] [ 1.34130605e-01 1.77653326e-02 9.90804407e-01 1.24207277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.990714057 meters Centerline goodness : 0.991274 Centerline is valid? [True, True] Translation: X:32.25, Y:1.13, Z:1.23 [[ 9.72133046e-01 -2.04862402e-01 -1.13968138e-01 3.22485309e+01] [ 2.04441915e-01 9.78756100e-01 -1.54919063e-02 1.12610009e+00] [ 1.14720720e-01 -8.23967034e-03 9.93363611e-01 1.22684111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.020714057 meters Centerline goodness : 0.992986 Centerline is valid? [True, True] Translation: X:32.26, Y:1.14, Z:1.24 [[ 9.67322930e-01 -2.16234704e-01 -1.32396759e-01 3.22641344e+01] [ 2.16168528e-01 9.76240107e-01 -1.50473224e-02 1.14240861e+00] [ 1.32504779e-01 -1.40643924e-02 9.91082578e-01 1.23579539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.050714057 meters Centerline goodness : 0.992586 Centerline is valid? [True, True] Translation: X:32.31, Y:1.14, Z:1.23 [[ 9.71917074e-01 -2.06497710e-01 -1.12853429e-01 3.23098782e+01] [ 2.05296731e-01 9.78445926e-01 -2.22894843e-02 1.13885233e+00] [ 1.15023705e-01 -1.50490965e-03 9.93361607e-01 1.23477129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.080714057 meters Centerline goodness : 0.992036 Centerline is valid? [True, True] Translation: X:32.34, Y:1.14, Z:1.23 [[ 9.71776525e-01 -2.05490836e-01 -1.15861562e-01 3.23401282e+01] [ 2.05877476e-01 9.78538654e-01 -8.75033758e-03 1.13967456e+00] [ 1.15173131e-01 -1.53499133e-02 9.93226827e-01 1.23353015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.110714056999996 meters Centerline goodness : 0.992050 Centerline is valid? [True, True] Translation: X:32.37, Y:1.15, Z:1.24 [[ 9.71430194e-01 -2.06393978e-01 -1.17153335e-01 3.23705111e+01] [ 2.07107403e-01 9.78298662e-01 -6.18477424e-03 1.14514401e+00] [ 1.15887451e-01 -1.82552466e-02 9.93094580e-01 1.23822732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.140714057 meters Centerline goodness : 0.993645 Centerline is valid? [True, True] Translation: X:32.39, Y:1.16, Z:1.25 [[ 9.68461531e-01 -2.13941127e-01 -1.27716313e-01 3.23869094e+01] [ 2.16875286e-01 9.76154417e-01 9.36290661e-03 1.15594094e+00] [ 1.22667733e-01 -3.67661269e-02 9.91766545e-01 1.24530188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.170714057 meters Centerline goodness : 0.993607 Centerline is valid? [True, True] Translation: X:32.41, Y:1.18, Z:1.27 [[ 9.66880083e-01 -2.21603743e-01 -1.26628138e-01 3.24145380e+01] [ 2.16802287e-01 9.74898385e-01 -5.06942477e-02 1.17922316e+00] [ 1.34683602e-01 2.15619886e-02 9.90654030e-01 1.26923902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.200714057 meters Centerline goodness : 0.993181 Centerline is valid? [True, True] Translation: X:32.46, Y:1.17, Z:1.25 [[ 9.71304060e-01 -2.09608141e-01 -1.12395956e-01 3.24616912e+01] [ 2.07757161e-01 9.77777645e-01 -2.80684508e-02 1.16943305e+00] [ 1.15781629e-01 3.91193533e-03 9.93266989e-01 1.25432666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.230714057 meters Centerline goodness : 0.993143 Centerline is valid? [True, True] Translation: X:32.49, Y:1.17, Z:1.25 [[ 9.71105980e-01 -2.07504502e-01 -1.17877299e-01 3.24937780e+01] [ 2.08347395e-01 9.78040724e-01 -5.26354548e-03 1.16742565e+00] [ 1.16381008e-01 -1.94479676e-02 9.93014218e-01 1.25101352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.260714057 meters Centerline goodness : 0.993602 Centerline is valid? [True, True] Translation: X:32.53, Y:1.18, Z:1.27 [[ 9.69523888e-01 -2.14351204e-01 -1.18646499e-01 3.25283256e+01] [ 2.10267875e-01 9.76557516e-01 -4.60742769e-02 1.18469590e+00] [ 1.25741207e-01 1.97225648e-02 9.91867012e-01 1.26809242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.290714056999995 meters Centerline goodness : 0.993602 Centerline is valid? [True, True] Translation: X:32.56, Y:1.18, Z:1.26 [[ 9.69630009e-01 -2.10664733e-01 -1.24249812e-01 3.25646177e+01] [ 2.10890633e-01 9.77442218e-01 -1.14826464e-02 1.17854940e+00] [ 1.23866001e-01 -1.50692030e-02 9.92184526e-01 1.25819913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.320714056999996 meters Centerline goodness : 0.992795 Centerline is valid? [True, True] Translation: X:32.59, Y:1.18, Z:1.25 [[ 9.71480576e-01 -2.05967112e-01 -1.17486334e-01 3.25914213e+01] [ 2.08199848e-01 9.78061794e-01 6.92459469e-03 1.17713413e+00] [ 1.13482655e-01 -3.11877460e-02 9.93050357e-01 1.25468862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.350714057 meters Centerline goodness : 0.993125 Centerline is valid? [True, True] Translation: X:32.62, Y:1.19, Z:1.27 [[ 9.70664008e-01 -2.09812253e-01 -1.17431693e-01 3.26210971e+01] [ 2.10350298e-01 9.77593884e-01 -7.93408184e-03 1.18703216e+00] [ 1.16465173e-01 -1.70004640e-02 9.93049268e-01 1.26727085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.380714057 meters Centerline goodness : 0.992936 Centerline is valid? [True, True] Translation: X:32.65, Y:1.19, Z:1.27 [[ 9.70499879e-01 -2.09727833e-01 -1.18929477e-01 3.26511235e+01] [ 2.09666706e-01 9.77684239e-01 -1.31681721e-02 1.19269723e+00] [ 1.19037208e-01 -1.21558423e-02 9.92815380e-01 1.27208827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.410714057 meters Centerline goodness : 0.992582 Centerline is valid? [True, True] Translation: X:32.68, Y:1.20, Z:1.28 [[ 9.70436393e-01 -2.09919333e-01 -1.19109530e-01 3.26837200e+01] [ 2.09896982e-01 9.77638725e-01 -1.28755346e-02 1.19709195e+00] [ 1.19148913e-01 -1.25058436e-02 9.92797633e-01 1.27621041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.440714057 meters Centerline goodness : 0.991947 Centerline is valid? [True, True] Translation: X:32.71, Y:1.20, Z:1.28 [[ 9.71171118e-01 -2.08213034e-01 -1.16077524e-01 3.27131386e+01] [ 2.07481436e-01 9.78064282e-01 -1.84855240e-02 1.20281765e+00] [ 1.17380208e-01 -6.13132442e-03 9.93068121e-01 1.28135267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.470714056999995 meters Centerline goodness : 0.992576 Centerline is valid? [True, True] Translation: X:32.75, Y:1.21, Z:1.28 [[ 9.70863341e-01 -2.08024705e-01 -1.18954171e-01 3.27454731e+01] [ 2.08249817e-01 9.78017427e-01 -1.06736331e-02 1.20556955e+00] [ 1.18559632e-01 -1.44095454e-02 9.92842374e-01 1.28417613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.500714056999996 meters Centerline goodness : 0.992212 Centerline is valid? [True, True] Translation: X:32.78, Y:1.21, Z:1.29 [[ 9.71015058e-01 -2.07371604e-01 -1.18856115e-01 3.27762190e+01] [ 2.07298325e-01 9.78189837e-01 -1.31166984e-02 1.21103105e+00] [ 1.18983874e-01 -1.19021619e-02 9.92824847e-01 1.28931380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.530714057 meters Centerline goodness : 0.992683 Centerline is valid? [True, True] Translation: X:32.81, Y:1.22, Z:1.30 [[ 9.71313775e-01 -2.06037015e-01 -1.18736261e-01 3.28080806e+01] [ 2.05791226e-01 9.78489057e-01 -1.44615658e-02 1.21696877e+00] [ 1.19161750e-01 -1.03881628e-02 9.92820509e-01 1.29506131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.560714057 meters Centerline goodness : 0.991661 Centerline is valid? [True, True] Translation: X:32.84, Y:1.22, Z:1.30 [[ 9.71500949e-01 -2.04682369e-01 -1.19545114e-01 3.28382568e+01] [ 2.04741996e-01 9.78743443e-01 -1.19158671e-02 1.22110278e+00] [ 1.19442965e-01 -1.28996291e-02 9.92757260e-01 1.29872249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.590714057 meters Centerline goodness : 0.991956 Centerline is valid? [True, True] Translation: X:32.87, Y:1.22, Z:1.30 [[ 9.71548928e-01 -2.03337192e-01 -1.21435853e-01 3.28690738e+01] [ 2.03960726e-01 9.78951059e-01 -7.40584111e-03 1.22461854e+00] [ 1.20385640e-01 -1.75730078e-02 9.92571653e-01 1.30355501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.620714057 meters Centerline goodness : 0.991763 Centerline is valid? [True, True] Translation: X:32.90, Y:1.23, Z:1.31 [[ 9.71428321e-01 -2.03248594e-01 -1.22543980e-01 3.28971751e+01] [ 2.03530260e-01 9.79013964e-01 -1.03485558e-02 1.23051270e+00] [ 1.22075597e-01 -1.48885278e-02 9.92409130e-01 1.31005827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.650714056999995 meters Centerline goodness : 0.992314 Centerline is valid? [True, True] Translation: X:32.93, Y:1.24, Z:1.32 [[ 9.71608552e-01 -2.02865720e-01 -1.21746959e-01 3.29302991e+01] [ 2.02706011e-01 9.79142009e-01 -1.38274911e-02 1.23642118e+00] [ 1.22012686e-01 -1.12439318e-02 9.92464850e-01 1.31532585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.680714056999996 meters Centerline goodness : 0.991929 Centerline is valid? [True, True] Translation: X:32.96, Y:1.24, Z:1.32 [[ 9.71854899e-01 -2.00962163e-01 -1.22931953e-01 3.29576600e+01] [ 2.00257411e-01 9.79574427e-01 -1.81909618e-02 1.24250035e+00] [ 1.24076692e-01 -6.93905922e-03 9.92248368e-01 1.32179482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.710714057 meters Centerline goodness : 0.992871 Centerline is valid? [True, True] Translation: X:32.99, Y:1.24, Z:1.32 [[ 9.71652961e-01 -1.99587294e-01 -1.26710048e-01 3.29901051e+01] [ 2.00679235e-01 9.79647915e-01 -4.21989817e-03 1.24396951e+00] [ 1.24973472e-01 -2.13277990e-02 9.91930822e-01 1.32215273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.740714057 meters Centerline goodness : 0.992355 Centerline is valid? [True, True] Translation: X:33.02, Y:1.25, Z:1.33 [[ 9.71921502e-01 -2.00154992e-01 -1.23719735e-01 3.30195684e+01] [ 1.99218582e-01 9.79750515e-01 -2.00221348e-02 1.25317624e+00] [ 1.25222004e-01 -5.18732679e-03 9.92115186e-01 1.33231748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.770714057 meters Centerline goodness : 0.992701 Centerline is valid? [True, True] Translation: X:33.05, Y:1.26, Z:1.33 [[ 9.72159496e-01 -1.98614923e-01 -1.24330315e-01 3.30516084e+01] [ 1.98411654e-01 9.80016756e-01 -1.41411911e-02 1.25605187e+00] [ 1.24654443e-01 -1.09210902e-02 9.92140111e-01 1.33372417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.800714057 meters Centerline goodness : 0.992171 Centerline is valid? [True, True] Translation: X:33.08, Y:1.26, Z:1.34 [[ 9.72329968e-01 -1.98666302e-01 -1.22907011e-01 3.30829849e+01] [ 1.98034552e-01 9.80039530e-01 -1.74595401e-02 1.26168313e+00] [ 1.23922351e-01 -7.36340071e-03 9.92264597e-01 1.33944090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.830714057 meters Centerline goodness : 0.992357 Centerline is valid? [True, True] Translation: X:33.12, Y:1.26, Z:1.34 [[ 9.72405075e-01 -1.97758052e-01 -1.23774485e-01 3.31155961e+01] [ 1.97637876e-01 9.80183883e-01 -1.33725617e-02 1.26499919e+00] [ 1.23966287e-01 -1.14589793e-02 9.92220264e-01 1.34291467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.860714056999996 meters Centerline goodness : 0.992765 Centerline is valid? [True, True] Translation: X:33.15, Y:1.27, Z:1.35 [[ 9.72497812e-01 -1.97822748e-01 -1.22939682e-01 3.31459883e+01] [ 1.97558962e-01 9.80184423e-01 -1.44551951e-02 1.26977961e+00] [ 1.23363127e-01 -1.02301903e-02 9.92308864e-01 1.34706304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.890714057 meters Centerline goodness : 0.993917 Centerline is valid? [True, True] Translation: X:33.17, Y:1.29, Z:1.36 [[ 9.68599813e-01 -2.09553580e-01 -1.33797232e-01 3.31679912e+01] [ 2.07277251e-01 9.77794741e-01 -3.08801707e-02 1.28606492e+00] [ 1.37297280e-01 2.17740515e-03 9.90527494e-01 1.35863066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.920714057 meters Centerline goodness : 0.993696 Centerline is valid? [True, True] Translation: X:33.20, Y:1.28, Z:1.35 [[ 9.69899762e-01 -2.04983383e-01 -1.31439202e-01 3.31974568e+01] [ 2.07567748e-01 9.78201479e-01 6.12345155e-03 1.27906333e+00] [ 1.27318816e-01 -3.32216735e-02 9.91305321e-01 1.35059490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.950714057 meters Centerline goodness : 0.992892 Centerline is valid? [True, True] Translation: X:33.24, Y:1.28, Z:1.37 [[ 9.70196303e-01 -2.05356520e-01 -1.28638383e-01 3.32350940e+01] [ 2.04163615e-01 9.78677347e-01 -2.25359587e-02 1.28448308e+00] [ 1.30523378e-01 -4.39897359e-03 9.91435473e-01 1.36504234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.980714057 meters Centerline goodness : 0.992506 Centerline is valid? [True, True] Translation: X:33.27, Y:1.29, Z:1.36 [[ 9.70706347e-01 -2.05629810e-01 -1.24280207e-01 3.32692302e+01] [ 2.04650931e-01 9.78615445e-01 -2.07317803e-02 1.28766514e+00] [ 1.25885602e-01 -5.30958944e-03 9.92030556e-01 1.36411432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.010714057 meters Centerline goodness : 0.993852 Centerline is valid? [True, True] Translation: X:33.29, Y:1.30, Z:1.37 [[ 9.68164476e-01 -2.13631083e-01 -1.30458073e-01 3.32900607e+01] [ 2.14107307e-01 9.76753382e-01 -1.05305355e-02 1.29658079e+00] [ 1.29675014e-01 -1.77367365e-02 9.91397901e-01 1.36747380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.040714056999995 meters Centerline goodness : 0.993195 Centerline is valid? [True, True] Translation: X:33.33, Y:1.30, Z:1.38 [[ 9.70656770e-01 -2.09908523e-01 -1.17319422e-01 3.33332215e+01] [ 2.05791538e-01 9.77499678e-01 -4.63057510e-02 1.30340227e+00] [ 1.24399669e-01 2.08036463e-02 9.92014078e-01 1.37709408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.070714056999996 meters Centerline goodness : 0.993027 Centerline is valid? [True, True] Translation: X:33.37, Y:1.30, Z:1.37 [[ 9.70448628e-01 -2.10412537e-01 -1.18135618e-01 3.33676566e+01] [ 2.08381101e-01 9.77604721e-01 -2.94334218e-02 1.30214878e+00] [ 1.21683099e-01 3.94639364e-03 9.92561157e-01 1.37074083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.100714057 meters Centerline goodness : 0.992694 Centerline is valid? [True, True] Translation: X:33.40, Y:1.30, Z:1.37 [[ 9.69829080e-01 -2.09365022e-01 -1.24891325e-01 3.33967576e+01] [ 2.10868836e-01 9.77513623e-01 -1.20450107e-03 1.29750483e+00] [ 1.22335152e-01 -2.51675281e-02 9.92169696e-01 1.36612948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.130714057 meters Centerline goodness : 0.992965 Centerline is valid? [True, True] Translation: X:33.43, Y:1.31, Z:1.38 [[ 9.69608492e-01 -2.13182313e-01 -1.20052799e-01 3.34298728e+01] [ 2.12022764e-01 9.77005666e-01 -2.25005581e-02 1.30892047e+00] [ 1.22088986e-01 -3.63719420e-03 9.92512494e-01 1.37612033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.160714057 meters Centerline goodness : 0.991270 Centerline is valid? [True, True] Translation: X:33.46, Y:1.31, Z:1.37 [[ 9.69768274e-01 -2.11324271e-01 -1.22030923e-01 3.34562682e+01] [ 2.12033496e-01 9.77235175e-01 -7.29449763e-03 1.30724799e+00] [ 1.20794415e-01 -1.88006708e-02 9.92499493e-01 1.37465082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.190714057 meters Centerline goodness : 0.991938 Centerline is valid? [True, True] Translation: X:33.49, Y:1.32, Z:1.38 [[ 9.69098333e-01 -2.16352618e-01 -1.18490361e-01 3.34915322e+01] [ 2.15295925e-01 9.76305454e-01 -2.18019386e-02 1.31640745e+00] [ 1.20399692e-01 -4.38226947e-03 9.92715825e-01 1.38409227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.220714056999995 meters Centerline goodness : 0.991332 Centerline is valid? [True, True] Translation: X:33.52, Y:1.32, Z:1.39 [[ 9.68870889e-01 -2.16925640e-01 -1.19299906e-01 3.35236387e+01] [ 2.16824926e-01 9.76110375e-01 -1.39816529e-02 1.31812600e+00] [ 1.19482855e-01 -1.23207767e-02 9.92759813e-01 1.38505999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.250714056999996 meters Centerline goodness : 0.991283 Centerline is valid? [True, True] Translation: X:33.55, Y:1.32, Z:1.39 [[ 9.68674461e-01 -2.17441299e-01 -1.19954452e-01 3.35523749e+01] [ 2.17359270e-01 9.75992302e-01 -1.39274550e-02 1.32224418e+00] [ 1.20103025e-01 -1.25820421e-02 9.92681699e-01 1.38911370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.280714057 meters Centerline goodness : 0.991973 Centerline is valid? [True, True] Translation: X:33.59, Y:1.33, Z:1.39 [[ 9.68275775e-01 -2.21876955e-01 -1.14946249e-01 3.35858166e+01] [ 2.20410021e-01 9.75074447e-01 -2.54803101e-02 1.32923099e+00] [ 1.17734643e-01 -6.63338012e-04 9.93044870e-01 1.39409444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.310714057 meters Centerline goodness : 0.991608 Centerline is valid? [True, True] Translation: X:33.62, Y:1.33, Z:1.39 [[ 9.67740698e-01 -2.22326721e-01 -1.18527512e-01 3.36163558e+01] [ 2.22844867e-01 9.74812064e-01 -9.03353329e-03 1.32901651e+00] [ 1.17550444e-01 -1.76711299e-02 9.92909676e-01 1.39354378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.340714057 meters Centerline goodness : 0.991193 Centerline is valid? [True, True] Translation: X:33.65, Y:1.34, Z:1.40 [[ 9.67434720e-01 -2.26105221e-01 -1.13782652e-01 3.36498574e+01] [ 2.24673848e-01 9.74102400e-01 -2.54200137e-02 1.33777775e+00] [ 1.16583552e-01 -9.71782461e-04 9.93180412e-01 1.40249651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.370714057 meters Centerline goodness : 0.991726 Centerline is valid? [True, True] Translation: X:33.68, Y:1.33, Z:1.40 [[ 9.66352169e-01 -2.26918127e-01 -1.21126587e-01 3.36804232e+01] [ 2.28349761e-01 9.73576870e-01 -2.11310323e-03 1.33469921e+00] [ 1.18405545e-01 -2.56172254e-02 9.92634819e-01 1.39928009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.400714056999995 meters Centerline goodness : 0.991754 Centerline is valid? [True, True] Translation: X:33.71, Y:1.34, Z:1.41 [[ 9.65476874e-01 -2.30079452e-01 -1.22138656e-01 3.37088241e+01] [ 2.30615078e-01 9.72994417e-01 -9.92722487e-03 1.34181607e+00] [ 1.21124281e-01 -1.85825096e-02 9.92463399e-01 1.40751923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.430714056999996 meters Centerline goodness : 0.991524 Centerline is valid? [True, True] Translation: X:33.74, Y:1.35, Z:1.41 [[ 9.64209293e-01 -2.34518166e-01 -1.23699919e-01 3.37387486e+01] [ 2.34380058e-01 9.72015404e-01 -1.58758407e-02 1.34687498e+00] [ 1.23961400e-01 -1.36851610e-02 9.92192667e-01 1.41357320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.460714057 meters Centerline goodness : 0.991492 Centerline is valid? [True, True] Translation: X:33.77, Y:1.35, Z:1.42 [[ 9.64160519e-01 -2.35775230e-01 -1.21673883e-01 3.37707701e+01] [ 2.35349926e-01 9.71742838e-01 -1.80629116e-02 1.35180673e+00] [ 1.22494512e-01 -1.12203931e-02 9.92405762e-01 1.41860888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.490714057 meters Centerline goodness : 0.990945 Centerline is valid? [True, True] Translation: X:33.80, Y:1.35, Z:1.42 [[ 9.63887756e-01 -2.36635895e-01 -1.22163196e-01 3.38025467e+01] [ 2.36487157e-01 9.71504073e-01 -1.59267312e-02 1.35475343e+00] [ 1.22450879e-01 -1.35384457e-02 9.92382231e-01 1.42206813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.520714057 meters Centerline goodness : 0.992726 Centerline is valid? [True, True] Translation: X:33.83, Y:1.36, Z:1.43 [[ 9.63370556e-01 -2.37818351e-01 -1.23933871e-01 3.38339824e+01] [ 2.37980298e-01 9.71173163e-01 -1.37136711e-02 1.35813726e+00] [ 1.23622612e-01 -1.62824727e-02 9.92195712e-01 1.42549340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.550714057 meters Centerline goodness : 0.993570 Centerline is valid? [True, True] Translation: X:33.87, Y:1.37, Z:1.44 [[ 9.61238383e-01 -2.43781820e-01 -1.28806813e-01 3.38693812e+01] [ 2.41257582e-01 9.69826465e-01 -3.50914153e-02 1.37000395e+00] [ 1.33474906e-01 2.65559500e-03 9.91048635e-01 1.43831380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.580714057 meters Centerline goodness : 0.992564 Centerline is valid? [True, True] Translation: X:33.90, Y:1.36, Z:1.43 [[ 9.63818941e-01 -2.36046600e-01 -1.23834773e-01 3.38988155e+01] [ 2.37937729e-01 9.71280284e-01 4.96479396e-04 1.36308300e+00] [ 1.20161081e-01 -2.99434810e-02 9.92302727e-01 1.42863880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.610714056999996 meters Centerline goodness : 0.992619 Centerline is valid? [True, True] Translation: X:33.93, Y:1.37, Z:1.44 [[ 9.63774077e-01 -2.37534066e-01 -1.21314036e-01 3.39287680e+01] [ 2.37484008e-01 9.71274339e-01 -1.50832652e-02 1.37371486e+00] [ 1.21411999e-01 -1.42732835e-02 9.92499572e-01 1.43966464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.640714057 meters Centerline goodness : 0.992721 Centerline is valid? [True, True] Translation: X:33.96, Y:1.38, Z:1.44 [[ 9.64067197e-01 -2.36390213e-01 -1.21219255e-01 3.39597983e+01] [ 2.36369566e-01 9.71551136e-01 -1.47586652e-02 1.37865965e+00] [ 1.21259509e-01 -1.44241979e-02 9.92516032e-01 1.44405308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.670714057 meters Centerline goodness : 0.991180 Centerline is valid? [True, True] Translation: X:33.99, Y:1.39, Z:1.45 [[ 9.64850195e-01 -2.34290223e-01 -1.19047017e-01 3.39901236e+01] [ 2.33352067e-01 9.72144344e-01 -2.19587815e-02 1.38604856e+00] [ 1.20875612e-01 -6.59293277e-03 9.92645768e-01 1.44963836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.700714057 meters Centerline goodness : 0.993303 Centerline is valid? [True, True] Translation: X:34.03, Y:1.40, Z:1.46 [[ 9.62902926e-01 -2.38237141e-01 -1.26732081e-01 3.40268297e+01] [ 2.35846667e-01 9.71203468e-01 -3.37664489e-02 1.39528323e+00] [ 1.31127059e-01 2.62447360e-03 9.91362097e-01 1.45817601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.730714057 meters Centerline goodness : 0.992298 Centerline is valid? [True, True] Translation: X:34.06, Y:1.39, Z:1.45 [[ 9.65963085e-01 -2.27559904e-01 -1.23011417e-01 3.40566908e+01] [ 2.29380471e-01 9.73336617e-01 6.55876641e-04 1.38829504e+00] [ 1.19582265e-01 -2.88499694e-02 9.92405039e-01 1.44793675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.760714057 meters Centerline goodness : 0.991864 Centerline is valid? [True, True] Translation: X:34.08, Y:1.40, Z:1.46 [[ 9.65833961e-01 -2.27985992e-01 -1.23236147e-01 3.40841950e+01] [ 2.28223392e-01 9.73530116e-01 -1.23772657e-02 1.39833022e+00] [ 1.22795944e-01 -1.61709881e-02 9.92300184e-01 1.45801821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.790714056999995 meters Centerline goodness : 0.992505 Centerline is valid? [True, True] Translation: X:34.12, Y:1.41, Z:1.46 [[ 9.66076821e-01 -2.27838438e-01 -1.21594502e-01 3.41177063e+01] [ 2.27312737e-01 9.73648636e-01 -1.83644618e-02 1.40560618e+00] [ 1.22574451e-01 -9.89849818e-03 9.92409957e-01 1.46308042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.820714056999996 meters Centerline goodness : 0.991628 Centerline is valid? [True, True] Translation: X:34.15, Y:1.41, Z:1.47 [[ 9.66751863e-01 -2.25087336e-01 -1.21352901e-01 3.41480181e+01] [ 2.24247314e-01 9.74312085e-01 -2.07148143e-02 1.41017376e+00] [ 1.22898240e-01 -7.18697675e-03 9.92393254e-01 1.46700054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.850714057 meters Centerline goodness : 0.991680 Centerline is valid? [True, True] Translation: X:34.18, Y:1.41, Z:1.47 [[ 9.67173832e-01 -2.21852808e-01 -1.23919769e-01 3.41807093e+01] [ 2.22121793e-01 9.74947310e-01 -1.18174299e-02 1.41314301e+00] [ 1.23436976e-01 -1.60957724e-02 9.92221870e-01 1.46844319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.880714057 meters Centerline goodness : 0.991663 Centerline is valid? [True, True] Translation: X:34.21, Y:1.42, Z:1.47 [[ 9.67630243e-01 -2.20513632e-01 -1.22741402e-01 3.42114638e+01] [ 2.20313417e-01 9.75308002e-01 -1.53720360e-02 1.42015051e+00] [ 1.23100415e-01 -1.21671307e-02 9.92319630e-01 1.47360769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.910714057 meters Centerline goodness : 0.992507 Centerline is valid? [True, True] Translation: X:34.25, Y:1.43, Z:1.49 [[ 9.65916733e-01 -2.23157038e-01 -1.31170884e-01 3.42472505e+01] [ 2.21216202e-01 9.74782295e-01 -2.93746467e-02 1.43128613e+00] [ 1.34418214e-01 -6.43661971e-04 9.90924482e-01 1.48572467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.940714057 meters Centerline goodness : 0.991182 Centerline is valid? [True, True] Translation: X:34.28, Y:1.43, Z:1.48 [[ 9.68103003e-01 -2.15743601e-01 -1.27402017e-01 3.42754037e+01] [ 2.17757050e-01 9.76001107e-01 1.92508740e-03 1.42635331e+00] [ 1.23929185e-01 -2.96063703e-02 9.91849293e-01 1.47860134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.970714056999995 meters Centerline goodness : 0.991277 Centerline is valid? [True, True] Translation: X:34.31, Y:1.43, Z:1.49 [[ 9.67780737e-01 -2.16808811e-01 -1.28040556e-01 3.43065839e+01] [ 2.17880099e-01 9.75958604e-01 -5.75022415e-03 1.43498615e+00] [ 1.26208982e-01 -2.23325329e-02 9.91752263e-01 1.48813430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.000714056999996 meters Centerline goodness : 0.990900 Centerline is valid? [True, True] Translation: X:34.34, Y:1.45, Z:1.50 [[ 9.68321504e-01 -2.18962180e-01 -1.20037611e-01 3.43351596e+01] [ 2.16517293e-01 9.75713871e-01 -3.32069760e-02 1.44685698e+00] [ 1.24393434e-01 6.16481031e-03 9.92213822e-01 1.49878809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.030714057 meters Centerline goodness : 0.990251 Centerline is valid? [True, True] Translation: X:34.37, Y:1.45, Z:1.50 [[ 9.68371516e-01 -2.17049846e-01 -1.23068974e-01 3.43697799e+01] [ 2.16892336e-01 9.76082738e-01 -1.48392267e-02 1.44568537e+00] [ 1.23346353e-01 -1.23228327e-02 9.92287169e-01 1.49502856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.060714057 meters Centerline goodness : 0.989925 Centerline is valid? [True, True] Translation: X:34.40, Y:1.45, Z:1.50 [[ 9.68593957e-01 -2.17637934e-01 -1.20247561e-01 3.44003744e+01] [ 2.16610674e-01 9.76016666e-01 -2.17090546e-02 1.45226958e+00] [ 1.22088337e-01 -5.01964602e-03 9.92506545e-01 1.49945227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.090714057 meters Centerline goodness : 0.989828 Centerline is valid? [True, True] Translation: X:34.43, Y:1.46, Z:1.50 [[ 9.68123208e-01 -2.17564746e-01 -1.24108968e-01 3.44269334e+01] [ 2.16829481e-01 9.76013374e-01 -1.95670714e-02 1.45550823e+00] [ 1.25389117e-01 -7.96714718e-03 9.92075649e-01 1.50328506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.120714057 meters Centerline goodness : 0.990131 Centerline is valid? [True, True] Translation: X:34.46, Y:1.47, Z:1.51 [[ 9.68681808e-01 -2.22782757e-01 -1.09651259e-01 3.44637327e+01] [ 2.18236633e-01 9.74509419e-01 -5.20015746e-02 1.47056418e+00] [ 1.18441239e-01 2.64430576e-02 9.92608905e-01 1.51030536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.150714056999995 meters Centerline goodness : 0.990725 Centerline is valid? [True, True] Translation: X:34.50, Y:1.46, Z:1.50 [[ 9.68016474e-01 -2.18332437e-01 -1.23592285e-01 3.44959900e+01] [ 2.21186986e-01 9.75183202e-01 9.69738117e-03 1.45619612e+00] [ 1.18407867e-01 -3.67242296e-02 9.92285699e-01 1.49617830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.180714056999996 meters Centerline goodness : 0.990725 Centerline is valid? [True, True] Translation: X:34.52, Y:1.47, Z:1.51 [[ 9.67630217e-01 -2.21944383e-01 -1.20135147e-01 3.45243368e+01] [ 2.21663626e-01 9.74994109e-01 -1.58658259e-02 1.46965727e+00] [ 1.20652392e-01 -1.12773397e-02 9.92630758e-01 1.51053879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.210714057 meters Centerline goodness : 0.990636 Centerline is valid? [True, True] Translation: X:34.56, Y:1.47, Z:1.51 [[ 9.67279885e-01 -2.22351792e-01 -1.22185534e-01 3.45553005e+01] [ 2.22551648e-01 9.74844760e-01 -1.21843201e-02 1.47350880e+00] [ 1.21821133e-01 -1.54069441e-02 9.92432485e-01 1.51485652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.240714057 meters Centerline goodness : 0.989897 Centerline is valid? [True, True] Translation: X:34.59, Y:1.48, Z:1.52 [[ 9.66351673e-01 -2.24465216e-01 -1.25617719e-01 3.45874299e+01] [ 2.25761738e-01 9.74174319e-01 -4.00433774e-03 1.47504173e+00] [ 1.23272390e-01 -2.44900760e-02 9.92070640e-01 1.51894526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.270714057 meters Centerline goodness : 0.989501 Centerline is valid? [True, True] Translation: X:34.62, Y:1.48, Z:1.53 [[ 9.66092643e-01 -2.26927503e-01 -1.23162141e-01 3.46169663e+01] [ 2.26065343e-01 9.73883222e-01 -2.11170661e-02 1.48461925e+00] [ 1.24737586e-01 -7.44164940e-03 9.92161860e-01 1.52907910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.300714057 meters Centerline goodness : 0.990142 Centerline is valid? [True, True] Translation: X:34.65, Y:1.49, Z:1.53 [[ 9.65774139e-01 -2.27912020e-01 -1.23840311e-01 3.46501808e+01] [ 2.27883722e-01 9.73579116e-01 -1.45847281e-02 1.48712935e+00] [ 1.23892375e-01 -1.41356378e-02 9.92194972e-01 1.53231300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.330714056999994 meters Centerline goodness : 0.991918 Centerline is valid? [True, True] Translation: X:34.67, Y:1.50, Z:1.54 [[ 9.61188761e-01 -2.36647858e-01 -1.41823684e-01 3.46681742e+01] [ 2.37837900e-01 9.71265460e-01 -8.74871286e-03 1.49673377e+00] [ 1.39818809e-01 -2.53218826e-02 9.89853273e-01 1.54044447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.360714056999996 meters Centerline goodness : 0.991219 Centerline is valid? [True, True] Translation: X:34.70, Y:1.50, Z:1.55 [[ 9.61759561e-01 -2.36295977e-01 -1.38501833e-01 3.46987361e+01] [ 2.37212370e-01 9.71405384e-01 -1.00931469e-02 1.50138606e+00] [ 1.36926397e-01 -2.31471676e-02 9.90310744e-01 1.54524395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.390714057 meters Centerline goodness : 0.990879 Centerline is valid? [True, True] Translation: X:34.73, Y:1.51, Z:1.55 [[ 9.62685555e-01 -2.36339455e-01 -1.31833925e-01 3.47283859e+01] [ 2.37476696e-01 9.71366126e-01 -7.25728294e-03 1.50545731e+00] [ 1.29774191e-01 -2.43210033e-02 9.91245251e-01 1.55048167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.420714057 meters Centerline goodness : 0.992150 Centerline is valid? [True, True] Translation: X:34.78, Y:1.53, Z:1.57 [[ 0.96394885 -0.23960571 -0.1157226 34.77557004] [ 0.22988401 0.96892718 -0.09128776 1.52510716] [ 0.13399984 0.06139396 0.98907776 1.57355716] [ 0. 0. 0. 1. ]] SLAMing on 35.450714057 meters Centerline goodness : 0.991563 Centerline is valid? [True, True] Translation: X:34.81, Y:1.50, Z:1.54 [[ 9.66532278e-01 -2.24853883e-01 -1.23515530e-01 3.48118380e+01] [ 2.27693528e-01 9.73689465e-01 9.19145357e-03 1.49822520e+00] [ 1.18199036e-01 -3.70075233e-02 9.92300071e-01 1.53859022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.480714057 meters Centerline goodness : 0.991590 Centerline is valid? [True, True] Translation: X:34.84, Y:1.50, Z:1.55 [[ 9.65164149e-01 -2.27122408e-01 -1.29898333e-01 3.48403871e+01] [ 2.30203101e-01 9.73100868e-01 9.01295254e-03 1.50343135e+00] [ 1.24357137e-01 -3.86019777e-02 9.91486354e-01 1.55071538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.510714057 meters Centerline goodness : 0.992170 Centerline is valid? [True, True] Translation: X:34.87, Y:1.52, Z:1.56 [[ 9.64486863e-01 -2.31400771e-01 -1.27352951e-01 3.48686704e+01] [ 2.31645000e-01 9.72712235e-01 -1.30959035e-02 1.51552732e+00] [ 1.26908176e-01 -1.68698475e-02 9.91771003e-01 1.56418186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.540714056999995 meters Centerline goodness : 0.993184 Centerline is valid? [True, True] Translation: X:34.90, Y:1.53, Z:1.58 [[ 9.63134324e-01 -2.35127404e-01 -1.30718695e-01 3.49024656e+01] [ 2.32253406e-01 9.71950067e-01 -3.70327256e-02 1.52767013e+00] [ 1.35759453e-01 5.30762706e-03 9.90727611e-01 1.57522667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.570714056999996 meters Centerline goodness : 0.992293 Centerline is valid? [True, True] Translation: X:34.93, Y:1.52, Z:1.56 [[ 9.65053180e-01 -2.28539142e-01 -1.28227224e-01 3.49329658e+01] [ 2.30548939e-01 9.73060356e-01 8.54787788e-04 1.51933524e+00] [ 1.24577476e-01 -3.03875661e-02 9.91744447e-01 1.56409760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.600714057 meters Centerline goodness : 0.992410 Centerline is valid? [True, True] Translation: X:34.96, Y:1.53, Z:1.58 [[ 9.64707890e-01 -2.31604018e-01 -1.25292720e-01 3.49608490e+01] [ 2.31229855e-01 9.72737690e-01 -1.77240308e-02 1.53008406e+00] [ 1.25981908e-01 -1.18729053e-02 9.91961488e-01 1.57646845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.630714057 meters Centerline goodness : 0.992492 Centerline is valid? [True, True] Translation: X:34.99, Y:1.53, Z:1.58 [[ 9.64252198e-01 -2.32141799e-01 -1.27780608e-01 3.49934580e+01] [ 2.32638358e-01 9.72498428e-01 -1.12339914e-02 1.53364572e+00] [ 1.26874319e-01 -1.88942698e-02 9.91738833e-01 1.57931772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.660714057 meters Centerline goodness : 0.992864 Centerline is valid? [True, True] Translation: X:35.02, Y:1.54, Z:1.59 [[ 9.63972065e-01 -2.34305844e-01 -1.25931054e-01 3.50246289e+01] [ 2.33946518e-01 9.72085657e-01 -1.78466079e-02 1.53967948e+00] [ 1.26597336e-01 -1.22575002e-02 9.91878454e-01 1.58526298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.690714057 meters Centerline goodness : 0.992900 Centerline is valid? [True, True] Translation: X:35.06, Y:1.55, Z:1.59 [[ 9.63939228e-01 -2.35301980e-01 -1.24314691e-01 3.50578872e+01] [ 2.34270265e-01 9.71897882e-01 -2.30640281e-02 1.54577427e+00] [ 1.26248196e-01 -6.89091413e-03 9.91974752e-01 1.59020895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.720714056999995 meters Centerline goodness : 0.992887 Centerline is valid? [True, True] Translation: X:35.09, Y:1.55, Z:1.59 [[ 9.63757552e-01 -2.36027803e-01 -1.24347322e-01 3.50912652e+01] [ 2.35718951e-01 9.71665415e-01 -1.74039498e-02 1.54777054e+00] [ 1.24931808e-01 -1.25378323e-02 9.92086108e-01 1.59011499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.750714056999996 meters Centerline goodness : 0.994091 Centerline is valid? [True, True] Translation: X:35.12, Y:1.55, Z:1.60 [[ 9.63575736e-01 -2.37605866e-01 -1.22740597e-01 3.51237497e+01] [ 2.37196577e-01 9.71292095e-01 -1.81507437e-02 1.55303126e+00] [ 1.23529695e-01 -1.16240333e-02 9.92272793e-01 1.59569445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.780714057 meters Centerline goodness : 0.993708 Centerline is valid? [True, True] Translation: X:35.15, Y:1.56, Z:1.60 [[ 9.63520213e-01 -2.37265952e-01 -1.23829187e-01 3.51534090e+01] [ 2.36959925e-01 9.71363427e-01 -1.74093918e-02 1.55831119e+00] [ 1.24413800e-01 -1.25682540e-02 9.92150818e-01 1.59978131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.810714057 meters Centerline goodness : 0.993225 Centerline is valid? [True, True] Translation: X:35.18, Y:1.57, Z:1.60 [[ 9.63948646e-01 -2.37339951e-01 -1.20302766e-01 3.51835321e+01] [ 2.35864000e-01 9.71422731e-01 -2.65716248e-02 1.56542375e+00] [ 1.23171350e-01 -2.76140992e-03 9.92381576e-01 1.60416237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.840714057 meters Centerline goodness : 0.994121 Centerline is valid? [True, True] Translation: X:35.22, Y:1.57, Z:1.61 [[ 9.61792590e-01 -2.42337003e-01 -1.27388343e-01 3.52199599e+01] [ 2.39992368e-01 9.70190429e-01 -3.36778064e-02 1.57309127e+00] [ 1.31752330e-01 1.81883460e-03 9.91280997e-01 1.61070509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.870714057 meters Centerline goodness : 0.993061 Centerline is valid? [True, True] Translation: X:35.25, Y:1.57, Z:1.60 [[ 9.63843029e-01 -2.35006113e-01 -1.25613463e-01 3.52466786e+01] [ 2.37485367e-01 9.71378629e-01 4.92542369e-03 1.56532635e+00] [ 1.20860729e-01 -3.45786947e-02 9.92067033e-01 1.60080498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.900714056999995 meters Centerline goodness : 0.992699 Centerline is valid? [True, True] Translation: X:35.28, Y:1.58, Z:1.61 [[ 9.63163988e-01 -2.38914898e-01 -1.23429351e-01 3.52765128e+01] [ 2.39190150e-01 9.70888324e-01 -1.28036489e-02 1.57600569e+00] [ 1.22895098e-01 -1.71910714e-02 9.92270760e-01 1.61269601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.930714056999996 meters Centerline goodness : 0.993918 Centerline is valid? [True, True] Translation: X:35.31, Y:1.59, Z:1.62 [[ 9.61474183e-01 -2.44389071e-01 -1.25862537e-01 3.53096809e+01] [ 2.41095416e-01 9.69634731e-01 -4.10059518e-02 1.58887230e+00] [ 1.32062093e-01 9.08128343e-03 9.91199846e-01 1.62372541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.960714057 meters Centerline goodness : 0.994121 Centerline is valid? [True, True] Translation: X:35.34, Y:1.59, Z:1.62 [[ 9.61611649e-01 -2.41779210e-01 -1.29791567e-01 3.53442871e+01] [ 2.41257619e-01 9.70255683e-01 -1.99667456e-02 1.58745942e+00] [ 1.30758549e-01 -1.21129493e-02 9.91340243e-01 1.61897209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.990714057 meters Centerline goodness : 0.993815 Centerline is valid? [True, True] Translation: X:35.37, Y:1.59, Z:1.62 [[ 9.61506287e-01 -2.40716322e-01 -1.32519104e-01 3.53742831e+01] [ 2.41205644e-01 9.70392347e-01 -1.25908918e-02 1.59118534e+00] [ 1.31626357e-01 -1.98581342e-02 9.91100478e-01 1.62125530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.020714057 meters Centerline goodness : 0.993303 Centerline is valid? [True, True] Translation: X:35.40, Y:1.60, Z:1.63 [[ 9.62112521e-01 -2.39244996e-01 -1.30772049e-01 3.54037797e+01] [ 2.38926823e-01 9.70864144e-01 -1.83517877e-02 1.59906014e+00] [ 1.31352467e-01 -1.35884655e-02 9.91242595e-01 1.62672427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.050714057 meters Centerline goodness : 0.992713 Centerline is valid? [True, True] Translation: X:35.43, Y:1.60, Z:1.62 [[ 9.63641397e-01 -2.34232877e-01 -1.28569890e-01 3.54316972e+01] [ 2.36586479e-01 9.71605389e-01 3.13136933e-03 1.59775733e+00] [ 1.24185728e-01 -3.34354147e-02 9.91695507e-01 1.62451574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.080714056999994 meters Centerline goodness : 0.993082 Centerline is valid? [True, True] Translation: X:35.46, Y:1.61, Z:1.64 [[ 9.64256362e-01 -2.35460654e-01 -1.21523453e-01 3.54595944e+01] [ 2.34186112e-01 9.71873575e-01 -2.48720694e-02 1.61170888e+00] [ 1.23961826e-01 -4.47605381e-03 9.92276892e-01 1.63669567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.110714056999996 meters Centerline goodness : 0.993314 Centerline is valid? [True, True] Translation: X:35.50, Y:1.62, Z:1.64 [[ 9.62787293e-01 -2.40030879e-01 -1.24200664e-01 3.54958098e+01] [ 2.36139763e-01 9.70659051e-01 -4.53764252e-02 1.62343674e+00] [ 1.31448242e-01 1.43591303e-02 9.91219035e-01 1.64485253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.140714057 meters Centerline goodness : 0.992502 Centerline is valid? [True, True] Translation: X:35.53, Y:1.61, Z:1.63 [[ 9.64851840e-01 -2.30202071e-01 -1.26759354e-01 3.55264830e+01] [ 2.32867452e-01 9.72487281e-01 6.42163905e-03 1.61223140e+00] [ 1.21793584e-01 -3.57140579e-02 9.91912712e-01 1.63092098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.170714057 meters Centerline goodness : 0.993515 Centerline is valid? [True, True] Translation: X:35.56, Y:1.64, Z:1.65 [[ 9.63222762e-01 -2.39183179e-01 -1.22447202e-01 3.55584142e+01] [ 2.34500631e-01 9.70748923e-01 -5.15362352e-02 1.63762882e+00] [ 1.31192090e-01 2.09269286e-02 9.91136065e-01 1.65435247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.200714057 meters Centerline goodness : 0.992523 Centerline is valid? [True, True] Translation: X:35.59, Y:1.63, Z:1.64 [[ 9.65493262e-01 -2.29201065e-01 -1.23651251e-01 3.55913388e+01] [ 2.31209803e-01 9.72901957e-01 1.95179566e-03 1.62592884e+00] [ 1.19853190e-01 -3.04738268e-02 9.92323817e-01 1.63797862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.230714057 meters Centerline goodness : 0.992051 Centerline is valid? [True, True] Translation: X:35.62, Y:1.65, Z:1.65 [[ 9.66362560e-01 -2.32346489e-01 -1.10265638e-01 3.56223799e+01] [ 2.29075096e-01 9.72517711e-01 -4.16401614e-02 1.64504293e+00] [ 1.16910231e-01 1.49803813e-02 9.93029499e-01 1.65374899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.260714057 meters Centerline goodness : 0.992884 Centerline is valid? [True, True] Translation: X:35.65, Y:1.64, Z:1.65 [[ 9.63472217e-01 -2.30164898e-01 -1.36913867e-01 3.56531886e+01] [ 2.33592782e-01 9.72290053e-01 9.29865071e-03 1.63505050e+00] [ 1.30979768e-01 -4.09410826e-02 9.90539312e-01 1.64749153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.290714056999995 meters Centerline goodness : 0.993586 Centerline is valid? [True, True] Translation: X:35.68, Y:1.65, Z:1.66 [[ 9.63135284e-01 -2.33025698e-01 -1.34422650e-01 3.56811378e+01] [ 2.33273795e-01 9.72308509e-01 -1.41244538e-02 1.64870153e+00] [ 1.33991647e-01 -1.77535218e-02 9.90823421e-01 1.66156064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.320714056999996 meters Centerline goodness : 0.992569 Centerline is valid? [True, True] Translation: X:35.71, Y:1.65, Z:1.67 [[ 9.63337205e-01 -2.31045535e-01 -1.36379585e-01 3.57104739e+01] [ 2.31490188e-01 9.72752889e-01 -1.28105753e-02 1.65444543e+00] [ 1.35623461e-01 -1.92296320e-02 9.90573823e-01 1.66679129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.350714057 meters Centerline goodness : 0.993048 Centerline is valid? [True, True] Translation: X:35.74, Y:1.66, Z:1.67 [[ 9.63003655e-01 -2.31372284e-01 -1.38169557e-01 3.57401579e+01] [ 2.31609889e-01 9.72699480e-01 -1.45801363e-02 1.66162762e+00] [ 1.37770896e-01 -1.79607112e-02 9.90301264e-01 1.67407260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.380714057 meters Centerline goodness : 0.992333 Centerline is valid? [True, True] Translation: X:35.77, Y:1.67, Z:1.68 [[ 9.63415231e-01 -2.30784937e-01 -1.36269607e-01 3.57715475e+01] [ 2.29944736e-01 9.72952885e-01 -2.20930323e-02 1.67048016e+00] [ 1.37682646e-01 -1.00497150e-02 9.90425410e-01 1.68150936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.410714057 meters Centerline goodness : 0.992432 Centerline is valid? [True, True] Translation: X:35.80, Y:1.67, Z:1.68 [[ 9.62961058e-01 -2.30080275e-01 -1.40602521e-01 3.58035185e+01] [ 2.30670649e-01 9.72954028e-01 -1.23090123e-02 1.67339941e+00] [ 1.39631850e-01 -2.05797752e-02 9.89989606e-01 1.68476873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.440714057 meters Centerline goodness : 0.991006 Centerline is valid? [True, True] Translation: X:35.83, Y:1.67, Z:1.69 [[ 9.65131084e-01 -2.24486453e-01 -1.34639602e-01 3.58286927e+01] [ 2.26570174e-01 9.73994831e-01 1.57997689e-04 1.67376415e+00] [ 1.31102808e-01 -3.06578066e-02 9.90894622e-01 1.68575781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.470714056999995 meters Centerline goodness : 0.993328 Centerline is valid? [True, True] Translation: X:35.86, Y:1.69, Z:1.70 [[ 9.62951972e-01 -2.32081468e-01 -1.37337874e-01 3.58625941e+01] [ 2.29108774e-01 9.72686192e-01 -3.72926535e-02 1.69174462e+00] [ 1.42241587e-01 4.44572245e-03 9.89821987e-01 1.70387819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.500714056999996 meters Centerline goodness : 0.992121 Centerline is valid? [True, True] Translation: X:35.89, Y:1.68, Z:1.69 [[ 9.65729621e-01 -2.22238708e-01 -1.34075562e-01 3.58926846e+01] [ 2.24850747e-01 9.74382961e-01 4.47073871e-03 1.68294631e+00] [ 1.29647371e-01 -3.44645150e-02 9.90961027e-01 1.69376093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.530714057 meters Centerline goodness : 0.991392 Centerline is valid? [True, True] Translation: X:35.92, Y:1.70, Z:1.71 [[ 9.65483407e-01 -2.25312594e-01 -1.30675266e-01 3.59209769e+01] [ 2.24670019e-01 9.74233032e-01 -1.98338656e-02 1.69677619e+00] [ 1.31776980e-01 -1.02095463e-02 9.91226812e-01 1.70819401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.560714057 meters Centerline goodness : 0.991292 Centerline is valid? [True, True] Translation: X:35.95, Y:1.70, Z:1.71 [[ 9.65616941e-01 -2.22746827e-01 -1.34043927e-01 3.59509387e+01] [ 2.23168861e-01 9.74705168e-01 -1.20620992e-02 1.69957479e+00] [ 1.33340103e-01 -1.82670632e-02 9.90901979e-01 1.71225987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.590714057 meters Centerline goodness : 0.991582 Centerline is valid? [True, True] Translation: X:35.98, Y:1.71, Z:1.72 [[ 9.65515153e-01 -2.24294985e-01 -1.32182634e-01 3.59832135e+01] [ 2.23409906e-01 9.74483387e-01 -2.16827750e-02 1.70761026e+00] [ 1.33673118e-01 -8.59586200e-03 9.90988198e-01 1.72132798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.620714057 meters Centerline goodness : 0.991704 Centerline is valid? [True, True] Translation: X:36.01, Y:1.71, Z:1.73 [[ 9.65628369e-01 -2.23013683e-01 -1.33516855e-01 3.60134949e+01] [ 2.22387177e-01 9.74757764e-01 -1.97799111e-02 1.71153044e+00] [ 1.34557781e-01 -1.05923931e-02 9.90849133e-01 1.72548739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.650714056999995 meters Centerline goodness : 0.991618 Centerline is valid? [True, True] Translation: X:36.04, Y:1.71, Z:1.73 [[ 9.66455563e-01 -2.19851115e-01 -1.32774746e-01 3.60429695e+01] [ 2.19156856e-01 9.75484556e-01 -2.00038354e-02 1.71492442e+00] [ 1.33917579e-01 -9.76567784e-03 9.90944354e-01 1.73013082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.680714056999996 meters Centerline goodness : 0.991436 Centerline is valid? [True, True] Translation: X:36.08, Y:1.72, Z:1.73 [[ 9.66510055e-01 -2.19850107e-01 -1.32379167e-01 3.60765542e+01] [ 2.19181922e-01 9.75483465e-01 -1.97811536e-02 1.71997277e+00] [ 1.33482577e-01 -9.89643634e-03 9.91001747e-01 1.73450629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.710714057 meters Centerline goodness : 0.990161 Centerline is valid? [True, True] Translation: X:36.10, Y:1.73, Z:1.74 [[ 9.66998528e-01 -2.17559392e-01 -1.32596220e-01 3.61019461e+01] [ 2.15912462e-01 9.76043449e-01 -2.68513427e-02 1.72632721e+00] [ 1.35261433e-01 -2.66396735e-03 9.90806362e-01 1.74003417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.740714057 meters Centerline goodness : 0.991617 Centerline is valid? [True, True] Translation: X:36.14, Y:1.73, Z:1.74 [[ 9.66761737e-01 -2.17774112e-01 -1.33963350e-01 3.61382904e+01] [ 2.17130981e-01 9.75946249e-01 -1.95717997e-02 1.72929795e+00] [ 1.35003260e-01 -1.01663264e-02 9.90792998e-01 1.74293628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.770714057 meters Centerline goodness : 0.991053 Centerline is valid? [True, True] Translation: X:36.17, Y:1.73, Z:1.75 [[ 9.67097400e-01 -2.15602598e-01 -1.35048651e-01 3.61702661e+01] [ 2.15363548e-01 9.76393638e-01 -1.65531328e-02 1.73251196e+00] [ 1.35429542e-01 -1.30760649e-02 9.90700689e-01 1.74669093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.800714057 meters Centerline goodness : 0.990714 Centerline is valid? [True, True] Translation: X:36.20, Y:1.74, Z:1.75 [[ 9.67419705e-01 -2.15645634e-01 -1.32650200e-01 3.62020214e+01] [ 2.13927697e-01 9.76469592e-01 -2.72410854e-02 1.73976874e+00] [ 1.35403308e-01 -2.02398898e-03 9.90788498e-01 1.75266663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.830714056999994 meters Centerline goodness : 0.990455 Centerline is valid? [True, True] Translation: X:36.24, Y:1.74, Z:1.75 [[ 9.67801229e-01 -2.14539327e-01 -1.31657350e-01 3.62362030e+01] [ 2.13427300e-01 9.76695922e-01 -2.26685570e-02 1.74215997e+00] [ 1.33452494e-01 -6.16061550e-03 9.91036063e-01 1.75425133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.860714056999996 meters Centerline goodness : 0.991516 Centerline is valid? [True, True] Translation: X:36.27, Y:1.75, Z:1.76 [[ 9.68314786e-01 -2.13094876e-01 -1.30219232e-01 3.62703163e+01] [ 2.11442122e-01 9.77029809e-01 -2.65514722e-02 1.74641379e+00] [ 1.32886054e-01 -1.82364773e-03 9.91129644e-01 1.75728592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.890714057 meters Centerline goodness : 0.991616 Centerline is valid? [True, True] Translation: X:36.30, Y:1.75, Z:1.76 [[ 9.68172566e-01 -2.11630270e-01 -1.33620772e-01 3.63043290e+01] [ 2.11882306e-01 9.77215300e-01 -1.24958242e-02 1.74668644e+00] [ 1.33220757e-01 -1.62137631e-02 9.90953755e-01 1.75793126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.920714057 meters Centerline goodness : 0.991415 Centerline is valid? [True, True] Translation: X:36.33, Y:1.75, Z:1.77 [[ 9.68253276e-01 -2.12148950e-01 -1.32205962e-01 3.63308111e+01] [ 2.10681626e-01 9.77231078e-01 -2.51529687e-02 1.75337475e+00] [ 1.34531950e-01 -3.49892264e-03 9.90903079e-01 1.76738390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.950714057 meters Centerline goodness : 0.991039 Centerline is valid? [True, True] Translation: X:36.36, Y:1.76, Z:1.77 [[ 9.68090713e-01 -2.12545146e-01 -1.32758925e-01 3.63618549e+01] [ 2.11221947e-01 9.77140064e-01 -2.41367733e-02 1.75777276e+00] [ 1.34854219e-01 -4.67501271e-03 9.90854421e-01 1.77008915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.980714057 meters Centerline goodness : 0.990910 Centerline is valid? [True, True] Translation: X:36.40, Y:1.76, Z:1.77 [[ 9.67956445e-01 -2.13344961e-01 -1.32454701e-01 3.63952195e+01] [ 2.12581323e-01 9.76937721e-01 -2.00466918e-02 1.76073980e+00] [ 1.33676854e-01 -8.75307100e-03 9.90986318e-01 1.77241180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.010714057 meters Centerline goodness : 0.990721 Centerline is valid? [True, True] Translation: X:36.43, Y:1.76, Z:1.78 [[ 9.67424391e-01 -2.15458146e-01 -1.32920409e-01 3.64265397e+01] [ 2.14519485e-01 9.76482718e-01 -2.15149311e-02 1.76337369e+00] [ 1.34430049e-01 -7.69994854e-03 9.90893169e-01 1.77708772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.040714056999995 meters Centerline goodness : 0.991091 Centerline is valid? [True, True] Translation: X:36.46, Y:1.77, Z:1.78 [[ 9.67207669e-01 -2.16658312e-01 -1.32546218e-01 3.64569898e+01] [ 2.15556325e-01 9.76225616e-01 -2.27819624e-02 1.76761819e+00] [ 1.34330915e-01 -6.53628698e-03 9.90914972e-01 1.78058225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.070714056999996 meters Centerline goodness : 0.992898 Centerline is valid? [True, True] Translation: X:36.49, Y:1.77, Z:1.78 [[ 9.66682118e-01 -2.18940216e-01 -1.32630558e-01 3.64917409e+01] [ 2.18442773e-01 9.75674943e-01 -1.84705577e-02 1.77097187e+00] [ 1.33448260e-01 -1.11170289e-02 9.90993428e-01 1.78328137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.100714057 meters Centerline goodness : 0.992898 Centerline is valid? [True, True] Translation: X:36.52, Y:1.78, Z:1.79 [[ 9.66593870e-01 -2.19416651e-01 -1.32486311e-01 3.65233744e+01] [ 2.18776369e-01 9.75579115e-01 -1.95522488e-02 1.77694510e+00] [ 1.33540967e-01 -1.00857902e-02 9.90991971e-01 1.78820469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.130714057 meters Centerline goodness : 0.991929 Centerline is valid? [True, True] Translation: X:36.56, Y:1.78, Z:1.79 [[ 9.65895726e-01 -2.24999651e-01 -1.28142902e-01 3.65553250e+01] [ 2.23189784e-01 9.74358255e-01 -2.85010633e-02 1.78243813e+00] [ 1.31269824e-01 -1.07113140e-03 9.91346098e-01 1.79420142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.160714057 meters Centerline goodness : 0.991842 Centerline is valid? [True, True] Translation: X:36.59, Y:1.78, Z:1.79 [[ 9.65332423e-01 -2.26375378e-01 -1.29951917e-01 3.65898952e+01] [ 2.25966587e-01 9.73967283e-01 -1.80785226e-02 1.78345420e+00] [ 1.30661448e-01 -1.19130072e-02 9.91355469e-01 1.79494984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.190714057 meters Centerline goodness : 0.992115 Centerline is valid? [True, True] Translation: X:36.62, Y:1.79, Z:1.80 [[ 9.64890865e-01 -2.27605614e-01 -1.31077470e-01 3.66197336e+01] [ 2.27395243e-01 9.73658101e-01 -1.67722035e-02 1.78794691e+00] [ 1.31442088e-01 -1.36230472e-02 9.91230241e-01 1.79925135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.220714056999995 meters Centerline goodness : 0.992329 Centerline is valid? [True, True] Translation: X:36.65, Y:1.79, Z:1.80 [[ 9.63367666e-01 -2.32235812e-01 -1.34124074e-01 3.66503461e+01] [ 2.33025432e-01 9.72419212e-01 -1.00011836e-02 1.78917084e+00] [ 1.32747460e-01 -2.16195033e-02 9.90914078e-01 1.80414876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.250714056999996 meters Centerline goodness : 0.991560 Centerline is valid? [True, True] Translation: X:36.68, Y:1.80, Z:1.81 [[ 9.62961711e-01 -2.34439901e-01 -1.33201636e-01 3.66790493e+01] [ 2.33595836e-01 9.72081390e-01 -2.21530244e-02 1.79788916e+00] [ 1.34676384e-01 -9.78283332e-03 9.90841343e-01 1.81144272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.280714057 meters Centerline goodness : 0.991213 Centerline is valid? [True, True] Translation: X:36.71, Y:1.80, Z:1.82 [[ 9.62674793e-01 -2.35872761e-01 -1.32745180e-01 3.67072019e+01] [ 2.35157789e-01 9.71724548e-01 -2.12653810e-02 1.80230283e+00] [ 1.34007674e-01 -1.07444167e-02 9.90922046e-01 1.81641434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.310714057 meters Centerline goodness : 0.992200 Centerline is valid? [True, True] Translation: X:36.74, Y:1.81, Z:1.82 [[ 9.61966977e-01 -2.38773126e-01 -1.32691103e-01 3.67430183e+01] [ 2.38717386e-01 9.70947794e-01 -1.65647713e-02 1.80663311e+00] [ 1.32791356e-01 -1.57409102e-02 9.91019011e-01 1.82037557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.340714057 meters Centerline goodness : 0.992058 Centerline is valid? [True, True] Translation: X:36.77, Y:1.81, Z:1.83 [[ 9.61653233e-01 -2.39866223e-01 -1.32993440e-01 3.67712852e+01] [ 2.38888613e-01 9.70762612e-01 -2.34985549e-02 1.81341321e+00] [ 1.34741569e-01 -9.17315717e-03 9.90838313e-01 1.82536713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.370714057 meters Centerline goodness : 0.991109 Centerline is valid? [True, True] Translation: X:36.80, Y:1.82, Z:1.83 [[ 9.61456857e-01 -2.40276296e-01 -1.33671288e-01 3.67995373e+01] [ 2.39472214e-01 9.70647019e-01 -2.23029838e-02 1.81794070e+00] [ 1.35106516e-01 -1.05672026e-02 9.90774729e-01 1.83047635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.400714056999995 meters Centerline goodness : 0.990671 Centerline is valid? [True, True] Translation: X:36.82, Y:1.82, Z:1.83 [[ 9.61448410e-01 -2.39676777e-01 -1.34803550e-01 3.68240258e+01] [ 2.39619684e-01 9.70719878e-01 -1.68916019e-02 1.82069156e+00] [ 1.34905011e-01 -1.60611803e-02 9.90728357e-01 1.83301986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.430714056999996 meters Centerline goodness : 0.992245 Centerline is valid? [True, True] Translation: X:36.86, Y:1.83, Z:1.84 [[ 9.61438639e-01 -2.40379435e-01 -1.33616882e-01 3.68614961e+01] [ 2.39812317e-01 9.70601434e-01 -2.05647454e-02 1.82894671e+00] [ 1.34632079e-01 -1.22712332e-02 9.90819671e-01 1.83791445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.460714057 meters Centerline goodness : 0.991929 Centerline is valid? [True, True] Translation: X:36.89, Y:1.83, Z:1.84 [[ 9.61281109e-01 -2.40472756e-01 -1.34578911e-01 3.68915301e+01] [ 2.40139673e-01 9.70553416e-01 -1.89474232e-02 1.83445442e+00] [ 1.35172361e-01 -1.41039356e-02 9.90721713e-01 1.84283837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.490714057 meters Centerline goodness : 0.991805 Centerline is valid? [True, True] Translation: X:36.92, Y:1.84, Z:1.85 [[ 9.61289849e-01 -2.39440673e-01 -1.36345114e-01 3.69212024e+01] [ 2.38769537e-01 9.70838224e-01 -2.15000425e-02 1.84218454e+00] [ 1.37517033e-01 -1.18872870e-02 9.90428068e-01 1.84722301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.520714057 meters Centerline goodness : 0.994490 Centerline is valid? [True, True] Translation: X:36.94, Y:1.86, Z:1.86 [[ 9.56285737e-01 -2.50939870e-01 -1.50155821e-01 3.69433193e+01] [ 2.49508463e-01 9.67949916e-01 -2.86092229e-02 1.85989320e+00] [ 1.52522509e-01 -1.01065564e-02 9.88248320e-01 1.85806162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.550714057 meters Centerline goodness : 0.995025 Centerline is valid? [True, True] Translation: X:36.97, Y:1.87, Z:1.86 [[ 9.56421626e-01 -2.50051467e-01 -1.50771140e-01 3.69747536e+01] [ 2.49016210e-01 9.68149774e-01 -2.60181298e-02 1.86506010e+00] [ 1.52474916e-01 -1.26601558e-02 9.88226250e-01 1.86074051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.580714056999994 meters Centerline goodness : 0.994136 Centerline is valid? [True, True] Translation: X:37.01, Y:1.87, Z:1.87 [[ 9.56828782e-01 -2.48529122e-01 -1.50704867e-01 3.70062871e+01] [ 2.47477806e-01 9.68544761e-01 -2.59957852e-02 1.87149141e+00] [ 1.52425119e-01 -1.24225943e-02 9.88236946e-01 1.86556822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.610714056999996 meters Centerline goodness : 0.985083 Centerline is valid? [True, True] Translation: X:37.03, Y:1.88, Z:1.86 [[ 9.60184433e-01 -2.46018178e-01 -1.32366574e-01 3.70267461e+01] [ 2.45390416e-01 9.69190473e-01 -2.12925129e-02 1.87611891e+00] [ 1.33526768e-01 -1.20367492e-02 9.90972108e-01 1.85825681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.640714057 meters Centerline goodness : 0.992320 Centerline is valid? [True, True] Translation: X:37.06, Y:1.88, Z:1.87 [[ 9.61354722e-01 -2.40589867e-01 -1.33841752e-01 3.70636987e+01] [ 2.40191056e-01 9.70532513e-01 -1.93622839e-02 1.87651796e+00] [ 1.34556141e-01 -1.35335688e-02 9.90813548e-01 1.86522399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.670714057 meters Centerline goodness : 0.994273 Centerline is valid? [True, True] Translation: X:37.09, Y:1.89, Z:1.88 [[ 9.57562363e-01 -2.48943983e-01 -1.45262570e-01 3.70897808e+01] [ 2.46313278e-01 9.68517145e-01 -3.61152261e-02 1.89363169e+00] [ 1.49679958e-01 -1.19751873e-03 9.88733774e-01 1.88000447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.700714057 meters Centerline goodness : 0.993245 Centerline is valid? [True, True] Translation: X:37.14, Y:1.91, Z:1.89 [[ 0.96236849 -0.24701551 -0.11327059 37.14175396] [ 0.23579474 0.96624483 -0.10378711 1.9094738 ] [ 0.13508415 0.07317284 0.98812854 1.88686597] [ 0. 0. 0. 1. ]] SLAMing on 37.730714057 meters Centerline goodness : 0.993713 Centerline is valid? [True, True] Translation: X:37.16, Y:1.87, Z:1.85 [[ 0.95788427 -0.23598269 -0.1636151 37.1578631 ] [ 0.24925475 0.96620698 0.06569732 1.87108685] [ 0.14258262 -0.10371227 0.98433427 1.85022893] [ 0. 0. 0. 1. ]] SLAMing on 37.760714057 meters Centerline goodness : 0.992671 Centerline is valid? [True, True] Translation: X:37.19, Y:1.91, Z:1.88 [[ 9.63230825e-01 -2.40991238e-01 -1.18783839e-01 3.71931773e+01] [ 2.35777833e-01 9.70171460e-01 -5.63573633e-02 1.90628997e+00] [ 1.28822321e-01 2.62785535e-02 9.91319448e-01 1.88407422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.790714056999995 meters Centerline goodness : 0.992490 Centerline is valid? [True, True] Translation: X:37.23, Y:1.90, Z:1.88 [[ 9.63524797e-01 -2.39070442e-01 -1.20271731e-01 3.72339158e+01] [ 2.36799220e-01 9.70996408e-01 -3.30470063e-02 1.90382917e+00] [ 1.24683981e-01 3.36135792e-03 9.92190811e-01 1.87577177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.820714056999996 meters Centerline goodness : 0.994263 Centerline is valid? [True, True] Translation: X:37.24, Y:1.90, Z:1.88 [[ 9.55962246e-01 -2.45668343e-01 -1.60571632e-01 3.72442315e+01] [ 2.53386718e-01 9.66924902e-01 2.91788583e-02 1.90045578e+00] [ 1.48092388e-01 -6.85806057e-02 9.86592796e-01 1.87577700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.850714057 meters Centerline goodness : 0.993113 Centerline is valid? [True, True] Translation: X:37.29, Y:1.94, Z:1.90 [[ 0.96284559 -0.24953839 -0.10324221 37.28877471] [ 0.23931792 0.96557722 -0.10191938 1.9372479 ] [ 0.12512112 0.07342491 0.98942078 1.90407164] [ 0. 0. 0. 1. ]] SLAMing on 37.880714057 meters Centerline goodness : 0.993871 Centerline is valid? [True, True] Translation: X:37.31, Y:1.90, Z:1.87 [[ 0.95533745 -0.2438856 -0.16688369 37.30541006] [ 0.2571587 0.96432316 0.06285094 1.9005804 ] [ 0.14560136 -0.10295945 0.98397134 1.87253992] [ 0. 0. 0. 1. ]] SLAMing on 37.910714057 meters Centerline goodness : 0.993841 Centerline is valid? [True, True] Translation: X:37.35, Y:1.95, Z:1.92 [[ 0.9590264 -0.25750816 -0.11814359 37.34587921] [ 0.24639111 0.96390612 -0.10087817 1.94946667] [ 0.13985628 0.0676353 0.98785914 1.9180623 ] [ 0. 0. 0. 1. ]] SLAMing on 37.940714057 meters Centerline goodness : 0.994592 Centerline is valid? [True, True] Translation: X:37.36, Y:1.91, Z:1.88 [[ 0.95448723 -0.24768562 -0.16615041 37.36137775] [ 0.26058003 0.96355079 0.06056341 1.91261355] [ 0.14509367 -0.10110248 0.98423885 1.88256728] [ 0. 0. 0. 1. ]] SLAMing on 37.970714056999995 meters Centerline goodness : 0.995187 Centerline is valid? [True, True] Translation: X:37.38, Y:1.95, Z:1.92 [[ 9.53508841e-01 -2.61121350e-01 -1.50454416e-01 3.73832361e+01] [ 2.60070670e-01 9.65212817e-01 -2.69715645e-02 1.94774376e+00] [ 1.52263382e-01 -1.34111555e-02 9.88248958e-01 1.91971630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.000714056999996 meters Centerline goodness : 0.994007 Centerline is valid? [True, True] Translation: X:37.43, Y:1.95, Z:1.93 [[ 9.56706932e-01 -2.58563201e-01 -1.33629774e-01 3.74294338e+01] [ 2.52897246e-01 9.65749388e-01 -5.80611931e-02 1.95436164e+00] [ 1.44065361e-01 2.17529440e-02 9.89329056e-01 1.92641632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.030714057 meters Centerline goodness : 0.993405 Centerline is valid? [True, True] Translation: X:37.46, Y:1.94, Z:1.91 [[ 9.58703022e-01 -2.48652911e-01 -1.38058851e-01 3.74629664e+01] [ 2.51414083e-01 9.67875984e-01 2.65293123e-03 1.94052651e+00] [ 1.32964187e-01 -3.72533127e-02 9.90420474e-01 1.91063780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.060714057 meters Centerline goodness : 0.992634 Centerline is valid? [True, True] Translation: X:37.49, Y:1.95, Z:1.92 [[ 9.58527070e-01 -2.52524118e-01 -1.32126552e-01 3.74895540e+01] [ 2.51461219e-01 9.67545794e-01 -2.49477701e-02 1.95498528e+00] [ 1.34138404e-01 -9.31159093e-03 9.90918858e-01 1.92478863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.090714057 meters Centerline goodness : 0.993114 Centerline is valid? [True, True] Translation: X:37.52, Y:1.97, Z:1.93 [[ 9.56718458e-01 -2.56679970e-01 -1.37131999e-01 3.75243077e+01] [ 2.53135588e-01 9.66475153e-01 -4.29901362e-02 1.96689697e+00] [ 1.43569377e-01 6.41646751e-03 9.89619454e-01 1.93203697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.120714057 meters Centerline goodness : 0.991704 Centerline is valid? [True, True] Translation: X:37.56, Y:1.96, Z:1.92 [[ 9.58967685e-01 -2.49527486e-01 -1.34599457e-01 3.75574449e+01] [ 2.50805052e-01 9.68007340e-01 -7.65603000e-03 1.96131779e+00] [ 1.32203652e-01 -2.64163385e-02 9.90870512e-01 1.92363522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.150714056999995 meters Centerline goodness : 0.992707 Centerline is valid? [True, True] Translation: X:37.59, Y:1.97, Z:1.93 [[ 9.59053985e-01 -2.49601498e-01 -1.33845233e-01 3.75871892e+01] [ 2.49547485e-01 9.68205274e-01 -1.74528157e-02 1.97152669e+00] [ 1.33945909e-01 -1.66625488e-02 9.90848552e-01 1.93235597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.180714056999996 meters Centerline goodness : 0.991990 Centerline is valid? [True, True] Translation: X:37.62, Y:1.98, Z:1.94 [[ 9.58716519e-01 -2.48932150e-01 -1.37460614e-01 3.76165813e+01] [ 2.49471535e-01 9.68287053e-01 -1.35696744e-02 1.97735022e+00] [ 1.36479261e-01 -2.12830394e-02 9.90414279e-01 1.93784111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.210714057 meters Centerline goodness : 0.992273 Centerline is valid? [True, True] Translation: X:37.65, Y:1.99, Z:1.95 [[ 9.58927371e-01 -2.48397642e-01 -1.36955866e-01 3.76474817e+01] [ 2.47897448e-01 9.68559263e-01 -2.09716439e-02 1.98671006e+00] [ 1.37859179e-01 -1.38407262e-02 9.90355129e-01 1.94540282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.240714057 meters Centerline goodness : 0.991845 Centerline is valid? [True, True] Translation: X:37.68, Y:1.99, Z:1.95 [[ 9.59391470e-01 -2.46570895e-01 -1.37006571e-01 3.76790681e+01] [ 2.45999021e-01 9.69034702e-01 -2.13594959e-02 1.99345016e+00] [ 1.38030752e-01 -1.32113642e-02 9.90339826e-01 1.94960200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.270714057 meters Centerline goodness : 0.991933 Centerline is valid? [True, True] Translation: X:37.71, Y:2.00, Z:1.95 [[ 9.60051771e-01 -2.40860250e-01 -1.42432220e-01 3.77081620e+01] [ 2.42146319e-01 9.70202538e-01 -8.49683270e-03 1.99680213e+00] [ 1.40234650e-01 -2.63320385e-02 9.89768087e-01 1.95297547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.300714057 meters Centerline goodness : 0.991520 Centerline is valid? [True, True] Translation: X:37.74, Y:2.01, Z:1.96 [[ 9.60545460e-01 -2.40816877e-01 -1.39138963e-01 3.77354286e+01] [ 2.39683189e-01 9.70526603e-01 -2.51014260e-02 2.00892154e+00] [ 1.41082912e-01 -9.23820955e-03 9.89954679e-01 1.96414987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.330714056999994 meters Centerline goodness : 0.991804 Centerline is valid? [True, True] Translation: X:37.77, Y:2.03, Z:1.97 [[ 9.62079276e-01 -2.42189953e-01 -1.25489014e-01 3.77719755e+01] [ 2.36373669e-01 9.69835095e-01 -5.95598588e-02 2.02778460e+00] [ 1.36128449e-01 2.76390072e-02 9.90305574e-01 1.97484828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.360714056999996 meters Centerline goodness : 0.991439 Centerline is valid? [True, True] Translation: X:37.81, Y:2.02, Z:1.96 [[ 9.63592735e-01 -2.29775690e-01 -1.36719324e-01 3.78063402e+01] [ 2.30752793e-01 9.72971920e-01 -8.87642920e-03 2.01872154e+00] [ 1.35063651e-01 -2.29951032e-02 9.90570056e-01 1.96188011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.390714057 meters Centerline goodness : 0.991721 Centerline is valid? [True, True] Translation: X:37.83, Y:2.03, Z:1.97 [[ 9.63019952e-01 -2.30415593e-01 -1.39646794e-01 3.78338076e+01] [ 2.31161810e-01 9.72852257e-01 -1.10771968e-02 2.02703808e+00] [ 1.38408058e-01 -2.16134442e-02 9.90139419e-01 1.97164439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.420714057 meters Centerline goodness : 0.991040 Centerline is valid? [True, True] Translation: X:37.85, Y:2.02, Z:1.98 [[ 9.61385705e-01 -2.25535350e-01 -1.57706474e-01 3.78501549e+01] [ 2.30913465e-01 9.72835891e-01 1.64103670e-02 2.02436696e+00] [ 1.49721400e-01 -5.21932407e-02 9.87349668e-01 1.97560685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.450714057 meters Centerline goodness : 0.983552 Centerline is valid? [True, True] Translation: X:37.87, Y:2.05, Z:1.99 [[ 9.61313399e-01 -2.39521340e-01 -1.36037044e-01 3.78672263e+01] [ 2.36146462e-01 9.70866079e-01 -4.06682345e-02 2.05490668e+00] [ 1.41814662e-01 6.97025205e-03 9.89868687e-01 1.99209650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.480714057 meters Centerline goodness : 0.984233 Centerline is valid? [True, True] Translation: X:37.90, Y:2.05, Z:1.99 [[ 9.61689353e-01 -2.36039806e-01 -1.39423093e-01 3.78964011e+01] [ 2.34858753e-01 9.71705302e-01 -2.51032258e-02 2.05417759e+00] [ 1.41403519e-01 -8.60322881e-03 9.89914658e-01 1.99059347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.510714057 meters Centerline goodness : 0.991185 Centerline is valid? [True, True] Translation: X:37.93, Y:2.05, Z:1.99 [[ 9.62553762e-01 -2.28844518e-01 -1.45328733e-01 3.79300133e+01] [ 2.30904317e-01 9.72972538e-01 -2.76348161e-03 2.04709536e+00] [ 1.42033274e-01 -3.08970322e-02 9.89379564e-01 1.98927771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.540714056999995 meters Centerline goodness : 0.983308 Centerline is valid? [True, True] Translation: X:37.95, Y:2.07, Z:2.01 [[ 9.61325787e-01 -2.41180271e-01 -1.32984239e-01 3.79470584e+01] [ 2.35389377e-01 9.70174385e-01 -5.79094425e-02 2.07402814e+00] [ 1.42984518e-01 2.43667632e-02 9.89424928e-01 2.01136289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.570714056999996 meters Centerline goodness : 0.992915 Centerline is valid? [True, True] Translation: X:37.98, Y:2.07, Z:2.01 [[ 9.58888025e-01 -2.37963789e-01 -1.54618858e-01 3.79830046e+01] [ 2.36773158e-01 9.71207727e-01 -2.63442960e-02 2.06824839e+00] [ 1.56436018e-01 -1.13483654e-02 9.87622897e-01 2.01265933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.600714057 meters Centerline goodness : 0.990715 Centerline is valid? [True, True] Translation: X:38.03, Y:2.08, Z:2.02 [[ 9.64538757e-01 -2.32527240e-01 -1.24884220e-01 3.80255816e+01] [ 2.25985555e-01 9.71998624e-01 -6.44143134e-02 2.07623805e+00] [ 1.36365372e-01 3.39080721e-02 9.90078142e-01 2.01912622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.630714057 meters Centerline goodness : 0.990397 Centerline is valid? [True, True] Translation: X:38.05, Y:2.05, Z:1.99 [[ 9.62949230e-01 -2.24244610e-01 -1.49810334e-01 3.80516559e+01] [ 2.31831054e-01 9.72125162e-01 3.50290087e-02 2.05175560e+00] [ 1.37779329e-01 -6.84618446e-02 9.88094040e-01 1.99317902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.660714057 meters Centerline goodness : 0.992375 Centerline is valid? [True, True] Translation: X:38.07, Y:2.09, Z:2.03 [[ 9.59920773e-01 -2.40654550e-01 -1.43657566e-01 3.80738913e+01] [ 2.35798667e-01 9.70505584e-01 -5.01786711e-02 2.08621776e+00] [ 1.51496195e-01 1.42932862e-02 9.88354493e-01 2.03060677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.690714057 meters Centerline goodness : 0.991302 Centerline is valid? [True, True] Translation: X:38.12, Y:2.08, Z:2.02 [[ 9.64611616e-01 -2.28875518e-01 -1.30921455e-01 3.81180202e+01] [ 2.25804127e-01 9.73429542e-01 -3.80449973e-02 2.08004038e+00] [ 1.36150380e-01 7.13604146e-03 9.90662481e-01 2.02347839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.720714056999995 meters Centerline goodness : 0.991231 Centerline is valid? [True, True] Translation: X:38.15, Y:2.08, Z:2.02 [[ 9.64503165e-01 -2.26411410e-01 -1.35909962e-01 3.81521439e+01] [ 2.26434490e-01 9.73903132e-01 -1.54955450e-02 2.07765982e+00] [ 1.35871505e-01 -1.58292006e-02 9.90600005e-01 2.02039725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.750714056999996 meters Centerline goodness : 0.991181 Centerline is valid? [True, True] Translation: X:38.18, Y:2.08, Z:2.03 [[ 9.64658272e-01 -2.26347552e-01 -1.34911838e-01 3.81835972e+01] [ 2.25660984e-01 9.73988842e-01 -2.05634635e-02 2.08371676e+00] [ 1.36057114e-01 -1.06076229e-02 9.90644205e-01 2.02649197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.780714057 meters Centerline goodness : 0.992237 Centerline is valid? [True, True] Translation: X:38.22, Y:2.09, Z:2.03 [[ 9.65218433e-01 -2.26021061e-01 -1.31407214e-01 3.82165306e+01] [ 2.23932321e-01 9.74122401e-01 -3.06571815e-02 2.09194811e+00] [ 1.34935879e-01 1.64554234e-04 9.90854319e-01 2.03129830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.810714057 meters Centerline goodness : 0.992362 Centerline is valid? [True, True] Translation: X:38.25, Y:2.09, Z:2.03 [[ 9.65387178e-01 -2.22952401e-01 -1.35350745e-01 3.82474723e+01] [ 2.22958420e-01 9.74707723e-01 -1.53100477e-02 2.09332991e+00] [ 1.35340828e-01 -1.53974646e-02 9.90679453e-01 2.03153365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.840714057 meters Centerline goodness : 0.990788 Centerline is valid? [True, True] Translation: X:38.28, Y:2.10, Z:2.04 [[ 9.65528566e-01 -2.21616604e-01 -1.36530834e-01 3.82777362e+01] [ 2.21840234e-01 9.74985801e-01 -1.37694808e-02 2.09876676e+00] [ 1.36167170e-01 -1.69932052e-02 9.90540122e-01 2.03788425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.870714057 meters Centerline goodness : 0.991777 Centerline is valid? [True, True] Translation: X:38.31, Y:2.11, Z:2.05 [[ 9.66701418e-01 -2.20140734e-01 -1.30485348e-01 3.83094770e+01] [ 2.17529761e-01 9.75457300e-01 -3.41153794e-02 2.11077857e+00] [ 1.34793070e-01 4.59493901e-03 9.90863116e-01 2.04623568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.900714056999995 meters Centerline goodness : 0.990699 Centerline is valid? [True, True] Translation: X:38.35, Y:2.12, Z:2.05 [[ 9.68360345e-01 -2.18747671e-01 -1.20115360e-01 3.83460047e+01] [ 2.13734252e-01 9.75436470e-01 -5.33044364e-02 2.12202833e+00] [ 1.28825124e-01 2.59451357e-02 9.91327866e-01 2.04877401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.930714056999996 meters Centerline goodness : 0.991365 Centerline is valid? [True, True] Translation: X:38.38, Y:2.11, Z:2.04 [[ 9.68813395e-01 -2.06184791e-01 -1.37435208e-01 3.83778192e+01] [ 2.09859133e-01 9.77649866e-01 1.26445475e-02 2.10536355e+00] [ 1.31756400e-01 -4.10922407e-02 9.90430047e-01 2.03581153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.960714057 meters Centerline goodness : 0.984583 Centerline is valid? [True, True] Translation: X:38.39, Y:2.12, Z:2.04 [[ 9.68811323e-01 -2.10400068e-01 -1.30906195e-01 3.83902956e+01] [ 2.10770135e-01 9.77471709e-01 -1.11806853e-02 2.11747234e+00] [ 1.30309519e-01 -1.67591418e-02 9.91331711e-01 2.04356258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.990714057 meters Centerline goodness : 0.984583 Centerline is valid? [True, True] Translation: X:38.42, Y:2.13, Z:2.05 [[ 9.68750631e-01 -2.12143041e-01 -1.28520603e-01 3.84166298e+01] [ 2.10512968e-01 9.77237346e-01 -2.62956393e-02 2.12694413e+00] [ 1.31173569e-01 -1.58133630e-03 9.91358156e-01 2.05366983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.020714057 meters Centerline goodness : 0.991038 Centerline is valid? [True, True] Translation: X:38.46, Y:2.14, Z:2.07 [[ 9.69387482e-01 -2.09487780e-01 -1.28073334e-01 3.84553761e+01] [ 2.05350727e-01 9.77660459e-01 -4.48453659e-02 2.13783537e+00] [ 1.34606791e-01 1.71725842e-02 9.90750278e-01 2.07198149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.050714057 meters Centerline goodness : 0.991790 Centerline is valid? [True, True] Translation: X:38.49, Y:2.14, Z:2.07 [[ 9.70014572e-01 -2.05951936e-01 -1.29056306e-01 3.84946528e+01] [ 2.03183663e-01 9.78535973e-01 -3.44056347e-02 2.13995440e+00] [ 1.33372145e-01 7.15183402e-03 9.91040222e-01 2.07059288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.080714056999994 meters Centerline goodness : 0.993181 Centerline is valid? [True, True] Translation: X:38.51, Y:2.14, Z:2.07 [[ 9.63404223e-01 -2.10182294e-01 -1.66360170e-01 3.85072920e+01] [ 2.17680746e-01 9.75618533e-01 2.79923285e-02 2.13525853e+00] [ 1.56420574e-01 -6.31813336e-02 9.85667654e-01 2.06844505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.110714056999996 meters Centerline goodness : 0.993181 Centerline is valid? [True, True] Translation: X:38.53, Y:2.16, Z:2.10 [[ 9.63177674e-01 -2.19042669e-01 -1.55913684e-01 3.85321549e+01] [ 2.17164767e-01 9.75698382e-01 -2.91912949e-02 2.16007054e+00] [ 1.58518868e-01 -5.74255537e-03 9.87339248e-01 2.09513495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.140714057 meters Centerline goodness : 0.992046 Centerline is valid? [True, True] Translation: X:38.58, Y:2.17, Z:2.11 [[ 0.96821426 -0.21551655 -0.12694003 38.57895175] [ 0.20493938 0.97450232 -0.0913514 2.17292623] [ 0.14339109 0.06243272 0.98769487 2.10587775] [ 0. 0. 0. 1. ]] SLAMing on 39.170714057 meters Centerline goodness : 0.992218 Centerline is valid? [True, True] Translation: X:38.62, Y:2.16, Z:2.08 [[ 9.68684887e-01 -2.05722959e-01 -1.39023933e-01 3.86206560e+01] [ 2.03941348e-01 9.78608011e-01 -2.70977365e-02 2.15679592e+00] [ 1.41624561e-01 -2.10356060e-03 9.89918208e-01 2.08454408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.200714057 meters Centerline goodness : 0.992519 Centerline is valid? [True, True] Translation: X:38.65, Y:2.16, Z:2.09 [[ 9.67532493e-01 -2.05698182e-01 -1.46864337e-01 3.86534407e+01] [ 2.06035591e-01 9.78457100e-01 -1.30781747e-02 2.15691311e+00] [ 1.46390610e-01 -1.76057214e-02 9.89070184e-01 2.08742833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.230714057 meters Centerline goodness : 0.992770 Centerline is valid? [True, True] Translation: X:38.68, Y:2.16, Z:2.09 [[ 9.67734677e-01 -2.06449831e-01 -1.44457820e-01 3.86822449e+01] [ 2.05845724e-01 9.78394486e-01 -1.92812702e-02 2.16432691e+00] [ 1.45317350e-01 -1.10768709e-02 9.89323087e-01 2.09380962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.260714057 meters Centerline goodness : 0.992951 Centerline is valid? [True, True] Translation: X:38.71, Y:2.17, Z:2.10 [[ 9.67006663e-01 -2.08217681e-01 -1.46777083e-01 3.87136612e+01] [ 2.07682872e-01 9.78009105e-01 -1.91315038e-02 2.16944307e+00] [ 1.47532841e-01 -1.19827944e-02 9.88984567e-01 2.09950242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.290714056999995 meters Centerline goodness : 0.992666 Centerline is valid? [True, True] Translation: X:38.74, Y:2.17, Z:2.10 [[ 9.66102823e-01 -2.08243768e-01 -1.52577415e-01 3.87415217e+01] [ 2.09619385e-01 9.77756586e-01 -7.19526946e-03 2.17065318e+00] [ 1.50681943e-01 -2.50318139e-02 9.88265329e-01 2.10366392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.320714056999996 meters Centerline goodness : 0.993810 Centerline is valid? [True, True] Translation: X:38.75, Y:2.17, Z:2.11 [[ 9.60671821e-01 -2.16739336e-01 -1.73590647e-01 3.87497081e+01] [ 2.24431999e-01 9.74149636e-01 2.57441977e-02 2.17225161e+00] [ 1.63523486e-01 -6.36910213e-02 9.84481347e-01 2.10949569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.350714057 meters Centerline goodness : 0.993344 Centerline is valid? [True, True] Translation: X:38.79, Y:2.19, Z:2.14 [[ 9.63246977e-01 -2.24266314e-01 -1.47850878e-01 3.87865133e+01] [ 2.17682054e-01 9.74203475e-01 -5.95156549e-02 2.19454767e+00] [ 1.57384196e-01 2.51437919e-02 9.87217304e-01 2.13663072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.380714057 meters Centerline goodness : 0.991254 Centerline is valid? [True, True] Translation: X:38.82, Y:2.18, Z:2.13 [[ 9.64534986e-01 -2.19363946e-01 -1.46805042e-01 3.88195191e+01] [ 2.19046895e-01 9.75538456e-01 -1.85250555e-02 2.18457555e+00] [ 1.47277694e-01 -1.42891246e-02 9.88991962e-01 2.12574062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.410714057 meters Centerline goodness : 0.992237 Centerline is valid? [True, True] Translation: X:38.85, Y:2.19, Z:2.13 [[ 9.64309923e-01 -2.22176930e-01 -1.44027029e-01 3.88482715e+01] [ 2.20734989e-01 9.74984000e-01 -2.61201764e-02 2.19199857e+00] [ 1.46227350e-01 -6.60385949e-03 9.89228968e-01 2.13275761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.440714057 meters Centerline goodness : 0.992303 Centerline is valid? [True, True] Translation: X:38.88, Y:2.20, Z:2.14 [[ 9.63423355e-01 -2.27808881e-01 -1.41133106e-01 3.88822719e+01] [ 2.24917748e-01 9.73700434e-01 -3.63245348e-02 2.19978009e+00] [ 1.45696418e-01 3.25256487e-03 9.89323999e-01 2.13992172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.470714056999995 meters Centerline goodness : 0.993968 Centerline is valid? [True, True] Translation: X:38.90, Y:2.19, Z:2.14 [[ 9.56358253e-01 -2.35844241e-01 -1.72500393e-01 3.89000977e+01] [ 2.42004687e-01 9.70154574e-01 1.52916207e-02 2.19324341e+00] [ 1.63745604e-01 -5.63701712e-02 9.84890746e-01 2.13876294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.500714056999996 meters Centerline goodness : 0.993399 Centerline is valid? [True, True] Translation: X:38.94, Y:2.22, Z:2.17 [[ 0.96009446 -0.24482103 -0.13520832 38.93902298] [ 0.23332882 0.96770782 -0.09538991 2.22404745] [ 0.1541956 0.06003533 0.98621472 2.16730211] [ 0. 0. 0. 1. ]] SLAMing on 39.530714057 meters Centerline goodness : 0.992236 Centerline is valid? [True, True] Translation: X:38.97, Y:2.19, Z:2.14 [[ 9.61853628e-01 -2.28180951e-01 -1.50900802e-01 3.89749457e+01] [ 2.32012797e-01 9.72679385e-01 8.05458450e-03 2.19238818e+00] [ 1.44940196e-01 -4.27582483e-02 9.88516096e-01 2.13952481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.560714057 meters Centerline goodness : 0.992886 Centerline is valid? [True, True] Translation: X:39.00, Y:2.21, Z:2.16 [[ 9.60642205e-01 -2.36964458e-01 -1.44963442e-01 3.90042825e+01] [ 2.35500776e-01 9.71487077e-01 -2.74270809e-02 2.21131762e+00] [ 1.47329354e-01 -7.79139152e-03 9.89056801e-01 2.15796910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.590714057 meters Centerline goodness : 0.992904 Centerline is valid? [True, True] Translation: X:39.03, Y:2.21, Z:2.16 [[ 9.59604060e-01 -2.35280413e-01 -1.54282777e-01 3.90326785e+01] [ 2.37571540e-01 9.71363066e-01 -3.68213031e-03 2.20941239e+00] [ 1.50730924e-01 -3.31198096e-02 9.88019872e-01 2.16019915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.620714057 meters Centerline goodness : 0.992051 Centerline is valid? [True, True] Translation: X:39.06, Y:2.22, Z:2.17 [[ 9.59667474e-01 -2.39028852e-01 -1.47998472e-01 3.90590065e+01] [ 2.37652410e-01 9.70969928e-01 -2.71795996e-02 2.22188730e+00] [ 1.50198775e-01 -9.08881591e-03 9.88614041e-01 2.17293404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.650714056999995 meters Centerline goodness : 0.991695 Centerline is valid? [True, True] Translation: X:39.09, Y:2.23, Z:2.18 [[ 9.59733963e-01 -2.39309987e-01 -1.47110336e-01 3.90926683e+01] [ 2.37440868e-01 9.70926171e-01 -3.04007435e-02 2.22622739e+00] [ 1.50108477e-01 -5.75337991e-03 9.88652792e-01 2.17731379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.680714056999996 meters Centerline goodness : 0.991389 Centerline is valid? [True, True] Translation: X:39.12, Y:2.23, Z:2.18 [[ 9.59924137e-01 -2.38416910e-01 -1.47319475e-01 3.91238752e+01] [ 2.37375704e-01 9.71099503e-01 -2.48702651e-02 2.22910593e+00] [ 1.48991360e-01 -1.10964962e-02 9.88776235e-01 2.18001216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.710714057 meters Centerline goodness : 0.991684 Centerline is valid? [True, True] Translation: X:39.15, Y:2.23, Z:2.18 [[ 9.59386959e-01 -2.36370245e-01 -1.53966781e-01 3.91507814e+01] [ 2.37586801e-01 9.71307164e-01 -1.07194175e-02 2.23043113e+00] [ 1.52082789e-01 -2.62964055e-02 9.88017877e-01 2.18406093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.740714057 meters Centerline goodness : 0.990834 Centerline is valid? [True, True] Translation: X:39.18, Y:2.24, Z:2.20 [[ 9.59604337e-01 -2.38676591e-01 -1.48973157e-01 3.91799496e+01] [ 2.36099899e-01 9.71097835e-01 -3.50119054e-02 2.24403219e+00] [ 1.53024033e-01 -1.57497108e-03 9.88221213e-01 2.19543759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.770714057 meters Centerline goodness : 0.991110 Centerline is valid? [True, True] Translation: X:39.21, Y:2.24, Z:2.20 [[ 9.59081309e-01 -2.35527400e-01 -1.57130155e-01 3.92115041e+01] [ 2.36429865e-01 9.71558963e-01 -1.31947450e-02 2.24221024e+00] [ 1.55768935e-01 -2.44954280e-02 9.87489753e-01 2.19604108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.800714057 meters Centerline goodness : 0.991767 Centerline is valid? [True, True] Translation: X:39.24, Y:2.25, Z:2.21 [[ 9.58723145e-01 -2.38790774e-01 -1.54366116e-01 3.92415582e+01] [ 2.37238195e-01 9.71028140e-01 -2.86773598e-02 2.25269389e+00] [ 1.56741731e-01 -9.12789020e-03 9.87597444e-01 2.20664768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.830714056999994 meters Centerline goodness : 0.991202 Centerline is valid? [True, True] Translation: X:39.27, Y:2.26, Z:2.21 [[ 9.59190290e-01 -2.36432331e-01 -1.55092685e-01 3.92705238e+01] [ 2.35437115e-01 9.71567390e-01 -2.50234177e-02 2.25631207e+00] [ 1.56599340e-01 -1.25123550e-02 9.87582952e-01 2.21062028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.860714056999996 meters Centerline goodness : 0.991142 Centerline is valid? [True, True] Translation: X:39.30, Y:2.26, Z:2.22 [[ 9.58824778e-01 -2.36855764e-01 -1.56698412e-01 3.93018013e+01] [ 2.36068437e-01 9.71442719e-01 -2.38900974e-02 2.26083926e+00] [ 1.57882038e-01 -1.40851319e-02 9.87357519e-01 2.21740579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.890714057 meters Centerline goodness : 0.991550 Centerline is valid? [True, True] Translation: X:39.33, Y:2.27, Z:2.22 [[ 9.58967186e-01 -2.36011772e-01 -1.57099903e-01 3.93297657e+01] [ 2.34557625e-01 9.71698794e-01 -2.80031300e-02 2.26873630e+00] [ 1.59262854e-01 -9.99489724e-03 9.87185618e-01 2.22251089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.920714057 meters Centerline goodness : 0.990937 Centerline is valid? [True, True] Translation: X:39.36, Y:2.28, Z:2.23 [[ 9.59686213e-01 -2.35526200e-01 -1.53394206e-01 3.93583191e+01] [ 2.32924366e-01 9.71865598e-01 -3.49785644e-02 2.27710513e+00] [ 1.57316920e-01 -2.16080206e-03 9.87545805e-01 2.22937200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.950714057 meters Centerline goodness : 0.990843 Centerline is valid? [True, True] Translation: X:39.39, Y:2.28, Z:2.23 [[ 9.59755613e-01 -2.32728097e-01 -1.57183957e-01 3.93892054e+01] [ 2.32522227e-01 9.72386285e-01 -1.99581269e-02 2.27801493e+00] [ 1.57488341e-01 -1.73938394e-02 9.87367650e-01 2.23118915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.980714057 meters Centerline goodness : 0.991767 Centerline is valid? [True, True] Translation: X:39.42, Y:2.28, Z:2.24 [[ 9.59683807e-01 -2.32381252e-01 -1.58132677e-01 3.94168451e+01] [ 2.32427058e-01 9.72438527e-01 -1.84654931e-02 2.28227958e+00] [ 1.58065342e-01 -1.90332782e-02 9.87245199e-01 2.23751675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.010714057 meters Centerline goodness : 0.991813 Centerline is valid? [True, True] Translation: X:39.44, Y:2.29, Z:2.25 [[ 9.59352218e-01 -2.34705464e-01 -1.56705672e-01 3.94421184e+01] [ 2.31915902e-01 9.72065060e-01 -3.61183250e-02 2.29212335e+00] [ 1.60805277e-01 -1.69234203e-03 9.86984700e-01 2.24560567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.040714056999995 meters Centerline goodness : 0.991773 Centerline is valid? [True, True] Translation: X:39.47, Y:2.29, Z:2.25 [[ 9.59783160e-01 -2.34079201e-01 -1.54994240e-01 3.94718634e+01] [ 2.33001663e-01 9.72146045e-01 -2.53435010e-02 2.29348751e+00] [ 1.56609424e-01 -1.17896503e-02 9.87590245e-01 2.24625428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.070714056999996 meters Centerline goodness : 0.992041 Centerline is valid? [True, True] Translation: X:39.50, Y:2.30, Z:2.25 [[ 9.59474478e-01 -2.35752756e-01 -1.54367625e-01 3.95013182e+01] [ 2.34312442e-01 9.71765948e-01 -2.77240318e-02 2.29883868e+00] [ 1.56545218e-01 -9.56975415e-03 9.87624430e-01 2.25264734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.100714057 meters Centerline goodness : 0.990609 Centerline is valid? [True, True] Translation: X:39.53, Y:2.31, Z:2.26 [[ 9.59508749e-01 -2.37224616e-01 -1.51879693e-01 3.95285389e+01] [ 2.34839277e-01 9.71449178e-01 -3.37195704e-02 2.30576620e+00] [ 1.55542515e-01 -3.31309444e-03 9.87823643e-01 2.25754253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.130714057 meters Centerline goodness : 0.990859 Centerline is valid? [True, True] Translation: X:39.56, Y:2.31, Z:2.26 [[ 9.59293954e-01 -2.38893764e-01 -1.50615002e-01 3.95559559e+01] [ 2.35844223e-01 9.71045204e-01 -3.80619859e-02 2.31163683e+00] [ 1.55346746e-01 9.90954953e-04 9.87859507e-01 2.26047533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.160714057 meters Centerline goodness : 0.990726 Centerline is valid? [True, True] Translation: X:39.58, Y:2.31, Z:2.26 [[ 9.58680159e-01 -2.37584983e-01 -1.56479162e-01 3.95834053e+01] [ 2.37166691e-01 9.71228476e-01 -2.16150143e-02 2.31087191e+00] [ 1.57112421e-01 -1.63897598e-02 9.87444714e-01 2.26225770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.190714057 meters Centerline goodness : 0.991444 Centerline is valid? [True, True] Translation: X:39.61, Y:2.32, Z:2.27 [[ 9.58249934e-01 -2.39553998e-01 -1.56111969e-01 3.96142291e+01] [ 2.39653805e-01 9.70682788e-01 -1.84655930e-02 2.31533228e+00] [ 1.55958708e-01 -1.97181742e-02 9.87566745e-01 2.26771844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.220714056999995 meters Centerline goodness : 0.991231 Centerline is valid? [True, True] Translation: X:39.64, Y:2.33, Z:2.28 [[ 9.58268772e-01 -2.42354919e-01 -1.51608222e-01 3.96424507e+01] [ 2.39483111e-01 9.70187437e-01 -3.72045184e-02 2.32643695e+00] [ 1.56105090e-01 -6.55680440e-04 9.87740235e-01 2.27699478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.250714056999996 meters Centerline goodness : 0.990602 Centerline is valid? [True, True] Translation: X:39.67, Y:2.33, Z:2.28 [[ 9.58205304e-01 -2.39442121e-01 -1.56556912e-01 3.96686926e+01] [ 2.37628924e-01 9.70877704e-01 -3.04791499e-02 2.32916524e+00] [ 1.59295608e-01 -7.99716740e-03 9.87198539e-01 2.28000868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.280714057 meters Centerline goodness : 0.990991 Centerline is valid? [True, True] Translation: X:39.70, Y:2.33, Z:2.28 [[ 9.58612934e-01 -2.39196044e-01 -1.54423105e-01 3.96979362e+01] [ 2.37707493e-01 9.70924140e-01 -2.83101175e-02 2.33425418e+00] [ 1.56704788e-01 -9.56908435e-03 9.87599130e-01 2.28313959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.310714057 meters Centerline goodness : 0.990609 Centerline is valid? [True, True] Translation: X:39.73, Y:2.34, Z:2.29 [[ 9.58702877e-01 -2.39773826e-01 -1.52961782e-01 3.97260882e+01] [ 2.36580448e-01 9.70828007e-01 -3.90214404e-02 2.34353479e+00] [ 1.57855902e-01 1.22220027e-03 9.87461402e-01 2.28942256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.340714057 meters Centerline goodness : 0.990909 Centerline is valid? [True, True] Translation: X:39.76, Y:2.35, Z:2.29 [[ 9.60634040e-01 -2.38386323e-01 -1.42668154e-01 3.97559355e+01] [ 2.33141644e-01 9.71015838e-01 -5.26613383e-02 2.35283287e+00] [ 1.51086779e-01 1.73263862e-02 9.88368647e-01 2.29096575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.370714057 meters Centerline goodness : 0.989964 Centerline is valid? [True, True] Translation: X:39.79, Y:2.34, Z:2.28 [[ 9.61124770e-01 -2.26621906e-01 -1.57739306e-01 3.97871847e+01] [ 2.29316754e-01 9.73351177e-01 -1.14547751e-03 2.33957711e+00] [ 1.53795330e-01 -3.50713190e-02 9.87480126e-01 2.28439247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.400714056999995 meters Centerline goodness : 0.990792 Centerline is valid? [True, True] Translation: X:39.81, Y:2.36, Z:2.30 [[ 9.61111854e-01 -2.30758067e-01 -1.51706023e-01 3.98128648e+01] [ 2.28527084e-01 9.73004128e-01 -3.22232603e-02 2.35693729e+00] [ 1.55046364e-01 -3.69877764e-03 9.87900270e-01 2.30068824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.430714056999996 meters Centerline goodness : 0.991717 Centerline is valid? [True, True] Translation: X:39.84, Y:2.36, Z:2.30 [[ 9.62368840e-01 -2.23353749e-01 -1.54787979e-01 3.98397460e+01] [ 2.22998590e-01 9.74616026e-01 -1.98804067e-02 2.35754380e+00] [ 1.55299208e-01 -1.53852172e-02 9.87747666e-01 2.30275302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.460714057 meters Centerline goodness : 0.992843 Centerline is valid? [True, True] Translation: X:39.87, Y:2.37, Z:2.32 [[ 9.60370565e-01 -2.29439964e-01 -1.58258271e-01 3.98722530e+01] [ 2.25304066e-01 9.73301435e-01 -4.38451255e-02 2.37104852e+00] [ 1.64092826e-01 6.45133612e-03 9.86423806e-01 2.31508362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.490714057 meters Centerline goodness : 0.990953 Centerline is valid? [True, True] Translation: X:39.90, Y:2.36, Z:2.31 [[ 9.63793369e-01 -2.18104250e-01 -1.53404297e-01 3.98975758e+01] [ 2.18461501e-01 9.75734349e-01 -1.47327208e-02 2.36476198e+00] [ 1.52895111e-01 -1.93136342e-02 9.88053677e-01 2.31007521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.520714057 meters Centerline goodness : 0.990825 Centerline is valid? [True, True] Translation: X:39.92, Y:2.38, Z:2.32 [[ 9.63741890e-01 -2.20223450e-01 -1.50675814e-01 3.99249460e+01] [ 2.18081260e-01 9.75444297e-01 -3.08056268e-02 2.37554848e+00] [ 1.53759985e-01 -3.17089833e-03 9.88103139e-01 2.31912516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.550714057 meters Centerline goodness : 0.991495 Centerline is valid? [True, True] Translation: X:39.95, Y:2.37, Z:2.32 [[ 9.61705061e-01 -2.18471407e-01 -1.65510183e-01 3.99455552e+01] [ 2.22274315e-01 9.74973397e-01 4.58294143e-03 2.37129478e+00] [ 1.60366784e-01 -4.11961005e-02 9.86197433e-01 2.31995537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.580714056999994 meters Centerline goodness : 0.991494 Centerline is valid? [True, True] Translation: X:39.96, Y:2.39, Z:2.34 [[ 9.60763316e-01 -2.27885181e-01 -1.58120826e-01 3.99630902e+01] [ 2.25622753e-01 9.73677208e-01 -3.23584346e-02 2.39176522e+00] [ 1.61332652e-01 -4.58685913e-03 9.86889424e-01 2.33669701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.610714056999996 meters Centerline goodness : 0.989512 Centerline is valid? [True, True] Translation: X:40.00, Y:2.40, Z:2.34 [[ 9.65048093e-01 -2.20763065e-01 -1.41229768e-01 4.00042595e+01] [ 2.13056656e-01 9.74689435e-01 -6.77301094e-02 2.39626779e+00] [ 1.52607469e-01 3.52728709e-02 9.87657220e-01 2.34176409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.640714057 meters Centerline goodness : 0.988874 Centerline is valid? [True, True] Translation: X:40.04, Y:2.39, Z:2.33 [[ 9.65049074e-01 -2.14781835e-01 -1.50163408e-01 4.00377102e+01] [ 2.13273874e-01 9.76639240e-01 -2.62688040e-02 2.38642544e+00] [ 1.52297539e-01 -6.67524676e-03 9.88312147e-01 2.33333174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.670714057 meters Centerline goodness : 0.991321 Centerline is valid? [True, True] Translation: X:40.07, Y:2.40, Z:2.34 [[ 9.62951130e-01 -2.23212308e-01 -1.51332042e-01 4.00721732e+01] [ 2.18145697e-01 9.74659566e-01 -4.95094474e-02 2.39706141e+00] [ 1.58548341e-01 1.46627445e-02 9.87242335e-01 2.34278785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.700714057 meters Centerline goodness : 0.989393 Centerline is valid? [True, True] Translation: X:40.10, Y:2.38, Z:2.33 [[ 9.64932108e-01 -2.13233757e-01 -1.53092755e-01 4.00975161e+01] [ 2.15815441e-01 9.76434141e-01 2.51667835e-04 2.38396883e+00] [ 1.49431328e-01 -3.32826228e-02 9.88211792e-01 2.33473428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.730714057 meters Centerline goodness : 0.989911 Centerline is valid? [True, True] Translation: X:40.12, Y:2.40, Z:2.35 [[ 9.63954498e-01 -2.20927679e-01 -1.48265597e-01 4.01199916e+01] [ 2.18363596e-01 9.75290193e-01 -3.35615855e-02 2.39966144e+00] [ 1.52016666e-01 -2.39676260e-05 9.88377930e-01 2.35000010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.760714057 meters Centerline goodness : 0.989949 Centerline is valid? [True, True] Translation: X:40.15, Y:2.40, Z:2.35 [[ 9.62695741e-01 -2.23822496e-01 -1.52053941e-01 4.01501247e+01] [ 2.23279287e-01 9.74531260e-01 -2.08610223e-02 2.39756927e+00] [ 1.52850485e-01 -1.38676783e-02 9.88152021e-01 2.35277686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.790714056999995 meters Centerline goodness : 0.990438 Centerline is valid? [True, True] Translation: X:40.18, Y:2.40, Z:2.36 [[ 9.61840255e-01 -2.25127978e-01 -1.55501504e-01 4.01763169e+01] [ 2.24631169e-01 9.74217714e-01 -2.09924864e-02 2.40125676e+00] [ 1.56218316e-01 -1.47390663e-02 9.87612575e-01 2.35903856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.820714056999996 meters Centerline goodness : 0.991927 Centerline is valid? [True, True] Translation: X:40.21, Y:2.41, Z:2.37 [[ 9.59217388e-01 -2.33952198e-01 -1.58645425e-01 4.02071057e+01] [ 2.29694560e-01 9.72225334e-01 -4.49255843e-02 2.41390372e+00] [ 1.64749541e-01 6.65341054e-03 9.86312993e-01 2.37002441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.850714057 meters Centerline goodness : 0.989553 Centerline is valid? [True, True] Translation: X:40.23, Y:2.41, Z:2.36 [[ 9.61533766e-01 -2.28312960e-01 -1.52728550e-01 4.02334153e+01] [ 2.27405864e-01 9.73513584e-01 -2.36193636e-02 2.40821526e+00] [ 1.54075925e-01 -1.20205523e-02 9.87985888e-01 2.36483975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.880714057 meters Centerline goodness : 0.991109 Centerline is valid? [True, True] Translation: X:40.26, Y:2.42, Z:2.38 [[ 9.58303275e-01 -2.36223071e-01 -1.60790218e-01 4.02638105e+01] [ 2.33674070e-01 9.71689917e-01 -3.48587779e-02 2.41658893e+00] [ 1.64472681e-01 -4.16722366e-03 9.86372836e-01 2.37533891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.910714057 meters Centerline goodness : 0.991109 Centerline is valid? [True, True] Translation: X:40.29, Y:2.42, Z:2.38 [[ 9.58121493e-01 -2.36136754e-01 -1.61995795e-01 4.02916395e+01] [ 2.34490707e-01 9.71671067e-01 -2.94863538e-02 2.42095340e+00] [ 1.64369439e-01 -9.73499926e-03 9.86350808e-01 2.37853975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.940714057 meters Centerline goodness : 0.989802 Centerline is valid? [True, True] Translation: X:40.31, Y:2.42, Z:2.38 [[ 9.60058700e-01 -2.32094900e-01 -1.56266597e-01 4.03145194e+01] [ 2.32498567e-01 9.72465979e-01 -1.59478847e-02 2.41922349e+00] [ 1.55665372e-01 -2.10208544e-02 9.87586156e-01 2.38021410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.970714056999995 meters Centerline goodness : 0.989089 Centerline is valid? [True, True] Translation: X:40.34, Y:2.43, Z:2.39 [[ 9.59632635e-01 -2.35048094e-01 -1.54459052e-01 4.03388438e+01] [ 2.32869256e-01 9.71971085e-01 -3.23128552e-02 2.42919227e+00] [ 1.57724808e-01 -4.96029414e-03 9.87470648e-01 2.38886050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.000714056999996 meters Centerline goodness : 0.991201 Centerline is valid? [True, True] Translation: X:40.36, Y:2.45, Z:2.40 [[ 9.55073993e-01 -2.48102123e-01 -1.62108000e-01 4.03567702e+01] [ 2.44383311e-01 9.68733045e-01 -4.28145450e-02 2.44603952e+00] [ 1.67661756e-01 1.27456859e-03 9.85843756e-01 2.39632060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.030714057 meters Centerline goodness : 0.988950 Centerline is valid? [True, True] Translation: X:40.40, Y:2.44, Z:2.40 [[ 9.57159419e-01 -2.45388015e-01 -1.53722378e-01 4.03980905e+01] [ 2.39995756e-01 9.69326232e-01 -5.29971086e-02 2.44481996e+00] [ 1.62011989e-01 1.38339633e-02 9.86691815e-01 2.39703713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.060714057 meters Centerline goodness : 0.988758 Centerline is valid? [True, True] Translation: X:40.43, Y:2.44, Z:2.40 [[ 9.58618332e-01 -2.38311519e-01 -1.55751450e-01 4.04253993e+01] [ 2.38798793e-01 9.70939650e-01 -1.58534770e-02 2.43746460e+00] [ 1.55003325e-01 -2.19958246e-02 9.87669050e-01 2.39502413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.090714057 meters Centerline goodness : 0.990559 Centerline is valid? [True, True] Translation: X:40.44, Y:2.46, Z:2.41 [[ 9.53239694e-01 -2.52695636e-01 -1.65767912e-01 4.04416632e+01] [ 2.51011328e-01 9.67475184e-01 -3.13860181e-02 2.45609856e+00] [ 1.68307451e-01 -1.16912256e-02 9.85665216e-01 2.40691801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.120714057 meters Centerline goodness : 0.990073 Centerline is valid? [True, True] Translation: X:40.49, Y:2.47, Z:2.41 [[ 9.56732506e-01 -2.53435418e-01 -1.42945449e-01 4.04856870e+01] [ 2.44398868e-01 9.66542681e-01 -7.78745120e-02 2.46772971e+00] [ 1.57899037e-01 3.95693712e-02 9.86662130e-01 2.41129714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.150714056999995 meters Centerline goodness : 0.989782 Centerline is valid? [True, True] Translation: X:40.52, Y:2.45, Z:2.40 [[ 9.56525485e-01 -2.46539986e-01 -1.55810887e-01 4.05199916e+01] [ 2.45948820e-01 9.69001059e-01 -2.33693168e-02 2.45395668e+00] [ 1.56742386e-01 -1.59681568e-02 9.87510427e-01 2.40189944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.180714056999996 meters Centerline goodness : 0.990030 Centerline is valid? [True, True] Translation: X:40.55, Y:2.46, Z:2.41 [[ 9.56235325e-01 -2.49190316e-01 -1.53356413e-01 4.05486418e+01] [ 2.47174902e-01 9.68429658e-01 -3.23815603e-02 2.46305685e+00] [ 1.56584070e-01 -6.94146437e-03 9.87640241e-01 2.40819335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.210714057 meters Centerline goodness : 0.988788 Centerline is valid? [True, True] Translation: X:40.57, Y:2.46, Z:2.41 [[ 9.56743850e-01 -2.47035637e-01 -1.53670425e-01 4.05741052e+01] [ 2.48534323e-01 9.68574639e-01 -9.68805486e-03 2.46047258e+00] [ 1.51234572e-01 -2.89233883e-02 9.88074664e-01 2.41012198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.240714057 meters Centerline goodness : 0.990225 Centerline is valid? [True, True] Translation: X:40.60, Y:2.48, Z:2.43 [[ 9.52955990e-01 -2.57839058e-01 -1.59354642e-01 4.05993955e+01] [ 2.55540918e-01 9.66160567e-01 -3.51083723e-02 2.47577081e+00] [ 1.63014481e-01 -7.26489787e-03 9.86596929e-01 2.42564426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.270714057 meters Centerline goodness : 0.990280 Centerline is valid? [True, True] Translation: X:40.61, Y:2.48, Z:2.43 [[ 9.48920391e-01 -2.62428009e-01 -1.75161731e-01 4.06128331e+01] [ 2.65715172e-01 9.64039412e-01 -4.84351650e-03 2.47913386e+00] [ 1.70133886e-01 -4.19470178e-02 9.84527759e-01 2.42939974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.300714057 meters Centerline goodness : 0.989506 Centerline is valid? [True, True] Translation: X:40.65, Y:2.50, Z:2.44 [[ 9.50920902e-01 -2.71314335e-01 -1.48788340e-01 4.06512192e+01] [ 2.62783365e-01 9.61962251e-01 -7.46560788e-02 2.50061654e+00] [ 1.63384031e-01 3.18929252e-02 9.86046905e-01 2.44142714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.330714056999994 meters Centerline goodness : 0.989284 Centerline is valid? [True, True] Translation: X:40.68, Y:2.49, Z:2.43 [[ 9.50605678e-01 -2.65767956e-01 -1.60362833e-01 4.06848598e+01] [ 2.64899983e-01 9.63893140e-01 -2.71664011e-02 2.49072400e+00] [ 1.61792594e-01 -1.66555767e-02 9.86684219e-01 2.43455669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.360714056999996 meters Centerline goodness : 0.987313 Centerline is valid? [True, True] Translation: X:40.71, Y:2.49, Z:2.44 [[ 9.51975721e-01 -2.63755806e-01 -1.55483445e-01 4.07065573e+01] [ 2.64097901e-01 9.64312006e-01 -1.88322373e-02 2.49440029e+00] [ 1.54901664e-01 -2.31350187e-02 9.87658972e-01 2.43894226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.390714057 meters Centerline goodness : 0.987427 Centerline is valid? [True, True] Translation: X:40.73, Y:2.51, Z:2.45 [[ 9.51232029e-01 -2.69068819e-01 -1.50862843e-01 4.07330571e+01] [ 2.66873921e-01 9.63095737e-01 -3.49987526e-02 2.50778799e+00] [ 1.54712434e-01 -6.96942401e-03 9.87934962e-01 2.44717560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.420714057 meters Centerline goodness : 0.988126 Centerline is valid? [True, True] Translation: X:40.76, Y:2.51, Z:2.45 [[ 9.50360161e-01 -2.69895861e-01 -1.54828256e-01 4.07602279e+01] [ 2.68944601e-01 9.62764079e-01 -2.74614346e-02 2.51318918e+00] [ 1.56474811e-01 -1.55419700e-02 9.87559659e-01 2.45118804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.450714057 meters Centerline goodness : 0.987963 Centerline is valid? [True, True] Translation: X:40.79, Y:2.52, Z:2.46 [[ 9.50029091e-01 -2.69861731e-01 -1.56905616e-01 4.07864690e+01] [ 2.70023529e-01 9.62631298e-01 -2.06948643e-02 2.51907485e+00] [ 1.56627009e-01 -2.27074850e-02 9.87396754e-01 2.45945697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.480714057 meters Centerline goodness : 0.988657 Centerline is valid? [True, True] Translation: X:40.81, Y:2.53, Z:2.47 [[ 9.49878551e-01 -2.73602567e-01 -1.51236150e-01 4.08130044e+01] [ 2.70919549e-01 9.61832660e-01 -3.84776796e-02 2.53269241e+00] [ 1.55991460e-01 -4.42370697e-03 9.87748498e-01 2.46870777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.510714057 meters Centerline goodness : 0.987369 Centerline is valid? [True, True] Translation: X:40.84, Y:2.54, Z:2.47 [[ 9.50744974e-01 -2.71446606e-01 -1.49668750e-01 4.08401212e+01] [ 2.69048337e-01 9.62437074e-01 -3.64399581e-02 2.53923438e+00] [ 1.53938257e-01 -5.62302127e-03 9.88064469e-01 2.47100859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.540714056999995 meters Centerline goodness : 0.988509 Centerline is valid? [True, True] Translation: X:40.87, Y:2.54, Z:2.48 [[ 9.50642531e-01 -2.68357904e-01 -1.55765254e-01 4.08690878e+01] [ 2.68499446e-01 9.63061015e-01 -2.05311643e-02 2.54261310e+00] [ 1.55521144e-01 -2.23050864e-02 9.87580709e-01 2.47580580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.570714056999996 meters Centerline goodness : 0.987984 Centerline is valid? [True, True] Translation: X:40.89, Y:2.55, Z:2.48 [[ 9.50388717e-01 -2.68181471e-01 -1.57607059e-01 4.08947643e+01] [ 2.68268511e-01 9.63112511e-01 -2.11257283e-02 2.55120366e+00] [ 1.57458859e-01 -2.22033573e-02 9.87275908e-01 2.48396657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.600714057 meters Centerline goodness : 0.989696 Centerline is valid? [True, True] Translation: X:40.91, Y:2.57, Z:2.50 [[ 9.46252664e-01 -2.77139135e-01 -1.66732710e-01 4.09083405e+01] [ 2.74410009e-01 9.60794593e-01 -3.96597688e-02 2.57205385e+00] [ 1.71187160e-01 -8.22496252e-03 9.85204195e-01 2.49630197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.630714057 meters Centerline goodness : 0.987971 Centerline is valid? [True, True] Translation: X:40.95, Y:2.57, Z:2.50 [[ 9.50750260e-01 -2.67096795e-01 -1.57268068e-01 4.09455615e+01] [ 2.66010462e-01 9.63554257e-01 -2.83130444e-02 2.57075010e+00] [ 1.59098640e-01 -1.49163172e-02 9.87150002e-01 2.49791597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.660714057 meters Centerline goodness : 0.988612 Centerline is valid? [True, True] Translation: X:40.97, Y:2.58, Z:2.50 [[ 9.50189327e-01 -2.67505972e-01 -1.59939985e-01 4.09719431e+01] [ 2.67194700e-01 9.63347221e-01 -2.38563399e-02 2.57725801e+00] [ 1.60459453e-01 -2.00670767e-02 9.86838425e-01 2.50335015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.690714057 meters Centerline goodness : 0.988703 Centerline is valid? [True, True] Translation: X:41.00, Y:2.59, Z:2.51 [[ 9.50438968e-01 -2.69101091e-01 -1.55725304e-01 4.09960093e+01] [ 2.65930801e-01 9.63109397e-01 -4.12443784e-02 2.59010561e+00] [ 1.61079411e-01 -2.21189038e-03 9.86938970e-01 2.51084825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.720714056999995 meters Centerline goodness : 0.988270 Centerline is valid? [True, True] Translation: X:41.02, Y:2.60, Z:2.51 [[ 9.50415782e-01 -2.68281785e-01 -1.57272773e-01 4.10233480e+01] [ 2.65505374e-01 9.63328140e-01 -3.88045258e-02 2.59805200e+00] [ 1.61915836e-01 -4.87633284e-03 9.86792523e-01 2.51275401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.750714056999996 meters Centerline goodness : 0.989139 Centerline is valid? [True, True] Translation: X:41.05, Y:2.61, Z:2.52 [[ 9.50665197e-01 -2.69471783e-01 -1.53690080e-01 4.10526808e+01] [ 2.66293021e-01 9.63006851e-01 -4.13017283e-02 2.60692354e+00] [ 1.59134251e-01 -1.66248012e-03 9.87255553e-01 2.51518913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.780714057 meters Centerline goodness : 0.989037 Centerline is valid? [True, True] Translation: X:41.08, Y:2.61, Z:2.52 [[ 9.49941790e-01 -2.70296782e-01 -1.56685181e-01 4.10790162e+01] [ 2.68057117e-01 9.62742772e-01 -3.56614160e-02 2.61438311e+00] [ 1.60486692e-01 -8.12430873e-03 9.87004568e-01 2.51753318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.810714057 meters Centerline goodness : 0.988833 Centerline is valid? [True, True] Translation: X:41.11, Y:2.62, Z:2.52 [[ 9.49315232e-01 -2.70487609e-01 -1.60115717e-01 4.11071793e+01] [ 2.69326169e-01 9.62602223e-01 -2.93321530e-02 2.61957069e+00] [ 1.62061729e-01 -1.52778930e-02 9.86662345e-01 2.52163482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.840714057 meters Centerline goodness : 0.989514 Centerline is valid? [True, True] Translation: X:41.13, Y:2.63, Z:2.53 [[ 9.48822747e-01 -2.72523830e-01 -1.59581189e-01 4.11321728e+01] [ 2.70587096e-01 9.62088877e-01 -3.41704030e-02 2.62932368e+00] [ 1.62843536e-01 -1.07589550e-02 9.86593243e-01 2.52774815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.870714057 meters Centerline goodness : 0.988875 Centerline is valid? [True, True] Translation: X:41.16, Y:2.64, Z:2.53 [[ 9.48180171e-01 -2.73480808e-01 -1.61748604e-01 4.11585433e+01] [ 2.72191490e-01 9.61759070e-01 -3.05169505e-02 2.63538698e+00] [ 1.63908988e-01 -1.50910263e-02 9.86360028e-01 2.53196078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.900714056999995 meters Centerline goodness : 0.990723 Centerline is valid? [True, True] Translation: X:41.19, Y:2.65, Z:2.54 [[ 9.47051562e-01 -2.76978459e-01 -1.62407731e-01 4.11856440e+01] [ 2.74416343e-01 9.60841607e-01 -3.84587678e-02 2.64676312e+00] [ 1.66700356e-01 -8.14489960e-03 9.85973961e-01 2.53737232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.930714056999996 meters Centerline goodness : 0.991982 Centerline is valid? [True, True] Translation: X:41.22, Y:2.65, Z:2.54 [[ 9.46828236e-01 -2.77367529e-01 -1.63044612e-01 4.12157072e+01] [ 2.76497731e-01 9.60592853e-01 -2.84670991e-02 2.65157933e+00] [ 1.64515338e-01 -1.81280121e-02 9.86207929e-01 2.54093165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.960714057 meters Centerline goodness : 0.991178 Centerline is valid? [True, True] Translation: X:41.24, Y:2.66, Z:2.55 [[ 9.46026215e-01 -2.81732032e-01 -1.60191955e-01 4.12391401e+01] [ 2.79342070e-01 9.59450342e-01 -3.77233202e-02 2.66302082e+00] [ 1.64324094e-01 -9.06110256e-03 9.86364785e-01 2.54880663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.990714057 meters Centerline goodness : 0.990655 Centerline is valid? [True, True] Translation: X:41.27, Y:2.67, Z:2.55 [[ 9.45678439e-01 -2.83562078e-01 -1.59012067e-01 4.12658112e+01] [ 2.80862951e-01 9.58927321e-01 -3.96786617e-02 2.67169356e+00] [ 1.63732379e-01 -7.13734342e-03 9.86478974e-01 2.55255610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.020714057 meters Centerline goodness : 0.990239 Centerline is valid? [True, True] Translation: X:41.29, Y:2.68, Z:2.56 [[ 9.43981259e-01 -2.84951811e-01 -1.66438724e-01 4.12888259e+01] [ 2.82868708e-01 9.58459973e-01 -3.66029366e-02 2.67847779e+00] [ 1.69954928e-01 -1.25278206e-02 9.85372202e-01 2.55953807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.050714057 meters Centerline goodness : 0.991514 Centerline is valid? [True, True] Translation: X:41.32, Y:2.69, Z:2.56 [[ 9.39908289e-01 -2.92428738e-01 -1.76232350e-01 4.13179211e+01] [ 2.91823125e-01 9.56003664e-01 -2.99375855e-02 2.68638695e+00] [ 1.77233382e-01 -2.32900902e-02 9.83893236e-01 2.56485469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.080714056999994 meters Centerline goodness : 0.991018 Centerline is valid? [True, True] Translation: X:41.34, Y:2.69, Z:2.57 [[ 9.41621687e-01 -2.92473395e-01 -1.66757044e-01 4.13425923e+01] [ 2.92622252e-01 9.55920868e-01 -2.42386371e-02 2.69242084e+00] [ 1.66495695e-01 -2.59731955e-02 9.85700044e-01 2.56869410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.110714056999996 meters Centerline goodness : 0.992403 Centerline is valid? [True, True] Translation: X:41.37, Y:2.71, Z:2.58 [[ 9.37871400e-01 -3.05080785e-01 -1.65296555e-01 4.13686550e+01] [ 2.99326763e-01 9.52306752e-01 -5.92902923e-02 2.71480454e+00] [ 1.75501354e-01 6.12898677e-03 9.84460111e-01 2.58179548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.140714057 meters Centerline goodness : 0.991407 Centerline is valid? [True, True] Translation: X:41.40, Y:2.71, Z:2.58 [[ 9.40230061e-01 -2.99466561e-01 -1.62133314e-01 4.13961513e+01] [ 2.98788516e-01 9.53874539e-01 -2.91339474e-02 2.71325681e+00] [ 1.63379484e-01 -2.10509592e-02 9.86338685e-01 2.57643917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.170714057 meters Centerline goodness : 0.991958 Centerline is valid? [True, True] Translation: X:41.43, Y:2.72, Z:2.58 [[ 9.38890190e-01 -3.01449530e-01 -1.66172777e-01 4.14253240e+01] [ 3.02236687e-01 9.52998344e-01 -2.11457146e-02 2.72136791e+00] [ 1.64736747e-01 -3.03700054e-02 9.85869904e-01 2.58309476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.200714057 meters Centerline goodness : 0.992600 Centerline is valid? [True, True] Translation: X:41.45, Y:2.74, Z:2.59 [[ 9.37159653e-01 -3.06035071e-01 -1.67553929e-01 4.14512453e+01] [ 3.05633947e-01 9.51712687e-01 -2.88244899e-02 2.73663141e+00] [ 1.68284504e-01 -2.41970196e-02 9.85441439e-01 2.59294680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.230714057 meters Centerline goodness : 0.992529 Centerline is valid? [True, True] Translation: X:41.48, Y:2.75, Z:2.60 [[ 9.36987113e-01 -3.09030966e-01 -1.62957086e-01 4.14801293e+01] [ 3.06177995e-01 9.51003343e-01 -4.29846097e-02 2.75143839e+00] [ 1.68256309e-01 -9.61784848e-03 9.85696359e-01 2.60138591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.260714056999994 meters Centerline goodness : 0.993476 Centerline is valid? [True, True] Translation: X:41.51, Y:2.76, Z:2.60 [[ 9.37332124e-01 -3.08078302e-01 -1.62776687e-01 4.15091149e+01] [ 3.05064358e-01 9.51322401e-01 -4.38340900e-02 2.76410856e+00] [ 1.68357441e-01 -8.57026486e-03 9.85688755e-01 2.60470849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.290714056999995 meters Centerline goodness : 0.992674 Centerline is valid? [True, True] Translation: X:41.54, Y:2.77, Z:2.61 [[ 9.37505306e-01 -3.07219188e-01 -1.63401871e-01 4.15375293e+01] [ 3.04728556e-01 9.51567971e-01 -4.07296481e-02 2.77358516e+00] [ 1.68000916e-01 -1.16089551e-02 9.85718481e-01 2.60928690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.320714056999996 meters Centerline goodness : 0.993622 Centerline is valid? [True, True] Translation: X:41.57, Y:2.79, Z:2.61 [[ 9.38336082e-01 -3.05844946e-01 -1.61196359e-01 4.15684515e+01] [ 3.03229635e-01 9.52026473e-01 -4.11993014e-02 2.78503751e+00] [ 1.66063799e-01 -1.02207219e-02 9.86062042e-01 2.61432909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.350714057 meters Centerline goodness : 0.992470 Centerline is valid? [True, True] Translation: X:41.60, Y:2.80, Z:2.62 [[ 9.39281317e-01 -3.04384494e-01 -1.58431964e-01 4.15978878e+01] [ 3.01319307e-01 9.52525194e-01 -4.36168517e-02 2.79675542e+00] [ 1.64186730e-01 -6.77011570e-03 9.86406044e-01 2.61936268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.380714057 meters Centerline goodness : 0.993068 Centerline is valid? [True, True] Translation: X:41.63, Y:2.81, Z:2.62 [[ 9.41086111e-01 -2.99140077e-01 -1.57709053e-01 4.16266599e+01] [ 2.96792367e-01 9.54153651e-01 -3.87956344e-02 2.80946416e+00] [ 1.62083998e-01 -1.02968105e-02 9.86723240e-01 2.62379232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.410714057 meters Centerline goodness : 0.993311 Centerline is valid? [True, True] Translation: X:41.66, Y:2.82, Z:2.63 [[ 9.41658166e-01 -2.96919728e-01 -1.58488398e-01 4.16563767e+01] [ 2.95120037e-01 9.54806899e-01 -3.53263250e-02 2.81930015e+00] [ 1.61814899e-01 -1.35077795e-02 9.86728675e-01 2.62923023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.440714057 meters Centerline goodness : 0.993522 Centerline is valid? [True, True] Translation: X:41.69, Y:2.83, Z:2.63 [[ 9.43014899e-01 -2.93106137e-01 -1.57517281e-01 4.16862047e+01] [ 2.90745499e-01 9.56031414e-01 -3.83534878e-02 2.83396649e+00] [ 1.61833111e-01 -9.62952995e-03 9.86771157e-01 2.63457894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.470714056999995 meters Centerline goodness : 0.993940 Centerline is valid? [True, True] Translation: X:41.72, Y:2.84, Z:2.64 [[ 9.43479976e-01 -2.91363851e-01 -1.57964050e-01 4.17172822e+01] [ 2.89014838e-01 9.56563652e-01 -3.81628429e-02 2.84444505e+00] [ 1.62221941e-01 -9.64807630e-03 9.86707128e-01 2.63923181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.500714056999996 meters Centerline goodness : 0.992908 Centerline is valid? [True, True] Translation: X:41.75, Y:2.86, Z:2.64 [[ 9.44293263e-01 -2.89507782e-01 -1.56510313e-01 4.17457844e+01] [ 2.86086901e-01 9.57171591e-01 -4.44615504e-02 2.85648181e+00] [ 1.62679190e-01 -2.79080802e-03 9.86675069e-01 2.64444931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.530714057 meters Centerline goodness : 0.992755 Centerline is valid? [True, True] Translation: X:41.78, Y:2.86, Z:2.65 [[ 9.44329276e-01 -2.86059157e-01 -1.62518854e-01 4.17766381e+01] [ 2.84842157e-01 9.58064965e-01 -3.12484869e-02 2.86274124e+00] [ 1.64642536e-01 -1.67833600e-02 9.86210502e-01 2.64637307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.560714057 meters Centerline goodness : 0.993367 Centerline is valid? [True, True] Translation: X:41.81, Y:2.88, Z:2.65 [[ 9.45159186e-01 -2.84226368e-01 -1.60902099e-01 4.18062943e+01] [ 2.81493016e-01 9.58728157e-01 -4.00250313e-02 2.87913544e+00] [ 1.65637542e-01 -7.46279120e-03 9.86158462e-01 2.65468282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.590714057 meters Centerline goodness : 0.992922 Centerline is valid? [True, True] Translation: X:41.84, Y:2.90, Z:2.66 [[ 9.47207032e-01 -2.84269576e-01 -1.48289063e-01 4.18368650e+01] [ 2.77654106e-01 9.58547197e-01 -6.39958419e-02 2.89699797e+00] [ 1.60334137e-01 1.94442442e-02 9.86871261e-01 2.66149859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.620714057 meters Centerline goodness : 0.993888 Centerline is valid? [True, True] Translation: X:41.87, Y:2.90, Z:2.66 [[ 9.47849327e-01 -2.78961468e-01 -1.54149774e-01 4.18728953e+01] [ 2.76081787e-01 9.60292071e-01 -4.02241886e-02 2.89900162e+00] [ 1.59249805e-01 -4.43147512e-03 9.87228374e-01 2.65787328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.650714056999995 meters Centerline goodness : 0.993636 Centerline is valid? [True, True] Translation: X:41.90, Y:2.90, Z:2.66 [[ 9.48783419e-01 -2.72841190e-01 -1.59272434e-01 4.19021560e+01] [ 2.72684282e-01 9.61822105e-01 -2.32705825e-02 2.90482040e+00] [ 1.59540922e-01 -2.13523466e-02 9.86960370e-01 2.65821205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.680714056999996 meters Centerline goodness : 0.994176 Centerline is valid? [True, True] Translation: X:41.93, Y:2.92, Z:2.67 [[ 9.47891193e-01 -2.74838894e-01 -1.61139281e-01 4.19308944e+01] [ 2.73487052e-01 9.61377482e-01 -3.09543174e-02 2.91777497e+00] [ 1.63423127e-01 -1.47281821e-02 9.86446127e-01 2.66910505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.710714057 meters Centerline goodness : 0.993831 Centerline is valid? [True, True] Translation: X:41.96, Y:2.93, Z:2.68 [[ 9.49340301e-01 -2.72648138e-01 -1.56256157e-01 4.19600902e+01] [ 2.69324119e-01 9.62112214e-01 -4.24806557e-02 2.93280237e+00] [ 1.61918229e-01 -1.75495328e-03 9.86802618e-01 2.67600333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.740714057 meters Centerline goodness : 0.992855 Centerline is valid? [True, True] Translation: X:41.99, Y:2.95, Z:2.68 [[ 9.51029042e-01 -2.72287381e-01 -1.46298814e-01 4.19929868e+01] [ 2.66576469e-01 9.62084996e-01 -5.77013552e-02 2.94617520e+00] [ 1.56463245e-01 1.58758434e-02 9.87556181e-01 2.68176016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.770714057 meters Centerline goodness : 0.993061 Centerline is valid? [True, True] Translation: X:42.03, Y:2.95, Z:2.68 [[ 9.52036123e-01 -2.65940328e-01 -1.51337245e-01 4.20284524e+01] [ 2.63828999e-01 9.63961616e-01 -3.42383074e-02 2.94786725e+00] [ 1.54988642e-01 -7.33104841e-03 9.87889051e-01 2.67821036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.800714057 meters Centerline goodness : 0.993061 Centerline is valid? [True, True] Translation: X:42.06, Y:2.96, Z:2.68 [[ 9.51778709e-01 -2.66127305e-01 -1.52622237e-01 4.20599298e+01] [ 2.64317172e-01 9.63891128e-01 -3.24087201e-02 2.95527423e+00] [ 1.55736066e-01 -9.49474838e-03 9.87753070e-01 2.68353317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.830714056999994 meters Centerline goodness : 0.992816 Centerline is valid? [True, True] Translation: X:42.09, Y:2.97, Z:2.69 [[ 9.53444889e-01 -2.64770169e-01 -1.44359279e-01 4.20909482e+01] [ 2.60230491e-01 9.64260379e-01 -4.98198144e-02 2.97046714e+00] [ 1.52390733e-01 9.93376143e-03 9.88270401e-01 2.69120566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.860714056999996 meters Centerline goodness : 0.993129 Centerline is valid? [True, True] Translation: X:42.12, Y:2.97, Z:2.69 [[ 9.53310776e-01 -2.60283024e-01 -1.53138212e-01 4.21248665e+01] [ 2.59521673e-01 9.65405902e-01 -2.52971486e-02 2.96978620e+00] [ 1.54424952e-01 -1.56266407e-02 9.87880935e-01 2.68835543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.890714057 meters Centerline goodness : 0.993342 Centerline is valid? [True, True] Translation: X:42.15, Y:2.97, Z:2.69 [[ 9.52098134e-01 -2.59072048e-01 -1.62452510e-01 4.21514847e+01] [ 2.60556934e-01 9.65377879e-01 -1.24753576e-02 2.97430040e+00] [ 1.60060076e-01 -3.04503631e-02 9.86637496e-01 2.69437848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.920714057 meters Centerline goodness : 0.992402 Centerline is valid? [True, True] Translation: X:42.18, Y:3.00, Z:2.71 [[ 9.53335134e-01 -2.65032850e-01 -1.44601907e-01 4.21799065e+01] [ 2.59092433e-01 9.64059767e-01 -5.88207221e-02 2.99642499e+00] [ 1.54994304e-01 1.86106011e-02 9.87740052e-01 2.70940750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.950714057 meters Centerline goodness : 0.993075 Centerline is valid? [True, True] Translation: X:42.21, Y:2.99, Z:2.70 [[ 9.51881600e-01 -2.59609859e-01 -1.62862336e-01 4.22120155e+01] [ 2.60880493e-01 9.65270791e-01 -1.39164898e-02 2.98990222e+00] [ 1.60819114e-01 -2.92407561e-02 9.86550653e-01 2.70431329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.980714057 meters Centerline goodness : 0.992668 Centerline is valid? [True, True] Translation: X:42.24, Y:3.00, Z:2.72 [[ 9.51230936e-01 -2.62594703e-01 -1.61875655e-01 4.22371692e+01] [ 2.61771135e-01 9.64758267e-01 -2.67835720e-02 3.00121871e+00] [ 1.63204100e-01 -1.68970116e-02 9.86447623e-01 2.71567678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.010714056999994 meters Centerline goodness : 0.993435 Centerline is valid? [True, True] Translation: X:42.27, Y:3.01, Z:2.72 [[ 9.50669744e-01 -2.64530769e-01 -1.62020090e-01 4.22659287e+01] [ 2.62783770e-01 9.64306700e-01 -3.25158072e-02 3.01089077e+00] [ 1.64838490e-01 -1.16644559e-02 9.86251597e-01 2.72482986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.040714056999995 meters Centerline goodness : 0.992875 Centerline is valid? [True, True] Translation: X:42.30, Y:3.02, Z:2.73 [[ 9.50852442e-01 -2.67068000e-01 -1.56698172e-01 4.22971078e+01] [ 2.62996172e-01 9.63672831e-01 -4.65584442e-02 3.02332037e+00] [ 1.63440042e-01 3.05919098e-03 9.86548526e-01 2.73362685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.070714056999996 meters Centerline goodness : 0.993603 Centerline is valid? [True, True] Translation: X:42.33, Y:3.04, Z:2.74 [[ 9.48629729e-01 -2.72307415e-01 -1.61090994e-01 4.23330840e+01] [ 2.65982451e-01 9.62107031e-01 -6.00282985e-02 3.03654992e+00] [ 1.71332928e-01 1.40972513e-02 9.85112326e-01 2.74347615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.100714057 meters Centerline goodness : 0.992986 Centerline is valid? [True, True] Translation: X:42.36, Y:3.03, Z:2.73 [[ 9.50675559e-01 -2.61457535e-01 -1.66900984e-01 4.23644613e+01] [ 2.63727235e-01 9.64556995e-01 -8.81754561e-03 3.02544608e+00] [ 1.63290925e-01 -3.56337100e-02 9.85934233e-01 2.73261425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.130714057 meters Centerline goodness : 0.993369 Centerline is valid? [True, True] Translation: X:42.39, Y:3.04, Z:2.75 [[ 9.50253336e-01 -2.66816627e-01 -1.60709319e-01 4.23896638e+01] [ 2.65116417e-01 9.63674086e-01 -3.23348365e-02 3.04075622e+00] [ 1.63498878e-01 -1.18803925e-02 9.86471983e-01 2.74840958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.160714057 meters Centerline goodness : 0.994103 Centerline is valid? [True, True] Translation: X:42.43, Y:3.07, Z:2.77 [[ 9.48769701e-01 -2.78320081e-01 -1.49579365e-01 4.24254096e+01] [ 2.68187501e-01 9.59652045e-01 -8.45187364e-02 3.06573410e+00] [ 1.67067405e-01 4.00735000e-02 9.85130751e-01 2.76592526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.190714057 meters Centerline goodness : 0.992999 Centerline is valid? [True, True] Translation: X:42.47, Y:3.05, Z:2.75 [[ 9.50380652e-01 -2.66049339e-01 -1.61227683e-01 4.24651540e+01] [ 2.66978259e-01 9.63565024e-01 -1.62804959e-02 3.04770926e+00] [ 1.59684772e-01 -2.75716178e-02 9.86782945e-01 2.74716616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.220714056999995 meters Centerline goodness : 0.994257 Centerline is valid? [True, True] Translation: X:42.49, Y:3.06, Z:2.76 [[ 9.47925110e-01 -2.73358923e-01 -1.63440771e-01 4.24917334e+01] [ 2.70341166e-01 9.61896707e-01 -4.08702670e-02 3.06443329e+00] [ 1.68385392e-01 -5.44281627e-03 9.85706212e-01 2.76241379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.250714056999996 meters Centerline goodness : 0.993670 Centerline is valid? [True, True] Translation: X:42.51, Y:3.05, Z:2.75 [[ 9.46622502e-01 -2.64364058e-01 -1.84438294e-01 4.25118885e+01] [ 2.73607538e-01 9.61486233e-01 2.61369274e-02 3.04619044e+00] [ 1.70425216e-01 -7.52055112e-02 9.82496502e-01 2.75499155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.280714057 meters Centerline goodness : 0.994449 Centerline is valid? [True, True] Translation: X:42.53, Y:3.08, Z:2.79 [[ 9.44477172e-01 -2.80131267e-01 -1.71724621e-01 4.25336512e+01] [ 2.78307468e-01 9.59850169e-01 -3.51085028e-02 3.07562430e+00] [ 1.74664896e-01 -1.46330649e-02 9.84519196e-01 2.78512594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.310714057 meters Centerline goodness : 0.994832 Centerline is valid? [True, True] Translation: X:42.56, Y:3.09, Z:2.80 [[ 9.41051259e-01 -2.91378735e-01 -1.71816647e-01 4.25646212e+01] [ 2.85431054e-01 9.56586323e-01 -5.89212961e-02 3.08887983e+00] [ 1.81525867e-01 6.40615313e-03 9.83365304e-01 2.79698676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.340714057 meters Centerline goodness : 0.994237 Centerline is valid? [True, True] Translation: X:42.59, Y:3.08, Z:2.79 [[ 9.41916178e-01 -2.83737251e-01 -1.79686074e-01 4.25923751e+01] [ 2.85763179e-01 9.58181851e-01 -1.50647355e-02 3.08006456e+00] [ 1.76446361e-01 -3.71579455e-02 9.83608646e-01 2.78961997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.370714057 meters Centerline goodness : 0.995068 Centerline is valid? [True, True] Translation: X:42.62, Y:3.10, Z:2.81 [[ 9.38563266e-01 -2.97031057e-01 -1.75703009e-01 4.26210567e+01] [ 2.91799561e-01 9.54867460e-01 -5.55081070e-02 3.10134298e+00] [ 1.84260717e-01 8.27809229e-04 9.82877054e-01 2.80973986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.400714056999995 meters Centerline goodness : 0.994792 Centerline is valid? [True, True] Translation: X:42.65, Y:3.10, Z:2.80 [[ 9.40196952e-01 -2.91299933e-01 -1.76561718e-01 4.26502359e+01] [ 2.91250634e-01 9.56271777e-01 -2.67835320e-02 3.09814580e+00] [ 1.76643029e-01 -2.62419171e-02 9.83925100e-01 2.80446373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.430714056999996 meters Centerline goodness : 0.994489 Centerline is valid? [True, True] Translation: X:42.68, Y:3.13, Z:2.82 [[ 0.94077128 -0.30463864 -0.14881093 42.67921969] [ 0.29336045 0.95145158 -0.09316404 3.12771137] [ 0.16996777 0.04399081 0.98446725 2.82246496] [ 0. 0. 0. 1. ]] SLAMing on 43.460714057 meters Centerline goodness : 0.995064 Centerline is valid? [True, True] Translation: X:42.72, Y:3.12, Z:2.81 [[ 9.38341203e-01 -3.00022717e-01 -1.71761916e-01 4.27213656e+01] [ 2.97608106e-01 9.53838793e-01 -4.02613013e-02 3.11652693e+00] [ 1.75912484e-01 -1.33389005e-02 9.84315433e-01 2.81037373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.490714057 meters Centerline goodness : 0.994978 Centerline is valid? [True, True] Translation: X:42.75, Y:3.11, Z:2.81 [[ 9.35569985e-01 -2.98260385e-01 -1.89075501e-01 4.27463876e+01] [ 3.03460950e-01 9.52842673e-01 -1.51403103e-03 3.11065481e+00] [ 1.80610782e-01 -5.59605492e-02 9.81961385e-01 2.81139527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.520714057 meters Centerline goodness : 0.994188 Centerline is valid? [True, True] Translation: X:42.77, Y:3.13, Z:2.83 [[ 9.36761701e-01 -3.02085862e-01 -1.76696484e-01 4.27658180e+01] [ 3.02420208e-01 9.52828297e-01 -2.56954099e-02 3.12693536e+00] [ 1.76123630e-01 -2.93661116e-02 9.83929926e-01 2.82696481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.550714057 meters Centerline goodness : 0.994410 Centerline is valid? [True, True] Translation: X:42.79, Y:3.14, Z:2.84 [[ 9.35932913e-01 -3.06679100e-01 -1.73140153e-01 4.27921378e+01] [ 3.04083449e-01 9.51719398e-01 -4.19933791e-02 3.14058167e+00] [ 1.77659334e-01 -1.33460692e-02 9.84001547e-01 2.83939891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.580714056999994 meters Centerline goodness : 0.994957 Centerline is valid? [True, True] Translation: X:42.82, Y:3.15, Z:2.85 [[ 9.32634450e-01 -3.14449405e-01 -1.76959188e-01 4.28237949e+01] [ 3.10181457e-01 9.49252859e-01 -5.20237720e-02 3.15191075e+00] [ 1.84337859e-01 -6.37029673e-03 9.82842293e-01 2.84871720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.610714056999996 meters Centerline goodness : 0.995389 Centerline is valid? [True, True] Translation: X:42.85, Y:3.16, Z:2.85 [[ 9.31916585e-01 -3.13454004e-01 -1.82422766e-01 4.28547774e+01] [ 3.12080920e-01 9.49336817e-01 -3.69473666e-02 3.15503156e+00] [ 1.84761948e-01 -2.24988009e-02 9.82525738e-01 2.85023565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.640714057 meters Centerline goodness : 0.995425 Centerline is valid? [True, True] Translation: X:42.88, Y:3.17, Z:2.86 [[ 9.31465124e-01 -3.17082985e-01 -1.78412734e-01 4.28828281e+01] [ 3.13582960e-01 9.48333991e-01 -4.82531789e-02 3.16735043e+00] [ 1.84495122e-01 -1.10010401e-02 9.82771859e-01 2.85801790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.670714057 meters Centerline goodness : 0.994726 Centerline is valid? [True, True] Translation: X:42.91, Y:3.18, Z:2.86 [[ 9.32644967e-01 -3.20665737e-01 -1.65368831e-01 4.29133773e+01] [ 3.12891885e-01 9.47069899e-01 -7.18141665e-02 3.18371267e+00] [ 1.79644184e-01 1.52345558e-02 9.83613682e-01 2.86378488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.700714057 meters Centerline goodness : 0.993828 Centerline is valid? [True, True] Translation: X:42.95, Y:3.18, Z:2.85 [[ 9.33839420e-01 -3.11712789e-01 -1.75439661e-01 4.29481088e+01] [ 3.12343211e-01 9.49647350e-01 -2.47311318e-02 3.17609576e+00] [ 1.74314819e-01 -3.17024813e-02 9.84179504e-01 2.85403780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.730714057 meters Centerline goodness : 0.993812 Centerline is valid? [True, True] Translation: X:42.97, Y:3.18, Z:2.86 [[ 9.30664254e-01 -3.10195839e-01 -1.94016979e-01 4.29654490e+01] [ 3.16977932e-01 9.48423885e-01 4.13822994e-03 3.17504865e+00] [ 1.82726676e-01 -6.53504035e-02 9.80989443e-01 2.86068876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.760714056999994 meters Centerline goodness : 0.994064 Centerline is valid? [True, True] Translation: X:42.99, Y:3.20, Z:2.89 [[ 9.29743013e-01 -3.21270533e-01 -1.79897676e-01 4.29885081e+01] [ 3.18395639e-01 9.46868173e-01 -4.54409510e-02 3.20264734e+00] [ 1.84938223e-01 -1.50302290e-02 9.82635205e-01 2.88562610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.790714056999995 meters Centerline goodness : 0.994934 Centerline is valid? [True, True] Translation: X:43.02, Y:3.21, Z:2.89 [[ 9.29982841e-01 -3.22459377e-01 -1.76498914e-01 4.30201947e+01] [ 3.18637915e-01 9.46536753e-01 -5.03791086e-02 3.21358953e+00] [ 1.83307925e-01 -9.38753952e-03 9.83010722e-01 2.89180298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.820714056999996 meters Centerline goodness : 0.993698 Centerline is valid? [True, True] Translation: X:43.05, Y:3.22, Z:2.90 [[ 9.29805271e-01 -3.20513865e-01 -1.80922694e-01 4.30480358e+01] [ 3.18259294e-01 9.47065570e-01 -4.21642892e-02 3.21956829e+00] [ 1.84859893e-01 -1.83757505e-02 9.82593075e-01 2.89573979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.850714057 meters Centerline goodness : 0.994525 Centerline is valid? [True, True] Translation: X:43.08, Y:3.23, Z:2.90 [[ 9.28805679e-01 -3.23211357e-01 -1.81257910e-01 4.30772559e+01] [ 3.20550872e-01 9.46180064e-01 -4.46141754e-02 3.23164110e+00] [ 1.85922429e-01 -1.66644815e-02 9.82423099e-01 2.90344670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.880714057 meters Centerline goodness : 0.993922 Centerline is valid? [True, True] Translation: X:43.11, Y:3.24, Z:2.91 [[ 9.28438950e-01 -3.24962101e-01 -1.80002083e-01 4.31064258e+01] [ 3.21555228e-01 9.45641329e-01 -4.86282960e-02 3.24182773e+00] [ 1.86019762e-01 -1.27322067e-02 9.82463505e-01 2.91074683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.910714057 meters Centerline goodness : 0.995895 Centerline is valid? [True, True] Translation: X:43.14, Y:3.26, Z:2.92 [[ 9.24932972e-01 -3.32632190e-01 -1.83996801e-01 4.31387944e+01] [ 3.27640458e-01 9.43032037e-01 -5.78126867e-02 3.25595570e+00] [ 1.92745239e-01 -6.81193609e-03 9.81225188e-01 2.92093593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.940714057 meters Centerline goodness : 0.994488 Centerline is valid? [True, True] Translation: X:43.17, Y:3.25, Z:2.92 [[ 9.26231972e-01 -3.26593512e-01 -1.88231274e-01 4.31675084e+01] [ 3.27331012e-01 9.44493149e-01 -2.80553075e-02 3.25475338e+00] [ 1.86945830e-01 -3.56282106e-02 9.81723936e-01 2.91677298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.970714056999995 meters Centerline goodness : 0.994658 Centerline is valid? [True, True] Translation: X:43.20, Y:3.28, Z:2.93 [[ 9.23441117e-01 -3.36308416e-01 -1.84805718e-01 4.31952192e+01] [ 3.31187240e-01 9.41727022e-01 -5.88661897e-02 3.27631531e+00] [ 1.93833734e-01 -6.84583577e-03 9.81010509e-01 2.93429080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.000714056999996 meters Centerline goodness : 0.995007 Centerline is valid? [True, True] Translation: X:43.23, Y:3.28, Z:2.94 [[ 9.23628964e-01 -3.35657759e-01 -1.85049739e-01 4.32286249e+01] [ 3.31709611e-01 9.41900122e-01 -5.28478427e-02 3.28434365e+00] [ 1.92037160e-01 -1.25709788e-02 9.81307138e-01 2.93633171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.030714057 meters Centerline goodness : 0.994740 Centerline is valid? [True, True] Translation: X:43.26, Y:3.29, Z:2.94 [[ 9.23254751e-01 -3.33952219e-01 -1.89938360e-01 4.32587744e+01] [ 3.32300084e-01 9.42262451e-01 -4.14503175e-02 3.29064036e+00] [ 1.92814210e-01 -2.48473305e-02 9.80920634e-01 2.93915454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.060714057 meters Centerline goodness : 0.993453 Centerline is valid? [True, True] Translation: X:43.28, Y:3.30, Z:2.94 [[ 9.26727037e-01 -3.28137751e-01 -1.83037196e-01 4.32828462e+01] [ 3.27391859e-01 9.44234181e-01 -3.51622164e-02 3.29871682e+00] [ 1.84368028e-01 -2.73391113e-02 9.82476973e-01 2.94167030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.090714057 meters Centerline goodness : 0.994954 Centerline is valid? [True, True] Translation: X:43.31, Y:3.32, Z:2.96 [[ 9.23580827e-01 -3.35480133e-01 -1.85611252e-01 4.33131536e+01] [ 3.30610633e-01 9.42011416e-01 -5.75421693e-02 3.31729791e+00] [ 1.94152173e-01 -8.22020932e-03 9.80936982e-01 2.95804270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.120714057 meters Centerline goodness : 0.993746 Centerline is valid? [True, True] Translation: X:43.34, Y:3.32, Z:2.95 [[ 9.26687213e-01 -3.26696339e-01 -1.85796423e-01 4.33436449e+01] [ 3.27464629e-01 9.44465252e-01 -2.74281696e-02 3.31664551e+00] [ 1.84438948e-01 -3.54244227e-02 9.82205368e-01 2.95416391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.150714056999995 meters Centerline goodness : 0.993523 Centerline is valid? [True, True] Translation: X:43.37, Y:3.34, Z:2.97 [[ 9.27451672e-01 -3.29198554e-01 -1.77374487e-01 4.33702523e+01] [ 3.25886345e-01 9.44171764e-01 -4.83504945e-02 3.33584672e+00] [ 1.83388895e-01 -1.29611762e-02 9.82954994e-01 2.96877841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.180714056999996 meters Centerline goodness : 0.993969 Centerline is valid? [True, True] Translation: X:43.40, Y:3.35, Z:2.98 [[ 9.25798155e-01 -3.32993349e-01 -1.78922347e-01 4.34020750e+01] [ 3.26070617e-01 9.42919275e-01 -6.76845095e-02 3.35256051e+00] [ 1.91247822e-01 4.32087380e-03 9.81532272e-01 2.98091822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.210714057 meters Centerline goodness : 0.994839 Centerline is valid? [True, True] Translation: X:43.44, Y:3.36, Z:2.98 [[ 9.27031776e-01 -3.25578721e-01 -1.86039197e-01 4.34358141e+01] [ 3.22813479e-01 9.45351852e-01 -4.58403072e-02 3.35754775e+00] [ 1.90797128e-01 -1.75605391e-02 9.81472406e-01 2.97797930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.240714057 meters Centerline goodness : 0.993273 Centerline is valid? [True, True] Translation: X:43.47, Y:3.36, Z:2.98 [[ 9.30408961e-01 -3.19104958e-01 -1.80308597e-01 4.34651627e+01] [ 3.18276086e-01 9.47377104e-01 -3.43067871e-02 3.36366688e+00] [ 1.81767703e-01 -2.54685724e-02 9.83011625e-01 2.97846151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.270714057 meters Centerline goodness : 0.994037 Centerline is valid? [True, True] Translation: X:43.49, Y:3.38, Z:2.99 [[ 9.28892079e-01 -3.23529820e-01 -1.80244169e-01 4.34943128e+01] [ 3.16948488e-01 9.46212374e-01 -6.50061467e-02 3.38426177e+00] [ 1.91580690e-01 3.25557785e-03 9.81471467e-01 2.99441530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.300714057 meters Centerline goodness : 0.994183 Centerline is valid? [True, True] Translation: X:43.53, Y:3.39, Z:2.99 [[ 9.31972151e-01 -3.12808469e-01 -1.83245112e-01 4.35267409e+01] [ 3.09441047e-01 9.49734177e-01 -4.74471375e-02 3.39030309e+00] [ 1.88876012e-01 -1.24841484e-02 9.81921585e-01 2.99051642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.330714056999994 meters Centerline goodness : 0.993235 Centerline is valid? [True, True] Translation: X:43.56, Y:3.39, Z:2.99 [[ 9.35197686e-01 -3.04267880e-01 -1.81180421e-01 4.35561850e+01] [ 3.03824358e-01 9.52227223e-01 -3.08881137e-02 3.39471447e+00] [ 1.81923190e-01 -2.61605325e-02 9.82964689e-01 2.99043512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.360714056999996 meters Centerline goodness : 0.993149 Centerline is valid? [True, True] Translation: X:43.59, Y:3.41, Z:3.00 [[ 9.37185459e-01 -3.01821623e-01 -1.74891745e-01 4.35856763e+01] [ 2.98152101e-01 9.53334141e-01 -4.75325141e-02 3.41207467e+00] [ 1.81076612e-01 -7.59756019e-03 9.83439646e-01 3.00383782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.390714057 meters Centerline goodness : 0.992822 Centerline is valid? [True, True] Translation: X:43.62, Y:3.42, Z:3.01 [[ 9.38815847e-01 -2.97965816e-01 -1.72745990e-01 4.36151615e+01] [ 2.94302012e-01 9.54553294e-01 -4.70567149e-02 3.42111745e+00] [ 1.78916546e-01 -6.66190267e-03 9.83841699e-01 3.00760368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.420714057 meters Centerline goodness : 0.993241 Centerline is valid? [True, True] Translation: X:43.65, Y:3.43, Z:3.01 [[ 9.39186470e-01 -2.94836005e-01 -1.76069600e-01 4.36466828e+01] [ 2.92764494e-01 9.55419888e-01 -3.82333516e-02 3.42840689e+00] [ 1.79492966e-01 -1.56386809e-02 9.83634946e-01 3.01161149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.450714057 meters Centerline goodness : 0.993246 Centerline is valid? [True, True] Translation: X:43.68, Y:3.45, Z:3.02 [[ 9.41107852e-01 -2.96885970e-01 -1.61786067e-01 4.36784915e+01] [ 2.89664613e-01 9.54774311e-01 -6.70852273e-02 3.44712850e+00] [ 1.74385843e-01 1.62707357e-02 9.84542960e-01 3.02370698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.480714057 meters Centerline goodness : 0.993169 Centerline is valid? [True, True] Translation: X:43.71, Y:3.44, Z:3.02 [[ 9.40686198e-01 -2.86436149e-01 -1.81834568e-01 4.37120842e+01] [ 2.87797357e-01 9.57494109e-01 -1.94348258e-02 3.44241810e+00] [ 1.79672364e-01 -3.40494356e-02 9.83137059e-01 3.01695348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.510714056999994 meters Centerline goodness : 0.994154 Centerline is valid? [True, True] Translation: X:43.72, Y:3.45, Z:3.03 [[ 9.33963695e-01 -2.90520571e-01 -2.08109621e-01 4.37199326e+01] [ 2.98630467e-01 9.54335651e-01 7.95674840e-03 3.44843418e+00] [ 1.96294831e-01 -6.95791873e-02 9.78073144e-01 3.02715393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.540714056999995 meters Centerline goodness : 0.994145 Centerline is valid? [True, True] Translation: X:43.74, Y:3.49, Z:3.07 [[ 9.33364509e-01 -3.06726958e-01 -1.86411551e-01 4.37380876e+01] [ 2.95279124e-01 9.51436568e-01 -8.70557061e-02 3.48771543e+00] [ 2.04061099e-01 2.62112667e-02 9.78607193e-01 3.06896773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.570714056999996 meters Centerline goodness : 0.994168 Centerline is valid? [True, True] Translation: X:43.78, Y:3.49, Z:3.06 [[ 9.34858948e-01 -2.96558625e-01 -1.95171028e-01 4.37753213e+01] [ 2.91507875e-01 9.54997820e-01 -5.47934544e-02 3.48607355e+00] [ 2.02637378e-01 -5.66974060e-03 9.79237431e-01 3.06157783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.600714057 meters Centerline goodness : 0.993468 Centerline is valid? [True, True] Translation: X:43.82, Y:3.50, Z:3.07 [[ 9.43313068e-01 -2.90949543e-01 -1.59714808e-01 4.38187608e+01] [ 2.79400012e-01 9.55848149e-01 -9.10491613e-02 3.50057228e+00] [ 1.79153815e-01 4.12635445e-02 9.82955355e-01 3.06955881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.630714057 meters Centerline goodness : 0.993483 Centerline is valid? [True, True] Translation: X:43.86, Y:3.49, Z:3.06 [[ 9.44420555e-01 -2.78590694e-01 -1.74519456e-01 4.38594292e+01] [ 2.75781541e-01 9.60360524e-01 -4.06473241e-02 3.49128297e+00] [ 1.78925562e-01 -9.74107616e-03 9.83814390e-01 3.05523516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.660714057 meters Centerline goodness : 0.993803 Centerline is valid? [True, True] Translation: X:43.89, Y:3.49, Z:3.06 [[ 9.44367283e-01 -2.74645195e-01 -1.80943230e-01 4.38869373e+01] [ 2.74270720e-01 9.61256658e-01 -2.75900221e-02 3.49418328e+00] [ 1.81510351e-01 -2.35723156e-02 9.83106474e-01 3.05731968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.690714057 meters Centerline goodness : 0.993151 Centerline is valid? [True, True] Translation: X:43.91, Y:3.51, Z:3.07 [[ 9.44785055e-01 -2.77466079e-01 -1.74338104e-01 4.39142145e+01] [ 2.72654557e-01 9.60734823e-01 -5.14596220e-02 3.50954216e+00] [ 1.81770987e-01 1.08420324e-03 9.83340293e-01 3.07224746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.720714056999995 meters Centerline goodness : 0.993151 Centerline is valid? [True, True] Translation: X:43.95, Y:3.52, Z:3.08 [[ 9.44538812e-01 -2.76278637e-01 -1.77529003e-01 4.39465808e+01] [ 2.73114839e-01 9.61041492e-01 -4.25151288e-02 3.51534397e+00] [ 1.82358760e-01 -8.32861585e-03 9.83196784e-01 3.07519898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.750714056999996 meters Centerline goodness : 0.993532 Centerline is valid? [True, True] Translation: X:43.98, Y:3.52, Z:3.08 [[ 9.45377114e-01 -2.72747249e-01 -1.78524650e-01 4.39756591e+01] [ 2.69671708e-01 9.62046658e-01 -4.17540009e-02 3.52062149e+00] [ 1.83137332e-01 -8.66977064e-03 9.83049110e-01 3.08102811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.780714057 meters Centerline goodness : 0.993445 Centerline is valid? [True, True] Translation: X:44.01, Y:3.53, Z:3.09 [[ 9.45216648e-01 -2.71872146e-01 -1.80695944e-01 4.40066640e+01] [ 2.69133766e-01 9.62272374e-01 -3.99861723e-02 3.52778003e+00] [ 1.84749842e-01 -1.08357841e-02 9.82725843e-01 3.08784462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.810714057 meters Centerline goodness : 0.994022 Centerline is valid? [True, True] Translation: X:44.03, Y:3.52, Z:3.08 [[ 9.40369383e-01 -2.71671105e-01 -2.04695470e-01 4.40254940e+01] [ 2.78882477e-01 9.60302044e-01 6.67442928e-03 3.52438141e+00] [ 1.94756228e-01 -6.33624085e-02 9.78802951e-01 3.08399463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.840714057 meters Centerline goodness : 0.992595 Centerline is valid? [True, True] Translation: X:44.05, Y:3.56, Z:3.13 [[ 0.94605363 -0.28372604 -0.15646744 44.05090134] [ 0.2673384 0.95637498 -0.11780099 3.56419544] [ 0.18306475 0.0696163 0.98063289 3.12955272] [ 0. 0. 0. 1. ]] SLAMing on 44.870714057 meters Centerline goodness : 0.991972 Centerline is valid? [True, True] Translation: X:44.10, Y:3.55, Z:3.11 [[ 9.46294004e-01 -2.70475773e-01 -1.77117231e-01 4.40962620e+01] [ 2.66525005e-01 9.62720441e-01 -4.61928034e-02 3.54742081e+00] [ 1.83008413e-01 -3.49419788e-03 9.83105138e-01 3.10552321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.900714056999995 meters Centerline goodness : 0.992218 Centerline is valid? [True, True] Translation: X:44.13, Y:3.55, Z:3.11 [[ 9.45665986e-01 -2.69894297e-01 -1.81308884e-01 4.41288657e+01] [ 2.67512943e-01 9.62807160e-01 -3.79367583e-02 3.54764725e+00] [ 1.84804407e-01 -1.26269712e-02 9.82694200e-01 3.10902034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.930714056999996 meters Centerline goodness : 0.991835 Centerline is valid? [True, True] Translation: X:44.16, Y:3.55, Z:3.12 [[ 9.45223807e-01 -2.71490814e-01 -1.81231048e-01 4.41577444e+01] [ 2.68849304e-01 9.62373297e-01 -3.94675631e-02 3.55315465e+00] [ 1.85127002e-01 -1.14181607e-02 9.82648268e-01 3.11642630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.960714057 meters Centerline goodness : 0.992280 Centerline is valid? [True, True] Translation: X:44.19, Y:3.56, Z:3.12 [[ 9.44015866e-01 -2.74003748e-01 -1.83728033e-01 4.41872647e+01] [ 2.71537423e-01 9.61639196e-01 -3.89549071e-02 3.55892515e+00] [ 1.87353869e-01 -1.31149863e-02 9.82204930e-01 3.12418539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.990714057 meters Centerline goodness : 0.992817 Centerline is valid? [True, True] Translation: X:44.22, Y:3.57, Z:3.13 [[ 9.43813287e-01 -2.76699695e-01 -1.80703507e-01 4.42151490e+01] [ 2.72562016e-01 9.60947721e-01 -4.78479318e-02 3.56734588e+00] [ 1.86886131e-01 -4.09339826e-03 9.82373054e-01 3.13291785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.020714057 meters Centerline goodness : 0.991712 Centerline is valid? [True, True] Translation: X:44.25, Y:3.57, Z:3.14 [[ 9.42932095e-01 -2.79493460e-01 -1.81004063e-01 4.42451051e+01] [ 2.76441374e-01 9.60094940e-01 -4.24013299e-02 3.56782013e+00] [ 1.85631979e-01 -1.00554370e-02 9.82567889e-01 3.13614024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.050714057 meters Centerline goodness : 0.992729 Centerline is valid? [True, True] Translation: X:44.28, Y:3.58, Z:3.15 [[ 9.42273915e-01 -2.85782282e-01 -1.74494576e-01 4.42758166e+01] [ 2.78988427e-01 9.58236810e-01 -6.28305200e-02 3.58114479e+00] [ 1.85162975e-01 1.05215928e-02 9.82651499e-01 3.14786319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.080714056999994 meters Centerline goodness : 0.993220 Centerline is valid? [True, True] Translation: X:44.31, Y:3.58, Z:3.15 [[ 9.40913378e-01 -2.86436493e-01 -1.80654784e-01 4.43105421e+01] [ 2.82937419e-01 9.58062563e-01 -4.54152272e-02 3.57751968e+00] [ 1.86087163e-01 -8.38220333e-03 9.82497484e-01 3.14671157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.110714056999996 meters Centerline goodness : 0.992470 Centerline is valid? [True, True] Translation: X:44.34, Y:3.58, Z:3.15 [[ 9.40369208e-01 -2.86859318e-01 -1.82804496e-01 4.43384441e+01] [ 2.84909765e-01 9.57823718e-01 -3.74185997e-02 3.57878373e+00] [ 1.85828356e-01 -1.68954871e-02 9.82436952e-01 3.15006664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.140714057 meters Centerline goodness : 0.992404 Centerline is valid? [True, True] Translation: X:44.37, Y:3.58, Z:3.16 [[ 9.37334129e-01 -2.89218489e-01 -1.94312624e-01 4.43653851e+01] [ 2.90068946e-01 9.56686883e-01 -2.47025219e-02 3.58018364e+00] [ 1.93040765e-01 -3.32095413e-02 9.80628569e-01 3.15809785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.170714057 meters Centerline goodness : 0.992381 Centerline is valid? [True, True] Translation: X:44.39, Y:3.59, Z:3.17 [[ 9.34512290e-01 -2.98363969e-01 -1.94076586e-01 4.43899038e+01] [ 2.96355029e-01 9.54239790e-01 -4.00015005e-02 3.58947087e+00] [ 1.97130607e-01 -2.01336782e-02 9.80170474e-01 3.17237992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.200714057 meters Centerline goodness : 0.993316 Centerline is valid? [True, True] Translation: X:44.42, Y:3.60, Z:3.18 [[ 9.33408904e-01 -3.02618864e-01 -1.92794298e-01 4.44155320e+01] [ 2.98939005e-01 9.53032893e-01 -4.86186713e-02 3.59826008e+00] [ 1.98452235e-01 -1.22526351e-02 9.80033970e-01 3.18220992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.230714057 meters Centerline goodness : 0.992271 Centerline is valid? [True, True] Translation: X:44.44, Y:3.61, Z:3.19 [[ 9.33578869e-01 -3.11659418e-01 -1.76914957e-01 4.44419994e+01] [ 3.02181030e-01 9.49978994e-01 -7.89084012e-02 3.61212687e+00] [ 1.92658040e-01 2.02068719e-02 9.81057879e-01 3.19112000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.260714056999994 meters Centerline goodness : 0.992451 Centerline is valid? [True, True] Translation: X:44.48, Y:3.60, Z:3.18 [[ 9.31637686e-01 -3.03366856e-01 -2.00049428e-01 4.44756401e+01] [ 3.05511221e-01 9.51960558e-01 -2.08324240e-02 3.59690537e+00] [ 1.96759032e-01 -4.17090738e-02 9.79564309e-01 3.18301430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.290714056999995 meters Centerline goodness : 0.992876 Centerline is valid? [True, True] Translation: X:44.50, Y:3.62, Z:3.20 [[ 9.30798590e-01 -3.15354370e-01 -1.84839407e-01 4.44963883e+01] [ 3.08131251e-01 9.48956640e-01 -6.73530008e-02 3.61913174e+00] [ 1.96644646e-01 5.73728027e-03 9.80458039e-01 3.20169252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.320714056999996 meters Centerline goodness : 0.992784 Centerline is valid? [True, True] Translation: X:44.53, Y:3.61, Z:3.20 [[ 9.29161873e-01 -3.14255745e-01 -1.94683180e-01 4.45281307e+01] [ 3.12678052e-01 9.49033096e-01 -3.96057751e-02 3.61407712e+00] [ 1.97207124e-01 -2.40729814e-02 9.80066244e-01 3.20071462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.350714057 meters Centerline goodness : 0.994145 Centerline is valid? [True, True] Translation: X:44.56, Y:3.64, Z:3.22 [[ 9.27072787e-01 -3.26378739e-01 -1.84426044e-01 4.45562293e+01] [ 3.15402800e-01 9.44974756e-01 -8.68549586e-02 3.63819057e+00] [ 2.02625567e-01 2.23523780e-02 9.79001149e-01 3.21881060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.380714057 meters Centerline goodness : 0.993308 Centerline is valid? [True, True] Translation: X:44.59, Y:3.63, Z:3.21 [[ 9.26680320e-01 -3.19899729e-01 -1.97301160e-01 4.45913655e+01] [ 3.17898650e-01 9.47166538e-01 -4.26145253e-02 3.62814676e+00] [ 2.00509432e-01 -2.32317305e-02 9.79416283e-01 3.20893542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.410714057 meters Centerline goodness : 0.993148 Centerline is valid? [True, True] Translation: X:44.62, Y:3.63, Z:3.21 [[ 9.26750118e-01 -3.18172336e-01 -1.99751305e-01 4.46175048e+01] [ 3.19723195e-01 9.47172248e-01 -2.53339925e-02 3.62894454e+00] [ 1.97259469e-01 -4.03868450e-02 9.79519068e-01 3.21300698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.440714057 meters Centerline goodness : 0.993835 Centerline is valid? [True, True] Translation: X:44.64, Y:3.65, Z:3.23 [[ 9.23899155e-01 -3.30658429e-01 -1.92549617e-01 4.46411494e+01] [ 3.22871239e-01 9.43742703e-01 -7.14414019e-02 3.65204711e+00] [ 2.05339998e-01 3.83591742e-03 9.78683182e-01 3.23141364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.470714056999995 meters Centerline goodness : 0.992966 Centerline is valid? [True, True] Translation: X:44.67, Y:3.64, Z:3.22 [[ 9.24696917e-01 -3.20329694e-01 -2.05729188e-01 4.46680662e+01] [ 3.23296401e-01 9.46086996e-01 -1.99707821e-02 3.64026454e+00] [ 2.01034944e-01 -4.80445856e-02 9.78405166e-01 3.22473639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.500714056999996 meters Centerline goodness : 0.993022 Centerline is valid? [True, True] Translation: X:44.69, Y:3.66, Z:3.24 [[ 9.23357105e-01 -3.31387210e-01 -1.93892170e-01 4.46894950e+01] [ 3.26331205e-01 9.43448677e-01 -5.84169414e-02 3.66069102e+00] [ 2.02285938e-01 -9.33336758e-03 9.79282027e-01 3.24167313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.530714057 meters Centerline goodness : 0.992687 Centerline is valid? [True, True] Translation: X:44.71, Y:3.67, Z:3.25 [[ 9.23394800e-01 -3.33003743e-01 -1.90920273e-01 4.47140265e+01] [ 3.26231533e-01 9.42925324e-01 -6.68193112e-02 3.67144716e+00] [ 2.02274641e-01 -5.83608652e-04 9.79328662e-01 3.24858807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.560714057 meters Centerline goodness : 0.993698 Centerline is valid? [True, True] Translation: X:44.75, Y:3.68, Z:3.25 [[ 9.20950796e-01 -3.37362111e-01 -1.95029322e-01 4.47492413e+01] [ 3.30144918e-01 9.41374840e-01 -6.94099669e-02 3.68142771e+00] [ 2.07011989e-01 -4.64775008e-04 9.78338295e-01 3.25338421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.590714057 meters Centerline goodness : 0.993416 Centerline is valid? [True, True] Translation: X:44.78, Y:3.68, Z:3.25 [[ 9.21032931e-01 -3.34733517e-01 -1.99127628e-01 4.47776984e+01] [ 3.31266414e-01 9.42130634e-01 -5.15017619e-02 3.68285016e+00] [ 2.04843604e-01 -1.85294767e-02 9.78619311e-01 3.25273841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.620714057 meters Centerline goodness : 0.994236 Centerline is valid? [True, True] Translation: X:44.80, Y:3.69, Z:3.26 [[ 9.20677912e-01 -3.36526665e-01 -1.97742223e-01 4.48042115e+01] [ 3.32397226e-01 9.41549222e-01 -5.47462056e-02 3.69209077e+00] [ 2.04607594e-01 -1.53253439e-02 9.78724101e-01 3.25898060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.650714056999995 meters Centerline goodness : 0.994876 Centerline is valid? [True, True] Translation: X:44.82, Y:3.69, Z:3.26 [[ 9.14949271e-01 -3.35820583e-01 -2.23813244e-01 4.48157362e+01] [ 3.42156516e-01 9.39577966e-01 -1.10528142e-02 3.69132904e+00] [ 2.14001755e-01 -6.64663953e-02 9.74569375e-01 3.26072861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.680714056999996 meters Centerline goodness : 0.992501 Centerline is valid? [True, True] Translation: X:44.85, Y:3.72, Z:3.28 [[ 9.22320998e-01 -3.40698596e-01 -1.82341559e-01 4.48454756e+01] [ 3.31169164e-01 9.40058593e-01 -8.13438757e-02 3.71831783e+00] [ 1.99125494e-01 1.46392630e-02 9.79864649e-01 3.28147837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.710714057 meters Centerline goodness : 0.993283 Centerline is valid? [True, True] Translation: X:44.88, Y:3.72, Z:3.28 [[ 9.23023584e-01 -3.34497164e-01 -1.90102894e-01 4.48776476e+01] [ 3.30067530e-01 9.42326032e-01 -5.54713864e-02 3.71788636e+00] [ 1.97693928e-01 -1.15453949e-02 9.80195804e-01 3.27741186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.740714057 meters Centerline goodness : 0.992897 Centerline is valid? [True, True] Translation: X:44.90, Y:3.73, Z:3.28 [[ 9.23070570e-01 -3.36343385e-01 -1.86584702e-01 4.49046706e+01] [ 3.30266484e-01 9.41735210e-01 -6.37090625e-02 3.73030176e+00] [ 1.97141505e-01 -2.81471276e-03 9.80371003e-01 3.28360880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.770714057 meters Centerline goodness : 0.994650 Centerline is valid? [True, True] Translation: X:44.92, Y:3.73, Z:3.29 [[ 9.14612023e-01 -3.36059595e-01 -2.24830595e-01 4.49211133e+01] [ 3.41370419e-01 9.39792097e-01 -1.60327939e-02 3.73031303e+00] [ 2.16681990e-01 -6.20867283e-02 9.74265956e-01 3.28605616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.800714057 meters Centerline goodness : 0.993712 Centerline is valid? [True, True] Translation: X:44.95, Y:3.76, Z:3.31 [[ 9.19797419e-01 -3.46314213e-01 -1.84497084e-01 4.49525383e+01] [ 3.31933228e-01 9.37458104e-01 -1.04845772e-01 3.76426850e+00] [ 2.09267867e-01 3.51961583e-02 9.77224739e-01 3.31204742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.830714056999994 meters Centerline goodness : 0.994406 Centerline is valid? [True, True] Translation: X:44.99, Y:3.75, Z:3.30 [[ 9.19879377e-01 -3.33478590e-01 -2.06431494e-01 4.49876380e+01] [ 3.32409967e-01 9.42247873e-01 -4.08969510e-02 3.75101867e+00] [ 2.08147893e-01 -3.09996242e-02 9.77605993e-01 3.29930127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.860714056999996 meters Centerline goodness : 0.993205 Centerline is valid? [True, True] Translation: X:45.01, Y:3.76, Z:3.31 [[ 9.23088196e-01 -3.31686844e-01 -1.94658729e-01 4.50069694e+01] [ 3.29335864e-01 9.43125947e-01 -4.52916783e-02 3.76219962e+00] [ 1.98610352e-01 -2.22998870e-02 9.79824802e-01 3.30543092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.890714057 meters Centerline goodness : 0.993539 Centerline is valid? [True, True] Translation: X:45.03, Y:3.78, Z:3.32 [[ 9.23467348e-01 -3.34324226e-01 -1.88242844e-01 4.50296357e+01] [ 3.27937254e-01 9.42456673e-01 -6.50582576e-02 3.77848571e+00] [ 1.99161276e-01 -1.65266478e-03 9.79965333e-01 3.31506813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.920714057 meters Centerline goodness : 0.992984 Centerline is valid? [True, True] Translation: X:45.06, Y:3.78, Z:3.32 [[ 9.22975597e-01 -3.31445391e-01 -1.95601637e-01 4.50606134e+01] [ 3.29056309e-01 9.43210540e-01 -4.55611898e-02 3.78386813e+00] [ 1.99594572e-01 -2.23120863e-02 9.79624508e-01 3.31798003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.950714057 meters Centerline goodness : 0.993198 Centerline is valid? [True, True] Translation: X:45.09, Y:3.80, Z:3.33 [[ 9.23379617e-01 -3.33147197e-01 -1.90743357e-01 4.50851886e+01] [ 3.28145415e-01 9.42833205e-01 -5.81905043e-02 3.79741072e+00] [ 1.99225174e-01 -8.85963233e-03 9.79913689e-01 3.32592516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.980714057 meters Centerline goodness : 0.994037 Centerline is valid? [True, True] Translation: X:45.11, Y:3.80, Z:3.33 [[ 9.22811681e-01 -3.29702253e-01 -1.99286292e-01 4.51115606e+01] [ 3.28009741e-01 9.43720989e-01 -4.24299938e-02 3.80239297e+00] [ 2.02059921e-01 -2.62129510e-02 9.79022303e-01 3.33029705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.010714056999994 meters Centerline goodness : 0.993867 Centerline is valid? [True, True] Translation: X:45.13, Y:3.81, Z:3.34 [[ 9.20403406e-01 -3.26327849e-01 -2.15331619e-01 4.51326896e+01] [ 3.26250720e-01 9.44561222e-01 -3.69400338e-02 3.81176020e+00] [ 2.15448459e-01 -3.62523628e-02 9.75842061e-01 3.34194770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.040714056999995 meters Centerline goodness : 0.993076 Centerline is valid? [True, True] Translation: X:45.15, Y:3.83, Z:3.35 [[ 9.22655318e-01 -3.26694811e-01 -2.04884514e-01 4.51535474e+01] [ 3.23055147e-01 9.44953454e-01 -5.19455584e-02 3.82712944e+00] [ 2.10576673e-01 -1.82611511e-02 9.77406770e-01 3.35436950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.070714056999996 meters Centerline goodness : 0.993782 Centerline is valid? [True, True] Translation: X:45.18, Y:3.84, Z:3.36 [[ 9.23822177e-01 -3.25380379e-01 -2.01693318e-01 4.51777036e+01] [ 3.20231611e-01 9.45525392e-01 -5.85956246e-02 3.83943623e+00] [ 2.09772020e-01 -1.04566387e-02 9.77694409e-01 3.36372549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.100714057 meters Centerline goodness : 0.993379 Centerline is valid? [True, True] Translation: X:45.20, Y:3.85, Z:3.37 [[ 9.25754239e-01 -3.17445496e-01 -2.05444509e-01 4.52036459e+01] [ 3.14086071e-01 9.48094945e-01 -4.96579745e-02 3.84729406e+00] [ 2.10544601e-01 -1.85561782e-02 9.77408123e-01 3.36969933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.130714057 meters Centerline goodness : 0.993147 Centerline is valid? [True, True] Translation: X:45.23, Y:3.86, Z:3.38 [[ 9.26916957e-01 -3.18248086e-01 -1.98854497e-01 4.52263025e+01] [ 3.11013495e-01 9.48007209e-01 -6.74754534e-02 3.86277846e+00] [ 2.09989431e-01 6.97709735e-04 9.77703407e-01 3.38108512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.160714057 meters Centerline goodness : 0.994371 Centerline is valid? [True, True] Translation: X:45.24, Y:3.88, Z:3.39 [[ 9.24953551e-01 -3.23216787e-01 -1.99979590e-01 4.52447218e+01] [ 3.13010007e-01 9.46237178e-01 -8.16084469e-02 3.88332558e+00] [ 2.15605343e-01 1.28884102e-02 9.76395527e-01 3.38881150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.190714057 meters Centerline goodness : 0.993226 Centerline is valid? [True, True] Translation: X:45.28, Y:3.88, Z:3.38 [[ 9.27600383e-01 -3.11916869e-01 -2.05585498e-01 4.52765109e+01] [ 3.10194241e-01 9.49770897e-01 -4.14098646e-02 3.88007959e+00] [ 2.08175558e-01 -2.53596313e-02 9.77762663e-01 3.38191539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.220714056999995 meters Centerline goodness : 0.994173 Centerline is valid? [True, True] Translation: X:45.30, Y:3.90, Z:3.40 [[ 9.27276740e-01 -3.18131794e-01 -1.97357565e-01 4.53004294e+01] [ 3.06226420e-01 9.47789033e-01 -8.90018497e-02 3.90378586e+00] [ 2.15367654e-01 2.20932446e-02 9.76283085e-01 3.40378439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.250714056999996 meters Centerline goodness : 0.992572 Centerline is valid? [True, True] Translation: X:45.34, Y:3.91, Z:3.40 [[ 9.37267124e-01 -3.02225222e-01 -1.73753426e-01 4.53445235e+01] [ 2.88625215e-01 9.52263571e-01 -9.94463489e-02 3.90948385e+00] [ 1.95514253e-01 4.30581735e-02 9.79755159e-01 3.40256429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.280714057 meters Centerline goodness : 0.991925 Centerline is valid? [True, True] Translation: X:45.38, Y:3.90, Z:3.39 [[ 9.39011346e-01 -2.86982156e-01 -1.89470140e-01 4.53791419e+01] [ 2.82656260e-01 9.57913609e-01 -5.00695165e-02 3.89975851e+00] [ 1.95865084e-01 -6.53907704e-03 9.80609050e-01 3.38923810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.310714057 meters Centerline goodness : 0.992511 Centerline is valid? [True, True] Translation: X:45.41, Y:3.91, Z:3.40 [[ 9.38663009e-01 -2.86409425e-01 -1.92045298e-01 4.54069804e+01] [ 2.81503707e-01 9.58097455e-01 -5.29615883e-02 3.90825429e+00] [ 1.99166809e-01 -4.34837958e-03 9.79955955e-01 3.39743033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.340714057 meters Centerline goodness : 0.992570 Centerline is valid? [True, True] Translation: X:45.43, Y:3.91, Z:3.40 [[ 9.39725563e-01 -2.80319715e-01 -1.95797663e-01 4.54339078e+01] [ 2.76044789e-01 9.59876145e-01 -4.93665859e-02 3.91197975e+00] [ 2.01779933e-01 -7.65788177e-03 9.79400947e-01 3.40284052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.370714057 meters Centerline goodness : 0.992511 Centerline is valid? [True, True] Translation: X:45.46, Y:3.92, Z:3.41 [[ 9.40012126e-01 -2.78461228e-01 -1.97069906e-01 4.54587709e+01] [ 2.74300381e-01 9.60411568e-01 -4.86715616e-02 3.91745217e+00] [ 2.02821360e-01 -8.30449215e-03 9.79180541e-01 3.40944954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.400714056999995 meters Centerline goodness : 0.993529 Centerline is valid? [True, True] Translation: X:45.49, Y:3.93, Z:3.42 [[ 9.38057385e-01 -2.80795245e-01 -2.02983678e-01 4.54879351e+01] [ 2.74317985e-01 9.59767527e-01 -5.99661341e-02 3.92503827e+00] [ 2.11655348e-01 5.69601354e-04 9.77344202e-01 3.42156189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.430714056999996 meters Centerline goodness : 0.993238 Centerline is valid? [True, True] Translation: X:45.51, Y:3.91, Z:3.42 [[ 9.37569091e-01 -2.69632814e-01 -2.19686925e-01 4.55057593e+01] [ 2.74586362e-01 9.61526928e-01 -8.26414729e-03 3.91270086e+00] [ 2.13463179e-01 -5.25748244e-02 9.75535422e-01 3.41598849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.460714057 meters Centerline goodness : 0.994079 Centerline is valid? [True, True] Translation: X:45.52, Y:3.95, Z:3.45 [[ 9.36094654e-01 -2.90784048e-01 -1.97917754e-01 4.55200136e+01] [ 2.77992588e-01 9.56335320e-01 -9.02378875e-02 3.94928047e+00] [ 2.15515476e-01 2.94515355e-02 9.76056190e-01 3.44724211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.490714057 meters Centerline goodness : 0.993994 Centerline is valid? [True, True] Translation: X:45.55, Y:3.94, Z:3.44 [[ 9.36167502e-01 -2.85321643e-01 -2.05382493e-01 4.55518623e+01] [ 2.77896338e-01 9.58425221e-01 -6.47666602e-02 3.94488959e+00] [ 2.15323092e-01 3.55739971e-03 9.76536385e-01 3.44351437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.520714057 meters Centerline goodness : 0.993263 Centerline is valid? [True, True] Translation: X:45.59, Y:3.93, Z:3.45 [[ 9.40294046e-01 -2.73557439e-01 -2.02517738e-01 4.55926258e+01] [ 2.68814239e-01 9.61834559e-01 -5.11193256e-02 3.93317855e+00] [ 2.08772631e-01 -6.37245407e-03 9.77943444e-01 3.44670249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.550714057 meters Centerline goodness : 0.994353 Centerline is valid? [True, True] Translation: X:45.61, Y:3.95, Z:3.46 [[ 9.36048180e-01 -2.88848773e-01 -2.00948230e-01 4.56064640e+01] [ 2.80013953e-01 9.57313074e-01 -7.17207403e-02 3.95062517e+00] [ 2.13086816e-01 1.08657603e-02 9.76972847e-01 3.45616596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.580714056999994 meters Centerline goodness : 0.994039 Centerline is valid? [True, True] Translation: X:45.64, Y:3.95, Z:3.46 [[ 9.35231393e-01 -2.90379015e-01 -2.02539548e-01 4.56364204e+01] [ 2.83223242e-01 9.56908173e-01 -6.41197550e-02 3.94588979e+00] [ 2.12430781e-01 2.60290030e-03 9.77172650e-01 3.45905587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.610714056999996 meters Centerline goodness : 0.994039 Centerline is valid? [True, True] Translation: X:45.66, Y:3.95, Z:3.47 [[ 9.35153366e-01 -2.90635898e-01 -2.02531374e-01 4.56628408e+01] [ 2.83480490e-01 9.56830266e-01 -6.41455647e-02 3.95433008e+00] [ 2.12431152e-01 2.57224768e-03 9.77172651e-01 3.46515894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.640714057 meters Centerline goodness : 0.993855 Centerline is valid? [True, True] Translation: X:45.69, Y:3.96, Z:3.47 [[ 9.34398485e-01 -2.93176532e-01 -2.02353634e-01 4.56901965e+01] [ 2.86079383e-01 9.56056121e-01 -6.41504447e-02 3.95706395e+00] [ 2.12268836e-01 2.05287548e-03 9.77209152e-01 3.47115001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.670714057 meters Centerline goodness : 0.993127 Centerline is valid? [True, True] Translation: X:45.72, Y:3.96, Z:3.48 [[ 9.33562834e-01 -2.95874034e-01 -2.02284432e-01 4.57167698e+01] [ 2.88829945e-01 9.55225782e-01 -6.41947740e-02 3.95959486e+00] [ 2.12220871e-01 1.50405389e-03 9.77220569e-01 3.47654332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.700714057 meters Centerline goodness : 0.993121 Centerline is valid? [True, True] Translation: X:45.75, Y:3.96, Z:3.48 [[ 9.31572897e-01 -3.01945587e-01 -2.02486544e-01 4.57464385e+01] [ 2.95022582e-01 9.53325149e-01 -6.42871411e-02 3.95666921e+00] [ 2.12446733e-01 1.50055425e-04 9.77172637e-01 3.48223736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.730714057 meters Centerline goodness : 0.993011 Centerline is valid? [True, True] Translation: X:45.77, Y:3.96, Z:3.49 [[ 9.30529538e-01 -3.04977133e-01 -2.02740543e-01 4.57737625e+01] [ 2.98093159e-01 9.52359554e-01 -6.44340593e-02 3.95964104e+00] [ 2.12732808e-01 -4.77773596e-04 9.77110293e-01 3.48775197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.760714056999994 meters Centerline goodness : 0.992885 Centerline is valid? [True, True] Translation: X:45.80, Y:3.96, Z:3.49 [[ 9.29412545e-01 -3.08108284e-01 -2.03129532e-01 4.58015043e+01] [ 3.01256988e-01 9.51350621e-01 -6.46237052e-02 3.96232510e+00] [ 2.13158505e-01 -1.13210855e-03 9.77016975e-01 3.49363967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.790714056999995 meters Centerline goodness : 0.992206 Centerline is valid? [True, True] Translation: X:45.83, Y:3.97, Z:3.50 [[ 9.28456394e-01 -3.10716242e-01 -2.03529217e-01 4.58295875e+01] [ 3.03885141e-01 9.50501251e-01 -6.48166132e-02 3.96529796e+00] [ 2.13594350e-01 -1.67010582e-03 9.76921012e-01 3.49987404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.820714056999996 meters Centerline goodness : 0.991551 Centerline is valid? [True, True] Translation: X:45.86, Y:3.96, Z:3.51 [[ 9.27085486e-01 -3.14966501e-01 -2.03245184e-01 4.58588660e+01] [ 3.08241201e-01 9.49099278e-01 -6.47913736e-02 3.96335126e+00] [ 2.13306970e-01 -2.58139775e-03 9.76981818e-01 3.50570600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.850714057 meters Centerline goodness : 0.991768 Centerline is valid? [True, True] Translation: X:45.89, Y:3.97, Z:3.51 [[ 9.26476605e-01 -3.16797452e-01 -2.03175972e-01 4.58857845e+01] [ 3.10105948e-01 9.48488662e-01 -6.48348603e-02 3.96705496e+00] [ 2.13249624e-01 -2.93809600e-03 9.76993329e-01 3.51100462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.880714057 meters Centerline goodness : 0.990878 Centerline is valid? [True, True] Translation: X:45.91, Y:3.97, Z:3.52 [[ 9.25887613e-01 -3.18398518e-01 -2.03358090e-01 4.59148729e+01] [ 3.11723302e-01 9.47951324e-01 -6.49374327e-02 3.96616683e+00] [ 2.13449553e-01 -3.26669094e-03 9.76948626e-01 3.51758987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.910714057 meters Centerline goodness : 0.989576 Centerline is valid? [True, True] Translation: X:45.94, Y:3.96, Z:3.52 [[ 9.26625437e-01 -3.13020088e-01 -2.08287599e-01 4.59390007e+01] [ 3.12476090e-01 9.49228409e-01 -3.63884706e-02 3.96100998e+00] [ 2.09102828e-01 -3.13664120e-02 9.77390483e-01 3.52238154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.940714057 meters Centerline goodness : 0.989114 Centerline is valid? [True, True] Translation: X:45.96, Y:3.98, Z:3.54 [[ 9.25682572e-01 -3.24890231e-01 -1.93799157e-01 4.59644990e+01] [ 3.11715422e-01 9.45327378e-01 -9.58626315e-02 3.98396571e+00] [ 2.14348482e-01 2.83281812e-02 9.76346374e-01 3.53801334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.970714056999995 meters Centerline goodness : 0.988735 Centerline is valid? [True, True] Translation: X:46.00, Y:3.97, Z:3.54 [[ 9.25690717e-01 -3.19500178e-01 -2.02524893e-01 4.59971992e+01] [ 3.12884002e-01 9.47580091e-01 -6.47732339e-02 3.97390470e+00] [ 2.12603617e-01 -3.40681772e-03 9.77132589e-01 3.53545616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.000714056999996 meters Centerline goodness : 0.988174 Centerline is valid? [True, True] Translation: X:46.02, Y:3.97, Z:3.54 [[ 9.26638282e-01 -3.13998635e-01 -2.06751910e-01 4.60202543e+01] [ 3.13092968e-01 9.48963369e-01 -3.79646923e-02 3.97037923e+00] [ 2.08120851e-01 -2.95530319e-02 9.77656550e-01 3.54103468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.030714057 meters Centerline goodness : 0.986615 Centerline is valid? [True, True] Translation: X:46.06, Y:3.98, Z:3.55 [[ 9.31012515e-01 -3.14536485e-01 -1.85155330e-01 4.60596263e+01] [ 3.03442477e-01 9.48939301e-01 -8.62372650e-02 3.98110622e+00] [ 2.02825936e-01 2.41039810e-02 9.78918096e-01 3.55215812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.060714057 meters Centerline goodness : 0.985466 Centerline is valid? [True, True] Translation: X:46.09, Y:3.98, Z:3.55 [[ 9.30650408e-01 -3.08961609e-01 -1.96042194e-01 4.60907574e+01] [ 3.03871028e-01 9.51047521e-01 -5.63117332e-02 3.97521542e+00] [ 2.03843606e-01 -7.16500563e-03 9.78977245e-01 3.55202800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.090714057 meters Centerline goodness : 0.987175 Centerline is valid? [True, True] Translation: X:46.11, Y:3.98, Z:3.56 [[ 9.26599491e-01 -3.14745567e-01 -2.05787782e-01 4.61053037e+01] [ 3.12889526e-01 9.48843602e-01 -4.23788092e-02 3.97912893e+00] [ 2.08598962e-01 -2.51206586e-02 9.77678590e-01 3.56039363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.120714057 meters Centerline goodness : 0.987090 Centerline is valid? [True, True] Translation: X:46.13, Y:4.00, Z:3.57 [[ 9.25529187e-01 -3.24905197e-01 -1.94505365e-01 4.61339291e+01] [ 3.12238499e-01 9.45395539e-01 -9.34579871e-02 4.00126586e+00] [ 2.14249490e-01 2.57660314e-02 9.76439075e-01 3.57259345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.150714056999995 meters Centerline goodness : 0.984710 Centerline is valid? [True, True] Translation: X:46.18, Y:3.99, Z:3.57 [[ 9.32160192e-01 -3.09980149e-01 -1.87055295e-01 4.61762380e+01] [ 3.01982740e-01 9.50697562e-01 -7.05731613e-02 3.99301480e+00] [ 1.99709292e-01 9.29802101e-03 9.79811076e-01 3.56904885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.180714056999996 meters Centerline goodness : 0.986401 Centerline is valid? [True, True] Translation: X:46.21, Y:4.00, Z:3.57 [[ 9.29045227e-01 -3.14319936e-01 -1.95135705e-01 4.62094996e+01] [ 3.05236627e-01 9.49255010e-01 -7.57992620e-02 3.99842936e+00] [ 2.09058764e-01 1.08583783e-02 9.77842793e-01 3.57435187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.210714057 meters Centerline goodness : 0.986083 Centerline is valid? [True, True] Translation: X:46.24, Y:3.99, Z:3.57 [[ 9.31078161e-01 -3.05650103e-01 -1.99176990e-01 4.62387520e+01] [ 3.03171711e-01 9.51938155e-01 -4.35965813e-02 3.99242228e+00] [ 2.02929476e-01 -1.97930041e-02 9.78993291e-01 3.57400677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.240714057 meters Centerline goodness : 0.984622 Centerline is valid? [True, True] Translation: X:46.26, Y:4.01, Z:3.58 [[ 9.30844162e-01 -3.11128814e-01 -1.91645523e-01 4.62638732e+01] [ 3.04415316e-01 9.50366542e-01 -6.43020253e-02 4.00557189e+00] [ 2.02139705e-01 1.51533258e-03 9.79355524e-01 3.58193100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.270714057 meters Centerline goodness : 0.985182 Centerline is valid? [True, True] Translation: X:46.29, Y:4.01, Z:3.59 [[ 9.32019990e-01 -3.11753449e-01 -1.84793197e-01 4.62937694e+01] [ 3.03927225e-01 9.50119605e-01 -7.00069869e-02 4.01237705e+00] [ 1.97400559e-01 9.08422777e-03 9.80280825e-01 3.58506088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.300714057 meters Centerline goodness : 0.984615 Centerline is valid? [True, True] Translation: X:46.32, Y:4.01, Z:3.59 [[ 9.30529776e-01 -3.11847039e-01 -1.92004584e-01 4.63224531e+01] [ 3.06668280e-01 9.50113820e-01 -5.69060162e-02 4.00954740e+00] [ 2.00172181e-01 -5.92897290e-03 9.79742795e-01 3.58951920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.330714056999994 meters Centerline goodness : 0.984587 Centerline is valid? [True, True] Translation: X:46.35, Y:4.01, Z:3.60 [[ 9.29578827e-01 -3.12379116e-01 -1.95710226e-01 4.63491537e+01] [ 3.09207549e-01 9.49814429e-01 -4.73628878e-02 4.01287061e+00] [ 2.00683573e-01 -1.64875416e-02 9.79517363e-01 3.59724203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.360714056999996 meters Centerline goodness : 0.984607 Centerline is valid? [True, True] Translation: X:46.38, Y:4.03, Z:3.60 [[ 9.29638576e-01 -3.19700093e-01 -1.83204719e-01 4.63779913e+01] [ 3.11251952e-01 9.47446323e-01 -7.39438188e-02 4.02577060e+00] [ 1.97216483e-01 1.17182002e-02 9.80289928e-01 3.60332410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.390714057 meters Centerline goodness : 0.986137 Centerline is valid? [True, True] Translation: X:46.41, Y:4.02, Z:3.62 [[ 9.24420951e-01 -3.19943391e-01 -2.07562356e-01 4.64060251e+01] [ 3.16919815e-01 9.47206909e-01 -4.85891288e-02 4.02169254e+00] [ 2.12150268e-01 -2.08638147e-02 9.77014312e-01 3.61587451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.420714057 meters Centerline goodness : 0.986180 Centerline is valid? [True, True] Translation: X:46.43, Y:4.03, Z:3.62 [[ 9.26314640e-01 -3.20452318e-01 -1.98119911e-01 4.64315042e+01] [ 3.16748628e-01 9.47137583e-01 -5.09971078e-02 4.02939424e+00] [ 2.03988955e-01 -1.55148425e-02 9.78850242e-01 3.61943988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.450714057 meters Centerline goodness : 0.985937 Centerline is valid? [True, True] Translation: X:46.45, Y:4.03, Z:3.64 [[ 9.16952771e-01 -3.32925646e-01 -2.19904819e-01 4.64464964e+01] [ 3.31747141e-01 9.42369765e-01 -4.33942383e-02 4.03289561e+00] [ 2.21678707e-01 -3.31623278e-02 9.74555699e-01 3.63828515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.480714057 meters Centerline goodness : 0.985821 Centerline is valid? [True, True] Translation: X:46.48, Y:4.05, Z:3.64 [[ 9.22423957e-01 -3.37565075e-01 -1.87573624e-01 4.64807296e+01] [ 3.26384606e-01 9.41079712e-01 -8.85554345e-02 4.05227109e+00] [ 2.06414954e-01 2.04645108e-02 9.78250515e-01 3.64017184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.510714056999994 meters Centerline goodness : 0.987762 Centerline is valid? [True, True] Translation: X:46.50, Y:4.04, Z:3.65 [[ 9.14020957e-01 -3.39707881e-01 -2.21730121e-01 4.65007698e+01] [ 3.39678857e-01 9.39712467e-01 -3.94810471e-02 4.04478433e+00] [ 2.21774582e-01 -3.92305294e-02 9.74308473e-01 3.64946610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.540714056999995 meters Centerline goodness : 0.986979 Centerline is valid? [True, True] Translation: X:46.53, Y:4.06, Z:3.66 [[ 9.13824116e-01 -3.47963973e-01 -2.09395700e-01 4.65331193e+01] [ 3.40092672e-01 9.37499918e-01 -7.36944971e-02 4.05708072e+00] [ 2.21951481e-01 -3.87013428e-03 9.75050031e-01 3.66131179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.570714056999996 meters Centerline goodness : 0.987571 Centerline is valid? [True, True] Translation: X:46.56, Y:4.06, Z:3.67 [[ 9.11447167e-01 -3.50132058e-01 -2.16036115e-01 4.65601886e+01] [ 3.45469209e-01 9.36493042e-01 -6.02644831e-02 4.05969821e+00] [ 2.23416846e-01 -1.97059332e-02 9.74523776e-01 3.66793252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.600714057 meters Centerline goodness : 0.986238 Centerline is valid? [True, True] Translation: X:46.59, Y:4.09, Z:3.67 [[ 0.91365827 -0.36699168 -0.17477319 46.59157619] [ 0.34794077 0.92838675 -0.1305192 4.09210155] [ 0.21015657 0.05843923 0.9759196 3.66638339] [ 0. 0. 0. 1. ]] SLAMing on 47.630714057 meters Centerline goodness : 0.987926 Centerline is valid? [True, True] Translation: X:46.63, Y:4.07, Z:3.67 [[ 9.11890780e-01 -3.55849133e-01 -2.04515527e-01 4.66325582e+01] [ 3.52062182e-01 9.34306573e-01 -5.58878182e-02 4.07384713e+00] [ 2.10967833e-01 -2.10385965e-02 9.77266571e-01 3.66552694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.660714057 meters Centerline goodness : 0.987055 Centerline is valid? [True, True] Translation: X:46.66, Y:4.08, Z:3.67 [[ 9.11203117e-01 -3.58467575e-01 -2.03002158e-01 4.66563196e+01] [ 3.54389417e-01 9.33335340e-01 -5.73871492e-02 4.08239951e+00] [ 2.10040521e-01 -1.96504672e-02 9.77495186e-01 3.67168812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.690714057 meters Centerline goodness : 0.986685 Centerline is valid? [True, True] Translation: X:46.68, Y:4.08, Z:3.68 [[ 9.10674328e-01 -3.57048831e-01 -2.07818192e-01 4.66777715e+01] [ 3.57614128e-01 9.33168721e-01 -3.61700541e-02 4.08380196e+00] [ 2.06843912e-01 -4.13795820e-02 9.77498504e-01 3.67770027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.720714056999995 meters Centerline goodness : 0.987712 Centerline is valid? [True, True] Translation: X:46.70, Y:4.10, Z:3.70 [[ 9.04709338e-01 -3.63783479e-01 -2.21726394e-01 4.67008668e+01] [ 3.64401431e-01 9.30398487e-01 -3.96264123e-02 4.09572765e+00] [ 2.20709335e-01 -4.49470298e-02 9.74303420e-01 3.69541161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.750714056999996 meters Centerline goodness : 0.987296 Centerline is valid? [True, True] Translation: X:46.72, Y:4.13, Z:3.70 [[ 9.05834562e-01 -3.75410677e-01 -1.96292050e-01 4.67226037e+01] [ 3.63935801e-01 9.26770208e-01 -9.29930895e-02 4.12502716e+00] [ 2.16828223e-01 1.27986501e-02 9.76125871e-01 3.70106799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.780714057 meters Centerline goodness : 0.988282 Centerline is valid? [True, True] Translation: X:46.75, Y:4.12, Z:3.71 [[ 9.03835150e-01 -3.68403209e-01 -2.17626047e-01 4.67542983e+01] [ 3.68090743e-01 9.28771265e-01 -4.35102449e-02 4.12052480e+00] [ 2.18154133e-01 -4.07800447e-02 9.75061927e-01 3.70662445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.810714057 meters Centerline goodness : 0.986932 Centerline is valid? [True, True] Translation: X:46.78, Y:4.14, Z:3.72 [[ 9.03032821e-01 -3.76447801e-01 -2.06926987e-01 4.67782785e+01] [ 3.69465922e-01 9.26377336e-01 -7.29380817e-02 4.14291010e+00] [ 2.19149851e-01 -1.05869883e-02 9.75633773e-01 3.71566982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.840714057 meters Centerline goodness : 0.987169 Centerline is valid? [True, True] Translation: X:46.80, Y:4.15, Z:3.72 [[ 9.02397998e-01 -3.74194486e-01 -2.13673441e-01 4.68035385e+01] [ 3.71302647e-01 9.26876696e-01 -5.50811749e-02 4.14964152e+00] [ 2.18660004e-01 -2.96323720e-02 9.75351078e-01 3.72154214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.870714057 meters Centerline goodness : 0.987083 Centerline is valid? [True, True] Translation: X:46.83, Y:4.16, Z:3.73 [[ 9.01886656e-01 -3.77166644e-01 -2.10584383e-01 4.68280960e+01] [ 3.72164938e-01 9.25924580e-01 -6.44742729e-02 4.16420561e+00] [ 2.19302802e-01 -2.02236376e-02 9.75447223e-01 3.72926567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.900714056999995 meters Centerline goodness : 0.985271 Centerline is valid? [True, True] Translation: X:46.85, Y:4.18, Z:3.74 [[ 9.01502586e-01 -3.77805384e-01 -2.11083345e-01 4.68519617e+01] [ 3.72930087e-01 9.25647068e-01 -6.40363550e-02 4.17519431e+00] [ 2.19581959e-01 -2.09903907e-02 9.75368221e-01 3.73581915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.930714056999996 meters Centerline goodness : 0.985783 Centerline is valid? [True, True] Translation: X:46.88, Y:4.18, Z:3.74 [[ 9.02852494e-01 -3.74197157e-01 -2.11740081e-01 4.68763433e+01] [ 3.71859551e-01 9.26813800e-01 -5.23130352e-02 4.18251004e+00] [ 2.15819018e-01 -3.15066172e-02 9.75924938e-01 3.73910759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.960714057 meters Centerline goodness : 0.987496 Centerline is valid? [True, True] Translation: X:46.89, Y:4.20, Z:3.75 [[ 8.95341515e-01 -3.84773207e-01 -2.24305933e-01 4.68886093e+01] [ 3.83401131e-01 9.22147236e-01 -5.14591800e-02 4.20242869e+00] [ 2.26643210e-01 -3.99256082e-02 9.73159186e-01 3.75107242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.990714057 meters Centerline goodness : 0.985064 Centerline is valid? [True, True] Translation: X:46.92, Y:4.22, Z:3.76 [[ 8.99953012e-01 -3.83356834e-01 -2.07658650e-01 4.69186710e+01] [ 3.75805088e-01 9.23552709e-01 -7.62950222e-02 4.21819422e+00] [ 2.21031927e-01 -9.37724228e-03 9.75221490e-01 3.75698606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.020714057 meters Centerline goodness : 0.984852 Centerline is valid? [True, True] Translation: X:46.94, Y:4.23, Z:3.76 [[ 8.99654950e-01 -3.84462331e-01 -2.06905018e-01 4.69442457e+01] [ 3.77314089e-01 9.23075701e-01 -7.46011297e-02 4.23237252e+00] [ 2.19670318e-01 -1.09529027e-02 9.75512678e-01 3.75952145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.050714057 meters Centerline goodness : 0.984301 Centerline is valid? [True, True] Translation: X:46.97, Y:4.24, Z:3.76 [[ 8.98727319e-01 -3.83709359e-01 -2.12264771e-01 4.69705020e+01] [ 3.79143395e-01 9.23157001e-01 -6.34936013e-02 4.24048447e+00] [ 2.20316799e-01 -2.34153520e-02 9.75147286e-01 3.76464762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.080714056999994 meters Centerline goodness : 0.984468 Centerline is valid? [True, True] Translation: X:46.99, Y:4.26, Z:3.77 [[ 8.98344796e-01 -3.86738397e-01 -2.08350761e-01 4.69941861e+01] [ 3.80282595e-01 9.22072939e-01 -7.18793634e-02 4.25568397e+00] [ 2.19913108e-01 -1.46597162e-02 9.75409308e-01 3.77119048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.110714056999996 meters Centerline goodness : 0.983344 Centerline is valid? [True, True] Translation: X:47.02, Y:4.27, Z:3.78 [[ 8.97753497e-01 -3.88554116e-01 -2.07519536e-01 4.70190809e+01] [ 3.81849452e-01 9.21325854e-01 -7.31414148e-02 4.27266054e+00] [ 2.19612511e-01 -1.35782601e-02 9.75492684e-01 3.77615471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.140714057 meters Centerline goodness : 0.983228 Centerline is valid? [True, True] Translation: X:47.04, Y:4.28, Z:3.78 [[ 8.96657461e-01 -3.87083740e-01 -2.14875721e-01 4.70439068e+01] [ 3.83583369e-01 9.21586561e-01 -5.95147875e-02 4.28097952e+00] [ 2.21063784e-01 -2.90583748e-02 9.74826351e-01 3.78226433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.170714057 meters Centerline goodness : 0.984801 Centerline is valid? [True, True] Translation: X:47.07, Y:4.30, Z:3.79 [[ 8.94058353e-01 -3.96067892e-01 -2.09260331e-01 4.70728242e+01] [ 3.87166971e-01 9.18200529e-01 -8.37229048e-02 4.30368415e+00] [ 2.25302901e-01 -6.16552625e-03 9.74269259e-01 3.79233626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.200714057 meters Centerline goodness : 0.984395 Centerline is valid? [True, True] Translation: X:47.10, Y:4.31, Z:3.79 [[ 8.95519855e-01 -3.90698206e-01 -2.13070649e-01 4.70962270e+01] [ 3.87178377e-01 9.20063616e-01 -5.97983810e-02 4.31145424e+00] [ 2.19401672e-01 -2.89457105e-02 9.75205133e-01 3.79468128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.230714057 meters Centerline goodness : 0.985168 Centerline is valid? [True, True] Translation: X:47.12, Y:4.33, Z:3.81 [[ 8.92521907e-01 -3.97585126e-01 -2.12910106e-01 4.71240855e+01] [ 3.90554603e-01 9.17437349e-01 -7.59987630e-02 4.33057264e+00] [ 2.25547661e-01 -1.53224613e-02 9.74111634e-01 3.80501937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.260714056999994 meters Centerline goodness : 0.984463 Centerline is valid? [True, True] Translation: X:47.14, Y:4.34, Z:3.80 [[ 8.96323253e-01 -3.86933325e-01 -2.16534587e-01 4.71437215e+01] [ 3.85138245e-01 9.21381000e-01 -5.22071287e-02 4.33724276e+00] [ 2.19711532e-01 -3.66012875e-02 9.74878038e-01 3.80304262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.290714056999995 meters Centerline goodness : 0.984514 Centerline is valid? [True, True] Translation: X:47.17, Y:4.36, Z:3.82 [[ 8.96979826e-01 -3.91222447e-01 -2.05845062e-01 4.71654479e+01] [ 3.84372986e-01 9.20207809e-01 -7.39932088e-02 4.35997343e+00] [ 2.18368038e-01 -1.27508658e-02 9.75783180e-01 3.81540651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.320714056999996 meters Centerline goodness : 0.986885 Centerline is valid? [True, True] Translation: X:47.20, Y:4.38, Z:3.83 [[ 8.94324608e-01 -3.90668846e-01 -2.18085644e-01 4.71966409e+01] [ 3.85417363e-01 9.20236825e-01 -6.79532403e-02 4.37730178e+00] [ 2.27237655e-01 -2.32817388e-02 9.73560994e-01 3.82530063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.350714057 meters Centerline goodness : 0.986024 Centerline is valid? [True, True] Translation: X:47.22, Y:4.39, Z:3.83 [[ 8.97653816e-01 -3.84677117e-01 -2.15037536e-01 4.72174119e+01] [ 3.81199616e-01 9.22599163e-01 -5.91408204e-02 4.38675099e+00] [ 2.21143571e-01 -2.88842431e-02 9.74813429e-01 3.83101213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.380714057 meters Centerline goodness : 0.986832 Centerline is valid? [True, True] Translation: X:47.24, Y:4.40, Z:3.84 [[ 8.98718519e-01 -3.82128429e-01 -2.15134581e-01 4.72425838e+01] [ 3.79133419e-01 9.23602553e-01 -5.67113280e-02 4.39954865e+00] [ 2.20369858e-01 -3.05971883e-02 9.74936376e-01 3.83859940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.410714057 meters Centerline goodness : 0.987472 Centerline is valid? [True, True] Translation: X:47.26, Y:4.41, Z:3.85 [[ 8.98357100e-01 -3.81004656e-01 -2.18609178e-01 4.72634836e+01] [ 3.77739262e-01 9.24078106e-01 -5.82469279e-02 4.41322551e+00] [ 2.24204306e-01 -3.02507282e-02 9.74072545e-01 3.84973880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.440714057 meters Centerline goodness : 0.988304 Centerline is valid? [True, True] Translation: X:47.28, Y:4.43, Z:3.86 [[ 9.00617495e-01 -3.76211406e-01 -2.17607688e-01 4.72821720e+01] [ 3.70800007e-01 9.26306603e-01 -6.68089252e-02 4.43363124e+00] [ 2.26705718e-01 -2.05196454e-02 9.73747124e-01 3.86030484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.470714056999995 meters Centerline goodness : 0.989082 Centerline is valid? [True, True] Translation: X:47.30, Y:4.45, Z:3.87 [[ 9.03141097e-01 -3.69806418e-01 -2.18126965e-01 4.73039139e+01] [ 3.63834991e-01 9.28943533e-01 -6.84690591e-02 4.45228843e+00] [ 2.27947931e-01 -1.75250011e-02 9.73515596e-01 3.86771140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.500714056999996 meters Centerline goodness : 0.989731 Centerline is valid? [True, True] Translation: X:47.33, Y:4.46, Z:3.87 [[ 9.04116153e-01 -3.66868354e-01 -2.19047010e-01 4.73284183e+01] [ 3.61557126e-01 9.30055720e-01 -6.53666723e-02 4.46411178e+00] [ 2.27706889e-01 -2.00989432e-02 9.73522268e-01 3.87261910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.530714057 meters Centerline goodness : 0.989731 Centerline is valid? [True, True] Translation: X:47.35, Y:4.48, Z:3.88 [[ 9.03959115e-01 -3.68716982e-01 -2.16577252e-01 4.73539505e+01] [ 3.61971947e-01 9.29440282e-01 -7.15337118e-02 4.47581339e+00] [ 2.27671317e-01 -1.37313388e-02 9.73641218e-01 3.88082809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.560714057 meters Centerline goodness : 0.990887 Centerline is valid? [True, True] Translation: X:47.37, Y:4.48, Z:3.89 [[ 9.02654156e-01 -3.62395872e-01 -2.32130797e-01 4.73748171e+01] [ 3.62544287e-01 9.30946493e-01 -4.35920577e-02 4.48018684e+00] [ 2.31898933e-01 -4.48091422e-02 9.71707274e-01 3.88714982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.590714057 meters Centerline goodness : 0.990493 Centerline is valid? [True, True] Translation: X:47.40, Y:4.51, Z:3.90 [[ 9.05871167e-01 -3.68155680e-01 -2.09424986e-01 4.73978817e+01] [ 3.55783847e-01 9.29688071e-01 -9.53831482e-02 4.50896523e+00] [ 2.29815759e-01 1.18948164e-02 9.73161461e-01 3.90367270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.620714057 meters Centerline goodness : 0.991072 Centerline is valid? [True, True] Translation: X:47.42, Y:4.52, Z:3.90 [[ 9.08376626e-01 -3.58401460e-01 -2.15407285e-01 4.74249916e+01] [ 3.48800834e-01 9.33567519e-01 -8.23994266e-02 4.51978829e+00] [ 2.30629320e-01 -2.84527593e-04 9.73041641e-01 3.90466722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.650714056999995 meters Centerline goodness : 0.991910 Centerline is valid? [True, True] Translation: X:47.45, Y:4.53, Z:3.91 [[ 9.09343283e-01 -3.54688994e-01 -2.17463817e-01 4.74522302e+01] [ 3.46388294e-01 9.34966598e-01 -7.65023542e-02 4.52816196e+00] [ 2.30455948e-01 -5.76001872e-03 9.73065711e-01 3.90676013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.680714056999996 meters Centerline goodness : 0.991659 Centerline is valid? [True, True] Translation: X:47.48, Y:4.54, Z:3.91 [[ 9.11005954e-01 -3.50562915e-01 -2.17195289e-01 4.74794245e+01] [ 3.43419902e-01 9.36487632e-01 -7.10892877e-02 4.53893964e+00] [ 2.28321970e-01 -9.82642045e-03 9.73536091e-01 3.91324785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.710714057 meters Centerline goodness : 0.992625 Centerline is valid? [True, True] Translation: X:47.50, Y:4.55, Z:3.92 [[ 9.13928354e-01 -3.44201935e-01 -2.15081359e-01 4.75020350e+01] [ 3.37247078e-01 9.38851796e-01 -6.94385539e-02 4.55173766e+00] [ 2.25830405e-01 -9.07369641e-03 9.74124374e-01 3.91915992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.740714057 meters Centerline goodness : 0.993571 Centerline is valid? [True, True] Translation: X:47.51, Y:4.57, Z:3.92 [[ 9.11465547e-01 -3.52464670e-01 -2.12130180e-01 4.75149526e+01] [ 3.42553742e-01 9.35820208e-01 -8.30510168e-02 4.57352215e+00] [ 2.27788258e-01 3.03215371e-03 9.73705970e-01 3.92473603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.770714057 meters Centerline goodness : 0.993157 Centerline is valid? [True, True] Translation: X:47.54, Y:4.58, Z:3.93 [[ 9.13223027e-01 -3.47031228e-01 -2.13525244e-01 4.75396004e+01] [ 3.37555898e-01 9.37852396e-01 -8.05537080e-02 4.58226190e+00] [ 2.28209813e-01 1.48679572e-03 9.73610841e-01 3.92903344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.800714057 meters Centerline goodness : 0.992747 Centerline is valid? [True, True] Translation: X:47.57, Y:4.57, Z:3.93 [[ 9.12713997e-01 -3.30138415e-01 -2.40752541e-01 4.75741158e+01] [ 3.35513222e-01 9.41832548e-01 -1.95532315e-02 4.56787312e+00] [ 2.33203852e-01 -6.29291528e-02 9.70389553e-01 3.93040250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.830714056999994 meters Centerline goodness : 0.993216 Centerline is valid? [True, True] Translation: X:47.58, Y:4.62, Z:3.96 [[ 0.91479638 -0.35522655 -0.19225419 47.58186248] [ 0.3335089 0.93279809 -0.13659993 4.62018035] [ 0.22785826 0.06084264 0.97179153 3.95965285] [ 0. 0. 0. 1. ]] SLAMing on 48.860714056999996 meters Centerline goodness : 0.993558 Centerline is valid? [True, True] Translation: X:47.63, Y:4.60, Z:3.95 [[ 9.13344085e-01 -3.32788696e-01 -2.34636455e-01 4.76274968e+01] [ 3.31411808e-01 9.42340337e-01 -4.64855187e-02 4.59675482e+00] [ 2.36577251e-01 -3.53040183e-02 9.70971076e-01 3.94764465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.890714057 meters Centerline goodness : 0.993119 Centerline is valid? [True, True] Translation: X:47.64, Y:4.63, Z:3.97 [[ 9.15978385e-01 -3.45232446e-01 -2.04445975e-01 4.76410550e+01] [ 3.28033157e-01 9.37778205e-01 -1.13869604e-01 4.62925546e+00] [ 2.31036461e-01 3.72370374e-02 9.72232254e-01 3.96508947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.920714057 meters Centerline goodness : 0.992803 Centerline is valid? [True, True] Translation: X:47.67, Y:4.62, Z:3.96 [[ 9.16893755e-01 -3.34700429e-01 -2.17443015e-01 4.76734725e+01] [ 3.25793309e-01 9.42324445e-01 -7.67030654e-02 4.62423957e+00] [ 2.30574418e-01 -5.12917799e-04 9.73054559e-01 3.95851389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.950714057 meters Centerline goodness : 0.993011 Centerline is valid? [True, True] Translation: X:47.70, Y:4.63, Z:3.96 [[ 9.17932224e-01 -3.31738719e-01 -2.17600218e-01 4.76995536e+01] [ 3.23923381e-01 9.43359901e-01 -7.17338211e-02 4.62987230e+00] [ 2.29072206e-01 -4.63901233e-03 9.73398379e-01 3.96318107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.980714057 meters Centerline goodness : 0.993505 Centerline is valid? [True, True] Translation: X:47.73, Y:4.64, Z:3.97 [[ 9.17796550e-01 -3.33666313e-01 -2.15212186e-01 4.77256143e+01] [ 3.23457801e-01 9.42673751e-01 -8.21051124e-02 4.64067127e+00] [ 2.30270588e-01 5.74372849e-03 9.73109688e-01 3.97232046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.010714056999994 meters Centerline goodness : 0.993046 Centerline is valid? [True, True] Translation: X:47.75, Y:4.64, Z:3.98 [[ 9.18290110e-01 -3.31352354e-01 -2.16676928e-01 4.77539713e+01] [ 3.22390461e-01 9.43506984e-01 -7.65438568e-02 4.64320963e+00] [ 2.29799182e-01 4.34892010e-04 9.73237970e-01 3.97616907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.040714056999995 meters Centerline goodness : 0.993207 Centerline is valid? [True, True] Translation: X:47.78, Y:4.65, Z:3.98 [[ 9.18434222e-01 -3.30918040e-01 -2.16729858e-01 4.77802466e+01] [ 3.21922400e-01 9.43659299e-01 -7.66361252e-02 4.64996293e+00] [ 2.29879422e-01 6.15043977e-04 9.73218923e-01 3.98251033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.070714056999996 meters Centerline goodness : 0.993114 Centerline is valid? [True, True] Translation: X:47.81, Y:4.66, Z:3.99 [[ 9.18685157e-01 -3.30178242e-01 -2.16794631e-01 4.78067209e+01] [ 3.21139516e-01 9.43918201e-01 -7.67322764e-02 4.65643818e+00] [ 2.29971726e-01 8.71480703e-04 9.73196920e-01 3.98899006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.100714057 meters Centerline goodness : 0.992407 Centerline is valid? [True, True] Translation: X:47.83, Y:4.66, Z:3.99 [[ 9.18970782e-01 -3.30026318e-01 -2.15813184e-01 4.78347658e+01] [ 3.21049162e-01 9.43971227e-01 -7.64575603e-02 4.66022848e+00] [ 2.28954443e-01 9.75622326e-04 9.73436650e-01 3.99407295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.130714057 meters Centerline goodness : 0.992938 Centerline is valid? [True, True] Translation: X:47.86, Y:4.67, Z:4.00 [[ 9.19098426e-01 -3.29996066e-01 -2.15315303e-01 4.78603718e+01] [ 3.21043249e-01 9.43981723e-01 -7.63527253e-02 4.66553589e+00] [ 2.28449809e-01 1.05014525e-03 9.73555125e-01 3.99956347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.160714057 meters Centerline goodness : 0.992403 Centerline is valid? [True, True] Translation: X:47.89, Y:4.67, Z:4.00 [[ 9.19044278e-01 -3.30646233e-01 -2.14547627e-01 4.78886994e+01] [ 3.21768135e-01 9.43754327e-01 -7.61120062e-02 4.66730770e+00] [ 2.27646399e-01 9.15714183e-04 9.73743436e-01 4.00493219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.190714057 meters Centerline goodness : 0.991083 Centerline is valid? [True, True] Translation: X:47.92, Y:4.67, Z:4.01 [[ 9.18771264e-01 -3.31460344e-01 -2.14460731e-01 4.79160071e+01] [ 3.22594827e-01 9.43468827e-01 -7.61521449e-02 4.67283874e+00] [ 2.27578430e-01 7.82480002e-04 9.73759439e-01 4.01162193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.220714056999995 meters Centerline goodness : 0.990637 Centerline is valid? [True, True] Translation: X:47.94, Y:4.68, Z:4.02 [[ 9.18526498e-01 -3.32285749e-01 -2.14231776e-01 4.79419319e+01] [ 3.23444862e-01 9.43178543e-01 -7.61423554e-02 4.67833493e+00] [ 2.27359834e-01 6.46603978e-04 9.73810602e-01 4.01742659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.250714056999996 meters Centerline goodness : 0.991138 Centerline is valid? [True, True] Translation: X:47.97, Y:4.68, Z:4.02 [[ 9.17913621e-01 -3.34141319e-01 -2.13972342e-01 4.79696612e+01] [ 3.25364599e-01 9.42522961e-01 -7.60811807e-02 4.67911436e+00] [ 2.27095711e-01 2.16926994e-04 9.73872420e-01 4.02374987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.280714057 meters Centerline goodness : 0.991007 Centerline is valid? [True, True] Translation: X:48.00, Y:4.68, Z:4.03 [[ 9.17446676e-01 -3.35726753e-01 -2.13492728e-01 4.79971245e+01] [ 3.27025117e-01 9.41959408e-01 -7.59410738e-02 4.68453666e+00] [ 2.26596933e-01 -1.45598493e-04 9.73988608e-01 4.02964023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.310714057 meters Centerline goodness : 0.988739 Centerline is valid? [True, True] Translation: X:48.02, Y:4.68, Z:4.03 [[ 9.18888735e-01 -3.35456408e-01 -2.07635478e-01 4.80239718e+01] [ 3.28468121e-01 9.42040174e-01 -6.83301167e-02 4.68386612e+00] [ 2.18522738e-01 -5.41386092e-03 9.75816839e-01 4.03209266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.340714057 meters Centerline goodness : 0.989505 Centerline is valid? [True, True] Translation: X:48.05, Y:4.69, Z:4.04 [[ 9.16128030e-01 -3.40674379e-01 -2.11306415e-01 4.80522331e+01] [ 3.30359382e-01 9.40157792e-01 -8.34625976e-02 4.69357041e+00] [ 2.27094941e-01 6.65536846e-03 9.73849883e-01 4.04337952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.370714057 meters Centerline goodness : 0.988579 Centerline is valid? [True, True] Translation: X:48.08, Y:4.70, Z:4.05 [[ 9.17894664e-01 -3.37638652e-01 -2.08493467e-01 4.80766257e+01] [ 3.30502422e-01 9.41260673e-01 -6.92567270e-02 4.69523291e+00] [ 2.19630449e-01 -5.33721549e-03 9.75568542e-01 4.04500996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.400714056999995 meters Centerline goodness : 0.988304 Centerline is valid? [True, True] Translation: X:48.11, Y:4.70, Z:4.06 [[ 9.15453809e-01 -3.42840692e-01 -2.10723950e-01 4.81082998e+01] [ 3.32630620e-01 9.39373501e-01 -8.32724198e-02 4.70205992e+00] [ 2.26497669e-01 6.13881573e-03 9.73992362e-01 4.05545029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.430714056999996 meters Centerline goodness : 0.986941 Centerline is valid? [True, True] Translation: X:48.14, Y:4.70, Z:4.06 [[ 9.15113162e-01 -3.41545203e-01 -2.14277333e-01 4.81369213e+01] [ 3.32899788e-01 9.39864242e-01 -7.63736672e-02 4.70499882e+00] [ 2.27476663e-01 -1.44233072e-03 9.73782464e-01 4.06062571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.460714057 meters Centerline goodness : 0.987532 Centerline is valid? [True, True] Translation: X:48.16, Y:4.71, Z:4.07 [[ 9.14400445e-01 -3.43235895e-01 -2.14618142e-01 4.81637490e+01] [ 3.34591733e-01 9.39247514e-01 -7.65668346e-02 4.71135328e+00] [ 2.27860042e-01 -1.79670827e-03 9.73692237e-01 4.06644698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.490714057 meters Centerline goodness : 0.987289 Centerline is valid? [True, True] Translation: X:48.19, Y:4.71, Z:4.07 [[ 9.13048747e-01 -3.46489400e-01 -2.15144326e-01 4.81909553e+01] [ 3.37874432e-01 9.38050433e-01 -7.68261247e-02 4.71363997e+00] [ 2.28435666e-01 -2.54577020e-03 9.73555682e-01 4.07249868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.520714057 meters Centerline goodness : 0.986644 Centerline is valid? [True, True] Translation: X:48.22, Y:4.72, Z:4.08 [[ 9.12102739e-01 -3.48941969e-01 -2.15193159e-01 4.82165879e+01] [ 3.40382972e-01 9.37139106e-01 -7.68747645e-02 4.71942590e+00] [ 2.28490756e-01 -3.13040379e-03 9.73541049e-01 4.07859090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.550714057 meters Centerline goodness : 0.985060 Centerline is valid? [True, True] Translation: X:48.26, Y:4.72, Z:4.08 [[ 9.17252417e-01 -3.48391523e-01 -1.93057896e-01 4.82557572e+01] [ 3.35856578e-01 9.37076564e-01 -9.53303290e-02 4.72344637e+00] [ 2.14122308e-01 2.26022103e-02 9.76545328e-01 4.08243447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.580714056999994 meters Centerline goodness : 0.983416 Centerline is valid? [True, True] Translation: X:48.29, Y:4.72, Z:4.09 [[ 9.15095365e-01 -3.44452047e-01 -2.09650330e-01 4.82854919e+01] [ 3.40504212e-01 9.38584352e-01 -5.58237894e-02 4.71549966e+00] [ 2.16003137e-01 -2.03027293e-02 9.76181563e-01 4.08524943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.610714056999996 meters Centerline goodness : 0.985552 Centerline is valid? [True, True] Translation: X:48.30, Y:4.73, Z:4.10 [[ 9.07459338e-01 -3.58549133e-01 -2.18997876e-01 4.83013370e+01] [ 3.53886813e-01 9.33260083e-01 -6.15608746e-02 4.73023970e+00] [ 2.26454574e-01 -2.16364697e-02 9.73781387e-01 4.09739746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.640714057 meters Centerline goodness : 0.986496 Centerline is valid? [True, True] Translation: X:48.33, Y:4.74, Z:4.11 [[ 9.05897626e-01 -3.65909408e-01 -2.13213030e-01 4.83255349e+01] [ 3.57892820e-01 9.30624071e-01 -7.64955461e-02 4.74241088e+00] [ 2.26411618e-01 -7.01027885e-03 9.74006486e-01 4.10654701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.670714057 meters Centerline goodness : 0.986732 Centerline is valid? [True, True] Translation: X:48.35, Y:4.75, Z:4.11 [[ 9.02881035e-01 -3.72812921e-01 -2.14047571e-01 4.83522899e+01] [ 3.64906308e-01 9.27865696e-01 -7.68676574e-02 4.74578835e+00] [ 2.27264654e-01 -8.70495894e-03 9.73794126e-01 4.11471098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.700714057 meters Centerline goodness : 0.985762 Centerline is valid? [True, True] Translation: X:48.39, Y:4.75, Z:4.12 [[ 9.04536185e-01 -3.75255157e-01 -2.02479274e-01 4.83903812e+01] [ 3.63597807e-01 9.26857425e-01 -9.34448948e-02 4.75495313e+00] [ 2.22735097e-01 1.09032685e-02 9.74818032e-01 4.11887781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.730714057 meters Centerline goodness : 0.987667 Centerline is valid? [True, True] Translation: X:48.41, Y:4.75, Z:4.12 [[ 8.97763117e-01 -3.79472754e-01 -2.23655573e-01 4.84094436e+01] [ 3.77699801e-01 9.24444931e-01 -5.23873059e-02 4.75040729e+00] [ 2.26636816e-01 -3.74432744e-02 9.73259346e-01 4.12175596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.760714056999994 meters Centerline goodness : 0.987936 Centerline is valid? [True, True] Translation: X:48.43, Y:4.77, Z:4.13 [[ 8.96054463e-01 -3.88396231e-01 -2.15022711e-01 4.84314394e+01] [ 3.80792479e-01 9.21408366e-01 -7.74836102e-02 4.76749910e+00] [ 2.28218067e-01 -1.24494966e-02 9.73530443e-01 4.13300184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.790714056999995 meters Centerline goodness : 0.986193 Centerline is valid? [True, True] Translation: X:48.46, Y:4.78, Z:4.14 [[ 8.93703936e-01 -3.93471593e-01 -2.15576854e-01 4.84570595e+01] [ 3.85956093e-01 9.19234493e-01 -7.77550125e-02 4.77543081e+00] [ 2.28760069e-01 -1.37132394e-02 9.73386243e-01 4.13977501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.820714056999996 meters Centerline goodness : 0.987006 Centerline is valid? [True, True] Translation: X:48.48, Y:4.78, Z:4.15 [[ 8.93169952e-01 -3.94641925e-01 -2.15650614e-01 4.84815805e+01] [ 3.87137664e-01 9.18729102e-01 -7.78541351e-02 4.78332350e+00] [ 2.28849001e-01 -1.39495010e-02 9.73361981e-01 4.14724243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.850714057 meters Centerline goodness : 0.986451 Centerline is valid? [True, True] Translation: X:48.52, Y:4.80, Z:4.15 [[ 8.96663659e-01 -3.96908217e-01 -1.96107494e-01 4.85203194e+01] [ 3.82749837e-01 9.17617722e-01 -1.07146060e-01 4.80076318e+00] [ 2.22478864e-01 2.10138666e-02 9.74711020e-01 4.15075096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.880714057 meters Centerline goodness : 0.986305 Centerline is valid? [True, True] Translation: X:48.54, Y:4.79, Z:4.15 [[ 8.91455650e-01 -3.90424241e-01 -2.29947245e-01 4.85380592e+01] [ 3.92817878e-01 9.18861458e-01 -3.72523307e-02 4.78998081e+00] [ 2.25833873e-01 -5.71185880e-02 9.72489860e-01 4.15153285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.910714057 meters Centerline goodness : 0.986403 Centerline is valid? [True, True] Translation: X:48.57, Y:4.82, Z:4.16 [[ 8.93923123e-01 -3.98919104e-01 -2.04364866e-01 4.85690369e+01] [ 3.87568136e-01 9.16970255e-01 -9.46387394e-02 4.81691646e+00] [ 2.25149704e-01 5.39444715e-03 9.74309248e-01 4.16436414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.940714057 meters Centerline goodness : 0.986890 Centerline is valid? [True, True] Translation: X:48.59, Y:4.81, Z:4.17 [[ 8.86948116e-01 -3.93151062e-01 -2.42394888e-01 4.85911377e+01] [ 3.98961116e-01 9.16576251e-01 -2.67955998e-02 4.80772068e+00] [ 2.32708116e-01 -7.29398281e-02 9.69807566e-01 4.16936073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.970714056999995 meters Centerline goodness : 0.985599 Centerline is valid? [True, True] Translation: X:48.61, Y:4.84, Z:4.18 [[ 8.89992730e-01 -4.06032431e-01 -2.07486398e-01 4.86080155e+01] [ 3.95718434e-01 9.13857922e-01 -9.09429478e-02 4.84082833e+00] [ 2.26538875e-01 -1.16762991e-03 9.74001425e-01 4.18168042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.000714056999996 meters Centerline goodness : 0.985678 Centerline is valid? [True, True] Translation: X:48.63, Y:4.86, Z:4.19 [[ 8.87483151e-01 -4.11126259e-01 -2.08203879e-01 4.86328170e+01] [ 3.98000829e-01 9.11534604e-01 -1.03440833e-01 4.85747247e+00] [ 2.32312283e-01 8.93667961e-03 9.72600195e-01 4.18735174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.030714057 meters Centerline goodness : 0.985183 Centerline is valid? [True, True] Translation: X:48.67, Y:4.86, Z:4.19 [[ 8.89715125e-01 -4.01168229e-01 -2.17878519e-01 4.86725692e+01] [ 3.93959140e-01 9.15849773e-01 -7.75589345e-02 4.85512422e+00] [ 2.30658172e-01 -1.68298767e-02 9.72889286e-01 4.19097046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.060714057 meters Centerline goodness : 0.985289 Centerline is valid? [True, True] Translation: X:48.69, Y:4.86, Z:4.19 [[ 8.88652326e-01 -4.01245132e-01 -2.22034655e-01 4.86906210e+01] [ 4.00360354e-01 9.14935360e-01 -5.10379763e-02 4.86262897e+00] [ 2.23626096e-01 -4.35388566e-02 9.73702078e-01 4.19281354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.090714057 meters Centerline goodness : 0.985197 Centerline is valid? [True, True] Translation: X:48.71, Y:4.89, Z:4.21 [[ 8.85428183e-01 -4.12377228e-01 -2.14387396e-01 4.87139070e+01] [ 4.01256053e-01 9.11011438e-01 -9.51406343e-02 4.88973665e+00] [ 2.34543200e-01 -1.78404134e-03 9.72104060e-01 4.20929656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.120714057 meters Centerline goodness : 0.984440 Centerline is valid? [True, True] Translation: X:48.74, Y:4.89, Z:4.21 [[ 8.87185753e-01 -4.04951295e-01 -2.21169367e-01 4.87375665e+01] [ 4.01857782e-01 9.13674179e-01 -6.09082692e-02 4.89022759e+00] [ 2.26741622e-01 -3.48416823e-02 9.73331544e-01 4.21087915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.150714056999995 meters Centerline goodness : 0.985184 Centerline is valid? [True, True] Translation: X:48.76, Y:4.91, Z:4.21 [[ 8.86934957e-01 -4.11892694e-01 -2.09023423e-01 4.87583826e+01] [ 4.05652594e-01 9.11030188e-01 -7.39592377e-02 4.91008304e+00] [ 2.20889918e-01 -1.91938604e-02 9.75109860e-01 4.21492107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.180714056999996 meters Centerline goodness : 0.985692 Centerline is valid? [True, True] Translation: X:48.78, Y:4.93, Z:4.23 [[ 8.83549511e-01 -4.15828356e-01 -2.15469348e-01 4.87837855e+01] [ 4.06884396e-01 9.09373743e-01 -8.65129097e-02 4.92526063e+00] [ 2.31916688e-01 -1.12326763e-02 9.72670796e-01 4.22768630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.210714057 meters Centerline goodness : 0.985256 Centerline is valid? [True, True] Translation: X:48.81, Y:4.93, Z:4.23 [[ 8.86954459e-01 -4.10920576e-01 -2.10846078e-01 4.88122416e+01] [ 4.05840488e-01 9.11343024e-01 -6.89013081e-02 4.93415996e+00] [ 2.20466067e-01 -2.44575525e-02 9.75087966e-01 4.22601060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.240714057 meters Centerline goodness : 0.986431 Centerline is valid? [True, True] Translation: X:48.83, Y:4.95, Z:4.23 [[ 8.84645504e-01 -4.16189925e-01 -2.10210080e-01 4.88301526e+01] [ 4.10842524e-01 9.08964584e-01 -7.06527061e-02 4.95112370e+00] [ 2.20478462e-01 -2.38606409e-02 9.75099953e-01 4.23354641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.270714057 meters Centerline goodness : 0.985801 Centerline is valid? [True, True] Translation: X:48.85, Y:4.97, Z:4.24 [[ 8.84282017e-01 -4.17877104e-01 -2.08384356e-01 4.88520613e+01] [ 4.11676701e-01 9.08284326e-01 -7.44437835e-02 4.96993424e+00] [ 2.20380597e-01 -1.99576854e-02 9.75209764e-01 4.24087217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.300714057 meters Centerline goodness : 0.985531 Centerline is valid? [True, True] Translation: X:48.87, Y:4.99, Z:4.25 [[ 8.83824334e-01 -4.20015051e-01 -2.06014328e-01 4.88739016e+01] [ 4.13142626e-01 9.07364617e-01 -7.74765967e-02 4.98603206e+00] [ 2.19471449e-01 -1.66375992e-02 9.75477049e-01 4.24750168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.330714056999994 meters Centerline goodness : 0.986373 Centerline is valid? [True, True] Translation: X:48.90, Y:5.00, Z:4.26 [[ 8.84619887e-01 -4.18302592e-01 -2.06083957e-01 4.89003489e+01] [ 4.11209954e-01 9.08175201e-01 -7.82571220e-02 4.99846673e+00] [ 2.19895497e-01 -1.55159682e-02 9.75400033e-01 4.25502624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.360714056999996 meters Centerline goodness : 0.982996 Centerline is valid? [True, True] Translation: X:48.92, Y:5.03, Z:4.26 [[ 8.84378933e-01 -4.26896494e-01 -1.88767809e-01 4.89167795e+01] [ 4.12303036e-01 9.04034143e-01 -1.12820541e-01 5.03292209e+00] [ 2.18815238e-01 2.19465691e-02 9.75519472e-01 4.26433918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.390714057 meters Centerline goodness : 0.988949 Centerline is valid? [True, True] Translation: X:48.95, Y:5.03, Z:4.27 [[ 8.81904015e-01 -4.18186212e-01 -2.17636394e-01 4.89520936e+01] [ 4.11432248e-01 9.08118930e-01 -7.77400484e-02 5.03326743e+00] [ 2.30149546e-01 -2.09833700e-02 9.72929023e-01 4.27001684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.420714057 meters Centerline goodness : 0.988949 Centerline is valid? [True, True] Translation: X:48.98, Y:5.04, Z:4.28 [[ 8.81762703e-01 -4.18830822e-01 -2.16968378e-01 4.89777023e+01] [ 4.11650424e-01 9.07862136e-01 -7.95629974e-02 5.04351586e+00] [ 2.30300811e-01 -1.91594411e-02 9.72930857e-01 4.27692243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.450714057 meters Centerline goodness : 0.989584 Centerline is valid? [True, True] Translation: X:49.00, Y:5.06, Z:4.28 [[ 8.81862688e-01 -4.18321385e-01 -2.17544061e-01 4.90016925e+01] [ 4.11071558e-01 9.08099974e-01 -7.98411612e-02 5.05751092e+00] [ 2.30951021e-01 -1.90172347e-02 9.72779508e-01 4.28330021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.480714057 meters Centerline goodness : 0.990101 Centerline is valid? [True, True] Translation: X:49.03, Y:5.06, Z:4.29 [[ 8.81789649e-01 -4.09882180e-01 -2.33331552e-01 4.90299365e+01] [ 4.09101145e-01 9.10886028e-01 -5.40638228e-02 5.06447260e+00] [ 2.34698248e-01 -4.77832857e-02 9.70893140e-01 4.29001649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.510714056999994 meters Centerline goodness : 0.991745 Centerline is valid? [True, True] Translation: X:49.04, Y:5.10, Z:4.30 [[ 8.82780382e-01 -4.20762762e-01 -2.08943761e-01 4.90439471e+01] [ 4.06885710e-01 9.07115569e-01 -1.07635328e-01 5.09799609e+00] [ 2.34825076e-01 1.00021257e-02 9.71986184e-01 4.30421069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.540714056999995 meters Centerline goodness : 0.991020 Centerline is valid? [True, True] Translation: X:49.07, Y:5.09, Z:4.30 [[ 8.86507968e-01 -4.00845329e-01 -2.31142044e-01 4.90745772e+01] [ 4.02846136e-01 9.14365190e-01 -4.06360766e-02 5.09062290e+00] [ 2.27637020e-01 -5.70904735e-02 9.72071018e-01 4.29792145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.570714056999996 meters Centerline goodness : 0.992213 Centerline is valid? [True, True] Translation: X:49.09, Y:5.13, Z:4.32 [[ 8.84360140e-01 -4.19875518e-01 -2.03989441e-01 4.90880367e+01] [ 4.02468698e-01 9.07202913e-01 -1.22481923e-01 5.13473351e+00] [ 2.36486976e-01 2.62187663e-02 9.71280848e-01 4.32322445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.600714057 meters Centerline goodness : 0.993125 Centerline is valid? [True, True] Translation: X:49.12, Y:5.14, Z:4.32 [[ 8.86011303e-01 -4.08257931e-01 -2.19794068e-01 4.91178442e+01] [ 4.00505832e-01 9.12719524e-01 -8.08588268e-02 5.13843493e+00] [ 2.33621594e-01 -1.63869713e-02 9.72189497e-01 4.31844432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.630714057 meters Centerline goodness : 0.993167 Centerline is valid? [True, True] Translation: X:49.14, Y:5.15, Z:4.33 [[ 8.86197247e-01 -4.07721342e-01 -2.20040329e-01 4.91416283e+01] [ 3.99917953e-01 9.12962754e-01 -8.10224653e-02 5.15189834e+00] [ 2.33923213e-01 -1.61961922e-02 9.72120164e-01 4.32555003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.660714057 meters Centerline goodness : 0.992965 Centerline is valid? [True, True] Translation: X:49.17, Y:5.17, Z:4.33 [[ 8.86461827e-01 -4.07191060e-01 -2.19956517e-01 4.91661741e+01] [ 3.99360120e-01 9.13203175e-01 -8.10645121e-02 5.16506562e+00] [ 2.33873734e-01 -1.59812654e-02 9.72135626e-01 4.33207942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.690714056999994 meters Centerline goodness : 0.986243 Centerline is valid? [True, True] Translation: X:49.18, Y:5.18, Z:4.33 [[ 8.89513997e-01 -4.03859909e-01 -2.13686739e-01 4.91848432e+01] [ 3.98612657e-01 9.14513242e-01 -6.90903758e-02 5.17635134e+00] [ 2.23322185e-01 -2.37213822e-02 9.74456001e-01 4.32919661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.720714056999995 meters Centerline goodness : 0.985540 Centerline is valid? [True, True] Translation: X:49.21, Y:5.19, Z:4.34 [[ 8.89468880e-01 -4.05853231e-01 -2.10067292e-01 4.92073676e+01] [ 3.98636445e-01 9.13819809e-01 -7.76037483e-02 5.19177292e+00] [ 2.23459385e-01 -1.47143597e-02 9.74602171e-01 4.33738429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.750714056999996 meters Centerline goodness : 0.993143 Centerline is valid? [True, True] Translation: X:49.24, Y:5.21, Z:4.35 [[ 8.89222980e-01 -4.06467106e-01 -2.09921377e-01 4.92367334e+01] [ 3.98806293e-01 9.13573853e-01 -7.96012281e-02 5.21053880e+00] [ 2.24133962e-01 -1.29347251e-02 9.74472503e-01 4.34838219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.780714057 meters Centerline goodness : 0.992809 Centerline is valid? [True, True] Translation: X:49.26, Y:5.21, Z:4.35 [[ 8.85237581e-01 -4.03637128e-01 -2.31152536e-01 4.92573964e+01] [ 4.03364883e-01 9.13637226e-01 -5.06338923e-02 5.21363567e+00] [ 2.31627280e-01 -4.84157912e-02 9.71599050e-01 4.35433385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.810714057 meters Centerline goodness : 0.993661 Centerline is valid? [True, True] Translation: X:49.28, Y:5.24, Z:4.37 [[ 8.85981122e-01 -4.12314666e-01 -2.12212316e-01 4.92802175e+01] [ 4.03475662e-01 9.10987919e-01 -8.54891946e-02 5.23850654e+00] [ 2.28571305e-01 -9.88069199e-03 9.73477031e-01 4.36773233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.840714057 meters Centerline goodness : 0.986451 Centerline is valid? [True, True] Translation: X:49.30, Y:5.26, Z:4.38 [[ 8.84597361e-01 -4.19691150e-01 -2.03339243e-01 4.92956236e+01] [ 4.06416346e-01 9.07606751e-01 -1.05241337e-01 5.25711361e+00] [ 2.28720928e-01 1.04558163e-02 9.73435880e-01 4.37866197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.870714057 meters Centerline goodness : 0.993654 Centerline is valid? [True, True] Translation: X:49.34, Y:5.25, Z:4.36 [[ 8.85747278e-01 -4.03954695e-01 -2.28631502e-01 4.93355620e+01] [ 4.07185071e-01 9.12672597e-01 -3.50577774e-02 5.24745439e+00] [ 2.22827460e-01 -6.20430035e-02 9.72881590e-01 4.36460248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.900714056999995 meters Centerline goodness : 0.993469 Centerline is valid? [True, True] Translation: X:49.35, Y:5.28, Z:4.39 [[ 8.86729386e-01 -4.16959141e-01 -1.99639851e-01 4.93499006e+01] [ 4.03907463e-01 9.08849479e-01 -1.04169986e-01 5.28282881e+00] [ 2.24877203e-01 1.17345618e-02 9.74316449e-01 4.38791385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.930714056999996 meters Centerline goodness : 0.993810 Centerline is valid? [True, True] Translation: X:49.38, Y:5.29, Z:4.38 [[ 8.86717799e-01 -4.12520850e-01 -2.08705759e-01 4.93781100e+01] [ 4.06552822e-01 9.10722055e-01 -7.28020755e-02 5.28933508e+00] [ 2.20105311e-01 -2.02950189e-02 9.75264971e-01 4.38400877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.960714057 meters Centerline goodness : 0.994419 Centerline is valid? [True, True] Translation: X:49.40, Y:5.30, Z:4.39 [[ 8.86464680e-01 -4.12409743e-01 -2.09996607e-01 4.94031626e+01] [ 4.07352538e-01 9.10669505e-01 -6.88836823e-02 5.30120542e+00] [ 2.19645808e-01 -2.44796997e-02 9.75272507e-01 4.38925187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.990714057 meters Centerline goodness : 0.993895 Centerline is valid? [True, True] Translation: X:49.42, Y:5.32, Z:4.40 [[ 8.86212465e-01 -4.14950473e-01 -2.06018378e-01 4.94233690e+01] [ 4.05734242e-01 9.09822100e-01 -8.71978894e-02 5.31935996e+00] [ 2.23622878e-01 -6.31285379e-03 9.74655301e-01 4.39938454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.020714057 meters Centerline goodness : 0.993337 Centerline is valid? [True, True] Translation: X:49.45, Y:5.35, Z:4.40 [[ 8.90510856e-01 -4.18857978e-01 -1.77618721e-01 4.94509036e+01] [ 4.02102721e-01 9.07234956e-01 -1.23442850e-01 5.34756414e+00] [ 2.12846935e-01 3.85062269e-02 9.76326509e-01 4.40377389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.050714057 meters Centerline goodness : 0.994940 Centerline is valid? [True, True] Translation: X:49.48, Y:5.34, Z:4.39 [[ 8.84046513e-01 -4.13057629e-01 -2.18735362e-01 4.94772047e+01] [ 4.12553972e-01 9.09549187e-01 -5.01945831e-02 5.34030090e+00] [ 2.19683826e-01 -4.58657962e-02 9.74492353e-01 4.38711027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.080714056999994 meters Centerline goodness : 0.993506 Centerline is valid? [True, True] Translation: X:49.51, Y:5.36, Z:4.40 [[ 8.91283048e-01 -4.10750129e-01 -1.92090759e-01 4.95067769e+01] [ 4.02190396e-01 9.11743455e-01 -8.34671059e-02 5.36252437e+00] [ 2.09421617e-01 -2.86424215e-03 9.77821243e-01 4.40345176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.110714056999996 meters Centerline goodness : 0.994618 Centerline is valid? [True, True] Translation: X:49.54, Y:5.38, Z:4.41 [[ 8.89449405e-01 -4.15377189e-01 -1.90634592e-01 4.95399866e+01] [ 4.04212517e-01 9.09610947e-01 -9.60216916e-02 5.38110506e+00] [ 2.13288532e-01 8.34954827e-03 9.76953575e-01 4.41048612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.140714057 meters Centerline goodness : 0.994025 Centerline is valid? [True, True] Translation: X:49.57, Y:5.38, Z:4.40 [[ 8.90305026e-01 -4.08512956e-01 -2.01181823e-01 4.95718795e+01] [ 4.03834672e-01 9.12469127e-01 -6.57088313e-02 5.38380352e+00] [ 2.10415112e-01 -2.27432929e-02 9.77347545e-01 4.40474701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.170714057 meters Centerline goodness : 0.993182 Centerline is valid? [True, True] Translation: X:49.60, Y:5.40, Z:4.41 [[ 8.93274958e-01 -4.06334951e-01 -1.92228398e-01 4.95977987e+01] [ 4.00402798e-01 9.13617970e-01 -7.05677235e-02 5.40066386e+00] [ 2.04297452e-01 -1.39324083e-02 9.78809705e-01 4.40906113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.200714057 meters Centerline goodness : 0.993655 Centerline is valid? [True, True] Translation: X:49.63, Y:5.42, Z:4.42 [[ 8.91353668e-01 -4.08858318e-01 -1.95763924e-01 4.96265903e+01] [ 4.02390235e-01 9.12503118e-01 -7.36217218e-02 5.41530795e+00] [ 2.08736044e-01 -1.31504995e-02 9.77883596e-01 4.41687817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.230714057 meters Centerline goodness : 0.994029 Centerline is valid? [True, True] Translation: X:49.65, Y:5.42, Z:4.42 [[ 8.90944046e-01 -4.07507875e-01 -2.00389716e-01 4.96538847e+01] [ 4.03174022e-01 9.12889850e-01 -6.38970295e-02 5.42450762e+00] [ 2.08972280e-01 -2.38632499e-02 9.77630365e-01 4.41959189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.260714056999994 meters Centerline goodness : 0.992853 Centerline is valid? [True, True] Translation: X:49.68, Y:5.43, Z:4.42 [[ 8.92146333e-01 -4.03069517e-01 -2.03985014e-01 4.96766550e+01] [ 4.01686281e-01 9.14409143e-01 -5.00404852e-02 5.43345372e+00] [ 2.06695556e-01 -3.72945463e-02 9.77694259e-01 4.42119297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.290714056999995 meters Centerline goodness : 0.993050 Centerline is valid? [True, True] Translation: X:49.70, Y:5.45, Z:4.43 [[ 8.91125552e-01 -4.06779428e-01 -2.01061550e-01 4.97010078e+01] [ 4.03255816e-01 9.13111673e-01 -6.00984200e-02 5.45062316e+00] [ 2.08038449e-01 -2.75240019e-02 9.77733314e-01 4.43373027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.320714056999996 meters Centerline goodness : 0.993887 Centerline is valid? [True, True] Translation: X:49.73, Y:5.47, Z:4.45 [[ 8.87509639e-01 -4.13454997e-01 -2.03424696e-01 4.97271575e+01] [ 4.06871203e-01 9.10383727e-01 -7.52149915e-02 5.46967287e+00] [ 2.16292547e-01 -1.60136206e-02 9.76197264e-01 4.44529921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.350714057 meters Centerline goodness : 0.992831 Centerline is valid? [True, True] Translation: X:49.76, Y:5.48, Z:4.45 [[ 8.88917110e-01 -4.10291332e-01 -2.03684546e-01 4.97557250e+01] [ 4.06788669e-01 9.11498550e-01 -6.07731249e-02 5.47708647e+00] [ 2.10592855e-01 -2.88342948e-02 9.77148521e-01 4.44665942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.380714057 meters Centerline goodness : 0.993311 Centerline is valid? [True, True] Translation: X:49.78, Y:5.49, Z:4.46 [[ 8.88444236e-01 -4.11106516e-01 -2.04103581e-01 4.97818142e+01] [ 4.06999064e-01 9.11203285e-01 -6.37207598e-02 5.49078909e+00] [ 2.12175873e-01 -2.64576248e-02 9.76873274e-01 4.45548652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.410714057 meters Centerline goodness : 0.992604 Centerline is valid? [True, True] Translation: X:49.81, Y:5.51, Z:4.47 [[ 8.86868576e-01 -4.16065362e-01 -2.00882412e-01 4.98075904e+01] [ 4.10229553e-01 9.09143603e-01 -7.19000878e-02 5.50809877e+00] [ 2.12546096e-01 -1.86419737e-02 9.76973200e-01 4.46598929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.440714056999994 meters Centerline goodness : 0.993462 Centerline is valid? [True, True] Translation: X:49.84, Y:5.54, Z:4.48 [[ 8.86590135e-01 -4.27172048e-01 -1.77431600e-01 4.98365553e+01] [ 4.09721628e-01 9.03275195e-01 -1.27366046e-01 5.54136632e+00] [ 2.14676778e-01 4.02239155e-02 9.75856505e-01 4.48493732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.470714056999995 meters Centerline goodness : 0.992714 Centerline is valid? [True, True] Translation: X:49.88, Y:5.52, Z:4.46 [[ 8.87995024e-01 -4.09386847e-01 -2.09445094e-01 4.98780139e+01] [ 4.11424449e-01 9.10739783e-01 -3.58185755e-02 5.52321215e+00] [ 2.05413633e-01 -5.43641154e-02 9.77164153e-01 4.45872653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.500714056999996 meters Centerline goodness : 0.993162 Centerline is valid? [True, True] Translation: X:49.90, Y:5.55, Z:4.48 [[ 8.86924781e-01 -4.16707030e-01 -1.99297975e-01 4.98979900e+01] [ 4.12379855e-01 9.08704745e-01 -6.47961566e-02 5.54622501e+00] [ 2.08104030e-01 -2.47171532e-02 9.77794342e-01 4.47733025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.530714057 meters Centerline goodness : 0.992774 Centerline is valid? [True, True] Translation: X:49.92, Y:5.56, Z:4.48 [[ 8.86335567e-01 -4.17617054e-01 -2.00013149e-01 4.99236537e+01] [ 4.13430232e-01 9.08260385e-01 -6.43313043e-02 5.55814079e+00] [ 2.08529870e-01 -2.56723598e-02 9.77678998e-01 4.48390395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.560714057 meters Centerline goodness : 0.994429 Centerline is valid? [True, True] Translation: X:49.95, Y:5.58, Z:4.50 [[ 8.81649085e-01 -4.27005273e-01 -2.00901437e-01 4.99515565e+01] [ 4.17809982e-01 9.04228902e-01 -8.83454130e-02 5.58245063e+00] [ 2.19384843e-01 -6.04897319e-03 9.75619650e-01 4.50198690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.590714057 meters Centerline goodness : 0.993709 Centerline is valid? [True, True] Translation: X:49.98, Y:5.58, Z:4.50 [[ 8.79220174e-01 -4.18901842e-01 -2.26920983e-01 4.99814741e+01] [ 4.21544679e-01 9.05963061e-01 -3.91281958e-02 5.57758932e+00] [ 2.21972901e-01 -6.12550337e-02 9.73126843e-01 4.49619125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.620714057 meters Centerline goodness : 0.993136 Centerline is valid? [True, True] Translation: X:50.00, Y:5.61, Z:4.52 [[ 8.78731605e-01 -4.27069525e-01 -2.13172200e-01 5.00005719e+01] [ 4.21029284e-01 9.03912246e-01 -7.53458224e-02 5.60544280e+00] [ 2.24866867e-01 -2.35429834e-02 9.74105035e-01 4.51901785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.650714056999995 meters Centerline goodness : 0.991827 Centerline is valid? [True, True] Translation: X:50.03, Y:5.61, Z:4.52 [[ 8.80785845e-01 -4.21550658e-01 -2.15664874e-01 5.00288113e+01] [ 4.20227386e-01 9.05793572e-01 -5.42858136e-02 5.61149895e+00] [ 2.18232077e-01 -4.28141102e-02 9.74957288e-01 4.52062528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.680714056999996 meters Centerline goodness : 0.992721 Centerline is valid? [True, True] Translation: X:50.05, Y:5.63, Z:4.54 [[ 8.80856485e-01 -4.25672282e-01 -2.07110988e-01 5.00516466e+01] [ 4.19360025e-01 9.04653607e-01 -7.57563303e-02 5.63180715e+00] [ 2.19611072e-01 -2.01236142e-02 9.75379935e-01 4.53687644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.710714057 meters Centerline goodness : 0.992278 Centerline is valid? [True, True] Translation: X:50.08, Y:5.65, Z:4.54 [[ 8.81520625e-01 -4.25006945e-01 -2.05646504e-01 5.00776312e+01] [ 4.17855748e-01 9.05047861e-01 -7.92776289e-02 5.64744139e+00] [ 2.19813472e-01 -1.60457088e-02 9.75409951e-01 4.54440823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.740714057 meters Centerline goodness : 0.992901 Centerline is valid? [True, True] Translation: X:50.11, Y:5.66, Z:4.55 [[ 8.81945906e-01 -4.23838697e-01 -2.06233308e-01 5.01079944e+01] [ 4.17417857e-01 9.05536046e-01 -7.59394698e-02 5.65934204e+00] [ 2.18937780e-01 -1.91109610e-02 9.75551649e-01 4.54966942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.770714057 meters Centerline goodness : 0.993030 Centerline is valid? [True, True] Translation: X:50.14, Y:5.67, Z:4.56 [[ 8.82125500e-01 -4.23224990e-01 -2.06724961e-01 5.01367243e+01] [ 4.16472711e-01 9.05849065e-01 -7.73818634e-02 5.67427708e+00] [ 2.20011551e-01 -1.78347900e-02 9.75334218e-01 4.55651817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.800714057 meters Centerline goodness : 0.992680 Centerline is valid? [True, True] Translation: X:50.16, Y:5.69, Z:4.56 [[ 8.82238697e-01 -4.22348128e-01 -2.08031103e-01 5.01643504e+01] [ 4.15947416e-01 9.06221210e-01 -7.58344568e-02 5.68649888e+00] [ 2.20550739e-01 -1.96259073e-02 9.75178033e-01 4.56245949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.830714056999994 meters Centerline goodness : 0.992721 Centerline is valid? [True, True] Translation: X:50.19, Y:5.70, Z:4.57 [[ 8.82635029e-01 -4.22423615e-01 -2.06188493e-01 5.01919642e+01] [ 4.15460763e-01 9.06245380e-01 -7.81771420e-02 5.70025347e+00] [ 2.19881240e-01 -1.66613445e-02 9.75384355e-01 4.57073873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.860714056999996 meters Centerline goodness : 0.992689 Centerline is valid? [True, True] Translation: X:50.22, Y:5.71, Z:4.58 [[ 8.82945368e-01 -4.20584835e-01 -2.08604586e-01 5.02215073e+01] [ 4.14732628e-01 9.06990301e-01 -7.32491709e-02 5.71359406e+00] [ 2.20009827e-01 -2.18401118e-02 9.75253139e-01 4.57625800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.890714057 meters Centerline goodness : 0.992331 Centerline is valid? [True, True] Translation: X:50.25, Y:5.73, Z:4.59 [[ 8.84080819e-01 -4.20038918e-01 -2.04861939e-01 5.02474293e+01] [ 4.12315334e-01 9.07417238e-01 -8.11789470e-02 5.72846953e+00] [ 2.19993572e-01 -1.26989688e-02 9.75418661e-01 4.58525820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.920714057 meters Centerline goodness : 0.992522 Centerline is valid? [True, True] Translation: X:50.27, Y:5.74, Z:4.59 [[ 8.84011086e-01 -4.16692006e-01 -2.11877728e-01 5.02730029e+01] [ 4.11949294e-01 9.08647925e-01 -6.82402263e-02 5.73885679e+00] [ 2.20957415e-01 -2.69577641e-02 9.74910816e-01 4.58722353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.950714057 meters Centerline goodness : 0.991698 Centerline is valid? [True, True] Translation: X:50.29, Y:5.76, Z:4.60 [[ 8.84344137e-01 -4.19714785e-01 -2.04389204e-01 5.02945364e+01] [ 4.11295036e-01 9.07605224e-01 -8.41970990e-02 5.75501135e+00] [ 2.20843477e-01 -9.60505423e-03 9.75261966e-01 4.59941018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.980714057 meters Centerline goodness : 0.992739 Centerline is valid? [True, True] Translation: X:50.32, Y:5.77, Z:4.60 [[ 8.82907389e-01 -4.18459534e-01 -2.12993333e-01 5.03237265e+01] [ 4.12759307e-01 9.07927397e-01 -7.27845954e-02 5.76569628e+00] [ 2.23839891e-01 -2.36529235e-02 9.74338875e-01 4.60387205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.010714056999994 meters Centerline goodness : 0.992641 Centerline is valid? [True, True] Translation: X:50.35, Y:5.78, Z:4.61 [[ 8.82320591e-01 -4.20054135e-01 -2.12284949e-01 5.03530858e+01] [ 4.14358579e-01 9.07190689e-01 -7.28836139e-02 5.77914302e+00] [ 2.23197992e-01 -2.36553765e-02 9.74486059e-01 4.61286886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.040714056999995 meters Centerline goodness : 0.992847 Centerline is valid? [True, True] Translation: X:50.38, Y:5.79, Z:4.62 [[ 8.82210377e-01 -4.22434603e-01 -2.07975614e-01 5.03798440e+01] [ 4.14711277e-01 9.06281966e-01 -8.16551025e-02 5.79411264e+00] [ 2.22978489e-01 -1.42128538e-02 9.74719748e-01 4.62371379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.070714056999996 meters Centerline goodness : 0.992925 Centerline is valid? [True, True] Translation: X:50.40, Y:5.80, Z:4.63 [[ 8.80493499e-01 -4.21726251e-01 -2.16513664e-01 5.04036290e+01] [ 4.15293014e-01 9.06447220e-01 -7.67147330e-02 5.80362463e+00] [ 2.28610826e-01 -2.23697886e-02 9.73260850e-01 4.63098818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.100714057 meters Centerline goodness : 0.993760 Centerline is valid? [True, True] Translation: X:50.43, Y:5.82, Z:4.64 [[ 8.79927961e-01 -4.23454729e-01 -2.15436475e-01 5.04347460e+01] [ 4.17796034e-01 9.05562960e-01 -7.34996525e-02 5.81737572e+00] [ 2.26215068e-01 -2.53341055e-02 9.73747876e-01 4.63752534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.130714057 meters Centerline goodness : 0.993536 Centerline is valid? [True, True] Translation: X:50.46, Y:5.84, Z:4.65 [[ 8.78643169e-01 -4.27854532e-01 -2.11959150e-01 5.04570617e+01] [ 4.17985268e-01 9.03812120e-01 -9.17167804e-02 5.83518899e+00] [ 2.30812689e-01 -8.00947946e-03 9.72965236e-01 4.65155916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.160714057 meters Centerline goodness : 0.993933 Centerline is valid? [True, True] Translation: X:50.49, Y:5.84, Z:4.65 [[ 8.78681303e-01 -4.26338463e-01 -2.14836408e-01 5.04910241e+01] [ 4.19870482e-01 9.04288631e-01 -7.72712726e-02 5.84298130e+00] [ 2.27217837e-01 -2.23066437e-02 9.73588449e-01 4.65354153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.190714056999994 meters Centerline goodness : 0.994159 Centerline is valid? [True, True] Translation: X:50.52, Y:5.85, Z:4.66 [[ 8.78702457e-01 -4.26297692e-01 -2.14830794e-01 5.05213192e+01] [ 4.21285961e-01 9.04145472e-01 -7.09866510e-02 5.85342044e+00] [ 2.24499735e-01 -2.81290527e-02 9.74068080e-01 4.65790298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.220714056999995 meters Centerline goodness : 0.993702 Centerline is valid? [True, True] Translation: X:50.55, Y:5.87, Z:4.67 [[ 8.78172963e-01 -4.30368114e-01 -2.08795436e-01 5.05454491e+01] [ 4.21441258e-01 9.02588506e-01 -8.78706699e-02 5.87062424e+00] [ 2.26273095e-01 -1.08293648e-02 9.74003702e-01 4.67278161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.250714056999996 meters Centerline goodness : 0.993704 Centerline is valid? [True, True] Translation: X:50.57, Y:5.88, Z:4.68 [[ 8.78050772e-01 -4.29055818e-01 -2.11985725e-01 5.05747105e+01] [ 4.21550771e-01 9.03107716e-01 -8.18009800e-02 5.88173398e+00] [ 2.26543130e-01 -1.75373322e-02 9.73843238e-01 4.67725501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.280714057 meters Centerline goodness : 0.994156 Centerline is valid? [True, True] Translation: X:50.60, Y:5.89, Z:4.68 [[ 8.78219253e-01 -4.27455606e-01 -2.14505591e-01 5.06040553e+01] [ 4.21559602e-01 9.03700676e-01 -7.49172174e-02 5.89305037e+00] [ 2.25872632e-01 -2.46331490e-02 9.73845348e-01 4.68256378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.310714057 meters Centerline goodness : 0.993491 Centerline is valid? [True, True] Translation: X:50.63, Y:5.91, Z:4.69 [[ 8.78957862e-01 -4.29251990e-01 -2.07787887e-01 5.06318726e+01] [ 4.20636516e-01 9.03111386e-01 -8.63408706e-02 5.90973220e+00] [ 2.24717597e-01 -1.15131858e-02 9.74355914e-01 4.69270717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.340714057 meters Centerline goodness : 0.993491 Centerline is valid? [True, True] Translation: X:50.66, Y:5.92, Z:4.70 [[ 8.79059411e-01 -4.28105794e-01 -2.09714044e-01 5.06618096e+01] [ 4.20877705e-01 9.03555834e-01 -8.03044932e-02 5.91921185e+00] [ 2.23867167e-01 -1.76715450e-02 9.74459444e-01 4.69668714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.370714057 meters Centerline goodness : 0.994049 Centerline is valid? [True, True] Translation: X:50.69, Y:5.93, Z:4.70 [[ 8.79587078e-01 -4.27417785e-01 -2.08903350e-01 5.06911312e+01] [ 4.20123400e-01 9.03894256e-01 -8.04456577e-02 5.93170345e+00] [ 2.23210443e-01 -1.70062249e-02 9.74621920e-01 4.70324410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.400714056999995 meters Centerline goodness : 0.993570 Centerline is valid? [True, True] Translation: X:50.72, Y:5.95, Z:4.71 [[ 8.80132364e-01 -4.27207814e-01 -2.07027791e-01 5.07175155e+01] [ 4.18794682e-01 9.04077311e-01 -8.51776380e-02 5.94514782e+00] [ 2.23557681e-01 -1.17345421e-02 9.74620061e-01 4.71270124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.430714056999996 meters Centerline goodness : 0.993943 Centerline is valid? [True, True] Translation: X:50.75, Y:5.96, Z:4.72 [[ 8.81791309e-01 -4.24092903e-01 -2.06371744e-01 5.07468359e+01] [ 4.16581897e-01 9.05499203e-01 -8.08128527e-02 5.95767202e+00] [ 2.21141607e-01 -1.47106615e-02 9.75130753e-01 4.71713285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.460714057 meters Centerline goodness : 0.994352 Centerline is valid? [True, True] Translation: X:50.78, Y:5.97, Z:4.72 [[ 8.83247084e-01 -4.22966899e-01 -2.02419344e-01 5.07773100e+01] [ 4.15351654e-01 9.06057139e-01 -8.08916818e-02 5.97073730e+00] [ 2.17617995e-01 -1.26278670e-02 9.75952327e-01 4.72337329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.490714057 meters Centerline goodness : 0.993579 Centerline is valid? [True, True] Translation: X:50.80, Y:5.98, Z:4.73 [[ 8.85105237e-01 -4.19838066e-01 -2.00810153e-01 5.08035069e+01] [ 4.12302150e-01 9.07520820e-01 -8.00805802e-02 5.98331475e+00] [ 2.15860270e-01 -1.19147167e-02 9.76351567e-01 4.72870970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.520714057 meters Centerline goodness : 0.993213 Centerline is valid? [True, True] Translation: X:50.83, Y:6.00, Z:4.73 [[ 8.85782722e-01 -4.18753047e-01 -2.00087118e-01 5.08338007e+01] [ 4.11485360e-01 9.08012399e-01 -7.86974025e-02 5.99577825e+00] [ 2.14636361e-01 -1.26241205e-02 9.76612443e-01 4.73454463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.550714057 meters Centerline goodness : 0.994107 Centerline is valid? [True, True] Translation: X:50.87, Y:6.01, Z:4.74 [[ 8.86158657e-01 -4.18451254e-01 -1.99051205e-01 5.08653399e+01] [ 4.11557068e-01 9.08134663e-01 -7.68909212e-02 6.00797634e+00] [ 2.12940402e-01 -1.37833750e-02 9.76967965e-01 4.74053478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.580714056999994 meters Centerline goodness : 0.993342 Centerline is valid? [True, True] Translation: X:50.89, Y:6.02, Z:4.75 [[ 8.86135149e-01 -4.17924057e-01 -2.00259783e-01 5.08909911e+01] [ 4.10252370e-01 9.08416929e-01 -8.04467235e-02 6.02038154e+00] [ 2.15539998e-01 -1.08703813e-02 9.76434506e-01 4.74644719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.610714056999996 meters Centerline goodness : 0.993612 Centerline is valid? [True, True] Translation: X:50.92, Y:6.04, Z:4.76 [[ 8.85071461e-01 -4.19278193e-01 -2.02124478e-01 5.09176439e+01] [ 4.09386825e-01 9.07854128e-01 -9.05721235e-02 6.03551407e+00] [ 2.21474458e-01 -2.58429665e-03 9.75162748e-01 4.75568490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.640714057 meters Centerline goodness : 0.993928 Centerline is valid? [True, True] Translation: X:50.95, Y:6.04, Z:4.75 [[ 8.85340560e-01 -4.16250316e-01 -2.07141902e-01 5.09545809e+01] [ 4.11088602e-01 9.08942929e-01 -6.94903754e-02 6.04127216e+00] [ 2.17205558e-01 -2.36310269e-02 9.75839803e-01 4.75289415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.670714057 meters Centerline goodness : 0.992850 Centerline is valid? [True, True] Translation: X:50.98, Y:6.06, Z:4.76 [[ 8.85679250e-01 -4.18220458e-01 -2.01652955e-01 5.09773691e+01] [ 4.09840122e-01 9.08305935e-01 -8.37341195e-02 6.05623655e+00] [ 2.18181898e-01 -8.48389953e-03 9.75871243e-01 4.76365393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.700714057 meters Centerline goodness : 0.993121 Centerline is valid? [True, True] Translation: X:51.01, Y:6.07, Z:4.77 [[ 8.85253918e-01 -4.18264364e-01 -2.03421786e-01 5.10085596e+01] [ 4.10644768e-01 9.08241546e-01 -8.04249309e-02 6.06778873e+00] [ 2.18395000e-01 -1.23376069e-02 9.75782459e-01 4.76922531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.730714057 meters Centerline goodness : 0.993221 Centerline is valid? [True, True] Translation: X:51.04, Y:6.08, Z:4.77 [[ 8.85168915e-01 -4.18571159e-01 -2.03160468e-01 5.10381145e+01] [ 4.11640542e-01 9.08057502e-01 -7.73539737e-02 6.08007384e+00] [ 2.16859530e-01 -1.51577522e-02 9.76085133e-01 4.77467204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.760714056999994 meters Centerline goodness : 0.993459 Centerline is valid? [True, True] Translation: X:51.07, Y:6.09, Z:4.78 [[ 8.85608219e-01 -4.18638618e-01 -2.01096469e-01 5.10655986e+01] [ 4.11633106e-01 9.08043556e-01 -7.75569915e-02 6.09083377e+00] [ 2.15072704e-01 -1.40928549e-02 9.76496351e-01 4.78110446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.790714056999995 meters Centerline goodness : 0.993701 Centerline is valid? [True, True] Translation: X:51.09, Y:6.10, Z:4.79 [[ 8.84605456e-01 -4.20178931e-01 -2.02293976e-01 5.10948403e+01] [ 4.13914300e-01 9.07265421e-01 -7.44607778e-02 6.10368953e+00] [ 2.14821180e-01 -1.78639592e-02 9.76490010e-01 4.78759398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.820714056999996 meters Centerline goodness : 0.994100 Centerline is valid? [True, True] Translation: X:51.12, Y:6.12, Z:4.80 [[ 8.84420629e-01 -4.22415997e-01 -1.98405836e-01 5.11220593e+01] [ 4.14713021e-01 9.06339623e-01 -8.10036914e-02 6.11770060e+00] [ 2.14040326e-01 -1.06401479e-02 9.76766874e-01 4.79697883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.850714057 meters Centerline goodness : 0.994829 Centerline is valid? [True, True] Translation: X:51.15, Y:6.12, Z:4.80 [[ 8.81697439e-01 -4.21590093e-01 -2.11828750e-01 5.11539971e+01] [ 4.19218277e-01 9.06013757e-01 -5.82675547e-02 6.12408600e+00] [ 2.16484785e-01 -3.74281296e-02 9.75568282e-01 4.79862278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.880714057 meters Centerline goodness : 0.995010 Centerline is valid? [True, True] Translation: X:51.18, Y:6.14, Z:4.81 [[ 8.80706183e-01 -4.27617267e-01 -2.03715716e-01 5.11787489e+01] [ 4.20600986e-01 9.03813813e-01 -7.88378221e-02 6.14273768e+00] [ 2.17833492e-01 -1.62500736e-02 9.75850657e-01 4.81487883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.910714057 meters Centerline goodness : 0.995195 Centerline is valid? [True, True] Translation: X:51.21, Y:6.16, Z:4.82 [[ 8.81382851e-01 -4.29538596e-01 -1.96623661e-01 5.12058583e+01] [ 4.19606389e-01 9.03047170e-01 -9.18492615e-02 6.15767737e+00] [ 2.17013243e-01 -1.55018040e-03 9.76167429e-01 4.82395829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.940714056999994 meters Centerline goodness : 0.994402 Centerline is valid? [True, True] Translation: X:51.24, Y:6.16, Z:4.82 [[ 8.81098301e-01 -4.26199622e-01 -2.04986991e-01 5.12404200e+01] [ 4.19945014e-01 9.04415032e-01 -7.53633516e-02 6.16389298e+00] [ 2.17513148e-01 -1.96807436e-02 9.75858954e-01 4.82148750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.970714056999995 meters Centerline goodness : 0.994800 Centerline is valid? [True, True] Translation: X:51.27, Y:6.17, Z:4.83 [[ 8.80552487e-01 -4.24294934e-01 -2.11189789e-01 5.12660550e+01] [ 4.18888009e-01 9.05177508e-01 -7.20174611e-02 6.17340619e+00] [ 2.21720891e-01 -2.50497160e-02 9.74788366e-01 4.82799285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.000714056999996 meters Centerline goodness : 0.994656 Centerline is valid? [True, True] Translation: X:51.30, Y:6.19, Z:4.84 [[ 8.81860614e-01 -4.27032882e-01 -1.99911917e-01 5.12955290e+01] [ 4.17448147e-01 9.04227096e-01 -9.00577787e-02 6.19205895e+00] [ 2.19223405e-01 -4.03445154e-03 9.75666348e-01 4.84039280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.030714057 meters Centerline goodness : 0.995059 Centerline is valid? [True, True] Translation: X:51.33, Y:6.20, Z:4.84 [[ 8.82926303e-01 -4.23209852e-01 -2.03309038e-01 5.13269293e+01] [ 4.15917838e-01 9.05918156e-01 -7.95276472e-02 6.20217528e+00] [ 2.17838232e-01 -1.43428039e-02 9.75879495e-01 4.84376702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.060714057 meters Centerline goodness : 0.995180 Centerline is valid? [True, True] Translation: X:51.35, Y:6.21, Z:4.85 [[ 8.83597047e-01 -4.20811431e-01 -2.05363086e-01 5.13536777e+01] [ 4.14468071e-01 9.06955199e-01 -7.51564070e-02 6.21253753e+00] [ 2.17881794e-01 -1.87084629e-02 9.75795838e-01 4.84947211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.090714057 meters Centerline goodness : 0.995032 Centerline is valid? [True, True] Translation: X:51.38, Y:6.23, Z:4.86 [[ 8.85439269e-01 -4.19427741e-01 -2.00194083e-01 5.13835961e+01] [ 4.11559363e-01 9.07731148e-01 -8.15049276e-02 6.22841056e+00] [ 2.15907832e-01 -1.02240855e-02 9.76360218e-01 4.86099281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.120714057 meters Centerline goodness : 0.994518 Centerline is valid? [True, True] Translation: X:51.41, Y:6.24, Z:4.87 [[ 8.86810841e-01 -4.17897326e-01 -1.97302706e-01 5.14144237e+01] [ 4.09667742e-01 9.08464500e-01 -8.28528467e-02 6.24052443e+00] [ 2.13866487e-01 -7.35375139e-03 9.76835220e-01 4.86721218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.150714056999995 meters Centerline goodness : 0.995245 Centerline is valid? [True, True] Translation: X:51.44, Y:6.26, Z:4.88 [[ 8.84841913e-01 -4.20329994e-01 -2.00941498e-01 5.14449970e+01] [ 4.10290664e-01 9.07369847e-01 -9.13319887e-02 6.25566436e+00] [ 2.20717830e-01 -1.63004900e-03 9.75336343e-01 4.87838864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.180714056999996 meters Centerline goodness : 0.993894 Centerline is valid? [True, True] Translation: X:51.47, Y:6.25, Z:4.87 [[ 8.88345290e-01 -4.09062812e-01 -2.08591133e-01 5.14737897e+01] [ 4.06971436e-01 9.11790511e-01 -5.48845572e-02 6.25363025e+00] [ 2.12642647e-01 -3.61341949e-02 9.76461686e-01 4.87062948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.210714057 meters Centerline goodness : 0.995793 Centerline is valid? [True, True] Translation: X:51.50, Y:6.28, Z:4.89 [[ 8.85651108e-01 -4.18928056e-01 -2.00303270e-01 5.14991299e+01] [ 4.08517291e-01 9.08019353e-01 -9.28142129e-02 6.27998918e+00] [ 2.20761723e-01 3.73661342e-04 9.75327700e-01 4.89486668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.240714057 meters Centerline goodness : 0.995360 Centerline is valid? [True, True] Translation: X:51.53, Y:6.29, Z:4.89 [[ 8.86410442e-01 -4.14625225e-01 -2.05821404e-01 5.15320804e+01] [ 4.06872554e-01 9.09910700e-01 -8.07294487e-02 6.28800366e+00] [ 2.20751564e-01 -1.21836540e-02 9.75253970e-01 4.89443483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.270714057 meters Centerline goodness : 0.995132 Centerline is valid? [True, True] Translation: X:51.56, Y:6.30, Z:4.90 [[ 8.87060494e-01 -4.13506402e-01 -2.05270882e-01 5.15619025e+01] [ 4.05649285e-01 9.10429976e-01 -8.10303350e-02 6.29934862e+00] [ 2.20391326e-01 -1.13891775e-02 9.75345041e-01 4.89919421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.300714057 meters Centerline goodness : 0.995077 Centerline is valid? [True, True] Translation: X:51.59, Y:6.31, Z:4.90 [[ 8.87055281e-01 -4.10495940e-01 -2.11248698e-01 5.15926740e+01] [ 4.04649640e-01 9.11611825e-01 -7.22672057e-02 6.30758463e+00] [ 2.22242206e-01 -2.13767033e-02 9.74757118e-01 4.90303956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.330714056999994 meters Centerline goodness : 0.994907 Centerline is valid? [True, True] Translation: X:51.62, Y:6.32, Z:4.92 [[ 8.87924494e-01 -4.10762980e-01 -2.07035908e-01 5.16211937e+01] [ 4.01773278e-01 9.11715006e-01 -8.57553582e-02 6.32406470e+00] [ 2.23982871e-01 -7.03721246e-03 9.74567674e-01 4.91500755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.360714056999996 meters Centerline goodness : 0.994578 Centerline is valid? [True, True] Translation: X:51.65, Y:6.33, Z:4.92 [[ 8.88711558e-01 -4.06491332e-01 -2.12029630e-01 5.16510782e+01] [ 4.00226803e-01 9.13449138e-01 -7.36829608e-02 6.33145331e+00] [ 2.23629768e-01 -1.93770422e-02 9.74481532e-01 4.91683921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.390714057 meters Centerline goodness : 0.994830 Centerline is valid? [True, True] Translation: X:51.68, Y:6.35, Z:4.93 [[ 8.89328353e-01 -4.06011604e-01 -2.10356029e-01 5.16794808e+01] [ 3.97946485e-01 9.13796985e-01 -8.13244473e-02 6.34637910e+00] [ 2.25241374e-01 -1.13863054e-02 9.74236458e-01 4.92940416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.420714057 meters Centerline goodness : 0.994353 Centerline is valid? [True, True] Translation: X:51.71, Y:6.35, Z:4.93 [[ 8.91693480e-01 -3.98323956e-01 -2.14990148e-01 5.17097046e+01] [ 3.95837152e-01 9.16585147e-01 -5.64324219e-02 6.34926550e+00] [ 2.19535162e-01 -3.47806653e-02 9.74984419e-01 4.92750589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.450714057 meters Centerline goodness : 0.994907 Centerline is valid? [True, True] Translation: X:51.73, Y:6.37, Z:4.95 [[ 8.91041831e-01 -4.04602359e-01 -2.05770226e-01 5.17306352e+01] [ 3.95145298e-01 9.14485045e-01 -8.70476628e-02 6.37027384e+00] [ 2.23393484e-01 -3.74602838e-03 9.74721149e-01 4.94772585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.480714057 meters Centerline goodness : 0.994395 Centerline is valid? [True, True] Translation: X:51.76, Y:6.38, Z:4.95 [[ 8.93496354e-01 -3.99326890e-01 -2.05431986e-01 5.17638617e+01] [ 3.93177379e-01 9.16657470e-01 -7.17678982e-02 6.37612287e+00] [ 2.16969616e-01 -1.66468546e-02 9.76036407e-01 4.94908310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.510714056999994 meters Centerline goodness : 0.994990 Centerline is valid? [True, True] Translation: X:51.79, Y:6.39, Z:4.96 [[ 8.93892301e-01 -4.00166522e-01 -2.02047789e-01 5.17921972e+01] [ 3.92738847e-01 9.16386187e-01 -7.74115983e-02 6.38944239e+00] [ 2.16131333e-01 -1.01543837e-02 9.76311495e-01 4.95948108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.540714056999995 meters Centerline goodness : 0.994448 Centerline is valid? [True, True] Translation: X:51.82, Y:6.40, Z:4.96 [[ 8.93106377e-01 -3.97571047e-01 -2.10471522e-01 5.18194478e+01] [ 3.92264028e-01 9.17317034e-01 -6.82524068e-02 6.39617739e+00] [ 2.20204293e-01 -2.16037472e-02 9.75214514e-01 4.96371217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.570714056999996 meters Centerline goodness : 0.995440 Centerline is valid? [True, True] Translation: X:51.85, Y:6.41, Z:4.98 [[ 8.90717394e-01 -4.03613477e-01 -2.09090135e-01 5.18463829e+01] [ 3.94193851e-01 9.14915523e-01 -8.68377464e-02 6.41432823e+00] [ 2.26348695e-01 -5.07415420e-03 9.74033121e-01 4.98115336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.600714057 meters Centerline goodness : 0.994903 Centerline is valid? [True, True] Translation: X:51.88, Y:6.42, Z:4.98 [[ 8.90702749e-01 -4.02043677e-01 -2.12154414e-01 5.18767324e+01] [ 3.94189493e-01 9.15537341e-01 -8.00376181e-02 6.42299500e+00] [ 2.26413906e-01 -1.23393145e-02 9.73953020e-01 4.98428836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.630714057 meters Centerline goodness : 0.995095 Centerline is valid? [True, True] Translation: X:51.91, Y:6.43, Z:4.99 [[ 8.88736226e-01 -4.00412728e-01 -2.23198493e-01 5.19081113e+01] [ 3.95508111e-01 9.15919758e-01 -6.82959052e-02 6.42852500e+00] [ 2.31778460e-01 -2.75797694e-02 9.72377551e-01 4.98941411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.660714057 meters Centerline goodness : 0.994657 Centerline is valid? [True, True] Translation: X:51.93, Y:6.45, Z:5.00 [[ 8.89585031e-01 -4.05727852e-01 -2.09817500e-01 5.19330167e+01] [ 3.94941037e-01 9.13993913e-01 -9.29338698e-02 6.44708580e+00] [ 2.29477777e-01 -1.92961673e-04 9.73313882e-01 5.00495182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.690714056999994 meters Centerline goodness : 0.995313 Centerline is valid? [True, True] Translation: X:51.97, Y:6.45, Z:5.01 [[ 8.90426297e-01 -4.02464970e-01 -2.12515782e-01 5.19663914e+01] [ 3.94148469e-01 9.15373233e-01 -8.20903724e-02 6.45179042e+00] [ 2.27569758e-01 -1.06673437e-02 9.73703350e-01 5.00576115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.720714056999995 meters Centerline goodness : 0.994887 Centerline is valid? [True, True] Translation: X:51.99, Y:6.46, Z:5.01 [[ 8.85767298e-01 -4.03908734e-01 -2.28635143e-01 5.19853023e+01] [ 4.00965220e-01 9.14037016e-01 -6.13451406e-02 6.45727988e+00] [ 2.33758822e-01 -3.73372210e-02 9.71577452e-01 5.00862535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.750714056999996 meters Centerline goodness : 0.995154 Centerline is valid? [True, True] Translation: X:52.02, Y:6.49, Z:5.04 [[ 8.91619288e-01 -4.12234385e-01 -1.87290833e-01 5.20193532e+01] [ 3.93540264e-01 9.10112194e-01 -1.29699090e-01 6.48896201e+00] [ 2.23922096e-01 4.19357262e-02 9.73704416e-01 5.03890307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.780714057 meters Centerline goodness : 0.994577 Centerline is valid? [True, True] Translation: X:52.05, Y:6.47, Z:5.01 [[ 8.85636409e-01 -3.97898986e-01 -2.39425454e-01 5.20508587e+01] [ 4.02447849e-01 9.14890730e-01 -3.17912153e-02 6.46567050e+00] [ 2.31697821e-01 -6.82008012e-02 9.70394132e-01 5.01042691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.810714057 meters Centerline goodness : 0.995090 Centerline is valid? [True, True] Translation: X:52.07, Y:6.50, Z:5.04 [[ 8.85395948e-01 -4.11360855e-01 -2.16463073e-01 5.20669181e+01] [ 4.01944491e-01 9.11427093e-01 -8.79845415e-02 6.49561338e+00] [ 2.33483706e-01 -9.10498325e-03 9.72318085e-01 5.04420191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.840714057 meters Centerline goodness : 0.995270 Centerline is valid? [True, True] Translation: X:52.11, Y:6.53, Z:5.07 [[ 0.89491299 -0.41763683 -0.15719484 52.10755108] [ 0.39174237 0.9039592 -0.1714517 6.53169709] [ 0.21370226 0.09185448 0.97257087 5.07329221] [ 0. 0. 0. 1. ]] SLAMing on 53.870714057 meters Centerline goodness : 0.995253 Centerline is valid? [True, True] Translation: X:52.17, Y:6.50, Z:5.03 [[ 8.95395558e-01 -3.94289872e-01 -2.06887147e-01 5.21671982e+01] [ 3.90971676e-01 9.18543234e-01 -5.84762831e-02 6.50497484e+00] [ 2.13091395e-01 -2.85276107e-02 9.76615704e-01 5.03024619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.900714056999995 meters Centerline goodness : 0.994840 Centerline is valid? [True, True] Translation: X:52.19, Y:6.52, Z:5.04 [[ 8.94810380e-01 -3.96187351e-01 -2.05791077e-01 5.21934111e+01] [ 3.91509765e-01 9.17891294e-01 -6.47740372e-02 6.51704855e+00] [ 2.14556492e-01 -2.26087353e-02 9.76449874e-01 5.04049556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.930714056999996 meters Centerline goodness : 0.994651 Centerline is valid? [True, True] Translation: X:52.22, Y:6.52, Z:5.05 [[ 8.94280297e-01 -3.95178860e-01 -2.09991472e-01 5.22206258e+01] [ 3.92006742e-01 9.18109805e-01 -5.83532316e-02 6.52195630e+00] [ 2.15855193e-01 -3.01339275e-02 9.75960287e-01 5.04523461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.960714057 meters Centerline goodness : 0.994667 Centerline is valid? [True, True] Translation: X:52.25, Y:6.55, Z:5.06 [[ 8.94128633e-01 -4.04003397e-01 -1.93171537e-01 5.22468261e+01] [ 3.92501749e-01 9.14700062e-01 -9.62609719e-02 6.54567157e+00] [ 2.15583777e-01 1.02495251e-02 9.76431555e-01 5.06392781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.990714057 meters Centerline goodness : 0.994455 Centerline is valid? [True, True] Translation: X:52.28, Y:6.54, Z:5.06 [[ 8.91737704e-01 -3.95982673e-01 -2.19092650e-01 5.22825146e+01] [ 3.95132033e-01 9.17282614e-01 -4.96314672e-02 6.53636737e+00] [ 2.20623080e-01 -4.23122736e-02 9.74440931e-01 5.05500318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.020714057 meters Centerline goodness : 0.995214 Centerline is valid? [True, True] Translation: X:52.31, Y:6.56, Z:5.07 [[ 8.90800585e-01 -4.02834976e-01 -2.10233915e-01 5.23059988e+01] [ 3.96256309e-01 9.15115238e-01 -7.44650207e-02 6.55564902e+00] [ 2.22385374e-01 -1.69730312e-02 9.74811090e-01 5.07272288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.050714057 meters Centerline goodness : 0.994952 Centerline is valid? [True, True] Translation: X:52.34, Y:6.56, Z:5.08 [[ 8.90043551e-01 -4.04225719e-01 -2.10770127e-01 5.23358259e+01] [ 3.97265897e-01 9.14523001e-01 -7.63379901e-02 6.56481778e+00] [ 2.23611908e-01 -1.57876477e-02 9.74550391e-01 5.08013820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.080714056999994 meters Centerline goodness : 0.994734 Centerline is valid? [True, True] Translation: X:52.37, Y:6.57, Z:5.09 [[ 8.88063054e-01 -4.04636249e-01 -2.18205219e-01 5.23654836e+01] [ 3.99200355e-01 9.14149433e-01 -7.04974487e-02 6.57348886e+00] [ 2.27998000e-01 -2.45014211e-02 9.73353272e-01 5.08777299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.110714056999996 meters Centerline goodness : 0.994115 Centerline is valid? [True, True] Translation: X:52.39, Y:6.58, Z:5.09 [[ 8.89422510e-01 -4.03481053e-01 -2.14780442e-01 5.23911455e+01] [ 3.98168625e-01 9.14679676e-01 -6.94466414e-02 6.58189232e+00] [ 2.24475709e-01 -2.37514271e-02 9.74190190e-01 5.09348657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.140714057 meters Centerline goodness : 0.994146 Centerline is valid? [True, True] Translation: X:52.42, Y:6.59, Z:5.10 [[ 8.88948888e-01 -4.04713911e-01 -2.14421372e-01 5.24189997e+01] [ 3.99963419e-01 9.14070746e-01 -6.71113611e-02 6.59217482e+00] [ 2.23157205e-01 -2.61021351e-02 9.74432933e-01 5.10403950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.170714057 meters Centerline goodness : 0.992903 Centerline is valid? [True, True] Translation: X:52.45, Y:6.60, Z:5.12 [[ 8.89203742e-01 -4.07737744e-01 -2.07525029e-01 5.24454128e+01] [ 4.00527680e-01 9.12990336e-01 -7.76287501e-02 6.60464647e+00] [ 2.21120518e-01 -1.40917436e-02 9.75144676e-01 5.11573113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.200714057 meters Centerline goodness : 0.993895 Centerline is valid? [True, True] Translation: X:52.47, Y:6.61, Z:5.12 [[ 8.87660908e-01 -4.07766788e-01 -2.13972799e-01 5.24741844e+01] [ 4.02881402e-01 9.12720864e-01 -6.80235226e-02 6.60974041e+00] [ 2.23035171e-01 -2.58238395e-02 9.74468287e-01 5.12154845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.230714057 meters Centerline goodness : 0.993895 Centerline is valid? [True, True] Translation: X:52.50, Y:6.63, Z:5.13 [[ 8.87045633e-01 -4.10829594e-01 -2.10639716e-01 5.25006352e+01] [ 4.03499281e-01 9.11586215e-01 -7.87331101e-02 6.62591524e+00] [ 2.24362153e-01 -1.51531124e-02 9.74388017e-01 5.13430518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.260714056999994 meters Centerline goodness : 0.993789 Centerline is valid? [True, True] Translation: X:52.53, Y:6.64, Z:5.15 [[ 8.84475892e-01 -4.17022373e-01 -2.09271920e-01 5.25287193e+01] [ 4.05360406e-01 9.08894434e-01 -9.79481969e-02 6.64272963e+00] [ 2.31052673e-01 1.80226859e-03 9.72939574e-01 5.14796241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.290714056999995 meters Centerline goodness : 0.993413 Centerline is valid? [True, True] Translation: X:52.56, Y:6.65, Z:5.15 [[ 8.83281059e-01 -4.14504411e-01 -2.19090538e-01 5.25631999e+01] [ 4.06728796e-01 9.09889326e-01 -8.16890499e-02 6.64738066e+00] [ 2.33208613e-01 -1.69560402e-02 9.72278888e-01 5.14893769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.320714056999996 meters Centerline goodness : 0.993648 Centerline is valid? [True, True] Translation: X:52.59, Y:6.66, Z:5.16 [[ 8.81870050e-01 -4.16145025e-01 -2.21649571e-01 5.25922143e+01] [ 4.08835916e-01 9.09080004e-01 -8.01669559e-02 6.65659348e+00] [ 2.34858273e-01 -1.99214680e-02 9.71825461e-01 5.15576289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.350714057 meters Centerline goodness : 0.993519 Centerline is valid? [True, True] Translation: X:52.62, Y:6.65, Z:5.16 [[ 8.81722919e-01 -4.11965403e-01 -2.29889539e-01 5.26209360e+01] [ 4.11471436e-01 9.09914302e-01 -5.24139403e-02 6.65288192e+00] [ 2.30772509e-01 -4.83784061e-02 9.71804290e-01 5.15550345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.380714057 meters Centerline goodness : 0.993988 Centerline is valid? [True, True] Translation: X:52.64, Y:6.67, Z:5.18 [[ 8.80267842e-01 -4.21267816e-01 -2.18316179e-01 5.26399239e+01] [ 4.13417191e-01 9.06769827e-01 -8.27931588e-02 6.67331252e+00] [ 2.32840617e-01 -1.73755061e-02 9.72359676e-01 5.17500520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.410714057 meters Centerline goodness : 0.993789 Centerline is valid? [True, True] Translation: X:52.67, Y:6.69, Z:5.18 [[ 8.79689162e-01 -4.26071436e-01 -2.11211052e-01 5.26659967e+01] [ 4.14614218e-01 9.04688686e-01 -9.81500412e-02 6.68652296e+00] [ 2.32899178e-01 -1.22957777e-03 9.72500108e-01 5.18397093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.440714056999994 meters Centerline goodness : 0.994115 Centerline is valid? [True, True] Translation: X:52.70, Y:6.69, Z:5.19 [[ 8.77192020e-01 -4.22307638e-01 -2.28452224e-01 5.26991637e+01] [ 4.17271861e-01 9.05893743e-01 -7.23928206e-02 6.68729562e+00] [ 2.37525482e-01 -3.18242800e-02 9.70859856e-01 5.18507426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.470714056999995 meters Centerline goodness : 0.995469 Centerline is valid? [True, True] Translation: X:52.71, Y:6.70, Z:5.20 [[ 0.86598602 -0.42746641 -0.25950081 52.71116169] [ 0.42825815 0.90188849 -0.05649875 6.69557401] [ 0.25819212 -0.06220621 0.9640888 5.199045 ] [ 0. 0. 0. 1. ]] SLAMing on 54.500714056999996 meters Centerline goodness : 0.994330 Centerline is valid? [True, True] Translation: X:52.74, Y:6.73, Z:5.22 [[ 8.74692379e-01 -4.38374232e-01 -2.06739630e-01 5.27357161e+01] [ 4.20324204e-01 8.98471927e-01 -1.26790222e-01 6.72571134e+00] [ 2.41331320e-01 2.40047702e-02 9.70145847e-01 5.22396913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.530714057 meters Centerline goodness : 0.994702 Centerline is valid? [True, True] Translation: X:52.77, Y:6.72, Z:5.22 [[ 8.74653438e-01 -4.30415885e-01 -2.22987736e-01 5.27722685e+01] [ 4.22139730e-01 9.02434116e-01 -8.60855086e-02 6.72071980e+00] [ 2.38284311e-01 -1.88369965e-02 9.71012747e-01 5.21555194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.560714057 meters Centerline goodness : 0.994622 Centerline is valid? [True, True] Translation: X:52.80, Y:6.74, Z:5.23 [[ 8.71233680e-01 -4.38301565e-01 -2.21005911e-01 5.27990850e+01] [ 4.24885162e-01 8.98827968e-01 -1.07614508e-01 6.73939413e+00] [ 2.45813901e-01 -1.44748102e-04 9.69317030e-01 5.23087952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.590714057 meters Centerline goodness : 0.995358 Centerline is valid? [True, True] Translation: X:52.83, Y:6.74, Z:5.23 [[ 8.69950970e-01 -4.34345558e-01 -2.33514981e-01 5.28317932e+01] [ 4.27129924e-01 9.00335890e-01 -8.33985200e-02 6.74181184e+00] [ 2.46465695e-01 -2.71886129e-02 9.68770066e-01 5.23078226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.620714057 meters Centerline goodness : 0.994893 Centerline is valid? [True, True] Translation: X:52.86, Y:6.75, Z:5.24 [[ 8.70159986e-01 -4.37025992e-01 -2.27661770e-01 5.28566060e+01] [ 4.27562725e-01 8.99284071e-01 -9.20775529e-02 6.75484455e+00] [ 2.44972887e-01 -1.72174846e-02 9.69377038e-01 5.24011425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.650714056999995 meters Centerline goodness : 0.994949 Centerline is valid? [True, True] Translation: X:52.88, Y:6.76, Z:5.25 [[ 8.68423891e-01 -4.37191699e-01 -2.33887502e-01 5.28839471e+01] [ 4.30448795e-01 8.98884815e-01 -8.19751475e-02 6.76130941e+00] [ 2.46076778e-01 -2.94874169e-02 9.68801688e-01 5.24503868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.680714056999996 meters Centerline goodness : 0.995208 Centerline is valid? [True, True] Translation: X:52.91, Y:6.79, Z:5.26 [[ 8.68903303e-01 -4.46995838e-01 -2.12607083e-01 5.29077193e+01] [ 4.30646206e-01 8.94439362e-01 -1.20507561e-01 6.78544477e+00] [ 2.44030521e-01 1.31509837e-02 9.69678378e-01 5.26106967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.710714057 meters Centerline goodness : 0.995648 Centerline is valid? [True, True] Translation: X:52.93, Y:6.76, Z:5.24 [[ 8.59382905e-01 -4.26505156e-01 -2.82053849e-01 5.29339100e+01] [ 4.42200694e-01 8.96872301e-01 -8.86689980e-03 6.75758946e+00] [ 2.56748063e-01 -1.17104346e-01 9.59357600e-01 5.24249178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.740714057 meters Centerline goodness : 0.994686 Centerline is valid? [True, True] Translation: X:52.95, Y:6.81, Z:5.29 [[ 8.62768220e-01 -4.54815669e-01 -2.20847698e-01 5.29453566e+01] [ 4.35913874e-01 8.90431078e-01 -1.30811278e-01 6.80834629e+00] [ 2.56144672e-01 1.65892378e-02 9.66496096e-01 5.28909807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.770714057 meters Centerline goodness : 0.994922 Centerline is valid? [True, True] Translation: X:52.97, Y:6.80, Z:5.28 [[ 0.85720856 -0.44451692 -0.25999652 52.97064723] [ 0.44351614 0.89383847 -0.06592583 6.79923182] [ 0.26170004 -0.05880046 0.96335642 5.278133 ] [ 0. 0. 0. 1. ]] SLAMing on 54.800714057 meters Centerline goodness : 0.994626 Centerline is valid? [True, True] Translation: X:52.99, Y:6.85, Z:5.31 [[ 0.86456072 -0.46403618 -0.19288645 52.99498312] [ 0.43479826 0.88318856 -0.17586486 6.84677981] [ 0.25196277 0.06817916 0.96533226 5.31392641] [ 0. 0. 0. 1. ]] SLAMing on 54.830714056999994 meters Centerline goodness : 0.994505 Centerline is valid? [True, True] Translation: X:53.04, Y:6.80, Z:5.27 [[ 8.65459273e-01 -4.24445579e-01 -2.66131917e-01 5.30442129e+01] [ 4.36558149e-01 8.99551285e-01 -1.49822977e-02 6.80040125e+00] [ 2.45758477e-01 -1.03215488e-01 9.63820177e-01 5.27155952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.860714056999996 meters Centerline goodness : 0.994927 Centerline is valid? [True, True] Translation: X:53.05, Y:6.84, Z:5.31 [[ 8.63581568e-01 -4.48586399e-01 -2.30211031e-01 5.30471672e+01] [ 4.37497951e-01 8.93626056e-01 -1.00139982e-01 6.84253185e+00] [ 2.50644009e-01 -1.42378112e-02 9.67974620e-01 5.31037159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.890714057 meters Centerline goodness : 0.994683 Centerline is valid? [True, True] Translation: X:53.08, Y:6.86, Z:5.32 [[ 8.60868258e-01 -4.56277937e-01 -2.25202768e-01 5.30759447e+01] [ 4.39071373e-01 8.89799489e-01 -1.24391312e-01 6.86409889e+00] [ 2.57142320e-01 8.20444346e-03 9.66338716e-01 5.32477918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.920714057 meters Centerline goodness : 0.995098 Centerline is valid? [True, True] Translation: X:53.11, Y:6.86, Z:5.32 [[ 8.57774044e-01 -4.46209314e-01 -2.55188043e-01 5.31100906e+01] [ 4.43373622e-01 8.93447770e-01 -7.19090583e-02 6.85822194e+00] [ 2.60083680e-01 -5.14619235e-02 9.64213747e-01 5.31841456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.950714057 meters Centerline goodness : 0.994752 Centerline is valid? [True, True] Translation: X:53.13, Y:6.88, Z:5.34 [[ 8.57418909e-01 -4.53716682e-01 -2.42845604e-01 5.31264752e+01] [ 4.43359030e-01 8.90855592e-01 -9.90408216e-02 6.87894475e+00] [ 2.61276837e-01 -2.27483183e-02 9.64995818e-01 5.33512675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.980714057 meters Centerline goodness : 0.995123 Centerline is valid? [True, True] Translation: X:53.15, Y:6.90, Z:5.35 [[ 8.57195598e-01 -4.61592721e-01 -2.28359074e-01 5.31509314e+01] [ 4.45165791e-01 8.87086925e-01 -1.22082785e-01 6.90097259e+00] [ 2.58926873e-01 2.99117795e-03 9.65892296e-01 5.34816740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.010714056999994 meters Centerline goodness : 0.994848 Centerline is valid? [True, True] Translation: X:53.18, Y:6.89, Z:5.34 [[ 0.85535058 -0.4491225 -0.25819442 53.18473311] [ 0.4481346 0.89151332 -0.06617691 6.89343027] [ 0.25990531 -0.0591014 0.96382377 5.34001803] [ 0. 0. 0. 1. ]] SLAMing on 55.040714056999995 meters Centerline goodness : 0.995028 Centerline is valid? [True, True] Translation: X:53.20, Y:6.92, Z:5.36 [[ 8.52403339e-01 -4.59725349e-01 -2.49120755e-01 5.32014074e+01] [ 4.51143422e-01 8.87477685e-01 -9.40902279e-02 6.91563636e+00] [ 2.64344774e-01 -3.21863657e-02 9.63891010e-01 5.36184482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.070714056999996 meters Centerline goodness : 0.994627 Centerline is valid? [True, True] Translation: X:53.22, Y:6.92, Z:5.37 [[ 8.53946093e-01 -4.58889790e-01 -2.45349204e-01 5.32248297e+01] [ 4.52914494e-01 8.87610530e-01 -8.37616221e-02 6.92479867e+00] [ 2.56211890e-01 -3.95943005e-02 9.65809380e-01 5.36659537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.100714057 meters Centerline goodness : 0.996099 Centerline is valid? [True, True] Translation: X:53.25, Y:6.95, Z:5.39 [[ 8.49132764e-01 -4.70761535e-01 -2.39493479e-01 5.32462262e+01] [ 4.55875682e-01 8.82213054e-01 -1.17802760e-01 6.94912694e+00] [ 2.66741282e-01 -9.14906979e-03 9.63724745e-01 5.38708172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.130714057 meters Centerline goodness : 0.994958 Centerline is valid? [True, True] Translation: X:53.27, Y:6.95, Z:5.38 [[ 8.50429590e-01 -4.65309758e-01 -2.45471672e-01 5.32712375e+01] [ 4.57714425e-01 8.84450329e-01 -9.08026462e-02 6.95098830e+00] [ 2.59358858e-01 -3.51346681e-02 9.65141719e-01 5.38217938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.160714057 meters Centerline goodness : 0.995007 Centerline is valid? [True, True] Translation: X:53.29, Y:6.97, Z:5.40 [[ 8.46935745e-01 -4.75872452e-01 -2.37160816e-01 5.32940462e+01] [ 4.59683378e-01 8.79501682e-01 -1.23158364e-01 6.97480900e+00] [ 2.67191009e-01 -4.71166409e-03 9.63632069e-01 5.40007091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.190714056999994 meters Centerline goodness : 0.995044 Centerline is valid? [True, True] Translation: X:53.32, Y:6.98, Z:5.40 [[ 8.46771955e-01 -4.73017460e-01 -2.43375715e-01 5.33226398e+01] [ 4.60971470e-01 8.80810297e-01 -1.08067222e-01 6.98161980e+00] [ 2.65485519e-01 -2.06809685e-02 9.63893011e-01 5.39879915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.220714056999995 meters Centerline goodness : 0.995582 Centerline is valid? [True, True] Translation: X:53.35, Y:7.00, Z:5.40 [[ 8.46522794e-01 -4.74728098e-01 -2.40899134e-01 5.33475478e+01] [ 4.62003740e-01 8.79955044e-01 -1.10596859e-01 6.99531250e+00] [ 2.64483844e-01 -1.76735391e-02 9.64228159e-01 5.40408583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.250714056999996 meters Centerline goodness : 0.995136 Centerline is valid? [True, True] Translation: X:53.37, Y:7.00, Z:5.41 [[ 8.46576145e-01 -4.73380703e-01 -2.43350653e-01 5.33737162e+01] [ 4.62631590e-01 8.80501514e-01 -1.03388083e-01 7.00476335e+00] [ 2.63212542e-01 -2.50558146e-02 9.64412445e-01 5.40777277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.280714057 meters Centerline goodness : 0.994733 Centerline is valid? [True, True] Translation: X:53.40, Y:7.02, Z:5.41 [[ 8.47081477e-01 -4.74099870e-01 -2.40171365e-01 5.33971245e+01] [ 4.62624770e-01 8.80210251e-01 -1.05868958e-01 7.01770590e+00] [ 2.61593756e-01 -2.14295895e-02 9.64940143e-01 5.41457268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.310714057 meters Centerline goodness : 0.995022 Centerline is valid? [True, True] Translation: X:53.42, Y:7.03, Z:5.42 [[ 8.47291366e-01 -4.73241151e-01 -2.41122695e-01 5.34216282e+01] [ 4.62892697e-01 8.80564596e-01 -1.01667812e-01 7.03007625e+00] [ 2.60437501e-01 -2.54716752e-02 9.65154652e-01 5.42058721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.340714057 meters Centerline goodness : 0.994761 Centerline is valid? [True, True] Translation: X:53.45, Y:7.04, Z:5.42 [[ 8.50343091e-01 -4.67185925e-01 -2.42185752e-01 5.34459265e+01] [ 4.61170152e-01 8.83266354e-01 -8.46323762e-02 7.03619825e+00] [ 2.53453581e-01 -3.97222838e-02 9.66531646e-01 5.42255743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.370714057 meters Centerline goodness : 0.994519 Centerline is valid? [True, True] Translation: X:53.47, Y:7.06, Z:5.44 [[ 8.47426417e-01 -4.76423215e-01 -2.34284841e-01 5.34653504e+01] [ 4.61456304e-01 8.79184017e-01 -1.18716234e-01 7.06314650e+00] [ 2.62538658e-01 -7.50894422e-03 9.64892258e-01 5.44391589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.400714056999995 meters Centerline goodness : 0.994110 Centerline is valid? [True, True] Translation: X:53.50, Y:7.07, Z:5.45 [[ 8.48072009e-01 -4.72805898e-01 -2.39224687e-01 5.34950683e+01] [ 4.61069336e-01 8.80941422e-01 -1.06570533e-01 7.07241983e+00] [ 2.61130112e-01 -1.99196816e-02 9.65098063e-01 5.44511566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.430714056999996 meters Centerline goodness : 0.994755 Centerline is valid? [True, True] Translation: X:53.52, Y:7.08, Z:5.45 [[ 8.47495214e-01 -4.70178212e-01 -2.46341859e-01 5.35217138e+01] [ 4.61425700e-01 8.81977622e-01 -9.59259998e-02 7.08150677e+00] [ 2.62370322e-01 -3.23716388e-02 9.64424124e-01 5.44941239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.460714057 meters Centerline goodness : 0.995181 Centerline is valid? [True, True] Translation: X:53.54, Y:7.10, Z:5.46 [[ 8.47923354e-01 -4.70595499e-01 -2.44061185e-01 5.35419672e+01] [ 4.59924533e-01 8.81991578e-01 -1.02763223e-01 7.09712078e+00] [ 2.63619820e-01 -2.51143901e-02 9.64299672e-01 5.45807454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.490714057 meters Centerline goodness : 0.994908 Centerline is valid? [True, True] Translation: X:53.57, Y:7.11, Z:5.47 [[ 8.47452806e-01 -4.70758653e-01 -2.45377326e-01 5.35662350e+01] [ 4.59749917e-01 8.81920323e-01 -1.04146814e-01 7.11030105e+00] [ 2.65431264e-01 -2.45526955e-02 9.63817104e-01 5.46622054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.520714057 meters Centerline goodness : 0.994400 Centerline is valid? [True, True] Translation: X:53.59, Y:7.12, Z:5.47 [[ 8.49845656e-01 -4.66009428e-01 -2.46165746e-01 5.35914709e+01] [ 4.58977514e-01 8.83987904e-01 -8.89102225e-02 7.11773876e+00] [ 2.59040544e-01 -3.74245757e-02 9.65141128e-01 5.46940258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.550714057 meters Centerline goodness : 0.994953 Centerline is valid? [True, True] Translation: X:53.61, Y:7.14, Z:5.48 [[ 8.50936326e-01 -4.68725552e-01 -2.37073250e-01 5.36116120e+01] [ 4.56334163e-01 8.83197838e-01 -1.08262229e-01 7.13810778e+00] [ 2.60127855e-01 -1.60603602e-02 9.65440606e-01 5.48306518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.580714056999994 meters Centerline goodness : 0.994916 Centerline is valid? [True, True] Translation: X:53.64, Y:7.16, Z:5.50 [[ 8.47844563e-01 -4.73528384e-01 -2.38601060e-01 5.36382592e+01] [ 4.57743476e-01 8.80756140e-01 -1.21406477e-01 7.15650889e+00] [ 2.67638762e-01 -6.28425732e-03 9.63498833e-01 5.49616880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.610714056999996 meters Centerline goodness : 0.994817 Centerline is valid? [True, True] Translation: X:53.67, Y:7.17, Z:5.50 [[ 8.47957534e-01 -4.69044891e-01 -2.46910734e-01 5.36702462e+01] [ 4.57875528e-01 8.82838855e-01 -1.04621011e-01 7.16550754e+00] [ 2.67054341e-01 -2.43402084e-02 9.63374036e-01 5.49822681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.640714057 meters Centerline goodness : 0.995366 Centerline is valid? [True, True] Translation: X:53.70, Y:7.18, Z:5.50 [[ 8.47689232e-01 -4.67624931e-01 -2.50499281e-01 5.36962480e+01] [ 4.58255642e-01 8.83367031e-01 -9.83079624e-02 7.17612631e+00] [ 2.67254060e-01 -3.14581075e-02 9.63112483e-01 5.50484532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.670714057 meters Centerline goodness : 0.994546 Centerline is valid? [True, True] Translation: X:53.72, Y:7.19, Z:5.51 [[ 8.50386768e-01 -4.65317376e-01 -2.45605546e-01 5.37224340e+01] [ 4.57230020e-01 8.84509352e-01 -9.26494201e-02 7.18674905e+00] [ 2.60351787e-01 -3.35103875e-02 9.64932122e-01 5.51122559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.700714057 meters Centerline goodness : 0.995231 Centerline is valid? [True, True] Translation: X:53.75, Y:7.20, Z:5.53 [[ 8.49980702e-01 -4.68909947e-01 -2.40117194e-01 5.37466495e+01] [ 4.57732895e-01 8.82984312e-01 -1.04015872e-01 7.20396202e+00] [ 2.60793792e-01 -2.14980547e-02 9.65155133e-01 5.52549924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.730714057 meters Centerline goodness : 0.995334 Centerline is valid? [True, True] Translation: X:53.77, Y:7.22, Z:5.54 [[ 8.47239208e-01 -4.76015129e-01 -2.35786601e-01 5.37721898e+01] [ 4.59831771e-01 8.79427542e-01 -1.23133836e-01 7.22344956e+00] [ 2.65970799e-01 -4.09835641e-03 9.63972374e-01 5.54067847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.760714056999994 meters Centerline goodness : 0.995813 Centerline is valid? [True, True] Translation: X:53.81, Y:7.23, Z:5.54 [[ 8.44433767e-01 -4.73918441e-01 -2.49665626e-01 5.38056640e+01] [ 4.64626596e-01 8.79968655e-01 -9.88801951e-02 7.22749069e+00] [ 2.66559073e-01 -3.25035145e-02 9.63270358e-01 5.53973245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.790714056999995 meters Centerline goodness : 0.995266 Centerline is valid? [True, True] Translation: X:53.83, Y:7.24, Z:5.55 [[ 8.43169853e-01 -4.76422910e-01 -2.49170243e-01 5.38327082e+01] [ 4.66170131e-01 8.78718099e-01 -1.02664074e-01 7.24074720e+00] [ 2.67861919e-01 -2.95924731e-02 9.63002740e-01 5.55045804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.820714056999996 meters Centerline goodness : 0.995599 Centerline is valid? [True, True] Translation: X:53.86, Y:7.25, Z:5.56 [[ 8.41607810e-01 -4.78425506e-01 -2.50609914e-01 5.38571200e+01] [ 4.68216698e-01 8.77592337e-01 -1.02979678e-01 7.25209378e+00] [ 2.69201444e-01 -3.06712454e-02 9.62595376e-01 5.55904832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.850714057 meters Centerline goodness : 0.995273 Centerline is valid? [True, True] Translation: X:53.88, Y:7.27, Z:5.57 [[ 8.42518271e-01 -4.81656039e-01 -2.41185453e-01 5.38832925e+01] [ 4.67265966e-01 8.76255085e-01 -1.17641590e-01 7.26815300e+00] [ 2.68002763e-01 -1.35825645e-02 9.63322393e-01 5.57031162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.880714057 meters Centerline goodness : 0.995000 Centerline is valid? [True, True] Translation: X:53.91, Y:7.27, Z:5.57 [[ 8.38586605e-01 -4.79331139e-01 -2.58870944e-01 5.39129751e+01] [ 4.72475204e-01 8.76488187e-01 -9.23885219e-02 7.27159292e+00] [ 2.71182020e-01 -4.48343251e-02 9.61483331e-01 5.57156356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.910714057 meters Centerline goodness : 0.995784 Centerline is valid? [True, True] Translation: X:53.93, Y:7.29, Z:5.59 [[ 8.39798857e-01 -4.85851060e-01 -2.42253228e-01 5.39334641e+01] [ 4.70970204e-01 8.73940907e-01 -1.20059813e-01 7.29207515e+00] [ 2.70046193e-01 -1.32679582e-02 9.62755948e-01 5.58820291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.940714056999994 meters Centerline goodness : 0.996133 Centerline is valid? [True, True] Translation: X:53.97, Y:7.30, Z:5.59 [[ 8.37890132e-01 -4.84284227e-01 -2.51811269e-01 5.39658890e+01] [ 4.74026884e-01 8.74323209e-01 -1.04199033e-01 7.29972140e+00] [ 2.70626385e-01 -3.20579693e-02 9.62150532e-01 5.59131904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.970714056999995 meters Centerline goodness : 0.995231 Centerline is valid? [True, True] Translation: X:53.99, Y:7.30, Z:5.59 [[ 8.40356001e-01 -4.78376855e-01 -2.54867370e-01 5.39922786e+01] [ 4.73500257e-01 8.76742928e-01 -8.43762071e-02 7.30380031e+00] [ 2.63816789e-01 -4.97737131e-02 9.63287745e-01 5.59277663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.000714056999996 meters Centerline goodness : 0.995351 Centerline is valid? [True, True] Translation: X:54.01, Y:7.33, Z:5.61 [[ 8.39584727e-01 -4.85594768e-01 -2.43506074e-01 5.40132546e+01] [ 4.73362334e-01 8.73896792e-01 -1.10600624e-01 7.32509503e+00] [ 2.66506261e-01 -2.24080090e-02 9.63572672e-01 5.61208046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.030714057 meters Centerline goodness : 0.994597 Centerline is valid? [True, True] Translation: X:54.04, Y:7.33, Z:5.62 [[ 8.40341087e-01 -4.82830151e-01 -2.46377561e-01 5.40399544e+01] [ 4.72501192e-01 8.75221489e-01 -1.03585561e-01 7.33410490e+00] [ 2.65649168e-01 -2.93664884e-02 9.63622400e-01 5.61857261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.060714057 meters Centerline goodness : 0.995460 Centerline is valid? [True, True] Translation: X:54.06, Y:7.35, Z:5.63 [[ 8.40434172e-01 -4.83583256e-01 -2.44576445e-01 5.40627223e+01] [ 4.72239926e-01 8.74929228e-01 -1.07183477e-01 7.34653101e+00] [ 2.65819215e-01 -2.54181054e-02 9.63687742e-01 5.62877152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.090714057 meters Centerline goodness : 0.995681 Centerline is valid? [True, True] Translation: X:54.09, Y:7.37, Z:5.64 [[ 8.39083044e-01 -4.87580383e-01 -2.41257157e-01 5.40901657e+01] [ 4.71743067e-01 8.73020337e-01 -1.23668792e-01 7.36517040e+00] [ 2.70920882e-01 -1.00430050e-02 9.62549227e-01 5.64464519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.120714057 meters Centerline goodness : 0.995329 Centerline is valid? [True, True] Translation: X:54.12, Y:7.37, Z:5.65 [[ 8.39997148e-01 -4.82545144e-01 -2.48102751e-01 5.41226026e+01] [ 4.70688073e-01 8.75513279e-01 -1.09221046e-01 7.37291045e+00] [ 2.69921338e-01 -2.50336383e-02 9.62556901e-01 5.64663634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.150714056999995 meters Centerline goodness : 0.995329 Centerline is valid? [True, True] Translation: X:54.15, Y:7.39, Z:5.65 [[ 8.39807711e-01 -4.82363053e-01 -2.49096153e-01 5.41515460e+01] [ 4.70960608e-01 8.75558558e-01 -1.07672269e-01 7.38560233e+00] [ 2.70035393e-01 -2.68904736e-02 9.62474825e-01 5.65484152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.180714056999996 meters Centerline goodness : 0.995164 Centerline is valid? [True, True] Translation: X:54.18, Y:7.40, Z:5.66 [[ 8.40255390e-01 -4.81949559e-01 -2.48385793e-01 5.41797357e+01] [ 4.69890571e-01 8.75859462e-01 -1.09877446e-01 7.39893686e+00] [ 2.70506434e-01 -2.43890263e-02 9.62409188e-01 5.66373698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.210714057 meters Centerline goodness : 0.994946 Centerline is valid? [True, True] Translation: X:54.21, Y:7.41, Z:5.67 [[ 8.40926479e-01 -4.79231657e-01 -2.51355677e-01 5.42077325e+01] [ 4.68154242e-01 8.77232099e-01 -1.06280053e-01 7.40989642e+00] [ 2.71430034e-01 -2.82995157e-02 9.62042033e-01 5.67042385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.240714057 meters Centerline goodness : 0.994793 Centerline is valid? [True, True] Translation: X:54.23, Y:7.42, Z:5.68 [[ 8.41511440e-01 -4.79524616e-01 -2.48826524e-01 5.42321660e+01] [ 4.67042200e-01 8.77233277e-01 -1.11055668e-01 7.42248698e+00] [ 2.71532833e-01 -2.27578720e-02 9.62160070e-01 5.67945624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.270714057 meters Centerline goodness : 0.995403 Centerline is valid? [True, True] Translation: X:54.26, Y:7.44, Z:5.69 [[ 8.44075383e-01 -4.79633814e-01 -2.39766871e-01 5.42610392e+01] [ 4.63218171e-01 8.77448679e-01 -1.24550157e-01 7.43942877e+00] [ 2.70121591e-01 -5.93465057e-03 9.62807928e-01 5.68929346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.300714057 meters Centerline goodness : 0.994838 Centerline is valid? [True, True] Translation: X:54.29, Y:7.44, Z:5.69 [[ 8.43011082e-01 -4.70854924e-01 -2.60053756e-01 5.42931716e+01] [ 4.64426128e-01 8.81055146e-01 -8.97229154e-02 7.43976217e+00] [ 2.71368176e-01 -4.51383469e-02 9.61416581e-01 5.68622283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.330714056999994 meters Centerline goodness : 0.994762 Centerline is valid? [True, True] Translation: X:54.31, Y:7.46, Z:5.70 [[ 8.43813905e-01 -4.73397892e-01 -2.52730152e-01 5.43141121e+01] [ 4.62333652e-01 8.80408861e-01 -1.05488539e-01 7.45736863e+00] [ 2.72443917e-01 -2.78329576e-02 9.61769015e-01 5.70117461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.360714056999996 meters Centerline goodness : 0.995630 Centerline is valid? [True, True] Translation: X:54.34, Y:7.47, Z:5.71 [[ 8.45447867e-01 -4.70811013e-01 -2.52100961e-01 5.43369859e+01] [ 4.58711320e-01 8.81914135e-01 -1.08680190e-01 7.47036533e+00] [ 2.73499231e-01 -2.37581299e-02 9.61578765e-01 5.71124903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.390714057 meters Centerline goodness : 0.994784 Centerline is valid? [True, True] Translation: X:54.36, Y:7.48, Z:5.72 [[ 8.46083229e-01 -4.69013157e-01 -2.53317644e-01 5.43621056e+01] [ 4.57237126e-01 8.82838091e-01 -1.07383033e-01 7.48182546e+00] [ 2.74002520e-01 -2.49712480e-02 9.61404730e-01 5.71984322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.420714057 meters Centerline goodness : 0.995235 Centerline is valid? [True, True] Translation: X:54.38, Y:7.49, Z:5.73 [[ 8.44113556e-01 -4.68360851e-01 -2.60979728e-01 5.43794201e+01] [ 4.58519778e-01 8.82880144e-01 -1.01401499e-01 7.49305700e+00] [ 2.77906312e-01 -3.40699875e-02 9.60003811e-01 5.72704476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.450714057 meters Centerline goodness : 0.995123 Centerline is valid? [True, True] Translation: X:54.41, Y:7.51, Z:5.74 [[ 8.48898558e-01 -4.69572419e-01 -2.42637552e-01 5.44060042e+01] [ 4.51353008e-01 8.82893847e-01 -1.29533462e-01 7.51190875e+00] [ 2.75048543e-01 4.45580315e-04 9.61430237e-01 5.74476630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.480714057 meters Centerline goodness : 0.995033 Centerline is valid? [True, True] Translation: X:54.44, Y:7.53, Z:5.75 [[ 8.52132998e-01 -4.71157694e-01 -2.27771337e-01 5.44356861e+01] [ 4.48398909e-01 8.81758331e-01 -1.46426307e-01 7.53151622e+00] [ 2.69829155e-01 2.26422695e-02 9.62641966e-01 5.75378233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.510714056999994 meters Centerline goodness : 0.994434 Centerline is valid? [True, True] Translation: X:54.47, Y:7.51, Z:5.73 [[ 0.84691317 -0.44996889 -0.28331269 54.46932351] [ 0.45409937 0.88925762 -0.05490586 7.51192847] [ 0.2766439 -0.08215162 0.95745458 5.73107038] [ 0. 0. 0. 1. ]] SLAMing on 56.540714056999995 meters Centerline goodness : 0.995102 Centerline is valid? [True, True] Translation: X:54.48, Y:7.54, Z:5.77 [[ 8.47009588e-01 -4.66818923e-01 -2.54273182e-01 5.44754508e+01] [ 4.51712561e-01 8.84236531e-01 -1.18665580e-01 7.54359226e+00] [ 2.80232974e-01 -1.43475063e-02 9.59824791e-01 5.76508279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.570714056999996 meters Centerline goodness : 0.994754 Centerline is valid? [True, True] Translation: X:54.50, Y:7.55, Z:5.77 [[ 8.47028526e-01 -4.66622725e-01 -2.54570046e-01 5.44997045e+01] [ 4.51444710e-01 8.84342221e-01 -1.18897058e-01 7.55451208e+00] [ 2.80607109e-01 -1.42151007e-02 9.59717449e-01 5.77234723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.600714057 meters Centerline goodness : 0.995382 Centerline is valid? [True, True] Translation: X:54.52, Y:7.56, Z:5.78 [[ 8.47615337e-01 -4.65697196e-01 -2.54311544e-01 5.45234358e+01] [ 4.50482731e-01 8.84836407e-01 -1.18869013e-01 7.56457704e+00] [ 2.80381079e-01 -1.38077604e-02 9.59789454e-01 5.77928462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.630714057 meters Centerline goodness : 0.994646 Centerline is valid? [True, True] Translation: X:54.56, Y:7.61, Z:5.81 [[ 0.85865669 -0.47897016 -0.18247265 54.55645068] [ 0.44109506 0.87185135 -0.21286232 7.61005316] [ 0.26104372 0.10228787 0.95989237 5.81024217] [ 0. 0. 0. 1. ]] SLAMing on 56.660714057 meters Centerline goodness : 0.994100 Centerline is valid? [True, True] Translation: X:54.62, Y:7.57, Z:5.76 [[ 8.60921760e-01 -4.42742720e-01 -2.50584531e-01 5.46206815e+01] [ 4.39267265e-01 8.95397473e-01 -7.28535224e-02 7.57434738e+00] [ 2.56628123e-01 -4.73523990e-02 9.65349552e-01 5.76093999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.690714056999994 meters Centerline goodness : 0.995174 Centerline is valid? [True, True] Translation: X:54.64, Y:7.60, Z:5.78 [[ 8.59484778e-01 -4.54349966e-01 -2.34205092e-01 5.46411856e+01] [ 4.40371569e-01 8.90797028e-01 -1.12042564e-01 7.60119584e+00] [ 2.59535735e-01 -6.83838570e-03 9.65709293e-01 5.78436736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.720714056999995 meters Centerline goodness : 0.995538 Centerline is valid? [True, True] Translation: X:54.67, Y:7.61, Z:5.79 [[ 8.58837123e-01 -4.51085733e-01 -2.42735367e-01 5.46722136e+01] [ 4.41273072e-01 8.92154644e-01 -9.66341922e-02 7.60775174e+00] [ 2.60147790e-01 -2.41195493e-02 9.65267515e-01 5.78602793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.750714056999996 meters Centerline goodness : 0.994873 Centerline is valid? [True, True] Translation: X:54.70, Y:7.62, Z:5.79 [[ 8.58094577e-01 -4.51619142e-01 -2.44364171e-01 5.46982580e+01] [ 4.42048371e-01 8.91841667e-01 -9.59774863e-02 7.61886659e+00] [ 2.61279419e-01 -2.56630231e-02 9.64922004e-01 5.79349377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.780714057 meters Centerline goodness : 0.995111 Centerline is valid? [True, True] Translation: X:54.72, Y:7.62, Z:5.80 [[ 8.53829174e-01 -4.48792384e-01 -2.63744455e-01 5.47238690e+01] [ 4.45583888e-01 8.92056361e-01 -7.54350536e-02 7.62163474e+00] [ 2.69129597e-01 -5.31116305e-02 9.61638401e-01 5.79959697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.810714057 meters Centerline goodness : 0.995034 Centerline is valid? [True, True] Translation: X:54.74, Y:7.64, Z:5.82 [[ 8.51417403e-01 -4.54392643e-01 -2.61946050e-01 5.47385765e+01] [ 4.47727615e-01 8.89804181e-01 -8.82524869e-02 7.63690695e+00] [ 2.73181971e-01 -4.21407770e-02 9.61038899e-01 5.81571973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.840714057 meters Centerline goodness : 0.994500 Centerline is valid? [True, True] Translation: X:54.76, Y:7.66, Z:5.83 [[ 8.50404443e-01 -4.60932849e-01 -2.53679309e-01 5.47575629e+01] [ 4.48269047e-01 8.87191890e-01 -1.09295063e-01 7.65531531e+00] [ 2.75439910e-01 -2.07715749e-02 9.61093855e-01 5.83186781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.870714057 meters Centerline goodness : 0.994534 Centerline is valid? [True, True] Translation: X:54.77, Y:7.65, Z:5.83 [[ 0.84222807 -0.45343566 -0.29162986 54.77230306] [ 0.456274 0.88764719 -0.062422 7.65063115] [ 0.28716879 -0.08048957 0.95449228 5.83091866] [ 0. 0. 0. 1. ]] SLAMing on 56.900714056999995 meters Centerline goodness : 0.995445 Centerline is valid? [True, True] Translation: X:54.79, Y:7.70, Z:5.87 [[ 8.49005352e-01 -4.77881424e-01 -2.25431269e-01 5.47877746e+01] [ 4.48671614e-01 8.77357493e-01 -1.70110589e-01 7.69897770e+00] [ 2.79076503e-01 4.32801891e-02 9.59293037e-01 5.87466033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.930714056999996 meters Centerline goodness : 0.994005 Centerline is valid? [True, True] Translation: X:54.83, Y:7.69, Z:5.86 [[ 8.51030769e-01 -4.62123465e-01 -2.49376288e-01 5.48339025e+01] [ 4.47481730e-01 8.86723529e-01 -1.16109793e-01 7.69459892e+00] [ 2.74784882e-01 -1.27783258e-02 9.61420815e-01 5.85826220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.960714057 meters Centerline goodness : 0.994202 Centerline is valid? [True, True] Translation: X:54.86, Y:7.71, Z:5.86 [[ 8.52514741e-01 -4.60882570e-01 -2.46588470e-01 5.48616499e+01] [ 4.46075260e-01 8.87395702e-01 -1.16386126e-01 7.70753486e+00] [ 2.72461885e-01 -1.07761280e-02 9.62106229e-01 5.86464097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.990714057 meters Centerline goodness : 0.994167 Centerline is valid? [True, True] Translation: X:54.88, Y:7.69, Z:5.86 [[ 8.42914841e-01 -4.44738802e-01 -3.02823330e-01 5.48774959e+01] [ 4.55464659e-01 8.89423217e-01 -3.84484758e-02 7.69209848e+00] [ 2.86437630e-01 -1.05516534e-01 9.52270836e-01 5.85715840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.020714057 meters Centerline goodness : 0.994518 Centerline is valid? [True, True] Translation: X:54.88, Y:7.73, Z:5.89 [[ 8.44380360e-01 -4.63678986e-01 -2.68372140e-01 5.48776897e+01] [ 4.54708406e-01 8.85157201e-01 -9.86762092e-02 7.72530987e+00] [ 2.83305617e-01 -3.87108149e-02 9.58248089e-01 5.89449664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.050714057 meters Centerline goodness : 0.993226 Centerline is valid? [True, True] Translation: X:54.90, Y:7.76, Z:5.92 [[ 0.85213233 -0.47862077 -0.21164276 54.90026864] [ 0.44755251 0.87610007 -0.17929143 7.76338933] [ 0.27123284 0.05805878 0.96076112 5.92299106] [ 0. 0. 0. 1. ]] SLAMing on 57.080714056999994 meters Centerline goodness : 0.993190 Centerline is valid? [True, True] Translation: X:54.95, Y:7.75, Z:5.90 [[ 8.52809624e-01 -4.60431908e-01 -2.46410640e-01 5.49479348e+01] [ 4.46931057e-01 8.87570153e-01 -1.11677454e-01 7.75393066e+00] [ 2.70126593e-01 -1.48889602e-02 9.62709688e-01 5.90248353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.110714056999996 meters Centerline goodness : 0.994522 Centerline is valid? [True, True] Translation: X:54.97, Y:7.78, Z:5.92 [[ 8.51607945e-01 -4.70147985e-01 -2.31786066e-01 5.49720660e+01] [ 4.46385032e-01 8.82265477e-01 -1.49492578e-01 7.78108367e+00] [ 2.74780478e-01 2.38432368e-02 9.61211313e-01 5.92127024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.140714057 meters Centerline goodness : 0.993575 Centerline is valid? [True, True] Translation: X:55.01, Y:7.76, Z:5.90 [[ 0.8524395 -0.44464186 -0.27502819 55.01281959] [ 0.44622298 0.89287622 -0.06047398 7.7612903 ] [ 0.2724554 -0.07117349 0.95953238 5.90065737] [ 0. 0. 0. 1. ]] SLAMing on 57.170714057 meters Centerline goodness : 0.993069 Centerline is valid? [True, True] Translation: X:55.02, Y:7.79, Z:5.93 [[ 8.52259982e-01 -4.60114944e-01 -2.48891865e-01 5.50193293e+01] [ 4.45597779e-01 8.87770052e-01 -1.15355771e-01 7.79223765e+00] [ 2.74035658e-01 -1.25925548e-02 9.61637086e-01 5.92993149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.200714057 meters Centerline goodness : 0.993547 Centerline is valid? [True, True] Translation: X:55.05, Y:7.81, Z:5.94 [[ 8.51427805e-01 -4.61712003e-01 -2.48782472e-01 5.50454594e+01] [ 4.46253916e-01 8.86975691e-01 -1.18876263e-01 7.80676308e+00] [ 2.75550603e-01 -9.80559722e-03 9.61236556e-01 5.94003285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.230714057 meters Centerline goodness : 0.994051 Centerline is valid? [True, True] Translation: X:55.07, Y:7.82, Z:5.95 [[ 8.51559213e-01 -4.60003678e-01 -2.51482650e-01 5.50725982e+01] [ 4.45801972e-01 8.87795016e-01 -1.14370500e-01 7.81769624e+00] [ 2.75875894e-01 -1.47182084e-02 9.61080572e-01 5.94640427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.260714056999994 meters Centerline goodness : 0.993271 Centerline is valid? [True, True] Translation: X:55.10, Y:7.83, Z:5.95 [[ 8.52766067e-01 -4.56545927e-01 -2.53684552e-01 5.50973598e+01] [ 4.44347195e-01 8.89440729e-01 -1.07008221e-01 7.82596983e+00] [ 2.74491540e-01 -2.14710397e-02 9.61349775e-01 5.95066482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.290714056999995 meters Centerline goodness : 0.993941 Centerline is valid? [True, True] Translation: X:55.12, Y:7.85, Z:5.97 [[ 8.52303660e-01 -4.62355933e-01 -2.44551556e-01 5.51221273e+01] [ 4.45291221e-01 8.86690005e-01 -1.24485191e-01 7.84569057e+00] [ 2.74397887e-01 -2.79747722e-03 9.61612174e-01 5.96591235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.320714056999996 meters Centerline goodness : 0.994057 Centerline is valid? [True, True] Translation: X:55.15, Y:7.85, Z:5.97 [[ 8.52397433e-01 -4.56014814e-01 -2.55869313e-01 5.51521547e+01] [ 4.44180283e-01 8.89663640e-01 -1.05841790e-01 7.85129490e+00] [ 2.75903048e-01 -2.34328340e-02 9.60899792e-01 5.96797279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.350714057 meters Centerline goodness : 0.993864 Centerline is valid? [True, True] Translation: X:55.17, Y:7.87, Z:5.98 [[ 8.52821785e-01 -4.57927304e-01 -2.50993203e-01 5.51744173e+01] [ 4.43354114e-01 8.88895736e-01 -1.15332132e-01 7.86667792e+00] [ 2.75920520e-01 -1.29211149e-02 9.61093602e-01 5.97975263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.380714057 meters Centerline goodness : 0.993369 Centerline is valid? [True, True] Translation: X:55.20, Y:7.88, Z:5.99 [[ 8.54114640e-01 -4.55428453e-01 -2.51143595e-01 5.51996875e+01] [ 4.41317658e-01 8.90162099e-01 -1.13358555e-01 7.87764338e+00] [ 2.75185221e-01 -1.40129019e-02 9.61289099e-01 5.98733597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.410714057 meters Centerline goodness : 0.993848 Centerline is valid? [True, True] Translation: X:55.23, Y:7.89, Z:6.00 [[ 8.53864659e-01 -4.54439871e-01 -2.53770659e-01 5.52254850e+01] [ 4.40611454e-01 8.90636227e-01 -1.12377305e-01 7.88941223e+00] [ 2.77086070e-01 -1.58592496e-02 9.60714210e-01 5.99626074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.440714056999994 meters Centerline goodness : 0.993601 Centerline is valid? [True, True] Translation: X:55.25, Y:7.90, Z:6.01 [[ 8.55542642e-01 -4.55444386e-01 -2.46205602e-01 5.52509215e+01] [ 4.39592850e-01 8.90242736e-01 -1.19272787e-01 7.90414809e+00] [ 2.73504870e-01 -6.18726731e-03 9.61850718e-01 6.00647755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.470714056999995 meters Centerline goodness : 0.992575 Centerline is valid? [True, True] Translation: X:55.28, Y:7.91, Z:6.01 [[ 8.56661444e-01 -4.46053486e-01 -2.59166854e-01 5.52775548e+01] [ 4.36718095e-01 8.94469121e-01 -9.59286091e-02 7.90627912e+00] [ 2.74606038e-01 -3.10045137e-02 9.61056837e-01 6.00759280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.500714056999996 meters Centerline goodness : 0.993461 Centerline is valid? [True, True] Translation: X:55.30, Y:7.92, Z:6.03 [[ 8.54305124e-01 -4.53598320e-01 -2.53793852e-01 5.52961377e+01] [ 4.38931508e-01 8.91111092e-01 -1.15152742e-01 7.92455873e+00] [ 2.78391606e-01 -1.30225407e-02 9.60379366e-01 6.02537745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.530714057 meters Centerline goodness : 0.993634 Centerline is valid? [True, True] Translation: X:55.32, Y:7.94, Z:6.03 [[ 8.54849454e-01 -4.54788674e-01 -2.49799265e-01 5.53199357e+01] [ 4.38119626e-01 8.90585004e-01 -1.22104644e-01 7.93719022e+00] [ 2.77999288e-01 -5.06087170e-03 9.60567948e-01 6.03184363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.560714057 meters Centerline goodness : 0.993101 Centerline is valid? [True, True] Translation: X:55.35, Y:7.94, Z:6.04 [[ 8.52672346e-01 -4.53026327e-01 -2.60224935e-01 5.53486609e+01] [ 4.39366397e-01 8.91298207e-01 -1.12003012e-01 7.94462450e+00] [ 2.82678332e-01 -1.88322215e-02 9.59029879e-01 6.03756252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.590714057 meters Centerline goodness : 0.994319 Centerline is valid? [True, True] Translation: X:55.36, Y:7.94, Z:6.04 [[ 0.84086767 -0.44911132 -0.30206056 55.3615589 ] [ 0.45136851 0.88985266 -0.06654861 7.94204813] [ 0.29867713 -0.08038205 0.95096304 6.04024807] [ 0. 0. 0. 1. ]] SLAMing on 57.620714056999994 meters Centerline goodness : 0.993773 Centerline is valid? [True, True] Translation: X:55.37, Y:8.01, Z:6.10 [[ 0.84907225 -0.48787042 -0.20262963 55.37079709] [ 0.44276449 0.86642681 -0.23079037 8.00693774] [ 0.28815954 0.10624049 0.95167066 6.10128056] [ 0. 0. 0. 1. ]] SLAMing on 57.650714056999995 meters Centerline goodness : 0.993132 Centerline is valid? [True, True] Translation: X:55.44, Y:7.97, Z:6.06 [[ 8.48104224e-01 -4.52168899e-01 -2.76156679e-01 5.54351366e+01] [ 4.43431430e-01 8.91030980e-01 -9.71203320e-02 7.97419976e+00] [ 2.89978950e-01 -4.00883873e-02 9.56193040e-01 6.05791960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.680714056999996 meters Centerline goodness : 0.992672 Centerline is valid? [True, True] Translation: X:55.45, Y:7.98, Z:6.07 [[ 8.49978929e-01 -4.51609263e-01 -2.71265356e-01 5.54536794e+01] [ 4.43479329e-01 8.91311548e-01 -9.42857801e-02 7.98449829e+00] [ 2.84362276e-01 -4.01596517e-02 9.57875409e-01 6.06769122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.710714057 meters Centerline goodness : 0.993665 Centerline is valid? [True, True] Translation: X:55.47, Y:8.00, Z:6.09 [[ 8.48057929e-01 -4.62026720e-01 -2.59478439e-01 5.54684800e+01] [ 4.46376100e-01 8.86755326e-01 -1.20055691e-01 8.00428435e+00] [ 2.85562825e-01 -1.40107934e-02 9.58257570e-01 6.08724268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.740714057 meters Centerline goodness : 0.993162 Centerline is valid? [True, True] Translation: X:55.49, Y:8.02, Z:6.10 [[ 8.46622116e-01 -4.63681678e-01 -2.61209292e-01 5.54921257e+01] [ 4.48014163e-01 8.85874158e-01 -1.20458644e-01 8.01541937e+00] [ 2.87253028e-01 -1.50425101e-02 9.57736614e-01 6.09624366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.770714057 meters Centerline goodness : 0.993992 Centerline is valid? [True, True] Translation: X:55.52, Y:8.03, Z:6.11 [[ 8.44339119e-01 -4.70433162e-01 -2.56484097e-01 5.55178311e+01] [ 4.52095906e-01 8.82415097e-01 -1.30203259e-01 8.03066507e+00] [ 2.87577370e-01 -6.01970511e-03 9.57738492e-01 6.10788835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.800714057 meters Centerline goodness : 0.994208 Centerline is valid? [True, True] Translation: X:55.54, Y:8.03, Z:6.11 [[ 8.42457292e-01 -4.65620261e-01 -2.71041481e-01 5.55448644e+01] [ 4.54122600e-01 8.84395577e-01 -1.07782777e-01 8.03345479e+00] [ 2.89893732e-01 -3.22836755e-02 9.56514186e-01 6.10942409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.830714056999994 meters Centerline goodness : 0.994076 Centerline is valid? [True, True] Translation: X:55.56, Y:8.06, Z:6.13 [[ 8.36335586e-01 -4.78674575e-01 -2.67232930e-01 5.55647538e+01] [ 4.59433111e-01 8.77934359e-01 -1.34731133e-01 8.05503172e+00] [ 2.99105339e-01 -1.00952156e-02 9.54166696e-01 6.13008553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.860714056999996 meters Centerline goodness : 0.993870 Centerline is valid? [True, True] Translation: X:55.59, Y:8.06, Z:6.13 [[ 8.38305908e-01 -4.72538220e-01 -2.71939028e-01 5.55927558e+01] [ 4.60715531e-01 8.80692523e-01 -1.10099406e-01 8.05766024e+00] [ 2.91520846e-01 -3.29895508e-02 9.55995442e-01 6.12905601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.890714057 meters Centerline goodness : 0.994564 Centerline is valid? [True, True] Translation: X:55.61, Y:8.08, Z:6.15 [[ 8.31275258e-01 -4.89634288e-01 -2.63134393e-01 5.56130028e+01] [ 4.68277770e-01 8.71917448e-01 -1.43094007e-01 8.08132373e+00] [ 2.99495201e-01 -4.26947952e-03 9.54088254e-01 6.14930637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.920714057 meters Centerline goodness : 0.994862 Centerline is valid? [True, True] Translation: X:55.64, Y:8.08, Z:6.14 [[ 8.29468112e-01 -4.79234107e-01 -2.86909956e-01 5.56441107e+01] [ 4.72502061e-01 8.75961786e-01 -9.71223599e-02 8.07602662e+00] [ 2.97866504e-01 -5.50056448e-02 9.53021471e-01 6.14444108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.950714057 meters Centerline goodness : 0.993986 Centerline is valid? [True, True] Translation: X:55.66, Y:8.10, Z:6.17 [[ 8.25895046e-01 -4.94581731e-01 -2.70714395e-01 5.56569741e+01] [ 4.78789520e-01 8.68767586e-01 -1.26504850e-01 8.09739588e+00] [ 2.97754880e-01 -2.51354864e-02 9.54311395e-01 6.16562179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.980714057 meters Centerline goodness : 0.994572 Centerline is valid? [True, True] Translation: X:55.68, Y:8.11, Z:6.18 [[ 8.23401390e-01 -4.99567718e-01 -2.69150974e-01 5.56790288e+01] [ 4.83091313e-01 8.65956481e-01 -1.29391484e-01 8.11095410e+00] [ 2.97712839e-01 -2.34833695e-02 9.54366595e-01 6.17641731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.010714056999994 meters Centerline goodness : 0.994178 Centerline is valid? [True, True] Translation: X:55.70, Y:8.13, Z:6.19 [[ 8.18940524e-01 -5.08516889e-01 -2.65983067e-01 5.57016353e+01] [ 4.86234927e-01 8.61021391e-01 -1.49056228e-01 8.13070613e+00] [ 3.04814720e-01 -7.26207231e-03 9.52383982e-01 6.19176022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.040714056999995 meters Centerline goodness : 0.994178 Centerline is valid? [True, True] Translation: X:55.73, Y:8.14, Z:6.19 [[ 8.18836802e-01 -5.03364338e-01 -2.75917804e-01 5.57321645e+01] [ 4.86999138e-01 8.63630497e-01 -1.30285091e-01 8.13742146e+00] [ 3.03871899e-01 -2.76895056e-02 9.52310433e-01 6.19306215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.070714056999996 meters Centerline goodness : 0.994418 Centerline is valid? [True, True] Translation: X:55.75, Y:8.14, Z:6.20 [[ 8.21442411e-01 -5.01080764e-01 -2.72305774e-01 5.57548331e+01] [ 4.88561153e-01 8.64619907e-01 -1.17219521e-01 8.14451708e+00] [ 2.94177440e-01 -3.67489370e-02 9.55044056e-01 6.19631444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.100714057 meters Centerline goodness : 0.993647 Centerline is valid? [True, True] Translation: X:55.78, Y:8.16, Z:6.21 [[ 8.20499786e-01 -5.07552972e-01 -2.63002056e-01 5.57751542e+01] [ 4.90088801e-01 8.61401560e-01 -1.33417838e-01 8.16338876e+00] [ 2.94267002e-01 -1.94250544e-02 9.55525823e-01 6.21025572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.130714057 meters Centerline goodness : 0.994733 Centerline is valid? [True, True] Translation: X:55.80, Y:8.20, Z:6.23 [[ 8.19490193e-01 -5.23674964e-01 -2.32809697e-01 5.58006982e+01] [ 4.90850286e-01 8.51044297e-01 -1.86519708e-01 8.19891669e+00] [ 2.95807066e-01 3.85763648e-02 9.54468461e-01 6.23225562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.160714057 meters Centerline goodness : 0.995478 Centerline is valid? [True, True] Translation: X:55.84, Y:8.16, Z:6.20 [[ 8.10294361e-01 -4.90517553e-01 -3.20648684e-01 5.58360291e+01] [ 5.01405073e-01 8.63530532e-01 -5.39256254e-02 8.16499147e+00] [ 3.03341395e-01 -1.17079247e-01 9.45661910e-01 6.20129186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.190714056999994 meters Centerline goodness : 0.994015 Centerline is valid? [True, True] Translation: X:55.84, Y:8.21, Z:6.24 [[ 8.17750149e-01 -5.15356411e-01 -2.56305411e-01 5.58422284e+01] [ 4.93769950e-01 8.56956519e-01 -1.47704983e-01 8.20810191e+00] [ 2.95763303e-01 -5.77013766e-03 9.55243830e-01 6.24160224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.220714056999995 meters Centerline goodness : 0.994503 Centerline is valid? [True, True] Translation: X:55.87, Y:8.24, Z:6.25 [[ 8.20763427e-01 -5.20489318e-01 -2.35453322e-01 5.58713261e+01] [ 4.91727587e-01 8.53476370e-01 -1.72574814e-01 8.23522627e+00] [ 2.90777194e-01 2.58642018e-02 9.56441147e-01 6.25285942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.250714056999996 meters Centerline goodness : 0.994663 Centerline is valid? [True, True] Translation: X:55.91, Y:8.23, Z:6.24 [[ 8.20727954e-01 -5.01690450e-01 -2.73335543e-01 5.59144748e+01] [ 4.91998200e-01 8.63841929e-01 -1.08235357e-01 8.22717270e+00] [ 2.90419347e-01 -4.56488123e-02 9.55810017e-01 6.23837348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.280714057 meters Centerline goodness : 0.995670 Centerline is valid? [True, True] Translation: X:55.92, Y:8.23, Z:6.25 [[ 0.80759464 -0.50340426 -0.30720521 55.91942656] [ 0.50160577 0.86028883 -0.0910757 8.23422128] [ 0.31013311 -0.08054366 0.94727513 6.25016872] [ 0. 0. 0. 1. ]] SLAMing on 58.310714057 meters Centerline goodness : 0.994312 Centerline is valid? [True, True] Translation: X:55.93, Y:8.28, Z:6.29 [[ 8.15122679e-01 -5.28695419e-01 -2.36761845e-01 5.59329666e+01] [ 4.93155088e-01 8.47753428e-01 -1.95223423e-01 8.28403445e+00] [ 3.03929395e-01 4.23707310e-02 9.51751881e-01 6.29095061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.340714057 meters Centerline goodness : 0.993997 Centerline is valid? [True, True] Translation: X:55.98, Y:8.27, Z:6.27 [[ 8.17801983e-01 -5.04950200e-01 -2.76089138e-01 5.59824889e+01] [ 4.93236149e-01 8.62151862e-01 -1.15811347e-01 8.27230040e+00] [ 2.96509728e-01 -4.14663941e-02 9.54129194e-01 6.26825931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.370714056999994 meters Centerline goodness : 0.994226 Centerline is valid? [True, True] Translation: X:56.00, Y:8.30, Z:6.29 [[ 8.14719849e-01 -5.15087313e-01 -2.66301761e-01 5.59987852e+01] [ 4.94223144e-01 8.57040382e-01 -1.45688942e-01 8.29862282e+00] [ 3.03273889e-01 -1.29168204e-02 9.52815882e-01 6.28973792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.400714056999995 meters Centerline goodness : 0.994692 Centerline is valid? [True, True] Translation: X:56.03, Y:8.30, Z:6.29 [[ 8.13896914e-01 -5.07979088e-01 -2.82008969e-01 5.60288849e+01] [ 4.95052906e-01 8.60388973e-01 -1.21051374e-01 8.30413380e+00] [ 3.04128974e-01 -4.10860200e-02 9.51744454e-01 6.29005638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.430714056999996 meters Centerline goodness : 0.994424 Centerline is valid? [True, True] Translation: X:56.05, Y:8.32, Z:6.30 [[ 8.15267813e-01 -5.10400471e-01 -2.73550275e-01 5.60482005e+01] [ 4.93797307e-01 8.59498451e-01 -1.32009972e-01 8.32112868e+00] [ 3.02493990e-01 -2.74549076e-02 9.52755800e-01 6.30154264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.460714057 meters Centerline goodness : 0.994154 Centerline is valid? [True, True] Translation: X:56.07, Y:8.33, Z:6.31 [[ 8.12261175e-01 -5.08679223e-01 -2.85442168e-01 5.60724761e+01] [ 4.95481136e-01 8.59935133e-01 -1.22515348e-01 8.33257087e+00] [ 3.07782761e-01 -4.19167490e-02 9.50532881e-01 6.31016276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.490714057 meters Centerline goodness : 0.994316 Centerline is valid? [True, True] Translation: X:56.09, Y:8.35, Z:6.32 [[ 8.12189847e-01 -5.11167845e-01 -2.81167365e-01 5.60901012e+01] [ 4.95460055e-01 8.58824053e-01 -1.30155981e-01 8.34830142e+00] [ 3.08004848e-01 -3.35958318e-02 9.50791425e-01 6.32183970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.520714057 meters Centerline goodness : 0.993874 Centerline is valid? [True, True] Translation: X:56.11, Y:8.37, Z:6.33 [[ 8.11110814e-01 -5.13858214e-01 -2.79372481e-01 5.61103196e+01] [ 4.95725051e-01 8.57461420e-01 -1.37900642e-01 8.36584644e+00] [ 3.10412502e-01 -2.66392353e-02 9.50228620e-01 6.33443511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.550714057 meters Centerline goodness : 0.993374 Centerline is valid? [True, True] Translation: X:56.14, Y:8.37, Z:6.34 [[ 8.13805723e-01 -5.06906319e-01 -2.84193999e-01 5.61358838e+01] [ 4.95417804e-01 8.60781762e-01 -1.16687439e-01 8.37254248e+00] [ 3.03778611e-01 -4.58338608e-02 9.51639539e-01 6.33659587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.580714056999994 meters Centerline goodness : 0.994518 Centerline is valid? [True, True] Translation: X:56.15, Y:8.40, Z:6.36 [[ 8.10386554e-01 -5.18775890e-01 -2.72296179e-01 5.61495772e+01] [ 4.95654967e-01 8.54845046e-01 -1.53512542e-01 8.39843265e+00] [ 3.12409645e-01 -1.05604536e-02 9.49888778e-01 6.36074203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.610714056999996 meters Centerline goodness : 0.994106 Centerline is valid? [True, True] Translation: X:56.18, Y:8.40, Z:6.36 [[ 8.13942337e-01 -5.06205625e-01 -2.85050412e-01 5.61797239e+01] [ 4.94445382e-01 8.61224016e-01 -1.17545563e-01 8.40105124e+00] [ 3.04994485e-01 -4.52665494e-02 9.51277722e-01 6.35642771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.640714057 meters Centerline goodness : 0.994169 Centerline is valid? [True, True] Translation: X:56.19, Y:8.43, Z:6.38 [[ 8.11016922e-01 -5.20782139e-01 -2.66528640e-01 5.61946752e+01] [ 4.94474911e-01 8.53689287e-01 -1.63429387e-01 8.43134506e+00] [ 3.12643751e-01 7.52272864e-04 9.49870159e-01 6.38264612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.670714057 meters Centerline goodness : 0.994592 Centerline is valid? [True, True] Translation: X:56.23, Y:8.44, Z:6.38 [[ 8.10946921e-01 -5.11979425e-01 -2.83270469e-01 5.62264201e+01] [ 4.94739632e-01 8.58456529e-01 -1.35222351e-01 8.43665777e+00] [ 3.12406445e-01 -3.04869786e-02 9.49459192e-01 6.37956887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.700714057 meters Centerline goodness : 0.993869 Centerline is valid? [True, True] Translation: X:56.25, Y:8.45, Z:6.39 [[ 8.14312639e-01 -5.08990930e-01 -2.78968026e-01 5.62496810e+01] [ 4.93502708e-01 8.60148428e-01 -1.28840054e-01 8.44766040e+00] [ 3.05532328e-01 -3.27553918e-02 9.51618138e-01 6.38501288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.730714057 meters Centerline goodness : 0.994410 Centerline is valid? [True, True] Translation: X:56.27, Y:8.47, Z:6.40 [[ 8.12166112e-01 -5.16958660e-01 -2.70443989e-01 5.62675493e+01] [ 4.92432563e-01 8.55993865e-01 -1.57431491e-01 8.47234018e+00] [ 3.12883968e-01 -5.31490501e-03 9.49776486e-01 6.40419200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.760714056999994 meters Centerline goodness : 0.993707 Centerline is valid? [True, True] Translation: X:56.30, Y:8.47, Z:6.40 [[ 8.15837057e-01 -5.04269929e-01 -2.83057829e-01 5.63003048e+01] [ 4.90933660e-01 8.62638493e-01 -1.21815317e-01 8.47446154e+00] [ 3.05604380e-01 -3.95811664e-02 9.51335532e-01 6.39876801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.790714056999995 meters Centerline goodness : 0.993750 Centerline is valid? [True, True] Translation: X:56.32, Y:8.49, Z:6.41 [[ 8.15568963e-01 -5.08936767e-01 -2.75373626e-01 5.63173062e+01] [ 4.90446740e-01 8.60505578e-01 -1.37811992e-01 8.49371831e+00] [ 3.07098131e-01 -2.26609134e-02 9.51408020e-01 6.41475213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.820714056999996 meters Centerline goodness : 0.993836 Centerline is valid? [True, True] Translation: X:56.34, Y:8.51, Z:6.43 [[ 8.12193901e-01 -5.13650475e-01 -2.76594028e-01 5.63390150e+01] [ 4.90678106e-01 8.57916043e-01 -1.52364889e-01 8.51333771e+00] [ 3.15556751e-01 -1.19688000e-02 9.48831220e-01 6.43111474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.850714057 meters Centerline goodness : 0.993085 Centerline is valid? [True, True] Translation: X:56.37, Y:8.52, Z:6.43 [[ 8.18383786e-01 -5.00372463e-01 -2.82622323e-01 5.63671455e+01] [ 4.86114616e-01 8.65062973e-01 -1.23929950e-01 8.51797392e+00] [ 3.06497241e-01 -3.59645800e-02 9.51191879e-01 6.42785108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.880714057 meters Centerline goodness : 0.993135 Centerline is valid? [True, True] Translation: X:56.39, Y:8.54, Z:6.45 [[ 8.19554283e-01 -5.07686739e-01 -2.65678288e-01 5.63857085e+01] [ 4.84668929e-01 8.61528153e-01 -1.51212668e-01 8.54211876e+00] [ 3.05657991e-01 -4.83902160e-03 9.52129076e-01 6.44745495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.910714057 meters Centerline goodness : 0.993360 Centerline is valid? [True, True] Translation: X:56.41, Y:8.57, Z:6.46 [[ 8.21392031e-01 -5.11767970e-01 -2.51810793e-01 5.64126318e+01] [ 4.80714055e-01 8.58772686e-01 -1.77266667e-01 8.56846390e+00] [ 3.06967634e-01 2.45564398e-02 9.51403097e-01 6.46340209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.940714056999994 meters Centerline goodness : 0.993488 Centerline is valid? [True, True] Translation: X:56.45, Y:8.56, Z:6.44 [[ 8.24180388e-01 -4.88102947e-01 -2.87197146e-01 5.64546802e+01] [ 4.78276050e-01 8.71472063e-01 -1.08574691e-01 8.55833938e+00] [ 3.03279916e-01 -4.78743858e-02 9.51698133e-01 6.44462172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.970714056999995 meters Centerline goodness : 0.994014 Centerline is valid? [True, True] Translation: X:56.46, Y:8.56, Z:6.46 [[ 0.81268961 -0.48538782 -0.32238836 56.45912113] [ 0.48613619 0.86982356 -0.08413433 8.56237313] [ 0.32125876 -0.08834955 0.94286116 6.45673614] [ 0. 0. 0. 1. ]] SLAMing on 59.000714056999996 meters Centerline goodness : 0.993338 Centerline is valid? [True, True] Translation: X:56.46, Y:8.62, Z:6.51 [[ 0.82429682 -0.51673738 -0.23133791 56.464653 ] [ 0.47502907 0.85355842 -0.21397527 8.6201046 ] [ 0.30802944 0.0664869 0.94905077 6.51234183] [ 0. 0. 0. 1. ]] SLAMing on 59.030714057 meters Centerline goodness : 0.993395 Centerline is valid? [True, True] Translation: X:56.52, Y:8.60, Z:6.48 [[ 8.27543408e-01 -4.86606916e-01 -2.79974316e-01 5.65187771e+01] [ 4.71926726e-01 8.73080655e-01 -1.22537076e-01 8.60363161e+00] [ 3.04067548e-01 -3.07226128e-02 9.52154949e-01 6.48050936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.060714057 meters Centerline goodness : 0.993581 Centerline is valid? [True, True] Translation: X:56.54, Y:8.62, Z:6.49 [[ 8.25219753e-01 -4.85589150e-01 -2.88471033e-01 5.65393777e+01] [ 4.72010740e-01 8.73395923e-01 -1.19939246e-01 8.61557547e+00] [ 3.10190621e-01 -3.71851912e-02 9.49946862e-01 6.49340055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.090714057 meters Centerline goodness : 0.993848 Centerline is valid? [True, True] Translation: X:56.56, Y:8.64, Z:6.52 [[ 8.27063545e-01 -4.96352217e-01 -2.63818819e-01 5.65578851e+01] [ 4.70346033e-01 8.68091503e-01 -1.58719095e-01 8.64402249e+00] [ 3.07799450e-01 7.18464213e-03 9.51424132e-01 6.51621242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.120714056999994 meters Centerline goodness : 0.992555 Centerline is valid? [True, True] Translation: X:56.59, Y:8.63, Z:6.50 [[ 0.82793951 -0.47500622 -0.2981363 56.59458519] [ 0.46982741 0.87776436 -0.09376534 8.63247885] [ 0.30623253 -0.06244058 0.94990674 6.50257933] [ 0. 0. 0. 1. ]] SLAMing on 59.150714056999995 meters Centerline goodness : 0.993021 Centerline is valid? [True, True] Translation: X:56.60, Y:8.66, Z:6.53 [[ 8.27324852e-01 -4.89745781e-01 -2.75104816e-01 5.66009967e+01] [ 4.69585087e-01 8.71759503e-01 -1.39732654e-01 8.65859954e+00] [ 3.08258716e-01 -1.35808224e-02 9.51205617e-01 6.52992255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.180714056999996 meters Centerline goodness : 0.993915 Centerline is valid? [True, True] Translation: X:56.63, Y:8.68, Z:6.55 [[ 8.24893163e-01 -4.99771944e-01 -2.64157669e-01 5.66261453e+01] [ 4.70627351e-01 8.66027977e-01 -1.68835537e-01 8.68276495e+00] [ 3.13147196e-01 1.49514562e-02 9.49586904e-01 6.54836792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.210714057 meters Centerline goodness : 0.992541 Centerline is valid? [True, True] Translation: X:56.66, Y:8.67, Z:6.54 [[ 8.25891787e-01 -4.80960614e-01 -2.94244190e-01 5.66632553e+01] [ 4.71351654e-01 8.75333979e-01 -1.07787033e-01 8.67327612e+00] [ 3.09403255e-01 -4.96720602e-02 9.49632725e-01 6.53581208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.240714057 meters Centerline goodness : 0.992847 Centerline is valid? [True, True] Translation: X:56.68, Y:8.70, Z:6.56 [[ 8.21688421e-01 -5.00062727e-01 -2.73432640e-01 5.66763561e+01] [ 4.73930963e-01 8.65987873e-01 -1.59544497e-01 8.70236855e+00] [ 3.16571607e-01 1.50767195e-03 9.48567417e-01 6.56456858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.270714057 meters Centerline goodness : 0.993657 Centerline is valid? [True, True] Translation: X:56.70, Y:8.69, Z:6.56 [[ 0.8117586 -0.48819888 -0.32048374 56.695018 ] [ 0.48320102 0.86967721 -0.10088765 8.69440524] [ 0.32797065 -0.07296165 0.94186615 6.55786 ] [ 0. 0. 0. 1. ]] SLAMing on 59.300714057 meters Centerline goodness : 0.994040 Centerline is valid? [True, True] Translation: X:56.71, Y:8.75, Z:6.61 [[ 0.82177974 -0.5215106 -0.22957516 56.70938728] [ 0.47637472 0.84986743 -0.22537186 8.74886757] [ 0.31264227 0.07584222 0.9468383 6.60997446] [ 0. 0. 0. 1. ]] SLAMing on 59.330714056999994 meters Centerline goodness : 0.993802 Centerline is valid? [True, True] Translation: X:56.76, Y:8.71, Z:6.56 [[ 0.80957827 -0.47936859 -0.33880492 56.75748077] [ 0.48804375 0.87037385 -0.06528909 8.70578953] [ 0.32618449 -0.11249499 0.9385886 6.56303707] [ 0. 0. 0. 1. ]] SLAMing on 59.360714056999996 meters Centerline goodness : 0.994450 Centerline is valid? [True, True] Translation: X:56.75, Y:8.75, Z:6.61 [[ 8.07131811e-01 -5.15100256e-01 -2.88461378e-01 5.67490499e+01] [ 4.90006250e-01 8.57035087e-01 -1.59325874e-01 8.74779450e+00] [ 3.29290320e-01 -1.27508973e-02 9.44142627e-01 6.61198925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.390714057 meters Centerline goodness : 0.993259 Centerline is valid? [True, True] Translation: X:56.78, Y:8.77, Z:6.63 [[ 8.19819551e-01 -5.19937798e-01 -2.39917882e-01 5.67837152e+01] [ 4.83435005e-01 8.53005579e-01 -1.96652174e-01 8.77306974e+00] [ 3.06898191e-01 4.52345945e-02 9.50666783e-01 6.62765124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.420714057 meters Centerline goodness : 0.992805 Centerline is valid? [True, True] Translation: X:56.83, Y:8.76, Z:6.61 [[ 8.20927642e-01 -5.01546952e-01 -2.72999016e-01 5.68288754e+01] [ 4.84034530e-01 8.64832753e-01 -1.33322480e-01 8.76315035e+00] [ 3.02965974e-01 -2.26928408e-02 9.52731155e-01 6.60683807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.450714057 meters Centerline goodness : 0.993795 Centerline is valid? [True, True] Translation: X:56.84, Y:8.76, Z:6.61 [[ 0.80529399 -0.49884188 -0.32040344 56.84105939] [ 0.49626612 0.86283899 -0.09606669 8.76289182] [ 0.32437868 -0.08164344 0.94239738 6.61323541] [ 0. 0. 0. 1. ]] SLAMing on 59.480714057 meters Centerline goodness : 0.993449 Centerline is valid? [True, True] Translation: X:56.85, Y:8.81, Z:6.66 [[ 8.11187129e-01 -5.31170405e-01 -2.44608755e-01 5.68533324e+01] [ 4.92463418e-01 8.46063796e-01 -2.04097613e-01 8.80987881e+00] [ 3.15365224e-01 4.51004930e-02 9.47898054e-01 6.65897967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.510714056999994 meters Centerline goodness : 0.993612 Centerline is valid? [True, True] Translation: X:56.90, Y:8.79, Z:6.63 [[ 0.81233132 -0.50023907 -0.29979777 56.90277802] [ 0.49488056 0.86324809 -0.09947851 8.78527634] [ 0.30856289 -0.06755458 0.94880205 6.62857174] [ 0. 0. 0. 1. ]] SLAMing on 59.540714056999995 meters Centerline goodness : 0.994149 Centerline is valid? [True, True] Translation: X:56.91, Y:8.82, Z:6.66 [[ 8.03515676e-01 -5.26693993e-01 -2.77409437e-01 5.69110810e+01] [ 5.02101307e-01 8.49981647e-01 -1.59453685e-01 8.81757757e+00] [ 3.19776228e-01 -1.11641055e-02 9.47427320e-01 6.66326253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.570714056999996 meters Centerline goodness : 0.993469 Centerline is valid? [True, True] Translation: X:56.94, Y:8.82, Z:6.66 [[ 8.05747319e-01 -5.18819379e-01 -2.85653128e-01 5.69427787e+01] [ 5.03850883e-01 8.53979062e-01 -1.29823148e-01 8.82058978e+00] [ 3.11296555e-01 -3.93219274e-02 9.49498942e-01 6.66043563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.600714057 meters Centerline goodness : 0.993997 Centerline is valid? [True, True] Translation: X:56.96, Y:8.84, Z:6.68 [[ 7.99375635e-01 -5.30304737e-01 -2.82445533e-01 5.69604645e+01] [ 5.07641914e-01 8.47576662e-01 -1.54639872e-01 8.84143534e+00] [ 3.21400499e-01 -1.97658449e-02 9.46737044e-01 6.68093767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.630714057 meters Centerline goodness : 0.993332 Centerline is valid? [True, True] Translation: X:56.99, Y:8.84, Z:6.68 [[ 8.02776115e-01 -5.23382591e-01 -2.85694195e-01 5.69880292e+01] [ 5.08473427e-01 8.51133875e-01 -1.30483334e-01 8.84440190e+00] [ 3.11456713e-01 -4.05190021e-02 9.49396085e-01 6.67916910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.660714057 meters Centerline goodness : 0.993961 Centerline is valid? [True, True] Translation: X:57.01, Y:8.87, Z:6.70 [[ 7.97560404e-01 -5.37301898e-01 -2.74233610e-01 5.70062390e+01] [ 5.11497718e-01 8.43343313e-01 -1.64748719e-01 8.87014864e+00] [ 3.19792881e-01 -8.87281073e-03 9.47445928e-01 6.70137167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.690714056999994 meters Centerline goodness : 0.995314 Centerline is valid? [True, True] Translation: X:57.04, Y:8.88, Z:6.70 [[ 7.95534064e-01 -5.34234224e-01 -2.85865961e-01 5.70379428e+01] [ 5.14643777e-01 8.44785164e-01 -1.46559917e-01 8.87812834e+00] [ 3.19792646e-01 -3.05257316e-02 9.46995693e-01 6.70455187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.720714056999995 meters Centerline goodness : 0.994140 Centerline is valid? [True, True] Translation: X:57.06, Y:8.89, Z:6.71 [[ 7.95283677e-01 -5.34671744e-01 -2.85744639e-01 5.70605675e+01] [ 5.15360757e-01 8.44479620e-01 -1.45799387e-01 8.89029273e+00] [ 3.19260336e-01 -3.13097010e-02 9.47149693e-01 6.71196266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.750714056999996 meters Centerline goodness : 0.994161 Centerline is valid? [True, True] Translation: X:57.08, Y:8.90, Z:6.72 [[ 7.94366381e-01 -5.36084712e-01 -2.85648795e-01 5.70835136e+01] [ 5.16623256e-01 8.43587347e-01 -1.46495048e-01 8.90352666e+00] [ 3.19503465e-01 -3.12020691e-02 9.47071258e-01 6.72008026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.780714057 meters Centerline goodness : 0.994130 Centerline is valid? [True, True] Translation: X:57.11, Y:8.91, Z:6.72 [[ 7.96763561e-01 -5.30127589e-01 -2.90056144e-01 5.71076677e+01] [ 5.16965106e-01 8.46519010e-01 -1.27093057e-01 8.90849395e+00] [ 3.12913576e-01 -4.86857886e-02 9.48532966e-01 6.72211033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.810714057 meters Centerline goodness : 0.993503 Centerline is valid? [True, True] Translation: X:57.12, Y:8.93, Z:6.74 [[ 7.94754210e-01 -5.37481721e-01 -2.81920459e-01 5.71245359e+01] [ 5.18707818e-01 8.42685101e-01 -1.44305299e-01 8.92731090e+00] [ 3.15131631e-01 -3.15471024e-02 9.48523503e-01 6.73934423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.840714057 meters Centerline goodness : 0.994805 Centerline is valid? [True, True] Translation: X:57.15, Y:8.95, Z:6.76 [[ 7.88601892e-01 -5.48047994e-01 -2.78837680e-01 5.71460340e+01] [ 5.22441940e-01 8.36319348e-01 -1.66205798e-01 8.94955079e+00] [ 3.24286101e-01 -1.46062919e-02 9.45846278e-01 6.75748692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.870714056999994 meters Centerline goodness : 0.993532 Centerline is valid? [True, True] Translation: X:57.17, Y:8.95, Z:6.75 [[ 7.92867226e-01 -5.35536748e-01 -2.90795381e-01 5.71748331e+01] [ 5.21623171e-01 8.43134834e-01 -1.30510223e-01 8.94916832e+00] [ 3.15072735e-01 -4.82083298e-02 9.47842354e-01 6.75201861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.900714056999995 meters Centerline goodness : 0.993791 Centerline is valid? [True, True] Translation: X:57.19, Y:8.98, Z:6.78 [[ 7.87476855e-01 -5.49952157e-01 -2.78267547e-01 5.71925894e+01] [ 5.23898660e-01 8.35084933e-01 -1.67819392e-01 8.97720091e+00] [ 3.24669673e-01 -1.36301079e-02 9.45729255e-01 6.77567822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.930714056999996 meters Centerline goodness : 0.994064 Centerline is valid? [True, True] Translation: X:57.22, Y:8.99, Z:6.78 [[ 7.86631123e-01 -5.46055464e-01 -2.88157781e-01 5.72217090e+01] [ 5.24807909e-01 8.37204011e-01 -1.53837909e-01 8.98658459e+00] [ 3.25250881e-01 -3.02137956e-02 9.45144958e-01 6.77880015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.960714057 meters Centerline goodness : 0.994064 Centerline is valid? [True, True] Translation: X:57.25, Y:9.00, Z:6.79 [[ 7.86159423e-01 -5.45184110e-01 -2.91080139e-01 5.72470780e+01] [ 5.25392806e-01 8.37577061e-01 -1.49756691e-01 8.99906428e+00] [ 3.25447016e-01 -3.51987768e-02 9.44904909e-01 6.78679637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.990714057 meters Centerline goodness : 0.992998 Centerline is valid? [True, True] Translation: X:57.27, Y:9.00, Z:6.79 [[ 7.90514428e-01 -5.37560867e-01 -2.93454005e-01 5.72693509e+01] [ 5.23605872e-01 8.41757077e-01 -1.31460695e-01 9.00494463e+00] [ 3.17685111e-01 -4.97326639e-02 9.46891141e-01 6.78809619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.020714057 meters Centerline goodness : 0.992909 Centerline is valid? [True, True] Translation: X:57.29, Y:9.03, Z:6.81 [[ 7.90056264e-01 -5.45938769e-01 -2.78858316e-01 5.72864971e+01] [ 5.23615129e-01 8.37519328e-01 -1.56168408e-01 9.02820656e+00] [ 3.18807618e-01 -2.26326042e-02 9.47549190e-01 6.80762360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.050714057 meters Centerline goodness : 0.992948 Centerline is valid? [True, True] Translation: X:57.31, Y:9.04, Z:6.81 [[ 7.89645260e-01 -5.41631260e-01 -2.88263668e-01 5.73099704e+01] [ 5.23206579e-01 8.39822555e-01 -1.44751345e-01 9.03879673e+00] [ 3.20492183e-01 -3.65192342e-02 9.46546938e-01 6.81374418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.080714056999994 meters Centerline goodness : 0.993091 Centerline is valid? [True, True] Translation: X:57.33, Y:9.05, Z:6.83 [[ 7.90580190e-01 -5.42669219e-01 -2.83713027e-01 5.73274024e+01] [ 5.21626406e-01 8.39490474e-01 -1.52189475e-01 9.05460234e+00] [ 3.20762927e-01 -2.76742226e-02 9.46755133e-01 6.82567646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.110714056999996 meters Centerline goodness : 0.993847 Centerline is valid? [True, True] Translation: X:57.35, Y:9.07, Z:6.84 [[ 7.91651798e-01 -5.41920101e-01 -2.82152502e-01 5.73493830e+01] [ 5.19718114e-01 8.40096774e-01 -1.55339926e-01 9.07197071e+00] [ 3.21217235e-01 -2.36646340e-02 9.46709815e-01 6.83726038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.140714057 meters Centerline goodness : 0.993206 Centerline is valid? [True, True] Translation: X:57.37, Y:9.09, Z:6.85 [[ 7.91799310e-01 -5.40022336e-01 -2.85358949e-01 5.73728924e+01] [ 5.19165044e-01 8.41173399e-01 -1.51310835e-01 9.08512887e+00] [ 3.21747588e-01 -2.83405762e-02 9.46401237e-01 6.84545071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.170714057 meters Centerline goodness : 0.993404 Centerline is valid? [True, True] Translation: X:57.40, Y:9.10, Z:6.85 [[ 7.91205718e-01 -5.37593713e-01 -2.91524461e-01 5.73951526e+01] [ 5.18779215e-01 8.42431081e-01 -1.45526627e-01 9.09683265e+00] [ 3.23823466e-01 -3.60953314e-02 9.45428733e-01 6.85480385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.200714057 meters Centerline goodness : 0.993744 Centerline is valid? [True, True] Translation: X:57.41, Y:9.12, Z:6.87 [[ 7.92911769e-01 -5.40965614e-01 -2.80440958e-01 5.74127747e+01] [ 5.15920939e-01 8.40908664e-01 -1.63395847e-01 9.11827082e+00] [ 3.24216766e-01 -1.51268720e-02 9.45861864e-01 6.87043458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.230714057 meters Centerline goodness : 0.993794 Centerline is valid? [True, True] Translation: X:57.44, Y:9.14, Z:6.88 [[ 7.90419026e-01 -5.45187200e-01 -2.79300340e-01 5.74350970e+01] [ 5.15474651e-01 8.38306496e-01 -1.77561544e-01 9.13786591e+00] [ 3.30943571e-01 -3.62422309e-03 9.43643586e-01 6.88398578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.260714056999994 meters Centerline goodness : 0.994093 Centerline is valid? [True, True] Translation: X:57.47, Y:9.15, Z:6.88 [[ 7.90847006e-01 -5.35152672e-01 -2.96938767e-01 5.74651877e+01] [ 5.14063569e-01 8.44138795e-01 -1.52211506e-01 9.14524156e+00] [ 3.32113927e-01 -3.22693886e-02 9.42687131e-01 6.88380176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.290714056999995 meters Centerline goodness : 0.993266 Centerline is valid? [True, True] Translation: X:57.49, Y:9.15, Z:6.89 [[ 7.94251561e-01 -5.29308216e-01 -2.98324103e-01 5.74890033e+01] [ 5.12799994e-01 8.47324984e-01 -1.38117840e-01 9.15482818e+00] [ 3.25884373e-01 -4.32802885e-02 9.44418441e-01 6.88893717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.320714056999996 meters Centerline goodness : 0.992919 Centerline is valid? [True, True] Translation: X:57.50, Y:9.18, Z:6.91 [[ 7.95449763e-01 -5.35675601e-01 -2.83392529e-01 5.75028091e+01] [ 5.11159210e-01 8.44258051e-01 -1.61073289e-01 9.17590058e+00] [ 3.25539455e-01 -1.67329915e-02 9.45380384e-01 6.90765236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.350714057 meters Centerline goodness : 0.993048 Centerline is valid? [True, True] Translation: X:57.53, Y:9.19, Z:6.91 [[ 7.96072121e-01 -5.31930389e-01 -2.88650723e-01 5.75261198e+01] [ 5.08899945e-01 8.46492730e-01 -1.56431786e-01 9.18795972e+00] [ 3.27551559e-01 -2.23633537e-02 9.44568609e-01 6.91407377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.380714057 meters Centerline goodness : 0.992972 Centerline is valid? [True, True] Translation: X:57.55, Y:9.21, Z:6.93 [[ 7.97602257e-01 -5.35208961e-01 -2.78176216e-01 5.75475089e+01] [ 5.08207748e-01 8.44687588e-01 -1.68011200e-01 9.20661408e+00] [ 3.24893097e-01 -7.36519646e-03 9.45722068e-01 6.92658655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.410714057 meters Centerline goodness : 0.992832 Centerline is valid? [True, True] Translation: X:57.58, Y:9.22, Z:6.93 [[ 7.97191010e-01 -5.29753792e-01 -2.89564178e-01 5.75762317e+01] [ 5.08181726e-01 8.47750790e-01 -1.51887890e-01 9.21697713e+00] [ 3.25941446e-01 -2.60675628e-02 9.45030505e-01 6.93095463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.440714056999994 meters Centerline goodness : 0.993534 Centerline is valid? [True, True] Translation: X:57.60, Y:9.23, Z:6.94 [[ 7.97363042e-01 -5.30409712e-01 -2.87884903e-01 5.75970432e+01] [ 5.07511017e-01 8.47457471e-01 -1.55718986e-01 9.23176348e+00] [ 3.26565074e-01 -2.19401958e-02 9.44920039e-01 6.94202029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.470714056999995 meters Centerline goodness : 0.994062 Centerline is valid? [True, True] Translation: X:57.62, Y:9.25, Z:6.96 [[ 7.93629481e-01 -5.35829842e-01 -2.88164237e-01 5.76159091e+01] [ 5.07144549e-01 8.44281221e-01 -1.73186680e-01 9.25137236e+00] [ 3.36090245e-01 -8.69486702e-03 9.41789651e-01 6.95795474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.500714056999996 meters Centerline goodness : 0.993819 Centerline is valid? [True, True] Translation: X:57.64, Y:9.27, Z:6.97 [[ 7.97381389e-01 -5.37530250e-01 -2.74306672e-01 5.76424291e+01] [ 5.04084063e-01 8.43175220e-01 -1.86962044e-01 9.27325143e+00] [ 3.31786343e-01 1.08064329e-02 9.43292661e-01 6.96943127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.530714057 meters Centerline goodness : 0.992732 Centerline is valid? [True, True] Translation: X:57.68, Y:9.25, Z:6.95 [[ 0.798355 -0.50830812 -0.32288102 57.68195072] [ 0.50557105 0.85706402 -0.09919268 9.25492884] [ 0.32715014 -0.08404832 0.94122721 6.9467556 ] [ 0. 0. 0. 1. ]] SLAMing on 60.560714057 meters Centerline goodness : 0.993142 Centerline is valid? [True, True] Translation: X:57.68, Y:9.29, Z:6.99 [[ 7.97958244e-01 -5.29925028e-01 -2.87127334e-01 5.76807627e+01] [ 5.04603463e-01 8.47908823e-01 -1.62560676e-01 9.28911143e+00] [ 3.29602770e-01 -1.51688153e-02 9.43997839e-01 6.98534210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.590714057 meters Centerline goodness : 0.993708 Centerline is valid? [True, True] Translation: X:57.70, Y:9.32, Z:7.01 [[ 7.96979356e-01 -5.40151105e-01 -2.70297412e-01 5.77019043e+01] [ 5.03429590e-01 8.41310456e-01 -1.96863824e-01 9.31659350e+00] [ 3.33740251e-01 2.08206884e-02 9.42435114e-01 7.00600768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.620714056999994 meters Centerline goodness : 0.994174 Centerline is valid? [True, True] Translation: X:57.73, Y:9.31, Z:6.99 [[ 0.79057308 -0.52317944 -0.31824122 57.73038657] [ 0.51018611 0.85014891 -0.1302189 9.30821927] [ 0.33868028 -0.05941469 0.93902373 6.98927251] [ 0. 0. 0. 1. ]] SLAMing on 60.650714056999995 meters Centerline goodness : 0.994026 Centerline is valid? [True, True] Translation: X:57.74, Y:9.33, Z:7.02 [[ 7.89113044e-01 -5.38708777e-01 -2.95116008e-01 5.77379575e+01] [ 5.10643615e-01 8.42362436e-01 -1.72245825e-01 9.33400520e+00] [ 3.41384977e-01 -1.47776779e-02 9.39807383e-01 7.01727029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.680714056999996 meters Centerline goodness : 0.993830 Centerline is valid? [True, True] Translation: X:57.76, Y:9.35, Z:7.03 [[ 7.88392888e-01 -5.39722563e-01 -2.95188429e-01 5.77607147e+01] [ 5.11668171e-01 8.41707280e-01 -1.72408055e-01 9.34685191e+00] [ 3.41514767e-01 -1.51132394e-02 9.39754890e-01 7.02648639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.710714057 meters Centerline goodness : 0.992233 Centerline is valid? [True, True] Translation: X:57.80, Y:9.35, Z:7.03 [[ 7.92303658e-01 -5.27217800e-01 -3.07077035e-01 5.77971042e+01] [ 5.10104289e-01 8.48528539e-01 -1.40687357e-01 9.34700233e+00] [ 3.34736506e-01 -4.51742052e-02 9.41228326e-01 7.02832012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.740714057 meters Centerline goodness : 0.993233 Centerline is valid? [True, True] Translation: X:57.81, Y:9.37, Z:7.05 [[ 7.90031512e-01 -5.38239926e-01 -2.93509781e-01 5.78131013e+01] [ 5.12793293e-01 8.42546778e-01 -1.64796739e-01 9.36772918e+00] [ 3.35995905e-01 -2.03152306e-02 9.41644329e-01 7.04884235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.770714057 meters Centerline goodness : 0.993247 Centerline is valid? [True, True] Translation: X:57.83, Y:9.38, Z:7.06 [[ 7.89168701e-01 -5.40885940e-01 -2.90955601e-01 5.78324345e+01] [ 5.14197613e-01 8.40933295e-01 -1.68617936e-01 9.38134984e+00] [ 3.35877323e-01 -1.65406779e-02 9.41760495e-01 7.05977658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.800714057 meters Centerline goodness : 0.993720 Centerline is valid? [True, True] Translation: X:57.86, Y:9.39, Z:7.07 [[ 7.87083010e-01 -5.43465208e-01 -2.91797708e-01 5.78576390e+01] [ 5.17753723e-01 8.39190852e-01 -1.66402514e-01 9.39328518e+00] [ 3.35307944e-01 -2.01067580e-02 9.41893997e-01 7.06883327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.830714056999994 meters Centerline goodness : 0.992686 Centerline is valid? [True, True] Translation: X:57.88, Y:9.41, Z:7.08 [[ 7.87146356e-01 -5.47750002e-01 -2.83497000e-01 5.78782980e+01] [ 5.18792809e-01 8.36598069e-01 -1.75947980e-01 9.40960787e+00] [ 3.33548549e-01 -8.57939411e-03 9.42693884e-01 7.07861771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.860714056999996 meters Centerline goodness : 0.993181 Centerline is valid? [True, True] Translation: X:57.90, Y:9.42, Z:7.08 [[ 7.85977028e-01 -5.46175472e-01 -2.89711004e-01 5.79025657e+01] [ 5.20070686e-01 8.37461625e-01 -1.67882424e-01 9.41917841e+00] [ 3.34315110e-01 -1.87184714e-02 9.42275451e-01 7.08358955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.890714057 meters Centerline goodness : 0.993204 Centerline is valid? [True, True] Translation: X:57.93, Y:9.43, Z:7.09 [[ 7.84606849e-01 -5.47009381e-01 -2.91843843e-01 5.79266326e+01] [ 5.23030294e-01 8.36741254e-01 -1.62183186e-01 9.43012250e+00] [ 3.32913507e-01 -2.53931329e-02 9.42615396e-01 7.09041773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.920714057 meters Centerline goodness : 0.993777 Centerline is valid? [True, True] Translation: X:57.95, Y:9.45, Z:7.10 [[ 7.84107606e-01 -5.54984303e-01 -2.77790722e-01 5.79464695e+01] [ 5.25108312e-01 8.31846014e-01 -1.79703837e-01 9.44865865e+00] [ 3.30811913e-01 -4.96307157e-03 9.43683658e-01 7.10440704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.950714057 meters Centerline goodness : 0.993915 Centerline is valid? [True, True] Translation: X:57.97, Y:9.46, Z:7.11 [[ 7.79947788e-01 -5.59552539e-01 -2.80325533e-01 5.79707129e+01] [ 5.27910712e-01 8.28788369e-01 -1.85526601e-01 9.46368632e+00] [ 3.36142421e-01 -3.28578961e-03 9.41805434e-01 7.11422765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.980714057 meters Centerline goodness : 0.993591 Centerline is valid? [True, True] Translation: X:58.00, Y:9.47, Z:7.11 [[ 7.79075353e-01 -5.54367192e-01 -2.92777409e-01 5.80015685e+01] [ 5.29752031e-01 8.31859571e-01 -1.65446183e-01 9.47135750e+00] [ 3.35267626e-01 -2.62043834e-02 9.41758435e-01 7.11494148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.010714056999994 meters Centerline goodness : 0.993754 Centerline is valid? [True, True] Translation: X:58.02, Y:9.49, Z:7.13 [[ 7.81699332e-01 -5.61031789e-01 -2.72377470e-01 5.80226905e+01] [ 5.28606663e-01 8.27788923e-01 -1.87990679e-01 9.49417586e+00] [ 3.30939799e-01 2.97164246e-03 9.43647190e-01 7.12840916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.040714056999995 meters Centerline goodness : 0.993852 Centerline is valid? [True, True] Translation: X:58.05, Y:9.49, Z:7.12 [[ 0.77614335 -0.54457232 -0.31787181 58.05398188] [ 0.53522097 0.83548693 -0.12449944 9.48522097] [ 0.33337669 -0.07350224 0.93992415 7.11556153] [ 0. 0. 0. 1. ]] SLAMing on 61.070714056999996 meters Centerline goodness : 0.993546 Centerline is valid? [True, True] Translation: X:58.06, Y:9.53, Z:7.16 [[ 7.80737115e-01 -5.69111811e-01 -2.57994775e-01 5.80621543e+01] [ 5.30395898e-01 8.21865713e-01 -2.07886847e-01 9.52636792e+00] [ 3.30347920e-01 2.54656065e-02 9.43515636e-01 7.15561022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.100714057 meters Centerline goodness : 0.994213 Centerline is valid? [True, True] Translation: X:58.11, Y:9.52, Z:7.14 [[ 7.79841424e-01 -5.53508456e-01 -2.92362347e-01 5.81051884e+01] [ 5.33279610e-01 8.32031090e-01 -1.52764929e-01 9.52274076e+00] [ 3.27811242e-01 -3.67784588e-02 9.44027083e-01 7.14184570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.130714057 meters Centerline goodness : 0.993593 Centerline is valid? [True, True] Translation: X:58.13, Y:9.53, Z:7.15 [[ 7.77632703e-01 -5.54027156e-01 -2.97222627e-01 5.81257664e+01] [ 5.35080897e-01 8.31411087e-01 -1.49813345e-01 9.53347589e+00] [ 3.30114849e-01 -4.25383941e-02 9.42981798e-01 7.15198307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.160714057 meters Centerline goodness : 0.993549 Centerline is valid? [True, True] Translation: X:58.14, Y:9.55, Z:7.17 [[ 7.76925082e-01 -5.58942031e-01 -2.89777884e-01 5.81433902e+01] [ 5.35345479e-01 8.28721693e-01 -1.63173445e-01 9.55064882e+00] [ 3.31349715e-01 -2.83577381e-02 9.43081759e-01 7.16655353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.190714056999994 meters Centerline goodness : 0.993482 Centerline is valid? [True, True] Translation: X:58.17, Y:9.56, Z:7.18 [[ 7.75495689e-01 -5.60305419e-01 -2.90971259e-01 5.81663627e+01] [ 5.36737737e-01 8.27763743e-01 -1.63461883e-01 9.56288012e+00] [ 3.32444038e-01 -2.94112692e-02 9.42664277e-01 7.17575011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.220714056999995 meters Centerline goodness : 0.994161 Centerline is valid? [True, True] Translation: X:58.19, Y:9.58, Z:7.19 [[ 7.74520402e-01 -5.62000426e-01 -2.90299273e-01 5.81890004e+01] [ 5.37569505e-01 8.26684462e-01 -1.66168072e-01 9.57703507e+00] [ 3.33372425e-01 -2.73554748e-02 9.42398273e-01 7.18592009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.250714056999996 meters Centerline goodness : 0.994157 Centerline is valid? [True, True] Translation: X:58.21, Y:9.59, Z:7.20 [[ 7.74535251e-01 -5.62795653e-01 -2.88714736e-01 5.82131067e+01] [ 5.37686340e-01 8.26216857e-01 -1.68104448e-01 9.59114220e+00] [ 3.33149434e-01 -2.50351493e-02 9.42541615e-01 7.19529570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.280714057 meters Centerline goodness : 0.993791 Centerline is valid? [True, True] Translation: X:58.24, Y:9.60, Z:7.20 [[ 7.75232406e-01 -5.61089810e-01 -2.90160200e-01 5.82385391e+01] [ 5.37580306e-01 8.27234970e-01 -1.63369884e-01 9.60234675e+00] [ 3.31695841e-01 -2.93347805e-02 9.42930188e-01 7.20142377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.310714057 meters Centerline goodness : 0.994457 Centerline is valid? [True, True] Translation: X:58.26, Y:9.62, Z:7.21 [[ 7.73102426e-01 -5.61173590e-01 -2.95629567e-01 5.82628933e+01] [ 5.38818040e-01 8.26955131e-01 -1.60687059e-01 9.61525293e+00] [ 3.34645722e-01 -3.50629888e-02 9.41691472e-01 7.21139088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.340714057 meters Centerline goodness : 0.994403 Centerline is valid? [True, True] Translation: X:58.29, Y:9.63, Z:7.22 [[ 7.73567874e-01 -5.59828917e-01 -2.96958463e-01 5.82859226e+01] [ 5.38313338e-01 8.27760634e-01 -1.58212144e-01 9.62662592e+00] [ 3.34382259e-01 -3.74688697e-02 9.41692407e-01 7.22069168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.370714056999994 meters Centerline goodness : 0.993684 Centerline is valid? [True, True] Translation: X:58.31, Y:9.64, Z:7.23 [[ 7.75055742e-01 -5.56279029e-01 -2.99736950e-01 5.83074120e+01] [ 5.39119050e-01 8.29561384e-01 -1.45528555e-01 9.63523451e+00] [ 3.29604683e-01 -4.88011575e-02 9.42856935e-01 7.22820652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.400714056999995 meters Centerline goodness : 0.994059 Centerline is valid? [True, True] Translation: X:58.32, Y:9.66, Z:7.25 [[ 7.70703194e-01 -5.69249414e-01 -2.86306989e-01 5.83224078e+01] [ 5.39977182e-01 8.22023837e-01 -1.80835433e-01 9.66043987e+00] [ 3.38291634e-01 -1.52287951e-02 9.40918091e-01 7.25249019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.430714056999996 meters Centerline goodness : 0.994118 Centerline is valid? [True, True] Translation: X:58.35, Y:9.67, Z:7.25 [[ 7.69895181e-01 -5.64970350e-01 -2.96765755e-01 5.83501001e+01] [ 5.42080020e-01 8.24354444e-01 -1.63061345e-01 9.66698086e+00] [ 3.36764994e-01 -3.53306431e-02 9.40925653e-01 7.25437975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.460714057 meters Centerline goodness : 0.994062 Centerline is valid? [True, True] Translation: X:58.37, Y:9.68, Z:7.27 [[ 7.68092791e-01 -5.65950752e-01 -2.99555021e-01 5.83707019e+01] [ 5.43468512e-01 8.23561625e-01 -1.62444532e-01 9.67892188e+00] [ 3.38637625e-01 -3.80262474e-02 9.40148160e-01 7.26510545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.490714057 meters Centerline goodness : 0.993835 Centerline is valid? [True, True] Translation: X:58.39, Y:9.69, Z:7.28 [[ 7.66180516e-01 -5.69440128e-01 -2.97834447e-01 5.83910649e+01] [ 5.45878391e-01 8.21268340e-01 -1.65937023e-01 9.69324323e+00] [ 3.39093201e-01 -3.54436743e-02 9.40084861e-01 7.27753686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.520714057 meters Centerline goodness : 0.994366 Centerline is valid? [True, True] Translation: X:58.41, Y:9.71, Z:7.29 [[ 7.65287426e-01 -5.72283581e-01 -2.94663637e-01 5.84120418e+01] [ 5.47044182e-01 8.19489611e-01 -1.70819909e-01 9.70844957e+00] [ 3.39231218e-01 -3.04676997e-02 9.40209498e-01 7.28859192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.550714057 meters Centerline goodness : 0.994721 Centerline is valid? [True, True] Translation: X:58.43, Y:9.72, Z:7.30 [[ 7.64370135e-01 -5.74827121e-01 -2.92082312e-01 5.84347069e+01] [ 5.48882117e-01 8.17793811e-01 -1.73036716e-01 9.72284401e+00] [ 3.38329304e-01 -2.80546600e-02 9.40609493e-01 7.29797306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.580714056999994 meters Centerline goodness : 0.994681 Centerline is valid? [True, True] Translation: X:58.46, Y:9.74, Z:7.31 [[ 7.63740705e-01 -5.75597043e-01 -2.92212558e-01 5.84583448e+01] [ 5.50213537e-01 8.17194161e-01 -1.71635565e-01 9.73615802e+00] [ 3.37587320e-01 -2.96942379e-02 9.40825730e-01 7.30617844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.610714056999996 meters Centerline goodness : 0.995155 Centerline is valid? [True, True] Translation: X:58.48, Y:9.75, Z:7.31 [[ 7.62406218e-01 -5.74183569e-01 -2.98412446e-01 5.84822407e+01] [ 5.51860309e-01 8.17748155e-01 -1.63518055e-01 9.74643804e+00] [ 3.37915607e-01 -4.00148025e-02 9.40325400e-01 7.31260826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.640714057 meters Centerline goodness : 0.995227 Centerline is valid? [True, True] Translation: X:58.50, Y:9.76, Z:7.32 [[ 7.63379178e-01 -5.79222169e-01 -2.85926405e-01 5.85018943e+01] [ 5.51795124e-01 8.14865935e-01 -1.77526475e-01 9.76384960e+00] [ 3.35818957e-01 -2.22527814e-02 9.41663656e-01 7.32466436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.670714057 meters Centerline goodness : 0.994616 Centerline is valid? [True, True] Translation: X:58.53, Y:9.77, Z:7.33 [[ 7.62526162e-01 -5.77378368e-01 -2.91869959e-01 5.85283567e+01] [ 5.53504489e-01 8.15782695e-01 -1.67724103e-01 9.77406938e+00] [ 3.34942730e-01 -3.36573164e-02 9.41637166e-01 7.33019891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.700714057 meters Centerline goodness : 0.995676 Centerline is valid? [True, True] Translation: X:58.54, Y:9.79, Z:7.34 [[ 7.59507405e-01 -5.80099146e-01 -2.94335663e-01 5.85418907e+01] [ 5.57089884e-01 8.13668140e-01 -1.66117485e-01 9.78803412e+00] [ 3.35856163e-01 -3.78039601e-02 9.41154344e-01 7.33788031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.730714057 meters Centerline goodness : 0.995904 Centerline is valid? [True, True] Translation: X:58.57, Y:9.81, Z:7.35 [[ 7.63495632e-01 -5.82118653e-01 -2.79664608e-01 5.85711865e+01] [ 5.52524172e-01 8.12979941e-01 -1.83795144e-01 9.80784703e+00] [ 3.34352298e-01 -1.41946667e-02 9.42341261e-01 7.35425607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.760714056999994 meters Centerline goodness : 0.995386 Centerline is valid? [True, True] Translation: X:58.59, Y:9.81, Z:7.35 [[ 7.60171469e-01 -5.75324383e-01 -3.01895997e-01 5.85907695e+01] [ 5.56330522e-01 8.16385691e-01 -1.54954038e-01 9.81120326e+00] [ 3.35612408e-01 -5.01623187e-02 9.40663624e-01 7.35147017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.790714056999995 meters Centerline goodness : 0.995366 Centerline is valid? [True, True] Translation: X:58.61, Y:9.84, Z:7.37 [[ 7.64765603e-01 -5.83111788e-01 -2.74069727e-01 5.86144951e+01] [ 5.50935248e-01 8.12377391e-01 -1.91084608e-01 9.83655657e+00] [ 3.34071737e-01 -4.85973778e-03 9.42535123e-01 7.37338173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.820714056999996 meters Centerline goodness : 0.994734 Centerline is valid? [True, True] Translation: X:58.65, Y:9.84, Z:7.37 [[ 7.65390805e-01 -5.74730308e-01 -2.89589345e-01 5.86474715e+01] [ 5.51413472e-01 8.17673348e-01 -1.65388869e-01 9.84351546e+00] [ 3.31843485e-01 -3.30963465e-02 9.42753697e-01 7.37187282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.850714057 meters Centerline goodness : 0.994734 Centerline is valid? [True, True] Translation: X:58.67, Y:9.86, Z:7.38 [[ 7.64884600e-01 -5.74867154e-01 -2.90653235e-01 5.86705977e+01] [ 5.52004757e-01 8.17505702e-01 -1.64241209e-01 9.85720952e+00] [ 3.32027554e-01 -3.48163970e-02 9.42626926e-01 7.38080953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.880714057 meters Centerline goodness : 0.995206 Centerline is valid? [True, True] Translation: X:58.69, Y:9.87, Z:7.39 [[ 7.64717660e-01 -5.74341001e-01 -2.92128936e-01 5.86921398e+01] [ 5.51251882e-01 8.17871875e-01 -1.64945324e-01 9.87125202e+00] [ 3.33658903e-01 -3.49000235e-02 9.42047623e-01 7.39190862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.910714057 meters Centerline goodness : 0.994136 Centerline is valid? [True, True] Translation: X:58.71, Y:9.88, Z:7.40 [[ 7.66161872e-01 -5.71432121e-01 -2.94043054e-01 5.87102975e+01] [ 5.49025086e-01 8.19823503e-01 -1.62668001e-01 9.88208377e+00] [ 3.34017127e-01 -3.68069928e-02 9.41848079e-01 7.39956043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.940714056999994 meters Centerline goodness : 0.994739 Centerline is valid? [True, True] Translation: X:58.73, Y:9.90, Z:7.41 [[ 7.65959040e-01 -5.74519206e-01 -2.88503781e-01 5.87320972e+01] [ 5.48336074e-01 8.18096066e-01 -1.73338905e-01 9.90055946e+00] [ 3.35610339e-01 -2.54265293e-02 9.41657683e-01 7.41494091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.970714056999995 meters Centerline goodness : 0.994126 Centerline is valid? [True, True] Translation: X:58.76, Y:9.91, Z:7.42 [[ 7.66545317e-01 -5.69659737e-01 -2.96472698e-01 5.87564684e+01] [ 5.47116530e-01 8.21035229e-01 -1.62986672e-01 9.91077586e+00] [ 3.36261475e-01 -3.72684434e-02 9.41030969e-01 7.42120536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.000714056999996 meters Centerline goodness : 0.993681 Centerline is valid? [True, True] Translation: X:58.78, Y:9.93, Z:7.43 [[ 7.67296525e-01 -5.70941118e-01 -2.92031305e-01 5.87761131e+01] [ 5.45959956e-01 8.20467585e-01 -1.69589706e-01 9.92753806e+00] [ 3.36427956e-01 -2.93118066e-02 9.41252914e-01 7.43359948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.030714057 meters Centerline goodness : 0.993907 Centerline is valid? [True, True] Translation: X:58.80, Y:9.94, Z:7.44 [[ 7.69164259e-01 -5.69406177e-01 -2.90108512e-01 5.87985015e+01] [ 5.43196893e-01 8.21680466e-01 -1.72564040e-01 9.94318856e+00] [ 3.36635528e-01 -2.48559504e-02 9.41306912e-01 7.44466417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.060714057 meters Centerline goodness : 0.994405 Centerline is valid? [True, True] Translation: X:58.82, Y:9.95, Z:7.45 [[ 7.69871025e-01 -5.66245400e-01 -2.94388776e-01 5.88208963e+01] [ 5.42065026e-01 8.23643415e-01 -1.66664431e-01 9.95415542e+00] [ 3.36844344e-01 -3.12677428e-02 9.41041028e-01 7.45201042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.090714057 meters Centerline goodness : 0.993905 Centerline is valid? [True, True] Translation: X:58.84, Y:9.97, Z:7.46 [[ 7.71962029e-01 -5.64005563e-01 -2.93210420e-01 5.88417798e+01] [ 5.38936726e-01 8.25300590e-01 -1.68600541e-01 9.96688298e+00] [ 3.37078376e-01 -2.78686480e-02 9.41064029e-01 7.46199191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.120714056999994 meters Centerline goodness : 0.993297 Centerline is valid? [True, True] Translation: X:58.86, Y:9.98, Z:7.47 [[ 7.73213855e-01 -5.62054925e-01 -2.93657277e-01 5.88608305e+01] [ 5.36411547e-01 8.26685473e-01 -1.69864005e-01 9.97972054e+00] [ 3.38235106e-01 -2.61799528e-02 9.40697413e-01 7.47193904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.150714056999995 meters Centerline goodness : 0.993744 Centerline is valid? [True, True] Translation: X:58.89, Y:9.99, Z:7.48 [[ 7.71416480e-01 -5.61276512e-01 -2.99808758e-01 5.88880648e+01] [ 5.37783086e-01 8.26910762e-01 -1.64340939e-01 9.99330687e+00] [ 3.40155797e-01 -3.44567705e-02 9.39737604e-01 7.48401852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.180714056999996 meters Centerline goodness : 0.993125 Centerline is valid? [True, True] Translation: X:58.91, Y:10.01, Z:7.50 [[ 7.73671346e-01 -5.66104567e-01 -2.84531663e-01 5.89065554e+01] [ 5.35508101e-01 8.24271380e-01 -1.83868883e-01 1.00136650e+01] [ 3.38620321e-01 -1.01149246e-02 9.40868730e-01 7.49894553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.210714057 meters Centerline goodness : 0.992613 Centerline is valid? [True, True] Translation: X:58.93, Y:10.02, Z:7.50 [[ 7.76113288e-01 -5.55004656e-01 -2.99362650e-01 5.89344016e+01] [ 5.34578572e-01 8.30878572e-01 -1.54488019e-01 1.00168372e+01] [ 3.34475581e-01 -4.01326534e-02 9.41549497e-01 7.49613908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.240714057 meters Centerline goodness : 0.993384 Centerline is valid? [True, True] Translation: X:58.95, Y:10.04, Z:7.51 [[ 7.76649883e-01 -5.60873971e-01 -2.86767063e-01 5.89492892e+01] [ 5.33023921e-01 8.27733193e-01 -1.75337560e-01 1.00366190e+01] [ 3.35708891e-01 -1.66778093e-02 9.41818131e-01 7.51391151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.270714057 meters Centerline goodness : 0.994781 Centerline is valid? [True, True] Translation: X:58.97, Y:10.05, Z:7.53 [[ 7.74927766e-01 -5.64733496e-01 -2.83836283e-01 5.89732465e+01] [ 5.33813332e-01 8.25229132e-01 -1.84499880e-01 1.00545030e+01] [ 3.38423231e-01 -8.54151204e-03 9.40955238e-01 7.52686275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.300714057 meters Centerline goodness : 0.994379 Centerline is valid? [True, True] Translation: X:59.00, Y:10.06, Z:7.53 [[ 7.75213958e-01 -5.60086906e-01 -2.92140337e-01 5.90003000e+01] [ 5.33809975e-01 8.28106609e-01 -1.71132566e-01 1.00635669e+01] [ 3.37772454e-01 -2.32830724e-02 9.40939779e-01 7.53066002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.330714056999994 meters Centerline goodness : 0.993961 Centerline is valid? [True, True] Translation: X:59.02, Y:10.08, Z:7.54 [[ 7.76607522e-01 -5.62967136e-01 -2.82752117e-01 5.90223077e+01] [ 5.33655483e-01 8.26400979e-01 -1.79647567e-01 1.00800218e+01] [ 3.34802303e-01 -1.13765654e-02 9.42219715e-01 7.54140056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.360714056999996 meters Centerline goodness : 0.994506 Centerline is valid? [True, True] Translation: X:59.05, Y:10.10, Z:7.55 [[ 7.80584154e-01 -5.65994606e-01 -2.65214034e-01 5.90483568e+01] [ 5.32280212e-01 8.24357517e-01 -1.92645948e-01 1.00995369e+01] [ 3.27667750e-01 9.20819237e-03 9.44748144e-01 7.55009975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.390714057 meters Centerline goodness : 0.994596 Centerline is valid? [True, True] Translation: X:59.08, Y:10.11, Z:7.55 [[ 7.80968884e-01 -5.57252539e-01 -2.82058877e-01 5.90841657e+01] [ 5.32599949e-01 8.30073620e-01 -1.65272743e-01 1.01061233e+01] [ 3.26228289e-01 -2.11516734e-02 9.45054343e-01 7.54772982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.420714057 meters Centerline goodness : 0.994977 Centerline is valid? [True, True] Translation: X:59.11, Y:10.12, Z:7.56 [[ 7.78444241e-01 -5.58197422e-01 -2.87124017e-01 5.91083654e+01] [ 5.34021763e-01 8.29322016e-01 -1.64455923e-01 1.01201627e+01] [ 3.29917141e-01 -2.53107075e-02 9.43670519e-01 7.55840960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.450714057 meters Centerline goodness : 0.994823 Centerline is valid? [True, True] Translation: X:59.13, Y:10.13, Z:7.57 [[ 7.77022315e-01 -5.56510246e-01 -2.94164355e-01 5.91331802e+01] [ 5.34385778e-01 8.30157889e-01 -1.58964523e-01 1.01315398e+01] [ 3.32668246e-01 -3.36782654e-02 9.42442366e-01 7.56675410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.480714057 meters Centerline goodness : 0.994302 Centerline is valid? [True, True] Translation: X:59.15, Y:10.14, Z:7.58 [[ 7.76263780e-01 -5.55529807e-01 -2.97995265e-01 5.91535078e+01] [ 5.34650244e-01 8.30606642e-01 -1.55697537e-01 1.01429449e+01] [ 3.34011469e-01 -3.84608825e-02 9.41783998e-01 7.57601440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.510714056999994 meters Centerline goodness : 0.994392 Centerline is valid? [True, True] Translation: X:59.17, Y:10.16, Z:7.59 [[ 7.76538254e-01 -5.63143855e-01 -2.82590408e-01 5.91733368e+01] [ 5.34765841e-01 8.26246258e-01 -1.77038459e-01 1.01636931e+01] [ 3.33187388e-01 -1.36425618e-02 9.42761924e-01 7.59235389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.540714056999995 meters Centerline goodness : 0.994324 Centerline is valid? [True, True] Translation: X:59.20, Y:10.17, Z:7.60 [[ 7.72294525e-01 -5.57435858e-01 -3.04674302e-01 5.92014437e+01] [ 5.37695578e-01 8.28996396e-01 -1.53780498e-01 1.01688636e+01] [ 3.38296662e-01 -4.50581878e-02 9.39960174e-01 7.59717387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.570714056999996 meters Centerline goodness : 0.994829 Centerline is valid? [True, True] Translation: X:59.22, Y:10.19, Z:7.61 [[ 7.71951715e-01 -5.62804536e-01 -2.95536128e-01 5.92171722e+01] [ 5.37745699e-01 8.26087725e-01 -1.68548611e-01 1.01863897e+01] [ 3.38998690e-01 -2.88118924e-02 9.40345555e-01 7.61324770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.600714057 meters Centerline goodness : 0.994840 Centerline is valid? [True, True] Translation: X:59.24, Y:10.20, Z:7.63 [[ 7.69927647e-01 -5.65511140e-01 -2.95649404e-01 5.92382265e+01] [ 5.39585182e-01 8.24282129e-01 -1.71484118e-01 1.02012555e+01] [ 3.40674700e-01 -2.74976739e-02 9.39779031e-01 7.62600561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.630714057 meters Centerline goodness : 0.994429 Centerline is valid? [True, True] Translation: X:59.26, Y:10.21, Z:7.64 [[ 7.68939714e-01 -5.64724317e-01 -2.99696783e-01 5.92599513e+01] [ 5.40226227e-01 8.24623988e-01 -1.67782306e-01 1.02132867e+01] [ 3.41887905e-01 -3.28895846e-02 9.39165021e-01 7.63544015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.660714057 meters Centerline goodness : 0.993446 Centerline is valid? [True, True] Translation: X:59.28, Y:10.23, Z:7.64 [[ 7.71308765e-01 -5.64066287e-01 -2.94808434e-01 5.92778922e+01] [ 5.38817441e-01 8.25244419e-01 -1.69255472e-01 1.02256457e+01] [ 3.38760321e-01 -2.82996964e-02 9.40447007e-01 7.64317752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.690714056999994 meters Centerline goodness : 0.994762 Centerline is valid? [True, True] Translation: X:59.30, Y:10.25, Z:7.66 [[ 7.67462209e-01 -5.71293289e-01 -2.90905028e-01 5.93006997e+01] [ 5.41360486e-01 8.20573390e-01 -1.83270662e-01 1.02457352e+01] [ 3.43410225e-01 -1.68311806e-02 9.39034679e-01 7.66069448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.720714056999995 meters Centerline goodness : 0.994937 Centerline is valid? [True, True] Translation: X:59.33, Y:10.26, Z:7.67 [[ 7.66202300e-01 -5.69009776e-01 -2.98599917e-01 5.93265182e+01] [ 5.42621787e-01 8.21821410e-01 -1.73698492e-01 1.02560043e+01] [ 3.44231944e-01 -2.89386365e-02 9.38438556e-01 7.66622932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.750714056999996 meters Centerline goodness : 0.993785 Centerline is valid? [True, True] Translation: X:59.35, Y:10.26, Z:7.67 [[ 7.67469587e-01 -5.65494148e-01 -3.02004638e-01 5.93456264e+01] [ 5.41803320e-01 8.23955345e-01 -1.65972139e-01 1.02642204e+01] [ 3.42694610e-01 -3.62485466e-02 9.38747276e-01 7.67188148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.780714057 meters Centerline goodness : 0.994431 Centerline is valid? [True, True] Translation: X:59.36, Y:10.29, Z:7.69 [[ 7.63549662e-01 -5.76444010e-01 -2.91039890e-01 5.93647281e+01] [ 5.45054987e-01 8.17000422e-01 -1.88216289e-01 1.02869420e+01] [ 3.46275865e-01 -1.49202594e-02 9.38014078e-01 7.69224113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.810714057 meters Centerline goodness : 0.994450 Centerline is valid? [True, True] Translation: X:59.39, Y:10.31, Z:7.70 [[ 7.65165168e-01 -5.83562599e-01 -2.71987058e-01 5.93896341e+01] [ 5.46049315e-01 8.12016623e-01 -2.06056182e-01 1.03100817e+01] [ 3.41104693e-01 9.14866649e-03 9.39980793e-01 7.70332852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.840714057 meters Centerline goodness : 0.994584 Centerline is valid? [True, True] Translation: X:59.43, Y:10.31, Z:7.70 [[ 7.66248644e-01 -5.70464132e-01 -2.95691882e-01 5.94268088e+01] [ 5.47349154e-01 8.20547142e-01 -1.64655066e-01 1.03117247e+01] [ 3.36558938e-01 -3.56799806e-02 9.40986196e-01 7.69662407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.870714056999994 meters Centerline goodness : 0.994938 Centerline is valid? [True, True] Translation: X:59.45, Y:10.32, Z:7.71 [[ 7.57630813e-01 -5.70904475e-01 -3.16328359e-01 5.94486973e+01] [ 5.52753651e-01 8.18961391e-01 -1.54161090e-01 1.03201141e+01] [ 3.47071969e-01 -5.80544637e-02 9.36039918e-01 7.70932347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.900714056999995 meters Centerline goodness : 0.994082 Centerline is valid? [True, True] Translation: X:59.46, Y:10.35, Z:7.74 [[ 7.57856837e-01 -5.92501362e-01 -2.73121128e-01 5.94590828e+01] [ 5.54353433e-01 8.05537220e-01 -2.09289412e-01 1.03534736e+01] [ 3.44013496e-01 7.20577655e-03 9.38937054e-01 7.73519939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.930714056999996 meters Centerline goodness : 0.994111 Centerline is valid? [True, True] Translation: X:59.50, Y:10.34, Z:7.72 [[ 0.75653559 -0.56753057 -0.32490454 59.49895198] [ 0.55748925 0.81942365 -0.13323148 10.34063458] [ 0.3418474 -0.08033643 0.93631534 7.72106667] [ 0. 0. 0. 1. ]] SLAMing on 62.960714057 meters Centerline goodness : 0.994528 Centerline is valid? [True, True] Translation: X:59.50, Y:10.38, Z:7.76 [[ 7.51395317e-01 -5.94323741e-01 -2.86678163e-01 5.95020007e+01] [ 5.60607745e-01 8.04133976e-01 -1.97705601e-01 1.03758324e+01] [ 3.48028784e-01 -1.21589357e-02 9.37404996e-01 7.75583226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.990714057 meters Centerline goodness : 0.994748 Centerline is valid? [True, True] Translation: X:59.53, Y:10.39, Z:7.76 [[ 7.50405323e-01 -5.90794121e-01 -2.96402021e-01 5.95306888e+01] [ 5.62539606e-01 8.06283548e-01 -1.82909901e-01 1.03865039e+01] [ 3.47046167e-01 -2.94813125e-02 9.37384558e-01 7.75952474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.020714057 meters Centerline goodness : 0.994183 Centerline is valid? [True, True] Translation: X:59.55, Y:10.40, Z:7.77 [[ 7.48908318e-01 -5.93807523e-01 -2.94158046e-01 5.95538506e+01] [ 5.64650669e-01 8.04154559e-01 -1.85755396e-01 1.04031529e+01] [ 3.46851485e-01 -2.69827760e-02 9.37531854e-01 7.77006364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.050714057 meters Centerline goodness : 0.994043 Centerline is valid? [True, True] Translation: X:59.58, Y:10.41, Z:7.78 [[ 7.49250124e-01 -5.90868814e-01 -2.99162659e-01 5.95782660e+01] [ 5.65198409e-01 8.05915982e-01 -1.76210635e-01 1.04137931e+01] [ 3.45217337e-01 -3.70604188e-02 9.37790763e-01 7.77523408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.080714056999994 meters Centerline goodness : 0.994705 Centerline is valid? [True, True] Translation: X:59.60, Y:10.43, Z:7.78 [[ 7.48384960e-01 -5.93339577e-01 -2.96425537e-01 5.95992827e+01] [ 5.66853738e-01 8.04219163e-01 -1.78629163e-01 1.04285157e+01] [ 3.44378849e-01 -3.43465452e-02 9.38202283e-01 7.78496719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.110714056999996 meters Centerline goodness : 0.994626 Centerline is valid? [True, True] Translation: X:59.62, Y:10.45, Z:7.80 [[ 7.47334031e-01 -5.98840807e-01 -2.87891532e-01 5.96207439e+01] [ 5.67901706e-01 8.00601375e-01 -1.91115387e-01 1.04487235e+01] [ 3.44934049e-01 -2.06670593e-02 9.38399368e-01 7.79808180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.140714057 meters Centerline goodness : 0.994668 Centerline is valid? [True, True] Translation: X:59.65, Y:10.46, Z:7.80 [[ 7.45998425e-01 -5.91839216e-01 -3.05307536e-01 5.96513812e+01] [ 5.69685547e-01 8.04575116e-01 -1.67682021e-01 1.04559395e+01] [ 3.44883643e-01 -4.88387670e-02 9.37374017e-01 7.80094702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.170714057 meters Centerline goodness : 0.995053 Centerline is valid? [True, True] Translation: X:59.66, Y:10.47, Z:7.81 [[ 0.73765979 -0.59298002 -0.32285095 59.65766237] [ 0.57568959 0.80223565 -0.15811216 10.46630365] [ 0.35275989 -0.06922895 0.9331494 7.81142192] [ 0. 0. 0. 1. ]] SLAMing on 63.200714057 meters Centerline goodness : 0.994624 Centerline is valid? [True, True] Translation: X:59.67, Y:10.51, Z:7.84 [[ 7.44220282e-01 -6.15329367e-01 -2.59819055e-01 5.96706234e+01] [ 5.69921977e-01 7.87853501e-01 -2.33400516e-01 1.05065818e+01] [ 3.48317544e-01 2.56248088e-02 9.37026284e-01 7.84475402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.230714057 meters Centerline goodness : 0.994803 Centerline is valid? [True, True] Translation: X:59.71, Y:10.51, Z:7.83 [[ 7.45247644e-01 -5.99110447e-01 -2.92698857e-01 5.97142142e+01] [ 5.71041244e-01 8.00096046e-01 -1.83734087e-01 1.05086573e+01] [ 3.44264210e-01 -3.02157238e-02 9.38386468e-01 7.83201152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.260714056999994 meters Centerline goodness : 0.994836 Centerline is valid? [True, True] Translation: X:59.73, Y:10.50, Z:7.83 [[ 0.73671963 -0.5843782 -0.34021509 59.73404347] [ 0.57752153 0.80547693 -0.13295036 10.50419995] [ 0.3517287 -0.0985344 0.93090166 7.830227 ] [ 0. 0. 0. 1. ]] SLAMing on 63.290714056999995 meters Centerline goodness : 0.995490 Centerline is valid? [True, True] Translation: X:59.73, Y:10.54, Z:7.87 [[ 7.35896710e-01 -6.07686841e-01 -2.98618043e-01 5.97313036e+01] [ 5.76129307e-01 7.93672690e-01 -1.95342477e-01 1.05385642e+01] [ 3.55712038e-01 -2.82907200e-02 9.34167320e-01 7.86581772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.320714056999996 meters Centerline goodness : 0.995316 Centerline is valid? [True, True] Translation: X:59.75, Y:10.55, Z:7.88 [[ 7.36076004e-01 -6.07852097e-01 -2.97838789e-01 5.97523023e+01] [ 5.76427319e-01 7.93550193e-01 -1.94960606e-01 1.05537443e+01] [ 3.54857242e-01 -2.81765910e-02 9.34495809e-01 7.87563685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.350714057 meters Centerline goodness : 0.995415 Centerline is valid? [True, True] Translation: X:59.77, Y:10.57, Z:7.89 [[ 7.36725898e-01 -6.07364817e-01 -2.97225386e-01 5.97728323e+01] [ 5.75986492e-01 7.93937616e-01 -1.94685959e-01 1.05684110e+01] [ 3.54223816e-01 -2.77676191e-02 9.34748334e-01 7.88519258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.380714057 meters Centerline goodness : 0.994918 Centerline is valid? [True, True] Translation: X:59.79, Y:10.58, Z:7.90 [[ 7.37474798e-01 -6.06417234e-01 -2.97302978e-01 5.97935575e+01] [ 5.74926849e-01 7.94678797e-01 -1.94794065e-01 1.05849762e+01] [ 3.54386851e-01 -2.72717502e-02 9.34701135e-01 7.89516254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.410714057 meters Centerline goodness : 0.995163 Centerline is valid? [True, True] Translation: X:59.81, Y:10.60, Z:7.90 [[ 7.37579571e-01 -6.06365423e-01 -2.97148701e-01 5.98148796e+01] [ 5.74856723e-01 7.94723408e-01 -1.94819024e-01 1.06006058e+01] [ 3.54282549e-01 -2.71233964e-02 9.34744990e-01 7.90465915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.440714056999994 meters Centerline goodness : 0.995208 Centerline is valid? [True, True] Translation: X:59.84, Y:10.62, Z:7.91 [[ 7.37513562e-01 -6.06461304e-01 -2.97116867e-01 5.98361198e+01] [ 5.74918020e-01 7.94652528e-01 -1.94927244e-01 1.06162576e+01] [ 3.54320500e-01 -2.70563548e-02 9.34732549e-01 7.91351089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.470714056999995 meters Centerline goodness : 0.995151 Centerline is valid? [True, True] Translation: X:59.86, Y:10.63, Z:7.92 [[ 7.37742131e-01 -6.05901274e-01 -2.97691440e-01 5.98566242e+01] [ 5.74580215e-01 7.95056644e-01 -1.94274316e-01 1.06304396e+01] [ 3.54392613e-01 -2.77232639e-02 9.34685667e-01 7.92203213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.500714056999996 meters Centerline goodness : 0.995560 Centerline is valid? [True, True] Translation: X:59.88, Y:10.65, Z:7.93 [[ 7.36371502e-01 -6.08626547e-01 -2.95517745e-01 5.98791466e+01] [ 5.76108913e-01 7.93075765e-01 -1.97811403e-01 1.06472965e+01] [ 3.54761233e-01 -2.45877272e-02 9.34633571e-01 7.93330884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.530714057 meters Centerline goodness : 0.995098 Centerline is valid? [True, True] Translation: X:59.90, Y:10.66, Z:7.94 [[ 7.35043413e-01 -6.09499720e-01 -2.97020661e-01 5.99011890e+01] [ 5.78104881e-01 7.92282252e-01 -1.95150148e-01 1.06619013e+01] [ 3.54268159e-01 -2.82652632e-02 9.34716613e-01 7.94065059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.560714057 meters Centerline goodness : 0.994899 Centerline is valid? [True, True] Translation: X:59.92, Y:10.68, Z:7.95 [[ 7.33727633e-01 -6.11175889e-01 -2.96829570e-01 5.99220696e+01] [ 5.79919970e-01 7.90964142e-01 -1.95111646e-01 1.06772284e+01] [ 3.54029080e-01 -2.89785888e-02 9.34785351e-01 7.95041657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.590714057 meters Centerline goodness : 0.994947 Centerline is valid? [True, True] Translation: X:59.94, Y:10.69, Z:7.96 [[ 7.32923093e-01 -6.12210384e-01 -2.96685333e-01 5.99423361e+01] [ 5.81019529e-01 7.90149733e-01 -1.95140222e-01 1.06922177e+01] [ 3.53892707e-01 -2.93571975e-02 9.34825175e-01 7.95984369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.620714056999994 meters Centerline goodness : 0.994988 Centerline is valid? [True, True] Translation: X:59.97, Y:10.72, Z:7.98 [[ 7.40401408e-01 -6.21855199e-01 -2.55150674e-01 5.99698583e+01] [ 5.76677715e-01 7.82692533e-01 -2.34169196e-01 1.07231066e+01] [ 3.45323859e-01 2.62394948e-02 9.38116688e-01 7.97971261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.650714056999995 meters Centerline goodness : 0.995012 Centerline is valid? [True, True] Translation: X:60.02, Y:10.72, Z:7.97 [[ 7.41578242e-01 -6.04674960e-01 -2.90568242e-01 6.00156332e+01] [ 5.78092560e-01 7.95743067e-01 -1.80560139e-01 1.07246625e+01] [ 3.40397859e-01 -3.40758685e-02 9.39663840e-01 7.96574468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.680714056999996 meters Centerline goodness : 0.995043 Centerline is valid? [True, True] Translation: X:60.04, Y:10.73, Z:7.97 [[ 0.73763548 -0.59683818 -0.31571835 60.03989097] [ 0.58217651 0.79904229 -0.15033936 10.72929834] [ 0.34200058 -0.07290816 0.93686712 7.96767224] [ 0. 0. 0. 1. ]] SLAMing on 63.710714057 meters Centerline goodness : 0.993938 Centerline is valid? [True, True] Translation: X:60.05, Y:10.75, Z:7.98 [[ 7.39361212e-01 -6.03432925e-01 -2.98686632e-01 6.00493728e+01] [ 5.82798294e-01 7.95707078e-01 -1.64913295e-01 1.07491447e+01] [ 3.37181179e-01 -5.21435660e-02 9.39994628e-01 7.98482708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.740714057 meters Centerline goodness : 0.995148 Centerline is valid? [True, True] Translation: X:60.06, Y:10.77, Z:8.01 [[ 7.33198503e-01 -6.14399946e-01 -2.91432087e-01 6.00639556e+01] [ 5.85068174e-01 7.88381427e-01 -1.90131420e-01 1.07730287e+01] [ 3.46576379e-01 -3.11035660e-02 9.37505937e-01 8.00670432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.770714057 meters Centerline goodness : 0.995148 Centerline is valid? [True, True] Translation: X:60.09, Y:10.79, Z:8.01 [[ 7.32999259e-01 -6.12101514e-01 -2.96721793e-01 6.00896089e+01] [ 5.85599325e-01 7.89770526e-01 -1.82581343e-01 1.07860824e+01] [ 3.46100443e-01 -3.99280927e-02 9.37347444e-01 8.01366696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.800714057 meters Centerline goodness : 0.994911 Centerline is valid? [True, True] Translation: X:60.11, Y:10.80, Z:8.03 [[ 7.32262892e-01 -6.14286898e-01 -2.94011333e-01 6.01109531e+01] [ 5.86463184e-01 7.88260693e-01 -1.86295503e-01 1.08030676e+01] [ 3.46196464e-01 -3.60095386e-02 9.37470704e-01 8.02513059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.830714056999994 meters Centerline goodness : 0.994972 Centerline is valid? [True, True] Translation: X:60.13, Y:10.82, Z:8.03 [[ 7.31504008e-01 -6.14199673e-01 -2.96075410e-01 6.01318290e+01] [ 5.87809679e-01 7.88113980e-01 -1.82636622e-01 1.08181643e+01] [ 3.45516524e-01 -4.04365709e-02 9.37541047e-01 8.03224755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.860714056999996 meters Centerline goodness : 0.994879 Centerline is valid? [True, True] Translation: X:60.15, Y:10.83, Z:8.04 [[ 7.30660501e-01 -6.14941366e-01 -2.96618188e-01 6.01523001e+01] [ 5.88487557e-01 7.87515607e-01 -1.83034326e-01 1.08335546e+01] [ 3.46146831e-01 -4.08201600e-02 9.37291890e-01 8.04191800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.890714057 meters Centerline goodness : 0.994596 Centerline is valid? [True, True] Translation: X:60.17, Y:10.85, Z:8.05 [[ 7.29430539e-01 -6.17563148e-01 -2.94188455e-01 6.01742328e+01] [ 5.89446811e-01 7.85677124e-01 -1.87786883e-01 1.08522026e+01] [ 3.47107398e-01 -3.64309593e-02 9.37117517e-01 8.05284210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.920714057 meters Centerline goodness : 0.994528 Centerline is valid? [True, True] Translation: X:60.20, Y:10.86, Z:8.06 [[ 7.29908404e-01 -6.14860916e-01 -2.98629830e-01 6.01966366e+01] [ 5.89436318e-01 7.87391650e-01 -1.80497137e-01 1.08644793e+01] [ 3.46119270e-01 -4.42768901e-02 9.37145137e-01 8.05859815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.950714057 meters Centerline goodness : 0.994926 Centerline is valid? [True, True] Translation: X:60.22, Y:10.88, Z:8.07 [[ 7.28873472e-01 -6.17141099e-01 -2.96446161e-01 6.02164618e+01] [ 5.90088850e-01 7.85834151e-01 -1.85094126e-01 1.08817074e+01] [ 3.47186709e-01 -4.00193759e-02 9.36941748e-01 8.07058348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.980714057 meters Centerline goodness : 0.994031 Centerline is valid? [True, True] Translation: X:60.24, Y:10.89, Z:8.07 [[ 7.32726394e-01 -6.11073309e-01 -2.99501992e-01 6.02375098e+01] [ 5.89766394e-01 7.89788672e-01 -1.68551044e-01 1.08911541e+01] [ 3.39540325e-01 -5.31344111e-02 9.39089507e-01 8.07444691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.010714057 meters Centerline goodness : 0.994695 Centerline is valid? [True, True] Translation: X:60.25, Y:10.91, Z:8.09 [[ 7.27754087e-01 -6.20965374e-01 -2.91163172e-01 6.02511954e+01] [ 5.90402787e-01 7.83257376e-01 -1.94762504e-01 1.09144092e+01] [ 3.48996473e-01 -3.01643400e-02 9.36638444e-01 8.09486227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.040714057 meters Centerline goodness : 0.994559 Centerline is valid? [True, True] Translation: X:60.27, Y:10.92, Z:8.10 [[ 7.23549743e-01 -6.15246513e-01 -3.12965649e-01 6.02681744e+01] [ 5.93264953e-01 7.86047869e-01 -1.73682019e-01 1.09226669e+01] [ 3.52863238e-01 -6.00039711e-02 9.33748927e-01 8.09788012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.070714057 meters Centerline goodness : 0.994616 Centerline is valid? [True, True] Translation: X:60.28, Y:10.94, Z:8.12 [[ 7.22584785e-01 -6.24431580e-01 -2.96574493e-01 6.02791945e+01] [ 5.92970005e-01 7.80402774e-01 -1.98388717e-01 1.09445342e+01] [ 3.55327738e-01 -3.25071102e-02 9.34176368e-01 8.11828186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.100714057 meters Centerline goodness : 0.994517 Centerline is valid? [True, True] Translation: X:60.30, Y:10.96, Z:8.13 [[ 7.22332209e-01 -6.24663196e-01 -2.96701989e-01 6.02998874e+01] [ 5.93158687e-01 7.80215062e-01 -1.98562907e-01 1.09589094e+01] [ 3.55526301e-01 -3.25629788e-02 9.34098871e-01 8.12758679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.130714057 meters Centerline goodness : 0.994347 Centerline is valid? [True, True] Translation: X:60.33, Y:10.98, Z:8.14 [[ 7.25902821e-01 -6.29462101e-01 -2.77204902e-01 6.03265403e+01] [ 5.91297546e-01 7.76998369e-01 -2.15964686e-01 1.09815925e+01] [ 3.51329342e-01 -7.14120389e-03 9.36224704e-01 8.14194375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.160714057 meters Centerline goodness : 0.995182 Centerline is valid? [True, True] Translation: X:60.36, Y:10.99, Z:8.14 [[ 7.26020150e-01 -6.18788227e-01 -2.99993122e-01 6.03598342e+01] [ 5.92409189e-01 7.84321220e-01 -1.84096649e-01 1.09872274e+01] [ 3.49207810e-01 -4.40608052e-02 9.36008841e-01 8.13777682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.19071405700001 meters Centerline goodness : 0.994243 Centerline is valid? [True, True] Translation: X:60.38, Y:11.01, Z:8.15 [[ 7.26616021e-01 -6.23172908e-01 -2.89283053e-01 6.03792034e+01] [ 5.91291802e-01 7.81626198e-01 -1.98581196e-01 1.10085254e+01] [ 3.49861634e-01 -2.67584193e-02 9.36419150e-01 8.15243701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.22071405700001 meters Centerline goodness : 0.994580 Centerline is valid? [True, True] Translation: X:60.40, Y:11.02, Z:8.16 [[ 7.26018462e-01 -6.22185641e-01 -2.92886020e-01 6.04043195e+01] [ 5.91804231e-01 7.82216267e-01 -1.94693254e-01 1.10234039e+01] [ 3.50235556e-01 -3.19802888e-02 9.36115546e-01 8.16051090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.25071405700001 meters Centerline goodness : 0.994864 Centerline is valid? [True, True] Translation: X:60.43, Y:11.04, Z:8.17 [[ 7.30417900e-01 -6.22923939e-01 -2.80099015e-01 6.04280870e+01] [ 5.89148473e-01 7.82103523e-01 -2.03022551e-01 1.10434133e+01] [ 3.45534034e-01 -1.67286022e-02 9.38257100e-01 8.17100632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.280714057 meters Centerline goodness : 0.994670 Centerline is valid? [True, True] Translation: X:60.46, Y:11.05, Z:8.17 [[ 7.32830759e-01 -6.09946973e-01 -3.01535684e-01 6.04619639e+01] [ 5.90408972e-01 7.90315503e-01 -1.63764012e-01 1.10483919e+01] [ 3.38195690e-01 -5.80180682e-02 9.39285675e-01 8.16810197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.310714057 meters Centerline goodness : 0.994514 Centerline is valid? [True, True] Translation: X:60.48, Y:11.06, Z:8.18 [[ 0.72873877 -0.60951229 -0.31214512 60.47613985] [ 0.59241332 0.78976971 -0.15909199 11.05902848] [ 0.34349128 -0.06898243 0.93661901 8.18008919] [ 0. 0. 0. 1. ]] SLAMing on 64.340714057 meters Centerline goodness : 0.995353 Centerline is valid? [True, True] Translation: X:60.48, Y:11.08, Z:8.20 [[ 7.21131721e-01 -6.18654402e-01 -3.11826507e-01 6.04794334e+01] [ 5.93402950e-01 7.83861383e-01 -1.82850410e-01 1.10807433e+01] [ 3.57549968e-01 -5.31795383e-02 9.32378655e-01 8.20313997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.370714057 meters Centerline goodness : 0.995596 Centerline is valid? [True, True] Translation: X:60.49, Y:11.12, Z:8.24 [[ 7.25799563e-01 -6.37452301e-01 -2.58591490e-01 6.04937789e+01] [ 5.88397851e-01 7.70020313e-01 -2.46691479e-01 1.11189642e+01] [ 3.56374751e-01 2.68938904e-02 9.33955971e-01 8.23568073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.400714057 meters Centerline goodness : 0.994797 Centerline is valid? [True, True] Translation: X:60.55, Y:11.12, Z:8.22 [[ 7.35222476e-01 -6.15977646e-01 -2.82877095e-01 6.05469163e+01] [ 5.86416394e-01 7.87335683e-01 -1.90311156e-01 1.11242021e+01] [ 3.39946648e-01 -2.59627261e-02 9.40086280e-01 8.21855351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.430714057 meters Centerline goodness : 0.992691 Centerline is valid? [True, True] Translation: X:60.57, Y:11.12, Z:8.22 [[ 0.72761996 -0.60383548 -0.32550254 60.5714965 ] [ 0.58769818 0.79346049 -0.15821281 11.12312711] [ 0.35380791 -0.07617845 0.93221071 8.21679096] [ 0. 0. 0. 1. ]] SLAMing on 64.460714057 meters Centerline goodness : 0.994583 Centerline is valid? [True, True] Translation: X:60.58, Y:11.15, Z:8.24 [[ 7.27725984e-01 -6.15116234e-01 -3.03392340e-01 6.05755618e+01] [ 5.84410888e-01 7.87645799e-01 -1.95135874e-01 1.11468790e+01] [ 3.58996946e-01 -3.53003410e-02 9.32670938e-01 8.24446584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.490714057 meters Centerline goodness : 0.994665 Centerline is valid? [True, True] Translation: X:60.60, Y:11.19, Z:8.27 [[ 7.38966752e-01 -6.26754846e-01 -2.47197294e-01 6.06024979e+01] [ 5.76987988e-01 7.78151564e-01 -2.48122963e-01 1.11873059e+01] [ 3.47869230e-01 4.07247507e-02 9.36658152e-01 8.26996457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.520714057 meters Centerline goodness : 0.993703 Centerline is valid? [True, True] Translation: X:60.65, Y:11.16, Z:8.23 [[ 0.73046096 -0.58727468 -0.34861905 60.64520131] [ 0.58361479 0.80188175 -0.12798217 11.15901921] [ 0.35471195 -0.10997326 0.9284855 8.23495878] [ 0. 0. 0. 1. ]] SLAMing on 64.55071405700001 meters Centerline goodness : 0.993855 Centerline is valid? [True, True] Translation: X:60.64, Y:11.20, Z:8.28 [[ 7.29153824e-01 -6.14945938e-01 -3.00293513e-01 6.06359834e+01] [ 5.81223305e-01 7.88113917e-01 -2.02622612e-01 1.11967003e+01] [ 3.61267449e-01 -2.67945360e-02 9.32077187e-01 8.27906046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.58071405700001 meters Centerline goodness : 0.994105 Centerline is valid? [True, True] Translation: X:60.67, Y:11.23, Z:8.30 [[ 7.38874695e-01 -6.26194579e-01 -2.48886590e-01 6.06668220e+01] [ 5.75345176e-01 7.78531262e-01 -2.50732931e-01 1.12338572e+01] [ 3.50773593e-01 4.20645192e-02 9.35515079e-01 8.30185477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.61071405700001 meters Centerline goodness : 0.993565 Centerline is valid? [True, True] Translation: X:60.71, Y:11.21, Z:8.27 [[ 0.72980829 -0.5873062 -0.34993041 60.70985494] [ 0.58367512 0.80177714 -0.12836192 11.20510325] [ 0.35595395 -0.11056607 0.92793961 8.26514456] [ 0. 0. 0. 1. ]] SLAMing on 64.64071405700001 meters Centerline goodness : 0.993755 Centerline is valid? [True, True] Translation: X:60.71, Y:11.26, Z:8.32 [[ 7.34894147e-01 -6.24254636e-01 -2.65022155e-01 6.07064240e+01] [ 5.77730019e-01 7.80928208e-01 -2.37442961e-01 1.12553039e+01] [ 3.55188146e-01 2.13841873e-02 9.34550211e-01 8.31931643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.670714057 meters Centerline goodness : 0.993250 Centerline is valid? [True, True] Translation: X:60.75, Y:11.24, Z:8.29 [[ 0.73698422 -0.59831703 -0.31443757 60.75195701] [ 0.5792326 0.79882219 -0.16239674 11.24492 ] [ 0.34834445 -0.06244866 0.93528408 8.29492413] [ 0. 0. 0. 1. ]] SLAMing on 64.700714057 meters Centerline goodness : 0.993739 Centerline is valid? [True, True] Translation: X:60.76, Y:11.27, Z:8.33 [[ 7.30914506e-01 -6.14937479e-01 -2.95999800e-01 6.07591455e+01] [ 5.81606139e-01 7.88178082e-01 -2.01269996e-01 1.12711807e+01] [ 3.57069018e-01 -2.50441412e-02 9.33742206e-01 8.32540179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.730714057 meters Centerline goodness : 0.993445 Centerline is valid? [True, True] Translation: X:60.79, Y:11.27, Z:8.32 [[ 7.34529825e-01 -6.03348888e-01 -3.10541554e-01 6.07878409e+01] [ 5.83066989e-01 7.95282328e-01 -1.66008750e-01 1.12730444e+01] [ 3.47129405e-01 -5.91281504e-02 9.35951408e-01 8.32192100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.760714057 meters Centerline goodness : 0.993802 Centerline is valid? [True, True] Translation: X:60.79, Y:11.31, Z:8.36 [[ 7.29367276e-01 -6.23406908e-01 -2.81757349e-01 6.07941820e+01] [ 5.82645973e-01 7.81893775e-01 -2.21733611e-01 1.13050628e+01] [ 3.58534582e-01 -2.43954508e-03 9.33513257e-01 8.35516306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.790714057 meters Centerline goodness : 0.994453 Centerline is valid? [True, True] Translation: X:60.83, Y:11.31, Z:8.35 [[ 7.28461466e-01 -6.15821033e-01 -3.00180526e-01 6.08271758e+01] [ 5.84320802e-01 7.87241100e-01 -1.97029568e-01 1.13125817e+01] [ 3.57649399e-01 -3.18732782e-02 9.33311846e-01 8.35331961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.820714057 meters Centerline goodness : 0.994194 Centerline is valid? [True, True] Translation: X:60.85, Y:11.32, Z:8.36 [[ 7.27923837e-01 -6.15301662e-01 -3.02540498e-01 6.08517393e+01] [ 5.84919677e-01 7.87488907e-01 -1.94242615e-01 1.13242350e+01] [ 3.57765090e-01 -3.55680611e-02 9.33133995e-01 8.36154503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.850714057 meters Centerline goodness : 0.994080 Centerline is valid? [True, True] Translation: X:60.88, Y:11.34, Z:8.37 [[ 7.26295125e-01 -6.16590042e-01 -3.03829082e-01 6.08755399e+01] [ 5.86811008e-01 7.86364384e-01 -1.93090383e-01 1.13363343e+01] [ 3.57977977e-01 -3.80496459e-02 9.32954443e-01 8.37084064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.880714057 meters Centerline goodness : 0.994659 Centerline is valid? [True, True] Translation: X:60.90, Y:11.35, Z:8.38 [[ 7.25179176e-01 -6.19708343e-01 -3.00127861e-01 6.08965180e+01] [ 5.87969614e-01 7.84157250e-01 -1.98466976e-01 1.13519361e+01] [ 3.58339079e-01 -3.25419449e-02 9.33024183e-01 8.38271453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.910714057 meters Centerline goodness : 0.993636 Centerline is valid? [True, True] Translation: X:60.93, Y:11.36, Z:8.38 [[ 7.29008551e-01 -6.10942852e-01 -3.08699474e-01 6.09254860e+01] [ 5.88641228e-01 7.89709942e-01 -1.72799631e-01 1.13573363e+01] [ 3.49353743e-01 -5.57408286e-02 9.35331451e-01 8.38336717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.94071405700001 meters Centerline goodness : 0.995217 Centerline is valid? [True, True] Translation: X:60.94, Y:11.39, Z:8.41 [[ 7.23675889e-01 -6.28672923e-01 -2.84716639e-01 6.09358342e+01] [ 5.89302712e-01 7.77615697e-01 -2.19171488e-01 1.13863071e+01] [ 3.59187308e-01 -9.17516590e-03 9.33220389e-01 8.41231913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.97071405700001 meters Centerline goodness : 0.995091 Centerline is valid? [True, True] Translation: X:60.97, Y:11.38, Z:8.40 [[ 0.71657778 -0.61092051 -0.33658938 60.96624861] [ 0.59974087 0.78603476 -0.1498674 11.37675594] [ 0.35612803 -0.09447476 0.92964905 8.39960993] [ 0. 0. 0. 1. ]] SLAMing on 65.00071405700001 meters Centerline goodness : 0.995091 Centerline is valid? [True, True] Translation: X:60.97, Y:11.41, Z:8.44 [[ 7.20636846e-01 -6.34833914e-01 -2.78690577e-01 6.09749141e+01] [ 5.94353706e-01 7.72633379e-01 -2.23117309e-01 1.14078870e+01] [ 3.56968077e-01 -4.85422327e-03 9.34103971e-01 8.43819048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.030714057 meters Centerline goodness : 0.995284 Centerline is valid? [True, True] Translation: X:61.00, Y:11.42, Z:8.44 [[ 7.10666514e-01 -6.34070426e-01 -3.04807809e-01 6.09962626e+01] [ 6.00006573e-01 7.72479947e-01 -2.08006837e-01 1.14169674e+01] [ 3.67348904e-01 -3.50631956e-02 9.29422054e-01 8.44313350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.060714057 meters Centerline goodness : 0.994705 Centerline is valid? [True, True] Translation: X:61.03, Y:11.44, Z:8.46 [[ 7.17151090e-01 -6.42715505e-01 -2.69464456e-01 6.10263574e+01] [ 5.96094396e-01 7.66011994e-01 -2.40618153e-01 1.14423153e+01] [ 3.61062024e-01 1.19333187e-02 9.32465448e-01 8.46077996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.090714057 meters Centerline goodness : 0.995404 Centerline is valid? [True, True] Translation: X:61.07, Y:11.43, Z:8.44 [[ 0.70817599 -0.61929989 -0.33904927 61.06526098] [ 0.605127 0.77979791 -0.16042608 11.42696254] [ 0.36374177 -0.09155797 0.92698925 8.44236453] [ 0. 0. 0. 1. ]] SLAMing on 65.120714057 meters Centerline goodness : 0.995356 Centerline is valid? [True, True] Translation: X:61.07, Y:11.45, Z:8.47 [[ 7.05638557e-01 -6.39128398e-01 -3.05923384e-01 6.10679261e+01] [ 6.04532338e-01 7.68240907e-01 -2.10586233e-01 1.14542667e+01] [ 3.69614500e-01 -3.63428126e-02 9.28474190e-01 8.47372407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.150714057 meters Centerline goodness : 0.995315 Centerline is valid? [True, True] Translation: X:61.09, Y:11.46, Z:8.48 [[ 7.04051649e-01 -6.40884735e-01 -3.05905266e-01 6.10931800e+01] [ 6.06393725e-01 7.66737824e-01 -2.10712505e-01 1.14643346e+01] [ 3.69591566e-01 -3.71465470e-02 9.28451511e-01 8.48358039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.180714057 meters Centerline goodness : 0.994664 Centerline is valid? [True, True] Translation: X:61.13, Y:11.49, Z:8.50 [[ 7.12604482e-01 -6.50076036e-01 -2.63810539e-01 6.11250865e+01] [ 6.01198460e-01 7.59653594e-01 -2.47965377e-01 1.14916279e+01] [ 3.61600973e-01 1.80987497e-02 9.32157268e-01 8.50155795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.210714057 meters Centerline goodness : 0.994296 Centerline is valid? [True, True] Translation: X:61.17, Y:11.48, Z:8.48 [[ 0.71298475 -0.62647825 -0.31492498 61.1743326 ] [ 0.60381818 0.77689392 -0.17843611 11.48160619] [ 0.35644964 -0.06293521 0.93219248 8.48435953] [ 0. 0. 0. 1. ]] SLAMing on 65.240714057 meters Centerline goodness : 0.994942 Centerline is valid? [True, True] Translation: X:61.19, Y:11.49, Z:8.50 [[ 7.11133861e-01 -6.31501201e-01 -3.09022434e-01 6.11942268e+01] [ 6.04420536e-01 7.73655823e-01 -1.90085462e-01 1.14942534e+01] [ 3.59116204e-01 -5.16032966e-02 9.31865147e-01 8.50016205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.270714057 meters Centerline goodness : 0.993561 Centerline is valid? [True, True] Translation: X:61.22, Y:11.50, Z:8.50 [[ 0.71498192 -0.62345953 -0.31638437 61.21644261] [ 0.60298211 0.77892849 -0.17228753 11.49840326] [ 0.3538551 -0.06759165 0.93285472 8.50430878] [ 0. 0. 0. 1. ]] SLAMing on 65.30071405700001 meters Centerline goodness : 0.993226 Centerline is valid? [True, True] Translation: X:61.23, Y:11.52, Z:8.53 [[ 7.15164445e-01 -6.30790846e-01 -3.01069303e-01 6.12305956e+01] [ 6.00776487e-01 7.74901678e-01 -1.96456106e-01 1.15163070e+01] [ 3.57221822e-01 -4.03769359e-02 9.33146437e-01 8.52518887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.33071405700001 meters Centerline goodness : 0.993504 Centerline is valid? [True, True] Translation: X:61.25, Y:11.53, Z:8.54 [[ 7.10674079e-01 -6.35197282e-01 -3.02434732e-01 6.12541716e+01] [ 6.01439847e-01 7.71573497e-01 -2.07230428e-01 1.15336694e+01] [ 3.64982828e-01 -3.46230052e-02 9.30370240e-01 8.54287036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.36071405700001 meters Centerline goodness : 0.991299 Centerline is valid? [True, True] Translation: X:61.28, Y:11.54, Z:8.54 [[ 7.16567932e-01 -6.25052175e-01 -3.09580647e-01 6.12793376e+01] [ 5.98391986e-01 7.78927404e-01 -1.87614312e-01 1.15383250e+01] [ 3.58409583e-01 -5.08121789e-02 9.32180612e-01 8.54404336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.39071405700001 meters Centerline goodness : 0.990882 Centerline is valid? [True, True] Translation: X:61.30, Y:11.56, Z:8.57 [[ 7.13385469e-01 -6.33646933e-01 -2.99287047e-01 6.13008230e+01] [ 5.97571311e-01 7.73142438e-01 -2.12507175e-01 1.15586667e+01] [ 3.66046036e-01 -2.72458222e-02 9.30197809e-01 8.56537319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.420714057 meters Centerline goodness : 0.991746 Centerline is valid? [True, True] Translation: X:61.33, Y:11.57, Z:8.57 [[ 7.15323656e-01 -6.29325206e-01 -3.03746360e-01 6.13297191e+01] [ 5.96422523e-01 7.76339755e-01 -2.03903799e-01 1.15698902e+01] [ 3.64132175e-01 -3.53039595e-02 9.30677919e-01 8.57114333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.450714057 meters Centerline goodness : 0.991284 Centerline is valid? [True, True] Translation: X:61.36, Y:11.57, Z:8.58 [[ 7.16590402e-01 -6.20518290e-01 -3.18520403e-01 6.13563927e+01] [ 5.93745238e-01 7.82316438e-01 -1.88275285e-01 1.15732142e+01] [ 3.66012005e-01 -5.42037107e-02 9.29030231e-01 8.57831515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.480714057 meters Centerline goodness : 0.991999 Centerline is valid? [True, True] Translation: X:61.36, Y:11.59, Z:8.59 [[ 7.13819973e-01 -6.27963941e-01 -3.10036021e-01 6.13599729e+01] [ 5.95170462e-01 7.77270030e-01 -2.04018191e-01 1.15925145e+01] [ 3.69097774e-01 -3.88920223e-02 9.28576461e-01 8.59168688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.510714057 meters Centerline goodness : 0.991166 Centerline is valid? [True, True] Translation: X:61.39, Y:11.61, Z:8.61 [[ 7.18571552e-01 -6.25628540e-01 -3.03716733e-01 6.13930092e+01] [ 5.89960053e-01 7.79611595e-01 -2.10125905e-01 1.16053217e+01] [ 3.68241849e-01 -2.81902423e-02 9.29302561e-01 8.60655638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.540714057 meters Centerline goodness : 0.992093 Centerline is valid? [True, True] Translation: X:61.41, Y:11.62, Z:8.61 [[ 7.17820841e-01 -6.23891596e-01 -3.09018636e-01 6.14071085e+01] [ 5.90419345e-01 7.80703950e-01 -2.04710380e-01 1.16165005e+01] [ 3.68969155e-01 -3.55052037e-02 9.28763233e-01 8.61159060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.570714057 meters Centerline goodness : 0.993404 Centerline is valid? [True, True] Translation: X:61.43, Y:11.63, Z:8.62 [[ 7.19239512e-01 -6.24928993e-01 -3.03575819e-01 6.14261338e+01] [ 5.88346447e-01 7.80250627e-01 -2.12267327e-01 1.16311027e+01] [ 3.69517230e-01 -2.59367061e-02 9.28861833e-01 8.62435844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.600714057 meters Centerline goodness : 0.992052 Centerline is valid? [True, True] Translation: X:61.45, Y:11.64, Z:8.63 [[ 7.21759951e-01 -6.22183831e-01 -3.03232343e-01 6.14509827e+01] [ 5.85430088e-01 7.82489476e-01 -2.12089209e-01 1.16420074e+01] [ 3.69234593e-01 -2.44438395e-02 9.29014700e-01 8.63323816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.630714057 meters Centerline goodness : 0.992261 Centerline is valid? [True, True] Translation: X:61.47, Y:11.65, Z:8.64 [[ 7.22823302e-01 -6.20979634e-01 -3.03167888e-01 6.14738595e+01] [ 5.84086626e-01 7.83468096e-01 -2.12180478e-01 1.16548473e+01] [ 3.69282124e-01 -2.37073157e-02 9.29014896e-01 8.64310492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.660714057 meters Centerline goodness : 0.992626 Centerline is valid? [True, True] Translation: X:61.50, Y:11.67, Z:8.65 [[ 7.24277183e-01 -6.19473768e-01 -3.02778488e-01 6.14960484e+01] [ 5.82497469e-01 7.84686556e-01 -2.12046477e-01 1.16669208e+01] [ 3.68943439e-01 -2.27872784e-02 9.29172470e-01 8.65275493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.69071405700001 meters Centerline goodness : 0.992626 Centerline is valid? [True, True] Translation: X:61.52, Y:11.68, Z:8.66 [[ 7.24114845e-01 -6.19677800e-01 -3.02749261e-01 6.15176711e+01] [ 5.82701176e-01 7.84524018e-01 -2.12088198e-01 1.16821933e+01] [ 3.68940415e-01 -2.28361381e-02 9.29172471e-01 8.66304269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.72071405700001 meters Centerline goodness : 0.992078 Centerline is valid? [True, True] Translation: X:61.54, Y:11.69, Z:8.67 [[ 7.24999578e-01 -6.18994611e-01 -3.02028613e-01 6.15411446e+01] [ 5.82092487e-01 7.85078030e-01 -2.11709289e-01 1.16942615e+01] [ 3.68162938e-01 -2.23194413e-02 9.29493353e-01 8.67263640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.75071405700001 meters Centerline goodness : 0.992276 Centerline is valid? [True, True] Translation: X:61.56, Y:11.71, Z:8.68 [[ 7.25052829e-01 -6.19124983e-01 -3.01633303e-01 6.15637007e+01] [ 5.82279689e-01 7.84977542e-01 -2.11567061e-01 1.17071885e+01] [ 3.67761822e-01 -2.22376494e-02 9.29654091e-01 8.68263283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.780714057 meters Centerline goodness : 0.991998 Centerline is valid? [True, True] Translation: X:61.59, Y:11.72, Z:8.69 [[ 7.24808267e-01 -6.19686841e-01 -3.01066763e-01 6.15877367e+01] [ 5.82977439e-01 7.84530571e-01 -2.11303312e-01 1.17179676e+01] [ 3.67137961e-01 -2.23607428e-02 9.29897691e-01 8.69245357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.810714057 meters Centerline goodness : 0.992013 Centerline is valid? [True, True] Translation: X:61.61, Y:11.73, Z:8.70 [[ 7.24037957e-01 -6.20583712e-01 -3.01072905e-01 6.16105533e+01] [ 5.83892704e-01 7.83811550e-01 -2.11444471e-01 1.17312777e+01] [ 3.67203415e-01 -2.27004497e-02 9.29863615e-01 8.70256198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.840714057 meters Centerline goodness : 0.991990 Centerline is valid? [True, True] Translation: X:61.65, Y:11.74, Z:8.72 [[ 7.27635777e-01 -6.17950873e-01 -2.97796734e-01 6.16477799e+01] [ 5.80484288e-01 7.86007918e-01 -2.12672387e-01 1.17438506e+01] [ 3.65491678e-01 -1.81182879e-02 9.30638255e-01 8.71663356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.870714057 meters Centerline goodness : 0.993035 Centerline is valid? [True, True] Translation: X:61.66, Y:11.75, Z:8.72 [[ 7.21745408e-01 -6.19217436e-01 -3.09278729e-01 6.16618076e+01] [ 5.87822471e-01 7.84271705e-01 -1.98450587e-01 1.17530364e+01] [ 3.65442620e-01 -3.85701871e-02 9.30034425e-01 8.71864185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.900714057 meters Centerline goodness : 0.993480 Centerline is valid? [True, True] Translation: X:61.68, Y:11.77, Z:8.73 [[ 7.21211743e-01 -6.24647383e-01 -2.99448276e-01 6.16785432e+01] [ 5.88465755e-01 7.80534368e-01 -2.10888966e-01 1.17703795e+01] [ 3.65460911e-01 -2.41194572e-02 9.30514145e-01 8.73294163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.930714057 meters Centerline goodness : 0.992575 Centerline is valid? [True, True] Translation: X:61.70, Y:11.78, Z:8.74 [[ 7.20391913e-01 -6.25687006e-01 -2.99251169e-01 6.17003456e+01] [ 5.89616133e-01 7.79686947e-01 -2.10810533e-01 1.17841134e+01] [ 3.65223642e-01 -2.45771140e-02 9.30595324e-01 8.74354665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.960714057 meters Centerline goodness : 0.993694 Centerline is valid? [True, True] Translation: X:61.73, Y:11.79, Z:8.75 [[ 7.18937660e-01 -6.22974322e-01 -3.08272013e-01 6.17314472e+01] [ 5.91859558e-01 7.81230069e-01 -1.98448592e-01 1.17933102e+01] [ 3.64459744e-01 -3.97815708e-02 9.30369025e-01 8.75352270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.990714057 meters Centerline goodness : 0.992106 Centerline is valid? [True, True] Translation: X:61.74, Y:11.81, Z:8.77 [[ 7.18847753e-01 -6.30641754e-01 -2.92487412e-01 6.17433784e+01] [ 5.91732478e-01 7.75911434e-01 -2.18664403e-01 1.18137201e+01] [ 3.64843229e-01 -1.58878865e-02 9.30933399e-01 8.76621635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.020714057 meters Centerline goodness : 0.991517 Centerline is valid? [True, True] Translation: X:61.77, Y:11.82, Z:8.77 [[ 7.18488661e-01 -6.22759343e-01 -3.09749647e-01 6.17731670e+01] [ 5.93473278e-01 7.81146455e-01 -1.93906379e-01 1.18169121e+01] [ 3.62716848e-01 -4.45086036e-02 9.30835900e-01 8.77064850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.05071405700001 meters Centerline goodness : 0.993639 Centerline is valid? [True, True] Translation: X:61.78, Y:11.85, Z:8.79 [[ 7.15732370e-01 -6.37688784e-01 -2.84745833e-01 6.17846122e+01] [ 5.95420235e-01 7.70270095e-01 -2.28382847e-01 1.18454203e+01] [ 3.64968380e-01 -6.08243436e-03 9.31000046e-01 8.78950708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.08071405700001 meters Centerline goodness : 0.991656 Centerline is valid? [True, True] Translation: X:61.83, Y:11.87, Z:8.80 [[ 7.24733879e-01 -6.40223863e-01 -2.54704162e-01 6.18251794e+01] [ 5.90642150e-01 7.67606047e-01 -2.48842936e-01 1.18714813e+01] [ 3.54827641e-01 2.99058927e-02 9.34453307e-01 8.79895959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.11071405700001 meters Centerline goodness : 0.991756 Centerline is valid? [True, True] Translation: X:61.86, Y:11.85, Z:8.78 [[ 0.71541845 -0.60970641 -0.34122505 61.85914531] [ 0.59933917 0.78654039 -0.14881795 11.84937821] [ 0.35912254 -0.09804243 0.92812644 8.78469585] [ 0. 0. 0. 1. ]] SLAMing on 66.14071405700001 meters Centerline goodness : 0.992535 Centerline is valid? [True, True] Translation: X:61.86, Y:11.88, Z:8.81 [[ 7.13399002e-01 -6.34106315e-01 -2.98280147e-01 6.18565106e+01] [ 5.98393388e-01 7.72755495e-01 -2.11599380e-01 1.18845278e+01] [ 3.64674125e-01 -2.75340815e-02 9.30728025e-01 8.81402616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.170714057 meters Centerline goodness : 0.991747 Centerline is valid? [True, True] Translation: X:61.88, Y:11.90, Z:8.82 [[ 7.13085332e-01 -6.34398499e-01 -2.98408869e-01 6.18769640e+01] [ 5.98623255e-01 7.72513972e-01 -2.11830974e-01 1.18992394e+01] [ 3.64910272e-01 -2.75809281e-02 9.30634077e-01 8.82401066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.200714057 meters Centerline goodness : 0.992528 Centerline is valid? [True, True] Translation: X:61.90, Y:11.91, Z:8.83 [[ 7.12841881e-01 -6.34712363e-01 -2.98323097e-01 6.18978910e+01] [ 5.98946786e-01 7.72253550e-01 -2.11866002e-01 1.19144955e+01] [ 3.64855041e-01 -2.76527003e-02 9.30653602e-01 8.83400255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.230714057 meters Centerline goodness : 0.991577 Centerline is valid? [True, True] Translation: X:61.92, Y:11.93, Z:8.84 [[ 7.12901832e-01 -6.34455444e-01 -2.98726075e-01 6.19181659e+01] [ 5.98514827e-01 7.72471876e-01 -2.12290375e-01 1.19292859e+01] [ 3.65446275e-01 -2.74497884e-02 9.30427605e-01 8.84411314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.260714057 meters Centerline goodness : 0.992305 Centerline is valid? [True, True] Translation: X:61.94, Y:11.94, Z:8.85 [[ 7.13984674e-01 -6.33226639e-01 -2.98747232e-01 6.19380344e+01] [ 5.97154599e-01 7.73503235e-01 -2.12365558e-01 1.19439683e+01] [ 3.65557479e-01 -2.67725299e-02 9.30403655e-01 8.85431847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.290714057 meters Centerline goodness : 0.992875 Centerline is valid? [True, True] Translation: X:61.96, Y:11.96, Z:8.86 [[ 7.13998709e-01 -6.33041481e-01 -2.99105879e-01 6.19590735e+01] [ 5.96841275e-01 7.73658489e-01 -2.12680594e-01 1.19597467e+01] [ 3.66041441e-01 -2.66650643e-02 9.30216447e-01 8.86479818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.320714057 meters Centerline goodness : 0.991932 Centerline is valid? [True, True] Translation: X:61.99, Y:11.97, Z:8.87 [[ 7.13994475e-01 -6.30251114e-01 -3.04951510e-01 6.19852862e+01] [ 5.96944557e-01 7.75580106e-01 -2.05262502e-01 1.19740003e+01] [ 3.65881244e-01 -3.54828520e-02 9.29984883e-01 8.87470941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.350714057 meters Centerline goodness : 0.984653 Centerline is valid? [True, True] Translation: X:62.00, Y:11.99, Z:8.88 [[ 7.22301860e-01 -6.29923780e-01 -2.85440106e-01 6.19972174e+01] [ 5.92964507e-01 7.76506236e-01 -2.13145862e-01 1.19909442e+01] [ 3.55911670e-01 -1.53001992e-02 9.34394342e-01 8.88103053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.380714057 meters Centerline goodness : 0.992348 Centerline is valid? [True, True] Translation: X:62.02, Y:12.01, Z:8.90 [[ 7.18170265e-01 -6.28974553e-01 -2.97695284e-01 6.20215646e+01] [ 5.90103363e-01 7.77199594e-01 -2.18492133e-01 1.20084476e+01] [ 3.68794646e-01 -1.87564354e-02 9.29321637e-01 8.90063873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.410714057 meters Centerline goodness : 0.993583 Centerline is valid? [True, True] Translation: X:62.04, Y:12.02, Z:8.91 [[ 7.20717470e-01 -6.24684630e-01 -3.00558550e-01 6.20420308e+01] [ 5.87594321e-01 7.80541503e-01 -2.13278869e-01 1.20232850e+01] [ 3.67830453e-01 -2.28926904e-02 9.29611038e-01 8.90968505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.44071405700001 meters Centerline goodness : 0.990191 Centerline is valid? [True, True] Translation: X:62.07, Y:12.04, Z:8.92 [[ 7.32968494e-01 -6.23480083e-01 -2.72084128e-01 6.20732868e+01] [ 5.80696195e-01 7.81793175e-01 -2.27137315e-01 1.20449060e+01] [ 3.54329106e-01 8.48627743e-03 9.35082279e-01 8.92106254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.47071405700001 meters Centerline goodness : 0.990862 Centerline is valid? [True, True] Translation: X:62.11, Y:12.06, Z:8.92 [[ 7.35442069e-01 -6.12757838e-01 -2.89227930e-01 6.21072876e+01] [ 5.79098261e-01 7.90030325e-01 -2.01239385e-01 1.20553550e+01] [ 3.51809846e-01 -1.94914814e-02 9.35868535e-01 8.92388715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.50071405700001 meters Centerline goodness : 0.990813 Centerline is valid? [True, True] Translation: X:62.13, Y:12.08, Z:8.93 [[ 7.38158295e-01 -6.14659114e-01 -2.78058455e-01 6.21302055e+01] [ 5.77801623e-01 7.88771158e-01 -2.09726835e-01 1.20774439e+01] [ 3.48235000e-01 -5.85102343e-03 9.37389007e-01 8.93371487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.530714057 meters Centerline goodness : 0.992049 Centerline is valid? [True, True] Translation: X:62.16, Y:12.09, Z:8.94 [[ 7.33559071e-01 -6.10173363e-01 -2.99298441e-01 6.21599373e+01] [ 5.78632672e-01 7.91718526e-01 -1.95872421e-01 1.20888854e+01] [ 3.56476255e-01 -2.94998652e-02 9.33838550e-01 8.94060579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.560714057 meters Centerline goodness : 0.991653 Centerline is valid? [True, True] Translation: X:62.17, Y:12.09, Z:8.94 [[ 0.72280496 -0.60030456 -0.34232648 62.17064867] [ 0.58579402 0.79504485 -0.15731831 12.08783501] [ 0.3666038 -0.08682234 0.92631719 8.94462923] [ 0. 0. 0. 1. ]] SLAMing on 66.590714057 meters Centerline goodness : 0.990059 Centerline is valid? [True, True] Translation: X:62.18, Y:12.14, Z:8.98 [[ 7.29876227e-01 -6.32089425e-01 -2.60276108e-01 6.21787958e+01] [ 5.80584472e-01 7.74198107e-01 -2.52069359e-01 1.21386375e+01] [ 3.60835646e-01 3.28671654e-02 9.32050098e-01 8.97802206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.620714057 meters Centerline goodness : 0.992863 Centerline is valid? [True, True] Translation: X:62.21, Y:12.12, Z:8.97 [[ 0.71985127 -0.60411667 -0.34184383 62.21233128] [ 0.58940351 0.79210334 -0.15866885 12.11952629] [ 0.36663014 -0.08726598 0.92626508 8.96547617] [ 0. 0. 0. 1. ]] SLAMing on 66.650714057 meters Centerline goodness : 0.985419 Centerline is valid? [True, True] Translation: X:62.21, Y:12.15, Z:8.99 [[ 7.21766215e-01 -6.27663078e-01 -2.91706345e-01 6.22059416e+01] [ 5.91231314e-01 7.78235662e-01 -2.11647792e-01 1.21510130e+01] [ 3.59859785e-01 -1.97057000e-02 9.32798274e-01 8.98645052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.680714057 meters Centerline goodness : 0.985544 Centerline is valid? [True, True] Translation: X:62.22, Y:12.17, Z:9.00 [[ 7.20408471e-01 -6.33886010e-01 -2.81425232e-01 6.22238085e+01] [ 5.93002673e-01 7.73406980e-01 -2.24030072e-01 1.21712615e+01] [ 3.59665767e-01 -5.49275303e-03 9.33065038e-01 9.00139491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.710714057 meters Centerline goodness : 0.991055 Centerline is valid? [True, True] Translation: X:62.25, Y:12.20, Z:9.03 [[ 7.16840940e-01 -6.40089262e-01 -2.76450365e-01 6.22520714e+01] [ 5.94811149e-01 7.68283565e-01 -2.36516514e-01 1.21969712e+01] [ 3.63783953e-01 5.10896149e-03 9.31469342e-01 9.02582281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.740714057 meters Centerline goodness : 0.991947 Centerline is valid? [True, True] Translation: X:62.29, Y:12.19, Z:9.02 [[ 0.71382377 -0.62078307 -0.32416664 62.28739496] [ 0.59750046 0.7812947 -0.1804766 12.18982833] [ 0.36530649 -0.06486123 0.92862489 9.0226614 ] [ 0. 0. 0. 1. ]] SLAMing on 66.770714057 meters Centerline goodness : 0.991644 Centerline is valid? [True, True] Translation: X:62.30, Y:12.23, Z:9.05 [[ 7.10770330e-01 -6.43438224e-01 -2.84240725e-01 6.22957615e+01] [ 5.99318876e-01 7.65488128e-01 -2.34189688e-01 1.22270684e+01] [ 3.68269497e-01 -3.89574949e-03 9.29710923e-01 9.04562872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.80071405700001 meters Centerline goodness : 0.992165 Centerline is valid? [True, True] Translation: X:62.33, Y:12.22, Z:9.05 [[ 0.70897775 -0.62730422 -0.3222421 62.32822066] [ 0.60248408 0.77625625 -0.18557791 12.22376707] [ 0.36655625 -0.06257513 0.92828922 9.04659817] [ 0. 0. 0. 1. ]] SLAMing on 66.83071405700001 meters Centerline goodness : 0.991365 Centerline is valid? [True, True] Translation: X:62.34, Y:12.25, Z:9.07 [[ 7.05919938e-01 -6.37753987e-01 -3.08134536e-01 6.23379554e+01] [ 6.03772701e-01 7.69276307e-01 -2.08979638e-01 1.22454610e+01] [ 3.70318196e-01 -3.85203278e-02 9.28105931e-01 9.06516348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.86071405700001 meters Centerline goodness : 0.992030 Centerline is valid? [True, True] Translation: X:62.35, Y:12.27, Z:9.08 [[ 7.05287314e-01 -6.43416143e-01 -2.97633116e-01 6.23547665e+01] [ 6.04797436e-01 7.65133388e-01 -2.20886757e-01 1.22656500e+01] [ 3.69851140e-01 -2.42191180e-02 9.28775306e-01 9.07758405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.89071405700001 meters Centerline goodness : 0.992080 Centerline is valid? [True, True] Translation: X:62.38, Y:12.27, Z:9.09 [[ 7.02804679e-01 -6.37706708e-01 -3.15270896e-01 6.23784163e+01] [ 6.06354362e-01 7.68764815e-01 -2.03310224e-01 1.22739569e+01] [ 3.72021465e-01 -4.82785056e-02 9.26967753e-01 9.08623436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.920714057 meters Centerline goodness : 0.991062 Centerline is valid? [True, True] Translation: X:62.39, Y:12.30, Z:9.10 [[ 7.03221942e-01 -6.50923646e-01 -2.85967319e-01 6.23899039e+01] [ 6.06890149e-01 7.59101490e-01 -2.35476698e-01 1.23028824e+01] [ 3.70355568e-01 -7.95836793e-03 9.28855972e-01 9.10269812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.950714057 meters Centerline goodness : 0.991799 Centerline is valid? [True, True] Translation: X:62.42, Y:12.31, Z:9.11 [[ 7.01999098e-01 -6.44152913e-01 -3.03750377e-01 6.24206503e+01] [ 6.08522825e-01 7.64115594e-01 -2.14073190e-01 1.23129875e+01] [ 3.69996268e-01 -3.45598513e-02 9.28390208e-01 9.10800993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.980714057 meters Centerline goodness : 0.990784 Centerline is valid? [True, True] Translation: X:62.44, Y:12.33, Z:9.12 [[ 7.00874353e-01 -6.42679431e-01 -3.09416047e-01 6.24420527e+01] [ 6.08878799e-01 7.65018132e-01 -2.09794819e-01 1.23272632e+01] [ 3.71539701e-01 -4.13570628e-02 9.27495468e-01 9.11775957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.010714057 meters Centerline goodness : 0.990846 Centerline is valid? [True, True] Translation: X:62.46, Y:12.34, Z:9.13 [[ 7.00269314e-01 -6.44628844e-01 -3.06718994e-01 6.24563285e+01] [ 6.08180927e-01 7.63697868e-01 -2.16521423e-01 1.23432029e+01] [ 3.73816597e-01 -3.49173342e-02 9.26845150e-01 9.13109102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.040714057 meters Centerline goodness : 0.990582 Centerline is valid? [True, True] Translation: X:62.48, Y:12.36, Z:9.14 [[ 6.99562342e-01 -6.47618147e-01 -3.01998783e-01 6.24775701e+01] [ 6.09508330e-01 7.61391456e-01 -2.20867941e-01 1.23629321e+01] [ 3.72977380e-01 -2.95598801e-02 9.27369445e-01 9.14426465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.070714057 meters Centerline goodness : 0.991720 Centerline is valid? [True, True] Translation: X:62.50, Y:12.38, Z:9.15 [[ 7.00484486e-01 -6.43186288e-01 -3.09245669e-01 6.24992904e+01] [ 6.07669114e-01 7.64770965e-01 -2.14157929e-01 1.23782402e+01] [ 3.74245552e-01 -3.79047350e-02 9.26554638e-01 9.15273080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.100714057 meters Centerline goodness : 0.991490 Centerline is valid? [True, True] Translation: X:62.51, Y:12.40, Z:9.17 [[ 7.01883761e-01 -6.45330637e-01 -3.01508798e-01 6.25123550e+01] [ 6.05489884e-01 7.63497325e-01 -2.24619311e-01 1.23960779e+01] [ 3.75154883e-01 -2.49038803e-02 9.26627547e-01 9.16584446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.130714057 meters Centerline goodness : 0.990881 Centerline is valid? [True, True] Translation: X:62.54, Y:12.41, Z:9.17 [[ 7.02991024e-01 -6.43292555e-01 -3.03279258e-01 6.25359640e+01] [ 6.05111915e-01 7.65081715e-01 -2.20203406e-01 1.24122922e+01] [ 3.73688626e-01 -2.87168752e-02 9.27109568e-01 9.17445191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.160714057 meters Centerline goodness : 0.991628 Centerline is valid? [True, True] Translation: X:62.56, Y:12.43, Z:9.18 [[ 7.03169928e-01 -6.40089962e-01 -3.09575344e-01 6.25577614e+01] [ 6.03547970e-01 7.67504955e-01 -2.16023130e-01 1.24280151e+01] [ 3.75874847e-01 -3.49426022e-02 9.26011400e-01 9.18347739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.19071405700001 meters Centerline goodness : 0.991516 Centerline is valid? [True, True] Translation: X:62.58, Y:12.45, Z:9.20 [[ 7.03980035e-01 -6.42731607e-01 -3.02172453e-01 6.25753935e+01] [ 6.03650762e-01 7.65651297e-01 -2.22224771e-01 1.24472432e+01] [ 3.74189615e-01 -2.59648291e-02 9.26988651e-01 9.19669542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.22071405700001 meters Centerline goodness : 0.990717 Centerline is valid? [True, True] Translation: X:62.59, Y:12.46, Z:9.21 [[ 7.04991127e-01 -6.38915567e-01 -3.07854526e-01 6.25913661e+01] [ 6.00904247e-01 7.68674065e-01 -2.19212838e-01 1.24604171e+01] [ 3.76698285e-01 -3.04479860e-02 9.25835473e-01 9.20554995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.25071405700001 meters Centerline goodness : 0.992313 Centerline is valid? [True, True] Translation: X:62.61, Y:12.48, Z:9.22 [[ 7.03688363e-01 -6.43482069e-01 -3.01253239e-01 6.26125210e+01] [ 6.01941206e-01 7.65183337e-01 -2.28388366e-01 1.24835566e+01] [ 3.77477777e-01 -2.06225027e-02 9.25788983e-01 9.21858947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.280714057 meters Centerline goodness : 0.991238 Centerline is valid? [True, True] Translation: X:62.64, Y:12.50, Z:9.23 [[ 7.03277786e-01 -6.39242250e-01 -3.11078289e-01 6.26365261e+01] [ 6.03428689e-01 7.68111151e-01 -2.14194018e-01 1.24956223e+01] [ 3.75864568e-01 -3.70756696e-02 9.25932622e-01 9.22786912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.310714057 meters Centerline goodness : 0.991179 Centerline is valid? [True, True] Translation: X:62.65, Y:12.51, Z:9.24 [[ 7.01228860e-01 -6.41208951e-01 -3.11655526e-01 6.26528076e+01] [ 6.04535201e-01 7.66503967e-01 -2.16815263e-01 1.25141103e+01] [ 3.77909084e-01 -3.63696160e-02 9.25128086e-01 9.24196206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.340714057 meters Centerline goodness : 0.991366 Centerline is valid? [True, True] Translation: X:62.67, Y:12.53, Z:9.26 [[ 7.00752922e-01 -6.43801419e-01 -3.07351712e-01 6.26696165e+01] [ 6.05240272e-01 7.64575262e-01 -2.21605237e-01 1.25321891e+01] [ 3.77663282e-01 -3.07311161e-02 9.25432895e-01 9.25716948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.370714057 meters Centerline goodness : 0.991302 Centerline is valid? [True, True] Translation: X:62.69, Y:12.55, Z:9.27 [[ 7.00143882e-01 -6.44406404e-01 -3.07471836e-01 6.26872650e+01] [ 6.05856299e-01 7.64052742e-01 -2.21724044e-01 1.25495567e+01] [ 3.77805093e-01 -3.10450160e-02 9.25364533e-01 9.26789406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.400714057 meters Centerline goodness : 0.991366 Centerline is valid? [True, True] Translation: X:62.70, Y:12.56, Z:9.28 [[ 6.97525832e-01 -6.44247696e-01 -3.13691919e-01 6.27044414e+01] [ 6.05912425e-01 7.63997837e-01 -2.21759868e-01 1.25639074e+01] [ 3.82528231e-01 -3.53865952e-02 9.23265910e-01 9.27958450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.430714057 meters Centerline goodness : 0.991835 Centerline is valid? [True, True] Translation: X:62.72, Y:12.58, Z:9.29 [[ 6.98123551e-01 -6.49333589e-01 -3.01644490e-01 6.27211296e+01] [ 6.06919479e-01 7.60206922e-01 -2.31806347e-01 1.25846272e+01] [ 3.79831876e-01 -2.12444465e-02 9.24811559e-01 9.29420207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.460714057 meters Centerline goodness : 0.991319 Centerline is valid? [True, True] Translation: X:62.75, Y:12.60, Z:9.30 [[ 6.97154671e-01 -6.47435785e-01 -3.07899772e-01 6.27461677e+01] [ 6.08914573e-01 7.61428576e-01 -2.22372587e-01 1.26003626e+01] [ 3.78415656e-01 -3.24565703e-02 9.25066572e-01 9.30088013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.490714057 meters Centerline goodness : 0.992200 Centerline is valid? [True, True] Translation: X:62.76, Y:12.62, Z:9.31 [[ 6.95344247e-01 -6.47718361e-01 -3.11379676e-01 6.27646737e+01] [ 6.09444689e-01 7.61062500e-01 -2.22173448e-01 1.26158587e+01] [ 3.80885217e-01 -3.52816605e-02 9.23948947e-01 9.31115422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.520714057 meters Centerline goodness : 0.992404 Centerline is valid? [True, True] Translation: X:62.78, Y:12.64, Z:9.32 [[ 6.93921981e-01 -6.51962214e-01 -3.05642857e-01 6.27821933e+01] [ 6.10590739e-01 7.57773025e-01 -2.30128209e-01 1.26358659e+01] [ 3.81642809e-01 -2.69316754e-02 9.23917448e-01 9.32398167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.55071405700001 meters Centerline goodness : 0.992011 Centerline is valid? [True, True] Translation: X:62.80, Y:12.65, Z:9.34 [[ 6.94367593e-01 -6.53027535e-01 -3.02338689e-01 6.28016807e+01] [ 6.10660275e-01 7.56980035e-01 -2.32540868e-01 1.26533624e+01] [ 3.80719941e-01 -2.31573846e-02 9.24400380e-01 9.33519119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.58071405700001 meters Centerline goodness : 0.993241 Centerline is valid? [True, True] Translation: X:62.83, Y:12.67, Z:9.34 [[ 6.94629338e-01 -6.50984153e-01 -3.06120428e-01 6.28254606e+01] [ 6.10508690e-01 7.58549713e-01 -2.27775049e-01 1.26705568e+01] [ 3.80485510e-01 -2.86699501e-02 9.24342367e-01 9.34236431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.61071405700001 meters Centerline goodness : 0.993241 Centerline is valid? [True, True] Translation: X:62.85, Y:12.69, Z:9.35 [[ 6.94362608e-01 -6.50225520e-01 -3.08329922e-01 6.28474225e+01] [ 6.10937365e-01 7.59058603e-01 -2.24912367e-01 1.26856178e+01] [ 3.80284241e-01 -3.21995320e-02 9.24308978e-01 9.35219000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.64071405700001 meters Centerline goodness : 0.992775 Centerline is valid? [True, True] Translation: X:62.86, Y:12.70, Z:9.36 [[ 6.96005290e-01 -6.49505202e-01 -3.06136618e-01 6.28649664e+01] [ 6.09502116e-01 7.59800586e-01 -2.26296796e-01 1.27037666e+01] [ 3.79583728e-01 -2.90871493e-02 9.24700022e-01 9.36345502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.670714057 meters Centerline goodness : 0.992042 Centerline is valid? [True, True] Translation: X:62.88, Y:12.73, Z:9.38 [[ 6.98899399e-01 -6.53914494e-01 -2.89716180e-01 6.28833073e+01] [ 6.07452220e-01 7.56538534e-01 -2.42180195e-01 1.27275063e+01] [ 3.77546594e-01 -6.72914425e-03 9.25966138e-01 9.37538101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.700714057 meters Centerline goodness : 0.993928 Centerline is valid? [True, True] Translation: X:62.91, Y:12.74, Z:9.38 [[ 6.97086300e-01 -6.47314110e-01 -3.08310125e-01 6.29141200e+01] [ 6.08129866e-01 7.61578578e-01 -2.24000302e-01 1.27435324e+01] [ 3.79800943e-01 -3.13450528e-02 9.24537036e-01 9.38141146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.730714057 meters Centerline goodness : 0.992652 Centerline is valid? [True, True] Translation: X:62.93, Y:12.75, Z:9.39 [[ 7.00402672e-01 -6.37507579e-01 -3.20967574e-01 6.29346205e+01] [ 6.05103605e-01 7.68854445e-01 -2.06669955e-01 1.27517474e+01] [ 3.78531008e-01 -4.94664470e-02 9.24265842e-01 9.38729537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.760714057 meters Centerline goodness : 0.992284 Centerline is valid? [True, True] Translation: X:62.95, Y:12.78, Z:9.40 [[ 7.02956043e-01 -6.45430564e-01 -2.98784518e-01 6.29475496e+01] [ 6.04334282e-01 7.63541142e-01 -2.27563179e-01 1.27765102e+01] [ 3.75010503e-01 -2.05988155e-02 9.26791676e-01 9.40319559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.790714057 meters Centerline goodness : 0.993023 Centerline is valid? [True, True] Translation: X:62.97, Y:12.79, Z:9.41 [[ 7.00590569e-01 -6.39342811e-01 -3.16881089e-01 6.29688229e+01] [ 6.03877655e-01 7.67805716e-01 -2.14023737e-01 1.27891815e+01] [ 3.80137649e-01 -4.14143973e-02 9.24002281e-01 9.41162181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.820714057 meters Centerline goodness : 0.992794 Centerline is valid? [True, True] Translation: X:62.98, Y:12.81, Z:9.43 [[ 7.01050661e-01 -6.44607521e-01 -3.04973958e-01 6.29822053e+01] [ 6.03545220e-01 7.64123119e-01 -2.27703814e-01 1.28100212e+01] [ 3.79817242e-01 -2.44336653e-02 9.24738805e-01 9.42720455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.850714057 meters Centerline goodness : 0.993501 Centerline is valid? [True, True] Translation: X:63.01, Y:12.83, Z:9.44 [[ 6.96497054e-01 -6.49577094e-01 -3.04863007e-01 6.30057515e+01] [ 6.07220816e-01 7.59929871e-01 -2.31925574e-01 1.28325108e+01] [ 3.82328045e-01 -2.35836852e-02 9.23725649e-01 9.44070667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.880714057 meters Centerline goodness : 0.992277 Centerline is valid? [True, True] Translation: X:63.03, Y:12.85, Z:9.45 [[ 7.02836340e-01 -6.48237045e-01 -2.92933118e-01 6.30270337e+01] [ 6.04333950e-01 7.61344085e-01 -2.34809839e-01 1.28518267e+01] [ 3.75235333e-01 -1.19965400e-02 9.26851945e-01 9.44534848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.910714057 meters Centerline goodness : 0.993252 Centerline is valid? [True, True] Translation: X:63.06, Y:12.86, Z:9.45 [[ 6.95701405e-01 -6.38207238e-01 -3.29683298e-01 6.30554711e+01] [ 6.08232250e-01 7.67541062e-01 -2.02322140e-01 1.28574523e+01] [ 3.82168922e-01 -5.97682172e-02 9.22157619e-01 9.45098838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.94071405700001 meters Centerline goodness : 0.992913 Centerline is valid? [True, True] Translation: X:63.07, Y:12.88, Z:9.47 [[ 6.95690538e-01 -6.44725615e-01 -3.16770512e-01 6.30662187e+01] [ 6.09922626e-01 7.63114029e-01 -2.13661812e-01 1.28775103e+01] [ 3.79485265e-01 -4.45630013e-02 9.24123949e-01 9.46936563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.97071405700001 meters Centerline goodness : 0.993255 Centerline is valid? [True, True] Translation: X:63.08, Y:12.90, Z:9.49 [[ 6.94978086e-01 -6.52474235e-01 -3.02130489e-01 6.30802637e+01] [ 6.11106152e-01 7.57404738e-01 -2.29972463e-01 1.29002897e+01] [ 3.78886171e-01 -2.48079780e-02 9.25110714e-01 9.48637653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.00071405700001 meters Centerline goodness : 0.992852 Centerline is valid? [True, True] Translation: X:63.10, Y:12.92, Z:9.49 [[ 6.93708585e-01 -6.51035243e-01 -3.08093348e-01 6.31006316e+01] [ 6.11602053e-01 7.58370548e-01 -2.25426352e-01 1.29152408e+01] [ 3.80409422e-01 -3.20503284e-02 9.24262651e-01 9.49381628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.030714057 meters Centerline goodness : 0.992923 Centerline is valid? [True, True] Translation: X:63.12, Y:12.93, Z:9.51 [[ 6.89998420e-01 -6.54727280e-01 -3.08600663e-01 6.31178313e+01] [ 6.12126265e-01 7.55365178e-01 -2.33933501e-01 1.29341849e+01] [ 3.86268840e-01 -2.74888245e-02 9.21976544e-01 9.50764030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.060714057 meters Centerline goodness : 0.992185 Centerline is valid? [True, True] Translation: X:63.14, Y:12.95, Z:9.52 [[ 6.91235587e-01 -6.53137280e-01 -3.09200675e-01 6.31395660e+01] [ 6.14995292e-01 7.56378562e-01 -2.22872750e-01 1.29494772e+01] [ 3.79439263e-01 -3.60993833e-02 9.24512131e-01 9.51568076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.090714057 meters Centerline goodness : 0.993280 Centerline is valid? [True, True] Translation: X:63.16, Y:12.97, Z:9.53 [[ 6.87120825e-01 -6.59506351e-01 -3.04821824e-01 6.31554796e+01] [ 6.15756371e-01 7.51298892e-01 -2.37474351e-01 1.29720428e+01] [ 3.85628141e-01 -2.45224081e-02 9.22328352e-01 9.53264417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.120714057 meters Centerline goodness : 0.993668 Centerline is valid? [True, True] Translation: X:63.17, Y:13.00, Z:9.55 [[ 6.86467610e-01 -6.68155934e-01 -2.86931820e-01 6.31738358e+01] [ 6.16876163e-01 7.44020857e-01 -2.56703650e-01 1.29997845e+01] [ 3.85001325e-01 -7.82659254e-04 9.22915688e-01 9.54811839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.150714057 meters Centerline goodness : 0.994225 Centerline is valid? [True, True] Translation: X:63.20, Y:13.00, Z:9.54 [[ 0.67840793 -0.64736171 -0.34739818 63.20352854] [ 0.62404907 0.75729497 -0.19252813 12.99543742] [ 0.38771824 -0.0861809 0.91774039 9.53753925] [ 0. 0. 0. 1. ]] SLAMing on 68.180714057 meters Centerline goodness : 0.994430 Centerline is valid? [True, True] Translation: X:63.21, Y:13.03, Z:9.57 [[ 6.82740799e-01 -6.71738839e-01 -2.87457707e-01 6.32101140e+01] [ 6.19617656e-01 7.40787393e-01 -2.59437852e-01 1.30340452e+01] [ 3.87219527e-01 -9.85064401e-04 9.21987021e-01 9.57460432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.210714057 meters Centerline goodness : 0.994509 Centerline is valid? [True, True] Translation: X:63.25, Y:13.04, Z:9.57 [[ 6.80230484e-01 -6.57962780e-01 -3.23065736e-01 6.32474808e+01] [ 6.23382765e-01 7.51138154e-01 -2.17222010e-01 1.30387152e+01] [ 3.85590998e-01 -5.36325792e-02 9.21109727e-01 9.56934912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.240714057 meters Centerline goodness : 0.994215 Centerline is valid? [True, True] Translation: X:63.26, Y:13.06, Z:9.58 [[ 6.78963024e-01 -6.63809720e-01 -3.13633334e-01 6.32626706e+01] [ 6.24125100e-01 7.46837587e-01 -2.29568024e-01 1.30599936e+01] [ 3.86622648e-01 -3.98782361e-02 9.21375414e-01 9.58494836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.270714057 meters Centerline goodness : 0.994253 Centerline is valid? [True, True] Translation: X:63.28, Y:13.08, Z:9.60 [[ 6.78115853e-01 -6.64685195e-01 -3.13611992e-01 6.32834740e+01] [ 6.25018147e-01 7.46039747e-01 -2.29732479e-01 1.30777522e+01] [ 3.86666788e-01 -4.02279499e-02 9.21341688e-01 9.59554077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.30071405700001 meters Centerline goodness : 0.994902 Centerline is valid? [True, True] Translation: X:63.30, Y:13.10, Z:9.61 [[ 6.77278680e-01 -6.66804149e-01 -3.10911268e-01 6.33035866e+01] [ 6.26439149e-01 7.44268196e-01 -2.31600616e-01 1.30978781e+01] [ 3.85833620e-01 -3.79088311e-02 9.21789205e-01 9.60587753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.33071405700001 meters Centerline goodness : 0.994749 Centerline is valid? [True, True] Translation: X:63.33, Y:13.11, Z:9.61 [[ 6.76089226e-01 -6.64899552e-01 -3.17508965e-01 6.33258990e+01] [ 6.27511693e-01 7.45437985e-01 -2.24836131e-01 1.31126503e+01] [ 3.86176686e-01 -4.72313026e-02 9.21214834e-01 9.61380362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.36071405700001 meters Centerline goodness : 0.993238 Centerline is valid? [True, True] Translation: X:63.34, Y:13.13, Z:9.62 [[ 6.79343699e-01 -6.61469504e-01 -3.17726666e-01 6.33443914e+01] [ 6.26371166e-01 7.48266159e-01 -2.18533561e-01 1.31260787e+01] [ 3.82297398e-01 -5.05554243e-02 9.22655325e-01 9.61906761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.39071405700001 meters Centerline goodness : 0.993796 Centerline is valid? [True, True] Translation: X:63.36, Y:13.15, Z:9.64 [[ 6.77551469e-01 -6.67628237e-01 -3.08539373e-01 6.33592025e+01] [ 6.27342535e-01 7.43584404e-01 -2.31351633e-01 1.31472534e+01] [ 3.83881949e-01 -3.68072337e-02 9.22648295e-01 9.63591741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.420714057 meters Centerline goodness : 0.994992 Centerline is valid? [True, True] Translation: X:63.38, Y:13.17, Z:9.65 [[ 6.74598021e-01 -6.74149429e-01 -3.00732533e-01 6.33792635e+01] [ 6.29181642e-01 7.38170714e-01 -2.43381302e-01 1.31719176e+01] [ 3.86067315e-01 -2.50308445e-02 9.22130948e-01 9.65363991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.450714057 meters Centerline goodness : 0.994366 Centerline is valid? [True, True] Translation: X:63.41, Y:13.18, Z:9.66 [[ 6.74772181e-01 -6.66609099e-01 -3.16725137e-01 6.34069597e+01] [ 6.30053922e-01 7.43796858e-01 -2.23155303e-01 1.31823209e+01] [ 3.84336517e-01 -4.89749247e-02 9.21893106e-01 9.65627712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.480714057 meters Centerline goodness : 0.994291 Centerline is valid? [True, True] Translation: X:63.43, Y:13.20, Z:9.67 [[ 6.73604075e-01 -6.67495590e-01 -3.17343959e-01 6.34259456e+01] [ 6.30806093e-01 7.42970487e-01 -2.23782324e-01 1.31989321e+01] [ 3.85150910e-01 -4.94418175e-02 9.21528233e-01 9.66838617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.510714057 meters Centerline goodness : 0.994872 Centerline is valid? [True, True] Translation: X:63.44, Y:13.22, Z:9.68 [[ 6.73009697e-01 -6.69991562e-01 -3.13319732e-01 6.34442902e+01] [ 6.31340982e-01 7.41063740e-01 -2.28545613e-01 1.32185530e+01] [ 3.85313525e-01 -4.39981737e-02 9.21736214e-01 9.68169435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.540714057 meters Centerline goodness : 0.993880 Centerline is valid? [True, True] Translation: X:63.47, Y:13.23, Z:9.68 [[ 0.67679805 -0.6609397 -0.32419609 63.46990308] [ 0.63177752 0.74752907 -0.20507912 13.22679736] [ 0.37789093 -0.06602266 0.92349307 9.6837597 ] [ 0. 0. 0. 1. ]] SLAMing on 68.570714057 meters Centerline goodness : 0.993944 Centerline is valid? [True, True] Translation: X:63.48, Y:13.25, Z:9.70 [[ 6.74229323e-01 -6.68970792e-01 -3.12878411e-01 6.34781116e+01] [ 6.31667868e-01 7.41868240e-01 -2.25004930e-01 1.32483939e+01] [ 3.82636282e-01 -4.59303175e-02 9.22756675e-01 9.70305272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.600714057 meters Centerline goodness : 0.994970 Centerline is valid? [True, True] Translation: X:63.49, Y:13.28, Z:9.73 [[ 6.68922368e-01 -6.80510742e-01 -2.99078578e-01 6.34920657e+01] [ 6.32166388e-01 7.32464419e-01 -2.52708397e-01 1.32762601e+01] [ 3.91035195e-01 -2.00251255e-02 9.20157851e-01 9.72572296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.630714057 meters Centerline goodness : 0.994878 Centerline is valid? [True, True] Translation: X:63.52, Y:13.29, Z:9.73 [[ 6.68576437e-01 -6.70934518e-01 -3.20706128e-01 6.35231730e+01] [ 6.33223638e-01 7.39764294e-01 -2.27544751e-01 1.32856571e+01] [ 3.89914570e-01 -5.09476423e-02 9.19440572e-01 9.72650216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.660714057 meters Centerline goodness : 0.993916 Centerline is valid? [True, True] Translation: X:63.53, Y:13.30, Z:9.74 [[ 6.71013973e-01 -6.69490473e-01 -3.18626358e-01 6.35345212e+01] [ 6.30148345e-01 7.41398039e-01 -2.30742303e-01 1.32990826e+01] [ 3.90708730e-01 -4.59505629e-02 9.19366757e-01 9.73548714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.69071405700001 meters Centerline goodness : 0.995229 Centerline is valid? [True, True] Translation: X:63.56, Y:13.32, Z:9.75 [[ 6.67603238e-01 -6.75030725e-01 -3.14069159e-01 6.35564707e+01] [ 6.32898711e-01 7.36714347e-01 -2.38099123e-01 1.33226326e+01] [ 3.92103479e-01 -3.98182205e-02 9.19058960e-01 9.75417264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.72071405700001 meters Centerline goodness : 0.995528 Centerline is valid? [True, True] Translation: X:63.58, Y:13.34, Z:9.76 [[ 6.68214047e-01 -6.72034596e-01 -3.19154333e-01 6.35779639e+01] [ 6.32440367e-01 7.39039558e-01 -2.32033865e-01 1.33383323e+01] [ 3.91802462e-01 -4.67977954e-02 9.18858420e-01 9.76317123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.75071405700001 meters Centerline goodness : 0.993005 Centerline is valid? [True, True] Translation: X:63.60, Y:13.35, Z:9.77 [[ 6.73752305e-01 -6.65125467e-01 -3.21971962e-01 6.35973244e+01] [ 6.31576038e-01 7.44509302e-01 -2.16373768e-01 1.33482971e+01] [ 3.83626824e-01 -5.75674518e-02 9.21692166e-01 9.76734104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.780714057 meters Centerline goodness : 0.994486 Centerline is valid? [True, True] Translation: X:63.61, Y:13.38, Z:9.80 [[ 6.68278370e-01 -6.79942205e-01 -3.01798971e-01 6.36065700e+01] [ 6.31329721e-01 7.32958725e-01 -2.53365924e-01 1.33785867e+01] [ 3.93480373e-01 -2.12156935e-02 9.19088184e-01 9.79507695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.810714057 meters Centerline goodness : 0.993871 Centerline is valid? [True, True] Translation: X:63.64, Y:13.38, Z:9.79 [[ 0.67445597 -0.66197151 -0.32696003 63.63848306] [ 0.63139539 0.74668113 -0.20930156 13.3814956 ] [ 0.38268655 -0.06527637 0.92156931 9.79026544] [ 0. 0. 0. 1. ]] SLAMing on 68.840714057 meters Centerline goodness : 0.995094 Centerline is valid? [True, True] Translation: X:63.64, Y:13.41, Z:9.82 [[ 6.69820763e-01 -6.79468320e-01 -2.99437717e-01 6.36428967e+01] [ 6.29942927e-01 7.33492606e-01 -2.55265559e-01 1.34130080e+01] [ 3.93080212e-01 -1.76465008e-02 9.19334840e-01 9.81912230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.870714057 meters Centerline goodness : 0.994724 Centerline is valid? [True, True] Translation: X:63.67, Y:13.42, Z:9.82 [[ 6.71724244e-01 -6.69565450e-01 -3.16967898e-01 6.36706641e+01] [ 6.29214942e-01 7.41508480e-01 -2.32924303e-01 1.34225477e+01] [ 3.90992450e-01 -4.29800364e-02 9.19389809e-01 9.81949101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.900714057 meters Centerline goodness : 0.994149 Centerline is valid? [True, True] Translation: X:63.69, Y:13.43, Z:9.83 [[ 6.76709221e-01 -6.65609503e-01 -3.14688129e-01 6.36877208e+01] [ 6.27918813e-01 7.44936538e-01 -2.25360862e-01 1.34346533e+01] [ 3.84425017e-01 -4.50948232e-02 9.22054154e-01 9.82714987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.930714057 meters Centerline goodness : 0.995029 Centerline is valid? [True, True] Translation: X:63.70, Y:13.46, Z:9.85 [[ 6.71029275e-01 -6.74319244e-01 -3.08242225e-01 6.37041435e+01] [ 6.28885275e-01 7.37855208e-01 -2.45097946e-01 1.34591615e+01] [ 3.92712393e-01 -2.93810997e-02 9.19191888e-01 9.84767489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.960714057 meters Centerline goodness : 0.993805 Centerline is valid? [True, True] Translation: X:63.73, Y:13.47, Z:9.85 [[ 6.74932084e-01 -6.65635346e-01 -3.18427805e-01 6.37307594e+01] [ 6.29815354e-01 7.44524035e-01 -2.21396884e-01 1.34678303e+01] [ 3.84446746e-01 -5.11228606e-02 9.21730521e-01 9.84829641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.990714057 meters Centerline goodness : 0.994270 Centerline is valid? [True, True] Translation: X:63.74, Y:13.49, Z:9.87 [[ 6.73648502e-01 -6.72088946e-01 -3.07398998e-01 6.37444030e+01] [ 6.30018846e-01 7.39674940e-01 -2.36552820e-01 1.34888480e+01] [ 3.86359871e-01 -3.43137090e-02 9.21709618e-01 9.86627320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.020714057 meters Centerline goodness : 0.995109 Centerline is valid? [True, True] Translation: X:63.76, Y:13.51, Z:9.88 [[ 6.73154282e-01 -6.73214942e-01 -3.06014630e-01 6.37639450e+01] [ 6.30217693e-01 7.38752262e-01 -2.38894860e-01 1.35058786e+01] [ 3.86896590e-01 -3.20427358e-02 9.21566217e-01 9.87781846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.05071405700001 meters Centerline goodness : 0.994097 Centerline is valid? [True, True] Translation: X:63.78, Y:13.52, Z:9.89 [[ 6.73482447e-01 -6.72238722e-01 -3.07435349e-01 6.37828894e+01] [ 6.29522347e-01 7.39591421e-01 -2.38130520e-01 1.35208624e+01] [ 3.87457103e-01 -3.31606972e-02 9.21291138e-01 9.88853957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.08071405700001 meters Centerline goodness : 0.994944 Centerline is valid? [True, True] Translation: X:63.80, Y:13.54, Z:9.90 [[ 6.73029096e-01 -6.72910366e-01 -3.06958425e-01 6.38031362e+01] [ 6.30262933e-01 7.38977231e-01 -2.38078323e-01 1.35376130e+01] [ 3.87040658e-01 -3.32308783e-02 9.21463639e-01 9.89999433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.11071405700001 meters Centerline goodness : 0.995584 Centerline is valid? [True, True] Translation: X:63.82, Y:13.56, Z:9.92 [[ 6.68987145e-01 -6.80810938e-01 -2.98249338e-01 6.38206823e+01] [ 6.29693801e-01 7.32317839e-01 -2.59222493e-01 1.35634967e+01] [ 3.94894819e-01 -1.43892435e-02 9.18613647e-01 9.91946831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.14071405700001 meters Centerline goodness : 0.994236 Centerline is valid? [True, True] Translation: X:63.85, Y:13.57, Z:9.91 [[ 6.75347952e-01 -6.63871309e-01 -3.21216484e-01 6.38524626e+01] [ 6.29297858e-01 7.45847415e-01 -2.18393771e-01 1.35662010e+01] [ 3.84563843e-01 -5.46490592e-02 9.21479317e-01 9.91207439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.170714057 meters Centerline goodness : 0.994911 Centerline is valid? [True, True] Translation: X:63.87, Y:13.59, Z:9.93 [[ 6.73534678e-01 -6.70421906e-01 -3.11264365e-01 6.38661792e+01] [ 6.29797108e-01 7.40953340e-01 -2.33117460e-01 1.35871716e+01] [ 3.86919423e-01 -3.90207035e-02 9.21287547e-01 9.93026529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.200714057 meters Centerline goodness : 0.994320 Centerline is valid? [True, True] Translation: X:63.88, Y:13.60, Z:9.94 [[ 6.74364956e-01 -6.73754200e-01 -3.02137690e-01 6.38800361e+01] [ 6.28905443e-01 7.38495474e-01 -2.43109807e-01 1.36048796e+01] [ 3.86923571e-01 -2.60713036e-02 9.21743152e-01 9.94427589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.230714057 meters Centerline goodness : 0.995776 Centerline is valid? [True, True] Translation: X:63.90, Y:13.63, Z:9.96 [[ 6.70920655e-01 -6.80809878e-01 -2.93876480e-01 6.39000029e+01] [ 6.28068529e-01 7.32414150e-01 -2.62867715e-01 1.36309374e+01] [ 3.94202229e-01 -8.21118928e-03 9.18987040e-01 9.96158139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.260714057 meters Centerline goodness : 0.994596 Centerline is valid? [True, True] Translation: X:63.94, Y:13.63, Z:9.95 [[ 6.75400284e-01 -6.62352368e-01 -3.24228003e-01 6.39376602e+01] [ 6.29014389e-01 7.46915407e-01 -2.15541814e-01 1.36334374e+01] [ 3.84935522e-01 -5.83670769e-02 9.21096047e-01 9.95302707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.290714057 meters Centerline goodness : 0.994550 Centerline is valid? [True, True] Translation: X:63.95, Y:13.66, Z:9.97 [[ 6.75201360e-01 -6.71701677e-01 -3.04827788e-01 6.39452410e+01] [ 6.28471760e-01 7.40205697e-01 -2.38995339e-01 1.36568713e+01] [ 3.86168835e-01 -3.02056780e-02 9.21933429e-01 9.97487117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.320714057 meters Centerline goodness : 0.994092 Centerline is valid? [True, True] Translation: X:63.96, Y:13.67, Z:9.98 [[ 6.76509127e-01 -6.71703047e-01 -3.01911275e-01 6.39640914e+01] [ 6.27847331e-01 7.40327620e-01 -2.40255579e-01 1.36725045e+01] [ 3.84893660e-01 -2.70190958e-02 9.22565357e-01 9.98420810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.350714057 meters Centerline goodness : 0.995651 Centerline is valid? [True, True] Translation: X:63.98, Y:13.68, Z:9.99 [[ 6.63791666e-01 -6.70056972e-01 -3.32271393e-01 6.39758024e+01] [ 6.31876781e-01 7.40104745e-01 -2.30166680e-01 1.36835008e+01] [ 4.00140423e-01 -5.71718545e-02 9.14668804e-01 9.99329897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.380714057 meters Centerline goodness : 0.994602 Centerline is valid? [True, True] Translation: X:64.00, Y:13.71, Z:10.01 [[ 6.75214564e-01 -6.78250128e-01 -2.89934573e-01 6.39950533e+01] [ 6.28016644e-01 7.34775834e-01 -2.56319271e-01 1.37086241e+01] [ 3.86885496e-01 -9.01323227e-03 9.22083713e-01 1.00145163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.410714057 meters Centerline goodness : 0.994438 Centerline is valid? [True, True] Translation: X:64.03, Y:13.72, Z:10.02 [[ 6.74683714e-01 -6.70568418e-01 -3.08447538e-01 6.40257031e+01] [ 6.28830913e-01 7.41018343e-01 -2.35506895e-01 1.37202474e+01] [ 3.86488769e-01 -3.50686804e-02 9.21627158e-01 1.00163938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.44071405700001 meters Centerline goodness : 0.995183 Centerline is valid? [True, True] Translation: X:64.04, Y:13.74, Z:10.03 [[ 6.73023698e-01 -6.70925592e-01 -3.11284359e-01 6.40444424e+01] [ 6.29681729e-01 7.40548121e-01 -2.34711313e-01 1.37360086e+01] [ 3.87994873e-01 -3.80437973e-02 9.20876022e-01 1.00275166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.47071405700001 meters Centerline goodness : 0.994943 Centerline is valid? [True, True] Translation: X:64.06, Y:13.75, Z:10.04 [[ 6.73296806e-01 -6.74077987e-01 -3.03793151e-01 6.40614379e+01] [ 6.29804872e-01 7.38112772e-01 -2.41940816e-01 1.37541541e+01] [ 3.87320583e-01 -2.84324279e-02 9.21506572e-01 1.00415827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.50071405700001 meters Centerline goodness : 0.994943 Centerline is valid? [True, True] Translation: X:64.08, Y:13.77, Z:10.05 [[ 6.72913826e-01 -6.72968880e-01 -3.07082839e-01 6.40832689e+01] [ 6.30288854e-01 7.38921941e-01 -2.38181288e-01 1.37696591e+01] [ 3.87198842e-01 -3.32754088e-02 9.21395574e-01 1.00511167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.530714057 meters Centerline goodness : 0.994627 Centerline is valid? [True, True] Translation: X:64.11, Y:13.78, Z:10.06 [[ 6.70399209e-01 -6.72998294e-01 -3.12471114e-01 6.41050018e+01] [ 6.32039791e-01 7.38552059e-01 -2.34662649e-01 1.37848662e+01] [ 3.88703747e-01 -4.01765233e-02 9.20486417e-01 1.00619365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.560714057 meters Centerline goodness : 0.994970 Centerline is valid? [True, True] Translation: X:64.12, Y:13.80, Z:10.08 [[ 6.68958951e-01 -6.76642551e-01 -3.07650420e-01 6.41221903e+01] [ 6.33159238e-01 7.35545916e-01 -2.41001214e-01 1.38027100e+01] [ 3.89362686e-01 -3.35717862e-02 9.20472506e-01 1.00757363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.590714057 meters Centerline goodness : 0.994582 Centerline is valid? [True, True] Translation: X:64.14, Y:13.82, Z:10.09 [[ 6.67624155e-01 -6.77722469e-01 -3.08172424e-01 6.41436949e+01] [ 6.34588025e-01 7.34483822e-01 -2.40481918e-01 1.38185072e+01] [ 3.89327659e-01 -3.50109925e-02 9.20433704e-01 1.00867592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.620714057 meters Centerline goodness : 0.995465 Centerline is valid? [True, True] Translation: X:64.16, Y:13.84, Z:10.10 [[ 6.66167186e-01 -6.79993708e-01 -3.06316565e-01 6.41631271e+01] [ 6.36182603e-01 7.32458260e-01 -2.42438843e-01 1.38357877e+01] [ 3.89220986e-01 -3.33684680e-02 9.20539825e-01 1.00981516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.650714057 meters Centerline goodness : 0.995879 Centerline is valid? [True, True] Translation: X:64.17, Y:13.85, Z:10.11 [[ 6.52415795e-01 -6.83551647e-01 -3.27277827e-01 6.41726384e+01] [ 6.41290110e-01 7.28058721e-01 -2.42234378e-01 1.38485118e+01] [ 4.03857185e-01 -5.18424995e-02 9.13351920e-01 1.01085795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.680714057 meters Centerline goodness : 0.994256 Centerline is valid? [True, True] Translation: X:64.20, Y:13.87, Z:10.13 [[ 6.62165455e-01 -6.89019402e-01 -2.94600022e-01 6.41962421e+01] [ 6.38681984e-01 7.24552330e-01 -2.59054519e-01 1.38705153e+01] [ 3.91946722e-01 -1.66187726e-02 9.19837803e-01 1.01268220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.710714057 meters Centerline goodness : 0.995082 Centerline is valid? [True, True] Translation: X:64.23, Y:13.88, Z:10.13 [[ 6.60330108e-01 -6.82962082e-01 -3.12293040e-01 6.42273668e+01] [ 6.41121681e-01 7.29227793e-01 -2.39143923e-01 1.38825030e+01] [ 3.91058996e-01 -4.23039057e-02 9.19392866e-01 1.01307002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.740714057 meters Centerline goodness : 0.994734 Centerline is valid? [True, True] Translation: X:64.25, Y:13.90, Z:10.14 [[ 6.58857238e-01 -6.84634955e-01 -3.11740465e-01 6.42456813e+01] [ 6.42151486e-01 7.27709394e-01 -2.40998979e-01 1.38970811e+01] [ 3.91852790e-01 -4.14006813e-02 9.19095955e-01 1.01419512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.770714057 meters Centerline goodness : 0.994472 Centerline is valid? [True, True] Translation: X:64.26, Y:13.91, Z:10.15 [[ 6.57609857e-01 -6.85514184e-01 -3.12441321e-01 6.42639981e+01] [ 6.42552607e-01 7.26884365e-01 -2.42415484e-01 1.39132460e+01] [ 3.93287964e-01 -4.13451733e-02 9.18485250e-01 1.01528793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.80071405700001 meters Centerline goodness : 0.994476 Centerline is valid? [True, True] Translation: X:64.28, Y:13.93, Z:10.17 [[ 6.56998582e-01 -6.85922767e-01 -3.12830339e-01 6.42833763e+01] [ 6.42324962e-01 7.26540705e-01 -2.44043534e-01 1.39304112e+01] [ 3.94678991e-01 -4.06024801e-02 9.17921529e-01 1.01658604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.83071405700001 meters Centerline goodness : 0.995459 Centerline is valid? [True, True] Translation: X:64.29, Y:13.95, Z:10.18 [[ 6.46400512e-01 -6.91846782e-01 -3.21736551e-01 6.42877721e+01] [ 6.44905454e-01 7.20752051e-01 -2.54191732e-01 1.39482408e+01] [ 4.07754011e-01 -4.31799907e-02 9.12070258e-01 1.01803800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.86071405700001 meters Centerline goodness : 0.994966 Centerline is valid? [True, True] Translation: X:64.32, Y:13.97, Z:10.19 [[ 6.59258236e-01 -6.92074751e-01 -2.93957680e-01 6.43171402e+01] [ 6.40890273e-01 7.21651216e-01 -2.61685271e-01 1.39701059e+01] [ 3.93240686e-01 -1.58764479e-02 9.19298483e-01 1.01948919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.890714057 meters Centerline goodness : 0.994264 Centerline is valid? [True, True] Translation: X:64.35, Y:13.98, Z:10.20 [[ 6.61982701e-01 -6.81589884e-01 -3.11791811e-01 6.43458600e+01] [ 6.38999443e-01 7.30639196e-01 -2.40512115e-01 1.39796955e+01] [ 3.91737943e-01 -4.00199336e-02 9.19206064e-01 1.01953151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.920714057 meters Centerline goodness : 0.994780 Centerline is valid? [True, True] Translation: X:64.36, Y:14.01, Z:10.22 [[ 6.57722390e-01 -6.91512171e-01 -2.98684073e-01 6.43617838e+01] [ 6.38887995e-01 7.22177290e-01 -2.65107696e-01 1.40072554e+01] [ 3.99028053e-01 -1.64584010e-02 9.16790998e-01 1.02172487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.950714057 meters Centerline goodness : 0.994917 Centerline is valid? [True, True] Translation: X:64.39, Y:14.02, Z:10.22 [[ 6.59831339e-01 -6.83626923e-01 -3.11892343e-01 6.43916242e+01] [ 6.38021184e-01 7.28975984e-01 -2.48038268e-01 1.40213815e+01] [ 3.96927666e-01 -3.53304991e-02 9.17169659e-01 1.02204304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.980714057 meters Centerline goodness : 0.994807 Centerline is valid? [True, True] Translation: X:64.42, Y:14.04, Z:10.23 [[ 6.59794222e-01 -6.79054153e-01 -3.21802799e-01 6.44154793e+01] [ 6.37901239e-01 7.32491303e-01 -2.37778260e-01 1.40352652e+01] [ 3.97182066e-01 -4.83936824e-02 9.16463015e-01 1.02282461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.010714057 meters Centerline goodness : 0.994294 Centerline is valid? [True, True] Translation: X:64.44, Y:14.05, Z:10.23 [[ 6.65659558e-01 -6.71334779e-01 -3.25894104e-01 6.44359282e+01] [ 6.36653617e-01 7.38708662e-01 -2.21318060e-01 1.40450097e+01] [ 3.89319309e-01 -6.01591783e-02 9.19136197e-01 1.02325625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.040714057 meters Centerline goodness : 0.995238 Centerline is valid? [True, True] Translation: X:64.44, Y:14.08, Z:10.26 [[ 6.60199796e-01 -6.88811735e-01 -2.99457216e-01 6.44415425e+01] [ 6.35794577e-01 7.24781901e-01 -2.65436343e-01 1.40774592e+01] [ 3.99876838e-01 -1.51522547e-02 9.16443628e-01 1.02627524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.070714057 meters Centerline goodness : 0.995508 Centerline is valid? [True, True] Translation: X:64.47, Y:14.09, Z:10.26 [[ 6.61233050e-01 -6.78287279e-01 -3.20464071e-01 6.44735867e+01] [ 6.35911600e-01 7.33421280e-01 -2.40228358e-01 1.40868582e+01] [ 3.97979008e-01 -4.49398898e-02 9.16293138e-01 1.02626627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.100714057 meters Centerline goodness : 0.994105 Centerline is valid? [True, True] Translation: X:64.50, Y:14.09, Z:10.27 [[ 0.66508316 -0.66684425 -0.33612964 64.4955273 ] [ 0.63596033 0.74170885 -0.21312541 14.0918 ] [ 0.39143179 -0.07201899 0.91738455 10.26501616] [ 0. 0. 0. 1. ]] SLAMing on 70.130714057 meters Centerline goodness : 0.995123 Centerline is valid? [True, True] Translation: X:64.49, Y:14.13, Z:10.30 [[ 6.57839166e-01 -6.89043555e-01 -3.04083230e-01 6.44948585e+01] [ 6.35720447e-01 7.24494717e-01 -2.66396166e-01 1.41256041e+01] [ 4.03865255e-01 -1.80660955e-02 9.14640078e-01 1.03006471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.160714057 meters Centerline goodness : 0.994751 Centerline is valid? [True, True] Translation: X:64.52, Y:14.13, Z:10.30 [[ 6.57991056e-01 -6.79874453e-01 -3.23756851e-01 6.45231539e+01] [ 6.36342587e-01 7.31904662e-01 -2.43687663e-01 1.41348932e+01] [ 4.02636166e-01 -4.56759693e-02 9.14219790e-01 1.03016252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.19071405700001 meters Centerline goodness : 0.994322 Centerline is valid? [True, True] Translation: X:64.54, Y:14.16, Z:10.32 [[ 6.56695266e-01 -6.85583443e-01 -3.14208005e-01 6.45379391e+01] [ 6.36731215e-01 7.27296833e-01 -2.56149717e-01 1.41568752e+01] [ 4.04134491e-01 -3.18537380e-02 9.14144765e-01 1.03184854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.22071405700001 meters Centerline goodness : 0.994885 Centerline is valid? [True, True] Translation: X:64.56, Y:14.17, Z:10.33 [[ 6.55155711e-01 -6.81873082e-01 -3.25300006e-01 6.45618100e+01] [ 6.37455844e-01 7.30026670e-01 -2.46396240e-01 1.41701568e+01] [ 4.05488644e-01 -4.59364857e-02 9.12945124e-01 1.03271764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.25071405700001 meters Centerline goodness : 0.994831 Centerline is valid? [True, True] Translation: X:64.58, Y:14.19, Z:10.34 [[ 6.55218103e-01 -6.84927171e-01 -3.18691085e-01 6.45775955e+01] [ 6.37709313e-01 7.27638473e-01 -2.52723337e-01 1.41881430e+01] [ 4.04988975e-01 -3.76433671e-02 9.13546336e-01 1.03395385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.280714057 meters Centerline goodness : 0.994878 Centerline is valid? [True, True] Translation: X:64.60, Y:14.20, Z:10.35 [[ 6.54203458e-01 -6.85422103e-01 -3.19709832e-01 6.45979946e+01] [ 6.38318285e-01 7.27113531e-01 -2.52696814e-01 1.42049079e+01] [ 4.05669327e-01 -3.87615018e-02 9.13197647e-01 1.03506549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.310714057 meters Centerline goodness : 0.994124 Centerline is valid? [True, True] Translation: X:64.62, Y:14.22, Z:10.36 [[ 6.60465438e-01 -6.86423009e-01 -3.04317035e-01 6.46197219e+01] [ 6.38772687e-01 7.26684758e-01 -2.52781956e-01 1.42247916e+01] [ 3.94657902e-01 -2.74356645e-02 9.18418437e-01 1.03589707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.340714057 meters Centerline goodness : 0.994805 Centerline is valid? [True, True] Translation: X:64.64, Y:14.22, Z:10.36 [[ 0.64892515 -0.67252615 -0.35581557 64.63805808] [ 0.64492214 0.73432546 -0.21175824 14.22321967] [ 0.40369739 -0.09205809 0.91024927 10.36056092] [ 0. 0. 0. 1. ]] SLAMing on 70.370714057 meters Centerline goodness : 0.994289 Centerline is valid? [True, True] Translation: X:64.64, Y:14.27, Z:10.40 [[ 6.56146173e-01 -7.04907434e-01 -2.69402505e-01 6.46357667e+01] [ 6.39467453e-01 7.08928770e-01 -2.97491808e-01 1.42702214e+01] [ 4.00691373e-01 2.29239774e-02 9.15926260e-01 1.04046472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.400714057 meters Centerline goodness : 0.995301 Centerline is valid? [True, True] Translation: X:64.68, Y:14.28, Z:10.40 [[ 6.52158271e-01 -6.96732896e-01 -2.98752174e-01 6.46768760e+01] [ 6.40221879e-01 7.17232877e-01 -2.75123508e-01 1.42845650e+01] [ 4.05962480e-01 -1.18436070e-02 9.13812997e-01 1.04034872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.430714057 meters Centerline goodness : 0.995237 Centerline is valid? [True, True] Translation: X:64.71, Y:14.29, Z:10.40 [[ 6.51728639e-01 -6.86554027e-01 -3.22324912e-01 6.47113144e+01] [ 6.41622970e-01 7.25689152e-01 -2.48385222e-01 1.42945012e+01] [ 4.04437567e-01 -4.49313050e-02 9.13461238e-01 1.04031438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.460714057 meters Centerline goodness : 0.995423 Centerline is valid? [True, True] Translation: X:64.74, Y:14.30, Z:10.41 [[ 0.64571437 -0.67795279 -0.35133028 64.73507917] [ 0.64494285 0.73055065 -0.22437574 14.29999632] [ 0.40878073 -0.08170531 0.90896785 10.4094181 ] [ 0. 0. 0. 1. ]] SLAMing on 70.490714057 meters Centerline goodness : 0.995379 Centerline is valid? [True, True] Translation: X:64.73, Y:14.32, Z:10.43 [[ 6.38548946e-01 -6.92672235e-01 -3.35351187e-01 6.47254960e+01] [ 6.47734735e-01 7.19042830e-01 -2.51827562e-01 1.43214554e+01] [ 4.15565827e-01 -5.64143882e-02 9.07811908e-01 1.04321749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.520714057 meters Centerline goodness : 0.995064 Centerline is valid? [True, True] Translation: X:64.74, Y:14.35, Z:10.46 [[ 6.43366825e-01 -7.02897687e-01 -3.03338046e-01 6.47439558e+01] [ 6.44946851e-01 7.11120951e-01 -2.79911687e-01 1.43486845e+01] [ 4.12459317e-01 -1.55510239e-02 9.10843278e-01 1.04586357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.55071405700001 meters Centerline goodness : 0.995632 Centerline is valid? [True, True] Translation: X:64.78, Y:14.35, Z:10.45 [[ 6.48415384e-01 -6.87575178e-01 -3.26799427e-01 6.47792353e+01] [ 6.47011046e-01 7.23932608e-01 -2.39370604e-01 1.43543816e+01] [ 4.01166047e-01 -5.62312569e-02 9.14277774e-01 1.04530296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.58071405700001 meters Centerline goodness : 0.995122 Centerline is valid? [True, True] Translation: X:64.78, Y:14.38, Z:10.48 [[ 6.36202548e-01 -7.01944665e-01 -3.20187452e-01 6.47757861e+01] [ 6.49517834e-01 7.11270079e-01 -2.68740503e-01 1.43761620e+01] [ 4.16380717e-01 -3.69940678e-02 9.08437415e-01 1.04755056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.61071405700001 meters Centerline goodness : 0.996171 Centerline is valid? [True, True] Translation: X:64.80, Y:14.41, Z:10.50 [[ 6.44047085e-01 -7.12059045e-01 -2.79598405e-01 6.47984955e+01] [ 6.45827966e-01 7.02003895e-01 -3.00161240e-01 1.44073175e+01] [ 4.10011695e-01 1.27455024e-02 9.11991207e-01 1.04983483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.640714057 meters Centerline goodness : 0.995638 Centerline is valid? [True, True] Translation: X:64.84, Y:14.41, Z:10.49 [[ 6.43263118e-01 -6.92281493e-01 -3.27045708e-01 6.48442857e+01] [ 6.48279510e-01 7.19735950e-01 -2.48422704e-01 1.44101801e+01] [ 4.07364994e-01 -5.22158680e-02 9.11771498e-01 1.04865776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.670714057 meters Centerline goodness : 0.995769 Centerline is valid? [True, True] Translation: X:64.86, Y:14.42, Z:10.50 [[ 0.63879437 -0.6909875 -0.33834601 64.86186439] [ 0.65021194 0.71994237 -0.24270849 14.42267341] [ 0.41129816 -0.0649558 0.90918346 10.49976193] [ 0. 0. 0. 1. ]] SLAMing on 70.700714057 meters Centerline goodness : 0.995609 Centerline is valid? [True, True] Translation: X:64.86, Y:14.44, Z:10.52 [[ 6.32368202e-01 -6.99244475e-01 -3.33418087e-01 6.48616980e+01] [ 6.52982288e-01 7.12710939e-01 -2.56236705e-01 1.44410129e+01] [ 4.16802819e-01 -5.56801613e-02 9.07289992e-01 1.05160824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.730714057 meters Centerline goodness : 0.995314 Centerline is valid? [True, True] Translation: X:64.88, Y:14.47, Z:10.54 [[ 6.36280848e-01 -7.12578336e-01 -2.95599051e-01 6.48788904e+01] [ 6.51168488e-01 7.01543753e-01 -2.89509869e-01 1.44701412e+01] [ 4.13674128e-01 -8.27520206e-03 9.10387410e-01 1.05433083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.760714057 meters Centerline goodness : 0.995660 Centerline is valid? [True, True] Translation: X:64.91, Y:14.48, Z:10.54 [[ 6.36397289e-01 -7.02809986e-01 -3.17894029e-01 6.49141003e+01] [ 6.53037612e-01 7.10235285e-01 -2.62883468e-01 1.44805723e+01] [ 4.10536683e-01 -4.02984311e-02 9.10953165e-01 1.05417925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.790714057 meters Centerline goodness : 0.994895 Centerline is valid? [True, True] Translation: X:64.94, Y:14.49, Z:10.54 [[ 6.39819801e-01 -6.94681862e-01 -3.28706150e-01 6.49405194e+01] [ 6.54809371e-01 7.16668719e-01 -2.40022154e-01 1.44895420e+01] [ 4.02312452e-01 -6.16689401e-02 9.13423031e-01 1.05445403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.820714057 meters Centerline goodness : 0.995477 Centerline is valid? [True, True] Translation: X:64.95, Y:14.51, Z:10.57 [[ 6.37667289e-01 -7.03362063e-01 -3.14105455e-01 6.49490854e+01] [ 6.56020248e-01 7.09584981e-01 -2.57150907e-01 1.45100846e+01] [ 4.03754706e-01 -4.20828164e-02 9.13898886e-01 1.05652748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.850714057 meters Centerline goodness : 0.995267 Centerline is valid? [True, True] Translation: X:64.96, Y:14.53, Z:10.58 [[ 6.37076639e-01 -7.04810664e-01 -3.12050131e-01 6.49649219e+01] [ 6.55729842e-01 7.08366029e-01 -2.61220104e-01 1.45272996e+01] [ 4.05156427e-01 -3.82033570e-02 9.13448834e-01 1.05779409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.880714057 meters Centerline goodness : 0.995114 Centerline is valid? [True, True] Translation: X:64.99, Y:14.54, Z:10.59 [[ 6.35940968e-01 -7.04765749e-01 -3.14458780e-01 6.49857620e+01] [ 6.56797359e-01 7.08204719e-01 -2.58965838e-01 1.45441308e+01] [ 4.05211444e-01 -4.18487103e-02 9.13264677e-01 1.05890689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.910714057 meters Centerline goodness : 0.995519 Centerline is valid? [True, True] Translation: X:65.00, Y:14.58, Z:10.61 [[ 6.33597898e-01 -7.18144912e-01 -2.87787403e-01 6.49982681e+01] [ 6.54584646e-01 6.95892509e-01 -2.95385439e-01 1.45758250e+01] [ 4.12398648e-01 -1.22562230e-03 9.11002664e-01 1.06130883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.94071405700001 meters Centerline goodness : 0.995169 Centerline is valid? [True, True] Translation: X:65.04, Y:14.57, Z:10.60 [[ 0.63651695 -0.68968217 -0.34523133 65.04213408] [ 0.65762575 0.71919011 -0.22426313 14.56736323] [ 0.40295724 -0.08428573 0.91132946 10.59618258] [ 0. 0. 0. 1. ]] SLAMing on 70.97071405700001 meters Centerline goodness : 0.994987 Centerline is valid? [True, True] Translation: X:65.04, Y:14.60, Z:10.63 [[ 6.34762080e-01 -7.08687031e-01 -3.07960701e-01 6.50412693e+01] [ 6.57469809e-01 7.04739208e-01 -2.66601010e-01 1.45969298e+01] [ 4.05968659e-01 -3.32466515e-02 9.13282053e-01 1.06262671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.00071405700001 meters Centerline goodness : 0.995159 Centerline is valid? [True, True] Translation: X:65.06, Y:14.61, Z:10.64 [[ 6.34345752e-01 -7.06183225e-01 -3.14500747e-01 6.50644696e+01] [ 6.58408818e-01 7.06731927e-01 -2.58897300e-01 1.46115412e+01] [ 4.05096649e-01 -4.28396622e-02 9.13269658e-01 1.06357584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.030714057 meters Centerline goodness : 0.995843 Centerline is valid? [True, True] Translation: X:65.08, Y:14.63, Z:10.65 [[ 6.34292747e-01 -7.07763835e-01 -3.11035472e-01 6.50799032e+01] [ 6.57969083e-01 7.05451205e-01 -2.63467805e-01 1.46290364e+01] [ 4.05893332e-01 -3.75360067e-02 9.13149304e-01 1.06481495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.060714057 meters Centerline goodness : 0.995919 Centerline is valid? [True, True] Translation: X:65.10, Y:14.65, Z:10.66 [[ 6.35425463e-01 -7.10583950e-01 -3.02167059e-01 6.51000787e+01] [ 6.57975359e-01 7.03077562e-01 -2.69722762e-01 1.46507817e+01] [ 4.04107544e-01 -2.74297683e-02 9.14300115e-01 1.06621020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.090714057 meters Centerline goodness : 0.995460 Centerline is valid? [True, True] Translation: X:65.12, Y:14.66, Z:10.67 [[ 6.35193777e-01 -7.03170743e-01 -3.19499254e-01 6.51246416e+01] [ 6.57828474e-01 7.09309464e-01 -2.53262281e-01 1.46604622e+01] [ 4.04710470e-01 -4.93050819e-02 9.13114694e-01 1.06669664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.120714057 meters Centerline goodness : 0.995079 Centerline is valid? [True, True] Translation: X:65.14, Y:14.68, Z:10.68 [[ 6.34488837e-01 -7.07070676e-01 -3.12209824e-01 6.51396212e+01] [ 6.57379476e-01 7.06107393e-01 -2.63181636e-01 1.46808238e+01] [ 4.06541683e-01 -3.82545204e-02 9.12831009e-01 1.06831320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.150714057 meters Centerline goodness : 0.994875 Centerline is valid? [True, True] Translation: X:65.16, Y:14.70, Z:10.69 [[ 6.34882700e-01 -7.06226101e-01 -3.13318769e-01 6.51593979e+01] [ 6.57090955e-01 7.06875585e-01 -2.61836560e-01 1.46968152e+01] [ 4.06393201e-01 -3.96434272e-02 9.12837863e-01 1.06934144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.180714057 meters Centerline goodness : 0.994903 Centerline is valid? [True, True] Translation: X:65.18, Y:14.71, Z:10.71 [[ 6.34757547e-01 -7.08016013e-01 -3.09509583e-01 6.51772232e+01] [ 6.57194330e-01 7.05340393e-01 -2.65688807e-01 1.47148210e+01] [ 4.06421541e-01 -3.47599680e-02 9.13024247e-01 1.07071051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.210714057 meters Centerline goodness : 0.994734 Centerline is valid? [True, True] Translation: X:65.20, Y:14.73, Z:10.72 [[ 6.35031149e-01 -7.05603200e-01 -3.14419409e-01 6.51975674e+01] [ 6.56641321e-01 7.07451272e-01 -2.61409397e-01 1.47295198e+01] [ 4.06887718e-01 -4.04576665e-02 9.12581811e-01 1.07161551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.240714057 meters Centerline goodness : 0.995608 Centerline is valid? [True, True] Translation: X:65.22, Y:14.75, Z:10.73 [[ 6.34960166e-01 -7.07225073e-01 -3.10899153e-01 6.52155808e+01] [ 6.56459560e-01 7.06096024e-01 -2.65498120e-01 1.47481372e+01] [ 4.07291583e-01 -3.55119906e-02 9.12607508e-01 1.07293867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.270714057 meters Centerline goodness : 0.995359 Centerline is valid? [True, True] Translation: X:65.24, Y:14.76, Z:10.74 [[ 6.35204138e-01 -7.04444785e-01 -3.16659515e-01 6.52352192e+01] [ 6.55844111e-01 7.08504756e-01 -2.60556160e-01 1.47628347e+01] [ 4.07902200e-01 -4.21729272e-02 9.12051116e-01 1.07391274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.30071405700001 meters Centerline goodness : 0.995444 Centerline is valid? [True, True] Translation: X:65.25, Y:14.78, Z:10.75 [[ 6.34633606e-01 -7.06708753e-01 -3.12734592e-01 6.52521268e+01] [ 6.56289336e-01 7.06525466e-01 -2.64775515e-01 1.47812493e+01] [ 4.08074127e-01 -3.72089382e-02 9.12190222e-01 1.07534533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.33071405700001 meters Centerline goodness : 0.995003 Centerline is valid? [True, True] Translation: X:65.27, Y:14.80, Z:10.76 [[ 6.35041548e-01 -7.05267090e-01 -3.15151654e-01 6.52702675e+01] [ 6.55686128e-01 7.07825959e-01 -2.62789103e-01 1.47963068e+01] [ 4.08409028e-01 -3.97585688e-02 9.11932740e-01 1.07635981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.36071405700001 meters Centerline goodness : 0.995114 Centerline is valid? [True, True] Translation: X:65.29, Y:14.82, Z:10.78 [[ 6.35435108e-01 -7.07256559e-01 -3.09855422e-01 6.52855503e+01] [ 6.54238477e-01 7.06282525e-01 -2.70438552e-01 1.48160627e+01] [ 4.10114909e-01 -3.08731887e-02 9.11511167e-01 1.07789497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.390714057 meters Centerline goodness : 0.995114 Centerline is valid? [True, True] Translation: X:65.31, Y:14.83, Z:10.79 [[ 6.35229488e-01 -7.06413558e-01 -3.12191259e-01 6.53054157e+01] [ 6.54567208e-01 7.06971773e-01 -2.67829577e-01 1.48320760e+01] [ 4.09908853e-01 -3.42169154e-02 9.11484468e-01 1.07889795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.420714057 meters Centerline goodness : 0.994542 Centerline is valid? [True, True] Translation: X:65.32, Y:14.85, Z:10.80 [[ 6.35250904e-01 -7.05678134e-01 -3.13806724e-01 6.53243050e+01] [ 6.54029742e-01 7.07647660e-01 -2.67357225e-01 1.48492413e+01] [ 4.10732742e-01 -3.54000116e-02 9.11068304e-01 1.07998543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.450714057 meters Centerline goodness : 0.995101 Centerline is valid? [True, True] Translation: X:65.34, Y:14.87, Z:10.81 [[ 6.36957968e-01 -7.05696502e-01 -3.10285343e-01 6.53401932e+01] [ 6.52074340e-01 7.07902320e-01 -2.71428369e-01 1.48674882e+01] [ 4.11197765e-01 -2.94406484e-02 9.11070604e-01 1.08128668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.480714057 meters Centerline goodness : 0.995268 Centerline is valid? [True, True] Translation: X:65.36, Y:14.88, Z:10.82 [[ 6.36705694e-01 -7.02885012e-01 -3.17109635e-01 6.53596010e+01] [ 6.51910169e-01 7.10304116e-01 -2.65482947e-01 1.48822383e+01] [ 4.11848263e-01 -3.76924914e-02 9.10472561e-01 1.08226952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.510714057 meters Centerline goodness : 0.994787 Centerline is valid? [True, True] Translation: X:65.38, Y:14.90, Z:10.84 [[ 6.39353843e-01 -7.04745070e-01 -3.07507804e-01 6.53750145e+01] [ 6.49808473e-01 7.09030594e-01 -2.73906126e-01 1.49035780e+01] [ 4.11066433e-01 -2.46982420e-02 9.11270753e-01 1.08380569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.540714057 meters Centerline goodness : 0.994437 Centerline is valid? [True, True] Translation: X:65.40, Y:14.92, Z:10.85 [[ 6.40275062e-01 -7.01983516e-01 -3.11876560e-01 6.53955767e+01] [ 6.49301511e-01 7.11537542e-01 -2.68555162e-01 1.49194513e+01] [ 4.10433177e-01 -3.05527484e-02 9.11378701e-01 1.08472022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.570714057 meters Centerline goodness : 0.994828 Centerline is valid? [True, True] Translation: X:65.41, Y:14.94, Z:10.86 [[ 6.41570617e-01 -7.01859390e-01 -3.09484313e-01 6.54117261e+01] [ 6.47952568e-01 7.11817653e-01 -2.71059216e-01 1.49368685e+01] [ 4.10541854e-01 -2.66275267e-02 9.11452885e-01 1.08598422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.600714057 meters Centerline goodness : 0.994682 Centerline is valid? [True, True] Translation: X:65.43, Y:14.96, Z:10.87 [[ 6.43412546e-01 -7.02730692e-01 -3.03627848e-01 6.54307284e+01] [ 6.47712465e-01 7.11152580e-01 -2.73368928e-01 1.49568543e+01] [ 4.08030464e-01 -2.07745437e-02 9.12731921e-01 1.08728332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.630714057 meters Centerline goodness : 0.994414 Centerline is valid? [True, True] Translation: X:65.45, Y:14.97, Z:10.88 [[ 6.44343820e-01 -7.01589956e-01 -3.04290280e-01 6.54527231e+01] [ 6.47579130e-01 7.12225220e-01 -2.70880983e-01 1.49744736e+01] [ 4.06770589e-01 -2.25115474e-02 9.13252932e-01 1.08824334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.660714057 meters Centerline goodness : 0.994388 Centerline is valid? [True, True] Translation: X:65.47, Y:14.99, Z:10.89 [[ 6.44467354e-01 -6.97968393e-01 -3.12253027e-01 6.54743984e+01] [ 6.47846938e-01 7.15343510e-01 -2.61874030e-01 1.49873095e+01] [ 4.06147972e-01 -3.35229041e-02 9.13192225e-01 1.08888196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.69071405700001 meters Centerline goodness : 0.993515 Centerline is valid? [True, True] Translation: X:65.49, Y:15.01, Z:10.90 [[ 6.43220422e-01 -7.03310348e-01 -3.02691333e-01 6.54911727e+01] [ 6.48793414e-01 7.10566248e-01 -2.72328318e-01 1.50087447e+01] [ 4.06613569e-01 -2.12170080e-02 9.13353844e-01 1.09046472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.72071405700001 meters Centerline goodness : 0.993935 Centerline is valid? [True, True] Translation: X:65.51, Y:15.02, Z:10.91 [[ 6.41121887e-01 -7.01872185e-01 -3.10383895e-01 6.55140096e+01] [ 6.50518932e-01 7.11595696e-01 -2.65436778e-01 1.50223218e+01] [ 4.07170536e-01 -3.17332719e-02 9.12800720e-01 1.09120394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.75071405700001 meters Centerline goodness : 0.994565 Centerline is valid? [True, True] Translation: X:65.53, Y:15.04, Z:10.92 [[ 6.38154889e-01 -7.03563298e-01 -3.12661197e-01 6.55337149e+01] [ 6.52204541e-01 7.09812860e-01 -2.66073185e-01 1.50399511e+01] [ 4.09130266e-01 -3.41231486e-02 9.11837725e-01 1.09239519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.780714057 meters Centerline goodness : 0.994200 Centerline is valid? [True, True] Translation: X:65.55, Y:15.05, Z:10.94 [[ 6.36785999e-01 -7.05146379e-01 -3.11884877e-01 6.55508982e+01] [ 6.53868071e-01 7.08226435e-01 -2.66217696e-01 1.50548297e+01] [ 4.08607559e-01 -3.44078617e-02 9.12061380e-01 1.09360553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.810714057 meters Centerline goodness : 0.993669 Centerline is valid? [True, True] Translation: X:65.57, Y:15.07, Z:10.95 [[ 6.34472705e-01 -7.08943259e-01 -3.07967275e-01 6.55681192e+01] [ 6.55403596e-01 7.04654360e-01 -2.71860918e-01 1.50738867e+01] [ 4.09744448e-01 -2.93545273e-02 9.11727919e-01 1.09508300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.840714057 meters Centerline goodness : 0.992914 Centerline is valid? [True, True] Translation: X:65.59, Y:15.09, Z:10.96 [[ 6.31720189e-01 -7.08761697e-01 -3.13984809e-01 6.55877071e+01] [ 6.57856433e-01 7.04413083e-01 -2.66509141e-01 1.50867243e+01] [ 4.10066478e-01 -3.81977214e-02 9.11255407e-01 1.09594400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.870714057 meters Centerline goodness : 0.993388 Centerline is valid? [True, True] Translation: X:65.61, Y:15.11, Z:10.97 [[ 6.29885232e-01 -7.13412572e-01 -3.07062041e-01 6.56050737e+01] [ 6.59780941e-01 7.00076923e-01 -2.73095975e-01 1.51068435e+01] [ 4.09797151e-01 -3.05745609e-02 9.11664133e-01 1.09744467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.900714057 meters Centerline goodness : 0.993912 Centerline is valid? [True, True] Translation: X:65.63, Y:15.12, Z:10.98 [[ 6.28747615e-01 -7.13625896e-01 -3.08892404e-01 6.56264563e+01] [ 6.61332746e-01 6.99686219e-01 -2.70329787e-01 1.51241583e+01] [ 4.09042095e-01 -3.43114527e-02 9.11870215e-01 1.09843988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.930714057 meters Centerline goodness : 0.993339 Centerline is valid? [True, True] Translation: X:65.65, Y:15.14, Z:11.00 [[ 6.26236270e-01 -7.14307435e-01 -3.12398820e-01 6.56458277e+01] [ 6.63550831e-01 6.98698492e-01 -2.67433565e-01 1.51386374e+01] [ 4.09302368e-01 -3.98158982e-02 9.11529629e-01 1.09952368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.960714057 meters Centerline goodness : 0.993496 Centerline is valid? [True, True] Translation: X:65.66, Y:15.16, Z:11.01 [[ 6.24608637e-01 -7.17660669e-01 -3.07940277e-01 6.56642489e+01] [ 6.65059560e-01 6.95515886e-01 -2.71943806e-01 1.51580060e+01] [ 4.09340729e-01 -3.49401750e-02 9.11712319e-01 1.10076651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.990714057 meters Centerline goodness : 0.993552 Centerline is valid? [True, True] Translation: X:65.68, Y:15.17, Z:11.02 [[ 6.23979202e-01 -7.17751573e-01 -3.09002646e-01 6.56837026e+01] [ 6.66369696e-01 6.95270326e-01 -2.69352189e-01 1.51744942e+01] [ 4.08168328e-01 -3.78398350e-02 9.12122121e-01 1.10196056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.020714057 meters Centerline goodness : 0.993434 Centerline is valid? [True, True] Translation: X:65.70, Y:15.19, Z:11.03 [[ 6.22020902e-01 -7.20352738e-01 -3.06890745e-01 6.57030291e+01] [ 6.68355210e-01 6.92650321e-01 -2.71176782e-01 1.51928753e+01] [ 4.07910911e-01 -3.64344017e-02 9.12294483e-01 1.10328447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.05071405700001 meters Centerline goodness : 0.992963 Centerline is valid? [True, True] Translation: X:65.72, Y:15.21, Z:11.04 [[ 6.21177173e-01 -7.19428469e-01 -3.10743620e-01 6.57204801e+01] [ 6.68564857e-01 6.93368851e-01 -2.68813445e-01 1.52067567e+01] [ 4.08851992e-01 -4.07714875e-02 9.11689494e-01 1.10409364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.08071405700001 meters Centerline goodness : 0.993916 Centerline is valid? [True, True] Translation: X:65.74, Y:15.23, Z:11.05 [[ 6.19341411e-01 -7.21472199e-01 -3.09667697e-01 6.57404765e+01] [ 6.69541021e-01 6.91337402e-01 -2.71601579e-01 1.52266766e+01] [ 4.10037850e-01 -3.91211208e-02 9.11229115e-01 1.10539707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.11071405700001 meters Centerline goodness : 0.993766 Centerline is valid? [True, True] Translation: X:65.76, Y:15.24, Z:11.07 [[ 6.19338295e-01 -7.20552622e-01 -3.11807626e-01 6.57601398e+01] [ 6.70075660e-01 6.92082689e-01 -2.68365723e-01 1.52424704e+01] [ 4.09168285e-01 -4.27255314e-02 9.11458087e-01 1.10651405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.140714057 meters Centerline goodness : 0.993011 Centerline is valid? [True, True] Translation: X:65.78, Y:15.26, Z:11.08 [[ 6.19051161e-01 -7.22593577e-01 -3.07626694e-01 6.57765955e+01] [ 6.69964486e-01 6.90284592e-01 -2.73230252e-01 1.52616579e+01] [ 4.09784392e-01 -3.69554550e-02 9.11433512e-01 1.10782402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.170714057 meters Centerline goodness : 0.993523 Centerline is valid? [True, True] Translation: X:65.79, Y:15.28, Z:11.09 [[ 6.18521458e-01 -7.22726336e-01 -3.08379391e-01 6.57942804e+01] [ 6.68597788e-01 6.90244338e-01 -2.76658185e-01 1.52796729e+01] [ 4.12805285e-01 -3.50627543e-02 9.10144164e-01 1.10891394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.200714057 meters Centerline goodness : 0.993562 Centerline is valid? [True, True] Translation: X:65.81, Y:15.30, Z:11.10 [[ 6.17739365e-01 -7.22988842e-01 -3.09330262e-01 6.58141416e+01] [ 6.68992244e-01 6.89914920e-01 -2.76526277e-01 1.52974214e+01] [ 4.13336975e-01 -3.61183793e-02 9.09861532e-01 1.10996195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.230714057 meters Centerline goodness : 0.993440 Centerline is valid? [True, True] Translation: X:65.83, Y:15.32, Z:11.11 [[ 6.18261401e-01 -7.23612674e-01 -3.06818414e-01 6.58335886e+01] [ 6.69538697e-01 6.89348229e-01 -2.76616978e-01 1.53150011e+01] [ 4.11668281e-01 -3.44052008e-02 9.10684088e-01 1.11104379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.260714057 meters Centerline goodness : 0.994357 Centerline is valid? [True, True] Translation: X:65.86, Y:15.34, Z:11.13 [[ 6.12809085e-01 -7.27668320e-01 -3.08162038e-01 6.58560172e+01] [ 6.71424338e-01 6.85097729e-01 -2.82542847e-01 1.53382399e+01] [ 4.16718591e-01 -3.37626683e-02 9.08408332e-01 1.11265176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.290714057 meters Centerline goodness : 0.994178 Centerline is valid? [True, True] Translation: X:65.88, Y:15.35, Z:11.13 [[ 6.13761202e-01 -7.24507786e-01 -3.13664876e-01 6.58807269e+01] [ 6.72373653e-01 6.87913746e-01 -2.73291691e-01 1.53542203e+01] [ 4.13776338e-01 -4.31641620e-02 9.09354715e-01 1.11324230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.320714057 meters Centerline goodness : 0.993961 Centerline is valid? [True, True] Translation: X:65.90, Y:15.36, Z:11.14 [[ 6.15107537e-01 -7.17291413e-01 -3.27315973e-01 6.58997266e+01] [ 6.72060200e-01 6.94076520e-01 -2.58055948e-01 1.53626760e+01] [ 4.12283647e-01 -6.12438793e-02 9.08994709e-01 1.11360447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.350714057 meters Centerline goodness : 0.994860 Centerline is valid? [True, True] Translation: X:65.91, Y:15.39, Z:11.16 [[ 6.10122623e-01 -7.28442163e-01 -3.11644670e-01 6.59111698e+01] [ 6.74457437e-01 6.83910445e-01 -2.78161228e-01 1.53888794e+01] [ 4.15761412e-01 -4.04786077e-02 9.08572469e-01 1.11596521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.380714057 meters Centerline goodness : 0.995166 Centerline is valid? [True, True] Translation: X:65.93, Y:15.40, Z:11.17 [[ 6.08205335e-01 -7.26068307e-01 -3.20797577e-01 6.59322943e+01] [ 6.75752948e-01 6.85640974e-01 -2.70655516e-01 1.54042523e+01] [ 4.16466355e-01 -5.21657794e-02 9.07653297e-01 1.11686149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.410714057 meters Centerline goodness : 0.994281 Centerline is valid? [True, True] Translation: X:65.95, Y:15.42, Z:11.18 [[ 6.11164045e-01 -7.23408440e-01 -3.21183340e-01 6.59490677e+01] [ 6.75732219e-01 6.88180106e-01 -2.64185748e-01 1.54178719e+01] [ 4.12146185e-01 -5.55731012e-02 9.09421328e-01 1.11771037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.44071405700001 meters Centerline goodness : 0.995407 Centerline is valid? [True, True] Translation: X:65.96, Y:15.44, Z:11.20 [[ 6.05774312e-01 -7.29989703e-01 -3.16468823e-01 6.59622141e+01] [ 6.75998901e-01 6.81985958e-01 -2.79142686e-01 1.54414559e+01] [ 4.19598580e-01 -4.48351077e-02 9.06601812e-01 1.11977776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.47071405700001 meters Centerline goodness : 0.994273 Centerline is valid? [True, True] Translation: X:65.98, Y:15.46, Z:11.21 [[ 6.04224903e-01 -7.31877704e-01 -3.15067125e-01 6.59781246e+01] [ 6.77903647e-01 6.79966098e-01 -2.79450803e-01 1.54614650e+01] [ 4.18758775e-01 -4.47340186e-02 9.06995014e-01 1.12088091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.50071405700001 meters Centerline goodness : 0.995416 Centerline is valid? [True, True] Translation: X:65.99, Y:15.48, Z:11.22 [[ 6.04707071e-01 -7.31867675e-01 -3.14164074e-01 6.59916839e+01] [ 6.76247531e-01 6.80189150e-01 -2.82899272e-01 1.54774855e+01] [ 4.20735827e-01 -4.13814897e-02 9.06238896e-01 1.12215055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.530714057 meters Centerline goodness : 0.994225 Centerline is valid? [True, True] Translation: X:66.02, Y:15.49, Z:11.23 [[ 6.11060921e-01 -7.25256295e-01 -3.17187417e-01 6.60178033e+01] [ 6.72024892e-01 6.87050994e-01 -2.76303232e-01 1.54903387e+01] [ 4.18314588e-01 -4.43197322e-02 9.07220297e-01 1.12322377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.560714057 meters Centerline goodness : 0.993860 Centerline is valid? [True, True] Translation: X:66.04, Y:15.51, Z:11.24 [[ 6.15398332e-01 -7.27918331e-01 -3.02357069e-01 6.60362141e+01] [ 6.71493130e-01 6.85042941e-01 -2.82512205e-01 1.55128655e+01] [ 4.12773388e-01 -2.91731551e-02 9.10366441e-01 1.12440838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.590714057 meters Centerline goodness : 0.994511 Centerline is valid? [True, True] Translation: X:66.06, Y:15.53, Z:11.25 [[ 6.11614846e-01 -7.25164696e-01 -3.16328063e-01 6.60577625e+01] [ 6.73547050e-01 6.87017041e-01 -2.72657215e-01 1.55277665e+01] [ 4.15044157e-01 -4.63006332e-02 9.08622364e-01 1.12538795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.620714057 meters Centerline goodness : 0.995318 Centerline is valid? [True, True] Translation: X:66.07, Y:15.56, Z:11.27 [[ 6.11863552e-01 -7.34144701e-01 -2.94371452e-01 6.60742050e+01] [ 6.74148884e-01 6.78693418e-01 -2.91373518e-01 1.55555745e+01] [ 4.13698291e-01 -2.01693502e-02 9.10190596e-01 1.12731368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.650714057 meters Centerline goodness : 0.995000 Centerline is valid? [True, True] Translation: X:66.11, Y:15.56, Z:11.27 [[ 6.09434932e-01 -7.20773612e-01 -3.30264232e-01 6.61056778e+01] [ 6.75681316e-01 6.90101794e-01 -2.59257158e-01 1.55637937e+01] [ 4.14781657e-01 -6.51530025e-02 9.07585403e-01 1.12719190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.680714057 meters Centerline goodness : 0.994257 Centerline is valid? [True, True] Translation: X:66.11, Y:15.58, Z:11.29 [[ 6.11432157e-01 -7.26481531e-01 -3.13648373e-01 6.61118290e+01] [ 6.73033337e-01 6.85906354e-01 -2.76692248e-01 1.55840185e+01] [ 4.16145220e-01 -4.19172735e-02 9.08331491e-01 1.12895034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.710714057 meters Centerline goodness : 0.994488 Centerline is valid? [True, True] Translation: X:66.13, Y:15.60, Z:11.30 [[ 6.11285112e-01 -7.25390597e-01 -3.16447459e-01 6.61312922e+01] [ 6.73928882e-01 6.86747803e-01 -2.72391844e-01 1.56022938e+01] [ 4.14910080e-01 -4.67540036e-02 9.08660382e-01 1.12998968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.740714057 meters Centerline goodness : 0.994598 Centerline is valid? [True, True] Translation: X:66.14, Y:15.63, Z:11.32 [[ 6.12380371e-01 -7.37496126e-01 -2.84762613e-01 6.61423110e+01] [ 6.72596919e-01 6.75322552e-01 -3.02576990e-01 1.56344451e+01] [ 4.15455972e-01 -6.23824663e-03 9.09591897e-01 1.13221193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.770714057 meters Centerline goodness : 0.994805 Centerline is valid? [True, True] Translation: X:66.18, Y:15.63, Z:11.31 [[ 0.61016936 -0.71412318 -0.34310558 66.18320225] [ 0.67457939 0.69539878 -0.24771592 15.63316149] [ 0.41549489 -0.08030329 0.90604381 11.31087049] [ 0. 0. 0. 1. ]] SLAMing on 72.80071405700001 meters Centerline goodness : 0.994344 Centerline is valid? [True, True] Translation: X:66.18, Y:15.66, Z:11.34 [[ 6.09451255e-01 -7.29139036e-01 -3.11328500e-01 6.61844170e+01] [ 6.73892911e-01 6.83281272e-01 -2.81060576e-01 1.56612933e+01] [ 4.17657171e-01 -3.85093490e-02 9.07788256e-01 1.13383757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.83071405700001 meters Centerline goodness : 0.993969 Centerline is valid? [True, True] Translation: X:66.20, Y:15.68, Z:11.35 [[ 6.10482683e-01 -7.27115673e-01 -3.14028172e-01 6.62040806e+01] [ 6.73769338e-01 6.85187439e-01 -2.76682224e-01 1.56776591e+01] [ 4.16348140e-01 -4.26728468e-02 9.08203311e-01 1.13460560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.86071405700001 meters Centerline goodness : 0.994027 Centerline is valid? [True, True] Translation: X:66.22, Y:15.70, Z:11.36 [[ 6.11911821e-01 -7.25766442e-01 -3.14367611e-01 6.62207107e+01] [ 6.72977249e-01 6.86583578e-01 -2.75144714e-01 1.56960445e+01] [ 4.15530439e-01 -4.31979469e-02 9.08552911e-01 1.13575212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.890714057 meters Centerline goodness : 0.992854 Centerline is valid? [True, True] Translation: X:66.23, Y:15.71, Z:11.37 [[ 6.16873776e-01 -7.23075857e-01 -3.10850526e-01 6.62335538e+01] [ 6.70413952e-01 6.89637105e-01 -2.73762298e-01 1.57102720e+01] [ 4.12324966e-01 -3.95217470e-02 9.10179188e-01 1.13668422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.920714057 meters Centerline goodness : 0.993794 Centerline is valid? [True, True] Translation: X:66.26, Y:15.73, Z:11.38 [[ 6.18222743e-01 -7.21014306e-01 -3.12952090e-01 6.62552089e+01] [ 6.71015685e-01 6.91484298e-01 -2.67558249e-01 1.57312878e+01] [ 4.09314781e-01 -4.45851661e-02 9.11303228e-01 1.13784151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.950714057 meters Centerline goodness : 0.994501 Centerline is valid? [True, True] Translation: X:66.27, Y:15.75, Z:11.40 [[ 6.12726012e-01 -7.23061437e-01 -3.18981178e-01 6.62681899e+01] [ 6.69804642e-01 6.89345337e-01 -2.75979615e-01 1.57485703e+01] [ 4.19438405e-01 -4.45551852e-02 9.06689726e-01 1.13952915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.980714057 meters Centerline goodness : 0.993395 Centerline is valid? [True, True] Translation: X:66.28, Y:15.76, Z:11.40 [[ 6.17855063e-01 -7.18913433e-01 -3.18462867e-01 6.62848665e+01] [ 6.68856783e-01 6.93472468e-01 -2.67818110e-01 1.57623412e+01] [ 4.13383267e-01 -4.75332734e-02 9.09315601e-01 1.14037503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.010714057 meters Centerline goodness : 0.993250 Centerline is valid? [True, True] Translation: X:66.29, Y:15.79, Z:11.43 [[ 6.22526587e-01 -7.26318362e-01 -2.91414284e-01 6.62935975e+01] [ 6.66161268e-01 6.87220903e-01 -2.89752647e-01 1.57887796e+01] [ 4.10718655e-01 -1.37501827e-02 9.11658444e-01 1.14260739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.040714057 meters Centerline goodness : 0.992414 Centerline is valid? [True, True] Translation: X:66.32, Y:15.80, Z:11.43 [[ 6.23361199e-01 -7.15755739e-01 -3.14824615e-01 6.63208306e+01] [ 6.64851177e-01 6.97086816e-01 -2.68408054e-01 1.57993385e+01] [ 4.11574694e-01 -4.19963494e-02 9.10407918e-01 1.14275196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.070714057 meters Centerline goodness : 0.994104 Centerline is valid? [True, True] Translation: X:66.33, Y:15.83, Z:11.45 [[ 6.31438256e-01 -7.24555076e-01 -2.76234810e-01 6.63307078e+01] [ 6.60320439e-01 6.89191093e-01 -2.98316200e-01 1.58316221e+01] [ 4.06525088e-01 5.96477021e-03 9.13620148e-01 1.14501674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.100714057 meters Centerline goodness : 0.993743 Centerline is valid? [True, True] Translation: X:66.37, Y:15.84, Z:11.44 [[ 6.30956731e-01 -7.05312089e-01 -3.23153926e-01 6.63686316e+01] [ 6.59526815e-01 7.06985450e-01 -2.55334982e-01 1.58350767e+01] [ 4.08555973e-01 -5.20233546e-02 9.11249465e-01 1.14421027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.130714057 meters Centerline goodness : 0.993720 Centerline is valid? [True, True] Translation: X:66.38, Y:15.86, Z:11.46 [[ 6.36720843e-01 -7.13582464e-01 -2.92209916e-01 6.63750742e+01] [ 6.55327196e-01 7.00476239e-01 -2.82629272e-01 1.58617598e+01] [ 4.06365396e-01 -1.15371570e-02 9.13637816e-01 1.14641207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.160714057 meters Centerline goodness : 0.993808 Centerline is valid? [True, True] Translation: X:66.40, Y:15.88, Z:11.47 [[ 6.36877279e-01 -7.07244838e-01 -3.06907267e-01 6.64005777e+01] [ 6.54883567e-01 7.06338526e-01 -2.68725512e-01 1.58759511e+01] [ 4.06835158e-01 -2.98433534e-02 9.13013980e-01 1.14704069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.19071405700001 meters Centerline goodness : 0.993153 Centerline is valid? [True, True] Translation: X:66.42, Y:15.89, Z:11.48 [[ 6.38414157e-01 -7.04953414e-01 -3.08979043e-01 6.64175719e+01] [ 6.52691797e-01 7.08597398e-01 -2.68110325e-01 1.58918479e+01] [ 4.07947035e-01 -3.05026596e-02 9.12495920e-01 1.14820274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.22071405700001 meters Centerline goodness : 0.992422 Centerline is valid? [True, True] Translation: X:66.43, Y:15.91, Z:11.49 [[ 6.38860375e-01 -7.05428790e-01 -3.06965214e-01 6.64333555e+01] [ 6.51809908e-01 7.08270671e-01 -2.71102381e-01 1.59088015e+01] [ 4.08657882e-01 -2.68863990e-02 9.12291541e-01 1.14948264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.25071405700001 meters Centerline goodness : 0.993574 Centerline is valid? [True, True] Translation: X:66.45, Y:15.94, Z:11.51 [[ 6.41811947e-01 -7.11532905e-01 -2.86004108e-01 6.64505164e+01] [ 6.51134363e-01 7.02649652e-01 -2.86892851e-01 1.59356765e+01] [ 4.05094391e-01 -2.09584300e-03 9.14272466e-01 1.15123737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.280714057 meters Centerline goodness : 0.993574 Centerline is valid? [True, True] Translation: X:66.48, Y:15.95, Z:11.51 [[ 6.41662072e-01 -7.02951441e-01 -3.06804592e-01 6.64818137e+01] [ 6.51661008e-01 7.10616378e-01 -2.65258918e-01 1.59484334e+01] [ 4.04484506e-01 -2.97260031e-02 9.14061622e-01 1.15135832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.310714057 meters Centerline goodness : 0.993166 Centerline is valid? [True, True] Translation: X:66.50, Y:15.95, Z:11.52 [[ 0.62874515 -0.69341763 -0.35192545 66.49523734] [ 0.65755475 0.71569163 -0.23538744 15.94869309] [ 0.4150919 -0.08341154 0.9059477 11.51572444] [ 0. 0. 0. 1. ]] SLAMing on 73.340714057 meters Centerline goodness : 0.992527 Centerline is valid? [True, True] Translation: X:66.49, Y:15.99, Z:11.56 [[ 6.35606353e-01 -7.22055880e-01 -2.73202983e-01 6.64898721e+01] [ 6.53693583e-01 6.91635093e-01 -3.07124726e-01 1.59870197e+01] [ 4.10717985e-01 1.66193904e-02 9.11610955e-01 1.15626018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.370714057 meters Centerline goodness : 0.992689 Centerline is valid? [True, True] Translation: X:66.53, Y:16.00, Z:11.56 [[ 6.34816087e-01 -7.09030566e-01 -3.07057310e-01 6.65272569e+01] [ 6.55341928e-01 7.04602930e-01 -2.72142735e-01 1.59951958e+01] [ 4.09310998e-01 -2.84669429e-02 9.11950733e-01 1.15566637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.400714057 meters Centerline goodness : 0.993707 Centerline is valid? [True, True] Translation: X:66.54, Y:16.02, Z:11.58 [[ 6.28585547e-01 -7.18287478e-01 -2.98233649e-01 6.65397940e+01] [ 6.56411110e-01 6.95638178e-01 -2.91910909e-01 1.60174553e+01] [ 4.17138663e-01 -1.22729018e-02 9.08759986e-01 1.15767363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.430714057 meters Centerline goodness : 0.993277 Centerline is valid? [True, True] Translation: X:66.57, Y:16.03, Z:11.58 [[ 6.23770426e-01 -7.14586848e-01 -3.16664006e-01 6.65677194e+01] [ 6.60741711e-01 6.98521901e-01 -2.74749968e-01 1.60277810e+01] [ 4.17529457e-01 -3.78522128e-02 9.07874640e-01 1.15797678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.460714057 meters Centerline goodness : 0.993031 Centerline is valid? [True, True] Translation: X:66.59, Y:16.04, Z:11.59 [[ 6.25091267e-01 -7.12349992e-01 -3.19089950e-01 6.65874426e+01] [ 6.63769653e-01 7.00216661e-01 -2.62881106e-01 1.60392549e+01] [ 4.10695453e-01 -4.74775418e-02 9.10535627e-01 1.15863864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.490714057 meters Centerline goodness : 0.993676 Centerline is valid? [True, True] Translation: X:66.60, Y:16.06, Z:11.61 [[ 6.15378473e-01 -7.30388454e-01 -2.96381581e-01 6.65958352e+01] [ 6.67597707e-01 6.82860663e-01 -2.96672574e-01 1.60646292e+01] [ 4.19073546e-01 -1.52977487e-02 9.07823409e-01 1.16135573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.520714057 meters Centerline goodness : 0.994234 Centerline is valid? [True, True] Translation: X:66.62, Y:16.08, Z:11.62 [[ 6.12961697e-01 -7.26029842e-01 -3.11702785e-01 6.66237926e+01] [ 6.70407898e-01 6.86685051e-01 -2.81099433e-01 1.60771093e+01] [ 4.18128220e-01 -3.66648236e-02 9.07647775e-01 1.16174299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.55071405700001 meters Centerline goodness : 0.994177 Centerline is valid? [True, True] Translation: X:66.65, Y:16.09, Z:11.62 [[ 6.15154264e-01 -7.21739030e-01 -3.17297974e-01 6.66462947e+01] [ 6.72767791e-01 6.90370168e-01 -2.66031070e-01 1.60878565e+01] [ 4.11058063e-01 -4.98177100e-02 9.10246925e-01 1.16221293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.58071405700001 meters Centerline goodness : 0.994612 Centerline is valid? [True, True] Translation: X:66.66, Y:16.11, Z:11.64 [[ 6.10380535e-01 -7.31767931e-01 -3.03234723e-01 6.66580734e+01] [ 6.75676034e-01 6.80789934e-01 -2.82819666e-01 1.61078638e+01] [ 4.13397508e-01 -3.22608157e-02 9.09978978e-01 1.16417228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.61071405700001 meters Centerline goodness : 0.995129 Centerline is valid? [True, True] Translation: X:66.68, Y:16.12, Z:11.65 [[ 6.08352191e-01 -7.32462806e-01 -3.05623704e-01 6.66779013e+01] [ 6.76586153e-01 6.79918335e-01 -2.82740578e-01 1.61247638e+01] [ 4.14896118e-01 -3.47749161e-02 9.09204002e-01 1.16525072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.640714057 meters Centerline goodness : 0.995226 Centerline is valid? [True, True] Translation: X:66.70, Y:16.14, Z:11.67 [[ 6.07400547e-01 -7.34162907e-01 -3.03429401e-01 6.66984357e+01] [ 6.78572400e-01 6.78101226e-01 -2.82344161e-01 1.61415682e+01] [ 4.13042459e-01 -3.44028193e-02 9.10061742e-01 1.16657216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.670714057 meters Centerline goodness : 0.995948 Centerline is valid? [True, True] Translation: X:66.71, Y:16.16, Z:11.68 [[ 6.03547970e-01 -7.40719332e-01 -2.95067314e-01 6.67118788e+01] [ 6.77703600e-01 6.71541463e-01 -2.99582868e-01 1.61640659e+01] [ 4.20056757e-01 -1.91555489e-02 9.07295644e-01 1.16834233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.700714057 meters Centerline goodness : 0.995642 Centerline is valid? [True, True] Translation: X:66.74, Y:16.17, Z:11.69 [[ 6.04757176e-01 -7.31900255e-01 -3.13991680e-01 6.67400219e+01] [ 6.77727593e-01 6.80014576e-01 -2.79759693e-01 1.61745242e+01] [ 4.18275110e-01 -4.36141434e-02 9.07272693e-01 1.16855725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.730714057 meters Centerline goodness : 0.995416 Centerline is valid? [True, True] Translation: X:66.76, Y:16.20, Z:11.70 [[ 6.04502409e-01 -7.35242721e-01 -3.06586005e-01 6.67567231e+01] [ 6.77627743e-01 6.76947826e-01 -2.87336532e-01 1.61954022e+01] [ 4.18804823e-01 -3.40555571e-02 9.07437457e-01 1.17008510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.760714057 meters Centerline goodness : 0.995651 Centerline is valid? [True, True] Translation: X:66.78, Y:16.21, Z:11.71 [[ 6.05162065e-01 -7.32175175e-01 -3.12567415e-01 6.67777733e+01] [ 6.77330320e-01 6.79845839e-01 -2.81128572e-01 1.62105950e+01] [ 4.18333018e-01 -4.15830405e-02 9.07341356e-01 1.17093981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.790714057 meters Centerline goodness : 0.995975 Centerline is valid? [True, True] Translation: X:66.80, Y:16.23, Z:11.72 [[ 6.03718255e-01 -7.31853258e-01 -3.16093464e-01 6.67958007e+01] [ 6.77313251e-01 6.80002768e-01 -2.80789950e-01 1.62263574e+01] [ 4.20441470e-01 -4.45762733e-02 9.06223993e-01 1.17222972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.820714057 meters Centerline goodness : 0.995088 Centerline is valid? [True, True] Translation: X:66.81, Y:16.25, Z:11.74 [[ 6.04212471e-01 -7.34294092e-01 -3.09417962e-01 6.68105770e+01] [ 6.76851330e-01 6.77874525e-01 -2.86981542e-01 1.62450364e+01] [ 4.20475405e-01 -3.60321328e-02 9.06588175e-01 1.17354846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.850714057 meters Centerline goodness : 0.996245 Centerline is valid? [True, True] Translation: X:66.82, Y:16.26, Z:11.74 [[ 6.00111268e-01 -7.35135828e-01 -3.15343908e-01 6.68196986e+01] [ 6.78716538e-01 6.76578853e-01 -2.85630736e-01 1.62604053e+01] [ 4.23332407e-01 -4.26189020e-02 9.04971437e-01 1.17433643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.880714057 meters Centerline goodness : 0.995278 Centerline is valid? [True, True] Translation: X:66.84, Y:16.28, Z:11.76 [[ 6.08588514e-01 -7.34388235e-01 -3.00489502e-01 6.68448048e+01] [ 6.76928273e-01 6.78101510e-01 -2.86262912e-01 1.62801432e+01] [ 4.13990500e-01 -2.91935194e-02 9.09812950e-01 1.17580198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.910714057 meters Centerline goodness : 0.995428 Centerline is valid? [True, True] Translation: X:66.87, Y:16.29, Z:11.77 [[ 6.06868203e-01 -7.29499046e-01 -3.15502972e-01 6.68670928e+01] [ 6.77636796e-01 6.82340536e-01 -2.74262221e-01 1.62925245e+01] [ 4.15354495e-01 -4.73554020e-02 9.08426171e-01 1.17663172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.94071405700001 meters Centerline goodness : 0.994627 Centerline is valid? [True, True] Translation: X:66.88, Y:16.31, Z:11.78 [[ 6.06983045e-01 -7.35497815e-01 -3.01022504e-01 6.68766639e+01] [ 6.77645125e-01 6.76884054e-01 -2.87445755e-01 1.63133416e+01] [ 4.15173057e-01 -2.95117326e-02 9.09263653e-01 1.17835140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.97071405700001 meters Centerline goodness : 0.995270 Centerline is valid? [True, True] Translation: X:66.89, Y:16.33, Z:11.80 [[ 6.02301375e-01 -7.39667334e-01 -3.00208743e-01 6.68918932e+01] [ 6.76460090e-01 6.72600505e-01 -3.00017179e-01 1.63343241e+01] [ 4.23833459e-01 -2.23784742e-02 9.05463640e-01 1.18013448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.00071405700001 meters Centerline goodness : 0.994287 Centerline is valid? [True, True] Translation: X:66.92, Y:16.34, Z:11.80 [[ 6.05538750e-01 -7.27096978e-01 -3.23500859e-01 6.69221930e+01] [ 6.78075701e-01 6.84184654e-01 -2.68523188e-01 1.63420376e+01] [ 4.16576722e-01 -5.67568760e-02 9.07327114e-01 1.18003106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.030714057 meters Centerline goodness : 0.994403 Centerline is valid? [True, True] Translation: X:66.93, Y:16.37, Z:11.82 [[ 6.06181480e-01 -7.37346078e-01 -2.98101953e-01 6.69267490e+01] [ 6.76274800e-01 6.75125327e-01 -2.94717132e-01 1.63664245e+01] [ 4.18564700e-01 -2.29467710e-02 9.07897041e-01 1.18233537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.060714057 meters Centerline goodness : 0.994658 Centerline is valid? [True, True] Translation: X:66.95, Y:16.38, Z:11.83 [[ 6.06486308e-01 -7.35630468e-01 -3.01698812e-01 6.69464702e+01] [ 6.76250055e-01 6.76819741e-01 -2.90862343e-01 1.63833954e+01] [ 4.18162913e-01 -2.76198095e-02 9.07952050e-01 1.18317835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.090714057 meters Centerline goodness : 0.994556 Centerline is valid? [True, True] Translation: X:66.96, Y:16.40, Z:11.84 [[ 6.07246251e-01 -7.36687001e-01 -2.97563864e-01 6.69627277e+01] [ 6.75586344e-01 6.75871233e-01 -2.94586434e-01 1.64019848e+01] [ 4.18132853e-01 -2.21435752e-02 9.08115951e-01 1.18440011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.120714057 meters Centerline goodness : 0.994271 Centerline is valid? [True, True] Translation: X:66.98, Y:16.42, Z:11.86 [[ 6.09583493e-01 -7.35747465e-01 -2.95099361e-01 6.69826523e+01] [ 6.74691016e-01 6.76966256e-01 -2.94123648e-01 1.64209295e+01] [ 4.16173038e-01 -1.98079675e-02 9.09069660e-01 1.18552344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.150714057 meters Centerline goodness : 0.994622 Centerline is valid? [True, True] Translation: X:67.00, Y:16.44, Z:11.86 [[ 6.11729652e-01 -7.34182220e-01 -2.94556110e-01 6.70043922e+01] [ 6.73851722e-01 6.78664181e-01 -2.92128029e-01 1.64409645e+01] [ 4.14379886e-01 -1.97837646e-02 9.09888956e-01 1.18647746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.180714057 meters Centerline goodness : 0.993886 Centerline is valid? [True, True] Translation: X:67.03, Y:16.46, Z:11.87 [[ 6.13682467e-01 -7.29243866e-01 -3.02650316e-01 6.70258445e+01] [ 6.72005625e-01 6.83651947e-01 -2.84654975e-01 1.64571367e+01] [ 4.14490372e-01 -2.86949474e-02 9.09601193e-01 1.18722102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.210714057 meters Centerline goodness : 0.995050 Centerline is valid? [True, True] Translation: X:67.04, Y:16.48, Z:11.89 [[ 6.10714960e-01 -7.35550154e-01 -2.93245987e-01 6.70401858e+01] [ 6.70664197e-01 6.77363153e-01 -3.02305630e-01 1.64819973e+01] [ 4.20994979e-01 -1.20470135e-02 9.06982964e-01 1.18908368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.240714057 meters Centerline goodness : 0.994577 Centerline is valid? [True, True] Translation: X:67.07, Y:16.49, Z:11.89 [[ 6.16108885e-01 -7.21503883e-01 -3.15977829e-01 6.70712735e+01] [ 6.70679777e-01 6.90904604e-01 -2.69887875e-01 1.64908147e+01] [ 4.13035687e-01 -4.56396224e-02 9.09570529e-01 1.18879321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.270714057 meters Centerline goodness : 0.994306 Centerline is valid? [True, True] Translation: X:67.08, Y:16.51, Z:11.91 [[ 6.17448753e-01 -7.26361078e-01 -3.01921549e-01 6.70814952e+01] [ 6.68259010e-01 6.86847257e-01 -2.85780932e-01 1.65141512e+01] [ 4.14954134e-01 -2.53067150e-02 9.09490317e-01 1.19071728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.30071405700001 meters Centerline goodness : 0.986574 Centerline is valid? [True, True] Translation: X:67.10, Y:16.53, Z:11.91 [[ 6.17448845e-01 -7.21814369e-01 -3.12635475e-01 6.70978994e+01] [ 6.69465080e-01 6.90884606e-01 -2.72937662e-01 1.65258977e+01] [ 4.13005363e-01 -4.07734885e-02 9.09815417e-01 1.19072928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.33071405700001 meters Centerline goodness : 0.995496 Centerline is valid? [True, True] Translation: X:67.10, Y:16.55, Z:11.95 [[ 6.12218781e-01 -7.35542649e-01 -2.90112350e-01 6.70994268e+01] [ 6.65757480e-01 6.77476308e-01 -3.12718452e-01 1.65533718e+01] [ 4.26562003e-01 -1.69235766e-03 9.04456740e-01 1.19451583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.36071405700001 meters Centerline goodness : 0.993425 Centerline is valid? [True, True] Translation: X:67.14, Y:16.57, Z:11.95 [[ 6.27754627e-01 -7.27823121e-01 -2.76039186e-01 6.71397628e+01] [ 6.61811314e-01 6.85723862e-01 -3.02966286e-01 1.65742474e+01] [ 4.09792525e-01 7.50263154e-03 9.12147903e-01 1.19481345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.390714057 meters Centerline goodness : 0.994515 Centerline is valid? [True, True] Translation: X:67.16, Y:16.58, Z:11.95 [[ 6.13270450e-01 -7.15553626e-01 -3.34488212e-01 6.71600193e+01] [ 6.66635292e-01 6.96027276e-01 -2.66727234e-01 1.65785457e+01] [ 4.23670558e-01 -5.94057161e-02 9.03866262e-01 1.19463664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.420714057 meters Centerline goodness : 0.994668 Centerline is valid? [True, True] Translation: X:67.16, Y:16.60, Z:11.97 [[ 6.13167999e-01 -7.28342731e-01 -3.05846155e-01 6.71621252e+01] [ 6.65680479e-01 6.84863734e-01 -2.96363233e-01 1.66039053e+01] [ 4.25316947e-01 -2.18753643e-02 9.04780063e-01 1.19726127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.450714057 meters Centerline goodness : 0.993967 Centerline is valid? [True, True] Translation: X:67.19, Y:16.62, Z:11.98 [[ 6.14497265e-01 -7.21366274e-01 -3.19411661e-01 6.71864059e+01] [ 6.68267895e-01 6.91133907e-01 -2.75230708e-01 1.66152953e+01] [ 4.19298380e-01 -4.43240409e-02 9.06765818e-01 1.19768152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.480714057 meters Centerline goodness : 0.986395 Centerline is valid? [True, True] Translation: X:67.19, Y:16.64, Z:11.99 [[ 6.12054299e-01 -7.33483576e-01 -2.95620328e-01 6.71887735e+01] [ 6.71000822e-01 6.79500542e-01 -2.96710145e-01 1.66395396e+01] [ 4.18506192e-01 -1.67587636e-02 9.08059311e-01 1.19946959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.510714057 meters Centerline goodness : 0.994880 Centerline is valid? [True, True] Translation: X:67.20, Y:16.66, Z:12.02 [[ 6.06291481e-01 -7.41362343e-01 -2.87736889e-01 6.72017238e+01] [ 6.67920722e-01 6.71098809e-01 -3.21727055e-01 1.66610309e+01] [ 4.31616207e-01 2.87494202e-03 9.02052762e-01 1.20248523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.540714057 meters Centerline goodness : 0.994035 Centerline is valid? [True, True] Translation: X:67.23, Y:16.67, Z:12.03 [[ 6.04926176e-01 -7.34218106e-01 -3.08201387e-01 6.72317060e+01] [ 6.69909022e-01 6.78485616e-01 -3.01461724e-01 1.66735078e+01] [ 4.30448864e-01 -2.41048015e-02 9.02293042e-01 1.20259725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.570714057 meters Centerline goodness : 0.993740 Centerline is valid? [True, True] Translation: X:67.25, Y:16.69, Z:12.04 [[ 6.01753828e-01 -7.36849092e-01 -3.08132677e-01 6.72510360e+01] [ 6.72801888e-01 6.75563475e-01 -3.01581846e-01 1.66903303e+01] [ 4.30383491e-01 -2.58342170e-02 9.02276368e-01 1.20372669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.600714057 meters Centerline goodness : 0.984669 Centerline is valid? [True, True] Translation: X:67.27, Y:16.70, Z:12.04 [[ 6.03216584e-01 -7.35293070e-01 -3.08988437e-01 6.72707871e+01] [ 6.77783984e-01 6.76787417e-01 -2.87345895e-01 1.67044031e+01] [ 4.20402931e-01 -3.60956047e-02 9.06619260e-01 1.20356414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.630714057 meters Centerline goodness : 0.994300 Centerline is valid? [True, True] Translation: X:67.28, Y:16.73, Z:12.07 [[ 5.97809421e-01 -7.46336254e-01 -2.92585189e-01 6.72792431e+01] [ 6.74968301e-01 6.65531811e-01 -3.18567420e-01 1.67288417e+01] [ 4.32483165e-01 -7.04312280e-03 9.01614500e-01 1.20681176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.660714057 meters Centerline goodness : 0.991506 Centerline is valid? [True, True] Translation: X:67.31, Y:16.74, Z:12.07 [[ 6.00682708e-01 -7.36934241e-01 -3.10013239e-01 6.73142000e+01] [ 6.76439525e-01 6.75160888e-01 -2.94257276e-01 1.67378603e+01] [ 4.26157076e-01 -3.29499500e-02 9.04048919e-01 1.20658779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.69071405700001 meters Centerline goodness : 0.994392 Centerline is valid? [True, True] Translation: X:67.32, Y:16.76, Z:12.08 [[ 5.93531332e-01 -7.44474597e-01 -3.05741939e-01 6.73222732e+01] [ 6.78279264e-01 6.67195775e-01 -3.07875036e-01 1.67608802e+01] [ 4.33194873e-01 -2.46449376e-02 9.00963279e-01 1.20842092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.72071405700001 meters Centerline goodness : 0.994095 Centerline is valid? [True, True] Translation: X:67.34, Y:16.78, Z:12.09 [[ 5.92184137e-01 -7.43743835e-01 -3.10101685e-01 6.73423497e+01] [ 6.79276211e-01 6.67773967e-01 -3.04403939e-01 1.67774918e+01] [ 4.33476385e-01 -3.03815138e-02 9.00652645e-01 1.20929273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.75071405700001 meters Centerline goodness : 0.994334 Centerline is valid? [True, True] Translation: X:67.36, Y:16.79, Z:12.10 [[ 5.92009354e-01 -7.44011178e-01 -3.09793949e-01 6.73603284e+01] [ 6.79669469e-01 6.67471831e-01 -3.04188704e-01 1.67949427e+01] [ 4.33098530e-01 -3.04749310e-02 9.00831250e-01 1.21040598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.780714057 meters Centerline goodness : 0.992168 Centerline is valid? [True, True] Translation: X:67.39, Y:16.81, Z:12.11 [[ 6.01446166e-01 -7.40574160e-01 -2.99687207e-01 6.73906131e+01] [ 6.76999218e-01 6.71619176e-01 -3.00997909e-01 1.68123897e+01] [ 4.24186949e-01 -2.18539669e-02 9.05310906e-01 1.21149184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.810714057 meters Centerline goodness : 0.993643 Centerline is valid? [True, True] Translation: X:67.40, Y:16.83, Z:12.12 [[ 5.93330438e-01 -7.39796741e-01 -3.17269243e-01 6.74023792e+01] [ 6.80499721e-01 6.71522883e-01 -2.93218599e-01 1.68287922e+01] [ 4.29975721e-01 -4.19261121e-02 9.01866443e-01 1.21220526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.840714057 meters Centerline goodness : 0.991177 Centerline is valid? [True, True] Translation: X:67.42, Y:16.85, Z:12.13 [[ 5.96101249e-01 -7.37402674e-01 -3.17648544e-01 6.74221638e+01] [ 6.81857485e-01 6.73822969e-01 -2.84662917e-01 1.68450372e+01] [ 4.23950081e-01 -4.69031167e-02 9.04470246e-01 1.21301952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.870714057 meters Centerline goodness : 0.990633 Centerline is valid? [True, True] Translation: X:67.43, Y:16.87, Z:12.15 [[ 5.97551681e-01 -7.45231783e-01 -2.95908056e-01 6.74261362e+01] [ 6.79705015e-01 6.66556712e-01 -3.06109854e-01 1.68684946e+01] [ 4.25362293e-01 -1.82137318e-02 9.04839864e-01 1.21522723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.900714057 meters Centerline goodness : 0.982967 Centerline is valid? [True, True] Translation: X:67.44, Y:16.89, Z:12.16 [[ 5.97907061e-01 -7.46719049e-01 -2.91406602e-01 6.74392566e+01] [ 6.81532808e-01 6.64949089e-01 -3.05541716e-01 1.68879633e+01] [ 4.21924374e-01 -1.59176098e-02 9.06491286e-01 1.21608177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.930714057 meters Centerline goodness : 0.992889 Centerline is valid? [True, True] Translation: X:67.47, Y:16.91, Z:12.18 [[ 6.00674350e-01 -7.42373220e-01 -2.96769821e-01 6.74659248e+01] [ 6.78168616e-01 6.69703371e-01 -3.02629680e-01 1.69053363e+01] [ 4.23411920e-01 -1.94780927e-02 9.05727856e-01 1.21751157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.960714057 meters Centerline goodness : 0.992983 Centerline is valid? [True, True] Translation: X:67.49, Y:16.92, Z:12.18 [[ 6.00443983e-01 -7.38442876e-01 -3.06869912e-01 6.74874718e+01] [ 6.78567841e-01 6.73543658e-01 -2.93060789e-01 1.69199636e+01] [ 4.23098935e-01 -3.22654665e-02 9.05508824e-01 1.21815718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.990714057 meters Centerline goodness : 0.993783 Centerline is valid? [True, True] Translation: X:67.49, Y:16.94, Z:12.20 [[ 5.94505761e-01 -7.44926036e-01 -3.02734374e-01 6.74936833e+01] [ 6.81345177e-01 6.66618767e-01 -3.02304763e-01 1.69426107e+01] [ 4.27003103e-01 -2.65446825e-02 9.03860459e-01 1.21951528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.020714057 meters Centerline goodness : 0.991852 Centerline is valid? [True, True] Translation: X:67.52, Y:16.96, Z:12.20 [[ 6.00156833e-01 -7.41575456e-01 -2.99795961e-01 6.75179249e+01] [ 6.79648654e-01 6.70400735e-01 -2.97725648e-01 1.69566453e+01] [ 4.21769466e-01 -2.50738396e-02 9.06356343e-01 1.22029600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.05071405700001 meters Centerline goodness : 0.993822 Centerline is valid? [True, True] Translation: X:67.53, Y:16.98, Z:12.22 [[ 5.92841913e-01 -7.45944349e-01 -3.03488870e-01 6.75291537e+01] [ 6.82853427e-01 6.65400506e-01 -3.01584754e-01 1.69791540e+01] [ 4.26907090e-01 -2.84463324e-02 9.03847964e-01 1.22173640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.08071405700001 meters Centerline goodness : 0.992791 Centerline is valid? [True, True] Translation: X:67.55, Y:17.00, Z:12.23 [[ 5.95405645e-01 -7.48489670e-01 -2.91985158e-01 6.75516881e+01] [ 6.81650942e-01 6.62982642e-01 -3.09525459e-01 1.70000957e+01] [ 4.25257700e-01 -1.47387528e-02 9.04952296e-01 1.22325182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.11071405700001 meters Centerline goodness : 0.993477 Centerline is valid? [True, True] Translation: X:67.57, Y:17.01, Z:12.23 [[ 5.90699101e-01 -7.41406256e-01 -3.18420060e-01 6.75728206e+01] [ 6.85264872e-01 6.69295535e-01 -2.87150731e-01 1.70123611e+01] [ 4.26012473e-01 -4.85824028e-02 9.03411934e-01 1.22326019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.140714057 meters Centerline goodness : 0.993890 Centerline is valid? [True, True] Translation: X:67.58, Y:17.04, Z:12.25 [[ 5.89063635e-01 -7.48853742e-01 -3.03680928e-01 6.75817049e+01] [ 6.85829804e-01 6.62044610e-01 -3.02215840e-01 1.70353014e+01] [ 4.27365785e-01 -3.02490701e-02 9.03572620e-01 1.22514424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.170714057 meters Centerline goodness : 0.993752 Centerline is valid? [True, True] Translation: X:67.60, Y:17.05, Z:12.26 [[ 5.89542833e-01 -7.48156961e-01 -3.04467420e-01 6.75990839e+01] [ 6.86272399e-01 6.62736554e-01 -2.99683925e-01 1.70524525e+01] [ 4.25992303e-01 -3.22710765e-02 9.04151058e-01 1.22614309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.200714057 meters Centerline goodness : 0.993752 Centerline is valid? [True, True] Translation: X:67.62, Y:17.07, Z:12.27 [[ 5.89334076e-01 -7.49486991e-01 -3.01586798e-01 6.76156900e+01] [ 6.86316521e-01 6.61396958e-01 -3.02528837e-01 1.70713866e+01] [ 4.26210019e-01 -2.86934495e-02 9.04169069e-01 1.22747229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.230714057 meters Centerline goodness : 0.984509 Centerline is valid? [True, True] Translation: X:67.63, Y:17.09, Z:12.28 [[ 5.88677215e-01 -7.50154798e-01 -3.01209090e-01 6.76307327e+01] [ 6.87120916e-01 6.60627771e-01 -3.02383523e-01 1.70890958e+01] [ 4.25821540e-01 -2.89607757e-02 9.04343568e-01 1.22839228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.260714057 meters Centerline goodness : 0.993065 Centerline is valid? [True, True] Translation: X:67.64, Y:17.11, Z:12.31 [[ 5.89711111e-01 -7.54643588e-01 -2.87669706e-01 6.76436514e+01] [ 6.83257610e-01 6.56091315e-01 -3.20473437e-01 1.71115000e+01] [ 4.30580820e-01 -7.56576940e-03 9.02520314e-01 1.23100033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.290714057 meters Centerline goodness : 0.991860 Centerline is valid? [True, True] Translation: X:67.68, Y:17.13, Z:12.31 [[ 5.90772411e-01 -7.45985136e-01 -3.07398985e-01 6.76755888e+01] [ 6.85490463e-01 6.65010233e-01 -2.96418985e-01 1.71277431e+01] [ 4.25547628e-01 -3.56029139e-02 9.04235395e-01 1.23114750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.320714057 meters Centerline goodness : 0.991887 Centerline is valid? [True, True] Translation: X:67.69, Y:17.15, Z:12.33 [[ 5.89157822e-01 -7.48236246e-01 -3.05017346e-01 6.76914763e+01] [ 6.85630962e-01 6.62677978e-01 -3.01277417e-01 1.71485468e+01] [ 4.27554961e-01 -3.16293889e-02 9.03435851e-01 1.23268849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.350714057 meters Centerline goodness : 0.991539 Centerline is valid? [True, True] Translation: X:67.71, Y:17.17, Z:12.34 [[ 5.88700913e-01 -7.46697431e-01 -3.09635562e-01 6.77115159e+01] [ 6.86257785e-01 6.64088027e-01 -2.96710878e-01 1.71669314e+01] [ 4.27178520e-01 -3.78158504e-02 9.03376153e-01 1.23373705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.380714057 meters Centerline goodness : 0.990526 Centerline is valid? [True, True] Translation: X:67.73, Y:17.19, Z:12.35 [[ 5.88048690e-01 -7.47613113e-01 -3.08663850e-01 6.77268893e+01] [ 6.87192308e-01 6.63071229e-01 -2.96821961e-01 1.71852368e+01] [ 4.26574108e-01 -3.75656578e-02 9.03672148e-01 1.23493884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.410714057 meters Centerline goodness : 0.990315 Centerline is valid? [True, True] Translation: X:67.74, Y:17.20, Z:12.36 [[ 5.86908271e-01 -7.49417631e-01 -3.06450477e-01 6.77433224e+01] [ 6.88116387e-01 6.61149914e-01 -2.98959243e-01 1.72041629e+01] [ 4.26655034e-01 -3.54119426e-02 9.03720906e-01 1.23627572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.44071405700001 meters Centerline goodness : 0.989443 Centerline is valid? [True, True] Translation: X:67.76, Y:17.22, Z:12.37 [[ 5.86461883e-01 -7.48345293e-01 -3.09906086e-01 6.77609287e+01] [ 6.89005700e-01 6.62065387e-01 -2.94856863e-01 1.72194909e+01] [ 4.25832838e-01 -4.06047489e-02 9.03890286e-01 1.23705016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.47071405700001 meters Centerline goodness : 0.989496 Centerline is valid? [True, True] Translation: X:67.78, Y:17.24, Z:12.39 [[ 5.84078285e-01 -7.52656892e-01 -3.03908143e-01 6.77757567e+01] [ 6.90190797e-01 6.57568876e-01 -3.02059329e-01 1.72397028e+01] [ 4.27187572e-01 -3.33283085e-02 9.03548561e-01 1.23857215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.50071405700001 meters Centerline goodness : 0.989624 Centerline is valid? [True, True] Translation: X:67.80, Y:17.26, Z:12.40 [[ 5.80012434e-01 -7.54052555e-01 -3.08204998e-01 6.77970341e+01] [ 6.92611009e-01 6.55651317e-01 -3.00684785e-01 1.72593236e+01] [ 4.28807143e-01 -3.90652606e-02 9.02551018e-01 1.23988114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.530714057 meters Centerline goodness : 0.990582 Centerline is valid? [True, True] Translation: X:67.82, Y:17.27, Z:12.41 [[ 5.75648149e-01 -7.52245955e-01 -3.20554570e-01 6.78188946e+01] [ 6.94927007e-01 6.56659887e-01 -2.93043082e-01 1.72748434e+01] [ 4.30935801e-01 -5.40723204e-02 9.00761078e-01 1.24081127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.560714057 meters Centerline goodness : 0.990049 Centerline is valid? [True, True] Translation: X:67.83, Y:17.29, Z:12.42 [[ 5.75272163e-01 -7.56814709e-01 -3.10311835e-01 6.78275645e+01] [ 6.93932078e-01 6.52400725e-01 -3.04682729e-01 1.72937045e+01] [ 4.33036037e-01 -4.00598445e-02 9.00485980e-01 1.24243689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.590714057 meters Centerline goodness : 0.989807 Centerline is valid? [True, True] Translation: X:67.85, Y:17.32, Z:12.44 [[ 5.74479895e-01 -7.63069808e-01 -2.96137330e-01 6.78456552e+01] [ 6.96047723e-01 6.45798452e-01 -3.13786436e-01 1.73198210e+01] [ 4.30685984e-01 -2.58617156e-02 9.02131229e-01 1.24399606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.620714057 meters Centerline goodness : 0.989739 Centerline is valid? [True, True] Translation: X:67.87, Y:17.33, Z:12.44 [[ 5.78263575e-01 -7.53681957e-01 -3.12369564e-01 6.78720574e+01] [ 6.97415228e-01 6.55327256e-01 -2.90100305e-01 1.73316871e+01] [ 4.23347655e-01 -5.00968509e-02 9.04581156e-01 1.24401218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.650714057 meters Centerline goodness : 0.989823 Centerline is valid? [True, True] Translation: X:67.89, Y:17.35, Z:12.46 [[ 5.77970715e-01 -7.58232528e-01 -3.01717228e-01 6.78861411e+01] [ 6.98202868e-01 6.50856386e-01 -2.98158883e-01 1.73540041e+01] [ 4.22448348e-01 -3.83327316e-02 9.05576057e-01 1.24571584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.680714057 meters Centerline goodness : 0.990837 Centerline is valid? [True, True] Translation: X:67.91, Y:17.37, Z:12.47 [[ 5.79851832e-01 -7.55306908e-01 -3.05423193e-01 6.79052608e+01] [ 6.97566308e-01 6.53942950e-01 -2.92847851e-01 1.73711273e+01] [ 4.20919349e-01 -4.32445663e-02 9.06066669e-01 1.24669228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.710714057 meters Centerline goodness : 0.990328 Centerline is valid? [True, True] Translation: X:67.92, Y:17.39, Z:12.48 [[ 5.83297592e-01 -7.54431190e-01 -3.00994184e-01 6.79213986e+01] [ 6.95378226e-01 6.55321114e-01 -2.94963320e-01 1.73918325e+01] [ 4.19777372e-01 -3.72534079e-02 9.06862250e-01 1.24806620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.740714057 meters Centerline goodness : 0.990322 Centerline is valid? [True, True] Translation: X:67.94, Y:17.41, Z:12.49 [[ 5.86797798e-01 -7.55262432e-01 -2.91970894e-01 6.79354592e+01] [ 6.93016745e-01 6.54925471e-01 -3.01331079e-01 1.74129955e+01] [ 4.18803219e-01 -2.55203049e-02 9.07718336e-01 1.24924283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.770714057 meters Centerline goodness : 0.991489 Centerline is valid? [True, True] Translation: X:67.96, Y:17.43, Z:12.50 [[ 5.88401408e-01 -7.51647032e-01 -2.98010944e-01 6.79601913e+01] [ 6.93530355e-01 6.58640393e-01 -2.91904916e-01 1.74304892e+01] [ 4.15691509e-01 -3.49223720e-02 9.08834967e-01 1.25006402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.80071405700001 meters Centerline goodness : 0.990295 Centerline is valid? [True, True] Translation: X:67.98, Y:17.45, Z:12.51 [[ 5.92188540e-01 -7.48647831e-01 -2.98058984e-01 6.79798492e+01] [ 6.91699928e-01 6.62028370e-01 -2.88564805e-01 1.74500423e+01] [ 4.13356919e-01 -3.52826074e-02 9.09885265e-01 1.25103665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.83071405700001 meters Centerline goodness : 0.990619 Centerline is valid? [True, True] Translation: X:68.00, Y:17.47, Z:12.52 [[ 5.93104910e-01 -7.47519843e-01 -2.99066298e-01 6.79966908e+01] [ 6.90846073e-01 6.63266800e-01 -2.87765279e-01 1.74679342e+01] [ 4.13471002e-01 -3.59337777e-02 9.09807943e-01 1.25208534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.86071405700001 meters Centerline goodness : 0.992263 Centerline is valid? [True, True] Translation: X:68.01, Y:17.49, Z:12.53 [[ 5.94391237e-01 -7.49025335e-01 -2.92677476e-01 6.80147388e+01] [ 6.90134689e-01 6.61943535e-01 -2.92480540e-01 1.74905004e+01] [ 4.12811298e-01 -2.81390086e-02 9.10381804e-01 1.25345132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.890714057 meters Centerline goodness : 0.992642 Centerline is valid? [True, True] Translation: X:68.04, Y:17.50, Z:12.54 [[ 5.94092741e-01 -7.45100503e-01 -3.03115580e-01 6.80367464e+01] [ 6.89978753e-01 6.65731001e-01 -2.84132988e-01 1.75047908e+01] [ 4.13501071e-01 -4.03419643e-02 9.09609471e-01 1.25415637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.920714057 meters Centerline goodness : 0.990990 Centerline is valid? [True, True] Translation: X:68.05, Y:17.53, Z:12.56 [[ 5.93810131e-01 -7.48471419e-01 -2.95262703e-01 6.80512079e+01] [ 6.89979483e-01 6.62463920e-01 -2.91667392e-01 1.75253387e+01] [ 4.13905594e-01 -3.05301550e-02 9.09807710e-01 1.25559239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.950714057 meters Centerline goodness : 0.989821 Centerline is valid? [True, True] Translation: X:68.07, Y:17.54, Z:12.56 [[ 5.93268331e-01 -7.46322884e-01 -3.01719804e-01 6.80673497e+01] [ 6.87888189e-01 6.64685170e-01 -2.91553536e-01 1.75395123e+01] [ 4.18141755e-01 -3.45800096e-02 9.07723358e-01 1.25648166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.980714057 meters Centerline goodness : 0.991048 Centerline is valid? [True, True] Translation: X:68.09, Y:17.56, Z:12.58 [[ 5.93721754e-01 -7.48856552e-01 -2.94462805e-01 6.80859509e+01] [ 6.88969490e-01 6.62145850e-01 -2.94760777e-01 1.75612846e+01] [ 4.15710863e-01 -2.78700030e-02 9.09069712e-01 1.25789959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.010714057 meters Centerline goodness : 0.990645 Centerline is valid? [True, True] Translation: X:68.11, Y:17.58, Z:12.59 [[ 5.94254461e-01 -7.47340239e-01 -2.97227528e-01 6.81057824e+01] [ 6.89105229e-01 6.63675104e-01 -2.90979964e-01 1.75789214e+01] [ 4.14723546e-01 -3.19049018e-02 9.09387958e-01 1.25890533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.040714057 meters Centerline goodness : 0.991643 Centerline is valid? [True, True] Translation: X:68.12, Y:17.60, Z:12.60 [[ 5.93643264e-01 -7.46105820e-01 -3.01519121e-01 6.81243713e+01] [ 6.89319192e-01 6.64801768e-01 -2.87884806e-01 1.75957830e+01] [ 4.15242974e-01 -3.69420411e-02 9.08960152e-01 1.26003580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.070714057 meters Centerline goodness : 0.991406 Centerline is valid? [True, True] Translation: X:68.14, Y:17.61, Z:12.61 [[ 5.93852675e-01 -7.46976633e-01 -2.98939644e-01 6.81404212e+01] [ 6.89614080e-01 6.63956902e-01 -2.89125671e-01 1.76137280e+01] [ 4.14453160e-01 -3.44549346e-02 9.09418185e-01 1.26142323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.100714057 meters Centerline goodness : 0.991511 Centerline is valid? [True, True] Translation: X:68.16, Y:17.63, Z:12.63 [[ 5.92912568e-01 -7.46207649e-01 -3.02702546e-01 6.81560725e+01] [ 6.89320755e-01 6.64641946e-01 -2.88249856e-01 1.76285438e+01] [ 4.16283057e-01 -3.77521851e-02 9.08450983e-01 1.26260773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.130714057 meters Centerline goodness : 0.993156 Centerline is valid? [True, True] Translation: X:68.17, Y:17.64, Z:12.64 [[ 0.58058525 -0.74226318 -0.33461343 68.16511536] [ 0.69448097 0.66598014 -0.27233552 17.63742238] [ 0.42499053 -0.07426868 0.90214589 12.63608546] [ 0. 0. 0. 1. ]] SLAMing on 76.160714057 meters Centerline goodness : 0.991992 Centerline is valid? [True, True] Translation: X:68.16, Y:17.69, Z:12.68 [[ 5.95480963e-01 -7.72161170e-01 -2.21742082e-01 6.81576214e+01] [ 6.88855345e-01 6.32789426e-01 -3.53632375e-01 1.76870804e+01] [ 4.13377233e-01 5.78331285e-02 9.08721405e-01 1.26825438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.19071405700001 meters Centerline goodness : 0.992254 Centerline is valid? [True, True] Translation: X:68.22, Y:17.69, Z:12.66 [[ 5.96468222e-01 -7.45247903e-01 -2.98045673e-01 6.82196309e+01] [ 6.89412606e-01 6.65849901e-01 -2.85226522e-01 1.76900821e+01] [ 4.11018149e-01 -3.53478878e-02 9.10941605e-01 1.26593597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.22071405700001 meters Centerline goodness : 0.992616 Centerline is valid? [True, True] Translation: X:68.24, Y:17.71, Z:12.67 [[ 5.95997374e-01 -7.48414405e-01 -2.90969087e-01 6.82370047e+01] [ 6.89733100e-01 6.62689072e-01 -2.91738657e-01 1.77113330e+01] [ 4.11163448e-01 -2.68155374e-02 9.11167134e-01 1.26735940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.25071405700001 meters Centerline goodness : 0.993845 Centerline is valid? [True, True] Translation: X:68.26, Y:17.73, Z:12.68 [[ 5.95071632e-01 -7.46686214e-01 -2.97236354e-01 6.82585139e+01] [ 6.90013426e-01 6.64302372e-01 -2.87374027e-01 1.77289169e+01] [ 4.12033039e-01 -3.40889437e-02 9.10531009e-01 1.26834575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.280714057 meters Centerline goodness : 0.993524 Centerline is valid? [True, True] Translation: X:68.28, Y:17.75, Z:12.70 [[ 5.93810869e-01 -7.45716750e-01 -3.02150924e-01 6.82773812e+01] [ 6.89566217e-01 6.65163999e-01 -2.86452940e-01 1.77465017e+01] [ 4.14592672e-01 -3.82542001e-02 9.09202690e-01 1.26952944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.310714057 meters Centerline goodness : 0.992577 Centerline is valid? [True, True] Translation: X:68.30, Y:17.75, Z:12.70 [[ 5.90883975e-01 -7.37409431e-01 -3.27236090e-01 6.82974600e+01] [ 6.89858181e-01 6.72131944e-01 -2.68950441e-01 1.77527274e+01] [ 4.18272421e-01 -6.68279876e-02 9.05859924e-01 1.27018576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.340714057 meters Centerline goodness : 0.993114 Centerline is valid? [True, True] Translation: X:68.29, Y:17.79, Z:12.74 [[ 5.92263032e-01 -7.58147318e-01 -2.72831717e-01 6.82933952e+01] [ 6.88772335e-01 6.52083254e-01 -3.16828189e-01 1.77900849e+01] [ 4.18111435e-01 -2.73314839e-04 9.08395703e-01 1.27362570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.370714057 meters Centerline goodness : 0.992550 Centerline is valid? [True, True] Translation: X:68.33, Y:17.80, Z:12.73 [[ 5.95066814e-01 -7.44640192e-01 -3.02335030e-01 6.83280347e+01] [ 6.87903180e-01 6.66444684e-01 -2.87472952e-01 1.78004603e+01] [ 4.15553488e-01 -3.69116152e-02 9.08819471e-01 1.27332029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.400714057 meters Centerline goodness : 0.993184 Centerline is valid? [True, True] Translation: X:68.34, Y:17.81, Z:12.75 [[ 5.88942059e-01 -7.43024367e-01 -3.17902566e-01 6.83443332e+01] [ 6.88908639e-01 6.67225263e-01 -2.83223119e-01 1.78130000e+01] [ 4.22554302e-01 -5.22038168e-02 9.04832926e-01 1.27475689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.430714057 meters Centerline goodness : 0.993188 Centerline is valid? [True, True] Translation: X:68.35, Y:17.84, Z:12.77 [[ 5.89129211e-01 -7.51348485e-01 -2.97325119e-01 6.83499749e+01] [ 6.88251498e-01 6.59377414e-01 -3.02541405e-01 1.78373519e+01] [ 4.23363495e-01 -2.63984795e-02 9.05575216e-01 1.27696991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.460714057 meters Centerline goodness : 0.993971 Centerline is valid? [True, True] Translation: X:68.37, Y:17.85, Z:12.78 [[ 5.90627498e-01 -7.50572394e-01 -2.96311053e-01 6.83668214e+01] [ 6.88108395e-01 6.60270004e-01 -3.00915867e-01 1.78549181e+01] [ 4.21504443e-01 -2.61649371e-02 9.06448785e-01 1.27803055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.490714057 meters Centerline goodness : 0.991981 Centerline is valid? [True, True] Translation: X:68.39, Y:17.87, Z:12.79 [[ 5.88853602e-01 -7.45371478e-01 -3.12526471e-01 6.83863427e+01] [ 6.87964234e-01 6.65188565e-01 -2.90222992e-01 1.78665635e+01] [ 4.24212975e-01 -4.41081800e-02 9.04487601e-01 1.27901111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.520714057 meters Centerline goodness : 0.993385 Centerline is valid? [True, True] Translation: X:68.40, Y:17.89, Z:12.81 [[ 5.87489849e-01 -7.50948605e-01 -3.01549119e-01 6.83955148e+01] [ 6.87684747e-01 6.59710307e-01 -3.03103942e-01 1.78875592e+01] [ 4.26550544e-01 -2.93002406e-02 9.03989010e-01 1.28094107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.55071405700001 meters Centerline goodness : 0.991587 Centerline is valid? [True, True] Translation: X:68.41, Y:17.90, Z:12.82 [[ 5.85980558e-01 -7.51859858e-01 -3.02214394e-01 6.84098364e+01] [ 6.88480950e-01 6.58633546e-01 -3.03637668e-01 1.79027135e+01] [ 4.27341512e-01 -3.01430830e-02 9.03587642e-01 1.28223016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.58071405700001 meters Centerline goodness : 0.992348 Centerline is valid? [True, True] Translation: X:68.42, Y:17.92, Z:12.84 [[ 5.83600840e-01 -7.56017128e-01 -2.96391906e-01 6.84242282e+01] [ 6.89563864e-01 6.54147554e-01 -3.10793589e-01 1.79238008e+01] [ 4.28849317e-01 -2.30017486e-02 9.03083154e-01 1.28395020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.61071405700001 meters Centerline goodness : 0.992738 Centerline is valid? [True, True] Translation: X:68.44, Y:17.94, Z:12.85 [[ 5.83838090e-01 -7.56215483e-01 -2.95417041e-01 6.84413419e+01] [ 6.89736486e-01 6.53943249e-01 -3.10840486e-01 1.79410038e+01] [ 4.28248368e-01 -2.22793960e-02 9.03386387e-01 1.28508379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.640714057 meters Centerline goodness : 0.992564 Centerline is valid? [True, True] Translation: X:68.46, Y:17.96, Z:12.86 [[ 5.81386761e-01 -7.61974599e-01 -2.85279063e-01 6.84587327e+01] [ 6.93064037e-01 6.47467139e-01 -3.16936184e-01 1.79632973e+01] [ 4.26206140e-01 -1.34541576e-02 9.04526015e-01 1.28642981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.670714057 meters Centerline goodness : 0.992651 Centerline is valid? [True, True] Translation: X:68.48, Y:17.98, Z:12.87 [[ 5.80649321e-01 -7.59632042e-01 -2.92925803e-01 6.84820386e+01] [ 6.93839571e-01 6.49939827e-01 -3.10104613e-01 1.79767939e+01] [ 4.25949546e-01 -2.31814811e-02 9.04449890e-01 1.28694104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.700714057 meters Centerline goodness : 0.992379 Centerline is valid? [True, True] Translation: X:68.51, Y:17.99, Z:12.88 [[ 5.74656231e-01 -7.54641620e-01 -3.16680031e-01 6.85070708e+01] [ 6.96499631e-01 6.54145446e-01 -2.94927109e-01 1.79898091e+01] [ 4.29719071e-01 -5.10858245e-02 9.01516366e-01 1.28799469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.730714057 meters Centerline goodness : 0.992116 Centerline is valid? [True, True] Translation: X:68.51, Y:18.01, Z:12.90 [[ 5.74101827e-01 -7.64897676e-01 -2.92127776e-01 6.85099149e+01] [ 6.95600408e-01 6.43835128e-01 -3.18773274e-01 1.80124786e+01] [ 4.31911061e-01 -2.01958817e-02 9.01690059e-01 1.29010409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.760714057 meters Centerline goodness : 0.992207 Centerline is valid? [True, True] Translation: X:68.53, Y:18.03, Z:12.91 [[ 5.73452886e-01 -7.67500394e-01 -2.86522134e-01 6.85302477e+01] [ 6.97853472e-01 6.40835876e-01 -3.19890469e-01 1.80344046e+01] [ 4.29129724e-01 -1.65083534e-02 9.03091997e-01 1.29106039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.790714057 meters Centerline goodness : 0.992752 Centerline is valid? [True, True] Translation: X:68.55, Y:18.05, Z:12.92 [[ 5.72612439e-01 -7.62982065e-01 -2.99955603e-01 6.85511194e+01] [ 6.97842728e-01 6.45639374e-01 -3.10105346e-01 1.80483677e+01] [ 4.30267965e-01 -3.17516574e-02 9.02142622e-01 1.29185401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.820714057 meters Centerline goodness : 0.993410 Centerline is valid? [True, True] Translation: X:68.57, Y:18.07, Z:12.93 [[ 5.72801405e-01 -7.63167472e-01 -2.99121984e-01 6.85682245e+01] [ 6.97603983e-01 6.45478616e-01 -3.10975947e-01 1.80664145e+01] [ 4.30403571e-01 -3.05412280e-02 9.02119726e-01 1.29303618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.850714057 meters Centerline goodness : 0.992936 Centerline is valid? [True, True] Translation: X:68.58, Y:18.09, Z:12.95 [[ 5.73387442e-01 -7.67037181e-01 -2.87890264e-01 6.85824750e+01] [ 6.97851502e-01 6.41348125e-01 -3.18866531e-01 1.80885534e+01] [ 4.29220366e-01 -1.80705883e-02 9.03019009e-01 1.29459121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.880714057 meters Centerline goodness : 0.993613 Centerline is valid? [True, True] Translation: X:68.61, Y:18.10, Z:12.95 [[ 5.70037052e-01 -7.56500591e-01 -3.20569205e-01 6.86071723e+01] [ 6.98608796e-01 6.51633214e-01 -2.95499415e-01 1.80962433e+01] [ 4.32439024e-01 -5.55068513e-02 8.99953043e-01 1.29509264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.910714057 meters Centerline goodness : 0.993094 Centerline is valid? [True, True] Translation: X:68.62, Y:18.12, Z:12.97 [[ 5.69521561e-01 -7.65967026e-01 -2.98227609e-01 6.86157641e+01] [ 7.00407256e-01 6.42112869e-01 -3.11642005e-01 1.81218270e+01] [ 4.30203285e-01 -3.13939402e-02 9.02185986e-01 1.29736933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.94071405700001 meters Centerline goodness : 0.992982 Centerline is valid? [True, True] Translation: X:68.63, Y:18.14, Z:12.99 [[ 5.70555482e-01 -7.67305009e-01 -2.92761790e-01 6.86310910e+01] [ 7.00154999e-01 6.40783275e-01 -3.14928201e-01 1.81419932e+01] [ 4.29242844e-01 -2.52946192e-02 9.02834848e-01 1.29861079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.97071405700001 meters Centerline goodness : 0.993384 Centerline is valid? [True, True] Translation: X:68.65, Y:18.16, Z:13.00 [[ 5.69425471e-01 -7.68327962e-01 -2.92278594e-01 6.86489272e+01] [ 6.98905981e-01 6.39674492e-01 -3.19917136e-01 1.81628640e+01] [ 4.32764442e-01 -2.21062914e-02 9.01235957e-01 1.29975397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.00071405700001 meters Centerline goodness : 0.992704 Centerline is valid? [True, True] Translation: X:68.67, Y:18.18, Z:13.00 [[ 5.70296265e-01 -7.62996120e-01 -3.04300986e-01 6.86735630e+01] [ 7.01307714e-01 6.45135592e-01 -3.03261534e-01 1.81768566e+01] [ 4.27702771e-01 -4.04597087e-02 9.03013484e-01 1.30039405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.030714057 meters Centerline goodness : 0.993620 Centerline is valid? [True, True] Translation: X:68.69, Y:18.20, Z:13.02 [[ 5.69114874e-01 -7.68023867e-01 -2.93679418e-01 6.86872750e+01] [ 7.02692219e-01 6.39756312e-01 -3.11344676e-01 1.81987114e+01] [ 4.27003403e-01 -2.91753561e-02 9.03779228e-01 1.30201349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.060714057 meters Centerline goodness : 0.994099 Centerline is valid? [True, True] Translation: X:68.70, Y:18.22, Z:13.03 [[ 5.68683799e-01 -7.68288517e-01 -2.93822211e-01 6.87045387e+01] [ 7.02153414e-01 6.39480420e-01 -3.13121982e-01 1.82179788e+01] [ 4.28461574e-01 -2.82408705e-02 9.03118560e-01 1.30315556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.090714057 meters Centerline goodness : 0.994099 Centerline is valid? [True, True] Translation: X:68.72, Y:18.24, Z:13.04 [[ 5.68369353e-01 -7.66866162e-01 -2.98115026e-01 6.87242085e+01] [ 7.02503326e-01 6.40927041e-01 -3.09356761e-01 1.82358073e+01] [ 4.28305213e-01 -3.35978956e-02 9.03009317e-01 1.30420378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.120714057 meters Centerline goodness : 0.994244 Centerline is valid? [True, True] Translation: X:68.74, Y:18.26, Z:13.05 [[ 5.65869982e-01 -7.66954054e-01 -3.02609720e-01 6.87438964e+01] [ 7.04519284e-01 6.40443007e-01 -3.05753715e-01 1.82554918e+01] [ 4.28303330e-01 -4.01775346e-02 9.02741393e-01 1.30536274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.150714057 meters Centerline goodness : 0.992701 Centerline is valid? [True, True] Translation: X:68.76, Y:18.28, Z:13.07 [[ 5.65443665e-01 -7.70241543e-01 -2.94960044e-01 6.87551004e+01] [ 7.03908040e-01 6.37046512e-01 -3.14142027e-01 1.82755673e+01] [ 4.29868507e-01 -2.99951275e-02 9.02393129e-01 1.30683529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.180714057 meters Centerline goodness : 0.993258 Centerline is valid? [True, True] Translation: X:68.78, Y:18.29, Z:13.08 [[ 5.64054593e-01 -7.67712286e-01 -3.04072792e-01 6.87752790e+01] [ 7.04853791e-01 6.39471761e-01 -3.07013029e-01 1.82931809e+01] [ 4.30143638e-01 -4.11547510e-02 9.01821899e-01 1.30784389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.210714057 meters Centerline goodness : 0.993624 Centerline is valid? [True, True] Translation: X:68.79, Y:18.31, Z:13.09 [[ 5.62454913e-01 -7.69882183e-01 -3.01539212e-01 6.87913938e+01] [ 7.05355978e-01 6.37062268e-01 -3.10844995e-01 1.83137898e+01] [ 4.31413277e-01 -3.78561906e-02 9.01359802e-01 1.30922203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.240714057 meters Centerline goodness : 0.993039 Centerline is valid? [True, True] Translation: X:68.81, Y:18.33, Z:13.10 [[ 5.61146394e-01 -7.69295041e-01 -3.05450265e-01 6.88083596e+01] [ 7.06071426e-01 6.37470108e-01 -3.08374777e-01 1.83315160e+01] [ 4.31946600e-01 -4.26263101e-02 9.00891299e-01 1.31047113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.270714057 meters Centerline goodness : 0.994234 Centerline is valid? [True, True] Translation: X:68.82, Y:18.36, Z:13.12 [[ 5.57756809e-01 -7.75751286e-01 -2.95156372e-01 6.88203091e+01] [ 7.05873519e-01 6.30408848e-01 -3.22997306e-01 1.83570084e+01] [ 4.36634764e-01 -2.81891199e-02 8.99197118e-01 1.31229419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.30071405700001 meters Centerline goodness : 0.993348 Centerline is valid? [True, True] Translation: X:68.84, Y:18.37, Z:13.13 [[ 5.59793505e-01 -7.69104925e-01 -3.08397220e-01 6.88435722e+01] [ 7.08529313e-01 6.37255619e-01 -3.03136090e-01 1.83710969e+01] [ 4.29671322e-01 -4.88148558e-02 9.01664941e-01 1.31267972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.33071405700001 meters Centerline goodness : 0.993194 Centerline is valid? [True, True] Translation: X:68.85, Y:18.39, Z:13.14 [[ 5.57386139e-01 -7.72478373e-01 -3.04298956e-01 6.88547873e+01] [ 7.09101366e-01 6.33564212e-01 -3.09469937e-01 1.83915069e+01] [ 4.31851762e-01 -4.32845520e-02 9.00905380e-01 1.31438237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.36071405700001 meters Centerline goodness : 0.993094 Centerline is valid? [True, True] Translation: X:68.87, Y:18.41, Z:13.16 [[ 5.57792540e-01 -7.76440179e-01 -2.93271428e-01 6.88667484e+01] [ 7.09160148e-01 6.29438081e-01 -3.17646954e-01 1.84134805e+01] [ 4.31230062e-01 -3.07953082e-02 9.01716298e-01 1.31586204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.390714057 meters Centerline goodness : 0.993601 Centerline is valid? [True, True] Translation: X:68.88, Y:18.43, Z:13.17 [[ 5.57492658e-01 -7.74475011e-01 -2.98982263e-01 6.88837702e+01] [ 7.09659357e-01 6.31463602e-01 -3.12469705e-01 1.84310653e+01] [ 4.30796395e-01 -3.79759941e-02 9.01649760e-01 1.31668531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.420714057 meters Centerline goodness : 0.993765 Centerline is valid? [True, True] Translation: X:68.90, Y:18.45, Z:13.19 [[ 5.51543047e-01 -7.78643543e-01 -2.99189740e-01 6.88977636e+01] [ 7.09341812e-01 6.26538273e-01 -3.22930313e-01 1.84540309e+01] [ 4.38901426e-01 -3.41178232e-02 8.97887249e-01 1.31853888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.450714057 meters Centerline goodness : 0.994207 Centerline is valid? [True, True] Translation: X:68.92, Y:18.47, Z:13.19 [[ 5.56929124e-01 -7.71449809e-01 -3.07725759e-01 6.89227605e+01] [ 7.11202044e-01 6.34316150e-01 -3.03042364e-01 1.84692633e+01] [ 4.28977393e-01 -5.00820710e-02 9.01925819e-01 1.31880796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.480714057 meters Centerline goodness : 0.994437 Centerline is valid? [True, True] Translation: X:68.93, Y:18.50, Z:13.21 [[ 5.56448976e-01 -7.80682792e-01 -2.84427346e-01 6.89318443e+01] [ 7.10259578e-01 6.24563719e-01 -3.24732956e-01 1.84967431e+01] [ 4.31156432e-01 -2.13199257e-02 9.02025273e-01 1.32077851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.510714057 meters Centerline goodness : 0.994037 Centerline is valid? [True, True] Translation: X:68.96, Y:18.51, Z:13.21 [[ 5.57032627e-01 -7.69561620e-01 -3.12233191e-01 6.89608500e+01] [ 7.12510612e-01 6.35990049e-01 -2.96387053e-01 1.85073562e+01] [ 4.26665303e-01 -5.73722035e-02 9.02588029e-01 1.32068795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.540714057 meters Centerline goodness : 0.994340 Centerline is valid? [True, True] Translation: X:68.97, Y:18.53, Z:13.23 [[ 5.55329729e-01 -7.78529258e-01 -2.92405688e-01 6.89698390e+01] [ 7.13130507e-01 6.26684105e-01 -3.14184520e-01 1.85331511e+01] [ 4.27847839e-01 -3.40474119e-02 9.03209279e-01 1.32282466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.570714057 meters Centerline goodness : 0.993986 Centerline is valid? [True, True] Translation: X:68.99, Y:18.55, Z:13.23 [[ 5.52012227e-01 -7.72659988e-01 -3.13494887e-01 6.89919699e+01] [ 7.14493129e-01 6.32122647e-01 -2.99867516e-01 1.85452034e+01] [ 4.29862849e-01 -5.84594076e-02 9.00999683e-01 1.32337648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.600714057 meters Centerline goodness : 0.994150 Centerline is valid? [True, True] Translation: X:69.00, Y:18.57, Z:13.25 [[ 5.50163098e-01 -7.79703759e-01 -2.98969254e-01 6.89997212e+01] [ 7.15113731e-01 6.24782341e-01 -3.13463519e-01 1.85672636e+01] [ 4.31199395e-01 -4.13409577e-02 9.01309052e-01 1.32511025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.630714057 meters Centerline goodness : 0.995058 Centerline is valid? [True, True] Translation: X:69.01, Y:18.59, Z:13.27 [[ 5.46917375e-01 -7.85299933e-01 -2.90147204e-01 6.90145570e+01] [ 7.15194595e-01 6.18417037e-01 -3.25664029e-01 1.85908759e+01] [ 4.35175914e-01 -2.94003959e-02 8.99865290e-01 1.32669955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.660714057 meters Centerline goodness : 0.994705 Centerline is valid? [True, True] Translation: X:69.04, Y:18.61, Z:13.27 [[ 5.47041505e-01 -7.79816448e-01 -3.04354890e-01 6.90405599e+01] [ 7.16760207e-01 6.24160873e-01 -3.10930876e-01 1.86074061e+01] [ 4.32435425e-01 -4.80573794e-02 9.00383302e-01 1.32714379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.69071405700001 meters Centerline goodness : 0.994968 Centerline is valid? [True, True] Translation: X:69.06, Y:18.62, Z:13.28 [[ 5.43371439e-01 -7.79172600e-01 -3.12470059e-01 6.90553263e+01] [ 7.17291887e-01 6.24302499e-01 -3.09416772e-01 1.86234825e+01] [ 4.36164909e-01 -5.60040016e-02 8.98122332e-01 1.32846665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.72071405700001 meters Centerline goodness : 0.995351 Centerline is valid? [True, True] Translation: X:69.06, Y:18.65, Z:13.31 [[ 5.40661236e-01 -7.88912318e-01 -2.92066401e-01 6.90643181e+01] [ 7.17755127e-01 6.13683865e-01 -3.28967614e-01 1.86513176e+01] [ 4.38763041e-01 -3.17721199e-02 8.98040938e-01 1.33080585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.75071405700001 meters Centerline goodness : 0.995121 Centerline is valid? [True, True] Translation: X:69.09, Y:18.67, Z:13.31 [[ 5.40987924e-01 -7.84794408e-01 -3.02373616e-01 6.90905536e+01] [ 7.18762326e-01 6.18110562e-01 -3.18308110e-01 1.86700301e+01] [ 4.36706750e-01 -4.51339199e-02 8.98471003e-01 1.33145896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.780714057 meters Centerline goodness : 0.994712 Centerline is valid? [True, True] Translation: X:69.11, Y:18.68, Z:13.32 [[ 5.45606734e-01 -7.74653203e-01 -3.19727552e-01 6.91140330e+01] [ 7.18700010e-01 6.28741948e-01 -2.96907155e-01 1.86801055e+01] [ 4.31026202e-01 -6.77936512e-02 8.99789105e-01 1.33164180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.810714057 meters Centerline goodness : 0.994663 Centerline is valid? [True, True] Translation: X:69.12, Y:18.71, Z:13.35 [[ 5.40033734e-01 -7.88225293e-01 -2.95066861e-01 6.91164726e+01] [ 7.17980103e-01 6.14381011e-01 -3.27170513e-01 1.87089932e+01] [ 4.39167550e-01 -3.51690219e-02 8.97716549e-01 1.33450417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.840714057 meters Centerline goodness : 0.994423 Centerline is valid? [True, True] Translation: X:69.14, Y:18.72, Z:13.35 [[ 5.44484615e-01 -7.77602285e-01 -3.14437896e-01 6.91408313e+01] [ 7.17304999e-01 6.25986445e-01 -3.05964882e-01 1.87202228e+01] [ 4.34752852e-01 -5.89547040e-02 8.98617995e-01 1.33456597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.870714057 meters Centerline goodness : 0.993780 Centerline is valid? [True, True] Translation: X:69.15, Y:18.75, Z:13.37 [[ 5.41589023e-01 -7.85989248e-01 -2.98164773e-01 6.91491024e+01] [ 7.16823309e-01 6.17076257e-01 -3.24624761e-01 1.87459433e+01] [ 4.39141974e-01 -3.79182516e-02 8.97617141e-01 1.33698098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.900714057 meters Centerline goodness : 0.994307 Centerline is valid? [True, True] Translation: X:69.17, Y:18.76, Z:13.38 [[ 5.42926580e-01 -7.83080297e-01 -3.03341355e-01 6.91697010e+01] [ 7.16436681e-01 6.20359603e-01 -3.19174632e-01 1.87644479e+01] [ 4.38120088e-01 -4.40364818e-02 8.97837166e-01 1.33780377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.930714057 meters Centerline goodness : 0.994006 Centerline is valid? [True, True] Translation: X:69.19, Y:18.78, Z:13.39 [[ 5.42084376e-01 -7.82413063e-01 -3.06552325e-01 6.91877080e+01] [ 7.16847494e-01 6.20920624e-01 -3.17154929e-01 1.87829527e+01] [ 4.38490820e-01 -4.78265337e-02 8.97462213e-01 1.33886284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.960714057 meters Centerline goodness : 0.993536 Centerline is valid? [True, True] Translation: X:69.21, Y:18.80, Z:13.40 [[ 5.43731543e-01 -7.79411723e-01 -3.11244880e-01 6.92051689e+01] [ 7.16389297e-01 6.24222533e-01 -3.11661041e-01 1.87977435e+01] [ 4.37198336e-01 -5.35125619e-02 8.97771697e-01 1.33960096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.990714057 meters Centerline goodness : 0.993634 Centerline is valid? [True, True] Translation: X:69.22, Y:18.82, Z:13.42 [[ 5.38738416e-01 -7.86075560e-01 -3.03061269e-01 6.92152606e+01] [ 7.16999512e-01 6.16686987e-01 -3.24975169e-01 1.88204907e+01] [ 4.42348979e-01 -4.22181739e-02 8.95848763e-01 1.34172121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.020714057 meters Centerline goodness : 0.992843 Centerline is valid? [True, True] Translation: X:69.23, Y:18.83, Z:13.42 [[ 5.40864510e-01 -7.80816127e-01 -3.12716737e-01 6.92342606e+01] [ 7.16923113e-01 6.22395016e-01 -3.14079122e-01 1.88333079e+01] [ 4.39871382e-01 -5.43196059e-02 8.96416503e-01 1.34213911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.05071405700001 meters Centerline goodness : 0.994046 Centerline is valid? [True, True] Translation: X:69.24, Y:18.86, Z:13.45 [[ 5.37375913e-01 -7.91583477e-01 -2.90899857e-01 6.92421516e+01] [ 7.17433380e-01 6.10405185e-01 -3.35700545e-01 1.88611843e+01] [ 4.43301786e-01 -2.83038808e-02 8.95925453e-01 1.34472502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.08071405700001 meters Centerline goodness : 0.993634 Centerline is valid? [True, True] Translation: X:69.27, Y:18.88, Z:13.45 [[ 5.38655113e-01 -7.86629789e-01 -3.01768529e-01 6.92664864e+01] [ 7.17902994e-01 6.15997420e-01 -3.24287634e-01 1.88785536e+01] [ 4.40982948e-01 -4.19613380e-02 8.96534041e-01 1.34530750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.11071405700001 meters Centerline goodness : 0.992860 Centerline is valid? [True, True] Translation: X:69.29, Y:18.89, Z:13.46 [[ 5.43749461e-01 -7.81563509e-01 -3.05769529e-01 6.92854554e+01] [ 7.17915633e-01 6.21866546e-01 -3.12856426e-01 1.88942126e+01] [ 4.34665007e-01 -4.94012122e-02 8.99236260e-01 1.34589153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.140714057 meters Centerline goodness : 0.992669 Centerline is valid? [True, True] Translation: X:69.30, Y:18.91, Z:13.48 [[ 5.44338658e-01 -7.84001968e-01 -2.98389577e-01 6.92962647e+01] [ 7.16863351e-01 6.19483619e-01 -3.19917148e-01 1.89143907e+01] [ 4.35663129e-01 -3.97612808e-02 8.99231160e-01 1.34752629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.170714057 meters Centerline goodness : 0.992692 Centerline is valid? [True, True] Translation: X:69.31, Y:18.94, Z:13.50 [[ 5.43724848e-01 -7.88683620e-01 -2.86951977e-01 6.93087415e+01] [ 7.14485002e-01 6.14368636e-01 -3.34757167e-01 1.89415100e+01] [ 4.40311789e-01 -2.30070939e-02 8.97550111e-01 1.34955308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.200714057 meters Centerline goodness : 0.993555 Centerline is valid? [True, True] Translation: X:69.34, Y:18.96, Z:13.50 [[ 5.44813460e-01 -7.80852984e-01 -3.05690875e-01 6.93356928e+01] [ 7.13913096e-01 6.23147522e-01 -3.19398273e-01 1.89581082e+01] [ 4.39893606e-01 -4.42242408e-02 8.96960329e-01 1.35002295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.230714057 meters Centerline goodness : 0.993543 Centerline is valid? [True, True] Translation: X:69.35, Y:18.98, Z:13.52 [[ 5.48007483e-01 -7.80850579e-01 -2.99933615e-01 6.93496485e+01] [ 7.11165671e-01 6.23706628e-01 -3.24397026e-01 1.89803647e+01] [ 4.40376189e-01 -3.55304924e-02 8.97110025e-01 1.35158467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.260714057 meters Centerline goodness : 0.993420 Centerline is valid? [True, True] Translation: X:69.37, Y:19.00, Z:13.53 [[ 5.49030570e-01 -7.78903550e-01 -3.03108384e-01 6.93682547e+01] [ 7.10054427e-01 6.25979841e-01 -3.22446817e-01 1.89999291e+01] [ 4.40894709e-01 -3.81902901e-02 8.96745983e-01 1.35271105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.290714057 meters Centerline goodness : 0.993434 Centerline is valid? [True, True] Translation: X:69.39, Y:19.02, Z:13.54 [[ 5.50888394e-01 -7.76601567e-01 -3.05633742e-01 6.93856092e+01] [ 7.08794458e-01 6.28696071e-01 -3.19924470e-01 1.90185220e+01] [ 4.40604578e-01 -4.03888249e-02 8.96792255e-01 1.35380534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.320714057 meters Centerline goodness : 0.992177 Centerline is valid? [True, True] Translation: X:69.40, Y:19.03, Z:13.55 [[ 5.55616739e-01 -7.70558647e-01 -3.12296992e-01 6.94034104e+01] [ 7.06319233e-01 6.35602202e-01 -3.11645603e-01 1.90344086e+01] [ 4.38637870e-01 -4.74258585e-02 8.97411615e-01 1.35463428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.350714057 meters Centerline goodness : 0.992627 Centerline is valid? [True, True] Translation: X:69.41, Y:19.06, Z:13.57 [[ 5.55876313e-01 -7.76207606e-01 -2.97495004e-01 6.94117831e+01] [ 7.04365535e-01 6.29872847e-01 -3.27306263e-01 1.90594462e+01] [ 4.41441636e-01 -2.76034294e-02 8.96865281e-01 1.35668310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.380714057 meters Centerline goodness : 0.992273 Centerline is valid? [True, True] Translation: X:69.43, Y:19.08, Z:13.58 [[ 5.55824592e-01 -7.71436850e-01 -3.09748621e-01 6.94344725e+01] [ 7.03636457e-01 6.35001458e-01 -3.18855585e-01 1.90765392e+01] [ 4.42667774e-01 -4.07226469e-02 8.95760519e-01 1.35754265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.410714057 meters Centerline goodness : 0.992293 Centerline is valid? [True, True] Translation: X:69.45, Y:19.10, Z:13.59 [[ 5.54735239e-01 -7.73539236e-01 -3.06440639e-01 6.94479224e+01] [ 7.02952419e-01 6.32766685e-01 -3.24752551e-01 1.90971882e+01] [ 4.45114267e-01 -3.52615050e-02 8.94779255e-01 1.35913511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.44071405700001 meters Centerline goodness : 0.993070 Centerline is valid? [True, True] Translation: X:69.46, Y:19.12, Z:13.60 [[ 5.55111489e-01 -7.71668196e-01 -3.10450366e-01 6.94649290e+01] [ 7.01667096e-01 6.34871242e-01 -3.23422004e-01 1.91164176e+01] [ 4.46670484e-01 -3.82975365e-02 8.93878502e-01 1.36033238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.47071405700001 meters Centerline goodness : 0.993128 Centerline is valid? [True, True] Translation: X:69.48, Y:19.14, Z:13.62 [[ 5.56923355e-01 -7.72619817e-01 -3.04786803e-01 6.94787121e+01] [ 7.00583810e-01 6.34098518e-01 -3.27263494e-01 1.91372852e+01] [ 4.46115121e-01 -3.12680164e-02 8.94429209e-01 1.36178658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.50071405700001 meters Centerline goodness : 0.993206 Centerline is valid? [True, True] Translation: X:69.50, Y:19.16, Z:13.63 [[ 5.57234059e-01 -7.71239657e-01 -3.07700496e-01 6.94971896e+01] [ 7.00299582e-01 6.35613421e-01 -3.24924723e-01 1.91565172e+01] [ 4.46173396e-01 -3.44234064e-02 8.94284256e-01 1.36294602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.530714057 meters Centerline goodness : 0.991903 Centerline is valid? [True, True] Translation: X:69.51, Y:19.17, Z:13.64 [[ 5.60741248e-01 -7.67509410e-01 -3.10642172e-01 6.95117936e+01] [ 6.98314487e-01 6.39961286e-01 -3.20634419e-01 1.91705925e+01] [ 4.44888897e-01 -3.71329849e-02 8.94815629e-01 1.36370388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.560714057 meters Centerline goodness : 0.993133 Centerline is valid? [True, True] Translation: X:69.52, Y:19.20, Z:13.66 [[ 5.58520788e-01 -7.73225797e-01 -3.00293850e-01 6.95240219e+01] [ 6.99064353e-01 6.33643748e-01 -3.31367819e-01 1.91963509e+01] [ 4.46501467e-01 -2.48489102e-02 8.94437796e-01 1.36584709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.590714057 meters Centerline goodness : 0.993325 Centerline is valid? [True, True] Translation: X:69.54, Y:19.20, Z:13.66 [[ 0.5484587 -0.76097895 -0.34656039 69.53978789] [ 0.7015661 0.64429161 -0.3044558 19.20135423] [ 0.4549704 -0.07615359 0.88724437 13.66027515] [ 0. 0. 0. 1. ]] SLAMing on 78.620714057 meters Centerline goodness : 0.992488 Centerline is valid? [True, True] Translation: X:69.53, Y:19.24, Z:13.70 [[ 5.58997861e-01 -7.86758953e-01 -2.61785677e-01 6.95302400e+01] [ 6.97720492e-01 6.16906025e-01 -3.64160777e-01 1.92412051e+01] [ 4.48003912e-01 2.09118641e-02 8.93786993e-01 1.37042229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.650714057 meters Centerline goodness : 0.993097 Centerline is valid? [True, True] Translation: X:69.57, Y:19.24, Z:13.69 [[ 0.55025674 -0.76087224 -0.34393451 69.57099629] [ 0.70093074 0.64475119 -0.3049459 19.24131518] [ 0.45377705 -0.07327573 0.88809744 13.68724717] [ 0. 0. 0. 1. ]] SLAMing on 78.680714057 meters Centerline goodness : 0.993593 Centerline is valid? [True, True] Translation: X:69.57, Y:19.28, Z:13.73 [[ 5.57763660e-01 -7.83039914e-01 -2.75223896e-01 6.95661845e+01] [ 6.97810260e-01 6.21941262e-01 -3.55316631e-01 1.92757052e+01] [ 4.49400202e-01 6.12864629e-03 8.93309520e-01 1.37274131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.710714057 meters Centerline goodness : 0.993407 Centerline is valid? [True, True] Translation: X:69.60, Y:19.30, Z:13.73 [[ 5.58460605e-01 -7.76090185e-01 -2.92926233e-01 6.95972807e+01] [ 6.98584530e-01 6.30428217e-01 -3.38437466e-01 1.92952750e+01] [ 4.47326959e-01 -1.56297429e-02 8.94233920e-01 1.37303003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.740714057 meters Centerline goodness : 0.993141 Centerline is valid? [True, True] Translation: X:69.62, Y:19.31, Z:13.74 [[ 5.58462785e-01 -7.71602755e-01 -3.04546394e-01 6.96223439e+01] [ 6.99031236e-01 6.35411368e-01 -3.28036163e-01 1.93130096e+01] [ 4.46625848e-01 -2.96914529e-02 8.94228030e-01 1.37375672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.770714057 meters Centerline goodness : 0.993110 Centerline is valid? [True, True] Translation: X:69.64, Y:19.33, Z:13.74 [[ 5.55826036e-01 -7.66920688e-01 -3.20764829e-01 6.96426155e+01] [ 7.00113263e-01 6.39907463e-01 -3.16796241e-01 1.93257741e+01] [ 4.48217399e-01 -4.84881123e-02 8.92608574e-01 1.37443740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.80071405700001 meters Centerline goodness : 0.992975 Centerline is valid? [True, True] Translation: X:69.65, Y:19.34, Z:13.76 [[ 5.56963126e-01 -7.72579212e-01 -3.04817055e-01 6.96458058e+01] [ 6.98448336e-01 6.34287302e-01 -3.31435575e-01 1.93433774e+01] [ 4.49401823e-01 -2.83015707e-02 8.92881304e-01 1.37618762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.83071405700001 meters Centerline goodness : 0.993427 Centerline is valid? [True, True] Translation: X:69.66, Y:19.37, Z:13.79 [[ 5.54768777e-01 -7.83493643e-01 -2.79945201e-01 6.96608405e+01] [ 7.00799015e-01 6.21397131e-01 -3.50351745e-01 1.93747734e+01] [ 4.48455510e-01 -1.82111175e-03 8.93803300e-01 1.37868958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.86071405700001 meters Centerline goodness : 0.993995 Centerline is valid? [True, True] Translation: X:69.70, Y:19.39, Z:13.79 [[ 5.52451551e-01 -7.72253696e-01 -3.13722032e-01 6.96959551e+01] [ 7.02087250e-01 6.33981789e-01 -3.24253888e-01 1.93873965e+01] [ 4.49300318e-01 -4.11256749e-02 8.92433697e-01 1.37855330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.890714057 meters Centerline goodness : 0.992949 Centerline is valid? [True, True] Translation: X:69.71, Y:19.40, Z:13.80 [[ 5.49017438e-01 -7.70248544e-01 -3.24495043e-01 6.97129815e+01] [ 7.03121768e-01 6.35532703e-01 -3.18932537e-01 1.94004054e+01] [ 4.51884534e-01 -5.30600043e-02 8.90497054e-01 1.37962834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.920714057 meters Centerline goodness : 0.993952 Centerline is valid? [True, True] Translation: X:69.72, Y:19.42, Z:13.82 [[ 5.46483736e-01 -7.79098960e-01 -3.07181277e-01 6.97189638e+01] [ 7.03691704e-01 6.26054795e-01 -3.35966336e-01 1.94227722e+01] [ 4.54063334e-01 -3.25607784e-02 8.90374238e-01 1.38190084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.950714057 meters Centerline goodness : 0.993683 Centerline is valid? [True, True] Translation: X:69.73, Y:19.43, Z:13.82 [[ 5.37739745e-01 -7.74182605e-01 -3.33882106e-01 6.97313659e+01] [ 7.06979378e-01 6.29815390e-01 -3.21733949e-01 1.94317678e+01] [ 4.59364916e-01 -6.30386321e-02 8.86007903e-01 1.38246129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.980714057 meters Centerline goodness : 0.994126 Centerline is valid? [True, True] Translation: X:69.73, Y:19.47, Z:13.86 [[ 5.46219396e-01 -7.93957114e-01 -2.66976538e-01 6.97328148e+01] [ 7.03734356e-01 6.07834059e-01 -3.67825656e-01 1.94687811e+01] [ 4.54315229e-01 1.30329454e-02 8.90745651e-01 1.38631532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.010714057 meters Centerline goodness : 0.994126 Centerline is valid? [True, True] Translation: X:69.77, Y:19.48, Z:13.86 [[ 5.46320616e-01 -7.77778185e-01 -3.10797168e-01 6.97749895e+01] [ 7.04816012e-01 6.27379044e-01 -3.31104100e-01 1.94812603e+01] [ 4.52513176e-01 -3.81658243e-02 8.90940624e-01 1.38554402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.040714057 meters Centerline goodness : 0.994300 Centerline is valid? [True, True] Translation: X:69.79, Y:19.50, Z:13.87 [[ 5.45732874e-01 -7.75136446e-01 -3.18338060e-01 6.97921226e+01] [ 7.04735648e-01 6.30088803e-01 -3.26091656e-01 1.94966423e+01] [ 4.53346774e-01 -4.63852422e-02 8.90126458e-01 1.38654259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.070714057 meters Centerline goodness : 0.994017 Centerline is valid? [True, True] Translation: X:69.80, Y:19.53, Z:13.89 [[ 5.48220600e-01 -7.88126677e-01 -2.79840157e-01 6.97998698e+01] [ 7.04126688e-01 6.15506048e-01 -3.54059194e-01 1.95291375e+01] [ 4.51286805e-01 -2.94037956e-03 8.92374122e-01 1.38918922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.100714057 meters Centerline goodness : 0.993946 Centerline is valid? [True, True] Translation: X:69.84, Y:19.54, Z:13.89 [[ 5.47030633e-01 -7.73947982e-01 -3.19001580e-01 6.98377510e+01] [ 7.04711360e-01 6.31440354e-01 -3.23519671e-01 1.95409850e+01] [ 4.51817867e-01 -4.78288667e-02 8.90827152e-01 1.38894409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.130714057 meters Centerline goodness : 0.994123 Centerline is valid? [True, True] Translation: X:69.85, Y:19.54, Z:13.89 [[ 0.53387647 -0.76476655 -0.36070492 69.84743949] [ 0.70832061 0.63746737 -0.30317861 19.54131262] [ 0.46179848 -0.0936348 0.88202874 13.89370089] [ 0. 0. 0. 1. ]] SLAMing on 79.160714057 meters Centerline goodness : 0.994885 Centerline is valid? [True, True] Translation: X:69.83, Y:19.59, Z:13.95 [[ 5.47451617e-01 -8.03447299e-01 -2.34028127e-01 6.98285705e+01] [ 7.04335092e-01 5.93401055e-01 -3.89598853e-01 1.95943496e+01] [ 4.51894684e-01 4.84522998e-02 8.90754494e-01 1.39513859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.19071405700001 meters Centerline goodness : 0.994259 Centerline is valid? [True, True] Translation: X:69.89, Y:19.60, Z:13.93 [[ 5.49754887e-01 -7.76169615e-01 -3.08756040e-01 6.98914686e+01] [ 7.05327036e-01 6.29352274e-01 -3.26235325e-01 1.96023160e+01] [ 4.47530263e-01 -3.84245181e-02 8.93442903e-01 1.39287227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.22071405700001 meters Centerline goodness : 0.994696 Centerline is valid? [True, True] Translation: X:69.91, Y:19.61, Z:13.94 [[ 0.54223236 -0.76832131 -0.34009768 69.91354287] [ 0.70715142 0.63590201 -0.3091367 19.61074639] [ 0.45378511 -0.07287664 0.88812615 13.93632371] [ 0. 0. 0. 1. ]] SLAMing on 79.25071405700001 meters Centerline goodness : 0.994358 Centerline is valid? [True, True] Translation: X:69.91, Y:19.62, Z:13.95 [[ 0.529913 -0.77217482 -0.35062552 69.90761654] [ 0.7098216 0.63009252 -0.31485982 19.62008349] [ 0.46405335 -0.08203326 0.88200059 13.95367046] [ 0. 0. 0. 1. ]] SLAMing on 79.280714057 meters Centerline goodness : 0.994469 Centerline is valid? [True, True] Translation: X:69.89, Y:19.67, Z:14.01 [[ 5.41315941e-01 -8.07509239e-01 -2.34320041e-01 6.98934537e+01] [ 7.07703759e-01 5.88046423e-01 -3.91607959e-01 1.96686912e+01] [ 4.54018106e-01 4.61544573e-02 8.89796227e-01 1.40066238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.310714057 meters Centerline goodness : 0.994469 Centerline is valid? [True, True] Translation: X:69.96, Y:19.65, Z:13.97 [[ 0.52699999 -0.76206068 -0.37621077 69.95871747] [ 0.71341875 0.63724816 -0.29145921 19.65244136] [ 0.46184922 -0.11479682 0.87949815 13.96984799] [ 0. 0. 0. 1. ]] SLAMing on 79.340714057 meters Centerline goodness : 0.994522 Centerline is valid? [True, True] Translation: X:69.93, Y:19.70, Z:14.03 [[ 5.33819200e-01 -8.03534831e-01 -2.63379645e-01 6.99322875e+01] [ 7.10408485e-01 5.95105494e-01 -3.75724946e-01 1.96967917e+01] [ 4.58646755e-01 1.34620560e-02 8.88516701e-01 1.40263491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.370714057 meters Centerline goodness : 0.994038 Centerline is valid? [True, True] Translation: X:69.98, Y:19.70, Z:14.02 [[ 5.31072222e-01 -7.85727084e-01 -3.17167534e-01 6.99779059e+01] [ 7.13208699e-01 6.16615456e-01 -3.33344762e-01 1.97045561e+01] [ 4.57488411e-01 -4.91765012e-02 8.87854732e-01 1.40157786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.400714057 meters Centerline goodness : 0.993907 Centerline is valid? [True, True] Translation: X:69.99, Y:19.73, Z:14.03 [[ 5.30090951e-01 -7.92607191e-01 -3.01292922e-01 6.99878139e+01] [ 7.13916739e-01 6.08902490e-01 -3.45775428e-01 1.97275745e+01] [ 4.57522101e-01 -3.18056349e-02 8.88629241e-01 1.40341846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.430714057 meters Centerline goodness : 0.994041 Centerline is valid? [True, True] Translation: X:70.01, Y:19.75, Z:14.05 [[ 5.27920987e-01 -7.93945208e-01 -3.01579904e-01 7.00079990e+01] [ 7.15527621e-01 6.07076193e-01 -3.45656940e-01 1.97484097e+01] [ 4.57514651e-01 -3.33091978e-02 8.88577988e-01 1.40468541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.460714057 meters Centerline goodness : 0.993645 Centerline is valid? [True, True] Translation: X:70.03, Y:19.76, Z:14.05 [[ 5.26267909e-01 -7.89640389e-01 -3.15452286e-01 7.00295708e+01] [ 7.16269353e-01 6.11600787e-01 -3.36009956e-01 1.97636178e+01] [ 4.58257898e-01 -4.91175478e-02 8.87461078e-01 1.40548749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.490714057 meters Centerline goodness : 0.993543 Centerline is valid? [True, True] Translation: X:70.04, Y:19.78, Z:14.07 [[ 5.24228469e-01 -7.92648168e-01 -3.11277037e-01 7.00428550e+01] [ 7.16962360e-01 6.08056822e-01 -3.40927962e-01 1.97836008e+01] [ 4.59510051e-01 -4.44497753e-02 8.87059598e-01 1.40711381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.520714057 meters Centerline goodness : 0.993910 Centerline is valid? [True, True] Translation: X:70.06, Y:19.80, Z:14.08 [[ 5.23290215e-01 -7.92435506e-01 -3.13390045e-01 7.00579257e+01] [ 7.17229719e-01 6.08160723e-01 -3.40179460e-01 1.98010941e+01] [ 4.60161798e-01 -4.67600713e-02 8.86602851e-01 1.40837273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.55071405700001 meters Centerline goodness : 0.994772 Centerline is valid? [True, True] Translation: X:70.07, Y:19.82, Z:14.10 [[ 5.22570299e-01 -7.94004252e-01 -3.10608323e-01 7.00721177e+01] [ 7.17688261e-01 6.06321677e-01 -3.42487348e-01 1.98211343e+01] [ 4.60264970e-01 -4.39462314e-02 8.86693231e-01 1.40985852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.58071405700001 meters Centerline goodness : 0.994356 Centerline is valid? [True, True] Translation: X:70.09, Y:19.84, Z:14.11 [[ 5.21464006e-01 -7.94706755e-01 -3.10670988e-01 7.00864128e+01] [ 7.17932882e-01 6.05406154e-01 -3.43592441e-01 1.98406822e+01] [ 4.61137362e-01 -4.38698269e-02 8.86243630e-01 1.41129000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.61071405700001 meters Centerline goodness : 0.993230 Centerline is valid? [True, True] Translation: X:70.10, Y:19.86, Z:14.13 [[ 5.21636903e-01 -7.94838043e-01 -3.10044235e-01 7.01016823e+01] [ 7.17771718e-01 6.05293928e-01 -3.44126460e-01 1.98598909e+01] [ 4.61192695e-01 -4.30319221e-02 8.86255918e-01 1.41255386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.640714057 meters Centerline goodness : 0.993580 Centerline is valid? [True, True] Translation: X:70.12, Y:19.88, Z:14.14 [[ 5.19620754e-01 -7.95803525e-01 -3.10951799e-01 7.01171250e+01] [ 7.17788007e-01 6.04009782e-01 -3.46341681e-01 1.98796837e+01] [ 4.63437860e-01 -4.32311469e-02 8.85074245e-01 1.41395979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.670714057 meters Centerline goodness : 0.993290 Centerline is valid? [True, True] Translation: X:70.13, Y:19.90, Z:14.15 [[ 5.18266473e-01 -7.95977193e-01 -3.12762165e-01 7.01336479e+01] [ 7.18142815e-01 6.03639877e-01 -3.46251059e-01 1.98993615e+01] [ 4.64403661e-01 -4.51575868e-02 8.84471612e-01 1.41534107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.700714057 meters Centerline goodness : 0.994189 Centerline is valid? [True, True] Translation: X:70.15, Y:19.92, Z:14.17 [[ 5.17324517e-01 -7.96929172e-01 -3.11896198e-01 7.01484433e+01] [ 7.18672999e-01 6.02430871e-01 -3.47255188e-01 1.99182353e+01] [ 4.64633688e-01 -4.45077535e-02 8.84383738e-01 1.41674817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.730714057 meters Centerline goodness : 0.994371 Centerline is valid? [True, True] Translation: X:70.16, Y:19.93, Z:14.17 [[ 0.50916037 -0.79020942 -0.34106419 70.16014169] [ 0.72056245 0.60809209 -0.33318728 19.92602077] [ 0.47068616 -0.07611229 0.87901164 14.17420713] [ 0. 0. 0. 1. ]] SLAMing on 79.760714057 meters Centerline goodness : 0.994266 Centerline is valid? [True, True] Translation: X:70.16, Y:19.96, Z:14.21 [[ 5.14472998e-01 -8.10909819e-01 -2.78823959e-01 7.01573686e+01] [ 7.18424426e-01 5.85131678e-01 -3.76147928e-01 1.99600542e+01] [ 4.68170780e-01 -6.79599020e-03 8.83611869e-01 1.42117456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.790714057 meters Centerline goodness : 0.993586 Centerline is valid? [True, True] Translation: X:70.19, Y:19.97, Z:14.21 [[ 5.13479893e-01 -7.98772041e-01 -3.13530901e-01 7.01913152e+01] [ 7.20171766e-01 5.99814109e-01 -3.48677017e-01 1.99737859e+01] [ 4.66573710e-01 -4.67574653e-02 8.83245556e-01 1.42105789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.820714057 meters Centerline goodness : 0.993860 Centerline is valid? [True, True] Translation: X:70.20, Y:19.99, Z:14.23 [[ 5.11346689e-01 -8.00145725e-01 -3.13514565e-01 7.02044704e+01] [ 7.20990613e-01 5.97962420e-01 -3.50162077e-01 1.99918728e+01] [ 4.67650616e-01 -4.69868396e-02 8.82663661e-01 1.42256711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.850714057 meters Centerline goodness : 0.995036 Centerline is valid? [True, True] Translation: X:70.22, Y:20.01, Z:14.24 [[ 5.09736135e-01 -8.01537758e-01 -3.12580061e-01 7.02190335e+01] [ 7.21320650e-01 5.96188406e-01 -3.52499509e-01 2.00106605e+01] [ 4.68898275e-01 -4.57887159e-02 8.82064511e-01 1.42410623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.880714057 meters Centerline goodness : 0.994809 Centerline is valid? [True, True] Translation: X:70.23, Y:20.03, Z:14.25 [[ 5.04272115e-01 -8.03078743e-01 -3.17449472e-01 7.02257819e+01] [ 7.23182029e-01 5.93637135e-01 -3.52991083e-01 2.00256882e+01] [ 4.71929430e-01 -5.15701931e-02 8.80126768e-01 1.42528139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.910714057 meters Centerline goodness : 0.994386 Centerline is valid? [True, True] Translation: X:70.24, Y:20.05, Z:14.28 [[ 5.08088318e-01 -8.10672705e-01 -2.90957087e-01 7.02377441e+01] [ 7.20956203e-01 5.85118624e-01 -3.71292807e-01 2.00519095e+01] [ 4.71241355e-01 -2.11177790e-02 8.81751453e-01 1.42773371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.94071405700001 meters Centerline goodness : 0.995088 Centerline is valid? [True, True] Translation: X:70.26, Y:20.06, Z:14.28 [[ 5.03902594e-01 -8.02344546e-01 -3.19883425e-01 7.02581721e+01] [ 7.23034425e-01 5.94420076e-01 -3.51974423e-01 2.00629701e+01] [ 4.72549888e-01 -5.39259036e-02 8.79652545e-01 1.42779315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.97071405700001 meters Centerline goodness : 0.993954 Centerline is valid? [True, True] Translation: X:70.26, Y:20.08, Z:14.30 [[ 5.03242873e-01 -8.09580369e-01 -3.02202311e-01 7.02635744e+01] [ 7.21940505e-01 5.86077725e-01 -3.67851611e-01 2.00845305e+01] [ 4.74919486e-01 -3.30533874e-02 8.79408299e-01 1.42990000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.00071405700001 meters Centerline goodness : 0.993887 Centerline is valid? [True, True] Translation: X:70.28, Y:20.11, Z:14.32 [[ 5.08834122e-01 -8.15376592e-01 -2.76131940e-01 7.02798089e+01] [ 7.20776027e-01 5.78908985e-01 -3.81243105e-01 2.01120713e+01] [ 4.70711965e-01 -5.03978191e-03 8.82272546e-01 1.43190383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.030714057 meters Centerline goodness : 0.994120 Centerline is valid? [True, True] Translation: X:70.32, Y:20.12, Z:14.31 [[ 5.04836382e-01 -7.96288153e-01 -3.33264767e-01 7.03150333e+01] [ 7.22871588e-01 6.00995377e-01 -3.40971002e-01 2.01171446e+01] [ 4.71801753e-01 -6.87730644e-02 8.79018414e-01 1.43105188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.060714057 meters Centerline goodness : 0.993944 Centerline is valid? [True, True] Translation: X:70.31, Y:20.15, Z:14.34 [[ 5.09833208e-01 -8.14136292e-01 -2.77942798e-01 7.03127364e+01] [ 7.20309652e-01 5.80634885e-01 -3.79495897e-01 2.01496604e+01] [ 4.70344666e-01 -6.72526943e-03 8.82457175e-01 1.43441302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.090714057 meters Centerline goodness : 0.993975 Centerline is valid? [True, True] Translation: X:70.34, Y:20.16, Z:14.34 [[ 5.09547662e-01 -8.02609192e-01 -3.10128466e-01 7.03445132e+01] [ 7.20853493e-01 5.94994054e-01 -3.55460711e-01 2.01639735e+01] [ 4.69820627e-01 -4.24330143e-02 8.81741469e-01 1.43446552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.120714057 meters Centerline goodness : 0.994270 Centerline is valid? [True, True] Translation: X:70.36, Y:20.18, Z:14.35 [[ 5.07835021e-01 -7.98545784e-01 -3.23153559e-01 7.03575641e+01] [ 7.20614453e-01 5.99337735e-01 -3.48581539e-01 2.01775731e+01] [ 4.72036440e-01 -5.58472120e-02 8.79808325e-01 1.43549450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.150714057 meters Centerline goodness : 0.994042 Centerline is valid? [True, True] Translation: X:70.36, Y:20.21, Z:14.38 [[ 5.12006704e-01 -8.11978381e-01 -2.80250322e-01 7.03593546e+01] [ 7.18958054e-01 5.83629537e-01 -3.77459773e-01 2.02064351e+01] [ 4.70051541e-01 -8.22629212e-03 8.82600633e-01 1.43832051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.180714057 meters Centerline goodness : 0.994452 Centerline is valid? [True, True] Translation: X:70.39, Y:20.22, Z:14.39 [[ 5.12341739e-01 -8.01401676e-01 -3.08644287e-01 7.03900448e+01] [ 7.19513207e-01 5.96780837e-01 -3.55180769e-01 2.02200621e+01] [ 4.68835459e-01 -4.00997074e-02 8.82374822e-01 1.43850040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.210714057 meters Centerline goodness : 0.994254 Centerline is valid? [True, True] Translation: X:70.40, Y:20.24, Z:14.40 [[ 5.08729862e-01 -8.00592580e-01 -3.16615617e-01 7.04014676e+01] [ 7.20242498e-01 5.97243071e-01 -3.52918487e-01 2.02352849e+01] [ 4.71640405e-01 -4.84998495e-02 8.80456185e-01 1.43964907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.240714057 meters Centerline goodness : 0.994733 Centerline is valid? [True, True] Translation: X:70.41, Y:20.26, Z:14.42 [[ 5.09796802e-01 -8.10813771e-01 -2.87555645e-01 7.04085600e+01] [ 7.19337778e-01 5.85086937e-01 -3.74468207e-01 2.02612822e+01] [ 4.71869031e-01 -1.59469446e-02 8.81524426e-01 1.44207696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.270714057 meters Centerline goodness : 0.995046 Centerline is valid? [True, True] Translation: X:70.43, Y:20.27, Z:14.42 [[ 5.05681880e-01 -8.02461230e-01 -3.16767754e-01 7.04329628e+01] [ 7.21161151e-01 5.94708341e-01 -3.55314766e-01 2.02731369e+01] [ 4.73510750e-01 -4.87643592e-02 8.79437097e-01 1.44224427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.30071405700001 meters Centerline goodness : 0.995304 Centerline is valid? [True, True] Translation: X:70.44, Y:20.30, Z:14.45 [[ 5.07692018e-01 -8.13179585e-01 -2.84583516e-01 7.04398167e+01] [ 7.20312112e-01 5.81861320e-01 -3.77608084e-01 2.03001271e+01] [ 4.72651325e-01 -1.32803428e-02 8.81149452e-01 1.44472559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.33071405700001 meters Centerline goodness : 0.994563 Centerline is valid? [True, True] Translation: X:70.47, Y:20.31, Z:14.45 [[ 5.04241044e-01 -8.04733491e-01 -3.13280990e-01 7.04694238e+01] [ 7.22638368e-01 5.91826833e-01 -3.57120133e-01 2.03132378e+01] [ 4.72794627e-01 -4.63142346e-02 8.79954676e-01 1.44491479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.36071405700001 meters Centerline goodness : 0.994383 Centerline is valid? [True, True] Translation: X:70.48, Y:20.33, Z:14.47 [[ 5.02037699e-01 -8.09061103e-01 -3.05578598e-01 7.04812044e+01] [ 7.23111853e-01 5.86507868e-01 -3.64853079e-01 2.03338782e+01] [ 4.74412686e-01 -3.77975054e-02 8.79490734e-01 1.44667798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.390714057 meters Centerline goodness : 0.995268 Centerline is valid? [True, True] Translation: X:70.50, Y:20.35, Z:14.48 [[ 5.02236918e-01 -8.10138356e-01 -3.02380425e-01 7.04959446e+01] [ 7.23537771e-01 5.85198367e-01 -3.66109226e-01 2.03531870e+01] [ 4.73551658e-01 -3.49100893e-02 8.80073925e-01 1.44795239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.420714057 meters Centerline goodness : 0.995044 Centerline is valid? [True, True] Translation: X:70.51, Y:20.37, Z:14.49 [[ 5.02191129e-01 -8.09119780e-01 -3.05170857e-01 7.05133994e+01] [ 7.23796723e-01 5.86397603e-01 -3.63670395e-01 2.03714175e+01] [ 4.73204368e-01 -3.82496200e-02 8.80121919e-01 1.44909710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.450714057 meters Centerline goodness : 0.994962 Centerline is valid? [True, True] Translation: X:70.53, Y:20.39, Z:14.50 [[ 4.98434821e-01 -8.07669674e-01 -3.15011789e-01 7.05265621e+01] [ 7.25604140e-01 5.87509900e-01 -3.58232815e-01 2.03862063e+01] [ 4.74406325e-01 -5.00181493e-02 8.78883851e-01 1.45007309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.480714057 meters Centerline goodness : 0.993944 Centerline is valid? [True, True] Translation: X:70.54, Y:20.41, Z:14.52 [[ 5.04146177e-01 -8.08999365e-01 -3.02252644e-01 7.05418292e+01] [ 7.26146004e-01 5.86538834e-01 -3.58725768e-01 2.04054581e+01] [ 4.67491832e-01 -3.86293248e-02 8.83152967e-01 1.45168060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.510714057 meters Centerline goodness : 0.995281 Centerline is valid? [True, True] Translation: X:70.55, Y:20.43, Z:14.54 [[ 4.98248544e-01 -8.15770984e-01 -2.93710896e-01 7.05520892e+01] [ 7.25805831e-01 5.77738256e-01 -3.73395773e-01 2.04282416e+01] [ 4.74293458e-01 -2.71331809e-02 8.79948581e-01 1.45375214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.540714057 meters Centerline goodness : 0.994514 Centerline is valid? [True, True] Translation: X:70.57, Y:20.45, Z:14.55 [[ 4.97366377e-01 -8.12566460e-01 -3.03911888e-01 7.05737324e+01] [ 7.26768661e-01 5.81556938e-01 -3.65511752e-01 2.04463644e+01] [ 4.73744658e-01 -3.90803803e-02 8.79794705e-01 1.45465835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.570714057 meters Centerline goodness : 0.994371 Centerline is valid? [True, True] Translation: X:70.59, Y:20.46, Z:14.56 [[ 4.95942112e-01 -8.12254255e-01 -3.07057727e-01 7.05901915e+01] [ 7.27346168e-01 5.81733059e-01 -3.64079936e-01 2.04643567e+01] [ 4.74351108e-01 -4.27746889e-02 8.79295941e-01 1.45589541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.600714057 meters Centerline goodness : 0.994699 Centerline is valid? [True, True] Translation: X:70.61, Y:20.48, Z:14.57 [[ 4.97900945e-01 -8.08755991e-01 -3.13062927e-01 7.06092180e+01] [ 7.29892127e-01 5.85745947e-01 -3.52362268e-01 2.04782740e+01] [ 4.68350436e-01 -5.30606593e-02 8.81948091e-01 1.45664472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.630714057 meters Centerline goodness : 0.994754 Centerline is valid? [True, True] Translation: X:70.61, Y:20.50, Z:14.59 [[ 4.92404656e-01 -8.19909653e-01 -2.92037354e-01 7.06132503e+01] [ 7.28374183e-01 5.71862027e-01 -3.77418695e-01 2.05032779e+01] [ 4.76454304e-01 -2.68697459e-02 8.78788548e-01 1.45920575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.660714057 meters Centerline goodness : 0.994243 Centerline is valid? [True, True] Translation: X:70.64, Y:20.52, Z:14.60 [[ 4.93809200e-01 -8.14286633e-01 -3.05106133e-01 7.06380461e+01] [ 7.31613361e-01 5.78694686e-01 -3.60353093e-01 2.05173140e+01] [ 4.69994005e-01 -4.52740507e-02 8.81507740e-01 1.45963438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.69071405700001 meters Centerline goodness : 0.994367 Centerline is valid? [True, True] Translation: X:70.65, Y:20.54, Z:14.61 [[ 4.93222204e-01 -8.14534560e-01 -3.05393694e-01 7.06541343e+01] [ 7.32561213e-01 5.78242124e-01 -3.59151939e-01 2.05354084e+01] [ 4.69133165e-01 -4.65778640e-02 8.81898280e-01 1.46089475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.72071405700001 meters Centerline goodness : 0.994153 Centerline is valid? [True, True] Translation: X:70.67, Y:20.56, Z:14.63 [[ 4.91711727e-01 -8.18851487e-01 -2.96144932e-01 7.06654911e+01] [ 7.32488431e-01 5.72871050e-01 -3.67803560e-01 2.05556121e+01] [ 4.70829350e-01 -3.60694132e-02 8.81486654e-01 1.46261716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.75071405700001 meters Centerline goodness : 0.995190 Centerline is valid? [True, True] Translation: X:70.68, Y:20.58, Z:14.64 [[ 4.86563256e-01 -8.22285259e-01 -2.95132430e-01 7.06803114e+01] [ 7.31537963e-01 5.68146189e-01 -3.76911285e-01 2.05779775e+01] [ 4.77606959e-01 -3.25093952e-02 8.77971943e-01 1.46429820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.780714057 meters Centerline goodness : 0.994550 Centerline is valid? [True, True] Translation: X:70.70, Y:20.60, Z:14.65 [[ 4.86165714e-01 -8.18616040e-01 -3.05795157e-01 7.07028324e+01] [ 7.32373051e-01 5.72589815e-01 -3.68470647e-01 2.05953614e+01] [ 4.76731174e-01 -4.48183371e-02 8.77905863e-01 1.46506600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.810714057 meters Centerline goodness : 0.994440 Centerline is valid? [True, True] Translation: X:70.72, Y:20.61, Z:14.66 [[ 4.89673500e-01 -8.14148578e-01 -3.12060823e-01 7.07229996e+01] [ 7.34398235e-01 5.78045901e-01 -3.55699548e-01 2.06111837e+01] [ 4.69977761e-01 -5.50002749e-02 8.80963038e-01 1.46579657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.840714057 meters Centerline goodness : 0.995218 Centerline is valid? [True, True] Translation: X:70.73, Y:20.64, Z:14.68 [[ 4.85638143e-01 -8.25852275e-01 -2.86572181e-01 7.07257248e+01] [ 7.32415065e-01 5.63366600e-01 -3.82343100e-01 2.06382592e+01] [ 4.77204114e-01 -2.42093894e-02 8.78458957e-01 1.46844012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.870714057 meters Centerline goodness : 0.994268 Centerline is valid? [True, True] Translation: X:70.76, Y:20.65, Z:14.68 [[ 4.91201025e-01 -8.13758234e-01 -3.10675217e-01 7.07560224e+01] [ 7.34733838e-01 5.78654647e-01 -3.54012692e-01 2.06503986e+01] [ 4.67854401e-01 -5.43721972e-02 8.82131466e-01 1.46830793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.900714057 meters Centerline goodness : 0.994268 Centerline is valid? [True, True] Translation: X:70.76, Y:20.67, Z:14.70 [[ 4.90594580e-01 -8.18936883e-01 -2.97757183e-01 7.07637104e+01] [ 7.34436976e-01 5.72496999e-01 -3.64485273e-01 2.06714618e+01] [ 4.68955527e-01 -3.98693858e-02 8.82321453e-01 1.47014323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.930714057 meters Centerline goodness : 0.995266 Centerline is valid? [True, True] Translation: X:70.78, Y:20.70, Z:14.72 [[ 4.86431155e-01 -8.24400327e-01 -2.89393905e-01 7.07762010e+01] [ 7.33185028e-01 5.65298588e-01 -3.77991033e-01 2.06962879e+01] [ 4.75209897e-01 -2.83126642e-02 8.79416822e-01 1.47213472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.960714057 meters Centerline goodness : 0.994395 Centerline is valid? [True, True] Translation: X:70.80, Y:20.71, Z:14.72 [[ 4.92987718e-01 -8.11719897e-01 -3.13167556e-01 7.08032245e+01] [ 7.34959198e-01 5.81168183e-01 -3.49397366e-01 2.07051916e+01] [ 4.65615814e-01 -5.79167655e-02 8.83089782e-01 1.47186971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.990714057 meters Centerline goodness : 0.994237 Centerline is valid? [True, True] Translation: X:70.81, Y:20.73, Z:14.74 [[ 4.92551242e-01 -8.19564220e-01 -2.92758883e-01 7.08086021e+01] [ 7.33951664e-01 5.71951258e-01 -3.66315045e-01 2.07291403e+01] [ 4.67662516e-01 -3.44419389e-02 8.83235826e-01 1.47421064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.020714057 meters Centerline goodness : 0.993910 Centerline is valid? [True, True] Translation: X:70.83, Y:20.75, Z:14.75 [[ 4.92259987e-01 -8.17607952e-01 -2.98659239e-01 7.08252642e+01] [ 7.33959035e-01 5.74332750e-01 -3.62554861e-01 2.07456667e+01] [ 4.67957520e-01 -4.07323962e-02 8.82811776e-01 1.47523767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.05071405700001 meters Centerline goodness : 0.994689 Centerline is valid? [True, True] Translation: X:70.84, Y:20.77, Z:14.77 [[ 4.87440948e-01 -8.25586423e-01 -2.84268149e-01 7.08350744e+01] [ 7.32484996e-01 5.63836618e-01 -3.81515397e-01 2.07719139e+01] [ 4.75254724e-01 -2.22559276e-02 8.79566723e-01 1.47739633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.08071405700001 meters Centerline goodness : 0.994906 Centerline is valid? [True, True] Translation: X:70.87, Y:20.78, Z:14.77 [[ 4.90984222e-01 -8.12442131e-01 -3.14439625e-01 7.08667472e+01] [ 7.34397218e-01 5.80152606e-01 -3.52255136e-01 2.07834224e+01] [ 4.68609881e-01 -5.79718719e-02 8.81501016e-01 1.47715720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.11071405700001 meters Centerline goodness : 0.995115 Centerline is valid? [True, True] Translation: X:70.87, Y:20.81, Z:14.80 [[ 4.84806104e-01 -8.24771539e-01 -2.91058328e-01 7.08681824e+01] [ 7.32457871e-01 5.64729997e-01 -3.80243997e-01 2.08097958e+01] [ 4.77983795e-01 -2.88433524e-02 8.77894955e-01 1.47986700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.140714057 meters Centerline goodness : 0.994307 Centerline is valid? [True, True] Translation: X:70.90, Y:20.82, Z:14.80 [[ 4.88615821e-01 -8.12190138e-01 -3.18750307e-01 7.08976638e+01] [ 7.34796355e-01 5.80044030e-01 -3.51600967e-01 2.08210326e+01] [ 4.70456050e-01 -6.24187689e-02 8.80213044e-01 1.47968783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.170714057 meters Centerline goodness : 0.994912 Centerline is valid? [True, True] Translation: X:70.90, Y:20.85, Z:14.83 [[ 4.82562349e-01 -8.27640832e-01 -2.86608151e-01 7.08962384e+01] [ 7.33053106e-01 5.60730967e-01 -3.84985618e-01 2.08507055e+01] [ 4.79339883e-01 -2.43194309e-02 8.77292335e-01 1.48274380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.200714057 meters Centerline goodness : 0.994316 Centerline is valid? [True, True] Translation: X:70.93, Y:20.86, Z:14.82 [[ 4.87750023e-01 -8.12877110e-01 -3.18324863e-01 7.09256695e+01] [ 7.35169015e-01 5.79108983e-01 -3.52362461e-01 2.08588402e+01] [ 4.70772167e-01 -6.21577776e-02 8.80062485e-01 1.48232807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.230714057 meters Centerline goodness : 0.994562 Centerline is valid? [True, True] Translation: X:70.93, Y:20.88, Z:14.85 [[ 4.87316836e-01 -8.20633790e-01 -2.98466889e-01 7.09291763e+01] [ 7.34550368e-01 5.70061292e-01 -3.68056899e-01 2.08832622e+01] [ 4.72184348e-01 -3.98786402e-02 8.80597317e-01 1.48469468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.260714057 meters Centerline goodness : 0.995112 Centerline is valid? [True, True] Translation: X:70.94, Y:20.91, Z:14.87 [[ 4.81703750e-01 -8.27543549e-01 -2.88328235e-01 7.09387631e+01] [ 7.33245532e-01 5.60790540e-01 -3.84532132e-01 2.09090955e+01] [ 4.79908832e-01 -2.61848195e-02 8.76927516e-01 1.48702989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.290714057 meters Centerline goodness : 0.994512 Centerline is valid? [True, True] Translation: X:70.96, Y:20.92, Z:14.88 [[ 4.82049703e-01 -8.18209965e-01 -3.13305822e-01 7.09642842e+01] [ 7.33755044e-01 5.72427075e-01 -3.65965544e-01 2.09246016e+01] [ 4.78781390e-01 -5.34761450e-02 8.76303990e-01 1.48763952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.320714057 meters Centerline goodness : 0.994074 Centerline is valid? [True, True] Translation: X:70.98, Y:20.94, Z:14.89 [[ 4.87576128e-01 -8.15890937e-01 -3.10791727e-01 7.09782638e+01] [ 7.35024222e-01 5.75698609e-01 -3.58204557e-01 2.09410080e+01] [ 4.71178216e-01 -5.37874564e-02 8.80396500e-01 1.48857512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.350714057 meters Centerline goodness : 0.995063 Centerline is valid? [True, True] Translation: X:70.97, Y:20.97, Z:14.91 [[ 4.80480423e-01 -8.31400439e-01 -2.79126985e-01 7.09711547e+01] [ 7.34154348e-01 5.55405534e-01 -3.90566367e-01 2.09689747e+01] [ 4.79745720e-01 -1.72627962e-02 8.77237733e-01 1.49140588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.380714057 meters Centerline goodness : 0.994679 Centerline is valid? [True, True] Translation: X:71.00, Y:20.99, Z:14.92 [[ 4.80314383e-01 -8.25122705e-01 -2.97440103e-01 7.09963023e+01] [ 7.35481277e-01 5.63662065e-01 -3.75968574e-01 2.09855417e+01] [ 4.77875909e-01 -3.81785132e-02 8.77597297e-01 1.49187495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.410714057 meters Centerline goodness : 0.994479 Centerline is valid? [True, True] Translation: X:71.01, Y:21.00, Z:14.93 [[ 4.79860631e-01 -8.25442042e-01 -2.97286410e-01 7.10109315e+01] [ 7.35820632e-01 5.63185204e-01 -3.76019181e-01 2.10038660e+01] [ 4.77809348e-01 -3.83126728e-02 8.77627692e-01 1.49314276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.44071405700001 meters Centerline goodness : 0.995029 Centerline is valid? [True, True] Translation: X:71.03, Y:21.02, Z:14.94 [[ 4.78578367e-01 -8.26100380e-01 -2.97524635e-01 7.10263327e+01] [ 7.36349179e-01 5.62178629e-01 -3.76490473e-01 2.10232539e+01] [ 4.78280914e-01 -3.89018251e-02 8.77344867e-01 1.49448568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.47071405700001 meters Centerline goodness : 0.994907 Centerline is valid? [True, True] Translation: X:71.04, Y:21.04, Z:14.96 [[ 4.77359203e-01 -8.26568967e-01 -2.98181043e-01 7.10416337e+01] [ 7.36346796e-01 5.61459625e-01 -3.77566531e-01 2.10421987e+01] [ 4.79501394e-01 -3.93297976e-02 8.76659329e-01 1.49578835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.50071405700001 meters Centerline goodness : 0.994475 Centerline is valid? [True, True] Translation: X:71.06, Y:21.06, Z:14.97 [[ 4.76551193e-01 -8.26809777e-01 -2.98805208e-01 7.10563894e+01] [ 7.36093890e-01 5.61091322e-01 -3.78605748e-01 2.10609300e+01] [ 4.80691944e-01 -3.95236668e-02 8.75998365e-01 1.49702447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.530714057 meters Centerline goodness : 0.994833 Centerline is valid? [True, True] Translation: X:71.08, Y:21.09, Z:14.99 [[ 4.82004022e-01 -8.30068633e-01 -2.80460670e-01 7.10760762e+01] [ 7.33059540e-01 5.57380125e-01 -3.89809065e-01 2.10886654e+01] [ 4.79891481e-01 -1.77048323e-02 8.77149192e-01 1.49894840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.560714057 meters Centerline goodness : 0.995311 Centerline is valid? [True, True] Translation: X:71.10, Y:21.10, Z:14.98 [[ 0.47651856 -0.81526733 -0.32904292 71.10298542] [ 0.736058 0.5746292 -0.35779868 21.09560557] [ 0.48077925 -0.07169696 0.87390552 14.98403645] [ 0. 0. 0. 1. ]] SLAMing on 81.590714057 meters Centerline goodness : 0.995252 Centerline is valid? [True, True] Translation: X:71.10, Y:21.12, Z:15.01 [[ 4.77143655e-01 -8.25926900e-01 -3.00297667e-01 7.11020105e+01] [ 7.33742952e-01 5.62461876e-01 -3.81127168e-01 2.11195854e+01] [ 4.83689169e-01 -3.84888870e-02 8.74393157e-01 1.50102086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.620714057 meters Centerline goodness : 0.995842 Centerline is valid? [True, True] Translation: X:71.12, Y:21.15, Z:15.03 [[ 4.86639146e-01 -8.27653576e-01 -2.79592380e-01 7.11208063e+01] [ 7.29760410e-01 5.61067121e-01 -3.90708882e-01 2.11481059e+01] [ 4.80241695e-01 -1.39012131e-02 8.77026038e-01 1.50307682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.650714057 meters Centerline goodness : 0.995467 Centerline is valid? [True, True] Translation: X:71.16, Y:21.15, Z:15.02 [[ 4.91418109e-01 -8.07521470e-01 -3.26216672e-01 7.11562786e+01] [ 7.31773815e-01 5.85945490e-01 -3.48101948e-01 2.11546517e+01] [ 4.72244984e-01 -6.76532181e-02 8.78867292e-01 1.50227633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.680714057 meters Centerline goodness : 0.995326 Centerline is valid? [True, True] Translation: X:71.15, Y:21.18, Z:15.05 [[ 4.90150011e-01 -8.20180214e-01 -2.95054884e-01 7.11513742e+01] [ 7.26960819e-01 5.71426967e-01 -3.80787591e-01 2.11833535e+01] [ 4.80916765e-01 -2.78502981e-02 8.76323814e-01 1.50547845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.710714057 meters Centerline goodness : 0.994720 Centerline is valid? [True, True] Translation: X:71.18, Y:21.19, Z:15.06 [[ 4.95045161e-01 -8.07230803e-01 -3.21416739e-01 7.11765770e+01] [ 7.27382300e-01 5.87366616e-01 -3.54845667e-01 2.11944364e+01] [ 4.75231815e-01 -5.81282162e-02 8.77938399e-01 1.50551135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.740714057 meters Centerline goodness : 0.995542 Centerline is valid? [True, True] Translation: X:71.18, Y:21.22, Z:15.08 [[ 4.98522477e-01 -8.15382147e-01 -2.94325151e-01 7.11788100e+01] [ 7.25257657e-01 5.78283521e-01 -3.73616782e-01 2.12193119e+01] [ 4.74843839e-01 -2.72052057e-02 8.79649479e-01 1.50794906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.770714057 meters Centerline goodness : 0.995584 Centerline is valid? [True, True] Translation: X:71.19, Y:21.24, Z:15.10 [[ 4.96448538e-01 -8.19590001e-01 -2.86026362e-01 7.11914589e+01] [ 7.23711701e-01 5.72730616e-01 -3.84994825e-01 2.12444722e+01] [ 4.79353963e-01 -1.58705068e-02 8.77478151e-01 1.50987338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.80071405700001 meters Centerline goodness : 0.995147 Centerline is valid? [True, True] Translation: X:71.22, Y:21.26, Z:15.10 [[ 5.00051920e-01 -8.07214621e-01 -3.13612233e-01 7.12211113e+01] [ 7.25315017e-01 5.88249932e-01 -3.57603332e-01 2.12566630e+01] [ 4.73145013e-01 -4.86474292e-02 8.79640395e-01 1.50965572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.83071405700001 meters Centerline goodness : 0.995160 Centerline is valid? [True, True] Translation: X:71.23, Y:21.28, Z:15.12 [[ 4.98050006e-01 -8.13286469e-01 -3.00850978e-01 7.12286352e+01] [ 7.25725682e-01 5.80828470e-01 -3.68728250e-01 2.12785106e+01] [ 4.74624510e-01 -3.46901738e-02 8.79504501e-01 1.51172774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.86071405700001 meters Centerline goodness : 0.996039 Centerline is valid? [True, True] Translation: X:71.23, Y:21.30, Z:15.13 [[ 4.88569972e-01 -8.19494747e-01 -2.99545895e-01 7.12318373e+01] [ 7.26796242e-01 5.72188497e-01 -3.79957295e-01 2.12980623e+01] [ 4.82769722e-01 -3.20731059e-02 8.75159820e-01 1.51324490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.890714057 meters Centerline goodness : 0.995306 Centerline is valid? [True, True] Translation: X:71.25, Y:21.33, Z:15.15 [[ 4.94949493e-01 -8.27518265e-01 -2.65025510e-01 7.12489614e+01] [ 7.25704578e-01 5.61420700e-01 -3.97692926e-01 2.13291777e+01] [ 4.77888967e-01 4.50768604e-03 8.78408684e-01 1.51547228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.920714057 meters Centerline goodness : 0.995455 Centerline is valid? [True, True] Translation: X:71.30, Y:21.33, Z:15.14 [[ 0.49036282 -0.80330579 -0.33800016 71.29719636] [ 0.73075314 0.59031873 -0.34281723 21.3317074 ] [ 0.47491489 -0.07888986 0.87648859 15.1411865 ] [ 0. 0. 0. 1. ]] SLAMing on 81.950714057 meters Centerline goodness : 0.995304 Centerline is valid? [True, True] Translation: X:71.28, Y:21.36, Z:15.17 [[ 4.80861858e-01 -8.24146979e-01 -2.99255126e-01 7.12796100e+01] [ 7.30805187e-01 5.65309508e-01 -3.82555797e-01 2.13570697e+01] [ 4.84453972e-01 -3.47407070e-02 8.74126668e-01 1.51733635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.980714057 meters Centerline goodness : 0.995983 Centerline is valid? [True, True] Translation: X:71.29, Y:21.39, Z:15.20 [[ 4.88821251e-01 -8.33829726e-01 -2.56479576e-01 7.12945232e+01] [ 7.30075595e-01 5.51936264e-01 -4.02934220e-01 2.13906400e+01] [ 4.77538909e-01 9.71333016e-03 8.78556908e-01 1.51974652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.010714057 meters Centerline goodness : 0.995532 Centerline is valid? [True, True] Translation: X:71.34, Y:21.40, Z:15.19 [[ 4.83712686e-01 -8.12144897e-01 -3.26255581e-01 7.13415585e+01] [ 7.34200203e-01 5.79435114e-01 -3.53843201e-01 2.13985179e+01] [ 4.76415889e-01 -6.83784684e-02 8.76557063e-01 1.51867958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.040714057 meters Centerline goodness : 0.995350 Centerline is valid? [True, True] Translation: X:71.35, Y:21.42, Z:15.21 [[ 4.82430796e-01 -8.19693488e-01 -3.08809185e-01 7.13450997e+01] [ 7.34602825e-01 5.70635997e-01 -3.67060279e-01 2.14194159e+01] [ 4.77094558e-01 -4.97709174e-02 8.77441530e-01 1.52073913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.070714057 meters Centerline goodness : 0.995530 Centerline is valid? [True, True] Translation: X:71.35, Y:21.43, Z:15.22 [[ 4.76037303e-01 -8.19605094e-01 -3.18803978e-01 7.13522071e+01] [ 7.37048465e-01 5.69585620e-01 -3.63774356e-01 2.14343663e+01] [ 4.79737477e-01 -6.18038188e-02 8.75232678e-01 1.52193125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.100714057 meters Centerline goodness : 0.994922 Centerline is valid? [True, True] Translation: X:71.36, Y:21.47, Z:15.25 [[ 4.81583118e-01 -8.34833701e-01 -2.66702815e-01 7.13557212e+01] [ 7.35884132e-01 5.50465243e-01 -3.94287408e-01 2.14662850e+01] [ 4.75975046e-01 -6.38020986e-03 8.79435642e-01 1.52479166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.130714057 meters Centerline goodness : 0.995052 Centerline is valid? [True, True] Translation: X:71.39, Y:21.48, Z:15.25 [[ 4.81012674e-01 -8.25444206e-01 -2.95412712e-01 7.13890993e+01] [ 7.38562560e-01 5.63076353e-01 -3.70769963e-01 2.14833567e+01] [ 4.72389830e-01 -3.98357171e-02 8.80489048e-01 1.52469877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.160714057 meters Centerline goodness : 0.995758 Centerline is valid? [True, True] Translation: X:71.41, Y:21.50, Z:15.26 [[ 4.79995735e-01 -8.24063390e-01 -3.00871441e-01 7.14060940e+01] [ 7.39477622e-01 5.64585303e-01 -3.66628263e-01 2.15012879e+01] [ 4.71992523e-01 -4.65076955e-02 8.80374973e-01 1.52573316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.19071405700001 meters Centerline goodness : 0.994108 Centerline is valid? [True, True] Translation: X:71.42, Y:21.52, Z:15.27 [[ 4.80309603e-01 -8.21654476e-01 -3.06898368e-01 7.14220905e+01] [ 7.40807081e-01 5.67361176e-01 -3.59591664e-01 2.15176546e+01] [ 4.69582319e-01 -5.46371547e-02 8.81196475e-01 1.52651638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.22071405700001 meters Centerline goodness : 0.994705 Centerline is valid? [True, True] Translation: X:71.43, Y:21.54, Z:15.28 [[ 4.80696588e-01 -8.25932580e-01 -2.94560968e-01 7.14298259e+01] [ 7.41792761e-01 5.62148385e-01 -3.65694808e-01 2.15377928e+01] [ 4.67626229e-01 -4.27149473e-02 8.82893620e-01 1.52812555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.25071405700001 meters Centerline goodness : 0.995420 Centerline is valid? [True, True] Translation: X:71.44, Y:21.55, Z:15.30 [[ 4.70008583e-01 -8.22766125e-01 -3.19605750e-01 7.14437810e+01] [ 7.41770565e-01 5.64436556e-01 -3.62198568e-01 2.15529094e+01] [ 4.78401881e-01 -6.68377017e-02 8.75593720e-01 1.52964074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.280714057 meters Centerline goodness : 0.995508 Centerline is valid? [True, True] Translation: X:71.44, Y:21.59, Z:15.33 [[ 4.78165258e-01 -8.46972767e-01 -2.32368496e-01 7.14372991e+01] [ 7.40685871e-01 5.31063735e-01 -4.11528553e-01 2.15943795e+01] [ 4.71955959e-01 2.46665951e-02 8.81276990e-01 1.53325890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.310714057 meters Centerline goodness : 0.994895 Centerline is valid? [True, True] Translation: X:71.49, Y:21.60, Z:15.31 [[ 4.76680078e-01 -8.20524582e-01 -3.15460796e-01 7.14941734e+01] [ 7.44471996e-01 5.67635628e-01 -3.51498564e-01 2.16002283e+01] [ 4.67479999e-01 -6.72993659e-02 8.81438169e-01 1.53129716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.340714057 meters Centerline goodness : 0.994760 Centerline is valid? [True, True] Translation: X:71.50, Y:21.62, Z:15.33 [[ 4.74116515e-01 -8.28624462e-01 -2.97649175e-01 7.14986818e+01] [ 7.44988442e-01 5.57723302e-01 -3.65973960e-01 2.16227329e+01] [ 4.69260856e-01 -4.82308966e-02 8.81741476e-01 1.53329260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.370714057 meters Centerline goodness : 0.994568 Centerline is valid? [True, True] Translation: X:71.52, Y:21.64, Z:15.34 [[ 4.75009365e-01 -8.22060564e-01 -3.13978555e-01 7.15214839e+01] [ 7.46703581e-01 5.65329011e-01 -3.50480915e-01 2.16388027e+01] [ 4.65617725e-01 -6.79671941e-02 8.82372141e-01 1.53403831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.400714057 meters Centerline goodness : 0.995414 Centerline is valid? [True, True] Translation: X:71.52, Y:21.67, Z:15.37 [[ 4.70925927e-01 -8.34450760e-01 -2.86217924e-01 7.15200204e+01] [ 7.44744028e-01 5.49961031e-01 -3.78020102e-01 2.16650289e+01] [ 4.72847866e-01 -3.51396226e-02 8.80443128e-01 1.53673221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.430714057 meters Centerline goodness : 0.995539 Centerline is valid? [True, True] Translation: X:71.55, Y:21.68, Z:15.37 [[ 4.72597490e-01 -8.23434519e-01 -3.14017843e-01 7.15471796e+01] [ 7.45269571e-01 5.63599976e-01 -3.56270028e-01 2.16777785e+01] [ 4.70345488e-01 -6.56556219e-02 8.80036625e-01 1.53690286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.460714057 meters Centerline goodness : 0.995099 Centerline is valid? [True, True] Translation: X:71.55, Y:21.70, Z:15.40 [[ 4.70177611e-01 -8.33077670e-01 -2.91401116e-01 7.15482074e+01] [ 7.43753771e-01 5.51757582e-01 -3.77351161e-01 2.17040357e+01] [ 4.75145601e-01 -3.93086119e-02 8.79028720e-01 1.53959975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.490714057 meters Centerline goodness : 0.995350 Centerline is valid? [True, True] Translation: X:71.57, Y:21.72, Z:15.40 [[ 4.73629761e-01 -8.28263622e-01 -2.99423150e-01 7.15690340e+01] [ 7.44228274e-01 5.58183016e-01 -3.66818753e-01 2.17226700e+01] [ 4.70955546e-01 -4.91028954e-02 8.80789294e-01 1.54034945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.520714057 meters Centerline goodness : 0.994879 Centerline is valid? [True, True] Translation: X:71.58, Y:21.74, Z:15.42 [[ 4.73038636e-01 -8.26376266e-01 -3.05510582e-01 7.15834438e+01] [ 7.44084425e-01 5.60399136e-01 -3.63718541e-01 2.17399875e+01] [ 4.71776236e-01 -5.52727434e-02 8.79984152e-01 1.54163295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.55071405700001 meters Centerline goodness : 0.995265 Centerline is valid? [True, True] Translation: X:71.59, Y:21.76, Z:15.43 [[ 4.71483166e-01 -8.28420346e-01 -3.02362951e-01 7.15940742e+01] [ 7.44149818e-01 5.57720531e-01 -3.67680375e-01 2.17598572e+01] [ 4.73227929e-01 -5.16482273e-02 8.79424691e-01 1.54346187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.58071405700001 meters Centerline goodness : 0.995657 Centerline is valid? [True, True] Translation: X:71.60, Y:21.78, Z:15.45 [[ 4.70006770e-01 -8.34597739e-01 -2.87298189e-01 7.16025710e+01] [ 7.43873093e-01 5.49741272e-01 -3.80049149e-01 2.17836934e+01] [ 4.75127833e-01 -3.50877196e-02 8.79216921e-01 1.54545433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.61071405700001 meters Centerline goodness : 0.995075 Centerline is valid? [True, True] Translation: X:71.62, Y:21.80, Z:15.46 [[ 4.69248097e-01 -8.30905065e-01 -2.99003339e-01 7.16244467e+01] [ 7.44673059e-01 5.54320721e-01 -3.71739926e-01 2.18021394e+01] [ 4.74624334e-01 -4.82214780e-02 8.78866560e-01 1.54636039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.640714057 meters Centerline goodness : 0.995916 Centerline is valid? [True, True] Translation: X:71.64, Y:21.82, Z:15.48 [[ 4.67648835e-01 -8.30163099e-01 -3.03535496e-01 7.16409721e+01] [ 7.44985490e-01 5.54991118e-01 -3.70110091e-01 2.18215889e+01] [ 4.75711244e-01 -5.30479874e-02 8.78000412e-01 1.54772383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.670714057 meters Centerline goodness : 0.995392 Centerline is valid? [True, True] Translation: X:71.65, Y:21.84, Z:15.49 [[ 4.66665941e-01 -8.32592216e-01 -2.98350634e-01 7.16542191e+01] [ 7.44922838e-01 5.51862868e-01 -3.74883102e-01 2.18421851e+01] [ 4.76773389e-01 -4.73030258e-02 8.77752561e-01 1.54932169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.700714057 meters Centerline goodness : 0.995514 Centerline is valid? [True, True] Translation: X:71.67, Y:21.86, Z:15.50 [[ 4.67651333e-01 -8.29830342e-01 -3.04440197e-01 7.16707980e+01] [ 7.45277902e-01 5.55362945e-01 -3.68961851e-01 2.18585278e+01] [ 4.75250544e-01 -5.43470503e-02 8.78170438e-01 1.55018141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.730714057 meters Centerline goodness : 0.995707 Centerline is valid? [True, True] Translation: X:71.68, Y:21.89, Z:15.52 [[ 4.66855856e-01 -8.38894075e-01 -2.79825555e-01 7.16789225e+01] [ 7.45105099e-01 5.43569955e-01 -3.86458401e-01 2.18858944e+01] [ 4.76302427e-01 -2.80790798e-02 8.78833069e-01 1.55248612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.760714057 meters Centerline goodness : 0.995272 Centerline is valid? [True, True] Translation: X:71.71, Y:21.90, Z:15.53 [[ 4.65821735e-01 -8.30025559e-01 -3.06704552e-01 7.17072523e+01] [ 7.46405041e-01 5.54734933e-01 -3.67625720e-01 2.19015443e+01] [ 4.75278473e-01 -5.76777730e-02 8.77942850e-01 1.55290818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.790714057 meters Centerline goodness : 0.995394 Centerline is valid? [True, True] Translation: X:71.72, Y:21.92, Z:15.54 [[ 4.66972513e-01 -8.31599108e-01 -3.00631994e-01 7.17201860e+01] [ 7.47176929e-01 5.52899257e-01 -3.68821160e-01 2.19203577e+01] [ 4.72930554e-01 -5.23959460e-02 8.79540423e-01 1.55434683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.820714057 meters Centerline goodness : 0.995701 Centerline is valid? [True, True] Translation: X:71.73, Y:21.94, Z:15.56 [[ 4.63466325e-01 -8.33935152e-01 -2.99584925e-01 7.17328475e+01] [ 7.47397342e-01 5.49514848e-01 -3.73404132e-01 2.19403462e+01] [ 4.76021196e-01 -5.08487360e-02 8.77962543e-01 1.55607140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.850714057 meters Centerline goodness : 0.995701 Centerline is valid? [True, True] Translation: X:71.75, Y:21.96, Z:15.57 [[ 4.62823515e-01 -8.34684974e-01 -2.98488506e-01 7.17470136e+01] [ 7.47612796e-01 5.48469417e-01 -3.74508218e-01 2.19604939e+01] [ 4.76308199e-01 -4.98226163e-02 8.77865711e-01 1.55747570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.880714057 meters Centerline goodness : 0.995473 Centerline is valid? [True, True] Translation: X:71.76, Y:21.98, Z:15.59 [[ 4.61426237e-01 -8.34303451e-01 -3.01701141e-01 7.17592146e+01] [ 7.46656197e-01 5.48862301e-01 -3.75838660e-01 2.19760778e+01] [ 4.79155874e-01 -5.18452078e-02 8.76197308e-01 1.55875301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.910714057 meters Centerline goodness : 0.995687 Centerline is valid? [True, True] Translation: X:71.78, Y:21.99, Z:15.60 [[ 4.61181866e-01 -8.33188761e-01 -3.05135668e-01 7.17774281e+01] [ 7.49977527e-01 5.49806314e-01 -3.67759059e-01 2.19926453e+01] [ 4.74178231e-01 -5.92410843e-02 8.78433548e-01 1.55992075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.94071405700001 meters Centerline goodness : 0.995418 Centerline is valid? [True, True] Translation: X:71.78, Y:22.02, Z:15.62 [[ 4.56161060e-01 -8.42537654e-01 -2.86439155e-01 7.17846691e+01] [ 7.49694513e-01 5.37261256e-01 -3.86404556e-01 2.20184618e+01] [ 4.79453048e-01 -3.84791508e-02 8.76723520e-01 1.56229252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.97071405700001 meters Centerline goodness : 0.995897 Centerline is valid? [True, True] Translation: X:71.81, Y:22.04, Z:15.63 [[ 4.54310875e-01 -8.40109722e-01 -2.96339811e-01 7.18071100e+01] [ 7.51841441e-01 5.40019848e-01 -3.78302803e-01 2.20352553e+01] [ 4.77845242e-01 -5.09334730e-02 8.76966194e-01 1.56310467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.00071405700001 meters Centerline goodness : 0.996208 Centerline is valid? [True, True] Translation: X:71.82, Y:22.06, Z:15.64 [[ 4.53091552e-01 -8.41281976e-01 -2.94877403e-01 7.18228136e+01] [ 7.52725711e-01 5.38259206e-01 -3.79052808e-01 2.20553605e+01] [ 4.77610772e-01 -5.02161775e-02 8.77135272e-01 1.56444856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.030714057 meters Centerline goodness : 0.995642 Centerline is valid? [True, True] Translation: X:71.84, Y:22.07, Z:15.66 [[ 4.52412078e-01 -8.42170038e-01 -2.93381899e-01 7.18394240e+01] [ 7.53582215e-01 5.36933455e-01 -3.79231209e-01 2.20741360e+01] [ 4.76903718e-01 -4.95186020e-02 8.77559543e-01 1.56567582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.060714057 meters Centerline goodness : 0.995838 Centerline is valid? [True, True] Translation: X:71.86, Y:22.09, Z:15.67 [[ 4.53205954e-01 -8.42576314e-01 -2.90980271e-01 7.18565054e+01] [ 7.53912738e-01 5.36477434e-01 -3.79219655e-01 2.20946685e+01] [ 4.75625848e-01 -4.75091273e-02 8.78363783e-01 1.56688256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.090714057 meters Centerline goodness : 0.996064 Centerline is valid? [True, True] Translation: X:71.88, Y:22.11, Z:15.68 [[ 4.51798314e-01 -8.38027116e-01 -3.05922926e-01 7.18771120e+01] [ 7.54898773e-01 5.41860831e-01 -3.69478932e-01 2.21104879e+01] [ 4.75401015e-01 -6.40108830e-02 8.77437452e-01 1.56786881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.120714057 meters Centerline goodness : 0.995046 Centerline is valid? [True, True] Translation: X:71.89, Y:22.13, Z:15.69 [[ 4.55036883e-01 -8.39780445e-01 -2.96159145e-01 7.18858322e+01] [ 7.53238441e-01 5.40387055e-01 -3.74984909e-01 2.21287247e+01] [ 4.74945562e-01 -5.24464882e-02 8.78450954e-01 1.56947815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.150714057 meters Centerline goodness : 0.994973 Centerline is valid? [True, True] Translation: X:71.89, Y:22.15, Z:15.71 [[ 4.58361704e-01 -8.40601886e-01 -2.88605298e-01 7.18949046e+01] [ 7.50910745e-01 5.39987395e-01 -3.80192932e-01 2.21481859e+01] [ 4.75434119e-01 -4.24509391e-02 8.78726531e-01 1.57131711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.180714057 meters Centerline goodness : 0.994732 Centerline is valid? [True, True] Translation: X:71.92, Y:22.17, Z:15.72 [[ 4.59708207e-01 -8.35550983e-01 -3.00870271e-01 7.19154409e+01] [ 7.51533261e-01 5.46524287e-01 -3.69471192e-01 2.21656155e+01] [ 4.73144928e-01 -5.62650763e-02 8.79186055e-01 1.57231417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.210714057 meters Centerline goodness : 0.995099 Centerline is valid? [True, True] Translation: X:71.93, Y:22.19, Z:15.75 [[ 4.56751647e-01 -8.40270847e-01 -2.92100730e-01 7.19250446e+01] [ 7.48954123e-01 5.40408243e-01 -3.83440545e-01 2.21896690e+01] [ 4.80047554e-01 -4.36329458e-02 8.76156671e-01 1.57451220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.240714057 meters Centerline goodness : 0.994300 Centerline is valid? [True, True] Translation: X:71.94, Y:22.21, Z:15.76 [[ 4.63907946e-01 -8.35987985e-01 -2.93110058e-01 7.19386262e+01] [ 7.45361354e-01 5.47154443e-01 -3.80865420e-01 2.22066343e+01] [ 4.78775386e-01 -4.17864152e-02 8.76942430e-01 1.57566662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.270714057 meters Centerline goodness : 0.995216 Centerline is valid? [True, True] Translation: X:71.96, Y:22.23, Z:15.77 [[ 4.62450355e-01 -8.32824734e-01 -3.04208205e-01 7.19591824e+01] [ 7.44368371e-01 5.51084863e-01 -3.77122264e-01 2.22272825e+01] [ 4.81721286e-01 -5.20426415e-02 8.74777781e-01 1.57701597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.30071405700001 meters Centerline goodness : 0.995086 Centerline is valid? [True, True] Translation: X:71.97, Y:22.25, Z:15.79 [[ 4.63713830e-01 -8.36238051e-01 -2.92703616e-01 7.19708850e+01] [ 7.44583326e-01 5.46873478e-01 -3.82785932e-01 2.22502993e+01] [ 4.80172006e-01 -4.04391014e-02 8.76241704e-01 1.57861269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.33071405700001 meters Centerline goodness : 0.995309 Centerline is valid? [True, True] Translation: X:71.99, Y:22.27, Z:15.80 [[ 4.63321942e-01 -8.31478687e-01 -3.06555005e-01 7.19877906e+01] [ 7.42878597e-01 5.53026605e-01 -3.77217397e-01 2.22658594e+01] [ 4.83181300e-01 -5.29600546e-02 8.73917081e-01 1.57966742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.36071405700001 meters Centerline goodness : 0.995279 Centerline is valid? [True, True] Translation: X:71.98, Y:22.29, Z:15.81 [[ 4.61990198e-01 -8.39968729e-01 -2.84635894e-01 7.19844639e+01] [ 7.43257223e-01 5.41791457e-01 -3.92467473e-01 2.22884186e+01] [ 4.83873700e-01 -3.02415582e-02 8.74615167e-01 1.58117576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.390714057 meters Centerline goodness : 0.994990 Centerline is valid? [True, True] Translation: X:72.02, Y:22.30, Z:15.82 [[ 4.62185894e-01 -8.27725201e-01 -3.18206208e-01 7.20203131e+01] [ 7.41613758e-01 5.57522254e-01 -3.73065638e-01 2.23027624e+01] [ 4.86202872e-01 -6.35604261e-02 8.71531319e-01 1.58228697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.420714057 meters Centerline goodness : 0.995425 Centerline is valid? [True, True] Translation: X:72.03, Y:22.33, Z:15.84 [[ 4.62744414e-01 -8.36168131e-01 -2.94432444e-01 7.20275627e+01] [ 7.41534122e-01 5.47110695e-01 -3.88325937e-01 2.23266667e+01] [ 4.85792912e-01 -3.86360459e-02 8.73219619e-01 1.58435771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.450714057 meters Centerline goodness : 0.995617 Centerline is valid? [True, True] Translation: X:72.03, Y:22.35, Z:15.85 [[ 4.59584135e-01 -8.42426173e-01 -2.81248228e-01 7.20289131e+01] [ 7.45191399e-01 5.38055569e-01 -3.93936522e-01 2.23464796e+01] [ 4.83189612e-01 -2.85367847e-02 8.75050542e-01 1.58515666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.480714057 meters Centerline goodness : 0.995063 Centerline is valid? [True, True] Translation: X:72.07, Y:22.35, Z:15.85 [[ 0.46325805 -0.82180316 -0.33171004 72.0720065 ] [ 0.74518597 0.56380901 -0.35611413 22.35246303] [ 0.47967683 -0.08221293 0.87358524 15.85411296] [ 0. 0. 0. 1. ]] SLAMing on 83.510714057 meters Centerline goodness : 0.994902 Centerline is valid? [True, True] Translation: X:72.06, Y:22.38, Z:15.89 [[ 4.61858661e-01 -8.38424200e-01 -2.89363851e-01 7.20645474e+01] [ 7.44042252e-01 5.43825853e-01 -3.88142461e-01 2.23773563e+01] [ 4.82791575e-01 -3.60319740e-02 8.74993710e-01 1.58851498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.540714057 meters Centerline goodness : 0.994754 Centerline is valid? [True, True] Translation: X:72.08, Y:22.40, Z:15.91 [[ 4.56104790e-01 -8.47586929e-01 -2.71228350e-01 7.20787777e+01] [ 7.44879018e-01 5.30371165e-01 -4.04798316e-01 2.24049362e+01] [ 4.86953458e-01 -1.74018558e-02 8.73254548e-01 1.59076078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.570714057 meters Centerline goodness : 0.995126 Centerline is valid? [True, True] Translation: X:72.11, Y:22.42, Z:15.91 [[ 4.54801645e-01 -8.37894681e-01 -3.01807831e-01 7.21114313e+01] [ 7.47881379e-01 5.43325164e-01 -3.81406882e-01 2.24205003e+01] [ 4.83558586e-01 -5.22519793e-02 8.73751008e-01 1.59074474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.600714057 meters Centerline goodness : 0.995058 Centerline is valid? [True, True] Translation: X:72.13, Y:22.44, Z:15.92 [[ 4.48897526e-01 -8.37582435e-01 -3.11362611e-01 7.21297920e+01] [ 7.50493039e-01 5.42518529e-01 -3.77404086e-01 2.24361436e+01] [ 4.85027019e-01 -6.42597115e-02 8.72135012e-01 1.59198962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.630714057 meters Centerline goodness : 0.995372 Centerline is valid? [True, True] Translation: X:72.14, Y:22.46, Z:15.94 [[ 4.46655613e-01 -8.42331377e-01 -3.01623301e-01 7.21396850e+01] [ 7.51112596e-01 5.36194080e-01 -3.85130858e-01 2.24562013e+01] [ 4.86136434e-01 -5.45322009e-02 8.72179802e-01 1.59367334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.660714057 meters Centerline goodness : 0.995175 Centerline is valid? [True, True] Translation: X:72.15, Y:22.47, Z:15.95 [[ 4.45757155e-01 -8.43875064e-01 -2.98622564e-01 7.21512438e+01] [ 7.50646616e-01 5.34128564e-01 -3.88891161e-01 2.24703026e+01] [ 4.87678395e-01 -5.08089995e-02 8.71543590e-01 1.59505419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.69071405700001 meters Centerline goodness : 0.995746 Centerline is valid? [True, True] Translation: X:72.17, Y:22.49, Z:15.97 [[ 4.41115197e-01 -8.45745437e-01 -3.00219982e-01 7.21699162e+01] [ 7.53854176e-01 5.30698346e-01 -3.87379848e-01 2.24920427e+01] [ 4.86950987e-01 -5.54429494e-02 8.71667835e-01 1.59663740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.72071405700001 meters Centerline goodness : 0.995595 Centerline is valid? [True, True] Translation: X:72.19, Y:22.51, Z:15.98 [[ 4.39049213e-01 -8.44695112e-01 -3.06146954e-01 7.21877206e+01] [ 7.55651145e-01 5.31492872e-01 -3.82761902e-01 2.25087948e+01] [ 4.86032032e-01 -6.32889843e-02 8.71646355e-01 1.59772431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.75071405700001 meters Centerline goodness : 0.995438 Centerline is valid? [True, True] Translation: X:72.18, Y:22.54, Z:15.99 [[ 4.38907068e-01 -8.63712127e-01 -2.47713438e-01 7.21767383e+01] [ 7.58571453e-01 5.03942037e-01 -4.13051781e-01 2.25382246e+01] [ 4.81591047e-01 -6.61699688e-03 8.76371085e-01 1.59925430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.780714057 meters Centerline goodness : 0.995825 Centerline is valid? [True, True] Translation: X:72.21, Y:22.55, Z:15.99 [[ 4.38902639e-01 -8.52352852e-01 -2.84357327e-01 7.22111050e+01] [ 7.61040098e-01 5.20877654e-01 -3.86658038e-01 2.25519815e+01] [ 4.77684459e-01 -4.67020943e-02 8.77289275e-01 1.59900324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.810714057 meters Centerline goodness : 0.995233 Centerline is valid? [True, True] Translation: X:72.23, Y:22.57, Z:16.00 [[ 4.37965741e-01 -8.52827157e-01 -2.84379762e-01 7.22273132e+01] [ 7.61523135e-01 5.20060003e-01 -3.86807585e-01 2.25702613e+01] [ 4.77774553e-01 -4.71532974e-02 8.77216075e-01 1.60030591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.840714057 meters Centerline goodness : 0.994509 Centerline is valid? [True, True] Translation: X:72.27, Y:22.57, Z:16.01 [[ 0.44024909 -0.82778233 -0.34778893 72.27124946] [ 0.76147623 0.54946048 -0.34387081 22.57040016] [ 0.47574646 -0.11344419 0.87223605 16.00952306] [ 0. 0. 0. 1. ]] SLAMing on 83.870714057 meters Centerline goodness : 0.994219 Centerline is valid? [True, True] Translation: X:72.23, Y:22.62, Z:16.06 [[ 4.37933878e-01 -8.72357220e-01 -2.17271256e-01 7.22259150e+01] [ 7.57918429e-01 4.88239736e-01 -4.32644906e-01 2.26170498e+01] [ 4.83501369e-01 2.47959726e-02 8.74992335e-01 1.60560236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.900714057 meters Centerline goodness : 0.995292 Centerline is valid? [True, True] Translation: X:72.30, Y:22.62, Z:16.04 [[ 0.4364902 -0.8350596 -0.33489068 72.29823044] [ 0.76009453 0.54141503 -0.35934117 22.6165644 ] [ 0.48138614 -0.09769967 0.87104659 16.04323614] [ 0. 0. 0. 1. ]] SLAMing on 83.930714057 meters Centerline goodness : 0.995032 Centerline is valid? [True, True] Translation: X:72.27, Y:22.65, Z:16.07 [[ 4.40255418e-01 -8.65127804e-01 -2.40268705e-01 7.22695212e+01] [ 7.58406173e-01 5.01550405e-01 -4.16253850e-01 2.26543351e+01] [ 4.80619645e-01 1.03674409e-03 8.76928550e-01 1.60725532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.960714057 meters Centerline goodness : 0.994086 Centerline is valid? [True, True] Translation: X:72.31, Y:22.67, Z:16.07 [[ 4.41911022e-01 -8.51089350e-01 -2.83481159e-01 7.23065993e+01] [ 7.59620954e-01 5.23125011e-01 -3.86414581e-01 2.26684799e+01] [ 4.77169419e-01 -4.45773656e-02 8.77680012e-01 1.60688164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.990714057 meters Centerline goodness : 0.994696 Centerline is valid? [True, True] Translation: X:72.32, Y:22.69, Z:16.08 [[ 4.42456556e-01 -8.50827269e-01 -2.83416927e-01 7.23210461e+01] [ 7.59213325e-01 5.23589388e-01 -3.86586704e-01 2.26873987e+01] [ 4.77312605e-01 -4.41260865e-02 8.77624957e-01 1.60808870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.020714057 meters Centerline goodness : 0.994825 Centerline is valid? [True, True] Translation: X:72.34, Y:22.71, Z:16.09 [[ 4.42755352e-01 -8.50558057e-01 -2.83758155e-01 7.23366815e+01] [ 7.58596572e-01 5.24050976e-01 -3.87171558e-01 2.27067141e+01] [ 4.78015626e-01 -4.38356836e-02 8.77256801e-01 1.60939605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.05071405700001 meters Centerline goodness : 0.994436 Centerline is valid? [True, True] Translation: X:72.35, Y:22.72, Z:16.11 [[ 4.44205435e-01 -8.49762193e-01 -2.83876289e-01 7.23533130e+01] [ 7.57429209e-01 5.25422395e-01 -3.87598117e-01 2.27249316e+01] [ 4.78521185e-01 -4.28430030e-02 8.77030189e-01 1.61055541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.08071405700001 meters Centerline goodness : 0.994454 Centerline is valid? [True, True] Translation: X:72.37, Y:22.74, Z:16.12 [[ 4.44715985e-01 -8.49471890e-01 -2.83945771e-01 7.23680642e+01] [ 7.56974347e-01 5.25921503e-01 -3.87809760e-01 2.27437714e+01] [ 4.78766677e-01 -4.24744655e-02 8.76914129e-01 1.61183101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.11071405700001 meters Centerline goodness : 0.994915 Centerline is valid? [True, True] Translation: X:72.40, Y:22.76, Z:16.14 [[ 4.48856161e-01 -8.43748615e-01 -2.94306679e-01 7.23979718e+01] [ 7.54271021e-01 5.34335110e-01 -3.81524858e-01 2.27631610e+01] [ 4.79169462e-01 -5.07372164e-02 8.76254736e-01 1.61362981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.140714057 meters Centerline goodness : 0.995117 Centerline is valid? [True, True] Translation: X:72.41, Y:22.78, Z:16.15 [[ 4.48119925e-01 -8.40613973e-01 -3.04231296e-01 7.24145940e+01] [ 7.54047747e-01 5.38222474e-01 -3.76468542e-01 2.27804931e+01] [ 4.80208838e-01 -6.07018689e-02 8.75051287e-01 1.61486205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.170714057 meters Centerline goodness : 0.994963 Centerline is valid? [True, True] Translation: X:72.42, Y:22.80, Z:16.16 [[ 4.50708701e-01 -8.42617102e-01 -2.94716960e-01 7.24240076e+01] [ 7.51963212e-01 5.36293220e-01 -3.83328723e-01 2.28009094e+01] [ 4.81054045e-01 -4.88467210e-02 8.75329083e-01 1.61649826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.200714057 meters Centerline goodness : 0.994521 Centerline is valid? [True, True] Translation: X:72.44, Y:22.82, Z:16.18 [[ 4.51819561e-01 -8.42119270e-01 -2.94438822e-01 7.24380377e+01] [ 7.51387523e-01 5.37144612e-01 -3.83265517e-01 2.28196641e+01] [ 4.80911504e-01 -4.80707998e-02 8.75450354e-01 1.61776516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.230714057 meters Centerline goodness : 0.994249 Centerline is valid? [True, True] Translation: X:72.46, Y:22.84, Z:16.19 [[ 4.57241275e-01 -8.37474976e-01 -2.99275929e-01 7.24567683e+01] [ 7.53028796e-01 5.43613643e-01 -3.70718005e-01 2.28356247e+01] [ 4.73157530e-01 -5.58558197e-02 8.79205368e-01 1.61876183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.260714057 meters Centerline goodness : 0.995131 Centerline is valid? [True, True] Translation: X:72.46, Y:22.86, Z:16.21 [[ 4.54481712e-01 -8.43873606e-01 -2.85173122e-01 7.24616590e+01] [ 7.49732532e-01 5.35266838e-01 -3.89089377e-01 2.28592416e+01] [ 4.80985971e-01 -3.69695610e-02 8.75948484e-01 1.62089032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.290714057 meters Centerline goodness : 0.994292 Centerline is valid? [True, True] Translation: X:72.47, Y:22.88, Z:16.22 [[ 4.60358690e-01 -8.45556093e-01 -2.70378939e-01 7.24742628e+01] [ 7.48491737e-01 5.33472046e-01 -3.93913310e-01 2.28838326e+01] [ 4.77315405e-01 -2.10349866e-02 8.78480241e-01 1.62209882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.320714057 meters Centerline goodness : 0.993689 Centerline is valid? [True, True] Translation: X:72.50, Y:22.90, Z:16.22 [[ 4.65511313e-01 -8.36986174e-01 -2.87668841e-01 7.25011727e+01] [ 7.51197019e-01 5.45524131e-01 -3.71626776e-01 2.29003052e+01] [ 4.67976768e-01 -4.30995072e-02 8.82689174e-01 1.62232980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.350714057 meters Centerline goodness : 0.993787 Centerline is valid? [True, True] Translation: X:72.51, Y:22.93, Z:16.24 [[ 4.63612716e-01 -8.45731865e-01 -2.64198527e-01 7.25090078e+01] [ 7.49512946e-01 5.33361241e-01 -3.92117495e-01 2.29284664e+01] [ 4.72539515e-01 -1.62295601e-02 8.81160036e-01 1.62423883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.380714057 meters Centerline goodness : 0.993672 Centerline is valid? [True, True] Translation: X:72.53, Y:22.96, Z:16.25 [[ 4.70964778e-01 -8.48551681e-01 -2.41147720e-01 7.25285580e+01] [ 7.50807164e-01 5.29087224e-01 -3.95417895e-01 2.29591727e+01] [ 4.63120697e-01 5.17246514e-03 8.86280128e-01 1.62507381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.410714057 meters Centerline goodness : 0.993949 Centerline is valid? [True, True] Translation: X:72.58, Y:22.96, Z:16.24 [[ 0.46574708 -0.8211375 -0.32986795 72.58265395] [ 0.75500298 0.56316554 -0.33587956 22.95959176] [ 0.46157356 -0.09261636 0.88225396 16.24160175] [ 0. 0. 0. 1. ]] SLAMing on 84.44071405700001 meters Centerline goodness : 0.994237 Centerline is valid? [True, True] Translation: X:72.57, Y:22.99, Z:16.27 [[ 4.60450774e-01 -8.43441609e-01 -2.76751399e-01 7.25679869e+01] [ 7.52613257e-01 5.36246505e-01 -3.82116438e-01 2.29902932e+01] [ 4.70699874e-01 -3.23409624e-02 8.81700454e-01 1.62730474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.47071405700001 meters Centerline goodness : 0.993763 Centerline is valid? [True, True] Translation: X:72.58, Y:23.02, Z:16.28 [[ 4.68406304e-01 -8.46502865e-01 -2.53038403e-01 7.25842622e+01] [ 7.55930702e-01 5.32231888e-01 -3.81179738e-01 2.30185278e+01] [ 4.57344847e-01 -1.27325058e-02 8.89198276e-01 1.62836790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.500714057 meters Centerline goodness : 0.994343 Centerline is valid? [True, True] Translation: X:72.62, Y:23.03, Z:16.29 [[ 0.45537088 -0.83096173 -0.31959343 72.62183551] [ 0.75637992 0.55043196 -0.35343186 23.02632565] [ 0.46960279 -0.08079147 0.87917345 16.28682322] [ 0. 0. 0. 1. ]] SLAMing on 84.530714057 meters Centerline goodness : 0.994947 Centerline is valid? [True, True] Translation: X:72.62, Y:23.05, Z:16.31 [[ 4.51527116e-01 -8.41886280e-01 -2.95551611e-01 7.26223789e+01] [ 7.57004607e-01 5.36791978e-01 -3.72556569e-01 2.30499300e+01] [ 4.72299998e-01 -5.55145380e-02 8.79687926e-01 1.63103594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.560714057 meters Centerline goodness : 0.995027 Centerline is valid? [True, True] Translation: X:72.63, Y:23.07, Z:16.33 [[ 4.49801444e-01 -8.43404227e-01 -2.93850252e-01 7.26349806e+01] [ 7.57706954e-01 5.34532758e-01 -3.74372677e-01 2.30699599e+01] [ 4.72820084e-01 -5.42590086e-02 8.79486855e-01 1.63255420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.590714057 meters Centerline goodness : 0.994726 Centerline is valid? [True, True] Translation: X:72.65, Y:23.08, Z:16.34 [[ 4.51711918e-01 -8.37496102e-01 -3.07500606e-01 7.26535974e+01] [ 7.60060038e-01 5.41734175e-01 -3.58932894e-01 2.30829544e+01] [ 4.67188487e-01 -7.15846559e-02 8.81255102e-01 1.63354066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.620714057 meters Centerline goodness : 0.994908 Centerline is valid? [True, True] Translation: X:72.66, Y:23.11, Z:16.36 [[ 4.50149133e-01 -8.45997299e-01 -2.85752215e-01 7.26557726e+01] [ 7.59237401e-01 5.31058022e-01 -3.76212634e-01 2.31069891e+01] [ 4.70025879e-01 -4.76019782e-02 8.81368098e-01 1.63568684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.650714057 meters Centerline goodness : 0.995056 Centerline is valid? [True, True] Translation: X:72.67, Y:23.13, Z:16.37 [[ 4.44341662e-01 -8.46318402e-01 -2.93778232e-01 7.26677788e+01] [ 7.57672334e-01 5.29997321e-01 -3.80835233e-01 2.31251402e+01] [ 4.78009542e-01 -5.33666788e-02 8.76731929e-01 1.63737914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.680714057 meters Centerline goodness : 0.994809 Centerline is valid? [True, True] Translation: X:72.68, Y:23.14, Z:16.39 [[ 4.41616439e-01 -8.45833328e-01 -2.99233859e-01 7.26813958e+01] [ 7.57526806e-01 5.30228885e-01 -3.80802400e-01 2.31436799e+01] [ 4.80757796e-01 -5.85090699e-02 8.74899211e-01 1.63895067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.710714057 meters Centerline goodness : 0.994585 Centerline is valid? [True, True] Translation: X:72.69, Y:23.16, Z:16.40 [[ 4.43416553e-01 -8.44859102e-01 -2.99324002e-01 7.26935975e+01] [ 7.58782246e-01 5.31587945e-01 -3.76382465e-01 2.31595222e+01] [ 4.77107182e-01 -6.02275234e-02 8.76778981e-01 1.64015652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.740714057 meters Centerline goodness : 0.994585 Centerline is valid? [True, True] Translation: X:72.70, Y:23.18, Z:16.42 [[ 4.43026631e-01 -8.50996734e-01 -2.82014120e-01 7.26995427e+01] [ 7.58366228e-01 5.23503604e-01 -3.88361483e-01 2.31830087e+01] [ 4.78129761e-01 -4.18155054e-02 8.77293220e-01 1.64209971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.770714057 meters Centerline goodness : 0.994609 Centerline is valid? [True, True] Translation: X:72.71, Y:23.20, Z:16.43 [[ 4.42683435e-01 -8.50422579e-01 -2.84275946e-01 7.27146157e+01] [ 7.59054195e-01 5.24183825e-01 -3.86093314e-01 2.32022749e+01] [ 4.77355324e-01 -4.48637351e-02 8.77564322e-01 1.64336423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.80071405700001 meters Centerline goodness : 0.995108 Centerline is valid? [True, True] Translation: X:72.73, Y:23.23, Z:16.45 [[ 4.37515286e-01 -8.55721540e-01 -2.76262594e-01 7.27264605e+01] [ 7.57921118e-01 5.16257729e-01 -3.98790090e-01 2.32273893e+01] [ 4.83875969e-01 -3.49084938e-02 8.74440074e-01 1.64518141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.83071405700001 meters Centerline goodness : 0.995173 Centerline is valid? [True, True] Translation: X:72.75, Y:23.24, Z:16.46 [[ 0.43208955 -0.84533129 -0.31418727 72.75081354] [ 0.75928411 0.5289827 -0.37903158 23.23786178] [ 0.48660688 -0.07478182 0.87041451 16.45888343] [ 0. 0. 0. 1. ]] SLAMing on 84.86071405700001 meters Centerline goodness : 0.995403 Centerline is valid? [True, True] Translation: X:72.75, Y:23.26, Z:16.48 [[ 4.32039103e-01 -8.56562658e-01 -2.82210251e-01 7.27503761e+01] [ 7.57810175e-01 5.14453379e-01 -4.01324631e-01 2.32637564e+01] [ 4.88943710e-01 -4.04738659e-02 8.71375874e-01 1.64826892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.890714057 meters Centerline goodness : 0.995433 Centerline is valid? [True, True] Translation: X:72.77, Y:23.28, Z:16.49 [[ 4.30616672e-01 -8.55426102e-01 -2.87776765e-01 7.27662153e+01] [ 7.58636506e-01 5.15795153e-01 -3.98027651e-01 2.32824280e+01] [ 4.88917102e-01 -4.69206172e-02 8.71067462e-01 1.64939142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.920714057 meters Centerline goodness : 0.994793 Centerline is valid? [True, True] Translation: X:72.78, Y:23.30, Z:16.50 [[ 4.34541105e-01 -8.50511926e-01 -2.96316539e-01 7.27821540e+01] [ 7.59991181e-01 5.22812302e-01 -3.86109701e-01 2.32986695e+01] [ 4.83308838e-01 -5.74174203e-02 8.73564999e-01 1.65034753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.950714057 meters Centerline goodness : 0.994571 Centerline is valid? [True, True] Translation: X:72.78, Y:23.32, Z:16.53 [[ 4.34180526e-01 -8.60687227e-01 -2.65903682e-01 7.27813724e+01] [ 7.56632504e-01 5.08623208e-01 -4.10864561e-01 2.33248816e+01] [ 4.88870663e-01 -2.28019779e-02 8.72058223e-01 1.65273102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.980714057 meters Centerline goodness : 0.994683 Centerline is valid? [True, True] Translation: X:72.80, Y:23.35, Z:16.54 [[ 4.38433822e-01 -8.57004301e-01 -2.70775575e-01 7.28009982e+01] [ 7.57821327e-01 5.14477420e-01 -4.01272752e-01 2.33478322e+01] [ 4.83200394e-01 -2.92679593e-02 8.75020438e-01 1.65352353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.010714057 meters Centerline goodness : 0.994129 Centerline is valid? [True, True] Translation: X:72.81, Y:23.37, Z:16.55 [[ 4.41363287e-01 -8.56780004e-01 -2.66695469e-01 7.28149023e+01] [ 7.57235076e-01 5.15090095e-01 -4.01593368e-01 2.33703704e+01] [ 4.81449362e-01 -2.47025947e-02 8.76125729e-01 1.65458491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.040714057 meters Centerline goodness : 0.994922 Centerline is valid? [True, True] Translation: X:72.84, Y:23.39, Z:16.55 [[ 4.40069293e-01 -8.52466419e-01 -2.82205638e-01 7.28385874e+01] [ 7.58087181e-01 5.21140163e-01 -3.92067286e-01 2.33920707e+01] [ 4.81292887e-01 -4.13997033e-02 8.75581647e-01 1.65546235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.070714057 meters Centerline goodness : 0.994788 Centerline is valid? [True, True] Translation: X:72.85, Y:23.41, Z:16.56 [[ 4.45457930e-01 -8.47091742e-01 -2.89832388e-01 7.28539989e+01] [ 7.59216211e-01 5.28980341e-01 -3.79170864e-01 2.34074562e+01] [ 4.74508143e-01 -5.11407792e-02 8.78764270e-01 1.65616668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.100714057 meters Centerline goodness : 0.994325 Centerline is valid? [True, True] Translation: X:72.86, Y:23.43, Z:16.58 [[ 4.45605620e-01 -8.53922814e-01 -2.68796315e-01 7.28575631e+01] [ 7.58020035e-01 5.19640296e-01 -3.94182177e-01 2.34323272e+01] [ 4.76278551e-01 -2.81031990e-02 8.78845238e-01 1.65821959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.130714057 meters Centerline goodness : 0.994835 Centerline is valid? [True, True] Translation: X:72.88, Y:23.45, Z:16.59 [[ 4.46835446e-01 -8.52791896e-01 -2.70340647e-01 7.28750370e+01] [ 7.59404372e-01 5.21308961e-01 -3.89283915e-01 2.34530169e+01] [ 4.72909170e-01 -3.13520172e-02 8.80553217e-01 1.65913307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.160714057 meters Centerline goodness : 0.993293 Centerline is valid? [True, True] Translation: X:72.89, Y:23.48, Z:16.60 [[ 4.49115770e-01 -8.56993655e-01 -2.52699229e-01 7.28851206e+01] [ 7.60668851e-01 5.15114076e-01 -3.95019478e-01 2.34755651e+01] [ 4.68698116e-01 -1.48109548e-02 8.83234234e-01 1.66025767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.19071405700001 meters Centerline goodness : 0.994544 Centerline is valid? [True, True] Translation: X:72.92, Y:23.49, Z:16.61 [[ 4.42050496e-01 -8.46661000e-01 -2.96237253e-01 7.29151204e+01] [ 7.62844409e-01 5.28581883e-01 -3.72383675e-01 2.34885841e+01] [ 4.71868380e-01 -6.13705437e-02 8.79530493e-01 1.66096036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.22071405700001 meters Centerline goodness : 0.994438 Centerline is valid? [True, True] Translation: X:72.91, Y:23.52, Z:16.63 [[ 4.39009040e-01 -8.61141107e-01 -2.56333877e-01 7.29143707e+01] [ 7.64471765e-01 5.07903963e-01 -3.97009426e-01 2.35166766e+01] [ 4.72074129e-01 -2.16692842e-02 8.81292494e-01 1.66320630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.250714057 meters Centerline goodness : 0.993675 Centerline is valid? [True, True] Translation: X:72.94, Y:23.53, Z:16.64 [[ 4.36019456e-01 -8.55133977e-01 -2.80415612e-01 7.29388117e+01] [ 7.66097990e-01 5.16193165e-01 -3.82934048e-01 2.35331667e+01] [ 4.72208538e-01 -4.78591419e-02 8.80186684e-01 1.66374360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.280714057 meters Centerline goodness : 0.994082 Centerline is valid? [True, True] Translation: X:72.95, Y:23.56, Z:16.65 [[ 4.34611695e-01 -8.60065160e-01 -2.67208898e-01 7.29479095e+01] [ 7.66820103e-01 5.08985939e-01 -3.91050182e-01 2.35565646e+01] [ 4.72334209e-01 -3.49461719e-02 8.80726496e-01 1.66539743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.310714057 meters Centerline goodness : 0.994139 Centerline is valid? [True, True] Translation: X:72.96, Y:23.58, Z:16.66 [[ 4.32396421e-01 -8.59447672e-01 -2.72732533e-01 7.29643592e+01] [ 7.68947669e-01 5.09437211e-01 -3.86255369e-01 2.35758234e+01] [ 4.70906379e-01 -4.27016061e-02 8.81149111e-01 1.66647761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.340714057 meters Centerline goodness : 0.994386 Centerline is valid? [True, True] Translation: X:72.97, Y:23.60, Z:16.68 [[ 4.29417929e-01 -8.65234280e-01 -2.58785400e-01 7.29746260e+01] [ 7.68987720e-01 5.00570379e-01 -3.97601788e-01 2.36019148e+01] [ 4.73559003e-01 -2.82654589e-02 8.80308432e-01 1.66829382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.370714057 meters Centerline goodness : 0.994566 Centerline is valid? [True, True] Translation: X:72.99, Y:23.63, Z:16.69 [[ 4.32320045e-01 -8.65783845e-01 -2.52027207e-01 7.29934291e+01] [ 7.70485220e-01 4.99881340e-01 -3.95564371e-01 2.36284218e+01] [ 4.68456940e-01 -2.31728311e-02 8.83182379e-01 1.66923944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.400714057 meters Centerline goodness : 0.993240 Centerline is valid? [True, True] Translation: X:73.02, Y:23.64, Z:16.69 [[ 4.37770956e-01 -8.56291946e-01 -2.74081544e-01 7.30206462e+01] [ 7.72423060e-01 5.14207881e-01 -3.72763828e-01 2.36441732e+01] [ 4.60129554e-01 -4.85217279e-02 8.86524921e-01 1.66931959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.430714057 meters Centerline goodness : 0.993154 Centerline is valid? [True, True] Translation: X:73.03, Y:23.66, Z:16.71 [[ 4.35310356e-01 -8.53066295e-01 -2.87719985e-01 7.30334147e+01] [ 7.71382116e-01 5.18206711e-01 -3.69366263e-01 2.36582695e+01] [ 4.64192337e-01 -6.11530912e-02 8.83620831e-01 1.67062431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.460714057 meters Centerline goodness : 0.993738 Centerline is valid? [True, True] Translation: X:73.04, Y:23.68, Z:16.72 [[ 4.35472162e-01 -8.58770931e-01 -2.69956449e-01 7.30385753e+01] [ 7.71029380e-01 5.10599428e-01 -3.80528473e-01 2.36822615e+01] [ 4.64626399e-01 -4.24347966e-02 8.84489456e-01 1.67246707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.490714057 meters Centerline goodness : 0.994461 Centerline is valid? [True, True] Translation: X:73.06, Y:23.70, Z:16.74 [[ 4.33813997e-01 -8.58348575e-01 -2.73940031e-01 7.30550584e+01] [ 7.71503584e-01 5.10921399e-01 -3.79132619e-01 2.37037825e+01] [ 4.65389767e-01 -4.68726788e-02 8.83863856e-01 1.67372574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.520714057 meters Centerline goodness : 0.993296 Centerline is valid? [True, True] Translation: X:73.06, Y:23.72, Z:16.75 [[ 4.35454324e-01 -8.61226924e-01 -2.62045259e-01 7.30641003e+01] [ 7.71260722e-01 5.07045032e-01 -3.84788557e-01 2.37249842e+01] [ 4.64259012e-01 -3.45473744e-02 8.85025451e-01 1.67519388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.55071405700001 meters Centerline goodness : 0.993891 Centerline is valid? [True, True] Translation: X:73.08, Y:23.75, Z:16.76 [[ 4.34520949e-01 -8.59669528e-01 -2.68625851e-01 7.30811337e+01] [ 7.71861280e-01 5.09131603e-01 -3.80808582e-01 2.37450622e+01] [ 4.64135444e-01 -4.18725868e-02 8.84773969e-01 1.67635124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.58071405700001 meters Centerline goodness : 0.993668 Centerline is valid? [True, True] Translation: X:73.10, Y:23.76, Z:16.77 [[ 4.32788929e-01 -8.56706300e-01 -2.80620846e-01 7.31001223e+01] [ 7.72239550e-01 5.12922506e-01 -3.74908762e-01 2.37620200e+01] [ 4.65123446e-01 -5.44501547e-02 8.83569669e-01 1.67716787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.61071405700001 meters Centerline goodness : 0.993998 Centerline is valid? [True, True] Translation: X:73.10, Y:23.79, Z:16.80 [[ 4.31679057e-01 -8.66488189e-01 -2.50701833e-01 7.30993786e+01] [ 7.71251889e-01 4.98686132e-01 -3.95578899e-01 2.37880571e+01] [ 4.67785972e-01 -2.25911357e-02 8.83553012e-01 1.67951956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.640714057 meters Centerline goodness : 0.993940 Centerline is valid? [True, True] Translation: X:73.12, Y:23.81, Z:16.80 [[ 4.30864666e-01 -8.64002684e-01 -2.60489927e-01 7.31235021e+01] [ 7.72504783e-01 5.02346974e-01 -3.88437739e-01 2.38113477e+01] [ 4.66467576e-01 -3.38656176e-02 8.83889767e-01 1.68024948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.670714057 meters Centerline goodness : 0.993855 Centerline is valid? [True, True] Translation: X:73.15, Y:23.83, Z:16.81 [[ 4.31736788e-01 -8.57708462e-01 -2.79176541e-01 7.31453333e+01] [ 7.73631104e-01 5.11253226e-01 -3.74319454e-01 2.38278148e+01] [ 4.63786870e-01 -5.43721775e-02 8.84276770e-01 1.68097691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.700714057 meters Centerline goodness : 0.994275 Centerline is valid? [True, True] Translation: X:73.15, Y:23.85, Z:16.83 [[ 4.30500885e-01 -8.63789917e-01 -2.61793749e-01 7.31539417e+01] [ 7.74532438e-01 5.02465214e-01 -3.84224167e-01 2.38543542e+01] [ 4.63431214e-01 -3.73589071e-02 8.85345030e-01 1.68294854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.730714057 meters Centerline goodness : 0.993454 Centerline is valid? [True, True] Translation: X:73.17, Y:23.87, Z:16.84 [[ 4.31848916e-01 -8.60482332e-01 -2.70326967e-01 7.31704786e+01] [ 7.74330324e-01 5.07395873e-01 -3.78103131e-01 2.38710470e+01] [ 4.62513852e-01 -4.60389410e-02 8.85415921e-01 1.68373768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.760714057 meters Centerline goodness : 0.993113 Centerline is valid? [True, True] Translation: X:73.18, Y:23.90, Z:16.85 [[ 4.32464501e-01 -8.61921726e-01 -2.64698685e-01 7.31846927e+01] [ 7.74845384e-01 5.05390642e-01 -3.79730075e-01 2.38953781e+01] [ 4.61073840e-01 -4.08807768e-02 8.86419583e-01 1.68517689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.790714057 meters Centerline goodness : 0.994209 Centerline is valid? [True, True] Translation: X:73.20, Y:23.92, Z:16.86 [[ 4.31801653e-01 -8.60764870e-01 -2.69501707e-01 7.31997746e+01] [ 7.74657644e-01 5.06961150e-01 -3.78015776e-01 2.39152024e+01] [ 4.62009596e-01 -4.55437204e-02 8.85704749e-01 1.68643543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.820714057 meters Centerline goodness : 0.993078 Centerline is valid? [True, True] Translation: X:73.21, Y:23.94, Z:16.87 [[ 4.35205690e-01 -8.59457639e-01 -2.68195032e-01 7.32148952e+01] [ 7.74793493e-01 5.09244999e-01 -3.74652606e-01 2.39355650e+01] [ 4.58575023e-01 -4.47448192e-02 8.87528507e-01 1.68743048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.850714057 meters Centerline goodness : 0.993568 Centerline is valid? [True, True] Translation: X:73.23, Y:23.96, Z:16.89 [[ 4.34640878e-01 -8.63308581e-01 -2.56487038e-01 7.32274991e+01] [ 7.74944443e-01 5.03610747e-01 -3.81886536e-01 2.39640154e+01] [ 4.58855552e-01 -3.27797052e-02 8.87906005e-01 1.68932057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.880714057 meters Centerline goodness : 0.993426 Centerline is valid? [True, True] Translation: X:73.25, Y:23.98, Z:16.90 [[ 4.34199437e-01 -8.56510476e-01 -2.79035218e-01 7.32518571e+01] [ 7.75248581e-01 5.13046466e-01 -3.68473827e-01 2.39823424e+01] [ 4.58759726e-01 -5.63305280e-02 8.86773018e-01 1.69007144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.910714057 meters Centerline goodness : 0.993595 Centerline is valid? [True, True] Translation: X:73.26, Y:24.00, Z:16.91 [[ 4.36270321e-01 -8.58494677e-01 -2.69546093e-01 7.32594653e+01] [ 7.74198678e-01 5.10789841e-01 -3.73778203e-01 2.40021932e+01] [ 4.58568003e-01 -4.56138919e-02 8.87487892e-01 1.69139420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.94071405700001 meters Centerline goodness : 0.993536 Centerline is valid? [True, True] Translation: X:73.28, Y:24.03, Z:16.93 [[ 4.32757506e-01 -8.59464790e-01 -2.72105156e-01 7.32761902e+01] [ 7.75316377e-01 5.08835214e-01 -3.74127304e-01 2.40257412e+01] [ 4.60005930e-01 -4.90611844e-02 8.86559386e-01 1.69290498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.97071405700001 meters Centerline goodness : 0.993832 Centerline is valid? [True, True] Translation: X:73.29, Y:24.04, Z:16.94 [[ 4.33055098e-01 -8.56018394e-01 -2.82304432e-01 7.32924874e+01] [ 7.74978970e-01 5.13537375e-01 -3.68357111e-01 2.40418116e+01] [ 4.60294339e-01 -5.92610737e-02 8.85786231e-01 1.69381862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.000714057 meters Centerline goodness : 0.993380 Centerline is valid? [True, True] Translation: X:73.30, Y:24.07, Z:16.96 [[ 4.31866021e-01 -8.60996207e-01 -2.68658281e-01 7.33004103e+01] [ 7.74721874e-01 5.06638593e-01 -3.78316473e-01 2.40659371e+01] [ 4.61841702e-01 -4.47534171e-02 8.85832588e-01 1.69561528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.030714057 meters Centerline goodness : 0.993000 Centerline is valid? [True, True] Translation: X:73.32, Y:24.09, Z:16.97 [[ 4.32079052e-01 -8.59587926e-01 -2.72793494e-01 7.33154080e+01] [ 7.74877051e-01 5.08613182e-01 -3.75337430e-01 2.40853739e+01] [ 4.61381890e-01 -4.92059769e-02 8.85836059e-01 1.69683580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.060714057 meters Centerline goodness : 0.993299 Centerline is valid? [True, True] Translation: X:73.33, Y:24.10, Z:16.98 [[ 4.31291180e-01 -8.58453205e-01 -2.77571636e-01 7.33281611e+01] [ 7.75609234e-01 5.09950691e-01 -3.71995442e-01 2.41043574e+01] [ 4.60888527e-01 -5.48487704e-02 8.85761468e-01 1.69815188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.090714057 meters Centerline goodness : 0.993291 Centerline is valid? [True, True] Translation: X:73.33, Y:24.13, Z:17.00 [[ 4.30257498e-01 -8.62066004e-01 -2.67807189e-01 7.33347244e+01] [ 7.73466725e-01 5.05023860e-01 -3.83014525e-01 2.41270372e+01] [ 4.65432821e-01 -4.23450782e-02 8.84069671e-01 1.69999423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.120714057 meters Centerline goodness : 0.993659 Centerline is valid? [True, True] Translation: X:73.35, Y:24.15, Z:17.01 [[ 4.29460000e-01 -8.60731227e-01 -2.73323733e-01 7.33518713e+01] [ 7.74600575e-01 5.06680206e-01 -3.78509074e-01 2.41481498e+01] [ 4.64282305e-01 -4.91622136e-02 8.84321784e-01 1.70145421e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.150714057 meters Centerline goodness : 0.993450 Centerline is valid? [True, True] Translation: X:73.37, Y:24.17, Z:17.03 [[ 4.29103235e-01 -8.58479801e-01 -2.80860900e-01 7.33659117e+01] [ 7.73599905e-01 5.09804955e-01 -3.76353682e-01 2.41659617e+01] [ 4.66276313e-01 -5.57793833e-02 8.82878848e-01 1.70265812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.180714057 meters Centerline goodness : 0.993530 Centerline is valid? [True, True] Translation: X:73.37, Y:24.19, Z:17.04 [[ 4.30781990e-01 -8.59241203e-01 -2.75919249e-01 7.33744397e+01] [ 7.72366566e-01 5.09167491e-01 -3.79734583e-01 2.41865417e+01] [ 4.66772712e-01 -4.95279838e-02 8.82989363e-01 1.70418464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.210714057 meters Centerline goodness : 0.993534 Centerline is valid? [True, True] Translation: X:73.39, Y:24.21, Z:17.06 [[ 4.30118397e-01 -8.59630159e-01 -2.75742913e-01 7.33862237e+01] [ 7.72255509e-01 5.08546378e-01 -3.80791296e-01 2.42070716e+01] [ 4.67567742e-01 -4.91586420e-02 8.82589279e-01 1.70582760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.240714057 meters Centerline goodness : 0.993571 Centerline is valid? [True, True] Translation: X:73.39, Y:24.24, Z:17.08 [[ 4.32418046e-01 -8.66868361e-01 -2.48100543e-01 7.33909973e+01] [ 7.71033012e-01 4.98145357e-01 -3.96685388e-01 2.42368734e+01] [ 4.67464146e-01 -1.97597885e-02 8.83791165e-01 1.70786267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.270714057 meters Centerline goodness : 0.993782 Centerline is valid? [True, True] Translation: X:73.43, Y:24.25, Z:17.08 [[ 0.42986713 -0.85121017 -0.30109052 73.42541161] [ 0.77169165 0.51949196 -0.36690613 24.2461743 ] [ 0.46872833 -0.07462816 0.88018429 17.0799493 ] [ 0. 0. 0. 1. ]] SLAMing on 86.30071405700001 meters Centerline goodness : 0.993839 Centerline is valid? [True, True] Translation: X:73.42, Y:24.27, Z:17.10 [[ 4.26239060e-01 -8.60916570e-01 -2.77746148e-01 7.34225744e+01] [ 7.68795026e-01 5.06555883e-01 -3.90327228e-01 2.42682302e+01] [ 4.76733124e-01 -4.71571458e-02 8.77782281e-01 1.71036037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.33071405700001 meters Centerline goodness : 0.993574 Centerline is valid? [True, True] Translation: X:73.44, Y:24.29, Z:17.12 [[ 4.27101483e-01 -8.61524250e-01 -2.74518286e-01 7.34368495e+01] [ 7.70168114e-01 5.05683397e-01 -3.88748477e-01 2.42892926e+01] [ 4.73735580e-01 -4.53901790e-02 8.79496636e-01 1.71172786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.36071405700001 meters Centerline goodness : 0.993425 Centerline is valid? [True, True] Translation: X:73.44, Y:24.32, Z:17.14 [[ 4.32484335e-01 -8.72733458e-01 -2.26480930e-01 7.34396174e+01] [ 7.70373679e-01 4.88188420e-01 -4.10117619e-01 2.43248381e+01] [ 4.68488735e-01 2.89449805e-03 8.83464729e-01 1.71391989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.390714057 meters Centerline goodness : 0.993166 Centerline is valid? [True, True] Translation: X:73.48, Y:24.34, Z:17.13 [[ 4.32986367e-01 -8.56659028e-01 -2.80460543e-01 7.34800930e+01] [ 7.71805422e-01 5.13066963e-01 -3.75604423e-01 2.43396049e+01] [ 4.65659959e-01 -5.38293730e-02 8.83325083e-01 1.71341795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.420714057 meters Centerline goodness : 0.993406 Centerline is valid? [True, True] Translation: X:73.49, Y:24.36, Z:17.14 [[ 4.36069193e-01 -8.55091691e-01 -2.80467215e-01 7.34915824e+01] [ 7.71408970e-01 5.15680518e-01 -3.72829457e-01 2.43558629e+01] [ 4.63434850e-01 -5.37754856e-02 8.84497788e-01 1.71434986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.450714057 meters Centerline goodness : 0.993659 Centerline is valid? [True, True] Translation: X:73.51, Y:24.37, Z:17.16 [[ 0.42578968 -0.84772223 -0.31633869 73.50989001] [ 0.77142486 0.52281979 -0.36271636 24.36764785] [ 0.47287085 -0.08959064 0.87656527 17.15926252] [ 0. 0. 0. 1. ]] SLAMing on 86.480714057 meters Centerline goodness : 0.992375 Centerline is valid? [True, True] Translation: X:73.49, Y:24.39, Z:17.19 [[ 4.26412596e-01 -8.67152167e-01 -2.57331336e-01 7.34917591e+01] [ 7.69539973e-01 4.97300260e-01 -4.00625364e-01 2.43926490e+01] [ 4.75374093e-01 -2.71950482e-02 8.79363350e-01 1.71874108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.510714057 meters Centerline goodness : 0.993606 Centerline is valid? [True, True] Translation: X:73.51, Y:24.42, Z:17.20 [[ 4.26669563e-01 -8.64095847e-01 -2.67004590e-01 7.35116464e+01] [ 7.69965693e-01 5.01929486e-01 -3.93979216e-01 2.44170043e+01] [ 4.74453281e-01 -3.74854347e-02 8.79482192e-01 1.72014043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.540714057 meters Centerline goodness : 0.992490 Centerline is valid? [True, True] Translation: X:73.52, Y:24.44, Z:17.21 [[ 4.26999973e-01 -8.64365033e-01 -2.65601416e-01 7.35246579e+01] [ 7.70392594e-01 5.01536229e-01 -3.93645350e-01 2.44384023e+01] [ 4.73462009e-01 -3.65308105e-02 8.80056377e-01 1.72142672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.570714057 meters Centerline goodness : 0.992489 Centerline is valid? [True, True] Translation: X:73.54, Y:24.46, Z:17.23 [[ 4.27421466e-01 -8.64311738e-01 -2.65096416e-01 7.35378817e+01] [ 7.70476565e-01 5.01656803e-01 -3.93327237e-01 2.44609754e+01] [ 4.72944768e-01 -3.61340715e-02 8.80350825e-01 1.72257592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.600714057 meters Centerline goodness : 0.992263 Centerline is valid? [True, True] Translation: X:73.55, Y:24.48, Z:17.24 [[ 4.26249280e-01 -8.62473175e-01 -2.72858156e-01 7.35539315e+01] [ 7.70942162e-01 5.04146380e-01 -3.89210238e-01 2.44806439e+01] [ 4.73243842e-01 -4.44572736e-02 8.79808966e-01 1.72375596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.630714057 meters Centerline goodness : 0.992026 Centerline is valid? [True, True] Translation: X:73.57, Y:24.50, Z:17.25 [[ 4.24298474e-01 -8.64559753e-01 -2.69271681e-01 7.35654551e+01] [ 7.71830953e-01 5.00804299e-01 -3.91755070e-01 2.45026910e+01] [ 4.73548082e-01 -4.16111399e-02 8.79784478e-01 1.72522564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.660714057 meters Centerline goodness : 0.992026 Centerline is valid? [True, True] Translation: X:73.58, Y:24.52, Z:17.27 [[ 4.23809980e-01 -8.64119897e-01 -2.71444109e-01 7.35801160e+01] [ 7.72125720e-01 5.01349983e-01 -3.90474158e-01 2.45232778e+01] [ 4.73504988e-01 -4.41021329e-02 8.79686324e-01 1.72651580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.69071405700001 meters Centerline goodness : 0.992006 Centerline is valid? [True, True] Translation: X:73.59, Y:24.55, Z:17.28 [[ 4.23155193e-01 -8.66700139e-01 -2.64141158e-01 7.35911504e+01] [ 7.73087636e-01 4.97406640e-01 -3.93601501e-01 2.45466617e+01] [ 4.72520042e-01 -3.76497439e-02 8.80515365e-01 1.72797064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.72071405700001 meters Centerline goodness : 0.992617 Centerline is valid? [True, True] Translation: X:73.61, Y:24.57, Z:17.29 [[ 4.20867256e-01 -8.65866954e-01 -2.70453638e-01 7.36059718e+01] [ 7.73792199e-01 4.98276059e-01 -3.91109451e-01 2.45686442e+01] [ 4.73409322e-01 -4.46697536e-02 8.79709172e-01 1.72926972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.750714057 meters Centerline goodness : 0.992715 Centerline is valid? [True, True] Translation: X:73.62, Y:24.59, Z:17.30 [[ 4.20460666e-01 -8.65541683e-01 -2.72122075e-01 7.36181047e+01] [ 7.73580348e-01 4.98709059e-01 -3.90976622e-01 2.45891659e+01] [ 4.74116307e-01 -4.61179987e-02 8.79253580e-01 1.73049277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.780714057 meters Centerline goodness : 0.992031 Centerline is valid? [True, True] Translation: X:73.63, Y:24.61, Z:17.32 [[ 4.21283193e-01 -8.66014913e-01 -2.69329988e-01 7.36300329e+01] [ 7.73283004e-01 4.98164343e-01 -3.92257165e-01 2.46131978e+01] [ 4.73871151e-01 -4.30169515e-02 8.79542878e-01 1.73195038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.810714057 meters Centerline goodness : 0.992859 Centerline is valid? [True, True] Translation: X:73.64, Y:24.64, Z:17.33 [[ 4.23356572e-01 -8.65121979e-01 -2.68948276e-01 7.36431551e+01] [ 7.72754557e-01 4.99783255e-01 -3.91237899e-01 2.46369249e+01] [ 4.72884350e-01 -4.21978703e-02 8.80113476e-01 1.73336567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.840714057 meters Centerline goodness : 0.993311 Centerline is valid? [True, True] Translation: X:73.66, Y:24.66, Z:17.35 [[ 4.20382897e-01 -8.66373743e-01 -2.69582561e-01 7.36558851e+01] [ 7.71084588e-01 4.97716299e-01 -3.97123463e-01 2.46611779e+01] [ 4.78232975e-01 -4.09270465e-02 8.77278860e-01 1.73500290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.870714057 meters Centerline goodness : 0.993841 Centerline is valid? [True, True] Translation: X:73.67, Y:24.67, Z:17.35 [[ 0.41075628 -0.85489628 -0.31690948 73.66853316] [ 0.77274764 0.51089902 -0.37662087 24.6673975 ] [ 0.48388052 -0.09019166 0.87047407 17.3511964 ] [ 0. 0. 0. 1. ]] SLAMing on 86.900714057 meters Centerline goodness : 0.993586 Centerline is valid? [True, True] Translation: X:73.65, Y:24.69, Z:17.38 [[ 4.10308145e-01 -8.71512182e-01 -2.68540020e-01 7.36549997e+01] [ 7.70281968e-01 4.88834682e-01 -4.09519650e-01 2.46937243e+01] [ 4.88173040e-01 -3.88222873e-02 8.71882970e-01 1.73828331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.930714057 meters Centerline goodness : 0.992730 Centerline is valid? [True, True] Translation: X:73.67, Y:24.73, Z:17.41 [[ 4.21533456e-01 -8.78255100e-01 -2.25782028e-01 7.36697272e+01] [ 7.68824577e-01 4.78162044e-01 -4.24581946e-01 2.47294982e+01] [ 4.80851656e-01 5.38872299e-03 8.76785405e-01 1.74057346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.960714057 meters Centerline goodness : 0.992306 Centerline is valid? [True, True] Translation: X:73.72, Y:24.74, Z:17.39 [[ 4.26030906e-01 -8.57441979e-01 -2.88601663e-01 7.37173036e+01] [ 7.72925016e-01 5.10748510e-01 -3.76460992e-01 2.47429060e+01] [ 4.70196327e-01 -6.26834272e-02 8.80333006e-01 1.73938285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.990714057 meters Centerline goodness : 0.991620 Centerline is valid? [True, True] Translation: X:73.72, Y:24.76, Z:17.41 [[ 4.25105033e-01 -8.63560480e-01 -2.71199205e-01 7.37203346e+01] [ 7.72363177e-01 5.02304821e-01 -3.88773699e-01 2.47646880e+01] [ 4.71954271e-01 -4.41946232e-02 8.80514623e-01 1.74119091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.020714057 meters Centerline goodness : 0.992161 Centerline is valid? [True, True] Translation: X:73.73, Y:24.79, Z:17.43 [[ 4.23768423e-01 -8.64674820e-01 -2.69736501e-01 7.37338067e+01] [ 7.72993389e-01 5.00464083e-01 -3.89893475e-01 2.47879907e+01] [ 4.72124501e-01 -4.32799887e-02 8.80468795e-01 1.74256638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.05071405700001 meters Centerline goodness : 0.993239 Centerline is valid? [True, True] Translation: X:73.74, Y:24.82, Z:17.44 [[ 4.18252876e-01 -8.69744226e-01 -2.61934176e-01 7.37449116e+01] [ 7.72966543e-01 4.92256008e-01 -4.00258350e-01 2.48152138e+01] [ 4.77061061e-01 -3.50571479e-02 8.78170678e-01 1.74445956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.08071405700001 meters Centerline goodness : 0.992336 Centerline is valid? [True, True] Translation: X:73.77, Y:24.83, Z:17.44 [[ 4.21514335e-01 -8.56796800e-01 -2.97026782e-01 7.37738412e+01] [ 7.74955479e-01 5.10447337e-01 -3.72676162e-01 2.48267278e+01] [ 4.70924273e-01 -7.30941873e-02 8.79140244e-01 1.74436483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.11071405700001 meters Centerline goodness : 0.993002 Centerline is valid? [True, True] Translation: X:73.77, Y:24.85, Z:17.46 [[ 4.16330549e-01 -8.65980770e-01 -2.77031008e-01 7.37716195e+01] [ 7.73810527e-01 4.97457533e-01 -3.92113849e-01 2.48488234e+01] [ 4.77374215e-01 -5.11205363e-02 8.77211804e-01 1.74644516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.140714057 meters Centerline goodness : 0.994135 Centerline is valid? [True, True] Translation: X:73.78, Y:24.88, Z:17.49 [[ 4.11539631e-01 -8.75416483e-01 -2.53537202e-01 7.37770321e+01] [ 7.74176134e-01 4.82574192e-01 -4.09601590e-01 2.48795263e+01] [ 4.80922494e-01 -2.77151638e-02 8.76324954e-01 1.74877555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.170714057 meters Centerline goodness : 0.993998 Centerline is valid? [True, True] Translation: X:73.81, Y:24.90, Z:17.49 [[ 4.11068244e-01 -8.66972119e-01 -2.81748547e-01 7.38057740e+01] [ 7.75510418e-01 4.95036020e-01 -3.91820023e-01 2.48987466e+01] [ 4.79172715e-01 -5.74341649e-02 8.75839498e-01 1.74920216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.200714057 meters Centerline goodness : 0.993752 Centerline is valid? [True, True] Translation: X:73.82, Y:24.92, Z:17.51 [[ 4.08723799e-01 -8.68487675e-01 -2.80488883e-01 7.38173112e+01] [ 7.75883600e-01 4.92483679e-01 -3.94289824e-01 2.49206804e+01] [ 4.80572049e-01 -5.64710898e-02 8.75135145e-01 1.75076220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.230714057 meters Centerline goodness : 0.993789 Centerline is valid? [True, True] Translation: X:73.83, Y:24.94, Z:17.52 [[ 4.05779215e-01 -8.66568973e-01 -2.90519267e-01 7.38305197e+01] [ 7.76146896e-01 4.94570972e-01 -3.91146454e-01 2.49402206e+01] [ 4.82637777e-01 -6.67665265e-02 8.73271440e-01 1.75216287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.260714057 meters Centerline goodness : 0.993384 Centerline is valid? [True, True] Translation: X:73.84, Y:24.96, Z:17.53 [[ 0.4078948 -0.86314397 -0.29766479 73.84481948] [ 0.77780023 0.49923914 -0.38182074 24.95702712] [ 0.47817218 -0.07578105 0.87499063 17.53315952] [ 0. 0. 0. 1. ]] SLAMing on 87.290714057 meters Centerline goodness : 0.994084 Centerline is valid? [True, True] Translation: X:73.84, Y:24.98, Z:17.56 [[ 4.05208192e-01 -8.75575666e-01 -2.63008695e-01 7.38374244e+01] [ 7.74563758e-01 4.81616791e-01 -4.09995429e-01 2.49845568e+01] [ 4.85651425e-01 -3.75834968e-02 8.73344247e-01 1.75622230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.320714057 meters Centerline goodness : 0.993259 Centerline is valid? [True, True] Translation: X:73.86, Y:25.00, Z:17.57 [[ 4.08743774e-01 -8.68455716e-01 -2.80558722e-01 7.38588498e+01] [ 7.74443299e-01 4.92698753e-01 -3.96844448e-01 2.50037110e+01] [ 4.82872762e-01 -5.50691243e-02 8.73957257e-01 1.75675732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.350714057 meters Centerline goodness : 0.993786 Centerline is valid? [True, True] Translation: X:73.87, Y:25.03, Z:17.58 [[ 4.08697286e-01 -8.68980011e-01 -2.78998691e-01 7.38693767e+01] [ 7.73776252e-01 4.92020135e-01 -3.98981828e-01 2.50253378e+01] [ 4.83980206e-01 -5.28197715e-02 8.73483389e-01 1.75833676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.380714057 meters Centerline goodness : 0.993627 Centerline is valid? [True, True] Translation: X:73.88, Y:25.05, Z:17.60 [[ 4.10215874e-01 -8.68464000e-01 -2.78376037e-01 7.38810182e+01] [ 7.73163395e-01 4.93059503e-01 -3.98886815e-01 2.50460005e+01] [ 4.83674790e-01 -5.16004584e-02 8.73725409e-01 1.75970326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.410714057 meters Centerline goodness : 0.993537 Centerline is valid? [True, True] Translation: X:73.89, Y:25.05, Z:17.60 [[ 0.40339198 -0.85894878 -0.31540753 73.88953434] [ 0.77220848 0.50448661 -0.38624776 25.05434494] [ 0.49088591 -0.08775112 0.86679338 17.60444235] [ 0. 0. 0. 1. ]] SLAMing on 87.44071405700001 meters Centerline goodness : 0.993668 Centerline is valid? [True, True] Translation: X:73.88, Y:25.08, Z:17.64 [[ 4.03735632e-01 -8.75115582e-01 -2.66777544e-01 7.38760035e+01] [ 7.69309945e-01 4.82558404e-01 -4.18687945e-01 2.50792869e+01] [ 4.95136090e-01 -3.61953759e-02 8.68061142e-01 1.76371317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.47071405700001 meters Centerline goodness : 0.993732 Centerline is valid? [True, True] Translation: X:73.89, Y:25.10, Z:17.65 [[ 4.06777273e-01 -8.73653909e-01 -2.66947742e-01 7.38886726e+01] [ 7.67252256e-01 4.85339116e-01 -4.19249231e-01 2.51003964e+01] [ 4.95838911e-01 -3.42751984e-02 8.67737855e-01 1.76500384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.500714057 meters Centerline goodness : 0.992640 Centerline is valid? [True, True] Translation: X:73.90, Y:25.13, Z:17.67 [[ 4.16930183e-01 -8.79197808e-01 -2.30608841e-01 7.39037659e+01] [ 7.65795473e-01 4.76444209e-01 -4.31923845e-01 2.51336497e+01] [ 4.89618745e-01 3.48288177e-03 8.71929673e-01 1.76702233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.530714057 meters Centerline goodness : 0.993128 Centerline is valid? [True, True] Translation: X:73.94, Y:25.15, Z:17.67 [[ 4.17255417e-01 -8.60632442e-01 -2.91907034e-01 7.39435417e+01] [ 7.64333739e-01 5.06094965e-01 -3.99577053e-01 2.51481221e+01] [ 4.91621655e-01 -5.63887044e-02 8.68981278e-01 1.76664148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.560714057 meters Centerline goodness : 0.993345 Centerline is valid? [True, True] Translation: X:73.95, Y:25.17, Z:17.69 [[ 4.20226272e-01 -8.67443595e-01 -2.66367207e-01 7.39459236e+01] [ 7.63245977e-01 4.96652068e-01 -4.13270253e-01 2.51740992e+01] [ 4.90780458e-01 -2.96366818e-02 8.70779082e-01 1.76878465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.590714057 meters Centerline goodness : 0.993869 Centerline is valid? [True, True] Translation: X:73.96, Y:25.20, Z:17.70 [[ 4.25045671e-01 -8.63981523e-01 -2.69948339e-01 7.39628144e+01] [ 7.61314300e-01 5.02544941e-01 -4.09693932e-01 2.51970593e+01] [ 4.89629159e-01 -3.13768988e-02 8.71366040e-01 1.76996296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.620714057 meters Centerline goodness : 0.992763 Centerline is valid? [True, True] Translation: X:73.98, Y:25.22, Z:17.71 [[ 4.26260688e-01 -8.60093262e-01 -2.80252397e-01 7.39808972e+01] [ 7.60330065e-01 5.08501227e-01 -4.04134501e-01 2.52165574e+01] [ 4.90102049e-01 -4.08176728e-02 8.70708849e-01 1.77094733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.650714057 meters Centerline goodness : 0.993298 Centerline is valid? [True, True] Translation: X:73.99, Y:25.24, Z:17.73 [[ 4.30571305e-01 -8.62926839e-01 -2.64510154e-01 7.39909768e+01] [ 7.58857162e-01 5.04780055e-01 -4.11500794e-01 2.52424447e+01] [ 4.88614529e-01 -2.35449914e-02 8.72182020e-01 1.77265318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.680714057 meters Centerline goodness : 0.993561 Centerline is valid? [True, True] Translation: X:74.01, Y:25.26, Z:17.73 [[ 4.30324986e-01 -8.55530266e-01 -2.87903405e-01 7.40141740e+01] [ 7.58548597e-01 5.15620758e-01 -3.98420958e-01 2.52593585e+01] [ 4.89310160e-01 -4.69382305e-02 8.70845778e-01 1.77338934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.710714057 meters Centerline goodness : 0.992982 Centerline is valid? [True, True] Translation: X:74.02, Y:25.28, Z:17.75 [[ 4.31488764e-01 -8.59348709e-01 -2.74476306e-01 7.40213077e+01] [ 7.58213862e-01 5.10323600e-01 -4.05809762e-01 2.52808028e+01] [ 4.88803832e-01 -3.30093870e-02 8.71769003e-01 1.77518787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.740714057 meters Centerline goodness : 0.994090 Centerline is valid? [True, True] Translation: X:74.04, Y:25.28, Z:17.76 [[ 0.42002579 -0.84734093 -0.32494875 74.03623825] [ 0.75903789 0.52428008 -0.38599465 25.2847254 ] [ 0.49743323 -0.08452071 0.86337503 17.756459 ] [ 0. 0. 0. 1. ]] SLAMing on 87.770714057 meters Centerline goodness : 0.993301 Centerline is valid? [True, True] Translation: X:74.01, Y:25.33, Z:17.81 [[ 4.31615782e-01 -8.81572165e-01 -1.91150031e-01 7.40104510e+01] [ 7.59467856e-01 4.69478524e-01 -4.50331536e-01 2.53295074e+01] [ 4.86740581e-01 4.91978938e-02 8.72160062e-01 1.78081698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.80071405700001 meters Centerline goodness : 0.993063 Centerline is valid? [True, True] Translation: X:74.08, Y:25.34, Z:17.79 [[ 4.29370977e-01 -8.53754256e-01 -2.94523740e-01 7.40760220e+01] [ 7.61050023e-01 5.17626478e-01 -3.90980424e-01 2.53405437e+01] [ 4.86254488e-01 -5.62716525e-02 8.72003483e-01 1.77882151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.83071405700001 meters Centerline goodness : 0.993749 Centerline is valid? [True, True] Translation: X:74.08, Y:25.36, Z:17.81 [[ 4.24223078e-01 -8.60554792e-01 -2.81922382e-01 7.40815840e+01] [ 7.62726288e-01 5.07374495e-01 -4.01023354e-01 2.53603379e+01] [ 4.88142796e-01 -4.49062506e-02 8.71607733e-01 1.78091437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.86071405700001 meters Centerline goodness : 0.993905 Centerline is valid? [True, True] Translation: X:74.09, Y:25.38, Z:17.83 [[ 4.20926785e-01 -8.63644808e-01 -2.77377517e-01 7.40914627e+01] [ 7.63547924e-01 5.02427686e-01 -4.05661175e-01 2.53801214e+01] [ 4.89709311e-01 -4.10373726e-02 8.70919471e-01 1.78256432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.890714057 meters Centerline goodness : 0.994210 Centerline is valid? [True, True] Translation: X:74.11, Y:25.40, Z:17.84 [[ 4.15519086e-01 -8.65821629e-01 -2.78741449e-01 7.41054273e+01] [ 7.64883364e-01 4.98445032e-01 -4.08051454e-01 2.54003185e+01] [ 4.92237066e-01 -4.36515302e-02 8.69365985e-01 1.78415894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.920714057 meters Centerline goodness : 0.993446 Centerline is valid? [True, True] Translation: X:74.12, Y:25.42, Z:17.86 [[ 4.12265782e-01 -8.66244481e-01 -2.82236469e-01 7.41186799e+01] [ 7.65906014e-01 4.97294454e-01 -4.07536752e-01 2.54190389e+01] [ 4.93381093e-01 -4.81531511e-02 8.68479344e-01 1.78556217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.950714057 meters Centerline goodness : 0.994469 Centerline is valid? [True, True] Translation: X:74.13, Y:25.44, Z:17.87 [[ 4.08421209e-01 -8.68027206e-01 -2.82348872e-01 7.41294907e+01] [ 7.66557303e-01 4.94102025e-01 -4.10186654e-01 2.54383990e+01] [ 4.95562324e-01 -4.89076608e-02 8.67194340e-01 1.78719870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.980714057 meters Centerline goodness : 0.994122 Centerline is valid? [True, True] Translation: X:74.14, Y:25.46, Z:17.89 [[ 4.05956480e-01 -8.74922869e-01 -2.64025206e-01 7.41382349e+01] [ 7.68108037e-01 4.83188507e-01 -4.20165336e-01 2.54644843e+01] [ 4.95186207e-01 -3.22310417e-02 8.68188793e-01 1.78922613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.010714057 meters Centerline goodness : 0.994930 Centerline is valid? [True, True] Translation: X:74.16, Y:25.48, Z:17.90 [[ 3.99622657e-01 -8.69536279e-01 -2.90186821e-01 7.41614345e+01] [ 7.70316907e-01 4.90144940e-01 -4.07884544e-01 2.54798044e+01] [ 4.96904010e-01 -6.05359092e-02 8.65691520e-01 1.79000640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.040714057 meters Centerline goodness : 0.993809 Centerline is valid? [True, True] Translation: X:74.17, Y:25.50, Z:17.92 [[ 3.94336988e-01 -8.75365388e-01 -2.79703016e-01 7.41669838e+01] [ 7.71670399e-01 4.80699706e-01 -4.16476396e-01 2.55004618e+01] [ 4.99022179e-01 -5.16064902e-02 8.65051232e-01 1.79194212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.070714057 meters Centerline goodness : 0.994513 Centerline is valid? [True, True] Translation: X:74.18, Y:25.52, Z:17.94 [[ 3.91788533e-01 -8.78085166e-01 -2.74714738e-01 7.41775437e+01] [ 7.72219132e-01 4.76157689e-01 -4.20655997e-01 2.55223685e+01] [ 5.00179326e-01 -4.73317802e-02 8.64627286e-01 1.79370823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.100714057 meters Centerline goodness : 0.994590 Centerline is valid? [True, True] Translation: X:74.19, Y:25.54, Z:17.95 [[ 3.90702549e-01 -8.78042891e-01 -2.76391388e-01 7.41910672e+01] [ 7.73223555e-01 4.75963207e-01 -4.19027874e-01 2.55421603e+01] [ 4.99476578e-01 -4.99970730e-02 8.64883484e-01 1.79495490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.130714057 meters Centerline goodness : 0.994347 Centerline is valid? [True, True] Translation: X:74.20, Y:25.57, Z:17.96 [[ 3.88611249e-01 -8.80940932e-01 -2.70045129e-01 7.42022306e+01] [ 7.74269140e-01 4.71094527e-01 -4.22584011e-01 2.55652429e+01] [ 4.99488334e-01 -4.48667099e-02 8.65158010e-01 1.79649742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.160714057 meters Centerline goodness : 0.994024 Centerline is valid? [True, True] Translation: X:74.22, Y:25.58, Z:17.98 [[ 3.86708985e-01 -8.79134663e-01 -2.78529004e-01 7.42188487e+01] [ 7.75300287e-01 4.73470581e-01 -4.18013246e-01 2.55849045e+01] [ 4.99365223e-01 -5.42941387e-02 8.64688684e-01 1.79762833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.19071405700001 meters Centerline goodness : 0.994278 Centerline is valid? [True, True] Translation: X:74.23, Y:25.60, Z:17.99 [[ 3.84738339e-01 -8.79972277e-01 -2.78612996e-01 7.42301264e+01] [ 7.75807356e-01 4.71833247e-01 -4.18922826e-01 2.56048431e+01] [ 5.00099348e-01 -5.49743395e-02 8.64221305e-01 1.79905432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.22071405700001 meters Centerline goodness : 0.994410 Centerline is valid? [True, True] Translation: X:74.24, Y:25.63, Z:18.01 [[ 3.82276695e-01 -8.80638796e-01 -2.79892550e-01 7.42417381e+01] [ 7.76317198e-01 4.70362735e-01 -4.19631392e-01 2.56258715e+01] [ 5.01194710e-01 -5.68700987e-02 8.63463754e-01 1.80056200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.250714057 meters Centerline goodness : 0.994359 Centerline is valid? [True, True] Translation: X:74.25, Y:25.65, Z:18.02 [[ 3.80000545e-01 -8.81449019e-01 -2.80441105e-01 7.42519956e+01] [ 7.76813916e-01 4.68700095e-01 -4.20571470e-01 2.56461639e+01] [ 5.02155082e-01 -5.80331649e-02 8.62828155e-01 1.80202778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.280714057 meters Centerline goodness : 0.993716 Centerline is valid? [True, True] Translation: X:74.27, Y:25.66, Z:18.03 [[ 3.83279662e-01 -8.77990001e-01 -2.86758190e-01 7.42657437e+01] [ 7.77862682e-01 4.74242868e-01 -4.12338878e-01 2.56634006e+01] [ 4.98022438e-01 -6.50173891e-02 8.64723303e-01 1.80303331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.310714057 meters Centerline goodness : 0.994417 Centerline is valid? [True, True] Translation: X:74.27, Y:25.69, Z:18.06 [[ 3.77215103e-01 -8.88645432e-01 -2.60802728e-01 7.42655783e+01] [ 7.76325285e-01 4.56959857e-01 -4.34173629e-01 2.56910698e+01] [ 5.05002790e-01 -3.86909016e-02 8.62250078e-01 1.80575131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.340714057 meters Centerline goodness : 0.994324 Centerline is valid? [True, True] Translation: X:74.29, Y:25.71, Z:18.07 [[ 3.75540304e-01 -8.83635159e-01 -2.79568213e-01 7.42867039e+01] [ 7.77145445e-01 4.64588622e-01 -4.24502497e-01 2.57118048e+01] [ 5.04989542e-01 -5.78473666e-02 8.61184791e-01 1.80659210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.370714057 meters Centerline goodness : 0.993735 Centerline is valid? [True, True] Translation: X:74.30, Y:25.73, Z:18.08 [[ 3.73592259e-01 -8.84479829e-01 -2.79507166e-01 7.42972948e+01] [ 7.77270327e-01 4.62949491e-01 -4.26061741e-01 2.57326723e+01] [ 5.06240716e-01 -5.80792586e-02 8.60434272e-01 1.80812259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.400714057 meters Centerline goodness : 0.992970 Centerline is valid? [True, True] Translation: X:74.31, Y:25.75, Z:18.10 [[ 3.74510560e-01 -8.86098159e-01 -2.73078548e-01 7.43063650e+01] [ 7.77828245e-01 4.60543220e-01 -4.27648411e-01 2.57549420e+01] [ 5.04702943e-01 -5.22493613e-02 8.61710475e-01 1.80960018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.430714057 meters Centerline goodness : 0.992475 Centerline is valid? [True, True] Translation: X:74.32, Y:25.78, Z:18.11 [[ 3.73251927e-01 -8.84984529e-01 -2.78361964e-01 7.43208445e+01] [ 7.78201586e-01 4.62012904e-01 -4.25377911e-01 2.57763761e+01] [ 5.05059690e-01 -5.78485966e-02 8.61143571e-01 1.81092761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.460714057 meters Centerline goodness : 0.993073 Centerline is valid? [True, True] Translation: X:74.33, Y:25.80, Z:18.12 [[ 3.72255015e-01 -8.85047229e-01 -2.79495271e-01 7.43308746e+01] [ 7.78450466e-01 4.61712261e-01 -4.25248939e-01 2.57969082e+01] [ 5.05411789e-01 -5.92721740e-02 8.60840132e-01 1.81227150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.490714057 meters Centerline goodness : 0.993889 Centerline is valid? [True, True] Translation: X:74.34, Y:25.82, Z:18.14 [[ 3.70463459e-01 -8.86073777e-01 -2.78621762e-01 7.43391973e+01] [ 7.78495990e-01 4.59820219e-01 -4.27211142e-01 2.58174644e+01] [ 5.06656510e-01 -5.86398066e-02 8.60151471e-01 1.81389673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.520714057 meters Centerline goodness : 0.993145 Centerline is valid? [True, True] Translation: X:74.35, Y:25.84, Z:18.15 [[ 3.70456251e-01 -8.88004172e-01 -2.72416514e-01 7.43482531e+01] [ 7.78808378e-01 4.56781979e-01 -4.29892700e-01 2.58397428e+01] [ 5.06181465e-01 -5.29038255e-02 8.60802829e-01 1.81545031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.55071405700001 meters Centerline goodness : 0.993145 Centerline is valid? [True, True] Translation: X:74.36, Y:25.86, Z:18.17 [[ 3.69743696e-01 -8.87475172e-01 -2.75095288e-01 7.43618763e+01] [ 7.79186697e-01 4.57450581e-01 -4.28493941e-01 2.58606748e+01] [ 5.06120234e-01 -5.59176550e-02 8.60648317e-01 1.81678581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.58071405700001 meters Centerline goodness : 0.993726 Centerline is valid? [True, True] Translation: X:74.37, Y:25.88, Z:18.18 [[ 3.69414825e-01 -8.88048508e-01 -2.73683273e-01 7.43730127e+01] [ 7.79562628e-01 4.56457394e-01 -4.28869161e-01 2.58822903e+01] [ 5.05781372e-01 -5.49226257e-02 8.60911557e-01 1.81824051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.61071405700001 meters Centerline goodness : 0.993360 Centerline is valid? [True, True] Translation: X:74.38, Y:25.90, Z:18.20 [[ 3.70481562e-01 -8.88194587e-01 -2.71760535e-01 7.43840448e+01] [ 7.79906399e-01 4.56370528e-01 -4.28336258e-01 2.59037639e+01] [ 5.04469444e-01 -5.32570945e-02 8.61785508e-01 1.81958760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.640714057 meters Centerline goodness : 0.993981 Centerline is valid? [True, True] Translation: X:74.39, Y:25.93, Z:18.21 [[ 3.69508969e-01 -8.89922693e-01 -2.67396189e-01 7.43943348e+01] [ 7.80289492e-01 4.53420151e-01 -4.30764987e-01 2.59269853e+01] [ 5.04590358e-01 -4.94749102e-02 8.61940139e-01 1.82110430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.670714057 meters Centerline goodness : 0.993254 Centerline is valid? [True, True] Translation: X:74.41, Y:25.95, Z:18.22 [[ 3.69676654e-01 -8.87250609e-01 -2.75908551e-01 7.44095941e+01] [ 7.80451928e-01 4.57644634e-01 -4.25976733e-01 2.59463935e+01] [ 5.04216184e-01 -5.78597068e-02 8.61636985e-01 1.82214597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.700714057 meters Centerline goodness : 0.993397 Centerline is valid? [True, True] Translation: X:74.42, Y:25.97, Z:18.23 [[ 3.70968305e-01 -8.87936357e-01 -2.71940328e-01 7.44187056e+01] [ 7.80305520e-01 4.56815761e-01 -4.27133066e-01 2.59679532e+01] [ 5.03493607e-01 -5.37437093e-02 8.62325810e-01 1.82349733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.730714057 meters Centerline goodness : 0.993325 Centerline is valid? [True, True] Translation: X:74.43, Y:25.99, Z:18.25 [[ 3.69668460e-01 -8.88703401e-01 -2.71203788e-01 7.44289878e+01] [ 7.80126719e-01 4.55408782e-01 -4.28958207e-01 2.59900711e+01] [ 5.04725204e-01 -5.30010015e-02 8.61651532e-01 1.82500193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.760714057 meters Centerline goodness : 0.993388 Centerline is valid? [True, True] Translation: X:74.44, Y:26.00, Z:18.26 [[ 0.36111629 -0.88276313 -0.30053999 74.43623199] [ 0.78096597 0.46241083 -0.41984328 26.00171286] [ 0.50959512 -0.08309926 0.85639204 18.25750432] [ 0. 0. 0. 1. ]] SLAMing on 88.790714057 meters Centerline goodness : 0.993660 Centerline is valid? [True, True] Translation: X:74.43, Y:26.02, Z:18.29 [[ 3.60190671e-01 -8.95504969e-01 -2.61406830e-01 7.44263269e+01] [ 7.79040885e-01 4.42890940e-01 -4.43782509e-01 2.60249666e+01] [ 5.13184158e-01 -4.38002884e-02 8.57160168e-01 1.82857711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.820714057 meters Centerline goodness : 0.993918 Centerline is valid? [True, True] Translation: X:74.44, Y:26.05, Z:18.30 [[ 3.59172971e-01 -8.95875420e-01 -2.61537778e-01 7.44378327e+01] [ 7.79281612e-01 4.42093031e-01 -4.44155291e-01 2.60459267e+01] [ 5.13531836e-01 -4.42830060e-02 8.56927108e-01 1.82993699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.850714057 meters Centerline goodness : 0.993273 Centerline is valid? [True, True] Translation: X:74.45, Y:26.08, Z:18.32 [[ 3.65536904e-01 -8.99718296e-01 -2.38515742e-01 7.44543714e+01] [ 7.79112389e-01 4.35957530e-01 -4.50471883e-01 2.60753521e+01] [ 5.09280529e-01 -2.11664719e-02 8.60340237e-01 1.83180486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.880714057 meters Centerline goodness : 0.993977 Centerline is valid? [True, True] Translation: X:74.48, Y:26.10, Z:18.32 [[ 3.66093380e-01 -8.92363154e-01 -2.63938703e-01 7.44830563e+01] [ 7.81423878e-01 4.48807729e-01 -4.33530097e-01 2.60992116e+01] [ 5.05324014e-01 -4.75355066e-02 8.61619415e-01 1.83215954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.910714057 meters Centerline goodness : 0.992952 Centerline is valid? [True, True] Translation: X:74.50, Y:26.12, Z:18.33 [[ 3.64824013e-01 -8.87896003e-01 -2.80257253e-01 7.44985287e+01] [ 7.82232311e-01 4.55543981e-01 -4.24961520e-01 2.61177504e+01] [ 5.04991139e-01 -6.41901121e-02 8.60734325e-01 1.83316520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.94071405700001 meters Centerline goodness : 0.993125 Centerline is valid? [True, True] Translation: X:74.50, Y:26.14, Z:18.35 [[ 3.63135005e-01 -8.91532492e-01 -2.70744869e-01 7.45044279e+01] [ 7.82251909e-01 4.49581131e-01 -4.31229356e-01 2.61402136e+01] [ 5.06176767e-01 -5.51962165e-02 8.60661640e-01 1.83500814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.97071405700001 meters Centerline goodness : 0.994046 Centerline is valid? [True, True] Translation: X:74.51, Y:26.15, Z:18.36 [[ 0.35473277 -0.88629016 -0.29774893 74.5105197 ] [ 0.78284409 0.4556702 -0.42369777 26.15277174] [ 0.51119448 -0.08279151 0.85546816 18.3574445 ] [ 0. 0. 0. 1. ]] SLAMing on 89.000714057 meters Centerline goodness : 0.993831 Centerline is valid? [True, True] Translation: X:74.51, Y:26.18, Z:18.39 [[ 3.61157532e-01 -9.01177947e-01 -2.39673829e-01 7.45078051e+01] [ 7.80584381e-01 4.32772907e-01 -4.50994052e-01 2.61835958e+01] [ 5.10150234e-01 -2.42057488e-02 8.59744625e-01 1.83911265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.030714057 meters Centerline goodness : 0.994350 Centerline is valid? [True, True] Translation: X:74.53, Y:26.20, Z:18.39 [[ 0.3545817 -0.88838845 -0.29161239 74.52978331] [ 0.78258496 0.45264643 -0.42740143 26.19524659] [ 0.5116958 -0.07666274 0.85573958 18.38712253] [ 0. 0. 0. 1. ]] SLAMing on 89.060714057 meters Centerline goodness : 0.993367 Centerline is valid? [True, True] Translation: X:74.53, Y:26.23, Z:18.42 [[ 3.62211527e-01 -9.02028831e-01 -2.34833551e-01 7.45275857e+01] [ 7.80337586e-01 4.31248063e-01 -4.52877865e-01 2.62274762e+01] [ 5.09780406e-01 -1.92118628e-02 8.60090020e-01 1.84201759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.090714057 meters Centerline goodness : 0.993133 Centerline is valid? [True, True] Translation: X:74.56, Y:26.25, Z:18.42 [[ 3.64296690e-01 -8.89697233e-01 -2.75184946e-01 7.45582858e+01] [ 7.81629987e-01 4.52749220e-01 -4.29036954e-01 2.62470773e+01] [ 5.06302761e-01 -5.87960637e-02 8.60349079e-01 1.84180618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.120714057 meters Centerline goodness : 0.993153 Centerline is valid? [True, True] Translation: X:74.57, Y:26.27, Z:18.44 [[ 3.63789293e-01 -8.91439364e-01 -2.70172558e-01 7.45660779e+01] [ 7.81013692e-01 4.49974704e-01 -4.33059324e-01 2.62691877e+01] [ 5.07616945e-01 -5.34661221e-02 8.59922328e-01 1.84352205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.150714057 meters Centerline goodness : 0.992466 Centerline is valid? [True, True] Translation: X:74.57, Y:26.29, Z:18.45 [[ 3.64943951e-01 -8.92183659e-01 -2.66128225e-01 7.45740432e+01] [ 7.79811151e-01 4.49076394e-01 -4.36147866e-01 2.62925642e+01] [ 5.08635902e-01 -4.83602318e-02 8.59622480e-01 1.84511599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.180714057 meters Centerline goodness : 0.992090 Centerline is valid? [True, True] Translation: X:74.59, Y:26.31, Z:18.46 [[ 3.66777354e-01 -8.90586846e-01 -2.68941335e-01 7.45861405e+01] [ 7.79264154e-01 4.52016060e-01 -4.34083933e-01 2.63136354e+01] [ 5.08155243e-01 -5.03641856e-02 8.59791660e-01 1.84632104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.210714057 meters Centerline goodness : 0.992037 Centerline is valid? [True, True] Translation: X:74.60, Y:26.33, Z:18.48 [[ 3.68242768e-01 -8.88797480e-01 -2.72830174e-01 7.45984304e+01] [ 7.78501363e-01 4.55193658e-01 -4.32127715e-01 2.63343779e+01] [ 5.08264589e-01 -5.32707561e-02 8.59551822e-01 1.84763269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.240714057 meters Centerline goodness : 0.992748 Centerline is valid? [True, True] Translation: X:74.60, Y:26.36, Z:18.49 [[ 3.72033958e-01 -8.91335027e-01 -2.59061005e-01 7.46023349e+01] [ 7.76649549e-01 4.51760391e-01 -4.39008003e-01 2.63598702e+01] [ 5.08336711e-01 -3.78737281e-02 8.60325153e-01 1.84947353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.270714057 meters Centerline goodness : 0.992357 Centerline is valid? [True, True] Translation: X:74.62, Y:26.38, Z:18.50 [[ 3.74743821e-01 -8.86899715e-01 -2.70140637e-01 7.46189853e+01] [ 7.75864376e-01 4.59504407e-01 -4.32307958e-01 2.63808780e+01] [ 5.07544618e-01 -4.75877604e-02 8.60310331e-01 1.85043855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.30071405700001 meters Centerline goodness : 0.992806 Centerline is valid? [True, True] Translation: X:74.63, Y:26.40, Z:18.52 [[ 3.79818130e-01 -8.86753350e-01 -2.63451484e-01 7.46265549e+01] [ 7.73870492e-01 4.60613927e-01 -4.34694458e-01 2.64045195e+01] [ 5.06816190e-01 -3.87724933e-02 8.61181771e-01 1.85195636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.33071405700001 meters Centerline goodness : 0.993415 Centerline is valid? [True, True] Translation: X:74.64, Y:26.43, Z:18.53 [[ 3.86022228e-01 -8.83243242e-01 -2.66210845e-01 7.46396437e+01] [ 7.72101188e-01 4.67267535e-01 -4.30721264e-01 2.64274608e+01] [ 5.04823331e-01 -3.92737280e-02 8.62328811e-01 1.85299227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.36071405700001 meters Centerline goodness : 0.993265 Centerline is valid? [True, True] Translation: X:74.65, Y:26.45, Z:18.55 [[ 3.86141094e-01 -8.83125445e-01 -2.66429174e-01 7.46502237e+01] [ 7.70770216e-01 4.67575266e-01 -4.32766271e-01 2.64503603e+01] [ 5.06762597e-01 -3.82468308e-02 8.61236814e-01 1.85461546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.390714057 meters Centerline goodness : 0.992830 Centerline is valid? [True, True] Translation: X:74.66, Y:26.46, Z:18.55 [[ 0.37668303 -0.87143976 -0.31416975 74.66267187] [ 0.76949779 0.48317958 -0.41762501 26.45777767] [ 0.51573545 -0.08444067 0.85257652 18.550732 ] [ 0. 0. 0. 1. ]] SLAMing on 89.420714057 meters Centerline goodness : 0.992333 Centerline is valid? [True, True] Translation: X:74.64, Y:26.48, Z:18.59 [[ 3.79591224e-01 -8.88639419e-01 -2.57352844e-01 7.46416043e+01] [ 7.65818473e-01 4.57886127e-01 -4.51511197e-01 2.64817530e+01] [ 5.19068945e-01 -2.56958742e-02 8.54346038e-01 1.85888150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.450714057 meters Centerline goodness : 0.992447 Centerline is valid? [True, True] Translation: X:74.65, Y:26.50, Z:18.60 [[ 3.80915549e-01 -8.88112029e-01 -2.57216580e-01 7.46521655e+01] [ 7.65121572e-01 4.58958629e-01 -4.51603762e-01 2.65019926e+01] [ 5.19126502e-01 -2.47790592e-02 8.54338149e-01 1.86026558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.480714057 meters Centerline goodness : 0.992952 Centerline is valid? [True, True] Translation: X:74.66, Y:26.52, Z:18.62 [[ 3.83522422e-01 -8.87068339e-01 -2.56944183e-01 7.46630566e+01] [ 7.64033112e-01 4.61053516e-01 -4.51312596e-01 2.65237561e+01] [ 5.18810134e-01 -2.32253637e-02 8.54573945e-01 1.86168129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.510714057 meters Centerline goodness : 0.992993 Centerline is valid? [True, True] Translation: X:74.67, Y:26.54, Z:18.63 [[ 3.84446826e-01 -8.86700424e-01 -2.56832622e-01 7.46739331e+01] [ 7.63498139e-01 4.61795194e-01 -4.51459622e-01 2.65446476e+01] [ 5.18913509e-01 -2.25290097e-02 8.54529821e-01 1.86313471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.540714057 meters Centerline goodness : 0.992726 Centerline is valid? [True, True] Translation: X:74.68, Y:26.56, Z:18.65 [[ 3.85934642e-01 -8.86083167e-01 -2.56731520e-01 7.46843901e+01] [ 7.62653110e-01 4.63027441e-01 -4.51625755e-01 2.65649684e+01] [ 5.19051718e-01 -2.14990681e-02 8.54472413e-01 1.86454394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.570714057 meters Centerline goodness : 0.993524 Centerline is valid? [True, True] Translation: X:74.70, Y:26.59, Z:18.66 [[ 3.89314209e-01 -8.84735501e-01 -2.56276295e-01 7.46952353e+01] [ 7.61417961e-01 4.65682798e-01 -4.50979180e-01 2.65865013e+01] [ 5.18340753e-01 -1.95607717e-02 8.54950431e-01 1.86595820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.600714057 meters Centerline goodness : 0.993417 Centerline is valid? [True, True] Translation: X:74.71, Y:26.61, Z:18.67 [[ 3.92520899e-01 -8.83406987e-01 -2.55967653e-01 7.47065974e+01] [ 7.59944270e-01 4.68276632e-01 -4.50778995e-01 2.66071275e+01] [ 5.18084985e-01 -1.75809744e-02 8.55148442e-01 1.86738668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.630714057 meters Centerline goodness : 0.992880 Centerline is valid? [True, True] Translation: X:74.72, Y:26.64, Z:18.69 [[ 4.01112854e-01 -8.85695886e-01 -2.33776122e-01 7.47231544e+01] [ 7.59489193e-01 4.64236343e-01 -4.55698128e-01 2.66360067e+01] [ 5.12137329e-01 5.23593865e-03 8.58887618e-01 1.86926871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.660714057 meters Centerline goodness : 0.992610 Centerline is valid? [True, True] Translation: X:74.75, Y:26.66, Z:18.69 [[ 4.01301548e-01 -8.76635469e-01 -2.65456817e-01 7.47519862e+01] [ 7.59659062e-01 4.80463887e-01 -4.38260839e-01 2.66565574e+01] [ 5.11737411e-01 -2.57819236e-02 8.58754980e-01 1.86946569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.69071405700001 meters Centerline goodness : 0.993538 Centerline is valid? [True, True] Translation: X:74.76, Y:26.67, Z:18.71 [[ 3.95332135e-01 -8.72661529e-01 -2.86660704e-01 7.47602135e+01] [ 7.59272960e-01 4.86096970e-01 -4.32682688e-01 2.66695296e+01] [ 5.16930435e-01 -4.66003506e-02 8.54758055e-01 1.87050844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.72071405700001 meters Centerline goodness : 0.992790 Centerline is valid? [True, True] Translation: X:74.76, Y:26.70, Z:18.74 [[ 4.01594020e-01 -8.84468185e-01 -2.37567408e-01 7.47590414e+01] [ 7.58465038e-01 4.66593606e-01 -4.54995817e-01 2.66961831e+01] [ 5.13276758e-01 2.53702611e-03 8.58219397e-01 1.87372045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.750714057 meters Centerline goodness : 0.992896 Centerline is valid? [True, True] Translation: X:74.78, Y:26.71, Z:18.74 [[ 3.94310018e-01 -8.75393383e-01 -2.79653421e-01 7.47829415e+01] [ 7.60170171e-01 4.81698273e-01 -4.36013859e-01 2.67100711e+01] [ 5.16392217e-01 -4.06595564e-02 8.55386392e-01 1.87367919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.780714057 meters Centerline goodness : 0.993100 Centerline is valid? [True, True] Translation: X:74.78, Y:26.74, Z:18.77 [[ 4.00160247e-01 -8.87878063e-01 -2.27033749e-01 7.47839825e+01] [ 7.60541421e-01 4.59954029e-01 -4.58278341e-01 2.67392194e+01] [ 5.11320373e-01 1.07162046e-02 8.59323361e-01 1.87681435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.810714057 meters Centerline goodness : 0.992541 Centerline is valid? [True, True] Translation: X:74.82, Y:26.75, Z:18.76 [[ 3.89272585e-01 -8.74047166e-01 -2.90703297e-01 7.48174761e+01] [ 7.63304777e-01 4.82744148e-01 -4.29329599e-01 2.67497906e+01] [ 5.15589635e-01 -5.47689727e-02 8.55083439e-01 1.87610621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.840714057 meters Centerline goodness : 0.992984 Centerline is valid? [True, True] Translation: X:74.81, Y:26.78, Z:18.80 [[ 3.96943214e-01 -8.95113242e-01 -2.02998447e-01 7.48076857e+01] [ 7.64677978e-01 4.44838800e-01 -4.66246750e-01 2.67846296e+01] [ 5.07645225e-01 2.98450417e-02 8.61049127e-01 1.88008686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.870714057 meters Centerline goodness : 0.993399 Centerline is valid? [True, True] Translation: X:74.86, Y:26.79, Z:18.78 [[ 0.38227266 -0.86827099 -0.31618525 74.85990772] [ 0.76775508 0.48885613 -0.41421229 26.78753913] [ 0.51421761 -0.0844108 0.85349579 18.78083741] [ 0. 0. 0. 1. ]] SLAMing on 89.900714057 meters Centerline goodness : 0.993957 Centerline is valid? [True, True] Translation: X:74.84, Y:26.81, Z:18.82 [[ 3.79664003e-01 -8.89777317e-01 -2.53281605e-01 7.48397319e+01] [ 7.67512453e-01 4.55801527e-01 -4.50743389e-01 2.68099583e+01] [ 5.16507386e-01 -2.32657462e-02 8.55966603e-01 1.88198083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.930714057 meters Centerline goodness : 0.993857 Centerline is valid? [True, True] Translation: X:74.85, Y:26.83, Z:18.83 [[ 3.77457449e-01 -8.90757026e-01 -2.53135923e-01 7.48531810e+01] [ 7.68640397e-01 4.53824030e-01 -4.50816692e-01 2.68290706e+01] [ 5.16447300e-01 -2.44063773e-02 8.55971095e-01 1.88335402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.960714057 meters Centerline goodness : 0.994174 Centerline is valid? [True, True] Translation: X:74.87, Y:26.86, Z:18.86 [[ 3.83501644e-01 -9.00085230e-01 -2.06816509e-01 7.48674780e+01] [ 7.71341237e-01 4.35320316e-01 -4.64250922e-01 2.68614104e+01] [ 5.07896826e-01 1.85148900e-02 8.61218911e-01 1.88565130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.990714057 meters Centerline goodness : 0.994988 Centerline is valid? [True, True] Translation: X:74.91, Y:26.87, Z:18.84 [[ 0.37137406 -0.87457231 -0.3117765 74.91457621] [ 0.77300984 0.47724627 -0.41796147 26.86629216] [ 0.5143317 -0.08578625 0.85328988 18.84012185] [ 0. 0. 0. 1. ]] SLAMing on 90.020714057 meters Centerline goodness : 0.994007 Centerline is valid? [True, True] Translation: X:74.89, Y:26.90, Z:18.89 [[ 3.78761305e-01 -9.04862983e-01 -1.94326676e-01 7.48938733e+01] [ 7.74084607e-01 4.24822927e-01 -4.69380977e-01 2.69037191e+01] [ 5.07279898e-01 2.73580631e-02 8.61346992e-01 1.88880897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.05071405700001 meters Centerline goodness : 0.993890 Centerline is valid? [True, True] Translation: X:74.95, Y:26.92, Z:18.88 [[ 3.74924139e-01 -8.83355775e-01 -2.81272936e-01 7.49489399e+01] [ 7.76024318e-01 4.65033795e-01 -4.26063174e-01 2.69188905e+01] [ 5.07166786e-01 -5.85332692e-02 8.59857958e-01 1.88755851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.08071405700001 meters Centerline goodness : 0.994262 Centerline is valid? [True, True] Translation: X:74.95, Y:26.94, Z:18.90 [[ 3.72679680e-01 -8.89749609e-01 -2.63544092e-01 7.49529417e+01] [ 7.76618309e-01 4.54503127e-01 -4.36223463e-01 2.69401404e+01] [ 5.07911270e-01 -4.21015466e-02 8.60379917e-01 1.88966814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.11071405700001 meters Centerline goodness : 0.994110 Centerline is valid? [True, True] Translation: X:74.97, Y:26.96, Z:18.91 [[ 3.69025371e-01 -8.90116500e-01 -2.67418946e-01 7.49685898e+01] [ 7.77844154e-01 4.53265147e-01 -4.35326519e-01 2.69587797e+01] [ 5.08703005e-01 -4.73637334e-02 8.59638255e-01 1.89108606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.140714057 meters Centerline goodness : 0.994003 Centerline is valid? [True, True] Translation: X:74.98, Y:26.98, Z:18.93 [[ 3.64989608e-01 -8.91937632e-01 -2.66889202e-01 7.49808140e+01] [ 7.79067607e-01 4.49557184e-01 -4.36980551e-01 2.69774746e+01] [ 5.09741356e-01 -4.84313719e-02 8.58963417e-01 1.89270696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.170714057 meters Centerline goodness : 0.994939 Centerline is valid? [True, True] Translation: X:74.99, Y:27.00, Z:18.94 [[ 3.62837888e-01 -8.93021031e-01 -2.66199371e-01 7.49921816e+01] [ 7.79471842e-01 4.47404322e-01 -4.38466670e-01 2.69971758e+01] [ 5.10658707e-01 -4.84025931e-02 8.58419987e-01 1.89427400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.200714057 meters Centerline goodness : 0.994610 Centerline is valid? [True, True] Translation: X:75.00, Y:27.02, Z:18.96 [[ 3.58548166e-01 -8.96100741e-01 -2.61623155e-01 7.50029069e+01] [ 7.80060865e-01 4.41550574e-01 -4.43326221e-01 2.70181826e+01] [ 5.12784809e-01 -4.51281810e-02 8.57330267e-01 1.89603508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.230714057 meters Centerline goodness : 0.994423 Centerline is valid? [True, True] Translation: X:75.02, Y:27.04, Z:18.97 [[ 3.57350154e-01 -8.94910953e-01 -2.67273743e-01 7.50179254e+01] [ 7.80355579e-01 4.43324764e-01 -4.41030979e-01 2.70378435e+01] [ 5.13172523e-01 -5.09660679e-02 8.56770927e-01 1.89734869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.260714057 meters Centerline goodness : 0.994885 Centerline is valid? [True, True] Translation: X:75.03, Y:27.06, Z:18.99 [[ 3.54994391e-01 -8.96798243e-01 -2.64067971e-01 7.50276225e+01] [ 7.80699451e-01 4.39767947e-01 -4.43973557e-01 2.70586418e+01] [ 5.14283336e-01 -4.85495977e-02 8.56245051e-01 1.89899528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.290714057 meters Centerline goodness : 0.994757 Centerline is valid? [True, True] Translation: X:75.04, Y:27.08, Z:19.00 [[ 3.54085382e-01 -8.98750284e-01 -2.58595184e-01 7.50386502e+01] [ 7.81610371e-01 4.36222609e-01 -4.45864400e-01 2.70800432e+01] [ 5.13525822e-01 -4.42466109e-02 8.56932592e-01 1.90047763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.320714057 meters Centerline goodness : 0.995091 Centerline is valid? [True, True] Translation: X:75.05, Y:27.09, Z:19.01 [[ 0.34452324 -0.8901759 -0.29814525 75.05246951] [ 0.78242215 0.44777536 -0.43279649 27.08942446] [ 0.51876711 -0.084167 0.85076237 19.01068776] [ 0. 0. 0. 1. ]] SLAMing on 90.350714057 meters Centerline goodness : 0.994182 Centerline is valid? [True, True] Translation: X:75.04, Y:27.11, Z:19.04 [[ 3.42401403e-01 -9.05158055e-01 -2.51893180e-01 7.50392978e+01] [ 7.80743983e-01 4.23256956e-01 -4.59665512e-01 2.71114097e+01] [ 5.22685482e-01 -3.92739684e-02 8.51620480e-01 1.90417527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.380714057 meters Centerline goodness : 0.994952 Centerline is valid? [True, True] Translation: X:75.05, Y:27.14, Z:19.06 [[ 3.50525051e-01 -9.12414173e-01 -2.11264210e-01 7.50497157e+01] [ 7.81337182e-01 4.09268090e-01 -4.71181323e-01 2.71440817e+01] [ 5.16376217e-01 9.22743317e-05 8.56361836e-01 1.90643126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.410714057 meters Centerline goodness : 0.995033 Centerline is valid? [True, True] Translation: X:75.09, Y:27.15, Z:19.05 [[ 0.34102569 -0.88928531 -0.30475091 75.09041254] [ 0.78331406 0.44805124 -0.43089345 27.15150103] [ 0.51973124 -0.09176994 0.84938667 19.05235493] [ 0. 0. 0. 1. ]] SLAMing on 90.44071405700001 meters Centerline goodness : 0.995301 Centerline is valid? [True, True] Translation: X:75.07, Y:27.17, Z:19.09 [[ 3.39752942e-01 -9.06139012e-01 -2.51952436e-01 7.50737860e+01] [ 7.81192349e-01 4.21062951e-01 -4.60917026e-01 2.71745332e+01] [ 5.23742735e-01 -4.02253994e-02 8.50926240e-01 1.90858329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.47071405700001 meters Centerline goodness : 0.995301 Centerline is valid? [True, True] Translation: X:75.09, Y:27.20, Z:19.10 [[ 3.39525301e-01 -9.06264050e-01 -2.51809535e-01 7.50852771e+01] [ 7.81290894e-01 4.20794564e-01 -4.60995091e-01 2.71959171e+01] [ 5.23743362e-01 -4.02169999e-02 8.50926251e-01 1.91005549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.500714057 meters Centerline goodness : 0.995046 Centerline is valid? [True, True] Translation: X:75.10, Y:27.22, Z:19.12 [[ 3.39215515e-01 -9.06397836e-01 -2.51745501e-01 7.50964818e+01] [ 7.81328352e-01 4.20503099e-01 -4.61197517e-01 2.72171461e+01] [ 5.23888194e-01 -4.02505442e-02 8.50835503e-01 1.91155943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.530714057 meters Centerline goodness : 0.994307 Centerline is valid? [True, True] Translation: X:75.11, Y:27.25, Z:19.14 [[ 3.48659468e-01 -9.13835493e-01 -2.08185655e-01 7.51066901e+01] [ 7.82420651e-01 4.06080913e-01 -4.72140040e-01 2.72518495e+01] [ 5.15998547e-01 1.72733874e-03 8.56587716e-01 1.91379431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.560714057 meters Centerline goodness : 0.994533 Centerline is valid? [True, True] Translation: X:75.15, Y:27.26, Z:19.13 [[ 0.33885176 -0.88915946 -0.30753038 75.14775402] [ 0.7842273 0.44751295 -0.42979031 27.25819031] [ 0.51977594 -0.09553852 0.84894367 19.12584204] [ 0. 0. 0. 1. ]] SLAMing on 90.590714057 meters Centerline goodness : 0.994963 Centerline is valid? [True, True] Translation: X:75.13, Y:27.28, Z:19.16 [[ 3.37712708e-01 -9.07076291e-01 -2.51321965e-01 7.51285499e+01] [ 7.81874068e-01 4.19003733e-01 -4.61637101e-01 2.72814218e+01] [ 5.24044911e-01 -4.06014117e-02 8.50722314e-01 1.91607324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.620714057 meters Centerline goodness : 0.994856 Centerline is valid? [True, True] Translation: X:75.14, Y:27.31, Z:19.18 [[ 3.45697853e-01 -9.12130835e-01 -2.20250617e-01 7.51414092e+01] [ 7.82249975e-01 4.09775174e-01 -4.69221997e-01 2.73125473e+01] [ 5.18245087e-01 -1.00820025e-02 8.55172721e-01 1.91810005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.650714057 meters Centerline goodness : 0.994866 Centerline is valid? [True, True] Translation: X:75.18, Y:27.33, Z:19.18 [[ 3.45429602e-01 -8.98709905e-01 -2.70183082e-01 7.51767136e+01] [ 7.83727975e-01 4.34626595e-01 -4.43700556e-01 2.73317484e+01] [ 5.16186838e-01 -5.84827336e-02 8.54476985e-01 1.91805116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.680714057 meters Centerline goodness : 0.993727 Centerline is valid? [True, True] Translation: X:75.18, Y:27.35, Z:19.20 [[ 3.44409298e-01 -9.01043848e-01 -2.63632735e-01 7.51829279e+01] [ 7.83380798e-01 4.30581574e-01 -4.48234351e-01 2.73526770e+01] [ 5.17394203e-01 -5.21487446e-02 8.54156746e-01 1.91979260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.710714057 meters Centerline goodness : 0.994613 Centerline is valid? [True, True] Translation: X:75.19, Y:27.37, Z:19.21 [[ 3.38227461e-01 -8.98094355e-01 -2.81120463e-01 7.51865605e+01] [ 7.82826693e-01 4.34300376e-01 -4.45606948e-01 2.73671113e+01] [ 5.22287808e-01 -6.93520957e-02 8.49944547e-01 1.92096710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.740714057 meters Centerline goodness : 0.995134 Centerline is valid? [True, True] Translation: X:75.18, Y:27.39, Z:19.24 [[ 3.38363426e-01 -9.07069690e-01 -2.50469099e-01 7.51813635e+01] [ 7.81142854e-01 4.19162525e-01 -4.62729532e-01 2.73895775e+01] [ 5.24715193e-01 -3.90813968e-02 8.50380274e-01 1.92356035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.770714057 meters Centerline goodness : 0.994367 Centerline is valid? [True, True] Translation: X:75.20, Y:27.42, Z:19.25 [[ 3.45314092e-01 -9.09757199e-01 -2.30434407e-01 7.51963485e+01] [ 7.80821664e-01 4.14724720e-01 -4.67248259e-01 2.74185960e+01] [ 5.20649313e-01 -1.85807686e-02 8.53568420e-01 1.92534411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.80071405700001 meters Centerline goodness : 0.994661 Centerline is valid? [True, True] Translation: X:75.22, Y:27.43, Z:19.25 [[ 3.40187730e-01 -8.97917380e-01 -2.79314674e-01 7.52179497e+01] [ 7.81531644e-01 4.35155181e-01 -4.47043911e-01 2.74311000e+01] [ 5.22953725e-01 -6.62144024e-02 8.49785299e-01 1.92534829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.83071405700001 meters Centerline goodness : 0.994103 Centerline is valid? [True, True] Translation: X:75.21, Y:27.47, Z:19.29 [[ 3.49575547e-01 -9.14479450e-01 -2.03775056e-01 7.52097129e+01] [ 7.80503766e-01 4.04561734e-01 -4.76595925e-01 2.74657845e+01] [ 5.18276769e-01 7.55908250e-03 8.55179543e-01 1.92877111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.86071405700001 meters Centerline goodness : 0.994938 Centerline is valid? [True, True] Translation: X:75.26, Y:27.48, Z:19.28 [[ 3.47790902e-01 -8.91869806e-01 -2.89153484e-01 7.52579962e+01] [ 7.81664538e-01 4.46125450e-01 -4.35858501e-01 2.74794216e+01] [ 5.17727765e-01 -7.44334027e-02 8.52301373e-01 1.92762371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.890714057 meters Centerline goodness : 0.994607 Centerline is valid? [True, True] Translation: X:75.25, Y:27.50, Z:19.30 [[ 3.46937762e-01 -9.00255305e-01 -2.63010598e-01 7.52535600e+01] [ 7.80232538e-01 4.32653368e-01 -4.51717002e-01 2.75008467e+01] [ 5.20453048e-01 -4.84917403e-02 8.52512273e-01 1.93008390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.920714057 meters Centerline goodness : 0.994680 Centerline is valid? [True, True] Translation: X:75.26, Y:27.52, Z:19.32 [[ 3.46738726e-01 -9.02606116e-01 -2.55096952e-01 7.52610052e+01] [ 7.80255827e-01 4.28504540e-01 -4.55614644e-01 2.75236298e+01] [ 5.20550766e-01 -4.10616425e-02 8.52842800e-01 1.93176522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.950714057 meters Centerline goodness : 0.995019 Centerline is valid? [True, True] Translation: X:75.27, Y:27.55, Z:19.33 [[ 3.46655743e-01 -9.02634207e-01 -2.55110337e-01 7.52727876e+01] [ 7.80581431e-01 4.28416877e-01 -4.55139111e-01 2.75461396e+01] [ 5.20117704e-01 -4.13578054e-02 8.53092671e-01 1.93323079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.980714057 meters Centerline goodness : 0.994929 Centerline is valid? [True, True] Translation: X:75.29, Y:27.57, Z:19.35 [[ 3.45923162e-01 -9.00248199e-01 -2.64367824e-01 7.52859656e+01] [ 7.80361337e-01 4.32488871e-01 -4.51652034e-01 2.75652572e+01] [ 5.20935072e-01 -5.00655289e-02 8.52126806e-01 1.93453838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.010714057 meters Centerline goodness : 0.994283 Centerline is valid? [True, True] Translation: X:75.29, Y:27.59, Z:19.36 [[ 3.47648374e-01 -9.03524406e-01 -2.50567868e-01 7.52916429e+01] [ 7.80402866e-01 4.26959324e-01 -4.56811890e-01 2.75879688e+01] [ 5.19722979e-01 -3.67339716e-02 8.53544750e-01 1.93626810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.040714057 meters Centerline goodness : 0.994966 Centerline is valid? [True, True] Translation: X:75.30, Y:27.61, Z:19.38 [[ 3.46385082e-01 -9.02412270e-01 -2.56260550e-01 7.53041759e+01] [ 7.80038645e-01 4.28817043e-01 -4.55692502e-01 2.76102043e+01] [ 5.21111396e-01 -4.20480479e-02 8.52452271e-01 1.93769539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.070714057 meters Centerline goodness : 0.994771 Centerline is valid? [True, True] Translation: X:75.32, Y:27.63, Z:19.39 [[ 3.46499818e-01 -9.01931777e-01 -2.57792447e-01 7.53157255e+01] [ 7.80114328e-01 4.29678522e-01 -4.54750485e-01 2.76307969e+01] [ 5.20921790e-01 -4.35366213e-02 8.52493432e-01 1.93902287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.100714057 meters Centerline goodness : 0.993791 Centerline is valid? [True, True] Translation: X:75.33, Y:27.65, Z:19.40 [[ 3.49579126e-01 -8.97399537e-01 -2.69199752e-01 7.53309785e+01] [ 7.82045813e-01 4.37721407e-01 -4.43626325e-01 2.76462682e+01] [ 5.15944553e-01 -5.54440362e-02 8.54825817e-01 1.93988546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.130714057 meters Centerline goodness : 0.994184 Centerline is valid? [True, True] Translation: X:75.32, Y:27.67, Z:19.43 [[ 3.46437104e-01 -9.09920467e-01 -2.28092254e-01 7.53237753e+01] [ 7.79417636e-01 4.14510316e-01 -4.69775848e-01 2.76744318e+01] [ 5.22005251e-01 -1.50313408e-02 8.52809813e-01 1.94290326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.160714057 meters Centerline goodness : 0.993927 Centerline is valid? [True, True] Translation: X:75.36, Y:27.69, Z:19.43 [[ 3.50475294e-01 -8.97165610e-01 -2.68813945e-01 7.53551451e+01] [ 7.82476594e-01 4.38218928e-01 -4.42373769e-01 2.76916625e+01] [ 5.14681891e-01 -5.52995437e-02 8.55595998e-01 1.94274086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.19071405700001 meters Centerline goodness : 0.994109 Centerline is valid? [True, True] Translation: X:75.35, Y:27.72, Z:19.46 [[ 3.47049315e-01 -9.08159695e-01 -2.34099854e-01 7.53493694e+01] [ 7.78798371e-01 4.18143760e-01 -4.67577688e-01 2.77190591e+01] [ 5.22522603e-01 -2.00440688e-02 8.52389796e-01 1.94569500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.22071405700001 meters Centerline goodness : 0.994348 Centerline is valid? [True, True] Translation: X:75.37, Y:27.74, Z:19.46 [[ 3.48817339e-01 -9.00846148e-01 -2.58462145e-01 7.53739620e+01] [ 7.79446983e-01 4.31984180e-01 -4.53709233e-01 2.77398544e+01] [ 5.20373773e-01 -4.31958918e-02 8.52845385e-01 1.94616304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.250714057 meters Centerline goodness : 0.993672 Centerline is valid? [True, True] Translation: X:75.39, Y:27.75, Z:19.47 [[ 3.54266731e-01 -8.94003727e-01 -2.74321746e-01 7.53903564e+01] [ 7.80366122e-01 4.44267243e-01 -4.40062873e-01 2.77541523e+01] [ 5.15290014e-01 -5.81717611e-02 8.55039325e-01 1.94683438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.280714057 meters Centerline goodness : 0.994761 Centerline is valid? [True, True] Translation: X:75.38, Y:27.78, Z:19.50 [[ 3.51612067e-01 -9.06203757e-01 -2.34869548e-01 7.53836765e+01] [ 7.77226440e-01 4.22432990e-01 -4.66336178e-01 2.77821409e+01] [ 5.21812242e-01 -1.85773952e-02 8.52858057e-01 1.95008804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.310714057 meters Centerline goodness : 0.994499 Centerline is valid? [True, True] Translation: X:75.41, Y:27.80, Z:19.50 [[ 3.57823485e-01 -8.93872098e-01 -2.70101880e-01 7.54125084e+01] [ 7.79249894e-01 4.45219874e-01 -4.41076939e-01 2.77990600e+01] [ 5.14521094e-01 -5.26491735e-02 8.55859865e-01 1.95003001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.340714057 meters Centerline goodness : 0.994229 Centerline is valid? [True, True] Translation: X:75.42, Y:27.82, Z:19.52 [[ 3.57198365e-01 -8.98117230e-01 -2.56504910e-01 7.54150696e+01] [ 7.77781696e-01 4.38066983e-01 -4.50724919e-01 2.78200520e+01] [ 5.17170148e-01 -3.85066200e-02 8.55015952e-01 1.95228982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.370714057 meters Centerline goodness : 0.994097 Centerline is valid? [True, True] Translation: X:75.42, Y:27.84, Z:19.54 [[ 3.58056850e-01 -8.99773041e-01 -2.49406830e-01 7.54216876e+01] [ 7.77674531e-01 4.35218204e-01 -4.53660048e-01 2.78413107e+01] [ 5.16737473e-01 -3.15212517e-02 8.55563437e-01 1.95394160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.400714057 meters Centerline goodness : 0.994340 Centerline is valid? [True, True] Translation: X:75.43, Y:27.87, Z:19.56 [[ 3.60521951e-01 -9.02303143e-01 -2.36374620e-01 7.54317108e+01] [ 7.77225560e-01 4.30711657e-01 -4.58702406e-01 2.78676833e+01] [ 5.15697927e-01 -1.83441099e-02 8.56574073e-01 1.95592781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.430714057 meters Centerline goodness : 0.995339 Centerline is valid? [True, True] Translation: X:75.45, Y:27.88, Z:19.56 [[ 3.46819854e-01 -8.94739482e-01 -2.81348978e-01 7.54474806e+01] [ 7.75697638e-01 4.42250757e-01 -4.50230431e-01 2.78790904e+01] [ 5.27265742e-01 -6.20928855e-02 8.47428647e-01 1.95630898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.460714057 meters Centerline goodness : 0.994667 Centerline is valid? [True, True] Translation: X:75.44, Y:27.90, Z:19.59 [[ 3.46046659e-01 -9.05072659e-01 -2.47174415e-01 7.54409571e+01] [ 7.74429482e-01 4.24266037e-01 -4.69315786e-01 2.79003309e+01] [ 5.29632596e-01 -2.90139943e-02 8.47730796e-01 1.95898371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.490714057 meters Centerline goodness : 0.994006 Centerline is valid? [True, True] Translation: X:75.46, Y:27.93, Z:19.60 [[ 3.57283271e-01 -9.04098275e-01 -2.34424769e-01 7.54612463e+01] [ 7.75061063e-01 4.27050797e-01 -4.65733793e-01 2.79260130e+01] [ 5.21180403e-01 -1.52946174e-02 8.53309476e-01 1.96029461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.520714057 meters Centerline goodness : 0.995447 Centerline is valid? [True, True] Translation: X:75.47, Y:27.94, Z:19.61 [[ 3.43327142e-01 -9.01171427e-01 -2.64606373e-01 7.54725570e+01] [ 7.74529377e-01 4.31015218e-01 -4.62958017e-01 2.79425712e+01] [ 5.31253911e-01 -4.59993560e-02 8.45962967e-01 1.96138439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.55071405700001 meters Centerline goodness : 0.994151 Centerline is valid? [True, True] Translation: X:75.48, Y:27.97, Z:19.63 [[ 3.55253573e-01 -9.05984633e-01 -2.30188496e-01 7.54842277e+01] [ 7.75754066e-01 4.23133064e-01 -4.68149591e-01 2.79698950e+01] [ 5.21536699e-01 -1.22578461e-02 8.53140795e-01 1.96349871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.58071405700001 meters Centerline goodness : 0.993947 Centerline is valid? [True, True] Translation: X:75.50, Y:28.00, Z:19.64 [[ 3.57724872e-01 -9.04658510e-01 -2.31572659e-01 7.55030388e+01] [ 7.77785381e-01 4.25881733e-01 -4.62249555e-01 2.79954562e+01] [ 5.16800559e-01 -1.47556662e-02 8.55978652e-01 1.96449183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.61071405700001 meters Centerline goodness : 0.995806 Centerline is valid? [True, True] Translation: X:75.52, Y:28.00, Z:19.65 [[ 0.34159045 -0.89264676 -0.29410496 75.52317777] [ 0.77643651 0.44435386 -0.44687357 28.00463565] [ 0.52958692 -0.07570609 0.84487057 19.64852013] [ 0. 0. 0. 1. ]] SLAMing on 91.640714057 meters Centerline goodness : 0.994776 Centerline is valid? [True, True] Translation: X:75.52, Y:28.03, Z:19.68 [[ 3.53972351e-01 -9.06866022e-01 -2.28686668e-01 7.55171428e+01] [ 7.76171466e-01 4.21263839e-01 -4.69142445e-01 2.80318958e+01] [ 5.21786767e-01 -1.14366123e-02 8.52999281e-01 1.96805222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.670714057 meters Centerline goodness : 0.994015 Centerline is valid? [True, True] Translation: X:75.54, Y:28.05, Z:19.69 [[ 3.53684510e-01 -9.01035999e-01 -2.51080457e-01 7.55399483e+01] [ 7.77025247e-01 4.32462364e-01 -4.57392687e-01 2.80522189e+01] [ 5.20710125e-01 -3.33231461e-02 8.53082958e-01 1.96877775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.700714057 meters Centerline goodness : 0.994909 Centerline is valid? [True, True] Translation: X:75.54, Y:28.07, Z:19.70 [[ 3.40769929e-01 -9.00823093e-01 -2.69060606e-01 7.55433710e+01] [ 7.75897169e-01 4.31084587e-01 -4.60597072e-01 2.80675160e+01] [ 5.30904359e-01 -5.18057311e-02 8.45846752e-01 1.97026470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.730714057 meters Centerline goodness : 0.994190 Centerline is valid? [True, True] Translation: X:75.55, Y:28.08, Z:19.72 [[ 3.41430746e-01 -9.02641024e-01 -2.62038600e-01 7.55466025e+01] [ 7.77770709e-01 4.27864283e-01 -4.60439877e-01 2.80839834e+01] [ 5.27728880e-01 -4.65976174e-02 8.48133770e-01 1.97187212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.760714057 meters Centerline goodness : 0.994460 Centerline is valid? [True, True] Translation: X:75.54, Y:28.11, Z:19.75 [[ 3.39895095e-01 -9.14387697e-01 -2.19923769e-01 7.55424028e+01] [ 7.74474674e-01 4.04807609e-01 -4.86127329e-01 2.81090079e+01] [ 5.33535664e-01 -5.09309511e-03 8.45762234e-01 1.97497969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.790714057 meters Centerline goodness : 0.994190 Centerline is valid? [True, True] Translation: X:75.57, Y:28.13, Z:19.75 [[ 3.39386386e-01 -9.07898072e-01 -2.46044652e-01 7.55666976e+01] [ 7.75531835e-01 4.18095968e-01 -4.73018112e-01 2.81293487e+01] [ 5.32322510e-01 -3.02795529e-02 8.45999938e-01 1.97543927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.820714057 meters Centerline goodness : 0.994392 Centerline is valid? [True, True] Translation: X:75.58, Y:28.15, Z:19.77 [[ 3.38665870e-01 -9.08103390e-01 -2.46279641e-01 7.55779346e+01] [ 7.75400474e-01 4.17629556e-01 -4.73645077e-01 2.81498292e+01] [ 5.32972357e-01 -3.05579285e-02 8.45580676e-01 1.97690881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.850714057 meters Centerline goodness : 0.994217 Centerline is valid? [True, True] Translation: X:75.59, Y:28.17, Z:19.78 [[ 3.37519872e-01 -9.08504301e-01 -2.46374252e-01 7.55897829e+01] [ 7.75542741e-01 4.16722692e-01 -4.74210560e-01 2.81700031e+01] [ 5.33492074e-01 -3.10182751e-02 8.45236105e-01 1.97834929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.880714057 meters Centerline goodness : 0.993998 Centerline is valid? [True, True] Translation: X:75.60, Y:28.19, Z:19.80 [[ 3.36797485e-01 -9.08831459e-01 -2.46156117e-01 7.56009652e+01] [ 7.75960853e-01 4.15987050e-01 -4.74172467e-01 2.81906694e+01] [ 5.33340612e-01 -3.13074159e-02 8.45321026e-01 1.97977126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.910714057 meters Centerline goodness : 0.993885 Centerline is valid? [True, True] Translation: X:75.62, Y:28.21, Z:19.81 [[ 3.39587423e-01 -9.04552398e-01 -2.57808732e-01 7.56195733e+01] [ 7.78683228e-01 4.24113098e-01 -4.62364047e-01 2.82086896e+01] [ 5.27572567e-01 -4.37383204e-02 8.48383254e-01 1.98073781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.94071405700001 meters Centerline goodness : 0.994362 Centerline is valid? [True, True] Translation: X:75.62, Y:28.23, Z:19.83 [[ 3.36204196e-01 -9.13727540e-01 -2.28185716e-01 7.56160792e+01] [ 7.75442327e-01 4.06072807e-01 -4.83522566e-01 2.82327745e+01] [ 5.34467900e-01 -1.43825474e-02 8.45066392e-01 1.98330584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.97071405700001 meters Centerline goodness : 0.994267 Centerline is valid? [True, True] Translation: X:75.64, Y:28.25, Z:19.84 [[ 3.36306565e-01 -9.09093721e-01 -2.45858701e-01 7.56366584e+01] [ 7.76067498e-01 4.15419639e-01 -4.74495271e-01 2.82534932e+01] [ 5.33495204e-01 -3.12270721e-02 8.45226441e-01 1.98414689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.000714057 meters Centerline goodness : 0.994072 Centerline is valid? [True, True] Translation: X:75.65, Y:28.28, Z:19.86 [[ 3.45483096e-01 -9.11034181e-01 -2.25073657e-01 7.56534315e+01] [ 7.75765837e-01 4.12220372e-01 -4.77767444e-01 2.82818460e+01] [ 5.28042419e-01 -9.54387808e-03 8.49164365e-01 1.98620064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.030714057 meters Centerline goodness : 0.993330 Centerline is valid? [True, True] Translation: X:75.68, Y:28.30, Z:19.86 [[ 3.51628932e-01 -8.98592527e-01 -2.62466310e-01 7.56835853e+01] [ 7.77972391e-01 4.36442966e-01 -4.51969575e-01 2.82992600e+01] [ 5.20688057e-01 -4.52659637e-02 8.52546151e-01 1.98602951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.060714057 meters Centerline goodness : 0.993659 Centerline is valid? [True, True] Translation: X:75.69, Y:28.32, Z:19.88 [[ 3.52317683e-01 -9.02037491e-01 -2.49400511e-01 7.56881090e+01] [ 7.77688318e-01 4.30430189e-01 -4.58181985e-01 2.83202301e+01] [ 5.20646838e-01 -3.25302484e-02 8.53152187e-01 1.98800065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.090714057 meters Centerline goodness : 0.994049 Centerline is valid? [True, True] Translation: X:75.70, Y:28.35, Z:19.90 [[ 3.50480358e-01 -9.06287137e-01 -2.36235358e-01 7.56957472e+01] [ 7.75710888e-01 4.22241276e-01 -4.69025504e-01 2.83455325e+01] [ 5.24820100e-01 -1.88661131e-02 8.51004073e-01 1.99016941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.120714057 meters Centerline goodness : 0.994123 Centerline is valid? [True, True] Translation: X:75.72, Y:28.37, Z:19.91 [[ 3.50086880e-01 -9.00160796e-01 -2.59132627e-01 7.57186788e+01] [ 7.76108838e-01 4.33639446e-01 -4.57833924e-01 2.83662144e+01] [ 5.24494278e-01 -4.08334724e-02 8.50434230e-01 1.99100949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.150714057 meters Centerline goodness : 0.994662 Centerline is valid? [True, True] Translation: X:75.72, Y:28.38, Z:19.92 [[ 3.42091312e-01 -8.96667287e-01 -2.81000552e-01 7.57238601e+01] [ 7.76167049e-01 4.38198258e-01 -4.53372913e-01 2.83779402e+01] [ 5.29658613e-01 -6.30084345e-02 8.45867419e-01 1.99195106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.180714057 meters Centerline goodness : 0.994724 Centerline is valid? [True, True] Translation: X:75.72, Y:28.40, Z:19.95 [[ 3.41497992e-01 -9.07837480e-01 -2.43331525e-01 7.57161009e+01] [ 7.75025321e-01 4.18459777e-01 -4.73526311e-01 2.84001503e+01] [ 5.31709389e-01 -2.68798087e-02 8.46500208e-01 1.99468699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.210714057 meters Centerline goodness : 0.995155 Centerline is valid? [True, True] Translation: X:75.72, Y:28.42, Z:19.96 [[ 3.41565119e-01 -9.08999628e-01 -2.38857585e-01 7.57244047e+01] [ 7.73512043e-01 4.16241349e-01 -4.77935413e-01 2.84185088e+01] [ 5.33865516e-01 -2.15131518e-02 8.45295685e-01 1.99608663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.240714057 meters Centerline goodness : 0.994921 Centerline is valid? [True, True] Translation: X:75.74, Y:28.44, Z:19.97 [[ 3.38662594e-01 -9.08344401e-01 -2.45393757e-01 7.57426505e+01] [ 7.75447456e-01 4.17162027e-01 -4.73980047e-01 2.84410758e+01] [ 5.32906079e-01 -2.97706521e-02 8.45650530e-01 1.99737683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.270714057 meters Centerline goodness : 0.995141 Centerline is valid? [True, True] Translation: X:75.75, Y:28.46, Z:19.99 [[ 3.37594707e-01 -9.09209156e-01 -2.43656570e-01 7.57538235e+01] [ 7.75853487e-01 4.15348203e-01 -4.74907608e-01 2.84611292e+01] [ 5.32992665e-01 -2.87155049e-02 8.45632449e-01 1.99877843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.30071405700001 meters Centerline goodness : 0.995383 Centerline is valid? [True, True] Translation: X:75.77, Y:28.48, Z:20.00 [[ 3.35715342e-01 -9.09926390e-01 -2.43575805e-01 7.57665172e+01] [ 7.76692176e-01 4.13703060e-01 -4.74972676e-01 2.84812223e+01] [ 5.32958228e-01 -2.97278080e-02 8.45619172e-01 2.00030631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.33071405700001 meters Centerline goodness : 0.994768 Centerline is valid? [True, True] Translation: X:75.78, Y:28.50, Z:20.02 [[ 3.35360358e-01 -9.10152698e-01 -2.43219029e-01 7.57781641e+01] [ 7.77150329e-01 4.13197255e-01 -4.74663455e-01 2.85024929e+01] [ 5.32513659e-01 -2.98344425e-02 8.45895448e-01 2.00176405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.36071405700001 meters Centerline goodness : 0.994768 Centerline is valid? [True, True] Translation: X:75.79, Y:28.52, Z:20.03 [[ 3.35119998e-01 -9.10282987e-01 -2.43062690e-01 7.57890422e+01] [ 7.77253670e-01 4.12910807e-01 -4.74743508e-01 2.85240685e+01] [ 5.32514150e-01 -2.98253251e-02 8.45895461e-01 2.00325460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.390714057 meters Centerline goodness : 0.995375 Centerline is valid? [True, True] Translation: X:75.80, Y:28.54, Z:20.05 [[ 3.35730668e-01 -9.10168808e-01 -2.42647193e-01 7.57999252e+01] [ 7.77380187e-01 4.13193246e-01 -4.74290403e-01 2.85439628e+01] [ 5.31944512e-01 -2.93952870e-02 8.46268842e-01 2.00476331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.420714057 meters Centerline goodness : 0.994777 Centerline is valid? [True, True] Translation: X:75.82, Y:28.58, Z:20.07 [[ 3.43595382e-01 -9.13556337e-01 -2.17616711e-01 7.58172158e+01] [ 7.77740874e-01 4.06686583e-01 -4.79296521e-01 2.85757699e+01] [ 5.26366171e-01 -4.56533939e-03 8.50245736e-01 2.00676193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.450714057 meters Centerline goodness : 0.994966 Centerline is valid? [True, True] Translation: X:75.84, Y:28.59, Z:20.06 [[ 3.36441887e-01 -8.98521174e-01 -2.81898131e-01 7.58418735e+01] [ 7.78724010e-01 4.33781317e-01 -4.53235794e-01 2.85855240e+01] [ 5.29524101e-01 -6.70333372e-02 8.45642217e-01 2.00643915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.480714057 meters Centerline goodness : 0.995683 Centerline is valid? [True, True] Translation: X:75.83, Y:28.61, Z:20.09 [[ 3.38754149e-01 -9.09451782e-01 -2.41128767e-01 7.58333457e+01] [ 7.77480281e-01 4.14907719e-01 -4.72626700e-01 2.86065984e+01] [ 5.29877381e-01 -2.73686065e-02 8.47632539e-01 2.00916216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.510714057 meters Centerline goodness : 0.995677 Centerline is valid? [True, True] Translation: X:75.84, Y:28.63, Z:20.11 [[ 3.39604709e-01 -9.09256190e-01 -2.40669532e-01 7.58446236e+01] [ 7.77653917e-01 4.15367714e-01 -4.71936486e-01 2.86279856e+01] [ 5.29077525e-01 -2.68857512e-02 8.48147469e-01 2.01063019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.540714057 meters Centerline goodness : 0.995458 Centerline is valid? [True, True] Translation: X:75.86, Y:28.65, Z:20.12 [[ 3.40520724e-01 -9.08991669e-01 -2.40374256e-01 7.58556460e+01] [ 7.77450310e-01 4.15987104e-01 -4.71726345e-01 2.86491528e+01] [ 5.28787908e-01 -2.62464435e-02 8.48348085e-01 2.01215046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.570714057 meters Centerline goodness : 0.995155 Centerline is valid? [True, True] Translation: X:75.87, Y:28.67, Z:20.14 [[ 3.42230700e-01 -9.08471327e-01 -2.39912475e-01 7.58669198e+01] [ 7.77135137e-01 4.17187364e-01 -4.71185402e-01 2.86695860e+01] [ 5.28146880e-01 -2.51903044e-02 8.48779312e-01 2.01354531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.600714057 meters Centerline goodness : 0.995192 Centerline is valid? [True, True] Translation: X:75.88, Y:28.69, Z:20.15 [[ 3.42344139e-01 -9.08462691e-01 -2.39783297e-01 7.58780573e+01] [ 7.77122098e-01 4.17215546e-01 -4.71181954e-01 2.86904499e+01] [ 5.28092545e-01 -2.50345185e-02 8.48817729e-01 2.01496838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.630714057 meters Centerline goodness : 0.994637 Centerline is valid? [True, True] Translation: X:75.89, Y:28.71, Z:20.16 [[ 3.42221999e-01 -9.08467986e-01 -2.39937536e-01 7.58892124e+01] [ 7.76721308e-01 4.17212727e-01 -4.71844836e-01 2.87108037e+01] [ 5.28760922e-01 -2.48889136e-02 8.48405816e-01 2.01636975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.660714057 meters Centerline goodness : 0.995118 Centerline is valid? [True, True] Translation: X:75.90, Y:28.73, Z:20.18 [[ 3.41015915e-01 -9.08875876e-01 -2.40109950e-01 7.59017511e+01] [ 7.76859313e-01 4.16291016e-01 -4.72431368e-01 2.87316298e+01] [ 5.29337088e-01 -2.54250357e-02 8.48030551e-01 2.01772196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.69071405700001 meters Centerline goodness : 0.995032 Centerline is valid? [True, True] Translation: X:75.91, Y:28.75, Z:20.19 [[ 3.39423905e-01 -9.09343187e-01 -2.40595889e-01 7.59145207e+01] [ 7.76624711e-01 4.15230429e-01 -4.73748615e-01 2.87513375e+01] [ 5.30702809e-01 -2.60511075e-02 8.47157523e-01 2.01912947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.72071405700001 meters Centerline goodness : 0.995745 Centerline is valid? [True, True] Translation: X:75.93, Y:28.77, Z:20.21 [[ 3.39110510e-01 -9.09478875e-01 -2.40524921e-01 7.59261601e+01] [ 7.76672049e-01 4.14930509e-01 -4.73933752e-01 2.87717126e+01] [ 5.30833864e-01 -2.60930662e-02 8.47074118e-01 2.02057182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.750714057 meters Centerline goodness : 0.995564 Centerline is valid? [True, True] Translation: X:75.94, Y:28.79, Z:20.22 [[ 3.38648700e-01 -9.09705060e-01 -2.40320122e-01 7.59376073e+01] [ 7.76973963e-01 4.14424900e-01 -4.73881276e-01 2.87931168e+01] [ 5.30686837e-01 -2.62431994e-02 8.47161599e-01 2.02203073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.780714057 meters Centerline goodness : 0.994428 Centerline is valid? [True, True] Translation: X:75.96, Y:28.82, Z:20.24 [[ 3.51106559e-01 -9.10595275e-01 -2.18037681e-01 7.59568794e+01] [ 7.78835726e-01 4.13278327e-01 -4.71821933e-01 2.88221489e+01] [ 5.19749070e-01 -4.15576033e-03 8.54308863e-01 2.02394404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.810714057 meters Centerline goodness : 0.993993 Centerline is valid? [True, True] Translation: X:75.99, Y:28.84, Z:20.24 [[ 3.51647807e-01 -8.99763338e-01 -2.58398442e-01 7.59856588e+01] [ 7.78096591e-01 4.34399519e-01 -4.53721008e-01 2.88397131e+01] [ 5.20489688e-01 -4.15089490e-02 8.52858424e-01 2.02427197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.840714057 meters Centerline goodness : 0.994240 Centerline is valid? [True, True] Translation: X:75.99, Y:28.86, Z:20.26 [[ 3.56983922e-01 -9.01740901e-01 -2.43774130e-01 7.59890161e+01] [ 7.75946911e-01 4.31558133e-01 -4.60069526e-01 2.88598980e+01] [ 5.20066218e-01 -2.49183595e-02 8.53762382e-01 2.02596080e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.870714057 meters Centerline goodness : 0.994377 Centerline is valid? [True, True] Translation: X:76.00, Y:28.88, Z:20.28 [[ 3.53294431e-01 -9.00883078e-01 -2.52175980e-01 7.60022425e+01] [ 7.73032788e-01 4.32943960e-01 -4.63659181e-01 2.88825655e+01] [ 5.26880777e-01 -3.11320939e-02 8.49368848e-01 2.02776615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.900714057 meters Centerline goodness : 0.994998 Centerline is valid? [True, True] Translation: X:76.01, Y:28.90, Z:20.29 [[ 3.47443821e-01 -8.95603270e-01 -2.77808521e-01 7.60110887e+01] [ 7.75706420e-01 4.40972052e-01 -4.51467828e-01 2.88951551e+01] [ 5.26841857e-01 -5.86381461e-02 8.47938220e-01 2.02857465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.930714057 meters Centerline goodness : 0.994193 Centerline is valid? [True, True] Translation: X:76.00, Y:28.92, Z:20.32 [[ 3.62686651e-01 -9.08784229e-01 -2.06324063e-01 7.60017614e+01] [ 7.70105252e-01 4.16951333e-01 -4.82793420e-01 2.89231766e+01] [ 5.24782139e-01 1.62114844e-02 8.51082190e-01 2.03220980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.960714057 meters Centerline goodness : 0.995148 Centerline is valid? [True, True] Translation: X:76.03, Y:28.93, Z:20.32 [[ 3.55063074e-01 -8.92692211e-01 -2.77544284e-01 7.60327790e+01] [ 7.72899703e-01 4.47331561e-01 -4.50022803e-01 2.89349242e+01] [ 5.25886169e-01 -5.47274148e-02 8.48792464e-01 2.03191861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.990714057 meters Centerline goodness : 0.993860 Centerline is valid? [True, True] Translation: X:76.02, Y:28.96, Z:20.36 [[ 3.67242103e-01 -9.07463685e-01 -2.04065914e-01 7.60242512e+01] [ 7.69851948e-01 4.19678646e-01 -4.80830336e-01 2.89646846e+01] [ 5.21978175e-01 1.94806023e-02 8.52736355e-01 2.03550494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.020714057 meters Centerline goodness : 0.994116 Centerline is valid? [True, True] Translation: X:76.06, Y:28.99, Z:20.36 [[ 3.68896790e-01 -8.98972536e-01 -2.36143047e-01 7.60552348e+01] [ 7.70610906e-01 4.37863084e-01 -4.63071001e-01 2.89880596e+01] [ 5.19686434e-01 -1.11490021e-02 8.54284326e-01 2.03573751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.05071405700001 meters Centerline goodness : 0.994237 Centerline is valid? [True, True] Translation: X:76.07, Y:29.01, Z:20.37 [[ 3.69199184e-01 -8.97129319e-01 -2.42592141e-01 7.60735415e+01] [ 7.70437552e-01 4.41437448e-01 -4.59955387e-01 2.90098021e+01] [ 5.19728719e-01 -1.70869408e-02 8.54160462e-01 2.03704206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.08071405700001 meters Centerline goodness : 0.994959 Centerline is valid? [True, True] Translation: X:76.10, Y:29.02, Z:20.38 [[ 3.65292050e-01 -8.90426803e-01 -2.71480803e-01 7.60957560e+01] [ 7.69637016e-01 4.52940001e-01 -4.50004687e-01 2.90246899e+01] [ 5.23660750e-01 -4.45585404e-02 8.50760810e-01 2.03810355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.11071405700001 meters Centerline goodness : 0.994333 Centerline is valid? [True, True] Translation: X:76.09, Y:29.05, Z:20.40 [[ 3.62697303e-01 -9.02234226e-01 -2.33289664e-01 7.60929464e+01] [ 7.71742925e-01 4.31118942e-01 -4.67492584e-01 2.90470109e+01] [ 5.22363403e-01 -1.04813483e-02 8.52658558e-01 2.04046512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.140714057 meters Centerline goodness : 0.994037 Centerline is valid? [True, True] Translation: X:76.11, Y:29.07, Z:20.42 [[ 3.59030236e-01 -9.01184505e-01 -2.42824582e-01 7.61101555e+01] [ 7.72948624e-01 4.32918648e-01 -4.63823101e-01 2.90684219e+01] [ 5.23113481e-01 -2.11644086e-02 8.52000208e-01 2.04174830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.170714057 meters Centerline goodness : 0.994201 Centerline is valid? [True, True] Translation: X:76.13, Y:29.09, Z:20.43 [[ 3.53120877e-01 -9.01398291e-01 -2.50572880e-01 7.61273159e+01] [ 7.74562717e-01 4.31886143e-01 -4.62089772e-01 2.90872936e+01] [ 5.24745885e-01 -3.09108656e-02 8.50697522e-01 2.04311270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.200714057 meters Centerline goodness : 0.993857 Centerline is valid? [True, True] Translation: X:76.13, Y:29.11, Z:20.45 [[ 3.50945834e-01 -9.05010222e-01 -2.40402827e-01 7.61348400e+01] [ 7.75811011e-01 4.24779999e-01 -4.66561065e-01 2.91074696e+01] [ 5.24360845e-01 -2.27694983e-02 8.51191667e-01 2.04464944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.230714057 meters Centerline goodness : 0.995350 Centerline is valid? [True, True] Translation: X:76.14, Y:29.12, Z:20.46 [[ 3.37040783e-01 -9.02198818e-01 -2.69148293e-01 7.61436512e+01] [ 7.79068856e-01 4.27772240e-01 -4.58325897e-01 2.91193943e+01] [ 5.28635250e-01 -5.52105335e-02 8.47051692e-01 2.04558896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.260714057 meters Centerline goodness : 0.994669 Centerline is valid? [True, True] Translation: X:76.13, Y:29.15, Z:20.49 [[ 3.31315031e-01 -9.20645953e-01 -2.06497893e-01 7.61324210e+01] [ 7.78018583e-01 3.90391045e-01 -4.92221411e-01 2.91460602e+01] [ 5.33776578e-01 2.42115366e-03 8.45622080e-01 2.04880568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.290714057 meters Centerline goodness : 0.993983 Centerline is valid? [True, True] Translation: X:76.17, Y:29.17, Z:20.49 [[ 3.40278520e-01 -9.13188538e-01 -2.24270425e-01 7.61679305e+01] [ 7.81646194e-01 4.07277351e-01 -4.72392195e-01 2.91700379e+01] [ 5.22723403e-01 -1.45552071e-02 8.52378079e-01 2.04945054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.320714057 meters Centerline goodness : 0.988170 Centerline is valid? [True, True] Translation: X:76.19, Y:29.18, Z:20.49 [[ 3.31511837e-01 -9.07267929e-01 -2.58775592e-01 7.61901689e+01] [ 7.87095776e-01 4.17192458e-01 -4.54346445e-01 2.91841857e+01] [ 5.20173184e-01 -5.30599507e-02 8.52410993e-01 2.04922252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.350714057 meters Centerline goodness : 0.995003 Centerline is valid? [True, True] Translation: X:76.18, Y:29.21, Z:20.52 [[ 3.28303843e-01 -9.18790243e-01 -2.19182746e-01 7.61831159e+01] [ 7.85481564e-01 3.94437953e-01 -4.76903989e-01 2.92072139e+01] [ 5.24628726e-01 -1.55945937e-02 8.51188292e-01 2.05241349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.380714057 meters Centerline goodness : 0.994938 Centerline is valid? [True, True] Translation: X:76.20, Y:29.23, Z:20.53 [[ 3.27357370e-01 -9.15627948e-01 -2.33372262e-01 7.62019293e+01] [ 7.87097482e-01 4.00888951e-01 -4.68791641e-01 2.92273696e+01] [ 5.22795090e-01 -3.02243212e-02 8.51922405e-01 2.05341874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.410714057 meters Centerline goodness : 0.988331 Centerline is valid? [True, True] Translation: X:76.20, Y:29.25, Z:20.55 [[ 3.18762659e-01 -9.24186648e-01 -2.10402964e-01 7.62008258e+01] [ 7.89469972e-01 3.81723455e-01 -4.80649943e-01 2.92503668e+01] [ 5.24526006e-01 -1.28935686e-02 8.51296790e-01 2.05542067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.44071405700001 meters Centerline goodness : 0.994686 Centerline is valid? [True, True] Translation: X:76.22, Y:29.27, Z:20.57 [[ 3.15207863e-01 -9.20028874e-01 -2.32789334e-01 7.62230925e+01] [ 7.88846362e-01 3.90371965e-01 -4.74690579e-01 2.92710054e+01] [ 5.27603469e-01 -3.40088162e-02 8.48809743e-01 2.05654391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.47071405700001 meters Centerline goodness : 0.995117 Centerline is valid? [True, True] Translation: X:76.24, Y:29.29, Z:20.58 [[ 3.10835874e-01 -9.20945267e-01 -2.35033772e-01 7.62367035e+01] [ 7.89957348e-01 3.87830603e-01 -4.74926112e-01 2.92920317e+01] [ 5.28534245e-01 -3.80425820e-02 8.48059145e-01 2.05781863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.500714057 meters Centerline goodness : 0.987548 Centerline is valid? [True, True] Translation: X:76.25, Y:29.31, Z:20.58 [[ 3.10754253e-01 -9.20990360e-01 -2.34964999e-01 7.62462171e+01] [ 7.93799578e-01 3.87439498e-01 -4.68799387e-01 2.93096390e+01] [ 5.22794438e-01 -4.08337133e-02 8.51480231e-01 2.05842812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.530714057 meters Centerline goodness : 0.994337 Centerline is valid? [True, True] Translation: X:76.26, Y:29.33, Z:20.60 [[ 3.09391961e-01 -9.24597945e-01 -2.22250433e-01 7.62561124e+01] [ 7.93464093e-01 3.79822430e-01 -4.75551947e-01 2.93313616e+01] [ 5.24110052e-01 -2.92157889e-02 8.51149276e-01 2.06049669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.560714057 meters Centerline goodness : 0.993515 Centerline is valid? [True, True] Translation: X:76.27, Y:29.35, Z:20.62 [[ 3.07351412e-01 -9.22484536e-01 -2.33575236e-01 7.62728301e+01] [ 7.95854582e-01 3.83748632e-01 -4.68350801e-01 2.93536753e+01] [ 5.21680548e-01 -4.19436419e-02 8.52109228e-01 2.06155248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.590714057 meters Centerline goodness : 0.994781 Centerline is valid? [True, True] Translation: X:76.27, Y:29.38, Z:20.64 [[ 3.00354811e-01 -9.28065485e-01 -2.20185021e-01 7.62718288e+01] [ 7.93904745e-01 3.71193982e-01 -4.81591406e-01 2.93766868e+01] [ 5.28679717e-01 -3.01576374e-02 8.48285491e-01 2.06361190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.620714057 meters Centerline goodness : 0.986155 Centerline is valid? [True, True] Translation: X:76.29, Y:29.39, Z:20.64 [[ 3.03469936e-01 -9.23644450e-01 -2.34066078e-01 7.62886995e+01] [ 7.98387754e-01 3.80567797e-01 -4.66631703e-01 2.93929891e+01] [ 5.20079794e-01 -4.52667978e-02 8.52917303e-01 2.06358977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.650714057 meters Centerline goodness : 0.994860 Centerline is valid? [True, True] Translation: X:76.29, Y:29.42, Z:20.66 [[ 2.98135835e-01 -9.29591263e-01 -2.16737417e-01 7.62887785e+01] [ 7.95049919e-01 3.67492076e-01 -4.82540361e-01 2.94184773e+01] [ 5.28214587e-01 -2.84544929e-02 8.48634015e-01 2.06637445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.680714057 meters Centerline goodness : 0.993449 Centerline is valid? [True, True] Translation: X:76.31, Y:29.45, Z:20.68 [[ 3.12594008e-01 -9.28781989e-01 -1.99120573e-01 7.63110578e+01] [ 7.97525164e-01 3.70492347e-01 -4.76118717e-01 2.94515356e+01] [ 5.15983138e-01 -9.97180964e-03 8.56540696e-01 2.06761552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.710714057 meters Centerline goodness : 0.993212 Centerline is valid? [True, True] Translation: X:76.35, Y:29.46, Z:20.68 [[ 0.31074813 -0.91096259 -0.27126141 76.34578631] [ 0.7972562 0.40519559 -0.44743613 29.4612857 ] [ 0.5175115 -0.0772249 0.85218435 20.67584709] [ 0. 0. 0. 1. ]] SLAMing on 93.740714057 meters Centerline goodness : 0.994487 Centerline is valid? [True, True] Translation: X:76.33, Y:29.50, Z:20.71 [[ 3.08233371e-01 -9.27012141e-01 -2.13636795e-01 7.63309325e+01] [ 7.95632927e-01 3.74315107e-01 -4.76294495e-01 2.94967066e+01] [ 5.21498259e-01 -2.31666110e-02 8.52937790e-01 2.07068593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.770714057 meters Centerline goodness : 0.993147 Centerline is valid? [True, True] Translation: X:76.36, Y:29.51, Z:20.71 [[ 3.12646003e-01 -9.12696940e-01 -2.63128815e-01 7.63579708e+01] [ 7.96488706e-01 4.02837644e-01 -4.50918589e-01 2.95105442e+01] [ 5.17550208e-01 -6.86012348e-02 8.52898384e-01 2.07053294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.80071405700001 meters Centerline goodness : 0.993346 Centerline is valid? [True, True] Translation: X:76.36, Y:29.53, Z:20.73 [[ 3.11582419e-01 -9.17062896e-01 -2.48821302e-01 7.63571983e+01] [ 7.95196702e-01 3.94997638e-01 -4.60042467e-01 2.95322448e+01] [ 5.20171704e-01 -5.45207342e-02 8.52319710e-01 2.07273975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.83071405700001 meters Centerline goodness : 0.993981 Centerline is valid? [True, True] Translation: X:76.36, Y:29.56, Z:20.75 [[ 3.10198805e-01 -9.20340878e-01 -2.38221264e-01 7.63599976e+01] [ 7.94928772e-01 3.88539887e-01 -4.65966741e-01 2.95558543e+01] [ 5.21406702e-01 -4.48266113e-02 8.52130052e-01 2.07467977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.86071405700001 meters Centerline goodness : 0.993711 Centerline is valid? [True, True] Translation: X:76.37, Y:29.58, Z:20.76 [[ 3.11255921e-01 -9.19094387e-01 -2.41630421e-01 7.63681526e+01] [ 7.93896613e-01 3.91230639e-01 -4.65474762e-01 2.95753970e+01] [ 5.22348465e-01 -4.69477966e-02 8.51438774e-01 2.07604777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.890714057 meters Centerline goodness : 0.994483 Centerline is valid? [True, True] Translation: X:76.37, Y:29.61, Z:20.78 [[ 3.10747181e-01 -9.25299696e-01 -2.17385977e-01 7.63657347e+01] [ 7.93249664e-01 3.78462657e-01 -4.76991601e-01 2.96050932e+01] [ 5.23632658e-01 -2.42175576e-02 8.51599876e-01 2.07816717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.920714057 meters Centerline goodness : 0.995705 Centerline is valid? [True, True] Translation: X:76.38, Y:29.63, Z:20.79 [[ 3.12954822e-01 -9.20795923e-01 -2.32796365e-01 7.63809586e+01] [ 7.93498558e-01 3.88184903e-01 -4.68692351e-01 2.96299812e+01] [ 5.21938040e-01 -3.80440489e-02 8.52134574e-01 2.07910942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.950714057 meters Centerline goodness : 0.994771 Centerline is valid? [True, True] Translation: X:76.40, Y:29.65, Z:20.80 [[ 3.13532832e-01 -9.14764392e-01 -2.54761203e-01 7.63969748e+01] [ 7.92894567e-01 3.99828239e-01 -4.59843000e-01 2.96479216e+01] [ 5.22508726e-01 -5.78228959e-02 8.50670997e-01 2.08005539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.980714057 meters Centerline goodness : 0.994766 Centerline is valid? [True, True] Translation: X:76.39, Y:29.67, Z:20.81 [[ 3.14574452e-01 -9.15573738e-01 -2.50534715e-01 7.63919692e+01] [ 7.93388909e-01 3.98504944e-01 -4.60138945e-01 2.96660372e+01] [ 5.21130457e-01 -5.40235076e-02 8.51765524e-01 2.08113134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.010714057 meters Centerline goodness : 0.987749 Centerline is valid? [True, True] Translation: X:76.39, Y:29.69, Z:20.83 [[ 3.14532020e-01 -9.22053308e-01 -2.25582149e-01 7.63854742e+01] [ 7.92537998e-01 3.85878448e-01 -4.72209006e-01 2.96872457e+01] [ 5.22449165e-01 -3.02575725e-02 8.52133410e-01 2.08298308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.040714057 meters Centerline goodness : 0.995110 Centerline is valid? [True, True] Translation: X:76.39, Y:29.71, Z:20.85 [[ 3.14310416e-01 -9.24097180e-01 -2.17378392e-01 7.63920848e+01] [ 7.90265426e-01 3.81575302e-01 -4.79458908e-01 2.97118478e+01] [ 5.26012850e-01 -2.10876987e-02 8.50215144e-01 2.08539755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.070714057 meters Centerline goodness : 0.994983 Centerline is valid? [True, True] Translation: X:76.41, Y:29.73, Z:20.86 [[ 3.15964746e-01 -9.18577472e-01 -2.37448325e-01 7.64084923e+01] [ 7.90201642e-01 3.93299252e-01 -4.69996876e-01 2.97336845e+01] [ 5.25116790e-01 -3.91296128e-02 8.50130125e-01 2.08624223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.100714057 meters Centerline goodness : 0.995147 Centerline is valid? [True, True] Translation: X:76.41, Y:29.76, Z:20.88 [[ 3.18353371e-01 -9.22196669e-01 -2.19555085e-01 7.64112769e+01] [ 7.90702818e-01 3.86074953e-01 -4.75115970e-01 2.97616622e+01] [ 5.22915084e-01 -2.23480535e-02 8.52091767e-01 2.08787472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.130714057 meters Centerline goodness : 0.995931 Centerline is valid? [True, True] Translation: X:76.43, Y:29.78, Z:20.89 [[ 3.16632260e-01 -9.18291499e-01 -2.37665171e-01 7.64284680e+01] [ 7.91446495e-01 3.93868942e-01 -4.67418124e-01 2.97847243e+01] [ 5.22835019e-01 -4.00996098e-02 8.51490202e-01 2.08871645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.160714057 meters Centerline goodness : 0.995931 Centerline is valid? [True, True] Translation: X:76.44, Y:29.81, Z:20.90 [[ 3.15983992e-01 -9.18208464e-01 -2.38845837e-01 7.64392420e+01] [ 7.91617151e-01 3.93919297e-01 -4.67086581e-01 2.98065463e+01] [ 5.22968836e-01 -4.14825789e-02 8.51341760e-01 2.09017543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.19071405700001 meters Centerline goodness : 0.995189 Centerline is valid? [True, True] Translation: X:76.45, Y:29.83, Z:20.91 [[ 3.17606641e-01 -9.18318136e-01 -2.36257959e-01 7.64478820e+01] [ 7.92533894e-01 3.93879785e-01 -4.65562822e-01 2.98275202e+01] [ 5.20592017e-01 -3.93765967e-02 8.52897084e-01 2.09133075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.22071405700001 meters Centerline goodness : 0.995273 Centerline is valid? [True, True] Translation: X:76.46, Y:29.85, Z:20.93 [[ 3.14811807e-01 -9.18606565e-01 -2.38862944e-01 7.64577617e+01] [ 7.93729069e-01 3.92785335e-01 -4.64450046e-01 2.98495646e+01] [ 5.20468722e-01 -4.33781038e-02 8.52778195e-01 2.09273185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.250714057 meters Centerline goodness : 0.995273 Centerline is valid? [True, True] Translation: X:76.47, Y:29.87, Z:20.94 [[ 3.14191407e-01 -9.19675283e-01 -2.35544336e-01 7.64662348e+01] [ 7.93736579e-01 3.90590029e-01 -4.66284968e-01 2.98715389e+01] [ 5.20832029e-01 -4.04574250e-02 8.52699944e-01 2.09433378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.280714057 meters Centerline goodness : 0.995608 Centerline is valid? [True, True] Translation: X:76.47, Y:29.89, Z:20.95 [[ 3.04907964e-01 -9.18444362e-01 -2.51974377e-01 7.64707487e+01] [ 7.94878436e-01 3.91147465e-01 -4.63866287e-01 2.98868938e+01] [ 5.24594515e-01 -5.88524737e-02 8.49315596e-01 2.09546418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.310714057 meters Centerline goodness : 0.994509 Centerline is valid? [True, True] Translation: X:76.47, Y:29.92, Z:20.98 [[ 3.09496499e-01 -9.30154433e-01 -1.97546569e-01 7.64671881e+01] [ 7.95557763e-01 3.67081853e-01 -4.82015309e-01 2.99203686e+01] [ 5.20864437e-01 -7.97765592e-03 8.53602129e-01 2.09844813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.340714057 meters Centerline goodness : 0.994586 Centerline is valid? [True, True] Translation: X:76.50, Y:29.94, Z:20.98 [[ 3.07108439e-01 -9.16819265e-01 -2.55199610e-01 7.65023894e+01] [ 7.97252588e-01 3.94287721e-01 -4.57083694e-01 2.99392798e+01] [ 5.19685209e-01 -6.30842896e-02 8.52025619e-01 2.09841812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.370714057 meters Centerline goodness : 0.994823 Centerline is valid? [True, True] Translation: X:76.50, Y:29.96, Z:21.00 [[ 3.05004227e-01 -9.20620971e-01 -2.43781562e-01 7.65045210e+01] [ 7.97860571e-01 3.86779323e-01 -4.62407033e-01 2.99610849e+01] [ 5.19991279e-01 -5.34675964e-02 8.52496502e-01 2.10027655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.400714057 meters Centerline goodness : 0.994207 Centerline is valid? [True, True] Translation: X:76.51, Y:29.98, Z:21.02 [[ 3.03246483e-01 -9.21540449e-01 -2.42496951e-01 7.65121620e+01] [ 7.98279545e-01 3.84643141e-01 -4.63464585e-01 2.99823775e+01] [ 5.20376150e-01 -5.30363504e-02 8.52288571e-01 2.10183746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.430714057 meters Centerline goodness : 0.994590 Centerline is valid? [True, True] Translation: X:76.52, Y:30.00, Z:21.03 [[ 3.02465479e-01 -9.22304864e-01 -2.40558457e-01 7.65206445e+01] [ 7.98274495e-01 3.83024090e-01 -4.64812195e-01 3.00046763e+01] [ 5.20838233e-01 -5.14420369e-02 8.52104015e-01 2.10344362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.460714057 meters Centerline goodness : 0.994643 Centerline is valid? [True, True] Translation: X:76.53, Y:30.03, Z:21.05 [[ 2.99397256e-01 -9.21730645e-01 -2.46523631e-01 7.65293167e+01] [ 7.98557451e-01 3.83475685e-01 -4.63953011e-01 3.00254508e+01] [ 5.22175527e-01 -5.79570240e-02 8.50866442e-01 2.10490206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.490714057 meters Centerline goodness : 0.994886 Centerline is valid? [True, True] Translation: X:76.53, Y:30.05, Z:21.07 [[ 2.97285113e-01 -9.25084845e-01 -2.36304025e-01 7.65322684e+01] [ 7.98729721e-01 3.76556139e-01 -4.69293412e-01 3.00476974e+01] [ 5.23117954e-01 -4.92291028e-02 8.50837294e-01 2.10657658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.520714057 meters Centerline goodness : 0.994523 Centerline is valid? [True, True] Translation: X:76.54, Y:30.07, Z:21.08 [[ 2.96287102e-01 -9.25777080e-01 -2.34841972e-01 7.65422688e+01] [ 7.99412357e-01 3.74926902e-01 -4.69435514e-01 3.00705206e+01] [ 5.22641213e-01 -4.86478859e-02 8.51163642e-01 2.10800658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.55071405700001 meters Centerline goodness : 0.994726 Centerline is valid? [True, True] Translation: X:76.55, Y:30.09, Z:21.09 [[ 2.95009448e-01 -9.26075125e-01 -2.35274919e-01 7.65520741e+01] [ 8.00229541e-01 3.74014236e-01 -4.68770768e-01 3.00924827e+01] [ 5.22113117e-01 -4.99821352e-02 8.51410406e-01 2.10927736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.58071405700001 meters Centerline goodness : 0.994977 Centerline is valid? [True, True] Translation: X:76.56, Y:30.11, Z:21.11 [[ 2.92042803e-01 -9.25972690e-01 -2.39344059e-01 7.65622158e+01] [ 8.00650615e-01 3.73586825e-01 -4.68392438e-01 3.01143788e+01] [ 5.23134393e-01 -5.48403273e-02 8.50483948e-01 2.11066622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.61071405700001 meters Centerline goodness : 0.994492 Centerline is valid? [True, True] Translation: X:76.57, Y:30.14, Z:21.12 [[ 2.88987742e-01 -9.27006838e-01 -2.39048966e-01 7.65692279e+01] [ 8.01016400e-01 3.70887604e-01 -4.69909686e-01 3.01353873e+01] [ 5.24269790e-01 -5.56840031e-02 8.49729651e-01 2.11205451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.640714057 meters Centerline goodness : 0.995345 Centerline is valid? [True, True] Translation: X:76.57, Y:30.16, Z:21.13 [[ 2.85066751e-01 -9.30229223e-01 -2.31107202e-01 7.65671505e+01] [ 8.01580607e-01 3.63564412e-01 -4.74646656e-01 3.01550570e+01] [ 5.25552545e-01 -4.99450712e-02 8.49293832e-01 2.11318482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.670714057 meters Centerline goodness : 0.994913 Centerline is valid? [True, True] Translation: X:76.58, Y:30.18, Z:21.15 [[ 2.86901067e-01 -9.30357213e-01 -2.28305133e-01 7.65817312e+01] [ 8.01015601e-01 3.63699510e-01 -4.75496239e-01 3.01793964e+01] [ 5.25415821e-01 -4.64555951e-02 8.49576420e-01 2.11526216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.700714057 meters Centerline goodness : 0.994706 Centerline is valid? [True, True] Translation: X:76.59, Y:30.20, Z:21.16 [[ 2.85999397e-01 -9.28250499e-01 -2.37813699e-01 7.65938892e+01] [ 8.01479334e-01 3.67756695e-01 -4.71578086e-01 3.01997981e+01] [ 5.25200173e-01 -5.57317167e-02 8.49151785e-01 2.11643551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.730714057 meters Centerline goodness : 0.994506 Centerline is valid? [True, True] Translation: X:76.60, Y:30.22, Z:21.18 [[ 2.86298655e-01 -9.29986318e-01 -2.30561333e-01 7.65980377e+01] [ 8.01779498e-01 3.64283613e-01 -4.73758468e-01 3.02215979e+01] [ 5.24578608e-01 -4.92229378e-02 8.49937872e-01 2.11800602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.760714057 meters Centerline goodness : 0.994839 Centerline is valid? [True, True] Translation: X:76.60, Y:30.25, Z:21.20 [[ 2.87201749e-01 -9.33283912e-01 -2.15629995e-01 7.66029424e+01] [ 8.02728618e-01 3.57333239e-01 -4.77430332e-01 3.02488614e+01] [ 5.22629812e-01 -3.59735420e-02 8.51800436e-01 2.11982219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.790714057 meters Centerline goodness : 0.994759 Centerline is valid? [True, True] Translation: X:76.63, Y:30.27, Z:21.20 [[ 2.88491285e-01 -9.26353944e-01 -2.42159347e-01 7.66250866e+01] [ 8.04019259e-01 3.71712327e-01 -4.64093716e-01 3.02691004e+01] [ 5.19928658e-01 -6.08137860e-02 8.52042178e-01 2.12027856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.820714057 meters Centerline goodness : 0.994652 Centerline is valid? [True, True] Translation: X:76.63, Y:30.29, Z:21.22 [[ 2.84279772e-01 -9.27854740e-01 -2.41393025e-01 7.66300607e+01] [ 8.03564445e-01 3.67925072e-01 -4.67883879e-01 3.02892771e+01] [ 5.22942821e-01 -6.09649298e-02 8.50184735e-01 2.12211083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.850714057 meters Centerline goodness : 0.994287 Centerline is valid? [True, True] Translation: X:76.64, Y:30.31, Z:21.23 [[ 2.88119171e-01 -9.25227855e-01 -2.46861823e-01 7.66375668e+01] [ 8.04634325e-01 3.73682973e-01 -4.61437577e-01 3.03061510e+01] [ 5.19182960e-01 -6.56844841e-02 8.52135319e-01 2.12325271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.880714057 meters Centerline goodness : 0.993894 Centerline is valid? [True, True] Translation: X:76.63, Y:30.33, Z:21.26 [[ 2.88442769e-01 -9.32497919e-01 -2.17366970e-01 7.66330487e+01] [ 8.03923135e-01 3.59169104e-01 -4.74030745e-01 3.03304966e+01] [ 5.20104183e-01 -3.80155949e-02 8.53256382e-01 2.12565999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.910714057 meters Centerline goodness : 0.994037 Centerline is valid? [True, True] Translation: X:76.64, Y:30.35, Z:21.27 [[ 2.89732003e-01 -9.30638913e-01 -2.23532056e-01 7.66436233e+01] [ 8.03612928e-01 3.63394848e-01 -4.71328385e-01 3.03530528e+01] [ 5.19866934e-01 -4.30743332e-02 8.53160579e-01 2.12691941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.94071405700001 meters Centerline goodness : 0.994396 Centerline is valid? [True, True] Translation: X:76.65, Y:30.38, Z:21.29 [[ 2.90903923e-01 -9.32127805e-01 -2.15667945e-01 7.66503749e+01] [ 8.03742078e-01 3.60373310e-01 -4.73423436e-01 3.03777473e+01] [ 5.19012120e-01 -3.56206672e-02 8.54024348e-01 2.12850631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.97071405700001 meters Centerline goodness : 0.993758 Centerline is valid? [True, True] Translation: X:76.66, Y:30.40, Z:21.30 [[ 2.92943010e-01 -9.29774371e-01 -2.22943965e-01 7.66642881e+01] [ 8.03766132e-01 3.65756435e-01 -4.69235800e-01 3.04001152e+01] [ 5.17826610e-01 -4.17354604e-02 8.54466941e-01 2.12964071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.000714057 meters Centerline goodness : 0.994085 Centerline is valid? [True, True] Translation: X:76.67, Y:30.42, Z:21.31 [[ 2.96314951e-01 -9.28596567e-01 -2.23396206e-01 7.66734222e+01] [ 8.03354539e-01 3.68826834e-01 -4.67534225e-01 3.04247243e+01] [ 5.16545192e-01 -4.09289754e-02 8.55281172e-01 2.13103523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.030714057 meters Centerline goodness : 0.994457 Centerline is valid? [True, True] Translation: X:76.68, Y:30.45, Z:21.32 [[ 2.97395062e-01 -9.27921363e-01 -2.24762365e-01 7.66834798e+01] [ 8.03264454e-01 3.70421582e-01 -4.66426917e-01 3.04479970e+01] [ 5.16064332e-01 -4.18305561e-02 8.55527796e-01 2.13248383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.060714057 meters Centerline goodness : 0.993911 Centerline is valid? [True, True] Translation: X:76.69, Y:30.47, Z:21.34 [[ 3.01960000e-01 -9.26183380e-01 -2.25841770e-01 7.66918259e+01] [ 8.01694578e-01 3.74894528e-01 -4.65553322e-01 3.04702109e+01] [ 5.15854593e-01 -4.04776415e-02 8.55719346e-01 2.13379900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.090714057 meters Centerline goodness : 0.994175 Centerline is valid? [True, True] Translation: X:76.70, Y:30.50, Z:21.35 [[ 3.05335772e-01 -9.26929697e-01 -2.18108694e-01 7.66986775e+01] [ 8.01522884e-01 3.73840512e-01 -4.66695123e-01 3.04962442e+01] [ 5.14131435e-01 -3.23203940e-02 8.57102246e-01 2.13547163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.120714057 meters Centerline goodness : 0.992830 Centerline is valid? [True, True] Translation: X:76.71, Y:30.52, Z:21.37 [[ 3.10816485e-01 -9.23138449e-01 -2.26292989e-01 7.67110207e+01] [ 7.99741987e-01 3.82663945e-01 -4.62580868e-01 3.05196700e+01] [ 5.13620353e-01 -3.71982454e-02 8.57210840e-01 2.13659916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.150714057 meters Centerline goodness : 0.992923 Centerline is valid? [True, True] Translation: X:76.73, Y:30.54, Z:21.38 [[ 3.08743637e-01 -9.17537263e-01 -2.50604743e-01 7.67260882e+01] [ 7.98282868e-01 3.93218016e-01 -4.56206153e-01 3.05362325e+01] [ 5.17128445e-01 -5.92027261e-02 8.53857839e-01 2.13773680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.180714057 meters Centerline goodness : 0.993422 Centerline is valid? [True, True] Translation: X:76.72, Y:30.56, Z:21.40 [[ 3.16210958e-01 -9.26649361e-01 -2.03301728e-01 7.67150863e+01] [ 7.96446248e-01 3.75732213e-01 -4.73812914e-01 3.05632929e+01] [ 5.15445442e-01 -1.20940627e-02 8.56837050e-01 2.14040433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.210714057 meters Centerline goodness : 0.993428 Centerline is valid? [True, True] Translation: X:76.73, Y:30.57, Z:21.40 [[ 3.07060966e-01 -9.16556182e-01 -2.56199783e-01 7.67307700e+01] [ 7.96974286e-01 3.94781641e-01 -4.57142695e-01 3.05739531e+01] [ 5.20139934e-01 -6.38139612e-02 8.51693741e-01 2.14023932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.240714057 meters Centerline goodness : 0.993200 Centerline is valid? [True, True] Translation: X:76.72, Y:30.61, Z:21.44 [[ 3.17739877e-01 -9.31053484e-01 -1.79390021e-01 7.67214562e+01] [ 7.94453688e-01 3.64692237e-01 -4.85636602e-01 3.06067860e+01] [ 5.17575799e-01 1.17890503e-02 8.55556141e-01 2.14426872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.270714057 meters Centerline goodness : 0.992088 Centerline is valid? [True, True] Translation: X:76.75, Y:30.63, Z:21.44 [[ 3.20338017e-01 -9.23864696e-01 -2.09422008e-01 7.67516503e+01] [ 7.95659998e-01 3.82379018e-01 -4.69799377e-01 3.06336529e+01] [ 5.14109640e-01 -1.61341133e-02 8.57572719e-01 2.14423517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.30071405700001 meters Centerline goodness : 0.992505 Centerline is valid? [True, True] Translation: X:76.77, Y:30.65, Z:21.45 [[ 3.20026379e-01 -9.16931372e-01 -2.38369409e-01 7.67730088e+01] [ 7.95056626e-01 3.96753980e-01 -4.58771447e-01 3.06526251e+01] [ 5.15235944e-01 -4.26982134e-02 8.55984103e-01 2.14473739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.33071405700001 meters Centerline goodness : 0.992822 Centerline is valid? [True, True] Translation: X:76.78, Y:30.67, Z:21.46 [[ 3.17275961e-01 -9.16690159e-01 -2.42930273e-01 7.67799937e+01] [ 7.93119987e-01 3.96930185e-01 -4.61960079e-01 3.06680855e+01] [ 5.19900616e-01 -4.61040270e-02 8.52981693e-01 2.14624799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.36071405700001 meters Centerline goodness : 0.992567 Centerline is valid? [True, True] Translation: X:76.78, Y:30.69, Z:21.48 [[ 3.17604845e-01 -9.22630683e-01 -2.18814498e-01 7.67789187e+01] [ 7.93034780e-01 3.84963167e-01 -4.72122015e-01 3.06917567e+01] [ 5.19829780e-01 -2.35792682e-02 8.53944388e-01 2.14847153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.390714057 meters Centerline goodness : 0.992993 Centerline is valid? [True, True] Translation: X:76.79, Y:30.72, Z:21.51 [[ 3.11704552e-01 -9.26346596e-01 -2.11476371e-01 7.67864562e+01] [ 7.91639165e-01 3.76271784e-01 -4.81380282e-01 3.07187125e+01] [ 5.25497578e-01 -1.73645529e-02 8.50617874e-01 2.15059847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.420714057 meters Centerline goodness : 0.992613 Centerline is valid? [True, True] Translation: X:76.80, Y:30.74, Z:21.51 [[ 3.14593752e-01 -9.23341809e-01 -2.20160565e-01 7.68041095e+01] [ 7.94067119e-01 3.83073313e-01 -4.71923985e-01 3.07426882e+01] [ 5.20084783e-01 -2.63579289e-02 8.53707841e-01 2.15121622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.450714057 meters Centerline goodness : 0.992495 Centerline is valid? [True, True] Translation: X:76.82, Y:30.76, Z:21.52 [[ 3.12939489e-01 -9.18710910e-01 -2.40913138e-01 7.68232855e+01] [ 7.95066210e-01 3.92154282e-01 -4.62692923e-01 3.07631495e+01] [ 5.19556155e-01 -4.67470086e-02 8.53156562e-01 2.15219343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.480714057 meters Centerline goodness : 0.992744 Centerline is valid? [True, True] Translation: X:76.83, Y:30.78, Z:21.54 [[ 3.11161063e-01 -9.21411215e-01 -2.32766334e-01 7.68292495e+01] [ 7.96475203e-01 3.86453346e-01 -4.65060279e-01 3.07835013e+01] [ 5.18465085e-01 -4.06839625e-02 8.54130418e-01 2.15383011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.510714057 meters Centerline goodness : 0.992555 Centerline is valid? [True, True] Translation: X:76.84, Y:30.80, Z:21.55 [[ 3.12406438e-01 -9.19473019e-01 -2.38687212e-01 7.68407530e+01] [ 7.99036789e-01 3.90235175e-01 -4.57445863e-01 3.08016524e+01] [ 5.13753275e-01 -4.78108304e-02 8.56604750e-01 2.15500612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.540714057 meters Centerline goodness : 0.993583 Centerline is valid? [True, True] Translation: X:76.84, Y:30.83, Z:21.58 [[ 3.02194341e-01 -9.28782458e-01 -2.14573360e-01 7.68378247e+01] [ 7.97460095e-01 3.69640528e-01 -4.76889165e-01 3.08264703e+01] [ 5.22241301e-01 -2.70004853e-02 8.52370223e-01 2.15771179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.570714057 meters Centerline goodness : 0.993930 Centerline is valid? [True, True] Translation: X:76.86, Y:30.85, Z:21.59 [[ 2.99298953e-01 -9.26171739e-01 -2.29403678e-01 7.68558056e+01] [ 7.98690474e-01 3.74721522e-01 -4.70826196e-01 3.08487655e+01] [ 5.22028412e-01 -4.23047450e-02 8.51878304e-01 2.15865726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.600714057 meters Centerline goodness : 0.994128 Centerline is valid? [True, True] Translation: X:76.87, Y:30.87, Z:21.60 [[ 2.96009178e-01 -9.25312653e-01 -2.37012787e-01 7.68681554e+01] [ 7.99736815e-01 3.75766220e-01 -4.68210183e-01 3.08689648e+01] [ 5.22302205e-01 -5.09533394e-02 8.51236843e-01 2.15989880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.630714057 meters Centerline goodness : 0.993462 Centerline is valid? [True, True] Translation: X:76.88, Y:30.89, Z:21.61 [[ 2.94281921e-01 -9.24658101e-01 -2.41672397e-01 7.68805168e+01] [ 8.03217140e-01 3.76320380e-01 -4.61763140e-01 3.08871336e+01] [ 5.17919276e-01 -5.82268679e-02 8.53445520e-01 2.16090071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.660714057 meters Centerline goodness : 0.994008 Centerline is valid? [True, True] Translation: X:76.88, Y:30.91, Z:21.64 [[ 2.83315814e-01 -9.33752394e-01 -2.18720405e-01 7.68768956e+01] [ 8.00818229e-01 3.55824630e-01 -4.81745780e-01 3.09101655e+01] [ 5.27657383e-01 -3.86690900e-02 8.48576683e-01 2.16361145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.69071405700001 meters Centerline goodness : 0.993649 Centerline is valid? [True, True] Translation: X:76.90, Y:30.93, Z:21.64 [[ 2.85215940e-01 -9.27486439e-01 -2.41703896e-01 7.68972326e+01] [ 8.04590957e-01 3.68728577e-01 -4.65481072e-01 3.09278048e+01] [ 5.20850515e-01 -6.17101480e-02 8.51414469e-01 2.16404697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.72071405700001 meters Centerline goodness : 0.994644 Centerline is valid? [True, True] Translation: X:76.89, Y:30.96, Z:21.67 [[ 2.80475099e-01 -9.39245692e-01 -1.97866746e-01 7.68870659e+01] [ 8.01199587e-01 3.42607084e-01 -4.90611462e-01 3.09551297e+01] [ 5.28595251e-01 -2.09264566e-02 8.48616017e-01 2.16714211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.750714057 meters Centerline goodness : 0.994470 Centerline is valid? [True, True] Translation: X:76.92, Y:30.97, Z:21.67 [[ 2.82830867e-01 -9.28283006e-01 -2.41448465e-01 7.69176977e+01] [ 8.05541401e-01 3.66530395e-01 -4.65573325e-01 3.09742944e+01] [ 5.20682007e-01 -6.28182270e-02 8.51436503e-01 2.16674853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.780714057 meters Centerline goodness : 0.994780 Centerline is valid? [True, True] Translation: X:76.91, Y:31.00, Z:21.69 [[ 2.82442261e-01 -9.34532168e-01 -2.16508651e-01 7.69142523e+01] [ 8.04876449e-01 3.53661240e-01 -4.76547615e-01 3.09961896e+01] [ 5.21919794e-01 -3.96655275e-02 8.52071813e-01 2.16903239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.810714057 meters Centerline goodness : 0.994129 Centerline is valid? [True, True] Translation: X:76.93, Y:31.02, Z:21.70 [[ 2.81282834e-01 -9.31419595e-01 -2.30949139e-01 7.69283133e+01] [ 8.05014017e-01 3.60025213e-01 -4.71523360e-01 3.10156554e+01] [ 5.22333610e-01 -5.32858673e-02 8.51074742e-01 2.17013297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.840714057 meters Centerline goodness : 0.994360 Centerline is valid? [True, True] Translation: X:76.93, Y:31.04, Z:21.72 [[ 2.81126552e-01 -9.35643991e-01 -2.13396776e-01 7.69296261e+01] [ 8.04982316e-01 3.50968491e-01 -4.78356133e-01 3.10380804e+01] [ 5.22466585e-01 -3.73020203e-02 8.51843428e-01 2.17213286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.870714057 meters Centerline goodness : 0.994615 Centerline is valid? [True, True] Translation: X:76.94, Y:31.06, Z:21.73 [[ 2.80715506e-01 -9.33826326e-01 -2.21736777e-01 7.69423633e+01] [ 8.05986282e-01 3.54794584e-01 -4.73821608e-01 3.10587316e+01] [ 5.21138099e-01 -4.57077275e-02 8.52247549e-01 2.17336685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.900714057 meters Centerline goodness : 0.994598 Centerline is valid? [True, True] Translation: X:76.95, Y:31.08, Z:21.75 [[ 2.81325683e-01 -9.36435711e-01 -2.09628286e-01 7.69473975e+01] [ 8.06093923e-01 3.49133358e-01 -4.77826836e-01 3.10833208e+01] [ 5.20642341e-01 -3.45551268e-02 8.53075317e-01 2.17512718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.930714057 meters Centerline goodness : 0.994714 Centerline is valid? [True, True] Translation: X:76.96, Y:31.10, Z:21.76 [[ 2.79826541e-01 -9.32533797e-01 -2.28205661e-01 7.69640035e+01] [ 8.06182472e-01 3.57316926e-01 -4.71587147e-01 3.11039530e+01] [ 5.21312698e-01 -5.20128040e-02 8.51779161e-01 2.17604921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.960714057 meters Centerline goodness : 0.995136 Centerline is valid? [True, True] Translation: X:76.97, Y:31.12, Z:21.78 [[ 2.78442854e-01 -9.35263855e-01 -2.18520246e-01 7.69670782e+01] [ 8.05808128e-01 3.51287417e-01 -4.76728865e-01 3.11247813e+01] [ 5.22630689e-01 -4.33436449e-02 8.51456688e-01 2.17796816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.990714057 meters Centerline goodness : 0.995694 Centerline is valid? [True, True] Translation: X:76.98, Y:31.15, Z:21.79 [[ 2.77850670e-01 -9.35280904e-01 -2.19199989e-01 7.69764648e+01] [ 8.05321695e-01 3.51183212e-01 -4.77626757e-01 3.11462605e+01] [ 5.23694541e-01 -4.38175927e-02 8.50778494e-01 2.17945539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.020714057 meters Centerline goodness : 0.995190 Centerline is valid? [True, True] Translation: X:76.98, Y:31.17, Z:21.81 [[ 2.77290517e-01 -9.37017020e-01 -2.12388965e-01 7.69834349e+01] [ 8.06137893e-01 3.47172757e-01 -4.79179271e-01 3.11681156e+01] [ 5.22734795e-01 -3.83429255e-02 8.51632640e-01 2.18117060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.05071405700001 meters Centerline goodness : 0.995446 Centerline is valid? [True, True] Translation: X:77.00, Y:31.19, Z:21.82 [[ 2.77268232e-01 -9.35939863e-01 -2.17114948e-01 7.69963451e+01] [ 8.06501359e-01 3.49538262e-01 -4.76842282e-01 3.11914368e+01] [ 5.22185681e-01 -4.28902845e-02 8.51752627e-01 2.18224233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.08071405700001 meters Centerline goodness : 0.995394 Centerline is valid? [True, True] Translation: X:77.01, Y:31.21, Z:21.84 [[ 2.74386736e-01 -9.35986796e-01 -2.20546225e-01 7.70050605e+01] [ 8.06873614e-01 3.48863171e-01 -4.76706889e-01 3.12113131e+01] [ 5.23131809e-01 -4.71508824e-02 8.50946476e-01 2.18385926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.11071405700001 meters Centerline goodness : 0.994849 Centerline is valid? [True, True] Translation: X:77.01, Y:31.23, Z:21.85 [[ 2.74660090e-01 -9.36922448e-01 -2.16190107e-01 7.70099784e+01] [ 8.04391184e-01 3.47069044e-01 -4.82180362e-01 3.12307893e+01] [ 5.26798499e-01 -4.14657146e-02 8.48978172e-01 2.18530299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.140714057 meters Centerline goodness : 0.994849 Centerline is valid? [True, True] Translation: X:77.02, Y:31.25, Z:21.87 [[ 2.74411841e-01 -9.37206409e-01 -2.15272590e-01 7.70192240e+01] [ 8.04543403e-01 3.46378969e-01 -4.82422557e-01 3.12529944e+01] [ 5.26695410e-01 -4.08136805e-02 8.49073724e-01 2.18679435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.170714057 meters Centerline goodness : 0.994805 Centerline is valid? [True, True] Translation: X:77.03, Y:31.28, Z:21.88 [[ 2.73610290e-01 -9.35936048e-01 -2.21723079e-01 7.70324800e+01] [ 8.06739130e-01 3.48832103e-01 -4.76957168e-01 3.12762724e+01] [ 5.23745534e-01 -4.83722950e-02 8.50500286e-01 2.18825249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.200714057 meters Centerline goodness : 0.994788 Centerline is valid? [True, True] Translation: X:77.04, Y:31.30, Z:21.90 [[ 2.78277396e-01 -9.38779536e-01 -2.03112465e-01 7.70352166e+01] [ 8.06113404e-01 3.43245372e-01 -4.82041278e-01 3.13015159e+01] [ 5.22247901e-01 -2.95904890e-02 8.52280196e-01 2.19020484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.230714057 meters Centerline goodness : 0.994579 Centerline is valid? [True, True] Translation: X:77.05, Y:31.32, Z:21.91 [[ 2.77072563e-01 -9.32351680e-01 -2.32273845e-01 7.70549195e+01] [ 8.06783829e-01 3.57038069e-01 -4.70769234e-01 3.13205219e+01] [ 5.21853091e-01 -5.69575436e-02 8.51131711e-01 2.19088071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.260714057 meters Centerline goodness : 0.995470 Centerline is valid? [True, True] Translation: X:77.05, Y:31.34, Z:21.94 [[ 2.76351252e-01 -9.38520084e-01 -2.06905864e-01 7.70493488e+01] [ 8.02253226e-01 3.43818973e-01 -4.88035116e-01 3.13447535e+01] [ 5.29168920e-01 -3.11217812e-02 8.47945570e-01 2.19358779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.290714057 meters Centerline goodness : 0.995260 Centerline is valid? [True, True] Translation: X:77.07, Y:31.37, Z:21.94 [[ 2.77114319e-01 -9.33443716e-01 -2.27794828e-01 7.70660036e+01] [ 8.01653058e-01 3.55307138e-01 -4.80738194e-01 3.13652174e+01] [ 5.29679175e-01 -4.93929832e-02 8.46758705e-01 2.19446344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.320714057 meters Centerline goodness : 0.994360 Centerline is valid? [True, True] Translation: X:77.08, Y:31.39, Z:21.96 [[ 2.81801330e-01 -9.33166284e-01 -2.23133810e-01 7.70756002e+01] [ 8.04765252e-01 3.56511886e-01 -4.74607379e-01 3.13877924e+01] [ 5.22437460e-01 -4.58253460e-02 8.51445323e-01 2.19573095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.350714057 meters Centerline goodness : 0.994332 Centerline is valid? [True, True] Translation: X:77.08, Y:31.41, Z:21.97 [[ 2.82695551e-01 -9.33729584e-01 -2.19618508e-01 7.70810026e+01] [ 8.03799269e-01 3.55542882e-01 -4.76965401e-01 3.14102392e+01] [ 5.23440503e-01 -4.16931995e-02 8.51041548e-01 2.19735333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.380714057 meters Centerline goodness : 0.994450 Centerline is valid? [True, True] Translation: X:77.09, Y:31.43, Z:21.99 [[ 2.81721815e-01 -9.35760380e-01 -2.12097454e-01 7.70866283e+01] [ 8.03127367e-01 3.50925727e-01 -4.81495136e-01 3.14332095e+01] [ 5.24994525e-01 -3.46935861e-02 8.50398203e-01 2.19900878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.410714057 meters Centerline goodness : 0.995187 Centerline is valid? [True, True] Translation: X:77.09, Y:31.46, Z:22.01 [[ 2.79709510e-01 -9.38575138e-01 -2.02087356e-01 7.70918559e+01] [ 8.01974510e-01 3.44131870e-01 -4.88272610e-01 3.14584324e+01] [ 5.27825232e-01 -2.54944154e-02 8.48970293e-01 2.20069868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.44071405700001 meters Centerline goodness : 0.994107 Centerline is valid? [True, True] Translation: X:77.12, Y:31.48, Z:22.01 [[ 2.81001604e-01 -9.31159553e-01 -2.32335932e-01 7.71156577e+01] [ 8.05732769e-01 3.60419655e-01 -4.69991891e-01 3.14785234e+01] [ 5.21375875e-01 -5.51321981e-02 8.51544266e-01 2.20083088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.47071405700001 meters Centerline goodness : 0.995328 Centerline is valid? [True, True] Translation: X:77.11, Y:31.50, Z:22.03 [[ 2.77149104e-01 -9.39053217e-01 -2.03389848e-01 7.71100646e+01] [ 8.02669436e-01 3.42633303e-01 -4.88184592e-01 3.15028241e+01] [ 5.28119447e-01 -2.79548926e-02 8.48709829e-01 2.20344915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.500714057 meters Centerline goodness : 0.995046 Centerline is valid? [True, True] Translation: X:77.13, Y:31.53, Z:22.04 [[ 2.74625671e-01 -9.35413995e-01 -2.22668812e-01 7.71276414e+01] [ 8.04122294e-01 3.50393290e-01 -4.80220656e-01 3.15255157e+01] [ 5.27226780e-01 -4.71720359e-02 8.48414239e-01 2.20415447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.530714057 meters Centerline goodness : 0.995067 Centerline is valid? [True, True] Translation: X:77.14, Y:31.55, Z:22.06 [[ 2.73264850e-01 -9.35489198e-01 -2.24022951e-01 7.71370385e+01] [ 8.04758707e-01 3.49906076e-01 -4.79509293e-01 3.15471471e+01] [ 5.26962755e-01 -4.92513852e-02 8.48460108e-01 2.20557958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.560714057 meters Centerline goodness : 0.994738 Centerline is valid? [True, True] Translation: X:77.15, Y:31.57, Z:22.07 [[ 2.74164925e-01 -9.33598070e-01 -2.30712456e-01 7.71497734e+01] [ 8.07737976e-01 3.53750415e-01 -4.71614256e-01 3.15681084e+01] [ 5.21912786e-01 -5.70551246e-02 8.51088571e-01 2.20672740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.590714057 meters Centerline goodness : 0.995440 Centerline is valid? [True, True] Translation: X:77.15, Y:31.59, Z:22.09 [[ 2.71805243e-01 -9.39307486e-01 -2.09340291e-01 7.71476729e+01] [ 8.05119049e-01 3.41111924e-01 -4.85207145e-01 3.15908245e+01] [ 5.27167172e-01 -3.66620097e-02 8.48970358e-01 2.20904670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.620714057 meters Centerline goodness : 0.996048 Centerline is valid? [True, True] Translation: X:77.17, Y:31.61, Z:22.10 [[ 2.69042383e-01 -9.33530158e-01 -2.36933831e-01 7.71663086e+01] [ 8.04947635e-01 3.53024145e-01 -4.76899630e-01 3.16114811e+01] [ 5.28843551e-01 -6.24131143e-02 8.46421350e-01 2.21001887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.650714057 meters Centerline goodness : 0.995842 Centerline is valid? [True, True] Translation: X:77.16, Y:31.63, Z:22.12 [[ 2.66249765e-01 -9.40256142e-01 -2.12201438e-01 7.71565777e+01] [ 8.05298136e-01 3.37966720e-01 -4.87107183e-01 3.16302118e+01] [ 5.29722545e-01 -4.11932495e-02 8.47170079e-01 2.21190637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.680714057 meters Centerline goodness : 0.996456 Centerline is valid? [True, True] Translation: X:77.16, Y:31.65, Z:22.13 [[ 2.66118022e-01 -9.40714391e-01 -2.10327440e-01 7.71639669e+01] [ 8.05417138e-01 3.36877274e-01 -4.87664779e-01 3.16523152e+01] [ 5.29607810e-01 -3.96249386e-02 8.47316607e-01 2.21342093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.710714057 meters Centerline goodness : 0.995786 Centerline is valid? [True, True] Translation: X:77.17, Y:31.67, Z:22.15 [[ 2.65737877e-01 -9.40857030e-01 -2.10170002e-01 7.71726604e+01] [ 8.05544988e-01 3.36470801e-01 -4.87734223e-01 3.16740970e+01] [ 5.29604241e-01 -3.96919348e-02 8.47315701e-01 2.21489924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.740714057 meters Centerline goodness : 0.996323 Centerline is valid? [True, True] Translation: X:77.19, Y:31.70, Z:22.16 [[ 2.65849486e-01 -9.37385143e-01 -2.25018099e-01 7.71922311e+01] [ 8.05373017e-01 3.44248531e-01 -4.82563210e-01 3.16973565e+01] [ 5.29809734e-01 -5.29343239e-02 8.46462996e-01 2.21644343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.770714057 meters Centerline goodness : 0.996007 Centerline is valid? [True, True] Translation: X:77.20, Y:31.72, Z:22.18 [[ 2.63983949e-01 -9.38458169e-01 -2.22730195e-01 7.71992680e+01] [ 8.05690137e-01 3.41503466e-01 -4.83982216e-01 3.17183364e+01] [ 5.30260198e-01 -5.16879844e-02 8.46257925e-01 2.21810328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.80071405700001 meters Centerline goodness : 0.996192 Centerline is valid? [True, True] Translation: X:77.20, Y:31.74, Z:22.20 [[ 2.63141399e-01 -9.41220584e-01 -2.11802776e-01 7.72030106e+01] [ 8.05635260e-01 3.35159459e-01 -4.88487426e-01 3.17400156e+01] [ 5.30762124e-01 -4.20945201e-02 8.46474819e-01 2.21991509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.83071405700001 meters Centerline goodness : 0.996668 Centerline is valid? [True, True] Translation: X:77.20, Y:31.76, Z:22.21 [[ 2.61877332e-01 -9.44914833e-01 -1.96357381e-01 7.72038322e+01] [ 8.06625358e-01 3.26004587e-01 -4.93027932e-01 3.17618563e+01] [ 5.29882813e-01 -2.92740035e-02 8.47565477e-01 2.22126296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.86071405700001 meters Centerline goodness : 0.996546 Centerline is valid? [True, True] Translation: X:77.23, Y:31.78, Z:22.22 [[ 2.59287230e-01 -9.36969293e-01 -2.34219292e-01 7.72308002e+01] [ 8.06723611e-01 3.43450749e-01 -4.80872748e-01 3.17815770e+01] [ 5.31005790e-01 -6.42660705e-02 8.44927644e-01 2.22208670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.890714057 meters Centerline goodness : 0.996528 Centerline is valid? [True, True] Translation: X:77.23, Y:31.80, Z:22.24 [[ 2.57624498e-01 -9.43699648e-01 -2.07510464e-01 7.72287351e+01] [ 8.06274710e-01 3.28309925e-01 -4.92070813e-01 3.18042093e+01] [ 5.32494798e-01 -4.05409435e-02 8.45461839e-01 2.22439748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.920714057 meters Centerline goodness : 0.996646 Centerline is valid? [True, True] Translation: X:77.24, Y:31.83, Z:22.26 [[ 2.56576713e-01 -9.42078196e-01 -2.16002459e-01 7.72427349e+01] [ 8.07424182e-01 3.31760034e-01 -4.87853944e-01 3.18266702e+01] [ 5.31257547e-01 -4.92336474e-02 8.45778616e-01 2.22556603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.950714057 meters Centerline goodness : 0.996644 Centerline is valid? [True, True] Translation: X:77.24, Y:31.85, Z:22.27 [[ 2.56720533e-01 -9.46385040e-01 -1.96086520e-01 7.72427159e+01] [ 8.08140475e-01 3.21474909e-01 -4.93520876e-01 3.18483923e+01] [ 5.30097671e-01 -3.17685108e-02 8.47341266e-01 2.22711631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.980714057 meters Centerline goodness : 0.996622 Centerline is valid? [True, True] Translation: X:77.26, Y:31.87, Z:22.28 [[ 2.54917395e-01 -9.45256243e-01 -2.03734527e-01 7.72560175e+01] [ 8.08475079e-01 3.23934700e-01 -4.91359701e-01 3.18708833e+01] [ 5.30457508e-01 -3.94581528e-02 8.46792706e-01 2.22837912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.010714057 meters Centerline goodness : 0.996708 Centerline is valid? [True, True] Translation: X:77.27, Y:31.89, Z:22.30 [[ 2.54061055e-01 -9.44327209e-01 -2.09043303e-01 7.72682235e+01] [ 8.09052522e-01 3.25933701e-01 -4.89082037e-01 3.18921689e+01] [ 5.29987732e-01 -4.48703139e-02 8.46817370e-01 2.22966220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.040714057 meters Centerline goodness : 0.996691 Centerline is valid? [True, True] Translation: X:77.28, Y:31.91, Z:22.31 [[ 2.52192442e-01 -9.44864222e-01 -2.08879331e-01 7.72789537e+01] [ 8.09695050e-01 3.24247730e-01 -4.89139383e-01 3.19135801e+01] [ 5.29898951e-01 -4.57713047e-02 8.46824710e-01 2.23113034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.070714057 meters Centerline goodness : 0.996409 Centerline is valid? [True, True] Translation: X:77.30, Y:31.94, Z:22.33 [[ 2.52497301e-01 -9.43435655e-01 -2.14882010e-01 7.72961895e+01] [ 8.09847606e-01 3.27587551e-01 -4.86655167e-01 3.19375333e+01] [ 5.29520508e-01 -5.11425652e-02 8.46754079e-01 2.23274910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.100714057 meters Centerline goodness : 0.996129 Centerline is valid? [True, True] Translation: X:77.30, Y:31.97, Z:22.35 [[ 2.56196189e-01 -9.49963077e-01 -1.78699930e-01 7.72984878e+01] [ 8.10676325e-01 3.11848123e-01 -4.95534705e-01 3.19664788e+01] [ 5.26466911e-01 -1.79136994e-02 8.50006877e-01 2.23483855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.130714057 meters Centerline goodness : 0.996088 Centerline is valid? [True, True] Translation: X:77.33, Y:31.98, Z:22.34 [[ 0.24931882 -0.93406485 -0.25566186 77.33405041] [ 0.81296305 0.34532851 -0.46887023 31.97972238] [ 0.52624253 -0.09094548 0.84545711 22.33698803] [ 0. 0. 0. 1. ]] SLAMing on 97.160714057 meters Centerline goodness : 0.996389 Centerline is valid? [True, True] Translation: X:77.32, Y:32.00, Z:22.37 [[ 2.48720435e-01 -9.45964123e-01 -2.08062545e-01 7.73196584e+01] [ 8.10804900e-01 3.20855885e-01 -4.89537451e-01 3.19995578e+01] [ 5.29842958e-01 -4.69401628e-02 8.46795761e-01 2.23684841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.19071405700001 meters Centerline goodness : 0.996180 Centerline is valid? [True, True] Translation: X:77.33, Y:32.02, Z:22.38 [[ 2.48165663e-01 -9.46123831e-01 -2.07998799e-01 7.73296851e+01] [ 8.10853456e-01 3.20359785e-01 -4.89781870e-01 3.20195719e+01] [ 5.30028750e-01 -4.71095021e-02 8.46670077e-01 2.23831337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.22071405700001 meters Centerline goodness : 0.996113 Centerline is valid? [True, True] Translation: X:77.34, Y:32.06, Z:22.41 [[ 2.59626251e-01 -9.54494619e-01 -1.46745468e-01 7.73362204e+01] [ 8.14458583e-01 2.98069513e-01 -4.97806973e-01 3.20597481e+01] [ 5.18894428e-01 9.72565185e-03 8.54783004e-01 2.24083288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.250714057 meters Centerline goodness : 0.996919 Centerline is valid? [True, True] Translation: X:77.39, Y:32.07, Z:22.39 [[ 0.2435214 -0.9291687 -0.27810583 77.38718672] [ 0.81330323 0.35185258 -0.46339791 32.06736774] [ 0.52842709 -0.11333706 0.84137954 22.39200858] [ 0. 0. 0. 1. ]] SLAMing on 97.280714057 meters Centerline goodness : 0.996513 Centerline is valid? [True, True] Translation: X:77.35, Y:32.11, Z:22.45 [[ 2.54739459e-01 -9.58367803e-01 -1.28992098e-01 7.73482988e+01] [ 8.11310401e-01 2.84399060e-01 -5.10776476e-01 3.21064169e+01] [ 5.26196961e-01 2.54622919e-02 8.49981429e-01 2.24509766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.310714057 meters Centerline goodness : 0.996538 Centerline is valid? [True, True] Translation: X:77.42, Y:32.11, Z:22.41 [[ 0.2427131 -0.92089749 -0.30502159 77.42277764] [ 0.81499427 0.36411115 -0.45078533 32.11044478] [ 0.52618884 -0.13917934 0.83890072 22.41387575] [ 0. 0. 0. 1. ]] SLAMing on 97.340714057 meters Centerline goodness : 0.996333 Centerline is valid? [True, True] Translation: X:77.37, Y:32.15, Z:22.48 [[ 2.54427122e-01 -9.58213823e-01 -1.30740615e-01 7.73716684e+01] [ 8.11017474e-01 2.85048643e-01 -5.10879564e-01 3.21490393e+01] [ 5.26799295e-01 2.39486941e-02 8.49652260e-01 2.24793063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.370714057 meters Centerline goodness : 0.996001 Centerline is valid? [True, True] Translation: X:77.44, Y:32.16, Z:22.46 [[ 0.24863636 -0.92986118 -0.27117918 77.44060343] [ 0.81393602 0.35234731 -0.46190858 32.1642603 ] [ 0.52506011 -0.10587524 0.84445386 22.45506499] [ 0. 0. 0. 1. ]] SLAMing on 97.400714057 meters Centerline goodness : 0.996165 Centerline is valid? [True, True] Translation: X:77.42, Y:32.18, Z:22.48 [[ 0.24204705 -0.9381 -0.24775313 77.42385412] [ 0.81024603 0.33590153 -0.48028277 32.17552963] [ 0.53377392 -0.08448996 0.84139577 22.48044958] [ 0. 0. 0. 1. ]] SLAMing on 97.430714057 meters Centerline goodness : 0.995425 Centerline is valid? [True, True] Translation: X:77.42, Y:32.20, Z:22.51 [[ 2.54541052e-01 -9.49038910e-01 -1.85833260e-01 7.74167072e+01] [ 8.11810402e-01 3.14120073e-01 -4.92232111e-01 3.22007913e+01] [ 5.25521383e-01 -2.55680941e-02 8.50396113e-01 2.25098297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.460714057 meters Centerline goodness : 0.995718 Centerline is valid? [True, True] Translation: X:77.44, Y:32.22, Z:22.52 [[ 2.53981223e-01 -9.44448258e-01 -2.08592969e-01 7.74369251e+01] [ 8.11633577e-01 3.25412989e-01 -4.85136397e-01 3.22237289e+01] [ 5.26065087e-01 -4.60855220e-02 8.49194706e-01 2.25175930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.490714057 meters Centerline goodness : 0.996105 Centerline is valid? [True, True] Translation: X:77.44, Y:32.25, Z:22.54 [[ 2.51427058e-01 -9.46959350e-01 -2.00131016e-01 7.74442130e+01] [ 8.09045421e-01 3.19120200e-01 -4.93566414e-01 3.22478989e+01] [ 5.31253180e-01 -3.78191313e-02 8.46368579e-01 2.25374617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.520714057 meters Centerline goodness : 0.995271 Centerline is valid? [True, True] Translation: X:77.47, Y:32.27, Z:22.54 [[ 2.54455291e-01 -9.39612429e-01 -2.28868932e-01 7.74674186e+01] [ 8.12071823e-01 3.36112740e-01 -4.77040439e-01 3.22669169e+01] [ 5.25158889e-01 -6.44725470e-02 8.48558443e-01 2.25416090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.55071405700001 meters Centerline goodness : 0.994668 Centerline is valid? [True, True] Translation: X:77.47, Y:32.29, Z:22.56 [[ 2.54403452e-01 -9.43418570e-01 -2.12697640e-01 7.74684376e+01] [ 8.10905737e-01 3.27937057e-01 -4.84653663e-01 3.22865838e+01] [ 5.26982704e-01 -4.91801721e-02 8.48451849e-01 2.25620503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.58071405700001 meters Centerline goodness : 0.994911 Centerline is valid? [True, True] Translation: X:77.48, Y:32.31, Z:22.58 [[ 2.54879154e-01 -9.44120410e-01 -2.08981501e-01 7.74753859e+01] [ 8.10770824e-01 3.26432268e-01 -4.85893657e-01 3.23072194e+01] [ 5.26960424e-01 -4.55919395e-02 8.48666063e-01 2.25773692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.61071405700001 meters Centerline goodness : 0.994315 Centerline is valid? [True, True] Translation: X:77.48, Y:32.33, Z:22.59 [[ 2.54455732e-01 -9.45258933e-01 -2.04298385e-01 7.74821699e+01] [ 8.10544578e-01 3.23685402e-01 -4.88103726e-01 3.23287104e+01] [ 5.27512812e-01 -4.13921577e-02 8.48538109e-01 2.25943071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.640714057 meters Centerline goodness : 0.995297 Centerline is valid? [True, True] Translation: X:77.49, Y:32.36, Z:22.61 [[ 2.57548155e-01 -9.48897334e-01 -1.82380914e-01 7.74873907e+01] [ 8.11588141e-01 3.14867112e-01 -4.92121318e-01 3.23579007e+01] [ 5.24398358e-01 -2.12732494e-02 8.51207267e-01 2.26137600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.670714057 meters Centerline goodness : 0.994251 Centerline is valid? [True, True] Translation: X:77.52, Y:32.37, Z:22.61 [[ 2.56534930e-01 -9.37694072e-01 -2.34349435e-01 7.75183595e+01] [ 8.11726367e-01 3.40637953e-01 -4.74411309e-01 3.23735046e+01] [ 5.24680984e-01 -6.85245435e-02 8.48536536e-01 2.26132456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.700714057 meters Centerline goodness : 0.994947 Centerline is valid? [True, True] Translation: X:77.51, Y:32.39, Z:22.64 [[ 2.56013382e-01 -9.44322751e-01 -2.06668067e-01 7.75128380e+01] [ 8.10034469e-01 3.26242425e-01 -4.87247410e-01 3.23933041e+01] [ 5.27542706e-01 -4.26664004e-02 8.48456405e-01 2.26374279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.730714057 meters Centerline goodness : 0.994366 Centerline is valid? [True, True] Translation: X:77.52, Y:32.42, Z:22.65 [[ 2.57967092e-01 -9.46268073e-01 -1.95012086e-01 7.75199273e+01] [ 8.11038359e-01 3.21782685e-01 -4.88541384e-01 3.24174080e+01] [ 5.25042627e-01 -3.21346821e-02 8.50469049e-01 2.26540845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.760714057 meters Centerline goodness : 0.995115 Centerline is valid? [True, True] Translation: X:77.54, Y:32.44, Z:22.66 [[ 2.57620079e-01 -9.42020328e-01 -2.15010688e-01 7.75380720e+01] [ 8.10587861e-01 3.31813876e-01 -4.82542092e-01 3.24384323e+01] [ 5.25907990e-01 -4.99725221e-02 8.49072160e-01 2.26638594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.790714057 meters Centerline goodness : 0.995033 Centerline is valid? [True, True] Translation: X:77.54, Y:32.47, Z:22.69 [[ 2.54568967e-01 -9.49795945e-01 -1.81885416e-01 7.75358464e+01] [ 8.07318713e-01 3.12269811e-01 -5.00723537e-01 3.24670969e+01] [ 5.32382509e-01 -1.93708268e-02 8.46282243e-01 2.26903223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.820714057 meters Centerline goodness : 0.995076 Centerline is valid? [True, True] Translation: X:77.57, Y:32.49, Z:22.69 [[ 2.58717814e-01 -9.36875063e-01 -2.35223744e-01 7.75699945e+01] [ 8.10291311e-01 3.43052454e-01 -4.75124200e-01 3.24851438e+01] [ 5.25826097e-01 -6.76766615e-02 8.47895504e-01 2.26870694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.850714057 meters Centerline goodness : 0.995678 Centerline is valid? [True, True] Translation: X:77.56, Y:32.50, Z:22.71 [[ 2.47006319e-01 -9.43864963e-01 -2.19332645e-01 7.75569459e+01] [ 8.05791527e-01 3.25790570e-01 -4.94530604e-01 3.25007634e+01] [ 5.38226618e-01 -5.45842030e-02 8.41030720e-01 2.27127513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.880714057 meters Centerline goodness : 0.995088 Centerline is valid? [True, True] Translation: X:77.56, Y:32.54, Z:22.74 [[ 2.57335316e-01 -9.52939315e-01 -1.60266022e-01 7.75583786e+01] [ 8.06124911e-01 3.03156993e-01 -5.08191367e-01 3.25355817e+01] [ 5.32861299e-01 1.58115302e-03 8.46201121e-01 2.27402300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.910714057 meters Centerline goodness : 0.994535 Centerline is valid? [True, True] Translation: X:77.61, Y:32.55, Z:22.72 [[ 0.25468146 -0.92971873 -0.26600834 77.60986927] [ 0.81193194 0.35500238 -0.4634003 32.54709004] [ 0.52526553 -0.09796121 0.84528086 22.7164896 ] [ 0. 0. 0. 1. ]] SLAMing on 97.94071405700001 meters Centerline goodness : 0.995236 Centerline is valid? [True, True] Translation: X:77.58, Y:32.57, Z:22.76 [[ 2.55191188e-01 -9.47466823e-01 -1.92831734e-01 7.75848001e+01] [ 8.08654093e-01 3.18471244e-01 -4.94625741e-01 3.25678763e+01] [ 5.30052842e-01 -2.97100405e-02 8.47443980e-01 2.27562689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.97071405700001 meters Centerline goodness : 0.995927 Centerline is valid? [True, True] Translation: X:77.59, Y:32.60, Z:22.79 [[ 2.55898325e-01 -9.54120866e-01 -1.55465177e-01 7.75865127e+01] [ 8.05090157e-01 2.99364126e-01 -5.12065386e-01 3.26007031e+01] [ 5.35112967e-01 5.87319063e-03 8.44760095e-01 2.27874289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.000714057 meters Centerline goodness : 0.996002 Centerline is valid? [True, True] Translation: X:77.63, Y:32.61, Z:22.77 [[ 0.24434076 -0.93340844 -0.26276659 77.62831706] [ 0.80796145 0.34580906 -0.4770895 32.60955535] [ 0.53618643 -0.09573286 0.83865328 22.76956851] [ 0. 0. 0. 1. ]] SLAMing on 98.030714057 meters Centerline goodness : 0.995622 Centerline is valid? [True, True] Translation: X:77.62, Y:32.64, Z:22.81 [[ 2.52956712e-01 -9.50524826e-01 -1.80320429e-01 7.76153680e+01] [ 8.05367906e-01 3.10158600e-01 -5.05157578e-01 3.26414811e+01] [ 5.36092751e-01 -1.74412863e-02 8.43978888e-01 2.28111578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.060714057 meters Centerline goodness : 0.995622 Centerline is valid? [True, True] Translation: X:77.65, Y:32.66, Z:22.81 [[ 2.52286498e-01 -9.41320045e-01 -2.24205475e-01 7.76454254e+01] [ 8.07199712e-01 3.32505968e-01 -4.87717548e-01 3.26646195e+01] [ 5.33647962e-01 -5.79340424e-02 8.43720036e-01 2.28120070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.090714057 meters Centerline goodness : 0.995479 Centerline is valid? [True, True] Translation: X:77.65, Y:32.67, Z:22.82 [[ 0.24217276 -0.93889158 -0.24461187 77.64711406] [ 0.80763954 0.33478697 -0.48542358 32.67466957] [ 0.53765298 -0.08000185 0.83936225 22.82028525] [ 0. 0. 0. 1. ]] SLAMing on 98.120714057 meters Centerline goodness : 0.995622 Centerline is valid? [True, True] Translation: X:77.63, Y:32.69, Z:22.85 [[ 2.41949638e-01 -9.49201298e-01 -2.01189635e-01 7.76348351e+01] [ 8.06097353e-01 3.12049675e-01 -5.02824082e-01 3.26945466e+01] [ 5.40062432e-01 -4.05203272e-02 8.40648959e-01 2.28487605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.150714057 meters Centerline goodness : 0.994858 Centerline is valid? [True, True] Translation: X:77.65, Y:32.73, Z:22.87 [[ 2.57198920e-01 -9.52523860e-01 -1.62932536e-01 7.76481400e+01] [ 8.10482643e-01 3.04445585e-01 -5.00430586e-01 3.27280067e+01] [ 5.26276165e-01 -3.34378626e-03 8.50307131e-01 2.28707331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.180714057 meters Centerline goodness : 0.994995 Centerline is valid? [True, True] Translation: X:77.68, Y:32.76, Z:22.87 [[ 2.56596850e-01 -9.45552772e-01 -2.00219907e-01 7.76795219e+01] [ 8.12261716e-01 3.23237796e-01 -4.85539114e-01 3.27562869e+01] [ 5.23821497e-01 -3.80431582e-02 8.50978118e-01 2.28734700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.210714057 meters Centerline goodness : 0.986521 Centerline is valid? [True, True] Translation: X:77.71, Y:32.77, Z:22.86 [[ 0.25549376 -0.93206708 -0.25685385 77.712758 ] [ 0.8178604 0.35004269 -0.45669955 32.76697944] [ 0.51558443 -0.09338671 0.85173448 22.85505857] [ 0. 0. 0. 1. ]] SLAMing on 98.240714057 meters Centerline goodness : 0.994753 Centerline is valid? [True, True] Translation: X:77.66, Y:32.80, Z:22.93 [[ 2.45704381e-01 -9.60300210e-01 -1.32109287e-01 7.76627000e+01] [ 8.09542711e-01 2.78246149e-01 -5.16932954e-01 3.27993739e+01] [ 5.33169725e-01 2.00645813e-02 8.45770333e-01 2.29318191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.270714057 meters Centerline goodness : 0.995763 Centerline is valid? [True, True] Translation: X:77.72, Y:32.80, Z:22.91 [[ 0.2315578 -0.92735681 -0.29392231 77.72311088] [ 0.81249804 0.35051676 -0.46581642 32.79974479] [ 0.53500273 -0.13094788 0.83464048 22.90569195] [ 0. 0. 0. 1. ]] SLAMing on 98.30071405700001 meters Centerline goodness : 0.993921 Centerline is valid? [True, True] Translation: X:77.68, Y:32.84, Z:22.96 [[ 2.46534222e-01 -9.60887536e-01 -1.26158714e-01 7.76806567e+01] [ 8.12161515e-01 2.75872532e-01 -5.14089505e-01 3.28393303e+01] [ 5.28785922e-01 2.42794035e-02 8.48407897e-01 2.29569531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.33071405700001 meters Centerline goodness : 0.996343 Centerline is valid? [True, True] Translation: X:77.74, Y:32.84, Z:22.94 [[ 0.22716753 -0.93175356 -0.28324938 77.73610138] [ 0.8120004 0.34179418 -0.47310896 32.84434102] [ 0.53763395 -0.12252362 0.83422881 22.9405601 ] [ 0. 0. 0. 1. ]] SLAMing on 98.36071405700001 meters Centerline goodness : 0.994656 Centerline is valid? [True, True] Translation: X:77.70, Y:32.88, Z:22.99 [[ 2.41792999e-01 -9.58172979e-01 -1.53103519e-01 7.77043915e+01] [ 8.12086193e-01 2.86186409e-01 -5.08540415e-01 3.28788669e+01] [ 5.31085831e-01 -1.37174190e-03 8.47316917e-01 2.29869545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.390714057 meters Centerline goodness : 0.995419 Centerline is valid? [True, True] Translation: X:77.74, Y:32.91, Z:22.99 [[ 2.37877550e-01 -9.48359013e-01 -2.09831965e-01 7.77408210e+01] [ 8.11779932e-01 3.12735569e-01 -4.93163063e-01 3.29065298e+01] [ 5.33317554e-01 -5.30249576e-02 8.44251586e-01 2.29890319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.420714057 meters Centerline goodness : 0.995596 Centerline is valid? [True, True] Translation: X:77.76, Y:32.91, Z:22.99 [[ 0.22528321 -0.93557268 -0.27193976 77.75636231] [ 0.81080621 0.3347923 -0.48011186 32.91039905] [ 0.54022288 -0.11232931 0.83399123 22.99022001] [ 0. 0. 0. 1. ]] SLAMing on 98.450714057 meters Centerline goodness : 0.995664 Centerline is valid? [True, True] Translation: X:77.73, Y:32.93, Z:23.03 [[ 2.24707957e-01 -9.53963060e-01 -1.98647462e-01 7.77287824e+01] [ 8.07072386e-01 2.96440888e-01 -5.10643676e-01 3.29310381e+01] [ 5.46022434e-01 -4.55771842e-02 8.36529869e-01 2.30280876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.480714057 meters Centerline goodness : 0.995471 Centerline is valid? [True, True] Translation: X:77.74, Y:32.95, Z:23.04 [[ 2.25737584e-01 -9.53771845e-01 -1.98398112e-01 7.77378845e+01] [ 8.06888714e-01 2.97167172e-01 -5.10511778e-01 3.29520588e+01] [ 5.45869166e-01 -4.48435019e-02 8.36669537e-01 2.30428092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.510714057 meters Centerline goodness : 0.995629 Centerline is valid? [True, True] Translation: X:77.75, Y:32.97, Z:23.06 [[ 2.26110185e-01 -9.53737533e-01 -1.98138595e-01 7.77463464e+01] [ 8.06961180e-01 2.97328091e-01 -5.10303498e-01 3.29742945e+01] [ 5.45607769e-01 -4.45053357e-02 8.36858075e-01 2.30582648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.540714057 meters Centerline goodness : 0.995553 Centerline is valid? [True, True] Translation: X:77.75, Y:33.00, Z:23.07 [[ 2.27962460e-01 -9.53376152e-01 -1.97754973e-01 7.77547388e+01] [ 8.06777458e-01 2.98658409e-01 -5.09816916e-01 3.29962987e+01] [ 5.45108475e-01 -4.33251364e-02 8.37245294e-01 2.30732352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.570714057 meters Centerline goodness : 0.995882 Centerline is valid? [True, True] Translation: X:77.76, Y:33.02, Z:23.09 [[ 2.29028800e-01 -9.53172418e-01 -1.97504810e-01 7.77630881e+01] [ 8.06579024e-01 2.99416271e-01 -5.09686349e-01 3.30186019e+01] [ 5.44955123e-01 -4.25703840e-02 8.37383828e-01 2.30880527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.600714057 meters Centerline goodness : 0.995506 Centerline is valid? [True, True] Translation: X:77.77, Y:33.04, Z:23.10 [[ 2.30564494e-01 -9.52834690e-01 -1.97347580e-01 7.77711414e+01] [ 8.06057010e-01 3.00634468e-01 -5.09795071e-01 3.30402889e+01] [ 5.45079913e-01 -4.15327578e-02 8.37354715e-01 2.31027164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.630714057 meters Centerline goodness : 0.995779 Centerline is valid? [True, True] Translation: X:77.78, Y:33.06, Z:23.12 [[ 2.33671444e-01 -9.52085496e-01 -1.97309057e-01 7.77784422e+01] [ 8.04953908e-01 3.03250222e-01 -5.09988734e-01 3.30628420e+01] [ 5.45386892e-01 -3.96548931e-02 8.37245858e-01 2.31180461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.660714057 meters Centerline goodness : 0.995412 Centerline is valid? [True, True] Translation: X:77.79, Y:33.09, Z:23.13 [[ 2.34473707e-01 -9.51908881e-01 -1.97209438e-01 7.77857717e+01] [ 8.04557046e-01 3.03885195e-01 -5.10236953e-01 3.30850616e+01] [ 5.45628115e-01 -3.90290928e-02 8.37118086e-01 2.31329080e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.69071405700001 meters Centerline goodness : 0.995505 Centerline is valid? [True, True] Translation: X:77.79, Y:33.11, Z:23.15 [[ 2.37140020e-01 -9.51352638e-01 -1.96704775e-01 7.77922504e+01] [ 8.04328583e-01 3.05824879e-01 -5.09437606e-01 3.31067407e+01] [ 5.44812024e-01 -3.74072292e-02 8.37723437e-01 2.31470253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.72071405700001 meters Centerline goodness : 0.994605 Centerline is valid? [True, True] Translation: X:77.80, Y:33.14, Z:23.17 [[ 2.47411372e-01 -9.57411299e-01 -1.48832847e-01 7.77972741e+01] [ 8.05716783e-01 2.88615311e-01 -5.17224969e-01 3.31427820e+01] [ 5.38152468e-01 8.05021625e-03 8.42809062e-01 2.31705592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.750714057 meters Centerline goodness : 0.995251 Centerline is valid? [True, True] Translation: X:77.84, Y:33.15, Z:23.16 [[ 0.24006579 -0.93555174 -0.25905861 77.83770525] [ 0.80644392 0.34075207 -0.48325587 33.15232743] [ 0.54038563 -0.09290304 0.83627292 23.15852476] [ 0. 0. 0. 1. ]] SLAMing on 98.780714057 meters Centerline goodness : 0.994973 Centerline is valid? [True, True] Translation: X:77.82, Y:33.18, Z:23.20 [[ 2.47800111e-01 -9.54881815e-01 -1.63694302e-01 7.78153726e+01] [ 8.05162508e-01 2.96950572e-01 -5.13355329e-01 3.31830897e+01] [ 5.38802785e-01 -4.59100703e-03 8.42419421e-01 2.31987145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.810714057 meters Centerline goodness : 0.995067 Centerline is valid? [True, True] Translation: X:77.85, Y:33.20, Z:23.19 [[ 0.23979477 -0.93997581 -0.24278376 77.84520224] [ 0.80572888 0.33219898 -0.49035173 33.19604074] [ 0.54157128 -0.07803411 0.83702523 23.19293455] [ 0. 0. 0. 1. ]] SLAMing on 98.840714057 meters Centerline goodness : 0.995008 Centerline is valid? [True, True] Translation: X:77.83, Y:33.22, Z:23.22 [[ 2.39658301e-01 -9.50905661e-01 -1.95811959e-01 7.78296953e+01] [ 8.03416689e-01 3.07481515e-01 -5.09879144e-01 3.32163541e+01] [ 5.45055522e-01 -3.51218258e-02 8.37663975e-01 2.32222792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.870714057 meters Centerline goodness : 0.995277 Centerline is valid? [True, True] Translation: X:77.84, Y:33.24, Z:23.24 [[ 2.39639692e-01 -9.50942311e-01 -1.95656686e-01 7.78378329e+01] [ 8.03430233e-01 3.07382048e-01 -5.09917774e-01 3.32384315e+01] [ 5.45043740e-01 -3.49999589e-02 8.37676742e-01 2.32370453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.900714057 meters Centerline goodness : 0.995572 Centerline is valid? [True, True] Translation: X:77.85, Y:33.26, Z:23.25 [[ 2.40700896e-01 -9.50730674e-01 -1.95382356e-01 7.78455345e+01] [ 8.03295801e-01 3.08118290e-01 -5.09685173e-01 3.32601163e+01] [ 5.44774205e-01 -3.42681483e-02 8.37882307e-01 2.32515656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.930714057 meters Centerline goodness : 0.995344 Centerline is valid? [True, True] Translation: X:77.85, Y:33.28, Z:23.27 [[ 2.41390358e-01 -9.50644748e-01 -1.94949374e-01 7.78536572e+01] [ 8.03566903e-01 3.08438056e-01 -5.09064040e-01 3.32825507e+01] [ 5.44068862e-01 -3.37717138e-02 8.38360629e-01 2.32662744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.960714057 meters Centerline goodness : 0.994851 Centerline is valid? [True, True] Translation: X:77.86, Y:33.30, Z:23.28 [[ 2.42631466e-01 -9.50409358e-01 -1.94555965e-01 7.78616696e+01] [ 8.03578567e-01 3.09251242e-01 -5.08552019e-01 3.33037320e+01] [ 5.43499272e-01 -3.29502812e-02 8.38762672e-01 2.32809155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.990714057 meters Centerline goodness : 0.995336 Centerline is valid? [True, True] Translation: X:77.86, Y:33.34, Z:23.31 [[ 2.54143965e-01 -9.56517401e-01 -1.43126892e-01 7.78635295e+01] [ 8.05210062e-01 2.91234460e-01 -5.16545493e-01 3.33403974e+01] [ 5.35768235e-01 1.60297058e-02 8.44212915e-01 2.33084847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.020714057 meters Centerline goodness : 0.995130 Centerline is valid? [True, True] Translation: X:77.91, Y:33.35, Z:23.29 [[ 0.24444046 -0.93257516 -0.26561709 77.91120332] [ 0.80625861 0.34765421 -0.47862679 33.35041047] [ 0.53869835 -0.09716031 0.83687751 23.28850773] [ 0. 0. 0. 1. ]] SLAMing on 99.05071405700001 meters Centerline goodness : 0.994491 Centerline is valid? [True, True] Translation: X:77.88, Y:33.38, Z:23.33 [[ 2.56717603e-01 -9.55300383e-01 -1.46619410e-01 7.78808351e+01] [ 8.07138030e-01 2.95356034e-01 -5.11168283e-01 3.33840916e+01] [ 5.31624184e-01 1.28837946e-02 8.46882362e-01 2.33337530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.08071405700001 meters Centerline goodness : 0.995494 Centerline is valid? [True, True] Translation: X:77.92, Y:33.40, Z:23.32 [[ 0.24401146 -0.935726 -0.25470623 77.92095437] [ 0.80564056 0.34179585 -0.48385833 33.39556229] [ 0.53981635 -0.0871347 0.83726092 23.32150669] [ 0. 0. 0. 1. ]] SLAMing on 99.11071405700001 meters Centerline goodness : 0.994709 Centerline is valid? [True, True] Translation: X:77.90, Y:33.41, Z:23.35 [[ 2.44364724e-01 -9.48832498e-01 -2.00006930e-01 7.79020589e+01] [ 8.05278641e-01 3.13474766e-01 -5.03249324e-01 3.34145308e+01] [ 5.40196439e-01 -3.80849266e-02 8.40676719e-01 2.33532938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.140714057 meters Centerline goodness : 0.993524 Centerline is valid? [True, True] Translation: X:77.90, Y:33.45, Z:23.38 [[ 2.52293205e-01 -9.57311399e-01 -1.41078080e-01 7.78984356e+01] [ 8.06156630e-01 2.88581979e-01 -5.16557770e-01 3.34450023e+01] [ 5.35219232e-01 1.65929863e-02 8.44550203e-01 2.33783234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.170714057 meters Centerline goodness : 0.993777 Centerline is valid? [True, True] Translation: X:77.93, Y:33.47, Z:23.37 [[ 2.51972354e-01 -9.47748015e-01 -1.95662036e-01 7.79344379e+01] [ 8.08281520e-01 3.17290400e-01 -4.95991719e-01 3.34699392e+01] [ 5.32156853e-01 -3.31738066e-02 8.45995616e-01 2.33733667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.200714057 meters Centerline goodness : 0.994247 Centerline is valid? [True, True] Translation: X:77.95, Y:33.49, Z:23.38 [[ 2.44840712e-01 -9.41961454e-01 -2.29699031e-01 7.79542668e+01] [ 8.10549910e-01 3.28859748e-01 -4.84623678e-01 3.34887086e+01] [ 5.32035590e-01 -6.75269221e-02 8.44025027e-01 2.33832163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.230714057 meters Centerline goodness : 0.995012 Centerline is valid? [True, True] Translation: X:77.94, Y:33.50, Z:23.40 [[ 2.36818840e-01 -9.48070087e-01 -2.12320386e-01 7.79420923e+01] [ 8.10166864e-01 3.13324941e-01 -4.95436306e-01 3.35040730e+01] [ 5.36233615e-01 -5.46862905e-02 8.42296219e-01 2.34040965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.260714057 meters Centerline goodness : 0.993704 Centerline is valid? [True, True] Translation: X:77.93, Y:33.54, Z:23.43 [[ 2.42961950e-01 -9.60888492e-01 -1.32901458e-01 7.79300278e+01] [ 8.12326117e-01 2.76424940e-01 -5.13532407e-01 3.35381038e+01] [ 5.30184657e-01 1.68095101e-02 8.47715560e-01 2.34342285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.290714057 meters Centerline goodness : 0.995164 Centerline is valid? [True, True] Translation: X:77.98, Y:33.55, Z:23.42 [[ 0.23219523 -0.94041187 -0.24841678 77.97759121] [ 0.81134553 0.32812445 -0.48379002 33.55328545] [ 0.5364735 -0.0892181 0.83918789 23.42232383] [ 0. 0. 0. 1. ]] SLAMing on 99.320714057 meters Centerline goodness : 0.993960 Centerline is valid? [True, True] Translation: X:77.95, Y:33.58, Z:23.46 [[ 2.37715699e-01 -9.58429534e-01 -1.57810249e-01 7.79529747e+01] [ 8.13095995e-01 2.85225891e-01 -5.07465362e-01 3.35792740e+01] [ 5.31381359e-01 -7.68239851e-03 8.47097888e-01 2.34577384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.350714057 meters Centerline goodness : 0.994281 Centerline is valid? [True, True] Translation: X:77.98, Y:33.60, Z:23.46 [[ 2.36342292e-01 -9.49315505e-01 -2.07225465e-01 7.79822475e+01] [ 8.14834882e-01 3.09814557e-01 -4.89958218e-01 3.35997135e+01] [ 5.29326399e-01 -5.30566892e-02 8.46757670e-01 2.34583413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.380714057 meters Centerline goodness : 0.994615 Centerline is valid? [True, True] Translation: X:77.99, Y:33.62, Z:23.48 [[ 2.33283859e-01 -9.51182655e-01 -2.02064835e-01 7.79868697e+01] [ 8.15680394e-01 3.04538523e-01 -4.91855450e-01 3.36218969e+01] [ 5.29380899e-01 -5.00783864e-02 8.46904965e-01 2.34777637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.410714057 meters Centerline goodness : 0.995649 Centerline is valid? [True, True] Translation: X:77.98, Y:33.64, Z:23.49 [[ 2.24691124e-01 -9.52759899e-01 -2.04358687e-01 7.79844850e+01] [ 8.14403489e-01 2.98767139e-01 -4.97478798e-01 3.36387798e+01] [ 5.35033509e-01 -5.46513579e-02 8.43061310e-01 2.34944135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.44071405700001 meters Centerline goodness : 0.994053 Centerline is valid? [True, True] Translation: X:77.99, Y:33.66, Z:23.52 [[ 2.27579882e-01 -9.57959106e-01 -1.74704745e-01 7.79863963e+01] [ 8.14124388e-01 2.85615528e-01 -5.05593958e-01 3.36636690e+01] [ 5.34236724e-01 -2.71683806e-02 8.44898220e-01 2.35182537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.47071405700001 meters Centerline goodness : 0.994530 Centerline is valid? [True, True] Translation: X:78.00, Y:33.69, Z:23.53 [[ 2.26150198e-01 -9.55568437e-01 -1.89063616e-01 7.80025120e+01] [ 8.15884891e-01 2.91851759e-01 -4.99153679e-01 3.36895250e+01] [ 5.32154049e-01 -4.13704447e-02 8.45636183e-01 2.35267213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.500714057 meters Centerline goodness : 0.994637 Centerline is valid? [True, True] Translation: X:78.01, Y:33.71, Z:23.54 [[ 2.25020914e-01 -9.55321162e-01 -1.91643069e-01 7.80114502e+01] [ 8.15268795e-01 2.92313157e-01 -4.99889799e-01 3.37114367e+01] [ 5.33575094e-01 -4.37549546e-02 8.44620106e-01 2.35414338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.530714057 meters Centerline goodness : 0.994396 Centerline is valid? [True, True] Translation: X:78.01, Y:33.73, Z:23.56 [[ 2.24518064e-01 -9.56845375e-01 -1.84495440e-01 7.80146841e+01] [ 8.14536059e-01 2.88201185e-01 -5.03459120e-01 3.37344782e+01] [ 5.34904335e-01 -3.72425216e-02 8.44091433e-01 2.35573840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.560714057 meters Centerline goodness : 0.994298 Centerline is valid? [True, True] Translation: X:78.03, Y:33.76, Z:23.57 [[ 2.23577958e-01 -9.54295538e-01 -1.98325295e-01 7.80294441e+01] [ 8.16164112e-01 2.94529157e-01 -4.97120427e-01 3.37585210e+01] [ 5.32812387e-01 -5.07208181e-02 8.44711998e-01 2.35691710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.590714057 meters Centerline goodness : 0.994650 Centerline is valid? [True, True] Translation: X:78.03, Y:33.78, Z:23.59 [[ 2.23171692e-01 -9.55823404e-01 -1.91300854e-01 7.80326702e+01] [ 8.16022392e-01 2.90540029e-01 -4.99693854e-01 3.37805527e+01] [ 5.33199636e-01 -4.45882574e-02 8.44813610e-01 2.35855489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.620714057 meters Centerline goodness : 0.995360 Centerline is valid? [True, True] Translation: X:78.04, Y:33.80, Z:23.59 [[ 2.15050893e-01 -9.51791246e-01 -2.18738515e-01 7.80378298e+01] [ 8.17715145e-01 2.97945794e-01 -4.92514209e-01 3.37950835e+01] [ 5.33942933e-01 -7.29501755e-02 8.42367625e-01 2.35933841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.650714057 meters Centerline goodness : 0.994087 Centerline is valid? [True, True] Translation: X:78.03, Y:33.82, Z:23.63 [[ 2.21781340e-01 -9.63302671e-01 -1.51198551e-01 7.80272212e+01] [ 8.14928040e-01 2.68257134e-01 -5.13741569e-01 3.38243988e+01] [ 5.35448715e-01 -9.27764554e-03 8.44516784e-01 2.36289876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.680714057 meters Centerline goodness : 0.994260 Centerline is valid? [True, True] Translation: X:78.06, Y:33.85, Z:23.63 [[ 2.23006841e-01 -9.57228748e-01 -1.84339560e-01 7.80550585e+01] [ 8.19007504e-01 2.86537724e-01 -4.97114516e-01 3.38536140e+01] [ 5.28672543e-01 -4.01155449e-02 8.47877400e-01 2.36292484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.710714057 meters Centerline goodness : 0.994564 Centerline is valid? [True, True] Translation: X:78.07, Y:33.87, Z:23.64 [[ 2.19254722e-01 -9.52381254e-01 -2.11889864e-01 7.80714196e+01] [ 8.18946423e-01 2.97690720e-01 -4.90618989e-01 3.38723471e+01] [ 5.30333974e-01 -6.59559167e-02 8.45219317e-01 2.36376943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.740714057 meters Centerline goodness : 0.994442 Centerline is valid? [True, True] Translation: X:78.07, Y:33.89, Z:23.66 [[ 2.17760065e-01 -9.56198083e-01 -1.95616411e-01 7.80708501e+01] [ 8.20113462e-01 2.87928319e-01 -4.94480731e-01 3.38936487e+01] [ 5.29145031e-01 -5.27494960e-02 8.46890209e-01 2.36563791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.770714057 meters Centerline goodness : 0.993566 Centerline is valid? [True, True] Translation: X:78.08, Y:33.91, Z:23.67 [[ 2.16179581e-01 -9.57190567e-01 -1.92490537e-01 7.80764509e+01] [ 8.19971278e-01 2.85014808e-01 -4.96400708e-01 3.39148190e+01] [ 5.30012729e-01 -5.05250147e-02 8.46483154e-01 2.36714854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.80071405700001 meters Centerline goodness : 0.994580 Centerline is valid? [True, True] Translation: X:78.08, Y:33.94, Z:23.69 [[ 2.14501894e-01 -9.58609179e-01 -1.87236159e-01 7.80815545e+01] [ 8.20310834e-01 2.80864852e-01 -4.98201837e-01 3.39374573e+01] [ 5.30168910e-01 -4.67266119e-02 8.46603538e-01 2.36884494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.83071405700001 meters Centerline goodness : 0.994483 Centerline is valid? [True, True] Translation: X:78.09, Y:33.96, Z:23.70 [[ 2.14193865e-01 -9.57002094e-01 -1.95622036e-01 7.80920687e+01] [ 8.21023962e-01 2.84888106e-01 -4.94730655e-01 3.39581674e+01] [ 5.29188663e-01 -5.46421076e-02 8.46742935e-01 2.36988979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.86071405700001 meters Centerline goodness : 0.994472 Centerline is valid? [True, True] Translation: X:78.10, Y:33.98, Z:23.72 [[ 2.11038377e-01 -9.58783205e-01 -1.90256589e-01 7.80974079e+01] [ 8.20983892e-01 2.79500437e-01 -4.97860377e-01 3.39821653e+01] [ 5.30516967e-01 -5.11299491e-02 8.46130886e-01 2.37163563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.890714057 meters Centerline goodness : 0.995220 Centerline is valid? [True, True] Translation: X:78.10, Y:33.99, Z:23.73 [[ 2.03444775e-01 -9.54792269e-01 -2.16753194e-01 7.81017256e+01] [ 8.21356379e-01 2.86930495e-01 -4.92995526e-01 3.39943561e+01] [ 5.32901418e-01 -7.77342545e-02 8.42599231e-01 2.37251990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.920714057 meters Centerline goodness : 0.993831 Centerline is valid? [True, True] Translation: X:78.09, Y:34.02, Z:23.76 [[ 2.10190889e-01 -9.66590046e-01 -1.46708803e-01 7.80901486e+01] [ 8.18777639e-01 2.56040865e-01 -5.13854312e-01 3.40229449e+01] [ 5.34249912e-01 -1.21143926e-02 8.45239773e-01 2.37612732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.950714057 meters Centerline goodness : 0.993831 Centerline is valid? [True, True] Translation: X:78.12, Y:34.05, Z:23.76 [[ 2.10795704e-01 -9.59192380e-01 -1.88454637e-01 7.81189615e+01] [ 8.20601652e-01 2.78398969e-01 -4.99106144e-01 3.40484062e+01] [ 5.31204386e-01 -4.94367555e-02 8.45800158e-01 2.37627969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.980714057 meters Centerline goodness : 0.993669 Centerline is valid? [True, True] Translation: X:78.13, Y:34.07, Z:23.77 [[ 2.11102168e-01 -9.58010413e-01 -1.94041034e-01 7.81282017e+01] [ 8.20953444e-01 2.81520016e-01 -4.96771500e-01 3.40685353e+01] [ 5.30538705e-01 -5.44291146e-02 8.45911434e-01 2.37741068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.010714057 meters Centerline goodness : 0.993531 Centerline is valid? [True, True] Translation: X:78.13, Y:34.09, Z:23.79 [[ 2.09619341e-01 -9.59135711e-01 -1.90048468e-01 7.81332610e+01] [ 8.20770803e-01 2.78237985e-01 -4.98917741e-01 3.40912514e+01] [ 5.31408525e-01 -5.14034252e-02 8.45554651e-01 2.37919266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.040714057 meters Centerline goodness : 0.993878 Centerline is valid? [True, True] Translation: X:78.13, Y:34.11, Z:23.81 [[ 2.10403225e-01 -9.61941510e-01 -1.74353132e-01 7.81336281e+01] [ 8.19054690e-01 2.70821695e-01 -5.05771712e-01 3.41130609e+01] [ 5.33741415e-01 -3.63887515e-02 8.44864463e-01 2.38110714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.070714057 meters Centerline goodness : 0.993842 Centerline is valid? [True, True] Translation: X:78.15, Y:34.14, Z:23.82 [[ 2.13218761e-01 -9.60805062e-01 -1.77176164e-01 7.81466590e+01] [ 8.21598693e-01 2.74463087e-01 -4.99645475e-01 3.41421859e+01] [ 5.28690219e-01 -3.90339158e-02 8.47916863e-01 2.38229259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.100714057 meters Centerline goodness : 0.993532 Centerline is valid? [True, True] Translation: X:78.16, Y:34.16, Z:23.83 [[ 2.13709327e-01 -9.55392482e-01 -2.03846827e-01 7.81631405e+01] [ 8.21435943e-01 2.88685487e-01 -4.91837047e-01 3.41604093e+01] [ 5.28745038e-01 -6.23369460e-02 8.46488505e-01 2.38308316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.130714057 meters Centerline goodness : 0.992804 Centerline is valid? [True, True] Translation: X:78.16, Y:34.18, Z:23.85 [[ 2.13144732e-01 -9.59807081e-01 -1.82591592e-01 7.81588771e+01] [ 8.19745923e-01 2.77366299e-01 -5.01083385e-01 3.41805587e+01] [ 5.31588135e-01 -4.28754294e-02 8.45917107e-01 2.38532884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.160714057 meters Centerline goodness : 0.993257 Centerline is valid? [True, True] Translation: X:78.17, Y:34.20, Z:23.87 [[ 2.15292060e-01 -9.58783152e-01 -1.85429761e-01 7.81689626e+01] [ 8.19713715e-01 2.80632389e-01 -4.99314417e-01 3.42043044e+01] [ 5.30771848e-01 -4.45008886e-02 8.46345625e-01 2.38672620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.19071405700001 meters Centerline goodness : 0.993218 Centerline is valid? [True, True] Translation: X:78.18, Y:34.23, Z:23.88 [[ 2.16188221e-01 -9.58574206e-01 -1.85467367e-01 7.81771765e+01] [ 8.19672694e-01 2.81399690e-01 -4.98949785e-01 3.42268362e+01] [ 5.30470854e-01 -4.41554699e-02 8.46552401e-01 2.38808867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.22071405700001 meters Centerline goodness : 0.993439 Centerline is valid? [True, True] Translation: X:78.18, Y:34.25, Z:23.90 [[ 2.16367062e-01 -9.59377324e-01 -1.81053705e-01 7.81836375e+01] [ 8.19544996e-01 2.79258881e-01 -5.00360348e-01 3.42499750e+01] [ 5.30595226e-01 -4.01201595e-02 8.46675309e-01 2.38970250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.250714057 meters Centerline goodness : 0.992845 Centerline is valid? [True, True] Translation: X:78.19, Y:34.27, Z:23.91 [[ 2.19562336e-01 -9.58667377e-01 -1.80967516e-01 7.81905942e+01] [ 8.19242838e-01 2.81897039e-01 -4.99374841e-01 3.42706281e+01] [ 5.29748575e-01 -3.86124349e-02 8.47275355e-01 2.39089662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.280714057 meters Centerline goodness : 0.993464 Centerline is valid? [True, True] Translation: X:78.19, Y:34.29, Z:23.93 [[ 2.17125507e-01 -9.60698527e-01 -1.72959111e-01 7.81926266e+01] [ 8.16602939e-01 2.75840404e-01 -5.07022398e-01 3.42918177e+01] [ 5.34804782e-01 -3.11514227e-02 8.44401228e-01 2.39282660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.310714057 meters Centerline goodness : 0.992552 Centerline is valid? [True, True] Translation: X:78.22, Y:34.32, Z:23.93 [[ 2.19822561e-01 -9.54852929e-01 -1.99834748e-01 7.82155169e+01] [ 8.19491273e-01 2.91877629e-01 -4.93195198e-01 3.43150845e+01] [ 5.29256171e-01 -5.53474006e-02 8.46654930e-01 2.39322093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.340714057 meters Centerline goodness : 0.992808 Centerline is valid? [True, True] Translation: X:78.22, Y:34.34, Z:23.95 [[ 2.17634449e-01 -9.57809246e-01 -1.87714399e-01 7.82167646e+01] [ 8.18849824e-01 2.83839594e-01 -4.98918881e-01 3.43360214e+01] [ 5.31149896e-01 -4.51279671e-02 8.46075206e-01 2.39525885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.370714057 meters Centerline goodness : 0.994445 Centerline is valid? [True, True] Translation: X:78.22, Y:34.36, Z:23.97 [[ 2.11228363e-01 -9.59892960e-01 -1.84358576e-01 7.82229230e+01] [ 8.16333572e-01 2.76980948e-01 -5.06834345e-01 3.43620073e+01] [ 5.37570533e-01 -4.34403054e-02 8.42099081e-01 2.39748997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.400714057 meters Centerline goodness : 0.993071 Centerline is valid? [True, True] Translation: X:78.24, Y:34.38, Z:23.98 [[ 2.16798114e-01 -9.56642938e-01 -1.94506726e-01 7.82372370e+01] [ 8.18708330e-01 2.86694977e-01 -4.97516493e-01 3.43811344e+01] [ 5.31709741e-01 -5.13836393e-02 8.45366472e-01 2.39803933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.430714057 meters Centerline goodness : 0.993419 Centerline is valid? [True, True] Translation: X:78.24, Y:34.40, Z:24.00 [[ 2.15682796e-01 -9.58016262e-01 -1.88906785e-01 7.82415939e+01] [ 8.18136572e-01 2.82905308e-01 -5.00616756e-01 3.44034383e+01] [ 5.33041726e-01 -4.65771280e-02 8.44805948e-01 2.39986585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.460714057 meters Centerline goodness : 0.992969 Centerline is valid? [True, True] Translation: X:78.25, Y:34.42, Z:24.01 [[ 2.15796818e-01 -9.58878267e-01 -1.84348048e-01 7.82462898e+01] [ 8.16993610e-01 2.80706025e-01 -5.03711791e-01 3.44249890e+01] [ 5.34745897e-01 -4.19117758e-02 8.43972884e-01 2.40146325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.490714057 meters Centerline goodness : 0.992772 Centerline is valid? [True, True] Translation: X:78.25, Y:34.45, Z:24.03 [[ 2.15199627e-01 -9.59168811e-01 -1.83532865e-01 7.82542377e+01] [ 8.17495377e-01 2.79743480e-01 -5.03433108e-01 3.44488526e+01] [ 5.34219459e-01 -4.16986520e-02 8.44316761e-01 2.40307345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.520714057 meters Centerline goodness : 0.993545 Centerline is valid? [True, True] Translation: X:78.26, Y:34.47, Z:24.05 [[ 2.15795860e-01 -9.58718537e-01 -1.85178061e-01 7.82621738e+01] [ 8.16967152e-01 2.81143289e-01 -5.03510798e-01 3.44716221e+01] [ 5.34786705e-01 -4.26288474e-02 8.43911110e-01 2.40451623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.55071405700001 meters Centerline goodness : 0.993433 Centerline is valid? [True, True] Translation: X:78.27, Y:34.49, Z:24.06 [[ 2.15081316e-01 -9.57222239e-01 -1.93560362e-01 7.82719724e+01] [ 8.17133750e-01 2.84932950e-01 -5.01104429e-01 3.44922288e+01] [ 5.34820028e-01 -5.03865046e-02 8.43462351e-01 2.40590856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.58071405700001 meters Centerline goodness : 0.992889 Centerline is valid? [True, True] Translation: X:78.27, Y:34.51, Z:24.08 [[ 2.16826226e-01 -9.59538696e-01 -1.79643754e-01 7.82710664e+01] [ 8.15476008e-01 2.79192702e-01 -5.07001298e-01 3.45118883e+01] [ 5.36642589e-01 -3.65639939e-02 8.43017085e-01 2.40782016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.610714057 meters Centerline goodness : 0.993657 Centerline is valid? [True, True] Translation: X:78.28, Y:34.54, Z:24.09 [[ 2.16955469e-01 -9.56450654e-01 -1.95275371e-01 7.82839575e+01] [ 8.16558265e-01 2.87432046e-01 -5.00615041e-01 3.45360960e+01] [ 5.34941983e-01 -5.08425472e-02 8.43357641e-01 2.40920086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.640714057 meters Centerline goodness : 0.993721 Centerline is valid? [True, True] Translation: X:78.29, Y:34.56, Z:24.11 [[ 2.19606784e-01 -9.57326491e-01 -1.87879881e-01 7.82851921e+01] [ 8.15022934e-01 2.85874788e-01 -5.03997245e-01 3.45569425e+01] [ 5.36200036e-01 -4.24451976e-02 8.43023088e-01 2.41105946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.670714057 meters Centerline goodness : 0.993845 Centerline is valid? [True, True] Translation: X:78.29, Y:34.58, Z:24.13 [[ 2.20810147e-01 -9.58556994e-01 -1.80031575e-01 7.82882719e+01] [ 8.14058629e-01 2.82798917e-01 -5.07280318e-01 3.45788743e+01] [ 5.37169832e-01 -3.45436150e-02 8.42766463e-01 2.41284727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.700714057 meters Centerline goodness : 0.993408 Centerline is valid? [True, True] Translation: X:78.30, Y:34.60, Z:24.14 [[ 2.22336132e-01 -9.57821990e-01 -1.82054058e-01 7.82959124e+01] [ 8.13987375e-01 2.85139866e-01 -5.06082810e-01 3.46005065e+01] [ 5.36648114e-01 -3.56692108e-02 8.43051902e-01 2.41426785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.730714057 meters Centerline goodness : 0.993350 Centerline is valid? [True, True] Translation: X:78.31, Y:34.62, Z:24.16 [[ 2.22863869e-01 -9.55964876e-01 -1.90952483e-01 7.83057565e+01] [ 8.14002673e-01 2.90268486e-01 -5.03134032e-01 3.46234007e+01] [ 5.36405951e-01 -4.33054352e-02 8.42848323e-01 2.41562724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.760714057 meters Centerline goodness : 0.993158 Centerline is valid? [True, True] Translation: X:78.31, Y:34.64, Z:24.17 [[ 2.23611660e-01 -9.57727062e-01 -1.80988123e-01 7.83077843e+01] [ 8.13377543e-01 2.85674771e-01 -5.06761185e-01 3.46444127e+01] [ 5.37042641e-01 -3.38939647e-02 8.42873894e-01 2.41744073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.790714057 meters Centerline goodness : 0.983564 Centerline is valid? [True, True] Translation: X:78.30, Y:34.66, Z:24.19 [[ 2.20886898e-01 -9.61814081e-01 -1.61625032e-01 7.83008527e+01] [ 8.14590370e-01 2.73069393e-01 -5.11737858e-01 3.46647206e+01] [ 5.36331528e-01 -1.86220062e-02 8.43801940e-01 2.41905421e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.820714057 meters Centerline goodness : 0.992413 Centerline is valid? [True, True] Translation: X:78.33, Y:34.69, Z:24.19 [[ 2.24526177e-01 -9.54001069e-01 -1.98670471e-01 7.83306976e+01] [ 8.13605232e-01 2.95731285e-01 -5.00589187e-01 3.46870854e+01] [ 5.36315693e-01 -4.92439581e-02 8.42579676e-01 2.41945515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.850714057 meters Centerline goodness : 0.992777 Centerline is valid? [True, True] Translation: X:78.32, Y:34.72, Z:24.23 [[ 2.29929654e-01 -9.64371110e-01 -1.30846154e-01 7.83175501e+01] [ 8.12264269e-01 2.64219358e-01 -5.20014316e-01 3.47164003e+01] [ 5.36058870e-01 1.32850566e-02 8.44076060e-01 2.42337546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.880714057 meters Centerline goodness : 0.993267 Centerline is valid? [True, True] Translation: X:78.36, Y:34.73, Z:24.21 [[ 0.22287014 -0.94545082 -0.23759554 78.36457996] [ 0.81519415 0.31440506 -0.48642365 34.73183817] [ 0.53459088 -0.08527719 0.84079748 24.20990503] [ 0. 0. 0. 1. ]] SLAMing on 100.910714057 meters Centerline goodness : 0.994282 Centerline is valid? [True, True] Translation: X:78.34, Y:34.76, Z:24.26 [[ 2.27238188e-01 -9.61913995e-01 -1.51935089e-01 7.83407943e+01] [ 8.12695750e-01 2.73274199e-01 -5.14632714e-01 3.47589885e+01] [ 5.36552350e-01 -6.53279557e-03 8.43841750e-01 2.42550623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.94071405700001 meters Centerline goodness : 0.993100 Centerline is valid? [True, True] Translation: X:78.37, Y:34.78, Z:24.25 [[ 2.19693569e-01 -9.52430255e-01 -2.11213977e-01 7.83670660e+01] [ 8.15488404e-01 2.98119752e-01 -4.96087973e-01 3.47756116e+01] [ 5.35456253e-01 -6.32552118e-02 8.42190821e-01 2.42463343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.97071405700001 meters Centerline goodness : 0.992952 Centerline is valid? [True, True] Translation: X:78.36, Y:34.80, Z:24.29 [[ 2.28542333e-01 -9.62577471e-01 -1.45646885e-01 7.83553698e+01] [ 8.10222153e-01 2.71005576e-01 -5.19707650e-01 3.47984205e+01] [ 5.39729993e-01 7.68866310e-04 8.41837837e-01 2.42851593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.000714057 meters Centerline goodness : 0.985634 Centerline is valid? [True, True] Translation: X:78.39, Y:34.82, Z:24.27 [[ 2.18800489e-01 -9.54180864e-01 -2.04120613e-01 7.83850391e+01] [ 8.18281259e-01 2.93381808e-01 -4.94310526e-01 3.48235625e+01] [ 5.31546920e-01 -5.88726871e-02 8.44980402e-01 2.42696233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.030714057 meters Centerline goodness : 0.994561 Centerline is valid? [True, True] Translation: X:78.37, Y:34.85, Z:24.31 [[ 2.19853873e-01 -9.62890035e-01 -1.56547292e-01 7.83714990e+01] [ 8.14159087e-01 2.69510522e-01 -5.14304443e-01 3.48453996e+01] [ 5.37409766e-01 -1.43825767e-02 8.43198604e-01 2.43086726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.060714057 meters Centerline goodness : 0.995567 Centerline is valid? [True, True] Translation: X:78.39, Y:34.87, Z:24.32 [[ 2.15966856e-01 -9.58942140e-01 -1.83815911e-01 7.83942054e+01] [ 8.13761904e-01 2.80811326e-01 -5.08858096e-01 3.48736348e+01] [ 5.39583062e-01 -3.96859024e-02 8.40996521e-01 2.43162423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.090714057 meters Centerline goodness : 0.995109 Centerline is valid? [True, True] Translation: X:78.41, Y:34.90, Z:24.32 [[ 2.17322487e-01 -9.55772535e-01 -1.98166086e-01 7.84098389e+01] [ 8.15121073e-01 2.89388468e-01 -5.01828606e-01 3.48968810e+01] [ 5.36980980e-01 -5.24707124e-02 8.41960956e-01 2.43245730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.120714057 meters Centerline goodness : 0.994458 Centerline is valid? [True, True] Translation: X:78.42, Y:34.92, Z:24.33 [[ 2.20935416e-01 -9.53529851e-01 -2.04861821e-01 7.84209300e+01] [ 8.17584666e-01 2.95600687e-01 -4.94141223e-01 3.49171565e+01] [ 5.31735701e-01 -5.83185871e-02 8.44900045e-01 2.43345675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.150714057 meters Centerline goodness : 0.994929 Centerline is valid? [True, True] Translation: X:78.41, Y:34.93, Z:24.35 [[ 2.06674499e-01 -9.55828016e-01 -2.08993911e-01 7.84127195e+01] [ 8.13757910e-01 2.86521463e-01 -5.05671351e-01 3.49308593e+01] [ 5.43216085e-01 -6.55610748e-02 8.37029289e-01 2.43518728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.180714057 meters Centerline goodness : 0.994887 Centerline is valid? [True, True] Translation: X:78.41, Y:34.96, Z:24.39 [[ 2.15684757e-01 -9.65726009e-01 -1.44406928e-01 7.84081435e+01] [ 8.13924760e-01 2.59506918e-01 -5.19790962e-01 3.49633605e+01] [ 5.39450249e-01 -5.42538728e-03 8.41999997e-01 2.43872489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.210714057 meters Centerline goodness : 0.995163 Centerline is valid? [True, True] Translation: X:78.45, Y:34.99, Z:24.38 [[ 2.15737380e-01 -9.54984774e-01 -2.03620882e-01 7.84460561e+01] [ 8.16431470e-01 2.90805892e-01 -4.98870312e-01 3.49890915e+01] [ 5.35627704e-01 -5.86175221e-02 8.42417324e-01 2.43810030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.240714057 meters Centerline goodness : 0.994938 Centerline is valid? [True, True] Translation: X:78.46, Y:35.00, Z:24.39 [[ 2.14791290e-01 -9.50724363e-01 -2.23579713e-01 7.84604238e+01] [ 8.18943265e-01 3.00058152e-01 -4.89179962e-01 3.50042705e+01] [ 5.32162223e-01 -7.80275050e-02 8.43039191e-01 2.43884003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.270714057 meters Centerline goodness : 0.994788 Centerline is valid? [True, True] Translation: X:78.45, Y:35.02, Z:24.42 [[ 2.10985795e-01 -9.58696501e-01 -1.90751181e-01 7.84506941e+01] [ 8.18232913e-01 2.79976398e-01 -5.02103690e-01 3.50249352e+01] [ 5.34770880e-01 -5.01421481e-02 8.43508074e-01 2.44156945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.30071405700001 meters Centerline goodness : 0.995643 Centerline is valid? [True, True] Translation: X:78.46, Y:35.05, Z:24.44 [[ 2.05393971e-01 -9.60363286e-01 -1.88456030e-01 7.84550876e+01] [ 8.15745163e-01 2.74384490e-01 -5.09188551e-01 3.50479265e+01] [ 5.40715402e-01 -4.91478365e-02 8.39768626e-01 2.44353206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.33071405700001 meters Centerline goodness : 0.994688 Centerline is valid? [True, True] Translation: X:78.47, Y:35.07, Z:24.45 [[ 2.05305819e-01 -9.58368579e-01 -1.98441899e-01 7.84667878e+01] [ 8.16201688e-01 2.79548277e-01 -5.05635802e-01 3.50701767e+01] [ 5.40059557e-01 -5.81586408e-02 8.39614940e-01 2.44472795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.360714057 meters Centerline goodness : 0.995324 Centerline is valid? [True, True] Translation: X:78.47, Y:35.09, Z:24.46 [[ 2.04316769e-01 -9.60068692e-01 -1.91109299e-01 7.84709503e+01] [ 8.16134803e-01 2.74867271e-01 -5.08303027e-01 3.50928011e+01] [ 5.40535514e-01 -5.21161178e-02 8.39705465e-01 2.44649067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.390714057 meters Centerline goodness : 0.995820 Centerline is valid? [True, True] Translation: X:78.48, Y:35.11, Z:24.48 [[ 2.03070176e-01 -9.58945256e-01 -1.97955800e-01 7.84804680e+01] [ 8.16207578e-01 2.77457716e-01 -5.06776485e-01 3.51145489e+01] [ 5.40895270e-01 -5.86618336e-02 8.39041772e-01 2.44784409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.420714057 meters Centerline goodness : 0.995952 Centerline is valid? [True, True] Translation: X:78.48, Y:35.13, Z:24.49 [[ 1.96689579e-01 -9.58999241e-01 -2.04043294e-01 7.84789587e+01] [ 8.15695878e-01 2.75522674e-01 -5.08652623e-01 3.51284627e+01] [ 5.44016033e-01 -6.63906031e-02 8.36444166e-01 2.44908141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.450714057 meters Centerline goodness : 0.995726 Centerline is valid? [True, True] Translation: X:78.49, Y:35.15, Z:24.52 [[ 1.99850940e-01 -9.61902427e-01 -1.86556488e-01 7.84857318e+01] [ 8.13948523e-01 2.68976805e-01 -5.14916770e-01 3.51535552e+01] [ 5.45479059e-01 -4.89407779e-02 8.36694327e-01 2.45179396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.480714057 meters Centerline goodness : 0.995592 Centerline is valid? [True, True] Translation: X:78.50, Y:35.18, Z:24.53 [[ 1.97399700e-01 -9.61069505e-01 -1.93335889e-01 7.84960200e+01] [ 8.15170500e-01 2.70469520e-01 -5.12194586e-01 3.51754365e+01] [ 5.44546062e-01 -5.64946557e-02 8.36826111e-01 2.45307191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.510714057 meters Centerline goodness : 0.995976 Centerline is valid? [True, True] Translation: X:78.49, Y:35.19, Z:24.55 [[ 1.91968966e-01 -9.65275822e-01 -1.77173656e-01 7.84891288e+01] [ 8.15624993e-01 2.57323028e-01 -5.18209157e-01 3.51936145e+01] [ 5.45805631e-01 -4.50271857e-02 8.36701121e-01 2.45468006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.540714057 meters Centerline goodness : 0.995703 Centerline is valid? [True, True] Translation: X:78.50, Y:35.22, Z:24.56 [[ 1.90924390e-01 -9.65602724e-01 -1.76519848e-01 7.84969200e+01] [ 8.15709847e-01 2.56105303e-01 -5.18678628e-01 3.52156405e+01] [ 5.46045165e-01 -4.49605778e-02 8.36548399e-01 2.45618534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.570714057 meters Centerline goodness : 0.994993 Centerline is valid? [True, True] Translation: X:78.52, Y:35.24, Z:24.58 [[ 1.90354058e-01 -9.63239723e-01 -1.89564154e-01 7.85167094e+01] [ 8.15282415e-01 2.62674552e-01 -5.16058779e-01 3.52400957e+01] [ 5.46881995e-01 -5.63144383e-02 8.35313575e-01 2.45774481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.600714057 meters Centerline goodness : 0.995951 Centerline is valid? [True, True] Translation: X:78.52, Y:35.26, Z:24.59 [[ 1.89607655e-01 -9.65076101e-01 -1.80767963e-01 7.85218192e+01] [ 8.15657396e-01 2.57308785e-01 -5.18165226e-01 3.52629207e+01] [ 5.46582061e-01 -4.91966326e-02 8.35959175e-01 2.45938842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.630714057 meters Centerline goodness : 0.995438 Centerline is valid? [True, True] Translation: X:78.53, Y:35.29, Z:24.61 [[ 1.91142837e-01 -9.67781868e-01 -1.63898360e-01 7.85261684e+01] [ 8.16464462e-01 2.49445276e-01 -5.20732980e-01 3.52887275e+01] [ 5.44839607e-01 -3.42828071e-02 8.37839180e-01 2.46098111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.660714057 meters Centerline goodness : 0.996223 Centerline is valid? [True, True] Translation: X:78.55, Y:35.31, Z:24.62 [[ 1.90082262e-01 -9.64243254e-01 -1.84671820e-01 7.85451954e+01] [ 8.17532398e-01 2.59610994e-01 -5.14045631e-01 3.53145942e+01] [ 5.43607866e-01 -5.32642395e-02 8.37647544e-01 2.46188066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.69071405700001 meters Centerline goodness : 0.996407 Centerline is valid? [True, True] Translation: X:78.56, Y:35.34, Z:24.63 [[ 1.88772236e-01 -9.61617918e-01 -1.99138201e-01 7.85581855e+01] [ 8.17495379e-01 2.66239770e-01 -5.10703133e-01 3.53362023e+01] [ 5.44119793e-01 -6.63879868e-02 8.36376881e-01 2.46309822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.72071405700001 meters Centerline goodness : 0.996452 Centerline is valid? [True, True] Translation: X:78.56, Y:35.36, Z:24.65 [[ 1.88826784e-01 -9.63820604e-01 -1.88133697e-01 7.85608634e+01] [ 8.17061917e-01 2.60474802e-01 -5.14356590e-01 3.53585682e+01] [ 5.44751567e-01 -5.65925781e-02 8.36685730e-01 2.46504370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.750714057 meters Centerline goodness : 0.996726 Centerline is valid? [True, True] Translation: X:78.57, Y:35.38, Z:24.67 [[ 1.88219950e-01 -9.63560606e-01 -1.90063696e-01 7.85687095e+01] [ 8.16987895e-01 2.61015433e-01 -5.14200080e-01 3.53808801e+01] [ 5.45072499e-01 -5.84970255e-02 8.36345664e-01 2.46656729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.780714057 meters Centerline goodness : 0.995488 Centerline is valid? [True, True] Translation: X:78.57, Y:35.40, Z:24.68 [[ 1.83902964e-01 -9.61330731e-01 -2.04994941e-01 7.85732255e+01] [ 8.16827048e-01 2.65474622e-01 -5.12168721e-01 3.53957769e+01] [ 5.46784485e-01 -7.32560670e-02 8.34062513e-01 2.46754833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.810714057 meters Centerline goodness : 0.996068 Centerline is valid? [True, True] Translation: X:78.57, Y:35.42, Z:24.71 [[ 1.89340587e-01 -9.68654915e-01 -1.60803599e-01 7.85675956e+01] [ 8.15267825e-01 2.46357276e-01 -5.24067234e-01 3.54220315e+01] [ 5.47255439e-01 -3.18708031e-02 8.36358617e-01 2.47075037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.840714057 meters Centerline goodness : 0.996047 Centerline is valid? [True, True] Translation: X:78.59, Y:35.44, Z:24.71 [[ 1.85399930e-01 -9.61757414e-01 -2.01617318e-01 7.85851069e+01] [ 8.16415735e-01 2.64945030e-01 -5.13097923e-01 3.54387947e+01] [ 5.46893238e-01 -6.94752313e-02 8.34314676e-01 2.47074372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.870714057 meters Centerline goodness : 0.996047 Centerline is valid? [True, True] Translation: X:78.58, Y:35.46, Z:24.73 [[ 1.85147506e-01 -9.67271478e-01 -1.73511636e-01 7.85787556e+01] [ 8.15116611e-01 2.49782742e-01 -5.22679148e-01 3.54595625e+01] [ 5.48912844e-01 -4.46594756e-02 8.34685702e-01 2.47324685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.900714057 meters Centerline goodness : 0.995956 Centerline is valid? [True, True] Translation: X:78.59, Y:35.49, Z:24.75 [[ 1.89372088e-01 -9.67959994e-01 -1.64898948e-01 7.85898243e+01] [ 8.15133104e-01 2.48606252e-01 -5.23214062e-01 3.54873426e+01] [ 5.47445190e-01 -3.53324515e-02 8.36095319e-01 2.47516465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.930714057 meters Centerline goodness : 0.995186 Centerline is valid? [True, True] Translation: X:78.60, Y:35.52, Z:24.76 [[ 1.92327592e-01 -9.68204026e-01 -1.59972063e-01 7.86002491e+01] [ 8.16635179e-01 2.48303708e-01 -5.21010799e-01 3.55161661e+01] [ 5.44166410e-01 -3.04340623e-02 8.38425123e-01 2.47649893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.960714057 meters Centerline goodness : 0.995720 Centerline is valid? [True, True] Translation: X:78.62, Y:35.54, Z:24.77 [[ 1.90946119e-01 -9.62593281e-01 -1.92233595e-01 7.86223558e+01] [ 8.17217416e-01 2.64379296e-01 -5.12112568e-01 3.55403407e+01] [ 5.43778699e-01 -5.93107340e-02 8.37130195e-01 2.47708125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.990714057 meters Centerline goodness : 0.995364 Centerline is valid? [True, True] Translation: X:78.63, Y:35.56, Z:24.78 [[ 1.88183149e-01 -9.59146800e-01 -2.11245164e-01 7.86336946e+01] [ 8.16665631e-01 2.72295641e-01 -5.08834287e-01 3.55569733e+01] [ 5.45567915e-01 -7.67626270e-02 8.34543677e-01 2.47818176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.020714057 meters Centerline goodness : 0.996136 Centerline is valid? [True, True] Translation: X:78.63, Y:35.58, Z:24.81 [[ 1.88053950e-01 -9.65172997e-01 -1.81870275e-01 7.86255504e+01] [ 8.15056701e-01 2.56681164e-01 -5.19420209e-01 3.55774477e+01] [ 5.48013034e-01 -5.05555644e-02 8.34940626e-01 2.48077146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.05071405700001 meters Centerline goodness : 0.995315 Centerline is valid? [True, True] Translation: X:78.63, Y:35.60, Z:24.82 [[ 1.89132233e-01 -9.64978801e-01 -1.81782596e-01 7.86323801e+01] [ 8.14850294e-01 2.57537117e-01 -5.19320356e-01 3.55991881e+01] [ 5.47948900e-01 -4.99053828e-02 8.35021830e-01 2.48222543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.08071405700001 meters Centerline goodness : 0.995616 Centerline is valid? [True, True] Translation: X:78.63, Y:35.63, Z:24.85 [[ 1.95100459e-01 -9.70494645e-01 -1.41689645e-01 7.86280634e+01] [ 8.15783437e-01 2.40772352e-01 -5.25857451e-01 3.56296772e+01] [ 5.44456789e-01 -1.29930359e-02 8.38688253e-01 2.48460108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.110714057 meters Centerline goodness : 0.995676 Centerline is valid? [True, True] Translation: X:78.67, Y:35.65, Z:24.84 [[ 0.19096699 -0.95516235 -0.22626642 78.66824159] [ 0.8159741 0.28260233 -0.50430368 35.64856619] [ 0.5456353 -0.08832218 0.83335545 24.83900133] [ 0. 0. 0. 1. ]] SLAMing on 102.140714057 meters Centerline goodness : 0.995639 Centerline is valid? [True, True] Translation: X:78.65, Y:35.67, Z:24.87 [[ 1.93441009e-01 -9.64908336e-01 -1.77573868e-01 7.86510639e+01] [ 8.13791977e-01 2.58897988e-01 -5.20302268e-01 3.56666307e+01] [ 5.48017513e-01 -4.38603938e-02 8.35316151e-01 2.48672677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.170714057 meters Centerline goodness : 0.995870 Centerline is valid? [True, True] Translation: X:78.66, Y:35.69, Z:24.89 [[ 1.93368469e-01 -9.65909264e-01 -1.72127652e-01 7.86565965e+01] [ 8.13097176e-01 2.55948335e-01 -5.22841689e-01 3.56925140e+01] [ 5.49073417e-01 -3.88554113e-02 8.34870433e-01 2.48857200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.200714057 meters Centerline goodness : 0.995809 Centerline is valid? [True, True] Translation: X:78.67, Y:35.72, Z:24.90 [[ 1.94449326e-01 -9.64038024e-01 -1.81163317e-01 7.86673458e+01] [ 8.12813804e-01 2.61742718e-01 -5.20407983e-01 3.57170983e+01] [ 5.49111263e-01 -4.60590635e-02 8.34479109e-01 2.48983263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.230714057 meters Centerline goodness : 0.995450 Centerline is valid? [True, True] Translation: X:78.68, Y:35.74, Z:24.91 [[ 1.96998907e-01 -9.61218240e-01 -1.93004987e-01 7.86794843e+01] [ 8.15048796e-01 2.69977478e-01 -5.12647659e-01 3.57391797e+01] [ 5.44873280e-01 -5.63174535e-02 8.36625037e-01 2.49094174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.260714057 meters Centerline goodness : 0.996070 Centerline is valid? [True, True] Translation: X:78.67, Y:35.76, Z:24.93 [[ 1.95878182e-01 -9.65961406e-01 -1.68968338e-01 7.86739729e+01] [ 8.12346766e-01 2.56353992e-01 -5.23808517e-01 3.57607757e+01] [ 5.49294520e-01 -3.46582231e-02 8.34909778e-01 2.49329984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.290714057 meters Centerline goodness : 0.996380 Centerline is valid? [True, True] Translation: X:78.68, Y:35.79, Z:24.95 [[ 1.96243346e-01 -9.64329057e-01 -1.77645770e-01 7.86838134e+01] [ 8.12797070e-01 2.61318288e-01 -5.20647361e-01 3.57851741e+01] [ 5.48497467e-01 -4.22163811e-02 8.35085807e-01 2.49460858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.320714057 meters Centerline goodness : 0.996179 Centerline is valid? [True, True] Translation: X:78.69, Y:35.80, Z:24.95 [[ 1.90680928e-01 -9.60049410e-01 -2.04807016e-01 7.86927225e+01] [ 8.11574224e-01 2.71548761e-01 -5.17308949e-01 3.58010607e+01] [ 5.52257243e-01 -6.75751450e-02 8.30930525e-01 2.49544603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.350714057 meters Centerline goodness : 0.996006 Centerline is valid? [True, True] Translation: X:78.68, Y:35.83, Z:24.99 [[ 1.96925340e-01 -9.69455113e-01 -1.46209417e-01 7.86800286e+01] [ 8.11191350e-01 2.44867329e-01 -5.31044805e-01 3.58280230e+01] [ 5.50626011e-01 -1.40276361e-02 8.34634184e-01 2.49874221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.380714057 meters Centerline goodness : 0.995841 Centerline is valid? [True, True] Translation: X:78.71, Y:35.85, Z:24.99 [[ 1.98907781e-01 -9.62304921e-01 -1.85485672e-01 7.87053672e+01] [ 8.14996704e-01 2.67535255e-01 -5.14009008e-01 3.58525284e+01] [ 5.44257354e-01 -4.89298205e-02 8.37490182e-01 2.49886036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.410714057 meters Centerline goodness : 0.994988 Centerline is valid? [True, True] Translation: X:78.70, Y:35.87, Z:25.01 [[ 1.99295945e-01 -9.66534153e-01 -1.61532840e-01 7.86997706e+01] [ 8.11617229e-01 2.55178987e-01 -5.25510379e-01 3.58733436e+01] [ 5.49143516e-01 -2.63707485e-02 8.35311908e-01 2.50097369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.44071405700001 meters Centerline goodness : 0.995549 Centerline is valid? [True, True] Translation: X:78.71, Y:35.90, Z:25.03 [[ 1.97937567e-01 -9.67674931e-01 -1.56288029e-01 7.87050457e+01] [ 8.11835632e-01 2.51190720e-01 -5.27092144e-01 3.59017740e+01] [ 5.49311957e-01 -2.25488543e-02 8.35313069e-01 2.50291450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.47071405700001 meters Centerline goodness : 0.995398 Centerline is valid? [True, True] Translation: X:78.73, Y:35.92, Z:25.03 [[ 2.00757626e-01 -9.59561408e-01 -1.97327849e-01 7.87298133e+01] [ 8.16092366e-01 2.75242878e-01 -5.08167893e-01 3.59224650e+01] [ 5.41931384e-01 -5.90191714e-02 8.38347847e-01 2.50286352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.500714057 meters Centerline goodness : 0.995448 Centerline is valid? [True, True] Translation: X:78.72, Y:35.95, Z:25.06 [[ 1.94789948e-01 -9.67722707e-01 -1.59905091e-01 7.87170680e+01] [ 8.12160926e-01 2.50541571e-01 -5.26899944e-01 3.59450641e+01] [ 5.49955913e-01 -2.72338539e-02 8.34749550e-01 2.50609518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.530714057 meters Centerline goodness : 0.995224 Centerline is valid? [True, True] Translation: X:78.73, Y:35.97, Z:25.07 [[ 1.92885738e-01 -9.63956346e-01 -1.83257346e-01 7.87344751e+01] [ 8.12554523e-01 2.61614296e-01 -5.20877249e-01 3.59683322e+01] [ 5.50045671e-01 -4.84367933e-02 8.33728755e-01 2.50699674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.560714057 meters Centerline goodness : 0.995567 Centerline is valid? [True, True] Translation: X:78.74, Y:35.98, Z:25.08 [[ 1.85764911e-01 -9.61649431e-01 -2.01796357e-01 7.87404645e+01] [ 8.11435245e-01 2.65955300e-01 -5.20423502e-01 3.59835191e+01] [ 5.54133775e-01 -6.70682510e-02 8.29721404e-01 2.50825148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.590714057 meters Centerline goodness : 0.996067 Centerline is valid? [True, True] Translation: X:78.74, Y:36.01, Z:25.11 [[ 1.87727210e-01 -9.68059728e-01 -1.66189224e-01 7.87362454e+01] [ 8.09972352e-01 2.48283613e-01 -5.31319148e-01 3.60070713e+01] [ 5.55610731e-01 -3.48656155e-02 8.30711204e-01 2.51122053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.620714057 meters Centerline goodness : 0.995747 Centerline is valid? [True, True] Translation: X:78.75, Y:36.03, Z:25.12 [[ 1.85951266e-01 -9.65979355e-01 -1.79738732e-01 7.87485135e+01] [ 8.10026177e-01 2.54250421e-01 -5.28407339e-01 3.60299910e+01] [ 5.56129229e-01 -4.73350644e-02 8.29746752e-01 2.51240908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.650714057 meters Centerline goodness : 0.995904 Centerline is valid? [True, True] Translation: X:78.75, Y:36.05, Z:25.14 [[ 1.86401236e-01 -9.66870276e-01 -1.74403118e-01 7.87528580e+01] [ 8.09436660e-01 2.51742293e-01 -5.30507409e-01 3.60531935e+01] [ 5.56836486e-01 -4.22810408e-02 8.29545322e-01 2.51414290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.680714057 meters Centerline goodness : 0.996039 Centerline is valid? [True, True] Translation: X:78.76, Y:36.08, Z:25.16 [[ 1.86342137e-01 -9.66355971e-01 -1.77292821e-01 7.87602250e+01] [ 8.09303735e-01 2.53289558e-01 -5.29973457e-01 3.60750462e+01] [ 5.57049435e-01 -4.47273555e-02 8.29274014e-01 2.51551180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.710714057 meters Centerline goodness : 0.996194 Centerline is valid? [True, True] Translation: X:78.77, Y:36.10, Z:25.17 [[ 1.85948033e-01 -9.66097783e-01 -1.79104444e-01 7.87675868e+01] [ 8.09000901e-01 2.53986501e-01 -5.30102254e-01 3.60978169e+01] [ 5.57620724e-01 -4.63241850e-02 8.28802267e-01 2.51715097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.740714057 meters Centerline goodness : 0.995689 Centerline is valid? [True, True] Translation: X:78.77, Y:36.12, Z:25.19 [[ 1.90885766e-01 -9.69777300e-01 -1.51969118e-01 7.87677292e+01] [ 8.10312319e-01 2.43055073e-01 -5.33214945e-01 3.61248578e+01] [ 5.54036614e-01 -2.13593052e-02 8.32218247e-01 2.51913596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.770714057 meters Centerline goodness : 0.995429 Centerline is valid? [True, True] Translation: X:78.79, Y:36.15, Z:25.19 [[ 1.89460555e-01 -9.62708517e-01 -1.93124336e-01 7.87925011e+01] [ 8.10673687e-01 2.64342036e-01 -5.22428427e-01 3.61491993e+01] [ 5.53997177e-01 -5.75812373e-02 8.30524852e-01 2.51949644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.80071405700001 meters Centerline goodness : 0.995818 Centerline is valid? [True, True] Translation: X:78.79, Y:36.17, Z:25.22 [[ 1.93317259e-01 -9.65846969e-01 -1.72534257e-01 7.87903952e+01] [ 8.09546108e-01 2.56373469e-01 -5.28117169e-01 3.61726948e+01] [ 5.54313573e-01 -3.75802729e-02 8.31459071e-01 2.52175005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.83071405700001 meters Centerline goodness : 0.994489 Centerline is valid? [True, True] Translation: X:78.80, Y:36.20, Z:25.23 [[ 1.99174550e-01 -9.66550904e-01 -1.61582325e-01 7.87969649e+01] [ 8.10293824e-01 2.55168427e-01 -5.27553782e-01 3.62003735e+01] [ 5.51138292e-01 -2.58538729e-02 8.34013285e-01 2.52311329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.860714057 meters Centerline goodness : 0.994639 Centerline is valid? [True, True] Translation: X:78.82, Y:36.23, Z:25.23 [[ 2.07103383e-01 -9.60428271e-01 -1.86241040e-01 7.88235391e+01] [ 8.06723753e-01 2.75348749e-01 -5.22857392e-01 3.62271749e+01] [ 5.53448258e-01 -4.19595361e-02 8.31825957e-01 2.52346578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.890714057 meters Centerline goodness : 0.995214 Centerline is valid? [True, True] Translation: X:78.83, Y:36.23, Z:25.24 [[ 0.19964722 -0.9506045 -0.23768063 78.83385137] [ 0.80408643 0.29756271 -0.51468577 36.23206201] [ 0.5599875 -0.08836018 0.82377575 25.23773077] [ 0. 0. 0. 1. ]] SLAMing on 102.920714057 meters Centerline goodness : 0.994839 Centerline is valid? [True, True] Translation: X:78.80, Y:36.26, Z:25.29 [[ 2.12405536e-01 -9.66601599e-01 -1.43405850e-01 7.88041562e+01] [ 8.03628013e-01 2.56281117e-01 -5.37123827e-01 3.62566903e+01] [ 5.55936961e-01 -1.15688417e-03 8.31223650e-01 2.52879797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.950714057 meters Centerline goodness : 0.994045 Centerline is valid? [True, True] Translation: X:78.82, Y:36.29, Z:25.30 [[ 2.22481938e-01 -9.60908186e-01 -1.64794553e-01 7.88217932e+01] [ 8.05175586e-01 2.76407047e-01 -5.24682209e-01 3.62855329e+01] [ 5.49721805e-01 -1.59562362e-02 8.35195387e-01 2.52968209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.980714057 meters Centerline goodness : 0.994929 Centerline is valid? [True, True] Translation: X:78.84, Y:36.30, Z:25.29 [[ 2.14209623e-01 -9.50494334e-01 -2.25110547e-01 7.88416512e+01] [ 8.02689203e-01 3.02613908e-01 -5.13921070e-01 3.62966002e+01] [ 5.56600648e-01 -7.06069670e-02 8.27774350e-01 2.52940889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.010714057 meters Centerline goodness : 0.994660 Centerline is valid? [True, True] Translation: X:78.83, Y:36.31, Z:25.33 [[ 2.17645127e-01 -9.62411800e-01 -1.62462689e-01 7.88269655e+01] [ 8.00059209e-01 2.71257724e-01 -5.35092992e-01 3.63123273e+01] [ 5.59049069e-01 -1.35193884e-02 8.29024345e-01 2.53263196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.040714057 meters Centerline goodness : 0.994257 Centerline is valid? [True, True] Translation: X:78.85, Y:36.34, Z:25.34 [[ 2.22807118e-01 -9.62069239e-01 -1.57415906e-01 7.88464553e+01] [ 7.99651918e-01 2.72723449e-01 -5.34956755e-01 3.63395558e+01] [ 5.57596447e-01 -6.68575801e-03 8.30085238e-01 2.53444544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.070714057 meters Centerline goodness : 0.994276 Centerline is valid? [True, True] Translation: X:78.86, Y:36.37, Z:25.36 [[ 2.21990513e-01 -9.60827308e-01 -1.65924970e-01 7.88622477e+01] [ 8.01288715e-01 2.76730456e-01 -5.30430626e-01 3.63658422e+01] [ 5.55568724e-01 -1.52032391e-02 8.31331615e-01 2.53559074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.100714057 meters Centerline goodness : 0.993920 Centerline is valid? [True, True] Translation: X:78.87, Y:36.39, Z:25.37 [[ 2.20763138e-01 -9.60806640e-01 -1.67673008e-01 7.88723385e+01] [ 8.03051820e-01 2.76626019e-01 -5.27812296e-01 3.63911569e+01] [ 5.53508275e-01 -1.81286154e-02 8.32646349e-01 2.53713618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.130714057 meters Centerline goodness : 0.992412 Centerline is valid? [True, True] Translation: X:78.90, Y:36.40, Z:25.37 [[ 2.16651600e-01 -9.52494339e-01 -2.14048168e-01 7.88956693e+01] [ 8.05953531e-01 2.98235785e-01 -5.11365155e-01 3.64031652e+01] [ 5.50909239e-01 -6.17247981e-02 8.32279436e-01 2.53749079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.160714057 meters Centerline goodness : 0.993752 Centerline is valid? [True, True] Translation: X:78.88, Y:36.42, Z:25.41 [[ 2.01884539e-01 -9.66872157e-01 -1.56207764e-01 7.88752528e+01] [ 8.05698843e-01 2.54633526e-01 -5.34800096e-01 3.64192545e+01] [ 5.56859056e-01 -1.78885436e-02 8.30414350e-01 2.54066985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.19071405700001 meters Centerline goodness : 0.993489 Centerline is valid? [True, True] Translation: X:78.90, Y:36.45, Z:25.43 [[ 2.04685913e-01 -9.67490317e-01 -1.48546836e-01 7.88950528e+01] [ 8.06799426e-01 2.52688653e-01 -5.34062853e-01 3.64483118e+01] [ 5.54236739e-01 -1.05323595e-02 8.32292440e-01 2.54270270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.22071405700001 meters Centerline goodness : 0.993420 Centerline is valid? [True, True] Translation: X:78.93, Y:36.47, Z:25.43 [[ 2.03946547e-01 -9.58730135e-01 -1.98096780e-01 7.89275181e+01] [ 8.10599876e-01 2.78837346e-01 -5.14953955e-01 3.64667440e+01] [ 5.48938655e-01 -5.55541443e-02 8.34014443e-01 2.54264286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.250714057 meters Centerline goodness : 0.993823 Centerline is valid? [True, True] Translation: X:78.91, Y:36.49, Z:25.46 [[ 2.03722060e-01 -9.70073682e-01 -1.32115000e-01 7.89121701e+01] [ 8.13790140e-01 2.42810725e-01 -5.28004319e-01 3.64924542e+01] [ 5.44282033e-01 5.22431022e-05 8.38902298e-01 2.54575719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.280714057 meters Centerline goodness : 0.994556 Centerline is valid? [True, True] Translation: X:78.94, Y:36.51, Z:25.46 [[ 1.87157967e-01 -9.62674445e-01 -1.95524446e-01 7.89364917e+01] [ 8.12070632e-01 2.63619341e-01 -5.20620910e-01 3.65076755e+01] [ 5.52732471e-01 -6.13413095e-02 8.31098105e-01 2.54562387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.310714057 meters Centerline goodness : 0.995417 Centerline is valid? [True, True] Translation: X:78.93, Y:36.53, Z:25.48 [[ 1.85391578e-01 -9.69857409e-01 -1.58134656e-01 7.89268501e+01] [ 8.11476518e-01 2.41856829e-01 -5.31987908e-01 3.65271605e+01] [ 5.54198360e-01 -2.96964824e-02 8.31854733e-01 2.54835629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.340714057 meters Centerline goodness : 0.995490 Centerline is valid? [True, True] Translation: X:78.94, Y:36.55, Z:25.50 [[ 1.83416862e-01 -9.70262089e-01 -1.57954848e-01 7.89398927e+01] [ 8.11956501e-01 2.40106409e-01 -5.32048450e-01 3.65481961e+01] [ 5.54152411e-01 -3.06658086e-02 8.31850175e-01 2.54973242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.370714057 meters Centerline goodness : 0.995469 Centerline is valid? [True, True] Translation: X:78.95, Y:36.57, Z:25.51 [[ 1.82737804e-01 -9.70426386e-01 -1.57732445e-01 7.89507529e+01] [ 8.12218864e-01 2.39410911e-01 -5.31961401e-01 3.65695095e+01] [ 5.53992248e-01 -3.09038092e-02 8.31948041e-01 2.55110394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.400714057 meters Centerline goodness : 0.994954 Centerline is valid? [True, True] Translation: X:78.96, Y:36.60, Z:25.54 [[ 1.90599022e-01 -9.74125121e-01 -1.21458888e-01 7.89603891e+01] [ 8.13945964e-01 2.25987523e-01 -5.35183713e-01 3.66036792e+01] [ 5.48784093e-01 3.14452103e-03 8.35958212e-01 2.55359484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.430714057 meters Centerline goodness : 0.994372 Centerline is valid? [True, True] Translation: X:79.00, Y:36.63, Z:25.53 [[ 1.91155983e-01 -9.63153995e-01 -1.89192423e-01 7.90011428e+01] [ 8.16062640e-01 2.63052020e-01 -5.14631327e-01 3.66273275e+01] [ 5.45436667e-01 -5.60180106e-02 8.36277959e-01 2.55330226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.460714057 meters Centerline goodness : 0.994774 Centerline is valid? [True, True] Translation: X:79.01, Y:36.64, Z:25.55 [[ 1.85611592e-01 -9.62761974e-01 -1.96564793e-01 7.90067444e+01] [ 8.14249603e-01 2.62674648e-01 -5.17686791e-01 3.66440661e+01] [ 5.50041744e-01 -6.39641355e-02 8.32684015e-01 2.55526766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.490714057 meters Centerline goodness : 0.994201 Centerline is valid? [True, True] Translation: X:79.00, Y:36.67, Z:25.57 [[ 1.90701652e-01 -9.68053642e-01 -1.62803645e-01 7.90013694e+01] [ 8.16630678e-01 2.48480738e-01 -5.20933449e-01 3.66657228e+01] [ 5.44745092e-01 -3.36075819e-02 8.37927989e-01 2.55715654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.520714057 meters Centerline goodness : 0.995258 Centerline is valid? [True, True] Translation: X:79.02, Y:36.69, Z:25.59 [[ 1.84155739e-01 -9.65636219e-01 -1.83393994e-01 7.90153165e+01] [ 8.13149661e-01 2.54492801e-01 -5.23470193e-01 3.66866636e+01] [ 5.52154229e-01 -5.27267239e-02 8.32073074e-01 2.55871788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.55071405700001 meters Centerline goodness : 0.995412 Centerline is valid? [True, True] Translation: X:79.02, Y:36.71, Z:25.60 [[ 1.84938362e-01 -9.68437724e-01 -1.67111273e-01 7.90171855e+01] [ 8.13046419e-01 2.46294356e-01 -5.27536359e-01 3.67087009e+01] [ 5.52044674e-01 -3.83075117e-02 8.32934098e-01 2.56047691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.58071405700001 meters Centerline goodness : 0.995233 Centerline is valid? [True, True] Translation: X:79.03, Y:36.73, Z:25.62 [[ 1.85113546e-01 -9.66948442e-01 -1.75338774e-01 7.90299904e+01] [ 8.12579209e-01 2.50952306e-01 -5.26058903e-01 3.67311128e+01] [ 5.52673506e-01 -4.50960132e-02 8.32176871e-01 2.56181537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.610714057 meters Centerline goodness : 0.995341 Centerline is valid? [True, True] Translation: X:79.02, Y:36.75, Z:25.63 [[ 1.80520967e-01 -9.68267884e-01 -1.72827905e-01 7.90249641e+01] [ 8.13023574e-01 2.45787111e-01 -5.27808075e-01 3.67459338e+01] [ 5.53538479e-01 -4.52327373e-02 8.31594343e-01 2.56286350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.640714057 meters Centerline goodness : 0.995416 Centerline is valid? [True, True] Translation: X:79.04, Y:36.77, Z:25.65 [[ 1.84228470e-01 -9.68557447e-01 -1.67201503e-01 7.90360698e+01] [ 8.11179344e-01 2.45889285e-01 -5.30590738e-01 3.67703035e+01] [ 5.55020668e-01 -3.78804857e-02 8.30973602e-01 2.56544647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.670714057 meters Centerline goodness : 0.995108 Centerline is valid? [True, True] Translation: X:79.03, Y:36.79, Z:25.66 [[ 1.81340843e-01 -9.70910865e-01 -1.56357252e-01 7.90310248e+01] [ 8.12694232e-01 2.37480552e-01 -5.32100623e-01 3.67893777e+01] [ 5.53754083e-01 -3.05790613e-02 8.32118584e-01 2.56637979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.700714057 meters Centerline goodness : 0.995169 Centerline is valid? [True, True] Translation: X:79.04, Y:36.81, Z:25.68 [[ 1.81947597e-01 -9.71212057e-01 -1.53760242e-01 7.90384858e+01] [ 8.12000538e-01 2.36591866e-01 -5.33553573e-01 3.68115947e+01] [ 5.54572086e-01 -2.77746086e-02 8.31672034e-01 2.56794686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.730714057 meters Centerline goodness : 0.995397 Centerline is valid? [True, True] Translation: X:79.05, Y:36.83, Z:25.69 [[ 1.82011987e-01 -9.71213403e-01 -1.53675513e-01 7.90454926e+01] [ 8.11735499e-01 2.36611563e-01 -5.33947983e-01 3.68332289e+01] [ 5.54938840e-01 -2.75589361e-02 8.31434537e-01 2.56933209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.760714057 meters Centerline goodness : 0.995397 Centerline is valid? [True, True] Translation: X:79.05, Y:36.86, Z:25.71 [[ 1.81761122e-01 -9.71286424e-01 -1.53510836e-01 7.90518847e+01] [ 8.11791731e-01 2.36311597e-01 -5.33995332e-01 3.68560280e+01] [ 5.54938807e-01 -2.75592365e-02 8.31434549e-01 2.57090017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.790714057 meters Centerline goodness : 0.995557 Centerline is valid? [True, True] Translation: X:79.06, Y:36.88, Z:25.72 [[ 1.82376429e-01 -9.71166809e-01 -1.53537839e-01 7.90591462e+01] [ 8.11158067e-01 2.36864329e-01 -5.34712895e-01 3.68778822e+01] [ 5.55663053e-01 -2.70244282e-02 8.30968262e-01 2.57243660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.820714057 meters Centerline goodness : 0.995367 Centerline is valid? [True, True] Translation: X:79.06, Y:36.91, Z:25.75 [[ 1.88903878e-01 -9.74286388e-01 -1.22806184e-01 7.90629745e+01] [ 8.11138709e-01 2.25301023e-01 -5.39716078e-01 3.69102990e+01] [ 5.53506387e-01 2.34161115e-03 8.32841640e-01 2.57511750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.850714057 meters Centerline goodness : 0.995192 Centerline is valid? [True, True] Translation: X:79.10, Y:36.93, Z:25.74 [[ 1.81092455e-01 -9.61582407e-01 -2.06312378e-01 7.90956327e+01] [ 8.12448021e-01 2.64487208e-01 -5.19590926e-01 3.69254884e+01] [ 5.54196478e-01 -7.35240866e-02 8.29132361e-01 2.57403943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.880714057 meters Centerline goodness : 0.995174 Centerline is valid? [True, True] Translation: X:79.08, Y:36.95, Z:25.77 [[ 1.80838277e-01 -9.71534991e-01 -1.53027052e-01 7.90760658e+01] [ 8.10974441e-01 2.35325756e-01 -5.35669902e-01 3.69451439e+01] [ 5.56433261e-01 -2.72314059e-02 8.30445951e-01 2.57707120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.910714057 meters Centerline goodness : 0.993524 Centerline is valid? [True, True] Translation: X:79.08, Y:36.97, Z:25.79 [[ 1.86718443e-01 -9.73931829e-01 -1.28813879e-01 7.90820673e+01] [ 8.11088218e-01 2.26808927e-01 -5.39160100e-01 3.69748032e+01] [ 5.54321320e-01 -3.80828547e-03 8.32294041e-01 2.57949409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.94071405700001 meters Centerline goodness : 0.994511 Centerline is valid? [True, True] Translation: X:79.11, Y:37.00, Z:25.80 [[ 1.86288286e-01 -9.65359512e-01 -1.82695613e-01 7.91129648e+01] [ 8.11696182e-01 2.55991102e-01 -5.24993204e-01 3.69997711e+01] [ 5.53575634e-01 -5.04932469e-02 8.31266774e-01 2.57974264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.97071405700001 meters Centerline goodness : 0.993401 Centerline is valid? [True, True] Translation: X:79.11, Y:37.02, Z:25.82 [[ 1.87672431e-01 -9.68871771e-01 -1.61451384e-01 7.91076383e+01] [ 8.11108554e-01 2.45572700e-01 -5.30845517e-01 3.70224578e+01] [ 5.53969288e-01 -3.13295300e-02 8.31947407e-01 2.58169753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.000714057 meters Centerline goodness : 0.992240 Centerline is valid? [True, True] Translation: X:79.12, Y:37.04, Z:25.83 [[ 1.91212782e-01 -9.65353707e-01 -1.77566583e-01 7.91198782e+01] [ 8.13766284e-01 2.57065497e-01 -5.21250194e-01 3.70444529e+01] [ 5.48837050e-01 -4.48279990e-02 8.34726508e-01 2.58270530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.030714057 meters Centerline goodness : 0.993164 Centerline is valid? [True, True] Translation: X:79.10, Y:37.07, Z:25.85 [[ 1.94778556e-01 -9.72982820e-01 -1.23958646e-01 7.91011611e+01] [ 8.10836643e-01 2.30838462e-01 -5.37826685e-01 3.70731863e+01] [ 5.51910548e-01 4.24689273e-03 8.33892506e-01 2.58525810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.060714057 meters Centerline goodness : 0.993420 Centerline is valid? [True, True] Translation: X:79.13, Y:37.10, Z:25.86 [[ 1.95563154e-01 -9.65154352e-01 -1.73873890e-01 7.91288870e+01] [ 8.10013556e-01 2.58915771e-01 -5.26156500e-01 3.70993998e+01] [ 5.52840928e-01 -3.79433835e-02 8.32422494e-01 2.58557100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.090714057 meters Centerline goodness : 0.991874 Centerline is valid? [True, True] Translation: X:79.13, Y:37.12, Z:25.87 [[ 2.01706733e-01 -9.65656513e-01 -1.63773906e-01 7.91312408e+01] [ 8.13424856e-01 2.58298760e-01 -5.21173440e-01 3.71232398e+01] [ 5.45577124e-01 -2.80935743e-02 8.37589609e-01 2.58698670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.120714057 meters Centerline goodness : 0.993232 Centerline is valid? [True, True] Translation: X:79.14, Y:37.14, Z:25.88 [[ 2.04118252e-01 -9.62655994e-01 -1.77845936e-01 7.91381690e+01] [ 8.11646012e-01 2.67990363e-01 -5.19049050e-01 3.71437209e+01] [ 5.47326676e-01 -3.84005598e-02 8.36037623e-01 2.58833937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.150714057 meters Centerline goodness : 0.993836 Centerline is valid? [True, True] Translation: X:79.14, Y:37.16, Z:25.90 [[ 2.04942272e-01 -9.64100554e-01 -1.68845450e-01 7.91372613e+01] [ 8.11113204e-01 2.63840371e-01 -5.21999644e-01 3.71638610e+01] [ 5.47808393e-01 -2.99729806e-02 8.36066735e-01 2.59014787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.180714057 meters Centerline goodness : 0.994383 Centerline is valid? [True, True] Translation: X:79.13, Y:37.19, Z:25.93 [[ 2.02274016e-01 -9.69729969e-01 -1.36780880e-01 7.91265725e+01] [ 8.08663935e-01 2.44168499e-01 -5.35204992e-01 3.71912672e+01] [ 5.52401903e-01 -2.35170191e-03 8.33574596e-01 2.59304275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.210714057 meters Centerline goodness : 0.994463 Centerline is valid? [True, True] Translation: X:79.16, Y:37.21, Z:25.93 [[ 2.03884819e-01 -9.59174417e-01 -1.95998515e-01 7.91579702e+01] [ 8.10997193e-01 2.77620494e-01 -5.14985839e-01 3.72103085e+01] [ 5.48374446e-01 -5.39564508e-02 8.34490364e-01 2.59284192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.240714057 meters Centerline goodness : 0.993906 Centerline is valid? [True, True] Translation: X:79.14, Y:37.23, Z:25.95 [[ 2.01779895e-01 -9.66771487e-01 -1.56964219e-01 7.91444166e+01] [ 8.11548921e-01 2.54754564e-01 -5.25821700e-01 3.72297252e+01] [ 5.48336778e-01 -2.12838956e-02 8.35986707e-01 2.59544793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.270714057 meters Centerline goodness : 0.995232 Centerline is valid? [True, True] Translation: X:79.15, Y:37.24, Z:25.96 [[ 1.85606530e-01 -9.64332283e-01 -1.88715297e-01 7.91494134e+01] [ 8.11936869e-01 2.58681963e-01 -5.23299306e-01 3.72426491e+01] [ 5.53451658e-01 -5.60971392e-02 8.30989996e-01 2.59640738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.30071405700001 meters Centerline goodness : 0.994271 Centerline is valid? [True, True] Translation: X:79.14, Y:37.27, Z:26.00 [[ 1.93633616e-01 -9.74689678e-01 -1.11741012e-01 7.91355412e+01] [ 8.12680553e-01 2.23158974e-01 -5.38284675e-01 3.72705992e+01] [ 5.49596526e-01 1.34202611e-02 8.35322426e-01 2.60000450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.33071405700001 meters Centerline goodness : 0.994519 Centerline is valid? [True, True] Translation: X:79.16, Y:37.30, Z:26.00 [[ 1.90893066e-01 -9.70544534e-01 -1.46980085e-01 7.91597686e+01] [ 8.13957728e-01 2.40197717e-01 -5.28940331e-01 3.72989519e+01] [ 5.48664428e-01 -1.86645341e-02 8.35834302e-01 2.60037543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.360714057 meters Centerline goodness : 0.994153 Centerline is valid? [True, True] Translation: X:79.17, Y:37.32, Z:26.02 [[ 1.83513692e-01 -9.70829732e-01 -1.54312530e-01 7.91693673e+01] [ 8.12732461e-01 2.38149066e-01 -5.31743331e-01 3.73220114e+01] [ 5.52981620e-01 -2.78326205e-02 8.32728451e-01 2.60168239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.390714057 meters Centerline goodness : 0.994166 Centerline is valid? [True, True] Translation: X:79.17, Y:37.35, Z:26.03 [[ 1.87197252e-01 -9.74255454e-01 -1.25632394e-01 7.91719922e+01] [ 8.18464167e-01 2.25413294e-01 -5.28493382e-01 3.73530207e+01] [ 5.43206772e-01 -3.89310410e-03 8.39589928e-01 2.60340124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.420714057 meters Centerline goodness : 0.994701 Centerline is valid? [True, True] Translation: X:79.21, Y:37.36, Z:26.02 [[ 0.17382191 -0.95768826 -0.22938861 79.21437045] [ 0.81961726 0.26981628 -0.50539759 37.36313019] [ 0.54590613 -0.10016168 0.83183781 26.02208599] [ 0. 0. 0. 1. ]] SLAMing on 104.450714057 meters Centerline goodness : 0.986443 Centerline is valid? [True, True] Translation: X:79.16, Y:37.38, Z:26.07 [[ 1.66177771e-01 -9.78402109e-01 -1.22940073e-01 7.91638498e+01] [ 8.17234098e-01 2.06414862e-01 -5.38071867e-01 3.73758544e+01] [ 5.51827308e-01 -1.10552362e-02 8.33885126e-01 2.60651165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.480714057 meters Centerline goodness : 0.995415 Centerline is valid? [True, True] Translation: X:79.17, Y:37.40, Z:26.09 [[ 1.60614200e-01 -9.77653507e-01 -1.35634429e-01 7.91739904e+01] [ 8.13936353e-01 2.08924120e-01 -5.42087009e-01 3.74004944e+01] [ 5.58310569e-01 -2.33309212e-02 8.29303911e-01 2.60855299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.510714057 meters Centerline goodness : 0.993615 Centerline is valid? [True, True] Translation: X:79.20, Y:37.43, Z:26.10 [[ 1.72083205e-01 -9.74573881e-01 -1.43503038e-01 7.91958311e+01] [ 8.17455204e-01 2.22565941e-01 -5.31254544e-01 3.74267970e+01] [ 5.49685691e-01 -2.58873206e-02 8.34970351e-01 2.60983777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.540714057 meters Centerline goodness : 0.987497 Centerline is valid? [True, True] Translation: X:79.20, Y:37.44, Z:26.10 [[ 1.67103903e-01 -9.73631474e-01 -1.55299833e-01 7.91983171e+01] [ 8.19956468e-01 2.24705006e-01 -5.26477968e-01 3.74444230e+01] [ 5.47492170e-01 -3.93625789e-02 8.35884508e-01 2.61018251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.570714057 meters Centerline goodness : 0.987153 Centerline is valid? [True, True] Translation: X:79.20, Y:37.47, Z:26.12 [[ 1.68526986e-01 -9.76813135e-01 -1.32040734e-01 7.91952588e+01] [ 8.20191788e-01 2.13263483e-01 -5.30852257e-01 3.74654098e+01] [ 5.46702924e-01 -1.88357950e-02 8.37114763e-01 2.61241878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.600714057 meters Centerline goodness : 0.986948 Centerline is valid? [True, True] Translation: X:79.20, Y:37.49, Z:26.14 [[ 1.69168632e-01 -9.77812924e-01 -1.23546992e-01 7.91979457e+01] [ 8.20117195e-01 2.09179045e-01 -5.32589818e-01 3.74861254e+01] [ 5.46616649e-01 -1.12255215e-02 8.37307725e-01 2.61414915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.630714057 meters Centerline goodness : 0.994831 Centerline is valid? [True, True] Translation: X:79.20, Y:37.51, Z:26.17 [[ 1.65819426e-01 -9.78843103e-01 -1.19875346e-01 7.92023841e+01] [ 8.14416038e-01 2.04471893e-01 -5.43063313e-01 3.75091678e+01] [ 5.56084917e-01 -7.57795748e-03 8.31090933e-01 2.61686653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.660714057 meters Centerline goodness : 0.986323 Centerline is valid? [True, True] Translation: X:79.22, Y:37.53, Z:26.16 [[ 1.70229362e-01 -9.73531326e-01 -1.52508102e-01 7.92240950e+01] [ 8.21661669e-01 2.25666649e-01 -5.23399146e-01 3.75297608e+01] [ 5.43961457e-01 -3.62121592e-02 8.38328464e-01 2.61616366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.69071405700001 meters Centerline goodness : 0.986788 Centerline is valid? [True, True] Translation: X:79.21, Y:37.55, Z:26.19 [[ 1.69345586e-01 -9.78402651e-01 -1.18534067e-01 7.92138876e+01] [ 8.20971696e-01 2.06583649e-01 -5.32286268e-01 3.75490109e+01] [ 5.45277496e-01 -7.17278370e-03 8.38224912e-01 2.61853793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.72071405700001 meters Centerline goodness : 0.995102 Centerline is valid? [True, True] Translation: X:79.22, Y:37.57, Z:26.21 [[ 1.62961402e-01 -9.78940903e-01 -1.22956453e-01 7.92215618e+01] [ 8.13730763e-01 2.03828162e-01 -5.44331081e-01 3.75725897e+01] [ 5.57929947e-01 -1.13484923e-02 8.29810452e-01 2.62111397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.750714057 meters Centerline goodness : 0.995175 Centerline is valid? [True, True] Translation: X:79.24, Y:37.60, Z:26.22 [[ 1.61724861e-01 -9.75734252e-01 -1.47606700e-01 7.92398808e+01] [ 8.13988143e-01 2.16461141e-01 -5.39043483e-01 3.75964978e+01] [ 5.57914305e-01 -3.29733712e-02 8.29243260e-01 2.62186305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.780714057 meters Centerline goodness : 0.994105 Centerline is valid? [True, True] Translation: X:79.25, Y:37.63, Z:26.24 [[ 1.75204551e-01 -9.77320431e-01 -1.18945958e-01 7.92512796e+01] [ 8.17166886e-01 2.11740581e-01 -5.36100930e-01 3.76294097e+01] [ 5.49128079e-01 -3.27137523e-03 8.35731806e-01 2.62416954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.810714057 meters Centerline goodness : 0.987413 Centerline is valid? [True, True] Translation: X:79.29, Y:37.65, Z:26.22 [[ 1.69769418e-01 -9.68320709e-01 -1.83121131e-01 7.92869627e+01] [ 8.22887737e-01 2.41534228e-01 -5.14312152e-01 3.76471796e+01] [ 5.42249129e-01 -6.33736584e-02 8.37824362e-01 2.62214423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.840714057 meters Centerline goodness : 0.995683 Centerline is valid? [True, True] Translation: X:79.27, Y:37.67, Z:26.26 [[ 1.63479646e-01 -9.77679485e-01 -1.31974356e-01 7.92681428e+01] [ 8.14962825e-01 2.09222323e-01 -5.40427251e-01 3.76677736e+01] [ 5.55976617e-01 -1.92053381e-02 8.30976026e-01 2.62628450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.870714057 meters Centerline goodness : 0.994357 Centerline is valid? [True, True] Translation: X:79.30, Y:37.70, Z:26.28 [[ 1.74908662e-01 -9.74929370e-01 -1.37548838e-01 7.92955685e+01] [ 8.19800875e-01 2.21577143e-01 -5.28043649e-01 3.77005980e+01] [ 5.45282940e-01 -2.04032494e-02 8.38003713e-01 2.62764297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.900714057 meters Centerline goodness : 0.994849 Centerline is valid? [True, True] Translation: X:79.31, Y:37.71, Z:26.28 [[ 1.58281829e-01 -9.70101552e-01 -1.83983262e-01 7.93067079e+01] [ 8.17947924e-01 2.33196989e-01 -5.25909077e-01 3.77146238e+01] [ 5.53089555e-01 -6.72468770e-02 8.30403397e-01 2.62785264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.930714057 meters Centerline goodness : 0.994916 Centerline is valid? [True, True] Translation: X:79.30, Y:37.73, Z:26.30 [[ 1.56687558e-01 -9.76045193e-01 -1.50946314e-01 7.92982958e+01] [ 8.17127812e-01 2.13957563e-01 -5.35279646e-01 3.77338049e+01] [ 5.54753232e-01 -3.94707711e-02 8.31078161e-01 2.63024271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.960714057 meters Centerline goodness : 0.993527 Centerline is valid? [True, True] Translation: X:79.32, Y:37.77, Z:26.32 [[ 1.70779018e-01 -9.75627990e-01 -1.37784442e-01 7.93173866e+01] [ 8.21335430e-01 2.18205911e-01 -5.27061943e-01 3.77655662e+01] [ 5.44281764e-01 -2.31561230e-02 8.38582826e-01 2.63203743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.990714057 meters Centerline goodness : 0.995219 Centerline is valid? [True, True] Translation: X:79.33, Y:37.78, Z:26.32 [[ 1.54684175e-01 -9.71109054e-01 -1.81714091e-01 7.93267682e+01] [ 8.19085273e-01 2.28899175e-01 -5.26027075e-01 3.77795678e+01] [ 5.52423861e-01 -6.74712721e-02 8.30828205e-01 2.63237125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.020714057 meters Centerline goodness : 0.993526 Centerline is valid? [True, True] Translation: X:79.33, Y:37.81, Z:26.35 [[ 1.68871452e-01 -9.76587430e-01 -1.33264489e-01 7.93313961e+01] [ 8.22597160e-01 2.14125820e-01 -5.26767544e-01 3.78101675e+01] [ 5.42969930e-01 -2.06669904e-02 8.39497785e-01 2.63506694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.05071405700001 meters Centerline goodness : 0.995095 Centerline is valid? [True, True] Translation: X:79.35, Y:37.82, Z:26.35 [[ 0.15304758 -0.96612937 -0.20777506 79.35088372] [ 0.82276762 0.24103631 -0.51473774 37.81797668] [ 0.54738459 -0.09217123 0.83178998 26.34795686] [ 0. 0. 0. 1. ]] SLAMing on 105.08071405700001 meters Centerline goodness : 0.995590 Centerline is valid? [True, True] Translation: X:79.32, Y:37.84, Z:26.39 [[ 1.49308267e-01 -9.81917020e-01 -1.16387319e-01 7.93188486e+01] [ 8.17522521e-01 1.88799720e-01 -5.44069475e-01 3.78398042e+01] [ 5.56204971e-01 -1.39151840e-02 8.30928636e-01 2.63878341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.110714057 meters Centerline goodness : 0.994582 Centerline is valid? [True, True] Translation: X:79.34, Y:37.86, Z:26.39 [[ 1.47821094e-01 -9.77665369e-01 -1.49396621e-01 7.93413589e+01] [ 8.18977138e-01 2.05687084e-01 -5.35695128e-01 3.78642122e+01] [ 5.54459530e-01 -4.31653771e-02 8.31090476e-01 2.63931307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.140714057 meters Centerline goodness : 0.995348 Centerline is valid? [True, True] Translation: X:79.35, Y:37.89, Z:26.41 [[ 1.45812307e-01 -9.77971160e-01 -1.49369277e-01 7.93486343e+01] [ 8.18993874e-01 2.04021405e-01 -5.36306164e-01 3.78862356e+01] [ 5.54966491e-01 -4.41324844e-02 8.30701220e-01 2.64076965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.170714057 meters Centerline goodness : 0.994852 Centerline is valid? [True, True] Translation: X:79.36, Y:37.91, Z:26.42 [[ 1.42720189e-01 -9.78428900e-01 -1.49358078e-01 7.93578357e+01] [ 8.19233543e-01 2.01458489e-01 -5.36908632e-01 3.79082450e+01] [ 5.55416375e-01 -4.57314464e-02 8.30313968e-01 2.64221447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.200714057 meters Centerline goodness : 0.994965 Centerline is valid? [True, True] Translation: X:79.36, Y:37.93, Z:26.44 [[ 1.41644662e-01 -9.78608076e-01 -1.49207985e-01 7.93647154e+01] [ 8.19356192e-01 2.00483730e-01 -5.37086310e-01 3.79305808e+01] [ 5.55510774e-01 -4.61790777e-02 8.30226037e-01 2.64372038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.230714057 meters Centerline goodness : 0.995014 Centerline is valid? [True, True] Translation: X:79.37, Y:37.95, Z:26.45 [[ 1.41386365e-01 -9.78672558e-01 -1.49029928e-01 7.93711260e+01] [ 8.19384376e-01 2.00171796e-01 -5.37159656e-01 3.79522241e+01] [ 5.55535003e-01 -4.61657436e-02 8.30210566e-01 2.64522219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.260714057 meters Centerline goodness : 0.994799 Centerline is valid? [True, True] Translation: X:79.38, Y:37.97, Z:26.47 [[ 1.42028318e-01 -9.78614034e-01 -1.48803660e-01 7.93774793e+01] [ 8.19399464e-01 2.00573000e-01 -5.36986956e-01 3.79747541e+01] [ 5.55348968e-01 -4.56622844e-02 8.30362860e-01 2.64679309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.290714057 meters Centerline goodness : 0.995634 Centerline is valid? [True, True] Translation: X:79.38, Y:38.00, Z:26.48 [[ 1.42751010e-01 -9.78549372e-01 -1.48537117e-01 7.93831527e+01] [ 8.19457450e-01 2.01015067e-01 -5.36733110e-01 3.79964569e+01] [ 5.55078046e-01 -4.51006535e-02 8.30574677e-01 2.64828566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.320714057 meters Centerline goodness : 0.995319 Centerline is valid? [True, True] Translation: X:79.39, Y:38.02, Z:26.50 [[ 1.45149127e-01 -9.78204791e-01 -1.48482717e-01 7.93880835e+01] [ 8.18601429e-01 2.03021548e-01 -5.37283865e-01 3.80187370e+01] [ 5.55718842e-01 -4.35618799e-02 8.30228240e-01 2.64985374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.350714057 meters Centerline goodness : 0.994119 Centerline is valid? [True, True] Translation: X:79.39, Y:38.06, Z:26.52 [[ 1.58447577e-01 -9.83218705e-01 -9.04176104e-02 7.93897118e+01] [ 8.22034994e-01 1.82088948e-01 -5.39538770e-01 3.80596455e+01] [ 5.46948658e-01 1.11621711e-02 8.37091734e-01 2.65240596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.380714057 meters Centerline goodness : 0.994566 Centerline is valid? [True, True] Translation: X:79.44, Y:38.07, Z:26.51 [[ 0.14804054 -0.96121249 -0.23271128 79.43876424] [ 0.82148833 0.25053507 -0.51223931 38.06791377] [ 0.55067316 -0.11533742 0.82671419 26.5070153 ] [ 0. 0. 0. 1. ]] SLAMing on 105.410714057 meters Centerline goodness : 0.993484 Centerline is valid? [True, True] Translation: X:79.40, Y:38.10, Z:26.55 [[ 1.59715312e-01 -9.82208437e-01 -9.87805966e-02 7.94022462e+01] [ 8.21045919e-01 1.87727399e-01 -5.39112254e-01 3.81040836e+01] [ 5.48064429e-01 5.00107628e-03 8.36421169e-01 2.65539692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.44071405700001 meters Centerline goodness : 0.994582 Centerline is valid? [True, True] Translation: X:79.44, Y:38.11, Z:26.54 [[ 0.14835628 -0.96349653 -0.22285611 79.44398219] [ 0.82081547 0.24566024 -0.51566755 38.11176752] [ 0.55159078 -0.10642122 0.82729809 26.54092211] [ 0. 0. 0. 1. ]] SLAMing on 105.47071405700001 meters Centerline goodness : 0.994707 Centerline is valid? [True, True] Translation: X:79.41, Y:38.13, Z:26.58 [[ 1.47874172e-01 -9.78041566e-01 -1.46860222e-01 7.94130963e+01] [ 8.18026981e-01 2.04410362e-01 -5.37632088e-01 3.81307114e+01] [ 5.55846280e-01 -4.06337246e-02 8.30291403e-01 2.65760787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.500714057 meters Centerline goodness : 0.987665 Centerline is valid? [True, True] Translation: X:79.42, Y:38.15, Z:26.59 [[ 1.46331749e-01 -9.77763550e-01 -1.50218039e-01 7.94189713e+01] [ 8.20299246e-01 2.04807440e-01 -5.34006610e-01 3.81522279e+01] [ 5.52897971e-01 -4.50816224e-02 8.32028534e-01 2.65857109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.530714057 meters Centerline goodness : 0.994959 Centerline is valid? [True, True] Translation: X:79.42, Y:38.17, Z:26.61 [[ 1.45632700e-01 -9.79633728e-01 -1.38234855e-01 7.94201066e+01] [ 8.17450731e-01 1.97855362e-01 -5.40950606e-01 3.81736726e+01] [ 5.57283966e-01 -3.42200863e-02 8.29616518e-01 2.66074927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.560714057 meters Centerline goodness : 0.995412 Centerline is valid? [True, True] Translation: X:79.43, Y:38.20, Z:26.62 [[ 1.44876096e-01 -9.78526789e-01 -1.46615961e-01 7.94294165e+01] [ 8.17667046e-01 2.01842277e-01 -5.39147751e-01 3.81964541e+01] [ 5.57163817e-01 -4.17734184e-02 8.29351230e-01 2.66197905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.590714057 meters Centerline goodness : 0.994590 Centerline is valid? [True, True] Translation: X:79.43, Y:38.22, Z:26.64 [[ 1.44283832e-01 -9.78615555e-01 -1.46607539e-01 7.94348869e+01] [ 8.17371227e-01 2.01374222e-01 -5.39770969e-01 3.82192587e+01] [ 5.57751246e-01 -4.19525599e-02 8.28947242e-01 2.66353652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.620714057 meters Centerline goodness : 0.995000 Centerline is valid? [True, True] Translation: X:79.44, Y:38.24, Z:26.65 [[ 1.43500295e-01 -9.78753395e-01 -1.46456335e-01 7.94403349e+01] [ 8.17445964e-01 2.00642902e-01 -5.39930108e-01 3.82417401e+01] [ 5.57843850e-01 -4.22400105e-02 8.28870328e-01 2.66508168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.650714057 meters Centerline goodness : 0.994532 Centerline is valid? [True, True] Translation: X:79.45, Y:38.26, Z:26.67 [[ 1.42943362e-01 -9.78916281e-01 -1.45911308e-01 7.94452450e+01] [ 8.18506459e-01 1.99805283e-01 -5.38632552e-01 3.82629847e+01] [ 5.56430025e-01 -4.24353999e-02 8.29810138e-01 2.66659203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.680714057 meters Centerline goodness : 0.994532 Centerline is valid? [True, True] Translation: X:79.45, Y:38.29, Z:26.68 [[ 1.42691046e-01 -9.78981306e-01 -1.45721885e-01 7.94512677e+01] [ 8.18549453e-01 1.99490731e-01 -5.38683805e-01 3.82859064e+01] [ 5.56431540e-01 -4.24152139e-02 8.29810153e-01 2.66815699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.710714057 meters Centerline goodness : 0.995197 Centerline is valid? [True, True] Translation: X:79.46, Y:38.31, Z:26.70 [[ 1.42186582e-01 -9.79106441e-01 -1.45373838e-01 7.94597890e+01] [ 8.20508846e-01 1.98734450e-01 -5.35975608e-01 3.83125167e+01] [ 5.53667960e-01 -4.30719805e-02 8.31622868e-01 2.66976398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.740714057 meters Centerline goodness : 0.994147 Centerline is valid? [True, True] Translation: X:79.46, Y:38.34, Z:26.72 [[ 1.44993235e-01 -9.82282012e-01 -1.18739252e-01 7.94608891e+01] [ 8.21829315e-01 1.86389259e-01 -5.38382412e-01 3.83417172e+01] [ 5.50975080e-01 -1.95215910e-02 8.34293335e-01 2.67179408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.770714057 meters Centerline goodness : 0.995167 Centerline is valid? [True, True] Translation: X:79.50, Y:38.36, Z:26.71 [[ 0.13945731 -0.97060357 -0.19616414 79.49525849] [ 0.82395333 0.22361649 -0.52066935 38.36013141] [ 0.54922907 -0.08901895 0.830917 26.71258793] [ 0. 0. 0. 1. ]] SLAMing on 105.80071405700001 meters Centerline goodness : 0.994123 Centerline is valid? [True, True] Translation: X:79.49, Y:38.38, Z:26.73 [[ 1.40449964e-01 -9.75873902e-01 -1.67164397e-01 7.94871485e+01] [ 8.25726236e-01 2.08613258e-01 -5.24076991e-01 3.83783050e+01] [ 5.46305767e-01 -6.44254334e-02 8.35104408e-01 2.67332577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.83071405700001 meters Centerline goodness : 0.994401 Centerline is valid? [True, True] Translation: X:79.47, Y:38.40, Z:26.76 [[ 1.37332361e-01 -9.83588033e-01 -1.17023092e-01 7.94719406e+01] [ 8.21132699e-01 1.79122720e-01 -5.41900491e-01 3.84026638e+01] [ 5.53968333e-01 -2.16710132e-02 8.32255642e-01 2.67638376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.860714057 meters Centerline goodness : 0.994157 Centerline is valid? [True, True] Translation: X:79.49, Y:38.43, Z:26.77 [[ 1.37849758e-01 -9.80765345e-01 -1.38191107e-01 7.94913062e+01] [ 8.24148575e-01 1.90966480e-01 -5.33208148e-01 3.84343999e+01] [ 5.49341943e-01 -4.03873904e-02 8.34621045e-01 2.67707166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.890714057 meters Centerline goodness : 0.993317 Centerline is valid? [True, True] Translation: X:79.51, Y:38.45, Z:26.77 [[ 0.13440771 -0.97223938 -0.19153371 79.51359477] [ 0.8296887 0.21609837 -0.51470201 38.45034596] [ 0.54180368 -0.08973343 0.83570131 26.76878719] [ 0. 0. 0. 1. ]] SLAMing on 105.920714057 meters Centerline goodness : 0.993149 Centerline is valid? [True, True] Translation: X:79.49, Y:38.47, Z:26.80 [[ 1.31633301e-01 -9.81140071e-01 -1.41551529e-01 7.94932001e+01] [ 8.27102437e-01 1.87414771e-01 -5.29884197e-01 3.84687356e+01] [ 5.46419466e-01 -4.73272083e-02 8.36173369e-01 2.67988087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.950714057 meters Centerline goodness : 0.994741 Centerline is valid? [True, True] Translation: X:79.50, Y:38.49, Z:26.82 [[ 1.29588711e-01 -9.80783322e-01 -1.45845262e-01 7.95018923e+01] [ 8.21911500e-01 1.88526884e-01 -5.37511953e-01 3.84941475e+01] [ 5.54678512e-01 -5.02164167e-02 8.30548048e-01 2.68177350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.980714057 meters Centerline goodness : 0.994068 Centerline is valid? [True, True] Translation: X:79.51, Y:38.52, Z:26.83 [[ 1.32693819e-01 -9.80525636e-01 -1.44782002e-01 7.95102664e+01] [ 8.26829110e-01 1.90059434e-01 -5.29368524e-01 3.85197958e+01] [ 5.46576594e-01 -4.94660430e-02 8.35946851e-01 2.68279274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.010714057 meters Centerline goodness : 0.994351 Centerline is valid? [True, True] Translation: X:79.51, Y:38.54, Z:26.85 [[ 1.29060971e-01 -9.80844182e-01 -1.45903929e-01 7.95136358e+01] [ 8.23081251e-01 1.88018875e-01 -5.35897525e-01 3.85424271e+01] [ 5.53064662e-01 -5.09273339e-02 8.31580354e-01 2.68453530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.040714057 meters Centerline goodness : 0.992503 Centerline is valid? [True, True] Translation: X:79.53, Y:38.56, Z:26.85 [[ 1.27121459e-01 -9.76746127e-01 -1.72647436e-01 7.95258057e+01] [ 8.29607847e-01 2.00107735e-01 -5.21255902e-01 3.85623531e+01] [ 5.43682771e-01 -7.69668570e-02 8.35754239e-01 2.68477336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.070714057 meters Centerline goodness : 0.993926 Centerline is valid? [True, True] Translation: X:79.52, Y:38.58, Z:26.88 [[ 1.33222577e-01 -9.81726115e-01 -1.35888118e-01 7.95182308e+01] [ 8.26563907e-01 1.85711040e-01 -5.31322422e-01 3.85834896e+01] [ 5.46849021e-01 -4.15360712e-02 8.36200277e-01 2.68768133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.100714057 meters Centerline goodness : 0.993603 Centerline is valid? [True, True] Translation: X:79.53, Y:38.61, Z:26.89 [[ 1.31853928e-01 -9.79096250e-01 -1.54871153e-01 7.95279648e+01] [ 8.28028149e-01 1.94680063e-01 -5.25803249e-01 3.86056922e+01] [ 5.44962316e-01 -5.89084508e-02 8.36388587e-01 2.68860756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.130714057 meters Centerline goodness : 0.994768 Centerline is valid? [True, True] Translation: X:79.52, Y:38.63, Z:26.92 [[ 1.33598236e-01 -9.83589107e-01 -1.21259971e-01 7.95174821e+01] [ 8.21274217e-01 1.78363099e-01 -5.41936587e-01 3.86283205e+01] [ 5.54671228e-01 -2.71859161e-02 8.31625369e-01 2.69150946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.160714057 meters Centerline goodness : 0.994395 Centerline is valid? [True, True] Translation: X:79.54, Y:38.65, Z:26.92 [[ 1.37362295e-01 -9.76918299e-01 -1.63591678e-01 7.95425651e+01] [ 8.26453786e-01 2.04073328e-01 -5.24717273e-01 3.86520438e+01] [ 5.45990604e-01 -6.31245928e-02 8.35409807e-01 2.69179221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.19071405700001 meters Centerline goodness : 0.992352 Centerline is valid? [True, True] Translation: X:79.53, Y:38.67, Z:26.93 [[ 1.31922966e-01 -9.80040012e-01 -1.48720897e-01 7.95316481e+01] [ 8.26909237e-01 1.91541527e-01 -5.28708764e-01 3.86699863e+01] [ 5.46641971e-01 -5.32298554e-02 8.35672865e-01 2.69326572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.22071405700001 meters Centerline goodness : 0.994832 Centerline is valid? [True, True] Translation: X:79.52, Y:38.70, Z:26.97 [[ 1.40648636e-01 -9.85381890e-01 -9.61274739e-02 7.95226379e+01] [ 8.23667027e-01 1.70331760e-01 -5.40887901e-01 3.86956788e+01] [ 5.49354704e-01 -3.10188500e-03 8.35583501e-01 2.69669810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.250714057 meters Centerline goodness : 0.994983 Centerline is valid? [True, True] Translation: X:79.55, Y:38.72, Z:26.96 [[ 1.31321471e-01 -9.78190296e-01 -1.60929850e-01 7.95452855e+01] [ 8.21247010e-01 1.98271595e-01 -5.35015628e-01 3.87159077e+01] [ 5.55254914e-01 -6.19041185e-02 8.29373174e-01 2.69636382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.280714057 meters Centerline goodness : 0.994329 Centerline is valid? [True, True] Translation: X:79.55, Y:38.74, Z:26.99 [[ 1.40344670e-01 -9.81231725e-01 -1.32240973e-01 7.95482987e+01] [ 8.24248762e-01 1.89788032e-01 -5.33473974e-01 3.87445582e+01] [ 5.48559342e-01 -3.41292298e-02 8.35414774e-01 2.69876862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.310714057 meters Centerline goodness : 0.994068 Centerline is valid? [True, True] Translation: X:79.55, Y:38.77, Z:27.00 [[ 1.42835748e-01 -9.81886536e-01 -1.24486059e-01 7.95539802e+01] [ 8.26551996e-01 1.87523132e-01 -5.30704129e-01 3.87727071e+01] [ 5.44435255e-01 -2.70906794e-02 8.38365283e-01 2.70000051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.340714057 meters Centerline goodness : 0.994262 Centerline is valid? [True, True] Translation: X:79.57, Y:38.80, Z:27.01 [[ 1.42412949e-01 -9.78613667e-01 -1.48438008e-01 7.95728742e+01] [ 8.28204241e-01 1.99937396e-01 -5.23548253e-01 3.88009988e+01] [ 5.42029785e-01 -4.83769372e-02 8.38965664e-01 2.70083086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.370714057 meters Centerline goodness : 0.985221 Centerline is valid? [True, True] Translation: X:79.59, Y:38.82, Z:27.00 [[ 0.14154595 -0.97206473 -0.18722957 79.59482714] [ 0.83285761 0.21916871 -0.5082453 38.81838946] [ 0.53508219 -0.0839955 0.84061394 26.99697522] [ 0. 0. 0. 1. ]] SLAMing on 106.400714057 meters Centerline goodness : 0.992826 Centerline is valid? [True, True] Translation: X:79.56, Y:38.84, Z:27.06 [[ 1.45179820e-01 -9.85868519e-01 -8.35827947e-02 7.95551658e+01] [ 8.25743277e-01 1.67268856e-01 -5.38673528e-01 3.88389631e+01] [ 5.45042072e-01 9.18659479e-03 8.38358364e-01 2.70581958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.430714057 meters Centerline goodness : 0.993921 Centerline is valid? [True, True] Translation: X:79.61, Y:38.86, Z:27.05 [[ 0.13948331 -0.96759079 -0.21050525 79.60795157] [ 0.82397357 0.23131392 -0.51726339 38.85888361] [ 0.54919209 -0.10130116 0.82953368 27.04912564] [ 0. 0. 0. 1. ]] SLAMing on 106.460714057 meters Centerline goodness : 0.994117 Centerline is valid? [True, True] Translation: X:79.58, Y:38.88, Z:27.08 [[ 1.40893199e-01 -9.79814673e-01 -1.41817886e-01 7.95803139e+01] [ 8.22583081e-01 1.95568620e-01 -5.33956918e-01 3.88777114e+01] [ 5.50913951e-01 -4.14260948e-02 8.33533261e-01 2.70825787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.490714057 meters Centerline goodness : 0.994274 Centerline is valid? [True, True] Translation: X:79.58, Y:38.90, Z:27.10 [[ 1.42871706e-01 -9.79769221e-01 -1.40142605e-01 7.95848797e+01] [ 8.22499525e-01 1.96293940e-01 -5.33819465e-01 3.89011958e+01] [ 5.50529025e-01 -3.89995283e-02 8.33904569e-01 2.70977606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.520714057 meters Centerline goodness : 0.993428 Centerline is valid? [True, True] Translation: X:79.59, Y:38.92, Z:27.11 [[ 1.47902622e-01 -9.78173128e-01 -1.45952547e-01 7.95904300e+01] [ 8.22478985e-01 2.03607027e-01 -5.31104978e-01 3.89226459e+01] [ 5.49229582e-01 -4.14910840e-02 8.34640855e-01 2.71108826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.55071405700001 meters Centerline goodness : 0.992489 Centerline is valid? [True, True] Translation: X:79.60, Y:38.94, Z:27.12 [[ 1.44355390e-01 -9.75485154e-01 -1.66103087e-01 7.95955420e+01] [ 8.23277371e-01 2.11525742e-01 -5.26755380e-01 3.89390529e+01] [ 5.48977132e-01 -6.07089340e-02 8.33629734e-01 2.71171634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.58071405700001 meters Centerline goodness : 0.993824 Centerline is valid? [True, True] Translation: X:79.58, Y:38.96, Z:27.15 [[ 1.51438161e-01 -9.82067829e-01 -1.12290974e-01 7.95816644e+01] [ 8.20645418e-01 1.88238442e-01 -5.39543684e-01 3.89634881e+01] [ 5.51005972e-01 -1.04435699e-02 8.34435948e-01 2.71512911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.610714057 meters Centerline goodness : 0.993713 Centerline is valid? [True, True] Translation: X:79.60, Y:38.99, Z:27.16 [[ 1.54998833e-01 -9.78498477e-01 -1.36073847e-01 7.95976003e+01] [ 8.21537974e-01 2.04165603e-01 -5.32345530e-01 3.89873836e+01] [ 5.48680889e-01 -2.92768971e-02 8.35519087e-01 2.71577654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.640714057 meters Centerline goodness : 0.995077 Centerline is valid? [True, True] Translation: X:79.60, Y:39.01, Z:27.17 [[ 1.48082561e-01 -9.77085871e-01 -1.52888047e-01 7.95995419e+01] [ 8.17613764e-01 2.07926205e-01 -5.36911936e-01 3.90060967e+01] [ 5.56398498e-01 -4.54960773e-02 8.29669102e-01 2.71703273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.670714057 meters Centerline goodness : 0.995101 Centerline is valid? [True, True] Translation: X:79.60, Y:39.03, Z:27.19 [[ 1.49803236e-01 -9.79273604e-01 -1.36316542e-01 7.95968238e+01] [ 8.16607102e-01 2.00274201e-01 -5.41334541e-01 3.90263645e+01] [ 5.57415313e-01 -3.02233902e-02 8.29683503e-01 2.71902574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.700714057 meters Centerline goodness : 0.993206 Centerline is valid? [True, True] Translation: X:79.61, Y:39.05, Z:27.21 [[ 1.62567006e-01 -9.78513539e-01 -1.26819646e-01 7.96092149e+01] [ 8.18626192e-01 2.05510548e-01 -5.36298958e-01 3.90531898e+01] [ 5.50838566e-01 -1.66333682e-02 8.34446047e-01 2.72064977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.730714057 meters Centerline goodness : 0.993517 Centerline is valid? [True, True] Translation: X:79.61, Y:39.09, Z:27.23 [[ 1.69585722e-01 -9.81201060e-01 -9.21149461e-02 7.96077992e+01] [ 8.21463877e-01 1.92375269e-01 -5.36832241e-01 3.90900433e+01] [ 5.44461001e-01 1.53699823e-02 8.38645325e-01 2.72279615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.760714057 meters Centerline goodness : 0.993506 Centerline is valid? [True, True] Translation: X:79.66, Y:39.11, Z:27.22 [[ 0.16372625 -0.96253904 -0.21613032 79.66228896] [ 0.81764716 0.2549833 -0.51617502 39.10710736] [ 0.55194823 -0.09220694 0.82876477 27.21597259] [ 0. 0. 0. 1. ]] SLAMing on 106.790714057 meters Centerline goodness : 0.995133 Centerline is valid? [True, True] Translation: X:79.61, Y:39.14, Z:27.27 [[ 1.65013886e-01 -9.82841770e-01 -8.24164636e-02 7.96146127e+01] [ 8.17648504e-01 1.83050543e-01 -5.45841939e-01 3.91380987e+01] [ 5.51562636e-01 2.26838012e-02 8.33824984e-01 2.72650248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.820714057 meters Centerline goodness : 0.994545 Centerline is valid? [True, True] Translation: X:79.66, Y:39.17, Z:27.25 [[ 1.62455901e-01 -9.70857917e-01 -1.76190197e-01 7.96631484e+01] [ 8.18357864e-01 2.32332767e-01 -5.25653776e-01 3.91661646e+01] [ 5.51269886e-01 -5.87910749e-02 8.32253040e-01 2.72545184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.850714057 meters Centerline goodness : 0.993468 Centerline is valid? [True, True] Translation: X:79.67, Y:39.18, Z:27.27 [[ 1.65398640e-01 -9.71457382e-01 -1.70040713e-01 7.96653043e+01] [ 8.19844572e-01 2.31269981e-01 -5.23802514e-01 3.91832983e+01] [ 5.48177132e-01 -5.27707325e-02 8.34695802e-01 2.72681385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.880714057 meters Centerline goodness : 0.995103 Centerline is valid? [True, True] Translation: X:79.66, Y:39.21, Z:27.30 [[ 1.60218425e-01 -9.77663888e-01 -1.36027124e-01 7.96557518e+01] [ 8.18087057e-01 2.08631803e-01 -5.35916353e-01 3.92091077e+01] [ 5.52325649e-01 -2.54183552e-02 8.33240832e-01 2.72972089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.910714057 meters Centerline goodness : 0.994726 Centerline is valid? [True, True] Translation: X:79.67, Y:39.24, Z:27.31 [[ 1.58644195e-01 -9.75057440e-01 -1.55225667e-01 7.96709102e+01] [ 8.18535625e-01 2.17801085e-01 -5.31565724e-01 3.92351174e+01] [ 5.52115433e-01 -4.27279218e-02 8.32672129e-01 2.73087655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.94071405700001 meters Centerline goodness : 0.995621 Centerline is valid? [True, True] Translation: X:79.68, Y:39.24, Z:27.31 [[ 0.14503253 -0.96557809 -0.2159271 79.68295528] [ 0.81572563 0.24019777 -0.52620977 39.23844694] [ 0.55996184 -0.09981973 0.82248329 27.30954742] [ 0. 0. 0. 1. ]] SLAMing on 106.97071405700001 meters Centerline goodness : 0.995658 Centerline is valid? [True, True] Translation: X:79.65, Y:39.25, Z:27.35 [[ 1.44265406e-01 -9.81118334e-01 -1.28818891e-01 7.96464337e+01] [ 8.13500717e-01 1.91708792e-01 -5.49057668e-01 3.92531987e+01] [ 5.63386259e-01 -2.55842324e-02 8.25797415e-01 2.73511566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.000714057 meters Centerline goodness : 0.995802 Centerline is valid? [True, True] Translation: X:79.65, Y:39.28, Z:27.37 [[ 1.42316267e-01 -9.81209252e-01 -1.30286162e-01 7.96535960e+01] [ 8.14274830e-01 1.90893617e-01 -5.48193514e-01 3.92769678e+01] [ 5.62763344e-01 -2.80718882e-02 8.26141264e-01 2.73674010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.030714057 meters Centerline goodness : 0.995879 Centerline is valid? [True, True] Translation: X:79.66, Y:39.30, Z:27.38 [[ 1.41178795e-01 -9.81170285e-01 -1.31808268e-01 7.96600225e+01] [ 8.14529238e-01 1.90797924e-01 -5.47848768e-01 3.92987365e+01] [ 5.62681676e-01 -3.00170587e-02 8.26128505e-01 2.73817107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.060714057 meters Centerline goodness : 0.995789 Centerline is valid? [True, True] Translation: X:79.67, Y:39.33, Z:27.40 [[ 1.46101622e-01 -9.82860663e-01 -1.12424343e-01 7.96697632e+01] [ 8.15653871e-01 1.83987062e-01 -5.48504807e-01 3.93298976e+01] [ 5.59788423e-01 -1.15619088e-02 8.28554913e-01 2.74042582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.090714057 meters Centerline goodness : 0.996433 Centerline is valid? [True, True] Translation: X:79.69, Y:39.36, Z:27.41 [[ 1.45740308e-01 -9.79401463e-01 -1.39758854e-01 7.96902522e+01] [ 8.17531655e-01 1.98780034e-01 -5.40489122e-01 3.93589247e+01] [ 5.57137107e-01 -3.54862362e-02 8.29661962e-01 2.74103148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.120714057 meters Centerline goodness : 0.995249 Centerline is valid? [True, True] Translation: X:79.70, Y:39.38, Z:27.42 [[ 1.43299504e-01 -9.76249484e-01 -1.62487531e-01 7.97040827e+01] [ 8.16713437e-01 2.09379771e-01 -5.37716722e-01 3.93819678e+01] [ 5.58967274e-01 -5.56512107e-02 8.27320089e-01 2.74214355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.150714057 meters Centerline goodness : 0.995282 Centerline is valid? [True, True] Translation: X:79.71, Y:39.40, Z:27.44 [[ 1.39924648e-01 -9.74193424e-01 -1.77110886e-01 7.97111858e+01] [ 8.14546330e-01 2.14950434e-01 -5.38804777e-01 3.93994820e+01] [ 5.62970132e-01 -6.88729536e-02 8.23602541e-01 2.74374925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.180714057 meters Centerline goodness : 0.995381 Centerline is valid? [True, True] Translation: X:79.69, Y:39.41, Z:27.46 [[ 1.35472845e-01 -9.80308788e-01 -1.43672504e-01 7.96915835e+01] [ 8.13800371e-01 1.92809723e-01 -5.48227477e-01 3.94137199e+01] [ 5.65133669e-01 -4.26508009e-02 8.23896137e-01 2.74575790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.210714057 meters Centerline goodness : 0.993863 Centerline is valid? [True, True] Translation: X:79.69, Y:39.44, Z:27.49 [[ 1.44393791e-01 -9.83486025e-01 -1.09113111e-01 7.96902310e+01] [ 8.13640520e-01 1.80760484e-01 -5.52552940e-01 3.94430046e+01] [ 5.63151434e-01 -8.99363433e-03 8.26304773e-01 2.74855795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.240714057 meters Centerline goodness : 0.993510 Centerline is valid? [True, True] Translation: X:79.72, Y:39.47, Z:27.49 [[ 1.42688869e-01 -9.75800085e-01 -1.65692733e-01 7.97186336e+01] [ 8.13792639e-01 2.10949716e-01 -5.41518013e-01 3.94682147e+01] [ 5.63366157e-01 -5.75709339e-02 8.24199102e-01 2.74874153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.270714057 meters Centerline goodness : 0.993990 Centerline is valid? [True, True] Translation: X:79.71, Y:39.49, Z:27.51 [[ 1.42796905e-01 -9.78919633e-01 -1.46032172e-01 7.97117395e+01] [ 8.13107516e-01 2.00152849e-01 -5.46621445e-01 3.94880434e+01] [ 5.64327220e-01 -4.06840058e-02 8.24548119e-01 2.75098352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.30071405700001 meters Centerline goodness : 0.994878 Centerline is valid? [True, True] Translation: X:79.71, Y:39.52, Z:27.53 [[ 1.47886993e-01 -9.82900375e-01 -1.09710029e-01 7.97060909e+01] [ 8.15866583e-01 1.83944760e-01 -5.48202558e-01 3.95170835e+01] [ 5.59009085e-01 -8.43671830e-03 8.29118607e-01 2.75314890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.33071405700001 meters Centerline goodness : 0.995554 Centerline is valid? [True, True] Translation: X:79.73, Y:39.54, Z:27.53 [[ 1.46165810e-01 -9.75517585e-01 -1.64319802e-01 7.97346021e+01] [ 8.16741793e-01 2.12722255e-01 -5.36360034e-01 3.95421671e+01] [ 5.58183124e-01 -5.58093508e-02 8.27838702e-01 2.75321719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.360714057 meters Centerline goodness : 0.995199 Centerline is valid? [True, True] Translation: X:79.73, Y:39.57, Z:27.55 [[ 1.43887672e-01 -9.79460836e-01 -1.41254411e-01 7.97293410e+01] [ 8.17728168e-01 1.98070481e-01 -5.40452337e-01 3.95656858e+01] [ 5.57330227e-01 -3.77432825e-02 8.29432615e-01 2.75540019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.390714057 meters Centerline goodness : 0.995010 Centerline is valid? [True, True] Translation: X:79.75, Y:39.58, Z:27.56 [[ 1.38295344e-01 -9.74766523e-01 -1.75227347e-01 7.97453464e+01] [ 8.16583484e-01 2.12341407e-01 -5.36751843e-01 3.95842057e+01] [ 5.60415750e-01 -6.88574770e-02 8.25344071e-01 2.75636609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.420714057 meters Centerline goodness : 0.995253 Centerline is valid? [True, True] Translation: X:79.73, Y:39.61, Z:27.59 [[ 1.36145836e-01 -9.83312775e-01 -1.20666062e-01 7.97273229e+01] [ 8.17037771e-01 1.80329366e-01 -5.47659201e-01 3.96084140e+01] [ 5.60279923e-01 -2.40272110e-02 8.27954770e-01 2.75932682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.450714057 meters Centerline goodness : 0.994887 Centerline is valid? [True, True] Translation: X:79.75, Y:39.62, Z:27.59 [[ 0.12553701 -0.97425818 -0.18724705 79.74993206] [ 0.81611714 0.20872853 -0.53887403 39.62206905] [ 0.56408623 -0.08516689 0.82131195 27.59007611] [ 0. 0. 0. 1. ]] SLAMing on 107.480714057 meters Centerline goodness : 0.995454 Centerline is valid? [True, True] Translation: X:79.73, Y:39.64, Z:27.63 [[ 1.25150544e-01 -9.84174144e-01 -1.25453561e-01 7.97318352e+01] [ 8.13724614e-01 1.74163907e-01 -5.54544124e-01 3.96425279e+01] [ 5.67617471e-01 -3.26831521e-02 8.22643433e-01 2.76284323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.510714057 meters Centerline goodness : 0.994989 Centerline is valid? [True, True] Translation: X:79.74, Y:39.67, Z:27.64 [[ 1.24170639e-01 -9.82863979e-01 -1.36235282e-01 7.97421810e+01] [ 8.14756076e-01 1.79357626e-01 -5.51365014e-01 3.96674645e+01] [ 5.66351648e-01 -4.25351777e-02 8.23065349e-01 2.76398811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.540714057 meters Centerline goodness : 0.994848 Centerline is valid? [True, True] Translation: X:79.75, Y:39.69, Z:27.66 [[ 1.22887664e-01 -9.82826700e-01 -1.37660085e-01 7.97473832e+01] [ 8.14890737e-01 1.79100821e-01 -5.51249475e-01 3.96909783e+01] [ 5.66437736e-01 -4.44361678e-02 8.22905655e-01 2.76551717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.570714057 meters Centerline goodness : 0.995496 Centerline is valid? [True, True] Translation: X:79.75, Y:39.71, Z:27.67 [[ 1.19611249e-01 -9.81887353e-01 -1.46936637e-01 7.97533685e+01] [ 8.14202100e-01 1.81702009e-01 -5.51415741e-01 3.97128518e+01] [ 5.68126825e-01 -5.36805934e-02 8.21188349e-01 2.76708789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.600714057 meters Centerline goodness : 0.995496 Centerline is valid? [True, True] Translation: X:79.75, Y:39.73, Z:27.69 [[ 1.19078380e-01 -9.83137572e-01 -1.38783476e-01 7.97545957e+01] [ 8.13965019e-01 1.76706141e-01 -5.53385840e-01 3.97348853e+01] [ 5.68578304e-01 -4.70686056e-02 8.21281473e-01 2.76892137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.630714057 meters Centerline goodness : 0.995334 Centerline is valid? [True, True] Translation: X:79.76, Y:39.76, Z:27.71 [[ 1.18850960e-01 -9.83848493e-01 -1.33852875e-01 7.97574324e+01] [ 8.14190332e-01 1.73727379e-01 -5.53997203e-01 3.97595793e+01] [ 5.68303223e-01 -4.31386172e-02 8.21687597e-01 2.77061223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.660714057 meters Centerline goodness : 0.995510 Centerline is valid? [True, True] Translation: X:79.77, Y:39.78, Z:27.72 [[ 1.21326085e-01 -9.80975310e-01 -1.51550064e-01 7.97688291e+01] [ 8.17985427e-01 1.85298909e-01 -5.44577043e-01 3.97817567e+01] [ 5.62298695e-01 -5.78943432e-02 8.24905099e-01 2.77164283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.69071405700001 meters Centerline goodness : 0.994822 Centerline is valid? [True, True] Translation: X:79.76, Y:39.81, Z:27.74 [[ 1.24547416e-01 -9.85703938e-01 -1.13471092e-01 7.97602998e+01] [ 8.19417999e-01 1.66670047e-01 -5.48429794e-01 3.98075143e+01] [ 5.59501640e-01 -2.46747419e-02 8.28461871e-01 2.77406325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.72071405700001 meters Centerline goodness : 0.996127 Centerline is valid? [True, True] Translation: X:79.78, Y:39.83, Z:27.75 [[ 1.19813413e-01 -9.81933840e-01 -1.46460507e-01 7.97755364e+01] [ 8.14918998e-01 1.81531423e-01 -5.50411999e-01 3.98304679e+01] [ 5.67055352e-01 -5.34067099e-02 8.21946440e-01 2.77502125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.750714057 meters Centerline goodness : 0.995557 Centerline is valid? [True, True] Translation: X:79.78, Y:39.85, Z:27.76 [[ 1.24239714e-01 -9.80595782e-01 -1.51645658e-01 7.97796490e+01] [ 8.17995487e-01 1.87724546e-01 -5.43730519e-01 3.98505128e+01] [ 5.61647466e-01 -5.64925394e-02 8.25445769e-01 2.77634041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.780714057 meters Centerline goodness : 0.995374 Centerline is valid? [True, True] Translation: X:79.77, Y:39.87, Z:27.79 [[ 1.22305529e-01 -9.85223891e-01 -1.19896797e-01 7.97692622e+01] [ 8.13099544e-01 1.68738257e-01 -5.57132419e-01 3.98736661e+01] [ 5.69131346e-01 -2.93476560e-02 8.21722719e-01 2.77909254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.810714057 meters Centerline goodness : 0.994667 Centerline is valid? [True, True] Translation: X:79.79, Y:39.90, Z:27.80 [[ 1.24966455e-01 -9.80397277e-01 -1.52330443e-01 7.97870262e+01] [ 8.16986141e-01 1.88797897e-01 -5.44875215e-01 3.98981193e+01] [ 5.62953844e-01 -5.63607368e-02 8.24564392e-01 2.77966610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.840714057 meters Centerline goodness : 0.994304 Centerline is valid? [True, True] Translation: X:79.78, Y:39.92, Z:27.82 [[ 1.26561308e-01 -9.85424688e-01 -1.13668027e-01 7.97774052e+01] [ 8.17955009e-01 1.68500722e-01 -5.50051915e-01 3.99232901e+01] [ 5.61187881e-01 -2.33600425e-02 8.27358731e-01 2.78214878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.870714057 meters Centerline goodness : 0.993946 Centerline is valid? [True, True] Translation: X:79.80, Y:39.94, Z:27.82 [[ 1.24047432e-01 -9.78750168e-01 -1.63279955e-01 7.98002128e+01] [ 8.17786263e-01 1.94036848e-01 -5.41825922e-01 3.99438006e+01] [ 5.61994540e-01 -6.63159897e-02 8.24478215e-01 2.78242666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.900714057 meters Centerline goodness : 0.993892 Centerline is valid? [True, True] Translation: X:79.79, Y:39.96, Z:27.85 [[ 1.22627991e-01 -9.83782309e-01 -1.30899753e-01 7.97887752e+01] [ 8.17504642e-01 1.74912714e-01 -5.48718236e-01 3.99626560e+01] [ 5.62715324e-01 -3.97229408e-02 8.25695799e-01 2.78502884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.930714057 meters Centerline goodness : 0.994288 Centerline is valid? [True, True] Translation: X:79.79, Y:39.99, Z:27.87 [[ 1.21155198e-01 -9.83699823e-01 -1.32876171e-01 7.97941688e+01] [ 8.17588863e-01 1.74803983e-01 -5.48627396e-01 3.99860169e+01] [ 5.62911956e-01 -4.21690166e-02 8.25440430e-01 2.78661673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.960714057 meters Centerline goodness : 0.993944 Centerline is valid? [True, True] Translation: X:79.80, Y:40.01, Z:27.88 [[ 1.18979428e-01 -9.83713222e-01 -1.34730070e-01 7.97984180e+01] [ 8.16955371e-01 1.74109893e-01 -5.49790567e-01 4.00092130e+01] [ 5.64294088e-01 -4.46546866e-02 8.24365296e-01 2.78822338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.990714057 meters Centerline goodness : 0.995027 Centerline is valid? [True, True] Translation: X:79.80, Y:40.03, Z:27.90 [[ 1.19728056e-01 -9.86134300e-01 -1.14910121e-01 7.97950345e+01] [ 8.17557589e-01 1.63597051e-01 -5.52119184e-01 4.00331217e+01] [ 5.63262622e-01 -2.78414846e-02 8.25808737e-01 2.79015211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.020714057 meters Centerline goodness : 0.994481 Centerline is valid? [True, True] Translation: X:79.80, Y:40.06, Z:27.92 [[ 1.20616092e-01 -9.86873793e-01 -1.07386567e-01 7.98001202e+01] [ 8.18666627e-01 1.60070173e-01 -5.51509287e-01 4.00628678e+01] [ 5.61459448e-01 -2.13929039e-02 8.27227678e-01 2.79172335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.05071405700001 meters Centerline goodness : 0.995049 Centerline is valid? [True, True] Translation: X:79.83, Y:40.07, Z:27.91 [[ 0.1027553 -0.97076662 -0.21691821 79.83150362] [ 0.81393565 0.20741411 -0.54266761 40.07285199] [ 0.5717955 -0.12079549 0.81145447 27.90821927] [ 0. 0. 0. 1. ]] SLAMing on 108.08071405700001 meters Centerline goodness : 0.994786 Centerline is valid? [True, True] Translation: X:79.78, Y:40.09, Z:27.97 [[ 1.05080304e-01 -9.91395701e-01 -7.80557143e-02 7.97764305e+01] [ 8.06533614e-01 1.30877539e-01 -5.76519384e-01 4.00870265e+01] [ 5.81774578e-01 -2.37372526e-03 8.13346608e-01 2.79696490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.110714057 meters Centerline goodness : 0.994731 Centerline is valid? [True, True] Translation: X:79.79, Y:40.12, Z:27.98 [[ 1.11980309e-01 -9.90612529e-01 -7.84042642e-02 7.97930142e+01] [ 8.11818734e-01 1.36699714e-01 -5.67682597e-01 4.01238551e+01] [ 5.73071333e-01 -8.07779521e-05 8.19505485e-01 2.79792083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.140714057 meters Centerline goodness : 0.995177 Centerline is valid? [True, True] Translation: X:79.83, Y:40.15, Z:27.97 [[ 0.10340971 -0.97824315 -0.17985207 79.82996122] [ 0.81164442 0.18751261 -0.55323806 40.14522354] [ 0.57492588 -0.08876574 0.81337622 27.96759614] [ 0. 0. 0. 1. ]] SLAMing on 108.170714057 meters Centerline goodness : 0.995298 Centerline is valid? [True, True] Translation: X:79.81, Y:40.16, Z:28.00 [[ 1.03767843e-01 -9.87231410e-01 -1.20856852e-01 7.98071926e+01] [ 8.09598898e-01 1.54424105e-01 -5.66306295e-01 4.01597315e+01] [ 5.77738573e-01 -3.90811917e-02 8.15285718e-01 2.80019023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.200714057 meters Centerline goodness : 0.993216 Centerline is valid? [True, True] Translation: X:79.81, Y:40.19, Z:28.02 [[ 1.13652883e-01 -9.90250428e-01 -8.05426156e-02 7.98064895e+01] [ 8.17369431e-01 1.39279605e-01 -5.59024513e-01 4.01902556e+01] [ 5.64792206e-01 -2.29832419e-03 8.25229957e-01 2.80215415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.230714057 meters Centerline goodness : 0.995597 Centerline is valid? [True, True] Translation: X:79.84, Y:40.21, Z:28.02 [[ 0.0992369 -0.98067395 -0.16861386 79.83704871] [ 0.81239458 0.17769723 -0.55537262 40.2117713 ] [ 0.57460168 -0.08186753 0.81432832 28.01764932] [ 0. 0. 0. 1. ]] SLAMing on 108.260714057 meters Centerline goodness : 0.995057 Centerline is valid? [True, True] Translation: X:79.83, Y:40.23, Z:28.04 [[ 9.84624036e-02 -9.84615641e-01 -1.44350940e-01 7.98259209e+01] [ 8.14115705e-01 1.63119219e-01 -5.57321935e-01 4.02251790e+01] [ 5.72294307e-01 -6.26431099e-02 8.17652168e-01 2.80404992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.290714057 meters Centerline goodness : 0.995688 Centerline is valid? [True, True] Translation: X:79.81, Y:40.25, Z:28.08 [[ 9.71970813e-02 -9.91784057e-01 -8.31691782e-02 7.98080764e+01] [ 8.08704306e-01 1.27410458e-01 -5.74250748e-01 4.02457992e+01] [ 5.80129359e-01 -1.14437759e-02 8.14443962e-01 2.80773751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.320714057 meters Centerline goodness : 0.994174 Centerline is valid? [True, True] Translation: X:79.82, Y:40.28, Z:28.08 [[ 1.04478426e-01 -9.90530802e-01 -8.90673277e-02 7.98247968e+01] [ 8.17495379e-01 1.36538171e-01 -5.59516428e-01 4.02799013e+01] [ 5.66379347e-01 -1.43547329e-02 8.24019646e-01 2.80792694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.350714057 meters Centerline goodness : 0.995782 Centerline is valid? [True, True] Translation: X:79.85, Y:40.30, Z:28.08 [[ 9.35237820e-02 -9.83874605e-01 -1.52460039e-01 7.98476248e+01] [ 8.11845484e-01 1.64004826e-01 -5.60365352e-01 4.03014958e+01] [ 5.76333421e-01 -7.13665071e-02 8.14092506e-01 2.80847081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.380714057 meters Centerline goodness : 0.995393 Centerline is valid? [True, True] Translation: X:79.84, Y:40.32, Z:28.11 [[ 9.40641298e-02 -9.88307303e-01 -1.20002563e-01 7.98355088e+01] [ 8.10334745e-01 1.46029898e-01 -5.67479401e-01 4.03190702e+01] [ 5.78367998e-01 -4.38627901e-02 8.14595921e-01 2.81106047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.410714057 meters Centerline goodness : 0.994869 Centerline is valid? [True, True] Translation: X:79.84, Y:40.34, Z:28.13 [[ 9.52078584e-02 -9.88236782e-01 -1.19680937e-01 7.98388462e+01] [ 8.10674713e-01 1.46745026e-01 -5.66808969e-01 4.03410225e+01] [ 5.77704053e-01 -4.30576413e-02 8.15109849e-01 2.81258089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.44071405700001 meters Centerline goodness : 0.995083 Centerline is valid? [True, True] Translation: X:79.84, Y:40.36, Z:28.14 [[ 9.60845297e-02 -9.88166127e-01 -1.19563659e-01 7.98421547e+01] [ 8.10480747e-01 1.47401543e-01 -5.66915994e-01 4.03630047e+01] [ 5.77831050e-01 -4.24321866e-02 8.15052628e-01 2.81408945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.47071405700001 meters Centerline goodness : 0.995573 Centerline is valid? [True, True] Translation: X:79.85, Y:40.39, Z:28.16 [[ 9.71595007e-02 -9.88101166e-01 -1.19231361e-01 7.98460531e+01] [ 8.10769478e-01 1.48060142e-01 -5.66331217e-01 4.03856877e+01] [ 5.77245948e-01 -4.16446899e-02 8.15507716e-01 2.81565159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.500714057 meters Centerline goodness : 0.994738 Centerline is valid? [True, True] Translation: X:79.85, Y:40.40, Z:28.16 [[ 1.02456098e-01 -9.86465370e-01 -1.28018837e-01 7.98501891e+01] [ 8.14270798e-01 1.57093264e-01 -5.58824457e-01 4.04039357e+01] [ 5.71371872e-01 -4.69870271e-02 8.19345107e-01 2.81645362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.530714057 meters Centerline goodness : 0.995280 Centerline is valid? [True, True] Translation: X:79.84, Y:40.43, Z:28.20 [[ 1.08797466e-01 -9.90953622e-01 -7.85749938e-02 7.98445866e+01] [ 8.13397020e-01 1.34184517e-01 -5.66021027e-01 4.04345531e+01] [ 5.71444135e-01 -2.33101257e-03 8.20637659e-01 2.81977686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.560714057 meters Centerline goodness : 0.993875 Centerline is valid? [True, True] Translation: X:79.87, Y:40.47, Z:28.20 [[ 1.11187098e-01 -9.86917111e-01 -1.16756352e-01 7.98667960e+01] [ 8.16814948e-01 1.57674233e-01 -5.54934390e-01 4.04651101e+01] [ 5.66083713e-01 -3.36667895e-02 8.23659989e-01 2.81959450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.590714057 meters Centerline goodness : 0.993400 Centerline is valid? [True, True] Translation: X:79.88, Y:40.49, Z:28.20 [[ 1.16567183e-01 -9.82206869e-01 -1.47247271e-01 7.98840205e+01] [ 8.19811774e-01 1.78846100e-01 -5.43987802e-01 4.04851975e+01] [ 5.60643156e-01 -5.73039205e-02 8.26072341e-01 2.81969136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.620714057 meters Centerline goodness : 0.994673 Centerline is valid? [True, True] Translation: X:79.87, Y:40.50, Z:28.22 [[ 1.08491347e-01 -9.84834261e-01 -1.35392418e-01 7.98695134e+01] [ 8.16520688e-01 1.65967092e-01 -5.52945649e-01 4.04982650e+01] [ 5.67030505e-01 -5.05608921e-02 8.22143541e-01 2.82219618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.650714057 meters Centerline goodness : 0.993956 Centerline is valid? [True, True] Translation: X:79.87, Y:40.52, Z:28.25 [[ 1.17549498e-01 -9.88300475e-01 -9.71817164e-02 7.98662055e+01] [ 8.15815001e-01 1.51903863e-01 -5.58006363e-01 4.05237746e+01] [ 5.66240231e-01 -1.36889344e-02 8.24126576e-01 2.82496043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.680714057 meters Centerline goodness : 0.994257 Centerline is valid? [True, True] Translation: X:79.88, Y:40.54, Z:28.26 [[ 1.13739158e-01 -9.82184026e-01 -1.49592592e-01 7.98847118e+01] [ 8.10393954e-01 1.78821418e-01 -5.57928795e-01 4.05426710e+01] [ 5.74739109e-01 -5.77705801e-02 8.16294993e-01 2.82560887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.710714057 meters Centerline goodness : 0.994079 Centerline is valid? [True, True] Translation: X:79.86, Y:40.56, Z:28.29 [[ 1.18789287e-01 -9.89341270e-01 -8.42196930e-02 7.98640968e+01] [ 8.11029855e-01 1.45611993e-01 -5.66593084e-01 4.05648627e+01] [ 5.72817318e-01 -9.99496722e-04 8.19682451e-01 2.82884764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.740714057 meters Centerline goodness : 0.994599 Centerline is valid? [True, True] Translation: X:79.89, Y:40.59, Z:28.29 [[ 1.14776366e-01 -9.82892819e-01 -1.44041983e-01 7.98881239e+01] [ 8.08806979e-01 1.76649291e-01 -5.60915589e-01 4.05877417e+01] [ 5.76764819e-01 -5.21223078e-02 8.15245735e-01 2.82916922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.770714057 meters Centerline goodness : 0.994256 Centerline is valid? [True, True] Translation: X:79.87, Y:40.61, Z:28.32 [[ 1.17064029e-01 -9.87948595e-01 -1.01259994e-01 7.98738309e+01] [ 8.07809205e-01 1.54034808e-01 -5.68961831e-01 4.06058112e+01] [ 5.77702606e-01 -1.51937906e-02 8.16105905e-01 2.83213439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.80071405700001 meters Centerline goodness : 0.994390 Centerline is valid? [True, True] Translation: X:79.87, Y:40.63, Z:28.34 [[ 1.22333818e-01 -9.89077069e-01 -8.22252317e-02 7.98729898e+01] [ 8.11626575e-01 1.47379481e-01 -5.65280100e-01 4.06335832e+01] [ 5.71223897e-01 2.41668982e-03 8.20790728e-01 2.83371295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.83071405700001 meters Centerline goodness : 0.994592 Centerline is valid? [True, True] Translation: X:79.88, Y:40.66, Z:28.34 [[ 1.22340095e-01 -9.87990544e-01 -9.43800126e-02 7.98793196e+01] [ 8.15379765e-01 1.54269762e-01 -5.57993440e-01 4.06604358e+01] [ 5.65852224e-01 -8.69058179e-03 8.24460875e-01 2.83413219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.860714057 meters Centerline goodness : 0.993654 Centerline is valid? [True, True] Translation: X:79.88, Y:40.70, Z:28.37 [[ 1.36943976e-01 -9.89422870e-01 -4.78406856e-02 7.98761424e+01] [ 8.19364558e-01 1.40282783e-01 -5.55843919e-01 4.06957906e+01] [ 5.56675910e-01 3.69205139e-02 8.29908915e-01 2.83677462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.890714057 meters Centerline goodness : 0.993074 Centerline is valid? [True, True] Translation: X:79.91, Y:40.74, Z:28.36 [[ 1.42893829e-01 -9.84810037e-01 -9.86435199e-02 7.99085112e+01] [ 8.21798319e-01 1.73599575e-01 -5.42688410e-01 4.07360926e+01] [ 5.51569466e-01 -3.51825371e-03 8.34121541e-01 2.83635358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.920714057 meters Centerline goodness : 0.994018 Centerline is valid? [True, True] Translation: X:79.95, Y:40.75, Z:28.35 [[ 0.13308 -0.96512023 -0.22546097 79.95368651] [ 0.81510934 0.2359887 -0.52906152 40.752456 ] [ 0.56381422 -0.11336784 0.8180839 28.35449422] [ 0. 0. 0. 1. ]] SLAMing on 108.950714057 meters Centerline goodness : 0.993800 Centerline is valid? [True, True] Translation: X:79.89, Y:40.77, Z:28.42 [[ 1.44208761e-01 -9.88633250e-01 -4.25221057e-02 7.98857193e+01] [ 8.20238281e-01 1.43462427e-01 -5.53739735e-01 4.07687916e+01] [ 5.53545839e-01 4.49758621e-02 8.31603377e-01 2.84189456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.980714057 meters Centerline goodness : 0.993899 Centerline is valid? [True, True] Translation: X:79.93, Y:40.81, Z:28.41 [[ 1.44873818e-01 -9.82280540e-01 -1.18897085e-01 7.99258160e+01] [ 8.20850920e-01 1.86411330e-01 -5.39865338e-01 4.08065097e+01] [ 5.52462979e-01 -1.93844287e-02 8.33312007e-01 2.84109748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.010714057 meters Centerline goodness : 0.992560 Centerline is valid? [True, True] Translation: X:79.95, Y:40.82, Z:28.41 [[ 1.45184375e-01 -9.76471895e-01 -1.59449477e-01 7.99450971e+01] [ 8.19585322e-01 2.08972244e-01 -5.33488989e-01 4.08231864e+01] [ 5.54257519e-01 -5.32281853e-02 8.30641537e-01 2.84121080e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.040714057 meters Centerline goodness : 0.993973 Centerline is valid? [True, True] Translation: X:79.93, Y:40.85, Z:28.45 [[ 1.37224506e-01 -9.83248860e-01 -1.19962974e-01 7.99309539e+01] [ 8.17784874e-01 1.80795109e-01 -5.46389081e-01 4.08454161e+01] [ 5.58925160e-01 -2.31259335e-02 8.28895565e-01 2.84489629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.070714057 meters Centerline goodness : 0.994573 Centerline is valid? [True, True] Translation: X:79.95, Y:40.87, Z:28.46 [[ 1.30518807e-01 -9.80863692e-01 -1.44468888e-01 7.99464501e+01] [ 8.16030272e-01 1.89037003e-01 -5.46223038e-01 4.08692076e+01] [ 5.63080311e-01 -4.65986066e-02 8.25087349e-01 2.84590535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.100714057 meters Centerline goodness : 0.994106 Centerline is valid? [True, True] Translation: X:79.95, Y:40.89, Z:28.48 [[ 1.28969841e-01 -9.82758841e-01 -1.32483362e-01 7.99461913e+01] [ 8.15809597e-01 1.81101476e-01 -5.49233063e-01 4.08874884e+01] [ 5.63756580e-01 -3.72466973e-02 8.25100722e-01 2.84782022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.130714057 meters Centerline goodness : 0.994134 Centerline is valid? [True, True] Translation: X:79.95, Y:40.91, Z:28.50 [[ 1.24339562e-01 -9.84449893e-01 -1.24089010e-01 7.99504591e+01] [ 8.14496846e-01 1.72688856e-01 -5.53871327e-01 4.09130461e+01] [ 5.66687358e-01 -3.22019897e-02 8.23303389e-01 2.84986369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.160714057 meters Centerline goodness : 0.994056 Centerline is valid? [True, True] Translation: X:79.96, Y:40.93, Z:28.51 [[ 1.23525279e-01 -9.82885223e-01 -1.36668005e-01 7.99602330e+01] [ 8.14042273e-01 1.79128612e-01 -5.52492641e-01 4.09338624e+01] [ 5.67518003e-01 -4.30067260e-02 8.22237033e-01 2.85083991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.19071405700001 meters Centerline goodness : 0.994559 Centerline is valid? [True, True] Translation: X:79.97, Y:40.95, Z:28.52 [[ 1.12821192e-01 -9.77992158e-01 -1.75507029e-01 7.99704393e+01] [ 8.10805035e-01 1.92716546e-01 -5.52680313e-01 4.09452324e+01] [ 5.74340120e-01 -7.99479312e-02 8.14703476e-01 2.85165309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.22071405700001 meters Centerline goodness : 0.994622 Centerline is valid? [True, True] Translation: X:79.95, Y:40.96, Z:28.55 [[ 1.11256590e-01 -9.87486500e-01 -1.11769329e-01 7.99459801e+01] [ 8.09630951e-01 1.55284186e-01 -5.66025216e-01 4.09572360e+01] [ 5.76298269e-01 -2.75178728e-02 8.16776023e-01 2.85543909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.250714057 meters Centerline goodness : 0.994562 Centerline is valid? [True, True] Translation: X:79.95, Y:40.99, Z:28.58 [[ 1.17953235e-01 -9.89702048e-01 -8.10980296e-02 7.99498024e+01] [ 8.13212460e-01 1.43141582e-01 -5.64088630e-01 4.09916451e+01] [ 5.69888172e-01 5.86150591e-04 8.21722050e-01 2.85811150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.280714057 meters Centerline goodness : 0.994546 Centerline is valid? [True, True] Translation: X:79.98, Y:41.01, Z:28.57 [[ 1.08650980e-01 -9.79800387e-01 -1.67887359e-01 7.99819700e+01] [ 8.11787315e-01 1.84929383e-01 -5.53897535e-01 4.10092802e+01] [ 5.73756325e-01 -7.61073186e-02 8.15482284e-01 2.85689143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.310714057 meters Centerline goodness : 0.993902 Centerline is valid? [True, True] Translation: X:79.96, Y:41.02, Z:28.60 [[ 1.07681572e-01 -9.87368761e-01 -1.16222241e-01 7.99624668e+01] [ 8.11089880e-01 1.54850757e-01 -5.64051814e-01 4.10228962e+01] [ 5.74924243e-01 -3.35286978e-02 8.17519383e-01 2.86017015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.340714057 meters Centerline goodness : 0.994631 Centerline is valid? [True, True] Translation: X:79.97, Y:41.06, Z:28.63 [[ 1.14440306e-01 -9.90652701e-01 -7.42337037e-02 7.99660573e+01] [ 8.12323726e-01 1.36331014e-01 -5.67048516e-01 4.10574496e+01] [ 5.71868500e-01 4.59140699e-03 8.20332456e-01 2.86334859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.370714057 meters Centerline goodness : 0.994346 Centerline is valid? [True, True] Translation: X:80.00, Y:41.09, Z:28.63 [[ 1.10743242e-01 -9.83293561e-01 -1.44463517e-01 8.00039672e+01] [ 8.15418631e-01 1.72996380e-01 -5.52417151e-01 4.10909696e+01] [ 5.68179893e-01 -5.66217769e-02 8.20954069e-01 2.86269830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.400714057 meters Centerline goodness : 0.994356 Centerline is valid? [True, True] Translation: X:80.01, Y:41.11, Z:28.65 [[ 1.01719612e-01 -9.84239981e-01 -1.44654003e-01 8.00088654e+01] [ 8.14588895e-01 1.65874745e-01 -5.55815168e-01 4.11103781e+01] [ 5.71049957e-01 -6.12962416e-02 8.18623673e-01 2.86464348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.430714057 meters Centerline goodness : 0.995149 Centerline is valid? [True, True] Translation: X:80.01, Y:41.13, Z:28.67 [[ 9.71067369e-02 -9.85862108e-01 -1.36551034e-01 8.00104321e+01] [ 8.14461009e-01 1.57569235e-01 -5.58413110e-01 4.11331222e+01] [ 5.72034568e-01 -5.69898180e-02 8.18247282e-01 2.86671010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.460714057 meters Centerline goodness : 0.994333 Centerline is valid? [True, True] Translation: X:80.02, Y:41.14, Z:28.67 [[ 0.08143366 -0.97743665 -0.19490039 80.02258331] [ 0.8137735 0.17810962 -0.55321754 41.13568847] [ 0.57544873 -0.11355424 0.80991616 28.66618914] [ 0. 0. 0. 1. ]] SLAMing on 109.490714057 meters Centerline goodness : 0.994462 Centerline is valid? [True, True] Translation: X:79.97, Y:41.15, Z:28.73 [[ 8.97606023e-02 -9.95246386e-01 -3.77844691e-02 7.99740857e+01] [ 8.11818826e-01 9.50895547e-02 -5.76114719e-01 4.11515206e+01] [ 5.76969001e-01 2.10382608e-02 8.16495048e-01 2.87290652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.520714057 meters Centerline goodness : 0.994462 Centerline is valid? [True, True] Translation: X:80.02, Y:41.19, Z:28.72 [[ 8.95826967e-02 -9.88367284e-01 -1.22902614e-01 8.00158752e+01] [ 8.14783640e-01 1.43693496e-01 -5.61675885e-01 4.11882660e+01] [ 5.72802375e-01 -4.98225990e-02 8.18177944e-01 2.87176400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.55071405700001 meters Centerline goodness : 0.993267 Centerline is valid? [True, True] Translation: X:80.03, Y:41.21, Z:28.73 [[ 8.58387071e-02 -9.86630742e-01 -1.38533370e-01 8.00250215e+01] [ 8.14370582e-01 1.49585008e-01 -5.60736016e-01 4.12074726e+01] [ 5.73961907e-01 -6.46846461e-02 8.16323236e-01 2.87292921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.58071405700001 meters Centerline goodness : 0.993864 Centerline is valid? [True, True] Translation: X:80.02, Y:41.23, Z:28.76 [[ 8.18252602e-02 -9.90547735e-01 -1.10090016e-01 8.00163216e+01] [ 8.10601366e-01 1.30409943e-01 -5.70892873e-01 4.12261821e+01] [ 5.79853475e-01 -4.25256597e-02 8.13610174e-01 2.87553443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.610714057 meters Centerline goodness : 0.993887 Centerline is valid? [True, True] Translation: X:80.03, Y:41.25, Z:28.77 [[ 7.91379315e-02 -9.89363500e-01 -1.22053479e-01 8.00263783e+01] [ 8.11682044e-01 1.35031290e-01 -5.68277054e-01 4.12528982e+01] [ 5.78713614e-01 -5.40963469e-02 8.13734685e-01 2.87694151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.640714057 meters Centerline goodness : 0.994455 Centerline is valid? [True, True] Translation: X:80.02, Y:41.27, Z:28.78 [[ 7.55736878e-02 -9.90216298e-01 -1.17304310e-01 8.00200104e+01] [ 8.11091284e-01 1.29475406e-01 -5.70409544e-01 4.12693322e+01] [ 5.80016850e-01 -5.20365504e-02 8.12940743e-01 2.87817694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.670714057 meters Centerline goodness : 0.993692 Centerline is valid? [True, True] Translation: X:80.03, Y:41.29, Z:28.80 [[ 8.32449448e-02 -9.89462326e-01 -1.18467655e-01 8.00280271e+01] [ 8.13972729e-01 1.36096147e-01 -5.64735545e-01 4.12928297e+01] [ 5.74907537e-01 -4.94180610e-02 8.16724665e-01 2.87986894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.700714057 meters Centerline goodness : 0.993704 Centerline is valid? [True, True] Translation: X:80.02, Y:41.31, Z:28.82 [[ 8.60440731e-02 -9.91704498e-01 -9.54913934e-02 8.00245188e+01] [ 8.12668929e-01 1.25308340e-01 -5.69093166e-01 4.13134195e+01] [ 5.76338121e-01 -2.86357944e-02 8.16709472e-01 2.88215984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.730714057 meters Centerline goodness : 0.993349 Centerline is valid? [True, True] Translation: X:80.03, Y:41.33, Z:28.84 [[ 8.87134654e-02 -9.91297136e-01 -9.72620617e-02 8.00288244e+01] [ 8.11092747e-01 1.28572662e-01 -5.70611625e-01 4.13336340e+01] [ 5.78150912e-01 -2.82676182e-02 8.15440044e-01 2.88358332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.760714057 meters Centerline goodness : 0.993837 Centerline is valid? [True, True] Translation: X:80.04, Y:41.36, Z:28.85 [[ 9.09010801e-02 -9.89150881e-01 -1.15401597e-01 8.00375017e+01] [ 8.11792941e-01 1.40721793e-01 -5.66735915e-01 4.13598148e+01] [ 5.76826849e-01 -4.21652954e-02 8.15777466e-01 2.88477485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.790714057 meters Centerline goodness : 0.992933 Centerline is valid? [True, True] Translation: X:80.04, Y:41.38, Z:28.86 [[ 9.43739437e-02 -9.88405540e-01 -1.18945566e-01 8.00433017e+01] [ 8.13845869e-01 1.45409737e-01 -5.62593023e-01 4.13840314e+01] [ 5.73365904e-01 -4.37092355e-02 8.18132656e-01 2.88625169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.820714057 meters Centerline goodness : 0.992900 Centerline is valid? [True, True] Translation: X:80.04, Y:41.41, Z:28.88 [[ 1.01748043e-01 -9.89257416e-01 -1.04962380e-01 8.00405950e+01] [ 8.13383784e-01 1.43474762e-01 -5.63756873e-01 4.14066530e+01] [ 5.72760120e-01 -2.80135395e-02 8.19244217e-01 2.88835549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.850714057 meters Centerline goodness : 0.992790 Centerline is valid? [True, True] Translation: X:80.05, Y:41.43, Z:28.90 [[ 1.04681771e-01 -9.88359055e-01 -1.10399752e-01 8.00454314e+01] [ 8.13314430e-01 1.48965564e-01 -5.62431240e-01 4.14289081e+01] [ 5.72329770e-01 -3.09134129e-02 8.19440660e-01 2.88968552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.880714057 meters Centerline goodness : 0.991334 Centerline is valid? [True, True] Translation: X:80.05, Y:41.45, Z:28.91 [[ 1.07660346e-01 -9.88156569e-01 -1.09342791e-01 8.00501278e+01] [ 8.15514464e-01 1.50681347e-01 -5.58776602e-01 4.14536821e+01] [ 5.68634689e-01 -2.90125454e-02 8.22078380e-01 2.89117376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.910714057 meters Centerline goodness : 0.992077 Centerline is valid? [True, True] Translation: X:80.05, Y:41.48, Z:28.93 [[ 1.10236047e-01 -9.88426968e-01 -1.04212014e-01 8.00512244e+01] [ 8.12988127e-01 1.49989326e-01 -5.62630881e-01 4.14770013e+01] [ 5.71750225e-01 -2.27009259e-02 8.20113619e-01 2.89300582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.94071405700001 meters Centerline goodness : 0.992310 Centerline is valid? [True, True] Translation: X:80.06, Y:41.50, Z:28.94 [[ 1.15417101e-01 -9.86480485e-01 -1.16340646e-01 8.00630753e+01] [ 8.14849668e-01 1.61010100e-01 -5.56862430e-01 4.15045347e+01] [ 5.68065939e-01 -3.05286894e-02 8.22416615e-01 2.89410773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.97071405700001 meters Centerline goodness : 0.992175 Centerline is valid? [True, True] Translation: X:80.06, Y:41.53, Z:28.96 [[ 1.17545938e-01 -9.87942896e-01 -1.00756075e-01 8.00600491e+01] [ 8.13244142e-01 1.53992302e-01 -5.61177633e-01 4.15264984e+01] [ 5.69927116e-01 -1.59751367e-02 8.21539943e-01 2.89598151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.000714057 meters Centerline goodness : 0.991727 Centerline is valid? [True, True] Translation: X:80.07, Y:41.55, Z:28.97 [[ 1.19863845e-01 -9.85829335e-01 -1.17359199e-01 8.00724340e+01] [ 8.14301252e-01 1.65248306e-01 -5.56422922e-01 4.15525459e+01] [ 5.67931448e-01 -2.88707523e-02 8.22569359e-01 2.89696621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.030714057 meters Centerline goodness : 0.992939 Centerline is valid? [True, True] Translation: X:80.07, Y:41.58, Z:28.99 [[ 1.17253740e-01 -9.88235487e-01 -9.81946219e-02 8.00680436e+01] [ 8.09724588e-01 1.52380846e-01 -5.66679953e-01 4.15782960e+01] [ 5.74976219e-01 -1.30652561e-02 8.18065796e-01 2.89940633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.060714057 meters Centerline goodness : 0.991907 Centerline is valid? [True, True] Translation: X:80.10, Y:41.60, Z:28.99 [[ 1.19846412e-01 -9.80229038e-01 -1.57441639e-01 8.00985288e+01] [ 8.15230197e-01 1.87672892e-01 -5.47885582e-01 4.16016935e+01] [ 5.66600885e-01 -6.26890576e-02 8.21604235e-01 2.89915246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.090714057 meters Centerline goodness : 0.992819 Centerline is valid? [True, True] Translation: X:80.08, Y:41.62, Z:29.02 [[ 1.20735016e-01 -9.85719551e-01 -1.17388338e-01 8.00831868e+01] [ 8.13116148e-01 1.66035906e-01 -5.57919535e-01 4.16163048e+01] [ 5.69442873e-01 -2.80899292e-02 8.21550833e-01 2.90204018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.120714057 meters Centerline goodness : 0.991972 Centerline is valid? [True, True] Translation: X:80.09, Y:41.64, Z:29.03 [[ 1.17124362e-01 -9.83927601e-01 -1.34790058e-01 8.00928441e+01] [ 8.13413431e-01 1.72910957e-01 -5.55392106e-01 4.16366360e+01] [ 5.69772300e-01 -4.45900972e-02 8.20592011e-01 2.90345658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.150714057 meters Centerline goodness : 0.992271 Centerline is valid? [True, True] Translation: X:80.08, Y:41.66, Z:29.06 [[ 1.17347726e-01 -9.89324841e-01 -8.64052678e-02 8.00802849e+01] [ 8.15492368e-01 1.45650169e-01 -5.60141256e-01 4.16603525e+01] [ 5.66746601e-01 -4.73153391e-03 8.23878573e-01 2.90627000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.180714057 meters Centerline goodness : 0.992492 Centerline is valid? [True, True] Translation: X:80.10, Y:41.69, Z:29.07 [[ 1.18002897e-01 -9.85639989e-01 -1.20785464e-01 8.01004024e+01] [ 8.15989293e-01 1.65563662e-01 -5.53850294e-01 4.16869230e+01] [ 5.65894682e-01 -3.32037060e-02 8.23808669e-01 2.90655115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.210714057 meters Centerline goodness : 0.993966 Centerline is valid? [True, True] Translation: X:80.09, Y:41.70, Z:29.08 [[ 1.03476799e-01 -9.87217526e-01 -1.21219257e-01 8.00909943e+01] [ 8.07008251e-01 1.54571598e-01 -5.69952019e-01 4.16985403e+01] [ 5.81403677e-01 -3.88481302e-02 8.12687263e-01 2.90810819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.240714057 meters Centerline goodness : 0.994037 Centerline is valid? [True, True] Translation: X:80.09, Y:41.72, Z:29.10 [[ 1.02437245e-01 -9.89657249e-01 -1.00424798e-01 8.00863958e+01] [ 8.06347364e-01 1.41730741e-01 -5.74209305e-01 4.17176856e+01] [ 5.82503682e-01 -2.21568518e-02 8.12526021e-01 2.91032205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.270714057 meters Centerline goodness : 0.992548 Centerline is valid? [True, True] Translation: X:80.10, Y:41.75, Z:29.12 [[ 1.11262963e-01 -9.90604480e-01 -7.95192838e-02 8.00989327e+01] [ 8.16671545e-01 1.36734098e-01 -5.60670468e-01 4.17524481e+01] [ 5.66275675e-01 -2.55927899e-03 8.24211933e-01 2.91228590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.30071405700001 meters Centerline goodness : 0.992602 Centerline is valid? [True, True] Translation: X:80.12, Y:41.78, Z:29.13 [[ 1.11568235e-01 -9.87684507e-01 -1.09689763e-01 8.01185304e+01] [ 8.18298625e-01 1.53937756e-01 -5.53796467e-01 4.17827755e+01] [ 5.63861587e-01 -2.79728874e-02 8.25395438e-01 2.91278716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.33071405700001 meters Centerline goodness : 0.992738 Centerline is valid? [True, True] Translation: X:80.13, Y:41.81, Z:29.14 [[ 1.08157431e-01 -9.85075432e-01 -1.33896838e-01 8.01322013e+01] [ 8.18189546e-01 1.64708703e-01 -5.50851077e-01 4.18059018e+01] [ 5.64683837e-01 -4.99743561e-02 8.23792891e-01 2.91399239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.360714057 meters Centerline goodness : 0.992852 Centerline is valid? [True, True] Translation: X:80.12, Y:41.83, Z:29.16 [[ 1.04409330e-01 -9.88720761e-01 -1.07377598e-01 8.01247084e+01] [ 8.17667940e-01 1.46800616e-01 -5.56658530e-01 4.18259547e+01] [ 5.66142943e-01 -2.96788751e-02 8.23772622e-01 2.91642129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.390714057 meters Centerline goodness : 0.992599 Centerline is valid? [True, True] Translation: X:80.13, Y:41.85, Z:29.18 [[ 1.02724614e-01 -9.88968686e-01 -1.06717342e-01 8.01314382e+01] [ 8.19466203e-01 1.44952522e-01 -5.54494281e-01 4.18522804e+01] [ 5.63846429e-01 -3.04910440e-02 8.25316607e-01 2.91790123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.420714057 meters Centerline goodness : 0.993944 Centerline is valid? [True, True] Translation: X:80.15, Y:41.87, Z:29.19 [[ 9.73361118e-02 -9.86094316e-01 -1.34698481e-01 8.01459990e+01] [ 8.18981861e-01 1.56260948e-01 -5.52133342e-01 4.18733363e+01] [ 5.65503663e-01 -5.65731003e-02 8.22803191e-01 2.91873931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.450714057 meters Centerline goodness : 0.993183 Centerline is valid? [True, True] Translation: X:80.14, Y:41.89, Z:29.21 [[ 9.29656281e-02 -9.88034643e-01 -1.23064765e-01 8.01444836e+01] [ 8.17961055e-01 1.46261838e-01 -5.56369649e-01 4.18919126e+01] [ 5.67712167e-01 -4.89389308e-02 8.21771183e-01 2.92091123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.480714057 meters Centerline goodness : 0.992744 Centerline is valid? [True, True] Translation: X:80.15, Y:41.91, Z:29.23 [[ 8.94894551e-02 -9.89181299e-01 -1.16241112e-01 8.01454410e+01] [ 8.17777098e-01 1.39595783e-01 -5.58349026e-01 4.19115992e+01] [ 5.68535184e-01 -4.50929688e-02 8.21422162e-01 2.92264392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.510714057 meters Centerline goodness : 0.994651 Centerline is valid? [True, True] Translation: X:80.15, Y:41.92, Z:29.24 [[ 7.32352568e-02 -9.87565660e-01 -1.39106666e-01 8.01463018e+01] [ 8.14690785e-01 1.39692902e-01 -5.62818637e-01 4.19231457e+01] [ 5.75252572e-01 -7.21107518e-02 8.14791088e-01 2.92398534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.540714057 meters Centerline goodness : 0.994745 Centerline is valid? [True, True] Translation: X:80.12, Y:41.94, Z:29.28 [[ 7.10390033e-02 -9.95774532e-01 -5.81939967e-02 8.01156349e+01] [ 8.07721468e-01 9.16589592e-02 -5.82395626e-01 4.19372752e+01] [ 5.85268734e-01 -5.63173558e-03 8.10819828e-01 2.92791798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.570714057 meters Centerline goodness : 0.994295 Centerline is valid? [True, True] Translation: X:80.15, Y:41.97, Z:29.28 [[ 6.69933717e-02 -9.89671184e-01 -1.26739246e-01 8.01503185e+01] [ 8.14250037e-01 1.27641171e-01 -5.66307875e-01 4.19663677e+01] [ 5.76635731e-01 -6.52585618e-02 8.14390910e-01 2.92761852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.600714057 meters Centerline goodness : 0.993340 Centerline is valid? [True, True] Translation: X:80.14, Y:41.99, Z:29.31 [[ 7.54070717e-02 -9.95553888e-01 -5.64467033e-02 8.01360071e+01] [ 8.15888640e-01 9.41448115e-02 -5.70493191e-01 4.19919291e+01] [ 5.73270879e-01 -3.03500297e-03 8.19360292e-01 2.93079767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.630714057 meters Centerline goodness : 0.994648 Centerline is valid? [True, True] Translation: X:80.16, Y:42.02, Z:29.31 [[ 7.08011913e-02 -9.92762751e-01 -9.70016009e-02 8.01574595e+01] [ 8.11809797e-01 1.13855317e-01 -5.72714432e-01 4.20238280e+01] [ 5.79613703e-01 -3.81979859e-02 8.13995620e-01 2.93136882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.660714057 meters Centerline goodness : 0.993616 Centerline is valid? [True, True] Translation: X:80.18, Y:42.05, Z:29.32 [[ 7.28885644e-02 -9.87971807e-01 -1.36378028e-01 8.01782021e+01] [ 8.17379132e-01 1.37527659e-01 -5.59443919e-01 4.20477833e+01] [ 5.71470570e-01 -7.06954897e-02 8.17571731e-01 2.93166686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.69071405700001 meters Centerline goodness : 0.994140 Centerline is valid? [True, True] Translation: X:80.17, Y:42.07, Z:29.34 [[ 7.27698180e-02 -9.91570385e-01 -1.07204132e-01 8.01671020e+01] [ 8.15988177e-01 1.20997859e-01 -5.65263490e-01 4.20666859e+01] [ 5.73470007e-01 -4.63431832e-02 8.17914703e-01 2.93424371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.72071405700001 meters Centerline goodness : 0.993731 Centerline is valid? [True, True] Translation: X:80.17, Y:42.09, Z:29.36 [[ 7.52633845e-02 -9.91606817e-01 -1.05125370e-01 8.01678977e+01] [ 8.16685001e-01 1.21788435e-01 -5.64086152e-01 4.20882274e+01] [ 5.72154728e-01 -4.33992796e-02 8.18996624e-01 2.93592481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.750714057 meters Centerline goodness : 0.993481 Centerline is valid? [True, True] Translation: X:80.17, Y:42.11, Z:29.37 [[ 7.74079330e-02 -9.91403072e-01 -1.05489152e-01 8.01707295e+01] [ 8.16759348e-01 1.23736275e-01 -5.63554346e-01 4.21116163e+01] [ 5.71762345e-01 -4.25356736e-02 8.19315896e-01 2.93748706e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.780714057 meters Centerline goodness : 0.993631 Centerline is valid? [True, True] Translation: X:80.17, Y:42.13, Z:29.39 [[ 8.22345071e-02 -9.91964334e-01 -9.61469980e-02 8.01679342e+01] [ 8.17378911e-01 1.22326975e-01 -5.62963433e-01 4.21333809e+01] [ 5.70201018e-01 -3.22935081e-02 8.20870226e-01 2.93927752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.810714057 meters Centerline goodness : 0.993643 Centerline is valid? [True, True] Translation: X:80.17, Y:42.16, Z:29.41 [[ 8.44319434e-02 -9.90722876e-01 -1.06486755e-01 8.01743840e+01] [ 8.17404297e-01 1.29982154e-01 -5.61208388e-01 4.21579099e+01] [ 5.69843366e-01 -3.96588163e-02 8.20795782e-01 2.94058957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.840714057 meters Centerline goodness : 0.993758 Centerline is valid? [True, True] Translation: X:80.17, Y:42.18, Z:29.42 [[ 8.50958959e-02 -9.91152984e-01 -1.01855049e-01 8.01743867e+01] [ 8.17144851e-01 1.27916028e-01 -5.62060301e-01 4.21809730e+01] [ 5.70116638e-01 -3.54013038e-02 8.20800686e-01 2.94242722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.870714057 meters Centerline goodness : 0.992555 Centerline is valid? [True, True] Translation: X:80.18, Y:42.20, Z:29.44 [[ 8.95742382e-02 -9.90695446e-01 -1.02464579e-01 8.01772810e+01] [ 8.17696236e-01 1.31886473e-01 -5.60338133e-01 4.22037822e+01] [ 5.68638129e-01 -3.35930394e-02 8.21901567e-01 2.94371587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.900714057 meters Centerline goodness : 0.992009 Centerline is valid? [True, True] Translation: X:80.18, Y:42.23, Z:29.45 [[ 9.02215482e-02 -9.91090811e-01 -9.79748804e-02 8.01790892e+01] [ 8.18203584e-01 1.29849553e-01 -5.60073199e-01 4.22276573e+01] [ 5.67805396e-01 -2.96327271e-02 8.22629281e-01 2.94542159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.930714057 meters Centerline goodness : 0.993514 Centerline is valid? [True, True] Translation: X:80.18, Y:42.26, Z:29.47 [[ 9.03484053e-02 -9.91760700e-01 -9.08178395e-02 8.01807220e+01] [ 8.19406669e-01 1.25856680e-01 -5.59225185e-01 4.22556122e+01] [ 5.66047592e-01 -2.38916397e-02 8.24026282e-01 2.94725043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.960714057 meters Centerline goodness : 0.992957 Centerline is valid? [True, True] Translation: X:80.20, Y:42.28, Z:29.48 [[ 8.74047119e-02 -9.88165364e-01 -1.26054073e-01 8.01976604e+01] [ 8.17483784e-01 1.43462490e-01 -5.57798151e-01 4.22781194e+01] [ 5.69280844e-01 -5.42929735e-02 8.20348459e-01 2.94807070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.990714057 meters Centerline goodness : 0.992581 Centerline is valid? [True, True] Translation: X:80.19, Y:42.30, Z:29.50 [[ 8.57128903e-02 -9.90658412e-01 -1.06062300e-01 8.01905149e+01] [ 8.16579507e-01 1.30842765e-01 -5.62208218e-01 4.22961283e+01] [ 5.70833785e-01 -3.84198091e-02 8.20166269e-01 2.95024780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.020714057 meters Centerline goodness : 0.992665 Centerline is valid? [True, True] Translation: X:80.19, Y:42.32, Z:29.52 [[ 8.45268502e-02 -9.91300648e-01 -1.00887248e-01 8.01917571e+01] [ 8.16008811e-01 1.26971745e-01 -5.63921800e-01 4.23165444e+01] [ 5.71825876e-01 -3.46583498e-02 8.19642585e-01 2.95182798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.05071405700001 meters Centerline goodness : 0.992554 Centerline is valid? [True, True] Translation: X:80.20, Y:42.34, Z:29.53 [[ 8.01129606e-02 -9.91280643e-01 -1.04616444e-01 8.01964099e+01] [ 8.14968631e-01 1.25569831e-01 -5.65736996e-01 4.23396423e+01] [ 5.73940802e-01 -3.99362549e-02 8.17922399e-01 2.95339373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.08071405700001 meters Centerline goodness : 0.992838 Centerline is valid? [True, True] Translation: X:80.20, Y:42.36, Z:29.55 [[ 7.84683762e-02 -9.91898029e-01 -9.99050285e-02 8.01972995e+01] [ 8.14709333e-01 1.21558457e-01 -5.66985225e-01 4.23599951e+01] [ 5.74535828e-01 -3.69031492e-02 8.17647076e-01 2.95512591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.110714057 meters Centerline goodness : 0.992407 Centerline is valid? [True, True] Translation: X:80.20, Y:42.38, Z:29.57 [[ 7.86491726e-02 -9.92462642e-01 -9.39798487e-02 8.01991005e+01] [ 8.16172617e-01 1.18235761e-01 -5.65581616e-01 4.23837362e+01] [ 5.72430403e-01 -3.22212530e-02 8.19319977e-01 2.95671755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.140714057 meters Centerline goodness : 0.993064 Centerline is valid? [True, True] Translation: X:80.20, Y:42.41, Z:29.58 [[ 7.74668132e-02 -9.92247573e-01 -9.71784246e-02 8.02037609e+01] [ 8.15893992e-01 1.19111645e-01 -5.65799797e-01 4.24077370e+01] [ 5.72988557e-01 -3.54565856e-02 8.18796033e-01 2.95820910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.170714057 meters Centerline goodness : 0.992763 Centerline is valid? [True, True] Translation: X:80.21, Y:42.43, Z:29.60 [[ 7.81578257e-02 -9.91923082e-01 -9.98997139e-02 8.02086472e+01] [ 8.17203358e-01 1.21140237e-01 -5.63474680e-01 4.24325103e+01] [ 5.71025416e-01 -3.75984258e-02 8.20070931e-01 2.95960711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.200714057 meters Centerline goodness : 0.992312 Centerline is valid? [True, True] Translation: X:80.22, Y:42.45, Z:29.61 [[ 8.00380656e-02 -9.90591413e-01 -1.11007030e-01 8.02151974e+01] [ 8.17629959e-01 1.28942889e-01 -5.61119401e-01 4.24524431e+01] [ 5.70153627e-01 -4.58517619e-02 8.20257556e-01 2.96083376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.230714057 meters Centerline goodness : 0.994666 Centerline is valid? [True, True] Translation: X:80.21, Y:42.46, Z:29.63 [[ 6.75756413e-02 -9.90332242e-01 -1.21142819e-01 8.02075640e+01] [ 8.10523410e-01 1.25294551e-01 -5.72147776e-01 4.24647548e+01] [ 5.81794925e-01 -5.95258375e-02 8.11154326e-01 2.96286875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.260714057 meters Centerline goodness : 0.993267 Centerline is valid? [True, True] Translation: X:80.20, Y:42.49, Z:29.66 [[ 7.97539153e-02 -9.94532432e-01 -6.74133166e-02 8.02003289e+01] [ 8.16533814e-01 1.03971417e-01 -5.67857795e-01 4.24918872e+01] [ 5.71762051e-01 -9.75637003e-03 8.20361487e-01 2.96571651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.290714057 meters Centerline goodness : 0.992696 Centerline is valid? [True, True] Translation: X:80.22, Y:42.52, Z:29.66 [[ 8.10735413e-02 -9.91510195e-01 -1.01659300e-01 8.02192826e+01] [ 8.18086651e-01 1.24460051e-01 -5.61465874e-01 4.25199896e+01] [ 5.69351660e-01 -3.76460895e-02 8.21231672e-01 2.96609264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.320714057 meters Centerline goodness : 0.992664 Centerline is valid? [True, True] Translation: X:80.22, Y:42.54, Z:29.68 [[ 8.00976805e-02 -9.91603246e-01 -1.01525194e-01 8.02216400e+01] [ 8.17110584e-01 1.23652066e-01 -5.63063461e-01 4.25429022e+01] [ 5.70889355e-01 -3.78572334e-02 8.20153750e-01 2.96786175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.350714057 meters Centerline goodness : 0.993092 Centerline is valid? [True, True] Translation: X:80.22, Y:42.56, Z:29.69 [[ 8.12810103e-02 -9.91304811e-01 -1.03480280e-01 8.02245228e+01] [ 8.16814368e-01 1.25747315e-01 -5.63029219e-01 4.25643558e+01] [ 5.71145941e-01 -3.87605960e-02 8.19932881e-01 2.96923929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.380714057 meters Centerline goodness : 0.994195 Centerline is valid? [True, True] Translation: X:80.22, Y:42.59, Z:29.72 [[ 7.78535867e-02 -9.93145076e-01 -8.71875944e-02 8.02191467e+01] [ 8.12617111e-01 1.13879048e-01 -5.71563639e-01 4.25878992e+01] [ 5.77574454e-01 -2.63518518e-02 8.15912575e-01 2.97161505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.410714057 meters Centerline goodness : 0.994195 Centerline is valid? [True, True] Translation: X:80.23, Y:42.61, Z:29.73 [[ 7.72739052e-02 -9.91266071e-01 -1.06865897e-01 8.02314458e+01] [ 8.12929051e-01 1.24698569e-01 -5.68855540e-01 4.26146225e+01] [ 5.77213221e-01 -4.29167035e-02 8.15464932e-01 2.97269816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.44071405700001 meters Centerline goodness : 0.993736 Centerline is valid? [True, True] Translation: X:80.23, Y:42.64, Z:29.74 [[ 7.87740528e-02 -9.90584178e-01 -1.11971580e-01 8.02348281e+01] [ 8.11354878e-01 1.28968589e-01 -5.70149423e-01 4.26365942e+01] [ 5.79221814e-01 -4.59357069e-02 8.13874684e-01 2.97430415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.47071405700001 meters Centerline goodness : 0.994190 Centerline is valid? [True, True] Translation: X:80.24, Y:42.66, Z:29.76 [[ 8.29126859e-02 -9.90665321e-01 -1.08202163e-01 8.02372090e+01] [ 8.15297965e-01 1.29868246e-01 -5.64290233e-01 4.26585603e+01] [ 5.73074790e-01 -4.14301846e-02 8.18455145e-01 2.97590576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.500714057 meters Centerline goodness : 0.994273 Centerline is valid? [True, True] Translation: X:80.23, Y:42.68, Z:29.78 [[ 8.47070419e-02 -9.92269142e-01 -9.07009766e-02 8.02305853e+01] [ 8.10668312e-01 1.21557888e-01 -5.72748258e-01 4.26792530e+01] [ 5.79345842e-01 -2.50125968e-02 8.14697960e-01 2.97817786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.530714057 meters Centerline goodness : 0.993805 Centerline is valid? [True, True] Translation: X:80.25, Y:42.70, Z:29.79 [[ 8.94653078e-02 -9.88693086e-01 -1.20340937e-01 8.02464580e+01] [ 8.14130964e-01 1.42196436e-01 -5.63001729e-01 4.27015422e+01] [ 5.73747969e-01 -4.76041598e-02 8.17647303e-01 2.97859749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.560714057 meters Centerline goodness : 0.993460 Centerline is valid? [True, True] Translation: X:80.24, Y:42.72, Z:29.81 [[ 9.00857045e-02 -9.90836745e-01 -1.00633544e-01 8.02397640e+01] [ 8.13405416e-01 1.31503969e-01 -5.66637746e-01 4.27219604e+01] [ 5.74679211e-01 -3.08099094e-02 8.17798603e-01 2.98091977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.590714057 meters Centerline goodness : 0.993803 Centerline is valid? [True, True] Translation: X:80.23, Y:42.74, Z:29.83 [[ 9.04316850e-02 -9.92523700e-01 -8.19683819e-02 8.02342105e+01] [ 8.10622644e-01 1.21171145e-01 -5.72894827e-01 4.27447200e+01] [ 5.78543896e-01 -1.46375819e-02 8.15519896e-01 2.98328056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.620714057 meters Centerline goodness : 0.994054 Centerline is valid? [True, True] Translation: X:80.25, Y:42.77, Z:29.84 [[ 8.96637545e-02 -9.89934581e-01 -1.09498565e-01 8.02486291e+01] [ 8.09799444e-01 1.36464828e-01 -5.70615642e-01 4.27706947e+01] [ 5.79814860e-01 -3.75083366e-02 8.13884422e-01 2.98424200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.650714057 meters Centerline goodness : 0.994285 Centerline is valid? [True, True] Translation: X:80.25, Y:42.79, Z:29.86 [[ 9.07348731e-02 -9.90943531e-01 -9.89853594e-02 8.02477437e+01] [ 8.10107808e-01 1.31253942e-01 -5.71399810e-01 4.27919308e+01] [ 5.79217164e-01 -2.83429233e-02 8.14680401e-01 2.98613825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.680714057 meters Centerline goodness : 0.994148 Centerline is valid? [True, True] Translation: X:80.26, Y:42.81, Z:29.87 [[ 9.14914451e-02 -9.89766231e-01 -1.09508556e-01 8.02557708e+01] [ 8.11512907e-01 1.37840885e-01 -5.67843897e-01 4.28148656e+01] [ 5.77127470e-01 -3.69147476e-02 8.15819333e-01 2.98739337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.710714057 meters Centerline goodness : 0.994016 Centerline is valid? [True, True] Translation: X:80.25, Y:42.84, Z:29.90 [[ 8.92181964e-02 -9.92530294e-01 -8.32089487e-02 8.02476597e+01] [ 8.10255166e-01 1.20910461e-01 -5.73469464e-01 4.28365788e+01] [ 5.79246648e-01 -1.62565693e-02 8.14990211e-01 2.98992790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.740714057 meters Centerline goodness : 0.994135 Centerline is valid? [True, True] Translation: X:80.26, Y:42.86, Z:29.91 [[ 8.70688883e-02 -9.90488124e-01 -1.06547099e-01 8.02614565e+01] [ 8.10190960e-01 1.32638416e-01 -5.70962046e-01 4.28608085e+01] [ 5.79663365e-01 -3.66104660e-02 8.14033204e-01 2.99085928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.770714057 meters Centerline goodness : 0.994232 Centerline is valid? [True, True] Translation: X:80.27, Y:42.88, Z:29.92 [[ 8.67126469e-02 -9.89023841e-01 -1.19635941e-01 8.02691921e+01] [ 8.12609722e-01 1.39689209e-01 -5.65820081e-01 4.28782468e+01] [ 5.76321400e-01 -4.81535722e-02 8.15803210e-01 2.99191899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.80071405700001 meters Centerline goodness : 0.994171 Centerline is valid? [True, True] Translation: X:80.26, Y:42.89, Z:29.94 [[ 7.27159823e-02 -9.92032463e-01 -1.02878467e-01 8.02561217e+01] [ 8.07684135e-01 1.19088956e-01 -5.77463557e-01 4.28881563e+01] [ 5.85114283e-01 -4.11024757e-02 8.09908552e-01 2.99424839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.83071405700001 meters Centerline goodness : 0.994164 Centerline is valid? [True, True] Translation: X:80.25, Y:42.91, Z:29.97 [[ 7.45740111e-02 -9.94797567e-01 -6.94011395e-02 8.02545817e+01] [ 8.09041715e-01 1.01042468e-01 -5.79000797e-01 4.29133040e+01] [ 5.83001047e-01 -1.29700050e-02 8.12367871e-01 2.99703943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.860714057 meters Centerline goodness : 0.994987 Centerline is valid? [True, True] Translation: X:80.27, Y:42.94, Z:29.98 [[ 7.18694995e-02 -9.93203217e-01 -9.15540510e-02 8.02700818e+01] [ 8.09804226e-01 1.11691805e-01 -5.75970534e-01 4.29422369e+01] [ 5.82281625e-01 -3.27461434e-02 8.12327397e-01 2.99796629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.890714057 meters Centerline goodness : 0.994905 Centerline is valid? [True, True] Translation: X:80.28, Y:42.96, Z:29.99 [[ 6.58061453e-02 -9.92559516e-01 -1.02445883e-01 8.02787788e+01] [ 8.09630199e-01 1.13122596e-01 -5.75935950e-01 4.29644539e+01] [ 5.83239652e-01 -4.50431556e-02 8.11050321e-01 2.99921499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.920714057 meters Centerline goodness : 0.995617 Centerline is valid? [True, True] Translation: X:80.28, Y:42.99, Z:30.01 [[ 6.02903105e-02 -9.94341397e-01 -8.74657870e-02 8.02768642e+01] [ 8.09557635e-01 9.99701183e-02 -5.78465566e-01 4.29864122e+01] [ 5.83936224e-01 -3.59327271e-02 8.11003899e-01 3.00133211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.950714057 meters Centerline goodness : 0.995858 Centerline is valid? [True, True] Translation: X:80.28, Y:43.00, Z:30.02 [[ 5.15168875e-02 -9.92638755e-01 -1.09609815e-01 8.02812489e+01] [ 8.08730271e-01 1.05860024e-01 -5.78574977e-01 4.30021939e+01] [ 5.85919242e-01 -5.88383935e-02 8.08230589e-01 3.00206486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.980714057 meters Centerline goodness : 0.995022 Centerline is valid? [True, True] Translation: X:80.28, Y:43.02, Z:30.05 [[ 5.26074961e-02 -9.94894335e-01 -8.61261443e-02 8.02794030e+01] [ 8.07346428e-01 9.31321177e-02 -5.82681864e-01 4.30235628e+01] [ 5.87727996e-01 -3.88802010e-02 8.08123835e-01 3.00496207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.010714057 meters Centerline goodness : 0.995263 Centerline is valid? [True, True] Translation: X:80.28, Y:43.05, Z:30.07 [[ 4.84066012e-02 -9.95055727e-01 -8.67231279e-02 8.02831800e+01] [ 8.08711929e-01 9.00022747e-02 -5.81278425e-01 4.30461261e+01] [ 5.86209704e-01 -4.19963151e-02 8.09070140e-01 3.00655322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.040714057 meters Centerline goodness : 0.995520 Centerline is valid? [True, True] Translation: X:80.28, Y:43.07, Z:30.08 [[ 4.81579150e-02 -9.95777800e-01 -7.81497862e-02 8.02839746e+01] [ 8.10287493e-01 8.46968484e-02 -5.79879834e-01 4.30693436e+01] [ 5.84050506e-01 -3.53979906e-02 8.10945121e-01 3.00830836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.070714057 meters Centerline goodness : 0.995340 Centerline is valid? [True, True] Translation: X:80.29, Y:43.09, Z:30.10 [[ 4.56954105e-02 -9.95059622e-01 -8.81378333e-02 8.02911617e+01] [ 8.11843142e-01 8.84025083e-02 -5.77144444e-01 4.30931867e+01] [ 5.82084738e-01 -4.51812432e-02 8.11871919e-01 3.00957857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.100714057 meters Centerline goodness : 0.995340 Centerline is valid? [True, True] Translation: X:80.29, Y:43.12, Z:30.11 [[ 4.44281339e-02 -9.94972226e-01 -8.97575102e-02 8.02942764e+01] [ 8.12044609e-01 8.83005853e-02 -5.76876555e-01 4.31156241e+01] [ 5.81901791e-01 -4.72575534e-02 8.11884862e-01 3.01122300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.130714057 meters Centerline goodness : 0.995332 Centerline is valid? [True, True] Translation: X:80.29, Y:43.14, Z:30.13 [[ 4.31804077e-02 -9.95405283e-01 -8.54621293e-02 8.02949477e+01] [ 8.12662788e-01 8.47526983e-02 -5.76538093e-01 4.31375227e+01] [ 5.81132210e-01 -4.45567424e-02 8.12588488e-01 3.01289544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.160714057 meters Centerline goodness : 0.995542 Centerline is valid? [True, True] Translation: X:80.30, Y:43.16, Z:30.14 [[ 4.15829701e-02 -9.95532692e-01 -8.47674171e-02 8.02976961e+01] [ 8.12806590e-01 8.30454230e-02 -5.76583822e-01 4.31611474e+01] [ 5.81047591e-01 -4.49234475e-02 8.12628809e-01 3.01449326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.19071405700001 meters Centerline goodness : 0.995179 Centerline is valid? [True, True] Translation: X:80.30, Y:43.18, Z:30.16 [[ 3.92588215e-02 -9.95110362e-01 -9.06317445e-02 8.03017218e+01] [ 8.12068796e-01 8.46248020e-02 -5.77393205e-01 4.31834923e+01] [ 5.82239654e-01 -5.09314349e-02 8.11420344e-01 3.01598326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.22071405700001 meters Centerline goodness : 0.995570 Centerline is valid? [True, True] Translation: X:80.30, Y:43.20, Z:30.17 [[ 3.48699442e-02 -9.95735061e-01 -8.54153055e-02 8.02961485e+01] [ 8.10541435e-01 7.81754512e-02 -5.80440506e-01 4.32011045e+01] [ 5.84642343e-01 -4.89927163e-02 8.09810500e-01 3.01748214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.250714057 meters Centerline goodness : 0.995526 Centerline is valid? [True, True] Translation: X:80.30, Y:43.22, Z:30.20 [[ 3.72419925e-02 -9.96822561e-01 -7.04117542e-02 8.02961870e+01] [ 8.10429894e-01 7.13513646e-02 -5.81474307e-01 4.32244210e+01] [ 5.84650683e-01 -3.54085287e-02 8.10512069e-01 3.01969403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.280714057 meters Centerline goodness : 0.995906 Centerline is valid? [True, True] Translation: X:80.30, Y:43.25, Z:30.21 [[ 3.70771256e-02 -9.96006942e-01 -8.12124276e-02 8.03026555e+01] [ 8.11049525e-01 7.74697277e-02 -5.79825069e-01 4.32485220e+01] [ 5.83801298e-01 -4.43690539e-02 8.10683312e-01 3.02096312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.310714057 meters Centerline goodness : 0.995941 Centerline is valid? [True, True] Translation: X:80.30, Y:43.27, Z:30.23 [[ 3.90673476e-02 -9.95867291e-01 -8.19882944e-02 8.03030440e+01] [ 8.11379903e-01 7.95053742e-02 -5.79086823e-01 4.32702541e+01] [ 5.83212136e-01 -4.39002681e-02 8.11132770e-01 3.02257081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.340714057 meters Centerline goodness : 0.995393 Centerline is valid? [True, True] Translation: X:80.31, Y:43.29, Z:30.24 [[ 3.97147715e-02 -9.95429654e-01 -8.68478053e-02 8.03054326e+01] [ 8.10889633e-01 8.28939423e-02 -5.79298367e-01 4.32921385e+01] [ 5.83849930e-01 -4.74172826e-02 8.10475700e-01 3.02418395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.370714057 meters Centerline goodness : 0.995878 Centerline is valid? [True, True] Translation: X:80.30, Y:43.31, Z:30.26 [[ 4.40113874e-02 -9.95913984e-01 -7.88564108e-02 8.03012949e+01] [ 8.10924224e-01 8.17145710e-02 -5.79417493e-01 4.33122255e+01] [ 5.83493702e-01 -3.84456060e-02 8.11207147e-01 3.02600329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.400714057 meters Centerline goodness : 0.995874 Centerline is valid? [True, True] Translation: X:80.30, Y:43.33, Z:30.27 [[ 4.48491019e-02 -9.95976197e-01 -7.75884892e-02 8.02985309e+01] [ 8.10688566e-01 8.16694759e-02 -5.79753522e-01 4.33319353e+01] [ 5.83757319e-01 -3.68986763e-02 8.11089317e-01 3.02746952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.430714057 meters Centerline goodness : 0.995561 Centerline is valid? [True, True] Translation: X:80.30, Y:43.36, Z:30.29 [[ 4.91241177e-02 -9.96090890e-01 -7.34149810e-02 8.03017012e+01] [ 8.10995797e-01 8.26831491e-02 -5.79179863e-01 4.33554356e+01] [ 5.82985968e-01 -3.10875412e-02 8.11887262e-01 3.02929990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.460714057 meters Centerline goodness : 0.995725 Centerline is valid? [True, True] Translation: X:80.30, Y:43.38, Z:30.31 [[ 5.19895480e-02 -9.95622269e-01 -7.76748679e-02 8.03006385e+01] [ 8.11207528e-01 8.74672567e-02 -5.78179752e-01 4.33771765e+01] [ 5.82442644e-01 -3.29511336e-02 8.12203662e-01 3.03065605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.490714057 meters Centerline goodness : 0.995937 Centerline is valid? [True, True] Translation: X:80.30, Y:43.40, Z:30.33 [[ 5.76202870e-02 -9.96740515e-01 -5.64645810e-02 8.02991130e+01] [ 8.12708819e-01 7.96793766e-02 -5.77196303e-01 4.34039649e+01] [ 5.79814003e-01 -1.26310463e-02 8.14650955e-01 3.03292795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.520714057 meters Centerline goodness : 0.995678 Centerline is valid? [True, True] Translation: X:80.31, Y:43.43, Z:30.34 [[ 5.97641675e-02 -9.94045061e-01 -9.11189377e-02 8.03149880e+01] [ 8.12870067e-01 1.01445196e-01 -5.73542611e-01 4.34318998e+01] [ 5.79370778e-01 -3.97905603e-02 8.14092263e-01 3.03361740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.55071405700001 meters Centerline goodness : 0.995949 Centerline is valid? [True, True] Translation: X:80.31, Y:43.45, Z:30.36 [[ 6.11925002e-02 -9.95082463e-01 -7.78869045e-02 8.03121034e+01] [ 8.13072473e-01 9.49564873e-02 -5.74366102e-01 4.34533231e+01] [ 5.78937502e-01 -2.81808003e-02 8.14884784e-01 3.03553197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.58071405700001 meters Centerline goodness : 0.995941 Centerline is valid? [True, True] Translation: X:80.32, Y:43.47, Z:30.36 [[ 5.79141665e-02 -9.93639203e-01 -9.65768299e-02 8.03161820e+01] [ 8.11678605e-01 1.03187756e-01 -5.74917498e-01 4.34704609e+01] [ 5.81226111e-01 -4.50934788e-02 8.12491715e-01 3.03639577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.610714057 meters Centerline goodness : 0.995452 Centerline is valid? [True, True] Translation: X:80.31, Y:43.49, Z:30.39 [[ 6.70674236e-02 -9.95623834e-01 -6.50779739e-02 8.03116381e+01] [ 8.14967488e-01 9.22934245e-02 -5.72110057e-01 4.34948907e+01] [ 5.75612677e-01 -1.46664854e-02 8.17590937e-01 3.03885654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.640714057 meters Centerline goodness : 0.995896 Centerline is valid? [True, True] Translation: X:80.32, Y:43.51, Z:30.40 [[ 5.92022926e-02 -9.94467588e-01 -8.67715688e-02 8.03160120e+01] [ 8.10185550e-01 9.86483469e-02 -5.77813013e-01 4.35127919e+01] [ 5.83176185e-01 -3.60932162e-02 8.11543478e-01 3.03982893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.670714057 meters Centerline goodness : 0.995912 Centerline is valid? [True, True] Translation: X:80.31, Y:43.54, Z:30.43 [[ 6.57632359e-02 -9.96251707e-01 -5.61937073e-02 8.03136829e+01] [ 8.10648419e-01 8.61788422e-02 -5.79156584e-01 4.35424145e+01] [ 5.81828444e-01 -7.46612895e-03 8.13277271e-01 3.04257995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.700714057 meters Centerline goodness : 0.995879 Centerline is valid? [True, True] Translation: X:80.33, Y:43.56, Z:30.42 [[ 5.91562570e-02 -9.92460418e-01 -1.07344564e-01 8.03299138e+01] [ 8.08945623e-01 1.10666458e-01 -5.77373288e-01 4.35617614e+01] [ 5.84899578e-01 -5.26806726e-02 8.09393125e-01 3.04229021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.730714057 meters Centerline goodness : 0.995977 Centerline is valid? [True, True] Translation: X:80.32, Y:43.59, Z:30.46 [[ 6.49951154e-02 -9.95972659e-01 -6.17583729e-02 8.03201400e+01] [ 8.08740519e-01 8.88294239e-02 -5.81419046e-01 4.35861999e+01] [ 5.84563434e-01 -1.21571006e-02 8.11256924e-01 3.04568201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.760714057 meters Centerline goodness : 0.994976 Centerline is valid? [True, True] Translation: X:80.34, Y:43.61, Z:30.46 [[ 6.52588086e-02 -9.93784228e-01 -9.01897753e-02 8.03354407e+01] [ 8.08910621e-01 1.05607938e-01 -5.78368888e-01 4.36140533e+01] [ 5.84298635e-01 -3.52118025e-02 8.10774465e-01 3.04633541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.790714057 meters Centerline goodness : 0.995667 Centerline is valid? [True, True] Translation: X:80.33, Y:43.64, Z:30.48 [[ 6.68696552e-02 -9.94855896e-01 -7.60933276e-02 8.03331256e+01] [ 8.10203564e-01 9.86512602e-02 -5.77787256e-01 4.36370621e+01] [ 5.82321761e-01 -2.30146507e-02 8.12632569e-01 3.04826447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.820714057 meters Centerline goodness : 0.995660 Centerline is valid? [True, True] Translation: X:80.34, Y:43.66, Z:30.49 [[ 6.47190977e-02 -9.92619109e-01 -1.02560924e-01 8.03448269e+01] [ 8.08652028e-01 1.12388756e-01 -5.77451872e-01 4.36608979e+01] [ 5.84716458e-01 -4.55639351e-02 8.09957154e-01 3.04931144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.850714057 meters Centerline goodness : 0.995431 Centerline is valid? [True, True] Translation: X:80.34, Y:43.68, Z:30.51 [[ 6.43455251e-02 -9.93621780e-01 -9.26035163e-02 8.03411184e+01] [ 8.07450230e-01 1.06369016e-01 -5.80266972e-01 4.36782555e+01] [ 5.86416047e-01 -3.74351474e-02 8.09144505e-01 3.05126157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.880714057 meters Centerline goodness : 0.995062 Centerline is valid? [True, True] Translation: X:80.34, Y:43.70, Z:30.53 [[ 6.55387953e-02 -9.94835291e-01 -7.75074836e-02 8.03377882e+01] [ 8.07011195e-01 9.85288082e-02 -5.82258538e-01 4.36996961e+01] [ 5.86888062e-01 -2.43888838e-02 8.09300676e-01 3.05331978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.910714057 meters Centerline goodness : 0.995914 Centerline is valid? [True, True] Translation: X:80.34, Y:43.72, Z:30.55 [[ 6.41620736e-02 -9.94385223e-01 -8.41501977e-02 8.03426282e+01] [ 8.06530739e-01 1.01330360e-01 -5.82443410e-01 4.37223625e+01] [ 5.87700090e-01 -3.04989442e-02 8.08503815e-01 3.05472032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.94071405700001 meters Centerline goodness : 0.995332 Centerline is valid? [True, True] Translation: X:80.35, Y:43.74, Z:30.56 [[ 6.54984967e-02 -9.93985130e-01 -8.77696321e-02 8.03464269e+01] [ 8.05415862e-01 1.04588246e-01 -5.83409451e-01 4.37425138e+01] [ 5.89079991e-01 -3.24786119e-02 8.07421763e-01 3.05627278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.97071405700001 meters Centerline goodness : 0.994940 Centerline is valid? [True, True] Translation: X:80.34, Y:43.76, Z:30.58 [[ 6.62530108e-02 -9.95313360e-01 -7.04404327e-02 8.03428164e+01] [ 8.05619813e-01 9.50110907e-02 -5.84764577e-01 4.37647773e+01] [ 5.88716618e-01 -1.80057944e-02 8.08138933e-01 3.05839584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.000714057 meters Centerline goodness : 0.995104 Centerline is valid? [True, True] Translation: X:80.35, Y:43.79, Z:30.60 [[ 6.56672702e-02 -9.94198825e-01 -8.51851248e-02 8.03519836e+01] [ 8.05386629e-01 1.03208443e-01 -5.83695465e-01 4.37895230e+01] [ 5.89101170e-01 -3.02772726e-02 8.07491857e-01 3.05961333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.030714057 meters Centerline goodness : 0.995000 Centerline is valid? [True, True] Translation: X:80.35, Y:43.81, Z:30.62 [[ 6.78795914e-02 -9.95840125e-01 -6.07849190e-02 8.03471486e+01] [ 8.06639166e-01 9.06330255e-02 -5.84053859e-01 4.38116025e+01] [ 5.87133389e-01 -9.38615904e-03 8.09435781e-01 3.06176726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.060714057 meters Centerline goodness : 0.994989 Centerline is valid? [True, True] Translation: X:80.36, Y:43.84, Z:30.63 [[ 6.48597508e-02 -9.93452028e-01 -9.40546720e-02 8.03643493e+01] [ 8.05532006e-01 1.07755235e-01 -5.82672290e-01 4.38378617e+01] [ 5.88991851e-01 -3.79720690e-02 8.07246382e-01 3.06257716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.090714057 meters Centerline goodness : 0.995804 Centerline is valid? [True, True] Translation: X:80.36, Y:43.86, Z:30.65 [[ 6.21584796e-02 -9.95372814e-01 -7.32753982e-02 8.03606155e+01] [ 8.05194377e-01 9.33926566e-02 -5.85610644e-01 4.38581208e+01] [ 5.89744299e-01 -2.26002714e-02 8.07273739e-01 3.06475742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.120714057 meters Centerline goodness : 0.995331 Centerline is valid? [True, True] Translation: X:80.37, Y:43.88, Z:30.66 [[ 6.09958185e-02 -9.95398905e-01 -7.38954061e-02 8.03660103e+01] [ 8.06402213e-01 9.27722731e-02 -5.84045183e-01 4.38820965e+01] [ 5.88213380e-01 -2.39651050e-02 8.08350600e-01 3.06615692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.150714057 meters Centerline goodness : 0.995503 Centerline is valid? [True, True] Translation: X:80.38, Y:43.91, Z:30.68 [[ 5.53386067e-02 -9.95163849e-01 -8.11575744e-02 8.03759998e+01] [ 8.06630042e-01 9.24630797e-02 -5.83779543e-01 4.39055975e+01] [ 5.88460376e-01 -3.31585910e-02 8.07845835e-01 3.06760016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.180714057 meters Centerline goodness : 0.995195 Centerline is valid? [True, True] Translation: X:80.38, Y:43.93, Z:30.69 [[ 5.22818530e-02 -9.95582384e-01 -7.79892628e-02 8.03793606e+01] [ 8.06841954e-01 8.81304715e-02 -5.84156726e-01 4.39286641e+01] [ 5.88449376e-01 -3.23842131e-02 8.07885260e-01 3.06933187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.210714057 meters Centerline goodness : 0.995503 Centerline is valid? [True, True] Translation: X:80.38, Y:43.95, Z:30.71 [[ 4.99680055e-02 -9.96066209e-01 -7.31799576e-02 8.03824817e+01] [ 8.07891928e-01 8.33900482e-02 -5.83401005e-01 4.39531814e+01] [ 5.87208507e-01 -2.99701124e-02 8.08880684e-01 3.07101407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.240714057 meters Centerline goodness : 0.994926 Centerline is valid? [True, True] Translation: X:80.40, Y:43.98, Z:30.72 [[ 4.59338044e-02 -9.94558761e-01 -9.35037741e-02 8.03971044e+01] [ 8.11059611e-01 9.17733788e-02 -5.77719615e-01 4.39754903e+01] [ 5.83157262e-01 -4.93002749e-02 8.10861943e-01 3.07195030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.270714057 meters Centerline goodness : 0.995383 Centerline is valid? [True, True] Translation: X:80.39, Y:44.00, Z:30.75 [[ 4.13529627e-02 -9.97471438e-01 -5.77984621e-02 8.03857801e+01] [ 8.07246103e-01 6.74426249e-02 -5.86349062e-01 4.39969214e+01] [ 5.88764522e-01 -2.24103123e-02 8.07993883e-01 3.07479982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.30071405700001 meters Centerline goodness : 0.995889 Centerline is valid? [True, True] Translation: X:80.41, Y:44.01, Z:30.75 [[ 3.03992430e-02 -9.92812943e-01 -1.15751227e-01 8.04068607e+01] [ 8.03941006e-01 9.30978962e-02 -5.87376915e-01 4.40147352e+01] [ 5.93931599e-01 -7.52013440e-02 8.00993142e-01 3.07485255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.33071405700001 meters Centerline goodness : 0.995889 Centerline is valid? [True, True] Translation: X:80.38, Y:44.03, Z:30.78 [[ 3.06216806e-02 -9.97593362e-01 -6.22076984e-02 8.03848974e+01] [ 8.02214715e-01 6.16551864e-02 -5.93843573e-01 4.40282307e+01] [ 5.96249833e-01 -3.17194428e-02 8.02172060e-01 3.07815653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.360714057 meters Centerline goodness : 0.995475 Centerline is valid? [True, True] Translation: X:80.38, Y:44.06, Z:30.81 [[ 3.68186057e-02 -9.99029875e-01 -2.41598710e-02 8.03822640e+01] [ 8.05928051e-01 4.39792611e-02 -5.90377676e-01 4.40586633e+01] [ 5.90867469e-01 2.26576511e-03 8.06765455e-01 3.08062085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.390714057 meters Centerline goodness : 0.994892 Centerline is valid? [True, True] Translation: X:80.41, Y:44.09, Z:30.81 [[ 3.50913051e-02 -9.95877455e-01 -8.36462520e-02 8.04118482e+01] [ 8.07275355e-01 7.75856834e-02 -5.85052958e-01 4.40914969e+01] [ 5.89130802e-01 -4.69952859e-02 8.06669908e-01 3.08050546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.420714057 meters Centerline goodness : 0.995437 Centerline is valid? [True, True] Translation: X:80.42, Y:44.11, Z:30.82 [[ 3.36140468e-02 -9.95247805e-01 -9.13887386e-02 8.04180313e+01] [ 8.09688499e-01 8.07231124e-02 -5.81281613e-01 4.41123463e+01] [ 5.85896433e-01 -5.44571833e-02 8.08554132e-01 3.08186156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.450714057 meters Centerline goodness : 0.994747 Centerline is valid? [True, True] Translation: X:80.41, Y:44.13, Z:30.84 [[ 3.08971707e-02 -9.96745111e-01 -7.44617292e-02 8.04128698e+01] [ 8.09015510e-01 6.86876511e-02 -5.83760149e-01 4.41318540e+01] [ 5.86974676e-01 -4.22041568e-02 8.08504508e-01 3.08405951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.480714057 meters Centerline goodness : 0.995460 Centerline is valid? [True, True] Translation: X:80.42, Y:44.15, Z:30.85 [[ 2.57958265e-02 -9.96010620e-01 -8.54249389e-02 8.04187825e+01] [ 8.07169761e-01 7.11657289e-02 -5.86014007e-01 4.41510048e+01] [ 5.89755502e-01 -5.38357119e-02 8.05785433e-01 3.08545329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.510714057 meters Centerline goodness : 0.995131 Centerline is valid? [True, True] Translation: X:80.42, Y:44.17, Z:30.88 [[ 2.25940454e-02 -9.96986381e-01 -7.42136484e-02 8.04155304e+01] [ 8.06483201e-01 6.20457683e-02 -5.87992490e-01 4.41714682e+01] [ 5.90825148e-01 -4.65669318e-02 8.05454633e-01 3.08762652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.540714057 meters Centerline goodness : 0.995830 Centerline is valid? [True, True] Translation: X:80.41, Y:44.19, Z:30.89 [[ 1.98939591e-02 -9.97351237e-01 -6.99624285e-02 8.04148978e+01] [ 8.05157357e-01 5.74667375e-02 -5.90270450e-01 4.41912248e+01] [ 5.92727476e-01 -4.45879479e-02 8.04167927e-01 3.08940559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.570714057 meters Centerline goodness : 0.996176 Centerline is valid? [True, True] Translation: X:80.41, Y:44.21, Z:30.92 [[ 1.48409303e-02 -9.98686502e-01 -4.90409792e-02 8.04085474e+01] [ 8.02003077e-01 4.11800178e-02 -5.95898708e-01 4.42148810e+01] [ 5.97135505e-01 -3.04873250e-02 8.01560797e-01 3.09198415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.600714057 meters Centerline goodness : 0.995070 Centerline is valid? [True, True] Translation: X:80.43, Y:44.24, Z:30.92 [[ 1.31564603e-02 -9.94655336e-01 -1.02409324e-01 8.04319887e+01] [ 8.05075941e-01 7.12790513e-02 -5.88873523e-01 4.42388943e+01] [ 5.93025831e-01 -7.46997915e-02 8.01710861e-01 3.09219062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.630714057 meters Centerline goodness : 0.995443 Centerline is valid? [True, True] Translation: X:80.42, Y:44.25, Z:30.95 [[ 1.14445443e-02 -9.97729368e-01 -6.63711579e-02 8.04163666e+01] [ 8.03790828e-01 4.86621981e-02 -5.92918456e-01 4.42544616e+01] [ 5.94801923e-01 -4.65628464e-02 8.02522632e-01 3.09506610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.660714057 meters Centerline goodness : 0.995339 Centerline is valid? [True, True] Translation: X:80.42, Y:44.28, Z:30.97 [[ 1.11224663e-02 -9.97988589e-01 -6.24104643e-02 8.04161966e+01] [ 8.03936613e-01 4.60394149e-02 -5.92930261e-01 4.42766932e+01] [ 5.94610976e-01 -4.35792105e-02 8.02831639e-01 3.09683569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.69071405700001 meters Centerline goodness : 0.995627 Centerline is valid? [True, True] Translation: X:80.42, Y:44.30, Z:30.99 [[ 1.10663357e-02 -9.98369819e-01 -5.59932263e-02 8.04158194e+01] [ 8.03863183e-01 4.21862883e-02 -5.93316358e-01 4.43000708e+01] [ 5.94711291e-01 -3.84450551e-02 8.03019588e-01 3.09856740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.72071405700001 meters Centerline goodness : 0.995599 Centerline is valid? [True, True] Translation: X:80.41, Y:44.33, Z:31.01 [[ 8.80596841e-03 -9.98927997e-01 -4.54457064e-02 8.04129407e+01] [ 8.01530118e-01 3.42248498e-02 -5.96974145e-01 4.43255672e+01] [ 5.97889559e-01 -3.11691670e-02 8.00972258e-01 3.10057683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.750714057 meters Centerline goodness : 0.996002 Centerline is valid? [True, True] Translation: X:80.43, Y:44.35, Z:31.01 [[ 9.72958483e-03 -9.96733649e-01 -8.01708649e-02 8.04297909e+01] [ 8.05876376e-01 5.52819285e-02 -5.89497392e-01 4.43530931e+01] [ 5.92003887e-01 -5.88722411e-02 8.03781971e-01 3.10098231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.780714057 meters Centerline goodness : 0.994474 Centerline is valid? [True, True] Translation: X:80.42, Y:44.37, Z:31.03 [[ 1.04238369e-02 -9.98345988e-01 -5.65387688e-02 8.04197080e+01] [ 8.05645276e-01 4.18768572e-02 -5.90916253e-01 4.43711708e+01] [ 5.92306536e-01 -3.93905774e-02 8.04749247e-01 3.10305794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.810714057 meters Centerline goodness : 0.995495 Centerline is valid? [True, True] Translation: X:80.40, Y:44.41, Z:31.06 [[ 1.48654977e-02 -9.99594780e-01 2.42753580e-02 8.03963487e+01] [ 8.08747134e-01 -2.25609018e-03 -5.88152176e-01 4.44054118e+01] [ 5.87968613e-01 2.83758011e-02 8.08385876e-01 3.10648853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.840714057 meters Centerline goodness : 0.995922 Centerline is valid? [True, True] Translation: X:80.48, Y:44.43, Z:31.03 [[-3.15544967e-04 -9.82101466e-01 -1.88352360e-01 8.04751068e+01] [ 8.04985422e-01 1.11498969e-01 -5.82723305e-01 4.44332472e+01] [ 5.93294506e-01 -1.51804780e-01 7.90542180e-01 3.10291139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.870714057 meters Centerline goodness : 0.995368 Centerline is valid? [True, True] Translation: X:80.41, Y:44.43, Z:31.08 [[ 5.12054539e-04 -9.98392754e-01 -5.66713981e-02 8.04132673e+01] [ 7.98903346e-01 3.44939680e-02 -6.00469491e-01 4.44328109e+01] [ 6.01459210e-01 -4.49674965e-02 7.97636974e-01 3.10848063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.900714057 meters Centerline goodness : 0.994608 Centerline is valid? [True, True] Translation: X:80.41, Y:44.46, Z:31.10 [[ 8.99526681e-03 -9.99376454e-01 -3.41436401e-02 8.04122478e+01] [ 8.05146084e-01 2.74876747e-02 -5.92439204e-01 4.44604394e+01] [ 5.93008320e-01 -2.21614694e-02 8.04891298e-01 3.11046571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.930714057 meters Centerline goodness : 0.995057 Centerline is valid? [True, True] Translation: X:80.42, Y:44.49, Z:31.12 [[ 8.35597041e-03 -9.98937560e-01 -4.53202914e-02 8.04167076e+01] [ 8.04883362e-01 3.36126750e-02 -5.92480348e-01 4.44913174e+01] [ 5.93374209e-01 -3.15268002e-02 8.04309088e-01 3.11197530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.960714057 meters Centerline goodness : 0.994064 Centerline is valid? [True, True] Translation: X:80.43, Y:44.52, Z:31.12 [[ 1.15046525e-02 -9.96228339e-01 -8.60042987e-02 8.04344393e+01] [ 8.07528419e-01 5.99813828e-02 -5.86770898e-01 4.45153584e+01] [ 5.89716454e-01 -6.27003201e-02 8.05172760e-01 3.11200614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.990714057 meters Centerline goodness : 0.995382 Centerline is valid? [True, True] Translation: X:80.42, Y:44.54, Z:31.15 [[ 1.23513168e-02 -9.99141103e-01 -3.95537658e-02 8.04182071e+01] [ 8.07338945e-01 3.33033035e-02 -5.89147450e-01 4.45414160e+01] [ 5.89958705e-01 -2.46565488e-02 8.07056864e-01 3.11539023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.020714057 meters Centerline goodness : 0.994681 Centerline is valid? [True, True] Translation: X:80.45, Y:44.57, Z:31.15 [[ 1.73374698e-02 -9.94567987e-01 -1.02634944e-01 8.04462383e+01] [ 8.13973147e-01 7.36520518e-02 -5.76214450e-01 4.45717455e+01] [ 5.80643719e-01 -7.35519880e-02 8.10828574e-01 3.11481989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.05071405700001 meters Centerline goodness : 0.994925 Centerline is valid? [True, True] Translation: X:80.43, Y:44.59, Z:31.18 [[ 1.47550321e-02 -9.97906249e-01 -6.29714819e-02 8.04295788e+01] [ 8.10025092e-01 4.88520417e-02 -5.84356764e-01 4.45909810e+01] [ 5.86209552e-01 -4.23862776e-02 8.09049915e-01 3.11780870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.08071405700001 meters Centerline goodness : 0.994446 Centerline is valid? [True, True] Translation: X:80.44, Y:44.62, Z:31.19 [[ 1.52707836e-02 -9.96538286e-01 -8.17205509e-02 8.04377210e+01] [ 8.10143067e-01 6.02337022e-02 -5.83129584e-01 4.46189307e+01] [ 5.86033287e-01 -5.73004921e-02 8.08258399e-01 3.11889769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.110714057 meters Centerline goodness : 0.994421 Centerline is valid? [True, True] Translation: X:80.45, Y:44.64, Z:31.20 [[ 1.69072855e-02 -9.94525882e-01 -1.03113598e-01 8.04466230e+01] [ 8.12878767e-01 7.37208580e-02 -5.77748513e-01 4.46404433e+01] [ 5.82187473e-01 -7.40506953e-02 8.09675393e-01 3.11974935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.140714057 meters Centerline goodness : 0.993742 Centerline is valid? [True, True] Translation: X:80.42, Y:44.66, Z:31.24 [[ 1.76946057e-02 -9.99391818e-01 -3.00482009e-02 8.04174152e+01] [ 8.10235067e-01 3.19414462e-02 -5.85234039e-01 4.46617254e+01] [ 5.85837894e-01 -1.39906205e-02 8.10307488e-01 3.12351120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.170714057 meters Centerline goodness : 0.994639 Centerline is valid? [True, True] Translation: X:80.45, Y:44.69, Z:31.23 [[ 1.40570513e-02 -9.92923853e-01 -1.17917856e-01 8.04537506e+01] [ 8.09261211e-01 8.05621366e-02 -5.81898647e-01 4.46925837e+01] [ 5.87280761e-01 -8.72465677e-02 8.04667226e-01 3.12278347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.200714057 meters Centerline goodness : 0.993885 Centerline is valid? [True, True] Translation: X:80.43, Y:44.71, Z:31.26 [[ 1.47683970e-02 -9.96855541e-01 -7.78519408e-02 8.04349856e+01] [ 8.07786743e-01 5.77821603e-02 -5.86636002e-01 4.47070905e+01] [ 5.89289803e-01 -5.42240924e-02 8.06100041e-01 3.12555423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.230714057 meters Centerline goodness : 0.993644 Centerline is valid? [True, True] Translation: X:80.44, Y:44.73, Z:31.27 [[ 1.49811852e-02 -9.96947972e-01 -7.66179229e-02 8.04354370e+01] [ 8.07697391e-01 5.72353116e-02 -5.86812613e-01 4.47312035e+01] [ 5.89406895e-01 -5.30929481e-02 8.06089729e-01 3.12724294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.260714057 meters Centerline goodness : 0.993661 Centerline is valid? [True, True] Translation: X:80.44, Y:44.75, Z:31.28 [[ 1.75133209e-02 -9.95531445e-01 -9.27923822e-02 8.04436194e+01] [ 8.09712785e-01 6.85671858e-02 -5.82806783e-01 4.47531799e+01] [ 5.86564991e-01 -6.49282961e-02 8.07295378e-01 3.12827822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.290714057 meters Centerline goodness : 0.993362 Centerline is valid? [True, True] Translation: X:80.43, Y:44.77, Z:31.31 [[ 1.75906875e-02 -9.97584862e-01 -6.71938330e-02 8.04303222e+01] [ 8.06895715e-01 5.38496181e-02 -5.88234243e-01 4.47700888e+01] [ 5.90431938e-01 -4.38709711e-02 8.05894202e-01 3.13088329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.320714057 meters Centerline goodness : 0.993442 Centerline is valid? [True, True] Translation: X:80.44, Y:44.79, Z:31.32 [[ 2.47137181e-02 -9.95624688e-01 -9.01150014e-02 8.04399409e+01] [ 8.10272982e-01 7.27468302e-02 -5.81520072e-01 4.47934443e+01] [ 5.85531320e-01 -5.86462278e-02 8.08525629e-01 3.13156838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.350714057 meters Centerline goodness : 0.992808 Centerline is valid? [True, True] Translation: X:80.43, Y:44.81, Z:31.34 [[ 2.68026993e-02 -9.97772852e-01 -6.10815167e-02 8.04272024e+01] [ 8.09352634e-01 5.75230504e-02 -5.84499283e-01 4.48111475e+01] [ 5.86711112e-01 -3.37703279e-02 8.09091859e-01 3.13418632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.380714057 meters Centerline goodness : 0.994141 Centerline is valid? [True, True] Translation: X:80.43, Y:44.82, Z:31.35 [[ 1.76031506e-02 -9.94408337e-01 -1.04125826e-01 8.04325432e+01] [ 8.01271893e-01 7.63212417e-02 -5.93412522e-01 4.48223830e+01] [ 5.98041372e-01 -7.29871680e-02 7.98134945e-01 3.13521197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.410714057 meters Centerline goodness : 0.993763 Centerline is valid? [True, True] Translation: X:80.41, Y:44.83, Z:31.39 [[ 2.43630436e-02 -9.98513215e-01 -4.87627024e-02 8.04065537e+01] [ 7.99910169e-01 4.87275305e-02 -5.98138236e-01 4.48331608e+01] [ 5.99625019e-01 -2.44333136e-02 7.99908026e-01 3.13874292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.44071405700001 meters Centerline goodness : 0.993831 Centerline is valid? [True, True] Translation: X:80.41, Y:44.86, Z:31.40 [[ 2.71972853e-02 -9.98451758e-01 -4.85221145e-02 8.04069571e+01] [ 8.00086564e-01 5.08418366e-02 -5.97726189e-01 4.48556923e+01] [ 5.99267717e-01 -2.25653622e-02 8.00230596e-01 3.14042502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.47071405700001 meters Centerline goodness : 0.992228 Centerline is valid? [True, True] Translation: X:80.41, Y:44.88, Z:31.41 [[ 3.52613387e-02 -9.97395153e-01 -6.29249239e-02 8.04128074e+01] [ 8.03128556e-01 6.57526926e-02 -5.92166452e-01 4.48776216e+01] [ 5.94761432e-01 -2.96562214e-02 8.03355057e-01 3.14124118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.500714057 meters Centerline goodness : 0.993388 Centerline is valid? [True, True] Translation: X:80.38, Y:44.91, Z:31.46 [[ 5.12878786e-02 -9.97004528e-01 5.78923608e-02 8.03819503e+01] [ 8.13755213e-01 8.11588113e-03 -5.81151086e-01 4.49093500e+01] [ 5.78940417e-01 7.69162168e-02 8.11733878e-01 3.14616384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.530714057 meters Centerline goodness : 0.992774 Centerline is valid? [True, True] Translation: X:80.46, Y:44.95, Z:31.41 [[ 3.77393976e-02 -9.85322378e-01 -1.66479877e-01 8.04639121e+01] [ 8.02172842e-01 1.29218249e-01 -5.82942001e-01 4.49470153e+01] [ 5.95898037e-01 -1.11545756e-01 7.95275471e-01 3.14147400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.560714057 meters Centerline goodness : 0.992539 Centerline is valid? [True, True] Translation: X:80.41, Y:44.95, Z:31.46 [[ 4.36831669e-02 -9.97372937e-01 -5.77841215e-02 8.04140430e+01] [ 8.01955481e-01 6.94994289e-02 -5.93327259e-01 4.49450715e+01] [ 5.95784514e-01 -2.04218793e-02 8.02884649e-01 3.14636229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.590714057 meters Centerline goodness : 0.992808 Centerline is valid? [True, True] Translation: X:80.41, Y:44.96, Z:31.49 [[ 4.39467140e-02 -9.98531759e-01 -3.16703591e-02 8.04054132e+01] [ 7.99931936e-01 5.41614249e-02 -5.97641564e-01 4.49644760e+01] [ 5.98479394e-01 9.30251223e-04 8.01137660e-01 3.14909669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.620714057 meters Centerline goodness : 0.992600 Centerline is valid? [True, True] Translation: X:80.40, Y:45.01, Z:31.52 [[ 5.83256500e-02 -9.97739277e-01 3.33834403e-02 8.03996816e+01] [ 8.10495924e-01 2.78034395e-02 -5.85084034e-01 4.50056711e+01] [ 5.82833146e-01 6.11825489e-02 8.10285270e-01 3.15208621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.650714057 meters Centerline goodness : 0.992435 Centerline is valid? [True, True] Translation: X:80.46, Y:45.05, Z:31.49 [[ 6.09080771e-02 -9.92636202e-01 -1.04707100e-01 8.04638261e+01] [ 8.11696490e-01 1.10307866e-01 -5.73568639e-01 4.50524088e+01] [ 5.80895012e-01 -5.00554229e-02 8.12437961e-01 3.14917155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.680714057 meters Centerline goodness : 0.992445 Centerline is valid? [True, True] Translation: X:80.45, Y:45.07, Z:31.52 [[ 5.98577755e-02 -9.95233188e-01 -7.69931756e-02 8.04538292e+01] [ 8.11740650e-01 9.34207034e-02 -5.76497779e-01 4.50705731e+01] [ 5.80942479e-01 -2.79906157e-02 8.13463190e-01 3.15173256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.710714057 meters Centerline goodness : 0.992975 Centerline is valid? [True, True] Translation: X:80.46, Y:45.08, Z:31.52 [[ 4.30536111e-02 -9.89924457e-01 -1.34892386e-01 8.04645771e+01] [ 8.01639497e-01 1.14808858e-01 -5.86679677e-01 4.50752684e+01] [ 5.96255402e-01 -8.28763855e-02 7.98505479e-01 3.15238312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.740714057 meters Centerline goodness : 0.992462 Centerline is valid? [True, True] Translation: X:80.42, Y:45.09, Z:31.58 [[ 5.42434657e-02 -9.98502355e-01 7.11997011e-03 8.04218698e+01] [ 8.11574140e-01 3.99322874e-02 -5.82883203e-01 4.50921031e+01] [ 5.81725934e-01 3.73959886e-02 8.12524755e-01 3.15783653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.770714057 meters Centerline goodness : 0.992222 Centerline is valid? [True, True] Translation: X:80.46, Y:45.13, Z:31.58 [[ 4.75521802e-02 -9.96925151e-01 -6.22818898e-02 8.04550438e+01] [ 8.06706304e-01 7.50987966e-02 -5.86161334e-01 4.51316749e+01] [ 5.89036271e-01 -2.23699438e-02 8.07796916e-01 3.15772566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.80071405700001 meters Centerline goodness : 0.992712 Centerline is valid? [True, True] Translation: X:80.47, Y:45.15, Z:31.58 [[ 4.67242799e-02 -9.94515185e-01 -9.35755728e-02 8.04704888e+01] [ 8.08270150e-01 9.26857027e-02 -5.81471174e-01 4.51530798e+01] [ 5.86955030e-01 -4.84655204e-02 8.08167610e-01 3.15836392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.83071405700001 meters Centerline goodness : 0.991901 Centerline is valid? [True, True] Translation: X:80.46, Y:45.17, Z:31.61 [[ 4.05606852e-02 -9.96742282e-01 -6.97112196e-02 8.04644006e+01] [ 8.06746017e-01 7.38321239e-02 -5.86267585e-01 4.51659745e+01] [ 5.89504618e-01 -3.24598338e-02 8.07112548e-01 3.16063535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.860714057 meters Centerline goodness : 0.992395 Centerline is valid? [True, True] Translation: X:80.47, Y:45.19, Z:31.63 [[ 3.59216087e-02 -9.97310548e-01 -6.38851219e-02 8.04651989e+01] [ 8.06946972e-01 6.66571150e-02 -5.86850418e-01 4.51881115e+01] [ 5.89530510e-01 -3.04712945e-02 8.07171158e-01 3.16267635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.890714057 meters Centerline goodness : 0.992822 Centerline is valid? [True, True] Translation: X:80.47, Y:45.21, Z:31.64 [[ 2.80726904e-02 -9.97181729e-01 -6.95738725e-02 8.04720063e+01] [ 8.06093598e-01 6.37423104e-02 -5.88345162e-01 4.52080689e+01] [ 5.91121845e-01 -3.95666216e-02 8.05611225e-01 3.16431844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.920714057 meters Centerline goodness : 0.993117 Centerline is valid? [True, True] Translation: X:80.47, Y:45.23, Z:31.66 [[ 2.45949542e-02 -9.98120322e-01 -5.61329789e-02 8.04680952e+01] [ 8.05738420e-01 5.30292168e-02 -5.89892788e-01 4.52269667e+01] [ 5.91760667e-01 -3.07201116e-02 8.05528142e-01 3.16636296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.950714057 meters Centerline goodness : 0.992033 Centerline is valid? [True, True] Translation: X:80.47, Y:45.24, Z:31.68 [[ 2.06097247e-02 -9.97732616e-01 -6.40692226e-02 8.04733587e+01] [ 8.03815690e-01 5.46425851e-02 -5.92363507e-01 4.52430584e+01] [ 5.94521299e-01 -3.92913976e-02 8.03119300e-01 3.16780314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.980714057 meters Centerline goodness : 0.992612 Centerline is valid? [True, True] Translation: X:80.48, Y:45.27, Z:31.70 [[ 1.45246173e-02 -9.98229897e-01 -5.76724246e-02 8.04753510e+01] [ 8.06501169e-01 4.57905663e-02 -5.89456604e-01 4.52651422e+01] [ 5.91054058e-01 -3.79512463e-02 8.05738670e-01 3.16973362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.010714057 meters Centerline goodness : 0.992545 Centerline is valid? [True, True] Translation: X:80.47, Y:45.28, Z:31.72 [[ 1.25029470e-02 -9.98850765e-01 -4.62690572e-02 8.04727884e+01] [ 8.04761381e-01 3.75153375e-02 -5.92411782e-01 4.52820628e+01] [ 5.93466761e-01 -2.98286573e-02 8.04305573e-01 3.17175256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.040714057 meters Centerline goodness : 0.992178 Centerline is valid? [True, True] Translation: X:80.48, Y:45.30, Z:31.73 [[ 6.33962693e-03 -9.98625172e-01 -5.20343636e-02 8.04778407e+01] [ 8.02840304e-01 3.61049901e-02 -5.95099887e-01 4.53030629e+01] [ 5.96160427e-01 -3.80025730e-02 8.01965429e-01 3.17345232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.070714057 meters Centerline goodness : 0.993025 Centerline is valid? [True, True] Translation: X:80.48, Y:45.33, Z:31.75 [[ 3.21142863e-03 -9.98251021e-01 -5.90303780e-02 8.04833604e+01] [ 8.04916657e-01 3.76081971e-02 -5.92194899e-01 4.53283490e+01] [ 5.93379189e-01 -4.56127428e-02 8.03629651e-01 3.17495876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.100714057 meters Centerline goodness : 0.993755 Centerline is valid? [True, True] Translation: X:80.48, Y:45.35, Z:31.77 [[-1.99639969e-03 -9.98792544e-01 -4.90863304e-02 8.04819021e+01] [ 8.03620601e-01 2.76108689e-02 -5.94501110e-01 4.53483814e+01] [ 5.95138592e-01 -4.06336482e-02 8.02595142e-01 3.17693104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.130714057 meters Centerline goodness : 0.994203 Centerline is valid? [True, True] Translation: X:80.48, Y:45.37, Z:31.79 [[-4.57321411e-03 -9.99274452e-01 -3.78107957e-02 8.04795494e+01] [ 8.03297659e-01 1.88480126e-02 -5.95279449e-01 4.53704087e+01] [ 5.95560204e-01 -3.30956640e-02 8.02628632e-01 3.17889261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.160714057 meters Centerline goodness : 0.993275 Centerline is valid? [True, True] Translation: X:80.49, Y:45.39, Z:31.80 [[-8.18741770e-03 -9.98984570e-01 -4.43034536e-02 8.04853271e+01] [ 8.03757943e-01 1.97834356e-02 -5.94627433e-01 4.53943718e+01] [ 5.94900105e-01 -4.04777159e-02 8.02779808e-01 3.18025370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.19071405700001 meters Centerline goodness : 0.994014 Centerline is valid? [True, True] Translation: X:80.48, Y:45.42, Z:31.82 [[-9.68069833e-03 -9.99232192e-01 -3.79646011e-02 8.04849612e+01] [ 8.04158832e-01 1.47862595e-02 -5.94230544e-01 4.54185191e+01] [ 5.94335643e-01 -3.62821359e-02 8.03398251e-01 3.18203232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.220714057 meters Centerline goodness : 0.994014 Centerline is valid? [True, True] Translation: X:80.49, Y:45.44, Z:31.83 [[-1.01212502e-02 -9.98596209e-01 -5.19920417e-02 8.04924738e+01] [ 8.04655553e-01 2.27350094e-02 -5.93306464e-01 4.54431208e+01] [ 5.93655625e-01 -4.78406882e-02 8.03295878e-01 3.18324391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.250714057 meters Centerline goodness : 0.993837 Centerline is valid? [True, True] Translation: X:80.50, Y:45.46, Z:31.85 [[-1.26227100e-02 -9.98225963e-01 -5.81858543e-02 8.04964994e+01] [ 8.04321647e-01 2.44350779e-02 -5.93691515e-01 4.54632644e+01] [ 5.94060060e-01 -5.42941380e-02 8.02586314e-01 3.18474769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.280714057 meters Centerline goodness : 0.993975 Centerline is valid? [True, True] Translation: X:80.49, Y:45.48, Z:31.87 [[-1.63202359e-02 -9.98699566e-01 -4.82993374e-02 8.04928806e+01] [ 8.03859289e-01 1.56206200e-02 -5.94614362e-01 4.54838841e+01] [ 5.94595571e-01 -4.85301177e-02 8.02558991e-01 3.18673458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.310714057 meters Centerline goodness : 0.993774 Centerline is valid? [True, True] Translation: X:80.49, Y:45.51, Z:31.89 [[-1.74356354e-02 -9.98996319e-01 -4.12595886e-02 8.04913766e+01] [ 8.03753076e-01 1.05407104e-02 -5.94869638e-01 4.55068131e+01] [ 5.94707484e-01 -4.35344513e-02 8.02762580e-01 3.18857227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.340714057 meters Centerline goodness : 0.993710 Centerline is valid? [True, True] Translation: X:80.49, Y:45.53, Z:31.90 [[-1.82513012e-02 -9.98706029e-01 -4.74674477e-02 8.04948091e+01] [ 8.04700867e-01 1.35038419e-02 -5.93526883e-01 4.55316212e+01] [ 5.93399869e-01 -4.90297342e-02 8.03413144e-01 3.19006029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.370714057 meters Centerline goodness : 0.993734 Centerline is valid? [True, True] Translation: X:80.50, Y:45.55, Z:31.92 [[-1.90930502e-02 -9.98523571e-01 -5.08540371e-02 8.04953643e+01] [ 8.05262292e-01 1.47898529e-02 -5.92734259e-01 4.55531591e+01] [ 5.92611253e-01 -5.22679434e-02 8.03790996e-01 3.19163308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.400714057 meters Centerline goodness : 0.993253 Centerline is valid? [True, True] Translation: X:80.49, Y:45.57, Z:31.93 [[-1.90113368e-02 -9.98580002e-01 -4.97649324e-02 8.04949585e+01] [ 8.04906630e-01 1.42399502e-02 -5.93230597e-01 4.55691612e+01] [ 5.93096861e-01 -5.13342307e-02 8.03492944e-01 3.19310888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.430714057 meters Centerline goodness : 0.993388 Centerline is valid? [True, True] Translation: X:80.49, Y:45.59, Z:31.95 [[-1.84262419e-02 -9.98745121e-01 -4.65688377e-02 8.04916397e+01] [ 8.03698234e-01 1.29107260e-02 -5.94897017e-01 4.55922839e+01] [ 5.94751731e-01 -4.83890090e-02 8.02451794e-01 3.19529395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.460714057 meters Centerline goodness : 0.993299 Centerline is valid? [True, True] Translation: X:80.49, Y:45.61, Z:31.97 [[-1.74818808e-02 -9.98597857e-01 -4.99670233e-02 8.04922087e+01] [ 8.02919858e-01 1.57598292e-02 -5.95878619e-01 4.56120621e+01] [ 5.95830584e-01 -5.05365942e-02 8.01518538e-01 3.19689077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.490714057 meters Centerline goodness : 0.993387 Centerline is valid? [True, True] Translation: X:80.48, Y:45.63, Z:31.99 [[-1.57386802e-02 -9.99101985e-01 -3.93385018e-02 8.04849164e+01] [ 8.01766904e-01 1.08972637e-02 -5.97537515e-01 4.56318586e+01] [ 5.97429599e-01 -4.09447606e-02 8.00875396e-01 3.19888113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.520714057 meters Centerline goodness : 0.993085 Centerline is valid? [True, True] Translation: X:80.49, Y:45.65, Z:32.00 [[-1.41722416e-02 -9.99000326e-01 -4.23968975e-02 8.04857718e+01] [ 8.01433072e-01 1.40058703e-02 -5.97920452e-01 4.56529422e+01] [ 5.97916531e-01 -4.24521489e-02 8.00433405e-01 3.20041492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.55071405700001 meters Centerline goodness : 0.993332 Centerline is valid? [True, True] Translation: X:80.48, Y:45.68, Z:32.02 [[-1.01414066e-02 -9.99621960e-01 -2.55556142e-02 8.04777594e+01] [ 8.01541800e-01 7.15354130e-03 -5.97895952e-01 4.56773815e+01] [ 5.97852737e-01 -2.65473990e-02 8.01166238e-01 3.20243051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.58071405700001 meters Centerline goodness : 0.993486 Centerline is valid? [True, True] Translation: X:80.49, Y:45.70, Z:32.04 [[-8.36799109e-03 -9.98946568e-01 -4.51190681e-02 8.04856561e+01] [ 8.02580288e-01 2.02053713e-02 -5.96201832e-01 4.57019740e+01] [ 5.96485421e-01 -4.12006863e-02 8.01565746e-01 3.20353844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.610714057 meters Centerline goodness : 0.993323 Centerline is valid? [True, True] Translation: X:80.48, Y:45.72, Z:32.05 [[-4.91688172e-03 -9.99121505e-01 -4.16178256e-02 8.04817616e+01] [ 8.02839869e-01 2.08679878e-02 -5.95829399e-01 4.57229855e+01] [ 5.96174446e-01 -3.63420723e-02 8.02031972e-01 3.20534978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.640714057 meters Centerline goodness : 0.993542 Centerline is valid? [True, True] Translation: X:80.48, Y:45.74, Z:32.07 [[-3.05699261e-03 -9.99109056e-01 -4.20921403e-02 8.04810198e+01] [ 8.02098210e-01 2.26871546e-02 -5.96761053e-01 4.57426548e+01] [ 5.97184323e-01 -3.55863245e-02 8.01314232e-01 3.20696674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.670714057 meters Centerline goodness : 0.992469 Centerline is valid? [True, True] Translation: X:80.48, Y:45.76, Z:32.09 [[-1.01169960e-03 -9.99604495e-01 -2.81039087e-02 8.04755436e+01] [ 8.02940501e-01 1.59395718e-02 -5.95846021e-01 4.57627713e+01] [ 5.96058326e-01 -2.31685837e-02 8.02606808e-01 3.20883374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.700714057 meters Centerline goodness : 0.992708 Centerline is valid? [True, True] Translation: X:80.48, Y:45.79, Z:32.10 [[ 2.15386070e-03 -9.99008504e-01 -4.44676297e-02 8.04808675e+01] [ 8.03161492e-01 2.82202369e-02 -5.95092628e-01 4.57870600e+01] [ 5.95757483e-01 -3.44329412e-02 8.02425943e-01 3.21019939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.730714057 meters Centerline goodness : 0.992547 Centerline is valid? [True, True] Translation: X:80.48, Y:45.81, Z:32.12 [[ 3.11121652e-03 -9.99353160e-01 -3.58271230e-02 8.04781546e+01] [ 8.03293265e-01 2.38355923e-02 -5.95106541e-01 4.58102358e+01] [ 5.95575562e-01 -2.69281813e-02 8.02847820e-01 3.21217341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.760714057 meters Centerline goodness : 0.992296 Centerline is valid? [True, True] Translation: X:80.48, Y:45.83, Z:32.14 [[ 6.40947727e-03 -9.99320904e-01 -3.62856530e-02 8.04785975e+01] [ 8.03739781e-01 2.67371724e-02 -5.94379919e-01 4.58324023e+01] [ 5.94946454e-01 -2.53545582e-02 8.03365336e-01 3.21375364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.790714057 meters Centerline goodness : 0.991976 Centerline is valid? [True, True] Translation: X:80.48, Y:45.86, Z:32.15 [[ 7.22883782e-03 -9.99220687e-01 -3.88041631e-02 8.04799545e+01] [ 8.03854934e-01 2.88879149e-02 -5.94123500e-01 4.58562914e+01] [ 5.94781463e-01 -2.68980956e-02 8.03437306e-01 3.21545259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.820714057 meters Centerline goodness : 0.992406 Centerline is valid? [True, True] Translation: X:80.48, Y:45.88, Z:32.17 [[ 1.02975383e-02 -9.99180226e-01 -3.91514466e-02 8.04803820e+01] [ 8.03147362e-01 3.15891916e-02 -5.94942383e-01 4.58788945e+01] [ 5.95691427e-01 -2.53179391e-02 8.02814254e-01 3.21702200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.850714057 meters Centerline goodness : 0.991947 Centerline is valid? [True, True] Translation: X:80.48, Y:45.90, Z:32.19 [[ 1.15367837e-02 -9.99034190e-01 -4.23979913e-02 8.04828485e+01] [ 8.03433098e-01 3.45034885e-02 -5.94394453e-01 4.59032456e+01] [ 5.95283260e-01 -2.72065493e-02 8.03055194e-01 3.21850071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.880714057 meters Centerline goodness : 0.993604 Centerline is valid? [True, True] Translation: X:80.48, Y:45.93, Z:32.20 [[ 1.23351640e-02 -9.99225893e-01 -3.73558454e-02 8.04811802e+01] [ 8.02165929e-01 3.21925463e-02 -5.96232725e-01 4.59267067e+01] [ 5.96973757e-01 -2.26109580e-02 8.01942067e-01 3.22046057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.910714057 meters Centerline goodness : 0.993428 Centerline is valid? [True, True] Translation: X:80.49, Y:45.95, Z:32.22 [[ 1.26890287e-02 -9.98547378e-01 -5.23652725e-02 8.04879255e+01] [ 8.01672813e-01 4.14593214e-02 -5.96323591e-01 4.59498871e+01] [ 5.97628387e-01 -3.44130482e-02 8.01034364e-01 3.22163893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.94071405700001 meters Centerline goodness : 0.994079 Centerline is valid? [True, True] Translation: X:80.48, Y:45.97, Z:32.24 [[ 9.90646534e-03 -9.99501468e-01 -2.99779373e-02 8.04791463e+01] [ 7.96651756e-01 2.60080086e-02 -6.03878766e-01 4.59712229e+01] [ 6.04357379e-01 -1.78996724e-02 7.96512247e-01 3.22424086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.970714057 meters Centerline goodness : 0.993337 Centerline is valid? [True, True] Translation: X:80.50, Y:46.00, Z:32.25 [[ 1.18735492e-02 -9.97511922e-01 -6.94908867e-02 8.04982143e+01] [ 8.01226430e-01 5.10693990e-02 -5.96177929e-01 4.59995410e+01] [ 5.98243450e-01 -4.85991871e-02 7.99839292e-01 3.22451528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.000714057 meters Centerline goodness : 0.994300 Centerline is valid? [True, True] Translation: X:80.48, Y:46.01, Z:32.28 [[ 7.44307480e-03 -9.99531674e-01 -2.96821981e-02 8.04818084e+01] [ 7.96278755e-01 2.38795985e-02 -6.04458360e-01 4.60147168e+01] [ 6.04884076e-01 -1.91362749e-02 7.96083575e-01 3.22770034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.030714057 meters Centerline goodness : 0.993963 Centerline is valid? [True, True] Translation: X:80.50, Y:46.04, Z:32.28 [[ 9.18771741e-03 -9.97876049e-01 -6.44901239e-02 8.04988087e+01] [ 8.01322046e-01 4.59261440e-02 -5.96467742e-01 4.60398605e+01] [ 5.98162657e-01 -4.61971810e-02 8.00042034e-01 3.22796454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.060714057 meters Centerline goodness : 0.993282 Centerline is valid? [True, True] Translation: X:80.48, Y:46.06, Z:32.31 [[ 1.03248936e-02 -9.99707116e-01 -2.18878574e-02 8.04837528e+01] [ 8.03038334e-01 2.13327466e-02 -5.95545420e-01 4.60585847e+01] [ 5.95837923e-01 -1.14278455e-02 8.03023396e-01 3.23076069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.090714057 meters Centerline goodness : 0.994874 Centerline is valid? [True, True] Translation: X:80.49, Y:46.09, Z:32.32 [[ 5.05354271e-03 -9.99349837e-01 -3.56982390e-02 8.04918739e+01] [ 7.99067902e-01 2.54986287e-02 -6.00699848e-01 4.60884429e+01] [ 6.01219551e-01 -2.54896546e-02 7.98677237e-01 3.23222022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.120714057 meters Centerline goodness : 0.994599 Centerline is valid? [True, True] Translation: X:80.51, Y:46.10, Z:32.32 [[-5.37309469e-03 -9.95990314e-01 -8.92996373e-02 8.05055681e+01] [ 7.95645961e-01 4.98356912e-02 -6.03708463e-01 4.61041117e+01] [ 6.05738091e-01 -7.42946785e-02 7.92187898e-01 3.23213734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.150714057 meters Centerline goodness : 0.994931 Centerline is valid? [True, True] Translation: X:80.48, Y:46.11, Z:32.36 [[-6.88575147e-03 -9.99504033e-01 -3.07290640e-02 8.04825134e+01] [ 7.93836657e-01 1.32232758e-02 -6.07987259e-01 4.61129312e+01] [ 6.08092056e-01 -2.85803066e-02 7.93351887e-01 3.23564918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.180714057 meters Centerline goodness : 0.995115 Centerline is valid? [True, True] Translation: X:80.48, Y:46.14, Z:32.37 [[-8.05491907e-03 -9.99501856e-01 -3.05148849e-02 8.04845273e+01] [ 7.93644670e-01 1.21742973e-02 -6.08259751e-01 4.61351983e+01] [ 6.08328247e-01 -2.91174589e-02 7.93151258e-01 3.23731054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.210714057 meters Centerline goodness : 0.995649 Centerline is valid? [True, True] Translation: X:80.48, Y:46.17, Z:32.40 [[ 2.60103414e-04 -9.99833425e-01 1.82497572e-02 8.04812929e+01] [ 7.99658811e-01 -1.07501919e-02 -6.00358409e-01 4.61722756e+01] [ 6.00454593e-01 1.47497344e-02 7.99522812e-01 3.24031028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.240714057 meters Centerline goodness : 0.995168 Centerline is valid? [True, True] Translation: X:80.52, Y:46.21, Z:32.39 [[-5.74093973e-04 -9.97326572e-01 -7.30710494e-02 8.05237859e+01] [ 8.02008890e-01 4.31870183e-02 -5.95748791e-01 4.62127374e+01] [ 5.97311821e-01 -5.89456470e-02 7.99839984e-01 3.23910874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.270714057 meters Centerline goodness : 0.995263 Centerline is valid? [True, True] Translation: X:80.52, Y:46.23, Z:32.41 [[-4.09877414e-03 -9.98233133e-01 -5.92774226e-02 8.05192410e+01] [ 8.00813129e-01 3.22252531e-02 -5.98046708e-01 4.62334125e+01] [ 5.98900269e-01 -4.99213967e-02 7.99266115e-01 3.24139716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.30071405700001 meters Centerline goodness : 0.995230 Centerline is valid? [True, True] Translation: X:80.53, Y:46.24, Z:32.42 [[-1.87295904e-02 -9.93954708e-01 -1.08181522e-01 8.05287261e+01] [ 7.94978518e-01 5.08139061e-02 -6.04505669e-01 4.62394085e+01] [ 6.06348381e-01 -9.73241294e-02 7.89220916e-01 3.24167263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.33071405700001 meters Centerline goodness : 0.995938 Centerline is valid? [True, True] Translation: X:80.49, Y:46.26, Z:32.47 [[-1.02900382e-02 -9.99912816e-01 8.27504622e-03 8.04914189e+01] [ 7.96698252e-01 -1.31992633e-02 -6.04233130e-01 4.62564646e+01] [ 6.04289675e-01 3.75132871e-04 7.96764613e-01 3.24693463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.360714057 meters Centerline goodness : 0.995560 Centerline is valid? [True, True] Translation: X:80.53, Y:46.28, Z:32.45 [[-2.22810056e-02 -9.95333613e-01 -9.38858661e-02 8.05263359e+01] [ 7.93499553e-01 3.95200462e-02 -6.07286280e-01 4.62800235e+01] [ 6.08162821e-01 -8.80293418e-02 7.88916230e-01 3.24547572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.390714057 meters Centerline goodness : 0.995442 Centerline is valid? [True, True] Translation: X:80.50, Y:46.30, Z:32.50 [[-1.73412825e-02 -9.99745474e-01 -1.44314306e-02 8.05017767e+01] [ 7.93183434e-01 -4.96788202e-03 -6.08962527e-01 4.62966775e+01] [ 6.08735837e-01 -2.20069630e-02 7.93067698e-01 3.24979661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.420714057 meters Centerline goodness : 0.995396 Centerline is valid? [True, True] Translation: X:80.52, Y:46.32, Z:32.50 [[-2.49487111e-02 -9.97894940e-01 -5.98602527e-02 8.05153085e+01] [ 7.92080288e-01 1.67998523e-02 -6.10185695e-01 4.63164082e+01] [ 6.09906861e-01 -6.26374728e-02 7.89993777e-01 3.24981905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.450714057 meters Centerline goodness : 0.995743 Centerline is valid? [True, True] Translation: X:80.50, Y:46.33, Z:32.53 [[-2.52839239e-02 -9.99317336e-01 -2.69366858e-02 8.05020255e+01] [ 7.90964726e-01 -3.51983977e-03 -6.11851627e-01 4.63311231e+01] [ 6.11339125e-01 -3.67759783e-02 7.90513758e-01 3.25256687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.480714057 meters Centerline goodness : 0.995121 Centerline is valid? [True, True] Translation: X:80.50, Y:46.36, Z:32.55 [[-1.85026719e-02 -9.99775639e-01 1.03113260e-02 8.04968870e+01] [ 7.95198345e-01 -2.09665256e-02 -6.05986797e-01 4.63613311e+01] [ 6.06067029e-01 -3.01282551e-03 7.95407870e-01 3.25517158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.510714057 meters Centerline goodness : 0.995216 Centerline is valid? [True, True] Translation: X:80.53, Y:46.39, Z:32.54 [[-2.64767692e-02 -9.96002133e-01 -8.53154829e-02 8.05284211e+01] [ 7.93190431e-01 3.10103334e-02 -6.08183607e-01 4.63864325e+01] [ 6.08397832e-01 -8.37741617e-02 7.89198307e-01 3.25416967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.540714057 meters Centerline goodness : 0.995106 Centerline is valid? [True, True] Translation: X:80.50, Y:46.40, Z:32.59 [[-1.90124802e-02 -9.99729863e-01 1.33688429e-02 8.04959878e+01] [ 7.95249047e-01 -2.32252822e-02 -6.05837882e-01 4.64041239e+01] [ 6.05984718e-01 -8.86921192e-04 7.95475791e-01 3.25874440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.570714057 meters Centerline goodness : 0.994378 Centerline is valid? [True, True] Translation: X:80.53, Y:46.44, Z:32.58 [[-1.88991008e-02 -9.97754924e-01 -6.42490108e-02 8.05287924e+01] [ 7.99669708e-01 2.34878515e-02 -5.99980566e-01 4.64385291e+01] [ 6.00142635e-01 -6.27170809e-02 7.97430489e-01 3.25788168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.600714057 meters Centerline goodness : 0.995082 Centerline is valid? [True, True] Translation: X:80.51, Y:46.46, Z:32.61 [[-2.10665034e-02 -9.99528297e-01 -2.23469409e-02 8.05123810e+01] [ 7.96514822e-01 -3.27013723e-03 -6.04610159e-01 4.64561369e+01] [ 6.04251885e-01 -3.05366916e-02 7.96207994e-01 3.26090920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.630714057 meters Centerline goodness : 0.995529 Centerline is valid? [True, True] Translation: X:80.53, Y:46.47, Z:32.61 [[-3.07709098e-02 -9.95622290e-01 -8.82576119e-02 8.05313941e+01] [ 7.93125997e-01 2.94148035e-02 -6.08346876e-01 4.64744213e+01] [ 6.08279791e-01 -8.87187933e-02 7.88748802e-01 3.26077140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.660714057 meters Centerline goodness : 0.995340 Centerline is valid? [True, True] Translation: X:80.50, Y:46.49, Z:32.65 [[-2.41123549e-02 -9.99491065e-01 2.08855479e-02 8.04957090e+01] [ 7.95130848e-01 -3.18370021e-02 -6.05601634e-01 4.64916589e+01] [ 6.05958356e-01 2.00426185e-03 7.95493843e-01 3.26549551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.69071405700001 meters Centerline goodness : 0.995251 Centerline is valid? [True, True] Translation: X:80.54, Y:46.53, Z:32.64 [[-3.01693848e-02 -9.96539476e-01 -7.74524480e-02 8.05353282e+01] [ 7.96008907e-01 2.29113870e-02 -6.04851129e-01 4.65258928e+01] [ 6.04532569e-01 -7.99008250e-02 7.92563077e-01 3.26445758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.720714057 meters Centerline goodness : 0.994670 Centerline is valid? [True, True] Translation: X:80.52, Y:46.54, Z:32.67 [[-3.13444276e-02 -9.98836979e-01 -3.66362765e-02 8.05180144e+01] [ 7.94326395e-01 -2.64477692e-03 -6.07485459e-01 4.65399587e+01] [ 6.06682046e-01 -4.81424454e-02 7.93485476e-01 3.26741071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.750714057 meters Centerline goodness : 0.994221 Centerline is valid? [True, True] Translation: X:80.52, Y:46.56, Z:32.69 [[-3.30049236e-02 -9.98917465e-01 -3.27806713e-02 8.05181371e+01] [ 7.95925323e-01 -6.43228940e-03 -6.05360641e-01 4.65633330e+01] [ 6.04494463e-01 -4.60708481e-02 7.95276003e-01 3.26900618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.780714057 meters Centerline goodness : 0.994437 Centerline is valid? [True, True] Translation: X:80.52, Y:46.59, Z:32.70 [[-3.48617668e-02 -9.98383547e-01 -4.48881981e-02 8.05239778e+01] [ 7.95876216e-01 -5.68601955e-04 -6.05459104e-01 4.65874251e+01] [ 6.04454884e-01 -5.68328233e-02 7.94609542e-01 3.27035993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.810714057 meters Centerline goodness : 0.994541 Centerline is valid? [True, True] Translation: X:80.52, Y:46.61, Z:32.72 [[-3.69559624e-02 -9.98546440e-01 -3.92334434e-02 8.05230685e+01] [ 7.96335021e-01 -5.70810530e-03 -6.04828861e-01 4.66096703e+01] [ 6.03725758e-01 -5.35949976e-02 7.95388450e-01 3.27206407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.840714057 meters Centerline goodness : 0.994922 Centerline is valid? [True, True] Translation: X:80.52, Y:46.64, Z:32.74 [[-3.37520644e-02 -9.99362819e-01 -1.16083475e-02 8.05168918e+01] [ 7.98389984e-01 -1.99740254e-02 -6.01809332e-01 4.66394756e+01] [ 6.01194005e-01 -2.95802957e-02 7.98555430e-01 3.27431669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.870714057 meters Centerline goodness : 0.994667 Centerline is valid? [True, True] Translation: X:80.54, Y:46.67, Z:32.74 [[-3.61988531e-02 -9.97139415e-01 -6.63523231e-02 8.05411387e+01] [ 7.99602074e-01 1.09265561e-02 -6.00430790e-01 4.66705108e+01] [ 5.99438209e-01 -7.47903611e-02 7.96919215e-01 3.27429987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.900714057 meters Centerline goodness : 0.994671 Centerline is valid? [True, True] Translation: X:80.54, Y:46.68, Z:32.76 [[-4.22990395e-02 -9.95762258e-01 -8.16597610e-02 8.05433714e+01] [ 7.97141219e-01 1.56370047e-02 -6.03590392e-01 4.66835211e+01] [ 6.02309445e-01 -9.06256552e-02 7.93101710e-01 3.27570751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.930714057 meters Centerline goodness : 0.994385 Centerline is valid? [True, True] Translation: X:80.52, Y:46.70, Z:32.79 [[-4.00653610e-02 -9.98948549e-01 -2.22836862e-02 8.05210252e+01] [ 7.96521604e-01 -1.84656855e-02 -6.04328017e-01 4.67004927e+01] [ 6.03281113e-01 -4.19620577e-02 7.96423935e-01 3.27896742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.960714057 meters Centerline goodness : 0.993641 Centerline is valid? [True, True] Translation: X:80.54, Y:46.72, Z:32.79 [[-4.26784269e-02 -9.95173616e-01 -8.83630353e-02 8.05449901e+01] [ 7.99487405e-01 1.90224834e-02 -6.00381575e-01 4.67191355e+01] [ 5.99164787e-01 -9.62684749e-02 7.94816922e-01 3.27873348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.990714057 meters Centerline goodness : 0.994258 Centerline is valid? [True, True] Translation: X:80.52, Y:46.73, Z:32.83 [[-4.82275479e-02 -9.98507856e-01 -2.56157111e-02 8.05164612e+01] [ 7.93859639e-01 -2.27538237e-02 -6.07675190e-01 4.67297238e+01] [ 6.06185596e-01 -4.96419635e-02 7.93772448e-01 3.28270499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.020714057 meters Centerline goodness : 0.994087 Centerline is valid? [True, True] Translation: X:80.52, Y:46.76, Z:32.84 [[-4.69598123e-02 -9.98708833e-01 -1.93763458e-02 8.05163288e+01] [ 7.95465499e-01 -2.56565220e-02 -6.05455516e-01 4.67571341e+01] [ 6.04176642e-01 -4.38452920e-02 7.95643246e-01 3.28436118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.05071405700001 meters Centerline goodness : 0.993722 Centerline is valid? [True, True] Translation: X:80.54, Y:46.78, Z:32.84 [[-4.74110988e-02 -9.96182574e-01 -7.32971136e-02 8.05367461e+01] [ 7.98703514e-01 6.25878398e-03 -6.01692217e-01 4.67771797e+01] [ 5.99854052e-01 -8.70695514e-02 7.95357787e-01 3.28429304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.08071405700001 meters Centerline goodness : 0.994825 Centerline is valid? [True, True] Translation: X:80.51, Y:46.78, Z:32.87 [[-5.53805559e-02 -9.97992309e-01 -3.07302142e-02 8.05114982e+01] [ 7.90776287e-01 -2.50495537e-02 -6.11592498e-01 4.67830715e+01] [ 6.09594830e-01 -5.81710571e-02 7.90575911e-01 3.28730134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.110714057 meters Centerline goodness : 0.994825 Centerline is valid? [True, True] Translation: X:80.51, Y:46.80, Z:32.89 [[-5.55413544e-02 -9.98270229e-01 -1.92797493e-02 8.05071916e+01] [ 7.90209723e-01 -3.21458547e-02 -6.11992841e-01 4.68024066e+01] [ 6.10314470e-01 -4.92259567e-02 7.90628265e-01 3.28932966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.140714057 meters Centerline goodness : 0.992684 Centerline is valid? [True, True] Translation: X:80.51, Y:46.83, Z:32.91 [[-5.04745768e-02 -9.98541900e-01 -1.91413320e-02 8.05144307e+01] [ 7.94186334e-01 -2.85088999e-02 -6.07005197e-01 4.68277369e+01] [ 6.05574425e-01 -4.58401148e-02 7.94467306e-01 3.29080283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.170714057 meters Centerline goodness : 0.992594 Centerline is valid? [True, True] Translation: X:80.51, Y:46.85, Z:32.92 [[-5.15386953e-02 -9.98395068e-01 -2.34744872e-02 8.05139254e+01] [ 7.92509025e-01 -2.65850019e-02 -6.09280463e-01 4.68454640e+01] [ 6.07678540e-01 -5.00052631e-02 7.92607258e-01 3.29237630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.200714057 meters Centerline goodness : 0.993024 Centerline is valid? [True, True] Translation: X:80.51, Y:46.87, Z:32.94 [[-4.98174698e-02 -9.98653120e-01 -1.44971200e-02 8.05118190e+01] [ 7.93333902e-01 -3.07489130e-02 -6.08009724e-01 4.68677882e+01] [ 6.06745037e-01 -4.17905628e-02 7.93797209e-01 3.29407200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.230714057 meters Centerline goodness : 0.993356 Centerline is valid? [True, True] Translation: X:80.52, Y:46.89, Z:32.95 [[-5.03345829e-02 -9.98422120e-01 -2.48937738e-02 8.05155518e+01] [ 7.94427145e-01 -2.49197420e-02 -6.06848019e-01 4.68909146e+01] [ 6.05270139e-01 -5.03217315e-02 7.94427959e-01 3.29539145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.260714057 meters Centerline goodness : 0.994066 Centerline is valid? [True, True] Translation: X:80.52, Y:46.92, Z:32.97 [[-5.36624692e-02 -9.98199989e-01 -2.67791146e-02 8.05161018e+01] [ 7.91183324e-01 -2.61413278e-02 -6.11020113e-01 4.69154784e+01] [ 6.09220229e-01 -5.39760369e-02 7.91161994e-01 3.29719620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.290714057 meters Centerline goodness : 0.994930 Centerline is valid? [True, True] Translation: X:80.51, Y:46.93, Z:32.98 [[-5.65018862e-02 -9.97961829e-01 -2.96601706e-02 8.05113062e+01] [ 7.91076602e-01 -2.66251475e-02 -6.11137391e-01 4.69305359e+01] [ 6.09102082e-01 -5.79938823e-02 7.90968623e-01 3.29830065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.320714057 meters Centerline goodness : 0.994345 Centerline is valid? [True, True] Translation: X:80.51, Y:46.95, Z:33.00 [[-5.52229025e-02 -9.98323410e-01 -1.73435687e-02 8.05068310e+01] [ 7.91569010e-01 -3.31857128e-02 -6.10178015e-01 4.69500301e+01] [ 6.08579439e-01 -4.74244326e-02 7.92074485e-01 3.30036645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.350714057 meters Centerline goodness : 0.993769 Centerline is valid? [True, True] Translation: X:80.52, Y:46.98, Z:33.02 [[-5.00628655e-02 -9.98520061e-01 -2.12461109e-02 8.05154308e+01] [ 7.92300301e-01 -2.67539683e-02 -6.09544468e-01 4.69778080e+01] [ 6.08073962e-01 -4.73488428e-02 7.92467125e-01 3.30224060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.380714057 meters Centerline goodness : 0.995084 Centerline is valid? [True, True] Translation: X:80.51, Y:47.00, Z:33.03 [[-5.45155149e-02 -9.98201574e-01 -2.49334230e-02 8.05090534e+01] [ 7.91965591e-01 -2.80173419e-02 -6.09922562e-01 4.69956085e+01] [ 6.08127094e-01 -5.29966556e-02 7.92068679e-01 3.30339168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.410714057 meters Centerline goodness : 0.994215 Centerline is valid? [True, True] Translation: X:80.51, Y:47.02, Z:33.06 [[-4.74703420e-02 -9.98729757e-01 -1.68949542e-02 8.05114299e+01] [ 7.93030966e-01 -2.73985783e-02 -6.08564873e-01 4.70193708e+01] [ 6.07328950e-01 -4.22870045e-02 7.93324244e-01 3.30552972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.44071405700001 meters Centerline goodness : 0.994689 Centerline is valid? [True, True] Translation: X:80.51, Y:47.04, Z:33.07 [[-5.32469753e-02 -9.98261653e-01 -2.52672111e-02 8.05082651e+01] [ 7.91156667e-01 -2.67341745e-02 -6.11028979e-01 4.70396248e+01] [ 6.09291300e-01 -5.25257674e-02 7.91204876e-01 3.30660174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.470714057 meters Centerline goodness : 0.993373 Centerline is valid? [True, True] Translation: X:80.51, Y:47.06, Z:33.09 [[-4.66271931e-02 -9.98827627e-01 -1.30106463e-02 8.05100737e+01] [ 7.93079248e-01 -2.90971944e-02 -6.08423093e-01 4.70622641e+01] [ 6.07331220e-01 -3.86875347e-02 7.93506184e-01 3.30881586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.500714057 meters Centerline goodness : 0.994186 Centerline is valid? [True, True] Translation: X:80.52, Y:47.09, Z:33.10 [[-4.66950540e-02 -9.98458578e-01 -3.00006561e-02 8.05183553e+01] [ 7.97640394e-01 -1.91902075e-02 -6.02827950e-01 4.70914081e+01] [ 6.01323019e-01 -5.20788188e-02 7.97306982e-01 3.30978650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.530714057 meters Centerline goodness : 0.993897 Centerline is valid? [True, True] Translation: X:80.52, Y:47.11, Z:33.11 [[-4.76807905e-02 -9.98344438e-01 -3.21702657e-02 8.05177548e+01] [ 7.97319974e-01 -1.86403854e-02 -6.03268924e-01 4.71119548e+01] [ 6.01670509e-01 -5.44143347e-02 7.96888750e-01 3.31145035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.560714057 meters Centerline goodness : 0.993585 Centerline is valid? [True, True] Translation: X:80.51, Y:47.13, Z:33.13 [[-4.62570912e-02 -9.98927173e-01 -2.18751713e-03 8.05067829e+01] [ 7.97829069e-01 -3.56269599e-02 -6.01830123e-01 4.71303057e+01] [ 6.01106528e-01 -2.95841757e-02 7.98621136e-01 3.31334943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.590714057 meters Centerline goodness : 0.993436 Centerline is valid? [True, True] Translation: X:80.52, Y:47.16, Z:33.14 [[-4.79674247e-02 -9.98471987e-01 -2.74375135e-02 8.05173147e+01] [ 7.98544855e-01 -2.18327602e-02 -6.01539230e-01 4.71576918e+01] [ 6.00021033e-01 -5.07643730e-02 7.98371930e-01 3.31415714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.620714057 meters Centerline goodness : 0.993803 Centerline is valid? [True, True] Translation: X:80.52, Y:47.18, Z:33.16 [[-5.12563318e-02 -9.98178980e-01 -3.18042811e-02 8.05176432e+01] [ 7.95379767e-01 -2.15427215e-02 -6.05728436e-01 4.71786008e+01] [ 6.03940241e-01 -5.63438994e-02 7.95035565e-01 3.31606596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.650714057 meters Centerline goodness : 0.993571 Centerline is valid? [True, True] Translation: X:80.51, Y:47.20, Z:33.18 [[-5.12093552e-02 -9.98634569e-01 -1.03246672e-02 8.05090052e+01] [ 7.94031017e-01 -3.44427981e-02 -6.06900682e-01 4.71975354e+01] [ 6.05716391e-01 -3.92770986e-02 7.94710616e-01 3.31829764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.680714057 meters Centerline goodness : 0.995110 Centerline is valid? [True, True] Translation: X:80.50, Y:47.23, Z:33.21 [[-4.73436804e-02 -9.98179795e-01 3.73586952e-02 8.04953266e+01] [ 7.97850992e-01 -6.02918947e-02 -5.99832211e-01 4.72314513e+01] [ 6.00992820e-01 1.40840749e-03 7.99253180e-01 3.32122315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.710714057 meters Centerline goodness : 0.993856 Centerline is valid? [True, True] Translation: X:80.56, Y:47.27, Z:33.19 [[-5.11608082e-02 -9.92195703e-01 -1.13711297e-01 8.05560103e+01] [ 8.01567911e-01 2.71212280e-02 -5.97288309e-01 4.72681368e+01] [ 5.95710883e-01 -1.21705079e-01 7.93924693e-01 3.31854256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.740714057 meters Centerline goodness : 0.994221 Centerline is valid? [True, True] Translation: X:80.52, Y:47.27, Z:33.23 [[-5.22043752e-02 -9.98349558e-01 -2.39345777e-02 8.05160238e+01] [ 7.99872085e-01 -2.74523382e-02 -5.99542340e-01 4.72716848e+01] [ 5.97895770e-01 -5.04433338e-02 7.99985074e-01 3.32295544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.770714057 meters Centerline goodness : 0.994549 Centerline is valid? [True, True] Translation: X:80.51, Y:47.30, Z:33.25 [[-5.15275203e-02 -9.98670248e-01 -1.62785027e-03 8.05087347e+01] [ 8.02713343e-01 -4.04470550e-02 -5.94991869e-01 4.72969335e+01] [ 5.94134836e-01 -3.19651528e-02 8.03730070e-01 3.32505498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.80071405700001 meters Centerline goodness : 0.993982 Centerline is valid? [True, True] Translation: X:80.52, Y:47.33, Z:33.26 [[-4.98990889e-02 -9.98477308e-01 -2.35190572e-02 8.05198163e+01] [ 8.03893289e-01 -2.61784474e-02 -5.94197163e-01 4.73252443e+01] [ 5.92676691e-01 -4.85567093e-02 8.03975488e-01 3.32563668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.83071405700001 meters Centerline goodness : 0.994276 Centerline is valid? [True, True] Translation: X:80.53, Y:47.35, Z:33.26 [[-5.30395883e-02 -9.97124343e-01 -5.41280532e-02 8.05316866e+01] [ 8.03312096e-01 -1.04057765e-02 -5.95467376e-01 4.73488325e+01] [ 5.93191772e-01 -7.50650644e-02 8.01553964e-01 3.32637341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.860714057 meters Centerline goodness : 0.994486 Centerline is valid? [True, True] Translation: X:80.52, Y:47.37, Z:33.29 [[-5.58952642e-02 -9.97899182e-01 -3.27557864e-02 8.05213032e+01] [ 8.02368410e-01 -2.53699568e-02 -5.96289610e-01 4.73662650e+01] [ 5.94205902e-01 -5.96119736e-02 8.02100841e-01 3.32896553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.890714057 meters Centerline goodness : 0.995260 Centerline is valid? [True, True] Translation: X:80.52, Y:47.39, Z:33.31 [[-5.76073630e-02 -9.97838087e-01 -3.16313833e-02 8.05209974e+01] [ 8.03155442e-01 -2.75021998e-02 -5.95134410e-01 4.73880771e+01] [ 5.92977848e-01 -5.96890416e-02 8.03003418e-01 3.33061447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.920714057 meters Centerline goodness : 0.994286 Centerline is valid? [True, True] Translation: X:80.52, Y:47.40, Z:33.32 [[-5.88381896e-02 -9.98017399e-01 -2.23458965e-02 8.05172785e+01] [ 8.00059740e-01 -3.37564735e-02 -5.98969876e-01 4.74045680e+01] [ 5.97028039e-01 -5.31203553e-02 8.00459711e-01 3.33234383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.950714057 meters Centerline goodness : 0.995006 Centerline is valid? [True, True] Translation: X:80.53, Y:47.43, Z:33.34 [[-6.48925575e-02 -9.96570423e-01 -5.13453836e-02 8.05269562e+01] [ 7.96494790e-01 -2.07301819e-02 -6.04289921e-01 4.74277743e+01] [ 6.01153063e-01 -8.01102490e-02 7.95108384e-01 3.33351879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.980714057 meters Centerline goodness : 0.994485 Centerline is valid? [True, True] Translation: X:80.51, Y:47.44, Z:33.36 [[-6.61476574e-02 -9.97724873e-01 -1.30217090e-02 8.05119160e+01] [ 7.98261210e-01 -4.50845612e-02 -6.00621697e-01 4.74422269e+01] [ 5.98668129e-01 -5.01244434e-02 7.99427302e-01 3.33613457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.010714057 meters Centerline goodness : 0.994956 Centerline is valid? [True, True] Translation: X:80.51, Y:47.47, Z:33.38 [[-6.85523629e-02 -9.97644315e-01 2.52881990e-03 8.05060082e+01] [ 7.94003222e-01 -5.60936815e-02 -6.05320065e-01 4.74658116e+01] [ 6.04035973e-01 -3.94882296e-02 7.95978155e-01 3.33840360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.040714057 meters Centerline goodness : 0.993808 Centerline is valid? [True, True] Translation: X:80.52, Y:47.49, Z:33.38 [[-6.78117560e-02 -9.96678897e-01 -4.50859303e-02 8.05248738e+01] [ 8.00723402e-01 -2.74097618e-02 -5.98406834e-01 4.74923677e+01] [ 5.95183669e-01 -7.66803777e-02 7.99922821e-01 3.33783387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.070714057 meters Centerline goodness : 0.995288 Centerline is valid? [True, True] Translation: X:80.50, Y:47.50, Z:33.42 [[-6.80840800e-02 -9.97626968e-01 1.02464915e-02 8.05015964e+01] [ 7.93472534e-01 -6.03714307e-02 -6.05604350e-01 4.75041080e+01] [ 6.04785826e-01 -3.31017054e-02 7.95699932e-01 3.34179075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.100714057 meters Centerline goodness : 0.994709 Centerline is valid? [True, True] Translation: X:80.52, Y:47.53, Z:33.42 [[-6.25558207e-02 -9.96934719e-01 -4.69886683e-02 8.05227368e+01] [ 7.98247610e-01 -2.17173487e-02 -6.01937796e-01 4.75319892e+01] [ 5.99072218e-01 -7.51633050e-02 7.97159304e-01 3.34195058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.130714057 meters Centerline goodness : 0.994359 Centerline is valid? [True, True] Translation: X:80.51, Y:47.55, Z:33.45 [[-5.96258794e-02 -9.98157966e-01 -1.11995039e-02 8.05070812e+01] [ 7.98221219e-01 -4.09394705e-02 -6.00971584e-01 4.75461230e+01] [ 5.99406072e-01 -4.47731409e-02 7.99191921e-01 3.34482677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.160714057 meters Centerline goodness : 0.993895 Centerline is valid? [True, True] Translation: X:80.51, Y:47.57, Z:33.47 [[-5.63183743e-02 -9.98350336e-01 -1.11735255e-02 8.05061126e+01] [ 7.97810983e-01 -3.82715349e-02 -6.01691720e-01 4.75669924e+01] [ 6.00271502e-01 -4.28006609e-02 7.98650253e-01 3.34653874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.19071405700001 meters Centerline goodness : 0.995294 Centerline is valid? [True, True] Translation: X:80.50, Y:47.58, Z:33.49 [[-5.92923285e-02 -9.98202236e-01 8.75873945e-03 8.04952810e+01] [ 7.92961507e-01 -5.24274451e-02 -6.07011871e-01 4.75849099e+01] [ 6.06379805e-01 -2.90458040e-02 7.94644495e-01 3.34877501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.220714057 meters Centerline goodness : 0.994764 Centerline is valid? [True, True] Translation: X:80.50, Y:47.61, Z:33.50 [[-5.90829939e-02 -9.98218148e-01 -8.35037467e-03 8.05033596e+01] [ 7.93305458e-01 -4.18736058e-02 -6.07382130e-01 4.76118987e+01] [ 6.05950204e-01 -4.25103525e-02 7.94365923e-01 3.34979408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.250714057 meters Centerline goodness : 0.994560 Centerline is valid? [True, True] Translation: X:80.51, Y:47.63, Z:33.50 [[-5.81850746e-02 -9.98150483e-01 -1.76099683e-02 8.05068935e+01] [ 7.97261916e-01 -3.58438277e-02 -6.02568383e-01 4.76320775e+01] [ 6.00822714e-01 -4.91002434e-02 7.97872943e-01 3.35030684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.280714057 meters Centerline goodness : 0.995355 Centerline is valid? [True, True] Translation: X:80.49, Y:47.65, Z:33.54 [[-5.99262751e-02 -9.98063247e-01 1.66912415e-02 8.04945599e+01] [ 7.91137622e-01 -5.76851481e-02 -6.08911887e-01 4.76496264e+01] [ 6.08695412e-01 -2.32847522e-02 7.93062240e-01 3.35350630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.310714057 meters Centerline goodness : 0.994905 Centerline is valid? [True, True] Translation: X:80.52, Y:47.68, Z:33.54 [[-5.66913163e-02 -9.98046005e-01 -2.62729268e-02 8.05162247e+01] [ 7.95686787e-01 -2.92705885e-02 -6.05000636e-01 4.76836574e+01] [ 6.03049444e-01 -5.52033031e-02 7.95791407e-01 3.35383951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.340714057 meters Centerline goodness : 0.995101 Centerline is valid? [True, True] Translation: X:80.50, Y:47.70, Z:33.57 [[-6.25166092e-02 -9.98005805e-01 8.72277027e-03 8.04975939e+01] [ 7.90203214e-01 -5.48344401e-02 -6.10386815e-01 4.76958230e+01] [ 6.09647893e-01 -3.12665529e-02 7.92055458e-01 3.35653440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.370714057 meters Centerline goodness : 0.995138 Centerline is valid? [True, True] Translation: X:80.51, Y:47.73, Z:33.58 [[-6.12871203e-02 -9.97906669e-01 -2.06438350e-02 8.05143293e+01] [ 7.92210408e-01 -3.60519067e-02 -6.09182181e-01 4.77273381e+01] [ 6.07162711e-01 -5.36892826e-02 7.92761567e-01 3.35750164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.400714057 meters Centerline goodness : 0.994798 Centerline is valid? [True, True] Translation: X:80.51, Y:47.75, Z:33.59 [[-5.88310130e-02 -9.98222711e-01 -9.50428108e-03 8.05106218e+01] [ 7.96271396e-01 -4.11824690e-02 -6.03536136e-01 4.77468708e+01] [ 6.02072068e-01 -4.30746295e-02 7.97278998e-01 3.35907952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.430714057 meters Centerline goodness : 0.995788 Centerline is valid? [True, True] Translation: X:80.51, Y:47.77, Z:33.61 [[-6.26520972e-02 -9.97864863e-01 -1.84507314e-02 8.05138979e+01] [ 7.95436002e-01 -3.87595458e-02 -6.04796879e-01 4.77716247e+01] [ 6.02790413e-01 -5.25681689e-02 7.96166004e-01 3.36096713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.460714057 meters Centerline goodness : 0.995208 Centerline is valid? [True, True] Translation: X:80.51, Y:47.79, Z:33.63 [[-6.41283635e-02 -9.97880147e-01 -1.10799495e-02 8.05120512e+01] [ 7.98064863e-01 -4.46150342e-02 -6.00917610e-01 4.77905236e+01] [ 5.99149420e-01 -4.73783813e-02 7.99234172e-01 3.36257345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.490714057 meters Centerline goodness : 0.995013 Centerline is valid? [True, True] Translation: X:80.51, Y:47.81, Z:33.64 [[-6.49034385e-02 -9.97796634e-01 -1.37630559e-02 8.05132010e+01] [ 7.97016544e-01 -4.35343586e-02 -6.02386411e-01 4.78111630e+01] [ 6.00459967e-01 -5.00663327e-02 7.98085954e-01 3.36423994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.520714057 meters Centerline goodness : 0.995285 Centerline is valid? [True, True] Translation: X:80.51, Y:47.83, Z:33.66 [[-6.73271019e-02 -9.97708134e-01 -6.74836478e-03 8.05122504e+01] [ 7.97595637e-01 -4.97571491e-02 -6.01136779e-01 4.78328959e+01] [ 5.99423274e-01 -4.58552635e-02 7.99117659e-01 3.36614117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.55071405700001 meters Centerline goodness : 0.995885 Centerline is valid? [True, True] Translation: X:80.51, Y:47.86, Z:33.68 [[-7.23275554e-02 -9.97356279e-01 -7.01269528e-03 8.05117838e+01] [ 7.92319593e-01 -5.31849436e-02 -6.07783698e-01 4.78554505e+01] [ 6.05803918e-01 -4.95158050e-02 7.94071658e-01 3.36822344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.58071405700001 meters Centerline goodness : 0.995689 Centerline is valid? [True, True] Translation: X:80.52, Y:47.88, Z:33.69 [[-7.16798732e-02 -9.97015563e-01 -2.86698829e-02 8.05224823e+01] [ 7.97057771e-01 -3.99764534e-02 -6.02578454e-01 4.78781046e+01] [ 5.99633976e-01 -6.60443001e-02 7.97544510e-01 3.36899113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.610714057 meters Centerline goodness : 0.995529 Centerline is valid? [True, True] Translation: X:80.51, Y:47.89, Z:33.71 [[-7.31651859e-02 -9.97286778e-01 -8.12021142e-03 8.05139621e+01] [ 7.95597134e-01 -5.34547985e-02 -6.03463159e-01 4.78941908e+01] [ 6.01391766e-01 -5.06129112e-02 7.97349533e-01 3.37137922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.640714057 meters Centerline goodness : 0.995606 Centerline is valid? [True, True] Translation: X:80.50, Y:47.91, Z:33.74 [[-7.86778484e-02 -9.96330645e-01 3.36903733e-02 8.04951048e+01] [ 7.92409486e-01 -8.30092631e-02 -6.04315041e-01 4.79095020e+01] [ 6.04894208e-01 -2.08496358e-02 7.96032845e-01 3.37397747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.670714057 meters Centerline goodness : 0.996061 Centerline is valid? [True, True] Translation: X:80.53, Y:47.95, Z:33.74 [[-7.80412195e-02 -9.96523203e-01 -2.91731876e-02 8.05252799e+01] [ 7.92308725e-01 -4.42342172e-02 -6.08514764e-01 4.79465025e+01] [ 6.05108628e-01 -7.06034053e-02 7.93006120e-01 3.37449345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.700714057 meters Centerline goodness : 0.996508 Centerline is valid? [True, True] Translation: X:80.52, Y:47.97, Z:33.77 [[-7.71357147e-02 -9.96941484e-01 -1.25602534e-02 8.05196023e+01] [ 7.91693196e-01 -5.35880015e-02 -6.08564055e-01 4.79654057e+01] [ 6.06029673e-01 -5.68858905e-02 7.93405338e-01 3.37659547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.730714057 meters Centerline goodness : 0.996487 Centerline is valid? [True, True] Translation: X:80.52, Y:47.99, Z:33.78 [[-7.71101109e-02 -9.96844501e-01 -1.88433499e-02 8.05232275e+01] [ 7.91282040e-01 -4.96889549e-02 -6.09429029e-01 4.79868486e+01] [ 6.06569670e-01 -6.19035443e-02 7.92616671e-01 3.37786410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.760714057 meters Centerline goodness : 0.996243 Centerline is valid? [True, True] Translation: X:80.51, Y:48.00, Z:33.80 [[-7.71529220e-02 -9.96963322e-01 1.05622445e-02 8.05085257e+01] [ 7.91955343e-01 -6.77166025e-02 -6.06812323e-01 4.80016212e+01] [ 6.05684869e-01 -3.84525179e-02 7.94774964e-01 3.37955672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.790714057 meters Centerline goodness : 0.995901 Centerline is valid? [True, True] Translation: X:80.52, Y:48.03, Z:33.81 [[-7.42758246e-02 -9.97231834e-01 -3.43100699e-03 8.05151404e+01] [ 7.92372067e-01 -5.69277625e-02 -6.07376109e-01 4.80260896e+01] [ 6.05499471e-01 -4.78319954e-02 7.94407006e-01 3.38063744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.820714057 meters Centerline goodness : 0.995601 Centerline is valid? [True, True] Translation: X:80.53, Y:48.05, Z:33.83 [[-6.99447428e-02 -9.97409936e-01 -1.67676059e-02 8.05252744e+01] [ 7.92265731e-01 -4.53293055e-02 -6.08490152e-01 4.80544550e+01] [ 6.06154059e-01 -5.58450867e-02 7.93384259e-01 3.38259633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.850714057 meters Centerline goodness : 0.995442 Centerline is valid? [True, True] Translation: X:80.52, Y:48.08, Z:33.85 [[-6.38138859e-02 -9.97927740e-01 -8.24699205e-03 8.05218764e+01] [ 7.93699855e-01 -4.57413385e-02 -6.06587396e-01 4.80774502e+01] [ 6.04953161e-01 -4.52543353e-02 7.94974036e-01 3.38452058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.880714057 meters Centerline goodness : 0.995445 Centerline is valid? [True, True] Translation: X:80.52, Y:48.09, Z:33.85 [[-6.44277914e-02 -9.97829079e-01 -1.36451320e-02 8.05176778e+01] [ 7.94066360e-01 -4.29800737e-02 -6.06309598e-01 4.80939221e+01] [ 6.04406879e-01 -4.98983286e-02 7.95111616e-01 3.38543702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.910714057 meters Centerline goodness : 0.994570 Centerline is valid? [True, True] Translation: X:80.52, Y:48.12, Z:33.88 [[-5.36884552e-02 -9.98557353e-01 8.72679913e-04 8.05176499e+01] [ 7.96472785e-01 -4.33502619e-02 -6.03118445e-01 4.81207532e+01] [ 6.02286189e-01 -3.16854318e-02 7.97651164e-01 3.38798046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.94071405700001 meters Centerline goodness : 0.995526 Centerline is valid? [True, True] Translation: X:80.53, Y:48.15, Z:33.89 [[-5.03297770e-02 -9.98563579e-01 -1.83764168e-02 8.05265108e+01] [ 7.97918516e-01 -2.91371963e-02 -6.02060682e-01 4.81484658e+01] [ 6.00660432e-01 -4.49644631e-02 7.98238838e-01 3.38896586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.970714057 meters Centerline goodness : 0.995170 Centerline is valid? [True, True] Translation: X:80.52, Y:48.16, Z:33.90 [[-5.02323892e-02 -9.98339046e-01 -2.82109177e-02 8.05229043e+01] [ 7.96045980e-01 -2.29634595e-02 -6.04800362e-01 4.81624147e+01] [ 6.03147996e-01 -5.28377548e-02 7.95877294e-01 3.38986259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.000714057 meters Centerline goodness : 0.995170 Centerline is valid? [True, True] Translation: X:80.51, Y:48.18, Z:33.92 [[-5.03604370e-02 -9.98730198e-01 -1.34811234e-03 8.05112490e+01] [ 7.95197592e-01 -3.92806656e-02 -6.05076704e-01 4.81780372e+01] [ 6.04255422e-01 -3.15439430e-02 7.96166041e-01 3.39237258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.030714057 meters Centerline goodness : 0.995330 Centerline is valid? [True, True] Translation: X:80.51, Y:48.21, Z:33.95 [[-4.11946989e-02 -9.98810142e-01 2.61016711e-02 8.05088675e+01] [ 7.98761147e-01 -4.86152440e-02 -5.99680905e-01 4.82086919e+01] [ 6.00236309e-01 -3.85467355e-03 7.99813425e-01 3.39493121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.060714057 meters Centerline goodness : 0.995503 Centerline is valid? [True, True] Translation: X:80.53, Y:48.24, Z:33.95 [[-3.88584360e-02 -9.98800459e-01 -2.97937131e-02 8.05342829e+01] [ 7.99668430e-01 -1.32046386e-02 -6.00296626e-01 4.82440831e+01] [ 5.99183130e-01 -4.71516798e-02 7.99222307e-01 3.39493683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.090714057 meters Centerline goodness : 0.995616 Centerline is valid? [True, True] Translation: X:80.53, Y:48.27, Z:33.97 [[-3.60521441e-02 -9.99348936e-01 -1.39530177e-03 8.05250314e+01] [ 8.01172569e-01 -2.80681868e-02 -5.97774783e-01 4.82673782e+01] [ 5.97346430e-01 -2.26689401e-02 8.01662873e-01 3.39724840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.120714057 meters Centerline goodness : 0.996162 Centerline is valid? [True, True] Translation: X:80.54, Y:48.30, Z:33.99 [[-5.61262306e-02 -9.97041085e-01 -5.25254306e-02 8.05398413e+01] [ 7.88622707e-01 -1.20074069e-02 -6.14760155e-01 4.82961285e+01] [ 6.12310438e-01 -7.59269175e-02 7.86963170e-01 3.39852802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.150714057 meters Centerline goodness : 0.995849 Centerline is valid? [True, True] Translation: X:80.51, Y:48.28, Z:34.00 [[-4.02670053e-02 -9.98796606e-01 2.79983423e-02 8.05143033e+01] [ 7.96135571e-01 -4.90036293e-02 -6.03130829e-01 4.82763924e+01] [ 6.03777046e-01 -1.99579607e-03 7.97150736e-01 3.40002784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.180714057 meters Centerline goodness : 0.995522 Centerline is valid? [True, True] Translation: X:80.53, Y:48.27, Z:33.97 [[-3.90313451e-02 -9.99175903e-01 -1.11386347e-02 8.05349138e+01] [ 7.97702745e-01 -2.44439124e-02 -6.02555247e-01 4.82656158e+01] [ 6.01786411e-01 -3.24038612e-02 7.97999439e-01 3.39718903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.210714057 meters Centerline goodness : 0.995232 Centerline is valid? [True, True] Translation: X:80.54, Y:48.27, Z:33.97 [[-4.08968286e-02 -9.98987176e-01 -1.87635533e-02 8.05395612e+01] [ 7.96249222e-01 -2.12412175e-02 -6.04595722e-01 4.82701122e+01] [ 6.03584812e-01 -3.96665123e-02 7.96311461e-01 3.39734116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.240714057 meters Centerline goodness : 0.996093 Centerline is valid? [True, True] Translation: X:80.54, Y:48.27, Z:33.97 [[-4.23682525e-02 -9.99016008e-01 -1.31128464e-02 8.05384686e+01] [ 7.95078277e-01 -2.57655791e-02 -6.05959296e-01 4.82662652e+01] [ 6.05025177e-01 -3.60991758e-02 7.95387569e-01 3.39744471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.270714057 meters Centerline goodness : 0.995594 Centerline is valid? [True, True] Translation: X:80.54, Y:48.27, Z:33.98 [[-4.41754965e-02 -9.98898642e-01 -1.58122837e-02 8.05430912e+01] [ 7.95224938e-01 -2.55789462e-02 -6.05774724e-01 4.82718485e+01] [ 6.04703088e-01 -3.93347215e-02 7.95479073e-01 3.39772104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.30071405700001 meters Centerline goodness : 0.995537 Centerline is valid? [True, True] Translation: X:80.54, Y:48.25, Z:33.96 [[-3.93330907e-02 -9.99188036e-01 8.72791662e-03 8.05359190e+01] [ 8.00834506e-01 -3.67463089e-02 -5.97757311e-01 4.82475491e+01] [ 5.97592672e-01 -1.65220257e-02 8.01629603e-01 3.39633413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.33071405700001 meters Centerline goodness : 0.995147 Centerline is valid? [True, True] Translation: X:80.55, Y:48.26, Z:33.96 [[-4.08865613e-02 -9.99103070e-01 -1.10156502e-02 8.05476071e+01] [ 8.00997201e-01 -2.61851003e-02 -5.98095164e-01 4.82553151e+01] [ 5.97270268e-01 -3.32775596e-02 8.01349381e-01 3.39601397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.360714057 meters Centerline goodness : 0.995438 Centerline is valid? [True, True] Translation: X:80.56, Y:48.26, Z:33.96 [[-4.34283587e-02 -9.98738705e-01 -2.51987444e-02 8.05551941e+01] [ 7.99702093e-01 -1.96333535e-02 -6.00075906e-01 4.82617598e+01] [ 5.98824298e-01 -4.62118004e-02 7.99546078e-01 3.39598960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.390714057 meters Centerline goodness : 0.995871 Centerline is valid? [True, True] Translation: X:80.55, Y:48.25, Z:33.96 [[-4.49680349e-02 -9.98811731e-01 -1.87883645e-02 8.05537649e+01] [ 7.98556780e-01 -2.46392033e-02 -6.01414981e-01 4.82541519e+01] [ 6.00237407e-01 -4.20480257e-02 7.98715856e-01 3.39587324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.420714057 meters Centerline goodness : 0.995417 Centerline is valid? [True, True] Translation: X:80.56, Y:48.28, Z:33.98 [[-6.65109383e-02 -9.96957657e-01 -4.06414349e-02 8.05578461e+01] [ 7.87788456e-01 -2.74721153e-02 -6.15332943e-01 4.82750804e+01] [ 6.12344383e-01 -7.29432247e-02 7.87218929e-01 3.39757907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.450714057 meters Centerline goodness : 0.995731 Centerline is valid? [True, True] Translation: X:80.53, Y:48.23, Z:33.97 [[-4.40509394e-02 -9.97492628e-01 5.53892802e-02 8.05303794e+01] [ 8.01897622e-01 -6.83713348e-02 -5.93536489e-01 4.82293802e+01] [ 5.95835311e-01 1.82706922e-02 8.02898788e-01 3.39676818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.480714057 meters Centerline goodness : 0.995515 Centerline is valid? [True, True] Translation: X:80.57, Y:48.25, Z:33.95 [[-4.54141650e-02 -9.98560306e-01 -2.85459172e-02 8.05674188e+01] [ 8.01608121e-01 -1.93750503e-02 -5.97535796e-01 4.82546163e+01] [ 5.96122449e-01 -5.00192283e-02 8.01333952e-01 3.39500241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.510714057 meters Centerline goodness : 0.996345 Centerline is valid? [True, True] Translation: X:80.57, Y:48.25, Z:33.95 [[-4.75051225e-02 -9.98586071e-01 -2.38562745e-02 8.05665451e+01] [ 7.98902772e-01 -2.36479059e-02 -6.00995123e-01 4.82541594e+01] [ 5.99581208e-01 -4.76091908e-02 7.98896577e-01 3.39546412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.540714057 meters Centerline goodness : 0.995623 Centerline is valid? [True, True] Translation: X:80.57, Y:48.27, Z:33.97 [[-5.31864230e-02 -9.98007155e-01 -3.39547255e-02 8.05725703e+01] [ 7.93121383e-01 -2.15586243e-02 -6.08681935e-01 4.82651950e+01] [ 6.06736909e-01 -5.93038336e-02 7.92687441e-01 3.39655610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.570714057 meters Centerline goodness : 0.995352 Centerline is valid? [True, True] Translation: X:80.56, Y:48.26, Z:33.97 [[-5.38409726e-02 -9.98523484e-01 -7.21115558e-03 8.05642196e+01] [ 7.92361409e-01 -3.83276114e-02 -6.08846772e-01 4.82580541e+01] [ 6.07671414e-01 -3.84947437e-02 7.93255071e-01 3.39721135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.600714057 meters Centerline goodness : 0.996202 Centerline is valid? [True, True] Translation: X:80.56, Y:48.25, Z:33.97 [[-5.45978197e-02 -9.98497381e-01 -4.69667607e-03 8.05645354e+01] [ 7.91915185e-01 -4.04359609e-02 -6.09290794e-01 4.82531355e+01] [ 6.08185348e-01 -3.69853180e-02 7.92932954e-01 3.39699693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.630714057 meters Centerline goodness : 0.995477 Centerline is valid? [True, True] Translation: X:80.57, Y:48.26, Z:33.97 [[-5.55527613e-02 -9.98443092e-01 -5.02811260e-03 8.05687482e+01] [ 7.92444747e-01 -4.10264482e-02 -6.08562366e-01 4.82572212e+01] [ 6.07408605e-01 -3.77918212e-02 7.93490117e-01 3.39716183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.660714057 meters Centerline goodness : 0.996144 Centerline is valid? [True, True] Translation: X:80.56, Y:48.25, Z:33.97 [[-5.05830284e-02 -9.98610914e-01 1.47512281e-02 8.05640664e+01] [ 7.99462353e-01 -4.93391252e-02 -5.98686560e-01 4.82539389e+01] [ 5.98582746e-01 -1.84903277e-02 8.00847553e-01 3.39696471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.69071405700001 meters Centerline goodness : 0.995601 Centerline is valid? [True, True] Translation: X:80.58, Y:48.27, Z:33.97 [[-6.95512481e-02 -9.96497169e-01 -4.64329109e-02 8.05834550e+01] [ 7.86983977e-01 -2.62054916e-02 -6.16416655e-01 4.82703817e+01] [ 6.13040655e-01 -7.94145046e-02 7.86049930e-01 3.39699552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.720714057 meters Centerline goodness : 0.995597 Centerline is valid? [True, True] Translation: X:80.56, Y:48.25, Z:33.98 [[-6.99466125e-02 -9.97484226e-01 1.15191433e-02 8.05607310e+01] [ 7.84841709e-01 -6.21557618e-02 -6.16571287e-01 4.82548845e+01] [ 6.15736114e-01 -3.40863688e-02 7.87214810e-01 3.39836401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.750714057 meters Centerline goodness : 0.996207 Centerline is valid? [True, True] Translation: X:80.55, Y:48.24, Z:33.97 [[-5.14575414e-02 -9.97259723e-01 5.31522844e-02 8.05529531e+01] [ 8.00124099e-01 -7.30179788e-02 -5.95373664e-01 4.82394959e+01] [ 5.97623248e-01 1.18919586e-02 8.01688864e-01 3.39745462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.780714057 meters Centerline goodness : 0.995794 Centerline is valid? [True, True] Translation: X:80.59, Y:48.25, Z:33.96 [[-5.83825703e-02 -9.97630291e-01 -3.64043734e-02 8.05917475e+01] [ 7.93374705e-01 -2.42336839e-02 -6.08251023e-01 4.82535841e+01] [ 6.05927433e-01 -6.43935671e-02 7.92909462e-01 3.39555107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.810714057 meters Centerline goodness : 0.995242 Centerline is valid? [True, True] Translation: X:80.58, Y:48.25, Z:33.96 [[-5.97501902e-02 -9.98056828e-01 -1.76771795e-02 8.05848763e+01] [ 7.93933833e-01 -3.67810550e-02 -6.06890618e-01 4.82520780e+01] [ 6.05061140e-01 -5.02963408e-02 7.94588758e-01 3.39628044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.840714057 meters Centerline goodness : 0.995501 Centerline is valid? [True, True] Translation: X:80.57, Y:48.25, Z:33.98 [[-6.26783451e-02 -9.97980911e-01 1.02725649e-02 8.05745225e+01] [ 7.91782488e-01 -5.59887615e-02 -6.08231658e-01 4.82534101e+01] [ 6.07578733e-01 -2.99893168e-02 7.93693092e-01 3.39750151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.870714057 meters Centerline goodness : 0.994870 Centerline is valid? [True, True] Translation: X:80.58, Y:48.25, Z:33.97 [[-6.59296646e-02 -9.97809717e-01 -5.38961156e-03 8.05818820e+01] [ 7.91039390e-01 -4.89736328e-02 -6.09801825e-01 4.82523379e+01] [ 6.08202238e-01 -4.44674249e-02 7.92535606e-01 3.39684674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.900714057 meters Centerline goodness : 0.994988 Centerline is valid? [True, True] Translation: X:80.59, Y:48.24, Z:33.96 [[-6.57384915e-02 -9.97798369e-01 -8.76727347e-03 8.05856101e+01] [ 7.94789522e-01 -4.70471284e-02 -6.05058827e-01 4.82449576e+01] [ 6.03314236e-01 -4.67437916e-02 7.96132496e-01 3.39596140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.930714057 meters Centerline goodness : 0.995589 Centerline is valid? [True, True] Translation: X:80.57, Y:48.24, Z:33.96 [[-6.48102682e-02 -9.97605035e-01 2.41624231e-02 8.05725809e+01] [ 7.96171518e-01 -6.62908277e-02 -6.01428666e-01 4.82379493e+01] [ 6.01590013e-01 -1.97413201e-02 7.98561041e-01 3.39635028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.960714057 meters Centerline goodness : 0.996121 Centerline is valid? [True, True] Translation: X:80.59, Y:48.25, Z:33.96 [[-6.89219652e-02 -9.97420678e-01 -2.00437850e-02 8.05908940e+01] [ 7.93052873e-01 -4.25887623e-02 -6.07662191e-01 4.82494264e+01] [ 6.05241195e-01 -5.77770537e-02 7.93942635e-01 3.39570260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.990714057 meters Centerline goodness : 0.995542 Centerline is valid? [True, True] Translation: X:80.58, Y:48.24, Z:33.96 [[-6.92354545e-02 -9.97597176e-01 2.51528796e-03 8.05810166e+01] [ 7.92024225e-01 -5.65008856e-02 -6.07869458e-01 4.82445194e+01] [ 6.06550970e-01 -4.00939492e-02 7.94032994e-01 3.39634984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.020714057 meters Centerline goodness : 0.995186 Centerline is valid? [True, True] Translation: X:80.57, Y:48.23, Z:33.95 [[-5.58176434e-02 -9.97365553e-01 4.63286504e-02 8.05671102e+01] [ 8.08832301e-01 -7.23737250e-02 -5.83568636e-01 4.82252459e+01] [ 5.85384232e-01 4.89868285e-03 8.10741206e-01 3.39493142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.05071405700001 meters Centerline goodness : 0.995339 Centerline is valid? [True, True] Translation: X:80.61, Y:48.26, Z:33.95 [[-6.81649560e-02 -9.95567375e-01 -6.48007828e-02 8.06108162e+01] [ 7.96051362e-01 -1.51227671e-02 -6.05040107e-01 4.82600447e+01] [ 6.01378224e-01 -9.28272836e-02 7.93553607e-01 3.39469978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.08071405700001 meters Centerline goodness : 0.996144 Centerline is valid? [True, True] Translation: X:80.59, Y:48.24, Z:33.96 [[-6.91630891e-02 -9.97566776e-01 -8.77470474e-03 8.05851201e+01] [ 7.93334879e-01 -4.96662339e-02 -6.06756157e-01 4.82430823e+01] [ 6.04843977e-01 -4.89264095e-02 7.94839588e-01 3.39584443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.110714057 meters Centerline goodness : 0.995629 Centerline is valid? [True, True] Translation: X:80.58, Y:48.24, Z:33.96 [[-8.11729422e-02 -9.96408640e-01 -2.40992676e-02 8.05827738e+01] [ 7.85182708e-01 -4.90347374e-02 -6.17319779e-01 4.82429405e+01] [ 6.13921060e-01 -6.90319909e-02 7.86343129e-01 3.39631707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.140714057 meters Centerline goodness : 0.995714 Centerline is valid? [True, True] Translation: X:80.57, Y:48.23, Z:33.97 [[-6.82080830e-02 -9.97326170e-01 2.62329694e-02 8.05669122e+01] [ 7.91051906e-01 -7.00858590e-02 -6.07721033e-01 4.82292085e+01] [ 6.07934651e-01 -2.06998463e-02 7.93717190e-01 3.39669347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.170714057 meters Centerline goodness : 0.995381 Centerline is valid? [True, True] Translation: X:80.58, Y:48.24, Z:33.97 [[-6.75017538e-02 -9.97718200e-01 1.38048579e-03 8.05760644e+01] [ 7.91784334e-01 -5.44108353e-02 -6.08372443e-01 4.82396545e+01] [ 6.07059373e-01 -3.99731599e-02 7.93650467e-01 3.39650571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.200714057 meters Centerline goodness : 0.996507 Centerline is valid? [True, True] Translation: X:80.57, Y:48.24, Z:33.97 [[-7.55423123e-02 -9.97108326e-01 -8.26708798e-03 8.05708544e+01] [ 7.85635433e-01 -5.44111124e-02 -6.16292461e-01 4.82350169e+01] [ 6.14060523e-01 -5.30510748e-02 7.87473973e-01 3.39661338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.230714057 meters Centerline goodness : 0.995478 Centerline is valid? [True, True] Translation: X:80.56, Y:48.22, Z:33.96 [[-6.00741985e-02 -9.97472615e-01 3.79403991e-02 8.05552543e+01] [ 7.94417822e-01 -7.07897988e-02 -6.03232234e-01 4.82176190e+01] [ 6.04393427e-01 -6.09816373e-03 7.96662662e-01 3.39632544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.260714057 meters Centerline goodness : 0.995870 Centerline is valid? [True, True] Translation: X:80.57, Y:48.24, Z:33.96 [[-7.32370899e-02 -9.96984635e-01 -2.56508375e-02 8.05734635e+01] [ 7.86282583e-01 -4.18990643e-02 -6.16444781e-01 4.82390844e+01] [ 6.13511229e-01 -6.53154286e-02 7.86980220e-01 3.39620603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.290714057 meters Centerline goodness : 0.995607 Centerline is valid? [True, True] Translation: X:80.56, Y:48.22, Z:33.97 [[-7.37196233e-02 -9.97236462e-01 9.21171337e-03 8.05576136e+01] [ 7.84867759e-01 -6.37141389e-02 -6.16379030e-01 4.82242359e+01] [ 6.15262560e-01 -3.82092531e-02 7.87395730e-01 3.39655682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.320714057 meters Centerline goodness : 0.996404 Centerline is valid? [True, True] Translation: X:80.55, Y:48.22, Z:33.97 [[-7.34077182e-02 -9.97000435e-01 2.45242817e-02 8.05497571e+01] [ 7.84367594e-01 -7.29042031e-02 -6.15997122e-01 4.82175782e+01] [ 6.15937321e-01 -2.59828913e-02 7.87366564e-01 3.39678129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.350714057 meters Centerline goodness : 0.996536 Centerline is valid? [True, True] Translation: X:80.55, Y:48.22, Z:33.96 [[-7.64059481e-02 -9.96960758e-01 1.52111164e-02 8.05512096e+01] [ 7.84699367e-01 -6.95365366e-02 -6.15963939e-01 4.82168550e+01] [ 6.15149603e-01 -3.51271554e-02 7.87627481e-01 3.39627447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.380714057 meters Centerline goodness : 0.995106 Centerline is valid? [True, True] Translation: X:80.53, Y:48.21, Z:33.96 [[-5.73051486e-02 -9.94935213e-01 8.25835410e-02 8.05324333e+01] [ 8.08997256e-01 -9.47484476e-02 -5.80125996e-01 4.82074156e+01] [ 5.85012444e-01 3.35656517e-02 8.10329432e-01 3.39602058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.410714057 meters Centerline goodness : 0.996517 Centerline is valid? [True, True] Translation: X:80.59, Y:48.24, Z:33.94 [[-8.34122059e-02 -9.93463409e-01 -7.79285502e-02 8.05887996e+01] [ 7.88053902e-01 -1.78972776e-02 -6.15346029e-01 4.82431017e+01] [ 6.09929055e-01 -1.12739268e-01 7.84395567e-01 3.39415258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.44071405700001 meters Centerline goodness : 0.996543 Centerline is valid? [True, True] Translation: X:80.55, Y:48.22, Z:33.96 [[-8.49603110e-02 -9.96260507e-01 1.57082300e-02 8.05474576e+01] [ 7.84361146e-01 -7.65953097e-02 -6.15557269e-01 4.82176699e+01] [ 6.14458574e-01 -3.99770118e-02 7.87935594e-01 3.39633524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.470714057 meters Centerline goodness : 0.995952 Centerline is valid? [True, True] Translation: X:80.53, Y:48.21, Z:33.97 [[-6.73527851e-02 -9.94007170e-01 8.61008060e-02 8.05261975e+01] [ 8.06569130e-01 -1.05041794e-01 -5.81732292e-01 4.82096743e+01] [ 5.87290252e-01 3.02649622e-02 8.08810356e-01 3.39653558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.500714057 meters Centerline goodness : 0.996539 Centerline is valid? [True, True] Translation: X:80.59, Y:48.25, Z:33.94 [[-9.13975135e-02 -9.92583225e-01 -8.01563276e-02 8.05860007e+01] [ 7.87429713e-01 -2.27629295e-02 -6.15984007e-01 4.82475987e+01] [ 6.09590799e-01 -1.19416881e-01 7.83669999e-01 3.39418313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.530714057 meters Centerline goodness : 0.995410 Centerline is valid? [True, True] Translation: X:80.53, Y:48.24, Z:33.98 [[-7.26492079e-02 -9.94590141e-01 7.42465127e-02 8.05270275e+01] [ 8.04576862e-01 -1.02436305e-01 -5.84946900e-01 4.82373978e+01] [ 5.89387958e-01 1.72410973e-02 8.07666131e-01 3.39795133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.560714057 meters Centerline goodness : 0.995635 Centerline is valid? [True, True] Translation: X:80.56, Y:48.25, Z:33.95 [[-7.20435998e-02 -9.97384929e-01 -5.74653276e-03 8.05600363e+01] [ 8.05904951e-01 -5.48160500e-02 -5.89501833e-01 4.82516217e+01] [ 5.87645242e-01 -4.71009934e-02 8.07746598e-01 3.39528128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.590714057 meters Centerline goodness : 0.995536 Centerline is valid? [True, True] Translation: X:80.57, Y:48.24, Z:33.94 [[-8.27264668e-02 -9.95661839e-01 -4.25891414e-02 8.05712470e+01] [ 7.95781587e-01 -4.02727120e-02 -6.04243142e-01 4.82367449e+01] [ 5.99906657e-01 -8.38785547e-02 7.95660977e-01 3.39361289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.620714057 meters Centerline goodness : 0.995744 Centerline is valid? [True, True] Translation: X:80.55, Y:48.25, Z:33.97 [[-8.46461984e-02 -9.96398367e-01 5.03141448e-03 8.05478307e+01] [ 7.93813914e-01 -7.04864837e-02 -6.04062187e-01 4.82506345e+01] [ 6.02241223e-01 -4.71375609e-02 7.96921301e-01 3.39684036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.650714057 meters Centerline goodness : 0.996009 Centerline is valid? [True, True] Translation: X:80.55, Y:48.22, Z:33.94 [[-8.47694058e-02 -9.96400307e-01 -7.58666966e-04 8.05491487e+01] [ 7.93346066e-01 -6.70337296e-02 -6.05069003e-01 4.82201916e+01] [ 6.02840084e-01 -5.18932253e-02 7.96172674e-01 3.39443253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.680714057 meters Centerline goodness : 0.995982 Centerline is valid? [True, True] Translation: X:80.54, Y:48.22, Z:33.95 [[-8.47321470e-02 -9.96375321e-01 7.52884355e-03 8.05428754e+01] [ 7.94500169e-01 -7.21207569e-02 -6.02966067e-01 4.82196776e+01] [ 6.01323494e-01 -4.51089419e-02 7.97731308e-01 3.39466698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.710714057 meters Centerline goodness : 0.996559 Centerline is valid? [True, True] Translation: X:80.54, Y:48.24, Z:33.96 [[-8.55147241e-02 -9.96336773e-01 5.16553248e-04 8.05435573e+01] [ 7.93829711e-01 -6.84470063e-02 -6.04275928e-01 4.82437193e+01] [ 6.02097685e-01 -5.12644339e-02 7.96774959e-01 3.39625739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.740714057 meters Centerline goodness : 0.996068 Centerline is valid? [True, True] Translation: X:80.54, Y:48.21, Z:33.94 [[-8.22134213e-02 -9.96587682e-01 7.34475490e-03 8.05383856e+01] [ 7.96365051e-01 -7.01234478e-02 -6.00737387e-01 4.82149157e+01] [ 5.99202519e-01 -4.35395697e-02 7.99412689e-01 3.39431053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.770714057 meters Centerline goodness : 0.996096 Centerline is valid? [True, True] Translation: X:80.54, Y:48.21, Z:33.94 [[-8.17174421e-02 -9.96653548e-01 -1.99134196e-03 8.05402336e+01] [ 7.96228848e-01 -6.40822573e-02 -6.01592126e-01 4.82127075e+01] [ 5.99451317e-01 -5.07461337e-02 7.98800944e-01 3.39388581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.80071405700001 meters Centerline goodness : 0.995752 Centerline is valid? [True, True] Translation: X:80.53, Y:48.21, Z:33.94 [[-7.61187632e-02 -9.97069441e-01 7.64621501e-03 8.05325407e+01] [ 7.99004126e-01 -6.55818351e-02 -5.97738597e-01 4.82058904e+01] [ 5.96488341e-01 -3.93897653e-02 8.01654605e-01 3.39371276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.83071405700001 meters Centerline goodness : 0.996030 Centerline is valid? [True, True] Translation: X:80.53, Y:48.20, Z:33.93 [[-7.32929252e-02 -9.97295851e-01 5.39745335e-03 8.05317300e+01] [ 8.00736474e-01 -6.20719301e-02 -5.95792056e-01 4.82040977e+01] [ 5.94515976e-01 -3.93454048e-02 8.03120597e-01 3.39331457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.860714057 meters Centerline goodness : 0.995102 Centerline is valid? [True, True] Translation: X:80.53, Y:48.19, Z:33.92 [[-6.66683294e-02 -9.97775180e-01 -1.53407013e-04 8.05320113e+01] [ 8.01799543e-01 -5.34823175e-02 -5.95195039e-01 4.81910218e+01] [ 5.93862633e-01 -3.98036606e-02 8.03581261e-01 3.39182687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.890714057 meters Centerline goodness : 0.995801 Centerline is valid? [True, True] Translation: X:80.53, Y:48.20, Z:33.93 [[-6.56551205e-02 -9.97842353e-01 -2.07441269e-04 8.05294409e+01] [ 8.00145167e-01 -5.25230068e-02 -5.97502339e-01 4.82028165e+01] [ 5.96202245e-01 -3.93950712e-02 8.01867141e-01 3.39284369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.920714057 meters Centerline goodness : 0.995801 Centerline is valid? [True, True] Translation: X:80.53, Y:48.20, Z:33.93 [[-6.60070546e-02 -9.97818932e-01 6.68453444e-04 8.05292052e+01] [ 8.00144624e-01 -5.33308632e-02 -5.97431503e-01 4.82004716e+01] [ 5.96164114e-01 -3.88998344e-02 8.01919667e-01 3.39270781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.950714057 meters Centerline goodness : 0.994579 Centerline is valid? [True, True] Translation: X:80.53, Y:48.18, Z:33.92 [[-6.08606215e-02 -9.98143113e-01 2.51193106e-03 8.05259307e+01] [ 8.00343026e-01 -5.03034806e-02 -5.97428322e-01 4.81842466e+01] [ 5.96445325e-01 -3.43494525e-02 8.01918381e-01 3.39150670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.980714057 meters Centerline goodness : 0.995606 Centerline is valid? [True, True] Translation: X:80.51, Y:48.16, Z:33.90 [[-4.97569912e-02 -9.98292151e-01 3.06108350e-02 8.05143708e+01] [ 8.07860990e-01 -5.82490869e-02 -5.86487566e-01 4.81612940e+01] [ 5.87268987e-01 -4.45255723e-03 8.09379584e-01 3.39041481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.010714057 meters Centerline goodness : 0.995617 Centerline is valid? [True, True] Translation: X:80.53, Y:48.19, Z:33.90 [[-4.67663847e-02 -9.98855194e-01 -1.00601901e-02 8.05301145e+01] [ 8.08502849e-01 -3.19356952e-02 -5.87625097e-01 4.81890002e+01] [ 5.86631101e-01 -3.56147937e-02 8.09070786e-01 3.39045582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.040714057 meters Centerline goodness : 0.994640 Centerline is valid? [True, True] Translation: X:80.53, Y:48.16, Z:33.88 [[-3.86260618e-02 -9.99118411e-01 -1.64447138e-02 8.05332941e+01] [ 8.10692245e-01 -2.17116840e-02 -5.85069813e-01 4.81633341e+01] [ 5.84196980e-01 -3.59305447e-02 8.10816184e-01 3.38789805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.070714057 meters Centerline goodness : 0.995128 Centerline is valid? [True, True] Translation: X:80.53, Y:48.17, Z:33.89 [[-3.49309038e-02 -9.99381216e-01 -4.12508676e-03 8.05253400e+01] [ 8.08687120e-01 -2.58399666e-02 -5.87671199e-01 4.81700919e+01] [ 5.87200966e-01 -2.38637906e-02 8.09089331e-01 3.38933042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.100714057 meters Centerline goodness : 0.994753 Centerline is valid? [True, True] Translation: X:80.53, Y:48.16, Z:33.88 [[-3.12573856e-02 -9.99419817e-01 -1.35279152e-02 8.05295126e+01] [ 8.08951851e-01 -1.73465251e-02 -5.87618925e-01 4.81599321e+01] [ 5.87043336e-01 -2.93108634e-02 8.09024718e-01 3.38810913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.130714057 meters Centerline goodness : 0.994984 Centerline is valid? [True, True] Translation: X:80.54, Y:48.18, Z:33.90 [[-5.34511573e-02 -9.96761419e-01 -6.00803462e-02 8.05364810e+01] [ 7.89238108e-01 -5.30968779e-03 -6.14064343e-01 4.81846030e+01] [ 6.11756637e-01 -8.02401485e-02 7.86965905e-01 3.39019622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.160714057 meters Centerline goodness : 0.994068 Centerline is valid? [True, True] Translation: X:80.49, Y:48.14, Z:33.91 [[-2.32762154e-02 -9.97450361e-01 6.74610664e-02 8.04934339e+01] [ 8.09334254e-01 -5.84138743e-02 -5.84436383e-01 4.81392150e+01] [ 5.86886943e-01 4.09950847e-02 8.08630397e-01 3.39087052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.19071405700001 meters Centerline goodness : 0.993664 Centerline is valid? [True, True] Translation: X:80.53, Y:48.16, Z:33.88 [[-1.74852244e-02 -9.99824113e-01 -6.78308186e-03 8.05259442e+01] [ 8.10509641e-01 -1.02013172e-02 -5.85636453e-01 4.81598932e+01] [ 5.85464251e-01 -1.57377380e-02 8.10545455e-01 3.38840100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.220714057 meters Centerline goodness : 0.994214 Centerline is valid? [True, True] Translation: X:80.54, Y:48.17, Z:33.90 [[-3.68526828e-02 -9.97804057e-01 -5.50358333e-02 8.05351986e+01] [ 7.89950302e-01 4.64381180e-03 -6.13153289e-01 4.81728818e+01] [ 6.12062415e-01 -6.60719168e-02 7.88044479e-01 3.38952133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.250714057 meters Centerline goodness : 0.994066 Centerline is valid? [True, True] Translation: X:80.50, Y:48.14, Z:33.90 [[-1.24634073e-02 -9.97904217e-01 6.34967530e-02 8.04976911e+01] [ 8.08881898e-01 -4.73935285e-02 -5.86057957e-01 4.81360167e+01] [ 5.87839041e-01 4.40570951e-02 8.07777342e-01 3.39040995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.280714057 meters Centerline goodness : 0.993428 Centerline is valid? [True, True] Translation: X:80.53, Y:48.15, Z:33.88 [[-8.84512903e-03 -9.99931362e-01 -7.68343198e-03 8.05294977e+01] [ 8.09458662e-01 -2.64846046e-03 -5.87170895e-01 4.81498750e+01] [ 5.87110244e-01 -1.14130229e-02 8.09426528e-01 3.38768703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.310714057 meters Centerline goodness : 0.993534 Centerline is valid? [True, True] Translation: X:80.54, Y:48.17, Z:33.90 [[-3.32997576e-02 -9.98335086e-01 -4.70975794e-02 8.05357016e+01] [ 7.89751068e-01 2.59649351e-03 -6.13421966e-01 4.81681737e+01] [ 6.12522960e-01 -5.76221664e-02 7.88349738e-01 3.38958782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.340714057 meters Centerline goodness : 0.991990 Centerline is valid? [True, True] Translation: X:80.50, Y:48.15, Z:33.92 [[-1.13739126e-02 -9.96830410e-01 7.87386095e-02 8.04979369e+01] [ 8.13479075e-01 -5.50153900e-02 -5.78986270e-01 4.81462937e+01] [ 5.81482956e-01 5.74668719e-02 8.11526420e-01 3.39150880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.370714057 meters Centerline goodness : 0.993000 Centerline is valid? [True, True] Translation: X:80.54, Y:48.16, Z:33.88 [[-1.47510989e-02 -9.99783506e-01 -1.46746886e-02 8.05429444e+01] [ 8.11012552e-01 -3.37908638e-03 -5.85018993e-01 4.81556955e+01] [ 5.84842752e-01 -2.05310297e-02 8.10886818e-01 3.38768034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.400714057 meters Centerline goodness : 0.992421 Centerline is valid? [True, True] Translation: X:80.55, Y:48.15, Z:33.87 [[-1.71279822e-02 -9.99667298e-01 -1.92853636e-02 8.05480165e+01] [ 8.12989029e-01 -2.69641681e-03 -5.82272761e-01 4.81513609e+01] [ 5.82027037e-01 -2.56519465e-02 8.12764730e-01 3.38723670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.430714057 meters Centerline goodness : 0.992735 Centerline is valid? [True, True] Translation: X:80.54, Y:48.16, Z:33.89 [[-2.19958122e-02 -9.99754124e-01 2.80624176e-03 8.05412322e+01] [ 8.11646414e-01 -1.94959659e-02 -5.83823609e-01 4.81605755e+01] [ 5.83734771e-01 -1.05639984e-02 8.11875679e-01 3.38879015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.460714057 meters Centerline goodness : 0.992822 Centerline is valid? [True, True] Translation: X:80.55, Y:48.17, Z:33.89 [[-2.90529979e-02 -9.99551391e-01 -7.27606053e-03 8.05506824e+01] [ 8.09934229e-01 -1.92744088e-02 -5.86203926e-01 4.81666675e+01] [ 5.85800707e-01 -2.29241119e-02 8.10130864e-01 3.38902719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.490714057 meters Centerline goodness : 0.993442 Centerline is valid? [True, True] Translation: X:80.55, Y:48.16, Z:33.89 [[-3.04777428e-02 -9.99522080e-01 5.16899619e-03 8.05478637e+01] [ 8.11236517e-01 -2.77569220e-02 -5.84058958e-01 4.81589981e+01] [ 5.83923300e-01 -1.36075202e-02 8.11694779e-01 3.38897833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.520714057 meters Centerline goodness : 0.993329 Centerline is valid? [True, True] Translation: X:80.56, Y:48.17, Z:33.89 [[-3.26796386e-02 -9.99460494e-01 3.28056952e-03 8.05550319e+01] [ 8.14625112e-01 -2.85374363e-02 -5.79285372e-01 4.81659817e+01] [ 5.79066463e-01 -1.62584023e-02 8.15118210e-01 3.38906075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.55071405700001 meters Centerline goodness : 0.993771 Centerline is valid? [True, True] Translation: X:80.56, Y:48.17, Z:33.89 [[-3.34602566e-02 -9.99436734e-01 2.57421030e-03 8.05584594e+01] [ 8.17504872e-01 -2.88508557e-02 -5.75198585e-01 4.81741317e+01] [ 5.74948863e-01 -1.71418628e-02 8.18009756e-01 3.38938384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.58071405700001 meters Centerline goodness : 0.993873 Centerline is valid? [True, True] Translation: X:80.58, Y:48.18, Z:33.89 [[-4.31051870e-02 -9.98706938e-01 -2.69517234e-02 8.05756781e+01] [ 8.12502391e-01 -1.93450160e-02 -5.82636795e-01 4.81827465e+01] [ 5.81362028e-01 -4.70130077e-02 8.12285645e-01 3.38920521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.610714057 meters Centerline goodness : 0.995241 Centerline is valid? [True, True] Translation: X:80.58, Y:48.18, Z:33.90 [[-6.87164332e-02 -9.95783581e-01 -6.07709690e-02 8.05819037e+01] [ 7.92443721e-01 -1.74758579e-02 -6.09694632e-01 4.81798612e+01] [ 6.06061879e-01 -9.00536132e-02 7.90303325e-01 3.38978867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.640714057 meters Centerline goodness : 0.994428 Centerline is valid? [True, True] Translation: X:80.54, Y:48.17, Z:33.93 [[-5.64150597e-02 -9.96001905e-01 6.92643281e-02 8.05406099e+01] [ 8.08567351e-01 -8.62752109e-02 -5.82044179e-01 4.81687439e+01] [ 5.85692906e-01 2.31688172e-02 8.10201843e-01 3.39281891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.670714057 meters Centerline goodness : 0.994000 Centerline is valid? [True, True] Translation: X:80.58, Y:48.17, Z:33.90 [[-5.96372502e-02 -9.98174063e-01 -9.58845288e-03 8.05762608e+01] [ 8.07054022e-01 -4.25611567e-02 -5.88941723e-01 4.81708160e+01] [ 5.87458257e-01 -4.28612644e-02 8.08118623e-01 3.38957937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.700714057 meters Centerline goodness : 0.994240 Centerline is valid? [True, True] Translation: X:80.58, Y:48.17, Z:33.90 [[-6.76563208e-02 -9.97660509e-01 -9.80463952e-03 8.05790462e+01] [ 8.02699890e-01 -4.85935261e-02 -5.94400165e-01 4.81740208e+01] [ 5.92533129e-01 -4.80851113e-02 8.04109640e-01 3.39006844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.730714057 meters Centerline goodness : 0.994459 Centerline is valid? [True, True] Translation: X:80.57, Y:48.17, Z:33.90 [[-6.95723386e-02 -9.97564869e-01 4.90120975e-03 8.05746773e+01] [ 8.03173510e-01 -5.89277089e-02 -5.92823614e-01 4.81701324e+01] [ 5.91668828e-01 -3.73076033e-02 8.05317416e-01 3.39019826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.760714057 meters Centerline goodness : 0.994458 Centerline is valid? [True, True] Translation: X:80.58, Y:48.17, Z:33.90 [[-7.21043283e-02 -9.97389914e-01 -3.78490681e-03 8.05800699e+01] [ 8.02404803e-01 -5.57535024e-02 -5.94170076e-01 4.81709685e+01] [ 5.92408219e-01 -4.58792616e-02 8.04330526e-01 3.38995688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.790714057 meters Centerline goodness : 0.994844 Centerline is valid? [True, True] Translation: X:80.58, Y:48.17, Z:33.90 [[-7.42605817e-02 -9.97230998e-01 3.96269526e-03 8.05791204e+01] [ 8.02867423e-01 -6.21429972e-02 -5.92909899e-01 4.81658499e+01] [ 5.91514384e-01 -4.08483150e-02 8.05259057e-01 3.38984857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.820714057 meters Centerline goodness : 0.994922 Centerline is valid? [True, True] Translation: X:80.58, Y:48.17, Z:33.90 [[-7.55442768e-02 -9.97131909e-01 4.58456431e-03 8.05791885e+01] [ 8.02522542e-01 -6.35278897e-02 -5.93229952e-01 4.81693454e+01] [ 5.91819762e-01 -4.11359115e-02 8.05020003e-01 3.39019907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.850714057 meters Centerline goodness : 0.994735 Centerline is valid? [True, True] Translation: X:80.57, Y:48.16, Z:33.90 [[-7.00429966e-02 -9.97265006e-01 2.35899792e-02 8.05736996e+01] [ 8.09783649e-01 -7.06531068e-02 -5.82459081e-01 4.81611893e+01] [ 5.82532764e-01 -2.16944000e-02 8.12517650e-01 3.38953206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.880714057 meters Centerline goodness : 0.995925 Centerline is valid? [True, True] Translation: X:80.60, Y:48.18, Z:33.90 [[-9.22384341e-02 -9.94212712e-01 -5.50740901e-02 8.05982759e+01] [ 7.91259301e-01 -3.96077152e-02 -6.10196646e-01 4.81820136e+01] [ 6.04483903e-01 -9.98614692e-02 7.90333409e-01 3.38994484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.910714057 meters Centerline goodness : 0.995182 Centerline is valid? [True, True] Translation: X:80.57, Y:48.17, Z:33.92 [[-9.25144409e-02 -9.95458388e-01 2.24427058e-02 8.05651943e+01] [ 7.88199360e-01 -8.69879100e-02 -6.09241227e-01 4.81709096e+01] [ 6.08426534e-01 -3.86742851e-02 7.92667303e-01 3.39240148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.94071405700001 meters Centerline goodness : 0.995390 Centerline is valid? [True, True] Translation: X:80.55, Y:48.13, Z:33.89 [[-7.11281434e-02 -9.94399230e-01 7.81726237e-02 8.05519288e+01] [ 8.07673786e-01 -1.03406025e-01 -5.80491386e-01 4.81264185e+01] [ 5.85323707e-01 2.18487044e-02 8.10505270e-01 3.38941762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.970714057 meters Centerline goodness : 0.995273 Centerline is valid? [True, True] Translation: X:80.59, Y:48.13, Z:33.86 [[-6.84664251e-02 -9.97637341e-01 -5.66424458e-03 8.05884573e+01] [ 8.10225140e-01 -5.22900806e-02 -5.83781612e-01 4.81340401e+01] [ 5.82106152e-01 -4.45587534e-02 8.11890969e-01 3.38627486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.000714057 meters Centerline goodness : 0.995382 Centerline is valid? [True, True] Translation: X:80.60, Y:48.17, Z:33.89 [[-9.33096779e-02 -9.93849385e-01 -5.96381009e-02 8.06005503e+01] [ 7.92280812e-01 -3.78416848e-02 -6.08982037e-01 4.81733923e+01] [ 6.02979617e-01 -1.04074041e-01 7.90938794e-01 3.38915063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.030714057 meters Centerline goodness : 0.995381 Centerline is valid? [True, True] Translation: X:80.56, Y:48.13, Z:33.89 [[-7.51687807e-02 -9.95363602e-01 6.00079514e-02 8.05567245e+01] [ 8.02777737e-01 -9.61030482e-02 -5.88482888e-01 4.81279290e+01] [ 5.91521394e-01 3.93750620e-03 8.06279689e-01 3.38943764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.060714057 meters Centerline goodness : 0.995188 Centerline is valid? [True, True] Translation: X:80.58, Y:48.13, Z:33.87 [[-7.25333994e-02 -9.97365936e-01 -3.09266175e-04 8.05824629e+01] [ 8.06277110e-01 -5.84539438e-02 -5.88642811e-01 4.81297437e+01] [ 5.87074210e-01 -4.29456183e-02 8.08393188e-01 3.38681033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.090714057 meters Centerline goodness : 0.995600 Centerline is valid? [True, True] Translation: X:80.59, Y:48.15, Z:33.88 [[-7.86487669e-02 -9.96566893e-01 -2.58611534e-02 8.05901037e+01] [ 8.01142207e-01 -4.77448620e-02 -5.96566503e-01 4.81479959e+01] [ 5.93283689e-01 -6.76376814e-02 8.02146874e-01 3.38778906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.120714057 meters Centerline goodness : 0.995315 Centerline is valid? [True, True] Translation: X:80.58, Y:48.16, Z:33.90 [[-9.31689749e-02 -9.95500767e-01 -1.72558871e-02 8.05786125e+01] [ 7.91796322e-01 -6.35744961e-02 -6.07467586e-01 4.81623700e+01] [ 6.03637413e-01 -7.02602802e-02 7.94157016e-01 3.39015133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.150714057 meters Centerline goodness : 0.995472 Centerline is valid? [True, True] Translation: X:80.56, Y:48.12, Z:33.89 [[-7.85038308e-02 -9.95629906e-01 5.05790387e-02 8.05556596e+01] [ 8.00046355e-01 -9.31899374e-02 -5.92656280e-01 4.81235267e+01] [ 5.94779773e-01 -6.06021280e-03 8.03865844e-01 3.38917857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.180714057 meters Centerline goodness : 0.995153 Centerline is valid? [True, True] Translation: X:80.58, Y:48.16, Z:33.90 [[-8.62999828e-02 -9.96016280e-01 -2.24473430e-02 8.05831578e+01] [ 7.93622546e-01 -5.51080883e-02 -6.05909526e-01 4.81633696e+01] [ 6.02258722e-01 -7.01046991e-02 7.95216803e-01 3.38978031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.210714057 meters Centerline goodness : 0.994969 Centerline is valid? [True, True] Translation: X:80.57, Y:48.14, Z:33.89 [[-8.47542574e-02 -9.96275451e-01 1.58726822e-02 8.05663500e+01] [ 7.94154377e-01 -7.71633740e-02 -6.02797345e-01 4.81371501e+01] [ 6.01776986e-01 -3.84842813e-02 7.97736435e-01 3.38931057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.240714057 meters Centerline goodness : 0.995334 Centerline is valid? [True, True] Translation: X:80.57, Y:48.14, Z:33.89 [[-8.44373889e-02 -9.96363434e-01 1.14120381e-02 8.05673835e+01] [ 7.95703165e-01 -7.43172491e-02 -6.01110157e-01 4.81393273e+01] [ 5.99772291e-01 -4.16755772e-02 7.99084692e-01 3.38925233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.270714057 meters Centerline goodness : 0.995631 Centerline is valid? [True, True] Translation: X:80.57, Y:48.14, Z:33.89 [[-8.56173091e-02 -9.96314586e-01 5.18866885e-03 8.05687847e+01] [ 7.95143333e-01 -7.14660085e-02 -6.02195724e-01 4.81413789e+01] [ 6.00347197e-01 -4.74326420e-02 7.98331627e-01 3.38929906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.30071405700001 meters Centerline goodness : 0.995762 Centerline is valid? [True, True] Translation: X:80.56, Y:48.16, Z:33.91 [[-9.40067744e-02 -9.95562427e-01 4.26395211e-03 8.05615593e+01] [ 7.92111447e-01 -7.73888732e-02 -6.05450591e-01 4.81563044e+01] [ 6.03093842e-01 -5.35389319e-02 7.95871472e-01 3.39084109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.33071405700001 meters Centerline goodness : 0.995750 Centerline is valid? [True, True] Translation: X:80.55, Y:48.14, Z:33.90 [[-9.10502910e-02 -9.95562133e-01 2.37883236e-02 8.05517519e+01] [ 7.91836820e-01 -8.68630720e-02 -6.04523992e-01 4.81351307e+01] [ 6.03907522e-01 -3.62056149e-02 7.96231661e-01 3.39013848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.360714057 meters Centerline goodness : 0.995726 Centerline is valid? [True, True] Translation: X:80.54, Y:48.11, Z:33.88 [[-7.02734219e-02 -9.95515093e-01 6.33351884e-02 8.05427492e+01] [ 8.07629523e-01 -9.40467789e-02 -5.82142386e-01 4.81058219e+01] [ 5.85488002e-01 1.02422305e-02 8.10616368e-01 3.38815255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.390714057 meters Centerline goodness : 0.996104 Centerline is valid? [True, True] Translation: X:80.58, Y:48.13, Z:33.87 [[-7.46809693e-02 -9.96831332e-01 -2.73869962e-02 8.05768319e+01] [ 7.99839818e-01 -4.34757067e-02 -5.98636892e-01 4.81313596e+01] [ 5.95549342e-01 -6.66119935e-02 8.00552199e-01 3.38698864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.420714057 meters Centerline goodness : 0.995588 Centerline is valid? [True, True] Translation: X:80.56, Y:48.11, Z:33.87 [[-6.65733460e-02 -9.97557725e-01 2.11323011e-02 8.05554043e+01] [ 8.04002453e-01 -6.61745092e-02 -5.90932306e-01 4.81143378e+01] [ 5.90887506e-01 -2.23499189e-02 8.06444317e-01 3.38732779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.450714057 meters Centerline goodness : 0.995203 Centerline is valid? [True, True] Translation: X:80.57, Y:48.12, Z:33.87 [[-6.73997467e-02 -9.97629747e-01 -1.38622203e-02 8.05667017e+01] [ 7.98136172e-01 -4.55744577e-02 -6.00750880e-01 4.81202565e+01] [ 5.98695186e-01 -5.15543966e-02 7.99316094e-01 3.38677918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.480714057 meters Centerline goodness : 0.995826 Centerline is valid? [True, True] Translation: X:80.55, Y:48.11, Z:33.87 [[-6.18402384e-02 -9.97775229e-01 2.49073690e-02 8.05511368e+01] [ 8.02690500e-01 -6.45495679e-02 -5.92892330e-01 4.81066879e+01] [ 5.93181040e-01 -1.66716946e-02 8.04896458e-01 3.38688951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.510714057 meters Centerline goodness : 0.996684 Centerline is valid? [True, True] Translation: X:80.56, Y:48.14, Z:33.88 [[-7.68023668e-02 -9.96827041e-01 -2.09104532e-02 8.05616015e+01] [ 7.92972660e-01 -4.83559539e-02 -6.07335215e-01 4.81412958e+01] [ 6.04397020e-01 -6.32261996e-02 7.94170441e-01 3.38842782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.540714057 meters Centerline goodness : 0.995605 Centerline is valid? [True, True] Translation: X:80.53, Y:48.10, Z:33.88 [[-5.33900831e-02 -9.96417644e-01 6.55848971e-02 8.05340061e+01] [ 8.09656734e-01 -8.16379136e-02 -5.81198093e-01 4.81001902e+01] [ 5.84470249e-01 2.20710391e-02 8.11114910e-01 3.38754447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.570714057 meters Centerline goodness : 0.996424 Centerline is valid? [True, True] Translation: X:80.57, Y:48.14, Z:33.87 [[-7.27461681e-02 -9.96592043e-01 -3.88882451e-02 8.05675980e+01] [ 7.93558528e-01 -3.42191451e-02 -6.07530997e-01 4.81356529e+01] [ 6.04129835e-01 -7.50556506e-02 7.93343426e-01 3.38714850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.600714057 meters Centerline goodness : 0.995969 Centerline is valid? [True, True] Translation: X:80.53, Y:48.10, Z:33.88 [[-5.12835277e-02 -9.96258623e-01 6.95611650e-02 8.05297923e+01] [ 8.08120372e-01 -8.23218568e-02 -5.83236295e-01 4.80980086e+01] [ 5.86780593e-01 2.63033798e-02 8.09318645e-01 3.38791095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.630714057 meters Centerline goodness : 0.995005 Centerline is valid? [True, True] Translation: X:80.56, Y:48.13, Z:33.87 [[-4.54521659e-02 -9.98895068e-01 1.19475138e-02 8.05555013e+01] [ 8.14355854e-01 -4.39768229e-02 -5.78697315e-01 4.81273474e+01] [ 5.78583308e-01 -1.65735186e-02 8.15454888e-01 3.38663608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.660714057 meters Centerline goodness : 0.994319 Centerline is valid? [True, True] Translation: X:80.57, Y:48.12, Z:33.85 [[-4.98212653e-02 -9.98439572e-01 -2.52242381e-02 8.05691730e+01] [ 8.06318756e-01 -2.53053045e-02 -5.90939680e-01 4.81196439e+01] [ 5.89379254e-01 -4.97801389e-02 8.06321296e-01 3.38529541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.69071405700001 meters Centerline goodness : 0.995118 Centerline is valid? [True, True] Translation: X:80.56, Y:48.12, Z:33.86 [[-5.23752032e-02 -9.98503551e-01 -1.57320528e-02 8.05639510e+01] [ 8.04849986e-01 -3.28810953e-02 -5.92566734e-01 4.81171329e+01] [ 5.91162700e-01 -4.36977455e-02 8.05367723e-01 3.38580275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.720714057 meters Centerline goodness : 0.994870 Centerline is valid? [True, True] Translation: X:80.55, Y:48.10, Z:33.87 [[-5.19995276e-02 -9.98436522e-01 2.05075521e-02 8.05479932e+01] [ 8.02739760e-01 -5.40055295e-02 -5.93879012e-01 4.81037643e+01] [ 5.94058016e-01 -1.44192006e-02 8.04292956e-01 3.38654269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.750714057 meters Centerline goodness : 0.994951 Centerline is valid? [True, True] Translation: X:80.55, Y:48.11, Z:33.87 [[-5.23109700e-02 -9.98543590e-01 1.32007997e-02 8.05514194e+01] [ 8.04338710e-01 -4.99642587e-02 -5.92066560e-01 4.81139494e+01] [ 5.91863837e-01 -2.03536618e-02 8.05780942e-01 3.38678667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.780714057 meters Centerline goodness : 0.996521 Centerline is valid? [True, True] Translation: X:80.56, Y:48.12, Z:33.87 [[-6.84362339e-02 -9.97428329e-01 -2.12887244e-02 8.05586888e+01] [ 7.93565585e-01 -4.14916298e-02 -6.07068454e-01 4.81201534e+01] [ 6.04623970e-01 -5.84394777e-02 7.94364326e-01 3.38681750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.810714057 meters Centerline goodness : 0.996521 Centerline is valid? [True, True] Translation: X:80.54, Y:48.11, Z:33.88 [[-6.84730902e-02 -9.97317662e-01 2.58634272e-02 8.05388904e+01] [ 7.92578541e-01 -7.01245034e-02 -6.05724204e-01 4.81067161e+01] [ 6.05913107e-01 -2.09770107e-02 7.95254219e-01 3.38804956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.840714057 meters Centerline goodness : 0.995068 Centerline is valid? [True, True] Translation: X:80.53, Y:48.11, Z:33.89 [[-5.31427020e-02 -9.96002973e-01 7.17908891e-02 8.05290682e+01] [ 8.08090098e-01 -8.51294768e-02 -5.82875086e-01 4.81107807e+01] [ 5.86656839e-01 2.70379496e-02 8.09384150e-01 3.38881929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.870714057 meters Centerline goodness : 0.996246 Centerline is valid? [True, True] Translation: X:80.57, Y:48.12, Z:33.86 [[-7.16384243e-02 -9.96555474e-01 -4.17746813e-02 8.05689755e+01] [ 7.93286649e-01 -3.15381403e-02 -6.08030951e-01 4.81220821e+01] [ 6.04619077e-01 -7.66976762e-02 7.92813495e-01 3.38598631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.900714057 meters Centerline goodness : 0.995936 Centerline is valid? [True, True] Translation: X:80.54, Y:48.10, Z:33.88 [[-7.27543703e-02 -9.97000995e-01 2.63783615e-02 8.05404340e+01] [ 7.91547936e-01 -7.38119200e-02 -6.06633057e-01 4.81044789e+01] [ 6.06760799e-01 -2.32554685e-02 7.94544219e-01 3.38786997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.930714057 meters Centerline goodness : 0.995565 Centerline is valid? [True, True] Translation: X:80.54, Y:48.11, Z:33.88 [[-7.65217556e-02 -9.96710720e-01 2.66863442e-02 8.05414163e+01] [ 7.90971711e-01 -7.69781184e-02 -6.06991039e-01 4.81067967e+01] [ 6.07048740e-01 -2.53398766e-02 7.94260485e-01 3.38811553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.960714057 meters Centerline goodness : 0.994661 Centerline is valid? [True, True] Translation: X:80.53, Y:48.09, Z:33.87 [[-6.16465348e-02 -9.95003176e-01 7.85390660e-02 8.05318382e+01] [ 8.10086209e-01 -9.58467775e-02 -5.78423486e-01 4.80928774e+01] [ 5.83060922e-01 2.79656107e-02 8.11946973e-01 3.38742394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.990714057 meters Centerline goodness : 0.995875 Centerline is valid? [True, True] Translation: X:80.58, Y:48.12, Z:33.86 [[-8.34508171e-02 -9.95342785e-01 -4.82566160e-02 8.05763593e+01] [ 7.92897326e-01 -3.69889981e-02 -6.08231572e-01 4.81242849e+01] [ 6.03613943e-01 -8.90199635e-02 7.92291395e-01 3.38592331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.020714057 meters Centerline goodness : 0.995067 Centerline is valid? [True, True] Translation: X:80.54, Y:48.11, Z:33.88 [[-8.49182275e-02 -9.96017417e-01 2.71698166e-02 8.05448389e+01] [ 7.90245452e-01 -8.39330031e-02 -6.07015137e-01 4.81051250e+01] [ 6.06878093e-01 -3.00758255e-02 7.94225676e-01 3.38802507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.05071405700001 meters Centerline goodness : 0.994630 Centerline is valid? [True, True] Translation: X:80.54, Y:48.10, Z:33.87 [[-7.48666474e-02 -9.95883788e-01 5.10927170e-02 8.05429805e+01] [ 8.00738924e-01 -9.05747977e-02 -5.92126154e-01 4.80993636e+01] [ 5.94316549e-01 -3.41857275e-03 8.04223944e-01 3.38742427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.08071405700001 meters Centerline goodness : 0.994815 Centerline is valid? [True, True] Translation: X:80.56, Y:48.10, Z:33.86 [[-7.50422062e-02 -9.96973334e-01 2.03184257e-02 8.05569558e+01] [ 8.03827102e-01 -7.25369884e-02 -5.90423895e-01 4.81046986e+01] [ 5.90110716e-01 -2.79742104e-02 8.06837522e-01 3.38610689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.110714057 meters Centerline goodness : 0.995048 Centerline is valid? [True, True] Translation: X:80.56, Y:48.12, Z:33.86 [[-8.06163865e-02 -9.96745172e-01 -2.45053624e-04 8.05649242e+01] [ 8.00582837e-01 -6.46043860e-02 -5.95729296e-01 4.81178380e+01] [ 5.93774469e-01 -4.82217290e-02 8.03185250e-01 3.38639345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.140714057 meters Centerline goodness : 0.994966 Centerline is valid? [True, True] Translation: X:80.56, Y:48.11, Z:33.86 [[-7.75926703e-02 -9.96628983e-01 2.66467166e-02 8.05553305e+01] [ 8.05620281e-01 -7.84220445e-02 -5.87218823e-01 4.81053979e+01] [ 5.87328988e-01 -2.40967412e-02 8.08989497e-01 3.38612796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.170714057 meters Centerline goodness : 0.995111 Centerline is valid? [True, True] Translation: X:80.57, Y:48.12, Z:33.86 [[-8.58412277e-02 -9.96127005e-01 -1.90334838e-02 8.05724614e+01] [ 7.98681140e-01 -5.73807115e-02 -5.99012429e-01 4.81242194e+01] [ 5.95600302e-01 -6.66216469e-02 8.00513483e-01 3.38627154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.200714057 meters Centerline goodness : 0.995378 Centerline is valid? [True, True] Translation: X:80.56, Y:48.10, Z:33.86 [[-8.70452545e-02 -9.95973903e-01 2.14268270e-02 8.05563470e+01] [ 8.00058343e-01 -8.27059539e-02 -5.94193886e-01 4.81006429e+01] [ 5.93573729e-01 -3.45790463e-02 8.04036391e-01 3.38610826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.230714057 meters Centerline goodness : 0.995418 Centerline is valid? [True, True] Translation: X:80.57, Y:48.11, Z:33.86 [[-9.19112212e-02 -9.95765158e-01 -2.01912939e-03 8.05652637e+01] [ 7.96888664e-01 -7.23383189e-02 -5.99779647e-01 4.81085152e+01] [ 5.97093614e-01 -5.67355011e-02 8.00162670e-01 3.38602085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.260714057 meters Centerline goodness : 0.995400 Centerline is valid? [True, True] Translation: X:80.56, Y:48.11, Z:33.86 [[-9.52661086e-02 -9.95381164e-01 1.18620247e-02 8.05586082e+01] [ 7.94555640e-01 -8.32131325e-02 -6.01462309e-01 4.81050048e+01] [ 5.99671329e-01 -4.78739351e-02 7.98813109e-01 3.38643503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.290714057 meters Centerline goodness : 0.996282 Centerline is valid? [True, True] Translation: X:80.56, Y:48.11, Z:33.87 [[-9.76764157e-02 -9.95111908e-01 1.45467617e-02 8.05568091e+01] [ 7.93799012e-01 -8.67159788e-02 -6.01966335e-01 4.81114433e+01] [ 6.00285305e-01 -4.72507089e-02 7.98388955e-01 3.38705343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.320714057 meters Centerline goodness : 0.995359 Centerline is valid? [True, True] Translation: X:80.56, Y:48.11, Z:33.87 [[-9.93250361e-02 -9.94959733e-01 1.37719469e-02 8.05564448e+01] [ 7.92237440e-01 -8.74468481e-02 -6.03914636e-01 4.81058482e+01] [ 6.02075058e-01 -4.90731910e-02 7.96930013e-01 3.38663425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.350714057 meters Centerline goodness : 0.995939 Centerline is valid? [True, True] Translation: X:80.55, Y:48.11, Z:33.87 [[-1.08705035e-01 -9.94028265e-01 9.54067284e-03 8.05526201e+01] [ 7.87775304e-01 -9.19952995e-02 -6.09054131e-01 4.81067741e+01] [ 6.06294718e-01 -5.86913439e-02 7.93071271e-01 3.38694676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.380714057 meters Centerline goodness : 0.995467 Centerline is valid? [True, True] Translation: X:80.55, Y:48.10, Z:33.87 [[-9.84265175e-02 -9.94575072e-01 3.36548156e-02 8.05465039e+01] [ 7.91728160e-01 -9.87511952e-02 -6.02838886e-01 4.80952566e+01] [ 6.02891982e-01 -3.26898669e-02 7.97152828e-01 3.38681900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.410714057 meters Centerline goodness : 0.995516 Centerline is valid? [True, True] Translation: X:80.54, Y:48.09, Z:33.86 [[-9.13422451e-02 -9.94467385e-01 5.18769229e-02 8.05376008e+01] [ 7.99816582e-01 -1.04299236e-01 -5.91113444e-01 4.80860099e+01] [ 5.93253764e-01 -1.25016059e-02 8.04918431e-01 3.38625606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.44071405700001 meters Centerline goodness : 0.996009 Centerline is valid? [True, True] Translation: X:80.56, Y:48.11, Z:33.86 [[-1.03684871e-01 -9.94353606e-01 -2.25910242e-02 8.05585710e+01] [ 7.89550504e-01 -6.84738570e-02 -6.09853534e-01 4.81099621e+01] [ 6.04863166e-01 -8.10693398e-02 7.92192094e-01 3.38586182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.470714057 meters Centerline goodness : 0.995465 Centerline is valid? [True, True] Translation: X:80.53, Y:48.09, Z:33.87 [[-8.76340806e-02 -9.94460867e-01 5.80332041e-02 8.05297662e+01] [ 8.00115008e-01 -1.04972639e-01 -5.90590144e-01 4.80936762e+01] [ 5.93410685e-01 -5.32258674e-03 8.04882245e-01 3.38717415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.500714057 meters Centerline goodness : 0.995813 Centerline is valid? [True, True] Translation: X:80.55, Y:48.09, Z:33.85 [[-9.02212693e-02 -9.95916855e-01 -3.12102547e-03 8.05532669e+01] [ 7.96265364e-01 -7.02516371e-02 -6.00854540e-01 4.80949486e+01] [ 5.98181906e-01 -5.66950237e-02 7.99352288e-01 3.38498972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.530714057 meters Centerline goodness : 0.995272 Centerline is valid? [True, True] Translation: X:80.54, Y:48.08, Z:33.85 [[-8.53487758e-02 -9.96028183e-01 2.53662374e-02 8.05390553e+01] [ 7.98035852e-01 -8.35815557e-02 -5.96785475e-01 4.80795886e+01] [ 5.96535301e-01 -3.06917428e-02 8.01999783e-01 3.38511436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.560714057 meters Centerline goodness : 0.995420 Centerline is valid? [True, True] Translation: X:80.54, Y:48.08, Z:33.85 [[-8.17682203e-02 -9.96508545e-01 1.68724168e-02 8.05398153e+01] [ 8.00654534e-01 -7.57601739e-02 -5.94317014e-01 4.80841164e+01] [ 5.93520240e-01 -3.50872675e-02 8.04053859e-01 3.38491807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.590714057 meters Centerline goodness : 0.995555 Centerline is valid? [True, True] Translation: X:80.54, Y:48.08, Z:33.84 [[-7.61447430e-02 -9.96715915e-01 2.75565367e-02 8.05360069e+01] [ 8.07120556e-01 -7.78406073e-02 -5.85232645e-01 4.80759596e+01] [ 5.85455709e-01 -2.23209421e-02 8.10397056e-01 3.38418323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.620714057 meters Centerline goodness : 0.995596 Centerline is valid? [True, True] Translation: X:80.54, Y:48.08, Z:33.84 [[-7.70852395e-02 -9.97018363e-01 3.49998320e-03 8.05434438e+01] [ 8.03732228e-01 -6.42176594e-02 -5.91515510e-01 4.80804367e+01] [ 5.89976586e-01 -4.27840654e-02 8.06286024e-01 3.38371167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.650714057 meters Centerline goodness : 0.995398 Centerline is valid? [True, True] Translation: X:80.54, Y:48.11, Z:33.86 [[-7.59188659e-02 -9.97060811e-01 1.02987519e-02 8.05369137e+01] [ 8.02563053e-01 -6.72320420e-02 -5.92766731e-01 4.81078567e+01] [ 5.91716884e-01 -3.67367802e-02 8.05308350e-01 3.38618106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.680714057 meters Centerline goodness : 0.995498 Centerline is valid? [True, True] Translation: X:80.54, Y:48.09, Z:33.85 [[-7.47084615e-02 -9.97127598e-01 1.24579021e-02 8.05360126e+01] [ 8.03287895e-01 -6.75784119e-02 -5.91744637e-01 4.80936194e+01] [ 5.90886794e-01 -3.42010494e-02 8.06029209e-01 3.38516063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.710714057 meters Centerline goodness : 0.995703 Centerline is valid? [True, True] Translation: X:80.54, Y:48.09, Z:33.85 [[-8.75037154e-02 -9.96104856e-01 -1.08726971e-02 8.05366911e+01] [ 7.92170641e-01 -6.29629281e-02 -6.07043116e-01 4.80858638e+01] [ 6.03994019e-01 -6.17315595e-02 7.94594513e-01 3.38493274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.740714057 meters Centerline goodness : 0.995788 Centerline is valid? [True, True] Translation: X:80.51, Y:48.07, Z:33.86 [[-7.33386494e-02 -9.95515647e-01 5.97498038e-02 8.05138047e+01] [ 8.03790047e-01 -9.44674362e-02 -5.87364847e-01 4.80711350e+01] [ 5.90375306e-01 4.94975305e-03 8.07113683e-01 3.38601493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.770714057 meters Centerline goodness : 0.995223 Centerline is valid? [True, True] Translation: X:80.53, Y:48.06, Z:33.83 [[-6.80669308e-02 -9.97176857e-01 3.17050345e-02 8.05279239e+01] [ 8.11210726e-01 -7.38163519e-02 -5.80076119e-01 4.80597195e+01] [ 5.80778831e-01 -1.37645370e-02 8.13945015e-01 3.38293478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.80071405700001 meters Centerline goodness : 0.995511 Centerline is valid? [True, True] Translation: X:80.54, Y:48.07, Z:33.82 [[-7.15002849e-02 -9.97439093e-01 1.72200836e-03 8.05402329e+01] [ 8.08383915e-01 -5.89592419e-02 -5.85695530e-01 4.80677465e+01] [ 5.84297147e-01 -4.04853534e-02 8.10529321e-01 3.38214018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.83071405700001 meters Centerline goodness : 0.995317 Centerline is valid? [True, True] Translation: X:80.54, Y:48.08, Z:33.83 [[-7.86343780e-02 -9.96801197e-01 -1.42831330e-02 8.05449011e+01] [ 8.00875864e-01 -5.46336344e-02 -5.96332975e-01 4.80758339e+01] [ 5.93645084e-01 -5.83312890e-02 8.02610102e-01 3.38268160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.860714057 meters Centerline goodness : 0.995706 Centerline is valid? [True, True] Translation: X:80.53, Y:48.06, Z:33.83 [[-8.21360734e-02 -9.96520416e-01 1.41677573e-02 8.05321431e+01] [ 7.97786968e-01 -7.42627496e-02 -5.98348559e-01 4.80623523e+01] [ 5.97318692e-01 -3.78431490e-02 8.01110652e-01 3.38321265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.890714057 meters Centerline goodness : 0.995401 Centerline is valid? [True, True] Translation: X:80.53, Y:48.06, Z:33.83 [[-8.38886546e-02 -9.96402448e-01 1.20356208e-02 8.05324419e+01] [ 7.96701861e-01 -7.43204094e-02 -5.99785480e-01 4.80627817e+01] [ 5.98522212e-01 -4.07263955e-02 8.00070323e-01 3.38325401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.920714057 meters Centerline goodness : 0.995783 Centerline is valid? [True, True] Translation: X:80.52, Y:48.05, Z:33.83 [[-8.02593988e-02 -9.96082071e-01 3.71340381e-02 8.05240937e+01] [ 8.04056114e-01 -8.67148881e-02 -5.88195796e-01 4.80536433e+01] [ 5.89111360e-01 -1.73503906e-02 8.07865564e-01 3.38299470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.950714057 meters Centerline goodness : 0.995881 Centerline is valid? [True, True] Translation: X:80.54, Y:48.07, Z:33.83 [[-8.66885118e-02 -9.96227418e-01 -4.00428690e-03 8.05391857e+01] [ 7.98493341e-01 -6.70776710e-02 -5.98254938e-01 4.80742804e+01] [ 5.95729374e-01 -5.50592267e-02 8.01295822e-01 3.38315286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.980714057 meters Centerline goodness : 0.995530 Centerline is valid? [True, True] Translation: X:80.53, Y:48.06, Z:33.83 [[-8.64852809e-02 -9.96088822e-01 1.80929550e-02 8.05303156e+01] [ 7.99225728e-01 -8.02121351e-02 -5.95654471e-01 4.80584055e+01] [ 5.94776035e-01 -3.70549891e-02 8.03036983e-01 3.38309904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.010714057 meters Centerline goodness : 0.995426 Centerline is valid? [True, True] Translation: X:80.53, Y:48.06, Z:33.83 [[-8.66130936e-02 -9.96157473e-01 1.29792512e-02 8.05320495e+01] [ 7.99162655e-01 -7.72521162e-02 -5.96130155e-01 4.80582591e+01] [ 5.94842184e-01 -4.12601440e-02 8.02782895e-01 3.38295147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.040714057 meters Centerline goodness : 0.995248 Centerline is valid? [True, True] Translation: X:80.53, Y:48.05, Z:33.83 [[-8.46904712e-02 -9.96241223e-01 1.81920166e-02 8.05287780e+01] [ 8.00222824e-01 -7.88827622e-02 -5.94492171e-01 4.80533757e+01] [ 5.93692644e-01 -3.57901552e-02 8.03895583e-01 3.38294162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.070714057 meters Centerline goodness : 0.995214 Centerline is valid? [True, True] Translation: X:80.52, Y:48.04, Z:33.82 [[-7.69027455e-02 -9.96249119e-01 3.96693956e-02 8.05217557e+01] [ 8.08115361e-01 -8.55855743e-02 -5.82773261e-01 4.80435142e+01] [ 5.83982476e-01 -1.27594158e-02 8.11665982e-01 3.38244515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.100714057 meters Centerline goodness : 0.996215 Centerline is valid? [True, True] Translation: X:80.54, Y:48.05, Z:33.81 [[-8.28211635e-02 -9.96389134e-01 -1.86908470e-02 8.05433149e+01] [ 8.00154273e-01 -5.53065110e-02 -5.97238921e-01 4.80544562e+01] [ 5.94048646e-01 -6.44195835e-02 8.01845573e-01 3.38127573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.130714057 meters Centerline goodness : 0.996077 Centerline is valid? [True, True] Translation: X:80.53, Y:48.04, Z:33.82 [[-7.98716185e-02 -9.96408359e-01 2.81230710e-02 8.05250020e+01] [ 8.01562907e-01 -8.09731197e-02 -5.92402110e-01 4.80371286e+01] [ 5.92551627e-01 -2.47737048e-02 8.05151435e-01 3.38191513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.160714057 meters Centerline goodness : 0.995694 Centerline is valid? [True, True] Translation: X:80.53, Y:48.05, Z:33.82 [[-8.31363053e-02 -9.96528968e-01 4.28606350e-03 8.05340434e+01] [ 7.98150538e-01 -6.91604476e-02 -5.98475188e-01 4.80479527e+01] [ 5.96694288e-01 -4.63340921e-02 8.01129876e-01 3.38187260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.19071405700001 meters Centerline goodness : 0.996121 Centerline is valid? [True, True] Translation: X:80.53, Y:48.06, Z:33.83 [[-8.51886674e-02 -9.96197641e-01 1.82524521e-02 8.05271499e+01] [ 7.96370388e-01 -7.90869131e-02 -5.99616098e-01 4.80601115e+01] [ 5.98779672e-01 -3.65447840e-02 8.00079611e-01 3.38349176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.220714057 meters Centerline goodness : 0.996247 Centerline is valid? [True, True] Translation: X:80.53, Y:48.05, Z:33.83 [[-8.74530865e-02 -9.96033132e-01 1.64304076e-02 8.05278001e+01] [ 7.94475108e-01 -7.96872684e-02 -6.02045880e-01 4.80473726e+01] [ 6.00966938e-01 -3.95972206e-02 7.98292427e-01 3.38266292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.250714057 meters Centerline goodness : 0.996049 Centerline is valid? [True, True] Translation: X:80.52, Y:48.06, Z:33.84 [[-8.96698435e-02 -9.95750030e-01 2.10046773e-02 8.05244943e+01] [ 7.93731997e-01 -8.41851155e-02 -6.02413798e-01 4.80577850e+01] [ 6.01621839e-01 -3.73462665e-02 7.97907526e-01 3.38365842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.280714057 meters Centerline goodness : 0.996269 Centerline is valid? [True, True] Translation: X:80.53, Y:48.04, Z:33.82 [[-9.07421171e-02 -9.95668198e-01 2.02659125e-02 8.05259126e+01] [ 7.93158785e-01 -8.45619007e-02 -6.03115600e-01 4.80370345e+01] [ 6.02216747e-01 -3.86538998e-02 7.97396304e-01 3.38211664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.310714057 meters Centerline goodness : 0.996000 Centerline is valid? [True, True] Translation: X:80.53, Y:48.04, Z:33.82 [[-9.30881439e-02 -9.95490631e-01 1.82483379e-02 8.05266032e+01] [ 7.92122691e-01 -8.51503756e-02 -6.04393130e-01 4.80360449e+01] [ 6.03221551e-01 -4.18069121e-02 7.96477208e-01 3.38206758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.340714057 meters Centerline goodness : 0.996273 Centerline is valid? [True, True] Translation: X:80.53, Y:48.04, Z:33.82 [[-9.49763728e-02 -9.95189073e-01 2.40457499e-02 8.05251089e+01] [ 7.93067398e-01 -9.02422665e-02 -6.02412181e-01 4.80371357e+01] [ 6.01683963e-01 -3.81450236e-02 7.97822891e-01 3.38244129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.370714057 meters Centerline goodness : 0.996225 Centerline is valid? [True, True] Translation: X:80.53, Y:48.04, Z:33.82 [[-9.61370507e-02 -9.95125918e-01 2.19561990e-02 8.05264391e+01] [ 7.94163153e-01 -8.99828901e-02 -6.01005795e-01 4.80385179e+01] [ 6.00052126e-01 -4.03421204e-02 7.98943027e-01 3.38243938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.400714057 meters Centerline goodness : 0.995664 Centerline is valid? [True, True] Translation: X:80.52, Y:48.03, Z:33.82 [[-9.22482772e-02 -9.94939460e-01 3.98211897e-02 8.05212793e+01] [ 8.00109589e-01 -9.78708199e-02 -5.91815806e-01 4.80269448e+01] [ 5.92718231e-01 -2.27326729e-02 8.05089017e-01 3.38188330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.430714057 meters Centerline goodness : 0.995790 Centerline is valid? [True, True] Translation: X:80.54, Y:48.04, Z:33.82 [[-9.80666341e-02 -9.95160398e-01 -6.22235367e-03 8.05384846e+01] [ 7.94591562e-01 -7.45343450e-02 -6.02551973e-01 4.80434830e+01] [ 5.99172083e-01 -6.40344736e-02 7.98055388e-01 3.38158278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.460714057 meters Centerline goodness : 0.996261 Centerline is valid? [True, True] Translation: X:80.53, Y:48.05, Z:33.84 [[-1.00221639e-01 -9.94799923e-01 1.81310698e-02 8.05264160e+01] [ 7.92871118e-01 -9.08607017e-02 -6.02577566e-01 4.80517211e+01] [ 6.01091518e-01 -4.60157098e-02 7.97854336e-01 3.38364642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.490714057 meters Centerline goodness : 0.995286 Centerline is valid? [True, True] Translation: X:80.53, Y:48.04, Z:33.83 [[-1.00817313e-01 -9.94717479e-01 1.93133842e-02 8.05276588e+01] [ 7.95041489e-01 -9.22195419e-02 -5.99503616e-01 4.80375865e+01] [ 5.98117797e-01 -4.50854019e-02 8.00138992e-01 3.38252244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.520714057 meters Centerline goodness : 0.995657 Centerline is valid? [True, True] Translation: X:80.52, Y:48.04, Z:33.83 [[-1.08382575e-01 -9.93751426e-01 2.66705952e-02 8.05203406e+01] [ 7.87499793e-01 -1.02199773e-01 -6.07782265e-01 4.80379832e+01] [ 6.06710222e-01 -4.48699189e-02 7.93655717e-01 3.38334534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.55071405700001 meters Centerline goodness : 0.995362 Centerline is valid? [True, True] Translation: X:80.51, Y:48.03, Z:33.83 [[-9.82363546e-02 -9.93668695e-01 5.45173737e-02 8.05138933e+01] [ 7.95173844e-01 -1.11316285e-01 -5.96076540e-01 4.80288824e+01] [ 5.98371269e-01 -1.52055968e-02 8.01074662e-01 3.38326973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.58071405700001 meters Centerline goodness : 0.995563 Centerline is valid? [True, True] Translation: X:80.52, Y:48.04, Z:33.83 [[-9.54282538e-02 -9.95015593e-01 2.89381747e-02 8.05239307e+01] [ 7.97444063e-01 -9.38150539e-02 -5.96055117e-01 4.80440717e+01] [ 5.95798972e-01 -3.38039234e-02 8.02421884e-01 3.38291681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.610714057 meters Centerline goodness : 0.995130 Centerline is valid? [True, True] Translation: X:80.53, Y:48.04, Z:33.82 [[-9.64791648e-02 -9.95271611e-01 1.12334879e-02 8.05308796e+01] [ 7.95162360e-01 -8.38596177e-02 -6.00570050e-01 4.80350085e+01] [ 5.98672357e-01 -4.90100501e-02 7.99493229e-01 3.38164507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.640714057 meters Centerline goodness : 0.995308 Centerline is valid? [True, True] Translation: X:80.52, Y:48.04, Z:33.83 [[-9.27756548e-02 -9.95275149e-01 2.86366225e-02 8.05226217e+01] [ 7.95871629e-01 -9.14091536e-02 -5.98525452e-01 4.80428911e+01] [ 5.98315158e-01 -3.27375153e-02 8.00591798e-01 3.38305605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.670714057 meters Centerline goodness : 0.994831 Centerline is valid? [True, True] Translation: X:80.53, Y:48.03, Z:33.82 [[-9.13033558e-02 -9.95588769e-01 2.16032456e-02 8.05261269e+01] [ 7.96137156e-01 -8.60091503e-02 -5.98972499e-01 4.80338714e+01] [ 5.98188370e-01 -3.74890527e-02 8.00478135e-01 3.38198901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.700714057 meters Centerline goodness : 0.994246 Centerline is valid? [True, True] Translation: X:80.53, Y:48.03, Z:33.81 [[-8.80503303e-02 -9.96077517e-01 8.75901138e-03 8.05323965e+01] [ 7.98006226e-01 -7.57987232e-02 -5.97863376e-01 4.80346610e+01] [ 5.96182189e-01 -4.56523221e-02 8.01550163e-01 3.38124816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.730714057 meters Centerline goodness : 0.994246 Centerline is valid? [True, True] Translation: X:80.52, Y:48.03, Z:33.82 [[-8.84059493e-02 -9.95645226e-01 2.95799123e-02 8.05238301e+01] [ 7.97480589e-01 -8.85412669e-02 -5.96812495e-01 4.80271032e+01] [ 5.96832555e-01 -2.91723693e-02 8.01835316e-01 3.38174367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.760714057 meters Centerline goodness : 0.995833 Centerline is valid? [True, True] Translation: X:80.52, Y:48.03, Z:33.82 [[-9.63768830e-02 -9.95096445e-01 2.22387305e-02 8.05204258e+01] [ 7.86807837e-01 -8.98501511e-02 -6.10622942e-01 4.80271444e+01] [ 6.09626873e-01 -4.13523284e-02 7.91609159e-01 3.38243944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.790714057 meters Centerline goodness : 0.995167 Centerline is valid? [True, True] Translation: X:80.51, Y:48.02, Z:33.83 [[-7.93305069e-02 -9.93983143e-01 7.55260324e-02 8.05053439e+01] [ 8.02460117e-01 -1.08626927e-01 -5.86734993e-01 4.80166733e+01] [ 5.91408853e-01 1.40606444e-02 8.06249259e-01 3.38279056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.820714057 meters Centerline goodness : 0.995232 Centerline is valid? [True, True] Translation: X:80.53, Y:48.01, Z:33.80 [[-7.33454166e-02 -9.97130838e-01 1.87227438e-02 8.05301404e+01] [ 8.05361725e-01 -7.02915019e-02 -5.88601390e-01 4.80125085e+01] [ 5.88228647e-01 -2.80926329e-02 8.08206572e-01 3.37952736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.850714057 meters Centerline goodness : 0.994642 Centerline is valid? [True, True] Translation: X:80.54, Y:48.01, Z:33.78 [[-7.09595209e-02 -9.97477541e-01 -1.81719408e-03 8.05396688e+01] [ 8.07262792e-01 -5.63575478e-02 -5.87495201e-01 4.80107839e+01] [ 5.85910855e-01 -4.31553311e-02 8.09225609e-01 3.37846681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.880714057 meters Centerline goodness : 0.994815 Centerline is valid? [True, True] Translation: X:80.52, Y:47.99, Z:33.79 [[-6.70527326e-02 -9.96933355e-01 4.03462168e-02 8.05228400e+01] [ 8.07344846e-01 -7.79725212e-02 -5.84905621e-01 4.79942969e+01] [ 5.86257819e-01 -6.64621009e-03 8.10097276e-01 3.37921089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.910714057 meters Centerline goodness : 0.993900 Centerline is valid? [True, True] Translation: X:80.54, Y:48.00, Z:33.78 [[-6.74757391e-02 -9.97685466e-01 -8.41039823e-03 8.05433493e+01] [ 8.06529711e-01 -4.95812896e-02 -5.89110789e-01 4.80048494e+01] [ 5.87330274e-01 -4.65339219e-02 8.08008505e-01 3.37782613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.94071405700001 meters Centerline goodness : 0.995068 Centerline is valid? [True, True] Translation: X:80.53, Y:47.99, Z:33.79 [[-6.78081222e-02 -9.97014805e-01 3.69261152e-02 8.05250948e+01] [ 8.04272506e-01 -7.65256842e-02 -5.89312782e-01 4.79924413e+01] [ 5.90379365e-01 -1.02615340e-02 8.07060659e-01 3.37926722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.970714057 meters Centerline goodness : 0.994721 Centerline is valid? [True, True] Translation: X:80.54, Y:48.00, Z:33.79 [[-7.03777981e-02 -9.97461975e-01 1.07969033e-02 8.05367388e+01] [ 8.02637690e-01 -6.30518131e-02 -5.93124951e-01 4.79984348e+01] [ 5.92300349e-01 -3.30768265e-02 8.05038024e-01 3.37856512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.000714057 meters Centerline goodness : 0.994156 Centerline is valid? [True, True] Translation: X:80.54, Y:48.00, Z:33.79 [[-7.39910244e-02 -9.97251609e-01 -3.81522981e-03 8.05438603e+01] [ 8.01352342e-01 -5.71782362e-02 -5.95453671e-01 4.80047644e+01] [ 5.93598983e-01 -4.71155704e-02 8.03380589e-01 3.37857106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.030714057 meters Centerline goodness : 0.995258 Centerline is valid? [True, True] Translation: X:80.53, Y:47.98, Z:33.79 [[-7.48394957e-02 -9.96084438e-01 4.70621054e-02 8.05259000e+01] [ 8.00053204e-01 -8.81482222e-02 -5.93417864e-01 4.79829030e+01] [ 5.95242741e-01 -6.75890545e-03 8.03517515e-01 3.37919659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.060714057 meters Centerline goodness : 0.995033 Centerline is valid? [True, True] Translation: X:80.54, Y:48.01, Z:33.80 [[-8.12803380e-02 -9.96662759e-01 7.53997529e-03 8.05416508e+01] [ 7.96294251e-01 -6.94857678e-02 -6.00905312e-01 4.80083328e+01] [ 5.99423867e-01 -4.28377478e-02 7.99284652e-01 3.37951945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.090714057 meters Centerline goodness : 0.995673 Centerline is valid? [True, True] Translation: X:80.54, Y:48.00, Z:33.80 [[-8.35168855e-02 -9.96134925e-01 2.72055200e-02 8.05369589e+01] [ 7.96683662e-01 -8.31444895e-02 -5.98650262e-01 4.80013309e+01] [ 5.98598423e-01 -2.83232122e-02 8.00548389e-01 3.37971486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.120714057 meters Centerline goodness : 0.995270 Centerline is valid? [True, True] Translation: X:80.54, Y:48.01, Z:33.80 [[-9.90706140e-02 -9.95079491e-01 -1.34889115e-03 8.05429824e+01] [ 7.86832348e-01 -7.75074400e-02 -6.12280535e-01 4.80125481e+01] [ 6.09163254e-01 -6.17203597e-02 7.90639442e-01 3.38025202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.150714057 meters Centerline goodness : 0.994870 Centerline is valid? [True, True] Translation: X:80.53, Y:48.00, Z:33.81 [[-9.97488879e-02 -9.94273008e-01 3.83581238e-02 8.05289366e+01] [ 7.86147570e-01 -1.02382952e-01 -6.09499573e-01 4.79975319e+01] [ 6.09936191e-01 -3.06417587e-02 7.91857895e-01 3.38124468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.180714057 meters Centerline goodness : 0.995032 Centerline is valid? [True, True] Translation: X:80.52, Y:47.98, Z:33.80 [[-8.09396403e-02 -9.93304212e-01 8.24349235e-02 8.05212538e+01] [ 8.05220873e-01 -1.13908469e-01 -5.81931444e-01 4.79752335e+01] [ 5.87424991e-01 1.92769993e-02 8.09048996e-01 3.37983818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.210714057 meters Centerline goodness : 0.995549 Centerline is valid? [True, True] Translation: X:80.55, Y:47.99, Z:33.78 [[-7.94722578e-02 -9.96655554e-01 1.90228196e-02 8.05499505e+01] [ 8.08816837e-01 -7.56251075e-02 -5.83177646e-01 4.79899601e+01] [ 5.82665842e-01 -3.09604674e-02 8.12121891e-01 3.37771342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.240714057 meters Centerline goodness : 0.995441 Centerline is valid? [True, True] Translation: X:80.56, Y:48.00, Z:33.78 [[-8.27313884e-02 -9.96569225e-01 2.30161126e-03 8.05562353e+01] [ 8.05290060e-01 -6.82123059e-02 -5.88943971e-01 4.80035735e+01] [ 5.87080435e-01 -4.68706877e-02 8.08170590e-01 3.37837357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.270714057 meters Centerline goodness : 0.996209 Centerline is valid? [True, True] Translation: X:80.56, Y:48.01, Z:33.79 [[-9.81984060e-02 -9.95001819e-01 -1.81232646e-02 8.05587777e+01] [ 7.90483678e-01 -6.69250118e-02 -6.08815734e-01 4.80071412e+01] [ 6.04559863e-01 -7.41108794e-02 7.93104627e-01 3.37932458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.30071405700001 meters Centerline goodness : 0.995533 Centerline is valid? [True, True] Translation: X:80.53, Y:47.98, Z:33.80 [[-7.92187196e-02 -9.93151917e-01 8.58700377e-02 8.05256567e+01] [ 8.07961187e-01 -1.14423744e-01 -5.78018968e-01 4.79777552e+01] [ 5.83886217e-01 2.35897351e-02 8.11492705e-01 3.38021299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.33071405700001 meters Centerline goodness : 0.994992 Centerline is valid? [True, True] Translation: X:80.55, Y:48.00, Z:33.78 [[-7.59126425e-02 -9.96912578e-01 2.00644436e-02 8.05549720e+01] [ 8.10523375e-01 -7.34148214e-02 -5.81087018e-01 4.79952314e+01] [ 5.80765985e-01 -2.78491506e-02 8.13594061e-01 3.37807097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.360714057 meters Centerline goodness : 0.994415 Centerline is valid? [True, True] Translation: X:80.56, Y:48.00, Z:33.78 [[-7.66616117e-02 -9.96996650e-01 1.09853110e-02 8.05592952e+01] [ 8.08742671e-01 -6.86226368e-02 -5.84145724e-01 4.80035084e+01] [ 5.83145171e-01 -3.58972629e-02 8.11574455e-01 3.37840940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.390714057 meters Centerline goodness : 0.995139 Centerline is valid? [True, True] Translation: X:80.57, Y:48.00, Z:33.78 [[-9.35017949e-02 -9.95317506e-01 -2.45046429e-02 8.05685439e+01] [ 7.89908067e-01 -5.91781924e-02 -6.10363160e-01 4.80001996e+01] [ 6.06054997e-01 -7.64264661e-02 7.91742594e-01 3.37844550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.420714057 meters Centerline goodness : 0.994678 Centerline is valid? [True, True] Translation: X:80.53, Y:47.97, Z:33.80 [[-7.50910388e-02 -9.93505307e-01 8.54900077e-02 8.05325667e+01] [ 8.06663886e-01 -1.10921285e-01 -5.80508263e-01 4.79740868e+01] [ 5.86220702e-01 2.53707333e-02 8.09754046e-01 3.37984645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.450714057 meters Centerline goodness : 0.994656 Centerline is valid? [True, True] Translation: X:80.56, Y:47.98, Z:33.77 [[-7.20612830e-02 -9.97200179e-01 1.99743308e-02 8.05630631e+01] [ 8.08052011e-01 -7.01090328e-02 -5.84924501e-01 4.79819286e+01] [ 5.84687198e-01 -2.60101118e-02 8.10841757e-01 3.37720667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.480714057 meters Centerline goodness : 0.994962 Centerline is valid? [True, True] Translation: X:80.57, Y:47.99, Z:33.77 [[-7.51497077e-02 -9.97170413e-01 -1.92075633e-03 8.05724340e+01] [ 8.04055509e-01 -5.94565045e-02 -5.91573886e-01 4.79863830e+01] [ 5.89785774e-01 -4.60009993e-02 8.06248503e-01 3.37694838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.510714057 meters Centerline goodness : 0.994807 Centerline is valid? [True, True] Translation: X:80.56, Y:47.98, Z:33.78 [[-7.39921137e-02 -9.96799609e-01 3.02606427e-02 8.05617850e+01] [ 8.04802066e-01 -7.76041889e-02 -5.88448149e-01 4.79791862e+01] [ 5.88913238e-01 -1.91866946e-02 8.07968483e-01 3.37790507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.540714057 meters Centerline goodness : 0.995087 Centerline is valid? [True, True] Translation: X:80.56, Y:47.97, Z:33.77 [[-6.83432718e-02 -9.97189648e-01 3.06920784e-02 8.05646283e+01] [ 8.11035807e-01 -7.34479369e-02 -5.80367401e-01 4.79732953e+01] [ 5.80990634e-01 -1.47718324e-02 8.13776183e-01 3.37685449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.570714057 meters Centerline goodness : 0.995357 Centerline is valid? [True, True] Translation: X:80.57, Y:47.97, Z:33.76 [[-6.36958925e-02 -9.97747079e-01 2.10617925e-02 8.05727648e+01] [ 8.14664568e-01 -6.41747685e-02 -5.76370749e-01 4.79695996e+01] [ 5.76423867e-01 -1.95541531e-02 8.16916863e-01 3.37588321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.600714057 meters Centerline goodness : 0.995791 Centerline is valid? [True, True] Translation: X:80.59, Y:48.00, Z:33.78 [[-8.59956540e-02 -9.95402360e-01 -4.21768741e-02 8.05892198e+01] [ 7.93638976e-01 -4.28502918e-02 -6.06878100e-01 4.80002518e+01] [ 6.02280602e-01 -8.56620903e-02 7.93675049e-01 3.37769487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.630714057 meters Centerline goodness : 0.995749 Centerline is valid? [True, True] Translation: X:80.56, Y:47.98, Z:33.80 [[-8.35728085e-02 -9.95700390e-01 3.99539629e-02 8.05573155e+01] [ 7.92360623e-01 -9.07128970e-02 -6.03270929e-01 4.79766389e+01] [ 6.04301439e-01 -1.87590990e-02 7.96534912e-01 3.37977483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.660714057 meters Centerline goodness : 0.995256 Centerline is valid? [True, True] Translation: X:80.54, Y:47.93, Z:33.77 [[-5.68370468e-02 -9.92298418e-01 1.10060891e-01 8.05436581e+01] [ 8.22243655e-01 -1.09052702e-01 -5.58590083e-01 4.79348862e+01] [ 5.66290493e-01 5.87482589e-02 8.22109311e-01 3.37682120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.69071405700001 meters Centerline goodness : 0.995806 Centerline is valid? [True, True] Translation: X:80.60, Y:47.99, Z:33.77 [[-8.28887635e-02 -9.94679747e-01 -6.11690644e-02 8.06038692e+01] [ 7.94875158e-01 -2.89669113e-02 -6.06081184e-01 4.79943021e+01] [ 6.01084800e-01 -9.88590896e-02 7.93047252e-01 3.37652329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.720714057 meters Centerline goodness : 0.995644 Centerline is valid? [True, True] Translation: X:80.56, Y:47.94, Z:33.77 [[-6.08824335e-02 -9.94307239e-01 8.74439519e-02 8.05564938e+01] [ 8.12414475e-01 -1.00259974e-01 -5.74395907e-01 4.79375440e+01] [ 5.79893137e-01 3.60701116e-02 8.13893664e-01 3.37683049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.750714057 meters Centerline goodness : 0.995076 Centerline is valid? [True, True] Translation: X:80.59, Y:47.96, Z:33.75 [[-5.96568809e-02 -9.98127223e-01 1.35315594e-02 8.05905967e+01] [ 8.12982200e-01 -5.64478579e-02 -5.79546013e-01 4.79628433e+01] [ 5.79224480e-01 -2.35729906e-02 8.14827169e-01 3.37525965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.780714057 meters Centerline goodness : 0.995811 Centerline is valid? [True, True] Translation: X:80.60, Y:47.99, Z:33.77 [[-8.21894559e-02 -9.95930796e-01 -3.69694881e-02 8.06026712e+01] [ 7.94008204e-01 -4.30164695e-02 -6.06383176e-01 4.79882687e+01] [ 6.02325382e-01 -7.91923801e-02 7.94312723e-01 3.37708224e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.810714057 meters Centerline goodness : 0.995787 Centerline is valid? [True, True] Translation: X:80.57, Y:47.97, Z:33.79 [[-8.17744778e-02 -9.95825885e-01 4.05430822e-02 8.05717750e+01] [ 7.92319946e-01 -8.96328601e-02 -6.03485753e-01 4.79696929e+01] [ 6.04600727e-01 -1.72266396e-02 7.96342391e-01 3.37918646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.840714057 meters Centerline goodness : 0.995926 Centerline is valid? [True, True] Translation: X:80.58, Y:47.97, Z:33.79 [[-8.18975276e-02 -9.95803865e-01 4.08345204e-02 8.05755515e+01] [ 7.92265051e-01 -8.99061414e-02 -6.03517170e-01 4.79657075e+01] [ 6.04656004e-01 -1.70748007e-02 7.96303691e-01 3.37883447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.870714057 meters Centerline goodness : 0.995727 Centerline is valid? [True, True] Translation: X:80.58, Y:47.97, Z:33.79 [[-8.22823895e-02 -9.95761273e-01 4.10986177e-02 8.05770155e+01] [ 7.92490167e-01 -9.03797421e-02 -6.03150758e-01 4.79669983e+01] [ 6.04308649e-01 -1.70584352e-02 7.96567679e-01 3.37892864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.900714057 meters Centerline goodness : 0.994343 Centerline is valid? [True, True] Translation: X:80.57, Y:47.94, Z:33.77 [[-6.23891996e-02 -9.94485688e-01 8.42959340e-02 8.05742960e+01] [ 8.14272076e-01 -9.95581157e-02 -5.71882128e-01 4.79359702e+01] [ 5.77120936e-01 3.29605570e-02 8.15993276e-01 3.37652105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.930714057 meters Centerline goodness : 0.995518 Centerline is valid? [True, True] Translation: X:80.61, Y:47.98, Z:33.77 [[-8.31628393e-02 -9.96252528e-01 -2.37664047e-02 8.06098069e+01] [ 7.94679730e-01 -5.19082960e-02 -6.04805469e-01 4.79774305e+01] [ 6.01305304e-01 -6.91840201e-02 7.96018531e-01 3.37686387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.960714057 meters Centerline goodness : 0.995216 Centerline is valid? [True, True] Translation: X:80.57, Y:47.94, Z:33.77 [[-6.34595904e-02 -9.93613766e-01 9.32982535e-02 8.05748139e+01] [ 8.13689866e-01 -1.05642156e-01 -5.71619224e-01 4.79402008e+01] [ 5.77824958e-01 3.96411216e-02 8.15197460e-01 3.37709700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.990714057 meters Centerline goodness : 0.994482 Centerline is valid? [True, True] Translation: X:80.61, Y:47.96, Z:33.75 [[-6.20985462e-02 -9.97988421e-01 1.27625225e-02 8.06101510e+01] [ 8.17127037e-01 -5.81789213e-02 -5.73514271e-01 4.79638637e+01] [ 5.73103111e-01 -2.51858003e-02 8.19096148e-01 3.37517999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.020714057 meters Centerline goodness : 0.995669 Centerline is valid? [True, True] Translation: X:80.62, Y:47.98, Z:33.76 [[-8.73162747e-02 -9.95619392e-01 -3.34349248e-02 8.06225684e+01] [ 7.95731216e-01 -4.95151199e-02 -6.03622469e-01 4.79771727e+01] [ 5.99322702e-01 -7.93112787e-02 7.96568905e-01 3.37640829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.05071405700001 meters Centerline goodness : 0.995758 Centerline is valid? [True, True] Translation: X:80.59, Y:47.96, Z:33.78 [[-8.84795451e-02 -9.95210181e-01 4.15700191e-02 8.05932238e+01] [ 7.94506402e-01 -9.56841685e-02 -5.99670007e-01 4.79623319e+01] [ 6.00775288e-01 -2.00308831e-02 7.99166952e-01 3.37843211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.08071405700001 meters Centerline goodness : 0.994151 Centerline is valid? [True, True] Translation: X:80.59, Y:47.94, Z:33.77 [[-7.12655273e-02 -9.93398316e-01 8.98944429e-02 8.05883502e+01] [ 8.13753865e-01 -1.10021793e-01 -5.70701193e-01 4.79395517e+01] [ 5.76823952e-01 3.24806289e-02 8.16222480e-01 3.37670855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.110714057 meters Centerline goodness : 0.994125 Centerline is valid? [True, True] Translation: X:80.62, Y:47.97, Z:33.75 [[-7.28312318e-02 -9.97315021e-01 7.63941179e-03 8.06231757e+01] [ 8.11908356e-01 -6.37365307e-02 -5.80295163e-01 4.79655413e+01] [ 5.79223992e-01 -3.60611093e-02 8.14370409e-01 3.37538758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.140714057 meters Centerline goodness : 0.994058 Centerline is valid? [True, True] Translation: X:80.62, Y:47.96, Z:33.75 [[-7.43734321e-02 -9.97067190e-01 1.80447024e-02 8.06207793e+01] [ 8.11763479e-01 -7.10415841e-02 -5.79649158e-01 4.79560672e+01] [ 5.79231082e-01 -2.84624669e-02 8.14666338e-01 3.37513392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.170714057 meters Centerline goodness : 0.994827 Centerline is valid? [True, True] Translation: X:80.63, Y:47.98, Z:33.77 [[-9.81097944e-02 -9.94896278e-01 -2.35767685e-02 8.06301385e+01] [ 7.96004589e-01 -6.42334628e-02 -6.01872708e-01 4.79783731e+01] [ 5.97286500e-01 -7.78168235e-02 7.98243935e-01 3.37675814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.200714057 meters Centerline goodness : 0.995066 Centerline is valid? [True, True] Translation: X:80.60, Y:47.96, Z:33.78 [[-9.88219620e-02 -9.94204862e-01 4.23191750e-02 8.06045046e+01] [ 7.94332856e-01 -1.04428181e-01 -5.98439695e-01 4.79641952e+01] [ 5.99390968e-01 -2.55234736e-02 8.00049385e-01 3.37832758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.230714057 meters Centerline goodness : 0.995050 Centerline is valid? [True, True] Translation: X:80.61, Y:47.96, Z:33.78 [[-1.01017093e-01 -9.93969620e-01 4.26607761e-02 8.06075935e+01] [ 7.93523016e-01 -1.06361979e-01 -5.99173058e-01 4.79632389e+01] [ 6.00097301e-01 -2.66744129e-02 7.99482148e-01 3.37813601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.260714057 meters Centerline goodness : 0.994254 Centerline is valid? [True, True] Translation: X:80.61, Y:47.96, Z:33.78 [[-1.02346768e-01 -9.93820000e-01 4.29761170e-02 8.06091704e+01] [ 7.93087986e-01 -1.07600340e-01 -5.99527826e-01 4.79585311e+01] [ 6.00446989e-01 -2.72758932e-02 7.99199249e-01 3.37776641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.290714057 meters Centerline goodness : 0.994053 Centerline is valid? [True, True] Translation: X:80.61, Y:47.96, Z:33.78 [[-1.03998808e-01 -9.93634999e-01 4.32866717e-02 8.06111187e+01] [ 7.92665561e-01 -1.09094715e-01 -5.99816348e-01 4.79587286e+01] [ 6.00720864e-01 -2.80683315e-02 7.98965965e-01 3.37776266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.320714057 meters Centerline goodness : 0.993747 Centerline is valid? [True, True] Translation: X:80.61, Y:47.96, Z:33.78 [[-1.05310814e-01 -9.93485041e-01 4.35557836e-02 8.06119788e+01] [ 7.92709571e-01 -1.10312805e-01 -5.99535338e-01 4.79578429e+01] [ 6.00434150e-01 -2.86104680e-02 7.99162232e-01 3.37770239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.350714057 meters Centerline goodness : 0.993839 Centerline is valid? [True, True] Translation: X:80.61, Y:47.95, Z:33.77 [[-1.06379898e-01 -9.93360322e-01 4.38016839e-02 8.06132575e+01] [ 7.93019246e-01 -1.11334964e-01 -5.98936559e-01 4.79543463e+01] [ 5.99836472e-01 -2.89792317e-02 7.99597656e-01 3.37748009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.380714057 meters Centerline goodness : 0.994264 Centerline is valid? [True, True] Translation: X:80.62, Y:47.95, Z:33.77 [[-1.08255688e-01 -9.93148682e-01 4.40045648e-02 8.06153709e+01] [ 7.93667972e-01 -1.12997632e-01 -5.97764740e-01 4.79534592e+01] [ 5.98641676e-01 -2.97864193e-02 8.00462937e-01 3.37740452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.410714057 meters Centerline goodness : 0.993896 Centerline is valid? [True, True] Translation: X:80.62, Y:47.95, Z:33.77 [[-1.09003754e-01 -9.93055798e-01 4.42533992e-02 8.06167254e+01] [ 7.93965476e-01 -1.13764411e-01 -5.97223980e-01 4.79521575e+01] [ 5.98111198e-01 -2.99639843e-02 8.00852767e-01 3.37728350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.44071405700001 meters Centerline goodness : 0.993641 Centerline is valid? [True, True] Translation: X:80.62, Y:47.95, Z:33.77 [[-1.09875375e-01 -9.92946641e-01 4.45462708e-02 8.06185668e+01] [ 7.93802755e-01 -1.14634259e-01 -5.97273951e-01 4.79514474e+01] [ 5.98167692e-01 -3.02647468e-02 8.00799261e-01 3.37718944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.470714057 meters Centerline goodness : 0.993760 Centerline is valid? [True, True] Translation: X:80.62, Y:47.95, Z:33.77 [[-1.10207273e-01 -9.92897125e-01 4.48291821e-02 8.06193641e+01] [ 7.93805102e-01 -1.15071827e-01 -5.97186683e-01 4.79513255e+01] [ 5.98103517e-01 -3.02286826e-02 8.00848556e-01 3.37718326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.500714057 meters Centerline goodness : 0.993244 Centerline is valid? [True, True] Translation: X:80.62, Y:47.95, Z:33.77 [[-1.10388904e-01 -9.92860553e-01 4.51908319e-02 8.06216069e+01] [ 7.93045765e-01 -1.15397407e-01 -5.98131970e-01 4.79453823e+01] [ 5.99076543e-01 -3.01887346e-02 8.00122450e-01 3.37674461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.530714057 meters Centerline goodness : 0.993264 Centerline is valid? [True, True] Translation: X:80.62, Y:47.95, Z:33.77 [[-1.11530643e-01 -9.92719146e-01 4.54929995e-02 8.06216460e+01] [ 7.92767495e-01 -1.16483988e-01 -5.98290213e-01 4.79471461e+01] [ 5.99233356e-01 -3.06623212e-02 7.99987005e-01 3.37681610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.560714057 meters Centerline goodness : 0.993638 Centerline is valid? [True, True] Translation: X:80.62, Y:47.95, Z:33.77 [[-1.12565512e-01 -9.92587680e-01 4.58116114e-02 8.06235035e+01] [ 7.92340530e-01 -1.17486629e-01 -5.98659649e-01 4.79469505e+01] [ 5.99604444e-01 -3.10900334e-02 7.99692391e-01 3.37673533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.590714057 meters Centerline goodness : 0.993439 Centerline is valid? [True, True] Translation: X:80.61, Y:48.26, Z:34.00 [[-1.07262628e-01 -9.93503818e-01 3.80117495e-02 8.06070670e+01] [ 7.92053312e-01 -1.08497443e-01 -6.00732766e-01 4.82607269e+01] [ 6.00954474e-01 -3.43288434e-02 7.98545710e-01 3.39983364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.620714057 meters Centerline goodness : 0.993439 Centerline is valid? [True, True] Translation: X:80.61, Y:48.26, Z:34.00 [[-1.07758148e-01 -9.93390356e-01 3.95446931e-02 8.06066873e+01] [ 7.91944325e-01 -1.09816299e-01 -6.00636801e-01 4.82582786e+01] [ 6.01009457e-01 -3.34063141e-02 7.98543456e-01 3.39971218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.650714057 meters Centerline goodness : 0.993799 Centerline is valid? [True, True] Translation: X:80.63, Y:47.94, Z:33.76 [[-1.13158740e-01 -9.92583508e-01 4.44193652e-02 8.06261561e+01] [ 7.93300310e-01 -1.17176170e-01 -5.97448210e-01 4.79405321e+01] [ 5.98222130e-01 -3.23685903e-02 8.00676312e-01 3.37626309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.680714057 meters Centerline goodness : 0.993377 Centerline is valid? [True, True] Translation: X:80.63, Y:47.94, Z:33.76 [[-1.12950181e-01 -9.92520421e-01 4.63192222e-02 8.06255838e+01] [ 7.93634709e-01 -1.18168731e-01 -5.96808261e-01 4.79388334e+01] [ 5.97817870e-01 -3.06490586e-02 8.01045835e-01 3.37621910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.710714057 meters Centerline goodness : 0.987105 Centerline is valid? [True, True] Translation: X:80.56, Y:48.76, Z:34.37 [[-1.17364811e-01 -9.91871006e-01 4.91671415e-02 8.05562253e+01] [ 7.95630607e-01 -1.23541923e-01 -5.93050866e-01 4.87629172e+01] [ 5.94304163e-01 -3.04844201e-02 8.03662405e-01 3.43716058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.740714057 meters Centerline goodness : 0.993460 Centerline is valid? [True, True] Translation: X:80.62, Y:47.95, Z:33.77 [[-1.06740078e-01 -9.92973047e-01 5.10987636e-02 8.06224921e+01] [ 7.94688020e-01 -1.16086179e-01 -5.95814526e-01 4.79468822e+01] [ 5.97559626e-01 -2.29897136e-02 8.01494833e-01 3.37702480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.770714057 meters Centerline goodness : 0.993948 Centerline is valid? [True, True] Translation: X:80.62, Y:47.95, Z:33.77 [[-1.06065355e-01 -9.93338226e-01 4.50478603e-02 8.06242124e+01] [ 7.95374427e-01 -1.11942036e-01 -5.95691616e-01 4.79453905e+01] [ 5.96766002e-01 -2.73523267e-02 8.01948994e-01 3.37663622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.80071405700001 meters Centerline goodness : 0.993608 Centerline is valid? [True, True] Translation: X:80.62, Y:47.94, Z:33.76 [[-1.05332500e-01 -9.93403521e-01 4.53266898e-02 8.06246462e+01] [ 7.95530291e-01 -1.11525706e-01 -5.95561561e-01 4.79400077e+01] [ 5.96688042e-01 -2.66732336e-02 8.02029874e-01 3.37626628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.83071405700001 meters Centerline goodness : 0.993467 Centerline is valid? [True, True] Translation: X:80.62, Y:47.94, Z:33.76 [[-1.04888729e-01 -9.93436728e-01 4.56269868e-02 8.06242911e+01] [ 7.95438361e-01 -1.11344131e-01 -5.95718304e-01 4.79379363e+01] [ 5.96888740e-01 -2.61906799e-02 8.01896427e-01 3.37615825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.860714057 meters Centerline goodness : 0.993557 Centerline is valid? [True, True] Translation: X:80.62, Y:47.93, Z:33.76 [[-1.03511784e-01 -9.93570233e-01 4.58639486e-02 8.06244007e+01] [ 7.96061584e-01 -1.10403449e-01 -5.95060529e-01 4.79341039e+01] [ 5.96297967e-01 -2.50852493e-02 8.02371152e-01 3.37589415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.890714057 meters Centerline goodness : 0.993743 Centerline is valid? [True, True] Translation: X:80.62, Y:47.93, Z:33.76 [[-1.03138453e-01 -9.93597289e-01 4.61181922e-02 8.06247416e+01] [ 7.96398476e-01 -1.10268797e-01 -5.94634559e-01 4.79313984e+01] [ 5.95912684e-01 -2.46012306e-02 8.02672320e-01 3.37570611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.920714057 meters Centerline goodness : 0.993258 Centerline is valid? [True, True] Translation: X:80.63, Y:47.93, Z:33.76 [[-1.03020559e-01 -9.93595452e-01 4.64202710e-02 8.06252247e+01] [ 7.96244649e-01 -1.10348274e-01 -5.94825787e-01 4.79281218e+01] [ 5.96138594e-01 -2.43173926e-02 8.02513203e-01 3.37551058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.950714057 meters Centerline goodness : 0.993428 Centerline is valid? [True, True] Translation: X:80.63, Y:47.93, Z:33.75 [[-1.03108369e-01 -9.93571478e-01 4.67373729e-02 8.06258676e+01] [ 7.95925348e-01 -1.10595945e-01 -5.95207004e-01 4.79269695e+01] [ 5.96549667e-01 -2.41713635e-02 8.02212092e-01 3.37540111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.980714057 meters Centerline goodness : 0.993251 Centerline is valid? [True, True] Translation: X:80.63, Y:47.93, Z:33.75 [[-1.03349270e-01 -9.93528814e-01 4.71107648e-02 8.06269551e+01] [ 7.95059872e-01 -1.10978769e-01 -5.96291466e-01 4.79265092e+01] [ 5.97661048e-01 -2.41704089e-02 8.01384467e-01 3.37533915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.010714057 meters Centerline goodness : 0.993453 Centerline is valid? [True, True] Translation: X:80.62, Y:48.17, Z:33.93 [[-9.93706606e-02 -9.94401236e-01 3.59395730e-02 8.06163916e+01] [ 7.95458571e-01 -1.01085728e-01 -5.97517646e-01 4.81730137e+01] [ 5.97805264e-01 -3.07872818e-02 8.01049942e-01 3.39307614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.040714057 meters Centerline goodness : 0.993519 Centerline is valid? [True, True] Translation: X:80.62, Y:47.93, Z:33.75 [[-1.03483973e-01 -9.93058150e-01 5.59158177e-02 8.06248141e+01] [ 7.94350139e-01 -1.16347966e-01 -5.96213895e-01 4.79252301e+01] [ 5.98580759e-01 -1.72818449e-02 8.00876028e-01 3.37549056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.070714057 meters Centerline goodness : 0.993037 Centerline is valid? [True, True] Translation: X:80.63, Y:47.92, Z:33.75 [[-1.03833514e-01 -9.93460561e-01 4.74838379e-02 8.06300476e+01] [ 7.94248009e-01 -1.11559497e-01 -5.97264245e-01 4.79224718e+01] [ 5.98655745e-01 -2.43021018e-02 8.00637688e-01 3.37494705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.100714057 meters Centerline goodness : 0.993645 Centerline is valid? [True, True] Translation: X:80.63, Y:47.93, Z:33.75 [[-1.04326833e-01 -9.93398288e-01 4.77048528e-02 8.06305644e+01] [ 7.94798701e-01 -1.12111456e-01 -5.96427738e-01 4.79269183e+01] [ 5.97838554e-01 -2.43076617e-02 8.01247902e-01 3.37524313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.130714057 meters Centerline goodness : 0.987597 Centerline is valid? [True, True] Translation: X:80.57, Y:48.75, Z:34.36 [[-1.10976945e-01 -9.93047961e-01 3.92411210e-02 8.05657048e+01] [ 7.95327963e-01 -1.12419126e-01 -5.95663808e-01 4.87481797e+01] [ 5.95934182e-01 -3.48953889e-02 8.02274743e-01 3.43563524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.160714057 meters Centerline goodness : 0.993412 Centerline is valid? [True, True] Translation: X:80.62, Y:47.93, Z:33.76 [[-1.02786875e-01 -9.92562858e-01 6.52214086e-02 8.06231128e+01] [ 7.94870471e-01 -1.21380063e-01 -5.94514772e-01 4.79327910e+01] [ 5.98009860e-01 -9.26574367e-03 8.01435184e-01 3.37639143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.19071405700001 meters Centerline goodness : 0.992729 Centerline is valid? [True, True] Translation: X:80.63, Y:47.93, Z:33.76 [[-1.06183430e-01 -9.93276432e-01 4.61195112e-02 8.06329558e+01] [ 7.94472029e-01 -1.12639540e-01 -5.96763378e-01 4.79336239e+01] [ 5.97945880e-01 -2.67257208e-02 8.01090794e-01 3.37563806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.220714057 meters Centerline goodness : 0.993545 Centerline is valid? [True, True] Translation: X:80.63, Y:47.93, Z:33.76 [[-1.08811999e-01 -9.92978143e-01 4.64150437e-02 8.06336570e+01] [ 7.94081462e-01 -1.14915297e-01 -5.96849316e-01 4.79344004e+01] [ 5.97992124e-01 -2.80870415e-02 8.01009699e-01 3.37567963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.250714057 meters Centerline goodness : 0.986944 Centerline is valid? [True, True] Translation: X:80.57, Y:48.66, Z:34.29 [[-1.19431326e-01 -9.91670287e-01 4.82307009e-02 8.05749491e+01] [ 7.94954052e-01 -1.24616591e-01 -5.93732904e-01 4.86614861e+01] [ 5.94797625e-01 -3.25691170e-02 8.03215437e-01 3.42942230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.280714057 meters Centerline goodness : 0.991926 Centerline is valid? [True, True] Translation: X:80.63, Y:47.92, Z:33.75 [[-8.35796333e-02 -9.94076266e-01 6.94753418e-02 8.06313204e+01] [ 8.13320806e-01 -1.08333727e-01 -5.71640682e-01 4.79156730e+01] [ 5.75780957e-01 8.72822239e-03 8.17557403e-01 3.37468880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.310714057 meters Centerline goodness : 0.993534 Centerline is valid? [True, True] Translation: X:80.65, Y:47.95, Z:33.75 [[-1.07804634e-01 -9.94048129e-01 -1.56995968e-02 8.06544788e+01] [ 8.03239989e-01 -7.77844826e-02 -5.90554904e-01 4.79492310e+01] [ 5.85818812e-01 -7.62750994e-02 8.06844736e-01 3.37532669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.340714057 meters Centerline goodness : 0.992830 Centerline is valid? [True, True] Translation: X:80.63, Y:47.94, Z:33.76 [[-1.13180583e-01 -9.92893435e-01 3.67801925e-02 8.06330014e+01] [ 8.00567346e-01 -1.13056575e-01 -5.88481210e-01 4.79392496e+01] [ 5.88457373e-01 -3.71596255e-02 8.07673871e-01 3.37646630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.370714057 meters Centerline goodness : 0.993305 Centerline is valid? [True, True] Translation: X:80.63, Y:47.94, Z:33.76 [[-1.17233898e-01 -9.92410178e-01 3.71248105e-02 8.06329673e+01] [ 7.99378883e-01 -1.16480782e-01 -5.89428222e-01 4.79387116e+01] [ 5.89278894e-01 -3.94241786e-02 8.06967236e-01 3.37640865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.400714057 meters Centerline goodness : 0.992249 Centerline is valid? [True, True] Translation: X:80.64, Y:47.93, Z:33.75 [[-1.01996206e-01 -9.93353393e-01 5.33461431e-02 8.06357946e+01] [ 8.06902041e-01 -1.13977111e-01 -5.79584605e-01 4.79250001e+01] [ 5.81812573e-01 -1.60703191e-02 8.13164113e-01 3.37520087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.430714057 meters Centerline goodness : 0.993226 Centerline is valid? [True, True] Translation: X:80.65, Y:47.93, Z:33.75 [[-1.04426829e-01 -9.94467253e-01 1.13982839e-02 8.06508841e+01] [ 8.05246371e-01 -9.12722627e-02 -5.85873414e-01 4.79337795e+01] [ 5.83672271e-01 -5.20024759e-02 8.10322419e-01 3.37457804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.460714057 meters Centerline goodness : 0.993637 Centerline is valid? [True, True] Translation: X:80.64, Y:47.94, Z:33.76 [[-1.19386331e-01 -9.92790804e-01 1.06453414e-02 8.06403750e+01] [ 7.99183361e-01 -1.02455332e-01 -5.92291196e-01 4.79410150e+01] [ 5.89111925e-01 -6.22038931e-02 8.05653658e-01 3.37555069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.490714057 meters Centerline goodness : 0.992758 Centerline is valid? [True, True] Translation: X:80.63, Y:47.92, Z:33.75 [[-1.04064564e-01 -9.93178416e-01 5.26041884e-02 8.06309663e+01] [ 8.05543091e-01 -1.15189551e-01 -5.81232910e-01 4.79228436e+01] [ 5.83327434e-01 -1.81108089e-02 8.12035162e-01 3.37507825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.520714057 meters Centerline goodness : 0.991864 Centerline is valid? [True, True] Translation: X:80.65, Y:47.93, Z:33.74 [[-1.05730378e-01 -9.94364482e-01 7.76941896e-03 8.06460803e+01] [ 8.07835260e-01 -9.04475675e-02 -5.82427188e-01 4.79281732e+01] [ 5.79847634e-01 -5.53038364e-02 8.12845746e-01 3.37397610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.55071405700001 meters Centerline goodness : 0.993181 Centerline is valid? [True, True] Translation: X:80.63, Y:47.92, Z:33.74 [[-1.04936190e-01 -9.93680776e-01 3.98360610e-02 8.06317755e+01] [ 8.06976677e-01 -1.08492775e-01 -5.80532481e-01 4.79234866e+01] [ 5.81185891e-01 -2.87720948e-02 8.13262029e-01 3.37449138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.58071405700001 meters Centerline goodness : 0.993247 Centerline is valid? [True, True] Translation: X:80.64, Y:47.93, Z:33.74 [[-1.07287679e-01 -9.94131792e-01 1.38323938e-02 8.06399104e+01] [ 8.04256068e-01 -9.49587402e-02 -5.86647266e-01 4.79272320e+01] [ 5.84518205e-01 -5.18152367e-02 8.09724428e-01 3.37414826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.610714057 meters Centerline goodness : 0.992745 Centerline is valid? [True, True] Translation: X:80.64, Y:47.93, Z:33.74 [[-1.07450653e-01 -9.94125226e-01 1.30150387e-02 8.06372903e+01] [ 8.06279971e-01 -9.47915352e-02 -5.83889693e-01 4.79260239e+01] [ 5.81693188e-01 -5.22455637e-02 8.11728671e-01 3.37400354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.640714057 meters Centerline goodness : 0.993010 Centerline is valid? [True, True] Translation: X:80.62, Y:47.93, Z:33.75 [[-1.06689756e-01 -9.93434747e-01 4.12879968e-02 8.06233625e+01] [ 8.05227160e-01 -1.10688254e-01 -5.82543845e-01 4.79270626e+01] [ 5.83289394e-01 -2.89052444e-02 8.11749943e-01 3.37497033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.670714057 meters Centerline goodness : 0.992873 Centerline is valid? [True, True] Translation: X:80.63, Y:47.92, Z:33.73 [[-1.07092052e-01 -9.94128565e-01 1.54818798e-02 8.06312066e+01] [ 8.09606494e-01 -9.62319265e-02 -5.79030864e-01 4.79198734e+01] [ 5.77120973e-01 -4.94753731e-02 8.15158616e-01 3.37333272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.700714057 meters Centerline goodness : 0.993242 Centerline is valid? [True, True] Translation: X:80.62, Y:47.92, Z:33.74 [[-1.08905757e-01 -9.93492625e-01 3.33457771e-02 8.06208091e+01] [ 8.06344140e-01 -1.07908939e-01 -5.81519380e-01 4.79208601e+01] [ 5.81333522e-01 -3.64426365e-02 8.12848861e-01 3.37421433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.730714057 meters Centerline goodness : 0.992952 Centerline is valid? [True, True] Translation: X:80.63, Y:47.92, Z:33.73 [[-1.09012621e-01 -9.93802062e-01 2.17648861e-02 8.06250073e+01] [ 8.07697348e-01 -1.01318797e-01 -5.80826563e-01 4.79172296e+01] [ 5.79431828e-01 -4.57379852e-02 8.13736317e-01 3.37339531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.760714057 meters Centerline goodness : 0.993259 Centerline is valid? [True, True] Translation: X:80.62, Y:47.92, Z:33.74 [[-1.11645338e-01 -9.93468704e-01 2.35638094e-02 8.06215040e+01] [ 8.08293866e-01 -1.04578553e-01 -5.79417253e-01 4.79219939e+01] [ 5.78097176e-01 -4.56427522e-02 8.14690367e-01 3.37367925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.790714057 meters Centerline goodness : 0.992784 Centerline is valid? [True, True] Translation: X:80.62, Y:47.92, Z:33.73 [[-1.11763251e-01 -9.93480880e-01 2.24658863e-02 8.06212237e+01] [ 8.10373828e-01 -1.04202539e-01 -5.76572709e-01 4.79182970e+01] [ 5.75154965e-01 -4.62338739e-02 8.16736919e-01 3.37308633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.820714057 meters Centerline goodness : 0.992595 Centerline is valid? [True, True] Translation: X:80.62, Y:47.93, Z:33.73 [[-1.16106686e-01 -9.93184695e-01 1.01684976e-02 8.06228819e+01] [ 8.10952066e-01 -1.00704218e-01 -5.76381304e-01 4.79291669e+01] [ 5.73477100e-01 -5.86755587e-02 8.17117614e-01 3.37340587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.850714057 meters Centerline goodness : 0.993420 Centerline is valid? [True, True] Translation: X:80.61, Y:47.93, Z:33.75 [[-1.17832728e-01 -9.92347602e-01 3.69010231e-02 8.06095384e+01] [ 8.08487664e-01 -1.17444951e-01 -5.76675282e-01 4.79304524e+01] [ 5.76596172e-01 -3.81171999e-02 8.16139653e-01 3.37454320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.880714057 meters Centerline goodness : 0.993216 Centerline is valid? [True, True] Translation: X:80.62, Y:47.92, Z:33.73 [[-1.21313606e-01 -9.92611203e-01 2.45125692e-03 8.06220006e+01] [ 8.08840797e-01 -1.00284667e-01 -5.79413109e-01 4.79222184e+01] [ 5.75377766e-01 -6.83080167e-02 8.15030331e-01 3.37274515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.910714057 meters Centerline goodness : 0.993861 Centerline is valid? [True, True] Translation: X:80.60, Y:47.92, Z:33.74 [[-1.20916704e-01 -9.91736289e-01 4.28752014e-02 8.06031240e+01] [ 8.07857008e-01 -1.23412778e-01 -5.76312711e-01 4.79198086e+01] [ 5.76841577e-01 -3.50488015e-02 8.16103778e-01 3.37397177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.94071405700001 meters Centerline goodness : 0.993903 Centerline is valid? [True, True] Translation: X:80.61, Y:47.91, Z:33.73 [[-1.21969686e-01 -9.92402890e-01 1.61213872e-02 8.06104326e+01] [ 8.07661512e-01 -1.08678927e-01 -5.79544452e-01 4.79147831e+01] [ 5.76893645e-01 -5.76662307e-02 8.14781154e-01 3.37265015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.970714057 meters Centerline goodness : 0.994789 Centerline is valid? [True, True] Translation: X:80.61, Y:47.93, Z:33.74 [[-1.37570421e-01 -9.90464634e-01 -7.36121674e-03 8.06096061e+01] [ 7.96055528e-01 -1.06139638e-01 -5.95843917e-01 4.79253564e+01] [ 5.89381011e-01 -8.78304357e-02 8.03066522e-01 3.37375207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.00071405699998 meters Centerline goodness : 0.993698 Centerline is valid? [True, True] Translation: X:80.58, Y:47.91, Z:33.74 [[-1.19762924e-01 -9.89596221e-01 7.97255398e-02 8.05786557e+01] [ 8.09427275e-01 -1.43826195e-01 -5.69334271e-01 4.79053577e+01] [ 5.74877664e-01 -3.65311074e-03 8.18231218e-01 3.37431736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.03071405699998 meters Centerline goodness : 0.994228 Centerline is valid? [True, True] Translation: X:80.60, Y:47.91, Z:33.72 [[-1.17146670e-01 -9.92742683e-01 2.71776111e-02 8.05988335e+01] [ 8.13995105e-01 -1.11659454e-01 -5.70038713e-01 4.79140201e+01] [ 5.68936399e-01 -4.46556944e-02 8.21168218e-01 3.37248571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.06071405699998 meters Centerline goodness : 0.994322 Centerline is valid? [True, True] Translation: X:80.60, Y:47.92, Z:33.72 [[-1.17813588e-01 -9.93009242e-01 7.25284173e-03 8.06020834e+01] [ 8.13093551e-01 -1.00655652e-01 -5.73364908e-01 4.79208003e+01] [ 5.70086692e-01 -6.16529379e-02 8.19268014e-01 3.37247022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.09071405699999 meters Centerline goodness : 0.994035 Centerline is valid? [True, True] Translation: X:80.59, Y:47.92, Z:33.73 [[-1.17451030e-01 -9.92868727e-01 2.04192792e-02 8.05943537e+01] [ 8.14083056e-01 -1.08036797e-01 -5.70610925e-01 4.79201008e+01] [ 5.68747777e-01 -5.03958518e-02 8.20966640e-01 3.37289405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.120714057 meters Centerline goodness : 0.994070 Centerline is valid? [True, True] Translation: X:80.59, Y:47.91, Z:33.72 [[-1.16867093e-01 -9.92936769e-01 2.04610657e-02 8.05924176e+01] [ 8.14331393e-01 -1.07598285e-01 -5.70339365e-01 4.79136691e+01] [ 5.68512502e-01 -4.99918156e-02 8.21154281e-01 3.37244682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.150714057 meters Centerline goodness : 0.994317 Centerline is valid? [True, True] Translation: X:80.59, Y:47.92, Z:33.73 [[-1.16597850e-01 -9.93062269e-01 1.52404457e-02 8.05898160e+01] [ 8.12442953e-01 -1.04194732e-01 -5.73654866e-01 4.79238127e+01] [ 5.71262977e-01 -5.45049313e-02 8.18955324e-01 3.37314615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.180714057 meters Centerline goodness : 0.994230 Centerline is valid? [True, True] Translation: X:80.58, Y:47.90, Z:33.72 [[-1.16031888e-01 -9.92952805e-01 2.41107554e-02 8.05843225e+01] [ 8.12229903e-01 -1.08829283e-01 -5.73095779e-01 4.79005989e+01] [ 5.71681017e-01 -4.69139090e-02 8.19133628e-01 3.37181564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.210714057 meters Centerline goodness : 0.994346 Centerline is valid? [True, True] Translation: X:80.58, Y:47.90, Z:33.72 [[-1.15861958e-01 -9.93028471e-01 2.16901498e-02 8.05842078e+01] [ 8.13117867e-01 -1.07367126e-01 -5.72111557e-01 4.79023346e+01] [ 5.70451874e-01 -4.86493168e-02 8.19888958e-01 3.37166688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.240714057 meters Centerline goodness : 0.994466 Centerline is valid? [True, True] Translation: X:80.59, Y:47.90, Z:33.71 [[-1.19285330e-01 -9.92805888e-01 1.03671970e-02 8.05865985e+01] [ 8.08809336e-01 -1.03223683e-01 -5.78940696e-01 4.78973434e+01] [ 5.75845872e-01 -6.06740461e-02 8.15303742e-01 3.37126448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.270714057 meters Centerline goodness : 0.994476 Centerline is valid? [True, True] Translation: X:80.58, Y:47.90, Z:33.72 [[-1.20250063e-01 -9.92322372e-01 2.89176921e-02 8.05751088e+01] [ 8.08155845e-01 -1.14767064e-01 -5.77678675e-01 4.79022899e+01] [ 5.76562272e-01 -4.60958954e-02 8.15751871e-01 3.37227893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.300714057 meters Centerline goodness : 0.994674 Centerline is valid? [True, True] Translation: X:80.58, Y:47.90, Z:33.72 [[-1.21026971e-01 -9.92361318e-01 2.39058097e-02 8.05761145e+01] [ 8.07138338e-01 -1.12399030e-01 -5.79563768e-01 4.78970964e+01] [ 5.77823654e-01 -5.08475519e-02 8.14576179e-01 3.37174638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.330714057 meters Centerline goodness : 0.995061 Centerline is valid? [True, True] Translation: X:80.57, Y:47.90, Z:33.72 [[-1.23557334e-01 -9.92142210e-01 1.96829973e-02 8.05739434e+01] [ 8.04520700e-01 -1.11764019e-01 -5.83314022e-01 4.78996544e+01] [ 5.80930313e-01 -5.62373464e-02 8.12008209e-01 3.37199942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.360714057 meters Centerline goodness : 0.995088 Centerline is valid? [True, True] Translation: X:80.57, Y:47.89, Z:33.72 [[-1.23254203e-01 -9.91861913e-01 3.19115421e-02 8.05682617e+01] [ 8.05273843e-01 -1.18756871e-01 -5.80887978e-01 4.78924305e+01] [ 5.79950376e-01 -4.58993547e-02 8.13357738e-01 3.37192087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.390714057 meters Centerline goodness : 0.994630 Centerline is valid? [True, True] Translation: X:80.57, Y:47.89, Z:33.72 [[-1.23809477e-01 -9.91940159e-01 2.69431730e-02 8.05693343e+01] [ 8.05766805e-01 -1.16344985e-01 -5.80692432e-01 4.78904953e+01] [ 5.79146846e-01 -5.01853117e-02 8.13677065e-01 3.37163417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.420714057 meters Centerline goodness : 0.994792 Centerline is valid? [True, True] Translation: X:80.57, Y:47.89, Z:33.72 [[-1.26299507e-01 -9.91710549e-01 2.36351768e-02 8.05675798e+01] [ 8.04925347e-01 -1.16378553e-01 -5.81851544e-01 4.78938155e+01] [ 5.79778942e-01 -5.44630103e-02 8.12951511e-01 3.37196623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.450714057 meters Centerline goodness : 0.995596 Centerline is valid? [True, True] Translation: X:80.56, Y:47.88, Z:33.72 [[-1.20137633e-01 -9.91352343e-01 5.27966055e-02 8.05568983e+01] [ 8.12934155e-01 -1.28762895e-01 -5.67942053e-01 4.78807265e+01] [ 5.69828929e-01 -2.53110502e-02 8.21373449e-01 3.37156513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.480714057 meters Centerline goodness : 0.995546 Centerline is valid? [True, True] Translation: X:80.57, Y:47.92, Z:33.73 [[-1.26265203e-01 -9.91984317e-01 4.92077401e-03 8.05711184e+01] [ 8.08382360e-01 -1.05767875e-01 -5.79077815e-01 4.79186015e+01] [ 5.74956570e-01 -6.91395107e-02 8.15257426e-01 3.37263923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.510714057 meters Centerline goodness : 0.995530 Centerline is valid? [True, True] Translation: X:80.56, Y:47.88, Z:33.71 [[-1.24910668e-01 -9.91644325e-01 3.22313175e-02 8.05609110e+01] [ 8.09286100e-01 -1.20626034e-01 -5.74895964e-01 4.78849029e+01] [ 5.73980256e-01 -4.57262819e-02 8.17591446e-01 3.37128720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.54071405699997 meters Centerline goodness : 0.995530 Centerline is valid? [True, True] Translation: X:80.56, Y:47.89, Z:33.71 [[-1.25171102e-01 -9.91819670e-01 2.50187244e-02 8.05641673e+01] [ 8.09565139e-01 -1.16682355e-01 -5.75316881e-01 4.78851870e+01] [ 5.73529843e-01 -5.17587610e-02 8.17547889e-01 3.37096921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.57071405699998 meters Centerline goodness : 0.996213 Centerline is valid? [True, True] Translation: X:80.57, Y:47.90, Z:33.72 [[-1.41496799e-01 -9.89936888e-01 -1.90079305e-03 8.05664912e+01] [ 7.97707385e-01 -1.12882994e-01 -5.92385312e-01 4.79047405e+01] [ 5.86209505e-01 -8.53369019e-02 8.05652549e-01 3.37222331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.60071405699998 meters Centerline goodness : 0.995923 Centerline is valid? [True, True] Translation: X:80.54, Y:47.86, Z:33.72 [[-1.31047552e-01 -9.89138576e-01 6.65688871e-02 8.05441055e+01] [ 8.03674093e-01 -1.45311723e-01 -5.77054985e-01 4.78647690e+01] [ 5.80460586e-01 -2.21219531e-02 8.13987793e-01 3.37163943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.63071405699998 meters Centerline goodness : 0.995922 Centerline is valid? [True, True] Translation: X:80.57, Y:47.89, Z:33.71 [[-1.37028495e-01 -9.90503376e-01 1.12362814e-02 8.05652077e+01] [ 7.99952804e-01 -1.17342994e-01 -5.88477810e-01 4.78889997e+01] [ 5.84207756e-01 -7.16497340e-02 8.08435287e-01 3.37114913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.66071405699998 meters Centerline goodness : 0.996721 Centerline is valid? [True, True] Translation: X:80.55, Y:47.89, Z:33.72 [[-1.47220500e-01 -9.88696863e-01 2.83661231e-02 8.05528979e+01] [ 7.93414600e-01 -1.35169555e-01 -5.93483331e-01 4.78879270e+01] [ 5.90609344e-01 -6.48668165e-02 8.04346256e-01 3.37216914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.69071405699998 meters Centerline goodness : 0.996797 Centerline is valid? [True, True] Translation: X:80.54, Y:47.87, Z:33.72 [[-1.39294801e-01 -9.88524065e-01 5.84562265e-02 8.05427701e+01] [ 7.98091451e-01 -1.47014606e-01 -5.84325886e-01 4.78698691e+01] [ 5.86214120e-01 -3.47401436e-02 8.09410976e-01 3.37176655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.72071405699998 meters Centerline goodness : 0.996521 Centerline is valid? [True, True] Translation: X:80.55, Y:47.89, Z:33.72 [[-1.40739619e-01 -9.89656594e-01 2.77882192e-02 8.05524220e+01] [ 7.97713031e-01 -1.29977696e-01 -5.88863073e-01 4.78897941e+01] [ 5.86384072e-01 -6.07093398e-02 8.07754973e-01 3.37193437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.75071405699998 meters Centerline goodness : 0.996366 Centerline is valid? [True, True] Translation: X:80.55, Y:47.89, Z:33.73 [[-1.40317012e-01 -9.89559121e-01 3.29223589e-02 8.05481209e+01] [ 7.96599928e-01 -1.32578014e-01 -5.89789476e-01 4.78936659e+01] [ 5.87996336e-01 -5.65315485e-02 8.06885675e-01 3.37257120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.78071405699998 meters Centerline goodness : 0.996463 Centerline is valid? [True, True] Translation: X:80.54, Y:47.87, Z:33.71 [[-1.35126122e-01 -9.90100634e-01 3.79692686e-02 8.05446730e+01] [ 7.98676147e-01 -1.31520016e-01 -5.87212821e-01 4.78743998e+01] [ 5.86393506e-01 -4.90226421e-02 8.08541549e-01 3.37137695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.81071405699998 meters Centerline goodness : 0.996275 Centerline is valid? [True, True] Translation: X:80.54, Y:47.87, Z:33.71 [[-1.30502927e-01 -9.90940931e-01 3.17026349e-02 8.05433357e+01] [ 7.99702956e-01 -1.24110921e-01 -5.87428005e-01 4.78669623e+01] [ 5.86041098e-01 -5.13083830e-02 8.08655230e-01 3.37073776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.84071405699999 meters Centerline goodness : 0.995916 Centerline is valid? [True, True] Translation: X:80.54, Y:47.86, Z:33.70 [[-1.27613985e-01 -9.91195500e-01 3.53008796e-02 8.05399372e+01] [ 8.00264852e-01 -1.23927170e-01 -5.86701136e-01 4.78597135e+01] [ 5.85910264e-01 -4.66212170e-02 8.09033760e-01 3.37047115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.870714057 meters Centerline goodness : 0.995688 Centerline is valid? [True, True] Translation: X:80.54, Y:47.86, Z:33.70 [[-1.24951504e-01 -9.91501797e-01 3.62119966e-02 8.05373316e+01] [ 8.01584064e-01 -1.22391253e-01 -5.85220787e-01 4.78570034e+01] [ 5.84679494e-01 -4.40972579e-02 8.10065011e-01 3.37035091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.900714057 meters Centerline goodness : 0.995797 Centerline is valid? [True, True] Translation: X:80.54, Y:47.85, Z:33.70 [[-1.20721160e-01 -9.92135476e-01 3.30696138e-02 8.05362697e+01] [ 8.03959213e-01 -1.17256967e-01 -5.83009767e-01 4.78474627e+01] [ 5.82302315e-01 -4.37949946e-02 8.11791853e-01 3.36953521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.930714057 meters Centerline goodness : 0.995498 Centerline is valid? [True, True] Translation: X:80.53, Y:47.85, Z:33.70 [[-1.20740324e-01 -9.92124446e-01 3.33295295e-02 8.05343752e+01] [ 8.03291246e-01 -1.17375353e-01 -5.83905986e-01 4.78497204e+01] [ 5.83219469e-01 -4.37276789e-02 8.11136820e-01 3.36988060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.960714057 meters Centerline goodness : 0.995128 Centerline is valid? [True, True] Translation: X:80.53, Y:47.85, Z:33.70 [[-1.19442896e-01 -9.92077806e-01 3.89232809e-02 8.05299240e+01] [ 8.04589816e-01 -1.19690231e-01 -5.81643771e-01 4.78541899e+01] [ 5.81694613e-01 -3.81559410e-02 8.12511847e-01 3.37030033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.990714057 meters Centerline goodness : 0.995347 Centerline is valid? [True, True] Translation: X:80.53, Y:47.84, Z:33.69 [[-1.20037098e-01 -9.92149315e-01 3.50832068e-02 8.05320183e+01] [ 8.04570491e-01 -1.17923610e-01 -5.82031225e-01 4.78430797e+01] [ 5.81599020e-01 -4.16384262e-02 8.12409270e-01 3.36922029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.020714057 meters Centerline goodness : 0.995323 Centerline is valid? [True, True] Translation: X:80.53, Y:47.85, Z:33.69 [[-1.21654197e-01 -9.91844474e-01 3.80104582e-02 8.05305213e+01] [ 8.03842624e-01 -1.20915121e-01 -5.82423016e-01 4.78471673e+01] [ 5.82269089e-01 -4.02997777e-02 8.11996697e-01 3.36947326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.050714057 meters Centerline goodness : 0.994658 Centerline is valid? [True, True] Translation: X:80.54, Y:47.85, Z:33.69 [[-1.24588415e-01 -9.91952518e-01 2.25372816e-02 8.05370656e+01] [ 8.03757752e-01 -1.14217366e-01 -5.83890289e-01 4.78473979e+01] [ 5.81765591e-01 -5.46314507e-02 8.11519686e-01 3.36872131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.080714057 meters Centerline goodness : 0.995462 Centerline is valid? [True, True] Translation: X:80.53, Y:47.84, Z:33.69 [[-1.24320484e-01 -9.90922466e-01 5.11574419e-02 8.05255244e+01] [ 8.01814042e-01 -1.30698521e-01 -5.83105598e-01 4.78367717e+01] [ 5.84498639e-01 -3.14732148e-02 8.10784051e-01 3.36928769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.110714057 meters Centerline goodness : 0.994726 Centerline is valid? [True, True] Translation: X:80.53, Y:47.84, Z:33.69 [[-1.27988548e-01 -9.91342061e-01 2.93231874e-02 8.05337433e+01] [ 7.99971407e-01 -1.20667488e-01 -5.87779811e-01 4.78426982e+01] [ 5.86229205e-01 -5.17713730e-02 8.08489360e-01 3.36865178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.140714057 meters Centerline goodness : 0.995537 Centerline is valid? [True, True] Translation: X:80.53, Y:47.85, Z:33.70 [[-1.29241538e-01 -9.91099431e-01 3.19146088e-02 8.05314339e+01] [ 7.99449400e-01 -1.23183244e-01 -5.87968150e-01 4.78532588e+01] [ 5.86666244e-01 -5.04757930e-02 8.08254238e-01 3.36951623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.170714057 meters Centerline goodness : 0.995588 Centerline is valid? [True, True] Translation: X:80.53, Y:47.87, Z:33.71 [[-1.29572744e-01 -9.90772912e-01 3.97484595e-02 8.05255126e+01] [ 7.99733435e-01 -1.28119299e-01 -5.86525258e-01 4.78673102e+01] [ 5.86205883e-01 -4.42095152e-02 8.08954993e-01 3.37090465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.200714057 meters Centerline goodness : 0.995583 Centerline is valid? [True, True] Translation: X:80.53, Y:47.84, Z:33.69 [[-1.27544631e-01 -9.91159084e-01 3.65518529e-02 8.05286140e+01] [ 8.01337182e-01 -1.24694158e-01 -5.85072720e-01 4.78402533e+01] [ 5.84457943e-01 -4.53325256e-02 8.10156698e-01 3.36874969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.230714057 meters Centerline goodness : 0.994946 Centerline is valid? [True, True] Translation: X:80.53, Y:47.84, Z:33.69 [[-1.23954837e-01 -9.91685607e-01 3.45666720e-02 8.05273309e+01] [ 8.02069104e-01 -1.20642126e-01 -5.84919336e-01 4.78366960e+01] [ 5.84226284e-01 -4.47787211e-02 8.10354562e-01 3.36857696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.260714057 meters Centerline goodness : 0.995926 Centerline is valid? [True, True] Translation: X:80.53, Y:47.83, Z:33.68 [[-1.21284670e-01 -9.92010266e-01 3.47226375e-02 8.05268579e+01] [ 8.02656327e-01 -1.18593954e-01 -5.84532543e-01 4.78292268e+01] [ 5.83980178e-01 -4.30244920e-02 8.10626945e-01 3.36815105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.29071405699997 meters Centerline goodness : 0.995521 Centerline is valid? [True, True] Translation: X:80.52, Y:47.84, Z:33.69 [[-1.18847863e-01 -9.92437287e-01 3.07150912e-02 8.05242542e+01] [ 8.02059991e-01 -1.14192678e-01 -5.86225045e-01 4.78386125e+01] [ 5.85299032e-01 -4.50362482e-02 8.09565797e-01 3.36892573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.32071405699998 meters Centerline goodness : 0.995591 Centerline is valid? [True, True] Translation: X:80.52, Y:47.83, Z:33.68 [[-1.15489577e-01 -9.92490204e-01 4.03156694e-02 8.05204356e+01] [ 8.03243500e-01 -1.17191034e-01 -5.84008682e-01 4.78270678e+01] [ 5.84347531e-01 -3.50636161e-02 8.10745648e-01 3.36843659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.35071405699998 meters Centerline goodness : 0.995237 Centerline is valid? [True, True] Translation: X:80.52, Y:47.84, Z:33.69 [[-1.23267047e-01 -9.92132001e-01 2.18935550e-02 8.05226826e+01] [ 7.97915914e-01 -1.12205661e-01 -5.92233133e-01 4.78352598e+01] [ 5.90030025e-01 -5.55336137e-02 8.05469173e-01 3.36860356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.38071405699998 meters Centerline goodness : 0.995439 Centerline is valid? [True, True] Translation: X:80.51, Y:47.85, Z:33.71 [[-1.14525251e-01 -9.91715081e-01 5.81821716e-02 8.05101390e+01] [ 8.02316982e-01 -1.26871948e-01 -5.83258921e-01 4.78473940e+01] [ 5.85808354e-01 -2.01173301e-02 8.10199892e-01 3.37080057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.41071405699998 meters Centerline goodness : 0.995067 Centerline is valid? [True, True] Translation: X:80.52, Y:47.86, Z:33.70 [[-1.18036853e-01 -9.92748273e-01 2.27632861e-02 8.05236526e+01] [ 7.96618034e-01 -1.08353191e-01 -5.94692605e-01 4.78554375e+01] [ 5.92846531e-01 -5.20619991e-02 8.03630847e-01 3.37014309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.44071405699998 meters Centerline goodness : 0.996125 Centerline is valid? [True, True] Translation: X:80.51, Y:47.82, Z:33.69 [[-1.19638431e-01 -9.91710466e-01 4.68721293e-02 8.05126976e+01] [ 7.96310361e-01 -1.24047424e-01 -5.92032132e-01 4.78207472e+01] [ 5.92938829e-01 -3.35050332e-02 8.04550159e-01 3.36882980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.47071405699998 meters Centerline goodness : 0.995581 Centerline is valid? [True, True] Translation: X:80.51, Y:47.82, Z:33.69 [[-1.09231164e-01 -9.92290765e-01 5.85456245e-02 8.05100830e+01] [ 8.01032354e-01 -1.22745944e-01 -5.85901529e-01 4.78152349e+01] [ 5.88570914e-01 -1.71017664e-02 8.08264689e-01 3.36860920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.50071405699998 meters Centerline goodness : 0.995650 Centerline is valid? [True, True] Translation: X:80.52, Y:47.82, Z:33.68 [[-1.09851511e-01 -9.93474893e-01 3.06640109e-02 8.05199048e+01] [ 7.99644259e-01 -1.06658236e-01 -5.90925613e-01 4.78218737e+01] [ 5.90340330e-01 -4.03937712e-02 8.06143063e-01 3.36790501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.53071405699998 meters Centerline goodness : 0.995326 Centerline is valid? [True, True] Translation: X:80.51, Y:47.81, Z:33.68 [[-1.04801628e-01 -9.93156443e-01 5.15451021e-02 8.05119943e+01] [ 8.04170758e-01 -1.15124431e-01 -5.83142999e-01 4.78108381e+01] [ 5.85086328e-01 -1.96632720e-02 8.10732598e-01 3.36785459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.56071405699998 meters Centerline goodness : 0.995001 Centerline is valid? [True, True] Translation: X:80.52, Y:47.81, Z:33.67 [[-1.03801918e-01 -9.94177304e-01 2.89249101e-02 8.05205272e+01] [ 8.03354438e-01 -1.00953051e-01 -5.86881699e-01 4.78146952e+01] [ 5.86384524e-01 -3.76824911e-02 8.09155869e-01 3.36709983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.59071405699999 meters Centerline goodness : 0.995198 Centerline is valid? [True, True] Translation: X:80.52, Y:47.81, Z:33.67 [[-1.00452135e-01 -9.93981372e-01 4.37081396e-02 8.05152966e+01] [ 8.06237665e-01 -1.07063080e-01 -5.81823276e-01 4.78125579e+01] [ 5.83001026e-01 -2.32062417e-02 8.12139935e-01 3.36744636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.620714057 meters Centerline goodness : 0.995530 Centerline is valid? [True, True] Translation: X:80.52, Y:47.80, Z:33.67 [[-9.83850161e-02 -9.94430063e-01 3.78052822e-02 8.05175837e+01] [ 8.07376459e-01 -1.01972576e-01 -5.81158195e-01 4.78048307e+01] [ 5.81776282e-01 -2.66541634e-02 8.12911996e-01 3.36660463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.650714057 meters Centerline goodness : 0.995149 Centerline is valid? [True, True] Translation: X:80.52, Y:47.79, Z:33.66 [[-9.62468177e-02 -9.94523158e-01 4.07460186e-02 8.05173727e+01] [ 8.09539587e-01 -1.02030949e-01 -5.78130904e-01 4.77944847e+01] [ 5.79121928e-01 -2.26577447e-02 8.14926021e-01 3.36576452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.680714057 meters Centerline goodness : 0.995103 Centerline is valid? [True, True] Translation: X:80.52, Y:47.81, Z:33.67 [[-9.84679356e-02 -9.94710476e-01 2.92426952e-02 8.05205998e+01] [ 8.08630928e-01 -9.71058454e-02 -5.80246911e-01 4.78124321e+01] [ 5.80017317e-01 -3.34891677e-02 8.13915467e-01 3.36654293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.710714057 meters Centerline goodness : 0.994079 Centerline is valid? [True, True] Translation: X:80.53, Y:47.81, Z:33.66 [[-1.00471704e-01 -9.94750406e-01 1.94182201e-02 8.05265584e+01] [ 8.08985044e-01 -9.30392393e-02 -5.80419589e-01 4.78136618e+01] [ 5.79179278e-01 -4.26066953e-02 8.14086011e-01 3.36596647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.740714057 meters Centerline goodness : 0.995287 Centerline is valid? [True, True] Translation: X:80.51, Y:47.79, Z:33.66 [[-1.00191211e-01 -9.93670354e-01 5.08030413e-02 8.05147177e+01] [ 8.07812162e-01 -1.11047693e-01 -5.78885066e-01 4.77920952e+01] [ 5.80862489e-01 -1.69598809e-02 8.13825000e-01 3.36608082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.770714057 meters Centerline goodness : 0.994604 Centerline is valid? [True, True] Translation: X:80.53, Y:47.80, Z:33.66 [[-1.05215637e-01 -9.94137672e-01 2.48989684e-02 8.05257679e+01] [ 8.05532839e-01 -9.98829909e-02 -5.84072113e-01 4.78033155e+01] [ 5.83135075e-01 -4.13965829e-02 8.11319794e-01 3.36575193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.800714057 meters Centerline goodness : 0.994918 Centerline is valid? [True, True] Translation: X:80.52, Y:47.80, Z:33.66 [[-1.05734374e-01 -9.93593538e-01 3.99014234e-02 8.05205761e+01] [ 8.06960179e-01 -1.09182730e-01 -5.80426052e-01 4.78001206e+01] [ 5.81064120e-01 -2.91721255e-02 8.13334787e-01 3.36608726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.830714057 meters Centerline goodness : 0.995332 Centerline is valid? [True, True] Translation: X:80.53, Y:47.81, Z:33.66 [[-1.10541807e-01 -9.93510150e-01 2.67972178e-02 8.05267531e+01] [ 8.05710424e-01 -1.05367592e-01 -5.82862234e-01 4.78060059e+01] [ 5.81903104e-01 -4.28398467e-02 8.12129008e-01 3.36597214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.860714057 meters Centerline goodness : 0.995124 Centerline is valid? [True, True] Translation: X:80.53, Y:47.81, Z:33.66 [[-1.12905167e-01 -9.93099500e-01 3.17144586e-02 8.05251991e+01] [ 8.05085540e-01 -1.10142905e-01 -5.82842873e-01 4.78086789e+01] [ 5.82314088e-01 -4.02731199e-02 8.11965750e-01 3.36641626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.890714057 meters Centerline goodness : 0.995534 Centerline is valid? [True, True] Translation: X:80.53, Y:47.80, Z:33.66 [[-1.15624003e-01 -9.92901430e-01 2.78897849e-02 8.05286010e+01] [ 8.04657012e-01 -1.10091286e-01 -5.83444086e-01 4.78007047e+01] [ 5.82372890e-01 -4.50184298e-02 8.11674293e-01 3.36562856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.920714057 meters Centerline goodness : 0.995154 Centerline is valid? [True, True] Translation: X:80.53, Y:47.80, Z:33.66 [[-1.18752318e-01 -9.92330759e-01 3.43154671e-02 8.05291287e+01] [ 8.04932254e-01 -1.16446340e-01 -5.81828426e-01 4.77995458e+01] [ 5.81362154e-01 -4.14718479e-02 8.12587307e-01 3.36574376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.950714057 meters Centerline goodness : 0.994902 Centerline is valid? [True, True] Translation: X:80.54, Y:47.80, Z:33.65 [[-1.21353347e-01 -9.92451155e-01 1.77220230e-02 8.05375365e+01] [ 8.05042103e-01 -1.08850770e-01 -5.83145541e-01 4.77993421e+01] [ 5.80672522e-01 -5.64996885e-02 8.12174370e-01 3.36500191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.980714057 meters Centerline goodness : 0.993536 Centerline is valid? [True, True] Translation: X:80.53, Y:47.79, Z:33.66 [[-1.26930404e-01 -9.91174314e-01 3.82380819e-02 8.05309124e+01] [ 8.02377593e-01 -1.25264454e-01 -5.83522934e-01 4.77927094e+01] [ 5.83162817e-01 -4.33854215e-02 8.11195929e-01 3.36559034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.010714057 meters Centerline goodness : 0.996049 Centerline is valid? [True, True] Translation: X:80.52, Y:47.79, Z:33.67 [[-1.23911264e-01 -9.90091435e-01 6.60677679e-02 8.05174554e+01] [ 8.00701874e-01 -1.39091345e-01 -5.82692120e-01 4.77927347e+01] [ 5.86107932e-01 -1.93015316e-02 8.10003051e-01 3.36719398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.04071405699997 meters Centerline goodness : 0.995069 Centerline is valid? [True, True] Translation: X:80.53, Y:47.81, Z:33.67 [[-1.26700681e-01 -9.91560251e-01 2.74810200e-02 8.05324335e+01] [ 7.99539890e-01 -1.18483328e-01 -5.88810382e-01 4.78137501e+01] [ 5.87097013e-01 -5.26305045e-02 8.07803892e-01 3.36695801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.07071405699998 meters Centerline goodness : 0.994878 Centerline is valid? [True, True] Translation: X:80.53, Y:47.82, Z:33.68 [[-1.27576673e-01 -9.91156135e-01 3.65199816e-02 8.05287326e+01] [ 7.98965599e-01 -1.24516922e-01 -5.88344718e-01 4.78166451e+01] [ 5.87688833e-01 -4.58808527e-02 8.07785110e-01 3.36761537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.10071405699998 meters Centerline goodness : 0.995651 Centerline is valid? [True, True] Translation: X:80.53, Y:47.83, Z:33.68 [[-1.29693052e-01 -9.90873066e-01 3.67461481e-02 8.05284630e+01] [ 7.97759062e-01 -1.26282066e-01 -5.89604375e-01 4.78252873e+01] [ 5.88863474e-01 -4.71530185e-02 8.06855874e-01 3.36831616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.13071405699998 meters Centerline goodness : 0.995363 Centerline is valid? [True, True] Translation: X:80.53, Y:47.80, Z:33.66 [[-1.29503596e-01 -9.90854772e-01 3.78898426e-02 8.05305031e+01] [ 7.97531092e-01 -1.26790239e-01 -5.89803689e-01 4.77963035e+01] [ 5.89213862e-01 -4.61633714e-02 8.06657280e-01 3.36634033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.16071405699998 meters Centerline goodness : 0.995497 Centerline is valid? [True, True] Translation: X:80.53, Y:47.80, Z:33.67 [[-1.31132292e-01 -9.90694904e-01 3.64407710e-02 8.05306991e+01] [ 7.96353472e-01 -1.27158805e-01 -5.91313611e-01 4.78047132e+01] [ 5.90445146e-01 -4.85205745e-02 8.05617952e-01 3.36700814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.19071405699998 meters Centerline goodness : 0.995729 Centerline is valid? [True, True] Translation: X:80.53, Y:47.81, Z:33.67 [[-1.30407749e-01 -9.90575531e-01 4.18800176e-02 8.05289426e+01] [ 7.97729680e-01 -1.29915743e-01 -5.88854191e-01 4.78062315e+01] [ 5.88745426e-01 -4.33822165e-02 8.07153521e-01 3.36721625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.22071405699998 meters Centerline goodness : 0.995880 Centerline is valid? [True, True] Translation: X:80.53, Y:47.82, Z:33.68 [[-1.32767908e-01 -9.90663240e-01 3.09681806e-02 8.05328752e+01] [ 7.96614630e-01 -1.25247911e-01 -5.91369675e-01 4.78169870e+01] [ 5.89726898e-01 -5.38452091e-02 8.05805733e-01 3.36758180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.25071405699998 meters Centerline goodness : 0.995431 Centerline is valid? [True, True] Translation: X:80.53, Y:47.83, Z:33.69 [[-1.33659768e-01 -9.90200124e-01 4.04818689e-02 8.05269278e+01] [ 7.95775939e-01 -1.31582494e-01 -5.91123255e-01 4.78308776e+01] [ 5.90657026e-01 -4.67949000e-02 8.05564718e-01 3.36920901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.28071405699998 meters Centerline goodness : 0.995392 Centerline is valid? [True, True] Translation: X:80.53, Y:47.83, Z:33.69 [[-1.36348431e-01 -9.90190009e-01 3.05426114e-02 8.05292717e+01] [ 7.91802631e-01 -1.27455416e-01 -5.97330486e-01 4.78281516e+01] [ 5.95363501e-01 -5.72613544e-02 8.01413401e-01 3.36901605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.31071405699998 meters Centerline goodness : 0.995290 Centerline is valid? [True, True] Translation: X:80.53, Y:47.79, Z:33.67 [[-1.34960232e-01 -9.89871182e-01 4.40542683e-02 8.05262802e+01] [ 7.91486765e-01 -1.34446857e-01 -5.96215350e-01 4.77919033e+01] [ 5.96099351e-01 -4.55969918e-02 8.01614919e-01 3.36718238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.34071405699999 meters Centerline goodness : 0.995100 Centerline is valid? [True, True] Translation: X:80.53, Y:47.78, Z:33.67 [[-1.33783367e-01 -9.90007528e-01 4.45769631e-02 8.05269933e+01] [ 7.93003972e-01 -1.33921684e-01 -5.94314465e-01 4.77837985e+01] [ 5.94345616e-01 -4.41596816e-02 8.02996395e-01 3.36653769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.370714057 meters Centerline goodness : 0.995001 Centerline is valid? [True, True] Translation: X:80.53, Y:47.78, Z:33.66 [[-1.33575549e-01 -9.90165395e-01 4.15940279e-02 8.05286643e+01] [ 7.93184802e-01 -1.31976025e-01 -5.94508368e-01 4.77788529e+01] [ 5.94151027e-01 -4.64200309e-02 8.03012912e-01 3.36608344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.400714057 meters Centerline goodness : 0.995421 Centerline is valid? [True, True] Translation: X:80.53, Y:47.79, Z:33.67 [[-1.32778267e-01 -9.89922642e-01 4.92249463e-02 8.05258387e+01] [ 7.95632345e-01 -1.36071396e-01 -5.90299709e-01 4.77857160e+01] [ 5.91049154e-01 -3.92140128e-02 8.05681797e-01 3.36668844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.430714057 meters Centerline goodness : 0.995421 Centerline is valid? [True, True] Translation: X:80.53, Y:47.79, Z:33.66 [[-1.33229611e-01 -9.90183472e-01 4.22677533e-02 8.05289099e+01] [ 7.95838314e-01 -1.32303088e-01 -5.90878390e-01 4.77854631e+01] [ 5.90670170e-01 -4.50842005e-02 8.05652633e-01 3.36630408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.460714057 meters Centerline goodness : 0.995317 Centerline is valid? [True, True] Translation: X:80.53, Y:47.77, Z:33.65 [[-1.29690592e-01 -9.90057839e-01 5.44593996e-02 8.05263694e+01] [ 8.00001014e-01 -1.36927259e-01 -5.84165476e-01 4.77707211e+01] [ 5.85814585e-01 -3.21931913e-02 8.09805452e-01 3.36531732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.490714057 meters Centerline goodness : 0.995678 Centerline is valid? [True, True] Translation: X:80.54, Y:47.78, Z:33.65 [[-1.33903547e-01 -9.90618860e-01 2.72784528e-02 8.05365173e+01] [ 7.96864893e-01 -1.23995908e-01 -5.91296337e-01 4.77805955e+01] [ 5.89131719e-01 -5.74394357e-02 8.05992884e-01 3.36502676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.520714057 meters Centerline goodness : 0.995633 Centerline is valid? [True, True] Translation: X:80.53, Y:47.78, Z:33.66 [[-1.34439169e-01 -9.89867243e-01 4.57050393e-02 8.05301059e+01] [ 7.96293448e-01 -1.35370978e-01 -5.89568862e-01 4.77781007e+01] [ 5.89782040e-01 -4.28665243e-02 8.06423962e-01 3.36568111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.550714057 meters Centerline goodness : 0.995088 Centerline is valid? [True, True] Translation: X:80.53, Y:47.78, Z:33.66 [[-1.35561167e-01 -9.89945449e-01 4.03878563e-02 8.05325222e+01] [ 7.96272184e-01 -1.33115317e-01 -5.90110939e-01 4.77838447e+01] [ 5.89553881e-01 -4.78364010e-02 8.06311293e-01 3.36576696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.580714057 meters Centerline goodness : 0.995928 Centerline is valid? [True, True] Translation: X:80.53, Y:47.78, Z:33.66 [[-1.36548008e-01 -9.89866100e-01 3.89839267e-02 8.05336070e+01] [ 7.95336439e-01 -1.33004416e-01 -5.91396461e-01 4.77811758e+01] [ 5.90588342e-01 -4.97486710e-02 8.05438067e-01 3.36558501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.610714057 meters Centerline goodness : 0.995742 Centerline is valid? [True, True] Translation: X:80.53, Y:47.79, Z:33.66 [[-1.37418404e-01 -9.89646189e-01 4.14319126e-02 8.05319058e+01] [ 7.94744100e-01 -1.35127285e-01 -5.91711444e-01 4.77887192e+01] [ 5.91183557e-01 -4.83842740e-02 8.05084445e-01 3.36629338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.640714057 meters Centerline goodness : 0.995237 Centerline is valid? [True, True] Translation: X:80.53, Y:47.77, Z:33.65 [[-1.34562316e-01 -9.89806024e-01 4.66585272e-02 8.05333266e+01] [ 7.97229052e-01 -1.36105891e-01 -5.88133510e-01 4.77671688e+01] [ 5.88488592e-01 -4.19430740e-02 8.07416842e-01 3.36477516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.670714057 meters Centerline goodness : 0.996198 Centerline is valid? [True, True] Translation: X:80.54, Y:47.77, Z:33.65 [[-1.34169159e-01 -9.90012356e-01 4.32917028e-02 8.05351767e+01] [ 7.97404709e-01 -1.33797360e-01 -5.88425014e-01 4.77683961e+01] [ 5.88340350e-01 -4.44274814e-02 8.07391994e-01 3.36471204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.700714057 meters Centerline goodness : 0.996238 Centerline is valid? [True, True] Translation: X:80.54, Y:47.77, Z:33.65 [[-1.32474194e-01 -9.90387334e-01 3.97934194e-02 8.05359670e+01] [ 7.98057578e-01 -1.30386087e-01 -5.88305677e-01 4.77704994e+01] [ 5.87839000e-01 -4.61778807e-02 8.07658909e-01 3.36467002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.730714057 meters Centerline goodness : 0.995549 Centerline is valid? [True, True] Translation: X:80.53, Y:47.78, Z:33.66 [[-1.31424822e-01 -9.90395007e-01 4.29563185e-02 8.05333717e+01] [ 7.97647735e-01 -1.31378435e-01 -5.88640636e-01 4.77812354e+01] [ 5.88630281e-01 -4.30979807e-02 8.07252721e-01 3.36571483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.760714057 meters Centerline goodness : 0.995068 Centerline is valid? [True, True] Translation: X:80.53, Y:47.77, Z:33.65 [[-1.28999907e-01 -9.90798112e-01 4.09649199e-02 8.05341806e+01] [ 7.98636452e-01 -1.28291127e-01 -5.87980615e-01 4.77731415e+01] [ 5.87825519e-01 -4.31333663e-02 8.07837033e-01 3.36514835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.79071405699997 meters Centerline goodness : 0.995064 Centerline is valid? [True, True] Translation: X:80.53, Y:47.77, Z:33.65 [[-1.26925985e-01 -9.90875241e-01 4.53436998e-02 8.05328916e+01] [ 8.00067149e-01 -1.29291969e-01 -5.85812380e-01 4.77714581e+01] [ 5.86329559e-01 -3.80768085e-02 8.09177239e-01 3.36516942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.82071405699998 meters Centerline goodness : 0.995437 Centerline is valid? [True, True] Translation: X:80.53, Y:47.78, Z:33.66 [[-1.34472619e-01 -9.90434269e-01 3.09365940e-02 8.05333792e+01] [ 7.93728808e-01 -1.26350834e-01 -5.95004241e-01 4.77847094e+01] [ 5.93221455e-01 -5.54565124e-02 8.03126939e-01 3.36612712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.85071405699998 meters Centerline goodness : 0.995430 Centerline is valid? [True, True] Translation: X:80.53, Y:47.75, Z:33.65 [[-1.20663599e-01 -9.90685040e-01 6.31145504e-02 8.05278003e+01] [ 7.98491265e-01 -1.34635921e-01 -5.86757930e-01 4.77508371e+01] [ 5.89789790e-01 -2.04039067e-02 8.07299006e-01 3.36491348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.88071405699998 meters Centerline goodness : 0.995454 Centerline is valid? [True, True] Translation: X:80.54, Y:47.76, Z:33.65 [[-1.20824479e-01 -9.91908227e-01 3.89809575e-02 8.05372537e+01] [ 7.97797530e-01 -1.20396954e-01 -5.90782257e-01 4.77617913e+01] [ 5.90694969e-01 -4.02820469e-02 8.05888832e-01 3.36458623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.91071405699998 meters Centerline goodness : 0.995727 Centerline is valid? [True, True] Translation: X:80.54, Y:47.76, Z:33.64 [[-1.14159090e-01 -9.92332691e-01 4.73659502e-02 8.05352232e+01] [ 7.99121846e-01 -1.20048895e-01 -5.89060725e-01 4.77562902e+01] [ 5.90230444e-01 -2.93954705e-02 8.06699404e-01 3.36447098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.94071405699998 meters Centerline goodness : 0.995265 Centerline is valid? [True, True] Translation: X:80.54, Y:47.75, Z:33.64 [[-1.10625065e-01 -9.92949005e-01 4.25953930e-02 8.05381209e+01] [ 7.98674262e-01 -1.14325020e-01 -5.90803870e-01 4.77473454e+01] [ 5.91507834e-01 -3.13378725e-02 8.05690027e-01 3.36366416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.97071405699998 meters Centerline goodness : 0.995082 Centerline is valid? [True, True] Translation: X:80.54, Y:47.74, Z:33.63 [[-1.01426335e-01 -9.93736692e-01 4.69050615e-02 8.05375729e+01] [ 8.00606018e-01 -1.09520126e-01 -5.89097060e-01 4.77394298e+01] [ 5.90544412e-01 -2.21974814e-02 8.06699801e-01 3.36316050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.00071405699998 meters Centerline goodness : 0.994963 Centerline is valid? [True, True] Translation: X:80.54, Y:47.73, Z:33.62 [[-9.14182059e-02 -9.94810580e-01 4.46611807e-02 8.05405864e+01] [ 8.01934451e-01 -1.00134710e-01 -5.88960249e-01 4.77271670e+01] [ 5.90376022e-01 -1.80263499e-02 8.06927013e-01 3.36222339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.03071405699998 meters Centerline goodness : 0.994417 Centerline is valid? [True, True] Translation: X:80.55, Y:47.74, Z:33.63 [[-9.04305604e-02 -9.95389891e-01 3.19574419e-02 8.05451168e+01] [ 8.00173576e-01 -9.17246004e-02 -5.92713123e-01 4.77415360e+01] [ 5.92911935e-01 -2.80278794e-02 8.04779395e-01 3.36287732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.06071405699998 meters Centerline goodness : 0.994516 Centerline is valid? [True, True] Translation: X:80.54, Y:47.73, Z:33.63 [[-8.47432513e-02 -9.95077942e-01 5.13660522e-02 8.05395530e+01] [ 8.04505050e-01 -9.87464657e-02 -5.85679742e-01 4.77275396e+01] [ 5.87869208e-01 -8.30815714e-03 8.08913326e-01 3.36255440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.09071405699999 meters Centerline goodness : 0.994863 Centerline is valid? [True, True] Translation: X:80.54, Y:47.73, Z:33.63 [[-8.05556163e-02 -9.95853607e-01 4.22656589e-02 8.05445377e+01] [ 8.05498835e-01 -9.00165671e-02 -5.85720620e-01 4.77335975e+01] [ 5.87096602e-01 -1.31381466e-02 8.09410260e-01 3.36258688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.120714057 meters Centerline goodness : 0.994821 Centerline is valid? [True, True] Translation: X:80.55, Y:47.74, Z:33.63 [[-8.88003142e-02 -9.95635911e-01 2.86990863e-02 8.05463710e+01] [ 8.00461592e-01 -8.84806948e-02 -5.92817347e-01 4.77373739e+01] [ 5.92769554e-01 -2.96698504e-02 8.04825419e-01 3.36271590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.150714057 meters Centerline goodness : 0.994506 Centerline is valid? [True, True] Translation: X:80.54, Y:47.73, Z:33.63 [[-7.88626898e-02 -9.95075365e-01 6.00474407e-02 8.05425130e+01] [ 8.03457065e-01 -9.91020769e-02 -5.87056661e-01 4.77254799e+01] [ 5.90116447e-01 1.94867310e-03 8.07315788e-01 3.36308876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.180714057 meters Centerline goodness : 0.995470 Centerline is valid? [True, True] Translation: X:80.55, Y:47.74, Z:33.64 [[-8.83599757e-02 -9.95337515e-01 3.86748807e-02 8.05475307e+01] [ 8.00321625e-01 -9.40561711e-02 -5.92147560e-01 4.77437042e+01] [ 5.93024292e-01 -2.13698006e-02 8.04900939e-01 3.36351300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.210714057 meters Centerline goodness : 0.995017 Centerline is valid? [True, True] Translation: X:80.55, Y:47.73, Z:33.63 [[-8.16713078e-02 -9.94913131e-01 5.89716844e-02 8.05511845e+01] [ 8.01814467e-01 -1.00733245e-01 -5.89021540e-01 4.77251259e+01] [ 5.91965673e-01 -8.21809712e-04 8.05962757e-01 3.36282668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.240714057 meters Centerline goodness : 0.995278 Centerline is valid? [True, True] Translation: X:80.56, Y:47.73, Z:33.62 [[-8.41058448e-02 -9.95471932e-01 4.42926488e-02 8.05603598e+01] [ 8.01939765e-01 -9.40044826e-02 -5.89962516e-01 4.77287554e+01] [ 5.91454833e-01 -1.40992595e-02 8.06214854e-01 3.36219871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.270714057 meters Centerline goodness : 0.995299 Centerline is valid? [True, True] Translation: X:80.56, Y:47.73, Z:33.62 [[-8.73365674e-02 -9.95195769e-01 4.42459643e-02 8.05631919e+01] [ 8.01764646e-01 -9.65829414e-02 -5.89784019e-01 4.77297765e+01] [ 5.91223965e-01 -1.60348618e-02 8.06348006e-01 3.36220575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.300714057 meters Centerline goodness : 0.995530 Centerline is valid? [True, True] Translation: X:80.57, Y:47.73, Z:33.62 [[-9.38280149e-02 -9.94459104e-01 4.74066908e-02 8.05683664e+01] [ 8.03384808e-01 -1.03751877e-01 -5.86351769e-01 4.77297257e+01] [ 5.88021388e-01 -1.69304073e-02 8.08668169e-01 3.36211665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.330714057 meters Centerline goodness : 0.995482 Centerline is valid? [True, True] Translation: X:80.58, Y:47.73, Z:33.62 [[-1.01234682e-01 -9.94014263e-01 4.10753476e-02 8.05774072e+01] [ 8.03888201e-01 -1.06055479e-01 -5.85248662e-01 4.77309128e+01] [ 5.86101783e-01 -2.62274749e-02 8.09812830e-01 3.36179428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.360714057 meters Centerline goodness : 0.995591 Centerline is valid? [True, True] Translation: X:80.58, Y:47.75, Z:33.63 [[-1.17760693e-01 -9.92705144e-01 2.58634076e-02 8.05794628e+01] [ 7.96608312e-01 -1.09984836e-01 -5.94406034e-01 4.77493338e+01] [ 5.92914511e-01 -4.93946613e-02 8.03749059e-01 3.36310757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.390714057 meters Centerline goodness : 0.994952 Centerline is valid? [True, True] Translation: X:80.57, Y:47.74, Z:33.64 [[-1.20388613e-01 -9.91131982e-01 5.62492330e-02 8.05714251e+01] [ 7.95637791e-01 -1.30218179e-01 -5.91611132e-01 4.77387778e+01] [ 5.93689386e-01 -2.64692279e-02 8.04258847e-01 3.36384140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.420714057 meters Centerline goodness : 0.995544 Centerline is valid? [True, True] Translation: X:80.57, Y:47.72, Z:33.63 [[-1.12283119e-01 -9.90120715e-01 8.39849458e-02 8.05733172e+01] [ 8.07775104e-01 -1.40172645e-01 -5.72582755e-01 4.77200064e+01] [ 5.78698439e-01 3.54957063e-03 8.15533885e-01 3.36255605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.450714057 meters Centerline goodness : 0.995749 Centerline is valid? [True, True] Translation: X:80.60, Y:47.73, Z:33.61 [[-1.15427781e-01 -9.92830544e-01 3.10473421e-02 8.05972696e+01] [ 8.07920830e-01 -1.12021949e-01 -5.78545604e-01 4.77302787e+01] [ 5.77875731e-01 -4.16964411e-02 8.15058922e-01 3.36097267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.480714057 meters Centerline goodness : 0.995663 Centerline is valid? [True, True] Translation: X:80.60, Y:47.73, Z:33.61 [[-1.20224643e-01 -9.91974720e-01 3.91432026e-02 8.05979843e+01] [ 8.07746121e-01 -1.20666926e-01 -5.77049129e-01 4.77275418e+01] [ 5.77141438e-01 -3.77577556e-02 8.15770870e-01 3.36108745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.510714057 meters Centerline goodness : 0.995710 Centerline is valid? [True, True] Translation: X:80.61, Y:47.74, Z:33.62 [[-1.28503769e-01 -9.91562816e-01 1.70283273e-02 8.06061071e+01] [ 8.01040224e-01 -1.13904822e-01 -5.87673592e-01 4.77441877e+01] [ 5.84654891e-01 -6.18778962e-02 8.08918899e-01 3.36198135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.54071405699997 meters Centerline goodness : 0.995095 Centerline is valid? [True, True] Translation: X:80.60, Y:47.74, Z:33.62 [[-1.32228319e-01 -9.90203216e-01 4.48693872e-02 8.05977784e+01] [ 7.99473974e-01 -1.33300083e-01 -5.85723871e-01 4.77355430e+01] [ 5.85966754e-01 -4.15773759e-02 8.09267746e-01 3.36246937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.57071405699998 meters Centerline goodness : 0.995074 Centerline is valid? [True, True] Translation: X:80.60, Y:47.74, Z:33.62 [[-1.34228383e-01 -9.90159306e-01 3.95890197e-02 8.06009408e+01] [ 7.98744894e-01 -1.31752185e-01 -5.87067251e-01 4.77360954e+01] [ 5.86506041e-01 -4.71795603e-02 8.08569572e-01 3.36225799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.60071405699998 meters Centerline goodness : 0.995394 Centerline is valid? [True, True] Translation: X:80.60, Y:47.73, Z:33.62 [[-1.37335260e-01 -9.89629390e-01 4.21034000e-02 8.06004487e+01] [ 7.96328980e-01 -1.35588911e-01 -5.89470782e-01 4.77348901e+01] [ 5.89066365e-01 -4.74269654e-02 8.06691701e-01 3.36247456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.63071405699998 meters Centerline goodness : 0.994797 Centerline is valid? [True, True] Translation: X:80.60, Y:47.73, Z:33.62 [[-1.39248189e-01 -9.89160129e-01 4.66066610e-02 8.06004933e+01] [ 7.96915558e-01 -1.39874792e-01 -5.87673920e-01 4.77297546e+01] [ 5.87822708e-01 -4.46909557e-02 8.07754407e-01 3.36210626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.66071405699998 meters Centerline goodness : 0.995213 Centerline is valid? [True, True] Translation: X:80.60, Y:47.74, Z:33.63 [[-1.43606689e-01 -9.88882782e-01 3.85741171e-02 8.06034038e+01] [ 7.94393339e-01 -1.38432623e-01 -5.91418322e-01 4.77378872e+01] [ 5.90183312e-01 -5.42886055e-02 8.05441745e-01 3.36260233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.69071405699998 meters Centerline goodness : 0.994841 Centerline is valid? [True, True] Translation: X:80.60, Y:47.73, Z:33.63 [[-1.44038029e-01 -9.88415233e-01 4.78369444e-02 8.05999917e+01] [ 7.94680841e-01 -1.44341888e-01 -5.89616638e-01 4.77345595e+01] [ 5.89690942e-01 -4.69121153e-02 8.06265370e-01 3.36269972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.72071405699998 meters Centerline goodness : 0.995574 Centerline is valid? [True, True] Translation: X:80.60, Y:47.73, Z:33.63 [[-1.44536094e-01 -9.88429322e-01 4.60086126e-02 8.06002241e+01] [ 7.95482715e-01 -1.43723553e-01 -5.88685647e-01 4.77332796e+01] [ 5.88486676e-01 -4.84872680e-02 8.07051682e-01 3.36255747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.75071405699998 meters Centerline goodness : 0.995329 Centerline is valid? [True, True] Translation: X:80.60, Y:47.74, Z:33.63 [[-1.45725296e-01 -9.88323472e-01 4.45067628e-02 8.05998455e+01] [ 7.95288014e-01 -1.43784020e-01 -5.88933893e-01 4.77373758e+01] [ 5.88456551e-01 -5.04268707e-02 8.06954781e-01 3.36286166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.78071405699998 meters Centerline goodness : 0.995481 Centerline is valid? [True, True] Translation: X:80.60, Y:47.74, Z:33.63 [[-1.47229884e-01 -9.88151892e-01 4.33497448e-02 8.05994594e+01] [ 7.93930219e-01 -1.44203787e-01 -5.90660711e-01 4.77372591e+01] [ 5.89913696e-01 -5.25462357e-02 8.05754754e-01 3.36296900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.81071405699998 meters Centerline goodness : 0.995571 Centerline is valid? [True, True] Translation: X:80.60, Y:47.73, Z:33.63 [[-1.49488440e-01 -9.87744580e-01 4.48759522e-02 8.05987956e+01] [ 7.93028378e-01 -1.46879876e-01 -5.91212562e-01 4.77336470e+01] [ 5.90558378e-01 -5.27915398e-02 8.05266326e-01 3.36296566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.84071405699999 meters Centerline goodness : 0.995570 Centerline is valid? [True, True] Translation: X:80.60, Y:47.73, Z:33.63 [[-1.51203292e-01 -9.87320088e-01 4.83384842e-02 8.05977470e+01] [ 7.93095051e-01 -1.50356802e-01 -5.90248314e-01 4.77293503e+01] [ 5.90032037e-01 -5.09104754e-02 8.05773119e-01 3.36291535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.870714057 meters Centerline goodness : 0.996198 Centerline is valid? [True, True] Translation: X:80.60, Y:47.73, Z:33.63 [[-1.53155257e-01 -9.87178505e-01 4.49673986e-02 8.05983984e+01] [ 7.92439176e-01 -1.49874862e-01 -5.91250943e-01 4.77294436e+01] [ 5.90409704e-01 -5.49192617e-02 8.05233044e-01 3.36291627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.900714057 meters Centerline goodness : 0.995374 Centerline is valid? [True, True] Translation: X:80.59, Y:47.73, Z:33.63 [[-1.62123391e-01 -9.85438931e-01 5.12456706e-02 8.05904930e+01] [ 7.90580275e-01 -1.60792449e-01 -5.90871066e-01 4.77309600e+01] [ 5.90507269e-01 -5.52802045e-02 8.05136799e-01 3.36335872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.930714057 meters Centerline goodness : 0.995190 Centerline is valid? [True, True] Translation: X:80.59, Y:47.73, Z:33.64 [[-1.56981135e-01 -9.86217070e-01 5.22763242e-02 8.05932111e+01] [ 7.88489373e-01 -1.57029174e-01 -5.94664903e-01 4.77292471e+01] [ 5.94677587e-01 -5.21318453e-02 8.02272297e-01 3.36363630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.960714057 meters Centerline goodness : 0.994872 Centerline is valid? [True, True] Translation: X:80.59, Y:47.73, Z:33.63 [[-1.57492879e-01 -9.85968490e-01 5.53365106e-02 8.05915257e+01] [ 7.89646037e-01 -1.59386888e-01 -5.92498908e-01 4.77255588e+01] [ 5.93005168e-01 -4.96181024e-02 8.03668411e-01 3.36333030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.990714057 meters Centerline goodness : 0.995421 Centerline is valid? [True, True] Translation: X:80.59, Y:47.72, Z:33.63 [[-1.57710872e-01 -9.86046280e-01 5.32917963e-02 8.05928805e+01] [ 7.90335139e-01 -1.58395166e-01 -5.91845706e-01 4.77212757e+01] [ 5.92028419e-01 -5.12221230e-02 8.04287663e-01 3.36276007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.020714057 meters Centerline goodness : 0.995227 Centerline is valid? [True, True] Translation: X:80.59, Y:47.73, Z:33.63 [[-1.58567918e-01 -9.85972501e-01 5.21003157e-02 8.05927203e+01] [ 7.90774265e-01 -1.58418092e-01 -5.91252712e-01 4.77279646e+01] [ 5.91212548e-01 -5.25541229e-02 8.04801707e-01 3.36306777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.050714057 meters Centerline goodness : 0.995537 Centerline is valid? [True, True] Translation: X:80.59, Y:47.72, Z:33.62 [[-1.58815859e-01 -9.85921233e-01 5.23148661e-02 8.05933416e+01] [ 7.91605050e-01 -1.58822866e-01 -5.90031136e-01 4.77185239e+01] [ 5.90033023e-01 -5.22935896e-02 8.05683817e-01 3.36224609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.080714057 meters Centerline goodness : 0.995390 Centerline is valid? [True, True] Translation: X:80.59, Y:47.72, Z:33.62 [[-1.58691962e-01 -9.86101116e-01 4.92082396e-02 8.05943806e+01] [ 7.92011874e-01 -1.56899497e-01 -5.89999779e-01 4.77177197e+01] [ 5.89520188e-01 -5.46547127e-02 8.05902482e-01 3.36199526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.110714057 meters Centerline goodness : 0.995352 Centerline is valid? [True, True] Translation: X:80.59, Y:47.72, Z:33.62 [[-1.59608314e-01 -9.85986737e-01 4.85318447e-02 8.05936264e+01] [ 7.91569080e-01 -1.57202618e-01 -5.90513106e-01 4.77192294e+01] [ 5.89867424e-01 -5.58344935e-02 8.05567459e-01 3.36212293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.140714057 meters Centerline goodness : 0.996116 Centerline is valid? [True, True] Translation: X:80.59, Y:47.71, Z:33.62 [[-1.58503421e-01 -9.85954490e-01 5.26346736e-02 8.05917796e+01] [ 7.91979424e-01 -1.58791842e-01 -5.89536889e-01 4.77132794e+01] [ 5.89614499e-01 -5.17580353e-02 8.06024719e-01 3.36181246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.170714057 meters Centerline goodness : 0.995617 Centerline is valid? [True, True] Translation: X:80.59, Y:47.71, Z:33.61 [[-1.57009091e-01 -9.86469156e-01 4.71884550e-02 8.05930559e+01] [ 7.91805559e-01 -1.54295034e-01 -5.90962773e-01 4.77061122e+01] [ 5.90247492e-01 -5.54224470e-02 8.05317485e-01 3.36111386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.200714057 meters Centerline goodness : 0.995559 Centerline is valid? [True, True] Translation: X:80.59, Y:47.71, Z:33.61 [[-1.56416346e-01 -9.86622926e-01 4.59252428e-02 8.05924948e+01] [ 7.91819292e-01 -1.53054978e-01 -5.91266761e-01 4.77082733e+01] [ 5.90386429e-01 -5.61192931e-02 8.05167367e-01 3.36121952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.230714057 meters Centerline goodness : 0.994990 Centerline is valid? [True, True] Translation: X:80.59, Y:47.70, Z:33.61 [[-1.53450802e-01 -9.86896331e-01 4.98846932e-02 8.05908347e+01] [ 7.92968884e-01 -1.53105507e-01 -5.89710990e-01 4.76981569e+01] [ 5.89621234e-01 -5.09346151e-02 8.06072246e-01 3.36066008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.260714057 meters Centerline goodness : 0.995389 Centerline is valid? [True, True] Translation: X:80.59, Y:47.70, Z:33.61 [[-1.52653617e-01 -9.87023391e-01 4.98166575e-02 8.05889046e+01] [ 7.94268631e-01 -1.52524916e-01 -5.88110101e-01 4.77044238e+01] [ 5.88076708e-01 -5.02093260e-02 8.07245198e-01 3.36103088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.29071405699997 meters Centerline goodness : 0.994858 Centerline is valid? [True, True] Translation: X:80.59, Y:47.70, Z:33.60 [[-1.51336007e-01 -9.87649814e-01 4.05617773e-02 8.05917072e+01] [ 7.98690828e-01 -1.46352967e-01 -5.83672656e-01 4.77046383e+01] [ 5.82400527e-01 -5.59343697e-02 8.10975322e-01 3.36043939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.32071405699998 meters Centerline goodness : 0.995181 Centerline is valid? [True, True] Translation: X:80.58, Y:47.72, Z:33.62 [[-1.51504801e-01 -9.86526212e-01 6.17440525e-02 8.05803710e+01] [ 7.96538854e-01 -1.58837957e-01 -5.83349259e-01 4.77167107e+01] [ 5.85296634e-01 -3.91986763e-02 8.09871172e-01 3.36236423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.35071405699998 meters Centerline goodness : 0.995181 Centerline is valid? [True, True] Translation: X:80.58, Y:47.72, Z:33.62 [[-1.51955810e-01 -9.87033395e-01 5.17156523e-02 8.05846643e+01] [ 7.96890206e-01 -1.53299927e-01 -5.84350180e-01 4.77170798e+01] [ 5.84701148e-01 -4.75837080e-02 8.09852060e-01 3.36191967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.38071405699998 meters Centerline goodness : 0.995236 Centerline is valid? [True, True] Translation: X:80.58, Y:47.71, Z:33.61 [[-1.49944058e-01 -9.87198270e-01 5.43723691e-02 8.05838867e+01] [ 7.98887621e-01 -1.53374706e-01 -5.81596741e-01 4.77087597e+01] [ 5.82490643e-01 -4.37695629e-02 8.11658103e-01 3.36119019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.41071405699998 meters Centerline goodness : 0.995359 Centerline is valid? [True, True] Translation: X:80.59, Y:47.72, Z:33.61 [[-1.52424566e-01 -9.87446854e-01 4.14181351e-02 8.05872184e+01] [ 7.96429088e-01 -1.47537429e-01 -5.86458366e-01 4.77163034e+01] [ 5.85207194e-01 -5.64040545e-02 8.08919726e-01 3.36139588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.44071405699998 meters Centerline goodness : 0.994918 Centerline is valid? [True, True] Translation: X:80.58, Y:47.71, Z:33.61 [[-1.52774370e-01 -9.86907345e-01 5.17096232e-02 8.05828249e+01] [ 7.97331779e-01 -1.54003961e-01 -5.83562177e-01 4.77090642e+01] [ 5.83885286e-01 -4.79236182e-02 8.10420446e-01 3.36114692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.47071405699998 meters Centerline goodness : 0.994788 Centerline is valid? [True, True] Translation: X:80.58, Y:47.70, Z:33.61 [[-1.53711431e-01 -9.86881408e-01 4.93749225e-02 8.05835954e+01] [ 7.96249221e-01 -1.53299041e-01 -5.85223532e-01 4.77010186e+01] [ 5.85115351e-01 -5.06408029e-02 8.09367367e-01 3.36058908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.50071405699998 meters Centerline goodness : 0.995456 Centerline is valid? [True, True] Translation: X:80.58, Y:47.70, Z:33.61 [[-1.65091440e-01 -9.85538755e-01 3.81861122e-02 8.05814031e+01] [ 7.89874708e-01 -1.55302410e-01 -5.93278272e-01 4.77012627e+01] [ 5.90629124e-01 -6.77829200e-02 8.04091235e-01 3.36050756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.53071405699998 meters Centerline goodness : 0.995159 Centerline is valid? [True, True] Translation: X:80.57, Y:47.68, Z:33.61 [[-1.53119526e-01 -9.84099837e-01 9.00106754e-02 8.05672983e+01] [ 7.99812118e-01 -1.76908826e-01 -5.73588566e-01 4.76838973e+01] [ 5.80392097e-01 -1.58359806e-02 8.14183171e-01 3.36057229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.56071405699998 meters Centerline goodness : 0.995618 Centerline is valid? [True, True] Translation: X:80.59, Y:47.70, Z:33.60 [[-1.67670478e-01 -9.85652892e-01 1.93645961e-02 8.05884255e+01] [ 7.90074467e-01 -1.46096885e-01 -5.95346989e-01 4.77040129e+01] [ 5.89634588e-01 -8.45226412e-02 8.03235318e-01 3.35964436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.59071405699999 meters Centerline goodness : 0.994976 Centerline is valid? [True, True] Translation: X:80.57, Y:47.69, Z:33.61 [[-1.58976599e-01 -9.84590311e-01 7.28584947e-02 8.05707079e+01] [ 7.93318857e-01 -1.71323347e-01 -5.84203305e-01 4.76921857e+01] [ 5.87683275e-01 -3.50746368e-02 8.08330464e-01 3.36091671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.620714057 meters Centerline goodness : 0.995236 Centerline is valid? [True, True] Translation: X:80.57, Y:47.69, Z:33.60 [[-1.57058974e-01 -9.85423861e-01 6.53627748e-02 8.05726659e+01] [ 7.98485901e-01 -1.65654227e-01 -5.78773654e-01 4.76929911e+01] [ 5.81164989e-01 -3.87103420e-02 8.12864543e-01 3.36012214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.650714057 meters Centerline goodness : 0.995030 Centerline is valid? [True, True] Translation: X:80.58, Y:47.70, Z:33.60 [[-1.58960638e-01 -9.86403316e-01 4.17134817e-02 8.05803629e+01] [ 7.97591288e-01 -1.53205089e-01 -5.83417808e-01 4.77021668e+01] [ 5.81875978e-01 -5.94701573e-02 8.11100269e-01 3.35991480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.680714057 meters Centerline goodness : 0.995223 Centerline is valid? [True, True] Translation: X:80.57, Y:47.69, Z:33.60 [[-1.57376706e-01 -9.85890102e-01 5.70375205e-02 8.05721536e+01] [ 7.98989988e-01 -1.61061029e-01 -5.79374097e-01 4.76936405e+01] [ 5.80385709e-01 -4.56075791e-02 8.13063575e-01 3.36001113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.710714057 meters Centerline goodness : 0.995045 Centerline is valid? [True, True] Translation: X:80.57, Y:47.71, Z:33.60 [[-1.56359128e-01 -9.86490372e-01 4.88729844e-02 8.05734377e+01] [ 8.00203803e-01 -1.55528044e-01 -5.79210585e-01 4.77050277e+01] [ 5.78986785e-01 -5.14565138e-02 8.13711577e-01 3.36037018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.740714057 meters Centerline goodness : 0.995028 Centerline is valid? [True, True] Translation: X:80.57, Y:47.68, Z:33.59 [[-1.56123478e-01 -9.86591984e-01 4.75575079e-02 8.05744132e+01] [ 8.00275836e-01 -1.54567596e-01 -5.79368142e-01 4.76828391e+01] [ 5.78950814e-01 -5.23938448e-02 8.13677356e-01 3.35880908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.770714057 meters Centerline goodness : 0.995734 Centerline is valid? [True, True] Translation: X:80.57, Y:47.68, Z:33.59 [[-1.56794204e-01 -9.86428779e-01 4.87220795e-02 8.05737374e+01] [ 8.00242631e-01 -1.55801972e-01 -5.79083307e-01 4.76817174e+01] [ 5.78815436e-01 -5.18074208e-02 8.13811208e-01 3.35877765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.800714057 meters Centerline goodness : 0.994897 Centerline is valid? [True, True] Translation: X:80.57, Y:47.69, Z:33.59 [[-1.57705599e-01 -9.86253539e-01 4.93244360e-02 8.05719584e+01] [ 8.00263944e-01 -1.56909806e-01 -5.78754640e-01 4.76892025e+01] [ 5.78538300e-01 -5.18002797e-02 8.14008702e-01 3.35926469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.830714057 meters Centerline goodness : 0.994840 Centerline is valid? [True, True] Translation: X:80.58, Y:47.68, Z:33.58 [[-1.60068231e-01 -9.86556834e-01 3.29207460e-02 8.05791449e+01] [ 8.00226200e-01 -1.49218355e-01 -5.80837250e-01 4.76750659e+01] [ 5.77941338e-01 -6.66295477e-02 8.13353744e-01 3.35765493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.860714057 meters Centerline goodness : 0.995898 Centerline is valid? [True, True] Translation: X:80.56, Y:47.68, Z:33.60 [[-1.61569601e-01 -9.84919591e-01 6.18761867e-02 8.05641825e+01] [ 7.94836955e-01 -1.67037837e-01 -5.83380302e-01 4.76828519e+01] [ 5.84918353e-01 -4.50750426e-02 8.09838725e-01 3.35979394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.890714057 meters Centerline goodness : 0.995377 Centerline is valid? [True, True] Translation: X:80.57, Y:47.67, Z:33.58 [[-1.62233083e-01 -9.85765212e-01 4.41290611e-02 8.05735875e+01] [ 7.97468078e-01 -1.57319877e-01 -5.82490447e-01 4.76665414e+01] [ 5.81141197e-01 -5.93077035e-02 8.11638778e-01 3.35774336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.920714057 meters Centerline goodness : 0.995911 Centerline is valid? [True, True] Translation: X:80.57, Y:47.67, Z:33.59 [[-1.65120359e-01 -9.84888793e-01 5.22430085e-02 8.05675865e+01] [ 7.94562897e-01 -1.64218853e-01 -5.84552796e-01 4.76725190e+01] [ 5.84298785e-01 -5.50112116e-02 8.09671969e-01 3.35879460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.950714057 meters Centerline goodness : 0.995317 Centerline is valid? [True, True] Translation: X:80.56, Y:47.67, Z:33.59 [[-1.65470733e-01 -9.84196371e-01 6.30629835e-02 8.05628061e+01] [ 7.94971051e-01 -1.70952684e-01 -5.82062031e-01 4.76710330e+01] [ 5.83644125e-01 -4.61809850e-02 8.10695289e-01 3.35915961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.980714057 meters Centerline goodness : 0.995821 Centerline is valid? [True, True] Translation: X:80.56, Y:47.66, Z:33.59 [[-1.64281666e-01 -9.83878488e-01 7.06728808e-02 8.05578613e+01] [ 7.93171390e-01 -1.74352460e-01 -5.83506955e-01 4.76645662e+01] [ 5.86421931e-01 -3.98037875e-02 8.09027180e-01 3.35914465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.010714057 meters Centerline goodness : 0.996717 Centerline is valid? [True, True] Translation: X:80.56, Y:47.67, Z:33.59 [[-1.63859329e-01 -9.84689882e-01 5.94639138e-02 8.05594485e+01] [ 7.95049118e-01 -1.67505645e-01 -5.82956910e-01 4.76683960e+01] [ 5.83992312e-01 -4.82461958e-02 8.10324184e-01 3.35882068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.04071405699997 meters Centerline goodness : 0.995877 Centerline is valid? [True, True] Translation: X:80.54, Y:47.86, Z:33.72 [[-1.72351095e-01 -9.84058987e-01 4.38521520e-02 8.05402305e+01] [ 7.88497087e-01 -1.64508833e-01 -5.92629048e-01 4.78571783e+01] [ 5.90396006e-01 -6.75629710e-02 8.04280921e-01 3.37217221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.07071405699998 meters Centerline goodness : 0.995895 Centerline is valid? [True, True] Translation: X:80.55, Y:47.68, Z:33.61 [[-1.62194562e-01 -9.82997780e-01 8.60714142e-02 8.05450290e+01] [ 7.95579375e-01 -1.81872113e-01 -5.77906560e-01 4.76775868e+01] [ 5.83734856e-01 -2.52566593e-02 8.11551427e-01 3.36074050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.10071405699998 meters Centerline goodness : 0.995962 Centerline is valid? [True, True] Translation: X:80.56, Y:47.67, Z:33.58 [[-1.61809486e-01 -9.85301708e-01 5.47561424e-02 8.05577672e+01] [ 7.97759287e-01 -1.63268053e-01 -5.80451258e-01 4.76666587e+01] [ 5.80859544e-01 -5.02402985e-02 8.12451908e-01 3.35836601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.13071405699998 meters Centerline goodness : 0.995896 Centerline is valid? [True, True] Translation: X:80.55, Y:47.66, Z:33.58 [[-1.58948064e-01 -9.84955133e-01 6.78151789e-02 8.05526529e+01] [ 8.01809639e-01 -1.68859963e-01 -5.73225624e-01 4.76599672e+01] [ 5.76052790e-01 -3.67382389e-02 8.16586484e-01 3.35815892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.16071405699998 meters Centerline goodness : 0.996683 Centerline is valid? [True, True] Translation: X:80.56, Y:47.66, Z:33.57 [[-1.61705992e-01 -9.85803879e-01 4.51872193e-02 8.05592722e+01] [ 7.98708751e-01 -1.57634132e-01 -5.80702859e-01 4.76595114e+01] [ 5.79582179e-01 -5.78117046e-02 8.12860569e-01 3.35742118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.19071405699998 meters Centerline goodness : 0.996478 Centerline is valid? [True, True] Translation: X:80.55, Y:47.67, Z:33.59 [[-1.63585654e-01 -9.85109936e-01 5.28975229e-02 8.05533900e+01] [ 7.97382064e-01 -1.63603180e-01 -5.80875067e-01 4.76719715e+01] [ 5.80880003e-01 -5.28432917e-02 8.12272127e-01 3.35882235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.22071405699998 meters Centerline goodness : 0.995812 Centerline is valid? [True, True] Translation: X:80.55, Y:47.67, Z:33.59 [[-1.63491688e-01 -9.84736742e-01 5.96993940e-02 8.05497956e+01] [ 7.96835330e-01 -1.67488941e-01 -5.80517797e-01 4.76689867e+01] [ 5.81656192e-01 -4.73392482e-02 8.12056076e-01 3.35902775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.25071405699998 meters Centerline goodness : 0.995469 Centerline is valid? [True, True] Translation: X:80.55, Y:47.66, Z:33.58 [[-1.63302521e-01 -9.85124882e-01 5.34906875e-02 8.05535679e+01] [ 7.99438730e-01 -1.63903718e-01 -5.77956130e-01 4.76642027e+01] [ 5.78126286e-01 -5.16191660e-02 8.14312875e-01 3.35817328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.28071405699998 meters Centerline goodness : 0.996179 Centerline is valid? [True, True] Translation: X:80.55, Y:47.67, Z:33.59 [[-1.62394361e-01 -9.85096021e-01 5.66912768e-02 8.05498646e+01] [ 7.95603174e-01 -1.64707185e-01 -5.82998399e-01 4.76651647e+01] [ 5.83646863e-01 -4.95718929e-02 8.10493039e-01 3.35854710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.31071405699998 meters Centerline goodness : 0.995969 Centerline is valid? [True, True] Translation: X:80.54, Y:47.66, Z:33.60 [[-1.60600933e-01 -9.83178472e-01 8.69909958e-02 8.05366591e+01] [ 7.96293397e-01 -1.81139598e-01 -5.77152728e-01 4.76620223e+01] [ 5.83201651e-01 -2.34209112e-02 8.11989714e-01 3.35967557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.34071405699999 meters Centerline goodness : 0.995198 Centerline is valid? [True, True] Translation: X:80.56, Y:47.65, Z:33.57 [[-1.60190147e-01 -9.86470415e-01 3.48602425e-02 8.05579708e+01] [ 7.95376915e-01 -1.49912642e-01 -5.87283375e-01 4.76506741e+01] [ 5.84563666e-01 -6.63499781e-02 8.08630324e-01 3.35655906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.370714057 meters Centerline goodness : 0.995744 Centerline is valid? [True, True] Translation: X:80.54, Y:47.64, Z:33.59 [[-1.56714651e-01 -9.83898411e-01 8.59327374e-02 8.05362959e+01] [ 7.94879423e-01 -1.77289701e-01 -5.80288777e-01 4.76436544e+01] [ 5.86180195e-01 -2.26335885e-02 8.09864495e-01 3.35851294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.400714057 meters Centerline goodness : 0.995907 Centerline is valid? [True, True] Translation: X:80.55, Y:47.64, Z:33.57 [[-1.52235104e-01 -9.86419618e-01 6.16507204e-02 8.05454656e+01] [ 7.98666189e-01 -1.59523958e-01 -5.80245142e-01 4.76428335e+01] [ 5.82199958e-01 -3.90953335e-02 8.12105143e-01 3.35699450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.430714057 meters Centerline goodness : 0.995607 Centerline is valid? [True, True] Translation: X:80.55, Y:47.64, Z:33.56 [[-1.50647939e-01 -9.86980872e-01 5.63378752e-02 8.05476926e+01] [ 7.98598227e-01 -1.55089004e-01 -5.81539571e-01 4.76370015e+01] [ 5.82705818e-01 -4.26164106e-02 8.11565014e-01 3.35641311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.460714057 meters Centerline goodness : 0.996108 Centerline is valid? [True, True] Translation: X:80.54, Y:47.62, Z:33.55 [[-1.41467682e-01 -9.87752770e-01 6.58130774e-02 8.05445470e+01] [ 8.03445702e-01 -1.53401060e-01 -5.75276558e-01 4.76185572e+01] [ 5.78326809e-01 -2.85058070e-02 8.15307010e-01 3.35541752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.490714057 meters Centerline goodness : 0.996042 Centerline is valid? [True, True] Translation: X:80.55, Y:47.61, Z:33.54 [[-1.38312268e-01 -9.88819228e-01 5.57337572e-02 8.05493261e+01] [ 8.05898715e-01 -1.45079113e-01 -5.74002886e-01 4.76093594e+01] [ 5.75670894e-01 -3.44758776e-02 8.16954366e-01 3.35411289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.520714057 meters Centerline goodness : 0.996076 Centerline is valid? [True, True] Translation: X:80.56, Y:47.61, Z:33.53 [[-1.34835064e-01 -9.90244859e-01 3.51372369e-02 8.05567265e+01] [ 8.04061120e-01 -1.30069153e-01 -5.80144577e-01 4.76064595e+01] [ 5.79055455e-01 -4.99713452e-02 8.13755273e-01 3.35320208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.550714057 meters Centerline goodness : 0.995856 Centerline is valid? [True, True] Translation: X:80.55, Y:47.60, Z:33.54 [[-1.28234352e-01 -9.89877866e-01 6.08092207e-02 8.05469200e+01] [ 8.07249480e-01 -1.39801074e-01 -5.73414280e-01 4.75966479e+01] [ 5.76111299e-01 -2.44431967e-02 8.17005693e-01 3.35351454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.580714057 meters Centerline goodness : 0.995211 Centerline is valid? [True, True] Translation: X:80.56, Y:47.60, Z:33.52 [[-1.25725905e-01 -9.91192986e-01 4.15868050e-02 8.05564715e+01] [ 8.09970876e-01 -1.26763603e-01 -5.72606469e-01 4.75969504e+01] [ 5.72835209e-01 -3.83073654e-02 8.18774920e-01 3.35231468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.610714057 meters Centerline goodness : 0.995970 Centerline is valid? [True, True] Translation: X:80.54, Y:47.59, Z:33.53 [[-1.21662098e-01 -9.89998844e-01 7.14186448e-02 8.05447972e+01] [ 8.11169469e-01 -1.40635839e-01 -5.67649234e-01 4.75868834e+01] [ 5.72016106e-01 -1.11287725e-02 8.20166888e-01 3.35293169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.640714057 meters Centerline goodness : 0.995190 Centerline is valid? [True, True] Translation: X:80.55, Y:47.62, Z:33.54 [[-1.36067009e-01 -9.90440814e-01 2.26442563e-02 8.05537438e+01] [ 8.00101394e-01 -1.23339691e-01 -5.87047767e-01 4.76247201e+01] [ 5.84229004e-01 -6.17601327e-02 8.09235539e-01 3.35434571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.670714057 meters Centerline goodness : 0.995845 Centerline is valid? [True, True] Translation: X:80.54, Y:47.61, Z:33.56 [[-1.34179063e-01 -9.88653775e-01 6.75254863e-02 8.05364966e+01] [ 7.98900991e-01 -1.48238925e-01 -5.82908593e-01 4.76127451e+01] [ 5.86304687e-01 -2.42679510e-02 8.09727041e-01 3.35580770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.700714057 meters Centerline goodness : 0.996246 Centerline is valid? [True, True] Translation: X:80.54, Y:47.61, Z:33.56 [[-1.33211178e-01 -9.88784805e-01 6.75232646e-02 8.05378208e+01] [ 7.99074173e-01 -1.47456628e-01 -5.82869633e-01 4.76112348e+01] [ 5.86289389e-01 -2.36886538e-02 8.09755272e-01 3.35552917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.730714057 meters Centerline goodness : 0.995195 Centerline is valid? [True, True] Translation: X:80.55, Y:47.61, Z:33.55 [[-1.19181456e-01 -9.90259301e-01 7.19881695e-02 8.05469906e+01] [ 8.05230579e-01 -1.38820712e-01 -5.76482892e-01 4.76092058e+01] [ 5.80860995e-01 -1.07389951e-02 8.13931925e-01 3.35468272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.760714057 meters Centerline goodness : 0.994721 Centerline is valid? [True, True] Translation: X:80.55, Y:47.64, Z:33.56 [[-1.34528453e-01 -9.89782591e-01 4.72495192e-02 8.05463911e+01] [ 7.99673355e-01 -1.36600861e-01 -5.84690285e-01 4.76369382e+01] [ 5.85170591e-01 -4.08732978e-02 8.09879469e-01 3.35621866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.79071405699997 meters Centerline goodness : 0.995038 Centerline is valid? [True, True] Translation: X:80.54, Y:47.61, Z:33.56 [[-1.33994444e-01 -9.88238092e-01 7.36950638e-02 8.05390875e+01] [ 7.99276102e-01 -1.51736409e-01 -5.81492713e-01 4.76081334e+01] [ 5.85835474e-01 -1.90140894e-02 8.10206926e-01 3.35556998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.82071405699998 meters Centerline goodness : 0.994398 Centerline is valid? [True, True] Translation: X:80.55, Y:47.60, Z:33.54 [[-1.23603849e-01 -9.89837247e-01 7.03158047e-02 8.05507549e+01] [ 8.03396493e-01 -1.41411318e-01 -5.78408951e-01 4.76000083e+01] [ 5.82474174e-01 -1.50021015e-02 8.12710756e-01 3.35418757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.85071405699998 meters Centerline goodness : 0.993993 Centerline is valid? [True, True] Translation: X:80.56, Y:47.61, Z:33.54 [[-1.26952608e-01 -9.90691673e-01 4.91227440e-02 8.05591533e+01] [ 8.01543975e-01 -1.31635037e-01 -5.83266212e-01 4.76132554e+01] [ 5.84303254e-01 -3.46731276e-02 8.10794353e-01 3.35429965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.88071405699998 meters Centerline goodness : 0.992713 Centerline is valid? [True, True] Translation: X:80.56, Y:47.61, Z:33.55 [[-1.31780087e-01 -9.88981900e-01 6.74448615e-02 8.05555452e+01] [ 8.01437010e-01 -1.46337080e-01 -5.79900145e-01 4.76057135e+01] [ 5.83380432e-01 -2.23664833e-02 8.11891010e-01 3.35469846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.91071405699998 meters Centerline goodness : 0.994137 Centerline is valid? [True, True] Translation: X:80.56, Y:47.62, Z:33.55 [[-1.34442055e-01 -9.89579268e-01 5.15577896e-02 8.05624064e+01] [ 8.00498215e-01 -1.39126733e-01 -5.82963430e-01 4.76177580e+01] [ 5.84061591e-01 -3.71028829e-02 8.10860922e-01 3.35464847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.94071405699998 meters Centerline goodness : 0.994932 Centerline is valid? [True, True] Translation: X:80.56, Y:47.62, Z:33.56 [[-1.36328208e-01 -9.88313075e-01 6.82047328e-02 8.05558411e+01] [ 7.99969227e-01 -1.50435080e-01 -5.80877372e-01 4.76196443e+01] [ 5.84349087e-01 -2.46282836e-02 8.11128592e-01 3.35560538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.97071405699998 meters Centerline goodness : 0.994777 Centerline is valid? [True, True] Translation: X:80.56, Y:47.61, Z:33.54 [[-1.38917662e-01 -9.88856886e-01 5.35158083e-02 8.05645522e+01] [ 7.99628901e-01 -1.43885699e-01 -5.83001309e-01 4.76109273e+01] [ 5.84205019e-01 -3.81963920e-02 8.10706810e-01 3.35418690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.00071405699998 meters Centerline goodness : 0.994029 Centerline is valid? [True, True] Translation: X:80.56, Y:47.63, Z:33.56 [[-1.43615751e-01 -9.87542887e-01 6.42927800e-02 8.05596376e+01] [ 7.98061424e-01 -1.53987366e-01 -5.82568325e-01 4.76270723e+01] [ 5.85211482e-01 -3.23564002e-02 8.10234895e-01 3.35583743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.03071405699998 meters Centerline goodness : 0.994823 Centerline is valid? [True, True] Translation: X:80.56, Y:47.61, Z:33.55 [[-1.41906338e-01 -9.86718430e-01 7.90527121e-02 8.05584280e+01] [ 8.03320515e-01 -1.61457105e-01 -5.73243189e-01 4.76114714e+01] [ 5.78393241e-01 -1.78421765e-02 8.15562944e-01 3.35483423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.06071405699998 meters Centerline goodness : 0.994140 Centerline is valid? [True, True] Translation: X:80.57, Y:47.62, Z:33.55 [[-1.46812073e-01 -9.87273274e-01 6.11367082e-02 8.05662395e+01] [ 7.99643530e-01 -1.54837495e-01 -5.80168574e-01 4.76164232e+01] [ 5.82251182e-01 -3.62881777e-02 8.12198700e-01 3.35460260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.09071405699999 meters Centerline goodness : 0.994955 Centerline is valid? [True, True] Translation: X:80.57, Y:47.61, Z:33.54 [[-1.46563820e-01 -9.87296599e-01 6.13553028e-02 8.05682448e+01] [ 8.01336089e-01 -1.54866577e-01 -5.77820747e-01 4.76099703e+01] [ 5.79982344e-01 -3.55213974e-02 8.13854232e-01 3.35398557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.120714057 meters Centerline goodness : 0.993779 Centerline is valid? [True, True] Translation: X:80.57, Y:47.61, Z:33.54 [[-1.49738065e-01 -9.87254958e-01 5.39088145e-02 8.05725833e+01] [ 8.02910719e-01 -1.53234385e-01 -5.76067358e-01 4.76124879e+01] [ 5.76986040e-01 -4.29752467e-02 8.15622608e-01 3.35357576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.150714057 meters Centerline goodness : 0.994699 Centerline is valid? [True, True] Translation: X:80.57, Y:47.61, Z:33.54 [[-1.50591202e-01 -9.86094848e-01 7.02797253e-02 8.05659269e+01] [ 8.03664391e-01 -1.63510947e-01 -5.72178047e-01 4.76112450e+01] [ 5.75713328e-01 -2.96836672e-02 8.17112626e-01 3.35414186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.180714057 meters Centerline goodness : 0.995187 Centerline is valid? [True, True] Translation: X:80.57, Y:47.62, Z:33.54 [[-1.64483400e-01 -9.85621499e-01 3.86713290e-02 8.05708922e+01] [ 7.95850770e-01 -1.55771082e-01 -5.85112743e-01 4.76234655e+01] [ 5.82723574e-01 -6.54647262e-02 8.10029386e-01 3.35414061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.210714057 meters Centerline goodness : 0.994605 Centerline is valid? [True, True] Translation: X:80.56, Y:47.60, Z:33.54 [[-1.52119902e-01 -9.84376109e-01 8.86747486e-02 8.05588006e+01] [ 8.02937632e-01 -1.75398746e-01 -5.69672221e-01 4.76021989e+01] [ 5.76325164e-01 -1.54581898e-02 8.17074262e-01 3.35430732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.240714057 meters Centerline goodness : 0.994605 Centerline is valid? [True, True] Translation: X:80.57, Y:47.61, Z:33.53 [[-1.52148216e-01 -9.86965802e-01 5.24349705e-02 8.05735354e+01] [ 8.04130761e-01 -1.54459815e-01 -5.74034742e-01 4.76107083e+01] [ 5.74651756e-01 -4.51737891e-02 8.17150346e-01 3.35307849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.270714057 meters Centerline goodness : 0.994441 Centerline is valid? [True, True] Translation: X:80.57, Y:47.61, Z:33.52 [[-1.51555891e-01 -9.86891691e-01 5.54581143e-02 8.05728736e+01] [ 8.07204992e-01 -1.55953074e-01 -5.69296706e-01 4.76071809e+01] [ 5.70483053e-01 -4.15142026e-02 8.20259506e-01 3.35249320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.300714057 meters Centerline goodness : 0.994913 Centerline is valid? [True, True] Translation: X:80.57, Y:47.60, Z:33.52 [[-1.51411271e-01 -9.86702992e-01 5.90917378e-02 8.05713178e+01] [ 8.06754041e-01 -1.57898050e-01 -5.69399792e-01 4.75951567e+01] [ 5.71158948e-01 -3.85410480e-02 8.19934170e-01 3.35192757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.330714057 meters Centerline goodness : 0.994750 Centerline is valid? [True, True] Translation: X:80.57, Y:47.60, Z:33.52 [[-1.50501274e-01 -9.86926818e-01 5.76612770e-02 8.05712636e+01] [ 8.08024115e-01 -1.56405507e-01 -5.68009108e-01 4.76027054e+01] [ 5.69601963e-01 -3.88943918e-02 8.20999897e-01 3.35227230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.360714057 meters Centerline goodness : 0.995402 Centerline is valid? [True, True] Translation: X:80.58, Y:47.60, Z:33.51 [[-1.50943880e-01 -9.87513723e-01 4.50842812e-02 8.05757224e+01] [ 8.06597479e-01 -1.49400519e-01 -5.71909076e-01 4.75950387e+01] [ 5.71503676e-01 -4.99613071e-02 8.19077173e-01 3.35137398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.390714057 meters Centerline goodness : 0.995587 Centerline is valid? [True, True] Translation: X:80.57, Y:47.58, Z:33.51 [[-1.49867358e-01 -9.87306448e-01 5.25904213e-02 8.05734243e+01] [ 8.07477852e-01 -1.52918139e-01 -5.69732887e-01 4.75843709e+01] [ 5.70542982e-01 -4.29187621e-02 8.20145527e-01 3.35094505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.420714057 meters Centerline goodness : 0.995311 Centerline is valid? [True, True] Translation: X:80.57, Y:47.60, Z:33.52 [[-1.52992403e-01 -9.87299646e-01 4.28104359e-02 8.05731556e+01] [ 8.03707363e-01 -1.49515993e-01 -5.75933540e-01 4.75999127e+01] [ 5.75019825e-01 -5.37063938e-02 8.16374806e-01 3.35197740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.450714057 meters Centerline goodness : 0.994674 Centerline is valid? [True, True] Translation: X:80.57, Y:47.59, Z:33.52 [[-1.52643171e-01 -9.86598871e-01 5.76431354e-02 8.05676832e+01] [ 8.04879686e-01 -1.57949808e-01 -5.72031947e-01 4.75935694e+01] [ 5.73470795e-01 -4.09209815e-02 8.18203349e-01 3.35215270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.480714057 meters Centerline goodness : 0.995215 Centerline is valid? [True, True] Translation: X:80.56, Y:47.57, Z:33.51 [[-1.47379038e-01 -9.86747672e-01 6.78855697e-02 8.05623003e+01] [ 8.05635231e-01 -1.59578222e-01 -5.70514387e-01 4.75747069e+01] [ 5.73786802e-01 -2.93908548e-02 8.18477174e-01 3.35133365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.510714057 meters Centerline goodness : 0.994710 Centerline is valid? [True, True] Translation: X:80.58, Y:47.60, Z:33.51 [[-1.50664819e-01 -9.88313204e-01 2.31759346e-02 8.05764425e+01] [ 8.02344351e-01 -1.35943052e-01 -5.81173837e-01 4.75954155e+01] [ 5.77532384e-01 -6.89673711e-02 8.13449351e-01 3.35142044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.54071405699997 meters Centerline goodness : 0.995651 Centerline is valid? [True, True] Translation: X:80.55, Y:47.57, Z:33.52 [[-1.48500319e-01 -9.85912051e-01 7.69745556e-02 8.05534065e+01] [ 7.98521233e-01 -1.65462995e-01 -5.78779611e-01 4.75661209e+01] [ 5.83362234e-01 -2.44831399e-02 8.11843014e-01 3.35222000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.57071405699998 meters Centerline goodness : 0.994543 Centerline is valid? [True, True] Translation: X:80.56, Y:47.58, Z:33.52 [[-1.49135871e-01 -9.87798411e-01 4.48641469e-02 8.05635488e+01] [ 8.01055051e-01 -1.47292793e-01 -5.80185865e-01 4.75837241e+01] [ 5.79714841e-01 -5.05878729e-02 8.13247546e-01 3.35203067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.60071405699998 meters Centerline goodness : 0.993927 Centerline is valid? [True, True] Translation: X:80.55, Y:47.56, Z:33.52 [[-1.46485573e-01 -9.84983385e-01 9.13767345e-02 8.05453694e+01] [ 8.05175621e-01 -1.72385057e-01 -5.67428948e-01 4.75580369e+01] [ 5.74660070e-01 -9.54583580e-03 8.18336533e-01 3.35224115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.63071405699998 meters Centerline goodness : 0.994941 Centerline is valid? [True, True] Translation: X:80.56, Y:47.56, Z:33.51 [[-1.45735437e-01 -9.87665914e-01 5.72470515e-02 8.05582460e+01] [ 8.06379566e-01 -1.52111018e-01 -5.71501736e-01 4.75625166e+01] [ 5.73160691e-01 -3.71252027e-02 8.18601577e-01 3.35078995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.66071405699998 meters Centerline goodness : 0.995346 Centerline is valid? [True, True] Translation: X:80.55, Y:47.56, Z:33.52 [[-1.47314735e-01 -9.86791106e-01 6.73920069e-02 8.05531137e+01] [ 8.01455849e-01 -1.59019917e-01 -5.76525097e-01 4.75645480e+01] [ 5.79626509e-01 -3.09189237e-02 8.14295481e-01 3.35155477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.69071405699998 meters Centerline goodness : 0.995310 Centerline is valid? [True, True] Translation: X:80.55, Y:47.57, Z:33.52 [[-1.49085696e-01 -9.86928175e-01 6.12064702e-02 8.05532924e+01] [ 8.02140095e-01 -1.56902938e-01 -5.76153397e-01 4.75719186e+01] [ 5.78225495e-01 -3.68000664e-02 8.15046644e-01 3.35183687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.72071405699998 meters Centerline goodness : 0.994650 Centerline is valid? [True, True] Translation: X:80.56, Y:47.57, Z:33.51 [[-1.50127495e-01 -9.87786096e-01 4.17176724e-02 8.05618382e+01] [ 8.03423745e-01 -1.46480700e-01 -5.77108041e-01 4.75673687e+01] [ 5.76170133e-01 -5.31228161e-02 8.15601584e-01 3.35056278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.75071405699998 meters Centerline goodness : 0.994381 Centerline is valid? [True, True] Translation: X:80.55, Y:47.58, Z:33.53 [[-1.50419353e-01 -9.86121809e-01 7.02694505e-02 8.05475094e+01] [ 8.04302418e-01 -1.63396191e-01 -5.71313667e-01 4.75812474e+01] [ 5.74866627e-01 -2.94187434e-02 8.17718105e-01 3.35291351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.78071405699998 meters Centerline goodness : 0.994319 Centerline is valid? [True, True] Translation: X:80.55, Y:47.57, Z:33.52 [[-1.49602872e-01 -9.86564668e-01 6.56440123e-02 8.05504701e+01] [ 8.04163897e-01 -1.60033858e-01 -5.72459249e-01 4.75722390e+01] [ 5.75273333e-01 -3.28530029e-02 8.17301213e-01 3.35191860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.81071405699998 meters Centerline goodness : 0.993877 Centerline is valid? [True, True] Translation: X:80.55, Y:47.55, Z:33.50 [[-1.46236229e-01 -9.86190168e-01 7.77426407e-02 8.05490291e+01] [ 8.08417232e-01 -1.64428952e-01 -5.65176696e-01 4.75454326e+01] [ 5.70154842e-01 -1.98008182e-02 8.21298596e-01 3.35021781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.84071405699999 meters Centerline goodness : 0.995020 Centerline is valid? [True, True] Translation: X:80.56, Y:47.55, Z:33.50 [[-1.45267707e-01 -9.87500423e-01 6.11572419e-02 8.05551551e+01] [ 8.10099218e-01 -1.54202366e-01 -5.65650854e-01 4.75520378e+01] [ 5.68011048e-01 -3.26273684e-02 8.22373944e-01 3.34972592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.870714057 meters Centerline goodness : 0.994418 Centerline is valid? [True, True] Translation: X:80.56, Y:47.56, Z:33.49 [[-1.46236733e-01 -9.88296234e-01 4.34208707e-02 8.05609707e+01] [ 8.05766340e-01 -1.44461915e-01 -5.74344287e-01 4.75550309e+01] [ 5.73894958e-01 -4.90031562e-02 8.17461478e-01 3.34942968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.900714057 meters Centerline goodness : 0.995780 Centerline is valid? [True, True] Translation: X:80.54, Y:47.56, Z:33.52 [[-1.54126495e-01 -9.85639503e-01 6.89912567e-02 8.05431171e+01] [ 7.97543120e-01 -1.65323068e-01 -5.80166575e-01 4.75580433e+01] [ 5.83240941e-01 -3.43955386e-02 8.11570670e-01 3.35155370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.930714057 meters Centerline goodness : 0.994053 Centerline is valid? [True, True] Translation: X:80.55, Y:47.54, Z:33.50 [[-1.41551435e-01 -9.87384042e-01 7.09643875e-02 8.05506268e+01] [ 8.07461933e-01 -1.56634132e-01 -5.68745089e-01 4.75397559e+01] [ 5.72685270e-01 -2.32056421e-02 8.19446813e-01 3.34954463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.960714057 meters Centerline goodness : 0.994848 Centerline is valid? [True, True] Translation: X:80.55, Y:47.55, Z:33.51 [[-1.51681643e-01 -9.86401547e-01 6.32824371e-02 8.05456690e+01] [ 7.98027679e-01 -1.59988542e-01 -5.80995258e-01 4.75549154e+01] [ 5.83219086e-01 -3.76251789e-02 8.11443063e-01 3.35101244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.990714057 meters Centerline goodness : 0.994868 Centerline is valid? [True, True] Translation: X:80.54, Y:47.55, Z:33.51 [[-1.48991928e-01 -9.86090270e-01 7.36707874e-02 8.05417856e+01] [ 7.97996676e-01 -1.63899993e-01 -5.79946633e-01 4.75467572e+01] [ 5.83954374e-01 -2.76183236e-02 8.11316534e-01 3.35103780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.020714057 meters Centerline goodness : 0.995413 Centerline is valid? [True, True] Translation: X:80.53, Y:47.51, Z:33.49 [[-1.24197652e-01 -9.82692196e-01 1.37444504e-01 8.05300660e+01] [ 8.23473277e-01 -1.79358434e-01 -5.38258594e-01 4.75071754e+01] [ 5.53594351e-01 4.63314226e-02 8.31496659e-01 3.34914379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.050714057 meters Centerline goodness : 0.995336 Centerline is valid? [True, True] Translation: X:80.58, Y:47.55, Z:33.46 [[-1.25537960e-01 -9.92032659e-01 1.05557190e-02 8.05793240e+01] [ 8.17061957e-01 -1.09419366e-01 -5.66071693e-01 4.75495339e+01] [ 5.62716607e-01 -6.24388089e-02 8.24288430e-01 3.34622946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.080714057 meters Centerline goodness : 0.995171 Centerline is valid? [True, True] Translation: X:80.56, Y:47.54, Z:33.48 [[-1.21385844e-01 -9.90326665e-01 6.72203330e-02 8.05578847e+01] [ 8.22798156e-01 -1.38269284e-01 -5.51257471e-01 4.75358744e+01] [ 5.55219480e-01 -1.16060873e-02 8.31622888e-01 3.34755210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.110714057 meters Centerline goodness : 0.995335 Centerline is valid? [True, True] Translation: X:80.58, Y:47.57, Z:33.48 [[-1.44040186e-01 -9.89500830e-01 -1.18546061e-02 8.05802493e+01] [ 8.01105869e-01 -1.09566444e-01 -5.88408516e-01 4.75679391e+01] [ 5.80931848e-01 -9.42512664e-02 8.08476893e-01 3.34803157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.140714057 meters Centerline goodness : 0.995075 Centerline is valid? [True, True] Translation: X:80.54, Y:47.52, Z:33.48 [[-1.20296646e-01 -9.85351244e-01 1.20878625e-01 8.05414850e+01] [ 8.27165378e-01 -1.66815756e-01 -5.36628308e-01 4.75165008e+01] [ 5.48931830e-01 3.54320282e-02 8.35115811e-01 3.34847732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.170714057 meters Centerline goodness : 0.994947 Centerline is valid? [True, True] Translation: X:80.57, Y:47.53, Z:33.46 [[-1.19018843e-01 -9.91311671e-01 5.59971960e-02 8.05693696e+01] [ 8.24012282e-01 -1.30082093e-01 -5.51436677e-01 4.75308423e+01] [ 5.53929846e-01 -1.94889783e-02 8.32335212e-01 3.34613690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.200714057 meters Centerline goodness : 0.995186 Centerline is valid? [True, True] Translation: X:80.58, Y:47.54, Z:33.45 [[-1.20206964e-01 -9.92225687e-01 3.22253232e-02 8.05831242e+01] [ 8.22909740e-01 -1.17746923e-01 -5.55837406e-01 4.75358997e+01] [ 5.55310585e-01 -4.02969949e-02 8.30666182e-01 3.34522637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.230714057 meters Centerline goodness : 0.994749 Centerline is valid? [True, True] Translation: X:80.58, Y:47.54, Z:33.46 [[-1.24023914e-01 -9.91323829e-01 4.35331474e-02 8.05803903e+01] [ 8.20457792e-01 -1.27124468e-01 -5.57394279e-01 4.75429824e+01] [ 5.58092359e-01 -3.34131101e-02 8.29105834e-01 3.34635671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.260714057 meters Centerline goodness : 0.995660 Centerline is valid? [True, True] Translation: X:80.58, Y:47.55, Z:33.47 [[-1.26052792e-01 -9.91068753e-01 4.35134543e-02 8.05812843e+01] [ 8.19223589e-01 -1.28732163e-01 -5.58838744e-01 4.75457968e+01] [ 5.59449198e-01 -3.47959356e-02 8.28133949e-01 3.34665819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.29071405699997 meters Centerline goodness : 0.995282 Centerline is valid? [True, True] Translation: X:80.58, Y:47.53, Z:33.46 [[-1.21171015e-01 -9.90477920e-01 6.53534673e-02 8.05766253e+01] [ 8.26093178e-01 -1.37126177e-01 -5.46595347e-01 4.75331733e+01] [ 5.50352293e-01 -1.22434595e-02 8.34842770e-01 3.34616040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.32071405699998 meters Centerline goodness : 0.994936 Centerline is valid? [True, True] Translation: X:80.59, Y:47.56, Z:33.46 [[-1.27352829e-01 -9.91587464e-01 2.31421269e-02 8.05949693e+01] [ 8.20511059e-01 -1.18432434e-01 -5.59227468e-01 4.75551270e+01] [ 5.57263725e-01 -5.22308288e-02 8.28691186e-01 3.34613283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.35071405699998 meters Centerline goodness : 0.995174 Centerline is valid? [True, True] Translation: X:80.58, Y:47.56, Z:33.47 [[-1.29590945e-01 -9.90365302e-01 4.88134850e-02 8.05846599e+01] [ 8.19282994e-01 -1.34675361e-01 -5.57349013e-01 4.75550831e+01] [ 5.58553098e-01 -3.22353271e-02 8.28842157e-01 3.34739048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.38071405699998 meters Centerline goodness : 0.996355 Centerline is valid? [True, True] Translation: X:80.60, Y:47.57, Z:33.48 [[-1.52744576e-01 -9.88249792e-01 -5.60747131e-03 8.06009351e+01] [ 7.96989919e-01 -1.19824295e-01 -5.91987506e-01 4.75658982e+01] [ 5.84359618e-01 -9.48919786e-02 8.05927633e-01 3.34779670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.41071405699998 meters Centerline goodness : 0.996027 Centerline is valid? [True, True] Translation: X:80.57, Y:47.54, Z:33.50 [[-1.53823904e-01 -9.85160277e-01 7.61408886e-02 8.05717881e+01] [ 7.94370230e-01 -1.69124612e-01 -5.83414779e-01 4.75421929e+01] [ 5.87634363e-01 -2.92590835e-02 8.08597404e-01 3.35010637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.44071405699998 meters Centerline goodness : 0.995941 Centerline is valid? [True, True] Translation: X:80.57, Y:47.54, Z:33.50 [[-1.54945233e-01 -9.84962901e-01 7.64202720e-02 8.05742505e+01] [ 7.94158532e-01 -1.70193283e-01 -5.83392211e-01 4.75380033e+01] [ 5.87625902e-01 -2.97040309e-02 8.08587330e-01 3.34976585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.47071405699998 meters Centerline goodness : 0.995479 Centerline is valid? [True, True] Translation: X:80.58, Y:47.54, Z:33.50 [[-1.56889963e-01 -9.84629441e-01 7.67489689e-02 8.05779406e+01] [ 7.93522159e-01 -1.71940365e-01 -5.83745745e-01 4.75363520e+01] [ 5.87969492e-01 -3.06818406e-02 8.08300997e-01 3.34963128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.50071405699998 meters Centerline goodness : 0.995515 Centerline is valid? [True, True] Translation: X:80.58, Y:47.54, Z:33.50 [[-1.57869696e-01 -9.84449546e-01 7.70470599e-02 8.05792011e+01] [ 7.93224612e-01 -1.72900013e-01 -5.83866681e-01 4.75399166e+01] [ 5.88108727e-01 -3.10592315e-02 8.08185282e-01 3.34987818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.53071405699998 meters Centerline goodness : 0.994837 Centerline is valid? [True, True] Translation: X:80.57, Y:47.52, Z:33.49 [[-1.41321996e-01 -9.81772078e-01 1.27089259e-01 8.05725523e+01] [ 8.14385524e-01 -1.88285814e-01 -5.48930478e-01 4.75230551e+01] [ 5.62853721e-01 2.59237017e-02 8.26149896e-01 3.34895651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.56071405699998 meters Centerline goodness : 0.995365 Centerline is valid? [True, True] Translation: X:80.62, Y:47.55, Z:33.47 [[-1.59827804e-01 -9.87143045e-01 1.91892360e-03 8.06168835e+01] [ 7.95990084e-01 -1.30027532e-01 -5.91179015e-01 4.75545862e+01] [ 5.83827765e-01 -9.29593993e-02 8.06538090e-01 3.34725623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.59071405699999 meters Centerline goodness : 0.995558 Centerline is valid? [True, True] Translation: X:80.58, Y:47.51, Z:33.48 [[-1.40298672e-01 -9.82603760e-01 1.21680453e-01 8.05810489e+01] [ 8.15253635e-01 -1.84385040e-01 -5.48965999e-01 4.75118471e+01] [ 5.61852110e-01 2.21812307e-02 8.26940264e-01 3.34769576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.620714057 meters Centerline goodness : 0.995000 Centerline is valid? [True, True] Translation: X:80.61, Y:47.52, Z:33.45 [[-1.35057513e-01 -9.89217452e-01 5.66418568e-02 8.06133566e+01] [ 8.19418677e-01 -1.43648323e-01 -5.54903768e-01 4.75246126e+01] [ 5.57056999e-01 -2.85305275e-02 8.29984041e-01 3.34496851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.650714057 meters Centerline goodness : 0.995655 Centerline is valid? [True, True] Translation: X:80.63, Y:47.55, Z:33.47 [[-1.58559407e-01 -9.87349428e-01 1.48784193e-04 8.06280659e+01] [ 7.95730613e-01 -1.27876363e-01 -5.91996983e-01 4.75538862e+01] [ 5.84526908e-01 -9.37482984e-02 8.05940166e-01 3.34693161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.680714057 meters Centerline goodness : 0.995701 Centerline is valid? [True, True] Translation: X:80.59, Y:47.50, Z:33.46 [[-1.35185417e-01 -9.82566642e-01 1.27623260e-01 8.05913100e+01] [ 8.16099433e-01 -1.83462885e-01 -5.48017414e-01 4.74967634e+01] [ 5.61877761e-01 3.00693071e-02 8.26673586e-01 3.34648729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.710714057 meters Centerline goodness : 0.995141 Centerline is valid? [True, True] Translation: X:80.63, Y:47.52, Z:33.44 [[-1.33465780e-01 -9.89995171e-01 4.57869790e-02 8.06268152e+01] [ 8.18390677e-01 -1.36152216e-01 -5.58300344e-01 4.75225539e+01] [ 5.58948643e-01 -3.70423540e-02 8.28374480e-01 3.34435986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.740714057 meters Centerline goodness : 0.994914 Centerline is valid? [True, True] Translation: X:80.63, Y:47.52, Z:33.44 [[-1.34260429e-01 -9.90187717e-01 3.87610902e-02 8.06332194e+01] [ 8.15870237e-01 -1.32655980e-01 -5.62812711e-01 4.75248663e+01] [ 5.62432124e-01 -4.39394560e-02 8.25675136e-01 3.34446723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.770714057 meters Centerline goodness : 0.993697 Centerline is valid? [True, True] Translation: X:80.63, Y:47.51, Z:33.44 [[-1.29097459e-01 -9.90194046e-01 5.33816146e-02 8.06321675e+01] [ 8.24354478e-01 -1.37084801e-01 -5.49224409e-01 4.75142056e+01] [ 5.51156548e-01 -2.68981026e-02 8.33968196e-01 3.34360598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.800714057 meters Centerline goodness : 0.994736 Centerline is valid? [True, True] Translation: X:80.64, Y:47.55, Z:33.46 [[-1.56426718e-01 -9.87685452e-01 2.85141470e-03 8.06418730e+01] [ 7.96018578e-01 -1.27779100e-01 -5.91630734e-01 4.75490685e+01] [ 5.84709420e-01 -9.02770751e-02 8.06204034e-01 3.34649492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.830714057 meters Centerline goodness : 0.993900 Centerline is valid? [True, True] Translation: X:80.60, Y:47.50, Z:33.47 [[-1.32957390e-01 -9.81564894e-01 1.37305102e-01 8.06040167e+01] [ 8.20284516e-01 -1.86734426e-01 -5.40614065e-01 4.75003333e+01] [ 5.56287377e-01 4.07506143e-02 8.29990206e-01 3.34650396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.860714057 meters Centerline goodness : 0.994667 Centerline is valid? [True, True] Translation: X:80.66, Y:47.56, Z:33.46 [[-1.58720343e-01 -9.87208593e-01 -1.50680467e-02 8.06556063e+01] [ 7.96561475e-01 -1.19021749e-01 -5.92725602e-01 4.75560318e+01] [ 5.83350383e-01 -1.06080236e-01 8.05263506e-01 3.34619530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.890714057 meters Centerline goodness : 0.993788 Centerline is valid? [True, True] Translation: X:80.61, Y:47.51, Z:33.47 [[-1.38591889e-01 -9.82102966e-01 1.27538437e-01 8.06102463e+01] [ 8.14155806e-01 -1.86308873e-01 -5.49944841e-01 4.75089969e+01] [ 5.63864001e-01 2.76182643e-02 8.25405730e-01 3.34719075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.920714057 meters Centerline goodness : 0.992553 Centerline is valid? [True, True] Translation: X:80.65, Y:47.53, Z:33.45 [[-1.39976356e-01 -9.89409183e-01 3.84199053e-02 8.06514113e+01] [ 8.17118427e-01 -1.37341984e-01 -5.59870213e-01 4.75328803e+01] [ 5.59217396e-01 -4.69749795e-02 8.27689105e-01 3.34488176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.950714057 meters Centerline goodness : 0.992790 Centerline is valid? [True, True] Translation: X:80.65, Y:47.53, Z:33.46 [[-1.44609152e-01 -9.88327211e-01 4.79324136e-02 8.06494047e+01] [ 8.11655816e-01 -1.46187335e-01 -5.65547611e-01 4.75307545e+01] [ 5.65953205e-01 -4.28787380e-02 8.23321555e-01 3.34556451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.980714057 meters Centerline goodness : 0.992352 Centerline is valid? [True, True] Translation: X:80.64, Y:47.53, Z:33.46 [[-1.43116905e-01 -9.87092880e-01 7.18693115e-02 8.06413814e+01] [ 8.15145537e-01 -1.58746966e-01 -5.57079127e-01 4.75283196e+01] [ 5.61297875e-01 -2.11434922e-02 8.27343730e-01 3.34595283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.010714057 meters Centerline goodness : 0.992514 Centerline is valid? [True, True] Translation: X:80.66, Y:47.53, Z:33.45 [[-1.43739293e-01 -9.88549276e-01 4.59276061e-02 8.06558435e+01] [ 8.15532981e-01 -1.44615629e-01 -5.60350138e-01 4.75274299e+01] [ 5.60575573e-01 -4.30888554e-02 8.26981486e-01 3.34457707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.04071405699997 meters Centerline goodness : 0.992848 Centerline is valid? [True, True] Translation: X:80.66, Y:47.53, Z:33.45 [[-1.49001493e-01 -9.87711280e-01 4.71697112e-02 8.06553554e+01] [ 8.11218812e-01 -1.49375442e-01 -5.65341504e-01 4.75296227e+01] [ 5.65440177e-01 -4.59717710e-02 8.23507136e-01 3.34542717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.07071405699998 meters Centerline goodness : 0.993241 Centerline is valid? [True, True] Translation: X:80.65, Y:47.53, Z:33.46 [[-1.52209961e-01 -9.86616371e-01 5.84830170e-02 8.06495592e+01] [ 8.05337531e-01 -1.58110334e-01 -5.71342790e-01 4.75307941e+01] [ 5.72942919e-01 -3.98654953e-02 8.18625161e-01 3.34638357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.10071405699998 meters Centerline goodness : 0.994005 Centerline is valid? [True, True] Translation: X:80.65, Y:47.54, Z:33.48 [[-1.70035755e-01 -9.84521210e-01 4.24950507e-02 8.06481844e+01] [ 7.95097398e-01 -1.62540565e-01 -5.84295039e-01 4.75431221e+01] [ 5.82158028e-01 -6.55633437e-02 8.10427960e-01 3.34754984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.13071405699998 meters Centerline goodness : 0.993264 Centerline is valid? [True, True] Translation: X:80.63, Y:47.53, Z:33.48 [[-1.71073729e-01 -9.82121941e-01 7.85510807e-02 8.06340845e+01] [ 7.93570340e-01 -1.84603282e-01 -5.79799744e-01 4.75347159e+01] [ 5.83934837e-01 -3.68526965e-02 8.10963615e-01 3.34848306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.16071405699998 meters Centerline goodness : 0.993264 Centerline is valid? [True, True] Translation: X:80.63, Y:47.53, Z:33.48 [[-1.71453805e-01 -9.82033433e-01 7.88284849e-02 8.06343383e+01] [ 7.93488353e-01 -1.85073497e-01 -5.79762050e-01 4.75325234e+01] [ 5.83934779e-01 -3.68529246e-02 8.10963646e-01 3.34833757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.19071405699998 meters Centerline goodness : 0.992824 Centerline is valid? [True, True] Translation: X:80.64, Y:47.51, Z:33.46 [[-1.56712778e-01 -9.83272273e-01 9.28264081e-02 8.06415057e+01] [ 8.03333776e-01 -1.81578603e-01 -5.67171981e-01 4.75065522e+01] [ 5.74539773e-01 -1.43125081e-02 8.18351515e-01 3.34615337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.22071405699998 meters Centerline goodness : 0.992619 Centerline is valid? [True, True] Translation: X:80.65, Y:47.52, Z:33.45 [[-1.57545147e-01 -9.85607482e-01 6.12977802e-02 8.06545041e+01] [ 8.04566362e-01 -1.64102425e-01 -5.70739313e-01 4.75170698e+01] [ 5.72584052e-01 -4.05990768e-02 8.18840167e-01 3.34548730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.25071405699998 meters Centerline goodness : 0.992966 Centerline is valid? [True, True] Translation: X:80.65, Y:47.51, Z:33.46 [[-1.52709102e-01 -9.84595619e-01 8.51551362e-02 8.06461828e+01] [ 8.12816311e-01 -1.74143148e-01 -5.55881110e-01 4.75141850e+01] [ 5.62147289e-01 -1.56726216e-02 8.26888622e-01 3.34550164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.28071405699998 meters Centerline goodness : 0.993256 Centerline is valid? [True, True] Translation: X:80.67, Y:47.53, Z:33.45 [[-1.57977609e-01 -9.87344820e-01 1.39025729e-02 8.06741907e+01] [ 8.03580467e-01 -1.36731537e-01 -5.79277930e-01 4.75264442e+01] [ 5.73847983e-01 -8.03411063e-02 8.15011533e-01 3.34452000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.31071405699998 meters Centerline goodness : 0.993161 Centerline is valid? [True, True] Translation: X:80.65, Y:47.52, Z:33.46 [[-1.57556592e-01 -9.85835277e-01 5.74867587e-02 8.06544033e+01] [ 8.01854382e-01 -1.61695652e-01 -5.75225231e-01 4.75196702e+01] [ 5.76372684e-01 -4.45345174e-02 8.15972552e-01 3.34595082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.34071405699999 meters Centerline goodness : 0.993649 Centerline is valid? [True, True] Translation: X:80.65, Y:47.51, Z:33.46 [[-1.51407153e-01 -9.85694788e-01 7.40382250e-02 8.06471395e+01] [ 8.06533023e-01 -1.66495534e-01 -5.67259835e-01 4.75107697e+01] [ 5.71472097e-01 -2.61729233e-02 8.20204011e-01 3.34575069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.370714057 meters Centerline goodness : 0.993777 Centerline is valid? [True, True] Translation: X:80.65, Y:47.53, Z:33.46 [[-1.66461949e-01 -9.85465115e-01 3.38958306e-02 8.06534015e+01] [ 7.96190153e-01 -1.54610275e-01 -5.84958890e-01 4.75290357e+01] [ 5.81697224e-01 -7.03858707e-02 8.10354348e-01 3.34629918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.400714057 meters Centerline goodness : 0.991801 Centerline is valid? [True, True] Translation: X:80.64, Y:47.51, Z:33.46 [[-1.48536925e-01 -9.85172591e-01 8.58588811e-02 8.06410329e+01] [ 8.07268289e-01 -1.70944273e-01 -5.64885798e-01 4.75083038e+01] [ 5.71187090e-01 -1.45952475e-02 8.20690129e-01 3.34638606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.430714057 meters Centerline goodness : 0.992791 Centerline is valid? [True, True] Translation: X:80.64, Y:47.52, Z:33.47 [[-1.45549332e-01 -9.85997011e-01 8.13958654e-02 8.06412039e+01] [ 8.07408914e-01 -1.65925972e-01 -5.66179669e-01 4.75199268e+01] [ 5.71757149e-01 -1.66873252e-02 8.20253190e-01 3.34668170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.460714057 meters Centerline goodness : 0.992505 Centerline is valid? [True, True] Translation: X:80.62, Y:47.79, Z:33.65 [[-1.59349315e-01 -9.86638998e-01 3.39305658e-02 8.06194311e+01] [ 7.98426494e-01 -1.49013455e-01 -5.83361057e-01 4.77897734e+01] [ 5.80622880e-01 -6.58671223e-02 8.11503908e-01 3.36502586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.490714057 meters Centerline goodness : 0.993650 Centerline is valid? [True, True] Translation: X:80.63, Y:47.51, Z:33.47 [[-1.61190995e-01 -9.82411858e-01 9.42571162e-02 8.06303145e+01] [ 7.94190948e-01 -1.85818078e-01 -5.78560611e-01 4.75096000e+01] [ 5.85899481e-01 -1.84006118e-02 8.10174806e-01 3.34727959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.520714057 meters Centerline goodness : 0.993443 Centerline is valid? [True, True] Translation: X:80.59, Y:47.85, Z:33.71 [[-1.57767007e-01 -9.84442611e-01 7.73454410e-02 8.05909882e+01] [ 7.93529794e-01 -1.73009228e-01 -5.83419466e-01 4.78479813e+01] [ 5.87724458e-01 -3.06684309e-02 8.08479690e-01 3.37101165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.550714057 meters Centerline goodness : 0.993937 Centerline is valid? [True, True] Translation: X:80.63, Y:47.51, Z:33.47 [[-1.61500964e-01 -9.83403261e-01 8.26768750e-02 8.06345377e+01] [ 7.93666636e-01 -1.79217023e-01 -5.81355769e-01 4.75135385e+01] [ 5.86524262e-01 -2.82716397e-02 8.09438079e-01 3.34707107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.580714057 meters Centerline goodness : 0.994363 Centerline is valid? [True, True] Translation: X:80.63, Y:47.52, Z:33.47 [[-1.63870415e-01 -9.82972360e-01 8.31374011e-02 8.06344681e+01] [ 7.92983955e-01 -1.81389086e-01 -5.81613658e-01 4.75162629e+01] [ 5.86790367e-01 -2.93826464e-02 8.09205614e-01 3.34730913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.610714057 meters Centerline goodness : 0.994258 Centerline is valid? [True, True] Translation: X:80.64, Y:47.51, Z:33.47 [[-1.64939782e-01 -9.82770286e-01 8.34112251e-02 8.06359422e+01] [ 7.92795755e-01 -1.82414269e-01 -5.81549590e-01 4.75103972e+01] [ 5.86745054e-01 -2.97925975e-02 8.09223481e-01 3.34688748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.640714057 meters Centerline goodness : 0.994362 Centerline is valid? [True, True] Translation: X:80.64, Y:47.51, Z:33.47 [[-1.66957223e-01 -9.82407445e-01 8.36713658e-02 8.06378932e+01] [ 7.92499681e-01 -1.84199812e-01 -5.81390303e-01 4.75085774e+01] [ 5.86574412e-01 -3.07577799e-02 8.09311076e-01 3.34672677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.670714057 meters Centerline goodness : 0.994281 Centerline is valid? [True, True] Translation: X:80.64, Y:47.51, Z:33.47 [[-1.67960183e-01 -9.82214510e-01 8.39287358e-02 8.06383176e+01] [ 7.92402664e-01 -1.85166054e-01 -5.81215580e-01 4.75098059e+01] [ 5.86419130e-01 -3.11157213e-02 8.09409919e-01 3.34678998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.700714057 meters Centerline goodness : 0.994444 Centerline is valid? [True, True] Translation: X:80.64, Y:47.51, Z:33.47 [[-1.69092237e-01 -9.81995970e-01 8.42124141e-02 8.06392751e+01] [ 7.92146681e-01 -1.86244936e-01 -5.81219803e-01 4.75057400e+01] [ 5.86439640e-01 -3.15711722e-02 8.09377421e-01 3.34656180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.730714057 meters Centerline goodness : 0.994561 Centerline is valid? [True, True] Translation: X:80.64, Y:47.50, Z:33.46 [[-1.70570846e-01 -9.81719286e-01 8.44560795e-02 8.06401993e+01] [ 7.92028376e-01 -1.87590846e-01 -5.80948127e-01 4.75025886e+01] [ 5.86171168e-01 -3.22012022e-02 8.09547061e-01 3.34644220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.760714057 meters Centerline goodness : 0.993930 Centerline is valid? [True, True] Translation: X:80.60, Y:47.77, Z:33.65 [[-1.66740662e-01 -9.82429368e-01 8.38456177e-02 8.06045288e+01] [ 7.93907015e-01 -1.84198871e-01 -5.79467365e-01 4.77681009e+01] [ 5.84730025e-01 -3.00551480e-02 8.10671009e-01 3.36539303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.79071405699997 meters Centerline goodness : 0.993767 Centerline is valid? [True, True] Translation: X:80.64, Y:47.50, Z:33.46 [[-1.73503594e-01 -9.81693266e-01 7.85801169e-02 8.06439297e+01] [ 7.92118001e-01 -1.86518364e-01 -5.81171207e-01 4.75046654e+01] [ 5.85188495e-01 -3.85905681e-02 8.09978514e-01 3.34625682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.82071405699998 meters Centerline goodness : 0.993740 Centerline is valid? [True, True] Translation: X:80.64, Y:47.50, Z:33.46 [[-1.75122057e-01 -9.80898797e-01 8.46747636e-02 8.06429891e+01] [ 7.91459706e-01 -1.91409981e-01 -5.80477177e-01 4.75024310e+01] [ 5.85596959e-01 -3.46376941e-02 8.09861983e-01 3.34631719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.85071405699998 meters Centerline goodness : 0.986667 Centerline is valid? [True, True] Translation: X:80.53, Y:48.25, Z:33.99 [[-1.82576490e-01 -9.80015495e-01 7.89648976e-02 8.05349045e+01] [ 7.91048292e-01 -1.94116766e-01 -5.80139019e-01 4.82479691e+01] [ 5.83873638e-01 -4.34546983e-02 8.10680741e-01 3.39944560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.88071405699998 meters Centerline goodness : 0.994103 Centerline is valid? [True, True] Translation: X:80.62, Y:47.57, Z:33.52 [[-1.65562818e-01 -9.81638072e-01 9.47399018e-02 8.06203984e+01] [ 7.93066550e-01 -1.89626069e-01 -5.78867343e-01 4.75678838e+01] [ 5.86203378e-01 -2.07038617e-02 8.09899346e-01 3.35157668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.91071405699998 meters Centerline goodness : 0.993741 Centerline is valid? [True, True] Translation: X:80.63, Y:47.57, Z:33.51 [[-1.68204201e-01 -9.83071836e-01 7.26437376e-02 8.06296713e+01] [ 7.93165878e-01 -1.78731744e-01 -5.82187988e-01 4.75695106e+01] [ 5.85316356e-01 -4.03079313e-02 8.09802466e-01 3.35075758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.94071405699998 meters Centerline goodness : 0.986523 Centerline is valid? [True, True] Translation: X:80.54, Y:48.27, Z:34.00 [[-1.73554833e-01 -9.82589772e-01 6.63027871e-02 8.05417905e+01] [ 7.92361366e-01 -1.79301482e-01 -5.83107576e-01 4.82712285e+01] [ 5.84843728e-01 -4.86653712e-02 8.09684813e-01 3.40048682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.97071405699998 meters Centerline goodness : 0.993955 Centerline is valid? [True, True] Translation: X:80.61, Y:47.62, Z:33.55 [[-1.60662136e-01 -9.83463708e-01 8.35871549e-02 8.06110814e+01] [ 7.93463171e-01 -1.79061588e-01 -5.81681308e-01 4.76190843e+01] [ 5.87029705e-01 -2.71308323e-02 8.09110650e-01 3.35476890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.00071405699998 meters Centerline goodness : 0.994000 Centerline is valid? [True, True] Translation: X:80.62, Y:47.62, Z:33.54 [[-1.64574692e-01 -9.84275111e-01 6.41691212e-02 8.06177940e+01] [ 7.93464607e-01 -1.70755085e-01 -5.84171737e-01 4.76233823e+01] [ 5.85942905e-01 -4.52239572e-02 8.09089430e-01 3.35419391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.03071405699998 meters Centerline goodness : 0.992859 Centerline is valid? [True, True] Translation: X:80.61, Y:47.62, Z:33.54 [[-1.47464065e-01 -9.84251710e-01 9.74829255e-02 8.06131297e+01] [ 8.08322281e-01 -1.76727015e-01 -5.61589399e-01 4.76208933e+01] [ 5.69973192e-01 -4.01663516e-03 8.21653471e-01 3.35390480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.06071405699998 meters Centerline goodness : 0.992634 Centerline is valid? [True, True] Translation: X:80.64, Y:47.64, Z:33.53 [[-1.49854690e-01 -9.88003241e-01 3.73251579e-02 8.06365220e+01] [ 8.09475565e-01 -1.44278240e-01 -5.69151209e-01 4.76386620e+01] [ 5.67708448e-01 -5.50761748e-02 8.21385253e-01 3.35269537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.09071405699999 meters Centerline goodness : 0.992547 Centerline is valid? [True, True] Translation: X:80.63, Y:47.64, Z:33.53 [[-1.53990472e-01 -9.87307144e-01 3.88785074e-02 8.06323875e+01] [ 8.07517852e-01 -1.48428315e-01 -5.70862464e-01 4.76402025e+01] [ 5.69387261e-01 -5.65122917e-02 8.20124691e-01 3.35306495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.120714057 meters Centerline goodness : 0.993842 Centerline is valid? [True, True] Translation: X:80.63, Y:47.63, Z:33.53 [[-1.71366457e-01 -9.85031104e-01 1.86349365e-02 8.06316139e+01] [ 7.95002305e-01 -1.49429249e-01 -5.87913459e-01 4.76285236e+01] [ 5.81897648e-01 -8.59338292e-02 8.08709159e-01 3.35265901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.150714057 meters Centerline goodness : 0.994398 Centerline is valid? [True, True] Translation: X:80.61, Y:47.62, Z:33.54 [[-1.72572499e-01 -9.82851962e-01 6.49673212e-02 8.06084946e+01] [ 7.92546056e-01 -1.77717291e-01 -5.83341506e-01 4.76177596e+01] [ 5.84884161e-01 -4.91791075e-02 8.09624564e-01 3.35386276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.180714057 meters Centerline goodness : 0.994561 Centerline is valid? [True, True] Translation: X:80.61, Y:47.61, Z:33.54 [[-1.73074808e-01 -9.82742763e-01 6.52822473e-02 8.06071496e+01] [ 7.92221571e-01 -1.78289596e-01 -5.83607576e-01 4.76134529e+01] [ 5.85175268e-01 -4.92897647e-02 8.09407453e-01 3.35360752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.210714057 meters Centerline goodness : 0.992908 Centerline is valid? [True, True] Translation: X:80.57, Y:47.98, Z:33.80 [[-1.70663992e-01 -9.83208812e-01 6.46083194e-02 8.05653929e+01] [ 7.98822787e-01 -1.76449760e-01 -5.75106631e-01 4.79827253e+01] [ 5.76850030e-01 -4.65393955e-02 8.15523223e-01 3.37957281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.240714057 meters Centerline goodness : 0.993635 Centerline is valid? [True, True] Translation: X:80.61, Y:47.61, Z:33.53 [[-1.59327238e-01 -9.84798737e-01 6.91829393e-02 8.06066320e+01] [ 8.03535808e-01 -1.70075386e-01 -5.70442432e-01 4.76110062e+01] [ 5.73537301e-01 -3.52960480e-02 8.18418690e-01 3.35284641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.270714057 meters Centerline goodness : 0.993065 Centerline is valid? [True, True] Translation: X:80.61, Y:47.62, Z:33.53 [[-1.62139799e-01 -9.85427085e-01 5.14212592e-02 8.06083118e+01] [ 8.02962219e-01 -1.62047765e-01 -5.73578413e-01 4.76242624e+01] [ 5.73552404e-01 -5.17105604e-02 8.17535111e-01 3.35313660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.300714057 meters Centerline goodness : 0.992948 Centerline is valid? [True, True] Translation: X:80.61, Y:47.61, Z:33.52 [[-1.61608616e-01 -9.84993024e-01 6.05920674e-02 8.06050207e+01] [ 8.04972549e-01 -1.67092945e-01 -5.69297060e-01 4.76062467e+01] [ 5.70878140e-01 -4.32283589e-02 8.19896005e-01 3.35215351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.330714057 meters Centerline goodness : 0.993533 Centerline is valid? [True, True] Translation: X:80.60, Y:47.60, Z:33.51 [[-1.62320996e-01 -9.85360944e-01 5.21124131e-02 8.06048179e+01] [ 8.04537291e-01 -1.62740713e-01 -5.71170034e-01 4.76020695e+01] [ 5.71289456e-01 -5.07865091e-02 8.19175859e-01 3.35142909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.360714057 meters Centerline goodness : 0.994511 Centerline is valid? [True, True] Translation: X:80.59, Y:47.61, Z:33.53 [[-1.63155738e-01 -9.84467373e-01 6.48397740e-02 8.05947442e+01] [ 8.02082383e-01 -1.70623746e-01 -5.72321053e-01 4.76144742e+01] [ 5.74494609e-01 -4.13706234e-02 8.17462180e-01 3.35296110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.390714057 meters Centerline goodness : 0.993129 Centerline is valid? [True, True] Translation: X:80.61, Y:47.61, Z:33.52 [[-1.65373249e-01 -9.85542355e-01 3.68504325e-02 8.06053095e+01] [ 8.04391354e-01 -1.56406606e-01 -5.73141800e-01 4.76109171e+01] [ 5.70619171e-01 -6.51401525e-02 8.18627218e-01 3.35157999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.420714057 meters Centerline goodness : 0.993374 Centerline is valid? [True, True] Translation: X:80.59, Y:47.60, Z:33.52 [[-1.67285099e-01 -9.84290517e-01 5.64612528e-02 8.05921422e+01] [ 8.03262724e-01 -1.69276138e-01 -5.71064432e-01 4.76024304e+01] [ 5.71650848e-01 -5.01773500e-02 8.18961258e-01 3.35192813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.450714057 meters Centerline goodness : 0.994040 Centerline is valid? [True, True] Translation: X:80.59, Y:47.60, Z:33.52 [[-1.67335204e-01 -9.83698763e-01 6.58458292e-02 8.05855280e+01] [ 8.00712482e-01 -1.74565977e-01 -5.73049946e-01 4.76000883e+01] [ 5.75202964e-01 -4.31678522e-02 8.16870912e-01 3.35219138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.480714057 meters Centerline goodness : 0.994568 Centerline is valid? [True, True] Translation: X:80.59, Y:47.60, Z:33.52 [[-1.68020830e-01 -9.84346262e-01 5.32112492e-02 8.05865416e+01] [ 8.01783661e-01 -1.67863601e-01 -5.73554507e-01 4.76004923e+01] [ 5.73508467e-01 -5.37051944e-02 8.17437331e-01 3.35156996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.510714057 meters Centerline goodness : 0.994674 Centerline is valid? [True, True] Translation: X:80.58, Y:47.61, Z:33.52 [[-1.69572127e-01 -9.84255615e-01 4.98615955e-02 8.05847410e+01] [ 8.01141766e-01 -1.67136376e-01 -5.74662772e-01 4.76093902e+01] [ 5.73948747e-01 -5.75005822e-02 8.16869953e-01 3.35217737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.54071405699997 meters Centerline goodness : 0.993671 Centerline is valid? [True, True] Translation: X:80.59, Y:47.63, Z:33.53 [[-1.72608561e-01 -9.84324376e-01 3.62188759e-02 8.05852941e+01] [ 8.02044120e-01 -1.61799359e-01 -5.74931472e-01 4.76282688e+01] [ 5.71779254e-01 -7.01889575e-02 8.17399532e-01 3.35308137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.57071405699998 meters Centerline goodness : 0.994123 Centerline is valid? [True, True] Translation: X:80.57, Y:47.62, Z:33.54 [[-1.74459243e-01 -9.83003572e-01 5.71659795e-02 8.05742707e+01] [ 8.00574823e-01 -1.75404246e-01 -5.72986303e-01 4.76234511e+01] [ 5.73274739e-01 -5.41971126e-02 8.17568803e-01 3.35379402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.60071405699998 meters Centerline goodness : 0.995319 Centerline is valid? [True, True] Translation: X:80.56, Y:47.65, Z:33.56 [[-1.85336724e-01 -9.81023446e-01 5.69499546e-02 8.05642113e+01] [ 7.91010447e-01 -1.83323298e-01 -5.83690878e-01 4.76450010e+01] [ 5.83054690e-01 -6.31313460e-02 8.09976334e-01 3.35605828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.63071405699998 meters Centerline goodness : 0.995283 Centerline is valid? [True, True] Translation: X:80.56, Y:47.59, Z:33.52 [[-1.75559119e-01 -9.81321484e-01 7.86583783e-02 8.05640553e+01] [ 7.97022789e-01 -1.88577495e-01 -5.73753608e-01 4.75863559e+01] [ 5.77869942e-01 -3.80351578e-02 8.15242085e-01 3.35229734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.66071405699998 meters Centerline goodness : 0.994833 Centerline is valid? [True, True] Translation: X:80.58, Y:47.59, Z:33.51 [[-1.76847393e-01 -9.83042266e-01 4.85067316e-02 8.05760454e+01] [ 7.97782345e-01 -1.72034204e-01 -5.77881963e-01 4.75887242e+01] [ 5.76427211e-01 -6.34991048e-02 8.14677564e-01 3.35103644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.69071405699998 meters Centerline goodness : 0.994845 Centerline is valid? [True, True] Translation: X:80.58, Y:47.59, Z:33.51 [[-1.79389240e-01 -9.82950433e-01 4.03478245e-02 8.05775586e+01] [ 7.98167276e-01 -1.69397032e-01 -5.78129436e-01 4.75944263e+01] [ 5.75107381e-01 -7.15058873e-02 8.14946875e-01 3.35109020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.72071405699998 meters Centerline goodness : 0.994264 Centerline is valid? [True, True] Translation: X:80.57, Y:47.59, Z:33.52 [[-1.79842256e-01 -9.81698243e-01 6.26523930e-02 8.05682468e+01] [ 7.96502113e-01 -1.82699576e-01 -5.76372491e-01 4.75889133e+01] [ 5.77270427e-01 -5.37533658e-02 8.14781829e-01 3.35174959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.75071405699998 meters Centerline goodness : 0.994697 Centerline is valid? [True, True] Translation: X:80.56, Y:47.58, Z:33.52 [[-1.77796259e-01 -9.80958356e-01 7.81613278e-02 8.05605773e+01] [ 7.96466396e-01 -1.90095055e-01 -5.74025392e-01 4.75843873e+01] [ 5.77953087e-01 -3.98066963e-02 8.15098556e-01 3.35194293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.78071405699998 meters Centerline goodness : 0.995502 Centerline is valid? [True, True] Translation: X:80.57, Y:47.59, Z:33.50 [[-1.78433466e-01 -9.82960877e-01 4.41521541e-02 8.05747510e+01] [ 7.99352504e-01 -1.70977191e-01 -5.76022894e-01 4.75878133e+01] [ 5.73756980e-01 -6.74886264e-02 8.16240291e-01 3.35044931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.81071405699998 meters Centerline goodness : 0.995646 Centerline is valid? [True, True] Translation: X:80.57, Y:47.58, Z:33.51 [[-1.77660354e-01 -9.81849358e-01 6.63975628e-02 8.05651057e+01] [ 7.96785886e-01 -1.83115832e-01 -5.75847936e-01 4.75770663e+01] [ 5.77554371e-01 -4.94007071e-02 8.14856134e-01 3.35090770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.84071405699999 meters Centerline goodness : 0.995264 Centerline is valid? [True, True] Translation: X:80.57, Y:47.58, Z:33.51 [[-1.75450016e-01 -9.82748559e-01 5.85026668e-02 8.05666535e+01] [ 7.99145247e-01 -1.76872801e-01 -5.74528403e-01 4.75793789e+01] [ 5.74964491e-01 -5.40488892e-02 8.16391176e-01 3.35064132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.870714057 meters Centerline goodness : 0.995544 Centerline is valid? [True, True] Translation: X:80.57, Y:47.58, Z:33.50 [[-1.72707582e-01 -9.83675584e-01 5.05414393e-02 8.05686273e+01] [ 7.99943200e-01 -1.70017618e-01 -5.75486652e-01 4.75784196e+01] [ 5.74685104e-01 -5.89606274e-02 8.16247926e-01 3.35027333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.900714057 meters Centerline goodness : 0.995297 Centerline is valid? [True, True] Translation: X:80.57, Y:47.57, Z:33.50 [[-1.70932845e-01 -9.83918084e-01 5.18378953e-02 8.05684458e+01] [ 7.99646294e-01 -1.69272818e-01 -5.76118493e-01 4.75676660e+01] [ 5.75628150e-01 -5.70255922e-02 8.15720733e-01 3.34961833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.930714057 meters Centerline goodness : 0.996249 Centerline is valid? [True, True] Translation: X:80.57, Y:47.56, Z:33.49 [[-1.68302901e-01 -9.84061245e-01 5.74247235e-02 8.05656973e+01] [ 8.00466736e-01 -1.70435627e-01 -5.74634407e-01 4.75586154e+01] [ 5.75262669e-01 -5.07460566e-02 8.16393104e-01 3.34914497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.960714057 meters Centerline goodness : 0.995573 Centerline is valid? [True, True] Translation: X:80.57, Y:47.56, Z:33.49 [[-1.64029850e-01 -9.85286269e-01 4.80122477e-02 8.05674120e+01] [ 8.01089526e-01 -1.61450408e-01 -5.76358687e-01 4.75584462e+01] [ 5.75629898e-01 -5.60779200e-02 8.15785197e-01 3.34863904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.990714057 meters Centerline goodness : 0.996270 Centerline is valid? [True, True] Translation: X:80.56, Y:47.56, Z:33.49 [[-1.58953467e-01 -9.85730805e-01 5.53947172e-02 8.05610927e+01] [ 8.01652800e-01 -1.61612865e-01 -5.75529383e-01 4.75623774e+01] [ 5.76269541e-01 -4.70750608e-02 8.15902785e-01 3.34933873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.020714057 meters Centerline goodness : 0.995808 Centerline is valid? [True, True] Translation: X:80.56, Y:47.54, Z:33.48 [[-1.51945057e-01 -9.86493586e-01 6.11809115e-02 8.05616348e+01] [ 8.08325255e-01 -1.59647116e-01 -5.66677227e-01 4.75424428e+01] [ 5.68790806e-01 -3.66497276e-02 8.21665270e-01 3.34763666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.050714057 meters Centerline goodness : 0.995808 Centerline is valid? [True, True] Translation: X:80.57, Y:47.54, Z:33.47 [[-1.51963409e-01 -9.87239305e-01 4.75991238e-02 8.05674463e+01] [ 8.08808365e-01 -1.51889434e-01 -5.68118499e-01 4.75447123e+01] [ 5.68098716e-01 -4.78346541e-02 8.21569044e-01 3.34711555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.080714057 meters Centerline goodness : 0.996290 Centerline is valid? [True, True] Translation: X:80.57, Y:47.57, Z:33.49 [[-1.66909127e-01 -9.85700809e-01 2.31356380e-02 8.05668487e+01] [ 7.95811539e-01 -1.48533780e-01 -5.87044896e-01 4.75652538e+01] [ 5.82087053e-01 -7.95715432e-02 8.09223722e-01 3.34883259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.110714057 meters Centerline goodness : 0.996543 Centerline is valid? [True, True] Translation: X:80.55, Y:47.53, Z:33.49 [[-1.49904529e-01 -9.85037213e-01 8.50312926e-02 8.05466047e+01] [ 8.04463234e-01 -1.71516441e-01 -5.68701165e-01 4.75311050e+01] [ 5.74776076e-01 -1.68463314e-02 8.18137314e-01 3.34877632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.140714057 meters Centerline goodness : 0.995939 Centerline is valid? [True, True] Translation: X:80.56, Y:47.54, Z:33.48 [[-1.50068528e-01 -9.87575244e-01 4.66323223e-02 8.05603745e+01] [ 8.04538105e-01 -1.49396489e-01 -5.74803556e-01 4.75412269e+01] [ 5.74628467e-01 -4.87424433e-02 8.16961626e-01 3.34773572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.170714057 meters Centerline goodness : 0.996145 Centerline is valid? [True, True] Translation: X:80.55, Y:47.55, Z:33.49 [[-1.48539484e-01 -9.87290041e-01 5.65189870e-02 8.05528433e+01] [ 8.04685975e-01 -1.53892089e-01 -5.73408848e-01 4.75476421e+01] [ 5.74818670e-01 -3.96938184e-02 8.17317501e-01 3.34875368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.200714057 meters Centerline goodness : 0.995148 Centerline is valid? [True, True] Translation: X:80.55, Y:47.55, Z:33.49 [[-1.48683582e-01 -9.87617049e-01 5.00575424e-02 8.05545764e+01] [ 8.04201422e-01 -1.50217808e-01 -5.75060591e-01 4.75488587e+01] [ 5.75459178e-01 -4.52457218e-02 8.16577957e-01 3.34859815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.230714057 meters Centerline goodness : 0.994987 Centerline is valid? [True, True] Translation: X:80.55, Y:47.59, Z:33.52 [[-1.50205587e-01 -9.87147795e-01 5.45665949e-02 8.05460850e+01] [ 8.02567928e-01 -1.53978419e-01 -5.76346568e-01 4.75925434e+01] [ 5.77341322e-01 -4.27770755e-02 8.15381579e-01 3.35194056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.260714057 meters Centerline goodness : 0.995879 Centerline is valid? [True, True] Translation: X:80.54, Y:47.56, Z:33.50 [[-1.45035827e-01 -9.86688284e-01 7.35584100e-02 8.05418711e+01] [ 8.07963977e-01 -1.61020374e-01 -5.66803892e-01 4.75648949e+01] [ 5.71103162e-01 -2.27743256e-02 8.20562312e-01 3.35035764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.29071405699997 meters Centerline goodness : 0.995663 Centerline is valid? [True, True] Translation: X:80.55, Y:47.54, Z:33.47 [[-1.44179487e-01 -9.88306152e-01 4.96309010e-02 8.05539720e+01] [ 8.08145094e-01 -1.46544129e-01 -5.70461502e-01 4.75376034e+01] [ 5.71063729e-01 -4.21398778e-02 8.19823425e-01 3.34719278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.32071405699998 meters Centerline goodness : 0.995313 Centerline is valid? [True, True] Translation: X:80.55, Y:47.54, Z:33.47 [[-1.44593482e-01 -9.88081545e-01 5.27975925e-02 8.05522200e+01] [ 8.08766034e-01 -1.48757444e-01 -5.69006788e-01 4.75369797e+01] [ 5.70079141e-01 -3.95737732e-02 8.20636149e-01 3.34723936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.35071405699998 meters Centerline goodness : 0.995569 Centerline is valid? [True, True] Translation: X:80.55, Y:47.55, Z:33.48 [[-1.45843374e-01 -9.88048450e-01 4.98996163e-02 8.05515857e+01] [ 8.09336803e-01 -1.48167627e-01 -5.68348744e-01 4.75511363e+01] [ 5.68949603e-01 -4.25043023e-02 8.21273240e-01 3.34804048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.38071405699998 meters Centerline goodness : 0.995759 Centerline is valid? [True, True] Translation: X:80.55, Y:47.55, Z:33.48 [[-1.60746510e-01 -9.86653273e-01 2.59976771e-02 8.05543275e+01] [ 7.97132986e-01 -1.45311919e-01 -5.86057547e-01 4.75484661e+01] [ 5.82013369e-01 -7.34830996e-02 8.09852253e-01 3.34792023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.41071405699998 meters Centerline goodness : 0.995730 Centerline is valid? [True, True] Translation: X:80.54, Y:47.52, Z:33.49 [[-1.48735773e-01 -9.85004322e-01 8.74308568e-02 8.05357474e+01] [ 8.05251084e-01 -1.71961000e-01 -5.67450532e-01 4.75237310e+01] [ 5.73975924e-01 -1.39964010e-02 8.18752551e-01 3.34853496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.44071405699998 meters Centerline goodness : 0.995334 Centerline is valid? [True, True] Translation: X:80.55, Y:47.55, Z:33.49 [[-1.60506702e-01 -9.86336593e-01 3.71177031e-02 8.05474849e+01] [ 7.97933705e-01 -1.51799191e-01 -5.83317074e-01 4.75488665e+01] [ 5.80981413e-01 -6.40088332e-02 8.11395999e-01 3.34870468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.47071405699998 meters Centerline goodness : 0.995803 Centerline is valid? [True, True] Translation: X:80.54, Y:47.53, Z:33.49 [[-1.50708705e-01 -9.85314748e-01 8.02604155e-02 8.05353458e+01] [ 8.03549991e-01 -1.69388238e-01 -5.70626881e-01 4.75341495e+01] [ 5.75842252e-01 -2.15051820e-02 8.17277938e-01 3.34931286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.50071405699998 meters Centerline goodness : 0.995662 Centerline is valid? [True, True] Translation: X:80.55, Y:47.52, Z:33.47 [[-1.46939279e-01 -9.86904617e-01 6.65441554e-02 8.05452042e+01] [ 8.09192299e-01 -1.58625148e-01 -5.65725981e-01 4.75159315e+01] [ 5.68873159e-01 -2.92803497e-02 8.21903881e-01 3.34677329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.53071405699998 meters Centerline goodness : 0.995183 Centerline is valid? [True, True] Translation: X:80.55, Y:47.53, Z:33.47 [[-1.51123075e-01 -9.87576744e-01 4.30579870e-02 8.05533682e+01] [ 8.05213181e-01 -1.48249987e-01 -5.74154748e-01 4.75269003e+01] [ 5.73405222e-01 -5.20971722e-02 8.17613806e-01 3.34676596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.56071405699998 meters Centerline goodness : 0.994995 Centerline is valid? [True, True] Translation: X:80.55, Y:47.52, Z:33.47 [[-1.51560405e-01 -9.87059487e-01 5.23737812e-02 8.05498987e+01] [ 8.02829032e-01 -1.53836200e-01 -5.76020806e-01 4.75197657e+01] [ 5.76623785e-01 -4.52547547e-02 8.15755489e-01 3.34689411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.59071405699999 meters Centerline goodness : 0.995102 Centerline is valid? [True, True] Translation: X:80.55, Y:47.52, Z:33.47 [[-1.51412125e-01 -9.86680003e-01 5.94721743e-02 8.05466716e+01] [ 8.03626763e-01 -1.57907443e-01 -5.73802462e-01 4.75205852e+01] [ 5.75550514e-01 -3.90872194e-02 8.16831558e-01 3.34722486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.620714057 meters Centerline goodness : 0.995560 Centerline is valid? [True, True] Translation: X:80.55, Y:47.52, Z:33.47 [[-1.50795156e-01 -9.86951711e-01 5.64547714e-02 8.05483133e+01] [ 8.04335067e-01 -1.55693372e-01 -5.73414923e-01 4.75180441e+01] [ 5.74722473e-01 -4.10596404e-02 8.17317677e-01 3.34689410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.650714057 meters Centerline goodness : 0.995131 Centerline is valid? [True, True] Translation: X:80.55, Y:47.51, Z:33.47 [[-1.49644967e-01 -9.86991166e-01 5.87777424e-02 8.05478034e+01] [ 8.04346430e-01 -1.56093692e-01 -5.73290135e-01 4.75127123e+01] [ 5.75007134e-01 -3.85123161e-02 8.17241456e-01 3.34663498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.680714057 meters Centerline goodness : 0.995015 Centerline is valid? [True, True] Translation: X:80.55, Y:47.52, Z:33.47 [[-1.49108331e-01 -9.87255343e-01 5.56200884e-02 8.05482419e+01] [ 8.04909730e-01 -1.53855707e-01 -5.73104482e-01 4.75249573e+01] [ 5.74357930e-01 -4.06855024e-02 8.17592599e-01 3.34724560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.710714057 meters Centerline goodness : 0.994683 Centerline is valid? [True, True] Translation: X:80.55, Y:47.51, Z:33.46 [[-1.47693084e-01 -9.87485539e-01 5.53088022e-02 8.05513217e+01] [ 8.06663151e-01 -1.52627930e-01 -5.70963463e-01 4.75123130e+01] [ 5.72259831e-01 -3.97117823e-02 8.19110286e-01 3.34602294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.740714057 meters Centerline goodness : 0.995824 Centerline is valid? [True, True] Translation: X:80.55, Y:47.51, Z:33.46 [[-1.46560518e-01 -9.87278181e-01 6.16588112e-02 8.05497458e+01] [ 8.07643600e-01 -1.55418673e-01 -5.68820579e-01 4.75079754e+01] [ 5.71167077e-01 -3.35682943e-02 8.20147145e-01 3.34591678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.770714057 meters Centerline goodness : 0.995478 Centerline is valid? [True, True] Translation: X:80.55, Y:47.51, Z:33.46 [[-1.47290810e-01 -9.87837804e-01 4.98185706e-02 8.05543603e+01] [ 8.07378156e-01 -1.49173379e-01 -5.70865848e-01 4.75147806e+01] [ 5.71354470e-01 -4.38608672e-02 8.19530533e-01 3.34579061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.800714057 meters Centerline goodness : 0.995314 Centerline is valid? [True, True] Translation: X:80.56, Y:47.51, Z:33.45 [[-1.49348280e-01 -9.87672061e-01 4.68934108e-02 8.05561813e+01] [ 8.04913485e-01 -1.48983979e-01 -5.74384937e-01 4.75080292e+01] [ 5.74290321e-01 -4.80382635e-02 8.17241061e-01 3.34532318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.830714057 meters Centerline goodness : 0.994604 Centerline is valid? [True, True] Translation: X:80.55, Y:47.52, Z:33.47 [[-1.48625518e-01 -9.86960242e-01 6.18056259e-02 8.05490233e+01] [ 8.06956017e-01 -1.57170583e-01 -5.69314846e-01 4.75204194e+01] [ 5.71605145e-01 -3.47402925e-02 8.19793066e-01 3.34660121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.860714057 meters Centerline goodness : 0.994122 Centerline is valid? [True, True] Translation: X:80.56, Y:47.51, Z:33.46 [[-1.50391847e-01 -9.87468876e-01 4.78279427e-02 8.05553423e+01] [ 8.04687188e-01 -1.50372238e-01 -5.74340247e-01 4.75113729e+01] [ 5.74335113e-01 -4.78895581e-02 8.17218311e-01 3.34556804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.890714057 meters Centerline goodness : 0.994932 Centerline is valid? [True, True] Translation: X:80.55, Y:47.53, Z:33.47 [[-1.63493022e-01 -9.85810465e-01 3.80494316e-02 8.05509409e+01] [ 7.94706623e-01 -1.54456173e-01 -5.87013351e-01 4.75299463e+01] [ 5.84560874e-01 -6.57344514e-02 8.08682611e-01 3.34730604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.920714057 meters Centerline goodness : 0.994194 Centerline is valid? [True, True] Translation: X:80.54, Y:47.49, Z:33.46 [[-1.47042873e-01 -9.84431694e-01 9.62945102e-02 8.05379103e+01] [ 8.07172628e-01 -1.75692348e-01 -5.63564146e-01 4.74875614e+01] [ 5.71708616e-01 -5.14179819e-03 8.20440626e-01 3.34609393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.950714057 meters Centerline goodness : 0.995878 Centerline is valid? [True, True] Translation: X:80.55, Y:47.53, Z:33.47 [[-1.63983237e-01 -9.85973480e-01 3.10772465e-02 8.05537793e+01] [ 7.95395993e-01 -1.50790034e-01 -5.87032861e-01 4.75261725e+01] [ 5.83484972e-01 -7.15448316e-02 8.08966393e-01 3.34671602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.980714057 meters Centerline goodness : 0.994149 Centerline is valid? [True, True] Translation: X:80.54, Y:47.50, Z:33.46 [[-1.52790636e-01 -9.85638744e-01 7.19116729e-02 8.05446799e+01] [ 8.03090263e-01 -1.66239788e-01 -5.72197836e-01 4.74997245e+01] [ 5.75934937e-01 -2.96749068e-02 8.16956760e-01 3.34627718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.01071405699997 meters Centerline goodness : 0.994875 Centerline is valid? [True, True] Translation: X:80.54, Y:47.52, Z:33.47 [[-1.52293496e-01 -9.85338648e-01 7.69053944e-02 8.05402431e+01] [ 8.01959042e-01 -1.68678379e-01 -5.73070065e-01 4.75160325e+01] [ 5.77640360e-01 -2.55998672e-02 8.15889858e-01 3.34746081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.04071405699997 meters Centerline goodness : 0.995614 Centerline is valid? [True, True] Translation: X:80.55, Y:47.51, Z:33.46 [[-1.56406835e-01 -9.86355478e-01 5.13787162e-02 8.05517356e+01] [ 7.99471616e-01 -1.56975646e-01 -5.79830821e-01 4.75057780e+01] [ 5.79984514e-01 -4.96136780e-02 8.13115273e-01 3.34554005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.07071405699998 meters Centerline goodness : 0.995576 Centerline is valid? [True, True] Translation: X:80.55, Y:47.51, Z:33.46 [[-1.57900663e-01 -9.85750232e-01 5.79988068e-02 8.05477319e+01] [ 7.98548318e-01 -1.62022860e-01 -5.79714738e-01 4.75110607e+01] [ 5.80851070e-01 -4.52224917e-02 8.12752706e-01 3.34633688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.10071405699998 meters Centerline goodness : 0.995483 Centerline is valid? [True, True] Translation: X:80.55, Y:47.50, Z:33.46 [[-1.60689092e-01 -9.85410834e-01 5.60758823e-02 8.05489411e+01] [ 7.96991185e-01 -1.63058406e-01 -5.81564276e-01 4.75028896e+01] [ 5.82223382e-01 -4.87590519e-02 8.11565455e-01 3.34582748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.13071405699998 meters Centerline goodness : 0.996051 Centerline is valid? [True, True] Translation: X:80.55, Y:47.49, Z:33.45 [[-1.61312747e-01 -9.85183809e-01 5.82328064e-02 8.05489447e+01] [ 7.96354046e-01 -1.64792131e-01 -5.81948268e-01 4.74942433e+01] [ 5.82922320e-01 -4.75017426e-02 8.11138184e-01 3.34541506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.16071405699998 meters Centerline goodness : 0.996162 Centerline is valid? [True, True] Translation: X:80.54, Y:47.51, Z:33.47 [[-1.62484442e-01 -9.84546184e-01 6.53270128e-02 8.05433991e+01] [ 7.97452069e-01 -1.70020971e-01 -5.78932697e-01 4.75120286e+01] [ 5.81092939e-01 -4.19723949e-02 8.12754153e-01 3.34688241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.19071405699998 meters Centerline goodness : 0.995945 Centerline is valid? [True, True] Translation: X:80.55, Y:47.51, Z:33.47 [[-1.63678719e-01 -9.84638828e-01 6.07918987e-02 8.05454285e+01] [ 7.98873717e-01 -1.68449283e-01 -5.77430190e-01 4.75122738e+01] [ 5.78800537e-01 -4.59479837e-02 8.14173643e-01 3.34652891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.22071405699998 meters Centerline goodness : 0.996106 Centerline is valid? [True, True] Translation: X:80.55, Y:47.53, Z:33.47 [[-1.68531338e-01 -9.84983767e-01 3.74722156e-02 8.05521960e+01] [ 7.96973055e-01 -1.58535784e-01 -5.82838189e-01 4.75336045e+01] [ 5.80026842e-01 -6.83621536e-02 8.11723770e-01 3.34720905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.25071405699998 meters Centerline goodness : 0.995899 Centerline is valid? [True, True] Translation: X:80.54, Y:47.47, Z:33.45 [[-1.60636579e-01 -9.82754922e-01 9.15895849e-02 8.05361695e+01] [ 8.05243874e-01 -1.84149324e-01 -5.63623394e-01 4.74740146e+01] [ 5.70769825e-01 -1.67865819e-02 8.20938498e-01 3.34503343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.28071405699998 meters Centerline goodness : 0.995152 Centerline is valid? [True, True] Translation: X:80.55, Y:47.51, Z:33.46 [[-1.68317774e-01 -9.85080708e-01 3.58486487e-02 8.05533718e+01] [ 7.99218195e-01 -1.57666857e-01 -5.79992620e-01 4.75139339e+01] [ 5.76991685e-01 -6.89721747e-02 8.13832560e-01 3.34552921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.31071405699998 meters Centerline goodness : 0.995881 Centerline is valid? [True, True] Translation: X:80.54, Y:47.49, Z:33.46 [[-1.66906358e-01 -9.82613040e-01 8.13257771e-02 8.05350658e+01] [ 7.95804105e-01 -1.82951534e-01 -5.77256063e-01 4.74926549e+01] [ 5.82098010e-01 -3.16283201e-02 8.12503265e-01 3.34633919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.34071405699999 meters Centerline goodness : 0.994820 Centerline is valid? [True, True] Translation: X:80.55, Y:47.50, Z:33.45 [[-1.68940441e-01 -9.84102245e-01 5.47895937e-02 8.05465461e+01] [ 7.97817341e-01 -1.69178605e-01 -5.78676153e-01 4.74951044e+01] [ 5.78745728e-01 -5.40497164e-02 8.13714945e-01 3.34533605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.370714057 meters Centerline goodness : 0.995413 Centerline is valid? [True, True] Translation: X:80.54, Y:47.49, Z:33.45 [[-1.65665782e-01 -9.84071264e-01 6.44871755e-02 8.05421628e+01] [ 7.99946465e-01 -1.72335572e-01 -5.74792227e-01 4.74891473e+01] [ 5.76749948e-01 -4.36371157e-02 8.15754436e-01 3.34513605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.400714057 meters Centerline goodness : 0.995393 Centerline is valid? [True, True] Translation: X:80.54, Y:47.49, Z:33.45 [[-1.67027722e-01 -9.84289692e-01 5.72323504e-02 8.05448303e+01] [ 7.98131860e-01 -1.69062279e-01 -5.78276301e-01 4.74867447e+01] [ 5.78867234e-01 -5.09092110e-02 8.13831050e-01 3.34475009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.430714057 meters Centerline goodness : 0.994796 Centerline is valid? [True, True] Translation: X:80.53, Y:47.48, Z:33.46 [[-1.66467535e-01 -9.82674016e-01 8.14882650e-02 8.05341472e+01] [ 7.96148916e-01 -1.82705688e-01 -5.76858332e-01 4.74811249e+01] [ 5.81752064e-01 -3.11513905e-02 8.12769418e-01 3.34561565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.460714057 meters Centerline goodness : 0.994987 Centerline is valid? [True, True] Translation: X:80.55, Y:47.49, Z:33.45 [[-1.67999597e-01 -9.84679870e-01 4.67085591e-02 8.05481658e+01] [ 7.98325911e-01 -1.63696268e-01 -5.79550923e-01 4.74928030e+01] [ 5.78318144e-01 -6.00756682e-02 8.13596361e-01 3.34458773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.490714057 meters Centerline goodness : 0.995202 Centerline is valid? [True, True] Translation: X:80.53, Y:47.49, Z:33.46 [[-1.67769129e-01 -9.82675477e-01 7.87554826e-02 8.05332962e+01] [ 7.94209002e-01 -1.82054766e-01 -5.79731079e-01 4.74910943e+01] [ 5.84025325e-01 -3.47126652e-02 8.10992879e-01 3.34630927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.520714057 meters Centerline goodness : 0.994614 Centerline is valid? [True, True] Translation: X:80.55, Y:47.49, Z:33.44 [[-1.68174493e-01 -9.84508849e-01 4.95950218e-02 8.05466269e+01] [ 7.96883019e-01 -1.65394865e-01 -5.81052487e-01 4.74860423e+01] [ 5.80254077e-01 -5.81967769e-02 8.12353581e-01 3.34437116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.550714057 meters Centerline goodness : 0.995113 Centerline is valid? [True, True] Translation: X:80.53, Y:47.51, Z:33.48 [[-1.68272760e-01 -9.82881629e-01 7.50198690e-02 8.05308187e+01] [ 7.92554267e-01 -1.80154491e-01 -5.82582263e-01 4.75093470e+01] [ 5.86124570e-01 -3.85754083e-02 8.09302123e-01 3.34785909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.580714057 meters Centerline goodness : 0.994568 Centerline is valid? [True, True] Translation: X:80.54, Y:47.51, Z:33.47 [[-1.69705044e-01 -9.83446384e-01 6.35091177e-02 8.05350180e+01] [ 7.91289019e-01 -1.74391778e-01 -5.86045388e-01 4.75074629e+01] [ 5.87419685e-01 -4.92007907e-02 8.07785489e-01 3.34734551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.610714057 meters Centerline goodness : 0.994968 Centerline is valid? [True, True] Translation: X:80.53, Y:47.50, Z:33.47 [[-1.69129115e-01 -9.83091864e-01 7.01835433e-02 8.05335676e+01] [ 7.92560544e-01 -1.77988306e-01 -5.83239184e-01 4.74980572e+01] [ 5.85869547e-01 -4.30180196e-02 8.09262828e-01 3.34699453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.640714057 meters Centerline goodness : 0.995734 Centerline is valid? [True, True] Translation: X:80.54, Y:47.50, Z:33.47 [[-1.69917044e-01 -9.83150771e-01 6.73999915e-02 8.05350335e+01] [ 7.92424795e-01 -1.76971899e-01 -5.83732722e-01 4.75001308e+01] [ 5.85825180e-01 -4.57767139e-02 8.09143591e-01 3.34699547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.670714057 meters Centerline goodness : 0.995181 Centerline is valid? [True, True] Translation: X:80.54, Y:47.48, Z:33.45 [[-1.69025143e-01 -9.83104576e-01 7.02559149e-02 8.05377564e+01] [ 7.93613543e-01 -1.78022953e-01 -5.81794957e-01 4.74756776e+01] [ 5.84472450e-01 -4.25819303e-02 8.10295461e-01 3.34523920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.700714057 meters Centerline goodness : 0.994656 Centerline is valid? [True, True] Translation: X:80.54, Y:47.47, Z:33.44 [[-1.68552111e-01 -9.83442367e-01 6.65679852e-02 8.05406763e+01] [ 7.93290221e-01 -1.75426076e-01 -5.83023427e-01 4.74655113e+01] [ 5.85047700e-01 -4.54620975e-02 8.09723648e-01 3.34436920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.730714057 meters Centerline goodness : 0.994978 Centerline is valid? [True, True] Translation: X:80.54, Y:47.47, Z:33.45 [[-1.68006873e-01 -9.83250661e-01 7.06528720e-02 8.05384609e+01] [ 7.94565369e-01 -1.77490404e-01 -5.80657413e-01 4.74708283e+01] [ 5.83471992e-01 -4.14161108e-02 8.11076532e-01 3.34479097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.76071405699997 meters Centerline goodness : 0.994665 Centerline is valid? [True, True] Translation: X:80.54, Y:47.47, Z:33.45 [[-1.68972314e-01 -9.83421429e-01 6.58076746e-02 8.05399979e+01] [ 7.94336422e-01 -1.75402815e-01 -5.81604248e-01 4.74743584e+01] [ 5.83504932e-01 -4.60015829e-02 8.10805679e-01 3.34478652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.79071405699997 meters Centerline goodness : 0.994374 Centerline is valid? [True, True] Translation: X:80.54, Y:47.47, Z:33.45 [[-1.68892598e-01 -9.82929343e-01 7.29739456e-02 8.05375748e+01] [ 7.95351157e-01 -1.79641416e-01 -5.78917523e-01 4.74737142e+01] [ 5.82144163e-01 -3.97349726e-02 8.12114096e-01 3.34495842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.82071405699998 meters Centerline goodness : 0.994968 Centerline is valid? [True, True] Translation: X:80.54, Y:47.48, Z:33.45 [[-1.71305240e-01 -9.83441161e-01 5.91438712e-02 8.05432687e+01] [ 7.92446674e-01 -1.73207559e-01 -5.84831096e-01 4.74789625e+01] [ 5.85391138e-01 -5.33162671e-02 8.08996039e-01 3.34471566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.85071405699998 meters Centerline goodness : 0.994475 Centerline is valid? [True, True] Translation: X:80.54, Y:47.46, Z:33.44 [[-1.69452036e-01 -9.82481972e-01 7.75576049e-02 8.05390625e+01] [ 7.95815226e-01 -1.82827742e-01 -5.77279951e-01 4.74621756e+01] [ 5.81346827e-01 -3.60997400e-02 8.12854646e-01 3.34414202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.88071405699998 meters Centerline goodness : 0.994897 Centerline is valid? [True, True] Translation: X:80.54, Y:47.47, Z:33.44 [[-1.78326797e-01 -9.82388713e-01 5.57850315e-02 8.05432531e+01] [ 7.90610674e-01 -1.76804126e-01 -5.86238060e-01 4.74715097e+01] [ 5.85776677e-01 -6.04377143e-02 8.08215917e-01 3.34416277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.91071405699998 meters Centerline goodness : 0.995339 Centerline is valid? [True, True] Translation: X:80.54, Y:47.46, Z:33.44 [[-1.71918163e-01 -9.82167785e-01 7.60959055e-02 8.05387477e+01] [ 7.91233863e-01 -1.83687744e-01 -5.83273338e-01 4.74569933e+01] [ 5.86850168e-01 -4.00656234e-02 8.08703670e-01 3.34417232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.94071405699998 meters Centerline goodness : 0.994844 Centerline is valid? [True, True] Translation: X:80.54, Y:47.46, Z:33.44 [[-1.71684882e-01 -9.82431486e-01 7.31619953e-02 8.05387795e+01] [ 7.93035593e-01 -1.81883212e-01 -5.81388894e-01 4.74638699e+01] [ 5.84481694e-01 -4.17956174e-02 8.10329733e-01 3.34444662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.97071405699998 meters Centerline goodness : 0.994844 Centerline is valid? [True, True] Translation: X:80.54, Y:47.46, Z:33.44 [[-1.72080049e-01 -9.82481024e-01 7.15506462e-02 8.05397817e+01] [ 7.93028806e-01 -1.81253294e-01 -5.81594838e-01 4.74621898e+01] [ 5.84374682e-01 -4.33391445e-02 8.10325829e-01 3.34423758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.00071405699998 meters Centerline goodness : 0.995290 Centerline is valid? [True, True] Translation: X:80.54, Y:47.46, Z:33.44 [[-1.71525486e-01 -9.82594759e-01 7.13200353e-02 8.05400673e+01] [ 7.93131917e-01 -1.80669226e-01 -5.81635963e-01 4.74612467e+01] [ 5.84397784e-01 -4.31991947e-02 8.10316642e-01 3.34422963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.03071405699998 meters Centerline goodness : 0.995747 Centerline is valid? [True, True] Translation: X:80.54, Y:47.45, Z:33.44 [[-1.70950261e-01 -9.82768084e-01 7.03057745e-02 8.05419270e+01] [ 7.93601966e-01 -1.79631738e-01 -5.81316058e-01 4.74532941e+01] [ 5.83928016e-01 -4.35813311e-02 8.10634776e-01 3.34354844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.06071405699998 meters Centerline goodness : 0.995149 Centerline is valid? [True, True] Translation: X:80.55, Y:47.44, Z:33.42 [[-1.69558771e-01 -9.83142123e-01 6.84206824e-02 8.05460110e+01] [ 7.93656239e-01 -1.77377893e-01 -5.81933722e-01 4.74377086e+01] [ 5.84259872e-01 -4.43694650e-02 8.10352857e-01 3.34235412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.09071405699999 meters Centerline goodness : 0.996009 Centerline is valid? [True, True] Translation: X:80.54, Y:47.47, Z:33.45 [[-1.70836078e-01 -9.82410586e-01 7.53954587e-02 8.05390011e+01] [ 7.95924661e-01 -1.82702179e-01 -5.77168820e-01 4.74731105e+01] [ 5.80791674e-01 -3.85921524e-02 8.13136937e-01 3.34497897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.120714057 meters Centerline goodness : 0.995761 Centerline is valid? [True, True] Translation: X:80.54, Y:47.45, Z:33.43 [[-1.69742934e-01 -9.82812603e-01 7.25721927e-02 8.05436443e+01] [ 7.97690071e-01 -1.80265507e-01 -5.75495350e-01 4.74542463e+01] [ 5.78686347e-01 -3.97961516e-02 8.14578651e-01 3.34330431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.150714057 meters Centerline goodness : 0.996286 Centerline is valid? [True, True] Translation: X:80.54, Y:47.49, Z:33.45 [[-1.70971546e-01 -9.82895583e-01 6.84470893e-02 8.05410829e+01] [ 7.96620614e-01 -1.78781252e-01 -5.77436456e-01 4.74859140e+01] [ 5.79796798e-01 -4.41988411e-02 8.13561390e-01 3.34543443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.180714057 meters Centerline goodness : 0.995790 Centerline is valid? [True, True] Translation: X:80.54, Y:47.49, Z:33.46 [[-1.70345144e-01 -9.82884986e-01 7.01401153e-02 8.05389912e+01] [ 7.95976685e-01 -1.79212321e-01 -5.78190332e-01 4.74942817e+01] [ 5.80864570e-01 -4.26620188e-02 8.12881482e-01 3.34613251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.210714057 meters Centerline goodness : 0.995547 Centerline is valid? [True, True] Translation: X:80.54, Y:47.49, Z:33.46 [[-1.69321029e-01 -9.82840266e-01 7.31806004e-02 8.05391911e+01] [ 7.97307459e-01 -1.80248205e-01 -5.76030729e-01 4.74869306e+01] [ 5.79336866e-01 -3.91866772e-02 8.14145687e-01 3.34557205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.240714057 meters Centerline goodness : 0.996419 Centerline is valid? [True, True] Translation: X:80.54, Y:47.51, Z:33.47 [[-1.71184312e-01 -9.83130685e-01 6.44203963e-02 8.05395195e+01] [ 7.94660019e-01 -1.76428240e-01 -5.80851556e-01 4.75087718e+01] [ 5.82418566e-01 -4.82403609e-02 8.11456396e-01 3.34681298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.270714057 meters Centerline goodness : 0.995749 Centerline is valid? [True, True] Translation: X:80.54, Y:47.50, Z:33.46 [[-1.70312473e-01 -9.82569576e-01 7.45029512e-02 8.05372097e+01] [ 7.94195610e-01 -1.81630273e-01 -5.79882554e-01 4.74958074e+01] [ 5.83306947e-01 -3.95913154e-02 8.11286345e-01 3.34629589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.300714057 meters Centerline goodness : 0.995675 Centerline is valid? [True, True] Translation: X:80.54, Y:47.47, Z:33.44 [[-1.68328737e-01 -9.83107761e-01 7.18649253e-02 8.05424619e+01] [ 7.94804205e-01 -1.78486866e-01 -5.80024753e-01 4.74667952e+01] [ 5.83053781e-01 -4.05162892e-02 8.11422651e-01 3.34407678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.330714057 meters Centerline goodness : 0.994958 Centerline is valid? [True, True] Translation: X:80.54, Y:47.46, Z:33.44 [[-1.67883195e-01 -9.83397219e-01 6.88849988e-02 8.05434846e+01] [ 7.94630896e-01 -1.76349417e-01 -5.80915331e-01 4.74622051e+01] [ 5.83418350e-01 -4.27877737e-02 8.11043917e-01 3.34368505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.360714057 meters Centerline goodness : 0.995218 Centerline is valid? [True, True] Translation: X:80.54, Y:47.45, Z:33.43 [[-1.66958494e-01 -9.83480682e-01 6.99328889e-02 8.05445544e+01] [ 7.95370412e-01 -1.76261684e-01 -5.79929070e-01 4.74469698e+01] [ 5.82675526e-01 -4.12015338e-02 8.11659821e-01 3.34268394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.390714057 meters Centerline goodness : 0.995289 Centerline is valid? [True, True] Translation: X:80.54, Y:47.44, Z:33.42 [[-1.65752112e-01 -9.83431152e-01 7.34125777e-02 8.05436070e+01] [ 7.97433464e-01 -1.77455237e-01 -5.76723078e-01 4.74429976e+01] [ 5.80194888e-01 -3.70514222e-02 8.13634491e-01 3.34246194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.420714057 meters Centerline goodness : 0.994753 Centerline is valid? [True, True] Translation: X:80.54, Y:47.45, Z:33.42 [[-1.65731325e-01 -9.83825980e-01 6.79674077e-02 8.05441729e+01] [ 7.99465291e-01 -1.74387564e-01 -5.74842784e-01 4.74461288e+01] [ 5.77397936e-01 -4.09318732e-02 8.15436205e-01 3.34246388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.450714057 meters Centerline goodness : 0.994602 Centerline is valid? [True, True] Translation: X:80.54, Y:47.46, Z:33.43 [[-1.65028897e-01 -9.83736967e-01 7.09016391e-02 8.05411057e+01] [ 8.01315921e-01 -1.75643723e-01 -5.71875928e-01 4.74560329e+01] [ 5.75028919e-01 -3.75614415e-02 8.17270384e-01 3.34327866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.480714057 meters Centerline goodness : 0.994683 Centerline is valid? [True, True] Translation: X:80.54, Y:47.46, Z:33.43 [[-1.65540154e-01 -9.83778272e-01 6.91141731e-02 8.05406611e+01] [ 8.01456069e-01 -1.75036581e-01 -5.71865688e-01 4.74600251e+01] [ 5.74686547e-01 -3.92747605e-02 8.17430649e-01 3.34348284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.51071405699997 meters Centerline goodness : 0.994745 Centerline is valid? [True, True] Translation: X:80.54, Y:47.46, Z:33.43 [[-1.65958247e-01 -9.83984384e-01 6.50583764e-02 8.05416899e+01] [ 8.02246084e-01 -1.73082642e-01 -5.71352448e-01 4.74622215e+01] [ 5.73462363e-01 -4.26278231e-02 8.18122110e-01 3.34334288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.54071405699997 meters Centerline goodness : 0.993925 Centerline is valid? [True, True] Translation: X:80.54, Y:47.46, Z:33.44 [[-1.66988517e-01 -9.83497520e-01 6.96237328e-02 8.05388984e+01] [ 8.01534103e-01 -1.76535973e-01 -5.71295135e-01 4.74642949e+01] [ 5.74158442e-01 -3.95939313e-02 8.17786283e-01 3.34379585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.57071405699998 meters Centerline goodness : 0.994309 Centerline is valid? [True, True] Translation: X:80.54, Y:47.45, Z:33.43 [[-1.66875375e-01 -9.83267254e-01 7.30624174e-02 8.05390160e+01] [ 8.02876791e-01 -1.78524473e-01 -5.68786313e-01 4.74515163e+01] [ 5.72312386e-01 -3.62563101e-02 8.19233796e-01 3.34304864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.60071405699998 meters Centerline goodness : 0.995159 Centerline is valid? [True, True] Translation: X:80.54, Y:47.44, Z:33.42 [[-1.67671839e-01 -9.83732134e-01 6.44766806e-02 8.05441139e+01] [ 8.02684526e-01 -1.74198715e-01 -5.70396669e-01 4.74382208e+01] [ 5.72349288e-01 -4.38850245e-02 8.18834780e-01 3.34160826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.63071405699998 meters Centerline goodness : 0.994604 Centerline is valid? [True, True] Translation: X:80.54, Y:47.44, Z:33.41 [[-1.68642998e-01 -9.83559573e-01 6.45763513e-02 8.05446206e+01] [ 8.02495755e-01 -1.75047653e-01 -5.70402387e-01 4.74353850e+01] [ 5.72328667e-01 -4.43721208e-02 8.18822943e-01 3.34136695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.66071405699998 meters Centerline goodness : 0.995434 Centerline is valid? [True, True] Translation: X:80.55, Y:47.45, Z:33.42 [[-1.83821963e-01 -9.82263380e-01 3.69883565e-02 8.05479952e+01] [ 7.88419579e-01 -1.69809507e-01 -5.91235400e-01 4.74523293e+01] [ 5.87029857e-01 -7.95197073e-02 8.05650398e-01 3.34233062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.69071405699998 meters Centerline goodness : 0.995370 Centerline is valid? [True, True] Translation: X:80.53, Y:47.42, Z:33.42 [[-1.70262778e-01 -9.79429631e-01 1.08296739e-01 8.05292849e+01] [ 8.00737155e-01 -2.01570435e-01 -5.64082767e-01 4.74169487e+01] [ 5.74308798e-01 -9.32507699e-03 8.18585639e-01 3.34215586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.72071405699998 meters Centerline goodness : 0.994707 Centerline is valid? [True, True] Translation: X:80.54, Y:47.44, Z:33.41 [[-1.71820990e-01 -9.82826696e-01 6.72995799e-02 8.05446743e+01] [ 8.02071083e-01 -1.79231214e-01 -5.69700053e-01 4.74373677e+01] [ 5.71978606e-01 -4.39073804e-02 8.19092557e-01 3.34119738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.75071405699998 meters Centerline goodness : 0.994113 Centerline is valid? [True, True] Translation: X:80.55, Y:47.44, Z:33.41 [[-1.73117583e-01 -9.83238377e-01 5.72066198e-02 8.05484452e+01] [ 8.01187851e-01 -1.74370065e-01 -5.72444852e-01 4.74418722e+01] [ 5.72824869e-01 -5.32670204e-02 8.17945166e-01 3.34110473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.78071405699998 meters Centerline goodness : 0.993398 Centerline is valid? [True, True] Translation: X:80.55, Y:47.44, Z:33.40 [[-1.73508925e-01 -9.83368445e-01 5.36763808e-02 8.05509269e+01] [ 8.02580438e-01 -1.72776304e-01 -5.70975472e-01 4.74366502e+01] [ 5.70753269e-01 -5.59897269e-02 8.19210508e-01 3.34048250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.81071405699998 meters Centerline goodness : 0.993814 Centerline is valid? [True, True] Translation: X:80.54, Y:47.42, Z:33.41 [[-1.72646704e-01 -9.81943709e-01 7.73283068e-02 8.05420224e+01] [ 7.99918733e-01 -1.85584880e-01 -5.70691049e-01 4.74235511e+01] [ 5.74737451e-01 -3.66715675e-02 8.17515785e-01 3.34102876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.84071405699999 meters Centerline goodness : 0.993710 Centerline is valid? [True, True] Translation: X:80.55, Y:47.44, Z:33.41 [[-1.74036271e-01 -9.83496434e-01 4.94584814e-02 8.05515765e+01] [ 8.00973388e-01 -1.70597115e-01 -5.73880001e-01 4.74420558e+01] [ 5.72846409e-01 -6.02610076e-02 8.17444557e-01 3.34090300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.870714057 meters Centerline goodness : 0.993781 Centerline is valid? [True, True] Translation: X:80.54, Y:47.43, Z:33.41 [[-1.73160807e-01 -9.82525086e-01 6.82626522e-02 8.05439165e+01] [ 7.98538065e-01 -1.80628655e-01 -5.74204013e-01 4.74315823e+01] [ 5.76500038e-01 -4.49193043e-02 8.15861485e-01 3.34111388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.900714057 meters Centerline goodness : 0.992312 Centerline is valid? [True, True] Translation: X:80.55, Y:47.40, Z:33.39 [[-1.70510578e-01 -9.82484782e-01 7.51651205e-02 8.05470403e+01] [ 8.00916991e-01 -1.82626110e-01 -5.70245278e-01 4.74023091e+01] [ 5.73984422e-01 -3.70318300e-02 8.18028439e-01 3.33941806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.930714057 meters Centerline goodness : 0.994719 Centerline is valid? [True, True] Translation: X:80.54, Y:47.44, Z:33.43 [[-1.84989804e-01 -9.80528083e-01 6.59048629e-02 8.05353380e+01] [ 7.88184509e-01 -1.88088335e-01 -5.85993138e-01 4.74397928e+01] [ 5.86978664e-01 -5.64575633e-02 8.07631470e-01 3.34305464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.960714057 meters Centerline goodness : 0.994348 Centerline is valid? [True, True] Translation: X:80.54, Y:47.41, Z:33.42 [[-1.72453841e-01 -9.80761674e-01 9.14669987e-02 8.05353712e+01] [ 7.94771027e-01 -1.93400217e-01 -5.75269824e-01 4.74103426e+01] [ 5.81892333e-01 -2.65121704e-02 8.12833573e-01 3.34151680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.990714057 meters Centerline goodness : 0.994154 Centerline is valid? [True, True] Translation: X:80.55, Y:47.42, Z:33.41 [[-1.73921729e-01 -9.82639014e-01 6.45894690e-02 8.05473067e+01] [ 7.94833468e-01 -1.78797632e-01 -5.79888925e-01 4.74193817e+01] [ 5.81369926e-01 -4.95174128e-02 8.12131168e-01 3.34066612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.020714057 meters Centerline goodness : 0.994178 Centerline is valid? [True, True] Translation: X:80.55, Y:47.43, Z:33.41 [[-1.75744039e-01 -9.82238662e-01 6.57361750e-02 8.05465241e+01] [ 7.94202415e-01 -1.80922955e-01 -5.80094310e-01 4.74254215e+01] [ 5.81684242e-01 -4.97402880e-02 8.11892447e-01 3.34121528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.050714057 meters Centerline goodness : 0.994612 Centerline is valid? [True, True] Translation: X:80.54, Y:47.43, Z:33.42 [[-1.75181190e-01 -9.81752154e-01 7.39882394e-02 8.05439235e+01] [ 7.96141736e-01 -1.85469634e-01 -5.75985547e-01 4.74260421e+01] [ 5.79197623e-01 -4.19967080e-02 8.14104655e-01 3.34156114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.080714057 meters Centerline goodness : 0.993383 Centerline is valid? [True, True] Translation: X:80.55, Y:47.44, Z:33.41 [[-1.76371280e-01 -9.82598432e-01 5.82537049e-02 8.05511248e+01] [ 8.00344233e-01 -1.77606184e-01 -5.72630031e-01 4.74368669e+01] [ 5.73011589e-01 -5.43724747e-02 8.17741617e-01 3.34140359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.110714057 meters Centerline goodness : 0.993373 Centerline is valid? [True, True] Translation: X:80.55, Y:47.42, Z:33.41 [[-1.77120536e-01 -9.81530907e-01 7.22868885e-02 8.05493396e+01] [ 7.98797292e-01 -1.86274398e-01 -5.72035606e-01 4.74157285e+01] [ 5.74935824e-01 -4.35766822e-02 8.17037252e-01 3.34075149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.140714057 meters Centerline goodness : 0.994130 Centerline is valid? [True, True] Translation: X:80.54, Y:47.41, Z:33.41 [[-1.75667847e-01 -9.80434334e-01 8.88218653e-02 8.05435574e+01] [ 7.98003788e-01 -1.94651768e-01 -5.70351334e-01 4.74140148e+01] [ 5.76481363e-01 -2.93122056e-02 8.16584369e-01 3.34137869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.170714057 meters Centerline goodness : 0.993995 Centerline is valid? [True, True] Translation: X:80.55, Y:47.44, Z:33.42 [[-1.76372510e-01 -9.81771264e-01 7.08372946e-02 8.05486396e+01] [ 7.98815121e-01 -1.84811200e-01 -5.72485128e-01 4.74430786e+01] [ 5.75140974e-01 -4.43847370e-02 8.16849347e-01 3.34244666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.200714057 meters Centerline goodness : 0.993240 Centerline is valid? [True, True] Translation: X:80.55, Y:47.53, Z:33.48 [[-1.82039384e-01 -9.82160937e-01 4.71333816e-02 8.05481886e+01] [ 7.96146300e-01 -1.75354918e-01 -5.79138776e-01 4.75328773e+01] [ 5.77072554e-01 -6.79009986e-02 8.13865297e-01 3.34799208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.230714057 meters Centerline goodness : 0.993517 Centerline is valid? [True, True] Translation: X:80.54, Y:47.53, Z:33.50 [[-1.82114521e-01 -9.80098298e-01 7.90039662e-02 8.05353855e+01] [ 7.94994129e-01 -1.94048844e-01 -5.74742883e-01 4.75318711e+01] [ 5.78635150e-01 -4.18613353e-02 8.14511505e-01 3.34959845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.26071405699997 meters Centerline goodness : 0.994222 Centerline is valid? [True, True] Translation: X:80.53, Y:47.54, Z:33.50 [[-1.92491372e-01 -9.78275614e-01 7.69668458e-02 8.05308302e+01] [ 7.90318141e-01 -2.01043340e-01 -5.78773541e-01 4.75381643e+01] [ 5.81673713e-01 -5.05806184e-02 8.11848072e-01 3.35039557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.29071405699997 meters Centerline goodness : 0.994049 Centerline is valid? [True, True] Translation: X:80.54, Y:47.43, Z:33.43 [[-1.91511784e-01 -9.77324678e-01 9.03311184e-02 8.05434075e+01] [ 7.89501883e-01 -2.08074340e-01 -5.77400940e-01 4.74254479e+01] [ 5.83103776e-01 -3.92624961e-02 8.11448361e-01 3.34302535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.32071405699998 meters Centerline goodness : 0.994393 Centerline is valid? [True, True] Translation: X:80.55, Y:47.43, Z:33.43 [[-1.91935759e-01 -9.77867544e-01 8.32810303e-02 8.05470997e+01] [ 7.89216582e-01 -2.04232093e-01 -5.79160115e-01 4.74343055e+01] [ 5.83350539e-01 -4.54347665e-02 8.10948723e-01 3.34321677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.35071405699998 meters Centerline goodness : 0.994557 Centerline is valid? [True, True] Translation: X:80.54, Y:47.45, Z:33.45 [[-1.90531054e-01 -9.77343974e-01 9.21774021e-02 8.05414177e+01] [ 7.89725618e-01 -2.08373329e-01 -5.76987006e-01 4.74543124e+01] [ 5.83122085e-01 -3.71390866e-02 8.11535164e-01 3.34509203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.38071405699998 meters Centerline goodness : 0.994197 Centerline is valid? [True, True] Translation: X:80.54, Y:47.47, Z:33.46 [[-1.90495635e-01 -9.77608214e-01 8.94068986e-02 8.05410546e+01] [ 7.89928362e-01 -2.06721688e-01 -5.77303496e-01 4.74714646e+01] [ 5.82858985e-01 -3.93487514e-02 8.11620034e-01 3.34616181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.41071405699998 meters Centerline goodness : 0.995379 Centerline is valid? [True, True] Translation: X:80.55, Y:47.42, Z:33.43 [[-1.85781028e-01 -9.77450553e-01 1.00378419e-01 8.05467290e+01] [ 7.87439268e-01 -2.09208493e-01 -5.79802730e-01 4.74189624e+01] [ 5.87728516e-01 -2.86744384e-02 8.08549917e-01 3.34301883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.44071405699998 meters Centerline goodness : 0.994261 Centerline is valid? [True, True] Translation: X:80.55, Y:47.38, Z:33.39 [[-1.62843763e-01 -9.77546136e-01 1.33736533e-01 8.05495531e+01] [ 8.15104747e-01 -2.09665771e-01 -5.40041217e-01 4.73807810e+01] [ 5.55955178e-01 2.10669392e-02 8.30945259e-01 3.33949845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.47071405699998 meters Centerline goodness : 0.993784 Centerline is valid? [True, True] Translation: X:80.59, Y:47.40, Z:33.36 [[-1.58948130e-01 -9.86125215e-01 4.78805965e-02 8.05873897e+01] [ 8.18400453e-01 -1.58729594e-01 -5.52291240e-01 4.73963690e+01] [ 5.52228386e-01 -4.86001577e-02 8.32275096e-01 3.33591447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.50071405699998 meters Centerline goodness : 0.994236 Centerline is valid? [True, True] Translation: X:80.58, Y:47.40, Z:33.37 [[-1.58450060e-01 -9.85175795e-01 6.57436834e-02 8.05782698e+01] [ 8.17731015e-01 -1.68253055e-01 -5.50460622e-01 4.74016083e+01] [ 5.53362057e-01 -3.34598695e-02 8.32268509e-01 3.33728254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.53071405699998 meters Centerline goodness : 0.994377 Centerline is valid? [True, True] Translation: X:80.59, Y:47.40, Z:33.36 [[-1.52572366e-01 -9.86849751e-01 5.33782983e-02 8.05862078e+01] [ 8.22375016e-01 -1.56727067e-01 -5.46933231e-01 4.74038879e+01] [ 5.48106747e-01 -3.95499179e-02 8.35472799e-01 3.33647715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.56071405699998 meters Centerline goodness : 0.994593 Centerline is valid? [True, True] Translation: X:80.58, Y:47.42, Z:33.38 [[-1.57839797e-01 -9.86142169e-01 5.10903168e-02 8.05842347e+01] [ 8.12527139e-01 -1.59104900e-01 -5.60789871e-01 4.74152857e+01] [ 5.61147259e-01 -4.70026905e-02 8.26380361e-01 3.33789704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.59071405699999 meters Centerline goodness : 0.992646 Centerline is valid? [True, True] Translation: X:80.59, Y:47.41, Z:33.37 [[-1.49472795e-01 -9.86767954e-01 6.28242720e-02 8.05868074e+01] [ 8.25603229e-01 -1.59518547e-01 -5.41232982e-01 4.74120135e+01] [ 5.44092999e-01 -2.90316847e-02 8.38522492e-01 3.33697005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.620714057 meters Centerline goodness : 0.993775 Centerline is valid? [True, True] Translation: X:80.60, Y:47.41, Z:33.37 [[-1.61242749e-01 -9.86493322e-01 2.88392461e-02 8.05969424e+01] [ 8.09003878e-01 -1.48855788e-01 -5.68642840e-01 4.74137865e+01] [ 5.65255253e-01 -6.83584730e-02 8.22078839e-01 3.33723350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.650714057 meters Centerline goodness : 0.994374 Centerline is valid? [True, True] Translation: X:80.58, Y:47.40, Z:33.38 [[-1.61644556e-01 -9.84243598e-01 7.16629417e-02 8.05805075e+01] [ 8.06854288e-01 -1.73624483e-01 -5.64659806e-01 4.73969429e+01] [ 5.68205240e-01 -3.34526317e-02 8.22206620e-01 3.33827205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.680714057 meters Centerline goodness : 0.994631 Centerline is valid? [True, True] Translation: X:80.58, Y:47.40, Z:33.38 [[-1.62172805e-01 -9.84402355e-01 6.82054558e-02 8.05842070e+01] [ 8.06681023e-01 -1.72067810e-01 -5.65383407e-01 4.73955429e+01] [ 5.68300721e-01 -3.66697662e-02 8.22003418e-01 3.33812205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.710714057 meters Centerline goodness : 0.993950 Centerline is valid? [True, True] Translation: X:80.59, Y:47.39, Z:33.37 [[-1.64779365e-01 -9.84561325e-01 5.90487849e-02 8.05908266e+01] [ 8.03790156e-01 -1.68739345e-01 -5.70480867e-01 4.73874108e+01] [ 5.71637251e-01 -4.65406428e-02 8.19185462e-01 3.33720787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.740714057 meters Centerline goodness : 0.993659 Centerline is valid? [True, True] Translation: X:80.58, Y:47.39, Z:33.39 [[-1.65095799e-01 -9.82265602e-01 8.88688040e-02 8.05781755e+01] [ 8.06662282e-01 -1.86325062e-01 -5.60873367e-01 4.73937379e+01] [ 5.67485101e-01 -2.09107241e-02 8.23118097e-01 3.33917699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.770714057 meters Centerline goodness : 0.994820 Centerline is valid? [True, True] Translation: X:80.58, Y:47.38, Z:33.38 [[-1.63210592e-01 -9.83028178e-01 8.37729260e-02 8.05834465e+01] [ 8.08373599e-01 -1.81923277e-01 -5.59853594e-01 4.73800977e+01] [ 5.65592103e-01 -2.36542146e-02 8.24345832e-01 3.33781090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.800714057 meters Centerline goodness : 0.994051 Centerline is valid? [True, True] Translation: X:80.60, Y:47.38, Z:33.37 [[-1.67618922e-01 -9.84478553e-01 5.20180410e-02 8.05995809e+01] [ 8.05598038e-01 -1.67194680e-01 -5.68381685e-01 4.73848889e+01] [ 5.68256718e-01 -5.33658933e-02 8.21118983e-01 3.33688402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.830714057 meters Centerline goodness : 0.993432 Centerline is valid? [True, True] Translation: X:80.59, Y:47.38, Z:33.37 [[-1.63655358e-01 -9.82234160e-01 9.18312485e-02 8.05876580e+01] [ 8.15009953e-01 -1.87066270e-01 -5.48420447e-01 4.73786357e+01] [ 5.55855826e-01 -1.49085633e-02 8.31145014e-01 3.33731107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.860714057 meters Centerline goodness : 0.993432 Centerline is valid? [True, True] Translation: X:80.60, Y:47.38, Z:33.36 [[-1.63320794e-01 -9.84279463e-01 6.72328575e-02 8.05978973e+01] [ 8.15714962e-01 -1.73053662e-01 -5.51961530e-01 4.73840816e+01] [ 5.54919291e-01 -3.53039474e-02 8.31154746e-01 3.33645836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.890714057 meters Centerline goodness : 0.994473 Centerline is valid? [True, True] Translation: X:80.60, Y:47.40, Z:33.38 [[-1.69978033e-01 -9.83984033e-01 5.36925606e-02 8.05990111e+01] [ 8.05928181e-01 -1.70160767e-01 -5.67031816e-01 4.73978998e+01] [ 5.67086621e-01 -5.31106054e-02 8.21944054e-01 3.33775818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.920714057 meters Centerline goodness : 0.995008 Centerline is valid? [True, True] Translation: X:80.60, Y:47.38, Z:33.37 [[-1.72080649e-01 -9.82851020e-01 6.62730951e-02 8.05981596e+01] [ 8.04485379e-01 -1.79040230e-01 -5.66346070e-01 4.73830456e+01] [ 5.68499363e-01 -4.41414632e-02 8.21498634e-01 3.33733825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.950714057 meters Centerline goodness : 0.994668 Centerline is valid? [True, True] Translation: X:80.60, Y:47.39, Z:33.37 [[-1.73563062e-01 -9.82959150e-01 6.05571807e-02 8.06019078e+01] [ 8.05586917e-01 -1.77076507e-01 -5.65396879e-01 4.73889550e+01] [ 5.66485289e-01 -4.93479409e-02 8.22592972e-01 3.33736859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.980714057 meters Centerline goodness : 0.994949 Centerline is valid? [True, True] Translation: X:80.60, Y:47.38, Z:33.37 [[-1.73700573e-01 -9.82398924e-01 6.87056430e-02 8.06008026e+01] [ 8.03819059e-01 -1.81739743e-01 -5.66432332e-01 4.73777854e+01] [ 5.68949059e-01 -4.31627151e-02 8.21239276e-01 3.33698123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.01071405699997 meters Centerline goodness : 0.994623 Centerline is valid? [True, True] Translation: X:80.60, Y:47.37, Z:33.37 [[-1.72612663e-01 -9.81930791e-01 7.75679716e-02 8.05980348e+01] [ 8.04568994e-01 -1.85986507e-01 -5.63983824e-01 4.73744352e+01] [ 5.68219678e-01 -3.49419649e-02 8.22134695e-01 3.33705708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.04071405699997 meters Centerline goodness : 0.995016 Centerline is valid? [True, True] Translation: X:80.60, Y:47.39, Z:33.38 [[-1.73443394e-01 -9.82949666e-01 6.10519715e-02 8.06029957e+01] [ 8.02446983e-01 -1.76988640e-01 -5.69871793e-01 4.73915117e+01] [ 5.70960794e-01 -4.98495276e-02 8.19462504e-01 3.33776581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.07071405699998 meters Centerline goodness : 0.994566 Centerline is valid? [True, True] Translation: X:80.60, Y:47.37, Z:33.36 [[-1.68438677e-01 -9.82581686e-01 7.84961352e-02 8.06008776e+01] [ 8.08490113e-01 -1.83271876e-01 -5.59245167e-01 4.73692267e+01] [ 5.63890192e-01 -3.07351668e-02 8.25277650e-01 3.33639614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.10071405699998 meters Centerline goodness : 0.994770 Centerline is valid? [True, True] Translation: X:80.61, Y:47.39, Z:33.37 [[-1.72638647e-01 -9.83234373e-01 5.87031915e-02 8.06071092e+01] [ 8.04510742e-01 -1.75141702e-01 -5.67527841e-01 4.73863596e+01] [ 5.68294258e-01 -5.07498901e-02 8.21258842e-01 3.33705240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.13071405699998 meters Centerline goodness : 0.995297 Centerline is valid? [True, True] Translation: X:80.60, Y:47.36, Z:33.36 [[-1.67143760e-01 -9.81704461e-01 9.12102760e-02 8.05989824e+01] [ 8.11776229e-01 -1.89531457e-01 -5.52356028e-01 4.73646685e+01] [ 5.59537593e-01 -1.82805293e-02 8.28603346e-01 3.33622739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.16071405699998 meters Centerline goodness : 0.995021 Centerline is valid? [True, True] Translation: X:80.61, Y:47.39, Z:33.37 [[-1.73938875e-01 -9.83654324e-01 4.65772409e-02 8.06143352e+01] [ 8.04769011e-01 -1.69247121e-01 -5.68948374e-01 4.73890051e+01] [ 5.67531591e-01 -6.14783202e-02 8.21053171e-01 3.33657910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.19071405699998 meters Centerline goodness : 0.994532 Centerline is valid? [True, True] Translation: X:80.60, Y:47.38, Z:33.37 [[-1.75210901e-01 -9.81668956e-01 7.50146744e-02 8.06042533e+01] [ 8.04190580e-01 -1.86655510e-01 -5.64302429e-01 4.73817737e+01] [ 5.67960078e-01 -3.85458425e-02 8.22153007e-01 3.33735302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.22071405699998 meters Centerline goodness : 0.996061 Centerline is valid? [True, True] Translation: X:80.60, Y:47.38, Z:33.37 [[-1.76164262e-01 -9.81213926e-01 7.86472119e-02 8.06034621e+01] [ 8.03598685e-01 -1.89497913e-01 -5.64198276e-01 4.73801463e+01] [ 5.68502688e-01 -3.61907768e-02 8.21884981e-01 3.33742846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.25071405699998 meters Centerline goodness : 0.995669 Centerline is valid? [True, True] Translation: X:80.61, Y:47.39, Z:33.38 [[-1.89772078e-01 -9.80623575e-01 4.86205939e-02 8.06087445e+01] [ 7.92968416e-01 -1.82281089e-01 -5.81355911e-01 4.73899260e+01] [ 5.78953927e-01 -7.17705238e-02 8.12195384e-01 3.33771380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.28071405699998 meters Centerline goodness : 0.995644 Centerline is valid? [True, True] Translation: X:80.59, Y:47.37, Z:33.38 [[-1.77074314e-01 -9.78177389e-01 1.08690763e-01 8.05926706e+01] [ 8.02448235e-01 -2.07432973e-01 -5.59507276e-01 4.73700322e+01] [ 5.69843415e-01 -1.18556565e-02 8.21667771e-01 3.33817890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.31071405699998 meters Centerline goodness : 0.994875 Centerline is valid? [True, True] Translation: X:80.61, Y:47.38, Z:33.37 [[-1.79551530e-01 -9.81998846e-01 5.86473809e-02 8.06133438e+01] [ 8.04166492e-01 -1.80852381e-01 -5.66223162e-01 4.73834905e+01] [ 5.66637010e-01 -5.45039766e-02 8.22162889e-01 3.33681603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.34071405699999 meters Centerline goodness : 0.994821 Centerline is valid? [True, True] Translation: X:80.60, Y:47.37, Z:33.37 [[-1.79511391e-01 -9.79990239e-01 8.59929794e-02 8.06031658e+01] [ 8.02973868e-01 -1.96462690e-01 -5.62703633e-01 4.73735586e+01] [ 5.68338480e-01 -3.19615969e-02 8.22173843e-01 3.33727360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.370714057 meters Centerline goodness : 0.995669 Centerline is valid? [True, True] Translation: X:80.61, Y:47.40, Z:33.39 [[-1.82763135e-01 -9.80781690e-01 6.83001663e-02 8.06071443e+01] [ 8.00192019e-01 -1.88754150e-01 -5.69266725e-01 4.73990177e+01] [ 5.71218320e-01 -4.93877234e-02 8.19310981e-01 3.33853691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.400714057 meters Centerline goodness : 0.995044 Centerline is valid? [True, True] Translation: X:80.60, Y:47.40, Z:33.39 [[-1.83047804e-01 -9.80121162e-01 7.65245612e-02 8.06034304e+01] [ 8.00886317e-01 -1.93810878e-01 -5.66584902e-01 4.74007944e+01] [ 5.70153145e-01 -4.24246484e-02 8.20442283e-01 3.33897792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.430714057 meters Centerline goodness : 0.995352 Centerline is valid? [True, True] Translation: X:80.61, Y:47.38, Z:33.38 [[-1.82002908e-01 -9.80366254e-01 7.58745577e-02 8.06068072e+01] [ 8.02944461e-01 -1.92718210e-01 -5.64038903e-01 4.73825703e+01] [ 5.67587115e-01 -4.17336649e-02 8.22254929e-01 3.33751344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.460714057 meters Centerline goodness : 0.994714 Centerline is valid? [True, True] Translation: X:80.61, Y:47.40, Z:33.38 [[-1.81496611e-01 -9.80796736e-01 7.13914719e-02 8.06068328e+01] [ 8.04037286e-01 -1.89801865e-01 -5.63470758e-01 4.73961859e+01] [ 5.66200515e-01 -4.48666277e-02 8.23045541e-01 3.33807145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.490714057 meters Centerline goodness : 0.995911 Centerline is valid? [True, True] Translation: X:80.61, Y:47.38, Z:33.37 [[-1.92713068e-01 -9.79771759e-01 5.39349002e-02 8.06094114e+01] [ 7.92057720e-01 -1.87766219e-01 -5.80851458e-01 4.73778341e+01] [ 5.79229007e-01 -6.92181123e-02 8.12220789e-01 3.33722194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.520714057 meters Centerline goodness : 0.996190 Centerline is valid? [True, True] Translation: X:80.59, Y:47.38, Z:33.39 [[-1.90083280e-01 -9.77605679e-01 9.03077146e-02 8.05906927e+01] [ 7.90988682e-01 -2.06984161e-01 -5.75755558e-01 4.73786749e+01] [ 5.81554169e-01 -3.80091247e-02 8.12619256e-01 3.33915929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.550714057 meters Centerline goodness : 0.995501 Centerline is valid? [True, True] Translation: X:80.59, Y:47.37, Z:33.38 [[-1.89844102e-01 -9.77815188e-01 8.85249915e-02 8.05919342e+01] [ 7.91214800e-01 -2.05752376e-01 -5.75886361e-01 4.73684451e+01] [ 5.81324658e-01 -3.92863459e-02 8.12722723e-01 3.33838318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.580714057 meters Centerline goodness : 0.995644 Centerline is valid? [True, True] Translation: X:80.59, Y:47.37, Z:33.39 [[-1.87967920e-01 -9.77809920e-01 9.24976870e-02 8.05873206e+01] [ 7.91757831e-01 -2.06580721e-01 -5.74842537e-01 4.73685601e+01] [ 5.81194974e-01 -3.48161881e-02 8.13019210e-01 3.33865244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.610714057 meters Centerline goodness : 0.995554 Centerline is valid? [True, True] Translation: X:80.59, Y:47.35, Z:33.37 [[-1.88073376e-01 -9.78054890e-01 8.96495307e-02 8.05898956e+01] [ 7.92021480e-01 -2.05009339e-01 -5.75041865e-01 4.73543146e+01] [ 5.80801499e-01 -3.71457108e-02 8.13197280e-01 3.33744229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.640714057 meters Centerline goodness : 0.995268 Centerline is valid? [True, True] Translation: X:80.59, Y:47.35, Z:33.37 [[-1.88610922e-01 -9.77932056e-01 8.98599714e-02 8.05895138e+01] [ 7.92202269e-01 -2.05587200e-01 -5.74586345e-01 4.73518339e+01] [ 5.80380465e-01 -3.71859868e-02 8.13495985e-01 3.33727268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.670714057 meters Centerline goodness : 0.994157 Centerline is valid? [True, True] Translation: X:80.58, Y:47.33, Z:33.36 [[-1.72536549e-01 -9.74113009e-01 1.46065003e-01 8.05762043e+01] [ 8.14299177e-01 -2.24492826e-01 -5.35275463e-01 4.73255360e+01] [ 5.54209337e-01 2.65860305e-02 8.31952639e-01 3.33605416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.700714057 meters Centerline goodness : 0.995379 Centerline is valid? [True, True] Translation: X:80.62, Y:47.38, Z:33.35 [[-1.93697629e-01 -9.81036452e-01 6.97909374e-03 8.06192639e+01] [ 7.94493897e-01 -1.61031804e-01 -5.85532412e-01 4.73778772e+01] [ 5.75552496e-01 -1.07871393e-01 8.10618953e-01 3.33494760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.730714057 meters Centerline goodness : 0.994526 Centerline is valid? [True, True] Translation: X:80.58, Y:47.35, Z:33.37 [[-1.81518472e-01 -9.76032940e-01 1.20044758e-01 8.05798907e+01] [ 8.04490055e-01 -2.17590595e-01 -5.52675388e-01 4.73454411e+01] [ 5.65549994e-01 -3.74597773e-03 8.24705506e-01 3.33686261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.76071405699997 meters Centerline goodness : 0.994743 Centerline is valid? [True, True] Translation: X:80.60, Y:47.37, Z:33.36 [[-1.84146423e-01 -9.80654598e-01 6.63826343e-02 8.05988924e+01] [ 8.04086739e-01 -1.89143438e-01 -5.63621572e-01 4.73668071e+01] [ 5.65273926e-01 -5.04115008e-02 8.23361445e-01 3.33577856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.79071405699997 meters Centerline goodness : 0.995008 Centerline is valid? [True, True] Translation: X:80.60, Y:47.35, Z:33.35 [[-1.89165309e-01 -9.79585602e-01 6.80333368e-02 8.05978336e+01] [ 8.01106693e-01 -1.94022975e-01 -5.66200628e-01 4.73510378e+01] [ 5.67842014e-01 -5.26035554e-02 8.21454998e-01 3.33496206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.82071405699998 meters Centerline goodness : 0.994580 Centerline is valid? [True, True] Translation: X:80.59, Y:47.36, Z:33.36 [[-1.91541998e-01 -9.78069554e-01 8.18022710e-02 8.05895454e+01] [ 8.01913896e-01 -2.04008521e-01 -5.61528830e-01 4.73572187e+01] [ 5.65902612e-01 -4.19579760e-02 8.23403766e-01 3.33578155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.85071405699998 meters Centerline goodness : 0.994387 Centerline is valid? [True, True] Translation: X:80.59, Y:47.36, Z:33.35 [[-1.94501451e-01 -9.78473559e-01 6.89831884e-02 8.05947484e+01] [ 8.00731741e-01 -1.99002904e-01 -5.65001348e-01 4.73551437e+01] [ 5.66566734e-01 -5.46565533e-02 8.22201190e-01 3.33502495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.88071405699998 meters Centerline goodness : 0.995229 Centerline is valid? [True, True] Translation: X:80.59, Y:47.35, Z:33.35 [[-1.96375125e-01 -9.77837204e-01 7.26031131e-02 8.05939442e+01] [ 8.00099627e-01 -2.02602882e-01 -5.64617268e-01 4.73465803e+01] [ 5.66813371e-01 -5.27870631e-02 8.22153348e-01 3.33458421e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.91071405699998 meters Centerline goodness : 0.995401 Centerline is valid? [True, True] Translation: X:80.59, Y:47.36, Z:33.36 [[-1.99130346e-01 -9.77097807e-01 7.50132099e-02 8.05898379e+01] [ 7.99100029e-01 -2.06209712e-01 -5.64727101e-01 4.73617007e+01] [ 5.67262064e-01 -5.25112448e-02 8.21861497e-01 3.33576345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.94071405699998 meters Centerline goodness : 0.995034 Centerline is valid? [True, True] Translation: X:80.59, Y:47.37, Z:33.36 [[-2.04215551e-01 -9.76528039e-01 6.84762633e-02 8.05892243e+01] [ 7.96402067e-01 -2.06408065e-01 -5.68453567e-01 4.73738996e+01] [ 5.69244900e-01 -6.15524209e-02 8.19860685e-01 3.33642539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.97071405699998 meters Centerline goodness : 0.994899 Centerline is valid? [True, True] Translation: X:80.59, Y:47.36, Z:33.36 [[-2.07960903e-01 -9.75290303e-01 7.45727028e-02 8.05874011e+01] [ 7.93660643e-01 -2.12809715e-01 -5.69925267e-01 4.73566266e+01] [ 5.71712381e-01 -5.93367539e-02 8.18305629e-01 3.33569504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.00071405699998 meters Centerline goodness : 0.994881 Centerline is valid? [True, True] Translation: X:80.58, Y:47.36, Z:33.36 [[-2.09945555e-01 -9.74464494e-01 7.96355124e-02 8.05841909e+01] [ 7.92348407e-01 -2.17295675e-01 -5.70058410e-01 4.73581245e+01] [ 5.72806132e-01 -5.65821579e-02 8.17735651e-01 3.33617231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.03071405699998 meters Centerline goodness : 0.994628 Centerline is valid? [True, True] Translation: X:80.58, Y:47.35, Z:33.36 [[-2.10554716e-01 -9.74226616e-01 8.09272027e-02 8.05843894e+01] [ 7.92860820e-01 -2.18609710e-01 -5.68842258e-01 4.73533637e+01] [ 5.71872740e-01 -5.56084119e-02 8.18455419e-01 3.33587548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.06071405699998 meters Centerline goodness : 0.994639 Centerline is valid? [True, True] Translation: X:80.58, Y:47.36, Z:33.37 [[-2.12925818e-01 -9.74016431e-01 7.71659785e-02 8.05828898e+01] [ 7.91534038e-01 -2.18257166e-01 -5.70821931e-01 4.73629510e+01] [ 5.72831967e-01 -6.04632282e-02 8.17439744e-01 3.33658966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.09071405699999 meters Centerline goodness : 0.993813 Centerline is valid? [True, True] Translation: X:80.59, Y:47.34, Z:33.34 [[-2.12471211e-01 -9.74279274e-01 7.50725003e-02 8.05885647e+01] [ 7.93796709e-01 -2.16893323e-01 -5.68193691e-01 4.73353008e+01] [ 5.69862061e-01 -6.11324982e-02 8.19463269e-01 3.33446187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.120714057 meters Centerline goodness : 0.994576 Centerline is valid? [True, True] Translation: X:80.58, Y:47.34, Z:33.35 [[-2.12265612e-01 -9.73474337e-01 8.53875059e-02 8.05822304e+01] [ 7.92632000e-01 -2.22619991e-01 -5.67604486e-01 4.73384773e+01] [ 5.71557366e-01 -5.28020438e-02 8.18861479e-01 3.33527538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.150714057 meters Centerline goodness : 0.994236 Centerline is valid? [True, True] Translation: X:80.58, Y:47.33, Z:33.35 [[-2.11249349e-01 -9.73262226e-01 9.01906375e-02 8.05813952e+01] [ 7.93330205e-01 -2.24629563e-01 -5.65834556e-01 4.73287720e+01] [ 5.70964883e-01 -4.79812247e-02 8.19571171e-01 3.33469568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.180714057 meters Centerline goodness : 0.994809 Centerline is valid? [True, True] Translation: X:80.57, Y:47.35, Z:33.37 [[-2.09589244e-01 -9.73045524e-01 9.62016503e-02 8.05725700e+01] [ 7.91033001e-01 -2.26567793e-01 -5.68272669e-01 4.73496770e+01] [ 5.74751373e-01 -4.30051588e-02 8.17197293e-01 3.33656065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.210714057 meters Centerline goodness : 0.994874 Centerline is valid? [True, True] Translation: X:80.58, Y:47.34, Z:33.35 [[-2.09747903e-01 -9.74552934e-01 7.90720881e-02 8.05801019e+01] [ 7.90866572e-01 -2.16653182e-01 -5.72356064e-01 4.73425302e+01] [ 5.74922501e-01 -5.75150133e-02 8.16183889e-01 3.33524283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.240714057 meters Centerline goodness : 0.994713 Centerline is valid? [True, True] Translation: X:80.58, Y:47.33, Z:33.34 [[-2.08559155e-01 -9.74609392e-01 8.14838175e-02 8.05804445e+01] [ 7.90941616e-01 -2.17086000e-01 -5.72088306e-01 4.73261829e+01] [ 5.75251632e-01 -5.48653113e-02 8.16134399e-01 3.33420160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.270714057 meters Centerline goodness : 0.995164 Centerline is valid? [True, True] Translation: X:80.57, Y:47.34, Z:33.36 [[-2.17331142e-01 -9.73658738e-01 6.89625697e-02 8.05745656e+01] [ 7.83742048e-01 -2.16179437e-01 -5.82249820e-01 4.73427146e+01] [ 5.81820915e-01 -7.24921528e-02 8.10079818e-01 3.33565830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.300714057 meters Centerline goodness : 0.994474 Centerline is valid? [True, True] Translation: X:80.57, Y:47.30, Z:33.33 [[-2.05234710e-01 -9.74141212e-01 9.44860479e-02 8.05747396e+01] [ 7.86481522e-01 -2.21613695e-01 -5.76484333e-01 4.72972430e+01] [ 5.82516549e-01 -4.40030639e-02 8.11626885e-01 3.33348471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.330714057 meters Centerline goodness : 0.995202 Centerline is valid? [True, True] Translation: X:80.57, Y:47.31, Z:33.34 [[-2.04843876e-01 -9.75085945e-01 8.51257070e-02 8.05733505e+01] [ 7.86825904e-01 -2.15774262e-01 -5.78227001e-01 4.73133818e+01] [ 5.82188959e-01 -5.14671486e-02 8.11422916e-01 3.33423174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.360714057 meters Centerline goodness : 0.994919 Centerline is valid? [True, True] Translation: X:80.57, Y:47.34, Z:33.36 [[-2.04147792e-01 -9.74518673e-01 9.29356513e-02 8.05666869e+01] [ 7.91181594e-01 -2.20155196e-01 -5.70581611e-01 4.73354779e+01] [ 5.76502701e-01 -4.29539992e-02 8.15965434e-01 3.33572801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.390714057 meters Centerline goodness : 0.995669 Centerline is valid? [True, True] Translation: X:80.57, Y:47.37, Z:33.37 [[-2.05392657e-01 -9.75457675e-01 7.93484807e-02 8.05665600e+01] [ 7.90228199e-01 -2.13127958e-01 -5.74557105e-01 4.73655314e+01] [ 5.77367518e-01 -5.53064034e-02 8.14609079e-01 3.33727451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.420714057 meters Centerline goodness : 0.995102 Centerline is valid? [True, True] Translation: X:80.56, Y:47.39, Z:33.39 [[-2.06264017e-01 -9.74970511e-01 8.29919153e-02 8.05586427e+01] [ 7.89228521e-01 -2.15905010e-01 -5.74894224e-01 4.73864328e+01] [ 5.78423286e-01 -5.30804053e-02 8.14007969e-01 3.33907180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.450714057 meters Centerline goodness : 0.994827 Centerline is valid? [True, True] Translation: X:80.56, Y:47.40, Z:33.40 [[-2.07568586e-01 -9.74784463e-01 8.19178369e-02 8.05555545e+01] [ 7.86629675e-01 -2.16107655e-01 -5.78369463e-01 4.73983579e+01] [ 5.81488638e-01 -5.56123302e-02 8.11651546e-01 3.34010985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.480714057 meters Centerline goodness : 0.995112 Centerline is valid? [True, True] Translation: X:80.55, Y:47.41, Z:33.41 [[-2.08573346e-01 -9.73964828e-01 8.88238325e-02 8.05488404e+01] [ 7.86501461e-01 -2.21020901e-01 -5.76684674e-01 4.74064152e+01] [ 5.81302513e-01 -5.04209778e-02 8.12123829e-01 3.34107746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.51071405699997 meters Centerline goodness : 0.995352 Centerline is valid? [True, True] Translation: X:80.55, Y:47.41, Z:33.42 [[-2.09677204e-01 -9.73731873e-01 8.87789958e-02 8.05464297e+01] [ 7.86140325e-01 -2.21876021e-01 -5.76848699e-01 4.74149285e+01] [ 5.81393894e-01 -5.11592740e-02 8.12012234e-01 3.34172734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.54071405699997 meters Centerline goodness : 0.995345 Centerline is valid? [True, True] Translation: X:80.54, Y:47.42, Z:33.42 [[-2.10548257e-01 -9.73326977e-01 9.11264330e-02 8.05446588e+01] [ 7.86516513e-01 -2.24018765e-01 -5.75506183e-01 4.74174481e+01] [ 5.80569725e-01 -4.94993797e-02 8.12704501e-01 3.34196090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.57071405699998 meters Centerline goodness : 0.995479 Centerline is valid? [True, True] Translation: X:80.55, Y:47.41, Z:33.42 [[-2.13307574e-01 -9.73104990e-01 8.69859551e-02 8.05459284e+01] [ 7.84024861e-01 -2.23621924e-01 -5.79049438e-01 4.74127319e+01] [ 5.82927865e-01 -5.53164797e-02 8.10638755e-01 3.34159404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.60071405699998 meters Centerline goodness : 0.995493 Centerline is valid? [True, True] Translation: X:80.55, Y:47.36, Z:33.38 [[-2.12631800e-01 -9.72365311e-01 9.64023811e-02 8.05505155e+01] [ 7.85330824e-01 -2.28764429e-01 -5.75258492e-01 4.73603840e+01] [ 5.81414838e-01 -4.66104869e-02 8.12271044e-01 3.33815510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.63071405699998 meters Centerline goodness : 0.995075 Centerline is valid? [True, True] Translation: X:80.56, Y:47.34, Z:33.37 [[-2.16814353e-01 -9.72180260e-01 8.86401564e-02 8.05559148e+01] [ 7.81475590e-01 -2.27264039e-01 -5.81073970e-01 4.73427041e+01] [ 5.85053363e-01 -5.67150585e-02 8.09009249e-01 3.33665898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.66071405699998 meters Centerline goodness : 0.995472 Centerline is valid? [True, True] Translation: X:80.56, Y:47.32, Z:33.35 [[-2.14761089e-01 -9.71678879e-01 9.85790553e-02 8.05569977e+01] [ 7.83127183e-01 -2.31636445e-01 -5.77110364e-01 4.73168560e+01] [ 5.83600454e-01 -4.67409121e-02 8.10694639e-01 3.33504784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.69071405699998 meters Centerline goodness : 0.995893 Centerline is valid? [True, True] Translation: X:80.56, Y:47.31, Z:33.34 [[-2.20430110e-01 -9.70750184e-01 9.51559094e-02 8.05570914e+01] [ 7.82694598e-01 -2.34252109e-01 -5.76641236e-01 4.73081604e+01] [ 5.82065058e-01 -5.26310748e-02 8.11437144e-01 3.33412073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.72071405699998 meters Centerline goodness : 0.996139 Centerline is valid? [True, True] Translation: X:80.56, Y:47.28, Z:33.32 [[-2.08535098e-01 -9.72027142e-01 1.08057149e-01 8.05611033e+01] [ 7.89519668e-01 -2.32520330e-01 -5.67972701e-01 4.72793368e+01] [ 5.77210366e-01 -3.31289984e-02 8.15923197e-01 3.33228334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.75071405699998 meters Centerline goodness : 0.996337 Centerline is valid? [True, True] Translation: X:80.57, Y:47.30, Z:33.32 [[-2.11826779e-01 -9.74790938e-01 7.00859632e-02 8.05725562e+01] [ 7.87929522e-01 -2.12766594e-01 -5.77838598e-01 4.73015937e+01] [ 5.78183781e-01 -6.71788895e-02 8.13136220e-01 3.33216108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.78071405699998 meters Centerline goodness : 0.996337 Centerline is valid? [True, True] Translation: X:80.57, Y:47.29, Z:33.33 [[-2.11944112e-01 -9.73432604e-01 8.66525150e-02 8.05664658e+01] [ 7.87124348e-01 -2.22585123e-01 -5.75231365e-01 4.72943834e+01] [ 5.79236527e-01 -5.37105965e-02 8.13388110e-01 3.33256508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.81071405699998 meters Centerline goodness : 0.996101 Centerline is valid? [True, True] Translation: X:80.57, Y:47.29, Z:33.33 [[-2.11622453e-01 -9.73579258e-01 8.57867510e-02 8.05664202e+01] [ 7.87641680e-01 -2.21854904e-01 -5.74805172e-01 4.72946731e+01] [ 5.78650604e-01 -5.40724599e-02 8.13781081e-01 3.33258700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.84071405699999 meters Centerline goodness : 0.995755 Centerline is valid? [True, True] Translation: X:80.56, Y:47.31, Z:33.34 [[-2.10608535e-01 -9.73405362e-01 9.01445888e-02 8.05620622e+01] [ 7.89297165e-01 -2.23727407e-01 -5.71800693e-01 4.73080198e+01] [ 5.76761675e-01 -4.92752377e-02 8.15424994e-01 3.33373111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.870714057 meters Centerline goodness : 0.995954 Centerline is valid? [True, True] Translation: X:80.57, Y:47.28, Z:33.31 [[-2.09001750e-01 -9.74513821e-01 8.14928232e-02 8.05705364e+01] [ 7.89385084e-01 -2.17310321e-01 -5.74149295e-01 4.72774102e+01] [ 5.77225655e-01 -5.56689885e-02 8.14684912e-01 3.33129468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.900714057 meters Centerline goodness : 0.996558 Centerline is valid? [True, True] Translation: X:80.57, Y:47.25, Z:33.30 [[-1.97502456e-01 -9.75008643e-01 1.01739500e-01 8.05701570e+01] [ 7.99216765e-01 -2.20247825e-01 -5.59234707e-01 4.72543742e+01] [ 5.67666576e-01 -2.91383136e-02 8.22742740e-01 3.32982664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.930714057 meters Centerline goodness : 0.996542 Centerline is valid? [True, True] Translation: X:80.59, Y:47.25, Z:33.27 [[-1.98574054e-01 -9.78517248e-01 5.54286885e-02 8.05935535e+01] [ 7.97505500e-01 -1.94196801e-01 -5.71202749e-01 4.72493465e+01] [ 5.69695816e-01 -6.92213615e-02 8.18935334e-01 3.32703667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.960714057 meters Centerline goodness : 0.996466 Centerline is valid? [True, True] Translation: X:80.59, Y:47.25, Z:33.28 [[-1.99354817e-01 -9.77241051e-01 7.25092067e-02 8.05873441e+01] [ 7.96069344e-01 -2.04655781e-01 -5.69552114e-01 4.72468892e+01] [ 5.71429135e-01 -5.58206010e-02 8.18750758e-01 3.32769962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.990714057 meters Centerline goodness : 0.996996 Centerline is valid? [True, True] Translation: X:80.59, Y:47.28, Z:33.30 [[-2.12044003e-01 -9.75569431e-01 5.74597745e-02 8.05874480e+01] [ 7.87241091e-01 -2.05356520e-01 -5.81446614e-01 4.72788844e+01] [ 5.79041281e-01 -7.80575719e-02 8.11552962e-01 3.32988024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.020714057 meters Centerline goodness : 0.996223 Centerline is valid? [True, True] Translation: X:80.58, Y:47.24, Z:33.29 [[-2.03542817e-01 -9.74238555e-01 9.71059198e-02 8.05794615e+01] [ 7.91620044e-01 -2.22124347e-01 -5.69208643e-01 4.72422654e+01] [ 5.76114595e-01 -3.89873384e-02 8.16438584e-01 3.32882232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.050714057 meters Centerline goodness : 0.996702 Centerline is valid? [True, True] Translation: X:80.59, Y:47.26, Z:33.29 [[-2.05502630e-01 -9.75867592e-01 7.38316420e-02 8.05867302e+01] [ 7.91715707e-01 -2.10121401e-01 -5.73615931e-01 4.72642438e+01] [ 5.75286806e-01 -5.94259118e-02 8.15790201e-01 3.32919054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.080714057 meters Centerline goodness : 0.995643 Centerline is valid? [True, True] Translation: X:80.58, Y:47.29, Z:33.31 [[-2.08993440e-01 -9.75197909e-01 7.28751030e-02 8.05820375e+01] [ 7.88293001e-01 -2.12100363e-01 -5.77587725e-01 4.72895082e+01] [ 5.78719177e-01 -6.32651117e-02 8.13069271e-01 3.33137842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.110714057 meters Centerline goodness : 0.995422 Centerline is valid? [True, True] Translation: X:80.58, Y:47.28, Z:33.32 [[-2.06575023e-01 -9.74792924e-01 8.42942145e-02 8.05780396e+01] [ 7.87957547e-01 -2.16815820e-01 -5.76293158e-01 4.72798787e+01] [ 5.80042812e-01 -5.26275099e-02 8.12884175e-01 3.33151684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.140714057 meters Centerline goodness : 0.995687 Centerline is valid? [True, True] Translation: X:80.58, Y:47.28, Z:33.32 [[-2.04121494e-01 -9.74718249e-01 9.08776671e-02 8.05751656e+01] [ 7.89735470e-01 -2.18815542e-01 -5.73094796e-01 4.72785507e+01] [ 5.78491402e-01 -4.52116488e-02 8.14434530e-01 3.33167684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.170714057 meters Centerline goodness : 0.995453 Centerline is valid? [True, True] Translation: X:80.58, Y:47.28, Z:33.32 [[-2.01778054e-01 -9.75340824e-01 8.94197637e-02 8.05755850e+01] [ 7.91511003e-01 -2.16156829e-01 -5.71652480e-01 4.72788611e+01] [ 5.76884693e-01 -4.45701978e-02 8.15608698e-01 3.33155567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.200714057 meters Centerline goodness : 0.995690 Centerline is valid? [True, True] Translation: X:80.57, Y:47.28, Z:33.32 [[-1.95851902e-01 -9.76222457e-01 9.29071962e-02 8.05727383e+01] [ 7.95729828e-01 -2.13578132e-01 -5.66743701e-01 4.72811050e+01] [ 5.73110873e-01 -3.70688043e-02 8.18639011e-01 3.33175786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.230714057 meters Centerline goodness : 0.995586 Centerline is valid? [True, True] Translation: X:80.58, Y:47.28, Z:33.31 [[-1.88288895e-01 -9.78107886e-01 8.86129527e-02 8.05759233e+01] [ 8.04094131e-01 -2.05335781e-01 -5.57915626e-01 4.72772609e+01] [ 5.63897083e-01 -3.37961614e-02 8.25153258e-01 3.33085389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.26071405699997 meters Centerline goodness : 0.994545 Centerline is valid? [True, True] Translation: X:80.58, Y:47.27, Z:33.30 [[-1.85096870e-01 -9.78791361e-01 8.77873565e-02 8.05768933e+01] [ 8.06334336e-01 -2.02331242e-01 -5.55776041e-01 4.72715573e+01] [ 5.61750912e-01 -3.20864460e-02 8.26683962e-01 3.33034055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.29071405699997 meters Centerline goodness : 0.995235 Centerline is valid? [True, True] Translation: X:80.57, Y:47.27, Z:33.30 [[-1.78739842e-01 -9.78807235e-01 9.99423080e-02 8.05722989e+01] [ 8.09137745e-01 -2.04023491e-01 -5.51063086e-01 4.72698924e+01] [ 5.59775114e-01 -1.76298351e-02 8.28457006e-01 3.33032508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.32071405699998 meters Centerline goodness : 0.993950 Centerline is valid? [True, True] Translation: X:80.58, Y:47.27, Z:33.29 [[-1.73314623e-01 -9.82382588e-01 6.99034544e-02 8.05848245e+01] [ 8.14395683e-01 -1.82867255e-01 -5.50744259e-01 4.72746991e+01] [ 5.53824623e-01 -3.85229623e-02 8.31741708e-01 3.32890298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.35071405699998 meters Centerline goodness : 0.994334 Centerline is valid? [True, True] Translation: X:80.58, Y:47.26, Z:33.28 [[-1.70018857e-01 -9.82475771e-01 7.63868291e-02 8.05840991e+01] [ 8.15820761e-01 -1.83810156e-01 -5.48315888e-01 4.72624006e+01] [ 5.52747750e-01 -3.09060794e-02 8.32775323e-01 3.32815110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.38071405699998 meters Centerline goodness : 0.993499 Centerline is valid? [True, True] Translation: X:80.59, Y:47.26, Z:33.27 [[-1.67769185e-01 -9.83624005e-01 6.58583088e-02 8.05911121e+01] [ 8.14022823e-01 -1.75904829e-01 -5.53556081e-01 4.72555150e+01] [ 5.56075844e-01 -3.92594859e-02 8.30203800e-01 3.32706309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.41071405699998 meters Centerline goodness : 0.993773 Centerline is valid? [True, True] Translation: X:80.58, Y:47.24, Z:33.27 [[-1.63512185e-01 -9.82768953e-01 8.61913545e-02 8.05845388e+01] [ 8.17544383e-01 -1.83883144e-01 -5.45718032e-01 4.72439886e+01] [ 5.52163877e-01 -1.87662904e-02 8.33524372e-01 3.32688524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.44071405699998 meters Centerline goodness : 0.993940 Centerline is valid? [True, True] Translation: X:80.60, Y:47.26, Z:33.27 [[-1.66201737e-01 -9.84438508e-01 5.70771912e-02 8.05953858e+01] [ 8.10587122e-01 -1.69353627e-01 -5.60595993e-01 4.72559244e+01] [ 5.61538512e-01 -4.69059916e-02 8.26120044e-01 3.32682205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.47071405699998 meters Centerline goodness : 0.994872 Centerline is valid? [True, True] Translation: X:80.58, Y:47.25, Z:33.28 [[-1.64247341e-01 -9.81927114e-01 9.40316622e-02 8.05794146e+01] [ 8.10876804e-01 -1.88684659e-01 -5.53964717e-01 4.72474645e+01] [ 5.61695308e-01 -1.47391382e-02 8.27212874e-01 3.32804072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.50071405699998 meters Centerline goodness : 0.993818 Centerline is valid? [True, True] Translation: X:80.59, Y:47.25, Z:33.27 [[-1.63474482e-01 -9.84593599e-01 6.20607655e-02 8.05923602e+01] [ 8.11529935e-01 -1.69977688e-01 -5.59040920e-01 4.72519691e+01] [ 5.60977057e-01 -4.10247560e-02 8.26814194e-01 3.32689878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.53071405699998 meters Centerline goodness : 0.994774 Centerline is valid? [True, True] Translation: X:80.58, Y:47.26, Z:33.29 [[-1.81672026e-01 -9.81978111e-01 5.20985967e-02 8.05846324e+01] [ 7.93604263e-01 -1.77694676e-01 -5.81907962e-01 4.72619893e+01] [ 5.80678525e-01 -6.43707300e-02 8.11584167e-01 3.32885258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.56071405699998 meters Centerline goodness : 0.995209 Centerline is valid? [True, True] Translation: X:80.57, Y:47.24, Z:33.30 [[-1.80238841e-01 -9.78521889e-01 1.00044354e-01 8.05664352e+01] [ 7.92804608e-01 -2.04723096e-01 -5.74063853e-01 4.72448918e+01] [ 5.82215436e-01 -2.41529780e-02 8.12675717e-01 3.33038417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.59071405699999 meters Centerline goodness : 0.993949 Centerline is valid? [True, True] Translation: X:80.57, Y:47.23, Z:33.29 [[-1.63542964e-01 -9.80408655e-01 1.09784186e-01 8.05744994e+01] [ 8.07704912e-01 -1.96961886e-01 -5.55714666e-01 4.72295052e+01] [ 5.66450769e-01 -2.20999698e-03 8.24092618e-01 3.32853608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.620714057 meters Centerline goodness : 0.993713 Centerline is valid? [True, True] Translation: X:80.58, Y:47.25, Z:33.28 [[-1.63396548e-01 -9.82757158e-01 8.65444209e-02 8.05826185e+01] [ 8.10457953e-01 -1.83733355e-01 -5.56237324e-01 4.72465300e+01] [ 5.62547308e-01 -2.07466445e-02 8.26504751e-01 3.32828914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.650714057 meters Centerline goodness : 0.993617 Centerline is valid? [True, True] Translation: X:80.59, Y:47.25, Z:33.28 [[-1.63753120e-01 -9.83117724e-01 8.16361199e-02 8.05857150e+01] [ 8.11772000e-01 -1.81308589e-01 -5.55115678e-01 4.72460246e+01] [ 5.60545392e-01 -2.46320079e-02 8.27757288e-01 3.32793446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.680714057 meters Centerline goodness : 0.994644 Centerline is valid? [True, True] Translation: X:80.53, Y:47.55, Z:33.50 [[-1.88117779e-01 -9.80487758e-01 5.70566215e-02 8.05331807e+01] [ 7.90435722e-01 -1.85623316e-01 -5.83742541e-01 4.75523203e+01] [ 5.82943454e-01 -6.47127582e-02 8.09931595e-01 3.35022617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.710714057 meters Centerline goodness : 0.993829 Centerline is valid? [True, True] Translation: X:80.56, Y:47.23, Z:33.30 [[-1.65411386e-01 -9.75872554e-01 1.42519583e-01 8.05636385e+01] [ 8.14025386e-01 -2.16680682e-01 -5.38899020e-01 4.72252544e+01] [ 5.56778003e-01 2.68745245e-02 8.30226484e-01 3.32981490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.740714057 meters Centerline goodness : 0.993127 Centerline is valid? [True, True] Translation: X:80.60, Y:47.25, Z:33.27 [[-1.70217637e-01 -9.83379656e-01 6.31696759e-02 8.05958986e+01] [ 8.09623085e-01 -1.76108280e-01 -5.59907434e-01 4.72485565e+01] [ 5.61726283e-01 -4.41624928e-02 8.26143606e-01 3.32747556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.770714057 meters Centerline goodness : 0.993411 Centerline is valid? [True, True] Translation: X:80.59, Y:47.25, Z:33.28 [[-1.71549493e-01 -9.81640157e-01 8.33868915e-02 8.05878186e+01] [ 8.07797143e-01 -1.88609222e-01 -5.58471429e-01 4.72463875e+01] [ 5.63945518e-01 -2.84457976e-02 8.25321931e-01 3.32836508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.800714057 meters Centerline goodness : 0.993332 Centerline is valid? [True, True] Translation: X:80.59, Y:47.25, Z:33.28 [[-1.75493845e-01 -9.80866947e-01 8.42730271e-02 8.05898385e+01] [ 8.06618377e-01 -1.92337055e-01 -5.58903616e-01 4.72461740e+01] [ 5.64418909e-01 -3.01079721e-02 8.24939274e-01 3.32830279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.830714057 meters Centerline goodness : 0.993262 Centerline is valid? [True, True] Translation: X:80.59, Y:47.25, Z:33.29 [[-1.77236572e-01 -9.80521711e-01 8.46426129e-02 8.05884991e+01] [ 8.03905416e-01 -1.93850113e-01 -5.62279482e-01 4.72544228e+01] [ 5.67735219e-01 -3.16118327e-02 8.22604044e-01 3.32900151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.860714057 meters Centerline goodness : 0.993211 Centerline is valid? [True, True] Translation: X:80.58, Y:47.27, Z:33.30 [[-1.78037157e-01 -9.79814361e-01 9.09207801e-02 8.05845017e+01] [ 8.05428136e-01 -1.98182905e-01 -5.58577707e-01 4.72665607e+01] [ 5.65321403e-01 -2.62174325e-02 8.24453975e-01 3.33006585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.890714057 meters Centerline goodness : 0.994142 Centerline is valid? [True, True] Translation: X:80.59, Y:47.24, Z:33.28 [[-1.79558052e-01 -9.80209681e-01 8.33539878e-02 8.05920906e+01] [ 8.04411427e-01 -1.95071682e-01 -5.61132154e-01 4.72444330e+01] [ 5.66287173e-01 -3.37048962e-02 8.23518560e-01 3.32822591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.920714057 meters Centerline goodness : 0.993680 Centerline is valid? [True, True] Translation: X:80.59, Y:47.24, Z:33.28 [[-1.77869652e-01 -9.80186535e-01 8.71593033e-02 8.05914384e+01] [ 8.04821581e-01 -1.95866564e-01 -5.60266464e-01 4.72383984e+01] [ 5.66237238e-01 -2.95067126e-02 8.23713995e-01 3.32815144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.950714057 meters Centerline goodness : 0.993796 Centerline is valid? [True, True] Translation: X:80.60, Y:47.23, Z:33.27 [[-1.77202738e-01 -9.80977906e-01 7.92561462e-02 8.05959357e+01] [ 8.03563590e-01 -1.90709143e-01 -5.63840031e-01 4.72304319e+01] [ 5.68229485e-01 -3.62266440e-02 8.22072310e-01 3.32740951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.980714057 meters Centerline goodness : 0.993754 Centerline is valid? [True, True] Translation: X:80.59, Y:47.22, Z:33.28 [[-1.71894342e-01 -9.79026439e-01 1.09359801e-01 8.05850922e+01] [ 8.10362338e-01 -2.03650158e-01 -5.49399212e-01 4.72204425e+01] [ 5.60147495e-01 -5.81755178e-03 8.28372465e-01 3.32780439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.01071405699997 meters Centerline goodness : 0.993928 Centerline is valid? [True, True] Translation: X:80.60, Y:47.23, Z:33.26 [[-1.72954669e-01 -9.82725072e-01 6.58643654e-02 8.06028558e+01] [ 8.07990627e-01 -1.79807657e-01 -5.61088543e-01 4.72255816e+01] [ 5.63238696e-01 -4.38250934e-02 8.25131221e-01 3.32633033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.04071405699997 meters Centerline goodness : 0.994305 Centerline is valid? [True, True] Translation: X:80.60, Y:47.22, Z:33.27 [[-1.72140257e-01 -9.81701532e-01 8.14237955e-02 8.05974745e+01] [ 8.07510686e-01 -1.87968785e-01 -5.59101268e-01 4.72183820e+01] [ 5.64175704e-01 -3.04932509e-02 8.25091472e-01 3.32677660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.07071405699998 meters Centerline goodness : 0.993691 Centerline is valid? [True, True] Translation: X:80.59, Y:47.20, Z:33.26 [[-1.65423833e-01 -9.80496653e-01 1.06119122e-01 8.05920177e+01] [ 8.17260618e-01 -1.96514568e-01 -5.41726044e-01 4.72049079e+01] [ 5.52014527e-01 -2.88741937e-03 8.33829494e-01 3.32602757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.10071405699998 meters Centerline goodness : 0.994387 Centerline is valid? [True, True] Translation: X:80.61, Y:47.22, Z:33.25 [[-1.72701109e-01 -9.83703145e-01 5.00244983e-02 8.06124229e+01] [ 8.07636110e-01 -1.70496799e-01 -5.64495133e-01 4.72221250e+01] [ 5.63824654e-01 -5.70873441e-02 8.23919167e-01 3.32527372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.13071405699998 meters Centerline goodness : 0.995125 Centerline is valid? [True, True] Translation: X:80.59, Y:47.20, Z:33.26 [[-1.68969647e-01 -9.78395742e-01 1.19126115e-01 8.05888168e+01] [ 8.13633138e-01 -2.06677759e-01 -5.43401712e-01 4.71989042e+01] [ 5.56282640e-01 5.10655946e-03 8.30977465e-01 3.32629105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.16071405699998 meters Centerline goodness : 0.994254 Centerline is valid? [True, True] Translation: X:80.62, Y:47.21, Z:33.24 [[-1.68708636e-01 -9.83940859e-01 5.82905046e-02 8.06164925e+01] [ 8.16917545e-01 -1.72671276e-01 -5.50300241e-01 4.72068919e+01] [ 5.51527987e-01 -4.52218672e-02 8.32929686e-01 3.32351611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.19071405699998 meters Centerline goodness : 0.994229 Centerline is valid? [True, True] Translation: X:80.62, Y:47.23, Z:33.25 [[-1.81870092e-01 -9.82136942e-01 4.82731388e-02 8.06155729e+01] [ 8.05022217e-01 -1.76904397e-01 -5.66254416e-01 4.72253963e+01] [ 5.64679111e-01 -6.41237938e-02 8.22815678e-01 3.32538514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.22071405699998 meters Centerline goodness : 0.994471 Centerline is valid? [True, True] Translation: X:80.59, Y:47.22, Z:33.27 [[-1.83591404e-01 -9.78079141e-01 9.82618460e-02 8.05943832e+01] [ 8.00989113e-01 -2.06794244e-01 -5.61829673e-01 4.72184300e+01] [ 5.69833868e-01 -2.44404298e-02 8.21396389e-01 3.32745086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.25071405699998 meters Centerline goodness : 0.995332 Centerline is valid? [True, True] Translation: X:80.60, Y:47.23, Z:33.27 [[-1.85800527e-01 -9.78915245e-01 8.48711186e-02 8.05994637e+01] [ 8.01221101e-01 -2.00939168e-01 -5.63620615e-01 4.72253622e+01] [ 5.68790745e-01 -3.67204765e-02 8.21662154e-01 3.32713640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.28071405699998 meters Centerline goodness : 0.995248 Centerline is valid? [True, True] Translation: X:80.60, Y:47.23, Z:33.27 [[-1.91445855e-01 -9.78387749e-01 7.81402462e-02 8.06036212e+01] [ 7.98379323e-01 -2.01540935e-01 -5.67425509e-01 4.72257024e+01] [ 5.70910625e-01 -4.62457050e-02 8.19708725e-01 3.32689536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.31071405699998 meters Centerline goodness : 0.995371 Centerline is valid? [True, True] Translation: X:80.60, Y:47.24, Z:33.28 [[-1.93661469e-01 -9.77045403e-01 8.87553664e-02 8.05975259e+01] [ 7.97778434e-01 -2.09488926e-01 -5.65388327e-01 4.72363432e+01] [ 5.71003333e-01 -3.86868170e-02 8.20035685e-01 3.32820319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.34071405699999 meters Centerline goodness : 0.994841 Centerline is valid? [True, True] Translation: X:80.61, Y:47.23, Z:33.26 [[-1.97748914e-01 -9.77929155e-01 6.74532096e-02 8.06095726e+01] [ 7.99262773e-01 -2.00693806e-01 -5.66481258e-01 4.72259248e+01] [ 5.67515979e-01 -5.81082140e-02 8.21309351e-01 3.32645972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.370714057 meters Centerline goodness : 0.995367 Centerline is valid? [True, True] Translation: X:80.60, Y:47.21, Z:33.27 [[-1.98178660e-01 -9.74916471e-01 1.01306923e-01 8.05961555e+01] [ 7.95713221e-01 -2.20374380e-01 -5.64159200e-01 4.72126242e+01] [ 5.72333547e-01 -3.11930559e-02 8.19427425e-01 3.32743147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.400714057 meters Centerline goodness : 0.995587 Centerline is valid? [True, True] Translation: X:80.60, Y:47.22, Z:33.27 [[-1.99952820e-01 -9.76047492e-01 8.57330905e-02 8.06009894e+01] [ 7.95874714e-01 -2.12830577e-01 -5.66821475e-01 4.72196995e+01] [ 5.71491302e-01 -4.51047535e-02 8.19367593e-01 3.32719965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.430714057 meters Centerline goodness : 0.995390 Centerline is valid? [True, True] Translation: X:80.60, Y:47.22, Z:33.28 [[-2.00503287e-01 -9.75760456e-01 8.76924450e-02 8.05991827e+01] [ 7.96170466e-01 -2.14448907e-01 -5.65795242e-01 4.72242462e+01] [ 5.70886172e-01 -4.36256712e-02 8.19869367e-01 3.32757504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.460714057 meters Centerline goodness : 0.996181 Centerline is valid? [True, True] Translation: X:80.60, Y:47.22, Z:33.27 [[-2.02080376e-01 -9.75956055e-01 8.16902714e-02 8.06028195e+01] [ 7.94311311e-01 -2.12119209e-01 -5.69275841e-01 4.72163041e+01] [ 5.72916279e-01 -5.01519693e-02 8.18078063e-01 3.32682026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.490714057 meters Centerline goodness : 0.995732 Centerline is valid? [True, True] Translation: X:80.60, Y:47.21, Z:33.27 [[-2.02346571e-01 -9.74800315e-01 9.39159743e-02 8.05983823e+01] [ 7.94649130e-01 -2.19482209e-01 -5.66003817e-01 4.72113282e+01] [ 5.72353584e-01 -3.98986843e-02 8.19035695e-01 3.32701438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.520714057 meters Centerline goodness : 0.995511 Centerline is valid? [True, True] Translation: X:80.60, Y:47.22, Z:33.27 [[-2.04710562e-01 -9.75342759e-01 8.24626452e-02 8.06024640e+01] [ 7.93316462e-01 -2.14672936e-01 -5.69705644e-01 4.72151067e+01] [ 5.73360773e-01 -5.12057887e-02 8.17701285e-01 3.32676524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.550714057 meters Centerline goodness : 0.995344 Centerline is valid? [True, True] Translation: X:80.60, Y:47.21, Z:33.27 [[-2.05360427e-01 -9.74224500e-01 9.33473059e-02 8.05981578e+01] [ 7.93492930e-01 -2.21573449e-01 -5.66810529e-01 4.72114114e+01] [ 5.72883989e-01 -4.23300249e-02 8.18542671e-01 3.32702874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.580714057 meters Centerline goodness : 0.995607 Centerline is valid? [True, True] Translation: X:80.60, Y:47.23, Z:33.29 [[-2.06789859e-01 -9.74370891e-01 8.85399404e-02 8.05952096e+01] [ 7.91990448e-01 -2.19840481e-01 -5.69579926e-01 4.72345359e+01] [ 5.74446763e-01 -4.76605654e-02 8.17153221e-01 3.32855717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.610714057 meters Centerline goodness : 0.994457 Centerline is valid? [True, True] Translation: X:80.60, Y:47.23, Z:33.27 [[-2.07408577e-01 -9.75183033e-01 7.74579543e-02 8.06004505e+01] [ 7.91997284e-01 -2.13868127e-01 -5.71839773e-01 4.72265468e+01] [ 5.74214232e-01 -5.72579843e-02 8.16700398e-01 3.32745228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.640714057 meters Centerline goodness : 0.994593 Centerline is valid? [True, True] Translation: X:80.60, Y:47.20, Z:33.27 [[-2.06850685e-01 -9.74533203e-01 8.65900169e-02 8.05992463e+01] [ 7.88296974e-01 -2.18430648e-01 -5.75218161e-01 4.72020486e+01] [ 5.79483110e-01 -5.07256223e-02 8.13404104e-01 3.32650936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.670714057 meters Centerline goodness : 0.994593 Centerline is valid? [True, True] Translation: X:80.60, Y:47.20, Z:33.27 [[-2.07032279e-01 -9.73520042e-01 9.69348445e-02 8.05957389e+01] [ 7.87850254e-01 -2.24644766e-01 -5.73434134e-01 4.71967882e+01] [ 5.80025527e-01 -4.23492338e-02 8.13496730e-01 3.32669834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.700714057 meters Centerline goodness : 0.994463 Centerline is valid? [True, True] Translation: X:80.59, Y:47.21, Z:33.28 [[-2.05740680e-01 -9.72365486e-01 1.10345518e-01 8.05866669e+01] [ 7.85601222e-01 -2.31345616e-01 -5.73855319e-01 4.72074220e+01] [ 5.83525058e-01 -3.13778098e-02 8.11488718e-01 3.32824059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.730714057 meters Centerline goodness : 0.995245 Centerline is valid? [True, True] Translation: X:80.59, Y:47.20, Z:33.27 [[-1.99928232e-01 -9.74646127e-01 1.00467051e-01 8.05895025e+01] [ 7.89581960e-01 -2.20977382e-01 -5.72476485e-01 4.71981719e+01] [ 5.80162935e-01 -3.51272403e-02 8.13742617e-01 3.32695687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.76071405699997 meters Centerline goodness : 0.993974 Centerline is valid? [True, True] Translation: X:80.59, Y:47.19, Z:33.25 [[-1.92667420e-01 -9.77292088e-01 8.82011323e-02 8.05939456e+01] [ 7.95090131e-01 -2.08158630e-01 -5.69650479e-01 4.71861796e+01] [ 5.75074733e-01 -3.96252384e-02 8.17140681e-01 3.32548532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.79071405699997 meters Centerline goodness : 0.994468 Centerline is valid? [True, True] Translation: X:80.58, Y:47.18, Z:33.26 [[-1.88488902e-01 -9.76413516e-01 1.05302330e-01 8.05848965e+01] [ 7.93773901e-01 -2.14606225e-01 -5.69093280e-01 4.71792936e+01] [ 5.78268906e-01 -2.36815263e-02 8.15502457e-01 3.32615650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.82071405699998 meters Centerline goodness : 0.993514 Centerline is valid? [True, True] Translation: X:80.58, Y:47.18, Z:33.26 [[-1.82088183e-01 -9.77626471e-01 1.05310858e-01 8.05848895e+01] [ 8.01223787e-01 -2.09604650e-01 -5.60451901e-01 4.71789553e+01] [ 5.69986260e-01 -1.76741034e-02 8.21464113e-01 3.32558045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.85071405699998 meters Centerline goodness : 0.993563 Centerline is valid? [True, True] Translation: X:80.58, Y:47.17, Z:33.25 [[-1.70493711e-01 -9.79161374e-01 1.10339923e-01 8.05806013e+01] [ 8.07808231e-01 -2.03016783e-01 -5.53380563e-01 4.71724921e+01] [ 5.64249728e-01 -5.21440741e-03 8.25587702e-01 3.32515581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.88071405699998 meters Centerline goodness : 0.993776 Centerline is valid? [True, True] Translation: X:80.59, Y:47.20, Z:33.26 [[-1.65483059e-01 -9.82773336e-01 8.22917177e-02 8.05853088e+01] [ 8.06936013e-01 -1.82900555e-01 -5.61606320e-01 4.71985405e+01] [ 5.66982917e-01 -2.65321810e-02 8.23302141e-01 3.32563734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.91071405699998 meters Centerline goodness : 0.993414 Centerline is valid? [True, True] Translation: X:80.59, Y:47.18, Z:33.24 [[-1.61698795e-01 -9.83201270e-01 8.46685424e-02 8.05875411e+01] [ 8.07060450e-01 -1.81127307e-01 -5.62002073e-01 4.71767018e+01] [ 5.67896937e-01 -2.25424257e-02 8.22790926e-01 3.32431993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.94071405699998 meters Centerline goodness : 0.993520 Centerline is valid? [True, True] Translation: X:80.58, Y:47.19, Z:33.26 [[-1.58981592e-01 -9.83035840e-01 9.14625083e-02 8.05811942e+01] [ 8.08236348e-01 -1.82793452e-01 -5.59768309e-01 4.71916413e+01] [ 5.66991057e-01 -1.50695333e-02 8.23586091e-01 3.32573611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.97071405699998 meters Centerline goodness : 0.992426 Centerline is valid? [True, True] Translation: X:80.59, Y:47.17, Z:33.23 [[-1.53500345e-01 -9.84689987e-01 8.26031031e-02 8.05896148e+01] [ 8.11430785e-01 -1.73314074e-01 -5.58159755e-01 4.71687029e+01] [ 5.63930603e-01 -1.86510141e-02 8.25611540e-01 3.32347967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.00071405699998 meters Centerline goodness : 0.993437 Centerline is valid? [True, True] Translation: X:80.58, Y:47.16, Z:33.24 [[-1.52056770e-01 -9.82967873e-01 1.03212882e-01 8.05813215e+01] [ 8.11189560e-01 -1.83776180e-01 -5.55155666e-01 4.71633763e+01] [ 5.64668253e-01 -6.89965039e-04 8.25317689e-01 3.32436574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.03071405699998 meters Centerline goodness : 0.992874 Centerline is valid? [True, True] Translation: X:80.59, Y:47.17, Z:33.23 [[-1.51449714e-01 -9.85017664e-01 8.24814318e-02 8.05931493e+01] [ 8.12113267e-01 -1.71565265e-01 -5.57707273e-01 4.71673154e+01] [ 5.63502463e-01 -1.74803419e-02 8.25929423e-01 3.32324325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.06071405699998 meters Centerline goodness : 0.993646 Centerline is valid? [True, True] Translation: X:80.58, Y:47.15, Z:33.24 [[-1.48788642e-01 -9.81778555e-01 1.18206633e-01 8.05823978e+01] [ 8.17684527e-01 -1.89373088e-01 -5.43626570e-01 4.71507896e+01] [ 5.56106064e-01 1.57702754e-02 8.30961699e-01 3.32359505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.09071405699999 meters Centerline goodness : 0.994391 Centerline is valid? [True, True] Translation: X:80.60, Y:47.16, Z:33.22 [[-1.51083303e-01 -9.85674159e-01 7.49685767e-02 8.06030061e+01] [ 8.15496868e-01 -1.67142601e-01 -5.54101263e-01 4.71598632e+01] [ 5.58693739e-01 -2.25788093e-02 8.29066646e-01 3.32176632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.120714057 meters Centerline goodness : 0.993682 Centerline is valid? [True, True] Translation: X:80.60, Y:47.16, Z:33.22 [[-1.52735265e-01 -9.84830837e-01 8.23417353e-02 8.06018023e+01] [ 8.15330029e-01 -1.72655223e-01 -5.52654611e-01 4.71582242e+01] [ 5.58488033e-01 -1.72741588e-02 8.29332696e-01 3.32190958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.150714057 meters Centerline goodness : 0.994808 Centerline is valid? [True, True] Translation: X:80.60, Y:47.15, Z:33.22 [[-1.54612152e-01 -9.84262101e-01 8.55756958e-02 8.06048357e+01] [ 8.13725894e-01 -1.75987628e-01 -5.53966176e-01 4.71531473e+01] [ 5.60308175e-01 -1.60147427e-02 8.28129384e-01 3.32162073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.180714057 meters Centerline goodness : 0.993592 Centerline is valid? [True, True] Translation: X:80.61, Y:47.16, Z:33.22 [[-1.54666644e-01 -9.84204889e-01 8.61334194e-02 8.06058056e+01] [ 8.18026586e-01 -1.76461790e-01 -5.47442912e-01 4.71608370e+01] [ 5.53995248e-01 -1.42117311e-02 8.32398518e-01 3.32179689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.210714057 meters Centerline goodness : 0.993459 Centerline is valid? [True, True] Translation: X:80.61, Y:47.18, Z:33.23 [[-1.57724810e-01 -9.83806610e-01 8.51318922e-02 8.06065952e+01] [ 8.14787896e-01 -1.78362777e-01 -5.51640648e-01 4.71757557e+01] [ 5.57892076e-01 -1.76429811e-02 8.29725953e-01 3.32292556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.240714057 meters Centerline goodness : 0.994382 Centerline is valid? [True, True] Translation: X:80.61, Y:47.14, Z:33.21 [[-1.57054248e-01 -9.82879267e-01 9.63447414e-02 8.06098087e+01] [ 8.18481064e-01 -1.84131913e-01 -5.44228065e-01 4.71435697e+01] [ 5.52650624e-01 -6.61698306e-03 8.33386767e-01 3.32100548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.270714057 meters Centerline goodness : 0.994295 Centerline is valid? [True, True] Translation: X:80.62, Y:47.16, Z:33.21 [[-1.60778896e-01 -9.84488516e-01 7.02318190e-02 8.06198000e+01] [ 8.16713469e-01 -1.72658615e-01 -5.50607039e-01 4.71647237e+01] [ 5.54192436e-01 -3.11667196e-02 8.31804893e-01 3.32127613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.300714057 meters Centerline goodness : 0.995328 Centerline is valid? [True, True] Translation: X:80.63, Y:47.16, Z:33.21 [[-1.69516853e-01 -9.83829906e-01 5.78165407e-02 8.06289864e+01] [ 8.08067725e-01 -1.72336868e-01 -5.63317455e-01 4.71618211e+01] [ 5.64172481e-01 -4.87721217e-02 8.24215198e-01 3.32128957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.330714057 meters Centerline goodness : 0.994797 Centerline is valid? [True, True] Translation: X:80.62, Y:47.15, Z:33.22 [[-1.70450311e-01 -9.81061781e-01 9.20025774e-02 8.06174452e+01] [ 8.08576771e-01 -1.92620583e-01 -5.55968450e-01 4.71535645e+01] [ 5.63160987e-01 -2.03738482e-02 8.26096005e-01 3.32238402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.360714057 meters Centerline goodness : 0.995374 Centerline is valid? [True, True] Translation: X:80.62, Y:47.16, Z:33.23 [[-1.74118979e-01 -9.81138650e-01 8.39614875e-02 8.06236960e+01] [ 8.06150780e-01 -1.90990190e-01 -5.60038987e-01 4.71584584e+01] [ 5.65511716e-01 -2.98277982e-02 8.24200705e-01 3.32250511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.390714057 meters Centerline goodness : 0.995039 Centerline is valid? [True, True] Translation: X:80.62, Y:47.16, Z:33.22 [[-1.74397920e-01 -9.80499440e-01 9.05881537e-02 8.06241063e+01] [ 8.07727952e-01 -1.95068617e-01 -5.56348624e-01 4.71558189e+01] [ 5.63170420e-01 -2.38554591e-02 8.25996365e-01 3.32241598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.420714057 meters Centerline goodness : 0.994769 Centerline is valid? [True, True] Translation: X:80.62, Y:47.16, Z:33.23 [[-1.72475515e-01 -9.78920112e-01 1.09396576e-01 8.06202470e+01] [ 8.12648004e-01 -2.04176313e-01 -5.45816137e-01 4.71590499e+01] [ 5.56646583e-01 -5.23901049e-03 8.30732890e-01 3.32299601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.450714057 meters Centerline goodness : 0.995314 Centerline is valid? [True, True] Translation: X:80.64, Y:47.17, Z:33.22 [[-1.74695339e-01 -9.82037310e-01 7.13039946e-02 8.06378555e+01] [ 8.09741779e-01 -1.84490466e-01 -5.57029191e-01 4.71694277e+01] [ 5.60178356e-01 -3.95725801e-02 8.27426263e-01 3.32195977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.480714057 meters Centerline goodness : 0.995274 Centerline is valid? [True, True] Translation: X:80.63, Y:47.15, Z:33.22 [[-1.75360625e-01 -9.80237207e-01 9.15623765e-02 8.06341254e+01] [ 8.10736422e-01 -1.96545876e-01 -5.51431022e-01 4.71549339e+01] [ 5.58529413e-01 -2.24663349e-02 8.29180414e-01 3.32171270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.51071405699997 meters Centerline goodness : 0.995222 Centerline is valid? [True, True] Translation: X:80.64, Y:47.17, Z:33.22 [[-1.78475068e-01 -9.80086996e-01 8.70409742e-02 8.06380032e+01] [ 8.09072861e-01 -1.96522700e-01 -5.53877183e-01 4.71650278e+01] [ 5.59953352e-01 -2.84307777e-02 8.28036192e-01 3.32211685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.54071405699997 meters Centerline goodness : 0.994974 Centerline is valid? [True, True] Translation: X:80.64, Y:47.17, Z:33.22 [[-1.82917679e-01 -9.80378516e-01 7.34784816e-02 8.06438190e+01] [ 8.03216645e-01 -1.92123425e-01 -5.63854247e-01 4.71713693e+01] [ 5.66907528e-01 -4.41197706e-02 8.22599113e-01 3.32232791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.57071405699998 meters Centerline goodness : 0.995332 Centerline is valid? [True, True] Translation: X:80.64, Y:47.17, Z:33.23 [[-1.84867689e-01 -9.78082802e-01 9.58017246e-02 8.06365309e+01] [ 8.03374806e-01 -2.06550619e-01 -5.58503144e-01 4.71727256e+01] [ 5.66050226e-01 -2.62844936e-02 8.23951617e-01 3.32334217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.60071405699998 meters Centerline goodness : 0.995276 Centerline is valid? [True, True] Translation: X:80.64, Y:47.20, Z:33.25 [[-1.86611341e-01 -9.78291285e-01 9.01241875e-02 8.06354458e+01] [ 8.01718645e-01 -2.04663746e-01 -5.61569200e-01 4.71960116e+01] [ 5.67823408e-01 -3.25409399e-02 8.22506939e-01 3.32483791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.63071405699998 meters Centerline goodness : 0.995188 Centerline is valid? [True, True] Translation: X:80.63, Y:47.15, Z:33.23 [[-1.81636500e-01 -9.74241099e-01 1.33650527e-01 8.06283590e+01] [ 8.15968937e-01 -2.25170836e-01 -5.32440408e-01 4.71549559e+01] [ 5.48819529e-01 1.23440665e-02 8.35849717e-01 3.32289159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.66071405699998 meters Centerline goodness : 0.994817 Centerline is valid? [True, True] Translation: X:80.66, Y:47.17, Z:33.21 [[-1.85405197e-01 -9.80811257e-01 6.02842502e-02 8.06579908e+01] [ 8.10151531e-01 -1.87287889e-01 -5.55497744e-01 4.71736187e+01] [ 5.56128951e-01 -5.41527912e-02 8.29329889e-01 3.32119007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.69071405699998 meters Centerline goodness : 0.995262 Centerline is valid? [True, True] Translation: X:80.65, Y:47.16, Z:33.22 [[-1.86128280e-01 -9.78091427e-01 9.32385321e-02 8.06467950e+01] [ 8.12728262e-01 -2.06592947e-01 -5.44786313e-01 4.71616353e+01] [ 5.52113245e-01 -2.56225493e-02 8.33375335e-01 3.32171662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.72071405699998 meters Centerline goodness : 0.995165 Centerline is valid? [True, True] Translation: X:80.65, Y:47.17, Z:33.22 [[-1.88301511e-01 -9.78591584e-01 8.30725766e-02 8.06505918e+01] [ 8.11541596e-01 -2.02678644e-01 -5.48016063e-01 4.71669782e+01] [ 5.53120945e-01 -3.57754016e-02 8.32332470e-01 3.32177512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.75071405699998 meters Centerline goodness : 0.994979 Centerline is valid? [True, True] Translation: X:80.65, Y:47.16, Z:33.21 [[-1.86768023e-01 -9.78150091e-01 9.13241758e-02 8.06502903e+01] [ 8.15078573e-01 -2.06180451e-01 -5.41420855e-01 4.71575894e+01] [ 5.48420118e-01 -2.66837238e-02 8.35777095e-01 3.32110744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.78071405699998 meters Centerline goodness : 0.995104 Centerline is valid? [True, True] Translation: X:80.65, Y:47.16, Z:33.21 [[-1.89779907e-01 -9.78033993e-01 8.62154061e-02 8.06526400e+01] [ 8.13006161e-01 -2.05772231e-01 -5.44682266e-01 4.71594620e+01] [ 5.50458508e-01 -3.32760935e-02 8.34199097e-01 3.32105404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.81071405699998 meters Centerline goodness : 0.996147 Centerline is valid? [True, True] Translation: X:80.66, Y:47.17, Z:33.22 [[-2.09490615e-01 -9.76401778e-01 5.24714306e-02 8.06573663e+01] [ 7.94486088e-01 -2.01250884e-01 -5.72965913e-01 4.71747352e+01] [ 5.70004858e-01 -7.83431601e-02 8.17897800e-01 3.32213502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.84071405699999 meters Centerline goodness : 0.995190 Centerline is valid? [True, True] Translation: X:80.63, Y:47.13, Z:33.22 [[-1.91352540e-01 -9.69313171e-01 1.54324922e-01 8.06298498e+01] [ 8.15808821e-01 -2.44491320e-01 -5.24099191e-01 4.71306172e+01] [ 5.45747352e-01 2.56119208e-02 8.37558271e-01 3.32185860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.870714057 meters Centerline goodness : 0.994932 Centerline is valid? [True, True] Translation: X:80.66, Y:47.17, Z:33.21 [[-1.95649845e-01 -9.78399799e-01 6.67455772e-02 8.06612152e+01] [ 8.11503972e-01 -1.99738359e-01 -5.49150154e-01 4.71703537e+01] [ 5.50620052e-01 -5.32768415e-02 8.33054102e-01 3.32079407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.900714057 meters Centerline goodness : 0.994826 Centerline is valid? [True, True] Translation: X:80.66, Y:47.16, Z:33.21 [[-1.99952792e-01 -9.76459013e-01 8.09115413e-02 8.06559280e+01] [ 8.07177837e-01 -2.10972175e-01 -5.51320852e-01 4.71600793e+01] [ 5.55412299e-01 -4.49281404e-02 8.30360549e-01 3.32104582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.930714057 meters Centerline goodness : 0.994038 Centerline is valid? [True, True] Translation: X:80.65, Y:47.16, Z:33.22 [[-2.00781474e-01 -9.75146393e-01 9.36819744e-02 8.06496779e+01] [ 8.07664600e-01 -2.18895856e-01 -5.47505706e-01 4.71644966e+01] [ 5.54404811e-01 -3.42653884e-02 8.31541454e-01 3.32179963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.960714057 meters Centerline goodness : 0.995141 Centerline is valid? [True, True] Translation: X:80.65, Y:47.16, Z:33.21 [[-2.03809556e-01 -9.75193632e-01 8.63657686e-02 8.06536359e+01] [ 8.05169051e-01 -2.17149605e-01 -5.51859446e-01 4.71623329e+01] [ 5.56924110e-01 -4.29351845e-02 8.29452895e-01 3.32140562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.990714057 meters Centerline goodness : 0.994843 Centerline is valid? [True, True] Translation: X:80.65, Y:47.16, Z:33.22 [[-2.05469780e-01 -9.74305573e-01 9.22541093e-02 8.06507807e+01] [ 8.04016117e-01 -2.21795838e-01 -5.51692567e-01 4.71614999e+01] [ 5.57978720e-01 -3.91823597e-02 8.28929726e-01 3.32159154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.020714057 meters Centerline goodness : 0.995230 Centerline is valid? [True, True] Translation: X:80.65, Y:47.15, Z:33.21 [[-2.08798109e-01 -9.73798711e-01 9.01078237e-02 8.06520173e+01] [ 8.01146968e-01 -2.23162313e-01 -5.55303626e-01 4.71546417e+01] [ 5.60862626e-01 -4.37567371e-02 8.26751754e-01 3.32114780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.050714057 meters Centerline goodness : 0.995273 Centerline is valid? [True, True] Translation: X:80.65, Y:47.16, Z:33.22 [[-2.10759294e-01 -9.73051154e-01 9.35519702e-02 8.06488938e+01] [ 7.99373464e-01 -2.26640047e-01 -5.56449776e-01 4.71578913e+01] [ 5.62656720e-01 -4.24939995e-02 8.25597769e-01 3.32163342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.080714057 meters Centerline goodness : 0.995334 Centerline is valid? [True, True] Translation: X:80.65, Y:47.16, Z:33.22 [[-2.12446678e-01 -9.72369036e-01 9.67722400e-02 8.06464660e+01] [ 7.98261494e-01 -2.29815352e-01 -5.56743649e-01 4.71586578e+01] [ 5.63600031e-01 -4.10287857e-02 8.25028268e-01 3.32190055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.110714057 meters Centerline goodness : 0.995501 Centerline is valid? [True, True] Translation: X:80.64, Y:47.16, Z:33.22 [[-2.15503944e-01 -9.71831173e-01 9.54055614e-02 8.06448443e+01] [ 7.96001948e-01 -2.31421486e-01 -5.59307603e-01 4.71581936e+01] [ 5.65631461e-01 -4.45899814e-02 8.23451750e-01 3.32196667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.140714057 meters Centerline goodness : 0.995017 Centerline is valid? [True, True] Translation: X:80.64, Y:47.16, Z:33.22 [[-2.18310236e-01 -9.70774095e-01 9.96910126e-02 8.06406416e+01] [ 7.95281238e-01 -2.36182345e-01 -5.58341877e-01 4.71574234e+01] [ 5.65569087e-01 -4.26093550e-02 8.23599448e-01 3.32218019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.170714057 meters Centerline goodness : 0.995413 Centerline is valid? [True, True] Translation: X:80.64, Y:47.17, Z:33.24 [[-2.20585238e-01 -9.70453337e-01 9.77879034e-02 8.06359537e+01] [ 7.92812854e-01 -2.36795372e-01 -5.61583235e-01 4.71746086e+01] [ 5.68146048e-01 -4.63494646e-02 8.21621443e-01 3.32357662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.200714057 meters Centerline goodness : 0.995429 Centerline is valid? [True, True] Translation: X:80.64, Y:47.15, Z:33.22 [[-2.20282500e-01 -9.69594967e-01 1.06589026e-01 8.06359498e+01] [ 7.94810340e-01 -2.41763329e-01 -5.56621071e-01 4.71503555e+01] [ 5.65466307e-01 -3.78958214e-02 8.23900335e-01 3.32207698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.230714057 meters Centerline goodness : 0.995409 Centerline is valid? [True, True] Translation: X:80.63, Y:47.17, Z:33.23 [[-2.23142881e-01 -9.69729718e-01 9.91540688e-02 8.06336131e+01] [ 7.93237988e-01 -2.39761698e-01 -5.59721200e-01 4.71651092e+01] [ 5.66551629e-01 -4.62450269e-02 8.22727567e-01 3.32288640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.26071405699997 meters Centerline goodness : 0.995278 Centerline is valid? [True, True] Translation: X:80.63, Y:47.17, Z:33.24 [[-2.23978669e-01 -9.68851970e-01 1.05638141e-01 8.06284295e+01] [ 7.93042050e-01 -2.44185358e-01 -5.58084060e-01 4.71681591e+01] [ 5.66496128e-01 -4.12234367e-02 8.23032664e-01 3.32352412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.29071405699997 meters Centerline goodness : 0.995763 Centerline is valid? [True, True] Translation: X:80.63, Y:47.19, Z:33.24 [[-2.26100418e-01 -9.68949397e-01 1.00078306e-01 8.06252271e+01] [ 7.94485658e-01 -2.42878559e-01 -5.56599088e-01 4.71874627e+01] [ 5.63623225e-01 -4.63365072e-02 8.24731343e-01 3.32441770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.32071405699998 meters Centerline goodness : 0.995941 Centerline is valid? [True, True] Translation: X:80.63, Y:47.15, Z:33.22 [[-2.26473587e-01 -9.68470837e-01 1.03797647e-01 8.06291672e+01] [ 7.95341142e-01 -2.45392678e-01 -5.54269701e-01 4.71520498e+01] [ 5.62265224e-01 -4.29729077e-02 8.25839662e-01 3.32201875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.35071405699998 meters Centerline goodness : 0.995995 Centerline is valid? [True, True] Translation: X:80.62, Y:47.15, Z:33.22 [[-2.26813342e-01 -9.67574619e-01 1.11153338e-01 8.06248803e+01] [ 7.95966288e-01 -2.49922942e-01 -5.51340358e-01 4.71480214e+01] [ 5.61242706e-01 -3.65770394e-02 8.26842636e-01 3.32212507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.38071405699998 meters Centerline goodness : 0.996058 Centerline is valid? [True, True] Translation: X:80.63, Y:47.15, Z:33.22 [[-2.28615753e-01 -9.68516522e-01 9.85422954e-02 8.06266724e+01] [ 7.95658702e-01 -2.44214212e-01 -5.54334419e-01 4.71507231e+01] [ 5.60947473e-01 -4.83235458e-02 8.26439815e-01 3.32165907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.41071405699998 meters Centerline goodness : 0.995633 Centerline is valid? [True, True] Translation: X:80.62, Y:47.15, Z:33.22 [[-2.28695641e-01 -9.68083351e-01 1.02532576e-01 8.06230242e+01] [ 7.96034381e-01 -2.46593827e-01 -5.52739314e-01 4.71545472e+01] [ 5.60381627e-01 -4.47896162e-02 8.27022564e-01 3.32197097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.44071405699998 meters Centerline goodness : 0.995766 Centerline is valid? [True, True] Translation: X:80.62, Y:47.14, Z:33.21 [[-2.29898882e-01 -9.68266225e-01 9.80154144e-02 8.06246625e+01] [ 7.95297138e-01 -2.44963307e-01 -5.54522714e-01 4.71426616e+01] [ 5.60935795e-01 -4.95327732e-02 8.26376148e-01 3.32077678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.47071405699998 meters Centerline goodness : 0.995745 Centerline is valid? [True, True] Translation: X:80.62, Y:47.13, Z:33.20 [[-2.29928144e-01 -9.68230237e-01 9.83018702e-02 8.06246605e+01] [ 7.95320149e-01 -2.45154060e-01 -5.54405400e-01 4.71342732e+01] [ 5.60891174e-01 -4.92919466e-02 8.26420834e-01 3.32017817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.50071405699998 meters Centerline goodness : 0.995798 Centerline is valid? [True, True] Translation: X:80.62, Y:47.14, Z:33.21 [[-2.40422556e-01 -9.67754085e-01 7.51599970e-02 8.06236897e+01] [ 7.83268044e-01 -2.39157135e-01 -5.73842345e-01 4.71445608e+01] [ 5.73313323e-01 -7.90942195e-02 8.15509619e-01 3.32098415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.53071405699998 meters Centerline goodness : 0.996446 Centerline is valid? [True, True] Translation: X:80.61, Y:47.13, Z:33.22 [[-2.39268857e-01 -9.64251520e-01 1.13883365e-01 8.06072573e+01] [ 7.81987774e-01 -2.60897204e-01 -5.66063397e-01 4.71274335e+01] [ 5.75539343e-01 -4.63859432e-02 8.16457476e-01 3.32190408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.56071405699998 meters Centerline goodness : 0.996560 Centerline is valid? [True, True] Translation: X:80.61, Y:47.12, Z:33.22 [[-2.38402345e-01 -9.64430946e-01 1.14180875e-01 8.06054632e+01] [ 7.82108991e-01 -2.60360108e-01 -5.66143216e-01 4.71233488e+01] [ 5.75734182e-01 -4.56679812e-02 8.16360574e-01 3.32168933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.59071405699999 meters Centerline goodness : 0.996560 Centerline is valid? [True, True] Translation: X:80.61, Y:47.12, Z:33.22 [[-2.38775072e-01 -9.64306739e-01 1.14450766e-01 8.06058701e+01] [ 7.81995307e-01 -2.60819777e-01 -5.66088672e-01 4.71211257e+01] [ 5.75734145e-01 -4.56679016e-02 8.16360605e-01 3.32154608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.620714057 meters Centerline goodness : 0.996325 Centerline is valid? [True, True] Translation: X:80.60, Y:47.13, Z:33.22 [[-2.35805089e-01 -9.64995708e-01 1.14800889e-01 8.05992768e+01] [ 7.82487905e-01 -2.58593100e-01 -5.66429419e-01 4.71263812e+01] [ 5.76288676e-01 -4.37366327e-02 8.16075039e-01 3.32198469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.650714057 meters Centerline goodness : 0.996571 Centerline is valid? [True, True] Translation: X:80.60, Y:47.09, Z:33.20 [[-2.19431041e-01 -9.64809340e-01 1.44889458e-01 8.05961185e+01] [ 7.98689271e-01 -2.62932786e-01 -5.41259455e-01 4.70895098e+01] [ 5.60308367e-01 -3.04747036e-03 8.28278484e-01 3.31964395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.680714057 meters Centerline goodness : 0.996106 Centerline is valid? [True, True] Translation: X:80.61, Y:47.12, Z:33.19 [[-2.14435327e-01 -9.71994941e-01 9.61422151e-02 8.06066339e+01] [ 8.01800374e-01 -2.31386536e-01 -5.50977705e-01 4.71173331e+01] [ 5.57793556e-01 -4.10622204e-02 8.28963355e-01 3.31884719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.710714057 meters Centerline goodness : 0.996146 Centerline is valid? [True, True] Translation: X:80.61, Y:47.16, Z:33.21 [[-2.29222602e-01 -9.71637277e-01 5.81205771e-02 8.06069150e+01] [ 7.85614076e-01 -2.19929970e-01 -5.78309028e-01 4.71563587e+01] [ 5.74689066e-01 -8.69011569e-02 8.13744841e-01 3.32108297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.740714057 meters Centerline goodness : 0.995686 Centerline is valid? [True, True] Translation: X:80.58, Y:47.12, Z:33.22 [[-2.13205411e-01 -9.68750194e-01 1.26753754e-01 8.05815717e+01] [ 7.93355987e-01 -2.47382276e-01 -5.56226830e-01 4.71196265e+01] [ 5.70201482e-01 -1.80297201e-02 8.21307006e-01 3.32185085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.770714057 meters Centerline goodness : 0.995576 Centerline is valid? [True, True] Translation: X:80.58, Y:47.15, Z:33.23 [[-2.22697042e-01 -9.70752801e-01 8.96940717e-02 8.05841406e+01] [ 7.86812570e-01 -2.33295362e-01 -5.71401132e-01 4.71501342e+01] [ 5.75614460e-01 -5.66769190e-02 8.15754694e-01 3.32273935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.800714057 meters Centerline goodness : 0.995690 Centerline is valid? [True, True] Translation: X:80.58, Y:47.07, Z:33.19 [[-2.01827125e-01 -9.69790849e-01 1.37009198e-01 8.05805181e+01] [ 8.00733310e-01 -2.43936880e-01 -5.47102335e-01 4.70729124e+01] [ 5.63996434e-01 -7.12262886e-04 8.25776916e-01 3.31890784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.830714057 meters Centerline goodness : 0.995239 Centerline is valid? [True, True] Translation: X:80.60, Y:47.10, Z:33.18 [[-2.05512632e-01 -9.75901055e-01 7.33599988e-02 8.05997790e+01] [ 7.93096271e-01 -2.09995688e-01 -5.71751796e-01 4.71018548e+01] [ 5.73378464e-01 -5.93206751e-02 8.17140254e-01 3.31799438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.860714057 meters Centerline goodness : 0.995149 Centerline is valid? [True, True] Translation: X:80.58, Y:47.09, Z:33.20 [[-2.09177934e-01 -9.72171940e-01 1.05481327e-01 8.05818033e+01] [ 7.89843001e-01 -2.31565981e-01 -5.67913049e-01 4.70935309e+01] [ 5.76535018e-01 -3.54811909e-02 8.16301696e-01 3.31950235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.890714057 meters Centerline goodness : 0.995230 Centerline is valid? [True, True] Translation: X:80.58, Y:47.09, Z:33.20 [[-2.02941621e-01 -9.72325228e-01 1.15751240e-01 8.05780213e+01] [ 7.90500681e-01 -2.32447293e-01 -5.66636506e-01 4.70886773e+01] [ 5.77861032e-01 -2.34926971e-02 8.15796985e-01 3.31954893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.920714057 meters Centerline goodness : 0.995203 Centerline is valid? [True, True] Translation: X:80.58, Y:47.06, Z:33.18 [[-1.84445641e-01 -9.73799338e-01 1.33021259e-01 8.05800468e+01] [ 8.03603121e-01 -2.27343796e-01 -5.50033474e-01 4.70585008e+01] [ 5.65863790e-01 5.44502232e-03 8.24480759e-01 3.31774117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.950714057 meters Centerline goodness : 0.995135 Centerline is valid? [True, True] Translation: X:80.60, Y:47.07, Z:33.16 [[-1.85905809e-01 -9.78504673e-01 8.92616126e-02 8.05953550e+01] [ 8.02272087e-01 -2.03613862e-01 -5.61160310e-01 4.70725345e+01] [ 5.67272887e-01 -3.27108612e-02 8.22879986e-01 3.31648575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.980714057 meters Centerline goodness : 0.995006 Centerline is valid? [True, True] Translation: X:80.59, Y:47.07, Z:33.17 [[-1.86803276e-01 -9.77614473e-01 9.68218861e-02 8.05916366e+01] [ 8.00188985e-01 -2.08590817e-01 -5.62305486e-01 4.70677799e+01] [ 5.69914138e-01 -2.75647004e-02 8.21241781e-01 3.31690502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.01071405699997 meters Centerline goodness : 0.995043 Centerline is valid? [True, True] Translation: X:80.59, Y:47.09, Z:33.18 [[-1.89532848e-01 -9.76727773e-01 1.00399989e-01 8.05885377e+01] [ 7.99811694e-01 -2.12892461e-01 -5.61229056e-01 4.70878478e+01] [ 5.69542407e-01 -2.60702562e-02 8.21548409e-01 3.31840827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.04071405699997 meters Centerline goodness : 0.994834 Centerline is valid? [True, True] Translation: X:80.59, Y:47.08, Z:33.18 [[-1.90108430e-01 -9.76290272e-01 1.03518548e-01 8.05914251e+01] [ 7.98943118e-01 -2.15123938e-01 -5.61615159e-01 4.70769443e+01] [ 5.70568734e-01 -2.40623444e-02 8.20897268e-01 3.31768515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.07071405699998 meters Centerline goodness : 0.995573 Centerline is valid? [True, True] Translation: X:80.59, Y:47.09, Z:33.18 [[-2.01454150e-01 -9.74843673e-01 9.53731566e-02 8.05923284e+01] [ 7.94236052e-01 -2.19559443e-01 -5.66553391e-01 4.70854368e+01] [ 5.73241066e-01 -3.83857326e-02 8.18487151e-01 3.31802045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.10071405699998 meters Centerline goodness : 0.994757 Centerline is valid? [True, True] Translation: X:80.58, Y:47.08, Z:33.19 [[-1.94006302e-01 -9.71544484e-01 1.35878148e-01 8.05823217e+01] [ 8.02794688e-01 -2.36839140e-01 -5.47200065e-01 4.70790159e+01] [ 5.63810469e-01 2.92199428e-03 8.25899036e-01 3.31890680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.13071405699998 meters Centerline goodness : 0.994711 Centerline is valid? [True, True] Translation: X:80.60, Y:47.09, Z:33.17 [[-1.97908046e-01 -9.75199077e-01 9.90917070e-02 8.06000902e+01] [ 8.03015364e-01 -2.19273348e-01 -5.54152980e-01 4.70871424e+01] [ 5.62137644e-01 -3.00991704e-02 8.26495801e-01 3.31725489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.16071405699998 meters Centerline goodness : 0.994959 Centerline is valid? [True, True] Translation: X:80.61, Y:47.08, Z:33.16 [[-1.99901981e-01 -9.75236160e-01 9.46236213e-02 8.06056744e+01] [ 8.02642112e-01 -2.18378141e-01 -5.55046509e-01 4.70775936e+01] [ 5.61965157e-01 -3.50059937e-02 8.26419834e-01 3.31634533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.19071405699998 meters Centerline goodness : 0.994446 Centerline is valid? [True, True] Translation: X:80.61, Y:47.08, Z:33.16 [[-2.00410088e-01 -9.74645784e-01 9.95057385e-02 8.06059300e+01] [ 8.05007595e-01 -2.21708903e-01 -5.50279869e-01 4.70804846e+01] [ 5.58389262e-01 -3.01787616e-02 8.29029960e-01 3.31644937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.22071405699998 meters Centerline goodness : 0.994068 Centerline is valid? [True, True] Translation: X:80.62, Y:47.08, Z:33.16 [[-2.04787594e-01 -9.75350795e-01 8.21758406e-02 8.06184382e+01] [ 8.05519636e-01 -2.15631957e-01 -5.51942910e-01 4.70834748e+01] [ 5.56057693e-01 -4.68368073e-02 8.29822966e-01 3.31562480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.25071405699998 meters Centerline goodness : 0.995214 Centerline is valid? [True, True] Translation: X:80.60, Y:47.10, Z:33.18 [[-2.07070142e-01 -9.71510619e-01 1.15278245e-01 8.06018528e+01] [ 8.02372626e-01 -2.36062896e-01 -5.48153699e-01 4.70961585e+01] [ 5.59750056e-01 -2.10101563e-02 8.28395104e-01 3.31834638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.28071405699998 meters Centerline goodness : 0.995280 Centerline is valid? [True, True] Translation: X:80.62, Y:47.09, Z:33.16 [[-2.10261500e-01 -9.73220937e-01 9.29037678e-02 8.06170475e+01] [ 8.02937804e-01 -2.26119331e-01 -5.51507870e-01 4.70855019e+01] [ 5.57746344e-01 -4.13649249e-02 8.28980072e-01 3.31640565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.31071405699998 meters Centerline goodness : 0.995535 Centerline is valid? [True, True] Translation: X:80.62, Y:47.08, Z:33.16 [[-2.13547314e-01 -9.73112650e-01 8.63094112e-02 8.06217013e+01] [ 8.00782095e-01 -2.24964155e-01 -5.55102842e-01 4.70845634e+01] [ 5.59594121e-01 -4.94256896e-02 8.27291678e-01 3.31615528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.34071405699999 meters Centerline goodness : 0.995788 Centerline is valid? [True, True] Translation: X:80.61, Y:47.11, Z:33.19 [[-2.19545613e-01 -9.70423310e-01 1.00390851e-01 8.06139642e+01] [ 7.97053252e-01 -2.37752405e-01 -5.55139538e-01 4.71083057e+01] [ 5.62588515e-01 -4.18615964e-02 8.25676553e-01 3.31864773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.370714057 meters Centerline goodness : 0.994899 Centerline is valid? [True, True] Translation: X:80.62, Y:47.11, Z:33.18 [[-2.22654264e-01 -9.71090300e-01 8.60738485e-02 8.06240761e+01] [ 7.98706876e-01 -2.32328129e-01 -5.55059426e-01 4.71061840e+01] [ 5.59010201e-01 -5.48385732e-02 8.27345349e-01 3.31768290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.400714057 meters Centerline goodness : 0.995371 Centerline is valid? [True, True] Translation: X:80.62, Y:47.09, Z:33.17 [[-2.27394971e-01 -9.68450863e-01 1.01953189e-01 8.06248357e+01] [ 7.95848019e-01 -2.45152375e-01 -5.53648123e-01 4.70913781e+01] [ 5.61175069e-01 -4.47575554e-02 8.26486118e-01 3.31739298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.430714057 meters Centerline goodness : 0.995576 Centerline is valid? [True, True] Translation: X:80.62, Y:47.08, Z:33.17 [[-2.25543757e-01 -9.66145519e-01 1.25271101e-01 8.06194557e+01] [ 7.97632306e-01 -2.56956825e-01 -5.45670134e-01 4.70803401e+01] [ 5.59386019e-01 -2.31522155e-02 8.28583886e-01 3.31749447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.460714057 meters Centerline goodness : 0.995940 Centerline is valid? [True, True] Translation: X:80.64, Y:47.10, Z:33.17 [[-2.44611825e-01 -9.66943880e-01 7.20040829e-02 8.06369719e+01] [ 7.84981808e-01 -2.41076809e-01 -5.70688649e-01 4.70996502e+01] [ 5.69182411e-01 -8.30752966e-02 8.18003593e-01 3.31719471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.490714057 meters Centerline goodness : 0.995669 Centerline is valid? [True, True] Translation: X:80.62, Y:47.08, Z:33.18 [[-2.33547804e-01 -9.63531028e-01 1.30626877e-01 8.06229093e+01] [ 7.92598331e-01 -2.66467973e-01 -5.48436600e-01 4.70801578e+01] [ 5.63243561e-01 -2.45515191e-02 8.25926095e-01 3.31812384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.520714057 meters Centerline goodness : 0.995966 Centerline is valid? [True, True] Translation: X:80.64, Y:47.09, Z:33.17 [[-2.36154627e-01 -9.66969766e-01 9.59190530e-02 8.06379430e+01] [ 7.91782114e-01 -2.48708804e-01 -5.57875447e-01 4.70941325e+01] [ 5.63304603e-01 -5.57978776e-02 8.24363100e-01 3.31737828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.550714057 meters Centerline goodness : 0.995780 Centerline is valid? [True, True] Translation: X:80.65, Y:47.08, Z:33.16 [[-2.37421399e-01 -9.67035320e-01 9.20530757e-02 8.06465970e+01] [ 7.94223174e-01 -2.47805366e-01 -5.54799109e-01 4.70835479e+01] [ 5.59321580e-01 -5.86104945e-02 8.26876158e-01 3.31631211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.580714057 meters Centerline goodness : 0.996387 Centerline is valid? [True, True] Translation: X:80.64, Y:47.08, Z:33.17 [[-2.37311876e-01 -9.64584612e-01 1.15150334e-01 8.06379584e+01] [ 7.90779044e-01 -2.60665940e-01 -5.53824676e-01 4.70806035e+01] [ 5.64226530e-01 -4.03707014e-02 8.24632421e-01 3.31739750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.610714057 meters Centerline goodness : 0.996402 Centerline is valid? [True, True] Translation: X:80.64, Y:47.08, Z:33.17 [[-2.35343907e-01 -9.66336920e-01 1.03952882e-01 8.06447503e+01] [ 7.91394562e-01 -2.52620948e-01 -5.56666241e-01 4.70814064e+01] [ 5.64187816e-01 -4.87402632e-02 8.24206585e-01 3.31685160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.640714057 meters Centerline goodness : 0.996003 Centerline is valid? [True, True] Translation: X:80.64, Y:47.08, Z:33.17 [[-2.43530647e-01 -9.65114244e-01 9.61629837e-02 8.06434036e+01] [ 7.84274642e-01 -2.54285282e-01 -5.65908368e-01 4.70835733e+01] [ 5.70619059e-01 -6.23978415e-02 8.18840888e-01 3.31712695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.670714057 meters Centerline goodness : 0.995898 Centerline is valid? [True, True] Translation: X:80.64, Y:47.07, Z:33.17 [[-2.29222326e-01 -9.64919657e-01 1.28012427e-01 8.06383579e+01] [ 7.91313054e-01 -2.61313197e-01 -5.52755880e-01 4.70704080e+01] [ 5.66816350e-01 -2.54060845e-02 8.23452340e-01 3.31724077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.700714057 meters Centerline goodness : 0.995994 Centerline is valid? [True, True] Translation: X:80.65, Y:47.08, Z:33.17 [[-2.28477731e-01 -9.67919509e-01 1.04545448e-01 8.06476447e+01] [ 7.91662558e-01 -2.47218420e-01 -5.58706942e-01 4.70797234e+01] [ 5.66628909e-01 -4.48873776e-02 8.22749538e-01 3.31677758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.730714057 meters Centerline goodness : 0.995769 Centerline is valid? [True, True] Translation: X:80.65, Y:47.07, Z:33.16 [[-2.25900410e-01 -9.68601409e-01 1.03828293e-01 8.06508307e+01] [ 7.92479806e-01 -2.44709026e-01 -5.58653068e-01 4.70742093e+01] [ 5.66519869e-01 -4.39181311e-02 8.22876926e-01 3.31633988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.76071405699997 meters Centerline goodness : 0.995708 Centerline is valid? [True, True] Translation: X:80.65, Y:47.08, Z:33.17 [[-2.25035836e-01 -9.68363151e-01 1.07850271e-01 8.06496453e+01] [ 7.92766826e-01 -2.46324156e-01 -5.57534905e-01 4.70773414e+01] [ 5.66462384e-01 -3.99652168e-02 8.23117944e-01 3.31673797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.79071405699997 meters Centerline goodness : 0.996627 Centerline is valid? [True, True] Translation: X:80.65, Y:47.09, Z:33.18 [[-2.22451945e-01 -9.68598667e-01 1.11048436e-01 8.06477103e+01] [ 7.94256430e-01 -2.46100283e-01 -5.55510012e-01 4.70905056e+01] [ 5.65395309e-01 -3.53733478e-02 8.24061206e-01 3.31756696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.82071405699998 meters Centerline goodness : 0.995842 Centerline is valid? [True, True] Translation: X:80.65, Y:47.08, Z:33.17 [[-2.21633801e-01 -9.69138824e-01 1.07927748e-01 8.06522821e+01] [ 7.93947221e-01 -2.43604608e-01 -5.57049912e-01 4.70795754e+01] [ 5.66150393e-01 -3.77721539e-02 8.23436091e-01 3.31659300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.85071405699998 meters Centerline goodness : 0.995496 Centerline is valid? [True, True] Translation: X:80.65, Y:47.06, Z:33.15 [[-2.14709999e-01 -9.67747244e-01 1.31775899e-01 8.06479626e+01] [ 8.03813656e-01 -2.51732299e-01 -5.38993930e-01 4.70597161e+01] [ 5.54782140e-01 -9.80411867e-03 8.31937892e-01 3.31548249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.88071405699998 meters Centerline goodness : 0.995916 Centerline is valid? [True, True] Translation: X:80.67, Y:47.08, Z:33.15 [[-2.18077124e-01 -9.73461404e-01 6.93920912e-02 8.06717994e+01] [ 7.95018079e-01 -2.18440559e-01 -5.65888661e-01 4.70834822e+01] [ 5.66028818e-01 -6.82394046e-02 8.21556304e-01 3.31479046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.91071405699998 meters Centerline goodness : 0.996249 Centerline is valid? [True, True] Translation: X:80.66, Y:47.07, Z:33.16 [[-2.26725960e-01 -9.69307646e-01 9.50685406e-02 8.06582214e+01] [ 7.86584994e-01 -2.39794900e-01 -5.69018852e-01 4.70713132e+01] [ 5.74351274e-01 -5.42318578e-02 8.16810577e-01 3.31575868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.94071405699998 meters Centerline goodness : 0.995293 Centerline is valid? [True, True] Translation: X:80.64, Y:47.03, Z:33.15 [[-2.07948933e-01 -9.64377593e-01 1.63502598e-01 8.06425084e+01] [ 8.07062099e-01 -2.63605963e-01 -5.28358462e-01 4.70338753e+01] [ 5.52637322e-01 2.20851716e-02 8.33129183e-01 3.31498296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.97071405699998 meters Centerline goodness : 0.995650 Centerline is valid? [True, True] Translation: X:80.68, Y:47.07, Z:33.14 [[-2.13709031e-01 -9.74464672e-01 6.88988665e-02 8.06762380e+01] [ 7.97126125e-01 -2.14718728e-01 -5.64345469e-01 4.70733456e+01] [ 5.64728599e-01 -6.56846367e-02 8.22658579e-01 3.31399985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.00071405699998 meters Centerline goodness : 0.995323 Centerline is valid? [True, True] Translation: X:80.66, Y:47.06, Z:33.14 [[-2.12863410e-01 -9.71885618e-01 1.00635548e-01 8.06646068e+01] [ 7.95891511e-01 -2.32213722e-01 -5.59136379e-01 4.70567767e+01] [ 5.66785561e-01 -3.89246977e-02 8.22945318e-01 3.31445334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.03071405699998 meters Centerline goodness : 0.995600 Centerline is valid? [True, True] Translation: X:80.66, Y:47.05, Z:33.14 [[-2.12364267e-01 -9.71351891e-01 1.06662657e-01 8.06627498e+01] [ 7.94631187e-01 -2.35186529e-01 -5.59686138e-01 4.70503166e+01] [ 5.68737809e-01 -3.40998634e-02 8.21811721e-01 3.31438773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.06071405699998 meters Centerline goodness : 0.995500 Centerline is valid? [True, True] Translation: X:80.66, Y:47.04, Z:33.14 [[-2.06435297e-01 -9.70277256e-01 1.26279507e-01 8.06566652e+01] [ 8.03205554e-01 -2.41747465e-01 -5.44443754e-01 4.70423191e+01] [ 5.58789142e-01 -1.09640064e-02 8.29237291e-01 3.31401951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.09071405699999 meters Centerline goodness : 0.996101 Centerline is valid? [True, True] Translation: X:80.67, Y:47.07, Z:33.14 [[-2.20262192e-01 -9.73053082e-01 6.82075269e-02 8.06706393e+01] [ 7.87796598e-01 -2.18689050e-01 -5.75805192e-01 4.70669803e+01] [ 5.75205256e-01 -7.30944562e-02 8.14736837e-01 3.31419073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.120714057 meters Centerline goodness : 0.995191 Centerline is valid? [True, True] Translation: X:80.64, Y:47.03, Z:33.15 [[-2.02897569e-01 -9.65759489e-01 1.61682364e-01 8.06415245e+01] [ 8.05980612e-01 -2.58481882e-01 -5.32524525e-01 4.70319252e+01] [ 5.56082575e-01 2.22649190e-02 8.30828769e-01 3.31498087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.150714057 meters Centerline goodness : 0.995623 Centerline is valid? [True, True] Translation: X:80.67, Y:47.07, Z:33.14 [[-2.18396864e-01 -9.74273262e-01 5.56275078e-02 8.06738116e+01] [ 7.89985965e-01 -2.09976619e-01 -5.76048605e-01 4.70696924e+01] [ 5.72909230e-01 -8.18622587e-02 8.15520438e-01 3.31395407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.180714057 meters Centerline goodness : 0.996048 Centerline is valid? [True, True] Translation: X:80.65, Y:47.05, Z:33.16 [[-2.17487397e-01 -9.68560509e-01 1.20788127e-01 8.06475086e+01] [ 7.89079243e-01 -2.47310367e-01 -5.62309106e-01 4.70514692e+01] [ 5.74502551e-01 -2.69837398e-02 8.18057881e-01 3.31604496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.210714057 meters Centerline goodness : 0.995687 Centerline is valid? [True, True] Translation: X:80.64, Y:47.04, Z:33.16 [[-2.02957915e-01 -9.66159201e-01 1.59199509e-01 8.06404566e+01] [ 8.08649737e-01 -2.57062212e-01 -5.29154629e-01 4.70389364e+01] [ 5.52171792e-01 2.13405206e-02 8.33457194e-01 3.31555432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.240714057 meters Centerline goodness : 0.995180 Centerline is valid? [True, True] Translation: X:80.67, Y:47.04, Z:33.12 [[-2.03765076e-01 -9.74579044e-01 9.31422596e-02 8.06709430e+01] [ 8.08311069e-01 -2.21149802e-01 -5.45642722e-01 4.70390596e+01] [ 5.52370355e-01 -3.58950114e-02 8.32825636e-01 3.31239560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.270714057 meters Centerline goodness : 0.995019 Centerline is valid? [True, True] Translation: X:80.67, Y:47.05, Z:33.13 [[-2.05163355e-01 -9.74675977e-01 8.89648087e-02 8.06724493e+01] [ 8.06285420e-01 -2.19843134e-01 -5.49156461e-01 4.70460075e+01] [ 5.54807912e-01 -4.09357539e-02 8.30970784e-01 3.31291380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.300714057 meters Centerline goodness : 0.994693 Centerline is valid? [True, True] Translation: X:80.67, Y:47.05, Z:33.14 [[-2.06270810e-01 -9.73174711e-01 1.01898652e-01 8.06669446e+01] [ 8.06255789e-01 -2.28045302e-01 -5.45845164e-01 4.70482670e+01] [ 5.54440218e-01 -3.04355457e-02 8.31666833e-01 3.31362764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.330714057 meters Centerline goodness : 0.994753 Centerline is valid? [True, True] Translation: X:80.67, Y:47.05, Z:33.14 [[-2.07708830e-01 -9.73515069e-01 9.55272292e-02 8.06700228e+01] [ 8.02930695e-01 -2.25457901e-01 -5.51788940e-01 4.70486012e+01] [ 5.58712217e-01 -3.79096908e-02 8.28494728e-01 3.31358385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.360714057 meters Centerline goodness : 0.995121 Centerline is valid? [True, True] Translation: X:80.67, Y:47.03, Z:33.13 [[-2.04512477e-01 -9.72452818e-01 1.11848844e-01 8.06676933e+01] [ 8.05821840e-01 -2.32126343e-01 -5.44764649e-01 4.70338450e+01] [ 5.55720981e-01 -2.12809260e-02 8.31096452e-01 3.31295552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.390714057 meters Centerline goodness : 0.995610 Centerline is valid? [True, True] Translation: X:80.68, Y:47.04, Z:33.12 [[-2.01418625e-01 -9.74989803e-01 9.39437101e-02 8.06764851e+01] [ 8.06733251e-01 -2.19521451e-01 -5.48627191e-01 4.70393968e+01] [ 5.55528576e-01 -3.47162200e-02 8.30772403e-01 3.31237884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.420714057 meters Centerline goodness : 0.995916 Centerline is valid? [True, True] Translation: X:80.67, Y:47.04, Z:33.13 [[-1.98812562e-01 -9.73630099e-01 1.11883853e-01 8.06691702e+01] [ 8.08722753e-01 -2.27471181e-01 -5.42424530e-01 4.70372224e+01] [ 5.53571201e-01 -1.73577931e-02 8.32620942e-01 3.31293506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.450714057 meters Centerline goodness : 0.995026 Centerline is valid? [True, True] Translation: X:80.67, Y:47.03, Z:33.12 [[-1.90522887e-01 -9.73338745e-01 1.27721247e-01 8.06658231e+01] [ 8.20167309e-01 -2.29320259e-01 -5.24154370e-01 4.70297582e+01] [ 5.39468826e-01 4.88938731e-03 8.41991377e-01 3.31225260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.480714057 meters Centerline goodness : 0.995026 Centerline is valid? [True, True] Translation: X:80.68, Y:47.04, Z:33.11 [[-1.89325357e-01 -9.78193802e-01 8.53978584e-02 8.06836036e+01] [ 8.20877914e-01 -2.05399550e-01 -5.32888802e-01 4.70409246e+01] [ 5.38809206e-01 -3.07881470e-02 8.41865031e-01 3.31091518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.51071405699997 meters Centerline goodness : 0.995137 Centerline is valid? [True, True] Translation: X:80.70, Y:47.04, Z:33.10 [[-1.93522312e-01 -9.79904363e-01 4.83379080e-02 8.06993085e+01] [ 8.08734319e-01 -1.87222789e-01 -5.57580872e-01 4.70402910e+01] [ 5.55425887e-01 -6.88118144e-02 8.28714075e-01 3.31037137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.54071405699997 meters Centerline goodness : 0.995184 Centerline is valid? [True, True] Translation: X:80.67, Y:47.01, Z:33.11 [[-1.85187106e-01 -9.74820566e-01 1.24219968e-01 8.06735591e+01] [ 8.21106884e-01 -2.22941311e-01 -5.25433780e-01 4.70082323e+01] [ 5.39897417e-01 4.69430983e-03 8.41717733e-01 3.31076680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.57071405699998 meters Centerline goodness : 0.995344 Centerline is valid? [True, True] Translation: X:80.69, Y:47.02, Z:33.10 [[-1.85758474e-01 -9.79668033e-01 7.57913890e-02 8.06941848e+01] [ 8.17789257e-01 -1.96901672e-01 -5.40786892e-01 4.70228541e+01] [ 5.44715082e-01 -3.84743640e-02 8.37738147e-01 3.30994581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.60071405699998 meters Centerline goodness : 0.996078 Centerline is valid? [True, True] Translation: X:80.69, Y:47.01, Z:33.10 [[-1.84782996e-01 -9.77441547e-01 1.02290109e-01 8.06856260e+01] [ 8.21578347e-01 -2.10752034e-01 -5.29709921e-01 4.70129413e+01] [ 5.39318333e-01 -1.38420477e-02 8.41988203e-01 3.31024046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.63071405699998 meters Centerline goodness : 0.995684 Centerline is valid? [True, True] Translation: X:80.71, Y:47.02, Z:33.09 [[-1.92510814e-01 -9.79891106e-01 5.24691051e-02 8.07090110e+01] [ 8.11663473e-01 -1.89054565e-01 -5.52685062e-01 4.70190876e+01] [ 5.51490701e-01 -6.38105954e-02 8.31736866e-01 3.30926830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.66071405699998 meters Centerline goodness : 0.995405 Centerline is valid? [True, True] Translation: X:80.69, Y:47.03, Z:33.13 [[-2.13167330e-01 -9.74514240e-01 6.98690625e-02 8.06901336e+01] [ 7.95373412e-01 -2.14622685e-01 -5.66849397e-01 4.70340751e+01] [ 5.67398295e-01 -6.52617779e-02 8.20853261e-01 3.31255587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.69071405699998 meters Centerline goodness : 0.994990 Centerline is valid? [True, True] Translation: X:80.67, Y:46.99, Z:33.13 [[-1.96340330e-01 -9.66131398e-01 1.67453267e-01 8.06650152e+01] [ 8.16390289e-01 -2.55660970e-01 -5.17826578e-01 4.69927986e+01] [ 5.43099780e-01 3.50369797e-02 8.38936850e-01 3.31250118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.72071405699998 meters Centerline goodness : 0.995599 Centerline is valid? [True, True] Translation: X:80.70, Y:47.05, Z:33.12 [[-2.20923038e-01 -9.74280620e-01 4.43878947e-02 8.07048274e+01] [ 7.94603301e-01 -2.06196762e-01 -5.71041583e-01 4.70465223e+01] [ 5.65507387e-01 -9.08854735e-02 8.19720212e-01 3.31205454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.75071405699998 meters Centerline goodness : 0.995906 Centerline is valid? [True, True] Translation: X:80.68, Y:47.01, Z:33.13 [[-2.12327558e-01 -9.67734739e-01 1.35670496e-01 8.06802679e+01] [ 8.00371608e-01 -2.51876007e-01 -5.44025520e-01 4.70108428e+01] [ 5.60644537e-01 -6.92479703e-03 8.28027626e-01 3.31305360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.78071405699998 meters Centerline goodness : 0.995905 Centerline is valid? [True, True] Translation: X:80.69, Y:47.03, Z:33.13 [[-2.14780065e-01 -9.71259962e-01 1.02584650e-01 8.06928740e+01] [ 8.00230381e-01 -2.35223161e-01 -5.51635208e-01 4.70290636e+01] [ 5.59911476e-01 -3.63888923e-02 8.27752975e-01 3.31265238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.81071405699998 meters Centerline goodness : 0.995704 Centerline is valid? [True, True] Translation: X:80.69, Y:47.01, Z:33.12 [[-2.13779778e-01 -9.70190699e-01 1.14141204e-01 8.06925233e+01] [ 8.03443032e-01 -2.41083479e-01 -5.44387775e-01 4.70149315e+01] [ 5.55677514e-01 -2.46731429e-02 8.31031730e-01 3.31183205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.84071405699999 meters Centerline goodness : 0.995561 Centerline is valid? [True, True] Translation: X:80.70, Y:47.03, Z:33.12 [[-2.19225931e-01 -9.71647218e-01 8.85532270e-02 8.07042368e+01] [ 7.98430414e-01 -2.30824164e-01 -5.56083698e-01 4.70270594e+01] [ 5.60757403e-01 -5.12043769e-02 8.26395333e-01 3.31175671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.870714057 meters Centerline goodness : 0.995695 Centerline is valid? [True, True] Translation: X:80.70, Y:47.02, Z:33.12 [[-2.21458569e-01 -9.69509137e-01 1.04919665e-01 8.06989665e+01] [ 7.97351139e-01 -2.41966663e-01 -5.52886330e-01 4.70226034e+01] [ 5.61415410e-01 -3.87836008e-02 8.26624806e-01 3.31218641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.900714057 meters Centerline goodness : 0.994927 Centerline is valid? [True, True] Translation: X:80.70, Y:47.02, Z:33.12 [[-2.23597944e-01 -9.69076829e-01 1.04374607e-01 8.07015761e+01] [ 7.96758028e-01 -2.43410860e-01 -5.53107402e-01 4.70188540e+01] [ 5.61409480e-01 -4.05123716e-02 8.26545911e-01 3.31185421e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.930714057 meters Centerline goodness : 0.994979 Centerline is valid? [True, True] Translation: X:80.70, Y:47.02, Z:33.12 [[-2.26192882e-01 -9.68932992e-01 1.00028179e-01 8.07034341e+01] [ 7.93665139e-01 -2.42859713e-01 -5.57776664e-01 4.70200694e+01] [ 5.64741027e-01 -4.67762324e-02 8.23941476e-01 3.31199917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.960714057 meters Centerline goodness : 0.996079 Centerline is valid? [True, True] Translation: X:80.70, Y:47.01, Z:33.12 [[-2.26461409e-01 -9.67468078e-01 1.12786294e-01 8.07000618e+01] [ 7.94966983e-01 -2.50495249e-01 -5.52521154e-01 4.70131910e+01] [ 5.62799010e-01 -3.54633389e-02 8.25832686e-01 3.31193931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.990714057 meters Centerline goodness : 0.995172 Centerline is valid? [True, True] Translation: X:80.70, Y:47.02, Z:33.12 [[-2.26519141e-01 -9.68132291e-01 1.06812664e-01 8.07010391e+01] [ 7.96202550e-01 -2.47217280e-01 -5.52218358e-01 4.70211419e+01] [ 5.61026361e-01 -4.00435132e-02 8.26828845e-01 3.31210041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.020714057 meters Centerline goodness : 0.995018 Centerline is valid? [True, True] Translation: X:80.70, Y:47.02, Z:33.12 [[-2.25463974e-01 -9.68432504e-01 1.06322540e-01 8.07015832e+01] [ 7.97577919e-01 -2.46148162e-01 -5.50709130e-01 4.70172300e+01] [ 5.59495719e-01 -3.93645584e-02 8.27897923e-01 3.31178416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.050714057 meters Centerline goodness : 0.994822 Centerline is valid? [True, True] Translation: X:80.69, Y:47.01, Z:33.11 [[-2.19140187e-01 -9.66367919e-01 1.34575719e-01 8.06920715e+01] [ 8.09156574e-01 -2.57071001e-01 -5.28374999e-01 4.70079276e+01] [ 5.45200163e-01 -6.89536854e-03 8.38277541e-01 3.31145951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.080714057 meters Centerline goodness : 0.995860 Centerline is valid? [True, True] Translation: X:80.72, Y:47.04, Z:33.11 [[-2.37077617e-01 -9.70534738e-01 4.30874124e-02 8.07177865e+01] [ 7.90246920e-01 -2.18455404e-01 -5.72526892e-01 4.70402359e+01] [ 5.65069915e-01 -1.01683616e-01 8.18752974e-01 3.31130566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.110714057 meters Centerline goodness : 0.994927 Centerline is valid? [True, True] Translation: X:80.68, Y:47.01, Z:33.13 [[-2.18034011e-01 -9.62527328e-01 1.61252326e-01 8.06785333e+01] [ 8.09831524e-01 -2.70645050e-01 -5.20503756e-01 4.70090139e+01] [ 5.44641234e-01 1.70996957e-02 8.38494798e-01 3.31287428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.140714057 meters Centerline goodness : 0.994988 Centerline is valid? [True, True] Translation: X:80.69, Y:47.02, Z:33.11 [[-2.13769499e-01 -9.69584317e-01 1.19200895e-01 8.06936611e+01] [ 8.16689351e-01 -2.44333061e-01 -5.22800019e-01 4.70231004e+01] [ 5.36023419e-01 -1.44085969e-02 8.44080142e-01 3.31146235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.170714057 meters Centerline goodness : 0.995804 Centerline is valid? [True, True] Translation: X:80.72, Y:47.04, Z:33.11 [[-2.35365121e-01 -9.71454932e-01 2.96407494e-02 8.07208222e+01] [ 7.91241513e-01 -2.09234655e-01 -5.74593532e-01 4.70412285e+01] [ 5.64393592e-01 -1.11786285e-01 8.17902011e-01 3.31083786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.200714057 meters Centerline goodness : 0.996400 Centerline is valid? [True, True] Translation: X:80.68, Y:47.01, Z:33.13 [[-2.34725422e-01 -9.64210750e-01 1.23294794e-01 8.06829121e+01] [ 7.87903741e-01 -2.63005409e-01 -5.56808630e-01 4.70116628e+01] [ 5.69308064e-01 -3.35527113e-02 8.21439312e-01 3.31314755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.230714057 meters Centerline goodness : 0.995536 Centerline is valid? [True, True] Translation: X:80.68, Y:47.01, Z:33.13 [[-2.35228506e-01 -9.64047235e-01 1.23614235e-01 8.06817005e+01] [ 7.87568986e-01 -2.63589320e-01 -5.57006071e-01 4.70124968e+01] [ 5.69563554e-01 -3.36689683e-02 8.21257425e-01 3.31321485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.26071405699997 meters Centerline goodness : 0.995292 Centerline is valid? [True, True] Translation: X:80.68, Y:46.99, Z:33.12 [[-2.18768499e-01 -9.62206578e-01 1.62169184e-01 8.06769070e+01] [ 8.07083638e-01 -2.71837152e-01 -5.24137925e-01 4.69859780e+01] [ 5.48412568e-01 1.62192275e-02 8.36050592e-01 3.31158438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.29071405699997 meters Centerline goodness : 0.995610 Centerline is valid? [True, True] Translation: X:80.70, Y:47.01, Z:33.10 [[-2.18386708e-01 -9.71449454e-01 9.26995344e-02 8.07018241e+01] [ 8.07417697e-01 -2.33224203e-01 -5.41925396e-01 4.70124255e+01] [ 5.48072905e-01 -4.35020585e-02 8.35298546e-01 3.31014329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.32071405699998 meters Centerline goodness : 0.995045 Centerline is valid? [True, True] Translation: X:80.70, Y:47.00, Z:33.10 [[-2.15967586e-01 -9.70950500e-01 1.03020035e-01 8.06983159e+01] [ 8.09905753e-01 -2.37072120e-01 -5.36516058e-01 4.70031203e+01] [ 5.45353713e-01 -3.24335586e-02 8.37578290e-01 3.30978979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.35071405699998 meters Centerline goodness : 0.995209 Centerline is valid? [True, True] Translation: X:80.70, Y:47.00, Z:33.10 [[-2.10713730e-01 -9.72166662e-01 1.02429025e-01 8.06960777e+01] [ 8.14345100e-01 -2.32533680e-01 -5.31761362e-01 4.70036430e+01] [ 5.40778867e-01 -2.86368450e-02 8.40677196e-01 3.30951769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.38071405699998 meters Centerline goodness : 0.995009 Centerline is valid? [True, True] Translation: X:80.70, Y:47.00, Z:33.09 [[-2.09416930e-01 -9.73448116e-01 9.24300511e-02 8.06994271e+01] [ 8.14157277e-01 -2.25936687e-01 -5.34883671e-01 4.70008146e+01] [ 5.41564842e-01 -3.67610977e-02 8.39854835e-01 3.30896460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.41071405699998 meters Centerline goodness : 0.994872 Centerline is valid? [True, True] Translation: X:80.69, Y:47.00, Z:33.09 [[-2.05214782e-01 -9.73847427e-01 9.75094007e-02 8.06946453e+01] [ 8.16077385e-01 -2.25260323e-01 -5.32236309e-01 4.69987142e+01] [ 5.40281959e-01 -2.96475413e-02 8.40961609e-01 3.30905163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.44071405699998 meters Centerline goodness : 0.994710 Centerline is valid? [True, True] Translation: X:80.70, Y:47.00, Z:33.09 [[-2.04294897e-01 -9.75477058e-01 8.19030167e-02 8.06995660e+01] [ 8.13874151e-01 -2.15747898e-01 -5.39501354e-01 4.70012476e+01] [ 5.43941597e-01 -4.35586254e-02 8.37991757e-01 3.30877371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.47071405699998 meters Centerline goodness : 0.995021 Centerline is valid? [True, True] Translation: X:80.69, Y:46.98, Z:33.08 [[-2.00144076e-01 -9.73760519e-01 1.08318049e-01 8.06902030e+01] [ 8.17420718e-01 -2.26906803e-01 -5.29468292e-01 4.69827329e+01] [ 5.40153421e-01 -1.74285249e-02 8.41386076e-01 3.30845184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.50071405699998 meters Centerline goodness : 0.995801 Centerline is valid? [True, True] Translation: X:80.70, Y:47.01, Z:33.09 [[-2.14526215e-01 -9.75685382e-01 4.49058913e-02 8.07025026e+01] [ 7.96407819e-01 -2.01354026e-01 -5.70255330e-01 4.70079794e+01] [ 5.65431771e-01 -8.65713149e-02 8.20239184e-01 3.30922168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.53071405699998 meters Centerline goodness : 0.995053 Centerline is valid? [True, True] Translation: X:80.67, Y:46.95, Z:33.09 [[-1.90430738e-01 -9.67248419e-01 1.67829167e-01 8.06661565e+01] [ 8.17875171e-01 -2.50871314e-01 -5.17826021e-01 4.69481364e+01] [ 5.42969924e-01 3.86533176e-02 8.38862076e-01 3.30925258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.56071405699998 meters Centerline goodness : 0.995151 Centerline is valid? [True, True] Translation: X:80.70, Y:47.00, Z:33.09 [[-2.07219277e-01 -9.77022631e-01 4.98693333e-02 8.07003729e+01] [ 7.97651302e-01 -1.98249787e-01 -5.69604620e-01 4.69977764e+01] [ 5.66403189e-01 -7.82547191e-02 8.20404551e-01 3.30866014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.59071405699999 meters Centerline goodness : 0.994638 Centerline is valid? [True, True] Translation: X:80.67, Y:46.96, Z:33.10 [[-1.88088086e-01 -9.69537145e-01 1.56909516e-01 8.06675565e+01] [ 8.14876684e-01 -2.43233105e-01 -5.26130826e-01 4.69575924e+01] [ 5.48268968e-01 2.89029660e-02 8.35802463e-01 3.30965873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.620714057 meters Centerline goodness : 0.994575 Centerline is valid? [True, True] Translation: X:80.69, Y:46.97, Z:33.08 [[-1.83152442e-01 -9.78218674e-01 9.76903710e-02 8.06914115e+01] [ 8.15803938e-01 -2.06684304e-01 -5.40134736e-01 4.69709546e+01] [ 5.48560951e-01 -1.92308066e-02 8.35889382e-01 3.30754650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.650714057 meters Centerline goodness : 0.995318 Centerline is valid? [True, True] Translation: X:80.69, Y:46.98, Z:33.08 [[-1.97731260e-01 -9.77823981e-01 6.90116685e-02 8.06936457e+01] [ 7.98970179e-01 -2.01552274e-01 -5.66589211e-01 4.69820584e+01] [ 5.67933977e-01 -5.68941333e-02 8.21105387e-01 3.30846406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.680714057 meters Centerline goodness : 0.994427 Centerline is valid? [True, True] Translation: X:80.67, Y:46.96, Z:33.10 [[-1.82102393e-01 -9.71137608e-01 1.54046956e-01 8.06678204e+01] [ 8.14284848e-01 -2.36759394e-01 -5.29986015e-01 4.69589411e+01] [ 5.51161415e-01 2.89263809e-02 8.33897091e-01 3.30986538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.710714057 meters Centerline goodness : 0.995638 Centerline is valid? [True, True] Translation: X:80.69, Y:46.99, Z:33.09 [[-1.95237054e-01 -9.77920883e-01 7.45200531e-02 8.06912322e+01] [ 7.99729529e-01 -2.02723932e-01 -5.65097945e-01 4.69883492e+01] [ 5.67728080e-01 -5.07321712e-02 8.21651431e-01 3.30916187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.740714057 meters Centerline goodness : 0.995200 Centerline is valid? [True, True] Translation: X:80.68, Y:46.96, Z:33.10 [[-1.97671035e-01 -9.72354147e-01 1.24312406e-01 8.06767911e+01] [ 7.99120629e-01 -2.33289004e-01 -5.54059980e-01 4.69635192e+01] [ 5.67743237e-01 -1.01810017e-02 8.23142736e-01 3.30997792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.770714057 meters Centerline goodness : 0.994592 Centerline is valid? [True, True] Translation: X:80.67, Y:46.95, Z:33.09 [[-1.86272229e-01 -9.69641081e-01 1.58426102e-01 8.06741421e+01] [ 8.14453764e-01 -2.42578867e-01 -5.27086862e-01 4.69476024e+01] [ 5.49515899e-01 3.08490907e-02 8.34913534e-01 3.30931478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.800714057 meters Centerline goodness : 0.994812 Centerline is valid? [True, True] Translation: X:80.70, Y:46.97, Z:33.08 [[-1.91813007e-01 -9.77608679e-01 8.65392501e-02 8.07021990e+01] [ 8.09223957e-01 -2.07431716e-01 -5.49662324e-01 4.69749566e+01] [ 5.55305644e-01 -3.54027486e-02 8.30892464e-01 3.30800230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.830714057 meters Centerline goodness : 0.994761 Centerline is valid? [True, True] Translation: X:80.70, Y:46.97, Z:33.08 [[-1.99602423e-01 -9.73988490e-01 1.07262736e-01 8.06985705e+01] [ 8.07661108e-01 -2.25515742e-01 -5.44817570e-01 4.69664439e+01] [ 5.54835478e-01 -2.21149664e-02 8.31666111e-01 3.30830110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.860714057 meters Centerline goodness : 0.995588 Centerline is valid? [True, True] Translation: X:80.70, Y:46.97, Z:33.09 [[-2.05055165e-01 -9.73700775e-01 9.92934034e-02 8.07025811e+01] [ 8.04346021e-01 -2.25448749e-01 -5.49727515e-01 4.69731388e+01] [ 5.57655681e-01 -3.28582122e-02 8.29421774e-01 3.30859681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.890714057 meters Centerline goodness : 0.995798 Centerline is valid? [True, True] Translation: X:80.70, Y:46.98, Z:33.10 [[-2.23327838e-01 -9.69888349e-01 9.71661851e-02 8.06992125e+01] [ 7.94257443e-01 -2.38855184e-01 -5.58662077e-01 4.69816369e+01] [ 5.65048486e-01 -4.75898280e-02 8.23684051e-01 3.30964825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.920714057 meters Centerline goodness : 0.995259 Centerline is valid? [True, True] Translation: X:80.69, Y:46.98, Z:33.11 [[-2.16338731e-01 -9.66079663e-01 1.41023535e-01 8.06864536e+01] [ 8.00713292e-01 -2.58212935e-01 -5.40540752e-01 4.69784345e+01] [ 5.58619529e-01 -4.02048171e-03 8.29414286e-01 3.31091458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.950714057 meters Centerline goodness : 0.995314 Centerline is valid? [True, True] Translation: X:80.70, Y:46.97, Z:33.09 [[-2.19039774e-01 -9.69142688e-01 1.13066477e-01 8.07027818e+01] [ 8.01419329e-01 -2.44798186e-01 -5.45711378e-01 4.69738339e+01] [ 5.56550660e-01 -2.89188373e-02 8.30310221e-01 3.30898308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.980714057 meters Centerline goodness : 0.995242 Centerline is valid? [True, True] Translation: X:80.71, Y:46.98, Z:33.09 [[-2.21153700e-01 -9.69238620e-01 1.08016384e-01 8.07050998e+01] [ 7.99425950e-01 -2.43607672e-01 -5.49157038e-01 4.69764335e+01] [ 5.58577829e-01 -3.50970106e-02 8.28709242e-01 3.30899923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.01071405699997 meters Centerline goodness : 0.995472 Centerline is valid? [True, True] Translation: X:80.71, Y:46.98, Z:33.10 [[-2.33387945e-01 -9.67758460e-01 9.47292507e-02 8.07054791e+01] [ 7.89711777e-01 -2.45482815e-01 -5.62221929e-01 4.69831126e+01] [ 5.67349431e-01 -5.64070158e-02 8.21542982e-01 3.30950697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.04071405699997 meters Centerline goodness : 0.996469 Centerline is valid? [True, True] Translation: X:80.69, Y:46.97, Z:33.10 [[-2.35232411e-01 -9.63665718e-01 1.26546816e-01 8.06932200e+01] [ 7.86971255e-01 -2.65253228e-01 -5.57061009e-01 4.69713517e+01] [ 5.70387549e-01 -3.14500979e-02 8.20773376e-01 3.31022386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.07071405699998 meters Centerline goodness : 0.995359 Centerline is valid? [True, True] Translation: X:80.69, Y:46.95, Z:33.09 [[-2.22750408e-01 -9.61874281e-01 1.58682461e-01 8.06888336e+01] [ 8.00481777e-01 -2.73368704e-01 -5.33383986e-01 4.69471720e+01] [ 5.56427157e-01 8.21091760e-03 8.30855824e-01 3.30907024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.10071405699998 meters Centerline goodness : 0.996087 Centerline is valid? [True, True] Translation: X:80.71, Y:46.99, Z:33.09 [[-2.37906008e-01 -9.68564808e-01 7.26838667e-02 8.07123343e+01] [ 7.88038589e-01 -2.36225716e-01 -5.68500303e-01 4.69947418e+01] [ 5.67799185e-01 -7.79719460e-02 8.19465961e-01 3.30918010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.13071405699998 meters Centerline goodness : 0.996082 Centerline is valid? [True, True] Translation: X:80.69, Y:46.97, Z:33.10 [[-2.37222240e-01 -9.63138825e-01 1.26843259e-01 8.06920375e+01] [ 7.86858293e-01 -2.67074211e-01 -5.56350063e-01 4.69736915e+01] [ 5.69718910e-01 -3.21709382e-02 8.21209714e-01 3.31035335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.16071405699998 meters Centerline goodness : 0.995660 Centerline is valid? [True, True] Translation: X:80.69, Y:46.95, Z:33.09 [[-2.22099175e-01 -9.62565761e-01 1.55367666e-01 8.06899094e+01] [ 8.07328612e-01 -2.70898856e-01 -5.24246432e-01 4.69460186e+01] [ 5.46710589e-01 8.99806279e-03 8.37273293e-01 3.30858377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.19071405699998 meters Centerline goodness : 0.995772 Centerline is valid? [True, True] Translation: X:80.71, Y:46.98, Z:33.09 [[-2.37207820e-01 -9.68628565e-01 7.41023197e-02 8.07114577e+01] [ 7.90113348e-01 -2.36745255e-01 -5.65395951e-01 4.69814410e+01] [ 5.65202041e-01 -7.55671089e-02 8.21484184e-01 3.30850847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.22071405699998 meters Centerline goodness : 0.995619 Centerline is valid? [True, True] Translation: X:80.69, Y:46.94, Z:33.09 [[-2.24094634e-01 -9.62380969e-01 1.53637449e-01 8.06873954e+01] [ 8.01679503e-01 -2.71676381e-01 -5.32448982e-01 4.69421479e+01] [ 5.54158433e-01 3.84903398e-03 8.32402316e-01 3.30881426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.25071405699998 meters Centerline goodness : 0.995456 Centerline is valid? [True, True] Translation: X:80.70, Y:46.96, Z:33.07 [[-2.24072392e-01 -9.68451905e-01 1.09052606e-01 8.07040587e+01] [ 8.04186036e-01 -2.46945866e-01 -5.40650126e-01 4.69553247e+01] [ 5.50523735e-01 -3.34461838e-02 8.34149249e-01 3.30746147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.28071405699998 meters Centerline goodness : 0.996016 Centerline is valid? [True, True] Translation: X:80.71, Y:46.96, Z:33.08 [[-2.28052674e-01 -9.68611414e-01 9.89136281e-02 8.07054803e+01] [ 8.00978634e-01 -2.44396616e-01 -5.46537759e-01 4.69631837e+01] [ 5.53556868e-01 -4.54116945e-02 8.31572349e-01 3.30772621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.31071405699998 meters Centerline goodness : 0.995545 Centerline is valid? [True, True] Translation: X:80.70, Y:46.97, Z:33.09 [[-2.41118490e-01 -9.66638280e-01 8.64425175e-02 8.07036079e+01] [ 7.89704271e-01 -2.47195051e-01 -5.61481765e-01 4.69740955e+01] [ 5.64117930e-01 -6.71196101e-02 8.22961675e-01 3.30860033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.34071405699999 meters Centerline goodness : 0.996058 Centerline is valid? [True, True] Translation: X:80.69, Y:46.96, Z:33.10 [[-2.43818770e-01 -9.61433664e-01 1.27270251e-01 8.06864376e+01] [ 7.86872693e-01 -2.72824388e-01 -5.53532491e-01 4.69631302e+01] [ 5.66907199e-01 -3.48161256e-02 8.23045603e-01 3.30987159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.370714057 meters Centerline goodness : 0.996098 Centerline is valid? [True, True] Translation: X:80.69, Y:46.95, Z:33.09 [[-2.35360265e-01 -9.61488195e-01 1.41936592e-01 8.06870104e+01] [ 7.94281932e-01 -2.74445601e-01 -5.42029358e-01 4.69484030e+01] [ 5.60108703e-01 -1.48345028e-02 8.28286290e-01 3.30894762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.400714057 meters Centerline goodness : 0.996098 Centerline is valid? [True, True] Translation: X:80.70, Y:46.96, Z:33.08 [[-2.35613839e-01 -9.65328027e-01 1.12374018e-01 8.06988995e+01] [ 7.95136837e-01 -2.57963364e-01 -5.48828127e-01 4.69558136e+01] [ 5.58787553e-01 -3.99587807e-02 8.28347612e-01 3.30797298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.430714057 meters Centerline goodness : 0.995532 Centerline is valid? [True, True] Translation: X:80.70, Y:46.95, Z:33.07 [[-2.36529240e-01 -9.65060766e-01 1.12745896e-01 8.07007759e+01] [ 7.94767837e-01 -2.58919891e-01 -5.48912175e-01 4.69469910e+01] [ 5.58925759e-01 -4.02269678e-02 8.28241382e-01 3.30725566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.460714057 meters Centerline goodness : 0.995587 Centerline is valid? [True, True] Translation: X:80.70, Y:46.95, Z:33.07 [[-2.39215894e-01 -9.64899165e-01 1.08375996e-01 8.07003239e+01] [ 7.91616029e-01 -2.58443313e-01 -5.53670585e-01 4.69496740e+01] [ 5.62245337e-01 -4.66546287e-02 8.25653394e-01 3.30740891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.490714057 meters Centerline goodness : 0.995700 Centerline is valid? [True, True] Translation: X:80.70, Y:46.95, Z:33.08 [[-2.40342838e-01 -9.64133025e-01 1.12618075e-01 8.06965433e+01] [ 7.90044715e-01 -2.61701692e-01 -5.54383958e-01 4.69534786e+01] [ 5.63972223e-01 -4.42688990e-02 8.24606328e-01 3.30796623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.520714057 meters Centerline goodness : 0.996231 Centerline is valid? [True, True] Translation: X:80.70, Y:46.95, Z:33.08 [[-2.39119555e-01 -9.64083054e-01 1.15610141e-01 8.06950778e+01] [ 7.88765012e-01 -2.62300285e-01 -5.55921142e-01 4.69453822e+01] [ 5.66278725e-01 -4.17423818e-02 8.23156109e-01 3.30758041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.550714057 meters Centerline goodness : 0.996026 Centerline is valid? [True, True] Translation: X:80.69, Y:46.94, Z:33.07 [[-2.37119131e-01 -9.64037357e-01 1.20027047e-01 8.06939389e+01] [ 7.91332438e-01 -2.63337287e-01 -5.51766659e-01 4.69389172e+01] [ 5.63531269e-01 -3.58531345e-02 8.25316340e-01 3.30709330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.580714057 meters Centerline goodness : 0.995494 Centerline is valid? [True, True] Translation: X:80.69, Y:46.93, Z:33.07 [[-2.33768911e-01 -9.65400572e-01 1.15558777e-01 8.06944916e+01] [ 7.92938209e-01 -2.58075935e-01 -5.51947288e-01 4.69333328e+01] [ 5.62673167e-01 -3.73971468e-02 8.25833131e-01 3.30650693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.610714057 meters Centerline goodness : 0.995948 Centerline is valid? [True, True] Translation: X:80.69, Y:46.92, Z:33.06 [[-2.27818890e-01 -9.64048652e-01 1.36779936e-01 8.06870125e+01] [ 8.01528425e-01 -2.65434652e-01 -5.35813988e-01 4.69229883e+01] [ 5.52856888e-01 -1.24355417e-02 8.33183425e-01 3.30620048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.640714057 meters Centerline goodness : 0.995987 Centerline is valid? [True, True] Translation: X:80.71, Y:46.94, Z:33.05 [[-2.30637055e-01 -9.69430470e-01 8.37323910e-02 8.07051217e+01] [ 7.95552178e-01 -2.37416613e-01 -5.57431685e-01 4.69373967e+01] [ 5.60270721e-01 -6.19509160e-02 8.25989590e-01 3.30525458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.670714057 meters Centerline goodness : 0.995539 Centerline is valid? [True, True] Translation: X:80.69, Y:46.93, Z:33.06 [[-2.27883436e-01 -9.67093217e-01 1.13136422e-01 8.06898385e+01] [ 7.97373035e-01 -2.52038701e-01 -5.48336335e-01 4.69273755e+01] [ 5.58807107e-01 -3.47448359e-02 8.28569499e-01 3.30606223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.700714057 meters Centerline goodness : 0.995852 Centerline is valid? [True, True] Translation: X:80.69, Y:46.94, Z:33.07 [[-2.39876149e-01 -9.66268014e-01 9.37313078e-02 8.06873805e+01] [ 7.86901142e-01 -2.50071546e-01 -5.64137231e-01 4.69448795e+01] [ 5.68547295e-01 -6.15657935e-02 8.20343603e-01 3.30725004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.730714057 meters Centerline goodness : 0.994976 Centerline is valid? [True, True] Translation: X:80.67, Y:46.92, Z:33.07 [[-2.27672756e-01 -9.62751569e-01 1.45857918e-01 8.06721538e+01] [ 7.96659472e-01 -2.70299839e-01 -5.40621571e-01 4.69185270e+01] [ 5.59909638e-01 -6.88571093e-03 8.28525066e-01 3.30739071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.76071405699997 meters Centerline goodness : 0.995432 Centerline is valid? [True, True] Translation: X:80.68, Y:46.91, Z:33.05 [[-2.22974843e-01 -9.66517432e-01 1.26989261e-01 8.06813926e+01] [ 8.03862189e-01 -2.55994216e-01 -5.36910180e-01 4.69140230e+01] [ 5.51441565e-01 -1.76355978e-02 8.34027090e-01 3.30548179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.79071405699997 meters Centerline goodness : 0.995741 Centerline is valid? [True, True] Translation: X:80.69, Y:46.92, Z:33.05 [[-2.23781351e-01 -9.69064632e-01 1.04094406e-01 8.06881622e+01] [ 8.03912271e-01 -2.43910201e-01 -5.42432369e-01 4.69233020e+01] [ 5.51041712e-01 -3.77034777e-02 8.33625503e-01 3.30491579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.82071405699998 meters Centerline goodness : 0.995958 Centerline is valid? [True, True] Translation: X:80.69, Y:46.92, Z:33.05 [[-2.28895856e-01 -9.69175474e-01 9.11349995e-02 8.06892080e+01] [ 7.96241992e-01 -2.40262719e-01 -5.55222942e-01 4.69227056e+01] [ 5.60004801e-01 -5.45227169e-02 8.26693351e-01 3.30493615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.85071405699998 meters Centerline goodness : 0.995936 Centerline is valid? [True, True] Translation: X:80.68, Y:46.91, Z:33.05 [[-2.28723029e-01 -9.66905198e-01 1.13049170e-01 8.06790229e+01] [ 7.95646497e-01 -2.52585468e-01 -5.50588080e-01 4.69133358e+01] [ 5.60921053e-01 -3.59849973e-02 8.27086847e-01 3.30549266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.88071405699998 meters Centerline goodness : 0.996451 Centerline is valid? [True, True] Translation: X:80.68, Y:46.93, Z:33.07 [[-2.36947003e-01 -9.66823616e-01 9.54369573e-02 8.06776087e+01] [ 7.87116767e-01 -2.48625277e-01 -5.64475568e-01 4.69345850e+01] [ 5.69476349e-01 -5.86307647e-02 8.19914094e-01 3.30688554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.91071405699998 meters Centerline goodness : 0.996349 Centerline is valid? [True, True] Translation: X:80.67, Y:46.92, Z:33.08 [[-2.37784267e-01 -9.63475626e-01 1.23180196e-01 8.06658526e+01] [ 7.85844381e-01 -2.65361815e-01 -5.58597991e-01 4.69248801e+01] [ 5.70882869e-01 -3.60253487e-02 8.20240772e-01 3.30773677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.94071405699998 meters Centerline goodness : 0.996315 Centerline is valid? [True, True] Translation: X:80.66, Y:46.93, Z:33.08 [[-2.39872341e-01 -9.63078136e-01 1.22236505e-01 8.06622431e+01] [ 7.85111941e-01 -2.66506870e-01 -5.59082578e-01 4.69274745e+01] [ 5.71017075e-01 -3.81391076e-02 8.20051772e-01 3.30800061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.97071405699998 meters Centerline goodness : 0.996152 Centerline is valid? [True, True] Translation: X:80.66, Y:46.92, Z:33.08 [[-2.39903471e-01 -9.62447030e-01 1.27051321e-01 8.06602896e+01] [ 7.85750152e-01 -2.69363338e-01 -5.56812438e-01 4.69211061e+01] [ 5.70125445e-01 -3.37506416e-02 8.20864100e-01 3.30780313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.00071405699998 meters Centerline goodness : 0.996311 Centerline is valid? [True, True] Translation: X:80.66, Y:46.93, Z:33.09 [[-2.41752409e-01 -9.62765030e-01 1.20992849e-01 8.06579492e+01] [ 7.83625200e-01 -2.67248478e-01 -5.60811730e-01 4.69336771e+01] [ 5.72265077e-01 -4.07645414e-02 8.19054903e-01 3.30856850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.03071405699998 meters Centerline goodness : 0.995871 Centerline is valid? [True, True] Translation: X:80.65, Y:46.92, Z:33.08 [[-2.40062353e-01 -9.61649671e-01 1.32664908e-01 8.06536424e+01] [ 7.85047193e-01 -2.72703809e-01 -5.56177614e-01 4.69189138e+01] [ 5.71026245e-01 -2.93690932e-02 8.20406292e-01 3.30807531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.06071405699998 meters Centerline goodness : 0.995639 Centerline is valid? [True, True] Translation: X:80.65, Y:46.93, Z:33.08 [[-2.40536844e-01 -9.62808508e-01 1.23052035e-01 8.06536431e+01] [ 7.83316811e-01 -2.67414387e-01 -5.61163362e-01 4.69304933e+01] [ 5.73198744e-01 -3.85917366e-02 8.18507103e-01 3.30845551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.09071405699999 meters Centerline goodness : 0.994928 Centerline is valid? [True, True] Translation: X:80.65, Y:46.93, Z:33.08 [[-2.41765050e-01 -9.63082085e-01 1.18416884e-01 8.06533400e+01] [ 7.83639710e-01 -2.65758908e-01 -5.61498894e-01 4.69339422e+01] [ 5.72239867e-01 -4.29546352e-02 8.18960581e-01 3.30841310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.120714057 meters Centerline goodness : 0.996133 Centerline is valid? [True, True] Translation: X:80.64, Y:46.91, Z:33.08 [[-2.38243431e-01 -9.58815915e-01 1.54635404e-01 8.06421809e+01] [ 7.85347893e-01 -2.83865156e-01 -5.50135675e-01 4.69082063e+01] [ 5.71374444e-01 -9.62362148e-03 8.20633067e-01 3.30830726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.150714057 meters Centerline goodness : 0.995399 Centerline is valid? [True, True] Translation: X:80.65, Y:46.92, Z:33.07 [[-2.39770788e-01 -9.62671668e-01 1.25591518e-01 8.06524455e+01] [ 7.85166296e-01 -2.68372104e-01 -5.58113163e-01 4.69161315e+01] [ 5.70984989e-01 -3.52090063e-02 8.20205138e-01 3.30726758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.180714057 meters Centerline goodness : 0.996035 Centerline is valid? [True, True] Translation: X:80.65, Y:46.90, Z:33.07 [[-2.41212498e-01 -9.61686375e-01 1.30291389e-01 8.06518061e+01] [ 7.85233658e-01 -2.72297667e-01 -5.56113373e-01 4.69049757e+01] [ 5.70284695e-01 -3.18323121e-02 8.20830111e-01 3.30657614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.210714057 meters Centerline goodness : 0.995757 Centerline is valid? [True, True] Translation: X:80.65, Y:46.90, Z:33.06 [[-2.42049284e-01 -9.61698783e-01 1.28637458e-01 8.06539249e+01] [ 7.86203060e-01 -2.72094858e-01 -5.54841542e-01 4.68992874e+01] [ 5.68592026e-01 -3.31638346e-02 8.21950891e-01 3.30588257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.240714057 meters Centerline goodness : 0.995555 Centerline is valid? [True, True] Translation: X:80.65, Y:46.91, Z:33.06 [[-2.45134328e-01 -9.61269638e-01 1.25975568e-01 8.06534443e+01] [ 7.86331686e-01 -2.73144367e-01 -5.54143154e-01 4.69062698e+01] [ 5.67090506e-01 -3.67809289e-02 8.22833836e-01 3.30591383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.270714057 meters Centerline goodness : 0.996170 Centerline is valid? [True, True] Translation: X:80.66, Y:46.90, Z:33.05 [[-2.45965225e-01 -9.61570942e-01 1.21993576e-01 8.06572647e+01] [ 7.86551787e-01 -2.71558973e-01 -5.54609782e-01 4.68982764e+01] [ 5.66425101e-01 -4.04604547e-02 8.23119406e-01 3.30505788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.300714057 meters Centerline goodness : 0.995482 Centerline is valid? [True, True] Translation: X:80.66, Y:46.89, Z:33.05 [[-2.44781035e-01 -9.61264696e-01 1.26698181e-01 8.06555109e+01] [ 7.90061074e-01 -2.73497298e-01 -5.48637154e-01 4.68924083e+01] [ 5.62037137e-01 -3.41966700e-02 8.26404770e-01 3.30467259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.330714057 meters Centerline goodness : 0.995580 Centerline is valid? [True, True] Translation: X:80.66, Y:46.90, Z:33.05 [[-2.46263002e-01 -9.62907233e-01 1.10291405e-01 8.06591647e+01] [ 7.87494647e-01 -2.65129103e-01 -5.56380032e-01 4.69022001e+01] [ 5.64983819e-01 -5.01619263e-02 8.23575780e-01 3.30478405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.360714057 meters Centerline goodness : 0.995246 Centerline is valid? [True, True] Translation: X:80.65, Y:46.88, Z:33.04 [[-2.41098893e-01 -9.62082108e-01 1.27551327e-01 8.06537551e+01] [ 7.92412599e-01 -2.71029162e-01 -5.46466345e-01 4.68839921e+01] [ 5.60315622e-01 -3.06791526e-02 8.27710815e-01 3.30423958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.390714057 meters Centerline goodness : 0.995345 Centerline is valid? [True, True] Translation: X:80.66, Y:46.90, Z:33.05 [[-2.40445195e-01 -9.64204395e-01 1.11785475e-01 8.06561476e+01] [ 7.91769881e-01 -2.61445765e-01 -5.52038556e-01 4.68992815e+01] [ 5.61503842e-01 -4.42266458e-02 8.26291377e-01 3.30462090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.420714057 meters Centerline goodness : 0.995839 Centerline is valid? [True, True] Translation: X:80.66, Y:46.88, Z:33.04 [[-2.38527060e-01 -9.64012792e-01 1.17406041e-01 8.06566559e+01] [ 7.92908136e-01 -2.63125715e-01 -5.49601261e-01 4.68817998e+01] [ 5.60715194e-01 -3.80025683e-02 8.27136190e-01 3.30370028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.450714057 meters Centerline goodness : 0.995345 Centerline is valid? [True, True] Translation: X:80.66, Y:46.87, Z:33.03 [[-2.35756635e-01 -9.65636604e-01 1.09383535e-01 8.06604797e+01] [ 7.92932817e-01 -2.56213171e-01 -5.52822176e-01 4.68724751e+01] [ 5.61850831e-01 -4.35977011e-02 8.26088908e-01 3.30287425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.480714057 meters Centerline goodness : 0.995327 Centerline is valid? [True, True] Translation: X:80.65, Y:46.90, Z:33.06 [[-2.46039273e-01 -9.62763160e-01 1.12034702e-01 8.06455566e+01] [ 7.85350677e-01 -2.65762055e-01 -5.59101820e-01 4.68964476e+01] [ 5.68057207e-01 -4.95744763e-02 8.21494602e-01 3.30551604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.51071405699997 meters Centerline goodness : 0.995252 Centerline is valid? [True, True] Translation: X:80.65, Y:46.86, Z:33.04 [[-2.32529049e-01 -9.63671478e-01 1.31405953e-01 8.06476340e+01] [ 7.90054066e-01 -2.65953440e-01 -5.52343499e-01 4.68628994e+01] [ 5.67225541e-01 -2.46181012e-02 8.23194469e-01 3.30411112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.54071405699997 meters Centerline goodness : 0.995724 Centerline is valid? [True, True] Translation: X:80.65, Y:46.87, Z:33.04 [[-2.30728911e-01 -9.65299697e-01 1.22313799e-01 8.06509646e+01] [ 7.91215205e-01 -2.59296720e-01 -5.53844483e-01 4.68660131e+01] [ 5.66341478e-01 -3.10113963e-02 8.23587047e-01 3.30369304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.57071405699998 meters Centerline goodness : 0.994714 Centerline is valid? [True, True] Translation: X:80.65, Y:46.89, Z:33.05 [[-2.30690244e-01 -9.65422831e-01 1.21411569e-01 8.06453263e+01] [ 7.91059765e-01 -2.58737982e-01 -5.54327615e-01 4.68878584e+01] [ 5.66574320e-01 -3.18341656e-02 8.23395486e-01 3.30519658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.60071405699998 meters Centerline goodness : 0.994776 Centerline is valid? [True, True] Translation: X:80.64, Y:46.87, Z:33.05 [[-2.25748140e-01 -9.64142484e-01 1.39524360e-01 8.06386338e+01] [ 7.97324974e-01 -2.65150729e-01 -5.42188138e-01 4.68748201e+01] [ 5.59741604e-01 -1.11517074e-02 8.28592165e-01 3.30489210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.63071405699998 meters Centerline goodness : 0.994308 Centerline is valid? [True, True] Translation: X:80.65, Y:46.89, Z:33.04 [[-2.24849661e-01 -9.67291937e-01 1.17426313e-01 8.06453478e+01] [ 7.97359062e-01 -2.51923559e-01 -5.48409561e-01 4.68861377e+01] [ 5.60054601e-01 -2.96787687e-02 8.27923918e-01 3.30434252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.66071405699998 meters Centerline goodness : 0.994190 Centerline is valid? [True, True] Translation: X:80.65, Y:46.88, Z:33.03 [[-2.27273784e-01 -9.68457016e-01 1.02164746e-01 8.06529620e+01] [ 7.89581131e-01 -2.44662983e-01 -5.62762528e-01 4.68753264e+01] [ 5.70007250e-01 -4.72338135e-02 8.20280868e-01 3.30337155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.69071405699998 meters Centerline goodness : 0.993571 Centerline is valid? [True, True] Translation: X:80.64, Y:46.86, Z:33.04 [[-2.24089271e-01 -9.64601211e-01 1.39026984e-01 8.06404540e+01] [ 7.94855542e-01 -2.63440325e-01 -5.46629547e-01 4.68611649e+01] [ 5.63904837e-01 -1.19874479e-02 8.25752769e-01 3.30391559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.72071405699998 meters Centerline goodness : 0.992965 Centerline is valid? [True, True] Translation: X:80.65, Y:46.86, Z:33.03 [[-2.24421264e-01 -9.66576922e-01 1.23952206e-01 8.06464946e+01] [ 7.95351377e-01 -2.55173909e-01 -5.49820392e-01 4.68635020e+01] [ 5.63073071e-01 -2.48058295e-02 8.26034737e-01 3.30313202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.75071405699998 meters Centerline goodness : 0.992387 Centerline is valid? [True, True] Translation: X:80.65, Y:46.87, Z:33.03 [[-2.26131324e-01 -9.66640284e-01 1.20296239e-01 8.06461683e+01] [ 7.95141430e-01 -2.54511562e-01 -5.50430714e-01 4.68719416e+01] [ 5.62685285e-01 -2.88171021e-02 8.26168775e-01 3.30347585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.78071405699998 meters Centerline goodness : 0.992893 Centerline is valid? [True, True] Translation: X:80.65, Y:46.87, Z:33.03 [[-2.24576905e-01 -9.66224074e-01 1.26397205e-01 8.06451250e+01] [ 7.97967684e-01 -2.56797352e-01 -5.45254707e-01 4.68655604e+01] [ 5.59296692e-01 -2.15907292e-02 8.28686340e-01 3.30318398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.81071405699998 meters Centerline goodness : 0.990829 Centerline is valid? [True, True] Translation: X:80.66, Y:46.86, Z:33.02 [[-2.30010198e-01 -9.68365085e-01 9.67696831e-02 8.06594731e+01] [ 7.95392370e-01 -2.44352276e-01 -5.54655697e-01 4.68609046e+01] [ 5.60755104e-01 -5.06065994e-02 8.26433715e-01 3.30158639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.84071405699999 meters Centerline goodness : 0.991814 Centerline is valid? [True, True] Translation: X:80.64, Y:46.85, Z:33.03 [[-2.29546222e-01 -9.63390970e-01 1.38514875e-01 8.06430379e+01] [ 7.95633454e-01 -2.67706295e-01 -5.43415813e-01 4.68505642e+01] [ 5.60603192e-01 -1.45319787e-02 8.27957054e-01 3.30309540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.870714057 meters Centerline goodness : 0.992312 Centerline is valid? [True, True] Translation: X:80.65, Y:46.86, Z:33.02 [[-2.32756138e-01 -9.65619144e-01 1.15776718e-01 8.06526867e+01] [ 7.95168138e-01 -2.57494895e-01 -5.49002742e-01 4.68575245e+01] [ 5.59939472e-01 -3.57218007e-02 8.27763095e-01 3.30228875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.900714057 meters Centerline goodness : 0.992425 Centerline is valid? [True, True] Translation: X:80.65, Y:46.86, Z:33.03 [[-2.35588165e-01 -9.64773507e-01 1.17090975e-01 8.06519931e+01] [ 7.92956094e-01 -2.60479540e-01 -5.50791288e-01 4.68590757e+01] [ 5.61888646e-01 -3.69119069e-02 8.26388928e-01 3.30265155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.930714057 meters Centerline goodness : 0.991274 Centerline is valid? [True, True] Translation: X:80.66, Y:46.86, Z:33.02 [[-2.37861270e-01 -9.65135280e-01 1.09251574e-01 8.06559125e+01] [ 7.93539605e-01 -2.57958604e-01 -5.51137237e-01 4.68595989e+01] [ 5.60104376e-01 -4.43987524e-02 8.27231430e-01 3.30231300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.960714057 meters Centerline goodness : 0.992442 Centerline is valid? [True, True] Translation: X:80.65, Y:46.86, Z:33.04 [[-2.41125062e-01 -9.61993874e-01 1.28165872e-01 8.06469822e+01] [ 7.87558651e-01 -2.71130363e-01 -5.53389282e-01 4.68588819e+01] [ 5.67106759e-01 -3.24978839e-02 8.23002923e-01 3.30370138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.990714057 meters Centerline goodness : 0.991048 Centerline is valid? [True, True] Translation: X:80.65, Y:46.87, Z:33.04 [[-2.43587767e-01 -9.63487137e-01 1.11164460e-01 8.06511904e+01] [ 7.88086666e-01 -2.63433025e-01 -5.56347417e-01 4.68722672e+01] [ 5.65317970e-01 -4.79121966e-02 8.23480427e-01 3.30377290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.020714057 meters Centerline goodness : 0.993084 Centerline is valid? [True, True] Translation: X:80.64, Y:46.85, Z:33.04 [[-2.44120703e-01 -9.59659556e-01 1.39494152e-01 8.06429177e+01] [ 7.84813468e-01 -2.80006792e-01 -5.52868897e-01 4.68535036e+01] [ 5.69625231e-01 -2.54898548e-02 8.21509199e-01 3.30425343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.050714057 meters Centerline goodness : 0.990684 Centerline is valid? [True, True] Translation: X:80.66, Y:46.85, Z:33.03 [[-2.45637081e-01 -9.62636956e-01 1.13984718e-01 8.06557142e+01] [ 7.86422431e-01 -2.66646207e-01 -5.57171033e-01 4.68506851e+01] [ 5.66747019e-01 -4.72217274e-02 8.22537491e-01 3.30256265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.080714057 meters Centerline goodness : 0.990781 Centerline is valid? [True, True] Translation: X:80.65, Y:46.85, Z:33.04 [[-2.45866897e-01 -9.60092319e-01 1.33312444e-01 8.06474542e+01] [ 7.86075593e-01 -2.77965444e-01 -5.52105402e-01 4.68524644e+01] [ 5.67128408e-01 -3.09507834e-02 8.23047640e-01 3.30375698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.110714057 meters Centerline goodness : 0.992313 Centerline is valid? [True, True] Translation: X:80.65, Y:46.84, Z:33.03 [[-2.47872127e-01 -9.60101607e-01 1.29477074e-01 8.06524185e+01] [ 7.84445943e-01 -2.77332898e-01 -5.54735095e-01 4.68430575e+01] [ 5.68510309e-01 -3.59356030e-02 8.21890906e-01 3.30303160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.140714057 meters Centerline goodness : 0.991113 Centerline is valid? [True, True] Translation: X:80.65, Y:46.85, Z:33.04 [[-2.48174568e-01 -9.59212490e-01 1.35354287e-01 8.06478972e+01] [ 7.84730141e-01 -2.80992524e-01 -5.52486929e-01 4.68529545e+01] [ 5.67985906e-01 -3.08966160e-02 8.22458151e-01 3.30389723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.170714057 meters Centerline goodness : 0.991318 Centerline is valid? [True, True] Translation: X:80.65, Y:46.86, Z:33.04 [[-2.49822296e-01 -9.59442267e-01 1.30611475e-01 8.06486692e+01] [ 7.82960351e-01 -2.79522975e-01 -5.55733745e-01 4.68627843e+01] [ 5.69703352e-01 -3.65710738e-02 8.21036325e-01 3.30432816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.200714057 meters Centerline goodness : 0.991319 Centerline is valid? [True, True] Translation: X:80.65, Y:46.84, Z:33.03 [[-2.50680954e-01 -9.58836775e-01 1.33383275e-01 8.06538698e+01] [ 7.82524658e-01 -2.81817383e-01 -5.55188366e-01 4.68405843e+01] [ 5.69924748e-01 -3.47994474e-02 8.20959670e-01 3.30297365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.230714057 meters Centerline goodness : 0.991717 Centerline is valid? [True, True] Translation: X:80.65, Y:46.85, Z:33.04 [[-2.52174511e-01 -9.58511862e-01 1.32902321e-01 8.06517790e+01] [ 7.81067554e-01 -2.82692786e-01 -5.56792839e-01 4.68534016e+01] [ 5.71263068e-01 -3.66032712e-02 8.19950430e-01 3.30385169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.26071405699997 meters Centerline goodness : 0.991944 Centerline is valid? [True, True] Translation: X:80.65, Y:46.84, Z:33.03 [[-2.52022807e-01 -9.57616267e-01 1.39483294e-01 8.06539042e+01] [ 7.82549259e-01 -2.86463903e-01 -5.52770377e-01 4.68401035e+01] [ 5.69298834e-01 -3.01581933e-02 8.21577337e-01 3.30323692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.29071405699997 meters Centerline goodness : 0.991944 Centerline is valid? [True, True] Translation: X:80.66, Y:46.84, Z:33.03 [[-2.52510271e-01 -9.58480169e-01 1.32492748e-01 8.06571118e+01] [ 7.82636562e-01 -2.82835924e-01 -5.54512265e-01 4.68403371e+01] [ 5.68962719e-01 -3.63263734e-02 8.21560600e-01 3.30284219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.32071405699998 meters Centerline goodness : 0.993149 Centerline is valid? [True, True] Translation: X:80.65, Y:46.84, Z:33.04 [[-2.52624135e-01 -9.57066492e-01 1.42143507e-01 8.06528226e+01] [ 7.80037045e-01 -2.88372567e-01 -5.55322853e-01 4.68425322e+01] [ 5.72471182e-01 -2.94107546e-02 8.19397189e-01 3.30361153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.35071405699998 meters Centerline goodness : 0.992697 Centerline is valid? [True, True] Translation: X:80.66, Y:46.85, Z:33.03 [[-2.54564239e-01 -9.59614412e-01 1.19738165e-01 8.06629785e+01] [ 7.82146172e-01 -2.77121396e-01 -5.58078039e-01 4.68471516e+01] [ 5.68721737e-01 -4.84139638e-02 8.21103936e-01 3.30272905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.38071405699998 meters Centerline goodness : 0.992759 Centerline is valid? [True, True] Translation: X:80.66, Y:46.85, Z:33.04 [[-2.54456071e-01 -9.57747020e-01 1.34062496e-01 8.06561696e+01] [ 7.80595720e-01 -2.85239120e-01 -5.56155524e-01 4.68499096e+01] [ 5.70896164e-01 -3.68685385e-02 8.20194051e-01 3.30378641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.41071405699998 meters Centerline goodness : 0.992322 Centerline is valid? [True, True] Translation: X:80.66, Y:46.84, Z:33.04 [[-2.56850689e-01 -9.57367607e-01 1.32192998e-01 8.06585145e+01] [ 7.79401786e-01 -2.86070346e-01 -5.57401663e-01 4.68432141e+01] [ 5.71454793e-01 -4.01375425e-02 8.19651388e-01 3.30357151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.44071405699998 meters Centerline goodness : 0.994085 Centerline is valid? [True, True] Translation: X:80.65, Y:46.83, Z:33.04 [[-2.54017428e-01 -9.53332609e-01 1.63193392e-01 8.06496918e+01] [ 7.82526219e-01 -3.01734552e-01 -5.44618194e-01 4.68266770e+01] [ 5.68443369e-01 -1.06394048e-02 8.22653596e-01 3.30374210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.47071405699998 meters Centerline goodness : 0.994728 Centerline is valid? [True, True] Translation: X:80.66, Y:46.85, Z:33.03 [[-2.57107655e-01 -9.57823393e-01 1.28335506e-01 8.06610446e+01] [ 7.83467273e-01 -2.84341796e-01 -5.52565631e-01 4.68520750e+01] [ 5.65751435e-01 -4.15221846e-02 8.23529733e-01 3.30339405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.50071405699998 meters Centerline goodness : 0.994920 Centerline is valid? [True, True] Translation: X:80.66, Y:46.86, Z:33.04 [[-2.67115979e-01 -9.56145070e-01 1.20148490e-01 8.06599339e+01] [ 7.77566813e-01 -2.87498978e-01 -5.59226421e-01 4.68614181e+01] [ 5.69244153e-01 -5.59548340e-02 8.20262245e-01 3.30397814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.53071405699998 meters Centerline goodness : 0.994735 Centerline is valid? [True, True] Translation: X:80.66, Y:46.83, Z:33.03 [[-2.62175147e-01 -9.53474304e-01 1.48831934e-01 8.06603396e+01] [ 7.83192175e-01 -3.00336019e-01 -5.44433919e-01 4.68337863e+01] [ 5.63803342e-01 -2.61730362e-02 8.25494254e-01 3.30306671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.56071405699998 meters Centerline goodness : 0.993128 Centerline is valid? [True, True] Translation: X:80.67, Y:46.83, Z:33.01 [[-2.62792257e-01 -9.57288573e-01 1.20577024e-01 8.06743958e+01] [ 7.87565941e-01 -2.85017715e-01 -5.46355920e-01 4.68328741e+01] [ 5.57386866e-01 -4.86157479e-02 8.28828324e-01 3.30124041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.59071405699999 meters Centerline goodness : 0.993310 Centerline is valid? [True, True] Translation: X:80.67, Y:46.82, Z:33.01 [[-2.62323736e-01 -9.55492842e-01 1.34980317e-01 8.06712574e+01] [ 7.89330141e-01 -2.92930597e-01 -5.39582796e-01 4.68235934e+01] [ 5.55107365e-01 -3.50013422e-02 8.31041948e-01 3.30116117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.620714057 meters Centerline goodness : 0.993829 Centerline is valid? [True, True] Translation: X:80.66, Y:46.85, Z:33.04 [[-2.64025526e-01 -9.54086268e-01 1.41456407e-01 8.06617790e+01] [ 7.86780008e-01 -2.97877719e-01 -5.40597895e-01 4.68539037e+01] [ 5.57913740e-01 -3.14365710e-02 8.29303323e-01 3.30354966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.650714057 meters Centerline goodness : 0.994209 Centerline is valid? [True, True] Translation: X:80.68, Y:46.85, Z:33.01 [[-0.280742 -0.95621462 0.08268932 80.68409173] [ 0.77227636 -0.27621085 -0.57209859 46.85151286] [ 0.56988873 -0.0967531 0.81600593 33.01467106] [ 0. 0. 0. 1. ]] SLAMing on 153.680714057 meters Centerline goodness : 0.994733 Centerline is valid? [True, True] Translation: X:80.66, Y:46.79, Z:33.02 [[-2.61584051e-01 -9.44364392e-01 1.99373214e-01 8.06558221e+01] [ 7.87141046e-01 -3.28271061e-01 -5.22156188e-01 4.67892569e+01] [ 5.58554168e-01 2.03471096e-02 8.29218449e-01 3.30182091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.710714057 meters Centerline goodness : 0.994507 Centerline is valid? [True, True] Translation: X:80.69, Y:46.85, Z:33.01 [[-0.27815119 -0.95680734 0.08456731 80.68830295] [ 0.77325377 -0.2752786 -0.57122701 46.85135223] [ 0.56983377 -0.09349548 0.81642395 33.00826226] [ 0. 0. 0. 1. ]] SLAMing on 153.740714057 meters Centerline goodness : 0.994295 Centerline is valid? [True, True] Translation: X:80.67, Y:46.80, Z:33.01 [[-2.62562546e-01 -9.49398278e-01 1.72347959e-01 8.06657754e+01] [ 7.87641770e-01 -3.14055937e-01 -5.30084248e-01 4.68047965e+01] [ 5.57387972e-01 -3.43181861e-03 8.30245067e-01 3.30117383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.770714057 meters Centerline goodness : 0.994202 Centerline is valid? [True, True] Translation: X:80.69, Y:46.83, Z:33.00 [[-2.62023977e-01 -9.58377454e-01 1.13384703e-01 8.06876107e+01] [ 7.89973437e-01 -2.80486611e-01 -5.45224018e-01 4.68302984e+01] [ 5.54333298e-01 -5.32908624e-02 8.30586949e-01 3.29969738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.800714057 meters Centerline goodness : 0.993758 Centerline is valid? [True, True] Translation: X:80.69, Y:46.81, Z:32.99 [[-2.57178468e-01 -9.58225331e-01 1.25153709e-01 8.06858598e+01] [ 7.94499388e-01 -2.83385021e-01 -5.37088124e-01 4.68135709e+01] [ 5.50118132e-01 -3.86929555e-02 8.34189964e-01 3.29915838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.830714057 meters Centerline goodness : 0.994434 Centerline is valid? [True, True] Translation: X:80.70, Y:46.81, Z:32.98 [[-2.58093573e-01 -9.60802503e-01 1.01223801e-01 8.06961640e+01] [ 7.95774804e-01 -2.70828931e-01 -5.41658703e-01 4.68147024e+01] [ 5.47841372e-01 -5.92472794e-02 8.34481630e-01 3.29812488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.860714057 meters Centerline goodness : 0.993794 Centerline is valid? [True, True] Translation: X:80.69, Y:46.80, Z:32.98 [[-2.53735489e-01 -9.59416211e-01 1.23039974e-01 8.06905979e+01] [ 7.98886192e-01 -2.79577918e-01 -5.32557076e-01 4.67961266e+01] [ 5.45343152e-01 -3.68336939e-02 8.37403204e-01 3.29786261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.890714057 meters Centerline goodness : 0.993992 Centerline is valid? [True, True] Translation: X:80.69, Y:46.80, Z:32.98 [[-2.51183196e-01 -9.59848400e-01 1.24892154e-01 8.06901354e+01] [ 7.98264928e-01 -2.78394417e-01 -5.34106407e-01 4.67974647e+01] [ 5.47430459e-01 -3.44615280e-02 8.36141313e-01 3.29804451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.920714057 meters Centerline goodness : 0.991384 Centerline is valid? [True, True] Translation: X:80.70, Y:46.80, Z:32.97 [[-2.51655745e-01 -9.63213431e-01 9.42829330e-02 8.07038349e+01] [ 7.99530663e-01 -2.61803317e-01 -5.40564281e-01 4.68007648e+01] [ 5.45362361e-01 -6.06540112e-02 8.36002982e-01 3.29671523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.950714057 meters Centerline goodness : 0.993088 Centerline is valid? [True, True] Translation: X:80.69, Y:46.80, Z:32.98 [[-2.49608824e-01 -9.60003585e-01 1.26840656e-01 8.06886174e+01] [ 7.98862805e-01 -2.78176617e-01 -5.33325406e-01 4.67975634e+01] [ 5.47278406e-01 -3.17944450e-02 8.36346495e-01 3.29836274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.980714057 meters Centerline goodness : 0.992971 Centerline is valid? [True, True] Translation: X:80.70, Y:46.79, Z:32.97 [[-2.48331040e-01 -9.61623662e-01 1.16668882e-01 8.06973924e+01] [ 7.99550151e-01 -2.71475890e-01 -5.35742846e-01 4.67854325e+01] [ 5.46855786e-01 -3.97589557e-02 8.36282234e-01 3.29683392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.01071405699997 meters Centerline goodness : 0.993836 Centerline is valid? [True, True] Translation: X:80.69, Y:46.79, Z:32.98 [[-2.47999514e-01 -9.59476998e-01 1.33791372e-01 8.06899909e+01] [ 7.98657249e-01 -2.80661091e-01 -5.32330679e-01 4.67887395e+01] [ 5.48309074e-01 -2.51643001e-02 8.35897073e-01 3.29786710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.04071405699997 meters Centerline goodness : 0.992954 Centerline is valid? [True, True] Translation: X:80.71, Y:46.80, Z:32.97 [[-2.49933518e-01 -9.63541027e-01 9.55087775e-02 8.07058409e+01] [ 7.97483120e-01 -2.60789110e-01 -5.44067747e-01 4.67996861e+01] [ 5.49139245e-01 -5.98141282e-02 8.33587644e-01 3.29679805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.07071405699998 meters Centerline goodness : 0.993964 Centerline is valid? [True, True] Translation: X:80.70, Y:46.80, Z:32.98 [[-2.51708121e-01 -9.60737723e-01 1.16730672e-01 8.06968610e+01] [ 7.91619828e-01 -2.73769993e-01 -5.46249064e-01 4.67977341e+01] [ 5.56759437e-01 -4.50890115e-02 8.29449161e-01 3.29807687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.10071405699998 meters Centerline goodness : 0.993679 Centerline is valid? [True, True] Translation: X:80.69, Y:46.80, Z:32.99 [[-2.51266119e-01 -9.57487501e-01 1.41714582e-01 8.06859630e+01] [ 7.90664652e-01 -2.87493464e-01 -5.40552417e-01 4.67977128e+01] [ 5.58314199e-01 -2.37737971e-02 8.29288889e-01 3.29948690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.13071405699998 meters Centerline goodness : 0.993925 Centerline is valid? [True, True] Translation: X:80.70, Y:46.82, Z:32.99 [[-2.52294872e-01 -9.61416097e-01 1.09664875e-01 8.06980498e+01] [ 7.91231203e-01 -2.70209273e-01 -5.48580106e-01 4.68153972e+01] [ 5.57046211e-01 -5.16336765e-02 8.28874829e-01 3.29883836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.16071405699998 meters Centerline goodness : 0.994608 Centerline is valid? [True, True] Translation: X:80.69, Y:46.81, Z:33.00 [[-2.54130059e-01 -9.58135778e-01 1.31885344e-01 8.06882247e+01] [ 7.84213833e-01 -2.83941983e-01 -5.51711531e-01 4.68110868e+01] [ 5.66062343e-01 -3.67801732e-02 8.23541524e-01 3.30031939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.19071405699998 meters Centerline goodness : 0.992782 Centerline is valid? [True, True] Translation: X:80.69, Y:46.80, Z:32.99 [[-2.51291151e-01 -9.58960910e-01 1.31326810e-01 8.06929836e+01] [ 7.90379125e-01 -2.81621104e-01 -5.44049990e-01 4.67988629e+01] [ 5.58707075e-01 -3.29169785e-02 8.28711576e-01 3.29896845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.22071405699998 meters Centerline goodness : 0.994025 Centerline is valid? [True, True] Translation: X:80.69, Y:46.80, Z:33.00 [[-2.52528674e-01 -9.59017993e-01 1.28505870e-01 8.06925038e+01] [ 7.88248255e-01 -2.80923925e-01 -5.47491038e-01 4.68042571e+01] [ 5.61154130e-01 -3.69626586e-02 8.26885605e-01 3.29951696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.25071405699998 meters Centerline goodness : 0.995375 Centerline is valid? [True, True] Translation: X:80.69, Y:46.81, Z:33.00 [[-2.50506281e-01 -9.57602084e-01 1.42284404e-01 8.06856580e+01] [ 7.87976339e-01 -2.87064848e-01 -5.44689877e-01 4.68064246e+01] [ 5.62441013e-01 -2.43314919e-02 8.26479332e-01 3.30041589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.28071405699998 meters Centerline goodness : 0.995649 Centerline is valid? [True, True] Translation: X:80.69, Y:46.81, Z:33.00 [[-2.50952909e-01 -9.59482433e-01 1.28125321e-01 8.06920814e+01] [ 7.88319547e-01 -2.79386208e-01 -5.48174825e-01 4.68054469e+01] [ 5.61760563e-01 -3.65623726e-02 8.26491538e-01 3.29958229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.31071405699998 meters Centerline goodness : 0.995162 Centerline is valid? [True, True] Translation: X:80.70, Y:46.80, Z:32.99 [[-2.54414948e-01 -9.59623971e-01 1.19978615e-01 8.06972854e+01] [ 7.82713402e-01 -2.77183795e-01 -5.57251177e-01 4.67972685e+01] [ 5.68007715e-01 -4.78641596e-02 8.21630244e-01 3.29907676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.34071405699999 meters Centerline goodness : 0.995107 Centerline is valid? [True, True] Translation: X:80.69, Y:46.80, Z:33.00 [[-2.54541364e-01 -9.56718045e-01 1.41064794e-01 8.06880115e+01] [ 7.85476406e-01 -2.89625829e-01 -5.46940303e-01 4.67988298e+01] [ 5.64123665e-01 -2.84158638e-02 8.25201205e-01 3.30003461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.370714057 meters Centerline goodness : 0.993658 Centerline is valid? [True, True] Translation: X:80.69, Y:46.83, Z:33.02 [[-2.56540833e-01 -9.57573521e-01 1.31300239e-01 8.06850247e+01] [ 7.84814867e-01 -2.85667254e-01 -5.49963494e-01 4.68314752e+01] [ 5.64138658e-01 -3.80417130e-02 8.24803251e-01 3.30173077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.400714057 meters Centerline goodness : 0.994877 Centerline is valid? [True, True] Translation: X:80.69, Y:46.81, Z:33.01 [[-2.67695872e-01 -9.54759279e-01 1.29513085e-01 8.06860765e+01] [ 7.78694905e-01 -2.93547989e-01 -5.54494205e-01 4.68098322e+01] [ 5.67426793e-01 -4.75846301e-02 8.22047771e-01 3.30060513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.430714057 meters Centerline goodness : 0.993355 Centerline is valid? [True, True] Translation: X:80.69, Y:46.79, Z:33.00 [[-2.60608091e-01 -9.54020205e-01 1.48083998e-01 8.06888271e+01] [ 7.84401875e-01 -2.98654492e-01 -5.43616770e-01 4.67943376e+01] [ 5.62847334e-01 -2.55135629e-02 8.26167015e-01 3.29983969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.460714057 meters Centerline goodness : 0.993651 Centerline is valid? [True, True] Translation: X:80.70, Y:46.78, Z:32.98 [[-2.61996428e-01 -9.56014617e-01 1.31886027e-01 8.07007502e+01] [ 7.85075137e-01 -2.90610380e-01 -5.46994183e-01 4.67812227e+01] [ 5.61261883e-01 -3.97700816e-02 8.26682188e-01 3.29788768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.490714057 meters Centerline goodness : 0.993599 Centerline is valid? [True, True] Translation: X:80.70, Y:46.78, Z:32.97 [[-2.63210629e-01 -9.55744763e-01 1.31423410e-01 8.07030567e+01] [ 7.85209031e-01 -2.91379205e-01 -5.46392658e-01 4.67781603e+01] [ 5.60505970e-01 -4.06215065e-02 8.27153523e-01 3.29748299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.520714057 meters Centerline goodness : 0.994344 Centerline is valid? [True, True] Translation: X:80.70, Y:46.78, Z:32.98 [[-2.67316149e-01 -9.54784079e-01 1.30113176e-01 8.07038732e+01] [ 7.84415227e-01 -2.94037958e-01 -5.46108442e-01 4.67819435e+01] [ 5.59673858e-01 -4.39208491e-02 8.27548265e-01 3.29760890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.550714057 meters Centerline goodness : 0.993884 Centerline is valid? [True, True] Translation: X:80.70, Y:46.80, Z:32.99 [[-2.80901581e-01 -9.51654443e-01 1.24290475e-01 8.06957306e+01] [ 7.75402018e-01 -3.01352227e-01 -5.54922108e-01 4.68016048e+01] [ 5.65549301e-01 -5.95034123e-02 8.22565093e-01 3.29939983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.580714057 meters Centerline goodness : 0.994206 Centerline is valid? [True, True] Translation: X:80.70, Y:46.78, Z:32.98 [[-2.74598122e-01 -9.52348983e-01 1.32767793e-01 8.07033108e+01] [ 7.77194779e-01 -3.01123674e-01 -5.52533083e-01 4.67816342e+01] [ 5.66183845e-01 -4.85381114e-02 8.22848653e-01 3.29832661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.610714057 meters Centerline goodness : 0.994964 Centerline is valid? [True, True] Translation: X:80.70, Y:46.79, Z:32.99 [[-2.76233185e-01 -9.50697668e-01 1.40958052e-01 8.06975108e+01] [ 7.76718364e-01 -3.07206867e-01 -5.49847728e-01 4.67884390e+01] [ 5.66042234e-01 -4.24014817e-02 8.23285068e-01 3.29928592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.640714057 meters Centerline goodness : 0.994891 Centerline is valid? [True, True] Translation: X:80.70, Y:46.79, Z:32.99 [[-2.77071328e-01 -9.51985570e-01 1.30211189e-01 8.07026798e+01] [ 7.76081952e-01 -3.01626244e-01 -5.53821644e-01 4.67861328e+01] [ 5.66505325e-01 -5.23935447e-02 8.22390803e-01 3.29867315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.670714057 meters Centerline goodness : 0.994819 Centerline is valid? [True, True] Translation: X:80.69, Y:46.80, Z:33.00 [[-2.86660950e-01 -9.48665722e-01 1.33636997e-01 8.06939486e+01] [ 7.74152248e-01 -3.11549312e-01 -5.51022071e-01 4.67957808e+01] [ 5.64370266e-01 -5.45011283e-02 8.23720724e-01 3.29953804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.700714057 meters Centerline goodness : 0.995474 Centerline is valid? [True, True] Translation: X:80.69, Y:46.76, Z:32.98 [[-2.68934513e-01 -9.45192690e-01 1.85162111e-01 8.06867377e+01] [ 7.92510275e-01 -3.26410076e-01 -5.15154274e-01 4.67600094e+01] [ 5.47358832e-01 8.20011165e-03 8.36857854e-01 3.29836584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.730714057 meters Centerline goodness : 0.995082 Centerline is valid? [True, True] Translation: X:80.71, Y:46.81, Z:32.98 [[-0.28510804 -0.95468881 0.0853386 80.71498771] [ 0.77615719 -0.28219487 -0.56386707 46.80781095] [ 0.5623997 -0.09452687 0.82144461 32.97579396] [ 0. 0. 0. 1. ]] SLAMing on 154.76071405699997 meters Centerline goodness : 0.994420 Centerline is valid? [True, True] Translation: X:80.69, Y:46.80, Z:33.00 [[-2.83717718e-01 -9.48010827e-01 1.44151756e-01 8.06898600e+01] [ 7.73528143e-01 -3.15111020e-01 -5.49872037e-01 4.67985709e+01] [ 5.66708451e-01 -4.45029991e-02 8.22715634e-01 3.30007408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.79071405699997 meters Centerline goodness : 0.994303 Centerline is valid? [True, True] Translation: X:80.69, Y:46.73, Z:32.96 [[-2.57087617e-01 -9.43592990e-01 2.08658159e-01 8.06871491e+01] [ 8.06616441e-01 -3.28437180e-01 -4.91425413e-01 4.67261251e+01] [ 5.32236672e-01 4.19677133e-02 8.45554750e-01 3.29598174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.82071405699998 meters Centerline goodness : 0.993397 Centerline is valid? [True, True] Translation: X:80.73, Y:46.78, Z:32.93 [[-2.56116088e-01 -9.63307578e-01 8.02686697e-02 8.07320807e+01] [ 8.07897851e-01 -2.58910081e-01 -5.29402147e-01 4.67831677e+01] [ 5.30759468e-01 -7.07395209e-02 8.44565159e-01 3.29312051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.85071405699998 meters Centerline goodness : 0.994855 Centerline is valid? [True, True] Translation: X:80.72, Y:46.81, Z:32.97 [[-2.78546897e-01 -9.57918673e-01 6.93068743e-02 8.07199091e+01] [ 7.79308038e-01 -2.67606190e-01 -5.66626781e-01 4.68062291e+01] [ 5.61329323e-01 -1.03820727e-01 8.21054595e-01 3.29667298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.88071405699998 meters Centerline goodness : 0.992131 Centerline is valid? [True, True] Translation: X:80.68, Y:46.76, Z:32.98 [[-2.56816966e-01 -9.47702987e-01 1.89483759e-01 8.06840994e+01] [ 8.04700512e-01 -3.18267178e-01 -5.01161740e-01 4.67589729e+01] [ 5.35258939e-01 2.37708400e-02 8.44353490e-01 3.29764277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.91071405699998 meters Centerline goodness : 0.992608 Centerline is valid? [True, True] Translation: X:80.71, Y:46.79, Z:32.96 [[-2.52949374e-01 -9.60132951e-01 1.19001385e-01 8.07086925e+01] [ 8.06473201e-01 -2.77198380e-01 -5.22266249e-01 4.67850138e+01] [ 5.34432026e-01 -3.61354931e-02 8.44438651e-01 3.29567143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.94071405699998 meters Centerline goodness : 0.992620 Centerline is valid? [True, True] Translation: X:80.71, Y:46.80, Z:32.96 [[-2.52777810e-01 -9.61567139e-01 1.07200823e-01 8.07105891e+01] [ 8.04720479e-01 -2.70461992e-01 -5.28465005e-01 4.67961901e+01] [ 5.37148331e-01 -4.73175296e-02 8.42159558e-01 3.29593326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.97071405699998 meters Centerline goodness : 0.990124 Centerline is valid? [True, True] Translation: X:80.70, Y:46.80, Z:32.97 [[-2.51672226e-01 -9.60234701e-01 1.20873528e-01 8.07024370e+01] [ 8.04634081e-01 -2.77001768e-01 -5.25199026e-01 4.67982852e+01] [ 5.37796511e-01 -3.49190480e-02 8.42351217e-01 3.29679332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.00071405699998 meters Centerline goodness : 0.991680 Centerline is valid? [True, True] Translation: X:80.70, Y:46.79, Z:32.97 [[-2.50951749e-01 -9.60724068e-01 1.18458791e-01 8.07029379e+01] [ 8.05042835e-01 -2.75090566e-01 -5.25577029e-01 4.67931733e+01] [ 5.37521397e-01 -3.65300740e-02 8.42458486e-01 3.29655109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.03071405699998 meters Centerline goodness : 0.992124 Centerline is valid? [True, True] Translation: X:80.70, Y:46.79, Z:32.97 [[-2.49263266e-01 -9.59531052e-01 1.31026654e-01 8.06982660e+01] [ 8.07566825e-01 -2.80621489e-01 -5.18736352e-01 4.67876092e+01] [ 5.34512532e-01 -2.34891380e-02 8.44834074e-01 3.29660230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.06071405699998 meters Centerline goodness : 0.992271 Centerline is valid? [True, True] Translation: X:80.71, Y:46.78, Z:32.95 [[-2.48675704e-01 -9.61773027e-01 1.14686700e-01 8.07077820e+01] [ 8.05760709e-01 -2.71124176e-01 -5.26537141e-01 4.67826779e+01] [ 5.37503557e-01 -3.85269575e-02 8.42380911e-01 3.29529055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.09071405699999 meters Centerline goodness : 0.991704 Centerline is valid? [True, True] Translation: X:80.70, Y:46.79, Z:32.97 [[-2.50396814e-01 -9.59660833e-01 1.27876974e-01 8.06992355e+01] [ 8.05365772e-01 -2.79775547e-01 -5.22600820e-01 4.67879488e+01] [ 5.37296388e-01 -2.78698428e-02 8.42932893e-01 3.29663406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.120714057 meters Centerline goodness : 0.992864 Centerline is valid? [True, True] Translation: X:80.70, Y:46.79, Z:32.96 [[-2.52044364e-01 -9.59617259e-01 1.24933403e-01 8.07022308e+01] [ 8.02960324e-01 -2.79439562e-01 -5.26467709e-01 4.67850108e+01] [ 5.40118835e-01 -3.23766531e-02 8.40965752e-01 3.29629604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.150714057 meters Centerline goodness : 0.992675 Centerline is valid? [True, True] Translation: X:80.70, Y:46.79, Z:32.97 [[-2.56989939e-01 -9.59176854e-01 1.18050555e-01 8.07038917e+01] [ 7.96890251e-01 -2.79429793e-01 -5.35616391e-01 4.67864938e+01] [ 5.46737687e-01 -4.35746867e-02 8.36169330e-01 3.29652713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.180714057 meters Centerline goodness : 0.991955 Centerline is valid? [True, True] Translation: X:80.70, Y:46.78, Z:32.97 [[-2.57782885e-01 -9.56850625e-01 1.34107663e-01 8.06999549e+01] [ 7.98338204e-01 -2.89117951e-01 -5.28267850e-01 4.67795886e+01] [ 5.44246356e-01 -2.91151399e-02 8.38420070e-01 3.29661304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.210714057 meters Centerline goodness : 0.991955 Centerline is valid? [True, True] Translation: X:80.70, Y:46.78, Z:32.97 [[-2.58164072e-01 -9.56550316e-01 1.35509426e-01 8.07000496e+01] [ 7.98216728e-01 -2.90209414e-01 -5.27852774e-01 4.67769849e+01] [ 5.44243849e-01 -2.81067309e-02 8.38456107e-01 3.29650936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.240714057 meters Centerline goodness : 0.992884 Centerline is valid? [True, True] Translation: X:80.70, Y:46.79, Z:32.97 [[-2.59592524e-01 -9.56865809e-01 1.30458979e-01 8.06982329e+01] [ 7.98319050e-01 -2.88642974e-01 -5.28556456e-01 4.67894320e+01] [ 5.43413669e-01 -3.30614159e-02 8.38813762e-01 3.29730994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.270714057 meters Centerline goodness : 0.992169 Centerline is valid? [True, True] Translation: X:80.70, Y:46.78, Z:32.97 [[-2.59462235e-01 -9.55401957e-01 1.41019319e-01 8.06971966e+01] [ 7.98876193e-01 -2.94376694e-01 -5.24537120e-01 4.67769212e+01] [ 5.42656593e-01 -2.34405966e-02 8.39627513e-01 3.29690109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.300714057 meters Centerline goodness : 0.992544 Centerline is valid? [True, True] Translation: X:80.71, Y:46.76, Z:32.95 [[-2.62130295e-01 -9.57116770e-01 1.23349898e-01 8.07085870e+01] [ 7.93910239e-01 -2.86546215e-01 -5.36281454e-01 4.67640778e+01] [ 5.48629420e-01 -4.26468690e-02 8.34977248e-01 3.29526178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.330714057 meters Centerline goodness : 0.993512 Centerline is valid? [True, True] Translation: X:80.70, Y:46.75, Z:32.95 [[-2.61901348e-01 -9.55171935e-01 1.38037165e-01 8.07048960e+01] [ 7.94560934e-01 -2.94590911e-01 -5.30932309e-01 4.67549815e+01] [ 5.47796135e-01 -2.93729489e-02 8.36096062e-01 3.29525847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.360714057 meters Centerline goodness : 0.992785 Centerline is valid? [True, True] Translation: X:80.69, Y:46.81, Z:32.99 [[-2.65637917e-01 -9.54811335e-01 1.33310962e-01 8.06899980e+01] [ 7.92622948e-01 -2.95015029e-01 -5.33586914e-01 4.68145990e+01] [ 5.48803570e-01 -3.60755890e-02 8.35172553e-01 3.29930290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.390714057 meters Centerline goodness : 0.994744 Centerline is valid? [True, True] Translation: X:80.70, Y:46.76, Z:32.96 [[-2.70863042e-01 -9.52804315e-01 1.37102697e-01 8.06979420e+01] [ 7.83065464e-01 -3.00929482e-01 -5.44288458e-01 4.67564194e+01] [ 5.59858635e-01 -4.00672399e-02 8.27618828e-01 3.29640109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.420714057 meters Centerline goodness : 0.992340 Centerline is valid? [True, True] Translation: X:80.70, Y:46.75, Z:32.96 [[-2.64484742e-01 -9.53197877e-01 1.46497879e-01 8.06998718e+01] [ 7.92034725e-01 -3.01362182e-01 -5.30906610e-01 4.67522194e+01] [ 5.50207974e-01 -2.43852908e-02 8.34671518e-01 3.29584706e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.450714057 meters Centerline goodness : 0.993460 Centerline is valid? [True, True] Translation: X:80.70, Y:46.74, Z:32.95 [[-2.63144680e-01 -9.53739933e-01 1.45378874e-01 8.07020252e+01] [ 7.89635593e-01 -2.99495881e-01 -5.35516431e-01 4.67386753e+01] [ 5.54283779e-01 -2.61219667e-02 8.31917745e-01 3.29514546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.480714057 meters Centerline goodness : 0.992648 Centerline is valid? [True, True] Translation: X:80.71, Y:46.74, Z:32.94 [[-2.63454875e-01 -9.56542476e-01 1.24972075e-01 8.07115588e+01] [ 7.92052139e-01 -2.88441201e-01 -5.38010300e-01 4.67395278e+01] [ 5.50676800e-01 -4.27570376e-02 8.33622755e-01 3.29403553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.51071405699997 meters Centerline goodness : 0.992505 Centerline is valid? [True, True] Translation: X:80.71, Y:46.72, Z:32.93 [[-2.62406047e-01 -9.54286877e-01 1.43107031e-01 8.07095022e+01] [ 7.93093433e-01 -2.97765008e-01 -5.31355632e-01 4.67155227e+01] [ 5.49677973e-01 -2.59336844e-02 8.34973994e-01 3.29341967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.54071405699997 meters Centerline goodness : 0.992031 Centerline is valid? [True, True] Translation: X:80.71, Y:46.70, Z:32.93 [[-2.59722863e-01 -9.54096707e-01 1.49142577e-01 8.07104404e+01] [ 7.95160203e-01 -2.98930662e-01 -5.27599005e-01 4.67047531e+01] [ 5.47963763e-01 -1.84372820e-02 8.36298859e-01 3.29258824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.57071405699998 meters Centerline goodness : 0.991346 Centerline is valid? [True, True] Translation: X:80.71, Y:46.74, Z:32.94 [[-2.65462279e-01 -9.56284929e-01 1.22674011e-01 8.07135183e+01] [ 7.92552904e-01 -2.88901262e-01 -5.37025096e-01 4.67363573e+01] [ 5.48989683e-01 -4.53342625e-02 8.34598786e-01 3.29353818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.60071405699998 meters Centerline goodness : 0.990804 Centerline is valid? [True, True] Translation: X:80.71, Y:46.72, Z:32.93 [[-2.66457527e-01 -9.53855136e-01 1.38422419e-01 8.07111618e+01] [ 7.91348586e-01 -2.98489292e-01 -5.33546209e-01 4.67207319e+01] [ 5.50243402e-01 -3.26270184e-02 8.34366632e-01 3.29338836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.63071405699998 meters Centerline goodness : 0.993164 Centerline is valid? [True, True] Translation: X:80.70, Y:46.74, Z:32.96 [[-2.76586545e-01 -9.50516115e-01 1.41488511e-01 8.06971029e+01] [ 7.82110016e-01 -3.08200393e-01 -5.41586964e-01 4.67429915e+01] [ 5.58393951e-01 -3.91360861e-02 8.28652256e-01 3.29576950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.66071405699998 meters Centerline goodness : 0.990254 Centerline is valid? [True, True] Translation: X:80.71, Y:46.73, Z:32.94 [[-2.68153578e-01 -9.53134911e-01 1.40098183e-01 8.07069239e+01] [ 7.89249202e-01 -3.00741163e-01 -5.35388130e-01 4.67317455e+01] [ 5.52430408e-01 -3.29938632e-02 8.32905787e-01 3.29431861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.69071405699998 meters Centerline goodness : 0.991878 Centerline is valid? [True, True] Translation: X:80.71, Y:46.70, Z:32.93 [[-2.65785350e-01 -9.53350843e-01 1.43109463e-01 8.07125258e+01] [ 7.89831931e-01 -3.00460594e-01 -5.34685844e-01 4.67044911e+01] [ 5.52741954e-01 -2.90792407e-02 8.32844961e-01 3.29251636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.72071405699998 meters Centerline goodness : 0.991085 Centerline is valid? [True, True] Translation: X:80.71, Y:46.72, Z:32.93 [[-2.70020622e-01 -9.53804549e-01 1.31703251e-01 8.07136733e+01] [ 7.86777832e-01 -2.97417849e-01 -5.40854200e-01 4.67212409e+01] [ 5.55040094e-01 -4.24205892e-02 8.30741228e-01 3.29300791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.75071405699998 meters Centerline goodness : 0.990833 Centerline is valid? [True, True] Translation: X:80.71, Y:46.72, Z:32.94 [[-2.71903502e-01 -9.50473901e-01 1.50558456e-01 8.07062534e+01] [ 7.85168577e-01 -3.09574498e-01 -5.36352437e-01 4.67171122e+01] [ 5.56398051e-01 -2.76223367e-02 8.30456630e-01 3.29383076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.78071405699998 meters Centerline goodness : 0.989792 Centerline is valid? [True, True] Translation: X:80.71, Y:46.73, Z:32.94 [[-2.75129589e-01 -9.52622555e-01 1.29668717e-01 8.07129370e+01] [ 7.81173539e-01 -3.00129131e-01 -5.47439866e-01 4.67288778e+01] [ 5.60420924e-01 -4.93231352e-02 8.26737937e-01 3.29374386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.81071405699998 meters Centerline goodness : 0.991796 Centerline is valid? [True, True] Translation: X:80.71, Y:46.72, Z:32.94 [[-2.76574202e-01 -9.49753879e-01 1.46541055e-01 8.07083687e+01] [ 7.79313937e-01 -3.10888468e-01 -5.44075499e-01 4.67154643e+01] [ 5.62295740e-01 -3.62757608e-02 8.26140164e-01 3.29371258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.84071405699999 meters Centerline goodness : 0.990815 Centerline is valid? [True, True] Translation: X:80.71, Y:46.71, Z:32.93 [[-2.80011329e-01 -9.49389359e-01 1.42314797e-01 8.07104831e+01] [ 7.77630549e-01 -3.11240930e-01 -5.46278145e-01 4.67137549e+01] [ 5.62924848e-01 -4.22957362e-02 8.25425155e-01 3.29347137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.870714057 meters Centerline goodness : 0.991494 Centerline is valid? [True, True] Translation: X:80.71, Y:46.71, Z:32.94 [[-2.80852096e-01 -9.48026325e-01 1.49559977e-01 8.07082810e+01] [ 7.78996884e-01 -3.16198137e-01 -5.41463381e-01 4.67113859e+01] [ 5.60612125e-01 -3.55643693e-02 8.27314463e-01 3.29362352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.900714057 meters Centerline goodness : 0.989985 Centerline is valid? [True, True] Translation: X:80.71, Y:46.71, Z:32.93 [[-2.82956570e-01 -9.48373856e-01 1.43257141e-01 8.07116813e+01] [ 7.78993620e-01 -3.14372508e-01 -5.42530059e-01 4.67111769e+01] [ 5.59557431e-01 -4.19160461e-02 8.27730950e-01 3.29331500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.930714057 meters Centerline goodness : 0.990840 Centerline is valid? [True, True] Translation: X:80.71, Y:46.73, Z:32.95 [[-2.85968048e-01 -9.47694384e-01 1.41766109e-01 8.07075405e+01] [ 7.76765082e-01 -3.15892445e-01 -5.44837564e-01 4.67293408e+01] [ 5.61122342e-01 -4.56871717e-02 8.26471052e-01 3.29468322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.960714057 meters Centerline goodness : 0.991353 Centerline is valid? [True, True] Translation: X:80.71, Y:46.71, Z:32.94 [[-2.86413702e-01 -9.46254625e-01 1.50231078e-01 8.07093989e+01] [ 7.77162881e-01 -3.21153031e-01 -5.41182583e-01 4.67100796e+01] [ 5.60343688e-01 -3.82480895e-02 8.27376598e-01 3.29374094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.990714057 meters Centerline goodness : 0.991439 Centerline is valid? [True, True] Translation: X:80.70, Y:46.73, Z:32.95 [[-2.88605282e-01 -9.46326505e-01 1.45509923e-01 8.07046025e+01] [ 7.75004895e-01 -3.20136892e-01 -5.44866758e-01 4.67340089e+01] [ 5.62204949e-01 -4.44805221e-02 8.25800871e-01 3.29536531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.020714057 meters Centerline goodness : 0.989614 Centerline is valid? [True, True] Translation: X:80.71, Y:46.73, Z:32.95 [[-2.89190452e-01 -9.46407551e-01 1.43811092e-01 8.07062571e+01] [ 7.74851842e-01 -3.19641117e-01 -5.45375264e-01 4.67312960e+01] [ 5.62115206e-01 -4.62850298e-02 8.25762794e-01 3.29516169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.050714057 meters Centerline goodness : 0.990379 Centerline is valid? [True, True] Translation: X:80.71, Y:46.71, Z:32.94 [[-2.90139367e-01 -9.45295542e-01 1.49115681e-01 8.07093369e+01] [ 7.74756940e-01 -3.23488950e-01 -5.43237134e-01 4.67142089e+01] [ 5.61756916e-01 -4.20860697e-02 8.26231160e-01 3.29428595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.080714057 meters Centerline goodness : 0.990836 Centerline is valid? [True, True] Translation: X:80.71, Y:46.71, Z:32.94 [[-2.91189706e-01 -9.45357214e-01 1.46657061e-01 8.07117272e+01] [ 7.74650877e-01 -3.22955803e-01 -5.43705405e-01 4.67140728e+01] [ 5.61359576e-01 -4.47133964e-02 8.26363200e-01 3.29413230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.110714057 meters Centerline goodness : 0.990807 Centerline is valid? [True, True] Translation: X:80.71, Y:46.71, Z:32.94 [[-2.91626007e-01 -9.45278453e-01 1.46297360e-01 8.07128417e+01] [ 7.73590892e-01 -3.23032562e-01 -5.45167035e-01 4.67120060e+01] [ 5.62593463e-01 -4.58105808e-02 8.25463498e-01 3.29404930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.140714057 meters Centerline goodness : 0.990306 Centerline is valid? [True, True] Translation: X:80.71, Y:46.71, Z:32.94 [[-2.91848888e-01 -9.44841032e-01 1.48659515e-01 8.07123869e+01] [ 7.73387130e-01 -3.24566673e-01 -5.44544601e-01 4.67113106e+01] [ 5.62758007e-01 -4.39533803e-02 8.25452316e-01 3.29417382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.170714057 meters Centerline goodness : 0.991503 Centerline is valid? [True, True] Translation: X:80.72, Y:46.70, Z:32.93 [[-2.92001887e-01 -9.45016401e-01 1.47237561e-01 8.07160801e+01] [ 7.71094247e-01 -3.23689726e-01 -5.48305229e-01 4.66989865e+01] [ 5.65816720e-01 -4.65721257e-02 8.23214721e-01 3.29343045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.200714057 meters Centerline goodness : 0.990197 Centerline is valid? [True, True] Translation: X:80.72, Y:46.69, Z:32.93 [[-2.91144392e-01 -9.44817458e-01 1.50182933e-01 8.07174779e+01] [ 7.70324076e-01 -3.24615092e-01 -5.48840468e-01 4.66911174e+01] [ 5.67305703e-01 -4.41022953e-02 8.22325500e-01 3.29309958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.230714057 meters Centerline goodness : 0.991134 Centerline is valid? [True, True] Translation: X:80.71, Y:46.71, Z:32.95 [[-2.89741266e-01 -9.43497708e-01 1.60816894e-01 8.07087845e+01] [ 7.69958458e-01 -3.29579379e-01 -5.46389426e-01 4.67066900e+01] [ 5.68519104e-01 -3.44892366e-02 8.21946788e-01 3.29482841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.26071405699997 meters Centerline goodness : 0.992179 Centerline is valid? [True, True] Translation: X:80.72, Y:46.71, Z:32.94 [[-2.90275555e-01 -9.46355377e-01 1.41956343e-01 8.07176894e+01] [ 7.72579720e-01 -3.19293828e-01 -5.48791424e-01 4.67104119e+01] [ 5.64677499e-01 -4.96281435e-02 8.23818165e-01 3.29383385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.29071405699997 meters Centerline goodness : 0.992200 Centerline is valid? [True, True] Translation: X:80.72, Y:46.69, Z:32.93 [[-2.88841523e-01 -9.46310908e-01 1.45142139e-01 8.07210950e+01] [ 7.69389387e-01 -3.19663707e-01 -5.53041667e-01 4.66923111e+01] [ 5.69746036e-01 -4.80705762e-02 8.20413721e-01 3.29295854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.32071405699998 meters Centerline goodness : 0.992646 Centerline is valid? [True, True] Translation: X:80.71, Y:46.69, Z:32.94 [[-2.86759605e-01 -9.44404522e-01 1.60838518e-01 8.07127296e+01] [ 7.67498388e-01 -3.26951919e-01 -5.51406081e-01 4.66906229e+01] [ 5.73336858e-01 -3.46776868e-02 8.18585551e-01 3.29370191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.35071405699998 meters Centerline goodness : 0.993201 Centerline is valid? [True, True] Translation: X:80.71, Y:46.71, Z:32.94 [[-2.86361533e-01 -9.46336234e-01 1.49815905e-01 8.07132493e+01] [ 7.69507171e-01 -3.20319794e-01 -5.52497912e-01 4.67073988e+01] [ 5.70837793e-01 -4.29297358e-02 8.19939785e-01 3.29408877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.38071405699998 meters Centerline goodness : 0.992703 Centerline is valid? [True, True] Translation: X:80.72, Y:46.70, Z:32.93 [[-2.85808863e-01 -9.47038431e-01 1.46395029e-01 8.07191635e+01] [ 7.73329737e-01 -3.18156914e-01 -5.48395201e-01 4.66964408e+01] [ 5.65927921e-01 -4.35245795e-02 8.23305046e-01 3.29284076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.41071405699998 meters Centerline goodness : 0.992286 Centerline is valid? [True, True] Translation: X:80.72, Y:46.69, Z:32.93 [[-2.86160977e-01 -9.46329165e-01 1.50243159e-01 8.07190765e+01] [ 7.72388024e-01 -3.20612025e-01 -5.48292504e-01 4.66913988e+01] [ 5.67034951e-01 -4.08539016e-02 8.22679964e-01 3.29277720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.44071405699998 meters Centerline goodness : 0.992984 Centerline is valid? [True, True] Translation: X:80.72, Y:46.68, Z:32.92 [[-2.84195735e-01 -9.45865136e-01 1.56754357e-01 8.07192727e+01] [ 7.69633407e-01 -3.22562459e-01 -5.51015317e-01 4.66771859e+01] [ 5.71749248e-01 -3.59528131e-02 8.19640282e-01 3.29247334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.47071405699998 meters Centerline goodness : 0.992602 Centerline is valid? [True, True] Translation: X:80.72, Y:46.68, Z:32.91 [[-2.82930529e-01 -9.47288852e-01 1.50313495e-01 8.07237809e+01] [ 7.76930630e-01 -3.18247187e-01 -5.43228796e-01 4.66767651e+01] [ 5.62431429e-01 -3.69128522e-02 8.26019569e-01 3.29148318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.50071405699998 meters Centerline goodness : 0.993468 Centerline is valid? [True, True] Translation: X:80.72, Y:46.68, Z:32.92 [[-2.81395507e-01 -9.46646983e-01 1.57086148e-01 8.07212025e+01] [ 7.78295967e-01 -3.20909353e-01 -5.39696743e-01 4.66770682e+01] [ 5.61312708e-01 -2.96087231e-02 8.27073979e-01 3.29179934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.53071405699998 meters Centerline goodness : 0.993330 Centerline is valid? [True, True] Translation: X:80.72, Y:46.70, Z:32.92 [[-2.90463597e-01 -9.47122137e-01 1.36347191e-01 8.07219589e+01] [ 7.74043868e-01 -3.16337111e-01 -5.48440447e-01 4.66968941e+01] [ 5.62571764e-01 -5.37632776e-02 8.24998497e-01 3.29225008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.56071405699998 meters Centerline goodness : 0.991930 Centerline is valid? [True, True] Translation: X:80.73, Y:46.69, Z:32.92 [[-2.83977937e-01 -9.48573341e-01 1.39875473e-01 8.07276989e+01] [ 7.76477032e-01 -3.13095932e-01 -5.46858626e-01 4.66867272e+01] [ 5.62529955e-01 -4.66856925e-02 8.25457749e-01 3.29189620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.59071405699999 meters Centerline goodness : 0.992773 Centerline is valid? [True, True] Translation: X:80.72, Y:46.68, Z:32.92 [[-2.82883396e-01 -9.47055261e-01 1.51866116e-01 8.07236303e+01] [ 7.77071920e-01 -3.19106485e-01 -5.42522149e-01 4.66837941e+01] [ 5.62259918e-01 -3.54596130e-02 8.26199976e-01 3.29229440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.620714057 meters Centerline goodness : 0.992933 Centerline is valid? [True, True] Translation: X:80.72, Y:46.68, Z:32.92 [[-2.81794997e-01 -9.46364049e-01 1.58071712e-01 8.07222634e+01] [ 7.75801803e-01 -3.21675350e-01 -5.42822744e-01 4.66778574e+01] [ 5.64555703e-01 -3.03324142e-02 8.24837440e-01 3.29230088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.650714057 meters Centerline goodness : 0.992992 Centerline is valid? [True, True] Translation: X:80.72, Y:46.68, Z:32.92 [[-2.77384921e-01 -9.46782125e-01 1.63282615e-01 8.07205488e+01] [ 7.83079238e-01 -3.21262502e-01 -5.32519776e-01 4.66798438e+01] [ 5.56636787e-01 -1.98497309e-02 8.30518799e-01 3.29211120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.680714057 meters Centerline goodness : 0.993263 Centerline is valid? [True, True] Translation: X:80.73, Y:46.67, Z:32.90 [[-2.75418032e-01 -9.50125716e-01 1.46307999e-01 8.07324078e+01] [ 7.87255476e-01 -3.10263711e-01 -5.32883895e-01 4.66680701e+01] [ 5.51700755e-01 -3.15840599e-02 8.33443894e-01 3.29002919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.710714057 meters Centerline goodness : 0.993132 Centerline is valid? [True, True] Translation: X:80.74, Y:46.67, Z:32.89 [[-2.75348017e-01 -9.52874325e-01 1.27334168e-01 8.07408602e+01] [ 7.85609394e-01 -2.99372255e-01 -5.41474037e-01 4.66713067e+01] [ 5.54077024e-01 -4.90588837e-02 8.31018578e-01 3.28931181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.740714057 meters Centerline goodness : 0.993339 Centerline is valid? [True, True] Translation: X:80.73, Y:46.69, Z:32.92 [[-2.78222648e-01 -9.51443623e-01 1.31708733e-01 8.07319525e+01] [ 7.77416628e-01 -3.03590373e-01 -5.50868652e-01 4.66932412e+01] [ 5.64105970e-01 -5.08715762e-02 8.24133810e-01 3.29153506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.770714057 meters Centerline goodness : 0.992639 Centerline is valid? [True, True] Translation: X:80.73, Y:46.66, Z:32.90 [[-2.71781996e-01 -9.48073864e-01 1.65198353e-01 8.07265291e+01] [ 7.83811611e-01 -3.17670486e-01 -5.33596121e-01 4.66583325e+01] [ 5.58367177e-01 -1.55374321e-02 8.29448421e-01 3.29036798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.800714057 meters Centerline goodness : 0.992412 Centerline is valid? [True, True] Translation: X:80.74, Y:46.67, Z:32.90 [[-2.73162362e-01 -9.52727436e-01 1.33014124e-01 8.07371974e+01] [ 7.81862585e-01 -3.00441509e-01 -5.46283625e-01 4.66721145e+01] [ 5.60422361e-01 -4.52253583e-02 8.26971247e-01 3.28975622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.830714057 meters Centerline goodness : 0.992379 Centerline is valid? [True, True] Translation: X:80.73, Y:46.67, Z:32.90 [[-2.71168854e-01 -9.50670863e-01 1.50639846e-01 8.07304915e+01] [ 7.84440314e-01 -3.08965955e-01 -5.37767079e-01 4.66660926e+01] [ 5.57782077e-01 -2.76577143e-02 8.29526494e-01 3.29007597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.860714057 meters Centerline goodness : 0.991938 Centerline is valid? [True, True] Translation: X:80.73, Y:46.66, Z:32.89 [[-2.67481479e-01 -9.51764336e-01 1.50327337e-01 8.07328984e+01] [ 7.90009177e-01 -3.05939884e-01 -5.31306209e-01 4.66592659e+01] [ 5.51669428e-01 -2.33545947e-02 8.33735812e-01 3.28933081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.890714057 meters Centerline goodness : 0.992542 Centerline is valid? [True, True] Translation: X:80.74, Y:46.66, Z:32.89 [[-2.68037652e-01 -9.54761719e-01 1.28786171e-01 8.07417887e+01] [ 7.89426983e-01 -2.94286613e-01 -5.38702541e-01 4.66639748e+01] [ 5.52232610e-01 -4.27252856e-02 8.32594556e-01 3.28853023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.920714057 meters Centerline goodness : 0.992583 Centerline is valid? [True, True] Translation: X:80.73, Y:46.66, Z:32.89 [[-2.64651113e-01 -9.52107667e-01 1.53136470e-01 8.07327281e+01] [ 7.94594083e-01 -3.05278233e-01 -5.24809912e-01 4.66578920e+01] [ 5.46424772e-01 -1.72101942e-02 8.37331343e-01 3.28898429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.950714057 meters Centerline goodness : 0.992549 Centerline is valid? [True, True] Translation: X:80.74, Y:46.65, Z:32.87 [[-2.62813008e-01 -9.55131687e-01 1.36575194e-01 8.07428516e+01] [ 7.97902625e-01 -2.94736843e-01 -5.25815172e-01 4.66515382e+01] [ 5.42476474e-01 -2.92173611e-02 8.39562756e-01 3.28734590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.980714057 meters Centerline goodness : 0.993916 Centerline is valid? [True, True] Translation: X:80.75, Y:46.66, Z:32.87 [[-2.67522282e-01 -9.56840993e-01 1.13521549e-01 8.07500977e+01] [ 7.92067271e-01 -2.85469138e-01 -5.39570950e-01 4.66578419e+01] [ 5.48690502e-01 -5.44305485e-02 8.34251790e-01 3.28704620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.01071405699997 meters Centerline goodness : 0.991893 Centerline is valid? [True, True] Translation: X:80.73, Y:46.65, Z:32.88 [[-2.63963791e-01 -9.52583587e-01 1.51352655e-01 8.07345233e+01] [ 8.00797865e-01 -3.03905586e-01 -5.16104810e-01 4.66520415e+01] [ 5.37629888e-01 -1.50300994e-02 8.43046973e-01 3.28805679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.04071405699997 meters Centerline goodness : 0.988986 Centerline is valid? [True, True] Translation: X:80.57, Y:47.28, Z:33.32 [[-0.29473254 -0.94955001 0.10717979 80.56968244] [ 0.76176419 -0.30118847 -0.57358593 47.28017797] [ 0.57692984 -0.08740872 0.81210324 33.31690155] [ 0. 0. 0. 1. ]] SLAMing on 157.07071405699998 meters Centerline goodness : 0.993566 Centerline is valid? [True, True] Translation: X:80.72, Y:46.66, Z:32.91 [[-2.79973351e-01 -9.42971744e-01 1.80053360e-01 8.07198685e+01] [ 7.70630453e-01 -3.32601349e-01 -5.43603759e-01 4.66624350e+01] [ 5.72488976e-01 -1.34399634e-02 8.19802257e-01 3.29078725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.10071405699998 meters Centerline goodness : 0.993566 Centerline is valid? [True, True] Translation: X:80.73, Y:46.67, Z:32.90 [[-2.80520950e-01 -9.48302138e-01 1.48428606e-01 8.07319536e+01] [ 7.71546908e-01 -3.14765838e-01 -5.52845219e-01 4.66720161e+01] [ 5.70984558e-01 -4.05650342e-02 8.19957994e-01 3.28964185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.13071405699998 meters Centerline goodness : 0.994115 Centerline is valid? [True, True] Translation: X:80.73, Y:46.68, Z:32.91 [[-2.82925554e-01 -9.46405423e-01 1.55788016e-01 8.07253767e+01] [ 7.73014176e-01 -3.21148110e-01 -5.47095033e-01 4.66833857e+01] [ 5.67804733e-01 -3.43608204e-02 8.22445815e-01 3.29059865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.16071405699998 meters Centerline goodness : 0.993627 Centerline is valid? [True, True] Translation: X:80.73, Y:46.67, Z:32.89 [[-2.86848391e-01 -9.47586550e-01 1.40704408e-01 8.07347056e+01] [ 7.69163437e-01 -3.15368467e-01 -5.55815021e-01 4.66720255e+01] [ 5.71056572e-01 -5.12099587e-02 8.19311865e-01 3.28923498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.19071405699998 meters Centerline goodness : 0.994389 Centerline is valid? [True, True] Translation: X:80.73, Y:46.68, Z:32.90 [[-2.88636574e-01 -9.45529157e-01 1.50544149e-01 8.07277873e+01] [ 7.68581210e-01 -3.22583141e-01 -5.52469946e-01 4.66790864e+01] [ 5.70939447e-01 -4.37576284e-02 8.19825236e-01 3.29025833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.22071405699998 meters Centerline goodness : 0.993341 Centerline is valid? [True, True] Translation: X:80.72, Y:46.67, Z:32.90 [[-2.85501563e-01 -9.42825430e-01 1.71956580e-01 8.07222125e+01] [ 7.76855620e-01 -3.32742760e-01 -5.34581706e-01 4.66654279e+01] [ 5.61234534e-01 -1.90384768e-02 8.27437813e-01 3.28973883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.25071405699998 meters Centerline goodness : 0.992239 Centerline is valid? [True, True] Translation: X:80.74, Y:46.69, Z:32.89 [[-2.91919282e-01 -9.49577896e-01 1.14389480e-01 8.07413263e+01] [ 7.69648220e-01 -3.04224804e-01 -5.61327789e-01 4.66912173e+01] [ 5.67824578e-01 -7.58227456e-02 8.19650023e-01 3.28885860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.28071405699998 meters Centerline goodness : 0.992787 Centerline is valid? [True, True] Translation: X:80.73, Y:46.65, Z:32.88 [[-2.87673676e-01 -9.44087604e-01 1.61066610e-01 8.07297946e+01] [ 7.77054688e-01 -3.28388632e-01 -5.36979440e-01 4.66527877e+01] [ 5.59848076e-01 -2.93172854e-02 8.28076463e-01 3.28819401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.31071405699998 meters Centerline goodness : 0.992901 Centerline is valid? [True, True] Translation: X:80.73, Y:46.67, Z:32.88 [[-2.86922032e-01 -9.47339833e-01 1.42207552e-01 8.07327668e+01] [ 7.77984266e-01 -3.17052907e-01 -5.42418598e-01 4.66660500e+01] [ 5.58942062e-01 -4.49966088e-02 8.27984949e-01 3.28825295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.34071405699999 meters Centerline goodness : 0.993380 Centerline is valid? [True, True] Translation: X:80.74, Y:46.66, Z:32.87 [[-2.86506889e-01 -9.48029660e-01 1.38396411e-01 8.07367791e+01] [ 7.77830928e-01 -3.14503044e-01 -5.44120283e-01 4.66562669e+01] [ 5.59368260e-01 -4.82452011e-02 8.27514079e-01 3.28743332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.370714057 meters Centerline goodness : 0.993045 Centerline is valid? [True, True] Translation: X:80.73, Y:46.66, Z:32.89 [[-2.84148500e-01 -9.45542320e-01 1.58774530e-01 8.07263702e+01] [ 7.76867782e-01 -3.24109251e-01 -5.39842239e-01 4.66559458e+01] [ 5.61903977e-01 -3.00485453e-02 8.26656522e-01 3.28857115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.400714057 meters Centerline goodness : 0.992712 Centerline is valid? [True, True] Translation: X:80.74, Y:46.66, Z:32.87 [[-2.82035159e-01 -9.50534759e-01 1.30153141e-01 8.07371795e+01] [ 7.81718248e-01 -3.06325482e-01 -5.43213843e-01 4.66553242e+01] [ 5.56212863e-01 -5.14623171e-02 8.29444923e-01 3.28691822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.430714057 meters Centerline goodness : 0.992662 Centerline is valid? [True, True] Translation: X:80.73, Y:46.65, Z:32.87 [[-2.81120538e-01 -9.49853822e-01 1.36926844e-01 8.07332106e+01] [ 7.80644854e-01 -3.09325918e-01 -5.43057168e-01 4.66522587e+01] [ 5.58179949e-01 -4.57732869e-02 8.28456367e-01 3.28719913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.460714057 meters Centerline goodness : 0.992515 Centerline is valid? [True, True] Translation: X:80.72, Y:46.67, Z:32.90 [[-2.89126253e-01 -9.47911040e-01 1.33681223e-01 8.07227468e+01] [ 7.64606835e-01 -3.12693103e-01 -5.63559590e-01 4.66691468e+01] [ 5.76005554e-01 -6.07262953e-02 8.15187045e-01 3.28969640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.490714057 meters Centerline goodness : 0.992208 Centerline is valid? [True, True] Translation: X:80.71, Y:46.65, Z:32.90 [[-2.77658108e-01 -9.42090439e-01 1.88073334e-01 8.07066374e+01] [ 7.85193125e-01 -3.35344336e-01 -5.20591907e-01 4.66500392e+01] [ 5.53513985e-01 3.12732455e-03 8.32834010e-01 3.28996839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.520714057 meters Centerline goodness : 0.992346 Centerline is valid? [True, True] Translation: X:80.71, Y:46.69, Z:32.91 [[-2.78352490e-01 -9.49181216e-01 1.46884006e-01 8.07118464e+01] [ 7.80505066e-01 -3.12659622e-01 -5.41346287e-01 4.66945121e+01] [ 5.59760425e-01 -3.60413762e-02 8.27870332e-01 3.29104319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.550714057 meters Centerline goodness : 0.991639 Centerline is valid? [True, True] Translation: X:80.71, Y:46.69, Z:32.90 [[-2.76037988e-01 -9.49949201e-01 1.46285834e-01 8.07148292e+01] [ 7.89338646e-01 -3.10895089e-01 -5.29423030e-01 4.66876853e+01] [ 5.48404531e-01 -3.06718062e-02 8.35650471e-01 3.28994368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.580714057 meters Centerline goodness : 0.991770 Centerline is valid? [True, True] Translation: X:80.72, Y:46.68, Z:32.89 [[-2.77944374e-01 -9.51491513e-01 1.31950089e-01 8.07233767e+01] [ 7.80888467e-01 -3.03801314e-01 -5.45818619e-01 4.66847306e+01] [ 5.59428394e-01 -4.86689116e-02 8.27448614e-01 3.28920031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.610714057 meters Centerline goodness : 0.991880 Centerline is valid? [True, True] Translation: X:80.72, Y:46.65, Z:32.88 [[-2.76711552e-01 -9.48658644e-01 1.53223672e-01 8.07238958e+01] [ 7.85253077e-01 -3.15133256e-01 -5.32980897e-01 4.66490839e+01] [ 5.53902810e-01 -2.71626114e-02 8.32138132e-01 3.28755853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.640714057 meters Centerline goodness : 0.990694 Centerline is valid? [True, True] Translation: X:80.73, Y:46.65, Z:32.87 [[-2.76986189e-01 -9.50119056e-01 1.43361189e-01 8.07283806e+01] [ 7.84405356e-01 -3.09757387e-01 -5.37362633e-01 4.66477430e+01] [ 5.54965665e-01 -3.63887433e-02 8.31076994e-01 3.28694858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.670714057 meters Centerline goodness : 0.991334 Centerline is valid? [True, True] Translation: X:80.73, Y:46.65, Z:32.87 [[-2.77302639e-01 -9.50150970e-01 1.42535539e-01 8.07283099e+01] [ 7.84096353e-01 -3.09537694e-01 -5.37939890e-01 4.66476726e+01] [ 5.55244230e-01 -3.74105546e-02 8.30845530e-01 3.28683871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.700714057 meters Centerline goodness : 0.990920 Centerline is valid? [True, True] Translation: X:80.73, Y:46.66, Z:32.88 [[-2.79224781e-01 -9.49313183e-01 1.44353743e-01 8.07250418e+01] [ 7.80517008e-01 -3.11953290e-01 -5.41736416e-01 4.66555143e+01] [ 5.59309147e-01 -3.85956802e-02 8.28060174e-01 3.28765272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.730714057 meters Centerline goodness : 0.990736 Centerline is valid? [True, True] Translation: X:80.73, Y:46.65, Z:32.87 [[-2.81461468e-01 -9.48856359e-01 1.43007174e-01 8.07266920e+01] [ 7.76098115e-01 -3.12746851e-01 -5.47595766e-01 4.66454535e+01] [ 5.64314768e-01 -4.31395098e-02 8.24431820e-01 3.28729378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.76071405699997 meters Centerline goodness : 0.990531 Centerline is valid? [True, True] Translation: X:80.71, Y:46.67, Z:32.90 [[-2.85326797e-01 -9.45787028e-01 1.55162873e-01 8.07133794e+01] [ 7.73790704e-01 -3.22848401e-01 -5.44992528e-01 4.66672000e+01] [ 5.65540949e-01 -3.54373837e-02 8.23958510e-01 3.28970654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.79071405699997 meters Centerline goodness : 0.990861 Centerline is valid? [True, True] Translation: X:80.71, Y:46.65, Z:32.89 [[-2.84404532e-01 -9.44668321e-01 1.63449766e-01 8.07147626e+01] [ 7.76363349e-01 -3.26966775e-01 -5.38843835e-01 4.66501113e+01] [ 5.62471344e-01 -2.63532208e-02 8.26396694e-01 3.28873789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.82071405699998 meters Centerline goodness : 0.992005 Centerline is valid? [True, True] Translation: X:80.72, Y:46.62, Z:32.87 [[-2.83916762e-01 -9.44436870e-01 1.65620863e-01 8.07216720e+01] [ 7.74733903e-01 -3.27724748e-01 -5.40725317e-01 4.66236788e+01] [ 5.64958982e-01 -2.52088832e-02 8.24733812e-01 3.28696812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.85071405699998 meters Centerline goodness : 0.990484 Centerline is valid? [True, True] Translation: X:80.73, Y:46.64, Z:32.86 [[-2.92167457e-01 -9.47226686e-01 1.31908233e-01 8.07338586e+01] [ 7.72702752e-01 -3.15074445e-01 -5.51052222e-01 4.66383301e+01] [ 5.63532283e-01 -5.90736710e-02 8.23979167e-01 3.28625211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.88071405699998 meters Centerline goodness : 0.991605 Centerline is valid? [True, True] Translation: X:80.72, Y:46.63, Z:32.87 [[-2.93222819e-01 -9.42744273e-01 1.58913858e-01 8.07224249e+01] [ 7.72126623e-01 -3.31539236e-01 -5.42127489e-01 4.66318752e+01] [ 5.63773764e-01 -3.62625298e-02 8.25132821e-01 3.28724465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.91071405699998 meters Centerline goodness : 0.991466 Centerline is valid? [True, True] Translation: X:80.73, Y:46.61, Z:32.85 [[-2.92588420e-01 -9.41950044e-01 1.64687981e-01 8.07290297e+01] [ 7.76343437e-01 -3.34545838e-01 -5.34200290e-01 4.66051450e+01] [ 5.58285665e-01 -2.84463858e-02 8.29160973e-01 3.28524244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.94071405699998 meters Centerline goodness : 0.991666 Centerline is valid? [True, True] Translation: X:80.73, Y:46.63, Z:32.87 [[-3.01143970e-01 -9.42572933e-01 1.44459594e-01 8.07288116e+01] [ 7.66732710e-01 -3.29412331e-01 -5.51006776e-01 4.66319076e+01] [ 5.66950845e-01 -5.51704722e-02 8.21902037e-01 3.28664235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.97071405699998 meters Centerline goodness : 0.991560 Centerline is valid? [True, True] Translation: X:80.73, Y:46.64, Z:32.87 [[-3.05932776e-01 -9.40324540e-01 1.48979516e-01 8.07256672e+01] [ 7.66710432e-01 -3.36107986e-01 -5.46979465e-01 4.66371267e+01] [ 5.64411419e-01 -5.31147971e-02 8.23783084e-01 3.28731748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.00071405699998 meters Centerline goodness : 0.991791 Centerline is valid? [True, True] Translation: X:80.72, Y:46.63, Z:32.87 [[-3.06275067e-01 -9.38444603e-01 1.59741388e-01 8.07237566e+01] [ 7.66539167e-01 -3.42627723e-01 -5.43161070e-01 4.66283191e+01] [ 5.64458403e-01 -4.39086626e-02 8.24292873e-01 3.28725548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.03071405699998 meters Centerline goodness : 0.991888 Centerline is valid? [True, True] Translation: X:80.72, Y:46.64, Z:32.88 [[-3.07574149e-01 -9.37418184e-01 1.63233856e-01 8.07198869e+01] [ 7.65435240e-01 -3.45662776e-01 -5.42794747e-01 4.66390109e+01] [ 5.65249534e-01 -4.20046871e-02 8.23849847e-01 3.28815606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.06071405699998 meters Centerline goodness : 0.991623 Centerline is valid? [True, True] Translation: X:80.72, Y:46.63, Z:32.88 [[-3.08217850e-01 -9.37486030e-01 1.61622091e-01 8.07234226e+01] [ 7.63776471e-01 -3.45143457e-01 -5.45455311e-01 4.66320534e+01] [ 5.67139541e-01 -4.46759125e-02 8.22409146e-01 3.28752575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.09071405699999 meters Centerline goodness : 0.991741 Centerline is valid? [True, True] Translation: X:80.72, Y:46.63, Z:32.87 [[-3.08801921e-01 -9.36688944e-01 1.65091476e-01 8.07240738e+01] [ 7.62587324e-01 -3.47564029e-01 -5.45582092e-01 4.66268605e+01] [ 5.68420572e-01 -4.25801315e-02 8.21635555e-01 3.28728129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.120714057 meters Centerline goodness : 0.992814 Centerline is valid? [True, True] Translation: X:80.72, Y:46.63, Z:32.87 [[-3.06656400e-01 -9.36228190e-01 1.71576887e-01 8.07214572e+01] [ 7.61994014e-01 -3.49497969e-01 -5.45175470e-01 4.66263940e+01] [ 5.70374417e-01 -3.64409857e-02 8.20576065e-01 3.28742826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.150714057 meters Centerline goodness : 0.992024 Centerline is valid? [True, True] Translation: X:80.73, Y:46.64, Z:32.87 [[-3.07944164e-01 -9.38926461e-01 1.53582202e-01 8.07265306e+01] [ 7.62412571e-01 -3.40099849e-01 -5.50508096e-01 4.66393825e+01] [ 5.69119902e-01 -5.24327539e-02 8.20581101e-01 3.28735454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.180714057 meters Centerline goodness : 0.992146 Centerline is valid? [True, True] Translation: X:80.72, Y:46.65, Z:32.88 [[-3.07684010e-01 -9.37117437e-01 1.64746654e-01 8.07192928e+01] [ 7.61965170e-01 -3.46375633e-01 -5.47204716e-01 4.66456040e+01] [ 5.69859307e-01 -4.28349293e-02 8.20625090e-01 3.28832954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.210714057 meters Centerline goodness : 0.991639 Centerline is valid? [True, True] Translation: X:80.73, Y:46.62, Z:32.87 [[-3.08537136e-01 -9.37588658e-01 1.60413041e-01 8.07278730e+01] [ 7.58862314e-01 -3.44301368e-01 -5.52797030e-01 4.66241561e+01] [ 5.73526655e-01 -4.88270007e-02 8.17730457e-01 3.28656473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.240714057 meters Centerline goodness : 0.991303 Centerline is valid? [True, True] Translation: X:80.72, Y:46.61, Z:32.87 [[-3.05905942e-01 -9.34718643e-01 1.80893927e-01 8.07227036e+01] [ 7.63749682e-01 -3.54369671e-01 -5.39544770e-01 4.66084278e+01] [ 5.68425877e-01 -2.68922717e-02 8.22294855e-01 3.28650123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.270714057 meters Centerline goodness : 0.993317 Centerline is valid? [True, True] Translation: X:80.72, Y:46.64, Z:32.87 [[-3.05419746e-01 -9.39182082e-01 1.57021642e-01 8.07240454e+01] [ 7.60283060e-01 -3.39803092e-01 -5.53627607e-01 4.66372097e+01] [ 5.73313568e-01 -4.97079081e-02 8.17826801e-01 3.28718020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.300714057 meters Centerline goodness : 0.991621 Centerline is valid? [True, True] Translation: X:80.72, Y:46.65, Z:32.88 [[-3.07091208e-01 -9.38586592e-01 1.57321961e-01 8.07216795e+01] [ 7.63101938e-01 -3.41629742e-01 -5.48602362e-01 4.66457862e+01] [ 5.68656682e-01 -4.84182689e-02 8.21148737e-01 3.28784471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.330714057 meters Centerline goodness : 0.991856 Centerline is valid? [True, True] Translation: X:80.71, Y:46.66, Z:32.89 [[-3.07993648e-01 -9.36928030e-01 1.65244603e-01 8.07137913e+01] [ 7.61615105e-01 -3.46900523e-01 -5.47359533e-01 4.66595587e+01] [ 5.70159929e-01 -4.27304733e-02 8.20421698e-01 3.28933891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.360714057 meters Centerline goodness : 0.991761 Centerline is valid? [True, True] Translation: X:80.72, Y:46.65, Z:32.88 [[-3.06053969e-01 -9.37539763e-01 1.65378841e-01 8.07174241e+01] [ 7.65609818e-01 -3.45635319e-01 -5.42565971e-01 4.66466694e+01] [ 5.65837941e-01 -3.94388046e-02 8.23572708e-01 3.28810623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.390714057 meters Centerline goodness : 0.992649 Centerline is valid? [True, True] Translation: X:80.72, Y:46.63, Z:32.87 [[-3.04107577e-01 -9.37617190e-01 1.68500999e-01 8.07218768e+01] [ 7.64496408e-01 -3.45733535e-01 -5.44071287e-01 4.66280464e+01] [ 5.68387037e-01 -3.66377929e-02 8.21945161e-01 3.28686685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.420714057 meters Centerline goodness : 0.991614 Centerline is valid? [True, True] Translation: X:80.74, Y:46.62, Z:32.85 [[-3.06462325e-01 -9.41159373e-01 1.42477639e-01 8.07381938e+01] [ 7.62223047e-01 -3.32293489e-01 -5.55515133e-01 4.66159393e+01] [ 5.70172667e-01 -6.16447190e-02 8.19208800e-01 3.28478339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.450714057 meters Centerline goodness : 0.991802 Centerline is valid? [True, True] Translation: X:80.72, Y:46.62, Z:32.86 [[-3.06109843e-01 -9.37366153e-01 1.66257205e-01 8.07243710e+01] [ 7.64219956e-01 -3.46094658e-01 -5.44230050e-01 4.66192752e+01] [ 5.67683559e-01 -3.95371013e-02 8.22296902e-01 3.28644505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.480714057 meters Centerline goodness : 0.991312 Centerline is valid? [True, True] Translation: X:80.72, Y:46.63, Z:32.87 [[-3.05674345e-01 -9.36707469e-01 1.70711198e-01 8.07218990e+01] [ 7.66870323e-01 -3.48474534e-01 -5.38957704e-01 4.66274456e+01] [ 5.64334212e-01 -3.38321920e-02 8.24852884e-01 3.28697590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.51071405699997 meters Centerline goodness : 0.991696 Centerline is valid? [True, True] Translation: X:80.73, Y:46.62, Z:32.85 [[-3.06063589e-01 -9.38342062e-01 1.60745930e-01 8.07309196e+01] [ 7.67016507e-01 -3.43066553e-01 -5.42209386e-01 4.66172983e+01] [ 5.63924426e-01 -4.26557690e-02 8.24724031e-01 3.28543977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.54071405699997 meters Centerline goodness : 0.991842 Centerline is valid? [True, True] Translation: X:80.73, Y:46.61, Z:32.85 [[-3.06337265e-01 -9.37473108e-01 1.65232117e-01 8.07320634e+01] [ 7.67508500e-01 -3.45920582e-01 -5.39694038e-01 4.66102521e+01] [ 5.63105837e-01 -3.85113414e-02 8.25486943e-01 3.28507061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.57071405699998 meters Centerline goodness : 0.992272 Centerline is valid? [True, True] Translation: X:80.73, Y:46.63, Z:32.86 [[-3.07859165e-01 -9.37643887e-01 1.61389828e-01 8.07285869e+01] [ 7.68028050e-01 -3.45032930e-01 -5.39523116e-01 4.66310136e+01] [ 5.61565356e-01 -4.21452208e-02 8.26358355e-01 3.28620452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.60071405699998 meters Centerline goodness : 0.991129 Centerline is valid? [True, True] Translation: X:80.73, Y:46.62, Z:32.86 [[-3.13604225e-01 -9.36170309e-01 1.58863282e-01 8.07343356e+01] [ 7.59136403e-01 -3.47683106e-01 -5.50298445e-01 4.66196887e+01] [ 5.70407145e-01 -5.19770164e-02 8.19715852e-01 3.28596589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.63071405699998 meters Centerline goodness : 0.992168 Centerline is valid? [True, True] Translation: X:80.73, Y:46.62, Z:32.87 [[-3.13772290e-01 -9.34763691e-01 1.66624703e-01 8.07305779e+01] [ 7.59474755e-01 -3.52404954e-01 -5.46817012e-01 4.66249334e+01] [ 5.69864059e-01 -4.50287701e-02 8.20504335e-01 3.28655025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.66071405699998 meters Centerline goodness : 0.993113 Centerline is valid? [True, True] Translation: X:80.73, Y:46.61, Z:32.86 [[-3.12469631e-01 -9.33782083e-01 1.74395389e-01 8.07298135e+01] [ 7.56892809e-01 -3.55675190e-01 -5.48277699e-01 4.66144263e+01] [ 5.74000005e-01 -3.93215142e-02 8.17910639e-01 3.28615756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.69071405699998 meters Centerline goodness : 0.993657 Centerline is valid? [True, True] Translation: X:80.73, Y:46.62, Z:32.86 [[-3.13091337e-01 -9.34928807e-01 1.66978861e-01 8.07328823e+01] [ 7.58570148e-01 -3.51967907e-01 -5.48352006e-01 4.66198756e+01] [ 5.71441287e-01 -4.50190830e-02 8.19407187e-01 3.28597762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.72071405699998 meters Centerline goodness : 0.993357 Centerline is valid? [True, True] Translation: X:80.74, Y:46.59, Z:32.83 [[-3.08314066e-01 -9.35941958e-01 1.70161948e-01 8.07431946e+01] [ 7.64008191e-01 -3.50197805e-01 -5.41897575e-01 4.65868718e+01] [ 5.66775018e-01 -3.70695221e-02 8.23038231e-01 3.28337479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.75071405699998 meters Centerline goodness : 0.992772 Centerline is valid? [True, True] Translation: X:80.74, Y:46.64, Z:32.86 [[-3.13471381e-01 -9.38283394e-01 1.46150493e-01 8.07378801e+01] [ 7.63305216e-01 -3.40527841e-01 -5.49004496e-01 4.66386464e+01] [ 5.64890113e-01 -6.05397638e-02 8.22942341e-01 3.28629010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.78071405699998 meters Centerline goodness : 0.991952 Centerline is valid? [True, True] Translation: X:80.75, Y:46.57, Z:32.82 [[-3.10415178e-01 -9.35909089e-01 1.66483013e-01 8.07521290e+01] [ 7.64525456e-01 -3.49874111e-01 -5.41376887e-01 4.65689257e+01] [ 5.64927645e-01 -4.07711009e-02 8.24132558e-01 3.28221143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.81071405699998 meters Centerline goodness : 0.991910 Centerline is valid? [True, True] Translation: X:80.75, Y:46.58, Z:32.83 [[-3.08045638e-01 -9.36708748e-01 1.66386919e-01 8.07480586e+01] [ 7.65645508e-01 -3.47899147e-01 -5.41066669e-01 4.65824411e+01] [ 5.64707749e-01 -3.92798305e-02 8.24355660e-01 3.28311596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.84071405699999 meters Centerline goodness : 0.992621 Centerline is valid? [True, True] Translation: X:80.74, Y:46.60, Z:32.84 [[-3.08600527e-01 -9.38129292e-01 1.57095978e-01 8.07434676e+01] [ 7.63432220e-01 -3.42800982e-01 -5.47410935e-01 4.66048677e+01] [ 5.67394889e-01 -4.89991716e-02 8.21986692e-01 3.28441627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.870714057 meters Centerline goodness : 0.992404 Centerline is valid? [True, True] Translation: X:80.74, Y:46.59, Z:32.84 [[-3.06369066e-01 -9.36406318e-01 1.71117512e-01 8.07426483e+01] [ 7.62713235e-01 -3.49035773e-01 -5.44465381e-01 4.65853994e+01] [ 5.69566956e-01 -3.62937589e-02 8.21143256e-01 3.28393621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.900714057 meters Centerline goodness : 0.992671 Centerline is valid? [True, True] Translation: X:80.74, Y:46.60, Z:32.85 [[-3.03928969e-01 -9.37246097e-01 1.70871109e-01 8.07375401e+01] [ 7.64501272e-01 -3.46958633e-01 -5.43284007e-01 4.66002772e+01] [ 5.68476022e-01 -3.44885681e-02 8.21976613e-01 3.28497700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.930714057 meters Centerline goodness : 0.992867 Centerline is valid? [True, True] Translation: X:80.74, Y:46.60, Z:32.84 [[-3.02372592e-01 -9.39436493e-01 1.61337818e-01 8.07423392e+01] [ 7.63635011e-01 -3.40046048e-01 -5.48844473e-01 4.65991046e+01] [ 5.70466814e-01 -4.27523197e-02 8.20207201e-01 3.28442219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.960714057 meters Centerline goodness : 0.992443 Centerline is valid? [True, True] Translation: X:80.74, Y:46.58, Z:32.84 [[-3.00431303e-01 -9.38432681e-01 1.70543647e-01 8.07431244e+01] [ 7.63726139e-01 -3.43794840e-01 -5.46376695e-01 4.65836153e+01] [ 5.71369772e-01 -3.39000209e-02 8.19992300e-01 3.28396625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.990714057 meters Centerline goodness : 0.992558 Centerline is valid? [True, True] Translation: X:80.75, Y:46.57, Z:32.83 [[-2.99874965e-01 -9.38330259e-01 1.72079432e-01 8.07471743e+01] [ 7.63785336e-01 -3.44227573e-01 -5.46021372e-01 4.65710594e+01] [ 5.71582860e-01 -3.23063926e-02 8.19908123e-01 3.28318870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.020714057 meters Centerline goodness : 0.992558 Centerline is valid? [True, True] Translation: X:80.75, Y:46.57, Z:32.83 [[-3.00256828e-01 -9.38477548e-01 1.70604012e-01 8.07484425e+01] [ 7.63685983e-01 -3.43681838e-01 -5.46503900e-01 4.65695247e+01] [ 5.71515141e-01 -3.38036349e-02 8.19894968e-01 3.28298790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.050714057 meters Centerline goodness : 0.992327 Centerline is valid? [True, True] Translation: X:80.75, Y:46.56, Z:32.82 [[-2.98278488e-01 -9.39580776e-01 1.67981872e-01 8.07525947e+01] [ 7.63994784e-01 -3.40519541e-01 -5.48049645e-01 4.65610166e+01] [ 5.72138020e-01 -3.51341455e-02 8.19404465e-01 3.28236481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.080714057 meters Centerline goodness : 0.994084 Centerline is valid? [True, True] Translation: X:80.74, Y:46.56, Z:32.83 [[-2.95156802e-01 -9.38016605e-01 1.81679146e-01 8.07448337e+01] [ 7.62711351e-01 -3.45843867e-01 -5.46501065e-01 4.65630699e+01] [ 5.75459692e-01 -2.27347597e-02 8.17514082e-01 3.28329195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.110714057 meters Centerline goodness : 0.992601 Centerline is valid? [True, True] Translation: X:80.76, Y:46.56, Z:32.81 [[-2.93209036e-01 -9.44534475e-01 1.47929331e-01 8.07623265e+01] [ 7.66953997e-01 -3.24762970e-01 -5.53453323e-01 4.65637318e+01] [ 5.70797712e-01 -4.88225235e-02 8.19637928e-01 3.28126273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.140714057 meters Centerline goodness : 0.992177 Centerline is valid? [True, True] Translation: X:80.76, Y:46.55, Z:32.81 [[-2.90259664e-01 -9.41903075e-01 1.69020487e-01 8.07574673e+01] [ 7.67698882e-01 -3.34641982e-01 -5.46491693e-01 4.65500090e+01] [ 5.71303557e-01 -2.88676563e-02 8.20231006e-01 3.28137160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.170714057 meters Centerline goodness : 0.992262 Centerline is valid? [True, True] Translation: X:80.76, Y:46.55, Z:32.81 [[-2.90055674e-01 -9.42131291e-01 1.68096212e-01 8.07600622e+01] [ 7.67217687e-01 -3.33910602e-01 -5.47613670e-01 4.65452451e+01] [ 5.72053081e-01 -2.98720650e-02 8.19672454e-01 3.28106494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.200714057 meters Centerline goodness : 0.992791 Centerline is valid? [True, True] Translation: X:80.76, Y:46.55, Z:32.81 [[-2.87442990e-01 -9.42630169e-01 1.69778948e-01 8.07586832e+01] [ 7.70110002e-01 -3.32850071e-01 -5.44188768e-01 4.65450807e+01] [ 5.69479685e-01 -2.56747806e-02 8.21604341e-01 3.28092784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.230714057 meters Centerline goodness : 0.992180 Centerline is valid? [True, True] Translation: X:80.76, Y:46.55, Z:32.81 [[-2.87309100e-01 -9.43623252e-01 1.64403889e-01 8.07617838e+01] [ 7.69665602e-01 -3.29607690e-01 -5.46784813e-01 4.65476878e+01] [ 5.70147650e-01 -3.05602341e-02 8.20973647e-01 3.28083081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.26071405699997 meters Centerline goodness : 0.991703 Centerline is valid? [True, True] Translation: X:80.76, Y:46.56, Z:32.81 [[-2.87614336e-01 -9.43560665e-01 1.64229310e-01 8.07599943e+01] [ 7.69175781e-01 -3.29734648e-01 -5.47397186e-01 4.65554946e+01] [ 5.70654547e-01 -3.11180707e-02 8.20600423e-01 3.28137129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.29071405699997 meters Centerline goodness : 0.991346 Centerline is valid? [True, True] Translation: X:80.76, Y:46.56, Z:32.81 [[-2.88783936e-01 -9.43291241e-01 1.63723769e-01 8.07616094e+01] [ 7.67583285e-01 -3.30327071e-01 -5.49272179e-01 4.65557459e+01] [ 5.72206028e-01 -3.29493531e-02 8.19447742e-01 3.28141150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.32071405699998 meters Centerline goodness : 0.991293 Centerline is valid? [True, True] Translation: X:80.76, Y:46.54, Z:32.81 [[-2.89083740e-01 -9.42216505e-01 1.69288658e-01 8.07637887e+01] [ 7.66970972e-01 -3.33782441e-01 -5.48037234e-01 4.65442940e+01] [ 5.72875309e-01 -2.85891667e-02 8.19143785e-01 3.28087578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.35071405699998 meters Centerline goodness : 0.991367 Centerline is valid? [True, True] Translation: X:80.76, Y:46.55, Z:32.81 [[-2.90750309e-01 -9.41586655e-01 1.69937721e-01 8.07622724e+01] [ 7.67277658e-01 -3.35561739e-01 -5.46519272e-01 4.65492682e+01] [ 5.71619851e-01 -2.85112306e-02 8.20023083e-01 3.28129341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.38071405699998 meters Centerline goodness : 0.991194 Centerline is valid? [True, True] Translation: X:80.76, Y:46.55, Z:32.81 [[-2.93001258e-01 -9.41921516e-01 1.64116179e-01 8.07649211e+01] [ 7.65213786e-01 -3.33931983e-01 -5.50397395e-01 4.65495511e+01] [ 5.73234790e-01 -3.56831664e-02 8.18613820e-01 3.28121619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.41071405699998 meters Centerline goodness : 0.991586 Centerline is valid? [True, True] Translation: X:80.76, Y:46.55, Z:32.82 [[-2.94118100e-01 -9.40253966e-01 1.71513911e-01 8.07626781e+01] [ 7.64754912e-01 -3.39152945e-01 -5.47836842e-01 4.65483232e+01] [ 5.73275212e-01 -2.99626250e-02 8.18814859e-01 3.28151896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.44071405699998 meters Centerline goodness : 0.991182 Centerline is valid? [True, True] Translation: X:80.76, Y:46.55, Z:32.81 [[-2.94614288e-01 -9.40318496e-01 1.70304279e-01 8.07632938e+01] [ 7.65284314e-01 -3.38889880e-01 -5.47260055e-01 4.65516656e+01] [ 5.72313148e-01 -3.08994380e-02 8.19452796e-01 3.28149710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.47071405699998 meters Centerline goodness : 0.991983 Centerline is valid? [True, True] Translation: X:80.76, Y:46.57, Z:32.83 [[-3.08704184e-01 -9.38830913e-01 1.52637624e-01 8.07598628e+01] [ 7.51835937e-01 -3.39147565e-01 -5.65439345e-01 4.65666980e+01] [ 5.82618614e-01 -5.97950407e-02 8.10543092e-01 3.28260154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.50071405699998 meters Centerline goodness : 0.991874 Centerline is valid? [True, True] Translation: X:80.75, Y:46.56, Z:32.83 [[-2.97233572e-01 -9.33979910e-01 1.98327333e-01 8.07501522e+01] [ 7.61939297e-01 -3.57200186e-01 -5.40237480e-01 4.65568651e+01] [ 5.75413513e-01 -9.46332700e-03 8.17807883e-01 3.28349434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.53071405699998 meters Centerline goodness : 0.992224 Centerline is valid? [True, True] Translation: X:80.77, Y:46.55, Z:32.81 [[-2.98956980e-01 -9.39225839e-01 1.68758845e-01 8.07682175e+01] [ 7.62385749e-01 -3.41440534e-01 -5.49714773e-01 4.65495816e+01] [ 5.73927429e-01 -3.56817302e-02 8.18128425e-01 3.28120718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.56071405699998 meters Centerline goodness : 0.993405 Centerline is valid? [True, True] Translation: X:80.76, Y:46.56, Z:32.82 [[-3.12227259e-01 -9.36718193e-01 1.58345083e-01 8.07636788e+01] [ 7.50219966e-01 -3.45372326e-01 -5.63815536e-01 4.65578305e+01] [ 5.82824280e-01 -5.72449365e-02 8.10579346e-01 3.28226547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.59071405699999 meters Centerline goodness : 0.992470 Centerline is valid? [True, True] Translation: X:80.76, Y:46.53, Z:32.82 [[-2.99972165e-01 -9.33766422e-01 1.95184452e-01 8.07629187e+01] [ 7.60506548e-01 -3.57603521e-01 -5.41986635e-01 4.65301374e+01] [ 5.75887568e-01 -1.41418505e-02 8.17406580e-01 3.28153362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.620714057 meters Centerline goodness : 0.992322 Centerline is valid? [True, True] Translation: X:80.76, Y:46.55, Z:32.82 [[-2.98257005e-01 -9.35530142e-01 1.89277870e-01 8.07615998e+01] [ 7.71964612e-01 -3.53058209e-01 -5.28602439e-01 4.65479517e+01] [ 5.61349620e-01 -1.15435626e-02 8.27498248e-01 3.28171255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.650714057 meters Centerline goodness : 0.992090 Centerline is valid? [True, True] Translation: X:80.79, Y:46.55, Z:32.80 [[-3.04475491e-01 -9.42631347e-01 1.36897110e-01 8.07859257e+01] [ 7.60302493e-01 -3.27085771e-01 -5.61208533e-01 4.65518696e+01] [ 5.73789852e-01 -6.67910295e-02 8.16274564e-01 3.27992208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.680714057 meters Centerline goodness : 0.993647 Centerline is valid? [True, True] Translation: X:80.76, Y:46.54, Z:32.82 [[-3.13359330e-01 -9.31751778e-01 1.83424521e-01 8.07605133e+01] [ 7.51405325e-01 -3.61388355e-01 -5.52076530e-01 4.65445850e+01] [ 5.80685774e-01 -3.51721698e-02 8.13367660e-01 3.28249306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.710714057 meters Centerline goodness : 0.992159 Centerline is valid? [True, True] Translation: X:80.77, Y:46.53, Z:32.81 [[-3.00719597e-01 -9.33857095e-01 1.93594033e-01 8.07675992e+01] [ 7.73492686e-01 -3.57565038e-01 -5.23312820e-01 4.65319755e+01] [ 5.57921848e-01 -7.62685151e-03 8.29858447e-01 3.28073077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.740714057 meters Centerline goodness : 0.993611 Centerline is valid? [True, True] Translation: X:80.78, Y:46.56, Z:32.81 [[-3.17083094e-01 -9.38047926e-01 1.39729741e-01 8.07787117e+01] [ 7.51751081e-01 -3.38418739e-01 -5.65988577e-01 4.65606613e+01] [ 5.78211573e-01 -7.44234255e-02 8.12485403e-01 3.28102050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.770714057 meters Centerline goodness : 0.993305 Centerline is valid? [True, True] Translation: X:80.76, Y:46.53, Z:32.81 [[-3.00209953e-01 -9.30059424e-01 2.11809944e-01 8.07624647e+01] [ 7.73566061e-01 -3.67303338e-01 -5.16414376e-01 4.65277637e+01] [ 5.58094557e-01 8.81624872e-03 8.29730522e-01 3.28107499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.800714057 meters Centerline goodness : 0.992588 Centerline is valid? [True, True] Translation: X:80.80, Y:46.54, Z:32.78 [[-2.99213676e-01 -9.43977263e-01 1.39205254e-01 8.07950275e+01] [ 7.80253998e-01 -3.26031022e-01 -5.33767244e-01 4.65442267e+01] [ 5.49249374e-01 -5.10950035e-02 8.34094974e-01 3.27768793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.830714057 meters Centerline goodness : 0.994458 Centerline is valid? [True, True] Translation: X:80.78, Y:46.57, Z:32.81 [[-0.31803879 -0.9395045 0.1272109 80.78402469] [ 0.75081216 -0.33151758 -0.57129431 46.56783275] [ 0.57890623 -0.08618226 0.81082686 32.80812584] [ 0. 0. 0. 1. ]] SLAMing on 159.860714057 meters Centerline goodness : 0.994012 Centerline is valid? [True, True] Translation: X:80.76, Y:46.53, Z:32.81 [[-2.99026932e-01 -9.28314118e-01 2.20942962e-01 8.07591796e+01] [ 7.76119072e-01 -3.71307409e-01 -5.09676362e-01 4.65277486e+01] [ 5.55177521e-01 1.90710876e-02 8.31513207e-01 3.28117580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.890714057 meters Centerline goodness : 0.993791 Centerline is valid? [True, True] Translation: X:80.79, Y:46.56, Z:32.79 [[-2.98676927e-01 -9.43320961e-01 1.44698507e-01 8.07882656e+01] [ 7.79292129e-01 -3.28592259e-01 -5.33601823e-01 4.65557298e+01] [ 5.50904593e-01 -4.66121454e-02 8.33265526e-01 3.27867457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.920714057 meters Centerline goodness : 0.992698 Centerline is valid? [True, True] Translation: X:80.80, Y:46.55, Z:32.78 [[-3.01363067e-01 -9.45189801e-01 1.25684294e-01 8.07979204e+01] [ 7.77035190e-01 -3.19839041e-01 -5.42143248e-01 4.65535999e+01] [ 5.52627013e-01 -6.57208323e-02 8.30833411e-01 3.27782034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.950714057 meters Centerline goodness : 0.993163 Centerline is valid? [True, True] Translation: X:80.79, Y:46.53, Z:32.78 [[-3.02720294e-01 -9.41701234e-01 1.46830548e-01 8.07938098e+01] [ 7.74619409e-01 -3.32855779e-01 -5.37746968e-01 4.65325420e+01] [ 5.55270380e-01 -4.90491287e-02 8.30222252e-01 3.27759119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.980714057 meters Centerline goodness : 0.992911 Centerline is valid? [True, True] Translation: X:80.79, Y:46.53, Z:32.78 [[-3.02352252e-01 -9.40055826e-01 1.57728118e-01 8.07901141e+01] [ 7.77237319e-01 -3.38931315e-01 -5.30120471e-01 4.65281089e+01] [ 5.51801836e-01 -3.76909379e-02 8.33123117e-01 3.27761504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.01071405699997 meters Centerline goodness : 0.992919 Centerline is valid? [True, True] Translation: X:80.80, Y:46.53, Z:32.77 [[-3.04427662e-01 -9.41730336e-01 1.43065624e-01 8.07982639e+01] [ 7.76089397e-01 -3.32304582e-01 -5.35965403e-01 4.65283193e+01] [ 5.52276241e-01 -5.21309803e-02 8.32029635e-01 3.27690536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.04071405699997 meters Centerline goodness : 0.993505 Centerline is valid? [True, True] Translation: X:80.79, Y:46.53, Z:32.78 [[-3.06378683e-01 -9.38598377e-01 1.58635396e-01 8.07905672e+01] [ 7.71567087e-01 -3.42463908e-01 -5.36099526e-01 4.65255059e+01] [ 5.57509043e-01 -4.18516164e-02 8.29115257e-01 3.27774657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.07071405699998 meters Centerline goodness : 0.993826 Centerline is valid? [True, True] Translation: X:80.80, Y:46.54, Z:32.78 [[-3.13306290e-01 -9.41478335e-01 1.24329054e-01 8.08001562e+01] [ 7.64189213e-01 -3.27673315e-01 -5.55558318e-01 4.65445831e+01] [ 5.63785434e-01 -7.90489932e-02 8.22129699e-01 3.27797974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.10071405699998 meters Centerline goodness : 0.993657 Centerline is valid? [True, True] Translation: X:80.78, Y:46.53, Z:32.80 [[-3.13732117e-01 -9.34996248e-01 1.65390976e-01 8.07831933e+01] [ 7.60944131e-01 -3.51767059e-01 -5.45182507e-01 4.65348990e+01] [ 5.67922696e-01 -4.51879694e-02 8.21840531e-01 3.27953183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.13071405699998 meters Centerline goodness : 0.994025 Centerline is valid? [True, True] Translation: X:80.78, Y:46.54, Z:32.80 [[-3.15221873e-01 -9.35060904e-01 1.62161269e-01 8.07821343e+01] [ 7.60009692e-01 -3.51061445e-01 -5.46937958e-01 4.65405688e+01] [ 5.68348871e-01 -4.91626717e-02 8.21317596e-01 3.27999637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.16071405699998 meters Centerline goodness : 0.994648 Centerline is valid? [True, True] Translation: X:80.78, Y:46.54, Z:32.80 [[-3.15612938e-01 -9.35340869e-01 1.59768371e-01 8.07842193e+01] [ 7.60349510e-01 -3.50022597e-01 -5.47131432e-01 4.65376515e+01] [ 5.67676929e-01 -5.12019558e-02 8.21657632e-01 3.27968478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.19071405699998 meters Centerline goodness : 0.994468 Centerline is valid? [True, True] Translation: X:80.78, Y:46.54, Z:32.80 [[-3.14849948e-01 -9.34406179e-01 1.66597128e-01 8.07807923e+01] [ 7.61204980e-01 -3.53433695e-01 -5.43738542e-01 4.65357936e+01] [ 5.66953692e-01 -4.43814880e-02 8.22553217e-01 3.27996525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.22071405699998 meters Centerline goodness : 0.994247 Centerline is valid? [True, True] Translation: X:80.78, Y:46.55, Z:32.81 [[-3.13231497e-01 -9.36065736e-01 1.60209134e-01 8.07782365e+01] [ 7.62165909e-01 -3.48424288e-01 -5.45622253e-01 4.65498593e+01] [ 5.66559050e-01 -4.88001351e-02 8.22574854e-01 3.28061638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.25071405699998 meters Centerline goodness : 0.994239 Centerline is valid? [True, True] Translation: X:80.78, Y:46.53, Z:32.80 [[-3.12043245e-01 -9.36737941e-01 1.58590804e-01 8.07829202e+01] [ 7.62203022e-01 -3.46478017e-01 -5.46808502e-01 4.65342321e+01] [ 5.67164497e-01 -4.97495089e-02 8.22100614e-01 3.27952723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.28071405699998 meters Centerline goodness : 0.994349 Centerline is valid? [True, True] Translation: X:80.78, Y:46.53, Z:32.79 [[-3.10402995e-01 -9.37201746e-01 1.59068750e-01 8.07848912e+01] [ 7.62634031e-01 -3.45407170e-01 -5.46885017e-01 4.65251151e+01] [ 5.67485080e-01 -4.84435055e-02 8.21957365e-01 3.27896805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.31071405699998 meters Centerline goodness : 0.994131 Centerline is valid? [True, True] Translation: X:80.79, Y:46.52, Z:32.79 [[-3.08960680e-01 -9.39497010e-01 1.47948186e-01 8.07891598e+01] [ 7.58409096e-01 -3.37240668e-01 -5.57749384e-01 4.65192125e+01] [ 5.73898024e-01 -6.01173792e-02 8.16717184e-01 3.27853277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.34071405699999 meters Centerline goodness : 0.993922 Centerline is valid? [True, True] Translation: X:80.78, Y:46.51, Z:32.79 [[-3.05829605e-01 -9.36441672e-01 1.71887310e-01 8.07791643e+01] [ 7.58272183e-01 -3.48746260e-01 -5.50816977e-01 4.65091796e+01] [ 5.75753027e-01 -3.81187729e-02 8.16734602e-01 3.27929832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.370714057 meters Centerline goodness : 0.993740 Centerline is valid? [True, True] Translation: X:80.77, Y:46.51, Z:32.80 [[-3.07293659e-01 -9.37056140e-01 1.65820378e-01 8.07741087e+01] [ 7.56576130e-01 -3.46266940e-01 -5.54699708e-01 4.65112517e+01] [ 5.77202882e-01 -4.49999630e-02 8.15359943e-01 3.27962760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.400714057 meters Centerline goodness : 0.994235 Centerline is valid? [True, True] Translation: X:80.77, Y:46.51, Z:32.80 [[-3.04139925e-01 -9.35887067e-01 1.77804115e-01 8.07680817e+01] [ 7.57254428e-01 -3.50758739e-01 -5.50939234e-01 4.65063772e+01] [ 5.77983251e-01 -3.29196640e-02 8.15384362e-01 3.28003483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.430714057 meters Centerline goodness : 0.993279 Centerline is valid? [True, True] Translation: X:80.77, Y:46.49, Z:32.79 [[-2.88018443e-01 -9.36930607e-01 1.98006097e-01 8.07661743e+01] [ 7.72051361e-01 -3.49515433e-01 -5.30825450e-01 4.64881914e+01] [ 5.66552798e-01 -1.66428893e-05 8.24025441e-01 3.27900407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.460714057 meters Centerline goodness : 0.994125 Centerline is valid? [True, True] Translation: X:80.78, Y:46.50, Z:32.77 [[-2.84172907e-01 -9.44806026e-01 1.63056224e-01 8.07798949e+01] [ 7.76306899e-01 -3.26545473e-01 -5.39180538e-01 4.64974878e+01] [ 5.62666293e-01 -2.66388290e-02 8.26254813e-01 3.27733709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.490714057 meters Centerline goodness : 0.993081 Centerline is valid? [True, True] Translation: X:80.78, Y:46.49, Z:32.77 [[-2.80036142e-01 -9.45809261e-01 1.64391608e-01 8.07803663e+01] [ 7.80513029e-01 -3.24016688e-01 -5.34614439e-01 4.64912861e+01] [ 5.58908912e-01 -2.14015731e-02 8.28952834e-01 3.27677687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.520714057 meters Centerline goodness : 0.992681 Centerline is valid? [True, True] Translation: X:80.79, Y:46.49, Z:32.76 [[-2.79952401e-01 -9.49016412e-01 1.44894802e-01 8.07894026e+01] [ 7.83832503e-01 -3.13100065e-01 -5.36260157e-01 4.64902141e+01] [ 5.54286262e-01 -3.65540633e-02 8.31523025e-01 3.27554305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.550714057 meters Centerline goodness : 0.993047 Centerline is valid? [True, True] Translation: X:80.78, Y:46.49, Z:32.76 [[-2.79488745e-01 -9.46968804e-01 1.58543769e-01 8.07836278e+01] [ 7.80100323e-01 -3.20227349e-01 -5.37492262e-01 4.64875632e+01] [ 5.59758455e-01 -2.65429923e-02 8.28230609e-01 3.27628006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.580714057 meters Centerline goodness : 0.993070 Centerline is valid? [True, True] Translation: X:80.79, Y:46.48, Z:32.76 [[-2.79094761e-01 -9.46662575e-01 1.61046837e-01 8.07858623e+01] [ 7.83807314e-01 -3.21470608e-01 -5.31321695e-01 4.64803239e+01] [ 5.54754188e-01 -2.20594127e-02 8.31721812e-01 3.27567780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.610714057 meters Centerline goodness : 0.992677 Centerline is valid? [True, True] Translation: X:80.79, Y:46.50, Z:32.76 [[-2.83840633e-01 -9.48863301e-01 1.38177170e-01 8.07916717e+01] [ 7.77589818e-01 -3.12094923e-01 -5.45848728e-01 4.64971137e+01] [ 5.61060219e-01 -4.74888883e-02 8.26411663e-01 3.27598013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.640714057 meters Centerline goodness : 0.993268 Centerline is valid? [True, True] Translation: X:80.79, Y:46.49, Z:32.77 [[-2.88413123e-01 -9.45497193e-01 1.51171850e-01 8.07881867e+01] [ 7.73682369e-01 -3.23136947e-01 -5.44975326e-01 4.64927726e+01] [ 5.64121851e-01 -4.02190407e-02 8.24711444e-01 3.27663756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.670714057 meters Centerline goodness : 0.993201 Centerline is valid? [True, True] Translation: X:80.78, Y:46.47, Z:32.76 [[-2.84727862e-01 -9.40931140e-01 1.83244738e-01 8.07819753e+01] [ 7.84401653e-01 -3.38571499e-01 -5.19695475e-01 4.64695372e+01] [ 5.51039102e-01 -4.23430660e-03 8.34468681e-01 3.27596305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.700714057 meters Centerline goodness : 0.992783 Centerline is valid? [True, True] Translation: X:80.80, Y:46.49, Z:32.75 [[-2.88639908e-01 -9.47285007e-01 1.39061569e-01 8.07986061e+01] [ 7.81648875e-01 -3.17022732e-01 -5.37142089e-01 4.64891893e+01] [ 5.52912326e-01 -4.63433243e-02 8.31949672e-01 3.27500815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.730714057 meters Centerline goodness : 0.993571 Centerline is valid? [True, True] Translation: X:80.80, Y:46.50, Z:32.76 [[-2.96839935e-01 -9.45299511e-01 1.35258597e-01 8.07971714e+01] [ 7.72811939e-01 -3.21009754e-01 -5.47461821e-01 4.65008124e+01] [ 5.60934720e-01 -5.79790730e-02 8.25827262e-01 3.27607053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.76071405699997 meters Centerline goodness : 0.993675 Centerline is valid? [True, True] Translation: X:80.79, Y:46.50, Z:32.78 [[-3.10872395e-01 -9.39651888e-01 1.42872965e-01 8.07878529e+01] [ 7.58033390e-01 -3.35800759e-01 -5.59127203e-01 4.65002741e+01] [ 5.73361782e-01 -6.55147349e-02 8.16678692e-01 3.27753687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.79071405699997 meters Centerline goodness : 0.993149 Centerline is valid? [True, True] Translation: X:80.78, Y:46.47, Z:32.78 [[-2.99315346e-01 -9.33206392e-01 1.98837003e-01 8.07771732e+01] [ 7.71032429e-01 -3.59317987e-01 -5.25737176e-01 4.64727023e+01] [ 5.62067005e-01 -4.05142730e-03 8.27081778e-01 3.27761925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.82071405699998 meters Centerline goodness : 0.994131 Centerline is valid? [True, True] Translation: X:80.79, Y:46.48, Z:32.76 [[-3.03010536e-01 -9.39821914e-01 1.57858752e-01 8.07934078e+01] [ 7.70198272e-01 -3.39059942e-01 -5.40215677e-01 4.64819737e+01] [ 5.61230110e-01 -4.21085039e-02 8.26587949e-01 3.27601896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.85071405699998 meters Centerline goodness : 0.993569 Centerline is valid? [True, True] Translation: X:80.80, Y:46.48, Z:32.76 [[-3.05733286e-01 -9.39670189e-01 1.53450622e-01 8.07953515e+01] [ 7.69323203e-01 -3.38761342e-01 -5.41648007e-01 4.64815765e+01] [ 5.60953624e-01 -4.75467012e-02 8.26480697e-01 3.27579553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.88071405699998 meters Centerline goodness : 0.993603 Centerline is valid? [True, True] Translation: X:80.79, Y:46.48, Z:32.76 [[-3.07911741e-01 -9.37665225e-01 1.61165399e-01 8.07909150e+01] [ 7.68832088e-01 -3.45008670e-01 -5.38392271e-01 4.64812901e+01] [ 5.60435170e-01 -4.18681714e-02 8.27139333e-01 3.27633603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.91071405699998 meters Centerline goodness : 0.993603 Centerline is valid? [True, True] Translation: X:80.79, Y:46.48, Z:32.76 [[-3.08254922e-01 -9.37901005e-01 1.59124503e-01 8.07924376e+01] [ 7.68808523e-01 -3.44125504e-01 -5.38990810e-01 4.64799445e+01] [ 5.60278822e-01 -4.38102955e-02 8.27144667e-01 3.27611890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.94071405699998 meters Centerline goodness : 0.993879 Centerline is valid? [True, True] Translation: X:80.80, Y:46.48, Z:32.76 [[-3.10292089e-01 -9.38175582e-01 1.53445091e-01 8.07956473e+01] [ 7.66726876e-01 -3.42404584e-01 -5.43036829e-01 4.64782387e+01] [ 5.62004196e-01 -5.08495568e-02 8.25569867e-01 3.27589401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.97071405699998 meters Centerline goodness : 0.994190 Centerline is valid? [True, True] Translation: X:80.79, Y:46.47, Z:32.76 [[-3.10720469e-01 -9.36864166e-01 1.60431684e-01 8.07949222e+01] [ 7.66290956e-01 -3.46769833e-01 -5.40877855e-01 4.64704648e+01] [ 5.62361948e-01 -4.51244725e-02 8.25659022e-01 3.27572377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.00071405699998 meters Centerline goodness : 0.994223 Centerline is valid? [True, True] Translation: X:80.79, Y:46.49, Z:32.77 [[-3.21306602e-01 -9.34686156e-01 1.52065309e-01 8.07876510e+01] [ 7.56700207e-01 -3.49961517e-01 -5.52206241e-01 4.64895517e+01] [ 5.69356535e-01 -6.23596602e-02 8.19722153e-01 3.27734240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.03071405699998 meters Centerline goodness : 0.994256 Centerline is valid? [True, True] Translation: X:80.79, Y:46.46, Z:32.76 [[-3.11417759e-01 -9.33127286e-01 1.79700993e-01 8.07896028e+01] [ 7.59875001e-01 -3.58082360e-01 -5.42555994e-01 4.64574284e+01] [ 5.70621558e-01 -3.24112794e-02 8.20573304e-01 3.27627716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.06071405699998 meters Centerline goodness : 0.993919 Centerline is valid? [True, True] Translation: X:80.79, Y:46.46, Z:32.76 [[-3.10693119e-01 -9.35270076e-01 1.69527786e-01 8.07947325e+01] [ 7.60964610e-01 -3.51621555e-01 -5.45247783e-01 4.64561982e+01] [ 5.69563559e-01 -4.04000887e-02 8.20953826e-01 3.27557298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.09071405699999 meters Centerline goodness : 0.994579 Centerline is valid? [True, True] Translation: X:80.78, Y:46.49, Z:32.78 [[-3.19983879e-01 -9.33148381e-01 1.63842656e-01 8.07822736e+01] [ 7.55654603e-01 -3.55685041e-01 -5.49976610e-01 4.64889028e+01] [ 5.71486165e-01 -5.21751921e-02 8.18951349e-01 3.27786442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.120714057 meters Centerline goodness : 0.994027 Centerline is valid? [True, True] Translation: X:80.79, Y:46.47, Z:32.77 [[-3.12570440e-01 -9.33539985e-01 1.75507309e-01 8.07881518e+01] [ 7.56359227e-01 -3.56376369e-01 -5.48558660e-01 4.64672805e+01] [ 5.74648101e-01 -3.87166489e-02 8.17484300e-01 3.27700258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.150714057 meters Centerline goodness : 0.994653 Centerline is valid? [True, True] Translation: X:80.79, Y:46.46, Z:32.76 [[-3.10334077e-01 -9.34658373e-01 1.73512207e-01 8.07914941e+01] [ 7.56748328e-01 -3.53360654e-01 -5.49971105e-01 4.64605023e+01] [ 5.75347485e-01 -3.93697026e-02 8.16961014e-01 3.27633895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.180714057 meters Centerline goodness : 0.994707 Centerline is valid? [True, True] Translation: X:80.79, Y:46.46, Z:32.76 [[-3.06297812e-01 -9.35920763e-01 1.73879198e-01 8.07908217e+01] [ 7.57239490e-01 -3.50241639e-01 -5.51288626e-01 4.64602931e+01] [ 5.76862207e-01 -3.71903050e-02 8.15994409e-01 3.27626025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.210714057 meters Centerline goodness : 0.994110 Centerline is valid? [True, True] Translation: X:80.79, Y:46.45, Z:32.76 [[-3.01522428e-01 -9.37100556e-01 1.75860097e-01 8.07921676e+01] [ 7.58955309e-01 -3.47537581e-01 -5.50640053e-01 4.64501683e+01] [ 5.77123093e-01 -3.25603711e-02 8.16007818e-01 3.27557512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.240714057 meters Centerline goodness : 0.994107 Centerline is valid? [True, True] Translation: X:80.79, Y:46.46, Z:32.76 [[-3.00490300e-01 -9.37954129e-01 1.73053840e-01 8.07889036e+01] [ 7.58882710e-01 -3.45024961e-01 -5.52317670e-01 4.64611496e+01] [ 5.77756534e-01 -3.46385352e-02 8.15473825e-01 3.27628162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.270714057 meters Centerline goodness : 0.993408 Centerline is valid? [True, True] Translation: X:80.79, Y:46.45, Z:32.75 [[-2.99337241e-01 -9.38601481e-01 1.71535643e-01 8.07932171e+01] [ 7.57314656e-01 -3.43074756e-01 -5.55674566e-01 4.64480448e+01] [ 5.80406519e-01 -3.64276353e-02 8.13511709e-01 3.27540473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.300714057 meters Centerline goodness : 0.994016 Centerline is valid? [True, True] Translation: X:80.80, Y:46.42, Z:32.74 [[-2.92854044e-01 -9.38374251e-01 1.83549103e-01 8.07964531e+01] [ 7.64226895e-01 -3.45081985e-01 -5.44862988e-01 4.64226184e+01] [ 5.74624888e-01 -1.92921681e-02 8.18189495e-01 3.27375523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.330714057 meters Centerline goodness : 0.994059 Centerline is valid? [True, True] Translation: X:80.80, Y:46.45, Z:32.75 [[-2.95882992e-01 -9.41570480e-01 1.60929446e-01 8.07980007e+01] [ 7.59424134e-01 -3.34063545e-01 -5.58279978e-01 4.64479828e+01] [ 5.79420608e-01 -4.29718448e-02 8.13895067e-01 3.27473318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.360714057 meters Centerline goodness : 0.994248 Centerline is valid? [True, True] Translation: X:80.79, Y:46.44, Z:32.75 [[-2.97579417e-01 -9.38573660e-01 1.74716845e-01 8.07936000e+01] [ 7.59240490e-01 -3.43608502e-01 -5.52708853e-01 4.64384231e+01] [ 5.78792164e-01 -3.18226753e-02 8.14853943e-01 3.27505062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.390714057 meters Centerline goodness : 0.994220 Centerline is valid? [True, True] Translation: X:80.80, Y:46.43, Z:32.75 [[-2.97514930e-01 -9.38653021e-01 1.74400035e-01 8.07958141e+01] [ 7.60114630e-01 -3.43416546e-01 -5.51625621e-01 4.64332686e+01] [ 5.77676914e-01 -3.15528399e-02 8.15655443e-01 3.27461580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.420714057 meters Centerline goodness : 0.993049 Centerline is valid? [True, True] Translation: X:80.80, Y:46.44, Z:32.75 [[-3.01309089e-01 -9.37927694e-01 1.71768662e-01 8.07977345e+01] [ 7.62029223e-01 -3.45141243e-01 -5.47895050e-01 4.64351243e+01] [ 5.73170391e-01 -3.41930184e-02 8.18722505e-01 3.27466599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.450714057 meters Centerline goodness : 0.994147 Centerline is valid? [True, True] Translation: X:80.78, Y:46.45, Z:32.76 [[-3.10729737e-01 -9.32231210e-01 1.85450809e-01 8.07817994e+01] [ 7.58213871e-01 -3.60766899e-01 -5.43101252e-01 4.64454234e+01] [ 5.73200450e-01 -2.81463338e-02 8.18931638e-01 3.27617150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.480714057 meters Centerline goodness : 0.994119 Centerline is valid? [True, True] Translation: X:80.79, Y:46.45, Z:32.76 [[-3.05011961e-01 -9.35897114e-01 1.76250663e-01 8.07898028e+01] [ 7.58632866e-01 -3.50650582e-01 -5.49108681e-01 4.64503049e+01] [ 5.75711627e-01 -3.37751699e-02 8.16954931e-01 3.27611367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.51071405699997 meters Centerline goodness : 0.993960 Centerline is valid? [True, True] Translation: X:80.80, Y:46.42, Z:32.74 [[-3.05285612e-01 -9.34859574e-01 1.81213333e-01 8.07992351e+01] [ 7.61814498e-01 -3.53944631e-01 -5.42551259e-01 4.64170514e+01] [ 5.71348725e-01 -2.75821491e-02 8.20243780e-01 3.27370688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.54071405699997 meters Centerline goodness : 0.993862 Centerline is valid? [True, True] Translation: X:80.80, Y:46.44, Z:32.75 [[-3.11991579e-01 -9.35833903e-01 1.63939505e-01 8.07979374e+01] [ 7.54991656e-01 -3.48956969e-01 -5.55172616e-01 4.64446336e+01] [ 5.76757189e-01 -4.94362227e-02 8.15418423e-01 3.27530634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.57071405699998 meters Centerline goodness : 0.994955 Centerline is valid? [True, True] Translation: X:80.80, Y:46.41, Z:32.74 [[-3.08967053e-01 -9.33307923e-01 1.82963605e-01 8.08001253e+01] [ 7.58122654e-01 -3.57844412e-01 -5.45158160e-01 4.64135517e+01] [ 5.74272933e-01 -2.97270565e-02 8.18124013e-01 3.27385394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.60071405699998 meters Centerline goodness : 0.993955 Centerline is valid? [True, True] Translation: X:80.80, Y:46.42, Z:32.74 [[-3.11274338e-01 -9.34419389e-01 1.73114680e-01 8.08037933e+01] [ 7.56856434e-01 -3.53920277e-01 -5.49462260e-01 4.64156367e+01] [ 5.74696985e-01 -4.00105415e-02 8.17387627e-01 3.27360819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.63071405699998 meters Centerline goodness : 0.994732 Centerline is valid? [True, True] Translation: X:80.80, Y:46.42, Z:32.74 [[-3.10544921e-01 -9.33977496e-01 1.76770725e-01 8.08002647e+01] [ 7.58305071e-01 -3.55550350e-01 -5.46404034e-01 4.64198688e+01] [ 5.73179965e-01 -3.56368599e-02 8.18654226e-01 3.27399600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.66071405699998 meters Centerline goodness : 0.994629 Centerline is valid? [True, True] Translation: X:80.80, Y:46.43, Z:32.74 [[-3.14286065e-01 -9.34747789e-01 1.65743293e-01 8.08019232e+01] [ 7.52962851e-01 -3.51777629e-01 -5.56146963e-01 4.64291628e+01] [ 5.78161927e-01 -4.99906982e-02 8.14389167e-01 3.27446564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.69071405699998 meters Centerline goodness : 0.994333 Centerline is valid? [True, True] Translation: X:80.80, Y:46.41, Z:32.74 [[-3.08741243e-01 -9.31030793e-01 1.94577767e-01 8.07969415e+01] [ 7.63970036e-01 -3.64602236e-01 -5.32367349e-01 4.64082025e+01] [ 5.66593884e-01 -1.57121734e-02 8.23847376e-01 3.27354971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.72071405699998 meters Centerline goodness : 0.994712 Centerline is valid? [True, True] Translation: X:80.81, Y:46.41, Z:32.72 [[-3.09750560e-01 -9.35791698e-01 1.68370092e-01 8.08072736e+01] [ 7.61894272e-01 -3.50220855e-01 -5.44850871e-01 4.64101596e+01] [ 5.68833640e-01 -4.04876535e-02 8.21455440e-01 3.27236442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.75071405699998 meters Centerline goodness : 0.994630 Centerline is valid? [True, True] Translation: X:80.81, Y:46.44, Z:32.74 [[-3.16381061e-01 -9.36430843e-01 1.51658500e-01 8.08050001e+01] [ 7.51422430e-01 -3.44967040e-01 -5.62460730e-01 4.64351925e+01] [ 5.79022759e-01 -6.39923240e-02 8.12796178e-01 3.27395146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.78071405699998 meters Centerline goodness : 0.994571 Centerline is valid? [True, True] Translation: X:80.80, Y:46.42, Z:32.75 [[-3.15960067e-01 -9.31457218e-01 1.80434719e-01 8.07951647e+01] [ 7.50834290e-01 -3.61740640e-01 -5.52622455e-01 4.64228170e+01] [ 5.80014745e-01 -3.91300537e-02 8.13665616e-01 3.27466233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.81071405699998 meters Centerline goodness : 0.995256 Centerline is valid? [True, True] Translation: X:80.80, Y:46.42, Z:32.74 [[-3.17837449e-01 -9.30987282e-01 1.79560678e-01 8.07966686e+01] [ 7.50516164e-01 -3.62763873e-01 -5.52383798e-01 4.64201078e+01] [ 5.79400417e-01 -4.08050659e-02 8.14020948e-01 3.27426655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.84071405699999 meters Centerline goodness : 0.995383 Centerline is valid? [True, True] Translation: X:80.79, Y:46.43, Z:32.75 [[-3.19684185e-01 -9.30815141e-01 1.77158674e-01 8.07941862e+01] [ 7.49291107e-01 -3.62786976e-01 -5.54029284e-01 4.64291374e+01] [ 5.79969706e-01 -4.43709809e-02 8.13428765e-01 3.27484316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.870714057 meters Centerline goodness : 0.995549 Centerline is valid? [True, True] Translation: X:80.79, Y:46.41, Z:32.74 [[-3.16459293e-01 -9.26022933e-01 2.05754814e-01 8.07872321e+01] [ 7.61321204e-01 -3.77329044e-01 -5.27269207e-01 4.64067794e+01] [ 5.65900645e-01 -1.02137381e-02 8.24410177e-01 3.27388944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.900714057 meters Centerline goodness : 0.995287 Centerline is valid? [True, True] Translation: X:80.80, Y:46.43, Z:32.73 [[-3.18990554e-01 -9.33868294e-01 1.61663342e-01 8.08013783e+01] [ 7.61561487e-01 -3.54099838e-01 -5.42805128e-01 4.64255693e+01] [ 5.64153462e-01 -5.00331331e-02 8.24152630e-01 3.27253410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.930714057 meters Centerline goodness : 0.994979 Centerline is valid? [True, True] Translation: X:80.80, Y:46.44, Z:32.74 [[-3.23123032e-01 -9.33267570e-01 1.56853910e-01 8.07985204e+01] [ 7.54697221e-01 -3.54121128e-01 -5.52295510e-01 4.64360685e+01] [ 5.70984772e-01 -6.00821896e-02 8.18759134e-01 3.27352150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.960714057 meters Centerline goodness : 0.995192 Centerline is valid? [True, True] Translation: X:80.78, Y:46.44, Z:32.75 [[-3.22013035e-01 -9.26847735e-01 1.93030778e-01 8.07800189e+01] [ 7.64398394e-01 -3.74828553e-01 -5.24593796e-01 4.64379482e+01] [ 5.58572019e-01 -2.13736239e-02 8.29180600e-01 3.27511608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.990714057 meters Centerline goodness : 0.996281 Centerline is valid? [True, True] Translation: X:80.80, Y:46.46, Z:32.74 [[-0.33642348 -0.93179067 0.13632826 80.79525723] [ 0.74891457 -0.35249467 -0.56113678 46.4565417 ] [ 0.570917 -0.08668137 0.81641909 32.74211935] [ 0. 0. 0. 1. ]] SLAMing on 162.020714057 meters Centerline goodness : 0.995876 Centerline is valid? [True, True] Translation: X:80.78, Y:46.44, Z:32.76 [[-3.29496288e-01 -9.24841630e-01 1.90000411e-01 8.07782697e+01] [ 7.52252745e-01 -3.78765294e-01 -5.39122120e-01 4.64359285e+01] [ 5.70568142e-01 -3.47104062e-02 8.20516413e-01 3.27570820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.050714057 meters Centerline goodness : 0.995708 Centerline is valid? [True, True] Translation: X:80.78, Y:46.44, Z:32.75 [[-3.30339353e-01 -9.27080067e-01 1.77196110e-01 8.07829893e+01] [ 7.53264477e-01 -3.72068719e-01 -5.42362883e-01 4.64351416e+01] [ 5.68742947e-01 -4.56882686e-02 8.21245421e-01 3.27486172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.080714057 meters Centerline goodness : 0.995333 Centerline is valid? [True, True] Translation: X:80.77, Y:46.45, Z:32.76 [[-3.28679728e-01 -9.24895421e-01 1.91149409e-01 8.07699422e+01] [ 7.59901689e-01 -3.79167895e-01 -5.27997282e-01 4.64453085e+01] [ 5.60819988e-01 -2.82872445e-02 8.27454394e-01 3.27593431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.110714057 meters Centerline goodness : 0.995090 Centerline is valid? [True, True] Translation: X:80.78, Y:46.46, Z:32.75 [[-3.30085430e-01 -9.29237811e-01 1.66014153e-01 8.07764927e+01] [ 7.59454760e-01 -3.65878195e-01 -5.37923428e-01 4.64550870e+01] [ 5.60599748e-01 -5.14804476e-02 8.26485140e-01 3.27515083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.140714057 meters Centerline goodness : 0.995866 Centerline is valid? [True, True] Translation: X:80.78, Y:46.45, Z:32.75 [[-3.31648587e-01 -9.29113050e-01 1.63579202e-01 8.07779703e+01] [ 7.56791705e-01 -3.65543039e-01 -5.41889843e-01 4.64496672e+01] [ 5.63272163e-01 -5.59216171e-02 8.24376882e-01 3.27480201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.170714057 meters Centerline goodness : 0.994746 Centerline is valid? [True, True] Translation: X:80.78, Y:46.44, Z:32.75 [[-3.32512020e-01 -9.28825642e-01 1.63458507e-01 8.07787801e+01] [ 7.51939565e-01 -3.65713607e-01 -5.48489242e-01 4.64423233e+01] [ 5.69229872e-01 -5.94683475e-02 8.20024919e-01 3.27468672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.200714057 meters Centerline goodness : 0.994816 Centerline is valid? [True, True] Translation: X:80.77, Y:46.45, Z:32.76 [[-3.33218616e-01 -9.26861818e-01 1.72894548e-01 8.07677948e+01] [ 7.48516844e-01 -3.71555927e-01 -5.49243778e-01 4.64483251e+01] [ 5.73313080e-01 -5.36037699e-02 8.17581035e-01 3.27604333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.230714057 meters Centerline goodness : 0.995113 Centerline is valid? [True, True] Translation: X:80.76, Y:46.45, Z:32.77 [[-3.32264939e-01 -9.25153851e-01 1.83549346e-01 8.07593219e+01] [ 7.49497576e-01 -3.77124849e-01 -5.44086603e-01 4.64532704e+01] [ 5.72584835e-01 -4.32111123e-02 8.18705934e-01 3.27696085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.26071405699997 meters Centerline goodness : 0.994886 Centerline is valid? [True, True] Translation: X:80.76, Y:46.46, Z:32.77 [[-3.30644814e-01 -9.26091070e-01 1.81739752e-01 8.07553641e+01] [ 7.51112813e-01 -3.74820798e-01 -5.43450928e-01 4.64612858e+01] [ 5.71404890e-01 -4.31821750e-02 8.19531422e-01 3.27737796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.29071405699997 meters Centerline goodness : 0.994223 Centerline is valid? [True, True] Translation: X:80.76, Y:46.44, Z:32.76 [[-3.29302128e-01 -9.26675694e-01 1.81196763e-01 8.07618794e+01] [ 7.52742450e-01 -3.73494082e-01 -5.42107900e-01 4.64408526e+01] [ 5.70034133e-01 -4.21227896e-02 8.20540528e-01 3.27577886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.32071405699998 meters Centerline goodness : 0.994667 Centerline is valid? [True, True] Translation: X:80.78, Y:46.39, Z:32.72 [[-3.25599429e-01 -9.28534611e-01 1.78349344e-01 8.07777117e+01] [ 7.53749665e-01 -3.68785243e-01 -5.43929120e-01 4.63925185e+01] [ 5.70829620e-01 -4.26722521e-02 8.19958916e-01 3.27213108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.35071405699998 meters Centerline goodness : 0.994924 Centerline is valid? [True, True] Translation: X:80.76, Y:46.42, Z:32.75 [[-3.26639380e-01 -9.28679403e-01 1.75673795e-01 8.07639761e+01] [ 7.51004077e-01 -3.67871171e-01 -5.48328075e-01 4.64241162e+01] [ 5.73846314e-01 -4.71738058e-02 8.17603229e-01 3.27465451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.38071405699998 meters Centerline goodness : 0.995133 Centerline is valid? [True, True] Translation: X:80.77, Y:46.39, Z:32.73 [[-3.21853780e-01 -9.28228212e-01 1.86554364e-01 8.07694779e+01] [ 7.52637818e-01 -3.70379573e-01 -5.44385237e-01 4.63901939e+01] [ 5.74409661e-01 -3.48045768e-02 8.17827722e-01 3.27295182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.41071405699998 meters Centerline goodness : 0.994929 Centerline is valid? [True, True] Translation: X:80.78, Y:46.37, Z:32.71 [[-3.08637805e-01 -9.32149825e-01 1.89312995e-01 8.07757275e+01] [ 7.60581912e-01 -3.61374068e-01 -5.39373653e-01 4.63706982e+01] [ 5.71189864e-01 -2.24830603e-02 8.20509995e-01 3.27146217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.44071405699998 meters Centerline goodness : 0.995982 Centerline is valid? [True, True] Translation: X:80.78, Y:46.38, Z:32.71 [[-3.06122857e-01 -9.35082863e-01 1.78630443e-01 8.07761175e+01] [ 7.62477571e-01 -3.53178109e-01 -5.42119154e-01 4.63810004e+01] [ 5.70014693e-01 -2.97533580e-02 8.21095602e-01 3.27129795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.47071405699998 meters Centerline goodness : 0.995409 Centerline is valid? [True, True] Translation: X:80.78, Y:46.37, Z:32.70 [[-3.02367568e-01 -9.36909567e-01 1.75426100e-01 8.07838705e+01] [ 7.62227727e-01 -3.48168904e-01 -5.45698916e-01 4.63653321e+01] [ 5.72348448e-01 -3.12870168e-02 8.19413435e-01 3.26996194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.50071405699998 meters Centerline goodness : 0.994699 Centerline is valid? [True, True] Translation: X:80.78, Y:46.36, Z:32.70 [[-3.00992405e-01 -9.36795659e-01 1.78374507e-01 8.07832796e+01] [ 7.63156388e-01 -3.48785582e-01 -5.44004546e-01 4.63643556e+01] [ 5.71835553e-01 -2.76135917e-02 8.19903403e-01 3.26984557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.53071405699998 meters Centerline goodness : 0.995200 Centerline is valid? [True, True] Translation: X:80.78, Y:46.36, Z:32.70 [[-2.96524511e-01 -9.36388187e-01 1.87750837e-01 8.07792170e+01] [ 7.69826005e-01 -3.50702761e-01 -5.33268690e-01 4.63632476e+01] [ 5.65191239e-01 -1.35917604e-02 8.24847942e-01 3.26983906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.56071405699998 meters Centerline goodness : 0.994834 Centerline is valid? [True, True] Translation: X:80.78, Y:46.38, Z:32.71 [[-3.05356670e-01 -9.39165578e-01 1.57242873e-01 8.07812142e+01] [ 7.59937892e-01 -3.39850618e-01 -5.54072159e-01 4.63848802e+01] [ 5.73804587e-01 -4.96948120e-02 8.17483163e-01 3.27050169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.59071405699999 meters Centerline goodness : 0.994683 Centerline is valid? [True, True] Translation: X:80.77, Y:46.37, Z:32.71 [[-3.05627347e-01 -9.33576761e-01 1.87153293e-01 8.07721482e+01] [ 7.59716265e-01 -3.57586044e-01 -5.43105348e-01 4.63678068e+01] [ 5.73953937e-01 -2.38044464e-02 8.18541524e-01 3.27127989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.620714057 meters Centerline goodness : 0.994118 Centerline is valid? [True, True] Translation: X:80.77, Y:46.35, Z:32.70 [[-2.96775496e-01 -9.32635136e-01 2.05221851e-01 8.07725981e+01] [ 7.74037360e-01 -3.60793529e-01 -5.20282803e-01 4.63543073e+01] [ 5.59276739e-01 4.44219294e-03 8.28969117e-01 3.27039041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.650714057 meters Centerline goodness : 0.994385 Centerline is valid? [True, True] Translation: X:80.79, Y:46.36, Z:32.69 [[-2.99224043e-01 -9.38550948e-01 1.72008982e-01 8.07886376e+01] [ 7.77195906e-01 -3.44310999e-01 -5.26703389e-01 4.63623284e+01] [ 5.53562550e-01 -2.39176408e-02 8.32464083e-01 3.26850502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.680714057 meters Centerline goodness : 0.994678 Centerline is valid? [True, True] Translation: X:80.79, Y:46.37, Z:32.68 [[-3.02540381e-01 -9.39586245e-01 1.60146824e-01 8.07945562e+01] [ 7.73605918e-01 -3.40213810e-01 -5.34591852e-01 4.63656738e+01] [ 5.56779312e-01 -3.78450920e-02 8.29797895e-01 3.26820474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.710714057 meters Centerline goodness : 0.993632 Centerline is valid? [True, True] Translation: X:80.79, Y:46.39, Z:32.70 [[-3.08580555e-01 -9.35936517e-01 1.69708213e-01 8.07855564e+01] [ 7.71778109e-01 -3.50645656e-01 -5.30477308e-01 4.63869690e+01] [ 5.56000531e-01 -3.27178981e-02 8.30537746e-01 3.27023160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.740714057 meters Centerline goodness : 0.994045 Centerline is valid? [True, True] Translation: X:80.79, Y:46.38, Z:32.70 [[-3.11774885e-01 -9.34666208e-01 1.70866909e-01 8.07878178e+01] [ 7.67777931e-01 -3.53763497e-01 -5.34198874e-01 4.63806908e+01] [ 5.59744112e-01 -3.53619505e-02 8.27910661e-01 3.27009902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.770714057 meters Centerline goodness : 0.995100 Centerline is valid? [True, True] Translation: X:80.78, Y:46.41, Z:32.72 [[-3.19624034e-01 -9.33542835e-01 1.62290643e-01 8.07833010e+01] [ 7.60833407e-01 -3.54937842e-01 -5.43278617e-01 4.64135217e+01] [ 5.64776950e-01 -5.01687605e-02 8.23717240e-01 3.27211634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.800714057 meters Centerline goodness : 0.995431 Centerline is valid? [True, True] Translation: X:80.80, Y:46.36, Z:32.69 [[-3.20607195e-01 -9.31075163e-01 1.74097864e-01 8.07977878e+01] [ 7.59136999e-01 -3.62496588e-01 -5.40654456e-01 4.63599323e+01] [ 5.66499818e-01 -4.11735786e-02 8.23032620e-01 3.26895180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.830714057 meters Centerline goodness : 0.995431 Centerline is valid? [True, True] Translation: X:80.80, Y:46.36, Z:32.69 [[-3.20911140e-01 -9.30626707e-01 1.75926040e-01 8.07979248e+01] [ 7.58954236e-01 -3.63801076e-01 -5.40034485e-01 4.63571847e+01] [ 5.66572597e-01 -3.97832695e-02 8.23050900e-01 3.26886621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.860714057 meters Centerline goodness : 0.992192 Centerline is valid? [True, True] Translation: X:80.61, Y:46.89, Z:33.08 [[-3.37985145e-01 -9.24092902e-01 1.78376990e-01 8.06086303e+01] [ 7.52259816e-01 -3.79149801e-01 -5.38841904e-01 4.68904824e+01] [ 5.65571579e-01 -4.79347173e-02 8.23304957e-01 3.30775954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.890714057 meters Centerline goodness : 0.994532 Centerline is valid? [True, True] Translation: X:80.79, Y:46.37, Z:32.71 [[-3.27108168e-01 -9.24266655e-01 1.96802941e-01 8.07886710e+01] [ 7.56110587e-01 -3.80910052e-01 -5.32169439e-01 4.63715605e+01] [ 5.66830686e-01 -2.52721829e-02 8.23446592e-01 3.27102163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.920714057 meters Centerline goodness : 0.994834 Centerline is valid? [True, True] Translation: X:80.78, Y:46.39, Z:32.73 [[-3.34188050e-01 -9.23631984e-01 1.87676066e-01 8.07831459e+01] [ 7.52177044e-01 -3.81349228e-01 -5.37403444e-01 4.63948824e+01] [ 5.67933132e-01 -3.84281803e-02 8.22177130e-01 3.27250063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.950714057 meters Centerline goodness : 0.993952 Centerline is valid? [True, True] Translation: X:80.66, Y:46.75, Z:32.98 [[-3.36930240e-01 -9.22927225e-01 1.86234665e-01 8.06589224e+01] [ 7.51305651e-01 -3.82761264e-01 -5.37618483e-01 4.67531632e+01] [ 5.67466151e-01 -4.12207684e-02 8.22364284e-01 3.29831541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.980714057 meters Centerline goodness : 0.993686 Centerline is valid? [True, True] Translation: X:80.80, Y:46.36, Z:32.70 [[-3.28287720e-01 -9.24187771e-01 1.95202810e-01 8.07996262e+01] [ 7.55460688e-01 -3.80944873e-01 -5.33066743e-01 4.63617290e+01] [ 5.67015274e-01 -2.75312168e-02 8.23247053e-01 3.27032416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.01071405699997 meters Centerline goodness : 0.994600 Centerline is valid? [True, True] Translation: X:80.80, Y:46.37, Z:32.70 [[-3.25944769e-01 -9.25799200e-01 1.91457171e-01 8.07991358e+01] [ 7.58352682e-01 -3.76966736e-01 -5.31786884e-01 4.63712336e+01] [ 5.64500857e-01 -2.81410939e-02 8.24952642e-01 3.27039899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.04071405699997 meters Centerline goodness : 0.993742 Centerline is valid? [True, True] Translation: X:80.81, Y:46.37, Z:32.69 [[-3.25342860e-01 -9.27956394e-01 1.81793714e-01 8.08067120e+01] [ 7.59913615e-01 -3.70993600e-01 -5.33755606e-01 4.63697366e+01] [ 5.62746232e-01 -3.55060567e-02 8.25866817e-01 3.26948018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.07071405699998 meters Centerline goodness : 0.993353 Centerline is valid? [True, True] Translation: X:80.81, Y:46.36, Z:32.70 [[-3.24947086e-01 -9.25952006e-01 1.92411730e-01 8.08059200e+01] [ 7.59290188e-01 -3.76722378e-01 -5.30621014e-01 4.63631902e+01] [ 5.63815397e-01 -2.63274141e-02 8.25481112e-01 3.26971079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.10071405699998 meters Centerline goodness : 0.993052 Centerline is valid? [True, True] Translation: X:80.81, Y:46.37, Z:32.69 [[-3.21794410e-01 -9.28252900e-01 1.86533940e-01 8.08093954e+01] [ 7.67285218e-01 -3.71096132e-01 -5.23030645e-01 4.63670995e+01] [ 5.54726736e-01 -2.51836031e-02 8.31651390e-01 3.26908966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.13071405699998 meters Centerline goodness : 0.994984 Centerline is valid? [True, True] Translation: X:80.81, Y:46.38, Z:32.70 [[-3.27727498e-01 -9.29096857e-01 1.71387621e-01 8.08083477e+01] [ 7.55367101e-01 -3.66637241e-01 -5.43136885e-01 4.63797772e+01] [ 5.67463858e-01 -4.85403223e-02 8.21966305e-01 3.26987466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.16071405699998 meters Centerline goodness : 0.994300 Centerline is valid? [True, True] Translation: X:80.81, Y:46.36, Z:32.70 [[-3.17245300e-01 -9.26487316e-01 2.02426957e-01 8.08071616e+01] [ 7.63916041e-01 -3.76143700e-01 -5.24355031e-01 4.63591722e+01] [ 5.61949910e-01 -1.17119693e-02 8.27088344e-01 3.26957675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.19071405699998 meters Centerline goodness : 0.995045 Centerline is valid? [True, True] Translation: X:80.81, Y:46.39, Z:32.70 [[-3.25734196e-01 -9.30341967e-01 1.68407420e-01 8.08111675e+01] [ 7.55131047e-01 -3.63183889e-01 -5.45778861e-01 4.63866147e+01] [ 5.68923840e-01 -5.06091669e-02 8.20831515e-01 3.27007872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.22071405699998 meters Centerline goodness : 0.994932 Centerline is valid? [True, True] Translation: X:80.81, Y:46.37, Z:32.70 [[-3.25648046e-01 -9.26067982e-01 1.90660542e-01 8.08067454e+01] [ 7.53712904e-01 -3.76012386e-01 -5.39009781e-01 4.63720885e+01] [ 5.70850426e-01 -3.18241709e-02 8.20437087e-01 3.27030000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.25071405699998 meters Centerline goodness : 0.995134 Centerline is valid? [True, True] Translation: X:80.81, Y:46.35, Z:32.69 [[-3.16002637e-01 -9.25906243e-01 2.06978170e-01 8.08143636e+01] [ 7.62587771e-01 -3.77666040e-01 -5.25193539e-01 4.63492892e+01] [ 5.64448603e-01 -8.12352212e-03 8.25428242e-01 3.26878009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.28071405699998 meters Centerline goodness : 0.995326 Centerline is valid? [True, True] Translation: X:80.82, Y:46.37, Z:32.68 [[-3.16988336e-01 -9.31784905e-01 1.76904738e-01 8.08231431e+01] [ 7.64007191e-01 -3.61389248e-01 -5.34500537e-01 4.63718239e+01] [ 5.61971002e-01 -3.42739442e-02 8.26446544e-01 3.26839666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.31071405699998 meters Centerline goodness : 0.994763 Centerline is valid? [True, True] Translation: X:80.83, Y:46.37, Z:32.68 [[-3.18384717e-01 -9.32242909e-01 1.71913732e-01 8.08305387e+01] [ 7.62922602e-01 -3.59627595e-01 -5.37230953e-01 4.63677656e+01] [ 5.62654668e-01 -3.98892532e-02 8.25729115e-01 3.26772324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.34071405699999 meters Centerline goodness : 0.995295 Centerline is valid? [True, True] Translation: X:80.83, Y:46.37, Z:32.68 [[-3.19679736e-01 -9.31499153e-01 1.73534419e-01 8.08315836e+01] [ 7.62423458e-01 -3.61621412e-01 -5.36600806e-01 4.63663225e+01] [ 5.62596958e-01 -3.92336922e-02 8.25799843e-01 3.26772681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.370714057 meters Centerline goodness : 0.994957 Centerline is valid? [True, True] Translation: X:80.83, Y:46.36, Z:32.68 [[-3.16877072e-01 -9.29326289e-01 1.89582622e-01 8.08285340e+01] [ 7.70069170e-01 -3.68772143e-01 -5.20577161e-01 4.63603661e+01] [ 5.53698831e-01 -1.89672342e-02 8.32500960e-01 3.26777361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.400714057 meters Centerline goodness : 0.995284 Centerline is valid? [True, True] Translation: X:80.84, Y:46.39, Z:32.68 [[-0.33019195 -0.93441237 0.13359193 80.8419505 ] [ 0.75245781 -0.34601857 -0.56042698 46.39047127] [ 0.56989519 -0.08452618 0.81735843 32.68015363] [ 0. 0. 0. 1. ]] SLAMing on 163.430714057 meters Centerline goodness : 0.993734 Centerline is valid? [True, True] Translation: X:80.83, Y:46.36, Z:32.69 [[-3.21346384e-01 -9.26140050e-01 1.97486985e-01 8.08253749e+01] [ 7.65349316e-01 -3.76817687e-01 -5.21774717e-01 4.63599496e+01] [ 5.57653052e-01 -1.65238899e-02 8.29909655e-01 3.26897799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.460714057 meters Centerline goodness : 0.993768 Centerline is valid? [True, True] Translation: X:80.84, Y:46.36, Z:32.68 [[-3.20086934e-01 -9.30920584e-01 1.75872742e-01 8.08374279e+01] [ 7.66417811e-01 -3.63568582e-01 -5.29548511e-01 4.63612480e+01] [ 5.56909413e-01 -3.47095574e-02 8.29847668e-01 3.26790642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.490714057 meters Centerline goodness : 0.993195 Centerline is valid? [True, True] Translation: X:80.83, Y:46.35, Z:32.68 [[-3.18236667e-01 -9.28139735e-01 1.93085618e-01 8.08347888e+01] [ 7.66109596e-01 -3.71750669e-01 -5.24287638e-01 4.63520082e+01] [ 5.58391897e-01 -1.89228060e-02 8.29361451e-01 3.26804775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.520714057 meters Centerline goodness : 0.994751 Centerline is valid? [True, True] Translation: X:80.84, Y:46.36, Z:32.68 [[-3.17984386e-01 -9.31716128e-01 1.75473607e-01 8.08400667e+01] [ 7.66030809e-01 -3.61536496e-01 -5.31496154e-01 4.63623461e+01] [ 5.58643652e-01 -3.45892897e-02 8.28686220e-01 3.26787001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.550714057 meters Centerline goodness : 0.993810 Centerline is valid? [True, True] Translation: X:80.85, Y:46.36, Z:32.67 [[-3.18213220e-01 -9.32698283e-01 1.69747635e-01 8.08453595e+01] [ 7.65018259e-01 -3.58386799e-01 -5.35075663e-01 4.63593929e+01] [ 5.59899464e-01 -4.04081097e-02 8.27574634e-01 3.26729069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.580714057 meters Centerline goodness : 0.994788 Centerline is valid? [True, True] Translation: X:80.84, Y:46.35, Z:32.68 [[-3.19645989e-01 -9.30078206e-01 1.81055163e-01 8.08436671e+01] [ 7.60038586e-01 -3.65776006e-01 -5.37167814e-01 4.63528923e+01] [ 5.65833711e-01 -3.40946273e-02 8.23814158e-01 3.26776498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.610714057 meters Centerline goodness : 0.994973 Centerline is valid? [True, True] Translation: X:80.84, Y:46.36, Z:32.68 [[-3.28805417e-01 -9.28036180e-01 1.75030987e-01 8.08404957e+01] [ 7.53022605e-01 -3.69485011e-01 -5.44461002e-01 4.63637065e+01] [ 5.69950834e-01 -4.72194370e-02 8.20320895e-01 3.26847900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.640714057 meters Centerline goodness : 0.994141 Centerline is valid? [True, True] Translation: X:80.85, Y:46.34, Z:32.67 [[-3.23374764e-01 -9.28268489e-01 1.83701861e-01 8.08514555e+01] [ 7.59561438e-01 -3.70411299e-01 -5.34660539e-01 4.63432607e+01] [ 5.64353776e-01 -3.33628761e-02 8.24858614e-01 3.26695072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.670714057 meters Centerline goodness : 0.994371 Centerline is valid? [True, True] Translation: X:80.84, Y:46.36, Z:32.69 [[-3.32166501e-01 -9.22787451e-01 1.95265808e-01 8.08369749e+01] [ 7.49315942e-01 -3.83900986e-01 -5.39579144e-01 4.63605943e+01] [ 5.72879599e-01 -3.29143338e-02 8.18978395e-01 3.26909325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.700714057 meters Centerline goodness : 0.995003 Centerline is valid? [True, True] Translation: X:80.84, Y:46.36, Z:32.69 [[-3.34565281e-01 -9.22114640e-01 1.94346761e-01 8.08408005e+01] [ 7.47155494e-01 -3.85238419e-01 -5.41617973e-01 4.63572165e+01] [ 5.74303701e-01 -3.59993187e-02 8.17850419e-01 3.26865757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.730714057 meters Centerline goodness : 0.995009 Centerline is valid? [True, True] Translation: X:80.85, Y:46.33, Z:32.67 [[-3.25483603e-01 -9.23736483e-01 2.01919129e-01 8.08507045e+01] [ 7.54055351e-01 -3.82421930e-01 -5.33998122e-01 4.63343232e+01] [ 5.70491850e-01 -2.15494334e-02 8.21020506e-01 3.26699308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.76071405699997 meters Centerline goodness : 0.995227 Centerline is valid? [True, True] Translation: X:80.85, Y:46.37, Z:32.68 [[-3.37219969e-01 -9.25448681e-01 1.72706200e-01 8.08499897e+01] [ 7.45959173e-01 -3.74581400e-01 -5.50666584e-01 4.63653623e+01] [ 5.74306194e-01 -5.68639938e-02 8.16663261e-01 3.26803714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.79071405699997 meters Centerline goodness : 0.995110 Centerline is valid? [True, True] Translation: X:80.84, Y:46.35, Z:32.69 [[-3.38417196e-01 -9.20473774e-01 1.95452891e-01 8.08442986e+01] [ 7.44273545e-01 -3.88925722e-01 -5.42949052e-01 4.63545338e+01] [ 5.75787020e-01 -3.82728797e-02 8.16703431e-01 3.26860394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.82071405699998 meters Centerline goodness : 0.994439 Centerline is valid? [True, True] Translation: X:80.85, Y:46.37, Z:32.69 [[-3.45797305e-01 -9.22375171e-01 1.72186723e-01 8.08499539e+01] [ 7.39515494e-01 -3.80856256e-01 -5.55036347e-01 4.63696244e+01] [ 5.77530136e-01 -6.45953230e-02 8.13809797e-01 3.26903149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.85071405699998 meters Centerline goodness : 0.995400 Centerline is valid? [True, True] Translation: X:80.83, Y:46.37, Z:32.71 [[-3.45966636e-01 -9.14881767e-01 2.08082772e-01 8.08321357e+01] [ 7.38313161e-01 -4.02317014e-01 -5.41326793e-01 4.63715842e+01] [ 5.78965252e-01 -3.36507607e-02 8.14657513e-01 3.27131436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.88071405699998 meters Centerline goodness : 0.994648 Centerline is valid? [True, True] Translation: X:80.84, Y:46.37, Z:32.71 [[-3.46920875e-01 -9.15523875e-01 2.03622056e-01 8.08368087e+01] [ 7.37707363e-01 -4.00431010e-01 -5.43546551e-01 4.63657791e+01] [ 5.79166430e-01 -3.83541544e-02 8.14306580e-01 3.27076333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.91071405699998 meters Centerline goodness : 0.993803 Centerline is valid? [True, True] Translation: X:80.84, Y:46.34, Z:32.69 [[-3.38014614e-01 -9.14814919e-01 2.21042495e-01 8.08436751e+01] [ 7.50017750e-01 -4.03715065e-01 -5.23915568e-01 4.63431158e+01] [ 5.68523963e-01 -1.13053232e-02 8.22589018e-01 3.26915797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.94071405699998 meters Centerline goodness : 0.993161 Centerline is valid? [True, True] Translation: X:80.86, Y:46.35, Z:32.68 [[-3.40734830e-01 -9.21839493e-01 1.84693596e-01 8.08629924e+01] [ 7.48383249e-01 -3.84851205e-01 -5.40196318e-01 4.63482912e+01] [ 5.69053853e-01 -4.58421066e-02 8.21021445e-01 3.26761758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.97071405699998 meters Centerline goodness : 0.993089 Centerline is valid? [True, True] Translation: X:80.86, Y:46.34, Z:32.68 [[-3.41275510e-01 -9.19596692e-01 1.94609738e-01 8.08603407e+01] [ 7.47651183e-01 -3.91052820e-01 -5.36745191e-01 4.63437718e+01] [ 5.69691789e-01 -3.76777876e-02 8.20994305e-01 3.26777635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.00071405699998 meters Centerline goodness : 0.993189 Centerline is valid? [True, True] Translation: X:80.86, Y:46.35, Z:32.68 [[-3.43016317e-01 -9.19203379e-01 1.93403604e-01 8.08605854e+01] [ 7.46474908e-01 -3.91732725e-01 -5.37885381e-01 4.63468547e+01] [ 5.70188581e-01 -4.01325253e-02 8.20532975e-01 3.26802908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.03071405699998 meters Centerline goodness : 0.992796 Centerline is valid? [True, True] Translation: X:80.86, Y:46.34, Z:32.68 [[-3.44725245e-01 -9.15746729e-01 2.06330883e-01 8.08576397e+01] [ 7.50289973e-01 -4.00886924e-01 -5.25694426e-01 4.63397861e+01] [ 5.64118305e-01 -2.64121469e-02 8.25271432e-01 3.26761659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.06071405699998 meters Centerline goodness : 0.994167 Centerline is valid? [True, True] Translation: X:80.85, Y:46.35, Z:32.69 [[-3.52129930e-01 -9.14994827e-01 1.96949182e-01 8.08520645e+01] [ 7.38070107e-01 -4.00863221e-01 -5.42734922e-01 4.63529082e+01] [ 5.75549329e-01 -4.57509062e-02 8.16486267e-01 3.26874571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.09071405699999 meters Centerline goodness : 0.994487 Centerline is valid? [True, True] Translation: X:80.86, Y:46.33, Z:32.67 [[-3.41420109e-01 -9.14884533e-01 2.15449763e-01 8.08582344e+01] [ 7.51453311e-01 -4.03384047e-01 -5.22110364e-01 4.63263210e+01] [ 5.64579694e-01 -1.63585392e-02 8.25216437e-01 3.26687797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.120714057 meters Centerline goodness : 0.993985 Centerline is valid? [True, True] Translation: X:80.88, Y:46.34, Z:32.66 [[-3.42540567e-01 -9.23660159e-01 1.71807656e-01 8.08750787e+01] [ 7.50671273e-01 -3.79041376e-01 -5.41128705e-01 4.63411154e+01] [ 5.64941236e-01 -5.63874612e-02 8.23202195e-01 3.26559783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.150714057 meters Centerline goodness : 0.994215 Centerline is valid? [True, True] Translation: X:80.87, Y:46.33, Z:32.65 [[-3.42357953e-01 -9.21476268e-01 1.83500736e-01 8.08734410e+01] [ 7.52447192e-01 -3.85857069e-01 -5.33795416e-01 4.63323729e+01] [ 5.62684864e-01 -4.46744924e-02 8.25463466e-01 3.26541797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.180714057 meters Centerline goodness : 0.994263 Centerline is valid? [True, True] Translation: X:80.87, Y:46.34, Z:32.66 [[-3.42662706e-01 -9.21710541e-01 1.81746935e-01 8.08716790e+01] [ 7.53118864e-01 -3.85154971e-01 -5.33355065e-01 4.63387976e+01] [ 5.61599721e-01 -4.58838449e-02 8.26135840e-01 3.26579832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.210714057 meters Centerline goodness : 0.992929 Centerline is valid? [True, True] Translation: X:80.89, Y:46.34, Z:32.64 [[-3.48817541e-01 -9.24632402e-01 1.52909271e-01 8.08882685e+01] [ 7.50493719e-01 -3.73308862e-01 -5.45343627e-01 4.63359010e+01] [ 5.61324773e-01 -7.54679755e-02 8.24147489e-01 3.26422774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.240714057 meters Centerline goodness : 0.994119 Centerline is valid? [True, True] Translation: X:80.86, Y:46.32, Z:32.66 [[-3.42596600e-01 -9.15121286e-01 2.12557292e-01 8.08648403e+01] [ 7.51088218e-01 -4.02702755e-01 -5.23160568e-01 4.63155390e+01] [ 5.64352778e-01 -1.95837541e-02 8.25301411e-01 3.26603868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.270714057 meters Centerline goodness : 0.994209 Centerline is valid? [True, True] Translation: X:80.88, Y:46.32, Z:32.65 [[-3.41009856e-01 -9.21877035e-01 1.83997314e-01 8.08768972e+01] [ 7.55172069e-01 -3.85207893e-01 -5.30405529e-01 4.63222253e+01] [ 5.59845894e-01 -4.19238809e-02 8.27535476e-01 3.26486373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.300714057 meters Centerline goodness : 0.994307 Centerline is valid? [True, True] Translation: X:80.87, Y:46.35, Z:32.67 [[-0.35501516 -0.9220451 0.15426299 80.87446638] [ 0.73926052 -0.37789294 -0.55739645 46.35439325] [ 0.57223956 -0.08384365 0.81578927 32.66675426] [ 0. 0. 0. 1. ]] SLAMing on 164.330714057 meters Centerline goodness : 0.994318 Centerline is valid? [True, True] Translation: X:80.87, Y:46.31, Z:32.65 [[-3.38405990e-01 -9.16033686e-01 2.15322250e-01 8.08688494e+01] [ 7.55021096e-01 -4.00890055e-01 -5.18874077e-01 4.63077468e+01] [ 5.61626682e-01 -1.30172548e-02 8.27288354e-01 3.26543562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.360714057 meters Centerline goodness : 0.994409 Centerline is valid? [True, True] Translation: X:80.87, Y:46.35, Z:32.67 [[-3.53249096e-01 -9.21890127e-01 1.59165545e-01 8.08738461e+01] [ 7.39307473e-01 -3.79341640e-01 -5.56349153e-01 4.63514510e+01] [ 5.73270910e-01 -7.88575587e-02 8.15562352e-01 3.26673075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.390714057 meters Centerline goodness : 0.993867 Centerline is valid? [True, True] Translation: X:80.87, Y:46.33, Z:32.67 [[-3.41411674e-01 -9.17544539e-01 2.03838387e-01 8.08651494e+01] [ 7.46158290e-01 -3.96460869e-01 -5.34851929e-01 4.63313763e+01] [ 5.71564410e-01 -3.05089897e-02 8.19989833e-01 3.26722087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.420714057 meters Centerline goodness : 0.994693 Centerline is valid? [True, True] Translation: X:80.87, Y:46.33, Z:32.66 [[-3.41220144e-01 -9.21522065e-01 1.85380413e-01 8.08748430e+01] [ 7.46591393e-01 -3.85519244e-01 -5.42195725e-01 4.63316539e+01] [ 5.71113041e-01 -4.66046826e-02 8.19547374e-01 3.26619485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.450714057 meters Centerline goodness : 0.994184 Centerline is valid? [True, True] Translation: X:80.88, Y:46.33, Z:32.66 [[-3.41715506e-01 -9.21518761e-01 1.84482210e-01 8.08757870e+01] [ 7.45711766e-01 -3.85335458e-01 -5.43535231e-01 4.63325180e+01] [ 5.71965450e-01 -4.81638614e-02 8.18862484e-01 3.26622093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.480714057 meters Centerline goodness : 0.994406 Centerline is valid? [True, True] Translation: X:80.88, Y:46.33, Z:32.66 [[-3.40762698e-01 -9.21296180e-01 1.87334279e-01 8.08774306e+01] [ 7.46773017e-01 -3.86296632e-01 -5.41391701e-01 4.63295511e+01] [ 5.71148707e-01 -4.45899118e-02 8.19634610e-01 3.26594626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.51071405699997 meters Centerline goodness : 0.994640 Centerline is valid? [True, True] Translation: X:80.88, Y:46.33, Z:32.66 [[-3.40676021e-01 -9.22069775e-01 1.83649606e-01 8.08809484e+01] [ 7.46336939e-01 -3.84019320e-01 -5.43608624e-01 4.63255000e+01] [ 5.71770078e-01 -4.81299382e-02 8.19000908e-01 3.26551153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.54071405699997 meters Centerline goodness : 0.994472 Centerline is valid? [True, True] Translation: X:80.89, Y:46.30, Z:32.64 [[-3.36459022e-01 -9.22053081e-01 1.91346393e-01 8.08851742e+01] [ 7.52536096e-01 -3.85416340e-01 -5.33988455e-01 4.63047629e+01] [ 5.66113726e-01 -3.56701656e-02 8.23555030e-01 3.26408971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.57071405699998 meters Centerline goodness : 0.995245 Centerline is valid? [True, True] Translation: X:80.88, Y:46.33, Z:32.66 [[-3.49834694e-01 -9.21316257e-01 1.69682180e-01 8.08778386e+01] [ 7.39191220e-01 -3.82743116e-01 -5.54169692e-01 4.63321195e+01] [ 5.75510232e-01 -6.84402070e-02 8.14925709e-01 3.26602371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.60071405699998 meters Centerline goodness : 0.994642 Centerline is valid? [True, True] Translation: X:80.87, Y:46.32, Z:32.67 [[-3.47778429e-01 -9.16075229e-01 1.99640524e-01 8.08678849e+01] [ 7.38846443e-01 -3.98864428e-01 -5.43151085e-01 4.63193463e+01] [ 5.77196758e-01 -4.13925399e-02 8.15555369e-01 3.26681984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.63071405699998 meters Centerline goodness : 0.994901 Centerline is valid? [True, True] Translation: X:80.88, Y:46.30, Z:32.65 [[-3.33451788e-01 -9.21113527e-01 2.00897424e-01 8.08799658e+01] [ 7.48420484e-01 -3.88216004e-01 -5.37731451e-01 4.63021557e+01] [ 5.73303309e-01 -2.89517667e-02 8.18831552e-01 3.26530705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.66071405699998 meters Centerline goodness : 0.994855 Centerline is valid? [True, True] Translation: X:80.88, Y:46.31, Z:32.65 [[-3.33973763e-01 -9.24467746e-01 1.83904629e-01 8.08840501e+01] [ 7.48059748e-01 -3.78661040e-01 -5.44997643e-01 4.63107198e+01] [ 5.73470260e-01 -4.44432636e-02 8.18019961e-01 3.26522960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.69071405699998 meters Centerline goodness : 0.994970 Centerline is valid? [True, True] Translation: X:80.88, Y:46.30, Z:32.65 [[-3.30701499e-01 -9.24031912e-01 1.91837286e-01 8.08833836e+01] [ 7.52101033e-01 -3.80836497e-01 -5.37873219e-01 4.63013232e+01] [ 5.70070659e-01 -3.35944589e-02 8.20908556e-01 3.26488218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.72071405699998 meters Centerline goodness : 0.994970 Centerline is valid? [True, True] Translation: X:80.89, Y:46.30, Z:32.65 [[-3.31138771e-01 -9.25151017e-01 1.85587475e-01 8.08864642e+01] [ 7.52138536e-01 -3.77562681e-01 -5.40124101e-01 4.63015121e+01] [ 5.69767266e-01 -3.92685397e-02 8.20867373e-01 3.26454356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.75071405699998 meters Centerline goodness : 0.994838 Centerline is valid? [True, True] Translation: X:80.88, Y:46.30, Z:32.65 [[-3.30560816e-01 -9.24755896e-01 1.88563199e-01 8.08844495e+01] [ 7.53632691e-01 -3.78907607e-01 -5.37091047e-01 4.63028924e+01] [ 5.68126143e-01 -3.54338641e-02 8.22178282e-01 3.26473886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.78071405699998 meters Centerline goodness : 0.995512 Centerline is valid? [True, True] Translation: X:80.89, Y:46.30, Z:32.65 [[-3.31122755e-01 -9.25880410e-01 1.81942814e-01 8.08876333e+01] [ 7.52366828e-01 -3.75436265e-01 -5.41287140e-01 4.63043628e+01] [ 5.69475090e-01 -4.23447515e-02 8.20917197e-01 3.26460905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.81071405699998 meters Centerline goodness : 0.995644 Centerline is valid? [True, True] Translation: X:80.88, Y:46.31, Z:32.65 [[-3.40870942e-01 -9.22054621e-01 1.83363784e-01 8.08803861e+01] [ 7.44138926e-01 -3.83826791e-01 -5.46748804e-01 4.63082413e+01] [ 5.74512194e-01 -4.99226505e-02 8.16972134e-01 3.26543697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.84071405699999 meters Centerline goodness : 0.996101 Centerline is valid? [True, True] Translation: X:80.88, Y:46.29, Z:32.65 [[-3.31299142e-01 -9.18900060e-01 2.14157789e-01 8.08786214e+01] [ 7.53497671e-01 -3.94278432e-01 -5.26104341e-01 4.62914821e+01] [ 5.67875108e-01 -1.29305214e-02 8.23013161e-01 3.26500331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.870714057 meters Centerline goodness : 0.995093 Centerline is valid? [True, True] Translation: X:80.89, Y:46.30, Z:32.64 [[-3.33138751e-01 -9.25755759e-01 1.78871034e-01 8.08917253e+01] [ 7.52212725e-01 -3.75329397e-01 -5.41575351e-01 4.63042602e+01] [ 5.68502057e-01 -4.58706683e-02 8.21402029e-01 3.26399615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.900714057 meters Centerline goodness : 0.994992 Centerline is valid? [True, True] Translation: X:80.89, Y:46.30, Z:32.64 [[-3.35659067e-01 -9.22811228e-01 1.89083126e-01 8.08875520e+01] [ 7.52048458e-01 -3.83397936e-01 -5.36124182e-01 4.63029991e+01] [ 5.67235495e-01 -3.77552699e-02 8.22689755e-01 3.26430200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.930714057 meters Centerline goodness : 0.995831 Centerline is valid? [True, True] Translation: X:80.89, Y:46.31, Z:32.64 [[-3.37497387e-01 -9.22636235e-01 1.86649116e-01 8.08876018e+01] [ 7.51039364e-01 -3.83462133e-01 -5.37491085e-01 4.63056956e+01] [ 5.67481618e-01 -4.12210036e-02 8.22353599e-01 3.26439683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.960714057 meters Centerline goodness : 0.996727 Centerline is valid? [True, True] Translation: X:80.89, Y:46.32, Z:32.65 [[-3.51621065e-01 -9.20574220e-01 1.70016858e-01 8.08858775e+01] [ 7.37827365e-01 -3.84302794e-01 -5.54907327e-01 4.63159853e+01] [ 5.76171333e-01 -6.96740151e-02 8.14353809e-01 3.26513873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.990714057 meters Centerline goodness : 0.995517 Centerline is valid? [True, True] Translation: X:80.88, Y:46.30, Z:32.65 [[-3.44082079e-01 -9.16120758e-01 2.05743238e-01 8.08807696e+01] [ 7.46797598e-01 -3.99836964e-01 -5.31435556e-01 4.62961686e+01] [ 5.69122896e-01 -2.92088956e-02 8.21733515e-01 3.26510690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.020714057 meters Centerline goodness : 0.995346 Centerline is valid? [True, True] Translation: X:80.88, Y:46.31, Z:32.65 [[-3.48235470e-01 -9.17610546e-01 1.91632314e-01 8.08820811e+01] [ 7.46302790e-01 -3.95090854e-01 -5.35663479e-01 4.63080571e+01] [ 5.67242632e-01 -4.35212929e-02 8.22399959e-01 3.26518438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.050714057 meters Centerline goodness : 0.995768 Centerline is valid? [True, True] Translation: X:80.88, Y:46.30, Z:32.65 [[-3.48602388e-01 -9.16109355e-01 1.98040460e-01 8.08812838e+01] [ 7.45802450e-01 -3.99100727e-01 -5.33382898e-01 4.62989107e+01] [ 5.67675154e-01 -3.82394918e-02 8.22364068e-01 3.26486728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.080714057 meters Centerline goodness : 0.995967 Centerline is valid? [True, True] Translation: X:80.87, Y:46.30, Z:32.65 [[-3.44569830e-01 -9.10688968e-01 2.27853540e-01 8.08680761e+01] [ 7.63201520e-01 -4.13083972e-01 -4.96875309e-01 4.62951105e+01] [ 5.46621507e-01 2.68992741e-03 8.37375478e-01 3.26520873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.110714057 meters Centerline goodness : 0.996089 Centerline is valid? [True, True] Translation: X:80.90, Y:46.33, Z:32.63 [[-0.36243281 -0.92507131 0.11351442 80.90471648] [ 0.73854495 -0.35935343 -0.57045287 46.32769242] [ 0.56850138 -0.12291533 0.81344822 32.63219922] [ 0. 0. 0. 1. ]] SLAMing on 165.140714057 meters Centerline goodness : 0.996705 Centerline is valid? [True, True] Translation: X:80.87, Y:46.29, Z:32.66 [[-3.61799004e-01 -9.10151932e-01 2.01804218e-01 8.08716143e+01] [ 7.34643480e-01 -4.11614307e-01 -5.39326078e-01 4.62941501e+01] [ 5.73934176e-01 -4.68734846e-02 8.17558829e-01 3.26574019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.170714057 meters Centerline goodness : 0.996692 Centerline is valid? [True, True] Translation: X:80.87, Y:46.26, Z:32.64 [[-3.49909133e-01 -9.04472835e-01 2.43910825e-01 8.08663317e+01] [ 7.57781965e-01 -4.26362524e-01 -4.93944828e-01 4.62636660e+01] [ 5.50754113e-01 1.19954176e-02 8.34581342e-01 3.26436945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.200714057 meters Centerline goodness : 0.996209 Centerline is valid? [True, True] Translation: X:80.89, Y:46.28, Z:32.62 [[-3.49089053e-01 -9.20094504e-01 1.77659611e-01 8.08913101e+01] [ 7.60979494e-01 -3.88978387e-01 -5.19236001e-01 4.62808430e+01] [ 5.46851939e-01 -4.60642831e-02 8.35961146e-01 3.26174320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.230714057 meters Centerline goodness : 0.996670 Centerline is valid? [True, True] Translation: X:80.90, Y:46.28, Z:32.61 [[-3.51417781e-01 -9.23253257e-01 1.55270627e-01 8.08985020e+01] [ 7.56825770e-01 -3.77774263e-01 -5.33386689e-01 4.62849677e+01] [ 5.51108244e-01 -6.99287546e-02 8.31498450e-01 3.26111916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.26071405699997 meters Centerline goodness : 0.995329 Centerline is valid? [True, True] Translation: X:80.90, Y:46.28, Z:32.61 [[-3.54729085e-01 -9.20532184e-01 1.63669709e-01 8.08961739e+01] [ 7.51235881e-01 -3.84832535e-01 -5.36235556e-01 4.62795863e+01] [ 5.56607517e-01 -6.72637902e-02 8.28048100e-01 3.26145094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.29071405699997 meters Centerline goodness : 0.995693 Centerline is valid? [True, True] Translation: X:80.89, Y:46.31, Z:32.64 [[-0.36160839 -0.9195574 0.15379717 80.88697403] [ 0.73751443 -0.38304522 -0.55619137 46.30662301] [ 0.57036115 -0.08769583 0.81669921 32.63768548] [ 0. 0. 0. 1. ]] SLAMing on 165.32071405699998 meters Centerline goodness : 0.996413 Centerline is valid? [True, True] Translation: X:80.86, Y:46.25, Z:32.64 [[-3.50062817e-01 -9.01787075e-01 2.53448410e-01 8.08586515e+01] [ 7.57492933e-01 -4.31691982e-01 -4.89741247e-01 4.62530843e+01] [ 5.51053973e-01 2.05451791e-02 8.34216647e-01 3.26397896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.35071405699998 meters Centerline goodness : 0.995432 Centerline is valid? [True, True] Translation: X:80.90, Y:46.30, Z:32.61 [[-0.36185997 -0.924733 0.11800953 80.90473338] [ 0.74223926 -0.36238431 -0.56370071 46.30319866] [ 0.56403745 -0.11638942 0.81750551 32.61194739] [ 0. 0. 0. 1. ]] SLAMing on 165.38071405699998 meters Centerline goodness : 0.996214 Centerline is valid? [True, True] Translation: X:80.87, Y:46.28, Z:32.64 [[-3.61170548e-01 -9.12616179e-01 1.91539931e-01 8.08737596e+01] [ 7.38229528e-01 -4.05322682e-01 -5.39194480e-01 4.62830668e+01] [ 5.69713085e-01 -5.33407323e-02 8.20110826e-01 3.26393196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.41071405699998 meters Centerline goodness : 0.995219 Centerline is valid? [True, True] Translation: X:80.87, Y:46.25, Z:32.62 [[-3.52272124e-01 -9.07158315e-01 2.30148087e-01 8.08688477e+01] [ 7.58578316e-01 -4.20788959e-01 -4.97489287e-01 4.62476740e+01] [ 5.48145317e-01 -6.66259320e-04 8.36382847e-01 3.26202501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.44071405699998 meters Centerline goodness : 0.995530 Centerline is valid? [True, True] Translation: X:80.89, Y:46.27, Z:32.60 [[-3.50596903e-01 -9.20904518e-01 1.70342831e-01 8.08886614e+01] [ 7.62050194e-01 -3.86250594e-01 -5.19701819e-01 4.62662936e+01] [ 5.44390773e-01 -5.23960606e-02 8.37193729e-01 3.26015399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.47071405699998 meters Centerline goodness : 0.996114 Centerline is valid? [True, True] Translation: X:80.89, Y:46.29, Z:32.61 [[-0.35843308 -0.92423125 0.13161428 80.89383621] [ 0.74618469 -0.36835347 -0.55454858 46.29477192] [ 0.56101171 -0.10055999 0.82167728 32.6139086 ] [ 0. 0. 0. 1. ]] SLAMing on 165.50071405699998 meters Centerline goodness : 0.995574 Centerline is valid? [True, True] Translation: X:80.88, Y:46.26, Z:32.62 [[-3.55770116e-01 -9.14889904e-01 1.90798556e-01 8.08758044e+01] [ 7.45412411e-01 -4.00929519e-01 -5.32555967e-01 4.62612901e+01] [ 5.63726850e-01 -4.72438868e-02 8.24609031e-01 3.26232236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.53071405699998 meters Centerline goodness : 0.995528 Centerline is valid? [True, True] Translation: X:80.88, Y:46.26, Z:32.62 [[-3.53824017e-01 -9.16002954e-01 1.89069178e-01 8.08777245e+01] [ 7.47737782e-01 -3.98460662e-01 -5.31147164e-01 4.62553131e+01] [ 5.61869001e-01 -4.65584550e-02 8.25914969e-01 3.26170881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.56071405699998 meters Centerline goodness : 0.994952 Centerline is valid? [True, True] Translation: X:80.88, Y:46.26, Z:32.62 [[-3.51899027e-01 -9.17731247e-01 1.84218437e-01 8.08783449e+01] [ 7.48402462e-01 -3.94059455e-01 -5.33489363e-01 4.62578408e+01] [ 5.62192875e-01 -4.98648558e-02 8.25501464e-01 3.26157277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.59071405699999 meters Centerline goodness : 0.995067 Centerline is valid? [True, True] Translation: X:80.88, Y:46.26, Z:32.62 [[-3.51657379e-01 -9.17696055e-01 1.84854102e-01 8.08773391e+01] [ 7.48193506e-01 -3.94204419e-01 -5.33675326e-01 4.62589121e+01] [ 5.62622045e-01 -4.93642274e-02 8.25239121e-01 3.26171012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.620714057 meters Centerline goodness : 0.995029 Centerline is valid? [True, True] Translation: X:80.88, Y:46.25, Z:32.61 [[-3.49748138e-01 -9.16562239e-01 1.93881153e-01 8.08754317e+01] [ 7.52852606e-01 -3.98144611e-01 -5.24112413e-01 4.62533652e+01] [ 5.57574383e-01 -3.73434091e-02 8.29286607e-01 3.26142916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.650714057 meters Centerline goodness : 0.995104 Centerline is valid? [True, True] Translation: X:80.87, Y:46.27, Z:32.62 [[-3.48342575e-01 -9.19321359e-01 1.83045593e-01 8.08748192e+01] [ 7.56122085e-01 -3.90994588e-01 -5.24788171e-01 4.62666113e+01] [ 5.54018811e-01 -4.44012480e-02 8.31319245e-01 3.26172764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.680714057 meters Centerline goodness : 0.994888 Centerline is valid? [True, True] Translation: X:80.88, Y:46.26, Z:32.61 [[-3.45479259e-01 -9.20542614e-01 1.82333150e-01 8.08763612e+01] [ 7.58721767e-01 -3.88340101e-01 -5.23004060e-01 4.62599055e+01] [ 5.52254798e-01 -4.23469259e-02 8.32599169e-01 3.26125484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.710714057 meters Centerline goodness : 0.993865 Centerline is valid? [True, True] Translation: X:80.88, Y:46.25, Z:32.61 [[-3.44321277e-01 -9.21186575e-01 1.81268177e-01 8.08789447e+01] [ 7.60200473e-01 -3.86856558e-01 -5.21955214e-01 4.62539193e+01] [ 5.50942919e-01 -4.19201316e-02 8.33489414e-01 3.26064997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.740714057 meters Centerline goodness : 0.993969 Centerline is valid? [True, True] Translation: X:80.88, Y:46.27, Z:32.61 [[-3.42908435e-01 -9.22651065e-01 1.76433609e-01 8.08758038e+01] [ 7.62331817e-01 -3.83074537e-01 -5.21635985e-01 4.62669519e+01] [ 5.48875220e-01 -4.43724258e-02 8.34725752e-01 3.26120034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.770714057 meters Centerline goodness : 0.993692 Centerline is valid? [True, True] Translation: X:80.88, Y:46.25, Z:32.61 [[-3.38658653e-01 -9.22603468e-01 1.84697476e-01 8.08760992e+01] [ 7.64548938e-01 -3.84243931e-01 -5.17514757e-01 4.62483357e+01] [ 5.48429794e-01 -3.40505912e-02 8.35503033e-01 3.26063321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.800714057 meters Centerline goodness : 0.993849 Centerline is valid? [True, True] Translation: X:80.87, Y:46.25, Z:32.61 [[-3.32407756e-01 -9.24264053e-01 1.87725982e-01 8.08711526e+01] [ 7.72690581e-01 -3.81016501e-01 -5.07716153e-01 4.62504072e+01] [ 5.40790486e-01 -2.37146889e-02 8.40822968e-01 3.26070676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.830714057 meters Centerline goodness : 0.993328 Centerline is valid? [True, True] Translation: X:80.88, Y:46.28, Z:32.61 [[-3.33379702e-01 -9.30045523e-01 1.54509870e-01 8.08770236e+01] [ 7.65987838e-01 -3.62744124e-01 -5.30734710e-01 4.62774931e+01] [ 5.49654988e-01 -5.85834982e-02 8.33335087e-01 3.26118371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.860714057 meters Centerline goodness : 0.994109 Centerline is valid? [True, True] Translation: X:80.87, Y:46.26, Z:32.62 [[-3.31601837e-01 -9.24509441e-01 1.87942850e-01 8.08666683e+01] [ 7.67336863e-01 -3.80200586e-01 -5.16373559e-01 4.62560829e+01] [ 5.48848212e-01 -2.70149434e-02 8.35485388e-01 3.26154652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.890714057 meters Centerline goodness : 0.993891 Centerline is valid? [True, True] Translation: X:80.87, Y:46.25, Z:32.60 [[-3.26964381e-01 -9.27948088e-01 1.78903994e-01 8.08731380e+01] [ 7.71274705e-01 -3.71416040e-01 -5.16899850e-01 4.62477624e+01] [ 5.46104041e-01 -3.10237140e-02 8.37142703e-01 3.26032810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.920714057 meters Centerline goodness : 0.995130 Centerline is valid? [True, True] Translation: X:80.87, Y:46.26, Z:32.62 [[-3.40987518e-01 -9.27074424e-01 1.55757906e-01 8.08693401e+01] [ 7.46704246e-01 -3.67763565e-01 -5.54240679e-01 4.62598673e+01] [ 5.71104441e-01 -7.26840638e-02 8.17653193e-01 3.26175575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.950714057 meters Centerline goodness : 0.994966 Centerline is valid? [True, True] Translation: X:80.83, Y:46.30, Z:32.67 [[-3.41899188e-01 -9.19288770e-01 1.94969493e-01 8.08349955e+01] [ 7.45681040e-01 -3.91655397e-01 -5.39041591e-01 4.62955137e+01] [ 5.71895735e-01 -3.89128273e-02 8.19402868e-01 3.26708988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.980714057 meters Centerline goodness : 0.993952 Centerline is valid? [True, True] Translation: X:80.86, Y:46.20, Z:32.61 [[-3.21854914e-01 -9.15808894e-01 2.40215495e-01 8.08568960e+01] [ 7.72985691e-01 -4.00680718e-01 -4.91882184e-01 4.62012882e+01] [ 5.46719796e-01 2.73684420e-02 8.36868229e-01 3.26105089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.01071405699997 meters Centerline goodness : 0.993504 Centerline is valid? [True, True] Translation: X:80.88, Y:46.24, Z:32.59 [[-3.23401695e-01 -9.32826698e-01 1.58888938e-01 8.08830196e+01] [ 7.69456038e-01 -3.56974685e-01 -5.29628624e-01 4.62379798e+01] [ 5.50771049e-01 -4.90247424e-02 8.33215354e-01 3.25915538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.04071405699997 meters Centerline goodness : 0.992906 Centerline is valid? [True, True] Translation: X:80.87, Y:46.22, Z:32.60 [[-3.21214905e-01 -9.25975453e-01 1.98470262e-01 8.08712345e+01] [ 7.77472483e-01 -3.77513729e-01 -5.03010858e-01 4.62218901e+01] [ 5.40700956e-01 -7.26941783e-03 8.41183471e-01 3.25963235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.07071405699998 meters Centerline goodness : 0.993774 Centerline is valid? [True, True] Translation: X:80.89, Y:46.24, Z:32.59 [[-3.25293263e-01 -9.32473466e-01 1.57090830e-01 8.08867981e+01] [ 7.67378201e-01 -3.57384738e-01 -5.32359695e-01 4.62388257e+01] [ 5.52553155e-01 -5.26249438e-02 8.31814658e-01 3.25874977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.10071405699998 meters Centerline goodness : 0.993595 Centerline is valid? [True, True] Translation: X:80.88, Y:46.24, Z:32.60 [[-3.28092368e-01 -9.28035820e-01 1.76365853e-01 8.08783087e+01] [ 7.66257451e-01 -3.70642836e-01 -5.24855605e-01 4.62371696e+01] [ 5.52453542e-01 -3.70594690e-02 8.32719448e-01 3.25986059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.13071405699998 meters Centerline goodness : 0.994221 Centerline is valid? [True, True] Translation: X:80.87, Y:46.25, Z:32.61 [[-3.29344270e-01 -9.23717050e-01 1.95650613e-01 8.08659573e+01] [ 7.63702938e-01 -3.82450764e-01 -5.20085797e-01 4.62467235e+01] [ 5.55238845e-01 -2.18683291e-02 8.31403393e-01 3.26149118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.16071405699998 meters Centerline goodness : 0.994633 Centerline is valid? [True, True] Translation: X:80.88, Y:46.24, Z:32.60 [[-3.33259701e-01 -9.27114298e-01 1.71455681e-01 8.08813307e+01] [ 7.65292948e-01 -3.72210642e-01 -5.25153255e-01 4.62433248e+01] [ 5.50694720e-01 -4.37985929e-02 8.33556842e-01 3.25957470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.19071405699998 meters Centerline goodness : 0.994772 Centerline is valid? [True, True] Translation: X:80.86, Y:46.26, Z:32.62 [[-3.36265093e-01 -9.21829161e-01 1.92760953e-01 8.08644571e+01] [ 7.61621929e-01 -3.86578259e-01 -5.20085845e-01 4.62612005e+01] [ 5.53947492e-01 -2.80757468e-02 8.32078078e-01 3.26219826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.22071405699998 meters Centerline goodness : 0.994427 Centerline is valid? [True, True] Translation: X:80.87, Y:46.26, Z:32.61 [[-3.37231243e-01 -9.24564616e-01 1.77356587e-01 8.08722083e+01] [ 7.62578187e-01 -3.78746961e-01 -5.24428497e-01 4.62620731e+01] [ 5.52041300e-01 -4.16054089e-02 8.32778118e-01 3.26120460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.25071405699998 meters Centerline goodness : 0.995501 Centerline is valid? [True, True] Translation: X:80.88, Y:46.25, Z:32.61 [[-3.51224714e-01 -9.23043317e-01 1.56946598e-01 8.08786929e+01] [ 7.43008034e-01 -3.76773855e-01 -5.53155063e-01 4.62537399e+01] [ 5.69719459e-01 -7.76691454e-02 8.18160890e-01 3.26075220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.28071405699998 meters Centerline goodness : 0.995291 Centerline is valid? [True, True] Translation: X:80.86, Y:46.23, Z:32.62 [[-3.51298476e-01 -9.13571777e-01 2.04880425e-01 8.08633083e+01] [ 7.40694821e-01 -4.05031721e-01 -5.36022843e-01 4.62328487e+01] [ 5.72678412e-01 -3.65501379e-02 8.18964910e-01 3.26211550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.31071405699998 meters Centerline goodness : 0.994397 Centerline is valid? [True, True] Translation: X:80.84, Y:46.24, Z:32.64 [[-3.40966263e-01 -9.04753599e-01 2.55270313e-01 8.08424400e+01] [ 7.66062992e-01 -4.24800112e-01 -4.82381963e-01 4.62391775e+01] [ 5.44875674e-01 3.10771646e-02 8.37940755e-01 3.26379647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.34071405699999 meters Centerline goodness : 0.994024 Centerline is valid? [True, True] Translation: X:80.88, Y:46.26, Z:32.60 [[-3.41950143e-01 -9.26363524e-01 1.57862980e-01 8.08814680e+01] [ 7.68509344e-01 -3.72352030e-01 -5.20333887e-01 4.62640329e+01] [ 5.40798935e-01 -5.66090718e-02 8.39244854e-01 3.25970696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.370714057 meters Centerline goodness : 0.994124 Centerline is valid? [True, True] Translation: X:80.88, Y:46.26, Z:32.60 [[-3.43546942e-01 -9.22559066e-01 1.75670908e-01 8.08757258e+01] [ 7.64281959e-01 -3.83351471e-01 -5.18569896e-01 4.62559151e+01] [ 5.45755060e-01 -4.38909962e-02 8.36794476e-01 3.26027301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.400714057 meters Centerline goodness : 0.994325 Centerline is valid? [True, True] Translation: X:80.88, Y:46.24, Z:32.59 [[-3.45122107e-01 -9.21522514e-01 1.78008392e-01 8.08785581e+01] [ 7.64278207e-01 -3.86020864e-01 -5.16591439e-01 4.62407592e+01] [ 5.44765595e-01 -4.22391912e-02 8.37523908e-01 3.25948348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.430714057 meters Centerline goodness : 0.994660 Centerline is valid? [True, True] Translation: X:80.88, Y:46.24, Z:32.59 [[-3.47676832e-01 -9.21978910e-01 1.70516010e-01 8.08830381e+01] [ 7.59300667e-01 -3.83554886e-01 -5.25688260e-01 4.62379471e+01] [ 5.50075738e-01 -5.32967084e-02 8.33412349e-01 3.25917698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.460714057 meters Centerline goodness : 0.995571 Centerline is valid? [True, True] Translation: X:80.88, Y:46.24, Z:32.61 [[-3.59308874e-01 -9.16837706e-01 1.74085481e-01 8.08752458e+01] [ 7.41666420e-01 -3.93767032e-01 -5.43027113e-01 4.62392259e+01] [ 5.66416855e-01 -6.60011047e-02 8.21471728e-01 3.26079966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.490714057 meters Centerline goodness : 0.995565 Centerline is valid? [True, True] Translation: X:80.86, Y:46.22, Z:32.61 [[-3.48909121e-01 -9.08103127e-01 2.31540786e-01 8.08613529e+01] [ 7.57307896e-01 -4.18746299e-01 -5.01135000e-01 4.62150376e+01] [ 5.52039108e-01 4.97092979e-04 8.33818071e-01 3.26125327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.520714057 meters Centerline goodness : 0.994334 Centerline is valid? [True, True] Translation: X:80.89, Y:46.22, Z:32.58 [[-3.51074188e-01 -9.22056107e-01 1.62970705e-01 8.08925025e+01] [ 7.60369080e-01 -3.82312423e-01 -5.25048639e-01 4.62216751e+01] [ 5.46430029e-01 -6.04131397e-02 8.35322977e-01 3.25782984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.550714057 meters Centerline goodness : 0.994208 Centerline is valid? [True, True] Translation: X:80.89, Y:46.20, Z:32.58 [[-3.50157163e-01 -9.15739469e-01 1.97005551e-01 8.08866879e+01] [ 7.62744119e-01 -4.00834549e-01 -5.07496870e-01 4.61959565e+01] [ 5.43701545e-01 -2.74388389e-02 8.38829983e-01 3.25761860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.580714057 meters Centerline goodness : 0.994927 Centerline is valid? [True, True] Translation: X:80.88, Y:46.23, Z:32.59 [[-3.52734602e-01 -9.17361207e-01 1.84463321e-01 8.08807891e+01] [ 7.55483298e-01 -3.95517769e-01 -5.22312819e-01 4.62257755e+01] [ 5.52108039e-01 -4.48788465e-02 8.32563873e-01 3.25901617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.610714057 meters Centerline goodness : 0.995472 Centerline is valid? [True, True] Translation: X:80.88, Y:46.23, Z:32.59 [[-3.53970211e-01 -9.18467595e-01 1.76415326e-01 8.08830051e+01] [ 7.58663082e-01 -3.92288101e-01 -5.20134957e-01 4.62313191e+01] [ 5.46932736e-01 -5.02724853e-02 8.35665758e-01 3.25881063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.640714057 meters Centerline goodness : 0.995472 Centerline is valid? [True, True] Translation: X:80.88, Y:46.23, Z:32.59 [[-3.54294786e-01 -9.17504946e-01 1.80720446e-01 8.08822984e+01] [ 7.58394024e-01 -3.94980227e-01 -5.18487343e-01 4.62276497e+01] [ 5.47095705e-01 -4.66400559e-02 8.35769702e-01 3.25880257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.670714057 meters Centerline goodness : 0.994630 Centerline is valid? [True, True] Translation: X:80.89, Y:46.23, Z:32.58 [[-3.60514224e-01 -9.17683014e-01 1.66995151e-01 8.08896930e+01] [ 7.48898246e-01 -3.91503832e-01 -5.34673888e-01 4.62266667e+01] [ 5.56040387e-01 -6.76951664e-02 8.28393900e-01 3.25835975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.700714057 meters Centerline goodness : 0.994924 Centerline is valid? [True, True] Translation: X:80.88, Y:46.21, Z:32.59 [[-3.60731159e-01 -9.12581087e-01 1.92532571e-01 8.08806124e+01] [ 7.47403720e-01 -4.06332855e-01 -5.25624667e-01 4.62148564e+01] [ 5.57907439e-01 -4.57096358e-02 8.28643420e-01 3.25900195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.730714057 meters Centerline goodness : 0.994554 Centerline is valid? [True, True] Translation: X:80.88, Y:46.19, Z:32.58 [[-3.57078787e-01 -9.09549874e-01 2.12635290e-01 8.08785545e+01] [ 7.56799173e-01 -4.15143506e-01 -5.04886998e-01 4.61927932e+01] [ 5.47494065e-01 -1.93622255e-02 8.36585532e-01 3.25804880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.76071405699997 meters Centerline goodness : 0.995229 Centerline is valid? [True, True] Translation: X:80.88, Y:46.22, Z:32.58 [[-3.57310167e-01 -9.15970509e-01 1.82558130e-01 8.08834272e+01] [ 7.57117244e-01 -3.98513600e-01 -5.17648906e-01 4.62177441e+01] [ 5.46903030e-01 -4.67433087e-02 8.35890028e-01 3.25808970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.79071405699997 meters Centerline goodness : 0.995497 Centerline is valid? [True, True] Translation: X:80.84, Y:46.32, Z:32.66 [[-0.37484612 -0.91238009 0.16447782 80.84420681] [ 0.73384716 -0.40042249 -0.54875329 46.32414288] [ 0.5665322 -0.08499646 0.81964436 32.6626845 ] [ 0. 0. 0. 1. ]] SLAMing on 166.82071405699998 meters Centerline goodness : 0.994644 Centerline is valid? [True, True] Translation: X:80.86, Y:46.21, Z:32.60 [[-3.57640071e-01 -9.06542358e-01 2.24219831e-01 8.08633012e+01] [ 7.51963274e-01 -4.21928718e-01 -5.06485332e-01 4.62103338e+01] [ 5.53755193e-01 -1.25343718e-02 8.32585176e-01 3.26047950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.85071405699998 meters Centerline goodness : 0.994250 Centerline is valid? [True, True] Translation: X:80.88, Y:46.22, Z:32.59 [[-3.59843691e-01 -9.15700991e-01 1.78897215e-01 8.08816286e+01] [ 7.48962577e-01 -3.97841880e-01 -5.29883852e-01 4.62210543e+01] [ 5.56387973e-01 -5.66880420e-02 8.28986664e-01 3.25888055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.88071405699998 meters Centerline goodness : 0.995526 Centerline is valid? [True, True] Translation: X:80.85, Y:46.27, Z:32.64 [[-3.70233427e-01 -9.08567102e-01 1.93476177e-01 8.08460162e+01] [ 7.37272980e-01 -4.14104129e-01 -5.33803637e-01 4.62704202e+01] [ 5.65115707e-01 -5.49871923e-02 8.23177166e-01 3.26449307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.91071405699998 meters Centerline goodness : 0.994933 Centerline is valid? [True, True] Translation: X:80.82, Y:46.34, Z:32.69 [[-3.61076233e-01 -9.11229854e-01 1.98202186e-01 8.08225657e+01] [ 7.42227000e-01 -4.09494514e-01 -5.30484047e-01 4.63389082e+01] [ 5.64555608e-01 -4.44341672e-02 8.24198137e-01 3.26912057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.94071405699998 meters Centerline goodness : 0.994939 Centerline is valid? [True, True] Translation: X:80.87, Y:46.20, Z:32.59 [[-3.58289499e-01 -9.10367489e-01 2.07025772e-01 8.08718348e+01] [ 7.43033917e-01 -4.12313733e-01 -5.27160302e-01 4.61994834e+01] [ 5.65269169e-01 -3.50488300e-02 8.24161602e-01 3.25946899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.97071405699998 meters Centerline goodness : 0.994753 Centerline is valid? [True, True] Translation: X:80.87, Y:46.21, Z:32.60 [[-3.60248853e-01 -9.11311072e-01 1.99331115e-01 8.08707792e+01] [ 7.42937410e-01 -4.09502990e-01 -5.29482110e-01 4.62149076e+01] [ 5.64149597e-01 -4.26547807e-02 8.24570071e-01 3.26000833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.00071405699998 meters Centerline goodness : 0.995544 Centerline is valid? [True, True] Translation: X:80.87, Y:46.20, Z:32.59 [[-3.62021072e-01 -9.10229460e-01 2.01054904e-01 8.08748587e+01] [ 7.40308386e-01 -4.11810519e-01 -5.31371424e-01 4.62028808e+01] [ 5.66466449e-01 -4.35250211e-02 8.22934587e-01 3.25918925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.03071405699998 meters Centerline goodness : 0.995136 Centerline is valid? [True, True] Translation: X:80.87, Y:46.21, Z:32.60 [[-3.64736639e-01 -9.08775157e-01 2.02718765e-01 8.08709959e+01] [ 7.38818569e-01 -4.14970722e-01 -5.30986274e-01 4.62130878e+01] [ 5.66669487e-01 -4.38977612e-02 8.22774987e-01 3.25984425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.06071405699998 meters Centerline goodness : 0.994612 Centerline is valid? [True, True] Translation: X:80.87, Y:46.21, Z:32.60 [[-3.67781810e-01 -9.06027081e-01 2.09407424e-01 8.08695947e+01] [ 7.38720128e-01 -4.21440980e-01 -5.26003871e-01 4.62109618e+01] [ 5.64826622e-01 -3.87611770e-02 8.24298768e-01 3.25985005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.09071405699999 meters Centerline goodness : 0.994084 Centerline is valid? [True, True] Translation: X:80.88, Y:46.21, Z:32.59 [[-3.69424484e-01 -9.07410862e-01 2.00327425e-01 8.08753998e+01] [ 7.36764954e-01 -4.17387648e-01 -5.31944502e-01 4.62090535e+01] [ 5.66306412e-01 -4.89190968e-02 8.22741739e-01 3.25917178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.120714057 meters Centerline goodness : 0.994677 Centerline is valid? [True, True] Translation: X:80.87, Y:46.22, Z:32.60 [[-3.71386341e-01 -9.06590078e-01 2.00416106e-01 8.08728559e+01] [ 7.34129261e-01 -4.18877601e-01 -5.34411623e-01 4.62157836e+01] [ 5.68442093e-01 -5.13418492e-02 8.21119724e-01 3.25975636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.150714057 meters Centerline goodness : 0.995000 Centerline is valid? [True, True] Translation: X:80.87, Y:46.21, Z:32.60 [[-3.72959964e-01 -9.04601282e-01 2.06391339e-01 8.08733248e+01] [ 7.32641228e-01 -4.23606862e-01 -5.32723247e-01 4.62077381e+01] [ 5.69330920e-01 -4.74736389e-02 8.20736594e-01 3.25957284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.180714057 meters Centerline goodness : 0.995108 Centerline is valid? [True, True] Translation: X:80.87, Y:46.23, Z:32.61 [[-3.74402742e-01 -9.05120502e-01 2.01443449e-01 8.08669394e+01] [ 7.31467954e-01 -4.21808685e-01 -5.35753736e-01 4.62293333e+01] [ 5.69892287e-01 -5.32382404e-02 8.19992970e-01 3.26096944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.210714057 meters Centerline goodness : 0.995069 Centerline is valid? [True, True] Translation: X:80.88, Y:46.20, Z:32.59 [[-3.73613335e-01 -9.04762390e-01 2.04494728e-01 8.08767620e+01] [ 7.30817767e-01 -4.22884600e-01 -5.35792877e-01 4.62002238e+01] [ 5.71242915e-01 -5.07309832e-02 8.19211755e-01 3.25916391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.240714057 meters Centerline goodness : 0.994777 Centerline is valid? [True, True] Translation: X:80.88, Y:46.19, Z:32.59 [[-3.71854691e-01 -9.03259567e-01 2.14117357e-01 8.08766533e+01] [ 7.35157292e-01 -4.27385487e-01 -5.26199013e-01 4.61886003e+01] [ 5.66804943e-01 -3.82596354e-02 8.22963156e-01 3.25870890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.270714057 meters Centerline goodness : 0.995345 Centerline is valid? [True, True] Translation: X:80.88, Y:46.19, Z:32.58 [[-3.70744116e-01 -9.07249767e-01 1.98611832e-01 8.08830000e+01] [ 7.35494208e-01 -4.17391848e-01 -5.33696838e-01 4.61894229e+01] [ 5.67095291e-01 -5.17871105e-02 8.22022521e-01 3.25791914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.300714057 meters Centerline goodness : 0.994864 Centerline is valid? [True, True] Translation: X:80.88, Y:46.19, Z:32.58 [[-3.70175055e-01 -9.06881467e-01 2.01336619e-01 8.08821507e+01] [ 7.33803931e-01 -4.18361001e-01 -5.35262425e-01 4.61869221e+01] [ 5.69650963e-01 -5.03991951e-02 8.20339992e-01 3.25817191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.330714057 meters Centerline goodness : 0.995607 Centerline is valid? [True, True] Translation: X:80.87, Y:46.19, Z:32.59 [[-3.69015265e-01 -9.05081324e-01 2.11318555e-01 8.08748459e+01] [ 7.31910094e-01 -4.23116318e-01 -5.34116276e-01 4.61923172e+01] [ 5.72830995e-01 -4.24308757e-02 8.18574537e-01 3.25910498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.360714057 meters Centerline goodness : 0.994525 Centerline is valid? [True, True] Translation: X:80.88, Y:46.19, Z:32.58 [[-3.69793063e-01 -9.07442759e-01 1.99501201e-01 8.08847934e+01] [ 7.34919060e-01 -4.17053104e-01 -5.34752918e-01 4.61859275e+01] [ 5.68460259e-01 -5.11306840e-02 8.21120325e-01 3.25772794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.390714057 meters Centerline goodness : 0.994953 Centerline is valid? [True, True] Translation: X:80.89, Y:46.19, Z:32.57 [[-3.72021781e-01 -9.07082388e-01 1.96980549e-01 8.08864397e+01] [ 7.31244562e-01 -4.17110615e-01 -5.39722267e-01 4.61869023e+01] [ 5.71735240e-01 -5.67474838e-02 8.18473297e-01 3.25746529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.420714057 meters Centerline goodness : 0.995884 Centerline is valid? [True, True] Translation: X:80.88, Y:46.19, Z:32.59 [[-3.71446816e-01 -9.02184041e-01 2.19297102e-01 8.08765265e+01] [ 7.29110671e-01 -4.29675989e-01 -5.32706461e-01 4.61869828e+01] [ 5.74825967e-01 -3.79802618e-02 8.17393790e-01 3.25867891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.450714057 meters Centerline goodness : 0.994449 Centerline is valid? [True, True] Translation: X:80.88, Y:46.22, Z:32.60 [[-3.76176893e-01 -9.04554039e-01 2.00681182e-01 8.08754175e+01] [ 7.30427095e-01 -4.22770017e-01 -5.36415670e-01 4.62194108e+01] [ 5.70058948e-01 -5.52042073e-02 8.19747090e-01 3.25962501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.480714057 meters Centerline goodness : 0.995030 Centerline is valid? [True, True] Translation: X:80.88, Y:46.22, Z:32.60 [[-3.77670068e-01 -9.03425849e-01 2.02945940e-01 8.08753903e+01] [ 7.26719622e-01 -4.25028174e-01 -5.39656968e-01 4.62190090e+01] [ 5.73797797e-01 -5.63274873e-02 8.17057711e-01 3.25977821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.51071405699997 meters Centerline goodness : 0.994942 Centerline is valid? [True, True] Translation: X:80.88, Y:46.21, Z:32.60 [[-3.78508305e-01 -9.00893184e-01 2.12421597e-01 8.08757460e+01] [ 7.25249113e-01 -4.31256880e-01 -5.36685409e-01 4.62076909e+01] [ 5.75104502e-01 -4.90813096e-02 8.16606293e-01 3.25955713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.54071405699997 meters Centerline goodness : 0.994774 Centerline is valid? [True, True] Translation: X:80.87, Y:46.23, Z:32.62 [[-3.80583873e-01 -8.99357626e-01 2.15201709e-01 8.08671417e+01] [ 7.23339167e-01 -4.34507194e-01 -5.36641358e-01 4.62304166e+01] [ 5.76139189e-01 -4.85732219e-02 8.15907027e-01 3.26153677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.57071405699998 meters Centerline goodness : 0.994701 Centerline is valid? [True, True] Translation: X:80.89, Y:46.19, Z:32.58 [[-3.81159756e-01 -9.00445011e-01 2.09561499e-01 8.08888826e+01] [ 7.23488499e-01 -4.31637962e-01 -5.38751392e-01 4.61851109e+01] [ 5.75570701e-01 -5.37350146e-02 8.15984630e-01 3.25798726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.60071405699998 meters Centerline goodness : 0.994705 Centerline is valid? [True, True] Translation: X:80.89, Y:46.18, Z:32.58 [[-3.80881592e-01 -8.99160274e-01 2.15499452e-01 8.08882066e+01] [ 7.25415678e-01 -4.35108413e-01 -5.33341132e-01 4.61809687e+01] [ 5.73324783e-01 -4.68131390e-02 8.17989745e-01 3.25793056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.63071405699998 meters Centerline goodness : 0.994702 Centerline is valid? [True, True] Translation: X:80.89, Y:46.19, Z:32.58 [[-3.81707526e-01 -9.00560732e-01 2.08061849e-01 8.08899607e+01] [ 7.23644643e-01 -4.31220396e-01 -5.38876054e-01 4.61871681e+01] [ 5.75011126e-01 -5.51302028e-02 8.16286019e-01 3.25808332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.66071405699998 meters Centerline goodness : 0.995199 Centerline is valid? [True, True] Translation: X:80.89, Y:46.20, Z:32.59 [[-3.81516042e-01 -9.00758181e-01 2.07557726e-01 8.08871246e+01] [ 7.24221654e-01 -4.30811534e-01 -5.38427728e-01 4.61977515e+01] [ 5.74411443e-01 -5.51010165e-02 8.16710091e-01 3.25896502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.69071405699998 meters Centerline goodness : 0.994929 Centerline is valid? [True, True] Translation: X:80.90, Y:46.16, Z:32.57 [[-3.78764676e-01 -9.00181972e-01 2.14964501e-01 8.09009089e+01] [ 7.24705269e-01 -4.32942633e-01 -5.36062450e-01 4.61592051e+01] [ 5.75621050e-01 -4.72556141e-02 8.16349994e-01 3.25669584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.72071405699998 meters Centerline goodness : 0.994899 Centerline is valid? [True, True] Translation: X:80.90, Y:46.17, Z:32.57 [[-3.79341254e-01 -9.01551874e-01 2.08097170e-01 8.08999662e+01] [ 7.23163665e-01 -4.29188157e-01 -5.41139390e-01 4.61714763e+01] [ 5.77178072e-01 -5.47881826e-02 8.14778331e-01 3.25732385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.75071405699998 meters Centerline goodness : 0.994702 Centerline is valid? [True, True] Translation: X:80.90, Y:46.16, Z:32.57 [[-3.76775005e-01 -9.00972011e-01 2.15151180e-01 8.09016445e+01] [ 7.25968858e-01 -4.31476089e-01 -5.35534874e-01 4.61633374e+01] [ 5.75334522e-01 -4.55830984e-02 8.16647028e-01 3.25701688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.78071405699998 meters Centerline goodness : 0.994450 Centerline is valid? [True, True] Translation: X:80.90, Y:46.16, Z:32.56 [[-3.74702138e-01 -9.02160002e-01 2.13788772e-01 8.09039670e+01] [ 7.27787430e-01 -4.29061231e-01 -5.35006464e-01 4.61626142e+01] [ 5.74389906e-01 -4.48752849e-02 8.17350870e-01 3.25648056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.81071405699998 meters Centerline goodness : 0.994516 Centerline is valid? [True, True] Translation: X:80.91, Y:46.17, Z:32.56 [[-3.75062924e-01 -9.04613342e-01 2.02490753e-01 8.09088628e+01] [ 7.26426909e-01 -4.22512185e-01 -5.42021586e-01 4.61661824e+01] [ 5.75874768e-01 -5.61974690e-02 8.15604129e-01 3.25614822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.84071405699999 meters Centerline goodness : 0.994604 Centerline is valid? [True, True] Translation: X:80.91, Y:46.16, Z:32.56 [[-3.73073817e-01 -9.02501714e-01 2.15189647e-01 8.09093908e+01] [ 7.28120110e-01 -4.28544471e-01 -5.34967982e-01 4.61575005e+01] [ 5.75027854e-01 -4.28986373e-02 8.17008368e-01 3.25596822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.870714057 meters Centerline goodness : 0.994276 Centerline is valid? [True, True] Translation: X:80.91, Y:46.16, Z:32.56 [[-3.73230942e-01 -9.02872119e-01 2.13355573e-01 8.09107701e+01] [ 7.29553394e-01 -4.27699197e-01 -5.33690212e-01 4.61603089e+01] [ 5.73106020e-01 -4.35354181e-02 8.18323993e-01 3.25586924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.900714057 meters Centerline goodness : 0.995025 Centerline is valid? [True, True] Translation: X:80.92, Y:46.16, Z:32.55 [[-3.72550370e-01 -9.04168603e-01 2.09010427e-01 8.09160215e+01] [ 7.30626650e-01 -4.24639458e-01 -5.34664407e-01 4.61574463e+01] [ 5.72180845e-01 -4.64808347e-02 8.18809265e-01 3.25513675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.930714057 meters Centerline goodness : 0.994860 Centerline is valid? [True, True] Translation: X:80.90, Y:46.18, Z:32.57 [[-3.72018137e-01 -9.02937297e-01 2.15190019e-01 8.09025229e+01] [ 7.29548445e-01 -4.27760531e-01 -5.33647819e-01 4.61843283e+01] [ 5.73900316e-01 -4.15351235e-02 8.17871176e-01 3.25734417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.960714057 meters Centerline goodness : 0.995249 Centerline is valid? [True, True] Translation: X:80.91, Y:46.21, Z:32.58 [[-3.73996610e-01 -9.08042703e-01 1.88639831e-01 8.09075059e+01] [ 7.29577941e-01 -4.13635374e-01 -5.44629971e-01 4.62062929e+01] [ 5.72575378e-01 -6.60623035e-02 8.17186153e-01 3.25751166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.990714057 meters Centerline goodness : 0.994906 Centerline is valid? [True, True] Translation: X:80.89, Y:46.21, Z:32.59 [[-3.73253228e-01 -9.03872064e-01 2.09039041e-01 8.08945650e+01] [ 7.28744112e-01 -4.25095726e-01 -5.36866504e-01 4.62136594e+01] [ 5.74120237e-01 -4.80511850e-02 8.17359796e-01 3.25932579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.020714057 meters Centerline goodness : 0.995398 Centerline is valid? [True, True] Translation: X:80.90, Y:46.18, Z:32.57 [[-3.69163209e-01 -9.02970102e-01 2.19917074e-01 8.09034439e+01] [ 7.29759167e-01 -4.28168275e-01 -5.33032351e-01 4.61801135e+01] [ 5.75473790e-01 -3.62894317e-02 8.17014684e-01 3.25743835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.050714057 meters Centerline goodness : 0.994493 Centerline is valid? [True, True] Translation: X:80.92, Y:46.17, Z:32.55 [[-3.69391312e-01 -9.08814161e-01 1.93924933e-01 8.09217750e+01] [ 7.32117143e-01 -4.13138157e-01 -5.41591500e-01 4.61676661e+01] [ 5.72323814e-01 -5.80834269e-02 8.17968072e-01 3.25506089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.080714057 meters Centerline goodness : 0.994860 Centerline is valid? [True, True] Translation: X:80.91, Y:46.16, Z:32.56 [[-3.65423327e-01 -9.07158418e-01 2.08636997e-01 8.09143182e+01] [ 7.35493485e-01 -4.18769427e-01 -5.32617593e-01 4.61624814e+01] [ 5.70539329e-01 -4.11797412e-02 8.20237224e-01 3.25569576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.110714057 meters Centerline goodness : 0.993383 Centerline is valid? [True, True] Translation: X:80.91, Y:46.16, Z:32.56 [[-3.60489618e-01 -9.05748154e-01 2.22862102e-01 8.09073100e+01] [ 7.45948092e-01 -4.23386334e-01 -5.14106465e-01 4.61633418e+01] [ 5.60007750e-01 -1.90864839e-02 8.28267485e-01 3.25577884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.140714057 meters Centerline goodness : 0.993795 Centerline is valid? [True, True] Translation: X:80.92, Y:46.16, Z:32.54 [[-3.61116966e-01 -9.13235901e-01 1.88665648e-01 8.09231075e+01] [ 7.41418773e-01 -4.03885119e-01 -5.35887128e-01 4.61634015e+01] [ 5.65590611e-01 -5.36376809e-02 8.22940010e-01 3.25446891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.170714057 meters Centerline goodness : 0.994496 Centerline is valid? [True, True] Translation: X:80.91, Y:46.15, Z:32.55 [[-3.64543304e-01 -9.06841957e-01 2.11532136e-01 8.09082323e+01] [ 7.33607629e-01 -4.19597892e-01 -5.34562864e-01 4.61514373e+01] [ 5.73522472e-01 -3.96897237e-02 8.18227780e-01 3.25531641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.200714057 meters Centerline goodness : 0.993705 Centerline is valid? [True, True] Translation: X:80.92, Y:46.13, Z:32.54 [[-3.49267969e-01 -9.11976885e-01 2.15197695e-01 8.09183983e+01] [ 7.50280404e-01 -4.09766026e-01 -5.18817038e-01 4.61331213e+01] [ 5.61329850e-01 -1.97475599e-02 8.27356534e-01 3.25362191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.230714057 meters Centerline goodness : 0.995657 Centerline is valid? [True, True] Translation: X:80.92, Y:46.17, Z:32.55 [[-3.60843542e-01 -9.16445279e-01 1.72973954e-01 8.09170550e+01] [ 7.32682798e-01 -3.93318352e-01 -5.55406690e-01 4.61702365e+01] [ 5.77033670e-01 -7.36798762e-02 8.13390079e-01 3.25528691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.26071405699997 meters Centerline goodness : 0.994094 Centerline is valid? [True, True] Translation: X:80.90, Y:46.11, Z:32.55 [[-3.43761853e-01 -8.98123752e-01 2.74228946e-01 8.08968647e+01] [ 7.67297614e-01 -4.36996309e-01 -4.69349121e-01 4.61109322e+01] [ 5.41370631e-01 4.90708926e-02 8.39350873e-01 3.25461410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.29071405699997 meters Centerline goodness : 0.995650 Centerline is valid? [True, True] Translation: X:80.93, Y:46.16, Z:32.52 [[-3.46385147e-01 -9.22135873e-01 1.72286861e-01 8.09291327e+01] [ 7.55501277e-01 -3.83088670e-01 -5.31470499e-01 4.61558330e+01] [ 5.56089157e-01 -5.39305430e-02 8.29371054e-01 3.25231676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.32071405699998 meters Centerline goodness : 0.994656 Centerline is valid? [True, True] Translation: X:80.92, Y:46.16, Z:32.53 [[-3.44722179e-01 -9.18118247e-01 1.95513435e-01 8.09163927e+01] [ 7.62655361e-01 -3.95361306e-01 -5.11904520e-01 4.61572609e+01] [ 5.47287328e-01 -2.73554720e-02 8.36497614e-01 3.25340776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.35071405699998 meters Centerline goodness : 0.995260 Centerline is valid? [True, True] Translation: X:80.93, Y:46.14, Z:32.51 [[-3.47282413e-01 -9.21934237e-01 1.71558120e-01 8.09341083e+01] [ 7.57002195e-01 -3.83587542e-01 -5.28969068e-01 4.61437335e+01] [ 5.53482252e-01 -5.38317813e-02 8.31119448e-01 3.25131030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.38071405699998 meters Centerline goodness : 0.995705 Centerline is valid? [True, True] Translation: X:80.92, Y:46.14, Z:32.53 [[-3.47279287e-01 -9.14824270e-01 2.06139883e-01 8.09180068e+01] [ 7.54917242e-01 -4.03137029e-01 -5.17281832e-01 4.61368844e+01] [ 5.56324594e-01 -2.40227141e-02 8.30617755e-01 3.25285212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.41071405699998 meters Centerline goodness : 0.995521 Centerline is valid? [True, True] Translation: X:80.93, Y:46.15, Z:32.52 [[-3.48628965e-01 -9.21102214e-01 1.73287498e-01 8.09294567e+01] [ 7.53250514e-01 -3.85374206e-01 -5.33010680e-01 4.61468966e+01] [ 5.57737849e-01 -5.52940646e-02 8.28173326e-01 3.25197844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.44071405699998 meters Centerline goodness : 0.996395 Centerline is valid? [True, True] Translation: X:80.91, Y:46.14, Z:32.54 [[-3.60896617e-01 -9.12545147e-01 1.92392791e-01 8.09125263e+01] [ 7.35380318e-01 -4.05326976e-01 -5.43070743e-01 4.61426740e+01] [ 5.73558559e-01 -5.45105214e-02 8.17348874e-01 3.25409543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.47071405699998 meters Centerline goodness : 0.994878 Centerline is valid? [True, True] Translation: X:80.92, Y:46.12, Z:32.53 [[-3.48789775e-01 -9.12475554e-01 2.13855225e-01 8.09169016e+01] [ 7.50201964e-01 -4.08597873e-01 -5.19850740e-01 4.61184432e+01] [ 5.61731882e-01 -2.08840124e-02 8.27055712e-01 3.25290478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.50071405699998 meters Centerline goodness : 0.995807 Centerline is valid? [True, True] Translation: X:80.92, Y:46.12, Z:32.53 [[-3.49345730e-01 -9.14127870e-01 2.05737209e-01 8.09184288e+01] [ 7.47655047e-01 -4.04297608e-01 -5.26835244e-01 4.61240632e+01] [ 5.64773841e-01 -3.02271806e-02 8.24691958e-01 3.25288279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.53071405699998 meters Centerline goodness : 0.995807 Centerline is valid? [True, True] Translation: X:80.92, Y:46.13, Z:32.52 [[-3.49778312e-01 -9.16289853e-01 1.95110323e-01 8.09228149e+01] [ 7.47793648e-01 -3.98529813e-01 -5.31016618e-01 4.61268091e+01] [ 5.64322419e-01 -3.98358362e-02 8.24592817e-01 3.25242838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.56071405699998 meters Centerline goodness : 0.995407 Centerline is valid? [True, True] Translation: X:80.91, Y:46.14, Z:32.54 [[-3.64221033e-01 -9.12552087e-01 1.85988516e-01 8.09139273e+01] [ 7.35246555e-01 -4.04326916e-01 -5.43996552e-01 4.61404069e+01] [ 5.71625352e-01 -6.13875708e-02 8.18215145e-01 3.25379174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.59071405699999 meters Centerline goodness : 0.996570 Centerline is valid? [True, True] Translation: X:80.90, Y:46.13, Z:32.55 [[-3.65060238e-01 -9.05588857e-01 2.15962600e-01 8.09021921e+01] [ 7.33648985e-01 -4.22642365e-01 -5.32102055e-01 4.61314189e+01] [ 5.73140636e-01 -3.58085602e-02 8.18674268e-01 3.25503220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.620714057 meters Centerline goodness : 0.995558 Centerline is valid? [True, True] Translation: X:80.92, Y:46.12, Z:32.53 [[-3.58420610e-01 -9.09385171e-01 2.11076472e-01 8.09155814e+01] [ 7.43313667e-01 -4.14782397e-01 -5.24824119e-01 4.61200317e+01] [ 5.64818077e-01 -3.12117543e-02 8.24624986e-01 3.25319961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.650714057 meters Centerline goodness : 0.995563 Centerline is valid? [True, True] Translation: X:80.88, Y:46.22, Z:32.60 [[-3.63126888e-01 -9.10036929e-01 1.99929114e-01 8.08798283e+01] [ 7.41738623e-01 -4.12204217e-01 -5.29066629e-01 4.62218446e+01] [ 5.63881794e-01 -4.38231731e-02 8.24691974e-01 3.26004161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.680714057 meters Centerline goodness : 0.995318 Centerline is valid? [True, True] Translation: X:80.92, Y:46.13, Z:32.53 [[-3.62518957e-01 -9.08673406e-01 2.07105400e-01 8.09159935e+01] [ 7.43622328e-01 -4.15974309e-01 -5.23441695e-01 4.61259994e+01] [ 5.61788074e-01 -3.57493382e-02 8.26508406e-01 3.25327926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.710714057 meters Centerline goodness : 0.994063 Centerline is valid? [True, True] Translation: X:80.92, Y:46.13, Z:32.53 [[-3.67311503e-01 -9.07470367e-01 2.03911240e-01 8.09155517e+01] [ 7.43241783e-01 -4.18182327e-01 -5.22221403e-01 4.61323161e+01] [ 5.59172525e-01 -4.02625746e-02 8.28073072e-01 3.25334664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.740714057 meters Centerline goodness : 0.994870 Centerline is valid? [True, True] Translation: X:80.91, Y:46.14, Z:32.54 [[-3.69700227e-01 -9.07452419e-01 1.99629281e-01 8.09143638e+01] [ 7.42647699e-01 -4.17709678e-01 -5.23443425e-01 4.61416215e+01] [ 5.58387085e-01 -4.52629267e-02 8.28344814e-01 3.25362959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.770714057 meters Centerline goodness : 0.994636 Centerline is valid? [True, True] Translation: X:80.92, Y:46.13, Z:32.53 [[-3.70941278e-01 -9.06823138e-01 2.00185823e-01 8.09170664e+01] [ 7.41307074e-01 -4.18983390e-01 -5.24325034e-01 4.61328652e+01] [ 5.59344607e-01 -4.60946311e-02 8.27652642e-01 3.25299911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.800714057 meters Centerline goodness : 0.994528 Centerline is valid? [True, True] Translation: X:80.91, Y:46.16, Z:32.55 [[-3.72414526e-01 -9.06911595e-01 1.97024819e-01 8.09061822e+01] [ 7.39525836e-01 -4.18258077e-01 -5.27410389e-01 4.61622675e+01] [ 5.60721819e-01 -5.07103465e-02 8.26449939e-01 3.25498228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.830714057 meters Centerline goodness : 0.994577 Centerline is valid? [True, True] Translation: X:80.90, Y:46.16, Z:32.55 [[-3.79173985e-01 -9.06659524e-01 1.84920516e-01 8.09045372e+01] [ 7.25204482e-01 -4.15298644e-01 -5.49186212e-01 4.61572234e+01] [ 5.74722149e-01 -7.41319380e-02 8.14983992e-01 3.25516980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.860714057 meters Centerline goodness : 0.994988 Centerline is valid? [True, True] Translation: X:80.85, Y:46.23, Z:32.63 [[-3.75347823e-01 -9.00082997e-01 2.21279487e-01 8.08537499e+01] [ 7.26706864e-01 -4.33962982e-01 -5.32515975e-01 4.62307425e+01] [ 5.75335680e-01 -3.90733902e-02 8.16983552e-01 3.26309133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.890714057 meters Centerline goodness : 0.994231 Centerline is valid? [True, True] Translation: X:80.75, Y:46.46, Z:32.80 [[-3.71504875e-01 -9.01309715e-01 2.22766526e-01 8.07540363e+01] [ 7.33931864e-01 -4.32049530e-01 -5.24096577e-01 4.64550208e+01] [ 5.68619510e-01 -3.12089813e-02 8.22008426e-01 3.27971483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.920714057 meters Centerline goodness : 0.995402 Centerline is valid? [True, True] Translation: X:80.84, Y:46.25, Z:32.65 [[-3.63414636e-01 -9.05510651e-01 2.19043975e-01 8.08409254e+01] [ 7.34912486e-01 -4.23144098e-01 -5.29955385e-01 4.62486347e+01] [ 5.72567411e-01 -3.16153914e-02 8.19247842e-01 3.26457906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.950714057 meters Centerline goodness : 0.995371 Centerline is valid? [True, True] Translation: X:80.90, Y:46.10, Z:32.54 [[-3.52894022e-01 -9.09308753e-01 2.20507144e-01 8.08973088e+01] [ 7.38599827e-01 -4.15399965e-01 -5.30954955e-01 4.61022696e+01] [ 5.74400648e-01 -2.45042907e-02 8.18207453e-01 3.25409724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.98071405699997 meters Centerline goodness : 0.994443 Centerline is valid? [True, True] Translation: X:80.83, Y:46.25, Z:32.65 [[-3.50540418e-01 -9.10232964e-01 2.20448102e-01 8.08342464e+01] [ 7.42264866e-01 -4.13553544e-01 -5.27272543e-01 4.62488611e+01] [ 5.71107944e-01 -2.11994566e-02 8.20601182e-01 3.26483563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.01071405699997 meters Centerline goodness : 0.994017 Centerline is valid? [True, True] Translation: X:80.90, Y:46.10, Z:32.54 [[-3.35582300e-01 -9.15333877e-01 2.22594730e-01 8.08952326e+01] [ 7.51193392e-01 -4.02609721e-01 -5.23081161e-01 4.61015562e+01] [ 5.68412709e-01 -8.32508884e-03 8.22701455e-01 3.25383937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.04071405699997 meters Centerline goodness : 0.993190 Centerline is valid? [True, True] Translation: X:80.90, Y:46.10, Z:32.53 [[-3.32406511e-01 -9.19018672e-01 2.11921192e-01 8.08988790e+01] [ 7.53538200e-01 -3.93918532e-01 -5.26315848e-01 4.61036160e+01] [ 5.67173777e-01 -1.52601019e-02 8.23456761e-01 3.25336246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.07071405699998 meters Centerline goodness : 0.994032 Centerline is valid? [True, True] Translation: X:80.90, Y:46.10, Z:32.53 [[-3.27925133e-01 -9.21131884e-01 2.09716856e-01 8.09003457e+01] [ 7.53907375e-01 -3.88941001e-01 -5.29479525e-01 4.60975951e+01] [ 5.69287956e-01 -1.55225593e-02 8.21991650e-01 3.25304125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.10071405699998 meters Centerline goodness : 0.992723 Centerline is valid? [True, True] Translation: X:80.91, Y:46.08, Z:32.52 [[-3.26299122e-01 -9.20928486e-01 2.13118763e-01 8.09053958e+01] [ 7.54639546e-01 -3.89563357e-01 -5.27976843e-01 4.60824015e+01] [ 5.69252175e-01 -1.14505342e-02 8.22083236e-01 3.25210955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.13071405699998 meters Centerline goodness : 0.993566 Centerline is valid? [True, True] Translation: X:80.91, Y:46.07, Z:32.51 [[-3.25464293e-01 -9.21343690e-01 2.12600093e-01 8.09118340e+01] [ 7.55501315e-01 -3.88591957e-01 -5.27460002e-01 4.60739659e+01] [ 5.68586630e-01 -1.10497473e-02 8.22549176e-01 3.25140881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.16071405699998 meters Centerline goodness : 0.993945 Centerline is valid? [True, True] Translation: X:80.91, Y:46.08, Z:32.51 [[-3.26923500e-01 -9.21218278e-01 2.10897867e-01 8.09117961e+01] [ 7.55009642e-01 -3.88815791e-01 -5.27998789e-01 4.60784342e+01] [ 5.68402556e-01 -1.33852889e-02 8.22641701e-01 3.25145706e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.19071405699998 meters Centerline goodness : 0.994103 Centerline is valid? [True, True] Translation: X:80.92, Y:46.07, Z:32.51 [[-3.27715487e-01 -9.19877865e-01 2.15469890e-01 8.09165595e+01] [ 7.56192368e-01 -3.92107568e-01 -5.23855664e-01 4.60673659e+01] [ 5.66370605e-01 -8.73892748e-03 8.24104344e-01 3.25069890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.22071405699998 meters Centerline goodness : 0.994951 Centerline is valid? [True, True] Translation: X:80.92, Y:46.06, Z:32.50 [[-3.26877074e-01 -9.18157545e-01 2.23915389e-01 8.09179475e+01] [ 7.63163171e-01 -3.96195179e-01 -5.10501082e-01 4.60617322e+01] [ 5.57434618e-01 4.01287843e-03 8.30211144e-01 3.24985970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.25071405699998 meters Centerline goodness : 0.995020 Centerline is valid? [True, True] Translation: X:80.93, Y:46.08, Z:32.50 [[-3.29530269e-01 -9.22954815e-01 1.98907545e-01 8.09257184e+01] [ 7.60644967e-01 -3.84329360e-01 -5.23173181e-01 4.60807470e+01] [ 5.59311216e-01 -2.11033764e-02 8.28689092e-01 3.24958518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.28071405699998 meters Centerline goodness : 0.994569 Centerline is valid? [True, True] Translation: X:80.92, Y:46.08, Z:32.50 [[-3.28062070e-01 -9.20088704e-01 2.14037508e-01 8.09224318e+01] [ 7.66421735e-01 -3.91698814e-01 -5.09087187e-01 4.60755398e+01] [ 5.52243608e-01 -2.96919866e-03 8.33677504e-01 3.24957706e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.31071405699998 meters Centerline goodness : 0.995233 Centerline is valid? [True, True] Translation: X:80.93, Y:46.07, Z:32.48 [[-3.26879110e-01 -9.22593808e-01 2.04867549e-01 8.09317987e+01] [ 7.66092027e-01 -3.85612072e-01 -5.14204566e-01 4.60671765e+01] [ 5.53401349e-01 -1.11353351e-02 8.32840292e-01 3.24832764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.34071405699999 meters Centerline goodness : 0.994641 Centerline is valid? [True, True] Translation: X:80.95, Y:46.08, Z:32.48 [[-3.29059387e-01 -9.28370214e-01 1.72767662e-01 8.09453853e+01] [ 7.64233585e-01 -3.69280984e-01 -5.28751909e-01 4.60794490e+01] [ 5.54677336e-01 -4.19559291e-02 8.31007072e-01 3.24757074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.370714057 meters Centerline goodness : 0.995684 Centerline is valid? [True, True] Translation: X:80.93, Y:46.06, Z:32.49 [[-3.26578776e-01 -9.18925373e-01 2.21184225e-01 8.09297565e+01] [ 7.68770137e-01 -3.94391279e-01 -5.03436188e-01 4.60582459e+01] [ 5.49853417e-01 5.62825274e-03 8.35242206e-01 3.24871037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.400714057 meters Centerline goodness : 0.994811 Centerline is valid? [True, True] Translation: X:80.95, Y:46.09, Z:32.48 [[-3.30317466e-01 -9.29468473e-01 1.64252027e-01 8.09501168e+01] [ 7.66795741e-01 -3.65726130e-01 -5.27511791e-01 4.60875198e+01] [ 5.50376837e-01 -4.82986038e-02 8.33518195e-01 3.24764274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.430714057 meters Centerline goodness : 0.994224 Centerline is valid? [True, True] Translation: X:80.94, Y:46.07, Z:32.49 [[-3.34504349e-01 -9.21519359e-01 1.97253421e-01 8.09424106e+01] [ 7.63160536e-01 -3.87685745e-01 -5.16996865e-01 4.60722818e+01] [ 5.52894959e-01 -2.24016731e-02 8.32949776e-01 3.24856652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.460714057 meters Centerline goodness : 0.994474 Centerline is valid? [True, True] Translation: X:80.94, Y:46.08, Z:32.50 [[-3.38803590e-01 -9.19765681e-01 1.98099015e-01 8.09391506e+01] [ 7.58582228e-01 -3.91594727e-01 -5.20774973e-01 4.60836319e+01] [ 5.56565478e-01 -2.61660382e-02 8.30391599e-01 3.24959685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.490714057 meters Centerline goodness : 0.994287 Centerline is valid? [True, True] Translation: X:80.94, Y:46.08, Z:32.50 [[-3.41078528e-01 -9.17229810e-01 2.05803092e-01 8.09396088e+01] [ 7.55963399e-01 -3.97764301e-01 -5.19906627e-01 4.60757009e+01] [ 5.58734980e-01 -2.17493818e-02 8.29061027e-01 3.24958957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.520714057 meters Centerline goodness : 0.995454 Centerline is valid? [True, True] Translation: X:80.94, Y:46.08, Z:32.50 [[-3.46895343e-01 -9.13138400e-01 2.14107177e-01 8.09360647e+01] [ 7.51039971e-01 -4.07183210e-01 -5.19750706e-01 4.60816372e+01] [ 5.61785176e-01 -1.94960512e-02 8.27053396e-01 3.25041666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.550714057 meters Centerline goodness : 0.995443 Centerline is valid? [True, True] Translation: X:80.94, Y:46.10, Z:32.50 [[-3.52575105e-01 -9.16599934e-01 1.88508242e-01 8.09437495e+01] [ 7.48666095e-01 -3.97147637e-01 -5.30822789e-01 4.60984203e+01] [ 5.61417736e-01 -4.60251710e-02 8.26251662e-01 3.25024714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.580714057 meters Centerline goodness : 0.995201 Centerline is valid? [True, True] Translation: X:80.94, Y:46.09, Z:32.51 [[-3.59817268e-01 -9.10035898e-01 2.05830510e-01 8.09417678e+01] [ 7.43874975e-01 -4.12966981e-01 -5.25460079e-01 4.60891161e+01] [ 5.63188739e-01 -3.59574444e-02 8.25545581e-01 3.25072342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.610714057 meters Centerline goodness : 0.995395 Centerline is valid? [True, True] Translation: X:80.94, Y:46.09, Z:32.52 [[-3.65060238e-01 -9.04341345e-01 2.21128366e-01 8.09354590e+01] [ 7.40519395e-01 -4.26017894e-01 -5.19749728e-01 4.60889818e+01] [ 5.64235809e-01 -2.59901155e-02 8.25204499e-01 3.25158633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.640714057 meters Centerline goodness : 0.996295 Centerline is valid? [True, True] Translation: X:80.94, Y:46.10, Z:32.52 [[-3.76106212e-01 -9.05283260e-01 1.97500219e-01 8.09387869e+01] [ 7.28773874e-01 -4.20651567e-01 -5.40315556e-01 4.60970635e+01] [ 5.72217404e-01 -5.92830371e-02 8.17956456e-01 3.25168562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.670714057 meters Centerline goodness : 0.995864 Centerline is valid? [True, True] Translation: X:80.93, Y:46.09, Z:32.52 [[-3.68503158e-01 -8.98599268e-01 2.38169640e-01 8.09291971e+01] [ 7.40305742e-01 -4.38621569e-01 -5.09468868e-01 4.60853087e+01] [ 5.62274693e-01 -1.14225346e-02 8.26871632e-01 3.25231696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.700714057 meters Centerline goodness : 0.996168 Centerline is valid? [True, True] Translation: X:80.95, Y:46.11, Z:32.51 [[-3.72873029e-01 -9.08811183e-01 1.87157522e-01 8.09470726e+01] [ 7.39945101e-01 -4.12941771e-01 -5.30999379e-01 4.61060263e+01] [ 5.59863332e-01 -5.95090557e-02 8.26445232e-01 3.25085549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.73071405699997 meters Centerline goodness : 0.995595 Centerline is valid? [True, True] Translation: X:80.93, Y:46.12, Z:32.53 [[-3.73156351e-01 -9.03337261e-01 2.11509174e-01 8.09314352e+01] [ 7.38139037e-01 -4.27178811e-01 -5.22177197e-01 4.61152846e+01] [ 5.62054356e-01 -3.87305596e-02 8.26192983e-01 3.25295863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.76071405699997 meters Centerline goodness : 0.996341 Centerline is valid? [True, True] Translation: X:80.94, Y:46.08, Z:32.51 [[-3.70269139e-01 -9.01744985e-01 2.23062204e-01 8.09376588e+01] [ 7.37826043e-01 -4.31383472e-01 -5.19154149e-01 4.60842884e+01] [ 5.64369998e-01 -2.76456568e-02 8.25058921e-01 3.25146261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.79071405699997 meters Centerline goodness : 0.995826 Centerline is valid? [True, True] Translation: X:80.94, Y:46.09, Z:32.51 [[-3.69046837e-01 -9.06586317e-01 2.04708775e-01 8.09444700e+01] [ 7.39089360e-01 -4.19812699e-01 -5.26786689e-01 4.60903315e+01] [ 5.63516947e-01 -4.31108842e-02 8.24978849e-01 3.25075359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.82071405699998 meters Centerline goodness : 0.996289 Centerline is valid? [True, True] Translation: X:80.95, Y:46.08, Z:32.50 [[-3.67022524e-01 -9.09072989e-01 1.97182070e-01 8.09505818e+01] [ 7.36787900e-01 -4.13496937e-01 -5.34942869e-01 4.60817610e+01] [ 5.67836295e-01 -5.10547189e-02 8.21556667e-01 3.25004771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.85071405699998 meters Centerline goodness : 0.995206 Centerline is valid? [True, True] Translation: X:80.95, Y:46.08, Z:32.50 [[-3.66092107e-01 -9.07223165e-01 2.07177937e-01 8.09462915e+01] [ 7.42881265e-01 -4.18999721e-01 -5.22079170e-01 4.60797958e+01] [ 5.60449815e-01 -3.72204554e-02 8.27351584e-01 3.25030651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.88071405699998 meters Centerline goodness : 0.995842 Centerline is valid? [True, True] Translation: X:80.94, Y:46.08, Z:32.51 [[-3.63416552e-01 -9.07641039e-01 2.10038458e-01 8.09442690e+01] [ 7.38714545e-01 -4.18116441e-01 -5.28658173e-01 4.60762419e+01] [ 5.67652386e-01 -3.69646663e-02 8.22438072e-01 3.25063215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.91071405699998 meters Centerline goodness : 0.995931 Centerline is valid? [True, True] Translation: X:80.94, Y:46.08, Z:32.51 [[-3.69139543e-01 -9.05564122e-01 2.09020617e-01 8.09394296e+01] [ 7.33274971e-01 -4.21969327e-01 -5.33150733e-01 4.60762660e+01] [ 5.71002465e-01 -4.35374313e-02 8.19793070e-01 3.25115832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.94071405699998 meters Centerline goodness : 0.996295 Centerline is valid? [True, True] Translation: X:80.94, Y:46.07, Z:32.51 [[-3.67759629e-01 -9.03345587e-01 2.20725183e-01 8.09356868e+01] [ 7.33440422e-01 -4.27686790e-01 -5.28345679e-01 4.60702188e+01] [ 5.71679983e-01 -3.24154396e-02 8.19836104e-01 3.25139675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.97071405699998 meters Centerline goodness : 0.995613 Centerline is valid? [True, True] Translation: X:80.94, Y:46.06, Z:32.50 [[-3.57732202e-01 -9.04752644e-01 2.31193262e-01 8.09397895e+01] [ 7.43745872e-01 -4.25756731e-01 -5.15338029e-01 4.60580454e+01] [ 5.64685532e-01 -1.24039737e-02 8.25212937e-01 3.25042133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.00071405699998 meters Centerline goodness : 0.995644 Centerline is valid? [True, True] Translation: X:80.95, Y:46.07, Z:32.50 [[-3.57055592e-01 -9.09960611e-01 2.10909913e-01 8.09453786e+01] [ 7.47568183e-01 -4.13758918e-01 -5.19562672e-01 4.60671395e+01] [ 5.60047424e-01 -2.78432170e-02 8.27992535e-01 3.24961364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.03071405699998 meters Centerline goodness : 0.996186 Centerline is valid? [True, True] Translation: X:80.95, Y:46.07, Z:32.49 [[-3.58053314e-01 -9.10985851e-01 2.04701253e-01 8.09476422e+01] [ 7.47610785e-01 -4.11055280e-01 -5.21643241e-01 4.60679396e+01] [ 5.59353143e-01 -3.37392271e-02 8.28242553e-01 3.24929963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.06071405699998 meters Centerline goodness : 0.995205 Centerline is valid? [True, True] Translation: X:80.94, Y:46.08, Z:32.50 [[-3.60545246e-01 -9.10137954e-01 2.04098090e-01 8.09440329e+01] [ 7.44681788e-01 -4.12636811e-01 -5.24575921e-01 4.60767191e+01] [ 5.61654840e-01 -3.71452234e-02 8.26537400e-01 3.24994331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.09071405699999 meters Centerline goodness : 0.996627 Centerline is valid? [True, True] Translation: X:80.95, Y:46.07, Z:32.50 [[-3.69320823e-01 -9.09040778e-01 1.92994801e-01 8.09459189e+01] [ 7.32898983e-01 -4.12603781e-01 -5.40941033e-01 4.60749989e+01] [ 5.71367842e-01 -5.83350940e-02 8.18618230e-01 3.24990565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.120714057 meters Centerline goodness : 0.996043 Centerline is valid? [True, True] Translation: X:80.93, Y:46.06, Z:32.51 [[-3.62464018e-01 -9.00952521e-01 2.38546413e-01 8.09332320e+01] [ 7.43258001e-01 -4.33856551e-01 -5.09250465e-01 4.60603612e+01] [ 5.62305414e-01 -7.28343962e-03 8.26897559e-01 3.25086954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.150714057 meters Centerline goodness : 0.996386 Centerline is valid? [True, True] Translation: X:80.95, Y:46.07, Z:32.49 [[-3.71726480e-01 -9.08705137e-01 1.89932613e-01 8.09492318e+01] [ 7.32284056e-01 -4.12769525e-01 -5.41646915e-01 4.60689104e+01] [ 5.70595729e-01 -6.22598769e-02 8.18867646e-01 3.24935543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.180714057 meters Centerline goodness : 0.995459 Centerline is valid? [True, True] Translation: X:80.94, Y:46.04, Z:32.49 [[-3.63474348e-01 -9.00910769e-01 2.37162779e-01 8.09420620e+01] [ 7.43537972e-01 -4.33919307e-01 -5.08788089e-01 4.60397169e+01] [ 5.61282178e-01 -8.59188791e-03 8.27579903e-01 3.24946168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.210714057 meters Centerline goodness : 0.995235 Centerline is valid? [True, True] Translation: X:80.96, Y:46.06, Z:32.48 [[-3.66867305e-01 -9.10082431e-01 1.92765010e-01 8.09555714e+01] [ 7.43067184e-01 -4.11348783e-01 -5.27866782e-01 4.60618951e+01] [ 5.59695936e-01 -5.04197103e-02 8.27162808e-01 3.24847735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.240714057 meters Centerline goodness : 0.996090 Centerline is valid? [True, True] Translation: X:80.94, Y:46.06, Z:32.50 [[-3.67987744e-01 -9.03365415e-01 2.20263359e-01 8.09432730e+01] [ 7.41045043e-01 -4.28011064e-01 -5.17357491e-01 4.60576107e+01] [ 5.61638019e-01 -2.71561458e-02 8.26937289e-01 3.24991473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.270714057 meters Centerline goodness : 0.996209 Centerline is valid? [True, True] Translation: X:80.95, Y:46.06, Z:32.49 [[-3.79359530e-01 -9.04157132e-01 1.96433777e-01 8.09493345e+01] [ 7.29892038e-01 -4.22915556e-01 -5.37028905e-01 4.60596506e+01] [ 5.68633414e-01 -6.03515826e-02 8.20374138e-01 3.24934775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.300714057 meters Centerline goodness : 0.996053 Centerline is valid? [True, True] Translation: X:80.94, Y:46.06, Z:32.51 [[-3.83377562e-01 -8.96460483e-01 2.22216667e-01 8.09385043e+01] [ 7.26494160e-01 -4.41267781e-01 -5.26772229e-01 4.60559271e+01] [ 5.70287543e-01 -4.05135424e-02 8.20445471e-01 3.25064786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.330714057 meters Centerline goodness : 0.996359 Centerline is valid? [True, True] Translation: X:80.94, Y:46.06, Z:32.51 [[-3.81301373e-01 -8.97708111e-01 2.20747388e-01 8.09416950e+01] [ 7.27225241e-01 -4.38701403e-01 -5.27905794e-01 4.60593008e+01] [ 5.70747502e-01 -4.07581313e-02 8.20113445e-01 3.25064612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.360714057 meters Centerline goodness : 0.996325 Centerline is valid? [True, True] Translation: X:80.93, Y:46.09, Z:32.53 [[-3.84116258e-01 -8.97374343e-01 2.17195738e-01 8.09308672e+01] [ 7.25788093e-01 -4.38882680e-01 -5.29729778e-01 4.60899360e+01] [ 5.70689359e-01 -4.58397403e-02 8.19885586e-01 3.25263687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.390714057 meters Centerline goodness : 0.996483 Centerline is valid? [True, True] Translation: X:80.93, Y:46.08, Z:32.52 [[-3.88270609e-01 -8.95183374e-01 2.18843919e-01 8.09330997e+01] [ 7.23597669e-01 -4.43203387e-01 -5.29128691e-01 4.60832037e+01] [ 5.70659573e-01 -4.70901694e-02 8.19835452e-01 3.25221392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.420714057 meters Centerline goodness : 0.996688 Centerline is valid? [True, True] Translation: X:80.94, Y:46.06, Z:32.51 [[-3.94312225e-01 -8.92027626e-01 2.20917597e-01 8.09393487e+01] [ 7.20446412e-01 -4.49300526e-01 -5.28285911e-01 4.60578770e+01] [ 5.70504020e-01 -4.91503025e-02 8.19822792e-01 3.25058954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.450714057 meters Centerline goodness : 0.996688 Centerline is valid? [True, True] Translation: X:80.94, Y:46.05, Z:32.51 [[-3.94573109e-01 -8.91219081e-01 2.23697588e-01 8.09393705e+01] [ 7.20156857e-01 -4.51143308e-01 -5.27108923e-01 4.60547871e+01] [ 5.70689200e-01 -4.68856540e-02 8.19826550e-01 3.25053499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.48071405699997 meters Centerline goodness : 0.997442 Centerline is valid? [True, True] Translation: X:80.94, Y:46.06, Z:32.51 [[-3.93603805e-01 -8.91917582e-01 2.22618669e-01 8.09411147e+01] [ 7.19299537e-01 -4.49609275e-01 -5.29584437e-01 4.60595783e+01] [ 5.72437089e-01 -4.83169435e-02 8.18523825e-01 3.25070082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.51071405699997 meters Centerline goodness : 0.996434 Centerline is valid? [True, True] Translation: X:80.94, Y:46.06, Z:32.51 [[-3.95177300e-01 -8.91636017e-01 2.20952742e-01 8.09410040e+01] [ 7.17784735e-01 -4.49823250e-01 -5.31454719e-01 4.60613349e+01] [ 5.73253850e-01 -5.14223351e-02 8.17762660e-01 3.25078083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.54071405699997 meters Centerline goodness : 0.996104 Centerline is valid? [True, True] Translation: X:80.94, Y:46.07, Z:32.51 [[-3.96412293e-01 -8.90710526e-01 2.22468094e-01 8.09373188e+01] [ 7.16919690e-01 -4.51699214e-01 -5.31031052e-01 4.60667576e+01] [ 5.73483611e-01 -5.10154799e-02 8.17627035e-01 3.25129244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.57071405699998 meters Centerline goodness : 0.997197 Centerline is valid? [True, True] Translation: X:80.94, Y:46.05, Z:32.50 [[-3.96308530e-01 -8.89555344e-01 2.27224202e-01 8.09419130e+01] [ 7.19708602e-01 -4.54664239e-01 -5.24690345e-01 4.60505895e+01] [ 5.70051819e-01 -4.44040466e-02 8.20407950e-01 3.25022284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.60071405699998 meters Centerline goodness : 0.996425 Centerline is valid? [True, True] Translation: X:80.94, Y:46.05, Z:32.50 [[-3.95909063e-01 -8.91166840e-01 2.21534822e-01 8.09443895e+01] [ 7.21942618e-01 -4.51152762e-01 -5.24652306e-01 4.60495042e+01] [ 5.67498785e-01 -4.77791737e-02 8.21986788e-01 3.24975857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.63071405699998 meters Centerline goodness : 0.996051 Centerline is valid? [True, True] Translation: X:80.94, Y:46.06, Z:32.50 [[-3.96047010e-01 -8.92600425e-01 2.15432696e-01 8.09439723e+01] [ 7.21453728e-01 -4.47624680e-01 -5.28333857e-01 4.60561534e+01] [ 5.68024017e-01 -5.38203227e-02 8.21250321e-01 3.25001799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.66071405699998 meters Centerline goodness : 0.996716 Centerline is valid? [True, True] Translation: X:80.94, Y:46.04, Z:32.50 [[-3.93339797e-01 -8.91628208e-01 2.24238583e-01 8.09438092e+01] [ 7.24648995e-01 -4.50766285e-01 -5.21242354e-01 4.60445192e+01] [ 5.65833579e-01 -4.25310976e-02 8.23421804e-01 3.24964497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.69071405699998 meters Centerline goodness : 0.995633 Centerline is valid? [True, True] Translation: X:80.95, Y:46.04, Z:32.49 [[-3.92247857e-01 -8.93812444e-01 2.17349797e-01 8.09508467e+01] [ 7.26824228e-01 -4.45980964e-01 -5.22328940e-01 4.60357521e+01] [ 5.63797978e-01 -4.69073083e-02 8.24579617e-01 3.24854870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.72071405699998 meters Centerline goodness : 0.996174 Centerline is valid? [True, True] Translation: X:80.96, Y:46.03, Z:32.48 [[-3.90875130e-01 -8.95417600e-01 2.13175875e-01 8.09559222e+01] [ 7.29440177e-01 -4.42592269e-01 -5.21564101e-01 4.60273720e+01] [ 5.61367671e-01 -4.83673880e-02 8.26151883e-01 3.24768298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.75071405699998 meters Centerline goodness : 0.996259 Centerline is valid? [True, True] Translation: X:80.96, Y:46.00, Z:32.46 [[-3.83349838e-01 -8.94703699e-01 2.29233925e-01 8.09622920e+01] [ 7.40148713e-01 -4.46055350e-01 -5.03204240e-01 4.59957161e+01] [ 5.52469713e-01 -2.32360692e-02 8.33209038e-01 3.24585209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.78071405699998 meters Centerline goodness : 0.996374 Centerline is valid? [True, True] Translation: X:80.98, Y:46.01, Z:32.45 [[-3.82121664e-01 -9.04754055e-01 1.88157203e-01 8.09755513e+01] [ 7.43352437e-01 -4.21900930e-01 -5.19063348e-01 4.60109741e+01] [ 5.49008368e-01 -5.84782353e-02 8.33768618e-01 3.24456095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.81071405699998 meters Centerline goodness : 0.995859 Centerline is valid? [True, True] Translation: X:80.98, Y:45.99, Z:32.44 [[-3.80111582e-01 -9.03281348e-01 1.98992440e-01 8.09788150e+01] [ 7.44518117e-01 -4.26457005e-01 -5.13641117e-01 4.59915750e+01] [ 5.48824160e-01 -4.70874608e-02 8.34610575e-01 3.24371898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.84071405699999 meters Centerline goodness : 0.995552 Centerline is valid? [True, True] Translation: X:80.98, Y:45.99, Z:32.44 [[-3.77262668e-01 -9.02684378e-01 2.06963264e-01 8.09762778e+01] [ 7.48069433e-01 -4.28772636e-01 -5.06503851e-01 4.59894498e+01] [ 5.45953298e-01 -3.62621028e-02 8.37030499e-01 3.24374555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.870714057 meters Centerline goodness : 0.996512 Centerline is valid? [True, True] Translation: X:80.96, Y:46.04, Z:32.47 [[-0.39329886 -0.9023056 0.17652366 80.96467922] [ 0.7221859 -0.42200624 -0.5480495 46.03969763] [ 0.56900222 -0.08806435 0.81760696 32.47199699] [ 0. 0. 0. 1. ]] SLAMing on 170.900714057 meters Centerline goodness : 0.995462 Centerline is valid? [True, True] Translation: X:80.97, Y:45.97, Z:32.45 [[-3.76393727e-01 -8.94768846e-01 2.40242534e-01 8.09694793e+01] [ 7.43823592e-01 -4.46448313e-01 -4.97403628e-01 4.59672020e+01] [ 5.52317144e-01 -8.52154050e-03 8.33590521e-01 3.24450965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.930714057 meters Centerline goodness : 0.996226 Centerline is valid? [True, True] Translation: X:80.98, Y:45.99, Z:32.44 [[-3.77147406e-01 -9.04557228e-01 1.98836758e-01 8.09814590e+01] [ 7.39552175e-01 -4.23374503e-01 -5.23274890e-01 4.59898106e+01] [ 5.57514497e-01 -5.03016101e-02 8.28641861e-01 3.24371305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.960714057 meters Centerline goodness : 0.996285 Centerline is valid? [True, True] Translation: X:80.98, Y:46.00, Z:32.44 [[-3.77779720e-01 -9.06959344e-01 1.86298771e-01 8.09846653e+01] [ 7.38744717e-01 -4.16549519e-01 -5.29851622e-01 4.59974421e+01] [ 5.58156543e-01 -6.25399643e-02 8.27375384e-01 3.24380088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.990714057 meters Centerline goodness : 0.995476 Centerline is valid? [True, True] Translation: X:80.98, Y:45.99, Z:32.44 [[-3.77975112e-01 -9.03016345e-01 2.04196708e-01 8.09802352e+01] [ 7.35889239e-01 -4.26871675e-01 -5.25592618e-01 4.59879136e+01] [ 5.61784516e-01 -4.83947689e-02 8.25866881e-01 3.24425504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.020714057 meters Centerline goodness : 0.996313 Centerline is valid? [True, True] Translation: X:80.84, Y:46.30, Z:32.69 [[-3.93406031e-01 -8.95131663e-01 2.09692636e-01 8.08367443e+01] [ 7.19317455e-01 -4.41733800e-01 -5.36147039e-01 4.62975650e+01] [ 5.72550516e-01 -6.00879050e-02 8.17664571e-01 3.26859649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.050714057 meters Centerline goodness : 0.995594 Centerline is valid? [True, True] Translation: X:80.96, Y:46.00, Z:32.48 [[-3.77380444e-01 -8.95314822e-01 2.36633408e-01 8.09590829e+01] [ 7.23528830e-01 -4.44547875e-01 -5.28093949e-01 4.60022505e+01] [ 5.78005219e-01 -2.80812357e-02 8.15549760e-01 3.24811871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.080714057 meters Centerline goodness : 0.995244 Centerline is valid? [True, True] Translation: X:80.97, Y:46.02, Z:32.47 [[-3.79060405e-01 -9.01483348e-01 2.08904244e-01 8.09676412e+01] [ 7.26251833e-01 -4.29718139e-01 -5.36563693e-01 4.60160146e+01] [ 5.73473177e-01 -5.16729608e-02 8.17593065e-01 3.24741895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.110714057 meters Centerline goodness : 0.994981 Centerline is valid? [True, True] Translation: X:80.96, Y:46.01, Z:32.48 [[-3.77373757e-01 -8.97293971e-01 2.29025277e-01 8.09630997e+01] [ 7.26065288e-01 -4.40193463e-01 -5.28260270e-01 4.60052911e+01] [ 5.74820185e-01 -3.30642588e-02 8.17611466e-01 3.24794405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.140714057 meters Centerline goodness : 0.994974 Centerline is valid? [True, True] Translation: X:80.96, Y:46.02, Z:32.49 [[-3.74442016e-01 -8.97423354e-01 2.33290591e-01 8.09567926e+01] [ 7.26960154e-01 -4.40298959e-01 -5.26939997e-01 4.60175641e+01] [ 5.75605864e-01 -2.77155112e-02 8.17257450e-01 3.24919709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.170714057 meters Centerline goodness : 0.995062 Centerline is valid? [True, True] Translation: X:80.97, Y:46.02, Z:32.48 [[-3.76026048e-01 -9.02535264e-01 2.09844008e-01 8.09668619e+01] [ 7.28402663e-01 -4.27891494e-01 -5.35105999e-01 4.60217431e+01] [ 5.72742500e-01 -4.83628598e-02 8.18307437e-01 3.24812997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.200714057 meters Centerline goodness : 0.994829 Centerline is valid? [True, True] Translation: X:80.97, Y:46.00, Z:32.47 [[-3.74148808e-01 -8.98674698e-01 2.28902725e-01 8.09697053e+01] [ 7.31012763e-01 -4.37686541e-01 -5.23498645e-01 4.59957468e+01] [ 5.70642629e-01 -2.85355804e-02 8.20702572e-01 3.24735089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.23071405699997 meters Centerline goodness : 0.995411 Centerline is valid? [True, True] Translation: X:80.97, Y:46.00, Z:32.48 [[-3.73488939e-01 -8.97331734e-01 2.35163287e-01 8.09664514e+01] [ 7.30585932e-01 -4.40758464e-01 -5.21513348e-01 4.59979390e+01] [ 5.71620686e-01 -2.29724778e-02 8.20196353e-01 3.24779891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.26071405699997 meters Centerline goodness : 0.994782 Centerline is valid? [True, True] Translation: X:80.97, Y:46.01, Z:32.47 [[-3.75120593e-01 -9.01838646e-01 2.14409882e-01 8.09743304e+01] [ 7.33931976e-01 -4.30236388e-01 -5.25585868e-01 4.60054870e+01] [ 5.66240580e-01 -3.97958139e-02 8.23278749e-01 3.24684291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.29071405699997 meters Centerline goodness : 0.996384 Centerline is valid? [True, True] Translation: X:80.97, Y:46.00, Z:32.47 [[-3.81465416e-01 -8.96547498e-01 2.25137114e-01 8.09681681e+01] [ 7.24784442e-01 -4.41256446e-01 -5.29131610e-01 4.60015070e+01] [ 5.73734824e-01 -3.86695321e-02 8.18127752e-01 3.24745820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.32071405699998 meters Centerline goodness : 0.995826 Centerline is valid? [True, True] Translation: X:80.97, Y:45.98, Z:32.46 [[-3.75122513e-01 -8.95576517e-01 2.39219151e-01 8.09742993e+01] [ 7.32708509e-01 -4.44542535e-01 -5.15286498e-01 4.59840329e+01] [ 5.67821575e-01 -1.80176582e-02 8.22954448e-01 3.24645192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.35071405699998 meters Centerline goodness : 0.995562 Centerline is valid? [True, True] Translation: X:80.98, Y:46.00, Z:32.46 [[-3.77676503e-01 -9.01606475e-01 2.10870159e-01 8.09818461e+01] [ 7.29155269e-01 -4.29960725e-01 -5.32415598e-01 4.60011460e+01] [ 5.70695236e-01 -4.73237734e-02 8.19797175e-01 3.24604066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.38071405699998 meters Centerline goodness : 0.995001 Centerline is valid? [True, True] Translation: X:80.98, Y:46.00, Z:32.46 [[-3.80144703e-01 -9.01235935e-01 2.07999506e-01 8.09845424e+01] [ 7.28552800e-01 -4.30309656e-01 -5.32958176e-01 4.59990810e+01] [ 5.69825256e-01 -5.10626056e-02 8.20177900e-01 3.24584450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.41071405699998 meters Centerline goodness : 0.996098 Centerline is valid? [True, True] Translation: X:80.97, Y:46.01, Z:32.48 [[-3.81643722e-01 -8.96190887e-01 2.26251990e-01 8.09738432e+01] [ 7.21908152e-01 -4.41870206e-01 -5.32540459e-01 4.60061185e+01] [ 5.77231920e-01 -3.99075669e-02 8.15604497e-01 3.24766656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.44071405699998 meters Centerline goodness : 0.996086 Centerline is valid? [True, True] Translation: X:80.98, Y:46.00, Z:32.47 [[-3.82396678e-01 -8.95564246e-01 2.27458705e-01 8.09780028e+01] [ 7.24663647e-01 -4.43400784e-01 -5.27501985e-01 4.59983662e+01] [ 5.73267285e-01 -3.68839519e-02 8.18537839e-01 3.24696109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.47071405699998 meters Centerline goodness : 0.995861 Centerline is valid? [True, True] Translation: X:80.98, Y:46.00, Z:32.47 [[-3.83298291e-01 -8.96071588e-01 2.23915450e-01 8.09801883e+01] [ 7.26080126e-01 -4.42170139e-01 -5.26586383e-01 4.59959461e+01] [ 5.70867822e-01 -3.92591026e-02 8.20102831e-01 3.24650448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.50071405699998 meters Centerline goodness : 0.995343 Centerline is valid? [True, True] Translation: X:80.98, Y:46.00, Z:32.46 [[-3.84149090e-01 -8.96834972e-01 2.19354756e-01 8.09829634e+01] [ 7.25661613e-01 -4.40174347e-01 -5.28830566e-01 4.59956338e+01] [ 5.70828082e-01 -4.39724545e-02 8.19891288e-01 3.24631311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.53071405699998 meters Centerline goodness : 0.995916 Centerline is valid? [True, True] Translation: X:80.99, Y:45.96, Z:32.45 [[-3.79815185e-01 -8.94116651e-01 2.37267445e-01 8.09862745e+01] [ 7.35874054e-01 -4.47454934e-01 -5.08206119e-01 4.59636507e+01] [ 5.60562042e-01 -1.84254439e-02 8.27907423e-01 3.24462279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.56071405699998 meters Centerline goodness : 0.996112 Centerline is valid? [True, True] Translation: X:80.99, Y:45.98, Z:32.44 [[-3.81696308e-01 -9.01596778e-01 2.03546500e-01 8.09948307e+01] [ 7.34773175e-01 -4.29583182e-01 -5.24944446e-01 4.59817072e+01] [ 5.60728374e-01 -5.08088490e-02 8.26439442e-01 3.24401154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.59071405699999 meters Centerline goodness : 0.995842 Centerline is valid? [True, True] Translation: X:80.99, Y:46.00, Z:32.46 [[-3.85847521e-01 -9.00859206e-01 1.98933110e-01 8.09892434e+01] [ 7.25779940e-01 -4.29521974e-01 -5.37358681e-01 4.59987371e+01] [ 5.69530657e-01 -6.29568548e-02 8.19555529e-01 3.24563274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.620714057 meters Centerline goodness : 0.995575 Centerline is valid? [True, True] Translation: X:80.98, Y:45.99, Z:32.46 [[-3.88961742e-01 -8.94761037e-01 2.19343224e-01 8.09830319e+01] [ 7.28188172e-01 -4.44449608e-01 -5.21734158e-01 4.59919588e+01] [ 5.64314406e-01 -4.32114851e-02 8.24428298e-01 3.24592231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.650714057 meters Centerline goodness : 0.995785 Centerline is valid? [True, True] Translation: X:80.98, Y:45.98, Z:32.46 [[-3.88659158e-01 -8.93649948e-01 2.24352021e-01 8.09825347e+01] [ 7.24858239e-01 -4.46874255e-01 -5.24293747e-01 4.59845167e+01] [ 5.68792222e-01 -4.11481551e-02 8.21451300e-01 3.24606533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.680714057 meters Centerline goodness : 0.995573 Centerline is valid? [True, True] Translation: X:80.98, Y:45.98, Z:32.47 [[-3.89937417e-01 -8.90711779e-01 2.33626493e-01 8.09777928e+01] [ 7.22407358e-01 -4.53229993e-01 -5.22216605e-01 4.59840557e+01] [ 5.71031015e-01 -3.48582965e-02 8.20188076e-01 3.24662080e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.710714057 meters Centerline goodness : 0.996201 Centerline is valid? [True, True] Translation: X:80.97, Y:45.99, Z:32.47 [[-3.92325153e-01 -8.85337113e-01 2.49517877e-01 8.09676661e+01] [ 7.31116646e-01 -4.64752793e-01 -4.99473013e-01 4.59890508e+01] [ 5.58166126e-01 -1.35291533e-02 8.29618911e-01 3.24716135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.740714057 meters Centerline goodness : 0.995880 Centerline is valid? [True, True] Translation: X:80.98, Y:46.01, Z:32.46 [[-3.95478765e-01 -8.95077703e-01 2.05991387e-01 8.09821553e+01] [ 7.31077221e-01 -4.42532086e-01 -5.19318255e-01 4.60076678e+01] [ 5.55987989e-01 -5.47837313e-02 8.29382963e-01 3.24564228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.770714057 meters Centerline goodness : 0.996060 Centerline is valid? [True, True] Translation: X:80.99, Y:46.01, Z:32.46 [[-4.02974420e-01 -8.93507660e-01 1.98130461e-01 8.09863617e+01] [ 7.16703320e-01 -4.42717714e-01 -5.38829636e-01 4.60074226e+01] [ 5.69164272e-01 -7.51338009e-02 8.18783820e-01 3.24577632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.800714057 meters Centerline goodness : 0.995947 Centerline is valid? [True, True] Translation: X:80.98, Y:46.00, Z:32.47 [[-4.04353579e-01 -8.85999195e-01 2.26944066e-01 8.09766653e+01] [ 7.14440315e-01 -4.60903176e-01 -5.26444012e-01 4.59957582e+01] [ 5.71028212e-01 -5.07315299e-02 8.19361393e-01 3.24665381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.830714057 meters Centerline goodness : 0.996509 Centerline is valid? [True, True] Translation: X:80.97, Y:46.01, Z:32.47 [[-4.08412254e-01 -8.84898569e-01 2.23950786e-01 8.09734180e+01] [ 7.12057938e-01 -4.62364622e-01 -5.28386647e-01 4.60057136e+01] [ 5.71115508e-01 -5.63336462e-02 8.18934428e-01 3.24726661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.860714057 meters Centerline goodness : 0.995751 Centerline is valid? [True, True] Translation: X:80.97, Y:46.00, Z:32.46 [[-4.07400067e-01 -8.84038384e-01 2.29131669e-01 8.09738542e+01] [ 7.20402394e-01 -4.65294476e-01 -5.14316480e-01 4.59997342e+01] [ 5.61289210e-01 -4.44655652e-02 8.26424368e-01 3.24644084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.890714057 meters Centerline goodness : 0.995857 Centerline is valid? [True, True] Translation: X:80.98, Y:45.99, Z:32.46 [[-4.09722258e-01 -8.85280396e-01 2.20014300e-01 8.09819832e+01] [ 7.13234889e-01 -4.61259515e-01 -5.27764771e-01 4.59881297e+01] [ 5.68703494e-01 -5.93150991e-02 8.20401155e-01 3.24564073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.920714057 meters Centerline goodness : 0.996211 Centerline is valid? [True, True] Translation: X:80.98, Y:45.99, Z:32.46 [[-4.13519846e-01 -8.84531907e-01 2.15881082e-01 8.09792941e+01] [ 7.06460359e-01 -4.61279534e-01 -5.36782035e-01 4.59914244e+01] [ 5.74382362e-01 -6.94585977e-02 8.15634971e-01 3.24619558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.950714057 meters Centerline goodness : 0.996310 Centerline is valid? [True, True] Translation: X:80.97, Y:45.97, Z:32.46 [[-4.05809748e-01 -8.81351583e-01 2.41945935e-01 8.09748175e+01] [ 7.15681339e-01 -4.71080168e-01 -5.15639115e-01 4.59732399e+01] [ 5.68435282e-01 -3.60951885e-02 8.21935805e-01 3.24603364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.98071405699997 meters Centerline goodness : 0.995853 Centerline is valid? [True, True] Translation: X:80.98, Y:45.97, Z:32.45 [[-4.05195687e-01 -8.86988141e-01 2.21514090e-01 8.09827512e+01] [ 7.16962113e-01 -4.58634850e-01 -5.24994670e-01 4.59748818e+01] [ 5.67258128e-01 -5.39083654e-02 8.21773755e-01 3.24504075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.01071405699997 meters Centerline goodness : 0.996570 Centerline is valid? [True, True] Translation: X:80.99, Y:45.96, Z:32.44 [[-4.00515260e-01 -8.87676697e-01 2.27195087e-01 8.09859447e+01] [ 7.23483580e-01 -4.58518029e-01 -5.16074342e-01 4.59553363e+01] [ 5.62280211e-01 -4.23237345e-02 8.25862983e-01 3.24399764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.04071405699997 meters Centerline goodness : 0.996046 Centerline is valid? [True, True] Translation: X:80.99, Y:45.96, Z:32.44 [[-3.98844728e-01 -8.91036167e-01 2.16742780e-01 8.09881624e+01] [ 7.25791230e-01 -4.51192043e-01 -5.19281071e-01 4.59607770e+01] [ 5.60490832e-01 -4.98025085e-02 8.26661803e-01 3.24376746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.07071405699998 meters Centerline goodness : 0.996880 Centerline is valid? [True, True] Translation: X:80.99, Y:45.96, Z:32.44 [[-3.94854504e-01 -8.91782235e-01 2.20939732e-01 8.09865941e+01] [ 7.31802035e-01 -4.50677540e-01 -5.11229436e-01 4.59581021e+01] [ 5.55477904e-01 -4.01771004e-02 8.30560111e-01 3.24367394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.10071405699998 meters Centerline goodness : 0.996109 Centerline is valid? [True, True] Translation: X:80.99, Y:45.95, Z:32.43 [[-3.93214010e-01 -8.94840951e-01 2.11287515e-01 8.09940422e+01] [ 7.32841374e-01 -4.43801819e-01 -5.15735850e-01 4.59515010e+01] [ 5.55271342e-01 -4.79543288e-02 8.30285565e-01 3.24257491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.13071405699998 meters Centerline goodness : 0.996216 Centerline is valid? [True, True] Translation: X:81.00, Y:45.94, Z:32.42 [[-3.88722073e-01 -8.95972222e-01 2.14776462e-01 8.09960797e+01] [ 7.38094886e-01 -4.42349064e-01 -5.09453870e-01 4.59443813e+01] [ 5.51462682e-01 -3.95105561e-02 8.33263359e-01 3.24174573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.16071405699998 meters Centerline goodness : 0.996823 Centerline is valid? [True, True] Translation: X:81.00, Y:45.95, Z:32.42 [[-3.88903011e-01 -8.98498774e-01 2.03603541e-01 8.09990683e+01] [ 7.35702609e-01 -4.35907760e-01 -5.18387978e-01 4.59490265e+01] [ 5.54523326e-01 -5.18109896e-02 8.30553732e-01 3.24155229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.19071405699998 meters Centerline goodness : 0.995693 Centerline is valid? [True, True] Translation: X:80.99, Y:45.97, Z:32.44 [[-3.97591371e-01 -8.97106897e-01 1.92666335e-01 8.09876050e+01] [ 7.18418918e-01 -4.34979116e-01 -5.42832779e-01 4.59737182e+01] [ 5.70784863e-01 -7.74104886e-02 8.17442510e-01 3.24403686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.22071405699998 meters Centerline goodness : 0.986766 Centerline is valid? [True, True] Translation: X:80.62, Y:46.76, Z:33.05 [[-3.98500870e-01 -8.87019964e-01 2.33222299e-01 8.06159671e+01] [ 7.17106302e-01 -4.59866148e-01 -5.23719083e-01 4.67586401e+01] [ 5.71800322e-01 -4.14573293e-02 8.19344666e-01 3.30475239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.25071405699998 meters Centerline goodness : 0.995175 Centerline is valid? [True, True] Translation: X:80.98, Y:45.92, Z:32.43 [[-3.78054140e-01 -8.93865994e-01 2.40995129e-01 8.09815351e+01] [ 7.43832546e-01 -4.48259906e-01 -4.95758208e-01 4.59209227e+01] [ 5.51169857e-01 -8.16342309e-03 8.34353131e-01 3.24342719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.28071405699998 meters Centerline goodness : 0.995965 Centerline is valid? [True, True] Translation: X:80.99, Y:45.94, Z:32.43 [[-3.78260082e-01 -9.02062811e-01 2.07850896e-01 8.09856909e+01] [ 7.41371993e-01 -4.29662057e-01 -5.15517299e-01 4.59440018e+01] [ 5.54334627e-01 -4.09047827e-02 8.31288109e-01 3.24339893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.31071405699998 meters Centerline goodness : 0.996340 Centerline is valid? [True, True] Translation: X:80.99, Y:45.94, Z:32.43 [[-3.78120262e-01 -9.02973864e-01 2.04115821e-01 8.09891332e+01] [ 7.39860893e-01 -4.27282624e-01 -5.19649322e-01 4.59374796e+01] [ 5.56444900e-01 -4.54726244e-02 8.29639267e-01 3.24292079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.34071405699999 meters Centerline goodness : 0.996340 Centerline is valid? [True, True] Translation: X:80.99, Y:45.93, Z:32.43 [[-3.78277566e-01 -9.00946291e-01 2.12607299e-01 8.09873444e+01] [ 7.39495473e-01 -4.32265068e-01 -5.16036196e-01 4.59321703e+01] [ 5.56823606e-01 -3.79827811e-02 8.29761882e-01 3.24306664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.370714057 meters Centerline goodness : 0.995085 Centerline is valid? [True, True] Translation: X:80.98, Y:45.94, Z:32.44 [[-3.77625536e-01 -9.01953529e-01 2.09472636e-01 8.09828012e+01] [ 7.39343568e-01 -4.29899192e-01 -5.18225601e-01 4.59413891e+01] [ 5.57467527e-01 -4.08229741e-02 8.29194453e-01 3.24391686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.400714057 meters Centerline goodness : 0.995372 Centerline is valid? [True, True] Translation: X:80.98, Y:45.93, Z:32.44 [[-3.73983557e-01 -9.00962544e-01 2.20006347e-01 8.09801651e+01] [ 7.38759705e-01 -4.32810839e-01 -5.16632243e-01 4.59338375e+01] [ 5.60687432e-01 -3.06801400e-02 8.27458961e-01 3.24411524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.430714057 meters Centerline goodness : 0.995887 Centerline is valid? [True, True] Translation: X:80.98, Y:45.93, Z:32.44 [[-3.71466543e-01 -9.02227437e-01 2.19085052e-01 8.09807344e+01] [ 7.41218627e-01 -4.30284621e-01 -5.15218490e-01 4.59310412e+01] [ 5.59113186e-01 -2.89965102e-02 8.28584123e-01 3.24379925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.460714057 meters Centerline goodness : 0.995910 Centerline is valid? [True, True] Translation: X:80.98, Y:45.94, Z:32.44 [[-3.71947753e-01 -9.03082625e-01 2.14701286e-01 8.09784080e+01] [ 7.40325024e-01 -4.28132587e-01 -5.18286935e-01 4.59387997e+01] [ 5.59976542e-01 -3.38269267e-02 8.27817620e-01 3.24422614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.490714057 meters Centerline goodness : 0.995567 Centerline is valid? [True, True] Translation: X:80.98, Y:45.93, Z:32.43 [[-3.70825730e-01 -9.03478283e-01 2.14977372e-01 8.09814102e+01] [ 7.41464864e-01 -4.27406543e-01 -5.17255741e-01 4.59270308e+01] [ 5.59212064e-01 -3.24135702e-02 8.28390746e-01 3.24343109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.520714057 meters Centerline goodness : 0.995908 Centerline is valid? [True, True] Translation: X:80.97, Y:45.94, Z:32.45 [[-3.77532356e-01 -9.01025232e-01 2.13595064e-01 8.09712611e+01] [ 7.38102233e-01 -4.32101760e-01 -5.18163259e-01 4.59426328e+01] [ 5.59172974e-01 -3.79684025e-02 8.28181131e-01 3.24457977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.550714057 meters Centerline goodness : 0.995181 Centerline is valid? [True, True] Translation: X:80.98, Y:45.93, Z:32.44 [[-3.72251985e-01 -9.00440197e-01 2.25024248e-01 8.09763016e+01] [ 7.42021907e-01 -4.34365740e-01 -5.10617169e-01 4.59256556e+01] [ 5.57523048e-01 -2.31053333e-02 8.29839861e-01 3.24379098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.580714057 meters Centerline goodness : 0.995459 Centerline is valid? [True, True] Translation: X:80.98, Y:45.94, Z:32.44 [[-3.75607931e-01 -9.03591875e-01 2.06010695e-01 8.09771459e+01] [ 7.36697480e-01 -4.25971405e-01 -5.25190618e-01 4.59438924e+01] [ 5.62312640e-01 -4.54982010e-02 8.25672095e-01 3.24421654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.610714057 meters Centerline goodness : 0.995318 Centerline is valid? [True, True] Translation: X:80.96, Y:45.94, Z:32.45 [[-3.83728549e-01 -8.95047988e-01 2.27247662e-01 8.09644896e+01] [ 7.34810808e-01 -4.44996892e-01 -5.11889483e-01 4.59417859e+01] [ 5.59290155e-01 -2.94425703e-02 8.28448947e-01 3.24514988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.640714057 meters Centerline goodness : 0.995657 Centerline is valid? [True, True] Translation: X:80.97, Y:45.95, Z:32.45 [[-3.81521311e-01 -8.98642770e-01 2.16524040e-01 8.09700040e+01] [ 7.32260719e-01 -4.36780015e-01 -5.22510725e-01 4.59468440e+01] [ 5.64123859e-01 -4.07969273e-02 8.24681686e-01 3.24499692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.670714057 meters Centerline goodness : 0.995987 Centerline is valid? [True, True] Translation: X:80.97, Y:45.92, Z:32.44 [[-3.90369733e-01 -8.91522407e-01 2.29780917e-01 8.09694361e+01] [ 7.30766316e-01 -4.51857307e-01 -5.11669391e-01 4.59244052e+01] [ 5.59992913e-01 -3.18240898e-02 8.27885961e-01 3.24397963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.700714057 meters Centerline goodness : 0.994961 Centerline is valid? [True, True] Translation: X:80.98, Y:45.92, Z:32.43 [[-3.89393774e-01 -8.95252269e-01 2.16554528e-01 8.09791756e+01] [ 7.29163171e-01 -4.43269469e-01 -5.21376301e-01 4.59239422e+01] [ 5.62755328e-01 -4.51170990e-02 8.25391355e-01 3.24334346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.73071405699997 meters Centerline goodness : 0.995379 Centerline is valid? [True, True] Translation: X:80.97, Y:45.93, Z:32.45 [[-3.91954786e-01 -8.90344452e-01 2.31642403e-01 8.09669971e+01] [ 7.28269042e-01 -4.54128979e-01 -5.13216399e-01 4.59334543e+01] [ 5.62134901e-01 -3.24596327e-02 8.26408328e-01 3.24476394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.76071405699997 meters Centerline goodness : 0.995372 Centerline is valid? [True, True] Translation: X:80.97, Y:45.93, Z:32.44 [[-3.93980323e-01 -8.92482075e-01 2.19670781e-01 8.09729274e+01] [ 7.27883058e-01 -4.48900253e-01 -5.18338516e-01 4.59330761e+01] [ 5.61218103e-01 -4.43205361e-02 8.26480448e-01 3.24394378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.79071405699997 meters Centerline goodness : 0.995629 Centerline is valid? [True, True] Translation: X:80.98, Y:45.92, Z:32.43 [[-3.95441940e-01 -8.91178716e-01 2.22319970e-01 8.09775918e+01] [ 7.28640934e-01 -4.51742951e-01 -5.14791895e-01 4.59192422e+01] [ 5.59203060e-01 -4.15788748e-02 8.27987400e-01 3.24294921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.82071405699998 meters Centerline goodness : 0.995802 Centerline is valid? [True, True] Translation: X:80.97, Y:45.93, Z:32.43 [[-3.98926524e-01 -8.90376234e-01 2.19289285e-01 8.09739565e+01] [ 7.27967394e-01 -4.52926283e-01 -5.14705018e-01 4.59284609e+01] [ 5.57602996e-01 -4.56940342e-02 8.28849174e-01 3.24346571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.85071405699998 meters Centerline goodness : 0.995249 Centerline is valid? [True, True] Translation: X:80.97, Y:45.94, Z:32.44 [[-4.01255486e-01 -8.89945245e-01 2.16775221e-01 8.09686557e+01] [ 7.26493363e-01 -4.53348202e-01 -5.16413402e-01 4.59404063e+01] [ 5.57854308e-01 -4.97279517e-02 8.28447766e-01 3.24438332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.88071405699998 meters Centerline goodness : 0.994481 Centerline is valid? [True, True] Translation: X:80.97, Y:45.92, Z:32.43 [[-4.02839294e-01 -8.88073362e-01 2.21463782e-01 8.09746726e+01] [ 7.24208131e-01 -4.57235072e-01 -5.16196350e-01 4.59225667e+01] [ 5.59681236e-01 -4.75583019e-02 8.27342203e-01 3.24349228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.91071405699998 meters Centerline goodness : 0.994899 Centerline is valid? [True, True] Translation: X:80.97, Y:45.92, Z:32.43 [[-4.02005576e-01 -8.86948002e-01 2.27408793e-01 8.09739981e+01] [ 7.27580432e-01 -4.60214409e-01 -5.08752801e-01 4.59166758e+01] [ 5.55894083e-01 -3.90632746e-02 8.30334769e-01 3.24318872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.94071405699998 meters Centerline goodness : 0.994213 Centerline is valid? [True, True] Translation: X:80.98, Y:45.91, Z:32.42 [[-4.01960069e-01 -8.88034419e-01 2.23210605e-01 8.09785986e+01] [ 7.29312010e-01 -4.57895465e-01 -5.08365749e-01 4.59112725e+01] [ 5.53653406e-01 -4.15525568e-02 8.31709860e-01 3.24232330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.97071405699998 meters Centerline goodness : 0.994695 Centerline is valid? [True, True] Translation: X:80.98, Y:45.91, Z:32.42 [[-4.01499623e-01 -8.88849453e-01 2.20782024e-01 8.09771233e+01] [ 7.29572914e-01 -4.56127980e-01 -5.09578874e-01 4.59133267e+01] [ 5.53643762e-01 -4.35191409e-02 8.31615698e-01 3.24232335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.00071405699998 meters Centerline goodness : 0.994660 Centerline is valid? [True, True] Translation: X:80.97, Y:45.94, Z:32.44 [[-4.02525626e-01 -8.89206398e-01 2.17451377e-01 8.09656938e+01] [ 7.28598428e-01 -4.55018932e-01 -5.11959083e-01 4.59423125e+01] [ 5.54181786e-01 -4.76419187e-02 8.31031164e-01 3.24413016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.03071405699998 meters Centerline goodness : 0.995197 Centerline is valid? [True, True] Translation: X:80.99, Y:45.90, Z:32.41 [[-4.02351320e-01 -8.90376699e-01 2.12938371e-01 8.09874706e+01] [ 7.29164848e-01 -4.52318161e-01 -5.13543479e-01 4.59001991e+01] [ 5.53563040e-01 -5.13577215e-02 8.31222200e-01 3.24059204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.06071405699998 meters Centerline goodness : 0.994991 Centerline is valid? [True, True] Translation: X:80.98, Y:45.90, Z:32.42 [[-4.02462846e-01 -8.87167400e-01 2.25738039e-01 8.09783767e+01] [ 7.25123081e-01 -4.59463729e-01 -5.12922606e-01 4.59028903e+01] [ 5.58766656e-01 -4.27444293e-02 8.28222638e-01 3.24185346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.09071405699999 meters Centerline goodness : 0.994563 Centerline is valid? [True, True] Translation: X:80.97, Y:45.92, Z:32.43 [[-4.02970294e-01 -8.88074323e-01 2.21221471e-01 8.09736651e+01] [ 7.24383420e-01 -4.57221757e-01 -5.15962136e-01 4.59199621e+01] [ 5.59359994e-01 -4.76682483e-02 8.27553101e-01 3.24273777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.120714057 meters Centerline goodness : 0.994733 Centerline is valid? [True, True] Translation: X:80.98, Y:45.89, Z:32.42 [[-4.01765330e-01 -8.84745060e-01 2.36243091e-01 8.09752684e+01] [ 7.24711530e-01 -4.64896601e-01 -5.08590552e-01 4.58942675e+01] [ 5.59801588e-01 -3.31259595e-02 8.27964282e-01 3.24213419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.150714057 meters Centerline goodness : 0.994616 Centerline is valid? [True, True] Translation: X:80.98, Y:45.91, Z:32.41 [[-4.02342258e-01 -8.92125036e-01 2.05508219e-01 8.09829404e+01] [ 7.27646413e-01 -4.47852066e-01 -5.19576005e-01 4.59072521e+01] [ 5.55564042e-01 -5.95100642e-02 8.29341394e-01 3.24117005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.180714057 meters Centerline goodness : 0.993931 Centerline is valid? [True, True] Translation: X:80.98, Y:45.89, Z:32.41 [[-4.01882989e-01 -8.87968962e-01 2.23609450e-01 8.09797571e+01] [ 7.26441019e-01 -4.57838662e-01 -5.12510687e-01 4.58921240e+01] [ 5.57470634e-01 -4.35302503e-02 8.29054648e-01 3.24130957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.210714057 meters Centerline goodness : 0.994478 Centerline is valid? [True, True] Translation: X:80.97, Y:45.90, Z:32.43 [[-4.00995470e-01 -8.86548960e-01 2.30724022e-01 8.09717997e+01] [ 7.27913379e-01 -4.61271918e-01 -5.07316795e-01 4.59016157e+01] [ 5.56187689e-01 -3.54846345e-02 8.30298799e-01 3.24257387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.240714057 meters Centerline goodness : 0.993632 Centerline is valid? [True, True] Translation: X:80.97, Y:45.90, Z:32.42 [[-3.98191923e-01 -8.89409827e-01 2.24484634e-01 8.09749231e+01] [ 7.31399042e-01 -4.55537726e-01 -5.07484799e-01 4.58968253e+01] [ 5.53623188e-01 -3.78885023e-02 8.31904939e-01 3.24183065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.270714057 meters Centerline goodness : 0.994703 Centerline is valid? [True, True] Translation: X:80.98, Y:45.89, Z:32.41 [[-3.97669593e-01 -8.90742468e-01 2.20083509e-01 8.09786403e+01] [ 7.31355953e-01 -4.52570180e-01 -5.10194770e-01 4.58902222e+01] [ 5.54055381e-01 -4.19295622e-02 8.31423205e-01 3.24122546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.300714057 meters Centerline goodness : 0.993723 Centerline is valid? [True, True] Translation: X:80.98, Y:45.89, Z:32.41 [[-3.96138148e-01 -8.90031456e-01 2.25651445e-01 8.09755611e+01] [ 7.33603629e-01 -4.54586495e-01 -5.05150308e-01 4.58892230e+01] [ 5.52177763e-01 -3.45705887e-02 8.33009359e-01 3.24148659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.330714057 meters Centerline goodness : 0.994071 Centerline is valid? [True, True] Translation: X:80.98, Y:45.89, Z:32.41 [[-3.95319596e-01 -8.90974587e-01 2.23353313e-01 8.09770356e+01] [ 7.35553562e-01 -4.52705781e-01 -5.04002415e-01 4.58889691e+01] [ 5.50166679e-01 -3.49537061e-02 8.34322997e-01 3.24113729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.360714057 meters Centerline goodness : 0.995448 Centerline is valid? [True, True] Translation: X:80.92, Y:46.01, Z:32.50 [[-4.06280096e-01 -8.90220926e-01 2.06017445e-01 8.09249958e+01] [ 7.21565450e-01 -4.50896389e-01 -5.25391042e-01 4.60110275e+01] [ 5.60606622e-01 -6.48008530e-02 8.25542891e-01 3.24995547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.390714057 meters Centerline goodness : 0.994055 Centerline is valid? [True, True] Translation: X:80.97, Y:45.86, Z:32.41 [[-3.94274994e-01 -8.83711541e-01 2.52192666e-01 8.09734469e+01] [ 7.35030609e-01 -4.67962148e-01 -4.90654085e-01 4.58637533e+01] [ 5.51613300e-01 -8.08330771e-03 8.34060806e-01 3.24131535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.420714057 meters Centerline goodness : 0.994668 Centerline is valid? [True, True] Translation: X:80.99, Y:45.87, Z:32.39 [[-3.97377756e-01 -8.93368200e-01 2.09724054e-01 8.09912292e+01] [ 7.30665454e-01 -4.46297553e-01 -5.16668646e-01 4.58686506e+01] [ 5.55174670e-01 -5.20745058e-02 8.30102001e-01 3.23915736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.450714057 meters Centerline goodness : 0.995213 Centerline is valid? [True, True] Translation: X:80.97, Y:45.91, Z:32.43 [[-4.07536387e-01 -8.87202907e-01 2.16298626e-01 8.09653384e+01] [ 7.20175067e-01 -4.57888468e-01 -5.21235095e-01 4.59057184e+01] [ 5.61481938e-01 -5.66493899e-02 8.25547624e-01 3.24303291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.48071405699997 meters Centerline goodness : 0.995078 Centerline is valid? [True, True] Translation: X:80.97, Y:45.87, Z:32.42 [[-3.99875176e-01 -8.82802588e-01 2.46494287e-01 8.09701729e+01] [ 7.29846436e-01 -4.69366247e-01 -4.97010570e-01 4.58738988e+01] [ 5.54458316e-01 -1.88392123e-02 8.31998233e-01 3.24181264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.51071405699997 meters Centerline goodness : 0.995554 Centerline is valid? [True, True] Translation: X:80.98, Y:45.89, Z:32.41 [[-4.00379876e-01 -8.90732681e-01 2.15154004e-01 8.09781191e+01] [ 7.26519761e-01 -4.51654278e-01 -5.17858523e-01 4.58884406e+01] [ 5.58448737e-01 -5.10264954e-02 8.27968179e-01 3.24083531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.54071405699997 meters Centerline goodness : 0.995838 Centerline is valid? [True, True] Translation: X:80.97, Y:45.90, Z:32.42 [[-4.09702973e-01 -8.85021765e-01 2.21088105e-01 8.09675295e+01] [ 7.17690769e-01 -4.62327702e-01 -5.20742793e-01 4.58950272e+01] [ 5.63083861e-01 -5.46769787e-02 8.24588985e-01 3.24225019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.57071405699998 meters Centerline goodness : 0.995525 Centerline is valid? [True, True] Translation: X:80.97, Y:45.87, Z:32.41 [[-4.02795913e-01 -8.81648526e-01 2.45868518e-01 8.09718259e+01] [ 7.25006789e-01 -4.71293668e-01 -5.02242406e-01 4.58698814e+01] [ 5.58677553e-01 -2.40448437e-02 8.29036330e-01 3.24138798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.60071405699998 meters Centerline goodness : 0.995412 Centerline is valid? [True, True] Translation: X:80.98, Y:45.88, Z:32.41 [[-4.03874230e-01 -8.86578696e-01 2.25530090e-01 8.09773054e+01] [ 7.25541069e-01 -4.60586196e-01 -5.11322319e-01 4.58791380e+01] [ 5.57203521e-01 -4.28785655e-02 8.29268150e-01 3.24058786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.63071405699998 meters Centerline goodness : 0.995230 Centerline is valid? [True, True] Translation: X:80.98, Y:45.88, Z:32.41 [[-4.04408157e-01 -8.86120269e-01 2.26373392e-01 8.09771031e+01] [ 7.24521238e-01 -4.61452584e-01 -5.11986805e-01 4.58795634e+01] [ 5.58142472e-01 -4.30393103e-02 8.28628143e-01 3.24061594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.66071405699998 meters Centerline goodness : 0.995830 Centerline is valid? [True, True] Translation: X:80.98, Y:45.88, Z:32.40 [[-4.04005584e-01 -8.87574277e-01 2.21339991e-01 8.09784761e+01] [ 7.23626251e-01 -4.58115728e-01 -5.16231564e-01 4.58804192e+01] [ 5.59593189e-01 -4.83930066e-02 8.27353359e-01 3.24035486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.69071405699998 meters Centerline goodness : 0.995599 Centerline is valid? [True, True] Translation: X:80.98, Y:45.87, Z:32.41 [[-4.04041738e-01 -8.85646807e-01 2.28866787e-01 8.09770009e+01] [ 7.23350454e-01 -4.62492093e-01 -5.12703798e-01 4.58729811e+01] [ 5.59923561e-01 -4.16028390e-02 8.27499130e-01 3.24053537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.72071405699998 meters Centerline goodness : 0.995188 Centerline is valid? [True, True] Translation: X:80.97, Y:45.88, Z:32.41 [[-4.03303553e-01 -8.85133720e-01 2.32130443e-01 8.09724851e+01] [ 7.25431888e-01 -4.63888987e-01 -5.08483612e-01 4.58785389e+01] [ 5.57758747e-01 -3.66784213e-02 8.29192302e-01 3.24100577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.75071405699998 meters Centerline goodness : 0.995299 Centerline is valid? [True, True] Translation: X:80.98, Y:45.86, Z:32.39 [[-4.03165179e-01 -8.87260252e-01 2.24113997e-01 8.09826910e+01] [ 7.26548955e-01 -4.59239036e-01 -5.11102851e-01 4.58631019e+01] [ 5.56403141e-01 -4.32290820e-02 8.29787197e-01 3.23941045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.78071405699998 meters Centerline goodness : 0.995409 Centerline is valid? [True, True] Translation: X:80.99, Y:45.85, Z:32.38 [[-4.01180591e-01 -8.89494160e-01 2.18756195e-01 8.09919696e+01] [ 7.24479956e-01 -4.54257157e-01 -5.18439223e-01 4.58495742e+01] [ 5.60520229e-01 -4.95032752e-02 8.26659845e-01 3.23827010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.81071405699998 meters Centerline goodness : 0.995473 Centerline is valid? [True, True] Translation: X:80.98, Y:45.86, Z:32.39 [[-4.03529256e-01 -8.85052589e-01 2.32047525e-01 8.09830719e+01] [ 7.25376552e-01 -4.64030485e-01 -5.08433443e-01 4.58566843e+01] [ 5.57667461e-01 -3.68459355e-02 8.29246272e-01 3.23934083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.84071405699999 meters Centerline goodness : 0.995123 Centerline is valid? [True, True] Translation: X:80.99, Y:45.86, Z:32.39 [[-4.04798263e-01 -8.87793385e-01 2.19000622e-01 8.09898102e+01] [ 7.23791424e-01 -4.57451858e-01 -5.16588590e-01 4.58582469e+01] [ 5.58806174e-01 -5.06033920e-02 8.27752956e-01 3.23861254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.870714057 meters Centerline goodness : 0.995725 Centerline is valid? [True, True] Translation: X:80.98, Y:45.87, Z:32.40 [[-4.06043007e-01 -8.85032791e-01 2.27697245e-01 8.09836124e+01] [ 7.22068603e-01 -4.63429804e-01 -5.13663069e-01 4.58687325e+01] [ 5.60130350e-01 -4.41562656e-02 8.27226822e-01 3.23971867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.900714057 meters Centerline goodness : 0.995652 Centerline is valid? [True, True] Translation: X:80.92, Y:46.00, Z:32.49 [[-4.15510210e-01 -8.81202432e-01 2.25462946e-01 8.09215510e+01] [ 7.15906109e-01 -4.69733469e-01 -5.16554848e-01 4.59986413e+01] [ 5.61096879e-01 -5.32235130e-02 8.26037257e-01 3.24936701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.930714057 meters Centerline goodness : 0.995848 Centerline is valid? [True, True] Translation: X:80.97, Y:45.89, Z:32.42 [[-4.05615234e-01 -8.82206932e-01 2.39138478e-01 8.09677115e+01] [ 7.20374607e-01 -4.69575869e-01 -5.10449732e-01 4.58935854e+01] [ 5.62615950e-01 -3.47769004e-02 8.25986598e-01 3.24238217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.960714057 meters Centerline goodness : 0.995163 Centerline is valid? [True, True] Translation: X:80.98, Y:45.89, Z:32.41 [[-4.04905821e-01 -8.88030780e-01 2.17836200e-01 8.09817717e+01] [ 7.15417612e-01 -4.56048834e-01 -5.29336473e-01 4.58853526e+01] [ 5.69411026e-01 -5.84875651e-02 8.19969687e-01 3.24086575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.990714057 meters Centerline goodness : 0.995148 Centerline is valid? [True, True] Translation: X:80.97, Y:45.88, Z:32.42 [[-4.04751104e-01 -8.81795413e-01 2.42102033e-01 8.09709133e+01] [ 7.21159002e-01 -4.70600371e-01 -5.08394517e-01 4.58837664e+01] [ 5.62233260e-01 -3.11791816e-02 8.26390719e-01 3.24212604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.020714057 meters Centerline goodness : 0.995482 Centerline is valid? [True, True] Translation: X:80.99, Y:45.85, Z:32.39 [[-4.02917189e-01 -8.87126802e-01 2.25086152e-01 8.09943354e+01] [ 7.20693951e-01 -4.59119222e-01 -5.19432160e-01 4.58535728e+01] [ 5.64143570e-01 -4.70699175e-02 8.24333946e-01 3.23891634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.050714057 meters Centerline goodness : 0.995722 Centerline is valid? [True, True] Translation: X:80.98, Y:45.87, Z:32.41 [[-3.99131064e-01 -8.85113851e-01 2.39307050e-01 8.09820594e+01] [ 7.20612172e-01 -4.64195136e-01 -5.15015508e-01 4.58663911e+01] [ 5.66932528e-01 -3.31111150e-02 8.23098513e-01 3.24077208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.080714057 meters Centerline goodness : 0.995988 Centerline is valid? [True, True] Translation: X:80.99, Y:45.88, Z:32.40 [[-3.99044320e-01 -8.88900622e-01 2.24987367e-01 8.09855810e+01] [ 7.20278643e-01 -4.55719381e-01 -5.22989984e-01 4.58750649e+01] [ 5.67417225e-01 -4.66425870e-02 8.22108364e-01 3.24047412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.110714057 meters Centerline goodness : 0.995756 Centerline is valid? [True, True] Translation: X:80.99, Y:45.88, Z:32.41 [[-3.99145939e-01 -8.90171733e-01 2.19719834e-01 8.09871435e+01] [ 7.19954863e-01 -4.52671970e-01 -5.26073268e-01 4.58792382e+01] [ 5.67756562e-01 -5.17916453e-02 8.21565646e-01 3.24055722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.140714057 meters Centerline goodness : 0.995855 Centerline is valid? [True, True] Translation: X:80.98, Y:45.88, Z:32.41 [[-3.94449986e-01 -8.89224384e-01 2.31709306e-01 8.09810072e+01] [ 7.20310243e-01 -4.55775413e-01 -5.22897625e-01 4.58797598e+01] [ 5.70580723e-01 -3.93543740e-02 8.20298038e-01 3.24145076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.170714057 meters Centerline goodness : 0.995586 Centerline is valid? [True, True] Translation: X:80.98, Y:45.88, Z:32.42 [[-3.92440769e-01 -8.88907494e-01 2.36291577e-01 8.09790463e+01] [ 7.21364227e-01 -4.56836723e-01 -5.20513073e-01 4.58791460e+01] [ 5.70634642e-01 -3.38182598e-02 8.20507423e-01 3.24175351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.200714057 meters Centerline goodness : 0.995611 Centerline is valid? [True, True] Translation: X:81.00, Y:45.84, Z:32.38 [[-3.88273017e-01 -8.92907623e-01 2.27947451e-01 8.10030723e+01] [ 7.20344848e-01 -4.48342835e-01 -5.29237189e-01 4.58373287e+01] [ 5.74758527e-01 -4.12877481e-02 8.17280831e-01 3.23834545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.23071405699997 meters Centerline goodness : 0.994984 Centerline is valid? [True, True] Translation: X:81.00, Y:45.83, Z:32.39 [[-3.86506960e-01 -8.91608592e-01 2.35895080e-01 8.10033198e+01] [ 7.20843598e-01 -4.51589898e-01 -5.25786146e-01 4.58303812e+01] [ 5.75323280e-01 -3.31765470e-02 8.17252985e-01 3.23853190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.26071405699997 meters Centerline goodness : 0.994984 Centerline is valid? [True, True] Translation: X:81.00, Y:45.83, Z:32.38 [[-3.86755041e-01 -8.91007621e-01 2.37751882e-01 8.10037584e+01] [ 7.20579743e-01 -4.52877270e-01 -5.25040010e-01 4.58276750e+01] [ 5.75487074e-01 -3.17426810e-02 8.17194610e-01 3.23845479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.29071405699997 meters Centerline goodness : 0.994570 Centerline is valid? [True, True] Translation: X:81.00, Y:45.83, Z:32.39 [[-3.83900699e-01 -8.91393922e-01 2.40908963e-01 8.10038940e+01] [ 7.21470027e-01 -4.52397741e-01 -5.24230182e-01 4.58260466e+01] [ 5.76282269e-01 -2.74437365e-02 8.16789807e-01 3.23855578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.32071405699998 meters Centerline goodness : 0.994258 Centerline is valid? [True, True] Translation: X:80.79, Y:46.28, Z:32.71 [[-3.95164037e-01 -8.88239019e-01 2.34258040e-01 8.07935739e+01] [ 7.28266403e-01 -4.58353658e-01 -5.09450655e-01 4.62800427e+01] [ 5.59886980e-01 -3.07143180e-02 8.27999517e-01 3.27095763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.35071405699998 meters Centerline goodness : 0.992053 Centerline is valid? [True, True] Translation: X:80.75, Y:46.37, Z:32.78 [[-3.92935776e-01 -8.87128347e-01 2.42084226e-01 8.07472911e+01] [ 7.42186992e-01 -4.61383700e-01 -4.86090065e-01 4.63749285e+01] [ 5.42917991e-01 -1.13304130e-02 8.39709281e-01 3.27770036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.38071405699998 meters Centerline goodness : 0.994903 Centerline is valid? [True, True] Translation: X:81.01, Y:45.84, Z:32.39 [[-3.80982868e-01 -8.97612506e-01 2.21684108e-01 8.10078425e+01] [ 7.37440368e-01 -4.39631949e-01 -5.12743068e-01 4.58364102e+01] [ 5.57704006e-01 -3.18675144e-02 8.29427937e-01 3.23856885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.41071405699998 meters Centerline goodness : 0.995854 Centerline is valid? [True, True] Translation: X:80.88, Y:46.13, Z:32.59 [[-3.86389867e-01 -8.95278372e-01 2.21764533e-01 8.08755601e+01] [ 7.35396242e-01 -4.44156774e-01 -5.11778397e-01 4.61256134e+01] [ 5.56682350e-01 -3.46611828e-02 8.30002026e-01 3.25931333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.44071405699998 meters Centerline goodness : 0.995152 Centerline is valid? [True, True] Translation: X:80.99, Y:45.82, Z:32.40 [[-3.76525931e-01 -8.84560843e-01 2.75282288e-01 8.09897020e+01] [ 7.66245325e-01 -4.64371498e-01 -4.44102706e-01 4.58170556e+01] [ 5.20669112e-01 4.37175819e-02 8.52638522e-01 3.23987237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.47071405699998 meters Centerline goodness : 0.994966 Centerline is valid? [True, True] Translation: X:81.03, Y:45.84, Z:32.35 [[-3.76248342e-01 -9.07594466e-01 1.86304777e-01 8.10263398e+01] [ 7.68801569e-01 -4.18047206e-01 -4.83922184e-01 4.58384241e+01] [ 5.17089288e-01 -3.88435150e-02 8.55049618e-01 3.23537486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.50071405699998 meters Centerline goodness : 0.995321 Centerline is valid? [True, True] Translation: X:81.02, Y:45.83, Z:32.36 [[-3.79883687e-01 -9.03053446e-01 2.00456623e-01 8.10233903e+01] [ 7.64267447e-01 -4.28486963e-01 -4.81969078e-01 4.58320080e+01] [ 5.21136887e-01 -2.98897187e-02 8.52949559e-01 3.23586372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.53071405699998 meters Centerline goodness : 0.995176 Centerline is valid? [True, True] Translation: X:81.03, Y:45.83, Z:32.36 [[-3.80919970e-01 -9.04002540e-01 1.94111784e-01 8.10269775e+01] [ 7.63052354e-01 -4.25917066e-01 -4.86154047e-01 4.58334602e+01] [ 5.22160015e-01 -3.70683318e-02 8.52041582e-01 3.23560488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.56071405699998 meters Centerline goodness : 0.996305 Centerline is valid? [True, True] Translation: X:81.03, Y:45.82, Z:32.35 [[-3.81950175e-01 -9.02232902e-01 2.00224507e-01 8.10290940e+01] [ 7.63311166e-01 -4.30113174e-01 -4.82036017e-01 4.58243631e+01] [ 5.21027953e-01 -3.12801395e-02 8.52966251e-01 3.23520950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.59071405699999 meters Centerline goodness : 0.996310 Centerline is valid? [True, True] Translation: X:81.03, Y:45.85, Z:32.36 [[-3.87542863e-01 -9.02042579e-01 1.90078181e-01 8.10251588e+01] [ 7.58311970e-01 -4.29186964e-01 -4.90674542e-01 4.58496042e+01] [ 5.24188407e-01 -4.60188573e-02 8.50358030e-01 3.23643512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.620714057 meters Centerline goodness : 0.995436 Centerline is valid? [True, True] Translation: X:81.03, Y:45.84, Z:32.36 [[-3.89782987e-01 -8.98210131e-01 2.03193958e-01 8.10263918e+01] [ 7.58601382e-01 -4.38266306e-01 -4.82127150e-01 4.58361701e+01] [ 5.22104556e-01 -3.37817433e-02 8.52212196e-01 3.23624686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.650714057 meters Centerline goodness : 0.995022 Centerline is valid? [True, True] Translation: X:81.02, Y:45.84, Z:32.37 [[-3.90271560e-01 -8.96727376e-01 2.08729784e-01 8.10235652e+01] [ 7.59402934e-01 -4.41701384e-01 -4.77710238e-01 4.58367590e+01] [ 5.20572082e-01 -2.79267095e-02 8.53360888e-01 3.23651817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.680714057 meters Centerline goodness : 0.995753 Centerline is valid? [True, True] Translation: X:81.03, Y:45.82, Z:32.36 [[-3.90238518e-01 -8.96996912e-01 2.07630534e-01 8.10297805e+01] [ 7.61355454e-01 -4.41192480e-01 -4.75065330e-01 4.58241083e+01] [ 5.17737164e-01 -2.73081510e-02 8.55103791e-01 3.23554994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.710714057 meters Centerline goodness : 0.995789 Centerline is valid? [True, True] Translation: X:81.03, Y:45.86, Z:32.37 [[-3.98263833e-01 -8.99581110e-01 1.79275611e-01 8.10295575e+01] [ 7.48986179e-01 -4.31754513e-01 -5.02600978e-01 4.58584480e+01] [ 5.29533401e-01 -6.58928372e-02 8.45726026e-01 3.23695024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.740714057 meters Centerline goodness : 0.995295 Centerline is valid? [True, True] Translation: X:81.02, Y:45.84, Z:32.38 [[-3.99176343e-01 -8.91283903e-01 2.15107534e-01 8.10192497e+01] [ 7.47629150e-01 -4.52219574e-01 -4.86362119e-01 4.58436479e+01] [ 5.30762565e-01 -3.33235893e-02 8.46865183e-01 3.23805270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.770714057 meters Centerline goodness : 0.995092 Centerline is valid? [True, True] Translation: X:81.02, Y:45.85, Z:32.38 [[-3.99378797e-01 -8.91322228e-01 2.14572278e-01 8.10181473e+01] [ 7.47503927e-01 -4.52095783e-01 -4.86669583e-01 4.58474386e+01] [ 5.30786638e-01 -3.39718922e-02 8.46824335e-01 3.23826046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.800714057 meters Centerline goodness : 0.994847 Centerline is valid? [True, True] Translation: X:81.02, Y:45.84, Z:32.37 [[-3.99057589e-01 -8.91770570e-01 2.13303285e-01 8.10227820e+01] [ 7.48158835e-01 -4.51165545e-01 -4.86526473e-01 4.58387149e+01] [ 5.30105083e-01 -3.45673437e-02 8.47227065e-01 3.23744109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.830714057 meters Centerline goodness : 0.995476 Centerline is valid? [True, True] Translation: X:81.03, Y:45.83, Z:32.37 [[-3.99765413e-01 -8.91084951e-01 2.14837669e-01 8.10264934e+01] [ 7.48707125e-01 -4.52653022e-01 -4.84296276e-01 4.58299872e+01] [ 5.28796043e-01 -3.27544077e-02 8.48116674e-01 3.23675178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.860714057 meters Centerline goodness : 0.995561 Centerline is valid? [True, True] Translation: X:81.03, Y:45.83, Z:32.36 [[-4.01237337e-01 -8.92246937e-01 2.07132816e-01 8.10309529e+01] [ 7.46688946e-01 -4.49586944e-01 -4.90231780e-01 4.58290144e+01] [ 5.30532013e-01 -4.20355098e-02 8.46621993e-01 3.23624402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.890714057 meters Centerline goodness : 0.995219 Centerline is valid? [True, True] Translation: X:81.03, Y:45.83, Z:32.37 [[-4.03429246e-01 -8.91039678e-01 2.08070028e-01 8.10299778e+01] [ 7.43183831e-01 -4.51740377e-01 -4.93567042e-01 4.58321295e+01] [ 5.33781451e-01 -4.44850994e-02 8.44451561e-01 3.23652141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.920714057 meters Centerline goodness : 0.994881 Centerline is valid? [True, True] Translation: X:81.03, Y:45.83, Z:32.37 [[-4.05149463e-01 -8.89533817e-01 2.11148056e-01 8.10301159e+01] [ 7.40983419e-01 -4.54772308e-01 -4.94090803e-01 4.58286859e+01] [ 5.35534766e-01 -4.37234152e-02 8.43380565e-01 3.23663327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.950714057 meters Centerline goodness : 0.995493 Centerline is valid? [True, True] Translation: X:81.04, Y:45.82, Z:32.36 [[-4.06477155e-01 -8.88804481e-01 2.11666995e-01 8.10370371e+01] [ 7.37374506e-01 -4.55919808e-01 -4.98413450e-01 4.58156505e+01] [ 5.39495283e-01 -4.65158352e-02 8.40702752e-01 3.23576544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.98071405699997 meters Centerline goodness : 0.996329 Centerline is valid? [True, True] Translation: X:81.03, Y:45.81, Z:32.36 [[-4.07129502e-01 -8.86661381e-01 2.19265056e-01 8.10339947e+01] [ 7.37496170e-01 -4.60744254e-01 -4.93775387e-01 4.58139907e+01] [ 5.38836681e-01 -3.93233878e-02 8.41491950e-01 3.23617144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.01071405699997 meters Centerline goodness : 0.996343 Centerline is valid? [True, True] Translation: X:81.04, Y:45.82, Z:32.36 [[-4.07858235e-01 -8.88850631e-01 2.08797067e-01 8.10385463e+01] [ 7.34197600e-01 -4.55220123e-01 -5.03714725e-01 4.58163025e+01] [ 5.42775778e-01 -5.21458932e-02 8.38257276e-01 3.23572857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.04071405699997 meters Centerline goodness : 0.996572 Centerline is valid? [True, True] Translation: X:81.04, Y:45.80, Z:32.36 [[-4.06681210e-01 -8.86514706e-01 2.20685452e-01 8.10386103e+01] [ 7.31075005e-01 -4.60665477e-01 -5.03305728e-01 4.58021454e+01] [ 5.47850098e-01 -4.33473645e-02 8.35452737e-01 3.23551689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.07071405699998 meters Centerline goodness : 0.995776 Centerline is valid? [True, True] Translation: X:81.04, Y:45.79, Z:32.35 [[-4.05830033e-01 -8.86660552e-01 2.21664274e-01 8.10414687e+01] [ 7.31757600e-01 -4.60537119e-01 -5.02430469e-01 4.57929862e+01] [ 5.47569903e-01 -4.16968567e-02 8.35720392e-01 3.23494810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.10071405699998 meters Centerline goodness : 0.995542 Centerline is valid? [True, True] Translation: X:81.04, Y:45.79, Z:32.35 [[-4.04934146e-01 -8.85677007e-01 2.27166407e-01 8.10374532e+01] [ 7.33463171e-01 -4.62988010e-01 -4.97668443e-01 4.57944439e+01] [ 5.45948820e-01 -3.49047528e-02 8.37091121e-01 3.23539054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.13071405699998 meters Centerline goodness : 0.995757 Centerline is valid? [True, True] Translation: X:81.04, Y:45.80, Z:32.35 [[-4.04677619e-01 -8.89001962e-01 2.14269772e-01 8.10406478e+01] [ 7.32584565e-01 -4.55406739e-01 -5.05889867e-01 4.57997375e+01] [ 5.47316982e-01 -4.77515791e-02 8.35562031e-01 3.23515856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.16071405699998 meters Centerline goodness : 0.995488 Centerline is valid? [True, True] Translation: X:81.03, Y:45.80, Z:32.36 [[-4.04512217e-01 -8.87190998e-01 2.21950444e-01 8.10349786e+01] [ 7.35816492e-01 -4.59853993e-01 -4.97099985e-01 4.58027434e+01] [ 5.43087430e-01 -3.77682197e-02 8.38826326e-01 3.23585875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.19071405699998 meters Centerline goodness : 0.995343 Centerline is valid? [True, True] Translation: X:81.03, Y:45.80, Z:32.36 [[-4.04075735e-01 -8.87019687e-01 2.23425323e-01 8.10343050e+01] [ 7.37552757e-01 -4.60416507e-01 -4.93996529e-01 4.58028589e+01] [ 5.41053353e-01 -3.48240476e-02 8.40266954e-01 3.23585801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.22071405699998 meters Centerline goodness : 0.995281 Centerline is valid? [True, True] Translation: X:81.04, Y:45.80, Z:32.35 [[-4.03590552e-01 -8.88197713e-01 2.19589364e-01 8.10396982e+01] [ 7.38814212e-01 -4.57944652e-01 -4.94408996e-01 4.57967265e+01] [ 5.39692714e-01 -3.73030569e-02 8.41035229e-01 3.23490963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.25071405699998 meters Centerline goodness : 0.994553 Centerline is valid? [True, True] Translation: X:81.04, Y:45.80, Z:32.35 [[-4.03329946e-01 -8.89069540e-01 2.16518610e-01 8.10414790e+01] [ 7.42004592e-01 -4.56237085e-01 -4.91199458e-01 4.57951861e+01] [ 5.35494295e-01 -3.74576478e-02 8.43707760e-01 3.23453045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.28071405699998 meters Centerline goodness : 0.994457 Centerline is valid? [True, True] Translation: X:81.05, Y:45.79, Z:32.34 [[-4.02901564e-01 -8.90140158e-01 2.12886893e-01 8.10450934e+01] [ 7.43733262e-01 -4.53983649e-01 -4.90672682e-01 4.57915697e+01] [ 5.33414627e-01 -3.93617272e-02 8.44937566e-01 3.23397065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.31071405699998 meters Centerline goodness : 0.994797 Centerline is valid? [True, True] Translation: X:81.05, Y:45.79, Z:32.34 [[-4.02920998e-01 -8.90361811e-01 2.11921011e-01 8.10458241e+01] [ 7.43178647e-01 -4.53425910e-01 -4.92026872e-01 4.57924735e+01] [ 5.34172414e-01 -4.07527882e-02 8.44392707e-01 3.23387222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.34071405699999 meters Centerline goodness : 0.994439 Centerline is valid? [True, True] Translation: X:81.05, Y:45.79, Z:32.34 [[-4.02362637e-01 -8.91008584e-01 2.10257014e-01 8.10467903e+01] [ 7.44424649e-01 -4.52114926e-01 -4.91349200e-01 4.57935505e+01] [ 5.32856689e-01 -4.11800563e-02 8.45202906e-01 3.23381962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.370714057 meters Centerline goodness : 0.994743 Centerline is valid? [True, True] Translation: X:81.05, Y:45.79, Z:32.34 [[-4.00995172e-01 -8.90491530e-01 2.15006294e-01 8.10451209e+01] [ 7.48093418e-01 -4.53778624e-01 -4.84191282e-01 4.57911935e+01] [ 5.28733496e-01 -3.33135728e-02 8.48133890e-01 3.23385418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.400714057 meters Centerline goodness : 0.994713 Centerline is valid? [True, True] Translation: X:81.05, Y:45.79, Z:32.34 [[-4.00494603e-01 -8.92549468e-01 2.07266786e-01 8.10478013e+01] [ 7.46234591e-01 -4.48973704e-01 -4.91484026e-01 4.57938143e+01] [ 5.31731142e-01 -4.21670541e-02 8.45862833e-01 3.23363608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.430714057 meters Centerline goodness : 0.995543 Centerline is valid? [True, True] Translation: X:81.03, Y:45.80, Z:32.36 [[-4.11480354e-01 -8.85189851e-01 2.17077972e-01 8.10290506e+01] [ 7.31246738e-01 -4.62803771e-01 -5.01089691e-01 4.58009970e+01] [ 5.44024013e-01 -4.74510052e-02 8.37726850e-01 3.23587532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.460714057 meters Centerline goodness : 0.995717 Centerline is valid? [True, True] Translation: X:81.03, Y:45.81, Z:32.36 [[-4.13651602e-01 -8.85203486e-01 2.12854742e-01 8.10271018e+01] [ 7.28723819e-01 -4.62064063e-01 -5.05428925e-01 4.58062851e+01] [ 5.45759973e-01 -5.39591636e-02 8.36202404e-01 3.23640930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.490714057 meters Centerline goodness : 0.995626 Centerline is valid? [True, True] Translation: X:81.02, Y:45.78, Z:32.37 [[-4.06339768e-01 -8.79238328e-01 2.48652279e-01 8.10215140e+01] [ 7.32168260e-01 -4.76118000e-01 -4.87074213e-01 4.57831919e+01] [ 5.46642142e-01 -1.58623165e-02 8.37216074e-01 3.23665406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.520714057 meters Centerline goodness : 0.994338 Centerline is valid? [True, True] Translation: X:81.04, Y:45.78, Z:32.34 [[-3.92525309e-01 -8.89393922e-01 2.34312470e-01 8.10400072e+01] [ 7.48960400e-01 -4.56960744e-01 -4.79838721e-01 4.57783395e+01] [ 5.33837242e-01 -1.28580812e-02 8.45489484e-01 3.23423974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.550714057 meters Centerline goodness : 0.993373 Centerline is valid? [True, True] Translation: X:81.05, Y:45.80, Z:32.33 [[-3.90338605e-01 -8.99189107e-01 1.97723857e-01 8.10503757e+01] [ 7.52681634e-01 -4.35345566e-01 -4.93907477e-01 4.57960337e+01] [ 5.30194427e-01 -4.39680401e-02 8.46735307e-01 3.23304093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.580714057 meters Centerline goodness : 0.992945 Centerline is valid? [True, True] Translation: X:81.04, Y:45.78, Z:32.34 [[-3.89101067e-01 -8.94200648e-01 2.21371998e-01 8.10435725e+01] [ 7.57341159e-01 -4.47325814e-01 -4.75745715e-01 4.57819941e+01] [ 5.24437536e-01 -1.74590398e-02 8.51269906e-01 3.23368913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.610714057 meters Centerline goodness : 0.993999 Centerline is valid? [True, True] Translation: X:81.05, Y:45.78, Z:32.33 [[-3.87075951e-01 -8.96964413e-01 2.13604893e-01 8.10459943e+01] [ 7.55232033e-01 -4.41321887e-01 -4.84623119e-01 4.57846487e+01] [ 5.28958206e-01 -2.62646971e-02 8.48241347e-01 3.23348719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.640714057 meters Centerline goodness : 0.994131 Centerline is valid? [True, True] Translation: X:81.05, Y:45.79, Z:32.33 [[-3.86444976e-01 -8.98651574e-01 2.07570781e-01 8.10472561e+01] [ 7.57005868e-01 -4.37609945e-01 -4.85221239e-01 4.57899331e+01] [ 5.26879869e-01 -3.03790105e-02 8.49396680e-01 3.23340058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.670714057 meters Centerline goodness : 0.994145 Centerline is valid? [True, True] Translation: X:81.05, Y:45.80, Z:32.33 [[-3.87032907e-01 -9.00807887e-01 1.96851923e-01 8.10513505e+01] [ 7.54715929e-01 -4.32134841e-01 -4.93622675e-01 4.57967398e+01] [ 5.29725774e-01 -4.24809373e-02 8.47104465e-01 3.23320143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.700714057 meters Centerline goodness : 0.994223 Centerline is valid? [True, True] Translation: X:81.05, Y:45.79, Z:32.33 [[-3.87488366e-01 -8.97692120e-01 2.09765640e-01 8.10489270e+01] [ 7.53963555e-01 -4.39529897e-01 -4.88213506e-01 4.57909253e+01] [ 5.30463687e-01 -3.10214059e-02 8.47139864e-01 3.23343179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.73071405699997 meters Centerline goodness : 0.994468 Centerline is valid? [True, True] Translation: X:81.06, Y:45.78, Z:32.32 [[-3.88461339e-01 -8.98900638e-01 2.02670744e-01 8.10578081e+01] [ 7.52254693e-01 -4.36386494e-01 -4.93639246e-01 4.57823984e+01] [ 5.32175408e-01 -3.92997445e-02 8.45721506e-01 3.23238888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.76071405699997 meters Centerline goodness : 0.993321 Centerline is valid? [True, True] Translation: X:81.06, Y:45.78, Z:32.33 [[-3.91223338e-01 -8.97753528e-01 2.02442345e-01 8.10586493e+01] [ 7.52433837e-01 -4.38688110e-01 -4.91320733e-01 4.57828052e+01] [ 5.29893972e-01 -3.98916668e-02 8.47125158e-01 3.23250613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.79071405699997 meters Centerline goodness : 0.994401 Centerline is valid? [True, True] Translation: X:81.04, Y:45.79, Z:32.34 [[-4.03313646e-01 -8.90411912e-01 2.10961443e-01 8.10445420e+01] [ 7.36469769e-01 -4.52683686e-01 -5.02682564e-01 4.57928474e+01] [ 5.43093346e-01 -4.73720128e-02 8.38334963e-01 3.23427641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.82071405699998 meters Centerline goodness : 0.994368 Centerline is valid? [True, True] Translation: X:81.04, Y:45.78, Z:32.34 [[-3.92693665e-01 -8.85511404e-01 2.48316812e-01 8.10411103e+01] [ 7.54421421e-01 -4.64587999e-01 -4.63687729e-01 4.57750450e+01] [ 5.25965782e-01 5.24828856e-03 8.50489536e-01 3.23403865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.85071405699998 meters Centerline goodness : 0.994340 Centerline is valid? [True, True] Translation: X:81.06, Y:45.80, Z:32.33 [[-4.06548574e-01 -8.94743638e-01 1.84802815e-01 8.10573044e+01] [ 7.36215067e-01 -4.40610621e-01 -5.13662979e-01 4.58014270e+01] [ 5.41022765e-01 -7.27743346e-02 8.37853367e-01 3.23289380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.88071405699998 meters Centerline goodness : 0.994099 Centerline is valid? [True, True] Translation: X:81.04, Y:45.78, Z:32.34 [[-3.97810546e-01 -8.86003552e-01 2.38210989e-01 8.10437260e+01] [ 7.45602466e-01 -4.63500110e-01 -4.78794957e-01 4.57844442e+01] [ 5.34624852e-01 -1.28589826e-02 8.44991665e-01 3.23430108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.91071405699998 meters Centerline goodness : 0.994607 Centerline is valid? [True, True] Translation: X:80.98, Y:45.96, Z:32.44 [[-4.09323971e-01 -8.91842025e-01 1.92540100e-01 8.09822750e+01] [ 7.36571360e-01 -4.47542117e-01 -5.07118019e-01 4.59596171e+01] [ 5.38438965e-01 -6.57560380e-02 8.40095009e-01 3.24430197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.94071405699998 meters Centerline goodness : 0.994791 Centerline is valid? [True, True] Translation: X:81.04, Y:45.78, Z:32.34 [[-4.09739665e-01 -8.80342624e-01 2.38977553e-01 8.10411738e+01] [ 7.32502248e-01 -4.73663391e-01 -4.88961603e-01 4.57761489e+01] [ 5.43648659e-01 -2.52953682e-02 8.38931630e-01 3.23442729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.97071405699998 meters Centerline goodness : 0.995484 Centerline is valid? [True, True] Translation: X:81.05, Y:45.78, Z:32.33 [[-4.08247898e-01 -8.86635615e-01 2.17280787e-01 8.10530830e+01] [ 7.36348059e-01 -4.60523645e-01 -4.95690940e-01 4.57798804e+01] [ 5.39560181e-01 -4.23704988e-02 8.40880224e-01 3.23333828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.00071405699998 meters Centerline goodness : 0.996333 Centerline is valid? [True, True] Translation: X:81.04, Y:45.78, Z:32.34 [[-4.11496924e-01 -8.80352891e-01 2.35900548e-01 8.10412944e+01] [ 7.33696226e-01 -4.73524650e-01 -4.87303041e-01 4.57792922e+01] [ 5.40703366e-01 -2.74443607e-02 8.40765531e-01 3.23445593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.03071405699998 meters Centerline goodness : 0.996055 Centerline is valid? [True, True] Translation: X:81.05, Y:45.78, Z:32.34 [[-4.12443104e-01 -8.82069661e-01 2.27692333e-01 8.10454369e+01] [ 7.34050303e-01 -4.69809156e-01 -4.90356513e-01 4.57792663e+01] [ 5.39500546e-01 -3.51065363e-02 8.41253049e-01 3.23388154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.06071405699998 meters Centerline goodness : 0.994940 Centerline is valid? [True, True] Translation: X:81.04, Y:45.76, Z:32.33 [[-4.04092093e-01 -8.77936937e-01 2.56780674e-01 8.10430719e+01] [ 7.57316986e-01 -4.78544465e-01 -4.44371666e-01 4.57607265e+01] [ 5.13011270e-01 1.48972893e-02 8.58252590e-01 3.23288125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.09071405699999 meters Centerline goodness : 0.994768 Centerline is valid? [True, True] Translation: X:80.89, Y:46.18, Z:32.59 [[-0.42120156 -0.88902058 0.17953177 80.88509613] [ 0.73070551 -0.44988998 -0.51348658 46.18019351] [ 0.53726968 -0.08509649 0.8391066 32.58552783] [ 0. 0. 0. 1. ]] SLAMing on 176.120714057 meters Centerline goodness : 0.994976 Centerline is valid? [True, True] Translation: X:81.03, Y:45.80, Z:32.35 [[-4.20931262e-01 -8.75247104e-01 2.38242269e-01 8.10340316e+01] [ 7.23682925e-01 -4.82383404e-01 -4.93547642e-01 4.58034859e+01] [ 5.46900261e-01 -3.53377696e-02 8.36451640e-01 3.23524791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.150714057 meters Centerline goodness : 0.994976 Centerline is valid? [True, True] Translation: X:81.04, Y:45.80, Z:32.35 [[-4.21372811e-01 -8.76055012e-01 2.34462301e-01 8.10362669e+01] [ 7.23625839e-01 -4.80626547e-01 -4.95342071e-01 4.58030423e+01] [ 5.46635710e-01 -3.90607013e-02 8.36459002e-01 3.23496591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.180714057 meters Centerline goodness : 0.993701 Centerline is valid? [True, True] Translation: X:81.04, Y:45.79, Z:32.33 [[-4.13859143e-01 -8.75037504e-01 2.51057715e-01 8.10405499e+01] [ 7.44885882e-01 -4.84045670e-01 -4.59178411e-01 4.57867340e+01] [ 5.23321730e-01 -3.02583610e-03 8.52129809e-01 3.23344018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.210714057 meters Centerline goodness : 0.995123 Centerline is valid? [True, True] Translation: X:81.06, Y:45.79, Z:32.31 [[-4.16831368e-01 -8.87048543e-01 1.98485496e-01 8.10642395e+01] [ 7.37761136e-01 -4.57708713e-01 -4.96196776e-01 4.57929060e+01] [ 5.30999168e-01 -6.03954960e-02 8.45217290e-01 3.23106407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.240714057 meters Centerline goodness : 0.994109 Centerline is valid? [True, True] Translation: X:81.06, Y:45.78, Z:32.31 [[-4.18296007e-01 -8.81675027e-01 2.18352005e-01 8.10590411e+01] [ 7.35934066e-01 -4.69874436e-01 -4.87461860e-01 4.57814715e+01] [ 5.32380974e-01 -4.32106712e-02 8.45401287e-01 3.23136328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.270714057 meters Centerline goodness : 0.994471 Centerline is valid? [True, True] Translation: X:81.06, Y:45.78, Z:32.31 [[-4.16476740e-01 -8.80805508e-01 2.25230508e-01 8.10577548e+01] [ 7.34087375e-01 -4.71950769e-01 -4.88239898e-01 4.57753315e+01] [ 5.36342103e-01 -3.80016882e-02 8.43144721e-01 3.23113864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.300714057 meters Centerline goodness : 0.995494 Centerline is valid? [True, True] Translation: X:81.06, Y:45.78, Z:32.31 [[-4.16089220e-01 -8.81027985e-01 2.25076543e-01 8.10561744e+01] [ 7.34559338e-01 -4.71561095e-01 -4.87906459e-01 4.57769566e+01] [ 5.35996585e-01 -3.76805415e-02 8.43378822e-01 3.23129278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.330714057 meters Centerline goodness : 0.994386 Centerline is valid? [True, True] Translation: X:81.06, Y:45.79, Z:32.31 [[-4.17715011e-01 -8.85520829e-01 2.03388866e-01 8.10618384e+01] [ 7.34467929e-01 -4.60876449e-01 -4.98146324e-01 4.57856938e+01] [ 5.34856084e-01 -5.87005977e-02 8.42901660e-01 3.23083534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.360714057 meters Centerline goodness : 0.993708 Centerline is valid? [True, True] Translation: X:81.05, Y:45.78, Z:32.31 [[-4.14983416e-01 -8.82614619e-01 2.20862396e-01 8.10534833e+01] [ 7.36217681e-01 -4.68383581e-01 -4.88467344e-01 4.57761266e+01] [ 5.34576739e-01 -4.01030461e-02 8.44167907e-01 3.23145744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.390714057 meters Centerline goodness : 0.994586 Centerline is valid? [True, True] Translation: X:81.05, Y:45.77, Z:32.31 [[-4.13098790e-01 -8.82679414e-01 2.24112564e-01 8.10549724e+01] [ 7.40383728e-01 -4.68810925e-01 -4.81713869e-01 4.57650893e+01] [ 5.30265334e-01 -3.30661210e-02 8.47186701e-01 3.23074622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.420714057 meters Centerline goodness : 0.994503 Centerline is valid? [True, True] Translation: X:81.05, Y:45.78, Z:32.31 [[-4.12078866e-01 -8.86454320e-01 2.10688743e-01 8.10511027e+01] [ 7.40267340e-01 -4.60537117e-01 -4.89805910e-01 4.57821385e+01] [ 5.31220551e-01 -4.58726684e-02 8.45990794e-01 3.23126570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.450714057 meters Centerline goodness : 0.994324 Centerline is valid? [True, True] Translation: X:81.06, Y:45.76, Z:32.30 [[-4.11804600e-01 -8.84712217e-01 2.18406193e-01 8.10553740e+01] [ 7.40249924e-01 -4.64547090e-01 -4.86030916e-01 4.57619643e+01] [ 5.31457451e-01 -3.84745997e-02 8.46210780e-01 3.23042260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.48071405699997 meters Centerline goodness : 0.995368 Centerline is valid? [True, True] Translation: X:81.05, Y:45.77, Z:32.31 [[-4.11517215e-01 -8.84721370e-01 2.18910209e-01 8.10491389e+01] [ 7.40853551e-01 -4.64615487e-01 -4.85044808e-01 4.57691058e+01] [ 5.30838581e-01 -3.74238824e-02 8.46646239e-01 3.23102296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.51071405699997 meters Centerline goodness : 0.994484 Centerline is valid? [True, True] Translation: X:81.05, Y:45.76, Z:32.31 [[-4.13149268e-01 -8.85638639e-01 2.12018594e-01 8.10537310e+01] [ 7.37245360e-01 -4.61951486e-01 -4.93021403e-01 4.57639130e+01] [ 5.34581109e-01 -4.73817073e-02 8.43787895e-01 3.23057325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.54071405699997 meters Centerline goodness : 0.995059 Centerline is valid? [True, True] Translation: X:81.03, Y:45.78, Z:32.33 [[-4.13575310e-01 -8.80893739e-01 2.30177504e-01 8.10338473e+01] [ 7.39074675e-01 -4.72457458e-01 -4.80158907e-01 4.57812864e+01] [ 5.31718053e-01 -2.84635049e-02 8.46442993e-01 3.23267662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.57071405699998 meters Centerline goodness : 0.995387 Centerline is valid? [True, True] Translation: X:81.02, Y:45.81, Z:32.34 [[-4.14642819e-01 -8.81411810e-01 2.26240037e-01 8.10234671e+01] [ 7.34054042e-01 -4.70912231e-01 -4.89291666e-01 4.58054886e+01] [ 5.37806653e-01 -3.68088616e-02 8.42264276e-01 3.23434355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.60071405699998 meters Centerline goodness : 0.995169 Centerline is valid? [True, True] Translation: X:81.03, Y:45.81, Z:32.33 [[-4.16528991e-01 -8.84343680e-01 2.10807627e-01 8.10305618e+01] [ 7.34269520e-01 -4.63973251e-01 -4.95557357e-01 4.58057308e+01] [ 5.36052117e-01 -5.16243912e-02 8.42604920e-01 3.23339523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.63071405699998 meters Centerline goodness : 0.995478 Centerline is valid? [True, True] Translation: X:81.04, Y:45.76, Z:32.31 [[-4.16987433e-01 -8.80462096e-01 2.25627965e-01 8.10403589e+01] [ 7.32604577e-01 -4.72510139e-01 -4.89923159e-01 4.57640816e+01] [ 5.37970273e-01 -3.89957208e-02 8.42061351e-01 3.23143934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.66071405699998 meters Centerline goodness : 0.994555 Centerline is valid? [True, True] Translation: X:81.03, Y:45.77, Z:32.32 [[-4.18315111e-01 -8.79837620e-01 2.25606359e-01 8.10345095e+01] [ 7.30800577e-01 -4.73521090e-01 -4.91638377e-01 4.57737901e+01] [ 5.39391309e-01 -4.07865045e-02 8.41066869e-01 3.23230811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.69071405699998 meters Centerline goodness : 0.995110 Centerline is valid? [True, True] Translation: X:81.04, Y:45.75, Z:32.31 [[-4.17641195e-01 -8.76961319e-01 2.37728158e-01 8.10366483e+01] [ 7.26897303e-01 -4.79458154e-01 -4.91670814e-01 4.57484046e+01] [ 5.45156990e-01 -3.25380295e-02 8.37702294e-01 3.23131228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.72071405699998 meters Centerline goodness : 0.994915 Centerline is valid? [True, True] Translation: X:81.05, Y:45.75, Z:32.30 [[-4.18804456e-01 -8.82030519e-01 2.15928209e-01 8.10454527e+01] [ 7.25225344e-01 -4.67982347e-01 -5.05015567e-01 4.57484276e+01] [ 5.46489733e-01 -5.49061598e-02 8.35663979e-01 3.23018996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.75071405699998 meters Centerline goodness : 0.995475 Centerline is valid? [True, True] Translation: X:81.03, Y:45.74, Z:32.31 [[-4.17409018e-01 -8.77446599e-01 2.36341233e-01 8.10340109e+01] [ 7.24760635e-01 -4.78344067e-01 -4.95892101e-01 4.57374787e+01] [ 5.48171264e-01 -3.56990129e-02 8.35603881e-01 3.23105307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.78071405699998 meters Centerline goodness : 0.994925 Centerline is valid? [True, True] Translation: X:81.03, Y:45.74, Z:32.31 [[-4.17626617e-01 -8.78296481e-01 2.32773066e-01 8.10316377e+01] [ 7.25509637e-01 -4.76565713e-01 -4.96508699e-01 4.57420694e+01] [ 5.47013505e-01 -3.84761452e-02 8.36239088e-01 3.23123074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.81071405699998 meters Centerline goodness : 0.994461 Centerline is valid? [True, True] Translation: X:81.03, Y:45.74, Z:32.32 [[-4.16586233e-01 -8.77678114e-01 2.36932561e-01 8.10271354e+01] [ 7.26243644e-01 -4.78062949e-01 -4.93989865e-01 4.57421422e+01] [ 5.46832772e-01 -3.37186111e-02 8.36562595e-01 3.23161667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.84071405699999 meters Centerline goodness : 0.994868 Centerline is valid? [True, True] Translation: X:81.02, Y:45.74, Z:32.33 [[-4.14464204e-01 -8.76289167e-01 2.45635338e-01 8.10167638e+01] [ 7.27000769e-01 -4.81164876e-01 -4.89847164e-01 4.57448725e+01] [ 5.47438860e-01 -2.44470354e-02 8.36488516e-01 3.23272998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.870714057 meters Centerline goodness : 0.995190 Centerline is valid? [True, True] Translation: X:81.04, Y:45.73, Z:32.30 [[-4.14894952e-01 -8.82558430e-01 2.21252790e-01 8.10357753e+01] [ 7.27987427e-01 -4.67862893e-01 -5.01137327e-01 4.57272895e+01] [ 5.45798942e-01 -4.68500978e-02 8.36605393e-01 3.22974841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.900714057 meters Centerline goodness : 0.994324 Centerline is valid? [True, True] Translation: X:81.03, Y:45.71, Z:32.30 [[-4.12624589e-01 -8.79556477e-01 2.36899458e-01 8.10325602e+01] [ 7.31904222e-01 -4.74956781e-01 -4.88602359e-01 4.57091643e+01] [ 5.42270374e-01 -2.82216340e-02 8.39729945e-01 3.22961305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.930714057 meters Centerline goodness : 0.994707 Centerline is valid? [True, True] Translation: X:81.03, Y:45.71, Z:32.30 [[-4.10689918e-01 -8.79404656e-01 2.40792945e-01 8.10270061e+01] [ 7.33228415e-01 -4.75515922e-01 -4.86066559e-01 4.57119076e+01] [ 5.41950074e-01 -2.30664055e-02 8.40094077e-01 3.22990889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.960714057 meters Centerline goodness : 0.994664 Centerline is valid? [True, True] Translation: X:81.03, Y:45.71, Z:32.29 [[-4.09293591e-01 -8.82000576e-01 2.33567420e-01 8.10331712e+01] [ 7.35944668e-01 -4.70451801e-01 -4.86888641e-01 4.57057372e+01] [ 5.39318275e-01 -2.73877027e-02 8.41656528e-01 3.22883671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.990714057 meters Centerline goodness : 0.994568 Centerline is valid? [True, True] Translation: X:81.03, Y:45.70, Z:32.29 [[-4.07751531e-01 -8.80481127e-01 2.41850519e-01 8.10286437e+01] [ 7.35726164e-01 -4.73682126e-01 -4.84078770e-01 4.57044552e+01] [ 5.40782489e-01 -1.94481054e-02 8.40937614e-01 3.22928668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.020714057 meters Centerline goodness : 0.995116 Centerline is valid? [True, True] Translation: X:81.03, Y:45.70, Z:32.28 [[-4.04068588e-01 -8.84890809e-01 2.31725768e-01 8.10326448e+01] [ 7.39339233e-01 -4.65104914e-01 -4.86882858e-01 4.57043039e+01] [ 5.38614960e-01 -2.54101177e-02 8.42168778e-01 3.22837523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.050714057 meters Centerline goodness : 0.994938 Centerline is valid? [True, True] Translation: X:81.03, Y:45.71, Z:32.28 [[-4.00661042e-01 -8.86977132e-01 2.29656911e-01 8.10311894e+01] [ 7.41583889e-01 -4.61141151e-01 -4.87239340e-01 4.57050937e+01] [ 5.38074404e-01 -2.49079562e-02 8.42529245e-01 3.22819645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.080714057 meters Centerline goodness : 0.995229 Centerline is valid? [True, True] Translation: X:81.04, Y:45.69, Z:32.27 [[-3.97180945e-01 -8.88537434e-01 2.29670474e-01 8.10395417e+01] [ 7.46428851e-01 -4.58359939e-01 -4.82441848e-01 4.56880897e+01] [ 5.33939385e-01 -2.01840410e-02 8.45281809e-01 3.22668455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.110714057 meters Centerline goodness : 0.994601 Centerline is valid? [True, True] Translation: X:81.05, Y:45.71, Z:32.26 [[-3.97461445e-01 -8.95186597e-01 2.01656533e-01 8.10451174e+01] [ 7.43814875e-01 -4.42997382e-01 -5.00492509e-01 4.57071791e+01] [ 5.37367502e-01 -4.89313465e-02 8.41927486e-01 3.22625714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.140714057 meters Centerline goodness : 0.994948 Centerline is valid? [True, True] Translation: X:81.03, Y:45.71, Z:32.28 [[-3.95481953e-01 -8.90506600e-01 2.24926700e-01 8.10318752e+01] [ 7.41419111e-01 -4.54068208e-01 -4.94084775e-01 4.57053308e+01] [ 5.42117816e-01 -2.86366580e-02 8.39814393e-01 3.22820199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.170714057 meters Centerline goodness : 0.995221 Centerline is valid? [True, True] Translation: X:81.04, Y:45.69, Z:32.27 [[-3.92816442e-01 -8.91139178e-01 2.27081940e-01 8.10400242e+01] [ 7.44297612e-01 -4.53110207e-01 -4.90624301e-01 4.56851986e+01] [ 5.40107682e-01 -2.37087462e-02 8.41261902e-01 3.22690659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.200714057 meters Centerline goodness : 0.995203 Centerline is valid? [True, True] Translation: X:81.04, Y:45.69, Z:32.27 [[-3.92101107e-01 -8.93666116e-01 2.18214562e-01 8.10411458e+01] [ 7.42475701e-01 -4.47484987e-01 -4.98484725e-01 4.56883040e+01] [ 5.43126648e-01 -3.34374027e-02 8.38984734e-01 3.22702786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.23071405699997 meters Centerline goodness : 0.995664 Centerline is valid? [True, True] Translation: X:81.04, Y:45.68, Z:32.27 [[-3.92052352e-01 -8.91579956e-01 2.26671867e-01 8.10376026e+01] [ 7.42715774e-01 -4.52157287e-01 -4.93889731e-01 4.56848395e+01] [ 5.42833521e-01 -2.52778594e-02 8.39459825e-01 3.22747321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.26071405699997 meters Centerline goodness : 0.994938 Centerline is valid? [True, True] Translation: X:81.04, Y:45.69, Z:32.28 [[-3.92362055e-01 -8.92874767e-01 2.20967574e-01 8.10366427e+01] [ 7.40320641e-01 -4.49117659e-01 -5.00218629e-01 4.56932373e+01] [ 5.45873031e-01 -3.26799533e-02 8.37230347e-01 3.22790131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.29071405699997 meters Centerline goodness : 0.994573 Centerline is valid? [True, True] Translation: X:81.04, Y:45.68, Z:32.27 [[-3.92173196e-01 -8.90179802e-01 2.31905380e-01 8.10404925e+01] [ 7.40237645e-01 -4.55056465e-01 -4.94946303e-01 4.56756946e+01] [ 5.46121244e-01 -2.24395813e-02 8.37405548e-01 3.22738889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.32071405699998 meters Centerline goodness : 0.994344 Centerline is valid? [True, True] Translation: X:81.04, Y:45.69, Z:32.28 [[-3.93925619e-01 -8.91014549e-01 2.25645031e-01 8.10382863e+01] [ 7.36042979e-01 -4.52836535e-01 -5.03169757e-01 4.56921539e+01] [ 5.50511888e-01 -3.21270174e-02 8.34208916e-01 3.22816240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.35071405699998 meters Centerline goodness : 0.994649 Centerline is valid? [True, True] Translation: X:81.04, Y:45.67, Z:32.28 [[-3.93445207e-01 -8.89093204e-01 2.33910547e-01 8.10440566e+01] [ 7.35130502e-01 -4.57040677e-01 -5.00696480e-01 4.56744818e+01] [ 5.52072473e-01 -2.50418523e-02 8.33419996e-01 3.22752958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.38071405699998 meters Centerline goodness : 0.995141 Centerline is valid? [True, True] Translation: X:81.05, Y:45.68, Z:32.28 [[-3.95399392e-01 -8.89559906e-01 2.28784823e-01 8.10460705e+01] [ 7.29689728e-01 -4.55498594e-01 -5.09974442e-01 4.56816380e+01] [ 5.57863981e-01 -3.47016489e-02 8.29206593e-01 3.22784071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.41071405699998 meters Centerline goodness : 0.994078 Centerline is valid? [True, True] Translation: X:81.05, Y:45.68, Z:32.27 [[-3.96801746e-01 -8.89423969e-01 2.26877451e-01 8.10533323e+01] [ 7.28688017e-01 -4.55534794e-01 -5.11372492e-01 4.56754759e+01] [ 5.58177525e-01 -3.75906179e-02 8.28869589e-01 3.22729133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.44071405699998 meters Centerline goodness : 0.994327 Centerline is valid? [True, True] Translation: X:81.04, Y:45.67, Z:32.29 [[-3.95664131e-01 -8.81931541e-01 2.56216027e-01 8.10417487e+01] [ 7.25866481e-01 -4.71217604e-01 -5.01070675e-01 4.56720684e+01] [ 5.62643535e-01 -1.22770668e-02 8.26608448e-01 3.22933962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.47071405699998 meters Centerline goodness : 0.994851 Centerline is valid? [True, True] Translation: X:81.04, Y:45.69, Z:32.30 [[-3.98309487e-01 -8.86304034e-01 2.36251373e-01 8.10431056e+01] [ 7.23415961e-01 -4.61891633e-01 -5.13152478e-01 4.56922576e+01] [ 5.63931644e-01 -3.34854868e-02 8.25142305e-01 3.22961242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.50071405699998 meters Centerline goodness : 0.994466 Centerline is valid? [True, True] Translation: X:81.05, Y:45.68, Z:32.29 [[-3.99804607e-01 -8.85090424e-01 2.38267114e-01 8.10519192e+01] [ 7.19073325e-01 -4.64064852e-01 -5.17278809e-01 4.56753476e+01] [ 5.68409913e-01 -3.54789250e-02 8.21980180e-01 3.22882793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.53071405699998 meters Centerline goodness : 0.995054 Centerline is valid? [True, True] Translation: X:81.05, Y:45.67, Z:32.29 [[-4.00211575e-01 -8.81014662e-01 2.52277348e-01 8.10501377e+01] [ 7.22789202e-01 -4.72690520e-01 -5.04122447e-01 4.56749142e+01] [ 5.63388378e-01 -1.94122959e-02 8.25964102e-01 3.22946178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.56071405699998 meters Centerline goodness : 0.994625 Centerline is valid? [True, True] Translation: X:81.04, Y:45.69, Z:32.31 [[-4.09105513e-01 -8.74640113e-01 2.60071820e-01 8.10368122e+01] [ 7.28010397e-01 -4.84688900e-01 -4.84847947e-01 4.56941705e+01] [ 5.50121387e-01 -9.01897930e-03 8.35035998e-01 3.23054258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.59071405699999 meters Centerline goodness : 0.993578 Centerline is valid? [True, True] Translation: X:80.90, Y:46.02, Z:32.51 [[-4.16262459e-01 -8.82020078e-01 2.20830583e-01 8.08985986e+01] [ 7.23873280e-01 -4.68444456e-01 -5.06524695e-01 4.60167669e+01] [ 5.50211813e-01 -5.09938569e-02 8.33466609e-01 3.25134260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.620714057 meters Centerline goodness : 0.994236 Centerline is valid? [True, True] Translation: X:81.05, Y:45.69, Z:32.30 [[-4.03013754e-01 -8.79235383e-01 2.54017824e-01 8.10528986e+01] [ 7.09324452e-01 -4.75471121e-01 -5.20371056e-01 4.56900116e+01] [ 5.78306784e-01 -2.95356386e-02 8.15284557e-01 3.23036406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.650714057 meters Centerline goodness : 0.993673 Centerline is valid? [True, True] Translation: X:81.07, Y:45.68, Z:32.29 [[-4.04110828e-01 -8.80603048e-01 2.47452439e-01 8.10662002e+01] [ 7.15979473e-01 -4.72880489e-01 -5.13573206e-01 4.56811253e+01] [ 5.69269561e-01 -3.03696271e-02 8.21589832e-01 3.22887805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.680714057 meters Centerline goodness : 0.994656 Centerline is valid? [True, True] Translation: X:81.05, Y:45.70, Z:32.32 [[-4.05321783e-01 -8.75082243e-01 2.64471776e-01 8.10490582e+01] [ 7.08657538e-01 -4.83525294e-01 -5.13816877e-01 4.57014078e+01] [ 5.77510819e-01 -2.08412552e-02 8.16116962e-01 3.23177215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.710714057 meters Centerline goodness : 0.994563 Centerline is valid? [True, True] Translation: X:81.06, Y:45.72, Z:32.31 [[-4.08192089e-01 -8.79979791e-01 2.42929592e-01 8.10594220e+01] [ 7.15788475e-01 -4.73678309e-01 -5.13104004e-01 4.57155376e+01] [ 5.66591633e-01 -3.55587931e-02 8.23231130e-01 3.23065663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.740714057 meters Centerline goodness : 0.994231 Centerline is valid? [True, True] Translation: X:81.07, Y:45.69, Z:32.29 [[-4.08060169e-01 -8.77060312e-01 2.53479994e-01 8.10718441e+01] [ 7.14097042e-01 -4.79616692e-01 -5.09934549e-01 4.56868887e+01] [ 5.68816591e-01 -2.70746641e-02 8.22018642e-01 3.22906916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.770714057 meters Centerline goodness : 0.994256 Centerline is valid? [True, True] Translation: X:81.08, Y:45.68, Z:32.28 [[-4.07168603e-01 -8.77411805e-01 2.53697169e-01 8.10813015e+01] [ 7.13434744e-01 -4.78962873e-01 -5.11473784e-01 4.56797143e+01] [ 5.70284661e-01 -2.72596910e-02 8.20994710e-01 3.22833601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.800714057 meters Centerline goodness : 0.994348 Centerline is valid? [True, True] Translation: X:81.08, Y:45.68, Z:32.28 [[-4.06625710e-01 -8.77807291e-01 2.53199314e-01 8.10846472e+01] [ 7.13992133e-01 -4.78243716e-01 -5.11368930e-01 4.56789464e+01] [ 5.69974356e-01 -2.71534361e-02 8.21213690e-01 3.22803288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.830714057 meters Centerline goodness : 0.994444 Centerline is valid? [True, True] Translation: X:81.07, Y:45.68, Z:32.29 [[-4.10081760e-01 -8.67934430e-01 2.80219155e-01 8.10688562e+01] [ 7.16733402e-01 -4.96678782e-01 -4.89493021e-01 4.56831301e+01] [ 5.64026755e-01 1.10268374e-04 8.25756506e-01 3.22923063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.860714057 meters Centerline goodness : 0.994706 Centerline is valid? [True, True] Translation: X:81.08, Y:45.69, Z:32.28 [[-4.10199602e-01 -8.77361922e-01 2.48942452e-01 8.10826615e+01] [ 7.17551180e-01 -4.78964025e-01 -5.05681488e-01 4.56931521e+01] [ 5.62900161e-01 -2.88013946e-02 8.26022934e-01 3.22777107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.890714057 meters Centerline goodness : 0.994403 Centerline is valid? [True, True] Translation: X:81.05, Y:45.79, Z:32.34 [[-4.13303207e-01 -8.81153923e-01 2.29669814e-01 8.10477752e+01] [ 7.13237782e-01 -4.70062113e-01 -5.19936031e-01 4.57859034e+01] [ 5.66102751e-01 -5.10820402e-02 8.22750448e-01 3.23374273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.920714057 meters Centerline goodness : 0.992577 Centerline is valid? [True, True] Translation: X:81.10, Y:45.66, Z:32.26 [[-3.98788434e-01 -8.79581743e-01 2.59429646e-01 8.11031161e+01] [ 7.20511099e-01 -4.75531282e-01 -5.04711558e-01 4.56637747e+01] [ 5.67301984e-01 -1.43511926e-02 8.23384784e-01 3.22649611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.950714057 meters Centerline goodness : 0.993257 Centerline is valid? [True, True] Translation: X:81.11, Y:45.68, Z:32.26 [[-3.99794400e-01 -8.85000725e-01 2.38617170e-01 8.11082800e+01] [ 7.18526095e-01 -4.64226752e-01 -5.17893593e-01 4.56795179e+01] [ 5.69108679e-01 -3.55982946e-02 8.21491371e-01 3.22643663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.98071405699997 meters Centerline goodness : 0.992724 Centerline is valid? [True, True] Translation: X:81.11, Y:45.67, Z:32.27 [[-3.99454629e-01 -8.82204760e-01 2.49300544e-01 8.11089152e+01] [ 7.19470397e-01 -4.70211760e-01 -5.11139167e-01 4.56732463e+01] [ 5.68153454e-01 -2.48125457e-02 8.22548473e-01 3.22676700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.01071405699997 meters Centerline goodness : 0.993349 Centerline is valid? [True, True] Translation: X:81.11, Y:45.67, Z:32.26 [[-3.98646069e-01 -8.83514253e-01 2.45934700e-01 8.11136514e+01] [ 7.19839017e-01 -4.67597611e-01 -5.13014878e-01 4.56704699e+01] [ 5.68254434e-01 -2.74779719e-02 8.22393980e-01 3.22636070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.04071405699997 meters Centerline goodness : 0.992424 Centerline is valid? [True, True] Translation: X:81.12, Y:45.67, Z:32.26 [[-3.98520866e-01 -8.82088474e-01 2.51199209e-01 8.11164302e+01] [ 7.24130985e-01 -4.70701408e-01 -5.04058033e-01 4.56678107e+01] [ 5.62863603e-01 -1.89765137e-02 8.26331929e-01 3.22606908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.07071405699998 meters Centerline goodness : 0.992424 Centerline is valid? [True, True] Translation: X:81.12, Y:45.67, Z:32.26 [[-3.99098686e-01 -8.84979856e-01 2.39855987e-01 8.11209993e+01] [ 7.24097659e-01 -4.64679458e-01 -5.09662223e-01 4.56704922e+01] [ 5.62496951e-01 -2.97263647e-02 8.26264802e-01 3.22553196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.10071405699998 meters Centerline goodness : 0.993444 Centerline is valid? [True, True] Translation: X:81.12, Y:45.67, Z:32.26 [[-3.99142148e-01 -8.80971266e-01 2.54116459e-01 8.11168352e+01] [ 7.22575732e-01 -4.72839931e-01 -5.04288322e-01 4.56686626e+01] [ 5.64419930e-01 -1.76643381e-02 8.25298803e-01 3.22613129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.13071405699998 meters Centerline goodness : 0.992308 Centerline is valid? [True, True] Translation: X:81.13, Y:45.67, Z:32.24 [[-4.03113860e-01 -8.85990918e-01 2.29170916e-01 8.11319832e+01] [ 7.27008929e-01 -4.62134421e-01 -5.07828509e-01 4.56720565e+01] [ 5.55839216e-01 -3.81034085e-02 8.30416098e-01 3.22444365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.16071405699998 meters Centerline goodness : 0.991891 Centerline is valid? [True, True] Translation: X:81.13, Y:45.67, Z:32.25 [[-4.05506885e-01 -8.82466944e-01 2.38361613e-01 8.11278734e+01] [ 7.26786265e-01 -4.69410565e-01 -5.01433392e-01 4.56749416e+01] [ 5.54387853e-01 -3.00967462e-02 8.31714070e-01 3.22501768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.19071405699998 meters Centerline goodness : 0.993922 Centerline is valid? [True, True] Translation: X:81.11, Y:45.69, Z:32.27 [[-4.19862847e-01 -8.73598036e-01 2.46052150e-01 8.11131211e+01] [ 7.12232459e-01 -4.85182812e-01 -5.07269715e-01 4.56927032e+01] [ 5.62530101e-01 -3.77373788e-02 8.25915114e-01 3.22698930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.22071405699998 meters Centerline goodness : 0.993579 Centerline is valid? [True, True] Translation: X:81.11, Y:45.69, Z:32.27 [[-4.21860056e-01 -8.71206507e-01 2.51064365e-01 8.11139231e+01] [ 7.10386762e-01 -4.89673584e-01 -5.05539741e-01 4.56904256e+01] [ 5.63369099e-01 -3.49142224e-02 8.25467295e-01 3.22701858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.25071405699998 meters Centerline goodness : 0.994245 Centerline is valid? [True, True] Translation: X:81.11, Y:45.69, Z:32.27 [[-4.24152432e-01 -8.70005570e-01 2.51366311e-01 8.11137306e+01] [ 7.08965838e-01 -4.91709418e-01 -5.05558393e-01 4.56943461e+01] [ 5.63437801e-01 -3.62236948e-02 8.25363973e-01 3.22717415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.28071405699998 meters Centerline goodness : 0.994294 Centerline is valid? [True, True] Translation: X:81.12, Y:45.70, Z:32.27 [[-4.27299761e-01 -8.68366879e-01 2.51701963e-01 8.11154146e+01] [ 7.06992711e-01 -4.94455884e-01 -5.05642843e-01 4.56972447e+01] [ 5.63539015e-01 -3.81096124e-02 8.25209935e-01 3.22728429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.31071405699998 meters Centerline goodness : 0.991970 Centerline is valid? [True, True] Translation: X:81.09, Y:45.69, Z:32.29 [[-4.16122045e-01 -8.50052137e-01 3.22883584e-01 8.10868065e+01] [ 7.45888384e-01 -5.22188983e-01 -4.13484201e-01 4.56906953e+01] [ 5.20089379e-01 6.87752232e-02 8.51338362e-01 3.22932471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.34071405699999 meters Centerline goodness : 0.994177 Centerline is valid? [True, True] Translation: X:81.16, Y:45.75, Z:32.24 [[-0.43341933 -0.89129541 0.13319225 81.15594507] [ 0.70943831 -0.4285912 -0.55947016 45.74522405] [ 0.55573821 -0.1479935 0.81807882 32.23698089] [ 0. 0. 0. 1. ]] SLAMing on 178.370714057 meters Centerline goodness : 0.991594 Centerline is valid? [True, True] Translation: X:81.10, Y:45.70, Z:32.28 [[-4.17213782e-01 -8.58653909e-01 2.97734991e-01 8.10968941e+01] [ 7.43702977e-01 -5.10870422e-01 -4.31181277e-01 4.56981661e+01] [ 5.22339489e-01 4.15316276e-02 8.51725650e-01 3.22799671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.400714057 meters Centerline goodness : 0.992225 Centerline is valid? [True, True] Translation: X:81.10, Y:45.74, Z:32.28 [[-4.14602798e-01 -8.77282359e-01 2.41826762e-01 8.11016097e+01] [ 7.49652816e-01 -4.79913406e-01 -4.55745299e-01 4.57440183e+01] [ 5.15873216e-01 -7.66716274e-03 8.56630632e-01 3.22787719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.430714057 meters Centerline goodness : 0.992299 Centerline is valid? [True, True] Translation: X:81.15, Y:45.74, Z:32.23 [[-0.41837928 -0.89497733 0.15483657 81.15256603] [ 0.73769461 -0.4342836 -0.51691819 45.73621323] [ 0.52987305 -0.10204575 0.84191521 32.22661989] [ 0. 0. 0. 1. ]] SLAMing on 178.460714057 meters Centerline goodness : 0.992940 Centerline is valid? [True, True] Translation: X:81.12, Y:45.71, Z:32.26 [[-4.18995927e-01 -8.77354304e-01 2.33862863e-01 8.11188993e+01] [ 7.34305633e-01 -4.78914206e-01 -4.81078394e-01 4.57123118e+01] [ 5.34076447e-01 -2.98430698e-02 8.44909309e-01 3.22586474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.490714057 meters Centerline goodness : 0.993186 Centerline is valid? [True, True] Translation: X:81.13, Y:45.70, Z:32.24 [[-4.20455604e-01 -8.81594032e-01 2.14497200e-01 8.11316999e+01] [ 7.32416891e-01 -4.69321570e-01 -4.93257297e-01 4.57017036e+01] [ 5.35520851e-01 -5.02914225e-02 8.43023244e-01 3.22423429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.520714057 meters Centerline goodness : 0.992511 Centerline is valid? [True, True] Translation: X:81.13, Y:45.70, Z:32.24 [[-4.21219102e-01 -8.79874042e-01 2.19991223e-01 8.11291690e+01] [ 7.32539315e-01 -4.73068994e-01 -4.89481235e-01 4.56991360e+01] [ 5.34752859e-01 -4.50266259e-02 8.43808025e-01 3.22438550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.550714057 meters Centerline goodness : 0.994413 Centerline is valid? [True, True] Translation: X:81.13, Y:45.69, Z:32.24 [[-4.22206235e-01 -8.79291426e-01 2.20427954e-01 8.11311568e+01] [ 7.32068551e-01 -4.74138918e-01 -4.89150204e-01 4.56930123e+01] [ 5.34619052e-01 -4.51538933e-02 8.43886008e-01 3.22400419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.580714057 meters Centerline goodness : 0.993620 Centerline is valid? [True, True] Translation: X:81.12, Y:45.70, Z:32.25 [[-4.24155861e-01 -8.77095220e-01 2.25379193e-01 8.11237150e+01] [ 7.30752514e-01 -4.78493053e-01 -4.86872840e-01 4.56988661e+01] [ 5.34876219e-01 -4.18135569e-02 8.43895170e-01 3.22486197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.610714057 meters Centerline goodness : 0.994690 Centerline is valid? [True, True] Translation: X:81.11, Y:45.72, Z:32.27 [[-4.26170014e-01 -8.75132055e-01 2.29178981e-01 8.11074069e+01] [ 7.30385517e-01 -4.82332747e-01 -4.83623942e-01 4.57234229e+01] [ 5.33775342e-01 -3.87170134e-02 8.44739532e-01 3.22686506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.640714057 meters Centerline goodness : 0.993300 Centerline is valid? [True, True] Translation: X:81.13, Y:45.69, Z:32.24 [[-4.26965433e-01 -8.77117397e-01 2.19921783e-01 8.11267583e+01] [ 7.30594705e-01 -4.77916709e-01 -4.87675093e-01 4.56931785e+01] [ 5.32852603e-01 -4.75467172e-02 8.44871241e-01 3.22412312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.670714057 meters Centerline goodness : 0.994258 Centerline is valid? [True, True] Translation: X:81.12, Y:45.69, Z:32.25 [[-4.27602439e-01 -8.74330966e-01 2.29568109e-01 8.11215130e+01] [ 7.31144311e-01 -4.83855297e-01 -4.80949112e-01 4.56920554e+01] [ 5.31586447e-01 -3.78075970e-02 8.46159816e-01 3.22450595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.700714057 meters Centerline goodness : 0.994414 Centerline is valid? [True, True] Translation: X:81.13, Y:45.69, Z:32.24 [[-4.31484624e-01 -8.76233614e-01 2.14559255e-01 8.11287620e+01] [ 7.26880299e-01 -4.78553362e-01 -4.92576604e-01 4.56922610e+01] [ 5.34290231e-01 -5.65803351e-02 8.43405368e-01 3.22362315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.73071405699997 meters Centerline goodness : 0.994075 Centerline is valid? [True, True] Translation: X:81.12, Y:45.70, Z:32.24 [[-4.32768905e-01 -8.73093843e-01 2.24540009e-01 8.11216385e+01] [ 7.26087384e-01 -4.85201897e-01 -4.87212716e-01 4.56956325e+01] [ 5.34329661e-01 -4.78148458e-02 8.43922718e-01 3.22437947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.76071405699997 meters Centerline goodness : 0.994989 Centerline is valid? [True, True] Translation: X:81.13, Y:45.69, Z:32.24 [[-4.36562795e-01 -8.73338807e-01 2.16083906e-01 8.11278754e+01] [ 7.20605608e-01 -4.83234476e-01 -4.97204183e-01 4.56902652e+01] [ 5.38646901e-01 -6.13495733e-02 8.40295035e-01 3.22371237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.79071405699997 meters Centerline goodness : 0.994299 Centerline is valid? [True, True] Translation: X:81.13, Y:45.68, Z:32.24 [[-4.37443432e-01 -8.70021713e-01 2.27388352e-01 8.11265045e+01] [ 7.19140472e-01 -4.90276489e-01 -4.92408312e-01 4.56791924e+01] [ 5.39889086e-01 -5.18766153e-02 8.40136055e-01 3.22370223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.82071405699998 meters Centerline goodness : 0.994370 Centerline is valid? [True, True] Translation: X:81.13, Y:45.68, Z:32.24 [[-4.38854243e-01 -8.70132806e-01 2.24222776e-01 8.11259450e+01] [ 7.17805753e-01 -4.89591095e-01 -4.95030767e-01 4.56796221e+01] [ 5.40519984e-01 -5.62979542e-02 8.39445464e-01 3.22370406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.85071405699998 meters Centerline goodness : 0.994083 Centerline is valid? [True, True] Translation: X:81.12, Y:45.68, Z:32.24 [[-4.40520346e-01 -8.68889602e-01 2.25771308e-01 8.11217969e+01] [ 7.14306582e-01 -4.91577390e-01 -4.98114220e-01 4.56848171e+01] [ 5.43790337e-01 -5.81595172e-02 8.37203404e-01 3.22446630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.88071405699998 meters Centerline goodness : 0.994522 Centerline is valid? [True, True] Translation: X:81.12, Y:45.67, Z:32.24 [[-4.40641360e-01 -8.67905308e-01 2.29293629e-01 8.11240225e+01] [ 7.14805365e-01 -4.93750276e-01 -4.95241310e-01 4.56740381e+01] [ 5.43036355e-01 -5.43234881e-02 8.37950163e-01 3.22406486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.91071405699998 meters Centerline goodness : 0.994236 Centerline is valid? [True, True] Translation: X:81.12, Y:45.68, Z:32.25 [[-4.41689182e-01 -8.66652319e-01 2.32000914e-01 8.11177013e+01] [ 7.12149702e-01 -4.95955557e-01 -4.96861035e-01 4.56819425e+01] [ 5.45667910e-01 -5.42387625e-02 8.36244395e-01 3.22508374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.94071405699998 meters Centerline goodness : 0.994573 Centerline is valid? [True, True] Translation: X:81.12, Y:45.67, Z:32.24 [[-4.41679455e-01 -8.66198277e-01 2.33708803e-01 8.11225324e+01] [ 7.12017086e-01 -4.96912674e-01 -4.96094209e-01 4.56673761e+01] [ 5.45848815e-01 -5.27099592e-02 8.36224092e-01 3.22433414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.97071405699998 meters Centerline goodness : 0.994816 Centerline is valid? [True, True] Translation: X:81.12, Y:45.67, Z:32.24 [[-4.42404382e-01 -8.65921387e-01 2.33363483e-01 8.11225813e+01] [ 7.10738170e-01 -4.97225535e-01 -4.97612320e-01 4.56663175e+01] [ 5.46927433e-01 -5.42855362e-02 8.35418137e-01 3.22435207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.00071405699998 meters Centerline goodness : 0.994795 Centerline is valid? [True, True] Translation: X:81.11, Y:45.68, Z:32.25 [[-4.42105490e-01 -8.64347000e-01 2.39681035e-01 8.11144341e+01] [ 7.11494030e-01 -5.00651367e-01 -4.93076519e-01 4.56760865e+01] [ 5.46185848e-01 -4.74602106e-02 8.36318449e-01 3.22537877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.03071405699998 meters Centerline goodness : 0.994821 Centerline is valid? [True, True] Translation: X:81.11, Y:45.68, Z:32.25 [[-4.42643129e-01 -8.64184129e-01 2.39275680e-01 8.11129673e+01] [ 7.11422844e-01 -5.00883721e-01 -4.92943237e-01 4.56796592e+01] [ 5.45843015e-01 -4.79717524e-02 8.36513069e-01 3.22548174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.06071405699998 meters Centerline goodness : 0.995513 Centerline is valid? [True, True] Translation: X:81.12, Y:45.66, Z:32.24 [[-4.43005283e-01 -8.65080922e-01 2.35332356e-01 8.11245599e+01] [ 7.10988701e-01 -4.98906842e-01 -4.95567382e-01 4.56624287e+01] [ 5.46114810e-01 -5.22203220e-02 8.36081128e-01 3.22389132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.09071405699999 meters Centerline goodness : 0.995451 Centerline is valid? [True, True] Translation: X:81.12, Y:45.68, Z:32.25 [[-4.43972252e-01 -8.63450456e-01 2.39461792e-01 8.11153176e+01] [ 7.10291436e-01 -5.02051806e-01 -4.93386319e-01 4.56771225e+01] [ 5.46236867e-01 -4.89621752e-02 8.36198536e-01 3.22504196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.120714057 meters Centerline goodness : 0.995381 Centerline is valid? [True, True] Translation: X:81.12, Y:45.67, Z:32.24 [[-4.43586224e-01 -8.62619447e-01 2.43143891e-01 8.11180331e+01] [ 7.12725180e-01 -5.04013385e-01 -4.87845597e-01 4.56685163e+01] [ 5.43372874e-01 -4.31068130e-02 8.38383995e-01 3.22439901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.150714057 meters Centerline goodness : 0.995765 Centerline is valid? [True, True] Translation: X:81.12, Y:45.67, Z:32.24 [[-4.45631862e-01 -8.64594346e-01 2.32139746e-01 8.11245375e+01] [ 7.09053825e-01 -4.99187183e-01 -4.98051030e-01 4.56687723e+01] [ 5.46493291e-01 -5.73478330e-02 8.35497642e-01 3.22378484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.180714057 meters Centerline goodness : 0.995730 Centerline is valid? [True, True] Translation: X:81.12, Y:45.68, Z:32.25 [[-4.46891471e-01 -8.62229462e-01 2.38428960e-01 8.11166591e+01] [ 7.08008097e-01 -5.03805643e-01 -4.94878176e-01 4.56780608e+01] [ 5.46820398e-01 -5.23472014e-02 8.35611885e-01 3.22483965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.210714057 meters Centerline goodness : 0.995917 Centerline is valid? [True, True] Translation: X:81.13, Y:45.66, Z:32.24 [[-4.48172037e-01 -8.62458924e-01 2.35173190e-01 8.11268013e+01] [ 7.05662585e-01 -5.02818053e-01 -4.99213704e-01 4.56620313e+01] [ 5.48800640e-01 -5.77807011e-02 8.33953985e-01 3.22357205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.240714057 meters Centerline goodness : 0.996189 Centerline is valid? [True, True] Translation: X:81.11, Y:45.68, Z:32.25 [[-4.47309966e-01 -8.60373993e-01 2.44275228e-01 8.11132136e+01] [ 7.07454043e-01 -5.07470495e-01 -4.91917141e-01 4.56799541e+01] [ 5.47195186e-01 -4.72259425e-02 8.35671670e-01 3.22533750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.270714057 meters Centerline goodness : 0.995634 Centerline is valid? [True, True] Translation: X:81.13, Y:45.66, Z:32.23 [[-4.47401451e-01 -8.62257496e-01 2.37368812e-01 8.11275444e+01] [ 7.08309150e-01 -5.03674029e-01 -4.94581258e-01 4.56584596e+01] [ 5.46012903e-01 -5.31458709e-02 8.36089365e-01 3.22332761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.300714057 meters Centerline goodness : 0.995512 Centerline is valid? [True, True] Translation: X:81.12, Y:45.67, Z:32.24 [[-4.47148142e-01 -8.62690040e-01 2.36271948e-01 8.11231881e+01] [ 7.12601702e-01 -5.03234257e-01 -4.88829313e-01 4.56668535e+01] [ 5.40608318e-01 -5.02113269e-02 8.39774654e-01 3.22376628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.330714057 meters Centerline goodness : 0.995382 Centerline is valid? [True, True] Translation: X:81.13, Y:45.65, Z:32.23 [[-4.44428235e-01 -8.62757741e-01 2.41107082e-01 8.11284685e+01] [ 7.15644581e-01 -5.03833148e-01 -4.83740626e-01 4.56503361e+01] [ 5.38828709e-01 -4.24410156e-02 8.41345578e-01 3.22284314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.360714057 meters Centerline goodness : 0.995204 Centerline is valid? [True, True] Translation: X:81.13, Y:45.65, Z:32.23 [[-4.42922999e-01 -8.62303929e-01 2.45461101e-01 8.11269509e+01] [ 7.18350696e-01 -5.05142545e-01 -4.78333865e-01 4.56463847e+01] [ 5.36462016e-01 -3.55379170e-02 8.43175878e-01 3.22281174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.390714057 meters Centerline goodness : 0.995810 Centerline is valid? [True, True] Translation: X:81.13, Y:45.65, Z:32.22 [[-4.41333217e-01 -8.66853869e-01 2.31925338e-01 8.11331824e+01] [ 7.22286766e-01 -4.96532151e-01 -4.81412143e-01 4.56475183e+01] [ 5.32472365e-01 -4.49465677e-02 8.45253208e-01 3.22198852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.420714057 meters Centerline goodness : 0.995019 Centerline is valid? [True, True] Translation: X:81.13, Y:45.64, Z:32.22 [[-4.37651973e-01 -8.68054932e-01 2.34395789e-01 8.11332951e+01] [ 7.27218810e-01 -4.95039156e-01 -4.75488208e-01 4.56427596e+01] [ 5.28784978e-01 -3.76413260e-02 8.47920738e-01 3.22167462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.450714057 meters Centerline goodness : 0.995153 Centerline is valid? [True, True] Translation: X:81.13, Y:45.64, Z:32.22 [[-4.37151209e-01 -8.69031448e-01 2.31696272e-01 8.11347535e+01] [ 7.26301355e-01 -4.93047531e-01 -4.78947256e-01 4.56412398e+01] [ 5.30457502e-01 -4.10910553e-02 8.46715043e-01 3.22160152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.48071405699997 meters Centerline goodness : 0.995067 Centerline is valid? [True, True] Translation: X:81.13, Y:45.64, Z:32.21 [[-4.32829064e-01 -8.68777816e-01 2.40591162e-01 8.11308078e+01] [ 7.35059278e-01 -4.94626899e-01 -4.63715525e-01 4.56399203e+01] [ 5.21868622e-01 -2.38607909e-02 8.52692092e-01 3.22142738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.51071405699997 meters Centerline goodness : 0.994555 Centerline is valid? [True, True] Translation: X:81.15, Y:45.64, Z:32.20 [[-4.34173299e-01 -8.74655197e-01 2.15573266e-01 8.11464958e+01] [ 7.29262809e-01 -4.81756424e-01 -4.85887336e-01 4.56364345e+01] [ 5.28837689e-01 -5.37497421e-02 8.47019282e-01 3.22006710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.54071405699997 meters Centerline goodness : 0.995164 Centerline is valid? [True, True] Translation: X:81.14, Y:45.62, Z:32.20 [[-4.31245605e-01 -8.69898538e-01 2.39382040e-01 8.11414694e+01] [ 7.30513715e-01 -4.92365791e-01 -4.73207819e-01 4.56228803e+01] [ 5.29506318e-01 -2.91969289e-02 8.47803396e-01 3.22009070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.57071405699998 meters Centerline goodness : 0.994653 Centerline is valid? [True, True] Translation: X:81.14, Y:45.63, Z:32.20 [[-4.32146046e-01 -8.72481597e-01 2.28091339e-01 8.11445433e+01] [ 7.29743779e-01 -4.86926283e-01 -4.79975844e-01 4.56290894e+01] [ 5.29833759e-01 -4.09714276e-02 8.47111286e-01 3.21997675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.60071405699998 meters Centerline goodness : 0.994339 Centerline is valid? [True, True] Translation: X:81.14, Y:45.63, Z:32.20 [[-4.30536996e-01 -8.71858160e-01 2.33455014e-01 8.11423505e+01] [ 7.31450215e-01 -4.88574136e-01 -4.75684661e-01 4.56304875e+01] [ 5.28789635e-01 -3.40391249e-02 8.48070080e-01 3.22013989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.63071405699998 meters Centerline goodness : 0.995167 Centerline is valid? [True, True] Translation: X:81.13, Y:45.61, Z:32.20 [[-4.23871576e-01 -8.63301794e-01 2.73939590e-01 8.11311148e+01] [ 7.47799392e-01 -5.04218254e-01 -4.31925945e-01 4.56110406e+01] [ 5.11007785e-01 2.17707281e-02 8.59300343e-01 3.22022016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.66071405699998 meters Centerline goodness : 0.994142 Centerline is valid? [True, True] Translation: X:81.16, Y:45.64, Z:32.17 [[-4.21169882e-01 -8.86018166e-01 1.93875580e-01 8.11607170e+01] [ 7.53436010e-01 -4.60783821e-01 -4.69054847e-01 4.56408872e+01] [ 5.04925845e-01 -5.14789316e-02 8.61626259e-01 3.21730882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.69071405699998 meters Centerline goodness : 0.995220 Centerline is valid? [True, True] Translation: X:81.17, Y:45.64, Z:32.17 [[-4.24089456e-01 -8.86658027e-01 1.84352043e-01 8.11680087e+01] [ 7.40508667e-01 -4.56695327e-01 -4.93027680e-01 4.56364166e+01] [ 5.21339666e-01 -7.25735554e-02 8.50257626e-01 3.21690993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.72071405699998 meters Centerline goodness : 0.995352 Centerline is valid? [True, True] Translation: X:81.16, Y:45.66, Z:32.19 [[-0.43881853 -0.88225945 0.17045987 81.15844029] [ 0.71175264 -0.45706607 -0.53338427 45.65686899] [ 0.54849473 -0.11273364 0.82851956 32.19493383] [ 0. 0. 0. 1. ]] SLAMing on 179.75071405699998 meters Centerline goodness : 0.993809 Centerline is valid? [True, True] Translation: X:81.14, Y:45.60, Z:32.20 [[-4.26161238e-01 -8.65111558e-01 2.64515768e-01 8.11414927e+01] [ 7.31090288e-01 -5.01565630e-01 -4.62535306e-01 4.55981602e+01] [ 5.32816657e-01 -3.72970948e-03 8.46222488e-01 3.22017886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.78071405699998 meters Centerline goodness : 0.994025 Centerline is valid? [True, True] Translation: X:81.15, Y:45.62, Z:32.19 [[-4.23190363e-01 -8.76328783e-01 2.30125578e-01 8.11501358e+01] [ 7.33944419e-01 -4.80494010e-01 -4.80053224e-01 4.56166704e+01] [ 5.31258419e-01 -3.42545142e-02 8.46517053e-01 3.21917270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.81071405699998 meters Centerline goodness : 0.993386 Centerline is valid? [True, True] Translation: X:81.15, Y:45.60, Z:32.19 [[-4.20898771e-01 -8.75246104e-01 2.38303339e-01 8.11520535e+01] [ 7.41683392e-01 -4.83303861e-01 -4.65105497e-01 4.56028517e+01] [ 5.22254698e-01 -1.90167035e-02 8.52577501e-01 3.21858796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.84071405699999 meters Centerline goodness : 0.994873 Centerline is valid? [True, True] Translation: X:81.15, Y:45.64, Z:32.20 [[-4.31345818e-01 -8.79474260e-01 2.01161158e-01 8.11481245e+01] [ 7.17057120e-01 -4.69517281e-01 -5.15152996e-01 4.56377202e+01] [ 5.47512440e-01 -7.79650494e-02 8.33157595e-01 3.22033067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.870714057 meters Centerline goodness : 0.993487 Centerline is valid? [True, True] Translation: X:81.13, Y:45.57, Z:32.20 [[-4.13827328e-01 -8.57210307e-01 3.06492139e-01 8.11311101e+01] [ 7.59880619e-01 -5.10663097e-01 -4.02249482e-01 4.55704310e+01] [ 5.01326627e-01 6.64356082e-02 8.62703844e-01 3.22005433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.900714057 meters Centerline goodness : 0.993277 Centerline is valid? [True, True] Translation: X:81.17, Y:45.63, Z:32.16 [[-4.11247162e-01 -8.93791591e-01 1.78919995e-01 8.11709628e+01] [ 7.54929477e-01 -4.43975290e-01 -4.82666994e-01 4.56283448e+01] [ 5.10839757e-01 -6.34234537e-02 8.57333196e-01 3.21649688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.930714057 meters Centerline goodness : 0.992841 Centerline is valid? [True, True] Translation: X:81.16, Y:45.61, Z:32.17 [[-4.10725833e-01 -8.86714549e-01 2.12230060e-01 8.11623846e+01] [ 7.56778008e-01 -4.61370078e-01 -4.63060146e-01 4.56109170e+01] [ 5.08518768e-01 -2.95797224e-02 8.60542679e-01 3.21685254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.960714057 meters Centerline goodness : 0.992841 Centerline is valid? [True, True] Translation: X:81.16, Y:45.61, Z:32.17 [[-4.10906797e-01 -8.87376343e-01 2.09090483e-01 8.11642621e+01] [ 7.56789256e-01 -4.59889396e-01 -4.64512396e-01 4.56108978e+01] [ 5.08355807e-01 -3.26338701e-02 8.60528561e-01 3.21664959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.990714057 meters Centerline goodness : 0.993178 Centerline is valid? [True, True] Translation: X:81.17, Y:45.61, Z:32.17 [[-4.12918590e-01 -8.88122328e-01 2.01834014e-01 8.11668953e+01] [ 7.51215378e-01 -4.57411259e-01 -4.75868045e-01 4.56134197e+01] [ 5.14950186e-01 -4.48739469e-02 8.56044762e-01 3.21682431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.020714057 meters Centerline goodness : 0.993228 Centerline is valid? [True, True] Translation: X:81.17, Y:45.61, Z:32.17 [[-4.12842216e-01 -8.86622467e-01 2.08475191e-01 8.11681884e+01] [ 7.48365109e-01 -4.60673247e-01 -4.77210459e-01 4.56057272e+01] [ 5.19144458e-01 -4.09970645e-02 8.53702684e-01 3.21671261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.050714057 meters Centerline goodness : 0.991823 Centerline is valid? [True, True] Translation: X:81.16, Y:45.60, Z:32.17 [[-4.14386815e-01 -8.83192327e-01 2.19669938e-01 8.11636956e+01] [ 7.46386679e-01 -4.67907678e-01 -4.73253980e-01 4.56031366e+01] [ 5.20759535e-01 -3.21514940e-02 8.53097760e-01 3.21736935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.080714057 meters Centerline goodness : 0.994736 Centerline is valid? [True, True] Translation: X:81.15, Y:45.62, Z:32.19 [[-4.25480253e-01 -8.80988238e-01 2.06945111e-01 8.11534305e+01] [ 7.20614573e-01 -4.68157899e-01 -5.11412572e-01 4.56202323e+01] [ 5.47431449e-01 -6.84682872e-02 8.34044904e-01 3.21921670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.110714057 meters Centerline goodness : 0.993795 Centerline is valid? [True, True] Translation: X:81.13, Y:45.57, Z:32.21 [[-4.09575220e-01 -8.58865434e-01 3.07568375e-01 8.11286807e+01] [ 7.54448291e-01 -5.08431233e-01 -4.15096925e-01 4.55749225e+01] [ 5.12889769e-01 6.20310205e-02 8.56210393e-01 3.22058351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.140714057 meters Centerline goodness : 0.993493 Centerline is valid? [True, True] Translation: X:81.17, Y:45.61, Z:32.16 [[-4.06557894e-01 -8.94371894e-01 1.86573294e-01 8.11737426e+01] [ 7.56793394e-01 -4.44076343e-01 -4.79645661e-01 4.56148275e+01] [ 5.11834384e-01 -5.38062932e-02 8.57397484e-01 3.21575332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.170714057 meters Centerline goodness : 0.994541 Centerline is valid? [True, True] Translation: X:81.16, Y:45.62, Z:32.18 [[-4.07770328e-01 -8.87449916e-01 2.14839489e-01 8.11587008e+01] [ 7.53050807e-01 -4.59921693e-01 -4.70517288e-01 4.56152490e+01] [ 5.16369869e-01 -3.00779385e-02 8.55837295e-01 3.21750442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.200714057 meters Centerline goodness : 0.993234 Centerline is valid? [True, True] Translation: X:81.17, Y:45.62, Z:32.16 [[-4.09582248e-01 -8.91653133e-01 1.92865425e-01 8.11696964e+01] [ 7.52655109e-01 -4.49746478e-01 -4.80872532e-01 4.56175180e+01] [ 5.15512046e-01 -5.17957046e-02 8.55315460e-01 3.21649902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.23071405699997 meters Centerline goodness : 0.993882 Centerline is valid? [True, True] Translation: X:81.16, Y:45.61, Z:32.18 [[-4.14483514e-01 -8.86596409e-01 2.05305198e-01 8.11648318e+01] [ 7.41661871e-01 -4.59816604e-01 -4.88371130e-01 4.56125873e+01] [ 5.27390829e-01 -5.01547449e-02 8.48141153e-01 3.21760924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.26071405699997 meters Centerline goodness : 0.993878 Centerline is valid? [True, True] Translation: X:81.16, Y:45.60, Z:32.19 [[-4.15669085e-01 -8.79639894e-01 2.31198766e-01 8.11553850e+01] [ 7.42068450e-01 -4.74980387e-01 -4.72998994e-01 4.56048049e+01] [ 5.25883664e-01 -2.50457491e-02 8.50187675e-01 3.21858364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.29071405699997 meters Centerline goodness : 0.994568 Centerline is valid? [True, True] Translation: X:81.14, Y:45.62, Z:32.20 [[-4.16755867e-01 -8.77280987e-01 2.38102113e-01 8.11429803e+01] [ 7.38025987e-01 -4.79465887e-01 -4.74794803e-01 4.56216444e+01] [ 5.30690295e-01 -2.21479731e-02 8.47276388e-01 3.22023808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.32071405699998 meters Centerline goodness : 0.994683 Centerline is valid? [True, True] Translation: X:81.16, Y:45.60, Z:32.18 [[-4.16650292e-01 -8.80431489e-01 2.26369006e-01 8.11628140e+01] [ 7.39886276e-01 -4.73107054e-01 -4.78265631e-01 4.55985567e+01] [ 5.28176896e-01 -3.17821942e-02 8.48539368e-01 3.21768654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.35071405699998 meters Centerline goodness : 0.994520 Centerline is valid? [True, True] Translation: X:81.17, Y:45.60, Z:32.17 [[-4.18054971e-01 -8.82079272e-01 2.17177808e-01 8.11665412e+01] [ 7.38392359e-01 -4.69213280e-01 -4.84371368e-01 4.56015259e+01] [ 5.29156655e-01 -4.21314241e-02 8.47477538e-01 3.21743754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.38071405699998 meters Centerline goodness : 0.994641 Centerline is valid? [True, True] Translation: X:81.17, Y:45.60, Z:32.18 [[-4.19704131e-01 -8.82290713e-01 2.13099838e-01 8.11674189e+01] [ 7.36727494e-01 -4.68278210e-01 -4.87799260e-01 4.56033598e+01] [ 5.30170767e-01 -4.77348554e-02 8.46546125e-01 3.21768634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.41071405699998 meters Centerline goodness : 0.994338 Centerline is valid? [True, True] Translation: X:81.17, Y:45.59, Z:32.18 [[-4.20279198e-01 -8.77949205e-01 2.29282771e-01 8.11677618e+01] [ 7.35128321e-01 -4.77568401e-01 -4.81159822e-01 4.55851184e+01] [ 5.31932089e-01 -3.36692058e-02 8.46117390e-01 3.21755119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.44071405699998 meters Centerline goodness : 0.994884 Centerline is valid? [True, True] Translation: X:81.16, Y:45.60, Z:32.18 [[-4.22485740e-01 -8.76374035e-01 2.31245218e-01 8.11621411e+01] [ 7.32546078e-01 -4.80404220e-01 -4.82273811e-01 4.55961737e+01] [ 5.33743424e-01 -3.43560302e-02 8.44948295e-01 3.21842795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.47071405699998 meters Centerline goodness : 0.994878 Centerline is valid? [True, True] Translation: X:81.16, Y:45.59, Z:32.18 [[-4.24096801e-01 -8.75254643e-01 2.32532176e-01 8.11642827e+01] [ 7.30995415e-01 -4.82416250e-01 -4.82618136e-01 4.55927860e+01] [ 5.34591065e-01 -3.46968533e-02 8.44398319e-01 3.21821541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.50071405699998 meters Centerline goodness : 0.995144 Centerline is valid? [True, True] Translation: X:81.17, Y:45.59, Z:32.18 [[-4.26687943e-01 -8.73953617e-01 2.32685356e-01 8.11660234e+01] [ 7.27210735e-01 -4.84501127e-01 -4.86233694e-01 4.55922799e+01] [ 5.37682013e-01 -3.82587665e-02 8.42279241e-01 3.21822081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.53071405699998 meters Centerline goodness : 0.996106 Centerline is valid? [True, True] Translation: X:81.15, Y:45.60, Z:32.20 [[-4.35642826e-01 -8.66330013e-01 2.44310534e-01 8.11521332e+01] [ 7.14666946e-01 -4.97914708e-01 -4.91255636e-01 4.55962383e+01] [ 5.47235309e-01 -3.94113305e-02 8.36050395e-01 3.21970768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.56071405699998 meters Centerline goodness : 0.995444 Centerline is valid? [True, True] Translation: X:81.08, Y:45.73, Z:32.29 [[-4.38750538e-01 -8.66968159e-01 2.36356038e-01 8.10837523e+01] [ 7.12620139e-01 -4.95920540e-01 -4.96221076e-01 4.57326869e+01] [ 5.47421686e-01 -4.92851911e-02 8.35404374e-01 3.22948956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.59071405699999 meters Centerline goodness : 0.995352 Centerline is valid? [True, True] Translation: X:81.15, Y:45.56, Z:32.19 [[-4.23595912e-01 -8.58108254e-01 2.90201185e-01 8.11504010e+01] [ 7.42712040e-01 -5.12411131e-01 -4.31061084e-01 4.55550219e+01] [ 5.18599391e-01 3.29402015e-02 8.54382592e-01 3.21878369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.620714057 meters Centerline goodness : 0.996060 Centerline is valid? [True, True] Translation: X:81.18, Y:45.60, Z:32.17 [[-4.27710137e-01 -8.82144443e-01 1.97193359e-01 8.11765401e+01] [ 7.24371661e-01 -4.64991926e-01 -5.08987431e-01 4.56010290e+01] [ 5.40693754e-01 -7.48578030e-02 8.37882196e-01 3.21703602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.650714057 meters Centerline goodness : 0.996126 Centerline is valid? [True, True] Translation: X:81.16, Y:45.58, Z:32.19 [[-4.27979074e-01 -8.71882813e-01 2.38021581e-01 8.11619307e+01] [ 7.22727203e-01 -4.88291396e-01 -4.89118496e-01 4.55846026e+01] [ 5.42677900e-01 -3.73078093e-02 8.39111926e-01 3.21850635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.680714057 meters Centerline goodness : 0.994851 Centerline is valid? [True, True] Translation: X:81.17, Y:45.58, Z:32.18 [[-4.31003451e-01 -8.72485064e-01 2.30229970e-01 8.11674617e+01] [ 7.23554972e-01 -4.86617672e-01 -4.89562502e-01 4.55786358e+01] [ 5.39169943e-01 -4.44190886e-02 8.41024802e-01 3.21769749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.710714057 meters Centerline goodness : 0.996154 Centerline is valid? [True, True] Translation: X:81.15, Y:45.58, Z:32.19 [[-4.31290847e-01 -8.65714645e-01 2.54020391e-01 8.11540069e+01] [ 7.23369517e-01 -5.00072288e-01 -4.76092690e-01 4.55750724e+01] [ 5.39188972e-01 -2.15838122e-02 8.41908185e-01 3.21884974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.740714057 meters Centerline goodness : 0.995605 Centerline is valid? [True, True] Translation: X:81.16, Y:45.58, Z:32.18 [[-4.33190723e-01 -8.71592856e-01 2.29503139e-01 8.11606833e+01] [ 7.27686441e-01 -4.88463037e-01 -4.81535362e-01 4.55848239e+01] [ 5.31806582e-01 -4.15903295e-02 8.45843960e-01 3.21787688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.770714057 meters Centerline goodness : 0.995413 Centerline is valid? [True, True] Translation: X:81.16, Y:45.58, Z:32.18 [[-4.34709451e-01 -8.69891802e-01 2.33057817e-01 8.11618594e+01] [ 7.26291148e-01 -4.91653283e-01 -4.80393815e-01 4.55765594e+01] [ 5.32474283e-01 -3.95639020e-02 8.45521044e-01 3.21764306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.800714057 meters Centerline goodness : 0.995796 Centerline is valid? [True, True] Translation: X:81.16, Y:45.57, Z:32.18 [[-4.36850926e-01 -8.66205981e-01 2.42587030e-01 8.11563194e+01] [ 7.27356369e-01 -4.98818813e-01 -4.71309351e-01 4.55734808e+01] [ 5.29257953e-01 -2.94447050e-02 8.47949898e-01 3.21792360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.830714057 meters Centerline goodness : 0.995681 Centerline is valid? [True, True] Translation: X:81.15, Y:45.58, Z:32.18 [[-4.37914892e-01 -8.65150734e-01 2.44427402e-01 8.11526746e+01] [ 7.27100954e-01 -5.00732314e-01 -4.69671537e-01 4.55765208e+01] [ 5.28729374e-01 -2.79527632e-02 8.48330061e-01 3.21811479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.860714057 meters Centerline goodness : 0.995469 Centerline is valid? [True, True] Translation: X:81.16, Y:45.59, Z:32.18 [[-4.41386756e-01 -8.70668324e-01 2.17058521e-01 8.11567267e+01] [ 7.28852572e-01 -4.88970791e-01 -4.79250971e-01 4.55934748e+01] [ 5.23403916e-01 -5.33313700e-02 8.50414079e-01 3.21753214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.890714057 meters Centerline goodness : 0.995032 Centerline is valid? [True, True] Translation: X:81.15, Y:45.59, Z:32.18 [[-4.42815300e-01 -8.66089286e-01 2.31956803e-01 8.11501033e+01] [ 7.27646863e-01 -4.98288816e-01 -4.71421573e-01 4.55886473e+01] [ 5.23874654e-01 -3.99700458e-02 8.50857063e-01 3.21810051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.920714057 meters Centerline goodness : 0.995777 Centerline is valid? [True, True] Translation: X:81.14, Y:45.58, Z:32.18 [[-4.42823857e-01 -8.60523897e-01 2.51804796e-01 8.11414032e+01] [ 7.31242794e-01 -5.09130013e-01 -4.53950004e-01 4.55827068e+01] [ 5.18836205e-01 -1.68894488e-02 8.54706814e-01 3.21839392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.950714057 meters Centerline goodness : 0.994399 Centerline is valid? [True, True] Translation: X:81.16, Y:45.60, Z:32.16 [[-4.46891883e-01 -8.71708902e-01 2.01025459e-01 8.11593547e+01] [ 7.28507508e-01 -4.85036509e-01 -4.83752411e-01 4.55995196e+01] [ 5.19195970e-01 -6.97364698e-02 8.51805359e-01 3.21642718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.98071405699997 meters Centerline goodness : 0.994754 Centerline is valid? [True, True] Translation: X:81.15, Y:45.58, Z:32.18 [[-4.47663629e-01 -8.63199111e-01 2.33419300e-01 8.11485572e+01] [ 7.26949695e-01 -5.03321247e-01 -4.67131526e-01 4.55842579e+01] [ 5.20712412e-01 -3.94337053e-02 8.52820947e-01 3.21750548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.01071405699997 meters Centerline goodness : 0.995497 Centerline is valid? [True, True] Translation: X:81.15, Y:45.60, Z:32.18 [[-4.48334077e-01 -8.64730342e-01 2.26358104e-01 8.11454238e+01] [ 7.26331963e-01 -5.00030014e-01 -4.71605625e-01 4.55968014e+01] [ 5.20997539e-01 -4.70257465e-02 8.52261781e-01 3.21786347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.04071405699997 meters Centerline goodness : 0.994606 Centerline is valid? [True, True] Translation: X:81.15, Y:45.58, Z:32.16 [[-4.48807023e-01 -8.64239953e-01 2.27291796e-01 8.11532900e+01] [ 7.27572902e-01 -5.01069401e-01 -4.68579905e-01 4.55774148e+01] [ 5.18854439e-01 -4.49306008e-02 8.53681036e-01 3.21646208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.07071405699998 meters Centerline goodness : 0.995249 Centerline is valid? [True, True] Translation: X:81.15, Y:45.58, Z:32.17 [[-4.48068747e-01 -8.65919340e-01 2.22301811e-01 8.11525176e+01] [ 7.26892197e-01 -4.97630731e-01 -4.73277287e-01 4.55809090e+01] [ 5.20444168e-01 -5.04713091e-02 8.52402789e-01 3.21650488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.10071405699998 meters Centerline goodness : 0.994373 Centerline is valid? [True, True] Translation: X:81.15, Y:45.58, Z:32.16 [[-4.46917722e-01 -8.66495570e-01 2.22373506e-01 8.11514427e+01] [ 7.25709568e-01 -4.96524862e-01 -4.76244353e-01 4.55774687e+01] [ 5.23077597e-01 -5.14634602e-02 8.50729886e-01 3.21640929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.13071405699998 meters Centerline goodness : 0.994768 Centerline is valid? [True, True] Translation: X:81.15, Y:45.57, Z:32.16 [[-4.45576798e-01 -8.64588711e-01 2.32266395e-01 8.11504100e+01] [ 7.26733878e-01 -5.00830375e-01 -4.70134881e-01 4.55659573e+01] [ 5.22799377e-01 -4.06853370e-02 8.51484301e-01 3.21634328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.16071405699998 meters Centerline goodness : 0.995167 Centerline is valid? [True, True] Translation: X:81.14, Y:45.57, Z:32.17 [[-4.42023606e-01 -8.66907805e-01 2.30403968e-01 8.11442424e+01] [ 7.27607730e-01 -4.96739308e-01 -4.73114206e-01 4.55727297e+01] [ 5.24597105e-01 -4.14839392e-02 8.50339321e-01 3.21685475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.19071405699998 meters Centerline goodness : 0.994802 Centerline is valid? [True, True] Translation: X:81.15, Y:45.56, Z:32.16 [[-4.40486650e-01 -8.67824089e-01 2.29897501e-01 8.11479029e+01] [ 7.30154596e-01 -4.95301165e-01 -4.70692067e-01 4.55624258e+01] [ 5.22346414e-01 -3.94728545e-02 8.51819298e-01 3.21617564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.22071405699998 meters Centerline goodness : 0.994867 Centerline is valid? [True, True] Translation: X:81.13, Y:45.55, Z:32.17 [[-4.32362886e-01 -8.62971199e-01 2.61425026e-01 8.11327144e+01] [ 7.47713235e-01 -5.05170450e-01 -4.30961407e-01 4.55514695e+01] [ 5.03971480e-01 9.13923466e-03 8.63671941e-01 3.21683296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.25071405699998 meters Centerline goodness : 0.994053 Centerline is valid? [True, True] Translation: X:81.16, Y:45.57, Z:32.14 [[-4.30425063e-01 -8.81949374e-01 1.92092599e-01 8.11600808e+01] [ 7.48621965e-01 -4.67705113e-01 -4.69911779e-01 4.55711275e+01] [ 5.04281091e-01 -5.84570679e-02 8.61558676e-01 3.21365842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.28071405699998 meters Centerline goodness : 0.994628 Centerline is valid? [True, True] Translation: X:81.14, Y:45.57, Z:32.16 [[-4.29951108e-01 -8.76395310e-01 2.16963835e-01 8.11424172e+01] [ 7.41189609e-01 -4.79841223e-01 -4.69457521e-01 4.55701900e+01] [ 5.15538561e-01 -4.10324415e-02 8.55883363e-01 3.21581908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.31071405699998 meters Centerline goodness : 0.994998 Centerline is valid? [True, True] Translation: X:81.14, Y:45.55, Z:32.16 [[-4.26569806e-01 -8.72393697e-01 2.38678523e-01 8.11394212e+01] [ 7.42034937e-01 -4.88444291e-01 -4.59136501e-01 4.55504611e+01] [ 5.17128951e-01 -1.87459654e-02 8.55702189e-01 3.21586690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.34071405699999 meters Centerline goodness : 0.995003 Centerline is valid? [True, True] Translation: X:81.14, Y:45.56, Z:32.15 [[-4.21952119e-01 -8.79354534e-01 2.20662668e-01 8.11426737e+01] [ 7.46629373e-01 -4.75109787e-01 -4.65634266e-01 4.55613959e+01] [ 5.14296596e-01 -3.17221363e-02 8.57025505e-01 3.21513656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.370714057 meters Centerline goodness : 0.994593 Centerline is valid? [True, True] Translation: X:81.14, Y:45.55, Z:32.15 [[-4.20280389e-01 -8.79209668e-01 2.24398652e-01 8.11443638e+01] [ 7.49006983e-01 -4.75739406e-01 -4.61151339e-01 4.55533983e+01] [ 5.12203997e-01 -2.57367067e-02 8.58478123e-01 3.21470873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.400714057 meters Centerline goodness : 0.993879 Centerline is valid? [True, True] Translation: X:81.15, Y:45.56, Z:32.14 [[-4.16820826e-01 -8.85678825e-01 2.04532193e-01 8.11515714e+01] [ 7.54046297e-01 -4.62559665e-01 -4.66318281e-01 4.55600116e+01] [ 5.07616570e-01 -4.01444283e-02 8.60647340e-01 3.21368219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.430714057 meters Centerline goodness : 0.994548 Centerline is valid? [True, True] Translation: X:81.14, Y:45.54, Z:32.14 [[-4.13481313e-01 -8.78150170e-01 2.40594022e-01 8.11411184e+01] [ 7.62523437e-01 -4.78373271e-01 -4.35565176e-01 4.55380792e+01] [ 4.97585382e-01 3.36051992e-03 8.67408493e-01 3.21428523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.460714057 meters Centerline goodness : 0.994565 Centerline is valid? [True, True] Translation: X:81.15, Y:45.55, Z:32.14 [[-4.10860831e-01 -8.85278443e-01 2.17888633e-01 8.11454931e+01] [ 7.60503978e-01 -4.64601659e-01 -4.53628701e-01 4.55536990e+01] [ 5.02819130e-01 -2.06730932e-02 8.64144401e-01 3.21383951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.490714057 meters Centerline goodness : 0.993729 Centerline is valid? [True, True] Translation: X:81.17, Y:45.56, Z:32.12 [[-4.13182108e-01 -8.94404962e-01 1.71231744e-01 8.11681529e+01] [ 7.53291005e-01 -4.41345167e-01 -4.87613685e-01 4.55612193e+01] [ 5.11696402e-01 -7.24859178e-02 8.56103139e-01 3.21178689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.520714057 meters Centerline goodness : 0.994440 Centerline is valid? [True, True] Translation: X:81.14, Y:45.52, Z:32.14 [[-4.10808820e-01 -8.75052145e-01 2.55968467e-01 8.11400423e+01] [ 7.61282640e-01 -4.83713353e-01 -4.31821877e-01 4.55227189e+01] [ 5.01682025e-01 1.74681150e-02 8.64875720e-01 3.21421098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.550714057 meters Centerline goodness : 0.994168 Centerline is valid? [True, True] Translation: X:81.16, Y:45.56, Z:32.13 [[-4.12708255e-01 -8.90601862e-01 1.91050304e-01 8.11595961e+01] [ 7.53701284e-01 -4.51680809e-01 -4.77408442e-01 4.55571386e+01] [ 5.11474604e-01 -5.30355452e-02 8.57660166e-01 3.21254580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.580714057 meters Centerline goodness : 0.995389 Centerline is valid? [True, True] Translation: X:81.16, Y:45.56, Z:32.14 [[-0.42826404 -0.88546537 0.18039122 81.16103014] [ 0.72276942 -0.45546382 -0.51976636 45.55713182] [ 0.54239678 -0.09221599 0.83504607 32.13569986] [ 0. 0. 0. 1. ]] SLAMing on 181.610714057 meters Centerline goodness : 0.994277 Centerline is valid? [True, True] Translation: X:81.14, Y:45.52, Z:32.16 [[-4.20320062e-01 -8.67084186e-01 2.67387470e-01 8.11352778e+01] [ 7.41703646e-01 -4.98070948e-01 -4.49222697e-01 4.55235678e+01] [ 5.22691828e-01 9.50494953e-03 8.52468714e-01 3.21598629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.640714057 meters Centerline goodness : 0.994615 Centerline is valid? [True, True] Translation: X:81.14, Y:45.54, Z:32.16 [[-4.22060044e-01 -8.73974811e-01 2.40901120e-01 8.11403247e+01] [ 7.36337211e-01 -4.85494375e-01 -4.71277756e-01 4.55402845e+01] [ 5.28841026e-01 -2.15230512e-02 8.48447952e-01 3.21559170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.670714057 meters Centerline goodness : 0.994265 Centerline is valid? [True, True] Translation: X:81.15, Y:45.54, Z:32.15 [[-4.23599768e-01 -8.78798054e-01 2.19720770e-01 8.11508100e+01] [ 7.31171372e-01 -4.74892514e-01 -4.89760680e-01 4.55423972e+01] [ 5.34744482e-01 -4.68089738e-02 8.43716338e-01 3.21475359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.700714057 meters Centerline goodness : 0.994747 Centerline is valid? [True, True] Translation: X:81.15, Y:45.51, Z:32.14 [[-4.20291301e-01 -8.72461189e-01 2.49332499e-01 8.11505195e+01] [ 7.37751350e-01 -4.88539384e-01 -4.65888631e-01 4.55113657e+01] [ 5.28278495e-01 -1.18635511e-02 8.48988273e-01 3.21446949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.73071405699997 meters Centerline goodness : 0.994079 Centerline is valid? [True, True] Translation: X:81.16, Y:45.53, Z:32.14 [[-4.23663006e-01 -8.79899555e-01 2.15142817e-01 8.11577734e+01] [ 7.34303307e-01 -4.72685205e-01 -4.87203603e-01 4.55345306e+01] [ 5.30385060e-01 -4.84300610e-02 8.46372387e-01 3.21398313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.76071405699997 meters Centerline goodness : 0.994323 Centerline is valid? [True, True] Translation: X:81.16, Y:45.52, Z:32.14 [[-4.24109907e-01 -8.74859290e-01 2.33991471e-01 8.11554582e+01] [ 7.30236332e-01 -4.83184108e-01 -4.82998983e-01 4.55192106e+01] [ 5.35617108e-01 -3.39755804e-02 8.43777206e-01 3.21447890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.79071405699997 meters Centerline goodness : 0.994225 Centerline is valid? [True, True] Translation: X:81.16, Y:45.51, Z:32.15 [[-4.25578224e-01 -8.71734547e-01 2.42821035e-01 8.11558229e+01] [ 7.25978565e-01 -4.89091272e-01 -4.83471665e-01 4.55087877e+01] [ 5.40220602e-01 -2.94721464e-02 8.41007190e-01 3.21472071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.82071405699998 meters Centerline goodness : 0.995538 Centerline is valid? [True, True] Translation: X:81.14, Y:45.52, Z:32.17 [[-4.25505074e-01 -8.66737479e-01 2.60214479e-01 8.11400569e+01] [ 7.26577079e-01 -4.98618320e-01 -4.72721397e-01 4.55189532e+01] [ 5.39473058e-01 -1.20794767e-02 8.41916211e-01 3.21666467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.85071405699998 meters Centerline goodness : 0.994704 Centerline is valid? [True, True] Translation: X:81.15, Y:45.53, Z:32.16 [[-4.27502559e-01 -8.70649772e-01 2.43332151e-01 8.11466688e+01] [ 7.25467817e-01 -4.91008897e-01 -4.82293178e-01 4.55250435e+01] [ 5.39386697e-01 -2.96519235e-02 8.41535950e-01 3.21593292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.88071405699998 meters Centerline goodness : 0.994704 Centerline is valid? [True, True] Translation: X:81.15, Y:45.52, Z:32.16 [[-4.27780785e-01 -8.69740882e-01 2.46078034e-01 8.11469431e+01] [ 7.25232331e-01 -4.92756296e-01 -4.80863077e-01 4.55218676e+01] [ 5.39482777e-01 -2.72402385e-02 8.41555882e-01 3.21589753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.91071405699998 meters Centerline goodness : 0.994805 Centerline is valid? [True, True] Translation: X:81.14, Y:45.55, Z:32.18 [[-4.31140023e-01 -8.69509016e-01 2.40982056e-01 8.11370081e+01] [ 7.19992478e-01 -4.92507410e-01 -4.88924619e-01 4.55506523e+01] [ 5.43809813e-01 -3.72897037e-02 8.38379607e-01 3.21775185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.94071405699998 meters Centerline goodness : 0.993803 Centerline is valid? [True, True] Translation: X:81.16, Y:45.51, Z:32.15 [[-4.34663570e-01 -8.66476339e-01 2.45532755e-01 8.11571568e+01] [ 7.20601107e-01 -4.98146423e-01 -4.82269826e-01 4.55135169e+01] [ 5.40186658e-01 -3.26939492e-02 8.40909912e-01 3.21516099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.97071405699998 meters Centerline goodness : 0.994252 Centerline is valid? [True, True] Translation: X:81.16, Y:45.52, Z:32.16 [[-4.36630635e-01 -8.65150383e-01 2.46715430e-01 8.11561924e+01] [ 7.15913128e-01 -5.00215163e-01 -4.87086424e-01 4.55164748e+01] [ 5.44813805e-01 -3.60500394e-02 8.37781781e-01 3.21565383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.00071405699998 meters Centerline goodness : 0.994847 Centerline is valid? [True, True] Translation: X:81.15, Y:45.52, Z:32.17 [[-4.38099731e-01 -8.59082629e-01 2.64661410e-01 8.11454808e+01] [ 7.11511498e-01 -5.11326990e-01 -4.81971054e-01 4.55231601e+01] [ 5.49381483e-01 -2.28417526e-02 8.35259385e-01 3.21729970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.03071405699998 meters Centerline goodness : 0.995337 Centerline is valid? [True, True] Translation: X:81.16, Y:45.51, Z:32.16 [[-4.39553612e-01 -8.61506761e-01 2.54162790e-01 8.11593389e+01] [ 7.10075171e-01 -5.06573188e-01 -4.89057110e-01 4.55103707e+01] [ 5.50078062e-01 -3.44921324e-02 8.34400635e-01 3.21558588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.06071405699998 meters Centerline goodness : 0.994836 Centerline is valid? [True, True] Translation: X:81.16, Y:45.51, Z:32.16 [[-4.41967326e-01 -8.60062068e-01 2.54868835e-01 8.11598807e+01] [ 7.07771692e-01 -5.08906142e-01 -4.89973234e-01 4.55142916e+01] [ 5.51111709e-01 -3.61632137e-02 8.33647471e-01 3.21570291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.09071405699999 meters Centerline goodness : 0.994822 Centerline is valid? [True, True] Translation: X:81.17, Y:45.51, Z:32.15 [[-4.43502699e-01 -8.60125891e-01 2.51969854e-01 8.11655282e+01] [ 7.09567521e-01 -5.08704952e-01 -4.87578923e-01 4.55097432e+01] [ 5.47557568e-01 -3.74529434e-02 8.35929415e-01 3.21498277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.120714057 meters Centerline goodness : 0.994995 Centerline is valid? [True, True] Translation: X:81.17, Y:45.50, Z:32.15 [[-4.44044480e-01 -8.58182200e-01 2.57580689e-01 8.11655803e+01] [ 7.08532089e-01 -5.12283084e-01 -4.85333206e-01 4.55044729e+01] [ 5.48458548e-01 -3.30053477e-02 8.35526102e-01 3.21514807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.150714057 meters Centerline goodness : 0.995217 Centerline is valid? [True, True] Translation: X:81.16, Y:45.51, Z:32.15 [[-4.42792419e-01 -8.58133193e-01 2.59889009e-01 8.11632720e+01] [ 7.11010050e-01 -5.12644544e-01 -4.81311002e-01 4.55055473e+01] [ 5.46259629e-01 -2.83371653e-02 8.37136442e-01 3.21532924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.180714057 meters Centerline goodness : 0.994713 Centerline is valid? [True, True] Translation: X:81.16, Y:45.51, Z:32.16 [[-4.43314699e-01 -8.58845377e-01 2.56625597e-01 8.11595850e+01] [ 7.11007838e-01 -5.11261636e-01 -4.82782967e-01 4.55144445e+01] [ 5.45838742e-01 -3.15619747e-02 8.37295593e-01 3.21579081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.210714057 meters Centerline goodness : 0.995445 Centerline is valid? [True, True] Translation: X:81.17, Y:45.49, Z:32.15 [[-4.40266864e-01 -8.56386183e-01 2.69755065e-01 8.11665387e+01] [ 7.14674878e-01 -5.16116288e-01 -4.72084522e-01 4.54891177e+01] [ 5.43511644e-01 -1.50560035e-02 8.39266590e-01 3.21455193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.240714057 meters Centerline goodness : 0.995278 Centerline is valid? [True, True] Translation: X:81.17, Y:45.51, Z:32.14 [[-4.42648766e-01 -8.63461487e-01 2.41860145e-01 8.11727993e+01] [ 7.13356102e-01 -5.02519476e-01 -4.88464173e-01 4.55056816e+01] [ 5.43309435e-01 -4.36856533e-02 8.38395146e-01 3.21399242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.270714057 meters Centerline goodness : 0.995408 Centerline is valid? [True, True] Translation: X:81.17, Y:45.49, Z:32.14 [[-4.42118885e-01 -8.60955542e-01 2.51567976e-01 8.11738470e+01] [ 7.14849523e-01 -5.07621446e-01 -4.80947634e-01 4.54932952e+01] [ 5.41775831e-01 -3.28027841e-02 8.39882686e-01 3.21374934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.300714057 meters Centerline goodness : 0.995166 Centerline is valid? [True, True] Translation: X:81.18, Y:45.50, Z:32.14 [[-4.45464669e-01 -8.63346037e-01 2.37054526e-01 8.11762282e+01] [ 7.14453105e-01 -5.02363661e-01 -4.87019006e-01 4.55018686e+01] [ 5.39553509e-01 -4.75854182e-02 8.40605519e-01 3.21364892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.330714057 meters Centerline goodness : 0.994539 Centerline is valid? [True, True] Translation: X:81.17, Y:45.49, Z:32.14 [[-4.48915758e-01 -8.56720608e-01 2.53977249e-01 8.11711879e+01] [ 7.11179930e-01 -5.14633925e-01 -4.78931134e-01 4.54923363e+01] [ 5.41015481e-01 -3.43762106e-02 8.40309780e-01 3.21424582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.360714057 meters Centerline goodness : 0.995725 Centerline is valid? [True, True] Translation: X:81.17, Y:45.49, Z:32.15 [[-4.49957649e-01 -8.53462001e-01 2.62946245e-01 8.11675824e+01] [ 7.08462109e-01 -5.20390328e-01 -4.76734041e-01 4.54897159e+01] [ 5.43709071e-01 -2.82226767e-02 8.38799098e-01 3.21470805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.390714057 meters Centerline goodness : 0.995536 Centerline is valid? [True, True] Translation: X:81.18, Y:45.49, Z:32.13 [[-4.54731282e-01 -8.57059256e-01 2.42216624e-01 8.11777950e+01] [ 7.09315000e-01 -5.12973762e-01 -4.83456461e-01 4.54946694e+01] [ 5.38601608e-01 -4.80348917e-02 8.41190203e-01 3.21346467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.420714057 meters Centerline goodness : 0.995657 Centerline is valid? [True, True] Translation: X:81.17, Y:45.49, Z:32.14 [[-4.55821807e-01 -8.52812707e-01 2.54827328e-01 8.11728789e+01] [ 7.07695090e-01 -5.20887578e-01 -4.77329855e-01 4.54932650e+01] [ 5.39809356e-01 -3.72373081e-02 8.40963282e-01 3.21404911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.450714057 meters Centerline goodness : 0.995361 Centerline is valid? [True, True] Translation: X:81.16, Y:45.52, Z:32.16 [[-4.58976146e-01 -8.51955283e-01 2.52018040e-01 8.11602774e+01] [ 7.04946191e-01 -5.21862580e-01 -4.80323137e-01 4.55188929e+01] [ 5.40732619e-01 -4.27977050e-02 8.40105107e-01 3.21580826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.48071405699997 meters Centerline goodness : 0.995325 Centerline is valid? [True, True] Translation: X:81.16, Y:45.52, Z:32.16 [[-4.58516589e-01 -8.50767294e-01 2.56822018e-01 8.11573739e+01] [ 7.06071912e-01 -5.24242295e-01 -4.76059315e-01 4.55188579e+01] [ 5.39652659e-01 -3.69462800e-02 8.41076679e-01 3.21614262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.51071405699997 meters Centerline goodness : 0.993654 Centerline is valid? [True, True] Translation: X:81.19, Y:45.47, Z:32.12 [[-4.57901509e-01 -8.52211832e-01 2.53103145e-01 8.11888110e+01] [ 7.10821853e-01 -5.21958310e-01 -4.71478330e-01 4.54668883e+01] [ 5.33908701e-01 -3.59793918e-02 8.44776291e-01 3.21175836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.54071405699997 meters Centerline goodness : 0.994622 Centerline is valid? [True, True] Translation: X:81.17, Y:45.49, Z:32.14 [[-4.56610789e-01 -8.52914294e-01 2.53068754e-01 8.11746535e+01] [ 7.09534533e-01 -5.20722073e-01 -4.74772861e-01 4.54893661e+01] [ 5.36719046e-01 -3.72253898e-02 8.42939462e-01 3.21366203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.57071405699998 meters Centerline goodness : 0.995122 Centerline is valid? [True, True] Translation: X:81.18, Y:45.48, Z:32.13 [[-4.52674266e-01 -8.55260410e-01 2.52221410e-01 8.11794142e+01] [ 7.12078630e-01 -5.16985112e-01 -4.75047807e-01 4.54802028e+01] [ 5.36684296e-01 -3.54404407e-02 8.43038517e-01 3.21280277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.60071405699998 meters Centerline goodness : 0.993584 Centerline is valid? [True, True] Translation: X:81.18, Y:45.47, Z:32.12 [[-4.54402528e-01 -8.55414739e-01 2.48563806e-01 8.11845203e+01] [ 7.10684687e-01 -5.16360459e-01 -4.77806606e-01 4.54739219e+01] [ 5.37071335e-01 -4.04660392e-02 8.42565654e-01 3.21226254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.63071405699998 meters Centerline goodness : 0.994195 Centerline is valid? [True, True] Translation: X:81.18, Y:45.47, Z:32.13 [[-4.52229682e-01 -8.54643288e-01 2.55094424e-01 8.11812401e+01] [ 7.11437493e-01 -5.18152687e-01 -4.74736229e-01 4.54693837e+01] [ 5.37907993e-01 -3.32060763e-02 8.42349303e-01 3.21252886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.66071405699998 meters Centerline goodness : 0.993966 Centerline is valid? [True, True] Translation: X:81.18, Y:45.47, Z:32.12 [[-4.51442664e-01 -8.55101085e-01 2.54954224e-01 8.11809245e+01] [ 7.12464524e-01 -5.17452993e-01 -4.73958544e-01 4.54682282e+01] [ 5.37209291e-01 -3.23192677e-02 8.42829545e-01 3.21241898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.69071405699998 meters Centerline goodness : 0.993816 Centerline is valid? [True, True] Translation: X:81.18, Y:45.47, Z:32.13 [[-4.48282288e-01 -8.55946904e-01 2.57677878e-01 8.11787838e+01] [ 7.16502541e-01 -5.16429600e-01 -4.68961169e-01 4.54662126e+01] [ 5.34478344e-01 -2.56001310e-02 8.44794374e-01 3.21257066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.72071405699998 meters Centerline goodness : 0.994150 Centerline is valid? [True, True] Translation: X:81.19, Y:45.46, Z:32.11 [[-4.47726800e-01 -8.59553236e-01 2.46391857e-01 8.11866551e+01] [ 7.17027108e-01 -5.09763664e-01 -4.75408385e-01 4.54631067e+01] [ 5.34240431e-01 -3.61834341e-02 8.44557826e-01 3.21147707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.75071405699998 meters Centerline goodness : 0.994472 Centerline is valid? [True, True] Translation: X:81.19, Y:45.45, Z:32.11 [[-4.46179141e-01 -8.56731166e-01 2.58719699e-01 8.11852230e+01] [ 7.22376571e-01 -5.15420772e-01 -4.60991885e-01 4.54520084e+01] [ 5.28295622e-01 -1.87919140e-02 8.48852519e-01 3.21128458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.78071405699998 meters Centerline goodness : 0.994142 Centerline is valid? [True, True] Translation: X:81.19, Y:45.47, Z:32.11 [[-4.47214443e-01 -8.61255562e-01 2.41325713e-01 8.11866375e+01] [ 7.22774026e-01 -5.06920905e-01 -4.69711511e-01 4.54663869e+01] [ 5.26874700e-01 -3.56378149e-02 8.49195500e-01 3.21108401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.81071405699998 meters Centerline goodness : 0.994555 Centerline is valid? [True, True] Translation: X:81.19, Y:45.46, Z:32.11 [[-4.47457326e-01 -8.62097419e-01 2.37844447e-01 8.11904169e+01] [ 7.21203367e-01 -5.05114854e-01 -4.74051356e-01 4.54623263e+01] [ 5.28817214e-01 -4.05835367e-02 8.47764903e-01 3.21058459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.84071405699999 meters Centerline goodness : 0.994023 Centerline is valid? [True, True] Translation: X:81.19, Y:45.46, Z:32.11 [[-4.48793513e-01 -8.59672114e-01 2.44025078e-01 8.11862535e+01] [ 7.18494410e-01 -5.09492584e-01 -4.73479767e-01 4.54637634e+01] [ 5.31366320e-01 -3.71639938e-02 8.46326575e-01 3.21119393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.870714057 meters Centerline goodness : 0.994911 Centerline is valid? [True, True] Translation: X:81.19, Y:45.46, Z:32.11 [[-4.48130499e-01 -8.58541232e-01 2.49170644e-01 8.11860563e+01] [ 7.19078986e-01 -5.11775982e-01 -4.70117810e-01 4.54595221e+01] [ 5.31135075e-01 -3.15007548e-02 8.46701385e-01 3.21109608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.900714057 meters Centerline goodness : 0.995055 Centerline is valid? [True, True] Translation: X:81.19, Y:45.45, Z:32.10 [[-4.47529397e-01 -8.59669151e-01 2.46346078e-01 8.11939651e+01] [ 7.21205298e-01 -5.09834674e-01 -4.68968573e-01 4.54477552e+01] [ 5.28753587e-01 -3.22111260e-02 8.48163951e-01 3.20989552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.930714057 meters Centerline goodness : 0.995856 Centerline is valid? [True, True] Translation: X:81.18, Y:45.47, Z:32.12 [[-4.58155802e-01 -8.56215849e-01 2.38720925e-01 8.11823885e+01] [ 7.01836711e-01 -5.13265517e-01 -4.93947102e-01 4.54687208e+01] [ 5.45452556e-01 -5.87616215e-02 8.36079291e-01 3.21185807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.960714057 meters Centerline goodness : 0.995318 Centerline is valid? [True, True] Translation: X:81.18, Y:45.46, Z:32.13 [[-4.57883363e-01 -8.49847197e-01 2.60964688e-01 8.11770627e+01] [ 7.01164731e-01 -5.25687901e-01 -4.81684805e-01 4.54568144e+01] [ 5.46544460e-01 -3.75762234e-02 8.36586625e-01 3.21261349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.990714057 meters Centerline goodness : 0.995013 Centerline is valid? [True, True] Translation: X:81.18, Y:45.44, Z:32.12 [[-4.47449466e-01 -8.50336602e-01 2.76977687e-01 8.11809494e+01] [ 7.19271416e-01 -5.26225936e-01 -4.53580087e-01 4.54426537e+01] [ 5.31448592e-01 -3.73203424e-03 8.47082325e-01 3.21177321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.020714057 meters Centerline goodness : 0.995268 Centerline is valid? [True, True] Translation: X:81.19, Y:45.47, Z:32.11 [[-4.58871086e-01 -8.60202910e-01 2.22459613e-01 8.11899908e+01] [ 7.02683460e-01 -5.04573421e-01 -5.01638932e-01 4.54725580e+01] [ 5.43758477e-01 -7.38689105e-02 8.35984511e-01 3.21108633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.050714057 meters Centerline goodness : 0.995176 Centerline is valid? [True, True] Translation: X:81.18, Y:45.43, Z:32.11 [[-4.45919249e-01 -8.48559677e-01 2.84785005e-01 8.11844023e+01] [ 7.23248848e-01 -5.29038656e-01 -4.43879719e-01 4.54289965e+01] [ 5.27320707e-01 8.03591621e-03 8.49628328e-01 3.21114741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.080714057 meters Centerline goodness : 0.995091 Centerline is valid? [True, True] Translation: X:81.20, Y:45.47, Z:32.10 [[-4.49229331e-01 -8.65784250e-01 2.20478208e-01 8.11956921e+01] [ 7.16272976e-01 -4.96518283e-01 -4.90329092e-01 4.54734510e+01] [ 5.33990667e-01 -6.23476281e-02 8.43188437e-01 3.21029933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.110714057 meters Centerline goodness : 0.995273 Centerline is valid? [True, True] Translation: X:81.19, Y:45.45, Z:32.11 [[-4.48001180e-01 -8.58697494e-01 2.48864534e-01 8.11929011e+01] [ 7.16459703e-01 -5.11333001e-01 -4.74577766e-01 4.54503135e+01] [ 5.34771387e-01 -3.43099891e-02 8.44299939e-01 3.21054275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.140714057 meters Centerline goodness : 0.994796 Centerline is valid? [True, True] Translation: X:81.20, Y:45.46, Z:32.10 [[-4.49118390e-01 -8.63611807e-01 2.29057458e-01 8.11996202e+01] [ 7.17137370e-01 -5.01347031e-01 -4.84112742e-01 4.54611103e+01] [ 5.32922756e-01 -5.31582720e-02 8.44492471e-01 3.20998800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.170714057 meters Centerline goodness : 0.995207 Centerline is valid? [True, True] Translation: X:81.19, Y:45.45, Z:32.12 [[-4.47134148e-01 -8.54951706e-01 2.62923248e-01 8.11860630e+01] [ 7.16718629e-01 -5.18315462e-01 -4.66544198e-01 4.54519543e+01] [ 5.35149943e-01 -2.01658523e-02 8.44516357e-01 3.21160495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.200714057 meters Centerline goodness : 0.995223 Centerline is valid? [True, True] Translation: X:81.20, Y:45.46, Z:32.11 [[-4.47037784e-01 -8.61411851e-01 2.41095092e-01 8.11954611e+01] [ 7.15730373e-01 -5.06120455e-01 -4.81219407e-01 4.54575074e+01] [ 5.36551258e-01 -4.25641773e-02 8.42793592e-01 3.21056671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.23071405699997 meters Centerline goodness : 0.994717 Centerline is valid? [True, True] Translation: X:81.20, Y:45.45, Z:32.11 [[-4.47135062e-01 -8.59724929e-01 2.46866933e-01 8.11950733e+01] [ 7.15248480e-01 -5.09388085e-01 -4.78480293e-01 4.54520930e+01] [ 5.37112510e-01 -3.73741173e-02 8.42682222e-01 3.21072384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.26071405699997 meters Centerline goodness : 0.995547 Centerline is valid? [True, True] Translation: X:81.18, Y:45.47, Z:32.12 [[-4.47815138e-01 -8.57725056e-01 2.52525901e-01 8.11828424e+01] [ 7.16586551e-01 -5.13198598e-01 -4.72367351e-01 4.54688791e+01] [ 5.34757251e-01 -3.05765862e-02 8.44452340e-01 3.21218537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.29071405699997 meters Centerline goodness : 0.995620 Centerline is valid? [True, True] Translation: X:81.20, Y:45.46, Z:32.11 [[-4.48820329e-01 -8.59588537e-01 2.44270055e-01 8.11966001e+01] [ 7.16986991e-01 -5.09544417e-01 -4.75703839e-01 4.54555103e+01] [ 5.33376010e-01 -3.83671023e-02 8.45007691e-01 3.21053612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.32071405699998 meters Centerline goodness : 0.995213 Centerline is valid? [True, True] Translation: X:81.19, Y:45.47, Z:32.11 [[-4.50579075e-01 -8.58606069e-01 2.44487455e-01 8.11910363e+01] [ 7.14335801e-01 -5.11011241e-01 -4.78112827e-01 4.54698778e+01] [ 5.35446412e-01 -4.07814931e-02 8.43584026e-01 3.21147346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.35071405699998 meters Centerline goodness : 0.995729 Centerline is valid? [True, True] Translation: X:81.20, Y:45.45, Z:32.10 [[-4.51089335e-01 -8.56294947e-01 2.51549947e-01 8.11991426e+01] [ 7.14413472e-01 -5.15381181e-01 -4.73281766e-01 4.54494223e+01] [ 5.34912893e-01 -3.37816863e-02 8.44231600e-01 3.21038372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.38071405699998 meters Centerline goodness : 0.995860 Centerline is valid? [True, True] Translation: X:81.20, Y:45.46, Z:32.11 [[-4.59617338e-01 -8.56544782e-01 2.34697549e-01 8.12009733e+01] [ 7.00993832e-01 -5.12140022e-01 -4.96306604e-01 4.54599387e+01] [ 5.45306840e-01 -6.35895858e-02 8.35821042e-01 3.21063591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.41071405699998 meters Centerline goodness : 0.995566 Centerline is valid? [True, True] Translation: X:81.21, Y:45.42, Z:32.09 [[-4.49749158e-01 -8.49022284e-01 2.77284793e-01 8.12064318e+01] [ 7.16873932e-01 -5.28324899e-01 -4.54933585e-01 4.54166976e+01] [ 5.32745212e-01 -5.82775714e-03 8.46255621e-01 3.20942986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.44071405699998 meters Centerline goodness : 0.995956 Centerline is valid? [True, True] Translation: X:81.20, Y:45.47, Z:32.11 [[-4.61632332e-01 -8.57130924e-01 2.28521703e-01 8.12025307e+01] [ 7.00337799e-01 -5.10267395e-01 -4.99153436e-01 4.54684795e+01] [ 5.44447021e-01 -7.03829778e-02 8.35837112e-01 3.21069068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.47071405699998 meters Centerline goodness : 0.996780 Centerline is valid? [True, True] Translation: X:81.21, Y:45.41, Z:32.09 [[-4.51118611e-01 -8.47303188e-01 2.80302171e-01 8.12097183e+01] [ 7.16637179e-01 -5.31100690e-01 -4.52065494e-01 4.54129571e+01] [ 5.31905211e-01 -3.06020066e-03 8.46798372e-01 3.20930873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.50071405699998 meters Centerline goodness : 0.996392 Centerline is valid? [True, True] Translation: X:81.22, Y:45.45, Z:32.09 [[-4.55109826e-01 -8.59725251e-01 2.31835156e-01 8.12176789e+01] [ 7.11298525e-01 -5.07638250e-01 -4.86166447e-01 4.54475312e+01] [ 5.35657964e-01 -5.63551229e-02 8.42552459e-01 3.20885756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.53071405699998 meters Centerline goodness : 0.995566 Centerline is valid? [True, True] Translation: X:81.21, Y:45.45, Z:32.10 [[-4.61547606e-01 -8.54126584e-01 2.39669744e-01 8.12096467e+01] [ 7.00436283e-01 -5.16663162e-01 -4.92390282e-01 4.54470782e+01] [ 5.44392157e-01 -5.93881717e-02 8.36725895e-01 3.21006304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.56071405699998 meters Centerline goodness : 0.995391 Centerline is valid? [True, True] Translation: X:81.21, Y:45.41, Z:32.09 [[-4.51875612e-01 -8.48342359e-01 2.75905189e-01 8.12116948e+01] [ 7.12847630e-01 -5.29329296e-01 -4.60063857e-01 4.54135464e+01] [ 5.36336357e-01 -1.12132767e-02 8.43929840e-01 3.20944378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.59071405699999 meters Centerline goodness : 0.995898 Centerline is valid? [True, True] Translation: X:81.21, Y:45.46, Z:32.11 [[-4.60265292e-01 -8.56306981e-01 2.34295145e-01 8.12053407e+01] [ 7.00583890e-01 -5.12434338e-01 -4.96581576e-01 4.54606610e+01] [ 5.45287148e-01 -6.44158599e-02 8.35770616e-01 3.21071724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.620714057 meters Centerline goodness : 0.995609 Centerline is valid? [True, True] Translation: X:81.20, Y:45.44, Z:32.12 [[-4.52300378e-01 -8.48242220e-01 2.75516795e-01 8.11966608e+01] [ 7.10997391e-01 -5.29438166e-01 -4.62793624e-01 4.54413013e+01] [ 5.38430197e-01 -1.34300081e-02 8.42563088e-01 3.21163153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.650714057 meters Centerline goodness : 0.995391 Centerline is valid? [True, True] Translation: X:81.22, Y:45.43, Z:32.09 [[-4.53260036e-01 -8.57083468e-01 2.44873986e-01 8.12189775e+01] [ 7.11380549e-01 -5.13348668e-01 -4.80011312e-01 4.54311510e+01] [ 5.37115495e-01 -4.33713536e-02 8.42392943e-01 3.20882989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.680714057 meters Centerline goodness : 0.994932 Centerline is valid? [True, True] Translation: X:81.21, Y:45.44, Z:32.10 [[-4.60150796e-01 -8.54139784e-01 2.42294189e-01 8.12106069e+01] [ 7.00858660e-01 -5.16983943e-01 -4.91451667e-01 4.54432414e+01] [ 5.45030626e-01 -5.63278949e-02 8.36521837e-01 3.21019895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.710714057 meters Centerline goodness : 0.994952 Centerline is valid? [True, True] Translation: X:81.21, Y:45.43, Z:32.10 [[-4.54881897e-01 -8.50932205e-01 2.62672500e-01 8.12078840e+01] [ 7.11724957e-01 -5.24654944e-01 -4.67102532e-01 4.54332410e+01] [ 5.35285013e-01 -2.55259127e-02 8.44285723e-01 3.21033822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.740714057 meters Centerline goodness : 0.995565 Centerline is valid? [True, True] Translation: X:81.21, Y:45.44, Z:32.10 [[-4.54581010e-01 -8.50779127e-01 2.63687283e-01 8.12065255e+01] [ 7.12385892e-01 -5.24981357e-01 -4.65726224e-01 4.54377706e+01] [ 5.34661058e-01 -2.38631967e-02 8.44729602e-01 3.21037713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.770714057 meters Centerline goodness : 0.995565 Centerline is valid? [True, True] Translation: X:81.21, Y:45.44, Z:32.10 [[-4.54938957e-01 -8.55276499e-01 2.48057765e-01 8.12120082e+01] [ 7.12810994e-01 -5.16706886e-01 -4.74251495e-01 4.54434273e+01] [ 5.33789314e-01 -3.89371787e-02 8.44720584e-01 3.20969060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.800714057 meters Centerline goodness : 0.995384 Centerline is valid? [True, True] Translation: X:81.21, Y:45.45, Z:32.10 [[-4.56809459e-01 -8.58113653e-01 2.34448452e-01 8.12136669e+01] [ 7.10753089e-01 -5.10568747e-01 -4.83890071e-01 4.54542508e+01] [ 5.34934729e-01 -5.44105999e-02 8.43139563e-01 3.20980098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.830714057 meters Centerline goodness : 0.995870 Centerline is valid? [True, True] Translation: X:81.22, Y:45.42, Z:32.09 [[-4.54765637e-01 -8.52844012e-01 2.56603405e-01 8.12174212e+01] [ 7.14206124e-01 -5.21353538e-01 -4.67011885e-01 4.54236750e+01] [ 5.32069383e-01 -2.91132341e-02 8.46200090e-01 3.20901983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.860714057 meters Centerline goodness : 0.995646 Centerline is valid? [True, True] Translation: X:81.22, Y:45.42, Z:32.09 [[-4.54141722e-01 -8.53389675e-01 2.55893258e-01 8.12169899e+01] [ 7.11916248e-01 -5.20288412e-01 -4.71672793e-01 4.54231423e+01] [ 5.35658988e-01 -3.20317260e-02 8.43826651e-01 3.20913458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.890714057 meters Centerline goodness : 0.996229 Centerline is valid? [True, True] Translation: X:81.21, Y:45.43, Z:32.10 [[-4.53054331e-01 -8.55654885e-01 2.50192906e-01 8.12142452e+01] [ 7.12675152e-01 -5.16230956e-01 -4.74973397e-01 4.54331942e+01] [ 5.35570631e-01 -3.68824871e-02 8.43684646e-01 3.20959502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.920714057 meters Centerline goodness : 0.995087 Centerline is valid? [True, True] Translation: X:81.22, Y:45.43, Z:32.09 [[-4.53074258e-01 -8.58085533e-01 2.41687680e-01 8.12211719e+01] [ 7.15517635e-01 -5.11742472e-01 -4.75556680e-01 4.54291783e+01] [ 5.31750158e-01 -4.25306929e-02 8.45832672e-01 3.20872262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.950714057 meters Centerline goodness : 0.995605 Centerline is valid? [True, True] Translation: X:81.21, Y:45.43, Z:32.10 [[-4.51366517e-01 -8.54175798e-01 2.58170434e-01 8.12139456e+01] [ 7.13541872e-01 -5.19224430e-01 -4.70387063e-01 4.54268990e+01] [ 5.35841641e-01 -2.81015558e-02 8.43850720e-01 3.20967961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.98071405699997 meters Centerline goodness : 0.994985 Centerline is valid? [True, True] Translation: X:81.22, Y:45.43, Z:32.08 [[-4.52128438e-01 -8.58691658e-01 2.41305846e-01 8.12234149e+01] [ 7.15088254e-01 -5.10662386e-01 -4.77360154e-01 4.54271696e+01] [ 5.33131001e-01 -4.32731247e-02 8.44925306e-01 3.20848373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.01071405699997 meters Centerline goodness : 0.996141 Centerline is valid? [True, True] Translation: X:81.22, Y:45.41, Z:32.09 [[-4.50992118e-01 -8.53615982e-01 2.60664274e-01 8.12218266e+01] [ 7.12638148e-01 -5.20228364e-01 -4.70647766e-01 4.54113458e+01] [ 5.37357404e-01 -2.64991274e-02 8.42938204e-01 3.20869765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.04071405699997 meters Centerline goodness : 0.995979 Centerline is valid? [True, True] Translation: X:81.23, Y:45.41, Z:32.08 [[-4.51058572e-01 -8.56814753e-01 2.49829228e-01 8.12284078e+01] [ 7.11912346e-01 -5.14231547e-01 -4.78274741e-01 4.54111125e+01] [ 5.38262924e-01 -3.78734096e-02 8.41925549e-01 3.20795876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.07071405699998 meters Centerline goodness : 0.995560 Centerline is valid? [True, True] Translation: X:81.23, Y:45.41, Z:32.08 [[-4.50102102e-01 -8.56057065e-01 2.54114932e-01 8.12298291e+01] [ 7.12808449e-01 -5.15842678e-01 -4.75195168e-01 4.54068109e+01] [ 5.37877508e-01 -3.27510741e-02 8.42386582e-01 3.20774524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.10071405699998 meters Centerline goodness : 0.995984 Centerline is valid? [True, True] Translation: X:81.23, Y:45.41, Z:32.08 [[-4.52100068e-01 -8.56993844e-01 2.47319791e-01 8.12303641e+01] [ 7.09513834e-01 -5.13556022e-01 -4.82545678e-01 4.54133605e+01] [ 5.40551244e-01 -4.26821209e-02 8.40227701e-01 3.20791277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.13071405699998 meters Centerline goodness : 0.996124 Centerline is valid? [True, True] Translation: X:81.21, Y:45.44, Z:32.10 [[-4.53646119e-01 -8.54735048e-01 2.52256211e-01 8.12149685e+01] [ 7.06967448e-01 -5.17493441e-01 -4.82076307e-01 4.54378247e+01] [ 5.42588450e-01 -4.03551160e-02 8.39028747e-01 3.21015689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.16071405699998 meters Centerline goodness : 0.996077 Centerline is valid? [True, True] Translation: X:81.23, Y:45.40, Z:32.08 [[-4.53529372e-01 -8.54514268e-01 2.53212310e-01 8.12335839e+01] [ 7.05719999e-01 -5.17838902e-01 -4.83530924e-01 4.54047214e+01] [ 5.44307259e-01 -4.05984852e-02 8.37902961e-01 3.20797705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.19071405699998 meters Centerline goodness : 0.995879 Centerline is valid? [True, True] Translation: X:81.23, Y:45.41, Z:32.09 [[-4.60093225e-01 -8.50695971e-01 2.54225471e-01 8.12272159e+01] [ 6.98894926e-01 -5.23597868e-01 -4.87228032e-01 4.54111983e+01] [ 5.47594838e-01 -4.64934248e-02 8.35450929e-01 3.20887136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.22071405699998 meters Centerline goodness : 0.996121 Centerline is valid? [True, True] Translation: X:81.23, Y:45.39, Z:32.08 [[-4.54060614e-01 -8.48942467e-01 2.70417543e-01 8.12320676e+01] [ 7.05620939e-01 -5.27949767e-01 -4.72618380e-01 4.53931552e+01] [ 5.43992692e-01 -2.37851112e-02 8.38752776e-01 3.20831547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.25071405699998 meters Centerline goodness : 0.995658 Centerline is valid? [True, True] Translation: X:81.23, Y:45.41, Z:32.09 [[-4.55148787e-01 -8.52787447e-01 2.56111600e-01 8.12297282e+01] [ 7.05003243e-01 -5.20835065e-01 -4.81353573e-01 4.54122872e+01] [ 5.43884187e-01 -3.85279862e-02 8.38275364e-01 3.20871918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.28071405699998 meters Centerline goodness : 0.995581 Centerline is valid? [True, True] Translation: X:81.24, Y:45.40, Z:32.07 [[-4.56475193e-01 -8.55300997e-01 2.45133847e-01 8.12423815e+01] [ 7.06864573e-01 -5.15939709e-01 -4.83889132e-01 4.54019461e+01] [ 5.40345142e-01 -4.76069529e-02 8.40095652e-01 3.20728138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.31071405699998 meters Centerline goodness : 0.996084 Centerline is valid? [True, True] Translation: X:81.23, Y:45.37, Z:32.08 [[-4.50959949e-01 -8.41727195e-01 2.96867738e-01 8.12327272e+01] [ 7.20144759e-01 -5.39631543e-01 -4.36107010e-01 4.53681476e+01] [ 5.27282326e-01 1.71209509e-02 8.49517641e-01 3.20769807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.34071405699999 meters Centerline goodness : 0.996312 Centerline is valid? [True, True] Translation: X:81.25, Y:45.43, Z:32.07 [[-0.45819602 -0.86394895 0.20892253 81.24637516] [ 0.7067517 -0.49666047 -0.50381584 45.43137417] [ 0.53903473 -0.08319006 0.83816524 32.0705996 ] [ 0. 0. 0. 1. ]] SLAMing on 184.370714057 meters Centerline goodness : 0.995199 Centerline is valid? [True, True] Translation: X:81.24, Y:45.40, Z:32.08 [[-4.60035058e-01 -8.52275868e-01 2.48985120e-01 8.12408471e+01] [ 7.08241116e-01 -5.21351740e-01 -4.76011434e-01 4.54034068e+01] [ 5.35501883e-01 -4.26404487e-02 8.43456890e-01 3.20771462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.400714057 meters Centerline goodness : 0.995614 Centerline is valid? [True, True] Translation: X:81.24, Y:45.38, Z:32.08 [[-4.57638021e-01 -8.44423917e-01 2.78416396e-01 8.12364666e+01] [ 7.21486903e-01 -5.35675500e-01 -4.38757801e-01 4.53818221e+01] [ 5.19638423e-01 8.15319003e-05 8.54386273e-01 3.20751384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.430714057 meters Centerline goodness : 0.995260 Centerline is valid? [True, True] Translation: X:81.25, Y:45.42, Z:32.07 [[-4.63409622e-01 -8.58721380e-01 2.18744401e-01 8.12507022e+01] [ 7.09932821e-01 -5.07501837e-01 -4.88300394e-01 4.54208119e+01] [ 5.30327174e-01 -7.09892712e-02 8.44815727e-01 3.20668136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.460714057 meters Centerline goodness : 0.994869 Centerline is valid? [True, True] Translation: X:81.24, Y:45.40, Z:32.07 [[-4.63702027e-01 -8.48133367e-01 2.56222991e-01 8.12432056e+01] [ 7.09554308e-01 -5.28676427e-01 -4.65868995e-01 4.53979482e+01] [ 5.30578095e-01 -3.42202706e-02 8.46945015e-01 3.20743084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.490714057 meters Centerline goodness : 0.995091 Centerline is valid? [True, True] Translation: X:81.25, Y:45.40, Z:32.07 [[-4.63988577e-01 -8.48571112e-01 2.54247258e-01 8.12450269e+01] [ 7.09091935e-01 -5.27810133e-01 -4.67552233e-01 4.53989924e+01] [ 5.30945598e-01 -3.66542150e-02 8.46612805e-01 3.20729796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.520714057 meters Centerline goodness : 0.995623 Centerline is valid? [True, True] Translation: X:81.24, Y:45.41, Z:32.08 [[-4.70873101e-01 -8.46506148e-01 2.48406648e-01 8.12402348e+01] [ 6.91244596e-01 -5.28975245e-01 -4.92306916e-01 4.54050764e+01] [ 5.48141799e-01 -6.01043309e-02 8.34223014e-01 3.20831276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.550714057 meters Centerline goodness : 0.992484 Centerline is valid? [True, True] Translation: X:80.95, Y:45.91, Z:32.46 [[-4.75077146e-01 -8.39606825e-01 2.63366826e-01 8.09476054e+01] [ 6.90530007e-01 -5.41235593e-01 -4.79825325e-01 4.59070208e+01] [ 5.45408118e-01 -4.60913506e-02 8.36902367e-01 3.24575902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.580714057 meters Centerline goodness : 0.994791 Centerline is valid? [True, True] Translation: X:81.23, Y:45.39, Z:32.10 [[-4.57383365e-01 -8.41540218e-01 2.87420458e-01 8.12255971e+01] [ 7.16037135e-01 -5.40182648e-01 -4.42146500e-01 4.53905944e+01] [ 5.27343606e-01 3.57326738e-03 8.49644604e-01 3.20978057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.610714057 meters Centerline goodness : 0.994197 Centerline is valid? [True, True] Translation: X:81.25, Y:45.41, Z:32.07 [[-4.59204443e-01 -8.59513896e-01 2.24426252e-01 8.12511938e+01] [ 7.19700116e-01 -5.08060587e-01 -4.73187260e-01 4.54076708e+01] [ 5.20733159e-01 -5.57700925e-02 8.51895929e-01 3.20663376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.640714057 meters Centerline goodness : 0.994537 Centerline is valid? [True, True] Translation: X:81.25, Y:45.39, Z:32.07 [[-4.57438184e-01 -8.53762849e-01 2.48675102e-01 8.12456597e+01] [ 7.21410289e-01 -5.19801996e-01 -4.57573033e-01 4.53923175e+01] [ 5.19920671e-01 -2.99146003e-02 8.53690584e-01 3.20701964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.670714057 meters Centerline goodness : 0.994698 Centerline is valid? [True, True] Translation: X:81.24, Y:45.40, Z:32.07 [[-4.58356887e-01 -8.56750897e-01 2.36404029e-01 8.12449417e+01] [ 7.22129511e-01 -5.14061595e-01 -4.62892694e-01 4.54038979e+01] [ 5.18109963e-01 -4.14557280e-02 8.54308779e-01 3.20719146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.700714057 meters Centerline goodness : 0.994698 Centerline is valid? [True, True] Translation: X:81.24, Y:45.40, Z:32.07 [[-4.58635243e-01 -8.55167832e-01 2.41540253e-01 8.12444888e+01] [ 7.21796579e-01 -5.17053064e-01 -4.60071546e-01 4.53997157e+01] [ 5.18327515e-01 -3.66620968e-02 8.54395973e-01 3.20723959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.73071405699997 meters Centerline goodness : 0.994395 Centerline is valid? [True, True] Translation: X:81.24, Y:45.40, Z:32.07 [[-4.58435150e-01 -8.54342777e-01 2.44817550e-01 8.12415768e+01] [ 7.22622067e-01 -5.18689038e-01 -4.56923441e-01 4.53988625e+01] [ 5.17353421e-01 -3.25592023e-02 8.55152230e-01 3.20748228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.76071405699997 meters Centerline goodness : 0.993875 Centerline is valid? [True, True] Translation: X:81.25, Y:45.40, Z:32.07 [[-4.59421498e-01 -8.56248925e-01 2.36156020e-01 8.12478116e+01] [ 7.22170285e-01 -5.14879940e-01 -4.61918529e-01 4.53968378e+01] [ 5.17109241e-01 -4.16704423e-02 8.54904443e-01 3.20680712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.79071405699997 meters Centerline goodness : 0.994225 Centerline is valid? [True, True] Translation: X:81.24, Y:45.41, Z:32.08 [[-4.60282036e-01 -8.55605787e-01 2.36810441e-01 8.12399746e+01] [ 7.20581460e-01 -5.15871777e-01 -4.63291127e-01 4.54091711e+01] [ 5.18558392e-01 -4.26033702e-02 8.53980179e-01 3.20785030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.82071405699998 meters Centerline goodness : 0.994352 Centerline is valid? [True, True] Translation: X:81.25, Y:45.39, Z:32.07 [[-4.62315043e-01 -8.53345823e-01 2.40968270e-01 8.12503528e+01] [ 7.19718823e-01 -5.19861127e-01 -4.60162172e-01 4.53867328e+01] [ 5.17947504e-01 -3.93104946e-02 8.54508671e-01 3.20653996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.85071405699998 meters Centerline goodness : 0.994099 Centerline is valid? [True, True] Translation: X:81.25, Y:45.39, Z:32.07 [[-4.63802055e-01 -8.52212708e-01 2.42118059e-01 8.12493569e+01] [ 7.18660184e-01 -5.21723910e-01 -4.59708279e-01 4.53898413e+01] [ 5.18088018e-01 -3.92130353e-02 8.54427963e-01 3.20679914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.88071405699998 meters Centerline goodness : 0.994201 Centerline is valid? [True, True] Translation: X:81.25, Y:45.39, Z:32.06 [[-4.64818603e-01 -8.52347318e-01 2.39682530e-01 8.12527071e+01] [ 7.15944444e-01 -5.21090285e-01 -4.64637997e-01 4.53881181e+01] [ 5.20929188e-01 -4.43730094e-02 8.52445785e-01 3.20643634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.91071405699998 meters Centerline goodness : 0.995129 Centerline is valid? [True, True] Translation: X:81.24, Y:45.40, Z:32.08 [[-4.64270736e-01 -8.47864894e-01 2.56081640e-01 8.12363326e+01] [ 7.14388801e-01 -5.29390671e-01 -4.57596064e-01 4.54024558e+01] [ 5.23546870e-01 -2.95066055e-02 8.51485781e-01 3.20837939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.94071405699998 meters Centerline goodness : 0.995606 Centerline is valid? [True, True] Translation: X:81.25, Y:45.39, Z:32.06 [[-4.65090055e-01 -8.52886055e-01 2.37226935e-01 8.12545057e+01] [ 7.13676214e-01 -5.19784484e-01 -4.69564001e-01 4.53901853e+01] [ 5.23791468e-01 -4.90863264e-02 8.50431085e-01 3.20616428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.97071405699998 meters Centerline goodness : 0.994781 Centerline is valid? [True, True] Translation: X:81.25, Y:45.41, Z:32.07 [[-4.67029008e-01 -8.54889002e-01 2.25939592e-01 8.12517166e+01] [ 7.13020943e-01 -5.15212293e-01 -4.75560120e-01 4.54063665e+01] [ 5.22957972e-01 -6.10007095e-02 8.50172849e-01 3.20668662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.00071405699998 meters Centerline goodness : 0.994552 Centerline is valid? [True, True] Translation: X:81.26, Y:45.38, Z:32.06 [[-4.65456981e-01 -8.50277168e-01 2.45720444e-01 8.12587860e+01] [ 7.14142336e-01 -5.24802771e-01 -4.63230801e-01 4.53755996e+01] [ 5.22829343e-01 -4.01346386e-02 8.51492037e-01 3.20572389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.03071405699998 meters Centerline goodness : 0.994703 Centerline is valid? [True, True] Translation: X:81.26, Y:45.37, Z:32.06 [[-4.64468306e-01 -8.48649359e-01 2.53107600e-01 8.12550465e+01] [ 7.14165749e-01 -5.27943206e-01 -4.59612068e-01 4.53742817e+01] [ 5.23675925e-01 -3.27144598e-02 8.51289193e-01 3.20614440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.06071405699998 meters Centerline goodness : 0.994973 Centerline is valid? [True, True] Translation: X:81.25, Y:45.39, Z:32.06 [[-4.65043251e-01 -8.53437461e-01 2.35328014e-01 8.12546818e+01] [ 7.13448743e-01 -5.18673965e-01 -4.71135022e-01 4.53927210e+01] [ 5.24142791e-01 -5.12036859e-02 8.50089711e-01 3.20633766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.09071405699999 meters Centerline goodness : 0.994993 Centerline is valid? [True, True] Translation: X:81.25, Y:45.39, Z:32.07 [[-4.74653597e-01 -8.50458793e-01 2.26768172e-01 8.12516591e+01] [ 6.95563336e-01 -5.20311249e-01 -4.95447120e-01 4.53946633e+01] [ 5.39347391e-01 -7.74341312e-02 8.38515562e-01 3.20722499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.120714057 meters Centerline goodness : 0.995199 Centerline is valid? [True, True] Translation: X:81.24, Y:45.38, Z:32.09 [[-4.72337335e-01 -8.41232776e-01 2.63106174e-01 8.12390432e+01] [ 6.95633833e-01 -5.39096743e-01 -4.74834994e-01 4.53812215e+01] [ 5.41286441e-01 -4.12567395e-02 8.39825500e-01 3.20871360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.150714057 meters Centerline goodness : 0.994596 Centerline is valid? [True, True] Translation: X:81.24, Y:45.37, Z:32.08 [[-4.71823887e-01 -8.41482473e-01 2.63228927e-01 8.12425124e+01] [ 6.96103278e-01 -5.38751976e-01 -4.74538233e-01 4.53736689e+01] [ 5.41130710e-01 -4.06639543e-02 8.39954759e-01 3.20818247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.180714057 meters Centerline goodness : 0.995567 Centerline is valid? [True, True] Translation: X:81.24, Y:45.37, Z:32.08 [[-4.70247658e-01 -8.42240041e-01 2.63626352e-01 8.12414809e+01] [ 6.96819608e-01 -5.37650464e-01 -4.74736150e-01 4.53719774e+01] [ 5.41580625e-01 -3.95435520e-02 8.39718247e-01 3.20819642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.210714057 meters Centerline goodness : 0.993890 Centerline is valid? [True, True] Translation: X:81.25, Y:45.36, Z:32.07 [[-4.60491916e-01 -8.44122589e-01 2.74598342e-01 8.12460457e+01] [ 7.21062511e-01 -5.36134502e-01 -4.38894807e-01 4.53622784e+01] [ 5.17702666e-01 -4.10494061e-03 8.55550758e-01 3.20676878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.240714057 meters Centerline goodness : 0.994982 Centerline is valid? [True, True] Translation: X:81.25, Y:45.39, Z:32.07 [[-4.69511318e-01 -8.53518202e-01 2.25977436e-01 8.12479006e+01] [ 6.99642187e-01 -5.15775220e-01 -4.94445883e-01 4.53932603e+01] [ 5.38572123e-01 -7.40445908e-02 8.39319645e-01 3.20720495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.270714057 meters Centerline goodness : 0.994255 Centerline is valid? [True, True] Translation: X:81.24, Y:45.36, Z:32.08 [[-4.67305114e-01 -8.44869762e-01 2.60424686e-01 8.12439737e+01] [ 7.01000201e-01 -5.33580759e-01 -4.73170468e-01 4.53640788e+01] [ 5.38725022e-01 -3.85572224e-02 8.41598890e-01 3.20764088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.300714057 meters Centerline goodness : 0.994439 Centerline is valid? [True, True] Translation: X:81.24, Y:45.35, Z:32.08 [[-4.64823066e-01 -8.41836908e-01 2.74317585e-01 8.12428491e+01] [ 7.01575747e-01 -5.39193395e-01 -4.65899082e-01 4.53518342e+01] [ 5.40121273e-01 -2.41060749e-02 8.41241884e-01 3.20780051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.330714057 meters Centerline goodness : 0.994176 Centerline is valid? [True, True] Translation: X:81.24, Y:45.36, Z:32.08 [[-4.64091720e-01 -8.45858218e-01 2.62950090e-01 8.12418752e+01] [ 7.02794667e-01 -5.32308779e-01 -4.71939636e-01 4.53621709e+01] [ 5.39164660e-01 -3.42233567e-02 8.41504742e-01 3.20776031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.360714057 meters Centerline goodness : 0.994581 Centerline is valid? [True, True] Translation: X:81.24, Y:45.36, Z:32.08 [[-4.63565460e-01 -8.46008223e-01 2.63395427e-01 8.12400602e+01] [ 7.02761788e-01 -5.32097152e-01 -4.72227159e-01 4.53642859e+01] [ 5.39660016e-01 -3.38039593e-02 8.41204113e-01 3.20791931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.390714057 meters Centerline goodness : 0.993377 Centerline is valid? [True, True] Translation: X:81.24, Y:45.33, Z:32.07 [[-4.51049490e-01 -8.37637243e-01 3.08087985e-01 8.12360378e+01] [ 7.40674583e-01 -5.43906909e-01 -3.94419114e-01 4.53348987e+01] [ 4.97951322e-01 5.02903996e-02 8.65745549e-01 3.20670939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.420714057 meters Centerline goodness : 0.994687 Centerline is valid? [True, True] Translation: X:81.27, Y:45.40, Z:32.04 [[-0.46505378 -0.86747143 0.17668703 81.26774777] [ 0.70563819 -0.48374938 -0.51774635 45.39757682] [ 0.53460241 -0.11610278 0.83709044 32.0435038 ] [ 0. 0. 0. 1. ]] SLAMing on 185.450714057 meters Centerline goodness : 0.993610 Centerline is valid? [True, True] Translation: X:81.22, Y:45.35, Z:32.08 [[-4.52118449e-01 -8.35476855e-01 3.12357700e-01 8.12242678e+01] [ 7.37193809e-01 -5.47151420e-01 -3.96447490e-01 4.53499353e+01] [ 5.02129661e-01 5.10269385e-02 8.63285616e-01 3.20829230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.48071405699997 meters Centerline goodness : 0.994396 Centerline is valid? [True, True] Translation: X:81.22, Y:45.49, Z:32.10 [[-0.46781822 -0.86718699 0.17068344 81.21915403] [ 0.70339637 -0.48223792 -0.52218783 45.49265711] [ 0.53514452 -0.12423087 0.83557587 32.10359641] [ 0. 0. 0. 1. ]] SLAMing on 185.51071405699997 meters Centerline goodness : 0.993441 Centerline is valid? [True, True] Translation: X:81.21, Y:45.39, Z:32.10 [[-4.55885868e-01 -8.38955868e-01 2.97188707e-01 8.12118723e+01] [ 7.31496008e-01 -5.43392453e-01 -4.11871620e-01 4.53890867e+01] [ 5.07032213e-01 2.96259016e-02 8.61417809e-01 3.20995249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.54071405699997 meters Centerline goodness : 0.994000 Centerline is valid? [True, True] Translation: X:81.26, Y:45.37, Z:32.04 [[-4.56786182e-01 -8.58921447e-01 2.31517456e-01 8.12596311e+01] [ 7.28774760e-01 -5.10565617e-01 -4.56300449e-01 4.53679974e+01] [ 5.10131095e-01 -3.97076616e-02 8.59179590e-01 3.20425769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.57071405699998 meters Centerline goodness : 0.993747 Centerline is valid? [True, True] Translation: X:81.26, Y:45.37, Z:32.04 [[-4.59190855e-01 -8.58510057e-01 2.28263534e-01 8.12582847e+01] [ 7.25482660e-01 -5.10706664e-01 -4.61360611e-01 4.53745376e+01] [ 5.12658433e-01 -4.62513378e-02 8.57345989e-01 3.20448622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.60071405699998 meters Centerline goodness : 0.994542 Centerline is valid? [True, True] Translation: X:81.26, Y:45.36, Z:32.04 [[-4.59765128e-01 -8.53894411e-01 2.43885961e-01 8.12592500e+01] [ 7.25439439e-01 -5.19543634e-01 -4.51455460e-01 4.53579211e+01] [ 5.12204693e-01 -3.06389827e-02 8.58316728e-01 3.20429186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.63071405699998 meters Centerline goodness : 0.995493 Centerline is valid? [True, True] Translation: X:81.26, Y:45.35, Z:32.05 [[-4.61377652e-01 -8.50776835e-01 2.51613670e-01 8.12575644e+01] [ 7.21845835e-01 -5.24859290e-01 -4.51066864e-01 4.53531001e+01] [ 5.15819011e-01 -2.64858903e-02 8.56288062e-01 3.20464216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.66071405699998 meters Centerline goodness : 0.995019 Centerline is valid? [True, True] Translation: X:81.26, Y:45.37, Z:32.04 [[-4.63069438e-01 -8.55680271e-01 2.31036727e-01 8.12626350e+01] [ 7.21945298e-01 -5.15364601e-01 -4.61729698e-01 4.53653090e+01] [ 5.14161144e-01 -4.70170328e-02 8.56403945e-01 3.20402387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.69071405699998 meters Centerline goodness : 0.995019 Centerline is valid? [True, True] Translation: X:81.26, Y:45.36, Z:32.04 [[-4.63330934e-01 -8.52663567e-01 2.41431744e-01 8.12605444e+01] [ 7.21455253e-01 -5.21142544e-01 -4.55974525e-01 4.53587663e+01] [ 5.14613218e-01 -3.70849021e-02 8.56620071e-01 3.20427154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.72071405699998 meters Centerline goodness : 0.994615 Centerline is valid? [True, True] Translation: X:81.27, Y:45.35, Z:32.03 [[-4.65656248e-01 -8.52402869e-01 2.37852072e-01 8.12673352e+01] [ 7.20404261e-01 -5.21219416e-01 -4.57545649e-01 4.53512254e+01] [ 5.13986342e-01 -4.17093440e-02 8.56783737e-01 3.20346526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.75071405699998 meters Centerline goodness : 0.995373 Centerline is valid? [True, True] Translation: X:81.26, Y:45.35, Z:32.04 [[-4.65804964e-01 -8.49852416e-01 2.46529119e-01 8.12619852e+01] [ 7.18145012e-01 -5.25838959e-01 -4.55808217e-01 4.53512863e+01] [ 5.17004330e-01 -3.52740732e-02 8.55255671e-01 3.20426116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.78071405699998 meters Centerline goodness : 0.995363 Centerline is valid? [True, True] Translation: X:81.26, Y:45.36, Z:32.04 [[-4.66944705e-01 -8.51338078e-01 2.39136195e-01 8.12639654e+01] [ 7.17155871e-01 -5.22795177e-01 -4.60839083e-01 4.53553564e+01] [ 5.17349108e-01 -4.36884433e-02 8.54658540e-01 3.20414589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.81071405699998 meters Centerline goodness : 0.995932 Centerline is valid? [True, True] Translation: X:81.26, Y:45.34, Z:32.04 [[-4.65214459e-01 -8.46726028e-01 2.58128923e-01 8.12623724e+01] [ 7.18536834e-01 -5.31523442e-01 -4.48539462e-01 4.53378313e+01] [ 5.16991611e-01 -2.31919036e-02 8.55676230e-01 3.20418470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.84071405699999 meters Centerline goodness : 0.996257 Centerline is valid? [True, True] Translation: X:81.28, Y:45.33, Z:32.02 [[-4.61762212e-01 -8.52265643e-01 2.45802631e-01 8.12760182e+01] [ 7.24129178e-01 -5.22248168e-01 -4.50437326e-01 4.53256662e+01] [ 5.12262231e-01 -3.00020793e-02 8.58304889e-01 3.20221940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.870714057 meters Centerline goodness : 0.995614 Centerline is valid? [True, True] Translation: X:81.27, Y:45.36, Z:32.04 [[-0.47241813 -0.85634894 0.20853682 81.27154256] [ 0.70356779 -0.50891482 -0.49598192 45.36085795] [ 0.53086107 -0.08759107 0.84292012 32.03596744] [ 0. 0. 0. 1. ]] SLAMing on 185.900714057 meters Centerline goodness : 0.995583 Centerline is valid? [True, True] Translation: X:81.26, Y:45.31, Z:32.04 [[-4.60101542e-01 -8.42702629e-01 2.79569043e-01 8.12630333e+01] [ 7.27931937e-01 -5.38318003e-01 -4.24651414e-01 4.53101762e+01] [ 5.08351912e-01 8.12446415e-03 8.61111100e-01 3.20362515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.930714057 meters Centerline goodness : 0.995257 Centerline is valid? [True, True] Translation: X:81.18, Y:45.51, Z:32.14 [[-4.71816376e-01 -8.55068047e-01 2.15053347e-01 8.11821677e+01] [ 7.04527740e-01 -5.12273401e-01 -4.91138094e-01 4.55065797e+01] [ 5.30122600e-01 -8.02159470e-02 8.44118138e-01 3.21443969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.960714057 meters Centerline goodness : 0.991909 Centerline is valid? [True, True] Translation: X:81.00, Y:45.78, Z:32.37 [[-4.71315215e-01 -8.41610583e-01 2.63730154e-01 8.09958473e+01] [ 7.06889307e-01 -5.39290298e-01 -4.57682730e-01 4.57808603e+01] [ 5.27417743e-01 -2.92848085e-02 8.49101245e-01 3.23726967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.990714057 meters Centerline goodness : 0.994649 Centerline is valid? [True, True] Translation: X:81.15, Y:45.50, Z:32.18 [[-4.67838483e-01 -8.41948177e-01 2.68794383e-01 8.11525773e+01] [ 7.06872008e-01 -5.39011628e-01 -4.58037584e-01 4.54999501e+01] [ 5.30527207e-01 -2.42843831e-02 8.47319981e-01 3.21809013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.020714057 meters Centerline goodness : 0.994440 Centerline is valid? [True, True] Translation: X:81.17, Y:45.48, Z:32.15 [[-4.55039025e-01 -8.47383816e-01 2.73642384e-01 8.11670843e+01] [ 7.31331648e-01 -5.30954044e-01 -4.28067546e-01 4.54757917e+01] [ 5.08029041e-01 5.33589738e-03 8.61323413e-01 3.21536911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.050714057 meters Centerline goodness : 0.995203 Centerline is valid? [True, True] Translation: X:81.22, Y:45.42, Z:32.09 [[-4.64304907e-01 -8.58891111e-01 2.16164321e-01 8.12224848e+01] [ 7.10492477e-01 -5.06923564e-01 -4.88087021e-01 4.54233717e+01] [ 5.28792392e-01 -7.30380751e-02 8.45602771e-01 3.20897393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.080714057 meters Centerline goodness : 0.993992 Centerline is valid? [True, True] Translation: X:81.25, Y:45.31, Z:32.05 [[-4.51561350e-01 -8.44107394e-01 2.89093505e-01 8.12522734e+01] [ 7.30852400e-01 -5.35787799e-01 -4.22831176e-01 4.53068124e+01] [ 5.11807695e-01 2.03504659e-02 8.58858977e-01 3.20465725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.110714057 meters Centerline goodness : 0.993995 Centerline is valid? [True, True] Translation: X:81.21, Y:45.44, Z:32.10 [[-4.51594612e-01 -8.58906977e-01 2.41539048e-01 8.12057479e+01] [ 7.30752727e-01 -5.11381531e-01 -4.52205023e-01 4.54358957e+01] [ 5.11920657e-01 -2.77080343e-02 8.58585759e-01 3.21020602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.140714057 meters Centerline goodness : 0.994288 Centerline is valid? [True, True] Translation: X:81.25, Y:45.35, Z:32.04 [[-4.50079736e-01 -8.58834455e-01 2.44605009e-01 8.12522086e+01] [ 7.32604014e-01 -5.11746020e-01 -4.48784324e-01 4.53458568e+01] [ 5.10607080e-01 -2.27901186e-02 8.59512083e-01 3.20419329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.170714057 meters Centerline goodness : 0.994649 Centerline is valid? [True, True] Translation: X:81.25, Y:45.35, Z:32.04 [[-4.49557081e-01 -8.57967757e-01 2.48575460e-01 8.12503294e+01] [ 7.36032570e-01 -5.13473975e-01 -4.41135504e-01 4.53453716e+01] [ 5.06117068e-01 -1.53559551e-02 8.62328074e-01 3.20417194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.200714057 meters Centerline goodness : 0.995252 Centerline is valid? [True, True] Translation: X:81.25, Y:45.37, Z:32.05 [[-4.56140876e-01 -8.61215126e-01 2.24151751e-01 8.12472541e+01] [ 7.13500435e-01 -5.04461371e-01 -4.86246702e-01 4.53676477e+01] [ 5.31838914e-01 -6.18646246e-02 8.44582819e-01 3.20539105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.23071405699997 meters Centerline goodness : 0.995210 Centerline is valid? [True, True] Translation: X:81.24, Y:45.34, Z:32.06 [[-4.55695210e-01 -8.50528837e-01 2.62569178e-01 8.12427748e+01] [ 7.12598636e-01 -5.25343943e-01 -4.64991318e-01 4.53364251e+01] [ 5.33427652e-01 -2.47878784e-02 8.45482408e-01 3.20597999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.26071405699997 meters Centerline goodness : 0.994941 Centerline is valid? [True, True] Translation: X:81.20, Y:45.41, Z:32.11 [[-4.60404593e-01 -8.50739460e-01 2.53515250e-01 8.12016416e+01] [ 7.11075502e-01 -5.24395739e-01 -4.68380976e-01 4.54138565e+01] [ 5.31412496e-01 -3.53762688e-02 8.46374196e-01 3.21099350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.29071405699997 meters Centerline goodness : 0.993670 Centerline is valid? [True, True] Translation: X:81.22, Y:45.32, Z:32.07 [[-4.49826968e-01 -8.36198971e-01 3.13730744e-01 8.12229605e+01] [ 7.50299048e-01 -5.44361325e-01 -3.75129426e-01 4.53229071e+01] [ 4.84465723e-01 6.66485465e-02 8.72267696e-01 3.20702698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.32071405699998 meters Centerline goodness : 0.995161 Centerline is valid? [True, True] Translation: X:81.22, Y:45.46, Z:32.09 [[-0.46414819 -0.86778187 0.17754179 81.21780197] [ 0.71108012 -0.48456733 -0.50946988 45.4617872 ] [ 0.52813968 -0.11022309 0.84197349 32.08883874] [ 0. 0. 0. 1. ]] SLAMing on 186.35071405699998 meters Centerline goodness : 0.994187 Centerline is valid? [True, True] Translation: X:81.23, Y:45.30, Z:32.05 [[-4.52238681e-01 -8.34593369e-01 3.14537890e-01 8.12346230e+01] [ 7.50653819e-01 -5.46618923e-01 -3.71115341e-01 4.53033502e+01] [ 4.81662766e-01 6.82763559e-02 8.73692921e-01 3.20546818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.38071405699998 meters Centerline goodness : 0.993632 Centerline is valid? [True, True] Translation: X:81.26, Y:45.35, Z:32.02 [[-4.49661982e-01 -8.65636383e-01 2.20176641e-01 8.12642810e+01] [ 7.53600801e-01 -5.00000134e-01 -4.26715009e-01 4.53477344e+01] [ 4.79468387e-01 -2.59522231e-02 8.77175323e-01 3.20151664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.41071405699998 meters Centerline goodness : 0.994329 Centerline is valid? [True, True] Translation: X:81.14, Y:45.59, Z:32.18 [[-0.47077568 -0.86232949 0.18643529 81.14385292] [ 0.70513031 -0.49476971 -0.50793127 45.58784835] [ 0.53024665 -0.10766051 0.84098021 32.18186809] [ 0. 0. 0. 1. ]] SLAMing on 186.44071405699998 meters Centerline goodness : 0.993616 Centerline is valid? [True, True] Translation: X:81.24, Y:45.30, Z:32.05 [[-4.56255995e-01 -8.34486173e-01 3.08971349e-01 8.12414545e+01] [ 7.48574173e-01 -5.47668920e-01 -3.73758561e-01 4.53010373e+01] [ 4.81110356e-01 6.07583882e-02 8.74552024e-01 3.20467737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.47071405699998 meters Centerline goodness : 0.992941 Centerline is valid? [True, True] Translation: X:81.27, Y:45.34, Z:32.01 [[-4.53387462e-01 -8.62508312e-01 2.24764815e-01 8.12705925e+01] [ 7.54833047e-01 -5.05657145e-01 -4.17777361e-01 4.53357396e+01] [ 4.73990381e-01 -1.97551068e-02 8.80308386e-01 3.20064346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.50071405699998 meters Centerline goodness : 0.993858 Centerline is valid? [True, True] Translation: X:81.29, Y:45.34, Z:32.00 [[-4.60171794e-01 -8.66781959e-01 1.92174283e-01 8.12862859e+01] [ 7.36701319e-01 -4.93589580e-01 -4.62212606e-01 4.53419236e+01] [ 4.95492772e-01 -7.11221567e-02 8.65695415e-01 3.19982838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.53071405699998 meters Centerline goodness : 0.993486 Centerline is valid? [True, True] Translation: X:81.27, Y:45.33, Z:32.02 [[-4.64744251e-01 -8.54637491e-01 2.31533019e-01 8.12720823e+01] [ 7.30560902e-01 -5.17854285e-01 -4.45092920e-01 4.53277029e+01] [ 5.00293463e-01 -3.77054046e-02 8.65034539e-01 3.20171135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.56071405699998 meters Centerline goodness : 0.993882 Centerline is valid? [True, True] Translation: X:81.27, Y:45.33, Z:32.02 [[-4.66113388e-01 -8.50869072e-01 2.42404893e-01 8.12668549e+01] [ 7.29762190e-01 -5.24660852e-01 -4.38381269e-01 4.53256347e+01] [ 5.00185421e-01 -2.74374531e-02 8.65483524e-01 3.20233986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.59071405699999 meters Centerline goodness : 0.993595 Centerline is valid? [True, True] Translation: X:81.27, Y:45.32, Z:32.01 [[-4.68344228e-01 -8.51644677e-01 2.35276493e-01 8.12744712e+01] [ 7.27176779e-01 -5.22793474e-01 -4.44860557e-01 4.53189427e+01] [ 5.01864141e-01 -3.72602718e-02 8.64143539e-01 3.20148872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.620714057 meters Centerline goodness : 0.993728 Centerline is valid? [True, True] Translation: X:81.27, Y:45.32, Z:32.02 [[-4.69582035e-01 -8.49053621e-01 2.42075736e-01 8.12723431e+01] [ 7.25594611e-01 -5.27340379e-01 -4.42068529e-01 4.53153188e+01] [ 5.02996196e-01 -3.19385902e-02 8.63698300e-01 3.20178242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.650714057 meters Centerline goodness : 0.994106 Centerline is valid? [True, True] Translation: X:81.26, Y:45.33, Z:32.03 [[-4.70549136e-01 -8.47879180e-01 2.44303925e-01 8.12646605e+01] [ 7.25705434e-01 -5.29368582e-01 -4.39454808e-01 4.53263249e+01] [ 5.01931404e-01 -2.94923944e-02 8.64404457e-01 3.20266113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.680714057 meters Centerline goodness : 0.993832 Centerline is valid? [True, True] Translation: X:81.28, Y:45.30, Z:32.01 [[-4.68079268e-01 -8.47523265e-01 2.50212139e-01 8.12775056e+01] [ 7.34022853e-01 -5.30552536e-01 -4.23939214e-01 4.52988474e+01] [ 4.92049032e-01 -1.47757290e-02 8.70442088e-01 3.20068665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.710714057 meters Centerline goodness : 0.993863 Centerline is valid? [True, True] Translation: X:81.28, Y:45.31, Z:32.00 [[-4.70105944e-01 -8.52333742e-01 2.29188993e-01 8.12830872e+01] [ 7.30258641e-01 -5.21457011e-01 -4.41367084e-01 4.53110876e+01] [ 4.95704266e-01 -4.01220471e-02 8.67564120e-01 3.20020109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.740714057 meters Centerline goodness : 0.993612 Centerline is valid? [True, True] Translation: X:81.28, Y:45.31, Z:32.00 [[-4.67695988e-01 -8.50349191e-01 2.41177768e-01 8.12794670e+01] [ 7.34223604e-01 -5.25677796e-01 -4.29626063e-01 4.53081108e+01] [ 4.92113973e-01 -2.38559763e-02 8.70203844e-01 3.20045127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.770714057 meters Centerline goodness : 0.994015 Centerline is valid? [True, True] Translation: X:81.28, Y:45.33, Z:32.01 [[-4.74481961e-01 -8.50711218e-01 2.26179779e-01 8.12765276e+01] [ 7.20947077e-01 -5.22988276e-01 -4.54663144e-01 4.53293485e+01] [ 5.05076410e-01 -5.26658099e-02 8.61466269e-01 3.20144804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.800714057 meters Centerline goodness : 0.993658 Centerline is valid? [True, True] Translation: X:81.28, Y:45.31, Z:32.02 [[-4.75849737e-01 -8.44082468e-01 2.47167585e-01 8.12757270e+01] [ 7.17769078e-01 -5.35096780e-01 -4.45509805e-01 4.53102104e+01] [ 5.08305595e-01 -3.45864740e-02 8.60481957e-01 3.20167970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.830714057 meters Centerline goodness : 0.994261 Centerline is valid? [True, True] Translation: X:81.27, Y:45.32, Z:32.03 [[-4.77210917e-01 -8.41690137e-01 2.52640957e-01 8.12655614e+01] [ 7.16236581e-01 -5.39097401e-01 -4.43146874e-01 4.53237734e+01] [ 5.09190437e-01 -3.05238306e-02 8.60112431e-01 3.20298645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.860714057 meters Centerline goodness : 0.994793 Centerline is valid? [True, True] Translation: X:81.27, Y:45.31, Z:32.03 [[-4.77775820e-01 -8.39928229e-01 2.57392379e-01 8.12691086e+01] [ 7.15224361e-01 -5.42040526e-01 -4.41187241e-01 4.53130143e+01] [ 5.10082718e-01 -2.66952959e-02 8.59710987e-01 3.20256065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.890714057 meters Centerline goodness : 0.994949 Centerline is valid? [True, True] Translation: X:81.28, Y:45.32, Z:32.02 [[-4.81709391e-01 -8.44572163e-01 2.33781787e-01 8.12785885e+01] [ 7.11266621e-01 -5.32643341e-01 -4.58683839e-01 4.53231258e+01] [ 5.11913914e-01 -5.46711309e-02 8.57295289e-01 3.20172013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.920714057 meters Centerline goodness : 0.994932 Centerline is valid? [True, True] Translation: X:81.26, Y:45.32, Z:32.03 [[-4.81107793e-01 -8.36167508e-01 2.63361330e-01 8.12647944e+01] [ 7.11146737e-01 -5.47920094e-01 -4.40515481e-01 4.53162178e+01] [ 5.12645696e-01 -2.46468804e-02 8.58246422e-01 3.20333611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.950714057 meters Centerline goodness : 0.995277 Centerline is valid? [True, True] Translation: X:81.26, Y:45.33, Z:32.04 [[-4.88043547e-01 -8.38976495e-01 2.40690543e-01 8.12641934e+01] [ 6.98047369e-01 -5.40729166e-01 -4.69405837e-01 4.53308873e+01] [ 5.23968860e-01 -6.10770891e-02 8.49544715e-01 3.20373884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.98071405699997 meters Centerline goodness : 0.995980 Centerline is valid? [True, True] Translation: X:81.26, Y:45.32, Z:32.05 [[-4.87675976e-01 -8.32854885e-01 2.61772580e-01 8.12575399e+01] [ 6.96343614e-01 -5.51937327e-01 -4.58770921e-01 4.53220267e+01] [ 5.26571660e-01 -4.14478924e-02 8.49119755e-01 3.20461590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.01071405699997 meters Centerline goodness : 0.994238 Centerline is valid? [True, True] Translation: X:81.27, Y:45.29, Z:32.02 [[-4.80159513e-01 -8.34008176e-01 2.71803615e-01 8.12726020e+01] [ 7.14385213e-01 -5.51609003e-01 -4.30559258e-01 4.52899923e+01] [ 5.09019262e-01 -1.25646400e-02 8.60663419e-01 3.20214358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.04071405699997 meters Centerline goodness : 0.994208 Centerline is valid? [True, True] Translation: X:81.28, Y:45.31, Z:32.01 [[-4.81718895e-01 -8.43588674e-01 2.37286863e-01 8.12808132e+01] [ 7.11032547e-01 -5.34528632e-01 -4.56849930e-01 4.53088862e+01] [ 5.12230049e-01 -5.13545609e-02 8.57311545e-01 3.20125436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.07071405699998 meters Centerline goodness : 0.994683 Centerline is valid? [True, True] Translation: X:81.27, Y:45.30, Z:32.02 [[-4.77495408e-01 -8.35780413e-01 2.71052091e-01 8.12674702e+01] [ 7.17429963e-01 -5.48966796e-01 -4.28870267e-01 4.52981946e+01] [ 5.07239966e-01 -1.03226915e-02 8.61743035e-01 3.20247200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.10071405699998 meters Centerline goodness : 0.994540 Centerline is valid? [True, True] Translation: X:81.25, Y:45.38, Z:32.05 [[-0.48865884 -0.84652497 0.21120609 81.25091102] [ 0.69721581 -0.52441294 -0.48875474 45.37713616] [ 0.52450229 -0.0915781 0.84646961 32.0500848 ] [ 0. 0. 0. 1. ]] SLAMing on 187.13071405699998 meters Centerline goodness : 0.994788 Centerline is valid? [True, True] Translation: X:81.21, Y:45.40, Z:32.10 [[-4.86994305e-01 -8.32588765e-01 2.63879699e-01 8.12104784e+01] [ 6.95457497e-01 -5.52425835e-01 -4.59526458e-01 4.53954779e+01] [ 5.28370529e-01 -4.02696535e-02 8.48058335e-01 3.21002755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.16071405699998 meters Centerline goodness : 0.994896 Centerline is valid? [True, True] Translation: X:81.26, Y:45.30, Z:32.05 [[-4.84441810e-01 -8.29498207e-01 2.77936785e-01 8.12552993e+01] [ 6.96709613e-01 -5.57959593e-01 -4.50862293e-01 4.53030287e+01] [ 5.29066959e-01 -2.47753151e-02 8.48218331e-01 3.20471950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.19071405699998 meters Centerline goodness : 0.995275 Centerline is valid? [True, True] Translation: X:81.24, Y:45.34, Z:32.06 [[-4.85035770e-01 -8.34083553e-01 2.62764018e-01 8.12432492e+01] [ 6.97845254e-01 -5.50256044e-01 -4.58508765e-01 4.53353005e+01] [ 5.27022108e-01 -3.90245291e-02 8.48955113e-01 3.20597696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.22071405699998 meters Centerline goodness : 0.994933 Centerline is valid? [True, True] Translation: X:81.24, Y:45.34, Z:32.06 [[-4.84940936e-01 -8.34094741e-01 2.62903501e-01 8.12390000e+01] [ 6.98009115e-01 -5.50260817e-01 -4.58253542e-01 4.53412401e+01] [ 5.26892365e-01 -3.87168613e-02 8.49049728e-01 3.20640648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.25071405699998 meters Centerline goodness : 0.994170 Centerline is valid? [True, True] Translation: X:81.25, Y:45.30, Z:32.04 [[-4.76071950e-01 -8.32001716e-01 2.84830904e-01 8.12530459e+01] [ 7.19338278e-01 -5.54742310e-01 -4.18106937e-01 4.53016108e+01] [ 5.05873442e-01 5.84078723e-03 8.62587935e-01 3.20400709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.28071405699998 meters Centerline goodness : 0.994772 Centerline is valid? [True, True] Translation: X:81.27, Y:45.34, Z:32.03 [[-0.4857123 -0.84692721 0.21632816 81.26535545] [ 0.69979176 -0.52505105 -0.48436854 45.33890336] [ 0.52380822 -0.08387909 0.84769643 32.02904984] [ 0. 0. 0. 1. ]] SLAMing on 187.31071405699998 meters Centerline goodness : 0.995018 Centerline is valid? [True, True] Translation: X:81.25, Y:45.33, Z:32.05 [[-4.84628894e-01 -8.34009810e-01 2.63746986e-01 8.12461904e+01] [ 6.97314067e-01 -5.50397662e-01 -4.59146497e-01 4.53260321e+01] [ 5.28098407e-01 -3.86011755e-02 8.48305382e-01 3.20526348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.34071405699999 meters Centerline goodness : 0.994639 Centerline is valid? [True, True] Translation: X:81.27, Y:45.28, Z:32.02 [[-4.78201081e-01 -8.32696049e-01 2.79179185e-01 8.12674245e+01] [ 7.15431068e-01 -5.53715706e-01 -4.26095416e-01 4.52806743e+01] [ 5.09393869e-01 -4.02582639e-03 8.60524072e-01 3.20196990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.370714057 meters Centerline goodness : 0.994540 Centerline is valid? [True, True] Translation: X:81.27, Y:45.31, Z:32.01 [[-4.80026439e-01 -8.43639311e-01 2.40514719e-01 8.12734901e+01] [ 7.14491136e-01 -5.35059150e-01 -4.50792771e-01 4.53082640e+01] [ 5.08996104e-01 -4.45468141e-02 8.59615348e-01 3.20113995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.400714057 meters Centerline goodness : 0.994570 Centerline is valid? [True, True] Translation: X:81.27, Y:45.29, Z:32.01 [[-4.80274066e-01 -8.40141267e-01 2.51991018e-01 8.12745474e+01] [ 7.15747201e-01 -5.41454008e-01 -4.41059521e-01 4.52938127e+01] [ 5.06993851e-01 -3.14675833e-02 8.61375079e-01 3.20089308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.430714057 meters Centerline goodness : 0.995413 Centerline is valid? [True, True] Translation: X:81.28, Y:45.29, Z:32.00 [[-4.82958419e-01 -8.40871529e-01 2.44307667e-01 8.12797258e+01] [ 7.10600092e-01 -5.39395411e-01 -4.51774390e-01 4.52912192e+01] [ 5.11662657e-01 -4.45831946e-02 8.58028941e-01 3.20043273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.460714057 meters Centerline goodness : 0.995259 Centerline is valid? [True, True] Translation: X:81.28, Y:45.29, Z:32.00 [[-4.83129608e-01 -8.40829071e-01 2.44115248e-01 8.12814724e+01] [ 7.11640883e-01 -5.39536399e-01 -4.49964142e-01 4.52880795e+01] [ 5.10051993e-01 -4.36686087e-02 8.59034351e-01 3.20012355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.490714057 meters Centerline goodness : 0.994567 Centerline is valid? [True, True] Translation: X:81.29, Y:45.28, Z:31.99 [[-4.84676159e-01 -8.41670475e-01 2.38075266e-01 8.12869276e+01] [ 7.11181467e-01 -5.37651827e-01 -4.52936457e-01 4.52843680e+01] [ 5.09224845e-01 -5.02127851e-02 8.59167466e-01 3.19940280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.520714057 meters Centerline goodness : 0.994468 Centerline is valid? [True, True] Translation: X:81.28, Y:45.29, Z:32.00 [[-4.85071605e-01 -8.39005114e-01 2.46527801e-01 8.12781700e+01] [ 7.11289270e-01 -5.42544570e-01 -4.46892565e-01 4.52907653e+01] [ 5.08697467e-01 -4.14223139e-02 8.59948300e-01 3.20040455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.550714057 meters Centerline goodness : 0.995070 Centerline is valid? [True, True] Translation: X:81.27, Y:45.30, Z:32.01 [[-4.85349151e-01 -8.38213316e-01 2.48665716e-01 8.12731533e+01] [ 7.10136708e-01 -5.43841238e-01 -4.47149375e-01 4.52963378e+01] [ 5.10041231e-01 -4.04369168e-02 8.59198928e-01 3.20108405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.580714057 meters Centerline goodness : 0.995070 Centerline is valid? [True, True] Translation: X:81.28, Y:45.30, Z:32.01 [[-4.85729459e-01 -8.39546157e-01 2.43370380e-01 8.12759874e+01] [ 7.10176611e-01 -5.41355494e-01 -4.50092668e-01 4.52967896e+01] [ 5.09623462e-01 -4.57873166e-02 8.59178357e-01 3.20073394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.610714057 meters Centerline goodness : 0.995018 Centerline is valid? [True, True] Translation: X:81.28, Y:45.30, Z:32.00 [[-4.87258065e-01 -8.40418743e-01 2.37225452e-01 8.12796382e+01] [ 7.12361357e-01 -5.39660299e-01 -4.48673667e-01 4.52969916e+01] [ 5.05094917e-01 -4.96296181e-02 8.61635669e-01 3.20034850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.640714057 meters Centerline goodness : 0.994610 Centerline is valid? [True, True] Translation: X:81.28, Y:45.30, Z:32.01 [[-4.87409884e-01 -8.38320320e-01 2.44234817e-01 8.12753769e+01] [ 7.12594431e-01 -5.43544780e-01 -4.43585672e-01 4.52988933e+01] [ 5.04619443e-01 -4.21676707e-02 8.62311490e-01 3.20091422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.670714057 meters Centerline goodness : 0.994468 Centerline is valid? [True, True] Translation: X:81.29, Y:45.28, Z:31.99 [[-4.87914698e-01 -8.40054681e-01 2.37165304e-01 8.12894020e+01] [ 7.11486177e-01 -5.40139578e-01 -4.49484879e-01 4.52815413e+01] [ 5.05694244e-01 -5.05704438e-02 8.61229332e-01 3.19935206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.700714057 meters Centerline goodness : 0.994452 Centerline is valid? [True, True] Translation: X:81.29, Y:45.28, Z:32.00 [[-4.88186099e-01 -8.38135271e-01 2.43317902e-01 8.12856817e+01] [ 7.10343016e-01 -5.43565025e-01 -4.47157537e-01 4.52822584e+01] [ 5.07037605e-01 -4.54569208e-02 8.60724425e-01 3.19990022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.73071405699997 meters Centerline goodness : 0.994569 Centerline is valid? [True, True] Translation: X:81.29, Y:45.28, Z:32.00 [[-4.89065001e-01 -8.37323484e-01 2.44345672e-01 8.12874001e+01] [ 7.09363341e-01 -5.44821788e-01 -4.47183261e-01 4.52789981e+01] [ 5.07561892e-01 -4.53718196e-02 8.60419853e-01 3.19974760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.76071405699997 meters Centerline goodness : 0.994712 Centerline is valid? [True, True] Translation: X:81.29, Y:45.27, Z:31.99 [[-4.89134747e-01 -8.36393564e-01 2.47372200e-01 8.12912870e+01] [ 7.08980045e-01 -5.46466329e-01 -4.45782287e-01 4.52713022e+01] [ 5.08030014e-01 -4.26656526e-02 8.60282016e-01 3.19944096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.79071405699997 meters Centerline goodness : 0.994609 Centerline is valid? [True, True] Translation: X:81.29, Y:45.27, Z:31.99 [[-4.89012045e-01 -8.36249826e-01 2.48099674e-01 8.12915204e+01] [ 7.08710342e-01 -5.46720926e-01 -4.45898957e-01 4.52724171e+01] [ 5.08524209e-01 -4.22191562e-02 8.60012018e-01 3.19936638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.82071405699998 meters Centerline goodness : 0.995039 Centerline is valid? [True, True] Translation: X:81.29, Y:45.27, Z:31.99 [[-4.89398857e-01 -8.35838043e-01 2.48723791e-01 8.12936844e+01] [ 7.08905412e-01 -5.47418144e-01 -4.44731933e-01 4.52692290e+01] [ 5.07879784e-01 -4.13296582e-02 8.60435927e-01 3.19907686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.85071405699998 meters Centerline goodness : 0.994349 Centerline is valid? [True, True] Translation: X:81.29, Y:45.28, Z:32.00 [[-4.89729851e-01 -8.35516494e-01 2.49152286e-01 8.12890099e+01] [ 7.08744130e-01 -5.47931347e-01 -4.44356834e-01 4.52785726e+01] [ 5.07785812e-01 -4.10295857e-02 8.60505748e-01 3.19960300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.88071405699998 meters Centerline goodness : 0.994440 Centerline is valid? [True, True] Translation: X:81.28, Y:45.29, Z:32.00 [[-4.90391067e-01 -8.36224224e-01 2.45449890e-01 8.12831917e+01] [ 7.05594767e-01 -5.46269317e-01 -4.51360010e-01 4.52948334e+01] [ 5.11519918e-01 -4.81547589e-02 8.57921029e-01 3.20035136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.91071405699998 meters Centerline goodness : 0.995243 Centerline is valid? [True, True] Translation: X:81.28, Y:45.29, Z:32.01 [[-4.88741445e-01 -8.32501128e-01 2.60909316e-01 8.12783924e+01] [ 7.05092216e-01 -5.53042335e-01 -4.43834589e-01 4.52896246e+01] [ 5.13786694e-01 -3.29552308e-02 8.57284775e-01 3.20080569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.94071405699998 meters Centerline goodness : 0.994920 Centerline is valid? [True, True] Translation: X:81.30, Y:45.28, Z:31.98 [[-4.90311416e-01 -8.38095701e-01 2.39144959e-01 8.12995946e+01] [ 7.06076778e-01 -5.42833121e-01 -4.54739251e-01 4.52751685e+01] [ 5.10930816e-01 -5.41091439e-02 8.57917188e-01 3.19839349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.97071405699998 meters Centerline goodness : 0.994639 Centerline is valid? [True, True] Translation: X:81.30, Y:45.27, Z:31.99 [[-4.89917844e-01 -8.35856345e-01 2.47638197e-01 8.12952202e+01] [ 7.04965731e-01 -5.46964884e-01 -4.51500535e-01 4.52741244e+01] [ 5.12838985e-01 -4.66217261e-02 8.57217936e-01 3.19884208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.00071405699998 meters Centerline goodness : 0.994814 Centerline is valid? [True, True] Translation: X:81.29, Y:45.27, Z:31.99 [[-4.87931768e-01 -8.32877695e-01 2.61222769e-01 8.12923311e+01] [ 7.03764411e-01 -5.52403517e-01 -4.46728114e-01 4.52657467e+01] [ 5.16370259e-01 -3.41335498e-02 8.55684905e-01 3.19933780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.03071405699998 meters Centerline goodness : 0.995116 Centerline is valid? [True, True] Translation: X:81.30, Y:45.27, Z:31.99 [[-4.96778293e-01 -8.34706877e-01 2.37646286e-01 8.12974996e+01] [ 6.91255566e-01 -5.46124487e-01 -4.73195295e-01 4.52692131e+01] [ 5.24763823e-01 -7.07988329e-02 8.48298565e-01 3.19870044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.06071405699998 meters Centerline goodness : 0.994892 Centerline is valid? [True, True] Translation: X:81.29, Y:45.25, Z:31.99 [[-4.87392362e-01 -8.29808086e-01 2.71785257e-01 8.12946747e+01] [ 7.02382016e-01 -5.57497468e-01 -4.42556297e-01 4.52492457e+01] [ 5.18756387e-01 -2.48014819e-02 8.54562284e-01 3.19930183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.09071405699999 meters Centerline goodness : 0.994059 Centerline is valid? [True, True] Translation: X:81.31, Y:45.26, Z:31.98 [[-4.89942820e-01 -8.38576755e-01 2.38212214e-01 8.13056532e+01] [ 7.02795443e-01 -5.41627609e-01 -4.61213724e-01 4.52632791e+01] [ 5.15785420e-01 -5.85538943e-02 8.54714480e-01 3.19817761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.120714057 meters Centerline goodness : 0.994420 Centerline is valid? [True, True] Translation: X:81.28, Y:45.30, Z:32.02 [[-4.90438646e-01 -8.35410002e-01 2.48113005e-01 8.12794967e+01] [ 6.98152059e-01 -5.47036377e-01 -4.61881916e-01 4.52992850e+01] [ 5.21587612e-01 -5.33041357e-02 8.51530993e-01 3.20152571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.150714057 meters Centerline goodness : 0.994892 Centerline is valid? [True, True] Translation: X:81.29, Y:45.25, Z:32.00 [[-4.96201440e-01 -8.23508548e-01 2.74986913e-01 8.12872242e+01] [ 6.92236309e-01 -5.66426692e-01 -4.47179713e-01 4.52519337e+01] [ 5.24016244e-01 -3.15352919e-02 8.51124257e-01 3.20025579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.180714057 meters Centerline goodness : 0.994586 Centerline is valid? [True, True] Translation: X:81.27, Y:45.33, Z:32.03 [[-4.92261005e-01 -8.38093975e-01 2.35111870e-01 8.12730984e+01] [ 6.87599628e-01 -5.40026814e-01 -4.85363566e-01 4.53286116e+01] [ 5.33746995e-01 -7.72627219e-02 8.42107248e-01 3.20323556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.210714057 meters Centerline goodness : 0.986385 Centerline is valid? [True, True] Translation: X:80.88, Y:45.93, Z:32.47 [[-5.09145480e-01 -8.13063455e-01 2.82309578e-01 8.08803825e+01] [ 6.97759089e-01 -5.81964099e-01 -4.17672169e-01 4.59268928e+01] [ 5.03888016e-01 -1.56718231e-02 8.63626806e-01 3.24746021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.240714057 meters Centerline goodness : 0.994899 Centerline is valid? [True, True] Translation: X:81.29, Y:45.26, Z:32.01 [[-4.99840015e-01 -8.25820596e-01 2.61113582e-01 8.12872881e+01] [ 6.98203026e-01 -5.62583776e-01 -4.42732458e-01 4.52644462e+01] [ 5.12515847e-01 -3.89851054e-02 8.57792322e-01 3.20127548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.270714057 meters Centerline goodness : 0.994619 Centerline is valid? [True, True] Translation: X:81.30, Y:45.26, Z:32.00 [[-4.93839266e-01 -8.32767829e-01 2.50240930e-01 8.13020878e+01] [ 7.05127922e-01 -5.51919230e-01 -4.45173872e-01 4.52596652e+01] [ 5.08839261e-01 -4.33924711e-02 8.59767236e-01 3.20031519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.300714057 meters Centerline goodness : 0.994410 Centerline is valid? [True, True] Translation: X:81.26, Y:45.35, Z:32.06 [[-4.97593369e-01 -8.32574022e-01 2.43354347e-01 8.12563859e+01] [ 6.92438824e-01 -5.50239389e-01 -4.66653072e-01 4.53481270e+01] [ 5.22426372e-01 -6.36954762e-02 8.50302048e-01 3.20646979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.330714057 meters Centerline goodness : 0.994888 Centerline is valid? [True, True] Translation: X:81.29, Y:45.26, Z:32.02 [[-4.96331760e-01 -8.24462186e-01 2.71876602e-01 8.12914349e+01] [ 7.00356044e-01 -5.65324797e-01 -4.35785827e-01 4.52639887e+01] [ 5.12987520e-01 -2.58839249e-02 8.58005726e-01 3.20190337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.360714057 meters Centerline goodness : 0.994505 Centerline is valid? [True, True] Translation: X:81.28, Y:45.29, Z:32.03 [[-4.98936309e-01 -8.28841264e-01 2.53149596e-01 8.12848857e+01] [ 7.01690310e-01 -5.57787090e-01 -4.43288022e-01 4.52940227e+01] [ 5.08618982e-01 -4.35398709e-02 8.59890116e-01 3.20258456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.390714057 meters Centerline goodness : 0.994984 Centerline is valid? [True, True] Translation: X:81.25, Y:45.37, Z:32.07 [[-5.01889393e-01 -8.28850878e-01 2.47210961e-01 8.12459425e+01] [ 6.97862710e-01 -5.56903415e-01 -4.50384530e-01 4.53710877e+01] [ 5.10974242e-01 -5.35239064e-02 8.57928037e-01 3.20742955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.420714057 meters Centerline goodness : 0.995045 Centerline is valid? [True, True] Translation: X:81.23, Y:45.39, Z:32.09 [[-5.01608340e-01 -8.27669749e-01 2.51697954e-01 8.12316296e+01] [ 6.95026086e-01 -5.58801320e-01 -4.52415544e-01 4.53942186e+01] [ 5.15099809e-01 -5.19987662e-02 8.55551469e-01 3.20931949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.450714057 meters Centerline goodness : 0.995221 Centerline is valid? [True, True] Translation: X:81.22, Y:45.42, Z:32.11 [[-5.01377010e-01 -8.25773095e-01 2.58301935e-01 8.12153121e+01] [ 6.94129153e-01 -5.62109760e-01 -4.49685820e-01 4.54163761e+01] [ 5.16532490e-01 -4.61672286e-02 8.55022090e-01 3.21130435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.48071405699997 meters Centerline goodness : 0.994415 Centerline is valid? [True, True] Translation: X:81.23, Y:45.40, Z:32.10 [[-4.99853446e-01 -8.25491602e-01 2.62126205e-01 8.12258920e+01] [ 6.96004351e-01 -5.62970968e-01 -4.45692307e-01 4.53950160e+01] [ 5.15484700e-01 -4.03398569e-02 8.55948725e-01 3.21014174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.51071405699997 meters Centerline goodness : 0.995283 Centerline is valid? [True, True] Translation: X:81.30, Y:45.25, Z:32.01 [[-5.00474559e-01 -8.21428161e-01 2.73461134e-01 8.13024656e+01] [ 6.95700107e-01 -5.69583977e-01 -4.37693334e-01 4.52467634e+01] [ 5.15292711e-01 -2.88074376e-02 8.56529949e-01 3.20090739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.54071405699997 meters Centerline goodness : 0.995278 Centerline is valid? [True, True] Translation: X:81.31, Y:45.25, Z:32.00 [[-4.99696556e-01 -8.26217310e-01 2.60131328e-01 8.13067602e+01] [ 6.97438684e-01 -5.61867788e-01 -4.44841400e-01 4.52531218e+01] [ 5.13695079e-01 -4.08600643e-02 8.56999312e-01 3.20037060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.57071405699998 meters Centerline goodness : 0.994871 Centerline is valid? [True, True] Translation: X:81.31, Y:45.25, Z:32.00 [[-4.96444996e-01 -8.28125106e-01 2.60290556e-01 8.13093539e+01] [ 6.99691599e-01 -5.59211210e-01 -4.44650974e-01 4.52501924e+01] [ 5.13784032e-01 -3.86216360e-02 8.57049787e-01 3.20019979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.60071405699998 meters Centerline goodness : 0.994323 Centerline is valid? [True, True] Translation: X:81.31, Y:45.25, Z:32.00 [[-4.94719748e-01 -8.29080511e-01 2.60533831e-01 8.13075163e+01] [ 7.00784647e-01 -5.57878604e-01 -4.44603580e-01 4.52530856e+01] [ 5.13958413e-01 -3.73760622e-02 8.57000455e-01 3.20043862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.63071405699998 meters Centerline goodness : 0.994748 Centerline is valid? [True, True] Translation: X:81.31, Y:45.24, Z:32.00 [[-4.90996321e-01 -8.31118019e-01 2.61085141e-01 8.13124205e+01] [ 7.02772783e-01 -5.54990455e-01 -4.45079779e-01 4.52438047e+01] [ 5.14813586e-01 -3.50490023e-02 8.56585395e-01 3.19992565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.66071405699998 meters Centerline goodness : 0.994909 Centerline is valid? [True, True] Translation: X:81.31, Y:45.25, Z:32.00 [[-4.89433545e-01 -8.31933294e-01 2.61422643e-01 8.13090736e+01] [ 7.03612347e-01 -5.53835983e-01 -4.45191384e-01 4.52495435e+01] [ 5.15154801e-01 -3.39513975e-02 8.56424447e-01 3.20036825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.69071405699998 meters Centerline goodness : 0.994750 Centerline is valid? [True, True] Translation: X:81.31, Y:45.25, Z:32.00 [[-4.86583826e-01 -8.33542936e-01 2.61614896e-01 8.13094707e+01] [ 7.05508741e-01 -5.51527990e-01 -4.45055382e-01 4.52496796e+01] [ 5.15260708e-01 -3.19851553e-02 8.56436427e-01 3.20041750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.72071405699998 meters Centerline goodness : 0.994923 Centerline is valid? [True, True] Translation: X:81.32, Y:45.23, Z:31.99 [[-4.85676605e-01 -8.34024337e-01 2.61766384e-01 8.13195386e+01] [ 7.06173012e-01 -5.50844780e-01 -4.44847957e-01 4.52335859e+01] [ 5.15206669e-01 -3.11998895e-02 8.56497901e-01 3.19932206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.75071405699998 meters Centerline goodness : 0.992722 Centerline is valid? [True, True] Translation: X:81.02, Y:45.76, Z:32.34 [[-4.89772227e-01 -8.36724459e-01 2.44980297e-01 8.10158384e+01] [ 7.05412661e-01 -5.45438086e-01 -4.52648067e-01 4.57614811e+01] [ 5.12363293e-01 -4.88822489e-02 8.57376453e-01 3.23409961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.78071405699998 meters Centerline goodness : 0.994832 Centerline is valid? [True, True] Translation: X:81.31, Y:45.25, Z:32.01 [[-4.81279249e-01 -8.32801058e-01 2.73519070e-01 8.13076078e+01] [ 7.00268638e-01 -5.52972860e-01 -4.51491805e-01 4.52484385e+01] [ 5.27251476e-01 -2.57568101e-02 8.49318826e-01 3.20124885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.81071405699998 meters Centerline goodness : 0.994776 Centerline is valid? [True, True] Translation: X:81.29, Y:45.28, Z:32.03 [[-4.82005708e-01 -8.33376983e-01 2.70468672e-01 8.12894518e+01] [ 7.00434890e-01 -5.51962080e-01 -4.52469697e-01 4.52827219e+01] [ 5.26366282e-01 -2.86472820e-02 8.49775188e-01 3.20337376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.84071405699999 meters Centerline goodness : 0.995267 Centerline is valid? [True, True] Translation: X:81.18, Y:45.47, Z:32.16 [[-4.84597947e-01 -8.32783891e-01 2.67648688e-01 8.11802737e+01] [ 7.02227842e-01 -5.52813965e-01 -4.48634347e-01 4.54718671e+01] [ 5.21575390e-01 -2.94569232e-02 8.52696548e-01 3.21592631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.870714057 meters Centerline goodness : 0.994345 Centerline is valid? [True, True] Translation: X:81.32, Y:45.24, Z:32.00 [[-4.76433913e-01 -8.32256807e-01 2.83477219e-01 8.13166324e+01] [ 7.14103685e-01 -5.54388967e-01 -4.27444500e-01 4.52364175e+01] [ 5.12900237e-01 -1.21692914e-03 8.58447358e-01 3.20040176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.900714057 meters Centerline goodness : 0.995253 Centerline is valid? [True, True] Translation: X:81.32, Y:45.23, Z:31.99 [[-4.71633553e-01 -8.35807892e-01 2.81046187e-01 8.13218452e+01] [ 7.31460865e-01 -5.48824667e-01 -4.04668367e-01 4.52285784e+01] [ 4.92470095e-01 1.47191073e-02 8.70204892e-01 3.19872805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.930714057 meters Centerline goodness : 0.994262 Centerline is valid? [True, True] Translation: X:81.35, Y:45.25, Z:31.96 [[-4.72089257e-01 -8.52940357e-01 2.22765528e-01 8.13469275e+01] [ 7.32171288e-01 -5.20106699e-01 -4.39788844e-01 4.52463570e+01] [ 4.90975497e-01 -4.45170648e-02 8.70035225e-01 3.19590838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.960714057 meters Centerline goodness : 0.994565 Centerline is valid? [True, True] Translation: X:81.34, Y:45.26, Z:31.97 [[-4.78633258e-01 -8.49943315e-01 2.20242059e-01 8.13442894e+01] [ 7.15540569e-01 -5.22961674e-01 -4.63155246e-01 4.52567007e+01] [ 5.08833861e-01 -6.40893759e-02 8.58475774e-01 3.19731426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.990714057 meters Centerline goodness : 0.994768 Centerline is valid? [True, True] Translation: X:81.35, Y:45.20, Z:31.96 [[-4.70007015e-01 -8.39146644e-01 2.73726716e-01 8.13466277e+01] [ 7.34407142e-01 -5.43810385e-01 -4.06099021e-01 4.52025214e+01] [ 4.89632061e-01 1.01574668e-02 8.71869985e-01 3.19615744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.020714057 meters Centerline goodness : 0.994908 Centerline is valid? [True, True] Translation: X:81.35, Y:45.26, Z:31.97 [[-4.77245027e-01 -8.53950411e-01 2.07378589e-01 8.13530626e+01] [ 7.17319750e-01 -5.14881878e-01 -4.69413494e-01 4.52615193e+01] [ 5.07631324e-01 -7.52684976e-02 8.58280311e-01 3.19658461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.050714057 meters Centerline goodness : 0.995012 Centerline is valid? [True, True] Translation: X:81.34, Y:45.24, Z:31.98 [[-4.76248476e-01 -8.42608295e-01 2.51393417e-01 8.13445814e+01] [ 7.17790800e-01 -5.37678166e-01 -4.42355691e-01 4.52352231e+01] [ 5.07901326e-01 -3.02233421e-02 8.60884889e-01 3.19762537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.080714057 meters Centerline goodness : 0.994117 Centerline is valid? [True, True] Translation: X:81.35, Y:45.24, Z:31.98 [[-4.76841910e-01 -8.44990802e-01 2.42099850e-01 8.13492842e+01] [ 7.13798748e-01 -5.32981146e-01 -4.54337369e-01 4.52396087e+01] [ 5.12945554e-01 -4.38365294e-02 8.57301124e-01 3.19756021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.110714057 meters Centerline goodness : 0.994529 Centerline is valid? [True, True] Translation: X:81.35, Y:45.23, Z:31.98 [[-4.74588802e-01 -8.42359995e-01 2.55333326e-01 8.13493524e+01] [ 7.16182043e-01 -5.38186643e-01 -4.44340431e-01 4.52291686e+01] [ 5.11711589e-01 -2.80138501e-02 8.58700456e-01 3.19755422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.140714057 meters Centerline goodness : 0.994974 Centerline is valid? [True, True] Translation: X:81.35, Y:45.23, Z:31.98 [[-4.74696360e-01 -8.41799634e-01 2.56976151e-01 8.13460570e+01] [ 7.15569446e-01 -5.39115617e-01 -4.44201215e-01 4.52332671e+01] [ 5.12468277e-01 -2.69764175e-02 8.58282318e-01 3.19806655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.170714057 meters Centerline goodness : 0.995259 Centerline is valid? [True, True] Translation: X:81.34, Y:45.23, Z:31.98 [[-4.72957170e-01 -8.39033304e-01 2.68950980e-01 8.13392743e+01] [ 7.26926003e-01 -5.44073548e-01 -4.19001862e-01 4.52329081e+01] [ 4.97885631e-01 -2.66247403e-03 8.67238612e-01 3.19831299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.200714057 meters Centerline goodness : 0.993855 Centerline is valid? [True, True] Translation: X:81.35, Y:45.25, Z:31.98 [[-4.74673232e-01 -8.47044817e-01 2.39166053e-01 8.13470148e+01] [ 7.26298036e-01 -5.30445197e-01 -4.37171655e-01 4.52510920e+01] [ 4.97168469e-01 -3.38078474e-02 8.66995123e-01 3.19753256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.23071405699997 meters Centerline goodness : 0.994414 Centerline is valid? [True, True] Translation: X:81.36, Y:45.25, Z:31.97 [[-4.79012395e-01 -8.49476993e-01 2.21214746e-01 8.13595913e+01] [ 7.12766671e-01 -5.23489143e-01 -4.66822011e-01 4.52499443e+01] [ 5.12358076e-01 -6.59390315e-02 8.56236676e-01 3.19702672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.26071405699997 meters Centerline goodness : 0.994521 Centerline is valid? [True, True] Translation: X:81.34, Y:45.24, Z:31.99 [[-4.81294617e-01 -8.35676129e-01 2.64576829e-01 8.13440365e+01] [ 7.14453746e-01 -5.48864631e-01 -4.33939468e-01 4.52381313e+01] [ 5.07849719e-01 -1.98248242e-02 8.61217533e-01 3.19869094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.29071405699997 meters Centerline goodness : 0.994344 Centerline is valid? [True, True] Translation: X:81.35, Y:45.25, Z:31.98 [[-4.85791251e-01 -8.39223545e-01 2.44357731e-01 8.13536895e+01] [ 7.09922541e-01 -5.41917955e-01 -4.49816536e-01 4.52462259e+01] [ 5.09918470e-01 -4.50418768e-02 8.59042713e-01 3.19766252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.32071405699998 meters Centerline goodness : 0.993959 Centerline is valid? [True, True] Translation: X:81.34, Y:45.24, Z:31.99 [[-4.85826408e-01 -8.31657082e-01 2.68922291e-01 8.13407485e+01] [ 7.11872548e-01 -5.55009383e-01 -4.30351089e-01 4.52434227e+01] [ 5.07158926e-01 -1.76375270e-02 8.61672061e-01 3.19922034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.35071405699998 meters Centerline goodness : 0.994643 Centerline is valid? [True, True] Translation: X:81.34, Y:45.25, Z:31.99 [[-4.89024083e-01 -8.33238277e-01 2.58010502e-01 8.13430837e+01] [ 7.10885481e-01 -5.52119265e-01 -4.35667476e-01 4.52532116e+01] [ 5.05467386e-01 -2.96359679e-02 8.62336611e-01 3.19879312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.38071405699998 meters Centerline goodness : 0.994722 Centerline is valid? [True, True] Translation: X:81.34, Y:45.26, Z:31.99 [[-4.91316034e-01 -8.33850416e-01 2.51598963e-01 8.13447629e+01] [ 7.09109200e-01 -5.50684994e-01 -4.40352337e-01 4.52577016e+01] [ 5.05739753e-01 -3.79410242e-02 8.61851368e-01 3.19864469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.41071405699998 meters Centerline goodness : 0.994011 Centerline is valid? [True, True] Translation: X:81.33, Y:45.28, Z:32.00 [[-4.93906905e-01 -8.32080839e-01 2.52383532e-01 8.13331603e+01] [ 7.09841163e-01 -5.53484024e-01 -4.35638563e-01 4.52784381e+01] [ 5.02176754e-01 -3.60126743e-02 8.64014812e-01 3.19980118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.44071405699998 meters Centerline goodness : 0.994114 Centerline is valid? [True, True] Translation: X:81.34, Y:45.25, Z:31.98 [[-4.93458715e-01 -8.30820507e-01 2.57363133e-01 8.13444461e+01] [ 7.14061949e-01 -5.55923328e-01 -4.25517082e-01 4.52546102e+01] [ 4.96602487e-01 -2.62018918e-02 8.67582521e-01 3.19816756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.47071405699998 meters Centerline goodness : 0.994536 Centerline is valid? [True, True] Translation: X:81.35, Y:45.25, Z:31.98 [[-4.94863280e-01 -8.33902202e-01 2.44371546e-01 8.13518281e+01] [ 7.10466901e-01 -5.50194065e-01 -4.38774740e-01 4.52540762e+01] [ 5.00346996e-01 -4.35156125e-02 8.64730753e-01 3.19752687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.50071405699998 meters Centerline goodness : 0.994536 Centerline is valid? [True, True] Translation: X:81.35, Y:45.25, Z:31.98 [[-4.95068962e-01 -8.31329086e-01 2.52583994e-01 8.13504615e+01] [ 7.09985878e-01 -5.54646212e-01 -4.33921229e-01 4.52485596e+01] [ 5.00826094e-01 -3.54898635e-02 8.64820035e-01 3.19768831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.53071405699998 meters Centerline goodness : 0.993811 Centerline is valid? [True, True] Translation: X:81.34, Y:45.26, Z:31.99 [[-4.95279242e-01 -8.31046108e-01 2.53102429e-01 8.13410753e+01] [ 7.10846225e-01 -5.55165431e-01 -4.31843709e-01 4.52637295e+01] [ 4.99395752e-01 -3.39663187e-02 8.65707902e-01 3.19868999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.56071405699998 meters Centerline goodness : 0.995446 Centerline is valid? [True, True] Translation: X:81.34, Y:45.23, Z:31.98 [[-4.92425546e-01 -8.24021660e-01 2.80188127e-01 8.13429158e+01] [ 7.19936440e-01 -5.66541952e-01 -4.00901159e-01 4.52299785e+01] [ 4.89089567e-01 4.30367080e-03 8.72222950e-01 3.19808620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.59071405699999 meters Centerline goodness : 0.994626 Centerline is valid? [True, True] Translation: X:81.37, Y:45.26, Z:31.95 [[-4.93809244e-01 -8.44103462e-01 2.08906141e-01 8.13687720e+01] [ 7.16911366e-01 -5.31157510e-01 -4.51563720e-01 4.52552020e+01] [ 4.92128565e-01 -7.32191523e-02 8.67437854e-01 3.19536730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.620714057 meters Centerline goodness : 0.995651 Centerline is valid? [True, True] Translation: X:81.35, Y:45.24, Z:31.98 [[-4.91729606e-01 -8.30033965e-01 2.63145610e-01 8.13472083e+01] [ 7.18030135e-01 -5.57484431e-01 -4.16705934e-01 4.52354787e+01] [ 4.92579659e-01 -1.59601666e-02 8.70120999e-01 3.19759770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.650714057 meters Centerline goodness : 0.994712 Centerline is valid? [True, True] Translation: X:81.36, Y:45.25, Z:31.96 [[-4.90269076e-01 -8.41020731e-01 2.28736448e-01 8.13590982e+01] [ 7.20468823e-01 -5.38753584e-01 -4.36656902e-01 4.52467805e+01] [ 4.90470089e-01 -4.92818962e-02 8.70063438e-01 3.19602149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.680714057 meters Centerline goodness : 0.994231 Centerline is valid? [True, True] Translation: X:81.35, Y:45.23, Z:31.97 [[-4.87644247e-01 -8.33426929e-01 2.60005082e-01 8.13470143e+01] [ 7.31101290e-01 -5.52606700e-01 -4.00145896e-01 4.52317056e+01] [ 4.77172916e-01 -5.03879335e-03 8.78794981e-01 3.19672729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.710714057 meters Centerline goodness : 0.995038 Centerline is valid? [True, True] Translation: X:81.35, Y:45.26, Z:31.96 [[-4.84695214e-01 -8.45517897e-01 2.23986685e-01 8.13521903e+01] [ 7.23599158e-01 -5.31469361e-01 -4.40391390e-01 4.52551020e+01] [ 4.91400862e-01 -5.13790225e-02 8.69416694e-01 3.19639195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.740714057 meters Centerline goodness : 0.994571 Centerline is valid? [True, True] Translation: X:81.36, Y:45.23, Z:31.95 [[-4.82793348e-01 -8.44245195e-01 2.32724374e-01 8.13633662e+01] [ 7.25722130e-01 -5.34441855e-01 -4.33242765e-01 4.52263469e+01] [ 4.90140769e-01 -4.02734966e-02 8.70712394e-01 3.19493455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.770714057 meters Centerline goodness : 0.994513 Centerline is valid? [True, True] Translation: X:81.36, Y:45.22, Z:31.96 [[-4.80172065e-01 -8.41737304e-01 2.46805793e-01 8.13554779e+01] [ 7.29524655e-01 -5.39445156e-01 -4.20467242e-01 4.52238582e+01] [ 4.87061152e-01 -2.18457129e-02 8.73094610e-01 3.19556015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.800714057 meters Centerline goodness : 0.994507 Centerline is valid? [True, True] Translation: X:81.35, Y:45.23, Z:31.96 [[-4.75017528e-01 -8.47128752e-01 2.38183176e-01 8.13516253e+01] [ 7.33382047e-01 -5.30694091e-01 -4.24870044e-01 4.52325801e+01] [ 4.86322034e-01 -2.71414529e-02 8.73358014e-01 3.19576107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.830714057 meters Centerline goodness : 0.994580 Centerline is valid? [True, True] Translation: X:81.36, Y:45.21, Z:31.94 [[-4.70950183e-01 -8.48573702e-01 2.41098729e-01 8.13633078e+01] [ 7.41090252e-01 -5.28830882e-01 -4.13670325e-01 4.52059266e+01] [ 4.78530213e-01 -1.61421969e-02 8.77922699e-01 3.19413325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.860714057 meters Centerline goodness : 0.993326 Centerline is valid? [True, True] Translation: X:81.36, Y:45.20, Z:31.94 [[-4.62003941e-01 -8.54511630e-01 2.37407313e-01 8.13636366e+01] [ 7.51826494e-01 -5.19350856e-01 -4.06240829e-01 4.52023329e+01] [ 4.70435204e-01 -9.19575646e-03 8.82386626e-01 3.19358012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.890714057 meters Centerline goodness : 0.993881 Centerline is valid? [True, True] Translation: X:81.37, Y:45.20, Z:31.93 [[-4.58015964e-01 -8.59733672e-01 2.26007498e-01 8.13683059e+01] [ 7.56591662e-01 -5.10486887e-01 -4.08622313e-01 4.52021870e+01] [ 4.66680226e-01 -1.61601547e-02 8.84278472e-01 3.19285841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.920714057 meters Centerline goodness : 0.994422 Centerline is valid? [True, True] Translation: X:81.37, Y:45.22, Z:31.94 [[-0.4704677 -0.86356672 0.18141848 81.37101793] [ 0.72226346 -0.49496691 -0.48305616 45.22392084] [ 0.50694737 -0.09623038 0.85658863 31.93958057] [ 0. 0. 0. 1. ]] SLAMing on 189.950714057 meters Centerline goodness : 0.994028 Centerline is valid? [True, True] Translation: X:81.34, Y:45.19, Z:31.97 [[-4.66043637e-01 -8.44411780e-01 2.64144042e-01 8.13447801e+01] [ 7.23225225e-01 -5.35556273e-01 -4.36032972e-01 4.51875425e+01] [ 5.09655377e-01 -1.21747576e-02 8.60292492e-01 3.19711154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.98071405699997 meters Centerline goodness : 0.986776 Centerline is valid? [True, True] Translation: X:80.92, Y:45.89, Z:32.45 [[-4.65333058e-01 -8.43794329e-01 2.67350475e-01 8.09217655e+01] [ 7.31216165e-01 -5.36666494e-01 -4.21084309e-01 4.58907019e+01] [ 4.98786594e-01 -4.53459570e-04 8.66724713e-01 3.24469307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.01071405699997 meters Centerline goodness : 0.994401 Centerline is valid? [True, True] Translation: X:81.34, Y:45.19, Z:31.97 [[-4.48717377e-01 -8.55268957e-01 2.59167372e-01 8.13426393e+01] [ 7.34479806e-01 -5.18146070e-01 -4.38251143e-01 4.51885143e+01] [ 5.09109153e-01 -6.29770254e-03 8.60678923e-01 3.19731413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.04071405699997 meters Centerline goodness : 0.986463 Centerline is valid? [True, True] Translation: X:80.89, Y:45.95, Z:32.48 [[-4.57015093e-01 -8.50912059e-01 2.59009407e-01 8.08922663e+01] [ 7.38193365e-01 -5.25303452e-01 -4.23233788e-01 4.59500908e+01] [ 4.96193269e-01 -2.22520351e-03 8.68209242e-01 3.24812417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.07071405699998 meters Centerline goodness : 0.995179 Centerline is valid? [True, True] Translation: X:81.34, Y:45.21, Z:31.98 [[-4.42357901e-01 -8.59398776e-01 2.56423929e-01 8.13358648e+01] [ 7.38990197e-01 -5.11285414e-01 -4.38726240e-01 4.52054945e+01] [ 5.08146608e-01 -4.57924845e-03 8.61258414e-01 3.19816968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.10071405699998 meters Centerline goodness : 0.994335 Centerline is valid? [True, True] Translation: X:81.34, Y:45.20, Z:31.97 [[-4.42875377e-01 -8.60578045e-01 2.51528980e-01 8.13447639e+01] [ 7.41049697e-01 -5.09264724e-01 -4.37601174e-01 4.52002455e+01] [ 5.04684800e-01 -7.40731024e-03 8.63271907e-01 3.19736323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.13071405699998 meters Centerline goodness : 0.994902 Centerline is valid? [True, True] Translation: X:81.34, Y:45.21, Z:31.98 [[-4.42942842e-01 -8.58340476e-01 2.58946452e-01 8.13387521e+01] [ 7.38060424e-01 -5.13071861e-01 -4.38205517e-01 4.52078086e+01] [ 5.08987670e-01 -2.98186914e-03 8.60768645e-01 3.19823712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.16071405699998 meters Centerline goodness : 0.994208 Centerline is valid? [True, True] Translation: X:81.35, Y:45.21, Z:31.97 [[-4.47026015e-01 -8.59108196e-01 2.49200421e-01 8.13507487e+01] [ 7.37020809e-01 -5.11608891e-01 -4.41652205e-01 4.52081646e+01] [ 5.06920180e-01 -1.37641296e-02 8.61883101e-01 3.19723444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.19071405699998 meters Centerline goodness : 0.994909 Centerline is valid? [True, True] Translation: X:81.35, Y:45.20, Z:31.98 [[-4.46579993e-01 -8.54872087e-01 2.64121230e-01 8.13494256e+01] [ 7.35360442e-01 -5.18838608e-01 -4.35948986e-01 4.52045760e+01] [ 5.09716912e-01 -4.61790367e-04 8.60342058e-01 3.19775773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.22071405699998 meters Centerline goodness : 0.994301 Centerline is valid? [True, True] Translation: X:81.36, Y:45.22, Z:31.97 [[-4.50203096e-01 -8.57045178e-01 2.50580794e-01 8.13598066e+01] [ 7.34351653e-01 -5.15021870e-01 -4.42131342e-01 4.52152763e+01] [ 5.07981124e-01 -1.50344787e-02 8.61236984e-01 3.19734943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.25071405699998 meters Centerline goodness : 0.995070 Centerline is valid? [True, True] Translation: X:81.36, Y:45.21, Z:31.97 [[-4.52998919e-01 -8.52300768e-01 2.61486864e-01 8.13598261e+01] [ 7.32928831e-01 -5.23023900e-01 -4.35041755e-01 4.52102224e+01] [ 5.07550302e-01 -5.42218342e-03 8.61605067e-01 3.19748229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.28071405699998 meters Centerline goodness : 0.987507 Centerline is valid? [True, True] Translation: X:80.96, Y:45.91, Z:32.44 [[-4.56414583e-01 -8.50332563e-01 2.61954691e-01 8.09550762e+01] [ 7.37198425e-01 -5.26245601e-01 -4.23797180e-01 4.59143637e+01] [ 4.98221047e-01 -3.14627388e-04 8.67049993e-01 3.24423427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.31071405699998 meters Centerline goodness : 0.995388 Centerline is valid? [True, True] Translation: X:81.36, Y:45.24, Z:31.98 [[-4.46831533e-01 -8.60283369e-01 2.45467117e-01 8.13602513e+01] [ 7.34172515e-01 -5.09409528e-01 -4.48879328e-01 4.52419349e+01] [ 5.11206708e-01 -2.03582279e-02 8.59216646e-01 3.19835441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.34071405699999 meters Centerline goodness : 0.995366 Centerline is valid? [True, True] Translation: X:81.36, Y:45.24, Z:31.99 [[-4.46408236e-01 -8.55211710e-01 2.63310879e-01 8.13574437e+01] [ 7.33955592e-01 -5.18271753e-01 -4.38980158e-01 4.52350735e+01] [ 5.11887562e-01 -2.70586587e-03 8.59048196e-01 3.19870118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.370714057 meters Centerline goodness : 0.996084 Centerline is valid? [True, True] Translation: X:81.37, Y:45.24, Z:31.98 [[-4.46617757e-01 -8.57819994e-01 2.54317589e-01 8.13683914e+01] [ 7.33966833e-01 -5.13816771e-01 -4.44167778e-01 4.52382266e+01] [ 5.11688643e-01 -1.17125412e-02 8.59091118e-01 3.19813509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.400714057 meters Centerline goodness : 0.996309 Centerline is valid? [True, True] Translation: X:81.38, Y:45.24, Z:31.98 [[-4.47227385e-01 -8.57474241e-01 2.54412248e-01 8.13756996e+01] [ 7.33740970e-01 -5.14390624e-01 -4.43876644e-01 4.52402231e+01] [ 5.11480064e-01 -1.18411010e-02 8.59213555e-01 3.19796490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.430714057 meters Centerline goodness : 0.994842 Centerline is valid? [True, True] Translation: X:81.21, Y:45.56, Z:32.19 [[-4.46946308e-01 -8.63146034e-01 2.34984938e-01 8.12072671e+01] [ 7.27486094e-01 -5.03571897e-01 -4.66025029e-01 4.55638420e+01] [ 5.20579467e-01 -3.73398910e-02 8.52996337e-01 3.21906994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.460714057 meters Centerline goodness : 0.995985 Centerline is valid? [True, True] Translation: X:81.37, Y:45.23, Z:31.99 [[-4.47261180e-01 -8.48341433e-01 2.83327109e-01 8.13720722e+01] [ 7.33972182e-01 -5.29159370e-01 -4.25764250e-01 4.52333269e+01] [ 5.11118649e-01 1.75263959e-02 8.59331457e-01 3.19905035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.490714057 meters Centerline goodness : 0.995490 Centerline is valid? [True, True] Translation: X:81.39, Y:45.25, Z:31.98 [[-4.48990861e-01 -8.56681823e-01 2.53975315e-01 8.13881259e+01] [ 7.33568965e-01 -5.15695275e-01 -4.42645409e-01 4.52466149e+01] [ 5.10180146e-01 -1.24353343e-02 8.59977663e-01 3.19787193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.520714057 meters Centerline goodness : 0.995387 Centerline is valid? [True, True] Translation: X:81.39, Y:45.25, Z:31.98 [[-4.51068295e-01 -8.55600880e-01 2.53938038e-01 8.13946932e+01] [ 7.32636451e-01 -5.17463019e-01 -4.42126515e-01 4.52506758e+01] [ 5.09687379e-01 -1.33849904e-02 8.60255554e-01 3.19777182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.550714057 meters Centerline goodness : 0.995439 Centerline is valid? [True, True] Translation: X:81.40, Y:45.25, Z:31.98 [[-4.52538400e-01 -8.54756569e-01 2.54165702e-01 8.13996705e+01] [ 7.31698366e-01 -5.18838078e-01 -4.42068490e-01 4.52502138e+01] [ 5.09731791e-01 -1.40803383e-02 8.60218138e-01 3.19758489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.580714057 meters Centerline goodness : 0.995243 Centerline is valid? [True, True] Translation: X:81.40, Y:45.25, Z:31.98 [[-4.54455149e-01 -8.53743496e-01 2.54150663e-01 8.14026811e+01] [ 7.30821915e-01 -5.20479334e-01 -4.41588713e-01 4.52525367e+01] [ 5.09283660e-01 -1.49433903e-02 8.60468970e-01 3.19758180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.610714057 meters Centerline goodness : 0.988760 Centerline is valid? [True, True] Translation: X:80.98, Y:45.98, Z:32.46 [[-4.66584861e-01 -8.47001241e-01 2.54730181e-01 8.09829752e+01] [ 7.33112029e-01 -5.31471732e-01 -4.24363701e-01 4.59843618e+01] [ 4.94818472e-01 -1.12559182e-02 8.68923463e-01 3.24624774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.640714057 meters Centerline goodness : 0.994426 Centerline is valid? [True, True] Translation: X:81.40, Y:45.28, Z:31.99 [[-4.57945239e-01 -8.54784843e-01 2.44190559e-01 8.14011705e+01] [ 7.27456223e-01 -5.18209349e-01 -4.49740496e-01 4.52835994e+01] [ 5.10973190e-01 -2.83185770e-02 8.59130058e-01 3.19868304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.670714057 meters Centerline goodness : 0.987998 Centerline is valid? [True, True] Translation: X:81.00, Y:45.98, Z:32.45 [[-4.71754411e-01 -8.44272183e-01 2.54268079e-01 8.10021163e+01] [ 7.28062398e-01 -5.35654796e-01 -4.27783922e-01 4.59758433e+01] [ 4.97365982e-01 -1.66859251e-02 8.67380343e-01 3.24522260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.700714057 meters Centerline goodness : 0.987692 Centerline is valid? [True, True] Translation: X:80.99, Y:46.01, Z:32.47 [[-4.75925850e-01 -8.44380225e-01 2.46001263e-01 8.09934797e+01] [ 7.25400867e-01 -5.35030267e-01 -4.33054495e-01 4.60056789e+01] [ 4.97280773e-01 -2.76522992e-02 8.67148882e-01 3.24661081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.73071405699997 meters Centerline goodness : 0.993989 Centerline is valid? [True, True] Translation: X:81.40, Y:45.31, Z:32.00 [[-4.72561115e-01 -8.44691612e-01 2.51360446e-01 8.13993978e+01] [ 7.18225014e-01 -5.34409669e-01 -4.45599746e-01 4.53094246e+01] [ 5.10723821e-01 -3.00397527e-02 8.59219874e-01 3.20004024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.76071405699997 meters Centerline goodness : 0.988104 Centerline is valid? [True, True] Translation: X:81.00, Y:46.00, Z:32.46 [[-4.81843957e-01 -8.38213420e-01 2.55391198e-01 8.09991689e+01] [ 7.21428107e-01 -5.44911985e-01 -4.27331739e-01 4.60015379e+01] [ 4.97360923e-01 -2.16608275e-02 8.67273268e-01 3.24645567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.79071405699997 meters Centerline goodness : 0.987612 Centerline is valid? [True, True] Translation: X:81.02, Y:45.98, Z:32.44 [[-4.84583994e-01 -8.39766406e-01 2.44889234e-01 8.10198708e+01] [ 7.22216549e-01 -5.42042905e-01 -4.29642578e-01 4.59765618e+01] [ 4.93539876e-01 -3.13348587e-02 8.69158511e-01 3.24420783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.82071405699998 meters Centerline goodness : 0.987583 Centerline is valid? [True, True] Translation: X:80.96, Y:46.08, Z:32.51 [[-4.85900788e-01 -8.39527759e-01 2.43091682e-01 8.09624232e+01] [ 7.23979154e-01 -5.42426727e-01 -4.26177699e-01 4.60775521e+01] [ 4.89647434e-01 -3.10867698e-02 8.71366171e-01 3.25078091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.85071405699998 meters Centerline goodness : 0.988022 Centerline is valid? [True, True] Translation: X:81.00, Y:46.01, Z:32.46 [[-4.81771576e-01 -8.42000130e-01 2.42758997e-01 8.10006762e+01] [ 7.24745325e-01 -5.38580287e-01 -4.29738861e-01 4.60103740e+01] [ 4.92585387e-01 -3.10975202e-02 8.69708331e-01 3.24636217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.88071405699998 meters Centerline goodness : 0.994374 Centerline is valid? [True, True] Translation: X:81.39, Y:45.32, Z:32.01 [[-4.68662480e-01 -8.48254827e-01 2.46615547e-01 8.13935649e+01] [ 7.23479348e-01 -5.28761129e-01 -4.43834769e-01 4.53208963e+01] [ 5.06885700e-01 -2.95874486e-02 8.61505351e-01 3.20087782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.91071405699998 meters Centerline goodness : 0.987999 Centerline is valid? [True, True] Translation: X:81.00, Y:46.01, Z:32.47 [[-4.70760250e-01 -8.46425268e-01 2.48895668e-01 8.09988883e+01] [ 7.29299518e-01 -5.32094838e-01 -4.30113122e-01 4.60092614e+01] [ 4.96494714e-01 -2.09606703e-02 8.67786638e-01 3.24654419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.94071405699998 meters Centerline goodness : 0.988176 Centerline is valid? [True, True] Translation: X:81.01, Y:46.00, Z:32.46 [[-4.67764010e-01 -8.49400121e-01 2.44369118e-01 8.10055844e+01] [ 7.30066960e-01 -5.27156522e-01 -4.34865768e-01 4.60021017e+01] [ 4.98195810e-01 -2.50087360e-02 8.66703812e-01 3.24590235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.97071405699998 meters Centerline goodness : 0.987918 Centerline is valid? [True, True] Translation: X:80.98, Y:46.05, Z:32.49 [[-4.67339827e-01 -8.49815120e-01 2.43737045e-01 8.09781802e+01] [ 7.32369500e-01 -5.26568163e-01 -4.31695361e-01 4.60485709e+01] [ 4.95205413e-01 -2.32428582e-02 8.68464949e-01 3.24891134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.00071405699998 meters Centerline goodness : 0.988860 Centerline is valid? [True, True] Translation: X:80.96, Y:46.08, Z:32.51 [[-4.61965736e-01 -8.52900172e-01 2.43205584e-01 8.09578118e+01] [ 7.35297213e-01 -5.21649117e-01 -4.32689505e-01 4.60838894e+01] [ 4.95908931e-01 -2.10593375e-02 8.68119137e-01 3.25124940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.03071405699998 meters Centerline goodness : 0.991713 Centerline is valid? [True, True] Translation: X:81.21, Y:45.66, Z:32.24 [[-4.39896657e-01 -8.63889370e-01 2.45328530e-01 8.12066685e+01] [ 7.29424406e-01 -5.03062754e-01 -4.63538456e-01 4.56618492e+01] [ 5.23861591e-01 -2.49603997e-02 8.51437615e-01 3.22376239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.06071405699998 meters Centerline goodness : 0.987927 Centerline is valid? [True, True] Translation: X:80.94, Y:46.09, Z:32.53 [[-4.54306935e-01 -8.52989958e-01 2.56930615e-01 8.09447406e+01] [ 7.44348892e-01 -5.21923531e-01 -4.16581991e-01 4.60920308e+01] [ 4.89438389e-01 1.98993073e-03 8.72035609e-01 3.25251535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.09071405699999 meters Centerline goodness : 0.994055 Centerline is valid? [True, True] Translation: X:81.38, Y:45.34, Z:32.02 [[-4.39714454e-01 -8.66813761e-01 2.35127842e-01 8.13795498e+01] [ 7.44065638e-01 -4.98198375e-01 -4.45156945e-01 4.53403526e+01] [ 5.03008475e-01 -2.07913953e-02 8.64031361e-01 3.20190586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.120714057 meters Centerline goodness : 0.994377 Centerline is valid? [True, True] Translation: X:81.38, Y:45.33, Z:32.02 [[-4.35926343e-01 -8.64988489e-01 2.48521903e-01 8.13775469e+01] [ 7.45844578e-01 -5.01760106e-01 -4.38124025e-01 4.53327834e+01] [ 5.03670615e-01 -5.63109022e-03 8.63877423e-01 3.20201903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.150714057 meters Centerline goodness : 0.994160 Centerline is valid? [True, True] Translation: X:81.38, Y:45.34, Z:32.02 [[-4.37323362e-01 -8.67289882e-01 2.37816185e-01 8.13813781e+01] [ 7.46136752e-01 -4.97545149e-01 -4.42412447e-01 4.53365652e+01] [ 5.02024128e-01 -1.60339026e-02 8.64704972e-01 3.20165729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.180714057 meters Centerline goodness : 0.988520 Centerline is valid? [True, True] Translation: X:80.99, Y:46.05, Z:32.49 [[-4.41619976e-01 -8.63878936e-01 2.42249832e-01 8.09874692e+01] [ 7.47037060e-01 -5.03586184e-01 -4.33977633e-01 4.60458976e+01] [ 4.96897804e-01 -1.06835896e-02 8.67743299e-01 3.24870264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.210714057 meters Centerline goodness : 0.993958 Centerline is valid? [True, True] Translation: X:81.37, Y:45.35, Z:32.03 [[-4.38022035e-01 -8.64978223e-01 2.44845605e-01 8.13744180e+01] [ 7.45384090e-01 -5.01714285e-01 -4.38959378e-01 4.53497384e+01] [ 5.02532840e-01 -9.76986175e-03 8.64502918e-01 3.20259905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.240714057 meters Centerline goodness : 0.988888 Centerline is valid? [True, True] Translation: X:80.99, Y:46.06, Z:32.49 [[-4.44336501e-01 -8.62480765e-01 2.42264327e-01 8.09856074e+01] [ 7.45591284e-01 -5.05945478e-01 -4.33719737e-01 4.60590291e+01] [ 4.96647472e-01 -1.20873395e-02 8.67868184e-01 3.24940740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.270714057 meters Centerline goodness : 0.994069 Centerline is valid? [True, True] Translation: X:81.37, Y:45.37, Z:32.03 [[-4.44216663e-01 -8.62333789e-01 2.43006158e-01 8.13698274e+01] [ 7.43700396e-01 -5.06166456e-01 -4.36698110e-01 4.53651885e+01] [ 4.99581102e-01 -1.32648017e-02 8.66165554e-01 3.20334440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.300714057 meters Centerline goodness : 0.988981 Centerline is valid? [True, True] Translation: X:80.97, Y:46.09, Z:32.51 [[-4.49690223e-01 -8.58816293e-01 2.45383939e-01 8.09721288e+01] [ 7.46725997e-01 -5.12227826e-01 -4.24291103e-01 4.60900021e+01] [ 4.90080594e-01 -7.56499378e-03 8.71644298e-01 3.25105302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.330714057 meters Centerline goodness : 0.993500 Centerline is valid? [True, True] Translation: X:81.23, Y:45.65, Z:32.22 [[-4.36588932e-01 -8.69146819e-01 2.32322859e-01 8.12316224e+01] [ 7.36716092e-01 -4.93605120e-01 -4.62172463e-01 4.56463528e+01] [ 5.16371479e-01 -3.06233935e-02 8.55816980e-01 3.22158128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.360714057 meters Centerline goodness : 0.988794 Centerline is valid? [True, True] Translation: X:80.94, Y:46.17, Z:32.56 [[-4.53743023e-01 -8.55813438e-01 2.48396111e-01 8.09362930e+01] [ 7.41612418e-01 -5.17194837e-01 -4.27224205e-01 4.61656502e+01] [ 4.94093402e-01 -9.63636140e-03 8.69355423e-01 3.25589763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.390714057 meters Centerline goodness : 0.988794 Centerline is valid? [True, True] Translation: X:80.94, Y:46.17, Z:32.55 [[-4.54721421e-01 -8.59633723e-01 2.32934095e-01 8.09428374e+01] [ 7.41595947e-01 -5.10285000e-01 -4.35482112e-01 4.61691530e+01] [ 4.93217883e-01 -2.52800641e-02 8.69538405e-01 3.25533335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.420714057 meters Centerline goodness : 0.988087 Centerline is valid? [True, True] Translation: X:80.99, Y:46.08, Z:32.50 [[-4.52649441e-01 -8.60208223e-01 2.34841002e-01 8.09911736e+01] [ 7.39397543e-01 -5.09295743e-01 -4.40351132e-01 4.60843806e+01] [ 4.98397187e-01 -2.56838337e-02 8.66568280e-01 3.24974963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.450714057 meters Centerline goodness : 0.994091 Centerline is valid? [True, True] Translation: X:81.36, Y:45.41, Z:32.05 [[-4.48737601e-01 -8.61771224e-01 2.36611335e-01 8.13592939e+01] [ 7.38004171e-01 -5.06661847e-01 -4.45694533e-01 4.54053141e+01] [ 5.03968659e-01 -2.53797430e-02 8.63348979e-01 3.20502457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.48071405699997 meters Centerline goodness : 0.988336 Centerline is valid? [True, True] Translation: X:80.95, Y:46.18, Z:32.56 [[-4.56438303e-01 -8.59073322e-01 2.31640030e-01 8.09469367e+01] [ 7.35789292e-01 -5.10819816e-01 -4.44609079e-01 4.61829650e+01] [ 5.00278116e-01 -3.24983603e-02 8.65254681e-01 3.25613750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.51071405699997 meters Centerline goodness : 0.993740 Centerline is valid? [True, True] Translation: X:81.30, Y:45.47, Z:32.10 [[-4.30726245e-01 -8.69242208e-01 2.42678564e-01 8.13030330e+01] [ 7.50377439e-01 -4.94338165e-01 -4.38820553e-01 4.54694895e+01] [ 5.01406623e-01 -6.91100991e-03 8.65184163e-01 3.21019539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.54071405699997 meters Centerline goodness : 0.994234 Centerline is valid? [True, True] Translation: X:81.31, Y:45.48, Z:32.10 [[-4.33447824e-01 -8.73791841e-01 2.20478578e-01 8.13117618e+01] [ 7.50142587e-01 -4.85419472e-01 -4.49059055e-01 4.54762797e+01] [ 4.99408734e-01 -2.92532993e-02 8.65872486e-01 3.20960894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.57071405699998 meters Centerline goodness : 0.994174 Centerline is valid? [True, True] Translation: X:81.31, Y:45.48, Z:32.09 [[-4.37826810e-01 -8.74698449e-01 2.07870890e-01 8.13145527e+01] [ 7.48031279e-01 -4.82672124e-01 -4.55496243e-01 4.54842915e+01] [ 4.98755342e-01 -4.39345395e-02 8.65628596e-01 3.20943330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.60071405699998 meters Centerline goodness : 0.987355 Centerline is valid? [True, True] Translation: X:80.94, Y:46.20, Z:32.57 [[-4.48767102e-01 -8.63753623e-01 2.29211186e-01 8.09438738e+01] [ 7.46028816e-01 -5.03309780e-01 -4.36027833e-01 4.62027138e+01] [ 4.91984852e-01 -2.46767975e-02 8.70253963e-01 3.25693495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.63071405699998 meters Centerline goodness : 0.993265 Centerline is valid? [True, True] Translation: X:81.30, Y:45.49, Z:32.11 [[-4.43521109e-01 -8.69329614e-01 2.18071200e-01 8.13032664e+01] [ 7.47458230e-01 -4.93029316e-01 -4.45228354e-01 4.54876614e+01] [ 4.94565688e-01 -3.44690601e-02 8.68456484e-01 3.21060197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.66071405699998 meters Centerline goodness : 0.993567 Centerline is valid? [True, True] Translation: X:81.30, Y:45.49, Z:32.11 [[-4.46276507e-01 -8.68013583e-01 2.17691752e-01 8.13000053e+01] [ 7.45914568e-01 -4.95204956e-01 -4.45402637e-01 4.54890093e+01] [ 4.94417574e-01 -3.63932837e-02 8.68462315e-01 3.21067813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.69071405699998 meters Centerline goodness : 0.994071 Centerline is valid? [True, True] Translation: X:81.30, Y:45.49, Z:32.11 [[-4.47602272e-01 -8.67314623e-01 2.17755713e-01 8.12994268e+01] [ 7.45352409e-01 -4.96391567e-01 -4.45022694e-01 4.54859856e+01] [ 4.94066790e-01 -3.68884238e-02 8.68641037e-01 3.21050593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.72071405699998 meters Centerline goodness : 0.994309 Centerline is valid? [True, True] Translation: X:81.30, Y:45.48, Z:32.10 [[-4.48153737e-01 -8.67039797e-01 2.17715913e-01 8.12987785e+01] [ 7.45385912e-01 -4.96871258e-01 -4.44430868e-01 4.54835940e+01] [ 4.93516029e-01 -3.68909796e-02 8.68953960e-01 3.21040501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.75071405699998 meters Centerline goodness : 0.993569 Centerline is valid? [True, True] Translation: X:81.30, Y:45.48, Z:32.10 [[-4.48001799e-01 -8.67218661e-01 2.17315858e-01 8.12959176e+01] [ 7.46353716e-01 -4.96601246e-01 -4.43106459e-01 4.54780314e+01] [ 4.92189516e-01 -3.63179925e-02 8.69730122e-01 3.21018709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.78071405699998 meters Centerline goodness : 0.994217 Centerline is valid? [True, True] Translation: X:81.29, Y:45.47, Z:32.10 [[-4.47008336e-01 -8.67740722e-01 2.17277672e-01 8.12923077e+01] [ 7.47265302e-01 -4.95751529e-01 -4.42521176e-01 4.54719447e+01] [ 4.91709383e-01 -3.54465889e-02 8.70037598e-01 3.21002446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.81071405699998 meters Centerline goodness : 0.994141 Centerline is valid? [True, True] Translation: X:81.29, Y:45.47, Z:32.10 [[-4.47071032e-01 -8.67681391e-01 2.17385593e-01 8.12903342e+01] [ 7.47356509e-01 -4.95869680e-01 -4.42234677e-01 4.54692503e+01] [ 4.91513724e-01 -3.52457759e-02 8.70156305e-01 3.20993634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.84071405699999 meters Centerline goodness : 0.993610 Centerline is valid? [True, True] Translation: X:81.31, Y:45.45, Z:32.09 [[-4.35709158e-01 -8.77361189e-01 2.00984762e-01 8.13115785e+01] [ 7.46372090e-01 -4.76980860e-01 -4.64131406e-01 4.54549123e+01] [ 5.03076767e-01 -5.22168872e-02 8.62662833e-01 3.20889593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.870714057 meters Centerline goodness : 0.994683 Centerline is valid? [True, True] Translation: X:81.28, Y:45.46, Z:32.10 [[-4.45988422e-01 -8.64820858e-01 2.30606182e-01 8.12810183e+01] [ 7.47612977e-01 -5.01610439e-01 -4.35272104e-01 4.54579005e+01] [ 4.92106862e-01 -2.17221442e-02 8.70263744e-01 3.20983670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.900714057 meters Centerline goodness : 0.994964 Centerline is valid? [True, True] Translation: X:81.28, Y:45.46, Z:32.10 [[-4.45621214e-01 -8.68292452e-01 2.17921891e-01 8.12822278e+01] [ 7.47949242e-01 -4.94877578e-01 -4.42343886e-01 4.54640723e+01] [ 4.91928515e-01 -3.41233063e-02 8.69966629e-01 3.20952689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.930714057 meters Centerline goodness : 0.994452 Centerline is valid? [True, True] Translation: X:81.28, Y:45.46, Z:32.09 [[-4.44326386e-01 -8.68802769e-01 2.18531028e-01 8.12799047e+01] [ 7.48077266e-01 -4.94031169e-01 -4.43072915e-01 4.54580634e+01] [ 4.92904115e-01 -3.33908930e-02 8.69442685e-01 3.20922067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.960714057 meters Centerline goodness : 0.994123 Centerline is valid? [True, True] Translation: X:81.29, Y:45.43, Z:32.08 [[-4.28182238e-01 -8.71353208e-01 2.39590396e-01 8.12880453e+01] [ 7.65741241e-01 -4.90626485e-01 -4.15843725e-01 4.54295530e+01] [ 4.79896158e-01 5.40735046e-03 8.77308633e-01 3.20789328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.990714057 meters Centerline goodness : 0.994717 Centerline is valid? [True, True] Translation: X:81.29, Y:45.47, Z:32.08 [[-4.42285712e-01 -8.79948635e-01 1.73417841e-01 8.12917760e+01] [ 7.50646912e-01 -4.69007362e-01 -4.65361481e-01 4.54678763e+01] [ 4.90828445e-01 -7.56471673e-02 8.67965981e-01 3.20774360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.020714057 meters Centerline goodness : 0.993865 Centerline is valid? [True, True] Translation: X:81.28, Y:45.45, Z:32.09 [[-4.41737003e-01 -8.69954548e-01 2.19197408e-01 8.12758311e+01] [ 7.48978732e-01 -4.92104107e-01 -4.43694047e-01 4.54465027e+01] [ 4.93861599e-01 -3.18218818e-02 8.68958048e-01 3.20870389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.050714057 meters Centerline goodness : 0.994308 Centerline is valid? [True, True] Translation: X:81.27, Y:45.44, Z:32.09 [[-4.41478550e-01 -8.69906959e-01 2.19905825e-01 8.12741171e+01] [ 7.48369193e-01 -4.92194810e-01 -4.44620985e-01 4.54427407e+01] [ 4.95015395e-01 -3.17198831e-02 8.68305020e-01 3.20859003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.080714057 meters Centerline goodness : 0.993868 Centerline is valid? [True, True] Translation: X:81.27, Y:45.44, Z:32.09 [[-4.42083976e-01 -8.69494729e-01 2.20319482e-01 8.12725607e+01] [ 7.47703979e-01 -4.92906369e-01 -4.44951762e-01 4.54419109e+01] [ 4.95480088e-01 -3.19722913e-02 8.68030677e-01 3.20854998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.110714057 meters Centerline goodness : 0.986757 Centerline is valid? [True, True] Translation: X:80.92, Y:46.13, Z:32.53 [[-4.50710365e-01 -8.64762339e-01 2.21463912e-01 8.09201495e+01] [ 7.48527321e-01 -5.01292451e-01 -4.34065350e-01 4.61318320e+01] [ 4.86381555e-01 -2.98659638e-02 8.73235940e-01 3.25275779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.140714057 meters Centerline goodness : 0.986526 Centerline is valid? [True, True] Translation: X:80.92, Y:46.13, Z:32.52 [[-4.52248762e-01 -8.65143615e-01 2.16789258e-01 8.09235030e+01] [ 7.48955216e-01 -5.00364226e-01 -4.34398119e-01 4.61250108e+01] [ 4.84290349e-01 -3.40905662e-02 8.74242925e-01 3.25222735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.170714057 meters Centerline goodness : 0.993141 Centerline is valid? [True, True] Translation: X:81.28, Y:45.41, Z:32.07 [[-4.25377359e-01 -8.78092583e-01 2.19106181e-01 8.12785992e+01] [ 7.62406182e-01 -4.78135711e-01 -4.36031025e-01 4.54136138e+01] [ 4.87638099e-01 -1.84298189e-02 8.72851320e-01 3.20737225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.200714057 meters Centerline goodness : 0.994590 Centerline is valid? [True, True] Translation: X:81.26, Y:45.44, Z:32.09 [[-4.37727644e-01 -8.75842581e-01 2.03209950e-01 8.12642240e+01] [ 7.52279112e-01 -4.80548028e-01 -4.50721344e-01 4.54420677e+01] [ 4.92413086e-01 -4.44225911e-02 8.69227235e-01 3.20856418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.23071405699997 meters Centerline goodness : 0.986222 Centerline is valid? [True, True] Translation: X:80.92, Y:46.13, Z:32.53 [[-4.45508709e-01 -8.68857409e-01 2.15890699e-01 8.09151966e+01] [ 7.53279127e-01 -4.94105708e-01 -4.34085367e-01 4.61299976e+01] [ 4.83831114e-01 -3.07628537e-02 8.74620546e-01 3.25291013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.26071405699997 meters Centerline goodness : 0.995057 Centerline is valid? [True, True] Translation: X:81.25, Y:45.44, Z:32.10 [[-4.36926106e-01 -8.72789869e-01 2.17562458e-01 8.12495585e+01] [ 7.52804240e-01 -4.87196785e-01 -4.42634239e-01 4.54448725e+01] [ 4.92322410e-01 -2.96165132e-02 8.69908907e-01 3.20967786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.29071405699997 meters Centerline goodness : 0.993896 Centerline is valid? [True, True] Translation: X:81.26, Y:45.43, Z:32.09 [[-4.26503108e-01 -8.78331972e-01 2.15935281e-01 8.12612408e+01] [ 7.63256747e-01 -4.77599785e-01 -4.35129388e-01 4.54313897e+01] [ 4.85318697e-01 -2.07699760e-02 8.74090596e-01 3.20863294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.32071405699998 meters Centerline goodness : 0.994339 Centerline is valid? [True, True] Translation: X:81.27, Y:45.45, Z:32.09 [[-4.33723265e-01 -8.81904563e-01 1.84738927e-01 8.12650612e+01] [ 7.52319090e-01 -4.67274656e-01 -4.64403254e-01 4.54508569e+01] [ 4.95883168e-01 -6.24398739e-02 8.66141528e-01 3.20884597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.35071405699998 meters Centerline goodness : 0.995017 Centerline is valid? [True, True] Translation: X:81.25, Y:45.44, Z:32.09 [[-4.37259111e-01 -8.72374970e-01 2.18555212e-01 8.12538638e+01] [ 7.49950911e-01 -4.87824747e-01 -4.46766882e-01 4.54354326e+01] [ 4.96364886e-01 -3.14472095e-02 8.67544219e-01 3.20947426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.38071405699998 meters Centerline goodness : 0.995528 Centerline is valid? [True, True] Translation: X:81.25, Y:45.45, Z:32.10 [[-4.48932244e-01 -8.69375605e-01 2.06508831e-01 8.12452010e+01] [ 7.40433323e-01 -4.91300557e-01 -4.58674456e-01 4.54502378e+01] [ 5.00218286e-01 -5.30077330e-02 8.64275330e-01 3.21015242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.41071405699998 meters Centerline goodness : 0.994944 Centerline is valid? [True, True] Translation: X:81.24, Y:45.42, Z:32.09 [[-4.37072989e-01 -8.62296495e-01 2.55757613e-01 8.12403501e+01] [ 7.59811292e-01 -5.06151433e-01 -4.08041085e-01 4.54169323e+01] [ 4.81304480e-01 1.59837856e-02 8.76407734e-01 3.20943255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.44071405699998 meters Centerline goodness : 0.994873 Centerline is valid? [True, True] Translation: X:81.26, Y:45.45, Z:32.08 [[-4.41690876e-01 -8.79383050e-01 1.77748760e-01 8.12607702e+01] [ 7.50360289e-01 -4.70697372e-01 -4.64115740e-01 4.54538209e+01] [ 4.91801389e-01 -7.16200768e-02 8.67756854e-01 3.20809774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.47071405699998 meters Centerline goodness : 0.994579 Centerline is valid? [True, True] Translation: X:81.25, Y:45.44, Z:32.09 [[-4.42102106e-01 -8.71486645e-01 2.12265766e-01 8.12477030e+01] [ 7.49138502e-01 -4.88899113e-01 -4.46955436e-01 4.54369523e+01] [ 4.93292239e-01 -3.85834819e-02 8.69007527e-01 3.20892520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.50071405699998 meters Centerline goodness : 0.995219 Centerline is valid? [True, True] Translation: X:81.25, Y:45.44, Z:32.09 [[-4.42162088e-01 -8.72453853e-01 2.08127276e-01 8.12472581e+01] [ 7.48806295e-01 -4.86797884e-01 -4.49796568e-01 4.54387539e+01] [ 4.93742666e-01 -4.30359754e-02 8.68542506e-01 3.20892290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.53071405699998 meters Centerline goodness : 0.995286 Centerline is valid? [True, True] Translation: X:81.25, Y:45.43, Z:32.09 [[-4.41593726e-01 -8.72587284e-01 2.08773593e-01 8.12463086e+01] [ 7.49362713e-01 -4.86663404e-01 -4.49014760e-01 4.54315736e+01] [ 4.93407037e-01 -4.18349545e-02 8.68791881e-01 3.20855981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.56071405699998 meters Centerline goodness : 0.994451 Centerline is valid? [True, True] Translation: X:81.25, Y:45.42, Z:32.08 [[-4.41052943e-01 -8.72593700e-01 2.09886960e-01 8.12463656e+01] [ 7.49324534e-01 -4.86743475e-01 -4.48991684e-01 4.54235291e+01] [ 4.93948423e-01 -4.07556546e-02 8.68535510e-01 3.20834916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.59071405699999 meters Centerline goodness : 0.995486 Centerline is valid? [True, True] Translation: X:81.24, Y:45.42, Z:32.08 [[-4.39955470e-01 -8.72571822e-01 2.12267756e-01 8.12434934e+01] [ 7.49505163e-01 -4.86990712e-01 -4.48421740e-01 4.54234370e+01] [ 4.94652600e-01 -3.81898185e-02 8.68251313e-01 3.20847543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.620714057 meters Centerline goodness : 0.995061 Centerline is valid? [True, True] Translation: X:81.25, Y:45.41, Z:32.08 [[-4.38586129e-01 -8.72808832e-01 2.14119009e-01 8.12450857e+01] [ 7.51167173e-01 -4.86828070e-01 -4.45809722e-01 4.54143547e+01] [ 4.93345806e-01 -3.46867893e-02 8.69141382e-01 3.20794188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.650714057 meters Centerline goodness : 0.994949 Centerline is valid? [True, True] Translation: X:81.25, Y:45.41, Z:32.07 [[-4.35294111e-01 -8.75124558e-01 2.11367088e-01 8.12458661e+01] [ 7.53353812e-01 -4.82614905e-01 -4.46699997e-01 4.54079962e+01] [ 4.92927044e-01 -3.52116761e-02 8.69357847e-01 3.20745712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.680714057 meters Centerline goodness : 0.995527 Centerline is valid? [True, True] Translation: X:81.24, Y:45.40, Z:32.07 [[-4.31446978e-01 -8.75506884e-01 2.17580332e-01 8.12449822e+01] [ 7.57735137e-01 -4.82576334e-01 -4.39269331e-01 4.54004223e+01] [ 4.89582442e-01 -2.46531626e-02 8.71608429e-01 3.20696004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.710714057 meters Centerline goodness : 0.994955 Centerline is valid? [True, True] Translation: X:81.24, Y:45.42, Z:32.08 [[-4.27897691e-01 -8.81665738e-01 1.98919815e-01 8.12395728e+01] [ 7.56531357e-01 -4.69802942e-01 -4.54912632e-01 4.54243475e+01] [ 4.94533995e-01 -4.41669877e-02 8.68035371e-01 3.20786725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.740714057 meters Centerline goodness : 0.994845 Centerline is valid? [True, True] Translation: X:81.25, Y:45.39, Z:32.07 [[-4.24198768e-01 -8.78712643e-01 2.18905223e-01 8.12456381e+01] [ 7.60024097e-01 -4.76892597e-01 -4.41516504e-01 4.53887826e+01] [ 4.92360414e-01 -2.09175125e-02 8.70140035e-01 3.20668605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.770714057 meters Centerline goodness : 0.994546 Centerline is valid? [True, True] Translation: X:81.24, Y:45.38, Z:32.06 [[-4.16746108e-01 -8.81561395e-01 2.21748030e-01 8.12422833e+01] [ 7.68296788e-01 -4.71967000e-01 -4.32397036e-01 4.53847742e+01] [ 4.85842287e-01 -9.83148227e-03 8.73991198e-01 3.20624326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.800714057 meters Centerline goodness : 0.994347 Centerline is valid? [True, True] Translation: X:81.25, Y:45.38, Z:32.05 [[-4.12227265e-01 -8.86219267e-01 2.11386124e-01 8.12485298e+01] [ 7.73889255e-01 -4.63038276e-01 -4.32077512e-01 4.53815550e+01] [ 4.80795282e-01 -1.45246812e-02 8.76712570e-01 3.20500937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.830714057 meters Centerline goodness : 0.995196 Centerline is valid? [True, True] Translation: X:81.25, Y:45.38, Z:32.05 [[-4.07629460e-01 -8.88431092e-01 2.11017575e-01 8.12488125e+01] [ 7.81732851e-01 -4.58954439e-01 -4.22202053e-01 4.53788037e+01] [ 4.71944884e-01 -7.14262422e-03 8.81599121e-01 3.20454752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.860714057 meters Centerline goodness : 0.994318 Centerline is valid? [True, True] Translation: X:81.26, Y:45.38, Z:32.04 [[-4.04337812e-01 -8.95104149e-01 1.87881600e-01 8.12579801e+01] [ 7.82178599e-01 -4.44885634e-01 -4.36203407e-01 4.53843811e+01] [ 4.74033304e-01 -2.94165649e-02 8.80015393e-01 3.20357851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.890714057 meters Centerline goodness : 0.993819 Centerline is valid? [True, True] Translation: X:81.26, Y:45.38, Z:32.03 [[-4.01845845e-01 -8.96585589e-01 1.86156383e-01 8.12611965e+01] [ 7.83314910e-01 -4.41861169e-01 -4.37237302e-01 4.53802191e+01] [ 4.74275941e-01 -2.98829229e-02 8.79868935e-01 3.20316437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.920714057 meters Centerline goodness : 0.994855 Centerline is valid? [True, True] Translation: X:81.25, Y:45.42, Z:32.07 [[-0.42141361 -0.89263172 0.16005996 81.24527858] [ 0.75201806 -0.44261119 -0.48843032 45.42274849] [ 0.50683273 -0.0854632 0.85779755 32.06524823] [ 0. 0. 0. 1. ]] SLAMing on 192.950714057 meters Centerline goodness : 0.993676 Centerline is valid? [True, True] Translation: X:81.24, Y:45.34, Z:32.06 [[-4.04311672e-01 -8.78205827e-01 2.55512421e-01 8.12409582e+01] [ 7.77357125e-01 -4.77151038e-01 -4.09930221e-01 4.53432490e+01] [ 4.81921126e-01 3.28848285e-02 8.75597291e-01 3.20550983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.98071405699997 meters Centerline goodness : 0.994903 Centerline is valid? [True, True] Translation: X:81.26, Y:45.37, Z:32.03 [[-4.03577957e-01 -8.91987588e-01 2.03673700e-01 8.12590618e+01] [ 7.80597601e-01 -4.51800185e-01 -4.31907371e-01 4.53653511e+01] [ 4.77275829e-01 -1.53210929e-02 8.78619967e-01 3.20349564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.01071405699997 meters Centerline goodness : 0.994463 Centerline is valid? [True, True] Translation: X:81.26, Y:45.37, Z:32.04 [[-4.04002437e-01 -8.90320921e-01 2.10025448e-01 8.12561136e+01] [ 7.80857777e-01 -4.55247921e-01 -4.27797221e-01 4.53680631e+01] [ 4.76490464e-01 -8.83111503e-03 8.79135285e-01 3.20374835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.04071405699997 meters Centerline goodness : 0.993772 Centerline is valid? [True, True] Translation: X:81.27, Y:45.38, Z:32.03 [[-4.09325005e-01 -8.96277146e-01 1.70705355e-01 8.12711216e+01] [ 7.77380766e-01 -4.40542501e-01 -4.49000501e-01 4.53844603e+01] [ 4.77631851e-01 -5.10840728e-02 8.77073675e-01 3.20283845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.07071405699998 meters Centerline goodness : 0.993888 Centerline is valid? [True, True] Translation: X:81.26, Y:45.37, Z:32.04 [[-4.10341041e-01 -8.88687340e-01 2.04585050e-01 8.12620476e+01] [ 7.79518995e-01 -4.58242965e-01 -4.27040421e-01 4.53672352e+01] [ 4.73255076e-01 -1.57542784e-02 8.80784557e-01 3.20356668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.10071405699998 meters Centerline goodness : 0.993549 Centerline is valid? [True, True] Translation: X:81.27, Y:45.39, Z:32.04 [[-4.19138113e-01 -8.91129608e-01 1.73813878e-01 8.12714903e+01] [ 7.69026277e-01 -4.50214448e-01 -4.53768152e-01 4.53875472e+01] [ 4.82619755e-01 -5.65240877e-02 8.74004119e-01 3.20358199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.13071405699998 meters Centerline goodness : 0.993302 Centerline is valid? [True, True] Translation: X:81.26, Y:45.38, Z:32.05 [[-4.21056031e-01 -8.82841212e-01 2.08094242e-01 8.12592220e+01] [ 7.66749213e-01 -4.69005560e-01 -4.38325710e-01 4.53761723e+01] [ 4.84569358e-01 -2.50035878e-02 8.74395424e-01 3.20491371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.16071405699998 meters Centerline goodness : 0.994476 Centerline is valid? [True, True] Translation: X:81.25, Y:45.36, Z:32.05 [[-4.20595215e-01 -8.73668240e-01 2.44547483e-01 8.12490443e+01] [ 7.73344878e-01 -4.86189632e-01 -4.06887382e-01 4.53594795e+01] [ 4.74381034e-01 1.79846574e-02 8.80135891e-01 3.20521617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.19071405699998 meters Centerline goodness : 0.993218 Centerline is valid? [True, True] Translation: X:81.28, Y:45.40, Z:32.03 [[-0.42688256 -0.8918916 0.14933404 81.28209623] [ 0.76553865 -0.44431918 -0.46532895 45.39923306] [ 0.48137496 -0.08431984 0.8724496 32.02976175] [ 0. 0. 0. 1. ]] SLAMing on 193.22071405699998 meters Centerline goodness : 0.994469 Centerline is valid? [True, True] Translation: X:81.25, Y:45.39, Z:32.06 [[-4.28811436e-01 -8.75912139e-01 2.21130453e-01 8.12482376e+01] [ 7.59607039e-01 -4.82087192e-01 -4.36565099e-01 4.53903310e+01] [ 4.88996829e-01 -1.92318587e-02 8.72073527e-01 3.20649350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.25071405699998 meters Centerline goodness : 0.992982 Centerline is valid? [True, True] Translation: X:81.27, Y:45.39, Z:32.04 [[-4.34121311e-01 -8.82609927e-01 1.80384049e-01 8.12715465e+01] [ 7.56888003e-01 -4.65944059e-01 -4.58275774e-01 4.53916990e+01] [ 4.88527623e-01 -6.24167570e-02 8.70313110e-01 3.20427191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.28071405699998 meters Centerline goodness : 0.993347 Centerline is valid? [True, True] Translation: X:81.25, Y:45.36, Z:32.05 [[-4.28110635e-01 -8.72143772e-01 2.36825938e-01 8.12521055e+01] [ 7.68011242e-01 -4.89224667e-01 -4.13301290e-01 4.53649834e+01] [ 4.76319237e-01 4.94630532e-03 8.79258505e-01 3.20536364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.31071405699998 meters Centerline goodness : 0.993347 Centerline is valid? [True, True] Translation: X:81.27, Y:45.38, Z:32.04 [[-4.27803096e-01 -8.81581295e-01 1.99496697e-01 8.12657067e+01] [ 7.69208080e-01 -4.70994220e-01 -4.31837208e-01 4.53781893e+01] [ 4.74661396e-01 -3.12868229e-02 8.79612241e-01 3.20399883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.34071405699999 meters Centerline goodness : 0.993402 Centerline is valid? [True, True] Translation: X:81.26, Y:45.37, Z:32.04 [[-4.27570901e-01 -8.80087974e-01 2.06466177e-01 8.12648600e+01] [ 7.70232542e-01 -4.74238588e-01 -4.26426538e-01 4.53716511e+01] [ 4.73207097e-01 -2.33006107e-02 8.80643018e-01 3.20398508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.370714057 meters Centerline goodness : 0.993238 Centerline is valid? [True, True] Translation: X:81.28, Y:45.39, Z:32.04 [[-4.31480757e-01 -8.85707097e-01 1.71310524e-01 8.12753641e+01] [ 7.59732029e-01 -4.59161822e-01 -4.60410322e-01 4.53894988e+01] [ 4.86447942e-01 -6.85081026e-02 8.71019540e-01 3.20392585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.400714057 meters Centerline goodness : 0.993540 Centerline is valid? [True, True] Translation: X:81.25, Y:45.37, Z:32.06 [[-4.29423770e-01 -8.73169139e-01 2.30588120e-01 8.12509702e+01] [ 7.65652018e-01 -4.87403188e-01 -4.19779847e-01 4.53717656e+01] [ 4.78928192e-01 -3.71318495e-03 8.77846227e-01 3.20568697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.430714057 meters Centerline goodness : 0.992935 Centerline is valid? [True, True] Translation: X:81.27, Y:45.38, Z:32.04 [[-4.30294040e-01 -8.81832660e-01 1.92920191e-01 8.12679811e+01] [ 7.64013142e-01 -4.69598834e-01 -4.42448702e-01 4.53829500e+01] [ 4.80760813e-01 -4.29894783e-02 8.75797320e-01 3.20413493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.460714057 meters Centerline goodness : 0.993974 Centerline is valid? [True, True] Translation: X:81.27, Y:45.37, Z:32.05 [[-4.30936396e-01 -8.77611233e-01 2.09981775e-01 8.12654502e+01] [ 7.57581920e-01 -4.78280568e-01 -4.44204156e-01 4.53674341e+01] [ 4.90268760e-01 -3.23453415e-02 8.70970907e-01 3.20450601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.490714057 meters Centerline goodness : 0.993580 Centerline is valid? [True, True] Translation: X:81.27, Y:45.37, Z:32.04 [[-4.33603899e-01 -8.79651767e-01 1.95449295e-01 8.12690135e+01] [ 7.57923616e-01 -4.73339301e-01 -4.48889406e-01 4.53749122e+01] [ 4.87380192e-01 -4.65045605e-02 8.71950615e-01 3.20409659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.520714057 meters Centerline goodness : 0.993499 Centerline is valid? [True, True] Translation: X:81.26, Y:45.37, Z:32.05 [[-4.34616194e-01 -8.75740682e-01 2.10207091e-01 8.12621788e+01] [ 7.57421004e-01 -4.81696570e-01 -4.40774134e-01 4.53735393e+01] [ 4.87259876e-01 -3.23523103e-02 8.72657517e-01 3.20467531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.550714057 meters Centerline goodness : 0.994180 Centerline is valid? [True, True] Translation: X:81.26, Y:45.37, Z:32.05 [[-4.34991310e-01 -8.73052173e-01 2.20368928e-01 8.12609053e+01] [ 7.54154289e-01 -4.86961658e-01 -4.40590118e-01 4.53650745e+01] [ 4.91969378e-01 -2.54607003e-02 8.70240130e-01 3.20478475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.580714057 meters Centerline goodness : 0.994648 Centerline is valid? [True, True] Translation: X:81.26, Y:45.38, Z:32.05 [[-4.37430923e-01 -8.75055209e-01 2.07201760e-01 8.12602344e+01] [ 7.53176082e-01 -4.82402761e-01 -4.47228538e-01 4.53808050e+01] [ 4.91304363e-01 -3.95721829e-02 8.70088539e-01 3.20494798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.610714057 meters Centerline goodness : 0.994145 Centerline is valid? [True, True] Translation: X:81.26, Y:45.37, Z:32.05 [[-4.40381944e-01 -8.74329354e-01 2.03990010e-01 8.12627552e+01] [ 7.51839223e-01 -4.83322000e-01 -4.48483698e-01 4.53748771e+01] [ 4.90715321e-01 -4.41364320e-02 8.70201384e-01 3.20454980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.640714057 meters Centerline goodness : 0.994643 Centerline is valid? [True, True] Translation: X:81.26, Y:45.37, Z:32.05 [[-4.41487111e-01 -8.73086664e-01 2.06902893e-01 8.12617629e+01] [ 7.51412245e-01 -4.85780978e-01 -4.46538330e-01 4.53707843e+01] [ 4.90376150e-01 -4.16715503e-02 8.70514051e-01 3.20456574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.670714057 meters Centerline goodness : 0.994088 Centerline is valid? [True, True] Translation: X:81.26, Y:45.37, Z:32.05 [[-4.42846330e-01 -8.72893361e-01 2.04803097e-01 8.12615724e+01] [ 7.50397168e-01 -4.85851306e-01 -4.48165815e-01 4.53705263e+01] [ 4.90704817e-01 -4.47849224e-02 8.70174174e-01 3.20451376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.700714057 meters Centerline goodness : 0.993595 Centerline is valid? [True, True] Translation: X:81.27, Y:45.37, Z:32.03 [[-4.44302017e-01 -8.74879630e-01 1.92824662e-01 8.12687406e+01] [ 7.50968255e-01 -4.81071978e-01 -4.52345478e-01 4.53659799e+01] [ 4.88510386e-01 -5.61728081e-02 8.70748080e-01 3.20343697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.73071405699997 meters Centerline goodness : 0.994411 Centerline is valid? [True, True] Translation: X:81.25, Y:45.36, Z:32.05 [[-4.43633279e-01 -8.67401995e-01 2.25395858e-01 8.12497122e+01] [ 7.50449852e-01 -4.97023062e-01 -4.35652493e-01 4.53589317e+01] [ 4.89912781e-01 -2.41216554e-02 8.71437670e-01 3.20522841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.76071405699997 meters Centerline goodness : 0.994542 Centerline is valid? [True, True] Translation: X:81.26, Y:45.35, Z:32.04 [[-4.40820859e-01 -8.70723205e-01 2.17986399e-01 8.12557778e+01] [ 7.59519774e-01 -4.91263598e-01 -4.26368140e-01 4.53509056e+01] [ 4.78337417e-01 -2.23869891e-02 8.77890733e-01 3.20385854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.79071405699997 meters Centerline goodness : 0.995426 Centerline is valid? [True, True] Translation: X:81.26, Y:45.38, Z:32.05 [[-0.45583145 -0.8732061 0.1724204 81.25566163] [ 0.7369829 -0.47890273 -0.47697839 45.38187256] [ 0.49907304 -0.09035087 0.86183689 32.04804119] [ 0. 0. 0. 1. ]] SLAMing on 193.82071405699998 meters Centerline goodness : 0.995145 Centerline is valid? [True, True] Translation: X:81.24, Y:45.34, Z:32.05 [[-4.43383988e-01 -8.62192736e-01 2.45019030e-01 8.12418284e+01] [ 7.52811561e-01 -5.06576812e-01 -4.20303090e-01 4.53368391e+01] [ 4.86503230e-01 -1.90250201e-03 8.73676707e-01 3.20537751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.85071405699998 meters Centerline goodness : 0.994668 Centerline is valid? [True, True] Translation: X:81.26, Y:45.35, Z:32.03 [[-4.44599833e-01 -8.74358323e-01 1.94495531e-01 8.12611202e+01] [ 7.53547036e-01 -4.82491604e-01 -4.46507242e-01 4.53497366e+01] [ 4.84249783e-01 -5.19555145e-02 8.73385809e-01 3.20309982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.88071405699998 meters Centerline goodness : 0.994026 Centerline is valid? [True, True] Translation: X:81.25, Y:45.37, Z:32.05 [[-4.49924971e-01 -8.71529495e-01 1.94945785e-01 8.12504548e+01] [ 7.46952942e-01 -4.86889187e-01 -4.52769503e-01 4.53672054e+01] [ 4.89518971e-01 -5.80969784e-02 8.70055124e-01 3.20463496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.91071405699998 meters Centerline goodness : 0.994830 Centerline is valid? [True, True] Translation: X:81.24, Y:45.35, Z:32.05 [[-4.49496931e-01 -8.65662059e-01 2.20412589e-01 8.12424845e+01] [ 7.43527737e-01 -4.99329279e-01 -4.44788462e-01 4.53547380e+01] [ 4.95094955e-01 -3.60481752e-02 8.68090730e-01 3.20532908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.94071405699998 meters Centerline goodness : 0.995696 Centerline is valid? [True, True] Translation: X:81.25, Y:45.34, Z:32.04 [[-4.47706880e-01 -8.65470987e-01 2.24763253e-01 8.12486351e+01] [ 7.50233777e-01 -5.00340846e-01 -4.32213277e-01 4.53358197e+01] [ 4.86526288e-01 -2.48798730e-02 8.73311607e-01 3.20386141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.97071405699998 meters Centerline goodness : 0.995259 Centerline is valid? [True, True] Translation: X:81.25, Y:45.37, Z:32.05 [[-4.54331152e-01 -8.69814834e-01 1.92367770e-01 8.12469494e+01] [ 7.41928548e-01 -4.88985217e-01 -4.58732478e-01 4.53700093e+01] [ 4.93077310e-01 -6.56933148e-02 8.67501674e-01 3.20452214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.00071405699998 meters Centerline goodness : 0.995470 Centerline is valid? [True, True] Translation: X:81.24, Y:45.35, Z:32.05 [[-4.55456515e-01 -8.64388269e-01 2.13054648e-01 8.12431082e+01] [ 7.40818403e-01 -5.00707595e-01 -4.47749928e-01 4.53529395e+01] [ 4.93707866e-01 -4.60958177e-02 8.68405273e-01 3.20465239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.03071405699998 meters Centerline goodness : 0.994830 Centerline is valid? [True, True] Translation: X:81.24, Y:45.34, Z:32.04 [[-4.53980102e-01 -8.62422811e-01 2.23894979e-01 8.12398480e+01] [ 7.48898111e-01 -5.05474692e-01 -4.28540494e-01 4.53448190e+01] [ 4.82756344e-01 -2.68743304e-02 8.75342266e-01 3.20414863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.06071405699998 meters Centerline goodness : 0.994927 Centerline is valid? [True, True] Translation: X:81.24, Y:45.37, Z:32.05 [[-4.58701198e-01 -8.66150707e-01 1.98434281e-01 8.12398540e+01] [ 7.40499808e-01 -4.96040029e-01 -4.53436131e-01 4.53698012e+01] [ 4.91175372e-01 -6.10511498e-02 8.68918587e-01 3.20478105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.09071405699999 meters Centerline goodness : 0.996699 Centerline is valid? [True, True] Translation: X:81.23, Y:45.36, Z:32.05 [[-4.67429460e-01 -8.59709533e-01 2.05934987e-01 8.12334231e+01] [ 7.26750859e-01 -5.06329028e-01 -4.64181112e-01 4.53576551e+01] [ 5.03331788e-01 -6.73084976e-02 8.61467746e-01 3.20534844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.120714057 meters Centerline goodness : 0.995259 Centerline is valid? [True, True] Translation: X:81.23, Y:45.34, Z:32.06 [[-4.59051152e-01 -8.55983070e-01 2.37834024e-01 8.12278451e+01] [ 7.38652592e-01 -5.16484378e-01 -4.33169984e-01 4.53442191e+01] [ 4.93623731e-01 -2.31704620e-02 8.69366863e-01 3.20566272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.150714057 meters Centerline goodness : 0.995526 Centerline is valid? [True, True] Translation: X:81.23, Y:45.33, Z:32.04 [[-4.54466032e-01 -8.58810552e-01 2.36442511e-01 8.12322495e+01] [ 7.48775737e-01 -5.12096263e-01 -4.20823376e-01 4.53291694e+01] [ 4.82488882e-01 -1.42075145e-02 8.75786860e-01 3.20416419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.180714057 meters Centerline goodness : 0.995674 Centerline is valid? [True, True] Translation: X:81.25, Y:45.35, Z:32.03 [[-4.58277666e-01 -8.69489269e-01 1.84309500e-01 8.12463478e+01] [ 7.42888649e-01 -4.88557401e-01 -4.57633174e-01 4.53540030e+01] [ 4.87952904e-01 -7.28016277e-02 8.69828654e-01 3.20294924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.210714057 meters Centerline goodness : 0.995247 Centerline is valid? [True, True] Translation: X:81.23, Y:45.35, Z:32.04 [[-4.55909730e-01 -8.64357633e-01 2.12207918e-01 8.12320411e+01] [ 7.45702455e-01 -5.01125485e-01 -4.39091217e-01 4.53479327e+01] [ 4.85874641e-01 -4.19419921e-02 8.73021593e-01 3.20404454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.240714057 meters Centerline goodness : 0.995740 Centerline is valid? [True, True] Translation: X:81.24, Y:45.34, Z:32.03 [[-4.56860315e-01 -8.64923236e-01 2.07813495e-01 8.12377765e+01] [ 7.44979807e-01 -4.99690236e-01 -4.41944290e-01 4.53375064e+01] [ 4.86090260e-01 -4.70899503e-02 8.72638984e-01 3.20324556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.270714057 meters Centerline goodness : 0.995925 Centerline is valid? [True, True] Translation: X:81.24, Y:45.34, Z:32.03 [[-4.56636883e-01 -8.65423203e-01 2.06216965e-01 8.12363879e+01] [ 7.45323685e-01 -4.98702884e-01 -4.42479421e-01 4.53364952e+01] [ 4.85772953e-01 -4.83540348e-02 8.72746541e-01 3.20312989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.300714057 meters Centerline goodness : 0.996083 Centerline is valid? [True, True] Translation: X:81.24, Y:45.35, Z:32.04 [[-0.46836447 -0.8647823 0.18106984 81.23561302] [ 0.72783939 -0.49382141 -0.47580482 45.35270716] [ 0.50088376 -0.09106031 0.86071103 32.03752795] [ 0. 0. 0. 1. ]] SLAMing on 194.330714057 meters Centerline goodness : 0.995584 Centerline is valid? [True, True] Translation: X:81.22, Y:45.32, Z:32.05 [[-4.57531583e-01 -8.54700735e-01 2.45258034e-01 8.12218308e+01] [ 7.39985212e-01 -5.18923693e-01 -4.27948697e-01 4.53167156e+01] [ 4.93038271e-01 -1.43127269e-02 8.69889884e-01 3.20470361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.360714057 meters Centerline goodness : 0.995875 Centerline is valid? [True, True] Translation: X:81.23, Y:45.33, Z:32.04 [[-4.55897760e-01 -8.62874297e-01 2.18186111e-01 8.12266028e+01] [ 7.45553025e-01 -5.04131044e-01 -4.35892850e-01 4.53333827e+01] [ 4.86115129e-01 -3.60532590e-02 8.73150757e-01 3.20375889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.390714057 meters Centerline goodness : 0.995758 Centerline is valid? [True, True] Translation: X:81.23, Y:45.34, Z:32.03 [[-4.57115970e-01 -8.67391337e-01 1.96665345e-01 8.12347506e+01] [ 7.43934590e-01 -4.94072002e-01 -4.49949088e-01 4.53372412e+01] [ 4.87448782e-01 -5.93727613e-02 8.71130622e-01 3.20278234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.420714057 meters Centerline goodness : 0.995635 Centerline is valid? [True, True] Translation: X:81.23, Y:45.33, Z:32.03 [[-4.57942706e-01 -8.63670885e-01 2.10620704e-01 8.12282207e+01] [ 7.42248942e-01 -5.01857379e-01 -4.44078461e-01 4.53332430e+01] [ 4.89239191e-01 -4.70294976e-02 8.70880727e-01 3.20347188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.450714057 meters Centerline goodness : 0.995201 Centerline is valid? [True, True] Translation: X:81.24, Y:45.33, Z:32.02 [[-4.58026374e-01 -8.66318533e-01 1.99258727e-01 8.12359740e+01] [ 7.43946507e-01 -4.96259209e-01 -4.47515801e-01 4.53256910e+01] [ 4.86575210e-01 -5.67362053e-02 8.71794453e-01 3.20245793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.48071405699997 meters Centerline goodness : 0.995466 Centerline is valid? [True, True] Translation: X:81.22, Y:45.33, Z:32.04 [[-4.56921321e-01 -8.62216104e-01 2.18646509e-01 8.12244011e+01] [ 7.42849985e-01 -5.05087275e-01 -4.39386782e-01 4.53276855e+01] [ 4.89281929e-01 -3.83436333e-02 8.71282365e-01 3.20366937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.51071405699997 meters Centerline goodness : 0.995104 Centerline is valid? [True, True] Translation: X:81.23, Y:45.32, Z:32.03 [[-4.55598054e-01 -8.64374426e-01 2.12808049e-01 8.12309292e+01] [ 7.43941721e-01 -5.00993367e-01 -4.42217550e-01 4.53165220e+01] [ 4.88856961e-01 -4.31566689e-02 8.71295801e-01 3.20274796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.54071405699997 meters Centerline goodness : 0.995358 Centerline is valid? [True, True] Translation: X:81.23, Y:45.31, Z:32.03 [[-4.54244484e-01 -8.62910404e-01 2.21466888e-01 8.12264153e+01] [ 7.45105265e-01 -5.04260910e-01 -4.36507821e-01 4.53138653e+01] [ 4.88344235e-01 -3.32651253e-02 8.72016823e-01 3.20320230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.57071405699998 meters Centerline goodness : 0.995769 Centerline is valid? [True, True] Translation: X:81.22, Y:45.33, Z:32.03 [[-4.54168727e-01 -8.65899322e-01 2.09640482e-01 8.12243378e+01] [ 7.45800025e-01 -4.98236378e-01 -4.42202255e-01 4.53292045e+01] [ 4.87353147e-01 -4.44845588e-02 8.72071117e-01 3.20343635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.60071405699998 meters Centerline goodness : 0.995856 Centerline is valid? [True, True] Translation: X:81.23, Y:45.31, Z:32.02 [[-4.50609258e-01 -8.67589914e-01 2.10330783e-01 8.12346743e+01] [ 7.49156931e-01 -4.95632681e-01 -4.39445262e-01 4.53061265e+01] [ 4.85505087e-01 -4.04473401e-02 8.73297672e-01 3.20194409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.63071405699998 meters Centerline goodness : 0.995337 Centerline is valid? [True, True] Translation: X:81.23, Y:45.31, Z:32.02 [[-4.46422052e-01 -8.69393040e-01 2.11809098e-01 8.12314511e+01] [ 7.52488388e-01 -4.92833067e-01 -4.36894488e-01 4.53085453e+01] [ 4.84219554e-01 -3.56554475e-02 8.74219716e-01 3.20207508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.66071405699998 meters Centerline goodness : 0.994967 Centerline is valid? [True, True] Translation: X:81.24, Y:45.31, Z:32.01 [[-4.44364910e-01 -8.73298191e-01 1.99725052e-01 8.12393931e+01] [ 7.54505785e-01 -4.85031645e-01 -4.42114605e-01 4.53052202e+01] [ 4.82970855e-01 -4.57665091e-02 8.74439580e-01 3.20096950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.69071405699998 meters Centerline goodness : 0.995524 Centerline is valid? [True, True] Translation: X:81.23, Y:45.30, Z:32.02 [[-4.41476942e-01 -8.69956873e-01 2.19711512e-01 8.12271047e+01] [ 7.55994185e-01 -4.92531706e-01 -4.31144188e-01 4.53047825e+01] [ 4.83291735e-01 -2.42395917e-02 8.75123729e-01 3.20223651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.72071405699998 meters Centerline goodness : 0.995367 Centerline is valid? [True, True] Translation: X:81.24, Y:45.31, Z:32.01 [[-0.44779588 -0.87699328 0.17424593 81.23995393] [ 0.74157165 -0.47314589 -0.47560957 45.31468097] [ 0.49955014 -0.08376016 0.86222613 32.01027606] [ 0. 0. 0. 1. ]] SLAMing on 194.75071405699998 meters Centerline goodness : 0.994999 Centerline is valid? [True, True] Translation: X:81.22, Y:45.28, Z:32.03 [[-4.43586406e-01 -8.63979980e-01 2.38263917e-01 8.12216631e+01] [ 7.41389134e-01 -5.03114898e-01 -4.44091828e-01 4.52823036e+01] [ 5.03560575e-01 -2.03468188e-02 8.63720299e-01 3.20325157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.78071405699998 meters Centerline goodness : 0.995294 Centerline is valid? [True, True] Translation: X:81.22, Y:45.29, Z:32.03 [[-4.40440387e-01 -8.68163533e-01 2.28701435e-01 8.12223034e+01] [ 7.43623605e-01 -4.95508027e-01 -4.48882757e-01 4.52889983e+01] [ 5.03027037e-01 -2.76383096e-02 8.63828643e-01 3.20309842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.81071405699998 meters Centerline goodness : 0.995017 Centerline is valid? [True, True] Translation: X:81.23, Y:45.26, Z:32.02 [[-4.24696623e-01 -8.67618589e-01 2.58593816e-01 8.12253787e+01] [ 7.68222546e-01 -4.96495504e-01 -4.04136529e-01 4.52586298e+01] [ 4.79027033e-01 2.70221807e-02 8.77384126e-01 3.20186414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.84071405699999 meters Centerline goodness : 0.995080 Centerline is valid? [True, True] Translation: X:81.24, Y:45.29, Z:32.00 [[-4.22687754e-01 -8.83718487e-01 2.00939539e-01 8.12414312e+01] [ 7.71275512e-01 -4.67196166e-01 -4.32275175e-01 4.52869032e+01] [ 4.75887746e-01 -2.77376772e-02 8.79068527e-01 3.19977596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.870714057 meters Centerline goodness : 0.995069 Centerline is valid? [True, True] Translation: X:81.24, Y:45.30, Z:32.00 [[-4.34607806e-01 -8.84225538e-01 1.71059210e-01 8.12426200e+01] [ 7.49851548e-01 -4.60466988e-01 -4.75071372e-01 4.53022755e+01] [ 4.98837358e-01 -7.82007130e-02 8.63160436e-01 3.20045361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.900714057 meters Centerline goodness : 0.994363 Centerline is valid? [True, True] Translation: X:81.22, Y:45.25, Z:32.02 [[-4.17773525e-01 -8.70173286e-01 2.61273293e-01 8.12249242e+01] [ 7.75884578e-01 -4.91325029e-01 -3.95730764e-01 4.52523587e+01] [ 4.72724448e-01 3.73920829e-02 8.80416622e-01 3.20156054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.930714057 meters Centerline goodness : 0.994446 Centerline is valid? [True, True] Translation: X:81.25, Y:45.29, Z:31.99 [[-4.16026247e-01 -8.90769933e-01 1.82896385e-01 8.12486193e+01] [ 7.76074175e-01 -4.52623774e-01 -4.39136192e-01 4.52921377e+01] [ 4.73952568e-01 -4.07510207e-02 8.79606911e-01 3.19878122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.960714057 meters Centerline goodness : 0.994808 Centerline is valid? [True, True] Translation: X:81.24, Y:45.28, Z:32.00 [[-4.13438697e-01 -8.84793255e-01 2.14963577e-01 8.12379228e+01] [ 7.77502433e-01 -4.65923534e-01 -4.22380430e-01 4.52783431e+01] [ 4.73875945e-01 -7.49371080e-03 8.80559727e-01 3.20000355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.990714057 meters Centerline goodness : 0.994927 Centerline is valid? [True, True] Translation: X:81.25, Y:45.30, Z:32.00 [[-4.26883446e-01 -8.88955672e-01 1.65916656e-01 8.12480800e+01] [ 7.53993203e-01 -4.51180287e-01 -4.77420777e-01 4.52980320e+01] [ 4.99264232e-01 -7.87029958e-02 8.62867930e-01 3.19974061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.020714057 meters Centerline goodness : 0.994858 Centerline is valid? [True, True] Translation: X:81.23, Y:45.27, Z:32.02 [[-4.26335074e-01 -8.75442125e-01 2.27682871e-01 8.12311694e+01] [ 7.52771921e-01 -4.82936650e-01 -4.47332792e-01 4.52675728e+01] [ 5.01570373e-01 -1.93203872e-02 8.64901083e-01 3.20185603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.050714057 meters Centerline goodness : 0.994462 Centerline is valid? [True, True] Translation: X:81.22, Y:45.27, Z:32.02 [[-4.16253294e-01 -8.72386416e-01 2.56271608e-01 8.12236186e+01] [ 7.73603804e-01 -4.87898843e-01 -4.04341284e-01 4.52675640e+01] [ 4.77776465e-01 2.99442992e-02 8.77970950e-01 3.20218832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.080714057 meters Centerline goodness : 0.994715 Centerline is valid? [True, True] Translation: X:81.25, Y:45.29, Z:32.00 [[-4.31349934e-01 -8.85364331e-01 1.73399066e-01 8.12512654e+01] [ 7.51313645e-01 -4.58923334e-01 -4.74254340e-01 4.52945330e+01] [ 4.99464754e-01 -7.42924939e-02 8.63142853e-01 3.19975752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.110714057 meters Centerline goodness : 0.994858 Centerline is valid? [True, True] Translation: X:81.24, Y:45.27, Z:32.02 [[-4.32625676e-01 -8.72214422e-01 2.28203915e-01 8.12361737e+01] [ 7.49067069e-01 -4.88600511e-01 -4.47401462e-01 4.52693768e+01] [ 5.01730557e-01 -2.26173220e-02 8.64728226e-01 3.20175403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.140714057 meters Centerline goodness : 0.994311 Centerline is valid? [True, True] Translation: X:81.24, Y:45.27, Z:32.02 [[-4.34991023e-01 -8.70993479e-01 2.28370683e-01 8.12367355e+01] [ 7.47779089e-01 -4.90719048e-01 -4.47237352e-01 4.52712884e+01] [ 5.01606662e-01 -2.37734121e-02 8.64769092e-01 3.20184842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.170714057 meters Centerline goodness : 0.994378 Centerline is valid? [True, True] Translation: X:81.25, Y:45.24, Z:32.00 [[-4.26732470e-01 -8.69767340e-01 2.47798656e-01 8.12495173e+01] [ 7.65119271e-01 -4.93290759e-01 -4.13831764e-01 4.52425949e+01] [ 4.82174139e-01 1.30000761e-02 8.75978937e-01 3.19998598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.200714057 meters Centerline goodness : 0.994378 Centerline is valid? [True, True] Translation: X:81.26, Y:45.26, Z:31.98 [[-4.26699979e-01 -8.80956075e-01 2.04556894e-01 8.12643969e+01] [ 7.66047559e-01 -4.72286912e-01 -4.36023176e-01 4.52595279e+01] [ 4.80726810e-01 -2.93507705e-02 8.76379066e-01 3.19816823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.23071405699997 meters Centerline goodness : 0.995428 Centerline is valid? [True, True] Translation: X:81.25, Y:45.29, Z:32.00 [[-4.41019993e-01 -8.78061239e-01 1.85768207e-01 8.12548986e+01] [ 7.46984208e-01 -4.73848450e-01 -4.66349910e-01 4.52873860e+01] [ 4.97509757e-01 -6.69037169e-02 8.64874519e-01 3.20004806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.26071405699997 meters Centerline goodness : 0.995319 Centerline is valid? [True, True] Translation: X:81.25, Y:45.27, Z:32.01 [[-4.43199063e-01 -8.67040838e-01 2.27628594e-01 8.12454576e+01] [ 7.44874725e-01 -4.97477813e-01 -4.44609345e-01 4.52665465e+01] [ 4.98734634e-01 -2.74956592e-02 8.66318506e-01 3.20147621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.29071405699997 meters Centerline goodness : 0.995667 Centerline is valid? [True, True] Translation: X:81.26, Y:45.24, Z:32.00 [[-4.32948126e-01 -8.66302750e-01 2.49149483e-01 8.12554358e+01] [ 7.62387118e-01 -4.99380802e-01 -4.11563721e-01 4.52384239e+01] [ 4.80959252e-01 1.17626143e-02 8.76664040e-01 3.19987550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.32071405699998 meters Centerline goodness : 0.995170 Centerline is valid? [True, True] Translation: X:81.27, Y:45.27, Z:31.99 [[-4.36272114e-01 -8.77504701e-01 1.99128455e-01 8.12678398e+01] [ 7.59543411e-01 -4.77785107e-01 -4.41378746e-01 4.52697431e+01] [ 4.82452535e-01 -4.13145326e-02 8.74947233e-01 3.19869772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.35071405699998 meters Centerline goodness : 0.995841 Centerline is valid? [True, True] Translation: X:81.26, Y:45.28, Z:32.00 [[-4.40726194e-01 -8.73026748e-01 2.08769536e-01 8.12589717e+01] [ 7.57210981e-01 -4.86485159e-01 -4.35848276e-01 4.52834347e+01] [ 4.82070484e-01 -3.40071663e-02 8.75472193e-01 3.19997205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.38071405699998 meters Centerline goodness : 0.996102 Centerline is valid? [True, True] Translation: X:81.27, Y:45.29, Z:32.00 [[-4.53785470e-01 -8.70304489e-01 1.91438875e-01 8.12659932e+01] [ 7.39825075e-01 -4.87701112e-01 -4.63472204e-01 4.52850197e+01] [ 4.96726892e-01 -6.86856724e-02 8.65184763e-01 3.19978792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.41071405699998 meters Centerline goodness : 0.995850 Centerline is valid? [True, True] Translation: X:81.25, Y:45.27, Z:32.01 [[-4.46497437e-01 -8.61384112e-01 2.42193003e-01 8.12523197e+01] [ 7.49454963e-01 -5.07889360e-01 -4.24694780e-01 4.52705768e+01] [ 4.88832585e-01 -8.11238267e-03 8.72339895e-01 3.20126803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.44071405699998 meters Centerline goodness : 0.995746 Centerline is valid? [True, True] Translation: X:81.27, Y:45.28, Z:32.00 [[-4.48215129e-01 -8.70412640e-01 2.03678754e-01 8.12682353e+01] [ 7.49344694e-01 -4.90076988e-01 -4.45316826e-01 4.52819295e+01] [ 4.87427664e-01 -4.69721446e-02 8.71899014e-01 3.19953364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.47071405699998 meters Centerline goodness : 0.995664 Centerline is valid? [True, True] Translation: X:81.26, Y:45.28, Z:32.01 [[-4.48296954e-01 -8.64183226e-01 2.28510816e-01 8.12560174e+01] [ 7.46651112e-01 -5.02567788e-01 -4.35818466e-01 4.52807487e+01] [ 4.91469183e-01 -2.47582365e-02 8.70542975e-01 3.20103277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.50071405699998 meters Centerline goodness : 0.995194 Centerline is valid? [True, True] Translation: X:81.26, Y:45.28, Z:32.00 [[-4.47479985e-01 -8.67380385e-01 2.17745105e-01 8.12616709e+01] [ 7.48040837e-01 -4.96469980e-01 -4.40400347e-01 4.52814755e+01] [ 4.90098531e-01 -3.41881100e-02 8.70996328e-01 3.20038018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.53071405699998 meters Centerline goodness : 0.995268 Centerline is valid? [True, True] Translation: X:81.26, Y:45.29, Z:32.01 [[-4.48374051e-01 -8.68025745e-01 2.13288575e-01 8.12581238e+01] [ 7.46088654e-01 -4.94854975e-01 -4.45500028e-01 4.52923999e+01] [ 4.92252406e-01 -4.06184662e-02 8.69504289e-01 3.20091882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.56071405699998 meters Centerline goodness : 0.994588 Centerline is valid? [True, True] Translation: X:81.26, Y:45.27, Z:32.00 [[-4.47378871e-01 -8.66901107e-01 2.19851350e-01 8.12642781e+01] [ 7.48917625e-01 -4.97503858e-01 -4.37735425e-01 4.52748982e+01] [ 4.88850219e-01 -3.11830296e-02 8.71810233e-01 3.20007319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.59071405699999 meters Centerline goodness : 0.995790 Centerline is valid? [True, True] Translation: X:81.27, Y:45.26, Z:31.99 [[-4.45973106e-01 -8.70040654e-01 2.10088667e-01 8.12739259e+01] [ 7.44304838e-01 -4.90868166e-01 -4.52834134e-01 4.52633714e+01] [ 4.97109945e-01 -4.55818344e-02 8.66489469e-01 3.19922483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.620714057 meters Centerline goodness : 0.994991 Centerline is valid? [True, True] Translation: X:81.27, Y:45.26, Z:32.00 [[-4.45504918e-01 -8.67013524e-01 2.23188074e-01 8.12670534e+01] [ 7.44234012e-01 -4.97218499e-01 -4.45970290e-01 4.52622822e+01] [ 4.97635512e-01 -3.25778019e-02 8.66774240e-01 3.20006569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.650714057 meters Centerline goodness : 0.995347 Centerline is valid? [True, True] Translation: X:81.27, Y:45.26, Z:32.00 [[-4.43401139e-01 -8.66759600e-01 2.28305116e-01 8.12668864e+01] [ 7.48879337e-01 -4.98204980e-01 -4.37002903e-01 4.52559039e+01] [ 4.92519207e-01 -2.27946007e-02 8.70003010e-01 3.19979766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.680714057 meters Centerline goodness : 0.995242 Centerline is valid? [True, True] Translation: X:81.27, Y:45.27, Z:32.00 [[-4.42445587e-01 -8.70181517e-01 2.16854859e-01 8.12651775e+01] [ 7.49731168e-01 -4.91597034e-01 -4.42984799e-01 4.52699681e+01] [ 4.92082390e-01 -3.34138224e-02 8.69907144e-01 3.19998437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.710714057 meters Centerline goodness : 0.995038 Centerline is valid? [True, True] Translation: X:81.28, Y:45.24, Z:31.98 [[-4.39805718e-01 -8.69916342e-01 2.23196078e-01 8.12774836e+01] [ 7.52853977e-01 -4.92617728e-01 -4.36507347e-01 4.52392625e+01] [ 4.89675219e-01 -2.39443721e-02 8.71576071e-01 3.19830934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.740714057 meters Centerline goodness : 0.995355 Centerline is valid? [True, True] Translation: X:81.27, Y:45.26, Z:31.99 [[-4.40973224e-01 -8.71548640e-01 2.14349208e-01 8.12728306e+01] [ 7.52562026e-01 -4.89191273e-01 -4.40842711e-01 4.52574442e+01] [ 4.89073628e-01 -3.30887575e-02 8.71614663e-01 3.19894127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.770714057 meters Centerline goodness : 0.996304 Centerline is valid? [True, True] Translation: X:81.27, Y:45.26, Z:32.00 [[-4.47752512e-01 -8.69898027e-01 2.06869792e-01 8.12683612e+01] [ 7.42194406e-01 -4.90598759e-01 -4.56574552e-01 4.52649715e+01] [ 4.98663366e-01 -5.08947997e-02 8.65300276e-01 3.19974284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.800714057 meters Centerline goodness : 0.995602 Centerline is valid? [True, True] Translation: X:81.25, Y:45.28, Z:32.02 [[-4.46880787e-01 -8.64374236e-01 2.30553122e-01 8.12503403e+01] [ 7.41731531e-01 -5.02084830e-01 -4.44685461e-01 4.52769708e+01] [ 5.00131881e-01 -2.77128687e-02 8.65505690e-01 3.20198876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.830714057 meters Centerline goodness : 0.995418 Centerline is valid? [True, True] Translation: X:81.27, Y:45.23, Z:31.99 [[-4.37341856e-01 -8.63117208e-01 2.52508982e-01 8.12681179e+01] [ 7.58707079e-01 -5.04871734e-01 -4.11665035e-01 4.52283415e+01] [ 4.82799824e-01 1.15420016e-02 8.75654677e-01 3.19923933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.860714057 meters Centerline goodness : 0.996006 Centerline is valid? [True, True] Translation: X:81.29, Y:45.24, Z:31.97 [[-4.37006967e-01 -8.75468381e-01 2.06349277e-01 8.12854047e+01] [ 7.59062094e-01 -4.82036048e-01 -4.37568264e-01 4.52442539e+01] [ 4.82544969e-01 -3.45884654e-02 8.75187974e-01 3.19719910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.890714057 meters Centerline goodness : 0.996487 Centerline is valid? [True, True] Translation: X:81.28, Y:45.26, Z:31.98 [[-4.46285065e-01 -8.73965959e-01 1.92388001e-01 8.12807206e+01] [ 7.42407844e-01 -4.81620346e-01 -4.65695647e-01 4.52612810e+01] [ 4.99660118e-01 -6.50026511e-02 8.63779151e-01 3.19835610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.920714057 meters Centerline goodness : 0.994873 Centerline is valid? [True, True] Translation: X:81.28, Y:45.23, Z:31.98 [[-4.38280308e-01 -8.67260781e-01 2.36154842e-01 8.12790292e+01] [ 7.55168250e-01 -4.97779721e-01 -4.26539874e-01 4.52295874e+01] [ 4.87474396e-01 -8.60738868e-03 8.73094855e-01 3.19829371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.950714057 meters Centerline goodness : 0.995491 Centerline is valid? [True, True] Translation: X:81.27, Y:45.24, Z:31.99 [[-4.36754743e-01 -8.69665252e-01 2.30060089e-01 8.12747444e+01] [ 7.55468739e-01 -4.93430253e-01 -4.31037782e-01 4.52442041e+01] [ 4.88377189e-01 -1.44545908e-02 8.72512915e-01 3.19878178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.98071405699997 meters Centerline goodness : 0.995537 Centerline is valid? [True, True] Translation: X:81.28, Y:45.24, Z:31.98 [[-4.35278869e-01 -8.73560721e-01 2.17770457e-01 8.12822143e+01] [ 7.58545010e-01 -4.86138616e-01 -4.33910952e-01 4.52429833e+01] [ 4.84914193e-01 -2.36835745e-02 8.74240993e-01 3.19780119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.01071405699997 meters Centerline goodness : 0.995757 Centerline is valid? [True, True] Translation: X:81.29, Y:45.25, Z:31.98 [[-4.45095706e-01 -8.74341792e-01 1.93432787e-01 8.12858877e+01] [ 7.43366960e-01 -4.81204493e-01 -4.64594230e-01 4.52518556e+01] [ 4.99294878e-01 -6.29973541e-02 8.64138854e-01 3.19795810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.04071405699997 meters Centerline goodness : 0.995278 Centerline is valid? [True, True] Translation: X:81.28, Y:45.20, Z:31.97 [[-4.29987357e-01 -8.64040888e-01 2.61809504e-01 8.12821035e+01] [ 7.73716352e-01 -5.02100668e-01 -3.86339134e-01 4.51960899e+01] [ 4.65267536e-01 3.64453513e-02 8.84419503e-01 3.19726205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.07071405699998 meters Centerline goodness : 0.996131 Centerline is valid? [True, True] Translation: X:81.30, Y:45.26, Z:31.97 [[-0.44546088 -0.87986873 0.16551625 81.29807864] [ 0.74585544 -0.46696974 -0.47501466 45.25807299] [ 0.49524162 -0.08814925 0.86427163 31.9679479 ] [ 0. 0. 0. 1. ]] SLAMing on 196.10071405699998 meters Centerline goodness : 0.995126 Centerline is valid? [True, True] Translation: X:81.29, Y:45.20, Z:31.97 [[-4.33258703e-01 -8.66506284e-01 2.47898682e-01 8.12893949e+01] [ 7.66849840e-01 -4.98935361e-01 -4.03738565e-01 4.51994296e+01] [ 4.73527422e-01 1.51778176e-02 8.80648292e-01 3.19695867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.13071405699998 meters Centerline goodness : 0.996492 Centerline is valid? [True, True] Translation: X:81.29, Y:45.25, Z:31.98 [[-4.48852718e-01 -8.74129151e-01 1.85551788e-01 8.12916405e+01] [ 7.43282283e-01 -4.80473528e-01 -4.65485378e-01 4.52537207e+01] [ 4.96047060e-01 -7.10170208e-02 8.65386559e-01 3.19768072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.16071405699998 meters Centerline goodness : 0.996193 Centerline is valid? [True, True] Translation: X:81.29, Y:45.20, Z:31.98 [[-4.37876869e-01 -8.63085074e-01 2.51690290e-01 8.12884749e+01] [ 7.59166141e-01 -5.04933910e-01 -4.10741423e-01 4.52018155e+01] [ 4.81591754e-01 1.12205779e-02 8.76323845e-01 3.19752415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.19071405699998 meters Centerline goodness : 0.995979 Centerline is valid? [True, True] Translation: X:81.30, Y:45.25, Z:31.97 [[-4.45153201e-01 -8.74798523e-01 1.91222831e-01 8.12980524e+01] [ 7.49425297e-01 -4.80844243e-01 -4.55137932e-01 4.52494441e+01] [ 4.90102389e-01 -5.92988803e-02 8.69645498e-01 3.19713675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.22071405699998 meters Centerline goodness : 0.996141 Centerline is valid? [True, True] Translation: X:81.30, Y:45.23, Z:31.97 [[-4.47637978e-01 -8.69836923e-01 2.07373980e-01 8.13005318e+01] [ 7.48621567e-01 -4.91373209e-01 -4.45104615e-01 4.52291244e+01] [ 4.89066447e-01 -4.40010965e-02 8.71135990e-01 3.19693610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.25071405699998 meters Centerline goodness : 0.996545 Centerline is valid? [True, True] Translation: X:81.28, Y:45.24, Z:31.99 [[-4.49008494e-01 -8.62543583e-01 2.33259384e-01 8.12849996e+01] [ 7.45064781e-01 -5.05522494e-01 -4.35115479e-01 4.52353352e+01] [ 4.93223930e-01 -2.15771936e-02 8.69634739e-01 3.19886423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.28071405699998 meters Centerline goodness : 0.996171 Centerline is valid? [True, True] Translation: X:81.29, Y:45.24, Z:31.98 [[-4.50162624e-01 -8.65122274e-01 2.21172021e-01 8.12909813e+01] [ 7.45516382e-01 -5.00457019e-01 -4.40168260e-01 4.52375529e+01] [ 4.91486456e-01 -3.32599343e-02 8.70249872e-01 3.19814013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.31071405699998 meters Centerline goodness : 0.996328 Centerline is valid? [True, True] Translation: X:81.30, Y:45.23, Z:31.97 [[-4.51012250e-01 -8.65215512e-01 2.19066355e-01 8.12982699e+01] [ 7.44923379e-01 -5.00108697e-01 -4.41565906e-01 4.52268169e+01] [ 4.91606661e-01 -3.59639839e-02 8.70074412e-01 3.19731073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.34071405699999 meters Centerline goodness : 0.996516 Centerline is valid? [True, True] Translation: X:81.29, Y:45.25, Z:31.99 [[-4.59954789e-01 -8.62424251e-01 2.11343330e-01 8.12873400e+01] [ 7.33925619e-01 -5.03219373e-01 -4.56205490e-01 4.52489563e+01] [ 4.99794736e-01 -5.47236156e-02 8.64413413e-01 3.19879156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.370714057 meters Centerline goodness : 0.996437 Centerline is valid? [True, True] Translation: X:81.28, Y:45.23, Z:31.99 [[-4.57317137e-01 -8.58062733e-01 2.33643707e-01 8.12830598e+01] [ 7.33612037e-01 -5.12503942e-01 -4.46265715e-01 4.52338501e+01] [ 5.02667300e-01 -3.26811235e-02 8.63861985e-01 3.19930257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.400714057 meters Centerline goodness : 0.996143 Centerline is valid? [True, True] Translation: X:81.30, Y:45.20, Z:31.97 [[-4.44568516e-01 -8.61347529e-01 2.45843992e-01 8.12974830e+01] [ 7.54608109e-01 -5.08015413e-01 -4.15315473e-01 4.51999604e+01] [ 4.82623494e-01 8.79686751e-04 8.75827488e-01 3.19687376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.430714057 meters Centerline goodness : 0.996886 Centerline is valid? [True, True] Translation: X:81.30, Y:45.23, Z:31.97 [[-4.50715116e-01 -8.70175180e-01 1.99125689e-01 8.12981571e+01] [ 7.38739659e-01 -4.88821199e-01 -4.64023223e-01 4.52340921e+01] [ 5.01118350e-01 -6.20402374e-02 8.63152019e-01 3.19740489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.460714057 meters Centerline goodness : 0.996137 Centerline is valid? [True, True] Translation: X:81.29, Y:45.20, Z:31.98 [[-4.36449980e-01 -8.61927407e-01 2.58055341e-01 8.12884751e+01] [ 7.59170145e-01 -5.06725837e-01 -4.08521257e-01 4.51991073e+01] [ 4.82878976e-01 1.76088162e-02 8.75510036e-01 3.19789194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.490714057 meters Centerline goodness : 0.996514 Centerline is valid? [True, True] Translation: X:81.30, Y:45.23, Z:31.97 [[-4.45020668e-01 -8.76271495e-01 1.84675042e-01 8.13034557e+01] [ 7.43164566e-01 -4.76433419e-01 -4.69805945e-01 4.52348244e+01] [ 4.99662920e-01 -7.18294082e-02 8.63236644e-01 3.19672871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.520714057 meters Centerline goodness : 0.995832 Centerline is valid? [True, True] Translation: X:81.29, Y:45.21, Z:31.98 [[-4.38067116e-01 -8.68264685e-01 2.32838222e-01 8.12885680e+01] [ 7.46551247e-01 -4.95673619e-01 -4.43811783e-01 4.52112753e+01] [ 5.00757863e-01 -2.05936828e-02 8.65342397e-01 3.19846122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.550714057 meters Centerline goodness : 0.995716 Centerline is valid? [True, True] Translation: X:81.29, Y:45.18, Z:31.97 [[-4.23535888e-01 -8.65570647e-01 2.67216778e-01 8.12927476e+01] [ 7.71513387e-01 -4.99254951e-01 -3.94349576e-01 4.51779457e+01] [ 4.74746717e-01 3.91401238e-02 8.79251730e-01 3.19712397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.580714057 meters Centerline goodness : 0.995805 Centerline is valid? [True, True] Translation: X:81.32, Y:45.21, Z:31.94 [[-4.17846940e-01 -8.88114517e-01 1.91458975e-01 8.13197026e+01] [ 7.74479168e-01 -4.58370984e-01 -4.35979426e-01 4.52066530e+01] [ 4.74958896e-01 -3.38916813e-02 8.79355105e-01 3.19402455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.610714057 meters Centerline goodness : 0.995616 Centerline is valid? [True, True] Translation: X:81.31, Y:45.22, Z:31.96 [[-4.31500619e-01 -8.84011109e-01 1.79809831e-01 8.13115352e+01] [ 7.52152116e-01 -4.62600272e-01 -4.69327373e-01 4.52235879e+01] [ 4.98070688e-01 -6.72707073e-02 8.64523130e-01 3.19581538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.640714057 meters Centerline goodness : 0.995384 Centerline is valid? [True, True] Translation: X:81.30, Y:45.17, Z:31.96 [[-4.17251286e-01 -8.71446698e-01 2.57841070e-01 8.13024027e+01] [ 7.72855756e-01 -4.89523205e-01 -4.03808137e-01 4.51746742e+01] [ 4.78116455e-01 3.07844903e-02 8.77756784e-01 3.19628967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.670714057 meters Centerline goodness : 0.994938 Centerline is valid? [True, True] Translation: X:81.33, Y:45.19, Z:31.93 [[-4.18497993e-01 -8.87624824e-01 1.92306012e-01 8.13290621e+01] [ 7.70483852e-01 -4.59085301e-01 -4.42261596e-01 4.51943539e+01] [ 4.80847235e-01 -3.69169131e-02 8.76026871e-01 3.19341984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.700714057 meters Centerline goodness : 0.995533 Centerline is valid? [True, True] Translation: X:81.32, Y:45.20, Z:31.95 [[-4.22746780e-01 -8.80691960e-01 2.13697993e-01 8.13162166e+01] [ 7.66902856e-01 -4.73294407e-01 -4.33419443e-01 4.52020278e+01] [ 4.82851083e-01 -1.93410729e-02 8.75488866e-01 3.19522931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.73071405699997 meters Centerline goodness : 0.995380 Centerline is valid? [True, True] Translation: X:81.31, Y:45.22, Z:31.96 [[-4.27335807e-01 -8.79487764e-01 2.09488377e-01 8.13101355e+01] [ 7.60826680e-01 -4.75001892e-01 -4.42171874e-01 4.52207897e+01] [ 4.88392129e-01 -2.95715281e-02 8.72123072e-01 3.19641468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.76071405699997 meters Centerline goodness : 0.994962 Centerline is valid? [True, True] Translation: X:81.32, Y:45.20, Z:31.96 [[-4.30860450e-01 -8.76715504e-01 2.13843863e-01 8.13203108e+01] [ 7.57920283e-01 -4.80183286e-01 -4.41566366e-01 4.52032150e+01] [ 4.89812328e-01 -2.81768826e-02 8.71372450e-01 3.19556043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.79071405699997 meters Centerline goodness : 0.995326 Centerline is valid? [True, True] Translation: X:81.32, Y:45.18, Z:31.95 [[-4.29780247e-01 -8.72913334e-01 2.30892294e-01 8.13216575e+01] [ 7.65618240e-01 -4.87863215e-01 -4.19306802e-01 4.51843023e+01] [ 4.78662355e-01 -3.43442892e-03 8.77992343e-01 3.19483490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.82071405699998 meters Centerline goodness : 0.995673 Centerline is valid? [True, True] Translation: X:81.33, Y:45.22, Z:31.95 [[-4.34972841e-01 -8.80459916e-01 1.88650375e-01 8.13252333e+01] [ 7.59750636e-01 -4.71314129e-01 -4.47930758e-01 4.52231129e+01] [ 4.83298665e-01 -5.15104717e-02 8.73938826e-01 3.19509732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.85071405699998 meters Centerline goodness : 0.996605 Centerline is valid? [True, True] Translation: X:81.32, Y:45.20, Z:31.96 [[-4.37695211e-01 -8.71320338e-01 2.21864308e-01 8.13201843e+01] [ 7.55240094e-01 -4.90180391e-01 -4.35127091e-01 4.52017318e+01] [ 4.87888617e-01 -2.28922233e-02 8.72605663e-01 3.19579049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.88071405699998 meters Centerline goodness : 0.995254 Centerline is valid? [True, True] Translation: X:81.33, Y:45.21, Z:31.95 [[-4.42844765e-01 -8.74522831e-01 1.97732980e-01 8.13281848e+01] [ 7.50564652e-01 -4.82225093e-01 -4.51787188e-01 4.52124304e+01] [ 4.90450015e-01 -5.16602060e-02 8.69936782e-01 3.19545575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.91071405699998 meters Centerline goodness : 0.995573 Centerline is valid? [True, True] Translation: X:81.32, Y:45.19, Z:31.96 [[-4.43550106e-01 -8.67121081e-01 2.26637009e-01 8.13230763e+01] [ 7.51427452e-01 -4.97616542e-01 -4.33283464e-01 4.51926232e+01] [ 4.88487551e-01 -2.18816560e-02 8.72296455e-01 3.19590961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.94071405699998 meters Centerline goodness : 0.996280 Centerline is valid? [True, True] Translation: X:81.32, Y:45.21, Z:31.97 [[-4.46825311e-01 -8.66331465e-01 2.23197075e-01 8.13178440e+01] [ 7.45554602e-01 -4.98491712e-01 -4.42328326e-01 4.52055859e+01] [ 4.94464838e-01 -3.12378856e-02 8.68636125e-01 3.19681025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.97071405699998 meters Centerline goodness : 0.996216 Centerline is valid? [True, True] Translation: X:81.32, Y:45.20, Z:31.96 [[-4.47800943e-01 -8.63976330e-01 2.30259021e-01 8.13185149e+01] [ 7.48556488e-01 -5.03091995e-01 -4.31927806e-01 4.51967871e+01] [ 4.89016870e-01 -2.10557949e-02 8.72020157e-01 3.19640721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.00071405699998 meters Centerline goodness : 0.996091 Centerline is valid? [True, True] Translation: X:81.32, Y:45.21, Z:31.96 [[-4.51354344e-01 -8.67474882e-01 2.09204651e-01 8.13247518e+01] [ 7.43078937e-01 -4.95187386e-01 -4.50136808e-01 4.52074797e+01] [ 4.94077879e-01 -4.77156343e-02 8.68107291e-01 3.19604510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.03071405699998 meters Centerline goodness : 0.995522 Centerline is valid? [True, True] Translation: X:81.32, Y:45.20, Z:31.96 [[-4.54531162e-01 -8.62495531e-01 2.22492430e-01 8.13216455e+01] [ 7.44957629e-01 -5.05028356e-01 -4.35872104e-01 4.52021027e+01] [ 4.88302728e-01 -3.23700210e-02 8.72073751e-01 3.19625211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.06071405699998 meters Centerline goodness : 0.996303 Centerline is valid? [True, True] Translation: X:81.32, Y:45.21, Z:31.97 [[-4.55601003e-01 -8.60314140e-01 2.28664180e-01 8.13151299e+01] [ 7.42977562e-01 -5.08987382e-01 -4.34644899e-01 4.52096986e+01] [ 4.90318335e-01 -2.81322967e-02 8.71089263e-01 3.19692630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.09071405699999 meters Centerline goodness : 0.995251 Centerline is valid? [True, True] Translation: X:81.32, Y:45.21, Z:31.96 [[-4.57817113e-01 -8.61389784e-01 2.20025299e-01 8.13187003e+01] [ 7.43509728e-01 -5.06650914e-01 -4.36460921e-01 4.52101044e+01] [ 4.87438997e-01 -3.62283288e-02 8.72405142e-01 3.19634990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.120714057 meters Centerline goodness : 0.995251 Centerline is valid? [True, True] Translation: X:81.32, Y:45.21, Z:31.96 [[-4.58103000e-01 -8.60656407e-01 2.22288528e-01 8.13191188e+01] [ 7.43265511e-01 -5.08037951e-01 -4.35262934e-01 4.52071698e+01] [ 4.87542841e-01 -3.41758593e-02 8.72429933e-01 3.19630334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.150714057 meters Centerline goodness : 0.996349 Centerline is valid? [True, True] Translation: X:81.32, Y:45.19, Z:31.96 [[-4.58135115e-01 -8.59297158e-01 2.27421659e-01 8.13228663e+01] [ 7.40007003e-01 -5.10451888e-01 -4.37982312e-01 4.51938970e+01] [ 4.92444771e-01 -3.23614566e-02 8.69741849e-01 3.19578066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.180714057 meters Centerline goodness : 0.995942 Centerline is valid? [True, True] Translation: X:81.32, Y:45.20, Z:31.96 [[-4.65221453e-01 -8.57446840e-01 2.19895241e-01 8.13159147e+01] [ 7.31699488e-01 -5.12302844e-01 -4.49623904e-01 4.52038912e+01] [ 4.98181553e-01 -4.82774508e-02 8.65727687e-01 3.19624333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.210714057 meters Centerline goodness : 0.995957 Centerline is valid? [True, True] Translation: X:81.30, Y:45.19, Z:31.97 [[-4.55033705e-01 -8.50792896e-01 2.62860752e-01 8.13032022e+01] [ 7.49850190e-01 -5.25312272e-01 -4.02208541e-01 4.51879486e+01] [ 4.80280148e-01 1.40877419e-02 8.77002004e-01 3.19703381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.240714057 meters Centerline goodness : 0.996454 Centerline is valid? [True, True] Translation: X:81.33, Y:45.22, Z:31.95 [[-0.46498154 -0.86629906 0.18253249 81.32621471] [ 0.73376921 -0.49246461 -0.46803991 45.21881733] [ 0.49535332 -0.0836932 0.86465053 31.94824831] [ 0. 0. 0. 1. ]] SLAMing on 197.270714057 meters Centerline goodness : 0.996109 Centerline is valid? [True, True] Translation: X:81.32, Y:45.16, Z:31.95 [[-4.49173358e-01 -8.54845789e-01 2.59772923e-01 8.13169541e+01] [ 7.59931212e-01 -5.18444706e-01 -3.92070962e-01 4.51556606e+01] [ 4.69838107e-01 2.13017222e-02 8.82495546e-01 3.19461125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.300714057 meters Centerline goodness : 0.996267 Centerline is valid? [True, True] Translation: X:81.33, Y:45.20, Z:31.93 [[-4.45884604e-01 -8.73063236e-01 1.97351226e-01 8.13264999e+01] [ 7.59228030e-01 -4.85677346e-01 -4.33232402e-01 4.51968324e+01] [ 4.74088302e-01 -4.33370754e-02 8.79410132e-01 3.19337087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.330714057 meters Centerline goodness : 0.996189 Centerline is valid? [True, True] Translation: X:81.33, Y:45.17, Z:31.93 [[-4.43667406e-01 -8.70132515e-01 2.14542860e-01 8.13262857e+01] [ 7.61981190e-01 -4.92271071e-01 -4.20777684e-01 4.51719771e+01] [ 4.71745588e-01 -2.32077193e-02 8.81429238e-01 3.19323611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.360714057 meters Centerline goodness : 0.995227 Centerline is valid? [True, True] Translation: X:81.32, Y:45.18, Z:31.94 [[-4.39965630e-01 -8.73252709e-01 2.09427671e-01 8.13211457e+01] [ 7.59546068e-01 -4.86280895e-01 -4.31996135e-01 4.51812655e+01] [ 4.79082471e-01 -3.09934876e-02 8.77222543e-01 3.19365318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.390714057 meters Centerline goodness : 0.995786 Centerline is valid? [True, True] Translation: X:81.32, Y:45.18, Z:31.93 [[-4.38933612e-01 -8.74929368e-01 2.04538224e-01 8.13230888e+01] [ 7.60907742e-01 -4.83017362e-01 -4.33259317e-01 4.51789852e+01] [ 4.77866814e-01 -3.45373590e-02 8.77753085e-01 3.19347479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.420714057 meters Centerline goodness : 0.995889 Centerline is valid? [True, True] Translation: X:81.32, Y:45.16, Z:31.93 [[-4.32841276e-01 -8.72572811e-01 2.26418020e-01 8.13205333e+01] [ 7.63474352e-01 -4.88380583e-01 -4.22600663e-01 4.51571424e+01] [ 4.79328013e-01 -1.00546596e-02 8.77578236e-01 3.19340492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.450714057 meters Centerline goodness : 0.995729 Centerline is valid? [True, True] Translation: X:81.32, Y:45.17, Z:31.93 [[-4.33712719e-01 -8.76550757e-01 2.08691271e-01 8.13213504e+01] [ 7.60676425e-01 -4.80333948e-01 -4.36635631e-01 4.51716498e+01] [ 4.82974795e-01 -3.06278965e-02 8.75098440e-01 3.19344478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.48071405699997 meters Centerline goodness : 0.995933 Centerline is valid? [True, True] Translation: X:81.32, Y:45.16, Z:31.94 [[-4.31602741e-01 -8.75397901e-01 2.17709873e-01 8.13183229e+01] [ 7.61317667e-01 -4.82947919e-01 -4.32616132e-01 4.51646830e+01] [ 4.83853784e-01 -2.09719362e-02 8.74897533e-01 3.19354473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.51071405699997 meters Centerline goodness : 0.995426 Centerline is valid? [True, True] Translation: X:81.32, Y:45.16, Z:31.93 [[-4.32198580e-01 -8.76629575e-01 2.11482803e-01 8.13235409e+01] [ 7.62691441e-01 -4.80472303e-01 -4.32952805e-01 4.51599822e+01] [ 4.81150863e-01 -2.58254632e-02 8.76257321e-01 3.19286621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.54071405699997 meters Centerline goodness : 0.995589 Centerline is valid? [True, True] Translation: X:81.32, Y:45.15, Z:31.93 [[-4.30128090e-01 -8.72497493e-01 2.31814477e-01 8.13201636e+01] [ 7.64219595e-01 -4.88602832e-01 -4.20993685e-01 4.51455004e+01] [ 4.80581145e-01 -3.92404377e-03 8.76941483e-01 3.19300825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.57071405699998 meters Centerline goodness : 0.995184 Centerline is valid? [True, True] Translation: X:81.33, Y:45.17, Z:31.92 [[-4.33024496e-01 -8.78725100e-01 2.00828247e-01 8.13268404e+01] [ 7.60603673e-01 -4.75770680e-01 -4.41728777e-01 4.51653027e+01] [ 4.83706356e-01 -3.85286786e-02 8.74381897e-01 3.19247157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.60071405699998 meters Centerline goodness : 0.995481 Centerline is valid? [True, True] Translation: X:81.31, Y:45.17, Z:31.95 [[-4.33753142e-01 -8.71411760e-01 2.29128253e-01 8.13093866e+01] [ 7.57507454e-01 -4.90370316e-01 -4.30951749e-01 4.51691313e+01] [ 4.87894116e-01 -1.33603154e-02 8.72800569e-01 3.19454278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.63071405699998 meters Centerline goodness : 0.995451 Centerline is valid? [True, True] Translation: X:81.32, Y:45.16, Z:31.93 [[-4.35457043e-01 -8.73665500e-01 2.16992530e-01 8.13213165e+01] [ 7.56978087e-01 -4.85830349e-01 -4.36981748e-01 4.51617592e+01] [ 4.87197434e-01 -2.60281899e-02 8.72903886e-01 3.19311014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.66071405699998 meters Centerline goodness : 0.995659 Centerline is valid? [True, True] Translation: X:81.32, Y:45.15, Z:31.93 [[-4.36358725e-01 -8.69760440e-01 2.30451383e-01 8.13229056e+01] [ 7.56022040e-01 -4.93289290e-01 -4.30228256e-01 4.51458748e+01] [ 4.87874716e-01 -1.35075285e-02 8.72809148e-01 3.19304494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.69071405699998 meters Centerline goodness : 0.995664 Centerline is valid? [True, True] Translation: X:81.32, Y:45.16, Z:31.93 [[-4.39436219e-01 -8.70698363e-01 2.20862331e-01 8.13248727e+01] [ 7.55598268e-01 -4.91254686e-01 -4.33289847e-01 4.51555427e+01] [ 4.85764416e-01 -2.35200577e-02 8.73773277e-01 3.19285459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.72071405699998 meters Centerline goodness : 0.995555 Centerline is valid? [True, True] Translation: X:81.33, Y:45.16, Z:31.92 [[-4.42926052e-01 -8.72393868e-01 2.06749731e-01 8.13317051e+01] [ 7.54491838e-01 -4.87264968e-01 -4.39675924e-01 4.51596617e+01] [ 4.84312481e-01 -3.87529363e-02 8.74036401e-01 3.19234947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.75071405699998 meters Centerline goodness : 0.995389 Centerline is valid? [True, True] Translation: X:81.33, Y:45.13, Z:31.93 [[-4.42749732e-01 -8.61764761e-01 2.47657369e-01 8.13251345e+01] [ 7.59073202e-01 -5.07255152e-01 -4.08044219e-01 4.51344255e+01] [ 4.77263605e-01 7.32860342e-03 8.78729619e-01 3.19266639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.78071405699998 meters Centerline goodness : 0.995502 Centerline is valid? [True, True] Translation: X:81.34, Y:45.15, Z:31.91 [[-4.44528483e-01 -8.70152099e-01 2.12672875e-01 8.13372041e+01] [ 7.59604379e-01 -4.92013438e-01 -4.25351577e-01 4.51503552e+01] [ 4.74758480e-01 -2.75336447e-02 8.79685332e-01 3.19122399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.81071405699998 meters Centerline goodness : 0.995136 Centerline is valid? [True, True] Translation: X:81.35, Y:45.17, Z:31.91 [[-4.51393683e-01 -8.73433871e-01 1.82639030e-01 8.13452046e+01] [ 7.50899007e-01 -4.82385829e-01 -4.51059412e-01 4.51682103e+01] [ 4.82073049e-01 -6.64619030e-02 8.73606542e-01 3.19100703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.84071405699999 meters Centerline goodness : 0.995663 Centerline is valid? [True, True] Translation: X:81.32, Y:45.17, Z:31.94 [[-4.63261886e-01 -8.57758522e-01 2.22797537e-01 8.13180184e+01] [ 7.34605960e-01 -5.12299604e-01 -4.44863124e-01 4.51719033e+01] [ 4.95724226e-01 -4.24197309e-02 8.67443404e-01 3.19437863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.870714057 meters Centerline goodness : 0.995197 Centerline is valid? [True, True] Translation: X:81.32, Y:45.15, Z:31.94 [[-4.55723875e-01 -8.54997786e-01 2.47577333e-01 8.13242360e+01] [ 7.45846178e-01 -5.18598512e-01 -4.18053899e-01 4.51464514e+01] [ 4.85828394e-01 -5.86253512e-03 8.74034554e-01 3.19358246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.900714057 meters Centerline goodness : 0.995862 Centerline is valid? [True, True] Translation: X:81.33, Y:45.15, Z:31.92 [[-4.57021429e-01 -8.59009523e-01 2.30725059e-01 8.13342709e+01] [ 7.51942364e-01 -5.11694893e-01 -4.15633274e-01 4.51502572e+01] [ 4.75093775e-01 -1.64613662e-02 8.79781182e-01 3.19210409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.930714057 meters Centerline goodness : 0.995571 Centerline is valid? [True, True] Translation: X:81.33, Y:45.18, Z:31.92 [[-4.59373411e-01 -8.63691983e-01 2.07393896e-01 8.13345719e+01] [ 7.50215039e-01 -5.02271976e-01 -4.30000300e-01 4.51770997e+01] [ 4.75555953e-01 -4.19406852e-02 8.78685105e-01 3.19224588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.960714057 meters Centerline goodness : 0.995635 Centerline is valid? [True, True] Translation: X:81.34, Y:45.17, Z:31.92 [[-4.62253167e-01 -8.60181231e-01 2.15430404e-01 8.13377925e+01] [ 7.49938969e-01 -5.08865900e-01 -4.22666581e-01 4.51658003e+01] [ 4.73195046e-01 -3.38193105e-02 8.80308300e-01 3.19186903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.990714057 meters Centerline goodness : 0.994560 Centerline is valid? [True, True] Translation: X:81.35, Y:45.17, Z:31.91 [[-4.68922427e-01 -8.63920753e-01 1.83719053e-01 8.13527589e+01] [ 7.40163944e-01 -4.97866203e-01 -4.51980730e-01 4.51739040e+01] [ 4.81943040e-01 -7.59616820e-02 8.72903620e-01 3.19099054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.020714057 meters Centerline goodness : 0.995018 Centerline is valid? [True, True] Translation: X:81.34, Y:45.15, Z:31.92 [[-4.67341822e-01 -8.53672164e-01 2.29859650e-01 8.13382998e+01] [ 7.44469385e-01 -5.20236698e-01 -4.18472356e-01 4.51531317e+01] [ 4.76819627e-01 -2.44461605e-02 8.78661157e-01 3.19209305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.050714057 meters Centerline goodness : 0.994583 Centerline is valid? [True, True] Translation: X:81.34, Y:45.17, Z:31.92 [[-4.71376231e-01 -8.54723829e-01 2.17374390e-01 8.13383929e+01] [ 7.36110735e-01 -5.17050706e-01 -4.36806082e-01 4.51695981e+01] [ 4.85742148e-01 -4.58883829e-02 8.72896799e-01 3.19246856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.080714057 meters Centerline goodness : 0.994764 Centerline is valid? [True, True] Translation: X:81.34, Y:45.17, Z:31.93 [[-4.72702694e-01 -8.54158195e-01 2.16716267e-01 8.13368199e+01] [ 7.33714256e-01 -5.17698650e-01 -4.40058517e-01 4.51746299e+01] [ 4.88073308e-01 -4.90090323e-02 8.71425591e-01 3.19280346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.110714057 meters Centerline goodness : 0.993669 Centerline is valid? [True, True] Translation: X:81.34, Y:45.16, Z:31.92 [[-4.74364515e-01 -8.52748565e-01 2.18627975e-01 8.13422781e+01] [ 7.36776229e-01 -5.20495587e-01 -4.31561273e-01 4.51627727e+01] [ 4.81808152e-01 -4.36374590e-02 8.75189509e-01 3.19203555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.140714057 meters Centerline goodness : 0.994033 Centerline is valid? [True, True] Translation: X:81.33, Y:45.16, Z:31.93 [[-4.73846899e-01 -8.49820214e-01 2.30813171e-01 8.13340970e+01] [ 7.32807453e-01 -5.25878350e-01 -4.31793004e-01 4.51640062e+01] [ 4.88326072e-01 -3.54621646e-02 8.71940412e-01 3.19307969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.170714057 meters Centerline goodness : 0.993288 Centerline is valid? [True, True] Translation: X:81.34, Y:45.18, Z:31.93 [[-4.75434700e-01 -8.54317755e-01 2.10007191e-01 8.13384809e+01] [ 7.33760828e-01 -5.16767909e-01 -4.41073663e-01 4.51773636e+01] [ 4.85342038e-01 -5.56066742e-02 8.72554299e-01 3.19261719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.200714057 meters Centerline goodness : 0.994594 Centerline is valid? [True, True] Translation: X:81.32, Y:45.18, Z:31.94 [[-4.74715807e-01 -8.48242807e-01 2.34795747e-01 8.13237082e+01] [ 7.31259217e-01 -5.28580802e-01 -4.31117494e-01 4.51771093e+01] [ 4.89800837e-01 -3.29617347e-02 8.71211033e-01 3.19435829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.23071405699997 meters Centerline goodness : 0.993684 Centerline is valid? [True, True] Translation: X:81.34, Y:45.16, Z:31.92 [[-4.75574553e-01 -8.54120957e-01 2.10490463e-01 8.13449013e+01] [ 7.33070789e-01 -5.17068303e-01 -4.41868292e-01 4.51622976e+01] [ 4.86246915e-01 -5.58369058e-02 8.72035651e-01 3.19193808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.26071405699997 meters Centerline goodness : 0.994362 Centerline is valid? [True, True] Translation: X:81.33, Y:45.17, Z:31.93 [[-4.75450842e-01 -8.49905828e-01 2.27170819e-01 8.13331955e+01] [ 7.31626399e-01 -5.25389461e-01 -4.34383156e-01 4.51650869e+01] [ 4.88537929e-01 -4.03236693e-02 8.71610402e-01 3.19322757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.29071405699997 meters Centerline goodness : 0.994231 Centerline is valid? [True, True] Translation: X:81.34, Y:45.15, Z:31.92 [[-4.75076631e-01 -8.49768965e-01 2.28462033e-01 8.13399747e+01] [ 7.30967569e-01 -5.25655184e-01 -4.35170128e-01 4.51506617e+01] [ 4.89886322e-01 -3.97408214e-02 8.70880048e-01 3.19238418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.32071405699998 meters Centerline goodness : 0.995016 Centerline is valid? [True, True] Translation: X:81.34, Y:45.15, Z:31.92 [[-4.75292349e-01 -8.49098819e-01 2.30495938e-01 8.13381099e+01] [ 7.31140337e-01 -5.26904813e-01 -4.33364887e-01 4.51498658e+01] [ 4.89419033e-01 -3.74501371e-02 8.71244224e-01 3.19243766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.35071405699998 meters Centerline goodness : 0.994643 Centerline is valid? [True, True] Translation: X:81.34, Y:45.15, Z:31.93 [[-4.75703357e-01 -8.49502652e-01 2.28148111e-01 8.13361897e+01] [ 7.31139676e-01 -5.26079318e-01 -4.34367731e-01 4.51522807e+01] [ 4.89020542e-01 -3.98220520e-02 8.71362791e-01 3.19254072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.38071405699998 meters Centerline goodness : 0.994281 Centerline is valid? [True, True] Translation: X:81.33, Y:45.15, Z:31.93 [[-4.76206015e-01 -8.48901373e-01 2.29334451e-01 8.13349630e+01] [ 7.30494071e-01 -5.27091634e-01 -4.34226694e-01 4.51502804e+01] [ 4.89495907e-01 -3.92539069e-02 8.71121626e-01 3.19260689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.41071405699998 meters Centerline goodness : 0.993874 Centerline is valid? [True, True] Translation: X:81.34, Y:45.14, Z:31.92 [[-4.76259984e-01 -8.48501188e-01 2.30699286e-01 8.13380563e+01] [ 7.30965800e-01 -5.27874556e-01 -4.32478268e-01 4.51408331e+01] [ 4.88738608e-01 -3.73388048e-02 8.71630878e-01 3.19211319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.44071405699998 meters Centerline goodness : 0.994964 Centerline is valid? [True, True] Translation: X:81.33, Y:45.14, Z:31.92 [[-4.76100774e-01 -8.47106777e-01 2.36089307e-01 8.13341625e+01] [ 7.28399520e-01 -5.30296071e-01 -4.33843538e-01 4.51380976e+01] [ 4.92709033e-01 -3.45859066e-02 8.69506540e-01 3.19246667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.47071405699998 meters Centerline goodness : 0.995358 Centerline is valid? [True, True] Translation: X:81.34, Y:45.14, Z:31.92 [[-4.76406640e-01 -8.49043410e-01 2.28390020e-01 8.13375136e+01] [ 7.30203970e-01 -5.26767196e-01 -4.35107439e-01 4.51378420e+01] [ 4.89733475e-01 -4.05167738e-02 8.70930258e-01 3.19186078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.50071405699998 meters Centerline goodness : 0.993741 Centerline is valid? [True, True] Translation: X:81.34, Y:45.14, Z:31.91 [[-4.78075375e-01 -8.52156439e-01 2.12775326e-01 8.13413012e+01] [ 7.30751560e-01 -5.20305648e-01 -4.41909708e-01 4.51438481e+01] [ 4.87284407e-01 -5.57802478e-02 8.71459965e-01 3.19143905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.53071405699998 meters Centerline goodness : 0.994232 Centerline is valid? [True, True] Translation: X:81.33, Y:45.13, Z:31.93 [[-4.74521583e-01 -8.42693798e-01 2.54354930e-01 8.13257525e+01] [ 7.36027314e-01 -5.38340245e-01 -4.10430961e-01 4.51259934e+01] [ 4.82797121e-01 -7.54617373e-03 8.75699718e-01 3.19266490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.56071405699998 meters Centerline goodness : 0.995112 Centerline is valid? [True, True] Translation: X:81.34, Y:45.13, Z:31.91 [[-4.75230688e-01 -8.53563312e-01 2.13507531e-01 8.13432416e+01] [ 7.36986581e-01 -5.18718954e-01 -4.33337543e-01 4.51344937e+01] [ 4.80631432e-01 -4.85831134e-02 8.75575872e-01 3.19053453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.59071405699999 meters Centerline goodness : 0.995415 Centerline is valid? [True, True] Translation: X:81.34, Y:45.14, Z:31.91 [[-4.77522575e-01 -8.53293515e-01 2.09433445e-01 8.13435188e+01] [ 7.31884426e-01 -5.18191587e-01 -4.42518549e-01 4.51353479e+01] [ 4.86124857e-01 -5.80315205e-02 8.71960415e-01 3.19066015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.620714057 meters Centerline goodness : 0.994644 Centerline is valid? [True, True] Translation: X:81.34, Y:45.14, Z:31.92 [[-4.79636320e-01 -8.50898310e-01 2.14292015e-01 8.13383942e+01] [ 7.26387897e-01 -5.22034363e-01 -4.47035509e-01 4.51398505e+01] [ 4.92249555e-01 -5.87553406e-02 8.68468874e-01 3.19159178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.650714057 meters Centerline goodness : 0.994852 Centerline is valid? [True, True] Translation: X:81.34, Y:45.12, Z:31.91 [[-4.77819149e-01 -8.46518052e-01 2.34725473e-01 8.13371012e+01] [ 7.29344021e-01 -5.31221377e-01 -4.31116165e-01 4.51193576e+01] [ 4.89638806e-01 -3.47999388e-02 8.71230626e-01 3.19138230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.680714057 meters Centerline goodness : 0.994857 Centerline is valid? [True, True] Translation: X:81.33, Y:45.14, Z:31.92 [[-4.88841840e-01 -8.45112662e-01 2.16375241e-01 8.13330732e+01] [ 7.17786339e-01 -5.30613966e-01 -4.50812146e-01 4.51352363e+01] [ 4.95798778e-01 -6.50646464e-02 8.65996630e-01 3.19172401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.710714057 meters Centerline goodness : 0.995009 Centerline is valid? [True, True] Translation: X:81.32, Y:45.12, Z:31.93 [[-4.88312282e-01 -8.38963284e-01 2.40191016e-01 8.13244767e+01] [ 7.16571011e-01 -5.42569953e-01 -4.38342140e-01 4.51246914e+01] [ 4.98073389e-01 -4.19339314e-02 8.66120341e-01 3.19265470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.740714057 meters Centerline goodness : 0.995116 Centerline is valid? [True, True] Translation: X:81.34, Y:45.10, Z:31.91 [[-4.77281337e-01 -8.43064374e-01 2.47880993e-01 8.13392336e+01] [ 7.28792495e-01 -5.37366798e-01 -4.24380045e-01 4.50991115e+01] [ 4.90982713e-01 -2.18948679e-02 8.70894133e-01 3.19084694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.770714057 meters Centerline goodness : 0.995787 Centerline is valid? [True, True] Translation: X:81.33, Y:45.14, Z:31.92 [[-4.88657518e-01 -8.44779315e-01 2.18086541e-01 8.13274186e+01] [ 7.16370855e-01 -5.31172039e-01 -4.52403651e-01 4.51387961e+01] [ 4.98022719e-01 -6.48396038e-02 8.64736490e-01 3.19194862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.800714057 meters Centerline goodness : 0.995719 Centerline is valid? [True, True] Translation: X:81.32, Y:45.14, Z:31.93 [[-4.79859189e-01 -8.42571808e-01 2.44556551e-01 8.13195837e+01] [ 7.23591166e-01 -5.37707907e-01 -4.32765563e-01 4.51350592e+01] [ 4.96136053e-01 -3.07075727e-02 8.67701597e-01 3.19303785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.830714057 meters Centerline goodness : 0.996105 Centerline is valid? [True, True] Translation: X:81.32, Y:45.13, Z:31.92 [[-4.75649342e-01 -8.44671391e-01 2.45536035e-01 8.13210513e+01] [ 7.35528317e-01 -5.35011917e-01 -4.15644492e-01 4.51295264e+01] [ 4.82447717e-01 -1.71023224e-02 8.75757793e-01 3.19220958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.860714057 meters Centerline goodness : 0.994727 Centerline is valid? [True, True] Translation: X:81.35, Y:45.14, Z:31.90 [[-4.81062413e-01 -8.55664408e-01 1.90833372e-01 8.13480486e+01] [ 7.28296130e-01 -5.11226080e-01 -4.56325149e-01 4.51352981e+01] [ 4.88020186e-01 -8.05376707e-02 8.69108729e-01 3.18962810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.890714057 meters Centerline goodness : 0.994431 Centerline is valid? [True, True] Translation: X:81.33, Y:45.11, Z:31.92 [[-4.75659465e-01 -8.43850470e-01 2.48323294e-01 8.13274327e+01] [ 7.32536367e-01 -5.36292292e-01 -4.19262506e-01 4.51122389e+01] [ 4.86968731e-01 -1.75203351e-02 8.73243662e-01 3.19164846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.920714057 meters Centerline goodness : 0.995101 Centerline is valid? [True, True] Translation: X:81.34, Y:45.11, Z:31.90 [[-4.76212567e-01 -8.52184464e-01 2.16802283e-01 8.13415551e+01] [ 7.30847233e-01 -5.20680254e-01 -4.41309864e-01 4.51129086e+01] [ 4.88962077e-01 -5.17079546e-02 8.70771138e-01 3.18998252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.950714057 meters Centerline goodness : 0.994312 Centerline is valid? [True, True] Translation: X:81.34, Y:45.11, Z:31.90 [[-4.75378907e-01 -8.52385604e-01 2.17838647e-01 8.13425339e+01] [ 7.34450601e-01 -5.20809815e-01 -4.35131534e-01 4.51075121e+01] [ 4.84352361e-01 -4.68606277e-02 8.73617120e-01 3.18970137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.98071405699997 meters Centerline goodness : 0.993866 Centerline is valid? [True, True] Translation: X:81.34, Y:45.10, Z:31.90 [[-4.74462459e-01 -8.51005041e-01 2.25112850e-01 8.13403174e+01] [ 7.34776823e-01 -5.23697593e-01 -4.31096106e-01 4.51016136e+01] [ 4.84756017e-01 -3.91312141e-02 8.73773628e-01 3.18994276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.01071405699997 meters Centerline goodness : 0.993866 Centerline is valid? [True, True] Translation: X:81.34, Y:45.10, Z:31.90 [[-4.74738271e-01 -8.50299171e-01 2.27189115e-01 8.13408419e+01] [ 7.34527826e-01 -5.24980399e-01 -4.29958664e-01 4.50987069e+01] [ 4.84863328e-01 -3.72411054e-02 8.73796689e-01 3.18989696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.04071405699997 meters Centerline goodness : 0.994492 Centerline is valid? [True, True] Translation: X:81.33, Y:45.10, Z:31.91 [[-4.70825178e-01 -8.47606953e-01 2.44716375e-01 8.13285567e+01] [ 7.38656671e-01 -5.30409706e-01 -4.15995032e-01 4.50978010e+01] [ 4.82400222e-01 -1.50995526e-02 8.75820775e-01 3.19079076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.07071405699998 meters Centerline goodness : 0.994108 Centerline is valid? [True, True] Translation: X:81.35, Y:45.11, Z:31.89 [[-4.71609710e-01 -8.57636959e-01 2.05044208e-01 8.13454286e+01] [ 7.39850367e-01 -5.11361843e-01 -4.37184744e-01 4.51063743e+01] [ 4.79797579e-01 -5.44785382e-02 8.75686230e-01 3.18881740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.10071405699998 meters Centerline goodness : 0.994157 Centerline is valid? [True, True] Translation: X:81.32, Y:45.13, Z:31.92 [[-4.82039686e-01 -8.51279680e-01 2.07269505e-01 8.13224749e+01] [ 7.21976108e-01 -5.19967586e-01 -4.56491193e-01 4.51276726e+01] [ 4.96375101e-01 -7.04032407e-02 8.65248602e-01 3.19151215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.13071405699998 meters Centerline goodness : 0.995094 Centerline is valid? [True, True] Translation: X:81.30, Y:45.11, Z:31.94 [[-4.78873394e-01 -8.38626010e-01 2.59589460e-01 8.13013872e+01] [ 7.22509847e-01 -5.44458201e-01 -4.26080729e-01 4.51115076e+01] [ 4.98657992e-01 -1.64827838e-02 8.66642097e-01 3.19404140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.16071405699998 meters Centerline goodness : 0.993866 Centerline is valid? [True, True] Translation: X:81.30, Y:45.13, Z:31.93 [[-4.69698631e-01 -8.48123265e-01 2.45092070e-01 8.13034108e+01] [ 7.41374186e-01 -5.29666341e-01 -4.12089654e-01 4.51294887e+01] [ 4.79319843e-01 -1.18530123e-02 8.77560251e-01 3.19322092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.19071405699998 meters Centerline goodness : 0.994229 Centerline is valid? [True, True] Translation: X:81.32, Y:45.11, Z:31.91 [[-4.78910260e-01 -8.50309556e-01 2.18216917e-01 8.13239763e+01] [ 7.24246753e-01 -5.23179711e-01 -4.49165484e-01 4.51053190e+01] [ 4.96096366e-01 -5.70670652e-02 8.66390065e-01 3.19081345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.22071405699998 meters Centerline goodness : 0.993840 Centerline is valid? [True, True] Translation: X:81.32, Y:45.10, Z:31.91 [[-4.69096980e-01 -8.48739393e-01 2.44109537e-01 8.13184690e+01] [ 7.40832391e-01 -5.28637996e-01 -4.14378134e-01 4.50962086e+01] [ 4.80744622e-01 -1.35392788e-02 8.76756121e-01 3.19119821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.25071405699998 meters Centerline goodness : 0.994542 Centerline is valid? [True, True] Translation: X:81.32, Y:45.11, Z:31.91 [[-4.80653080e-01 -8.52186078e-01 2.06764370e-01 8.13225756e+01] [ 7.22591350e-01 -5.18488179e-01 -4.57199902e-01 4.51139579e+01] [ 4.96824273e-01 -7.03483957e-02 8.64995228e-01 3.19092435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.28071405699998 meters Centerline goodness : 0.994403 Centerline is valid? [True, True] Translation: X:81.32, Y:45.07, Z:31.91 [[-4.67043034e-01 -8.41683966e-01 2.70996136e-01 8.13169787e+01] [ 7.37576716e-01 -5.39869491e-01 -4.05612526e-01 4.50666860e+01] [ 4.87700105e-01 1.04419349e-02 8.72948780e-01 3.19140692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.31071405699998 meters Centerline goodness : 0.993650 Centerline is valid? [True, True] Translation: X:81.34, Y:45.09, Z:31.89 [[-4.68551581e-01 -8.58457449e-01 2.08591045e-01 8.13350880e+01] [ 7.40135680e-01 -5.10365054e-01 -4.37866060e-01 4.50936028e+01] [ 4.82346961e-01 -5.07771597e-02 8.74507341e-01 3.18886583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.34071405699999 meters Centerline goodness : 0.993376 Centerline is valid? [True, True] Translation: X:81.33, Y:45.07, Z:31.89 [[-4.66314379e-01 -8.53625620e-01 2.32108164e-01 8.13343626e+01] [ 7.45079854e-01 -5.20440024e-01 -4.17130906e-01 4.50680494e+01] [ 4.76872007e-01 -2.15750227e-02 8.78707919e-01 3.18872989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.370714057 meters Centerline goodness : 0.993994 Centerline is valid? [True, True] Translation: X:81.34, Y:45.08, Z:31.88 [[-4.65016016e-01 -8.57672525e-01 2.19449185e-01 8.13368517e+01] [ 7.45720937e-01 -5.13070834e-01 -4.25039532e-01 4.50756250e+01] [ 4.77137705e-01 -3.40023380e-02 8.78170514e-01 3.18832438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.400714057 meters Centerline goodness : 0.992803 Centerline is valid? [True, True] Translation: X:81.34, Y:45.07, Z:31.88 [[-4.66528360e-01 -8.58231232e-01 2.13987013e-01 8.13399081e+01] [ 7.43268436e-01 -5.11534476e-01 -4.31143262e-01 4.50740662e+01] [ 4.79482348e-01 -4.20907671e-02 8.76541525e-01 3.18805224e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.430714057 meters Centerline goodness : 0.993103 Centerline is valid? [True, True] Translation: X:81.33, Y:45.09, Z:31.89 [[-4.67756324e-01 -8.55587052e-01 2.21753959e-01 8.13279121e+01] [ 7.41081685e-01 -5.16378329e-01 -4.29128603e-01 4.50854624e+01] [ 4.81665815e-01 -3.63898200e-02 8.75599123e-01 3.18948275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.460714057 meters Centerline goodness : 0.993293 Centerline is valid? [True, True] Translation: X:81.33, Y:45.07, Z:31.89 [[-4.65528530e-01 -8.54164746e-01 2.31701908e-01 8.13326239e+01] [ 7.45895679e-01 -5.19570704e-01 -4.16756428e-01 4.50668950e+01] [ 4.76364172e-01 -2.11865552e-02 8.78992779e-01 3.18865813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.490714057 meters Centerline goodness : 0.992915 Centerline is valid? [True, True] Translation: X:81.34, Y:45.08, Z:31.88 [[-4.69272391e-01 -8.57551490e-01 2.10686651e-01 8.13384126e+01] [ 7.38728953e-01 -5.11954316e-01 -4.38386031e-01 4.50772440e+01] [ 4.83800534e-01 -5.00821324e-02 8.73744141e-01 3.18827544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.520714057 meters Centerline goodness : 0.993104 Centerline is valid? [True, True] Translation: X:81.33, Y:45.07, Z:31.89 [[-4.69819354e-01 -8.52010636e-01 2.30971103e-01 8.13310412e+01] [ 7.38087932e-01 -5.22665312e-01 -4.26669868e-01 4.50696956e+01] [ 4.84247850e-01 -2.99807780e-02 8.74417047e-01 3.18919081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.550714057 meters Centerline goodness : 0.993215 Centerline is valid? [True, True] Translation: X:81.34, Y:45.06, Z:31.89 [[-4.69741634e-01 -8.52248023e-01 2.30252263e-01 8.13351860e+01] [ 7.38851495e-01 -5.22282702e-01 -4.25815978e-01 4.50638964e+01] [ 4.83157599e-01 -2.99012646e-02 8.75022656e-01 3.18868372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.580714057 meters Centerline goodness : 0.993581 Centerline is valid? [True, True] Translation: X:81.34, Y:45.07, Z:31.89 [[-4.71213875e-01 -8.51966317e-01 2.28278073e-01 8.13351165e+01] [ 7.37705795e-01 -5.22553994e-01 -4.27466354e-01 4.50670501e+01] [ 4.83474554e-01 -3.30260201e-02 8.74735181e-01 3.18879789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.610714057 meters Centerline goodness : 0.993395 Centerline is valid? [True, True] Translation: X:81.33, Y:45.08, Z:31.90 [[-4.70689674e-01 -8.51885341e-01 2.29657562e-01 8.13260603e+01] [ 7.39447786e-01 -5.22881397e-01 -4.24042470e-01 4.50824994e+01] [ 4.81319231e-01 -2.97726361e-02 8.76039604e-01 3.18968681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.640714057 meters Centerline goodness : 0.993530 Centerline is valid? [True, True] Translation: X:81.33, Y:45.08, Z:31.90 [[-4.72815641e-01 -8.51146963e-01 2.28022403e-01 8.13272087e+01] [ 7.37369470e-01 -5.23857719e-01 -4.26449711e-01 4.50844502e+01] [ 4.82422672e-01 -3.34953346e-02 8.75297908e-01 3.18963837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.670714057 meters Centerline goodness : 0.993635 Centerline is valid? [True, True] Translation: X:81.33, Y:45.08, Z:31.89 [[-4.73196210e-01 -8.51663370e-01 2.25288374e-01 8.13296846e+01] [ 7.37091109e-01 -5.22811784e-01 -4.28210853e-01 4.50847434e+01] [ 4.82474915e-01 -3.65696956e-02 8.75146053e-01 3.18942977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.700714057 meters Centerline goodness : 0.994121 Centerline is valid? [True, True] Translation: X:81.34, Y:45.05, Z:31.89 [[-4.71645104e-01 -8.47452210e-01 2.43671188e-01 8.13373122e+01] [ 7.37569642e-01 -5.30590484e-01 -4.17689791e-01 4.50538726e+01] [ 4.83261750e-01 -1.72768739e-02 8.75305427e-01 3.18858443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.73071405699997 meters Centerline goodness : 0.993064 Centerline is valid? [True, True] Translation: X:81.35, Y:45.06, Z:31.87 [[-4.72760933e-01 -8.56461193e-01 2.07295263e-01 8.13546224e+01] [ 7.40520877e-01 -5.13649564e-01 -4.33350846e-01 4.50613291e+01] [ 4.77625304e-01 -5.13648800e-02 8.77060840e-01 3.18655056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.76071405699997 meters Centerline goodness : 0.994160 Centerline is valid? [True, True] Translation: X:81.34, Y:45.05, Z:31.88 [[-4.71733633e-01 -8.49517049e-01 2.36195181e-01 8.13425623e+01] [ 7.38161457e-01 -5.26999726e-01 -4.21175679e-01 4.50544012e+01] [ 4.82270715e-01 -2.43325539e-02 8.75684238e-01 3.18807824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.79071405699997 meters Centerline goodness : 0.993380 Centerline is valid? [True, True] Translation: X:81.36, Y:45.06, Z:31.87 [[-4.71959753e-01 -8.57596243e-01 2.04408112e-01 8.13565123e+01] [ 7.39720325e-01 -5.11348441e-01 -4.37420408e-01 4.50615240e+01] [ 4.79653867e-01 -5.52399929e-02 8.75717255e-01 3.18663272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.82071405699998 meters Centerline goodness : 0.993902 Centerline is valid? [True, True] Translation: X:81.36, Y:45.02, Z:31.87 [[-4.66420733e-01 -8.51422796e-01 2.39856046e-01 8.13576311e+01] [ 7.43398185e-01 -5.24253214e-01 -4.15352509e-01 4.50238071e+01] [ 4.79385898e-01 -1.54204724e-02 8.77468729e-01 3.18653490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.85071405699998 meters Centerline goodness : 0.994360 Centerline is valid? [True, True] Translation: X:81.35, Y:45.06, Z:31.88 [[-4.79990495e-01 -8.53703827e-01 2.01987378e-01 8.13499295e+01] [ 7.24144534e-01 -5.15530287e-01 -4.58086473e-01 4.50638508e+01] [ 4.95200786e-01 -7.36090973e-02 8.65654598e-01 3.18773335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.88071405699998 meters Centerline goodness : 0.993882 Centerline is valid? [True, True] Translation: X:81.34, Y:45.04, Z:31.89 [[-4.68587322e-01 -8.46363602e-01 2.53169064e-01 8.13391422e+01] [ 7.36879288e-01 -5.32536439e-01 -4.16429893e-01 4.50437213e+01] [ 4.87272856e-01 -8.57872882e-03 8.73207632e-01 3.18936567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.91071405699998 meters Centerline goodness : 0.992544 Centerline is valid? [True, True] Translation: X:81.34, Y:45.08, Z:31.89 [[-4.69411767e-01 -8.56245157e-01 2.15631222e-01 8.13388021e+01] [ 7.39749192e-01 -5.14697313e-01 -4.33425667e-01 4.50824497e+01] [ 4.82103439e-01 -4.39420859e-02 8.75011638e-01 3.18918667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.94071405699998 meters Centerline goodness : 0.993436 Centerline is valid? [True, True] Translation: X:81.33, Y:45.08, Z:31.91 [[-4.67470840e-01 -8.50496314e-01 2.41095486e-01 8.13256284e+01] [ 7.38439379e-01 -5.25622039e-01 -4.22408282e-01 4.50823924e+01] [ 4.85981788e-01 -1.94291536e-02 8.73752946e-01 3.19093459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.97071405699998 meters Centerline goodness : 0.993816 Centerline is valid? [True, True] Translation: X:81.35, Y:45.05, Z:31.88 [[-4.65013342e-01 -8.55858589e-01 2.26425855e-01 8.13508251e+01] [ 7.41546469e-01 -5.16259628e-01 -4.28468004e-01 4.50549009e+01] [ 4.83602549e-01 -3.13380453e-02 8.74726530e-01 3.18808676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.00071405699998 meters Centerline goodness : 0.992889 Centerline is valid? [True, True] Translation: X:81.35, Y:45.07, Z:31.88 [[-4.65417748e-01 -8.58298982e-01 2.16123058e-01 8.13508468e+01] [ 7.43367264e-01 -5.11597234e-01 -4.30898341e-01 4.50670921e+01] [ 4.80407566e-01 -3.98889293e-02 8.76137799e-01 3.18814660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.03071405699998 meters Centerline goodness : 0.993025 Centerline is valid? [True, True] Translation: X:81.37, Y:45.04, Z:31.87 [[-4.61300025e-01 -8.58943458e-01 2.22302548e-01 8.13665945e+01] [ 7.41548334e-01 -5.10818272e-01 -4.34937652e-01 4.50363187e+01] [ 4.87143054e-01 -3.57886659e-02 8.72588572e-01 3.18680892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.06071405699998 meters Centerline goodness : 0.993275 Centerline is valid? [True, True] Translation: X:81.35, Y:45.03, Z:31.88 [[-4.57641613e-01 -8.52164317e-01 2.53732400e-01 8.13540047e+01] [ 7.46587735e-01 -5.23272373e-01 -4.10843981e-01 4.50268756e+01] [ 4.82877736e-01 1.41419543e-03 8.75686640e-01 3.18800661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.09071405699999 meters Centerline goodness : 0.993230 Centerline is valid? [True, True] Translation: X:81.37, Y:45.04, Z:31.86 [[-4.56837687e-01 -8.63806725e-01 2.12455335e-01 8.13699972e+01] [ 7.50541895e-01 -5.02491773e-01 -4.29172323e-01 4.50398895e+01] [ 4.77478997e-01 -3.66054622e-02 8.77880315e-01 3.18588405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.120714057 meters Centerline goodness : 0.993638 Centerline is valid? [True, True] Translation: X:81.36, Y:45.03, Z:31.87 [[-4.51524128e-01 -8.59914696e-01 2.38060238e-01 8.13623205e+01] [ 7.51591483e-01 -5.10344106e-01 -4.17922405e-01 4.50308103e+01] [ 4.80870258e-01 -9.77800224e-03 8.76737239e-01 3.18692866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.150714057 meters Centerline goodness : 0.992938 Centerline is valid? [True, True] Translation: X:81.37, Y:45.05, Z:31.86 [[-4.49890448e-01 -8.66686553e-01 2.15529588e-01 8.13664047e+01] [ 7.56902847e-01 -4.98111140e-01 -4.23064265e-01 4.50476554e+01] [ 4.74021799e-01 -2.71976131e-02 8.80092963e-01 3.18618558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.180714057 meters Centerline goodness : 0.993623 Centerline is valid? [True, True] Translation: X:81.36, Y:45.05, Z:31.87 [[-4.59768803e-01 -8.63232038e-01 2.08430076e-01 8.13610066e+01] [ 7.35394440e-01 -5.01673028e-01 -4.55542743e-01 4.50547230e+01] [ 4.97802838e-01 -5.61660227e-02 8.65469648e-01 3.18742048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.210714057 meters Centerline goodness : 0.992987 Centerline is valid? [True, True] Translation: X:81.37, Y:45.02, Z:31.87 [[-4.47210409e-01 -8.58606019e-01 2.50596397e-01 8.13662064e+01] [ 7.54724422e-01 -5.12600563e-01 -4.09428517e-01 4.50204665e+01] [ 4.79993643e-01 6.03052586e-03 8.77251239e-01 3.18692928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.240714057 meters Centerline goodness : 0.992614 Centerline is valid? [True, True] Translation: X:81.38, Y:45.03, Z:31.86 [[-4.47208226e-01 -8.66203564e-01 2.22926419e-01 8.13750408e+01] [ 7.55749460e-01 -4.99247976e-01 -4.23785573e-01 4.50343336e+01] [ 4.78380137e-01 -2.10438740e-02 8.77900678e-01 3.18587568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.270714057 meters Centerline goodness : 0.992326 Centerline is valid? [True, True] Translation: X:81.39, Y:45.01, Z:31.84 [[-4.44114405e-01 -8.65597325e-01 2.31308593e-01 8.13871091e+01] [ 7.61353336e-01 -5.00694345e-01 -4.11881379e-01 4.50110760e+01] [ 4.72338324e-01 -6.81488454e-03 8.81390983e-01 3.18447065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.300714057 meters Centerline goodness : 0.992670 Centerline is valid? [True, True] Translation: X:81.38, Y:45.02, Z:31.85 [[-4.45736158e-01 -8.67054762e-01 2.22565309e-01 8.13841554e+01] [ 7.61531046e-01 -4.97974197e-01 -4.14839926e-01 4.50239423e+01] [ 4.70520715e-01 -1.54187628e-02 8.82254226e-01 3.18476770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.330714057 meters Centerline goodness : 0.993845 Centerline is valid? [True, True] Translation: X:81.38, Y:45.05, Z:31.87 [[-4.59091036e-01 -8.65295831e-01 2.01242501e-01 8.13750226e+01] [ 7.36319425e-01 -4.97357636e-01 -4.58769100e-01 4.50526785e+01] [ 4.97060485e-01 -6.24380189e-02 8.65466561e-01 3.18655594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.360714057 meters Centerline goodness : 0.991615 Centerline is valid? [True, True] Translation: X:81.38, Y:45.01, Z:31.86 [[-4.50350826e-01 -8.56350854e-01 2.52680329e-01 8.13780429e+01] [ 7.54631167e-01 -5.16327139e-01 -4.04892685e-01 4.50128600e+01] [ 4.77195908e-01 8.33669684e-03 8.78757398e-01 3.18635867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.390714057 meters Centerline goodness : 0.992138 Centerline is valid? [True, True] Translation: X:81.39, Y:45.03, Z:31.86 [[-4.52693777e-01 -8.64070128e-01 2.20116237e-01 8.13861228e+01] [ 7.50819330e-01 -5.02548833e-01 -4.28619883e-01 4.50337759e+01] [ 4.80976795e-01 -2.87660284e-02 8.76261284e-01 3.18567151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.420714057 meters Centerline goodness : 0.992146 Centerline is valid? [True, True] Translation: X:81.38, Y:45.03, Z:31.86 [[-4.56076781e-01 -8.59391167e-01 2.31172646e-01 8.13840307e+01] [ 7.50172521e-01 -5.11002504e-01 -4.19663709e-01 4.50328042e+01] [ 4.78785086e-01 -1.79795062e-02 8.77748016e-01 3.18622128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.45071405699997 meters Centerline goodness : 0.992880 Centerline is valid? [True, True] Translation: X:81.39, Y:45.04, Z:31.86 [[-4.59143223e-01 -8.59145855e-01 2.25955530e-01 8.13863054e+01] [ 7.47451254e-01 -5.11071196e-01 -4.24408830e-01 4.50362701e+01] [ 4.80108450e-01 -2.59736936e-02 8.76824523e-01 3.18620583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.48071405699997 meters Centerline goodness : 0.991915 Centerline is valid? [True, True] Translation: X:81.39, Y:45.03, Z:31.86 [[-4.61767254e-01 -8.55511939e-01 2.34244158e-01 8.13890064e+01] [ 7.47109457e-01 -5.17482719e-01 -4.17179930e-01 4.50274126e+01] [ 4.78119715e-01 -1.76340047e-02 8.78117635e-01 3.18608303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.51071405699997 meters Centerline goodness : 0.993010 Centerline is valid? [True, True] Translation: X:81.38, Y:45.05, Z:31.87 [[-4.66033062e-01 -8.54822791e-01 2.28234927e-01 8.13811949e+01] [ 7.44776361e-01 -5.18272408e-01 -4.20359231e-01 4.50504642e+01] [ 4.77620516e-01 -2.59173210e-02 8.78183885e-01 3.18707207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.54071405699997 meters Centerline goodness : 0.993059 Centerline is valid? [True, True] Translation: X:81.39, Y:45.03, Z:31.86 [[-4.67276563e-01 -8.53305954e-01 2.31347276e-01 8.13911638e+01] [ 7.45975937e-01 -5.20976446e-01 -4.14853521e-01 4.50322986e+01] [ 4.74523461e-01 -2.12718269e-02 8.79985792e-01 3.18593313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.57071405699998 meters Centerline goodness : 0.993857 Centerline is valid? [True, True] Translation: X:81.39, Y:45.04, Z:31.86 [[-4.71436403e-01 -8.52524657e-01 2.25719800e-01 8.13924424e+01] [ 7.44024353e-01 -5.21896270e-01 -4.17195453e-01 4.50411343e+01] [ 4.73471732e-01 -2.87400956e-02 8.80340006e-01 3.18599459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.60071405699998 meters Centerline goodness : 0.993606 Centerline is valid? [True, True] Translation: X:81.39, Y:45.04, Z:31.86 [[-4.73571092e-01 -8.51526908e-01 2.25016323e-01 8.13938235e+01] [ 7.42635016e-01 -5.23408915e-01 -4.17775466e-01 4.50423991e+01] [ 4.73522600e-01 -3.07413834e-02 8.80245031e-01 3.18598010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.63071405699998 meters Centerline goodness : 0.995223 Centerline is valid? [True, True] Translation: X:81.39, Y:45.05, Z:31.87 [[-4.83948768e-01 -8.48799238e-01 2.12916518e-01 8.13905150e+01] [ 7.22180506e-01 -5.24789688e-01 -4.50611918e-01 4.50538816e+01] [ 4.94215445e-01 -6.43089238e-02 8.66957586e-01 3.18700176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.66071405699998 meters Centerline goodness : 0.994722 Centerline is valid? [True, True] Translation: X:81.38, Y:45.01, Z:31.87 [[-4.74053686e-01 -8.30519277e-01 2.92422355e-01 8.13796229e+01] [ 7.50462088e-01 -5.54813083e-01 -3.59150522e-01 4.50067337e+01] [ 4.60521180e-01 4.91952625e-02 8.86284418e-01 3.18739644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.69071405699998 meters Centerline goodness : 0.995900 Centerline is valid? [True, True] Translation: X:81.41, Y:45.08, Z:31.85 [[-0.48996215 -0.85730754 0.15799012 81.41342002] [ 0.7206605 -0.5003119 -0.47993379 45.07539427] [ 0.4904952 -0.12129215 0.86296157 31.84765708] [ 0. 0. 0. 1. ]] SLAMing on 200.72071405699998 meters Centerline goodness : 0.994678 Centerline is valid? [True, True] Translation: X:81.38, Y:45.01, Z:31.87 [[-4.77404926e-01 -8.29943475e-01 2.88579912e-01 8.13819348e+01] [ 7.46697913e-01 -5.56309073e-01 -3.64640154e-01 4.50094332e+01] [ 4.63170340e-01 4.14010119e-02 8.85301752e-01 3.18729919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.75071405699998 meters Centerline goodness : 0.995244 Centerline is valid? [True, True] Translation: X:81.41, Y:45.06, Z:31.85 [[-4.82627570e-01 -8.55107621e-01 1.89371555e-01 8.14093427e+01] [ 7.36449977e-01 -5.13252777e-01 -4.40696060e-01 4.50623161e+01] [ 4.74038036e-01 -7.32293907e-02 8.77453928e-01 3.18472059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.78071405699998 meters Centerline goodness : 0.995684 Centerline is valid? [True, True] Translation: X:81.40, Y:45.04, Z:31.86 [[-4.80971443e-01 -8.45477244e-01 2.32023061e-01 8.13969790e+01] [ 7.40705028e-01 -5.33445980e-01 -4.08401088e-01 4.50414994e+01] [ 4.69065595e-01 -2.45686122e-02 8.82821528e-01 3.18576439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.81071405699998 meters Centerline goodness : 0.995428 Centerline is valid? [True, True] Translation: X:81.41, Y:45.05, Z:31.85 [[-4.82840750e-01 -8.50552744e-01 2.08386273e-01 8.14068334e+01] [ 7.38563157e-01 -5.23383252e-01 -4.24964039e-01 4.50481503e+01] [ 4.70520215e-01 -5.12835321e-02 8.80897682e-01 3.18475185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.84071405699999 meters Centerline goodness : 0.995064 Centerline is valid? [True, True] Translation: X:81.41, Y:45.04, Z:31.85 [[-4.84863365e-01 -8.47601151e-01 2.15591760e-01 8.14056535e+01] [ 7.35957228e-01 -5.28597440e-01 -4.23026837e-01 4.50425475e+01] [ 4.72519286e-01 -4.64439016e-02 8.80095727e-01 3.18499888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.870714057 meters Centerline goodness : 0.995635 Centerline is valid? [True, True] Translation: X:81.40, Y:45.04, Z:31.86 [[-4.83780043e-01 -8.45853466e-01 2.24697093e-01 8.13990545e+01] [ 7.37787433e-01 -5.32261004e-01 -4.15172165e-01 4.50448220e+01] [ 4.70772316e-01 -3.50733163e-02 8.81557309e-01 3.18560455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.900714057 meters Centerline goodness : 0.995973 Centerline is valid? [True, True] Translation: X:81.40, Y:45.05, Z:31.85 [[-4.84821704e-01 -8.47866011e-01 2.14641895e-01 8.14035255e+01] [ 7.36490496e-01 -5.28137583e-01 -4.22672974e-01 4.50464756e+01] [ 4.71730500e-01 -4.68393158e-02 8.80497822e-01 3.18519547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.930714057 meters Centerline goodness : 0.995973 Centerline is valid? [True, True] Translation: X:81.40, Y:45.04, Z:31.85 [[-4.85092909e-01 -8.46341950e-01 2.19977666e-01 8.14029778e+01] [ 7.36168765e-01 -5.31011795e-01 -4.19621284e-01 4.50421661e+01] [ 4.71953831e-01 -4.16146226e-02 8.80640565e-01 3.18526881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.960714057 meters Centerline goodness : 0.995487 Centerline is valid? [True, True] Translation: X:81.41, Y:45.04, Z:31.85 [[-4.83946119e-01 -8.47411116e-01 2.18381673e-01 8.14062237e+01] [ 7.37006207e-01 -5.29233476e-01 -4.20397168e-01 4.50364060e+01] [ 4.71824125e-01 -4.25009293e-02 8.80667739e-01 3.18482840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.990714057 meters Centerline goodness : 0.994597 Centerline is valid? [True, True] Translation: X:81.41, Y:45.04, Z:31.85 [[-4.84524223e-01 -8.48467946e-01 2.12928208e-01 8.14090450e+01] [ 7.36895783e-01 -5.27046740e-01 -4.23327697e-01 4.50371598e+01] [ 4.71403100e-01 -4.82066245e-02 8.80599364e-01 3.18451177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.020714057 meters Centerline goodness : 0.994988 Centerline is valid? [True, True] Translation: X:81.39, Y:45.06, Z:31.87 [[-4.84720531e-01 -8.44842606e-01 2.26466282e-01 8.13852446e+01] [ 7.34248089e-01 -5.33728643e-01 -4.19539604e-01 4.50635053e+01] [ 4.75316474e-01 -3.70770247e-02 8.79033301e-01 3.18725757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.050714057 meters Centerline goodness : 0.995458 Centerline is valid? [True, True] Translation: X:81.39, Y:45.02, Z:31.86 [[-4.79010070e-01 -8.40201714e-01 2.54185824e-01 8.13933210e+01] [ 7.46919044e-01 -5.42245826e-01 -3.84813470e-01 4.50174092e+01] [ 4.61152139e-01 5.52670527e-03 8.87303872e-01 3.18571253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.080714057 meters Centerline goodness : 0.996367 Centerline is valid? [True, True] Translation: X:81.39, Y:45.10, Z:31.87 [[-0.49368151 -0.85335046 0.16754569 81.39195425] [ 0.71818315 -0.50870528 -0.4747967 45.09977607] [ 0.49039936 -0.11406986 0.86400031 31.87001856] [ 0. 0. 0. 1. ]] SLAMing on 201.110714057 meters Centerline goodness : 0.995534 Centerline is valid? [True, True] Translation: X:81.39, Y:44.99, Z:31.86 [[-4.80621232e-01 -8.32823405e-01 2.74605914e-01 8.13931742e+01] [ 7.42389501e-01 -5.53095349e-01 -3.78078514e-01 4.49942385e+01] [ 4.66755889e-01 2.21519863e-02 8.84108720e-01 3.18592078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.140714057 meters Centerline goodness : 0.995616 Centerline is valid? [True, True] Translation: X:81.41, Y:45.03, Z:31.84 [[-4.83253922e-01 -8.50821235e-01 2.06322256e-01 8.14124473e+01] [ 7.37346583e-01 -5.22598607e-01 -4.28031206e-01 4.50266677e+01] [ 4.72001762e-01 -5.47167486e-02 8.79897957e-01 3.18382926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.170714057 meters Centerline goodness : 0.995487 Centerline is valid? [True, True] Translation: X:81.41, Y:45.02, Z:31.84 [[-4.84376726e-01 -8.46614470e-01 2.20506522e-01 8.14070738e+01] [ 7.36095508e-01 -5.30605525e-01 -4.20263227e-01 4.50205063e+01] [ 4.72802908e-01 -4.12518662e-02 8.80202076e-01 3.18445724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.20071405699997 meters Centerline goodness : 0.995253 Centerline is valid? [True, True] Translation: X:81.40, Y:45.03, Z:31.85 [[-4.86640739e-01 -8.46069009e-01 2.17596009e-01 8.14031097e+01] [ 7.32447874e-01 -5.30904630e-01 -4.26216361e-01 4.50292378e+01] [ 4.76131182e-01 -4.80365108e-02 8.78061268e-01 3.18499342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.23071405699997 meters Centerline goodness : 0.995260 Centerline is valid? [True, True] Translation: X:81.39, Y:45.04, Z:31.86 [[-4.87701703e-01 -8.43319353e-01 2.25742148e-01 8.13928162e+01] [ 7.30777832e-01 -5.35824354e-01 -4.22913729e-01 4.50383005e+01] [ 4.77609473e-01 -4.12883881e-02 8.77601539e-01 3.18612970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.26071405699997 meters Centerline goodness : 0.996155 Centerline is valid? [True, True] Translation: X:81.40, Y:45.01, Z:31.85 [[-4.87718370e-01 -8.42343275e-01 2.29322042e-01 8.14048109e+01] [ 7.32507522e-01 -5.37763964e-01 -4.17423825e-01 4.50117094e+01] [ 4.74935282e-01 -3.56051463e-02 8.79300149e-01 3.18468075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.29071405699997 meters Centerline goodness : 0.996083 Centerline is valid? [True, True] Translation: X:81.41, Y:45.01, Z:31.84 [[-4.88411377e-01 -8.43134104e-01 2.24898220e-01 8.14067168e+01] [ 7.31731442e-01 -5.36138822e-01 -4.20861331e-01 4.50111755e+01] [ 4.75419208e-01 -4.09883632e-02 8.78804034e-01 3.18441956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.32071405699998 meters Centerline goodness : 0.996248 Centerline is valid? [True, True] Translation: X:81.40, Y:45.03, Z:31.86 [[-4.96911073e-01 -8.42159632e-01 2.09395654e-01 8.14014606e+01] [ 7.16112740e-01 -5.34228155e-01 -4.49202430e-01 4.50280484e+01] [ 4.90165207e-01 -7.32627657e-02 8.68545127e-01 3.18552821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.35071405699998 meters Centerline goodness : 0.995218 Centerline is valid? [True, True] Translation: X:81.29, Y:45.18, Z:31.98 [[-4.97345563e-01 -8.31563682e-01 2.47283713e-01 8.12899760e+01] [ 7.14277458e-01 -5.54268554e-01 -4.27310290e-01 4.51846384e+01] [ 4.92397304e-01 -3.58916953e-02 8.69630198e-01 3.19807847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.38071405699998 meters Centerline goodness : 0.995754 Centerline is valid? [True, True] Translation: X:81.38, Y:45.01, Z:31.88 [[-4.85586522e-01 -8.32507092e-01 2.66716461e-01 8.13766006e+01] [ 7.36716309e-01 -5.53953894e-01 -3.87793969e-01 4.50142671e+01] [ 4.70589852e-01 8.18684210e-03 8.82314097e-01 3.18777356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.41071405699998 meters Centerline goodness : 0.995132 Centerline is valid? [True, True] Translation: X:81.16, Y:45.45, Z:32.13 [[-5.00221449e-01 -8.39293322e-01 2.12991131e-01 8.11559634e+01] [ 7.11961373e-01 -5.38658692e-01 -4.50508400e-01 4.54518283e+01] [ 4.92838215e-01 -7.37125066e-02 8.66993057e-01 3.21256212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.44071405699998 meters Centerline goodness : 0.995610 Centerline is valid? [True, True] Translation: X:81.38, Y:45.03, Z:31.88 [[-4.96514832e-01 -8.32107242e-01 2.47124584e-01 8.13767952e+01] [ 7.12463668e-01 -5.53296485e-01 -4.31576785e-01 4.50327325e+01] [ 4.95851332e-01 -3.82169869e-02 8.67566089e-01 3.18795538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.47071405699998 meters Centerline goodness : 0.994582 Centerline is valid? [True, True] Translation: X:81.13, Y:45.45, Z:32.15 [[-4.98354742e-01 -8.28912938e-01 2.54058836e-01 8.11336296e+01] [ 7.11970329e-01 -5.58504718e-01 -4.25641551e-01 4.54458817e+01] [ 4.94712847e-01 -3.12381318e-02 8.68494892e-01 3.21513221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.50071405699998 meters Centerline goodness : 0.995374 Centerline is valid? [True, True] Translation: X:81.39, Y:45.00, Z:31.86 [[-4.84454216e-01 -8.37819163e-01 2.51720407e-01 8.13893505e+01] [ 7.33396251e-01 -5.45822409e-01 -4.05225662e-01 4.50002758e+01] [ 4.76900464e-01 -1.17024776e-02 8.78879400e-01 3.18600776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.53071405699998 meters Centerline goodness : 0.995701 Centerline is valid? [True, True] Translation: X:81.39, Y:45.03, Z:31.86 [[-4.93675246e-01 -8.44040492e-01 2.09476488e-01 8.13896313e+01] [ 7.20148035e-01 -5.31804622e-01 -4.45612671e-01 4.50340098e+01] [ 4.87515703e-01 -6.91338633e-02 8.70372879e-01 3.18618884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.56071405699998 meters Centerline goodness : 0.995885 Centerline is valid? [True, True] Translation: X:81.39, Y:45.00, Z:31.86 [[-4.85510560e-01 -8.39497224e-01 2.43975217e-01 8.13931887e+01] [ 7.26827114e-01 -5.42690041e-01 -4.20963021e-01 4.50006796e+01] [ 4.85800209e-01 -2.70541892e-02 8.73651091e-01 3.18595488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.59071405699999 meters Centerline goodness : 0.995567 Centerline is valid? [True, True] Translation: X:81.39, Y:45.01, Z:31.86 [[-4.88969083e-01 -8.41494672e-01 2.29773702e-01 8.13921574e+01] [ 7.24200077e-01 -5.38449770e-01 -4.30820257e-01 4.50138908e+01] [ 4.86254547e-01 -4.42556529e-02 8.72695796e-01 3.18597309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.620714057 meters Centerline goodness : 0.995318 Centerline is valid? [True, True] Translation: X:81.39, Y:45.01, Z:31.86 [[-4.89784636e-01 -8.39776394e-01 2.34278935e-01 8.13914718e+01] [ 7.23366783e-01 -5.41427669e-01 -4.28481711e-01 4.50108409e+01] [ 4.86673924e-01 -4.03941593e-02 8.72649302e-01 3.18609893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.650714057 meters Centerline goodness : 0.995687 Centerline is valid? [True, True] Translation: X:81.39, Y:45.01, Z:31.86 [[-4.90097553e-01 -8.39449408e-01 2.34795825e-01 8.13910839e+01] [ 7.22867457e-01 -5.41936347e-01 -4.28681275e-01 4.50114826e+01] [ 4.87100634e-01 -4.03693828e-02 8.72412337e-01 3.18618861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.680714057 meters Centerline goodness : 0.995302 Centerline is valid? [True, True] Translation: X:81.39, Y:45.00, Z:31.86 [[-4.90991642e-01 -8.37353831e-01 2.40345105e-01 8.13937757e+01] [ 7.23027742e-01 -5.45585185e-01 -4.23754281e-01 4.50025964e+01] [ 4.85960999e-01 -3.42836317e-02 8.73307815e-01 3.18584317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.710714057 meters Centerline goodness : 0.995705 Centerline is valid? [True, True] Translation: X:81.38, Y:45.03, Z:31.87 [[-4.92479354e-01 -8.38653311e-01 2.32647179e-01 8.13792745e+01] [ 7.21075952e-01 -5.42863801e-01 -4.30521038e-01 4.50344376e+01] [ 4.87353626e-01 -4.42664366e-02 8.72081949e-01 3.18743592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.740714057 meters Centerline goodness : 0.995844 Centerline is valid? [True, True] Translation: X:81.39, Y:45.00, Z:31.86 [[-4.92513966e-01 -8.36702134e-01 2.39498500e-01 8.13934893e+01] [ 7.22216041e-01 -5.46483812e-01 -4.23980463e-01 4.50026579e+01] [ 4.85627411e-01 -3.58466408e-02 8.73430613e-01 3.18566779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.770714057 meters Centerline goodness : 0.995826 Centerline is valid? [True, True] Translation: X:81.39, Y:45.01, Z:31.86 [[-4.93288730e-01 -8.37769613e-01 2.34111735e-01 8.13940700e+01] [ 7.21974508e-01 -5.44435379e-01 -4.27016308e-01 4.50076053e+01] [ 4.85199998e-01 -4.16196278e-02 8.73412141e-01 3.18554279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.800714057 meters Centerline goodness : 0.995898 Centerline is valid? [True, True] Translation: X:81.40, Y:44.99, Z:31.85 [[-4.91378043e-01 -8.36914462e-01 2.41084636e-01 8.13993187e+01] [ 7.26035134e-01 -5.46508003e-01 -4.17375116e-01 4.49927762e+01] [ 4.81061954e-01 -3.00530512e-02 8.76171336e-01 3.18477718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.830714057 meters Centerline goodness : 0.995806 Centerline is valid? [True, True] Translation: X:81.38, Y:45.05, Z:31.87 [[-4.95395763e-01 -8.40660493e-01 2.18798936e-01 8.13801415e+01] [ 7.19280460e-01 -5.38201234e-01 -4.39289258e-01 4.50477954e+01] [ 4.87050981e-01 -6.02442378e-02 8.71293276e-01 3.18715399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.860714057 meters Centerline goodness : 0.996044 Centerline is valid? [True, True] Translation: X:81.37, Y:45.04, Z:31.88 [[-4.94113934e-01 -8.34973732e-01 2.42219503e-01 8.13726769e+01] [ 7.21519778e-01 -5.49267110e-01 -4.21562393e-01 4.50379178e+01] [ 4.85036731e-01 -3.35336903e-02 8.73850594e-01 3.18795361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.890714057 meters Centerline goodness : 0.995779 Centerline is valid? [True, True] Translation: X:81.37, Y:45.05, Z:31.88 [[-4.95178470e-01 -8.36037984e-01 2.36302288e-01 8.13697063e+01] [ 7.21940160e-01 -5.47278398e-01 -4.23425035e-01 4.50480570e+01] [ 4.83322551e-01 -3.90748493e-02 8.74569876e-01 3.18818087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.920714057 meters Centerline goodness : 0.995607 Centerline is valid? [True, True] Translation: X:81.39, Y:45.02, Z:31.86 [[-4.94960234e-01 -8.35997686e-01 2.36901320e-01 8.13868738e+01] [ 7.23947079e-01 -5.47537307e-01 -4.19646904e-01 4.50179979e+01] [ 4.80536152e-01 -3.62045113e-02 8.76227277e-01 3.18617070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.95071405699997 meters Centerline goodness : 0.996315 Centerline is valid? [True, True] Translation: X:81.40, Y:45.00, Z:31.85 [[-4.94576158e-01 -8.36920409e-01 2.34432618e-01 8.14013813e+01] [ 7.25316488e-01 -5.46052354e-01 -4.19216912e-01 4.49956614e+01] [ 4.78863672e-01 -3.72968466e-02 8.77096647e-01 3.18456921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.98071405699997 meters Centerline goodness : 0.995535 Centerline is valid? [True, True] Translation: X:81.40, Y:45.01, Z:31.85 [[-4.96316644e-01 -8.37410983e-01 2.28938059e-01 8.13984301e+01] [ 7.23910502e-01 -5.44770831e-01 -4.23294609e-01 4.50090593e+01] [ 4.79190331e-01 -4.43574951e-02 8.76589436e-01 3.18497315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.01071405699997 meters Centerline goodness : 0.996122 Centerline is valid? [True, True] Translation: X:81.40, Y:45.00, Z:31.85 [[-4.97341227e-01 -8.36940251e-01 2.28435375e-01 8.14034646e+01] [ 7.20370555e-01 -5.45120991e-01 -4.28846555e-01 4.50027479e+01] [ 4.83443862e-01 -4.87249540e-02 8.74018256e-01 3.18466223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.04071405699997 meters Centerline goodness : 0.995893 Centerline is valid? [True, True] Translation: X:81.39, Y:45.01, Z:31.86 [[-4.97222875e-01 -8.34144245e-01 2.38689738e-01 8.13933788e+01] [ 7.21263075e-01 -5.50304038e-01 -4.20648360e-01 4.50124258e+01] [ 4.82233336e-01 -3.69978929e-02 8.75261199e-01 3.18577211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.07071405699998 meters Centerline goodness : 0.995977 Centerline is valid? [True, True] Translation: X:81.39, Y:45.02, Z:31.86 [[-4.97930236e-01 -8.34097748e-01 2.37374023e-01 8.13907512e+01] [ 7.21403339e-01 -5.50299721e-01 -4.20413415e-01 4.50228366e+01] [ 4.81292742e-01 -3.80941382e-02 8.75731770e-01 3.18600915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.10071405699998 meters Centerline goodness : 0.996411 Centerline is valid? [True, True] Translation: X:81.39, Y:45.02, Z:31.86 [[-4.98541491e-01 -8.34716968e-01 2.33888788e-01 8.13948404e+01] [ 7.20599309e-01 -5.49031945e-01 -4.23438967e-01 4.50211445e+01] [ 4.81864107e-01 -4.25617945e-02 8.75211675e-01 3.18557316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.13071405699998 meters Centerline goodness : 0.996406 Centerline is valid? [True, True] Translation: X:81.39, Y:45.03, Z:31.86 [[-4.98439702e-01 -8.34698097e-01 2.34172908e-01 8.13904858e+01] [ 7.19627334e-01 -5.48996045e-01 -4.25135088e-01 4.50320905e+01] [ 4.83419449e-01 -4.33869811e-02 8.74312991e-01 3.18615032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.16071405699998 meters Centerline goodness : 0.996593 Centerline is valid? [True, True] Translation: X:81.40, Y:45.01, Z:31.85 [[-4.98745422e-01 -8.34647101e-01 2.33703277e-01 8.14041237e+01] [ 7.18386058e-01 -5.48924384e-01 -4.27321300e-01 4.50091329e+01] [ 4.84947911e-01 -4.52353662e-02 8.73372363e-01 3.18469960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.19071405699998 meters Centerline goodness : 0.996158 Centerline is valid? [True, True] Translation: X:81.41, Y:45.00, Z:31.84 [[-4.98636442e-01 -8.33791776e-01 2.36966186e-01 8.14083004e+01] [ 7.18373965e-01 -5.50490490e-01 -4.25322309e-01 4.49990241e+01] [ 4.85077876e-01 -4.18508648e-02 8.73468923e-01 3.18426780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.22071405699998 meters Centerline goodness : 0.996108 Centerline is valid? [True, True] Translation: X:81.41, Y:44.99, Z:31.84 [[-4.98398473e-01 -8.34227607e-01 2.35930628e-01 8.14148929e+01] [ 7.18251602e-01 -5.49732238e-01 -4.26508033e-01 4.49888252e+01] [ 4.85503448e-01 -4.31134013e-02 8.73171024e-01 3.18359214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.25071405699998 meters Centerline goodness : 0.996323 Centerline is valid? [True, True] Translation: X:81.42, Y:44.98, Z:31.83 [[-4.98020808e-01 -8.34395863e-01 2.36133054e-01 8.14176610e+01] [ 7.18296540e-01 -5.49492556e-01 -4.26741153e-01 4.49833951e+01] [ 4.85824408e-01 -4.29124188e-02 8.73002388e-01 3.18332285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.28071405699998 meters Centerline goodness : 0.995993 Centerline is valid? [True, True] Translation: X:81.42, Y:44.98, Z:31.83 [[-4.97336599e-01 -8.33698851e-01 2.40005278e-01 8.14168190e+01] [ 7.19850682e-01 -5.50964435e-01 -4.22200411e-01 4.49806157e+01] [ 4.84222370e-01 -3.72077539e-02 8.74153465e-01 3.18332678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.31071405699998 meters Centerline goodness : 0.996277 Centerline is valid? [True, True] Translation: X:81.42, Y:44.98, Z:31.83 [[-4.97481946e-01 -8.35301834e-01 2.34056746e-01 8.14176711e+01] [ 7.19356607e-01 -5.48030322e-01 -4.26835844e-01 4.49846047e+01] [ 4.84806958e-01 -4.39728598e-02 8.73515084e-01 3.18326443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.34071405699999 meters Centerline goodness : 0.996095 Centerline is valid? [True, True] Translation: X:81.42, Y:44.98, Z:31.83 [[-4.97613507e-01 -8.34202025e-01 2.37671579e-01 8.14151080e+01] [ 7.19554749e-01 -5.50010484e-01 -4.23945081e-01 4.49848743e+01] [ 4.84377705e-01 -3.99430851e-02 8.73946674e-01 3.18349506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.370714057 meters Centerline goodness : 0.996752 Centerline is valid? [True, True] Translation: X:81.42, Y:44.98, Z:31.83 [[-4.96768779e-01 -8.34638756e-01 2.37905292e-01 8.14196719e+01] [ 7.21278663e-01 -5.49493537e-01 -4.21679907e-01 4.49763833e+01] [ 4.82677813e-01 -3.78814015e-02 8.74978359e-01 3.18293216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.400714057 meters Centerline goodness : 0.996687 Centerline is valid? [True, True] Translation: X:81.41, Y:44.99, Z:31.84 [[-4.98258791e-01 -8.34835622e-01 2.34067644e-01 8.14132066e+01] [ 7.20897656e-01 -5.48888429e-01 -4.23117080e-01 4.49893497e+01] [ 4.81710232e-01 -4.20829885e-02 8.75319527e-01 3.18359352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.430714057 meters Centerline goodness : 0.996143 Centerline is valid? [True, True] Translation: X:81.41, Y:44.99, Z:31.83 [[-4.98235723e-01 -8.34410466e-01 2.35627542e-01 8.14140397e+01] [ 7.22115236e-01 -5.49757741e-01 -4.19900003e-01 4.49861759e+01] [ 4.79907022e-01 -3.90589432e-02 8.76449456e-01 3.18346123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.460714057 meters Centerline goodness : 0.996514 Centerline is valid? [True, True] Translation: X:81.40, Y:45.00, Z:31.85 [[-4.98437783e-01 -8.34507159e-01 2.34856507e-01 8.14046282e+01] [ 7.21653200e-01 -5.49516838e-01 -4.21008198e-01 4.50025680e+01] [ 4.80391960e-01 -4.03614432e-02 8.76124716e-01 3.18451124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.490714057 meters Centerline goodness : 0.995728 Centerline is valid? [True, True] Translation: X:81.41, Y:45.00, Z:31.84 [[-4.99105942e-01 -8.34522514e-01 2.33378303e-01 8.14060479e+01] [ 7.20765883e-01 -5.49308244e-01 -4.22796635e-01 4.50008199e+01] [ 4.81029937e-01 -4.28091936e-02 8.75658365e-01 3.18434891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.520714057 meters Centerline goodness : 0.995878 Centerline is valid? [True, True] Translation: X:81.41, Y:44.98, Z:31.84 [[-4.98624204e-01 -8.33309130e-01 2.38683466e-01 8.14128628e+01] [ 7.22254826e-01 -5.51658857e-01 -4.17157611e-01 4.49838689e+01] [ 4.79293094e-01 -3.56145963e-02 8.76931999e-01 3.18352901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.550714057 meters Centerline goodness : 0.996278 Centerline is valid? [True, True] Translation: X:81.43, Y:44.98, Z:31.82 [[-5.00825642e-01 -8.37619785e-01 2.18098080e-01 8.14287069e+01] [ 7.20855718e-01 -5.43120669e-01 -4.30565874e-01 4.49773175e+01] [ 4.79104070e-01 -5.84211820e-02 8.75811769e-01 3.18186118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.580714057 meters Centerline goodness : 0.996476 Centerline is valid? [True, True] Translation: X:81.42, Y:44.96, Z:31.83 [[-4.99253644e-01 -8.28266412e-01 2.54402339e-01 8.14154328e+01] [ 7.21456780e-01 -5.59983820e-01 -4.07330622e-01 4.49646643e+01] [ 4.79839466e-01 -1.98210047e-02 8.77132381e-01 3.18317571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.610714057 meters Centerline goodness : 0.996726 Centerline is valid? [True, True] Translation: X:81.43, Y:44.97, Z:31.82 [[-4.99671467e-01 -8.34462994e-01 2.32378865e-01 8.14266697e+01] [ 7.22777031e-01 -5.49502770e-01 -4.19094344e-01 4.49679426e+01] [ 4.77411551e-01 -4.14513795e-02 8.77701541e-01 3.18179498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.640714057 meters Centerline goodness : 0.996208 Centerline is valid? [True, True] Translation: X:81.43, Y:44.96, Z:31.81 [[-5.00836880e-01 -8.33132180e-01 2.34634164e-01 8.14304974e+01] [ 7.22783082e-01 -5.51707970e-01 -4.16176564e-01 4.49603172e+01] [ 4.76179626e-01 -3.88469674e-02 8.78489543e-01 3.18130571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.670714057 meters Centerline goodness : 0.996481 Centerline is valid? [True, True] Translation: X:81.43, Y:44.96, Z:31.81 [[-5.01584013e-01 -8.33767583e-01 2.30748988e-01 8.14336803e+01] [ 7.21624159e-01 -5.50348621e-01 -4.19970199e-01 4.49592458e+01] [ 4.77149925e-01 -4.41362930e-02 8.77712901e-01 3.18099559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.70071405699997 meters Centerline goodness : 0.995769 Centerline is valid? [True, True] Translation: X:81.43, Y:44.98, Z:31.82 [[-5.09994461e-01 -8.31394610e-01 2.20655050e-01 8.14257877e+01] [ 7.08596453e-01 -5.51490217e-01 -4.40169975e-01 4.49782979e+01] [ 4.87644046e-01 -6.81288635e-02 8.70380229e-01 3.18215336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.73071405699997 meters Centerline goodness : 0.995547 Centerline is valid? [True, True] Translation: X:81.41, Y:44.96, Z:31.83 [[-5.02172317e-01 -8.22588327e-01 2.66779700e-01 8.14148937e+01] [ 7.22602834e-01 -5.68618572e-01 -3.93087858e-01 4.49564951e+01] [ 4.75045376e-01 -4.62207271e-03 8.79949162e-01 3.18308522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.76071405699997 meters Centerline goodness : 0.995803 Centerline is valid? [True, True] Translation: X:81.43, Y:44.97, Z:31.81 [[-5.03373986e-01 -8.32914723e-01 2.29929758e-01 8.14303047e+01] [ 7.22222940e-01 -5.51652785e-01 -4.17220840e-01 4.49662968e+01] [ 4.74350772e-01 -4.39575711e-02 8.79237782e-01 3.18127129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.79071405699997 meters Centerline goodness : 0.995530 Centerline is valid? [True, True] Translation: X:81.44, Y:44.95, Z:31.80 [[-5.03488713e-01 -8.35576793e-01 2.19796585e-01 8.14421012e+01] [ 7.20937869e-01 -5.46502835e-01 -4.26125850e-01 4.49545189e+01] [ 4.76180328e-01 -5.60898739e-02 8.77556962e-01 3.17991085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.82071405699998 meters Centerline goodness : 0.995530 Centerline is valid? [True, True] Translation: X:81.44, Y:44.95, Z:31.80 [[-5.03520412e-01 -8.31160805e-01 2.35879017e-01 8.14381574e+01] [ 7.20160562e-01 -5.54588322e-01 -4.16893941e-01 4.49454323e+01] [ 4.77321652e-01 -4.00438437e-02 8.77815773e-01 3.18042337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.85071405699998 meters Centerline goodness : 0.996010 Centerline is valid? [True, True] Translation: X:81.44, Y:44.95, Z:31.80 [[-5.04429158e-01 -8.31713364e-01 2.31957119e-01 8.14380901e+01] [ 7.22180353e-01 -5.53640951e-01 -4.14653150e-01 4.49468978e+01] [ 4.73293526e-01 -4.16482649e-02 8.79919689e-01 3.18040975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.88071405699998 meters Centerline goodness : 0.996232 Centerline is valid? [True, True] Translation: X:81.43, Y:44.95, Z:31.81 [[-5.03589644e-01 -8.29735692e-01 2.40699297e-01 8.14288318e+01] [ 7.18396909e-01 -5.56929700e-01 -4.16815535e-01 4.49521483e+01] [ 4.79899314e-01 -3.69863563e-02 8.76543586e-01 3.18149691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.91071405699998 meters Centerline goodness : 0.995365 Centerline is valid? [True, True] Translation: X:81.43, Y:44.96, Z:31.82 [[-5.03986669e-01 -8.31556968e-01 2.33474724e-01 8.14284009e+01] [ 7.17826268e-01 -5.53598122e-01 -4.22202047e-01 4.49592016e+01] [ 4.80336223e-01 -4.51899129e-02 8.75919508e-01 3.18157270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.94071405699998 meters Centerline goodness : 0.996586 Centerline is valid? [True, True] Translation: X:81.42, Y:44.98, Z:31.83 [[-5.04473669e-01 -8.30837936e-01 2.34977958e-01 8.14167406e+01] [ 7.17635652e-01 -5.54793489e-01 -4.20955172e-01 4.49766737e+01] [ 4.80109767e-01 -4.37322404e-02 8.76117631e-01 3.18280975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.97071405699998 meters Centerline goodness : 0.995980 Centerline is valid? [True, True] Translation: X:81.43, Y:44.95, Z:31.81 [[-5.02732692e-01 -8.30647817e-01 2.39340854e-01 8.14306543e+01] [ 7.21080815e-01 -5.55666936e-01 -4.13855911e-01 4.49467164e+01] [ 4.76762308e-01 -3.54747982e-02 8.78316139e-01 3.18114551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.00071405699998 meters Centerline goodness : 0.995792 Centerline is valid? [True, True] Translation: X:81.43, Y:44.95, Z:31.81 [[-5.02389365e-01 -8.32581546e-01 2.33265717e-01 8.14348706e+01] [ 7.22800641e-01 -5.52459089e-01 -4.15148393e-01 4.49454233e+01] [ 4.74514657e-01 -3.99615271e-02 8.79340046e-01 3.18057248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.03071405699998 meters Centerline goodness : 0.995772 Centerline is valid? [True, True] Translation: X:81.44, Y:44.95, Z:31.80 [[-5.02315123e-01 -8.33827386e-01 2.28935379e-01 8.14360976e+01] [ 7.22316317e-01 -5.50179305e-01 -4.19001039e-01 4.49468958e+01] [ 4.75330048e-01 -4.51067984e-02 8.78650512e-01 3.18041223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.06071405699998 meters Centerline goodness : 0.995198 Centerline is valid? [True, True] Translation: X:81.43, Y:44.95, Z:31.81 [[-5.00559030e-01 -8.33394808e-01 2.34294157e-01 8.14328141e+01] [ 7.23393623e-01 -5.51331852e-01 -4.15613830e-01 4.49465381e+01] [ 4.75544239e-01 -3.85523573e-02 8.78846626e-01 3.18073747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.09071405699999 meters Centerline goodness : 0.996197 Centerline is valid? [True, True] Translation: X:81.44, Y:44.94, Z:31.80 [[-4.99454882e-01 -8.34261575e-01 2.33564649e-01 8.14384664e+01] [ 7.24926280e-01 -5.50074292e-01 -4.14608444e-01 4.49369102e+01] [ 4.74369802e-01 -3.77610598e-02 8.79515431e-01 3.18007808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.120714057 meters Centerline goodness : 0.995503 Centerline is valid? [True, True] Translation: X:81.43, Y:44.95, Z:31.81 [[-4.98513566e-01 -8.36323208e-01 2.28139684e-01 8.14327418e+01] [ 7.24387687e-01 -5.46446590e-01 -4.20307749e-01 4.49500081e+01] [ 4.76179277e-01 -4.42675369e-02 8.78233273e-01 3.18068167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.150714057 meters Centerline goodness : 0.995482 Centerline is valid? [True, True] Translation: X:81.43, Y:44.95, Z:31.81 [[-4.98107410e-01 -8.34558057e-01 2.35375990e-01 8.14303560e+01] [ 7.23767666e-01 -5.49645698e-01 -4.17192968e-01 4.49469769e+01] [ 4.77545154e-01 -3.74493779e-02 8.77808732e-01 3.18100630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.180714057 meters Centerline goodness : 0.995252 Centerline is valid? [True, True] Translation: X:81.43, Y:44.95, Z:31.81 [[-4.97853830e-01 -8.35465282e-01 2.32678593e-01 8.14312327e+01] [ 7.22730573e-01 -5.47972601e-01 -4.21172824e-01 4.49480624e+01] [ 4.79376766e-01 -4.15185706e-02 8.76626559e-01 3.18093913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.210714057 meters Centerline goodness : 0.995188 Centerline is valid? [True, True] Translation: X:81.44, Y:44.93, Z:31.80 [[-4.97656178e-01 -8.34675384e-01 2.35913824e-01 8.14376769e+01] [ 7.20530839e-01 -5.49238641e-01 -4.23287403e-01 4.49338591e+01] [ 4.82880564e-01 -4.06684052e-02 8.74741357e-01 3.18031800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.240714057 meters Centerline goodness : 0.995230 Centerline is valid? [True, True] Translation: X:81.44, Y:44.94, Z:31.80 [[-4.97875092e-01 -8.37013062e-01 2.27001160e-01 8.14361033e+01] [ 7.21746167e-01 -5.45021840e-01 -4.26654034e-01 4.49445009e+01] [ 4.80835589e-01 -4.85831996e-02 8.75463768e-01 3.18044228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.270714057 meters Centerline goodness : 0.995433 Centerline is valid? [True, True] Translation: X:81.43, Y:44.92, Z:31.81 [[-4.95713049e-01 -8.30501050e-01 2.54040507e-01 8.14323690e+01] [ 7.19794346e-01 -5.56549481e-01 -4.14908153e-01 4.49216150e+01] [ 4.85967769e-01 -2.28184653e-02 8.73678800e-01 3.18091387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.300714057 meters Centerline goodness : 0.996097 Centerline is valid? [True, True] Translation: X:81.42, Y:44.96, Z:31.82 [[-4.95459134e-01 -8.35169867e-01 2.38770893e-01 8.14196193e+01] [ 7.19050463e-01 -5.48556509e-01 -4.26675741e-01 4.49569181e+01] [ 4.87326050e-01 -3.97120720e-02 8.72316612e-01 3.18217246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.330714057 meters Centerline goodness : 0.995031 Centerline is valid? [True, True] Translation: X:81.44, Y:44.92, Z:31.79 [[-4.95640542e-01 -8.37336412e-01 2.30668997e-01 8.14447479e+01] [ 7.20428683e-01 -5.44699062e-01 -4.29284807e-01 4.49201182e+01] [ 4.85100986e-01 -4.65903925e-02 8.73216107e-01 3.17941175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.360714057 meters Centerline goodness : 0.995534 Centerline is valid? [True, True] Translation: X:81.44, Y:44.90, Z:31.80 [[-4.90840103e-01 -8.32641653e-01 2.56483664e-01 8.14387386e+01] [ 7.20800517e-01 -5.53452592e-01 -4.17297068e-01 4.49011172e+01] [ 4.89410469e-01 -1.99525786e-02 8.71825262e-01 3.18023542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.390714057 meters Centerline goodness : 0.994759 Centerline is valid? [True, True] Translation: X:81.45, Y:44.91, Z:31.79 [[-4.86891408e-01 -8.41751860e-01 2.33217846e-01 8.14458306e+01] [ 7.27420307e-01 -5.38568724e-01 -4.25209861e-01 4.49054283e+01] [ 4.83525029e-01 -3.73836310e-02 8.74531881e-01 3.17905193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.420714057 meters Centerline goodness : 0.994486 Centerline is valid? [True, True] Translation: X:81.44, Y:44.90, Z:31.80 [[-4.85093019e-01 -8.40591294e-01 2.41020827e-01 8.14425358e+01] [ 7.27305898e-01 -5.40857695e-01 -4.22491520e-01 4.49003066e+01] [ 4.85500663e-01 -2.96518176e-02 8.73733298e-01 3.17963196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.45071405699997 meters Centerline goodness : 0.994955 Centerline is valid? [True, True] Translation: X:81.44, Y:44.88, Z:31.80 [[-4.80940755e-01 -8.38675141e-01 2.55577773e-01 8.14425676e+01] [ 7.27394836e-01 -5.44425474e-01 -4.17729165e-01 4.48841680e+01] [ 4.89482117e-01 -1.49970281e-02 8.71884365e-01 3.17968979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.48071405699997 meters Centerline goodness : 0.994284 Centerline is valid? [True, True] Translation: X:81.45, Y:44.89, Z:31.79 [[-4.78060384e-01 -8.43418306e-01 2.45160825e-01 8.14461023e+01] [ 7.31764803e-01 -5.36833236e-01 -4.19917074e-01 4.48857945e+01] [ 4.85776226e-01 -2.13456549e-02 8.73822534e-01 3.17895528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.51071405699997 meters Centerline goodness : 0.994829 Centerline is valid? [True, True] Translation: X:81.45, Y:44.88, Z:31.78 [[-4.72034062e-01 -8.45991257e-01 2.47956925e-01 8.14466119e+01] [ 7.39998234e-01 -5.33100962e-01 -4.10129220e-01 4.48781205e+01] [ 4.79151810e-01 -1.01072752e-02 8.77673849e-01 3.17845361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.54071405699997 meters Centerline goodness : 0.994617 Centerline is valid? [True, True] Translation: X:81.45, Y:44.88, Z:31.78 [[-4.70275520e-01 -8.51563863e-01 2.31689279e-01 8.14525621e+01] [ 7.40119446e-01 -5.23555418e-01 -4.22034275e-01 4.48828476e+01] [ 4.80691315e-01 -2.69946469e-02 8.76474271e-01 3.17764166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.57071405699998 meters Centerline goodness : 0.994745 Centerline is valid? [True, True] Translation: X:81.44, Y:44.89, Z:31.79 [[-4.68447303e-01 -8.52230242e-01 2.32939345e-01 8.14447193e+01] [ 7.38039820e-01 -5.22409596e-01 -4.27066081e-01 4.48922255e+01] [ 4.85648379e-01 -2.81394411e-02 8.73701221e-01 3.17858728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.60071405699998 meters Centerline goodness : 0.995137 Centerline is valid? [True, True] Translation: X:81.45, Y:44.88, Z:31.78 [[-4.67109551e-01 -8.51840679e-01 2.37015033e-01 8.14490658e+01] [ 7.37322239e-01 -5.23211140e-01 -4.27324255e-01 4.48801318e+01] [ 4.88021089e-01 -2.48507862e-02 8.72477997e-01 3.17817897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.63071405699998 meters Centerline goodness : 0.994607 Centerline is valid? [True, True] Translation: X:81.46, Y:44.86, Z:31.77 [[-4.63861320e-01 -8.51223197e-01 2.45462306e-01 8.14551717e+01] [ 7.40932767e-01 -5.24652656e-01 -4.19235286e-01 4.48615523e+01] [ 4.85645251e-01 -1.25959679e-02 8.74065233e-01 3.17745036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.66071405699998 meters Centerline goodness : 0.994889 Centerline is valid? [True, True] Translation: X:81.45, Y:44.87, Z:31.78 [[-4.64155352e-01 -8.53426869e-01 2.37112608e-01 8.14537065e+01] [ 7.39423131e-01 -5.20715966e-01 -4.26741509e-01 4.48721083e+01] [ 4.87660990e-01 -2.27478087e-02 8.72736670e-01 3.17761250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.69071405699998 meters Centerline goodness : 0.994809 Centerline is valid? [True, True] Translation: X:81.45, Y:44.87, Z:31.78 [[-4.64041726e-01 -8.51355336e-01 2.44661743e-01 8.14526075e+01] [ 7.40852746e-01 -5.24416043e-01 -4.19672518e-01 4.48677049e+01] [ 4.85594981e-01 -1.34872351e-02 8.74079864e-01 3.17772261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.72071405699998 meters Centerline goodness : 0.995241 Centerline is valid? [True, True] Translation: X:81.45, Y:44.87, Z:31.78 [[-4.65131336e-01 -8.50002726e-01 2.47281631e-01 8.14509138e+01] [ 7.43480700e-01 -5.26720273e-01 -4.12070627e-01 4.48689027e+01] [ 4.80509405e-01 -7.81784143e-03 8.76954727e-01 3.17765102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.75071405699998 meters Centerline goodness : 0.994268 Centerline is valid? [True, True] Translation: X:81.46, Y:44.87, Z:31.77 [[-4.67085082e-01 -8.52803385e-01 2.33576353e-01 8.14558577e+01] [ 7.40403674e-01 -5.21630325e-01 -4.23915326e-01 4.48749951e+01] [ 4.83356934e-01 -2.50637348e-02 8.75064502e-01 3.17719843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.78071405699998 meters Centerline goodness : 0.994643 Centerline is valid? [True, True] Translation: X:81.46, Y:44.86, Z:31.77 [[-4.67467715e-01 -8.48631621e-01 2.47584949e-01 8.14573154e+01] [ 7.44006411e-01 -5.28942577e-01 -4.08257529e-01 4.48593716e+01] [ 4.77418470e-01 -6.64242471e-03 8.78650945e-01 3.17699969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.81071405699998 meters Centerline goodness : 0.994582 Centerline is valid? [True, True] Translation: X:81.46, Y:44.87, Z:31.77 [[-4.70487572e-01 -8.51331345e-01 2.32112875e-01 8.14625644e+01] [ 7.41822372e-01 -5.24047845e-01 -4.18417764e-01 4.48680473e+01] [ 4.77850409e-01 -2.46738347e-02 8.78094635e-01 3.17650340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.84071405699999 meters Centerline goodness : 0.995634 Centerline is valid? [True, True] Translation: X:81.46, Y:44.86, Z:31.77 [[-4.71942564e-01 -8.49375490e-01 2.36286888e-01 8.14632965e+01] [ 7.41201454e-01 -5.27376128e-01 -4.15324962e-01 4.48646306e+01] [ 4.77378907e-01 -2.08733425e-02 8.78449591e-01 3.17659945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.870714057 meters Centerline goodness : 0.994844 Centerline is valid? [True, True] Translation: X:81.46, Y:44.87, Z:31.77 [[-4.74879560e-01 -8.49027709e-01 2.31606031e-01 8.14636142e+01] [ 7.41390464e-01 -5.27750228e-01 -4.14511612e-01 4.48724153e+01] [ 4.74161980e-01 -2.51325890e-02 8.80078843e-01 3.17661511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.900714057 meters Centerline goodness : 0.994147 Centerline is valid? [True, True] Translation: X:81.47, Y:44.85, Z:31.76 [[-4.75480905e-01 -8.47468864e-01 2.36039049e-01 8.14733428e+01] [ 7.42749730e-01 -5.30507720e-01 -4.08514868e-01 4.48548709e+01] [ 4.71424169e-01 -1.89230795e-02 8.81703561e-01 3.17565922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.930714057 meters Centerline goodness : 0.995464 Centerline is valid? [True, True] Translation: X:81.47, Y:44.86, Z:31.76 [[-4.75140949e-01 -8.45078344e-01 2.45119709e-01 8.14668475e+01] [ 7.45641034e-01 -5.34606281e-01 -3.97763211e-01 4.48570726e+01] [ 4.67183611e-01 -6.22227629e-03 8.84138426e-01 3.17623413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.960714057 meters Centerline goodness : 0.995101 Centerline is valid? [True, True] Translation: X:81.47, Y:44.86, Z:31.75 [[-4.72932396e-01 -8.49662081e-01 2.33258006e-01 8.14726856e+01] [ 7.53469617e-01 -5.27232238e-01 -3.92822739e-01 4.48627269e+01] [ 4.56747726e-01 -1.00257795e-02 8.89539768e-01 3.17516873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.990714057 meters Centerline goodness : 0.995610 Centerline is valid? [True, True] Translation: X:81.48, Y:44.88, Z:31.75 [[-4.74074249e-01 -8.55554122e-01 2.08040262e-01 8.14786120e+01] [ 7.48813377e-01 -5.16057100e-01 -4.15888922e-01 4.48796601e+01] [ 4.63176136e-01 -4.13788973e-02 8.85299754e-01 3.17463392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.020714057 meters Centerline goodness : 0.994890 Centerline is valid? [True, True] Translation: X:81.48, Y:44.87, Z:31.75 [[-4.70738079e-01 -8.52944806e-01 2.25589936e-01 8.14768507e+01] [ 7.53127600e-01 -5.21662848e-01 -4.00832496e-01 4.48667554e+01] [ 4.59569884e-01 -1.87891116e-02 8.87942842e-01 3.17484037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.050714057 meters Centerline goodness : 0.995104 Centerline is valid? [True, True] Translation: X:81.48, Y:44.86, Z:31.74 [[-4.68815828e-01 -8.56052641e-01 2.17682324e-01 8.14835348e+01] [ 7.56098002e-01 -5.16333975e-01 -4.02138082e-01 4.48632852e+01] [ 4.56648147e-01 -2.39395272e-02 8.89325232e-01 3.17400154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.080714057 meters Centerline goodness : 0.995217 Centerline is valid? [True, True] Translation: X:81.49, Y:44.86, Z:31.74 [[-4.66879741e-01 -8.56407516e-01 2.20430205e-01 8.14854229e+01] [ 7.58403261e-01 -5.15959371e-01 -3.98259238e-01 4.48580681e+01] [ 4.54805234e-01 -1.87641836e-02 8.90393230e-01 3.17379061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.110714057 meters Centerline goodness : 0.995679 Centerline is valid? [True, True] Translation: X:81.50, Y:44.88, Z:31.73 [[-4.70674974e-01 -8.62657376e-01 1.85168357e-01 8.14954410e+01] [ 7.47237514e-01 -5.01337072e-01 -4.36230716e-01 4.48766672e+01] [ 4.69149407e-01 -6.69581382e-02 8.80576766e-01 3.17342865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.140714057 meters Centerline goodness : 0.995361 Centerline is valid? [True, True] Translation: X:81.48, Y:44.86, Z:31.75 [[-4.72478659e-01 -8.50624435e-01 2.30655560e-01 8.14803955e+01] [ 7.45210937e-01 -5.25305609e-01 -4.10748921e-01 4.48571543e+01] [ 4.70557728e-01 -2.21830532e-02 8.82090322e-01 3.17543994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.170714057 meters Centerline goodness : 0.994788 Centerline is valid? [True, True] Translation: X:81.48, Y:44.87, Z:31.76 [[-4.75565608e-01 -8.49985340e-01 2.26632467e-01 8.14758615e+01] [ 7.42898536e-01 -5.26034003e-01 -4.13992744e-01 4.48698117e+01] [ 4.71104147e-01 -2.85157832e-02 8.81616545e-01 3.17600418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.20071405699997 meters Centerline goodness : 0.995171 Centerline is valid? [True, True] Translation: X:81.46, Y:44.89, Z:31.78 [[-4.77946228e-01 -8.46578889e-01 2.34246850e-01 8.14585687e+01] [ 7.39231281e-01 -5.31704683e-01 -4.13312525e-01 4.48924822e+01] [ 4.74451806e-01 -2.43785634e-02 8.79943845e-01 3.17803510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.23071405699997 meters Centerline goodness : 0.995184 Centerline is valid? [True, True] Translation: X:81.45, Y:44.91, Z:31.79 [[-4.81243919e-01 -8.44840693e-01 2.33770174e-01 8.14522985e+01] [ 7.35877695e-01 -5.34276470e-01 -4.15971960e-01 4.49065837e+01] [ 4.76327943e-01 -2.81577197e-02 8.78816724e-01 3.17877773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.26071405699997 meters Centerline goodness : 0.995121 Centerline is valid? [True, True] Translation: X:81.45, Y:44.92, Z:31.80 [[-4.83354257e-01 -8.42717560e-01 2.37056486e-01 8.14451054e+01] [ 7.32960823e-01 -5.37642786e-01 -4.16783717e-01 4.49167094e+01] [ 4.78682666e-01 -2.77010666e-02 8.77550885e-01 3.17965419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.29071405699997 meters Centerline goodness : 0.995499 Centerline is valid? [True, True] Translation: X:81.47, Y:44.88, Z:31.77 [[-4.91343375e-01 -8.40293121e-01 2.29105127e-01 8.14683255e+01] [ 7.21299310e-01 -5.40016522e-01 -4.33715877e-01 4.48802294e+01] [ 4.88169022e-01 -4.78500527e-02 8.71436388e-01 3.17741578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.32071405699998 meters Centerline goodness : 0.994907 Centerline is valid? [True, True] Translation: X:81.46, Y:44.85, Z:31.78 [[-4.84155222e-01 -8.29044191e-01 2.79784650e-01 8.14607717e+01] [ 7.44095861e-01 -5.58346321e-01 -3.66838842e-01 4.48505406e+01] [ 4.60342341e-01 3.05796589e-02 8.87214638e-01 3.17777312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.35071405699998 meters Centerline goodness : 0.995322 Centerline is valid? [True, True] Translation: X:81.49, Y:44.87, Z:31.75 [[-4.87410906e-01 -8.48482460e-01 2.06174986e-01 8.14904030e+01] [ 7.33788305e-01 -5.26004353e-01 -4.29969933e-01 4.48729332e+01] [ 4.73270887e-01 -5.82832409e-02 8.78986764e-01 3.17469384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.38071405699998 meters Centerline goodness : 0.994800 Centerline is valid? [True, True] Translation: X:81.47, Y:44.86, Z:31.76 [[-4.85980342e-01 -8.36926960e-01 2.51746640e-01 8.14714822e+01] [ 7.43199042e-01 -5.47314588e-01 -3.84840130e-01 4.48597043e+01] [ 4.59867689e-01 7.31236179e-05 8.87987446e-01 3.17630909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.41071405699998 meters Centerline goodness : 0.995314 Centerline is valid? [True, True] Translation: X:81.49, Y:44.86, Z:31.74 [[-4.85199492e-01 -8.44557757e-01 2.26503084e-01 8.14885999e+01] [ 7.43640486e-01 -5.34821782e-01 -4.01203801e-01 4.48558713e+01] [ 4.59978566e-01 -2.62270172e-02 8.87542598e-01 3.17430177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.44071405699998 meters Centerline goodness : 0.995566 Centerline is valid? [True, True] Translation: X:81.49, Y:44.88, Z:31.75 [[-4.89235566e-01 -8.48395264e-01 2.02173284e-01 8.14909009e+01] [ 7.31714438e-01 -5.25420092e-01 -4.34197776e-01 4.48767729e+01] [ 4.74597242e-01 -6.44918844e-02 8.77837260e-01 3.17458605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.47071405699998 meters Centerline goodness : 0.995088 Centerline is valid? [True, True] Translation: X:81.48, Y:44.86, Z:31.76 [[-4.89494190e-01 -8.39312085e-01 2.36538922e-01 8.14775463e+01] [ 7.31071592e-01 -5.42854546e-01 -4.13331912e-01 4.48646528e+01] [ 4.75320698e-01 -2.93966828e-02 8.79321368e-01 3.17618798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.50071405699998 meters Centerline goodness : 0.995180 Centerline is valid? [True, True] Translation: X:81.48, Y:44.85, Z:31.76 [[-4.89221432e-01 -8.39042912e-01 2.38053318e-01 8.14837247e+01] [ 7.31048122e-01 -5.43350239e-01 -4.12721650e-01 4.48516229e+01] [ 4.75637502e-01 -2.78838460e-02 8.79199327e-01 3.17558847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.53071405699998 meters Centerline goodness : 0.995522 Centerline is valid? [True, True] Translation: X:81.49, Y:44.84, Z:31.75 [[-4.89033731e-01 -8.39843974e-01 2.35601589e-01 8.14881775e+01] [ 7.31883604e-01 -5.42024029e-01 -4.12984675e-01 4.48438343e+01] [ 4.74544414e-01 -2.95304961e-02 8.79736068e-01 3.17502645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.56071405699998 meters Centerline goodness : 0.995423 Centerline is valid? [True, True] Translation: X:81.49, Y:44.85, Z:31.75 [[-4.89441406e-01 -8.40441585e-01 2.32604927e-01 8.14861495e+01] [ 7.31317141e-01 -5.40881454e-01 -4.15478630e-01 4.48489965e+01] [ 4.74997209e-01 -3.32444747e-02 8.79359117e-01 3.17519634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.59071405699999 meters Centerline goodness : 0.995015 Centerline is valid? [True, True] Translation: X:81.49, Y:44.84, Z:31.75 [[-4.90428479e-01 -8.38405524e-01 2.37815233e-01 8.14853112e+01] [ 7.31788586e-01 -5.44374295e-01 -4.10051330e-01 4.48437268e+01] [ 4.73249800e-01 -2.70703765e-02 8.80512250e-01 3.17519094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.620714057 meters Centerline goodness : 0.995963 Centerline is valid? [True, True] Translation: X:81.49, Y:44.84, Z:31.75 [[-4.91958998e-01 -8.39247691e-01 2.31602368e-01 8.14881652e+01] [ 7.31017086e-01 -5.42672588e-01 -4.13667116e-01 4.48442369e+01] [ 4.72853428e-01 -3.42019721e-02 8.80477064e-01 3.17475432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.650714057 meters Centerline goodness : 0.995454 Centerline is valid? [True, True] Translation: X:81.49, Y:44.82, Z:31.74 [[-4.89737023e-01 -8.35478604e-01 2.49265223e-01 8.14913838e+01] [ 7.39687000e-01 -5.49491537e-01 -3.88487056e-01 4.48216487e+01] [ 4.61541754e-01 -5.87824938e-03 8.87099011e-01 3.17399956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.680714057 meters Centerline goodness : 0.994689 Centerline is valid? [True, True] Translation: X:81.50, Y:44.86, Z:31.73 [[-4.96814087e-01 -8.43794797e-01 2.02943596e-01 8.14981867e+01] [ 7.28099846e-01 -5.32507681e-01 -4.31632000e-01 4.48563108e+01] [ 4.72277860e-01 -6.66776567e-02 8.78924179e-01 3.17333242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.710714057 meters Centerline goodness : 0.995491 Centerline is valid? [True, True] Translation: X:81.48, Y:44.84, Z:31.75 [[-4.98169523e-01 -8.33577300e-01 2.38696482e-01 8.14832220e+01] [ 7.25490128e-01 -5.51478202e-01 -4.11747333e-01 4.48447386e+01] [ 4.74859137e-01 -3.19480308e-02 8.79481736e-01 3.17508350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.740714057 meters Centerline goodness : 0.995491 Centerline is valid? [True, True] Translation: X:81.49, Y:44.84, Z:31.75 [[-4.98507732e-01 -8.34451281e-01 2.34906580e-01 8.14856753e+01] [ 7.25422241e-01 -5.49907424e-01 -4.13961831e-01 4.48444846e+01] [ 4.74607852e-01 -3.59567159e-02 8.79462621e-01 3.17479696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.770714057 meters Centerline goodness : 0.995101 Centerline is valid? [True, True] Translation: X:81.49, Y:44.84, Z:31.75 [[-5.00489168e-01 -8.33492732e-01 2.34094978e-01 8.14865320e+01] [ 7.24257114e-01 -5.51237692e-01 -4.14232592e-01 4.48424285e+01] [ 4.74301830e-01 -3.77739727e-02 8.79551534e-01 3.17462526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.800714057 meters Centerline goodness : 0.995915 Centerline is valid? [True, True] Translation: X:81.49, Y:44.83, Z:31.74 [[-5.00923952e-01 -8.31576095e-01 2.39909134e-01 8.14876163e+01] [ 7.24922007e-01 -5.54558311e-01 -4.08599025e-01 4.48336097e+01] [ 4.72824786e-01 -3.07616272e-02 8.80619353e-01 3.17448337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.830714057 meters Centerline goodness : 0.995768 Centerline is valid? [True, True] Translation: X:81.46, Y:44.88, Z:31.77 [[-5.10216316e-01 -8.31082097e-01 2.21318454e-01 8.14642513e+01] [ 7.09885069e-01 -5.52227416e-01 -4.37159090e-01 4.48819548e+01] [ 4.85533211e-01 -6.59350345e-02 8.71728210e-01 3.17715317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.860714057 meters Centerline goodness : 0.995638 Centerline is valid? [True, True] Translation: X:81.47, Y:44.84, Z:31.77 [[-4.97962656e-01 -8.25173619e-01 2.66686506e-01 8.14663189e+01] [ 7.26630150e-01 -5.64878397e-01 -3.91051175e-01 4.48417618e+01] [ 4.73330559e-01 -9.46425799e-04 8.80884377e-01 3.17693806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.890714057 meters Centerline goodness : 0.995776 Centerline is valid? [True, True] Translation: X:81.47, Y:44.87, Z:31.76 [[-5.09075471e-01 -8.32315392e-01 2.19301737e-01 8.14705430e+01] [ 7.10645981e-01 -5.50192162e-01 -4.38487029e-01 4.48719389e+01] [ 4.85617600e-01 -6.73770926e-02 8.71570923e-01 3.17636548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.920714057 meters Centerline goodness : 0.994646 Centerline is valid? [True, True] Translation: X:81.48, Y:44.82, Z:31.75 [[-4.98322761e-01 -8.26659128e-01 2.61360120e-01 8.14815708e+01] [ 7.22214548e-01 -5.62580179e-01 -4.02380030e-01 4.48229199e+01] [ 4.79667148e-01 -1.17570460e-02 8.77371757e-01 3.17540108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.95071405699997 meters Centerline goodness : 0.995747 Centerline is valid? [True, True] Translation: X:81.47, Y:44.86, Z:31.76 [[-5.05609652e-01 -8.30347841e-01 2.34267671e-01 8.14730695e+01] [ 7.11467523e-01 -5.54875220e-01 -4.31193060e-01 4.48551435e+01] [ 4.88029552e-01 -5.13415334e-02 8.71315788e-01 3.17606805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.98071405699997 meters Centerline goodness : 0.994868 Centerline is valid? [True, True] Translation: X:81.48, Y:44.83, Z:31.76 [[-4.95818786e-01 -8.28838867e-01 2.59210076e-01 8.14782438e+01] [ 7.23029494e-01 -5.59321776e-01 -4.05447285e-01 4.48271655e+01] [ 4.81032309e-01 -1.36118505e-02 8.76597191e-01 3.17571867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.01071405699997 meters Centerline goodness : 0.994956 Centerline is valid? [True, True] Translation: X:81.48, Y:44.83, Z:31.75 [[-5.01302857e-01 -8.32051097e-01 2.37458244e-01 8.14815185e+01] [ 7.15220964e-01 -5.52913921e-01 -4.27487038e-01 4.48322183e+01] [ 4.86985028e-01 -4.44653593e-02 8.72277716e-01 3.17518185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.04071405699997 meters Centerline goodness : 0.994035 Centerline is valid? [True, True] Translation: X:81.47, Y:44.83, Z:31.76 [[-4.92572217e-01 -8.30764188e-01 2.59236329e-01 8.14699829e+01] [ 7.35357522e-01 -5.56624479e-01 -3.86546898e-01 4.48315035e+01] [ 4.65426607e-01 2.29121828e-04 8.85086449e-01 3.17601996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.07071405699998 meters Centerline goodness : 0.994378 Centerline is valid? [True, True] Translation: X:81.47, Y:44.85, Z:31.75 [[-4.91394318e-01 -8.38816520e-01 2.34346901e-01 8.14734190e+01] [ 7.36685138e-01 -5.43846652e-01 -4.01902758e-01 4.48494034e+01] [ 4.64571450e-01 -2.48528527e-02 8.85186818e-01 3.17535374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.10071405699998 meters Centerline goodness : 0.994831 Centerline is valid? [True, True] Translation: X:81.49, Y:44.83, Z:31.74 [[-4.97930355e-01 -8.36748194e-01 2.27854827e-01 8.14867376e+01] [ 7.19774805e-01 -5.45308531e-01 -4.29607769e-01 4.48288819e+01] [ 4.83724706e-01 -4.99105853e-02 8.73795939e-01 3.17445512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.13071405699998 meters Centerline goodness : 0.994406 Centerline is valid? [True, True] Translation: X:81.48, Y:44.82, Z:31.75 [[-4.90718609e-01 -8.29472425e-01 2.66778452e-01 8.14780949e+01] [ 7.33537890e-01 -5.58519078e-01 -3.87270711e-01 4.48151686e+01] [ 4.70231231e-01 5.65115826e-03 8.82525158e-01 3.17535944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.16071405699998 meters Centerline goodness : 0.994441 Centerline is valid? [True, True] Translation: X:81.49, Y:44.82, Z:31.74 [[-4.89468676e-01 -8.37779324e-01 2.41963261e-01 8.14887702e+01] [ 7.38846182e-01 -5.45811807e-01 -3.95216132e-01 4.48225136e+01] [ 4.63170309e-01 -1.46722855e-02 8.86147837e-01 3.17362733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.19071405699998 meters Centerline goodness : 0.994680 Centerline is valid? [True, True] Translation: X:81.50, Y:44.82, Z:31.72 [[-4.87899249e-01 -8.41364107e-01 2.32509702e-01 8.14988707e+01] [ 7.41663949e-01 -5.40033926e-01 -3.97866744e-01 4.48163798e+01] [ 4.60313925e-01 -2.16748221e-02 8.87491573e-01 3.17237624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.22071405699998 meters Centerline goodness : 0.994729 Centerline is valid? [True, True] Translation: X:81.50, Y:44.83, Z:31.72 [[-4.91801957e-01 -8.45097100e-01 2.09622821e-01 8.15049141e+01] [ 7.38608161e-01 -5.32404361e-01 -4.13525793e-01 4.48303431e+01] [ 4.61073552e-01 -4.85436679e-02 8.86033121e-01 3.17187998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.25071405699998 meters Centerline goodness : 0.994948 Centerline is valid? [True, True] Translation: X:81.49, Y:44.82, Z:31.73 [[-4.91715664e-01 -8.35322310e-01 2.45870583e-01 8.14936766e+01] [ 7.37425271e-01 -5.49635641e-01 -3.92561628e-01 4.48173160e+01] [ 4.63054721e-01 -1.17175197e-02 8.86252235e-01 3.17325646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.28071405699998 meters Centerline goodness : 0.994071 Centerline is valid? [True, True] Translation: X:81.50, Y:44.83, Z:31.72 [[-4.93594664e-01 -8.42496216e-01 2.15787939e-01 8.15028954e+01] [ 7.37342609e-01 -5.36967378e-01 -4.09868165e-01 4.48327072e+01] [ 4.61183462e-01 -4.31990972e-02 8.86252589e-01 3.17227353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.31071405699998 meters Centerline goodness : 0.995401 Centerline is valid? [True, True] Translation: X:81.50, Y:44.82, Z:31.73 [[-4.93474247e-01 -8.34810913e-01 2.44077664e-01 8.14972353e+01] [ 7.35561330e-01 -5.50320412e-01 -3.95091095e-01 4.48167033e+01] [ 4.64147279e-01 -1.54331897e-02 8.85623577e-01 3.17308659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.34071405699999 meters Centerline goodness : 0.994332 Centerline is valid? [True, True] Translation: X:81.49, Y:44.84, Z:31.74 [[-4.94837062e-01 -8.37551042e-01 2.31612897e-01 8.14902853e+01] [ 7.35845842e-01 -5.45641045e-01 -4.01007166e-01 4.48422226e+01] [ 4.62241473e-01 -2.80018208e-02 8.86311863e-01 3.17381238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.370714057 meters Centerline goodness : 0.995525 Centerline is valid? [True, True] Translation: X:81.50, Y:44.83, Z:31.73 [[-5.03293719e-01 -8.37143996e-01 2.14208689e-01 8.15022618e+01] [ 7.17529027e-01 -5.43004086e-01 -4.36232345e-01 4.48344376e+01] [ 4.81505482e-01 -6.58520468e-02 8.73965662e-01 3.17322289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.400714057 meters Centerline goodness : 0.994797 Centerline is valid? [True, True] Translation: X:81.49, Y:44.82, Z:31.74 [[-4.97375115e-01 -8.27769107e-01 2.59646492e-01 8.14905496e+01] [ 7.34866818e-01 -5.61067396e-01 -3.81017239e-01 4.48196060e+01] [ 4.61073481e-01 1.29709781e-03 8.87361010e-01 3.17433232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.430714057 meters Centerline goodness : 0.994866 Centerline is valid? [True, True] Translation: X:81.50, Y:44.82, Z:31.73 [[-4.97255078e-01 -8.33361258e-01 2.41342914e-01 8.15045438e+01] [ 7.32440471e-01 -5.52322761e-01 -3.98083564e-01 4.48175456e+01] [ 4.65046604e-01 -2.11797564e-02 8.85032810e-01 3.17272802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.460714057 meters Centerline goodness : 0.994676 Centerline is valid? [True, True] Translation: X:81.51, Y:44.81, Z:31.71 [[-4.94149132e-01 -8.36889926e-01 2.35439774e-01 8.15121180e+01] [ 7.44188762e-01 -5.47189649e-01 -3.83101259e-01 4.48133748e+01] [ 4.49443791e-01 -1.40975201e-02 8.93197368e-01 3.17142953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.490714057 meters Centerline goodness : 0.994954 Centerline is valid? [True, True] Translation: X:81.51, Y:44.83, Z:31.72 [[-4.99373279e-01 -8.38078585e-01 2.19660224e-01 8.15143445e+01] [ 7.30428519e-01 -5.43603612e-01 -4.13484330e-01 4.48299064e+01] [ 4.65940454e-01 -4.60369340e-02 8.83617618e-01 3.17176179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.520714057 meters Centerline goodness : 0.995143 Centerline is valid? [True, True] Translation: X:81.51, Y:44.82, Z:31.72 [[-5.00408345e-01 -8.32068979e-01 2.39275368e-01 8.15100478e+01] [ 7.28561713e-01 -5.54002033e-01 -4.02839396e-01 4.48202118e+01] [ 4.67749205e-01 -2.72573237e-02 8.83440841e-01 3.17248053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.550714057 meters Centerline goodness : 0.994797 Centerline is valid? [True, True] Translation: X:81.51, Y:44.83, Z:31.72 [[-5.03282298e-01 -8.32729208e-01 2.30800767e-01 8.15138629e+01] [ 7.27358407e-01 -5.52440880e-01 -4.07134895e-01 4.48276077e+01] [ 4.66536897e-01 -3.70289079e-02 8.83726306e-01 3.17220043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.580714057 meters Centerline goodness : 0.995200 Centerline is valid? [True, True] Translation: X:81.51, Y:44.83, Z:31.73 [[-5.11427439e-01 -8.29117716e-01 2.25844612e-01 8.15090127e+01] [ 7.11532139e-01 -5.55944979e-01 -4.29705942e-01 4.48347281e+01] [ 4.81833986e-01 -5.90677097e-02 8.74269418e-01 3.17335812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.610714057 meters Centerline goodness : 0.995427 Centerline is valid? [True, True] Translation: X:81.50, Y:44.82, Z:31.75 [[-5.11729305e-01 -8.20782227e-01 2.53869365e-01 8.15002186e+01] [ 7.10365215e-01 -5.70418144e-01 -4.12315902e-01 4.48235243e+01] [ 4.83233256e-01 -3.06541637e-02 8.74954823e-01 3.17459741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.640714057 meters Centerline goodness : 0.995314 Centerline is valid? [True, True] Translation: X:81.51, Y:44.80, Z:31.73 [[-5.03682662e-01 -8.18405157e-01 2.76616657e-01 8.15052711e+01] [ 7.32089879e-01 -5.74358932e-01 -3.66273431e-01 4.48008613e+01] [ 4.58637312e-01 1.80226782e-02 8.88440768e-01 3.17340943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.670714057 meters Centerline goodness : 0.994515 Centerline is valid? [True, True] Translation: X:81.52, Y:44.82, Z:31.71 [[-5.04405945e-01 -8.35159109e-01 2.19280425e-01 8.15248945e+01] [ 7.34122711e-01 -5.48483479e-01 -4.00287045e-01 4.48249212e+01] [ 4.54575062e-01 -4.09284250e-02 8.89767597e-01 3.17097099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.70071405699997 meters Centerline goodness : 0.994001 Centerline is valid? [True, True] Translation: X:81.53, Y:44.83, Z:31.71 [[-5.08049836e-01 -8.33835081e-01 2.15880574e-01 8.15273432e+01] [ 7.26649898e-01 -5.49499638e-01 -4.12347030e-01 4.48274756e+01] [ 4.62455717e-01 -5.26232439e-02 8.85079377e-01 3.17113974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.73071405699997 meters Centerline goodness : 0.994834 Centerline is valid? [True, True] Translation: X:81.51, Y:44.82, Z:31.73 [[-5.08615233e-01 -8.25430492e-01 2.44898036e-01 8.15148161e+01] [ 7.21466844e-01 -5.63820295e-01 -4.01985407e-01 4.48196334e+01] [ 4.69889496e-01 -2.77700881e-02 8.82288323e-01 3.17278571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.76071405699997 meters Centerline goodness : 0.995331 Centerline is valid? [True, True] Translation: X:81.51, Y:44.83, Z:31.73 [[-5.10641124e-01 -8.24974272e-01 2.42204652e-01 8.15112495e+01] [ 7.20201263e-01 -5.64282816e-01 -4.03602581e-01 4.48297072e+01] [ 4.69633668e-01 -3.16599795e-02 8.82293525e-01 3.17318216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.79071405699997 meters Centerline goodness : 0.994999 Centerline is valid? [True, True] Translation: X:81.51, Y:44.83, Z:31.73 [[-5.12175483e-01 -8.23050770e-01 2.45486669e-01 8.15121210e+01] [ 7.17945544e-01 -5.67149935e-01 -4.03602710e-01 4.48261851e+01] [ 4.71413270e-01 -3.04693532e-02 8.81385924e-01 3.17330073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.82071405699998 meters Centerline goodness : 0.995884 Centerline is valid? [True, True] Translation: X:81.52, Y:44.82, Z:31.73 [[-5.12665526e-01 -8.22999792e-01 2.44633197e-01 8.15172872e+01] [ 7.17872174e-01 -5.67176146e-01 -4.03696372e-01 4.48187627e+01] [ 4.70992144e-01 -3.13458483e-02 8.81580307e-01 3.17273314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.85071405699998 meters Centerline goodness : 0.995628 Centerline is valid? [True, True] Translation: X:81.53, Y:44.80, Z:31.71 [[-5.12195884e-01 -8.23263980e-01 2.44728004e-01 8.15302721e+01] [ 7.20630551e-01 -5.66966091e-01 -3.99050198e-01 4.47991926e+01] [ 4.67276134e-01 -2.80333926e-02 8.83666873e-01 3.17123524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.88071405699998 meters Centerline goodness : 0.995898 Centerline is valid? [True, True] Translation: X:81.52, Y:44.83, Z:31.72 [[-5.22798996e-01 -8.23261972e-01 2.21180773e-01 8.15239556e+01] [ 7.04291867e-01 -5.63318420e-01 -4.32024678e-01 4.48274894e+01] [ 4.80264693e-01 -7.00862485e-02 8.74319017e-01 3.17228485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.91071405699998 meters Centerline goodness : 0.995454 Centerline is valid? [True, True] Translation: X:81.53, Y:44.79, Z:31.72 [[-5.15861415e-01 -8.15490271e-01 2.62416879e-01 8.15266976e+01] [ 7.13185081e-01 -5.78519828e-01 -3.95830581e-01 4.47903284e+01] [ 4.74609355e-01 -1.70419210e-02 8.80031552e-01 3.17215011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.94071405699998 meters Centerline goodness : 0.995287 Centerline is valid? [True, True] Translation: X:81.52, Y:44.83, Z:31.73 [[-5.20359146e-01 -8.19201159e-01 2.41113710e-01 8.15157476e+01] [ 7.10296485e-01 -5.71948175e-01 -4.10309870e-01 4.48272870e+01] [ 4.74030867e-01 -4.22462721e-02 8.79494167e-01 3.17308469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.97071405699998 meters Centerline goodness : 0.995808 Centerline is valid? [True, True] Translation: X:81.53, Y:44.79, Z:31.71 [[-5.17672148e-01 -8.17867262e-01 2.51214430e-01 8.15346101e+01] [ 7.16050100e-01 -5.74858706e-01 -3.95992074e-01 4.47871945e+01] [ 4.68281755e-01 -2.51119498e-02 8.83222276e-01 3.17094359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.00071405699998 meters Centerline goodness : 0.995461 Centerline is valid? [True, True] Translation: X:81.54, Y:44.80, Z:31.70 [[-5.19537484e-01 -8.22993134e-01 2.29702207e-01 8.15394447e+01] [ 7.13564905e-01 -5.65779236e-01 -4.13181537e-01 4.48023570e+01] [ 4.70006308e-01 -5.07558626e-02 8.81202538e-01 3.17037246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.03071405699998 meters Centerline goodness : 0.996520 Centerline is valid? [True, True] Translation: X:81.53, Y:44.80, Z:31.72 [[-5.20322659e-01 -8.17831433e-01 2.45796823e-01 8.15283532e+01] [ 7.11303604e-01 -5.74330604e-01 -4.05205554e-01 4.48042570e+01] [ 4.72558476e-01 -3.60014650e-02 8.80563672e-01 3.17158902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.06071405699998 meters Centerline goodness : 0.996710 Centerline is valid? [True, True] Translation: X:81.51, Y:44.85, Z:31.74 [[-5.30361232e-01 -8.16093098e-01 2.29584449e-01 8.15070560e+01] [ 6.98345865e-01 -5.74095327e-01 -4.27466499e-01 4.48490670e+01] [ 4.80655819e-01 -6.63823081e-02 8.74393145e-01 3.17391332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.09071405699999 meters Centerline goodness : 0.996757 Centerline is valid? [True, True] Translation: X:81.49, Y:44.84, Z:31.75 [[-5.30178835e-01 -8.08242324e-01 2.56231827e-01 8.14944619e+01] [ 6.96634298e-01 -5.87503257e-01 -4.11753054e-01 4.48439940e+01] [ 4.83333278e-01 -3.98028762e-02 8.74531116e-01 3.17538800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.120714057 meters Centerline goodness : 0.996203 Centerline is valid? [True, True] Translation: X:81.53, Y:44.79, Z:31.72 [[-5.22858450e-01 -8.12083180e-01 2.59113778e-01 8.15299464e+01] [ 7.03811922e-01 -5.82768065e-01 -4.06239044e-01 4.47908229e+01] [ 4.80903130e-01 -3.00381504e-02 8.76259031e-01 3.17170974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.150714057 meters Centerline goodness : 0.996161 Centerline is valid? [True, True] Translation: X:81.53, Y:44.79, Z:31.71 [[-5.22951662e-01 -8.15334509e-01 2.48497883e-01 8.15345905e+01] [ 7.04087077e-01 -5.77528760e-01 -4.13185092e-01 4.47929670e+01] [ 4.80398738e-01 -4.11116820e-02 8.76086116e-01 3.17110667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.180714057 meters Centerline goodness : 0.996149 Centerline is valid? [True, True] Translation: X:81.54, Y:44.78, Z:31.70 [[-5.19857848e-01 -8.16330063e-01 2.51700309e-01 8.15386459e+01] [ 7.09080030e-01 -5.76672262e-01 -4.05776557e-01 4.47827426e+01] [ 4.76396189e-01 -3.24704650e-02 8.78630946e-01 3.17047841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.210714057 meters Centerline goodness : 0.995859 Centerline is valid? [True, True] Translation: X:81.54, Y:44.79, Z:31.70 [[-5.21345682e-01 -8.20707948e-01 2.33745897e-01 8.15422797e+01] [ 7.03070894e-01 -5.68346722e-01 -4.27402997e-01 4.47941014e+01] [ 4.83621751e-01 -5.84847703e-02 8.73320980e-01 3.17037899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.240714057 meters Centerline goodness : 0.995775 Centerline is valid? [True, True] Translation: X:81.53, Y:44.79, Z:31.72 [[-5.19267697e-01 -8.15686425e-01 2.54983753e-01 8.15282987e+01] [ 7.06629988e-01 -5.77605688e-01 -4.08712282e-01 4.47926061e+01] [ 4.80661127e-01 -3.20519191e-02 8.76320464e-01 3.17171611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.270714057 meters Centerline goodness : 0.994806 Centerline is valid? [True, True] Translation: X:81.53, Y:44.80, Z:31.71 [[-5.20518118e-01 -8.20640686e-01 2.35817205e-01 8.15317418e+01] [ 7.07179283e-01 -5.69108987e-01 -4.19538344e-01 4.48036825e+01] [ 4.78495925e-01 -5.16122674e-02 8.76571631e-01 3.17128946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.300714057 meters Centerline goodness : 0.995544 Centerline is valid? [True, True] Translation: X:81.53, Y:44.79, Z:31.72 [[-5.15941117e-01 -8.15670637e-01 2.61698635e-01 8.15263605e+01] [ 7.08412014e-01 -5.78036355e-01 -4.05001716e-01 4.47861319e+01] [ 4.81619333e-01 -2.35665806e-02 8.76063602e-01 3.17204180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.330714057 meters Centerline goodness : 0.996050 Centerline is valid? [True, True] Translation: X:81.52, Y:44.80, Z:31.72 [[-5.16277579e-01 -8.19698581e-01 2.48096145e-01 8.15235865e+01] [ 7.09351013e-01 -5.71602946e-01 -4.12421160e-01 4.48022288e+01] [ 4.79873527e-01 -3.69365463e-02 8.76559804e-01 3.17213864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.360714057 meters Centerline goodness : 0.995252 Centerline is valid? [True, True] Translation: X:81.54, Y:44.79, Z:31.71 [[-5.16520081e-01 -8.22877743e-01 2.36810527e-01 8.15390008e+01] [ 7.10920731e-01 -5.66266055e-01 -4.17054516e-01 4.47882938e+01] [ 4.77282641e-01 -4.70635196e-02 8.77488635e-01 3.17052527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.390714057 meters Centerline goodness : 0.996023 Centerline is valid? [True, True] Translation: X:81.52, Y:44.80, Z:31.73 [[-5.15528840e-01 -8.17840074e-01 2.55670939e-01 8.15229664e+01] [ 7.07524418e-01 -5.74599592e-01 -4.11393372e-01 4.47988118e+01] [ 4.83362403e-01 -3.11917157e-02 8.74864483e-01 3.17269439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.420714057 meters Centerline goodness : 0.996174 Centerline is valid? [True, True] Translation: X:81.53, Y:44.78, Z:31.72 [[-5.15464007e-01 -8.18549771e-01 2.53521460e-01 8.15338428e+01] [ 7.10218220e-01 -5.73636117e-01 -4.08082939e-01 4.47849874e+01] [ 4.79465262e-01 -3.02965070e-02 8.77037733e-01 3.17156228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.45071405699997 meters Centerline goodness : 0.995491 Centerline is valid? [True, True] Translation: X:81.54, Y:44.78, Z:31.71 [[-5.15276651e-01 -8.19559901e-01 2.50622309e-01 8.15411366e+01] [ 7.11890247e-01 -5.72129874e-01 -4.07283296e-01 4.47801539e+01] [ 4.77181568e-01 -3.14479953e-02 8.78241866e-01 3.17089487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.48071405699997 meters Centerline goodness : 0.995748 Centerline is valid? [True, True] Translation: X:81.54, Y:44.79, Z:31.71 [[-5.15483216e-01 -8.20628602e-01 2.46669316e-01 8.15408291e+01] [ 7.11987887e-01 -5.70357411e-01 -4.09592082e-01 4.47866823e+01] [ 4.76812650e-01 -3.55122785e-02 8.78287296e-01 3.17097090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.51071405699997 meters Centerline goodness : 0.995329 Centerline is valid? [True, True] Translation: X:81.54, Y:44.79, Z:31.71 [[-5.15822735e-01 -8.20361996e-01 2.46846312e-01 8.15396641e+01] [ 7.11794431e-01 -5.70743498e-01 -4.09390459e-01 4.47915392e+01] [ 4.76734302e-01 -3.54690767e-02 8.78331572e-01 3.17117258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.54071405699997 meters Centerline goodness : 0.996044 Centerline is valid? [True, True] Translation: X:81.55, Y:44.79, Z:31.70 [[-5.15054453e-01 -8.21866660e-01 2.43421656e-01 8.15488196e+01] [ 7.10658916e-01 -5.68226348e-01 -4.14828547e-01 4.47870826e+01] [ 4.79252351e-01 -4.06695202e-02 8.76734381e-01 3.17048824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.57071405699998 meters Centerline goodness : 0.995263 Centerline is valid? [True, True] Translation: X:81.55, Y:44.78, Z:31.70 [[-5.13930414e-01 -8.20436407e-01 2.50518725e-01 8.15497476e+01] [ 7.12377440e-01 -5.70879575e-01 -4.08184877e-01 4.47817465e+01] [ 4.77905757e-01 -3.13147346e-02 8.77852764e-01 3.17043726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.60071405699998 meters Centerline goodness : 0.994532 Centerline is valid? [True, True] Translation: X:81.56, Y:44.77, Z:31.69 [[-5.12529314e-01 -8.24068616e-01 2.41297780e-01 8.15634167e+01] [ 7.15868745e-01 -5.65257578e-01 -4.09897317e-01 4.47738848e+01] [ 4.74178914e-01 -3.73468521e-02 8.79636044e-01 3.16924541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.63071405699998 meters Centerline goodness : 0.994532 Centerline is valid? [True, True] Translation: X:81.56, Y:44.77, Z:31.69 [[-5.12721184e-01 -8.21374081e-01 2.49923200e-01 8.15620077e+01] [ 7.15422196e-01 -5.69671870e-01 -4.04530644e-01 4.47680461e+01] [ 4.74645202e-01 -2.86108263e-02 8.79712085e-01 3.16946049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.66071405699998 meters Centerline goodness : 0.993803 Centerline is valid? [True, True] Translation: X:81.56, Y:44.76, Z:31.70 [[-5.09170404e-01 -8.21244453e-01 2.57493780e-01 8.15632861e+01] [ 7.19057038e-01 -5.70322010e-01 -3.97101727e-01 4.47638743e+01] [ 4.72971961e-01 -1.70397319e-02 8.80912692e-01 3.16959790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.69071405699998 meters Centerline goodness : 0.993409 Centerline is valid? [True, True] Translation: X:81.57, Y:44.77, Z:31.69 [[-5.07294443e-01 -8.25953596e-01 2.45871930e-01 8.15681375e+01] [ 7.22900723e-01 -5.63168351e-01 -4.00319814e-01 4.47689836e+01] [ 4.69112879e-01 -2.53390209e-02 8.82774626e-01 3.16897449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.72071405699998 meters Centerline goodness : 0.994266 Centerline is valid? [True, True] Translation: X:81.56, Y:44.78, Z:31.70 [[-5.14166268e-01 -8.21780779e-01 2.45579722e-01 8.15564958e+01] [ 7.10656723e-01 -5.68496226e-01 -4.14462378e-01 4.47814858e+01] [ 4.80208361e-01 -3.85796935e-02 8.76305618e-01 3.17014834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.75071405699998 meters Centerline goodness : 0.993984 Centerline is valid? [True, True] Translation: X:81.57, Y:44.75, Z:31.69 [[-5.01077358e-01 -8.22210500e-01 2.69984027e-01 8.15662767e+01] [ 7.34030904e-01 -5.69047338e-01 -3.70653151e-01 4.47518705e+01] [ 4.58388605e-01 1.24507179e-02 8.88664654e-01 3.16885936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.78071405699998 meters Centerline goodness : 0.994301 Centerline is valid? [True, True] Translation: X:81.58, Y:44.77, Z:31.67 [[-4.98692759e-01 -8.37015118e-01 2.25191530e-01 8.15839383e+01] [ 7.27465811e-01 -5.45425023e-01 -4.16299217e-01 4.47739348e+01] [ 4.71273834e-01 -4.37862660e-02 8.80899391e-01 3.16749511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.81071405699998 meters Centerline goodness : 0.994790 Centerline is valid? [True, True] Translation: X:81.57, Y:44.77, Z:31.69 [[-4.96931110e-01 -8.32526742e-01 2.44864649e-01 8.15731904e+01] [ 7.29727380e-01 -5.53597028e-01 -4.01283294e-01 4.47746012e+01] [ 4.69635415e-01 -2.07257143e-02 8.82617143e-01 3.16866924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.84071405699999 meters Centerline goodness : 0.993250 Centerline is valid? [True, True] Translation: X:81.59, Y:44.76, Z:31.67 [[-4.93326890e-01 -8.36868329e-01 2.37234018e-01 8.15874884e+01] [ 7.39328963e-01 -5.47099995e-01 -3.92522968e-01 4.47642983e+01] [ 4.58280771e-01 -1.82481544e-02 8.88620133e-01 3.16712726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.870714057 meters Centerline goodness : 0.994229 Centerline is valid? [True, True] Translation: X:81.58, Y:44.77, Z:31.68 [[-4.92762739e-01 -8.35339958e-01 2.43704819e-01 8.15837605e+01] [ 7.36309938e-01 -5.49526253e-01 -3.94801941e-01 4.47684820e+01] [ 4.63716033e-01 -1.51014061e-02 8.85855174e-01 3.16773972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.900714057 meters Centerline goodness : 0.993042 Centerline is valid? [True, True] Translation: X:81.60, Y:44.77, Z:31.66 [[-4.93820681e-01 -8.41403440e-01 2.19502590e-01 8.15988232e+01] [ 7.35493718e-01 -5.38819483e-01 -4.10758513e-01 4.47723057e+01] [ 4.63885897e-01 -4.13982726e-02 8.84927148e-01 3.16649819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.930714057 meters Centerline goodness : 0.994525 Centerline is valid? [True, True] Translation: X:81.58, Y:44.79, Z:31.69 [[-5.04772363e-01 -8.30152042e-01 2.36753982e-01 8.15785632e+01] [ 7.17697473e-01 -5.55973330e-01 -4.19289868e-01 4.47882107e+01] [ 4.79703240e-01 -4.17282033e-02 8.76437995e-01 3.16907463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.960714057 meters Centerline goodness : 0.993966 Centerline is valid? [True, True] Translation: X:81.58, Y:44.74, Z:31.68 [[-4.92971289e-01 -8.20147046e-01 2.90410280e-01 8.15844974e+01] [ 7.45354890e-01 -5.70281194e-01 -3.45290381e-01 4.47436979e+01] [ 4.48804407e-01 4.62404779e-02 8.92432867e-01 3.16815017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.990714057 meters Centerline goodness : 0.994847 Centerline is valid? [True, True] Translation: X:81.60, Y:44.81, Z:31.67 [[-0.50877199 -0.84049178 0.18634547 81.60495857] [ 0.71643456 -0.53337935 -0.44969767 44.81056252] [ 0.47736002 -0.09528924 0.87352583 31.66993325] [ 0. 0. 0. 1. ]] SLAMing on 207.020714057 meters Centerline goodness : 0.995156 Centerline is valid? [True, True] Translation: X:81.59, Y:44.78, Z:31.69 [[-5.08827461e-01 -8.21453608e-01 2.57504535e-01 8.15866082e+01] [ 7.13761762e-01 -5.69793416e-01 -4.07283206e-01 4.47754212e+01] [ 4.81288647e-01 -2.34399887e-02 8.76248712e-01 3.16916474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.050714057 meters Centerline goodness : 0.995123 Centerline is valid? [True, True] Translation: X:81.61, Y:44.73, Z:31.66 [[-4.94491640e-01 -8.21089425e-01 2.85114317e-01 8.16099644e+01] [ 7.39181278e-01 -5.69832410e-01 -3.59029334e-01 4.47289800e+01] [ 4.57262568e-01 3.32141613e-02 8.88711294e-01 3.16644539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.080714057 meters Centerline goodness : 0.995144 Centerline is valid? [True, True] Translation: X:81.64, Y:44.76, Z:31.64 [[-4.95467555e-01 -8.42358915e-01 2.11998490e-01 8.16393834e+01] [ 7.36879557e-01 -5.36831999e-01 -4.10877017e-01 4.47595026e+01] [ 4.59913491e-01 -4.73588778e-02 8.86699903e-01 3.16376115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.110714057 meters Centerline goodness : 0.987828 Centerline is valid? [True, True] Translation: X:81.17, Y:45.47, Z:32.12 [[-5.28773551e-01 -8.15706793e-01 2.34565471e-01 8.11654720e+01] [ 6.95818591e-01 -5.74864603e-01 -4.30542885e-01 4.54734079e+01] [ 4.86040142e-01 -6.44446744e-02 8.71557149e-01 3.21216355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.140714057 meters Centerline goodness : 0.994734 Centerline is valid? [True, True] Translation: X:81.59, Y:44.80, Z:31.70 [[-5.21279067e-01 -8.07543282e-01 2.75938365e-01 8.15875356e+01] [ 6.98127670e-01 -5.89496505e-01 -4.06339300e-01 4.48005266e+01] [ 4.90801274e-01 -1.91759636e-02 8.71060498e-01 3.17028449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.170714057 meters Centerline goodness : 0.995007 Centerline is valid? [True, True] Translation: X:81.59, Y:44.80, Z:31.70 [[-5.21879461e-01 -8.09356128e-01 2.69415081e-01 8.15929357e+01] [ 6.97517531e-01 -5.86707538e-01 -4.11392220e-01 4.48012632e+01] [ 4.91030673e-01 -2.67754078e-02 8.70730702e-01 3.16984294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.20071405699997 meters Centerline goodness : 0.995248 Centerline is valid? [True, True] Translation: X:81.60, Y:44.80, Z:31.70 [[-5.22097664e-01 -8.08960235e-01 2.70180250e-01 8.15966145e+01] [ 6.96611594e-01 -5.87244026e-01 -4.12161063e-01 4.48021698e+01] [ 4.92083648e-01 -2.69776341e-02 8.70129813e-01 3.16971153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.23071405699997 meters Centerline goodness : 0.994992 Centerline is valid? [True, True] Translation: X:81.60, Y:44.80, Z:31.70 [[-5.22333522e-01 -8.08717505e-01 2.70450900e-01 8.15983395e+01] [ 6.96321101e-01 -5.87578500e-01 -4.12175243e-01 4.48026648e+01] [ 4.92244468e-01 -2.69722778e-02 8.70039011e-01 3.16967761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.26071405699997 meters Centerline goodness : 0.994819 Centerline is valid? [True, True] Translation: X:81.61, Y:44.78, Z:31.69 [[-5.10848139e-01 -8.09118407e-01 2.90450654e-01 8.16089386e+01] [ 7.13749304e-01 -5.87512227e-01 -3.81302130e-01 4.47797981e+01] [ 4.79161882e-01 1.25214686e-02 8.77637228e-01 3.16890599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.29071405699997 meters Centerline goodness : 0.994692 Centerline is valid? [True, True] Translation: X:81.63, Y:44.80, Z:31.67 [[-5.11734048e-01 -8.24244213e-01 2.42383459e-01 8.16284763e+01] [ 7.14142288e-01 -5.64929018e-01 -4.13347309e-01 4.47972238e+01] [ 4.77628577e-01 -3.84276138e-02 8.77721061e-01 3.16695797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.32071405699998 meters Centerline goodness : 0.995155 Centerline is valid? [True, True] Translation: X:81.63, Y:44.80, Z:31.67 [[-5.12860280e-01 -8.23836446e-01 2.41387330e-01 8.16285976e+01] [ 7.09506712e-01 -5.65063394e-01 -4.21074325e-01 4.48005432e+01] [ 4.83295519e-01 -4.46863655e-02 8.74316058e-01 3.16735373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.35071405699998 meters Centerline goodness : 0.993302 Centerline is valid? [True, True] Translation: X:81.63, Y:44.81, Z:31.68 [[-5.16066313e-01 -8.24077321e-01 2.33606785e-01 8.16278329e+01] [ 7.03622330e-01 -5.63386047e-01 -4.33026303e-01 4.48140081e+01] [ 4.88457959e-01 -5.90993372e-02 8.70583764e-01 3.16807421e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.38071405699998 meters Centerline goodness : 0.993380 Centerline is valid? [True, True] Translation: X:81.62, Y:44.80, Z:31.69 [[-5.14469112e-01 -8.13831529e-01 2.70184707e-01 8.16176454e+01] [ 7.07192975e-01 -5.80872395e-01 -4.03069916e-01 4.47952071e+01] [ 4.84973843e-01 -1.62942951e-02 8.74376845e-01 3.16884027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.41071405699998 meters Centerline goodness : 0.994516 Centerline is valid? [True, True] Translation: X:81.62, Y:44.80, Z:31.69 [[-5.13558484e-01 -8.17260690e-01 2.61424271e-01 8.16221666e+01] [ 7.00357299e-01 -5.75268738e-01 -4.22570151e-01 4.48010727e+01] [ 4.95739184e-01 -3.39240900e-02 8.67808630e-01 3.16881445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.44071405699998 meters Centerline goodness : 0.993954 Centerline is valid? [True, True] Translation: X:81.62, Y:44.80, Z:31.68 [[-5.13514923e-01 -8.17343527e-01 2.61250804e-01 8.16238334e+01] [ 7.06271348e-01 -5.75508440e-01 -4.12275175e-01 4.47970128e+01] [ 4.87322488e-01 -2.71954976e-02 8.72798486e-01 3.16837661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.47071405699998 meters Centerline goodness : 0.994731 Centerline is valid? [True, True] Translation: X:81.62, Y:44.80, Z:31.69 [[-5.11235892e-01 -8.17665784e-01 2.64689495e-01 8.16223302e+01] [ 6.99266920e-01 -5.74792239e-01 -4.25017243e-01 4.47986150e+01] [ 4.99663524e-01 -3.21954618e-02 8.65621057e-01 3.16899470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.50071405699998 meters Centerline goodness : 0.993349 Centerline is valid? [True, True] Translation: X:81.63, Y:44.79, Z:31.68 [[-5.07836977e-01 -8.21936519e-01 2.57918520e-01 8.16323583e+01] [ 7.04427085e-01 -5.68558294e-01 -4.24881098e-01 4.47872472e+01] [ 4.95867005e-01 -3.40855408e-02 8.67729272e-01 3.16812580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.53071405699998 meters Centerline goodness : 0.994192 Centerline is valid? [True, True] Translation: X:81.62, Y:44.77, Z:31.68 [[-5.04689975e-01 -8.13628661e-01 2.88611209e-01 8.16236753e+01] [ 7.16993048e-01 -5.81245619e-01 -3.84804495e-01 4.47666890e+01] [ 4.80841967e-01 1.27252596e-02 8.76714931e-01 3.16833789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.56071405699998 meters Centerline goodness : 0.994065 Centerline is valid? [True, True] Translation: X:81.64, Y:44.78, Z:31.67 [[-5.00417440e-01 -8.26255443e-01 2.58620048e-01 8.16367259e+01] [ 7.16371021e-01 -5.62902873e-01 -4.12253461e-01 4.47761194e+01] [ 4.86204634e-01 -2.10309136e-02 8.73591869e-01 3.16728701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.59071405699999 meters Centerline goodness : 0.994681 Centerline is valid? [True, True] Translation: X:81.63, Y:44.79, Z:31.68 [[-5.08342513e-01 -8.25848698e-01 2.44052901e-01 8.16298200e+01] [ 7.04352091e-01 -5.61786668e-01 -4.33916895e-01 4.47926431e+01] [ 4.95455368e-01 -4.86792336e-02 8.67268303e-01 3.16799964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.620714057 meters Centerline goodness : 0.993343 Centerline is valid? [True, True] Translation: X:81.64, Y:44.77, Z:31.68 [[-4.99717507e-01 -8.25473207e-01 2.62443132e-01 8.16384094e+01] [ 7.13827923e-01 -5.64084602e-01 -4.15040067e-01 4.47715209e+01] [ 4.90644585e-01 -2.00635518e-02 8.71128776e-01 3.16792577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.650714057 meters Centerline goodness : 0.993570 Centerline is valid? [True, True] Translation: X:81.64, Y:44.76, Z:31.67 [[-5.00151889e-01 -8.23655353e-01 2.67282523e-01 8.16419148e+01] [ 7.14748550e-01 -5.66922798e-01 -4.09552256e-01 4.47627521e+01] [ 4.88858464e-01 -1.37985392e-02 8.72253978e-01 3.16748325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.680714057 meters Centerline goodness : 0.994289 Centerline is valid? [True, True] Translation: X:81.63, Y:44.77, Z:31.69 [[-5.10697206e-01 -8.15036577e-01 2.73685482e-01 8.16273254e+01] [ 7.03412892e-01 -5.79131757e-01 -4.12088233e-01 4.47734162e+01] [ 4.94366936e-01 -1.79384129e-02 8.69068205e-01 3.16878590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.710714057 meters Centerline goodness : 0.993683 Centerline is valid? [True, True] Translation: X:81.65, Y:44.76, Z:31.67 [[-5.06370937e-01 -8.19720447e-01 2.67669315e-01 8.16477281e+01] [ 7.12072152e-01 -5.72562971e-01 -4.06355626e-01 4.47629723e+01] [ 4.86355554e-01 -1.51668140e-02 8.73629351e-01 3.16715941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.740714057 meters Centerline goodness : 0.993683 Centerline is valid? [True, True] Translation: X:81.65, Y:44.76, Z:31.67 [[-5.06727884e-01 -8.21368252e-01 2.61879834e-01 8.16509263e+01] [ 7.11945800e-01 -5.69996744e-01 -4.10166904e-01 4.47636134e+01] [ 4.86168725e-01 -2.13987592e-02 8.73602921e-01 3.16683853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.770714057 meters Centerline goodness : 0.994231 Centerline is valid? [True, True] Translation: X:81.65, Y:44.76, Z:31.67 [[-5.09327268e-01 -8.15299940e-01 2.75448256e-01 8.16473132e+01] [ 7.18113990e-01 -5.79037659e-01 -3.86041042e-01 4.47581057e+01] [ 4.74234152e-01 1.18201723e-03 8.80397962e-01 3.16671210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.800714057 meters Centerline goodness : 0.994073 Centerline is valid? [True, True] Translation: X:81.66, Y:44.76, Z:31.65 [[-5.10479588e-01 -8.21661573e-01 2.53540628e-01 8.16611700e+01] [ 7.19755131e-01 -5.69621398e-01 -3.96842556e-01 4.47594795e+01] [ 4.70492446e-01 -2.00928567e-02 8.82175229e-01 3.16524339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.830714057 meters Centerline goodness : 0.995347 Centerline is valid? [True, True] Translation: X:81.65, Y:44.79, Z:31.68 [[-5.23621435e-01 -8.17729412e-01 2.39038076e-01 8.16460560e+01] [ 6.93693529e-01 -5.72110688e-01 -4.37582734e-01 4.47942223e+01] [ 4.94580510e-01 -6.33085326e-02 8.66823020e-01 3.16756782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.860714057 meters Centerline goodness : 0.993808 Centerline is valid? [True, True] Translation: X:81.66, Y:44.76, Z:31.67 [[-5.14879706e-01 -8.13012395e-01 2.71863446e-01 8.16569730e+01] [ 7.05690001e-01 -5.82021426e-01 -4.04045395e-01 4.47577352e+01] [ 4.86724265e-01 -1.61834585e-02 8.73405739e-01 3.16651927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.890714057 meters Centerline goodness : 0.994427 Centerline is valid? [True, True] Translation: X:81.66, Y:44.75, Z:31.66 [[-5.14327321e-01 -8.13427042e-01 2.71668648e-01 8.16604024e+01] [ 7.05111684e-01 -5.81411909e-01 -4.05928202e-01 4.47545082e+01] [ 4.88144364e-01 -1.72232272e-02 8.72592941e-01 3.16618414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.920714057 meters Centerline goodness : 0.995000 Centerline is valid? [True, True] Translation: X:81.64, Y:44.79, Z:31.68 [[-5.26983003e-01 -8.11413426e-01 2.52778889e-01 8.16427926e+01] [ 6.90388454e-01 -5.82172260e-01 -4.29463900e-01 4.47906631e+01] [ 4.95633631e-01 -5.18045497e-02 8.66985347e-01 3.16809584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.95071405699997 meters Centerline goodness : 0.993601 Centerline is valid? [True, True] Translation: X:81.66, Y:44.77, Z:31.67 [[-5.19099495e-01 -8.12872000e-01 2.64149248e-01 8.16595011e+01] [ 6.93921375e-01 -5.81245527e-01 -4.25002074e-01 4.47664321e+01] [ 4.99007855e-01 -3.73195526e-02 8.65793516e-01 3.16728297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.98071405699997 meters Centerline goodness : 0.993514 Centerline is valid? [True, True] Translation: X:81.66, Y:44.76, Z:31.68 [[-5.18047788e-01 -8.10107830e-01 2.74502811e-01 8.16587067e+01] [ 6.93986174e-01 -5.85684659e-01 -4.18756099e-01 4.47576461e+01] [ 5.00009680e-01 -2.64345155e-02 8.65616276e-01 3.16753470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.01071405699997 meters Centerline goodness : 0.994260 Centerline is valid? [True, True] Translation: X:81.66, Y:44.75, Z:31.67 [[-5.16077969e-01 -8.08020902e-01 2.84193160e-01 8.16573883e+01] [ 6.97122549e-01 -5.89014033e-01 -4.08757411e-01 4.47509857e+01] [ 4.97678291e-01 -1.28332343e-02 8.67266756e-01 3.16747529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.04071405699997 meters Centerline goodness : 0.992896 Centerline is valid? [True, True] Translation: X:81.67, Y:44.76, Z:31.67 [[-5.17163811e-01 -8.15952722e-01 2.58384883e-01 8.16702306e+01] [ 6.95775298e-01 -5.76612181e-01 -4.28269924e-01 4.47554947e+01] [ 4.98435881e-01 -4.17078871e-02 8.65922701e-01 3.16685242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.07071405699998 meters Centerline goodness : 0.993638 Centerline is valid? [True, True] Translation: X:81.66, Y:44.75, Z:31.68 [[-5.16834131e-01 -8.10322361e-01 2.76152408e-01 8.16612454e+01] [ 6.97227127e-01 -5.85602698e-01 -4.13453520e-01 4.47519506e+01] [ 4.96746228e-01 -2.11459413e-02 8.67638193e-01 3.16762611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.10071405699998 meters Centerline goodness : 0.994012 Centerline is valid? [True, True] Translation: X:81.67, Y:44.74, Z:31.67 [[-5.15909896e-01 -8.10165988e-01 2.78330830e-01 8.16651705e+01] [ 6.97406294e-01 -5.85898261e-01 -4.12731981e-01 4.47445116e+01] [ 4.97454963e-01 -1.88228407e-02 8.67285570e-01 3.16714313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.13071405699998 meters Centerline goodness : 0.993524 Centerline is valid? [True, True] Translation: X:81.67, Y:44.75, Z:31.67 [[-5.17447835e-01 -8.12257685e-01 2.69230740e-01 8.16653250e+01] [ 6.97837701e-01 -5.82641300e-01 -4.16595318e-01 4.47519003e+01] [ 4.95247697e-01 -2.76869849e-02 8.68310514e-01 3.16705379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.16071405699998 meters Centerline goodness : 0.994444 Centerline is valid? [True, True] Translation: X:81.65, Y:44.77, Z:31.68 [[-5.27901709e-01 -8.05467222e-01 2.69336852e-01 8.16481687e+01] [ 6.90208905e-01 -5.91663111e-01 -4.16589043e-01 4.47651298e+01] [ 4.94905499e-01 -3.40193735e-02 8.68280617e-01 3.16815369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.19071405699998 meters Centerline goodness : 0.993304 Centerline is valid? [True, True] Translation: X:81.66, Y:44.75, Z:31.67 [[-5.17316484e-01 -8.07343241e-01 2.83867128e-01 8.16582124e+01] [ 7.03757271e-01 -5.90061661e-01 -3.95667713e-01 4.47455687e+01] [ 4.86938763e-01 -4.91187495e-03 8.73422300e-01 3.16714040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.22071405699998 meters Centerline goodness : 0.992292 Centerline is valid? [True, True] Translation: X:81.67, Y:44.76, Z:31.66 [[-5.19848195e-01 -8.15394995e-01 2.54732910e-01 8.16676228e+01] [ 7.05380541e-01 -5.77925013e-01 -4.10415608e-01 4.47560582e+01] [ 4.81867353e-01 -3.36701754e-02 8.75597038e-01 3.16598278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.25071405699998 meters Centerline goodness : 0.993821 Centerline is valid? [True, True] Translation: X:81.65, Y:44.76, Z:31.68 [[-5.28300306e-01 -8.08208821e-01 2.60187025e-01 8.16527374e+01] [ 6.89138043e-01 -5.87171709e-01 -4.24638838e-01 4.47640729e+01] [ 4.95971314e-01 -4.50320508e-02 8.67170439e-01 3.16752614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.28071405699998 meters Centerline goodness : 0.993786 Centerline is valid? [True, True] Translation: X:81.65, Y:44.75, Z:31.67 [[-5.20027214e-01 -8.03843910e-01 2.88802121e-01 8.16525076e+01] [ 7.02275116e-01 -5.94840010e-01 -3.91120216e-01 4.47454402e+01] [ 4.86190661e-01 -5.74613260e-04 8.73852568e-01 3.16736255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.31071405699998 meters Centerline goodness : 0.994193 Centerline is valid? [True, True] Translation: X:81.66, Y:44.77, Z:31.67 [[-5.32112993e-01 -8.10334392e-01 2.45385281e-01 8.16553891e+01] [ 6.87613882e-01 -5.82702860e-01 -4.33179555e-01 4.47710204e+01] [ 4.94006996e-01 -6.17701442e-02 8.67260940e-01 3.16690645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.34071405699999 meters Centerline goodness : 0.993762 Centerline is valid? [True, True] Translation: X:81.66, Y:44.74, Z:31.67 [[-5.23664732e-01 -8.02034009e-01 2.87257197e-01 8.16560667e+01] [ 6.98513169e-01 -5.97250586e-01 -3.94171398e-01 4.47402838e+01] [ 4.87703396e-01 -5.76072411e-03 8.72990385e-01 3.16694106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.370714057 meters Centerline goodness : 0.993542 Centerline is valid? [True, True] Translation: X:81.67, Y:44.75, Z:31.66 [[-5.26403693e-01 -8.12050575e-01 2.51938516e-01 8.16679759e+01] [ 6.99090525e-01 -5.82036919e-01 -4.15337770e-01 4.47541387e+01] [ 4.83912793e-01 -4.25075063e-02 8.74083246e-01 3.16561792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.400714057 meters Centerline goodness : 0.993332 Centerline is valid? [True, True] Translation: X:81.67, Y:44.76, Z:31.66 [[-5.31299351e-01 -8.08859220e-01 2.51928089e-01 8.16658182e+01] [ 6.89275877e-01 -5.85610063e-01 -4.26567251e-01 4.47576195e+01] [ 4.92564478e-01 -5.29869484e-02 8.68661395e-01 3.16620724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.430714057 meters Centerline goodness : 0.992379 Centerline is valid? [True, True] Translation: X:81.66, Y:44.75, Z:31.67 [[-5.32474805e-01 -8.01640116e-01 2.71741984e-01 8.16593213e+01] [ 6.87947012e-01 -5.96901864e-01 -4.12840252e-01 4.47491532e+01] [ 4.93152604e-01 -3.28829472e-02 8.69321126e-01 3.16682077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.460714057 meters Centerline goodness : 0.993203 Centerline is valid? [True, True] Translation: X:81.66, Y:44.75, Z:31.67 [[-5.35978676e-01 -7.99708996e-01 2.70540903e-01 8.16609883e+01] [ 6.84917779e-01 -5.99256171e-01 -4.14463119e-01 4.47469152e+01] [ 4.93573190e-01 -3.68451194e-02 8.68923439e-01 3.16655284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.490714057 meters Centerline goodness : 0.993047 Centerline is valid? [True, True] Translation: X:81.66, Y:44.75, Z:31.67 [[-5.37756333e-01 -7.98797840e-01 2.69703795e-01 8.16604961e+01] [ 6.83513541e-01 -6.00338091e-01 -4.15214902e-01 4.47472736e+01] [ 4.93586229e-01 -3.89382474e-02 8.68824751e-01 3.16655992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.520714057 meters Centerline goodness : 0.993142 Centerline is valid? [True, True] Translation: X:81.66, Y:44.75, Z:31.67 [[-5.39003951e-01 -7.97833818e-01 2.70066546e-01 8.16595055e+01] [ 6.82025069e-01 -6.01550076e-01 -4.15907816e-01 4.47477795e+01] [ 4.94283872e-01 -3.99838018e-02 8.68380533e-01 3.16672590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.550714057 meters Centerline goodness : 0.993142 Centerline is valid? [True, True] Translation: X:81.66, Y:44.75, Z:31.67 [[-5.39243023e-01 -7.97155347e-01 2.71588502e-01 8.16603812e+01] [ 6.81761868e-01 -6.02540690e-01 -4.14904172e-01 4.47452555e+01] [ 4.94386203e-01 -3.85754952e-02 8.68385982e-01 3.16664933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.580714057 meters Centerline goodness : 0.992844 Centerline is valid? [True, True] Translation: X:81.66, Y:44.75, Z:31.67 [[-5.40291747e-01 -7.95420069e-01 2.74575568e-01 8.16565859e+01] [ 6.82266686e-01 -6.05082876e-01 -4.10349706e-01 4.47451354e+01] [ 4.92541366e-01 -3.43747964e-02 8.69609899e-01 3.16677869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.610714057 meters Centerline goodness : 0.992947 Centerline is valid? [True, True] Translation: X:81.66, Y:44.74, Z:31.66 [[-5.41082515e-01 -7.96267606e-01 2.70532091e-01 8.16601145e+01] [ 6.81583798e-01 -6.03661234e-01 -4.13565764e-01 4.47419161e+01] [ 4.92618757e-01 -3.93829134e-02 8.69353637e-01 3.16642258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.640714057 meters Centerline goodness : 0.993779 Centerline is valid? [True, True] Translation: X:81.66, Y:44.73, Z:31.66 [[-5.39972360e-01 -7.96396780e-01 2.72363762e-01 8.16617671e+01] [ 6.82715156e-01 -6.03681612e-01 -4.11665552e-01 4.47349662e+01] [ 4.92270115e-01 -3.63411515e-02 8.69683537e-01 3.16611231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.670714057 meters Centerline goodness : 0.993552 Centerline is valid? [True, True] Translation: X:81.66, Y:44.73, Z:31.66 [[-5.38644271e-01 -7.98088960e-01 2.70030295e-01 8.16620252e+01] [ 6.83626962e-01 -6.01328867e-01 -4.13591309e-01 4.47324680e+01] [ 4.92459670e-01 -3.81785991e-02 8.69497480e-01 3.16596118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.70071405699997 meters Centerline goodness : 0.993835 Centerline is valid? [True, True] Translation: X:81.66, Y:44.73, Z:31.66 [[-5.37276395e-01 -7.97901024e-01 2.73291112e-01 8.16608063e+01] [ 6.86323478e-01 -6.01952203e-01 -4.08183327e-01 4.47280202e+01] [ 4.90198081e-01 -3.17411600e-02 8.71032915e-01 3.16589811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.73071405699997 meters Centerline goodness : 0.993922 Centerline is valid? [True, True] Translation: X:81.66, Y:44.73, Z:31.66 [[-5.35451313e-01 -8.01550489e-01 2.66099053e-01 8.16577581e+01] [ 6.86356980e-01 -5.96582617e-01 -4.15936626e-01 4.47324802e+01] [ 4.92144275e-01 -4.00748703e-02 8.69590718e-01 3.16616771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.76071405699997 meters Centerline goodness : 0.993330 Centerline is valid? [True, True] Translation: X:81.66, Y:44.72, Z:31.66 [[-5.35114684e-01 -7.98950437e-01 2.74463977e-01 8.16594204e+01] [ 6.88049203e-01 -6.00696555e-01 -4.07126446e-01 4.47207895e+01] [ 4.90143417e-01 -2.90146188e-02 8.71158758e-01 3.16594323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.79071405699997 meters Centerline goodness : 0.994919 Centerline is valid? [True, True] Translation: X:81.65, Y:44.73, Z:31.67 [[-5.41626148e-01 -7.95674641e-01 2.71188095e-01 8.16453031e+01] [ 6.78501782e-01 -6.04247851e-01 -4.17755750e-01 4.47293669e+01] [ 4.96262480e-01 -4.22658320e-02 8.67143097e-01 3.16689447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.82071405699998 meters Centerline goodness : 0.993279 Centerline is valid? [True, True] Translation: X:81.65, Y:44.70, Z:31.66 [[-5.30451692e-01 -7.94242905e-01 2.96309315e-01 8.16497288e+01] [ 6.98768271e-01 -6.07562906e-01 -3.77611202e-01 4.47025657e+01] [ 4.79941566e-01 6.74704668e-03 8.77274513e-01 3.16603964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.85071405699998 meters Centerline goodness : 0.994136 Centerline is valid? [True, True] Translation: X:81.66, Y:44.72, Z:31.64 [[-5.30137045e-01 -8.06254811e-01 2.62503130e-01 8.16580242e+01] [ 7.06016889e-01 -5.91181789e-01 -3.89928512e-01 4.47162353e+01] [ 4.69568809e-01 -2.13839056e-02 8.82636880e-01 3.16445555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.88071405699998 meters Centerline goodness : 0.994829 Centerline is valid? [True, True] Translation: X:81.66, Y:44.72, Z:31.64 [[-5.29562760e-01 -8.08235085e-01 2.57525398e-01 8.16565211e+01] [ 7.05512246e-01 -5.88210537e-01 -3.95298413e-01 4.47190561e+01] [ 4.70973199e-01 -2.76479964e-02 8.81714145e-01 3.16446585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.91071405699998 meters Centerline goodness : 0.994930 Centerline is valid? [True, True] Translation: X:81.66, Y:44.72, Z:31.64 [[-5.30679874e-01 -8.13352316e-01 2.38404869e-01 8.16620527e+01] [ 7.03402922e-01 -5.79559627e-01 -4.11503303e-01 4.47237208e+01] [ 4.72867002e-01 -5.06818397e-02 8.79675025e-01 3.16379141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.94071405699998 meters Centerline goodness : 0.994099 Centerline is valid? [True, True] Translation: X:81.66, Y:44.71, Z:31.64 [[-5.31208440e-01 -8.07634484e-01 2.56015885e-01 8.16564748e+01] [ 7.02435810e-01 -5.88781860e-01 -3.99899805e-01 4.47131011e+01] [ 4.73710382e-01 -3.25954262e-02 8.80077276e-01 3.16426451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.97071405699998 meters Centerline goodness : 0.994484 Centerline is valid? [True, True] Translation: X:81.66, Y:44.71, Z:31.64 [[-5.31965015e-01 -8.06356546e-01 2.58461493e-01 8.16576305e+01] [ 7.00664112e-01 -5.90569391e-01 -4.00371823e-01 4.47059599e+01] [ 4.75481887e-01 -3.18891103e-02 8.79147348e-01 3.16388413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.00071405699998 meters Centerline goodness : 0.994868 Centerline is valid? [True, True] Translation: X:81.66, Y:44.71, Z:31.64 [[-5.34791914e-01 -8.08905847e-01 2.44272265e-01 8.16602623e+01] [ 6.94804707e-01 -5.85485440e-01 -4.17675974e-01 4.47143643e+01] [ 4.80878392e-01 -5.36482140e-02 8.75144469e-01 3.16372341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.03071405699998 meters Centerline goodness : 0.994783 Centerline is valid? [True, True] Translation: X:81.65, Y:44.70, Z:31.64 [[-5.36171657e-01 -8.02061327e-01 2.63092344e-01 8.16541576e+01] [ 6.94471367e-01 -5.96319891e-01 -4.02631479e-01 4.47040438e+01] [ 4.79822337e-01 -3.31694876e-02 8.76738450e-01 3.16424572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.06071405699998 meters Centerline goodness : 0.994553 Centerline is valid? [True, True] Translation: X:81.65, Y:44.71, Z:31.64 [[-5.39211268e-01 -8.00457916e-01 2.61760066e-01 8.16518004e+01] [ 6.92661755e-01 -5.98314226e-01 -4.02789994e-01 4.47052331e+01] [ 4.79031211e-01 -3.58777168e-02 8.77064358e-01 3.16431001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.09071405699999 meters Centerline goodness : 0.995826 Centerline is valid? [True, True] Translation: X:81.64, Y:44.72, Z:31.65 [[-5.49957677e-01 -7.97045634e-01 2.49529178e-01 8.16443574e+01] [ 6.74492647e-01 -6.00051430e-01 -4.30113881e-01 4.47189697e+01] [ 4.92550731e-01 -6.82388346e-02 8.67604310e-01 3.16525950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.120714057 meters Centerline goodness : 0.994801 Centerline is valid? [True, True] Translation: X:81.65, Y:44.69, Z:31.65 [[-5.44439389e-01 -7.91005665e-01 2.79098173e-01 8.16467792e+01] [ 6.82943490e-01 -6.11204829e-01 -4.00021056e-01 4.46929020e+01] [ 4.87005073e-01 -2.71789391e-02 8.72976153e-01 3.16524351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.150714057 meters Centerline goodness : 0.994899 Centerline is valid? [True, True] Translation: X:81.64, Y:44.71, Z:31.66 [[-5.47047076e-01 -7.92732575e-01 2.68913669e-01 8.16408795e+01] [ 6.83139264e-01 -6.08430650e-01 -4.03897127e-01 4.47075382e+01] [ 4.83797728e-01 -3.72452564e-02 8.74386956e-01 3.16560002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.180714057 meters Centerline goodness : 0.994886 Centerline is valid? [True, True] Translation: X:81.65, Y:44.70, Z:31.65 [[-5.49143215e-01 -7.93317722e-01 2.62847336e-01 8.16467853e+01] [ 6.79630557e-01 -6.06944792e-01 -4.11971269e-01 4.47043269e+01] [ 4.86357930e-01 -4.75921459e-02 8.72462579e-01 3.16512076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.210714057 meters Centerline goodness : 0.995722 Centerline is valid? [True, True] Translation: X:81.64, Y:44.71, Z:31.66 [[-5.50180109e-01 -7.89808572e-01 2.71116704e-01 8.16408097e+01] [ 6.77668681e-01 -6.12009930e-01 -4.07687385e-01 4.47051551e+01] [ 4.87921107e-01 -4.05741908e-02 8.71944223e-01 3.16578870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.240714057 meters Centerline goodness : 0.994499 Centerline is valid? [True, True] Translation: X:81.65, Y:44.70, Z:31.65 [[-5.51370530e-01 -7.91572894e-01 2.63444287e-01 8.16459804e+01] [ 6.78278666e-01 -6.09198119e-01 -4.10871882e-01 4.47033722e+01] [ 4.85724808e-01 -4.78540076e-02 8.72800896e-01 3.16517976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.270714057 meters Centerline goodness : 0.995668 Centerline is valid? [True, True] Translation: X:81.64, Y:44.71, Z:31.66 [[-5.50864436e-01 -7.88823302e-01 2.72591583e-01 8.16380832e+01] [ 6.76224254e-01 -6.13283280e-01 -4.08171995e-01 4.47054571e+01] [ 4.89151441e-01 -4.05143959e-02 8.71257397e-01 3.16586607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.300714057 meters Centerline goodness : 0.995518 Centerline is valid? [True, True] Translation: X:81.64, Y:44.70, Z:31.65 [[-5.50506938e-01 -7.90428343e-01 2.68635711e-01 8.16425750e+01] [ 6.79761469e-01 -6.11209827e-01 -4.05397204e-01 4.46989432e+01] [ 4.84630227e-01 -4.05657678e-02 8.73777982e-01 3.16512241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.330714057 meters Centerline goodness : 0.995130 Centerline is valid? [True, True] Translation: X:81.64, Y:44.70, Z:31.65 [[-5.49412098e-01 -7.90784211e-01 2.69827127e-01 8.16418344e+01] [ 6.79470744e-01 -6.10786109e-01 -4.06521633e-01 4.46971731e+01] [ 4.86277550e-01 -4.00082640e-02 8.72888013e-01 3.16518584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.360714057 meters Centerline goodness : 0.995671 Centerline is valid? [True, True] Translation: X:81.64, Y:44.70, Z:31.65 [[-5.48388100e-01 -7.91596539e-01 2.69528127e-01 8.16375591e+01] [ 6.82304019e-01 -6.09914445e-01 -4.03070212e-01 4.47015120e+01] [ 4.83458083e-01 -3.71387838e-02 8.74579323e-01 3.16539285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.390714057 meters Centerline goodness : 0.993219 Centerline is valid? [True, True] Translation: X:81.65, Y:44.69, Z:31.64 [[-5.47233534e-01 -7.95927837e-01 2.58909903e-01 8.16492957e+01] [ 6.84377398e-01 -6.03592088e-01 -4.09028322e-01 4.46918779e+01] [ 4.81832996e-01 -4.66419287e-02 8.75020854e-01 3.16410713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.420714057 meters Centerline goodness : 0.993660 Centerline is valid? [True, True] Translation: X:81.64, Y:44.69, Z:31.64 [[-5.43762898e-01 -7.95108515e-01 2.68559789e-01 8.16437015e+01] [ 6.86857541e-01 -6.05506636e-01 -4.01980636e-01 4.46863523e+01] [ 4.82232961e-01 -3.41198395e-02 8.75378323e-01 3.16446060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.45071405699997 meters Centerline goodness : 0.993156 Centerline is valid? [True, True] Translation: X:81.63, Y:44.69, Z:31.65 [[-5.39908617e-01 -7.95204547e-01 2.75950021e-01 8.16322200e+01] [ 6.93268506e-01 -6.06035399e-01 -3.89999838e-01 4.46910241e+01] [ 4.77365126e-01 -1.92568142e-02 8.78494002e-01 3.16512028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.48071405699997 meters Centerline goodness : 0.992777 Centerline is valid? [True, True] Translation: X:81.65, Y:44.69, Z:31.64 [[-5.38922318e-01 -8.02495094e-01 2.56055383e-01 8.16463030e+01] [ 6.93262448e-01 -5.95215993e-01 -4.06331269e-01 4.46859723e+01] [ 4.78487109e-01 -4.14674081e-02 8.77114896e-01 3.16369238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.51071405699997 meters Centerline goodness : 0.993419 Centerline is valid? [True, True] Translation: X:81.65, Y:44.67, Z:31.64 [[-5.37373597e-01 -7.98034314e-01 2.72710196e-01 8.16455646e+01] [ 6.95385736e-01 -6.02243736e-01 -3.92098405e-01 4.46705339e+01] [ 4.77145990e-01 -2.10645499e-02 8.78571562e-01 3.16375194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.54071405699997 meters Centerline goodness : 0.994331 Centerline is valid? [True, True] Translation: X:81.65, Y:44.67, Z:31.63 [[-5.34580963e-01 -7.99634391e-01 2.73510577e-01 8.16468052e+01] [ 7.04344999e-01 -6.00407247e-01 -3.78694152e-01 4.46652043e+01] [ 4.67034600e-01 -9.79687766e-03 8.84184768e-01 3.16315471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.57071405699998 meters Centerline goodness : 0.993849 Centerline is valid? [True, True] Translation: X:81.65, Y:44.69, Z:31.63 [[-5.35480756e-01 -8.08181692e-01 2.45158546e-01 8.16472227e+01] [ 6.95124020e-01 -5.86624304e-01 -4.15541240e-01 4.46892560e+01] [ 4.79648784e-01 -5.20987434e-02 8.75912533e-01 3.16346726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.60071405699998 meters Centerline goodness : 0.994102 Centerline is valid? [True, True] Translation: X:81.65, Y:44.67, Z:31.63 [[-5.34483065e-01 -8.02882500e-01 2.64021863e-01 8.16512863e+01] [ 6.98976734e-01 -5.95521485e-01 -3.95961723e-01 4.46658374e+01] [ 4.75141430e-01 -2.70896954e-02 8.79492337e-01 3.16310664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.63071405699998 meters Centerline goodness : 0.993470 Centerline is valid? [True, True] Translation: X:81.65, Y:44.67, Z:31.63 [[-5.34038442e-01 -8.03552292e-01 2.62881450e-01 8.16498002e+01] [ 6.97509299e-01 -5.94461583e-01 -4.00120237e-01 4.46678509e+01] [ 4.77790457e-01 -3.03173325e-02 8.77950533e-01 3.16336846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.66071405699998 meters Centerline goodness : 0.992971 Centerline is valid? [True, True] Translation: X:81.66, Y:44.67, Z:31.63 [[-5.35214225e-01 -8.05875481e-01 2.53200401e-01 8.16568938e+01] [ 6.98509523e-01 -5.90781920e-01 -4.03808332e-01 4.46658087e+01] [ 4.75005453e-01 -3.92610720e-02 8.79106585e-01 3.16268533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.69071405699998 meters Centerline goodness : 0.994046 Centerline is valid? [True, True] Translation: X:81.66, Y:44.65, Z:31.63 [[-5.35240481e-01 -8.03223571e-01 2.61437417e-01 8.16607399e+01] [ 6.96270934e-01 -5.94760444e-01 -4.01829318e-01 4.46542990e+01] [ 4.78251414e-01 -3.30440433e-02 8.77601092e-01 3.16253822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.72071405699998 meters Centerline goodness : 0.993621 Centerline is valid? [True, True] Translation: X:81.66, Y:44.66, Z:31.63 [[-5.35468996e-01 -8.01674789e-01 2.65688702e-01 8.16572202e+01] [ 6.94996804e-01 -5.97011820e-01 -4.00694809e-01 4.46590949e+01] [ 4.79846221e-01 -2.99068486e-02 8.76842736e-01 3.16289332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.75071405699998 meters Centerline goodness : 0.994261 Centerline is valid? [True, True] Translation: X:81.67, Y:44.62, Z:31.62 [[-5.32450184e-01 -7.96014945e-01 2.87848935e-01 8.16672129e+01] [ 7.07824817e-01 -6.05198088e-01 -3.64306605e-01 4.46233452e+01] [ 4.64199127e-01 9.77150134e-03 8.85676966e-01 3.16151202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.78071405699998 meters Centerline goodness : 0.994445 Centerline is valid? [True, True] Translation: X:81.66, Y:44.65, Z:31.61 [[-5.31672086e-01 -8.03384652e-01 2.68137829e-01 8.16615160e+01] [ 7.12016914e-01 -5.95419836e-01 -3.72165464e-01 4.46511853e+01] [ 4.58646604e-01 -6.95131917e-03 8.88591567e-01 3.16146674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.81071405699998 meters Centerline goodness : 0.993890 Centerline is valid? [True, True] Translation: X:81.68, Y:44.67, Z:31.60 [[-5.34997879e-01 -8.15942001e-01 2.19125352e-01 8.16806342e+01] [ 7.06482521e-01 -5.74300544e-01 -4.13595616e-01 4.46687749e+01] [ 4.63313843e-01 -6.64645461e-02 8.83698335e-01 3.15967238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.84071405699999 meters Centerline goodness : 0.993428 Centerline is valid? [True, True] Translation: X:81.68, Y:44.66, Z:31.60 [[-5.39344944e-01 -8.09691832e-01 2.31314004e-01 8.16798513e+01] [ 6.92587076e-01 -5.82777725e-01 -4.25080304e-01 4.46614508e+01] [ 4.78988699e-01 -6.90598235e-02 8.75100318e-01 3.16046310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.870714057 meters Centerline goodness : 0.994385 Centerline is valid? [True, True] Translation: X:81.67, Y:44.64, Z:31.62 [[-5.39319423e-01 -7.97960293e-01 2.69061204e-01 8.16705116e+01] [ 6.90594869e-01 -6.01942014e-01 -4.00929593e-01 4.46414523e+01] [ 4.81885138e-01 -3.04168297e-02 8.75706304e-01 3.16183084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.900714057 meters Centerline goodness : 0.994626 Centerline is valid? [True, True] Translation: X:81.67, Y:44.65, Z:31.62 [[-5.40848768e-01 -7.99700715e-01 2.60694030e-01 8.16691983e+01] [ 6.87163036e-01 -5.98832744e-01 -4.11346941e-01 4.46504277e+01] [ 4.85066564e-01 -4.33371853e-02 8.73402723e-01 3.16206570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.930714057 meters Centerline goodness : 0.990843 Centerline is valid? [True, True] Translation: X:81.67, Y:44.64, Z:31.62 [[-5.40973545e-01 -7.95556776e-01 2.72831521e-01 8.16694582e+01] [ 6.87588151e-01 -6.05161911e-01 -4.01250043e-01 4.46370292e+01] [ 4.84324435e-01 -2.94699374e-02 8.74391997e-01 3.16183106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.960714057 meters Centerline goodness : 0.991310 Centerline is valid? [True, True] Translation: X:81.67, Y:44.64, Z:31.62 [[-5.40444852e-01 -7.96834405e-01 2.70137545e-01 8.16688582e+01] [ 6.87737866e-01 -6.03327342e-01 -4.03748370e-01 4.46392673e+01] [ 4.84701959e-01 -3.24199096e-02 8.74078349e-01 3.16184597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.990714057 meters Centerline goodness : 0.991473 Centerline is valid? [True, True] Translation: X:81.67, Y:44.64, Z:31.62 [[-5.40771328e-01 -7.97381040e-01 2.67861622e-01 8.16701021e+01] [ 6.87653614e-01 -6.02465475e-01 -4.05176330e-01 4.46386071e+01] [ 4.84457303e-01 -3.49117292e-02 8.74118009e-01 3.16179712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.020714057 meters Centerline goodness : 0.989445 Centerline is valid? [True, True] Translation: X:81.67, Y:44.64, Z:31.62 [[-5.40458807e-01 -7.96446519e-01 2.71251213e-01 8.16664303e+01] [ 6.88212644e-01 -6.03934188e-01 -4.02028422e-01 4.46396173e+01] [ 4.84012019e-01 -3.06012872e-02 8.74526116e-01 3.16230804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.050714057 meters Centerline goodness : 0.989319 Centerline is valid? [True, True] Translation: X:81.67, Y:44.62, Z:31.62 [[-5.36865157e-01 -7.93815485e-01 2.85714506e-01 8.16676583e+01] [ 7.01592831e-01 -6.08157713e-01 -3.71364640e-01 4.46239893e+01] [ 4.68554482e-01 1.08251330e-03 8.83433940e-01 3.16151973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.080714057 meters Centerline goodness : 0.989848 Centerline is valid? [True, True] Translation: X:81.68, Y:44.64, Z:31.61 [[-5.37051192e-01 -8.04861011e-01 2.52536672e-01 8.16752538e+01] [ 7.00408678e-01 -5.92308945e-01 -3.98243390e-01 4.46416524e+01] [ 4.70110307e-01 -3.69982104e-02 8.81831861e-01 3.16061923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.110714057 meters Centerline goodness : 0.988539 Centerline is valid? [True, True] Translation: X:81.68, Y:44.63, Z:31.60 [[-5.36126007e-01 -8.02538458e-01 2.61726821e-01 8.16765676e+01] [ 7.03144625e-01 -5.96127022e-01 -3.87582519e-01 4.46316763e+01] [ 4.67072308e-01 -2.37612613e-02 8.83899803e-01 3.16041398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.140714057 meters Centerline goodness : 0.988104 Centerline is valid? [True, True] Translation: X:81.68, Y:44.65, Z:31.60 [[-5.38594369e-01 -8.08014490e-01 2.38806804e-01 8.16827595e+01] [ 6.92202479e-01 -5.85929437e-01 -4.21357833e-01 4.46492655e+01] [ 4.80387171e-01 -6.16382943e-02 8.74887928e-01 3.16034879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.170714057 meters Centerline goodness : 0.987528 Centerline is valid? [True, True] Translation: X:81.68, Y:44.64, Z:31.61 [[-5.37829209e-01 -7.99696235e-01 2.66881384e-01 8.16756565e+01] [ 6.89885951e-01 -5.99431282e-01 -4.05881156e-01 4.46366689e+01] [ 4.84558683e-01 -3.41770236e-02 8.74090850e-01 3.16134667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.20071405699997 meters Centerline goodness : 0.987179 Centerline is valid? [True, True] Translation: X:81.68, Y:44.63, Z:31.61 [[-5.37639112e-01 -7.98005615e-01 2.72270499e-01 8.16758615e+01] [ 6.90387387e-01 -6.02012219e-01 -4.01181436e-01 4.46317999e+01] [ 4.84055205e-01 -2.77187125e-02 8.74598326e-01 3.16128624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.23071405699997 meters Centerline goodness : 0.987115 Centerline is valid? [True, True] Translation: X:81.67, Y:44.63, Z:31.61 [[-5.37329766e-01 -7.98165920e-01 2.72411246e-01 8.16749892e+01] [ 6.90979460e-01 -6.01835451e-01 -4.00426618e-01 4.46337921e+01] [ 4.83553625e-01 -2.69305652e-02 8.74900358e-01 3.16136972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.26071405699997 meters Centerline goodness : 0.987598 Centerline is valid? [True, True] Translation: X:81.68, Y:44.63, Z:31.61 [[-5.36605013e-01 -7.99353945e-01 2.70348536e-01 8.16796654e+01] [ 6.90035508e-01 -6.00080999e-01 -4.04665038e-01 4.46293676e+01] [ 4.85701614e-01 -3.05951989e-02 8.73589077e-01 3.16106135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.29071405699997 meters Centerline goodness : 0.987081 Centerline is valid? [True, True] Translation: X:81.68, Y:44.62, Z:31.61 [[-5.35504879e-01 -7.98819072e-01 2.74085049e-01 8.16799650e+01] [ 6.92045104e-01 -6.01077317e-01 -3.99724446e-01 4.46246173e+01] [ 4.84053817e-01 -2.43751751e-02 8.74698664e-01 3.16094735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.32071405699998 meters Centerline goodness : 0.986591 Centerline is valid? [True, True] Translation: X:81.68, Y:44.61, Z:31.60 [[-5.32178290e-01 -7.97204612e-01 2.85045742e-01 8.16820024e+01] [ 7.04776099e-01 -6.03703598e-01 -3.72602492e-01 4.46095942e+01] [ 4.69123565e-01 2.60246918e-03 8.83128704e-01 3.16034412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.35071405699998 meters Centerline goodness : 0.987047 Centerline is valid? [True, True] Translation: X:81.69, Y:44.62, Z:31.59 [[-5.29876926e-01 -8.06427049e-01 2.62499253e-01 8.16886030e+01] [ 7.09098456e-01 -5.91072177e-01 -3.84464643e-01 4.46197232e+01] [ 4.65198692e-01 -1.75811278e-02 8.85031683e-01 3.15921921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.38071405699998 meters Centerline goodness : 0.987364 Centerline is valid? [True, True] Translation: X:81.69, Y:44.63, Z:31.59 [[-5.28749337e-01 -8.11893757e-01 2.47492758e-01 8.16932061e+01] [ 7.08818402e-01 -5.82772160e-01 -3.97433117e-01 4.46266334e+01] [ 4.66905356e-01 -3.47150759e-02 8.83625629e-01 3.15898763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.41071405699998 meters Centerline goodness : 0.991131 Centerline is valid? [True, True] Translation: X:81.68, Y:44.64, Z:31.62 [[-5.40859875e-01 -8.02651519e-01 2.51438134e-01 8.16755624e+01] [ 6.79527515e-01 -5.93147369e-01 -4.31762152e-01 4.46382096e+01] [ 4.95694415e-01 -6.26636929e-02 8.66233403e-01 3.16164118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.44071405699998 meters Centerline goodness : 0.991131 Centerline is valid? [True, True] Translation: X:81.67, Y:44.62, Z:31.63 [[-5.40001747e-01 -7.91916297e-01 2.85073134e-01 8.16674972e+01] [ 6.78792711e-01 -6.10021548e-01 -4.08795995e-01 4.46207123e+01] [ 4.97632965e-01 -2.72449864e-02 8.66959712e-01 3.16285482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.47071405699998 meters Centerline goodness : 0.992320 Centerline is valid? [True, True] Translation: X:81.67, Y:44.62, Z:31.63 [[-5.40153629e-01 -7.91841419e-01 2.84993376e-01 8.16682145e+01] [ 6.78997899e-01 -6.10128190e-01 -4.08295780e-01 4.46194024e+01] [ 4.97188002e-01 -2.70325440e-02 8.67221616e-01 3.16280207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.50071405699998 meters Centerline goodness : 0.991832 Centerline is valid? [True, True] Translation: X:81.67, Y:44.62, Z:31.62 [[-5.40338023e-01 -7.91895913e-01 2.84491977e-01 8.16720073e+01] [ 6.79708077e-01 -6.10074270e-01 -4.07193216e-01 4.46158070e+01] [ 4.96015879e-01 -2.66504831e-02 8.67904373e-01 3.16249613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.53071405699998 meters Centerline goodness : 0.991332 Centerline is valid? [True, True] Translation: X:81.67, Y:44.63, Z:31.62 [[-5.45028059e-01 -7.94705337e-01 2.67185032e-01 8.16716462e+01] [ 6.76123031e-01 -6.05054733e-01 -4.20435984e-01 4.46299941e+01] [ 4.95784289e-01 -4.84994545e-02 8.67090388e-01 3.16232494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.56071405699998 meters Centerline goodness : 0.984053 Centerline is valid? [True, True] Translation: X:81.22, Y:45.25, Z:32.05 [[-5.49921648e-01 -7.86887680e-01 2.79989215e-01 8.12233069e+01] [ 6.80113824e-01 -6.16471770e-01 -3.96746448e-01 4.52531147e+01] [ 4.84800339e-01 -2.77549248e-02 8.74184360e-01 3.20456987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.59071405699999 meters Centerline goodness : 0.992142 Centerline is valid? [True, True] Translation: X:81.66, Y:44.61, Z:31.65 [[-5.36219321e-01 -7.87024487e-01 3.05059498e-01 8.16569078e+01] [ 6.86866602e-01 -6.16911816e-01 -3.84231808e-01 4.46135674e+01] [ 4.90594650e-01 3.50266114e-03 8.71380870e-01 3.16460068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.620714057 meters Centerline goodness : 0.992755 Centerline is valid? [True, True] Translation: X:81.66, Y:44.63, Z:31.63 [[-5.39726208e-01 -7.95040399e-01 2.76778583e-01 8.16648879e+01] [ 6.84982528e-01 -6.05872579e-01 -4.04620013e-01 4.46286314e+01] [ 4.89381810e-01 -2.87955315e-02 8.71594092e-01 3.16344897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.650714057 meters Centerline goodness : 0.992670 Centerline is valid? [True, True] Translation: X:81.66, Y:44.63, Z:31.64 [[-5.41525680e-01 -7.93691903e-01 2.77133723e-01 8.16632212e+01] [ 6.83380365e-01 -6.07589745e-01 -4.04754221e-01 4.46328109e+01] [ 4.89633755e-01 -2.97970600e-02 8.71418912e-01 3.16367023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.680714057 meters Centerline goodness : 0.991845 Centerline is valid? [True, True] Translation: X:81.67, Y:44.63, Z:31.63 [[-5.43587693e-01 -7.92252297e-01 2.77216013e-01 8.16671321e+01] [ 6.81911845e-01 -6.09413908e-01 -4.04488473e-01 4.46292046e+01] [ 4.89396216e-01 -3.08380731e-02 8.71516126e-01 3.16329784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.710714057 meters Centerline goodness : 0.991787 Centerline is valid? [True, True] Translation: X:81.67, Y:44.63, Z:31.63 [[-5.45434062e-01 -7.90948424e-01 2.77312594e-01 8.16716925e+01] [ 6.80584325e-01 -6.11058350e-01 -4.04243329e-01 4.46253455e+01] [ 4.89189800e-01 -3.17534763e-02 8.71599137e-01 3.16291713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.740714057 meters Centerline goodness : 0.990582 Centerline is valid? [True, True] Translation: X:81.43, Y:44.99, Z:31.87 [[-5.44469801e-01 -7.92217631e-01 2.75579138e-01 8.14264382e+01] [ 6.82997992e-01 -6.09451747e-01 -4.02594474e-01 4.49936336e+01] [ 4.86894628e-01 -3.09805350e-02 8.72911122e-01 3.18652750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.770714057 meters Centerline goodness : 0.992921 Centerline is valid? [True, True] Translation: X:81.67, Y:44.64, Z:31.63 [[-5.50055861e-01 -7.89671554e-01 2.71767157e-01 8.16705963e+01] [ 6.77582005e-01 -6.12223925e-01 -4.07510113e-01 4.46354692e+01] [ 4.88181499e-01 -4.00087908e-02 8.71824593e-01 3.16306789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.800714057 meters Centerline goodness : 0.992986 Centerline is valid? [True, True] Translation: X:81.67, Y:44.63, Z:31.63 [[-5.51833963e-01 -7.86718755e-01 2.76681906e-01 8.16717359e+01] [ 6.76544875e-01 -6.16305328e-01 -4.03056789e-01 4.46296853e+01] [ 4.87612868e-01 -3.52327000e-02 8.72348754e-01 3.16310999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.830714057 meters Centerline goodness : 0.993088 Centerline is valid? [True, True] Translation: X:81.67, Y:44.63, Z:31.63 [[-5.52932073e-01 -7.86070151e-01 2.76332842e-01 8.16711300e+01] [ 6.76334222e-01 -6.17118400e-01 -4.02165264e-01 4.46304327e+01] [ 4.86660191e-01 -3.54767152e-02 8.72870701e-01 3.16316287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.860714057 meters Centerline goodness : 0.992774 Centerline is valid? [True, True] Translation: X:81.67, Y:44.63, Z:31.63 [[-5.54221770e-01 -7.85395215e-01 2.75667526e-01 8.16686081e+01] [ 6.76362555e-01 -6.17964899e-01 -4.00815517e-01 4.46346675e+01] [ 4.85151445e-01 -3.56894931e-02 8.73701514e-01 3.16344034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.890714057 meters Centerline goodness : 0.992467 Centerline is valid? [True, True] Translation: X:81.67, Y:44.63, Z:31.63 [[-5.55182387e-01 -7.84758761e-01 2.75547099e-01 8.16697616e+01] [ 6.75968399e-01 -6.18757590e-01 -4.00257128e-01 4.46330459e+01] [ 4.84602147e-01 -3.59545763e-02 8.73995439e-01 3.16330244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.920714057 meters Centerline goodness : 0.993400 Centerline is valid? [True, True] Translation: X:81.67, Y:44.63, Z:31.63 [[-5.55876437e-01 -7.84240281e-01 2.75623963e-01 8.16693933e+01] [ 6.75538195e-01 -6.19403378e-01 -3.99984503e-01 4.46334766e+01] [ 4.84406372e-01 -3.61474458e-02 8.74096007e-01 3.16327894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.95071405699997 meters Centerline goodness : 0.991045 Centerline is valid? [True, True] Translation: X:81.68, Y:44.62, Z:31.62 [[-5.45415980e-01 -7.89150144e-01 2.82424256e-01 8.16848178e+01] [ 6.91201544e-01 -6.14071317e-01 -3.80994545e-01 4.46172922e+01] [ 4.74090535e-01 -1.25884313e-02 8.80386106e-01 3.16167864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.98071405699997 meters Centerline goodness : 0.992101 Centerline is valid? [True, True] Translation: X:81.43, Y:45.00, Z:31.86 [[-5.60033627e-01 -7.87499896e-01 2.57305753e-01 8.14263335e+01] [ 6.72987245e-01 -6.13563456e-01 -4.13071488e-01 4.50036503e+01] [ 4.83167161e-01 -5.81704344e-02 8.73593553e-01 3.18590198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.01071405699997 meters Centerline goodness : 0.994274 Centerline is valid? [True, True] Translation: X:81.68, Y:44.63, Z:31.62 [[-5.61259044e-01 -7.80353648e-01 2.75747111e-01 8.16758297e+01] [ 6.69857961e-01 -6.23983341e-01 -4.02411607e-01 4.46273553e+01] [ 4.86084969e-01 -4.11457557e-02 8.72942398e-01 3.16246863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.04071405699997 meters Centerline goodness : 0.993023 Centerline is valid? [True, True] Translation: X:81.70, Y:44.60, Z:31.60 [[-5.48656120e-01 -7.86331349e-01 2.84006110e-01 8.16976262e+01] [ 6.86828058e-01 -6.17618926e-01 -3.83163256e-01 4.46015830e+01] [ 4.76700829e-01 -1.51615006e-02 8.78934837e-01 3.16027821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.07071405699998 meters Centerline goodness : 0.991841 Centerline is valid? [True, True] Translation: X:81.71, Y:44.61, Z:31.59 [[-5.47446103e-01 -7.95088381e-01 2.61031091e-01 8.17056337e+01] [ 6.90572217e-01 -6.05401626e-01 -3.95725769e-01 4.46088927e+01] [ 4.72665608e-01 -3.63777112e-02 8.80490707e-01 3.15893083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.10071405699998 meters Centerline goodness : 0.993726 Centerline is valid? [True, True] Translation: X:81.68, Y:44.64, Z:31.61 [[-5.64214244e-01 -7.88095775e-01 2.46104319e-01 8.16825872e+01] [ 6.68682114e-01 -6.11029843e-01 -4.23682384e-01 4.46396847e+01] [ 4.84279380e-01 -7.44820797e-02 8.71737290e-01 3.16106150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.13071405699998 meters Centerline goodness : 0.992102 Centerline is valid? [True, True] Translation: X:81.41, Y:45.00, Z:31.87 [[-5.66116945e-01 -7.76532796e-01 2.76601556e-01 8.14101512e+01] [ 6.66149859e-01 -6.28610508e-01 -4.01364167e-01 4.49955401e+01] [ 4.85547084e-01 -4.29609682e-02 8.73154273e-01 3.18679638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.16071405699998 meters Centerline goodness : 0.992757 Centerline is valid? [True, True] Translation: X:81.66, Y:44.63, Z:31.63 [[-5.64792827e-01 -7.76178874e-01 2.80277396e-01 8.16648524e+01] [ 6.67129409e-01 -6.29359436e-01 -3.98553700e-01 4.46275333e+01] [ 4.85744186e-01 -3.81189772e-02 8.73269448e-01 3.16286064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.19071405699998 meters Centerline goodness : 0.992712 Centerline is valid? [True, True] Translation: X:81.70, Y:44.59, Z:31.60 [[-5.48982639e-01 -7.89043567e-01 2.75732318e-01 8.17007920e+01] [ 6.81169502e-01 -6.13529609e-01 -3.99486580e-01 4.45939237e+01] [ 4.84382258e-01 -3.14907511e-02 8.74289518e-01 3.15976412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.22071405699998 meters Centerline goodness : 0.991075 Centerline is valid? [True, True] Translation: X:81.36, Y:45.04, Z:31.90 [[-5.80891825e-01 -7.68963681e-01 2.66944835e-01 8.13649291e+01] [ 6.56262168e-01 -6.36448002e-01 -4.05282502e-01 4.50437345e+01] [ 4.81544032e-01 -6.02394965e-02 8.74349214e-01 3.18988845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.25071405699998 meters Centerline goodness : 0.991065 Centerline is valid? [True, True] Translation: X:81.34, Y:45.07, Z:31.92 [[-5.76385381e-01 -7.67144394e-01 2.81548170e-01 8.13430642e+01] [ 6.57156939e-01 -6.39925539e-01 -3.98296450e-01 4.50653699e+01] [ 4.85720754e-01 -4.45509175e-02 8.72977987e-01 3.19244934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.28071405699998 meters Centerline goodness : 0.992160 Centerline is valid? [True, True] Translation: X:81.79, Y:44.35, Z:32.37 [[-4.90382849e-01 1.92875269e-01 8.49896342e-01 8.17871574e+01] [ 7.28866452e-01 -4.43868953e-01 5.21281160e-01 4.43461490e+01] [ 4.77784844e-01 8.75088271e-01 7.70854088e-02 3.23678562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.31071405699998 meters Centerline goodness : 0.992072 Centerline is valid? [True, True] Translation: X:81.33, Y:45.09, Z:31.93 [[-5.95028898e-01 -7.72421659e-01 2.22048174e-01 8.13320814e+01] [ 6.82932126e-01 -6.31594237e-01 -3.67004674e-01 4.50871228e+01] [ 4.23726706e-01 -6.67345549e-02 9.03328389e-01 3.19289101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.34071405699999 meters Centerline goodness : 0.987958 Centerline is valid? [True, True] Translation: X:81.30, Y:45.07, Z:31.94 [[-6.23965912e-01 -7.42868906e-01 2.42512535e-01 8.13043644e+01] [ 6.62674383e-01 -6.67475993e-01 -3.39615166e-01 4.50745342e+01] [ 4.14160842e-01 -5.12014423e-02 9.08762460e-01 3.19384538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.370714057 meters Centerline goodness : 0.994263 Centerline is valid? [True, True] Translation: X:81.62, Y:44.66, Z:31.72 [[-5.91696892e-01 -7.60239566e-01 2.68198789e-01 8.16155029e+01] [ 6.83584012e-01 -6.49498848e-01 -3.32962678e-01 4.46605707e+01] [ 4.27326206e-01 -1.36765773e-02 9.03994063e-01 3.17202750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.400714057 meters Centerline goodness : 0.993681 Centerline is valid? [True, True] Translation: X:81.62, Y:44.66, Z:31.71 [[-5.91930786e-01 -7.66401338e-01 2.49493355e-01 8.16224303e+01] [ 6.84006290e-01 -6.41406671e-01 -3.47466368e-01 4.46635273e+01] [ 4.26325392e-01 -3.50210158e-02 9.03891691e-01 3.17091907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.430714057 meters Centerline goodness : 0.991098 Centerline is valid? [True, True] Translation: X:81.34, Y:45.06, Z:31.92 [[-5.96786446e-01 -7.68399644e-01 2.31101547e-01 8.13429838e+01] [ 6.81494996e-01 -6.37420959e-01 -3.59526204e-01 4.50577822e+01] [ 4.23568777e-01 -5.70658180e-02 9.04064701e-01 3.19219085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.460714057 meters Centerline goodness : 0.990655 Centerline is valid? [True, True] Translation: X:81.63, Y:44.65, Z:31.71 [[-5.70616212e-01 -7.78378820e-01 2.61770036e-01 8.16260188e+01] [ 6.95195402e-01 -6.27534979e-01 -3.50575531e-01 4.46506960e+01] [ 4.37150422e-01 -1.80627562e-02 8.99207009e-01 3.17101825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.490714057 meters Centerline goodness : 0.992236 Centerline is valid? [True, True] Translation: X:81.63, Y:44.66, Z:31.70 [[-5.70123206e-01 -7.84042125e-01 2.45433242e-01 8.16278646e+01] [ 6.96754753e-01 -6.19724049e-01 -3.61213119e-01 4.46581444e+01] [ 4.35307184e-01 -3.49292032e-02 8.99604139e-01 3.17027676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.520714057 meters Centerline goodness : 0.992160 Centerline is valid? [True, True] Translation: X:81.62, Y:44.66, Z:31.71 [[-5.70089211e-01 -7.84246792e-01 2.44857635e-01 8.16223614e+01] [ 6.97541919e-01 -6.19489791e-01 -3.60093974e-01 4.46589129e+01] [ 4.34089349e-01 -3.44872252e-02 9.00209458e-01 3.17068540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.550714057 meters Centerline goodness : 0.991894 Centerline is valid? [True, True] Translation: X:81.62, Y:44.66, Z:31.71 [[-5.70347177e-01 -7.84124219e-01 2.44649355e-01 8.16190394e+01] [ 6.98183273e-01 -6.19690378e-01 -3.58502376e-01 4.46610955e+01] [ 4.32717247e-01 -3.36607310e-02 9.00901071e-01 3.17093884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.580714057 meters Centerline goodness : 0.991841 Centerline is valid? [True, True] Translation: X:81.62, Y:44.66, Z:31.71 [[-5.70675693e-01 -7.84597463e-01 2.42355267e-01 8.16182498e+01] [ 6.98300242e-01 -6.18963068e-01 -3.59529543e-01 4.46607478e+01] [ 4.32094927e-01 -3.59380288e-02 9.01111776e-01 3.17087473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.610714057 meters Centerline goodness : 0.992018 Centerline is valid? [True, True] Translation: X:81.61, Y:44.67, Z:31.72 [[-5.71163756e-01 -7.83149280e-01 2.45864125e-01 8.16067060e+01] [ 6.98667149e-01 -6.21056083e-01 -3.55181020e-01 4.46716434e+01] [ 4.30855170e-01 -3.10893379e-02 9.01885400e-01 3.17181838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.640714057 meters Centerline goodness : 0.991355 Centerline is valid? [True, True] Translation: X:81.60, Y:44.68, Z:31.72 [[-5.71964188e-01 -7.82020849e-01 2.47589093e-01 8.15982339e+01] [ 6.99088531e-01 -6.22622501e-01 -3.51591306e-01 4.46787418e+01] [ 4.29106272e-01 -2.80109404e-02 9.02819580e-01 3.17235131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.670714057 meters Centerline goodness : 0.991019 Centerline is valid? [True, True] Translation: X:81.61, Y:44.67, Z:31.72 [[-5.72644030e-01 -7.83190261e-01 2.42263968e-01 8.16054915e+01] [ 6.97668890e-01 -6.20750858e-01 -3.57668132e-01 4.46718231e+01] [ 4.30507763e-01 -3.57964866e-02 9.01876753e-01 3.17158953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.70071405699997 meters Centerline goodness : 0.990620 Centerline is valid? [True, True] Translation: X:81.61, Y:44.65, Z:31.71 [[-5.73179038e-01 -7.80532352e-01 2.49469514e-01 8.16146463e+01] [ 6.97787013e-01 -6.24532547e-01 -3.50788231e-01 4.46498991e+01] [ 4.29603393e-01 -2.69878739e-02 9.02614302e-01 3.17069284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.73071405699997 meters Centerline goodness : 0.989842 Centerline is valid? [True, True] Translation: X:81.61, Y:44.66, Z:31.71 [[-5.74838360e-01 -7.80221309e-01 2.46608129e-01 8.16070300e+01] [ 6.96955560e-01 -6.24760127e-01 -3.52033706e-01 4.46620864e+01] [ 4.28735125e-01 -3.04875716e-02 9.02915666e-01 3.17108061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.76071405699997 meters Centerline goodness : 0.989195 Centerline is valid? [True, True] Translation: X:81.62, Y:44.65, Z:31.70 [[-5.75520414e-01 -7.79516309e-01 2.47245985e-01 8.16173481e+01] [ 6.97718239e-01 -6.25746458e-01 -3.48755831e-01 4.46467076e+01] [ 4.26574158e-01 -2.82080675e-02 9.04012607e-01 3.17016041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.79071405699997 meters Centerline goodness : 0.990309 Centerline is valid? [True, True] Translation: X:81.61, Y:44.67, Z:31.71 [[-5.78671540e-01 -7.81304686e-01 2.33885093e-01 8.16076415e+01] [ 6.91364534e-01 -6.22066301e-01 -3.67489589e-01 4.46695078e+01] [ 4.32613373e-01 -5.09559080e-02 9.00138414e-01 3.17059042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.82071405699998 meters Centerline goodness : 0.991097 Centerline is valid? [True, True] Translation: X:81.62, Y:44.64, Z:31.70 [[-5.77962546e-01 -7.77055436e-01 2.49287274e-01 8.16165448e+01] [ 6.90498219e-01 -6.28467174e-01 -3.58107833e-01 4.46443591e+01] [ 4.34938507e-01 -3.48404965e-02 8.99785883e-01 3.17007392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.85071405699998 meters Centerline goodness : 0.990629 Centerline is valid? [True, True] Translation: X:81.61, Y:44.63, Z:31.70 [[-5.78083823e-01 -7.73285232e-01 2.60478490e-01 8.16123478e+01] [ 6.97850301e-01 -6.33964540e-01 -3.33307546e-01 4.46334054e+01] [ 4.22875929e-01 -1.09047081e-02 9.06121976e-01 3.17001482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.88071405699998 meters Centerline goodness : 0.989609 Centerline is valid? [True, True] Translation: X:81.62, Y:44.65, Z:31.69 [[-5.79380019e-01 -7.80584984e-01 2.34533316e-01 8.16191555e+01] [ 6.96964472e-01 -6.23662863e-01 -3.53956436e-01 4.46456213e+01] [ 4.22562798e-01 -4.16138982e-02 9.05377802e-01 3.16891564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.91071405699998 meters Centerline goodness : 0.989764 Centerline is valid? [True, True] Translation: X:81.62, Y:44.64, Z:31.69 [[-5.79609768e-01 -7.79847093e-01 2.36412834e-01 8.16206076e+01] [ 6.95030349e-01 -6.24550305e-01 -3.56187774e-01 4.46410145e+01] [ 4.25423708e-01 -4.21358184e-02 9.04012855e-01 3.16890533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.94071405699998 meters Centerline goodness : 0.988180 Centerline is valid? [True, True] Translation: X:81.61, Y:44.65, Z:31.70 [[-5.79769851e-01 -7.77948660e-01 2.42204052e-01 8.16126417e+01] [ 6.94662470e-01 -6.27304091e-01 -3.52042087e-01 4.46460032e+01] [ 4.25806263e-01 -3.58533237e-02 9.04103736e-01 3.16965002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.97071405699998 meters Centerline goodness : 0.988926 Centerline is valid? [True, True] Translation: X:81.61, Y:44.65, Z:31.70 [[-5.79972401e-01 -7.77423166e-01 2.43403439e-01 8.16083197e+01] [ 6.95204751e-01 -6.28083699e-01 -3.49572912e-01 4.46494872e+01] [ 4.24643813e-01 -3.35274137e-02 9.04739490e-01 3.16993043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.00071405699998 meters Centerline goodness : 0.988950 Centerline is valid? [True, True] Translation: X:81.60, Y:44.65, Z:31.70 [[-5.80170378e-01 -7.77630397e-01 2.42266997e-01 8.16037612e+01] [ 6.95459473e-01 -6.27782944e-01 -3.49606488e-01 4.46549875e+01] [ 4.23955721e-01 -3.43444501e-02 9.05031494e-01 3.17023743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.03071405699998 meters Centerline goodness : 0.988735 Centerline is valid? [True, True] Translation: X:81.60, Y:44.65, Z:31.70 [[-5.80369726e-01 -7.78034816e-01 2.40484523e-01 8.16025730e+01] [ 6.97255530e-01 -6.27320871e-01 -3.46847590e-01 4.46527271e+01] [ 4.20720461e-01 -3.36206775e-02 9.06567120e-01 3.17017349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.06071405699998 meters Centerline goodness : 0.988605 Centerline is valid? [True, True] Translation: X:81.62, Y:44.63, Z:31.69 [[-5.78614576e-01 -7.78362895e-01 2.43631639e-01 8.16176114e+01] [ 6.99250836e-01 -6.27183715e-01 -3.43058094e-01 4.46267425e+01] [ 4.19825488e-01 -2.81387866e-02 9.07168545e-01 3.16885289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.09071405699999 meters Centerline goodness : 0.987892 Centerline is valid? [True, True] Translation: X:81.62, Y:44.63, Z:31.68 [[-5.77175717e-01 -7.81322265e-01 2.37494650e-01 8.16195129e+01] [ 7.00244476e-01 -6.23160250e-01 -3.48323092e-01 4.46257405e+01] [ 4.20149813e-01 -3.47393142e-02 9.06789565e-01 3.16839894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.120714057 meters Centerline goodness : 0.988491 Centerline is valid? [True, True] Translation: X:81.62, Y:44.61, Z:31.69 [[-5.75511209e-01 -7.79369838e-01 2.47728691e-01 8.16200180e+01] [ 7.01938008e-01 -6.26198272e-01 -3.39350494e-01 4.46139547e+01] [ 4.19606817e-01 -2.14098293e-02 9.07453436e-01 3.16854903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.150714057 meters Centerline goodness : 0.987966 Centerline is valid? [True, True] Translation: X:81.61, Y:44.63, Z:31.69 [[-5.75314705e-01 -7.83203419e-01 2.35807961e-01 8.16132928e+01] [ 7.03253855e-01 -6.20866309e-01 -3.46351037e-01 4.46324833e+01] [ 4.17668535e-01 -3.34279877e-02 9.07984342e-01 3.16869467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.180714057 meters Centerline goodness : 0.987594 Centerline is valid? [True, True] Translation: X:81.60, Y:44.65, Z:31.69 [[-5.73057918e-01 -7.84480783e-01 2.37053842e-01 8.16017646e+01] [ 7.03449894e-01 -6.19267509e-01 -3.48806534e-01 4.46452833e+01] [ 4.20431765e-01 -3.31308461e-02 9.06719073e-01 3.16949246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.210714057 meters Centerline goodness : 0.986653 Centerline is valid? [True, True] Translation: X:81.62, Y:44.62, Z:31.68 [[-5.70689038e-01 -7.83813253e-01 2.44848537e-01 8.16178904e+01] [ 7.04604863e-01 -6.20536373e-01 -3.44189769e-01 4.46152532e+01] [ 4.21717926e-01 -2.39038588e-02 9.06411936e-01 3.16827198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.240714057 meters Centerline goodness : 0.986531 Centerline is valid? [True, True] Translation: X:81.62, Y:44.61, Z:31.68 [[-5.67829314e-01 -7.87239653e-01 2.40465380e-01 8.16225766e+01] [ 7.07217971e-01 -6.16060320e-01 -3.46860813e-01 4.46101555e+01] [ 4.21203766e-01 -2.68962995e-02 9.06567139e-01 3.16762481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.270714057 meters Centerline goodness : 0.985839 Centerline is valid? [True, True] Translation: X:81.63, Y:44.60, Z:31.67 [[-5.66722296e-01 -7.88442517e-01 2.39132256e-01 8.16295591e+01] [ 7.07613111e-01 -6.14446797e-01 -3.48910905e-01 4.46006548e+01] [ 4.22030241e-01 -2.85224698e-02 9.06132962e-01 3.16700151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.300714057 meters Centerline goodness : 0.986373 Centerline is valid? [True, True] Translation: X:81.63, Y:44.60, Z:31.67 [[-5.66151180e-01 -7.89081109e-01 2.38377527e-01 8.16308564e+01] [ 7.07226964e-01 -6.13541801e-01 -3.51278351e-01 4.45990308e+01] [ 4.23441688e-01 -3.02896379e-02 9.05416851e-01 3.16692668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.330714057 meters Centerline goodness : 0.984682 Centerline is valid? [True, True] Translation: X:81.64, Y:44.58, Z:31.66 [[-5.60493803e-01 -7.89561761e-01 2.49877814e-01 8.16364824e+01] [ 7.22788261e-01 -6.13666058e-01 -3.17790967e-01 4.45780540e+01] [ 4.04257128e-01 2.48888286e-03 9.14641995e-01 3.16609615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.360714057 meters Centerline goodness : 0.984682 Centerline is valid? [True, True] Translation: X:81.65, Y:44.59, Z:31.65 [[-5.60320684e-01 -7.97798226e-01 2.22617881e-01 8.16453817e+01] [ 7.23515916e-01 -6.02276708e-01 -3.37324008e-01 4.45900339e+01] [ 4.03194060e-01 -2.79420390e-02 9.14687812e-01 3.16471704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.390714057 meters Centerline goodness : 0.984204 Centerline is valid? [True, True] Translation: X:81.65, Y:44.59, Z:31.65 [[-5.61071356e-01 -7.97629508e-01 2.21328043e-01 8.16451818e+01] [ 7.21559218e-01 -6.02305101e-01 -3.41439394e-01 4.45902541e+01] [ 4.05649145e-01 -3.18705745e-02 9.13473063e-01 3.16486049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.420714057 meters Centerline goodness : 0.985350 Centerline is valid? [True, True] Translation: X:81.65, Y:44.59, Z:31.65 [[-5.62420727e-01 -7.96616378e-01 2.21551962e-01 8.16469752e+01] [ 7.13485410e-01 -6.02979752e-01 -3.56866907e-01 4.45872833e+01] [ 4.17877370e-01 -4.26352525e-02 9.07502473e-01 3.16508841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.45071405699997 meters Centerline goodness : 0.985664 Centerline is valid? [True, True] Translation: X:81.64, Y:44.58, Z:31.66 [[-5.62108096e-01 -7.91907346e-01 2.38573350e-01 8.16385283e+01] [ 7.12712284e-01 -6.10149997e-01 -3.46060950e-01 4.45843014e+01] [ 4.19613737e-01 -2.44895046e-02 9.07372347e-01 3.16621311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.48071405699997 meters Centerline goodness : 0.985860 Centerline is valid? [True, True] Translation: X:81.63, Y:44.60, Z:31.67 [[-5.62539030e-01 -7.91443657e-01 2.39095748e-01 8.16252744e+01] [ 7.13724448e-01 -6.10840419e-01 -3.42741002e-01 4.46016670e+01] [ 4.17309539e-01 -2.21567104e-02 9.08494265e-01 3.16721086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.51071405699997 meters Centerline goodness : 0.985668 Centerline is valid? [True, True] Translation: X:81.64, Y:44.58, Z:31.66 [[-5.62000540e-01 -7.92441151e-01 2.37049394e-01 8.16396558e+01] [ 7.14520341e-01 -6.09489179e-01 -3.43487441e-01 4.45848503e+01] [ 4.16672624e-01 -2.36635131e-02 9.08748570e-01 3.16606211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.54071405699997 meters Centerline goodness : 0.985479 Centerline is valid? [True, True] Translation: X:81.62, Y:44.61, Z:31.67 [[-5.63594821e-01 -7.91372136e-01 2.36835428e-01 8.16226427e+01] [ 7.12622571e-01 -6.10793105e-01 -3.45109916e-01 4.46086696e+01] [ 4.17767818e-01 -2.57278901e-02 9.08189477e-01 3.16745431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.57071405699998 meters Centerline goodness : 0.986056 Centerline is valid? [True, True] Translation: X:81.64, Y:44.59, Z:31.66 [[-5.64272925e-01 -7.91098916e-01 2.36132528e-01 8.16391938e+01] [ 7.12556621e-01 -6.11125912e-01 -3.44656613e-01 4.45866852e+01] [ 4.16964180e-01 -2.62225988e-02 9.08544577e-01 3.16633673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.60071405699998 meters Centerline goodness : 0.987086 Centerline is valid? [True, True] Translation: X:81.63, Y:44.60, Z:31.67 [[-5.64785113e-01 -7.89530728e-01 2.40122897e-01 8.16297696e+01] [ 7.11588813e-01 -6.13289436e-01 -3.42808153e-01 4.45975634e+01] [ 4.17922406e-01 -2.27441745e-02 9.08197977e-01 3.16693869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.63071405699998 meters Centerline goodness : 0.986118 Centerline is valid? [True, True] Translation: X:81.65, Y:44.58, Z:31.66 [[-5.67222002e-01 -7.89126472e-01 2.35666314e-01 8.16453437e+01] [ 7.10304653e-01 -6.13580054e-01 -3.44944660e-01 4.45817883e+01] [ 4.16805112e-01 -2.82653211e-02 9.08556311e-01 3.16579372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.66071405699998 meters Centerline goodness : 0.987389 Centerline is valid? [True, True] Translation: X:81.65, Y:44.58, Z:31.66 [[-5.67967451e-01 -7.87605075e-01 2.38937690e-01 8.16456774e+01] [ 7.09119515e-01 -6.15640828e-01 -3.43709011e-01 4.45802799e+01] [ 4.17806758e-01 -2.57801521e-02 9.08170081e-01 3.16581817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.69071405699998 meters Centerline goodness : 0.986726 Centerline is valid? [True, True] Translation: X:81.64, Y:44.59, Z:31.66 [[-5.69510067e-01 -7.86890323e-01 2.37617135e-01 8.16434942e+01] [ 7.08128662e-01 -6.16466237e-01 -3.44271951e-01 4.45857140e+01] [ 4.17387208e-01 -2.78028383e-02 9.08303320e-01 3.16608190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.72071405699998 meters Centerline goodness : 0.986656 Centerline is valid? [True, True] Translation: X:81.65, Y:44.58, Z:31.66 [[-5.70290020e-01 -7.85664550e-01 2.39792635e-01 8.16503298e+01] [ 7.08589977e-01 -6.18182759e-01 -3.40220987e-01 4.45759397e+01] [ 4.15535242e-01 -2.41099760e-02 9.09257484e-01 3.16558948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.75071405699998 meters Centerline goodness : 0.986801 Centerline is valid? [True, True] Translation: X:81.64, Y:44.60, Z:31.67 [[-5.71244727e-01 -7.85491154e-01 2.38082146e-01 8.16356927e+01] [ 7.08697267e-01 -6.18354926e-01 -3.39684219e-01 4.45978288e+01] [ 4.14038217e-01 -2.53146531e-02 9.09907426e-01 3.16671118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.78071405699998 meters Centerline goodness : 0.986978 Centerline is valid? [True, True] Translation: X:81.65, Y:44.58, Z:31.66 [[-5.71541791e-01 -7.86223935e-01 2.34929574e-01 8.16518993e+01] [ 7.08398505e-01 -6.17250525e-01 -3.42305929e-01 4.45798845e+01] [ 4.14139517e-01 -2.92183849e-02 9.09744330e-01 3.16554577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.81071405699998 meters Centerline goodness : 0.987554 Centerline is valid? [True, True] Translation: X:81.65, Y:44.58, Z:31.66 [[-5.69702492e-01 -7.85799863e-01 2.40743943e-01 8.16507254e+01] [ 7.12831367e-01 -6.18246293e-01 -3.31123788e-01 4.45752940e+01] [ 4.09036078e-01 -1.70322127e-02 9.12359244e-01 3.16558883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.84071405699999 meters Centerline goodness : 0.986717 Centerline is valid? [True, True] Translation: X:81.65, Y:44.59, Z:31.65 [[-5.70769763e-01 -7.88480819e-01 2.29172152e-01 8.16525406e+01] [ 7.09828339e-01 -6.14105723e-01 -3.44989695e-01 4.45856579e+01] [ 4.12753687e-01 -3.42367986e-02 9.10199009e-01 3.16546940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.870714057 meters Centerline goodness : 0.987717 Centerline is valid? [True, True] Translation: X:81.65, Y:44.58, Z:31.66 [[-5.70390379e-01 -7.86236550e-01 2.37669737e-01 8.16512882e+01] [ 7.10841148e-01 -6.17492208e-01 -3.36761391e-01 4.45819063e+01] [ 4.11533325e-01 -2.31400286e-02 9.11100906e-01 3.16574139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.900714057 meters Centerline goodness : 0.988624 Centerline is valid? [True, True] Translation: X:81.65, Y:44.58, Z:31.66 [[-5.68774775e-01 -7.86590699e-01 2.40354588e-01 8.16497742e+01] [ 7.14628432e-01 -6.17283036e-01 -3.29040814e-01 4.45805011e+01] [ 4.07187253e-01 -1.53858927e-02 9.13215098e-01 3.16566942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.930714057 meters Centerline goodness : 0.987164 Centerline is valid? [True, True] Translation: X:81.26, Y:45.11, Z:31.96 [[-5.91893055e-01 -7.71541413e-01 2.33209045e-01 8.12550633e+01] [ 6.86970541e-01 -6.34231241e-01 -3.54714263e-01 4.51126497e+01] [ 4.21585206e-01 -4.97451650e-02 9.05423289e-01 3.19623606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.960714057 meters Centerline goodness : 0.987791 Centerline is valid? [True, True] Translation: X:81.65, Y:44.57, Z:31.66 [[-5.68770242e-01 -7.80162157e-01 2.60475375e-01 8.16470694e+01] [ 7.15630594e-01 -6.25503513e-01 -3.10834695e-01 4.45708952e+01] [ 4.05429728e-01 9.61062258e-03 9.14075693e-01 3.16641533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.990714057 meters Centerline goodness : 0.988815 Centerline is valid? [True, True] Translation: X:81.66, Y:44.58, Z:31.64 [[-5.68140996e-01 -7.90307206e-01 2.29413011e-01 8.16626204e+01] [ 7.16055084e-01 -6.12145018e-01 -3.35475175e-01 4.45790405e+01] [ 4.05562480e-01 -2.63248471e-02 9.13688173e-01 3.16444569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.020714057 meters Centerline goodness : 0.990974 Centerline is valid? [True, True] Translation: X:81.51, Y:44.78, Z:31.77 [[-5.85833124e-01 -7.78750036e-01 2.24383450e-01 8.15094935e+01] [ 6.88692521e-01 -6.24316574e-01 -3.68688795e-01 4.47844593e+01] [ 4.27202719e-01 -6.14589042e-02 9.02064654e-01 3.17693988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.050714057 meters Centerline goodness : 0.991137 Centerline is valid? [True, True] Translation: X:81.62, Y:44.61, Z:31.69 [[-5.84198423e-01 -7.69930860e-01 2.56746322e-01 8.16192118e+01] [ 6.84985422e-01 -6.37409057e-01 -3.52852186e-01 4.46139294e+01] [ 4.35324218e-01 -3.02682028e-02 8.99764781e-01 3.16943298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.080714057 meters Centerline goodness : 0.988424 Centerline is valid? [True, True] Translation: X:81.64, Y:44.59, Z:31.68 [[-5.74718786e-01 -7.72148533e-01 2.71081096e-01 8.16381451e+01] [ 7.05850159e-01 -6.35341251e-01 -3.13236408e-01 4.45884118e+01] [ 4.14094036e-01 1.13197865e-02 9.10163717e-01 3.16763730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.110714057 meters Centerline goodness : 0.989231 Centerline is valid? [True, True] Translation: X:81.66, Y:44.59, Z:31.65 [[-5.76286368e-01 -7.82768540e-01 2.34877487e-01 8.16595005e+01] [ 7.03437621e-01 -6.21405098e-01 -3.45009012e-01 4.45936398e+01] [ 4.16016269e-01 -3.36023301e-02 9.08736127e-01 3.16528813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.140714057 meters Centerline goodness : 0.989126 Centerline is valid? [True, True] Translation: X:81.65, Y:44.60, Z:31.66 [[-5.77907304e-01 -7.80116836e-01 2.39668251e-01 8.16537845e+01] [ 7.00471041e-01 -6.24845402e-01 -3.44831183e-01 4.45977772e+01] [ 4.18764216e-01 -3.13997900e-02 9.07551973e-01 3.16610003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.170714057 meters Centerline goodness : 0.989245 Centerline is valid? [True, True] Translation: X:81.65, Y:44.61, Z:31.67 [[-5.79897683e-01 -7.78036493e-01 2.41615174e-01 8.16478582e+01] [ 6.97331046e-01 -6.27377712e-01 -3.46592872e-01 4.46058762e+01] [ 4.21245878e-01 -3.25026413e-02 9.06363883e-01 3.16685512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.20071405699997 meters Centerline goodness : 0.989830 Centerline is valid? [True, True] Translation: X:81.66, Y:44.59, Z:31.66 [[-5.79585183e-01 -7.77039315e-01 2.45542093e-01 8.16553813e+01] [ 6.98151631e-01 -6.28876739e-01 -3.42196358e-01 4.45932596e+01] [ 4.20315734e-01 -2.69063257e-02 9.06978904e-01 3.16633728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.23071405699997 meters Centerline goodness : 0.988825 Centerline is valid? [True, True] Translation: X:81.65, Y:44.60, Z:31.67 [[-5.82110613e-01 -7.75328942e-01 2.44974010e-01 8.16507899e+01] [ 6.97179854e-01 -6.30966610e-01 -3.40325416e-01 4.46011521e+01] [ 4.18434565e-01 -2.73160917e-02 9.07836079e-01 3.16681542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.26071405699997 meters Centerline goodness : 0.989322 Centerline is valid? [True, True] Translation: X:81.66, Y:44.59, Z:31.66 [[-5.82761125e-01 -7.75783181e-01 2.41970924e-01 8.16581148e+01] [ 6.96083434e-01 -6.30185810e-01 -3.43996653e-01 4.45944995e+01] [ 4.19353460e-01 -3.20359248e-02 9.07257612e-01 3.16637653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.29071405699997 meters Centerline goodness : 0.989237 Centerline is valid? [True, True] Translation: X:81.65, Y:44.60, Z:31.67 [[-5.83431988e-01 -7.74006220e-01 2.46011153e-01 8.16518304e+01] [ 6.95627424e-01 -6.32579155e-01 -3.40508588e-01 4.46001302e+01] [ 4.19177292e-01 -2.75314980e-02 9.07486867e-01 3.16686791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.32071405699998 meters Centerline goodness : 0.989119 Centerline is valid? [True, True] Translation: X:81.65, Y:44.60, Z:31.67 [[-5.84286079e-01 -7.72467249e-01 2.48805400e-01 8.16510584e+01] [ 6.98133361e-01 -6.34744936e-01 -3.31223000e-01 4.45993982e+01] [ 4.13786888e-01 -1.98296377e-02 9.10157787e-01 3.16690884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.35071405699998 meters Centerline goodness : 0.989844 Centerline is valid? [True, True] Translation: X:81.66, Y:44.59, Z:31.66 [[-5.85214682e-01 -7.75186637e-01 2.37927413e-01 8.16637813e+01] [ 6.96194114e-01 -6.30766828e-01 -3.42705362e-01 4.45919470e+01] [ 4.15737336e-01 -3.49125451e-02 9.08814382e-01 3.16570145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.38071405699998 meters Centerline goodness : 0.989009 Centerline is valid? [True, True] Translation: X:81.66, Y:44.59, Z:31.66 [[-5.85174511e-01 -7.72946807e-01 2.45202009e-01 8.16639523e+01] [ 6.96928830e-01 -6.33967124e-01 -3.35225137e-01 4.45873813e+01] [ 4.14561212e-01 -2.52768563e-02 9.09670315e-01 3.16583117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.41071405699998 meters Centerline goodness : 0.990149 Centerline is valid? [True, True] Translation: X:81.67, Y:44.59, Z:31.65 [[-5.84528481e-01 -7.74288661e-01 2.42494382e-01 8.16677036e+01] [ 6.97727685e-01 -6.32225961e-01 -3.36847758e-01 4.45852314e+01] [ 4.14128643e-01 -2.77020646e-02 9.09796715e-01 3.16548026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.44071405699998 meters Centerline goodness : 0.989191 Centerline is valid? [True, True] Translation: X:81.66, Y:44.60, Z:31.66 [[-5.85305644e-01 -7.73995883e-01 2.41552636e-01 8.16581126e+01] [ 6.96108425e-01 -6.32444733e-01 -3.39774513e-01 4.46002690e+01] [ 4.15752766e-01 -3.07251153e-02 9.08958527e-01 3.16630691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.47071405699998 meters Centerline goodness : 0.990075 Centerline is valid? [True, True] Translation: X:81.67, Y:44.58, Z:31.66 [[-5.83882629e-01 -7.73594234e-01 2.46237766e-01 8.16684229e+01] [ 6.97784752e-01 -6.33238858e-01 -3.34820831e-01 4.45826632e+01] [ 4.14942786e-01 -2.36751088e-02 9.09539429e-01 3.16563851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.50071405699998 meters Centerline goodness : 0.988878 Centerline is valid? [True, True] Translation: X:81.66, Y:44.59, Z:31.66 [[-5.83430556e-01 -7.75113261e-01 2.42504061e-01 8.16644196e+01] [ 6.99277922e-01 -6.31282824e-01 -3.35398842e-01 4.45912802e+01] [ 4.13060739e-01 -2.61041970e-02 9.10329279e-01 3.16574361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.53071405699998 meters Centerline goodness : 0.989102 Centerline is valid? [True, True] Translation: X:81.67, Y:44.59, Z:31.65 [[-5.82848188e-01 -7.76576126e-01 2.39201820e-01 8.16697881e+01] [ 6.99483262e-01 -6.29305124e-01 -3.38671267e-01 4.45885925e+01] [ 4.13534952e-01 -3.00762646e-02 9.09991353e-01 3.16532986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.56071405699998 meters Centerline goodness : 0.990076 Centerline is valid? [True, True] Translation: X:81.66, Y:44.60, Z:31.66 [[-5.82727601e-01 -7.75901086e-01 2.41673432e-01 8.16626403e+01] [ 6.97324943e-01 -6.30115073e-01 -3.41603452e-01 4.45968053e+01] [ 4.17332562e-01 -3.05368475e-02 9.08240625e-01 3.16606063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.59071405699999 meters Centerline goodness : 0.989025 Centerline is valid? [True, True] Translation: X:81.67, Y:44.58, Z:31.65 [[-5.81670822e-01 -7.74309144e-01 2.49207553e-01 8.16723272e+01] [ 6.98084967e-01 -6.32449244e-01 -3.35686360e-01 4.45783627e+01] [ 4.17536147e-01 -2.12909147e-02 9.08410845e-01 3.16543966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.620714057 meters Centerline goodness : 0.988499 Centerline is valid? [True, True] Translation: X:81.68, Y:44.57, Z:31.65 [[-5.79612517e-01 -7.77470285e-01 2.44109167e-01 8.16780174e+01] [ 6.99912925e-01 -6.28385415e-01 -3.39490305e-01 4.45746820e+01] [ 4.17338265e-01 -2.59176694e-02 9.08381554e-01 3.16492015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.650714057 meters Centerline goodness : 0.989173 Centerline is valid? [True, True] Translation: X:81.66, Y:44.60, Z:31.67 [[-5.79295013e-01 -7.76029770e-01 2.49389422e-01 8.16571965e+01] [ 6.99287970e-01 -6.30349837e-01 -3.37128193e-01 4.45996448e+01] [ 4.18824096e-01 -2.09016585e-02 9.07826799e-01 3.16664808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.680714057 meters Centerline goodness : 0.989256 Centerline is valid? [True, True] Translation: X:81.69, Y:44.56, Z:31.64 [[-5.73532993e-01 -7.80188692e-01 2.49730875e-01 8.16889004e+01] [ 7.07743343e-01 -6.25435273e-01 -3.28527138e-01 4.45567173e+01] [ 4.12503656e-01 -1.16757883e-02 9.10881117e-01 3.16393435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.710714057 meters Centerline goodness : 0.988681 Centerline is valid? [True, True] Translation: X:81.69, Y:44.58, Z:31.64 [[-5.74724810e-01 -7.84665792e-01 2.32359607e-01 8.16866170e+01] [ 7.02075859e-01 -6.18657062e-01 -3.52637104e-01 4.45768272e+01] [ 4.20453184e-01 -3.95352223e-02 9.06452473e-01 3.16410809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.740714057 meters Centerline goodness : 0.989455 Centerline is valid? [True, True] Translation: X:81.69, Y:44.55, Z:31.64 [[-5.68509320e-01 -7.82059176e-01 2.55304911e-01 8.16939857e+01] [ 7.10716543e-01 -6.23190734e-01 -3.26366825e-01 4.45469969e+01] [ 4.14341825e-01 -4.09315754e-03 9.10112135e-01 3.16364603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.770714057 meters Centerline goodness : 0.989002 Centerline is valid? [True, True] Translation: X:81.70, Y:44.55, Z:31.63 [[-5.68630826e-01 -7.86718222e-01 2.40277805e-01 8.16985052e+01] [ 7.11944870e-01 -6.17000618e-01 -3.35327809e-01 4.45543034e+01] [ 4.12060052e-01 -1.96131783e-02 9.10945573e-01 3.16297183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.800714057 meters Centerline goodness : 0.989207 Centerline is valid? [True, True] Translation: X:81.70, Y:44.56, Z:31.63 [[-5.66901967e-01 -7.89754347e-01 2.34329322e-01 8.17006080e+01] [ 7.11075421e-01 -6.12743660e-01 -3.44843374e-01 4.45584536e+01] [ 4.15925360e-01 -2.88665661e-02 9.08940491e-01 3.16278173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.830714057 meters Centerline goodness : 0.990334 Centerline is valid? [True, True] Translation: X:81.69, Y:44.55, Z:31.64 [[-5.64924591e-01 -7.85834568e-01 2.51643079e-01 8.16931455e+01] [ 7.10274441e-01 -6.18333288e-01 -3.36413679e-01 4.45540328e+01] [ 4.19964791e-01 -1.13127123e-02 9.07469888e-01 3.16391215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.860714057 meters Centerline goodness : 0.988075 Centerline is valid? [True, True] Translation: X:81.71, Y:44.56, Z:31.63 [[-5.64411199e-01 -7.95483666e-01 2.20557784e-01 8.17081265e+01] [ 7.10868730e-01 -6.04195107e-01 -3.60019334e-01 4.45614906e+01] [ 4.19649434e-01 -4.64113124e-02 9.06498948e-01 3.16257017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.890714057 meters Centerline goodness : 0.987609 Centerline is valid? [True, True] Translation: X:81.70, Y:44.55, Z:31.64 [[-5.62818238e-01 -7.89093584e-01 2.46103531e-01 8.16990600e+01] [ 7.12557475e-01 -6.14073774e-01 -3.39374785e-01 4.45514986e+01] [ 4.18924189e-01 -1.56434080e-02 9.07886451e-01 3.16378594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.920714057 meters Centerline goodness : 0.987595 Centerline is valid? [True, True] Translation: X:81.70, Y:44.55, Z:31.64 [[-5.60478428e-01 -7.90986755e-01 2.45364800e-01 8.16992636e+01] [ 7.15770277e-01 -6.11690754e-01 -3.36908492e-01 4.45522200e+01] [ 4.16577534e-01 -1.32051110e-02 9.09004281e-01 3.16383001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.95071405699997 meters Centerline goodness : 0.986574 Centerline is valid? [True, True] Translation: X:81.69, Y:44.56, Z:31.64 [[-5.58254476e-01 -7.91053619e-01 2.50172163e-01 8.16933360e+01] [ 7.22363054e-01 -6.11746396e-01 -3.22425130e-01 4.45563535e+01] [ 4.08097486e-01 7.19855677e-04 9.12938072e-01 3.16409145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.98071405699997 meters Centerline goodness : 0.989187 Centerline is valid? [True, True] Translation: X:81.70, Y:44.55, Z:31.64 [[-5.56524970e-01 -7.91736888e-01 2.51858408e-01 8.17013796e+01] [ 7.20354787e-01 -6.10860625e-01 -3.28539613e-01 4.45459130e+01] [ 4.13967315e-01 -1.41308839e-03 9.10290649e-01 3.16372195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.01071405699997 meters Centerline goodness : 0.986506 Centerline is valid? [True, True] Translation: X:81.71, Y:44.56, Z:31.62 [[-5.55177556e-01 -8.00135354e-01 2.27071126e-01 8.17086273e+01] [ 7.28854850e-01 -5.99547723e-01 -3.30625372e-01 4.45573262e+01] [ 4.00685025e-01 -1.80538946e-02 9.16037973e-01 3.16234529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.04071405699997 meters Centerline goodness : 0.985956 Centerline is valid? [True, True] Translation: X:81.71, Y:44.57, Z:31.62 [[-5.57268199e-01 -8.01446465e-01 2.17107617e-01 8.17148507e+01] [ 7.18086602e-01 -5.96450352e-01 -3.58606483e-01 4.45657227e+01] [ 4.16897813e-01 -4.39379174e-02 9.07890782e-01 3.16243983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.07071405699998 meters Centerline goodness : 0.987077 Centerline is valid? [True, True] Translation: X:81.71, Y:44.55, Z:31.64 [[-5.55717186e-01 -7.91761746e-01 2.53558171e-01 8.17053753e+01] [ 7.22630465e-01 -6.10820519e-01 -3.23579208e-01 4.45485154e+01] [ 4.11076173e-01 3.41033188e-03 9.11594619e-01 3.16359856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.10071405699998 meters Centerline goodness : 0.986503 Centerline is valid? [True, True] Translation: X:81.71, Y:44.56, Z:31.63 [[-5.56031154e-01 -7.95857086e-01 2.39668217e-01 8.17102573e+01] [ 7.22944410e-01 -6.05367859e-01 -3.32988189e-01 4.45568251e+01] [ 4.10098446e-01 -1.18850094e-02 9.11963821e-01 3.16291370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.13071405699998 meters Centerline goodness : 0.986889 Centerline is valid? [True, True] Translation: X:81.72, Y:44.55, Z:31.62 [[-5.56940038e-01 -7.94765188e-01 2.41176471e-01 8.17189291e+01] [ 7.23152782e-01 -6.06845964e-01 -3.29830305e-01 4.45461956e+01] [ 4.08494612e-01 -9.28826628e-03 9.12713471e-01 3.16230631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.16071405699998 meters Centerline goodness : 0.987445 Centerline is valid? [True, True] Translation: X:81.72, Y:44.55, Z:31.62 [[-5.57124609e-01 -7.96550870e-01 2.34774107e-01 8.17247708e+01] [ 7.20410914e-01 -6.04222026e-01 -3.40475930e-01 4.45467247e+01] [ 4.13062084e-01 -2.05536905e-02 9.10470900e-01 3.16196555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.19071405699998 meters Centerline goodness : 0.988010 Centerline is valid? [True, True] Translation: X:81.72, Y:44.55, Z:31.62 [[-5.59027779e-01 -7.93955083e-01 2.39004745e-01 8.17237178e+01] [ 7.15816314e-01 -6.07603383e-01 -3.44129529e-01 4.45521050e+01] [ 4.18443480e-01 -2.12944709e-02 9.07993172e-01 3.16249248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.22071405699998 meters Centerline goodness : 0.988580 Centerline is valid? [True, True] Translation: X:81.73, Y:44.55, Z:31.63 [[-5.59435323e-01 -7.91080163e-01 2.47435436e-01 8.17255434e+01] [ 7.16242633e-01 -6.11617736e-01 -3.36036064e-01 4.45460221e+01] [ 4.17167366e-01 -1.07666363e-02 9.08765904e-01 3.16255253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.25071405699998 meters Centerline goodness : 0.988580 Centerline is valid? [True, True] Translation: X:81.73, Y:44.55, Z:31.62 [[-5.59725184e-01 -7.91672583e-01 2.44871885e-01 8.17278068e+01] [ 7.16059045e-01 -6.10789624e-01 -3.37928216e-01 4.45453469e+01] [ 4.17093710e-01 -1.38042049e-02 9.08758648e-01 3.16232924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.28071405699998 meters Centerline goodness : 0.991670 Centerline is valid? [True, True] Translation: X:81.71, Y:44.55, Z:31.64 [[-5.71493544e-01 -7.81263894e-01 2.51041545e-01 8.17144774e+01] [ 6.98379295e-01 -6.23686405e-01 -3.51114836e-01 4.45514602e+01] [ 4.30884543e-01 -2.53376442e-02 9.02051282e-01 3.16367057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.31071405699998 meters Centerline goodness : 0.989177 Centerline is valid? [True, True] Translation: X:81.45, Y:44.91, Z:31.84 [[-5.71802605e-01 -7.83154366e-01 2.44358382e-01 8.14516405e+01] [ 7.01261222e-01 -6.21165657e-01 -3.49836998e-01 4.49146235e+01] [ 4.25763407e-01 -2.86786495e-02 9.04379929e-01 3.18397819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.34071405699999 meters Centerline goodness : 0.992137 Centerline is valid? [True, True] Translation: X:81.71, Y:44.55, Z:31.65 [[-5.71929506e-01 -7.74100513e-01 2.71413036e-01 8.17098099e+01] [ 6.98185129e-01 -6.33060394e-01 -3.34323292e-01 4.45481120e+01] [ 4.30620676e-01 -1.71280949e-03 9.02531384e-01 3.16482369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.370714057 meters Centerline goodness : 0.990655 Centerline is valid? [True, True] Translation: X:81.50, Y:44.86, Z:31.80 [[-5.70805319e-01 -7.84218629e-01 2.43274391e-01 8.15045328e+01] [ 7.02237390e-01 -6.19801095e-01 -3.50298803e-01 4.48551514e+01] [ 4.25492581e-01 -2.91160472e-02 9.04493405e-01 3.18043938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.400714057 meters Centerline goodness : 0.989995 Centerline is valid? [True, True] Translation: X:81.39, Y:44.98, Z:31.90 [[-5.78330263e-01 -7.72385459e-01 2.62592479e-01 8.13861761e+01] [ 6.97345053e-01 -6.35090090e-01 -3.32220492e-01 4.49816936e+01] [ 4.23372158e-01 -9.01559783e-03 9.05910997e-01 3.18950031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.430714057 meters Centerline goodness : 0.992749 Centerline is valid? [True, True] Translation: X:81.71, Y:44.56, Z:31.65 [[-5.71707754e-01 -7.79982529e-01 2.54514238e-01 8.17144527e+01] [ 7.01536749e-01 -6.25581627e-01 -3.41311908e-01 4.45621169e+01] [ 4.25436756e-01 -1.65795727e-02 9.04836275e-01 3.16477593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.460714057 meters Centerline goodness : 0.993487 Centerline is valid? [True, True] Translation: X:81.72, Y:44.56, Z:31.64 [[-5.72184473e-01 -7.80004844e-01 2.53372006e-01 8.17199824e+01] [ 7.01406036e-01 -6.25520423e-01 -3.41692512e-01 4.45582015e+01] [ 4.25011179e-01 -1.77944956e-02 9.05013179e-01 3.16444401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.490714057 meters Centerline goodness : 0.993828 Centerline is valid? [True, True] Translation: X:81.72, Y:44.56, Z:31.64 [[-5.72960312e-01 -7.79492992e-01 2.53193910e-01 8.17214608e+01] [ 7.01105046e-01 -6.26153718e-01 -3.41149872e-01 4.45592842e+01] [ 4.24462242e-01 -1.79498091e-02 9.05267700e-01 3.16435707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.520714057 meters Centerline goodness : 0.993304 Centerline is valid? [True, True] Translation: X:81.72, Y:44.56, Z:31.64 [[-5.73841627e-01 -7.78762515e-01 2.53445719e-01 8.17248009e+01] [ 7.00284138e-01 -6.27051790e-01 -3.41186429e-01 4.45579050e+01] [ 4.24626793e-01 -1.83029584e-02 9.05183456e-01 3.16419701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.550714057 meters Centerline goodness : 0.994030 Centerline is valid? [True, True] Translation: X:81.73, Y:44.56, Z:31.64 [[-5.75634829e-01 -7.77288237e-01 2.53904589e-01 8.17289976e+01] [ 6.98515398e-01 -6.28850900e-01 -3.41500782e-01 4.45582312e+01] [ 4.25112670e-01 -1.92234794e-02 9.04936283e-01 3.16406239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.580714057 meters Centerline goodness : 0.993126 Centerline is valid? [True, True] Translation: X:81.73, Y:44.56, Z:31.64 [[-5.77030866e-01 -7.76087257e-01 2.54409019e-01 8.17267771e+01] [ 6.97015288e-01 -6.30310030e-01 -3.41875641e-01 4.45643516e+01] [ 4.25681885e-01 -1.99458217e-02 9.04653026e-01 3.16431512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.610714057 meters Centerline goodness : 0.991523 Centerline is valid? [True, True] Translation: X:81.76, Y:44.55, Z:31.62 [[-5.67550715e-01 -7.85623574e-01 2.46336733e-01 8.17598732e+01] [ 7.06614088e-01 -6.18342017e-01 -3.44019885e-01 4.45464421e+01] [ 4.22590484e-01 -2.11837256e-02 9.06073139e-01 3.16224558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.640714057 meters Centerline goodness : 0.990846 Centerline is valid? [True, True] Translation: X:81.76, Y:44.55, Z:31.63 [[-5.69566448e-01 -7.82370012e-01 2.51974651e-01 8.17563059e+01] [ 7.07629754e-01 -6.22700473e-01 -3.33922523e-01 4.45470558e+01] [ 4.18155703e-01 -1.18863053e-02 9.08297597e-01 3.16256449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.670714057 meters Centerline goodness : 0.991397 Centerline is valid? [True, True] Translation: X:81.76, Y:44.56, Z:31.62 [[-5.70996034e-01 -7.85051875e-01 2.40118894e-01 8.17602730e+01] [ 7.03819918e-01 -6.18687106e-01 -3.49089942e-01 4.45560110e+01] [ 4.22612177e-01 -3.03285121e-02 9.05803030e-01 3.16233836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.70071405699997 meters Centerline goodness : 0.990869 Centerline is valid? [True, True] Translation: X:81.76, Y:44.56, Z:31.63 [[-5.73016947e-01 -7.82697118e-01 2.42974895e-01 8.17598880e+01] [ 7.00003481e-01 -6.21611934e-01 -3.51558999e-01 4.45586132e+01] [ 4.26200310e-01 -3.13659920e-02 9.04084880e-01 3.16268217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.73071405699997 meters Centerline goodness : 0.990611 Centerline is valid? [True, True] Translation: X:81.76, Y:44.55, Z:31.63 [[-5.74577563e-01 -7.77835104e-01 2.54623596e-01 8.17564922e+01] [ 7.00601626e-01 -6.28265114e-01 -3.38290271e-01 4.45536055e+01] [ 4.23105170e-01 -1.59842940e-02 9.05939577e-01 3.16322569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.76071405699997 meters Centerline goodness : 0.991809 Centerline is valid? [True, True] Translation: X:81.49, Y:44.91, Z:31.83 [[-5.85305286e-01 -7.73715201e-01 2.42451045e-01 8.14928369e+01] [ 6.89243538e-01 -6.32271137e-01 -3.53802988e-01 4.49102359e+01] [ 4.27037548e-01 -3.99749430e-02 9.03349842e-01 3.18335541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.79071405699997 meters Centerline goodness : 0.984909 Centerline is valid? [True, True] Translation: X:81.19, Y:45.28, Z:32.05 [[-6.04721110e-01 -7.55560515e-01 2.51874349e-01 8.11885448e+01] [ 6.86485514e-01 -6.54824117e-01 -3.16137651e-01 4.52797386e+01] [ 4.03794524e-01 -1.82670193e-02 9.14667316e-01 3.20484227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.82071405699998 meters Centerline goodness : 0.993299 Centerline is valid? [True, True] Translation: X:81.47, Y:44.92, Z:31.85 [[-5.75595178e-01 -7.77042944e-01 2.54743898e-01 8.14718311e+01] [ 6.96674510e-01 -6.29097634e-01 -3.44790944e-01 4.49213970e+01] [ 4.28176154e-01 -2.09864250e-02 9.03451577e-01 3.18504644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.85071405699998 meters Centerline goodness : 0.993693 Centerline is valid? [True, True] Translation: X:81.72, Y:44.57, Z:31.65 [[-5.81459643e-01 -7.71569986e-01 2.58039610e-01 8.17232572e+01] [ 6.95298128e-01 -6.35960950e-01 -3.34834561e-01 4.45677260e+01] [ 4.22451413e-01 -1.52783266e-02 9.06256794e-01 3.16507118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.88071405699998 meters Centerline goodness : 0.992733 Centerline is valid? [True, True] Translation: X:81.51, Y:44.88, Z:31.82 [[-5.77447922e-01 -7.79710909e-01 2.42084275e-01 8.15087786e+01] [ 6.95108184e-01 -6.25057138e-01 -3.55145303e-01 4.48839002e+01] [ 4.28227171e-01 -3.68031561e-02 9.02921380e-01 3.18195710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.91071405699998 meters Centerline goodness : 0.993022 Centerline is valid? [True, True] Translation: X:81.72, Y:44.57, Z:31.65 [[-5.83944456e-01 -7.69866169e-01 2.57516900e-01 8.17198677e+01] [ 6.92013393e-01 -6.37919193e-01 -3.37900233e-01 4.45722436e+01] [ 4.24412931e-01 -1.91098241e-02 9.05267076e-01 3.16521424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.94071405699998 meters Centerline goodness : 0.994087 Centerline is valid? [True, True] Translation: X:81.73, Y:44.57, Z:31.65 [[-5.85485300e-01 -7.70980640e-01 2.50590934e-01 8.17272930e+01] [ 6.90887728e-01 -6.36248332e-01 -3.43310657e-01 4.45674826e+01] [ 4.24123934e-01 -2.78731416e-02 9.05175108e-01 3.16451042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.97071405699998 meters Centerline goodness : 0.993141 Centerline is valid? [True, True] Translation: X:81.51, Y:44.87, Z:31.81 [[-5.81339280e-01 -7.75819228e-01 2.45253269e-01 8.15138032e+01] [ 6.92817493e-01 -6.30037726e-01 -3.50793937e-01 4.48709383e+01] [ 4.26671494e-01 -3.40145396e-02 9.03766810e-01 3.18131923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.00071405699998 meters Centerline goodness : 0.991971 Centerline is valid? [True, True] Translation: X:81.51, Y:44.88, Z:31.82 [[-5.88976995e-01 -7.70153954e-01 2.44885659e-01 8.15070301e+01] [ 6.88271450e-01 -6.36836080e-01 -3.47451031e-01 4.48767975e+01] [ 4.23542809e-01 -3.60928568e-02 9.05156779e-01 3.18177091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.03071405699998 meters Centerline goodness : 0.993176 Centerline is valid? [True, True] Translation: X:81.50, Y:44.87, Z:31.82 [[-5.85278008e-01 -7.69166444e-01 2.56578712e-01 8.15014049e+01] [ 6.90539690e-01 -6.38686667e-01 -3.39461748e-01 4.48714975e+01] [ 4.24975988e-01 -2.15017115e-02 9.04949217e-01 3.18235924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.06071405699998 meters Centerline goodness : 0.993919 Centerline is valid? [True, True] Translation: X:81.72, Y:44.56, Z:31.65 [[-5.91782753e-01 -7.66371629e-01 2.49935391e-01 8.17228072e+01] [ 6.86388051e-01 -6.41648826e-01 -3.42283841e-01 4.45624244e+01] [ 4.22687375e-01 -3.10050076e-02 9.05745037e-01 3.16480811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.09071405699999 meters Centerline goodness : 0.994146 Centerline is valid? [True, True] Translation: X:81.72, Y:44.56, Z:31.65 [[-5.92541256e-01 -7.65774372e-01 2.49968940e-01 8.17224318e+01] [ 6.86006756e-01 -6.42361886e-01 -3.41710314e-01 4.45603447e+01] [ 4.22243521e-01 -3.09970777e-02 9.05952311e-01 3.16478063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.120714057 meters Centerline goodness : 0.993761 Centerline is valid? [True, True] Translation: X:81.72, Y:44.56, Z:31.65 [[-5.93201214e-01 -7.65315274e-01 2.49809629e-01 8.17197394e+01] [ 6.85759668e-01 -6.42904689e-01 -3.41185050e-01 4.45617728e+01] [ 4.21717912e-01 -3.10820171e-02 9.06194191e-01 3.16494640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.150714057 meters Centerline goodness : 0.994074 Centerline is valid? [True, True] Translation: X:81.49, Y:44.88, Z:31.83 [[-5.90370248e-01 -7.68839056e-01 2.45661304e-01 8.14909294e+01] [ 6.88772784e-01 -6.38567219e-01 -3.43254948e-01 4.48782164e+01] [ 4.20779066e-01 -3.34426886e-02 9.06546504e-01 3.18252568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.180714057 meters Centerline goodness : 0.993120 Centerline is valid? [True, True] Translation: X:81.45, Y:44.92, Z:31.85 [[-5.94590119e-01 -7.65200822e-01 2.46840621e-01 8.14513690e+01] [ 6.85156927e-01 -6.42866477e-01 -3.42465587e-01 4.49229646e+01] [ 4.20740509e-01 -3.45020930e-02 9.06524699e-01 3.18539792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.210714057 meters Centerline goodness : 0.994258 Centerline is valid? [True, True] Translation: X:81.72, Y:44.56, Z:31.65 [[-5.97727686e-01 -7.61570292e-01 2.50464177e-01 8.17156380e+01] [ 6.81953414e-01 -6.47252954e-01 -3.40592359e-01 4.45561505e+01] [ 4.21498701e-01 -3.27765813e-02 9.06236471e-01 3.16501965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.240714057 meters Centerline goodness : 0.994725 Centerline is valid? [True, True] Translation: X:81.72, Y:44.55, Z:31.65 [[-5.99250554e-01 -7.60379172e-01 2.50444183e-01 8.17184515e+01] [ 6.80485463e-01 -6.48593712e-01 -3.40977612e-01 4.45512128e+01] [ 4.21708797e-01 -3.39073964e-02 9.06097114e-01 3.16471303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.270714057 meters Centerline goodness : 0.993311 Centerline is valid? [True, True] Translation: X:81.48, Y:44.88, Z:31.82 [[-6.00528206e-01 -7.64200488e-01 2.35294472e-01 8.14832656e+01] [ 6.82631231e-01 -6.43215500e-01 -3.46826213e-01 4.48836058e+01] [ 4.16389813e-01 -4.76595683e-02 9.07936170e-01 3.18218774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.300714057 meters Centerline goodness : 0.991993 Centerline is valid? [True, True] Translation: X:81.38, Y:45.00, Z:31.90 [[-6.02280784e-01 -7.56111874e-01 2.56032598e-01 8.13834436e+01] [ 6.79519103e-01 -6.53910973e-01 -3.32647303e-01 4.49950714e+01] [ 4.18941102e-01 -2.63680369e-02 9.07630476e-01 3.19017406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.330714057 meters Centerline goodness : 0.991682 Centerline is valid? [True, True] Translation: X:82.49, Y:44.79, Z:32.49 [[-0.55014809 0.81054486 -0.20088329 82.48531706] [ 0.70344993 0.57945954 0.4115639 44.78710031] [ 0.44999475 0.08510976 -0.88896629 32.4856396 ] [ 0. 0. 0. 1. ]] SLAMing on 215.360714057 meters Centerline goodness : 0.993761 Centerline is valid? [True, True] Translation: X:81.67, Y:44.61, Z:31.73 [[-6.47367734e-01 -6.81045389e-01 3.42187369e-01 8.16721198e+01] [ 6.36883164e-01 -7.29988315e-01 -2.47985676e-01 4.46098328e+01] [ 4.18682282e-01 5.73954493e-02 9.06317223e-01 3.17298986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.390714057 meters Centerline goodness : 0.994415 Centerline is valid? [True, True] Translation: X:81.70, Y:44.65, Z:31.69 [[-6.50366619e-01 -7.14775852e-01 2.57135649e-01 8.16955121e+01] [ 6.38419536e-01 -6.97763751e-01 -3.24878815e-01 4.46507411e+01] [ 4.11635467e-01 -4.71299150e-02 9.10129119e-01 3.16876263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.420714057 meters Centerline goodness : 0.993593 Centerline is valid? [True, True] Translation: X:81.69, Y:44.65, Z:31.69 [[-6.50704210e-01 -7.12980890e-01 2.61232238e-01 8.16938668e+01] [ 6.37255621e-01 -6.99831846e-01 -3.22708322e-01 4.46470541e+01] [ 4.12903506e-01 -4.35159517e-02 9.09734608e-01 3.16898668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.45071405699997 meters Centerline goodness : 0.994290 Centerline is valid? [True, True] Translation: X:81.69, Y:44.65, Z:31.69 [[-6.51078964e-01 -7.11610515e-01 2.64020183e-01 8.16874349e+01] [ 6.36591980e-01 -7.01395877e-01 -3.20615773e-01 4.46490728e+01] [ 4.13336223e-01 -4.06730540e-02 9.09669648e-01 3.16948095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.48071405699997 meters Centerline goodness : 0.993660 Centerline is valid? [True, True] Translation: X:81.68, Y:44.66, Z:31.70 [[-6.50445309e-01 -7.12767199e-01 2.62457273e-01 8.16769634e+01] [ 6.38036686e-01 -7.00206703e-01 -3.20343192e-01 4.46568347e+01] [ 4.12104462e-01 -4.09083579e-02 9.10217787e-01 3.17010908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.51071405699997 meters Centerline goodness : 0.993088 Centerline is valid? [True, True] Translation: X:81.68, Y:44.65, Z:31.70 [[-6.50333359e-01 -7.13566939e-01 2.60554689e-01 8.16828722e+01] [ 6.37157495e-01 -6.99143775e-01 -3.24389131e-01 4.46488545e+01] [ 4.13638548e-01 -4.49467005e-02 9.09331043e-01 3.16971856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.54071405699997 meters Centerline goodness : 0.993890 Centerline is valid? [True, True] Translation: X:81.69, Y:44.64, Z:31.70 [[-6.49915759e-01 -7.12252286e-01 2.65153139e-01 8.16861257e+01] [ 6.38276660e-01 -7.00913894e-01 -3.18312139e-01 4.46381093e+01] [ 4.12568068e-01 -3.76350150e-02 9.10148996e-01 3.16957239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.57071405699998 meters Centerline goodness : 0.993374 Centerline is valid? [True, True] Translation: X:81.68, Y:44.64, Z:31.70 [[-6.49181365e-01 -7.14054711e-01 2.62086676e-01 8.16828782e+01] [ 6.38394590e-01 -6.98820310e-01 -3.22649224e-01 4.46399646e+01] [ 4.13540691e-01 -4.21431471e-02 9.09509787e-01 3.16967172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.60071405699998 meters Centerline goodness : 0.993393 Centerline is valid? [True, True] Translation: X:81.69, Y:44.63, Z:31.69 [[-6.48721915e-01 -7.12956859e-01 2.66181131e-01 8.16879382e+01] [ 6.38640078e-01 -7.00230841e-01 -3.19085601e-01 4.46283651e+01] [ 4.13882505e-01 -3.70038838e-02 9.09577916e-01 3.16938651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.63071405699998 meters Centerline goodness : 0.993603 Centerline is valid? [True, True] Translation: X:81.69, Y:44.62, Z:31.69 [[-6.47577561e-01 -7.13661836e-01 2.67076929e-01 8.16907163e+01] [ 6.41382842e-01 -6.99738313e-01 -3.14633665e-01 4.46194681e+01] [ 4.11425999e-01 -3.24511415e-02 9.10865287e-01 3.16896597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.66071405699998 meters Centerline goodness : 0.992607 Centerline is valid? [True, True] Translation: X:81.69, Y:44.62, Z:31.69 [[-6.48038737e-01 -7.14716548e-01 2.63108442e-01 8.16889919e+01] [ 6.40649705e-01 -6.98367214e-01 -3.19141333e-01 4.46232883e+01] [ 4.11841901e-01 -3.82556009e-02 9.10451952e-01 3.16893939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.69071405699998 meters Centerline goodness : 0.993608 Centerline is valid? [True, True] Translation: X:81.68, Y:44.63, Z:31.69 [[-6.47615738e-01 -7.14417282e-01 2.64956229e-01 8.16823571e+01] [ 6.40527855e-01 -6.98763882e-01 -3.18517038e-01 4.46281223e+01] [ 4.12695920e-01 -3.65648014e-02 9.10134657e-01 3.16941440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.72071405699998 meters Centerline goodness : 0.994074 Centerline is valid? [True, True] Translation: X:81.69, Y:44.61, Z:31.69 [[-6.54190144e-01 -7.08422482e-01 2.64901572e-01 8.16873794e+01] [ 6.30209282e-01 -7.04225256e-01 -3.26960317e-01 4.46147187e+01] [ 4.18176417e-01 -4.69507873e-02 9.07151645e-01 3.16894119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.75071405699998 meters Centerline goodness : 0.992742 Centerline is valid? [True, True] Translation: X:81.70, Y:44.60, Z:31.68 [[-6.48017866e-01 -7.12475955e-01 2.69166973e-01 8.16982824e+01] [ 6.42620612e-01 -7.01169932e-01 -3.08868055e-01 4.46029609e+01] [ 4.08792850e-01 -2.71797730e-02 9.12222377e-01 3.16812025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.78071405699998 meters Centerline goodness : 0.993375 Centerline is valid? [True, True] Translation: X:81.69, Y:44.59, Z:31.69 [[-6.45581714e-01 -7.06550471e-01 2.89845965e-01 8.16909877e+01] [ 6.54770088e-01 -7.07433994e-01 -2.66107640e-01 4.45897255e+01] [ 3.93065367e-01 1.79882418e-02 9.19334564e-01 3.16852984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.81071405699998 meters Centerline goodness : 0.993222 Centerline is valid? [True, True] Translation: X:81.69, Y:44.62, Z:31.67 [[-6.45748699e-01 -7.22057940e-01 2.48275952e-01 8.16939778e+01] [ 6.58342192e-01 -6.91225769e-01 -2.97980694e-01 4.46210878e+01] [ 3.86774062e-01 -2.89701112e-02 9.21719349e-01 3.16675440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.84071405699999 meters Centerline goodness : 0.992784 Centerline is valid? [True, True] Translation: X:81.72, Y:44.61, Z:31.65 [[-6.46674882e-01 -7.27133311e-01 2.30409951e-01 8.17168375e+01] [ 6.58471229e-01 -6.84644454e-01 -3.12534178e-01 4.46090688e+01] [ 3.85002907e-01 -5.03896791e-02 9.21538736e-01 3.16475442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.870714057 meters Centerline goodness : 0.994837 Centerline is valid? [True, True] Translation: X:81.70, Y:44.63, Z:31.67 [[-0.65833255 -0.71387194 0.23871553 81.69540075] [ 0.62635971 -0.69541531 -0.35223723 44.62902285] [ 0.41745871 -0.08236745 0.90495515 31.67233548] [ 0. 0. 0. 1. ]] SLAMing on 215.900714057 meters Centerline goodness : 0.994518 Centerline is valid? [True, True] Translation: X:81.40, Y:44.94, Z:31.88 [[-6.63140798e-01 -6.99904227e-01 2.65289191e-01 8.13958345e+01] [ 6.20618180e-01 -7.12285012e-01 -3.27846209e-01 4.49434899e+01] [ 4.18422462e-01 -5.27649017e-02 9.06718539e-01 3.18830856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.930714057 meters Centerline goodness : 0.994057 Centerline is valid? [True, True] Translation: X:81.67, Y:44.60, Z:31.70 [[-6.47934586e-01 -7.01557261e-01 2.96644876e-01 8.16721153e+01] [ 6.46589186e-01 -7.12451980e-01 -2.72643723e-01 4.46042806e+01] [ 4.02620413e-01 1.51520707e-02 9.15241617e-01 3.17036866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.960714057 meters Centerline goodness : 0.994030 Centerline is valid? [True, True] Translation: X:81.71, Y:44.60, Z:31.67 [[-6.48226476e-01 -7.18281849e-01 2.52732313e-01 8.17088513e+01] [ 6.49967501e-01 -6.94859931e-01 -3.07753024e-01 4.45977829e+01] [ 3.96666968e-01 -3.52258681e-02 9.17286463e-01 3.16653586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.990714057 meters Centerline goodness : 0.992524 Centerline is valid? [True, True] Translation: X:81.71, Y:44.60, Z:31.66 [[-6.50336123e-01 -7.20491488e-01 2.40738331e-01 8.17132198e+01] [ 6.47792594e-01 -6.91517108e-01 -3.19638615e-01 4.46025331e+01] [ 3.96771576e-01 -5.19240298e-02 9.16447605e-01 3.16625329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.020714057 meters Centerline goodness : 0.992463 Centerline is valid? [True, True] Translation: X:81.71, Y:44.59, Z:31.67 [[-6.49597197e-01 -7.16498701e-01 2.54269725e-01 8.17121879e+01] [ 6.48128705e-01 -6.96714281e-01 -3.07438436e-01 4.45915013e+01] [ 3.97432589e-01 -3.49116388e-02 9.16967019e-01 3.16678114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.050714057 meters Centerline goodness : 0.994256 Centerline is valid? [True, True] Translation: X:81.70, Y:44.59, Z:31.68 [[-6.47259748e-01 -7.13151447e-01 2.69202215e-01 8.17016455e+01] [ 6.49684039e-01 -7.00833357e-01 -2.94522078e-01 4.45910308e+01] [ 3.98704739e-01 -1.57359032e-02 9.16944335e-01 3.16796023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.080714057 meters Centerline goodness : 0.993227 Centerline is valid? [True, True] Translation: X:81.71, Y:44.60, Z:31.67 [[-6.46752088e-01 -7.20598555e-01 2.49898897e-01 8.17116268e+01] [ 6.50986391e-01 -6.92270138e-01 -3.11414153e-01 4.45965133e+01] [ 3.97402133e-01 -3.87269726e-02 9.16827010e-01 3.16674811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.110714057 meters Centerline goodness : 0.992869 Centerline is valid? [True, True] Translation: X:81.71, Y:44.60, Z:31.67 [[-6.45120368e-01 -7.20883938e-01 2.53270721e-01 8.17087029e+01] [ 6.53117728e-01 -6.92290823e-01 -3.06872367e-01 4.45973396e+01] [ 3.96556356e-01 -3.25540159e-02 9.17432991e-01 3.16694096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.140714057 meters Centerline goodness : 0.992956 Centerline is valid? [True, True] Translation: X:81.71, Y:44.60, Z:31.67 [[-6.42722380e-01 -7.24386921e-01 2.49342197e-01 8.17100057e+01] [ 6.54823146e-01 -6.88387092e-01 -3.11977338e-01 4.46015254e+01] [ 3.97636253e-01 -3.72397755e-02 9.16787112e-01 3.16680503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.170714057 meters Centerline goodness : 0.992956 Centerline is valid? [True, True] Translation: X:81.71, Y:44.60, Z:31.67 [[-6.42946624e-01 -7.23367326e-01 2.51712833e-01 8.17109886e+01] [ 6.54538914e-01 -6.89601788e-01 -3.09884146e-01 4.45984804e+01] [ 3.97741685e-01 -3.44831207e-02 9.16849206e-01 3.16680918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.20071405699997 meters Centerline goodness : 0.991229 Centerline is valid? [True, True] Translation: X:81.72, Y:44.59, Z:31.66 [[-6.42700809e-01 -7.27387502e-01 2.40505910e-01 8.17224584e+01] [ 6.55439974e-01 -6.84590937e-01 -3.18957192e-01 4.45946475e+01] [ 3.96653641e-01 -4.73568577e-02 9.16745994e-01 3.16575714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.23071405699997 meters Centerline goodness : 0.991856 Centerline is valid? [True, True] Translation: X:81.71, Y:44.59, Z:31.67 [[-6.41692373e-01 -7.22796182e-01 2.56508435e-01 8.17149403e+01] [ 6.53869902e-01 -6.90368391e-01 -3.09589463e-01 4.45910990e+01] [ 4.00855398e-01 -3.09380522e-02 9.15618800e-01 3.16679883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.26071405699997 meters Centerline goodness : 0.990060 Centerline is valid? [True, True] Translation: X:81.71, Y:44.59, Z:31.67 [[-6.39083228e-01 -7.24361911e-01 2.58597079e-01 8.17143789e+01] [ 6.58025299e-01 -6.89003012e-01 -3.03772210e-01 4.45889443e+01] [ 3.98215185e-01 -2.39723046e-02 9.16978732e-01 3.16680459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.29071405699997 meters Centerline goodness : 0.993471 Centerline is valid? [True, True] Translation: X:81.70, Y:44.60, Z:31.68 [[-6.36750209e-01 -7.22552161e-01 2.69197970e-01 8.16970593e+01] [ 6.58473866e-01 -6.91206577e-01 -2.97734169e-01 4.45998026e+01] [ 4.01199874e-01 -1.23224662e-02 9.15907647e-01 3.16823453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.32071405699998 meters Centerline goodness : 0.991112 Centerline is valid? [True, True] Translation: X:81.71, Y:44.60, Z:31.66 [[-6.34138369e-01 -7.33265334e-01 2.45337479e-01 8.17125752e+01] [ 6.64030229e-01 -6.79009183e-01 -3.13066102e-01 4.46010434e+01] [ 3.96146921e-01 -3.56157246e-02 9.17496124e-01 3.16636587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.35071405699998 meters Centerline goodness : 0.990899 Centerline is valid? [True, True] Translation: X:81.72, Y:44.58, Z:31.66 [[-6.32459544e-01 -7.31376490e-01 2.55114396e-01 8.17244278e+01] [ 6.65309184e-01 -6.81588047e-01 -3.04633260e-01 4.45775290e+01] [ 3.96684528e-01 -2.29382621e-02 9.17668361e-01 3.16597133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.38071405699998 meters Centerline goodness : 0.989988 Centerline is valid? [True, True] Translation: X:81.73, Y:44.57, Z:31.66 [[-6.30039993e-01 -7.31926588e-01 2.59486180e-01 8.17251682e+01] [ 6.73757557e-01 -6.81362410e-01 -2.86000036e-01 4.45698174e+01] [ 3.86135159e-01 -5.36068596e-03 9.22426638e-01 3.16559343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.41071405699998 meters Centerline goodness : 0.992760 Centerline is valid? [True, True] Translation: X:81.71, Y:44.60, Z:31.67 [[-6.29130193e-01 -7.34484835e-01 2.54415461e-01 8.17105353e+01] [ 6.66564321e-01 -6.78159540e-01 -3.09502252e-01 4.45962174e+01] [ 3.99858983e-01 -2.51329420e-02 9.16232028e-01 3.16679553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.44071405699998 meters Centerline goodness : 0.990167 Centerline is valid? [True, True] Translation: X:81.73, Y:44.59, Z:31.65 [[-6.30402900e-01 -7.37671049e-01 2.41730444e-01 8.17303937e+01] [ 6.67102242e-01 -6.74049013e-01 -3.17226301e-01 4.45850069e+01] [ 3.96946826e-01 -3.87214587e-02 9.17024463e-01 3.16522209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.47071405699998 meters Centerline goodness : 0.991159 Centerline is valid? [True, True] Translation: X:81.73, Y:44.57, Z:31.66 [[-6.29396713e-01 -7.32598628e-01 2.59150590e-01 8.17271440e+01] [ 6.67965861e-01 -6.80459692e-01 -3.01324106e-01 4.45747232e+01] [ 3.97091157e-01 -1.65486543e-02 9.17629966e-01 3.16587016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.50071405699998 meters Centerline goodness : 0.990598 Centerline is valid? [True, True] Translation: X:81.73, Y:44.57, Z:31.65 [[-6.28862953e-01 -7.33874539e-01 2.56825907e-01 8.17324322e+01] [ 6.71097993e-01 -6.79127402e-01 -2.97344002e-01 4.45705685e+01] [ 3.92630704e-01 -1.46332765e-02 9.19579794e-01 3.16539169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.53071405699998 meters Centerline goodness : 0.988336 Centerline is valid? [True, True] Translation: X:81.74, Y:44.58, Z:31.65 [[-6.32269214e-01 -7.33955884e-01 2.48081442e-01 8.17402097e+01] [ 6.65395679e-01 -6.78452441e-01 -3.11369355e-01 4.45760752e+01] [ 3.96842830e-01 -3.17969375e-02 9.17335665e-01 3.16463385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.56071405699998 meters Centerline goodness : 0.988886 Centerline is valid? [True, True] Translation: X:81.73, Y:44.56, Z:31.66 [[-6.31102253e-01 -7.28200386e-01 2.67271667e-01 8.17332299e+01] [ 6.68029265e-01 -6.85350154e-01 -2.89882850e-01 4.45647444e+01] [ 3.94267482e-01 -4.40042427e-03 9.18985195e-01 3.16590998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.59071405699999 meters Centerline goodness : 0.989233 Centerline is valid? [True, True] Translation: X:81.74, Y:44.57, Z:31.65 [[-6.31245351e-01 -7.32957852e-01 2.53578575e-01 8.17439165e+01] [ 6.67942584e-01 -6.79930455e-01 -3.02567812e-01 4.45661439e+01] [ 3.94185250e-01 -2.16185964e-02 9.18776700e-01 3.16475142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.620714057 meters Centerline goodness : 0.988192 Centerline is valid? [True, True] Translation: X:81.74, Y:44.57, Z:31.65 [[-6.33810530e-01 -7.30651293e-01 2.53836364e-01 8.17416556e+01] [ 6.63929695e-01 -6.82275182e-01 -3.06101186e-01 4.45744944e+01] [ 3.96839479e-01 -2.54806553e-02 9.17534285e-01 3.16510857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.650714057 meters Centerline goodness : 0.988356 Centerline is valid? [True, True] Translation: X:81.75, Y:44.55, Z:31.64 [[-6.32274482e-01 -7.26391024e-01 2.69416146e-01 8.17503490e+01] [ 6.73338604e-01 -6.87222520e-01 -2.72654234e-01 4.45512696e+01] [ 3.83202431e-01 9.01597750e-03 9.23620381e-01 3.16436443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.680714057 meters Centerline goodness : 0.988751 Centerline is valid? [True, True] Translation: X:81.76, Y:44.58, Z:31.64 [[-6.37157086e-01 -7.35138632e-01 2.31521143e-01 8.17588201e+01] [ 6.60890623e-01 -6.75673354e-01 -3.26632981e-01 4.45818703e+01] [ 3.96553189e-01 -5.51063662e-02 9.16356293e-01 3.16355487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.710714057 meters Centerline goodness : 0.986923 Centerline is valid? [True, True] Translation: X:81.75, Y:44.57, Z:31.65 [[-6.38400245e-01 -7.24539414e-01 2.59784075e-01 8.17510860e+01] [ 6.58580235e-01 -6.88873879e-01 -3.02861112e-01 4.45696147e+01] [ 3.98393276e-01 -2.22579512e-02 9.16944590e-01 3.16485106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.740714057 meters Centerline goodness : 0.987787 Centerline is valid? [True, True] Translation: X:81.75, Y:44.58, Z:31.65 [[-6.39335704e-01 -7.24500088e-01 2.57583928e-01 8.17451288e+01] [ 6.57003091e-01 -6.88755670e-01 -3.06533139e-01 4.45789253e+01] [ 3.99495677e-01 -2.67441435e-02 9.16344889e-01 3.16528957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.770714057 meters Centerline goodness : 0.988297 Centerline is valid? [True, True] Translation: X:81.74, Y:44.58, Z:31.66 [[-6.38859299e-01 -7.21847373e-01 2.66073609e-01 8.17389059e+01] [ 6.62995938e-01 -6.92026125e-01 -2.85545492e-01 4.45770384e+01] [ 3.90250152e-01 -6.01767093e-03 9.20689202e-01 3.16562596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.800714057 meters Centerline goodness : 0.987467 Centerline is valid? [True, True] Translation: X:81.76, Y:44.58, Z:31.64 [[-6.42500413e-01 -7.27811031e-01 2.39758882e-01 8.17608444e+01] [ 6.53930686e-01 -6.83870805e-01 -3.23566656e-01 4.45798295e+01] [ 3.99459482e-01 -5.11060199e-02 9.15325241e-01 3.16419772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.830714057 meters Centerline goodness : 0.988560 Centerline is valid? [True, True] Translation: X:81.75, Y:44.57, Z:31.65 [[-6.42413038e-01 -7.21109125e-01 2.59436155e-01 8.17535865e+01] [ 6.52941113e-01 -6.92253972e-01 -3.07330998e-01 4.45731757e+01] [ 4.01214896e-01 -2.80369083e-02 9.15554771e-01 3.16523383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.860714057 meters Centerline goodness : 0.987984 Centerline is valid? [True, True] Translation: X:81.76, Y:44.57, Z:31.65 [[-6.43679031e-01 -7.19491902e-01 2.60784792e-01 8.17585811e+01] [ 6.51726028e-01 -6.93974924e-01 -3.06026125e-01 4.45687986e+01] [ 4.01161425e-01 -2.70223633e-02 9.15608706e-01 3.16511430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.890714057 meters Centerline goodness : 0.988051 Centerline is valid? [True, True] Translation: X:81.74, Y:44.59, Z:31.66 [[-6.45053927e-01 -7.18345393e-01 2.60548130e-01 8.17428681e+01] [ 6.50528378e-01 -6.95128383e-01 -3.05956470e-01 4.45865031e+01] [ 4.00896821e-01 -2.78644700e-02 9.15699356e-01 3.16621646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.920714057 meters Centerline goodness : 0.988310 Centerline is valid? [True, True] Translation: X:81.75, Y:44.58, Z:31.66 [[-6.45808260e-01 -7.17033265e-01 2.62287987e-01 8.17512356e+01] [ 6.48882080e-01 -6.96490221e-01 -3.06355053e-01 4.45760162e+01] [ 4.02347782e-01 -2.76526489e-02 9.15069174e-01 3.16577900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.95071405699997 meters Centerline goodness : 0.987885 Centerline is valid? [True, True] Translation: X:81.76, Y:44.57, Z:31.65 [[-6.46207402e-01 -7.15630259e-01 2.65121342e-01 8.17569984e+01] [ 6.48909983e-01 -6.98082717e-01 -3.02648896e-01 4.45657213e+01] [ 4.01661335e-01 -2.35340713e-02 9.15485838e-01 3.16534678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.98071405699997 meters Centerline goodness : 0.987648 Centerline is valid? [True, True] Translation: X:81.75, Y:44.57, Z:31.66 [[-6.46533516e-01 -7.15989233e-01 2.63351155e-01 8.17505684e+01] [ 6.47631805e-01 -6.97563719e-01 -3.06558156e-01 4.45744103e+01] [ 4.03196550e-01 -2.76455388e-02 9.14695723e-01 3.16566685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.01071405699997 meters Centerline goodness : 0.988519 Centerline is valid? [True, True] Translation: X:81.76, Y:44.56, Z:31.65 [[-6.46842652e-01 -7.14851729e-01 2.65671956e-01 8.17581490e+01] [ 6.47366731e-01 -6.98836544e-01 -3.04210125e-01 4.45629807e+01] [ 4.03126406e-01 -2.47888986e-02 9.14808511e-01 3.16514349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.04071405699997 meters Centerline goodness : 0.989419 Centerline is valid? [True, True] Translation: X:81.76, Y:44.56, Z:31.65 [[-6.47187809e-01 -7.15095461e-01 2.64171197e-01 8.17604485e+01] [ 6.45066182e-01 -6.98370154e-01 -3.10110865e-01 4.45597455e+01] [ 4.06248151e-01 -3.02920664e-02 9.13260549e-01 3.16496847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.07071405699998 meters Centerline goodness : 0.988919 Centerline is valid? [True, True] Translation: X:81.76, Y:44.56, Z:31.65 [[-6.48133247e-01 -7.12842616e-01 2.67915468e-01 8.17570876e+01] [ 6.42950879e-01 -7.00761408e-01 -3.09107776e-01 4.45595003e+01] [ 4.08090016e-01 -2.80865407e-02 9.12509553e-01 3.16522975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.10071405699998 meters Centerline goodness : 0.988839 Centerline is valid? [True, True] Translation: X:81.75, Y:44.56, Z:31.66 [[-6.50284971e-01 -7.09540441e-01 2.71443952e-01 8.17515648e+01] [ 6.41090711e-01 -7.04244381e-01 -3.05028772e-01 4.45606993e+01] [ 4.07593128e-01 -2.43354301e-02 9.12839323e-01 3.16553480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.13071405699998 meters Centerline goodness : 0.988869 Centerline is valid? [True, True] Translation: X:81.75, Y:44.56, Z:31.65 [[-6.51053539e-01 -7.09388132e-01 2.69995866e-01 8.17515817e+01] [ 6.40837866e-01 -7.04347229e-01 -3.05322471e-01 4.45607225e+01] [ 4.06762977e-01 -2.57577006e-02 9.13170533e-01 3.16537085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.16071405699998 meters Centerline goodness : 0.989429 Centerline is valid? [True, True] Translation: X:81.76, Y:44.56, Z:31.65 [[-6.51217835e-01 -7.10065147e-01 2.67811162e-01 8.17550650e+01] [ 6.39648661e-01 -7.03477967e-01 -3.09787571e-01 4.45573950e+01] [ 4.08368609e-01 -3.04341406e-02 9.12309620e-01 3.16499903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.19071405699998 meters Centerline goodness : 0.990006 Centerline is valid? [True, True] Translation: X:81.75, Y:44.55, Z:31.65 [[-6.52282706e-01 -7.08512506e-01 2.69327498e-01 8.17533984e+01] [ 6.38119782e-01 -7.05064116e-01 -3.09334344e-01 4.45548929e+01] [ 4.09060405e-01 -2.99102387e-02 9.12016975e-01 3.16495377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.22071405699998 meters Centerline goodness : 0.989457 Centerline is valid? [True, True] Translation: X:81.75, Y:44.55, Z:31.65 [[-6.53396171e-01 -7.06580477e-01 2.71693713e-01 8.17507716e+01] [ 6.37471723e-01 -7.07128708e-01 -3.05939200e-01 4.45534239e+01] [ 4.08293090e-01 -2.67024421e-02 9.12460263e-01 3.16516761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.25071405699998 meters Centerline goodness : 0.990011 Centerline is valid? [True, True] Translation: X:81.76, Y:44.55, Z:31.65 [[-6.52698006e-01 -7.07730539e-01 2.70375288e-01 8.17561333e+01] [ 6.37278328e-01 -7.05864707e-01 -3.09243185e-01 4.45459062e+01] [ 4.09709220e-01 -2.95380984e-02 9.11737822e-01 3.16473548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.28071405699998 meters Centerline goodness : 0.990095 Centerline is valid? [True, True] Translation: X:81.76, Y:44.54, Z:31.64 [[-6.52049990e-01 -7.09181560e-01 2.68127442e-01 8.17604271e+01] [ 6.39875642e-01 -7.04442022e-01 -3.07116591e-01 4.45368460e+01] [ 4.06681660e-01 -2.86871514e-02 9.13119420e-01 3.16430449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.31071405699998 meters Centerline goodness : 0.989548 Centerline is valid? [True, True] Translation: X:81.76, Y:44.53, Z:31.64 [[-6.51688861e-01 -7.08771888e-01 2.70081542e-01 8.17606815e+01] [ 6.41330000e-01 -7.05027316e-01 -3.02708300e-01 4.45315376e+01] [ 4.04965997e-01 -2.40602320e-02 9.14015124e-01 3.16434698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.34071405699999 meters Centerline goodness : 0.990162 Centerline is valid? [True, True] Translation: X:81.76, Y:44.53, Z:31.64 [[-6.49926400e-01 -7.11484565e-01 2.67180442e-01 8.17610901e+01] [ 6.43249628e-01 -7.02202311e-01 -3.05191465e-01 4.45289815e+01] [ 4.04753741e-01 -2.64882707e-02 9.14042002e-01 3.16411634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.370714057 meters Centerline goodness : 0.990674 Centerline is valid? [True, True] Translation: X:81.76, Y:44.53, Z:31.64 [[-6.49553868e-01 -7.12318029e-01 2.65862367e-01 8.17566904e+01] [ 6.43980748e-01 -7.01324226e-01 -3.05668328e-01 4.45318888e+01] [ 4.04188780e-01 -2.73377987e-02 9.14266960e-01 3.16417944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.400714057 meters Centerline goodness : 0.989563 Centerline is valid? [True, True] Translation: X:81.75, Y:44.54, Z:31.65 [[-6.50581156e-01 -7.10227911e-01 2.68924662e-01 8.17457317e+01] [ 6.45042876e-01 -7.03677483e-01 -2.97922284e-01 4.45389733e+01] [ 4.00828951e-01 -2.03546864e-02 9.15926765e-01 3.16500131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.430714057 meters Centerline goodness : 0.989597 Centerline is valid? [True, True] Translation: X:81.75, Y:44.53, Z:31.64 [[-6.48096050e-01 -7.13407942e-01 2.66496940e-01 8.17546556e+01] [ 6.47377925e-01 -7.00394638e-01 -3.00581392e-01 4.45264782e+01] [ 4.01090180e-01 -2.22813767e-02 9.15767551e-01 3.16408412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.460714057 meters Centerline goodness : 0.989849 Centerline is valid? [True, True] Translation: X:81.76, Y:44.52, Z:31.64 [[-6.44942864e-01 -7.15525964e-01 2.68460979e-01 8.17603860e+01] [ 6.52274554e-01 -6.98428693e-01 -2.94508517e-01 4.45150901e+01] [ 3.98229341e-01 -1.48309007e-02 9.17165981e-01 3.16358271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.490714057 meters Centerline goodness : 0.990688 Centerline is valid? [True, True] Translation: X:81.76, Y:44.52, Z:31.63 [[-6.42299914e-01 -7.20335530e-01 2.61854052e-01 8.17614301e+01] [ 6.53875353e-01 -6.93228473e-01 -3.03119296e-01 4.45165378e+01] [ 3.99872283e-01 -2.34735867e-02 9.16270237e-01 3.16304392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.520714057 meters Centerline goodness : 0.990734 Centerline is valid? [True, True] Translation: X:81.76, Y:44.51, Z:31.63 [[-6.41292787e-01 -7.20397352e-01 2.64142418e-01 8.17606070e+01] [ 6.55008810e-01 -6.93281199e-01 -3.00540576e-01 4.45133246e+01] [ 3.99633607e-01 -1.97188931e-02 9.16462844e-01 3.16308586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.550714057 meters Centerline goodness : 0.990845 Centerline is valid? [True, True] Translation: X:81.76, Y:44.51, Z:31.63 [[-6.40060510e-01 -7.21814272e-01 2.63261658e-01 8.17621561e+01] [ 6.57877022e-01 -6.91872334e-01 -2.97507139e-01 4.45103237e+01] [ 3.96888356e-01 -1.72287756e-02 9.17705183e-01 3.16289497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.580714057 meters Centerline goodness : 0.991154 Centerline is valid? [True, True] Translation: X:81.77, Y:44.50, Z:31.62 [[-6.37594371e-01 -7.24627209e-01 2.61512572e-01 8.17653198e+01] [ 6.62169475e-01 -6.88983906e-01 -2.94673996e-01 4.45025908e+01] [ 3.93706749e-01 -1.47168389e-02 9.19118279e-01 3.16246630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.610714057 meters Centerline goodness : 0.990892 Centerline is valid? [True, True] Translation: X:81.77, Y:44.50, Z:31.62 [[-6.36655674e-01 -7.26844512e-01 2.57617174e-01 8.17663378e+01] [ 6.63982978e-01 -6.86578386e-01 -2.96203857e-01 4.45040649e+01] [ 3.92168531e-01 -1.75264475e-02 9.19726409e-01 3.16208936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.640714057 meters Centerline goodness : 0.990678 Centerline is valid? [True, True] Translation: X:81.78, Y:44.49, Z:31.61 [[-6.33633146e-01 -7.28873327e-01 2.59331272e-01 8.17776796e+01] [ 6.68536675e-01 -6.84564304e-01 -2.90569143e-01 4.44882676e+01] [ 3.89317030e-01 -1.07417742e-02 9.21041185e-01 3.16122021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.670714057 meters Centerline goodness : 0.990611 Centerline is valid? [True, True] Translation: X:81.78, Y:44.49, Z:31.61 [[-6.33006888e-01 -7.30947660e-01 2.54985879e-01 8.17800515e+01] [ 6.68941026e-01 -6.82240989e-01 -2.95068020e-01 4.44884416e+01] [ 3.89641097e-01 -1.62095741e-02 9.20824123e-01 3.16104681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.70071405699997 meters Centerline goodness : 0.991578 Centerline is valid? [True, True] Translation: X:81.78, Y:44.49, Z:31.61 [[-6.31999369e-01 -7.30924863e-01 2.57537650e-01 8.17762022e+01] [ 6.70167645e-01 -6.82353201e-01 -2.92009308e-01 4.44892206e+01] [ 3.89168504e-01 -1.19562981e-02 9.21088987e-01 3.16135871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.73071405699997 meters Centerline goodness : 0.991538 Centerline is valid? [True, True] Translation: X:81.77, Y:44.49, Z:31.61 [[-6.31758901e-01 -7.32108217e-01 2.54751349e-01 8.17743486e+01] [ 6.71797538e-01 -6.81066775e-01 -2.91266399e-01 4.44935833e+01] [ 3.86741204e-01 -1.28688104e-02 9.22098495e-01 3.16131529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.76071405699997 meters Centerline goodness : 0.991218 Centerline is valid? [True, True] Translation: X:81.79, Y:44.47, Z:31.60 [[-6.29328296e-01 -7.34131250e-01 2.54945492e-01 8.17932912e+01] [ 6.82883122e-01 -6.78992789e-01 -2.69517038e-01 4.44707554e+01] [ 3.70967031e-01 4.48327514e-03 9.28635215e-01 3.15957248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.79071405699997 meters Centerline goodness : 0.991816 Centerline is valid? [True, True] Translation: X:81.79, Y:44.49, Z:31.59 [[-6.29928890e-01 -7.39260097e-01 2.38084234e-01 8.17937728e+01] [ 6.80371303e-01 -6.73104474e-01 -2.89871105e-01 4.44877023e+01] [ 3.74545704e-01 -2.06125023e-02 9.26979309e-01 3.15906540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.82071405699998 meters Centerline goodness : 0.995250 Centerline is valid? [True, True] Translation: X:81.77, Y:44.52, Z:31.61 [[-6.46404412e-01 -7.27809952e-01 2.29028403e-01 8.17718754e+01] [ 6.42846722e-01 -6.81187179e-01 -3.50331442e-01 4.45213038e+01] [ 4.10985922e-01 -7.92256312e-02 9.08192640e-01 3.16137227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.85071405699998 meters Centerline goodness : 0.994033 Centerline is valid? [True, True] Translation: X:81.75, Y:44.52, Z:31.64 [[-6.48555947e-01 -7.13344650e-01 2.65545842e-01 8.17452943e+01] [ 6.38799383e-01 -6.99797340e-01 -3.19717111e-01 4.45224414e+01] [ 4.13896764e-01 -3.77239137e-02 9.09541849e-01 3.16435463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.88071405699998 meters Centerline goodness : 0.993923 Centerline is valid? [True, True] Translation: X:81.77, Y:44.47, Z:31.63 [[-6.38348788e-01 -7.07364724e-01 3.03555551e-01 8.17695072e+01] [ 6.69013110e-01 -7.04887236e-01 -2.35702022e-01 4.44660381e+01] [ 3.80699729e-01 5.26225432e-02 9.23200186e-01 3.16323611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.91071405699998 meters Centerline goodness : 0.994849 Centerline is valid? [True, True] Translation: X:81.79, Y:44.51, Z:31.60 [[-6.43327470e-01 -7.28756691e-01 2.34613411e-01 8.17870702e+01] [ 6.56511883e-01 -6.82776533e-01 -3.20637418e-01 4.45120148e+01] [ 3.93855195e-01 -5.22483669e-02 9.17686326e-01 3.16036073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.94071405699998 meters Centerline goodness : 0.993944 Centerline is valid? [True, True] Translation: X:81.78, Y:44.50, Z:31.61 [[-6.45195822e-01 -7.20457151e-01 2.54290866e-01 8.17819521e+01] [ 6.53307987e-01 -6.92813497e-01 -3.05283692e-01 4.45029088e+01] [ 3.96119964e-01 -3.08375089e-02 9.17680785e-01 3.16142204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.97071405699998 meters Centerline goodness : 0.995150 Centerline is valid? [True, True] Translation: X:81.78, Y:44.50, Z:31.62 [[-6.48503271e-01 -7.17103484e-01 2.55354853e-01 8.17820737e+01] [ 6.50100158e-01 -6.96262521e-01 -3.04283233e-01 4.45033973e+01] [ 3.95996581e-01 -3.13224415e-02 9.17717611e-01 3.16159298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.00071405699998 meters Centerline goodness : 0.994962 Centerline is valid? [True, True] Translation: X:81.78, Y:44.50, Z:31.61 [[-6.49866364e-01 -7.16082987e-01 2.54752557e-01 8.17825890e+01] [ 6.49832375e-01 -6.97327306e-01 -3.02411166e-01 4.45035097e+01] [ 3.94197406e-01 -3.09803854e-02 9.18503468e-01 3.16149751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.03071405699998 meters Centerline goodness : 0.993927 Centerline is valid? [True, True] Translation: X:81.77, Y:44.51, Z:31.62 [[-6.53058001e-01 -7.13706784e-01 2.53254563e-01 8.17746993e+01] [ 6.47542122e-01 -6.99657720e-01 -3.01940847e-01 4.45142809e+01] [ 3.92688741e-01 -3.31918891e-02 9.19072278e-01 3.16205904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.06071405699998 meters Centerline goodness : 0.993927 Centerline is valid? [True, True] Translation: X:81.78, Y:44.51, Z:31.62 [[-6.53320756e-01 -7.13802182e-01 2.52306230e-01 8.17766513e+01] [ 6.47363806e-01 -6.99501219e-01 -3.02684896e-01 4.45129984e+01] [ 3.92545655e-01 -3.44164038e-02 9.19088363e-01 3.16190593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.09071405699999 meters Centerline goodness : 0.994061 Centerline is valid? [True, True] Translation: X:81.76, Y:44.54, Z:31.63 [[-6.54700826e-01 -7.12813539e-01 2.51522737e-01 8.17580106e+01] [ 6.44797591e-01 -7.00304724e-01 -3.06283137e-01 4.45354005e+01] [ 3.94465327e-01 -3.83425681e-02 9.18110534e-01 3.16319209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.120714057 meters Centerline goodness : 0.992859 Centerline is valid? [True, True] Translation: X:81.78, Y:44.51, Z:31.61 [[-6.55342176e-01 -7.14320871e-01 2.45504228e-01 8.17832512e+01] [ 6.46154624e-01 -6.98501618e-01 -3.07538113e-01 4.45113038e+01] [ 3.91165993e-01 -4.29090040e-02 9.19319304e-01 3.16141693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.150714057 meters Centerline goodness : 0.993523 Centerline is valid? [True, True] Translation: X:81.77, Y:44.51, Z:31.63 [[-6.56117121e-01 -7.06112476e-01 2.66299635e-01 8.17712663e+01] [ 6.43739815e-01 -7.07834532e-01 -2.90808057e-01 4.45077742e+01] [ 3.93839275e-01 -1.93764677e-02 9.18975069e-01 3.16278505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.180714057 meters Centerline goodness : 0.992737 Centerline is valid? [True, True] Translation: X:81.77, Y:44.52, Z:31.62 [[-6.56697579e-01 -7.10975300e-01 2.51520205e-01 8.17733992e+01] [ 6.43947357e-01 -7.02218565e-01 -3.03678922e-01 4.45182691e+01] [ 3.92530370e-01 -3.74594410e-02 9.18975897e-01 3.16214612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.210714057 meters Centerline goodness : 0.992472 Centerline is valid? [True, True] Translation: X:81.78, Y:44.51, Z:31.62 [[-6.57209598e-01 -7.10230863e-01 2.52284891e-01 8.17809201e+01] [ 6.44046374e-01 -7.03064670e-01 -3.01503465e-01 4.45093831e+01] [ 3.91509659e-01 -3.56678012e-02 9.19482460e-01 3.16161606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.240714057 meters Centerline goodness : 0.991618 Centerline is valid? [True, True] Translation: X:81.77, Y:44.51, Z:31.62 [[-6.57080487e-01 -7.08782850e-01 2.56655615e-01 8.17733494e+01] [ 6.43336459e-01 -7.04725870e-01 -2.99131491e-01 4.45133284e+01] [ 3.92891122e-01 -3.14375510e-02 9.19047467e-01 3.16210830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.270714057 meters Centerline goodness : 0.990498 Centerline is valid? [True, True] Translation: X:81.78, Y:44.51, Z:31.61 [[-6.58090183e-01 -7.12444085e-01 2.43599543e-01 8.17814282e+01] [ 6.44879095e-01 -7.00327770e-01 -3.06058765e-01 4.45142986e+01] [ 3.88649281e-01 -4.43220157e-02 9.20319127e-01 3.16110114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.300714057 meters Centerline goodness : 0.992009 Centerline is valid? [True, True] Translation: X:81.78, Y:44.49, Z:31.62 [[-6.56927130e-01 -7.04632596e-01 2.68215679e-01 8.17781319e+01] [ 6.43612141e-01 -7.09389780e-01 -2.87279572e-01 4.44949350e+01] [ 3.92696012e-01 -1.60948772e-02 9.19527486e-01 3.16201113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.330714057 meters Centerline goodness : 0.991640 Centerline is valid? [True, True] Translation: X:81.77, Y:44.51, Z:31.62 [[-6.57084313e-01 -7.09585615e-01 2.54417885e-01 8.17735096e+01] [ 6.44192297e-01 -7.03855546e-01 -2.99338695e-01 4.45111233e+01] [ 3.91479871e-01 -3.27967195e-02 9.19602026e-01 3.16182524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.360714057 meters Centerline goodness : 0.991144 Centerline is valid? [True, True] Translation: X:81.77, Y:44.53, Z:31.62 [[-6.58652403e-01 -7.13233187e-01 2.39740345e-01 8.17693169e+01] [ 6.43139024e-01 -6.99014411e-01 -3.12651642e-01 4.45278028e+01] [ 3.90575483e-01 -5.17423837e-02 9.19115617e-01 3.16166208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.390714057 meters Centerline goodness : 0.990978 Centerline is valid? [True, True] Translation: X:81.77, Y:44.50, Z:31.62 [[-6.56740130e-01 -7.04843754e-01 2.68118788e-01 8.17736485e+01] [ 6.43555888e-01 -7.09169306e-01 -2.87949153e-01 4.44984715e+01] [ 3.93100777e-01 -1.65583391e-02 9.19346290e-01 3.16219067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.420714057 meters Centerline goodness : 0.991559 Centerline is valid? [True, True] Translation: X:81.79, Y:44.49, Z:31.61 [[-6.55693385e-01 -7.11634134e-01 2.52275730e-01 8.17898562e+01] [ 6.45723376e-01 -7.01701487e-01 -3.01091920e-01 4.44909557e+01] [ 3.91289543e-01 -3.45236447e-02 9.19619819e-01 3.16053299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.45071405699997 meters Centerline goodness : 0.990056 Centerline is valid? [True, True] Translation: X:81.79, Y:44.49, Z:31.60 [[-6.56193263e-01 -7.14242396e-01 2.43450615e-01 8.17920372e+01] [ 6.47019422e-01 -6.98577720e-01 -3.05540566e-01 4.44930469e+01] [ 3.88299201e-01 -4.29763846e-02 9.20530695e-01 3.16006246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.48071405699997 meters Centerline goodness : 0.991305 Centerline is valid? [True, True] Translation: X:81.78, Y:44.49, Z:31.61 [[-6.54174957e-01 -7.11413754e-01 2.56798747e-01 8.17808725e+01] [ 6.47013402e-01 -7.02206792e-01 -2.97118292e-01 4.44890948e+01] [ 3.91699864e-01 -2.82151150e-02 9.19660331e-01 3.16120094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.51071405699997 meters Centerline goodness : 0.990781 Centerline is valid? [True, True] Translation: X:81.78, Y:44.49, Z:31.61 [[-6.53604390e-01 -7.12573250e-01 2.55030713e-01 8.17769017e+01] [ 6.47701068e-01 -7.00957733e-01 -2.98565877e-01 4.44932125e+01] [ 3.91515807e-01 -2.99603027e-02 9.19683507e-01 3.16131862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.54071405699997 meters Centerline goodness : 0.990901 Centerline is valid? [True, True] Translation: X:81.77, Y:44.50, Z:31.62 [[-6.53796325e-01 -7.12760141e-01 2.54014461e-01 8.17722410e+01] [ 6.48925010e-01 -7.00814654e-01 -2.96234962e-01 4.44972242e+01] [ 3.89161530e-01 -2.88409931e-02 9.20717927e-01 3.16155729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.57071405699998 meters Centerline goodness : 0.990784 Centerline is valid? [True, True] Translation: X:81.78, Y:44.49, Z:31.61 [[-6.52236419e-01 -7.13804028e-01 2.55091089e-01 8.17776944e+01] [ 6.51135885e-01 -6.99885580e-01 -2.93568107e-01 4.44871781e+01] [ 3.88084672e-01 -2.53768488e-02 9.21274282e-01 3.16114314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.60071405699998 meters Centerline goodness : 0.991031 Centerline is valid? [True, True] Translation: X:81.77, Y:44.49, Z:31.62 [[-6.51279127e-01 -7.13564041e-01 2.58189580e-01 8.17693542e+01] [ 6.53598057e-01 -7.00356189e-01 -2.86898567e-01 4.44905007e+01] [ 3.85545171e-01 -1.80988409e-02 9.22511438e-01 3.16163633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.63071405699998 meters Centerline goodness : 0.992711 Centerline is valid? [True, True] Translation: X:81.79, Y:44.46, Z:31.60 [[-6.49514338e-01 -7.13734205e-01 2.62134718e-01 8.17914382e+01] [ 6.53316930e-01 -7.00241000e-01 -2.87818572e-01 4.44623734e+01] [ 3.88983437e-01 -1.56852400e-02 9.21111209e-01 3.16034479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.66071405699998 meters Centerline goodness : 0.992229 Centerline is valid? [True, True] Translation: X:81.80, Y:44.46, Z:31.59 [[-6.49237237e-01 -7.18597848e-01 2.49215053e-01 8.17994550e+01] [ 6.53879500e-01 -6.94706422e-01 -2.99707501e-01 4.44617840e+01] [ 3.88500463e-01 -3.16246559e-02 9.20905680e-01 3.15937183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.69071405699998 meters Centerline goodness : 0.990292 Centerline is valid? [True, True] Translation: X:81.80, Y:44.47, Z:31.59 [[-6.50622105e-01 -7.20731318e-01 2.39243064e-01 8.18043648e+01] [ 6.53766636e-01 -6.91882802e-01 -3.06410467e-01 4.44652568e+01] [ 3.86367781e-01 -4.29482892e-02 9.21344334e-01 3.15872650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.72071405699998 meters Centerline goodness : 0.992165 Centerline is valid? [True, True] Translation: X:81.78, Y:44.47, Z:31.61 [[-6.50077674e-01 -7.12074715e-01 2.65233140e-01 8.17781050e+01] [ 6.52449481e-01 -7.01991444e-01 -2.85513025e-01 4.44718536e+01] [ 3.89498001e-01 -1.25544185e-02 9.20941743e-01 3.16130914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.75071405699998 meters Centerline goodness : 0.992827 Centerline is valid? [True, True] Translation: X:81.80, Y:44.46, Z:31.59 [[-6.49772111e-01 -7.17478763e-01 2.51038698e-01 8.18008258e+01] [ 6.53501445e-01 -6.95962863e-01 -2.97609735e-01 4.44588548e+01] [ 3.88242276e-01 -2.93243537e-02 9.21090667e-01 3.15938660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.78071405699998 meters Centerline goodness : 0.991145 Centerline is valid? [True, True] Translation: X:81.81, Y:44.46, Z:31.59 [[-6.50763562e-01 -7.20398430e-01 2.39860142e-01 8.18051591e+01] [ 6.53298960e-01 -6.92236782e-01 -3.06608393e-01 4.44634182e+01] [ 3.86920218e-01 -4.28291893e-02 9.21118019e-01 3.15884282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.81071405699998 meters Centerline goodness : 0.992178 Centerline is valid? [True, True] Translation: X:81.79, Y:44.47, Z:31.61 [[-6.49990739e-01 -7.14782346e-01 2.58066342e-01 8.17853909e+01] [ 6.54733634e-01 -6.99120614e-01 -2.87322528e-01 4.44680094e+01] [ 3.85792570e-01 -1.77922681e-02 9.22413968e-01 3.16066056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.84071405699999 meters Centerline goodness : 0.991435 Centerline is valid? [True, True] Translation: X:81.80, Y:44.45, Z:31.59 [[-6.49052217e-01 -7.17398781e-01 2.53120937e-01 8.18022040e+01] [ 6.56899029e-01 -6.96334224e-01 -2.89140648e-01 4.44540056e+01] [ 3.83685920e-01 -2.13924810e-02 9.23215834e-01 3.15928238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.870714057 meters Centerline goodness : 0.991804 Centerline is valid? [True, True] Translation: X:81.81, Y:44.45, Z:31.59 [[-6.48006456e-01 -7.19233253e-01 2.50581646e-01 8.18083899e+01] [ 6.59523889e-01 -6.94446124e-01 -2.87702660e-01 4.44495986e+01] [ 3.80940773e-01 -2.11685991e-02 9.24357084e-01 3.15872283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.900714057 meters Centerline goodness : 0.991439 Centerline is valid? [True, True] Translation: X:81.81, Y:44.45, Z:31.59 [[-6.47324151e-01 -7.21090363e-01 2.46982048e-01 8.18094496e+01] [ 6.59354164e-01 -6.92317568e-01 -2.93169697e-01 4.44523034e+01] [ 3.82391854e-01 -2.69271838e-02 9.23607816e-01 3.15852384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.930714057 meters Centerline goodness : 0.993528 Centerline is valid? [True, True] Translation: X:81.78, Y:44.48, Z:31.61 [[-6.55201216e-01 -7.12988579e-01 2.49717145e-01 8.17848352e+01] [ 6.34178017e-01 -6.98727385e-01 -3.31056316e-01 4.44752393e+01] [ 4.10523580e-01 -5.85433771e-02 9.09968716e-01 3.16099653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.960714057 meters Centerline goodness : 0.993063 Centerline is valid? [True, True] Translation: X:81.78, Y:44.46, Z:31.62 [[-6.58316041e-01 -7.05312067e-01 2.62973150e-01 8.17841908e+01] [ 6.29355718e-01 -7.07382870e-01 -3.21746571e-01 4.44632879e+01] [ 4.12954440e-01 -4.63072728e-02 9.09573673e-01 3.16159446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.990714057 meters Centerline goodness : 0.990811 Centerline is valid? [True, True] Translation: X:81.81, Y:44.41, Z:31.60 [[-6.47835824e-01 -7.02677209e-01 2.94199736e-01 8.18131644e+01] [ 6.55965662e-01 -7.10928743e-01 -2.53553492e-01 4.44128201e+01] [ 3.87321309e-01 2.87238893e-02 9.21497228e-01 3.16002404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.020714057 meters Centerline goodness : 0.991320 Centerline is valid? [True, True] Translation: X:81.83, Y:44.42, Z:31.58 [[-6.44813388e-01 -7.18231312e-01 2.61456453e-01 8.18255779e+01] [ 6.61882747e-01 -6.95771008e-01 -2.78951490e-01 4.44248414e+01] [ 3.82265514e-01 -6.81814026e-03 9.24027375e-01 3.15778039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.050714057 meters Centerline goodness : 0.990608 Centerline is valid? [True, True] Translation: X:81.82, Y:44.45, Z:31.58 [[-6.46333768e-01 -7.23749737e-01 2.41741553e-01 8.18202687e+01] [ 6.58249263e-01 -6.89081519e-01 -3.03108178e-01 4.44504287e+01] [ 3.85954100e-01 -3.67828517e-02 9.21784386e-01 3.15772637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.080714057 meters Centerline goodness : 0.990393 Centerline is valid? [True, True] Translation: X:81.82, Y:44.44, Z:31.58 [[-6.44986958e-01 -7.20207313e-01 2.55525442e-01 8.18176237e+01] [ 6.61871978e-01 -6.93612645e-01 -2.84300870e-01 4.44407473e+01] [ 3.81991243e-01 -1.42452240e-02 9.24056148e-01 3.15823791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.110714057 meters Centerline goodness : 0.990576 Centerline is valid? [True, True] Translation: X:81.83, Y:44.45, Z:31.58 [[-6.46051809e-01 -7.24233819e-01 2.41044468e-01 8.18269105e+01] [ 6.56075949e-01 -6.88283240e-01 -3.09565066e-01 4.44454720e+01] [ 3.90104357e-01 -4.18515930e-02 9.19819023e-01 3.15765254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.140714057 meters Centerline goodness : 0.992243 Centerline is valid? [True, True] Translation: X:81.82, Y:44.43, Z:31.59 [[-6.44071433e-01 -7.16562627e-01 2.67787212e-01 8.18202036e+01] [ 6.54602518e-01 -6.97408731e-01 -2.91747502e-01 4.44312452e+01] [ 3.95812496e-01 -1.26120480e-02 9.18244741e-01 3.15901948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.170714057 meters Centerline goodness : 0.990124 Centerline is valid? [True, True] Translation: X:81.83, Y:44.45, Z:31.58 [[-6.45257568e-01 -7.25249070e-01 2.40117592e-01 8.18275375e+01] [ 6.55648853e-01 -6.87035638e-01 -3.13219753e-01 4.44470334e+01] [ 3.92131677e-01 -4.46745925e-02 9.18823666e-01 3.15783107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.20071405699997 meters Centerline goodness : 0.989256 Centerline is valid? [True, True] Translation: X:81.82, Y:44.44, Z:31.59 [[-6.45364490e-01 -7.18170692e-01 2.60260508e-01 8.18214892e+01] [ 6.57368885e-01 -6.95686900e-01 -2.89630601e-01 4.44359619e+01] [ 3.89064036e-01 -1.58301448e-02 9.21074689e-01 3.15879048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.23071405699997 meters Centerline goodness : 0.989630 Centerline is valid? [True, True] Translation: X:81.83, Y:44.44, Z:31.58 [[-6.45043899e-01 -7.20047273e-01 2.55832550e-01 8.18262931e+01] [ 6.57527184e-01 -6.93588829e-01 -2.94266101e-01 4.44353076e+01] [ 3.89328102e-01 -2.15976972e-02 9.20845898e-01 3.15837803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.26071405699997 meters Centerline goodness : 0.989953 Centerline is valid? [True, True] Translation: X:81.85, Y:44.40, Z:31.57 [[-6.42025805e-01 -7.20977176e-01 2.60758080e-01 8.18498839e+01] [ 6.67189379e-01 -6.92957267e-01 -2.73255484e-01 4.44039145e+01] [ 3.77705174e-01 -1.46205032e-03 9.25924762e-01 3.15666681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.29071405699997 meters Centerline goodness : 0.990120 Centerline is valid? [True, True] Translation: X:81.84, Y:44.44, Z:31.58 [[-6.47206224e-01 -7.22024726e-01 2.44549380e-01 8.18393317e+01] [ 6.53825140e-01 -6.90707257e-01 -3.08927455e-01 4.44356451e+01] [ 3.91965292e-01 -4.00472396e-02 9.19107953e-01 3.15751574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.32071405699998 meters Centerline goodness : 0.990018 Centerline is valid? [True, True] Translation: X:81.84, Y:44.43, Z:31.58 [[-6.47994741e-01 -7.19200744e-01 2.50705217e-01 8.18386992e+01] [ 6.51828049e-01 -6.93929675e-01 -3.05911427e-01 4.44328882e+01] [ 3.93983515e-01 -3.48123033e-02 9.18457998e-01 3.15776190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.35071405699998 meters Centerline goodness : 0.991507 Centerline is valid? [True, True] Translation: X:81.83, Y:44.44, Z:31.59 [[-6.50499474e-01 -7.13871567e-01 2.59302565e-01 8.18293149e+01] [ 6.47138258e-01 -6.99669584e-01 -3.02778052e-01 4.44396389e+01] [ 3.97570760e-01 -2.91523536e-02 9.17108298e-01 3.15873210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.38071405699998 meters Centerline goodness : 0.990369 Centerline is valid? [True, True] Translation: X:81.82, Y:44.44, Z:31.59 [[-6.52773072e-01 -7.09577846e-01 2.65304724e-01 8.18234801e+01] [ 6.44073863e-01 -7.04213385e-01 -2.98751347e-01 4.44435972e+01] [ 3.98818475e-01 -2.41409962e-02 9.16712079e-01 3.15945940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.41071405699998 meters Centerline goodness : 0.990617 Centerline is valid? [True, True] Translation: X:81.83, Y:44.43, Z:31.59 [[-6.53813307e-01 -7.07515268e-01 2.68235540e-01 8.18315849e+01] [ 6.43306033e-01 -7.06401819e-01 -2.95218255e-01 4.44319117e+01] [ 3.98353496e-01 -2.04600825e-02 9.17003750e-01 3.15893320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.44071405699998 meters Centerline goodness : 0.992714 Centerline is valid? [True, True] Translation: X:81.79, Y:44.47, Z:31.62 [[-6.64811975e-01 -6.94614268e-01 2.74838237e-01 8.17877315e+01] [ 6.23354049e-01 -7.18595334e-01 -3.08302570e-01 4.44702828e+01] [ 4.11648839e-01 -3.36417128e-02 9.10721400e-01 3.16198513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.47071405699998 meters Centerline goodness : 0.991761 Centerline is valid? [True, True] Translation: X:81.84, Y:44.43, Z:31.58 [[-6.56785839e-01 -7.04845775e-01 2.68001483e-01 8.18394975e+01] [ 6.35011636e-01 -7.08647348e-01 -3.07537247e-01 4.44286607e+01] [ 4.06684870e-01 -3.18020488e-02 9.13014812e-01 3.15844100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.50071405699998 meters Centerline goodness : 0.991414 Centerline is valid? [True, True] Translation: X:81.84, Y:44.42, Z:31.59 [[-6.58555356e-01 -6.99098299e-01 2.78507469e-01 8.18404526e+01] [ 6.34338615e-01 -7.14819033e-01 -2.94360786e-01 4.44208820e+01] [ 4.04869565e-01 -1.71848304e-02 9.14212950e-01 3.15861651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.53071405699998 meters Centerline goodness : 0.990625 Centerline is valid? [True, True] Translation: X:81.84, Y:44.43, Z:31.58 [[-6.60411325e-01 -7.00094350e-01 2.71523078e-01 8.18435718e+01] [ 6.32021080e-01 -7.13496062e-01 -3.02444579e-01 4.44250495e+01] [ 4.05470388e-01 -2.81295161e-02 9.13675268e-01 3.15831291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.56071405699998 meters Centerline goodness : 0.991693 Centerline is valid? [True, True] Translation: X:81.83, Y:44.45, Z:31.59 [[-6.62031578e-01 -7.03388835e-01 2.58763091e-01 8.18321780e+01] [ 6.30050513e-01 -7.09299227e-01 -3.16118583e-01 4.44478220e+01] [ 4.05894742e-01 -4.62466661e-02 9.12748982e-01 3.15856576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.59071405699999 meters Centerline goodness : 0.992303 Centerline is valid? [True, True] Translation: X:81.84, Y:44.43, Z:31.59 [[-6.62564033e-01 -6.98287295e-01 2.70931275e-01 8.18394924e+01] [ 6.30432176e-01 -7.15226974e-01 -3.01671423e-01 4.44286960e+01] [ 4.04430677e-01 -2.90728413e-02 9.14106447e-01 3.15852542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.620714057 meters Centerline goodness : 0.991931 Centerline is valid? [True, True] Translation: X:81.84, Y:44.44, Z:31.59 [[-6.63739545e-01 -6.98732352e-01 2.66876221e-01 8.18358440e+01] [ 6.29098553e-01 -7.14512214e-01 -3.06116493e-01 4.44372489e+01] [ 4.04579817e-01 -3.52901778e-02 9.13821523e-01 3.15871112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.650714057 meters Centerline goodness : 0.990477 Centerline is valid? [True, True] Translation: X:81.84, Y:44.43, Z:31.59 [[-6.63985382e-01 -6.97368245e-01 2.69816500e-01 8.18379834e+01] [ 6.29760765e-01 -7.16086434e-01 -3.01034214e-01 4.44325739e+01] [ 4.03143637e-01 -2.99624725e-02 9.14646084e-01 3.15883539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.680714057 meters Centerline goodness : 0.991093 Centerline is valid? [True, True] Translation: X:81.84, Y:44.43, Z:31.58 [[-6.64609029e-01 -6.97528766e-01 2.67859027e-01 8.18428645e+01] [ 6.30920049e-01 -7.15941712e-01 -2.98943734e-01 4.44279869e+01] [ 4.00293305e-01 -2.96830742e-02 9.15906210e-01 3.15845835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.710714057 meters Centerline goodness : 0.991785 Centerline is valid? [True, True] Translation: X:81.84, Y:44.44, Z:31.59 [[-6.65135984e-01 -6.97870206e-01 2.65652589e-01 8.18368272e+01] [ 6.30460766e-01 -7.15475716e-01 -3.01021132e-01 4.44359733e+01] [ 4.00141656e-01 -3.27364525e-02 9.15868429e-01 3.15879726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.740714057 meters Centerline goodness : 0.990651 Centerline is valid? [True, True] Translation: X:81.84, Y:44.43, Z:31.58 [[-6.64190727e-01 -6.98141134e-01 2.67300646e-01 8.18439475e+01] [ 6.30985471e-01 -7.15296280e-01 -3.00347413e-01 4.44261577e+01] [ 4.00884041e-01 -3.08251427e-02 9.15610068e-01 3.15827682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.770714057 meters Centerline goodness : 0.991038 Centerline is valid? [True, True] Translation: X:81.84, Y:44.42, Z:31.58 [[-6.64530221e-01 -6.97050535e-01 2.69295630e-01 8.18445278e+01] [ 6.32783061e-01 -7.16601613e-01 -2.93373013e-01 4.44231182e+01] [ 3.97473499e-01 -2.45495201e-02 9.17285200e-01 3.15822930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.800714057 meters Centerline goodness : 0.991214 Centerline is valid? [True, True] Translation: X:81.84, Y:44.43, Z:31.58 [[-6.64302855e-01 -6.98615443e-01 2.65778441e-01 8.18430559e+01] [ 6.32337261e-01 -7.14857080e-01 -2.98544709e-01 4.44287992e+01] [ 3.98561545e-01 -3.02624910e-02 9.16642175e-01 3.15813179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.830714057 meters Centerline goodness : 0.992443 Centerline is valid? [True, True] Translation: X:81.82, Y:44.44, Z:31.60 [[-6.71496900e-01 -6.88585015e-01 2.73756445e-01 8.18172646e+01] [ 6.15769671e-01 -7.24044960e-01 -3.10783861e-01 4.44449962e+01] [ 4.12213084e-01 -4.01194833e-02 9.10203714e-01 3.15988152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.860714057 meters Centerline goodness : 0.990930 Centerline is valid? [True, True] Translation: X:81.83, Y:44.44, Z:31.59 [[-6.64314921e-01 -6.95836497e-01 2.72941854e-01 8.18312777e+01] [ 6.31221573e-01 -7.17837180e-01 -2.93716035e-01 4.44367568e+01] [ 4.00306147e-01 -2.28331577e-02 9.16096957e-01 3.15881012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.890714057 meters Centerline goodness : 0.991316 Centerline is valid? [True, True] Translation: X:81.84, Y:44.43, Z:31.58 [[-6.63699180e-01 -6.98867348e-01 2.66623006e-01 8.18408063e+01] [ 6.31481268e-01 -7.14559784e-01 -3.01057674e-01 4.44293379e+01] [ 4.00917456e-01 -3.14442979e-02 9.15574382e-01 3.15791342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.920714057 meters Centerline goodness : 0.990157 Centerline is valid? [True, True] Translation: X:81.84, Y:44.43, Z:31.58 [[-6.63928529e-01 -6.98683695e-01 2.66533305e-01 8.18436926e+01] [ 6.31936308e-01 -7.14781885e-01 -2.99571962e-01 4.44250568e+01] [ 3.99819224e-01 -3.04622995e-02 9.16087680e-01 3.15764184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.95071405699997 meters Centerline goodness : 0.992047 Centerline is valid? [True, True] Translation: X:81.84, Y:44.41, Z:31.58 [[-6.62067526e-01 -6.96048820e-01 2.77817622e-01 8.18428197e+01] [ 6.31373849e-01 -7.17743330e-01 -2.93618077e-01 4.44148076e+01] [ 4.03774261e-01 -1.89882127e-02 9.14661573e-01 3.15803094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.98071405699997 meters Centerline goodness : 0.992047 Centerline is valid? [True, True] Translation: X:81.85, Y:44.42, Z:31.57 [[-6.62453074e-01 -7.01224150e-01 2.63515875e-01 8.18476610e+01] [ 6.31669677e-01 -7.11995123e-01 -3.06686100e-01 4.44215346e+01] [ 4.02677717e-01 -3.67101626e-02 9.14605390e-01 3.15722952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.01071405699997 meters Centerline goodness : 0.991977 Centerline is valid? [True, True] Translation: X:81.85, Y:44.42, Z:31.57 [[-6.62499589e-01 -7.02175716e-01 2.60851604e-01 8.18492253e+01] [ 6.30327422e-01 -7.10734760e-01 -3.12319456e-01 4.44216718e+01] [ 4.04699439e-01 -4.24895918e-02 9.13462095e-01 3.15707146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.04071405699997 meters Centerline goodness : 0.993085 Centerline is valid? [True, True] Translation: X:81.85, Y:44.42, Z:31.57 [[-6.62924960e-01 -6.99803619e-01 2.66092827e-01 8.18459467e+01] [ 6.28502086e-01 -7.13304907e-01 -3.10131002e-01 4.44187044e+01] [ 4.06836117e-01 -3.83536857e-02 9.12695661e-01 3.15749917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.07071405699998 meters Centerline goodness : 0.990677 Centerline is valid? [True, True] Translation: X:81.84, Y:44.43, Z:31.57 [[-6.63962288e-01 -7.01584320e-01 2.58715138e-01 8.18419793e+01] [ 6.29127351e-01 -7.11124756e-01 -3.13847666e-01 4.44281239e+01] [ 4.04169341e-01 -4.56182448e-02 9.13545904e-01 3.15747023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.10071405699998 meters Centerline goodness : 0.991556 Centerline is valid? [True, True] Translation: X:81.84, Y:44.41, Z:31.58 [[-6.62773264e-01 -6.94625022e-01 2.79692117e-01 8.18417864e+01] [ 6.28117038e-01 -7.19053263e-01 -2.97374162e-01 4.44074803e+01] [ 4.07677063e-01 -2.14122602e-02 9.12875089e-01 3.15816007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.13071405699998 meters Centerline goodness : 0.991624 Centerline is valid? [True, True] Translation: X:81.84, Y:44.42, Z:31.58 [[-6.63069970e-01 -6.98547804e-01 2.69015205e-01 8.18404793e+01] [ 6.28340914e-01 -7.14724162e-01 -3.07175957e-01 4.44156931e+01] [ 4.06848757e-01 -3.46458923e-02 9.12838294e-01 3.15784663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.16071405699998 meters Centerline goodness : 0.992241 Centerline is valid? [True, True] Translation: X:81.85, Y:44.40, Z:31.57 [[-6.61722964e-01 -6.99366876e-01 2.70201207e-01 8.18479332e+01] [ 6.30501842e-01 -7.14093148e-01 -3.04201254e-01 4.44030049e+01] [ 4.05697111e-01 -3.09345964e-02 9.13483938e-01 3.15726224e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.19071405699998 meters Centerline goodness : 0.991536 Centerline is valid? [True, True] Translation: X:81.84, Y:44.41, Z:31.57 [[-6.61565927e-01 -6.99911815e-01 2.69172762e-01 8.18426957e+01] [ 6.31499052e-01 -7.13568661e-01 -3.03362347e-01 4.44079609e+01] [ 4.04400138e-01 -3.07118480e-02 9.14066360e-01 3.15749109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.22071405699998 meters Centerline goodness : 0.990981 Centerline is valid? [True, True] Translation: X:81.83, Y:44.43, Z:31.58 [[-6.62098458e-01 -7.03200141e-01 2.59104599e-01 8.18303505e+01] [ 6.31469150e-01 -7.09676097e-01 -3.12420471e-01 4.44294435e+01] [ 4.03574460e-01 -4.32365511e-02 9.13924645e-01 3.15792075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.25071405699998 meters Centerline goodness : 0.992263 Centerline is valid? [True, True] Translation: X:81.82, Y:44.42, Z:31.59 [[-6.60126357e-01 -6.96260047e-01 2.81877880e-01 8.18236623e+01] [ 6.33014189e-01 -7.17668825e-01 -2.90249021e-01 4.44166881e+01] [ 4.04383764e-01 -1.31683308e-02 9.14494596e-01 3.15902504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.28071405699998 meters Centerline goodness : 0.992161 Centerline is valid? [True, True] Translation: X:81.83, Y:44.43, Z:31.58 [[-6.57732204e-01 -7.04782906e-01 2.65837175e-01 8.18308498e+01] [ 6.34857785e-01 -7.08619324e-01 -3.07919221e-01 4.44253061e+01] [ 4.05393562e-01 -3.37595877e-02 9.13518664e-01 3.15783725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.31071405699998 meters Centerline goodness : 0.992523 Centerline is valid? [True, True] Translation: X:81.85, Y:44.40, Z:31.57 [[-6.56346874e-01 -7.04825375e-01 2.69128168e-01 8.18490767e+01] [ 6.35227120e-01 -7.08725612e-01 -3.06911245e-01 4.44028896e+01] [ 4.07056859e-01 -3.04827253e-02 9.12894034e-01 3.15679045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.34071405699999 meters Centerline goodness : 0.992321 Centerline is valid? [True, True] Translation: X:81.85, Y:44.40, Z:31.57 [[-6.55701612e-01 -7.05057393e-01 2.70091593e-01 8.18456966e+01] [ 6.37039758e-01 -7.08642454e-01 -3.03325268e-01 4.44029930e+01] [ 4.05260092e-01 -2.68317842e-02 9.13807591e-01 3.15695561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.370714057 meters Centerline goodness : 0.992557 Centerline is valid? [True, True] Translation: X:81.86, Y:44.39, Z:31.56 [[-6.55788899e-01 -7.05787681e-01 2.67963933e-01 8.18560501e+01] [ 6.36503790e-01 -7.07769986e-01 -3.06471160e-01 4.43930405e+01] [ 4.05960398e-01 -3.04203256e-02 9.13384234e-01 3.15621859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.400714057 meters Centerline goodness : 0.992385 Centerline is valid? [True, True] Translation: X:81.86, Y:44.39, Z:31.56 [[-6.54843335e-01 -7.05941523e-01 2.69864359e-01 8.18586765e+01] [ 6.37933405e-01 -7.07771309e-01 -3.03481044e-01 4.43884239e+01] [ 4.05242121e-01 -2.65770490e-02 9.13823005e-01 3.15602685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.430714057 meters Centerline goodness : 0.992508 Centerline is valid? [True, True] Translation: X:81.86, Y:44.39, Z:31.56 [[-6.55007880e-01 -7.06476958e-01 2.68057802e-01 8.18610083e+01] [ 6.39330620e-01 -7.07248151e-01 -3.01755548e-01 4.43877170e+01] [ 4.02766727e-01 -2.62747007e-02 9.14925464e-01 3.15570958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.460714057 meters Centerline goodness : 0.992525 Centerline is valid? [True, True] Translation: X:81.86, Y:44.39, Z:31.55 [[-6.55204639e-01 -7.06724010e-01 2.66923311e-01 8.18633091e+01] [ 6.40739851e-01 -7.07046533e-01 -2.99228413e-01 4.43857370e+01] [ 4.00199106e-01 -2.50274416e-02 9.16086406e-01 3.15547020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.490714057 meters Centerline goodness : 0.992860 Centerline is valid? [True, True] Translation: X:81.86, Y:44.39, Z:31.56 [[-6.56291350e-01 -7.07614667e-01 2.61845654e-01 8.18605978e+01] [ 6.39690488e-01 -7.05866496e-01 -3.04217963e-01 4.43931520e+01] [ 4.00097167e-01 -3.21554430e-02 9.15908448e-01 3.15560340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.520714057 meters Centerline goodness : 0.993025 Centerline is valid? [True, True] Translation: X:81.86, Y:44.38, Z:31.56 [[-6.59125886e-01 -7.03183281e-01 2.66620216e-01 8.18625145e+01] [ 6.39388276e-01 -7.10635839e-01 -2.93563175e-01 4.43848710e+01] [ 3.95898597e-01 -2.30212476e-02 9.18005622e-01 3.15564445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.550714057 meters Centerline goodness : 0.992590 Centerline is valid? [True, True] Translation: X:81.87, Y:44.39, Z:31.55 [[-6.61114859e-01 -7.05226984e-01 2.56089914e-01 8.18710316e+01] [ 6.36981372e-01 -7.07930888e-01 -3.05104227e-01 4.43857266e+01] [ 3.96461694e-01 -3.85844333e-02 9.17240081e-01 3.15483907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.580714057 meters Centerline goodness : 0.993847 Centerline is valid? [True, True] Translation: X:81.86, Y:44.39, Z:31.55 [[-6.64146790e-01 -6.99662804e-01 2.63402738e-01 8.18647203e+01] [ 6.34250696e-01 -7.13837365e-01 -2.96921321e-01 4.43886781e+01] [ 3.95771520e-01 -3.01359728e-02 9.17854415e-01 3.15547842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.610714057 meters Centerline goodness : 0.993858 Centerline is valid? [True, True] Translation: X:81.87, Y:44.39, Z:31.55 [[-6.65443307e-01 -6.99427836e-01 2.60741073e-01 8.18658828e+01] [ 6.30525916e-01 -7.13656159e-01 -3.05175286e-01 4.43919829e+01] [ 3.99527563e-01 -3.86728482e-02 9.15905092e-01 3.15542218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.640714057 meters Centerline goodness : 0.993367 Centerline is valid? [True, True] Translation: X:81.85, Y:44.41, Z:31.57 [[-6.68449121e-01 -6.95489661e-01 2.63571442e-01 8.18459910e+01] [ 6.26582271e-01 -7.17518951e-01 -3.04238743e-01 4.44131514e+01] [ 4.00712405e-01 -3.82189275e-02 9.15406403e-01 3.15691556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.670714057 meters Centerline goodness : 0.993182 Centerline is valid? [True, True] Translation: X:81.84, Y:44.42, Z:31.58 [[-6.71479915e-01 -6.91365830e-01 2.66698358e-01 8.18377120e+01] [ 6.23626924e-01 -7.21632214e-01 -3.00560157e-01 4.44219858e+01] [ 4.00255149e-01 -3.54998320e-02 9.15715883e-01 3.15768603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.70071405699997 meters Centerline goodness : 0.992340 Centerline is valid? [True, True] Translation: X:81.84, Y:44.42, Z:31.58 [[-6.74759081e-01 -6.88973991e-01 2.64603520e-01 8.18412272e+01] [ 6.17378359e-01 -7.23372538e-01 -3.09153899e-01 4.44226202e+01] [ 4.04405915e-01 -4.52439140e-02 9.13459821e-01 3.15763240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.73071405699997 meters Centerline goodness : 0.992496 Centerline is valid? [True, True] Translation: X:81.84, Y:44.42, Z:31.58 [[-6.77043990e-01 -6.83722094e-01 2.72278414e-01 8.18398024e+01] [ 6.13645772e-01 -7.28713557e-01 -3.03999043e-01 4.44213421e+01] [ 4.06263833e-01 -3.87382273e-02 9.12934306e-01 3.15804833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.76071405699997 meters Centerline goodness : 0.992553 Centerline is valid? [True, True] Translation: X:81.84, Y:44.42, Z:31.58 [[-6.78665320e-01 -6.81777905e-01 2.73115857e-01 8.18413941e+01] [ 6.11890740e-01 -7.30538930e-01 -3.03154408e-01 4.44209267e+01] [ 4.06205743e-01 -3.86233199e-02 9.12965023e-01 3.15797902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.79071405699997 meters Centerline goodness : 0.992350 Centerline is valid? [True, True] Translation: X:81.81, Y:44.45, Z:31.60 [[-6.80381019e-01 -6.79981292e-01 2.73326017e-01 8.18128280e+01] [ 6.09505496e-01 -7.32118832e-01 -3.04146455e-01 4.44531734e+01] [ 4.06921024e-01 -4.03417655e-02 9.12572091e-01 3.15986579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.82071405699998 meters Centerline goodness : 0.992882 Centerline is valid? [True, True] Translation: X:81.83, Y:44.44, Z:31.59 [[-6.81678454e-01 -6.78785264e-01 2.73066020e-01 8.18323586e+01] [ 6.05380738e-01 -7.32872309e-01 -3.10503366e-01 4.44367189e+01] [ 4.10887634e-01 -4.63545461e-02 9.10506787e-01 3.15872982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.85071405699998 meters Centerline goodness : 0.992503 Centerline is valid? [True, True] Translation: X:81.83, Y:44.44, Z:31.59 [[-6.83612638e-01 -6.79168947e-01 2.67213964e-01 8.18290636e+01] [ 6.06549879e-01 -7.32308639e-01 -3.09550158e-01 4.44445522e+01] [ 4.05919949e-01 -4.95338028e-02 9.12565284e-01 3.15867327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.88071405699998 meters Centerline goodness : 0.993584 Centerline is valid? [True, True] Translation: X:81.86, Y:44.39, Z:31.57 [[-6.81644253e-01 -6.71869849e-01 2.89744747e-01 8.18614195e+01] [ 6.05430810e-01 -7.40286327e-01 -2.92283577e-01 4.43928951e+01] [ 4.10870597e-01 -2.38130235e-02 9.11382627e-01 3.15744833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.91071405699998 meters Centerline goodness : 0.992932 Centerline is valid? [True, True] Translation: X:81.88, Y:44.39, Z:31.55 [[-6.84507243e-01 -6.80207857e-01 2.62234829e-01 8.18813991e+01] [ 6.06082230e-01 -7.30887840e-01 -3.13794990e-01 4.43941675e+01] [ 4.05110066e-01 -5.58590735e-02 9.12559915e-01 3.15524094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.94071405699998 meters Centerline goodness : 0.993243 Centerline is valid? [True, True] Translation: X:81.87, Y:44.38, Z:31.57 [[-6.89068570e-01 -6.63222783e-01 2.92095954e-01 8.18687944e+01] [ 5.96798645e-01 -7.47976551e-01 -2.90452159e-01 4.43771125e+01] [ 4.11115413e-01 -2.58189839e-02 9.11217591e-01 3.15699016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.97071405699998 meters Centerline goodness : 0.992856 Centerline is valid? [True, True] Translation: X:81.86, Y:44.41, Z:31.57 [[-6.85649333e-01 -6.72586844e-01 2.78409644e-01 8.18573873e+01] [ 6.02913876e-01 -7.39030955e-01 -3.00546345e-01 4.44085376e+01] [ 4.07896863e-01 -3.82123634e-02 9.12228022e-01 3.15733708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.00071405699998 meters Centerline goodness : 0.992327 Centerline is valid? [True, True] Translation: X:81.88, Y:44.39, Z:31.56 [[-6.86464613e-01 -6.73368962e-01 2.74482379e-01 8.18797257e+01] [ 6.02264402e-01 -7.38020704e-01 -3.04307459e-01 4.43888905e+01] [ 4.07484877e-01 -4.35853363e-02 9.12171253e-01 3.15575999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.03071405699998 meters Centerline goodness : 0.992464 Centerline is valid? [True, True] Translation: X:81.88, Y:44.39, Z:31.56 [[-6.86920615e-01 -6.74180011e-01 2.71332603e-01 8.18782522e+01] [ 6.04092011e-01 -7.37261363e-01 -3.02520290e-01 4.43946696e+01] [ 4.03996177e-01 -4.38975660e-02 9.13706787e-01 3.15561949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.06071405699998 meters Centerline goodness : 0.992346 Centerline is valid? [True, True] Translation: X:81.87, Y:44.39, Z:31.56 [[-6.86621325e-01 -6.70811584e-01 2.80290876e-01 8.18717951e+01] [ 6.04819879e-01 -7.40987526e-01 -2.91771144e-01 4.43933608e+01] [ 4.03415506e-01 -3.08107965e-02 9.14498018e-01 3.15627576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.09071405699999 meters Centerline goodness : 0.992193 Centerline is valid? [True, True] Translation: X:81.87, Y:44.40, Z:31.56 [[-6.87291187e-01 -6.73713056e-01 2.71553940e-01 8.18705934e+01] [ 6.04889022e-01 -7.37820175e-01 -2.99550765e-01 4.44018702e+01] [ 4.02169237e-01 -4.16186034e-02 9.14618935e-01 3.15604758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.120714057 meters Centerline goodness : 0.992817 Centerline is valid? [True, True] Translation: X:81.88, Y:44.39, Z:31.55 [[-6.87302976e-01 -6.74011482e-01 2.70782460e-01 8.18786556e+01] [ 6.05989277e-01 -7.37602853e-01 -2.97857396e-01 4.43939927e+01] [ 4.00489220e-01 -4.06270076e-02 9.15400366e-01 3.15546241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.150714057 meters Centerline goodness : 0.991653 Centerline is valid? [True, True] Translation: X:81.88, Y:44.39, Z:31.55 [[-6.86716918e-01 -6.76934261e-01 2.64914857e-01 8.18840133e+01] [ 6.10529388e-01 -7.34899596e-01 -2.95256583e-01 4.43940034e+01] [ 3.94555118e-01 -4.10193848e-02 9.17956246e-01 3.15469247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.180714057 meters Centerline goodness : 0.993236 Centerline is valid? [True, True] Translation: X:81.89, Y:44.38, Z:31.55 [[-6.87042780e-01 -6.74116378e-01 2.71181355e-01 8.18879138e+01] [ 6.07874493e-01 -7.37699146e-01 -2.93749163e-01 4.43849833e+01] [ 3.98071375e-01 -3.69740129e-02 9.16609024e-01 3.15480144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.210714057 meters Centerline goodness : 0.992505 Centerline is valid? [True, True] Translation: X:81.90, Y:44.38, Z:31.53 [[-6.87143089e-01 -6.79806329e-01 2.56315687e-01 8.19024549e+01] [ 6.10644483e-01 -7.31557859e-01 -3.03210182e-01 4.43841515e+01] [ 3.93633956e-01 -5.18310204e-02 9.17804911e-01 3.15334862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.240714057 meters Centerline goodness : 0.993572 Centerline is valid? [True, True] Translation: X:81.89, Y:44.38, Z:31.55 [[-6.84887817e-01 -6.73164591e-01 2.78887274e-01 8.18911810e+01] [ 6.10566648e-01 -7.39083400e-01 -2.84541905e-01 4.43787957e+01] [ 3.97664490e-01 -2.46000157e-02 9.17201065e-01 3.15467885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.270714057 meters Centerline goodness : 0.992807 Centerline is valid? [True, True] Translation: X:81.89, Y:44.40, Z:31.54 [[-6.83544927e-01 -6.84177295e-01 2.54298568e-01 8.18910535e+01] [ 6.10557957e-01 -7.26870080e-01 -3.14450103e-01 4.44030199e+01] [ 3.99981641e-01 -5.96767586e-02 9.14578248e-01 3.15395824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.300714057 meters Centerline goodness : 0.992691 Centerline is valid? [True, True] Translation: X:81.87, Y:44.40, Z:31.56 [[-6.81875634e-01 -6.78068305e-01 2.74351954e-01 8.18737539e+01] [ 6.10865806e-01 -7.34190481e-01 -2.96322974e-01 4.44040228e+01] [ 4.02353810e-01 -3.44631885e-02 9.14835341e-01 3.15561737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.330714057 meters Centerline goodness : 0.992871 Centerline is valid? [True, True] Translation: X:81.90, Y:44.37, Z:31.54 [[-6.78323584e-01 -6.78826741e-01 2.81196320e-01 8.18955592e+01] [ 6.13193587e-01 -7.33842241e-01 -2.92351143e-01 4.43747407e+01] [ 4.04809511e-01 -2.58808948e-02 9.14034703e-01 3.15443198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.360714057 meters Centerline goodness : 0.992044 Centerline is valid? [True, True] Translation: X:81.91, Y:44.37, Z:31.53 [[-6.73530417e-01 -6.87566702e-01 2.71309431e-01 8.19054432e+01] [ 6.18598376e-01 -7.25240584e-01 -3.02261715e-01 4.43702776e+01] [ 4.04589701e-01 -3.57508855e-02 9.13799238e-01 3.15348699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.390714057 meters Centerline goodness : 0.991540 Centerline is valid? [True, True] Translation: X:81.90, Y:44.38, Z:31.53 [[-6.72782451e-01 -6.92872993e-01 2.59404683e-01 8.19046140e+01] [ 6.20044042e-01 -7.19331851e-01 -3.13220490e-01 4.43794495e+01] [ 4.03620069e-01 -4.98869206e-02 9.13565616e-01 3.15329482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.420714057 meters Centerline goodness : 0.992177 Centerline is valid? [True, True] Translation: X:81.91, Y:44.35, Z:31.54 [[-6.67554623e-01 -6.87162818e-01 2.86667204e-01 8.19070772e+01] [ 6.24895462e-01 -7.26407075e-01 -2.86074156e-01 4.43514855e+01] [ 4.04816609e-01 -1.18330900e-02 9.14321328e-01 3.15395915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.45071405699997 meters Centerline goodness : 0.990862 Centerline is valid? [True, True] Translation: X:81.91, Y:44.37, Z:31.53 [[-6.63737356e-01 -7.01671733e-01 2.59055017e-01 8.19062439e+01] [ 6.32023205e-01 -7.11358206e-01 -3.07434824e-01 4.43707222e+01] [ 3.99999238e-01 -4.03271950e-02 9.15627832e-01 3.15304689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.48071405699997 meters Centerline goodness : 0.990103 Centerline is valid? [True, True] Translation: X:81.92, Y:44.35, Z:31.53 [[-6.60240400e-01 -7.00369972e-01 2.71227795e-01 8.19156049e+01] [ 6.35685091e-01 -7.13433620e-01 -2.94816781e-01 4.43489510e+01] [ 3.99983848e-01 -2.22344840e-02 9.16252448e-01 3.15283307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.51071405699997 meters Centerline goodness : 0.990921 Centerline is valid? [True, True] Translation: X:81.92, Y:44.32, Z:31.52 [[-6.54064921e-01 -7.00231308e-01 2.86138418e-01 8.19222928e+01] [ 6.46038313e-01 -7.13869992e-01 -2.70229775e-01 4.43244992e+01] [ 3.93488980e-01 8.10856448e-03 9.19293573e-01 3.15248874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.54071405699997 meters Centerline goodness : 0.990622 Centerline is valid? [True, True] Translation: X:81.92, Y:44.36, Z:31.52 [[-6.53820863e-01 -7.13648652e-01 2.51443595e-01 8.19169052e+01] [ 6.51710678e-01 -6.99979845e-01 -2.92064049e-01 4.43561213e+01] [ 3.84436563e-01 -2.70890930e-02 9.22753873e-01 3.15155812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.57071405699998 meters Centerline goodness : 0.991529 Centerline is valid? [True, True] Translation: X:81.92, Y:44.34, Z:31.52 [[-6.52321935e-01 -7.09739060e-01 2.65982254e-01 8.19197958e+01] [ 6.48602857e-01 -7.04288685e-01 -2.88603156e-01 4.43426856e+01] [ 3.92161225e-01 -1.57453193e-02 9.19761740e-01 3.15190790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.60071405699998 meters Centerline goodness : 0.990536 Centerline is valid? [True, True] Translation: X:81.93, Y:44.35, Z:31.51 [[-6.52627437e-01 -7.15334454e-01 2.49747966e-01 8.19282166e+01] [ 6.51585547e-01 -6.98095271e-01 -2.96815207e-01 4.43463862e+01] [ 3.86670018e-01 -3.09775828e-02 9.21697720e-01 3.15088480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.63071405699998 meters Centerline goodness : 0.991150 Centerline is valid? [True, True] Translation: X:81.91, Y:44.35, Z:31.52 [[-6.53881963e-01 -7.09044571e-01 2.63996545e-01 8.19148493e+01] [ 6.42651141e-01 -7.04645704e-01 -3.00788867e-01 4.43530194e+01] [ 3.99296745e-01 -2.70227338e-02 9.16423418e-01 3.15246081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.66071405699998 meters Centerline goodness : 0.991962 Centerline is valid? [True, True] Translation: X:81.92, Y:44.34, Z:31.52 [[-6.53759131e-01 -7.05487522e-01 2.73653715e-01 8.19184126e+01] [ 6.45984467e-01 -7.08668901e-01 -2.83711928e-01 4.43404068e+01] [ 3.94085103e-01 -8.70321431e-03 9.19032745e-01 3.15241048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.69071405699998 meters Centerline goodness : 0.990835 Centerline is valid? [True, True] Translation: X:81.92, Y:44.36, Z:31.52 [[-6.56852806e-01 -7.10746342e-01 2.51761849e-01 8.19169555e+01] [ 6.45047984e-01 -7.02578011e-01 -3.00494987e-01 4.43632815e+01] [ 3.90458052e-01 -3.49825024e-02 9.19955833e-01 3.15182360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.72071405699998 meters Centerline goodness : 0.990593 Centerline is valid? [True, True] Translation: X:81.94, Y:44.33, Z:31.51 [[-6.56541912e-01 -7.07450598e-01 2.61660792e-01 8.19414577e+01] [ 6.44568817e-01 -7.06375673e-01 -2.92514015e-01 4.43319952e+01] [ 3.91770033e-01 -2.33893238e-02 9.19765829e-01 3.15060061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.75071405699998 meters Centerline goodness : 0.991382 Centerline is valid? [True, True] Translation: X:81.93, Y:44.34, Z:31.52 [[-6.56820141e-01 -7.01736863e-01 2.75957747e-01 8.19314936e+01] [ 6.41881059e-01 -7.12376377e-01 -2.83740382e-01 4.43363922e+01] [ 3.95696866e-01 -9.23434677e-03 9.18334752e-01 3.15178214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.78071405699998 meters Centerline goodness : 0.990195 Centerline is valid? [True, True] Translation: X:81.94, Y:44.35, Z:31.50 [[-6.58181896e-01 -7.09343135e-01 2.52247712e-01 8.19417958e+01] [ 6.42846104e-01 -7.03908432e-01 -3.02095692e-01 4.43460039e+01] [ 3.91848796e-01 -3.66774563e-02 9.19298257e-01 3.15042139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.81071405699998 meters Centerline goodness : 0.991215 Centerline is valid? [True, True] Translation: X:81.94, Y:44.34, Z:31.51 [[-6.58062605e-01 -7.02924962e-01 2.69907589e-01 8.19389339e+01] [ 6.35533126e-01 -7.10755346e-01 -3.01536870e-01 4.43411269e+01] [ 4.03796054e-01 -2.68949246e-02 9.14453613e-01 3.15144904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.84071405699999 meters Centerline goodness : 0.990053 Centerline is valid? [True, True] Translation: X:81.94, Y:44.33, Z:31.51 [[-6.57161218e-01 -7.01573800e-01 2.75560041e-01 8.19407063e+01] [ 6.42010691e-01 -7.12538832e-01 -2.83038311e-01 4.43335204e+01] [ 3.94919493e-01 -9.08930882e-03 9.18670767e-01 3.15126220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.870714057 meters Centerline goodness : 0.990053 Centerline is valid? [True, True] Translation: X:81.95, Y:44.34, Z:31.51 [[-6.57279852e-01 -7.06184624e-01 2.63223240e-01 8.19452073e+01] [ 6.42241140e-01 -7.07599318e-01 -2.94668497e-01 4.43394051e+01] [ 3.94346946e-01 -2.46268721e-02 9.18631593e-01 3.15057468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.900714057 meters Centerline goodness : 0.989245 Centerline is valid? [True, True] Translation: X:81.95, Y:44.35, Z:31.50 [[-6.59001576e-01 -7.09622081e-01 2.49305886e-01 8.19487527e+01] [ 6.38875894e-01 -7.03041675e-01 -3.12361961e-01 4.43526830e+01] [ 3.96931373e-01 -4.65715034e-02 9.16666014e-01 3.15039218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.930714057 meters Centerline goodness : 0.989371 Centerline is valid? [True, True] Translation: X:81.95, Y:44.33, Z:31.51 [[-6.57513764e-01 -6.98514644e-01 2.82405633e-01 8.19469186e+01] [ 6.43325690e-01 -7.15590512e-01 -2.72143849e-01 4.43274523e+01] [ 3.92183256e-01 2.74047254e-03 9.19883027e-01 3.15141034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.960714057 meters Centerline goodness : 0.990371 Centerline is valid? [True, True] Translation: X:81.96, Y:44.34, Z:31.50 [[-6.57229918e-01 -7.07661609e-01 2.59352815e-01 8.19598689e+01] [ 6.44454582e-01 -7.06082601e-01 -2.93471723e-01 4.43378970e+01] [ 3.90803181e-01 -2.57372863e-02 9.20114376e-01 3.15009875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.990714057 meters Centerline goodness : 0.989111 Centerline is valid? [True, True] Translation: X:81.96, Y:44.34, Z:31.50 [[-6.57369323e-01 -7.09252535e-01 2.54610319e-01 8.19636646e+01] [ 6.49174118e-01 -7.04575137e-01 -2.86612702e-01 4.43384796e+01] [ 3.82672886e-01 -2.31239686e-02 9.23594470e-01 3.14967609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.020714057 meters Centerline goodness : 0.989685 Centerline is valid? [True, True] Translation: X:81.97, Y:44.34, Z:31.50 [[-6.56533462e-01 -7.09432627e-01 2.56259947e-01 8.19659130e+01] [ 6.49497577e-01 -7.04446558e-01 -2.86195639e-01 4.43359336e+01] [ 3.83557962e-01 -2.14567988e-02 9.23267510e-01 3.14967767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.050714057 meters Centerline goodness : 0.989278 Centerline is valid? [True, True] Translation: X:81.97, Y:44.34, Z:31.49 [[-6.56271109e-01 -7.10416470e-01 2.54198095e-01 8.19725338e+01] [ 6.47119487e-01 -7.03191766e-01 -2.94546617e-01 4.43380624e+01] [ 3.88000775e-01 -2.88058939e-02 9.21208782e-01 3.14939388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.080714057 meters Centerline goodness : 0.990026 Centerline is valid? [True, True] Translation: X:81.97, Y:44.34, Z:31.50 [[-6.57617018e-01 -7.07937321e-01 2.57613291e-01 8.19708105e+01] [ 6.41687593e-01 -7.05527569e-01 -3.00778794e-01 4.43426699e+01] [ 3.94685812e-01 -3.24900010e-02 9.18241531e-01 3.14999075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.110714057 meters Centerline goodness : 0.989506 Centerline is valid? [True, True] Translation: X:81.97, Y:44.33, Z:31.50 [[-6.56830091e-01 -7.01400576e-01 2.76787758e-01 8.19692783e+01] [ 6.51377382e-01 -7.12706381e-01 -2.60301979e-01 4.43276648e+01] [ 3.79844359e-01 9.31911260e-03 9.25003469e-01 3.15011718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.140714057 meters Centerline goodness : 0.989529 Centerline is valid? [True, True] Translation: X:81.97, Y:44.36, Z:31.50 [[-6.58041347e-01 -7.09093359e-01 2.53314418e-01 8.19713872e+01] [ 6.48990028e-01 -7.04696360e-01 -2.86731554e-01 4.43557968e+01] [ 3.81829189e-01 -2.42826871e-02 9.23913860e-01 3.14956033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.170714057 meters Centerline goodness : 0.989756 Centerline is valid? [True, True] Translation: X:81.98, Y:44.35, Z:31.49 [[-6.57373046e-01 -7.08922182e-01 2.55519115e-01 8.19766610e+01] [ 6.51285146e-01 -7.05056266e-01 -2.80576764e-01 4.43504784e+01] [ 3.79062445e-01 -1.80277981e-02 9.25195472e-01 3.14927998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.20071405699997 meters Centerline goodness : 0.985167 Centerline is valid? [True, True] Translation: X:81.39, Y:44.97, Z:31.87 [[-6.80149473e-01 -6.87379908e-01 2.54765690e-01 8.13884970e+01] [ 6.05715577e-01 -7.22712658e-01 -3.32858910e-01 4.49650448e+01] [ 4.12922915e-01 -7.20782656e-02 9.07909351e-01 3.18716323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.23071405699997 meters Centerline goodness : 0.985116 Centerline is valid? [True, True] Translation: X:81.39, Y:44.93, Z:31.88 [[-6.78751819e-01 -6.74329237e-01 2.90819615e-01 8.13940063e+01] [ 6.05420922e-01 -7.37962967e-01 -2.98121060e-01 4.49318797e+01] [ 4.15645853e-01 -2.62819326e-02 9.09146735e-01 3.18799124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.26071405699997 meters Centerline goodness : 0.992391 Centerline is valid? [True, True] Translation: X:81.94, Y:44.36, Z:31.54 [[-6.67102083e-01 -6.74283761e-01 3.16727360e-01 8.19441930e+01] [ 6.14280529e-01 -7.38417895e-01 -2.78205758e-01 4.43559533e+01] [ 4.21466776e-01 8.96780991e-03 9.06799501e-01 3.15371858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.29071405699997 meters Centerline goodness : 0.990823 Centerline is valid? [True, True] Translation: X:81.72, Y:44.63, Z:31.68 [[-6.65567681e-01 -6.92059771e-01 2.79415345e-01 8.17179154e+01] [ 6.20313993e-01 -7.21129974e-01 -3.08515981e-01 4.46312402e+01] [ 4.15006279e-01 -3.20130174e-02 9.09255165e-01 3.16754585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.32071405699998 meters Centerline goodness : 0.992374 Centerline is valid? [True, True] Translation: X:81.95, Y:44.37, Z:31.53 [[-6.65316657e-01 -6.81284130e-01 3.05296053e-01 8.19515764e+01] [ 6.15601135e-01 -7.31992099e-01 -2.91929458e-01 4.43669172e+01] [ 4.22361206e-01 -6.28493435e-03 9.06405821e-01 3.15310623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.35071405699998 meters Centerline goodness : 0.984611 Centerline is valid? [True, True] Translation: X:81.38, Y:44.97, Z:31.89 [[-6.72687299e-01 -6.85128475e-01 2.79447260e-01 8.13834437e+01] [ 6.10530967e-01 -7.27308372e-01 -3.13487592e-01 4.49726699e+01] [ 4.18023608e-01 -4.02679158e-02 9.07543254e-01 3.18897815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.38071405699998 meters Centerline goodness : 0.990945 Centerline is valid? [True, True] Translation: X:81.97, Y:44.34, Z:31.52 [[-6.48772287e-01 -6.96874755e-01 3.05712439e-01 8.19665541e+01] [ 6.56505502e-01 -7.15707641e-01 -2.38250074e-01 4.43431488e+01] [ 3.84831190e-01 4.61318532e-02 9.21833394e-01 3.15223707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.41071405699998 meters Centerline goodness : 0.984635 Centerline is valid? [True, True] Translation: X:81.37, Y:45.01, Z:31.89 [[-6.70687814e-01 -6.96855402e-01 2.54107072e-01 8.13738100e+01] [ 6.14620748e-01 -7.13897619e-01 -3.35546607e-01 4.50107161e+01] [ 4.15233899e-01 -6.88675418e-02 9.07104223e-01 3.18921302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.44071405699998 meters Centerline goodness : 0.985204 Centerline is valid? [True, True] Translation: X:81.36, Y:45.00, Z:31.91 [[-6.70881793e-01 -6.83826144e-01 2.86878764e-01 8.13608090e+01] [ 6.15701361e-01 -7.29262899e-01 -2.98475222e-01 4.49983297e+01] [ 4.13315199e-01 -2.36099469e-02 9.10281888e-01 3.19106481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.47071405699998 meters Centerline goodness : 0.985744 Centerline is valid? [True, True] Translation: X:81.37, Y:44.99, Z:31.90 [[-6.69639272e-01 -6.84251513e-01 2.88761341e-01 8.13729674e+01] [ 6.13099416e-01 -7.28737583e-01 -3.05042031e-01 4.49912364e+01] [ 4.19156713e-01 -2.72287141e-02 9.07505508e-01 3.19047745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.50071405699998 meters Centerline goodness : 0.985786 Centerline is valid? [True, True] Translation: X:81.40, Y:44.96, Z:31.88 [[-6.71927503e-01 -6.81931786e-01 2.88933331e-01 8.14032960e+01] [ 6.13570673e-01 -7.31044819e-01 -2.98503772e-01 4.49597033e+01] [ 4.14782425e-01 -2.32918757e-02 9.09622465e-01 3.18848983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.53071405699998 meters Centerline goodness : 0.992835 Centerline is valid? [True, True] Translation: X:81.94, Y:44.40, Z:31.55 [[-6.62010726e-01 -6.80731836e-01 3.13601603e-01 8.19392626e+01] [ 6.19515590e-01 -7.32494881e-01 -2.82226298e-01 4.43959099e+01] [ 4.21831995e-01 7.44424613e-03 9.06643453e-01 3.15493681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.56071405699998 meters Centerline goodness : 0.993027 Centerline is valid? [True, True] Translation: X:81.95, Y:44.41, Z:31.54 [[-6.64357623e-01 -6.88593922e-01 2.90632688e-01 8.19481231e+01] [ 6.18075498e-01 -7.24795139e-01 -3.04392321e-01 4.44091504e+01] [ 4.20251861e-01 -2.25924153e-02 9.07126207e-01 3.15385649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.59071405699999 meters Centerline goodness : 0.992461 Centerline is valid? [True, True] Translation: X:81.95, Y:44.41, Z:31.54 [[-6.68270655e-01 -6.84582630e-01 2.91137347e-01 8.19531277e+01] [ 6.13562135e-01 -7.28507635e-01 -3.04660684e-01 4.44103069e+01] [ 4.20661192e-01 -2.49649425e-02 9.06874254e-01 3.15377810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.620714057 meters Centerline goodness : 0.990948 Centerline is valid? [True, True] Translation: X:81.72, Y:44.67, Z:31.69 [[-6.68856441e-01 -6.89694131e-01 2.77404158e-01 8.17249300e+01] [ 6.15065211e-01 -7.23007209e-01 -3.14571711e-01 4.46678300e+01] [ 4.17523469e-01 -3.97816680e-02 9.07794895e-01 3.16872487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.650714057 meters Centerline goodness : 0.991195 Centerline is valid? [True, True] Translation: X:81.72, Y:44.66, Z:31.69 [[-6.70107166e-01 -6.83836701e-01 2.88658539e-01 8.17247610e+01] [ 6.11906686e-01 -7.29064190e-01 -3.06652268e-01 4.46630180e+01] [ 4.20150679e-01 -2.88577921e-02 9.06995388e-01 3.16906003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.680714057 meters Centerline goodness : 0.991060 Centerline is valid? [True, True] Translation: X:81.72, Y:44.67, Z:31.70 [[-6.74986592e-01 -6.77406658e-01 2.92426605e-01 8.17221165e+01] [ 6.07029630e-01 -7.35142122e-01 -3.01796434e-01 4.46689401e+01] [ 4.19414029e-01 -2.61969328e-02 9.07416990e-01 3.16952979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.710714057 meters Centerline goodness : 0.991876 Centerline is valid? [True, True] Translation: X:81.95, Y:44.42, Z:31.55 [[-6.78650981e-01 -6.67694717e-01 3.05968317e-01 8.19518184e+01] [ 6.01810802e-01 -7.44333370e-01 -2.89467775e-01 4.44153114e+01] [ 4.21018533e-01 -1.23125514e-02 9.06968465e-01 3.15462954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.740714057 meters Centerline goodness : 0.992862 Centerline is valid? [True, True] Translation: X:81.96, Y:44.43, Z:31.54 [[-6.81986059e-01 -6.70892385e-01 2.91201688e-01 8.19587694e+01] [ 5.98909642e-01 -7.40819782e-01 -3.04127098e-01 4.44252701e+01] [ 4.19764525e-01 -3.30069421e-02 9.07032681e-01 3.15397039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.770714057 meters Centerline goodness : 0.992461 Centerline is valid? [True, True] Translation: X:81.96, Y:44.43, Z:31.54 [[-6.82555126e-01 -6.70074874e-01 2.91750173e-01 8.19588572e+01] [ 5.97856091e-01 -7.41543031e-01 -3.04437231e-01 4.44270365e+01] [ 4.20341047e-01 -3.33705748e-02 9.06752342e-01 3.15405936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.800714057 meters Centerline goodness : 0.992539 Centerline is valid? [True, True] Translation: X:81.96, Y:44.43, Z:31.54 [[-6.82533699e-01 -6.69878202e-01 2.92251509e-01 8.19602466e+01] [ 5.97501873e-01 -7.41721848e-01 -3.04696917e-01 4.44269588e+01] [ 4.20879152e-01 -3.33450893e-02 9.06503637e-01 3.15399889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.830714057 meters Centerline goodness : 0.991564 Centerline is valid? [True, True] Translation: X:81.74, Y:44.67, Z:31.68 [[-6.81066724e-01 -6.76556145e-01 2.80035534e-01 8.17416205e+01] [ 6.00510784e-01 -7.34926495e-01 -3.15071173e-01 4.46698781e+01] [ 4.18968872e-01 -4.64201332e-02 9.06813242e-01 3.16818939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.860714057 meters Centerline goodness : 0.992598 Centerline is valid? [True, True] Translation: X:81.96, Y:44.42, Z:31.54 [[-6.79527301e-01 -6.66549475e-01 3.06519892e-01 8.19603744e+01] [ 5.99386749e-01 -7.45316458e-01 -2.91957022e-01 4.44172018e+01] [ 4.23058120e-01 -1.46688055e-02 9.05983804e-01 3.15436777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.890714057 meters Centerline goodness : 0.990357 Centerline is valid? [True, True] Translation: X:82.00, Y:44.40, Z:31.51 [[-6.69213812e-01 -6.84113873e-01 2.90070822e-01 8.19984236e+01] [ 6.24156008e-01 -7.29346885e-01 -2.80147103e-01 4.43951299e+01] [ 4.03214771e-01 -6.42886463e-03 9.15082793e-01 3.15113730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.920714057 meters Centerline goodness : 0.991778 Centerline is valid? [True, True] Translation: X:82.00, Y:44.40, Z:31.50 [[-6.67371076e-01 -6.93728263e-01 2.70844871e-01 8.20045006e+01] [ 6.26248145e-01 -7.19586290e-01 -3.00014719e-01 4.44034590e+01] [ 4.03024946e-01 -3.06050479e-02 9.14677115e-01 3.15046780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.95071405699997 meters Centerline goodness : 0.991430 Centerline is valid? [True, True] Translation: X:82.00, Y:44.41, Z:31.52 [[-6.66018123e-01 -6.94208010e-01 2.72937902e-01 8.19976477e+01] [ 6.18067410e-01 -7.18437584e-01 -3.19123980e-01 4.44130033e+01] [ 4.17627270e-01 -4.38483320e-02 9.07559798e-01 3.15153908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.98071405699997 meters Centerline goodness : 0.992370 Centerline is valid? [True, True] Translation: X:82.00, Y:44.39, Z:31.51 [[-6.62271026e-01 -6.92226850e-01 2.86738690e-01 8.20021080e+01] [ 6.26803001e-01 -7.21522461e-01 -2.94148495e-01 4.43911243e+01] [ 4.10505891e-01 -1.50773538e-02 9.11733287e-01 3.15113867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.01071405699997 meters Centerline goodness : 0.992470 Centerline is valid? [True, True] Translation: X:82.00, Y:44.40, Z:31.51 [[-6.62172402e-01 -6.96869025e-01 2.75501856e-01 8.20020553e+01] [ 6.28294968e-01 -7.16677339e-01 -3.02686347e-01 4.43994148e+01] [ 4.08378677e-01 -2.73341155e-02 9.12403256e-01 3.15090050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.04071405699997 meters Centerline goodness : 0.991093 Centerline is valid? [True, True] Translation: X:82.01, Y:44.40, Z:31.51 [[-6.62012108e-01 -7.00740758e-01 2.65899152e-01 8.20067721e+01] [ 6.28198182e-01 -7.12280822e-01 -3.13086369e-01 4.44031357e+01] [ 4.08787246e-01 -4.02296030e-02 9.11742599e-01 3.15050301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.07071405699998 meters Centerline goodness : 0.991649 Centerline is valid? [True, True] Translation: X:82.00, Y:44.40, Z:31.51 [[-6.63428058e-01 -6.96090711e-01 2.74446596e-01 8.20017726e+01] [ 6.24716217e-01 -7.17174130e-01 -3.08854198e-01 4.43998553e+01] [ 4.11816537e-01 -3.34513018e-02 9.10652596e-01 3.15118348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.10071405699998 meters Centerline goodness : 0.991849 Centerline is valid? [True, True] Translation: X:81.99, Y:44.40, Z:31.52 [[-6.64843724e-01 -6.88998158e-01 2.88555647e-01 8.19920620e+01] [ 6.21877999e-01 -7.24536276e-01 -2.97178295e-01 4.43983449e+01] [ 4.13824332e-01 -1.81307157e-02 9.10176192e-01 3.15208362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.13071405699998 meters Centerline goodness : 0.991759 Centerline is valid? [True, True] Translation: X:82.00, Y:44.40, Z:31.52 [[-6.66100608e-01 -6.91163822e-01 2.80361466e-01 8.19952852e+01] [ 6.22554541e-01 -7.22223132e-01 -3.01362891e-01 4.44005937e+01] [ 4.10774663e-01 -2.61977015e-02 9.11360443e-01 3.15158035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.16071405699998 meters Centerline goodness : 0.990567 Centerline is valid? [True, True] Translation: X:81.99, Y:44.40, Z:31.51 [[-6.68731707e-01 -6.89828217e-01 2.77371475e-01 8.19940713e+01] [ 6.30853586e-01 -7.23876633e-01 -2.79332013e-01 4.43992545e+01] [ 3.93473834e-01 -1.18173846e-02 9.19259861e-01 3.15098909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.19071405699998 meters Centerline goodness : 0.992500 Centerline is valid? [True, True] Translation: X:81.99, Y:44.41, Z:31.51 [[-6.70854168e-01 -6.91431527e-01 2.68099102e-01 8.19932259e+01] [ 6.17004838e-01 -7.20962440e-01 -3.15465038e-01 4.44118458e+01] [ 4.11411856e-01 -4.62125926e-02 9.10277255e-01 3.15148441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.22071405699998 meters Centerline goodness : 0.992006 Centerline is valid? [True, True] Translation: X:81.98, Y:44.41, Z:31.52 [[-6.72753412e-01 -6.84965921e-01 2.79686491e-01 8.19827546e+01] [ 6.13271274e-01 -7.27730326e-01 -3.07094312e-01 4.44128417e+01] [ 4.13885479e-01 -3.50750560e-02 9.09652983e-01 3.15245554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.25071405699998 meters Centerline goodness : 0.991749 Centerline is valid? [True, True] Translation: X:81.99, Y:44.40, Z:31.52 [[-6.73925508e-01 -6.82103814e-01 2.83828816e-01 8.19868756e+01] [ 6.13146298e-01 -7.30708288e-01 -3.00194960e-01 4.44047208e+01] [ 4.12160196e-01 -2.82804532e-02 9.10672383e-01 3.15203350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.28071405699998 meters Centerline goodness : 0.991302 Centerline is valid? [True, True] Translation: X:81.99, Y:44.39, Z:31.51 [[-6.74936857e-01 -6.78530766e-01 2.89924538e-01 8.19852867e+01] [ 6.27051856e-01 -7.34540863e-01 -2.59337019e-01 4.43930197e+01] [ 3.88929567e-01 6.76160761e-03 9.21242679e-01 3.15126949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.31071405699998 meters Centerline goodness : 0.991240 Centerline is valid? [True, True] Translation: X:81.99, Y:44.41, Z:31.50 [[-6.75521520e-01 -6.90918925e-01 2.57491195e-01 8.19929030e+01] [ 6.24642877e-01 -7.21797202e-01 -2.98043747e-01 4.44145511e+01] [ 3.91780489e-01 -4.04949242e-02 9.19167128e-01 3.15024217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.34071405699999 meters Centerline goodness : 0.993041 Centerline is valid? [True, True] Translation: X:81.99, Y:44.42, Z:31.51 [[-6.85089408e-01 -6.82222584e-01 2.55391560e-01 8.19871538e+01] [ 5.97433421e-01 -7.26801056e-01 -3.38870967e-01 4.44189411e+01] [ 4.16804282e-01 -7.95774572e-02 9.05506278e-01 3.15124846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.370714057 meters Centerline goodness : 0.993004 Centerline is valid? [True, True] Translation: X:81.98, Y:44.40, Z:31.53 [[-6.83501091e-01 -6.68302853e-01 2.93594202e-01 8.19751821e+01] [ 5.96338838e-01 -7.43188058e-01 -3.03399902e-01 4.43978967e+01] [ 4.20958725e-01 -3.22925390e-02 9.06504795e-01 3.15283383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.400714057 meters Centerline goodness : 0.991534 Centerline is valid? [True, True] Translation: X:81.99, Y:44.38, Z:31.51 [[-6.75740798e-01 -6.73753525e-01 2.99049431e-01 8.19895724e+01] [ 6.19236343e-01 -7.38933921e-01 -2.65561692e-01 4.43768613e+01] [ 3.99900895e-01 5.73140579e-03 9.16540466e-01 3.15117391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.430714057 meters Centerline goodness : 0.993793 Centerline is valid? [True, True] Translation: X:81.99, Y:44.41, Z:31.51 [[-6.83210769e-01 -6.80756680e-01 2.64184384e-01 8.19850399e+01] [ 5.98322315e-01 -7.29281744e-01 -3.31901409e-01 4.44075360e+01] [ 4.18608950e-01 -6.86912044e-02 9.05565053e-01 3.15137119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.460714057 meters Centerline goodness : 0.994081 Centerline is valid? [True, True] Translation: X:81.98, Y:44.39, Z:31.52 [[-6.81402197e-01 -6.70176595e-01 2.94201252e-01 8.19777195e+01] [ 5.98221992e-01 -7.41556783e-01 -3.03684025e-01 4.43878365e+01] [ 4.21688860e-01 -3.09333024e-02 9.06212799e-01 3.15241006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.490714057 meters Centerline goodness : 0.993652 Centerline is valid? [True, True] Translation: X:81.98, Y:44.38, Z:31.52 [[-6.79162325e-01 -6.72324771e-01 2.94479096e-01 8.19802182e+01] [ 6.00538836e-01 -7.39671387e-01 -3.03709312e-01 4.43808530e+01] [ 4.22009055e-01 -2.94217887e-02 9.06114074e-01 3.15218381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.520714057 meters Centerline goodness : 0.994143 Centerline is valid? [True, True] Translation: X:81.74, Y:44.63, Z:31.68 [[-6.75338618e-01 -6.76048213e-01 2.94748306e-01 8.17352395e+01] [ 6.07806102e-01 -7.36550570e-01 -2.96757476e-01 4.46322724e+01] [ 4.17719395e-01 -2.12619648e-02 9.08327274e-01 3.16788817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.550714057 meters Centerline goodness : 0.994084 Centerline is valid? [True, True] Translation: X:81.74, Y:44.63, Z:31.68 [[-6.72972647e-01 -6.81363268e-01 2.87840082e-01 8.17377980e+01] [ 6.11115788e-01 -7.31419829e-01 -3.02593006e-01 4.46291591e+01] [ 4.16707704e-01 -2.77331978e-02 9.08617389e-01 3.16752737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.580714057 meters Centerline goodness : 0.994198 Centerline is valid? [True, True] Translation: X:81.98, Y:44.37, Z:31.52 [[-6.72569086e-01 -6.82067975e-01 2.87113395e-01 8.19827243e+01] [ 6.09116655e-01 -7.30557273e-01 -3.08647000e-01 4.43736437e+01] [ 4.20271013e-01 -3.27008803e-02 9.06809202e-01 3.15174777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.610714057 meters Centerline goodness : 0.994350 Centerline is valid? [True, True] Translation: X:81.98, Y:44.36, Z:31.52 [[-6.69324154e-01 -6.82820981e-01 2.92849251e-01 8.19819297e+01] [ 6.13105741e-01 -7.30248900e-01 -3.01393255e-01 4.43643086e+01] [ 4.19650482e-01 -2.21822282e-02 9.07414691e-01 3.15187679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.640714057 meters Centerline goodness : 0.993787 Centerline is valid? [True, True] Translation: X:81.98, Y:44.36, Z:31.52 [[-6.68267191e-01 -6.84022509e-01 2.92458832e-01 8.19832544e+01] [ 6.14730760e-01 -7.29153116e-01 -3.00735475e-01 4.43611579e+01] [ 4.18957102e-01 -2.11882110e-02 9.07758782e-01 3.15172117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.670714057 meters Centerline goodness : 0.994798 Centerline is valid? [True, True] Translation: X:81.99, Y:44.36, Z:31.51 [[-6.67599423e-01 -6.84737088e-01 2.92311702e-01 8.19862950e+01] [ 6.15701812e-01 -7.28501167e-01 -3.00328701e-01 4.43562995e+01] [ 4.18595616e-01 -2.05224229e-02 9.07940824e-01 3.15148488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.70071405699997 meters Centerline goodness : 0.994363 Centerline is valid? [True, True] Translation: X:81.98, Y:44.35, Z:31.52 [[-6.66915794e-01 -6.85310419e-01 2.92528551e-01 8.19845212e+01] [ 6.16337288e-01 -7.27977053e-01 -3.00296117e-01 4.43545250e+01] [ 4.18750130e-01 -1.99759698e-02 9.07881759e-01 3.15153018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.73071405699997 meters Centerline goodness : 0.994051 Centerline is valid? [True, True] Translation: X:81.99, Y:44.35, Z:31.51 [[-6.67549686e-01 -6.84659103e-01 2.92607809e-01 8.19883566e+01] [ 6.15704556e-01 -7.28583839e-01 -3.00122458e-01 4.43490871e+01] [ 4.18670894e-01 -2.01866918e-02 9.07913641e-01 3.15119451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.76071405699997 meters Centerline goodness : 0.994209 Centerline is valid? [True, True] Translation: X:81.99, Y:44.35, Z:31.51 [[-6.69779667e-01 -6.82597360e-01 2.92328655e-01 8.19877316e+01] [ 6.13711068e-01 -7.30485689e-01 -2.99582015e-01 4.43477410e+01] [ 4.18035792e-01 -2.12486110e-02 9.08182016e-01 3.15120707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.79071405699997 meters Centerline goodness : 0.994209 Centerline is valid? [True, True] Translation: X:81.99, Y:44.35, Z:31.51 [[-6.70039991e-01 -6.82287416e-01 2.92455624e-01 8.19894408e+01] [ 6.13426864e-01 -7.30775187e-01 -2.99458026e-01 4.43459932e+01] [ 4.18035756e-01 -2.12487170e-02 9.08182030e-01 3.15110322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.82071405699998 meters Centerline goodness : 0.995156 Centerline is valid? [True, True] Translation: X:81.99, Y:44.35, Z:31.51 [[-6.71814614e-01 -6.80658679e-01 2.92179546e-01 8.19879591e+01] [ 6.11904776e-01 -7.32269257e-01 -2.98921862e-01 4.43464716e+01] [ 4.17417859e-01 -2.20340159e-02 9.08447485e-01 3.15116673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.85071405699998 meters Centerline goodness : 0.993938 Centerline is valid? [True, True] Translation: X:81.99, Y:44.34, Z:31.51 [[-6.73361622e-01 -6.79104411e-01 2.92235049e-01 8.19911928e+01] [ 6.10300047e-01 -7.33687549e-01 -2.98724678e-01 4.43423370e+01] [ 4.17274463e-01 -2.27986694e-02 9.08494492e-01 3.15095746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.88071405699998 meters Centerline goodness : 0.994469 Centerline is valid? [True, True] Translation: X:81.99, Y:44.35, Z:31.51 [[-6.76132623e-01 -6.76238859e-01 2.92481932e-01 8.19869252e+01] [ 6.07172587e-01 -7.36278598e-01 -2.98722741e-01 4.43450576e+01] [ 4.17356113e-01 -2.43891790e-02 9.08415677e-01 3.15116634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.91071405699998 meters Centerline goodness : 0.994849 Centerline is valid? [True, True] Translation: X:81.99, Y:44.34, Z:31.51 [[-6.77656271e-01 -6.74607314e-01 2.92723334e-01 8.19878408e+01] [ 6.05392734e-01 -7.37746072e-01 -2.98714532e-01 4.43435157e+01] [ 4.17470498e-01 -2.52131964e-02 9.08340618e-01 3.15105652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.94071405699998 meters Centerline goodness : 0.993609 Centerline is valid? [True, True] Translation: X:81.98, Y:44.34, Z:31.51 [[-6.72513940e-01 -6.73339894e-01 3.07145548e-01 8.19835252e+01] [ 6.25550192e-01 -7.38949342e-01 -2.50281497e-01 4.43374774e+01] [ 3.95489517e-01 2.38171611e-02 9.18161633e-01 3.15105846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.97071405699998 meters Centerline goodness : 0.994875 Centerline is valid? [True, True] Translation: X:82.00, Y:44.37, Z:31.49 [[-6.81505685e-01 -6.87333873e-01 2.51241216e-01 8.19971935e+01] [ 6.02875836e-01 -7.21920868e-01 -3.39663049e-01 4.43679203e+01] [ 4.14838195e-01 -8.00150406e-02 9.06370159e-01 3.14914411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.00071405699998 meters Centerline goodness : 0.994806 Centerline is valid? [True, True] Translation: X:81.99, Y:44.34, Z:31.51 [[-6.80615737e-01 -6.71150086e-01 2.93802281e-01 8.19877576e+01] [ 6.01284891e-01 -7.40825624e-01 -2.99389171e-01 4.43419052e+01] [ 4.18591326e-01 -2.71101087e-02 9.07769984e-01 3.15083114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.03071405699998 meters Centerline goodness : 0.995023 Centerline is valid? [True, True] Translation: X:81.99, Y:44.34, Z:31.51 [[-6.80735578e-01 -6.70858301e-01 2.94190775e-01 8.19901279e+01] [ 6.00890638e-01 -7.41089396e-01 -2.99527876e-01 4.43376575e+01] [ 4.18962425e-01 -2.71227994e-02 9.07598391e-01 3.15053736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.06071405699998 meters Centerline goodness : 0.994487 Centerline is valid? [True, True] Translation: X:81.99, Y:44.34, Z:31.51 [[-6.80136158e-01 -6.71324759e-01 2.94512944e-01 8.19904124e+01] [ 6.01355248e-01 -7.40683633e-01 -2.99599101e-01 4.43361252e+01] [ 4.19269211e-01 -2.66612770e-02 9.07470388e-01 3.15051214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.09071405699999 meters Centerline goodness : 0.993253 Centerline is valid? [True, True] Translation: X:82.00, Y:44.32, Z:31.50 [[-6.72408522e-01 -6.75898893e-01 3.01707585e-01 8.19980445e+01] [ 6.19658422e-01 -7.36974465e-01 -2.69985328e-01 4.43243183e+01] [ 4.04833570e-01 5.41521114e-03 9.14374352e-01 3.14986375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.120714057 meters Centerline goodness : 0.994488 Centerline is valid? [True, True] Translation: X:82.00, Y:44.35, Z:31.49 [[-6.76994901e-01 -6.85893055e-01 2.66886908e-01 8.19958180e+01] [ 6.06504865e-01 -7.25340733e-01 -3.25626580e-01 4.43481073e+01] [ 4.16928955e-01 -5.85793263e-02 9.07049452e-01 3.14921028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.150714057 meters Centerline goodness : 0.995412 Centerline is valid? [True, True] Translation: X:81.99, Y:44.33, Z:31.50 [[-6.74906865e-01 -6.76709519e-01 2.94219224e-01 8.19929659e+01] [ 6.07580866e-01 -7.35892985e-01 -2.98842779e-01 4.43262962e+01] [ 4.18743616e-01 -2.29290723e-02 9.07814982e-01 3.15015809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.180714057 meters Centerline goodness : 0.994999 Centerline is valid? [True, True] Translation: X:82.00, Y:44.32, Z:31.50 [[-6.73359861e-01 -6.78527860e-01 2.93575273e-01 8.19966370e+01] [ 6.09999103e-01 -7.34258893e-01 -2.97934510e-01 4.43199813e+01] [ 4.17717121e-01 -2.15364866e-02 9.08321852e-01 3.14988692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.210714057 meters Centerline goodness : 0.995157 Centerline is valid? [True, True] Translation: X:82.00, Y:44.32, Z:31.50 [[-6.73304565e-01 -6.78841544e-01 2.92976314e-01 8.19981381e+01] [ 6.10751490e-01 -7.33981984e-01 -2.97074175e-01 4.43174111e+01] [ 4.16705628e-01 -2.10856776e-02 9.08796905e-01 3.14979534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.240714057 meters Centerline goodness : 0.994856 Centerline is valid? [True, True] Translation: X:82.00, Y:44.32, Z:31.50 [[-6.73930507e-01 -6.78392244e-01 2.92577571e-01 8.19996291e+01] [ 6.10572323e-01 -7.34396130e-01 -2.96418223e-01 4.43151364e+01] [ 4.15955659e-01 -2.11255164e-02 9.09139484e-01 3.14970246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.270714057 meters Centerline goodness : 0.994977 Centerline is valid? [True, True] Translation: X:82.00, Y:44.31, Z:31.49 [[-6.75482705e-01 -6.76951763e-01 2.92334442e-01 8.20028359e+01] [ 6.09236767e-01 -7.35704818e-01 -2.95920568e-01 4.43120476e+01] [ 4.15395807e-01 -2.17883353e-02 9.09379784e-01 3.14943587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.300714057 meters Centerline goodness : 0.995369 Centerline is valid? [True, True] Translation: X:82.00, Y:44.31, Z:31.49 [[-6.76778563e-01 -6.75599631e-01 2.92465238e-01 8.20029463e+01] [ 6.07815122e-01 -7.36927506e-01 -2.95801670e-01 4.43121680e+01] [ 4.15369177e-01 -2.24274348e-02 9.09376411e-01 3.14936276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.330714057 meters Centerline goodness : 0.995503 Centerline is valid? [True, True] Translation: X:82.00, Y:44.31, Z:31.49 [[-6.79438372e-01 -6.72525785e-01 2.93381268e-01 8.20022160e+01] [ 6.04134547e-01 -7.39678081e-01 -2.96475606e-01 4.43128168e+01] [ 4.16395183e-01 -2.41951434e-02 9.08861732e-01 3.14930397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.360714057 meters Centerline goodness : 0.994713 Centerline is valid? [True, True] Translation: X:82.03, Y:44.28, Z:31.47 [[-6.70212813e-01 -6.75136836e-01 3.08228871e-01 8.20253753e+01] [ 6.31142985e-01 -7.36980311e-01 -2.41906085e-01 4.42783760e+01] [ 3.90478318e-01 3.24079319e-02 9.20041526e-01 3.14744678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.390714057 meters Centerline goodness : 0.994980 Centerline is valid? [True, True] Translation: X:82.02, Y:44.34, Z:31.47 [[-0.68368499 -0.68782197 0.24387656 82.0157076 ] [ 0.60139275 -0.72032365 -0.34563074 44.34157465] [ 0.41340246 -0.08963695 0.90612561 31.47029483] [ 0. 0. 0. 1. ]] SLAMing on 224.420714057 meters Centerline goodness : 0.991229 Centerline is valid? [True, True] Translation: X:81.59, Y:44.72, Z:31.75 [[-6.86517361e-01 -6.65630049e-01 2.92626983e-01 8.15933579e+01] [ 5.96063063e-01 -7.45678377e-01 -2.97779421e-01 4.47225888e+01] [ 4.16416544e-01 -3.00066070e-02 9.08678637e-01 3.17525756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.45071405699997 meters Centerline goodness : 0.995237 Centerline is valid? [True, True] Translation: X:82.63, Y:44.59, Z:32.42 [[-6.39810142e-01 7.67023797e-01 -4.81401876e-02 8.26264484e+01] [ 6.52627444e-01 5.75330159e-01 4.93023962e-01 4.45935668e+01] [ 4.05857613e-01 2.84024123e-01 -8.68682851e-01 3.24236165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.48071405699997 meters Centerline goodness : 0.994812 Centerline is valid? [True, True] Translation: X:82.70, Y:44.77, Z:32.35 [[-7.04099917e-01 6.53308147e-01 -2.78265649e-01 8.26987945e+01] [ 5.92010977e-01 7.56456376e-01 2.78022938e-01 4.47663123e+01] [ 3.92130475e-01 3.10196082e-02 -9.19386466e-01 3.23544151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.51071405699997 meters Centerline goodness : 0.994289 Centerline is valid? [True, True] Translation: X:82.00, Y:44.38, Z:31.56 [[-7.75401153e-01 -5.36273384e-01 3.33412521e-01 8.20042702e+01] [ 4.97943039e-01 -8.43967573e-01 -1.99427844e-01 4.43763176e+01] [ 3.88337201e-01 1.13838636e-02 9.21447028e-01 3.15648493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.54071405699997 meters Centerline goodness : 0.993516 Centerline is valid? [True, True] Translation: X:82.00, Y:44.41, Z:31.56 [[-7.78659993e-01 -5.49131802e-01 3.03550454e-01 8.19972563e+01] [ 4.93007363e-01 -8.34709573e-01 -2.45364358e-01 4.44091412e+01] [ 3.88113842e-01 -4.14028007e-02 9.20680973e-01 3.15552227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.57071405699998 meters Centerline goodness : 0.993684 Centerline is valid? [True, True] Translation: X:82.01, Y:44.40, Z:31.55 [[-7.79843009e-01 -5.44484120e-01 3.08839642e-01 8.20069472e+01] [ 4.92018266e-01 -8.38177177e-01 -2.35323281e-01 4.43966863e+01] [ 3.86992128e-01 -3.15604702e-02 9.21542744e-01 3.15523535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.60071405699998 meters Centerline goodness : 0.993905 Centerline is valid? [True, True] Translation: X:82.00, Y:44.40, Z:31.55 [[-7.82140027e-01 -5.41973651e-01 3.07443556e-01 8.20037886e+01] [ 4.90281183e-01 -8.39800274e-01 -2.33152011e-01 4.43987218e+01] [ 3.84553429e-01 -3.16237300e-02 9.22560892e-01 3.15532222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.63071405699998 meters Centerline goodness : 0.994360 Centerline is valid? [True, True] Translation: X:82.00, Y:44.40, Z:31.55 [[-7.83298948e-01 -5.42441023e-01 3.03645344e-01 8.20013390e+01] [ 4.89293247e-01 -8.39272305e-01 -2.37095161e-01 4.44037561e+01] [ 3.83451270e-01 -3.71447739e-02 9.22813843e-01 3.15525979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.66071405699998 meters Centerline goodness : 0.994367 Centerline is valid? [True, True] Translation: X:82.00, Y:44.40, Z:31.56 [[-7.88385084e-01 -5.34617980e-01 3.04356001e-01 8.19975001e+01] [ 4.74130789e-01 -8.43285847e-01 -2.53118499e-01 4.44029119e+01] [ 3.91980809e-01 -5.52502985e-02 9.18312828e-01 3.15554921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.69071405699998 meters Centerline goodness : 0.994220 Centerline is valid? [True, True] Translation: X:82.01, Y:44.38, Z:31.56 [[-7.88773837e-01 -5.26140487e-01 3.17823886e-01 8.20060897e+01] [ 4.72498446e-01 -8.49701808e-01 -2.33991572e-01 4.43837457e+01] [ 3.93167971e-01 -3.43951379e-02 9.18823118e-01 3.15575043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.72071405699998 meters Centerline goodness : 0.994348 Centerline is valid? [True, True] Translation: X:82.01, Y:44.38, Z:31.56 [[-7.85814198e-01 -5.30088013e-01 3.18594955e-01 8.20053175e+01] [ 4.84908623e-01 -8.47824492e-01 -2.14609548e-01 4.43842272e+01] [ 3.83874554e-01 -1.41537889e-02 9.23276772e-01 3.15577855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.75071405699998 meters Centerline goodness : 0.994356 Centerline is valid? [True, True] Translation: X:82.02, Y:44.39, Z:31.54 [[-7.86809547e-01 -5.37514661e-01 3.03329402e-01 8.20166459e+01] [ 4.85442646e-01 -8.42459068e-01 -2.33683882e-01 4.43887800e+01] [ 3.81151118e-01 -3.66156813e-02 9.23787377e-01 3.15444923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.78071405699998 meters Centerline goodness : 0.994119 Centerline is valid? [True, True] Translation: X:82.01, Y:44.39, Z:31.54 [[-7.87641420e-01 -5.37067027e-01 3.01960267e-01 8.20136939e+01] [ 4.84906834e-01 -8.42689618e-01 -2.33964889e-01 4.43920894e+01] [ 3.80113609e-01 -3.78578401e-02 9.24164719e-01 3.15447877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.81071405699998 meters Centerline goodness : 0.994536 Centerline is valid? [True, True] Translation: X:82.01, Y:44.40, Z:31.55 [[-7.92628302e-01 -5.28968855e-01 3.03203439e-01 8.20080083e+01] [ 4.66543285e-01 -8.46359250e-01 -2.56930699e-01 4.43957220e+01] [ 3.92527373e-01 -6.21930150e-02 9.17635162e-01 3.15482724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.84071405699999 meters Centerline goodness : 0.994175 Centerline is valid? [True, True] Translation: X:82.01, Y:44.38, Z:31.55 [[-7.88075138e-01 -5.26821244e-01 3.18428884e-01 8.20094335e+01] [ 4.78843214e-01 -8.49705317e-01 -2.20703535e-01 4.43845602e+01] [ 3.86842026e-01 -2.14534587e-02 9.21896413e-01 3.15525669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.870714057 meters Centerline goodness : 0.994317 Centerline is valid? [True, True] Translation: X:82.02, Y:44.39, Z:31.55 [[-7.88378106e-01 -5.30084019e-01 3.12203291e-01 8.20152238e+01] [ 4.78820662e-01 -8.47359195e-01 -2.29593485e-01 4.43854852e+01] [ 3.86252167e-01 -3.15170907e-02 9.21854618e-01 3.15451029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.900714057 meters Centerline goodness : 0.993077 Centerline is valid? [True, True] Translation: X:82.02, Y:44.39, Z:31.54 [[-7.89847707e-01 -5.36545361e-01 2.97085300e-01 8.20202714e+01] [ 4.80098513e-01 -8.42341843e-01 -2.44878822e-01 4.43940916e+01] [ 3.81635975e-01 -5.07867652e-02 9.22916403e-01 3.15359280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.930714057 meters Centerline goodness : 0.993743 Centerline is valid? [True, True] Translation: X:82.02, Y:44.38, Z:31.54 [[-7.88156757e-01 -5.29430297e-01 3.13866989e-01 8.20230617e+01] [ 4.78033303e-01 -8.47788268e-01 -2.29650200e-01 4.43790941e+01] [ 3.87676525e-01 -3.09614838e-02 9.21275365e-01 3.15417624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.960714057 meters Centerline goodness : 0.993822 Centerline is valid? [True, True] Translation: X:82.02, Y:44.39, Z:31.54 [[-7.87761930e-01 -5.33353038e-01 3.08165017e-01 8.20156713e+01] [ 4.80090905e-01 -8.45063960e-01 -2.35328762e-01 4.43873911e+01] [ 3.85932460e-01 -3.74358179e-02 9.21767159e-01 3.15430355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.990714057 meters Centerline goodness : 0.995059 Centerline is valid? [True, True] Translation: X:82.03, Y:44.37, Z:31.53 [[-7.86854671e-01 -5.34564182e-01 3.08384278e-01 8.20317831e+01] [ 4.82622383e-01 -8.44443718e-01 -2.32358436e-01 4.43733495e+01] [ 3.84623664e-01 -3.39991653e-02 9.22447123e-01 3.15349628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.020714057 meters Centerline goodness : 0.994194 Centerline is valid? [True, True] Translation: X:82.03, Y:44.37, Z:31.53 [[-7.85648030e-01 -5.38559633e-01 3.04484309e-01 8.20341234e+01] [ 4.86652477e-01 -8.41853836e-01 -2.33348422e-01 4.43713668e+01] [ 3.82003324e-01 -3.51516852e-02 9.23492187e-01 3.15322188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.050714057 meters Centerline goodness : 0.994788 Centerline is valid? [True, True] Translation: X:82.04, Y:44.37, Z:31.53 [[-7.84471430e-01 -5.41697726e-01 3.01940640e-01 8.20374994e+01] [ 4.88048527e-01 -8.39638900e-01 -2.38359293e-01 4.43705998e+01] [ 3.82639794e-01 -3.96243709e-02 9.23047505e-01 3.15295410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.080714057 meters Centerline goodness : 0.994558 Centerline is valid? [True, True] Translation: X:82.03, Y:44.37, Z:31.53 [[-7.83265443e-01 -5.42927586e-01 3.02861161e-01 8.20321306e+01] [ 4.92394493e-01 -8.39179194e-01 -2.30924107e-01 4.43714324e+01] [ 3.79529853e-01 -3.17477049e-02 9.24634616e-01 3.15333225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.110714057 meters Centerline goodness : 0.994764 Centerline is valid? [True, True] Translation: X:82.04, Y:44.37, Z:31.53 [[-7.82689547e-01 -5.45389335e-01 2.99912565e-01 8.20410831e+01] [ 4.93626454e-01 -8.37426709e-01 -2.34626150e-01 4.43670315e+01] [ 3.79117392e-01 -3.55946595e-02 9.24663735e-01 3.15276788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.140714057 meters Centerline goodness : 0.995291 Centerline is valid? [True, True] Translation: X:82.03, Y:44.37, Z:31.54 [[-7.85546510e-01 -5.41027610e-01 3.00342814e-01 8.20309219e+01] [ 4.79334985e-01 -8.38975178e-01 -2.57601674e-01 4.43734527e+01] [ 3.91349783e-01 -5.83932775e-02 9.18387485e-01 3.15353637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.170714057 meters Centerline goodness : 0.994068 Centerline is valid? [True, True] Translation: X:82.03, Y:44.34, Z:31.54 [[-7.80643336e-01 -5.32969606e-01 3.26403709e-01 8.20333052e+01] [ 5.05707041e-01 -8.45550476e-01 -1.71186393e-01 4.43406893e+01] [ 3.67227956e-01 3.14291372e-02 9.29599827e-01 3.15426264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.20071405699997 meters Centerline goodness : 0.994811 Centerline is valid? [True, True] Translation: X:82.04, Y:44.39, Z:31.52 [[-0.7853034 -0.55379648 0.27678155 82.03711316] [ 0.48185552 -0.82742918 -0.28840285 44.3901557 ] [ 0.38873361 -0.09311502 0.91663284 31.52196678] [ 0. 0. 0. 1. ]] SLAMing on 225.23071405699997 meters Centerline goodness : 0.994494 Centerline is valid? [True, True] Translation: X:82.03, Y:44.35, Z:31.54 [[-7.81919916e-01 -5.35545958e-01 3.19048228e-01 8.20345084e+01] [ 4.83004640e-01 -8.44037964e-01 -2.33037409e-01 4.43546616e+01] [ 3.94091059e-01 -2.81148170e-02 9.18641276e-01 3.15417681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.26071405699997 meters Centerline goodness : 0.994560 Centerline is valid? [True, True] Translation: X:82.04, Y:44.35, Z:31.54 [[-7.80977462e-01 -5.36756662e-01 3.19321921e-01 8.20373828e+01] [ 4.84306117e-01 -8.43293978e-01 -2.33029722e-01 4.43523473e+01] [ 3.94362509e-01 -2.73414016e-02 9.18548126e-01 3.15398998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.29071405699997 meters Centerline goodness : 0.994599 Centerline is valid? [True, True] Translation: X:82.00, Y:44.38, Z:31.55 [[-7.80608090e-01 -5.42568538e-01 3.10274703e-01 8.20049877e+01] [ 4.84323252e-01 -8.38876522e-01 -2.48429403e-01 4.43820282e+01] [ 3.95072142e-01 -4.36527483e-02 9.17612359e-01 3.15538735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.32071405699998 meters Centerline goodness : 0.994156 Centerline is valid? [True, True] Translation: X:82.05, Y:44.32, Z:31.54 [[-7.72511853e-01 -5.40475365e-01 3.33334391e-01 8.20544884e+01] [ 5.09841461e-01 -8.40841978e-01 -1.81786834e-01 4.43230546e+01] [ 3.78532854e-01 2.95152084e-02 9.25117144e-01 3.15355791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.35071405699998 meters Centerline goodness : 0.992981 Centerline is valid? [True, True] Translation: X:82.08, Y:44.35, Z:31.50 [[-7.72561838e-01 -5.66427972e-01 2.86892940e-01 8.20762229e+01] [ 5.13699807e-01 -8.23163951e-01 -2.41895882e-01 4.43465452e+01] [ 3.73176520e-01 -3.95026797e-02 9.26918995e-01 3.15031059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.38071405699998 meters Centerline goodness : 0.994859 Centerline is valid? [True, True] Translation: X:82.07, Y:44.34, Z:31.52 [[-7.69471298e-01 -5.61214960e-01 3.04879796e-01 8.20660860e+01] [ 5.11236100e-01 -8.27345718e-01 -2.32672973e-01 4.43417044e+01] [ 3.82820547e-01 -2.31696162e-02 9.23532131e-01 3.15170402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.41071405699998 meters Centerline goodness : 0.994837 Centerline is valid? [True, True] Translation: X:82.07, Y:44.34, Z:31.51 [[-7.68760924e-01 -5.63330330e-01 3.02763242e-01 8.20729483e+01] [ 5.11455529e-01 -8.25759263e-01 -2.37770649e-01 4.43390438e+01] [ 3.83952970e-01 -2.79388498e-02 9.22929866e-01 3.15130928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.44071405699998 meters Centerline goodness : 0.994846 Centerline is valid? [True, True] Translation: X:82.07, Y:44.34, Z:31.51 [[-7.67896086e-01 -5.63882215e-01 3.03928360e-01 8.20747690e+01] [ 5.12198680e-01 -8.25427811e-01 -2.37321390e-01 4.43371660e+01] [ 3.84692232e-01 -2.65664620e-02 9.22662511e-01 3.15125976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.47071405699998 meters Centerline goodness : 0.994126 Centerline is valid? [True, True] Translation: X:82.07, Y:44.34, Z:31.52 [[-7.67996360e-01 -5.62885502e-01 3.05518418e-01 8.20707055e+01] [ 5.09640564e-01 -8.26019381e-01 -2.40745670e-01 4.43406136e+01] [ 3.87876382e-01 -2.91872190e-02 9.21249162e-01 3.15162466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.50071405699998 meters Centerline goodness : 0.994214 Centerline is valid? [True, True] Translation: X:82.07, Y:44.34, Z:31.52 [[-7.68432432e-01 -5.61156982e-01 3.07594600e-01 8.20670857e+01] [ 5.06702107e-01 -8.27129982e-01 -2.43123359e-01 4.43427496e+01] [ 3.90851087e-01 -3.09650425e-02 9.19932929e-01 3.15195646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.53071405699998 meters Centerline goodness : 0.994050 Centerline is valid? [True, True] Translation: X:82.06, Y:44.35, Z:31.53 [[-7.70480333e-01 -5.55449731e-01 3.12786912e-01 8.20587484e+01] [ 5.04449378e-01 -8.31254745e-01 -2.33551652e-01 4.43452327e+01] [ 3.89731807e-01 -2.21617912e-02 9.20661704e-01 3.15267140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.56071405699998 meters Centerline goodness : 0.994666 Centerline is valid? [True, True] Translation: X:82.05, Y:44.35, Z:31.53 [[-7.71948523e-01 -5.54382396e-01 3.11055682e-01 8.20543229e+01] [ 5.02968795e-01 -8.31900583e-01 -2.34443622e-01 4.43506930e+01] [ 3.88738820e-01 -2.45271058e-02 9.21021472e-01 3.15282954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.59071405699999 meters Centerline goodness : 0.994838 Centerline is valid? [True, True] Translation: X:82.05, Y:44.35, Z:31.53 [[-7.77967163e-01 -5.46533766e-01 3.09948281e-01 8.20493353e+01] [ 4.89163237e-01 -8.36450446e-01 -2.47123409e-01 4.43528032e+01] [ 3.94317665e-01 -4.06385932e-02 9.18075206e-01 3.15308430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.620714057 meters Centerline goodness : 0.993958 Centerline is valid? [True, True] Translation: X:82.05, Y:44.34, Z:31.53 [[-7.74027566e-01 -5.44476560e-01 3.23151052e-01 8.20539583e+01] [ 5.03062479e-01 -8.38774983e-01 -2.08289872e-01 4.43390033e+01] [ 3.84459971e-01 1.34306722e-03 9.23140686e-01 3.15342116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.650714057 meters Centerline goodness : 0.994719 Centerline is valid? [True, True] Translation: X:82.05, Y:44.36, Z:31.53 [[-7.80443778e-01 -5.48050220e-01 3.00912719e-01 8.20526405e+01] [ 4.85596513e-01 -8.34492835e-01 -2.60418386e-01 4.43595171e+01] [ 3.93831862e-01 -5.71197420e-02 9.17406017e-01 3.15256703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.680714057 meters Centerline goodness : 0.994719 Centerline is valid? [True, True] Translation: X:82.05, Y:44.34, Z:31.54 [[-7.79710924e-01 -5.36683865e-01 3.22523338e-01 8.20499564e+01] [ 4.85008666e-01 -8.43451067e-01 -2.30991108e-01 4.43425486e+01] [ 3.96001855e-01 -2.36796763e-02 9.17944336e-01 3.15373377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.710714057 meters Centerline goodness : 0.991848 Centerline is valid? [True, True] Translation: X:82.08, Y:44.33, Z:31.52 [[-7.76975923e-01 -5.45170343e-01 3.14797890e-01 8.20773928e+01] [ 5.01404598e-01 -8.38281384e-01 -2.14190919e-01 4.43299576e+01] [ 3.80659748e-01 -8.58007761e-03 9.24675369e-01 3.15208522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.740714057 meters Centerline goodness : 0.994339 Centerline is valid? [True, True] Translation: X:82.06, Y:44.34, Z:31.53 [[-7.82246635e-01 -5.39398716e-01 3.11671667e-01 8.20646036e+01] [ 4.83238658e-01 -8.41129869e-01 -2.42859925e-01 4.43414047e+01] [ 3.93154680e-01 -3.93645613e-02 9.18629321e-01 3.15269324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.770714057 meters Centerline goodness : 0.992865 Centerline is valid? [True, True] Translation: X:82.08, Y:44.33, Z:31.52 [[-7.76308081e-01 -5.43741035e-01 3.18890968e-01 8.20819898e+01] [ 4.98463650e-01 -8.39195198e-01 -2.17452084e-01 4.43279171e+01] [ 3.85849391e-01 -9.85425380e-03 9.22509155e-01 3.15209976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.800714057 meters Centerline goodness : 0.992845 Centerline is valid? [True, True] Translation: X:82.06, Y:44.35, Z:31.53 [[-7.83584283e-01 -5.39827722e-01 3.07541382e-01 8.20635901e+01] [ 4.81420125e-01 -8.40473512e-01 -2.48674363e-01 4.43476435e+01] [ 3.92721700e-01 -4.68007118e-02 9.18465764e-01 3.15258725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.830714057 meters Centerline goodness : 0.992468 Centerline is valid? [True, True] Translation: X:82.09, Y:44.33, Z:31.52 [[-7.76084530e-01 -5.43219519e-01 3.20320708e-01 8.20859770e+01] [ 4.96800157e-01 -8.39510226e-01 -2.20027689e-01 4.43276940e+01] [ 3.88435845e-01 -1.16247076e-02 9.21402442e-01 3.15197518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.860714057 meters Centerline goodness : 0.990125 Centerline is valid? [True, True] Translation: X:82.10, Y:44.34, Z:31.50 [[-7.77652055e-01 -5.53642500e-01 2.97888005e-01 8.20975468e+01] [ 4.96026147e-01 -8.31430811e-01 -2.50361473e-01 4.43405347e+01] [ 3.86284018e-01 -4.69338742e-02 9.21185035e-01 3.15049936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.890714057 meters Centerline goodness : 0.992351 Centerline is valid? [True, True] Translation: X:82.09, Y:44.32, Z:31.52 [[-7.75744064e-01 -5.41336408e-01 3.24308558e-01 8.20881292e+01] [ 4.98212926e-01 -8.40801808e-01 -2.11745602e-01 4.43234371e+01] [ 3.87304826e-01 -2.68567824e-03 9.21947807e-01 3.15193589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.920714057 meters Centerline goodness : 0.991187 Centerline is valid? [True, True] Translation: X:82.09, Y:44.35, Z:31.51 [[-7.76802288e-01 -5.54759211e-01 2.98027556e-01 8.20901510e+01] [ 4.97799117e-01 -8.30791152e-01 -2.48962049e-01 4.43465075e+01] [ 3.85712646e-01 -4.50364350e-02 9.21519112e-01 3.15052216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.95071405699997 meters Centerline goodness : 0.990366 Centerline is valid? [True, True] Translation: X:82.10, Y:44.33, Z:31.51 [[-7.76982000e-01 -5.49743898e-01 3.06725641e-01 8.20984711e+01] [ 4.98740226e-01 -8.34863371e-01 -2.32940634e-01 4.43313285e+01] [ 3.84131695e-01 -2.80142642e-02 9.22853207e-01 3.15060679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.98071405699997 meters Centerline goodness : 0.993672 Centerline is valid? [True, True] Translation: X:82.07, Y:44.34, Z:31.53 [[-7.82021742e-01 -5.34939411e-01 3.19815293e-01 8.20730766e+01] [ 4.77436540e-01 -8.44019051e-01 -2.44307576e-01 4.43367386e+01] [ 4.00619951e-01 -3.83623298e-02 9.15440870e-01 3.15255025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.01071405699997 meters Centerline goodness : 0.994000 Centerline is valid? [True, True] Translation: X:82.07, Y:44.33, Z:31.53 [[-7.81829650e-01 -5.31431669e-01 3.26071741e-01 8.20743189e+01] [ 4.77454355e-01 -8.46635647e-01 -2.35043441e-01 4.43301716e+01] [ 4.00973488e-01 -2.80795583e-02 9.15659217e-01 3.15281186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.04071405699997 meters Centerline goodness : 0.991859 Centerline is valid? [True, True] Translation: X:81.68, Y:44.62, Z:31.73 [[-7.81911729e-01 -5.33026910e-01 3.23258970e-01 8.16770335e+01] [ 4.80629582e-01 -8.45699504e-01 -2.31921440e-01 4.46162381e+01] [ 3.97000320e-01 -2.59742707e-02 9.17450862e-01 3.17301681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.07071405699998 meters Centerline goodness : 0.993890 Centerline is valid? [True, True] Translation: X:82.07, Y:44.33, Z:31.53 [[-7.81692569e-01 -5.33775498e-01 3.22553012e-01 8.20740511e+01] [ 4.78193657e-01 -8.44985003e-01 -2.39439285e-01 4.43323149e+01] [ 4.00359281e-01 -3.29251053e-02 9.15766555e-01 3.15270664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.10071405699998 meters Centerline goodness : 0.993818 Centerline is valid? [True, True] Translation: X:82.07, Y:44.33, Z:31.53 [[-7.81508871e-01 -5.31868369e-01 3.26128691e-01 8.20721883e+01] [ 4.77886725e-01 -8.46367149e-01 -2.35131722e-01 4.43300853e+01] [ 4.01083736e-01 -2.79049546e-02 9.15616268e-01 3.15294408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.13071405699998 meters Centerline goodness : 0.991778 Centerline is valid? [True, True] Translation: X:81.65, Y:44.63, Z:31.74 [[-7.82902427e-01 -5.31544059e-01 3.23302803e-01 8.16498350e+01] [ 4.78404801e-01 -8.46566988e-01 -2.33352054e-01 4.46327485e+01] [ 3.97734379e-01 -2.80222762e-02 9.17072580e-01 3.17438288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.16071405699998 meters Centerline goodness : 0.993887 Centerline is valid? [True, True] Translation: X:82.07, Y:44.33, Z:31.53 [[-7.81220098e-01 -5.33150525e-01 3.24724000e-01 8.20732696e+01] [ 4.78411168e-01 -8.45489604e-01 -2.37213164e-01 4.43287666e+01] [ 4.01021088e-01 -2.99641031e-02 9.15578636e-01 3.15285603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.19071405699998 meters Centerline goodness : 0.993375 Centerline is valid? [True, True] Translation: X:82.07, Y:44.33, Z:31.53 [[-7.81210808e-01 -5.32001324e-01 3.26625571e-01 8.20691619e+01] [ 4.77817010e-01 -8.46281380e-01 -2.35581685e-01 4.43287101e+01] [ 4.01746908e-01 -2.79717047e-02 9.15323443e-01 3.15322635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.22071405699998 meters Centerline goodness : 0.993467 Centerline is valid? [True, True] Translation: X:82.07, Y:44.33, Z:31.53 [[-7.81510052e-01 -5.31566682e-01 3.26617361e-01 8.20717309e+01] [ 4.77441342e-01 -8.46553526e-01 -2.35365446e-01 4.43261561e+01] [ 4.01611508e-01 -2.79998309e-02 9.15382000e-01 3.15309142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.25071405699998 meters Centerline goodness : 0.993856 Centerline is valid? [True, True] Translation: X:82.08, Y:44.32, Z:31.53 [[-7.81604894e-01 -5.31173456e-01 3.27029891e-01 8.20782166e+01] [ 4.76963871e-01 -8.46798697e-01 -2.35451550e-01 4.43208023e+01] [ 4.01994100e-01 -2.80486410e-02 9.15212553e-01 3.15282891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.28071405699998 meters Centerline goodness : 0.993935 Centerline is valid? [True, True] Translation: X:82.07, Y:44.33, Z:31.53 [[-7.81917260e-01 -5.30650615e-01 3.27131967e-01 8.20679880e+01] [ 4.76454163e-01 -8.47123632e-01 -2.35314644e-01 4.43271894e+01] [ 4.01991081e-01 -2.81331944e-02 9.15211284e-01 3.15342401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.31071405699998 meters Centerline goodness : 0.993007 Centerline is valid? [True, True] Translation: X:81.64, Y:44.63, Z:31.75 [[-7.84711304e-01 -5.28118428e-01 3.24529035e-01 8.16357264e+01] [ 4.74852530e-01 -8.48686903e-01 -2.32906880e-01 4.46331610e+01] [ 3.98425957e-01 -2.86612284e-02 9.16752579e-01 3.17534435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.34071405699999 meters Centerline goodness : 0.993390 Centerline is valid? [True, True] Translation: X:82.06, Y:44.33, Z:31.54 [[-7.75838077e-01 -5.43045156e-01 3.21212136e-01 8.20642919e+01] [ 4.99050137e-01 -8.39682882e-01 -2.14199948e-01 4.43254965e+01] [ 3.86036577e-01 -5.88351464e-03 9.22464713e-01 3.15364221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.370714057 meters Centerline goodness : 0.991997 Centerline is valid? [True, True] Translation: X:81.63, Y:44.65, Z:31.75 [[-7.82544985e-01 -5.39221982e-01 3.11228213e-01 8.16324444e+01] [ 4.78657167e-01 -8.40731910e-01 -2.53095183e-01 4.46450436e+01] [ 3.98133976e-01 -4.90867512e-02 9.16013007e-01 3.17498005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.400714057 meters Centerline goodness : 0.992090 Centerline is valid? [True, True] Translation: X:82.07, Y:44.33, Z:31.53 [[-7.73653489e-01 -5.48848157e-01 3.16584870e-01 8.20712971e+01] [ 4.94026300e-01 -8.35382161e-01 -2.40986845e-01 4.43297647e+01] [ 3.96734538e-01 -3.00390616e-02 9.17441748e-01 3.15263288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.430714057 meters Centerline goodness : 0.992099 Centerline is valid? [True, True] Translation: X:82.08, Y:44.32, Z:31.53 [[-7.72932952e-01 -5.47380869e-01 3.20856410e-01 8.20765298e+01] [ 4.96267909e-01 -8.36645715e-01 -2.31823445e-01 4.43200797e+01] [ 3.95338860e-01 -1.99532397e-02 9.18318602e-01 3.15252098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.460714057 meters Centerline goodness : 0.992057 Centerline is valid? [True, True] Translation: X:82.07, Y:44.31, Z:31.53 [[-7.71281239e-01 -5.44322596e-01 3.29906292e-01 8.20720028e+01] [ 4.96475358e-01 -8.38833419e-01 -2.23317520e-01 4.43147957e+01] [ 3.98293195e-01 -8.45026883e-03 9.17219234e-01 3.15307477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.490714057 meters Centerline goodness : 0.994391 Centerline is valid? [True, True] Translation: X:82.07, Y:44.32, Z:31.53 [[-7.75568969e-01 -5.44909392e-01 3.18695040e-01 8.20683796e+01] [ 4.85210711e-01 -8.37530380e-01 -2.51223863e-01 4.43198730e+01] [ 4.03811020e-01 -4.02071854e-02 9.13958447e-01 3.15264510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.520714057 meters Centerline goodness : 0.993368 Centerline is valid? [True, True] Translation: X:82.09, Y:44.29, Z:31.52 [[-7.70218575e-01 -5.45897795e-01 3.29786210e-01 8.20882176e+01] [ 5.03766848e-01 -8.37841586e-01 -2.10334115e-01 4.42943822e+01] [ 3.91129531e-01 4.13211689e-03 9.20326364e-01 3.15202790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.550714057 meters Centerline goodness : 0.992553 Centerline is valid? [True, True] Translation: X:82.10, Y:44.30, Z:31.50 [[-7.70563800e-01 -5.55581037e-01 3.12347790e-01 8.21012945e+01] [ 5.06193195e-01 -8.31246415e-01 -2.29777819e-01 4.42960534e+01] [ 3.87298180e-01 -1.89501437e-02 9.21759737e-01 3.15025109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.580714057 meters Centerline goodness : 0.992644 Centerline is valid? [True, True] Translation: X:82.11, Y:44.29, Z:31.50 [[-7.71042265e-01 -5.57629887e-01 3.07478023e-01 8.21072454e+01] [ 5.07547074e-01 -8.29773731e-01 -2.32102397e-01 4.42934021e+01] [ 3.84564420e-01 -2.29011868e-02 9.22814035e-01 3.14962175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.610714057 meters Centerline goodness : 0.991337 Centerline is valid? [True, True] Translation: X:82.10, Y:44.32, Z:31.49 [[-7.73908820e-01 -5.65585083e-01 2.84918678e-01 8.21014131e+01] [ 5.02838573e-01 -8.22283899e-01 -2.66463054e-01 4.43168466e+01] [ 3.84991570e-01 -6.29500062e-02 9.20770758e-01 3.14890700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.640714057 meters Centerline goodness : 0.991805 Centerline is valid? [True, True] Translation: X:82.11, Y:44.28, Z:31.49 [[-7.74051361e-01 -5.50856615e-01 3.12092102e-01 8.21138480e+01] [ 5.07186960e-01 -8.34559453e-01 -2.15109059e-01 4.42788330e+01] [ 3.78953662e-01 -8.21641536e-03 9.25379172e-01 3.14947227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.670714057 meters Centerline goodness : 0.992730 Centerline is valid? [True, True] Translation: X:82.07, Y:44.32, Z:31.51 [[-7.79570038e-01 -5.45459049e-01 3.07806729e-01 8.20735362e+01] [ 4.79255024e-01 -8.35912569e-01 -2.67515978e-01 4.43169642e+01] [ 4.03218524e-01 -6.10295198e-02 9.13066383e-01 3.15147828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.70071405699997 meters Centerline goodness : 0.991989 Centerline is valid? [True, True] Translation: X:82.09, Y:44.28, Z:31.51 [[-7.75311201e-01 -5.39025320e-01 3.29156873e-01 8.20907605e+01] [ 4.93578425e-01 -8.42271301e-01 -2.16701161e-01 4.42849370e+01] [ 3.94046800e-01 -5.54610651e-03 9.19073642e-01 3.15147953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.73071405699997 meters Centerline goodness : 0.991555 Centerline is valid? [True, True] Translation: X:82.09, Y:44.31, Z:31.50 [[-7.78778147e-01 -5.50223122e-01 3.01262534e-01 8.20893094e+01] [ 4.91320265e-01 -8.33605132e-01 -2.52402221e-01 4.43086446e+01] [ 3.90011532e-01 -4.85489463e-02 9.19529230e-01 3.15022137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.76071405699997 meters Centerline goodness : 0.991067 Centerline is valid? [True, True] Translation: X:82.04, Y:44.33, Z:31.53 [[-7.80982979e-01 -5.39958786e-01 3.13863181e-01 8.20436667e+01] [ 4.86135265e-01 -8.41054957e-01 -2.37274236e-01 4.43286896e+01] [ 3.92094493e-01 -3.27271790e-02 9.19342613e-01 3.15334071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.79071405699997 meters Centerline goodness : 0.991229 Centerline is valid? [True, True] Translation: X:82.03, Y:44.34, Z:31.54 [[-7.82178810e-01 -5.36616416e-01 3.16605640e-01 8.20254017e+01] [ 4.83624610e-01 -8.43282529e-01 -2.34482010e-01 4.43383501e+01] [ 3.92814901e-01 -3.02885800e-02 9.19118630e-01 3.15447875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.82071405699998 meters Centerline goodness : 0.991396 Centerline is valid? [True, True] Translation: X:82.00, Y:44.36, Z:31.56 [[-7.84720808e-01 -5.32366082e-01 3.17489540e-01 8.19968807e+01] [ 4.80944638e-01 -8.46059277e-01 -2.29947724e-01 4.43552079e+01] [ 3.91031340e-01 -2.77498722e-02 9.19958932e-01 3.15599196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.85071405699998 meters Centerline goodness : 0.991837 Centerline is valid? [True, True] Translation: X:81.99, Y:44.36, Z:31.56 [[-7.85354445e-01 -5.33307973e-01 3.14326266e-01 8.19918124e+01] [ 4.77483663e-01 -8.45023377e-01 -2.40717354e-01 4.43622805e+01] [ 3.93989527e-01 -3.89627864e-02 9.18288710e-01 3.15607667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.88071405699998 meters Centerline goodness : 0.992068 Centerline is valid? [True, True] Translation: X:81.97, Y:44.37, Z:31.58 [[-7.87280344e-01 -5.26971423e-01 3.20141811e-01 8.19672052e+01] [ 4.73272392e-01 -8.49251435e-01 -2.34062476e-01 4.43737529e+01] [ 3.95225128e-01 -3.27585058e-02 9.17999988e-01 3.15770411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.91071405699998 meters Centerline goodness : 0.991846 Centerline is valid? [True, True] Translation: X:81.96, Y:44.37, Z:31.58 [[-7.89927762e-01 -5.21394465e-01 3.22741294e-01 8.19633585e+01] [ 4.72287390e-01 -8.53005408e-01 -2.22095463e-01 4.43710071e+01] [ 3.91099414e-01 -2.30127289e-02 9.20060684e-01 3.15822922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.94071405699998 meters Centerline goodness : 0.991416 Centerline is valid? [True, True] Translation: X:81.96, Y:44.38, Z:31.58 [[-7.90648578e-01 -5.23154141e-01 3.18095221e-01 8.19574033e+01] [ 4.71968235e-01 -8.51714575e-01 -2.27658224e-01 4.43785561e+01] [ 3.90026679e-01 -2.98668109e-02 9.20319055e-01 3.15831710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.97071405699998 meters Centerline goodness : 0.991739 Centerline is valid? [True, True] Translation: X:81.94, Y:44.39, Z:31.59 [[-7.91173251e-01 -5.22968635e-01 3.17094141e-01 8.19396002e+01] [ 4.72203399e-01 -8.51836565e-01 -2.26712189e-01 4.43908907e+01] [ 3.88675748e-01 -2.96356890e-02 9.20897871e-01 3.15893484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.00071405699998 meters Centerline goodness : 0.992500 Centerline is valid? [True, True] Translation: X:81.97, Y:44.37, Z:31.58 [[-7.90634341e-01 -5.22546137e-01 3.19128304e-01 8.19660778e+01] [ 4.73143012e-01 -8.52229086e-01 -2.23251598e-01 4.43682391e+01] [ 3.88629682e-01 -2.55170533e-02 9.21040634e-01 3.15760295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.03071405699998 meters Centerline goodness : 0.992789 Centerline is valid? [True, True] Translation: X:81.94, Y:44.39, Z:31.59 [[-7.90332692e-01 -5.24332973e-01 3.16937170e-01 8.19376762e+01] [ 4.72967492e-01 -8.50963114e-01 -2.28393368e-01 4.43902480e+01] [ 3.89456015e-01 -3.06057668e-02 9.20536420e-01 3.15884743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.06071405699998 meters Centerline goodness : 0.993003 Centerline is valid? [True, True] Translation: X:82.08, Y:44.29, Z:31.52 [[-7.90579301e-01 -5.23709125e-01 3.17353306e-01 8.20755734e+01] [ 4.76025510e-01 -8.51601160e-01 -2.19488445e-01 4.42888271e+01] [ 3.85206544e-01 -2.24547520e-02 9.22557154e-01 3.15174501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.09071405699999 meters Centerline goodness : 0.993314 Centerline is valid? [True, True] Translation: X:82.08, Y:44.29, Z:31.51 [[-7.90776469e-01 -5.25455703e-01 3.13956813e-01 8.20779847e+01] [ 4.78590834e-01 -8.50532000e-01 -2.18050753e-01 4.42894340e+01] [ 3.81606328e-01 -2.21725521e-02 9.24058975e-01 3.15126662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.120714057 meters Centerline goodness : 0.993144 Centerline is valid? [True, True] Translation: X:82.09, Y:44.28, Z:31.50 [[-7.91602974e-01 -5.25838028e-01 3.11221945e-01 8.20883982e+01] [ 4.81714907e-01 -8.50403341e-01 -2.11577185e-01 4.42817883e+01] [ 3.75919511e-01 -1.75648785e-02 9.26485832e-01 3.15049048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.150714057 meters Centerline goodness : 0.993053 Centerline is valid? [True, True] Translation: X:82.09, Y:44.29, Z:31.50 [[-7.92113632e-01 -5.29358109e-01 3.03868370e-01 8.20880145e+01] [ 4.78540581e-01 -8.47629079e-01 -2.29180840e-01 4.42918344e+01] [ 3.78886403e-01 -3.61239216e-02 9.24737885e-01 3.15006825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.180714057 meters Centerline goodness : 0.993257 Centerline is valid? [True, True] Translation: X:82.08, Y:44.29, Z:31.51 [[-7.92368377e-01 -5.26082205e-01 3.08852504e-01 8.20783701e+01] [ 4.77522218e-01 -8.49941319e-01 -2.22648346e-01 4.42949214e+01] [ 3.79637837e-01 -2.89355754e-02 9.24682564e-01 3.15079822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.210714057 meters Centerline goodness : 0.992206 Centerline is valid? [True, True] Translation: X:82.10, Y:44.28, Z:31.50 [[-7.92643129e-01 -5.26028207e-01 3.08238861e-01 8.20964913e+01] [ 4.78761350e-01 -8.50056231e-01 -2.19526704e-01 4.42833344e+01] [ 3.77497603e-01 -2.64334800e-02 9.25633205e-01 3.14979143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.240714057 meters Centerline goodness : 0.992891 Centerline is valid? [True, True] Translation: X:82.10, Y:44.28, Z:31.49 [[-7.93038501e-01 -5.26859913e-01 3.05791708e-01 8.21033460e+01] [ 4.78863684e-01 -8.49445200e-01 -2.21658352e-01 4.42805008e+01] [ 3.76536198e-01 -2.93510632e-02 9.25936826e-01 3.14930795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.270714057 meters Centerline goodness : 0.990220 Centerline is valid? [True, True] Translation: X:81.46, Y:44.73, Z:31.83 [[-7.97854441e-01 -5.13707762e-01 3.15487919e-01 8.14642284e+01] [ 4.55489440e-01 -8.56508899e-01 -2.42738288e-01 4.47297987e+01] [ 3.94914752e-01 -4.99684052e-02 9.17357889e-01 3.18271532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.300714057 meters Centerline goodness : 0.988976 Centerline is valid? [True, True] Translation: X:81.46, Y:44.73, Z:31.83 [[-7.97243371e-01 -5.06898860e-01 3.27805664e-01 8.14619628e+01] [ 4.51507332e-01 -8.61159127e-01 -2.33551036e-01 4.47264552e+01] [ 4.00679593e-01 -3.81903541e-02 9.15421958e-01 3.18342832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.330714057 meters Centerline goodness : 0.989123 Centerline is valid? [True, True] Translation: X:81.47, Y:44.72, Z:31.83 [[-7.98611803e-01 -5.04998381e-01 3.27407731e-01 8.14685610e+01] [ 4.52559763e-01 -8.62501540e-01 -2.26452541e-01 4.47198411e+01] [ 3.96747839e-01 -3.26761069e-02 9.17345858e-01 3.18314936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.360714057 meters Centerline goodness : 0.987411 Centerline is valid? [True, True] Translation: X:81.45, Y:44.74, Z:31.84 [[-7.99191576e-01 -5.05036149e-01 3.25931455e-01 8.14525281e+01] [ 4.51380742e-01 -8.62337717e-01 -2.29410302e-01 4.47356391e+01] [ 3.96923483e-01 -3.62235988e-02 9.17136631e-01 3.18394187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.390714057 meters Centerline goodness : 0.986922 Centerline is valid? [True, True] Translation: X:81.42, Y:44.76, Z:31.85 [[-7.99779559e-01 -5.03912411e-01 3.26228354e-01 8.14242661e+01] [ 4.50513455e-01 -8.63010633e-01 -2.28583188e-01 4.47559950e+01] [ 3.96724444e-01 -3.58458983e-02 9.17237585e-01 3.18544575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.420714057 meters Centerline goodness : 0.991172 Centerline is valid? [True, True] Translation: X:82.11, Y:44.27, Z:31.50 [[-7.88618766e-01 -5.25473184e-01 3.19309216e-01 8.21147796e+01] [ 4.85183927e-01 -8.50799569e-01 -2.01833225e-01 4.42708962e+01] [ 3.77726091e-01 -4.24576916e-03 9.25907649e-01 3.14953705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.45071405699997 meters Centerline goodness : 0.990337 Centerline is valid? [True, True] Translation: X:82.14, Y:44.27, Z:31.47 [[-7.88130186e-01 -5.36130097e-01 3.02349681e-01 8.21441796e+01] [ 4.87711656e-01 -8.43617754e-01 -2.24602819e-01 4.42676920e+01] [ 3.75483890e-01 -2.95567976e-02 9.26357514e-01 3.14734281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.48071405699997 meters Centerline goodness : 0.991482 Centerline is valid? [True, True] Translation: X:82.14, Y:44.28, Z:31.48 [[-7.87879782e-01 -5.35939290e-01 3.03338964e-01 8.21376780e+01] [ 4.84313742e-01 -8.43482801e-01 -2.32329429e-01 4.42751994e+01] [ 3.80375668e-01 -3.61364307e-02 9.24125808e-01 3.14785700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.51071405699997 meters Centerline goodness : 0.990723 Centerline is valid? [True, True] Translation: X:82.12, Y:44.29, Z:31.49 [[-7.88217424e-01 -5.34654705e-01 3.04725514e-01 8.21230058e+01] [ 4.79444054e-01 -8.43948205e-01 -2.40592656e-01 4.42901805e+01] [ 3.85806546e-01 -4.35404871e-02 9.21551700e-01 3.14903071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.54071405699997 meters Centerline goodness : 0.990601 Centerline is valid? [True, True] Translation: X:82.13, Y:44.28, Z:31.49 [[-7.88572077e-01 -5.29089685e-01 3.13397807e-01 8.21280490e+01] [ 4.78855425e-01 -8.48076336e-01 -2.26856804e-01 4.42801740e+01] [ 3.85812858e-01 -2.88207007e-02 9.22126784e-01 3.14929860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.57071405699998 meters Centerline goodness : 0.989746 Centerline is valid? [True, True] Translation: X:82.12, Y:44.29, Z:31.50 [[-7.87844603e-01 -5.31504931e-01 3.11132430e-01 8.21167001e+01] [ 4.77791777e-01 -8.46242541e-01 -2.35772305e-01 4.42944706e+01] [ 3.88607641e-01 -3.70954214e-02 9.20656304e-01 3.14992420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.60071405699998 meters Centerline goodness : 0.989746 Centerline is valid? [True, True] Translation: X:82.12, Y:44.29, Z:31.50 [[-7.87843046e-01 -5.28682538e-01 3.15908387e-01 8.21177495e+01] [ 4.77377858e-01 -8.48299649e-01 -2.29124610e-01 4.42896191e+01] [ 3.89119155e-01 -2.97065615e-02 9.20708316e-01 3.15011301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.63071405699998 meters Centerline goodness : 0.990539 Centerline is valid? [True, True] Translation: X:82.12, Y:44.29, Z:31.50 [[-7.87654802e-01 -5.29527705e-01 3.14960828e-01 8.21237036e+01] [ 4.77149862e-01 -8.47674820e-01 -2.31895255e-01 4.42873578e+01] [ 3.89779325e-01 -3.23698952e-02 9.20339214e-01 3.14972573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.66071405699998 meters Centerline goodness : 0.990488 Centerline is valid? [True, True] Translation: X:82.12, Y:44.29, Z:31.50 [[-7.87005040e-01 -5.27983199e-01 3.19150134e-01 8.21247161e+01] [ 4.77975135e-01 -8.48884675e-01 -2.25686906e-01 4.42872156e+01] [ 3.90080552e-01 -2.50709040e-02 9.20439359e-01 3.14987834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.69071405699998 meters Centerline goodness : 0.990682 Centerline is valid? [True, True] Translation: X:82.13, Y:44.29, Z:31.50 [[-7.86680138e-01 -5.29674049e-01 3.17143126e-01 8.21255333e+01] [ 4.76039691e-01 -8.47533851e-01 -2.34675485e-01 4.42928051e+01] [ 3.93091050e-01 -3.36418269e-02 9.18883918e-01 3.14972056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.72071405699998 meters Centerline goodness : 0.991205 Centerline is valid? [True, True] Translation: X:82.13, Y:44.29, Z:31.50 [[-7.85362741e-01 -5.28803647e-01 3.21826146e-01 8.21324369e+01] [ 4.77937975e-01 -8.48376226e-01 -2.27668774e-01 4.42887551e+01] [ 3.93421730e-01 -2.49896360e-02 9.19018422e-01 3.14959739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.75071405699998 meters Centerline goodness : 0.990854 Centerline is valid? [True, True] Translation: X:82.14, Y:44.29, Z:31.49 [[-7.84086605e-01 -5.31794251e-01 3.20004798e-01 8.21391050e+01] [ 4.80507367e-01 -8.46472605e-01 -2.29339920e-01 4.42868160e+01] [ 3.92836946e-01 -2.60576963e-02 9.19238886e-01 3.14916614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.78071405699998 meters Centerline goodness : 0.990938 Centerline is valid? [True, True] Translation: X:82.14, Y:44.29, Z:31.49 [[-7.83667259e-01 -5.33664693e-01 3.17911345e-01 8.21407021e+01] [ 4.82625079e-01 -8.45289300e-01 -2.29257568e-01 4.42874924e+01] [ 3.91073728e-01 -2.62296620e-02 9.19985513e-01 3.14913636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.81071405699998 meters Centerline goodness : 0.989883 Centerline is valid? [True, True] Translation: X:82.14, Y:44.28, Z:31.49 [[-7.80762763e-01 -5.37537030e-01 3.18533279e-01 8.21413951e+01] [ 4.91150490e-01 -8.43115838e-01 -2.18922087e-01 4.42840014e+01] [ 3.86239181e-01 -1.44784374e-02 9.22285026e-01 3.14930135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.84071405699999 meters Centerline goodness : 0.990761 Centerline is valid? [True, True] Translation: X:82.13, Y:44.30, Z:31.50 [[-7.79072528e-01 -5.42944946e-01 3.13459378e-01 8.21250931e+01] [ 4.93779535e-01 -8.39481694e-01 -2.26830898e-01 4.43015299e+01] [ 3.86300099e-01 -2.19378954e-02 9.22112229e-01 3.14993713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.870714057 meters Centerline goodness : 0.990660 Centerline is valid? [True, True] Translation: X:82.15, Y:44.29, Z:31.49 [[-7.75899728e-01 -5.47187339e-01 3.13951633e-01 8.21495615e+01] [ 5.03491784e-01 -8.36968994e-01 -2.14426972e-01 4.42859845e+01] [ 3.80099507e-01 -8.30176152e-03 9.24908344e-01 3.14882389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.900714057 meters Centerline goodness : 0.990298 Centerline is valid? [True, True] Translation: X:82.16, Y:44.29, Z:31.48 [[-7.74868511e-01 -5.52961799e-01 3.06287511e-01 8.21583343e+01] [ 5.10609627e-01 -8.33166405e-01 -2.12394796e-01 4.42857606e+01] [ 3.72634673e-01 -8.18468715e-03 9.27942030e-01 3.14791106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.930714057 meters Centerline goodness : 0.991305 Centerline is valid? [True, True] Translation: X:82.17, Y:44.29, Z:31.47 [[-7.73512067e-01 -5.59077451e-01 2.98515470e-01 8.21720086e+01] [ 5.14560185e-01 -8.28961966e-01 -2.19202814e-01 4.42853501e+01] [ 3.70009322e-01 -1.59518462e-02 9.28891081e-01 3.14716011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.960714057 meters Centerline goodness : 0.990825 Centerline is valid? [True, True] Translation: X:82.18, Y:44.28, Z:31.47 [[-7.73607581e-01 -5.58796944e-01 2.98793049e-01 8.21754148e+01] [ 5.15168890e-01 -8.29188521e-01 -2.16904151e-01 4.42838189e+01] [ 3.68961144e-01 -1.38698122e-02 9.29341327e-01 3.14713664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.990714057 meters Centerline goodness : 0.990953 Centerline is valid? [True, True] Translation: X:82.18, Y:44.29, Z:31.47 [[-7.74737920e-01 -5.57625634e-01 2.98051687e-01 8.21776715e+01] [ 5.13909124e-01 -8.29958722e-01 -2.16946844e-01 4.42882295e+01] [ 3.68345718e-01 -1.49054657e-02 9.29569394e-01 3.14720056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.020714057 meters Centerline goodness : 0.993239 Centerline is valid? [True, True] Translation: X:82.18, Y:44.29, Z:31.47 [[-7.75714619e-01 -5.54731431e-01 3.00898437e-01 8.21773020e+01] [ 5.13165671e-01 -8.31978879e-01 -2.10884182e-01 4.42886613e+01] [ 3.67325228e-01 -9.17519499e-03 9.30047307e-01 3.14746641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.050714057 meters Centerline goodness : 0.986067 Centerline is valid? [True, True] Translation: X:82.49, Y:43.95, Z:32.01 [[ 7.72109752e-01 -6.30692177e-01 -7.79352835e-02 8.24867687e+01] [-5.07640777e-01 -6.85895768e-01 5.21390292e-01 4.39478818e+01] [-3.82292260e-01 -3.63007401e-01 -8.49751878e-01 3.20138045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.080714057 meters Centerline goodness : 0.992660 Centerline is valid? [True, True] Translation: X:82.67, Y:44.04, Z:32.14 [[ 8.14572367e-01 -5.09281141e-01 -2.77677112e-01 8.26678096e+01] [-4.52902989e-01 -8.57491741e-01 2.44104068e-01 4.40399152e+01] [-3.62423429e-01 -7.30796339e-02 -9.29144028e-01 3.21435498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.110714057 meters Centerline goodness : 0.991244 Centerline is valid? [True, True] Translation: X:82.69, Y:44.01, Z:32.09 [[ 0.8469264 -0.47961825 -0.22952561 82.69165619] [-0.39301769 -0.85542813 0.33731263 44.01166102] [-0.35812396 -0.19547134 -0.91298312 32.08786247] [ 0. 0. 0. 1. ]] SLAMing on 228.140714057 meters Centerline goodness : 0.992776 Centerline is valid? [True, True] Translation: X:82.76, Y:44.03, Z:32.10 [[ 0.8789697 -0.4034173 -0.25429657 82.75925334] [-0.32942178 -0.89922174 0.28789156 44.02863624] [-0.34480944 -0.16927713 -0.92328311 32.0950905 ] [ 0. 0. 0. 1. ]] SLAMing on 228.170714057 meters Centerline goodness : 0.983927 Centerline is valid? [True, True] Translation: X:82.82, Y:44.05, Z:32.08 [[ 0.90539907 -0.34558927 -0.24661828 82.81527225] [-0.2622521 -0.91204708 0.31526808 44.05265921] [-0.33388075 -0.22076727 -0.91639809 32.07910364] [ 0. 0. 0. 1. ]] SLAMing on 228.20071405699997 meters Centerline goodness : 0.989440 Centerline is valid? [True, True] Translation: X:82.91, Y:44.16, Z:32.13 [[ 9.27643451e-01 -2.31487094e-01 -2.93072267e-01 8.29144834e+01] [-1.95918629e-01 -9.69718296e-01 1.45816039e-01 4.41603877e+01] [-3.17952070e-01 -7.78469765e-02 -9.44905461e-01 3.21328806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.23071405699997 meters Centerline goodness : 0.991088 Centerline is valid? [True, True] Translation: X:82.97, Y:44.18, Z:32.11 [[ 0.94214666 -0.16683662 -0.29073219 82.9661096 ] [-0.12211162 -0.97856417 0.16583401 44.17995553] [-0.31216729 -0.12073818 -0.94232366 32.11111093] [ 0. 0. 0. 1. ]] SLAMing on 228.26071405699997 meters Centerline goodness : 0.989541 Centerline is valid? [True, True] Translation: X:83.02, Y:44.20, Z:32.10 [[ 9.51591925e-01 -1.01804940e-01 -2.90014763e-01 8.30225801e+01] [-4.98661440e-02 -9.82188375e-01 1.81161152e-01 4.42041706e+01] [-3.03292229e-01 -1.57929571e-01 -9.39719146e-01 3.20965410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.29071405699997 meters Centerline goodness : 0.989623 Centerline is valid? [True, True] Translation: X:83.10, Y:44.21, Z:32.05 [[ 9.55836336e-01 -5.56659529e-02 -2.88579625e-01 8.31033252e+01] [ 2.29913507e-02 -9.64727513e-01 2.62244588e-01 4.42076869e+01] [-2.92998799e-01 -2.57297741e-01 -9.20841776e-01 3.20463167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.32071405699998 meters Centerline goodness : 0.985104 Centerline is valid? [True, True] Translation: X:83.20, Y:44.20, Z:31.94 [[ 9.55971281e-01 -5.48025616e-02 -2.88297743e-01 8.32032009e+01] [ 8.97582589e-02 -8.80723575e-01 4.65047781e-01 4.41988070e+01] [-2.79396429e-01 -4.70449427e-01 -8.37027462e-01 3.19403287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.35071405699998 meters Centerline goodness : 0.989294 Centerline is valid? [True, True] Translation: X:83.29, Y:44.38, Z:32.07 [[ 0.9565924 0.12471534 -0.26339524 83.28973161] [ 0.16349239 -0.97783926 0.13076933 44.3757278 ] [-0.24124927 -0.16815607 -0.95578362 32.07453838] [ 0. 0. 0. 1. ]] SLAMing on 228.38071405699998 meters Centerline goodness : 0.985048 Centerline is valid? [True, True] Translation: X:83.36, Y:44.48, Z:32.10 [[ 9.45286605e-01 2.24364613e-01 -2.36841200e-01 8.33633168e+01] [ 2.37705811e-01 -9.70904816e-01 2.89790627e-02 4.44815639e+01] [-2.23448385e-01 -8.36920493e-02 -9.71116090e-01 3.20993958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.41071405699998 meters Centerline goodness : 0.984514 Centerline is valid? [True, True] Translation: X:83.38, Y:44.65, Z:32.15 [[ 0.92279991 0.35193306 -0.15679109 83.37914268] [ 0.31967619 -0.92655096 -0.19826863 44.65341849] [-0.21505222 0.1328399 -0.96752576 32.14738963] [ 0. 0. 0. 1. ]] SLAMing on 228.44071405699998 meters Centerline goodness : 0.985313 Centerline is valid? [True, True] Translation: X:83.40, Y:44.76, Z:32.15 [[ 0.89260788 0.43815785 -0.10615492 83.40097045] [ 0.39292363 -0.87152756 -0.29334405 44.76387136] [-0.22104794 0.22013043 -0.95009494 32.14949138] [ 0. 0. 0. 1. ]] SLAMing on 228.47071405699998 meters Centerline goodness : 0.992174 Centerline is valid? [True, True] Translation: X:83.46, Y:44.73, Z:32.08 [[ 8.54214405e-01 4.69916554e-01 -2.22477374e-01 8.34596891e+01] [ 4.61925320e-01 -8.82332997e-01 -9.00748629e-02 4.47264415e+01] [-2.38626798e-01 -2.58246870e-02 -9.70767911e-01 3.20760782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.50071405699998 meters Centerline goodness : 0.992064 Centerline is valid? [True, True] Translation: X:83.52, Y:44.59, Z:31.44 [[ 0.81530298 -0.12447429 -0.5654973 83.51682551] [ 0.52221081 -0.26385361 0.81097296 44.59446306] [-0.25015379 -0.95649748 -0.15011882 31.44453576] [ 0. 0. 0. 1. ]] SLAMing on 228.53071405699998 meters Centerline goodness : 0.991910 Centerline is valid? [True, True] Translation: X:83.10, Y:45.23, Z:31.26 [[ 7.75315871e-01 -6.13349782e-01 1.50623190e-01 8.30980891e+01] [ 6.05286483e-01 7.89694373e-01 1.00055339e-01 4.52265970e+01] [-1.80315206e-01 1.35956883e-02 9.83514913e-01 3.12557336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.56071405699998 meters Centerline goodness : 0.983757 Centerline is valid? [True, True] Translation: X:83.12, Y:45.24, Z:31.24 [[ 7.75750090e-01 -6.12481948e-01 1.51913337e-01 8.31164843e+01] [ 6.02444624e-01 7.90463747e-01 1.10578207e-01 4.52352158e+01] [-1.87809141e-01 5.73831865e-03 9.82188779e-01 3.12428786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.59071405699999 meters Centerline goodness : 0.983944 Centerline is valid? [True, True] Translation: X:83.14, Y:45.25, Z:31.24 [[ 7.76682362e-01 -6.10772505e-01 1.54017713e-01 8.31378870e+01] [ 6.01353375e-01 7.91751337e-01 1.07256416e-01 4.52508823e+01] [-1.87453000e-01 9.31490447e-03 9.82229406e-01 3.12385146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.620714057 meters Centerline goodness : 0.985403 Centerline is valid? [True, True] Translation: X:83.16, Y:45.26, Z:31.23 [[ 7.77327083e-01 -6.10354217e-01 1.52415011e-01 8.31608383e+01] [ 6.00284981e-01 7.92109096e-01 1.10549181e-01 4.52645147e+01] [-1.88203476e-01 5.55956945e-03 9.82114323e-01 3.12317838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.650714057 meters Centerline goodness : 0.985329 Centerline is valid? [True, True] Translation: X:83.18, Y:45.28, Z:31.23 [[ 7.75649683e-01 -6.12482766e-01 1.52421885e-01 8.31835662e+01] [ 6.02087304e-01 7.90470882e-01 1.12457379e-01 4.52826948e+01] [-1.89363269e-01 4.54375151e-03 9.81896587e-01 3.12252819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.680714057 meters Centerline goodness : 0.985716 Centerline is valid? [True, True] Translation: X:83.20, Y:45.30, Z:31.22 [[ 7.74835224e-01 -6.12791853e-01 1.55294946e-01 8.32049658e+01] [ 6.03365995e-01 7.90176531e-01 1.07566378e-01 4.53019037e+01] [-1.88626222e-01 1.03534715e-02 9.81994376e-01 3.12215298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.710714057 meters Centerline goodness : 0.984841 Centerline is valid? [True, True] Translation: X:83.23, Y:45.32, Z:31.22 [[ 7.74726855e-01 -6.12871020e-01 1.55523031e-01 8.32260395e+01] [ 6.03885170e-01 7.90086494e-01 1.05290239e-01 4.53182386e+01] [-1.87405983e-01 1.23468760e-02 9.82204944e-01 3.12169486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.740714057 meters Centerline goodness : 0.992540 Centerline is valid? [True, True] Translation: X:83.25, Y:45.33, Z:31.21 [[ 7.74809624e-01 -6.14838967e-01 1.47115910e-01 8.32522389e+01] [ 6.05217923e-01 7.88636811e-01 1.08458501e-01 4.53326974e+01] [-1.82705535e-01 5.00249552e-03 9.83154954e-01 3.12116624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.770714057 meters Centerline goodness : 0.993303 Centerline is valid? [True, True] Translation: X:83.27, Y:45.36, Z:31.21 [[ 7.74745618e-01 -6.11043900e-01 1.62464087e-01 8.32705465e+01] [ 6.06796414e-01 7.90768510e-01 8.05187872e-02 4.53622231e+01] [-1.77671998e-01 3.62010478e-02 9.83423686e-01 3.12130539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.800714057 meters Centerline goodness : 0.991235 Centerline is valid? [True, True] Translation: X:83.30, Y:45.36, Z:31.20 [[ 7.72858982e-01 -6.20578952e-01 1.32554737e-01 8.33015694e+01] [ 6.08350712e-01 7.84004478e-01 1.23476270e-01 4.53630228e+01] [-1.80550281e-01 -1.47899755e-02 9.83454550e-01 3.11963046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.830714057 meters Centerline goodness : 0.985594 Centerline is valid? [True, True] Translation: X:83.31, Y:45.40, Z:31.20 [[ 7.71389672e-01 -6.15970434e-01 1.59807377e-01 8.33145812e+01] [ 6.10861394e-01 7.87126962e-01 8.53200058e-02 4.54012220e+01] [-1.78343296e-01 3.18051859e-02 9.83454167e-01 3.12021613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.860714057 meters Centerline goodness : 0.992130 Centerline is valid? [True, True] Translation: X:83.34, Y:45.42, Z:31.20 [[ 7.72606187e-01 -6.17013411e-01 1.49579846e-01 8.33396482e+01] [ 6.10518272e-01 7.86684707e-01 9.16221057e-02 4.54167862e+01] [-1.74204245e-01 2.05334232e-02 9.84495434e-01 3.11990840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.890714057 meters Centerline goodness : 0.992295 Centerline is valid? [True, True] Translation: X:83.37, Y:45.43, Z:31.19 [[ 7.71950307e-01 -6.18582353e-01 1.46453394e-01 8.33657505e+01] [ 6.11025551e-01 7.85590474e-01 9.74442579e-02 4.54339216e+01] [-1.75329689e-01 1.42646407e-02 9.84406430e-01 3.11917692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.920714057 meters Centerline goodness : 0.992864 Centerline is valid? [True, True] Translation: X:83.39, Y:45.46, Z:31.19 [[ 7.71141867e-01 -6.19706783e-01 1.45957956e-01 8.33903293e+01] [ 6.12227676e-01 7.84699483e-01 9.70772607e-02 4.54564440e+01] [-1.74692569e-01 1.44991602e-02 9.84516267e-01 3.11867766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.95071405699997 meters Centerline goodness : 0.992705 Centerline is valid? [True, True] Translation: X:83.42, Y:45.47, Z:31.18 [[ 7.69706199e-01 -6.25132604e-01 1.29466574e-01 8.34189211e+01] [ 6.13681612e-01 7.80414467e-01 1.19783714e-01 4.54660069e+01] [-1.75918293e-01 -1.27470114e-02 9.84322238e-01 3.11771744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.98071405699997 meters Centerline goodness : 0.990651 Centerline is valid? [True, True] Translation: X:83.43, Y:45.50, Z:31.18 [[ 7.68335997e-01 -6.23347545e-01 1.45250247e-01 8.34320215e+01] [ 6.16565415e-01 7.81742615e-01 9.34107695e-02 4.54982855e+01] [-1.71775682e-01 1.77854223e-02 9.84975530e-01 3.11812770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.01071405699997 meters Centerline goodness : 0.992492 Centerline is valid? [True, True] Translation: X:83.46, Y:45.51, Z:31.17 [[ 7.69000899e-01 -6.23452426e-01 1.41225670e-01 8.34590695e+01] [ 6.15385468e-01 7.81801444e-01 1.00435197e-01 4.55117323e+01] [-1.73027000e-01 9.67346879e-03 9.84869576e-01 3.11725798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.04071405699997 meters Centerline goodness : 0.984460 Centerline is valid? [True, True] Translation: X:83.47, Y:45.54, Z:31.18 [[ 7.68510948e-01 -6.20342615e-01 1.56735327e-01 8.34734403e+01] [ 6.16961559e-01 7.83372964e-01 7.54004865e-02 4.55418003e+01] [-1.69556352e-01 3.87535721e-02 9.84758247e-01 3.11765991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.07071405699998 meters Centerline goodness : 0.992993 Centerline is valid? [True, True] Translation: X:83.50, Y:45.55, Z:31.16 [[ 7.68880758e-01 -6.26159468e-01 1.29409043e-01 8.35041758e+01] [ 6.15975706e-01 7.79664243e-01 1.12683622e-01 4.55462742e+01] [-1.71453520e-01 -6.92744175e-03 9.85167854e-01 3.11596951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.10071405699998 meters Centerline goodness : 0.992186 Centerline is valid? [True, True] Translation: X:83.52, Y:45.57, Z:31.16 [[ 7.72783068e-01 -6.18400416e-01 1.42783950e-01 8.35208904e+01] [ 6.09462040e-01 7.85840774e-01 1.04929973e-01 4.55715799e+01] [-1.77094189e-01 5.93329123e-03 9.84176023e-01 3.11602883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.13071405699998 meters Centerline goodness : 0.992403 Centerline is valid? [True, True] Translation: X:83.54, Y:45.59, Z:31.16 [[ 7.74905918e-01 -6.14583546e-01 1.47674924e-01 8.35429041e+01] [ 6.06756609e-01 7.88742028e-01 9.86530799e-02 4.55945360e+01] [-1.77107979e-01 1.31558809e-02 9.84103494e-01 3.11585789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.16071405699998 meters Centerline goodness : 0.994090 Centerline is valid? [True, True] Translation: X:83.55, Y:45.63, Z:31.16 [[ 7.73787539e-01 -6.09327015e-01 1.73128371e-01 8.35497582e+01] [ 6.09212932e-01 7.90724496e-01 6.01196762e-02 4.56334011e+01] [-1.73529386e-01 5.89521858e-02 9.83062659e-01 3.11622652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.19071405699998 meters Centerline goodness : 0.991895 Centerline is valid? [True, True] Translation: X:83.60, Y:45.63, Z:31.14 [[ 7.82013516e-01 -6.03731077e-01 1.54801961e-01 8.35950750e+01] [ 5.94073879e-01 7.97151396e-01 1.07823362e-01 4.56332197e+01] [-1.88496914e-01 7.64447561e-03 9.82044029e-01 3.11363836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.22071405699998 meters Centerline goodness : 0.993371 Centerline is valid? [True, True] Translation: X:83.60, Y:45.66, Z:31.14 [[ 7.78989663e-01 -6.08085875e-01 1.52992399e-01 8.36032709e+01] [ 6.01026230e-01 7.93654596e-01 9.42329764e-02 4.56595507e+01] [-1.78724863e-01 1.85459305e-02 9.83724287e-01 3.11385946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.25071405699998 meters Centerline goodness : 0.992296 Centerline is valid? [True, True] Translation: X:83.65, Y:45.66, Z:31.12 [[ 7.84965685e-01 -6.04366935e-01 1.36269882e-01 8.36452116e+01] [ 5.91146653e-01 7.96472708e-01 1.27188284e-01 4.56639703e+01] [-1.85403635e-01 -1.92829543e-02 9.82473236e-01 3.11246716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.28071405699998 meters Centerline goodness : 0.992950 Centerline is valid? [True, True] Translation: X:83.65, Y:45.71, Z:31.14 [[ 7.82231042e-01 -5.99975271e-01 1.67762546e-01 8.36487195e+01] [ 5.96999722e-01 7.98876280e-01 7.34031415e-02 4.57070587e+01] [-1.78061588e-01 4.27359774e-02 9.83090895e-01 3.11370743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.31071405699998 meters Centerline goodness : 0.984279 Centerline is valid? [True, True] Translation: X:83.67, Y:45.70, Z:31.10 [[ 7.80012595e-01 -6.07824806e-01 1.48759394e-01 8.36725766e+01] [ 5.94091969e-01 7.93976003e-01 1.29061376e-01 4.56973988e+01] [-1.96558095e-01 -1.22927373e-02 9.80415118e-01 3.11019723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.34071405699999 meters Centerline goodness : 0.993268 Centerline is valid? [True, True] Translation: X:83.70, Y:45.73, Z:31.12 [[ 7.82899979e-01 -6.01719795e-01 1.58116766e-01 8.36977584e+01] [ 5.96102635e-01 7.98260353e-01 8.62673580e-02 4.57328619e+01] [-1.78127123e-01 2.67151082e-02 9.83644769e-01 3.11207113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.370714057 meters Centerline goodness : 0.988361 Centerline is valid? [True, True] Translation: X:83.73, Y:45.73, Z:31.10 [[ 7.87210980e-01 -5.95397553e-01 1.60625739e-01 8.37333000e+01] [ 5.85434430e-01 8.03387376e-01 1.08789950e-01 4.57337123e+01] [-1.93817961e-01 8.39519531e-03 9.81001590e-01 3.11028516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.400714057 meters Centerline goodness : 0.988922 Centerline is valid? [True, True] Translation: X:83.76, Y:45.75, Z:31.10 [[ 7.86692393e-01 -5.96672190e-01 1.58421513e-01 8.37592340e+01] [ 5.87021986e-01 8.02438537e-01 1.07226776e-01 4.57515955e+01] [-1.91102763e-01 8.64242219e-03 9.81531988e-01 3.10986060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.430714057 meters Centerline goodness : 0.993245 Centerline is valid? [True, True] Translation: X:83.78, Y:45.78, Z:31.10 [[ 7.82866901e-01 -6.04683748e-01 1.46550267e-01 8.37820976e+01] [ 5.96582871e-01 7.96405133e-01 9.91349763e-02 4.57757214e+01] [-1.76658694e-01 9.81988720e-03 9.84223184e-01 3.10954464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.460714057 meters Centerline goodness : 0.994653 Centerline is valid? [True, True] Translation: X:83.81, Y:45.79, Z:31.09 [[ 7.83055625e-01 -6.04611619e-01 1.45837851e-01 8.38088212e+01] [ 5.96598774e-01 7.96460130e-01 9.85959651e-02 4.57923213e+01] [-1.75766300e-01 9.80055797e-03 9.84383135e-01 3.10895545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.490714057 meters Centerline goodness : 0.994653 Centerline is valid? [True, True] Translation: X:83.84, Y:45.81, Z:31.08 [[ 7.83127321e-01 -6.04512540e-01 1.45863593e-01 8.38361975e+01] [ 5.96505062e-01 7.96535033e-01 9.85578674e-02 4.58107250e+01] [-1.75764929e-01 9.82501275e-03 9.84383136e-01 3.10834367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.520714057 meters Centerline goodness : 0.994221 Centerline is valid? [True, True] Translation: X:83.86, Y:45.83, Z:31.08 [[ 7.83210272e-01 -6.04705143e-01 1.44614521e-01 8.38636700e+01] [ 5.96842496e-01 7.96389131e-01 9.76902574e-02 4.58265992e+01] [-1.74243234e-01 9.80007845e-03 9.84653875e-01 3.10787097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.550714057 meters Centerline goodness : 0.994131 Centerline is valid? [True, True] Translation: X:83.89, Y:45.84, Z:31.07 [[ 7.83052306e-01 -6.05002515e-01 1.44225668e-01 8.38917663e+01] [ 5.97196643e-01 7.96162240e-01 9.73748266e-02 4.58440907e+01] [-1.73739046e-01 9.88150214e-03 9.84742149e-01 3.10731627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.580714057 meters Centerline goodness : 0.993332 Centerline is valid? [True, True] Translation: X:83.92, Y:45.86, Z:31.07 [[ 7.82701295e-01 -6.05309396e-01 1.44842046e-01 8.39189115e+01] [ 5.97452316e-01 7.95926925e-01 9.77295255e-02 4.58603344e+01] [-1.74440285e-01 1.00431900e-02 9.84616535e-01 3.10671452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.610714057 meters Centerline goodness : 0.993813 Centerline is valid? [True, True] Translation: X:83.95, Y:45.87, Z:31.06 [[ 7.81164113e-01 -6.07091775e-01 1.45678431e-01 8.39482922e+01] [ 5.99183834e-01 7.94561697e-01 9.82366622e-02 4.58746844e+01] [-1.75389171e-01 1.05492059e-02 9.84442661e-01 3.10615248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.640714057 meters Centerline goodness : 0.992993 Centerline is valid? [True, True] Translation: X:83.98, Y:45.87, Z:31.05 [[ 7.80124558e-01 -6.13013494e-01 1.24980516e-01 8.39838890e+01] [ 5.97689012e-01 7.89296048e-01 1.40639940e-01 4.58676496e+01] [-1.84860808e-01 -3.50171896e-02 9.82140661e-01 3.10460618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.670714057 meters Centerline goodness : 0.993485 Centerline is valid? [True, True] Translation: X:84.00, Y:45.92, Z:31.07 [[ 7.79976248e-01 -6.01897620e-01 1.71336827e-01 8.39960071e+01] [ 6.01265061e-01 7.96675947e-01 6.15447961e-02 4.59189537e+01] [-1.73543596e-01 5.50153688e-02 9.83288325e-01 3.10650694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.70071405699997 meters Centerline goodness : 0.993431 Centerline is valid? [True, True] Translation: X:84.03, Y:45.92, Z:31.04 [[ 7.79255655e-01 -6.09386648e-01 1.46316566e-01 8.40321133e+01] [ 6.01470963e-01 7.92793872e-01 9.85421607e-02 4.59186820e+01] [-1.76049154e-01 1.12156298e-02 9.84317482e-01 3.10436505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.73071405699997 meters Centerline goodness : 0.992669 Centerline is valid? [True, True] Translation: X:84.06, Y:45.92, Z:31.03 [[ 7.77894319e-01 -6.14691082e-01 1.30519358e-01 8.40618162e+01] [ 6.01644797e-01 7.88493873e-01 1.27675178e-01 4.59207282e+01] [-1.81394507e-01 -2.07915031e-02 9.83190595e-01 3.10338473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.76071405699997 meters Centerline goodness : 0.994080 Centerline is valid? [True, True] Translation: X:84.08, Y:45.96, Z:31.04 [[ 7.79425738e-01 -6.05022869e-01 1.62612565e-01 8.40822971e+01] [ 6.02111150e-01 7.95125624e-01 7.23699232e-02 4.59606254e+01] [-1.73082876e-01 4.15038576e-02 9.84032392e-01 3.10428540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.79071405699997 meters Centerline goodness : 0.993213 Centerline is valid? [True, True] Translation: X:84.12, Y:45.96, Z:31.03 [[ 7.79210038e-01 -6.10088393e-01 1.43610132e-01 8.41165764e+01] [ 6.02502160e-01 7.92253124e-01 9.65719085e-02 4.59632699e+01] [-1.72692976e-01 1.12756144e-02 9.84911162e-01 3.10267114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.82071405699998 meters Centerline goodness : 0.992307 Centerline is valid? [True, True] Translation: X:84.14, Y:45.98, Z:31.02 [[ 7.79243540e-01 -6.10142237e-01 1.43199009e-01 8.41443040e+01] [ 6.02610332e-01 7.92211320e-01 9.62393472e-02 4.59790318e+01] [-1.72163567e-01 1.12993128e-02 9.85003569e-01 3.10203913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.85071405699998 meters Centerline goodness : 0.990956 Centerline is valid? [True, True] Translation: X:84.18, Y:45.99, Z:31.01 [[ 7.81534347e-01 -6.05151567e-01 1.51643152e-01 8.41814151e+01] [ 5.96423108e-01 7.96047175e-01 1.02899809e-01 4.59887354e+01] [-1.82985084e-01 1.00237451e-02 9.83064588e-01 3.10096096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.88071405699998 meters Centerline goodness : 0.991504 Centerline is valid? [True, True] Translation: X:84.21, Y:46.03, Z:31.00 [[ 7.82582917e-01 -5.91113336e-01 1.95317694e-01 8.42084199e+01] [ 5.92477294e-01 8.03506678e-01 5.78590912e-02 4.60282775e+01] [-1.91140352e-01 7.04417622e-02 9.79031830e-01 3.10040074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.91071405699998 meters Centerline goodness : 0.990763 Centerline is valid? [True, True] Translation: X:84.25, Y:46.01, Z:30.98 [[ 7.79368937e-01 -6.10948675e-01 1.39017183e-01 8.42483222e+01] [ 5.97591269e-01 7.91491715e-01 1.28162164e-01 4.60098451e+01] [-1.88331453e-01 -1.68101543e-02 9.81961650e-01 3.09820865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.94071405699998 meters Centerline goodness : 0.991472 Centerline is valid? [True, True] Translation: X:84.27, Y:46.04, Z:30.99 [[ 7.79332030e-01 -6.04478178e-01 1.65068830e-01 8.42683930e+01] [ 5.98002085e-01 7.96169755e-01 9.22346402e-02 4.60426793e+01] [-1.87176637e-01 2.68300952e-02 9.81959802e-01 3.09857087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.97071405699998 meters Centerline goodness : 0.991747 Centerline is valid? [True, True] Translation: X:84.30, Y:46.05, Z:30.98 [[ 7.78170373e-01 -6.11398816e-01 1.43674489e-01 8.42973972e+01] [ 6.00920784e-01 7.91321426e-01 1.12714739e-01 4.60472717e+01] [-1.82606359e-01 -1.37428414e-03 9.83185145e-01 3.09775284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.00071405699998 meters Centerline goodness : 0.992081 Centerline is valid? [True, True] Translation: X:84.32, Y:46.08, Z:30.98 [[ 7.78187150e-01 -6.03726686e-01 1.73028463e-01 8.43211930e+01] [ 5.99773009e-01 7.96124081e-01 8.03665735e-02 4.60765289e+01] [-1.86271571e-01 4.12375669e-02 9.81632500e-01 3.09766073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.03071405699998 meters Centerline goodness : 0.991494 Centerline is valid? [True, True] Translation: X:84.35, Y:46.07, Z:30.97 [[ 7.75732766e-01 -6.18399434e-01 1.25780828e-01 8.43517592e+01] [ 6.04882275e-01 7.85445861e-01 1.31119152e-01 4.60671835e+01] [-1.79878041e-01 -2.56308292e-02 9.83354947e-01 3.09684429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.06071405699998 meters Centerline goodness : 0.992285 Centerline is valid? [True, True] Translation: X:84.37, Y:46.09, Z:30.98 [[ 7.74310642e-01 -6.19052464e-01 1.31213861e-01 8.43709172e+01] [ 6.08521150e-01 7.85304328e-01 1.14013696e-01 4.60908468e+01] [-1.73623272e-01 -8.43560841e-03 9.84776015e-01 3.09762028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.09071405699999 meters Centerline goodness : 0.991756 Centerline is valid? [True, True] Translation: X:84.40, Y:46.12, Z:30.98 [[ 7.73819770e-01 -6.16947665e-01 1.43452227e-01 8.43953066e+01] [ 6.09189613e-01 7.86921558e-01 9.81961173e-02 4.61150996e+01] [-1.73467516e-01 1.14035098e-02 9.84773568e-01 3.09758968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.120714057 meters Centerline goodness : 0.984685 Centerline is valid? [True, True] Translation: X:84.41, Y:46.13, Z:30.97 [[ 7.70576329e-01 -6.18385745e-01 1.54308755e-01 8.44114049e+01] [ 6.12996055e-01 7.85369742e-01 8.61986305e-02 4.61342347e+01] [-1.74493432e-01 2.81680340e-02 9.84255355e-01 3.09725714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.150714057 meters Centerline goodness : 0.991541 Centerline is valid? [True, True] Translation: X:84.44, Y:46.16, Z:30.97 [[ 7.72078109e-01 -6.15861180e-01 1.56877025e-01 8.44444850e+01] [ 6.11891416e-01 7.87053747e-01 7.83281186e-02 4.61554269e+01] [-1.71709898e-01 3.55162792e-02 9.84507138e-01 3.09713503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.180714057 meters Centerline goodness : 0.991983 Centerline is valid? [True, True] Translation: X:84.48, Y:46.17, Z:30.96 [[ 7.69310602e-01 -6.19348768e-01 1.56742787e-01 8.44763161e+01] [ 6.15308249e-01 7.84308566e-01 7.90938165e-02 4.61731290e+01] [-1.71921369e-01 3.55974184e-02 9.84467301e-01 3.09601906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.210714057 meters Centerline goodness : 0.992676 Centerline is valid? [True, True] Translation: X:84.51, Y:46.18, Z:30.95 [[ 7.68302726e-01 -6.23650578e-01 1.44121052e-01 8.45072339e+01] [ 6.16532799e-01 7.81546109e-01 9.52522331e-02 4.61833606e+01] [-1.72041358e-01 1.56728052e-02 9.84965042e-01 3.09489346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.240714057 meters Centerline goodness : 0.992175 Centerline is valid? [True, True] Translation: X:84.53, Y:46.19, Z:30.94 [[ 7.66603966e-01 -6.28228540e-01 1.32842996e-01 8.45328464e+01] [ 6.19546321e-01 7.78024877e-01 1.04113627e-01 4.61935140e+01] [-1.68762307e-01 2.48846988e-03 9.85653637e-01 3.09443499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.270714057 meters Centerline goodness : 0.993023 Centerline is valid? [True, True] Translation: X:84.55, Y:46.23, Z:30.94 [[ 7.67854886e-01 -6.17572960e-01 1.70301242e-01 8.45533289e+01] [ 6.16701537e-01 7.84551933e-01 6.44785162e-02 4.62300505e+01] [-1.73430356e-01 5.55148938e-02 9.83280229e-01 3.09436587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.300714057 meters Centerline goodness : 0.992891 Centerline is valid? [True, True] Translation: X:84.59, Y:46.21, Z:30.93 [[ 7.64066932e-01 -6.35595769e-01 1.10542941e-01 8.45901837e+01] [ 6.22510012e-01 7.71347007e-01 1.32306767e-01 4.62140113e+01] [-1.69360588e-01 -3.22771381e-02 9.85025471e-01 3.09293397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.330714057 meters Centerline goodness : 0.991729 Centerline is valid? [True, True] Translation: X:84.60, Y:46.25, Z:30.94 [[ 7.63870487e-01 -6.31431755e-01 1.33400966e-01 8.46038908e+01] [ 6.23892936e-01 7.75383473e-01 9.76630583e-02 4.62464881e+01] [-1.65104461e-01 8.62599228e-03 9.86238363e-01 3.09391005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.360714057 meters Centerline goodness : 0.991992 Centerline is valid? [True, True] Translation: X:84.63, Y:46.27, Z:30.94 [[ 7.64943510e-01 -6.29432649e-01 1.36660045e-01 8.46262720e+01] [ 6.22642675e-01 7.76932909e-01 9.32274377e-02 4.62667016e+01] [-1.64856080e-01 1.37766527e-02 9.86221414e-01 3.09376382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.390714057 meters Centerline goodness : 0.991744 Centerline is valid? [True, True] Translation: X:84.65, Y:46.29, Z:30.93 [[ 7.65885129e-01 -6.27102246e-01 1.41995569e-01 8.46520672e+01] [ 6.21072946e-01 7.78680018e-01 8.90271077e-02 4.62890766e+01] [-1.66398211e-01 2.00050683e-02 9.85855685e-01 3.09323583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.42071405699997 meters Centerline goodness : 0.991186 Centerline is valid? [True, True] Translation: X:84.68, Y:46.31, Z:30.93 [[ 7.67175200e-01 -6.26069732e-01 1.39566842e-01 8.46785318e+01] [ 6.19347683e-01 7.79617457e-01 9.27635086e-02 4.63064976e+01] [-1.66885171e-01 1.52745368e-02 9.85858016e-01 3.09264272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.45071405699997 meters Centerline goodness : 0.991970 Centerline is valid? [True, True] Translation: X:84.70, Y:46.33, Z:30.92 [[ 7.70661540e-01 -6.19697322e-01 1.48512689e-01 8.47025319e+01] [ 6.13992559e-01 7.84475380e-01 8.72439973e-02 4.63290689e+01] [-1.70569420e-01 2.39500928e-02 9.85054550e-01 3.09190587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.48071405699997 meters Centerline goodness : 0.991307 Centerline is valid? [True, True] Translation: X:84.73, Y:46.35, Z:30.91 [[ 7.73286750e-01 -6.17270093e-01 1.44931824e-01 8.47293626e+01] [ 6.10333866e-01 7.86587958e-01 9.36587279e-02 4.63470204e+01] [-1.71814359e-01 1.60317472e-02 9.84998888e-01 3.09097927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.51071405699997 meters Centerline goodness : 0.991049 Centerline is valid? [True, True] Translation: X:84.75, Y:46.36, Z:30.90 [[ 7.74063478e-01 -6.17624428e-01 1.39161050e-01 8.47541991e+01] [ 6.09623177e-01 7.86433619e-01 9.94069619e-02 4.63628739e+01] [-1.70837097e-01 7.88850301e-03 9.85267709e-01 3.09045067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.54071405699997 meters Centerline goodness : 0.989675 Centerline is valid? [True, True] Translation: X:84.78, Y:46.39, Z:30.90 [[ 7.77005598e-01 -6.09743749e-01 1.56444431e-01 8.47765740e+01] [ 6.05548881e-01 7.91891819e-01 7.88536593e-02 4.63910512e+01] [-1.71967591e-01 3.34650154e-02 9.84534022e-01 3.09003337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.57071405699998 meters Centerline goodness : 0.990438 Centerline is valid? [True, True] Translation: X:84.81, Y:46.40, Z:30.89 [[ 7.77677658e-01 -6.12612024e-01 1.41152290e-01 8.48070779e+01] [ 6.04764198e-01 7.90332216e-01 9.81593240e-02 4.64012367e+01] [-1.71690784e-01 9.02753842e-03 9.85109526e-01 3.08881040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.60071405699998 meters Centerline goodness : 0.989305 Centerline is valid? [True, True] Translation: X:84.83, Y:46.42, Z:30.89 [[ 7.78426225e-01 -6.11726760e-01 1.40865126e-01 8.48303275e+01] [ 6.04015579e-01 7.91013719e-01 9.72752637e-02 4.64200892e+01] [-1.70932129e-01 9.36311451e-03 9.85238316e-01 3.08854247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.63071405699998 meters Centerline goodness : 0.989516 Centerline is valid? [True, True] Translation: X:84.86, Y:46.44, Z:30.88 [[ 7.79303130e-01 -6.12260418e-01 1.33505850e-01 8.48557788e+01] [ 6.03547303e-01 7.90656086e-01 1.02925247e-01 4.64361494e+01] [-1.68574268e-01 3.67128833e-04 9.85688887e-01 3.08796152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.66071405699998 meters Centerline goodness : 0.989697 Centerline is valid? [True, True] Translation: X:84.88, Y:46.46, Z:30.88 [[ 7.81709174e-01 -6.05729838e-01 1.48398555e-01 8.48777390e+01] [ 6.00610536e-01 7.95286004e-01 8.23842005e-02 4.64647237e+01] [-1.67921863e-01 2.47292506e-02 9.85490087e-01 3.08760062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.69071405699998 meters Centerline goodness : 0.988515 Centerline is valid? [True, True] Translation: X:84.90, Y:46.48, Z:30.87 [[ 7.84373794e-01 -6.02240799e-01 1.48538786e-01 8.49036237e+01] [ 5.97237142e-01 7.97926446e-01 8.13706467e-02 4.64827281e+01] [-1.67527749e-01 2.48878769e-02 9.85553168e-01 3.08673224e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.72071405699998 meters Centerline goodness : 0.989792 Centerline is valid? [True, True] Translation: X:84.93, Y:46.50, Z:30.86 [[ 7.84373273e-01 -6.04317297e-01 1.39854111e-01 8.49335954e+01] [ 5.96339444e-01 7.96717513e-01 9.80840097e-02 4.64966314e+01] [-1.70698083e-01 6.46604715e-03 9.85302164e-01 3.08576636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.75071405699998 meters Centerline goodness : 0.987612 Centerline is valid? [True, True] Translation: X:84.96, Y:46.53, Z:30.85 [[ 7.88043326e-01 -5.89378370e-01 1.77822532e-01 8.49577049e+01] [ 5.89373363e-01 8.05729589e-01 5.86418715e-02 4.65338779e+01] [-1.77839126e-01 5.85915283e-02 9.82313737e-01 3.08506981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.78071405699998 meters Centerline goodness : 0.990500 Centerline is valid? [True, True] Translation: X:85.00, Y:46.53, Z:30.84 [[ 7.84013944e-01 -6.08725191e-01 1.21555653e-01 8.49983625e+01] [ 5.96742003e-01 7.93033848e-01 1.22459374e-01 4.65260192e+01] [-1.70941853e-01 -2.34724928e-02 9.85001485e-01 3.08372145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.81071405699998 meters Centerline goodness : 0.989618 Centerline is valid? [True, True] Translation: X:85.01, Y:46.56, Z:30.84 [[ 7.89358925e-01 -5.92596498e-01 1.60442757e-01 8.50101536e+01] [ 5.88965537e-01 8.04710806e-01 7.45661733e-02 4.65648616e+01] [-1.73297673e-01 3.56357799e-02 9.84224572e-01 3.08438084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.84071405699999 meters Centerline goodness : 0.989880 Centerline is valid? [True, True] Translation: X:85.04, Y:46.56, Z:30.84 [[ 7.89086074e-01 -6.01041140e-01 1.26857069e-01 8.50368706e+01] [ 5.90642731e-01 7.99103019e-01 1.12140669e-01 4.65640256e+01] [-1.68773022e-01 -1.35614351e-02 9.85561644e-01 3.08361552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.870714057 meters Centerline goodness : 0.988578 Centerline is valid? [True, True] Translation: X:85.06, Y:46.60, Z:30.84 [[ 7.91754497e-01 -5.91562119e-01 1.52246760e-01 8.50580126e+01] [ 5.86441524e-01 8.05879599e-01 8.15132540e-02 4.65978022e+01] [-1.70912711e-01 2.47453365e-02 9.84975387e-01 3.08385937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.900714057 meters Centerline goodness : 0.988896 Centerline is valid? [True, True] Translation: X:85.09, Y:46.62, Z:30.83 [[ 7.91970540e-01 -5.91542885e-01 1.51194177e-01 8.50857651e+01] [ 5.85448833e-01 8.06033812e-01 8.69434159e-02 4.66153028e+01] [-1.73298378e-01 1.96598307e-02 9.84673125e-01 3.08301370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.930714057 meters Centerline goodness : 0.988452 Centerline is valid? [True, True] Translation: X:85.11, Y:46.62, Z:30.83 [[ 7.92316234e-01 -5.96247920e-01 1.29318998e-01 8.51085595e+01] [ 5.86396739e-01 8.02737342e-01 1.08404909e-01 4.66195655e+01] [-1.68445390e-01 -1.00587308e-02 9.85659664e-01 3.08276439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.960714057 meters Centerline goodness : 0.990140 Centerline is valid? [True, True] Translation: X:85.14, Y:46.64, Z:30.83 [[ 7.89486121e-01 -5.99978394e-01 1.29373847e-01 8.51355772e+01] [ 5.91315883e-01 8.00007396e-01 1.01654776e-01 4.66431073e+01] [-1.64490703e-01 -3.75422397e-03 9.86371489e-01 3.08297593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.990714057 meters Centerline goodness : 0.989538 Centerline is valid? [True, True] Translation: X:85.16, Y:46.67, Z:30.83 [[ 7.88187545e-01 -5.98580953e-01 1.43042777e-01 8.51595635e+01] [ 5.92939122e-01 8.00847339e-01 8.40638931e-02 4.66683760e+01] [-1.64874472e-01 1.85575447e-02 9.86139963e-01 3.08286197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.020714057 meters Centerline goodness : 0.988884 Centerline is valid? [True, True] Translation: X:85.19, Y:46.68, Z:30.82 [[ 7.87797663e-01 -5.99532407e-01 1.41193962e-01 8.51865647e+01] [ 5.93400512e-01 8.00203610e-01 8.68908248e-02 4.66847732e+01] [-1.65077783e-01 1.53321802e-02 9.86161371e-01 3.08216013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.050714057 meters Centerline goodness : 0.987427 Centerline is valid? [True, True] Translation: X:85.21, Y:46.70, Z:30.82 [[ 7.85902956e-01 -6.02742113e-01 1.38052486e-01 8.52135451e+01] [ 5.96094142e-01 7.97852497e-01 9.00175903e-02 4.67001834e+01] [-1.64402913e-01 1.15471877e-02 9.86325679e-01 3.08161766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.080714057 meters Centerline goodness : 0.988732 Centerline is valid? [True, True] Translation: X:85.24, Y:46.72, Z:30.81 [[ 7.85200297e-01 -6.02689474e-01 1.42217763e-01 8.52398399e+01] [ 5.97389995e-01 7.97716619e-01 8.23006074e-02 4.67212677e+01] [-1.63051183e-01 2.03370076e-02 9.86407988e-01 3.08098828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.110714057 meters Centerline goodness : 0.988075 Centerline is valid? [True, True] Translation: X:85.27, Y:46.73, Z:30.80 [[ 7.82928986e-01 -6.07627056e-01 1.33459972e-01 8.52665680e+01] [ 5.99877450e-01 7.94211118e-01 9.68284303e-02 4.67302661e+01] [-1.64830967e-01 4.24984277e-03 9.86312674e-01 3.08024178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.140714057 meters Centerline goodness : 0.987231 Centerline is valid? [True, True] Translation: X:85.29, Y:46.74, Z:30.80 [[ 7.81110391e-01 -6.11021601e-01 1.28526886e-01 8.52893734e+01] [ 6.03105612e-01 7.91613371e-01 9.80402556e-02 4.67441207e+01] [-1.61648316e-01 9.35024002e-04 9.86847986e-01 3.08026155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.17071405699997 meters Centerline goodness : 0.991128 Centerline is valid? [True, True] Translation: X:85.30, Y:46.76, Z:30.80 [[ 7.74791290e-01 -6.20901901e-01 1.19076813e-01 8.52998028e+01] [ 6.12404209e-01 7.83860850e-01 1.02582905e-01 4.67614906e+01] [-1.57033573e-01 -6.55719978e-03 9.87571496e-01 3.07991379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.20071405699997 meters Centerline goodness : 0.987974 Centerline is valid? [True, True] Translation: X:85.34, Y:46.78, Z:30.80 [[ 7.78478501e-01 -6.12476953e-01 1.37270557e-01 8.53380571e+01] [ 6.05957153e-01 7.90380638e-01 9.00798295e-02 4.67813368e+01] [-1.63667810e-01 1.30548654e-02 9.86429125e-01 3.07978265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.23071405699997 meters Centerline goodness : 0.989547 Centerline is valid? [True, True] Translation: X:85.37, Y:46.80, Z:30.79 [[ 7.77965934e-01 -6.13220735e-01 1.36855163e-01 8.53658800e+01] [ 6.06341627e-01 7.89832281e-01 9.22756696e-02 4.67984796e+01] [-1.64677979e-01 1.11936547e-02 9.86283866e-01 3.07909525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.26071405699997 meters Centerline goodness : 0.989576 Centerline is valid? [True, True] Translation: X:85.39, Y:46.82, Z:30.79 [[ 7.77351882e-01 -6.14576574e-01 1.34237426e-01 8.53925810e+01] [ 6.07318345e-01 7.88816082e-01 9.45178094e-02 4.68150615e+01] [-1.63977072e-01 8.05125462e-03 9.86431294e-01 3.07860689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.29071405699997 meters Centerline goodness : 0.988334 Centerline is valid? [True, True] Translation: X:85.42, Y:46.83, Z:30.78 [[ 7.76974521e-01 -6.13114797e-01 1.42831506e-01 8.54167057e+01] [ 6.07656244e-01 7.89707898e-01 8.43523837e-02 4.68346833e+01] [-1.64512863e-01 2.12528032e-02 9.86145951e-01 3.07825621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.32071405699998 meters Centerline goodness : 0.988374 Centerline is valid? [True, True] Translation: X:85.44, Y:46.86, Z:30.77 [[ 7.78295317e-01 -6.06912883e-01 1.60975628e-01 8.54430951e+01] [ 6.04567710e-01 7.93566937e-01 6.89158961e-02 4.68595635e+01] [-1.69570881e-01 4.36837475e-02 9.84549362e-01 3.07717092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.35071405699998 meters Centerline goodness : 0.990143 Centerline is valid? [True, True] Translation: X:85.48, Y:46.86, Z:30.76 [[ 7.75757498e-01 -6.17690825e-01 1.29067232e-01 8.54820463e+01] [ 6.08542006e-01 7.86412458e-01 1.05981477e-01 4.68605209e+01] [-1.66963865e-01 -3.67309297e-03 9.85956174e-01 3.07557124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.38071405699998 meters Centerline goodness : 0.989516 Centerline is valid? [True, True] Translation: X:85.50, Y:46.88, Z:30.76 [[ 7.75401917e-01 -6.19089106e-01 1.24420839e-01 8.55013522e+01] [ 6.10416251e-01 7.85309582e-01 1.03348252e-01 4.68755649e+01] [-1.61690654e-01 -4.18793073e-03 9.86832607e-01 3.07584233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.41071405699998 meters Centerline goodness : 0.989516 Centerline is valid? [True, True] Translation: X:85.52, Y:46.90, Z:30.76 [[ 7.75367247e-01 -6.17219083e-01 1.33589806e-01 8.55242715e+01] [ 6.10673562e-01 7.86707310e-01 9.03847859e-02 4.68999705e+01] [-1.60883291e-01 1.14983598e-02 9.86906457e-01 3.07579459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.44071405699998 meters Centerline goodness : 0.989642 Centerline is valid? [True, True] Translation: X:85.55, Y:46.92, Z:30.75 [[ 7.74490314e-01 -6.17418876e-01 1.37690537e-01 8.55492857e+01] [ 6.12042112e-01 7.86392479e-01 8.36141255e-02 4.69200705e+01] [-1.59903742e-01 1.95140767e-02 9.86939711e-01 3.07525335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.47071405699998 meters Centerline goodness : 0.989844 Centerline is valid? [True, True] Translation: X:85.58, Y:46.94, Z:30.74 [[ 7.73980126e-01 -6.18527496e-01 1.35567334e-01 8.55778602e+01] [ 6.12228429e-01 7.85638522e-01 8.91541545e-02 4.69362446e+01] [-1.61651215e-01 1.39946320e-02 9.86748719e-01 3.07436523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.50071405699998 meters Centerline goodness : 0.990089 Centerline is valid? [True, True] Translation: X:85.60, Y:46.95, Z:30.74 [[ 7.73039353e-01 -6.19464186e-01 1.36653876e-01 8.56024784e+01] [ 6.13815189e-01 7.84821019e-01 8.53632370e-02 4.69547321e+01] [-1.60128303e-01 1.78910835e-02 9.86934059e-01 3.07395568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.53071405699998 meters Centerline goodness : 0.984273 Centerline is valid? [True, True] Translation: X:85.61, Y:46.97, Z:30.73 [[ 7.70113768e-01 -6.23376416e-01 1.35375881e-01 8.56120456e+01] [ 6.17697493e-01 7.81724506e-01 8.57706502e-02 4.69655487e+01] [-1.59294044e-01 1.75681837e-02 9.87074854e-01 3.07317895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.56071405699998 meters Centerline goodness : 0.992984 Centerline is valid? [True, True] Translation: X:85.65, Y:46.98, Z:30.72 [[ 7.68791993e-01 -6.29626103e-01 1.11936772e-01 8.56495049e+01] [ 6.21379160e-01 7.76848151e-01 1.01955335e-01 4.69757782e+01] [-1.51151615e-01 -8.82726756e-03 9.88471178e-01 3.07238982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.59071405699999 meters Centerline goodness : 0.985247 Centerline is valid? [True, True] Translation: X:85.66, Y:46.99, Z:30.72 [[ 7.68388819e-01 -6.25682340e-01 1.34537100e-01 8.56594778e+01] [ 6.19408472e-01 7.79942960e-01 8.95663122e-02 4.69949194e+01] [-1.60971324e-01 1.45116669e-02 9.86852392e-01 3.07203362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.620714057 meters Centerline goodness : 0.992647 Centerline is valid? [True, True] Translation: X:85.69, Y:47.01, Z:30.72 [[ 7.67950460e-01 -6.29348998e-01 1.19045914e-01 8.56924034e+01] [ 6.22613963e-01 7.77114690e-01 9.18945643e-02 4.70132034e+01] [-1.50346081e-01 3.54917552e-03 9.88627058e-01 3.07195867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.650714057 meters Centerline goodness : 0.992211 Centerline is valid? [True, True] Translation: X:85.72, Y:47.01, Z:30.71 [[ 7.69125267e-01 -6.31632262e-01 9.74012786e-02 8.57225777e+01] [ 6.19352687e-01 7.74246168e-01 1.30173425e-01 4.70106895e+01] [-1.57634301e-01 -3.97939262e-02 9.86695429e-01 3.07122960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.680714057 meters Centerline goodness : 0.993556 Centerline is valid? [True, True] Translation: X:85.73, Y:47.07, Z:30.73 [[ 7.67416297e-01 -6.22813447e-01 1.52235466e-01 8.57279302e+01] [ 6.23968768e-01 7.80092172e-01 4.60345632e-02 4.70680877e+01] [-1.47428641e-01 5.96625023e-02 9.87271585e-01 3.07289211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.710714057 meters Centerline goodness : 0.991252 Centerline is valid? [True, True] Translation: X:85.77, Y:47.05, Z:30.71 [[ 7.67002475e-01 -6.32813852e-01 1.06084080e-01 8.57674818e+01] [ 6.21869565e-01 7.73863516e-01 1.20056247e-01 4.70507223e+01] [-1.58067855e-01 -2.61129786e-02 9.87082907e-01 3.07068300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.740714057 meters Centerline goodness : 0.992475 Centerline is valid? [True, True] Translation: X:85.79, Y:47.08, Z:30.70 [[ 7.64349351e-01 -6.33218090e-01 1.21675472e-01 8.57905593e+01] [ 6.23398107e-01 7.73916862e-01 1.11478658e-01 4.70757222e+01] [-1.64757002e-01 -9.35638047e-03 9.86289810e-01 3.07022474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.770714057 meters Centerline goodness : 0.991119 Centerline is valid? [True, True] Translation: X:85.80, Y:47.11, Z:30.71 [[ 7.64712367e-01 -6.27606061e-01 1.46032971e-01 8.58041654e+01] [ 6.24545828e-01 7.77683398e-01 7.17707495e-02 4.71098779e+01] [-1.58611175e-01 3.63203031e-02 9.86672859e-01 3.07140083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.800714057 meters Centerline goodness : 0.992487 Centerline is valid? [True, True] Translation: X:85.83, Y:47.13, Z:30.70 [[ 7.61380008e-01 -6.31285024e-01 1.47579477e-01 8.58264076e+01] [ 6.30124229e-01 7.74131241e-01 6.05332706e-02 4.71339922e+01] [-1.52459631e-01 4.69045823e-02 9.87196040e-01 3.07043159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.830714057 meters Centerline goodness : 0.992449 Centerline is valid? [True, True] Translation: X:85.86, Y:47.14, Z:30.69 [[ 7.60064965e-01 -6.37117272e-01 1.27995433e-01 8.58596550e+01] [ 6.31026675e-01 7.70653516e-01 8.88734736e-02 4.71405983e+01] [-1.55262956e-01 1.32189190e-02 9.87784731e-01 3.06882806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.860714057 meters Centerline goodness : 0.992774 Centerline is valid? [True, True] Translation: X:85.90, Y:47.14, Z:30.67 [[ 7.57975651e-01 -6.44057345e-01 1.03262040e-01 8.58964371e+01] [ 6.30093369e-01 7.63897738e-01 1.39436696e-01 4.71377008e+01] [-1.68686867e-01 -4.06248941e-02 9.84832148e-01 3.06717437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.890714057 meters Centerline goodness : 0.985067 Centerline is valid? [True, True] Translation: X:85.90, Y:47.19, Z:30.68 [[ 7.54776845e-01 -6.38908688e-01 1.48686256e-01 8.59001591e+01] [ 6.35302200e-01 7.68421451e-01 7.69388631e-02 4.71855648e+01] [-1.63410616e-01 3.63890329e-02 9.85886813e-01 3.06848863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.92071405699997 meters Centerline goodness : 0.991614 Centerline is valid? [True, True] Translation: X:85.93, Y:47.21, Z:30.68 [[ 7.56348972e-01 -6.38432895e-01 1.42617221e-01 8.59317586e+01] [ 6.35076756e-01 7.68898483e-01 7.39772745e-02 4.72073278e+01] [-1.56887690e-01 3.46202462e-02 9.87009469e-01 3.06847435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.95071405699997 meters Centerline goodness : 0.993037 Centerline is valid? [True, True] Translation: X:85.94, Y:47.22, Z:30.69 [[ 7.50382143e-01 -6.50702256e-01 1.16246348e-01 8.59394078e+01] [ 6.46281726e-01 7.59144665e-01 7.75842028e-02 4.72239103e+01] [-1.38732011e-01 1.69100900e-02 9.90185578e-01 3.06850610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.98071405699997 meters Centerline goodness : 0.992925 Centerline is valid? [True, True] Translation: X:85.97, Y:47.24, Z:30.68 [[ 7.50669472e-01 -6.50881212e-01 1.13353393e-01 8.59654228e+01] [ 6.45996364e-01 7.59073025e-01 8.06029777e-02 4.72429000e+01] [-1.38506467e-01 1.27196849e-02 9.90279843e-01 3.06794121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.01071405699997 meters Centerline goodness : 0.993291 Centerline is valid? [True, True] Translation: X:85.99, Y:47.27, Z:30.68 [[ 7.51771337e-01 -6.49593639e-01 1.13437031e-01 8.59894914e+01] [ 6.44694158e-01 7.60178333e-01 8.06123055e-02 4.72658139e+01] [-1.38597614e-01 1.25301705e-02 9.90269507e-01 3.06753708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.04071405699997 meters Centerline goodness : 0.986117 Centerline is valid? [True, True] Translation: X:86.01, Y:47.27, Z:30.65 [[ 7.49606172e-01 -6.52087836e-01 1.13455021e-01 8.60083364e+01] [ 6.42272336e-01 7.58046711e-01 1.13364152e-01 4.72705963e+01] [-1.59927590e-01 -1.21094468e-02 9.87054470e-01 3.06542034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.07071405699998 meters Centerline goodness : 0.993274 Centerline is valid? [True, True] Translation: X:86.03, Y:47.31, Z:30.67 [[ 7.52801391e-01 -6.47886338e-01 1.16332967e-01 8.60297973e+01] [ 6.43058007e-01 7.61600991e-01 8.02516642e-02 4.73068407e+01] [-1.40593259e-01 1.43952813e-02 9.89962783e-01 3.06693820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.10071405699998 meters Centerline goodness : 0.992616 Centerline is valid? [True, True] Translation: X:86.06, Y:47.31, Z:30.66 [[ 7.54470594e-01 -6.46994749e-01 1.10326411e-01 8.60557957e+01] [ 6.37781160e-01 7.62396208e-01 1.09486140e-01 4.73140943e+01] [-1.54949395e-01 -1.22399666e-02 9.87846581e-01 3.06560128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.13071405699998 meters Centerline goodness : 0.985663 Centerline is valid? [True, True] Translation: X:86.06, Y:47.35, Z:30.66 [[ 7.54487926e-01 -6.42235811e-01 1.35207735e-01 8.60618454e+01] [ 6.37532235e-01 7.66107282e-01 8.14388163e-02 4.73501723e+01] [-1.55886555e-01 2.47546859e-02 9.87464727e-01 3.06598814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.16071405699998 meters Centerline goodness : 0.985881 Centerline is valid? [True, True] Translation: X:86.09, Y:47.36, Z:30.65 [[ 7.55919746e-01 -6.42758844e-01 1.24283567e-01 8.60864680e+01] [ 6.35331693e-01 7.66050882e-01 9.75688733e-02 4.73600434e+01] [-1.57920792e-01 5.20705102e-03 9.87438054e-01 3.06491362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.19071405699998 meters Centerline goodness : 0.984760 Centerline is valid? [True, True] Translation: X:86.11, Y:47.38, Z:30.65 [[ 7.57122226e-01 -6.40435841e-01 1.28871522e-01 8.61064292e+01] [ 6.33980393e-01 7.67911707e-01 9.15449179e-02 4.73842894e+01] [-1.57590596e-01 1.23913259e-02 9.87426787e-01 3.06475775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.22071405699998 meters Centerline goodness : 0.992647 Centerline is valid? [True, True] Translation: X:86.13, Y:47.40, Z:30.65 [[ 7.60130138e-01 -6.37933882e-01 1.23460665e-01 8.61310169e+01] [ 6.31336852e-01 7.70048376e-01 9.18655403e-02 4.73989961e+01] [-1.53674825e-01 8.11550189e-03 9.88088147e-01 3.06475536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.25071405699998 meters Centerline goodness : 0.984542 Centerline is valid? [True, True] Translation: X:86.14, Y:47.43, Z:30.65 [[ 7.60014395e-01 -6.35595596e-01 1.35633175e-01 8.61427826e+01] [ 6.32132209e-01 7.71425472e-01 7.28808032e-02 4.74276280e+01] [-1.50953604e-01 3.03476391e-02 9.88074911e-01 3.06467914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.28071405699998 meters Centerline goodness : 0.985016 Centerline is valid? [True, True] Translation: X:86.17, Y:47.44, Z:30.63 [[ 7.60384996e-01 -6.38440676e-01 1.19197986e-01 8.61686038e+01] [ 6.31174970e-01 7.69667935e-01 9.60699119e-02 4.74367452e+01] [-1.53077807e-01 2.18466570e-03 9.88211724e-01 3.06302841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.31071405699998 meters Centerline goodness : 0.984517 Centerline is valid? [True, True] Translation: X:86.19, Y:47.46, Z:30.63 [[ 7.60563886e-01 -6.37380923e-01 1.23645194e-01 8.61883778e+01] [ 6.31141320e-01 7.70484614e-01 8.95214699e-02 4.74575820e+01] [-1.52325997e-01 9.95079410e-03 9.88280209e-01 3.06289460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.34071405699999 meters Centerline goodness : 0.985350 Centerline is valid? [True, True] Translation: X:86.21, Y:47.47, Z:30.62 [[ 7.61419000e-01 -6.36494050e-01 1.22948894e-01 8.62103426e+01] [ 6.30040846e-01 7.71236581e-01 9.07891387e-02 4.74746837e+01] [-1.52609432e-01 8.33425030e-03 9.88251436e-01 3.06240521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.370714057 meters Centerline goodness : 0.992784 Centerline is valid? [True, True] Translation: X:86.24, Y:47.50, Z:30.63 [[ 7.66061698e-01 -6.30211430e-01 1.26424001e-01 8.62401157e+01] [ 6.25373983e-01 7.76219069e-01 7.99458486e-02 4.75023501e+01] [-1.48515508e-01 1.78188283e-02 9.88749530e-01 3.06259250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.400714057 meters Centerline goodness : 0.984752 Centerline is valid? [True, True] Translation: X:86.25, Y:47.51, Z:30.61 [[ 7.64464202e-01 -6.33805165e-01 1.17836734e-01 8.62518820e+01] [ 6.26647905e-01 7.73491763e-01 9.49889218e-02 4.75096907e+01] [-1.51350213e-01 1.22651215e-03 9.88479443e-01 3.06138666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.430714057 meters Centerline goodness : 0.985457 Centerline is valid? [True, True] Translation: X:86.27, Y:47.53, Z:30.61 [[ 7.67417507e-01 -6.30620725e-01 1.15705966e-01 8.62733749e+01] [ 6.22756596e-01 7.76079795e-01 9.93698850e-02 4.75279357e+01] [-1.52461771e-01 -4.20153608e-03 9.88300438e-01 3.06078632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.460714057 meters Centerline goodness : 0.991592 Centerline is valid? [True, True] Translation: X:86.30, Y:47.57, Z:30.62 [[ 7.71468077e-01 -6.21599254e-01 1.35835832e-01 8.63009878e+01] [ 6.18765465e-01 7.82679263e-01 6.73978480e-02 4.75656263e+01] [-1.48210341e-01 3.20552338e-02 9.88436218e-01 3.06211609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.490714057 meters Centerline goodness : 0.991960 Centerline is valid? [True, True] Translation: X:86.32, Y:47.57, Z:30.61 [[ 7.71193895e-01 -6.27642776e-01 1.06416733e-01 8.63237354e+01] [ 6.19125369e-01 7.78369149e-01 1.04044439e-01 4.75692875e+01] [-1.48134242e-01 -1.43531371e-02 9.88863102e-01 3.06061534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.520714057 meters Centerline goodness : 0.990438 Centerline is valid? [True, True] Translation: X:86.35, Y:47.61, Z:30.61 [[ 7.73731603e-01 -6.18198744e-01 1.38454756e-01 8.63463419e+01] [ 6.15766224e-01 7.85243665e-01 6.49949497e-02 4.76078456e+01] [-1.48900516e-01 3.49671154e-02 9.88233746e-01 3.06132974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.550714057 meters Centerline goodness : 0.991530 Centerline is valid? [True, True] Translation: X:86.37, Y:47.62, Z:30.60 [[ 7.73495907e-01 -6.22478470e-01 1.19267078e-01 8.63744612e+01] [ 6.16063116e-01 7.82624317e-01 8.92491782e-02 4.76171026e+01] [-1.48897008e-01 4.44217393e-03 9.88842732e-01 3.05994704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.580714057 meters Centerline goodness : 0.990788 Centerline is valid? [True, True] Translation: X:86.40, Y:47.64, Z:30.60 [[ 7.73259615e-01 -6.20539280e-01 1.30386234e-01 8.63976081e+01] [ 6.16077412e-01 7.83902081e-01 7.71112838e-02 4.76424271e+01] [-1.50060620e-01 2.07009717e-02 9.88460055e-01 3.05971092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.610714057 meters Centerline goodness : 0.990849 Centerline is valid? [True, True] Translation: X:86.42, Y:47.66, Z:30.59 [[ 7.71179765e-01 -6.25318518e-01 1.19409055e-01 8.64240497e+01] [ 6.19094296e-01 7.80347302e-01 8.82062479e-02 4.76567987e+01] [-1.48337534e-01 5.90259108e-03 9.88919175e-01 3.05876991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.640714057 meters Centerline goodness : 0.990309 Centerline is valid? [True, True] Translation: X:86.45, Y:47.68, Z:30.59 [[ 7.69759434e-01 -6.27237529e-01 1.18505258e-01 8.64480812e+01] [ 6.21025312e-01 7.78807381e-01 8.82418590e-02 4.76759723e+01] [-1.47641375e-01 5.66976155e-03 9.89024711e-01 3.05850329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.67071405699997 meters Centerline goodness : 0.990500 Centerline is valid? [True, True] Translation: X:86.47, Y:47.70, Z:30.58 [[ 7.67640203e-01 -6.29467594e-01 1.20412071e-01 8.64713264e+01] [ 6.24062893e-01 7.76943675e-01 8.30905048e-02 4.76971559e+01] [-1.45856177e-01 1.13610935e-02 9.89240568e-01 3.05814064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.70071405699997 meters Centerline goodness : 0.990771 Centerline is valid? [True, True] Translation: X:86.50, Y:47.72, Z:30.58 [[ 7.65811092e-01 -6.32379536e-01 1.16745421e-01 8.64988670e+01] [ 6.26593453e-01 7.74622056e-01 8.56814763e-02 4.77163990e+01] [-1.44616790e-01 7.53609152e-03 9.89459040e-01 3.05765804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.73071405699997 meters Centerline goodness : 0.990327 Centerline is valid? [True, True] Translation: X:86.52, Y:47.74, Z:30.57 [[ 7.64495885e-01 -6.34023839e-01 1.16446617e-01 8.65208387e+01] [ 6.28309449e-01 7.73272632e-01 8.53034159e-02 4.77357019e+01] [-1.44129381e-01 7.95039910e-03 9.89526914e-01 3.05731827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.76071405699997 meters Centerline goodness : 0.991408 Centerline is valid? [True, True] Translation: X:86.55, Y:47.76, Z:30.57 [[ 7.63267913e-01 -6.35192167e-01 1.18122835e-01 8.65468283e+01] [ 6.29900412e-01 7.72270645e-01 8.26046189e-02 4.77582454e+01] [-1.43692605e-01 1.13561676e-02 9.89557210e-01 3.05695075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.79071405699997 meters Centerline goodness : 0.990606 Centerline is valid? [True, True] Translation: X:86.57, Y:47.78, Z:30.57 [[ 7.62766239e-01 -6.36331549e-01 1.15194728e-01 8.65718457e+01] [ 6.30824331e-01 7.71367629e-01 8.39800242e-02 4.77776269e+01] [-1.42296623e-01 8.61050987e-03 9.89786608e-01 3.05654319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.82071405699998 meters Centerline goodness : 0.989826 Centerline is valid? [True, True] Translation: X:86.59, Y:47.79, Z:30.56 [[ 7.62635509e-01 -6.37549917e-01 1.09165853e-01 8.65908260e+01] [ 6.31396536e-01 7.70407536e-01 8.83778409e-02 4.77920115e+01] [-1.40447481e-01 1.52686163e-03 9.90086953e-01 3.05608828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.85071405699998 meters Centerline goodness : 0.990831 Centerline is valid? [True, True] Translation: X:86.62, Y:47.82, Z:30.56 [[ 7.61946835e-01 -6.38037622e-01 1.11108114e-01 8.66168035e+01] [ 6.32778083e-01 7.69966334e-01 8.21202936e-02 4.78177846e+01] [-1.37945344e-01 7.73548151e-03 9.90409635e-01 3.05610489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.88071405699998 meters Centerline goodness : 0.990644 Centerline is valid? [True, True] Translation: X:86.64, Y:47.84, Z:30.56 [[ 7.61479484e-01 -6.38730824e-01 1.10326473e-01 8.66434067e+01] [ 6.33391043e-01 7.69399327e-01 8.27070911e-02 4.78381806e+01] [-1.37712683e-01 6.90004688e-03 9.90448185e-01 3.05568259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.91071405699998 meters Centerline goodness : 0.991071 Centerline is valid? [True, True] Translation: X:86.67, Y:47.86, Z:30.55 [[ 7.62002381e-01 -6.37112405e-01 1.15931677e-01 8.66662800e+01] [ 6.32388720e-01 7.70653971e-01 7.85936559e-02 4.78591553e+01] [-1.39416201e-01 1.34253322e-02 9.90142860e-01 3.05536530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.94071405699998 meters Centerline goodness : 0.990591 Centerline is valid? [True, True] Translation: X:86.69, Y:47.88, Z:30.55 [[ 7.62212005e-01 -6.36732706e-01 1.16637561e-01 8.66896251e+01] [ 6.31828213e-01 7.70978544e-01 7.99074068e-02 4.78785447e+01] [-1.40804716e-01 1.27885171e-02 9.89954790e-01 3.05479889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.97071405699998 meters Centerline goodness : 0.990954 Centerline is valid? [True, True] Translation: X:86.72, Y:47.90, Z:30.54 [[ 7.60797038e-01 -6.38671908e-01 1.15265175e-01 8.67176859e+01] [ 6.33255133e-01 7.69421312e-01 8.35390946e-02 4.78988557e+01] [-1.42041556e-01 9.43596829e-03 9.89815720e-01 3.05426808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.00071405699998 meters Centerline goodness : 0.991285 Centerline is valid? [True, True] Translation: X:86.74, Y:47.92, Z:30.54 [[ 7.60123371e-01 -6.39374681e-01 1.15812255e-01 8.67412097e+01] [ 6.34071364e-01 7.68824138e-01 8.28429221e-02 4.79193565e+01] [-1.42006924e-01 1.04623933e-02 9.89810372e-01 3.05386028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.03071405699998 meters Centerline goodness : 0.990250 Centerline is valid? [True, True] Translation: X:86.76, Y:47.94, Z:30.54 [[ 7.61307444e-01 -6.37190796e-01 1.19995267e-01 8.67630250e+01] [ 6.32835805e-01 7.70502097e-01 7.64549719e-02 4.79395328e+01] [-1.41173009e-01 1.77315623e-02 9.89826133e-01 3.05357477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.06071405699998 meters Centerline goodness : 0.991250 Centerline is valid? [True, True] Translation: X:86.79, Y:47.96, Z:30.53 [[ 7.60214512e-01 -6.39359975e-01 1.15294053e-01 8.67906933e+01] [ 6.34095679e-01 7.68837668e-01 8.25306624e-02 4.79587077e+01] [-1.41409213e-01 1.03664538e-02 9.89896950e-01 3.05275800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.09071405699999 meters Centerline goodness : 0.990482 Centerline is valid? [True, True] Translation: X:86.82, Y:47.98, Z:30.52 [[ 7.59900104e-01 -6.39713678e-01 1.15404685e-01 8.68158841e+01] [ 6.34400281e-01 7.68545496e-01 8.29102165e-02 4.79787456e+01] [-1.41732551e-01 1.02092825e-02 9.89852340e-01 3.05234843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.120714057 meters Centerline goodness : 0.991145 Centerline is valid? [True, True] Translation: X:86.84, Y:48.00, Z:30.52 [[ 7.58197362e-01 -6.41025994e-01 1.19257852e-01 8.68426629e+01] [ 6.35913273e-01 7.67396874e-01 8.19533229e-02 4.80022953e+01] [-1.44052313e-01 1.37008580e-02 9.89475223e-01 3.05197934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.150714057 meters Centerline goodness : 0.991773 Centerline is valid? [True, True] Translation: X:86.87, Y:48.02, Z:30.51 [[ 7.57387990e-01 -6.42362932e-01 1.17189149e-01 8.68699433e+01] [ 6.36893955e-01 7.66324995e-01 8.43332174e-02 4.80219306e+01] [-1.43977507e-01 1.07640948e-02 9.89522416e-01 3.05144619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.180714057 meters Centerline goodness : 0.991027 Centerline is valid? [True, True] Translation: X:86.89, Y:48.04, Z:30.51 [[ 7.58029485e-01 -6.42279859e-01 1.13436688e-01 8.68913738e+01] [ 6.37030831e-01 7.66408694e-01 8.25192914e-02 4.80409501e+01] [-1.39939343e-01 9.71061197e-03 9.90112460e-01 3.05118303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.210714057 meters Centerline goodness : 0.990947 Centerline is valid? [True, True] Translation: X:86.91, Y:48.06, Z:30.51 [[ 7.58445267e-01 -6.41391942e-01 1.15659642e-01 8.69141387e+01] [ 6.36273983e-01 7.67125244e-01 8.16962566e-02 4.80600377e+01] [-1.41124752e-01 1.16290818e-02 9.89923517e-01 3.05085664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.240714057 meters Centerline goodness : 0.991914 Centerline is valid? [True, True] Translation: X:86.94, Y:48.08, Z:30.50 [[ 7.57999895e-01 -6.42977227e-01 1.09619548e-01 8.69401996e+01] [ 6.37417393e-01 7.65863565e-01 8.45698980e-02 4.80789742e+01] [-1.38330136e-01 5.76943264e-03 9.90369369e-01 3.05028834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.270714057 meters Centerline goodness : 0.991272 Centerline is valid? [True, True] Translation: X:86.97, Y:48.10, Z:30.50 [[ 7.57456121e-01 -6.43702439e-01 1.09121012e-01 8.69655339e+01] [ 6.38192763e-01 7.65253670e-01 8.42426111e-02 4.80990222e+01] [-1.37732429e-01 5.83015865e-03 9.90452314e-01 3.05000152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.300714057 meters Centerline goodness : 0.991272 Centerline is valid? [True, True] Translation: X:86.99, Y:48.12, Z:30.50 [[ 7.57392895e-01 -6.43136810e-01 1.12831937e-01 8.69909746e+01] [ 6.38314250e-01 7.65660164e-01 7.94948536e-02 4.81207458e+01] [-1.37516986e-01 1.18133957e-02 9.90428959e-01 3.04976002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.330714057 meters Centerline goodness : 0.991676 Centerline is valid? [True, True] Translation: X:87.02, Y:48.14, Z:30.49 [[ 7.56383798e-01 -6.44278116e-01 1.13089612e-01 8.70168889e+01] [ 6.39213164e-01 7.64715560e-01 8.13427466e-02 4.81409419e+01] [-1.38888737e-01 1.07620331e-02 9.90249513e-01 3.04920912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.360714057 meters Centerline goodness : 0.992661 Centerline is valid? [True, True] Translation: X:87.04, Y:48.16, Z:30.49 [[ 7.56400060e-01 -6.44061963e-01 1.14206559e-01 8.70428422e+01] [ 6.39164338e-01 7.64874223e-01 8.02270023e-02 4.81611857e+01] [-1.39024814e-01 1.23130503e-02 9.90212346e-01 3.04877044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.390714057 meters Centerline goodness : 0.994233 Centerline is valid? [True, True] Translation: X:87.07, Y:48.20, Z:30.49 [[ 7.58358612e-01 -6.37182456e-01 1.37443566e-01 8.70684418e+01] [ 6.37511116e-01 7.68980014e-01 4.74269494e-02 4.81991562e+01] [-1.35910976e-01 5.16551658e-02 9.89373514e-01 3.04911784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.42071405699997 meters Centerline goodness : 0.991784 Centerline is valid? [True, True] Translation: X:87.10, Y:48.19, Z:30.47 [[ 7.59905972e-01 -6.41018284e-01 1.07881758e-01 8.70956814e+01] [ 6.33703422e-01 7.67508553e-01 9.66984667e-02 4.81920767e+01] [-1.44785657e-01 -5.11670338e-03 9.89449813e-01 3.04665073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.45071405699997 meters Centerline goodness : 0.992815 Centerline is valid? [True, True] Translation: X:87.12, Y:48.21, Z:30.47 [[ 7.57450359e-01 -6.45395450e-01 9.86593494e-02 8.71195860e+01] [ 6.37459258e-01 7.63714757e-01 1.01909099e-01 4.82097839e+01] [-1.41119270e-01 -1.42997680e-02 9.89889321e-01 3.04675082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.48071405699997 meters Centerline goodness : 0.992763 Centerline is valid? [True, True] Translation: X:87.14, Y:48.24, Z:30.48 [[ 7.57029016e-01 -6.43178473e-01 1.15015306e-01 8.71401201e+01] [ 6.39583600e-01 7.65455685e-01 7.07842724e-02 4.82435543e+01] [-1.33566040e-01 1.99761551e-02 9.90838567e-01 3.04778974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.51071405699997 meters Centerline goodness : 0.992279 Centerline is valid? [True, True] Translation: X:87.17, Y:48.25, Z:30.46 [[ 7.56373030e-01 -6.45806064e-01 1.04088264e-01 8.71689082e+01] [ 6.38747342e-01 7.63480475e-01 9.53907615e-02 4.82512302e+01] [-1.41073289e-01 -5.66489742e-03 9.89982947e-01 3.04637332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.54071405699997 meters Centerline goodness : 0.992704 Centerline is valid? [True, True] Translation: X:87.19, Y:48.28, Z:30.47 [[ 7.56209300e-01 -6.44344489e-01 1.13875694e-01 8.71902316e+01] [ 6.39724208e-01 7.64612825e-01 7.82314895e-02 4.82773942e+01] [-1.37478846e-01 1.36896585e-02 9.90410097e-01 3.04671122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.57071405699998 meters Centerline goodness : 0.992608 Centerline is valid? [True, True] Translation: X:87.22, Y:48.29, Z:30.46 [[ 7.55251237e-01 -6.45912354e-01 1.11322953e-01 8.72150353e+01] [ 6.40893176e-01 7.63343885e-01 8.10064901e-02 4.82937846e+01] [-1.37300788e-01 1.01658693e-02 9.90477233e-01 3.04618987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.60071405699998 meters Centerline goodness : 0.992821 Centerline is valid? [True, True] Translation: X:87.24, Y:48.32, Z:30.46 [[ 7.53574982e-01 -6.46991245e-01 1.16305958e-01 8.72399056e+01] [ 6.44227799e-01 7.62058368e-01 6.50967530e-02 4.83195617e+01] [-1.30748958e-01 2.58722467e-02 9.91077866e-01 3.04623152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.63071405699998 meters Centerline goodness : 0.991650 Centerline is valid? [True, True] Translation: X:87.27, Y:48.33, Z:30.45 [[ 7.53007691e-01 -6.49139643e-01 1.07690028e-01 8.72655023e+01] [ 6.43717462e-01 7.60644739e-01 8.39488532e-02 4.83273675e+01] [-1.36408382e-01 6.10781938e-03 9.90633862e-01 3.04509706e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.66071405699998 meters Centerline goodness : 0.993790 Centerline is valid? [True, True] Translation: X:87.29, Y:48.35, Z:30.45 [[ 7.50865526e-01 -6.50938474e-01 1.11714211e-01 8.72930851e+01] [ 6.47063920e-01 7.58929925e-01 7.30318639e-02 4.83525366e+01] [-1.32322508e-01 1.74491263e-02 9.91053118e-01 3.04492827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.69071405699998 meters Centerline goodness : 0.993084 Centerline is valid? [True, True] Translation: X:87.32, Y:48.37, Z:30.44 [[ 7.51443952e-01 -6.49872069e-01 1.14010008e-01 8.73170230e+01] [ 6.45078101e-01 7.59924089e-01 7.99351147e-02 4.83659474e+01] [-1.38586550e-01 1.34786010e-02 9.90258600e-01 3.04404258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.72071405699998 meters Centerline goodness : 0.993488 Centerline is valid? [True, True] Translation: X:87.35, Y:48.39, Z:30.44 [[ 7.50201633e-01 -6.49870117e-01 1.21927610e-01 8.73451771e+01] [ 6.47092604e-01 7.59494951e-01 6.66226786e-02 4.83927940e+01] [-1.35899492e-01 2.89180125e-02 9.90300498e-01 3.04380639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.75071405699998 meters Centerline goodness : 0.993160 Centerline is valid? [True, True] Translation: X:87.37, Y:48.40, Z:30.42 [[ 7.51776617e-01 -6.49752217e-01 1.12489882e-01 8.73695807e+01] [ 6.43783747e-01 7.60120796e-01 8.80844090e-02 4.83990953e+01] [-1.42738939e-01 6.19935887e-03 9.89740958e-01 3.04249147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.78071405699998 meters Centerline goodness : 0.993686 Centerline is valid? [True, True] Translation: X:87.39, Y:48.44, Z:30.43 [[ 7.51660050e-01 -6.44458217e-01 1.40288190e-01 8.73946240e+01] [ 6.44422988e-01 7.62908479e-01 5.18619764e-02 4.84383351e+01] [-1.40449927e-01 5.14223588e-02 9.88751515e-01 3.04298812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.81071405699998 meters Centerline goodness : 0.993903 Centerline is valid? [True, True] Translation: X:87.43, Y:48.43, Z:30.41 [[ 7.50896280e-01 -6.52314802e-01 1.03151227e-01 8.74258806e+01] [ 6.45022564e-01 7.57918777e-01 9.74936863e-02 4.84339259e+01] [-1.41776827e-01 -6.67277733e-03 9.89876157e-01 3.04072184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.84071405699999 meters Centerline goodness : 0.993342 Centerline is valid? [True, True] Translation: X:87.45, Y:48.46, Z:30.41 [[ 7.51146496e-01 -6.49984592e-01 1.15321163e-01 8.74465204e+01] [ 6.45053504e-01 7.59827276e-01 8.10462062e-02 4.84604744e+01] [-1.40302950e-01 1.35107464e-02 9.90016435e-01 3.04116096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.870714057 meters Centerline goodness : 0.992923 Centerline is valid? [True, True] Translation: X:87.47, Y:48.48, Z:30.41 [[ 7.52447644e-01 -6.46912061e-01 1.23803586e-01 8.74716499e+01] [ 6.43092838e-01 7.62191897e-01 7.41290326e-02 4.84836602e+01] [-1.42317055e-01 2.38389833e-02 9.89534011e-01 3.04084564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.900714057 meters Centerline goodness : 0.993748 Centerline is valid? [True, True] Translation: X:87.50, Y:48.50, Z:30.40 [[ 7.52343649e-01 -6.48655797e-01 1.14998656e-01 8.74996724e+01] [ 6.43246670e-01 7.61008372e-01 8.42613779e-02 4.84984945e+01] [-1.42171571e-01 1.05789898e-02 9.89785497e-01 3.03998780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.930714057 meters Centerline goodness : 0.993007 Centerline is valid? [True, True] Translation: X:87.52, Y:48.51, Z:30.40 [[ 7.53250526e-01 -6.48281750e-01 1.11105432e-01 8.75227893e+01] [ 6.42370802e-01 7.61381021e-01 8.75139606e-02 4.85146595e+01] [-1.41327271e-01 5.45094884e-03 9.89947923e-01 3.03953373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.960714057 meters Centerline goodness : 0.993266 Centerline is valid? [True, True] Translation: X:87.55, Y:48.54, Z:30.39 [[ 7.52233878e-01 -6.49395461e-01 1.11488694e-01 8.75480968e+01] [ 6.44129541e-01 7.60393594e-01 8.30585203e-02 4.85350423e+01] [-1.38713115e-01 9.33372865e-03 9.90288621e-01 3.03945335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.990714057 meters Centerline goodness : 0.994326 Centerline is valid? [True, True] Translation: X:87.57, Y:48.56, Z:30.39 [[ 7.52427531e-01 -6.48106665e-01 1.17518348e-01 8.75722639e+01] [ 6.43989931e-01 7.61313100e-01 7.53613482e-02 4.85557716e+01] [-1.38310450e-01 1.89766797e-02 9.90207102e-01 3.03910901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.020714057 meters Centerline goodness : 0.993946 Centerline is valid? [True, True] Translation: X:87.60, Y:48.57, Z:30.38 [[ 7.52088353e-01 -6.49090137e-01 1.14215165e-01 8.75978746e+01] [ 6.44428358e-01 7.60578423e-01 7.89465228e-02 4.85718382e+01] [-1.38113000e-01 1.42287312e-02 9.90314265e-01 3.03841220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.050714057 meters Centerline goodness : 0.993057 Centerline is valid? [True, True] Translation: X:87.62, Y:48.59, Z:30.38 [[ 7.52350239e-01 -6.48466366e-01 1.16019351e-01 8.76234351e+01] [ 6.44067252e-01 7.61061645e-01 7.72175292e-02 4.85910503e+01] [-1.38370848e-01 1.66296378e-02 9.90240861e-01 3.03788544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.080714057 meters Centerline goodness : 0.992927 Centerline is valid? [True, True] Translation: X:87.65, Y:48.61, Z:30.37 [[ 7.51892506e-01 -6.49203786e-01 1.14856887e-01 8.76494816e+01] [ 6.44883574e-01 7.60435589e-01 7.65695195e-02 4.86103184e+01] [-1.37050486e-01 1.64972717e-02 9.90426678e-01 3.03729434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.110714057 meters Centerline goodness : 0.992951 Centerline is valid? [True, True] Translation: X:87.67, Y:48.62, Z:30.36 [[ 7.53262614e-01 -6.48017638e-01 1.12554765e-01 8.76739138e+01] [ 6.41949629e-01 7.61605592e-01 8.86430844e-02 4.86225385e+01] [-1.43164620e-01 5.48296798e-03 9.89683701e-01 3.03637754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.140714057 meters Centerline goodness : 0.992737 Centerline is valid? [True, True] Translation: X:87.70, Y:48.65, Z:30.37 [[ 7.53244876e-01 -6.46617531e-01 1.20448847e-01 8.76986832e+01] [ 6.43350359e-01 7.62402273e-01 6.95923098e-02 4.86510657e+01] [-1.36830082e-01 2.50707581e-02 9.90277227e-01 3.03659392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.17071405699997 meters Centerline goodness : 0.992838 Centerline is valid? [True, True] Translation: X:87.73, Y:48.66, Z:30.35 [[ 7.55582125e-01 -6.44434850e-01 1.17470750e-01 8.77253412e+01] [ 6.38809029e-01 7.64588952e-01 8.55964867e-02 4.86633064e+01] [-1.44978196e-01 1.03662002e-02 9.89380546e-01 3.03535008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.20071405699997 meters Centerline goodness : 0.994086 Centerline is valid? [True, True] Translation: X:87.75, Y:48.69, Z:30.35 [[ 7.55844140e-01 -6.43662894e-01 1.19990476e-01 8.77500191e+01] [ 6.39662599e-01 7.65036203e-01 7.45074958e-02 4.86878138e+01] [-1.39754769e-01 2.04373656e-02 9.89975211e-01 3.03537957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.23071405699997 meters Centerline goodness : 0.994112 Centerline is valid? [True, True] Translation: X:87.78, Y:48.71, Z:30.35 [[ 7.56435831e-01 -6.43123465e-01 1.19151341e-01 8.77772038e+01] [ 6.38649021e-01 7.65566392e-01 7.76886585e-02 4.87065665e+01] [-1.41181661e-01 1.73294021e-02 9.89832021e-01 3.03469377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.26071405699997 meters Centerline goodness : 0.993078 Centerline is valid? [True, True] Translation: X:87.80, Y:48.73, Z:30.34 [[ 7.57377231e-01 -6.41958664e-01 1.19452095e-01 8.78038289e+01] [ 6.37689255e-01 7.66516734e-01 7.61873321e-02 4.87274333e+01] [-1.40471147e-01 1.84707667e-02 9.89912465e-01 3.03422446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.29071405699997 meters Centerline goodness : 0.993644 Centerline is valid? [True, True] Translation: X:87.83, Y:48.75, Z:30.34 [[ 7.58421803e-01 -6.40586392e-01 1.20189198e-01 8.78293462e+01] [ 6.36333514e-01 7.67655928e-01 7.60528452e-02 4.87464453e+01] [-1.40982368e-01 1.88002788e-02 9.89833583e-01 3.03363569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.32071405699998 meters Centerline goodness : 0.993170 Centerline is valid? [True, True] Translation: X:87.85, Y:48.76, Z:30.33 [[ 7.58898777e-01 -6.40890410e-01 1.15464838e-01 8.78549981e+01] [ 6.35743956e-01 7.67549244e-01 8.18399697e-02 4.87617855e+01] [-1.41075401e-01 1.12978198e-02 9.89934387e-01 3.03292025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.35071405699998 meters Centerline goodness : 0.993352 Centerline is valid? [True, True] Translation: X:87.88, Y:48.78, Z:30.33 [[ 7.58991810e-01 -6.41243565e-01 1.12863289e-01 8.78789578e+01] [ 6.35860722e-01 7.67290264e-01 8.33474232e-02 4.87786100e+01] [-1.40044902e-01 8.50532087e-03 9.90108623e-01 3.03254783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.38071405699998 meters Centerline goodness : 0.993180 Centerline is valid? [True, True] Translation: X:87.90, Y:48.80, Z:30.32 [[ 7.58591464e-01 -6.39731245e-01 1.23624126e-01 8.79030563e+01] [ 6.36301290e-01 7.68191673e-01 7.07263924e-02 4.88043106e+01] [-1.40212907e-01 2.50097529e-02 9.89805462e-01 3.03249790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.41071405699998 meters Centerline goodness : 0.993713 Centerline is valid? [True, True] Translation: X:87.93, Y:48.82, Z:30.32 [[ 7.58348573e-01 -6.40736398e-01 1.19851200e-01 8.79310861e+01] [ 6.36214400e-01 7.67568890e-01 7.79053006e-02 4.88199087e+01] [-1.41910814e-01 1.71716855e-02 9.89730496e-01 3.03155762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.44071405699998 meters Centerline goodness : 0.993214 Centerline is valid? [True, True] Translation: X:87.96, Y:48.83, Z:30.31 [[ 7.57851471e-01 -6.42766962e-01 1.11856076e-01 8.79568748e+01] [ 6.37097471e-01 7.66034037e-01 8.54322366e-02 4.88338291e+01] [-1.40598580e-01 6.51827694e-03 9.90045227e-01 3.03093936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.47071405699998 meters Centerline goodness : 0.993343 Centerline is valid? [True, True] Translation: X:87.98, Y:48.86, Z:30.31 [[ 7.57366661e-01 -6.42252535e-01 1.17929735e-01 8.79802344e+01] [ 6.38021314e-01 7.66284586e-01 7.57412469e-02 4.88564725e+01] [-1.39012746e-01 1.78777895e-02 9.90129204e-01 3.03085841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.50071405699998 meters Centerline goodness : 0.992850 Centerline is valid? [True, True] Translation: X:88.01, Y:48.87, Z:30.30 [[ 7.57568919e-01 -6.43133960e-01 1.11660389e-01 8.80070307e+01] [ 6.37868593e-01 7.65704693e-01 8.25831774e-02 4.88696251e+01] [-1.38610930e-01 8.66220661e-03 9.90309031e-01 3.03007802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.53071405699998 meters Centerline goodness : 0.992708 Centerline is valid? [True, True] Translation: X:88.03, Y:48.89, Z:30.30 [[ 7.57198342e-01 -6.42774366e-01 1.16154143e-01 8.80317469e+01] [ 6.38956592e-01 7.65813014e-01 7.25596389e-02 4.88931586e+01] [-1.35591830e-01 1.92754171e-02 9.90577263e-01 3.03004243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.56071405699998 meters Centerline goodness : 0.993857 Centerline is valid? [True, True] Translation: X:88.06, Y:48.92, Z:30.30 [[ 7.58960679e-01 -6.36968386e-01 1.35092420e-01 8.80572533e+01] [ 6.36056776e-01 7.69644151e-01 5.54946724e-02 4.89219573e+01] [-1.39321443e-01 4.38081749e-02 9.89277706e-01 3.02973962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.59071405699999 meters Centerline goodness : 0.994419 Centerline is valid? [True, True] Translation: X:88.08, Y:48.90, Z:30.28 [[ 7.53329475e-01 -6.55786465e-01 4.93843527e-02 8.80815673e+01] [ 6.45371330e-01 7.51623757e-01 1.36226185e-01 4.88971342e+01] [-1.26453741e-01 -7.07519548e-02 9.89446114e-01 3.02772666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.620714057 meters Centerline goodness : 0.993777 Centerline is valid? [True, True] Translation: X:88.10, Y:48.97, Z:30.31 [[ 7.61085513e-01 -6.29215068e-01 1.57598351e-01 8.80951387e+01] [ 6.34032904e-01 7.72932532e-01 2.40328498e-02 4.89705501e+01] [-1.36934724e-01 8.16314864e-02 9.87210809e-01 3.03086403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.650714057 meters Centerline goodness : 0.993193 Centerline is valid? [True, True] Translation: X:88.14, Y:48.96, Z:30.28 [[ 7.62120138e-01 -6.37618545e-01 1.12318681e-01 8.81378450e+01] [ 6.32260750e-01 7.70312089e-01 8.28590928e-02 4.89629691e+01] [-1.39352932e-01 7.86611027e-03 9.90211535e-01 3.02750374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.680714057 meters Centerline goodness : 0.992900 Centerline is valid? [True, True] Translation: X:88.16, Y:48.99, Z:30.27 [[ 7.65230194e-01 -6.32413196e-01 1.20317493e-01 8.81629672e+01] [ 6.28239749e-01 7.74414181e-01 7.48164032e-02 4.89862224e+01] [-1.40490454e-01 1.83364610e-02 9.89912222e-01 3.02737503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.710714057 meters Centerline goodness : 0.992399 Centerline is valid? [True, True] Translation: X:88.19, Y:48.99, Z:30.26 [[ 7.68546464e-01 -6.32590182e-01 9.57392011e-02 8.81910226e+01] [ 6.23680855e-01 7.74127207e-01 1.08394001e-01 4.89868010e+01] [-1.42683301e-01 -2.35951195e-02 9.89487113e-01 3.02614548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.740714057 meters Centerline goodness : 0.994287 Centerline is valid? [True, True] Translation: X:88.20, Y:49.01, Z:30.28 [[ 7.63726090e-01 -6.41216559e-01 7.45907771e-02 8.81992308e+01] [ 6.34025556e-01 7.66805789e-01 1.00102327e-01 4.90082962e+01] [-1.21383909e-01 -2.91582998e-02 9.92177273e-01 3.02753470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.770714057 meters Centerline goodness : 0.992213 Centerline is valid? [True, True] Translation: X:88.23, Y:49.06, Z:30.28 [[ 7.70917789e-01 -6.20711643e-01 1.42838435e-01 8.82252231e+01] [ 6.22771197e-01 7.81605922e-01 3.53301355e-02 4.90573805e+01] [-1.33573194e-01 6.17190335e-02 9.89115242e-01 3.02849258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.800714057 meters Centerline goodness : 0.991162 Centerline is valid? [True, True] Translation: X:88.27, Y:49.07, Z:30.26 [[ 7.74926582e-01 -6.19530872e-01 1.25181032e-01 8.82652982e+01] [ 6.17064120e-01 7.84439024e-01 6.23481360e-02 4.90652097e+01] [-1.36823482e-01 2.89294955e-02 9.90172924e-01 3.02599703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.830714057 meters Centerline goodness : 0.990398 Centerline is valid? [True, True] Translation: X:88.29, Y:49.06, Z:30.24 [[ 7.76531808e-01 -6.23324280e-01 9.20064866e-02 8.82946185e+01] [ 6.14388090e-01 7.81462710e-01 1.08826962e-01 4.90581635e+01] [-1.39734126e-01 -2.79799081e-02 9.89793665e-01 3.02422046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.860714057 meters Centerline goodness : 0.989990 Centerline is valid? [True, True] Translation: X:88.31, Y:49.09, Z:30.25 [[ 7.77231688e-01 -6.18588955e-01 1.15146027e-01 8.83142457e+01] [ 6.13859898e-01 7.85641087e-01 7.70980471e-02 4.90906778e+01] [-1.38155450e-01 1.07604829e-02 9.90352101e-01 3.02527439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.890714057 meters Centerline goodness : 0.993205 Centerline is valid? [True, True] Translation: X:88.33, Y:49.10, Z:30.26 [[ 7.68948261e-01 -6.35502932e-01 6.96749242e-02 8.83270055e+01] [ 6.28599989e-01 7.71427833e-01 9.87985467e-02 4.90952331e+01] [-1.16535942e-01 -3.21733141e-02 9.92665227e-01 3.02554888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.92071405699997 meters Centerline goodness : 0.990743 Centerline is valid? [True, True] Translation: X:88.36, Y:49.15, Z:30.26 [[ 7.74545340e-01 -6.12278968e-01 1.58726119e-01 8.83624126e+01] [ 6.17809522e-01 7.86128679e-01 1.76944413e-02 4.91530085e+01] [-1.35613089e-01 8.43573610e-02 9.87164083e-01 3.02635703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.95071405699997 meters Centerline goodness : 0.993093 Centerline is valid? [True, True] Translation: X:88.39, Y:49.11, Z:30.23 [[ 7.65250764e-01 -6.42048781e-01 4.65256026e-02 8.83879444e+01] [ 6.32755432e-01 7.63524708e-01 1.29037140e-01 4.91122089e+01] [-1.18371586e-01 -6.93064423e-02 9.90547720e-01 3.02343878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.98071405699997 meters Centerline goodness : 0.992981 Centerline is valid? [True, True] Translation: X:88.40, Y:49.16, Z:30.26 [[ 7.63414528e-01 -6.39378409e-01 9.16160915e-02 8.84009518e+01] [ 6.35546678e-01 7.68877579e-01 7.00548985e-02 4.91555345e+01] [-1.15233148e-01 4.74537528e-03 9.93327138e-01 3.02577853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.01071405699997 meters Centerline goodness : 0.992764 Centerline is valid? [True, True] Translation: X:88.43, Y:49.17, Z:30.25 [[ 7.62430885e-01 -6.40523047e-01 9.18116148e-02 8.84293401e+01] [ 6.36687957e-01 7.67922923e-01 7.01628857e-02 4.91733505e+01] [-1.15445189e-01 4.96099844e-03 9.93301463e-01 3.02536993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.04071405699997 meters Centerline goodness : 0.993538 Centerline is valid? [True, True] Translation: X:88.46, Y:49.19, Z:30.25 [[ 7.61462081e-01 -6.41621624e-01 9.21802083e-02 8.84573158e+01] [ 6.37768443e-01 7.67003816e-01 7.04028333e-02 4.91912758e+01] [-1.15874552e-01 5.18053997e-03 9.93250346e-01 3.02493688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.07071405699998 meters Centerline goodness : 0.992801 Centerline is valid? [True, True] Translation: X:88.49, Y:49.21, Z:30.25 [[ 7.59963206e-01 -6.43386439e-01 9.22486624e-02 8.84862414e+01] [ 6.39545236e-01 7.65521914e-01 7.04137038e-02 4.92066552e+01] [-1.15921595e-01 5.48536853e-03 9.93243220e-01 3.02453297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.10071405699998 meters Centerline goodness : 0.992987 Centerline is valid? [True, True] Translation: X:88.51, Y:49.22, Z:30.24 [[ 7.58742053e-01 -6.44895729e-01 9.17605333e-02 8.85148632e+01] [ 6.41110535e-01 7.64249204e-01 7.00031185e-02 4.92217919e+01] [-1.15272627e-01 5.71433475e-03 9.93317456e-01 3.02412279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.13071405699998 meters Centerline goodness : 0.991723 Centerline is valid? [True, True] Translation: X:88.55, Y:49.27, Z:30.24 [[ 7.65303890e-01 -6.23274175e-01 1.60745948e-01 8.85515634e+01] [ 6.30494585e-01 7.76155457e-01 7.69968480e-03 4.92732207e+01] [-1.29562859e-01 9.54568508e-02 9.86965782e-01 3.02437402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.16071405699998 meters Centerline goodness : 0.993468 Centerline is valid? [True, True] Translation: X:88.59, Y:49.22, Z:30.20 [[ 7.56207214e-01 -6.53151025e-01 3.92986967e-02 8.85858382e+01] [ 6.43477075e-01 7.53213990e-01 1.36403592e-01 4.92240936e+01] [-1.18692474e-01 -7.78615699e-02 9.89873564e-01 3.02045616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.19071405699998 meters Centerline goodness : 0.992214 Centerline is valid? [True, True] Translation: X:88.61, Y:49.29, Z:30.23 [[ 7.61187797e-01 -6.35265354e-01 1.30503136e-01 8.86064535e+01] [ 6.36569391e-01 7.70335132e-01 3.69214669e-02 4.92887238e+01] [-1.23986079e-01 5.49701316e-02 9.90760181e-01 3.02302238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.22071405699998 meters Centerline goodness : 0.992214 Centerline is valid? [True, True] Translation: X:88.64, Y:49.29, Z:30.21 [[ 7.60741098e-01 -6.40962892e-01 1.02174133e-01 8.86431020e+01] [ 6.36871446e-01 7.67512027e-01 7.29386702e-02 4.92927508e+01] [-1.25170857e-01 9.58434359e-03 9.92088906e-01 3.02102347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.25071405699998 meters Centerline goodness : 0.991720 Centerline is valid? [True, True] Translation: X:88.67, Y:49.31, Z:30.21 [[ 7.59410359e-01 -6.42308803e-01 1.03611332e-01 8.86710576e+01] [ 6.38964386e-01 7.66295729e-01 6.71965032e-02 4.93121644e+01] [-1.22557826e-01 1.51742303e-02 9.92345364e-01 3.02076537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.28071405699998 meters Centerline goodness : 0.993310 Centerline is valid? [True, True] Translation: X:88.68, Y:49.31, Z:30.20 [[ 7.53083425e-01 -6.55143865e-01 6.04307178e-02 8.86844329e+01] [ 6.48157123e-01 7.54535100e-01 1.02806257e-01 4.93085386e+01] [-1.12949986e-01 -3.82530881e-02 9.92864040e-01 3.02020634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.31071405699998 meters Centerline goodness : 0.993173 Centerline is valid? [True, True] Translation: X:88.71, Y:49.36, Z:30.22 [[ 7.60485548e-01 -6.37586373e-01 1.23066438e-01 8.87109693e+01] [ 6.38712976e-01 7.68636454e-01 3.52666490e-02 4.93592544e+01] [-1.17078885e-01 5.17843539e-02 9.91771604e-01 3.02163084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.34071405699999 meters Centerline goodness : 0.993456 Centerline is valid? [True, True] Translation: X:88.73, Y:49.34, Z:30.20 [[ 7.54868646e-01 -6.53096835e-01 6.03146029e-02 8.87346624e+01] [ 6.46396528e-01 7.56384389e-01 1.00270557e-01 4.93437844e+01] [-1.11107408e-01 -3.67039497e-02 9.93130386e-01 3.01958179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.370714057 meters Centerline goodness : 0.992952 Centerline is valid? [True, True] Translation: X:88.76, Y:49.39, Z:30.21 [[ 7.61207792e-01 -6.37735984e-01 1.17709438e-01 8.87624893e+01] [ 6.38007588e-01 7.68973799e-01 4.03188968e-02 4.93923856e+01] [-1.16228285e-01 4.44084561e-02 9.92229245e-01 3.02072859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.400714057 meters Centerline goodness : 0.994712 Centerline is valid? [True, True] Translation: X:88.78, Y:49.38, Z:30.19 [[ 7.58448592e-01 -6.48486060e-01 6.49735564e-02 8.87838307e+01] [ 6.42173004e-01 7.60613111e-01 9.52970535e-02 4.93816242e+01] [-1.11218550e-01 -3.05536522e-02 9.93326184e-01 3.01925844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.430714057 meters Centerline goodness : 0.994257 Centerline is valid? [True, True] Translation: X:88.80, Y:49.41, Z:30.20 [[ 7.62363869e-01 -6.41150243e-01 8.79073223e-02 8.88022892e+01] [ 6.37559468e-01 7.67403420e-01 6.78963614e-02 4.94133721e+01] [-1.10992148e-01 4.28441288e-03 9.93812048e-01 3.02022605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.460714057 meters Centerline goodness : 0.993901 Centerline is valid? [True, True] Translation: X:88.83, Y:49.43, Z:30.20 [[ 7.64370274e-01 -6.38693086e-01 8.83698255e-02 8.88273607e+01] [ 6.35049491e-01 7.69451409e-01 6.82398212e-02 4.94327285e+01] [-1.11580589e-01 3.95872193e-03 9.93747504e-01 3.01991278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.490714057 meters Centerline goodness : 0.994146 Centerline is valid? [True, True] Translation: X:88.85, Y:49.45, Z:30.20 [[ 7.69074135e-01 -6.32853184e-01 8.95646247e-02 8.88535574e+01] [ 6.29071656e-01 7.74265370e-01 6.91519173e-02 4.94521521e+01] [-1.13109798e-01 3.15961588e-03 9.93577471e-01 3.01966516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.520714057 meters Centerline goodness : 0.994281 Centerline is valid? [True, True] Translation: X:88.88, Y:49.47, Z:30.19 [[ 7.71250232e-01 -6.30068252e-01 9.04824673e-02 8.88802023e+01] [ 6.26194324e-01 7.76534667e-01 6.98181883e-02 4.94718561e+01] [-1.14252996e-01 2.81231354e-03 9.93447706e-01 3.01925323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.550714057 meters Centerline goodness : 0.993837 Centerline is valid? [True, True] Translation: X:88.91, Y:49.49, Z:30.19 [[ 7.73010139e-01 -6.27797165e-01 9.12471631e-02 8.89072587e+01] [ 6.23846399e-01 7.78372864e-01 7.03658740e-02 4.94909468e+01] [-1.15199812e-01 2.53068010e-03 9.93339116e-01 3.01882893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.580714057 meters Centerline goodness : 0.993891 Centerline is valid? [True, True] Translation: X:88.94, Y:49.51, Z:30.18 [[ 7.75710147e-01 -6.24459207e-01 9.12385099e-02 8.89362245e+01] [ 6.20490966e-01 7.81054689e-01 7.03173796e-02 4.95072164e+01] [-1.15172601e-01 2.06676628e-03 9.93343345e-01 3.01842295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.610714057 meters Centerline goodness : 0.994291 Centerline is valid? [True, True] Translation: X:88.96, Y:49.52, Z:30.18 [[ 7.76409211e-01 -6.23586596e-01 9.12605840e-02 8.89635444e+01] [ 6.19615251e-01 7.81751799e-01 7.02927149e-02 4.95248154e+01] [-1.15176720e-01 1.97053835e-03 9.93343063e-01 3.01800106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.640714057 meters Centerline goodness : 0.986731 Centerline is valid? [True, True] Translation: X:88.98, Y:49.53, Z:30.17 [[ 7.76270253e-01 -6.22526583e-01 9.93234499e-02 8.89827634e+01] [ 6.17344450e-01 7.82598124e-01 8.01623718e-02 4.95318183e+01] [-1.27633553e-01 -9.10884116e-04 9.91820975e-01 3.01682793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.67071405699997 meters Centerline goodness : 0.993250 Centerline is valid? [True, True] Translation: X:89.01, Y:49.55, Z:30.17 [[ 7.75335718e-01 -6.25070079e-01 9.02325940e-02 8.90143374e+01] [ 6.21122513e-01 7.80566893e-01 7.01580243e-02 4.95507337e+01] [-1.14286257e-01 1.64947344e-03 9.93446491e-01 3.01729553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.70071405699997 meters Centerline goodness : 0.994625 Centerline is valid? [True, True] Translation: X:89.04, Y:49.57, Z:30.17 [[ 7.74898492e-01 -6.25552595e-01 9.06436820e-02 8.90424407e+01] [ 6.21649425e-01 7.80178740e-01 6.98077747e-02 4.95684035e+01] [-1.14386708e-01 2.25465345e-03 9.93433741e-01 3.01688504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.73071405699997 meters Centerline goodness : 0.992859 Centerline is valid? [True, True] Translation: X:89.07, Y:49.58, Z:30.16 [[ 7.74192115e-01 -6.26465077e-01 9.03774128e-02 8.90722874e+01] [ 6.22595815e-01 7.79445750e-01 6.95613036e-02 4.95824679e+01] [-1.14022018e-01 2.41478620e-03 9.93475288e-01 3.01641452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.76071405699997 meters Centerline goodness : 0.992793 Centerline is valid? [True, True] Translation: X:89.10, Y:49.60, Z:30.16 [[ 7.74333683e-01 -6.26345596e-01 8.99918986e-02 8.91003650e+01] [ 6.22512934e-01 7.79541758e-01 6.92263956e-02 4.95992058e+01] [-1.13512091e-01 2.41679101e-03 9.93533676e-01 3.01606072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.79071405699997 meters Centerline goodness : 0.992428 Centerline is valid? [True, True] Translation: X:89.13, Y:49.61, Z:30.16 [[ 7.74196240e-01 -6.26472798e-01 9.02885099e-02 8.91306221e+01] [ 6.22620305e-01 7.79439352e-01 6.94136312e-02 4.96142877e+01] [-1.13860169e-01 2.47568731e-03 9.93493700e-01 3.01562275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.82071405699998 meters Centerline goodness : 0.992247 Centerline is valid? [True, True] Translation: X:89.16, Y:49.63, Z:30.15 [[ 7.74440804e-01 -6.26175333e-01 9.02546050e-02 8.91583572e+01] [ 6.22328422e-01 7.79678386e-01 6.93465960e-02 4.96315296e+01] [-1.13792693e-01 2.46317234e-03 9.93501462e-01 3.01525738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.85071405699998 meters Centerline goodness : 0.992188 Centerline is valid? [True, True] Translation: X:89.19, Y:49.65, Z:30.15 [[ 7.74155779e-01 -6.26404864e-01 9.11031118e-02 8.91888957e+01] [ 6.22491432e-01 7.79493699e-01 6.99570559e-02 4.96464271e+01] [-1.14835742e-01 2.55324747e-03 9.93381213e-01 3.01480648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.88071405699998 meters Centerline goodness : 0.992202 Centerline is valid? [True, True] Translation: X:89.22, Y:49.66, Z:30.14 [[ 7.74090523e-01 -6.26464531e-01 9.12472080e-02 8.92167439e+01] [ 6.22543926e-01 7.79445596e-01 7.00258785e-02 4.96626559e+01] [-1.14990964e-01 2.59902617e-03 9.93363138e-01 3.01441945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.91071405699998 meters Centerline goodness : 0.992387 Centerline is valid? [True, True] Translation: X:89.26, Y:49.66, Z:30.14 [[ 7.72354172e-01 -6.33177195e-01 5.05536666e-02 8.92601087e+01] [ 6.26047861e-01 7.72276550e-01 1.07949085e-01 4.96574692e+01] [-1.07392310e-01 -5.17259112e-02 9.92870244e-01 3.01399829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.94071405699998 meters Centerline goodness : 0.992312 Centerline is valid? [True, True] Translation: X:89.26, Y:49.71, Z:30.15 [[ 7.73121634e-01 -6.21710730e-01 1.25533694e-01 8.92624462e+01] [ 6.23706523e-01 7.81171954e-01 2.75780951e-02 4.97099489e+01] [-1.15208999e-01 5.69749621e-02 9.91705975e-01 3.01515441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.97071405699998 meters Centerline goodness : 0.992766 Centerline is valid? [True, True] Translation: X:89.30, Y:49.71, Z:30.13 [[ 7.72323259e-01 -6.28359310e-01 9.31738263e-02 8.93029129e+01] [ 6.24292953e-01 7.77917469e-01 7.14333212e-02 4.97074004e+01] [-1.17367340e-01 2.99814777e-03 9.93084044e-01 3.01326976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.00071405699998 meters Centerline goodness : 0.992385 Centerline is valid? [True, True] Translation: X:89.33, Y:49.72, Z:30.13 [[ 7.70945027e-01 -6.29972421e-01 9.36937253e-02 8.93334164e+01] [ 6.25875433e-01 7.76610566e-01 7.18050860e-02 4.97217151e+01] [-1.17998761e-01 3.28282692e-03 9.93008316e-01 3.01291249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.03071405699998 meters Centerline goodness : 0.991838 Centerline is valid? [True, True] Translation: X:89.36, Y:49.74, Z:30.12 [[ 7.69450685e-01 -6.31846220e-01 9.33595082e-02 8.93642031e+01] [ 6.27797306e-01 7.75085454e-01 7.15058159e-02 4.97353018e+01] [-1.17542276e-01 3.59064866e-03 9.93061388e-01 3.01244276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.06071405699998 meters Centerline goodness : 0.992196 Centerline is valid? [True, True] Translation: X:89.39, Y:49.75, Z:30.12 [[ 7.68735792e-01 -6.32756044e-01 9.30863614e-02 8.93920507e+01] [ 6.28742585e-01 7.74342114e-01 7.12534413e-02 4.97510216e+01] [-1.17166735e-01 3.75228888e-03 9.93105169e-01 3.01198033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.09071405699999 meters Centerline goodness : 0.991993 Centerline is valid? [True, True] Translation: X:89.43, Y:49.78, Z:30.11 [[ 7.72244880e-01 -6.23501267e-01 1.22000063e-01 8.94347182e+01] [ 6.23341430e-01 7.80698657e-01 4.42161545e-02 4.97787463e+01] [-1.22814114e-01 4.19019951e-02 9.91544712e-01 3.01128387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.120714057 meters Centerline goodness : 0.990386 Centerline is valid? [True, True] Translation: X:89.47, Y:49.75, Z:30.10 [[ 7.68115385e-01 -6.39153935e-01 3.84837934e-02 8.94682150e+01] [ 6.29887922e-01 7.65045777e-01 1.33963296e-01 4.97471417e+01] [-1.15065032e-01 -7.86587920e-02 9.90238776e-01 3.01043176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.150714057 meters Centerline goodness : 0.989514 Centerline is valid? [True, True] Translation: X:89.48, Y:49.81, Z:30.11 [[ 7.70520808e-01 -6.21189477e-01 1.42903180e-01 8.94758238e+01] [ 6.24281705e-01 7.80710810e-01 2.76221679e-02 4.98122399e+01] [-1.28724658e-01 6.79283859e-02 9.89351149e-01 3.01128020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.180714057 meters Centerline goodness : 0.989217 Centerline is valid? [True, True] Translation: X:89.52, Y:49.81, Z:30.09 [[ 7.70169681e-01 -6.29444690e-01 1.03140895e-01 8.95170615e+01] [ 6.24625000e-01 7.77032548e-01 7.78718694e-02 4.98066864e+01] [-1.29159867e-01 4.44982883e-03 9.91613800e-01 3.00942040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.210714057 meters Centerline goodness : 0.988304 Centerline is valid? [True, True] Translation: X:89.54, Y:49.81, Z:30.10 [[ 7.66799632e-01 -6.36325417e-01 8.43106642e-02 8.95437876e+01] [ 6.30067630e-01 7.71249128e-01 9.04962129e-02 4.98118575e+01] [-1.22609567e-01 -1.62710424e-02 9.92321595e-01 3.00955434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.240714057 meters Centerline goodness : 0.988591 Centerline is valid? [True, True] Translation: X:89.57, Y:49.84, Z:30.09 [[ 7.65995007e-01 -6.33683248e-01 1.08153545e-01 8.95652664e+01] [ 6.30729464e-01 7.73355378e-01 6.40453120e-02 4.98415142e+01] [-1.24225567e-01 1.91572385e-02 9.92069054e-01 3.00947671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.270714057 meters Centerline goodness : 0.988932 Centerline is valid? [True, True] Translation: X:89.60, Y:49.85, Z:30.09 [[ 7.63008232e-01 -6.39444921e-01 9.44914378e-02 8.95951324e+01] [ 6.34804465e-01 7.68835807e-01 7.69076930e-02 4.98499931e+01] [-1.21826634e-01 1.30238385e-03 9.92550540e-01 3.00903939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.300714057 meters Centerline goodness : 0.987861 Centerline is valid? [True, True] Translation: X:89.62, Y:49.87, Z:30.09 [[ 7.61720299e-01 -6.39872255e-01 1.01713731e-01 8.96198245e+01] [ 6.36155323e-01 7.68394967e-01 6.98253537e-02 4.98715766e+01] [-1.22835626e-01 1.15183422e-02 9.92360185e-01 3.00868285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.330714057 meters Centerline goodness : 0.987883 Centerline is valid? [True, True] Translation: X:89.65, Y:49.89, Z:30.08 [[ 7.59278939e-01 -6.42864856e-01 1.01095350e-01 8.96482970e+01] [ 6.39186882e-01 7.65889866e-01 6.96623504e-02 4.98896464e+01] [-1.22211381e-01 1.17256661e-02 9.92434828e-01 3.00831351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.360714057 meters Centerline goodness : 0.988671 Centerline is valid? [True, True] Translation: X:89.68, Y:49.90, Z:30.08 [[ 7.56757822e-01 -6.48679210e-01 8.08262441e-02 8.96761281e+01] [ 6.42974778e-01 7.60936336e-01 8.69443950e-02 4.98990489e+01] [-1.17902647e-01 -1.38266146e-02 9.92928895e-01 3.00829508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.390714057 meters Centerline goodness : 0.987155 Centerline is valid? [True, True] Translation: X:89.70, Y:49.92, Z:30.08 [[ 7.54934201e-01 -6.48757669e-01 9.58532127e-02 8.96970570e+01] [ 6.45047128e-01 7.60940942e-01 6.98790716e-02 4.99246470e+01] [-1.18273218e-01 9.07573842e-03 9.92939614e-01 3.00838186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.42071405699997 meters Centerline goodness : 0.988192 Centerline is valid? [True, True] Translation: X:89.72, Y:49.94, Z:30.08 [[ 7.52789857e-01 -6.51315317e-01 9.53718424e-02 8.97236137e+01] [ 6.47575533e-01 7.58755343e-01 7.02585149e-02 4.99429794e+01] [-1.18124342e-01 8.87057431e-03 9.92959190e-01 3.00802309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.45071405699997 meters Centerline goodness : 0.987226 Centerline is valid? [True, True] Translation: X:89.75, Y:49.96, Z:30.08 [[ 7.51615751e-01 -6.52757952e-01 9.47671844e-02 8.97482147e+01] [ 6.49327747e-01 7.57491424e-01 6.76773184e-02 4.99626780e+01] [-1.15962237e-01 1.06676239e-02 9.93196336e-01 3.00779071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.48071405699997 meters Centerline goodness : 0.986873 Centerline is valid? [True, True] Translation: X:89.77, Y:49.98, Z:30.07 [[ 7.50355554e-01 -6.55024400e-01 8.89358089e-02 8.97747519e+01] [ 6.50386267e-01 7.55607529e-01 7.78136601e-02 4.99774520e+01] [-1.18170413e-01 -5.45283332e-04 9.92993180e-01 3.00731389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.51071405699997 meters Centerline goodness : 0.988803 Centerline is valid? [True, True] Translation: X:89.80, Y:50.00, Z:30.07 [[ 7.48669592e-01 -6.55889761e-01 9.64492792e-02 8.97980112e+01] [ 6.52064447e-01 7.54797375e-01 7.13644140e-02 5.00008275e+01] [-1.19606851e-01 9.46277915e-03 9.92776237e-01 3.00698764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.54071405699997 meters Centerline goodness : 0.987692 Centerline is valid? [True, True] Translation: X:89.82, Y:50.03, Z:30.07 [[ 7.48415542e-01 -6.54668925e-01 1.06220407e-01 8.98197623e+01] [ 6.52947682e-01 7.55393555e-01 5.51352961e-02 5.00275233e+01] [-1.16333576e-01 2.80922559e-02 9.92812835e-01 3.00667464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.57071405699998 meters Centerline goodness : 0.986904 Centerline is valid? [True, True] Translation: X:89.85, Y:50.04, Z:30.06 [[ 7.46312293e-01 -6.59238872e-01 9.17718453e-02 8.98484035e+01] [ 6.54416776e-01 7.51933295e-01 7.95927364e-02 5.00356049e+01] [-1.21476932e-01 6.55997461e-04 9.92594038e-01 3.00571006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.60071405699998 meters Centerline goodness : 0.988277 Centerline is valid? [True, True] Translation: X:89.86, Y:50.05, Z:30.06 [[ 7.41108431e-01 -6.66704827e-01 7.91389061e-02 8.98636649e+01] [ 6.61540324e-01 7.45262282e-01 8.33578512e-02 5.00537539e+01] [-1.14554324e-01 -9.42362878e-03 9.93372288e-01 3.00617716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.63071405699998 meters Centerline goodness : 0.988699 Centerline is valid? [True, True] Translation: X:89.88, Y:50.07, Z:30.06 [[ 7.40531075e-01 -6.66453895e-01 8.63303692e-02 8.98832908e+01] [ 6.61916976e-01 7.45546167e-01 7.76326616e-02 5.00742384e+01] [-1.16101866e-01 -3.45861461e-04 9.93237251e-01 3.00589891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.66071405699998 meters Centerline goodness : 0.985231 Centerline is valid? [True, True] Translation: X:89.89, Y:50.11, Z:30.06 [[ 7.37980281e-01 -6.65258387e-01 1.13209472e-01 8.98906709e+01] [ 6.64205102e-01 7.45716686e-01 5.23278826e-02 5.01055193e+01] [-1.19233755e-01 3.65773632e-02 9.92192223e-01 3.00569463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.69071405699998 meters Centerline goodness : 0.988868 Centerline is valid? [True, True] Translation: X:89.93, Y:50.10, Z:30.04 [[ 7.38125300e-01 -6.70429323e-01 7.54689676e-02 8.99299381e+01] [ 6.63204188e-01 7.41563669e-01 1.01210322e-01 5.01017814e+01] [-1.23819412e-01 -2.46545641e-02 9.91998440e-01 3.00432826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.72071405699998 meters Centerline goodness : 0.988716 Centerline is valid? [True, True] Translation: X:89.95, Y:50.13, Z:30.05 [[ 7.37203578e-01 -6.69209093e-01 9.32205695e-02 8.99453525e+01] [ 6.64877938e-01 7.43051663e-01 7.62335505e-02 5.01310681e+01] [-1.20283884e-01 5.78065382e-03 9.92722706e-01 3.00452593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.75071405699998 meters Centerline goodness : 0.988195 Centerline is valid? [True, True] Translation: X:89.96, Y:50.15, Z:30.04 [[ 7.33836045e-01 -6.72262774e-01 9.77109081e-02 8.99625695e+01] [ 6.68722180e-01 7.40184428e-01 7.02684800e-02 5.01523612e+01] [-1.19562976e-01 1.37759080e-02 9.92731041e-01 3.00431630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.78071405699998 meters Centerline goodness : 0.989379 Centerline is valid? [True, True] Translation: X:89.99, Y:50.17, Z:30.04 [[ 7.31478034e-01 -6.75674881e-01 9.16697351e-02 8.99859378e+01] [ 6.70702754e-01 7.37197953e-01 8.18351625e-02 5.01658164e+01] [-1.22872705e-01 1.62251999e-03 9.92421113e-01 3.00357552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.81071405699998 meters Centerline goodness : 0.989360 Centerline is valid? [True, True] Translation: X:90.00, Y:50.19, Z:30.03 [[ 7.27779033e-01 -6.79155462e-01 9.53180844e-02 9.00035469e+01] [ 6.74805774e-01 7.33949143e-01 7.71739809e-02 5.01882194e+01] [-1.22371757e-01 8.15558854e-03 9.92450825e-01 3.00326637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.84071405699999 meters Centerline goodness : 0.986298 Centerline is valid? [True, True] Translation: X:90.02, Y:50.21, Z:30.03 [[ 7.27012523e-01 -6.78416913e-01 1.05845565e-01 9.00234127e+01] [ 6.75396163e-01 7.34339840e-01 6.77127877e-02 5.02119859e+01] [-1.23664116e-01 2.22596442e-02 9.92074440e-01 3.00302491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.870714057 meters Centerline goodness : 0.986668 Centerline is valid? [True, True] Translation: X:90.04, Y:50.23, Z:30.03 [[ 7.25424311e-01 -6.80977218e-01 1.00147875e-01 9.00438467e+01] [ 6.77025785e-01 7.32175753e-01 7.45302215e-02 5.02296362e+01] [-1.24079229e-01 1.37366589e-02 9.92177227e-01 3.00255495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.900714057 meters Centerline goodness : 0.990494 Centerline is valid? [True, True] Translation: X:90.06, Y:50.25, Z:30.02 [[ 7.25072824e-01 -6.81795221e-01 9.70807701e-02 9.00647791e+01] [ 6.77400054e-01 7.31483766e-01 7.78502857e-02 5.02461150e+01] [-1.24090960e-01 9.31539241e-03 9.92227120e-01 3.00222500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.930714057 meters Centerline goodness : 0.990331 Centerline is valid? [True, True] Translation: X:90.08, Y:50.27, Z:30.02 [[ 7.24279575e-01 -6.82731982e-01 9.64164806e-02 9.00828090e+01] [ 6.78542827e-01 7.30597297e-01 7.62051260e-02 5.02673457e+01] [-1.22469297e-01 1.02288951e-02 9.92419589e-01 3.00195230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.960714057 meters Centerline goodness : 0.992414 Centerline is valid? [True, True] Translation: X:90.10, Y:50.30, Z:30.02 [[ 7.23543017e-01 -6.80330961e-01 1.16770229e-01 9.00985582e+01] [ 6.80561602e-01 7.31361199e-01 4.41214545e-02 5.03028281e+01] [-1.15418406e-01 4.75455641e-02 9.92178417e-01 3.00192227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.990714057 meters Centerline goodness : 0.991171 Centerline is valid? [True, True] Translation: X:90.13, Y:50.30, Z:30.00 [[ 7.24465214e-01 -6.85367101e-01 7.36348521e-02 9.01313855e+01] [ 6.77835458e-01 7.27738910e-01 1.04571364e-01 5.02956077e+01] [-1.25256720e-01 -2.58460022e-02 9.91787648e-01 3.00022973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.020714057 meters Centerline goodness : 0.992592 Centerline is valid? [True, True] Translation: X:90.14, Y:50.34, Z:30.01 [[ 7.25601163e-01 -6.78170521e-01 1.16566277e-01 9.01385238e+01] [ 6.78539012e-01 7.33325435e-01 4.26452314e-02 5.03442742e+01] [-1.14401755e-01 4.81513372e-02 9.92266944e-01 3.00130974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.050714057 meters Centerline goodness : 0.992813 Centerline is valid? [True, True] Translation: X:90.17, Y:50.35, Z:30.00 [[ 7.26481072e-01 -6.80664742e-01 9.44497813e-02 9.01710190e+01] [ 6.76949665e-01 7.32502350e-01 7.19684529e-02 5.03540003e+01] [-1.18171075e-01 1.16540290e-02 9.92924862e-01 2.99992141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.080714057 meters Centerline goodness : 0.992792 Centerline is valid? [True, True] Translation: X:90.19, Y:50.38, Z:30.00 [[ 7.29984345e-01 -6.76786494e-01 9.53042443e-02 9.01921384e+01] [ 6.72976559e-01 7.36094770e-01 7.25743813e-02 5.03782097e+01] [-1.19270317e-01 1.11593602e-02 9.92799104e-01 2.99954450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.110714057 meters Centerline goodness : 0.992792 Centerline is valid? [True, True] Translation: X:90.21, Y:50.40, Z:29.99 [[ 7.29879835e-01 -6.76895971e-01 9.53271744e-02 9.02145018e+01] [ 6.73090833e-01 7.35993249e-01 7.25442512e-02 5.03953944e+01] [-1.19265068e-01 1.12152611e-02 9.92799104e-01 2.99917219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.140714057 meters Centerline goodness : 0.992919 Centerline is valid? [True, True] Translation: X:90.24, Y:50.42, Z:29.99 [[ 7.31670348e-01 -6.74861868e-01 9.60206317e-02 9.02387282e+01] [ 6.70980151e-01 7.37862958e-01 7.31019296e-02 5.04173522e+01] [-1.20183772e-01 1.09414237e-02 9.92691365e-01 2.99877941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.17071405699997 meters Centerline goodness : 0.985357 Centerline is valid? [True, True] Translation: X:90.24, Y:50.44, Z:29.99 [[ 7.36233299e-01 -6.66762109e-01 1.15710066e-01 9.02439773e+01] [ 6.64723212e-01 7.44586465e-01 6.11068500e-02 5.04407698e+01] [-1.26899881e-01 3.19262693e-02 9.91401600e-01 2.99863520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.20071405699997 meters Centerline goodness : 0.985858 Centerline is valid? [True, True] Translation: X:90.28, Y:50.44, Z:29.97 [[ 7.40287367e-01 -6.66752964e-01 8.61109711e-02 9.02788014e+01] [ 6.58587026e-01 7.44953834e-01 1.06333978e-01 5.04433416e+01] [-1.35047193e-01 -2.20061320e-02 9.90594764e-01 2.99656078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.23071405699997 meters Centerline goodness : 0.991379 Centerline is valid? [True, True] Translation: X:90.30, Y:50.46, Z:29.97 [[ 7.44181162e-01 -6.62360156e-01 8.64489554e-02 9.03042617e+01] [ 6.54572301e-01 7.48911226e-01 1.03281546e-01 5.04624025e+01] [-1.33152174e-01 -2.02730889e-02 9.90888238e-01 2.99657347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.26071405699997 meters Centerline goodness : 0.992436 Centerline is valid? [True, True] Translation: X:90.31, Y:50.51, Z:29.98 [[ 7.45390901e-01 -6.54885408e-01 1.24569286e-01 9.03103237e+01] [ 6.54849936e-01 7.54294733e-01 4.70214635e-02 5.05120518e+01] [-1.24755626e-01 4.65248177e-02 9.91096098e-01 2.99762393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.29071405699997 meters Centerline goodness : 0.992316 Centerline is valid? [True, True] Translation: X:90.34, Y:50.52, Z:29.96 [[ 7.45724065e-01 -6.58426451e-01 1.01834311e-01 9.03431694e+01] [ 6.54016868e-01 7.52585922e-01 7.66574689e-02 5.05211033e+01] [-1.27112374e-01 9.43603793e-03 9.91843438e-01 2.99606244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.32071405699998 meters Centerline goodness : 0.992416 Centerline is valid? [True, True] Translation: X:90.37, Y:50.54, Z:29.96 [[ 7.46074888e-01 -6.58074563e-01 1.01538816e-01 9.03656936e+01] [ 6.53693306e-01 7.52894295e-01 7.63887567e-02 5.05442238e+01] [-1.26717493e-01 9.38351096e-03 9.91894464e-01 2.99562677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.35071405699998 meters Centerline goodness : 0.991454 Centerline is valid? [True, True] Translation: X:90.40, Y:50.56, Z:29.95 [[ 7.50877631e-01 -6.53392554e-01 9.62338491e-02 9.04033356e+01] [ 6.47183805e-01 7.57000635e-01 9.00175586e-02 5.05576554e+01] [-1.31665887e-01 -5.31118246e-03 9.91279923e-01 2.99474693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.38071405699998 meters Centerline goodness : 0.991852 Centerline is valid? [True, True] Translation: X:90.42, Y:50.60, Z:29.95 [[ 7.52318657e-01 -6.44113213e-01 1.38328624e-01 9.04212414e+01] [ 6.44292110e-01 7.63171765e-01 4.95634365e-02 5.06009809e+01] [-1.37492965e-01 5.18365434e-02 9.89145418e-01 2.99466948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.41071405699998 meters Centerline goodness : 0.985817 Centerline is valid? [True, True] Translation: X:90.44, Y:50.59, Z:29.93 [[ 7.49624116e-01 -6.54792140e-01 9.64932020e-02 9.04428264e+01] [ 6.47902129e-01 7.55757692e-01 9.51480049e-02 5.05906981e+01] [-1.35227645e-01 -8.80708809e-03 9.90775413e-01 2.99252009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.44071405699998 meters Centerline goodness : 0.991470 Centerline is valid? [True, True] Translation: X:90.47, Y:50.64, Z:29.94 [[ 7.49416650e-01 -6.50725639e-01 1.22191763e-01 9.04658140e+01] [ 6.49024940e-01 7.58493714e-01 5.87700013e-02 5.06364591e+01] [-1.30924831e-01 3.52622840e-02 9.90764987e-01 2.99359321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.47071405699998 meters Centerline goodness : 0.992971 Centerline is valid? [True, True] Translation: X:90.50, Y:50.66, Z:29.93 [[ 7.46762427e-01 -6.55149447e-01 1.14564740e-01 9.04972157e+01] [ 6.52398333e-01 7.55053747e-01 6.53471770e-02 5.06571189e+01] [-1.29314703e-01 2.59430286e-02 9.91264176e-01 2.99279594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.50071405699998 meters Centerline goodness : 0.992690 Centerline is valid? [True, True] Translation: X:90.52, Y:50.68, Z:29.92 [[ 7.45292961e-01 -6.57903802e-01 1.08171109e-01 9.05218469e+01] [ 6.53829962e-01 7.52950694e-01 7.46433680e-02 5.06754465e+01] [-1.30555667e-01 1.50943356e-02 9.91326071e-01 2.99212493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.53071405699998 meters Centerline goodness : 0.993049 Centerline is valid? [True, True] Translation: X:90.53, Y:50.68, Z:29.92 [[ 7.38953812e-01 -6.69668181e-01 7.41066285e-02 9.05321690e+01] [ 6.62126634e-01 7.42140616e-01 1.03998203e-01 5.06772989e+01] [-1.24641827e-01 -2.77818962e-02 9.91812775e-01 2.99177514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.56071405699998 meters Centerline goodness : 0.993042 Centerline is valid? [True, True] Translation: X:90.55, Y:50.71, Z:29.93 [[ 7.39055356e-01 -6.66601683e-01 9.71564564e-02 9.05475130e+01] [ 6.62545873e-01 7.45351749e-01 7.40522523e-02 5.07142006e+01] [-1.21779091e-01 9.64189558e-03 9.92510396e-01 2.99255491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.59071405699999 meters Centerline goodness : 0.993225 Centerline is valid? [True, True] Translation: X:90.58, Y:50.74, Z:29.92 [[ 7.42185647e-01 -6.63021580e-01 9.77898296e-02 9.05841288e+01] [ 6.58902253e-01 7.48543279e-01 7.43692135e-02 5.07356655e+01] [-1.22508313e-01 9.23817626e-03 9.92424490e-01 2.99198345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.620714057 meters Centerline goodness : 0.993204 Centerline is valid? [True, True] Translation: X:90.61, Y:50.76, Z:29.92 [[ 7.41228701e-01 -6.63877826e-01 9.92282487e-02 9.06068827e+01] [ 6.60056500e-01 7.47744348e-01 7.21374187e-02 5.07601329e+01] [-1.22087795e-01 1.20259254e-02 9.92446446e-01 2.99166252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.650714057 meters Centerline goodness : 0.993536 Centerline is valid? [True, True] Translation: X:90.63, Y:50.78, Z:29.91 [[ 7.40544942e-01 -6.64387041e-01 1.00911098e-01 9.06309600e+01] [ 6.60912368e-01 7.47234205e-01 6.95405230e-02 5.07823305e+01] [-1.21606046e-01 1.51955103e-02 9.92462123e-01 2.99128150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.680714057 meters Centerline goodness : 0.992204 Centerline is valid? [True, True] Translation: X:90.65, Y:50.79, Z:29.90 [[ 7.40016190e-01 -6.66609621e-01 8.94854852e-02 9.06522368e+01] [ 6.60691774e-01 7.45377371e-01 8.88760638e-02 5.07934163e+01] [-1.25946095e-01 -6.64740216e-03 9.92014815e-01 2.99049281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.710714057 meters Centerline goodness : 0.991734 Centerline is valid? [True, True] Translation: X:90.67, Y:50.83, Z:29.91 [[ 7.40756433e-01 -6.58405029e-01 1.33351883e-01 9.06696060e+01] [ 6.58839524e-01 7.50802215e-01 4.71859704e-02 5.08348373e+01] [-1.31188370e-01 5.29041802e-02 9.89944826e-01 2.99076227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.740714057 meters Centerline goodness : 0.992629 Centerline is valid? [True, True] Translation: X:90.70, Y:50.83, Z:29.89 [[ 7.38034657e-01 -6.69600699e-01 8.33051487e-02 9.07028286e+01] [ 6.62342121e-01 7.42486060e-01 1.00086787e-01 5.08335907e+01] [-1.28871094e-01 -1.86910088e-02 9.91485193e-01 2.98889656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.770714057 meters Centerline goodness : 0.992181 Centerline is valid? [True, True] Translation: X:90.72, Y:50.87, Z:29.90 [[ 7.38497704e-01 -6.65555324e-01 1.07968755e-01 9.07177915e+01] [ 6.61751815e-01 7.46145146e-01 7.31570704e-02 5.08699261e+01] [-1.29250440e-01 1.74221912e-02 9.91458920e-01 2.98953930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.800714057 meters Centerline goodness : 0.992047 Centerline is valid? [True, True] Translation: X:90.74, Y:50.89, Z:29.89 [[ 7.38506635e-01 -6.65892017e-01 1.05810073e-01 9.07426047e+01] [ 6.61587255e-01 7.45929286e-01 7.67580876e-02 5.08902509e+01] [-1.30039430e-01 1.33162385e-02 9.91419399e-01 2.98904254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.830714057 meters Centerline goodness : 0.991855 Centerline is valid? [True, True] Translation: X:90.76, Y:50.92, Z:29.89 [[ 7.40678326e-01 -6.59280988e-01 1.29399371e-01 9.07624673e+01] [ 6.57927987e-01 7.50758192e-01 5.91007669e-02 5.09230748e+01] [-1.36111650e-01 4.13608107e-02 9.89829734e-01 2.98873128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.860714057 meters Centerline goodness : 0.993569 Centerline is valid? [True, True] Translation: X:90.79, Y:50.92, Z:29.87 [[ 7.39299883e-01 -6.67334478e-01 9.00020992e-02 9.07936472e+01] [ 6.59914399e-01 7.44611415e-01 1.00333575e-01 5.09242037e+01] [-1.33972644e-01 -1.47829192e-02 9.90874763e-01 2.98720594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.890714057 meters Centerline goodness : 0.993758 Centerline is valid? [True, True] Translation: X:90.81, Y:50.96, Z:29.88 [[ 7.38775487e-01 -6.64576092e-01 1.12024096e-01 9.08125926e+01] [ 6.62071756e-01 7.46728639e-01 6.36971617e-02 5.09633397e+01] [-1.25983211e-01 2.71100882e-02 9.91661875e-01 2.98808389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.92071405699997 meters Centerline goodness : 0.992945 Centerline is valid? [True, True] Translation: X:90.84, Y:50.97, Z:29.87 [[ 7.37550252e-01 -6.68991405e-01 9.20332855e-02 9.08355401e+01] [ 6.62479229e-01 7.43227529e-01 9.34564675e-02 5.09695055e+01] [-1.30923245e-01 -7.95870108e-03 9.91360562e-01 2.98689566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.95071405699997 meters Centerline goodness : 0.993694 Centerline is valid? [True, True] Translation: X:90.86, Y:51.00, Z:29.87 [[ 7.35516882e-01 -6.68853075e-01 1.07937392e-01 9.08553061e+01] [ 6.64980735e-01 7.43191186e-01 7.39424308e-02 5.09998157e+01] [-1.29674741e-01 1.73903803e-02 9.91404073e-01 2.98704766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.98071405699997 meters Centerline goodness : 0.994288 Centerline is valid? [True, True] Translation: X:90.88, Y:51.02, Z:29.86 [[ 7.34339247e-01 -6.70986471e-01 1.02581806e-01 9.08802163e+01] [ 6.66731934e-01 7.41368104e-01 7.64320864e-02 5.10179314e+01] [-1.27335775e-01 1.22674852e-02 9.91783802e-01 2.98644981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.01071405699997 meters Centerline goodness : 0.994376 Centerline is valid? [True, True] Translation: X:90.90, Y:51.04, Z:29.86 [[ 7.30586070e-01 -6.74899473e-01 1.03704848e-01 9.09044595e+01] [ 6.72071430e-01 7.37585797e-01 6.54765922e-02 5.10447883e+01] [-1.20681341e-01 2.18607795e-02 9.92450563e-01 2.98621806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.04071405699997 meters Centerline goodness : 0.994577 Centerline is valid? [True, True] Translation: X:90.93, Y:51.06, Z:29.86 [[ 7.29001206e-01 -6.77978674e-01 9.43512557e-02 9.09304942e+01] [ 6.73849107e-01 7.35029621e-01 7.52252439e-02 5.10607071e+01] [-1.20352079e-01 8.73921582e-03 9.92692804e-01 2.98552156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.07071405699998 meters Centerline goodness : 0.993466 Centerline is valid? [True, True] Translation: X:90.95, Y:51.08, Z:29.85 [[ 7.29608072e-01 -6.76567058e-01 9.96447574e-02 9.09510693e+01] [ 6.72524600e-01 7.36276938e-01 7.48794570e-02 5.10805640e+01] [-1.24027111e-01 1.23808943e-02 9.92201587e-01 2.98517898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.10071405699998 meters Centerline goodness : 0.993970 Centerline is valid? [True, True] Translation: X:90.97, Y:51.10, Z:29.85 [[ 7.29261741e-01 -6.77553784e-01 9.53843941e-02 9.09748528e+01] [ 6.72541299e-01 7.35461888e-01 8.23651147e-02 5.10990031e+01] [-1.25958382e-01 4.08421742e-03 9.92027119e-01 2.98467308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.13071405699998 meters Centerline goodness : 0.994547 Centerline is valid? [True, True] Translation: X:91.00, Y:51.14, Z:29.85 [[ 7.32626618e-01 -6.68343703e-01 1.28743673e-01 9.09965050e+01] [ 6.68244144e-01 7.42231086e-01 5.04259808e-02 5.11357978e+01] [-1.29259443e-01 4.90887899e-02 9.90395016e-01 2.98475201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.16071405699998 meters Centerline goodness : 0.994980 Centerline is valid? [True, True] Translation: X:91.03, Y:51.13, Z:29.83 [[ 7.29589863e-01 -6.78948049e-01 8.20254711e-02 9.10305072e+01] [ 6.71820361e-01 7.33974651e-01 9.96925967e-02 5.11341647e+01] [-1.27890711e-01 -1.76283264e-02 9.91631589e-01 2.98288280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.19071405699998 meters Centerline goodness : 0.995356 Centerline is valid? [True, True] Translation: X:91.04, Y:51.17, Z:29.84 [[ 7.31400110e-01 -6.73428905e-01 1.07458775e-01 9.10417018e+01] [ 6.71533388e-01 7.38666319e-01 5.84378156e-02 5.11724175e+01] [-1.18729892e-01 2.94207305e-02 9.92490621e-01 2.98439512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.22071405699998 meters Centerline goodness : 0.995337 Centerline is valid? [True, True] Translation: X:91.07, Y:51.18, Z:29.83 [[ 7.28700727e-01 -6.79692942e-01 8.37421931e-02 9.10749479e+01] [ 6.73061855e-01 7.33375576e-01 9.56452016e-02 5.11783785e+01] [-1.26423848e-01 -1.33330521e-02 9.91886708e-01 2.98265034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.25071405699998 meters Centerline goodness : 0.995684 Centerline is valid? [True, True] Translation: X:91.09, Y:51.21, Z:29.84 [[ 7.28317434e-01 -6.77421857e-01 1.03215033e-01 9.10939967e+01] [ 6.74846152e-01 7.35222071e-01 6.34915572e-02 5.12137092e+01] [-1.18896539e-01 2.34122602e-02 9.92630585e-01 2.98361527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.28071405699998 meters Centerline goodness : 0.995596 Centerline is valid? [True, True] Translation: X:91.12, Y:51.23, Z:29.83 [[ 7.27346562e-01 -6.78794988e-01 1.01016546e-01 9.11216744e+01] [ 6.75634556e-01 7.34088476e-01 6.80592118e-02 5.12317642e+01] [-1.20353334e-01 1.87476352e-02 9.92554080e-01 2.98280817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.31071405699998 meters Centerline goodness : 0.995799 Centerline is valid? [True, True] Translation: X:91.15, Y:51.25, Z:29.82 [[ 7.25438839e-01 -6.82424447e-01 8.96401916e-02 9.11477443e+01] [ 6.77857517e-01 7.30947621e-01 7.88971565e-02 5.12454128e+01] [-1.19363633e-01 3.52821605e-03 9.92844336e-01 2.98213222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.34071405699999 meters Centerline goodness : 0.996147 Centerline is valid? [True, True] Translation: X:91.17, Y:51.27, Z:29.82 [[ 7.24030499e-01 -6.83254863e-01 9.45654736e-02 9.11718403e+01] [ 6.79719134e-01 7.30061995e-01 7.06497170e-02 5.12686241e+01] [-1.17310421e-01 1.31254120e-02 9.93008554e-01 2.98198889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.370714057 meters Centerline goodness : 0.995897 Centerline is valid? [True, True] Translation: X:91.20, Y:51.29, Z:29.82 [[ 7.24250199e-01 -6.82399600e-01 9.89567362e-02 9.11976209e+01] [ 6.79594808e-01 7.30701152e-01 6.50132548e-02 5.12913403e+01] [-1.16672820e-01 2.01646215e-02 9.92965680e-01 2.98152704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.400714057 meters Centerline goodness : 0.995340 Centerline is valid? [True, True] Translation: X:91.22, Y:51.31, Z:29.81 [[ 7.24179309e-01 -6.83058140e-01 9.48467478e-02 9.12246332e+01] [ 6.79603793e-01 7.30233976e-01 6.99787472e-02 5.13094076e+01] [-1.17059871e-01 1.37810487e-02 9.93029239e-01 2.98084202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.430714057 meters Centerline goodness : 0.994817 Centerline is valid? [True, True] Translation: X:91.25, Y:51.33, Z:29.80 [[ 7.26010210e-01 -6.80597282e-01 9.84708821e-02 9.12500942e+01] [ 6.76206436e-01 7.32588458e-01 7.78396290e-02 5.13253366e+01] [-1.25116072e-01 1.00742788e-02 9.92090962e-01 2.98000652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.460714057 meters Centerline goodness : 0.996107 Centerline is valid? [True, True] Translation: X:91.27, Y:51.35, Z:29.80 [[ 7.24928562e-01 -6.82977054e-01 8.95596130e-02 9.12740183e+01] [ 6.79102849e-01 7.30397618e-01 7.30659915e-02 5.13470025e+01] [-1.15316524e-01 7.85256429e-03 9.93297758e-01 2.98018000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.490714057 meters Centerline goodness : 0.995764 Centerline is valid? [True, True] Translation: X:91.30, Y:51.36, Z:29.80 [[ 7.26810894e-01 -6.80720926e-01 9.14600744e-02 9.12987690e+01] [ 6.75638619e-01 7.32541430e-01 8.30392072e-02 5.13633394e+01] [-1.23524820e-01 1.44015787e-03 9.92340438e-01 2.97956841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.520714057 meters Centerline goodness : 0.996376 Centerline is valid? [True, True] Translation: X:91.32, Y:51.39, Z:29.80 [[ 7.27183108e-01 -6.78968083e-01 1.01030049e-01 9.13202859e+01] [ 6.76647439e-01 7.33775450e-01 6.10068231e-02 5.13931269e+01] [-1.15555055e-01 2.39985925e-02 9.93011126e-01 2.98008668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.550714057 meters Centerline goodness : 0.995895 Centerline is valid? [True, True] Translation: X:91.35, Y:51.41, Z:29.79 [[ 7.28412291e-01 -6.78575853e-01 9.46062684e-02 9.13482316e+01] [ 6.74919851e-01 7.34434169e-01 7.13417596e-02 5.14089966e+01] [-1.17892871e-01 1.18854340e-02 9.92955189e-01 2.97919975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.580714057 meters Centerline goodness : 0.996803 Centerline is valid? [True, True] Translation: X:91.37, Y:51.43, Z:29.79 [[ 7.29224921e-01 -6.77232088e-01 9.79168692e-02 9.13734457e+01] [ 6.73885439e-01 7.35603213e-01 6.90386055e-02 5.14300283e+01] [-1.18783123e-01 1.56400807e-02 9.92797038e-01 2.97881764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.610714057 meters Centerline goodness : 0.995434 Centerline is valid? [True, True] Translation: X:91.40, Y:51.44, Z:29.78 [[ 7.29504756e-01 -6.78333397e-01 8.76733352e-02 9.14003619e+01] [ 6.72264928e-01 7.34717789e-01 9.08275180e-02 5.14392204e+01] [-1.26026498e-01 -7.31939797e-03 9.91999873e-01 2.97780697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.640714057 meters Centerline goodness : 0.995557 Centerline is valid? [True, True] Translation: X:91.42, Y:51.47, Z:29.79 [[ 7.30174774e-01 -6.75154296e-01 1.04935579e-01 9.14199548e+01] [ 6.73230181e-01 7.37139181e-01 5.81975171e-02 5.14724388e+01] [-1.16644430e-01 2.81514400e-02 9.92774684e-01 2.97861114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.67071405699997 meters Centerline goodness : 0.995972 Centerline is valid? [True, True] Translation: X:91.45, Y:51.48, Z:29.77 [[ 7.30092671e-01 -6.76677788e-01 9.52463279e-02 9.14484449e+01] [ 6.73132339e-01 7.36168782e-01 7.03447176e-02 5.14842696e+01] [-1.17718081e-01 1.27552207e-02 9.92965134e-01 2.97749470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.70071405699997 meters Centerline goodness : 0.995742 Centerline is valid? [True, True] Translation: X:91.47, Y:51.50, Z:29.77 [[ 7.29741643e-01 -6.77233868e-01 9.39756486e-02 9.14749485e+01] [ 6.73526946e-01 7.35685086e-01 7.16163840e-02 5.15023706e+01] [-1.17637524e-01 1.10336739e-02 9.92995303e-01 2.97699476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.73071405699997 meters Centerline goodness : 0.996359 Centerline is valid? [True, True] Translation: X:91.50, Y:51.52, Z:29.77 [[ 7.29658756e-01 -6.77029987e-01 9.60650662e-02 9.15007546e+01] [ 6.73594403e-01 7.35822815e-01 6.95367924e-02 5.15224316e+01] [-1.17765361e-01 1.39707615e-02 9.92943169e-01 2.97659252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.76071405699997 meters Centerline goodness : 0.995743 Centerline is valid? [True, True] Translation: X:91.53, Y:51.54, Z:29.76 [[ 7.29296547e-01 -6.77659579e-01 9.43612245e-02 9.15283264e+01] [ 6.74036797e-01 7.35280386e-01 7.09728851e-02 5.15406569e+01] [-1.17477413e-01 1.18426575e-02 9.93004939e-01 2.97608400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.79071405699997 meters Centerline goodness : 0.996149 Centerline is valid? [True, True] Translation: X:91.55, Y:51.56, Z:29.76 [[ 7.29092133e-01 -6.78119214e-01 9.26228530e-02 9.15544809e+01] [ 6.74211153e-01 7.34896375e-01 7.32573513e-02 5.15589172e+01] [-1.17745416e-01 9.03600200e-03 9.93002703e-01 2.97563979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.82071405699998 meters Centerline goodness : 0.995231 Centerline is valid? [True, True] Translation: X:91.58, Y:51.57, Z:29.75 [[ 7.30358057e-01 -6.77146178e-01 8.97226977e-02 9.15801920e+01] [ 6.71534185e-01 7.35840969e-01 8.70626602e-02 5.15699276e+01] [-1.24975784e-01 -3.33505660e-03 9.92154187e-01 2.97477302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.85071405699998 meters Centerline goodness : 0.992485 Centerline is valid? [True, True] Translation: X:91.60, Y:51.60, Z:29.75 [[ 7.29255702e-01 -6.76631902e-01 1.01761440e-01 9.15966249e+01] [ 6.73178084e-01 7.36121413e-01 7.04026452e-02 5.15957817e+01] [-1.22545451e-01 1.71620411e-02 9.92314505e-01 2.97504962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.88071405699998 meters Centerline goodness : 0.995075 Centerline is valid? [True, True] Translation: X:91.63, Y:51.61, Z:29.74 [[ 7.32396759e-01 -6.74605419e-01 9.22090830e-02 9.16273427e+01] [ 6.69700393e-01 7.38175070e-01 8.12339170e-02 5.16070588e+01] [-1.22867287e-01 2.25700161e-03 9.92420544e-01 2.97434512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.91071405699998 meters Centerline goodness : 0.996253 Centerline is valid? [True, True] Translation: X:91.65, Y:51.63, Z:29.75 [[ 7.31865216e-01 -6.74631715e-01 9.61527691e-02 9.16527136e+01] [ 6.71461906e-01 7.37993005e-01 6.71210330e-02 5.16334075e+01] [-1.16242049e-01 1.54393723e-02 9.93100907e-01 2.97452135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.94071405699998 meters Centerline goodness : 0.995012 Centerline is valid? [True, True] Translation: X:91.68, Y:51.64, Z:29.73 [[ 7.34170215e-01 -6.73100724e-01 8.90478006e-02 9.16778914e+01] [ 6.67511116e-01 7.39538965e-01 8.66661911e-02 5.16435630e+01] [-1.24189394e-01 -4.18733936e-03 9.92249697e-01 2.97345208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.97071405699998 meters Centerline goodness : 0.995432 Centerline is valid? [True, True] Translation: X:91.70, Y:51.67, Z:29.74 [[ 7.36106732e-01 -6.68409120e-01 1.06658925e-01 9.16996972e+01] [ 6.65228445e-01 7.43506927e-01 6.83269013e-02 5.16719075e+01] [-1.24971974e-01 2.06566591e-02 9.91945214e-01 2.97358338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.00071405699998 meters Centerline goodness : 0.991170 Centerline is valid? [True, True] Translation: X:91.72, Y:51.68, Z:29.72 [[ 7.36340931e-01 -6.69002756e-01 1.01179765e-01 9.17188191e+01] [ 6.64570015e-01 7.43190790e-01 7.75509159e-02 5.16828590e+01] [-1.27077646e-01 1.01371244e-02 9.91840970e-01 2.97248347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.03071405699998 meters Centerline goodness : 0.991170 Centerline is valid? [True, True] Translation: X:91.74, Y:51.70, Z:29.72 [[ 7.36329526e-01 -6.69272766e-01 9.94625293e-02 9.17418209e+01] [ 6.64446992e-01 7.42985658e-01 8.05140136e-02 5.16986767e+01] [-1.27785069e-01 6.80273299e-03 9.91778553e-01 2.97194834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.06071405699998 meters Centerline goodness : 0.995644 Centerline is valid? [True, True] Translation: X:91.76, Y:51.76, Z:29.75 [[ 7.38525069e-01 -6.59422795e-01 1.40507293e-01 9.17645737e+01] [ 6.65043698e-01 7.46749553e-01 9.05458110e-03 5.17568570e+01] [-1.10894556e-01 8.67564546e-02 9.90038239e-01 2.97505102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.09071405699999 meters Centerline goodness : 0.996206 Centerline is valid? [True, True] Translation: X:91.81, Y:51.76, Z:29.72 [[ 7.39191667e-01 -6.66564961e-01 9.63682124e-02 9.18084060e+01] [ 6.63908031e-01 7.45228391e-01 6.21351063e-02 5.17557304e+01] [-1.13233413e-01 1.80498774e-02 9.93404447e-01 2.97189076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.120714057 meters Centerline goodness : 0.995122 Centerline is valid? [True, True] Translation: X:91.83, Y:51.77, Z:29.71 [[ 7.40204116e-01 -6.66643241e-01 8.76621716e-02 9.18329554e+01] [ 6.62488174e-01 7.45370819e-01 7.43758088e-02 5.17681162e+01] [-1.14922955e-01 3.02187221e-03 9.93369812e-01 2.97115818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.150714057 meters Centerline goodness : 0.995442 Centerline is valid? [True, True] Translation: X:91.86, Y:51.79, Z:29.71 [[ 7.40493681e-01 -6.65982481e-01 9.02022387e-02 9.18557319e+01] [ 6.62791769e-01 7.45887763e-01 6.60190500e-02 5.17931670e+01] [-1.11248277e-01 1.08986120e-02 9.93732882e-01 2.97121159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.180714057 meters Centerline goodness : 0.995231 Centerline is valid? [True, True] Translation: X:91.88, Y:51.80, Z:29.70 [[ 7.40585202e-01 -6.68285893e-01 7.01963238e-02 9.18797206e+01] [ 6.61937506e-01 7.43522295e-01 9.49385841e-02 5.17971235e+01] [-1.15638648e-01 -2.38445310e-02 9.93005106e-01 2.97031714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.210714057 meters Centerline goodness : 0.996086 Centerline is valid? [True, True] Translation: X:91.90, Y:51.83, Z:29.72 [[ 7.40589530e-01 -6.65895096e-01 9.00603640e-02 9.18958215e+01] [ 6.63274320e-01 7.45900731e-01 6.08216661e-02 5.18332546e+01] [-1.07676941e-01 1.46908376e-02 9.94077389e-01 2.97157323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.240714057 meters Centerline goodness : 0.996268 Centerline is valid? [True, True] Translation: X:91.92, Y:51.85, Z:29.71 [[ 7.40628158e-01 -6.66150383e-01 8.78270991e-02 9.19222283e+01] [ 6.63197895e-01 7.45734520e-01 6.36284400e-02 5.18533427e+01] [-1.07881809e-01 1.11217329e-02 9.94101515e-01 2.97116605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.270714057 meters Centerline goodness : 0.994036 Centerline is valid? [True, True] Translation: X:91.94, Y:51.85, Z:29.70 [[ 7.42314456e-01 -6.66423878e-01 6.96309058e-02 9.19449067e+01] [ 6.59785609e-01 7.45104954e-01 9.74759323e-02 5.18533321e+01] [-1.16842622e-01 -2.64163240e-02 9.92799063e-01 2.96982795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.300714057 meters Centerline goodness : 0.994037 Centerline is valid? [True, True] Translation: X:91.96, Y:51.89, Z:29.71 [[ 7.42099531e-01 -6.64264203e-01 8.96735992e-02 9.19625051e+01] [ 6.60500690e-01 7.47468722e-01 7.09178968e-02 5.18863902e+01] [-1.14136431e-01 6.60133623e-03 9.93443153e-01 2.97091148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.330714057 meters Centerline goodness : 0.993882 Centerline is valid? [True, True] Translation: X:91.99, Y:51.91, Z:29.71 [[ 7.41992260e-01 -6.64294725e-01 9.03327455e-02 9.19871521e+01] [ 6.60480766e-01 7.47440827e-01 7.13958500e-02 5.19067528e+01] [-1.14946269e-01 6.68787290e-03 9.93349197e-01 2.97054614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.360714057 meters Centerline goodness : 0.994136 Centerline is valid? [True, True] Translation: X:92.01, Y:51.93, Z:29.70 [[ 7.42435242e-01 -6.63950857e-01 8.92141838e-02 9.20127675e+01] [ 6.60231657e-01 7.47747331e-01 7.04846624e-02 5.19276637e+01] [-1.13508020e-01 6.57173103e-03 9.93515346e-01 2.97015486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.390714057 meters Centerline goodness : 0.994031 Centerline is valid? [True, True] Translation: X:92.04, Y:51.95, Z:29.70 [[ 7.42662995e-01 -6.63802165e-01 8.84215059e-02 9.20375288e+01] [ 6.60152621e-01 7.47879774e-01 6.98166179e-02 5.19476296e+01] [-1.12473078e-01 6.52147033e-03 9.93633372e-01 2.96978306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.42071405699997 meters Centerline goodness : 0.995854 Centerline is valid? [True, True] Translation: X:92.07, Y:51.99, Z:29.70 [[ 7.41324200e-01 -6.61920837e-01 1.10901924e-01 9.20660734e+01] [ 6.62740644e-01 7.48047123e-01 3.46459298e-02 5.19888119e+01] [-1.05892728e-01 4.78153460e-02 9.93227277e-01 2.97010477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.45071405699997 meters Centerline goodness : 0.995639 Centerline is valid? [True, True] Translation: X:92.10, Y:51.99, Z:29.68 [[ 7.37825893e-01 -6.71722234e-01 6.63490177e-02 9.21000901e+01] [ 6.67264942e-01 7.40678162e-01 7.84433387e-02 5.19875992e+01] [-1.01835403e-01 -1.36051529e-02 9.94708224e-01 2.96819383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.48071405699997 meters Centerline goodness : 0.996027 Centerline is valid? [True, True] Translation: X:92.12, Y:52.01, Z:29.69 [[ 7.36840845e-01 -6.71861310e-01 7.52857814e-02 9.21191327e+01] [ 6.68883482e-01 7.40667639e-01 6.32956271e-02 5.20141631e+01] [-9.82876249e-02 3.71861218e-03 9.95151101e-01 2.96874230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.51071405699997 meters Centerline goodness : 0.995418 Centerline is valid? [True, True] Translation: X:92.14, Y:52.04, Z:29.69 [[ 7.35983272e-01 -6.72599398e-01 7.70627851e-02 9.21434244e+01] [ 6.70026109e-01 7.39963792e-01 5.93177854e-02 5.20367479e+01] [-9.69207775e-02 7.97718027e-03 9.95260131e-01 2.96857521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.54071405699997 meters Centerline goodness : 0.995275 Centerline is valid? [True, True] Translation: X:92.16, Y:52.05, Z:29.68 [[ 7.37504529e-01 -6.71610483e-01 7.08973044e-02 9.21638165e+01] [ 6.67629785e-01 7.40873720e-01 7.33253099e-02 5.20469255e+01] [-1.01771996e-01 -6.74459613e-03 9.94784887e-01 2.96789471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.57071405699998 meters Centerline goodness : 0.995324 Centerline is valid? [True, True] Translation: X:92.19, Y:52.07, Z:29.68 [[ 7.36489860e-01 -6.72261079e-01 7.51513676e-02 9.21879618e+01] [ 6.68661859e-01 7.40313581e-01 6.94774828e-02 5.20709964e+01] [-1.02342586e-01 -9.18608354e-04 9.94748788e-01 2.96798769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.60071405699998 meters Centerline goodness : 0.995132 Centerline is valid? [True, True] Translation: X:92.21, Y:52.09, Z:29.68 [[ 7.37045530e-01 -6.71223692e-01 7.88837316e-02 9.22082832e+01] [ 6.68353110e-01 7.41224141e-01 6.23770186e-02 5.20939766e+01] [-1.00339459e-01 6.74748466e-03 9.94930382e-01 2.96821561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.63071405699998 meters Centerline goodness : 0.995196 Centerline is valid? [True, True] Translation: X:92.24, Y:52.12, Z:29.68 [[ 7.35281779e-01 -6.72568589e-01 8.37388731e-02 9.22350806e+01] [ 6.71097183e-01 7.39757217e-01 4.88654368e-02 5.21229076e+01] [-9.48117936e-02 2.02670565e-02 9.95288888e-01 2.96833537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.66071405699998 meters Centerline goodness : 0.996150 Centerline is valid? [True, True] Translation: X:92.26, Y:52.14, Z:29.68 [[ 7.34710770e-01 -6.74009812e-01 7.68821030e-02 9.22623628e+01] [ 6.71499607e-01 7.38673766e-01 5.87311233e-02 5.21399483e+01] [-9.63761459e-02 8.47591309e-03 9.95308895e-01 2.96758868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.69071405699998 meters Centerline goodness : 0.996467 Centerline is valid? [True, True] Translation: X:92.29, Y:52.16, Z:29.67 [[ 7.34037565e-01 -6.74955253e-01 7.49950634e-02 9.22871577e+01] [ 6.72182226e-01 7.37839100e-01 6.13556629e-02 5.21588726e+01] [-9.67466171e-02 5.37298722e-03 9.95294541e-01 2.96724005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.72071405699998 meters Centerline goodness : 0.996859 Centerline is valid? [True, True] Translation: X:92.31, Y:52.18, Z:29.67 [[ 7.32921570e-01 -6.76188493e-01 7.48003685e-02 9.23122719e+01] [ 6.73416498e-01 7.36709088e-01 6.13998459e-02 5.21795569e+01] [-9.66239805e-02 5.37053070e-03 9.95306467e-01 2.96694499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.75071405699998 meters Centerline goodness : 0.994630 Centerline is valid? [True, True] Translation: X:92.33, Y:52.19, Z:29.66 [[ 7.32721075e-01 -6.76486338e-01 7.40679464e-02 9.23332891e+01] [ 6.72677611e-01 7.36450089e-01 7.17363113e-02 5.21926898e+01] [-1.03075980e-01 -2.73885792e-03 9.94669715e-01 2.96630380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.78071405699998 meters Centerline goodness : 0.996430 Centerline is valid? [True, True] Translation: X:92.36, Y:52.23, Z:29.67 [[ 7.28624740e-01 -6.79258441e-01 8.78291402e-02 9.23577674e+01] [ 6.78124769e-01 7.33456794e-01 4.67752993e-02 5.22255171e+01] [-9.61913965e-02 2.54774752e-02 9.95036740e-01 2.96674013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.81071405699998 meters Centerline goodness : 0.994806 Centerline is valid? [True, True] Translation: X:92.38, Y:52.23, Z:29.65 [[ 7.28442678e-01 -6.81438667e-01 7.07997687e-02 9.23839269e+01] [ 6.77273440e-01 7.31840863e-01 7.55621529e-02 5.22299850e+01] [-1.03305137e-01 -7.09189418e-03 9.94624429e-01 2.96532126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.84071405699999 meters Centerline goodness : 0.995583 Centerline is valid? [True, True] Translation: X:92.41, Y:52.25, Z:29.65 [[ 7.26831280e-01 -6.82444538e-01 7.73675840e-02 9.24072091e+01] [ 6.79151203e-01 7.30927530e-01 6.70715221e-02 5.22543278e+01] [-1.02322691e-01 3.79460751e-03 9.94744021e-01 2.96542357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.870714057 meters Centerline goodness : 0.995342 Centerline is valid? [True, True] Translation: X:92.43, Y:52.28, Z:29.65 [[ 7.25346324e-01 -6.83713367e-01 8.00546197e-02 9.24287544e+01] [ 6.81022403e-01 7.29682536e-01 6.14156574e-02 5.22763352e+01] [-1.00405164e-01 9.97136812e-03 9.94896665e-01 2.96536802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.900714057 meters Centerline goodness : 0.995472 Centerline is valid? [True, True] Translation: X:92.45, Y:52.30, Z:29.65 [[ 7.22588413e-01 -6.87124587e-01 7.56689316e-02 9.24548575e+01] [ 6.85084559e-01 7.26431245e-01 5.43764054e-02 5.23023829e+01] [-9.23316413e-02 1.25478561e-02 9.95649245e-01 2.96540330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.930714057 meters Centerline goodness : 0.995835 Centerline is valid? [True, True] Translation: X:92.48, Y:52.32, Z:29.65 [[ 7.22896744e-01 -6.87047714e-01 7.33875768e-02 9.24802550e+01] [ 6.84647777e-01 7.26564522e-01 5.79777302e-02 5.23223440e+01] [-9.31542766e-02 8.33272887e-03 9.95616817e-01 2.96493392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.960714057 meters Centerline goodness : 0.996425 Centerline is valid? [True, True] Translation: X:92.50, Y:52.34, Z:29.65 [[ 7.23710432e-01 -6.85903029e-01 7.60279277e-02 9.25032006e+01] [ 6.83683002e-01 7.27605975e-01 5.62769786e-02 5.23442812e+01] [-9.39189246e-02 1.12507653e-02 9.95516276e-01 2.96474999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.990714057 meters Centerline goodness : 0.996409 Centerline is valid? [True, True] Translation: X:92.53, Y:52.37, Z:29.64 [[ 7.25669231e-01 -6.83428952e-01 7.95552250e-02 9.25272249e+01] [ 6.81168079e-01 7.29904396e-01 5.70054388e-02 5.23677839e+01] [-9.70268758e-02 1.28233868e-02 9.95199149e-01 2.96439081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.020714057 meters Centerline goodness : 0.995757 Centerline is valid? [True, True] Translation: X:92.55, Y:52.39, Z:29.64 [[ 7.27462592e-01 -6.81537345e-01 7.94041798e-02 9.25514648e+01] [ 6.79138306e-01 7.31692555e-01 5.82852105e-02 5.23879046e+01] [-9.78229949e-02 1.15261098e-02 9.95137081e-01 2.96397792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.050714057 meters Centerline goodness : 0.995217 Centerline is valid? [True, True] Translation: X:92.58, Y:52.41, Z:29.64 [[ 7.30731399e-01 -6.77805384e-01 8.13110295e-02 9.25757047e+01] [ 6.75352126e-01 7.35144732e-01 5.88364618e-02 5.24113788e+01] [-9.96550456e-02 1.19199266e-02 9.94950646e-01 2.96350237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.080714057 meters Centerline goodness : 0.995007 Centerline is valid? [True, True] Translation: X:92.60, Y:52.43, Z:29.63 [[ 7.34688063e-01 -6.73523676e-01 8.12361251e-02 9.25979280e+01] [ 6.69783344e-01 7.39162052e-01 7.09206115e-02 5.24250882e+01] [-1.07813372e-01 2.30607688e-03 9.94168476e-01 2.96263276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.110714057 meters Centerline goodness : 0.995172 Centerline is valid? [True, True] Translation: X:92.62, Y:52.46, Z:29.63 [[ 7.36901229e-01 -6.70063095e-01 8.93981388e-02 9.26206889e+01] [ 6.68530195e-01 7.41963207e-01 5.05764542e-02 5.24578443e+01] [-1.00219545e-01 2.24955039e-02 9.94711011e-01 2.96304768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.140714057 meters Centerline goodness : 0.994266 Centerline is valid? [True, True] Translation: X:92.65, Y:52.47, Z:29.62 [[ 7.40123542e-01 -6.67934476e-01 7.79787020e-02 9.26468820e+01] [ 6.63654604e-01 7.44208182e-01 7.56091821e-02 5.24664517e+01] [-1.08534368e-01 -4.20921104e-03 9.94083786e-01 2.96162026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.17071405699997 meters Centerline goodness : 0.994355 Centerline is valid? [True, True] Translation: X:92.67, Y:52.50, Z:29.62 [[ 7.40458391e-01 -6.65677145e-01 9.27108920e-02 9.26693519e+01] [ 6.64313498e-01 7.45820413e-01 4.93911739e-02 5.24999819e+01] [-1.02024251e-01 2.50169878e-02 9.94467296e-01 2.96221253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.20071405699997 meters Centerline goodness : 0.994504 Centerline is valid? [True, True] Translation: X:92.70, Y:52.52, Z:29.61 [[ 7.42351612e-01 -6.64712740e-01 8.40895775e-02 9.26973261e+01] [ 6.62136024e-01 7.47011320e-01 5.95816589e-02 5.25173519e+01] [-1.02420554e-01 1.14481980e-02 9.94675308e-01 2.96125686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.23071405699997 meters Centerline goodness : 0.993375 Centerline is valid? [True, True] Translation: X:92.72, Y:52.53, Z:29.60 [[ 7.45224505e-01 -6.62159147e-01 7.86492369e-02 9.27193626e+01] [ 6.57845845e-01 7.49349141e-01 7.55956969e-02 5.25279810e+01] [-1.08992120e-01 -4.59669208e-03 9.94031985e-01 2.96037702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.26071405699997 meters Centerline goodness : 0.993626 Centerline is valid? [True, True] Translation: X:92.74, Y:52.58, Z:29.61 [[ 7.48087048e-01 -6.52504752e-01 1.20844188e-01 9.27392456e+01] [ 6.55034543e-01 7.55248548e-01 2.30082218e-02 5.25751421e+01] [-1.06280372e-01 6.19449649e-02 9.92404808e-01 2.96144884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.29071405699997 meters Centerline goodness : 0.993500 Centerline is valid? [True, True] Translation: X:92.78, Y:52.57, Z:29.59 [[ 7.48556071e-01 -6.58611288e-01 7.67787697e-02 9.27766869e+01] [ 6.54356902e-01 7.52460377e-01 7.49694982e-02 5.25713871e+01] [-1.07148740e-01 -5.87815513e-03 9.94225626e-01 2.95861026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.32071405699998 meters Centerline goodness : 0.992566 Centerline is valid? [True, True] Translation: X:92.79, Y:52.59, Z:29.58 [[ 7.52630284e-01 -6.52784161e-01 8.61422975e-02 9.27946740e+01] [ 6.48459952e-01 7.57543716e-01 7.50147332e-02 5.25901889e+01] [-1.14224986e-01 -5.98529853e-04 9.93454727e-01 2.95845325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.35071405699998 meters Centerline goodness : 0.992824 Centerline is valid? [True, True] Translation: X:92.82, Y:52.62, Z:29.59 [[ 7.52537817e-01 -6.51557361e-01 9.57070503e-02 9.28189300e+01] [ 6.49832150e-01 7.58260676e-01 5.25254612e-02 5.26219786e+01] [-1.06794244e-01 2.26661224e-02 9.94022755e-01 2.95900774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.38071405699998 meters Centerline goodness : 0.991890 Centerline is valid? [True, True] Translation: X:92.85, Y:52.63, Z:29.58 [[ 7.54307410e-01 -6.51919499e-01 7.75970242e-02 9.28465252e+01] [ 6.46551368e-01 7.58165482e-01 8.45956879e-02 5.26270223e+01] [-1.13980964e-01 -1.36406921e-02 9.93389285e-01 2.95759757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.41071405699998 meters Centerline goodness : 0.991452 Centerline is valid? [True, True] Translation: X:92.87, Y:52.66, Z:29.58 [[ 7.56732028e-01 -6.46238576e-01 9.86526300e-02 9.28655441e+01] [ 6.43165812e-01 7.62996533e-01 6.46067316e-02 5.26554935e+01] [-1.17022977e-01 1.45600158e-02 9.93022471e-01 2.95806912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.44071405699998 meters Centerline goodness : 0.990947 Centerline is valid? [True, True] Translation: X:92.89, Y:52.66, Z:29.57 [[ 7.55549130e-01 -6.51174067e-01 7.15391293e-02 9.28917145e+01] [ 6.45398091e-01 7.58634072e-01 8.90822632e-02 5.26611370e+01] [-1.12280081e-01 -2.11348089e-02 9.93451812e-01 2.95743895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.47071405699998 meters Centerline goodness : 0.990519 Centerline is valid? [True, True] Translation: X:92.91, Y:52.69, Z:29.58 [[ 7.55117827e-01 -6.50112904e-01 8.45593303e-02 9.29102776e+01] [ 6.46247651e-01 7.59836696e-01 7.07966696e-02 5.26888490e+01] [-1.10277111e-01 1.18644128e-03 9.93900172e-01 2.95820758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.50071405699998 meters Centerline goodness : 0.991318 Centerline is valid? [True, True] Translation: X:92.94, Y:52.71, Z:29.58 [[ 7.54692277e-01 -6.49949117e-01 8.94746478e-02 9.29356597e+01] [ 6.46633816e-01 7.59935521e-01 6.60508212e-02 5.27104505e+01] [-1.10924636e-01 8.00928834e-03 9.93796547e-01 2.95801668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.53071405699998 meters Centerline goodness : 0.993340 Centerline is valid? [True, True] Translation: X:92.97, Y:52.74, Z:29.58 [[ 7.51625014e-01 -6.52294844e-01 9.78328916e-02 9.29655542e+01] [ 6.51289098e-01 7.57414270e-01 4.63263979e-02 5.27396204e+01] [-1.04318499e-01 2.88974162e-02 9.94124032e-01 2.95798263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.56071405699998 meters Centerline goodness : 0.992207 Centerline is valid? [True, True] Translation: X:92.99, Y:52.74, Z:29.56 [[ 7.51282568e-01 -6.55520971e-01 7.65947765e-02 9.29939351e+01] [ 6.50480984e-01 7.55085297e-01 8.19797788e-02 5.27400936e+01] [-1.11575054e-01 -1.17665332e-02 9.93686347e-01 2.95620833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.59071405699999 meters Centerline goodness : 0.992224 Centerline is valid? [True, True] Translation: X:93.02, Y:52.77, Z:29.57 [[ 7.48671190e-01 -6.56860742e-01 8.95846768e-02 9.30167591e+01] [ 6.53785689e-01 7.53940107e-01 6.43318502e-02 5.27657341e+01] [-1.09798548e-01 1.04057768e-02 9.93899391e-01 2.95651198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.620714057 meters Centerline goodness : 0.991289 Centerline is valid? [True, True] Translation: X:93.04, Y:52.79, Z:29.57 [[ 7.47622914e-01 -6.57808761e-01 9.13652706e-02 9.30386066e+01] [ 6.55562475e-01 7.52986698e-01 5.69988908e-02 5.27856513e+01] [-1.06291203e-01 1.72819662e-02 9.94184849e-01 2.95654813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.650714057 meters Centerline goodness : 0.991058 Centerline is valid? [True, True] Translation: X:93.07, Y:52.79, Z:29.55 [[ 7.42176119e-01 -6.66165470e-01 7.34722675e-02 9.30723087e+01] [ 6.61505733e-01 7.45733274e-01 7.93224360e-02 5.27941870e+01] [-1.07632582e-01 -1.02688915e-02 9.94137705e-01 2.95533450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.680714057 meters Centerline goodness : 0.990907 Centerline is valid? [True, True] Translation: X:93.09, Y:52.82, Z:29.56 [[ 7.41296826e-01 -6.65735412e-01 8.52958218e-02 9.30899868e+01] [ 6.62822387e-01 7.46122928e-01 6.29846034e-02 5.28175150e+01] [-1.05572249e-01 9.84569369e-03 9.94362893e-01 2.95588781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.710714057 meters Centerline goodness : 0.991632 Centerline is valid? [True, True] Translation: X:93.12, Y:52.83, Z:29.55 [[ 7.37065825e-01 -6.70677520e-01 8.32203938e-02 9.31186146e+01] [ 6.67357233e-01 7.41723163e-01 6.69408224e-02 5.28340636e+01] [-1.06622198e-01 6.19793925e-03 9.94280289e-01 2.95536462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.740714057 meters Centerline goodness : 0.989217 Centerline is valid? [True, True] Translation: X:93.14, Y:52.85, Z:29.55 [[ 7.35858502e-01 -6.71173417e-01 8.96577320e-02 9.31375431e+01] [ 6.68582437e-01 7.41145059e-01 6.08401724e-02 5.28510254e+01] [-1.07283692e-01 1.51738268e-02 9.94112652e-01 2.95524956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.770714057 meters Centerline goodness : 0.993371 Centerline is valid? [True, True] Translation: X:93.17, Y:52.88, Z:29.55 [[ 7.32006466e-01 -6.76125608e-01 8.37895932e-02 9.31739784e+01] [ 6.74207795e-01 7.36586145e-01 5.37094024e-02 5.28791523e+01] [-9.80325557e-02 1.71759670e-02 9.95034976e-01 2.95494510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.800714057 meters Centerline goodness : 0.992839 Centerline is valid? [True, True] Translation: X:93.20, Y:52.89, Z:29.54 [[ 7.32550472e-01 -6.76563907e-01 7.50405595e-02 9.31969054e+01] [ 6.72362314e-01 7.36368232e-01 7.54370295e-02 5.28856534e+01] [-1.06295456e-01 -4.80698734e-03 9.94322970e-01 2.95398066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.830714057 meters Centerline goodness : 0.993213 Centerline is valid? [True, True] Translation: X:93.22, Y:52.91, Z:29.54 [[ 7.31662640e-01 -6.77057699e-01 7.91369263e-02 9.32210001e+01] [ 6.73646991e-01 7.35921226e-01 6.79682255e-02 5.29092106e+01] [-1.04256954e-01 3.58054102e-03 9.94543949e-01 2.95404441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.860714057 meters Centerline goodness : 0.994383 Centerline is valid? [True, True] Translation: X:93.25, Y:52.94, Z:29.54 [[ 7.28938858e-01 -6.78741174e-01 8.92107578e-02 9.32459220e+01] [ 6.77856764e-01 7.33843452e-01 4.45420582e-02 5.29397944e+01] [-9.56992594e-02 2.80036786e-02 9.95016304e-01 2.95442729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.890714057 meters Centerline goodness : 0.994594 Centerline is valid? [True, True] Translation: X:93.28, Y:52.95, Z:29.53 [[ 7.26583029e-01 -6.82804236e-01 7.65210912e-02 9.32760904e+01] [ 6.80477848e-01 7.30526591e-01 5.72782547e-02 5.29538025e+01] [-9.50105268e-02 1.04534997e-02 9.95421380e-01 2.95336172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.92071405699997 meters Centerline goodness : 0.994594 Centerline is valid? [True, True] Translation: X:93.30, Y:52.97, Z:29.53 [[ 7.26215331e-01 -6.83214094e-01 7.63530893e-02 9.33011556e+01] [ 6.80893154e-01 7.30143627e-01 5.72258412e-02 5.29742300e+01] [-9.48462228e-02 1.04300126e-02 9.95437295e-01 2.95301298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.95071405699997 meters Centerline goodness : 0.994001 Centerline is valid? [True, True] Translation: X:93.32, Y:52.99, Z:29.52 [[ 7.26424073e-01 -6.83589369e-01 7.08070688e-02 9.33249856e+01] [ 6.79880130e-01 7.29858013e-01 7.12059654e-02 5.29852365e+01] [-1.00354748e-01 -3.58540825e-03 9.94945260e-01 2.95214749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.98071405699997 meters Centerline goodness : 0.994797 Centerline is valid? [True, True] Translation: X:93.35, Y:53.02, Z:29.53 [[ 7.23844354e-01 -6.84913911e-01 8.33203772e-02 9.33467076e+01] [ 6.83722680e-01 7.28253151e-01 4.65901903e-02 5.30159961e+01] [-9.25885966e-02 2.32439854e-02 9.95433106e-01 2.95280526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.01071405699997 meters Centerline goodness : 0.994032 Centerline is valid? [True, True] Translation: X:93.38, Y:53.02, Z:29.51 [[ 7.22721988e-01 -6.88245930e-01 6.31701535e-02 9.33759614e+01] [ 6.83720417e-01 7.25327585e-01 8.01641140e-02 5.30198189e+01] [-1.00991680e-01 -1.47456441e-02 9.94777989e-01 2.95139322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.04071405699997 meters Centerline goodness : 0.994097 Centerline is valid? [True, True] Translation: X:93.39, Y:53.05, Z:29.52 [[ 7.22794953e-01 -6.86561723e-01 7.87429793e-02 9.33947674e+01] [ 6.84049028e-01 7.26992165e-01 5.96600321e-02 5.30484352e+01] [-9.82058234e-02 1.07420883e-02 9.95108147e-01 2.95202032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.07071405699998 meters Centerline goodness : 0.995260 Centerline is valid? [True, True] Translation: X:93.42, Y:53.08, Z:29.52 [[ 7.23705397e-01 -6.82411246e-01 1.02788084e-01 9.34186792e+01] [ 6.82577097e-01 7.29767885e-01 3.90812110e-02 5.30803350e+01] [-1.01680900e-01 4.18775084e-02 9.93935244e-01 2.95205476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.10071405699998 meters Centerline goodness : 0.994807 Centerline is valid? [True, True] Translation: X:93.45, Y:53.10, Z:29.51 [[ 7.23054491e-01 -6.84696143e-01 9.15608825e-02 9.34478059e+01] [ 6.84172376e-01 7.28112351e-01 4.19590791e-02 5.30986535e+01] [-9.53958291e-02 3.23047259e-02 9.94915092e-01 2.95101974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.13071405699998 meters Centerline goodness : 0.995199 Centerline is valid? [True, True] Translation: X:93.47, Y:53.10, Z:29.50 [[ 7.17569024e-01 -6.94900712e-01 4.69861354e-02 9.34658565e+01] [ 6.90372603e-01 7.18568486e-01 8.39344972e-02 5.30958514e+01] [-9.20888980e-02 -2.77908546e-02 9.95362900e-01 2.94974606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.16071405699998 meters Centerline goodness : 0.994751 Centerline is valid? [True, True] Translation: X:93.49, Y:53.13, Z:29.50 [[ 7.22947195e-01 -6.86037067e-01 8.18565530e-02 9.34943678e+01] [ 6.83229255e-01 7.27491306e-01 6.28823099e-02 5.31294920e+01] [-1.02689526e-01 1.04662022e-02 9.94658394e-01 2.95022598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.19071405699998 meters Centerline goodness : 0.994094 Centerline is valid? [True, True] Translation: X:93.52, Y:53.15, Z:29.50 [[ 7.24675459e-01 -6.84433436e-01 7.99771918e-02 9.35154369e+01] [ 6.81405703e-01 7.29036021e-01 6.47514412e-02 5.31484193e+01] [-1.02624305e-01 7.57313424e-03 9.94691359e-01 2.94997431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.22071405699998 meters Centerline goodness : 0.994171 Centerline is valid? [True, True] Translation: X:93.54, Y:53.18, Z:29.50 [[ 7.25993050e-01 -6.81271553e-01 9.38251690e-02 9.35365380e+01] [ 6.81030765e-01 7.31185205e-01 3.95637782e-02 5.31795529e+01] [-9.55572521e-02 3.51747987e-02 9.94802264e-01 2.95036261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.25071405699998 meters Centerline goodness : 0.994945 Centerline is valid? [True, True] Translation: X:93.57, Y:53.20, Z:29.49 [[ 7.26984812e-01 -6.81385033e-01 8.48971139e-02 9.35656593e+01] [ 6.79865122e-01 7.31617276e-01 5.01953979e-02 5.31975446e+01] [-9.63145881e-02 2.12272948e-02 9.95124566e-01 2.94925752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.28071405699998 meters Centerline goodness : 0.994153 Centerline is valid? [True, True] Translation: X:93.59, Y:53.21, Z:29.48 [[ 7.27553184e-01 -6.82145435e-01 7.31024597e-02 9.35919628e+01] [ 6.79036590e-01 7.31212965e-01 6.50915528e-02 5.32102173e+01] [-9.78553719e-02 2.28167841e-03 9.95198031e-01 2.94823803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.31071405699998 meters Centerline goodness : 0.994840 Centerline is valid? [True, True] Translation: X:93.61, Y:53.23, Z:29.48 [[ 7.27441982e-01 -6.81823905e-01 7.70994492e-02 9.36148188e+01] [ 6.79405431e-01 7.31447816e-01 5.82439058e-02 5.32341970e+01] [-9.61063110e-02 1.00127222e-02 9.95320713e-01 2.94821011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.34071405699999 meters Centerline goodness : 0.994677 Centerline is valid? [True, True] Translation: X:93.64, Y:53.25, Z:29.48 [[ 7.27162152e-01 -6.82141482e-01 7.69298598e-02 9.36393595e+01] [ 6.79768138e-01 7.31147914e-01 5.77754716e-02 5.32544742e+01] [-9.56581524e-02 1.02823313e-02 9.95361136e-01 2.94787878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.370714057 meters Centerline goodness : 0.994800 Centerline is valid? [True, True] Translation: X:93.66, Y:53.27, Z:29.47 [[ 7.23005270e-01 -6.88636349e-01 5.51666406e-02 9.36649954e+01] [ 6.85027848e-01 7.24969242e-01 7.18083966e-02 5.32672334e+01] [-8.94439897e-02 -1.41271641e-02 9.95891659e-01 2.94748731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.400714057 meters Centerline goodness : 0.994991 Centerline is valid? [True, True] Translation: X:93.68, Y:53.30, Z:29.48 [[ 7.23539568e-01 -6.86091853e-01 7.59503993e-02 9.36843292e+01] [ 6.84614029e-01 7.27312794e-01 4.81635868e-02 5.32984841e+01] [-8.82843416e-02 1.71484481e-02 9.95947692e-01 2.94816845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.430714057 meters Centerline goodness : 0.995533 Centerline is valid? [True, True] Translation: X:93.71, Y:53.33, Z:29.48 [[ 7.24750997e-01 -6.83212173e-01 8.92026869e-02 9.37097717e+01] [ 6.82864808e-01 7.29494720e-01 3.91549028e-02 5.33253853e+01] [-9.18239954e-02 3.25358209e-02 9.95243575e-01 2.94774094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.460714057 meters Centerline goodness : 0.995141 Centerline is valid? [True, True] Translation: X:93.74, Y:53.33, Z:29.46 [[ 7.21210490e-01 -6.90898351e-01 5.01487589e-02 9.37380734e+01] [ 6.86884851e-01 7.22636556e-01 7.73667277e-02 5.33254113e+01] [-8.96918710e-02 -2.13512727e-02 9.95740675e-01 2.94633182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.490714057 meters Centerline goodness : 0.994717 Centerline is valid? [True, True] Translation: X:93.76, Y:53.36, Z:29.47 [[ 7.21278329e-01 -6.89285163e-01 6.81435040e-02 9.37556584e+01] [ 6.87111775e-01 7.24455873e-01 5.51461473e-02 5.33557322e+01] [-8.73783828e-02 7.04648303e-03 9.96150272e-01 2.94722496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.520714057 meters Centerline goodness : 0.995687 Centerline is valid? [True, True] Translation: X:93.78, Y:53.38, Z:29.47 [[ 7.21130109e-01 -6.89548212e-01 6.70419900e-02 9.37800816e+01] [ 6.87288096e-01 7.24217787e-01 5.60684482e-02 5.33757934e+01] [-8.72148998e-02 5.64451541e-03 9.96173529e-01 2.94693449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.550714057 meters Centerline goodness : 0.994706 Centerline is valid? [True, True] Translation: X:93.80, Y:53.40, Z:29.47 [[ 7.21564884e-01 -6.88905781e-01 6.89415938e-02 9.38033291e+01] [ 6.86875187e-01 7.24798656e-01 5.35666424e-02 5.33973003e+01] [-8.68711442e-02 8.70246208e-03 9.96181545e-01 2.94684193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.580714057 meters Centerline goodness : 0.994260 Centerline is valid? [True, True] Translation: X:93.83, Y:53.42, Z:29.47 [[ 7.21420705e-01 -6.88914142e-01 7.03524840e-02 9.38282599e+01] [ 6.86968629e-01 7.24770106e-01 5.27484320e-02 5.34185486e+01] [-8.73285181e-02 1.02761385e-02 9.96126564e-01 2.94650855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.610714057 meters Centerline goodness : 0.994411 Centerline is valid? [True, True] Translation: X:93.85, Y:53.44, Z:29.46 [[ 7.21593117e-01 -6.89208386e-01 6.55375843e-02 9.38528594e+01] [ 6.86835315e-01 7.24553770e-01 5.72632907e-02 5.34356648e+01] [-8.69518439e-02 3.69273096e-03 9.96205672e-01 2.94608516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.640714057 meters Centerline goodness : 0.993662 Centerline is valid? [True, True] Translation: X:93.88, Y:53.46, Z:29.46 [[ 7.21516785e-01 -6.88904300e-01 6.94578537e-02 9.38750803e+01] [ 6.87002229e-01 7.24782005e-01 5.21438623e-02 5.34572434e+01] [-8.62639335e-02 1.00950284e-02 9.96221172e-01 2.94604544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.67071405699997 meters Centerline goodness : 0.994408 Centerline is valid? [True, True] Translation: X:93.90, Y:53.48, Z:29.46 [[ 7.20772931e-01 -6.89606634e-01 7.02073436e-02 9.39000548e+01] [ 6.87769658e-01 7.24098304e-01 5.15222655e-02 5.34783744e+01] [-8.63671145e-02 1.11506264e-02 9.96200976e-01 2.94566502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.70071405699997 meters Centerline goodness : 0.994085 Centerline is valid? [True, True] Translation: X:93.93, Y:53.50, Z:29.45 [[ 7.20553108e-01 -6.89783019e-01 7.07291053e-02 9.39255044e+01] [ 6.87940816e-01 7.23925867e-01 5.16601695e-02 5.34989636e+01] [-8.68369366e-02 1.14335428e-02 9.96156926e-01 2.94521435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.73071405699997 meters Centerline goodness : 0.995041 Centerline is valid? [True, True] Translation: X:93.95, Y:53.52, Z:29.45 [[ 7.20258548e-01 -6.90108290e-01 7.05561641e-02 9.39515556e+01] [ 6.88142012e-01 7.23632437e-01 5.30722821e-02 5.35194372e+01] [-8.76823508e-02 1.03268959e-02 9.96094956e-01 2.94473427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.76071405699997 meters Centerline goodness : 0.995524 Centerline is valid? [True, True] Translation: X:93.98, Y:53.54, Z:29.44 [[ 7.20406155e-01 -6.89568301e-01 7.42329387e-02 9.39758793e+01] [ 6.87756402e-01 7.24090475e-01 5.18084536e-02 5.35406456e+01] [-8.94768312e-02 1.37310499e-02 9.95894249e-01 2.94430221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.79071405699997 meters Centerline goodness : 0.995502 Centerline is valid? [True, True] Translation: X:94.00, Y:53.56, Z:29.44 [[ 7.20706797e-01 -6.89534734e-01 7.15790738e-02 9.40023731e+01] [ 6.87401489e-01 7.24189749e-01 5.50308957e-02 5.35600124e+01] [-8.97825455e-02 9.54242136e-03 9.95915678e-01 2.94384107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.82071405699998 meters Centerline goodness : 0.994304 Centerline is valid? [True, True] Translation: X:94.03, Y:53.58, Z:29.44 [[ 7.21581467e-01 -6.88132136e-01 7.61206286e-02 9.40253962e+01] [ 6.86382954e-01 7.25426076e-01 5.13366228e-02 5.35825439e+01] [-9.05462688e-02 1.52043464e-02 9.95776180e-01 2.94359989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.85071405699998 meters Centerline goodness : 0.994525 Centerline is valid? [True, True] Translation: X:94.05, Y:53.60, Z:29.43 [[ 7.21714908e-01 -6.88294990e-01 7.33321090e-02 9.40501754e+01] [ 6.86122285e-01 7.25359264e-01 5.55891054e-02 5.36006059e+01] [-9.14538274e-02 1.01953081e-02 9.95757126e-01 2.94300280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.88071405699998 meters Centerline goodness : 0.994271 Centerline is valid? [True, True] Translation: X:94.08, Y:53.62, Z:29.42 [[ 7.22438082e-01 -6.87628613e-01 7.24576229e-02 9.40751926e+01] [ 6.84476786e-01 7.26059662e-01 6.57943529e-02 5.36157442e+01] [-9.78506369e-02 2.06321469e-03 9.95198973e-01 2.94225870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.91071405699998 meters Centerline goodness : 0.994909 Centerline is valid? [True, True] Translation: X:94.10, Y:53.64, Z:29.43 [[ 7.21255490e-01 -6.87633622e-01 8.33697818e-02 9.40978251e+01] [ 6.86551794e-01 7.25649495e-01 4.56009297e-02 5.36437781e+01] [-9.18539725e-02 2.43477523e-02 9.95474779e-01 2.94254569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.94071405699998 meters Centerline goodness : 0.994448 Centerline is valid? [True, True] Translation: X:94.13, Y:53.66, Z:29.42 [[ 7.20560075e-01 -6.89682643e-01 7.16312166e-02 9.41267149e+01] [ 6.87258110e-01 7.24075295e-01 5.82345004e-02 5.36582509e+01] [-9.20297185e-02 7.26767858e-03 9.95729738e-01 2.94162851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.97071405699998 meters Centerline goodness : 0.994045 Centerline is valid? [True, True] Translation: X:94.15, Y:53.68, Z:29.41 [[ 7.21835905e-01 -6.87845042e-01 7.63028459e-02 9.41490905e+01] [ 6.84995368e-01 7.25825252e-01 6.29209839e-02 5.36751020e+01] [-9.86624192e-02 6.84847059e-03 9.95097395e-01 2.94115132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.00071405699998 meters Centerline goodness : 0.994249 Centerline is valid? [True, True] Translation: X:94.17, Y:53.70, Z:29.41 [[ 7.19958195e-01 -6.89784020e-01 7.65389042e-02 9.41749627e+01] [ 6.87806966e-01 7.23883999e-01 5.39771645e-02 5.37004411e+01] [-9.26378735e-02 1.37826895e-02 9.95604471e-01 2.94122424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.03071405699998 meters Centerline goodness : 0.994137 Centerline is valid? [True, True] Translation: X:94.20, Y:53.72, Z:29.41 [[ 7.19496863e-01 -6.90622327e-01 7.32466090e-02 9.42009583e+01] [ 6.88285454e-01 7.23158903e-01 5.74833470e-02 5.37193342e+01] [-9.26682203e-02 9.05548762e-03 9.95655864e-01 2.94077584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.06071405699998 meters Centerline goodness : 0.994676 Centerline is valid? [True, True] Translation: X:94.22, Y:53.74, Z:29.40 [[ 7.19022770e-01 -6.91387362e-01 7.06383203e-02 9.42248884e+01] [ 6.88721616e-01 7.22467677e-01 6.08522028e-02 5.37370340e+01] [-9.31063471e-02 4.89601868e-03 9.95644132e-01 2.94046925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.09071405699999 meters Centerline goodness : 0.995345 Centerline is valid? [True, True] Translation: X:94.25, Y:53.76, Z:29.40 [[ 7.19139480e-01 -6.90769968e-01 7.53343217e-02 9.42486354e+01] [ 6.88626771e-01 7.22977357e-01 5.56499083e-02 5.37598437e+01] [-9.29062941e-02 1.18571846e-02 9.95604253e-01 2.94038509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.120714057 meters Centerline goodness : 0.994405 Centerline is valid? [True, True] Translation: X:94.27, Y:53.78, Z:29.40 [[ 7.18686306e-01 -6.91631228e-01 7.16675545e-02 9.42735132e+01] [ 6.89074258e-01 7.22222175e-01 5.97645208e-02 5.37775319e+01] [-9.30949060e-02 6.43232424e-03 9.95636462e-01 2.93997071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.150714057 meters Centerline goodness : 0.994581 Centerline is valid? [True, True] Translation: X:94.30, Y:53.81, Z:29.40 [[ 7.21163760e-01 -6.84636037e-01 1.05812704e-01 9.42966776e+01] [ 6.85964022e-01 7.27054724e-01 2.90652425e-02 5.38133284e+01] [-9.68307391e-02 5.16229088e-02 9.93961208e-01 2.93999645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.180714057 meters Centerline goodness : 0.994125 Centerline is valid? [True, True] Translation: X:94.33, Y:53.80, Z:29.38 [[ 7.20355716e-01 -6.92152500e-01 4.48615628e-02 9.43276569e+01] [ 6.86425501e-01 7.20688672e-01 9.70972217e-02 5.37971494e+01] [-9.95373049e-02 -3.91504179e-02 9.94263330e-01 2.93780440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.210714057 meters Centerline goodness : 0.994961 Centerline is valid? [True, True] Translation: X:94.34, Y:53.84, Z:29.40 [[ 7.17295139e-01 -6.92815180e-01 7.41269857e-02 9.43445910e+01] [ 6.90905188e-01 7.20995256e-01 5.30646961e-02 5.38391499e+01] [-9.02092320e-02 1.31516704e-02 9.95835995e-01 2.93956477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.240714057 meters Centerline goodness : 0.994409 Centerline is valid? [True, True] Translation: X:94.37, Y:53.86, Z:29.39 [[ 7.17040366e-01 -6.92323467e-01 8.08784995e-02 9.43700830e+01] [ 6.91024059e-01 7.21260071e-01 4.76409461e-02 5.38613121e+01] [-9.13173773e-02 2.17285076e-02 9.95584757e-01 2.93907053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.270714057 meters Centerline goodness : 0.995491 Centerline is valid? [True, True] Translation: X:94.40, Y:53.88, Z:29.39 [[ 7.14436228e-01 -6.96173897e-01 7.01625363e-02 9.43994214e+01] [ 6.94363185e-01 7.17774902e-01 5.15650721e-02 5.38815216e+01] [-8.62591648e-02 1.18783266e-02 9.96201918e-01 2.93873344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.300714057 meters Centerline goodness : 0.995392 Centerline is valid? [True, True] Translation: X:94.43, Y:53.89, Z:29.38 [[ 7.13615705e-01 -6.98341229e-01 5.54270016e-02 9.44286399e+01] [ 6.94372346e-01 7.15591796e-01 7.59962328e-02 5.38915220e+01] [-9.27344103e-02 -1.57451282e-02 9.95566382e-01 2.93755047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.330714057 meters Centerline goodness : 0.993897 Centerline is valid? [True, True] Translation: X:94.44, Y:53.92, Z:29.39 [[ 7.15063233e-01 -6.94463011e-01 8.00356156e-02 9.44394755e+01] [ 6.93413635e-01 7.19145731e-01 4.47989828e-02 5.39212154e+01] [-8.86685077e-02 2.34636817e-02 9.95784792e-01 2.93881503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.360714057 meters Centerline goodness : 0.994647 Centerline is valid? [True, True] Translation: X:94.47, Y:53.94, Z:29.38 [[ 7.13593628e-01 -6.97094602e-01 6.95934607e-02 9.44683250e+01] [ 6.95436168e-01 7.16863238e-01 4.97557512e-02 5.39414033e+01] [-8.45734592e-02 1.28924226e-02 9.96333837e-01 2.93821633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.390714057 meters Centerline goodness : 0.994328 Centerline is valid? [True, True] Translation: X:94.49, Y:53.96, Z:29.38 [[ 7.13167016e-01 -6.97589878e-01 6.90012339e-02 9.44935588e+01] [ 6.95989357e-01 7.16377963e-01 4.90043798e-02 5.39627566e+01] [-8.36159227e-02 1.30758171e-02 9.96412264e-01 2.93790128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.42071405699997 meters Centerline goodness : 0.993254 Centerline is valid? [True, True] Translation: X:94.52, Y:53.97, Z:29.37 [[ 7.14301281e-01 -6.97631438e-01 5.55342890e-02 9.45178039e+01] [ 6.93970278e-01 7.16332848e-01 7.26120068e-02 5.39695913e+01] [-9.04374541e-02 -1.33277034e-02 9.95812954e-01 2.93693565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.45071405699997 meters Centerline goodness : 0.994449 Centerline is valid? [True, True] Translation: X:94.54, Y:54.01, Z:29.38 [[ 7.12590589e-01 -6.97262740e-01 7.77130811e-02 9.45377830e+01] [ 6.96750861e-01 7.16304922e-01 3.80196816e-02 5.40068905e+01] [-8.21759699e-02 2.70541888e-02 9.96250561e-01 2.93804926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.48071405699997 meters Centerline goodness : 0.992605 Centerline is valid? [True, True] Translation: X:94.56, Y:54.01, Z:29.37 [[ 7.12768339e-01 -6.99053248e-01 5.73223502e-02 9.45645416e+01] [ 6.95717183e-01 7.15010711e-01 6.88279301e-02 5.40106249e+01] [-8.91004825e-02 -9.17822543e-03 9.95980353e-01 2.93662171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.51071405699997 meters Centerline goodness : 0.993863 Centerline is valid? [True, True] Translation: X:94.59, Y:54.05, Z:29.38 [[ 7.10449779e-01 -6.99862726e-01 7.38463065e-02 9.45863865e+01] [ 6.99116342e-01 7.13896684e-01 3.98480255e-02 5.40453546e+01] [-8.06067811e-02 2.33171388e-02 9.96473210e-01 2.93753099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.54071405699997 meters Centerline goodness : 0.993417 Centerline is valid? [True, True] Translation: X:94.61, Y:54.06, Z:29.37 [[ 7.08178069e-01 -7.03455474e-01 6.02844770e-02 9.46137651e+01] [ 7.01397222e-01 7.10727549e-01 5.39285479e-02 5.40583978e+01] [-8.07821708e-02 4.09234986e-03 9.96723379e-01 2.93667447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.57071405699998 meters Centerline goodness : 0.992236 Centerline is valid? [True, True] Translation: X:94.64, Y:54.07, Z:29.36 [[ 7.09061893e-01 -7.02687812e-01 5.88308703e-02 9.46363822e+01] [ 6.99552071e-01 7.11472509e-01 6.65865484e-02 5.40714998e+01] [-8.86461029e-02 -6.05872691e-03 9.96044758e-01 2.93601990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.60071405699998 meters Centerline goodness : 0.991680 Centerline is valid? [True, True] Translation: X:94.66, Y:54.09, Z:29.36 [[ 7.07817146e-01 -7.03478471e-01 6.41321180e-02 9.46577361e+01] [ 7.01211145e-01 7.10699843e-01 5.66450619e-02 5.40946986e+01] [-8.54272678e-02 4.87580981e-03 9.96332479e-01 2.93626742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.63071405699998 meters Centerline goodness : 0.990889 Centerline is valid? [True, True] Translation: X:94.68, Y:54.12, Z:29.36 [[ 7.09946978e-01 -6.98917561e-01 8.65420809e-02 9.46772763e+01] [ 6.98700482e-01 7.14412601e-01 3.78453664e-02 5.41231727e+01] [-8.82775443e-02 3.35987901e-02 9.95529104e-01 2.93631632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.66071405699998 meters Centerline goodness : 0.992247 Centerline is valid? [True, True] Translation: X:94.71, Y:54.15, Z:29.36 [[ 7.06854612e-01 -7.03181137e-01 7.67648698e-02 9.47098670e+01] [ 7.02782812e-01 7.10458313e-01 3.66784018e-02 5.41464519e+01] [-8.03298002e-02 2.80227335e-02 9.96374352e-01 2.93565966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.69071405699998 meters Centerline goodness : 0.992055 Centerline is valid? [True, True] Translation: X:94.74, Y:54.16, Z:29.35 [[ 7.05719378e-01 -7.05374566e-01 6.63843355e-02 9.47392541e+01] [ 7.04015557e-01 7.08691448e-01 4.60274552e-02 5.41642044e+01] [-7.95126071e-02 1.42531378e-02 9.96731957e-01 2.93490352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.72071405699998 meters Centerline goodness : 0.992154 Centerline is valid? [True, True] Translation: X:94.76, Y:54.18, Z:29.34 [[ 7.05247972e-01 -7.06385052e-01 6.03776096e-02 9.47647511e+01] [ 7.04397100e-01 7.07810014e-01 5.31950117e-02 5.41806075e+01] [-8.03120379e-02 5.01413894e-03 9.96757160e-01 2.93442774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.75071405699998 meters Centerline goodness : 0.991379 Centerline is valid? [True, True] Translation: X:94.79, Y:54.19, Z:29.34 [[ 7.05393550e-01 -7.06564860e-01 5.64450023e-02 9.47887861e+01] [ 7.03461900e-01 7.07611355e-01 6.65396550e-02 5.41947569e+01] [-8.69557065e-02 -7.22973484e-03 9.96185945e-01 2.93391573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.78071405699998 meters Centerline goodness : 0.990474 Centerline is valid? [True, True] Translation: X:94.81, Y:54.22, Z:29.34 [[ 7.04871165e-01 -7.06646556e-01 6.17032038e-02 9.48084525e+01] [ 7.04178899e-01 7.07564314e-01 5.90323542e-02 5.42160100e+01] [-8.53739949e-02 1.83988989e-03 9.96347277e-01 2.93423349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.81071405699998 meters Centerline goodness : 0.990957 Centerline is valid? [True, True] Translation: X:94.83, Y:54.24, Z:29.34 [[ 7.06743559e-01 -7.03132541e-01 7.82187402e-02 9.48302507e+01] [ 7.02067337e-01 7.10684234e-01 4.50485808e-02 5.42425698e+01] [-8.72639485e-02 2.30770283e-02 9.95917895e-01 2.93427984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.84071405699999 meters Centerline goodness : 0.990957 Centerline is valid? [True, True] Translation: X:94.86, Y:54.26, Z:29.33 [[ 7.06611172e-01 -7.04262412e-01 6.86666397e-02 9.48592154e+01] [ 7.02118504e-01 7.09883905e-01 5.56277716e-02 5.42595889e+01] [-8.79218909e-02 8.90491341e-03 9.96087568e-01 2.93347353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.870714057 meters Centerline goodness : 0.992541 Centerline is valid? [True, True] Translation: X:94.89, Y:54.28, Z:29.34 [[ 7.03543313e-01 -7.08096823e-01 6.02137494e-02 9.48852627e+01] [ 7.06514084e-01 7.06061820e-01 4.81098279e-02 5.42840100e+01] [-7.65810458e-02 8.69451427e-03 9.97025450e-01 2.93381171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.900714057 meters Centerline goodness : 0.991710 Centerline is valid? [True, True] Translation: X:94.91, Y:54.30, Z:29.33 [[ 7.05353251e-01 -7.06691341e-01 5.53546641e-02 9.49103496e+01] [ 7.03790202e-01 7.07493149e-01 6.42868261e-02 5.42971038e+01] [-8.45939890e-02 -6.38685162e-03 9.96395035e-01 2.93305648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.930714057 meters Centerline goodness : 0.992610 Centerline is valid? [True, True] Translation: X:94.93, Y:54.33, Z:29.34 [[ 7.05227031e-01 -7.05380169e-01 7.13698273e-02 9.49305595e+01] [ 7.04907715e-01 7.08388962e-01 3.59192401e-02 5.43298324e+01] [-7.58943175e-02 2.49779229e-02 9.96802967e-01 2.93383715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.960714057 meters Centerline goodness : 0.991338 Centerline is valid? [True, True] Translation: X:94.96, Y:54.33, Z:29.32 [[ 7.08114711e-01 -7.04142846e-01 5.25015051e-02 9.49557489e+01] [ 7.00965294e-01 7.09970472e-01 6.77464833e-02 5.43325059e+01] [-8.49777199e-02 -1.11705485e-02 9.96320233e-01 2.93240000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.990714057 meters Centerline goodness : 0.992001 Centerline is valid? [True, True] Translation: X:94.98, Y:54.36, Z:29.33 [[ 7.09369967e-01 -7.01507980e-01 6.84164013e-02 9.49767472e+01] [ 7.00092296e-01 7.12511272e-01 4.68877937e-02 5.43634477e+01] [-8.16396186e-02 1.46370028e-02 9.96554429e-01 2.93289376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.020714057 meters Centerline goodness : 0.991940 Centerline is valid? [True, True] Translation: X:95.00, Y:54.39, Z:29.33 [[ 7.09181754e-01 -7.00857482e-01 7.65508329e-02 9.50017380e+01] [ 7.00951023e-01 7.12571201e-01 3.01653239e-02 5.43931053e+01] [-7.56895119e-02 3.22656873e-02 9.96609263e-01 2.93299511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.050714057 meters Centerline goodness : 0.991692 Centerline is valid? [True, True] Translation: X:95.03, Y:54.39, Z:29.31 [[ 7.12263394e-01 -7.00154310e-01 4.96467393e-02 9.50297490e+01] [ 6.96740568e-01 7.13814980e-01 7.08572864e-02 5.43920526e+01] [-8.50496207e-02 -1.58781540e-02 9.96250193e-01 2.93119805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.080714057 meters Centerline goodness : 0.991042 Centerline is valid? [True, True] Translation: X:95.05, Y:54.43, Z:29.32 [[ 7.13892412e-01 -6.96118996e-01 7.59997940e-02 9.50481946e+01] [ 6.95331502e-01 7.17533227e-01 4.07451904e-02 5.44279160e+01] [-8.28958784e-02 2.37573687e-02 9.96274993e-01 2.93209594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.110714057 meters Centerline goodness : 0.992392 Centerline is valid? [True, True] Translation: X:95.08, Y:54.44, Z:29.31 [[ 7.14087147e-01 -6.97391406e-01 6.10309120e-02 9.50769570e+01] [ 6.95259116e-01 7.16682204e-01 5.46020249e-02 5.44428350e+01] [-8.18187514e-02 3.44169365e-03 9.96641283e-01 2.93122540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.140714057 meters Centerline goodness : 0.991773 Centerline is valid? [True, True] Translation: X:95.10, Y:54.46, Z:29.31 [[ 7.15770681e-01 -6.95443304e-01 6.34897034e-02 9.50989514e+01] [ 6.93322483e-01 7.18563517e-01 5.45014459e-02 5.44629851e+01] [-8.35240502e-02 5.00830174e-03 9.96493176e-01 2.93103634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.17071405699997 meters Centerline goodness : 0.992941 Centerline is valid? [True, True] Translation: X:95.12, Y:54.50, Z:29.32 [[ 7.16560319e-01 -6.92642369e-01 8.23884643e-02 9.51206034e+01] [ 6.93456843e-01 7.20132606e-01 2.29485644e-02 5.45003038e+01] [-7.52257675e-02 4.06888138e-02 9.96336040e-01 2.93177972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.20071405699997 meters Centerline goodness : 0.991726 Centerline is valid? [True, True] Translation: X:95.15, Y:54.50, Z:29.30 [[ 7.19714733e-01 -6.92336152e-01 5.17818188e-02 9.51521778e+01] [ 6.88863164e-01 7.21410920e-01 7.09494670e-02 5.44992563e+01] [-8.64768504e-02 -1.53927892e-02 9.96134939e-01 2.92956527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.23071405699997 meters Centerline goodness : 0.992136 Centerline is valid? [True, True] Translation: X:95.17, Y:54.53, Z:29.30 [[ 7.20987563e-01 -6.89447526e-01 6.95632239e-02 9.51682652e+01] [ 6.87818721e-01 7.24227341e-01 4.89914818e-02 5.45284230e+01] [-8.41566446e-02 1.25246387e-02 9.96373822e-01 2.93034075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.26071405699997 meters Centerline goodness : 0.991034 Centerline is valid? [True, True] Translation: X:95.19, Y:54.54, Z:29.30 [[ 7.22010422e-01 -6.88951586e-01 6.36133921e-02 9.51940855e+01] [ 6.86342440e-01 7.24807247e-01 5.99041722e-02 5.45442428e+01] [-8.73785220e-02 4.09134100e-04 9.96175098e-01 2.92975928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.29071405699997 meters Centerline goodness : 0.993529 Centerline is valid? [True, True] Translation: X:95.22, Y:54.58, Z:29.31 [[ 7.21902224e-01 -6.87989405e-01 7.43488885e-02 9.52156599e+01] [ 6.87735738e-01 7.25208196e-01 3.30549214e-02 5.45796013e+01] [-7.66598590e-02 2.72699665e-02 9.96684311e-01 2.93063839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.32071405699998 meters Centerline goodness : 0.993137 Centerline is valid? [True, True] Translation: X:95.24, Y:54.61, Z:29.30 [[ 7.26177239e-01 -6.82193104e-01 8.53181445e-02 9.52423858e+01] [ 6.82567338e-01 7.30236307e-01 2.92705389e-02 5.46056806e+01] [-8.22705666e-02 3.69797797e-02 9.95923717e-01 2.92985981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.35071405699998 meters Centerline goodness : 0.993922 Centerline is valid? [True, True] Translation: X:95.27, Y:54.58, Z:29.28 [[ 7.18609935e-01 -6.95368702e-01 -7.88219641e-03 9.52671349e+01] [ 6.92081824e-01 7.14013161e-01 1.05867633e-01 5.45841921e+01] [-6.79890463e-02 -8.15326575e-02 9.94348991e-01 2.92811290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.38071405699998 meters Centerline goodness : 0.993508 Centerline is valid? [True, True] Translation: X:95.27, Y:54.66, Z:29.32 [[ 7.28064752e-01 -6.74587858e-01 1.21872633e-01 9.52739449e+01] [ 6.80975879e-01 7.32139511e-01 -1.56073565e-02 5.46648087e+01] [-7.86992365e-02 9.43554893e-02 9.92423031e-01 2.93194176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.41071405699998 meters Centerline goodness : 0.992373 Centerline is valid? [True, True] Translation: X:95.32, Y:54.65, Z:29.28 [[ 7.30630794e-01 -6.80516677e-01 5.54589478e-02 9.53226872e+01] [ 6.76929394e-01 7.32588359e-01 7.12803727e-02 5.46507807e+01] [-8.91360619e-02 -1.45378434e-02 9.95913356e-01 2.92767162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.44071405699998 meters Centerline goodness : 0.992358 Centerline is valid? [True, True] Translation: X:95.34, Y:54.68, Z:29.28 [[ 7.32841706e-01 -6.76604547e-01 7.17587773e-02 9.53397535e+01] [ 6.74395425e-01 7.36303797e-01 5.52044396e-02 5.46780504e+01] [-9.01878350e-02 7.93767542e-03 9.95893141e-01 2.92821041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.47071405699998 meters Centerline goodness : 0.992176 Centerline is valid? [True, True] Translation: X:95.36, Y:54.70, Z:29.28 [[ 7.32518523e-01 -6.77054931e-01 7.08041924e-02 9.53643903e+01] [ 6.74988232e-01 7.35882636e-01 5.35502814e-02 5.47003654e+01] [-8.83600579e-02 8.56542364e-03 9.96051773e-01 2.92808991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.50071405699998 meters Centerline goodness : 0.992508 Centerline is valid? [True, True] Translation: X:95.39, Y:54.71, Z:29.28 [[ 7.32625531e-01 -6.79004384e-01 4.70412281e-02 9.53876134e+01] [ 6.75323444e-01 7.33788445e-01 7.41131826e-02 5.47066327e+01] [-8.48414856e-02 -2.25291656e-02 9.96139729e-01 2.92752314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.53071405699998 meters Centerline goodness : 0.992278 Centerline is valid? [True, True] Translation: X:95.41, Y:54.74, Z:29.28 [[ 7.32540303e-01 -6.77806549e-01 6.29522587e-02 9.54055487e+01] [ 6.75665445e-01 7.35234014e-01 5.39180009e-02 5.47361823e+01] [-8.28306160e-02 3.03755707e-03 9.96559011e-01 2.92842511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.56071405699998 meters Centerline goodness : 0.992142 Centerline is valid? [True, True] Translation: X:95.43, Y:54.76, Z:29.28 [[ 7.33124589e-01 -6.77428116e-01 6.01621509e-02 9.54294107e+01] [ 6.75324113e-01 7.35587448e-01 5.33708666e-02 5.47559846e+01] [-8.04094486e-02 1.50145647e-03 9.96760787e-01 2.92830475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.59071405699999 meters Centerline goodness : 0.992329 Centerline is valid? [True, True] Translation: X:95.46, Y:54.78, Z:29.28 [[ 7.33413377e-01 -6.77100183e-01 6.03337418e-02 9.54550160e+01] [ 6.75455809e-01 7.35867234e-01 4.75275178e-02 5.47796123e+01] [-7.65785146e-02 5.89545902e-03 9.97046125e-01 2.92836339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.620714057 meters Centerline goodness : 0.991745 Centerline is valid? [True, True] Translation: X:95.48, Y:54.80, Z:29.28 [[ 7.35069819e-01 -6.75575123e-01 5.71892948e-02 9.54780648e+01] [ 6.73742551e-01 7.37288580e-01 4.97646930e-02 5.47974067e+01] [-7.57848026e-02 1.95033754e-03 9.97122289e-01 2.92808948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.650714057 meters Centerline goodness : 0.993328 Centerline is valid? [True, True] Translation: X:95.50, Y:54.83, Z:29.29 [[ 7.35254201e-01 -6.74683783e-01 6.48309598e-02 9.55022846e+01] [ 6.74358615e-01 7.37790822e-01 3.00859114e-02 5.48274480e+01] [-6.81301636e-02 2.15985235e-02 9.97442622e-01 2.92864148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.680714057 meters Centerline goodness : 0.992482 Centerline is valid? [True, True] Translation: X:95.53, Y:54.85, Z:29.28 [[ 7.38314290e-01 -6.70399045e-01 7.38723908e-02 9.55293036e+01] [ 6.70364863e-01 7.41466689e-01 2.89499573e-02 5.48501789e+01] [-7.41819407e-02 2.81472879e-02 9.96847416e-01 2.92789962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.710714057 meters Centerline goodness : 0.991517 Centerline is valid? [True, True] Translation: X:95.56, Y:54.85, Z:29.26 [[ 7.39588881e-01 -6.72444203e-01 2.87590106e-02 9.55613181e+01] [ 6.69020581e-01 7.39153636e-01 7.78676078e-02 5.48460806e+01] [-7.36189488e-02 -3.83496469e-02 9.96548822e-01 2.92638902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.740714057 meters Centerline goodness : 0.991632 Centerline is valid? [True, True] Translation: X:95.57, Y:54.89, Z:29.28 [[ 7.41676585e-01 -6.66106364e-01 7.88552805e-02 9.55727649e+01] [ 6.67020482e-01 7.44822483e-01 1.79762635e-02 5.48933282e+01] [-7.07072893e-02 3.92655135e-02 9.96723983e-01 2.92835707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.770714057 meters Centerline goodness : 0.992663 Centerline is valid? [True, True] Translation: X:95.60, Y:54.88, Z:29.27 [[ 7.37177536e-01 -6.75694959e-01 2.36706128e-03 9.55958220e+01] [ 6.73304383e-01 7.34855094e-01 8.15426186e-02 5.48792393e+01] [-5.68373834e-02 -5.85176339e-02 9.96667045e-01 2.92682374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.800714057 meters Centerline goodness : 0.991825 Centerline is valid? [True, True] Translation: X:95.61, Y:54.95, Z:29.30 [[ 7.46505785e-01 -6.56417511e-01 1.08835491e-01 9.56136109e+01] [ 6.61416913e-01 7.49890003e-01 -1.38798715e-02 5.49461183e+01] [-7.25036556e-02 8.23470385e-02 9.93962869e-01 2.92958366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.830714057 meters Centerline goodness : 0.991137 Centerline is valid? [True, True] Translation: X:95.66, Y:54.93, Z:29.26 [[ 7.48864081e-01 -6.61288775e-01 4.35860609e-02 9.56619113e+01] [ 6.58226518e-01 7.49820896e-01 6.71302826e-02 5.49291533e+01] [-7.70742415e-02 -2.15819563e-02 9.96791744e-01 2.92568009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.860714057 meters Centerline goodness : 0.990927 Centerline is valid? [True, True] Translation: X:95.68, Y:54.95, Z:29.26 [[ 7.48314690e-01 -6.61692671e-01 4.67753561e-02 9.56774778e+01] [ 6.59333186e-01 7.49681181e-01 5.70778142e-02 5.49475192e+01] [-7.28345756e-02 -1.18716222e-02 9.97273377e-01 2.92631263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.890714057 meters Centerline goodness : 0.991736 Centerline is valid? [True, True] Translation: X:95.70, Y:54.98, Z:29.27 [[ 7.46320340e-01 -6.61559983e-01 7.31049885e-02 9.57006488e+01] [ 6.62190031e-01 7.49101648e-01 1.87372265e-02 5.49831017e+01] [-6.71588667e-02 3.44254214e-02 9.97148222e-01 2.92742529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.92071405699997 meters Centerline goodness : 0.992110 Centerline is valid? [True, True] Translation: X:95.74, Y:54.98, Z:29.26 [[ 7.44382587e-01 -6.66836323e-01 3.49840426e-02 9.57362076e+01] [ 6.64808525e-01 7.44996901e-01 5.48565718e-02 5.49849298e+01] [-6.26433580e-02 -1.75765871e-02 9.97881192e-01 2.92593046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.95071405699997 meters Centerline goodness : 0.992333 Centerline is valid? [True, True] Translation: X:95.76, Y:55.01, Z:29.27 [[ 7.43985635e-01 -6.66258695e-01 5.08402028e-02 9.57556227e+01] [ 6.65231702e-01 7.45696920e-01 3.74551175e-02 5.50106091e+01] [-6.28661803e-02 5.95444529e-03 9.98004202e-01 2.92653506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.98071405699997 meters Centerline goodness : 0.990803 Centerline is valid? [True, True] Translation: X:95.78, Y:55.02, Z:29.26 [[ 7.44702660e-01 -6.65961363e-01 4.37425585e-02 9.57817439e+01] [ 6.64031389e-01 7.45928066e-01 5.15134556e-02 5.50182596e+01] [-6.69347731e-02 -9.31577550e-03 9.97713863e-01 2.92584134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.01071405699997 meters Centerline goodness : 0.992935 Centerline is valid? [True, True] Translation: X:95.81, Y:55.05, Z:29.26 [[ 7.42894760e-01 -6.66162883e-01 6.58360823e-02 9.58070809e+01] [ 6.66275471e-01 7.45337130e-01 2.34426958e-02 5.50495932e+01] [-6.46867304e-02 2.64495109e-02 9.97555036e-01 2.92646151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.04071405699997 meters Centerline goodness : 0.992915 Centerline is valid? [True, True] Translation: X:95.84, Y:55.06, Z:29.25 [[ 7.42999471e-01 -6.67481952e-01 4.91897349e-02 9.58384201e+01] [ 6.65988499e-01 7.44625869e-01 4.46277216e-02 5.50587597e+01] [-6.64161478e-02 -3.98575821e-04 9.97791930e-01 2.92533281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.07071405699998 meters Centerline goodness : 0.993476 Centerline is valid? [True, True] Translation: X:95.87, Y:55.08, Z:29.26 [[ 7.40615563e-01 -6.70347226e-01 4.60780222e-02 9.58654326e+01] [ 6.68986469e-01 7.42047142e-01 4.26982968e-02 5.50765247e+01] [-6.28147494e-02 -7.97449757e-04 9.98024885e-01 2.92550959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.10071405699998 meters Centerline goodness : 0.993456 Centerline is valid? [True, True] Translation: X:95.89, Y:55.10, Z:29.25 [[ 7.40175603e-01 -6.70756302e-01 4.71811360e-02 9.58896243e+01] [ 6.69506727e-01 7.41676707e-01 4.09439165e-02 5.50956686e+01] [-6.24565396e-02 1.28239984e-03 9.98046861e-01 2.92549645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.13071405699998 meters Centerline goodness : 0.993439 Centerline is valid? [True, True] Translation: X:95.92, Y:55.12, Z:29.25 [[ 7.37583404e-01 -6.73737722e-01 4.52570819e-02 9.59176237e+01] [ 6.72697042e-01 7.38965403e-01 3.75342896e-02 5.51150459e+01] [-5.87316845e-02 2.75963604e-03 9.98269990e-01 2.92548225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.16071405699998 meters Centerline goodness : 0.994158 Centerline is valid? [True, True] Translation: X:95.94, Y:55.13, Z:29.25 [[ 7.36394382e-01 -6.75554032e-01 3.67432126e-02 9.59419310e+01] [ 6.74154323e-01 7.37269854e-01 4.41487368e-02 5.51289996e+01] [-5.69145202e-02 -7.74028613e-03 9.98349050e-01 2.92528899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.19071405699998 meters Centerline goodness : 0.994620 Centerline is valid? [True, True] Translation: X:95.97, Y:55.16, Z:29.26 [[ 7.35029204e-01 -6.75411568e-01 5.95926433e-02 9.59653774e+01] [ 6.75470111e-01 7.37052741e-01 2.22123023e-02 5.51568181e+01] [-5.89253670e-02 2.39263585e-02 9.97975616e-01 2.92555150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.22071405699998 meters Centerline goodness : 0.994363 Centerline is valid? [True, True] Translation: X:96.00, Y:55.15, Z:29.25 [[ 7.28040644e-01 -6.85509602e-01 -5.77981643e-03 9.59969796e+01] [ 6.83965821e-01 7.25779505e-01 7.37215347e-02 5.51474620e+01] [-4.63419476e-02 -5.76254705e-02 9.97262117e-01 2.92500682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.25071405699998 meters Centerline goodness : 0.992937 Centerline is valid? [True, True] Translation: X:96.01, Y:55.18, Z:29.27 [[ 7.26339019e-01 -6.86725391e-01 2.89804522e-02 9.60082097e+01] [ 6.85498394e-01 7.26833889e-01 4.24788147e-02 5.51768223e+01] [-5.02352554e-02 -1.09879672e-02 9.98676967e-01 2.92653455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.28071405699998 meters Centerline goodness : 0.993964 Centerline is valid? [True, True] Translation: X:96.03, Y:55.20, Z:29.27 [[ 7.25703652e-01 -6.86372057e-01 4.74089504e-02 9.60312998e+01] [ 6.85994017e-01 7.27127863e-01 2.64060650e-02 5.52047812e+01] [-5.25967539e-02 1.33592785e-02 9.98526470e-01 2.92672423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.31071405699998 meters Centerline goodness : 0.993733 Centerline is valid? [True, True] Translation: X:96.06, Y:55.23, Z:29.26 [[ 7.25170443e-01 -6.85083846e-01 6.91950308e-02 9.60607749e+01] [ 6.86048435e-01 7.27449284e-01 1.24532959e-02 5.52345015e+01] [-5.88674275e-02 3.84403804e-02 9.97525420e-01 2.92630371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.34071405699999 meters Centerline goodness : 0.993358 Centerline is valid? [True, True] Translation: X:96.08, Y:55.23, Z:29.25 [[ 7.16120391e-01 -6.97721468e-01 1.88769409e-02 9.60804336e+01] [ 6.96416737e-01 7.16065650e-01 4.74732871e-02 5.52328022e+01] [-4.66402605e-02 -2.08503714e-02 9.98694121e-01 2.92539540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.370714057 meters Centerline goodness : 0.992783 Centerline is valid? [True, True] Translation: X:96.11, Y:55.27, Z:29.26 [[ 7.22912572e-01 -6.88171775e-01 6.17820453e-02 9.61127159e+01] [ 6.88416334e-01 7.25022136e-01 2.06362100e-02 5.52680393e+01] [-5.89946077e-02 2.76135934e-02 9.97876308e-01 2.92563391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.400714057 meters Centerline goodness : 0.993454 Centerline is valid? [True, True] Translation: X:96.14, Y:55.29, Z:29.25 [[ 7.19967439e-01 -6.91583443e-01 5.79588534e-02 9.61446795e+01] [ 6.91840473e-01 7.21806775e-01 1.87547150e-02 5.52908136e+01] [-5.48055435e-02 2.65954964e-02 9.98142791e-01 2.92510813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.430714057 meters Centerline goodness : 0.993100 Centerline is valid? [True, True] Translation: X:96.17, Y:55.29, Z:29.24 [[ 7.19844321e-01 -6.93650580e-01 2.59427347e-02 9.61738689e+01] [ 6.91794098e-01 7.19982110e-01 5.51968043e-02 5.52923339e+01] [-5.69656002e-02 -2.17860754e-02 9.98138411e-01 2.92399231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.460714057 meters Centerline goodness : 0.992722 Centerline is valid? [True, True] Translation: X:96.19, Y:55.33, Z:29.25 [[ 7.19776038e-01 -6.91456096e-01 6.17326718e-02 9.61879387e+01] [ 6.92077181e-01 7.21684993e-01 1.41402630e-02 5.53313886e+01] [-5.43289139e-02 3.25459510e-02 9.97992550e-01 2.92493772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.490714057 meters Centerline goodness : 0.992672 Centerline is valid? [True, True] Translation: X:96.22, Y:55.33, Z:29.24 [[ 7.16027064e-01 -6.98039290e-01 6.81126223e-03 9.62206599e+01] [ 6.96602424e-01 7.15118044e-01 5.78899516e-02 5.53283473e+01] [-4.52803173e-02 -3.67060303e-02 9.98299735e-01 2.92408697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.520714057 meters Centerline goodness : 0.992152 Centerline is valid? [True, True] Translation: X:96.23, Y:55.36, Z:29.25 [[ 7.17206109e-01 -6.95967266e-01 3.52840133e-02 9.62346070e+01] [ 6.95488608e-01 7.18051676e-01 2.64080854e-02 5.53626382e+01] [-4.37149079e-02 5.59958907e-03 9.99028354e-01 2.92522949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.550714057 meters Centerline goodness : 0.991143 Centerline is valid? [True, True] Translation: X:96.26, Y:55.37, Z:29.25 [[ 7.18045111e-01 -6.95741388e-01 1.88451295e-02 9.62581464e+01] [ 6.94466008e-01 7.17998076e-01 4.68585751e-02 5.53715302e+01] [-4.61322168e-02 -2.05592690e-02 9.98723753e-01 2.92478930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.580714057 meters Centerline goodness : 0.990343 Centerline is valid? [True, True] Translation: X:96.27, Y:55.41, Z:29.26 [[ 7.20287220e-01 -6.91902013e-01 4.95774622e-02 9.62689599e+01] [ 6.92533990e-01 7.21361806e-01 5.81521734e-03 5.54071937e+01] [-3.97868483e-02 3.01454510e-02 9.98753352e-01 2.92593525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.610714057 meters Centerline goodness : 0.991376 Centerline is valid? [True, True] Translation: X:96.30, Y:55.43, Z:29.24 [[ 7.21865410e-01 -6.90293394e-01 4.90444764e-02 9.63030468e+01] [ 6.90010642e-01 7.23360322e-01 2.52023719e-02 5.54269366e+01] [-5.28738591e-02 1.56484901e-02 9.98478583e-01 2.92431291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.640714057 meters Centerline goodness : 0.991041 Centerline is valid? [True, True] Translation: X:96.33, Y:55.43, Z:29.24 [[ 7.20507588e-01 -6.93326850e-01 1.29110320e-02 9.63288915e+01] [ 6.91857571e-01 7.19991368e-01 5.42727603e-02 5.54323546e+01] [-4.69245935e-02 -3.01713404e-02 9.98442674e-01 2.92384403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.67071405699997 meters Centerline goodness : 0.992118 Centerline is valid? [True, True] Translation: X:96.34, Y:55.48, Z:29.25 [[ 7.23015701e-01 -6.87316897e-01 6.95972708e-02 9.63426621e+01] [ 6.88809726e-01 7.24934033e-01 3.43638075e-03 5.54799385e+01] [-5.28153128e-02 4.54547198e-02 9.97569251e-01 2.92477919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.70071405699997 meters Centerline goodness : 0.990471 Centerline is valid? [True, True] Translation: X:96.38, Y:55.47, Z:29.23 [[ 7.22396093e-01 -6.91250140e-01 1.78081339e-02 9.63759016e+01] [ 6.89458036e-01 7.22013143e-01 5.78328483e-02 5.54711433e+01] [-5.28346712e-02 -2.95002626e-02 9.98167437e-01 2.92281695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.73071405699997 meters Centerline goodness : 0.990471 Centerline is valid? [True, True] Translation: X:96.39, Y:55.50, Z:29.24 [[ 7.22553863e-01 -6.90229846e-01 3.87127088e-02 9.63930913e+01] [ 6.89383232e-01 7.23587550e-01 3.42317980e-02 5.55030523e+01] [-5.16398428e-02 1.95357443e-03 9.98663862e-01 2.92360290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.76071405699997 meters Centerline goodness : 0.992244 Centerline is valid? [True, True] Translation: X:96.42, Y:55.54, Z:29.24 [[ 7.20821384e-01 -6.91757782e-01 4.34476999e-02 9.64193169e+01] [ 6.91727233e-01 7.21930398e-01 1.81641194e-02 5.55361174e+01] [-4.39313862e-02 1.69608715e-02 9.98890566e-01 2.92419568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.79071405699997 meters Centerline goodness : 0.991843 Centerline is valid? [True, True] Translation: X:96.45, Y:55.55, Z:29.24 [[ 7.18828038e-01 -6.95014720e-01 1.55174519e-02 9.64457436e+01] [ 6.94024169e-01 7.18736926e-01 4.18053121e-02 5.55454127e+01] [-4.02082729e-02 -1.92813438e-02 9.99005268e-01 2.92372263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.82071405699998 meters Centerline goodness : 0.992995 Centerline is valid? [True, True] Translation: X:96.46, Y:55.58, Z:29.24 [[ 7.20329433e-01 -6.92135074e-01 4.55471919e-02 9.64647060e+01] [ 6.92262851e-01 7.21479814e-01 1.54604041e-02 5.55804972e+01] [-4.35620675e-02 2.03940448e-02 9.98842545e-01 2.92410439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.85071405699998 meters Centerline goodness : 0.993043 Centerline is valid? [True, True] Translation: X:96.49, Y:55.59, Z:29.23 [[ 7.16619121e-01 -6.97341379e-01 1.31162718e-02 9.64937595e+01] [ 6.96343174e-01 7.16406296e-01 4.32227011e-02 5.55881171e+01] [-3.95375576e-02 -2.18407878e-02 9.98979360e-01 2.92349279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.88071405699998 meters Centerline goodness : 0.992136 Centerline is valid? [True, True] Translation: X:96.51, Y:55.62, Z:29.24 [[ 7.14538995e-01 -6.98901416e-01 3.11582331e-02 9.65107674e+01] [ 6.98511825e-01 7.15202242e-01 2.38114294e-02 5.56169022e+01] [-3.89262799e-02 4.75019940e-03 9.99230794e-01 2.92407424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.91071405699998 meters Centerline goodness : 0.993642 Centerline is valid? [True, True] Translation: X:96.54, Y:55.64, Z:29.24 [[ 7.14266428e-01 -6.98641759e-01 4.15109884e-02 9.65353418e+01] [ 6.98580710e-01 7.15295442e-01 1.83690351e-02 5.56423192e+01] [-4.25259957e-02 1.58783907e-02 9.98969177e-01 2.92376863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.94071405699998 meters Centerline goodness : 0.992971 Centerline is valid? [True, True] Translation: X:96.56, Y:55.65, Z:29.23 [[ 7.12176227e-01 -7.01823530e-01 1.57719346e-02 9.65633743e+01] [ 7.00581195e-01 7.11984777e-01 4.75780128e-02 5.56502609e+01] [-4.46207462e-02 -2.28344089e-02 9.98742999e-01 2.92296712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.97071405699998 meters Centerline goodness : 0.994236 Centerline is valid? [True, True] Translation: X:96.58, Y:55.70, Z:29.24 [[ 7.11973281e-01 -6.97497291e-01 8.11885287e-02 9.65760105e+01] [ 7.00474059e-01 7.13570423e-01 -1.23832309e-02 5.57019017e+01] [-4.92964628e-02 6.56869877e-02 9.96621833e-01 2.92410067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.00071405699998 meters Centerline goodness : 0.992998 Centerline is valid? [True, True] Translation: X:96.62, Y:55.70, Z:29.22 [[ 7.11070220e-01 -7.02481805e-01 2.99742545e-02 9.66154583e+01] [ 7.00835289e-01 7.11548943e-01 5.02792154e-02 5.56960549e+01] [-5.66483830e-02 -1.47450375e-02 9.98285302e-01 2.92152273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.03071405699998 meters Centerline goodness : 0.992951 Centerline is valid? [True, True] Translation: X:96.63, Y:55.71, Z:29.22 [[ 7.07201017e-01 -7.06700604e-01 2.09994682e-02 9.66339995e+01] [ 7.05039420e-01 7.07133695e-01 5.36782460e-02 5.57127261e+01] [-5.27838804e-02 -2.31558573e-02 9.98337452e-01 2.92202589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.06071405699998 meters Centerline goodness : 0.993020 Centerline is valid? [True, True] Translation: X:96.65, Y:55.76, Z:29.23 [[ 7.06625793e-01 -7.04013429e-01 7.10287320e-02 9.66478855e+01] [ 7.05300950e-01 7.08848082e-01 9.21776356e-03 5.57562896e+01] [-5.68380097e-02 4.35831226e-02 9.97431678e-01 2.92288981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.09071405699999 meters Centerline goodness : 0.992872 Centerline is valid? [True, True] Translation: X:96.68, Y:55.78, Z:29.22 [[ 7.05198263e-01 -7.05736515e-01 6.80542498e-02 9.66788075e+01] [ 7.06761368e-01 7.07354581e-01 1.17416217e-02 5.57806623e+01] [-5.64249765e-02 3.98179435e-02 9.97612527e-01 2.92196809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.120714057 meters Centerline goodness : 0.993035 Centerline is valid? [True, True] Translation: X:96.71, Y:55.77, Z:29.20 [[ 6.96875540e-01 -7.17111771e-01 -1.07326866e-02 9.67067444e+01] [ 7.15477356e-01 6.94097331e-01 7.95050210e-02 5.57662071e+01] [-4.95644573e-02 -6.30840986e-02 9.96776686e-01 2.92027604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.150714057 meters Centerline goodness : 0.992947 Centerline is valid? [True, True] Translation: X:96.72, Y:55.82, Z:29.22 [[ 7.01987680e-01 -7.08872516e-01 6.86516780e-02 9.67161968e+01] [ 7.10195135e-01 7.03970569e-01 6.95035610e-03 5.58210508e+01] [-5.32556773e-02 4.38770234e-02 9.97616479e-01 2.92224766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.180714057 meters Centerline goodness : 0.993663 Centerline is valid? [True, True] Translation: X:96.75, Y:55.82, Z:29.21 [[ 6.98429884e-01 -7.15110936e-01 2.84964381e-02 9.67501768e+01] [ 7.13568299e-01 6.98873719e-01 4.89469907e-02 5.58243089e+01] [-5.49179400e-02 -1.38518862e-02 9.98394784e-01 2.92059285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.210714057 meters Centerline goodness : 0.993742 Centerline is valid? [True, True] Translation: X:96.77, Y:55.85, Z:29.21 [[ 6.93804243e-01 -7.19289575e-01 3.54708264e-02 9.67702924e+01] [ 7.18546800e-01 6.94704995e-01 3.27943162e-02 5.58548854e+01] [-4.82303700e-02 2.73461300e-03 9.98832495e-01 2.92124389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.240714057 meters Centerline goodness : 0.993463 Centerline is valid? [True, True] Translation: X:96.79, Y:55.88, Z:29.21 [[ 6.91864736e-01 -7.21350191e-01 3.12584211e-02 9.67919166e+01] [ 7.20502671e-01 6.92568436e-01 3.49980327e-02 5.58753316e+01] [-4.68944334e-02 -1.69212876e-03 9.98898418e-01 2.92116031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.270714057 meters Centerline goodness : 0.993440 Centerline is valid? [True, True] Translation: X:96.81, Y:55.89, Z:29.21 [[ 6.91638055e-01 -7.21734119e-01 2.71415137e-02 9.68128915e+01] [ 7.20644339e-01 6.92118421e-01 4.05441586e-02 5.58938752e+01] [-4.80472442e-02 -8.48250482e-03 9.98809046e-01 2.92099970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.300714057 meters Centerline goodness : 0.992430 Centerline is valid? [True, True] Translation: X:96.83, Y:55.92, Z:29.21 [[ 6.90435111e-01 -7.22496262e-01 3.60348244e-02 9.68301221e+01] [ 7.22027958e-01 6.91335692e-01 2.70294082e-02 5.59221000e+01] [-4.44408066e-02 7.35609824e-03 9.98984936e-01 2.92135832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.330714057 meters Centerline goodness : 0.994217 Centerline is valid? [True, True] Translation: X:96.86, Y:55.95, Z:29.21 [[ 6.88542570e-01 -7.24140480e-01 3.91112993e-02 9.68576055e+01] [ 7.23859849e-01 6.89546044e-01 2.35196157e-02 5.59498545e+01] [-4.40005475e-02 1.21168426e-02 9.98958024e-01 2.92111457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.360714057 meters Centerline goodness : 0.994058 Centerline is valid? [True, True] Translation: X:96.88, Y:55.97, Z:29.21 [[ 6.86556464e-01 -7.26548865e-01 2.76942036e-02 9.68793238e+01] [ 7.25782232e-01 6.87108700e-01 3.34930668e-02 5.59678907e+01] [-4.33632779e-02 -2.89492063e-03 9.99055176e-01 2.92073246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.390714057 meters Centerline goodness : 0.993375 Centerline is valid? [True, True] Translation: X:96.90, Y:55.99, Z:29.21 [[ 6.87912385e-01 -7.25276987e-01 2.73832695e-02 9.68963269e+01] [ 7.24402909e-01 6.88439887e-01 3.59297659e-02 5.59860104e+01] [-4.49107673e-02 -4.88001083e-03 9.98979083e-01 2.92067912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.42071405699997 meters Centerline goodness : 0.993366 Centerline is valid? [True, True] Translation: X:96.92, Y:56.02, Z:29.21 [[ 6.85514660e-01 -7.27261754e-01 3.40586493e-02 9.69171664e+01] [ 7.26867061e-01 6.86318804e-01 2.51152261e-02 5.60167950e+01] [-4.16404348e-02 7.53925464e-03 9.99104216e-01 2.92102077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.45071405699997 meters Centerline goodness : 0.993988 Centerline is valid? [True, True] Translation: X:96.94, Y:56.04, Z:29.21 [[ 6.86986579e-01 -7.25808520e-01 3.53756043e-02 9.69373318e+01] [ 7.25442537e-01 6.87841365e-01 2.46451232e-02 5.60380696e+01] [-4.22204444e-02 8.73209927e-03 9.99070160e-01 2.92085583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.48071405699997 meters Centerline goodness : 0.992743 Centerline is valid? [True, True] Translation: X:96.96, Y:56.06, Z:29.21 [[ 6.86760563e-01 -7.26102464e-01 3.36918589e-02 9.69574169e+01] [ 7.25674205e-01 6.87553722e-01 2.58230160e-02 5.60608960e+01] [-4.19151185e-02 6.71508393e-03 9.99098609e-01 2.92067141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.51071405699997 meters Centerline goodness : 0.992695 Centerline is valid? [True, True] Translation: X:96.98, Y:56.08, Z:29.20 [[ 6.86035629e-01 -7.27071611e-01 2.68698255e-02 9.69832830e+01] [ 7.25924843e-01 6.86499975e-01 4.18438364e-02 5.60800575e+01] [-4.88696001e-02 -9.20088882e-03 9.98762788e-01 2.91991010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.54071405699997 meters Centerline goodness : 0.993230 Centerline is valid? [True, True] Translation: X:97.00, Y:56.10, Z:29.20 [[ 6.84818723e-01 -7.28060890e-01 3.08327264e-02 9.70038901e+01] [ 7.27123813e-01 6.85506119e-01 3.70448653e-02 5.61043949e+01] [-4.81069402e-02 -2.94980775e-03 9.98837835e-01 2.92018602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.57071405699998 meters Centerline goodness : 0.992942 Centerline is valid? [True, True] Translation: X:97.02, Y:56.13, Z:29.21 [[ 6.84213606e-01 -7.27936392e-01 4.42758449e-02 9.70181527e+01] [ 7.28281563e-01 6.85193328e-01 1.07734789e-02 5.61342227e+01] [-3.81799209e-02 2.48739206e-02 9.98961251e-01 2.92105774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.60071405699998 meters Centerline goodness : 0.993082 Centerline is valid? [True, True] Translation: X:97.05, Y:56.15, Z:29.20 [[ 6.81821050e-01 -7.31154780e-01 2.30812527e-02 9.70470911e+01] [ 7.30012552e-01 6.82102064e-01 4.26432579e-02 5.61451513e+01] [-4.69225919e-02 -1.22254667e-02 9.98823712e-01 2.91970283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.63071405699998 meters Centerline goodness : 0.993586 Centerline is valid? [True, True] Translation: X:97.07, Y:56.17, Z:29.20 [[ 6.81353567e-01 -7.30922865e-01 3.88469068e-02 9.70665736e+01] [ 7.30276490e-01 6.82425131e-01 3.14990442e-02 5.61739965e+01] [-4.95334771e-02 6.90699658e-03 9.98748581e-01 2.91976016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.66071405699998 meters Centerline goodness : 0.991377 Centerline is valid? [True, True] Translation: X:97.09, Y:56.20, Z:29.19 [[ 6.82295235e-01 -7.29376627e-01 4.98291849e-02 9.70865140e+01] [ 7.29099070e-01 6.83877137e-01 2.69556580e-02 5.61956139e+01] [-5.37378673e-02 1.79386953e-02 9.98393933e-01 2.91934392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.69071405699998 meters Centerline goodness : 0.992707 Centerline is valid? [True, True] Translation: X:97.12, Y:56.21, Z:29.19 [[ 6.80369203e-01 -7.32287425e-01 2.92040134e-02 9.71160528e+01] [ 7.31184862e-01 6.80966438e-01 4.06621267e-02 5.62144686e+01] [-4.96633170e-02 -6.31172630e-03 9.98746072e-01 2.91880948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.72071405699998 meters Centerline goodness : 0.993103 Centerline is valid? [True, True] Translation: X:97.14, Y:56.24, Z:29.19 [[ 6.80121772e-01 -7.32194006e-01 3.64185867e-02 9.71364599e+01] [ 7.31427542e-01 6.81085982e-01 3.36991950e-02 5.62396886e+01] [-4.94785374e-02 3.71800117e-03 9.98768267e-01 2.91900309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.75071405699998 meters Centerline goodness : 0.993790 Centerline is valid? [True, True] Translation: X:97.16, Y:56.27, Z:29.19 [[ 6.80664791e-01 -7.31411837e-01 4.16193076e-02 9.71581518e+01] [ 7.30933039e-01 6.81848363e-01 2.86304494e-02 5.62650159e+01] [-4.93187064e-02 1.09331882e-02 9.98723250e-01 2.91898618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.78071405699998 meters Centerline goodness : 0.993440 Centerline is valid? [True, True] Translation: X:97.18, Y:56.28, Z:29.19 [[ 6.80517291e-01 -7.31855685e-01 3.58255884e-02 9.71833226e+01] [ 7.31017651e-01 6.81455736e-01 3.50895189e-02 5.62849743e+01] [-5.00940166e-02 2.31011315e-03 9.98741835e-01 2.91854908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.81071405699998 meters Centerline goodness : 0.994350 Centerline is valid? [True, True] Translation: X:97.21, Y:56.31, Z:29.19 [[ 6.81163967e-01 -7.30999852e-01 4.06800596e-02 9.72051120e+01] [ 7.30400107e-01 6.82322222e-01 3.08556364e-02 5.63094950e+01] [-5.03123743e-02 8.69497213e-03 9.98695681e-01 2.91859836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.84071405699999 meters Centerline goodness : 0.994610 Centerline is valid? [True, True] Translation: X:97.23, Y:56.34, Z:29.19 [[ 6.78687117e-01 -7.33376089e-01 3.92849733e-02 9.72324713e+01] [ 7.33041918e-01 6.79721093e-01 2.50755253e-02 5.63364515e+01] [-4.50926157e-02 1.17790962e-02 9.98913364e-01 2.91865199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.870714057 meters Centerline goodness : 0.995171 Centerline is valid? [True, True] Translation: X:97.26, Y:56.36, Z:29.18 [[ 6.78290375e-01 -7.34036547e-01 3.33543652e-02 9.72577903e+01] [ 7.33342879e-01 6.79104438e-01 3.20216180e-02 5.63557137e+01] [-4.61561354e-02 2.74023094e-03 9.98930479e-01 2.91813504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.900714057 meters Centerline goodness : 0.994884 Centerline is valid? [True, True] Translation: X:97.28, Y:56.37, Z:29.18 [[ 6.81632498e-01 -7.30650378e-01 3.90789225e-02 9.72775447e+01] [ 7.29849795e-01 6.82733721e-01 3.45534741e-02 5.63729177e+01] [-5.19270071e-02 4.96897270e-03 9.98638521e-01 2.91770542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.930714057 meters Centerline goodness : 0.994086 Centerline is valid? [True, True] Translation: X:97.30, Y:56.39, Z:29.18 [[ 6.81940113e-01 -7.30519734e-01 3.60361042e-02 9.72989971e+01] [ 7.29751997e-01 6.82883369e-01 3.36500705e-02 5.63930811e+01] [-4.91904968e-02 3.35008609e-03 9.98783796e-01 2.91763956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.960714057 meters Centerline goodness : 0.994643 Centerline is valid? [True, True] Translation: X:97.33, Y:56.42, Z:29.17 [[ 6.80496703e-01 -7.32027154e-01 3.25650630e-02 9.73260230e+01] [ 7.31166045e-01 6.81275368e-01 3.54977238e-02 5.64164373e+01] [-4.81710730e-02 -3.45615702e-04 9.98839040e-01 2.91745389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.990714057 meters Centerline goodness : 0.995487 Centerline is valid? [True, True] Translation: X:97.35, Y:56.44, Z:29.18 [[ 6.78824090e-01 -7.33262630e-01 3.90355086e-02 9.73488102e+01] [ 7.32978980e-01 6.79832307e-01 2.38715218e-02 5.64435663e+01] [-4.40416947e-02 1.24076431e-02 9.98952641e-01 2.91769797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.020714057 meters Centerline goodness : 0.994671 Centerline is valid? [True, True] Translation: X:97.37, Y:56.46, Z:29.17 [[ 6.80191985e-01 -7.32577644e-01 2.58623094e-02 9.73737703e+01] [ 7.31459123e-01 6.80619531e-01 4.15283712e-02 5.64561964e+01] [-4.80251492e-02 -9.33004311e-03 9.98802551e-01 2.91680682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.050714057 meters Centerline goodness : 0.995303 Centerline is valid? [True, True] Translation: X:97.39, Y:56.49, Z:29.17 [[ 6.81798597e-01 -7.30230267e-01 4.37542099e-02 9.73937118e+01] [ 7.29904832e-01 6.83053541e-01 2.60153107e-02 5.64856530e+01] [-4.88836353e-02 1.41992069e-02 9.98703546e-01 2.91707809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.080714057 meters Centerline goodness : 0.995676 Centerline is valid? [True, True] Translation: X:97.42, Y:56.50, Z:29.17 [[ 6.81597258e-01 -7.30888837e-01 3.50240651e-02 9.74191028e+01] [ 7.30078035e-01 6.82493389e-01 3.44795125e-02 5.65030746e+01] [-4.91043837e-02 2.06915945e-03 9.98791509e-01 2.91658170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.110714057 meters Centerline goodness : 0.995101 Centerline is valid? [True, True] Translation: X:97.44, Y:56.52, Z:29.16 [[ 6.81848915e-01 -7.30661031e-01 3.48785685e-02 9.74431398e+01] [ 7.29831267e-01 6.82738309e-01 3.48528859e-02 5.65249976e+01] [-4.92785804e-02 1.69106742e-03 9.98783641e-01 2.91646537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.140714057 meters Centerline goodness : 0.995153 Centerline is valid? [True, True] Translation: X:97.47, Y:56.55, Z:29.17 [[ 6.83668054e-01 -7.28400568e-01 4.50622298e-02 9.74650404e+01] [ 7.27875981e-01 6.85043672e-01 3.01947785e-02 5.65508451e+01] [-5.28634892e-02 1.21565092e-02 9.98527752e-01 2.91650589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.17071405699997 meters Centerline goodness : 0.994878 Centerline is valid? [True, True] Translation: X:97.49, Y:56.57, Z:29.16 [[ 6.84687236e-01 -7.27688491e-01 4.09004841e-02 9.74903467e+01] [ 7.26926405e-01 6.85876924e-01 3.39241180e-02 5.65719455e+01] [-5.27388884e-02 6.50423128e-03 9.98587154e-01 2.91608973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.20071405699997 meters Centerline goodness : 0.995644 Centerline is valid? [True, True] Translation: X:97.51, Y:56.60, Z:29.16 [[ 6.84669787e-01 -7.27463226e-01 4.49948617e-02 9.75137883e+01] [ 7.27403731e-01 6.85896363e-01 2.07362248e-02 5.66008319e+01] [-4.59466530e-02 1.85319637e-02 9.98771982e-01 2.91630625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.23071405699997 meters Centerline goodness : 0.994767 Centerline is valid? [True, True] Translation: X:97.53, Y:56.62, Z:29.16 [[ 6.88804376e-01 -7.23961077e-01 3.78006779e-02 9.75318663e+01] [ 7.23580459e-01 6.89770857e-01 2.54457321e-02 5.66158446e+01] [-4.44955256e-02 9.82470027e-03 9.98961272e-01 2.91601443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.26071405699997 meters Centerline goodness : 0.995645 Centerline is valid? [True, True] Translation: X:97.56, Y:56.64, Z:29.15 [[ 6.87816073e-01 -7.25283572e-01 2.95430240e-02 9.75632233e+01] [ 7.24328479e-01 6.88436376e-01 3.74648005e-02 5.66377817e+01] [-4.75110967e-02 -4.37003829e-03 9.98861151e-01 2.91533765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.29071405699997 meters Centerline goodness : 0.995325 Centerline is valid? [True, True] Translation: X:97.58, Y:56.66, Z:29.16 [[ 6.88928283e-01 -7.23964013e-01 3.54108494e-02 9.75841203e+01] [ 7.23322652e-01 6.89823672e-01 3.07838096e-02 5.66630251e+01] [-4.67136125e-02 4.40563240e-03 9.98898608e-01 2.91553907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.32071405699998 meters Centerline goodness : 0.995654 Centerline is valid? [True, True] Translation: X:97.61, Y:56.68, Z:29.15 [[ 6.91481574e-01 -7.21629373e-01 3.32307230e-02 9.76051498e+01] [ 7.20919941e-01 6.92277260e-01 3.20411364e-02 5.66843275e+01] [-4.61266990e-02 1.80083539e-03 9.98933974e-01 2.91544027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.35071405699998 meters Centerline goodness : 0.995409 Centerline is valid? [True, True] Translation: X:97.63, Y:56.71, Z:29.15 [[ 6.92376680e-01 -7.20548207e-01 3.77467238e-02 9.76274961e+01] [ 7.20073914e-01 6.93356238e-01 2.73986254e-02 5.67081459e+01] [-4.59139568e-02 8.21026184e-03 9.98911658e-01 2.91543952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.38071405699998 meters Centerline goodness : 0.995753 Centerline is valid? [True, True] Translation: X:97.65, Y:56.73, Z:29.15 [[ 6.95256490e-01 -7.18134431e-01 3.00225204e-02 9.76518326e+01] [ 7.17326915e-01 6.95900977e-01 3.41163848e-02 5.67269978e+01] [-4.53928519e-02 -2.18367604e-03 9.98966827e-01 2.91509247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.41071405699998 meters Centerline goodness : 0.994565 Centerline is valid? [True, True] Translation: X:97.67, Y:56.75, Z:29.15 [[ 6.98425522e-01 -7.14919017e-01 3.30543446e-02 9.76730040e+01] [ 7.13968472e-01 6.99203850e-01 3.69187973e-02 5.67467834e+01] [-4.95056753e-02 -2.18527036e-03 9.98771452e-01 2.91482160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.44071405699998 meters Centerline goodness : 0.994867 Centerline is valid? [True, True] Translation: X:97.69, Y:56.79, Z:29.16 [[ 7.03164827e-01 -7.07212251e-01 7.35530932e-02 9.76912457e+01] [ 7.09142738e-01 7.05064921e-01 -1.85996122e-04 5.67888161e+01] [-5.17281671e-02 5.22904278e-02 9.97291285e-01 2.91571104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.47071405699998 meters Centerline goodness : 0.994376 Centerline is valid? [True, True] Translation: X:97.73, Y:56.79, Z:29.13 [[ 7.02158701e-01 -7.11730679e-01 2.03125511e-02 9.77277638e+01] [ 7.10180600e-01 7.02108793e-01 5.18339501e-02 5.67878872e+01] [-5.11534332e-02 -2.19700793e-02 9.98449118e-01 2.91346779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.50071405699998 meters Centerline goodness : 0.995282 Centerline is valid? [True, True] Translation: X:97.75, Y:56.82, Z:29.14 [[ 7.03530784e-01 -7.09589348e-01 3.90818875e-02 9.77451835e+01] [ 7.08969317e-01 7.04586695e-01 3.03331018e-02 5.68194792e+01] [-4.90606238e-02 6.36758817e-03 9.98775505e-01 2.91435508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.53071405699998 meters Centerline goodness : 0.995099 Centerline is valid? [True, True] Translation: X:97.77, Y:56.84, Z:29.14 [[ 7.06356473e-01 -7.06754226e-01 3.94841415e-02 9.77682624e+01] [ 7.06138091e-01 7.07428975e-01 3.02198834e-02 5.68418027e+01] [-4.92902561e-02 6.53524607e-03 9.98763116e-01 2.91407430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.56071405699998 meters Centerline goodness : 0.994396 Centerline is valid? [True, True] Translation: X:97.79, Y:56.87, Z:29.14 [[ 7.12476014e-01 -6.99050108e-01 6.08841257e-02 9.77915947e+01] [ 6.98923814e-01 7.14690096e-01 2.68992202e-02 5.68694095e+01] [-6.23171844e-02 2.33883162e-02 9.97782319e-01 2.91364132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.59071405699999 meters Centerline goodness : 0.994855 Centerline is valid? [True, True] Translation: X:97.82, Y:56.90, Z:29.14 [[ 7.11995693e-01 -6.99570414e-01 6.05257680e-02 9.78172344e+01] [ 7.00057090e-01 7.13900913e-01 1.62959405e-02 5.68971472e+01] [-5.46095589e-02 3.07688535e-02 9.98033604e-01 2.91353844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.620714057 meters Centerline goodness : 0.994524 Centerline is valid? [True, True] Translation: X:97.85, Y:56.91, Z:29.12 [[ 7.13457215e-01 -6.99387059e-01 4.28549071e-02 9.78469866e+01] [ 6.98338127e-01 7.14738586e-01 3.83746643e-02 5.69095394e+01] [-5.74687993e-02 2.54853438e-03 9.98344050e-01 2.91219978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.650714057 meters Centerline goodness : 0.994524 Centerline is valid? [True, True] Translation: X:97.87, Y:56.93, Z:29.12 [[ 7.12966658e-01 -6.99837788e-01 4.36533420e-02 9.78705551e+01] [ 6.98947585e-01 7.14283656e-01 3.56529459e-02 5.69325494e+01] [-5.61321475e-02 5.09203625e-03 9.98410363e-01 2.91219893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.680714057 meters Centerline goodness : 0.994083 Centerline is valid? [True, True] Translation: X:97.89, Y:56.96, Z:29.12 [[ 7.13811186e-01 -6.99081239e-01 4.19405783e-02 9.78935275e+01] [ 6.98209207e-01 7.15029988e-01 3.51570697e-02 5.69552081e+01] [-5.45664190e-02 4.18778833e-03 9.98501361e-01 2.91225957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.710714057 meters Centerline goodness : 0.994078 Centerline is valid? [True, True] Translation: X:97.92, Y:56.98, Z:29.12 [[ 7.13557010e-01 -6.99093008e-01 4.58841979e-02 9.79181895e+01] [ 6.98637165e-01 7.14928584e-01 2.79862821e-02 5.69815394e+01] [-5.23689388e-02 1.20865982e-02 9.98554660e-01 2.91238031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.740714057 meters Centerline goodness : 0.995367 Centerline is valid? [True, True] Translation: X:97.94, Y:57.00, Z:29.12 [[ 7.14189514e-01 -6.98945626e-01 3.75279779e-02 9.79431763e+01] [ 6.97835840e-01 7.15172111e-01 3.94207135e-02 5.69967263e+01] [-5.43918985e-02 -1.96549223e-03 9.98517731e-01 2.91173183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.770714057 meters Centerline goodness : 0.994840 Centerline is valid? [True, True] Translation: X:97.96, Y:57.01, Z:29.12 [[ 7.12848898e-01 -7.00648463e-01 3.06297447e-02 9.79642353e+01] [ 6.99426994e-01 7.13453585e-01 4.22594608e-02 5.70147765e+01] [-5.14619274e-02 -8.70133983e-03 9.98637050e-01 2.91184985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.800714057 meters Centerline goodness : 0.994787 Centerline is valid? [True, True] Translation: X:97.98, Y:57.03, Z:29.12 [[ 7.10161243e-01 -7.03973925e-01 9.57717446e-03 9.79834813e+01] [ 7.02579943e-01 7.09499200e-01 5.47019948e-02 5.70257060e+01] [-4.53037756e-02 -3.21185059e-02 9.98456794e-01 2.91203212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.830714057 meters Centerline goodness : 0.994344 Centerline is valid? [True, True] Translation: X:97.99, Y:57.07, Z:29.14 [[ 7.12786156e-01 -6.98450924e-01 6.40484402e-02 9.79948497e+01] [ 6.99707927e-01 7.14418827e-01 3.81533033e-03 5.70697880e+01] [-4.84222325e-02 4.20956867e-02 9.97939497e-01 2.91363769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.860714057 meters Centerline goodness : 0.994062 Centerline is valid? [True, True] Translation: X:98.03, Y:57.08, Z:29.12 [[ 7.12571496e-01 -7.00470958e-01 3.97781371e-02 9.80290266e+01] [ 6.99930935e-01 7.13641227e-01 2.85111641e-02 5.70817903e+01] [-4.83585610e-02 7.52570582e-03 9.98801689e-01 2.91210971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.890714057 meters Centerline goodness : 0.994711 Centerline is valid? [True, True] Translation: X:98.05, Y:57.11, Z:29.12 [[ 7.13144524e-01 -6.99581546e-01 4.48391503e-02 9.80535679e+01] [ 6.99318226e-01 7.14409831e-01 2.39293332e-02 5.71065395e+01] [-4.87740497e-02 1.42917621e-02 9.98707584e-01 2.91206095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.92071405699997 meters Centerline goodness : 0.995171 Centerline is valid? [True, True] Translation: X:98.08, Y:57.10, Z:29.11 [[ 7.06377444e-01 -7.07437076e-01 -2.37421465e-02 9.80755465e+01] [ 7.06968910e-01 7.03456670e-01 7.31004409e-02 5.70992316e+01] [-3.50123909e-02 -6.84214621e-02 9.97041943e-01 2.91113676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.95071405699997 meters Centerline goodness : 0.994639 Centerline is valid? [True, True] Translation: X:98.09, Y:57.16, Z:29.14 [[ 7.15075329e-01 -6.93280890e-01 8.96040301e-02 9.80866751e+01] [ 6.96872869e-01 7.17073030e-01 -1.32088614e-02 5.71648448e+01] [-5.50951822e-02 7.18879484e-02 9.95889875e-01 2.91407677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.98071405699997 meters Centerline goodness : 0.994316 Centerline is valid? [True, True] Translation: X:98.13, Y:57.17, Z:29.11 [[ 7.16784340e-01 -6.94899581e-01 5.77475670e-02 9.81279456e+01] [ 6.94733448e-01 7.18790043e-01 2.61975365e-02 5.71727229e+01] [-5.97130333e-02 2.13411824e-02 9.97987429e-01 2.91140680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.01071405699997 meters Centerline goodness : 0.994799 Centerline is valid? [True, True] Translation: X:98.16, Y:57.17, Z:29.10 [[ 7.13848393e-01 -7.00298186e-01 1.70962429e-03 9.81564311e+01] [ 6.98483017e-01 7.12169617e-01 7.02560479e-02 5.71682612e+01] [-5.04177254e-02 -4.89580234e-02 9.97527526e-01 2.91012816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.04071405699997 meters Centerline goodness : 0.994625 Centerline is valid? [True, True] Translation: X:98.16, Y:57.23, Z:29.13 [[ 7.16871256e-01 -6.92012258e-01 8.49390201e-02 9.81604500e+01] [ 6.95150601e-01 7.18781074e-01 -1.09274922e-02 5.72264854e+01] [-5.34906014e-02 6.68790159e-02 9.96326228e-01 2.91288105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.07071405699998 meters Centerline goodness : 0.994277 Centerline is valid? [True, True] Translation: X:98.20, Y:57.23, Z:29.10 [[ 7.17586689e-01 -6.95569138e-01 3.53965749e-02 9.82044488e+01] [ 6.94187499e-01 7.18422014e-01 4.44243879e-02 5.72272533e+01] [-5.63299118e-02 -7.30648963e-03 9.98385475e-01 2.90998813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.10071405699998 meters Centerline goodness : 0.994580 Centerline is valid? [True, True] Translation: X:98.22, Y:57.24, Z:29.10 [[ 7.12964438e-01 -7.01166825e-01 6.84059959e-03 9.82210193e+01] [ 6.99991503e-01 7.12274154e-01 5.17438354e-02 5.72379004e+01] [-4.11534431e-02 -3.21031529e-02 9.98636962e-01 2.91043075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.13071405699998 meters Centerline goodness : 0.994825 Centerline is valid? [True, True] Translation: X:98.24, Y:57.26, Z:29.11 [[ 7.12378459e-01 -7.01503460e-01 2.02441879e-02 9.82362435e+01] [ 7.00584795e-01 7.12547236e-01 3.81756685e-02 5.72634389e+01] [-4.12053037e-02 -1.30127536e-02 9.99065959e-01 2.91141670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.16071405699998 meters Centerline goodness : 0.994561 Centerline is valid? [True, True] Translation: X:98.26, Y:57.29, Z:29.12 [[ 7.10702086e-01 -7.02993116e-01 2.65183578e-02 9.82560229e+01] [ 7.02305178e-01 7.11187423e-01 3.13031494e-02 5.72857706e+01] [-4.08654211e-02 -3.62323356e-03 9.99158090e-01 2.91177748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.19071405699998 meters Centerline goodness : 0.994915 Centerline is valid? [True, True] Translation: X:98.28, Y:57.34, Z:29.13 [[ 7.11919423e-01 -6.96084491e-01 9.29360897e-02 9.82768078e+01] [ 7.00886939e-01 7.12551922e-01 -3.20508711e-02 5.73420146e+01] [-4.39116750e-02 8.79553290e-02 9.95156081e-01 2.91326631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.22071405699998 meters Centerline goodness : 0.995459 Centerline is valid? [True, True] Translation: X:98.32, Y:57.29, Z:29.09 [[ 6.99027849e-01 -7.12581210e-01 -5.99006248e-02 9.83212606e+01] [ 7.14510893e-01 6.92619249e-01 9.87560644e-02 5.72946172e+01] [-2.88833902e-02 -1.11832888e-01 9.93307181e-01 2.90888361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.25071405699998 meters Centerline goodness : 0.995225 Centerline is valid? [True, True] Translation: X:98.32, Y:57.39, Z:29.14 [[ 7.06158606e-01 -7.00771960e-01 1.01285153e-01 9.83178277e+01] [ 7.07007640e-01 7.05636634e-01 -4.70864884e-02 5.73876655e+01] [-3.84736238e-02 1.04859906e-01 9.93742512e-01 2.91420703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.28071405699998 meters Centerline goodness : 0.994762 Centerline is valid? [True, True] Translation: X:98.37, Y:57.37, Z:29.09 [[ 7.04157053e-01 -7.09828061e-01 1.75205252e-02 9.83701958e+01] [ 7.08544970e-01 7.04058929e-01 4.75925462e-02 5.73686042e+01] [-4.61180070e-02 -2.10985470e-02 9.98713162e-01 2.90946010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.31071405699998 meters Centerline goodness : 0.994599 Centerline is valid? [True, True] Translation: X:98.39, Y:57.39, Z:29.10 [[ 7.02947224e-01 -7.10567457e-01 3.09691599e-02 9.83852106e+01] [ 7.09806780e-01 7.03628165e-01 3.28898244e-02 5.73937332e+01] [-4.51612121e-02 -1.13769111e-03 9.98979064e-01 2.91022862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.34071405699999 meters Centerline goodness : 0.994800 Centerline is valid? [True, True] Translation: X:98.41, Y:57.42, Z:29.10 [[ 6.99618311e-01 -7.13895596e-01 2.97875304e-02 9.84085701e+01] [ 7.13282931e-01 7.00251933e-01 2.95751732e-02 5.74158080e+01] [-4.19723616e-02 5.55604228e-04 9.99118618e-01 2.91048941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.370714057 meters Centerline goodness : 0.994659 Centerline is valid? [True, True] Translation: X:98.43, Y:57.43, Z:29.10 [[ 6.98008899e-01 -7.15887916e-01 1.69726172e-02 9.84297663e+01] [ 7.14981087e-01 6.98051087e-01 3.90733404e-02 5.74288541e+01] [-3.98198861e-02 -1.51384390e-02 9.99092190e-01 2.91039937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.400714057 meters Centerline goodness : 0.994909 Centerline is valid? [True, True] Translation: X:98.45, Y:57.46, Z:29.12 [[ 6.93974405e-01 -7.19094313e-01 3.60956147e-02 9.84486964e+01] [ 7.19278605e-01 6.94650751e-01 9.93089745e-03 5.74644524e+01] [-3.22150977e-02 1.90710147e-02 9.99298996e-01 2.91164550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.430714057 meters Centerline goodness : 0.994515 Centerline is valid? [True, True] Translation: X:98.48, Y:57.48, Z:29.11 [[ 6.93808639e-01 -7.19781778e-01 2.33187651e-02 9.84756059e+01] [ 7.19091391e-01 6.94179238e-01 3.19805727e-02 5.74761553e+01] [-3.92064361e-02 -5.42007434e-03 9.99216432e-01 2.91071974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.460714057 meters Centerline goodness : 0.994025 Centerline is valid? [True, True] Translation: X:98.50, Y:57.48, Z:29.11 [[ 6.86796690e-01 -7.26436287e-01 -2.45076882e-02 9.85005241e+01] [ 7.26411568e-01 6.84822161e-01 5.78346007e-02 5.74794367e+01] [-2.52297446e-02 -5.75232806e-02 9.98025316e-01 2.91056549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.490714057 meters Centerline goodness : 0.993983 Centerline is valid? [True, True] Translation: X:98.51, Y:57.52, Z:29.13 [[ 6.86066563e-01 -7.27412943e-01 1.35308015e-02 9.85085072e+01] [ 7.27263858e-01 6.86199928e-01 1.47289038e-02 5.75187599e+01] [-1.99988303e-02 -2.64545567e-04 9.99799968e-01 2.91273554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.520714057 meters Centerline goodness : 0.995635 Centerline is valid? [True, True] Translation: X:98.53, Y:57.54, Z:29.13 [[ 6.86069951e-01 -7.27346185e-01 1.65996432e-02 9.85314025e+01] [ 7.27261211e-01 6.86259241e-01 1.18061442e-02 5.75419319e+01] [-1.99788125e-02 3.97243582e-03 9.99792512e-01 2.91273334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.550714057 meters Centerline goodness : 0.994100 Centerline is valid? [True, True] Translation: X:98.56, Y:57.56, Z:29.13 [[ 6.85601383e-01 -7.27866628e-01 1.26852578e-02 9.85568883e+01] [ 7.27633247e-01 6.85709005e-01 1.87887747e-02 5.75620491e+01] [-2.23741176e-02 -3.65139455e-03 9.99743000e-01 2.91251089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.580714057 meters Centerline goodness : 0.993970 Centerline is valid? [True, True] Translation: X:98.58, Y:57.59, Z:29.13 [[ 6.86630179e-01 -7.26782959e-01 1.80423913e-02 9.85759114e+01] [ 7.26732359e-01 6.86841445e-01 1.04358931e-02 5.75850792e+01] [-1.99768914e-02 5.94639041e-03 9.99782759e-01 2.91273414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.610714057 meters Centerline goodness : 0.992362 Centerline is valid? [True, True] Translation: X:98.60, Y:57.61, Z:29.13 [[ 6.87850973e-01 -7.25463458e-01 2.37446932e-02 9.85966304e+01] [ 7.25479093e-01 6.88178072e-01 9.54082096e-03 5.76056530e+01] [-2.32620942e-02 1.06636155e-02 9.99672528e-01 2.91273575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.640714057 meters Centerline goodness : 0.993613 Centerline is valid? [True, True] Translation: X:98.63, Y:57.63, Z:29.12 [[ 6.87248282e-01 -7.26334697e-01 1.13007344e-02 9.86272419e+01] [ 7.25999639e-01 6.87295804e-01 2.34307849e-02 5.76253285e+01] [-2.47855394e-02 -7.89843752e-03 9.99661589e-01 2.91198339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.67071405699997 meters Centerline goodness : 0.992405 Centerline is valid? [True, True] Translation: X:98.64, Y:57.65, Z:29.13 [[ 6.87778895e-01 -7.25510509e-01 2.43863105e-02 9.86432064e+01] [ 7.25548005e-01 6.88113890e-01 8.90880936e-03 5.76493541e+01] [-2.32439938e-02 1.15661479e-02 9.99662914e-01 2.91257409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.70071405699997 meters Centerline goodness : 0.993354 Centerline is valid? [True, True] Translation: X:98.67, Y:57.67, Z:29.12 [[ 6.87213857e-01 -7.26313044e-01 1.43692862e-02 9.86747811e+01] [ 7.26007517e-01 6.87350309e-01 2.15090159e-02 5.76692783e+01] [-2.54990121e-02 -4.34908398e-03 9.99665387e-01 2.91168360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.73071405699997 meters Centerline goodness : 0.992781 Centerline is valid? [True, True] Translation: X:98.70, Y:57.69, Z:29.12 [[ 6.86180418e-01 -7.27181749e-01 1.90561927e-02 9.86988181e+01] [ 7.27017970e-01 6.86438161e-01 1.57328388e-02 5.76946392e+01] [-2.45215312e-02 3.05862864e-03 9.99694623e-01 2.91177047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.76071405699997 meters Centerline goodness : 0.992704 Centerline is valid? [True, True] Translation: X:98.72, Y:57.72, Z:29.12 [[ 6.85070498e-01 -7.28313305e-01 1.54318885e-02 9.87232450e+01] [ 7.28106866e-01 6.85243976e-01 1.73517956e-02 5.77155781e+01] [-2.32121522e-02 -6.51139275e-04 9.99730350e-01 2.91164253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.79071405699997 meters Centerline goodness : 0.992630 Centerline is valid? [True, True] Translation: X:98.75, Y:57.74, Z:29.12 [[ 6.83373690e-01 -7.29955610e-01 1.28532983e-02 9.87467066e+01] [ 7.29752554e-01 6.83489948e-01 1.73982910e-02 5.77359771e+01] [-2.14850803e-02 -2.50980708e-03 9.99766019e-01 2.91163044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.82071405699998 meters Centerline goodness : 0.991674 Centerline is valid? [True, True] Translation: X:98.77, Y:57.76, Z:29.12 [[ 6.81777330e-01 -7.31457444e-01 1.22343762e-02 9.87698850e+01] [ 7.31294521e-01 6.81885128e-01 1.55240516e-02 5.77584624e+01] [-1.96976223e-02 -1.63701413e-03 9.99804643e-01 2.91175604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.85071405699998 meters Centerline goodness : 0.992376 Centerline is valid? [True, True] Translation: X:98.79, Y:57.78, Z:29.12 [[ 6.80631280e-01 -7.32438174e-01 1.65946230e-02 9.87932138e+01] [ 7.32332726e-01 6.80825131e-01 1.28810031e-02 5.77824336e+01] [-2.07325747e-02 3.38557187e-03 9.99779325e-01 2.91184635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.88071405699998 meters Centerline goodness : 0.991102 Centerline is valid? [True, True] Translation: X:98.81, Y:57.80, Z:29.12 [[ 6.79824065e-01 -7.33252486e-01 1.34176216e-02 9.88144196e+01] [ 7.33117541e-01 6.79956409e-01 1.40695818e-02 5.78021858e+01] [-1.94399536e-02 2.71853499e-04 9.99810989e-01 2.91189124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.91071405699998 meters Centerline goodness : 0.991499 Centerline is valid? [True, True] Translation: X:98.84, Y:57.82, Z:29.12 [[ 6.80479839e-01 -7.32600918e-01 1.55911213e-02 9.88367460e+01] [ 7.32469773e-01 6.80655777e-01 1.39908659e-02 5.78244786e+01] [-2.08619080e-02 1.89952294e-03 9.99780562e-01 2.91177501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.94071405699998 meters Centerline goodness : 0.990985 Centerline is valid? [True, True] Translation: X:98.86, Y:57.85, Z:29.12 [[ 6.81042747e-01 -7.32089368e-01 1.50310916e-02 9.88577996e+01] [ 7.31978871e-01 6.81205014e-01 1.29097358e-02 5.78456867e+01] [-1.96903353e-02 2.21035957e-03 9.99803683e-01 2.91183422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.97071405699998 meters Centerline goodness : 0.991964 Centerline is valid? [True, True] Translation: X:98.88, Y:57.87, Z:29.12 [[ 6.81593893e-01 -7.31407248e-01 2.17532256e-02 9.88827699e+01] [ 7.31385978e-01 6.81884083e-01 1.04234513e-02 5.78709248e+01] [-2.24569661e-02 8.80544345e-03 9.99709032e-01 2.91161993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.00071405699998 meters Centerline goodness : 0.991992 Centerline is valid? [True, True] Translation: X:98.91, Y:57.89, Z:29.11 [[ 6.81724179e-01 -7.31487036e-01 1.33738782e-02 9.89073382e+01] [ 7.31239181e-01 6.81846836e-01 1.93429966e-02 5.78906428e+01] [-2.32680878e-02 -3.40708469e-03 9.99723456e-01 2.91116213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.03071405699998 meters Centerline goodness : 0.991146 Centerline is valid? [True, True] Translation: X:98.93, Y:57.91, Z:29.11 [[ 6.81609633e-01 -7.31456603e-01 1.94819347e-02 9.89282402e+01] [ 7.31350907e-01 6.81868997e-01 1.34358380e-02 5.79144420e+01] [-2.31118597e-02 5.09013396e-03 9.99719927e-01 2.91140167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.06071405699998 meters Centerline goodness : 0.990627 Centerline is valid? [True, True] Translation: X:98.95, Y:57.94, Z:29.11 [[ 6.81703882e-01 -7.31345840e-01 2.03243562e-02 9.89519649e+01] [ 7.31265196e-01 6.81977669e-01 1.25567886e-02 5.79382373e+01] [-2.30441122e-02 6.30248279e-03 9.99714583e-01 2.91116585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.09071405699999 meters Centerline goodness : 0.991218 Centerline is valid? [True, True] Translation: X:98.98, Y:57.96, Z:29.11 [[ 6.81841220e-01 -7.31266961e-01 1.84711271e-02 9.89753137e+01] [ 7.31134751e-01 6.82081358e-01 1.43873971e-02 5.79588843e+01] [-2.31198396e-02 3.69496255e-03 9.99725873e-01 2.91093885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.120714057 meters Centerline goodness : 0.991560 Centerline is valid? [True, True] Translation: X:99.00, Y:57.98, Z:29.11 [[ 6.82619866e-01 -7.30504551e-01 1.98297718e-02 9.89982346e+01] [ 7.30370556e-01 6.82893269e-01 1.46845019e-02 5.79809882e+01] [-2.42687131e-02 4.45914873e-03 9.99695526e-01 2.91073918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.150714057 meters Centerline goodness : 0.990379 Centerline is valid? [True, True] Translation: X:99.02, Y:58.00, Z:29.11 [[ 6.84645795e-01 -7.28531622e-01 2.24011506e-02 9.90208380e+01] [ 7.28456735e-01 6.84971002e-01 1.28651702e-02 5.80048976e+01] [-2.47168218e-02 7.51018433e-03 9.99666282e-01 2.91063468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.180714057 meters Centerline goodness : 0.990331 Centerline is valid? [True, True] Translation: X:99.04, Y:58.04, Z:29.11 [[ 6.87739713e-01 -7.23452121e-01 6.02587397e-02 9.90422305e+01] [ 7.25296890e-01 6.88282762e-01 -1.45348479e-02 5.80437371e+01] [-3.09597852e-02 5.37016686e-02 9.98076962e-01 2.91083853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.210714057 meters Centerline goodness : 0.990269 Centerline is valid? [True, True] Translation: X:99.08, Y:58.05, Z:29.09 [[ 6.89099838e-01 -7.24326574e-01 2.21907267e-02 9.90787784e+01] [ 7.23884912e-01 6.89455641e-01 2.53289072e-02 5.80498712e+01] [-3.36459223e-02 -1.39061356e-03 9.99432848e-01 2.90866591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.240714057 meters Centerline goodness : 0.991868 Centerline is valid? [True, True] Translation: X:99.09, Y:58.05, Z:29.08 [[ 6.81324603e-01 -7.30665576e-01 -4.38702660e-02 9.90931208e+01] [ 7.31673134e-01 6.78074166e-01 6.97843201e-02 5.80459824e+01] [-2.12417065e-02 -7.96444692e-02 9.96596984e-01 2.90834517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.270714057 meters Centerline goodness : 0.990299 Centerline is valid? [True, True] Translation: X:99.10, Y:58.12, Z:29.12 [[ 6.91610209e-01 -7.17208573e-01 8.53649892e-02 9.90973059e+01] [ 7.21708303e-01 6.90891944e-01 -4.24905522e-02 5.81162457e+01] [-2.85033950e-02 9.09955212e-02 9.95443304e-01 2.91226925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.300714057 meters Centerline goodness : 0.992533 Centerline is valid? [True, True] Translation: X:99.14, Y:58.08, Z:29.08 [[ 6.84494414e-01 -7.27485622e-01 -4.72447582e-02 9.91374669e+01] [ 7.28560445e-01 6.80330759e-01 7.96852386e-02 5.80816195e+01] [-2.58278032e-02 -8.89647627e-02 9.95699852e-01 2.90776532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.330714057 meters Centerline goodness : 0.991271 Centerline is valid? [True, True] Translation: X:99.14, Y:58.14, Z:29.11 [[ 6.93186702e-01 -7.18453013e-01 5.75974317e-02 9.91441082e+01] [ 7.20081913e-01 6.93782244e-01 -1.21752518e-02 5.81436240e+01] [-3.12127291e-02 4.99145914e-02 9.98265646e-01 2.91133729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.360714057 meters Centerline goodness : 0.992736 Centerline is valid? [True, True] Translation: X:99.18, Y:58.17, Z:29.10 [[ 6.96829926e-01 -7.13727252e-01 7.08622850e-02 9.91787471e+01] [ 7.16020550e-01 6.97995469e-01 -1.08119390e-02 5.81740784e+01] [-4.17447783e-02 5.82729349e-02 9.97427510e-01 2.91016381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.390714057 meters Centerline goodness : 0.993794 Centerline is valid? [True, True] Translation: X:99.22, Y:58.19, Z:29.09 [[ 6.95587059e-01 -7.17544723e-01 3.58917000e-02 9.92162451e+01] [ 7.17698561e-01 6.96271634e-01 1.07045829e-02 5.81887748e+01] [-3.26713896e-02 1.83134521e-02 9.99298353e-01 2.90856475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.42071405699997 meters Centerline goodness : 0.993363 Centerline is valid? [True, True] Translation: X:99.24, Y:58.20, Z:29.08 [[ 6.97216507e-01 -7.16519633e-01 2.21078494e-02 9.92425265e+01] [ 7.15975162e-01 6.97556440e-01 2.81883025e-02 5.82014873e+01] [-3.56189449e-02 -3.82467878e-03 9.99358125e-01 2.90764623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.45071405699997 meters Centerline goodness : 0.993067 Centerline is valid? [True, True] Translation: X:99.26, Y:58.22, Z:29.08 [[ 6.99767142e-01 -7.14038524e-01 2.17929642e-02 9.92642151e+01] [ 7.13110386e-01 7.00018703e-01 3.80446256e-02 5.82197224e+01] [-4.24208108e-02 -1.10815898e-02 9.99038374e-01 2.90750406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.48071405699997 meters Centerline goodness : 0.993030 Centerline is valid? [True, True] Translation: X:99.28, Y:58.24, Z:29.08 [[ 6.98930936e-01 -7.14871624e-01 2.13098082e-02 9.92811168e+01] [ 7.14423679e-01 6.99251069e-01 2.54312782e-02 5.82435827e+01] [-3.30810053e-02 -2.55047556e-03 9.99449420e-01 2.90809178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.51071405699997 meters Centerline goodness : 0.992695 Centerline is valid? [True, True] Translation: X:99.30, Y:58.26, Z:29.08 [[ 6.99525860e-01 -7.14260037e-01 2.22748986e-02 9.93028397e+01] [ 7.13779295e-01 6.99875905e-01 2.63217545e-02 5.82641970e+01] [-3.43902421e-02 -2.51338654e-03 9.99405320e-01 2.90809512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.54071405699997 meters Centerline goodness : 0.992695 Centerline is valid? [True, True] Translation: X:99.33, Y:58.29, Z:29.08 [[ 6.99072606e-01 -7.14607728e-01 2.51651636e-02 9.93253130e+01] [ 7.14285390e-01 6.99519637e-01 2.16485573e-02 5.82883274e+01] [-3.30737524e-02 2.84119534e-03 9.99448875e-01 2.90827920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.57071405699998 meters Centerline goodness : 0.992761 Centerline is valid? [True, True] Translation: X:99.35, Y:58.31, Z:29.08 [[ 6.98828128e-01 -7.14993494e-01 2.05803541e-02 9.93481753e+01] [ 7.14591478e-01 6.99127918e-01 2.40660218e-02 5.83074135e+01] [-3.15953492e-02 -2.11146732e-03 9.99498512e-01 2.90806715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.60071405699998 meters Centerline goodness : 0.990409 Centerline is valid? [True, True] Translation: X:99.37, Y:58.32, Z:29.07 [[ 7.01583811e-01 -7.12435473e-01 1.46919010e-02 9.93692335e+01] [ 7.11570537e-01 7.01534994e-01 3.89361554e-02 5.83176700e+01] [-3.80463810e-02 -1.68626524e-02 9.99133687e-01 2.90713241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.63071405699998 meters Centerline goodness : 0.992541 Centerline is valid? [True, True] Translation: X:99.39, Y:58.35, Z:29.08 [[ 6.99378873e-01 -7.14254097e-01 2.66510236e-02 9.93878898e+01] [ 7.14124643e-01 6.99840772e-01 1.57761660e-02 5.83496557e+01] [-2.99196641e-02 7.99863551e-03 9.99520303e-01 2.90832655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.66071405699998 meters Centerline goodness : 0.993210 Centerline is valid? [True, True] Translation: X:99.41, Y:58.39, Z:29.09 [[ 6.98380889e-01 -7.13508182e-01 5.63046057e-02 9.94101929e+01] [ 7.15295951e-01 6.98525523e-01 -2.03419564e-02 5.83915201e+01] [-2.48160518e-02 5.44808901e-02 9.98206390e-01 2.90916727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.69071405699998 meters Centerline goodness : 0.989343 Centerline is valid? [True, True] Translation: X:99.45, Y:58.35, Z:29.03 [[ 6.96252891e-01 -7.16316759e-01 -4.60674829e-02 9.94521559e+01] [ 7.16584360e-01 6.89915782e-01 1.02582013e-01 5.83498818e+01] [-4.16985317e-02 -1.04434261e-01 9.93657244e-01 2.90295769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.72071405699998 meters Centerline goodness : 0.992889 Centerline is valid? [True, True] Translation: X:99.44, Y:58.45, Z:29.12 [[ 6.99865654e-01 -7.06457962e-01 1.05381276e-01 9.94387253e+01] [ 7.13780436e-01 6.97214532e-01 -6.64032060e-02 5.84505044e+01] [-2.65622834e-02 1.21692416e-01 9.92212377e-01 2.91178790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.75071405699998 meters Centerline goodness : 0.992102 Centerline is valid? [True, True] Translation: X:99.50, Y:58.41, Z:29.05 [[ 6.99794172e-01 -7.13493105e-01 -3.48669600e-02 9.94992434e+01] [ 7.13597875e-01 6.95998421e-01 7.97763795e-02 5.84060043e+01] [-3.26525476e-02 -8.07080341e-02 9.96202803e-01 2.90532675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.78071405699998 meters Centerline goodness : 0.991815 Centerline is valid? [True, True] Translation: X:99.50, Y:58.46, Z:29.09 [[ 6.99743117e-01 -7.13606195e-01 3.35524787e-02 9.94991499e+01] [ 7.13779615e-01 7.00317562e-01 8.60081359e-03 5.84591485e+01] [-2.96349839e-02 1.79307152e-02 9.99399949e-01 2.90869686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.81071405699998 meters Centerline goodness : 0.991152 Centerline is valid? [True, True] Translation: X:99.53, Y:58.48, Z:29.08 [[ 7.02149882e-01 -7.10885636e-01 4.03380110e-02 9.95267917e+01] [ 7.11121195e-01 7.02988375e-01 1.06766629e-02 5.84812234e+01] [-3.59470391e-02 2.11885970e-02 9.99129048e-01 2.90788605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.84071405699999 meters Centerline goodness : 0.992669 Centerline is valid? [True, True] Translation: X:99.56, Y:58.51, Z:29.08 [[ 6.97840535e-01 -7.15816424e-01 2.50087051e-02 9.95551347e+01] [ 7.15887142e-01 6.98174733e-01 7.59232776e-03 5.85065291e+01] [-2.28951589e-02 1.26051763e-02 9.99658402e-01 2.90805242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.870714057 meters Centerline goodness : 0.992752 Centerline is valid? [True, True] Translation: X:99.58, Y:58.51, Z:29.07 [[ 6.97253828e-01 -7.16821446e-01 2.02818252e-03 9.95819998e+01] [ 7.16449972e-01 6.96978343e-01 3.03418321e-02 5.85148110e+01] [-2.31632753e-02 -1.97028673e-02 9.99537523e-01 2.90706522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.900714057 meters Centerline goodness : 0.992775 Centerline is valid? [True, True] Translation: X:99.60, Y:58.54, Z:29.07 [[ 6.97442069e-01 -7.16586842e-01 8.82366324e-03 9.95990575e+01] [ 7.16278734e-01 6.97428041e-01 2.32143004e-02 5.85359571e+01] [-2.27889324e-02 -9.87042740e-03 9.99691572e-01 2.90748615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.930714057 meters Centerline goodness : 0.993500 Centerline is valid? [True, True] Translation: X:99.62, Y:58.57, Z:29.08 [[ 6.95042867e-01 -7.18729291e-01 1.85369436e-02 9.96199038e+01] [ 7.18752412e-01 6.95234965e-01 6.58127420e-03 5.85651369e+01] [-1.76176859e-02 8.74920526e-03 9.99806516e-01 2.90823930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.960714057 meters Centerline goodness : 0.992470 Centerline is valid? [True, True] Translation: X:99.65, Y:58.58, Z:29.07 [[ 6.95130810e-01 -7.18861086e-01 5.64766601e-03 9.96470902e+01] [ 7.18529042e-01 6.95013440e-01 2.59294279e-02 5.85781944e+01] [-2.25648604e-02 -1.39663322e-02 9.99647822e-01 2.90746054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.990714057 meters Centerline goodness : 0.992593 Centerline is valid? [True, True] Translation: X:99.67, Y:58.60, Z:29.08 [[ 6.95175268e-01 -7.18787392e-01 8.71961500e-03 9.96653000e+01] [ 7.18584658e-01 6.95200397e-01 1.82345114e-02 5.85996235e+01] [-1.91686167e-02 -6.41039978e-03 9.99795715e-01 2.90792700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.020714057 meters Centerline goodness : 0.992553 Centerline is valid? [True, True] Translation: X:99.68, Y:58.62, Z:29.08 [[ 6.96475284e-01 -7.17485839e-01 1.16725770e-02 9.96846142e+01] [ 7.17378993e-01 6.96573045e-01 1.23844142e-02 5.86222847e+01] [-1.70164443e-02 -2.51776914e-04 9.99855178e-01 2.90841293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.050714057 meters Centerline goodness : 0.992165 Centerline is valid? [True, True] Translation: X:99.71, Y:58.64, Z:29.08 [[ 6.97363923e-01 -7.16625559e-01 1.14615187e-02 9.97070548e+01] [ 7.16500068e-01 6.97457113e-01 1.34620795e-02 5.86432093e+01] [-1.76411880e-02 -1.17578966e-03 9.99843691e-01 2.90839456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.080714057 meters Centerline goodness : 0.992583 Centerline is valid? [True, True] Translation: X:99.73, Y:58.67, Z:29.08 [[ 6.97760703e-01 -7.16228854e-01 1.20925955e-02 9.97327937e+01] [ 7.16102953e-01 6.97865105e-01 1.34482693e-02 5.86674592e+01] [-1.80710389e-02 -7.24130431e-04 9.99836443e-01 2.90839368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.110714057 meters Centerline goodness : 0.993088 Centerline is valid? [True, True] Translation: X:99.76, Y:58.70, Z:29.08 [[ 7.00967067e-01 -7.12823629e-01 2.29705110e-02 9.97598689e+01] [ 7.12914145e-01 7.01230449e-01 5.41112413e-03 5.86969142e+01] [-1.99647989e-02 1.25829824e-02 9.99721499e-01 2.90844804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.140714057 meters Centerline goodness : 0.993477 Centerline is valid? [True, True] Translation: X:99.79, Y:58.72, Z:29.08 [[ 7.01879562e-01 -7.12171826e-01 1.32804670e-02 9.97852307e+01] [ 7.12086235e-01 7.02003314e-01 1.11598177e-02 5.87167830e+01] [-1.72706396e-02 1.62398982e-03 9.99849533e-01 2.90829606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.17071405699997 meters Centerline goodness : 0.993928 Centerline is valid? [True, True] Translation: X:99.81, Y:58.73, Z:29.08 [[ 7.01423100e-01 -7.12733885e-01 -4.00558925e-03 9.98111737e+01] [ 7.12563774e-01 7.01106767e-01 2.64984730e-02 5.87326770e+01] [-1.60780138e-02 -2.14408788e-02 9.99640829e-01 2.90812682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.20071405699997 meters Centerline goodness : 0.994165 Centerline is valid? [True, True] Translation: X:99.83, Y:58.77, Z:29.09 [[ 7.01142533e-01 -7.12949307e-01 1.01209706e-02 9.98280932e+01] [ 7.12982431e-01 7.01181742e-01 4.67222072e-04 5.87650776e+01] [-7.42974544e-03 6.88848494e-03 9.99948673e-01 2.90940781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.23071405699997 meters Centerline goodness : 0.992302 Centerline is valid? [True, True] Translation: X:99.85, Y:58.77, Z:29.09 [[ 7.01667807e-01 -7.12438928e-01 -9.64689046e-03 9.98508897e+01] [ 7.12426744e-01 7.01327500e-01 2.42460723e-02 5.87730093e+01] [-1.05082162e-02 -2.38853911e-02 9.99659475e-01 2.90889384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.26071405699997 meters Centerline goodness : 0.992481 Centerline is valid? [True, True] Translation: X:99.87, Y:58.80, Z:29.10 [[ 7.01272873e-01 -7.12867295e-01 6.04790994e-03 9.98690987e+01] [ 7.12832711e-01 7.01298666e-01 7.05042494e-03 5.88023564e+01] [-9.26740853e-03 -6.33123711e-04 9.99956856e-01 2.90973726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.29071405699997 meters Centerline goodness : 0.993021 Centerline is valid? [True, True] Translation: X:99.89, Y:58.82, Z:29.10 [[ 6.98729821e-01 -7.15382506e-01 -2.12299549e-03 9.98929902e+01] [ 7.15370879e-01 6.98693235e-01 8.50111478e-03 5.88220169e+01] [-4.59822621e-03 -7.45871156e-03 9.99961611e-01 2.90967456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.32071405699998 meters Centerline goodness : 0.992984 Centerline is valid? [True, True] Translation: X:99.91, Y:58.85, Z:29.10 [[ 6.98715398e-01 -7.15106621e-01 2.04771281e-02 9.99104428e+01] [ 7.15342324e-01 6.98735700e-01 -7.33358149e-03 5.88510294e+01] [-9.06380777e-03 1.97722427e-02 9.99763425e-01 2.91014092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.35071405699998 meters Centerline goodness : 0.992742 Centerline is valid? [True, True] Translation: X:99.94, Y:58.86, Z:29.09 [[ 6.96864491e-01 -7.17175424e-01 -6.26836600e-03 9.99416289e+01] [ 7.17167984e-01 6.96717891e-01 1.59456482e-02 5.88625257e+01] [-7.06854424e-03 -1.56074274e-02 9.99853211e-01 2.90908648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.38071405699998 meters Centerline goodness : 0.991416 Centerline is valid? [True, True] Translation: X:99.96, Y:58.89, Z:29.10 [[ 6.94827531e-01 -7.19118285e-01 9.14296382e-03 9.99605064e+01] [ 7.19131796e-01 6.94869881e-01 2.30416574e-03 5.88886645e+01] [-8.01013789e-03 4.97399820e-03 9.99955548e-01 2.90970768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.41071405699998 meters Centerline goodness : 0.991856 Centerline is valid? [True, True] Translation: X:99.98, Y:58.91, Z:29.10 [[ 6.94277902e-01 -7.19568413e-01 1.41242462e-02 9.99845320e+01] [ 7.19639614e-01 6.94347768e-01 5.94729527e-05 5.89122265e+01] [-9.84993367e-03 1.01230763e-02 9.99900246e-01 2.90963209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.44071405699998 meters Centerline goodness : 0.992058 Centerline is valid? [True, True] Translation: X:100.01, Y:58.93, Z:29.09 [[ 6.92090165e-01 -7.21754088e-01 9.06861195e-03 1.00010823e+02] [ 7.21731464e-01 6.92145803e-01 6.15470640e-03 5.89314311e+01] [-1.07189862e-02 2.28549081e-03 9.99939938e-01 2.90921389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.47071405699998 meters Centerline goodness : 0.991705 Centerline is valid? [True, True] Translation: X:100.04, Y:58.95, Z:29.09 [[ 6.91202920e-01 -7.22648534e-01 4.19761672e-03 1.00035904e+02] [ 7.22556417e-01 6.91190181e-01 1.29752807e-02 5.89502189e+01] [-1.22779190e-02 -5.93553699e-03 9.99907007e-01 2.90898687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.50071405699998 meters Centerline goodness : 0.991106 Centerline is valid? [True, True] Translation: X:100.06, Y:58.98, Z:29.09 [[ 6.91327410e-01 -7.22409135e-01 1.38366956e-02 1.00055091e+02] [ 7.22465944e-01 6.91405408e-01 1.23389914e-03 5.89753680e+01] [-1.04581461e-02 9.14351302e-03 9.99903507e-01 2.90939597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.53071405699998 meters Centerline goodness : 0.991935 Centerline is valid? [True, True] Translation: X:100.08, Y:59.00, Z:29.09 [[ 6.91248269e-01 -7.22242746e-01 2.32647006e-02 1.00079837e+02] [ 7.22507381e-01 6.91346438e-01 -4.81529073e-03 5.90008048e+01] [-1.26061591e-02 2.01374793e-02 9.99717744e-01 2.90914205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.56071405699998 meters Centerline goodness : 0.993212 Centerline is valid? [True, True] Translation: X:100.11, Y:59.02, Z:29.08 [[ 6.88996898e-01 -7.24698918e-01 9.73413798e-03 1.00112114e+02] [ 7.24677815e-01 6.89060019e-01 6.19308046e-03 5.90212252e+01] [-1.11955240e-02 2.78710062e-03 9.99933444e-01 2.90841105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.59071405699999 meters Centerline goodness : 0.991799 Centerline is valid? [True, True] Translation: X:100.13, Y:59.04, Z:29.08 [[ 6.91091111e-01 -7.22720017e-01 8.29780211e-03 1.00133802e+02] [ 7.22561360e-01 6.91122605e-01 1.59569958e-02 5.90362912e+01] [-1.72672389e-02 -5.03206678e-03 9.99838247e-01 2.90792196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.620714057 meters Centerline goodness : 0.991708 Centerline is valid? [True, True] Translation: X:100.15, Y:59.06, Z:29.08 [[ 6.91561519e-01 -7.22179284e-01 1.41332263e-02 1.00153355e+02] [ 7.22121711e-01 6.91697264e-01 9.75341241e-03 5.90593578e+01] [-1.68196263e-02 3.46082483e-03 9.99852551e-01 2.90818153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.650714057 meters Centerline goodness : 0.993785 Centerline is valid? [True, True] Translation: X:100.18, Y:59.09, Z:29.08 [[ 6.89897061e-01 -7.23543911e-01 2.29402302e-02 1.00180097e+02] [ 7.23769088e-01 6.90038366e-01 -2.31508402e-03 5.90907465e+01] [-1.41545740e-02 1.82005992e-02 9.99734158e-01 2.90838007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.680714057 meters Centerline goodness : 0.992988 Centerline is valid? [True, True] Translation: X:100.21, Y:59.10, Z:29.07 [[ 6.95129127e-01 -7.18741172e-01 1.43744327e-02 1.00205842e+02] [ 7.18541090e-01 6.95276104e-01 1.70247360e-02 5.91027878e+01] [-2.22305783e-02 -1.50576937e-03 9.99751736e-01 2.90720431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.710714057 meters Centerline goodness : 0.992659 Centerline is valid? [True, True] Translation: X:100.22, Y:59.13, Z:29.08 [[ 6.96930938e-01 -7.16758669e-01 2.33297578e-02 1.00222732e+02] [ 7.16888758e-01 6.97177768e-01 3.69720514e-03 5.91274734e+01] [-1.89149923e-02 1.41481445e-02 9.99720988e-01 2.90761138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.740714057 meters Centerline goodness : 0.992381 Centerline is valid? [True, True] Translation: X:100.25, Y:59.15, Z:29.07 [[ 6.99862882e-01 -7.13856244e-01 2.45195755e-02 1.00250490e+02] [ 7.13937771e-01 7.00176188e-01 6.79447105e-03 5.91505598e+01] [-2.20182985e-02 1.27502530e-02 9.99676260e-01 2.90701129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.770714057 meters Centerline goodness : 0.992984 Centerline is valid? [True, True] Translation: X:100.28, Y:59.17, Z:29.06 [[ 6.99770839e-01 -7.14249384e-01 1.29842417e-02 1.00281031e+02] [ 7.13991246e-01 6.99876594e-01 1.97295402e-02 5.91704148e+01] [-2.31791788e-02 -4.53552196e-03 9.99721038e-01 2.90639198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.800714057 meters Centerline goodness : 0.992234 Centerline is valid? [True, True] Translation: X:100.30, Y:59.19, Z:29.06 [[ 7.00766712e-01 -7.13205458e-01 1.62477559e-02 1.00302009e+02] [ 7.13010145e-01 7.00955035e-01 1.66904689e-02 5.91935317e+01] [-2.32926798e-02 -1.11310232e-04 9.99728683e-01 2.90649130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.830714057 meters Centerline goodness : 0.993030 Centerline is valid? [True, True] Translation: X:100.32, Y:59.24, Z:29.07 [[ 6.99934451e-01 -7.12700581e-01 4.63642786e-02 1.00324093e+02] [ 7.13872556e-01 7.00117584e-01 -1.48775683e-02 5.92350968e+01] [-2.18571951e-02 4.35115087e-02 9.98813802e-01 2.90729512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.860714057 meters Centerline goodness : 0.993005 Centerline is valid? [True, True] Translation: X:100.36, Y:59.24, Z:29.06 [[ 7.00312730e-01 -7.13659433e-01 1.58837868e-02 1.00359618e+02] [ 7.13450856e-01 7.00492422e-01 1.72697223e-02 5.92444620e+01] [-2.34511725e-02 -7.61905091e-04 9.99724693e-01 2.90553724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.890714057 meters Centerline goodness : 0.993073 Centerline is valid? [True, True] Translation: X:100.38, Y:59.26, Z:29.05 [[ 6.97255089e-01 -7.16797862e-01 -6.01378952e-03 1.00382503e+02] [ 7.16583094e-01 6.96780041e-01 3.17213504e-02 5.92565392e+01] [-1.85475076e-02 -2.64272529e-02 9.99478659e-01 2.90540503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.92071405699997 meters Centerline goodness : 0.993080 Centerline is valid? [True, True] Translation: X:100.40, Y:59.29, Z:29.06 [[ 6.94182827e-01 -7.19733226e-01 9.71010340e-03 1.00397706e+02] [ 7.19613051e-01 6.94246997e-01 1.33477739e-02 5.92857580e+01] [-1.63480465e-02 -2.27827831e-03 9.99863766e-01 2.90638244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.95071405699997 meters Centerline goodness : 0.993309 Centerline is valid? [True, True] Translation: X:100.42, Y:59.31, Z:29.07 [[ 6.92242139e-01 -7.21524460e-01 1.42574059e-02 1.00419774e+02] [ 7.21475127e-01 6.92378172e-01 9.27946199e-03 5.93096949e+01] [-1.65668754e-02 3.86272910e-03 9.99855299e-01 2.90651592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.98071405699997 meters Centerline goodness : 0.992969 Centerline is valid? [True, True] Translation: X:100.44, Y:59.33, Z:29.06 [[ 6.90271400e-01 -7.23437456e-01 1.27922584e-02 1.00443621e+02] [ 7.23355308e-01 6.90387969e-01 1.10250048e-02 5.93308837e+01] [-1.68075227e-02 1.64310248e-03 9.99857394e-01 2.90637812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.01071405699997 meters Centerline goodness : 0.992528 Centerline is valid? [True, True] Translation: X:100.47, Y:59.35, Z:29.06 [[ 6.85027573e-01 -7.28498576e-01 5.20087928e-03 1.00466781e+02] [ 7.28352897e-01 6.85007265e-01 1.63433272e-02 5.93485927e+01] [-1.54687307e-02 -7.40755425e-03 9.99852912e-01 2.90629919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.04071405699997 meters Centerline goodness : 0.993926 Centerline is valid? [True, True] Translation: X:100.49, Y:59.37, Z:29.07 [[ 6.82056593e-01 -7.31273416e-01 6.16405249e-03 1.00487509e+02] [ 7.31167959e-01 6.82069582e-01 1.32099039e-02 5.93707205e+01] [-1.38643643e-02 -4.50294439e-03 9.99893746e-01 2.90662220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.07071405699998 meters Centerline goodness : 0.991787 Centerline is valid? [True, True] Translation: X:100.50, Y:59.38, Z:29.06 [[ 6.80626130e-01 -7.32630613e-01 -6.75820612e-04 1.00504478e+02] [ 7.32490984e-01 6.80477804e-01 2.01721795e-02 5.93816980e+01] [-1.43188753e-02 -1.42247450e-02 9.99796292e-01 2.90648132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.10071405699998 meters Centerline goodness : 0.993208 Centerline is valid? [True, True] Translation: X:100.53, Y:59.41, Z:29.07 [[ 6.71816623e-01 -7.40696944e-01 5.51930400e-03 1.00528763e+02] [ 7.40661119e-01 6.71838771e-01 7.33294695e-03 5.94126281e+01] [-9.13957381e-03 -8.38461779e-04 9.99957882e-01 2.90717196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.13071405699998 meters Centerline goodness : 0.992899 Centerline is valid? [True, True] Translation: X:100.55, Y:59.43, Z:29.07 [[ 6.69681425e-01 -7.42643908e-01 2.61065412e-03 1.00551897e+02] [ 7.42606067e-01 6.69676603e-01 8.33523603e-03 5.94339547e+01] [-7.93840624e-03 -3.64326515e-03 9.99961853e-01 2.90723888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.16071405699998 meters Centerline goodness : 0.993731 Centerline is valid? [True, True] Translation: X:100.57, Y:59.46, Z:29.07 [[ 6.68048197e-01 -7.44109556e-01 3.54623948e-03 1.00572763e+02] [ 7.44086152e-01 6.68056109e-01 6.06898402e-03 5.94562593e+01] [-6.88507595e-03 -1.41566614e-03 9.99975296e-01 2.90738150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.19071405699998 meters Centerline goodness : 0.994602 Centerline is valid? [True, True] Translation: X:100.58, Y:59.47, Z:29.08 [[ 6.62982487e-01 -7.48540503e-01 -1.18885331e-02 1.00582594e+02] [ 7.48634685e-01 6.62886499e-01 1.12959085e-02 5.94738309e+01] [-5.74696938e-04 -1.63891578e-02 9.99865524e-01 2.90755593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.22071405699998 meters Centerline goodness : 0.994247 Centerline is valid? [True, True] Translation: X:100.61, Y:59.51, Z:29.08 [[ 6.66728449e-01 -7.45177546e-01 1.35499267e-02 1.00608070e+02] [ 7.45292324e-01 6.66697073e-01 -7.37325631e-03 5.95053083e+01] [-3.53931145e-03 1.50146161e-02 9.99881010e-01 2.90803218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.25071405699998 meters Centerline goodness : 0.994203 Centerline is valid? [True, True] Translation: X:100.63, Y:59.52, Z:29.07 [[ 6.66279644e-01 -7.45700984e-01 1.21555703e-03 1.00631464e+02] [ 7.45686598e-01 6.66275488e-01 5.33590249e-03 5.95206729e+01] [-4.78888359e-03 -2.64877863e-03 9.99985025e-01 2.90746764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.28071405699998 meters Centerline goodness : 0.994789 Centerline is valid? [True, True] Translation: X:100.65, Y:59.54, Z:29.08 [[ 6.66161650e-01 -7.45807383e-01 6.22773419e-05 1.00649449e+02] [ 7.45787385e-01 6.66144394e-01 7.26789500e-03 5.95413243e+01] [-5.46193545e-03 -4.79514727e-03 9.99973587e-01 2.90760689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.31071405699998 meters Centerline goodness : 0.995346 Centerline is valid? [True, True] Translation: X:100.67, Y:59.56, Z:29.08 [[ 6.65771228e-01 -7.46149242e-01 3.15906945e-03 1.00667646e+02] [ 7.46133560e-01 6.65778085e-01 4.92467673e-03 5.95628909e+01] [-5.77778302e-03 -9.21620342e-04 9.99982884e-01 2.90781601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.34071405699999 meters Centerline goodness : 0.994704 Centerline is valid? [True, True] Translation: X:100.68, Y:59.58, Z:29.08 [[ 6.65526603e-01 -7.46334306e-01 7.71004655e-03 1.00684496e+02] [ 7.46347936e-01 6.65554281e-01 1.50272958e-03 5.95847114e+01] [-6.25299313e-03 4.75427082e-03 9.99969148e-01 2.90781507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.370714057 meters Centerline goodness : 0.994416 Centerline is valid? [True, True] Translation: X:100.70, Y:59.61, Z:29.08 [[ 6.65983891e-01 -7.45771933e-01 1.70200239e-02 1.00704351e+02] [ 7.45924702e-01 6.66013988e-01 -4.65898766e-03 5.96088336e+01] [-7.86103178e-03 1.57984670e-02 9.99844294e-01 2.90761206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.400714057 meters Centerline goodness : 0.994259 Centerline is valid? [True, True] Translation: X:100.73, Y:59.62, Z:29.07 [[ 6.62498372e-01 -7.48972816e-01 -1.16459895e-02 1.00729615e+02] [ 7.49031443e-01 6.62246570e-01 1.95289049e-02 5.96185345e+01] [-6.91410223e-03 -2.16610800e-02 9.99741463e-01 2.90682606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.430714057 meters Centerline goodness : 0.994255 Centerline is valid? [True, True] Translation: X:100.74, Y:59.64, Z:29.08 [[ 6.60980988e-01 -7.50396693e-01 2.98938901e-03 1.00742908e+02] [ 7.50389628e-01 6.60987742e-01 3.25747283e-03 5.96449733e+01] [-4.42034634e-03 9.00788970e-05 9.99990226e-01 2.90767704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.460714057 meters Centerline goodness : 0.994255 Centerline is valid? [True, True] Translation: X:100.76, Y:59.66, Z:29.08 [[ 6.60555343e-01 -7.50770316e-01 3.25148016e-03 1.00762939e+02] [ 7.50764533e-01 6.60563178e-01 2.98396335e-03 5.96649108e+01] [-4.38807918e-03 4.70023052e-04 9.99990262e-01 2.90769956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.490714057 meters Centerline goodness : 0.993387 Centerline is valid? [True, True] Translation: X:100.77, Y:59.68, Z:29.08 [[ 6.56775682e-01 -7.54086001e-01 -7.62821096e-05 1.00771372e+02] [ 7.54086005e-01 6.56775680e-01 5.22266827e-05 5.96829754e+01] [ 1.07168239e-05 -9.18244863e-05 9.99999996e-01 2.90771122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.520714057 meters Centerline goodness : 0.992334 Centerline is valid? [True, True] Translation: X:100.80, Y:59.71, Z:29.08 [[ 6.59377470e-01 -7.51759762e-01 8.86633001e-03 1.00796649e+02] [ 7.51811196e-01 6.59313135e-01 -9.27988312e-03 5.97058600e+01] [ 1.13055489e-03 1.27847520e-02 9.99917633e-01 2.90799070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.550714057 meters Centerline goodness : 0.994195 Centerline is valid? [True, True] Translation: X:100.83, Y:59.73, Z:29.07 [[ 6.55523161e-01 -7.55154995e-01 -5.50635327e-03 1.00828118e+02] [ 7.55175052e-01 6.55504163e-01 4.99323475e-03 5.97261003e+01] [-1.61228672e-04 -7.43144165e-03 9.99972373e-01 2.90722764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.580714057 meters Centerline goodness : 0.992976 Centerline is valid? [True, True] Translation: X:100.85, Y:59.75, Z:29.08 [[ 6.54211624e-01 -7.56306253e-01 -2.82888292e-03 1.00848853e+02] [ 7.56309777e-01 6.54213604e-01 2.85439924e-04 5.97507000e+01] [ 1.63481369e-03 -2.32624993e-03 9.99995958e-01 2.90754580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.610714057 meters Centerline goodness : 0.992339 Centerline is valid? [True, True] Translation: X:100.87, Y:59.77, Z:29.07 [[ 6.56036377e-01 -7.54631659e-01 -1.21379898e-02 1.00872573e+02] [ 7.54714724e-01 6.55839039e-01 1.67582925e-02 5.97658508e+01] [-4.68577048e-03 -2.01547692e-02 9.99785892e-01 2.90697418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.640714057 meters Centerline goodness : 0.993175 Centerline is valid? [True, True] Translation: X:100.89, Y:59.80, Z:29.08 [[ 6.55225579e-01 -7.55309738e-01 1.36616587e-02 1.00886383e+02] [ 7.55421222e-01 6.55005786e-01 -1.74984932e-02 5.98035479e+01] [ 4.26831685e-03 2.17857672e-02 9.99753551e-01 2.90845123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.67071405699997 meters Centerline goodness : 0.993056 Centerline is valid? [True, True] Translation: X:100.91, Y:59.82, Z:29.08 [[ 6.57026962e-01 -7.53850720e-01 -4.96612526e-03 1.00914758e+02] [ 7.53862990e-01 6.57030837e-01 1.03503494e-03 5.98186206e+01] [ 2.48263560e-03 -4.42382390e-03 9.99987133e-01 2.90753520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.70071405699997 meters Centerline goodness : 0.993483 Centerline is valid? [True, True] Translation: X:100.94, Y:59.84, Z:29.08 [[ 6.58101482e-01 -7.52929065e-01 5.13150256e-04 1.00936738e+02] [ 7.52925524e-01 6.58095941e-01 -3.58993158e-03 5.98448902e+01] [ 2.36526172e-03 2.74890322e-03 9.99993425e-01 2.90777111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.73071405699997 meters Centerline goodness : 0.992386 Centerline is valid? [True, True] Translation: X:100.96, Y:59.87, Z:29.08 [[ 6.60194818e-01 -7.51093557e-01 -1.12726553e-03 1.00957573e+02] [ 7.51092287e-01 6.60195777e-01 -1.38258399e-03 5.98667403e+01] [ 1.78266587e-03 6.60943424e-05 9.99998409e-01 2.90777928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.76071405699997 meters Centerline goodness : 0.992398 Centerline is valid? [True, True] Translation: X:100.98, Y:59.89, Z:29.08 [[ 6.61642331e-01 -7.49818861e-01 1.04976287e-03 1.00980555e+02] [ 7.49819177e-01 6.61639833e-01 -1.98334041e-03 5.98905481e+01] [ 7.92581120e-04 2.09939430e-03 9.99997482e-01 2.90775209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.79071405699997 meters Centerline goodness : 0.992764 Centerline is valid? [True, True] Translation: X:101.00, Y:59.91, Z:29.08 [[ 6.62753093e-01 -7.48837409e-01 -9.34037307e-04 1.01003981e+02] [ 7.48837686e-01 6.62753434e-01 -7.68095332e-05 5.99124311e+01] [ 6.76554284e-04 -6.48536579e-04 9.99999561e-01 2.90769600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.82071405699998 meters Centerline goodness : 0.992522 Centerline is valid? [True, True] Translation: X:101.03, Y:59.94, Z:29.08 [[ 6.65607895e-01 -7.46292674e-01 3.65732471e-03 1.01025109e+02] [ 7.46301524e-01 6.65597124e-01 -3.80843496e-03 5.99365029e+01] [ 4.07902302e-04 5.26439138e-03 9.99986060e-01 2.90768351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.85071405699998 meters Centerline goodness : 0.992481 Centerline is valid? [True, True] Translation: X:101.04, Y:59.98, Z:29.08 [[ 6.72434975e-01 -7.38755819e-01 4.55087182e-02 1.01044658e+02] [ 7.40136196e-01 6.71596652e-01 -3.40051229e-02 5.99777106e+01] [-5.44202032e-03 5.65488835e-02 9.98385000e-01 2.90810814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.88071405699998 meters Centerline goodness : 0.992798 Centerline is valid? [True, True] Translation: X:101.09, Y:59.98, Z:29.06 [[ 6.73783722e-01 -7.38925655e-01 2.09113434e-03 1.01085291e+02] [ 7.38895335e-01 6.73777537e-01 7.58383245e-03 5.99843874e+01] [-7.01284770e-03 -3.56473344e-03 9.99969056e-01 2.90576675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.91071405699998 meters Centerline goodness : 0.992961 Centerline is valid? [True, True] Translation: X:101.11, Y:60.00, Z:29.06 [[ 6.79720897e-01 -7.33470352e-01 8.62797207e-04 1.01108590e+02] [ 7.33284154e-01 6.79573943e-01 2.17624675e-02 6.00023171e+01] [-1.65484592e-02 -1.41597284e-02 9.99762797e-01 2.90553357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.94071405699998 meters Centerline goodness : 0.994351 Centerline is valid? [True, True] Translation: X:101.12, Y:60.04, Z:29.07 [[ 6.78425858e-01 -7.34596740e-01 1.02949449e-02 1.01124272e+02] [ 7.34662982e-01 6.78409929e-01 -5.50192925e-03 6.00350133e+01] [-2.94249351e-03 1.12959660e-02 9.99931869e-01 2.90670037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.97071405699998 meters Centerline goodness : 0.994226 Centerline is valid? [True, True] Translation: X:101.14, Y:60.03, Z:29.06 [[ 6.73813353e-01 -7.37302051e-01 -4.85927055e-02 1.01140077e+02] [ 7.38871438e-01 6.72921408e-01 3.52955554e-02 6.00299312e+01] [ 6.67558641e-03 -5.96863787e-02 9.98194857e-01 2.90580132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.00071405699998 meters Centerline goodness : 0.994340 Centerline is valid? [True, True] Translation: X:101.15, Y:60.09, Z:29.09 [[ 6.81468573e-01 -7.31139947e-01 3.21708202e-02 1.01153777e+02] [ 7.31847213e-01 6.80780205e-01 -3.06262808e-02 6.00874142e+01] [ 4.90839742e-04 4.44149729e-02 9.99013048e-01 2.90857645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.03071405699998 meters Centerline goodness : 0.993503 Centerline is valid? [True, True] Translation: X:101.19, Y:60.10, Z:29.07 [[ 6.83177990e-01 -7.30234209e-01 -5.08276489e-03 1.01189410e+02] [ 7.30251770e-01 6.83165440e-01 4.16340670e-03 6.00957264e+01] [ 4.32107317e-04 -6.55604588e-03 9.99978416e-01 2.90674972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.06071405699998 meters Centerline goodness : 0.992345 Centerline is valid? [True, True] Translation: X:101.21, Y:60.12, Z:29.07 [[ 6.84766019e-01 -7.28761548e-01 -1.45123279e-03 1.01210040e+02] [ 7.28762805e-01 6.84765913e-01 6.46431801e-04 6.01188877e+01] [ 5.22660105e-04 -1.50025901e-03 9.99998738e-01 2.90699561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.09071405699999 meters Centerline goodness : 0.992142 Centerline is valid? [True, True] Translation: X:101.23, Y:60.14, Z:29.07 [[ 6.85142295e-01 -7.28403893e-01 2.79361078e-03 1.01231446e+02] [ 7.28406342e-01 6.85123685e-01 -5.45322014e-03 6.01443409e+01] [ 2.05817787e-03 5.77111557e-03 9.99981229e-01 2.90731175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.120714057 meters Centerline goodness : 0.991833 Centerline is valid? [True, True] Translation: X:101.26, Y:60.16, Z:29.07 [[ 6.86413983e-01 -7.27159428e-01 -8.66083032e-03 1.01259300e+02] [ 7.27192407e-01 6.86262574e-01 1.53259138e-02 6.01584147e+01] [-5.20077899e-03 -1.68180116e-02 9.99845041e-01 2.90658533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.150714057 meters Centerline goodness : 0.990954 Centerline is valid? [True, True] Translation: X:101.28, Y:60.18, Z:29.07 [[ 6.85272696e-01 -7.28286091e-01 -8.37901937e-04 1.01277028e+02] [ 7.28283717e-01 6.85266333e-01 3.58902506e-03 6.01839396e+01] [-2.03965104e-03 -3.06969122e-03 9.99993208e-01 2.90740033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.180714057 meters Centerline goodness : 0.992759 Centerline is valid? [True, True] Translation: X:101.29, Y:60.22, Z:29.08 [[ 6.84370049e-01 -7.28479660e-01 3.09034217e-02 1.01294032e+02] [ 7.29130663e-01 6.83607426e-01 -3.23938706e-02 6.02234145e+01] [ 2.47246726e-03 4.47020271e-02 9.98997305e-01 2.90845307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.210714057 meters Centerline goodness : 0.992177 Centerline is valid? [True, True] Translation: X:101.33, Y:60.23, Z:29.07 [[ 6.83571550e-01 -7.29874394e-01 -3.64768117e-03 1.01330755e+02] [ 7.29882711e-01 6.83569657e-01 1.93733641e-03 6.02304130e+01] [ 1.07943192e-03 -3.98668747e-03 9.99991471e-01 2.90655967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.240714057 meters Centerline goodness : 0.991208 Centerline is valid? [True, True] Translation: X:101.35, Y:60.25, Z:29.06 [[ 6.82922315e-01 -7.30405629e-01 -1.11681969e-02 1.01354142e+02] [ 7.30481229e-01 6.82754249e-01 1.56144057e-02 6.02460441e+01] [-3.77971589e-03 -1.88215843e-02 9.99815714e-01 2.90637792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.270714057 meters Centerline goodness : 0.990781 Centerline is valid? [True, True] Translation: X:101.37, Y:60.27, Z:29.07 [[ 6.81921307e-01 -7.31381969e-01 -7.98412483e-03 1.01371063e+02] [ 7.31418748e-01 6.81827275e-01 1.17551026e-02 6.02654918e+01] [-3.15367600e-03 -1.38557935e-02 9.99899031e-01 2.90692334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.300714057 meters Centerline goodness : 0.990996 Centerline is valid? [True, True] Translation: X:101.39, Y:60.29, Z:29.08 [[ 6.81073175e-01 -7.32202128e-01 4.40148903e-03 1.01389643e+02] [ 7.32210280e-01 6.81078534e-01 -3.69861938e-04 6.02942302e+01] [-2.72694600e-03 3.47471856e-03 9.99990245e-01 2.90764589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.330714057 meters Centerline goodness : 0.990021 Centerline is valid? [True, True] Translation: X:101.41, Y:60.32, Z:29.08 [[ 6.79957612e-01 -7.33190174e-01 9.47707147e-03 1.01412340e+02] [ 7.33243921e-01 6.79952320e-01 -4.26565523e-03 6.03172075e+01] [-3.31642023e-03 9.84946978e-03 9.99945993e-01 2.90772493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.360714057 meters Centerline goodness : 0.990167 Centerline is valid? [True, True] Translation: X:101.44, Y:60.32, Z:29.07 [[ 6.75293215e-01 -7.36484864e-01 -3.96121092e-02 1.01438654e+02] [ 7.37534246e-01 6.74648690e-01 2.98727715e-02 6.03165922e+01] [ 4.72341348e-03 -4.93881670e-02 9.98768491e-01 2.90692730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.390714057 meters Centerline goodness : 0.989853 Centerline is valid? [True, True] Translation: X:101.45, Y:60.35, Z:29.09 [[ 6.73441146e-01 -7.39215425e-01 -6.13009875e-03 1.01447605e+02] [ 7.39197014e-01 6.73468363e-01 -5.30457848e-03 6.03529678e+01] [ 8.04965380e-03 -9.59029279e-04 9.99967141e-01 2.90902164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.42071405699997 meters Centerline goodness : 0.990365 Centerline is valid? [True, True] Translation: X:101.47, Y:60.37, Z:29.09 [[ 6.71696478e-01 -7.40801627e-01 -6.06553104e-03 1.01470149e+02] [ 7.40774970e-01 6.71723810e-01 -6.29019326e-03 6.03740637e+01] [ 8.73414703e-03 -2.68092917e-04 9.99961821e-01 2.90904608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.45071405699997 meters Centerline goodness : 0.990358 Centerline is valid? [True, True] Translation: X:101.49, Y:60.40, Z:29.09 [[ 6.70899308e-01 -7.41534844e-01 -4.49380595e-03 1.01493831e+02] [ 7.41512085e-01 6.70914103e-01 -5.83913511e-03 6.03971090e+01] [ 7.34487992e-03 5.85260286e-04 9.99972855e-01 2.90898701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.48071405699997 meters Centerline goodness : 0.990400 Centerline is valid? [True, True] Translation: X:101.52, Y:60.41, Z:29.09 [[ 6.68146218e-01 -7.43907547e-01 -1.34979247e-02 1.01517419e+02] [ 7.43961408e-01 6.68221001e-01 -1.45537534e-03 6.04147618e+01] [ 1.01022614e-02 -9.06953151e-03 9.99907840e-01 2.90896404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.51071405699997 meters Centerline goodness : 0.990597 Centerline is valid? [True, True] Translation: X:101.54, Y:60.44, Z:29.09 [[ 6.67827751e-01 -7.44312462e-01 -2.24815815e-03 1.01536788e+02] [ 7.44251309e-01 6.67806568e-01 -1.11524165e-02 6.04414571e+01] [ 9.80221735e-03 5.77469857e-03 9.99935283e-01 2.90943554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.54071405699997 meters Centerline goodness : 0.989746 Centerline is valid? [True, True] Translation: X:101.56, Y:60.46, Z:29.09 [[ 6.66299046e-01 -7.45650506e-01 -7.13468268e-03 1.01562129e+02] [ 7.45613133e-01 6.66337157e-01 -7.47326538e-03 6.04612607e+01] [ 1.03265483e-02 -3.40283509e-04 9.99946622e-01 2.90919026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.57071405699998 meters Centerline goodness : 0.991139 Centerline is valid? [True, True] Translation: X:101.59, Y:60.48, Z:29.09 [[ 6.64823363e-01 -7.46858227e-01 -1.45837302e-02 1.01586325e+02] [ 7.46910970e-01 6.64919322e-01 -2.50986437e-03 6.04813740e+01] [ 1.15715169e-02 -9.22413162e-03 9.99890502e-01 2.90905267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.60071405699998 meters Centerline goodness : 0.991550 Centerline is valid? [True, True] Translation: X:101.61, Y:60.51, Z:29.09 [[ 6.63191805e-01 -7.48417433e-01 -6.92646476e-03 1.01606436e+02] [ 7.48355588e-01 6.63226794e-01 -9.70221409e-03 6.05060408e+01] [ 1.18551232e-02 1.25097027e-03 9.99928943e-01 2.90948998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.63071405699998 meters Centerline goodness : 0.991113 Centerline is valid? [True, True] Translation: X:101.63, Y:60.53, Z:29.09 [[ 6.62384989e-01 -7.49103616e-01 -9.48150090e-03 1.01629660e+02] [ 7.49086185e-01 6.62445440e-01 -5.99382800e-03 6.05263571e+01] [ 1.07709753e-02 -3.13223965e-03 9.99937086e-01 2.90935579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.66071405699998 meters Centerline goodness : 0.991363 Centerline is valid? [True, True] Translation: X:101.65, Y:60.55, Z:29.10 [[ 6.62337886e-01 -7.49143005e-01 9.65830116e-03 1.01650119e+02] [ 7.49185335e-01 6.62171210e-01 -1.58310312e-02 6.05548069e+01] [ 5.46425729e-03 1.77213493e-02 9.99828033e-01 2.90961253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.69071405699998 meters Centerline goodness : 0.985870 Centerline is valid? [True, True] Translation: X:101.67, Y:60.56, Z:29.08 [[ 6.56611138e-01 -7.53629011e-01 -3.00853286e-02 1.01673465e+02] [ 7.54225449e-01 6.56212432e-01 2.30046995e-02 6.05573827e+01] [ 2.40535775e-03 -3.77962624e-02 9.99282571e-01 2.90760663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.72071405699998 meters Centerline goodness : 0.986314 Centerline is valid? [True, True] Translation: X:101.68, Y:60.59, Z:29.09 [[ 6.54844481e-01 -7.55759874e-01 -2.39139119e-03 1.01683179e+02] [ 7.55748535e-01 6.54848116e-01 -4.25407312e-03 6.05894477e+01] [ 4.78105578e-03 9.78465912e-04 9.99988092e-01 2.90915022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.75071405699998 meters Centerline goodness : 0.986538 Centerline is valid? [True, True] Translation: X:101.71, Y:60.61, Z:29.09 [[ 6.55148380e-01 -7.55432925e-01 -1.00844392e-02 1.01707633e+02] [ 7.55490060e-01 6.55150458e-01 3.55615557e-03 6.06054592e+01] [ 3.92038794e-03 -9.94850311e-03 9.99942827e-01 2.90868132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.78071405699998 meters Centerline goodness : 0.986844 Centerline is valid? [True, True] Translation: X:101.72, Y:60.63, Z:29.10 [[ 6.54355840e-01 -7.56177484e-01 3.74788149e-03 1.01721850e+02] [ 7.56157744e-01 6.54279257e-01 -1.20049954e-02 6.06305992e+01] [ 6.62574611e-03 1.06895285e-02 9.99920914e-01 2.90950083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.81071405699998 meters Centerline goodness : 0.987313 Centerline is valid? [True, True] Translation: X:101.75, Y:60.65, Z:29.09 [[ 6.54374583e-01 -7.56161283e-01 -3.74419053e-03 1.01745705e+02] [ 7.56152871e-01 6.54385121e-01 -3.59845476e-03 6.06463506e+01] [ 5.17115474e-03 -4.76443091e-04 9.99986516e-01 2.90891908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.84071405699999 meters Centerline goodness : 0.987027 Centerline is valid? [True, True] Translation: X:101.76, Y:60.67, Z:29.09 [[ 6.54433043e-01 -7.56114445e-01 2.88770811e-03 1.01762000e+02] [ 7.56071792e-01 6.54343473e-01 -1.37863833e-02 6.06677116e+01] [ 8.53453063e-03 1.12055794e-02 9.99900793e-01 2.90948496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.870714057 meters Centerline goodness : 0.987442 Centerline is valid? [True, True] Translation: X:101.79, Y:60.68, Z:29.09 [[ 6.52705467e-01 -7.57519403e-01 -1.18290576e-02 1.01788585e+02] [ 7.57557893e-01 6.52765684e-01 -1.73242469e-03 6.06820415e+01] [ 9.03394816e-03 -7.83043285e-03 9.99928534e-01 2.90870786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.900714057 meters Centerline goodness : 0.987930 Centerline is valid? [True, True] Translation: X:101.81, Y:60.70, Z:29.09 [[ 6.51893591e-01 -7.58306346e-01 -2.49617947e-03 1.01805611e+02] [ 7.58267199e-01 6.51888033e-01 -8.53510836e-03 6.07046958e+01] [ 8.09945636e-03 3.67121142e-03 9.99960460e-01 2.90900110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.930714057 meters Centerline goodness : 0.987436 Centerline is valid? [True, True] Translation: X:101.83, Y:60.72, Z:29.09 [[ 6.51277075e-01 -7.58780579e-01 -9.49763007e-03 1.01829070e+02] [ 7.58779334e-01 6.51332266e-01 -4.49472230e-03 6.07222304e+01] [ 9.59662090e-03 -4.27929582e-03 9.99944795e-01 2.90876355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.960714057 meters Centerline goodness : 0.994650 Centerline is valid? [True, True] Translation: X:101.85, Y:60.76, Z:29.11 [[ 6.46920914e-01 -7.62537922e-01 5.40828496e-03 1.01846561e+02] [ 7.62162149e-01 6.46341357e-01 -3.67655876e-02 6.07587299e+01] [ 2.45395565e-02 2.79064176e-02 9.99309282e-01 2.91086111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.990714057 meters Centerline goodness : 0.993246 Centerline is valid? [True, True] Translation: X:101.89, Y:60.77, Z:29.09 [[ 6.55547350e-01 -7.55111912e-01 -7.97950897e-03 1.01888163e+02] [ 7.55088471e-01 6.55593085e-01 -6.25363667e-03 6.07679712e+01] [ 9.95350644e-03 -1.92568028e-03 9.99948608e-01 2.90890732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.020714057 meters Centerline goodness : 0.987616 Centerline is valid? [True, True] Translation: X:101.90, Y:60.78, Z:29.09 [[ 6.52331533e-01 -7.57731563e-01 -1.75057091e-02 1.01899562e+02] [ 7.57865051e-01 6.52409372e-01 1.60500135e-03 6.07780688e+01] [ 1.02047285e-02 -1.43139581e-02 9.99845475e-01 2.90863203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.050714057 meters Centerline goodness : 0.992599 Centerline is valid? [True, True] Translation: X:101.92, Y:60.82, Z:29.10 [[ 6.54465312e-01 -7.55993454e-01 1.22087298e-02 1.01921501e+02] [ 7.56026286e-01 6.54110158e-01 -2.37519628e-02 6.08179468e+01] [ 9.97047426e-03 2.47749564e-02 9.99643332e-01 2.91008947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.080714057 meters Centerline goodness : 0.993727 Centerline is valid? [True, True] Translation: X:101.94, Y:60.82, Z:29.09 [[ 6.45404252e-01 -7.63098694e-01 -3.36709778e-02 1.01936035e+02] [ 7.63701550e-01 6.45501852e-01 9.34358207e-03 6.08213266e+01] [ 1.46046033e-02 -3.17449655e-02 9.99389295e-01 2.90919026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.110714057 meters Centerline goodness : 0.992239 Centerline is valid? [True, True] Translation: X:101.96, Y:60.87, Z:29.11 [[ 6.55876927e-01 -7.53870947e-01 3.87821123e-02 1.01958745e+02] [ 7.54811040e-01 6.54331237e-01 -4.59448197e-02 6.08707753e+01] [ 9.26011724e-03 5.94073137e-02 9.98190874e-01 2.91092343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.140714057 meters Centerline goodness : 0.991832 Centerline is valid? [True, True] Translation: X:102.00, Y:60.88, Z:29.09 [[ 6.55930167e-01 -7.54821375e-01 5.54719800e-04 1.02000111e+02] [ 7.54804404e-01 6.55910108e-01 -7.22778896e-03 6.08794695e+01] [ 5.09184328e-03 5.15962977e-03 9.99973725e-01 2.90853802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.17071405699997 meters Centerline goodness : 0.990920 Centerline is valid? [True, True] Translation: X:102.02, Y:60.88, Z:29.08 [[ 6.53887428e-01 -7.55702527e-01 -3.66731824e-02 1.02024823e+02] [ 7.56545702e-01 6.53614355e-01 2.06609838e-02 6.08812290e+01] [ 8.35656076e-03 -4.12548961e-02 9.99113708e-01 2.90796313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.20071405699997 meters Centerline goodness : 0.992279 Centerline is valid? [True, True] Translation: X:102.02, Y:60.91, Z:29.10 [[ 6.44068555e-01 -7.64409559e-01 -2.92185440e-02 1.02017376e+02] [ 7.64677898e-01 6.44406093e-01 -2.91557211e-03 6.09115054e+01] [ 2.10572990e-02 -2.04649465e-02 9.99568795e-01 2.90992895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.23071405699997 meters Centerline goodness : 0.992505 Centerline is valid? [True, True] Translation: X:102.03, Y:60.94, Z:29.11 [[ 6.44216705e-01 -7.64666569e-01 -1.64278499e-02 1.02031648e+02] [ 7.64492483e-01 6.44423115e-01 -1.64344819e-02 6.09366268e+01] [ 2.31533851e-02 -1.97159998e-03 9.99729980e-01 2.91068643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.26071405699997 meters Centerline goodness : 0.993539 Centerline is valid? [True, True] Translation: X:102.05, Y:60.96, Z:29.11 [[ 6.42246138e-01 -7.66422819e-01 -1.07685254e-02 1.02053980e+02] [ 7.65958165e-01 6.42257488e-01 -2.85203190e-02 6.09640407e+01] [ 2.87747894e-02 1.00688248e-02 9.99535207e-01 2.91109646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.29071405699997 meters Centerline goodness : 0.991517 Centerline is valid? [True, True] Translation: X:102.07, Y:60.97, Z:29.10 [[ 6.44991481e-01 -7.63821010e-01 -2.37371908e-02 1.02073176e+02] [ 7.63850973e-01 6.45319265e-01 -9.73334907e-03 6.09730572e+01] [ 2.27526030e-02 -1.18537490e-02 9.99670850e-01 2.91028563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.32071405699998 meters Centerline goodness : 0.992627 Centerline is valid? [True, True] Translation: X:102.09, Y:61.00, Z:29.11 [[ 6.42767009e-01 -7.65963570e-01 -1.22630234e-02 1.02093613e+02] [ 7.65541849e-01 6.42838148e-01 -2.65479341e-02 6.10037763e+01] [ 2.82178896e-02 7.67627860e-03 9.99572321e-01 2.91109151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.35071405699998 meters Centerline goodness : 0.992627 Centerline is valid? [True, True] Translation: X:102.12, Y:61.02, Z:29.11 [[ 6.42491830e-01 -7.66045928e-01 -1.94392830e-02 1.02116599e+02] [ 7.65805959e-01 6.42781107e-01 -1.93308491e-02 6.10209955e+01] [ 2.73035221e-02 -2.46680618e-03 9.99624146e-01 2.91071403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.38071405699998 meters Centerline goodness : 0.992028 Centerline is valid? [True, True] Translation: X:102.14, Y:61.04, Z:29.11 [[ 6.43300062e-01 -7.65390321e-01 -1.85118328e-02 1.02135181e+02] [ 7.65172200e-01 6.43562189e-01 -1.84177744e-02 6.10414379e+01] [ 2.60103019e-02 -2.31658441e-03 9.99658991e-01 2.91074803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.41071405699998 meters Centerline goodness : 0.990080 Centerline is valid? [True, True] Translation: X:102.17, Y:61.07, Z:29.11 [[ 6.54686215e-01 -7.55653721e-01 1.93239022e-02 1.02168385e+02] [ 7.55818629e-01 6.54024305e-01 -3.14707636e-02 6.10736503e+01] [ 1.11426980e-02 3.52088404e-02 9.99317856e-01 2.91062356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.44071405699998 meters Centerline goodness : 0.989050 Centerline is valid? [True, True] Translation: X:102.20, Y:61.08, Z:29.09 [[ 6.54927153e-01 -7.55608111e-01 -1.12608091e-02 1.02200158e+02] [ 7.55639027e-01 6.54984981e-01 -2.08218609e-03 6.10840258e+01] [ 8.94897751e-03 -7.14542659e-03 9.99934427e-01 2.90923206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.47071405699998 meters Centerline goodness : 0.991194 Centerline is valid? [True, True] Translation: X:102.21, Y:61.09, Z:29.09 [[ 6.45877987e-01 -7.62241871e-01 -4.27662913e-02 1.02206727e+02] [ 7.63241468e-01 6.45975093e-01 1.33656594e-02 6.10946712e+01] [ 1.74380937e-02 -4.12735922e-02 9.98995697e-01 2.90936419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.50071405699998 meters Centerline goodness : 0.989365 Centerline is valid? [True, True] Translation: X:102.23, Y:61.14, Z:29.11 [[ 6.53309096e-01 -7.56858774e-01 1.87622453e-02 1.02226097e+02] [ 7.56976236e-01 6.52577164e-01 -3.36158040e-02 6.11370277e+01] [ 1.31986034e-02 3.61640843e-02 9.99258703e-01 2.91115844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.53071405699998 meters Centerline goodness : 0.989673 Centerline is valid? [True, True] Translation: X:102.26, Y:61.15, Z:29.10 [[ 6.51816604e-01 -7.58305573e-01 -1.03813802e-02 1.02261557e+02] [ 7.58273175e-01 6.51892721e-01 -7.59419866e-03 6.11507262e+01] [ 1.25262694e-02 -2.92189736e-03 9.99917274e-01 2.90961978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.56071405699998 meters Centerline goodness : 0.989993 Centerline is valid? [True, True] Translation: X:102.28, Y:61.17, Z:29.10 [[ 6.50119306e-01 -7.59698726e-01 -1.42384583e-02 1.02282178e+02] [ 7.59709027e-01 6.50237151e-01 -5.81731993e-03 6.11704247e+01] [ 1.36777851e-02 -7.03513333e-03 9.99881706e-01 2.90963526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.59071405699999 meters Centerline goodness : 0.989736 Centerline is valid? [True, True] Translation: X:102.30, Y:61.19, Z:29.10 [[ 6.49125785e-01 -7.60595543e-01 -1.14077201e-02 1.02299951e+02] [ 7.60544734e-01 6.49220380e-01 -9.19815962e-03 6.11917535e+01] [ 1.44022036e-02 -2.70531887e-03 9.99892623e-01 2.90981281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.620714057 meters Centerline goodness : 0.990899 Centerline is valid? [True, True] Translation: X:102.32, Y:61.22, Z:29.10 [[ 6.45601421e-01 -7.63571351e-01 -1.25537971e-02 1.02323499e+02] [ 7.63478072e-01 6.45720975e-01 -1.20688137e-02 6.12179656e+01] [ 1.73216505e-02 -1.79290556e-03 9.99848361e-01 2.91003288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.650714057 meters Centerline goodness : 0.989987 Centerline is valid? [True, True] Translation: X:102.34, Y:61.24, Z:29.10 [[ 6.46461716e-01 -7.62945246e-01 -1.34193655e-03 1.02342553e+02] [ 7.62841792e-01 6.46401187e-01 -1.54241846e-02 6.12416792e+01] [ 1.26352377e-02 8.94745958e-03 9.99880140e-01 2.91003377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.680714057 meters Centerline goodness : 0.990136 Centerline is valid? [True, True] Translation: X:102.37, Y:61.25, Z:29.10 [[ 6.45852619e-01 -7.63187545e-01 -2.04735584e-02 1.02367791e+02] [ 7.63360827e-01 6.45971499e-01 1.03480632e-03 6.12542826e+01] [ 1.24355839e-02 -1.62970448e-02 9.99789859e-01 2.90952827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.710714057 meters Centerline goodness : 0.990756 Centerline is valid? [True, True] Translation: X:102.39, Y:61.28, Z:29.10 [[ 6.44393827e-01 -7.64653370e-01 -7.86253424e-03 1.02386134e+02] [ 7.64577654e-01 6.44441093e-01 -1.08022562e-02 6.12831313e+01] [ 1.33269218e-02 9.49389238e-04 9.99910742e-01 2.91024729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.740714057 meters Centerline goodness : 0.990605 Centerline is valid? [True, True] Translation: X:102.41, Y:61.30, Z:29.10 [[ 6.42090692e-01 -7.66501934e-01 -1.39402078e-02 1.02409551e+02] [ 7.66488261e-01 6.42214960e-01 -7.46262903e-03 6.13045141e+01] [ 1.46727296e-02 -5.89332102e-03 9.99874982e-01 2.91032997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.770714057 meters Centerline goodness : 0.990717 Centerline is valid? [True, True] Translation: X:102.43, Y:61.33, Z:29.11 [[ 6.41556418e-01 -7.66999948e-01 -1.07908473e-02 1.02430167e+02] [ 7.66952113e-01 6.41642121e-01 -8.93559098e-03 6.13275149e+01] [ 1.37774599e-02 -2.54337736e-03 9.99901852e-01 2.91050268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.800714057 meters Centerline goodness : 0.989972 Centerline is valid? [True, True] Translation: X:102.45, Y:61.35, Z:29.10 [[ 6.40770595e-01 -7.67549444e-01 -1.67599176e-02 1.02453030e+02] [ 7.67611102e-01 6.40904725e-01 -3.78537107e-03 6.13479494e+01] [ 1.36469698e-02 -1.04395443e-02 9.99852377e-01 2.91043660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.830714057 meters Centerline goodness : 0.991024 Centerline is valid? [True, True] Translation: X:102.47, Y:61.37, Z:29.11 [[ 6.40638563e-01 -7.67748730e-01 -1.20049959e-02 1.02470367e+02] [ 7.67646506e-01 6.40749992e-01 -1.25813130e-02 6.13723330e+01] [ 1.73514881e-02 -1.15551892e-03 9.99848784e-01 2.91097655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.860714057 meters Centerline goodness : 0.989768 Centerline is valid? [True, True] Translation: X:102.49, Y:61.39, Z:29.11 [[ 6.42045782e-01 -7.66572324e-01 -1.20035822e-02 1.02489528e+02] [ 7.66471525e-01 6.42156891e-01 -1.24871673e-02 6.13927443e+01] [ 1.72804999e-02 -1.18307088e-03 9.99849981e-01 2.91094009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.890714057 meters Centerline goodness : 0.990342 Centerline is valid? [True, True] Translation: X:102.51, Y:61.41, Z:29.11 [[ 6.42457666e-01 -7.66228153e-01 -1.19400822e-02 1.02506960e+02] [ 7.66077106e-01 6.42568295e-01 -1.52267156e-02 6.14131214e+01] [ 1.93394564e-02 6.35496548e-04 9.99812773e-01 2.91115393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.92071405699997 meters Centerline goodness : 0.992426 Centerline is valid? [True, True] Translation: X:102.53, Y:61.44, Z:29.11 [[ 6.43341280e-01 -7.65511632e-01 -1.01950016e-02 1.02529501e+02] [ 7.65217264e-01 6.43389459e-01 -2.21933164e-02 6.14416980e+01] [ 2.35485984e-02 6.47648532e-03 9.99701715e-01 2.91132808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.95071405699997 meters Centerline goodness : 0.991204 Centerline is valid? [True, True] Translation: X:102.55, Y:61.46, Z:29.11 [[ 6.47198021e-01 -7.62106248e-01 -1.81325153e-02 1.02554617e+02] [ 7.62151049e-01 6.47373480e-01 -5.77547096e-03 6.14571597e+01] [ 1.61400320e-02 -1.00818422e-02 9.99818912e-01 2.91059646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.98071405699997 meters Centerline goodness : 0.991685 Centerline is valid? [True, True] Translation: X:102.57, Y:61.49, Z:29.11 [[ 6.52229591e-01 -7.57990310e-01 -6.87390696e-03 1.02573691e+02] [ 7.57851502e-01 6.52248554e-01 -1.52618874e-02 6.14854844e+01] [ 1.60518587e-02 4.74485388e-03 9.99859902e-01 2.91111399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.01071405699997 meters Centerline goodness : 0.990700 Centerline is valid? [True, True] Translation: X:102.60, Y:61.51, Z:29.11 [[ 6.54588184e-01 -7.55911606e-01 -1.05808325e-02 1.02597174e+02] [ 7.55850084e-01 6.54671742e-01 -9.77553379e-03 6.15067706e+01] [ 1.43164115e-02 -1.59857423e-03 9.99896237e-01 2.91090313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.04071405699997 meters Centerline goodness : 0.991556 Centerline is valid? [True, True] Translation: X:102.62, Y:61.53, Z:29.11 [[ 6.59151261e-01 -7.51994022e-01 -4.96033385e-03 1.02618515e+02] [ 7.51895308e-01 6.59151448e-01 -1.31459194e-02 6.15336540e+01] [ 1.31552640e-02 4.93549760e-03 9.99901285e-01 2.91114657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.07071405699998 meters Centerline goodness : 0.992480 Centerline is valid? [True, True] Translation: X:102.64, Y:61.56, Z:29.11 [[ 6.60438559e-01 -7.50843227e-01 -7.44026771e-03 1.02643052e+02] [ 7.50741032e-01 6.60474523e-01 -1.27007216e-02 6.15571882e+01] [ 1.44503580e-02 2.80233201e-03 9.99891661e-01 2.91097538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.10071405699998 meters Centerline goodness : 0.992016 Centerline is valid? [True, True] Translation: X:102.67, Y:61.58, Z:29.11 [[ 6.63831871e-01 -7.47832687e-01 -8.57437229e-03 1.02666529e+02] [ 7.47805876e-01 6.63884222e-01 -6.64164518e-03 6.15774000e+01] [ 1.06592298e-02 -2.00303023e-03 9.99941183e-01 2.91078375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.13071405699998 meters Centerline goodness : 0.991401 Centerline is valid? [True, True] Translation: X:102.69, Y:61.60, Z:29.11 [[ 6.64673541e-01 -7.47125768e-01 -3.48855419e-03 1.02685915e+02] [ 7.46990630e-01 6.64630269e-01 -1.64804513e-02 6.16031970e+01] [ 1.46315686e-02 8.34820264e-03 9.99858102e-01 2.91131880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.16071405699998 meters Centerline goodness : 0.993877 Centerline is valid? [True, True] Translation: X:102.72, Y:61.64, Z:29.11 [[ 6.67871770e-01 -7.44100851e-01 1.61623811e-02 1.02716062e+02] [ 7.44140622e-01 6.67177788e-01 -3.35936576e-02 6.16428681e+01] [ 1.42138876e-02 3.44633399e-02 9.99304880e-01 2.91149777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.19071405699998 meters Centerline goodness : 0.993047 Centerline is valid? [True, True] Translation: X:102.74, Y:61.62, Z:29.09 [[ 6.57310152e-01 -7.49181578e-01 -8.16720781e-02 1.02742198e+02] [ 7.53312132e-01 6.56269973e-01 4.27849797e-02 6.16188552e+01] [ 2.15452139e-02 -8.96475688e-02 9.95740487e-01 2.90912169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.22071405699998 meters Centerline goodness : 0.993063 Centerline is valid? [True, True] Translation: X:102.74, Y:61.70, Z:29.14 [[ 6.71393901e-01 -7.39445772e-01 4.94992918e-02 1.02742409e+02] [ 7.40955989e-01 6.68444044e-01 -6.45506199e-02 6.16954675e+01] [ 1.46441762e-02 8.00156892e-02 9.96686028e-01 2.91362251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.25071405699998 meters Centerline goodness : 0.994236 Centerline is valid? [True, True] Translation: X:102.79, Y:61.69, Z:29.10 [[ 6.68119351e-01 -7.43763978e-01 -2.07768756e-02 1.02791620e+02] [ 7.43833090e-01 6.68341008e-01 -5.71239584e-03 6.16947279e+01] [ 1.81347123e-02 -1.16379654e-02 9.99767818e-01 2.91045231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.28071405699998 meters Centerline goodness : 0.992143 Centerline is valid? [True, True] Translation: X:102.81, Y:61.70, Z:29.10 [[ 6.70192030e-01 -7.41461283e-01 -3.28300088e-02 1.02809186e+02] [ 7.41973050e-01 6.70406242e-01 5.60925468e-03 6.17041465e+01] [ 1.78503976e-02 -2.81182595e-02 9.99445210e-01 2.91027997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.31071405699998 meters Centerline goodness : 0.993235 Centerline is valid? [True, True] Translation: X:102.83, Y:61.74, Z:29.12 [[ 6.68779096e-01 -7.43389256e-01 -1.03408965e-02 1.02825598e+02] [ 7.43238421e-01 6.68854502e-01 -1.51757712e-02 6.17381034e+01] [ 1.81980604e-02 2.46348690e-03 9.99831367e-01 2.91161710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.34071405699999 meters Centerline goodness : 0.993263 Centerline is valid? [True, True] Translation: X:102.85, Y:61.76, Z:29.12 [[ 6.68463805e-01 -7.43584091e-01 -1.54544459e-02 1.02849430e+02] [ 7.43506052e-01 6.68631377e-01 -1.14381471e-02 6.17582448e+01] [ 1.88385517e-02 -3.84448668e-03 9.99815147e-01 2.91150292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.370714057 meters Centerline goodness : 0.992441 Centerline is valid? [True, True] Translation: X:102.87, Y:61.78, Z:29.12 [[ 6.70079168e-01 -7.42048151e-01 -1.89328002e-02 1.02869549e+02] [ 7.42028503e-01 6.70302011e-01 -9.42946886e-03 6.17756036e+01] [ 1.96878140e-02 -7.73018675e-03 9.99776292e-01 2.91159385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.400714057 meters Centerline goodness : 0.992776 Centerline is valid? [True, True] Translation: X:102.89, Y:61.81, Z:29.12 [[ 6.71466997e-01 -7.40958088e-01 1.06387731e-02 1.02890965e+02] [ 7.40876863e-01 6.70958932e-01 -3.02586315e-02 6.18113533e+01] [ 1.52821979e-02 2.81996933e-02 9.99485484e-01 2.91229134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.430714057 meters Centerline goodness : 0.992616 Centerline is valid? [True, True] Translation: X:102.92, Y:61.82, Z:29.11 [[ 6.69776643e-01 -7.42009822e-01 -2.86473614e-02 1.02923071e+02] [ 7.42338135e-01 6.70024253e-01 1.26248714e-03 6.18174553e+01] [ 1.82576491e-02 -2.21116132e-02 9.99588783e-01 2.91105508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.460714057 meters Centerline goodness : 0.992503 Centerline is valid? [True, True] Translation: X:102.94, Y:61.84, Z:29.12 [[ 6.68521160e-01 -7.43346795e-01 -2.26936258e-02 1.02937091e+02] [ 7.43352920e-01 6.68827052e-01 -9.83926573e-03 6.18406419e+01] [ 2.24920975e-02 -1.02916157e-02 9.99694047e-01 2.91209768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.490714057 meters Centerline goodness : 0.991917 Centerline is valid? [True, True] Translation: X:102.96, Y:61.86, Z:29.12 [[ 6.68535185e-01 -7.43443829e-01 -1.87611223e-02 1.02959566e+02] [ 7.43420177e-01 6.68755918e-01 -9.58975065e-03 6.18642403e+01] [ 1.96760525e-02 -7.53631112e-03 9.99778004e-01 2.91243005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.520714057 meters Centerline goodness : 0.992954 Centerline is valid? [True, True] Translation: X:102.98, Y:61.90, Z:29.13 [[ 6.67993008e-01 -7.44148959e-01 -5.26001931e-03 1.02976228e+02] [ 7.43703464e-01 6.67809341e-01 -3.05915237e-02 6.18951351e+01] [ 2.62773406e-02 1.65230294e-02 9.99518129e-01 2.91324209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.550714057 meters Centerline goodness : 0.991360 Centerline is valid? [True, True] Translation: X:103.00, Y:61.90, Z:29.12 [[ 6.69561442e-01 -7.42287342e-01 -2.64003287e-02 1.03004175e+02] [ 7.42496926e-01 6.69844282e-01 -2.63704181e-03 6.19018262e+01] [ 1.96415519e-02 -1.78365014e-02 9.99647972e-01 2.91213254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.580714057 meters Centerline goodness : 0.994023 Centerline is valid? [True, True] Translation: X:103.01, Y:61.93, Z:29.13 [[ 6.59614745e-01 -7.50794360e-01 -3.48743159e-02 1.03011909e+02] [ 7.50825394e-01 6.60333133e-01 -1.48788934e-02 6.19259598e+01] [ 3.41996555e-02 -1.63701845e-02 9.99280942e-01 2.91338317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.610714057 meters Centerline goodness : 0.992088 Centerline is valid? [True, True] Translation: X:103.04, Y:61.95, Z:29.13 [[ 6.66358313e-01 -7.45583561e-01 -8.47070600e-03 1.03043231e+02] [ 7.45376312e-01 6.66384408e-01 -1.86003876e-02 6.19523806e+01] [ 1.95128896e-02 6.08065932e-03 9.99791115e-01 2.91343385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.640714057 meters Centerline goodness : 0.993282 Centerline is valid? [True, True] Translation: X:103.07, Y:61.98, Z:29.14 [[ 6.62333628e-01 -7.49119550e-01 -1.15786626e-02 1.03065832e+02] [ 7.48608462e-01 6.62342339e-01 -2.97992629e-02 6.19780762e+01] [ 2.99922488e-02 1.10691691e-02 9.99488839e-01 2.91379382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.67071405699997 meters Centerline goodness : 0.992678 Centerline is valid? [True, True] Translation: X:103.10, Y:61.99, Z:29.13 [[ 6.62107896e-01 -7.48669131e-01 -3.32816192e-02 1.03096102e+02] [ 7.49016434e-01 6.62544972e-01 -2.92273439e-03 6.19891657e+01] [ 2.42387304e-02 -2.29933142e-02 9.99441740e-01 2.91275185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.70071405699997 meters Centerline goodness : 0.993582 Centerline is valid? [True, True] Translation: X:103.11, Y:62.03, Z:29.14 [[ 6.60568214e-01 -7.50754589e-01 -4.14505817e-03 1.03109127e+02] [ 7.50022172e-01 6.60149376e-01 -4.08600296e-02 6.20284225e+01] [ 3.34122123e-02 2.38819512e-02 9.99156282e-01 2.91439709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.73071405699997 meters Centerline goodness : 0.993482 Centerline is valid? [True, True] Translation: X:103.14, Y:62.04, Z:29.13 [[ 6.59992865e-01 -7.50666122e-01 -3.01627404e-02 1.03138671e+02] [ 7.50507838e-01 6.60600293e-01 -1.85805980e-02 6.20398441e+01] [ 3.38733406e-02 -1.03743110e-02 9.99372288e-01 2.91335003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.76071405699997 meters Centerline goodness : 0.992097 Centerline is valid? [True, True] Translation: X:103.16, Y:62.06, Z:29.13 [[ 6.62945163e-01 -7.48116707e-01 -2.87245986e-02 1.03160262e+02] [ 7.48243600e-01 6.63373174e-01 -8.21870413e-03 6.20569172e+01] [ 2.52036780e-02 -1.60444469e-02 9.99553576e-01 2.91322329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.79071405699997 meters Centerline goodness : 0.993798 Centerline is valid? [True, True] Translation: X:103.18, Y:62.09, Z:29.15 [[ 6.61652105e-01 -7.49770080e-01 -7.83060058e-03 1.03176288e+02] [ 7.49035525e-01 6.61406625e-01 -3.85624039e-02 6.20944406e+01] [ 3.40921477e-02 1.96494977e-02 9.99225511e-01 2.91455143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.82071405699998 meters Centerline goodness : 0.993550 Centerline is valid? [True, True] Translation: X:103.21, Y:62.11, Z:29.14 [[ 6.63024340e-01 -7.48222036e-01 -2.37173032e-02 1.03205200e+02] [ 7.47886205e-01 6.63442649e-01 -2.25848594e-02 6.21109572e+01] [ 3.26335600e-02 -2.76353240e-03 9.99463563e-01 2.91374594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.85071405699998 meters Centerline goodness : 0.994037 Centerline is valid? [True, True] Translation: X:103.23, Y:62.13, Z:29.14 [[ 6.63380627e-01 -7.47820150e-01 -2.62900535e-02 1.03227575e+02] [ 7.47575087e-01 6.63871595e-01 -2.01492965e-02 6.21324310e+01] [ 3.25212697e-02 -6.28713606e-03 9.99451269e-01 2.91380132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.88071405699998 meters Centerline goodness : 0.992489 Centerline is valid? [True, True] Translation: X:103.25, Y:62.15, Z:29.14 [[ 6.66679536e-01 -7.44902457e-01 -2.56656447e-02 1.03249690e+02] [ 7.44955978e-01 6.67048531e-01 -9.31925020e-03 6.21505623e+01] [ 2.40621630e-02 -1.29068220e-02 9.99627144e-01 2.91358696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.91071405699998 meters Centerline goodness : 0.994474 Centerline is valid? [True, True] Translation: X:103.27, Y:62.19, Z:29.15 [[ 6.65094359e-01 -7.46749717e-01 -3.78874061e-03 1.03267418e+02] [ 7.46137036e-01 6.64738650e-01 -3.74439697e-02 6.21875121e+01] [ 3.04797961e-02 2.20768533e-02 9.99291546e-01 2.91474946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.94071405699998 meters Centerline goodness : 0.993453 Centerline is valid? [True, True] Translation: X:103.30, Y:62.20, Z:29.14 [[ 6.63598131e-01 -7.47763615e-01 -2.20702660e-02 1.03298120e+02] [ 7.47480388e-01 6.63959462e-01 -2.07581799e-02 6.22038263e+01] [ 3.01759736e-02 -2.72200165e-03 9.99540895e-01 2.91392230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.97071405699998 meters Centerline goodness : 0.994198 Centerline is valid? [True, True] Translation: X:103.31, Y:62.21, Z:29.14 [[ 6.55749164e-01 -7.52962671e-01 -5.51384688e-02 1.03312044e+02] [ 7.54001048e-01 6.56866757e-01 -2.91249492e-03 6.22134731e+01] [ 3.84116271e-02 -3.96645971e-02 9.98474470e-01 2.91400755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.00071405699998 meters Centerline goodness : 0.993591 Centerline is valid? [True, True] Translation: X:103.33, Y:62.26, Z:29.16 [[ 6.57863013e-01 -7.53127694e-01 -3.86417814e-03 1.03332363e+02] [ 7.52371885e-01 6.57416813e-01 -4.17094767e-02 6.22559495e+01] [ 3.39529377e-02 2.45318230e-02 9.99122309e-01 2.91556641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.03071405699998 meters Centerline goodness : 0.993863 Centerline is valid? [True, True] Translation: X:103.36, Y:62.27, Z:29.15 [[ 6.53391406e-01 -7.56346431e-01 -3.19334928e-02 1.03364628e+02] [ 7.56129108e-01 6.54087542e-01 -2.09346453e-02 6.22698757e+01] [ 3.67211440e-02 -1.04673261e-02 9.99270730e-01 2.91469371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.06071405699998 meters Centerline goodness : 0.994357 Centerline is valid? [True, True] Translation: X:103.38, Y:62.29, Z:29.15 [[ 6.49556427e-01 -7.59801139e-01 -2.79048038e-02 1.03384246e+02] [ 7.59442705e-01 6.50131395e-01 -2.39988895e-02 6.22912519e+01] [ 3.63761726e-02 -5.60346682e-03 9.99322458e-01 2.91495571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.09071405699999 meters Centerline goodness : 0.994335 Centerline is valid? [True, True] Translation: X:103.41, Y:62.31, Z:29.15 [[ 6.47074444e-01 -7.61946806e-01 -2.70504859e-02 1.03407506e+02] [ 7.61566400e-01 6.47622368e-01 -2.45333717e-02 6.23145060e+01] [ 3.62116240e-02 -4.72582331e-03 9.99332970e-01 2.91515960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.120714057 meters Centerline goodness : 0.993899 Centerline is valid? [True, True] Translation: X:103.43, Y:62.34, Z:29.15 [[ 6.41424341e-01 -7.66675828e-01 -2.79819355e-02 1.03430909e+02] [ 7.66239085e-01 6.42018026e-01 -2.62777178e-02 6.23369746e+01] [ 3.81113981e-02 -4.58568483e-03 9.99262975e-01 2.91546428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.150714057 meters Centerline goodness : 0.995075 Centerline is valid? [True, True] Translation: X:103.45, Y:62.36, Z:29.16 [[ 6.39269081e-01 -7.68449033e-01 -2.86552858e-02 1.03453506e+02] [ 7.68017834e-01 6.39889718e-01 -2.62631954e-02 6.23596884e+01] [ 3.85181499e-02 -5.21852171e-03 9.99244274e-01 2.91560197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.180714057 meters Centerline goodness : 0.995075 Centerline is valid? [True, True] Translation: X:103.46, Y:62.38, Z:29.16 [[ 6.31685862e-01 -7.74155545e-01 -4.06959938e-02 1.03463997e+02] [ 7.73941858e-01 6.32789688e-01 -2.43148273e-02 6.23756820e+01] [ 4.45754635e-02 -1.61370004e-02 9.98875681e-01 2.91580066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.210714057 meters Centerline goodness : 0.995167 Centerline is valid? [True, True] Translation: X:103.48, Y:62.40, Z:29.16 [[ 6.30834763e-01 -7.75254007e-01 -3.20737780e-02 1.03479796e+02] [ 7.74549430e-01 6.31637839e-01 -3.32689213e-02 6.23988343e+01] [ 4.60508763e-02 -3.85553440e-03 9.98931655e-01 2.91638159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.240714057 meters Centerline goodness : 0.995055 Centerline is valid? [True, True] Translation: X:103.51, Y:62.44, Z:29.17 [[ 6.37547564e-01 -7.70328316e-01 1.12866520e-02 1.03507128e+02] [ 7.69469759e-01 6.35976354e-01 -5.87398321e-02 6.24395590e+01] [ 3.80709121e-02 4.61341743e-02 9.98209519e-01 2.91689892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.270714057 meters Centerline goodness : 0.995055 Centerline is valid? [True, True] Translation: X:103.55, Y:62.45, Z:29.15 [[ 6.37246802e-01 -7.70193096e-01 -2.68161916e-02 1.03546388e+02] [ 7.69864255e-01 6.37784131e-01 -2.32471832e-02 6.24496868e+01] [ 3.50077615e-02 -5.83063417e-03 9.99370032e-01 2.91503013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.300714057 meters Centerline goodness : 0.995412 Centerline is valid? [True, True] Translation: X:103.56, Y:62.45, Z:29.15 [[ 6.29312170e-01 -7.74116307e-01 -6.86304327e-02 1.03560493e+02] [ 7.75937845e-01 6.30809343e-01 -1.84604174e-04 6.24535847e+01] [ 4.34356233e-02 -5.31367764e-02 9.97642135e-01 2.91497436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.330714057 meters Centerline goodness : 0.994945 Centerline is valid? [True, True] Translation: X:103.56, Y:62.49, Z:29.17 [[ 6.30891456e-01 -7.75188849e-01 -3.25302700e-02 1.03563821e+02] [ 7.74459646e-01 6.31717854e-01 -3.38350362e-02 6.24874846e+01] [ 4.67784951e-02 -3.84714615e-03 9.98897879e-01 2.91708507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.360714057 meters Centerline goodness : 0.995480 Centerline is valid? [True, True] Translation: X:103.58, Y:62.51, Z:29.17 [[ 6.31930398e-01 -7.74373410e-01 -3.17772387e-02 1.03581549e+02] [ 7.73675840e-01 6.32718116e-01 -3.30678133e-02 6.25071938e+01] [ 4.57128699e-02 -3.68872544e-03 9.98947810e-01 2.91721729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.390714057 meters Centerline goodness : 0.994042 Centerline is valid? [True, True] Translation: X:103.61, Y:62.54, Z:29.18 [[ 6.38746552e-01 -7.69391748e-01 -6.25938960e-03 1.03609366e+02] [ 7.68418046e-01 6.38310426e-01 -4.57548572e-02 6.25419672e+01] [ 3.91988432e-02 2.44159293e-02 9.98933087e-01 2.91757296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.42071405699997 meters Centerline goodness : 0.995163 Centerline is valid? [True, True] Translation: X:103.64, Y:62.56, Z:29.17 [[ 6.38294334e-01 -7.68963334e-01 -3.57174262e-02 1.03641363e+02] [ 7.68822678e-01 6.39131891e-01 -2.05454500e-02 6.25553126e+01] [ 3.86268438e-02 -1.43463230e-02 9.99150714e-01 2.91652056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.45071405699997 meters Centerline goodness : 0.994831 Centerline is valid? [True, True] Translation: X:103.66, Y:62.59, Z:29.17 [[ 6.40177474e-01 -7.68160458e-01 -1.01149948e-02 1.03656749e+02] [ 7.67310749e-01 6.40001365e-01 -4.04038010e-02 6.25890081e+01] [ 3.75102128e-02 1.81042591e-02 9.99132233e-01 2.91733853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.48071405699997 meters Centerline goodness : 0.994276 Centerline is valid? [True, True] Translation: X:103.69, Y:62.60, Z:29.16 [[ 6.40341349e-01 -7.67196306e-01 -3.70511148e-02 1.03685913e+02] [ 7.67146517e-01 6.41200646e-01 -1.86534751e-02 6.26022665e+01] [ 3.80680760e-02 -1.64790423e-02 9.99139261e-01 2.91637612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.51071405699997 meters Centerline goodness : 0.995346 Centerline is valid? [True, True] Translation: X:103.71, Y:62.62, Z:29.17 [[ 6.37961558e-01 -7.68164196e-01 -5.41185557e-02 1.03705325e+02] [ 7.68812189e-01 6.39358463e-01 -1.21891198e-02 6.26180035e+01] [ 4.39644020e-02 -3.38308154e-02 9.98460118e-01 2.91675856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.54071405699997 meters Centerline goodness : 0.995093 Centerline is valid? [True, True] Translation: X:103.72, Y:62.65, Z:29.18 [[ 6.37955137e-01 -7.69435364e-01 -3.13442794e-02 1.03719097e+02] [ 7.68687983e-01 6.38720138e-01 -3.39907244e-02 6.26507891e+01] [ 4.61738879e-02 -2.40941363e-03 9.98930512e-01 2.91802867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.57071405699998 meters Centerline goodness : 0.994685 Centerline is valid? [True, True] Translation: X:103.74, Y:62.67, Z:29.18 [[ 6.36723177e-01 -7.70017453e-01 -4.07028035e-02 1.03742661e+02] [ 7.69584714e-01 6.37891593e-01 -2.88735681e-02 6.26716207e+01] [ 4.81971275e-02 -1.29397853e-02 9.98754023e-01 2.91801032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.60071405699998 meters Centerline goodness : 0.995548 Centerline is valid? [True, True] Translation: X:103.76, Y:62.70, Z:29.18 [[ 6.37060875e-01 -7.70276730e-01 -2.87611141e-02 1.03761109e+02] [ 7.69277046e-01 6.37703013e-01 -3.93407464e-02 6.26992153e+01] [ 4.86443106e-02 2.93718540e-03 9.98811846e-01 2.91842421e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.63071405699998 meters Centerline goodness : 0.995410 Centerline is valid? [True, True] Translation: X:103.78, Y:62.73, Z:29.18 [[ 6.41259025e-01 -7.67289778e-01 -7.29797388e-03 1.03781883e+02] [ 7.66118110e-01 6.40755003e-01 -4.99606655e-02 6.27295105e+01] [ 4.30105212e-02 2.64466176e-02 9.98724522e-01 2.91839649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.66071405699998 meters Centerline goodness : 0.994766 Centerline is valid? [True, True] Translation: X:103.81, Y:62.73, Z:29.17 [[ 6.36620539e-01 -7.69061572e-01 -5.70840405e-02 1.03806755e+02] [ 7.69772576e-01 6.38183297e-01 -1.31248013e-02 6.27327642e+01] [ 4.65238614e-02 -3.55862109e-02 9.98283102e-01 2.91710993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.69071405699998 meters Centerline goodness : 0.994638 Centerline is valid? [True, True] Translation: X:103.82, Y:62.78, Z:29.19 [[ 6.43821524e-01 -7.65153843e-01 5.78293956e-03 1.03823616e+02] [ 7.64045049e-01 6.42441133e-01 -5.91992725e-02 6.27822126e+01] [ 4.15813526e-02 4.25321921e-02 9.98229434e-01 2.91906555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.72071405699998 meters Centerline goodness : 0.995042 Centerline is valid? [True, True] Translation: X:103.85, Y:62.78, Z:29.17 [[ 6.38733794e-01 -7.66454984e-01 -6.75714345e-02 1.03853718e+02] [ 7.68133409e-01 6.40287419e-01 -1.75690383e-03 6.27752999e+01] [ 4.46117270e-02 -5.07816825e-02 9.97712892e-01 2.91693955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.75071405699998 meters Centerline goodness : 0.994225 Centerline is valid? [True, True] Translation: X:103.87, Y:62.83, Z:29.20 [[ 6.47232564e-01 -7.62194527e-01 1.22274393e-02 1.03866147e+02] [ 7.61304433e-01 6.45493916e-01 -6.12630783e-02 6.28315810e+01] [ 3.88016453e-02 4.89602630e-02 9.98046755e-01 2.91955235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.78071405699998 meters Centerline goodness : 0.994233 Centerline is valid? [True, True] Translation: X:103.90, Y:62.83, Z:29.17 [[ 6.47511464e-01 -7.61119153e-01 -3.77695428e-02 1.03904184e+02] [ 7.61201918e-01 6.48336590e-01 -1.52087719e-02 6.28338636e+01] [ 3.60630642e-02 -1.89023942e-02 9.99170734e-01 2.91734425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.81071405699998 meters Centerline goodness : 0.994338 Centerline is valid? [True, True] Translation: X:103.91, Y:62.85, Z:29.18 [[ 6.43243968e-01 -7.63312032e-01 -5.99327957e-02 1.03912995e+02] [ 7.64428744e-01 6.44677690e-01 -6.27467798e-03 6.28457065e+01] [ 4.34268735e-02 -4.17782030e-02 9.98182693e-01 2.91790466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.84071405699999 meters Centerline goodness : 0.994973 Centerline is valid? [True, True] Translation: X:103.92, Y:62.88, Z:29.20 [[ 6.44266864e-01 -7.64149779e-01 -3.15487460e-02 1.03922171e+02] [ 7.63446320e-01 6.45032399e-01 -3.29077748e-02 6.28790942e+01] [ 4.54964322e-02 -2.88438518e-03 9.98960337e-01 2.91955683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.870714057 meters Centerline goodness : 0.994514 Centerline is valid? [True, True] Translation: X:103.94, Y:62.90, Z:29.20 [[ 6.46257020e-01 -7.62462690e-01 -3.16624445e-02 1.03941080e+02] [ 7.61752169e-01 6.47026229e-01 -3.30256422e-02 6.29000577e+01] [ 4.56672520e-02 -2.77588269e-03 9.98952850e-01 2.91966749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.900714057 meters Centerline goodness : 0.994261 Centerline is valid? [True, True] Translation: X:103.97, Y:62.94, Z:29.20 [[ 6.52894329e-01 -7.57442401e-01 3.16297639e-03 1.03968344e+02] [ 7.56517237e-01 6.51878430e-01 -5.23085353e-02 6.29371136e+01] [ 3.75588265e-02 3.65447922e-02 9.98625962e-01 2.92004176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.930714057 meters Centerline goodness : 0.993665 Centerline is valid? [True, True] Translation: X:104.00, Y:62.95, Z:29.19 [[ 6.53931806e-01 -7.55730249e-01 -3.52843274e-02 1.04002611e+02] [ 7.55575686e-01 6.54746385e-01 -2.03114332e-02 6.29468500e+01] [ 3.84522503e-02 -1.33776877e-02 9.99170887e-01 2.91850802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.960714057 meters Centerline goodness : 0.993996 Centerline is valid? [True, True] Translation: X:104.02, Y:62.97, Z:29.19 [[ 6.54886806e-01 -7.55242249e-01 -2.70632062e-02 1.04020702e+02] [ 7.54696530e-01 6.55443816e-01 -2.87498155e-02 6.29740024e+01] [ 3.94514864e-02 -1.59663296e-03 9.99220211e-01 2.91908329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.990714057 meters Centerline goodness : 0.993876 Centerline is valid? [True, True] Translation: X:104.04, Y:63.00, Z:29.19 [[ 6.56758510e-01 -7.53833493e-01 -2.00829211e-02 1.04041401e+02] [ 7.53012272e-01 6.57008264e-01 -3.62306282e-02 6.30022600e+01] [ 4.05065062e-02 8.67208735e-03 9.99141641e-01 2.91946004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.020714057 meters Centerline goodness : 0.994155 Centerline is valid? [True, True] Translation: X:104.07, Y:63.02, Z:29.19 [[ 6.57638506e-01 -7.52830448e-01 -2.75302078e-02 1.04067373e+02] [ 7.52221551e-01 6.58214013e-01 -3.02828494e-02 6.30241447e+01] [ 4.09186196e-02 -7.93647803e-04 9.99162167e-01 2.91926323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.050714057 meters Centerline goodness : 0.994264 Centerline is valid? [True, True] Translation: X:104.08, Y:63.03, Z:29.19 [[ 6.53394224e-01 -7.53802892e-01 -6.96935295e-02 1.04083464e+02] [ 7.55269627e-01 6.55369936e-01 -7.61823869e-03 6.30292916e+01] [ 5.14176943e-02 -4.76596928e-02 9.97539360e-01 2.91903642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.080714057 meters Centerline goodness : 0.994165 Centerline is valid? [True, True] Translation: X:104.09, Y:63.07, Z:29.21 [[ 6.55145793e-01 -7.54621826e-01 -3.64676505e-02 1.04092119e+02] [ 7.53645275e-01 6.56155950e-01 -3.84469584e-02 6.30654467e+01] [ 5.29413798e-02 -2.29530945e-03 9.98594984e-01 2.92099062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.110714057 meters Centerline goodness : 0.992514 Centerline is valid? [True, True] Translation: X:104.12, Y:63.11, Z:29.22 [[ 6.63656505e-01 -7.47933283e-01 1.24838800e-02 1.04117478e+02] [ 7.46924355e-01 6.61666577e-01 -6.55846707e-02 6.31078882e+01] [ 4.07927919e-02 5.28502073e-02 9.97768913e-01 2.92165656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.140714057 meters Centerline goodness : 0.993454 Centerline is valid? [True, True] Translation: X:104.16, Y:63.12, Z:29.20 [[ 6.63021261e-01 -7.47858366e-01 -3.33267372e-02 1.04158528e+02] [ 7.47366176e-01 6.63827239e-01 -2.78782190e-02 6.31172321e+01] [ 4.29721553e-02 -6.42342421e-03 9.99055621e-01 2.91973919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.17071405699997 meters Centerline goodness : 0.993341 Centerline is valid? [True, True] Translation: X:104.18, Y:63.14, Z:29.20 [[ 6.63480708e-01 -7.47527863e-01 -3.15506552e-02 1.04180635e+02] [ 7.46926014e-01 6.64221070e-01 -3.01976868e-02 6.31415210e+01] [ 4.35302223e-02 -3.53042252e-03 9.99045873e-01 2.92005806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.20071405699997 meters Centerline goodness : 0.992597 Centerline is valid? [True, True] Translation: X:104.20, Y:63.16, Z:29.20 [[ 6.64462887e-01 -7.46167814e-01 -4.15050026e-02 1.04204051e+02] [ 7.46312171e-01 6.65426681e-01 -1.50158447e-02 6.31565686e+01] [ 3.88228761e-02 -2.09982171e-02 9.99025455e-01 2.91968602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.23071405699997 meters Centerline goodness : 0.994081 Centerline is valid? [True, True] Translation: X:104.22, Y:63.20, Z:29.21 [[ 6.63643112e-01 -7.48049258e-01 -3.57079495e-04 1.04217454e+02] [ 7.46821266e-01 6.62580871e-01 -5.69612655e-02 6.31995178e+01] [ 4.28464264e-02 3.75352769e-02 9.98376325e-01 2.92139070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.26071405699997 meters Centerline goodness : 0.994227 Centerline is valid? [True, True] Translation: X:104.25, Y:63.18, Z:29.19 [[ 6.53563072e-01 -7.51036248e-01 -9.38076021e-02 1.04249922e+02] [ 7.54801839e-01 6.55910691e-01 7.43974499e-03 6.31834471e+01] [ 5.59418909e-02 -7.56684932e-02 9.95562547e-01 2.91918640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.29071405699997 meters Centerline goodness : 0.993781 Centerline is valid? [True, True] Translation: X:104.25, Y:63.22, Z:29.22 [[ 6.52752504e-01 -7.56463949e-01 -4.09446318e-02 1.04246549e+02] [ 7.55215095e-01 6.54030565e-01 -4.35221852e-02 6.32231838e+01] [ 5.97020048e-02 -2.51278860e-03 9.98213082e-01 2.92212476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.32071405699998 meters Centerline goodness : 0.994509 Centerline is valid? [True, True] Translation: X:104.27, Y:63.24, Z:29.22 [[ 6.50830317e-01 -7.58045676e-01 -4.22687984e-02 1.04266284e+02] [ 7.56716576e-01 6.52195756e-01 -4.49524121e-02 6.32414566e+01] [ 6.16435125e-02 -2.72910775e-03 9.98094499e-01 2.92217324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.35071405699998 meters Centerline goodness : 0.994818 Centerline is valid? [True, True] Translation: X:104.29, Y:63.26, Z:29.22 [[ 6.50087112e-01 -7.58659015e-01 -4.26994762e-02 1.04285887e+02] [ 7.57302836e-01 6.51481878e-01 -4.54288041e-02 6.32612680e+01] [ 6.22829068e-02 -2.80375433e-03 9.98054597e-01 2.92225898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.38071405699998 meters Centerline goodness : 0.995461 Centerline is valid? [True, True] Translation: X:104.31, Y:63.28, Z:29.22 [[ 6.49962512e-01 -7.58725567e-01 -4.34079167e-02 1.04305941e+02] [ 7.57322489e-01 6.51404212e-01 -4.62082139e-02 6.32810312e+01] [ 6.33354531e-02 -2.84018476e-03 9.97988253e-01 2.92242053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.41071405699998 meters Centerline goodness : 0.994554 Centerline is valid? [True, True] Translation: X:104.33, Y:63.33, Z:29.24 [[ 6.58670257e-01 -7.51989041e-01 2.58064966e-02 1.04326954e+02] [ 7.50809464e-01 6.54612506e-01 -8.81340775e-02 6.33318530e+01] [ 4.93826050e-02 7.74270574e-02 9.95774276e-01 2.92369112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.44071405699998 meters Centerline goodness : 0.994615 Centerline is valid? [True, True] Translation: X:104.38, Y:63.32, Z:29.20 [[ 6.56757381e-01 -7.51082672e-01 -6.74133739e-02 1.04380091e+02] [ 7.52274201e-01 6.58762708e-01 -1.07340914e-02 6.33200335e+01] [ 5.24716068e-02 -4.36636483e-02 9.97667388e-01 2.92017048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.47071405699998 meters Centerline goodness : 0.994561 Centerline is valid? [True, True] Translation: X:104.38, Y:63.37, Z:29.22 [[ 6.59533446e-01 -7.51617058e-01 -9.35049159e-03 1.04384691e+02] [ 7.50104365e-01 6.58908021e-01 -5.64239365e-02 6.33661751e+01] [ 4.85703071e-02 3.01996287e-02 9.98363114e-01 2.92231988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.50071405699998 meters Centerline goodness : 0.993198 Centerline is valid? [True, True] Translation: X:104.42, Y:63.36, Z:29.20 [[ 6.61021252e-01 -7.47624822e-01 -6.40939148e-02 1.04419227e+02] [ 7.49116420e-01 6.62437394e-01 -1.13527906e-03 6.33601084e+01] [ 4.33069687e-02 -4.72633604e-02 9.97943225e-01 2.92046839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.53071405699998 meters Centerline goodness : 0.992966 Centerline is valid? [True, True] Translation: X:104.43, Y:63.39, Z:29.22 [[ 6.60321252e-01 -7.50193065e-01 -3.44413915e-02 1.04427793e+02] [ 7.49744628e-01 6.61171454e-01 -2.71164344e-02 6.33934178e+01] [ 4.31142259e-02 -7.91669042e-03 9.99038783e-01 2.92222706e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.56071405699998 meters Centerline goodness : 0.994767 Centerline is valid? [True, True] Translation: X:104.44, Y:63.43, Z:29.23 [[ 6.57976979e-01 -7.52928963e-01 -1.28168860e-02 1.04443967e+02] [ 7.51411560e-01 6.57578764e-01 -5.45053803e-02 6.34304622e+01] [ 4.94667915e-02 2.62325291e-02 9.98431215e-01 2.92345018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.59071405699999 meters Centerline goodness : 0.993795 Centerline is valid? [True, True] Translation: X:104.48, Y:63.45, Z:29.22 [[ 6.60801885e-01 -7.50287652e-01 -2.02313690e-02 1.04475051e+02] [ 7.49425384e-01 6.61044700e-01 -3.71685004e-02 6.34489505e+01] [ 4.12609061e-02 9.39911364e-03 9.99104196e-01 2.92236268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.620714057 meters Centerline goodness : 0.993152 Centerline is valid? [True, True] Translation: X:104.50, Y:63.47, Z:29.22 [[ 6.58420087e-01 -7.51683370e-01 -3.81457873e-02 1.04502234e+02] [ 7.51350008e-01 6.59415831e-01 -2.53757215e-02 6.34654143e+01] [ 4.42284439e-02 -1.19529528e-02 9.98949935e-01 2.92201531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.650714057 meters Centerline goodness : 0.993279 Centerline is valid? [True, True] Translation: X:104.52, Y:63.49, Z:29.23 [[ 6.53761416e-01 -7.56120485e-01 -2.96280915e-02 1.04521976e+02] [ 7.55108778e-01 6.54424214e-01 -3.92387735e-02 6.34937729e+01] [ 4.90585809e-02 3.28036412e-03 9.98790516e-01 2.92268330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.680714057 meters Centerline goodness : 0.994118 Centerline is valid? [True, True] Translation: X:104.55, Y:63.50, Z:29.22 [[ 6.53507907e-01 -7.55314432e-01 -4.92699114e-02 1.04549590e+02] [ 7.55650339e-01 6.54796530e-01 -1.52993556e-02 6.35044022e+01] [ 4.38175911e-02 -2.72325754e-02 9.98668316e-01 2.92192125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.710714057 meters Centerline goodness : 0.993773 Centerline is valid? [True, True] Translation: X:104.57, Y:63.52, Z:29.23 [[ 6.47701790e-01 -7.59668787e-01 -5.81869960e-02 1.04565134e+02] [ 7.60129368e-01 6.49509201e-01 -1.84700081e-02 6.35233246e+01] [ 5.18240779e-02 -3.22665872e-02 9.98134827e-01 2.92280453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.740714057 meters Centerline goodness : 0.994830 Centerline is valid? [True, True] Translation: X:104.57, Y:63.55, Z:29.25 [[ 6.34587014e-01 -7.70836004e-01 -5.57779325e-02 1.04569862e+02] [ 7.69794727e-01 6.36841387e-01 -4.30014723e-02 6.35509393e+01] [ 6.86687789e-02 -1.56493824e-02 9.97516765e-01 2.92458552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.770714057 meters Centerline goodness : 0.993382 Centerline is valid? [True, True] Translation: X:104.60, Y:63.58, Z:29.25 [[ 6.39678739e-01 -7.67869541e-01 -3.44598192e-02 1.04596185e+02] [ 7.66491750e-01 6.40598925e-01 -4.60805284e-02 6.35782528e+01] [ 5.74587573e-02 3.06356712e-03 9.98343180e-01 2.92468208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.800714057 meters Centerline goodness : 0.995324 Centerline is valid? [True, True] Translation: X:104.61, Y:63.60, Z:29.25 [[ 6.29126031e-01 -7.75488083e-01 -5.30911594e-02 1.04611511e+02] [ 7.74178416e-01 6.31251869e-01 -4.65710000e-02 6.35979223e+01] [ 6.96291492e-02 -1.18030013e-02 9.97503118e-01 2.92511896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.830714057 meters Centerline goodness : 0.993249 Centerline is valid? [True, True] Translation: X:104.63, Y:63.62, Z:29.25 [[ 6.35546176e-01 -7.71349876e-01 -3.31726748e-02 1.04634946e+02] [ 7.69884013e-01 6.36393033e-01 -4.77756642e-02 6.36211189e+01] [ 5.79626118e-02 4.82452866e-03 9.98307097e-01 2.92505528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.860714057 meters Centerline goodness : 0.994047 Centerline is valid? [True, True] Translation: X:104.66, Y:63.64, Z:29.25 [[ 6.34828226e-01 -7.71602291e-01 -4.02868251e-02 1.04655797e+02] [ 7.70583441e-01 6.36080365e-01 -4.00366148e-02 6.36381175e+01] [ 5.65180021e-02 -5.62798712e-03 9.98385718e-01 2.92487757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.890714057 meters Centerline goodness : 0.994132 Centerline is valid? [True, True] Translation: X:104.67, Y:63.66, Z:29.25 [[ 6.34160415e-01 -7.72228762e-01 -3.87725057e-02 1.04674417e+02] [ 7.71185083e-01 6.35330012e-01 -4.03651271e-02 6.36615814e+01] [ 5.58044487e-02 -4.30281225e-03 9.98432446e-01 2.92517462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.92071405699997 meters Centerline goodness : 0.993589 Centerline is valid? [True, True] Translation: X:104.69, Y:63.68, Z:29.25 [[ 6.34387273e-01 -7.72197056e-01 -3.55597184e-02 1.04690725e+02] [ 7.71044882e-01 6.35382770e-01 -4.21725667e-02 6.36831389e+01] [ 5.51595643e-02 -6.64399259e-04 9.98477331e-01 2.92540840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.95071405699997 meters Centerline goodness : 0.995426 Centerline is valid? [True, True] Translation: X:104.70, Y:63.70, Z:29.26 [[ 6.26550859e-01 -7.77601099e-01 -5.26360353e-02 1.04703256e+02] [ 7.76605539e-01 6.28588611e-01 -4.19546777e-02 6.37028086e+01] [ 6.57104159e-02 -1.45906972e-02 9.97732055e-01 2.92596922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.98071405699997 meters Centerline goodness : 0.994389 Centerline is valid? [True, True] Translation: X:104.72, Y:63.72, Z:29.26 [[ 6.27530461e-01 -7.76518850e-01 -5.67802507e-02 1.04722012e+02] [ 7.76335990e-01 6.29593650e-01 -3.02368392e-02 6.37209309e+01] [ 5.92279609e-02 -2.51060145e-02 9.97928723e-01 2.92590861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.010714057 meters Centerline goodness : 0.995353 Centerline is valid? [True, True] Translation: X:104.74, Y:63.76, Z:29.28 [[ 6.25596143e-01 -7.79646742e-01 -2.79360606e-02 1.04735180e+02] [ 7.77311588e-01 6.25972860e-01 -6.28066347e-02 6.37583654e+01] [ 6.64542039e-02 1.75765648e-02 9.97634654e-01 2.92757063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.040714057 meters Centerline goodness : 0.993894 Centerline is valid? [True, True] Translation: X:104.77, Y:63.79, Z:29.27 [[ 6.35507294e-01 -7.72016662e-01 1.09887308e-02 1.04766621e+02] [ 7.70754623e-01 6.33501670e-01 -6.79186700e-02 6.37930476e+01] [ 4.54729656e-02 5.16324253e-02 9.97630343e-01 2.92687656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.07071405700003 meters Centerline goodness : 0.994618 Centerline is valid? [True, True] Translation: X:104.80, Y:63.78, Z:29.25 [[ 6.22648925e-01 -7.77670779e-01 -8.68128792e-02 1.04800689e+02] [ 7.80046584e-01 6.25644750e-01 -9.79662369e-03 6.37847309e+01] [ 6.19325701e-02 -6.16182326e-02 9.96176465e-01 2.92495245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.100714057 meters Centerline goodness : 0.995577 Centerline is valid? [True, True] Translation: X:104.80, Y:63.82, Z:29.27 [[ 6.20254900e-01 -7.83063518e-01 -4.57753893e-02 1.04800035e+02] [ 7.81522413e-01 6.21920412e-01 -4.93732683e-02 6.38203979e+01] [ 6.71310542e-02 -5.15048107e-03 9.97730873e-01 2.92724860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.13071405700003 meters Centerline goodness : 0.993479 Centerline is valid? [True, True] Translation: X:104.82, Y:63.85, Z:29.27 [[ 6.29075148e-01 -7.77318665e-01 -6.33647715e-03 1.04822758e+02] [ 7.75415601e-01 6.28067210e-01 -6.52857129e-02 6.38512246e+01] [ 5.47275367e-02 3.61562163e-02 9.97846494e-01 2.92697230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.160714057 meters Centerline goodness : 0.993479 Centerline is valid? [True, True] Translation: X:104.86, Y:63.86, Z:29.26 [[ 6.28996085e-01 -7.76533334e-01 -3.68769064e-02 1.04855080e+02] [ 7.75630894e-01 6.30057397e-01 -3.77411157e-02 6.38613144e+01] [ 5.25418021e-02 -4.86385386e-03 9.98606881e-01 2.92555364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.19071405700004 meters Centerline goodness : 0.993911 Centerline is valid? [True, True] Translation: X:104.88, Y:63.89, Z:29.26 [[ 6.25203423e-01 -7.79865948e-01 -3.04923590e-02 1.04877194e+02] [ 7.78366198e-01 6.25909784e-01 -4.88160319e-02 6.38944183e+01] [ 5.71554268e-02 6.78572875e-03 9.98342231e-01 2.92627788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.220714057 meters Centerline goodness : 0.994857 Centerline is valid? [True, True] Translation: X:104.90, Y:63.92, Z:29.27 [[ 6.21280772e-01 -7.82846072e-01 -3.40914764e-02 1.04901607e+02] [ 7.81038858e-01 6.22179770e-01 -5.35783149e-02 6.39227134e+01] [ 6.31546003e-02 6.66040906e-03 9.97981531e-01 2.92655784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.25071405700004 meters Centerline goodness : 0.994606 Centerline is valid? [True, True] Translation: X:104.93, Y:63.94, Z:29.26 [[ 6.20554489e-01 -7.82763346e-01 -4.68366327e-02 1.04926678e+02] [ 7.81640624e-01 6.22240922e-01 -4.30600742e-02 6.39443800e+01] [ 6.28495173e-02 -9.88829248e-03 9.97974028e-01 2.92615699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.280714057 meters Centerline goodness : 0.992269 Centerline is valid? [True, True] Translation: X:104.95, Y:63.95, Z:29.26 [[ 6.19969936e-01 -7.81142194e-01 -7.38522315e-02 1.04945038e+02] [ 7.82314468e-01 6.22618507e-01 -1.81732653e-02 6.39498249e+01] [ 6.01776705e-02 -4.65087911e-02 9.97103596e-01 2.92575520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.310714057 meters Centerline goodness : 0.993131 Centerline is valid? [True, True] Translation: X:104.95, Y:63.99, Z:29.28 [[ 6.22504576e-01 -7.82139051e-01 -2.73232148e-02 1.04951492e+02] [ 7.80309593e-01 6.22969985e-01 -5.50030664e-02 6.39945577e+01] [ 6.00415889e-02 1.29190940e-02 9.98112271e-01 2.92788391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.340714057 meters Centerline goodness : 0.992989 Centerline is valid? [True, True] Translation: X:104.98, Y:64.02, Z:29.27 [[ 6.24277995e-01 -7.80431163e-01 -3.47013632e-02 1.04976595e+02] [ 7.79031261e-01 6.25237960e-01 -4.67737951e-02 6.40157142e+01] [ 5.82003369e-02 2.16640428e-03 9.98302573e-01 2.92744540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.370714057 meters Centerline goodness : 0.992500 Centerline is valid? [True, True] Translation: X:105.00, Y:64.03, Z:29.27 [[ 6.23023045e-01 -7.80108761e-01 -5.72066973e-02 1.05000600e+02] [ 7.79883842e-01 6.25140177e-01 -3.13201576e-02 6.40308854e+01] [ 6.01953342e-02 -2.51013989e-02 9.97870954e-01 2.92719299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.400714057 meters Centerline goodness : 0.992860 Centerline is valid? [True, True] Translation: X:105.01, Y:64.06, Z:29.29 [[ 6.18814875e-01 -7.83918106e-01 -5.04039036e-02 1.05014165e+02] [ 7.82571587e-01 6.20778529e-01 -4.70715340e-02 6.40617680e+01] [ 6.81898889e-02 -1.03160974e-02 9.97619024e-01 2.92862071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.430714057 meters Centerline goodness : 0.990658 Centerline is valid? [True, True] Translation: X:105.03, Y:64.07, Z:29.28 [[ 6.21038762e-01 -7.81477429e-01 -6.00323679e-02 1.05029828e+02] [ 7.81063031e-01 6.23439833e-01 -3.55431602e-02 6.40749524e+01] [ 6.52027468e-02 -2.48153830e-02 9.97563431e-01 2.92846508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.460714057 meters Centerline goodness : 0.991644 Centerline is valid? [True, True] Translation: X:105.04, Y:64.10, Z:29.29 [[ 6.20985929e-01 -7.82668592e-01 -4.25011955e-02 1.05043063e+02] [ 7.81117310e-01 6.22433341e-01 -4.93202202e-02 6.41027632e+01] [ 6.50555484e-02 -2.57125678e-03 9.97878331e-01 2.92940117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.490714057 meters Centerline goodness : 0.991660 Centerline is valid? [True, True] Translation: X:105.06, Y:64.12, Z:29.29 [[ 6.19624139e-01 -7.83427290e-01 -4.80375754e-02 1.05063101e+02] [ 7.82159606e-01 6.21412880e-01 -4.55234448e-02 6.41221160e+01] [ 6.55154771e-02 -9.36562578e-03 9.97807600e-01 2.92942085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.520714057 meters Centerline goodness : 0.992502 Centerline is valid? [True, True] Translation: X:105.08, Y:64.15, Z:29.30 [[ 6.14081343e-01 -7.88342979e-01 -3.76756055e-02 1.05080391e+02] [ 7.85943809e-01 6.15177470e-01 -6.20403922e-02 6.41533910e+01] [ 7.20862913e-02 8.48693852e-03 9.97362291e-01 2.93035136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.550714057 meters Centerline goodness : 0.991815 Centerline is valid? [True, True] Translation: X:105.10, Y:64.17, Z:29.30 [[ 6.12681908e-01 -7.88656115e-01 -5.14043937e-02 1.05104287e+02] [ 7.87031544e-01 6.14769053e-01 -5.13844310e-02 6.41701188e+01] [ 7.21264761e-02 -8.97456812e-03 9.97355117e-01 2.92988664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.580714057 meters Centerline goodness : 0.991801 Centerline is valid? [True, True] Translation: X:105.12, Y:64.19, Z:29.30 [[ 6.11225519e-01 -7.89777973e-01 -5.15181424e-02 1.05121976e+02] [ 7.88006453e-01 6.13341671e-01 -5.34586188e-02 6.41920458e+01] [ 7.38186631e-02 -7.92135668e-03 9.97240220e-01 2.93008261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.610714057 meters Centerline goodness : 0.992490 Centerline is valid? [True, True] Translation: X:105.14, Y:64.22, Z:29.30 [[ 6.09912950e-01 -7.91003049e-01 -4.81702172e-02 1.05141989e+02] [ 7.88859987e-01 6.11807187e-01 -5.82399111e-02 6.42185472e+01] [ 7.55388324e-02 -2.47828095e-03 9.97139781e-01 2.93042057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.640714057 meters Centerline goodness : 0.992662 Centerline is valid? [True, True] Translation: X:105.17, Y:64.24, Z:29.30 [[ 6.09893648e-01 -7.90412918e-01 -5.72464612e-02 1.05166229e+02] [ 7.88790606e-01 6.12431197e-01 -5.23202565e-02 6.42402193e+01] [ 7.64141253e-02 -1.32456787e-02 9.96988181e-01 2.93034360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.670714057 meters Centerline goodness : 0.991638 Centerline is valid? [True, True] Translation: X:105.18, Y:64.26, Z:29.30 [[ 6.13980126e-01 -7.87148595e-01 -5.85277217e-02 1.05183533e+02] [ 7.85984447e-01 6.16512423e-01 -4.62696609e-02 6.42605525e+01] [ 7.25041661e-02 -1.75932267e-02 9.97212928e-01 2.93032681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.700714057 meters Centerline goodness : 0.991990 Centerline is valid? [True, True] Translation: X:105.20, Y:64.29, Z:29.31 [[ 6.16554663e-01 -7.85944009e-01 -4.63935659e-02 1.05200226e+02] [ 7.84116047e-01 6.18288946e-01 -5.36731336e-02 6.42896138e+01] [ 7.08687067e-02 -3.28551870e-03 9.97480241e-01 2.93104744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.730714057 meters Centerline goodness : 0.991575 Centerline is valid? [True, True] Translation: X:105.22, Y:64.32, Z:29.31 [[ 6.20203524e-01 -7.82770838e-01 -5.11605696e-02 1.05220672e+02] [ 7.81032354e-01 6.22267194e-01 -5.26498083e-02 6.43154543e+01] [ 7.30482786e-02 -7.30446343e-03 9.97301656e-01 2.93125954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.76071405700003 meters Centerline goodness : 0.991564 Centerline is valid? [True, True] Translation: X:105.24, Y:64.35, Z:29.32 [[ 6.21935772e-01 -7.81893252e-01 -4.28816809e-02 1.05238181e+02] [ 7.79372879e-01 6.23385758e-01 -6.29929567e-02 6.43451281e+01] [ 7.59855969e-02 5.75675405e-03 9.97092297e-01 2.93196691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.790714057 meters Centerline goodness : 0.991099 Centerline is valid? [True, True] Translation: X:105.26, Y:64.37, Z:29.32 [[ 6.27449596e-01 -7.76898651e-01 -5.23019264e-02 1.05261536e+02] [ 7.75089938e-01 6.29586695e-01 -5.34432580e-02 6.43685161e+01] [ 7.44485920e-02 -7.00574630e-03 9.97200244e-01 2.93172802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.82071405700003 meters Centerline goodness : 0.992825 Centerline is valid? [True, True] Translation: X:105.28, Y:64.41, Z:29.33 [[ 6.33074306e-01 -7.73861481e-01 -1.88502205e-02 1.05278238e+02] [ 7.70973734e-01 6.32521121e-01 -7.42733715e-02 6.44079148e+01] [ 6.94004639e-02 3.24875383e-02 9.97059745e-01 2.93272860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.850714057 meters Centerline goodness : 0.990530 Centerline is valid? [True, True] Translation: X:105.31, Y:64.41, Z:29.31 [[ 6.39638697e-01 -7.66710524e-01 -5.49300461e-02 1.05309263e+02] [ 7.66073422e-01 6.41718666e-01 -3.64508750e-02 6.44128553e+01] [ 6.31969053e-02 -1.87650581e-02 9.97824646e-01 2.93063163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.88071405700003 meters Centerline goodness : 0.991846 Centerline is valid? [True, True] Translation: X:105.33, Y:64.44, Z:29.31 [[ 6.38351501e-01 -7.66949500e-01 -6.55425453e-02 1.05327541e+02] [ 7.66674082e-01 6.41094052e-01 -3.47745358e-02 6.44371814e+01] [ 6.86892488e-02 -2.80513936e-02 9.97243655e-01 2.93141913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.910714057 meters Centerline goodness : 0.992671 Centerline is valid? [True, True] Translation: X:105.34, Y:64.48, Z:29.33 [[ 6.42046619e-01 -7.66477422e-01 -1.69853085e-02 1.05338079e+02] [ 7.63901379e-01 6.41454331e-01 -7.06471820e-02 6.44817394e+01] [ 6.50447697e-02 3.23836837e-02 9.97356744e-01 2.93334762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.94071405700004 meters Centerline goodness : 0.992467 Centerline is valid? [True, True] Translation: X:105.37, Y:64.49, Z:29.31 [[ 6.43181578e-01 -7.63548789e-01 -5.75387197e-02 1.05371556e+02] [ 7.63102843e-01 6.45376320e-01 -3.41094990e-02 6.44885969e+01] [ 6.31783939e-02 -2.19693592e-02 9.97760411e-01 2.93134890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.970714057 meters Centerline goodness : 0.992723 Centerline is valid? [True, True] Translation: X:105.39, Y:64.52, Z:29.32 [[ 6.42053770e-01 -7.65309884e-01 -4.54723776e-02 1.05386928e+02] [ 7.63902485e-01 6.43644171e-01 -4.66387701e-02 6.45171645e+01] [ 6.49611425e-02 -4.79186402e-03 9.97876289e-01 2.93225588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.00071405700004 meters Centerline goodness : 0.992785 Centerline is valid? [True, True] Translation: X:105.41, Y:64.54, Z:29.32 [[ 6.39120089e-01 -7.66861395e-01 -5.87291566e-02 1.05409436e+02] [ 7.66026346e-01 6.41529224e-01 -4.05449359e-02 6.45360880e+01] [ 6.87688163e-02 -1.90749982e-02 9.97450247e-01 2.93229126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.030714057 meters Centerline goodness : 0.992549 Centerline is valid? [True, True] Translation: X:105.43, Y:64.56, Z:29.33 [[ 6.36849439e-01 -7.69628805e-01 -4.57634682e-02 1.05426841e+02] [ 7.67711391e-01 6.38491343e-01 -5.42957167e-02 6.45648900e+01] [ 7.10071258e-02 -5.54939106e-04 9.97475654e-01 2.93303401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.060714057 meters Centerline goodness : 0.992647 Centerline is valid? [True, True] Translation: X:105.45, Y:64.59, Z:29.33 [[ 6.33896819e-01 -7.71540764e-01 -5.38486081e-02 1.05449977e+02] [ 7.69878956e-01 6.36117857e-01 -5.13854602e-02 6.45871242e+01] [ 7.39000384e-02 -8.88383045e-03 9.97226084e-01 2.93313438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.090714057 meters Centerline goodness : 0.992988 Centerline is valid? [True, True] Translation: X:105.47, Y:64.61, Z:29.33 [[ 6.28876654e-01 -7.74735657e-01 -6.55653655e-02 1.05470036e+02] [ 7.73662727e-01 6.31913145e-01 -4.61709992e-02 6.46057103e+01] [ 7.72019356e-02 -2.16896160e-02 9.96779525e-01 2.93341150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.120714057 meters Centerline goodness : 0.993248 Centerline is valid? [True, True] Translation: X:105.49, Y:64.64, Z:29.34 [[ 6.27141561e-01 -7.77106440e-01 -5.29059783e-02 1.05486155e+02] [ 7.74981130e-01 6.29350478e-01 -5.76387423e-02 6.46350422e+01] [ 7.80878406e-02 -4.85348401e-03 9.96934668e-01 2.93442614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.150714057 meters Centerline goodness : 0.992821 Centerline is valid? [True, True] Translation: X:105.51, Y:64.66, Z:29.35 [[ 6.25336381e-01 -7.78006072e-01 -6.05058898e-02 1.05506925e+02] [ 7.76496282e-01 6.28072210e-01 -5.07821245e-02 6.46552729e+01] [ 7.75108691e-02 -1.52266884e-02 9.96875224e-01 2.93454959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.180714057 meters Centerline goodness : 0.993182 Centerline is valid? [True, True] Translation: X:105.53, Y:64.68, Z:29.35 [[ 6.24638584e-01 -7.78302697e-01 -6.38086995e-02 1.05527122e+02] [ 7.76827276e-01 6.27640409e-01 -5.10578159e-02 6.46790577e+01] [ 7.97873541e-02 -1.76756564e-02 9.96655181e-01 2.93509482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.210714057 meters Centerline goodness : 0.993001 Centerline is valid? [True, True] Translation: X:105.54, Y:64.70, Z:29.36 [[ 6.25007156e-01 -7.78562163e-01 -5.66304993e-02 1.05543359e+02] [ 7.76468891e-01 6.27516921e-01 -5.76070775e-02 6.47044853e+01] [ 8.03872874e-02 -7.96698526e-03 9.96731865e-01 2.93584286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.240714057 meters Centerline goodness : 0.993504 Centerline is valid? [True, True] Translation: X:105.56, Y:64.73, Z:29.36 [[ 6.24701439e-01 -7.78905502e-01 -5.52660045e-02 1.05564703e+02] [ 7.76754664e-01 6.27106986e-01 -5.82152897e-02 6.47291434e+01] [ 8.00019070e-02 -6.56095153e-03 9.96773118e-01 2.93610695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.270714057 meters Centerline goodness : 0.993477 Centerline is valid? [True, True] Translation: X:105.59, Y:64.76, Z:29.36 [[ 6.25504594e-01 -7.79178052e-01 -4.03183201e-02 1.05585994e+02] [ 7.76471451e-01 6.26727027e-01 -6.56149362e-02 6.47589305e+01] [ 7.63942990e-02 9.73641951e-03 9.97030147e-01 2.93648581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.300714057 meters Centerline goodness : 0.993763 Centerline is valid? [True, True] Translation: X:105.61, Y:64.78, Z:29.36 [[ 6.25619585e-01 -7.78387977e-01 -5.20796670e-02 1.05612491e+02] [ 7.76488675e-01 6.27752721e-01 -5.46978910e-02 6.47773271e+01] [ 7.52693334e-02 -6.21919973e-03 9.97143846e-01 2.93587906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.330714057 meters Centerline goodness : 0.992644 Centerline is valid? [True, True] Translation: X:105.63, Y:64.80, Z:29.36 [[ 6.24475042e-01 -7.79107672e-01 -5.49741545e-02 1.05633401e+02] [ 7.77281590e-01 6.26825941e-01 -5.40607938e-02 6.47994672e+01] [ 7.65784053e-02 -8.97078171e-03 9.97023206e-01 2.93602578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.360714057 meters Centerline goodness : 0.993798 Centerline is valid? [True, True] Translation: X:105.65, Y:64.83, Z:29.37 [[ 6.23249777e-01 -7.80623688e-01 -4.67586772e-02 1.05653433e+02] [ 7.78173612e-01 6.24997616e-01 -6.18369543e-02 6.48265688e+01] [ 7.74954531e-02 2.15349922e-03 9.96990380e-01 2.93650882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.390714057 meters Centerline goodness : 0.993259 Centerline is valid? [True, True] Translation: X:105.68, Y:64.85, Z:29.37 [[ 6.22794407e-01 -7.81082828e-01 -4.51302895e-02 1.05677192e+02] [ 7.78580962e-01 6.24415625e-01 -6.25844415e-02 6.48516586e+01] [ 7.70636905e-02 3.83965588e-03 9.97018779e-01 2.93656315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.420714057 meters Centerline goodness : 0.993319 Centerline is valid? [True, True] Translation: X:105.70, Y:64.86, Z:29.36 [[ 6.20643051e-01 -7.80884820e-01 -7.08597273e-02 1.05703022e+02] [ 7.80103644e-01 6.24063320e-01 -4.45339961e-02 6.48637019e+01] [ 7.89968782e-02 -2.76382163e-02 9.96491657e-01 2.93595071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.450714057 meters Centerline goodness : 0.992779 Centerline is valid? [True, True] Translation: X:105.72, Y:64.89, Z:29.37 [[ 6.18794054e-01 -7.83687682e-01 -5.41067037e-02 1.05716865e+02] [ 7.81422762e-01 6.21132516e-01 -5.97734343e-02 6.48925112e+01] [ 8.04511373e-02 -5.29276413e-03 9.96744501e-01 2.93713782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.480714057 meters Centerline goodness : 0.992596 Centerline is valid? [True, True] Translation: X:105.74, Y:64.91, Z:29.37 [[ 6.18844394e-01 -7.83406677e-01 -5.74943047e-02 1.05738554e+02] [ 7.81359152e-01 6.21438133e-01 -5.73805062e-02 6.49144274e+01] [ 8.06814250e-02 -9.41409657e-03 9.96695481e-01 2.93727921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.51071405700003 meters Centerline goodness : 0.992059 Centerline is valid? [True, True] Translation: X:105.75, Y:64.93, Z:29.38 [[ 6.21201194e-01 -7.82031558e-01 -5.03559308e-02 1.05750764e+02] [ 7.79348424e-01 6.23238082e-01 -6.47327361e-02 6.49339787e+01] [ 8.20067762e-02 9.67237654e-04 9.96631303e-01 2.93797180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.540714057 meters Centerline goodness : 0.993162 Centerline is valid? [True, True] Translation: X:105.78, Y:64.96, Z:29.38 [[ 6.19028493e-01 -7.82891640e-01 -6.23249916e-02 1.05782347e+02] [ 7.81273610e-01 6.21952012e-01 -5.27943219e-02 6.49590480e+01] [ 8.00953872e-02 -1.60116817e-02 9.96658595e-01 2.93764309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.57071405700003 meters Centerline goodness : 0.993284 Centerline is valid? [True, True] Translation: X:105.80, Y:64.98, Z:29.38 [[ 6.20092240e-01 -7.82686373e-01 -5.37369147e-02 1.05799401e+02] [ 7.80506625e-01 6.22391275e-01 -5.86388019e-02 6.49846713e+01] [ 7.93411780e-02 -5.58055193e-03 9.96831899e-01 2.93834678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.600714057 meters Centerline goodness : 0.993095 Centerline is valid? [True, True] Translation: X:105.82, Y:65.01, Z:29.39 [[ 6.19410420e-01 -7.83195690e-01 -5.41778821e-02 1.05820862e+02] [ 7.81095605e-01 6.21740446e-01 -5.76929326e-02 6.50092894e+01] [ 7.88694367e-02 -6.58250196e-03 9.96863222e-01 2.93871290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.63071405700003 meters Centerline goodness : 0.992448 Centerline is valid? [True, True] Translation: X:105.84, Y:65.02, Z:29.38 [[ 6.20716465e-01 -7.80915927e-01 -6.98669057e-02 1.05844325e+02] [ 7.80271865e-01 6.24000059e-01 -4.24233826e-02 6.50243123e+01] [ 7.67260485e-02 -2.81822887e-02 9.96653838e-01 2.93828993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.660714057 meters Centerline goodness : 0.993124 Centerline is valid? [True, True] Translation: X:105.86, Y:65.06, Z:29.40 [[ 6.18814336e-01 -7.84410640e-01 -4.20566901e-02 1.05855860e+02] [ 7.81287821e-01 6.20145394e-01 -7.07745008e-02 6.50612813e+01] [ 8.15975341e-02 1.09378960e-02 9.96605341e-01 2.94020680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.69071405700004 meters Centerline goodness : 0.993387 Centerline is valid? [True, True] Translation: X:105.88, Y:65.08, Z:29.40 [[ 6.17706394e-01 -7.83930948e-01 -6.23785270e-02 1.05883743e+02] [ 7.82109052e-01 6.20676702e-01 -5.53702322e-02 6.50778593e+01] [ 8.21233370e-02 -1.45842641e-02 9.96515457e-01 2.93959441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.720714057 meters Centerline goodness : 0.993650 Centerline is valid? [True, True] Translation: X:105.90, Y:65.10, Z:29.40 [[ 6.17104301e-01 -7.84945126e-01 -5.51673012e-02 1.05902316e+02] [ 7.82576718e-01 6.19541553e-01 -6.11714355e-02 6.51039372e+01] [ 8.21946556e-02 -5.42348957e-03 9.96601537e-01 2.94016758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.75071405700004 meters Centerline goodness : 0.992902 Centerline is valid? [True, True] Translation: X:105.92, Y:65.12, Z:29.40 [[ 6.15456422e-01 -7.85543408e-01 -6.43035538e-02 1.05924137e+02] [ 7.83535580e-01 6.18632459e-01 -5.80161662e-02 6.51236941e+01] [ 8.53544825e-02 -1.46777002e-02 9.96242529e-01 2.94032668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.780714057 meters Centerline goodness : 0.993008 Centerline is valid? [True, True] Translation: X:105.94, Y:65.15, Z:29.41 [[ 6.14301168e-01 -7.86382071e-01 -6.50946502e-02 1.05942959e+02] [ 7.84128450e-01 6.17591602e-01 -6.10179252e-02 6.51470465e+01] [ 8.81853117e-02 -1.35591845e-02 9.96011797e-01 2.94084509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.810714057 meters Centerline goodness : 0.993436 Centerline is valid? [True, True] Translation: X:105.96, Y:65.17, Z:29.41 [[ 6.14386210e-01 -7.87220919e-01 -5.30359334e-02 1.05962157e+02] [ 7.84261977e-01 6.16671010e-01 -6.81910369e-02 6.51739377e+01] [ 8.63871334e-02 3.01566763e-04 9.96261598e-01 2.94138082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.840714057 meters Centerline goodness : 0.993342 Centerline is valid? [True, True] Translation: X:105.99, Y:65.20, Z:29.41 [[ 6.12888791e-01 -7.87946557e-01 -5.92246019e-02 1.05985661e+02] [ 7.85392084e-01 6.15699211e-01 -6.38259838e-02 6.51950160e+01] [ 8.67560049e-02 -7.39630347e-03 9.96202133e-01 2.94131699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.870714057 meters Centerline goodness : 0.993936 Centerline is valid? [True, True] Translation: X:106.01, Y:65.22, Z:29.42 [[ 6.12704084e-01 -7.88258975e-01 -5.69341281e-02 1.06005760e+02] [ 7.85480423e-01 6.15329803e-01 -6.62551011e-02 6.52188905e+01] [ 8.72594439e-02 -4.12587203e-03 9.96177076e-01 2.94166817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.900714057 meters Centerline goodness : 0.993933 Centerline is valid? [True, True] Translation: X:106.03, Y:65.24, Z:29.42 [[ 6.12543162e-01 -7.88144556e-01 -6.01584040e-02 1.06029308e+02] [ 7.85661919e-01 6.15429899e-01 -6.30982362e-02 6.52408264e+01] [ 8.67538119e-02 -8.61377406e-03 9.96192541e-01 2.94182361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.930714057 meters Centerline goodness : 0.992940 Centerline is valid? [True, True] Translation: X:106.04, Y:65.27, Z:29.42 [[ 6.12298498e-01 -7.89357630e-01 -4.47781281e-02 1.06040863e+02] [ 7.86056729e-01 6.13862845e-01 -7.27133120e-02 6.52670783e+01] [ 8.48844367e-02 9.32410282e-03 9.96347175e-01 2.94238475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.960714057 meters Centerline goodness : 0.993715 Centerline is valid? [True, True] Translation: X:106.06, Y:65.28, Z:29.42 [[ 6.12614725e-01 -7.88428721e-01 -5.55279242e-02 1.06064593e+02] [ 7.85964984e-01 6.15102874e-01 -6.25099837e-02 6.52838130e+01] [ 8.34400523e-02 -5.34846758e-03 9.96498445e-01 2.94197531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.990714057 meters Centerline goodness : 0.993578 Centerline is valid? [True, True] Translation: X:106.09, Y:65.32, Z:29.43 [[ 6.18402694e-01 -7.85199529e-01 -3.22460541e-02 1.06090620e+02] [ 7.81905315e-01 6.18883466e-01 -7.48821356e-02 6.53169328e+01] [ 7.87539673e-02 2.10939533e-02 9.96670887e-01 2.94279554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.020714057 meters Centerline goodness : 0.994830 Centerline is valid? [True, True] Translation: X:106.12, Y:65.34, Z:29.42 [[ 6.21046599e-01 -7.83289094e-01 -2.75556957e-02 1.06117799e+02] [ 7.80303117e-01 6.21219267e-01 -7.22057307e-02 6.53437196e+01] [ 7.36760905e-02 2.33413282e-02 9.97009035e-01 2.94246884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.050714057 meters Centerline goodness : 0.994200 Centerline is valid? [True, True] Translation: X:106.15, Y:65.36, Z:29.41 [[ 6.21687132e-01 -7.81340034e-01 -5.48895310e-02 1.06152035e+02] [ 7.79738467e-01 6.24009069e-01 -5.11918412e-02 6.53595449e+01] [ 7.42498001e-02 -1.09741699e-02 9.97179289e-01 2.94142986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.080714057 meters Centerline goodness : 0.994292 Centerline is valid? [True, True] Translation: X:106.18, Y:65.36, Z:29.41 [[ 6.17031645e-01 -7.80846179e-01 -9.77302079e-02 1.06176254e+02] [ 7.82620387e-01 6.21887349e-01 -2.75944899e-02 6.53647543e+01] [ 8.23242319e-02 -5.94589796e-02 9.94830312e-01 2.94111427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.110714057 meters Centerline goodness : 0.994292 Centerline is valid? [True, True] Translation: X:106.18, Y:65.40, Z:29.44 [[ 6.16930156e-01 -7.84947275e-01 -5.70522366e-02 1.06180200e+02] [ 7.82373623e-01 6.19539754e-01 -6.37338802e-02 6.54034002e+01] [ 8.53738642e-02 -5.31681239e-03 9.96334801e-01 2.94360368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.140714057 meters Centerline goodness : 0.993845 Centerline is valid? [True, True] Translation: X:106.20, Y:65.44, Z:29.44 [[ 6.23128475e-01 -7.81920095e-01 -1.76598155e-02 1.06198499e+02] [ 7.78282501e-01 6.22147237e-01 -8.49067992e-02 6.54405581e+01] [ 7.73773379e-02 3.91635190e-02 9.96232386e-01 2.94434238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.170714057 meters Centerline goodness : 0.994641 Centerline is valid? [True, True] Translation: X:106.24, Y:65.45, Z:29.43 [[ 6.23087311e-01 -7.80259888e-01 -5.43756471e-02 1.06237547e+02] [ 7.78140054e-01 6.25423857e-01 -5.78191687e-02 6.54535683e+01] [ 7.91218050e-02 -6.28547864e-03 9.96845140e-01 2.94270892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.200714057 meters Centerline goodness : 0.994876 Centerline is valid? [True, True] Translation: X:106.26, Y:65.48, Z:29.43 [[ 6.24007678e-01 -7.80011411e-01 -4.68680804e-02 1.06258818e+02] [ 7.77363134e-01 6.25754306e-01 -6.43281102e-02 6.54808804e+01] [ 7.95045631e-02 3.70771686e-03 9.96827607e-01 2.94312232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.230714057 meters Centerline goodness : 0.994276 Centerline is valid? [True, True] Translation: X:106.28, Y:65.50, Z:29.43 [[ 6.27477050e-01 -7.76256131e-01 -6.08191591e-02 1.06284769e+02] [ 7.74716326e-01 6.30238344e-01 -5.11296713e-02 6.54958850e+01] [ 7.80202870e-02 -1.50349001e-02 9.96838395e-01 2.94259191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.26071405700003 meters Centerline goodness : 0.994846 Centerline is valid? [True, True] Translation: X:106.30, Y:65.51, Z:29.43 [[ 6.23791069e-01 -7.76714809e-01 -8.71711422e-02 1.06304153e+02] [ 7.76956207e-01 6.28351339e-01 -3.89056187e-02 6.55070591e+01] [ 8.49926741e-02 -4.34591825e-02 9.95433345e-01 2.94291791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.290714057 meters Centerline goodness : 0.994510 Centerline is valid? [True, True] Translation: X:106.31, Y:65.56, Z:29.45 [[ 6.29155377e-01 -7.77030471e-01 -1.96763338e-02 1.06309315e+02] [ 7.73123944e-01 6.28205292e-01 -8.73926684e-02 6.55552690e+01] [ 8.02675434e-02 3.97713224e-02 9.95979600e-01 2.94519889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.32071405700003 meters Centerline goodness : 0.995059 Centerline is valid? [True, True] Translation: X:106.34, Y:65.54, Z:29.43 [[ 6.22994487e-01 -7.74143945e-01 -1.12156240e-01 1.06343842e+02] [ 7.77104913e-01 6.28900965e-01 -2.43214108e-02 6.55399990e+01] [ 8.93634407e-02 -7.20050606e-02 9.93392896e-01 2.94284471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.350714057 meters Centerline goodness : 0.994403 Centerline is valid? [True, True] Translation: X:106.34, Y:65.61, Z:29.47 [[ 6.33319668e-01 -7.73881834e-01 3.61996950e-03 1.06343333e+02] [ 7.69908674e-01 6.29580494e-01 -1.04254666e-01 6.56063616e+01] [ 7.84017298e-02 6.88135763e-02 9.94544047e-01 2.94686774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.38071405700003 meters Centerline goodness : 0.993943 Centerline is valid? [True, True] Translation: X:106.39, Y:65.62, Z:29.44 [[ 6.34880973e-01 -7.71320241e-01 -4.46232783e-02 1.06390145e+02] [ 7.68878113e-01 6.36429560e-01 -6.15131147e-02 6.56167371e+01] [ 7.58458838e-02 4.74364412e-03 9.97108269e-01 2.94428146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.410714057 meters Centerline goodness : 0.993953 Centerline is valid? [True, True] Translation: X:106.42, Y:65.63, Z:29.44 [[ 6.36107221e-01 -7.68685718e-01 -6.70064957e-02 1.06416356e+02] [ 7.67959305e-01 6.39140323e-01 -4.16911624e-02 6.56263931e+01] [ 7.48739544e-02 -2.49382124e-02 9.96881125e-01 2.94372231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.44071405700004 meters Centerline goodness : 0.993586 Centerline is valid? [True, True] Translation: X:106.43, Y:65.66, Z:29.45 [[ 6.36365186e-01 -7.69960632e-01 -4.69038965e-02 1.06431105e+02] [ 7.67698590e-01 6.38089545e-01 -5.89966803e-02 6.56571379e+01] [ 7.53540072e-02 1.53537818e-03 9.97155663e-01 2.94492896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.470714057 meters Centerline goodness : 0.994550 Centerline is valid? [True, True] Translation: X:106.46, Y:65.65, Z:29.44 [[ 6.26822213e-01 -7.69719640e-01 -1.20936300e-01 1.06455907e+02] [ 7.74040350e-01 6.32922937e-01 -1.64345230e-02 6.56469522e+01] [ 8.91933331e-02 -8.33080517e-02 9.92524215e-01 2.94413837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.50071405700004 meters Centerline goodness : 0.994616 Centerline is valid? [True, True] Translation: X:106.45, Y:65.72, Z:29.49 [[ 6.35549378e-01 -7.71916176e-01 1.49132591e-02 1.06447326e+02] [ 7.68196890e-01 6.30321194e-01 -1.12110349e-01 6.57175885e+01] [ 7.71396488e-02 8.27079820e-02 9.93583849e-01 2.94880260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.530714057 meters Centerline goodness : 0.994869 Centerline is valid? [True, True] Translation: X:106.50, Y:65.72, Z:29.45 [[ 6.35307986e-01 -7.70071814e-01 -5.80789562e-02 1.06501334e+02] [ 7.68533710e-01 6.37830890e-01 -5.02761658e-02 6.57175422e+01] [ 7.57608105e-02 -1.26947861e-02 9.97045206e-01 2.94538517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.560714057 meters Centerline goodness : 0.993816 Centerline is valid? [True, True] Translation: X:106.52, Y:65.73, Z:29.45 [[ 6.36895602e-01 -7.68062443e-01 -6.66638936e-02 1.06520987e+02] [ 7.67422294e-01 6.39869297e-01 -4.03770493e-02 6.57262284e+01] [ 7.36682739e-02 -2.54433930e-02 9.96958183e-01 2.94513255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.590714057 meters Centerline goodness : 0.995425 Centerline is valid? [True, True] Translation: X:106.53, Y:65.78, Z:29.48 [[ 6.33674368e-01 -7.73388327e-01 -1.80912107e-02 1.06533460e+02] [ 7.69711924e-01 6.32658865e-01 -8.53599191e-02 6.57761794e+01] [ 7.74619298e-02 4.01653721e-02 9.96185923e-01 2.94753526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.620714057 meters Centerline goodness : 0.994839 Centerline is valid? [True, True] Translation: X:106.58, Y:65.78, Z:29.46 [[ 6.30325065e-01 -7.72710834e-01 -7.48884444e-02 1.06577337e+02] [ 7.72066201e-01 6.34036489e-01 -4.37208383e-02 6.57786600e+01] [ 8.12655718e-02 -3.02604965e-02 9.96233010e-01 2.94579414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.650714057 meters Centerline goodness : 0.995077 Centerline is valid? [True, True] Translation: X:106.59, Y:65.80, Z:29.47 [[ 6.30825446e-01 -7.73275587e-01 -6.40634268e-02 1.06591887e+02] [ 7.71825802e-01 6.33825957e-01 -5.04934455e-02 6.58009269e+01] [ 7.96504115e-02 -1.75932555e-02 9.96667592e-01 2.94654850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.680714057 meters Centerline goodness : 0.995627 Centerline is valid? [True, True] Translation: X:106.61, Y:65.82, Z:29.47 [[ 6.29390793e-01 -7.74988012e-01 -5.71035078e-02 1.06607744e+02] [ 7.72840716e-01 6.31930977e-01 -5.81417975e-02 6.58233686e+01] [ 8.11446715e-02 -7.53800381e-03 9.96673829e-01 2.94723929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.710714057 meters Centerline goodness : 0.995199 Centerline is valid? [True, True] Translation: X:106.63, Y:65.85, Z:29.48 [[ 6.26870583e-01 -7.77558048e-01 -4.93634925e-02 1.06628556e+02] [ 7.74425048e-01 6.28785999e-01 -6.99572205e-02 6.58520536e+01] [ 8.54348727e-02 5.62579849e-03 9.96327874e-01 2.94816448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.740714057 meters Centerline goodness : 0.995685 Centerline is valid? [True, True] Translation: X:106.66, Y:65.84, Z:29.47 [[ 6.16453836e-01 -7.76686578e-01 -1.29393305e-01 1.06655219e+02] [ 7.81178920e-01 6.23877533e-01 -2.31585750e-02 6.58409005e+01] [ 9.87125304e-02 -8.68031300e-02 9.91322880e-01 2.94727731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.770714057 meters Centerline goodness : 0.996063 Centerline is valid? [True, True] Translation: X:106.65, Y:65.88, Z:29.51 [[ 6.16634579e-01 -7.84375852e-01 -6.72035584e-02 1.06647391e+02] [ 7.80578702e-01 6.20267033e-01 -7.72379318e-02 6.58814416e+01] [ 1.02267720e-01 -4.83008676e-03 9.94745185e-01 2.95051876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.800714057 meters Centerline goodness : 0.995890 Centerline is valid? [True, True] Translation: X:106.67, Y:65.93, Z:29.52 [[ 6.25245140e-01 -7.80333514e-01 1.21705087e-02 1.06667454e+02] [ 7.75677852e-01 6.19645579e-01 -1.19846678e-01 6.59322759e+01] [ 8.59789778e-02 8.43739472e-02 9.92717811e-01 2.95151808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.830714057 meters Centerline goodness : 0.994948 Centerline is valid? [True, True] Translation: X:106.72, Y:65.93, Z:29.48 [[ 6.24362914e-01 -7.78239222e-01 -6.71912609e-02 1.06721902e+02] [ 7.76511939e-01 6.27711726e-01 -5.48379227e-02 6.59291909e+01] [ 8.48537646e-02 -1.79360511e-02 9.96231969e-01 2.94838615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.860714057 meters Centerline goodness : 0.996150 Centerline is valid? [True, True] Translation: X:106.74, Y:65.96, Z:29.50 [[ 6.20730100e-01 -7.82888314e-01 -4.21904101e-02 1.06737851e+02] [ 7.79053036e-01 6.21950847e-01 -7.90791469e-02 6.59642883e+01] [ 8.81505013e-02 1.62182397e-02 9.95975129e-01 2.94981802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.890714057 meters Centerline goodness : 0.995927 Centerline is valid? [True, True] Translation: X:106.77, Y:65.98, Z:29.49 [[ 6.18257834e-01 -7.82820879e-01 -7.03471512e-02 1.06770411e+02] [ 7.80843892e-01 6.21966991e-01 -5.86504711e-02 6.59789517e+01] [ 8.96664193e-02 -1.86690301e-02 9.95796867e-01 2.94916738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.920714057 meters Centerline goodness : 0.995710 Centerline is valid? [True, True] Translation: X:106.79, Y:65.97, Z:29.49 [[ 6.05245676e-01 -7.83516175e-01 -1.40641657e-01 1.06788468e+02] [ 7.89068460e-01 6.13837417e-01 -2.39706455e-02 6.59690122e+01] [ 1.05112500e-01 -9.64677664e-02 9.89770343e-01 2.94911743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.950714057 meters Centerline goodness : 0.995404 Centerline is valid? [True, True] Translation: X:106.78, Y:66.01, Z:29.53 [[ 6.02366505e-01 -7.94929396e-01 -7.24006143e-02 1.06778574e+02] [ 7.90453701e-01 6.06668773e-01 -8.44745323e-02 6.60095634e+01] [ 1.11074481e-01 -6.34470473e-03 9.93791832e-01 2.95253196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.980714057 meters Centerline goodness : 0.995318 Centerline is valid? [True, True] Translation: X:106.80, Y:66.06, Z:29.53 [[ 6.08900006e-01 -7.93211419e-01 -7.51185060e-03 1.06797451e+02] [ 7.86965190e-01 6.05240388e-01 -1.19874361e-01 6.60559606e+01] [ 9.96321875e-02 6.70799344e-02 9.92760651e-01 2.95337713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.01071405700003 meters Centerline goodness : 0.995516 Centerline is valid? [True, True] Translation: X:106.85, Y:66.03, Z:29.50 [[ 5.98135365e-01 -7.90437011e-01 -1.32073525e-01 1.06846338e+02] [ 7.94125502e-01 6.06752710e-01 -3.48688478e-02 6.60314972e+01] [ 1.07697597e-01 -8.40266636e-02 9.90626442e-01 2.95049131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.040714057 meters Centerline goodness : 0.995079 Centerline is valid? [True, True] Translation: X:106.84, Y:66.10, Z:29.54 [[ 6.05520243e-01 -7.95749516e-01 -1.13111757e-02 1.06837312e+02] [ 7.89277301e-01 6.02294062e-01 -1.19512367e-01 6.60959171e+01] [ 1.01914562e-01 6.34395032e-02 9.92768277e-01 2.95414596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.07071405700003 meters Centerline goodness : 0.995312 Centerline is valid? [True, True] Translation: X:106.89, Y:66.08, Z:29.51 [[ 5.99577187e-01 -7.91019627e-01 -1.21635298e-01 1.06889098e+02] [ 7.93189737e-01 6.07572596e-01 -4.12986773e-02 6.60789089e+01] [ 1.06570338e-01 -7.17181254e-02 9.91715319e-01 2.95142701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.100714057 meters Centerline goodness : 0.995626 Centerline is valid? [True, True] Translation: X:106.89, Y:66.11, Z:29.54 [[ 5.98490751e-01 -7.97377973e-01 -7.74415230e-02 1.06886694e+02] [ 7.93354338e-01 6.03341563e-01 -8.10422972e-02 6.61143288e+01] [ 1.11345032e-01 -1.29355029e-02 9.93697618e-01 2.95389248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.13071405700003 meters Centerline goodness : 0.995190 Centerline is valid? [True, True] Translation: X:106.90, Y:66.16, Z:29.55 [[ 6.04123500e-01 -7.96751556e-01 -1.48914470e-02 1.06897680e+02] [ 7.90364038e-01 6.01457760e-01 -1.16504294e-01 6.61590439e+01] [ 1.01781554e-01 5.86133178e-02 9.93078544e-01 2.95492452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.160714057 meters Centerline goodness : 0.995246 Centerline is valid? [True, True] Translation: X:106.94, Y:66.16, Z:29.53 [[ 6.06764828e-01 -7.92526682e-01 -6.11383869e-02 1.06939550e+02] [ 7.89305227e-01 6.09818006e-01 -7.15489981e-02 6.61648797e+01] [ 9.39877792e-02 -4.84343285e-03 9.95561569e-01 2.95270130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.19071405700004 meters Centerline goodness : 0.995114 Centerline is valid? [True, True] Translation: X:106.96, Y:66.19, Z:29.53 [[ 6.05582575e-01 -7.93735962e-01 -5.70347878e-02 1.06961067e+02] [ 7.89798238e-01 6.08255997e-01 -7.90150882e-02 6.61943780e+01] [ 9.74088688e-02 2.80418563e-03 9.95240498e-01 2.95333217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.220714057 meters Centerline goodness : 0.995137 Centerline is valid? [True, True] Translation: X:106.99, Y:66.21, Z:29.53 [[ 6.06006965e-01 -7.90923935e-01 -8.48226809e-02 1.06988645e+02] [ 7.89749916e-01 6.10980012e-01 -5.47585261e-02 6.62057538e+01] [ 9.51347915e-02 -3.38046569e-02 9.94890254e-01 2.95284102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.25071405700004 meters Centerline goodness : 0.994343 Centerline is valid? [True, True] Translation: X:107.00, Y:66.24, Z:29.54 [[ 6.07287079e-01 -7.92387588e-01 -5.76568674e-02 1.06997946e+02] [ 7.88882726e-01 6.10017898e-01 -7.44460142e-02 6.62376678e+01] [ 9.41618187e-02 -2.74404230e-04 9.95556868e-01 2.95398727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.280714057 meters Centerline goodness : 0.994887 Centerline is valid? [True, True] Translation: X:107.02, Y:66.28, Z:29.55 [[ 6.05643655e-01 -7.94885512e-01 -3.67802369e-02 1.07017421e+02] [ 7.89486348e-01 6.06026374e-01 -9.71768528e-02 6.62763449e+01] [ 9.95342660e-02 2.98170494e-02 9.94587288e-01 2.95506512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.310714057 meters Centerline goodness : 0.995149 Centerline is valid? [True, True] Translation: X:107.06, Y:66.27, Z:29.53 [[ 6.00986232e-01 -7.89792433e-01 -1.22651787e-01 1.07059435e+02] [ 7.92328333e-01 6.08883528e-01 -3.84273543e-02 6.62665917e+01] [ 1.05030286e-01 -7.40861751e-02 9.91705540e-01 2.95334182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.340714057 meters Centerline goodness : 0.994821 Centerline is valid? [True, True] Translation: X:107.05, Y:66.30, Z:29.56 [[ 5.99543512e-01 -7.96416779e-01 -7.91700094e-02 1.07054923e+02] [ 7.92841670e-01 6.04522833e-01 -7.71636664e-02 6.63007038e+01] [ 1.09314517e-01 -1.65063068e-02 9.93870152e-01 2.95587144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.370714057 meters Centerline goodness : 0.994163 Centerline is valid? [True, True] Translation: X:107.07, Y:66.31, Z:29.56 [[ 5.99424965e-01 -7.94136564e-01 -1.00183975e-01 1.07071571e+02] [ 7.93042825e-01 6.06188359e-01 -6.01560596e-02 6.63066065e+01] [ 1.08502486e-01 -4.33911387e-02 9.93148740e-01 2.95576719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.400714057 meters Centerline goodness : 0.995154 Centerline is valid? [True, True] Translation: X:107.07, Y:66.37, Z:29.59 [[ 6.02237086e-01 -7.98216179e-01 -1.27052306e-02 1.07069969e+02] [ 7.91089673e-01 5.98845827e-01 -1.24742959e-01 6.63658727e+01] [ 1.07180322e-01 6.50738593e-02 9.92107742e-01 2.95861464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.430714057 meters Centerline goodness : 0.995310 Centerline is valid? [True, True] Translation: X:107.12, Y:66.36, Z:29.56 [[ 5.98175565e-01 -7.93332725e-01 -1.13177652e-01 1.07121777e+02] [ 7.93462314e-01 6.06125453e-01 -5.50408122e-02 6.63570311e+01] [ 1.12265533e-01 -5.68781328e-02 9.92049055e-01 2.95597327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.460714057 meters Centerline goodness : 0.995730 Centerline is valid? [True, True] Translation: X:107.12, Y:66.41, Z:29.59 [[ 6.03204320e-01 -7.97228407e-01 -2.39042837e-02 1.07115386e+02] [ 7.90401870e-01 6.01515758e-01 -1.15946871e-01 6.64111782e+01] [ 1.06814943e-01 5.10456632e-02 9.92967728e-01 2.95855970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.490714057 meters Centerline goodness : 0.994695 Centerline is valid? [True, True] Translation: X:107.16, Y:66.39, Z:29.56 [[ 5.96458693e-01 -7.88982968e-01 -1.47454752e-01 1.07160228e+02] [ 7.93992251e-01 6.06888053e-01 -3.55414580e-02 6.63893617e+01] [ 1.17530132e-01 -9.58789185e-02 9.88430018e-01 2.95610093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.520714057 meters Centerline goodness : 0.995264 Centerline is valid? [True, True] Translation: X:107.15, Y:66.44, Z:29.59 [[ 5.98248176e-01 -7.98776662e-01 -6.36786081e-02 1.07150847e+02] [ 7.92542222e-01 6.01554476e-01 -1.00045179e-01 6.64387977e+01] [ 1.18219906e-01 9.38386045e-03 9.92943099e-01 2.95939805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.550714057 meters Centerline goodness : 0.994237 Centerline is valid? [True, True] Translation: X:107.17, Y:66.48, Z:29.60 [[ 6.06226791e-01 -7.95179293e-01 -1.33779476e-02 1.07166652e+02] [ 7.88452814e-01 6.03129869e-01 -1.20733266e-01 6.64798509e+01] [ 1.04073233e-01 6.26438599e-02 9.92594836e-01 2.95956338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.580714057 meters Centerline goodness : 0.995241 Centerline is valid? [True, True] Translation: X:107.21, Y:66.50, Z:29.58 [[ 6.03763270e-01 -7.95261376e-01 -5.50386842e-02 1.07209679e+02] [ 7.89897362e-01 6.06133142e-01 -9.30847523e-02 6.64989754e+01] [ 1.07387479e-01 1.27262430e-02 9.94135792e-01 2.95829387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.610714057 meters Centerline goodness : 0.995119 Centerline is valid? [True, True] Translation: X:107.24, Y:66.48, Z:29.57 [[ 5.92319781e-01 -7.88642974e-01 -1.64922822e-01 1.07241414e+02] [ 7.96202602e-01 6.04283055e-01 -3.00566960e-02 6.64783149e+01] [ 1.23364069e-01 -1.13508805e-01 9.85848395e-01 2.95707612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.640714057 meters Centerline goodness : 0.994875 Centerline is valid? [True, True] Translation: X:107.21, Y:66.57, Z:29.62 [[ 6.02767214e-01 -7.97281767e-01 3.18350445e-02 1.07210009e+02] [ 7.90185287e-01 5.90910355e-01 -1.62579718e-01 6.65678708e+01] [ 1.10810187e-01 1.23153308e-01 9.86181710e-01 2.96221003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.670714057 meters Centerline goodness : 0.995474 Centerline is valid? [True, True] Translation: X:107.27, Y:66.59, Z:29.59 [[ 6.01514412e-01 -7.98187680e-01 -3.28152325e-02 1.07274131e+02] [ 7.91165503e-01 6.00904716e-01 -1.13888843e-01 6.65898121e+01] [ 1.10623500e-01 4.25435006e-02 9.92951405e-01 2.95940566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.700714057 meters Centerline goodness : 0.996097 Centerline is valid? [True, True] Translation: X:107.33, Y:66.54, Z:29.57 [[ 5.83845450e-01 -7.82068688e-01 -2.17929020e-01 1.07328213e+02] [ 8.01026365e-01 5.98624845e-01 -2.24912250e-03 6.65409734e+01] [ 1.32216694e-01 -1.73253751e-01 9.75962030e-01 2.95662570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.730714057 meters Centerline goodness : 0.995340 Centerline is valid? [True, True] Translation: X:107.27, Y:66.66, Z:29.64 [[ 5.96491461e-01 -8.01041225e-01 5.03079691e-02 1.07271426e+02] [ 7.94173089e-01 5.79984422e-01 -1.81403352e-01 6.66557241e+01] [ 1.16133725e-01 1.48158786e-01 9.82121139e-01 2.96410479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.76071405700003 meters Centerline goodness : 0.995752 Centerline is valid? [True, True] Translation: X:107.35, Y:66.65, Z:29.59 [[ 5.99841235e-01 -7.97401630e-01 -6.58872811e-02 1.07350601e+02] [ 7.92416683e-01 6.03447772e-01 -8.90313812e-02 6.66530646e+01] [ 1.10753302e-01 1.19451289e-03 9.93847211e-01 2.95931156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.790714057 meters Centerline goodness : 0.993449 Centerline is valid? [True, True] Translation: X:107.38, Y:66.65, Z:29.58 [[ 6.06841990e-01 -7.89145103e-01 -9.48303982e-02 1.07377084e+02] [ 7.88480938e-01 6.12741550e-01 -5.33442052e-02 6.66528388e+01] [ 1.00202843e-01 -4.24004577e-02 9.94063173e-01 2.95789325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.82071405700003 meters Centerline goodness : 0.995183 Centerline is valid? [True, True] Translation: X:107.38, Y:66.69, Z:29.60 [[ 5.98855833e-01 -7.97044798e-01 -7.80466533e-02 1.07383052e+02] [ 7.93114795e-01 6.03761605e-01 -8.02548855e-02 6.66892202e+01] [ 1.11088312e-01 -1.38388491e-02 9.93714181e-01 2.96021461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.850714057 meters Centerline goodness : 0.993751 Centerline is valid? [True, True] Translation: X:107.40, Y:66.69, Z:29.60 [[ 5.95569484e-01 -7.94243012e-01 -1.20312213e-01 1.07401691e+02] [ 7.94400703e-01 6.04562136e-01 -5.85845326e-02 6.66894880e+01] [ 1.19266564e-01 -6.06849465e-02 9.91005966e-01 2.96011180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.88071405700003 meters Centerline goodness : 0.994031 Centerline is valid? [True, True] Translation: X:107.40, Y:66.73, Z:29.62 [[ 5.93986655e-01 -8.00707374e-01 -7.77660223e-02 1.07400694e+02] [ 7.95350282e-01 5.99017313e-01 -9.27156271e-02 6.67275272e+01] [ 1.20821280e-01 -6.77938257e-03 9.92651126e-01 2.96224008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.910714057 meters Centerline goodness : 0.995069 Centerline is valid? [True, True] Translation: X:107.42, Y:66.75, Z:29.63 [[ 5.88925413e-01 -8.03828190e-01 -8.38277933e-02 1.07421232e+02] [ 7.98210026e-01 5.94765527e-01 -9.54710547e-02 6.67539030e+01] [ 1.26600207e-01 -1.06868548e-02 9.91896254e-01 2.96303105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.94071405700004 meters Centerline goodness : 0.995639 Centerline is valid? [True, True] Translation: X:107.44, Y:66.77, Z:29.63 [[ 5.87864359e-01 -8.04161346e-01 -8.79774118e-02 1.07438810e+02] [ 7.99002229e-01 5.94195455e-01 -9.23428420e-02 6.67747548e+01] [ 1.26534322e-01 -1.60090825e-02 9.91833038e-01 2.96342592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.970714057 meters Centerline goodness : 0.995639 Centerline is valid? [True, True] Translation: X:107.46, Y:66.80, Z:29.64 [[ 5.86829899e-01 -8.05204553e-01 -8.53012139e-02 1.07455099e+02] [ 7.99571235e-01 5.92876368e-01 -9.58303342e-02 6.67986150e+01] [ 1.27736095e-01 -1.19682916e-02 9.91735978e-01 2.96404658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.00071405700004 meters Centerline goodness : 0.994123 Centerline is valid? [True, True] Translation: X:107.47, Y:66.81, Z:29.64 [[ 5.86999423e-01 -8.02654629e-01 -1.05722389e-01 1.07470644e+02] [ 7.99141168e-01 5.95373808e-01 -8.30868394e-02 6.68077547e+01] [ 1.29634378e-01 -3.57151867e-02 9.90918439e-01 2.96427029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.030714057 meters Centerline goodness : 0.995254 Centerline is valid? [True, True] Translation: X:107.48, Y:66.84, Z:29.66 [[ 5.85320898e-01 -8.07123681e-01 -7.71414910e-02 1.07480204e+02] [ 8.00426340e-01 5.90381523e-01 -1.03765753e-01 6.68419467e+01] [ 1.29294707e-01 -1.00981779e-03 9.91605697e-01 2.96551527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.060714057 meters Centerline goodness : 0.995273 Centerline is valid? [True, True] Translation: X:107.50, Y:66.86, Z:29.66 [[ 5.78937453e-01 -8.09874550e-01 -9.45232219e-02 1.07504780e+02] [ 8.04382905e-01 5.86252647e-01 -9.63118716e-02 6.68630304e+01] [ 1.33415023e-01 -2.02743142e-02 9.90852857e-01 2.96583894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.090714057 meters Centerline goodness : 0.995377 Centerline is valid? [True, True] Translation: X:107.52, Y:66.89, Z:29.67 [[ 5.73968732e-01 -8.13779187e-01 -9.12322853e-02 1.07519534e+02] [ 8.07072688e-01 5.81021900e-01 -1.05105795e-01 6.68889763e+01] [ 1.38540864e-01 -1.33036458e-02 9.90267359e-01 2.96679588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.120714057 meters Centerline goodness : 0.995492 Centerline is valid? [True, True] Translation: X:107.54, Y:66.90, Z:29.67 [[ 5.71694613e-01 -8.13504773e-01 -1.06654835e-01 1.07538655e+02] [ 8.08465411e-01 5.80704821e-01 -9.57370922e-02 6.69048648e+01] [ 1.39817558e-01 -3.14943650e-02 9.89676288e-01 2.96684829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.150714057 meters Centerline goodness : 0.994999 Centerline is valid? [True, True] Translation: X:107.55, Y:66.93, Z:29.68 [[ 5.73301522e-01 -8.14841591e-01 -8.57819758e-02 1.07545087e+02] [ 8.07331629e-01 5.79653799e-01 -1.10531056e-01 6.69295808e+01] [ 1.39789149e-01 -5.88687983e-03 9.90163794e-01 2.96779922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.180714057 meters Centerline goodness : 0.995561 Centerline is valid? [True, True] Translation: X:107.57, Y:66.95, Z:29.68 [[ 5.64619114e-01 -8.17194128e-01 -1.15754109e-01 1.07569651e+02] [ 8.11646092e-01 5.75207898e-01 -1.01815993e-01 6.69472833e+01] [ 1.49786109e-01 -3.64641144e-02 9.88045793e-01 2.96837067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.210714057 meters Centerline goodness : 0.994997 Centerline is valid? [True, True] Translation: X:107.58, Y:66.97, Z:29.70 [[ 5.63894216e-01 -8.20227059e-01 -9.61815185e-02 1.07575691e+02] [ 8.11912657e-01 5.71911123e-01 -1.17113217e-01 6.69741270e+01] [ 1.51066710e-01 -1.20515266e-02 9.88450105e-01 2.96960558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.240714057 meters Centerline goodness : 0.995188 Centerline is valid? [True, True] Translation: X:107.59, Y:67.00, Z:29.70 [[ 5.65952823e-01 -8.20600949e-01 -7.94448575e-02 1.07589943e+02] [ 8.10945888e-01 5.71462229e-01 -1.25688851e-01 6.70033919e+01] [ 1.48540126e-01 6.70847930e-03 9.88883627e-01 2.97024939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.270714057 meters Centerline goodness : 0.994617 Centerline is valid? [True, True] Translation: X:107.61, Y:67.02, Z:29.70 [[ 5.67359640e-01 -8.18474849e-01 -9.05646699e-02 1.07613288e+02] [ 8.10463631e-01 5.74480785e-01 -1.14544886e-01 6.70242619e+01] [ 1.45779771e-01 -8.41122610e-03 9.89281310e-01 2.97002008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.300714057 meters Centerline goodness : 0.994775 Centerline is valid? [True, True] Translation: X:107.63, Y:67.05, Z:29.70 [[ 5.66561691e-01 -8.18326885e-01 -9.66900197e-02 1.07634014e+02] [ 8.10731946e-01 5.74562157e-01 -1.12214256e-01 6.70491093e+01] [ 1.47382369e-01 -1.48133894e-02 9.88968655e-01 2.97044631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.330714057 meters Centerline goodness : 0.994695 Centerline is valid? [True, True] Translation: X:107.65, Y:67.07, Z:29.71 [[ 5.68595574e-01 -8.16432836e-01 -1.00680178e-01 1.07647826e+02] [ 8.09299495e-01 5.77118591e-01 -1.09400450e-01 6.70663745e+01] [ 1.47422522e-01 -1.92758052e-02 9.88885759e-01 2.97071698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.360714057 meters Centerline goodness : 0.996038 Centerline is valid? [True, True] Translation: X:107.66, Y:67.09, Z:29.71 [[ 5.63044521e-01 -8.18200657e-01 -1.16312305e-01 1.07658732e+02] [ 8.12415248e-01 5.73795576e-01 -1.03634467e-01 6.70853135e+01] [ 1.51533275e-01 -3.61430715e-02 9.87791144e-01 2.97117413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.390714057 meters Centerline goodness : 0.994970 Centerline is valid? [True, True] Translation: X:107.67, Y:67.12, Z:29.73 [[ 5.68285902e-01 -8.19342552e-01 -7.56896048e-02 1.07670728e+02] [ 8.09274199e-01 5.73182270e-01 -1.28597653e-01 6.71213528e+01] [ 1.48749469e-01 1.18265891e-02 9.88804191e-01 2.97287702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.420714057 meters Centerline goodness : 0.995342 Centerline is valid? [True, True] Translation: X:107.70, Y:67.14, Z:29.72 [[ 5.68099936e-01 -8.16649343e-01 -1.01716826e-01 1.07695357e+02] [ 8.09257216e-01 5.76818161e-01 -1.11281479e-01 6.71378844e+01] [ 1.49550059e-01 -1.90960747e-02 9.88569734e-01 2.97243980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.450714057 meters Centerline goodness : 0.995769 Centerline is valid? [True, True] Translation: X:107.71, Y:67.16, Z:29.73 [[ 5.67673219e-01 -8.17425166e-01 -9.77916884e-02 1.07709271e+02] [ 8.09272722e-01 5.75880528e-01 -1.15927907e-01 6.71618703e+01] [ 1.51078718e-01 -1.33309779e-02 9.88431842e-01 2.97312217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.480714057 meters Centerline goodness : 0.996314 Centerline is valid? [True, True] Translation: X:107.72, Y:67.20, Z:29.74 [[ 5.71790656e-01 -8.18548659e-01 -5.50775802e-02 1.07720399e+02] [ 8.07469685e-01 5.73381475e-01 -1.38659267e-01 6.72019686e+01] [ 1.45079821e-01 3.48105968e-02 9.88807397e-01 2.97413914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.51071405700003 meters Centerline goodness : 0.995468 Centerline is valid? [True, True] Translation: X:107.76, Y:67.19, Z:29.72 [[ 5.66606533e-01 -8.09931441e-01 -1.51552296e-01 1.07761334e+02] [ 8.09585064e-01 5.81444079e-01 -8.05903647e-02 6.71930475e+01] [ 1.53391855e-01 -7.70314481e-02 9.85158411e-01 2.97221850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.540714057 meters Centerline goodness : 0.995087 Centerline is valid? [True, True] Translation: X:107.75, Y:67.24, Z:29.75 [[ 5.68508078e-01 -8.18634536e-01 -8.14620219e-02 1.07751255e+02] [ 8.08101662e-01 5.74248101e-01 -1.31190028e-01 6.72370573e+01] [ 1.54176099e-01 8.75299545e-03 9.88004613e-01 2.97513637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.57071405700003 meters Centerline goodness : 0.995153 Centerline is valid? [True, True] Translation: X:107.78, Y:67.25, Z:29.75 [[ 5.67906409e-01 -8.16019417e-01 -1.07678324e-01 1.07775699e+02] [ 8.08337877e-01 5.77592364e-01 -1.13916367e-01 6.72518263e+01] [ 1.55152145e-01 -2.23466333e-02 9.87637808e-01 2.97474401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.600714057 meters Centerline goodness : 0.996290 Centerline is valid? [True, True] Translation: X:107.78, Y:67.27, Z:29.75 [[ 5.66249342e-01 -8.17493372e-01 -1.05196337e-01 1.07778560e+02] [ 8.09082170e-01 5.75653774e-01 -1.18358666e-01 6.72737711e+01] [ 1.57314093e-01 -1.80919637e-02 9.87382883e-01 2.97543729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.63071405700003 meters Centerline goodness : 0.995518 Centerline is valid? [True, True] Translation: X:107.79, Y:67.32, Z:29.77 [[ 5.76048370e-01 -8.16671857e-01 -3.48619239e-02 1.07789492e+02] [ 8.04120729e-01 5.73824351e-01 -1.55291556e-01 6.73229419e+01] [ 1.46826864e-01 6.14222520e-02 9.87253351e-01 2.97738882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.660714057 meters Centerline goodness : 0.996175 Centerline is valid? [True, True] Translation: X:107.84, Y:67.31, Z:29.74 [[ 5.68117819e-01 -8.07581788e-01 -1.58283921e-01 1.07835008e+02] [ 8.08327428e-01 5.83699431e-01 -7.68228045e-02 6.73070121e+01] [ 1.54430933e-01 -8.43008309e-02 9.84400557e-01 2.97410399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.69071405700004 meters Centerline goodness : 0.996159 Centerline is valid? [True, True] Translation: X:107.82, Y:67.37, Z:29.78 [[ 5.76385133e-01 -8.15908857e-01 -4.55292807e-02 1.07824279e+02] [ 8.03662001e-01 5.76062663e-01 -1.49262176e-01 6.73667505e+01] [ 1.48012050e-01 4.94423460e-02 9.87748899e-01 2.97812592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.720714057 meters Centerline goodness : 0.995043 Centerline is valid? [True, True] Translation: X:107.87, Y:67.37, Z:29.76 [[ 5.76526879e-01 -8.10314635e-01 -1.04914013e-01 1.07865896e+02] [ 8.03712765e-01 5.85531253e-01 -1.05825054e-01 6.73736319e+01] [ 1.47182024e-01 -2.33097438e-02 9.88834722e-01 2.97613677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.75071405700004 meters Centerline goodness : 0.995563 Centerline is valid? [True, True] Translation: X:107.88, Y:67.39, Z:29.77 [[ 5.73021089e-01 -8.11321366e-01 -1.15777684e-01 1.07881519e+02] [ 8.05139134e-01 5.83673352e-01 -1.05244447e-01 6.73948917e+01] [ 1.52963417e-01 -3.29098561e-02 9.87683722e-01 2.97699459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.780714057 meters Centerline goodness : 0.994825 Centerline is valid? [True, True] Translation: X:107.89, Y:67.42, Z:29.78 [[ 5.73366318e-01 -8.13478231e-01 -9.74896536e-02 1.07889120e+02] [ 8.04902441e-01 5.81497904e-01 -1.18288832e-01 6.74209902e+01] [ 1.52915419e-01 -1.06468281e-02 9.88181926e-01 2.97815653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.810714057 meters Centerline goodness : 0.995064 Centerline is valid? [True, True] Translation: X:107.91, Y:67.44, Z:29.79 [[ 5.72462855e-01 -8.14174240e-01 -9.69875586e-02 1.07905662e+02] [ 8.05423463e-01 5.80538969e-01 -1.19446853e-01 6.74447863e+01] [ 1.53555608e-01 -9.73716878e-03 9.88092032e-01 2.97855785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.840714057 meters Centerline goodness : 0.994594 Centerline is valid? [True, True] Translation: X:107.92, Y:67.46, Z:29.79 [[ 5.71378711e-01 -8.14408527e-01 -1.01316930e-01 1.07922514e+02] [ 8.05994369e-01 5.80112380e-01 -1.17655019e-01 6.74649682e+01] [ 1.54594456e-01 -1.44353022e-02 9.87872551e-01 2.97884895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.870714057 meters Centerline goodness : 0.995535 Centerline is valid? [True, True] Translation: X:107.93, Y:67.48, Z:29.79 [[ 5.64528329e-01 -8.16580203e-01 -1.20434785e-01 1.07930230e+02] [ 8.09683975e-01 5.76193060e-01 -1.11415519e-01 6.74788600e+01] [ 1.60373395e-01 -3.46168990e-02 9.86449210e-01 2.97924174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.900714057 meters Centerline goodness : 0.995115 Centerline is valid? [True, True] Translation: X:107.94, Y:67.51, Z:29.81 [[ 5.63419189e-01 -8.20177156e-01 -9.93390685e-02 1.07937528e+02] [ 8.10226317e-01 5.72045580e-01 -1.27660368e-01 6.75066935e+01] [ 1.61530593e-01 -8.56082653e-03 9.86830573e-01 2.98067313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.930714057 meters Centerline goodness : 0.994829 Centerline is valid? [True, True] Translation: X:107.95, Y:67.56, Z:29.82 [[ 5.73224891e-01 -8.18949446e-01 -2.71114165e-02 1.07953350e+02] [ 8.05862654e-01 5.69436340e-01 -1.62257935e-01 6.75566971e+01] [ 1.48319272e-01 7.11622090e-02 9.86375858e-01 2.98232643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.960714057 meters Centerline goodness : 0.994138 Centerline is valid? [True, True] Translation: X:108.01, Y:67.54, Z:29.79 [[ 5.69129048e-01 -8.09955121e-01 -1.41650375e-01 1.08009231e+02] [ 8.08228644e-01 5.82737948e-01 -8.47522391e-02 6.75448206e+01] [ 1.51190559e-01 -6.62509294e-02 9.86282023e-01 2.97886241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.990714057 meters Centerline goodness : 0.993818 Centerline is valid? [True, True] Translation: X:108.01, Y:67.57, Z:29.81 [[ 5.72363866e-01 -8.13063937e-01 -1.06426687e-01 1.08007036e+02] [ 8.07086560e-01 5.81528132e-01 -1.02158292e-01 6.75702506e+01] [ 1.44951336e-01 -2.74238337e-02 9.89058665e-01 2.98062339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.020714057 meters Centerline goodness : 0.994105 Centerline is valid? [True, True] Translation: X:108.02, Y:67.60, Z:29.82 [[ 5.70754538e-01 -8.15961659e-01 -9.19011871e-02 1.08020267e+02] [ 8.07796057e-01 5.78045800e-01 -1.15449480e-01 6.76010290e+01] [ 1.47325444e-01 -8.34410205e-03 9.89052875e-01 2.98191352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.050714057 meters Centerline goodness : 0.995148 Centerline is valid? [True, True] Translation: X:108.04, Y:67.63, Z:29.83 [[ 5.67419887e-01 -8.19495402e-01 -8.03863010e-02 1.08035864e+02] [ 8.08687356e-01 5.72989571e-01 -1.33070322e-01 6.76346286e+01] [ 1.55111029e-01 1.04993616e-02 9.87841248e-01 2.98300477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.080714057 meters Centerline goodness : 0.992992 Centerline is valid? [True, True] Translation: X:108.06, Y:67.64, Z:29.82 [[ 5.72666531e-01 -8.12810394e-01 -1.06734755e-01 1.08063771e+02] [ 8.07013086e-01 5.81839501e-01 -1.00958776e-01 6.76425668e+01] [ 1.44162838e-01 -2.83206319e-02 9.89148633e-01 2.98171216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.110714057 meters Centerline goodness : 0.993251 Centerline is valid? [True, True] Translation: X:108.07, Y:67.68, Z:29.83 [[ 5.71935653e-01 -8.17154091e-01 -7.17551379e-02 1.08071179e+02] [ 8.07746393e-01 5.76269210e-01 -1.24336489e-01 6.76777191e+01] [ 1.42952347e-01 1.31525170e-02 9.89642177e-01 2.98314536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.140714057 meters Centerline goodness : 0.993604 Centerline is valid? [True, True] Translation: X:108.09, Y:67.71, Z:29.83 [[ 5.71871749e-01 -8.17462361e-01 -6.86876391e-02 1.08094725e+02] [ 8.08125912e-01 5.75773444e-01 -1.24167028e-01 6.77074874e+01] [ 1.41050390e-01 1.54993543e-02 9.89881083e-01 2.98324285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.170714057 meters Centerline goodness : 0.993076 Centerline is valid? [True, True] Translation: X:108.13, Y:67.71, Z:29.82 [[ 5.67405776e-01 -8.13241885e-01 -1.29183286e-01 1.08128622e+02] [ 8.10053028e-01 5.79442473e-01 -8.97803613e-02 6.77116754e+01] [ 1.47867433e-01 -5.37034164e-02 9.87548057e-01 2.98232134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.200714057 meters Centerline goodness : 0.993899 Centerline is valid? [True, True] Translation: X:108.12, Y:67.76, Z:29.85 [[ 5.66605229e-01 -8.21690321e-01 -6.15104140e-02 1.08119380e+02] [ 8.09703057e-01 5.69068384e-01 -1.43325276e-01 6.77583184e+01] [ 1.52772624e-01 3.14036804e-02 9.87762286e-01 2.98516281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.230714057 meters Centerline goodness : 0.993385 Centerline is valid? [True, True] Translation: X:108.16, Y:67.76, Z:29.83 [[ 5.65450514e-01 -8.14601719e-01 -1.29188833e-01 1.08160289e+02] [ 8.10825419e-01 5.77713870e-01 -9.38553377e-02 6.77596187e+01] [ 1.51088900e-01 -5.16790408e-02 9.87168385e-01 2.98330210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.26071405700003 meters Centerline goodness : 0.994346 Centerline is valid? [True, True] Translation: X:108.15, Y:67.80, Z:29.86 [[ 5.61085495e-01 -8.23455123e-01 -8.42895468e-02 1.08154892e+02] [ 8.12114786e-01 5.67323631e-01 -1.36431201e-01 6.78002191e+01] [ 1.60164423e-01 8.09678076e-03 9.87057141e-01 2.98598697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.290714057 meters Centerline goodness : 0.993984 Centerline is valid? [True, True] Translation: X:108.17, Y:67.83, Z:29.86 [[ 5.63084698e-01 -8.22907963e-01 -7.58821911e-02 1.08173308e+02] [ 8.11559399e-01 5.67960278e-01 -1.37085613e-01 6.78279948e+01] [ 1.55906913e-01 1.56079054e-02 9.87648433e-01 2.98597593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.32071405700003 meters Centerline goodness : 0.992267 Centerline is valid? [True, True] Translation: X:108.21, Y:67.83, Z:29.84 [[ 5.64526679e-01 -8.13659840e-01 -1.38806675e-01 1.08209681e+02] [ 8.11532614e-01 5.77840136e-01 -8.66925263e-02 6.78260795e+01] [ 1.50746295e-01 -6.37058994e-02 9.86517670e-01 2.98412895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.350714057 meters Centerline goodness : 0.992404 Centerline is valid? [True, True] Translation: X:108.20, Y:67.86, Z:29.87 [[ 5.63720640e-01 -8.20156731e-01 -9.77853587e-02 1.08202705e+02] [ 8.11460140e-01 5.72015844e-01 -1.19709291e-01 6.78612852e+01] [ 1.54115156e-01 -1.18663226e-02 9.87981634e-01 2.98654540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.38071405700003 meters Centerline goodness : 0.992375 Centerline is valid? [True, True] Translation: X:108.22, Y:67.89, Z:29.87 [[ 5.63127236e-01 -8.21130983e-01 -9.29065401e-02 1.08215975e+02] [ 8.11729975e-01 5.70712567e-01 -1.24022634e-01 6.78864432e+01] [ 1.54861757e-01 -5.57450053e-03 9.87920422e-01 2.98721998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.410714057 meters Centerline goodness : 0.991136 Centerline is valid? [True, True] Translation: X:108.23, Y:67.91, Z:29.87 [[ 5.63288935e-01 -8.19988122e-01 -1.01612279e-01 1.08231646e+02] [ 8.11611001e-01 5.72156832e-01 -1.18000602e-01 6.79069880e+01] [ 1.54897251e-01 -1.60012101e-02 9.87800994e-01 2.98737728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.44071405700004 meters Centerline goodness : 0.992357 Centerline is valid? [True, True] Translation: X:108.24, Y:67.93, Z:29.88 [[ 5.62574579e-01 -8.21590006e-01 -9.21938486e-02 1.08243664e+02] [ 8.12080678e-01 5.70059448e-01 -1.24728500e-01 6.79327447e+01] [ 1.55031663e-01 -4.69975970e-03 9.87898323e-01 2.98826465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.470714057 meters Centerline goodness : 0.985664 Centerline is valid? [True, True] Translation: X:108.26, Y:67.94, Z:29.87 [[ 5.58106930e-01 -8.20488802e-01 -1.23752899e-01 1.08262521e+02] [ 8.15723220e-01 5.69848505e-01 -9.93393662e-02 6.79423547e+01] [ 1.52027242e-01 -4.55061242e-02 9.87328168e-01 2.98688217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.50071405700004 meters Centerline goodness : 0.994221 Centerline is valid? [True, True] Translation: X:108.26, Y:67.98, Z:29.91 [[ 5.52862571e-01 -8.29181757e-01 -8.24657002e-02 1.08257846e+02] [ 8.16341052e-01 5.58818824e-01 -1.45975371e-01 6.79833133e+01] [ 1.67123500e-01 1.33841824e-02 9.85845119e-01 2.99065923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.530714057 meters Centerline goodness : 0.993851 Centerline is valid? [True, True] Translation: X:108.28, Y:68.00, Z:29.90 [[ 5.52000385e-01 -8.27718343e-01 -1.00885675e-01 1.08281621e+02] [ 8.17264107e-01 5.61057184e-01 -1.31507476e-01 6.80007295e+01] [ 1.65453783e-01 -9.85806344e-03 9.86168274e-01 2.99013435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.560714057 meters Centerline goodness : 0.990734 Centerline is valid? [True, True] Translation: X:108.30, Y:68.04, Z:29.91 [[ 5.63238062e-01 -8.25055721e-01 -4.52321037e-02 1.08295908e+02] [ 8.13152529e-01 5.63173027e-01 -1.47034368e-01 6.80395248e+01] [ 1.46785047e-01 4.60347527e-02 9.88096631e-01 2.99083013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.590714057 meters Centerline goodness : 0.982579 Centerline is valid? [True, True] Translation: X:108.34, Y:68.03, Z:29.86 [[ 5.61826907e-01 -8.16833946e-01 -1.30892442e-01 1.08341406e+02] [ 8.15516581e-01 5.73437929e-01 -7.81130440e-02 6.80280117e+01] [ 1.38864077e-01 -6.28589471e-02 9.88314485e-01 2.98604378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.620714057 meters Centerline goodness : 0.992905 Centerline is valid? [True, True] Translation: X:108.34, Y:68.07, Z:29.90 [[ 5.56186938e-01 -8.26957600e-01 -8.24452378e-02 1.08335143e+02] [ 8.16610178e-01 5.62239629e-01 -1.30515962e-01 6.80730994e+01] [ 1.54285147e-01 5.26565300e-03 9.88012331e-01 2.99013131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.650714057 meters Centerline goodness : 0.992024 Centerline is valid? [True, True] Translation: X:108.36, Y:68.08, Z:29.89 [[ 5.57971282e-01 -8.23053263e-01 -1.06072494e-01 1.08356696e+02] [ 8.16893351e-01 5.67254864e-01 -1.04437411e-01 6.80838327e+01] [ 1.46127690e-01 -2.83768387e-02 9.88858662e-01 2.98909247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.680714057 meters Centerline goodness : 0.986088 Centerline is valid? [True, True] Translation: X:108.36, Y:68.11, Z:29.90 [[ 5.56953461e-01 -8.26077155e-01 -8.60196297e-02 1.08359296e+02] [ 8.17348463e-01 5.63545718e-01 -1.19823679e-01 6.81110023e+01] [ 1.47459598e-01 -3.57179924e-03 9.89061631e-01 2.99030981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.710714057 meters Centerline goodness : 0.985849 Centerline is valid? [True, True] Translation: X:108.38, Y:68.13, Z:29.91 [[ 5.58019904e-01 -8.25529252e-01 -8.43518933e-02 1.08375504e+02] [ 8.16909500e-01 5.64353806e-01 -1.19011137e-01 6.81333587e+01] [ 1.45851487e-01 -2.49727967e-03 9.89303344e-01 2.99067957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.740714057 meters Centerline goodness : 0.992844 Centerline is valid? [True, True] Translation: X:108.39, Y:68.16, Z:29.92 [[ 5.54254950e-01 -8.28234210e-01 -8.26410535e-02 1.08392026e+02] [ 8.17521992e-01 5.60348794e-01 -1.32917349e-01 6.81640733e+01] [ 1.56394511e-01 6.10922016e-03 9.87675774e-01 2.99213516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.770714057 meters Centerline goodness : 0.993386 Centerline is valid? [True, True] Translation: X:108.41, Y:68.18, Z:29.92 [[ 5.55607674e-01 -8.26029070e-01 -9.47422184e-02 1.08413998e+02] [ 8.16878803e-01 5.63554314e-01 -1.22945339e-01 6.81835548e+01] [ 1.54948810e-01 -9.08353623e-03 9.87880740e-01 2.99180484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.800714057 meters Centerline goodness : 0.993662 Centerline is valid? [True, True] Translation: X:108.43, Y:68.21, Z:29.92 [[ 5.56481063e-01 -8.25451001e-01 -9.46544805e-02 1.08430024e+02] [ 8.16297953e-01 5.64404054e-01 -1.22905312e-01 6.82050906e+01] [ 1.54875685e-01 -8.87178008e-03 9.87894131e-01 2.99220063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.830714057 meters Centerline goodness : 0.992850 Centerline is valid? [True, True] Translation: X:108.45, Y:68.25, Z:29.93 [[ 5.73456549e-01 -8.18712764e-01 -2.92744830e-02 1.08450923e+02] [ 8.07967770e-01 5.71114073e-01 -1.44971717e-01 6.82514050e+01] [ 1.35409265e-01 5.94821421e-02 9.89002632e-01 2.99316786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.860714057 meters Centerline goodness : 0.992965 Centerline is valid? [True, True] Translation: X:108.50, Y:68.26, Z:29.91 [[ 5.74773680e-01 -8.13486780e-01 -8.87382400e-02 1.08495952e+02] [ 8.07423179e-01 5.81412609e-01 -1.00135852e-01 6.82593354e+01] [ 1.33052723e-01 -1.40938599e-02 9.91008747e-01 2.99060142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.890714057 meters Centerline goodness : 0.992652 Centerline is valid? [True, True] Translation: X:108.51, Y:68.29, Z:29.92 [[ 5.77552644e-01 -8.13796330e-01 -6.45637478e-02 1.08508650e+02] [ 8.05887717e-01 5.80985807e-01 -1.14019646e-01 6.82912795e+01] [ 1.30299391e-01 1.38212168e-02 9.91378355e-01 2.99156496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.920714057 meters Centerline goodness : 0.992652 Centerline is valid? [True, True] Translation: X:108.54, Y:68.31, Z:29.91 [[ 5.77109132e-01 -8.12070556e-01 -8.65243501e-02 1.08536782e+02] [ 8.06136677e-01 5.83420525e-01 -9.88137101e-02 6.83095637e+01] [ 1.30723786e-01 -1.27241576e-02 9.91337171e-01 2.99104614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.950714057 meters Centerline goodness : 0.993695 Centerline is valid? [True, True] Translation: X:108.55, Y:68.30, Z:29.91 [[ 5.56426111e-01 -8.12753588e-01 -1.72689282e-01 1.08551930e+02] [ 8.16625996e-01 5.73282151e-01 -6.68547477e-02 6.83006935e+01] [ 1.53336119e-01 -1.03822829e-01 9.82704867e-01 2.99071225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.980714057 meters Centerline goodness : 0.992982 Centerline is valid? [True, True] Translation: X:108.53, Y:68.37, Z:29.96 [[ 5.72235712e-01 -8.19787730e-01 -2.22343918e-02 1.08534114e+02] [ 8.08086584e-01 5.68274934e-01 -1.55111803e-01 6.83689678e+01] [ 1.39794001e-01 7.07931994e-02 9.87646678e-01 2.99590996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.01071405700003 meters Centerline goodness : 0.993940 Centerline is valid? [True, True] Translation: X:108.59, Y:68.38, Z:29.93 [[ 5.66559237e-01 -8.17501302e-01 -1.03451692e-01 1.08588030e+02] [ 8.11057741e-01 5.75415482e-01 -1.05272810e-01 6.83769114e+01] [ 1.45588365e-01 -2.42620129e-02 9.89047715e-01 2.99321462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.040714057 meters Centerline goodness : 0.993508 Centerline is valid? [True, True] Translation: X:108.60, Y:68.40, Z:29.94 [[ 5.71342135e-01 -8.15158935e-01 -9.53104131e-02 1.08599072e+02] [ 8.08374375e-01 5.79006303e-01 -1.06219451e-01 6.83952805e+01] [ 1.41771065e-01 -1.63588474e-02 9.89764292e-01 2.99360829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.07071405700003 meters Centerline goodness : 0.993255 Centerline is valid? [True, True] Translation: X:108.62, Y:68.43, Z:29.95 [[ 5.65958596e-01 -8.19619056e-01 -8.89689280e-02 1.08615044e+02] [ 8.11333206e-01 5.72874311e-01 -1.16419299e-01 6.84251906e+01] [ 1.46387489e-01 -6.29494252e-03 9.89207297e-01 2.99475254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.100714057 meters Centerline goodness : 0.994165 Centerline is valid? [True, True] Translation: X:108.63, Y:68.42, Z:29.94 [[ 5.54081417e-01 -8.17593618e-01 -1.56634796e-01 1.08626281e+02] [ 8.17227307e-01 5.70058542e-01 -8.46923100e-02 6.84171971e+01] [ 1.58534895e-01 -8.10797971e-02 9.84018675e-01 2.99412455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.13071405700003 meters Centerline goodness : 0.993131 Centerline is valid? [True, True] Translation: X:108.62, Y:68.48, Z:29.99 [[ 5.64667568e-01 -8.24786113e-01 -2.96379087e-02 1.08619461e+02] [ 8.11662232e-01 5.61471714e-01 -1.61102254e-01 6.84823187e+01] [ 1.49515749e-01 6.69132467e-02 9.86492604e-01 2.99870493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.160714057 meters Centerline goodness : 0.993722 Centerline is valid? [True, True] Translation: X:108.67, Y:68.49, Z:29.96 [[ 5.63515566e-01 -8.19721066e-01 -1.02506491e-01 1.08670008e+02] [ 8.12493212e-01 5.72379626e-01 -1.10618015e-01 6.84885884e+01] [ 1.49348544e-01 -2.09508548e-02 9.88562630e-01 2.99581439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.19071405700004 meters Centerline goodness : 0.992365 Centerline is valid? [True, True] Translation: X:108.68, Y:68.51, Z:29.96 [[ 5.64877429e-01 -8.19265627e-01 -9.85764793e-02 1.08683623e+02] [ 8.11639846e-01 5.73181322e-01 -1.12711728e-01 6.85100892e+01] [ 1.48843042e-01 -1.63402871e-02 9.88725818e-01 2.99637534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.220714057 meters Centerline goodness : 0.992247 Centerline is valid? [True, True] Translation: X:108.70, Y:68.53, Z:29.97 [[ 5.63179266e-01 -8.18776367e-01 -1.11509531e-01 1.08699844e+02] [ 8.12237578e-01 5.73327873e-01 -1.07541929e-01 6.85257580e+01] [ 1.51984312e-01 -3.00068467e-02 9.87927304e-01 2.99666182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.25071405700004 meters Centerline goodness : 0.993883 Centerline is valid? [True, True] Translation: X:108.70, Y:68.54, Z:29.98 [[ 5.48941328e-01 -8.23660438e-01 -1.42291608e-01 1.08702656e+02] [ 8.19479305e-01 5.63865131e-01 -1.02517233e-01 6.85368030e+01] [ 1.64672665e-01 -6.03290814e-02 9.84501557e-01 2.99755736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.280714057 meters Centerline goodness : 0.992955 Centerline is valid? [True, True] Translation: X:108.70, Y:68.59, Z:30.01 [[ 5.59000714e-01 -8.27847281e-01 -4.67662322e-02 1.08704668e+02] [ 8.14232990e-01 5.58715112e-01 -1.57677082e-01 6.85917375e+01] [ 1.56661544e-01 5.00629922e-02 9.86382713e-01 3.00106508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.310714057 meters Centerline goodness : 0.992451 Centerline is valid? [True, True] Translation: X:108.75, Y:68.60, Z:29.98 [[ 5.59843343e-01 -8.21556142e-01 -1.07800447e-01 1.08749848e+02] [ 8.14448325e-01 5.69546631e-01 -1.10862803e-01 6.85985533e+01] [ 1.52477398e-01 -2.57320913e-02 9.87971914e-01 2.99846025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.340714057 meters Centerline goodness : 0.992035 Centerline is valid? [True, True] Translation: X:108.76, Y:68.62, Z:29.99 [[ 5.62231964e-01 -8.20620474e-01 -1.02358472e-01 1.08763041e+02] [ 8.13260473e-01 5.71105058e-01 -1.11563503e-01 6.86186951e+01] [ 1.50008736e-01 -2.05195319e-02 9.88471713e-01 2.99896306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.370714057 meters Centerline goodness : 0.992641 Centerline is valid? [True, True] Translation: X:108.78, Y:68.66, Z:30.01 [[ 5.54678723e-01 -8.27548310e-01 -8.65754469e-02 1.08777826e+02] [ 8.17270624e-01 5.61392843e-01 -1.30026163e-01 6.86551491e+01] [ 1.56205768e-01 1.36717642e-03 9.87723589e-01 3.00071406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.400714057 meters Centerline goodness : 0.992573 Centerline is valid? [True, True] Translation: X:108.80, Y:68.67, Z:30.00 [[ 5.55525394e-01 -8.24748769e-01 -1.05740270e-01 1.08804377e+02] [ 8.17195875e-01 5.65022546e-01 -1.13755987e-01 6.86723532e+01] [ 1.53565746e-01 -2.32161730e-02 9.87865664e-01 3.00021203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.430714057 meters Centerline goodness : 0.992309 Centerline is valid? [True, True] Translation: X:108.82, Y:68.69, Z:30.01 [[ 5.47905844e-01 -8.26122059e-01 -1.31611280e-01 1.08821707e+02] [ 8.20844830e-01 5.61263575e-01 -1.05815712e-01 6.86861739e+01] [ 1.61285312e-01 -5.00553918e-02 9.85637614e-01 3.00092531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.460714057 meters Centerline goodness : 0.991955 Centerline is valid? [True, True] Translation: X:108.82, Y:68.72, Z:30.03 [[ 5.46433424e-01 -8.31350063e-01 -1.01329103e-01 1.08823373e+02] [ 8.21504307e-01 5.55593165e-01 -1.28245499e-01 6.87159937e+01] [ 1.62914661e-01 -1.31646672e-02 9.86552333e-01 3.00285477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.490714057 meters Centerline goodness : 0.991924 Centerline is valid? [True, True] Translation: X:108.83, Y:68.73, Z:30.03 [[ 5.38086106e-01 -8.34958871e-01 -1.15356083e-01 1.08827096e+02] [ 8.25813525e-01 5.49632964e-01 -1.26236391e-01 6.87310057e+01] [ 1.68805700e-01 -2.73365653e-02 9.85270190e-01 3.00323023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.520714057 meters Centerline goodness : 0.992628 Centerline is valid? [True, True] Translation: X:108.85, Y:68.76, Z:30.04 [[ 5.43185212e-01 -8.34343557e-01 -9.39183397e-02 1.08852174e+02] [ 8.23060090e-01 5.51236633e-01 -1.36785458e-01 6.87622211e+01] [ 1.65897295e-01 -3.00059902e-03 9.86138471e-01 3.00443414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.550714057 meters Centerline goodness : 0.992685 Centerline is valid? [True, True] Translation: X:108.87, Y:68.78, Z:30.04 [[ 5.41609896e-01 -8.33173247e-01 -1.11718669e-01 1.08873836e+02] [ 8.23905773e-01 5.52503544e-01 -1.26170963e-01 6.87788560e+01] [ 1.66847231e-01 -2.37102139e-02 9.85697635e-01 3.00427765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.580714057 meters Centerline goodness : 0.992569 Centerline is valid? [True, True] Translation: X:108.89, Y:68.80, Z:30.05 [[ 5.40652112e-01 -8.35264961e-01 -1.00138602e-01 1.08886294e+02] [ 8.24600127e-01 5.49748905e-01 -1.33457002e-01 6.88036598e+01] [ 1.66523044e-01 -1.04204941e-02 9.85982499e-01 3.00502434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.610714057 meters Centerline goodness : 0.992759 Centerline is valid? [True, True] Translation: X:108.91, Y:68.82, Z:30.05 [[ 5.40513531e-01 -8.34299792e-01 -1.08577070e-01 1.08905758e+02] [ 8.25109441e-01 5.50879633e-01 -1.25403509e-01 6.88220382e+01] [ 1.64437018e-01 -2.18056722e-02 9.86146531e-01 3.00500539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.640714057 meters Centerline goodness : 0.993373 Centerline is valid? [True, True] Translation: X:108.92, Y:68.85, Z:30.06 [[ 5.38078321e-01 -8.37195297e-01 -9.78557861e-02 1.08920772e+02] [ 8.26124649e-01 5.46849737e-01 -1.35916990e-01 6.88523101e+01] [ 1.67301476e-01 -7.70709109e-03 9.85875660e-01 3.00614727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.670714057 meters Centerline goodness : 0.991736 Centerline is valid? [True, True] Translation: X:108.94, Y:68.87, Z:30.06 [[ 5.39655426e-01 -8.34268265e-01 -1.12997710e-01 1.08941743e+02] [ 8.25987638e-01 5.50634608e-01 -1.20606594e-01 6.88663214e+01] [ 1.62838704e-01 -2.82487084e-02 9.86248228e-01 3.00579791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.700714057 meters Centerline goodness : 0.992891 Centerline is valid? [True, True] Translation: X:108.95, Y:68.90, Z:30.07 [[ 5.35991122e-01 -8.39154633e-01 -9.23743412e-02 1.08951766e+02] [ 8.27085926e-01 5.43892772e-01 -1.41808054e-01 6.88987394e+01] [ 1.69240622e-01 -3.93659674e-04 9.85574684e-01 3.00735096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.730714057 meters Centerline goodness : 0.992862 Centerline is valid? [True, True] Translation: X:108.97, Y:68.92, Z:30.07 [[ 5.40035188e-01 -8.36935585e-01 -8.88865703e-02 1.08970248e+02] [ 8.25202163e-01 5.47297467e-01 -1.39667005e-01 6.89201410e+01] [ 1.65539681e-01 2.07570706e-03 9.86200946e-01 3.00712461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.76071405700003 meters Centerline goodness : 0.993600 Centerline is valid? [True, True] Translation: X:108.99, Y:68.95, Z:30.08 [[ 5.38369830e-01 -8.38751218e-01 -8.15740226e-02 1.08993779e+02] [ 8.26329052e-01 5.44418984e-01 -1.44181371e-01 6.89548183e+01] [ 1.65342747e-01 1.02159151e-02 9.86183254e-01 3.00766127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.790714057 meters Centerline goodness : 0.993254 Centerline is valid? [True, True] Translation: X:109.03, Y:68.96, Z:30.07 [[ 5.35389457e-01 -8.33881363e-01 -1.34164085e-01 1.09025060e+02] [ 8.27714398e-01 5.49629835e-01 -1.13119048e-01 6.89606021e+01] [ 1.68068450e-01 -5.04867995e-02 9.84481630e-01 3.00651838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.82071405700003 meters Centerline goodness : 0.993345 Centerline is valid? [True, True] Translation: X:109.01, Y:68.98, Z:30.08 [[ 5.29501035e-01 -8.39722310e-01 -1.20395581e-01 1.09013753e+02] [ 8.30066194e-01 5.42144331e-01 -1.30650824e-01 6.89808052e+01] [ 1.74982193e-01 -3.07565551e-02 9.84091086e-01 3.00822816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.850714057 meters Centerline goodness : 0.993421 Centerline is valid? [True, True] Translation: X:109.03, Y:69.01, Z:30.10 [[ 5.35305851e-01 -8.39532299e-01 -9.29148208e-02 1.09033954e+02] [ 8.27040107e-01 5.43309638e-01 -1.44288944e-01 6.90140967e+01] [ 1.71616746e-01 3.94432563e-04 9.85163711e-01 3.00962812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.88071405700003 meters Centerline goodness : 0.992711 Centerline is valid? [True, True] Translation: X:109.06, Y:69.03, Z:30.09 [[ 5.37597067e-01 -8.35867574e-01 -1.10972031e-01 1.09058222e+02] [ 8.27050183e-01 5.48348774e-01 -1.23699706e-01 6.90314719e+01] [ 1.64247950e-01 -2.52788397e-02 9.86095123e-01 3.00916087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.910714057 meters Centerline goodness : 0.993353 Centerline is valid? [True, True] Translation: X:109.07, Y:69.07, Z:30.11 [[ 5.36277928e-01 -8.39625566e-01 -8.62258265e-02 1.09066600e+02] [ 8.26955413e-01 5.43124237e-01 -1.45467551e-01 6.90662430e+01] [ 1.68969611e-01 6.70612276e-03 9.85598447e-01 3.01077028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.94071405700004 meters Centerline goodness : 0.992357 Centerline is valid? [True, True] Translation: X:109.09, Y:69.08, Z:30.10 [[ 5.38694824e-01 -8.35530623e-01 -1.08150200e-01 1.09094021e+02] [ 8.27163468e-01 5.48894838e-01 -1.20478440e-01 6.90808830e+01] [ 1.60026512e-01 -2.45567830e-02 9.86807215e-01 3.00988266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.970714057 meters Centerline goodness : 0.992208 Centerline is valid? [True, True] Translation: X:109.11, Y:69.11, Z:30.11 [[ 5.37493586e-01 -8.36706062e-01 -1.04993385e-01 1.09107581e+02] [ 8.27598180e-01 5.47291970e-01 -1.24710672e-01 6.91060836e+01] [ 1.61808211e-01 -1.98611480e-02 9.86622338e-01 3.01074667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.00071405700004 meters Centerline goodness : 0.992820 Centerline is valid? [True, True] Translation: X:109.12, Y:69.14, Z:30.12 [[ 5.34673246e-01 -8.40345270e-01 -8.91310720e-02 1.09116181e+02] [ 8.28052115e-01 5.42044364e-01 -1.43239668e-01 6.91355375e+01] [ 1.68683772e-01 2.78124534e-03 9.85666297e-01 3.01209436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.030714057 meters Centerline goodness : 0.991429 Centerline is valid? [True, True] Translation: X:109.13, Y:69.17, Z:30.12 [[ 5.42027460e-01 -8.38386836e-01 -5.75651431e-02 1.09133773e+02] [ 8.26193535e-01 5.44163041e-01 -1.45913768e-01 6.91687935e+01] [ 1.53657005e-01 3.15293198e-02 9.87621095e-01 3.01234755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.060714057 meters Centerline goodness : 0.988968 Centerline is valid? [True, True] Translation: X:109.17, Y:69.17, Z:30.09 [[ 5.46294832e-01 -8.28867290e-01 -1.20585956e-01 1.09174207e+02] [ 8.24696562e-01 5.57446349e-01 -9.55465761e-02 6.91661432e+01] [ 1.46415633e-01 -4.72502230e-02 9.88094064e-01 3.00945426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.090714057 meters Centerline goodness : 0.992352 Centerline is valid? [True, True] Translation: X:109.17, Y:69.22, Z:30.14 [[ 5.39629124e-01 -8.39929156e-01 -5.76144152e-02 1.09166048e+02] [ 8.26066190e-01 5.41448049e-01 -1.56360670e-01 6.92200773e+01] [ 1.62527099e-01 3.67834511e-02 9.86018215e-01 3.01353679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.120714057 meters Centerline goodness : 0.992408 Centerline is valid? [True, True] Translation: X:109.22, Y:69.20, Z:30.10 [[ 5.27219379e-01 -8.24618899e-01 -2.05044867e-01 1.09218101e+02] [ 8.32810261e-01 5.49365708e-01 -6.80028566e-02 6.91951406e+01] [ 1.68721059e-01 -1.34911046e-01 9.76387328e-01 3.00995299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.150714057 meters Centerline goodness : 0.991630 Centerline is valid? [True, True] Translation: X:109.17, Y:69.28, Z:30.18 [[ 5.38575337e-01 -8.42499699e-01 1.14396075e-02 1.09170252e+02] [ 8.25709461e-01 5.25041660e-01 -2.06240492e-01 6.92840469e+01] [ 1.67751282e-01 1.20521835e-01 9.78434461e-01 3.01810532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.180714057 meters Centerline goodness : 0.991908 Centerline is valid? [True, True] Translation: X:109.24, Y:69.28, Z:30.12 [[ 5.41651598e-01 -8.33273711e-01 -1.10763119e-01 1.09244700e+02] [ 8.25384554e-01 5.52167593e-01 -1.17691495e-01 6.92795722e+01] [ 1.59229034e-01 -2.76743813e-02 9.86853709e-01 3.01228679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.210714057 meters Centerline goodness : 0.992662 Centerline is valid? [True, True] Translation: X:109.26, Y:69.31, Z:30.13 [[ 5.41374815e-01 -8.34410242e-01 -1.03309521e-01 1.09260168e+02] [ 8.26109558e-01 5.50751353e-01 -1.19230640e-01 6.93074026e+01] [ 1.56385126e-01 -2.07965169e-02 9.87477188e-01 3.01331383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.240714057 meters Centerline goodness : 0.991399 Centerline is valid? [True, True] Translation: X:109.27, Y:69.33, Z:30.14 [[ 5.42396855e-01 -8.34400323e-01 -9.78864231e-02 1.09271015e+02] [ 8.24337614e-01 5.51060927e-01 -1.29612315e-01 6.93309251e+01] [ 1.62089940e-01 -1.03901486e-02 9.86721286e-01 3.01407488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.270714057 meters Centerline goodness : 0.992905 Centerline is valid? [True, True] Translation: X:109.29, Y:69.32, Z:30.13 [[ 5.30733786e-01 -8.28104697e-01 -1.80455698e-01 1.09288019e+02] [ 8.29082915e-01 5.51463141e-01 -9.22492467e-02 6.93209763e+01] [ 1.75906701e-01 -1.00652944e-01 9.79247577e-01 3.01346598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.300714057 meters Centerline goodness : 0.992615 Centerline is valid? [True, True] Translation: X:109.27, Y:69.39, Z:30.19 [[ 5.44163178e-01 -8.38515619e-01 -2.78925277e-02 1.09267856e+02] [ 8.22633090e-01 5.39796693e-01 -1.78589837e-01 6.93922941e+01] [ 1.64806662e-01 7.42366969e-02 9.83528178e-01 3.01875611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.330714057 meters Centerline goodness : 0.992844 Centerline is valid? [True, True] Translation: X:109.32, Y:69.41, Z:30.16 [[ 5.44898063e-01 -8.33122101e-01 -9.48349423e-02 1.09320362e+02] [ 8.22466944e-01 5.53061134e-01 -1.32934222e-01 6.94061747e+01] [ 1.63199959e-01 -5.56300521e-03 9.86577329e-01 3.01589217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.360714057 meters Centerline goodness : 0.994196 Centerline is valid? [True, True] Translation: X:109.34, Y:69.42, Z:30.16 [[ 5.44414885e-01 -8.30517904e-01 -1.17696406e-01 1.09342995e+02] [ 8.22447553e-01 5.56094384e-01 -1.19745808e-01 6.94221523e+01] [ 1.64901348e-01 -3.16077209e-02 9.85803478e-01 3.01569333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.390714057 meters Centerline goodness : 0.993513 Centerline is valid? [True, True] Translation: X:109.36, Y:69.45, Z:30.16 [[ 5.44600619e-01 -8.30688395e-01 -1.15615549e-01 1.09359217e+02] [ 8.23044591e-01 5.55842385e-01 -1.16776898e-01 6.94461754e+01] [ 1.61269237e-01 -3.15599808e-02 9.86405698e-01 3.01644127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.420714057 meters Centerline goodness : 0.993928 Centerline is valid? [True, True] Translation: X:109.37, Y:69.48, Z:30.18 [[ 5.41285175e-01 -8.34589261e-01 -1.02328513e-01 1.09365335e+02] [ 8.23277138e-01 5.50783334e-01 -1.37304312e-01 6.94752558e+01] [ 1.70953544e-01 -9.92393710e-03 9.85229111e-01 3.01808271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.450714057 meters Centerline goodness : 0.994064 Centerline is valid? [True, True] Translation: X:109.39, Y:69.49, Z:30.18 [[ 5.40352998e-01 -8.32695605e-01 -1.20982091e-01 1.09385467e+02] [ 8.23608291e-01 5.52849380e-01 -1.26597577e-01 6.94894517e+01] [ 1.72302120e-01 -3.12344731e-02 9.84548824e-01 3.01798538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.480714057 meters Centerline goodness : 0.994377 Centerline is valid? [True, True] Translation: X:109.40, Y:69.52, Z:30.19 [[ 5.36988846e-01 -8.36042408e-01 -1.12588059e-01 1.09395399e+02] [ 8.24800627e-01 5.48342748e-01 -1.37928083e-01 6.95153531e+01] [ 1.77050573e-01 -1.87968591e-02 9.84022242e-01 3.01936099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.51071405700003 meters Centerline goodness : 0.993944 Centerline is valid? [True, True] Translation: X:109.41, Y:69.54, Z:30.20 [[ 5.35336658e-01 -8.37763626e-01 -1.07548916e-01 1.09409519e+02] [ 8.25681265e-01 5.45887492e-01 -1.42328124e-01 6.95403842e+01] [ 1.77946933e-01 -1.26076623e-02 9.83959316e-01 3.02008573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.540714057 meters Centerline goodness : 0.993935 Centerline is valid? [True, True] Translation: X:109.43, Y:69.55, Z:30.20 [[ 5.28090153e-01 -8.36932033e-01 -1.43755217e-01 1.09429675e+02] [ 8.28656248e-01 5.44884657e-01 -1.28177739e-01 6.95489278e+01] [ 1.85606068e-01 -5.14342569e-02 9.81277180e-01 3.02025628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.57071405700003 meters Centerline goodness : 0.994050 Centerline is valid? [True, True] Translation: X:109.43, Y:69.58, Z:30.22 [[ 5.26532497e-01 -8.42803998e-01 -1.11556937e-01 1.09429623e+02] [ 8.29303448e-01 5.38061063e-01 -1.50818051e-01 6.95776567e+01] [ 1.87134501e-01 -1.31039478e-02 9.82246896e-01 3.02224830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.600714057 meters Centerline goodness : 0.993001 Centerline is valid? [True, True] Translation: X:109.45, Y:69.60, Z:30.23 [[ 5.23191545e-01 -8.44578047e-01 -1.13835534e-01 1.09445613e+02] [ 8.31006665e-01 5.35213904e-01 -1.51571764e-01 6.96002714e+01] [ 1.88940545e-01 -1.52970220e-02 9.81869376e-01 3.02280908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.63071405700003 meters Centerline goodness : 0.993687 Centerline is valid? [True, True] Translation: X:109.46, Y:69.62, Z:30.23 [[ 5.18189819e-01 -8.46141154e-01 -1.24597184e-01 1.09462271e+02] [ 8.33559081e-01 5.32263404e-01 -1.47901748e-01 6.96194811e+01] [ 1.91464277e-01 -2.72179344e-02 9.81122120e-01 3.02335041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.660714057 meters Centerline goodness : 0.993742 Centerline is valid? [True, True] Translation: X:109.47, Y:69.64, Z:30.24 [[ 5.16327882e-01 -8.48557564e-01 -1.15566338e-01 1.09471721e+02] [ 8.34458475e-01 5.28847386e-01 -1.54917705e-01 6.96427316e+01] [ 1.92573547e-01 -1.64469796e-02 9.81144702e-01 3.02441644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.69071405700004 meters Centerline goodness : 0.993848 Centerline is valid? [True, True] Translation: X:109.49, Y:69.67, Z:30.25 [[ 5.12576136e-01 -8.51046809e-01 -1.13951894e-01 1.09486018e+02] [ 8.36840378e-01 5.24858476e-01 -1.55633424e-01 6.96656211e+01] [ 1.92259946e-01 -1.55855673e-02 9.81220262e-01 3.02509942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.720714057 meters Centerline goodness : 0.993625 Centerline is valid? [True, True] Translation: X:109.50, Y:69.69, Z:30.26 [[ 5.11475649e-01 -8.52548047e-01 -1.07491807e-01 1.09499908e+02] [ 8.37794269e-01 5.22568791e-01 -1.58185403e-01 6.96896910e+01] [ 1.91032520e-01 -9.14803873e-03 9.81541079e-01 3.02572462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.75071405700004 meters Centerline goodness : 0.994357 Centerline is valid? [True, True] Translation: X:109.52, Y:69.71, Z:30.26 [[ 5.08858484e-01 -8.52395354e-01 -1.20354496e-01 1.09519689e+02] [ 8.39194049e-01 5.22347444e-01 -1.51348922e-01 6.97098605e+01] [ 1.91875982e-01 -2.39855938e-02 9.81126036e-01 3.02592899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.780714057 meters Centerline goodness : 0.994255 Centerline is valid? [True, True] Translation: X:109.53, Y:69.73, Z:30.27 [[ 5.06180620e-01 -8.55008681e-01 -1.12877522e-01 1.09530169e+02] [ 8.40634199e-01 5.18382735e-01 -1.56886849e-01 6.97331287e+01] [ 1.92653377e-01 -1.54756233e-02 9.81144832e-01 3.02679901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.810714057 meters Centerline goodness : 0.994255 Centerline is valid? [True, True] Translation: X:109.55, Y:69.76, Z:30.27 [[ 5.05759284e-01 -8.55207317e-01 -1.13260722e-01 1.09546165e+02] [ 8.40915758e-01 5.18036537e-01 -1.56521038e-01 6.97559077e+01] [ 1.92531129e-01 -1.60807579e-02 9.81159097e-01 3.02727818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.840714057 meters Centerline goodness : 0.993339 Centerline is valid? [True, True] Translation: X:109.55, Y:69.78, Z:30.28 [[ 5.03200716e-01 -8.57255146e-01 -1.09099283e-01 1.09553228e+02] [ 8.42110897e-01 5.14775178e-01 -1.60797245e-01 6.97775121e+01] [ 1.94005868e-01 -1.09604063e-02 9.80939138e-01 3.02782102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.870714057 meters Centerline goodness : 0.993063 Centerline is valid? [True, True] Translation: X:109.58, Y:69.79, Z:30.27 [[ 5.05813399e-01 -8.53506492e-01 -1.25217706e-01 1.09580600e+02] [ 8.42654064e-01 5.19926709e-01 -1.40036945e-01 6.97941660e+01] [ 1.84626471e-01 -3.46826460e-02 9.82196610e-01 3.02747926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.900714057 meters Centerline goodness : 0.993933 Centerline is valid? [True, True] Translation: X:109.58, Y:69.83, Z:30.30 [[ 5.01764238e-01 -8.59843642e-01 -9.43480818e-02 1.09576318e+02] [ 8.42251203e-01 5.10503204e-01 -1.73203322e-01 6.98266960e+01] [ 1.97092773e-01 7.44244756e-03 9.80356593e-01 3.02957529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.930714057 meters Centerline goodness : 0.993651 Centerline is valid? [True, True] Translation: X:109.60, Y:69.85, Z:30.29 [[ 5.04137130e-01 -8.56117507e-01 -1.13615879e-01 1.09604705e+02] [ 8.41162817e-01 5.16566340e-01 -1.60013534e-01 6.98488152e+01] [ 1.95680526e-01 -1.49006888e-02 9.80554487e-01 3.02906620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.960714057 meters Centerline goodness : 0.993303 Centerline is valid? [True, True] Translation: X:109.62, Y:69.87, Z:30.30 [[ 5.04723188e-01 -8.56231064e-01 -1.10103899e-01 1.09620124e+02] [ 8.41115783e-01 5.16463764e-01 -1.60590848e-01 6.98741981e+01] [ 1.94367546e-01 -1.15562025e-02 9.80860699e-01 3.02960631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.990714057 meters Centerline goodness : 0.993621 Centerline is valid? [True, True] Translation: X:109.63, Y:69.89, Z:30.30 [[ 5.02912160e-01 -8.56122888e-01 -1.18882124e-01 1.09630439e+02] [ 8.41500451e-01 5.16379004e-01 -1.58838647e-01 6.98926912e+01] [ 1.97373634e-01 -2.01574745e-02 9.80121077e-01 3.02989880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.020714057 meters Centerline goodness : 0.992311 Centerline is valid? [True, True] Translation: X:109.65, Y:69.92, Z:30.30 [[ 5.10395129e-01 -8.51772029e-01 -1.18242221e-01 1.09651586e+02] [ 8.39732631e-01 5.23300472e-01 -1.44933518e-01 6.99150432e+01] [ 1.85326527e-01 -2.53184898e-02 9.82350779e-01 3.02991939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.050714057 meters Centerline goodness : 0.992545 Centerline is valid? [True, True] Translation: X:109.66, Y:69.94, Z:30.31 [[ 5.11649924e-01 -8.52989523e-01 -1.03069055e-01 1.09660061e+02] [ 8.39104220e-01 5.21867429e-01 -1.53487766e-01 6.99421958e+01] [ 1.84711838e-01 -7.95367511e-03 9.82760538e-01 3.03103566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.080714057 meters Centerline goodness : 0.992779 Centerline is valid? [True, True] Translation: X:109.67, Y:69.97, Z:30.32 [[ 5.11162370e-01 -8.54855513e-01 -8.90790861e-02 1.09669754e+02] [ 8.37671310e-01 5.18708187e-01 -1.71022201e-01 6.99733365e+01] [ 1.92405323e-01 1.28011189e-02 9.81232043e-01 3.03238555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.110714057 meters Centerline goodness : 0.993168 Centerline is valid? [True, True] Translation: X:109.70, Y:69.99, Z:30.31 [[ 5.10951536e-01 -8.50243829e-01 -1.26546275e-01 1.09697613e+02] [ 8.37980160e-01 5.25484126e-01 -1.47158707e-01 6.99885552e+01] [ 1.91618841e-01 -3.08523003e-02 9.80984381e-01 3.03141762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.140714057 meters Centerline goodness : 0.992402 Centerline is valid? [True, True] Translation: X:109.71, Y:70.02, Z:30.33 [[ 5.11828512e-01 -8.52094401e-01 -1.09392442e-01 1.09705388e+02] [ 8.37320300e-01 5.23281697e-01 -1.58338184e-01 7.00156463e+01] [ 1.92162142e-01 -1.05545154e-02 9.81306432e-01 3.03266936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.170714057 meters Centerline goodness : 0.990922 Centerline is valid? [True, True] Translation: X:109.72, Y:70.03, Z:30.32 [[ 5.16743891e-01 -8.48028812e-01 -1.17570763e-01 1.09723432e+02] [ 8.36397507e-01 5.29366088e-01 -1.42164536e-01 7.00329978e+01] [ 1.82797598e-01 -2.48732369e-02 9.82835877e-01 3.03228937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.200714057 meters Centerline goodness : 0.992317 Centerline is valid? [True, True] Translation: X:109.73, Y:70.07, Z:30.34 [[ 5.13346249e-01 -8.52586765e-01 -9.78337197e-02 1.09731065e+02] [ 8.36382976e-01 5.22576426e-01 -1.65461161e-01 7.00681907e+01] [ 1.92195592e-01 3.11240874e-03 9.81351704e-01 3.03431795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.230714057 meters Centerline goodness : 0.990624 Centerline is valid? [True, True] Translation: X:109.75, Y:70.08, Z:30.33 [[ 5.17473411e-01 -8.47735598e-01 -1.16471566e-01 1.09754655e+02] [ 8.36138885e-01 5.29875141e-01 -1.41788930e-01 7.00816893e+01] [ 1.81914911e-01 -2.40144038e-02 9.83020994e-01 3.03337773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.26071405700003 meters Centerline goodness : 0.991256 Centerline is valid? [True, True] Translation: X:109.76, Y:70.11, Z:30.35 [[ 5.17862412e-01 -8.49689247e-01 -9.92305679e-02 1.09762496e+02] [ 8.35850898e-01 5.27269896e-01 -1.52773473e-01 7.01087116e+01] [ 1.82131268e-01 -3.82632019e-03 9.83266780e-01 3.03461852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.290714057 meters Centerline goodness : 0.991889 Centerline is valid? [True, True] Translation: X:109.78, Y:70.14, Z:30.36 [[ 5.14239092e-01 -8.53234957e-01 -8.68807494e-02 1.09775215e+02] [ 8.36529403e-01 5.21338201e-01 -1.68597265e-01 7.01404628e+01] [ 1.89147333e-01 1.40210028e-02 9.81848612e-01 3.03575279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.32071405700003 meters Centerline goodness : 0.991011 Centerline is valid? [True, True] Translation: X:109.80, Y:70.16, Z:30.34 [[ 5.18634636e-01 -8.49056923e-01 -1.00600474e-01 1.09801771e+02] [ 8.36554839e-01 5.28229193e-01 -1.45430123e-01 7.01577169e+01] [ 1.76618560e-01 -8.73271398e-03 9.84240633e-01 3.03449918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.350714057 meters Centerline goodness : 0.991057 Centerline is valid? [True, True] Translation: X:109.82, Y:70.18, Z:30.35 [[ 5.15542715e-01 -8.49479779e-01 -1.12248897e-01 1.09819405e+02] [ 8.37820820e-01 5.27205694e-01 -1.41811249e-01 7.01784327e+01] [ 1.79644046e-01 -2.09347060e-02 9.83508899e-01 3.03488985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.38071405700003 meters Centerline goodness : 0.991388 Centerline is valid? [True, True] Translation: X:109.83, Y:70.21, Z:30.36 [[ 5.12973824e-01 -8.53711948e-01 -8.96312792e-02 1.09826149e+02] [ 8.38087083e-01 5.20677868e-01 -1.62802334e-01 7.02105701e+01] [ 1.85655321e-01 8.39451855e-03 9.82579073e-01 3.03647164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.410714057 meters Centerline goodness : 0.990134 Centerline is valid? [True, True] Translation: X:109.85, Y:70.22, Z:30.35 [[ 5.16004777e-01 -8.48226333e-01 -1.19378220e-01 1.09854140e+02] [ 8.38145909e-01 5.28730967e-01 -1.33996270e-01 7.02216781e+01] [ 1.76778126e-01 -3.09136515e-02 9.83765135e-01 3.03526004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.44071405700004 meters Centerline goodness : 0.990774 Centerline is valid? [True, True] Translation: X:109.86, Y:70.25, Z:30.37 [[ 5.14143329e-01 -8.51294316e-01 -1.04664344e-01 1.09862362e+02] [ 8.38830047e-01 5.24530387e-01 -1.45712134e-01 7.02489184e+01] [ 1.78943540e-01 -1.28786755e-02 9.83775050e-01 3.03667775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.470714057 meters Centerline goodness : 0.990053 Centerline is valid? [True, True] Translation: X:109.88, Y:70.27, Z:30.37 [[ 5.15150951e-01 -8.51571479e-01 -9.71880370e-02 1.09876068e+02] [ 8.38628205e-01 5.24212107e-01 -1.48001355e-01 7.02719193e+01] [ 1.76980878e-01 -5.26159049e-03 9.84200226e-01 3.03729479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.50071405700004 meters Centerline goodness : 0.989993 Centerline is valid? [True, True] Translation: X:109.89, Y:70.30, Z:30.38 [[ 5.14948676e-01 -8.51533552e-01 -9.85823084e-02 1.09894241e+02] [ 8.38892593e-01 5.24248871e-01 -1.46363717e-01 7.02956342e+01] [ 1.76315279e-01 -7.33016616e-03 9.84306452e-01 3.03764633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.530714057 meters Centerline goodness : 0.991488 Centerline is valid? [True, True] Translation: X:109.91, Y:70.33, Z:30.39 [[ 5.10221210e-01 -8.55035777e-01 -9.26722060e-02 1.09909154e+02] [ 8.39885180e-01 5.18553952e-01 -1.60295616e-01 7.03262530e+01] [ 1.85114025e-01 3.95221072e-03 9.82709101e-01 3.03890439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.560714057 meters Centerline goodness : 0.990341 Centerline is valid? [True, True] Translation: X:109.94, Y:70.34, Z:30.38 [[ 5.10543854e-01 -8.51962238e-01 -1.16212383e-01 1.09935162e+02] [ 8.40098336e-01 5.23041723e-01 -1.43743323e-01 7.03430430e+01] [ 1.83247808e-01 -2.42425600e-02 9.82767795e-01 3.03827028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.590714057 meters Centerline goodness : 0.990442 Centerline is valid? [True, True] Translation: X:109.95, Y:70.36, Z:30.39 [[ 5.14409326e-01 -8.49677810e-01 -1.15890743e-01 1.09949654e+02] [ 8.38835033e-01 5.26645603e-01 -1.37841198e-01 7.03611297e+01] [ 1.78153958e-01 -2.63064177e-02 9.83650924e-01 3.03862598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.620714057 meters Centerline goodness : 0.990447 Centerline is valid? [True, True] Translation: X:109.96, Y:70.38, Z:30.40 [[ 5.15185959e-01 -8.50645027e-01 -1.04816344e-01 1.09961692e+02] [ 8.38423246e-01 5.25566290e-01 -1.44314017e-01 7.03829640e+01] [ 1.77847938e-01 -1.35319040e-02 9.83964938e-01 3.03950708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.650714057 meters Centerline goodness : 0.990406 Centerline is valid? [True, True] Translation: X:109.98, Y:70.41, Z:30.40 [[ 5.14330824e-01 -8.51214389e-01 -1.04392848e-01 1.09977031e+02] [ 8.38575022e-01 5.24678220e-01 -1.46644802e-01 7.04056594e+01] [ 1.79598819e-01 -1.21172926e-02 9.83665307e-01 3.04016796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.680714057 meters Centerline goodness : 0.989872 Centerline is valid? [True, True] Translation: X:110.00, Y:70.43, Z:30.41 [[ 5.11427881e-01 -8.52783184e-01 -1.05841219e-01 1.09996383e+02] [ 8.40159729e-01 5.22082077e-01 -1.46839830e-01 7.04279694e+01] [ 1.80480341e-01 -1.38255468e-02 9.83481419e-01 3.04072349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.710714057 meters Centerline goodness : 0.991053 Centerline is valid? [True, True] Translation: X:110.01, Y:70.45, Z:30.41 [[ 5.09896077e-01 -8.54126152e-01 -1.02345045e-01 1.10012628e+02] [ 8.40803027e-01 5.19983027e-01 -1.50558701e-01 7.04516844e+01] [ 1.81813810e-01 -9.28273287e-03 9.83289159e-01 3.04144726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.740714057 meters Centerline goodness : 0.991153 Centerline is valid? [True, True] Translation: X:110.03, Y:70.47, Z:30.42 [[ 5.08907108e-01 -8.54923758e-01 -1.00592858e-01 1.10028025e+02] [ 8.41373529e-01 5.18701030e-01 -1.51788755e-01 7.04729292e+01] [ 1.81945432e-01 -7.38979116e-03 9.83280861e-01 3.04185128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.770714057 meters Centerline goodness : 0.991087 Centerline is valid? [True, True] Translation: X:110.05, Y:70.49, Z:30.42 [[ 5.07571464e-01 -8.54941785e-01 -1.06984823e-01 1.10050473e+02] [ 8.42276916e-01 5.18498528e-01 -1.47407167e-01 7.04922606e+01] [ 1.81496020e-01 -1.52911755e-02 9.83272788e-01 3.04199247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.800714057 meters Centerline goodness : 0.990814 Centerline is valid? [True, True] Translation: X:110.07, Y:70.51, Z:30.43 [[ 5.05281366e-01 -8.56739474e-01 -1.03383828e-01 1.10068780e+02] [ 8.44172381e-01 5.15582940e-01 -1.46789723e-01 7.05149645e+01] [ 1.79063488e-01 -1.31036604e-02 9.83750254e-01 3.04272063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.830714057 meters Centerline goodness : 0.992591 Centerline is valid? [True, True] Translation: X:110.08, Y:70.54, Z:30.44 [[ 4.99672113e-01 -8.60658200e-01 -9.79553056e-02 1.10083893e+02] [ 8.45480700e-01 5.09177459e-01 -1.60936948e-01 7.05446242e+01] [ 1.88388338e-01 -2.40361540e-03 9.82091674e-01 3.04387452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.860714057 meters Centerline goodness : 0.991957 Centerline is valid? [True, True] Translation: X:110.11, Y:70.56, Z:30.44 [[ 4.99920908e-01 -8.59108285e-01 -1.09599460e-01 1.10106964e+02] [ 8.45715905e-01 5.11521595e-01 -1.52020611e-01 7.05637542e+01] [ 1.86664657e-01 -1.66917245e-02 9.82281880e-01 3.04368832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.890714057 meters Centerline goodness : 0.991865 Centerline is valid? [True, True] Translation: X:110.13, Y:70.59, Z:30.44 [[ 5.05414772e-01 -8.56783891e-01 -1.02358552e-01 1.10127336e+02] [ 8.43723983e-01 5.15561614e-01 -1.49419086e-01 7.05855346e+01] [ 1.80792007e-01 -1.08437520e-02 9.83461572e-01 3.04397020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.920714057 meters Centerline goodness : 0.991954 Centerline is valid? [True, True] Translation: X:110.15, Y:70.60, Z:30.44 [[ 4.97757235e-01 -8.57938678e-01 -1.27196541e-01 1.10147401e+02] [ 8.46564501e-01 5.12483357e-01 -1.43837946e-01 7.06014432e+01] [ 1.88590247e-01 -3.60836979e-02 9.81392727e-01 3.04440484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.950714057 meters Centerline goodness : 0.990841 Centerline is valid? [True, True] Translation: X:110.16, Y:70.62, Z:30.45 [[ 5.02651923e-01 -8.55517257e-01 -1.24222656e-01 1.10159023e+02] [ 8.44507245e-01 5.16654030e-01 -1.40982716e-01 7.06153530e+01] [ 1.84793282e-01 -3.40416993e-02 9.82187663e-01 3.04523965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.980714057 meters Centerline goodness : 0.990928 Centerline is valid? [True, True] Translation: X:110.17, Y:70.64, Z:30.46 [[ 5.02504746e-01 -8.57853230e-01 -1.07595610e-01 1.10166602e+02] [ 8.43952246e-01 5.13724414e-01 -1.54375621e-01 7.06388403e+01] [ 1.87706117e-01 -1.32310749e-02 9.82136117e-01 3.04643964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.01071405700003 meters Centerline goodness : 0.992927 Centerline is valid? [True, True] Translation: X:110.18, Y:70.67, Z:30.48 [[ 4.96943819e-01 -8.61473457e-01 -1.04452497e-01 1.10184919e+02] [ 8.45860290e-01 5.07752418e-01 -1.63425372e-01 7.06686158e+01] [ 1.93822628e-01 -7.13899058e-03 9.81010614e-01 3.04762800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.040714057 meters Centerline goodness : 0.992602 Centerline is valid? [True, True] Translation: X:110.21, Y:70.69, Z:30.48 [[ 4.97266052e-01 -8.60030724e-01 -1.14339965e-01 1.10207394e+02] [ 8.45760903e-01 5.09904057e-01 -1.57118897e-01 7.06861736e+01] [ 1.93429491e-01 -1.85743780e-02 9.80938339e-01 3.04770421e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.07071405700003 meters Centerline goodness : 0.993042 Centerline is valid? [True, True] Translation: X:110.22, Y:70.71, Z:30.48 [[ 4.96524241e-01 -8.61024749e-01 -1.10000272e-01 1.10223958e+02] [ 8.46315000e-01 5.08367635e-01 -1.59101438e-01 7.07101426e+01] [ 1.92910854e-01 -1.40971594e-02 9.81115015e-01 3.04832931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.100714057 meters Centerline goodness : 0.993447 Centerline is valid? [True, True] Translation: X:110.24, Y:70.73, Z:30.49 [[ 4.96503748e-01 -8.61094411e-01 -1.09546539e-01 1.10243450e+02] [ 8.46409627e-01 5.08257720e-01 -1.58949153e-01 7.07308022e+01] [ 1.92548101e-01 -1.38023947e-02 9.81190462e-01 3.04875295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.13071405700003 meters Centerline goodness : 0.993433 Centerline is valid? [True, True] Translation: X:110.27, Y:70.74, Z:30.49 [[ 4.99097408e-01 -8.57180321e-01 -1.27057763e-01 1.10265407e+02] [ 8.46305030e-01 5.13677164e-01 -1.41080000e-01 7.07437354e+01] [ 1.86197671e-01 -3.71169616e-02 9.81810959e-01 3.04851042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.160714057 meters Centerline goodness : 0.991637 Centerline is valid? [True, True] Translation: X:110.27, Y:70.77, Z:30.50 [[ 4.99280249e-01 -8.60826471e-01 -9.84734434e-02 1.10268806e+02] [ 8.45976959e-01 5.08884433e-01 -1.59247038e-01 7.07705451e+01] [ 1.87195668e-01 -3.79736326e-03 9.82315307e-01 3.05003801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.19071405700004 meters Centerline goodness : 0.993840 Centerline is valid? [True, True] Translation: X:110.28, Y:70.79, Z:30.51 [[ 4.89845759e-01 -8.64238329e-01 -1.14643985e-01 1.10280671e+02] [ 8.48747235e-01 5.02792875e-01 -1.63790891e-01 7.07903267e+01] [ 1.99196545e-01 -1.70714917e-02 9.79810850e-01 3.05066507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.220714057 meters Centerline goodness : 0.993382 Centerline is valid? [True, True] Translation: X:110.30, Y:70.82, Z:30.51 [[ 4.95371305e-01 -8.64017878e-01 -8.98909137e-02 1.10302636e+02] [ 8.46769813e-01 5.03378946e-01 -1.72018954e-01 7.08199973e+01] [ 1.93876645e-01 9.09634177e-03 9.80983742e-01 3.05145810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.25071405700004 meters Centerline goodness : 0.992577 Centerline is valid? [True, True] Translation: X:110.33, Y:70.83, Z:30.51 [[ 4.99998832e-01 -8.58271710e-01 -1.15632348e-01 1.10330568e+02] [ 8.46057398e-01 5.12603401e-01 -1.46371556e-01 7.08320905e+01] [ 1.84900100e-01 -2.46459961e-02 9.82448232e-01 3.05052118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.280714057 meters Centerline goodness : 0.992235 Centerline is valid? [True, True] Translation: X:110.34, Y:70.86, Z:30.52 [[ 5.00082008e-01 -8.59802775e-01 -1.03233591e-01 1.10340312e+02] [ 8.45738758e-01 5.10534022e-01 -1.55180429e-01 7.08563258e+01] [ 1.86128824e-01 -9.70570878e-03 9.82477409e-01 3.05154870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.310714057 meters Centerline goodness : 0.992985 Centerline is valid? [True, True] Translation: X:110.36, Y:70.88, Z:30.52 [[ 5.01775435e-01 -8.59620400e-01 -9.63025519e-02 1.10356091e+02] [ 8.45100602e-01 5.10927443e-01 -1.57347135e-01 7.08802326e+01] [ 1.84462424e-01 -2.43241728e-03 9.82836557e-01 3.05207458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.340714057 meters Centerline goodness : 0.993485 Centerline is valid? [True, True] Translation: X:110.38, Y:70.91, Z:30.53 [[ 4.97574114e-01 -8.62008565e-01 -9.67534731e-02 1.10375116e+02] [ 8.46352682e-01 5.06893451e-01 -1.63542557e-01 7.09088738e+01] [ 1.90018786e-01 -5.13018738e-04 9.81780320e-01 3.05273685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.370714057 meters Centerline goodness : 0.993927 Centerline is valid? [True, True] Translation: X:110.40, Y:70.93, Z:30.53 [[ 4.99565617e-01 -8.60427145e-01 -1.00495382e-01 1.10395433e+02] [ 8.45680732e-01 5.09541630e-01 -1.58718073e-01 7.09312564e+01] [ 1.87771919e-01 -5.69691593e-03 9.82196137e-01 3.05271135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.400714057 meters Centerline goodness : 0.993995 Centerline is valid? [True, True] Translation: X:110.41, Y:70.96, Z:30.53 [[ 5.00475688e-01 -8.60216387e-01 -9.77335857e-02 1.10412784e+02] [ 8.45232012e-01 5.09922596e-01 -1.59880554e-01 7.09577824e+01] [ 1.87368436e-01 -2.59122500e-03 9.82286290e-01 3.05319086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.430714057 meters Centerline goodness : 0.993414 Centerline is valid? [True, True] Translation: X:110.44, Y:70.98, Z:30.53 [[ 5.03409664e-01 -8.56557702e-01 -1.13523626e-01 1.10435920e+02] [ 8.44211540e-01 5.15579934e-01 -1.46574920e-01 7.09759474e+01] [ 1.84080380e-01 -2.20507237e-02 9.82663818e-01 3.05314099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.460714057 meters Centerline goodness : 0.995298 Centerline is valid? [True, True] Translation: X:110.45, Y:70.98, Z:30.54 [[ 4.91107962e-01 -8.55703150e-01 -1.63049343e-01 1.10450061e+02] [ 8.47447670e-01 5.12650094e-01 -1.37921456e-01 7.09840692e+01] [ 2.01607085e-01 -7.04414604e-02 9.76930184e-01 3.05380547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.490714057 meters Centerline goodness : 0.994560 Centerline is valid? [True, True] Translation: X:110.44, Y:71.02, Z:30.56 [[ 4.92236487e-01 -8.63036991e-01 -1.13447757e-01 1.10441753e+02] [ 8.46001561e-01 5.05003186e-01 -1.71035498e-01 7.10170851e+01] [ 2.04901440e-01 -1.17870671e-02 9.78711635e-01 3.05649688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.520714057 meters Centerline goodness : 0.995192 Centerline is valid? [True, True] Translation: X:110.46, Y:71.04, Z:30.57 [[ 4.94731464e-01 -8.61612614e-01 -1.13421701e-01 1.10456938e+02] [ 8.44526253e-01 5.07444227e-01 -1.71101620e-01 7.10386612e+01] [ 2.04978502e-01 -1.11382488e-02 9.78703098e-01 3.05704973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.550714057 meters Centerline goodness : 0.995324 Centerline is valid? [True, True] Translation: X:110.47, Y:71.06, Z:30.58 [[ 4.95788815e-01 -8.61018923e-01 -1.13313127e-01 1.10472121e+02] [ 8.43939860e-01 5.08457051e-01 -1.70988125e-01 7.10615588e+01] [ 2.04838870e-01 -1.08554643e-02 9.78735509e-01 3.05759407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.580714057 meters Centerline goodness : 0.995075 Centerline is valid? [True, True] Translation: X:110.49, Y:71.08, Z:30.58 [[ 4.98369191e-01 -8.59547249e-01 -1.13166583e-01 1.10486205e+02] [ 8.42453639e-01 5.10954872e-01 -1.70871253e-01 7.10833263e+01] [ 2.04694932e-01 -1.01806317e-02 9.78772874e-01 3.05815672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.610714057 meters Centerline goodness : 0.992985 Centerline is valid? [True, True] Translation: X:110.50, Y:71.11, Z:30.59 [[ 4.98567715e-01 -8.60092864e-01 -1.08030084e-01 1.10501127e+02] [ 8.42935314e-01 5.10104645e-01 -1.71035985e-01 7.11100815e+01] [ 2.02213478e-01 -5.78935278e-03 9.79324355e-01 3.05869099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.640714057 meters Centerline goodness : 0.994463 Centerline is valid? [True, True] Translation: X:110.52, Y:71.13, Z:30.59 [[ 5.00927562e-01 -8.57419992e-01 -1.17909010e-01 1.10518323e+02] [ 8.41019214e-01 5.14392404e-01 -1.67592172e-01 7.11280235e+01] [ 2.04348378e-01 -1.52122046e-02 9.78780021e-01 3.05909441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.670714057 meters Centerline goodness : 0.994242 Centerline is valid? [True, True] Translation: X:110.53, Y:71.18, Z:30.61 [[ 5.15726044e-01 -8.55767082e-01 -4.11016998e-02 1.10534403e+02] [ 8.35578895e-01 5.13000578e-01 -1.96566319e-01 7.11823840e+01] [ 1.89300181e-01 6.70306571e-02 9.79628671e-01 3.06058569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.700714057 meters Centerline goodness : 0.994667 Centerline is valid? [True, True] Translation: X:110.58, Y:71.16, Z:30.57 [[ 5.02429048e-01 -8.44225653e-01 -1.86676452e-01 1.10580728e+02] [ 8.40568778e-01 5.27501813e-01 -1.23231352e-01 7.11601290e+01] [ 2.02507235e-01 -9.49993861e-02 9.74661960e-01 3.05741278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.730714057 meters Centerline goodness : 0.994667 Centerline is valid? [True, True] Translation: X:110.56, Y:71.20, Z:30.61 [[ 5.02570399e-01 -8.57028965e-01 -1.13685303e-01 1.10561020e+02] [ 8.39577862e-01 5.15192116e-01 -1.72296538e-01 7.11991167e+01] [ 2.06232895e-01 -8.85652332e-03 9.78462853e-01 3.06107327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.76071405700003 meters Centerline goodness : 0.994377 Centerline is valid? [True, True] Translation: X:110.58, Y:71.22, Z:30.62 [[ 5.03660445e-01 -8.56420706e-01 -1.13444832e-01 1.10576285e+02] [ 8.39008613e-01 5.16207992e-01 -1.72028652e-01 7.12222368e+01] [ 2.05890029e-01 -8.53716398e-03 9.78537895e-01 3.06164948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.790714057 meters Centerline goodness : 0.994518 Centerline is valid? [True, True] Translation: X:110.59, Y:71.24, Z:30.62 [[ 5.03839344e-01 -8.56338832e-01 -1.13268354e-01 1.10590972e+02] [ 8.38956933e-01 5.16345506e-01 -1.71867920e-01 7.12449836e+01] [ 2.05662780e-01 -8.43345077e-03 9.78586582e-01 3.06224019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.82071405700003 meters Centerline goodness : 0.993593 Centerline is valid? [True, True] Translation: X:110.61, Y:71.27, Z:30.63 [[ 5.05464669e-01 -8.56036658e-01 -1.08197544e-01 1.10611063e+02] [ 8.38808398e-01 5.16896762e-01 -1.70933343e-01 7.12723843e+01] [ 2.02252168e-01 -4.35624337e-03 9.79323789e-01 3.06277497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.850714057 meters Centerline goodness : 0.990563 Centerline is valid? [True, True] Translation: X:110.62, Y:71.31, Z:30.64 [[ 5.18802868e-01 -8.52753959e-01 -6.04505517e-02 1.10622174e+02] [ 8.33919827e-01 5.20374818e-01 -1.83814504e-01 7.13055292e+01] [ 1.88205491e-01 4.49525784e-02 9.81100382e-01 3.06365541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.88071405700003 meters Centerline goodness : 0.993930 Centerline is valid? [True, True] Translation: X:110.66, Y:71.30, Z:30.62 [[ 5.00716616e-01 -8.47349558e-01 -1.76866042e-01 1.10660982e+02] [ 8.40600965e-01 5.24752177e-01 -1.34257853e-01 7.13024290e+01] [ 2.06574173e-01 -8.14486279e-02 9.75034990e-01 3.06228061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.910714057 meters Centerline goodness : 0.994024 Centerline is valid? [True, True] Translation: X:110.65, Y:71.34, Z:30.65 [[ 4.99491014e-01 -8.58765498e-01 -1.14151416e-01 1.10646550e+02] [ 8.40848931e-01 5.12294744e-01 -1.74720263e-01 7.13368023e+01] [ 2.08522904e-01 -8.71289469e-03 9.77978673e-01 3.06541813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.94071405700004 meters Centerline goodness : 0.994558 Centerline is valid? [True, True] Translation: X:110.66, Y:71.36, Z:30.66 [[ 4.98195738e-01 -8.59521414e-01 -1.14122498e-01 1.10662044e+02] [ 8.41617722e-01 5.11020699e-01 -1.74749693e-01 7.13594370e+01] [ 2.08520062e-01 -8.98796445e-03 9.77976789e-01 3.06598012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.970714057 meters Centerline goodness : 0.993980 Centerline is valid? [True, True] Translation: X:110.68, Y:71.38, Z:30.66 [[ 4.95961181e-01 -8.60806816e-01 -1.14167125e-01 1.10677671e+02] [ 8.42899742e-01 5.08843617e-01 -1.74923410e-01 7.13812037e+01] [ 2.08668476e-01 -9.47621919e-03 9.77940524e-01 3.06644894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.00071405700004 meters Centerline goodness : 0.994326 Centerline is valid? [True, True] Translation: X:110.69, Y:71.40, Z:30.67 [[ 4.94862516e-01 -8.61434647e-01 -1.14199122e-01 1.10693306e+02] [ 8.43523314e-01 5.07775451e-01 -1.75021456e-01 7.14040828e+01] [ 2.08757057e-01 -9.71806324e-03 9.77919245e-01 3.06695643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.030714057 meters Centerline goodness : 0.994654 Centerline is valid? [True, True] Translation: X:110.71, Y:71.43, Z:30.68 [[ 4.94146716e-01 -8.61847662e-01 -1.14182446e-01 1.10708413e+02] [ 8.43929921e-01 5.07071844e-01 -1.75101210e-01 7.14257341e+01] [ 2.08809272e-01 -9.83629438e-03 9.77906915e-01 3.06750972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.060714057 meters Centerline goodness : 0.994892 Centerline is valid? [True, True] Translation: X:110.72, Y:71.45, Z:30.68 [[ 4.93224250e-01 -8.62370156e-01 -1.14225892e-01 1.10724158e+02] [ 8.44442382e-01 5.06178792e-01 -1.75214421e-01 7.14472365e+01] [ 2.08918411e-01 -1.00371830e-02 9.77881564e-01 3.06806913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.090714057 meters Centerline goodness : 0.994813 Centerline is valid? [True, True] Translation: X:110.74, Y:71.47, Z:30.69 [[ 4.93056414e-01 -8.62502118e-01 -1.13953800e-01 1.10739376e+02] [ 8.44654175e-01 5.05953766e-01 -1.74843103e-01 7.14693610e+01] [ 2.08457901e-01 -1.00440398e-02 9.77979765e-01 3.06864166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.120714057 meters Centerline goodness : 0.993517 Centerline is valid? [True, True] Translation: X:110.76, Y:71.50, Z:30.69 [[ 4.96107786e-01 -8.62802936e-01 -9.72016336e-02 1.10758175e+02] [ 8.44030692e-01 5.05494300e-01 -1.79130408e-01 7.14993014e+01] [ 2.03689114e-01 6.82682793e-03 9.79011818e-01 3.06937617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.150714057 meters Centerline goodness : 0.993029 Centerline is valid? [True, True] Translation: X:110.78, Y:71.53, Z:30.70 [[ 5.00042870e-01 -8.60513827e-01 -9.73297584e-02 1.10780753e+02] [ 8.42470480e-01 5.09395162e-01 -1.75385458e-01 7.15252552e+01] [ 2.00500920e-01 5.70279935e-03 9.79676916e-01 3.06962571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.180714057 meters Centerline goodness : 0.993073 Centerline is valid? [True, True] Translation: X:110.80, Y:71.55, Z:30.70 [[ 5.04160585e-01 -8.57309218e-01 -1.04129774e-01 1.10804348e+02] [ 8.40722560e-01 5.14793522e-01 -1.67848762e-01 7.15486999e+01] [ 1.97503624e-01 -2.92152035e-03 9.80297803e-01 3.06954898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.210714057 meters Centerline goodness : 0.993078 Centerline is valid? [True, True] Translation: X:110.82, Y:71.57, Z:30.70 [[ 5.02938614e-01 -8.57014437e-01 -1.12156170e-01 1.10823116e+02] [ 8.40525111e-01 5.15195822e-01 -1.67603109e-01 7.15726193e+01] [ 2.01420674e-01 -9.97600223e-03 9.79454027e-01 3.07014492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.240714057 meters Centerline goodness : 0.993953 Centerline is valid? [True, True] Translation: X:110.85, Y:71.59, Z:30.70 [[ 5.03692223e-01 -8.52776758e-01 -1.38079493e-01 1.10845406e+02] [ 8.39677624e-01 5.20856047e-01 -1.53787082e-01 7.15860584e+01] [ 2.03065588e-01 -3.84809036e-02 9.78408701e-01 3.07018561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.270714057 meters Centerline goodness : 0.993956 Centerline is valid? [True, True] Translation: X:110.85, Y:71.62, Z:30.72 [[ 5.05548019e-01 -8.57012946e-01 -9.97497409e-02 1.10845879e+02] [ 8.38569716e-01 5.15262217e-01 -1.76934111e-01 7.16186331e+01] [ 2.03032096e-01 5.80157728e-03 9.79154896e-01 3.07211666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.300714057 meters Centerline goodness : 0.993878 Centerline is valid? [True, True] Translation: X:110.88, Y:71.63, Z:30.72 [[ 5.03321459e-01 -8.52012297e-01 -1.44022759e-01 1.10875159e+02] [ 8.38925525e-01 5.21761092e-01 -1.54820305e-01 7.16294908e+01] [ 2.07054275e-01 -4.28999871e-02 9.77388417e-01 3.07183833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.330714057 meters Centerline goodness : 0.993642 Centerline is valid? [True, True] Translation: X:110.87, Y:71.67, Z:30.74 [[ 5.07041009e-01 -8.58667681e-01 -7.48279925e-02 1.10868909e+02] [ 8.38138262e-01 5.11441781e-01 -1.89608964e-01 7.16692176e+01] [ 2.01081251e-01 3.34233168e-02 9.79004194e-01 3.07416888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.360714057 meters Centerline goodness : 0.993606 Centerline is valid? [True, True] Translation: X:110.92, Y:71.67, Z:30.73 [[ 5.01791523e-01 -8.48651915e-01 -1.67317645e-01 1.10915847e+02] [ 8.39399959e-01 5.24451729e-01 -1.42681787e-01 7.16684999e+01] [ 2.08837200e-01 -6.88499132e-02 9.75523815e-01 3.07261267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.390714057 meters Centerline goodness : 0.994367 Centerline is valid? [True, True] Translation: X:110.91, Y:71.70, Z:30.75 [[ 5.00210897e-01 -8.57308010e-01 -1.21704704e-01 1.10909041e+02] [ 8.39612214e-01 5.14580172e-01 -1.73949927e-01 7.17002491e+01] [ 2.11755493e-01 -1.51731074e-02 9.77204885e-01 3.07516842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.420714057 meters Centerline goodness : 0.994452 Centerline is valid? [True, True] Translation: X:110.93, Y:71.72, Z:30.76 [[ 4.99760209e-01 -8.56744203e-01 -1.27393501e-01 1.10925533e+02] [ 8.39752473e-01 5.15295183e-01 -1.71133450e-01 7.17164635e+01] [ 2.12262848e-01 -2.14533185e-02 9.76977092e-01 3.07565799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.450714057 meters Centerline goodness : 0.995259 Centerline is valid? [True, True] Translation: X:110.93, Y:71.74, Z:30.77 [[ 4.92455668e-01 -8.62800145e-01 -1.14294905e-01 1.10927314e+02] [ 8.43370518e-01 5.05501154e-01 -1.82194272e-01 7.17416498e+01] [ 2.14973450e-01 -6.67035139e-03 9.76597114e-01 3.07660814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.480714057 meters Centerline goodness : 0.994643 Centerline is valid? [True, True] Translation: X:110.94, Y:71.76, Z:30.77 [[ 4.90952975e-01 -8.63599858e-01 -1.14719057e-01 1.10943950e+02] [ 8.44332377e-01 5.04118733e-01 -1.81568557e-01 7.17627738e+01] [ 2.14634605e-01 -7.71939075e-03 9.76663912e-01 3.07708489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.51071405700003 meters Centerline goodness : 0.995149 Centerline is valid? [True, True] Translation: X:110.96, Y:71.78, Z:30.78 [[ 4.86803279e-01 -8.65928342e-01 -1.14850656e-01 1.10962957e+02] [ 8.46667685e-01 5.00091967e-01 -1.81829194e-01 7.17827664e+01] [ 2.14886943e-01 -8.72529106e-03 9.76599955e-01 3.07761636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.540714057 meters Centerline goodness : 0.995586 Centerline is valid? [True, True] Translation: X:110.98, Y:71.80, Z:30.78 [[ 4.84336352e-01 -8.67349640e-01 -1.14555229e-01 1.10979987e+02] [ 8.48202357e-01 4.97612974e-01 -1.81477518e-01 7.18045388e+01] [ 2.14408628e-01 -9.26985559e-03 9.76700061e-01 3.07814897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.57071405700003 meters Centerline goodness : 0.995201 Centerline is valid? [True, True] Translation: X:111.00, Y:71.82, Z:30.79 [[ 4.79018089e-01 -8.70332970e-01 -1.14289944e-01 1.10998336e+02] [ 8.51332313e-01 4.92351476e-01 -1.81172066e-01 7.18241022e+01] [ 2.13950845e-01 -1.05140258e-02 9.76787844e-01 3.07870159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.600714057 meters Centerline goodness : 0.994502 Centerline is valid? [True, True] Translation: X:111.02, Y:71.86, Z:30.80 [[ 4.83022110e-01 -8.72335984e-01 -7.56278547e-02 1.11018198e+02] [ 8.50477669e-01 4.87950239e-01 -1.96449230e-01 7.18633537e+01] [ 2.08272362e-01 3.05695199e-02 9.77593028e-01 3.07989995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.63071405700003 meters Centerline goodness : 0.994080 Centerline is valid? [True, True] Translation: X:111.06, Y:71.88, Z:30.79 [[ 4.77302959e-01 -8.70278867e-01 -1.21641194e-01 1.11058527e+02] [ 8.54262637e-01 4.91984946e-01 -1.67887346e-01 7.18760895e+01] [ 2.05954445e-01 -2.37803999e-02 9.78272589e-01 3.07881170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.660714057 meters Centerline goodness : 0.994705 Centerline is valid? [True, True] Translation: X:111.07, Y:71.88, Z:30.79 [[ 4.66327863e-01 -8.71532249e-01 -1.51558121e-01 1.11067901e+02] [ 8.58931723e-01 4.87077171e-01 -1.58088974e-01 7.18839381e+01] [ 2.11600140e-01 -5.64567842e-02 9.75724353e-01 3.07915798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.69071405700004 meters Centerline goodness : 0.994150 Centerline is valid? [True, True] Translation: X:111.08, Y:71.91, Z:30.81 [[ 4.62736151e-01 -8.78188736e-01 -1.21077658e-01 1.11080108e+02] [ 8.60159788e-01 4.77825491e-01 -1.78347805e-01 7.19143415e+01] [ 2.14477025e-01 -2.16181560e-02 9.76489765e-01 3.08124790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.720714057 meters Centerline goodness : 0.993823 Centerline is valid? [True, True] Translation: X:111.09, Y:71.94, Z:30.82 [[ 4.59931154e-01 -8.80801282e-01 -1.12483044e-01 1.11094079e+02] [ 8.61818504e-01 4.73305618e-01 -1.82347628e-01 7.19401765e+01] [ 2.13850881e-01 -1.30726134e-02 9.76778843e-01 3.08184941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.75071405700004 meters Centerline goodness : 0.994986 Centerline is valid? [True, True] Translation: X:111.10, Y:71.96, Z:30.82 [[ 4.51865549e-01 -8.84092455e-01 -1.19155597e-01 1.11100585e+02] [ 8.65795081e-01 4.66807195e-01 -1.80249607e-01 7.19584519e+01] [ 2.14980008e-01 -2.17157423e-02 9.76376988e-01 3.08204660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.780714057 meters Centerline goodness : 0.995248 Centerline is valid? [True, True] Translation: X:111.11, Y:71.98, Z:30.83 [[ 4.47015784e-01 -8.87169087e-01 -1.14489736e-01 1.11113628e+02] [ 8.68269912e-01 4.61108440e-01 -1.82992804e-01 7.19805629e+01] [ 2.15137742e-01 -1.76073211e-02 9.76424976e-01 3.08276311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.810714057 meters Centerline goodness : 0.994295 Centerline is valid? [True, True] Translation: X:111.14, Y:72.00, Z:30.84 [[ 4.48290981e-01 -8.85501952e-01 -1.22153551e-01 1.11141238e+02] [ 8.67882954e-01 4.63888357e-01 -1.77726672e-01 7.20046832e+01] [ 2.14042925e-01 -2.63417209e-02 9.76469016e-01 3.08350632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.840714057 meters Centerline goodness : 0.994549 Centerline is valid? [True, True] Translation: X:111.15, Y:72.03, Z:30.84 [[ 4.46426902e-01 -8.87690024e-01 -1.12736163e-01 1.11154132e+02] [ 8.69136346e-01 4.60126636e-01 -1.81343569e-01 7.20327694e+01] [ 2.12849788e-01 -1.70264489e-02 9.76936573e-01 3.08422175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.870714057 meters Centerline goodness : 0.993961 Centerline is valid? [True, True] Translation: X:111.17, Y:72.05, Z:30.85 [[ 4.47305821e-01 -8.86599857e-01 -1.17720837e-01 1.11168859e+02] [ 8.68731847e-01 4.61993644e-01 -1.78512887e-01 7.20536193e+01] [ 2.12655779e-01 -2.24179869e-02 9.76869978e-01 3.08456374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.900714057 meters Centerline goodness : 0.994533 Centerline is valid? [True, True] Translation: X:111.18, Y:72.08, Z:30.85 [[ 4.46028269e-01 -8.87439689e-01 -1.16230727e-01 1.11183353e+02] [ 8.69197014e-01 4.60460922e-01 -1.80200694e-01 7.20809534e+01] [ 2.13436955e-01 -2.06527974e-02 9.76738516e-01 3.08525767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.930714057 meters Centerline goodness : 0.994418 Centerline is valid? [True, True] Translation: X:111.20, Y:72.10, Z:30.86 [[ 4.47029888e-01 -8.85770008e-01 -1.24802931e-01 1.11197404e+02] [ 8.68414707e-01 4.63199289e-01 -1.76924602e-01 7.21023082e+01] [ 2.14523135e-01 -2.92901155e-02 9.76279629e-01 3.08563833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.960714057 meters Centerline goodness : 0.993940 Centerline is valid? [True, True] Translation: X:111.20, Y:72.15, Z:30.87 [[ 4.53227318e-01 -8.89448087e-01 -5.88820690e-02 1.11196319e+02] [ 8.67073113e-01 4.55223333e-01 -2.02375722e-01 7.21482825e+01] [ 2.06807191e-01 4.06671471e-02 9.77536173e-01 3.08696673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.990714057 meters Centerline goodness : 0.994680 Centerline is valid? [True, True] Translation: X:111.24, Y:72.16, Z:30.85 [[ 4.53861814e-01 -8.80157822e-01 -1.39038348e-01 1.11240974e+02] [ 8.67510292e-01 4.72093311e-01 -1.56696518e-01 7.21563319e+01] [ 2.03556740e-01 -4.94986315e-02 9.77811096e-01 3.08534619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.020714057 meters Centerline goodness : 0.994293 Centerline is valid? [True, True] Translation: X:111.25, Y:72.17, Z:30.87 [[ 4.50233290e-01 -8.79805572e-01 -1.52420928e-01 1.11248016e+02] [ 8.67675388e-01 4.71383502e-01 -1.57914582e-01 7.21722705e+01] [ 2.10782840e-01 -6.11534863e-02 9.75618186e-01 3.08665000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.050714057 meters Centerline goodness : 0.993802 Centerline is valid? [True, True] Translation: X:111.24, Y:72.20, Z:30.88 [[ 4.52646006e-01 -8.84227980e-01 -1.15119381e-01 1.11241569e+02] [ 8.65810855e-01 4.66708519e-01 -1.80429270e-01 7.22015055e+01] [ 2.13267804e-01 -1.80010210e-02 9.76827931e-01 3.08848462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.080714057 meters Centerline goodness : 0.994517 Centerline is valid? [True, True] Translation: X:111.25, Y:72.23, Z:30.89 [[ 4.52663981e-01 -8.84773633e-01 -1.10774269e-01 1.11253658e+02] [ 8.66103205e-01 4.65814928e-01 -1.81333093e-01 7.22304248e+01] [ 2.12039047e-01 -1.38589891e-02 9.77162919e-01 3.08906434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.110714057 meters Centerline goodness : 0.994652 Centerline is valid? [True, True] Translation: X:111.27, Y:72.25, Z:30.90 [[ 4.51336165e-01 -8.84871225e-01 -1.15319476e-01 1.11268866e+02] [ 8.66690956e-01 4.65449993e-01 -1.79452198e-01 7.22546948e+01] [ 2.12467535e-01 -1.89530799e-02 9.76984302e-01 3.08954811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.140714057 meters Centerline goodness : 0.994583 Centerline is valid? [True, True] Translation: X:111.28, Y:72.28, Z:30.90 [[ 4.50989203e-01 -8.84803577e-01 -1.17180921e-01 1.11281108e+02] [ 8.67097481e-01 4.65464051e-01 -1.77440623e-01 7.22783793e+01] [ 2.11543604e-01 -2.15834759e-02 9.77130215e-01 3.08997908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.170714057 meters Centerline goodness : 0.994566 Centerline is valid? [True, True] Translation: X:111.29, Y:72.31, Z:30.91 [[ 4.49668771e-01 -8.86350776e-01 -1.10364386e-01 1.11292470e+02] [ 8.67924378e-01 4.62781825e-01 -1.80389182e-01 7.23052323e+01] [ 2.10962724e-01 -1.46725596e-02 9.77383980e-01 3.09064473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.200714057 meters Centerline goodness : 0.994155 Centerline is valid? [True, True] Translation: X:111.31, Y:72.33, Z:30.91 [[ 4.48687197e-01 -8.86852441e-01 -1.10329266e-01 1.11307570e+02] [ 8.68553167e-01 4.61805175e-01 -1.79864882e-01 7.23313793e+01] [ 2.10464235e-01 -1.51237641e-02 9.77484566e-01 3.09103894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.230714057 meters Centerline goodness : 0.994320 Centerline is valid? [True, True] Translation: X:111.32, Y:72.36, Z:30.91 [[ 4.46188394e-01 -8.88590240e-01 -1.06411004e-01 1.11320418e+02] [ 8.69760595e-01 4.58564846e-01 -1.82304114e-01 7.23603241e+01] [ 2.10790003e-01 -1.12101185e-02 9.77467088e-01 3.09138241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.26071405700003 meters Centerline goodness : 0.994666 Centerline is valid? [True, True] Translation: X:111.34, Y:72.38, Z:30.91 [[ 4.43849094e-01 -8.87948112e-01 -1.20607346e-01 1.11338508e+02] [ 8.70834996e-01 4.59144983e-01 -1.75591272e-01 7.23810207e+01] [ 2.11292197e-01 -2.70930706e-02 9.77047375e-01 3.09147836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.290714057 meters Centerline goodness : 0.994592 Centerline is valid? [True, True] Translation: X:111.33, Y:72.43, Z:30.93 [[ 4.45584284e-01 -8.93957742e-01 -4.78978217e-02 1.11334608e+02] [ 8.71110661e-01 4.45291568e-01 -2.07078813e-01 7.24324279e+01] [ 2.06448205e-01 5.05467617e-02 9.77151045e-01 3.09316692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.32071405700003 meters Centerline goodness : 0.994043 Centerline is valid? [True, True] Translation: X:111.40, Y:72.41, Z:30.90 [[ 0.44002614 -0.8762959 -0.19616952 111.39734399] [ 0.87360683 0.46829737 -0.13232036 72.41365325] [ 0.20781746 -0.11315061 0.97160117 30.90007994] [ 0. 0. 0. 1. ]] SLAMing on 267.350714057 meters Centerline goodness : 0.994026 Centerline is valid? [True, True] Translation: X:111.36, Y:72.48, Z:30.95 [[ 4.37948868e-01 -8.96815287e-01 -6.26348917e-02 1.11359222e+02] [ 8.74090929e-01 4.41066670e-01 -2.03531916e-01 7.24764110e+01] [ 2.10156696e-01 3.43879814e-02 9.77062756e-01 3.09452058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.38071405700003 meters Centerline goodness : 0.994593 Centerline is valid? [True, True] Translation: X:111.41, Y:72.47, Z:30.92 [[ 4.33073624e-01 -8.85940131e-01 -1.66003976e-01 1.11408294e+02] [ 8.76838935e-01 4.56751054e-01 -1.50106486e-01 7.24747077e+01] [ 2.08807850e-01 -8.05515896e-02 9.74633635e-01 3.09242444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.410714057 meters Centerline goodness : 0.994537 Centerline is valid? [True, True] Translation: X:111.40, Y:72.51, Z:30.95 [[ 4.31979868e-01 -8.94672317e-01 -1.13819325e-01 1.11395998e+02] [ 8.76491581e-01 4.46196587e-01 -1.80751526e-01 7.25088960e+01] [ 2.12499181e-01 -2.16806598e-02 9.76920696e-01 3.09493162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.44071405700004 meters Centerline goodness : 0.994789 Centerline is valid? [True, True] Translation: X:111.41, Y:72.53, Z:30.96 [[ 4.30545706e-01 -8.94681549e-01 -1.19060158e-01 1.11408343e+02] [ 8.77410302e-01 4.45815291e-01 -1.77200139e-01 7.25339523e+01] [ 2.11616534e-01 -2.81718499e-02 9.76946667e-01 3.09559882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.470714057 meters Centerline goodness : 0.994488 Centerline is valid? [True, True] Translation: X:111.42, Y:72.56, Z:30.96 [[ 4.32163039e-01 -8.94947204e-01 -1.10926145e-01 1.11415915e+02] [ 8.77276235e-01 4.45708565e-01 -1.78129963e-01 7.25601738e+01] [ 2.08857645e-01 -2.03316850e-02 9.77734681e-01 3.09632769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.50071405700004 meters Centerline goodness : 0.994570 Centerline is valid? [True, True] Translation: X:111.43, Y:72.58, Z:30.96 [[ 4.34296560e-01 -8.92044983e-01 -1.25068964e-01 1.11433283e+02] [ 8.77417740e-01 4.50350430e-01 -1.65295490e-01 7.25787485e+01] [ 2.03775874e-01 -3.79504656e-02 9.78281736e-01 3.09638142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.530714057 meters Centerline goodness : 0.993911 Centerline is valid? [True, True] Translation: X:111.44, Y:72.61, Z:30.98 [[ 4.30436569e-01 -8.97017650e-01 -1.00417601e-01 1.11435738e+02] [ 8.77384125e-01 4.41927715e-01 -1.86807365e-01 7.26133166e+01] [ 2.11946824e-01 -7.69608783e-03 9.77250896e-01 3.09816050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.560714057 meters Centerline goodness : 0.993061 Centerline is valid? [True, True] Translation: X:111.46, Y:72.63, Z:30.98 [[ 4.33738812e-01 -8.92248353e-01 -1.25552853e-01 1.11456769e+02] [ 8.77180207e-01 4.49987746e-01 -1.67528840e-01 7.26305894e+01] [ 2.05974577e-01 -3.74687179e-02 9.77839746e-01 3.09756201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.590714057 meters Centerline goodness : 0.993181 Centerline is valid? [True, True] Translation: X:111.46, Y:72.66, Z:30.99 [[ 4.32837995e-01 -8.94697135e-01 -1.10310050e-01 1.11459305e+02] [ 8.76567471e-01 4.46281341e-01 -1.80173341e-01 7.26596311e+01] [ 2.10429889e-01 -1.87083338e-02 9.77429926e-01 3.09869299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.620714057 meters Centerline goodness : 0.993181 Centerline is valid? [True, True] Translation: X:111.47, Y:72.68, Z:30.99 [[ 4.32184013e-01 -8.94671737e-01 -1.13046280e-01 1.11474457e+02] [ 8.76895061e-01 4.46189277e-01 -1.78802071e-01 7.26830294e+01] [ 2.10409197e-01 -2.18543286e-02 9.77369100e-01 3.09920872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.650714057 meters Centerline goodness : 0.993567 Centerline is valid? [True, True] Translation: X:111.49, Y:72.71, Z:31.00 [[ 4.31190444e-01 -8.94168044e-01 -1.20574917e-01 1.11488126e+02] [ 8.76752969e-01 4.46793454e-01 -1.77988319e-01 7.27065159e+01] [ 2.13023550e-01 -2.89675537e-02 9.76617555e-01 3.09973364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.680714057 meters Centerline goodness : 0.993797 Centerline is valid? [True, True] Translation: X:111.49, Y:72.74, Z:31.01 [[ 4.29260024e-01 -8.97507298e-01 -1.01076619e-01 1.11492273e+02] [ 8.76153644e-01 4.40971353e-01 -1.94676804e-01 7.27382718e+01] [ 2.19295746e-01 -4.99167846e-03 9.75645663e-01 3.10111464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.710714057 meters Centerline goodness : 0.993871 Centerline is valid? [True, True] Translation: X:111.51, Y:72.76, Z:31.01 [[ 4.30178186e-01 -8.96271574e-01 -1.07907338e-01 1.11510208e+02] [ 8.76122281e-01 4.43313547e-01 -1.89427687e-01 7.27646618e+01] [ 2.17615436e-01 -1.30523640e-02 9.75947313e-01 3.10116393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.740714057 meters Centerline goodness : 0.993956 Centerline is valid? [True, True] Translation: X:111.53, Y:72.79, Z:31.01 [[ 4.29693851e-01 -8.93981215e-01 -1.27125062e-01 1.11529311e+02] [ 8.76294750e-01 4.46814423e-01 -1.80178751e-01 7.27864607e+01] [ 2.17877730e-01 -3.39773230e-02 9.75384456e-01 3.10125550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.770714057 meters Centerline goodness : 0.992667 Centerline is valid? [True, True] Translation: X:111.54, Y:72.81, Z:31.02 [[ 4.35946152e-01 -8.90769938e-01 -1.28373942e-01 1.11536970e+02] [ 8.74688188e-01 4.52939773e-01 -1.72528654e-01 7.28065553e+01] [ 2.11829003e-01 -3.70739679e-02 9.76603294e-01 3.10161661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.800714057 meters Centerline goodness : 0.992659 Centerline is valid? [True, True] Translation: X:111.54, Y:72.84, Z:31.03 [[ 4.37692367e-01 -8.92906685e-01 -1.05560614e-01 1.11537374e+02] [ 8.73968130e-01 4.50081333e-01 -1.83320762e-01 7.28383850e+01] [ 2.11199196e-01 -1.20185141e-02 9.77369150e-01 3.10315379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.830714057 meters Centerline goodness : 0.992122 Centerline is valid? [True, True] Translation: X:111.55, Y:72.86, Z:31.03 [[ 4.38148577e-01 -8.92024605e-01 -1.10986168e-01 1.11552248e+02] [ 8.74150587e-01 4.51598242e-01 -1.78661074e-01 7.28630449e+01] [ 2.09491232e-01 -1.87385284e-02 9.77630959e-01 3.10347548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.860714057 meters Centerline goodness : 0.992646 Centerline is valid? [True, True] Translation: X:111.56, Y:72.89, Z:31.05 [[ 4.35534707e-01 -8.94504348e-01 -1.00853802e-01 1.11561661e+02] [ 8.74225570e-01 4.47023576e-01 -1.89471831e-01 7.28949874e+01] [ 2.14567404e-01 -5.64741374e-03 9.76692856e-01 3.10470399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.890714057 meters Centerline goodness : 0.992666 Centerline is valid? [True, True] Translation: X:111.58, Y:72.91, Z:31.05 [[ 4.34715960e-01 -8.91543100e-01 -1.27172852e-01 1.11584095e+02] [ 8.74556724e-01 4.51623816e-01 -1.76596901e-01 7.29147878e+01] [ 2.14878037e-01 -3.44503818e-02 9.76033094e-01 3.10453316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.920714057 meters Centerline goodness : 0.992658 Centerline is valid? [True, True] Translation: X:111.59, Y:72.94, Z:31.06 [[ 4.33876206e-01 -8.93782943e-01 -1.13593525e-01 1.11589402e+02] [ 8.74846257e-01 4.48074644e-01 -1.84046572e-01 7.29421571e+01] [ 2.15396065e-01 -1.95234416e-02 9.76331588e-01 3.10554549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.950714057 meters Centerline goodness : 0.992853 Centerline is valid? [True, True] Translation: X:111.60, Y:72.96, Z:31.06 [[ 4.30684504e-01 -8.94756181e-01 -1.17992520e-01 1.11603205e+02] [ 8.76349950e-01 4.45859972e-01 -1.82262584e-01 7.29645155e+01] [ 2.15688716e-01 -2.49050685e-02 9.76144516e-01 3.10591783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.980714057 meters Centerline goodness : 0.992923 Centerline is valid? [True, True] Translation: X:111.62, Y:72.99, Z:31.07 [[ 4.27614233e-01 -8.96218962e-01 -1.18057786e-01 1.11615293e+02] [ 8.77504398e-01 4.42909213e-01 -1.83895241e-01 7.29885851e+01] [ 2.17099283e-01 -2.49600042e-02 9.75830364e-01 3.10658375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.01071405700003 meters Centerline goodness : 0.993094 Centerline is valid? [True, True] Translation: X:111.63, Y:73.01, Z:31.07 [[ 4.23770911e-01 -8.97165895e-01 -1.24545463e-01 1.11629750e+02] [ 8.78742134e-01 4.40559959e-01 -1.83627844e-01 7.30110626e+01] [ 2.19614383e-01 -3.16272078e-02 9.75073968e-01 3.10716619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.040714057 meters Centerline goodness : 0.992696 Centerline is valid? [True, True] Translation: X:111.64, Y:73.03, Z:31.08 [[ 4.18133952e-01 -8.99373849e-01 -1.27634942e-01 1.11641197e+02] [ 8.80336636e-01 4.35849367e-01 -1.87197053e-01 7.30336154e+01] [ 2.23989742e-01 -3.40882721e-02 9.73995167e-01 3.10800042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.07071405700003 meters Centerline goodness : 0.992251 Centerline is valid? [True, True] Translation: X:111.65, Y:73.05, Z:31.08 [[ 4.18646870e-01 -8.99199244e-01 -1.27183010e-01 1.11652905e+02] [ 8.81032908e-01 4.36110941e-01 -1.83271010e-01 7.30537923e+01] [ 2.20263056e-01 -3.53265830e-02 9.74800605e-01 3.10844953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.100714057 meters Centerline goodness : 0.991700 Centerline is valid? [True, True] Translation: X:111.66, Y:73.08, Z:31.10 [[ 4.17362365e-01 -9.00733305e-01 -1.20366814e-01 1.11661085e+02] [ 8.81188735e-01 4.33510906e-01 -1.88612588e-01 7.30775331e+01] [ 2.22069966e-01 -2.73460845e-02 9.74647178e-01 3.10971304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.13071405700003 meters Centerline goodness : 0.993314 Centerline is valid? [True, True] Translation: X:111.67, Y:73.11, Z:31.11 [[ 4.14652246e-01 -9.04205520e-01 -1.02351810e-01 1.11668126e+02] [ 8.80739388e-01 4.27065297e-01 -2.04727531e-01 7.31102564e+01] [ 2.28826670e-01 -5.25454030e-03 9.73453001e-01 3.11116098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.160714057 meters Centerline goodness : 0.992512 Centerline is valid? [True, True] Translation: X:111.70, Y:73.13, Z:31.10 [[ 4.17252168e-01 -8.98633630e-01 -1.35492537e-01 1.11695791e+02] [ 8.81594005e-01 4.36442374e-01 -1.79750007e-01 7.31263934e+01] [ 2.20664086e-01 -4.44483285e-02 9.74336547e-01 3.11038095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.19071405700004 meters Centerline goodness : 0.992489 Centerline is valid? [True, True] Translation: X:111.69, Y:73.16, Z:31.13 [[ 4.19735837e-01 -9.02296208e-01 -9.84041688e-02 1.11690357e+02] [ 8.78293472e-01 4.31116496e-01 -2.06734475e-01 7.31601824e+01] [ 2.28959393e-01 3.46128595e-04 9.73435913e-01 3.11269850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.220714057 meters Centerline goodness : 0.992003 Centerline is valid? [True, True] Translation: X:111.71, Y:73.18, Z:31.12 [[ 4.22365121e-01 -8.98831766e-01 -1.17086126e-01 1.11711569e+02] [ 8.77798314e-01 4.37806343e-01 -1.94411231e-01 7.31809286e+01] [ 2.26004038e-01 -2.06654810e-02 9.73907138e-01 3.11234931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.25071405700004 meters Centerline goodness : 0.991391 Centerline is valid? [True, True] Translation: X:111.73, Y:73.20, Z:31.13 [[ 4.31108006e-01 -8.94359303e-01 -1.19445908e-01 1.11726560e+02] [ 8.76329481e-01 4.46546780e-01 -1.80672673e-01 7.32029381e+01] [ 2.14924472e-01 -2.67845345e-02 9.76263315e-01 3.11254856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.280714057 meters Centerline goodness : 0.990648 Centerline is valid? [True, True] Translation: X:111.73, Y:73.23, Z:31.14 [[ 4.35611527e-01 -8.94634816e-01 -9.93536248e-02 1.11729768e+02] [ 8.74114907e-01 4.46781596e-01 -1.90550086e-01 7.32287750e+01] [ 2.14862113e-01 -3.84067029e-03 9.76636842e-01 3.11384836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.310714057 meters Centerline goodness : 0.990877 Centerline is valid? [True, True] Translation: X:111.75, Y:73.26, Z:31.14 [[ 4.40069641e-01 -8.91749410e-01 -1.05459477e-01 1.11747195e+02] [ 8.72674294e-01 4.52392190e-01 -1.83795766e-01 7.32557572e+01] [ 2.11608810e-01 -1.11488381e-02 9.77290855e-01 3.11420942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.340714057 meters Centerline goodness : 0.990875 Centerline is valid? [True, True] Translation: X:111.76, Y:73.28, Z:31.14 [[ 4.42358194e-01 -8.89301546e-01 -1.16025813e-01 1.11762124e+02] [ 8.71287647e-01 4.56804773e-01 -1.79408016e-01 7.32753861e+01] [ 2.12548971e-01 -2.17292517e-02 9.76908785e-01 3.11446757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.370714057 meters Centerline goodness : 0.991147 Centerline is valid? [True, True] Translation: X:111.77, Y:73.30, Z:31.15 [[ 4.43709397e-01 -8.89170018e-01 -1.11797361e-01 1.11773642e+02] [ 8.70475980e-01 4.57279056e-01 -1.82119284e-01 7.33010021e+01] [ 2.13057599e-01 -1.65088800e-02 9.76900157e-01 3.11527897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.400714057 meters Centerline goodness : 0.990927 Centerline is valid? [True, True] Translation: X:111.78, Y:73.33, Z:31.16 [[ 4.46773385e-01 -8.88767239e-01 -1.02402817e-01 1.11784224e+02] [ 8.68858539e-01 4.58327405e-01 -1.87138528e-01 7.33270460e+01] [ 2.13256610e-01 -5.36504855e-03 9.76981491e-01 3.11610282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.430714057 meters Centerline goodness : 0.990922 Centerline is valid? [True, True] Translation: X:111.81, Y:73.34, Z:31.16 [[ 4.45315460e-01 -8.85450705e-01 -1.32933028e-01 1.11806871e+02] [ 8.68622160e-01 4.63243068e-01 -1.75787949e-01 7.33437504e+01] [ 2.17231867e-01 -3.71874831e-02 9.75411404e-01 3.11606726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.460714057 meters Centerline goodness : 0.990655 Centerline is valid? [True, True] Translation: X:111.80, Y:73.39, Z:31.19 [[ 4.51878041e-01 -8.90813204e-01 -4.75191694e-02 1.11796489e+02] [ 8.66552168e-01 4.50975846e-01 -2.13794589e-01 7.33901351e+01] [ 2.11881041e-01 5.54312411e-02 9.75722195e-01 3.11898491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.490714057 meters Centerline goodness : 0.990655 Centerline is valid? [True, True] Translation: X:111.84, Y:73.41, Z:31.17 [[ 4.52406295e-01 -8.84783214e-01 -1.11746178e-01 1.11841145e+02] [ 8.66742023e-01 4.65724491e-01 -1.78490795e-01 7.34054941e+01] [ 2.09968591e-01 -1.61047494e-02 9.77575485e-01 3.11672792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.520714057 meters Centerline goodness : 0.990902 Centerline is valid? [True, True] Translation: X:111.86, Y:73.43, Z:31.18 [[ 4.50886890e-01 -8.84705940e-01 -1.18306429e-01 1.11855865e+02] [ 8.65953250e-01 4.65709775e-01 -1.82316688e-01 7.34296886e+01] [ 2.16393117e-01 -2.02436320e-02 9.76096416e-01 3.11760161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.550714057 meters Centerline goodness : 0.990532 Centerline is valid? [True, True] Translation: X:111.87, Y:73.45, Z:31.18 [[ 4.52741002e-01 -8.83484279e-01 -1.20337500e-01 1.11869133e+02] [ 8.65265737e-01 4.67912244e-01 -1.79925919e-01 7.34504476e+01] [ 2.15269110e-01 -2.26640753e-02 9.76291734e-01 3.11805337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.580714057 meters Centerline goodness : 0.990729 Centerline is valid? [True, True] Translation: X:111.88, Y:73.47, Z:31.19 [[ 4.53682716e-01 -8.82994355e-01 -1.20386717e-01 1.11882500e+02] [ 8.64331488e-01 4.68888847e-01 -1.81863486e-01 7.34734087e+01] [ 2.17032420e-01 -2.15457103e-02 9.75926591e-01 3.11895508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.610714057 meters Centerline goodness : 0.991366 Centerline is valid? [True, True] Translation: X:111.89, Y:73.50, Z:31.20 [[ 4.55297416e-01 -8.84202005e-01 -1.04360327e-01 1.11890402e+02] [ 8.63910451e-01 4.67084140e-01 -1.88390920e-01 7.34993914e+01] [ 2.15320683e-01 -4.38407774e-03 9.76533555e-01 3.12013015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.640714057 meters Centerline goodness : 0.991157 Centerline is valid? [True, True] Translation: X:111.91, Y:73.52, Z:31.20 [[ 4.56176225e-01 -8.82414492e-01 -1.15099597e-01 1.11910203e+02] [ 8.63022369e-01 4.70229648e-01 -1.84598125e-01 7.35211552e+01] [ 2.17015304e-01 -1.51242511e-02 9.76051031e-01 3.12040224e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.670714057 meters Centerline goodness : 0.990545 Centerline is valid? [True, True] Translation: X:111.92, Y:73.54, Z:31.21 [[ 4.55701935e-01 -8.82154074e-01 -1.18911463e-01 1.11923511e+02] [ 8.62872576e-01 4.70593970e-01 -1.84369827e-01 7.35423099e+01] [ 2.18601611e-01 -1.85877540e-02 9.75637141e-01 3.12117903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.700714057 meters Centerline goodness : 0.990893 Centerline is valid? [True, True] Translation: X:111.94, Y:73.56, Z:31.22 [[ 4.56452706e-01 -8.82013807e-01 -1.17057984e-01 1.11936293e+02] [ 8.62190363e-01 4.70960388e-01 -1.86612142e-01 7.35642473e+01] [ 2.19724159e-01 -1.57466484e-02 9.75434948e-01 3.12194026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.730714057 meters Centerline goodness : 0.991659 Centerline is valid? [True, True] Translation: X:111.95, Y:73.58, Z:31.22 [[ 4.55048159e-01 -8.80876146e-01 -1.30339508e-01 1.11952512e+02] [ 8.61924456e-01 4.72480595e-01 -1.83979126e-01 7.35811902e+01] [ 2.23645712e-01 -2.86234469e-02 9.74250119e-01 3.12249122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.76071405700003 meters Centerline goodness : 0.991040 Centerline is valid? [True, True] Translation: X:111.96, Y:73.61, Z:31.24 [[ 4.51749295e-01 -8.84615417e-01 -1.15663905e-01 1.11961765e+02] [ 8.63254447e-01 4.66156979e-01 -1.93621877e-01 7.36070936e+01] [ 2.25198434e-01 -1.23788337e-02 9.74234279e-01 3.12409060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.790714057 meters Centerline goodness : 0.990967 Centerline is valid? [True, True] Translation: X:111.97, Y:73.63, Z:31.25 [[ 4.51054235e-01 -8.86086030e-01 -1.06778388e-01 1.11973268e+02] [ 8.63957332e-01 4.63507788e-01 -1.96820375e-01 7.36309980e+01] [ 2.23892399e-01 -3.47530777e-03 9.74607673e-01 3.12493164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.82071405700003 meters Centerline goodness : 0.990684 Centerline is valid? [True, True] Translation: X:112.00, Y:73.64, Z:31.25 [[ 4.46600279e-01 -8.85121850e-01 -1.30795649e-01 1.11996779e+02] [ 8.65832837e-01 4.64386163e-01 -1.86222958e-01 7.36435187e+01] [ 2.25569699e-01 -3.00799427e-02 9.73762552e-01 3.12478113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.850714057 meters Centerline goodness : 0.991770 Centerline is valid? [True, True] Translation: X:112.00, Y:73.67, Z:31.26 [[ 4.43106613e-01 -8.89459257e-01 -1.11887264e-01 1.12001836e+02] [ 8.67042885e-01 4.56925942e-01 -1.98633629e-01 7.36695703e+01] [ 2.27800714e-01 -8.99518154e-03 9.73666227e-01 3.12632980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.88071405700003 meters Centerline goodness : 0.991346 Centerline is valid? [True, True] Translation: X:112.02, Y:73.69, Z:31.27 [[ 4.38373089e-01 -8.91715019e-01 -1.12576019e-01 1.12018875e+02] [ 8.69058569e-01 4.52483153e-01 -1.99990501e-01 7.36909596e+01] [ 2.29273285e-01 -1.01647004e-02 9.73309015e-01 3.12711039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.910714057 meters Centerline goodness : 0.992525 Centerline is valid? [True, True] Translation: X:112.03, Y:73.72, Z:31.28 [[ 4.36074439e-01 -8.92612866e-01 -1.14373753e-01 1.12034962e+02] [ 8.70156099e-01 4.50648241e-01 -1.99360293e-01 7.37150247e+01] [ 2.29493893e-01 -1.25870908e-02 9.73228708e-01 3.12779693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.94071405700004 meters Centerline goodness : 0.993608 Centerline is valid? [True, True] Translation: X:112.05, Y:73.75, Z:31.29 [[ 4.28935881e-01 -8.97282148e-01 -1.04397107e-01 1.12046209e+02] [ 8.71347453e-01 4.41456607e-01 -2.14172081e-01 7.37455703e+01] [ 2.38259578e-01 8.99937128e-04 9.71201093e-01 3.12924132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.970714057 meters Centerline goodness : 0.992571 Centerline is valid? [True, True] Translation: X:112.07, Y:73.76, Z:31.29 [[ 4.32149480e-01 -8.90959386e-01 -1.39420942e-01 1.12073915e+02] [ 8.72023626e-01 4.52256603e-01 -1.87186436e-01 7.37563250e+01] [ 2.29829554e-01 -4.06858342e-02 9.72380090e-01 3.12850963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.00071405700004 meters Centerline goodness : 0.993440 Centerline is valid? [True, True] Translation: X:112.08, Y:73.78, Z:31.30 [[ 4.29478153e-01 -8.94875129e-01 -1.21437306e-01 1.12081060e+02] [ 8.72756407e-01 4.45840753e-01 -1.98802107e-01 7.37824925e+01] [ 2.32044761e-01 -2.06040250e-02 9.72486865e-01 3.13020180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.030714057 meters Centerline goodness : 0.992994 Centerline is valid? [True, True] Translation: X:112.09, Y:73.81, Z:31.31 [[ 4.30304466e-01 -8.96033170e-01 -1.09373787e-01 1.12090597e+02] [ 8.72289121e-01 4.43929075e-01 -2.05033331e-01 7.38052876e+01] [ 2.32270869e-01 -7.17880643e-03 9.72624649e-01 3.13124253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.060714057 meters Centerline goodness : 0.994360 Centerline is valid? [True, True] Translation: X:112.11, Y:73.84, Z:31.32 [[ 4.25392982e-01 -8.99230506e-01 -1.02104401e-01 1.12105749e+02] [ 8.73266919e-01 4.37470114e-01 -2.14533885e-01 7.38375594e+01] [ 2.37583038e-01 2.09681301e-03 9.71364969e-01 3.13234456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.090714057 meters Centerline goodness : 0.993258 Centerline is valid? [True, True] Translation: X:112.13, Y:73.85, Z:31.32 [[ 4.30240194e-01 -8.93227658e-01 -1.30528644e-01 1.12130392e+02] [ 8.73057105e-01 4.48491451e-01 -1.91381059e-01 7.38494201e+01] [ 2.29487836e-01 -3.16191366e-02 9.72797802e-01 3.13156448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.120714057 meters Centerline goodness : 0.993315 Centerline is valid? [True, True] Translation: X:112.14, Y:73.88, Z:31.33 [[ 4.29488766e-01 -8.95233615e-01 -1.18727311e-01 1.12138843e+02] [ 8.73066583e-01 4.45222659e-01 -1.98825367e-01 7.38751247e+01] [ 2.30855241e-01 -1.82635856e-02 9.72816683e-01 3.13288316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.150714057 meters Centerline goodness : 0.993541 Centerline is valid? [True, True] Translation: X:112.15, Y:73.90, Z:31.34 [[ 4.30843630e-01 -8.96270531e-01 -1.05227857e-01 1.12152067e+02] [ 8.73188361e-01 4.43481923e-01 -2.02153088e-01 7.39024743e+01] [ 2.27850507e-01 -4.78736974e-03 9.73684357e-01 3.13374772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.180714057 meters Centerline goodness : 0.993845 Centerline is valid? [True, True] Translation: X:112.17, Y:73.93, Z:31.34 [[ 4.34368607e-01 -8.96273011e-01 -8.95466471e-02 1.12165547e+02] [ 8.72370324e-01 4.43358056e-01 -2.05921469e-01 7.39300956e+01] [ 2.24263083e-01 1.13279841e-02 9.74462799e-01 3.13421946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.210714057 meters Centerline goodness : 0.994650 Centerline is valid? [True, True] Translation: X:112.20, Y:73.95, Z:31.34 [[ 4.27616491e-01 -8.94385631e-01 -1.31219200e-01 1.12195148e+02] [ 8.73735077e-01 4.46163761e-01 -1.93713486e-01 7.39483637e+01] [ 2.31799810e-01 -3.18157369e-02 9.72243080e-01 3.13409935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.240714057 meters Centerline goodness : 0.992812 Centerline is valid? [True, True] Translation: X:112.20, Y:73.98, Z:31.35 [[ 4.36076737e-01 -8.95843101e-01 -8.54530167e-02 1.12197024e+02] [ 8.72503643e-01 4.44141919e-01 -2.03654976e-01 7.39781735e+01] [ 2.20396172e-01 1.42511289e-02 9.75306328e-01 3.13496620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.270714057 meters Centerline goodness : 0.994182 Centerline is valid? [True, True] Translation: X:112.23, Y:74.00, Z:31.35 [[ 4.30682809e-01 -8.95529569e-01 -1.11978164e-01 1.12225795e+02] [ 8.73605032e-01 4.44817191e-01 -1.97362396e-01 7.40036418e+01] [ 2.26553674e-01 -1.28240968e-02 9.73914255e-01 3.13510304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.300714057 meters Centerline goodness : 0.993625 Centerline is valid? [True, True] Translation: X:112.25, Y:74.01, Z:31.35 [[ 4.29566338e-01 -8.89781556e-01 -1.54147797e-01 1.12249068e+02] [ 8.73536656e-01 4.52708661e-01 -1.78853511e-01 7.40110307e+01] [ 2.28924599e-01 -5.78243035e-02 9.71725207e-01 3.13493192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.330714057 meters Centerline goodness : 0.992268 Centerline is valid? [True, True] Translation: X:112.24, Y:74.04, Z:31.37 [[ 4.30399081e-01 -8.95515447e-01 -1.13175596e-01 1.12242652e+02] [ 8.72613763e-01 4.44868722e-01 -2.01586314e-01 7.40361483e+01] [ 2.30871941e-01 -1.19960180e-02 9.72910192e-01 3.13690010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.360714057 meters Centerline goodness : 0.993401 Centerline is valid? [True, True] Translation: X:112.26, Y:74.07, Z:31.38 [[ 4.30550966e-01 -8.96063358e-01 -1.08149545e-01 1.12257115e+02] [ 8.72312028e-01 4.43884774e-01 -2.05031787e-01 7.40658172e+01] [ 2.31727407e-01 -6.06351462e-03 9.72761863e-01 3.13787626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.390714057 meters Centerline goodness : 0.992242 Centerline is valid? [True, True] Translation: X:112.27, Y:74.08, Z:31.38 [[ 4.32324853e-01 -8.93744111e-01 -1.19652351e-01 1.12274344e+02] [ 8.71884501e-01 4.48174882e-01 -1.97374495e-01 7.40817638e+01] [ 2.30027471e-01 -1.89931303e-02 9.72998779e-01 3.13770694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.420714057 meters Centerline goodness : 0.994114 Centerline is valid? [True, True] Translation: X:112.28, Y:74.13, Z:31.40 [[ 4.31389474e-01 -9.00068920e-01 -6.14740703e-02 1.12278090e+02] [ 8.72619393e-01 4.33587367e-01 -2.24805228e-01 7.41319836e+01] [ 2.28994579e-01 4.33351433e-02 9.72462620e-01 3.14012729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.450714057 meters Centerline goodness : 0.994477 Centerline is valid? [True, True] Translation: X:112.32, Y:74.12, Z:31.38 [[ 4.20753293e-01 -8.90284265e-01 -1.74242916e-01 1.12317615e+02] [ 8.76284744e-01 4.48554227e-01 -1.75852647e-01 7.41247587e+01] [ 2.34716241e-01 -7.86958286e-02 9.68873187e-01 3.13789352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.480714057 meters Centerline goodness : 0.994473 Centerline is valid? [True, True] Translation: X:112.30, Y:74.16, Z:31.41 [[ 4.19212388e-01 -9.00530956e-01 -1.15347173e-01 1.12304243e+02] [ 8.76170678e-01 4.34577183e-01 -2.08488886e-01 7.41565340e+01] [ 2.37877946e-01 -1.36626868e-02 9.71198957e-01 3.14089709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.51071405700003 meters Centerline goodness : 0.994757 Centerline is valid? [True, True] Translation: X:112.32, Y:74.18, Z:31.42 [[ 4.17433035e-01 -9.01376412e-01 -1.15196468e-01 1.12318005e+02] [ 8.77077337e-01 4.32808093e-01 -2.08356662e-01 7.41796405e+01] [ 2.37665744e-01 -1.40612578e-02 9.71245219e-01 3.14156469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.540714057 meters Centerline goodness : 0.994757 Centerline is valid? [True, True] Translation: X:112.33, Y:74.20, Z:31.42 [[ 4.17199762e-01 -9.01491954e-01 -1.15137375e-01 1.12331270e+02] [ 8.77188259e-01 4.32567512e-01 -2.08389313e-01 7.42038817e+01] [ 2.37665976e-01 -1.40571815e-02 9.71245221e-01 3.14221673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.57071405700003 meters Centerline goodness : 0.994269 Centerline is valid? [True, True] Translation: X:112.35, Y:74.23, Z:31.43 [[ 4.15281739e-01 -9.02380366e-01 -1.15111915e-01 1.12345263e+02] [ 8.78088261e-01 4.30696351e-01 -2.08474601e-01 7.42265958e+01] [ 2.37701669e-01 -1.45027262e-02 9.71229936e-01 3.14286466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.600714057 meters Centerline goodness : 0.994496 Centerline is valid? [True, True] Translation: X:112.36, Y:74.25, Z:31.44 [[ 4.10661400e-01 -9.04497812e-01 -1.15069208e-01 1.12359900e+02] [ 8.80269653e-01 4.26190844e-01 -2.08534655e-01 7.42480232e+01] [ 2.37660582e-01 -1.56547986e-02 9.71222104e-01 3.14351416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.63071405700003 meters Centerline goodness : 0.994715 Centerline is valid? [True, True] Translation: X:112.37, Y:74.27, Z:31.44 [[ 4.08507606e-01 -9.05498152e-01 -1.14867896e-01 1.12374163e+02] [ 8.81378086e-01 4.24041746e-01 -2.08233685e-01 7.42709447e+01] [ 2.37264000e-01 -1.61770026e-02 9.71310506e-01 3.14416945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.660714057 meters Centerline goodness : 0.994276 Centerline is valid? [True, True] Translation: X:112.40, Y:74.30, Z:31.45 [[ 4.07143552e-01 -9.05467618e-01 -1.19843736e-01 1.12396158e+02] [ 8.82496413e-01 4.23806151e-01 -2.03932411e-01 7.42968259e+01] [ 2.35444707e-01 -2.27319007e-02 9.71621866e-01 3.14469338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.69071405700004 meters Centerline goodness : 0.994527 Centerline is valid? [True, True] Translation: X:112.40, Y:74.32, Z:31.46 [[ 4.02739130e-01 -9.08239565e-01 -1.13587348e-01 1.12401723e+02] [ 8.83748844e-01 4.18153204e-01 -2.10085409e-01 7.43176158e+01] [ 2.38304794e-01 -1.57730728e-02 9.71062323e-01 3.14555342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.720714057 meters Centerline goodness : 0.993534 Centerline is valid? [True, True] Translation: X:112.41, Y:74.38, Z:31.47 [[ 4.14810203e-01 -9.09630776e-01 -2.24576605e-02 1.12411719e+02] [ 8.81645878e-01 4.07907212e-01 -2.37302030e-01 7.43753398e+01] [ 2.25017872e-01 7.86355994e-02 9.71176297e-01 3.14727726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.75071405700004 meters Centerline goodness : 0.992981 Centerline is valid? [True, True] Translation: X:112.48, Y:74.37, Z:31.44 [[ 4.13573906e-01 -8.95007281e-01 -1.67088571e-01 1.12481212e+02] [ 8.83317971e-01 4.38909709e-01 -1.64643948e-01 7.43672114e+01] [ 2.20694328e-01 -7.94998971e-02 9.72097618e-01 3.14360421e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.780714057 meters Centerline goodness : 0.994176 Centerline is valid? [True, True] Translation: X:112.47, Y:74.40, Z:31.47 [[ 4.00676386e-01 -9.03788309e-01 -1.50416509e-01 1.12474967e+02] [ 8.84846335e-01 4.24299422e-01 -1.92397933e-01 7.43958579e+01] [ 2.37708640e-01 -5.60061882e-02 9.69720532e-01 3.14662803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.810714057 meters Centerline goodness : 0.993775 Centerline is valid? [True, True] Translation: X:112.47, Y:74.42, Z:31.48 [[ 4.04637430e-01 -9.07144274e-01 -1.15576022e-01 1.12471133e+02] [ 8.83468636e-01 4.20414685e-01 -2.06723636e-01 7.44207634e+01] [ 2.36118020e-01 -1.84596702e-02 9.71549032e-01 3.14801384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.840714057 meters Centerline goodness : 0.994383 Centerline is valid? [True, True] Translation: X:112.49, Y:74.45, Z:31.49 [[ 4.00419178e-01 -9.08532226e-01 -1.19304974e-01 1.12486285e+02] [ 8.84623458e-01 4.17226847e-01 -2.08238075e-01 7.44481009e+01] [ 2.38968240e-01 -2.21574602e-02 9.70774550e-01 3.14882285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.870714057 meters Centerline goodness : 0.994437 Centerline is valid? [True, True] Translation: X:112.50, Y:74.47, Z:31.49 [[ 4.00373000e-01 -9.08437789e-01 -1.20175893e-01 1.12499391e+02] [ 8.84767363e-01 4.17369390e-01 -2.07339106e-01 7.44719948e+01] [ 2.38512418e-01 -2.33147282e-02 9.70859542e-01 3.14940037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.900714057 meters Centerline goodness : 0.994198 Centerline is valid? [True, True] Translation: X:112.51, Y:74.50, Z:31.50 [[ 3.99248361e-01 -9.09032461e-01 -1.19418304e-01 1.12510496e+02] [ 8.85056395e-01 4.16122546e-01 -2.08607774e-01 7.44978686e+01] [ 2.39323887e-01 -2.24056216e-02 9.70681238e-01 3.15012658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.930714057 meters Centerline goodness : 0.993900 Centerline is valid? [True, True] Translation: X:112.52, Y:74.52, Z:31.50 [[ 4.03339700e-01 -9.07511804e-01 -1.17215242e-01 1.12520880e+02] [ 8.83776365e-01 4.19548563e-01 -2.07167422e-01 7.45182692e+01] [ 2.37184367e-01 -2.00332148e-02 9.71258074e-01 3.15044750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.960714057 meters Centerline goodness : 0.994456 Centerline is valid? [True, True] Translation: X:112.54, Y:74.55, Z:31.51 [[ 3.99438808e-01 -9.08949690e-01 -1.19411472e-01 1.12535915e+02] [ 8.85263283e-01 4.16278561e-01 -2.07415236e-01 7.45460840e+01] [ 2.38238451e-01 -2.28608973e-02 9.70937598e-01 3.15120788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.990714057 meters Centerline goodness : 0.994803 Centerline is valid? [True, True] Translation: X:112.55, Y:74.58, Z:31.52 [[ 3.98835778e-01 -9.10982977e-01 -1.05071584e-01 1.12546071e+02] [ 8.85700855e-01 4.12366386e-01 -2.13279064e-01 7.45761776e+01] [ 2.37621586e-01 -7.99867032e-03 9.71324870e-01 3.15198112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.020714057 meters Centerline goodness : 0.993931 Centerline is valid? [True, True] Translation: X:112.57, Y:74.59, Z:31.52 [[ 3.98384664e-01 -9.07713713e-01 -1.31702221e-01 1.12568329e+02] [ 8.86053403e-01 4.17972225e-01 -2.00520788e-01 7.45942346e+01] [ 2.37063340e-01 -3.68107946e-02 9.70796548e-01 3.15187725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.050714057 meters Centerline goodness : 0.994645 Centerline is valid? [True, True] Translation: X:112.57, Y:74.62, Z:31.53 [[ 3.96707735e-01 -9.10945881e-01 -1.13139630e-01 1.12573608e+02] [ 8.86526351e-01 4.12178847e-01 -2.10189501e-01 7.46239598e+01] [ 2.38105022e-01 -1.69174631e-02 9.71092065e-01 3.15315413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.080714057 meters Centerline goodness : 0.994494 Centerline is valid? [True, True] Translation: X:112.59, Y:74.65, Z:31.54 [[ 3.96323192e-01 -9.10864465e-01 -1.15125383e-01 1.12588635e+02] [ 8.87070221e-01 4.12231478e-01 -2.07777842e-01 7.46499149e+01] [ 2.36715760e-01 -1.97771217e-02 9.71377637e-01 3.15354802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.110714057 meters Centerline goodness : 0.994652 Centerline is valid? [True, True] Translation: X:112.60, Y:74.68, Z:31.54 [[ 3.98662638e-01 -9.12877332e-01 -8.78810415e-02 1.12595574e+02] [ 8.86850320e-01 4.08147337e-01 -2.16592383e-01 7.46838734e+01] [ 2.33590690e-01 8.40996100e-03 9.72298649e-01 3.15441091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.140714057 meters Centerline goodness : 0.994905 Centerline is valid? [True, True] Translation: X:112.63, Y:74.68, Z:31.53 [[ 3.84613250e-01 -9.03337046e-01 -1.89881093e-01 1.12626123e+02] [ 8.90785211e-01 4.17154103e-01 -1.80233634e-01 7.46781924e+01] [ 2.42021396e-01 -9.98230254e-02 9.65122276e-01 3.15303561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.170714057 meters Centerline goodness : 0.995654 Centerline is valid? [True, True] Translation: X:112.60, Y:74.71, Z:31.56 [[ 3.83966899e-01 -9.15870033e-01 -1.17266803e-01 1.12603241e+02] [ 8.89221720e-01 4.00990106e-01 -2.20208234e-01 7.47125716e+01] [ 2.48704951e-01 -1.97235155e-02 9.68378454e-01 3.15633590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.200714057 meters Centerline goodness : 0.994515 Centerline is valid? [True, True] Translation: X:112.63, Y:74.74, Z:31.57 [[ 3.90566749e-01 -9.13623539e-01 -1.12914323e-01 1.12627559e+02] [ 8.88952631e-01 4.06174804e-01 -2.11625254e-01 7.47420815e+01] [ 2.39208766e-01 -1.77216974e-02 9.70806421e-01 3.15657752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.230714057 meters Centerline goodness : 0.994772 Centerline is valid? [True, True] Translation: X:112.64, Y:74.77, Z:31.58 [[ 3.86755884e-01 -9.15983144e-01 -1.06746269e-01 1.12636224e+02] [ 8.89082373e-01 4.01101868e-01 -2.20567055e-01 7.47712431e+01] [ 2.44851833e-01 -9.60061943e-03 9.69512975e-01 3.15769777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.26071405700003 meters Centerline goodness : 0.995794 Centerline is valid? [True, True] Translation: X:112.66, Y:74.79, Z:31.58 [[ 3.83401505e-01 -9.14964390e-01 -1.25870771e-01 1.12655952e+02] [ 8.90320265e-01 4.02390710e-01 -2.13099841e-01 7.47945696e+01] [ 2.45627995e-01 -3.03624991e-02 9.68888542e-01 3.15793561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.290714057 meters Centerline goodness : 0.994990 Centerline is valid? [True, True] Translation: X:112.67, Y:74.82, Z:31.59 [[ 3.80939810e-01 -9.14915478e-01 -1.33471080e-01 1.12666621e+02] [ 8.90978705e-01 4.01816689e-01 -2.11424444e-01 7.48165547e+01] [ 2.47066404e-01 -3.83799020e-02 9.68238181e-01 3.15866476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.32071405700003 meters Centerline goodness : 0.995423 Centerline is valid? [True, True] Translation: X:112.67, Y:74.84, Z:31.60 [[ 3.80989423e-01 -9.17062838e-01 -1.17655477e-01 1.12669216e+02] [ 8.91151885e-01 3.98137621e-01 -2.17565514e-01 7.48436812e+01] [ 2.46364319e-01 -2.19587406e-02 9.68928499e-01 3.15985794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.350714057 meters Centerline goodness : 0.995080 Centerline is valid? [True, True] Translation: X:112.68, Y:74.87, Z:31.60 [[ 3.80104782e-01 -9.17390620e-01 -1.17961034e-01 1.12680994e+02] [ 8.91857092e-01 3.97320591e-01 -2.16164926e-01 7.48689823e+01] [ 2.45176023e-01 -2.30390627e-02 9.69204787e-01 3.16047938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.38071405700003 meters Centerline goodness : 0.995792 Centerline is valid? [True, True] Translation: X:112.69, Y:74.90, Z:31.61 [[ 3.79658388e-01 -9.18073828e-01 -1.14017348e-01 1.12691829e+02] [ 8.92450050e-01 3.95922555e-01 -2.16282773e-01 7.48959143e+01] [ 2.43705593e-01 -1.96412187e-02 9.69650353e-01 3.16116585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.410714057 meters Centerline goodness : 0.995049 Centerline is valid? [True, True] Translation: X:112.70, Y:74.92, Z:31.62 [[ 3.78928826e-01 -9.18112749e-01 -1.16111694e-01 1.12702022e+02] [ 8.93163085e-01 3.95668904e-01 -2.13789200e-01 7.49201919e+01] [ 2.42224377e-01 -2.26957881e-02 9.69954768e-01 3.16166014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.44071405700004 meters Centerline goodness : 0.994628 Centerline is valid? [True, True] Translation: X:112.71, Y:74.95, Z:31.62 [[ 3.82101158e-01 -9.18513715e-01 -1.01642808e-01 1.12711519e+02] [ 8.92808883e-01 3.95303271e-01 -2.15934301e-01 7.49495053e+01] [ 2.38518351e-01 -8.23885520e-03 9.71103042e-01 3.16219034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.470714057 meters Centerline goodness : 0.995449 Centerline is valid? [True, True] Translation: X:112.73, Y:74.97, Z:31.62 [[ 3.78174320e-01 -9.17027986e-01 -1.26664350e-01 1.12730061e+02] [ 8.93807104e-01 3.97321674e-01 -2.07952756e-01 7.49714987e+01] [ 2.41024989e-01 -3.45711037e-02 9.69902982e-01 3.16225774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.50071405700004 meters Centerline goodness : 0.995114 Centerline is valid? [True, True] Translation: X:112.74, Y:75.00, Z:31.63 [[ 3.77216394e-01 -9.18536254e-01 -1.18317122e-01 1.12737530e+02] [ 8.93903860e-01 3.94514573e-01 -2.12824200e-01 7.49979336e+01] [ 2.42164572e-01 -2.54833545e-02 9.69900468e-01 3.16322144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.530714057 meters Centerline goodness : 0.994929 Centerline is valid? [True, True] Translation: X:112.75, Y:75.02, Z:31.64 [[ 3.73625996e-01 -9.17870176e-01 -1.33857965e-01 1.12750668e+02] [ 8.94649829e-01 3.94699845e-01 -2.09317263e-01 7.50197152e+01] [ 2.44959792e-01 -4.15496347e-02 9.68642518e-01 3.16370794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.560714057 meters Centerline goodness : 0.994318 Centerline is valid? [True, True] Translation: X:112.76, Y:75.04, Z:31.64 [[ 3.75297413e-01 -9.17001346e-01 -1.35130984e-01 1.12761937e+02] [ 8.95637488e-01 3.96309442e-01 -2.01921560e-01 7.50414841e+01] [ 2.38716027e-01 -4.52477357e-02 9.70034691e-01 3.16428497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.590714057 meters Centerline goodness : 0.994736 Centerline is valid? [True, True] Translation: X:112.76, Y:75.07, Z:31.66 [[ 3.72285724e-01 -9.22222108e-01 -1.04449618e-01 1.12757269e+02] [ 8.93976671e-01 3.86556056e-01 -2.26671851e-01 7.50725568e+01] [ 2.49417424e-01 -8.98882745e-03 9.68354351e-01 3.16641678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.620714057 meters Centerline goodness : 0.995090 Centerline is valid? [True, True] Translation: X:112.77, Y:75.09, Z:31.66 [[ 3.66657698e-01 -9.21094353e-01 -1.30947799e-01 1.12766082e+02] [ 8.95408928e-01 3.87586421e-01 -2.19133790e-01 7.50902089e+01] [ 2.52596486e-01 -3.69047377e-02 9.66867652e-01 3.16639230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.650714057 meters Centerline goodness : 0.994732 Centerline is valid? [True, True] Translation: X:112.78, Y:75.12, Z:31.68 [[ 3.71920288e-01 -9.21687415e-01 -1.10306885e-01 1.12779257e+02] [ 8.93580255e-01 3.87666465e-01 -2.26338330e-01 7.51230088e+01] [ 2.51375471e-01 -1.43882377e-02 9.67782698e-01 3.16768917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.680714057 meters Centerline goodness : 0.994666 Centerline is valid? [True, True] Translation: X:112.80, Y:75.15, Z:31.67 [[ 3.75835280e-01 -9.18483879e-01 -1.23025230e-01 1.12798233e+02] [ 8.94574834e-01 3.94245777e-01 -2.10490220e-01 7.51468383e+01] [ 2.41834051e-01 -3.09456238e-02 9.69824036e-01 3.16738924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.710714057 meters Centerline goodness : 0.994201 Centerline is valid? [True, True] Translation: X:112.81, Y:75.17, Z:31.68 [[ 3.76072540e-01 -9.19144609e-01 -1.17228977e-01 1.12806596e+02] [ 8.94407576e-01 3.93147773e-01 -2.13236763e-01 7.51730943e+01] [ 2.42083733e-01 -2.46579942e-02 9.69941983e-01 3.16831327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.740714057 meters Centerline goodness : 0.994494 Centerline is valid? [True, True] Translation: X:112.81, Y:75.20, Z:31.70 [[ 3.76145319e-01 -9.20995642e-01 -1.01398845e-01 1.12810828e+02] [ 8.92731806e-01 3.89536358e-01 -2.26475936e-01 7.52026498e+01] [ 2.48081887e-01 -5.33411094e-03 9.68724380e-01 3.16970048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.770714057 meters Centerline goodness : 0.993932 Centerline is valid? [True, True] Translation: X:112.83, Y:75.23, Z:31.70 [[ 3.77879263e-01 -9.18654326e-01 -1.15245354e-01 1.12828024e+02] [ 8.92550630e-01 3.94538434e-01 -2.18386806e-01 7.52289536e+01] [ 2.46090706e-01 -2.03384683e-02 9.69033390e-01 3.16984960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.800714057 meters Centerline goodness : 0.993659 Centerline is valid? [True, True] Translation: X:112.84, Y:75.26, Z:31.71 [[ 3.80694504e-01 -9.18721610e-01 -1.04987137e-01 1.12837277e+02] [ 8.92127680e-01 3.94778375e-01 -2.19677577e-01 7.52570730e+01] [ 2.43269189e-01 -1.00318850e-02 9.69906935e-01 3.17052777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.830714057 meters Centerline goodness : 0.993852 Centerline is valid? [True, True] Translation: X:112.86, Y:75.28, Z:31.71 [[ 3.81680628e-01 -9.15797697e-01 -1.25037899e-01 1.12855673e+02] [ 8.91822046e-01 4.00428707e-01 -2.10500093e-01 7.52800245e+01] [ 2.42844265e-01 -3.11677472e-02 9.69564456e-01 3.17060412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.860714057 meters Centerline goodness : 0.993128 Centerline is valid? [True, True] Translation: X:112.86, Y:75.31, Z:31.71 [[ 3.84114875e-01 -9.16300219e-01 -1.13356390e-01 1.12862846e+02] [ 8.91402641e-01 4.00030500e-01 -2.13018617e-01 7.53057633e+01] [ 2.40535019e-01 -1.92225656e-02 9.70450101e-01 3.17141933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.890714057 meters Centerline goodness : 0.993201 Centerline is valid? [True, True] Translation: X:112.88, Y:75.32, Z:31.72 [[ 3.81151482e-01 -9.13810290e-01 -1.40265111e-01 1.12881451e+02] [ 8.91760158e-01 4.03418041e-01 -2.04982205e-01 7.53247218e+01] [ 2.43900325e-01 -4.69535668e-02 9.68662993e-01 3.17173903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.920714057 meters Centerline goodness : 0.993232 Centerline is valid? [True, True] Translation: X:112.89, Y:75.35, Z:31.73 [[ 3.82862467e-01 -9.13801442e-01 -1.35584866e-01 1.12889654e+02] [ 8.92182801e-01 4.03824651e-01 -2.02325235e-01 7.53470494e+01] [ 2.39637603e-01 -4.35037472e-02 9.69887232e-01 3.17264056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.950714057 meters Centerline goodness : 0.993180 Centerline is valid? [True, True] Translation: X:112.89, Y:75.37, Z:31.74 [[ 3.83064290e-01 -9.16987480e-01 -1.11336028e-01 1.12889921e+02] [ 8.91507601e-01 3.98563061e-01 -2.15317635e-01 7.53741994e+01] [ 2.41818004e-01 -1.67764183e-02 9.70176584e-01 3.17423196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.980714057 meters Centerline goodness : 0.993682 Centerline is valid? [True, True] Translation: X:112.90, Y:75.40, Z:31.75 [[ 3.82056635e-01 -9.18456706e-01 -1.02323051e-01 1.12896719e+02] [ 8.90087078e-01 3.95495714e-01 -2.26557132e-01 7.54035354e+01] [ 2.48551246e-01 -4.51876980e-03 9.68608207e-01 3.17547266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.01071405700003 meters Centerline goodness : 0.993602 Centerline is valid? [True, True] Translation: X:112.92, Y:75.43, Z:31.75 [[ 3.81364310e-01 -9.15774330e-01 -1.26169090e-01 1.12917731e+02] [ 8.90249801e-01 4.00596359e-01 -2.16743740e-01 7.54253738e+01] [ 2.49031232e-01 -2.96636803e-02 9.68041069e-01 3.17539675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.040714057 meters Centerline goodness : 0.993032 Centerline is valid? [True, True] Translation: X:112.93, Y:75.44, Z:31.76 [[ 3.82989540e-01 -9.13354426e-01 -1.38212536e-01 1.12932473e+02] [ 8.90600363e-01 4.04812196e-01 -2.07263311e-01 7.54447894e+01] [ 2.45254983e-01 -4.37124541e-02 9.68472620e-01 3.17566692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.07071405700003 meters Centerline goodness : 0.993157 Centerline is valid? [True, True] Translation: X:112.93, Y:75.47, Z:31.77 [[ 3.84872844e-01 -9.15481665e-01 -1.17329514e-01 1.12932864e+02] [ 8.89008094e-01 4.01870212e-01 -2.19465126e-01 7.54715749e+01] [ 2.48067536e-01 -1.98407198e-02 9.68539542e-01 3.17729482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.100714057 meters Centerline goodness : 0.992941 Centerline is valid? [True, True] Translation: X:112.94, Y:75.50, Z:31.79 [[ 3.85191482e-01 -9.18043465e-01 -9.39346462e-02 1.12936304e+02] [ 8.87883860e-01 3.96426010e-01 -2.33470920e-01 7.55029582e+01] [ 2.51574590e-01 6.52795364e-03 9.67815898e-01 3.17880777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.13071405700003 meters Centerline goodness : 0.992480 Centerline is valid? [True, True] Translation: X:112.96, Y:75.53, Z:31.78 [[ 3.89422299e-01 -9.14607809e-01 -1.08824766e-01 1.12957201e+02] [ 8.87571931e-01 4.04204908e-01 -2.20985202e-01 7.55269712e+01] [ 2.46102296e-01 -1.05332423e-02 9.69186623e-01 3.17832183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.160714057 meters Centerline goodness : 0.992767 Centerline is valid? [True, True] Translation: X:112.97, Y:75.55, Z:31.79 [[ 3.89922947e-01 -9.13714342e-01 -1.14394911e-01 1.12972382e+02] [ 8.87610853e-01 4.06012377e-01 -2.17487756e-01 7.55518699e+01] [ 2.45167432e-01 -1.67346977e-02 9.69336309e-01 3.17870430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.19071405700004 meters Centerline goodness : 0.992576 Centerline is valid? [True, True] Translation: X:112.98, Y:75.58, Z:31.79 [[ 3.92468062e-01 -9.12742962e-01 -1.13442084e-01 1.12983317e+02] [ 8.87141114e-01 4.08214875e-01 -2.15270203e-01 7.55763780e+01] [ 2.42795109e-01 -1.61524574e-02 9.69943108e-01 3.17927868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.220714057 meters Centerline goodness : 0.992509 Centerline is valid? [True, True] Translation: X:112.99, Y:75.61, Z:31.80 [[ 3.96116369e-01 -9.13581709e-01 -9.19798002e-02 1.12991326e+02] [ 8.86601739e-01 4.06614160e-01 -2.20459251e-01 7.56086308e+01] [ 2.38807828e-01 5.77806728e-03 9.71049656e-01 3.18020086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.25071405700004 meters Centerline goodness : 0.993020 Centerline is valid? [True, True] Translation: X:113.02, Y:75.63, Z:31.80 [[ 3.94570716e-01 -9.09603064e-01 -1.30139218e-01 1.13018148e+02] [ 8.86781034e-01 4.14054270e-01 -2.05373951e-01 7.56283013e+01] [ 2.40693474e-01 -3.43704433e-02 9.69992435e-01 3.17978838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.280714057 meters Centerline goodness : 0.991880 Centerline is valid? [True, True] Translation: X:113.03, Y:75.65, Z:31.80 [[ 3.96902412e-01 -9.07444888e-01 -1.37884917e-01 1.13029662e+02] [ 8.87224907e-01 4.17789247e-01 -1.95663256e-01 7.56455459e+01] [ 2.35160457e-01 -4.46757148e-02 9.70929266e-01 3.18021806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.310714057 meters Centerline goodness : 0.991975 Centerline is valid? [True, True] Translation: X:113.03, Y:75.67, Z:31.82 [[ 3.96974913e-01 -9.11530907e-01 -1.07342086e-01 1.13027625e+02] [ 8.86931333e-01 4.11068487e-01 -2.10654954e-01 7.56734370e+01] [ 2.36143450e-01 -1.15803277e-02 9.71649200e-01 3.18212678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.340714057 meters Centerline goodness : 0.992467 Centerline is valid? [True, True] Translation: X:113.04, Y:75.70, Z:31.83 [[ 3.94923357e-01 -9.12990827e-01 -1.02387944e-01 1.13038477e+02] [ 8.86463033e-01 4.07955700e-01 -2.18530177e-01 7.57019793e+01] [ 2.41285793e-01 -4.46045626e-03 9.70443852e-01 3.18302869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.370714057 meters Centerline goodness : 0.991459 Centerline is valid? [True, True] Translation: X:113.06, Y:75.72, Z:31.83 [[ 3.97278139e-01 -9.08772195e-01 -1.27683895e-01 1.13061712e+02] [ 8.86991063e-01 4.15940828e-01 -2.00599304e-01 7.57207021e+01] [ 2.35408015e-01 -3.35607551e-02 9.71317014e-01 3.18257393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.400714057 meters Centerline goodness : 0.992501 Centerline is valid? [True, True] Translation: X:113.07, Y:75.75, Z:31.84 [[ 3.96191887e-01 -9.10964891e-01 -1.14782209e-01 1.13066362e+02] [ 8.86820121e-01 4.12050312e-01 -2.09199935e-01 7.57462290e+01] [ 2.37869841e-01 -1.89078556e-02 9.71112986e-01 3.18401509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.430714057 meters Centerline goodness : 0.992501 Centerline is valid? [True, True] Translation: X:113.08, Y:75.77, Z:31.85 [[ 3.95495941e-01 -9.11601594e-01 -1.12095914e-01 1.13076984e+02] [ 8.86973526e-01 4.10765320e-01 -2.11068274e-01 7.57712854e+01] [ 2.38455289e-01 -1.59494626e-02 9.71022497e-01 3.18486399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.460714057 meters Centerline goodness : 0.992262 Centerline is valid? [True, True] Translation: X:113.09, Y:75.79, Z:31.85 [[ 3.95831836e-01 -9.11122793e-01 -1.14771138e-01 1.13089756e+02] [ 8.87013939e-01 4.11694777e-01 -2.09078172e-01 7.57940427e+01] [ 2.37746566e-01 -1.90438027e-02 9.71140517e-01 3.18543054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.490714057 meters Centerline goodness : 0.992445 Centerline is valid? [True, True] Translation: X:113.10, Y:75.82, Z:31.86 [[ 3.95581583e-01 -9.11181383e-01 -1.15168129e-01 1.13100564e+02] [ 8.86641652e-01 4.11581068e-01 -2.10873434e-01 7.58171632e+01] [ 2.39544969e-01 -1.86952135e-02 9.70705258e-01 3.18624230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.520714057 meters Centerline goodness : 0.992109 Centerline is valid? [True, True] Translation: X:113.11, Y:75.84, Z:31.87 [[ 3.94877411e-01 -9.11482093e-01 -1.15205139e-01 1.13111451e+02] [ 8.86484508e-01 4.10940988e-01 -2.12773877e-01 7.58417943e+01] [ 2.41282092e-01 -1.81079735e-02 9.70286068e-01 3.18714771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.550714057 meters Centerline goodness : 0.991899 Centerline is valid? [True, True] Translation: X:113.12, Y:75.86, Z:31.88 [[ 3.94338735e-01 -9.10931687e-01 -1.21245305e-01 1.13123451e+02] [ 8.86298796e-01 4.11861330e-01 -2.11765645e-01 7.58630261e+01] [ 2.42840289e-01 -2.39521718e-02 9.69770534e-01 3.18780241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.580714057 meters Centerline goodness : 0.992151 Centerline is valid? [True, True] Translation: X:113.13, Y:75.90, Z:31.89 [[ 3.95172356e-01 -9.14188883e-01 -8.99860810e-02 1.13126437e+02] [ 8.86299707e-01 4.05191392e-01 -2.24260485e-01 7.58963645e+01] [ 2.41478028e-01 8.86690713e-03 9.70365776e-01 3.18938540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.610714057 meters Centerline goodness : 0.990734 Centerline is valid? [True, True] Translation: X:113.15, Y:75.91, Z:31.89 [[ 3.93894575e-01 -9.09219125e-01 -1.34787412e-01 1.13153310e+02] [ 8.86305432e-01 4.14564837e-01 -2.06394471e-01 7.59098886e+01] [ 2.43535922e-01 -3.81651531e-02 9.69140689e-01 3.18865702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.640714057 meters Centerline goodness : 0.990993 Centerline is valid? [True, True] Translation: X:113.15, Y:75.94, Z:31.91 [[ 3.95290238e-01 -9.14287239e-01 -8.84560520e-02 1.13148831e+02] [ 8.86211950e-01 4.04928236e-01 -2.25081105e-01 7.59444315e+01] [ 2.41607135e-01 1.05815533e-02 9.70316455e-01 3.19066985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.670714057 meters Centerline goodness : 0.991672 Centerline is valid? [True, True] Translation: X:113.18, Y:75.96, Z:31.90 [[ 3.90405455e-01 -9.10941310e-01 -1.33302327e-01 1.13176381e+02] [ 8.86697373e-01 4.11003523e-01 -2.11763720e-01 7.59627585e+01] [ 2.47692046e-01 -3.55251117e-02 9.68187284e-01 3.19038799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.700714057 meters Centerline goodness : 0.991452 Centerline is valid? [True, True] Translation: X:113.18, Y:75.99, Z:31.92 [[ 3.88884987e-01 -9.15505729e-01 -1.03042353e-01 1.13175980e+02] [ 8.87367731e-01 4.02286658e-01 -2.25264188e-01 7.59917675e+01] [ 2.47683219e-01 -3.83459864e-03 9.68833484e-01 3.19216931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.730714057 meters Centerline goodness : 0.991533 Centerline is valid? [True, True] Translation: X:113.19, Y:76.02, Z:31.93 [[ 3.88505470e-01 -9.15389592e-01 -1.05476992e-01 1.13191076e+02] [ 8.88033979e-01 4.02502409e-01 -2.22232902e-01 7.60181012e+01] [ 2.45884429e-01 -7.32845455e-03 9.69271449e-01 3.19256093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.76071405700003 meters Centerline goodness : 0.992044 Centerline is valid? [True, True] Translation: X:113.21, Y:76.04, Z:31.93 [[ 3.87506987e-01 -9.13922059e-01 -1.20767564e-01 1.13207548e+02] [ 8.88228541e-01 4.05215044e-01 -2.16450517e-01 7.60386233e+01] [ 2.46755736e-01 -2.33931094e-02 9.68795318e-01 3.19277757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.790714057 meters Centerline goodness : 0.991983 Centerline is valid? [True, True] Translation: X:113.21, Y:76.07, Z:31.94 [[ 3.84375190e-01 -9.16944449e-01 -1.07091506e-01 1.13213744e+02] [ 8.89905716e-01 3.98883184e-01 -2.21269117e-01 7.60655385e+01] [ 2.45608489e-01 -1.02509847e-02 9.69314906e-01 3.19393243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.82071405700003 meters Centerline goodness : 0.992735 Centerline is valid? [True, True] Translation: X:113.23, Y:76.09, Z:31.94 [[ 3.82030378e-01 -9.17047904e-01 -1.14350039e-01 1.13227725e+02] [ 8.90713505e-01 3.98361125e-01 -2.18947176e-01 7.60883952e+01] [ 2.46337659e-01 -1.82086513e-02 9.69013004e-01 3.19442820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.850714057 meters Centerline goodness : 0.993479 Centerline is valid? [True, True] Translation: X:113.24, Y:76.12, Z:31.95 [[ 3.75639033e-01 -9.19887417e-01 -1.12705177e-01 1.13239031e+02] [ 8.92699285e-01 3.91814817e-01 -2.22641269e-01 7.61151735e+01] [ 2.48964460e-01 -1.69790801e-02 9.68363779e-01 3.19549363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.88071405700003 meters Centerline goodness : 0.993212 Centerline is valid? [True, True] Translation: X:113.25, Y:76.14, Z:31.96 [[ 3.73577974e-01 -9.20752266e-01 -1.12493384e-01 1.13251791e+02] [ 8.93739187e-01 3.89751831e-01 -2.22089568e-01 7.61400654e+01] [ 2.48333976e-01 -1.75719745e-02 9.68515081e-01 3.19620894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.910714057 meters Centerline goodness : 0.993304 Centerline is valid? [True, True] Translation: X:113.27, Y:76.16, Z:31.96 [[ 3.74473675e-01 -9.20004678e-01 -1.15589179e-01 1.13265266e+02] [ 8.94473500e-01 3.91269091e-01 -2.16392367e-01 7.61593688e+01] [ 2.44308463e-01 -2.23582125e-02 9.69439779e-01 3.19636134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.94071405700004 meters Centerline goodness : 0.993614 Centerline is valid? [True, True] Translation: X:113.27, Y:76.19, Z:31.98 [[ 3.68913404e-01 -9.23282975e-01 -1.07011438e-01 1.13272789e+02] [ 8.95201380e-01 3.83923279e-01 -2.26312627e-01 7.61887368e+01] [ 2.50034778e-01 -1.23070256e-02 9.68158637e-01 3.19778401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.970714057 meters Centerline goodness : 0.993011 Centerline is valid? [True, True] Translation: X:113.29, Y:76.21, Z:31.98 [[ 3.71374292e-01 -9.21086295e-01 -1.16966544e-01 1.13288739e+02] [ 8.95350239e-01 3.88621843e-01 -2.17533936e-01 7.62078746e+01] [ 2.45823281e-01 -2.39395112e-02 9.69018996e-01 3.19774625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.00071405700004 meters Centerline goodness : 0.994141 Centerline is valid? [True, True] Translation: X:113.30, Y:76.24, Z:31.99 [[ 3.68751316e-01 -9.23617896e-01 -1.04653953e-01 1.13296377e+02] [ 8.95827535e-01 3.83164004e-01 -2.25118575e-01 7.62373876e+01] [ 2.48023172e-01 -1.07391219e-02 9.68694574e-01 3.19901128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.030714057 meters Centerline goodness : 0.993249 Centerline is valid? [True, True] Translation: X:113.31, Y:76.26, Z:31.99 [[ 3.70487313e-01 -9.22174601e-01 -1.11054742e-01 1.13311676e+02] [ 8.95748794e-01 3.86354757e-01 -2.19918395e-01 7.62586151e+01] [ 2.45709686e-01 -1.80001764e-02 9.69176322e-01 3.19910317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.060714057 meters Centerline goodness : 0.993780 Centerline is valid? [True, True] Translation: X:113.32, Y:76.29, Z:32.00 [[ 3.68982999e-01 -9.23454090e-01 -1.05281009e-01 1.13321095e+02] [ 8.95732893e-01 3.83541416e-01 -2.24852323e-01 7.62883966e+01] [ 2.48020425e-01 -1.13369782e-02 9.68688465e-01 3.20014862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.090714057 meters Centerline goodness : 0.993036 Centerline is valid? [True, True] Translation: X:113.34, Y:76.31, Z:32.00 [[ 3.70136801e-01 -9.21413607e-01 -1.18303477e-01 1.13336245e+02] [ 8.95499507e-01 3.87772401e-01 -2.18433510e-01 7.63084725e+01] [ 2.47142432e-01 -2.50904248e-02 9.68654267e-01 3.20030010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.120714057 meters Centerline goodness : 0.993583 Centerline is valid? [True, True] Translation: X:113.34, Y:76.34, Z:32.01 [[ 3.70044436e-01 -9.22813172e-01 -1.07158594e-01 1.13342644e+02] [ 8.95238086e-01 3.85030400e-01 -2.24277419e-01 7.63356842e+01] [ 2.48225473e-01 -1.29398434e-02 9.68615855e-01 3.20148804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.150714057 meters Centerline goodness : 0.993519 Centerline is valid? [True, True] Translation: X:113.36, Y:76.36, Z:32.02 [[ 3.71023741e-01 -9.21814746e-01 -1.12245077e-01 1.13355975e+02] [ 8.94996317e-01 3.87199424e-01 -2.21490855e-01 7.63615357e+01] [ 2.47634766e-01 -1.82805646e-02 9.68680981e-01 3.20205151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.180714057 meters Centerline goodness : 0.994375 Centerline is valid? [True, True] Translation: X:113.37, Y:76.39, Z:32.03 [[ 3.68956163e-01 -9.23279623e-01 -1.06892878e-01 1.13366287e+02] [ 8.95169107e-01 3.83936378e-01 -2.26418036e-01 7.63919154e+01] [ 2.50087223e-01 -1.21488724e-02 9.68147089e-01 3.20316803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.210714057 meters Centerline goodness : 0.993329 Centerline is valid? [True, True] Translation: X:113.38, Y:76.41, Z:32.03 [[ 3.73837368e-01 -9.19711022e-01 -1.19905203e-01 1.13380063e+02] [ 8.93806170e-01 3.91761672e-01 -2.18250598e-01 7.64108233e+01] [ 2.47701743e-01 -2.55817814e-02 9.68498538e-01 3.20313010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.240714057 meters Centerline goodness : 0.993447 Centerline is valid? [True, True] Translation: X:113.39, Y:76.44, Z:32.04 [[ 3.74757404e-01 -9.20325443e-01 -1.12062338e-01 1.13386225e+02] [ 8.93267464e-01 3.90790649e-01 -2.22161891e-01 7.64355284e+01] [ 2.48254155e-01 -1.68448270e-02 9.68548464e-01 3.20418171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.270714057 meters Centerline goodness : 0.993839 Centerline is valid? [True, True] Translation: X:113.40, Y:76.46, Z:32.05 [[ 3.73184348e-01 -9.21138538e-01 -1.10622045e-01 1.13396894e+02] [ 8.93525676e-01 3.88941230e-01 -2.24358164e-01 7.64622348e+01] [ 2.49690425e-01 -1.51166824e-02 9.68207714e-01 3.20511147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.300714057 meters Centerline goodness : 0.994028 Centerline is valid? [True, True] Translation: X:113.41, Y:76.49, Z:32.06 [[ 3.70711257e-01 -9.22092308e-01 -1.10990720e-01 1.13409437e+02] [ 8.94018233e-01 3.86666282e-01 -2.26319652e-01 7.64925023e+01] [ 2.51603980e-01 -1.53284851e-02 9.67708879e-01 3.20618679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.330714057 meters Centerline goodness : 0.993318 Centerline is valid? [True, True] Translation: X:113.42, Y:76.51, Z:32.06 [[ 3.73844050e-01 -9.19092387e-01 -1.24538394e-01 1.13424185e+02] [ 8.93224261e-01 3.92932874e-01 -2.18527289e-01 7.65099167e+01] [ 2.49781996e-01 -2.95455883e-02 9.67851235e-01 3.20620867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.360714057 meters Centerline goodness : 0.993976 Centerline is valid? [True, True] Translation: X:113.43, Y:76.54, Z:32.08 [[ 3.70570251e-01 -9.22266826e-01 -1.10007233e-01 1.13429963e+02] [ 8.93851666e-01 3.86300674e-01 -2.27598304e-01 7.65403226e+01] [ 2.52402234e-01 -1.39889878e-02 9.67521277e-01 3.20781818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.390714057 meters Centerline goodness : 0.993428 Centerline is valid? [True, True] Translation: X:113.44, Y:76.56, Z:32.08 [[ 3.71668938e-01 -9.20520357e-01 -1.20434514e-01 1.13444523e+02] [ 8.93536458e-01 3.89902603e-01 -2.22639973e-01 7.65632277e+01] [ 2.51902358e-01 -2.48642665e-02 9.67433187e-01 3.20808477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.420714057 meters Centerline goodness : 0.993614 Centerline is valid? [True, True] Translation: X:113.45, Y:76.59, Z:32.09 [[ 3.68209371e-01 -9.22892578e-01 -1.12654996e-01 1.13452492e+02] [ 8.94180764e-01 3.84707509e-01 -2.28999770e-01 7.65910010e+01] [ 2.54681411e-01 -1.64140691e-02 9.66885700e-01 3.20940023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.450714057 meters Centerline goodness : 0.994051 Centerline is valid? [True, True] Translation: X:113.47, Y:76.61, Z:32.10 [[ 3.68071295e-01 -9.22293275e-01 -1.17892482e-01 1.13466107e+02] [ 8.94216672e-01 3.85869358e-01 -2.26895091e-01 7.66145428e+01] [ 2.54754913e-01 -2.19078531e-02 9.66757457e-01 3.20994520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.480714057 meters Centerline goodness : 0.994130 Centerline is valid? [True, True] Translation: X:113.48, Y:76.64, Z:32.11 [[ 3.66815594e-01 -9.22502985e-01 -1.20143924e-01 1.13476622e+02] [ 8.94528900e-01 3.85224716e-01 -2.26759707e-01 7.66373839e+01] [ 2.55468916e-01 -2.42932159e-02 9.66512014e-01 3.21072024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.51071405700003 meters Centerline goodness : 0.993117 Centerline is valid? [True, True] Translation: X:113.49, Y:76.66, Z:32.12 [[ 3.66911201e-01 -9.23129253e-01 -1.14928466e-01 1.13486169e+02] [ 8.94435946e-01 3.84033575e-01 -2.29134354e-01 7.66629749e+01] [ 2.55657014e-01 -1.87241903e-02 9.66586207e-01 3.21163011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.540714057 meters Centerline goodness : 0.993678 Centerline is valid? [True, True] Translation: X:113.50, Y:76.69, Z:32.12 [[ 3.68375620e-01 -9.23462779e-01 -1.07312151e-01 1.13495478e+02] [ 8.94133825e-01 3.83535830e-01 -2.31138422e-01 7.66890983e+01] [ 2.54605784e-01 -1.08056643e-02 9.66984556e-01 3.21241721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.57071405700003 meters Centerline goodness : 0.992335 Centerline is valid? [True, True] Translation: X:113.51, Y:76.71, Z:32.13 [[ 3.77792828e-01 -9.21053497e-01 -9.45147270e-02 1.13506669e+02] [ 8.92271677e-01 3.89431048e-01 -2.28461624e-01 7.67142489e+01] [ 2.47232347e-01 1.97834902e-03 9.68954206e-01 3.21268931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.600714057 meters Centerline goodness : 0.992644 Centerline is valid? [True, True] Translation: X:113.52, Y:76.75, Z:32.13 [[ 3.80264963e-01 -9.21083378e-01 -8.36897154e-02 1.13520935e+02] [ 8.91961673e-01 3.89152760e-01 -2.30140181e-01 7.67473701e+01] [ 2.44546379e-01 1.28662289e-02 9.69552231e-01 3.21339190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.63071405700003 meters Centerline goodness : 0.993118 Centerline is valid? [True, True] Translation: X:113.56, Y:76.76, Z:32.12 [[ 3.70213919e-01 -9.14336585e-01 -1.64104429e-01 1.13559818e+02] [ 8.93551604e-01 3.98806814e-01 -2.06200525e-01 7.67610123e+01] [ 2.53982649e-01 -7.02974711e-02 9.64650755e-01 3.21242828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.660714057 meters Centerline goodness : 0.993017 Centerline is valid? [True, True] Translation: X:113.54, Y:76.79, Z:32.15 [[ 3.73243767e-01 -9.20315471e-01 -1.17083408e-01 1.13544881e+02] [ 8.91494312e-01 3.90724970e-01 -2.29285605e-01 7.67850128e+01] [ 2.56762501e-01 -1.87997689e-02 9.66291668e-01 3.21510483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.69071405700004 meters Centerline goodness : 0.993213 Centerline is valid? [True, True] Translation: X:113.55, Y:76.81, Z:32.16 [[ 3.73165579e-01 -9.21115262e-01 -1.10878874e-01 1.13553172e+02] [ 8.90604438e-01 3.89136789e-01 -2.35364173e-01 7.68103447e+01] [ 2.59944581e-01 -1.09194094e-02 9.65561796e-01 3.21627331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.720714057 meters Centerline goodness : 0.993004 Centerline is valid? [True, True] Translation: X:113.57, Y:76.83, Z:32.16 [[ 3.75038196e-01 -9.19131872e-01 -1.20594168e-01 1.13572765e+02] [ 8.92351795e-01 3.93187460e-01 -2.21612037e-01 7.68346345e+01] [ 2.51106801e-01 -2.44994441e-02 9.67649292e-01 3.21636871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.75071405700004 meters Centerline goodness : 0.992817 Centerline is valid? [True, True] Translation: X:113.58, Y:76.86, Z:32.18 [[ 3.76286292e-01 -9.19991730e-01 -1.09653286e-01 1.13579736e+02] [ 8.91353604e-01 3.91756454e-01 -2.28069361e-01 7.68591657e+01] [ 2.52779308e-01 -1.19204778e-02 9.67450528e-01 3.21750532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.780714057 meters Centerline goodness : 0.993565 Centerline is valid? [True, True] Translation: X:113.59, Y:76.89, Z:32.19 [[ 3.75205391e-01 -9.21116542e-01 -1.03755631e-01 1.13588483e+02] [ 8.90018804e-01 3.89273022e-01 -2.37345830e-01 7.68856435e+01] [ 2.59012439e-01 -3.29102772e-03 9.65868379e-01 3.21857361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.810714057 meters Centerline goodness : 0.993613 Centerline is valid? [True, True] Translation: X:113.61, Y:76.91, Z:32.19 [[ 3.73272722e-01 -9.20346703e-01 -1.16745110e-01 1.13608280e+02] [ 8.90803849e-01 3.90715834e-01 -2.31969051e-01 7.69111352e+01] [ 2.59106114e-01 -1.74092747e-02 9.65691948e-01 3.21885334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.840714057 meters Centerline goodness : 0.993574 Centerline is valid? [True, True] Translation: X:113.62, Y:76.94, Z:32.20 [[ 3.78501870e-01 -9.21554297e-01 -8.64523701e-02 1.13615204e+02] [ 8.89944192e-01 3.88004683e-01 -2.39690845e-01 7.69437022e+01] [ 2.54432053e-01 1.37856487e-02 9.66992392e-01 3.22000784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.870714057 meters Centerline goodness : 0.993967 Centerline is valid? [True, True] Translation: X:113.64, Y:76.97, Z:32.20 [[ 3.80263969e-01 -9.17634287e-01 -1.15527611e-01 1.13643984e+02] [ 8.89164197e-01 3.97093234e-01 -2.27385122e-01 7.69683195e+01] [ 2.54531617e-01 -1.62566462e-02 9.66927804e-01 3.21955038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.900714057 meters Centerline goodness : 0.991990 Centerline is valid? [True, True] Translation: X:113.67, Y:76.98, Z:32.19 [[ 3.81221154e-01 -9.10707563e-01 -1.59003670e-01 1.13667894e+02] [ 8.88824115e-01 4.08362644e-01 -2.07922205e-01 7.69766529e+01] [ 2.54287484e-01 -6.20619532e-02 9.65135322e-01 3.21909125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.930714057 meters Centerline goodness : 0.993973 Centerline is valid? [True, True] Translation: X:113.65, Y:77.02, Z:32.23 [[ 3.80882499e-01 -9.22119043e-01 -6.80073016e-02 1.13646861e+02] [ 8.88355613e-01 3.85349198e-01 -2.49660371e-01 7.70223780e+01] [ 2.56423142e-01 3.46765981e-02 9.65942393e-01 3.22287470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.960714057 meters Centerline goodness : 0.994912 Centerline is valid? [True, True] Translation: X:113.69, Y:77.04, Z:32.21 [[ 3.78601591e-01 -9.14447038e-01 -1.42994582e-01 1.13690908e+02] [ 8.88270443e-01 4.02396948e-01 -2.21477575e-01 7.70365169e+01] [ 2.60070096e-01 -4.31660979e-02 9.64624400e-01 3.22116981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.990714057 meters Centerline goodness : 0.993087 Centerline is valid? [True, True] Translation: X:113.69, Y:77.06, Z:32.22 [[ 3.86198386e-01 -9.15649756e-01 -1.11518299e-01 1.13693466e+02] [ 8.87842211e-01 4.01785974e-01 -2.24286066e-01 7.70623492e+01] [ 2.50173970e-01 -1.23917367e-02 9.68121599e-01 3.22238728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.020714057 meters Centerline goodness : 0.994111 Centerline is valid? [True, True] Translation: X:113.71, Y:77.08, Z:32.23 [[ 3.84528593e-01 -9.12588473e-01 -1.38996550e-01 1.13711804e+02] [ 8.87239461e-01 4.06939898e-01 -2.17269554e-01 7.70775328e+01] [ 2.54840932e-01 -3.97768679e-02 9.66164531e-01 3.22285036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.050714057 meters Centerline goodness : 0.995054 Centerline is valid? [True, True] Translation: X:113.70, Y:77.12, Z:32.26 [[ 3.82627001e-01 -9.20336631e-01 -8.10991005e-02 1.13704953e+02] [ 8.87339677e-01 3.90515861e-01 -2.45205342e-01 7.71188255e+01] [ 2.57341943e-01 2.18597349e-02 9.66073122e-01 3.22559810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.080714057 meters Centerline goodness : 0.994743 Centerline is valid? [True, True] Translation: X:113.74, Y:77.14, Z:32.25 [[ 3.83119467e-01 -9.15182973e-01 -1.25138322e-01 1.13737855e+02] [ 8.87020958e-01 4.02311868e-01 -2.26581071e-01 7.71390207e+01] [ 2.57707770e-01 -2.41926955e-02 9.65919986e-01 3.22471987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.110714057 meters Centerline goodness : 0.993623 Centerline is valid? [True, True] Translation: X:113.76, Y:77.15, Z:32.25 [[ 3.86054986e-01 -9.09733791e-01 -1.52793907e-01 1.13755596e+02] [ 8.86078362e-01 4.11768371e-01 -2.12866025e-01 7.71478014e+01] [ 2.56567114e-01 -5.32093847e-02 9.65060660e-01 3.22477542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.140714057 meters Centerline goodness : 0.994245 Centerline is valid? [True, True] Translation: X:113.74, Y:77.20, Z:32.28 [[ 3.84400518e-01 -9.21003669e-01 -6.31544486e-02 1.13737813e+02] [ 8.86637150e-01 3.87378781e-01 -2.52610854e-01 7.71952430e+01] [ 2.57120216e-01 4.11086626e-02 9.65504672e-01 3.22837198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.170714057 meters Centerline goodness : 0.994561 Centerline is valid? [True, True] Translation: X:113.79, Y:77.20, Z:32.27 [[ 3.78686318e-01 -9.10963264e-01 -1.63531662e-01 1.13787798e+02] [ 8.86808251e-01 4.07706323e-01 -2.17592921e-01 7.72031849e+01] [ 2.64892050e-01 -6.26217651e-02 9.62242545e-01 3.22652294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.200714057 meters Centerline goodness : 0.993368 Centerline is valid? [True, True] Translation: X:113.78, Y:77.22, Z:32.28 [[ 3.81271403e-01 -9.14175750e-01 -1.37531140e-01 1.13783970e+02] [ 8.86443365e-01 4.03748307e-01 -2.26286245e-01 7.72203710e+01] [ 2.62393363e-01 -3.56370927e-02 9.64302712e-01 3.22830406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.230714057 meters Centerline goodness : 0.994793 Centerline is valid? [True, True] Translation: X:113.78, Y:77.25, Z:32.31 [[ 3.74737248e-01 -9.21119716e-01 -1.05406185e-01 1.13782613e+02] [ 8.86831968e-01 3.89279383e-01 -2.48979159e-01 7.72529439e+01] [ 2.70372067e-01 -1.75809698e-04 9.62755896e-01 3.23072883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.26071405700003 meters Centerline goodness : 0.994441 Centerline is valid? [True, True] Translation: X:113.79, Y:77.27, Z:32.31 [[ 3.66240154e-01 -9.21128789e-01 -1.31870785e-01 1.13792212e+02] [ 8.88736459e-01 3.88254402e-01 -2.43733513e-01 7.72651985e+01] [ 2.75709368e-01 -2.79333752e-02 9.60835090e-01 3.23056558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.290714057 meters Centerline goodness : 0.994320 Centerline is valid? [True, True] Translation: X:113.80, Y:77.31, Z:32.33 [[ 3.75602084e-01 -9.24937457e-01 -5.84275130e-02 1.13796367e+02] [ 8.87792475e-01 3.77178587e-01 -2.63743881e-01 7.73108027e+01] [ 2.65984201e-01 4.71912449e-02 9.62821578e-01 3.23285080e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.32071405700003 meters Centerline goodness : 0.994572 Centerline is valid? [True, True] Translation: X:113.84, Y:77.33, Z:32.31 [[ 3.73706363e-01 -9.19567159e-01 -1.21407556e-01 1.13840130e+02] [ 8.88245781e-01 3.92490426e-01 -2.38685354e-01 7.73322309e+01] [ 2.67138516e-01 -1.86415134e-02 9.63477819e-01 3.23127515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.350714057 meters Centerline goodness : 0.994572 Centerline is valid? [True, True] Translation: X:113.85, Y:77.36, Z:32.32 [[ 3.72631273e-01 -9.19776226e-01 -1.23116322e-01 1.13852034e+02] [ 8.88470045e-01 3.91912621e-01 -2.38800077e-01 7.73578312e+01] [ 2.67893474e-01 -2.04007878e-02 9.63232524e-01 3.23206001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.38071405700003 meters Centerline goodness : 0.995169 Centerline is valid? [True, True] Translation: X:113.86, Y:77.39, Z:32.33 [[ 3.69906182e-01 -9.22513410e-01 -1.10174522e-01 1.13862428e+02] [ 8.89241432e-01 3.85899472e-01 -2.45624252e-01 7.73869823e+01] [ 2.69107956e-01 -7.11382033e-03 9.63083746e-01 3.23320305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.410714057 meters Centerline goodness : 0.996027 Centerline is valid? [True, True] Translation: X:113.89, Y:77.38, Z:32.32 [[ 3.53948987e-01 -9.14999354e-01 -1.93639605e-01 1.13885297e+02] [ 8.91956391e-01 3.92518732e-01 -2.24372106e-01 7.73839499e+01] [ 2.81307504e-01 -9.33018032e-02 9.55071129e-01 3.23236203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.44071405700004 meters Centerline goodness : 0.994927 Centerline is valid? [True, True] Translation: X:113.86, Y:77.44, Z:32.37 [[ 3.63102571e-01 -9.30447691e-01 -4.92302363e-02 1.13858752e+02] [ 8.90896561e-01 3.62171089e-01 -2.74108408e-01 7.74379340e+01] [ 2.72873304e-01 5.56704197e-02 9.60437902e-01 3.23714915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.470714057 meters Centerline goodness : 0.994782 Centerline is valid? [True, True] Translation: X:113.91, Y:77.46, Z:32.35 [[ 3.61130745e-01 -9.23826655e-01 -1.26999596e-01 1.13908447e+02] [ 8.92474250e-01 3.81883596e-01 -2.40113791e-01 7.74565609e+01] [ 2.70322582e-01 -2.66313966e-02 9.62401408e-01 3.23498958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.50071405700004 meters Centerline goodness : 0.996313 Centerline is valid? [True, True] Translation: X:113.92, Y:77.46, Z:32.35 [[ 3.47226283e-01 -9.19172361e-01 -1.85892652e-01 1.13921275e+02] [ 8.94876244e-01 3.84037721e-01 -2.27401707e-01 7.74573699e+01] [ 2.80411154e-01 -8.73910690e-02 9.55893501e-01 3.23506036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.530714057 meters Centerline goodness : 0.996872 Centerline is valid? [True, True] Translation: X:113.90, Y:77.49, Z:32.38 [[ 3.45676835e-01 -9.31184442e-01 -1.15771588e-01 1.13899529e+02] [ 8.94599130e-01 3.64275776e-01 -2.58834996e-01 7.74879708e+01] [ 2.83195906e-01 -1.40958993e-02 9.58958489e-01 3.23848959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.560714057 meters Centerline goodness : 0.996099 Centerline is valid? [True, True] Translation: X:113.91, Y:77.51, Z:32.39 [[ 3.42239291e-01 -9.32548564e-01 -1.15001930e-01 1.13912276e+02] [ 8.96475188e-01 3.60731293e-01 -2.57303656e-01 7.75114015e+01] [ 2.81432950e-01 -1.50369564e-02 9.59463071e-01 3.23929669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.590714057 meters Centerline goodness : 0.996152 Centerline is valid? [True, True] Translation: X:113.93, Y:77.53, Z:32.40 [[ 3.38330861e-01 -9.34037300e-01 -1.14483842e-01 1.13925829e+02] [ 8.98320121e-01 3.56811624e-01 -2.56332644e-01 7.75347184e+01] [ 2.80273416e-01 -1.61178943e-02 9.59784885e-01 3.24006111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.620714057 meters Centerline goodness : 0.995639 Centerline is valid? [True, True] Translation: X:113.94, Y:77.58, Z:32.41 [[ 3.45468735e-01 -9.36695627e-01 -5.70320574e-02 1.13935340e+02] [ 8.98938310e-01 3.47763532e-01 -2.66402778e-01 7.75774957e+01] [ 2.69371987e-01 4.07655297e-02 9.62173012e-01 3.24149606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.650714057 meters Centerline goodness : 0.995751 Centerline is valid? [True, True] Translation: X:113.98, Y:77.58, Z:32.39 [[ 3.33514273e-01 -9.26238318e-01 -1.75643981e-01 1.13980384e+02] [ 9.01593181e-01 3.67816561e-01 -2.27685560e-01 7.75777348e+01] [ 2.75495855e-01 -8.24230314e-02 9.57762224e-01 3.23926469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.680714057 meters Centerline goodness : 0.994503 Centerline is valid? [True, True] Translation: X:113.95, Y:77.63, Z:32.43 [[ 3.39702256e-01 -9.39654268e-01 -4.06476858e-02 1.13954487e+02] [ 9.01577987e-01 3.37637340e-01 -2.70477652e-01 7.76286901e+01] [ 2.67879656e-01 5.52348100e-02 9.61867769e-01 3.24330023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.710714057 meters Centerline goodness : 0.994140 Centerline is valid? [True, True] Translation: X:114.00, Y:77.65, Z:32.41 [[ 3.38491536e-01 -9.33102291e-01 -1.21423204e-01 1.14004254e+02] [ 9.03165539e-01 3.58385051e-01 -2.36330623e-01 7.76459638e+01] [ 2.64036907e-01 -2.96693381e-02 9.64056141e-01 3.24100980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.740714057 meters Centerline goodness : 0.994272 Centerline is valid? [True, True] Translation: X:114.01, Y:77.67, Z:32.42 [[ 3.35155808e-01 -9.35346036e-01 -1.13129912e-01 1.14013165e+02] [ 9.04129747e-01 3.53071256e-01 -2.40603594e-01 7.76735492e+01] [ 2.64990538e-01 -2.16444267e-02 9.64008057e-01 3.24191428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.770714057 meters Centerline goodness : 0.993899 Centerline is valid? [True, True] Translation: X:114.03, Y:77.70, Z:32.42 [[ 3.34718261e-01 -9.35356951e-01 -1.14328739e-01 1.14026308e+02] [ 9.04537316e-01 3.52935136e-01 -2.39267702e-01 7.76993463e+01] [ 2.64151337e-01 -2.33273411e-02 9.64199101e-01 3.24249474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.800714057 meters Centerline goodness : 0.994433 Centerline is valid? [True, True] Translation: X:114.04, Y:77.72, Z:32.43 [[ 3.32473541e-01 -9.34350709e-01 -1.28257934e-01 1.14041490e+02] [ 9.04875154e-01 3.54361284e-01 -2.35858087e-01 7.77223143e+01] [ 2.65823817e-01 -3.76408447e-02 9.63286492e-01 3.24307214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.830714057 meters Centerline goodness : 0.994070 Centerline is valid? [True, True] Translation: X:114.05, Y:77.75, Z:32.44 [[ 3.33584512e-01 -9.34526509e-01 -1.24022487e-01 1.14048483e+02] [ 9.04384993e-01 3.54372683e-01 -2.37713664e-01 7.77461611e+01] [ 2.66099902e-01 -3.28664791e-02 9.63384989e-01 3.24399306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.860714057 meters Centerline goodness : 0.993736 Centerline is valid? [True, True] Translation: X:114.05, Y:77.78, Z:32.45 [[ 3.35675320e-01 -9.35966794e-01 -1.06246132e-01 1.14053553e+02] [ 9.03859267e-01 3.51797559e-01 -2.43468485e-01 7.77773166e+01] [ 2.65255547e-01 -1.43051889e-02 9.64072018e-01 3.24518046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.890714057 meters Centerline goodness : 0.993774 Centerline is valid? [True, True] Translation: X:114.07, Y:77.80, Z:32.45 [[ 3.37724462e-01 -9.31200963e-01 -1.37138447e-01 1.14072534e+02] [ 9.02483140e-01 3.61742361e-01 -2.33808996e-01 7.77973612e+01] [ 2.67331948e-01 -4.48021188e-02 9.62562413e-01 3.24541790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.920714057 meters Centerline goodness : 0.994130 Centerline is valid? [True, True] Translation: X:114.07, Y:77.83, Z:32.47 [[ 3.39729549e-01 -9.33785331e-01 -1.12377887e-01 1.14071523e+02] [ 9.01470374e-01 3.57363542e-01 -2.44218067e-01 7.78271032e+01] [ 2.68207009e-01 -1.83372420e-02 9.63186766e-01 3.24699693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.950714057 meters Centerline goodness : 0.993975 Centerline is valid? [True, True] Translation: X:114.09, Y:77.85, Z:32.48 [[ 3.41262828e-01 -9.31943616e-01 -1.22559287e-01 1.14085573e+02] [ 9.00719802e-01 3.61505599e-01 -2.40868303e-01 7.78521593e+01] [ 2.68781546e-01 -2.81921787e-02 9.62788493e-01 3.24755587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.980714057 meters Centerline goodness : 0.992740 Centerline is valid? [True, True] Translation: X:114.09, Y:77.89, Z:32.49 [[ 3.50272283e-01 -9.32097261e-01 -9.22172596e-02 1.14088512e+02] [ 8.98760470e-01 3.62189551e-01 -2.47079637e-01 7.78879511e+01] [ 2.63702381e-01 3.66392090e-03 9.64597134e-01 3.24874783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.01071405700003 meters Centerline goodness : 0.994992 Centerline is valid? [True, True] Translation: X:114.12, Y:77.87, Z:32.48 [[ 0.3356719 -0.91479803 -0.22465296 114.1248265 ] [ 0.89956277 0.38206703 -0.2116875 77.87433671] [ 0.2794838 -0.13103189 0.95116741 32.47587037] [ 0. 0. 0. 1. ]] SLAMing on 274.040714057 meters Centerline goodness : 0.992655 Centerline is valid? [True, True] Translation: X:114.07, Y:77.94, Z:32.53 [[ 3.52520293e-01 -9.35431441e-01 -2.64095049e-02 1.14070216e+02] [ 8.95887932e-01 3.45503693e-01 -2.79306305e-01 7.79403535e+01] [ 2.70396481e-01 7.48011839e-02 9.59838802e-01 3.25345679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.07071405700003 meters Centerline goodness : 0.993356 Centerline is valid? [True, True] Translation: X:114.13, Y:77.96, Z:32.51 [[ 3.55083823e-01 -9.26732003e-01 -1.22813983e-01 1.14127223e+02] [ 8.95716543e-01 3.74882604e-01 -2.39070926e-01 7.79600698e+01] [ 2.67595504e-01 -2.51162978e-02 9.63203934e-01 3.25066711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.100714057 meters Centerline goodness : 0.993835 Centerline is valid? [True, True] Translation: X:114.13, Y:77.99, Z:32.52 [[ 3.56772930e-01 -9.27306512e-01 -1.13206490e-01 1.14134877e+02] [ 8.95210476e-01 3.74006514e-01 -2.42316595e-01 7.79888585e+01] [ 2.67041721e-01 -1.48916344e-02 9.63569903e-01 3.25169809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.13071405700003 meters Centerline goodness : 0.992294 Centerline is valid? [True, True] Translation: X:114.15, Y:78.01, Z:32.52 [[ 3.58297871e-01 -9.23673007e-01 -1.35833762e-01 1.14151612e+02] [ 8.94115000e-01 3.81359110e-01 -2.34784148e-01 7.80082734e+01] [ 2.68665222e-01 -3.73283442e-02 9.62510048e-01 3.25201284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.160714057 meters Centerline goodness : 0.992256 Centerline is valid? [True, True] Translation: X:114.15, Y:78.03, Z:32.53 [[ 3.61130962e-01 -9.25343617e-01 -1.15427983e-01 1.14152235e+02] [ 8.94057526e-01 3.78755982e-01 -2.39175765e-01 7.80346446e+01] [ 2.65038806e-01 -1.68254828e-02 9.64090937e-01 3.25329186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.19071405700004 meters Centerline goodness : 0.993656 Centerline is valid? [True, True] Translation: X:114.17, Y:78.05, Z:32.54 [[ 3.59920828e-01 -9.20021504e-01 -1.54975578e-01 1.14170988e+02] [ 8.93110826e-01 3.87793711e-01 -2.27967300e-01 7.80471859e+01] [ 2.69833373e-01 -5.63601871e-02 9.61256199e-01 3.25354060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.220714057 meters Centerline goodness : 0.993875 Centerline is valid? [True, True] Translation: X:114.16, Y:78.08, Z:32.56 [[ 3.56652426e-01 -9.27021427e-01 -1.15889260e-01 1.14160366e+02] [ 8.93179821e-01 3.74714851e-01 -2.48633443e-01 7.80786093e+01] [ 2.73913956e-01 -1.48342283e-02 9.61639793e-01 3.25609965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.25071405700004 meters Centerline goodness : 0.992260 Centerline is valid? [True, True] Translation: X:114.17, Y:78.10, Z:32.57 [[ 3.58827596e-01 -9.25554430e-01 -1.20796332e-01 1.14169823e+02] [ 8.92467723e-01 3.78110923e-01 -2.46035552e-01 7.80989952e+01] [ 2.73393708e-01 -1.95224815e-02 9.61704088e-01 3.25656632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.280714057 meters Centerline goodness : 0.994176 Centerline is valid? [True, True] Translation: X:114.18, Y:78.13, Z:32.58 [[ 3.56177318e-01 -9.27483474e-01 -1.13631524e-01 1.14177323e+02] [ 8.93079378e-01 3.73663894e-01 -2.50568393e-01 7.81292618e+01] [ 2.74858042e-01 -1.22351928e-02 9.61406967e-01 3.25791021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.310714057 meters Centerline goodness : 0.993907 Centerline is valid? [True, True] Translation: X:114.19, Y:78.15, Z:32.59 [[ 3.53573004e-01 -9.26873829e-01 -1.26059652e-01 1.14191273e+02] [ 8.93740064e-01 3.74515247e-01 -2.46915021e-01 7.81526058e+01] [ 2.76070333e-01 -2.53620760e-02 9.60802756e-01 3.25854284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.340714057 meters Centerline goodness : 0.994017 Centerline is valid? [True, True] Translation: X:114.20, Y:78.18, Z:32.60 [[ 3.50072261e-01 -9.28306704e-01 -1.25283978e-01 1.14198615e+02] [ 8.94489949e-01 3.70992644e-01 -2.49503888e-01 7.81765781e+01] [ 2.78095566e-01 -2.47208691e-02 9.60235250e-01 3.25971610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.370714057 meters Centerline goodness : 0.993895 Centerline is valid? [True, True] Translation: X:114.20, Y:78.20, Z:32.61 [[ 3.48712043e-01 -9.30776860e-01 -1.09792296e-01 1.14201815e+02] [ 8.95256517e-01 3.65466366e-01 -2.54853102e-01 7.82026405e+01] [ 2.77336761e-01 -9.42192251e-03 9.60726573e-01 3.26095751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.400714057 meters Centerline goodness : 0.994337 Centerline is valid? [True, True] Translation: X:114.22, Y:78.23, Z:32.61 [[ 3.45346097e-01 -9.31752608e-01 -1.12130063e-01 1.14215325e+02] [ 8.96976679e-01 3.62847674e-01 -2.52535944e-01 7.82288281e+01] [ 2.75987157e-01 -1.33657489e-02 9.61068388e-01 3.26145264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.430714057 meters Centerline goodness : 0.994305 Centerline is valid? [True, True] Translation: X:114.22, Y:78.25, Z:32.62 [[ 3.43019979e-01 -9.32275201e-01 -1.14892313e-01 1.14224749e+02] [ 8.97082664e-01 3.61401876e-01 -2.54227019e-01 7.82494407e+01] [ 2.78531843e-01 -1.58629555e-02 9.60295985e-01 3.26212041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.460714057 meters Centerline goodness : 0.994862 Centerline is valid? [True, True] Translation: X:114.24, Y:78.27, Z:32.63 [[ 3.38785213e-01 -9.33044318e-01 -1.21049081e-01 1.14238281e+02] [ 8.98332148e-01 3.59027432e-01 -2.53177123e-01 7.82747619e+01] [ 2.79685417e-01 -2.29696158e-02 9.59816891e-01 3.26296826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.490714057 meters Centerline goodness : 0.994247 Centerline is valid? [True, True] Translation: X:114.25, Y:78.30, Z:32.64 [[ 3.37236741e-01 -9.33653414e-01 -1.20675942e-01 1.14248267e+02] [ 8.99318388e-01 3.57402588e-01 -2.51971878e-01 7.82991102e+01] [ 2.78384298e-01 -2.35519186e-02 9.60180967e-01 3.26363425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.520714057 meters Centerline goodness : 0.994132 Centerline is valid? [True, True] Translation: X:114.25, Y:78.32, Z:32.65 [[ 3.30212057e-01 -9.36753080e-01 -1.15989936e-01 1.14254963e+02] [ 9.00796135e-01 3.49454916e-01 -2.57774290e-01 7.83243509e+01] [ 2.82004113e-01 -1.93631075e-02 9.59217780e-01 3.26492104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.550714057 meters Centerline goodness : 0.995164 Centerline is valid? [True, True] Translation: X:114.27, Y:78.35, Z:32.66 [[ 3.26134891e-01 -9.37166448e-01 -1.23915622e-01 1.14267221e+02] [ 9.01839516e-01 3.47747431e-01 -2.56431690e-01 7.83471347e+01] [ 2.83410515e-01 -2.81206832e-02 9.58586306e-01 3.26569949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.580714057 meters Centerline goodness : 0.994342 Centerline is valid? [True, True] Translation: X:114.27, Y:78.37, Z:32.67 [[ 3.20524427e-01 -9.39873353e-01 -1.17907469e-01 1.14274191e+02] [ 9.03773887e-01 3.40711706e-01 -2.59052687e-01 7.83709887e+01] [ 2.83649172e-01 -2.35289773e-02 9.58639418e-01 3.26664931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.610714057 meters Centerline goodness : 0.994650 Centerline is valid? [True, True] Translation: X:114.28, Y:78.40, Z:32.68 [[ 3.17807214e-01 -9.41610840e-01 -1.11209713e-01 1.14282118e+02] [ 9.04615401e-01 3.36255283e-01 -2.61922435e-01 7.83973037e+01] [ 2.84023857e-01 -1.73611799e-02 9.58660022e-01 3.26768203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.640714057 meters Centerline goodness : 0.993993 Centerline is valid? [True, True] Translation: X:114.29, Y:78.42, Z:32.68 [[ 3.14691787e-01 -9.42063726e-01 -1.16125001e-01 1.14293975e+02] [ 9.05456029e-01 3.34645393e-01 -2.61078226e-01 7.84217330e+01] [ 2.84813023e-01 -2.29869088e-02 9.58307437e-01 3.26832358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.670714057 meters Centerline goodness : 0.993514 Centerline is valid? [True, True] Translation: X:114.30, Y:78.45, Z:32.69 [[ 3.11693416e-01 -9.43859422e-01 -1.09437684e-01 1.14302535e+02] [ 9.06358149e-01 3.29913938e-01 -2.63953973e-01 7.84484354e+01] [ 2.85240462e-01 -1.69170213e-02 9.58306680e-01 3.26918876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.700714057 meters Centerline goodness : 0.993523 Centerline is valid? [True, True] Translation: X:114.32, Y:78.47, Z:32.70 [[ 3.09914031e-01 -9.43550599e-01 -1.16899786e-01 1.14315021e+02] [ 9.06699278e-01 3.30305702e-01 -2.62287178e-01 7.84715622e+01] [ 2.86093890e-01 -2.47064754e-02 9.57883018e-01 3.26968800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.730714057 meters Centerline goodness : 0.993464 Centerline is valid? [True, True] Translation: X:114.32, Y:78.49, Z:32.71 [[ 3.09414823e-01 -9.44196877e-01 -1.12936817e-01 1.14321964e+02] [ 9.06479087e-01 3.28750316e-01 -2.64988480e-01 7.84948138e+01] [ 2.87329309e-01 -2.03834989e-02 9.57614944e-01 3.27056869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.76071405700003 meters Centerline goodness : 0.993649 Centerline is valid? [True, True] Translation: X:114.33, Y:78.52, Z:32.71 [[ 3.06622555e-01 -9.44283723e-01 -1.19628007e-01 1.14331497e+02] [ 9.07214922e-01 3.27960622e-01 -2.63444331e-01 7.85178923e+01] [ 2.87999469e-01 -2.77503393e-02 9.57228408e-01 3.27130074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.790714057 meters Centerline goodness : 0.993415 Centerline is valid? [True, True] Translation: X:114.34, Y:78.54, Z:32.72 [[ 3.06642677e-01 -9.44420155e-01 -1.18494044e-01 1.14339214e+02] [ 9.07880211e-01 3.27600168e-01 -2.61594441e-01 7.85404991e+01] [ 2.85873731e-01 -2.73623780e-02 9.57876563e-01 3.27198715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.82071405700003 meters Centerline goodness : 0.993608 Centerline is valid? [True, True] Translation: X:114.34, Y:78.57, Z:32.73 [[ 3.04977449e-01 -9.45877205e-01 -1.10928214e-01 1.14342815e+02] [ 9.07753256e-01 3.23943988e-01 -2.66541403e-01 7.85655288e+01] [ 2.88049965e-01 -1.94063299e-02 9.57418723e-01 3.27325109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.850714057 meters Centerline goodness : 0.993488 Centerline is valid? [True, True] Translation: X:114.35, Y:78.59, Z:32.74 [[ 3.05024714e-01 -9.45919221e-01 -1.10438905e-01 1.14352182e+02] [ 9.08112779e-01 3.23826448e-01 -2.65457365e-01 7.85897923e+01] [ 2.86864262e-01 -1.93199240e-02 9.57776402e-01 3.27412168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.88071405700003 meters Centerline goodness : 0.992490 Centerline is valid? [True, True] Translation: X:114.36, Y:78.62, Z:32.75 [[ 3.04558174e-01 -9.46113008e-01 -1.10065862e-01 1.14362428e+02] [ 9.08512610e-01 3.23257739e-01 -2.64781555e-01 7.86153845e+01] [ 2.86092915e-01 -1.93548365e-02 9.58006385e-01 3.27476383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.910714057 meters Centerline goodness : 0.993499 Centerline is valid? [True, True] Translation: X:114.37, Y:78.64, Z:32.76 [[ 3.05158204e-01 -9.45884130e-01 -1.10370661e-01 1.14370725e+02] [ 9.07989595e-01 3.23940624e-01 -2.65739286e-01 7.86395721e+01] [ 2.87112114e-01 -1.91228884e-02 9.57706087e-01 3.27561777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.94071405700004 meters Centerline goodness : 0.994551 Centerline is valid? [True, True] Translation: X:114.38, Y:78.67, Z:32.76 [[ 3.04581647e-01 -9.45459361e-01 -1.15484273e-01 1.14383293e+02] [ 9.08385451e-01 3.24802208e-01 -2.63323751e-01 7.86664521e+01] [ 2.86471452e-01 -2.47006515e-02 9.57770320e-01 3.27642623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.970714057 meters Centerline goodness : 0.994770 Centerline is valid? [True, True] Translation: X:114.39, Y:78.69, Z:32.77 [[ 3.05070110e-01 -9.46032009e-01 -1.09341970e-01 1.14389260e+02] [ 9.08149937e-01 3.23558641e-01 -2.65656727e-01 7.86934599e+01] [ 2.86698307e-01 -1.82549764e-02 9.57846980e-01 3.27744891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.00071405700004 meters Centerline goodness : 0.994654 Centerline is valid? [True, True] Translation: X:114.40, Y:78.72, Z:32.78 [[ 3.05378408e-01 -9.45380175e-01 -1.14019089e-01 1.14400876e+02] [ 9.07902514e-01 3.25175821e-01 -2.64525444e-01 7.87187556e+01] [ 2.87153361e-01 -2.27378584e-02 9.57614712e-01 3.27815818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.030714057 meters Centerline goodness : 0.994692 Centerline is valid? [True, True] Translation: X:114.41, Y:78.74, Z:32.79 [[ 3.06342093e-01 -9.44936040e-01 -1.15110397e-01 1.14410225e+02] [ 9.07440850e-01 3.26417140e-01 -2.64580715e-01 7.87423983e+01] [ 2.87585860e-01 -2.34036664e-02 9.57468872e-01 3.27888051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.060714057 meters Centerline goodness : 0.994991 Centerline is valid? [True, True] Translation: X:114.42, Y:78.77, Z:32.80 [[ 3.08440493e-01 -9.43873010e-01 -1.18187152e-01 1.14419611e+02] [ 9.06159515e-01 3.29341828e-01 -2.65346741e-01 7.87674109e+01] [ 2.89377600e-01 -2.52527327e-02 9.56881865e-01 3.27973302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.090714057 meters Centerline goodness : 0.994469 Centerline is valid? [True, True] Translation: X:114.43, Y:78.80, Z:32.81 [[ 3.11059391e-01 -9.44465708e-01 -1.05955564e-01 1.14425440e+02] [ 9.05655072e-01 3.28371559e-01 -2.68255492e-01 7.87958365e+01] [ 2.88150907e-01 -1.25158043e-02 9.57503216e-01 3.28077769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.120714057 meters Centerline goodness : 0.994074 Centerline is valid? [True, True] Translation: X:114.43, Y:78.82, Z:32.81 [[ 3.19602664e-01 -9.42778665e-01 -9.49869831e-02 1.14431196e+02] [ 9.03577540e-01 3.33419203e-01 -2.69033945e-01 7.88241294e+01] [ 2.85309947e-01 1.55860762e-04 9.58435292e-01 3.28142626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.150714057 meters Centerline goodness : 0.994281 Centerline is valid? [True, True] Translation: X:114.44, Y:78.86, Z:32.82 [[ 3.21512140e-01 -9.42335872e-01 -9.29141967e-02 1.14444461e+02] [ 9.02755141e-01 3.34655091e-01 -2.70257518e-01 7.88576367e+01] [ 2.85767563e-01 3.01230409e-03 9.58294227e-01 3.28226463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.180714057 meters Centerline goodness : 0.993545 Centerline is valid? [True, True] Translation: X:114.47, Y:78.87, Z:32.81 [[ 3.26712372e-01 -9.34960483e-01 -1.38231408e-01 1.14471390e+02] [ 9.01484976e-01 3.52205349e-01 -2.51547670e-01 7.88727634e+01] [ 2.83872972e-01 -4.24298013e-02 9.57922673e-01 3.28136123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.210714057 meters Centerline goodness : 0.993555 Centerline is valid? [True, True] Translation: X:114.47, Y:78.90, Z:32.84 [[ 3.23990117e-01 -9.37796054e-01 -1.24775663e-01 1.14468920e+02] [ 8.99113023e-01 3.46254014e-01 -2.67775896e-01 7.89026726e+01] [ 2.94323253e-01 -2.54306796e-02 9.55367523e-01 3.28371454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.240714057 meters Centerline goodness : 0.993555 Centerline is valid? [True, True] Translation: X:114.48, Y:78.93, Z:32.85 [[ 3.23231090e-01 -9.38586076e-01 -1.20738729e-01 1.14476856e+02] [ 8.99275124e-01 3.44379640e-01 -2.69642198e-01 7.89280451e+01] [ 2.94662373e-01 -2.14205938e-02 9.55361316e-01 3.28471680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.270714057 meters Centerline goodness : 0.993616 Centerline is valid? [True, True] Translation: X:114.48, Y:78.96, Z:32.86 [[ 3.31911497e-01 -9.37570981e-01 -1.03900977e-01 1.14481787e+02] [ 8.96804136e-01 3.47785634e-01 -2.73473023e-01 7.89595101e+01] [ 2.92535638e-01 -2.40998530e-03 9.56251584e-01 3.28590922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.300714057 meters Centerline goodness : 0.991681 Centerline is valid? [True, True] Translation: X:114.50, Y:78.98, Z:32.85 [[ 3.39461432e-01 -9.31749890e-01 -1.28872337e-01 1.14501949e+02] [ 8.96063756e-01 3.61999987e-01 -2.56954772e-01 7.89768373e+01] [ 2.86069365e-01 -2.82515956e-02 9.57792340e-01 3.28543393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.330714057 meters Centerline goodness : 0.991393 Centerline is valid? [True, True] Translation: X:114.51, Y:79.00, Z:32.87 [[ 3.41581090e-01 -9.32569962e-01 -1.16771677e-01 1.14505002e+02] [ 8.94985787e-01 3.60683998e-01 -2.62502370e-01 7.90030602e+01] [ 2.86919500e-01 -1.48431454e-02 9.57839695e-01 3.28689478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.360714057 meters Centerline goodness : 0.992768 Centerline is valid? [True, True] Translation: X:114.51, Y:79.04, Z:32.89 [[ 3.40373664e-01 -9.35641906e-01 -9.33809021e-02 1.14507267e+02] [ 8.94415016e-01 3.52808083e-01 -2.74860393e-01 7.90393636e+01] [ 2.90116439e-01 1.00339582e-02 9.56938750e-01 3.28865752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.390714057 meters Centerline goodness : 0.990634 Centerline is valid? [True, True] Translation: X:114.53, Y:79.06, Z:32.88 [[ 3.54101766e-01 -9.29371169e-01 -1.04312840e-01 1.14527907e+02] [ 8.93464796e-01 3.69137441e-01 -2.55848016e-01 7.90636842e+01] [ 2.76283544e-01 -2.60361583e-03 9.61072643e-01 3.28810538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.420714057 meters Centerline goodness : 0.990326 Centerline is valid? [True, True] Translation: X:114.56, Y:79.08, Z:32.88 [[ 3.46769763e-01 -9.24765813e-01 -1.56712868e-01 1.14555226e+02] [ 8.93439829e-01 3.76529521e-01 -2.44930178e-01 7.90777987e+01] [ 2.85510077e-01 -5.50791383e-02 9.56791662e-01 3.28802896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.450714057 meters Centerline goodness : 0.992088 Centerline is valid? [True, True] Translation: X:114.53, Y:79.13, Z:32.92 [[ 3.45717642e-01 -9.36448963e-01 -5.95201846e-02 1.14531221e+02] [ 8.94357484e-01 3.48041988e-01 -2.81054203e-01 7.91265508e+01] [ 2.83908440e-01 4.39330737e-02 9.57844394e-01 3.29196520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.480714057 meters Centerline goodness : 0.992260 Centerline is valid? [True, True] Translation: X:114.57, Y:79.15, Z:32.90 [[ 3.42149510e-01 -9.31114803e-01 -1.26328688e-01 1.14574499e+02] [ 8.94938602e-01 3.63888132e-01 -2.58205976e-01 7.91489410e+01] [ 2.86388917e-01 -2.47113710e-02 9.57794726e-01 3.29035703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.51071405700003 meters Centerline goodness : 0.991381 Centerline is valid? [True, True] Translation: X:114.59, Y:79.16, Z:32.90 [[ 3.40011354e-01 -9.28770443e-01 -1.47572841e-01 1.14592871e+02] [ 8.96657224e-01 3.67485401e-01 -2.46901402e-01 7.91632116e+01] [ 2.83545589e-01 -4.83729734e-02 9.57737936e-01 3.29044731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.540714057 meters Centerline goodness : 0.993261 Centerline is valid? [True, True] Translation: X:114.60, Y:79.16, Z:32.91 [[ 3.15309582e-01 -9.27201689e-01 -2.02180353e-01 1.14597839e+02] [ 8.99998486e-01 3.59734535e-01 -2.46158057e-01 7.91601067e+01] [ 3.00969421e-01 -1.04346017e-01 9.47907863e-01 3.29139457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.57071405700003 meters Centerline goodness : 0.992804 Centerline is valid? [True, True] Translation: X:114.56, Y:79.22, Z:32.97 [[ 3.26844284e-01 -9.44578927e-01 -3.07158844e-02 1.14556599e+02] [ 8.99546970e-01 3.20899840e-01 -2.96375675e-01 7.92151562e+01] [ 2.89806939e-01 6.92383146e-02 9.54577390e-01 3.29700157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.600714057 meters Centerline goodness : 0.994236 Centerline is valid? [True, True] Translation: X:114.61, Y:79.22, Z:32.94 [[ 3.07072804e-01 -9.37126683e-01 -1.65830856e-01 1.14607627e+02] [ 9.01543871e-01 3.42257733e-01 -2.64723048e-01 7.92187620e+01] [ 3.04835925e-01 -6.82145430e-02 9.49958860e-01 3.29410590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.63071405700003 meters Centerline goodness : 0.994690 Centerline is valid? [True, True] Translation: X:114.59, Y:79.25, Z:32.97 [[ 3.03641847e-01 -9.45933943e-01 -1.14064035e-01 1.14593503e+02] [ 9.01819864e-01 3.23962592e-01 -2.85953092e-01 7.92455685e+01] [ 3.07445217e-01 -1.60378873e-02 9.51430620e-01 3.29700507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.660714057 meters Centerline goodness : 0.994459 Centerline is valid? [True, True] Translation: X:114.60, Y:79.29, Z:32.99 [[ 3.08089193e-01 -9.49797899e-01 -5.44518204e-02 1.14603584e+02] [ 9.03713141e-01 3.10066109e-01 -2.95231379e-01 7.92910904e+01] [ 2.97293808e-01 4.17487718e-02 9.53872859e-01 3.29879282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.69071405700004 meters Centerline goodness : 0.995144 Centerline is valid? [True, True] Translation: X:114.65, Y:79.31, Z:32.97 [[ 3.03225759e-01 -9.44724894e-01 -1.24695688e-01 1.14648699e+02] [ 9.05443844e-01 3.26429878e-01 -2.71320808e-01 7.93146564e+01] [ 2.97027919e-01 -3.06334852e-02 9.54377286e-01 3.29729266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.720714057 meters Centerline goodness : 0.995395 Centerline is valid? [True, True] Translation: X:114.66, Y:79.32, Z:32.98 [[ 2.85502328e-01 -9.41806897e-01 -1.77449120e-01 1.14660583e+02] [ 9.08009550e-01 3.25055645e-01 -2.64305667e-01 7.93165847e+01] [ 3.06605738e-01 -8.56656118e-02 9.47973799e-01 3.29758046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.75071405700004 meters Centerline goodness : 0.995809 Centerline is valid? [True, True] Translation: X:114.64, Y:79.36, Z:33.02 [[ 2.94875673e-01 -9.53481830e-01 -6.26157962e-02 1.14638853e+02] [ 9.06521343e-01 2.99866719e-01 -2.97151485e-01 7.93640120e+01] [ 3.02104935e-01 3.08601885e-02 9.52775030e-01 3.30169996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.780714057 meters Centerline goodness : 0.994145 Centerline is valid? [True, True] Translation: X:114.69, Y:79.38, Z:33.00 [[ 2.89958101e-01 -9.44992600e-01 -1.51371350e-01 1.14686039e+02] [ 9.07809083e-01 3.21655620e-01 -2.69110258e-01 7.93786422e+01] [ 3.02996648e-01 -5.93855865e-02 9.51139518e-01 3.29994860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.810714057 meters Centerline goodness : 0.994517 Centerline is valid? [True, True] Translation: X:114.68, Y:79.40, Z:33.02 [[ 2.89184793e-01 -9.49067224e-01 -1.25074215e-01 1.14682607e+02] [ 9.07474897e-01 3.13383427e-01 -2.79785880e-01 7.94017486e+01] [ 3.04731794e-01 -3.25918885e-02 9.51880403e-01 3.30177162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.840714057 meters Centerline goodness : 0.994754 Centerline is valid? [True, True] Translation: X:114.70, Y:79.42, Z:33.02 [[ 2.92155611e-01 -9.46105543e-01 -1.39747635e-01 1.14698208e+02] [ 9.08440332e-01 3.20213776e-01 -2.68699274e-01 7.94205481e+01] [ 2.98966991e-01 -4.84503875e-02 9.53032685e-01 3.30211088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.870714057 meters Centerline goodness : 0.994527 Centerline is valid? [True, True] Translation: X:114.69, Y:79.45, Z:33.05 [[ 2.88755889e-01 -9.52702273e-01 -9.47545019e-02 1.14688321e+02] [ 9.06567458e-01 3.03902302e-01 -2.92880242e-01 7.94521278e+01] [ 3.07823783e-01 -1.33045336e-03 9.51442457e-01 3.30468995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.900714057 meters Centerline goodness : 0.996202 Centerline is valid? [True, True] Translation: X:114.70, Y:79.47, Z:33.05 [[ 2.80434159e-01 -9.49450692e-01 -1.41067595e-01 1.14704519e+02] [ 9.07062286e-01 3.10203306e-01 -2.84625926e-01 7.94665733e+01] [ 3.13997917e-01 -4.81382631e-02 9.48202518e-01 3.30460786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.930714057 meters Centerline goodness : 0.995750 Centerline is valid? [True, True] Translation: X:114.70, Y:79.49, Z:33.06 [[ 2.81515071e-01 -9.52601684e-01 -1.15322572e-01 1.14702035e+02] [ 9.05906140e-01 3.03472204e-01 -2.95361961e-01 7.94919805e+01] [ 3.16359497e-01 -2.13225826e-02 9.48399713e-01 3.30648812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.960714057 meters Centerline goodness : 0.996081 Centerline is valid? [True, True] Translation: X:114.71, Y:79.52, Z:33.07 [[ 2.83654367e-01 -9.51895718e-01 -1.15908332e-01 1.14711550e+02] [ 9.04616037e-01 3.05728164e-01 -2.96985043e-01 7.95165379e+01] [ 3.18135233e-01 -2.06114317e-02 9.47821261e-01 3.30738887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.990714057 meters Centerline goodness : 0.995424 Centerline is valid? [True, True] Translation: X:114.72, Y:79.54, Z:33.08 [[ 2.85433169e-01 -9.51373615e-01 -1.15828112e-01 1.14720610e+02] [ 9.04033574e-01 3.07394098e-01 -2.97038995e-01 7.95401512e+01] [ 3.18199941e-01 -1.99277208e-02 9.47814161e-01 3.30821913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.020714057 meters Centerline goodness : 0.995066 Centerline is valid? [True, True] Translation: X:114.72, Y:79.59, Z:33.10 [[ 2.98138658e-01 -9.53260773e-01 -4.90636286e-02 1.14722116e+02] [ 9.03470596e-01 2.98404889e-01 -3.07726185e-01 7.95862457e+01] [ 3.07984128e-01 4.74175263e-02 9.50209111e-01 3.31013255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.050714057 meters Centerline goodness : 0.994617 Centerline is valid? [True, True] Translation: X:114.77, Y:79.61, Z:33.08 [[ 3.05116135e-01 -9.45030470e-01 -1.17565110e-01 1.14766160e+02] [ 9.03375243e-01 3.26288275e-01 -2.78296841e-01 7.96106255e+01] [ 3.01359111e-01 -2.12925535e-02 9.53272948e-01 3.30811379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.080714057 meters Centerline goodness : 0.996229 Centerline is valid? [True, True] Translation: X:114.79, Y:79.61, Z:33.08 [[ 2.93968834e-01 -9.35410742e-01 -1.96441004e-01 1.14785200e+02] [ 9.03283492e-01 3.39078071e-01 -2.62878291e-01 7.96097451e+01] [ 3.12508014e-01 -1.00163891e-01 9.44619466e-01 3.30789204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.110714057 meters Centerline goodness : 0.994561 Centerline is valid? [True, True] Translation: X:114.75, Y:79.66, Z:33.13 [[ 3.09702472e-01 -9.49774022e-01 -4.48741118e-02 1.14746429e+02] [ 9.00514471e-01 3.08135338e-01 -3.06800100e-01 7.96626441e+01] [ 3.05218065e-01 5.46069623e-02 9.50715527e-01 3.31274548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.140714057 meters Centerline goodness : 0.994584 Centerline is valid? [True, True] Translation: X:114.81, Y:79.67, Z:33.10 [[ 3.10199065e-01 -9.36342372e-01 -1.64436927e-01 1.14806486e+02] [ 9.01559424e-01 3.44615762e-01 -2.61592398e-01 7.96729648e+01] [ 3.01607603e-01 -6.71039437e-02 9.51067776e-01 3.30975388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.170714057 meters Centerline goodness : 0.995258 Centerline is valid? [True, True] Translation: X:114.78, Y:79.71, Z:33.13 [[ 3.12210109e-01 -9.46698877e-01 -7.92848256e-02 1.14780777e+02] [ 8.99506915e-01 3.21429891e-01 -2.95922514e-01 7.97112936e+01] [ 3.05634024e-01 2.10727514e-02 9.51915848e-01 3.31324562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.200714057 meters Centerline goodness : 0.995766 Centerline is valid? [True, True] Translation: X:114.82, Y:79.71, Z:33.12 [[ 3.01157377e-01 -9.34851063e-01 -1.88036497e-01 1.14817961e+02] [ 8.99841429e-01 3.43866375e-01 -2.68405139e-01 7.97119915e+01] [ 3.15578258e-01 -8.83708422e-02 9.44775612e-01 3.31182807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.230714057 meters Centerline goodness : 0.994020 Centerline is valid? [True, True] Translation: X:114.78, Y:79.76, Z:33.16 [[ 3.12651555e-01 -9.49170011e-01 -3.64046101e-02 1.14781686e+02] [ 8.99346675e-01 3.08137638e-01 -3.10204375e-01 7.97645099e+01] [ 3.05654320e-01 6.42455150e-02 9.49972605e-01 3.31632520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.26071405700003 meters Centerline goodness : 0.995340 Centerline is valid? [True, True] Translation: X:114.82, Y:79.80, Z:33.15 [[ 3.08956016e-01 -9.46294484e-01 -9.52519230e-02 1.14823462e+02] [ 8.99570696e-01 3.23266357e-01 -2.93719978e-01 7.97972839e+01] [ 3.08737337e-01 5.06071544e-03 9.51133874e-01 3.31534162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.290714057 meters Centerline goodness : 0.994697 Centerline is valid? [True, True] Translation: X:114.85, Y:79.82, Z:33.14 [[ 3.12224558e-01 -9.40686389e-01 -1.32758968e-01 1.14853105e+02] [ 9.01150752e-01 3.37499298e-01 -2.72069011e-01 7.98157302e+01] [ 3.00737674e-01 -3.46892173e-02 9.53075815e-01 3.31437252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.32071405700003 meters Centerline goodness : 0.993561 Centerline is valid? [True, True] Translation: X:114.86, Y:79.84, Z:33.16 [[ 3.10812338e-01 -9.43575692e-01 -1.14283003e-01 1.14856838e+02] [ 9.01659524e-01 3.30747950e-01 -2.78596297e-01 7.98448742e+01] [ 3.00675562e-01 -1.64531922e-02 9.53584552e-01 3.31574111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.350714057 meters Centerline goodness : 0.995079 Centerline is valid? [True, True] Translation: X:114.88, Y:79.86, Z:33.16 [[ 3.02523477e-01 -9.40711219e-01 -1.53433858e-01 1.14879487e+02] [ 9.03413070e-01 3.34317472e-01 -2.68470954e-01 7.98582232e+01] [ 3.03849258e-01 -5.73953863e-02 9.50989694e-01 3.31586994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.38071405700003 meters Centerline goodness : 0.994613 Centerline is valid? [True, True] Translation: X:114.87, Y:79.89, Z:33.18 [[ 2.99437629e-01 -9.46620217e-01 -1.19361930e-01 1.14873171e+02] [ 9.04208633e-01 3.21476106e-01 -2.81175855e-01 7.98851724e+01] [ 3.04538757e-01 -2.37334559e-02 9.52204216e-01 3.31780563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.410714057 meters Centerline goodness : 0.993635 Centerline is valid? [True, True] Translation: X:114.88, Y:79.92, Z:33.19 [[ 2.92902852e-01 -9.50420551e-01 -1.04444698e-01 1.14878772e+02] [ 9.06220746e-01 3.10783869e-01 -2.86665914e-01 7.99163656e+01] [ 3.04912904e-01 -1.06846878e-02 9.52320303e-01 3.31928313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.44071405700004 meters Centerline goodness : 0.996441 Centerline is valid? [True, True] Translation: X:114.91, Y:79.91, Z:33.19 [[ 0.27208309 -0.93825757 -0.21364346 114.91075742] [ 0.90698804 0.32422155 -0.26879933 79.91268554] [ 0.32147082 -0.12063631 0.9392036 33.18809482] [ 0. 0. 0. 1. ]] SLAMing on 276.470714057 meters Centerline goodness : 0.994974 Centerline is valid? [True, True] Translation: X:114.86, Y:79.96, Z:33.23 [[ 2.87664627e-01 -9.56917234e-01 -3.94774464e-02 1.14863220e+02] [ 9.07188992e-01 2.85465695e-01 -3.09059006e-01 7.99602435e+01] [ 3.07013346e-01 5.30918388e-02 9.50223164e-01 3.32340657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.50071405700004 meters Centerline goodness : 0.993938 Centerline is valid? [True, True] Translation: X:114.91, Y:79.98, Z:33.21 [[ 2.84079235e-01 -9.50520086e-01 -1.25740031e-01 1.14914058e+02] [ 9.09863188e-01 3.08613685e-01 -2.77320342e-01 7.99798869e+01] [ 3.02403649e-01 -3.56252750e-02 9.52513975e-01 3.32115430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.530714057 meters Centerline goodness : 0.994551 Centerline is valid? [True, True] Translation: X:114.92, Y:80.01, Z:33.23 [[ 2.76805705e-01 -9.54987733e-01 -1.06663171e-01 1.14916931e+02] [ 9.11128475e-01 2.96108415e-01 -2.86643872e-01 8.00115936e+01] [ 3.05325244e-01 -1.78391933e-02 9.52081015e-01 3.32280781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.560714057 meters Centerline goodness : 0.996071 Centerline is valid? [True, True] Translation: X:114.94, Y:80.01, Z:33.22 [[ 0.26263368 -0.94321574 -0.2033903 114.94262516] [ 0.9126059 0.3112689 -0.26507007 80.00589183] [ 0.31332734 -0.11599886 0.94253395 33.22361225] [ 0. 0. 0. 1. ]] SLAMing on 276.590714057 meters Centerline goodness : 0.994013 Centerline is valid? [True, True] Translation: X:114.90, Y:80.06, Z:33.27 [[ 2.69493323e-01 -9.61574368e-01 -5.24221630e-02 1.14902960e+02] [ 9.10695532e-01 2.72174115e-01 -3.10732844e-01 8.00574544e+01] [ 3.13060694e-01 3.59997969e-02 9.49050587e-01 3.32702307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.620714057 meters Centerline goodness : 0.995720 Centerline is valid? [True, True] Translation: X:114.95, Y:80.06, Z:33.25 [[ 2.53760470e-01 -9.50876083e-01 -1.77314123e-01 1.14948163e+02] [ 9.11962805e-01 2.96294222e-01 -2.83784384e-01 8.00635805e+01] [ 3.22380933e-01 -8.96906262e-02 9.42351381e-01 3.32540758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.650714057 meters Centerline goodness : 0.994864 Centerline is valid? [True, True] Translation: X:114.92, Y:80.11, Z:33.29 [[ 2.65307228e-01 -9.63339562e-01 -3.98617941e-02 1.14916307e+02] [ 9.10907953e-01 2.63988848e-01 -3.17106589e-01 8.01133095e+01] [ 3.16004391e-01 4.78202446e-02 9.47551819e-01 3.32938580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.680714057 meters Centerline goodness : 0.995410 Centerline is valid? [True, True] Translation: X:114.96, Y:80.14, Z:33.28 [[ 2.62030011e-01 -9.58059338e-01 -1.16028353e-01 1.14962309e+02] [ 9.12083646e-01 2.85136319e-01 -2.94619588e-01 8.01413100e+01] [ 3.15346945e-01 -2.86283900e-02 9.48544527e-01 3.32786290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.710714057 meters Centerline goodness : 0.995215 Centerline is valid? [True, True] Translation: X:114.97, Y:80.16, Z:33.28 [[ 2.63074582e-01 -9.56492363e-01 -1.26151193e-01 1.14974699e+02] [ 9.12604782e-01 2.89128055e-01 -2.89063106e-01 8.01633997e+01] [ 3.12960503e-01 -3.90810263e-02 9.48961747e-01 3.32829378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.740714057 meters Centerline goodness : 0.995779 Centerline is valid? [True, True] Translation: X:114.99, Y:80.16, Z:33.28 [[ 2.49778913e-01 -9.47978686e-01 -1.97349704e-01 1.14990598e+02] [ 9.13287584e-01 2.98362773e-01 -2.77282246e-01 8.01635208e+01] [ 3.21739465e-01 -1.10977777e-01 9.40301893e-01 3.32844499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.770714057 meters Centerline goodness : 0.994622 Centerline is valid? [True, True] Translation: X:114.95, Y:80.21, Z:33.34 [[ 2.62019255e-01 -9.64115726e-01 -4.27408017e-02 1.14948257e+02] [ 9.10486119e-01 2.61641364e-01 -3.20248066e-01 8.02142078e+01] [ 3.19938958e-01 4.49962528e-02 9.46369061e-01 3.33351195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.800714057 meters Centerline goodness : 0.995549 Centerline is valid? [True, True] Translation: X:114.99, Y:80.24, Z:33.31 [[ 2.65069633e-01 -9.56074148e-01 -1.25141174e-01 1.14994421e+02] [ 9.11443410e-01 2.90791789e-01 -2.91051622e-01 8.02367839e+01] [ 3.14656958e-01 -3.69101511e-02 9.48487554e-01 3.33138660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.830714057 meters Centerline goodness : 0.995648 Centerline is valid? [True, True] Translation: X:115.00, Y:80.27, Z:33.33 [[ 2.62841318e-01 -9.58461208e-01 -1.10754482e-01 1.14998141e+02] [ 9.11064731e-01 2.84338668e-01 -2.98517299e-01 8.02696352e+01] [ 3.17609033e-01 -2.24418220e-02 9.47956152e-01 3.33308141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.860714057 meters Centerline goodness : 0.996242 Centerline is valid? [True, True] Translation: X:115.02, Y:80.27, Z:33.33 [[ 2.52386710e-01 -9.48267857e-01 -1.92585101e-01 1.15020187e+02] [ 9.10789853e-01 3.00016664e-01 -2.83640345e-01 8.02705180e+01] [ 3.26745761e-01 -1.03817503e-01 9.39392960e-01 3.33258294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.890714057 meters Centerline goodness : 0.995352 Centerline is valid? [True, True] Translation: X:114.99, Y:80.32, Z:33.37 [[ 2.61877821e-01 -9.63062919e-01 -6.26882904e-02 1.14986837e+02] [ 9.08698232e-01 2.67932613e-01 -3.20124409e-01 8.03170277e+01] [ 3.25096185e-01 2.68687440e-02 9.45299181e-01 3.33696013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.920714057 meters Centerline goodness : 0.994148 Centerline is valid? [True, True] Translation: X:115.03, Y:80.33, Z:33.35 [[ 2.60568821e-01 -9.53175414e-01 -1.53494366e-01 1.15029444e+02] [ 9.09291939e-01 2.95724350e-01 -2.92805870e-01 8.03298016e+01] [ 3.24487378e-01 -6.32751091e-02 9.43771266e-01 3.33517327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.950714057 meters Centerline goodness : 0.995562 Centerline is valid? [True, True] Translation: X:115.02, Y:80.36, Z:33.38 [[ 2.56877814e-01 -9.59671158e-01 -1.14214956e-01 1.15019823e+02] [ 9.08880949e-01 2.80061990e-01 -3.09031880e-01 8.03611122e+01] [ 3.28556250e-01 -2.44243637e-02 9.44168545e-01 3.33776561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.980714057 meters Centerline goodness : 0.994903 Centerline is valid? [True, True] Translation: X:115.03, Y:80.39, Z:33.38 [[ 2.56099559e-01 -9.58801319e-01 -1.22935136e-01 1.15031447e+02] [ 9.09164977e-01 2.82116540e-01 -3.06315692e-01 8.03852342e+01] [ 3.28377924e-01 -3.33210062e-02 9.43958500e-01 3.33838184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.01071405700003 meters Centerline goodness : 0.995408 Centerline is valid? [True, True] Translation: X:115.03, Y:80.40, Z:33.39 [[ 2.50018014e-01 -9.58202253e-01 -1.39066295e-01 1.15030966e+02] [ 9.08734785e-01 2.81794792e-01 -3.07884371e-01 8.03988026e+01] [ 3.34203655e-01 -4.93977404e-02 9.41205493e-01 3.33912387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.040714057 meters Centerline goodness : 0.995875 Centerline is valid? [True, True] Translation: X:115.03, Y:80.44, Z:33.42 [[ 2.56930113e-01 -9.63265755e-01 -7.81409114e-02 1.15029607e+02] [ 9.08311365e-01 2.68304691e-01 -3.20909735e-01 8.04417825e+01] [ 3.30086931e-01 1.14750966e-02 9.43880787e-01 3.34156844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.07071405700003 meters Centerline goodness : 0.994377 Centerline is valid? [True, True] Translation: X:115.06, Y:80.46, Z:33.41 [[ 2.55796635e-01 -9.57477124e-01 -1.33437773e-01 1.15061598e+02] [ 9.09144442e-01 2.85184390e-01 -3.03523058e-01 8.04643129e+01] [ 3.28670754e-01 -4.36740326e-02 9.43434213e-01 3.34060688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.100714057 meters Centerline goodness : 0.994570 Centerline is valid? [True, True] Translation: X:115.06, Y:80.49, Z:33.42 [[ 2.57297748e-01 -9.58526281e-01 -1.22577473e-01 1.15062053e+02] [ 9.07906665e-01 2.83226660e-01 -3.09011565e-01 8.04865918e+01] [ 3.30912914e-01 -3.17809253e-02 9.43125981e-01 3.34193047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.13071405700003 meters Centerline goodness : 0.994318 Centerline is valid? [True, True] Translation: X:115.07, Y:80.51, Z:33.43 [[ 2.54619110e-01 -9.59050743e-01 -1.24059584e-01 1.15071704e+02] [ 9.09129883e-01 2.81121183e-01 -3.07333266e-01 8.05145400e+01] [ 3.29623974e-01 -3.45333522e-02 9.43480515e-01 3.34294656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.160714057 meters Centerline goodness : 0.994318 Centerline is valid? [True, True] Translation: X:115.08, Y:80.54, Z:33.44 [[ 2.53874768e-01 -9.59437238e-01 -1.22587884e-01 1.15079603e+02] [ 9.09189128e-01 2.79959778e-01 -3.08216892e-01 8.05398785e+01] [ 3.30034440e-01 -3.32070788e-02 9.43384629e-01 3.34395472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.19071405700004 meters Centerline goodness : 0.994610 Centerline is valid? [True, True] Translation: X:115.08, Y:80.55, Z:33.45 [[ 2.46547938e-01 -9.57758334e-01 -1.48030699e-01 1.15083017e+02] [ 9.09907556e-01 2.81342757e-01 -3.04818787e-01 8.05519725e+01] [ 3.33590098e-01 -5.95418085e-02 9.40836021e-01 3.34454268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.220714057 meters Centerline goodness : 0.993882 Centerline is valid? [True, True] Translation: X:115.07, Y:80.59, Z:33.47 [[ 2.56097837e-01 -9.62773148e-01 -8.64971905e-02 1.15073539e+02] [ 9.07474227e-01 2.70282958e-01 -3.21617241e-01 8.05866853e+01] [ 3.33023160e-01 3.87150888e-03 9.42910699e-01 3.34734650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.250714057 meters Centerline goodness : 0.994705 Centerline is valid? [True, True] Translation: X:115.10, Y:80.62, Z:33.48 [[ 2.53101684e-01 -9.60861044e-01 -1.12630333e-01 1.15096543e+02] [ 9.09331401e-01 2.76022061e-01 -3.11332981e-01 8.06185584e+01] [ 3.30236189e-01 -2.36193974e-02 9.43602768e-01 3.34752172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.280714057 meters Centerline goodness : 0.994064 Centerline is valid? [True, True] Translation: X:115.10, Y:80.63, Z:33.48 [[ 2.45384285e-01 -9.58853007e-01 -1.42784675e-01 1.15100012e+02] [ 9.09635537e-01 2.78664635e-01 -3.08073385e-01 8.06260838e+01] [ 3.35186131e-01 -5.42856472e-02 9.40586693e-01 3.34766827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.310714057 meters Centerline goodness : 0.994154 Centerline is valid? [True, True] Translation: X:115.10, Y:80.67, Z:33.50 [[ 2.54921216e-01 -9.63766584e-01 -7.85439025e-02 1.15096786e+02] [ 9.10109340e-01 2.66581861e-01 -3.17230358e-01 8.06694909e+01] [ 3.26674398e-01 9.38520923e-03 9.45090342e-01 3.35040331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.340714057 meters Centerline goodness : 0.994407 Centerline is valid? [True, True] Translation: X:115.13, Y:80.68, Z:33.49 [[ 2.43369422e-01 -9.56475421e-01 -1.61015818e-01 1.15126596e+02] [ 9.11332513e-01 2.82320810e-01 -2.99613102e-01 8.06800460e+01] [ 3.32030684e-01 -7.38222819e-02 9.40375401e-01 3.34894908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.370714057 meters Centerline goodness : 0.994752 Centerline is valid? [True, True] Translation: X:115.11, Y:80.72, Z:33.52 [[ 2.49594857e-01 -9.64812235e-01 -8.27028326e-02 1.15111977e+02] [ 9.09956329e-01 2.62896089e-01 -3.20725936e-01 8.07198179e+01] [ 3.31182558e-01 4.79557817e-03 9.43554511e-01 3.35239989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.400714057 meters Centerline goodness : 0.994039 Centerline is valid? [True, True] Translation: X:115.14, Y:80.73, Z:33.51 [[ 2.41878707e-01 -9.58128724e-01 -1.53245030e-01 1.15137436e+02] [ 9.11281471e-01 2.78557533e-01 -3.03268498e-01 8.07283182e+01] [ 3.33257817e-01 -6.62951646e-02 9.40502089e-01 3.35088402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.430714057 meters Centerline goodness : 0.994897 Centerline is valid? [True, True] Translation: X:115.13, Y:80.77, Z:33.54 [[ 2.44557448e-01 -9.65123703e-01 -9.34231954e-02 1.15129838e+02] [ 9.09737009e-01 2.61721585e-01 -3.22304804e-01 8.07678139e+01] [ 3.35514872e-01 -6.16849819e-03 9.42014713e-01 3.35405867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.460714057 meters Centerline goodness : 0.994900 Centerline is valid? [True, True] Translation: X:115.15, Y:80.79, Z:33.54 [[ 2.43133184e-01 -9.61579933e-01 -1.27476612e-01 1.15152772e+02] [ 9.10380353e-01 2.71573043e-01 -3.12178949e-01 8.07904855e+01] [ 3.34804224e-01 -4.01511408e-02 9.41431897e-01 3.35369630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.490714057 meters Centerline goodness : 0.994257 Centerline is valid? [True, True] Translation: X:115.16, Y:80.81, Z:33.54 [[ 2.43696625e-01 -9.60647920e-01 -1.33294895e-01 1.15161486e+02] [ 9.10511993e-01 2.73951626e-01 -3.09706985e-01 8.08110763e+01] [ 3.34035725e-01 -4.58920539e-02 9.41442539e-01 3.35439543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.520714057 meters Centerline goodness : 0.994555 Centerline is valid? [True, True] Translation: X:115.15, Y:80.83, Z:33.56 [[ 2.37011804e-01 -9.64922486e-01 -1.12915904e-01 1.15149399e+02] [ 9.10169617e-01 2.61187017e-01 -3.21516111e-01 8.08285536e+01] [ 3.39730294e-01 -2.65695118e-02 9.40147536e-01 3.35608410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.550714057 meters Centerline goodness : 0.994303 Centerline is valid? [True, True] Translation: X:115.17, Y:80.86, Z:33.57 [[ 2.41533327e-01 -9.64172575e-01 -1.09694566e-01 1.15166397e+02] [ 9.09449230e-01 2.64342268e-01 -3.20975488e-01 8.08602242e+01] [ 3.38472673e-01 -2.22353611e-02 9.40713473e-01 3.35726143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.580714057 meters Centerline goodness : 0.995793 Centerline is valid? [True, True] Translation: X:115.18, Y:80.89, Z:33.58 [[ 2.36982277e-01 -9.62838080e-01 -1.29546251e-01 1.15181798e+02] [ 9.10770551e-01 2.66591878e-01 -3.15318527e-01 8.08867981e+01] [ 3.38136664e-01 -4.32620080e-02 9.40102119e-01 3.35793629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.610714057 meters Centerline goodness : 0.995267 Centerline is valid? [True, True] Translation: X:115.18, Y:80.91, Z:33.59 [[ 2.37028927e-01 -9.65190827e-01 -1.10562000e-01 1.15182147e+02] [ 9.11434189e-01 2.60325203e-01 -3.18619690e-01 8.09125968e+01] [ 3.36310878e-01 -2.52479041e-02 9.41412522e-01 3.35926495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.640714057 meters Centerline goodness : 0.995606 Centerline is valid? [True, True] Translation: X:115.20, Y:80.94, Z:33.60 [[ 2.37124513e-01 -9.63469402e-01 -1.24493683e-01 1.15196118e+02] [ 9.11235244e-01 2.65011140e-01 -3.15308461e-01 8.09367855e+01] [ 3.36782268e-01 -3.86756661e-02 9.40787913e-01 3.35991105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.670714057 meters Centerline goodness : 0.994994 Centerline is valid? [True, True] Translation: X:115.19, Y:80.96, Z:33.61 [[ 2.41408938e-01 -9.65162869e-01 -1.00907683e-01 1.15194592e+02] [ 9.10264241e-01 2.61257983e-01 -3.21190409e-01 8.09603853e+01] [ 3.36363995e-01 -1.43144200e-02 9.41623258e-01 3.36118701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.700714057 meters Centerline goodness : 0.995432 Centerline is valid? [True, True] Translation: X:115.21, Y:80.99, Z:33.62 [[ 2.39248470e-01 -9.63852027e-01 -1.17258005e-01 1.15212852e+02] [ 9.11717501e-01 2.64544500e-01 -3.14304638e-01 8.09890804e+01] [ 3.33963122e-01 -3.17092716e-02 9.42052629e-01 3.36153067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.730714057 meters Centerline goodness : 0.995441 Centerline is valid? [True, True] Translation: X:115.22, Y:81.01, Z:33.62 [[ 2.41705981e-01 -9.63084343e-01 -1.18519056e-01 1.15222506e+02] [ 9.11952115e-01 2.67191269e-01 -3.11371427e-01 8.10124872e+01] [ 3.31544203e-01 -3.28233678e-02 9.42868532e-01 3.36209557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.76071405700003 meters Centerline goodness : 0.994992 Centerline is valid? [True, True] Translation: X:115.23, Y:81.04, Z:33.63 [[ 2.38526681e-01 -9.64451657e-01 -1.13745436e-01 1.15228892e+02] [ 9.11772414e-01 2.62727213e-01 -3.15666718e-01 8.10396736e+01] [ 3.34329311e-01 -2.84150159e-02 9.42027865e-01 3.36341262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.790714057 meters Centerline goodness : 0.994541 Centerline is valid? [True, True] Translation: X:115.24, Y:81.07, Z:33.64 [[ 2.37446759e-01 -9.65354880e-01 -1.08208095e-01 1.15237634e+02] [ 9.12425496e-01 2.59865343e-01 -3.16148254e-01 8.10667496e+01] [ 3.33314793e-01 -2.36634468e-02 9.42518589e-01 3.36431515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.82071405700003 meters Centerline goodness : 0.995473 Centerline is valid? [True, True] Translation: X:115.25, Y:81.08, Z:33.64 [[ 2.30176619e-01 -9.63443511e-01 -1.37096047e-01 1.15248433e+02] [ 9.13524974e-01 2.62472975e-01 -3.10773325e-01 8.10819732e+01] [ 3.35396551e-01 -5.37079090e-02 9.40544850e-01 3.36444336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.850714057 meters Centerline goodness : 0.995083 Centerline is valid? [True, True] Translation: X:115.25, Y:81.12, Z:33.67 [[ 2.33499268e-01 -9.68207899e-01 -8.97304640e-02 1.15247905e+02] [ 9.13031470e-01 2.50057631e-01 -3.22249461e-01 8.11171332e+01] [ 3.34442261e-01 -6.68172415e-03 9.42392555e-01 3.36694458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.88071405700003 meters Centerline goodness : 0.995577 Centerline is valid? [True, True] Translation: X:115.27, Y:81.14, Z:33.67 [[ 2.32274954e-01 -9.65494224e-01 -1.17767774e-01 1.15270808e+02] [ 9.14364236e-01 2.58033509e-01 -3.12020435e-01 8.11407871e+01] [ 3.31641960e-01 -3.52081082e-02 9.42748110e-01 3.36662905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.910714057 meters Centerline goodness : 0.996250 Centerline is valid? [True, True] Translation: X:115.28, Y:81.16, Z:33.67 [[ 2.29546863e-01 -9.65279622e-01 -1.24673532e-01 1.15282507e+02] [ 9.14558098e-01 2.57742668e-01 -3.11692480e-01 8.11646116e+01] [ 3.33004088e-01 -4.24731573e-02 9.41968316e-01 3.36749906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.94071405700004 meters Centerline goodness : 0.995547 Centerline is valid? [True, True] Translation: X:115.29, Y:81.18, Z:33.68 [[ 2.21027837e-01 -9.66030985e-01 -1.33906051e-01 1.15285934e+02] [ 9.15137914e-01 2.52901336e-01 -3.13948265e-01 8.11806694e+01] [ 3.37148771e-01 -5.31511986e-02 9.39949816e-01 3.36828692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.970714057 meters Centerline goodness : 0.996076 Centerline is valid? [True, True] Translation: X:115.28, Y:81.20, Z:33.70 [[ 2.20439922e-01 -9.69072694e-01 -1.10924998e-01 1.15284178e+02] [ 9.14418049e-01 2.44897262e-01 -3.22280876e-01 8.12045780e+01] [ 3.39478825e-01 -3.03882488e-02 9.40122695e-01 3.37001996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.000714057 meters Centerline goodness : 0.995722 Centerline is valid? [True, True] Translation: X:115.29, Y:81.23, Z:33.71 [[ 2.22382982e-01 -9.68585728e-01 -1.11299130e-01 1.15293219e+02] [ 9.13419551e-01 2.46899534e-01 -3.23582051e-01 8.12278680e+01] [ 3.40896660e-01 -2.97036598e-02 9.39631396e-01 3.37098819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.030714057 meters Centerline goodness : 0.995955 Centerline is valid? [True, True] Translation: X:115.30, Y:81.25, Z:33.72 [[ 2.21332341e-01 -9.68896668e-01 -1.10685323e-01 1.15301677e+02] [ 9.14315299e-01 2.45648753e-01 -3.22000349e-01 8.12527811e+01] [ 3.39174776e-01 -2.99321931e-02 9.40247061e-01 3.37189607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.060714057 meters Centerline goodness : 0.996073 Centerline is valid? [True, True] Translation: X:115.32, Y:81.28, Z:33.73 [[ 2.27290911e-01 -9.67462551e-01 -1.11153292e-01 1.15319989e+02] [ 9.13523831e-01 2.51364391e-01 -3.19828318e-01 8.12836376e+01] [ 3.37361900e-01 -2.88471118e-02 9.40932937e-01 3.37292174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.090714057 meters Centerline goodness : 0.995656 Centerline is valid? [True, True] Translation: X:115.33, Y:81.31, Z:33.74 [[ 2.30738624e-01 -9.65547011e-01 -1.20327292e-01 1.15333118e+02] [ 9.13202091e-01 2.57581755e-01 -3.15774573e-01 8.13077534e+01] [ 3.35889310e-01 -3.70217442e-02 9.41173609e-01 3.37363717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.120714057 meters Centerline goodness : 0.996317 Centerline is valid? [True, True] Translation: X:115.34, Y:81.33, Z:33.75 [[ 2.32509820e-01 -9.65728927e-01 -1.15355207e-01 1.15340914e+02] [ 9.13178157e-01 2.57584550e-01 -3.15841501e-01 8.13336551e+01] [ 3.34730993e-01 -3.19036043e-02 9.41773499e-01 3.37465565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.150714057 meters Centerline goodness : 0.994797 Centerline is valid? [True, True] Translation: X:115.35, Y:81.36, Z:33.75 [[ 2.34155080e-01 -9.66266675e-01 -1.07238574e-01 1.15347132e+02] [ 9.13783242e-01 2.56402078e-01 -3.15052634e-01 8.13590407e+01] [ 3.31921054e-01 -2.42216375e-02 9.42996143e-01 3.37546069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.180714057 meters Centerline goodness : 0.995637 Centerline is valid? [True, True] Translation: X:115.37, Y:81.38, Z:33.76 [[ 2.36065110e-01 -9.63483074e-01 -1.26386830e-01 1.15365653e+02] [ 9.12760754e-01 2.64475616e-01 -3.11320501e-01 8.13846589e+01] [ 3.33378267e-01 -4.18690302e-02 9.41863002e-01 3.37604752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.210714057 meters Centerline goodness : 0.995321 Centerline is valid? [True, True] Translation: X:115.37, Y:81.41, Z:33.77 [[ 2.38176732e-01 -9.65198205e-01 -1.08001247e-01 1.15366295e+02] [ 9.12364360e-01 2.60478051e-01 -3.15820296e-01 8.14097968e+01] [ 3.32961137e-01 -2.33154427e-02 9.42652254e-01 3.37733748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.240714057 meters Centerline goodness : 0.995912 Centerline is valid? [True, True] Translation: X:115.38, Y:81.43, Z:33.78 [[ 2.37521513e-01 -9.62759303e-01 -1.29143545e-01 1.15384154e+02] [ 9.11787373e-01 2.66820539e-01 -3.12170764e-01 8.14326050e+01] [ 3.35003458e-01 -4.36041809e-02 9.41207394e-01 3.37769353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.270714057 meters Centerline goodness : 0.992848 Centerline is valid? [True, True] Translation: X:115.38, Y:81.45, Z:33.79 [[ 2.40888603e-01 -9.65435740e-01 -9.95314641e-02 1.15376064e+02] [ 9.09260846e-01 2.60352131e-01 -3.24748338e-01 8.14494500e+01] [ 3.39436880e-01 -1.22718899e-02 9.40548779e-01 3.37920517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.300714057 meters Centerline goodness : 0.995215 Centerline is valid? [True, True] Translation: X:115.41, Y:81.48, Z:33.79 [[ 2.38923092e-01 -9.61684262e-01 -1.34458681e-01 1.15405104e+02] [ 9.12906741e-01 2.69646757e-01 -3.06417867e-01 8.14793387e+01] [ 3.30933588e-01 -4.95379319e-02 9.42352882e-01 3.37899735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.330714057 meters Centerline goodness : 0.995901 Centerline is valid? [True, True] Translation: X:115.40, Y:81.51, Z:33.81 [[ 2.35760380e-01 -9.66216400e-01 -1.04129302e-01 1.15401259e+02] [ 9.11471791e-01 2.57016933e-01 -3.21187595e-01 8.15070607e+01] [ 3.37099715e-01 -1.91876114e-02 9.41273402e-01 3.38104768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.360714057 meters Centerline goodness : 0.995406 Centerline is valid? [True, True] Translation: X:115.42, Y:81.53, Z:33.81 [[ 2.35002890e-01 -9.64308654e-01 -1.21993698e-01 1.15416996e+02] [ 9.11436682e-01 2.62227459e-01 -3.17048788e-01 8.15297579e+01] [ 3.37722987e-01 -3.66821497e-02 9.40530491e-01 3.38146711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.390714057 meters Centerline goodness : 0.995417 Centerline is valid? [True, True] Translation: X:115.43, Y:81.56, Z:33.83 [[ 2.33439199e-01 -9.64679598e-01 -1.22063156e-01 1.15425661e+02] [ 9.11361375e-01 2.60827030e-01 -3.18417499e-01 8.15553555e+01] [ 3.39008236e-01 -3.69125199e-02 9.40058978e-01 3.38260433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.420714057 meters Centerline goodness : 0.994731 Centerline is valid? [True, True] Translation: X:115.43, Y:81.58, Z:33.83 [[ 2.33723685e-01 -9.64769891e-01 -1.20798581e-01 1.15434814e+02] [ 9.13030976e-01 2.60490068e-01 -3.13877940e-01 8.15774624e+01] [ 3.34286816e-01 -3.69321375e-02 9.41747494e-01 3.38323780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.450714057 meters Centerline goodness : 0.994457 Centerline is valid? [True, True] Translation: X:115.44, Y:81.60, Z:33.85 [[ 2.33556958e-01 -9.66384823e-01 -1.07478009e-01 1.15438491e+02] [ 9.12758856e-01 2.56000340e-01 -3.18331741e-01 8.16034112e+01] [ 3.35145370e-01 -2.37529111e-02 9.41866965e-01 3.38460961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.480714057 meters Centerline goodness : 0.994869 Centerline is valid? [True, True] Translation: X:115.45, Y:81.63, Z:33.86 [[ 2.30275662e-01 -9.66617876e-01 -1.12352128e-01 1.15449595e+02] [ 9.12508569e-01 2.54599105e-01 -3.20167779e-01 8.16302669e+01] [ 3.38084650e-01 -2.87954327e-02 9.40675073e-01 3.38565716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.51071405700003 meters Centerline goodness : 0.995324 Centerline is valid? [True, True] Translation: X:115.46, Y:81.66, Z:33.86 [[ 2.30836494e-01 -9.66433274e-01 -1.12788477e-01 1.15460287e+02] [ 9.12945431e-01 2.55222366e-01 -3.18421393e-01 8.16555146e+01] [ 3.36519172e-01 -2.94664469e-02 9.41215478e-01 3.38642464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.540714057 meters Centerline goodness : 0.995494 Centerline is valid? [True, True] Translation: X:115.47, Y:81.67, Z:33.87 [[ 2.27833033e-01 -9.64767164e-01 -1.31591901e-01 1.15474000e+02] [ 9.13156709e-01 2.58618178e-01 -3.15057871e-01 8.16745997e+01] [ 3.37989546e-01 -4.83834368e-02 9.39905373e-01 3.38712157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.57071405700003 meters Centerline goodness : 0.994588 Centerline is valid? [True, True] Translation: X:115.48, Y:81.70, Z:33.88 [[ 2.30917324e-01 -9.66691939e-01 -1.10380632e-01 1.15475992e+02] [ 9.15055555e-01 2.54326390e-01 -3.13035810e-01 8.16970103e+01] [ 3.30681902e-01 -2.87190191e-02 9.43305199e-01 3.38837702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.600714057 meters Centerline goodness : 0.993846 Centerline is valid? [True, True] Translation: X:115.48, Y:81.72, Z:33.90 [[ 2.32468671e-01 -9.68536434e-01 -8.88565876e-02 1.15476085e+02] [ 9.13332584e-01 2.48794223e-01 -3.22374047e-01 8.17230077e+01] [ 3.34338016e-01 -6.21375047e-03 9.42432746e-01 3.38999357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.63071405700003 meters Centerline goodness : 0.994583 Centerline is valid? [True, True] Translation: X:115.50, Y:81.75, Z:33.90 [[ 2.29853793e-01 -9.66425152e-01 -1.14846241e-01 1.15500570e+02] [ 9.16041306e-01 2.54690753e-01 -3.09840194e-01 8.17511614e+01] [ 3.28687632e-01 -3.39859564e-02 9.43826994e-01 3.39014123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.660714057 meters Centerline goodness : 0.994934 Centerline is valid? [True, True] Translation: X:115.50, Y:81.77, Z:33.91 [[ 2.26165375e-01 -9.68229821e-01 -1.06678189e-01 1.15495795e+02] [ 9.16688023e-01 2.48596628e-01 -3.12862246e-01 8.17700049e+01] [ 3.29442395e-01 -2.70320113e-02 9.43788630e-01 3.39106318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.69071405700004 meters Centerline goodness : 0.994442 Centerline is valid? [True, True] Translation: X:115.50, Y:81.79, Z:33.92 [[ 2.25719485e-01 -9.68612686e-01 -1.04116183e-01 1.15504172e+02] [ 9.16689599e-01 2.47354390e-01 -3.13840701e-01 8.17943442e+01] [ 3.29743679e-01 -2.46022610e-02 9.43749879e-01 3.39206956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.720714057 meters Centerline goodness : 0.994506 Centerline is valid? [True, True] Translation: X:115.52, Y:81.82, Z:33.93 [[ 2.25480049e-01 -9.68657764e-01 -1.04215560e-01 1.15515341e+02] [ 9.16530991e-01 2.47176427e-01 -3.14443568e-01 8.18185478e+01] [ 3.30347833e-01 -2.46160392e-02 9.43538213e-01 3.39294260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.750714057 meters Centerline goodness : 0.995134 Centerline is valid? [True, True] Translation: X:115.52, Y:81.84, Z:33.94 [[ 2.25464799e-01 -9.68683399e-01 -1.04010076e-01 1.15523976e+02] [ 9.16663769e-01 2.47085737e-01 -3.14127638e-01 8.18428161e+01] [ 3.29989635e-01 -2.45175431e-02 9.43666112e-01 3.39395541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.780714057 meters Centerline goodness : 0.994945 Centerline is valid? [True, True] Translation: X:115.53, Y:81.87, Z:33.95 [[ 2.26257959e-01 -9.68567556e-01 -1.03364532e-01 1.15531804e+02] [ 9.17090029e-01 2.47581284e-01 -3.12489018e-01 8.18670639e+01] [ 3.28257848e-01 -2.40914547e-02 9.44280884e-01 3.39496421e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.810714057 meters Centerline goodness : 0.995279 Centerline is valid? [True, True] Translation: X:115.54, Y:81.89, Z:33.96 [[ 2.29390334e-01 -9.67958159e-01 -1.02162012e-01 1.15541378e+02] [ 9.17576796e-01 2.50070094e-01 -3.09059495e-01 8.18911546e+01] [ 3.24704324e-01 -2.28462308e-02 9.45539609e-01 3.39604036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.840714057 meters Centerline goodness : 0.994610 Centerline is valid? [True, True] Translation: X:115.55, Y:81.92, Z:33.97 [[ 2.31440300e-01 -9.67515476e-01 -1.01730972e-01 1.15550204e+02] [ 9.17429271e-01 2.51849628e-01 -3.08050803e-01 8.19161784e+01] [ 3.23664826e-01 -2.20356013e-02 9.45915172e-01 3.39702049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.870714057 meters Centerline goodness : 0.994055 Centerline is valid? [True, True] Translation: X:115.56, Y:81.94, Z:33.98 [[ 2.35968114e-01 -9.66386000e-01 -1.02064427e-01 1.15560046e+02] [ 9.15759306e-01 2.56279570e-01 -3.09363338e-01 8.19407232e+01] [ 3.25121426e-01 -2.04665658e-02 9.45450780e-01 3.39778989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.900714057 meters Centerline goodness : 0.993949 Centerline is valid? [True, True] Translation: X:115.57, Y:81.96, Z:33.99 [[ 2.38476678e-01 -9.65707698e-01 -1.02652404e-01 1.15568504e+02] [ 9.14312954e-01 2.58892325e-01 -3.11458805e-01 8.19647658e+01] [ 3.27354085e-01 -1.95807611e-02 9.44698839e-01 3.39865428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.930714057 meters Centerline goodness : 0.993327 Centerline is valid? [True, True] Translation: X:115.58, Y:81.99, Z:34.00 [[ 2.41602197e-01 -9.64894600e-01 -1.02989271e-01 1.15576949e+02] [ 9.13023655e-01 2.61985452e-01 -3.12652249e-01 8.19902213e+01] [ 3.28658158e-01 -1.84941708e-02 9.44267855e-01 3.39955867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.960714057 meters Centerline goodness : 0.992237 Centerline is valid? [True, True] Translation: X:115.58, Y:82.02, Z:34.00 [[ 2.48188818e-01 -9.63229249e-01 -1.02916108e-01 1.15584712e+02] [ 9.11188768e-01 2.68194624e-01 -3.12740585e-01 8.20151788e+01] [ 3.28842425e-01 -1.61572853e-02 9.44246579e-01 3.40033401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.990714057 meters Centerline goodness : 0.993071 Centerline is valid? [True, True] Translation: X:115.59, Y:82.04, Z:34.01 [[ 2.51137832e-01 -9.62498963e-01 -1.02594032e-01 1.15592531e+02] [ 9.10676236e-01 2.70865221e-01 -3.11930802e-01 8.20394947e+01] [ 3.28022228e-01 -1.50923216e-02 9.44549437e-01 3.40137531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.020714057 meters Centerline goodness : 0.993584 Centerline is valid? [True, True] Translation: X:115.62, Y:82.07, Z:34.03 [[ 2.58203863e-01 -9.57816854e-01 -1.26165128e-01 1.15616842e+02] [ 9.07979981e-01 2.85203761e-01 -3.06970959e-01 8.20664801e+01] [ 3.30004727e-01 -3.52943232e-02 9.43319241e-01 3.40264309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.050714057 meters Centerline goodness : 0.993584 Centerline is valid? [True, True] Translation: X:115.62, Y:82.09, Z:34.04 [[ 2.57764475e-01 -9.59962463e-01 -1.09679286e-01 1.15617579e+02] [ 9.08003420e-01 2.79474458e-01 -3.12127885e-01 8.20930438e+01] [ 3.30283612e-01 -1.91336862e-02 9.43687786e-01 3.40416091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.080714057 meters Centerline goodness : 0.991962 Centerline is valid? [True, True] Translation: X:115.61, Y:82.12, Z:34.05 [[ 2.57749086e-01 -9.62342274e-01 -8.63872474e-02 1.15610067e+02] [ 9.08903103e-01 2.71824194e-01 -3.16238449e-01 8.21160119e+01] [ 3.27811772e-01 2.99253393e-03 9.44738317e-01 3.40482330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.110714057 meters Centerline goodness : 0.990451 Centerline is valid? [True, True] Translation: X:115.63, Y:82.15, Z:34.05 [[ 2.66344502e-01 -9.59338905e-01 -9.34316399e-02 1.15633497e+02] [ 9.09613683e-01 2.82231356e-01 -3.04874415e-01 8.21486049e+01] [ 3.18847226e-01 -3.78507399e-03 9.47798565e-01 3.40512078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.140714057 meters Centerline goodness : 0.991639 Centerline is valid? [True, True] Translation: X:115.64, Y:82.17, Z:34.05 [[ 2.61264079e-01 -9.58434018e-01 -1.14653015e-01 1.15644788e+02] [ 9.08006740e-01 2.84327092e-01 -3.07704183e-01 8.21671562e+01] [ 3.27513115e-01 -2.37136607e-02 9.44549005e-01 3.40530844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.170714057 meters Centerline goodness : 0.991337 Centerline is valid? [True, True] Translation: X:115.65, Y:82.19, Z:34.07 [[ 2.60671049e-01 -9.59939528e-01 -1.02794484e-01 1.15648843e+02] [ 9.07879133e-01 2.79951061e-01 -3.12062307e-01 8.21922621e+01] [ 3.28338368e-01 -1.19793577e-02 9.44484204e-01 3.40652266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.200714057 meters Centerline goodness : 0.989909 Centerline is valid? [True, True] Translation: X:115.66, Y:82.22, Z:34.07 [[ 2.59943061e-01 -9.60118640e-01 -1.02965055e-01 1.15659939e+02] [ 9.07774117e-01 2.79329804e-01 -3.12923335e-01 8.22157114e+01] [ 3.29204735e-01 -1.21267626e-02 9.44180694e-01 3.40737203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.230714057 meters Centerline goodness : 0.990074 Centerline is valid? [True, True] Translation: X:115.68, Y:82.23, Z:34.07 [[ 2.59272623e-01 -9.57932161e-01 -1.23059668e-01 1.15682893e+02] [ 9.10929592e-01 2.84885641e-01 -2.98408192e-01 8.22346607e+01] [ 3.20912737e-01 -3.47296182e-02 9.46471800e-01 3.40676411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.26071405700003 meters Centerline goodness : 0.989791 Centerline is valid? [True, True] Translation: X:115.67, Y:82.26, Z:34.10 [[ 2.53924858e-01 -9.64148158e-01 -7.70746136e-02 1.15672227e+02] [ 9.08578114e-01 2.65095647e-01 -3.22815905e-01 8.22631698e+01] [ 3.31674504e-01 1.19426758e-02 9.43318290e-01 3.40976595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.290714057 meters Centerline goodness : 0.989650 Centerline is valid? [True, True] Translation: X:115.70, Y:82.28, Z:34.09 [[ 2.48545606e-01 -9.61707445e-01 -1.15515678e-01 1.15703619e+02] [ 9.11139162e-01 2.72598893e-01 -3.09055451e-01 8.22831483e+01] [ 3.28710374e-01 -2.84364833e-02 9.44002572e-01 3.40925889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.32071405700003 meters Centerline goodness : 0.991348 Centerline is valid? [True, True] Translation: X:115.71, Y:82.31, Z:34.11 [[ 2.45533807e-01 -9.64122064e-01 -1.00904882e-01 1.15708125e+02] [ 9.11159079e-01 2.65064182e-01 -3.15483934e-01 8.23088008e+01] [ 3.30911292e-01 -1.44784284e-02 9.43550789e-01 3.41059658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.350714057 meters Centerline goodness : 0.993177 Centerline is valid? [True, True] Translation: X:115.72, Y:82.33, Z:34.12 [[ 2.43159048e-01 -9.64860607e-01 -9.95875872e-02 1.15719885e+02] [ 9.10817024e-01 2.62429427e-01 -3.18658351e-01 8.23317951e+01] [ 3.33595603e-01 -1.32214086e-02 9.42623556e-01 3.41167090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.38071405700003 meters Centerline goodness : 0.989337 Centerline is valid? [True, True] Translation: X:115.74, Y:82.35, Z:34.13 [[ 2.40470128e-01 -9.65927674e-01 -9.56966348e-02 1.15735322e+02] [ 9.10110570e-01 2.58646893e-01 -3.23729108e-01 8.23539047e+01] [ 3.37450541e-01 -9.24733878e-03 9.41297838e-01 3.41297993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.410714057 meters Centerline goodness : 0.989828 Centerline is valid? [True, True] Translation: X:115.75, Y:82.38, Z:34.14 [[ 2.39531664e-01 -9.65170207e-01 -1.05219071e-01 1.15751410e+02] [ 9.10266089e-01 2.60947643e-01 -3.21437357e-01 8.23752630e+01] [ 3.37698429e-01 -1.87829272e-02 9.41066933e-01 3.41367441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.44071405700004 meters Centerline goodness : 0.987076 Centerline is valid? [True, True] Translation: X:115.77, Y:82.40, Z:34.14 [[ 2.34902713e-01 -9.64217906e-01 -1.22900549e-01 1.15771928e+02] [ 9.11186135e-01 2.62461633e-01 -3.17574747e-01 8.23993400e+01] [ 3.38467936e-01 -3.73861068e-02 9.40234936e-01 3.41427712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.470714057 meters Centerline goodness : 0.991890 Centerline is valid? [True, True] Translation: X:115.77, Y:82.42, Z:34.16 [[ 2.38288126e-01 -9.67210191e-01 -8.78818256e-02 1.15769681e+02] [ 9.11408937e-01 2.53960218e-01 -3.23786901e-01 8.24199602e+01] [ 3.35488478e-01 -2.94170752e-03 9.42039717e-01 3.41578775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.500714057 meters Centerline goodness : 0.991944 Centerline is valid? [True, True] Translation: X:115.79, Y:82.44, Z:34.16 [[ 2.38941832e-01 -9.65535989e-01 -1.03184567e-01 1.15787025e+02] [ 9.11815381e-01 2.59640776e-01 -3.18087062e-01 8.24444963e+01] [ 3.33915427e-01 -1.80809697e-02 9.42429608e-01 3.41612593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.530714057 meters Centerline goodness : 0.989588 Centerline is valid? [True, True] Translation: X:115.80, Y:82.47, Z:34.17 [[ 2.39219527e-01 -9.65471312e-01 -1.03146323e-01 1.15799524e+02] [ 9.11685062e-01 2.59893403e-01 -3.18254250e-01 8.24675554e+01] [ 3.34072397e-01 -1.79043305e-02 9.42377349e-01 3.41683621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.560714057 meters Centerline goodness : 0.986521 Centerline is valid? [True, True] Translation: X:115.82, Y:82.49, Z:34.17 [[ 2.41281119e-01 -9.63598932e-01 -1.15154334e-01 1.15816187e+02] [ 9.10693317e-01 2.65820112e-01 -3.16191953e-01 8.24917218e+01] [ 3.35292566e-01 -2.85791340e-02 9.41680481e-01 3.41737113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.590714057 meters Centerline goodness : 0.987103 Centerline is valid? [True, True] Translation: X:115.81, Y:82.52, Z:34.18 [[ 2.37616499e-01 -9.66805167e-01 -9.39476916e-02 1.15813873e+02] [ 9.11797704e-01 2.55347399e-01 -3.21593925e-01 8.25177105e+01] [ 3.34907967e-01 -9.24526708e-03 9.42205486e-01 3.41795453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.620714057 meters Centerline goodness : 0.985316 Centerline is valid? [True, True] Translation: X:115.83, Y:82.54, Z:34.19 [[ 2.37347626e-01 -9.66321012e-01 -9.94475032e-02 1.15832014e+02] [ 9.11331364e-01 2.56942711e-01 -3.21645128e-01 8.25400078e+01] [ 3.36364757e-01 -1.42879212e-02 9.41623389e-01 3.41921521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.650714057 meters Centerline goodness : 0.990231 Centerline is valid? [True, True] Translation: X:115.85, Y:82.56, Z:34.20 [[ 2.38020953e-01 -9.65420955e-01 -1.06340987e-01 1.15845687e+02] [ 9.11531642e-01 2.59843280e-01 -3.18734271e-01 8.25618999e+01] [ 3.35344735e-01 -2.10677391e-02 9.41859894e-01 3.41969463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.680714057 meters Centerline goodness : 0.990605 Centerline is valid? [True, True] Translation: X:115.85, Y:82.59, Z:34.21 [[ 2.29613133e-01 -9.68228459e-01 -9.90528159e-02 1.15848702e+02] [ 9.12146139e-01 2.49574016e-01 -3.25118795e-01 8.25913055e+01] [ 3.39510279e-01 -1.56990984e-02 9.40471323e-01 3.42061108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.710714057 meters Centerline goodness : 0.985797 Centerline is valid? [True, True] Translation: X:115.83, Y:82.65, Z:34.22 [[ 2.42662551e-01 -9.69740459e-01 2.68016629e-02 1.15832076e+02] [ 9.15199502e-01 2.19676645e-01 -3.37863941e-01 8.26496685e+01] [ 3.21752634e-01 1.06515794e-01 9.40813280e-01 3.42237881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.740714057 meters Centerline goodness : 0.991700 Centerline is valid? [True, True] Translation: X:115.94, Y:82.63, Z:34.19 [[ 0.2253733 -0.94377127 -0.24187322 115.93957254] [ 0.91658819 0.28954764 -0.27573221 82.63119134] [ 0.33026196 -0.15955546 0.93030591 34.18768572] [ 0. 0. 0. 1. ]] SLAMing on 279.770714057 meters Centerline goodness : 0.986330 Centerline is valid? [True, True] Translation: X:115.86, Y:82.70, Z:34.23 [[ 2.40737644e-01 -9.70374846e-01 2.04461648e-02 1.15858721e+02] [ 9.15015191e-01 2.19876929e-01 -3.38232667e-01 8.27013737e+01] [ 3.23716832e-01 1.00133887e-01 9.40840378e-01 3.42316683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.800714057 meters Centerline goodness : 0.986828 Centerline is valid? [True, True] Translation: X:115.94, Y:82.72, Z:34.21 [[ 2.41557168e-01 -9.62228659e-01 -1.25563299e-01 1.15939998e+02] [ 9.16974550e-01 2.68679420e-01 -2.94905144e-01 8.27150642e+01] [ 3.17502455e-01 -4.39018978e-02 9.47240632e-01 3.42058721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.830714057 meters Centerline goodness : 0.983514 Centerline is valid? [True, True] Translation: X:115.95, Y:82.73, Z:34.21 [[ 2.42140420e-01 -9.61094507e-01 -1.32911117e-01 1.15953338e+02] [ 9.19258346e-01 2.71075513e-01 -2.85450802e-01 8.27348829e+01] [ 3.10374147e-01 -5.30604765e-02 9.49132485e-01 3.42124312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.860714057 meters Centerline goodness : 0.982889 Centerline is valid? [True, True] Translation: X:115.94, Y:82.75, Z:34.21 [[ 2.30519881e-01 -9.64529428e-01 -1.28621801e-01 1.15941801e+02] [ 9.22848431e-01 2.58619973e-01 -2.85423342e-01 8.27486784e+01] [ 3.08563379e-01 -5.29026721e-02 9.49731514e-01 3.42122611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.890714057 meters Centerline goodness : 0.985126 Centerline is valid? [True, True] Translation: X:115.95, Y:82.78, Z:34.23 [[ 2.38894343e-01 -9.66983152e-01 -8.87303647e-02 1.15945939e+02] [ 9.19667710e-01 2.54636709e-01 -2.98950581e-01 8.27844604e+01] [ 3.11674183e-01 -1.01848488e-02 9.50134450e-01 3.42312277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.920714057 meters Centerline goodness : 0.991016 Centerline is valid? [True, True] Translation: X:115.96, Y:82.79, Z:34.24 [[ 2.29127672e-01 -9.62556678e-01 -1.44862529e-01 1.15958755e+02] [ 9.19900139e-01 2.62781120e-01 -2.91083866e-01 8.27928654e+01] [ 3.18251857e-01 -6.65636923e-02 9.45666448e-01 3.42387525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.950714057 meters Centerline goodness : 0.982415 Centerline is valid? [True, True] Translation: X:115.92, Y:82.82, Z:34.27 [[ 2.25142946e-01 -9.73118741e-01 -4.84826765e-02 1.15918998e+02] [ 9.20531360e-01 2.28754395e-01 -3.16691399e-01 8.28191651e+01] [ 3.19268960e-01 2.66710104e-02 9.47288756e-01 3.42686650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.980714057 meters Centerline goodness : 0.986875 Centerline is valid? [True, True] Translation: X:115.97, Y:82.84, Z:34.27 [[ 2.29956943e-01 -9.67135763e-01 -1.08481431e-01 1.15970854e+02] [ 9.18988935e-01 2.52478266e-01 -3.02843297e-01 8.28433365e+01] [ 3.20279787e-01 -3.00523162e-02 9.46846195e-01 3.42735799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.01071405700003 meters Centerline goodness : 0.978220 Centerline is valid? [True, True] Translation: X:115.98, Y:82.86, Z:34.27 [[ 2.23697006e-01 -9.66917688e-01 -1.22596225e-01 1.15977694e+02] [ 9.21600351e-01 2.50774737e-01 -2.96251285e-01 8.28627631e+01] [ 3.17194643e-01 -4.67141988e-02 9.47209239e-01 3.42723226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.040714057 meters Centerline goodness : 0.977764 Centerline is valid? [True, True] Translation: X:115.95, Y:82.89, Z:34.30 [[ 2.21318110e-01 -9.74066808e-01 -4.70334856e-02 1.15952398e+02] [ 9.21841144e-01 2.24699699e-01 -3.15783077e-01 8.28852332e+01] [ 3.18162224e-01 2.65311114e-02 9.47664972e-01 3.43007388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.07071405700003 meters Centerline goodness : 0.979650 Centerline is valid? [True, True] Translation: X:116.01, Y:82.91, Z:34.30 [[ 2.22311427e-01 -9.68159131e-01 -1.15089214e-01 1.16006087e+02] [ 9.22442210e-01 2.47087255e-01 -2.96729266e-01 8.29054485e+01] [ 3.15718226e-01 -4.01968429e-02 9.48001168e-01 3.42982821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.100714057 meters Centerline goodness : 0.981450 Centerline is valid? [True, True] Translation: X:116.00, Y:82.93, Z:34.31 [[ 2.17237046e-01 -9.72394131e-01 -8.51922484e-02 1.16000537e+02] [ 9.22749605e-01 2.33039454e-01 -3.06962179e-01 8.29303988e+01] [ 3.18341376e-01 -1.19275565e-02 9.47901103e-01 3.43137640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.13071405700003 meters Centerline goodness : 0.980465 Centerline is valid? [True, True] Translation: X:116.02, Y:82.95, Z:34.32 [[ 2.16547363e-01 -9.72470734e-01 -8.60692259e-02 1.16018047e+02] [ 9.22481336e-01 2.32679146e-01 -3.08039932e-01 8.29527577e+01] [ 3.19586333e-01 -1.26920193e-02 9.47472157e-01 3.43222668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.160714057 meters Centerline goodness : 0.976976 Centerline is valid? [True, True] Translation: X:116.02, Y:82.98, Z:34.33 [[ 2.12090814e-01 -9.74633676e-01 -7.14610672e-02 1.16016129e+02] [ 9.23814567e-01 2.23806117e-01 -3.10608221e-01 8.29768428e+01] [ 3.18722657e-01 -1.39624258e-04 9.47848009e-01 3.43307021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.19071405700004 meters Centerline goodness : 0.982589 Centerline is valid? [True, True] Translation: X:116.05, Y:83.00, Z:34.34 [[ 2.15012081e-01 -9.70320067e-01 -1.10674177e-01 1.16047156e+02] [ 9.22761873e-01 2.38958436e-01 -3.02339860e-01 8.29971022e+01] [ 3.19812962e-01 -3.71191884e-02 9.46753313e-01 3.43358424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.220714057 meters Centerline goodness : 0.980637 Centerline is valid? [True, True] Translation: X:116.03, Y:83.02, Z:34.35 [[ 2.13129344e-01 -9.75300050e-01 -5.80146118e-02 1.16031040e+02] [ 9.23654557e-01 2.20488275e-01 -3.13444062e-01 8.30231901e+01] [ 3.18493551e-01 1.32186669e-02 9.47832857e-01 3.43480986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.250714057 meters Centerline goodness : 0.981957 Centerline is valid? [True, True] Translation: X:116.07, Y:83.04, Z:34.35 [[ 2.18988370e-01 -9.68934455e-01 -1.14935264e-01 1.16071902e+02] [ 9.21818532e-01 2.44060944e-01 -3.01139254e-01 8.30412954e+01] [ 3.19835408e-01 -4.00034619e-02 9.46628245e-01 3.43528024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.280714057 meters Centerline goodness : 0.981708 Centerline is valid? [True, True] Translation: X:116.07, Y:83.07, Z:34.37 [[ 2.19859447e-01 -9.71279058e-01 -9.09879895e-02 1.16070396e+02] [ 9.21620753e-01 2.37380602e-01 -3.07027096e-01 8.30698203e+01] [ 3.19807773e-01 -1.63536118e-02 9.47341305e-01 3.43652932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.310714057 meters Centerline goodness : 0.982906 Centerline is valid? [True, True] Translation: X:116.08, Y:83.09, Z:34.37 [[ 2.21868651e-01 -9.70874685e-01 -9.04248237e-02 1.16077701e+02] [ 9.21201683e-01 2.39105366e-01 -3.06946384e-01 8.30934321e+01] [ 3.19627535e-01 -1.51977197e-02 9.47421379e-01 3.43745381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.340714057 meters Centerline goodness : 0.981039 Centerline is valid? [True, True] Translation: X:116.05, Y:83.12, Z:34.39 [[ 2.19192683e-01 -9.75291085e-01 -2.76019517e-02 1.16052843e+02] [ 9.22542831e-01 2.16380593e-01 -3.19521773e-01 8.31196385e+01] [ 3.17599264e-01 4.45728522e-02 9.47176841e-01 3.43869354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.370714057 meters Centerline goodness : 0.981838 Centerline is valid? [True, True] Translation: X:116.11, Y:83.13, Z:34.39 [[ 2.23677852e-01 -9.65640793e-01 -1.32310532e-01 1.16114392e+02] [ 9.21656524e-01 2.53712949e-01 -2.93562585e-01 8.31344192e+01] [ 3.17044903e-01 -5.62814168e-02 9.46739104e-01 3.43854088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.400714057 meters Centerline goodness : 0.980286 Centerline is valid? [True, True] Translation: X:116.11, Y:83.16, Z:34.40 [[ 2.25894101e-01 -9.68736944e-01 -1.02569924e-01 1.16113214e+02] [ 9.19724480e-01 2.46789285e-01 -3.05289911e-01 8.31596948e+01] [ 3.21058773e-01 -2.53728803e-02 9.46719325e-01 3.44037789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.430714057 meters Centerline goodness : 0.979771 Centerline is valid? [True, True] Translation: X:116.12, Y:83.18, Z:34.42 [[ 2.23985744e-01 -9.70547988e-01 -8.86960459e-02 1.16116971e+02] [ 9.19619180e-01 2.40607834e-01 -3.10497077e-01 8.31847983e+01] [ 3.22693277e-01 -1.20196661e-02 9.46427270e-01 3.44167862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.460714057 meters Centerline goodness : 0.978908 Centerline is valid? [True, True] Translation: X:116.13, Y:83.21, Z:34.43 [[ 2.23426146e-01 -9.70098966e-01 -9.48090330e-02 1.16129771e+02] [ 9.19808431e-01 2.42025941e-01 -3.08829880e-01 8.32085935e+01] [ 3.22541793e-01 -1.82054780e-02 9.46380131e-01 3.44252892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.490714057 meters Centerline goodness : 0.978806 Centerline is valid? [True, True] Translation: X:116.13, Y:83.24, Z:34.43 [[ 2.19737627e-01 -9.72035054e-01 -8.28446078e-02 1.16130189e+02] [ 9.21726117e-01 2.34681583e-01 -3.08780700e-01 8.32350983e+01] [ 3.19587768e-01 -8.50930045e-03 9.47518470e-01 3.44307013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.520714057 meters Centerline goodness : 0.975227 Centerline is valid? [True, True] Translation: X:116.13, Y:83.26, Z:34.45 [[ 2.18923176e-01 -9.74405237e-01 -5.10595441e-02 1.16125071e+02] [ 9.20968141e-01 2.23636660e-01 -3.19067906e-01 8.32589785e+01] [ 3.22320225e-01 2.28271460e-02 9.46355427e-01 3.44454262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.550714057 meters Centerline goodness : 0.974797 Centerline is valid? [True, True] Translation: X:116.15, Y:83.28, Z:34.45 [[ 2.18414330e-01 -9.72369268e-01 -8.24207988e-02 1.16150225e+02] [ 9.21634677e-01 2.33302878e-01 -3.10095613e-01 8.32796647e+01] [ 3.20756454e-01 -8.23254062e-03 9.47125927e-01 3.44479593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.580714057 meters Centerline goodness : 0.980247 Centerline is valid? [True, True] Translation: X:116.18, Y:83.30, Z:34.45 [[ 2.19844894e-01 -9.67090399e-01 -1.28079596e-01 1.16181531e+02] [ 9.21411688e-01 2.48973794e-01 -2.98349712e-01 8.33007370e+01] [ 3.20419605e-01 -5.24233760e-02 9.45824014e-01 3.44543277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.610714057 meters Centerline goodness : 0.976356 Centerline is valid? [True, True] Translation: X:116.15, Y:83.33, Z:34.47 [[ 2.20320093e-01 -9.74198045e-01 -4.89614701e-02 1.16151658e+02] [ 9.20400308e-01 2.24249840e-01 -3.20273762e-01 8.33318832e+01] [ 3.22989675e-01 2.54985929e-02 9.46058926e-01 3.44740591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.640714057 meters Centerline goodness : 0.974892 Centerline is valid? [True, True] Translation: X:116.18, Y:83.35, Z:34.48 [[ 2.21323027e-01 -9.71121899e-01 -8.90975633e-02 1.16177658e+02] [ 9.21116652e-01 2.38177487e-01 -3.07921417e-01 8.33538024e+01] [ 3.20250265e-01 -1.39191492e-02 9.47230714e-01 3.44752868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.670714057 meters Centerline goodness : 0.980290 Centerline is valid? [True, True] Translation: X:116.17, Y:83.38, Z:34.48 [[ 2.22156511e-01 -9.72811555e-01 -6.54535202e-02 1.16171986e+02] [ 9.21571779e-01 2.31426153e-01 -3.11684765e-01 8.33811217e+01] [ 3.18358197e-01 8.92268282e-03 9.47928502e-01 3.44826717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.700714057 meters Centerline goodness : 0.975977 Centerline is valid? [True, True] Translation: X:116.20, Y:83.40, Z:34.49 [[ 2.28763934e-01 -9.68112877e-01 -1.02100540e-01 1.16198795e+02] [ 9.18831003e-01 2.49377485e-01 -3.05876539e-01 8.33987831e+01] [ 3.21584592e-01 -2.38396211e-02 9.46580701e-01 3.44937972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.730714057 meters Centerline goodness : 0.977350 Centerline is valid? [True, True] Translation: X:116.20, Y:83.43, Z:34.51 [[ 2.28934173e-01 -9.69431264e-01 -8.82732587e-02 1.16200225e+02] [ 9.18289266e-01 2.45163570e-01 -3.10869182e-01 8.34263311e+01] [ 3.23007692e-01 -9.89180674e-03 9.46344643e-01 3.45070489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.76071405700003 meters Centerline goodness : 0.981479 Centerline is valid? [True, True] Translation: X:116.23, Y:83.45, Z:34.51 [[ 2.26471207e-01 -9.66505190e-01 -1.20741498e-01 1.16225643e+02] [ 9.21196778e-01 2.52805175e-01 -2.95780392e-01 8.34546245e+01] [ 3.16397359e-01 -4.42409363e-02 9.47594560e-01 3.45118113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.790714057 meters Centerline goodness : 0.981402 Centerline is valid? [True, True] Translation: X:116.22, Y:83.48, Z:34.53 [[ 2.24597156e-01 -9.69570551e-01 -9.74118277e-02 1.16222621e+02] [ 9.21462766e-01 2.43835801e-01 -3.02407794e-01 8.34807639e+01] [ 3.16958182e-01 -2.18414418e-02 9.48187989e-01 3.45251385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.82071405700003 meters Centerline goodness : 0.981452 Centerline is valid? [True, True] Translation: X:116.23, Y:83.51, Z:34.53 [[ 2.21956730e-01 -9.70156283e-01 -9.76319439e-02 1.16230245e+02] [ 9.21781609e-01 2.41419406e-01 -3.03373262e-01 8.35057468e+01] [ 3.17889723e-01 -2.26595929e-02 9.47856881e-01 3.45346762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.850714057 meters Centerline goodness : 0.981114 Centerline is valid? [True, True] Translation: X:116.24, Y:83.53, Z:34.54 [[ 2.20833901e-01 -9.70420449e-01 -9.75527518e-02 1.16238663e+02] [ 9.22046259e-01 2.40328804e-01 -3.03434939e-01 8.35307473e+01] [ 3.17904206e-01 -2.29394286e-02 9.47845293e-01 3.45448788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.88071405700003 meters Centerline goodness : 0.981647 Centerline is valid? [True, True] Translation: X:116.25, Y:83.56, Z:34.55 [[ 2.17678462e-01 -9.71120905e-01 -9.76743318e-02 1.16246420e+02] [ 9.22581059e-01 2.37386702e-01 -3.04124551e-01 8.35556967e+01] [ 3.18528297e-01 -2.39111237e-02 9.47611725e-01 3.45536108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.910714057 meters Centerline goodness : 0.981559 Centerline is valid? [True, True] Translation: X:116.26, Y:83.58, Z:34.56 [[ 2.13783536e-01 -9.71952246e-01 -9.80073069e-02 1.16255843e+02] [ 9.23041006e-01 2.33828832e-01 -3.05482207e-01 8.35792596e+01] [ 3.19831051e-01 -2.51576967e-02 9.47140533e-01 3.45627058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.94071405700004 meters Centerline goodness : 0.981554 Centerline is valid? [True, True] Translation: X:116.28, Y:83.59, Z:34.58 [[ 2.07689677e-01 -9.65810415e-01 -1.55161980e-01 1.16282290e+02] [ 9.22142452e-01 2.46233200e-01 -2.98366402e-01 8.35909242e+01] [ 3.26371409e-01 -8.11138267e-02 9.41754878e-01 3.45770472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.970714057 meters Centerline goodness : 0.981554 Centerline is valid? [True, True] Translation: X:116.26, Y:83.62, Z:34.60 [[ 2.06878824e-01 -9.73502166e-01 -9.74406746e-02 1.16263538e+02] [ 9.20943762e-01 2.27386775e-01 -3.16477236e-01 8.36221558e+01] [ 3.30247996e-01 -2.42649430e-02 9.43582256e-01 3.45976285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.000714057 meters Centerline goodness : 0.982063 Centerline is valid? [True, True] Translation: X:116.25, Y:83.66, Z:34.60 [[ 2.08080878e-01 -9.77317761e-01 -3.93997766e-02 1.16253591e+02] [ 9.22680897e-01 2.09497167e-01 -3.23683331e-01 8.36573836e+01] [ 3.24595610e-01 3.09988905e-02 9.45344783e-01 3.46045660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.030714057 meters Centerline goodness : 0.983678 Centerline is valid? [True, True] Translation: X:116.29, Y:83.68, Z:34.60 [[ 2.07632448e-01 -9.73320155e-01 -9.76557301e-02 1.16288071e+02] [ 9.24604884e-01 2.27867596e-01 -3.05257543e-01 8.36784862e+01] [ 3.19365896e-01 -2.69115939e-02 9.47249276e-01 3.46009297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.060714057 meters Centerline goodness : 0.982829 Centerline is valid? [True, True] Translation: X:116.29, Y:83.70, Z:34.61 [[ 2.07540598e-01 -9.73352540e-01 -9.75281096e-02 1.16294302e+02] [ 9.24665081e-01 2.27737065e-01 -3.05172601e-01 8.37031923e+01] [ 3.19251292e-01 -2.68451331e-02 9.47289793e-01 3.46104953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.090714057 meters Centerline goodness : 0.983975 Centerline is valid? [True, True] Translation: X:116.30, Y:83.73, Z:34.62 [[ 2.08187997e-01 -9.73178030e-01 -9.78891239e-02 1.16298779e+02] [ 9.24007826e-01 2.28507612e-01 -3.06584097e-01 8.37286360e+01] [ 3.20729317e-01 -2.66231874e-02 9.46796658e-01 3.46211371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.120714057 meters Centerline goodness : 0.981642 Centerline is valid? [True, True] Translation: X:116.31, Y:83.75, Z:34.63 [[ 2.08872249e-01 -9.73041487e-01 -9.77887920e-02 1.16305521e+02] [ 9.23852797e-01 2.29125188e-01 -3.06590376e-01 8.37535456e+01] [ 3.20731031e-01 -2.63042278e-02 9.46804992e-01 3.46313816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.150714057 meters Centerline goodness : 0.982008 Centerline is valid? [True, True] Translation: X:116.31, Y:83.78, Z:34.64 [[ 2.09376193e-01 -9.72963119e-01 -9.74904036e-02 1.16311799e+02] [ 9.23966698e-01 2.29490783e-01 -3.05973073e-01 8.37786684e+01] [ 3.20073665e-01 -2.60144090e-02 9.47035427e-01 3.46409254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.180714057 meters Centerline goodness : 0.982352 Centerline is valid? [True, True] Translation: X:116.32, Y:83.80, Z:34.65 [[ 2.07805558e-01 -9.73259261e-01 -9.78941341e-02 1.16318633e+02] [ 9.23765896e-01 2.28173575e-01 -3.07560383e-01 8.38043434e+01] [ 3.21672845e-01 -2.65185055e-02 9.46479450e-01 3.46504663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.210714057 meters Centerline goodness : 0.982473 Centerline is valid? [True, True] Translation: X:116.34, Y:83.82, Z:34.67 [[ 1.99972300e-01 -9.69043702e-01 -1.44794281e-01 1.16335697e+02] [ 9.22311667e-01 2.36047834e-01 -3.05978120e-01 8.38204218e+01] [ 3.30684546e-01 -7.23583062e-02 9.40963340e-01 3.46686479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.240714057 meters Centerline goodness : 0.978974 Centerline is valid? [True, True] Translation: X:116.29, Y:83.85, Z:34.69 [[ 2.04456515e-01 -9.78118118e-01 -3.85029859e-02 1.16293864e+02] [ 9.16874238e-01 2.05134396e-01 -3.42434681e-01 8.38495064e+01] [ 3.42839853e-01 3.47106057e-02 9.38752369e-01 3.46938230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.270714057 meters Centerline goodness : 0.979976 Centerline is valid? [True, True] Translation: X:116.34, Y:83.88, Z:34.69 [[ 1.96101894e-01 -9.72544727e-01 -1.25302839e-01 1.16338383e+02] [ 9.22230030e-01 2.26343452e-01 -3.13465171e-01 8.38763618e+01] [ 3.33220376e-01 -5.40869270e-02 9.41296332e-01 3.46921636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.300714057 meters Centerline goodness : 0.982577 Centerline is valid? [True, True] Translation: X:116.33, Y:83.90, Z:34.70 [[ 1.94764510e-01 -9.75957092e-01 -9.78495789e-02 1.16329571e+02] [ 9.21471899e-01 2.16244117e-01 -3.22688737e-01 8.39036061e+01] [ 3.36089757e-01 -2.73173235e-02 9.41433715e-01 3.47036690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.330714057 meters Centerline goodness : 0.982528 Centerline is valid? [True, True] Translation: X:116.34, Y:83.93, Z:34.71 [[ 1.92000621e-01 -9.75888405e-01 -1.03815138e-01 1.16339484e+02] [ 9.22338941e-01 2.15576085e-01 -3.20652195e-01 8.39323985e+01] [ 3.35300820e-01 -3.41873233e-02 9.41490620e-01 3.47112650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.360714057 meters Centerline goodness : 0.982948 Centerline is valid? [True, True] Translation: X:116.35, Y:83.96, Z:34.72 [[ 1.91841737e-01 -9.74624431e-01 -1.15342818e-01 1.16351069e+02] [ 9.24073658e-01 2.18966382e-01 -3.13275594e-01 8.39561162e+01] [ 3.30582247e-01 -4.64859258e-02 9.42631655e-01 3.47184868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.390714057 meters Centerline goodness : 0.980769 Centerline is valid? [True, True] Translation: X:116.34, Y:83.98, Z:34.73 [[ 1.91952475e-01 -9.76810862e-01 -9.48408525e-02 1.16344662e+02] [ 9.22764352e-01 2.12542400e-01 -3.21452452e-01 8.39820215e+01] [ 3.34155950e-01 -2.58121641e-02 9.42164282e-01 3.47323570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.420714057 meters Centerline goodness : 0.979458 Centerline is valid? [True, True] Translation: X:116.35, Y:84.01, Z:34.74 [[ 1.94225798e-01 -9.77084070e-01 -8.70807601e-02 1.16347368e+02] [ 9.22015475e-01 2.12142309e-01 -3.23856612e-01 8.40075473e+01] [ 3.34908650e-01 -1.73884997e-02 9.42090142e-01 3.47414822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.450714057 meters Centerline goodness : 0.983743 Centerline is valid? [True, True] Translation: X:116.37, Y:84.03, Z:34.75 [[ 1.94205857e-01 -9.74543224e-01 -1.12024948e-01 1.16365842e+02] [ 9.23531962e-01 2.20140713e-01 -3.14049011e-01 8.40346488e+01] [ 3.30715587e-01 -4.24684633e-02 9.42774432e-01 3.47470693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.480714057 meters Centerline goodness : 0.982553 Centerline is valid? [True, True] Translation: X:116.37, Y:84.06, Z:34.76 [[ 1.96571868e-01 -9.74691300e-01 -1.06472390e-01 1.16366769e+02] [ 9.22119764e-01 2.20684411e-01 -3.17794795e-01 8.40595139e+01] [ 3.33248619e-01 -3.57107783e-02 9.42162459e-01 3.47581794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.51071405700003 meters Centerline goodness : 0.982420 Centerline is valid? [True, True] Translation: X:116.37, Y:84.09, Z:34.77 [[ 1.96981097e-01 -9.74905943e-01 -1.03715233e-01 1.16373317e+02] [ 9.22721562e-01 2.20102524e-01 -3.16448730e-01 8.40862300e+01] [ 3.31335732e-01 -3.33658636e-02 9.42922771e-01 3.47676771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.540714057 meters Centerline goodness : 0.982336 Centerline is valid? [True, True] Translation: X:116.37, Y:84.11, Z:34.78 [[ 2.00116053e-01 -9.75031762e-01 -9.62633229e-02 1.16371480e+02] [ 9.19876667e-01 2.20799027e-01 -3.24152290e-01 8.41081687e+01] [ 3.37313627e-01 -2.36823076e-02 9.41094398e-01 3.47798055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.57071405700003 meters Centerline goodness : 0.981360 Centerline is valid? [True, True] Translation: X:116.39, Y:84.13, Z:34.79 [[ 2.00882965e-01 -9.72135304e-01 -1.20826256e-01 1.16389060e+02] [ 9.21918314e-01 2.29312018e-01 -3.12222069e-01 8.41318624e+01] [ 3.31229009e-01 -4.86718432e-02 9.42294219e-01 3.47856377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.600714057 meters Centerline goodness : 0.982925 Centerline is valid? [True, True] Translation: X:116.38, Y:84.16, Z:34.80 [[ 2.00500578e-01 -9.75299973e-01 -9.26794558e-02 1.16381807e+02] [ 9.20475195e-01 2.19927547e-01 -3.23043787e-01 8.41601401e+01] [ 3.35447362e-01 -2.05386742e-02 9.41835033e-01 3.48024496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.63071405700003 meters Centerline goodness : 0.981214 Centerline is valid? [True, True] Translation: X:116.39, Y:84.18, Z:34.81 [[ 2.02622492e-01 -9.73448308e-01 -1.06501253e-01 1.16392514e+02] [ 9.20229244e-01 2.26467754e-01 -3.19202905e-01 8.41815445e+01] [ 3.34846627e-01 -3.33278798e-02 9.41683062e-01 3.48098849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.660714057 meters Centerline goodness : 0.982337 Centerline is valid? [True, True] Translation: X:116.39, Y:84.21, Z:34.82 [[ 2.02783956e-01 -9.74529795e-01 -9.57619265e-02 1.16394254e+02] [ 9.20109239e-01 2.23092714e-01 -3.21914009e-01 8.42083685e+01] [ 3.35078581e-01 -2.28324371e-02 9.41913491e-01 3.48211647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.69071405700004 meters Centerline goodness : 0.983925 Centerline is valid? [True, True] Translation: X:116.40, Y:84.23, Z:34.83 [[ 2.04380137e-01 -9.74463694e-01 -9.30014433e-02 1.16400679e+02] [ 9.19813138e-01 2.23682629e-01 -3.22350544e-01 8.42331827e+01] [ 3.34921709e-01 -1.96619010e-02 9.42040795e-01 3.48306144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.720714057 meters Centerline goodness : 0.985020 Centerline is valid? [True, True] Translation: X:116.41, Y:84.26, Z:34.84 [[ 1.99283313e-01 -9.75142634e-01 -9.68659111e-02 1.16411274e+02] [ 9.20768425e-01 2.20161803e-01 -3.22047027e-01 8.42637411e+01] [ 3.35367960e-01 -2.50124740e-02 9.41755121e-01 3.48407771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.750714057 meters Centerline goodness : 0.983978 Centerline is valid? [True, True] Translation: X:116.42, Y:84.28, Z:34.84 [[ 2.01954338e-01 -9.73825564e-01 -1.04298689e-01 1.16421414e+02] [ 9.20984961e-01 2.25056625e-01 -3.18019209e-01 8.42837059e+01] [ 3.33168347e-01 -3.18321652e-02 9.42329861e-01 3.48444015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.780714057 meters Centerline goodness : 0.983444 Centerline is valid? [True, True] Translation: X:116.42, Y:84.31, Z:34.86 [[ 1.99248490e-01 -9.74892839e-01 -9.94182658e-02 1.16423526e+02] [ 9.20837975e-01 2.20966141e-01 -3.21296417e-01 8.43083254e+01] [ 3.35197647e-01 -2.75302886e-02 9.41745518e-01 3.48554639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.810714057 meters Centerline goodness : 0.984600 Centerline is valid? [True, True] Translation: X:116.43, Y:84.34, Z:34.87 [[ 1.97190493e-01 -9.74843610e-01 -1.03903055e-01 1.16433094e+02] [ 9.22006966e-01 2.20428463e-01 -3.18299304e-01 8.43350226e+01] [ 3.33195234e-01 -3.30337437e-02 9.42278997e-01 3.48651011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.840714057 meters Centerline goodness : 0.985658 Centerline is valid? [True, True] Translation: X:116.43, Y:84.37, Z:34.88 [[ 1.93146155e-01 -9.77333929e-01 -8.66773009e-02 1.16434753e+02] [ 9.22066911e-01 2.10999205e-01 -3.24456389e-01 8.43672492e+01] [ 3.35391079e-01 -1.72547672e-02 9.41920961e-01 3.48803418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.870714057 meters Centerline goodness : 0.984792 Centerline is valid? [True, True] Translation: X:116.45, Y:84.39, Z:34.88 [[ 1.97188259e-01 -9.75339815e-01 -9.91414983e-02 1.16449705e+02] [ 9.23951960e-01 2.18698335e-01 -3.13821309e-01 8.43897926e+01] [ 3.27764498e-01 -2.97201041e-02 9.44291877e-01 3.48804946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.900714057 meters Centerline goodness : 0.984629 Centerline is valid? [True, True] Translation: X:116.46, Y:84.41, Z:34.89 [[ 1.96355703e-01 -9.73683460e-01 -1.15693376e-01 1.16460516e+02] [ 9.23634705e-01 2.23277869e-01 -3.11521950e-01 8.44075511e+01] [ 3.29155540e-01 -4.56893058e-02 9.43169718e-01 3.48877633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.930714057 meters Centerline goodness : 0.984827 Centerline is valid? [True, True] Translation: X:116.45, Y:84.44, Z:34.90 [[ 1.96237814e-01 -9.78032931e-01 -7.03015410e-02 1.16451127e+02] [ 9.23646133e-01 2.08442472e-01 -3.21604661e-01 8.44426906e+01] [ 3.29193776e-01 -1.82275084e-03 9.44260629e-01 3.49036111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.960714057 meters Centerline goodness : 0.984251 Centerline is valid? [True, True] Translation: X:116.48, Y:84.46, Z:34.91 [[ 1.95672299e-01 -9.73317382e-01 -1.19856682e-01 1.16476286e+02] [ 9.24474128e-01 2.23855270e-01 -3.08603962e-01 8.44585283e+01] [ 3.27200150e-01 -5.04191549e-02 9.43609014e-01 3.49055701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.990714057 meters Centerline goodness : 0.984052 Centerline is valid? [True, True] Translation: X:116.46, Y:84.50, Z:34.93 [[ 1.90380881e-01 -9.79354776e-01 -6.79657463e-02 1.16462233e+02] [ 9.23950003e-01 2.02146667e-01 -3.24735456e-01 8.44954607e+01] [ 3.31770269e-01 -9.73529177e-04 9.43359709e-01 3.49282960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.020714057 meters Centerline goodness : 0.983845 Centerline is valid? [True, True] Translation: X:116.49, Y:84.51, Z:34.92 [[ 1.91574796e-01 -9.72544895e-01 -1.32119358e-01 1.16493823e+02] [ 9.25439719e-01 2.23827220e-01 -3.05716704e-01 8.45079855e+01] [ 3.26895128e-01 -6.37008867e-02 9.42911328e-01 3.49236716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.050714057 meters Centerline goodness : 0.984428 Centerline is valid? [True, True] Translation: X:116.48, Y:84.54, Z:34.94 [[ 1.90218151e-01 -9.78653769e-01 -7.78065293e-02 1.16479895e+02] [ 9.24486500e-01 2.05230784e-01 -3.21255408e-01 8.45409886e+01] [ 3.30366111e-01 -1.08224763e-02 9.43790817e-01 3.49421623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.080714057 meters Centerline goodness : 0.982512 Centerline is valid? [True, True] Translation: X:116.50, Y:84.56, Z:34.94 [[ 1.88943868e-01 -9.75623401e-01 -1.11620763e-01 1.16500705e+02] [ 9.25001878e-01 2.14984167e-01 -3.13294325e-01 8.45598619e+01] [ 3.29653972e-01 -4.40543741e-02 9.43073418e-01 3.49449353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.110714057 meters Centerline goodness : 0.980387 Centerline is valid? [True, True] Translation: X:116.49, Y:84.59, Z:34.96 [[ 1.87039437e-01 -9.79473280e-01 -7.51554601e-02 1.16491745e+02] [ 9.24090676e-01 2.01386266e-01 -3.24807626e-01 8.45864793e+01] [ 3.33275669e-01 -8.69862438e-03 9.42789299e-01 3.49626130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.140714057 meters Centerline goodness : 0.983433 Centerline is valid? [True, True] Translation: X:116.51, Y:84.62, Z:34.97 [[ 1.79797158e-01 -9.77972788e-01 -1.06029277e-01 1.16512156e+02] [ 9.26067612e-01 2.04629150e-01 -3.17057864e-01 8.46159865e+01] [ 3.31770645e-01 -4.11841767e-02 9.42460664e-01 3.49674475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.170714057 meters Centerline goodness : 0.982420 Centerline is valid? [True, True] Translation: X:116.52, Y:84.64, Z:34.97 [[ 1.83364308e-01 -9.77020376e-01 -1.08667918e-01 1.16517386e+02] [ 9.26274097e-01 2.08737879e-01 -3.13759137e-01 8.46350500e+01] [ 3.29232181e-01 -4.31240508e-02 9.43263742e-01 3.49728365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.200714057 meters Centerline goodness : 0.980419 Centerline is valid? [True, True] Translation: X:116.51, Y:84.66, Z:34.99 [[ 1.80874985e-01 -9.79696992e-01 -8.64756848e-02 1.16514163e+02] [ 9.26432720e-01 1.99235446e-01 -3.19417677e-01 8.46603384e+01] [ 3.30161558e-01 -2.23392364e-02 9.43660057e-01 3.49871788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.230714057 meters Centerline goodness : 0.984403 Centerline is valid? [True, True] Translation: X:116.52, Y:84.69, Z:35.00 [[ 1.74595332e-01 -9.80834287e-01 -8.64902939e-02 1.16523463e+02] [ 9.26927092e-01 1.93357254e-01 -3.21588461e-01 8.46938622e+01] [ 3.32148515e-01 -2.40223524e-02 9.42921148e-01 3.49981882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.26071405700003 meters Centerline goodness : 0.982723 Centerline is valid? [True, True] Translation: X:116.54, Y:84.71, Z:35.00 [[ 1.77896726e-01 -9.77136289e-01 -1.16436370e-01 1.16541967e+02] [ 9.28230382e-01 2.05911438e-01 -3.09820654e-01 8.47099262e+01] [ 3.26712585e-01 -5.29636959e-02 9.43638561e-01 3.49982626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.290714057 meters Centerline goodness : 0.980578 Centerline is valid? [True, True] Translation: X:116.54, Y:84.74, Z:35.01 [[ 1.76495105e-01 -9.80268494e-01 -8.90121195e-02 1.16535335e+02] [ 9.27261842e-01 1.95923281e-01 -3.19060410e-01 8.47351139e+01] [ 3.30204414e-01 -2.62249411e-02 9.43545069e-01 3.50127708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.32071405700003 meters Centerline goodness : 0.983168 Centerline is valid? [True, True] Translation: X:116.54, Y:84.77, Z:35.03 [[ 1.68495753e-01 -9.81704200e-01 -8.86907288e-02 1.16540466e+02] [ 9.26846592e-01 1.88418120e-01 -3.24736828e-01 8.47661043e+01] [ 3.35506448e-01 -2.74859235e-02 9.41636845e-01 3.50258924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.350714057 meters Centerline goodness : 0.981480 Centerline is valid? [True, True] Translation: X:116.55, Y:84.79, Z:35.03 [[ 1.67723000e-01 -9.80321309e-01 -1.04111129e-01 1.16550321e+02] [ 9.28447961e-01 1.92581929e-01 -3.17642227e-01 8.47862226e+01] [ 3.31441366e-01 -4.33858581e-02 9.42477739e-01 3.50324720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.38071405700003 meters Centerline goodness : 0.981078 Centerline is valid? [True, True] Translation: X:116.55, Y:84.81, Z:35.04 [[ 1.68851751e-01 -9.81696353e-01 -8.80985605e-02 1.16550876e+02] [ 9.28261413e-01 1.88437244e-01 -3.20658939e-01 8.48129824e+01] [ 3.31390761e-01 -2.76346710e-02 9.43088802e-01 3.50417686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.410714057 meters Centerline goodness : 0.983971 Centerline is valid? [True, True] Translation: X:116.56, Y:84.84, Z:35.05 [[ 1.65189336e-01 -9.80944097e-01 -1.02279817e-01 1.16564670e+02] [ 9.28005113e-01 1.89707791e-01 -3.20651625e-01 8.48400401e+01] [ 3.33944597e-01 -4.19479643e-02 9.41658842e-01 3.50491953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.44071405700004 meters Centerline goodness : 0.982985 Centerline is valid? [True, True] Translation: X:116.57, Y:84.87, Z:35.06 [[ 1.66881961e-01 -9.81407196e-01 -9.48173287e-02 1.16568762e+02] [ 9.29424380e-01 1.88681431e-01 -3.17127166e-01 8.48664629e+01] [ 3.29121152e-01 -3.52027335e-02 9.43631302e-01 3.50574125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.470714057 meters Centerline goodness : 0.980768 Centerline is valid? [True, True] Translation: X:116.57, Y:84.89, Z:35.07 [[ 1.68301856e-01 -9.81720904e-01 -8.88737956e-02 1.16571284e+02] [ 9.28379564e-01 1.88169324e-01 -3.20474165e-01 8.48891736e+01] [ 3.31339509e-01 -2.85722190e-02 9.43078872e-01 3.50672621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.500714057 meters Centerline goodness : 0.982461 Centerline is valid? [True, True] Translation: X:116.58, Y:84.92, Z:35.07 [[ 1.68322762e-01 -9.79679141e-01 -1.09069830e-01 1.16584070e+02] [ 9.30998625e-01 1.94357813e-01 -3.08976700e-01 8.49166603e+01] [ 3.23896602e-01 -4.95360500e-02 9.44794777e-01 3.50720585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.530714057 meters Centerline goodness : 0.979719 Centerline is valid? [True, True] Translation: X:116.57, Y:84.94, Z:35.09 [[ 1.70653862e-01 -9.82857960e-01 -6.97673969e-02 1.16570374e+02] [ 9.27531538e-01 1.84134290e-01 -3.25238081e-01 8.49396105e+01] [ 3.32509407e-01 -9.20832658e-03 9.43054983e-01 3.50899426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.560714057 meters Centerline goodness : 0.981966 Centerline is valid? [True, True] Translation: X:116.59, Y:84.97, Z:35.09 [[ 1.68833475e-01 -9.80804245e-01 -9.75617322e-02 1.16591320e+02] [ 9.28795174e-01 1.91444400e-01 -3.17314617e-01 8.49667230e+01] [ 3.29901171e-01 -3.70415367e-02 9.43288472e-01 3.50929964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.590714057 meters Centerline goodness : 0.980253 Centerline is valid? [True, True] Translation: X:116.59, Y:84.99, Z:35.10 [[ 1.71214134e-01 -9.81374108e-01 -8.71239369e-02 1.16591177e+02] [ 9.28010783e-01 1.90336278e-01 -3.20262531e-01 8.49892356e+01] [ 3.30880202e-01 -2.60184810e-02 9.43314015e-01 3.51029184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.620714057 meters Centerline goodness : 0.982268 Centerline is valid? [True, True] Translation: X:116.61, Y:85.01, Z:35.11 [[ 1.70467811e-01 -9.78652580e-01 -1.14803545e-01 1.16611497e+02] [ 9.29467866e-01 1.98385433e-01 -3.11018819e-01 8.50143873e+01] [ 3.27154720e-01 -5.36875092e-02 9.43444455e-01 3.51056033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.650714057 meters Centerline goodness : 0.985353 Centerline is valid? [True, True] Translation: X:116.60, Y:85.05, Z:35.12 [[ 1.69464637e-01 -9.82366417e-01 -7.89807498e-02 1.16597446e+02] [ 9.27648103e-01 1.86058965e-01 -3.23807131e-01 8.50460946e+01] [ 3.32792328e-01 -1.83924849e-02 9.42820759e-01 3.51244118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.680714057 meters Centerline goodness : 0.985772 Centerline is valid? [True, True] Translation: X:116.61, Y:85.07, Z:35.13 [[ 1.68672226e-01 -9.81388256e-01 -9.17974489e-02 1.16609032e+02] [ 9.27971338e-01 1.89504986e-01 -3.20869220e-01 8.50731758e+01] [ 3.32293358e-01 -3.10636758e-02 9.42664401e-01 3.51297809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.710714057 meters Centerline goodness : 0.985806 Centerline is valid? [True, True] Translation: X:116.62, Y:85.10, Z:35.14 [[ 1.69627422e-01 -9.80170463e-01 -1.02432425e-01 1.16618114e+02] [ 9.28914064e-01 1.93735704e-01 -3.15571132e-01 8.50972031e+01] [ 3.29158321e-01 -4.16214029e-02 9.43357015e-01 3.51356917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.740714057 meters Centerline goodness : 0.982604 Centerline is valid? [True, True] Translation: X:116.61, Y:85.12, Z:35.15 [[ 1.70795366e-01 -9.82642300e-01 -7.24089292e-02 1.16609898e+02] [ 9.27803525e-01 1.85130793e-01 -3.23893823e-01 8.51221236e+01] [ 3.31676894e-01 -1.18616955e-02 9.43318471e-01 3.51510897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.770714057 meters Centerline goodness : 0.985154 Centerline is valid? [True, True] Translation: X:116.63, Y:85.15, Z:35.15 [[ 1.70411511e-01 -9.79216542e-01 -1.09976730e-01 1.16632381e+02] [ 9.29453940e-01 1.96799831e-01 -3.12066020e-01 8.51482456e+01] [ 3.27223611e-01 -4.90386630e-02 9.43673629e-01 3.51514825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.800714057 meters Centerline goodness : 0.985100 Centerline is valid? [True, True] Translation: X:116.62, Y:85.18, Z:35.17 [[ 1.71958618e-01 -9.81109308e-01 -8.86270782e-02 1.16624420e+02] [ 9.28410412e-01 1.91485557e-01 -3.18413862e-01 8.51750414e+01] [ 3.29369610e-01 -2.75282944e-02 9.43799689e-01 3.51659618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.830714057 meters Centerline goodness : 0.985027 Centerline is valid? [True, True] Translation: X:116.63, Y:85.20, Z:35.18 [[ 1.71618683e-01 -9.81609390e-01 -8.36064135e-02 1.16628338e+02] [ 9.28076265e-01 1.89559972e-01 -3.20533093e-01 8.52034800e+01] [ 3.30486723e-01 -2.25836607e-02 9.43540409e-01 3.51761238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.860714057 meters Centerline goodness : 0.985027 Centerline is valid? [True, True] Translation: X:116.64, Y:85.23, Z:35.18 [[ 1.71353677e-01 -9.80615415e-01 -9.50332879e-02 1.16640626e+02] [ 9.28514475e-01 1.92989945e-01 -3.17199860e-01 8.52279966e+01] [ 3.29391541e-01 -3.38864213e-02 9.43585144e-01 3.51819067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.890714057 meters Centerline goodness : 0.983649 Centerline is valid? [True, True] Translation: X:116.64, Y:85.25, Z:35.19 [[ 1.73823734e-01 -9.80755012e-01 -8.89095947e-02 1.16638779e+02] [ 9.28505835e-01 1.93303844e-01 -3.17033971e-01 8.52504393e+01] [ 3.28119223e-01 -2.74450487e-02 9.44237547e-01 3.51894645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.920714057 meters Centerline goodness : 0.982371 Centerline is valid? [True, True] Translation: X:116.64, Y:85.28, Z:35.20 [[ 1.74076002e-01 -9.80572335e-01 -9.04181455e-02 1.16643817e+02] [ 9.28287959e-01 1.94044872e-01 -3.17219251e-01 8.52765491e+01] [ 3.28601599e-01 -2.87138167e-02 9.44032047e-01 3.51988376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.950714057 meters Centerline goodness : 0.984492 Centerline is valid? [True, True] Translation: X:116.66, Y:85.30, Z:35.21 [[ 1.74847007e-01 -9.79282135e-01 -1.02151968e-01 1.16655365e+02] [ 9.28750851e-01 1.98484317e-01 -3.13090773e-01 8.53041087e+01] [ 3.26879764e-01 -4.01307424e-02 9.44213505e-01 3.52051677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.980714057 meters Centerline goodness : 0.984187 Centerline is valid? [True, True] Translation: X:116.65, Y:85.33, Z:35.22 [[ 1.76402292e-01 -9.79696729e-01 -9.52709336e-02 1.16654626e+02] [ 9.27723182e-01 1.97825634e-01 -3.16535490e-01 8.53291761e+01] [ 3.28955817e-01 -3.25474677e-02 9.43784262e-01 3.52166029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.01071405700003 meters Centerline goodness : 0.982348 Centerline is valid? [True, True] Translation: X:116.65, Y:85.36, Z:35.23 [[ 1.78194762e-01 -9.81002752e-01 -7.66826440e-02 1.16652562e+02] [ 9.26955599e-01 1.93501913e-01 -3.21419239e-01 8.53550559e+01] [ 3.30151396e-01 -1.38061815e-02 9.43827021e-01 3.52288988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.040714057 meters Centerline goodness : 0.984462 Centerline is valid? [True, True] Translation: X:116.67, Y:85.38, Z:35.23 [[ 1.78854674e-01 -9.78695202e-01 -1.00830093e-01 1.16666242e+02] [ 9.27432883e-01 2.01918550e-01 -3.14796993e-01 8.53822716e+01] [ 3.28449773e-01 -3.72102303e-02 9.43788189e-01 3.52315625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.07071405700003 meters Centerline goodness : 0.983907 Centerline is valid? [True, True] Translation: X:116.66, Y:85.41, Z:35.25 [[ 1.78795695e-01 -9.80571389e-01 -8.06960424e-02 1.16661527e+02] [ 9.27195016e-01 1.95364340e-01 -3.19596899e-01 8.54079097e+01] [ 3.29152704e-01 -1.76784186e-02 9.44111207e-01 3.52459065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.100714057 meters Centerline goodness : 0.983785 Centerline is valid? [True, True] Translation: X:116.67, Y:85.43, Z:35.25 [[ 1.79372141e-01 -9.79011337e-01 -9.67596848e-02 1.16674601e+02] [ 9.27301182e-01 2.01100566e-01 -3.15707271e-01 8.54346051e+01] [ 3.28539425e-01 -3.30962809e-02 9.43910209e-01 3.52508873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.13071405700003 meters Centerline goodness : 0.983930 Centerline is valid? [True, True] Translation: X:116.68, Y:85.46, Z:35.26 [[ 1.78368032e-01 -9.79627235e-01 -9.22785163e-02 1.16675761e+02] [ 9.27259202e-01 1.98724787e-01 -3.17330791e-01 8.54601356e+01] [ 3.29203914e-01 -2.89644345e-02 9.43814518e-01 3.52622024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.160714057 meters Centerline goodness : 0.983893 Centerline is valid? [True, True] Translation: X:116.68, Y:85.49, Z:35.27 [[ 1.79204225e-01 -9.80303122e-01 -8.30158668e-02 1.16677038e+02] [ 9.26934298e-01 1.96517043e-01 -3.19646461e-01 8.54856199e+01] [ 3.29664456e-01 -1.96682578e-02 9.43893271e-01 3.52732687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.19071405700004 meters Centerline goodness : 0.984595 Centerline is valid? [True, True] Translation: X:116.69, Y:85.51, Z:35.28 [[ 1.78002202e-01 -9.79324719e-01 -9.61161301e-02 1.16689778e+02] [ 9.27767127e-01 1.99576797e-01 -3.15305028e-01 8.55112615e+01] [ 3.27968557e-01 -3.30483966e-02 9.44110390e-01 3.52782045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.220714057 meters Centerline goodness : 0.986530 Centerline is valid? [True, True] Translation: X:116.69, Y:85.54, Z:35.29 [[ 1.77252252e-01 -9.79926314e-01 -9.12472385e-02 1.16694202e+02] [ 9.28093656e-01 1.97281652e-01 -3.15788087e-01 8.55382240e+01] [ 3.27450462e-01 -2.87118334e-02 9.44432012e-01 3.52886104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.250714057 meters Centerline goodness : 0.986547 Centerline is valid? [True, True] Translation: X:116.70, Y:85.56, Z:35.30 [[ 1.76182758e-01 -9.80384320e-01 -8.83528169e-02 1.16698184e+02] [ 9.28805667e-01 1.95295193e-01 -3.14928280e-01 8.55647510e+01] [ 3.26005628e-01 -2.65776640e-02 9.44994158e-01 3.52977465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.280714057 meters Centerline goodness : 0.985403 Centerline is valid? [True, True] Translation: X:116.70, Y:85.59, Z:35.31 [[ 1.75919919e-01 -9.80912297e-01 -8.28447237e-02 1.16702734e+02] [ 9.28664999e-01 1.93286874e-01 -3.16577802e-01 8.55895505e+01] [ 3.26547856e-01 -2.12426541e-02 9.44941928e-01 3.53091393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.310714057 meters Centerline goodness : 0.986677 Centerline is valid? [True, True] Translation: X:116.71, Y:85.61, Z:35.32 [[ 1.74678909e-01 -9.80583425e-01 -8.91258940e-02 1.16710515e+02] [ 9.28567146e-01 1.94164107e-01 -3.16327925e-01 8.56148059e+01] [ 3.27490970e-01 -2.75035603e-02 9.44453926e-01 3.53164092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.340714057 meters Centerline goodness : 0.987178 Centerline is valid? [True, True] Translation: X:116.72, Y:85.64, Z:35.33 [[ 1.74495141e-01 -9.80627336e-01 -8.90026558e-02 1.16716920e+02] [ 9.28638725e-01 1.93947379e-01 -3.16250744e-01 8.56387959e+01] [ 3.27385956e-01 -2.74670946e-02 9.44491395e-01 3.53259756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.370714057 meters Centerline goodness : 0.987400 Centerline is valid? [True, True] Translation: X:116.73, Y:85.66, Z:35.33 [[ 1.74481494e-01 -9.79825920e-01 -9.74544800e-02 1.16727731e+02] [ 9.29289021e-01 1.96582973e-01 -3.12693220e-01 8.56645317e+01] [ 3.25542813e-01 -3.60041980e-02 9.44841561e-01 3.53329599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.400714057 meters Centerline goodness : 0.986499 Centerline is valid? [True, True] Translation: X:116.73, Y:85.69, Z:35.35 [[ 1.74689067e-01 -9.81041217e-01 -8.39157960e-02 1.16726519e+02] [ 9.27831441e-01 1.92540386e-01 -3.19463640e-01 8.56880425e+01] [ 3.29564178e-01 -2.20529087e-02 9.43875586e-01 3.53471524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.430714057 meters Centerline goodness : 0.987574 Centerline is valid? [True, True] Translation: X:116.74, Y:85.71, Z:35.35 [[ 1.75362811e-01 -9.80306381e-01 -9.08145623e-02 1.16736239e+02] [ 9.27981787e-01 1.95395720e-01 -3.17285858e-01 8.57127337e+01] [ 3.28782128e-01 -2.86341199e-02 9.43971609e-01 3.53524353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.460714057 meters Centerline goodness : 0.986874 Centerline is valid? [True, True] Translation: X:116.75, Y:85.74, Z:35.36 [[ 1.76475518e-01 -9.79674001e-01 -9.53689885e-02 1.16747518e+02] [ 9.29695916e-01 1.97724203e-01 -3.10758174e-01 8.57396439e+01] [ 3.23298461e-01 -3.38229493e-02 9.45692399e-01 3.53613072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.490714057 meters Centerline goodness : 0.987517 Centerline is valid? [True, True] Translation: X:116.75, Y:85.76, Z:35.37 [[ 1.76571570e-01 -9.79840492e-01 -9.34617034e-02 1.16752749e+02] [ 9.29537658e-01 1.97223722e-01 -3.11548625e-01 8.57640687e+01] [ 3.23700824e-01 -3.18655428e-02 9.45622739e-01 3.53716829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.520714057 meters Centerline goodness : 0.985149 Centerline is valid? [True, True] Translation: X:116.76, Y:85.79, Z:35.38 [[ 1.79878818e-01 -9.79988935e-01 -8.52367228e-02 1.16756476e+02] [ 9.29207980e-01 1.97713963e-01 -3.12220626e-01 8.57872863e+01] [ 3.22825249e-01 -2.30407659e-02 9.46178092e-01 3.53846441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.550714057 meters Centerline goodness : 0.986710 Centerline is valid? [True, True] Translation: X:116.77, Y:85.81, Z:35.39 [[ 1.81840384e-01 -9.79316169e-01 -8.87350875e-02 1.16765616e+02] [ 9.29513129e-01 2.00630948e-01 -3.09439114e-01 8.58141552e+01] [ 3.20841732e-01 -2.62119017e-02 9.46770046e-01 3.53943694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.580714057 meters Centerline goodness : 0.988016 Centerline is valid? [True, True] Translation: X:116.77, Y:85.84, Z:35.40 [[ 1.83963682e-01 -9.79542343e-01 -8.15730433e-02 1.16769752e+02] [ 9.29045194e-01 2.00379364e-01 -3.11003437e-01 8.58417055e+01] [ 3.20986590e-01 -1.85717064e-02 9.46901632e-01 3.54042768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.610714057 meters Centerline goodness : 0.986659 Centerline is valid? [True, True] Translation: X:116.78, Y:85.87, Z:35.41 [[ 1.89941343e-01 -9.77832038e-01 -8.81294034e-02 1.16780123e+02] [ 9.28211631e-01 2.08099060e-01 -3.08411980e-01 8.58655080e+01] [ 3.19914761e-01 -2.32225515e-02 9.47161686e-01 3.54113579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.640714057 meters Centerline goodness : 0.986924 Centerline is valid? [True, True] Translation: X:116.79, Y:85.89, Z:35.42 [[ 1.91529467e-01 -9.76514887e-01 -9.86668081e-02 1.16788959e+02] [ 9.27293367e-01 2.12979641e-01 -3.07841979e-01 8.58882010e+01] [ 3.21626297e-01 -3.25322665e-02 9.46307654e-01 3.54209536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.670714057 meters Centerline goodness : 0.987587 Centerline is valid? [True, True] Translation: X:116.79, Y:85.91, Z:35.43 [[ 1.99471321e-01 -9.76435522e-01 -8.23702817e-02 1.16789760e+02] [ 9.25419700e-01 2.15352728e-01 -3.11803754e-01 8.59148535e+01] [ 3.22194926e-01 -1.40311747e-02 9.46569361e-01 3.54324787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.700714057 meters Centerline goodness : 0.986958 Centerline is valid? [True, True] Translation: X:116.80, Y:85.94, Z:35.44 [[ 2.03432262e-01 -9.75561799e-01 -8.30330692e-02 1.16798777e+02] [ 9.24431458e-01 2.19322695e-01 -3.11968002e-01 8.59401314e+01] [ 3.22555102e-01 -1.32940250e-02 9.46457329e-01 3.54406512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.730714057 meters Centerline goodness : 0.984571 Centerline is valid? [True, True] Translation: X:116.81, Y:85.96, Z:35.45 [[ 2.07923233e-01 -9.74091110e-01 -8.89631304e-02 1.16811315e+02] [ 9.23966838e-01 2.25441884e-01 -3.08968022e-01 8.59632504e+01] [ 3.21019020e-01 -1.79573521e-02 9.46902488e-01 3.54463894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.76071405700003 meters Centerline goodness : 0.985511 Centerline is valid? [True, True] Translation: X:116.82, Y:85.99, Z:35.46 [[ 2.14672863e-01 -9.72895648e-01 -8.59629054e-02 1.16815026e+02] [ 9.21036365e-01 2.30940817e-01 -3.13621354e-01 8.59894371e+01] [ 3.24973194e-01 -1.18489680e-02 9.45648997e-01 3.54594488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.790714057 meters Centerline goodness : 0.985237 Centerline is valid? [True, True] Translation: X:116.83, Y:86.01, Z:35.47 [[ 2.22364042e-01 -9.70368896e-01 -9.45433136e-02 1.16826831e+02] [ 9.19469973e-01 2.40967996e-01 -3.10659610e-01 8.60137228e+01] [ 3.24236335e-01 -1.78502116e-02 9.45807681e-01 3.54677610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.82071405700003 meters Centerline goodness : 0.983696 Centerline is valid? [True, True] Translation: X:116.82, Y:86.04, Z:35.48 [[ 2.28005180e-01 -9.72228969e-01 -5.27680806e-02 1.16819963e+02] [ 9.19234422e-01 2.32809564e-01 -3.17502417e-01 8.60423029e+01] [ 3.20969961e-01 2.38859597e-02 9.46788120e-01 3.54813271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.850714057 meters Centerline goodness : 0.985083 Centerline is valid? [True, True] Translation: X:116.85, Y:86.07, Z:35.48 [[ 2.30642330e-01 -9.66782725e-01 -1.10160243e-01 1.16853366e+02] [ 9.18712096e-01 2.53664556e-01 -3.02691887e-01 8.60652548e+01] [ 3.20581037e-01 -3.13919854e-02 9.46700767e-01 3.54780472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.88071405700003 meters Centerline goodness : 0.983025 Centerline is valid? [True, True] Translation: X:116.84, Y:86.09, Z:35.50 [[ 2.37149660e-01 -9.69707238e-01 -5.85483705e-02 1.16843049e+02] [ 9.16476763e-01 2.43307756e-01 -3.17603020e-01 8.60910033e+01] [ 3.22227220e-01 2.16612272e-02 9.46414502e-01 3.54974875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.910714057 meters Centerline goodness : 0.985000 Centerline is valid? [True, True] Translation: X:116.88, Y:86.11, Z:35.49 [[ 2.36154432e-01 -9.64380197e-01 -1.19171807e-01 1.16878027e+02] [ 9.17295279e-01 2.61712140e-01 -3.00126852e-01 8.61145252e+01] [ 3.20625102e-01 -3.84394499e-02 9.46425883e-01 3.54926516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.94071405700004 meters Centerline goodness : 0.984206 Centerline is valid? [True, True] Translation: X:116.87, Y:86.14, Z:35.51 [[ 2.36387934e-01 -9.67591877e-01 -8.88071121e-02 1.16874842e+02] [ 9.16798661e-01 2.52384122e-01 -3.09487431e-01 8.61367339e+01] [ 3.21871029e-01 -8.25914701e-03 9.46747499e-01 3.55123697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.970714057 meters Centerline goodness : 0.984886 Centerline is valid? [True, True] Translation: X:116.88, Y:86.16, Z:35.52 [[ 2.34205785e-01 -9.68089468e-01 -8.91651903e-02 1.16883242e+02] [ 9.16683479e-01 2.50450066e-01 -3.11393904e-01 8.61623545e+01] [ 3.23788586e-01 -8.80600303e-03 9.46088477e-01 3.55232703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.000714057 meters Centerline goodness : 0.984834 Centerline is valid? [True, True] Translation: X:116.89, Y:86.19, Z:35.53 [[ 2.31700811e-01 -9.68352176e-01 -9.27836003e-02 1.16894695e+02] [ 9.18070243e-01 2.49208689e-01 -3.08288922e-01 8.61872805e+01] [ 3.21654727e-01 -1.37510692e-02 9.46757173e-01 3.55308952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.030714057 meters Centerline goodness : 0.983865 Centerline is valid? [True, True] Translation: X:116.90, Y:86.21, Z:35.54 [[ 2.27002298e-01 -9.70027690e-01 -8.66962415e-02 1.16904742e+02] [ 9.19148112e-01 2.42817254e-01 -3.10171773e-01 8.62099378e+01] [ 3.21926552e-01 -9.27698149e-03 9.46719194e-01 3.55409953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.060714057 meters Centerline goodness : 0.983618 Centerline is valid? [True, True] Translation: X:116.91, Y:86.24, Z:35.55 [[ 2.25741883e-01 -9.71610279e-01 -7.08100864e-02 1.16908652e+02] [ 9.19357755e-01 2.36514249e-01 -3.14391998e-01 8.62366768e+01] [ 3.22214091e-01 5.87163945e-03 9.46648617e-01 3.55508714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.090714057 meters Centerline goodness : 0.984471 Centerline is valid? [True, True] Translation: X:116.94, Y:86.26, Z:35.55 [[ 2.17282806e-01 -9.70662539e-01 -1.02968038e-01 1.16935464e+02] [ 9.21905261e-01 2.38735308e-01 -3.05116606e-01 8.62592120e+01] [ 3.20747365e-01 -2.86301836e-02 9.46731979e-01 3.55546202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.120714057 meters Centerline goodness : 0.982251 Centerline is valid? [True, True] Translation: X:116.94, Y:86.28, Z:35.57 [[ 2.16764236e-01 -9.72956105e-01 -7.98102989e-02 1.16935718e+02] [ 9.22535351e-01 2.30895759e-01 -3.09217844e-01 8.62848056e+01] [ 3.19283248e-01 -6.60045255e-03 9.47636344e-01 3.55677958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.150714057 meters Centerline goodness : 0.983189 Centerline is valid? [True, True] Translation: X:116.96, Y:86.31, Z:35.57 [[ 2.10276746e-01 -9.72201875e-01 -1.02991286e-01 1.16955831e+02] [ 9.24994557e-01 2.31950128e-01 -3.00972105e-01 8.63065451e+01] [ 3.16494486e-01 -3.19789441e-02 9.48055160e-01 3.55714102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.180714057 meters Centerline goodness : 0.983994 Centerline is valid? [True, True] Translation: X:116.95, Y:86.33, Z:35.59 [[ 2.07598299e-01 -9.75129897e-01 -7.76184940e-02 1.16954566e+02] [ 9.25134319e-01 2.21496851e-01 -3.08327159e-01 8.63348150e+01] [ 3.17851283e-01 -7.79933871e-03 9.48108502e-01 3.55851391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.210714057 meters Centerline goodness : 0.981890 Centerline is valid? [True, True] Translation: X:116.97, Y:86.36, Z:35.59 [[ 2.01838585e-01 -9.75365001e-01 -8.90185401e-02 1.16968956e+02] [ 9.25799566e-01 2.19659414e-01 -3.07644120e-01 8.63556499e+01] [ 3.19619068e-01 -2.03188720e-02 9.47328240e-01 3.55916978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.240714057 meters Centerline goodness : 0.981791 Centerline is valid? [True, True] Translation: X:116.97, Y:86.39, Z:35.60 [[ 2.02646364e-01 -9.77502245e-01 -5.85133490e-02 1.16971718e+02] [ 9.28472645e-01 2.10786630e-01 -3.05790032e-01 8.63902641e+01] [ 3.11244274e-01 7.63919409e-03 9.50299239e-01 3.55994346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.270714057 meters Centerline goodness : 0.982484 Centerline is valid? [True, True] Translation: X:116.97, Y:86.41, Z:35.60 [[ 1.92256728e-01 -9.79580242e-01 -5.88209159e-02 1.16967790e+02] [ 9.30219425e-01 2.01007211e-01 -3.07063385e-01 8.64090750e+01] [ 3.12616654e-01 4.31864324e-03 9.49869558e-01 3.56000888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.300714057 meters Centerline goodness : 0.982126 Centerline is valid? [True, True] Translation: X:117.02, Y:86.43, Z:35.60 [[ 1.96561925e-01 -9.71961656e-01 -1.29050180e-01 1.17020833e+02] [ 9.30950208e-01 2.26314736e-01 -2.86554273e-01 8.64317431e+01] [ 3.07725723e-01 -6.38136325e-02 9.49332766e-01 3.55978124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.330714057 meters Centerline goodness : 0.983428 Centerline is valid? [True, True] Translation: X:117.01, Y:86.46, Z:35.62 [[ 1.94760889e-01 -9.76840985e-01 -8.85995786e-02 1.17010054e+02] [ 9.30983649e-01 2.12538716e-01 -2.96810949e-01 8.64605803e+01] [ 3.08767940e-01 -2.46775946e-02 9.50817215e-01 3.56162222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.360714057 meters Centerline goodness : 0.982834 Centerline is valid? [True, True] Translation: X:117.01, Y:86.48, Z:35.63 [[ 1.93950571e-01 -9.77573305e-01 -8.20585691e-02 1.17014852e+02] [ 9.30596078e-01 2.09808599e-01 -2.99952150e-01 8.64847282e+01] [ 3.10441808e-01 -1.81874917e-02 9.50418381e-01 3.56253736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.390714057 meters Centerline goodness : 0.981756 Centerline is valid? [True, True] Translation: X:117.02, Y:86.51, Z:35.63 [[ 1.94466819e-01 -9.77631244e-01 -8.01236970e-02 1.17022975e+02] [ 9.30781286e-01 2.09690410e-01 -2.99459729e-01 8.65112704e+01] [ 3.09562359e-01 -1.63426567e-02 9.50738694e-01 3.56324822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.420714057 meters Centerline goodness : 0.980986 Centerline is valid? [True, True] Translation: X:117.03, Y:86.54, Z:35.64 [[ 1.96019098e-01 -9.77776951e-01 -7.43555419e-02 1.17028208e+02] [ 9.30136736e-01 2.09407755e-01 -3.01652191e-01 8.65354383e+01] [ 3.10519187e-01 -1.00312308e-02 9.50514181e-01 3.56408556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.450714057 meters Centerline goodness : 0.982444 Centerline is valid? [True, True] Translation: X:117.05, Y:86.56, Z:35.64 [[ 1.96302748e-01 -9.75831104e-01 -9.60150340e-02 1.17045280e+02] [ 9.30952596e-01 2.16225401e-01 -2.94234328e-01 8.65612596e+01] [ 3.07883899e-01 -3.16264379e-02 9.50898140e-01 3.56441920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.480714057 meters Centerline goodness : 0.982483 Centerline is valid? [True, True] Translation: X:117.05, Y:86.59, Z:35.66 [[ 1.95340746e-01 -9.76554812e-01 -9.04582316e-02 1.17049468e+02] [ 9.30889639e-01 2.13653069e-01 -2.96305326e-01 8.65871565e+01] [ 3.08685070e-01 -2.63261271e-02 9.50799907e-01 3.56563652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.51071405700003 meters Centerline goodness : 0.983451 Centerline is valid? [True, True] Translation: X:117.06, Y:86.62, Z:35.66 [[ 1.95927316e-01 -9.76847681e-01 -8.59132974e-02 1.17056234e+02] [ 9.31188490e-01 2.12800666e-01 -2.95979514e-01 8.66162618e+01] [ 3.07409309e-01 -2.20110019e-02 9.51322780e-01 3.56642091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.540714057 meters Centerline goodness : 0.981967 Centerline is valid? [True, True] Translation: X:117.06, Y:86.64, Z:35.68 [[ 1.96379636e-01 -9.76455512e-01 -8.92730164e-02 1.17062126e+02] [ 9.29807012e-01 2.14351221e-01 -2.99186356e-01 8.66368179e+01] [ 3.11277946e-01 -2.42525689e-02 9.50009396e-01 3.56755654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.57071405700003 meters Centerline goodness : 0.982721 Centerline is valid? [True, True] Translation: X:117.07, Y:86.67, Z:35.68 [[ 1.98177326e-01 -9.76810716e-01 -8.10343927e-02 1.17067318e+02] [ 9.30931226e-01 2.13451360e-01 -2.96320045e-01 8.66657235e+01] [ 3.06745497e-01 -1.67135326e-02 9.51644817e-01 3.56831258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.600714057 meters Centerline goodness : 0.983712 Centerline is valid? [True, True] Translation: X:117.08, Y:86.69, Z:35.69 [[ 1.98386189e-01 -9.75781884e-01 -9.21554907e-02 1.17077242e+02] [ 9.30736941e-01 2.17025211e-01 -2.94327716e-01 8.66904962e+01] [ 3.07199718e-01 -2.73819657e-02 9.51251051e-01 3.56921254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.63071405700003 meters Centerline goodness : 0.983347 Centerline is valid? [True, True] Translation: X:117.07, Y:86.72, Z:35.70 [[ 2.04668040e-01 -9.76480815e-01 -6.77953674e-02 1.17072740e+02] [ 9.30039263e-01 2.15593591e-01 -2.97567427e-01 8.67179737e+01] [ 3.05185130e-01 -2.14981156e-03 9.52290615e-01 3.57028362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.660714057 meters Centerline goodness : 0.984252 Centerline is valid? [True, True] Translation: X:117.09, Y:86.74, Z:35.71 [[ 2.10475891e-01 -9.73838134e-01 -8.56690627e-02 1.17087310e+02] [ 9.28831754e-01 2.26539397e-01 -2.93174818e-01 8.67445822e+01] [ 3.04912235e-01 -1.78659147e-02 9.52212864e-01 3.57073582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.69071405700004 meters Centerline goodness : 0.982379 Centerline is valid? [True, True] Translation: X:117.09, Y:86.77, Z:35.72 [[ 2.13463534e-01 -9.74136114e-01 -7.41090475e-02 1.17090365e+02] [ 9.28673640e-01 2.25881644e-01 -2.94181497e-01 8.67707871e+01] [ 3.03312694e-01 -6.02609704e-03 9.52872025e-01 3.57160957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.720714057 meters Centerline goodness : 0.982967 Centerline is valid? [True, True] Translation: X:117.10, Y:86.80, Z:35.72 [[ 2.15299993e-01 -9.72654591e-01 -8.71146337e-02 1.17102682e+02] [ 9.28100442e-01 2.31551945e-01 -2.91570344e-01 8.67960242e+01] [ 3.03768797e-01 -1.80760369e-02 9.52574288e-01 3.57224650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.750714057 meters Centerline goodness : 0.982967 Centerline is valid? [True, True] Translation: X:117.11, Y:86.82, Z:35.73 [[ 2.15048946e-01 -9.73093138e-01 -8.27266261e-02 1.17107537e+02] [ 9.28283000e-01 2.29989377e-01 -2.92225185e-01 8.68220935e+01] [ 3.03388567e-01 -1.39510025e-02 9.52764791e-01 3.57318146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.780714057 meters Centerline goodness : 0.981445 Centerline is valid? [True, True] Translation: X:117.11, Y:86.85, Z:35.74 [[ 2.19537908e-01 -9.72893887e-01 -7.26676830e-02 1.17110379e+02] [ 9.27280494e-01 2.31235669e-01 -2.94416287e-01 8.68475407e+01] [ 3.03239166e-01 -2.74778939e-03 9.52910519e-01 3.57404473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.810714057 meters Centerline goodness : 0.983835 Centerline is valid? [True, True] Translation: X:117.12, Y:86.88, Z:35.75 [[ 2.22263498e-01 -9.71464636e-01 -8.27973364e-02 1.17122857e+02] [ 9.27428394e-01 2.36857111e-01 -2.89439603e-01 8.68760800e+01] [ 3.00791476e-01 -1.24567422e-02 9.53608577e-01 3.57467282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.840714057 meters Centerline goodness : 0.983073 Centerline is valid? [True, True] Translation: X:117.13, Y:86.90, Z:35.76 [[ 2.24203474e-01 -9.71234546e-01 -8.02262986e-02 1.17129743e+02] [ 9.27292344e-01 2.37931296e-01 -2.88994129e-01 8.69022203e+01] [ 2.99769428e-01 -9.59974497e-03 9.53963382e-01 3.57556591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.870714057 meters Centerline goodness : 0.982712 Centerline is valid? [True, True] Translation: X:117.14, Y:86.93, Z:35.76 [[ 2.26906295e-01 -9.70242646e-01 -8.45147379e-02 1.17139372e+02] [ 9.26626371e-01 2.41786491e-01 -2.87928571e-01 8.69268830e+01] [ 2.99795100e-01 -1.29807795e-02 9.53915299e-01 3.57635523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.900714057 meters Centerline goodness : 0.982277 Centerline is valid? [True, True] Translation: X:117.15, Y:86.95, Z:35.77 [[ 2.27285904e-01 -9.70430789e-01 -8.12723951e-02 1.17145713e+02] [ 9.26616790e-01 2.41182779e-01 -2.88465235e-01 8.69530005e+01] [ 2.99537047e-01 -9.74428436e-03 9.54034908e-01 3.57711283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.930714057 meters Centerline goodness : 0.982166 Centerline is valid? [True, True] Translation: X:117.16, Y:86.98, Z:35.78 [[ 2.28183800e-01 -9.69958277e-01 -8.43391682e-02 1.17156614e+02] [ 9.26450886e-01 2.42948440e-01 -2.87514889e-01 8.69762829e+01] [ 2.99367516e-01 -1.25298571e-02 9.54055603e-01 3.57785948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.960714057 meters Centerline goodness : 0.981319 Centerline is valid? [True, True] Translation: X:117.17, Y:87.00, Z:35.79 [[ 2.27518472e-01 -9.70853564e-01 -7.53571662e-02 1.17165390e+02] [ 9.27433016e-01 2.39630045e-01 -2.87133144e-01 8.70042720e+01] [ 2.96822077e-01 -4.56062980e-03 9.54921911e-01 3.57858810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.990714057 meters Centerline goodness : 0.975106 Centerline is valid? [True, True] Translation: X:117.17, Y:87.02, Z:35.79 [[ 2.27764663e-01 -9.71238534e-01 -6.94187893e-02 1.17166345e+02] [ 9.26601897e-01 2.38100460e-01 -2.91062015e-01 8.70205755e+01] [ 2.99219290e-01 1.97005993e-03 9.54182339e-01 3.57937005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.020714057 meters Centerline goodness : 0.982154 Centerline is valid? [True, True] Translation: X:117.19, Y:87.05, Z:35.80 [[ 2.24982145e-01 -9.70295145e-01 -8.89402426e-02 1.17187659e+02] [ 9.28858117e-01 2.41149193e-01 -2.81193287e-01 8.70547916e+01] [ 2.94288349e-01 -1.93493973e-02 9.55520784e-01 3.57996227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.050714057 meters Centerline goodness : 0.982674 Centerline is valid? [True, True] Translation: X:117.19, Y:87.08, Z:35.81 [[ 2.23128708e-01 -9.71713324e-01 -7.73743891e-02 1.17193353e+02] [ 9.29949544e-01 2.35990435e-01 -2.81961631e-01 8.70844090e+01] [ 2.92245489e-01 -9.04054336e-03 9.56300603e-01 3.58085032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.080714057 meters Centerline goodness : 0.982084 Centerline is valid? [True, True] Translation: X:117.21, Y:87.10, Z:35.81 [[ 2.18331806e-01 -9.71501914e-01 -9.22781335e-02 1.17208872e+02] [ 9.30374007e-01 2.35756353e-01 -2.80754605e-01 8.71027886e+01] [ 2.94508793e-01 -2.45555169e-02 9.55333239e-01 3.58141704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.110714057 meters Centerline goodness : 0.981088 Centerline is valid? [True, True] Translation: X:117.21, Y:87.13, Z:35.82 [[ 2.17416359e-01 -9.73250154e-01 -7.42580958e-02 1.17211358e+02] [ 9.30722624e-01 2.29634294e-01 -2.84646249e-01 8.71290298e+01] [ 2.94084211e-01 -7.22693881e-03 9.55752190e-01 3.58232348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.140714057 meters Centerline goodness : 0.979417 Centerline is valid? [True, True] Translation: X:117.23, Y:87.15, Z:35.83 [[ 2.09381459e-01 -9.72602515e-01 -1.01013626e-01 1.17229603e+02] [ 9.30685919e-01 2.29910115e-01 -2.84543599e-01 8.71461838e+01] [ 2.99971874e-01 -3.44338058e-02 9.53326380e-01 3.58313983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.170714057 meters Centerline goodness : 0.980766 Centerline is valid? [True, True] Translation: X:117.23, Y:87.17, Z:35.85 [[ 2.05483611e-01 -9.74381434e-01 -9.14183093e-02 1.17232205e+02] [ 9.31306164e-01 2.23391196e-01 -2.87689420e-01 8.71720309e+01] [ 3.00741275e-01 -2.60229742e-02 9.53350665e-01 3.58460612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.200714057 meters Centerline goodness : 0.979164 Centerline is valid? [True, True] Translation: X:117.23, Y:87.20, Z:35.86 [[ 2.03807927e-01 -9.75903022e-01 -7.79462657e-02 1.17232472e+02] [ 9.31265856e-01 2.17813290e-01 -2.92063824e-01 8.71956964e+01] [ 3.02003701e-01 -1.30637734e-02 9.53217238e-01 3.58571854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.230714057 meters Centerline goodness : 0.979840 Centerline is valid? [True, True] Translation: X:117.24, Y:87.22, Z:35.86 [[ 2.01211120e-01 -9.76948736e-01 -7.13109572e-02 1.17242737e+02] [ 9.33972345e-01 2.13287904e-01 -2.86712275e-01 8.72228233e+01] [ 2.95312959e-01 -8.91276378e-03 9.55359000e-01 3.58630599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.26071405700003 meters Centerline goodness : 0.980915 Centerline is valid? [True, True] Translation: X:117.26, Y:87.24, Z:35.87 [[ 1.97049068e-01 -9.75506368e-01 -9.77700896e-02 1.17259391e+02] [ 9.34441360e-01 2.17050282e-01 -2.82326972e-01 8.72446168e+01] [ 2.96632785e-01 -3.57281490e-02 9.54323054e-01 3.58704393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.290714057 meters Centerline goodness : 0.979709 Centerline is valid? [True, True] Translation: X:117.25, Y:87.27, Z:35.88 [[ 1.94665886e-01 -9.78937982e-01 -6.15273964e-02 1.17254114e+02] [ 9.34827565e-01 2.04155603e-01 -2.90547609e-01 8.72733067e+01] [ 2.96989253e-01 -9.57798428e-04 9.54880341e-01 3.58821206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.32071405700003 meters Centerline goodness : 0.981609 Centerline is valid? [True, True] Translation: X:117.27, Y:87.30, Z:35.89 [[ 1.92333077e-01 -9.77660856e-01 -8.47775848e-02 1.17272716e+02] [ 9.35734033e-01 2.08738447e-01 -2.84306313e-01 8.72996819e+01] [ 2.95651495e-01 -2.46477632e-02 9.54977843e-01 3.58861316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.350714057 meters Centerline goodness : 0.975713 Centerline is valid? [True, True] Translation: X:117.27, Y:87.32, Z:35.90 [[ 1.90365380e-01 -9.79848196e-01 -6.04858242e-02 1.17266145e+02] [ 9.34771263e-01 1.99742670e-01 -2.93778066e-01 8.73185623e+01] [ 2.99939508e-01 -6.15237090e-04 9.53958025e-01 3.58986436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.38071405700003 meters Centerline goodness : 0.980483 Centerline is valid? [True, True] Translation: X:117.29, Y:87.35, Z:35.90 [[ 1.88406367e-01 -9.78285419e-01 -8.63752258e-02 1.17290094e+02] [ 9.36870968e-01 2.05415370e-01 -2.82979354e-01 8.73483772e+01] [ 2.94577374e-01 -2.76073296e-02 9.55228771e-01 3.59001677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.410714057 meters Centerline goodness : 0.981726 Centerline is valid? [True, True] Translation: X:117.30, Y:87.38, Z:35.91 [[ 1.84251663e-01 -9.79751128e-01 -7.83520987e-02 1.17295295e+02] [ 9.37830320e-01 1.99104651e-01 -2.84309037e-01 8.73774080e+01] [ 2.94152367e-01 -2.10965609e-02 9.55525677e-01 3.59096844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.44071405700004 meters Centerline goodness : 0.980823 Centerline is valid? [True, True] Translation: X:117.30, Y:87.40, Z:35.92 [[ 1.82232863e-01 -9.80170040e-01 -7.78323591e-02 1.17300815e+02] [ 9.37272120e-01 1.97089626e-01 -2.87535479e-01 8.74014986e+01] [ 2.97173613e-01 -2.05516865e-02 9.54602259e-01 3.59190352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.470714057 meters Centerline goodness : 0.982559 Centerline is valid? [True, True] Translation: X:117.31, Y:87.43, Z:35.93 [[ 1.80173037e-01 -9.80274802e-01 -8.12341578e-02 1.17309757e+02] [ 9.38586110e-01 1.96040794e-01 -2.83943868e-01 8.74283898e+01] [ 2.94268228e-01 -2.50862231e-02 9.55393579e-01 3.59253725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.500714057 meters Centerline goodness : 0.985005 Centerline is valid? [True, True] Translation: X:117.30, Y:87.45, Z:35.93 [[ 1.69271781e-01 -9.82135073e-01 -8.22056114e-02 1.17302550e+02] [ 9.40647883e-01 1.85888236e-01 -2.83949157e-01 8.74465788e+01] [ 2.94157482e-01 -2.92619550e-02 9.55308910e-01 3.59316563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.530714057 meters Centerline goodness : 0.981967 Centerline is valid? [True, True] Translation: X:117.32, Y:87.48, Z:35.95 [[ 1.75282221e-01 -9.81702599e-01 -7.44053100e-02 1.17317930e+02] [ 9.38816254e-01 1.89426388e-01 -2.87648545e-01 8.74783104e+01] [ 2.96479653e-01 -1.94332385e-02 9.54841434e-01 3.59458109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.560714057 meters Centerline goodness : 0.981960 Centerline is valid? [True, True] Translation: X:117.33, Y:87.50, Z:35.95 [[ 1.73695029e-01 -9.81134395e-01 -8.48842473e-02 1.17327309e+02] [ 9.38939552e-01 1.90986986e-01 -2.86210567e-01 8.75024925e+01] [ 2.97022818e-01 -2.99878245e-02 9.54399380e-01 3.59533469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.590714057 meters Centerline goodness : 0.982216 Centerline is valid? [True, True] Translation: X:117.33, Y:87.53, Z:35.96 [[ 1.72401639e-01 -9.81616850e-01 -8.18903879e-02 1.17330902e+02] [ 9.39137732e-01 1.88880158e-01 -2.86957501e-01 8.75287359e+01] [ 2.97149787e-01 -2.74344096e-02 9.54436670e-01 3.59633367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.620714057 meters Centerline goodness : 0.982742 Centerline is valid? [True, True] Translation: X:117.33, Y:87.55, Z:35.97 [[ 1.71122814e-01 -9.82253269e-01 -7.67821498e-02 1.17333492e+02] [ 9.39013962e-01 1.86189668e-01 -2.89112757e-01 8.75538146e+01] [ 2.98277994e-01 -2.26257222e-02 9.54210834e-01 3.59718772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.650714057 meters Centerline goodness : 0.982611 Centerline is valid? [True, True] Translation: X:117.34, Y:87.58, Z:35.98 [[ 1.69931819e-01 -9.82348541e-01 -7.81954070e-02 1.17338993e+02] [ 9.39060365e-01 1.85481347e-01 -2.89417175e-01 8.75786164e+01] [ 2.98812329e-01 -2.42490204e-02 9.54003762e-01 3.59811001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.680714057 meters Centerline goodness : 0.983302 Centerline is valid? [True, True] Translation: X:117.35, Y:87.60, Z:35.99 [[ 1.68161019e-01 -9.81972569e-01 -8.63234900e-02 1.17349043e+02] [ 9.40403388e-01 1.86064797e-01 -2.84642512e-01 8.76045606e+01] [ 2.95572902e-01 -3.33131276e-02 9.54739177e-01 3.59882755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.710714057 meters Centerline goodness : 0.981563 Centerline is valid? [True, True] Translation: X:117.35, Y:87.63, Z:36.00 [[ 1.67830458e-01 -9.83429412e-01 -6.85531077e-02 1.17345945e+02] [ 9.39554934e-01 1.80619854e-01 -2.90883127e-01 8.76293328e+01] [ 2.98445075e-01 -1.55903623e-02 9.54299470e-01 3.59998279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.740714057 meters Centerline goodness : 0.977912 Centerline is valid? [True, True] Translation: X:117.35, Y:87.65, Z:36.01 [[ 1.65494722e-01 -9.84492386e-01 -5.81913963e-02 1.17345691e+02] [ 9.39245213e-01 1.75330732e-01 -2.95089078e-01 8.76511724e+01] [ 3.00715690e-01 -5.82030566e-03 9.53696072e-01 3.60091709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.770714057 meters Centerline goodness : 0.983949 Centerline is valid? [True, True] Translation: X:117.37, Y:87.68, Z:36.01 [[ 1.63899146e-01 -9.81590484e-01 -9.80672820e-02 1.17370816e+02] [ 9.40860073e-01 1.85426532e-01 -2.83547746e-01 8.76793165e+01] [ 2.96512045e-01 -4.57943569e-02 9.53930545e-01 3.60106028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.800714057 meters Centerline goodness : 0.978927 Centerline is valid? [True, True] Translation: X:117.35, Y:87.70, Z:36.03 [[ 1.61284873e-01 -9.85466650e-01 -5.33167018e-02 1.17353444e+02] [ 9.39281291e-01 1.69857346e-01 -2.98159585e-01 8.77033691e+01] [ 3.02882561e-01 -1.99074980e-03 9.53025808e-01 3.60287900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.830714057 meters Centerline goodness : 0.982436 Centerline is valid? [True, True] Translation: X:117.38, Y:87.74, Z:36.03 [[ 1.61384707e-01 -9.83605735e-01 -8.04657343e-02 1.17375085e+02] [ 9.41381646e-01 1.77904251e-01 -2.86619391e-01 8.77351841e+01] [ 2.96235672e-01 -2.94929789e-02 9.54659411e-01 3.60274239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.860714057 meters Centerline goodness : 0.983041 Centerline is valid? [True, True] Translation: X:117.38, Y:87.76, Z:36.04 [[ 1.59228025e-01 -9.83833206e-01 -8.19674205e-02 1.17379136e+02] [ 9.40831648e-01 1.76376024e-01 -2.89356714e-01 8.77585389e+01] [ 2.99135831e-01 -3.10438453e-02 9.53705423e-01 3.60368591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.890714057 meters Centerline goodness : 0.982241 Centerline is valid? [True, True] Translation: X:117.38, Y:87.78, Z:36.05 [[ 1.56726837e-01 -9.84224646e-01 -8.20886356e-02 1.17382853e+02] [ 9.40527601e-01 1.74098843e-01 -2.91714628e-01 8.77838405e+01] [ 3.01404264e-01 -3.14871165e-02 9.52976407e-01 3.60475306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.920714057 meters Centerline goodness : 0.983435 Centerline is valid? [True, True] Translation: X:117.39, Y:87.81, Z:36.05 [[ 1.57429371e-01 -9.84682436e-01 -7.49432735e-02 1.17385526e+02] [ 9.41397534e-01 1.72566445e-01 -2.89812878e-01 8.78117289e+01] [ 2.98306345e-01 -2.49263539e-02 9.54144644e-01 3.60548796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.950714057 meters Centerline goodness : 0.979954 Centerline is valid? [True, True] Translation: X:117.38, Y:87.83, Z:36.07 [[ 1.57220849e-01 -9.85469969e-01 -6.42693070e-02 1.17382035e+02] [ 9.40043586e-01 1.69282778e-01 -2.96076676e-01 8.78337505e+01] [ 3.02654360e-01 -1.38665233e-02 9.52999506e-01 3.60677862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.980714057 meters Centerline goodness : 0.980534 Centerline is valid? [True, True] Translation: X:117.39, Y:87.86, Z:36.07 [[ 1.57399181e-01 -9.84790188e-01 -7.35784119e-02 1.17391126e+02] [ 9.40686479e-01 1.72191730e-01 -2.92333640e-01 8.78594581e+01] [ 3.00556895e-01 -2.32011416e-02 9.53481652e-01 3.60725725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.01071405700003 meters Centerline goodness : 0.985427 Centerline is valid? [True, True] Translation: X:117.41, Y:87.89, Z:36.08 [[ 1.55786005e-01 -9.83353573e-01 -9.35225709e-02 1.17405427e+02] [ 9.42086853e-01 1.76376658e-01 -2.85243117e-01 8.78896079e+01] [ 2.96990036e-01 -4.36694989e-02 9.53881488e-01 3.60778132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.040714057 meters Centerline goodness : 0.981813 Centerline is valid? [True, True] Translation: X:117.39, Y:87.91, Z:36.09 [[ 1.60133916e-01 -9.85507972e-01 -5.59568145e-02 1.17390966e+02] [ 9.40835677e-01 1.69534588e-01 -2.93404588e-01 8.79128605e+01] [ 2.98639176e-01 -5.66214161e-03 9.54349298e-01 3.60904997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.07071405700003 meters Centerline goodness : 0.983472 Centerline is valid? [True, True] Translation: X:117.41, Y:87.94, Z:36.09 [[ 1.60945853e-01 -9.84245215e-01 -7.31969201e-02 1.17407233e+02] [ 9.41711363e-01 1.75342905e-01 -2.87114219e-01 8.79436667e+01] [ 2.95425356e-01 -2.27205285e-02 9.55095616e-01 3.60946982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.100714057 meters Centerline goodness : 0.983763 Centerline is valid? [True, True] Translation: X:117.41, Y:87.97, Z:36.10 [[ 1.61074773e-01 -9.84303023e-01 -7.21281900e-02 1.17412674e+02] [ 9.42502330e-01 1.75093828e-01 -2.84660341e-01 8.79740254e+01] [ 2.92821235e-01 -2.21293874e-02 9.55911091e-01 3.61020565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.13071405700003 meters Centerline goodness : 0.984431 Centerline is valid? [True, True] Translation: X:117.42, Y:88.00, Z:36.11 [[ 1.62465814e-01 -9.83833451e-01 -7.53432169e-02 1.17418330e+02] [ 9.42460329e-01 1.77337374e-01 -2.83407805e-01 8.80000593e+01] [ 2.92187247e-01 -2.49639131e-02 9.56035259e-01 3.61095207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.160714057 meters Centerline goodness : 0.983282 Centerline is valid? [True, True] Translation: X:117.42, Y:88.02, Z:36.12 [[ 1.63650849e-01 -9.83263471e-01 -8.00708864e-02 1.17422003e+02] [ 9.41380846e-01 1.79918180e-01 -2.85362140e-01 8.80216819e+01] [ 2.94992376e-01 -2.86774424e-02 9.55069161e-01 3.61168506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.19071405700004 meters Centerline goodness : 0.984180 Centerline is valid? [True, True] Translation: X:117.42, Y:88.05, Z:36.13 [[ 1.64403002e-01 -9.83293527e-01 -7.81376532e-02 1.17423046e+02] [ 9.41247757e-01 1.80076415e-01 -2.85701146e-01 8.80497664e+01] [ 2.94998836e-01 -2.65767648e-02 9.55127930e-01 3.61267818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.220714057 meters Centerline goodness : 0.985394 Centerline is valid? [True, True] Translation: X:117.43, Y:88.08, Z:36.14 [[ 1.64267309e-01 -9.83057817e-01 -8.13239219e-02 1.17428527e+02] [ 9.40895599e-01 1.80909213e-01 -2.86334297e-01 8.80765163e+01] [ 2.96195415e-01 -2.94819559e-02 9.54672242e-01 3.61357087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.250714057 meters Centerline goodness : 0.986386 Centerline is valid? [True, True] Translation: X:117.42, Y:88.09, Z:36.15 [[ 1.59986401e-01 -9.84560498e-01 -7.10280077e-02 1.17417005e+02] [ 9.40704627e-01 1.73873360e-01 -2.91277976e-01 8.80941282e+01] [ 2.99130668e-01 -2.02158603e-02 9.53997989e-01 3.61460458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.280714057 meters Centerline goodness : 0.986323 Centerline is valid? [True, True] Translation: X:117.44, Y:88.13, Z:36.15 [[ 1.65723506e-01 -9.83036909e-01 -7.85757953e-02 1.17435640e+02] [ 9.41068710e-01 1.81462005e-01 -2.85414126e-01 8.81290335e+01] [ 2.94831142e-01 -2.66453927e-02 9.55177795e-01 3.61511299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.310714057 meters Centerline goodness : 0.985747 Centerline is valid? [True, True] Translation: X:117.44, Y:88.16, Z:36.16 [[ 1.66948176e-01 -9.83586912e-01 -6.84477336e-02 1.17437075e+02] [ 9.41299437e-01 1.79658913e-01 -2.85793711e-01 8.81560610e+01] [ 2.93400199e-01 -1.67170745e-02 9.55843535e-01 3.61607086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.340714057 meters Centerline goodness : 0.982863 Centerline is valid? [True, True] Translation: X:117.44, Y:88.18, Z:36.17 [[ 1.69014292e-01 -9.83371640e-01 -6.64408544e-02 1.17439205e+02] [ 9.39772362e-01 1.81106112e-01 -2.89876671e-01 8.81768919e+01] [ 2.97089342e-01 -1.34459783e-02 9.54755010e-01 3.61691545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.370714057 meters Centerline goodness : 0.983039 Centerline is valid? [True, True] Translation: X:117.42, Y:88.20, Z:36.17 [[ 1.61553438e-01 -9.86138937e-01 -3.78217353e-02 1.17418168e+02] [ 9.42820110e-01 1.65551623e-01 -2.89279969e-01 8.81964197e+01] [ 2.91531691e-01 1.10750810e-02 9.56497055e-01 3.61718518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.400714057 meters Centerline goodness : 0.986588 Centerline is valid? [True, True] Translation: X:117.46, Y:88.22, Z:36.17 [[ 1.64658345e-01 -9.80550424e-01 -1.06810563e-01 1.17459643e+02] [ 9.42338335e-01 1.88372720e-01 -2.76611968e-01 8.82215542e+01] [ 2.91352178e-01 -5.51052192e-02 9.55027394e-01 3.61697652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.430714057 meters Centerline goodness : 0.986647 Centerline is valid? [True, True] Translation: X:117.44, Y:88.25, Z:36.19 [[ 1.64218470e-01 -9.84327671e-01 -6.42754187e-02 1.17443935e+02] [ 9.42172355e-01 1.75815770e-01 -2.85306974e-01 8.82480579e+01] [ 2.92136181e-01 -1.37058478e-02 9.56278517e-01 3.61889580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.460714057 meters Centerline goodness : 0.987086 Centerline is valid? [True, True] Translation: X:117.45, Y:88.27, Z:36.20 [[ 1.65157923e-01 -9.83743273e-01 -7.05126419e-02 1.17452945e+02] [ 9.41549846e-01 1.78549963e-01 -2.85663786e-01 8.82741033e+01] [ 2.93609857e-01 -1.92115298e-02 9.55732268e-01 3.61957197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.490714057 meters Centerline goodness : 0.986360 Centerline is valid? [True, True] Translation: X:117.45, Y:88.30, Z:36.21 [[ 1.65199875e-01 -9.84486166e-01 -5.91268961e-02 1.17452929e+02] [ 9.40853334e-01 1.75291817e-01 -2.89944448e-01 8.83003465e+01] [ 2.95810759e-01 -7.73095070e-03 9.55215278e-01 3.62062840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.520714057 meters Centerline goodness : 0.987370 Centerline is valid? [True, True] Translation: X:117.46, Y:88.33, Z:36.21 [[ 1.64504558e-01 -9.83634500e-01 -7.34943649e-02 1.17464835e+02] [ 9.41817717e-01 1.78778254e-01 -2.84636125e-01 8.83257909e+01] [ 2.93117107e-01 -2.23943550e-02 9.55814236e-01 3.62101230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.550714057 meters Centerline goodness : 0.986847 Centerline is valid? [True, True] Translation: X:117.46, Y:88.35, Z:36.22 [[ 1.65392366e-01 -9.84392890e-01 -6.01332148e-02 1.17463457e+02] [ 9.41110449e-01 1.75763458e-01 -2.88822316e-01 8.83503697e+01] [ 2.94883856e-01 -8.82299062e-03 9.55492369e-01 3.62215236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.580714057 meters Centerline goodness : 0.985262 Centerline is valid? [True, True] Translation: X:117.46, Y:88.37, Z:36.23 [[ 1.65324136e-01 -9.84604919e-01 -5.67545910e-02 1.17464728e+02] [ 9.40743822e-01 1.74713006e-01 -2.90648289e-01 8.83747152e+01] [ 2.96089500e-01 -5.34035339e-03 9.55145271e-01 3.62317739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.610714057 meters Centerline goodness : 0.984992 Centerline is valid? [True, True] Translation: X:117.48, Y:88.40, Z:36.23 [[ 1.65649801e-01 -9.83383280e-01 -7.42796559e-02 1.17476979e+02] [ 9.40948793e-01 1.80152772e-01 -2.86636265e-01 8.83988177e+01] [ 2.95254996e-01 -2.24121123e-02 9.55155581e-01 3.62333231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.640714057 meters Centerline goodness : 0.984792 Centerline is valid? [True, True] Translation: X:117.48, Y:88.42, Z:36.25 [[ 1.65824606e-01 -9.84280152e-01 -6.07847279e-02 1.17475966e+02] [ 9.40709218e-01 1.76377947e-01 -2.89753322e-01 8.84245696e+01] [ 2.95919529e-01 -9.13252325e-03 9.55169215e-01 3.62476295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.670714057 meters Centerline goodness : 0.984792 Centerline is valid? [True, True] Translation: X:117.48, Y:88.45, Z:36.25 [[ 1.65854971e-01 -9.84046323e-01 -6.43813923e-02 1.17483860e+02] [ 9.40807234e-01 1.77460281e-01 -2.88772570e-01 8.84491741e+01] [ 2.95590725e-01 -1.26761134e-02 9.55230569e-01 3.62543200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.700714057 meters Centerline goodness : 0.986403 Centerline is valid? [True, True] Translation: X:117.50, Y:88.48, Z:36.26 [[ 1.66403773e-01 -9.82998847e-01 -7.76083139e-02 1.17496757e+02] [ 9.42243674e-01 1.81717116e-01 -2.81346316e-01 8.84774013e+01] [ 2.90665863e-01 -2.63088545e-02 9.56462859e-01 3.62575349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.730714057 meters Centerline goodness : 0.985675 Centerline is valid? [True, True] Translation: X:117.49, Y:88.50, Z:36.27 [[ 1.68481312e-01 -9.83895530e-01 -5.96961839e-02 1.17493307e+02] [ 9.40320438e-01 1.78594049e-01 -2.89657796e-01 8.85013881e+01] [ 2.95654394e-01 -7.33161625e-03 9.55266835e-01 3.62701431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.76071405700003 meters Centerline goodness : 0.987152 Centerline is valid? [True, True] Translation: X:117.50, Y:88.53, Z:36.28 [[ 1.68976953e-01 -9.83219346e-01 -6.87495995e-02 1.17500687e+02] [ 9.40514077e-01 1.81711002e-01 -2.87079053e-01 8.85304646e+01] [ 2.94754238e-01 -1.61502224e-02 9.55436607e-01 3.62777679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.790714057 meters Centerline goodness : 0.987309 Centerline is valid? [True, True] Translation: X:117.51, Y:88.56, Z:36.28 [[ 1.68458625e-01 -9.82990878e-01 -7.31479769e-02 1.17506395e+02] [ 9.41122492e-01 1.82461508e-01 -2.84598407e-01 8.85570409e+01] [ 2.93104328e-01 -2.08981500e-02 9.55852039e-01 3.62843166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.82071405700003 meters Centerline goodness : 0.989953 Centerline is valid? [True, True] Translation: X:117.50, Y:88.59, Z:36.30 [[ 1.63479737e-01 -9.85327448e-01 -4.90326014e-02 1.17498913e+02] [ 9.39902315e-01 1.70659631e-01 -2.95734558e-01 8.85875956e+01] [ 2.99763262e-01 2.26075222e-03 9.54010941e-01 3.63009848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.850714057 meters Centerline goodness : 0.987413 Centerline is valid? [True, True] Translation: X:117.52, Y:88.61, Z:36.29 [[ 1.67926238e-01 -9.81614542e-01 -9.07395714e-02 1.17523308e+02] [ 9.41774856e-01 1.86946054e-01 -2.79483978e-01 8.86080090e+01] [ 2.91308942e-01 -3.85235536e-02 9.55853041e-01 3.62948868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.88071405700003 meters Centerline goodness : 0.990240 Centerline is valid? [True, True] Translation: X:117.51, Y:88.64, Z:36.32 [[ 1.62268567e-01 -9.85544967e-01 -4.86829611e-02 1.17509157e+02] [ 9.40187808e-01 1.69399921e-01 -2.95551270e-01 8.86393438e+01] [ 2.99525957e-01 2.18755468e-03 9.54085644e-01 3.63167146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.910714057 meters Centerline goodness : 0.989440 Centerline is valid? [True, True] Translation: X:117.52, Y:88.67, Z:36.32 [[ 1.59513651e-01 -9.84519640e-01 -7.26393364e-02 1.17524238e+02] [ 9.41100323e-01 1.73875109e-01 -2.89995910e-01 8.86654100e+01] [ 2.98136842e-01 -2.21025965e-02 9.54267205e-01 3.63184254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.94071405700004 meters Centerline goodness : 0.985936 Centerline is valid? [True, True] Translation: X:117.54, Y:88.69, Z:36.32 [[ 1.63416098e-01 -9.82871354e-01 -8.52002427e-02 1.17535520e+02] [ 9.42945462e-01 1.81001970e-01 -2.79449714e-01 8.86853870e+01] [ 2.90084530e-01 -3.46726005e-02 9.56372718e-01 3.63200900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.970714057 meters Centerline goodness : 0.985669 Centerline is valid? [True, True] Translation: X:117.53, Y:88.72, Z:36.34 [[ 1.68854016e-01 -9.85105813e-01 -3.24785748e-02 1.17529837e+02] [ 9.42237402e-01 1.71001506e-01 -2.88005493e-01 8.87246103e+01] [ 2.89269770e-01 1.80283562e-02 9.57077833e-01 3.63394342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.000714057 meters Centerline goodness : 0.986855 Centerline is valid? [True, True] Translation: X:117.56, Y:88.74, Z:36.33 [[ 1.58554322e-01 -9.80993849e-01 -1.11855243e-01 1.17557208e+02] [ 9.44011003e-01 1.83814759e-01 -2.73962334e-01 8.87356760e+01] [ 2.89316009e-01 -6.21546682e-02 9.55213612e-01 3.63304163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.030714057 meters Centerline goodness : 0.987593 Centerline is valid? [True, True] Translation: X:117.54, Y:88.76, Z:36.35 [[ 1.57548233e-01 -9.85393002e-01 -6.46466214e-02 1.17541702e+02] [ 9.42818634e-01 1.69566604e-01 -2.86949804e-01 8.87615357e+01] [ 2.93720237e-01 -1.57416049e-02 9.55761803e-01 3.63514822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.060714057 meters Centerline goodness : 0.987572 Centerline is valid? [True, True] Translation: X:117.55, Y:88.79, Z:36.36 [[ 1.54516713e-01 -9.85681513e-01 -6.75021510e-02 1.17547618e+02] [ 9.43344953e-01 1.67495877e-01 -2.86435735e-01 8.87863224e+01] [ 2.93640741e-01 -1.94187051e-02 9.55718593e-01 3.63583652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.090714057 meters Centerline goodness : 0.986521 Centerline is valid? [True, True] Translation: X:117.55, Y:88.81, Z:36.37 [[ 1.51388212e-01 -9.86676843e-01 -5.95853738e-02 1.17548157e+02] [ 9.42800157e-01 1.62242471e-01 -2.91213399e-01 8.88129623e+01] [ 2.97000796e-01 -1.20908239e-02 9.54800680e-01 3.63700771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.120714057 meters Centerline goodness : 0.988233 Centerline is valid? [True, True] Translation: X:117.56, Y:88.85, Z:36.38 [[ 1.45521928e-01 -9.87152597e-01 -6.59781745e-02 1.17562148e+02] [ 9.43341113e-01 1.58546181e-01 -2.91497262e-01 8.88493063e+01] [ 2.98212867e-01 -1.98206810e-02 9.54293575e-01 3.63786071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.150714057 meters Centerline goodness : 0.988551 Centerline is valid? [True, True] Translation: X:117.57, Y:88.86, Z:36.37 [[ 1.42307587e-01 -9.84556394e-01 -1.01966948e-01 1.17574166e+02] [ 9.46578409e-01 1.65482904e-01 -2.76775586e-01 8.88647527e+01] [ 2.89374960e-01 -5.71324460e-02 9.55509297e-01 3.63748877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.180714057 meters Centerline goodness : 0.987667 Centerline is valid? [True, True] Translation: X:117.56, Y:88.89, Z:36.40 [[ 1.41952187e-01 -9.88698631e-01 -4.82140375e-02 1.17555068e+02] [ 9.43233805e-01 1.49878049e-01 -2.96389203e-01 8.88904047e+01] [ 3.00265826e-01 -3.40401439e-03 9.53849489e-01 3.64005260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.210714057 meters Centerline goodness : 0.987629 Centerline is valid? [True, True] Translation: X:117.57, Y:88.92, Z:36.40 [[ 1.42154972e-01 -9.87985282e-01 -6.06386553e-02 1.17565919e+02] [ 9.45030508e-01 1.53688387e-01 -2.88612577e-01 8.89152206e+01] [ 2.94464435e-01 -1.62776663e-02 9.55523801e-01 3.64027849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.240714057 meters Centerline goodness : 0.987143 Centerline is valid? [True, True] Translation: X:117.57, Y:88.94, Z:36.41 [[ 1.41348140e-01 -9.87888987e-01 -6.40004113e-02 1.17573143e+02] [ 9.46325965e-01 1.53817463e-01 -2.84266348e-01 8.89419526e+01] [ 2.90667976e-01 -2.03847314e-02 9.56606811e-01 3.64099856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.270714057 meters Centerline goodness : 0.990327 Centerline is valid? [True, True] Translation: X:117.58, Y:88.98, Z:36.42 [[ 1.34638965e-01 -9.88381912e-01 -7.05233678e-02 1.17581890e+02] [ 9.45377446e-01 1.49451557e-01 -2.89699355e-01 8.89772241e+01] [ 2.96873429e-01 -2.76663799e-02 9.54515971e-01 3.64205979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.300714057 meters Centerline goodness : 0.990418 Centerline is valid? [True, True] Translation: X:117.59, Y:89.00, Z:36.43 [[ 1.36399017e-01 -9.88462523e-01 -6.58570348e-02 1.17586400e+02] [ 9.45320500e-01 1.49749367e-01 -2.89731391e-01 8.90049980e+01] [ 2.96250671e-01 -2.27369282e-02 9.54839553e-01 3.64293216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.330714057 meters Centerline goodness : 0.988080 Centerline is valid? [True, True] Translation: X:117.60, Y:89.02, Z:36.43 [[ 1.40189877e-01 -9.86170285e-01 -8.84023053e-02 1.17600340e+02] [ 9.47491501e-01 1.59535146e-01 -2.77143270e-01 8.90247876e+01] [ 2.87413732e-01 -4.49077523e-02 9.56753176e-01 3.64282825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.360714057 meters Centerline goodness : 0.990488 Centerline is valid? [True, True] Translation: X:117.59, Y:89.06, Z:36.45 [[ 1.33946574e-01 -9.88850731e-01 -6.50580290e-02 1.17593699e+02] [ 9.45445165e-01 1.47188360e-01 -2.90635556e-01 8.90573962e+01] [ 2.96970967e-01 -2.25791621e-02 9.54619519e-01 3.64475857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.390714057 meters Centerline goodness : 0.987269 Centerline is valid? [True, True] Translation: X:117.60, Y:89.08, Z:36.45 [[ 1.38790641e-01 -9.87344040e-01 -7.67391963e-02 1.17602290e+02] [ 9.46526303e-01 1.55043062e-01 -2.82930393e-01 8.90750184e+01] [ 2.91247517e-01 -3.33675770e-02 9.56065630e-01 3.64483304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.420714057 meters Centerline goodness : 0.989974 Centerline is valid? [True, True] Translation: X:117.60, Y:89.11, Z:36.46 [[ 1.32740129e-01 -9.88970512e-01 -6.57068064e-02 1.17603814e+02] [ 9.45722672e-01 1.46217641e-01 -2.90222380e-01 8.91107402e+01] [ 2.96628870e-01 -2.36162603e-02 9.54700783e-01 3.64623140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.450714057 meters Centerline goodness : 0.986674 Centerline is valid? [True, True] Translation: X:117.61, Y:89.13, Z:36.46 [[ 1.37045271e-01 -9.87298687e-01 -8.03734786e-02 1.17609067e+02] [ 9.46811652e-01 1.54408452e-01 -2.82322026e-01 8.91284052e+01] [ 2.91146510e-01 -3.74076476e-02 9.55946849e-01 3.64644591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.480714057 meters Centerline goodness : 0.989965 Centerline is valid? [True, True] Translation: X:117.61, Y:89.16, Z:36.48 [[ 1.30648766e-01 -9.89486438e-01 -6.20281244e-02 1.17607625e+02] [ 9.45759487e-01 1.43156356e-01 -2.91625189e-01 8.91648391e+01] [ 2.97438890e-01 -2.05632162e-02 9.54519387e-01 3.64807652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.51071405700003 meters Centerline goodness : 0.988666 Centerline is valid? [True, True] Translation: X:117.62, Y:89.18, Z:36.48 [[ 1.34902193e-01 -9.87049102e-01 -8.68070721e-02 1.17620705e+02] [ 9.47852011e-01 1.54081132e-01 -2.78990268e-01 8.91819374e+01] [ 2.88752425e-01 -4.46438588e-02 9.56362360e-01 3.64787898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.540714057 meters Centerline goodness : 0.989255 Centerline is valid? [True, True] Translation: X:117.61, Y:89.20, Z:36.49 [[ 1.29589604e-01 -9.88553865e-01 -7.72514803e-02 1.17612657e+02] [ 9.47645838e-01 1.46403539e-01 -2.83784018e-01 8.92030745e+01] [ 2.91845678e-01 -3.64315854e-02 9.55771333e-01 3.64890306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.57071405700003 meters Centerline goodness : 0.988336 Centerline is valid? [True, True] Translation: X:117.61, Y:89.23, Z:36.51 [[ 1.34401081e-01 -9.89760081e-01 -4.80763008e-02 1.17612174e+02] [ 9.46842241e-01 1.42580671e-01 -2.88375664e-01 8.92341245e+01] [ 2.92277472e-01 -6.76267136e-03 9.56309650e-01 3.65055766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.600714057 meters Centerline goodness : 0.987668 Centerline is valid? [True, True] Translation: X:117.62, Y:89.26, Z:36.51 [[ 1.34339991e-01 -9.88485259e-01 -6.96394942e-02 1.17624387e+02] [ 9.47735223e-01 1.48689606e-01 -2.82293017e-01 8.92592191e+01] [ 2.89397155e-01 -2.80765603e-02 9.56797258e-01 3.65077089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.63071405700003 meters Centerline goodness : 0.988824 Centerline is valid? [True, True] Translation: X:117.63, Y:89.29, Z:36.52 [[ 1.34283541e-01 -9.88757153e-01 -6.57816307e-02 1.17628586e+02] [ 9.48433482e-01 1.47474067e-01 -2.80580345e-01 8.92886846e+01] [ 2.87126907e-01 -2.47121790e-02 9.57573729e-01 3.65165914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.660714057 meters Centerline goodness : 0.987179 Centerline is valid? [True, True] Translation: X:117.62, Y:89.31, Z:36.53 [[ 1.34941585e-01 -9.89728701e-01 -4.72002913e-02 1.17623491e+02] [ 9.45230635e-01 1.42870451e-01 -2.93474157e-01 8.93114373e+01] [ 2.97203323e-01 -5.01329331e-03 9.54801054e-01 3.65301024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.69071405700004 meters Centerline goodness : 0.991932 Centerline is valid? [True, True] Translation: X:117.64, Y:89.35, Z:36.53 [[ 1.31528152e-01 -9.89049736e-01 -6.69400081e-02 1.17640693e+02] [ 9.47189463e-01 1.45308898e-01 -2.85862635e-01 8.93507072e+01] [ 2.92459342e-01 -2.58058861e-02 9.55929699e-01 3.65333548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.720714057 meters Centerline goodness : 0.992062 Centerline is valid? [True, True] Translation: X:117.65, Y:89.38, Z:36.54 [[ 1.31685687e-01 -9.88351629e-01 -7.62885169e-02 1.17650929e+02] [ 9.47457894e-01 1.48121339e-01 -2.83520032e-01 8.93772078e+01] [ 2.91517443e-01 -3.49446273e-02 9.55927013e-01 3.65357875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.750714057 meters Centerline goodness : 0.990666 Centerline is valid? [True, True] Translation: X:117.66, Y:89.40, Z:36.54 [[ 1.33316512e-01 -9.86667759e-01 -9.33458151e-02 1.17662936e+02] [ 9.49718621e-01 1.54109426e-01 -2.72552427e-01 8.93983742e+01] [ 2.83304162e-01 -5.23165198e-02 9.57602075e-01 3.65368056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.780714057 meters Centerline goodness : 0.989120 Centerline is valid? [True, True] Translation: X:117.65, Y:89.42, Z:36.55 [[ 1.32123613e-01 -9.89044804e-01 -6.58310434e-02 1.17654844e+02] [ 9.47388489e-01 1.45534346e-01 -2.85087365e-01 8.94226068e+01] [ 2.91544855e-01 -2.47008000e-02 9.56238186e-01 3.65543401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.810714057 meters Centerline goodness : 0.989697 Centerline is valid? [True, True] Translation: X:117.66, Y:89.45, Z:36.56 [[ 1.30438786e-01 -9.88700714e-01 -7.38689467e-02 1.17661313e+02] [ 9.47946976e-01 1.46197260e-01 -2.82883178e-01 8.94470757e+01] [ 2.90486237e-01 -3.31249064e-02 9.56305645e-01 3.65609526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.840714057 meters Centerline goodness : 0.988876 Centerline is valid? [True, True] Translation: X:117.67, Y:89.47, Z:36.57 [[ 1.28896546e-01 -9.88858148e-01 -7.44663973e-02 1.17665594e+02] [ 9.48029502e-01 1.44906391e-01 -2.83270544e-01 8.94716724e+01] [ 2.90905042e-01 -3.40837468e-02 9.56144631e-01 3.65692009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.870714057 meters Centerline goodness : 0.990114 Centerline is valid? [True, True] Translation: X:117.67, Y:89.50, Z:36.58 [[ 1.27492486e-01 -9.89104973e-01 -7.36003906e-02 1.17670194e+02] [ 9.48663851e-01 1.43262212e-01 -2.81980205e-01 8.95009523e+01] [ 2.89452178e-01 -3.38716727e-02 9.56592989e-01 3.65787669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.900714057 meters Centerline goodness : 0.990421 Centerline is valid? [True, True] Translation: X:117.68, Y:89.53, Z:36.59 [[ 1.27770845e-01 -9.89020754e-01 -7.42466125e-02 1.17675160e+02] [ 9.48625364e-01 1.43713176e-01 -2.81880191e-01 8.95264722e+01] [ 2.89455575e-01 -3.44161495e-02 9.56572527e-01 3.65872660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.930714057 meters Centerline goodness : 0.992175 Centerline is valid? [True, True] Translation: X:117.67, Y:89.56, Z:36.60 [[ 1.25266284e-01 -9.90677407e-01 -5.35409587e-02 1.17671223e+02] [ 9.45947578e-01 1.35534260e-01 -2.94641551e-01 8.95570784e+01] [ 2.99151361e-01 -1.37382882e-02 9.54106767e-01 3.66044582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.960714057 meters Centerline goodness : 0.989520 Centerline is valid? [True, True] Translation: X:117.69, Y:89.58, Z:36.60 [[ 1.31377020e-01 -9.86853864e-01 -9.41250741e-02 1.17691313e+02] [ 9.47831976e-01 1.52862292e-01 -2.79727842e-01 8.95752229e+01] [ 2.90438677e-01 -5.24649447e-02 9.55454240e-01 3.65982086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.990714057 meters Centerline goodness : 0.991720 Centerline is valid? [True, True] Translation: X:117.67, Y:89.61, Z:36.62 [[ 1.31678442e-01 -9.90318108e-01 -4.39412392e-02 1.17674308e+02] [ 9.45237394e-01 1.38791544e-01 -2.95403412e-01 8.96125737e+01] [ 2.98642021e-01 -2.63664153e-03 9.54361562e-01 3.66242018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.020714057 meters Centerline goodness : 0.989600 Centerline is valid? [True, True] Translation: X:117.70, Y:89.63, Z:36.61 [[ 1.37680093e-01 -9.85622722e-01 -9.79389700e-02 1.17699308e+02] [ 9.46982183e-01 1.59969237e-01 -2.78629840e-01 8.96273467e+01] [ 2.90291123e-01 -5.43846773e-02 9.55391737e-01 3.66144994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.050714057 meters Centerline goodness : 0.990168 Centerline is valid? [True, True] Translation: X:117.69, Y:89.66, Z:36.63 [[ 1.41123965e-01 -9.87470550e-01 -7.06111871e-02 1.17693256e+02] [ 9.47100698e-01 1.55432744e-01 -2.80786272e-01 8.96562397e+01] [ 2.88243465e-01 -2.72502325e-02 9.57169332e-01 3.66312388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.080714057 meters Centerline goodness : 0.988973 Centerline is valid? [True, True] Translation: X:117.69, Y:89.68, Z:36.65 [[ 1.44146167e-01 -9.88521460e-01 -4.52460491e-02 1.17685332e+02] [ 9.44530093e-01 1.51078889e-01 -2.91612883e-01 8.96792827e+01] [ 2.95101316e-01 -7.01375571e-04 9.55465709e-01 3.66475766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.110714057 meters Centerline goodness : 0.992073 Centerline is valid? [True, True] Translation: X:117.70, Y:89.72, Z:36.65 [[ 1.40586419e-01 -9.87762157e-01 -6.75379945e-02 1.17703821e+02] [ 9.45088459e-01 1.54214377e-01 -2.88141860e-01 8.97174673e+01] [ 2.95030955e-01 -2.33205468e-02 9.55203061e-01 3.66507000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.140714057 meters Centerline goodness : 0.991166 Centerline is valid? [True, True] Translation: X:117.71, Y:89.74, Z:36.65 [[ 1.47545909e-01 -9.85957353e-01 -7.82195794e-02 1.17711178e+02] [ 9.44860773e-01 1.63887926e-01 -2.83511671e-01 8.97415161e+01] [ 2.92349661e-01 -3.20756250e-02 9.55773420e-01 3.66537347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.170714057 meters Centerline goodness : 0.989645 Centerline is valid? [True, True] Translation: X:117.72, Y:89.76, Z:36.66 [[ 1.51518047e-01 -9.84977164e-01 -8.28388061e-02 1.17718138e+02] [ 9.46513348e-01 1.68731921e-01 -2.75030945e-01 8.97640965e+01] [ 2.84876751e-01 -3.67358839e-02 9.57859964e-01 3.66579797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.200714057 meters Centerline goodness : 0.991673 Centerline is valid? [True, True] Translation: X:117.71, Y:89.80, Z:36.68 [[ 1.47865789e-01 -9.87324822e-01 -5.76663166e-02 1.17713475e+02] [ 9.43848820e-01 1.58291872e-01 -2.89988084e-01 8.97978252e+01] [ 2.95440543e-01 -1.15489681e-02 9.55291321e-01 3.66778492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.230714057 meters Centerline goodness : 0.991917 Centerline is valid? [True, True] Translation: X:117.73, Y:89.82, Z:36.68 [[ 1.48641665e-01 -9.85391876e-01 -8.31174223e-02 1.17730876e+02] [ 9.43595436e-01 1.66478064e-01 -2.86203962e-01 8.98235957e+01] [ 2.95860287e-01 -3.58873870e-02 9.54556853e-01 3.66788296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.26071405700003 meters Centerline goodness : 0.990729 Centerline is valid? [True, True] Translation: X:117.73, Y:89.85, Z:36.69 [[ 1.51323290e-01 -9.85545143e-01 -7.61710730e-02 1.17733281e+02] [ 9.43154034e-01 1.67022413e-01 -2.87339490e-01 8.98481909e+01] [ 2.95908315e-01 -2.83598980e-02 9.54795258e-01 3.66878871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.290714057 meters Centerline goodness : 0.990660 Centerline is valid? [True, True] Translation: X:117.72, Y:89.89, Z:36.70 [[ 1.60449599e-01 -9.86405707e-01 -3.54923454e-02 1.17724261e+02] [ 9.42882379e-01 1.63807172e-01 -2.90069009e-01 8.98855399e+01] [ 2.91939627e-01 1.30763491e-02 9.56347355e-01 3.67033028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.32071405700003 meters Centerline goodness : 0.989831 Centerline is valid? [True, True] Translation: X:117.75, Y:89.91, Z:36.70 [[ 1.63890894e-01 -9.82483250e-01 -8.86929449e-02 1.17750896e+02] [ 9.43109857e-01 1.82416549e-01 -2.77971222e-01 8.99106531e+01] [ 2.89281130e-01 -3.80902386e-02 9.56486049e-01 3.66950526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.350714057 meters Centerline goodness : 0.990183 Centerline is valid? [True, True] Translation: X:117.75, Y:89.94, Z:36.71 [[ 1.70992032e-01 -9.82771926e-01 -7.01503125e-02 1.17747278e+02] [ 9.42688472e-01 1.83892133e-01 -2.78427960e-01 8.99387025e+01] [ 2.86531273e-01 -1.85209283e-02 9.57891855e-01 3.67072430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.38071405700003 meters Centerline goodness : 0.989698 Centerline is valid? [True, True] Translation: X:117.76, Y:89.96, Z:36.71 [[ 1.68447527e-01 -9.81931152e-01 -8.62359777e-02 1.17757411e+02] [ 9.41763393e-01 1.86151834e-01 -2.80052150e-01 8.99646150e+01] [ 2.91044915e-01 -3.40397950e-02 9.56103629e-01 3.67147827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.410714057 meters Centerline goodness : 0.989976 Centerline is valid? [True, True] Translation: X:117.76, Y:89.99, Z:36.73 [[ 1.68453607e-01 -9.82724363e-01 -7.66564308e-02 1.17758544e+02] [ 9.41653167e-01 1.83427085e-01 -2.82212362e-01 8.99909159e+01] [ 2.91397830e-01 -2.46440804e-02 9.56284463e-01 3.67263821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.44071405700004 meters Centerline goodness : 0.988485 Centerline is valid? [True, True] Translation: X:117.77, Y:90.01, Z:36.73 [[ 1.69001242e-01 -9.80197922e-01 -1.03201813e-01 1.17772442e+02] [ 9.41881452e-01 1.91459122e-01 -2.76048429e-01 9.00088799e+01] [ 2.90341025e-01 -5.05513457e-02 9.55587071e-01 3.67283027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.470714057 meters Centerline goodness : 0.988178 Centerline is valid? [True, True] Translation: X:117.76, Y:90.03, Z:36.75 [[ 1.66967390e-01 -9.83016796e-01 -7.61568806e-02 1.17764025e+02] [ 9.42887680e-01 1.81777186e-01 -2.79141322e-01 9.00344041e+01] [ 2.88244192e-01 -2.51998864e-02 9.57225288e-01 3.67478244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.500714057 meters Centerline goodness : 0.989531 Centerline is valid? [True, True] Translation: X:117.76, Y:90.07, Z:36.76 [[ 1.61767951e-01 -9.85275402e-01 -5.53490100e-02 1.17761155e+02] [ 9.41929078e-01 1.70890410e-01 -2.89077982e-01 9.00653042e+01] [ 2.94280040e-01 -5.37128914e-03 9.55704142e-01 3.67643989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.530714057 meters Centerline goodness : 0.988602 Centerline is valid? [True, True] Translation: X:117.78, Y:90.09, Z:36.76 [[ 1.62192966e-01 -9.82892751e-01 -8.72655831e-02 1.17779881e+02] [ 9.42692152e-01 1.80475875e-01 -2.80642058e-01 9.00859114e+01] [ 2.91590377e-01 -3.67464126e-02 9.55837200e-01 3.67610579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.560714057 meters Centerline goodness : 0.988602 Centerline is valid? [True, True] Translation: X:117.78, Y:90.11, Z:36.78 [[ 1.61444109e-01 -9.84301004e-01 -7.13255428e-02 1.17778132e+02] [ 9.42562428e-01 1.75206135e-01 -2.84392124e-01 9.01122028e+01] [ 2.92424125e-01 -2.13153437e-02 9.56051142e-01 3.67750644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.590714057 meters Centerline goodness : 0.987283 Centerline is valid? [True, True] Translation: X:117.79, Y:90.13, Z:36.78 [[ 1.58693662e-01 -9.84663309e-01 -7.24878531e-02 1.17786513e+02] [ 9.43855850e-01 1.72842593e-01 -2.81534317e-01 9.01336696e+01] [ 2.89745501e-01 -2.37403725e-02 9.56809249e-01 3.67793809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.620714057 meters Centerline goodness : 0.988746 Centerline is valid? [True, True] Translation: X:117.79, Y:90.16, Z:36.79 [[ 1.53644774e-01 -9.86063315e-01 -6.38155330e-02 1.17790226e+02] [ 9.44262896e-01 1.65546187e-01 -2.84538297e-01 9.01628566e+01] [ 2.91137195e-01 -1.65408177e-02 9.56538308e-01 3.67918240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.650714057 meters Centerline goodness : 0.989655 Centerline is valid? [True, True] Translation: X:117.80, Y:90.19, Z:36.80 [[ 1.45466070e-01 -9.87443657e-01 -6.16007041e-02 1.17796517e+02] [ 9.44431787e-01 1.57140836e-01 -2.88713279e-01 9.01927534e+01] [ 2.94768082e-01 -1.61796771e-02 9.55431837e-01 3.68018140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.680714057 meters Centerline goodness : 0.990608 Centerline is valid? [True, True] Translation: X:117.81, Y:90.22, Z:36.81 [[ 1.42860457e-01 -9.87334912e-01 -6.89975499e-02 1.17807102e+02] [ 9.44646317e-01 1.56822762e-01 -2.88183894e-01 9.02214272e+01] [ 2.95354406e-01 -2.40081985e-02 9.55086060e-01 3.68072598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.710714057 meters Centerline goodness : 0.989530 Centerline is valid? [True, True] Translation: X:117.82, Y:90.25, Z:36.81 [[ 1.41534448e-01 -9.86737532e-01 -7.94798247e-02 1.17817340e+02] [ 9.44877213e-01 1.58602937e-01 -2.86447483e-01 9.02453382e+01] [ 2.95254216e-01 -3.45564889e-02 9.54793589e-01 3.68110319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.740714057 meters Centerline goodness : 0.989864 Centerline is valid? [True, True] Translation: X:117.82, Y:90.27, Z:36.82 [[ 1.40087622e-01 -9.86693400e-01 -8.25323761e-02 1.17824190e+02] [ 9.45465871e-01 1.58056676e-01 -2.84802343e-01 9.02688672e+01] [ 2.94057385e-01 -3.81342621e-02 9.55026718e-01 3.68181085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.770714057 meters Centerline goodness : 0.988642 Centerline is valid? [True, True] Translation: X:117.83, Y:90.29, Z:36.83 [[ 1.39892053e-01 -9.87101104e-01 -7.78564286e-02 1.17826584e+02] [ 9.44964661e-01 1.56578671e-01 -2.87271490e-01 9.02915165e+01] [ 2.95756661e-01 -3.33845750e-02 9.54679772e-01 3.68289472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.800714057 meters Centerline goodness : 0.988855 Centerline is valid? [True, True] Translation: X:117.83, Y:90.32, Z:36.84 [[ 1.35806982e-01 -9.88569906e-01 -6.54675905e-02 1.17825483e+02] [ 9.43942280e-01 1.49178014e-01 -2.94480717e-01 9.03178124e+01] [ 3.00881100e-01 -2.18050893e-02 9.53412346e-01 3.68444966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.830714057 meters Centerline goodness : 0.990513 Centerline is valid? [True, True] Translation: X:117.84, Y:90.35, Z:36.85 [[ 1.31002144e-01 -9.88431366e-01 -7.64321452e-02 1.17835622e+02] [ 9.44564401e-01 1.47856494e-01 -2.93149362e-01 9.03471456e+01] [ 3.01059014e-01 -3.37918884e-02 9.53006599e-01 3.68529739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.860714057 meters Centerline goodness : 0.987998 Centerline is valid? [True, True] Translation: X:117.84, Y:90.36, Z:36.86 [[ 1.34724309e-01 -9.88029212e-01 -7.51507621e-02 1.17837301e+02] [ 9.45435287e-01 1.50880442e-01 -2.88768437e-01 9.03641547e+01] [ 2.96650431e-01 -3.21460543e-02 9.54444945e-01 3.68591759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.890714057 meters Centerline goodness : 0.988820 Centerline is valid? [True, True] Translation: X:117.84, Y:90.39, Z:36.87 [[ 1.32399402e-01 -9.89113852e-01 -6.42198197e-02 1.17838924e+02] [ 9.45891224e-01 1.45446421e-01 -2.90060564e-01 9.03937806e+01] [ 2.96243465e-01 -2.23411186e-02 9.54851132e-01 3.68717728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.920714057 meters Centerline goodness : 0.991109 Centerline is valid? [True, True] Translation: X:117.84, Y:90.43, Z:36.88 [[ 1.27452916e-01 -9.90408283e-01 -5.33590339e-02 1.17843418e+02] [ 9.45943224e-01 1.37555098e-01 -2.93717571e-01 9.04280268e+01] [ 2.98240123e-01 -1.30394556e-02 9.54401803e-01 3.68834833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.950714057 meters Centerline goodness : 0.991187 Centerline is valid? [True, True] Translation: X:117.86, Y:90.45, Z:36.88 [[ 1.23418639e-01 -9.89066970e-01 -8.07116409e-02 1.17859955e+02] [ 9.47055893e-01 1.41687590e-01 -2.88114149e-01 9.04536517e+01] [ 2.96400026e-01 -4.08797789e-02 9.54188591e-01 3.68847223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.980714057 meters Centerline goodness : 0.989931 Centerline is valid? [True, True] Translation: X:117.86, Y:90.48, Z:36.89 [[ 1.25771740e-01 -9.89391613e-01 -7.27028619e-02 1.17862695e+02] [ 9.47811194e-01 1.41481542e-01 -2.85721742e-01 9.04768326e+01] [ 2.92976808e-01 -3.29728659e-02 9.55550826e-01 3.68921599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.01071405700003 meters Centerline goodness : 0.989979 Centerline is valid? [True, True] Translation: X:117.87, Y:90.50, Z:36.90 [[ 1.24118539e-01 -9.89539074e-01 -7.35323685e-02 1.17867351e+02] [ 9.49026402e-01 1.40021177e-01 -2.82387956e-01 9.05026950e+01] [ 2.89730006e-01 -3.47345785e-02 9.56477931e-01 3.69006916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.040714057 meters Centerline goodness : 0.990893 Centerline is valid? [True, True] Translation: X:117.85, Y:90.55, Z:36.92 [[ 1.25892002e-01 -9.91996674e-01 9.68513133e-03 1.17849435e+02] [ 9.49384459e-01 1.17640577e-01 -2.91255632e-01 9.05498583e+01] [ 2.87785253e-01 4.58616678e-02 9.56596234e-01 3.69226476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.07071405700003 meters Centerline goodness : 0.990148 Centerline is valid? [True, True] Translation: X:117.91, Y:90.56, Z:36.89 [[ 1.19924260e-01 -9.81945007e-01 -1.46294825e-01 1.17913347e+02] [ 9.49776341e-01 1.56378539e-01 -2.71054708e-01 9.05570073e+01] [ 2.89038188e-01 -1.06441328e-01 9.51381716e-01 3.68913994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.100714057 meters Centerline goodness : 0.992189 Centerline is valid? [True, True] Translation: X:117.87, Y:90.60, Z:36.94 [[ 1.15893137e-01 -9.92847795e-01 -2.86711962e-02 1.17870637e+02] [ 9.48141266e-01 1.19183691e-01 -2.94658087e-01 9.05961836e+01] [ 2.95967771e-01 6.96450575e-03 9.55172536e-01 3.69355929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.13071405700003 meters Centerline goodness : 0.990902 Centerline is valid? [True, True] Translation: X:117.90, Y:90.62, Z:36.92 [[ 1.17594426e-01 -9.90061623e-01 -7.71332234e-02 1.17898861e+02] [ 9.49700215e-01 1.34821294e-01 -2.82653003e-01 9.06236422e+01] [ 2.90243092e-01 -4.00150213e-02 9.56115969e-01 3.69247661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.160714057 meters Centerline goodness : 0.989872 Centerline is valid? [True, True] Translation: X:117.91, Y:90.64, Z:36.93 [[ 1.19887718e-01 -9.87107923e-01 -1.06041894e-01 1.17911132e+02] [ 9.50790579e-01 1.44897305e-01 -2.73865015e-01 9.06382023e+01] [ 2.85699511e-01 -6.79905818e-02 9.55904321e-01 3.69259795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.19071405700004 meters Centerline goodness : 0.990886 Centerline is valid? [True, True] Translation: X:117.89, Y:90.65, Z:36.95 [[ 1.10724218e-01 -9.90585756e-01 -8.04984971e-02 1.17888509e+02] [ 9.46658856e-01 1.29782623e-01 -2.94946572e-01 9.06525191e+01] [ 3.02617179e-01 -4.35468866e-02 9.52116858e-01 3.69514858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.220714057 meters Centerline goodness : 0.988299 Centerline is valid? [True, True] Translation: X:117.89, Y:90.69, Z:36.96 [[ 1.25771932e-01 -9.91315820e-01 -3.83974740e-02 1.17889088e+02] [ 9.48894009e-01 1.31502171e-01 -2.86892556e-01 9.06893003e+01] [ 2.89450481e-01 -3.52101950e-04 9.57192925e-01 3.69646225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.250714057 meters Centerline goodness : 0.988717 Centerline is valid? [True, True] Translation: X:117.90, Y:90.72, Z:36.97 [[ 1.28656393e-01 -9.90378434e-01 -5.09714634e-02 1.17899046e+02] [ 9.46973804e-01 1.37952911e-01 -2.90188920e-01 9.07157828e+01] [ 2.94428510e-01 -1.09339807e-02 9.55610957e-01 3.69677650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.280714057 meters Centerline goodness : 0.990802 Centerline is valid? [True, True] Translation: X:117.91, Y:90.75, Z:36.98 [[ 1.28565159e-01 -9.89847314e-01 -6.06077126e-02 1.17908057e+02] [ 9.46815657e-01 1.40695041e-01 -2.89387315e-01 9.07530623e+01] [ 2.94976461e-01 -2.01792051e-02 9.55291415e-01 3.69767924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.310714057 meters Centerline goodness : 0.989210 Centerline is valid? [True, True] Translation: X:117.92, Y:90.78, Z:36.97 [[ 1.34969502e-01 -9.86945072e-01 -8.78786520e-02 1.17924249e+02] [ 9.48958449e-01 1.54269643e-01 -2.75097692e-01 9.07756112e+01] [ 2.85063320e-01 -4.62633908e-02 9.57391562e-01 3.69736175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.340714057 meters Centerline goodness : 0.988401 Centerline is valid? [True, True] Translation: X:117.92, Y:90.80, Z:36.99 [[ 1.37187696e-01 -9.88080023e-01 -6.98384161e-02 1.17917170e+02] [ 9.46538969e-01 1.51548225e-01 -2.84775555e-01 9.07986918e+01] [ 2.91964925e-01 -2.70370801e-02 9.56046798e-01 3.69900254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.370714057 meters Centerline goodness : 0.986622 Centerline is valid? [True, True] Translation: X:117.92, Y:90.82, Z:37.00 [[ 1.40286387e-01 -9.87558054e-01 -7.10550422e-02 1.17920401e+02] [ 9.46864088e-01 1.54791046e-01 -2.81936394e-01 9.08227732e+01] [ 2.89427241e-01 -2.77276298e-02 9.56798333e-01 3.69968512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.400714057 meters Centerline goodness : 0.989436 Centerline is valid? [True, True] Translation: X:117.92, Y:90.86, Z:37.01 [[ 1.37736100e-01 -9.88816443e-01 -5.71909869e-02 1.17918101e+02] [ 9.45395965e-01 1.48469172e-01 -2.90143714e-01 9.08550037e+01] [ 2.95389974e-01 -1.41048646e-02 9.55272640e-01 3.70143391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.430714057 meters Centerline goodness : 0.989689 Centerline is valid? [True, True] Translation: X:117.93, Y:90.88, Z:37.02 [[ 1.36617984e-01 -9.88021204e-01 -7.17608946e-02 1.17925528e+02] [ 9.44320544e-01 1.51778317e-01 -2.91928164e-01 9.08818018e+01] [ 2.99322964e-01 -2.78826496e-02 9.53744369e-01 3.70207179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.460714057 meters Centerline goodness : 0.989949 Centerline is valid? [True, True] Translation: X:117.93, Y:90.91, Z:37.03 [[ 1.36834450e-01 -9.87893085e-01 -7.30998320e-02 1.17930014e+02] [ 9.44052744e-01 1.52403444e-01 -2.92468130e-01 9.09080959e+01] [ 3.00067909e-01 -2.89903814e-02 9.53477219e-01 3.70280983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.490714057 meters Centerline goodness : 0.990213 Centerline is valid? [True, True] Translation: X:117.93, Y:90.94, Z:37.04 [[ 1.38569935e-01 -9.88227880e-01 -6.48384947e-02 1.17931724e+02] [ 9.43356598e-01 1.51639790e-01 -2.95099481e-01 9.09364298e+01] [ 3.01457630e-01 -2.02739059e-02 9.53264006e-01 3.70381543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.520714057 meters Centerline goodness : 0.990182 Centerline is valid? [True, True] Translation: X:117.94, Y:90.96, Z:37.04 [[ 1.38513493e-01 -9.87895291e-01 -6.98348556e-02 1.17938339e+02] [ 9.43579699e-01 1.53058274e-01 -2.93650330e-01 9.09642884e+01] [ 3.00784581e-01 -2.52202191e-02 9.53358577e-01 3.70448203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.550714057 meters Centerline goodness : 0.987710 Centerline is valid? [True, True] Translation: X:117.95, Y:90.98, Z:37.04 [[ 1.42481057e-01 -9.85033551e-01 -9.69951135e-02 1.17949746e+02] [ 9.44005958e-01 1.64696909e-01 -2.85880534e-01 9.09790431e+01] [ 2.97576713e-01 -5.08314044e-02 9.53343730e-01 3.70445293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.580714057 meters Centerline goodness : 0.989874 Centerline is valid? [True, True] Translation: X:117.93, Y:91.02, Z:37.08 [[ 1.41254070e-01 -9.89641509e-01 -2.56314531e-02 1.17925422e+02] [ 9.43714288e-01 1.42430466e-01 -2.98524546e-01 9.10178851e+01] [ 2.99082982e-01 1.79790385e-02 9.54057715e-01 3.70767239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.610714057 meters Centerline goodness : 0.988181 Centerline is valid? [True, True] Translation: X:117.96, Y:91.04, Z:37.06 [[ 1.46658063e-01 -9.84930593e-01 -9.16686385e-02 1.17959169e+02] [ 9.46325186e-01 1.66683033e-01 -2.76921305e-01 9.10403879e+01] [ 2.88027872e-01 -4.61355990e-02 9.56510037e-01 3.70604802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.640714057 meters Centerline goodness : 0.987117 Centerline is valid? [True, True] Translation: X:117.96, Y:91.06, Z:37.08 [[ 1.45801026e-01 -9.86471348e-01 -7.49422490e-02 1.17955587e+02] [ 9.46563537e-01 1.61127437e-01 -2.79383999e-01 9.10641991e+01] [ 2.87679563e-01 -3.02031265e-02 9.57250354e-01 3.70771196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.670714057 meters Centerline goodness : 0.988670 Centerline is valid? [True, True] Translation: X:117.94, Y:91.10, Z:37.10 [[ 1.41765548e-01 -9.89395909e-01 -3.15953126e-02 1.17943479e+02] [ 9.43866514e-01 1.44724203e-01 -2.96935867e-01 9.10975979e+01] [ 2.98359738e-01 1.22735183e-02 9.54374574e-01 3.71015364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.700714057 meters Centerline goodness : 0.986698 Centerline is valid? [True, True] Translation: X:117.98, Y:91.12, Z:37.09 [[ 1.44621275e-01 -9.84213241e-01 -1.02024428e-01 1.17977408e+02] [ 9.46009899e-01 1.67757901e-01 -2.77349161e-01 9.11172849e+01] [ 2.90086120e-01 -5.64055297e-02 9.55336830e-01 3.70858205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.730714057 meters Centerline goodness : 0.987345 Centerline is valid? [True, True] Translation: X:117.96, Y:91.14, Z:37.11 [[ 1.41399525e-01 -9.88087551e-01 -6.07385095e-02 1.17960954e+02] [ 9.45424206e-01 1.52979268e-01 -2.87698477e-01 9.11414462e+01] [ 2.93563016e-01 -1.67432291e-02 9.55793084e-01 3.71093489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.76071405700003 meters Centerline goodness : 0.986789 Centerline is valid? [True, True] Translation: X:117.96, Y:91.17, Z:37.12 [[ 1.43194408e-01 -9.88550862e-01 -4.75663250e-02 1.17962499e+02] [ 9.45839544e-01 1.50839477e-01 -2.87463059e-01 9.11680524e+01] [ 2.91346734e-01 -3.82700865e-03 9.56609865e-01 3.71173807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.790714057 meters Centerline goodness : 0.988756 Centerline is valid? [True, True] Translation: X:117.98, Y:91.20, Z:37.12 [[ 1.39698479e-01 -9.87879077e-01 -6.76702635e-02 1.17976435e+02] [ 9.46313454e-01 1.53314437e-01 -2.84579567e-01 9.11960623e+01] [ 2.91505028e-01 -2.42819483e-02 9.56261055e-01 3.71205095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.82071405700003 meters Centerline goodness : 0.988778 Centerline is valid? [True, True] Translation: X:117.97, Y:91.23, Z:37.13 [[ 1.39100630e-01 -9.89422353e-01 -4.11633557e-02 1.17972952e+02] [ 9.47012905e-01 1.45060789e-01 -2.86572722e-01 9.12274868e+01] [ 2.89512645e-01 8.80217139e-04 9.57173784e-01 3.71344509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.850714057 meters Centerline goodness : 0.989504 Centerline is valid? [True, True] Translation: X:117.99, Y:91.25, Z:37.13 [[ 1.37584916e-01 -9.88086887e-01 -6.89542899e-02 1.17989661e+02] [ 9.47271040e-01 1.51602186e-01 -2.82301884e-01 9.12546333e+01] [ 2.89392411e-01 -2.64779210e-02 9.56844268e-01 3.71346838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.88071405700003 meters Centerline goodness : 0.988588 Centerline is valid? [True, True] Translation: X:117.99, Y:91.28, Z:37.14 [[ 1.35764379e-01 -9.88239646e-01 -7.03593287e-02 1.17994717e+02] [ 9.47100828e-01 1.50301640e-01 -2.83565582e-01 9.12783469e+01] [ 2.90805873e-01 -2.81392734e-02 9.56368196e-01 3.71432138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.910714057 meters Centerline goodness : 0.990010 Centerline is valid? [True, True] Translation: X:118.00, Y:91.31, Z:37.15 [[ 1.34064812e-01 -9.88717972e-01 -6.68086750e-02 1.17997858e+02] [ 9.47028225e-01 1.47681808e-01 -2.85179988e-01 9.13055003e+01] [ 2.91829005e-01 -2.50370994e-02 9.56142759e-01 3.71548018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.94071405700004 meters Centerline goodness : 0.989027 Centerline is valid? [True, True] Translation: X:118.00, Y:91.33, Z:37.16 [[ 1.34014117e-01 -9.88203230e-01 -7.41255238e-02 1.18003664e+02] [ 9.46543301e-01 1.49794010e-01 -2.85687826e-01 9.13272966e+01] [ 2.93421192e-01 -3.18768162e-02 9.55451659e-01 3.71614079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.970714057 meters Centerline goodness : 0.989136 Centerline is valid? [True, True] Translation: X:118.00, Y:91.35, Z:37.18 [[ 1.32562990e-01 -9.89576695e-01 -5.62585029e-02 1.18001127e+02] [ 9.44771095e-01 1.43316785e-01 -2.94733571e-01 9.13542773e+01] [ 2.99724260e-01 -1.40806441e-02 9.53921959e-01 3.71766763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.000714057 meters Centerline goodness : 0.990037 Centerline is valid? [True, True] Translation: X:118.00, Y:91.37, Z:37.18 [[ 1.19693637e-01 -9.88774904e-01 -8.94294233e-02 1.18004712e+02] [ 9.42302962e-01 1.41507401e-01 -3.03382238e-01 9.13679383e+01] [ 3.12631669e-01 -4.79566870e-02 9.48663057e-01 3.71848452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.030714057 meters Centerline goodness : 0.988811 Centerline is valid? [True, True] Translation: X:117.99, Y:91.39, Z:37.21 [[ 1.20487498e-01 -9.91070126e-01 -5.71206433e-02 1.17994652e+02] [ 9.41997765e-01 1.32298842e-01 -3.08443232e-01 9.13921401e+01] [ 3.13245868e-01 -1.66439649e-02 9.49526200e-01 3.72053408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.060714057 meters Centerline goodness : 0.991768 Centerline is valid? [True, True] Translation: X:117.98, Y:91.49, Z:37.23 [[ 1.43790910e-01 -9.85512927e-01 8.99357768e-02 1.17981391e+02] [ 9.49161143e-01 1.11626718e-01 -2.94334164e-01 9.14915468e+01] [ 2.80030888e-01 1.27686122e-01 9.51461484e-01 3.72324401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.090714057 meters Centerline goodness : 0.989675 Centerline is valid? [True, True] Translation: X:118.10, Y:91.44, Z:37.16 [[ 0.11858405 -0.96242976 -0.24426784 118.09707894] [ 0.94652374 0.18390455 -0.26508853 91.44075573] [ 0.30005106 -0.19977004 0.93277076 37.15642527] [ 0. 0. 0. 1. ]] SLAMing on 290.120714057 meters Centerline goodness : 0.991848 Centerline is valid? [True, True] Translation: X:118.00, Y:91.51, Z:37.24 [[ 1.34794000e-01 -9.89917367e-01 4.35222186e-02 1.18000901e+02] [ 9.48077938e-01 1.16078761e-01 -2.96097862e-01 9.15127945e+01] [ 2.88060411e-01 8.11746705e-02 9.54165537e-01 3.72406097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.150714057 meters Centerline goodness : 0.989635 Centerline is valid? [True, True] Translation: X:118.08, Y:91.52, Z:37.20 [[ 1.18062565e-01 -9.83266618e-01 -1.38737124e-01 1.18076573e+02] [ 9.46162039e-01 1.53795413e-01 -2.84823397e-01 9.15178131e+01] [ 3.01394472e-01 -9.76408191e-02 9.48487028e-01 3.72046289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.180714057 meters Centerline goodness : 0.987785 Centerline is valid? [True, True] Translation: X:118.06, Y:91.53, Z:37.23 [[ 1.18731093e-01 -9.88168104e-01 -9.70913274e-02 1.18057705e+02] [ 9.47228993e-01 1.42047075e-01 -2.87367121e-01 9.15293996e+01] [ 2.97758563e-01 -5.78483079e-02 9.52886883e-01 3.72267875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.210714057 meters Centerline goodness : 0.989051 Centerline is valid? [True, True] Translation: X:118.04, Y:91.56, Z:37.26 [[ 1.10536160e-01 -9.93045607e-01 -4.05238222e-02 1.18038671e+02] [ 9.44336165e-01 1.17651429e-01 -3.07225240e-01 9.15613370e+01] [ 3.09856360e-01 -4.30861256e-03 9.50773618e-01 3.72579394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.240714057 meters Centerline goodness : 0.987078 Centerline is valid? [True, True] Translation: X:118.06, Y:91.58, Z:37.25 [[ 1.10167781e-01 -9.89803867e-01 -9.02849056e-02 1.18063545e+02] [ 9.46327505e-01 1.32230113e-01 -2.94922786e-01 9.15796033e+01] [ 3.03854097e-01 -5.29481007e-02 9.51246123e-01 3.72496915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.270714057 meters Centerline goodness : 0.986723 Centerline is valid? [True, True] Translation: X:118.05, Y:91.61, Z:37.27 [[ 1.08270551e-01 -9.92377141e-01 -5.88650879e-02 1.18054777e+02] [ 9.47394217e-01 1.20940899e-01 -2.96340171e-01 9.16064060e+01] [ 3.01200408e-01 -2.36835303e-02 9.53266702e-01 3.72691759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.300714057 meters Centerline goodness : 0.987007 Centerline is valid? [True, True] Translation: X:118.06, Y:91.63, Z:37.28 [[ 1.04762954e-01 -9.92042581e-01 -6.98300817e-02 1.18062272e+02] [ 9.47583602e-01 1.20886291e-01 -2.95756357e-01 9.16281178e+01] [ 3.01844399e-01 -3.51855306e-02 9.52707687e-01 3.72778068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.330714057 meters Centerline goodness : 0.988300 Centerline is valid? [True, True] Translation: X:118.06, Y:91.66, Z:37.29 [[ 1.03570746e-01 -9.93608197e-01 -4.48982435e-02 1.18057366e+02] [ 9.47200086e-01 1.12304456e-01 -3.00332658e-01 9.16562826e+01] [ 3.03455264e-01 -1.14219428e-02 9.52777226e-01 3.72933040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.360714057 meters Centerline goodness : 0.988018 Centerline is valid? [True, True] Translation: X:118.07, Y:91.68, Z:37.30 [[ 1.01938761e-01 -9.92783786e-01 -6.31572913e-02 1.18069338e+02] [ 9.48266612e-01 1.16163817e-01 -2.95459644e-01 9.16806255e+01] [ 3.00664136e-01 -2.97711606e-02 9.53265312e-01 3.72972408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.390714057 meters Centerline goodness : 0.988623 Centerline is valid? [True, True] Translation: X:118.07, Y:91.71, Z:37.31 [[ 9.93188482e-02 -9.93327722e-01 -5.86157294e-02 1.18071560e+02] [ 9.48026691e-01 1.12356119e-01 -2.97693628e-01 9.17058767e+01] [ 3.02293169e-01 -2.60026877e-02 9.52860273e-01 3.73084543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.420714057 meters Centerline goodness : 0.988332 Centerline is valid? [True, True] Translation: X:118.08, Y:91.73, Z:37.32 [[ 9.76475551e-02 -9.93582425e-01 -5.70869435e-02 1.18075340e+02] [ 9.47314820e-01 1.10376531e-01 -3.00685307e-01 9.17311301e+01] [ 3.05056695e-01 -2.47181225e-02 9.52013355e-01 3.73177235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.450714057 meters Centerline goodness : 0.988495 Centerline is valid? [True, True] Translation: X:118.08, Y:91.76, Z:37.33 [[ 9.48330169e-02 -9.93840393e-01 -5.73408348e-02 1.18081424e+02] [ 9.48460572e-01 1.07698214e-01 -2.98032950e-01 9.17591381e+01] [ 3.02372689e-01 -2.61221572e-02 9.52831774e-01 3.73254428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.480714057 meters Centerline goodness : 0.988495 Centerline is valid? [True, True] Translation: X:118.08, Y:91.79, Z:37.33 [[ 9.44314471e-02 -9.93998184e-01 -5.52296303e-02 1.18084852e+02] [ 9.48542554e-01 1.06678603e-01 -2.98138725e-01 9.17856103e+01] [ 3.02241171e-01 -2.42339833e-02 9.52923391e-01 3.73347275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.51071405700003 meters Centerline goodness : 0.988153 Centerline is valid? [True, True] Translation: X:118.09, Y:91.81, Z:37.35 [[ 9.28055346e-02 -9.94533887e-01 -4.78485196e-02 1.18087367e+02] [ 9.47678809e-01 1.02970695e-01 -3.02162061e-01 9.18114283e+01] [ 3.05437405e-01 -1.73027164e-02 9.52054940e-01 3.73453137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.540714057 meters Centerline goodness : 0.990219 Centerline is valid? [True, True] Translation: X:118.09, Y:91.84, Z:37.36 [[ 8.71215721e-02 -9.95310849e-01 -4.20255297e-02 1.18091434e+02] [ 9.46668438e-01 9.58526766e-02 -3.07621735e-01 9.18441915e+01] [ 3.10207510e-01 -1.29837534e-02 9.50580203e-01 3.73580403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.57071405700003 meters Centerline goodness : 0.987637 Centerline is valid? [True, True] Translation: X:118.11, Y:91.86, Z:37.35 [[ 8.92289820e-02 -9.93045065e-01 -7.68094201e-02 1.18110111e+02] [ 9.49194970e-01 1.08146720e-01 -2.95521904e-01 9.18625955e+01] [ 3.01773256e-01 -4.65379965e-02 9.52243203e-01 3.73529568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.600714057 meters Centerline goodness : 0.990245 Centerline is valid? [True, True] Translation: X:118.10, Y:91.89, Z:37.37 [[ 8.43858674e-02 -9.95526029e-01 -4.25082484e-02 1.18100716e+02] [ 9.47790315e-01 9.33595024e-02 -3.04922157e-01 9.18927051e+01] [ 3.07526493e-01 -1.45577854e-02 9.51428151e-01 3.73731384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.63071405700003 meters Centerline goodness : 0.989637 Centerline is valid? [True, True] Translation: X:118.12, Y:91.92, Z:37.37 [[ 8.12064242e-02 -9.94025586e-01 -7.29290887e-02 1.18118614e+02] [ 9.50890729e-01 9.91940114e-02 -2.93201928e-01 9.19159269e+01] [ 2.98684347e-01 -4.55377141e-02 9.53264904e-01 3.73717507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.660714057 meters Centerline goodness : 0.990397 Centerline is valid? [True, True] Translation: X:118.11, Y:91.94, Z:37.39 [[ 7.51457723e-02 -9.96349298e-01 -4.05115841e-02 1.18110209e+02] [ 9.48161499e-01 8.39734252e-02 -3.06493451e-01 9.19449540e+01] [ 3.08776432e-01 -1.53798372e-02 9.51010292e-01 3.73938975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.69071405700004 meters Centerline goodness : 0.990664 Centerline is valid? [True, True] Translation: X:118.12, Y:91.97, Z:37.39 [[ 7.62736783e-02 -9.95257811e-01 -6.03673465e-02 1.18123775e+02] [ 9.49390205e-01 9.09932330e-02 -3.00630122e-01 9.19686543e+01] [ 3.04697497e-01 -3.43820022e-02 9.51828405e-01 3.73919388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.720714057 meters Centerline goodness : 0.990095 Centerline is valid? [True, True] Translation: X:118.13, Y:91.99, Z:37.40 [[ 7.59209199e-02 -9.95241632e-01 -6.10746172e-02 1.18128524e+02] [ 9.51010026e-01 9.06843380e-02 -2.95560960e-01 9.19924836e+01] [ 2.99693083e-01 -3.56433134e-02 9.53369608e-01 3.73977832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.750714057 meters Centerline goodness : 0.989379 Centerline is valid? [True, True] Translation: X:118.12, Y:92.02, Z:37.41 [[ 7.41882570e-02 -9.96235327e-01 -4.48472509e-02 1.18124729e+02] [ 9.49922430e-01 8.42851257e-02 -3.00904295e-01 9.20175812e+01] [ 3.03551445e-01 -2.02778444e-02 9.52599249e-01 3.74110802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.780714057 meters Centerline goodness : 0.990510 Centerline is valid? [True, True] Translation: X:118.14, Y:92.04, Z:37.41 [[ 6.93810716e-02 -9.94952944e-01 -7.24907275e-02 1.18139489e+02] [ 9.50540322e-01 8.79869844e-02 -2.97878140e-01 9.20440709e+01] [ 3.02752973e-01 -4.82382549e-02 9.51847524e-01 3.74135904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.810714057 meters Centerline goodness : 0.991036 Centerline is valid? [True, True] Translation: X:118.13, Y:92.07, Z:37.43 [[ 6.83960775e-02 -9.96737594e-01 -4.28502758e-02 1.18131110e+02] [ 9.49765709e-01 7.82004738e-02 -3.03034293e-01 9.20675315e+01] [ 3.05396584e-01 -1.99713656e-02 9.52015793e-01 3.74302496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.840714057 meters Centerline goodness : 0.990666 Centerline is valid? [True, True] Translation: X:118.14, Y:92.10, Z:37.43 [[ 6.59975781e-02 -9.96369252e-01 -5.37831982e-02 1.18142398e+02] [ 9.50623835e-01 7.91654861e-02 -3.00078572e-01 9.20981818e+01] [ 3.03246836e-01 -3.13231312e-02 9.52397091e-01 3.74337323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.870714057 meters Centerline goodness : 0.991051 Centerline is valid? [True, True] Translation: X:118.15, Y:92.12, Z:37.44 [[ 6.31214633e-02 -9.96501250e-01 -5.47808413e-02 1.18146627e+02] [ 9.51127044e-01 7.66911773e-02 -2.99125074e-01 9.21222879e+01] [ 3.02279717e-01 -3.32223272e-02 9.52640147e-01 3.74428341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.900714057 meters Centerline goodness : 0.990461 Centerline is valid? [True, True] Translation: X:118.15, Y:92.15, Z:37.45 [[ 6.22535035e-02 -9.96603235e-01 -5.39118952e-02 1.18148954e+02] [ 9.50745140e-01 7.56501310e-02 -3.00600625e-01 9.21464526e+01] [ 3.03657997e-01 -3.25430303e-02 9.52225169e-01 3.74513184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.930714057 meters Centerline goodness : 0.990979 Centerline is valid? [True, True] Translation: X:118.15, Y:92.17, Z:37.46 [[ 6.13439645e-02 -9.96518881e-01 -5.64538501e-02 1.18153135e+02] [ 9.50671791e-01 7.55653849e-02 -3.00853816e-01 9.21728965e+01] [ 3.04072465e-01 -3.52135170e-02 9.51997870e-01 3.74599547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.960714057 meters Centerline goodness : 0.989361 Centerline is valid? [True, True] Translation: X:118.15, Y:92.20, Z:37.47 [[ 6.34909236e-02 -9.97352327e-01 -3.54575489e-02 1.18148448e+02] [ 9.49154301e-01 7.13237047e-02 -3.06625248e-01 9.21952611e+01] [ 3.08342368e-01 -1.41867648e-02 9.51169659e-01 3.74745869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.990714057 meters Centerline goodness : 0.990784 Centerline is valid? [True, True] Translation: X:118.16, Y:92.22, Z:37.47 [[ 6.29267881e-02 -9.96089585e-01 -6.20141724e-02 1.18164094e+02] [ 9.50767745e-01 7.87246371e-02 -2.99738431e-01 9.22246933e+01] [ 3.03448372e-01 -4.00994982e-02 9.52003737e-01 3.74746615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.020714057 meters Centerline goodness : 0.991520 Centerline is valid? [True, True] Translation: X:118.16, Y:92.26, Z:37.49 [[ 6.03430657e-02 -9.97133970e-01 -4.56350696e-02 1.18160899e+02] [ 9.49277054e-01 7.14611473e-02 -3.06212963e-01 9.22583402e+01] [ 3.08596482e-01 -2.48424955e-02 9.50868583e-01 3.74916589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.050714057 meters Centerline goodness : 0.989675 Centerline is valid? [True, True] Translation: X:118.17, Y:92.28, Z:37.49 [[ 6.58722006e-02 -9.95647526e-01 -6.59307007e-02 1.18171506e+02] [ 9.51022837e-01 8.26443349e-02 -2.97868220e-01 9.22773546e+01] [ 3.02020556e-01 -4.30803669e-02 9.52327499e-01 3.74910567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.080714057 meters Centerline goodness : 0.991983 Centerline is valid? [True, True] Translation: X:118.17, Y:92.31, Z:37.51 [[ 6.34322014e-02 -9.96999840e-01 -4.43584866e-02 1.18165466e+02] [ 9.49349049e-01 7.39878505e-02 -3.05388575e-01 9.23099362e+01] [ 3.07754349e-01 -2.27402175e-02 9.51194062e-01 3.75091861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.110714057 meters Centerline goodness : 0.991280 Centerline is valid? [True, True] Translation: X:118.18, Y:92.34, Z:37.51 [[ 6.34444462e-02 -9.96070898e-01 -6.17864779e-02 1.18175706e+02] [ 9.49473273e-01 7.93125784e-02 -3.03661025e-01 9.23361872e+01] [ 3.07368355e-01 -3.93990038e-02 9.50774638e-01 3.75130463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.140714057 meters Centerline goodness : 0.991514 Centerline is valid? [True, True] Translation: X:118.18, Y:92.36, Z:37.52 [[ 6.47451237e-02 -9.96437548e-01 -5.40396418e-02 1.18176156e+02] [ 9.49339980e-01 7.81916079e-02 -3.04367665e-01 9.23641104e+01] [ 3.07508816e-01 -3.15956704e-02 9.51020526e-01 3.75225710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.170714057 meters Centerline goodness : 0.990692 Centerline is valid? [True, True] Translation: X:118.18, Y:92.39, Z:37.52 [[ 7.14791260e-02 -9.95316832e-01 -6.50779414e-02 1.18182667e+02] [ 9.51560300e-01 8.76065480e-02 -2.94716962e-01 9.23884925e+01] [ 2.99038006e-01 -4.08594747e-02 9.53366023e-01 3.75230081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.200714057 meters Centerline goodness : 0.990326 Centerline is valid? [True, True] Translation: X:118.17, Y:92.42, Z:37.54 [[ 7.05465698e-02 -9.96818537e-01 -3.70942793e-02 1.18173242e+02] [ 9.48575803e-01 7.85436510e-02 -3.06651008e-01 9.24185941e+01] [ 3.08588930e-01 -1.35535590e-02 9.51098929e-01 3.75421486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.230714057 meters Centerline goodness : 0.990885 Centerline is valid? [True, True] Translation: X:118.18, Y:92.45, Z:37.54 [[ 7.43656512e-02 -9.95562899e-01 -5.76564372e-02 1.18180986e+02] [ 9.48237940e-01 8.84931371e-02 -3.04981595e-01 9.24476896e+01] [ 3.08730560e-01 -3.19918664e-02 9.50611362e-01 3.75440403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.26071405700003 meters Centerline goodness : 0.989585 Centerline is valid? [True, True] Translation: X:118.18, Y:92.47, Z:37.55 [[ 7.78730266e-02 -9.95294046e-01 -5.76676156e-02 1.18182317e+02] [ 9.47839784e-01 9.18451504e-02 -3.05228133e-01 9.24739235e+01] [ 3.09088234e-01 -3.08906217e-02 9.50531553e-01 3.75522566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.290714057 meters Centerline goodness : 0.989073 Centerline is valid? [True, True] Translation: X:118.18, Y:92.50, Z:37.56 [[ 8.03568845e-02 -9.95164709e-01 -5.64798393e-02 1.18183730e+02] [ 9.47723242e-01 9.38352881e-02 -3.04984581e-01 9.24997623e+01] [ 3.08809694e-01 -2.90196456e-02 9.50681036e-01 3.75613986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.32071405700003 meters Centerline goodness : 0.989160 Centerline is valid? [True, True] Translation: X:118.18, Y:92.53, Z:37.57 [[ 8.61063648e-02 -9.95120921e-01 -4.81668698e-02 1.18180309e+02] [ 9.48149817e-01 9.66963751e-02 -3.02756892e-01 9.25292667e+01] [ 3.05937278e-01 -1.96001134e-02 9.51849892e-01 3.75704617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.350714057 meters Centerline goodness : 0.987719 Centerline is valid? [True, True] Translation: X:118.19, Y:92.55, Z:37.57 [[ 9.21186971e-02 -9.93773284e-01 -6.26801834e-02 1.18187959e+02] [ 9.49347532e-01 1.06643586e-01 -2.95578094e-01 9.25527199e+01] [ 3.00422053e-01 -3.22770085e-02 9.53260083e-01 3.75708494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.38071405700003 meters Centerline goodness : 0.987080 Centerline is valid? [True, True] Translation: X:118.18, Y:92.58, Z:37.58 [[ 9.51462687e-02 -9.94575857e-01 -4.20244265e-02 1.18179350e+02] [ 9.49852660e-01 1.03338087e-01 -2.95129064e-01 9.25791054e+01] [ 2.97870966e-01 -1.18365840e-02 9.54532756e-01 3.75839148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.410714057 meters Centerline goodness : 0.986729 Centerline is valid? [True, True] Translation: X:118.19, Y:92.60, Z:37.59 [[ 9.55966151e-02 -9.93700272e-01 -5.84897957e-02 1.18188417e+02] [ 9.50136426e-01 1.08611125e-01 -2.92308733e-01 9.26041411e+01] [ 2.96819910e-01 -2.76295600e-02 9.54533681e-01 3.75867538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.44071405700004 meters Centerline goodness : 0.987479 Centerline is valid? [True, True] Translation: X:118.19, Y:92.63, Z:37.60 [[ 9.29198432e-02 -9.94363478e-01 -5.10605173e-02 1.18188279e+02] [ 9.50380449e-01 1.03867539e-01 -2.93238021e-01 9.26337579e+01] [ 2.96888708e-01 -2.12792864e-02 9.54674964e-01 3.75988285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.470714057 meters Centerline goodness : 0.988213 Centerline is valid? [True, True] Translation: X:118.19, Y:92.66, Z:37.61 [[ 9.19977716e-02 -9.94404721e-01 -5.19197530e-02 1.18190685e+02] [ 9.50266951e-01 1.03255323e-01 -2.93821476e-01 9.26602633e+01] [ 2.97538453e-01 -2.23067044e-02 9.54449202e-01 3.76050643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.500714057 meters Centerline goodness : 0.987814 Centerline is valid? [True, True] Translation: X:118.19, Y:92.69, Z:37.61 [[ 8.77742244e-02 -9.94374695e-01 -5.92845020e-02 1.18194860e+02] [ 9.50019385e-01 1.01461334e-01 -2.95243569e-01 9.26853155e+01] [ 2.99597819e-01 -3.04066508e-02 9.53580926e-01 3.76118923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.530714057 meters Centerline goodness : 0.987000 Centerline is valid? [True, True] Translation: X:118.19, Y:92.71, Z:37.63 [[ 8.63208850e-02 -9.95337829e-01 -4.30268666e-02 1.18189973e+02] [ 9.48951376e-01 9.52960338e-02 -3.00682476e-01 9.27094874e+01] [ 3.03380932e-01 -1.48752269e-02 9.52753241e-01 3.76261816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.560714057 meters Centerline goodness : 0.988866 Centerline is valid? [True, True] Translation: X:118.20, Y:92.74, Z:37.63 [[ 7.90808693e-02 -9.95382308e-01 -5.44084345e-02 1.18198830e+02] [ 9.48868830e-01 9.18930183e-02 -3.01999367e-01 9.27428828e+01] [ 3.05604582e-01 -2.77440951e-02 9.51754225e-01 3.76348656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.590714057 meters Centerline goodness : 0.987324 Centerline is valid? [True, True] Translation: X:118.21, Y:92.76, Z:37.63 [[ 7.74704796e-02 -9.94274730e-01 -7.35940659e-02 1.18209243e+02] [ 9.50189932e-01 9.59835790e-02 -2.96523600e-01 9.27640398e+01] [ 3.01889744e-01 -4.69565150e-02 9.52185732e-01 3.76339288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.620714057 meters Centerline goodness : 0.987391 Centerline is valid? [True, True] Translation: X:118.20, Y:92.79, Z:37.65 [[ 7.55565619e-02 -9.95780141e-01 -5.20875847e-02 1.18203104e+02] [ 9.50858667e-01 8.76810676e-02 -2.96950883e-01 9.27891841e+01] [ 3.00264887e-01 -2.70913436e-02 9.53471057e-01 3.76498464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.650714057 meters Centerline goodness : 0.988682 Centerline is valid? [True, True] Translation: X:118.19, Y:92.81, Z:37.67 [[ 6.39095797e-02 -9.96917833e-01 -4.55016476e-02 1.18193693e+02] [ 9.47878424e-01 7.49013911e-02 -3.09703529e-01 9.28073515e+01] [ 3.12157108e-01 -2.33370076e-02 9.49743820e-01 3.76657406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.680714057 meters Centerline goodness : 0.988316 Centerline is valid? [True, True] Translation: X:118.20, Y:92.83, Z:37.67 [[ 6.30185684e-02 -9.96926914e-01 -4.65337356e-02 1.18197946e+02] [ 9.48107272e-01 7.43619734e-02 -3.09132493e-01 9.28337590e+01] [ 3.11642842e-01 -2.46378860e-02 9.49879842e-01 3.76747176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.710714057 meters Centerline goodness : 0.988871 Centerline is valid? [True, True] Translation: X:118.20, Y:92.87, Z:37.69 [[ 6.81902452e-02 -9.97330040e-01 -2.61320173e-02 1.18204784e+02] [ 9.49316102e-01 7.29185986e-02 -3.05747963e-01 9.28746657e+01] [ 3.06837138e-01 -3.95851628e-03 9.51753803e-01 3.76873960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.740714057 meters Centerline goodness : 0.989103 Centerline is valid? [True, True] Translation: X:118.23, Y:92.90, Z:37.68 [[ 6.74332017e-02 -9.94687660e-01 -7.77767489e-02 1.18228289e+02] [ 9.51366536e-01 8.75901079e-02 -2.95346723e-01 9.28982258e+01] [ 3.00590215e-01 -5.40780211e-02 9.52219035e-01 3.76789174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.770714057 meters Centerline goodness : 0.990039 Centerline is valid? [True, True] Translation: X:118.22, Y:92.92, Z:37.70 [[ 6.45121968e-02 -9.96845979e-01 -4.62198072e-02 1.18217927e+02] [ 9.49972706e-01 7.55305502e-02 -3.03062689e-01 9.29248592e+01] [ 3.05597831e-01 -2.43563155e-02 9.51849114e-01 3.77014360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.800714057 meters Centerline goodness : 0.990326 Centerline is valid? [True, True] Translation: X:118.23, Y:92.95, Z:37.71 [[ 6.27901899e-02 -9.96779644e-01 -4.98771842e-02 1.18225282e+02] [ 9.50528799e-01 7.49610716e-02 -3.01456201e-01 9.29535164e+01] [ 3.04224252e-01 -2.84812078e-02 9.52174577e-01 3.77089201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.830714057 meters Centerline goodness : 0.988529 Centerline is valid? [True, True] Translation: X:118.24, Y:92.97, Z:37.71 [[ 6.56125484e-02 -9.95332587e-01 -7.07674737e-02 1.18237504e+02] [ 9.51452562e-01 8.37777707e-02 -2.96174456e-01 9.29739744e+01] [ 3.00720829e-01 -4.78991333e-02 9.52508612e-01 3.77084801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.860714057 meters Centerline goodness : 0.988003 Centerline is valid? [True, True] Translation: X:118.23, Y:93.00, Z:37.73 [[ 6.66992080e-02 -9.96809257e-01 -4.38465544e-02 1.18230355e+02] [ 9.50462980e-01 7.68464205e-02 -3.01188896e-01 9.29969380e+01] [ 3.03597330e-01 -2.15854659e-02 9.52555893e-01 3.77269321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.890714057 meters Centerline goodness : 0.989534 Centerline is valid? [True, True] Translation: X:118.24, Y:93.03, Z:37.73 [[ 6.39340863e-02 -9.95710027e-01 -6.68877801e-02 1.18244160e+02] [ 9.52862164e-01 8.08277170e-02 -2.92439014e-01 9.30268227e+01] [ 2.96590845e-01 -4.50380137e-02 9.53942057e-01 3.77280872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.920714057 meters Centerline goodness : 0.990053 Centerline is valid? [True, True] Translation: X:118.24, Y:93.05, Z:37.74 [[ 6.34376266e-02 -9.97013849e-01 -4.40346732e-02 1.18239055e+02] [ 9.51796307e-01 7.37107974e-02 -2.97742353e-01 9.30524873e+01] [ 3.00099081e-01 -2.30239711e-02 9.53630137e-01 3.77443676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.950714057 meters Centerline goodness : 0.990231 Centerline is valid? [True, True] Translation: X:118.25, Y:93.08, Z:37.75 [[ 6.24972583e-02 -9.96702203e-01 -5.17572307e-02 1.18247372e+02] [ 9.52313357e-01 7.50713512e-02 -2.95742392e-01 9.30791463e+01] [ 2.98652579e-01 -3.08060135e-02 9.53864575e-01 3.77493017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.980714057 meters Centerline goodness : 0.988865 Centerline is valid? [True, True] Translation: X:118.25, Y:93.10, Z:37.76 [[ 6.28884028e-02 -9.96837246e-01 -4.85855264e-02 1.18250126e+02] [ 9.51761255e-01 7.45517731e-02 -2.97645001e-01 9.31042149e+01] [ 3.00325760e-01 -2.75234028e-02 9.53439511e-01 3.77587910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.01071405700003 meters Centerline goodness : 0.987750 Centerline is valid? [True, True] Translation: X:118.25, Y:93.12, Z:37.77 [[ 6.49228151e-02 -9.97445693e-01 -2.97845142e-02 1.18246159e+02] [ 9.49715713e-01 7.09229212e-02 -3.04975415e-01 9.31245501e+01] [ 3.06308819e-01 -8.48695866e-03 9.51894363e-01 3.77731077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.040714057 meters Centerline goodness : 0.990442 Centerline is valid? [True, True] Translation: X:118.26, Y:93.16, Z:37.78 [[ 5.84542531e-02 -9.97235767e-01 -4.58685740e-02 1.18260133e+02] [ 9.48781354e-01 6.97866709e-02 -3.08129458e-01 9.31597283e+01] [ 3.10478732e-01 -2.55077704e-02 9.50238029e-01 3.77802281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.07071405700003 meters Centerline goodness : 0.988859 Centerline is valid? [True, True] Translation: X:118.27, Y:93.18, Z:37.78 [[ 6.16124837e-02 -9.96185813e-01 -6.17877569e-02 1.18270974e+02] [ 9.49477956e-01 7.75848074e-02 -3.04092436e-01 9.31825964e+01] [ 3.07726362e-01 -3.99302229e-02 9.50636662e-01 3.77821179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.100714057 meters Centerline goodness : 0.989782 Centerline is valid? [True, True] Translation: X:118.26, Y:93.21, Z:37.80 [[ 5.94797434e-02 -9.97595417e-01 -3.55744981e-02 1.18264678e+02] [ 9.48791539e-01 6.75743308e-02 -3.08590871e-01 9.32136364e+01] [ 3.10252762e-01 -1.53978769e-02 9.50529394e-01 3.77994874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.13071405700003 meters Centerline goodness : 0.989642 Centerline is valid? [True, True] Translation: X:118.28, Y:93.24, Z:37.80 [[ 6.00973506e-02 -9.96461334e-01 -5.87632402e-02 1.18278595e+02] [ 9.49517991e-01 7.52266254e-02 -3.04559583e-01 9.32387135e+01] [ 3.07902409e-01 -3.74935298e-02 9.50678885e-01 3.77992197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.160714057 meters Centerline goodness : 0.988645 Centerline is valid? [True, True] Translation: X:118.29, Y:93.26, Z:37.80 [[ 6.26163029e-02 -9.95265926e-01 -7.43299104e-02 1.18288388e+02] [ 9.52104602e-01 8.19025490e-02 -2.94599388e-01 9.32613349e+01] [ 2.99292542e-01 -5.23231252e-02 9.52725703e-01 3.78013151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.19071405700004 meters Centerline goodness : 0.989786 Centerline is valid? [True, True] Translation: X:118.27, Y:93.29, Z:37.83 [[ 6.09501339e-02 -9.97935509e-01 -2.02435624e-02 1.18272226e+02] [ 9.48934863e-01 6.42228376e-02 -3.08865751e-01 9.32897389e+01] [ 3.09528199e-01 -3.84413206e-04 9.50890186e-01 3.78301233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.220714057 meters Centerline goodness : 0.986413 Centerline is valid? [True, True] Translation: X:118.30, Y:93.31, Z:37.82 [[ 6.60776264e-02 -9.95030871e-01 -7.44802807e-02 1.18301123e+02] [ 9.52124699e-01 8.52046598e-02 -2.93596191e-01 9.33116116e+01] [ 2.98483341e-01 -5.15143754e-02 9.53023591e-01 3.78172679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.250714057 meters Centerline goodness : 0.990082 Centerline is valid? [True, True] Translation: X:118.29, Y:93.34, Z:37.85 [[ 6.14298674e-02 -9.97669492e-01 -2.96977414e-02 1.18286032e+02] [ 9.48935798e-01 6.76016378e-02 -3.08140991e-01 9.33421269e+01] [ 3.09430482e-01 -9.25218972e-03 9.50877055e-01 3.78453494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.280714057 meters Centerline goodness : 0.990265 Centerline is valid? [True, True] Translation: X:118.30, Y:93.37, Z:37.85 [[ 6.06387039e-02 -9.96745765e-01 -5.31114544e-02 1.18300211e+02] [ 9.49277562e-01 7.40347141e-02 -3.05599365e-01 9.33704054e+01] [ 3.08536964e-01 -3.18863626e-02 9.50677759e-01 3.78461077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.310714057 meters Centerline goodness : 0.990512 Centerline is valid? [True, True] Translation: X:118.31, Y:93.40, Z:37.85 [[ 6.27687967e-02 -9.96854505e-01 -4.83856724e-02 1.18305304e+02] [ 9.49006568e-01 7.46231189e-02 -3.06297116e-01 9.33998443e+01] [ 3.08944350e-01 -2.66924195e-02 9.50705477e-01 3.78541499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.340714057 meters Centerline goodness : 0.989821 Centerline is valid? [True, True] Translation: X:118.31, Y:93.41, Z:37.86 [[ 5.68548899e-02 -9.96198181e-01 -6.60053504e-02 1.18306539e+02] [ 9.47884301e-01 7.46209240e-02 -3.09753241e-01 9.34128368e+01] [ 3.13500995e-01 -4.49544490e-02 9.48523180e-01 3.78579273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.370714057 meters Centerline goodness : 0.989821 Centerline is valid? [True, True] Translation: X:118.30, Y:93.44, Z:37.88 [[ 5.66776436e-02 -9.97471659e-01 -4.28711308e-02 1.18299818e+02] [ 9.47364512e-01 6.72834700e-02 -3.13007053e-01 9.34382389e+01] [ 3.15100183e-01 -2.28740857e-02 9.48782721e-01 3.78751382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.400714057 meters Centerline goodness : 0.990039 Centerline is valid? [True, True] Translation: X:118.31, Y:93.48, Z:37.89 [[ 6.40146530e-02 -9.97558765e-01 -2.79040372e-02 1.18310790e+02] [ 9.48269295e-01 6.95164602e-02 -3.09762499e-01 9.34781705e+01] [ 3.10946086e-01 -6.63120280e-03 9.50404419e-01 3.78858175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.430714057 meters Centerline goodness : 0.988329 Centerline is valid? [True, True] Translation: X:118.34, Y:93.50, Z:37.88 [[ 6.85951912e-02 -9.94794117e-01 -7.53615624e-02 1.18336617e+02] [ 9.50930262e-01 8.80409401e-02 -2.96614951e-01 9.35009258e+01] [ 3.01705711e-01 -5.13172310e-02 9.52019016e-01 3.78774288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.460714057 meters Centerline goodness : 0.987155 Centerline is valid? [True, True] Translation: X:118.33, Y:93.52, Z:37.90 [[ 7.05041179e-02 -9.96572553e-01 -4.32702694e-02 1.18326618e+02] [ 9.50384122e-01 8.02856120e-02 -3.00539917e-01 9.35242805e+01] [ 3.02983812e-01 -1.99340753e-02 9.52787197e-01 3.78966773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.490714057 meters Centerline goodness : 0.990051 Centerline is valid? [True, True] Translation: X:118.33, Y:93.56, Z:37.91 [[ 6.92665702e-02 -9.97302374e-01 -2.42923242e-02 1.18325230e+02] [ 9.47861734e-01 7.33865632e-02 -3.10116987e-01 9.35578456e+01] [ 3.11063138e-01 -1.54502452e-03 9.50387993e-01 3.79135132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.520714057 meters Centerline goodness : 0.988080 Centerline is valid? [True, True] Translation: X:118.35, Y:93.58, Z:37.90 [[ 7.64144755e-02 -9.94998105e-01 -6.43397086e-02 1.18348104e+02] [ 9.51454365e-01 9.20618889e-02 -2.93699167e-01 9.35817938e+01] [ 2.98153350e-01 -3.87734287e-02 9.53730151e-01 3.79038752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.550714057 meters Centerline goodness : 0.987465 Centerline is valid? [True, True] Translation: X:118.35, Y:93.61, Z:37.92 [[ 7.66925378e-02 -9.95708676e-01 -5.17927368e-02 1.18345499e+02] [ 9.49664106e-01 8.87731304e-02 -3.00428722e-01 9.36051925e+01] [ 3.03737289e-01 -2.61450620e-02 9.52397026e-01 3.79187455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.580714057 meters Centerline goodness : 0.987922 Centerline is valid? [True, True] Translation: X:118.35, Y:93.63, Z:37.93 [[ 7.97462493e-02 -9.95807430e-01 -4.48118057e-02 1.18348962e+02] [ 9.50386409e-01 8.95151117e-02 -2.97913945e-01 9.36314647e+01] [ 3.00676253e-01 -1.88310114e-02 9.53540342e-01 3.79299520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.610714057 meters Centerline goodness : 0.987256 Centerline is valid? [True, True] Translation: X:118.35, Y:93.66, Z:37.94 [[ 8.07247303e-02 -9.96039449e-01 -3.72684005e-02 1.18350420e+02] [ 9.49469680e-01 8.82205152e-02 -3.01205026e-01 9.36577228e+01] [ 3.03299926e-01 -1.10705218e-02 9.52830834e-01 3.79395496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.640714057 meters Centerline goodness : 0.987751 Centerline is valid? [True, True] Translation: X:118.36, Y:93.68, Z:37.94 [[ 8.20343877e-02 -9.95542167e-01 -4.65419416e-02 1.18361193e+02] [ 9.50342604e-01 9.22055811e-02 -2.97232343e-01 9.36838371e+01] [ 3.00198758e-01 -1.98475167e-02 9.53670164e-01 3.79441738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.670714057 meters Centerline goodness : 0.987925 Centerline is valid? [True, True] Translation: X:118.36, Y:93.71, Z:37.95 [[ 8.18055735e-02 -9.95774517e-01 -4.17248072e-02 1.18363730e+02] [ 9.49958841e-01 9.05685642e-02 -2.98957413e-01 9.37098460e+01] [ 3.01473130e-01 -1.51804668e-02 9.53353820e-01 3.79546693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.700714057 meters Centerline goodness : 0.987927 Centerline is valid? [True, True] Translation: X:118.37, Y:93.73, Z:37.96 [[ 8.23637685e-02 -9.95856919e-01 -3.85383750e-02 1.18368045e+02] [ 9.49922858e-01 9.01433855e-02 -2.99200157e-01 9.37348665e+01] [ 3.01434526e-01 -1.19652309e-02 9.53411800e-01 3.79630006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.730714057 meters Centerline goodness : 0.987308 Centerline is valid? [True, True] Translation: X:118.38, Y:93.76, Z:37.97 [[ 8.15953180e-02 -9.95666734e-01 -4.46089610e-02 1.18378127e+02] [ 9.50309103e-01 9.12136705e-02 -2.97645218e-01 9.37627018e+01] [ 3.00424389e-01 -1.81058455e-02 9.53633769e-01 3.79689039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.76071405700003 meters Centerline goodness : 0.988156 Centerline is valid? [True, True] Translation: X:118.38, Y:93.79, Z:37.98 [[ 8.07316802e-02 -9.95617342e-01 -4.72070276e-02 1.18384283e+02] [ 9.50806659e-01 9.11364943e-02 -2.96075727e-01 9.37889231e+01] [ 2.99080412e-01 -2.09820653e-02 9.53997201e-01 3.79756946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.790714057 meters Centerline goodness : 0.987934 Centerline is valid? [True, True] Translation: X:118.39, Y:93.82, Z:37.99 [[ 8.19163523e-02 -9.95695533e-01 -4.33603240e-02 1.18388504e+02] [ 9.50579927e-01 9.11298625e-02 -2.96804904e-01 9.38152206e+01] [ 2.99478737e-01 -1.69042786e-02 9.53953212e-01 3.79851462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.82071405700003 meters Centerline goodness : 0.987961 Centerline is valid? [True, True] Translation: X:118.39, Y:93.84, Z:38.00 [[ 8.33649168e-02 -9.95947894e-01 -3.37355015e-02 1.18389501e+02] [ 9.50190707e-01 8.96458142e-02 -2.98498322e-01 9.38415503e+01] [ 3.00313022e-01 -7.17087219e-03 9.53813749e-01 3.79953151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.850714057 meters Centerline goodness : 0.987553 Centerline is valid? [True, True] Translation: X:118.40, Y:93.87, Z:38.00 [[ 8.37011502e-02 -9.95410781e-01 -4.63842043e-02 1.18398947e+02] [ 9.49796054e-01 9.37744032e-02 -2.98485874e-01 9.38660843e+01] [ 3.01465708e-01 -1.90719232e-02 9.53286257e-01 3.80008063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.88071405700003 meters Centerline goodness : 0.988525 Centerline is valid? [True, True] Translation: X:118.41, Y:93.90, Z:38.01 [[ 8.32917552e-02 -9.95326850e-01 -4.88563785e-02 1.18408326e+02] [ 9.50498993e-01 9.40768829e-02 -2.96143891e-01 9.38964886e+01] [ 2.99356222e-01 -2.17715941e-02 9.53892997e-01 3.80099227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.910714057 meters Centerline goodness : 0.987764 Centerline is valid? [True, True] Translation: X:118.41, Y:93.92, Z:38.02 [[ 8.54792436e-02 -9.95493575e-01 -4.10589978e-02 1.18408688e+02] [ 9.49976392e-01 9.38570986e-02 -2.97885380e-01 9.39181644e+01] [ 3.00396660e-01 -1.35420616e-02 9.53718228e-01 3.80190193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.94071405700004 meters Centerline goodness : 0.988641 Centerline is valid? [True, True] Translation: X:118.42, Y:93.95, Z:38.03 [[ 8.38317525e-02 -9.95246756e-01 -4.95593693e-02 1.18418819e+02] [ 9.51060864e-01 9.47557301e-02 -2.94116617e-01 9.39481388e+01] [ 2.97414643e-01 -2.24776651e-02 9.54483779e-01 3.80255827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.970714057 meters Centerline goodness : 0.988161 Centerline is valid? [True, True] Translation: X:118.42, Y:93.98, Z:38.04 [[ 8.26944257e-02 -9.95867642e-01 -3.75402719e-02 1.18418184e+02] [ 9.50866238e-01 9.01229840e-02 -2.96194606e-01 9.39752564e+01] [ 2.98353865e-01 -1.12021343e-02 9.54389587e-01 3.80376857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.000714057 meters Centerline goodness : 0.987209 Centerline is valid? [True, True] Translation: X:118.42, Y:94.00, Z:38.04 [[ 8.39231504e-02 -9.95557922e-01 -4.26770349e-02 1.18423988e+02] [ 9.50295194e-01 9.28471415e-02 -2.97184206e-01 9.39965337e+01] [ 2.99826531e-01 -1.56151464e-02 9.53865933e-01 3.80430567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.030714057 meters Centerline goodness : 0.987478 Centerline is valid? [True, True] Translation: X:118.43, Y:94.03, Z:38.05 [[ 8.00928600e-02 -9.95807874e-01 -4.41793155e-02 1.18431933e+02] [ 9.50437628e-01 8.96516967e-02 -2.97709402e-01 9.40252996e+01] [ 3.00422117e-01 -1.81452864e-02 9.53633735e-01 3.80510074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.060714057 meters Centerline goodness : 0.988160 Centerline is valid? [True, True] Translation: X:118.44, Y:94.05, Z:38.06 [[ 7.69479351e-02 -9.95791428e-01 -4.97840151e-02 1.18439738e+02] [ 9.50790386e-01 8.83179450e-02 -2.96980780e-01 9.40541603e+01] [ 3.00127736e-01 -2.44821052e-02 9.53584799e-01 3.80590355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.090714057 meters Centerline goodness : 0.986012 Centerline is valid? [True, True] Translation: X:118.44, Y:94.07, Z:38.07 [[ 7.42768685e-02 -9.96397856e-01 -4.09177213e-02 1.18438761e+02] [ 9.49537265e-01 8.32025950e-02 -3.02417443e-01 9.40718599e+01] [ 3.04732552e-01 -1.63902805e-02 9.52296923e-01 3.80681416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.120714057 meters Centerline goodness : 0.988025 Centerline is valid? [True, True] Translation: X:118.44, Y:94.10, Z:38.08 [[ 7.11808604e-02 -9.96731922e-01 -3.81937195e-02 1.18441087e+02] [ 9.48434660e-01 7.94896777e-02 -3.06843751e-01 9.41027425e+01] [ 3.08876968e-01 -1.43828452e-02 9.50993245e-01 3.80794460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.150714057 meters Centerline goodness : 0.988556 Centerline is valid? [True, True] Translation: X:118.45, Y:94.13, Z:38.09 [[ 6.77125688e-02 -9.96618141e-01 -4.65541499e-02 1.18448530e+02] [ 9.50274872e-01 7.86391806e-02 -3.01319676e-01 9.41320482e+01] [ 3.03961635e-01 -2.38361095e-02 9.52386037e-01 3.80870317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.180714057 meters Centerline goodness : 0.986820 Centerline is valid? [True, True] Translation: X:118.45, Y:94.15, Z:38.10 [[ 6.53001506e-02 -9.97065105e-01 -3.99633126e-02 1.18448521e+02] [ 9.50099806e-01 7.43668856e-02 -3.02952019e-01 9.41537236e+01] [ 3.05034834e-01 -1.81863231e-02 9.52167531e-01 3.80960211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.210714057 meters Centerline goodness : 0.988767 Centerline is valid? [True, True] Translation: X:118.46, Y:94.18, Z:38.10 [[ 6.13498080e-02 -9.96742551e-01 -5.23496733e-02 1.18457589e+02] [ 9.50792793e-01 7.43188810e-02 -3.00781928e-01 9.41819938e+01] [ 3.03692715e-01 -3.13207785e-02 9.52255083e-01 3.81036083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.240714057 meters Centerline goodness : 0.988081 Centerline is valid? [True, True] Translation: X:118.46, Y:94.21, Z:38.12 [[ 5.74386123e-02 -9.97258338e-01 -4.66541964e-02 1.18457277e+02] [ 9.50618064e-01 6.89094414e-02 -3.02616563e-01 9.42056443e+01] [ 3.05001806e-01 -2.69684464e-02 9.51969853e-01 3.81151198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.270714057 meters Centerline goodness : 0.988357 Centerline is valid? [True, True] Translation: X:118.46, Y:94.23, Z:38.13 [[ 5.56718985e-02 -9.97473096e-01 -4.41368636e-02 1.18459044e+02] [ 9.50522396e-01 6.64791257e-02 -3.03459554e-01 9.42308327e+01] [ 3.05626921e-01 -2.50589078e-02 9.51821536e-01 3.81257954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.300714057 meters Centerline goodness : 0.987881 Centerline is valid? [True, True] Translation: X:118.46, Y:94.26, Z:38.14 [[ 5.48671651e-02 -9.97931956e-01 -3.34873974e-02 1.18457092e+02] [ 9.50648952e-01 6.24659315e-02 -3.03915413e-01 9.42573394e+01] [ 3.05378724e-01 -1.51597821e-02 9.52110296e-01 3.81368086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.330714057 meters Centerline goodness : 0.991333 Centerline is valid? [True, True] Translation: X:118.46, Y:94.29, Z:38.15 [[ 4.87975015e-02 -9.98329944e-01 -3.09212949e-02 1.18459254e+02] [ 9.49314360e-01 5.59817082e-02 -3.09302916e-01 9.42922354e+01] [ 3.10517390e-01 -1.42608198e-02 9.50460720e-01 3.81485934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.360714057 meters Centerline goodness : 0.987900 Centerline is valid? [True, True] Translation: X:118.47, Y:94.31, Z:38.15 [[ 5.37171461e-02 -9.97183714e-01 -5.23365053e-02 1.18470217e+02] [ 9.50615352e-01 6.71128098e-02 -3.03028586e-01 9.43111264e+01] [ 3.05687621e-01 -3.34740545e-02 9.51543255e-01 3.81468448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.390714057 meters Centerline goodness : 0.987927 Centerline is valid? [True, True] Translation: X:118.47, Y:94.34, Z:38.16 [[ 5.20006715e-02 -9.97920491e-01 -3.80870671e-02 1.18467141e+02] [ 9.51434936e-01 6.10941904e-02 -3.01726801e-01 9.43380443e+01] [ 3.03426256e-01 -2.05473699e-02 9.52633357e-01 3.81602018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.420714057 meters Centerline goodness : 0.987037 Centerline is valid? [True, True] Translation: X:118.47, Y:94.36, Z:38.17 [[ 5.08529395e-02 -9.97779393e-01 -4.30146609e-02 1.18471772e+02] [ 9.51387010e-01 6.14990297e-02 -3.01795671e-01 9.43632735e+01] [ 3.03770862e-01 -2.55763926e-02 9.52401760e-01 3.81671037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.450714057 meters Centerline goodness : 0.988102 Centerline is valid? [True, True] Translation: X:118.47, Y:94.39, Z:38.18 [[ 4.89608150e-02 -9.97920818e-01 -4.19151589e-02 1.18473911e+02] [ 9.51178782e-01 5.93889267e-02 -3.02872713e-01 9.43891673e+01] [ 3.04732282e-01 -2.50399149e-02 9.52108838e-01 3.81775428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.480714057 meters Centerline goodness : 0.986787 Centerline is valid? [True, True] Translation: X:118.47, Y:94.41, Z:38.19 [[ 4.55743676e-02 -9.98352049e-01 -3.48735232e-02 1.18472936e+02] [ 9.51014345e-01 5.40459497e-02 -3.04385858e-01 9.44142419e+01] [ 3.05769018e-01 -1.92930278e-02 9.51910230e-01 3.81866957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.51071405700003 meters Centerline goodness : 0.987516 Centerline is valid? [True, True] Translation: X:118.48, Y:94.44, Z:38.19 [[ 4.17266907e-02 -9.98113805e-01 -4.50301709e-02 1.18478545e+02] [ 9.50745922e-01 5.35208524e-02 -3.05315753e-01 9.44384404e+01] [ 3.07149921e-01 -3.00724354e-02 9.51185878e-01 3.81943889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.540714057 meters Centerline goodness : 0.987556 Centerline is valid? [True, True] Translation: X:118.48, Y:94.46, Z:38.21 [[ 3.96028652e-02 -9.98248448e-01 -4.39505333e-02 1.18479313e+02] [ 9.50527972e-01 5.11993399e-02 -3.06390603e-01 9.44638964e+01] [ 3.08104182e-01 -2.96422656e-02 9.50890713e-01 3.82058001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.57071405700003 meters Centerline goodness : 0.988222 Centerline is valid? [True, True] Translation: X:118.48, Y:94.49, Z:38.22 [[ 3.88296692e-02 -9.98740669e-01 -3.17699915e-02 1.18476822e+02] [ 9.50131260e-01 4.67476842e-02 -3.08326520e-01 9.44908718e+01] [ 3.09423409e-01 -1.82134453e-02 9.50749928e-01 3.82175929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.600714057 meters Centerline goodness : 0.990871 Centerline is valid? [True, True] Translation: X:118.48, Y:94.53, Z:38.23 [[ 3.10768436e-02 -9.98678108e-01 -4.09422398e-02 1.18482894e+02] [ 9.49324910e-01 4.23088235e-02 -3.11435673e-01 9.45254992e+01] [ 3.12756207e-01 -2.91890504e-02 9.49384830e-01 3.82267824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.63071405700003 meters Centerline goodness : 0.987873 Centerline is valid? [True, True] Translation: X:118.48, Y:94.54, Z:38.23 [[ 3.73402801e-02 -9.98513412e-01 -3.97073021e-02 1.18483130e+02] [ 9.49926860e-01 4.78029815e-02 -3.08794165e-01 9.45422684e+01] [ 3.10233242e-01 -2.61885722e-02 9.50299686e-01 3.82330814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.660714057 meters Centerline goodness : 0.988800 Centerline is valid? [True, True] Translation: X:118.49, Y:94.57, Z:38.24 [[ 3.64872902e-02 -9.98368064e-01 -4.39304729e-02 1.18485914e+02] [ 9.50625316e-01 4.82322186e-02 -3.06569995e-01 9.45683999e+01] [ 3.08188557e-01 -3.05755113e-02 9.50833819e-01 3.82413508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.69071405700004 meters Centerline goodness : 0.988631 Centerline is valid? [True, True] Translation: X:118.48, Y:94.59, Z:38.25 [[ 3.73390750e-02 -9.98840406e-01 -3.03913875e-02 1.18482474e+02] [ 9.49658269e-01 4.49342715e-02 -3.10048518e-01 9.45926922e+01] [ 3.11054602e-01 -1.72845076e-02 9.50234855e-01 3.82536797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.720714057 meters Centerline goodness : 0.990386 Centerline is valid? [True, True] Translation: X:118.49, Y:94.63, Z:38.26 [[ 3.06170786e-02 -9.98987998e-01 -3.29480519e-02 1.18488036e+02] [ 9.49980321e-01 3.93334906e-02 -3.09822958e-01 9.46282613e+01] [ 3.10805379e-01 -2.18141270e-02 9.50223216e-01 3.82624108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.750714057 meters Centerline goodness : 0.989944 Centerline is valid? [True, True] Translation: X:118.49, Y:94.65, Z:38.27 [[ 3.36610063e-02 -9.98753782e-01 -3.68485951e-02 1.18491818e+02] [ 9.50369216e-01 4.33968875e-02 -3.08082884e-01 9.46505167e+01] [ 3.09298060e-01 -2.46493905e-02 9.50645632e-01 3.82667295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.780714057 meters Centerline goodness : 0.986598 Centerline is valid? [True, True] Translation: X:118.49, Y:94.67, Z:38.28 [[ 3.50335748e-02 -9.98883426e-01 -3.16946486e-02 1.18491987e+02] [ 9.51961457e-01 4.30079012e-02 -3.03182627e-01 9.46721659e+01] [ 3.04207221e-01 -1.95505126e-02 9.52405242e-01 3.82769410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.810714057 meters Centerline goodness : 0.990396 Centerline is valid? [True, True] Translation: X:118.51, Y:94.70, Z:38.28 [[ 3.21796424e-02 -9.97264545e-01 -6.65424506e-02 1.18510816e+02] [ 9.52989018e-01 5.06840993e-02 -2.98735759e-01 9.47044094e+01] [ 3.01291225e-01 -5.38010147e-02 9.52013156e-01 3.82764696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.840714057 meters Centerline goodness : 0.989025 Centerline is valid? [True, True] Translation: X:118.50, Y:94.73, Z:38.30 [[ 3.16655274e-02 -9.98979373e-01 -3.22103585e-02 1.18498107e+02] [ 9.51620176e-01 3.99876971e-02 -3.04663789e-01 9.47289533e+01] [ 3.05640859e-01 -2.10046874e-02 9.51915158e-01 3.82951918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.870714057 meters Centerline goodness : 0.989586 Centerline is valid? [True, True] Translation: X:118.51, Y:94.76, Z:38.30 [[ 3.05645944e-02 -9.98490878e-01 -4.56264443e-02 1.18506801e+02] [ 9.52268391e-01 4.29599361e-02 -3.02224016e-01 9.47560981e+01] [ 3.03728032e-01 -3.42112663e-02 9.52144355e-01 3.82998945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.900714057 meters Centerline goodness : 0.988268 Centerline is valid? [True, True] Translation: X:118.50, Y:94.78, Z:38.31 [[ 3.08906868e-02 -9.99217726e-01 -2.46921410e-02 1.18500948e+02] [ 9.51459956e-01 3.69647207e-02 -3.05544697e-01 9.47810617e+01] [ 3.06218416e-01 -1.40550978e-02 9.51857519e-01 3.83128970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.930714057 meters Centerline goodness : 0.989448 Centerline is valid? [True, True] Translation: X:118.51, Y:94.81, Z:38.32 [[ 2.57997456e-02 -9.99074199e-01 -3.44255373e-02 1.18508421e+02] [ 9.49852076e-01 3.52348564e-02 -3.10708124e-01 9.48144176e+01] [ 3.11633449e-01 -2.46829775e-02 9.49881753e-01 3.83215740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.960714057 meters Centerline goodness : 0.991296 Centerline is valid? [True, True] Translation: X:118.52, Y:94.84, Z:38.33 [[ 2.45768241e-02 -9.98401659e-01 -5.08931013e-02 1.18516353e+02] [ 9.49821740e-01 3.91996942e-02 -3.10325710e-01 9.48400603e+01] [ 3.11824698e-01 -4.07125536e-02 9.49267004e-01 3.83278635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.990714057 meters Centerline goodness : 0.988506 Centerline is valid? [True, True] Translation: X:118.51, Y:94.86, Z:38.34 [[ 3.02729746e-02 -9.99021815e-01 -3.22328992e-02 1.18510256e+02] [ 9.50935191e-01 3.87196496e-02 -3.06957734e-01 9.48600147e+01] [ 3.07905519e-01 -2.13588744e-02 9.51177160e-01 3.83383406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.020714057 meters Centerline goodness : 0.988691 Centerline is valid? [True, True] Translation: X:118.52, Y:94.89, Z:38.34 [[ 3.06497145e-02 -9.98574725e-01 -4.36934145e-02 1.18517723e+02] [ 9.52131961e-01 4.24700918e-02 -3.02722680e-01 9.48884152e+01] [ 3.04146880e-01 -3.23235327e-02 9.52076607e-01 3.83440021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.050714057 meters Centerline goodness : 0.989242 Centerline is valid? [True, True] Translation: X:118.51, Y:94.92, Z:38.36 [[ 3.35781685e-02 -9.99007383e-01 -2.92703942e-02 1.18513802e+02] [ 9.52539420e-01 4.08548274e-02 -3.01661294e-01 9.49157607e+01] [ 3.02557697e-01 -1.77519705e-02 9.52965743e-01 3.83558225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.080714057 meters Centerline goodness : 0.991623 Centerline is valid? [True, True] Translation: X:118.52, Y:94.95, Z:38.37 [[ 3.01858423e-02 -9.99165975e-01 -2.74985345e-02 1.18515816e+02] [ 9.50623069e-01 3.71989673e-02 -3.08110400e-01 9.49484851e+01] [ 3.08876345e-01 -1.68401693e-02 9.50953107e-01 3.83664076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.110714057 meters Centerline goodness : 0.988718 Centerline is valid? [True, True] Translation: X:118.53, Y:94.97, Z:38.36 [[ 3.85585076e-02 -9.97917477e-01 -5.17102589e-02 1.18528099e+02] [ 9.53301317e-01 5.22487851e-02 -2.97467079e-01 9.49693517e+01] [ 2.99549395e-01 -3.78255713e-02 9.53330680e-01 3.83647835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.140714057 meters Centerline goodness : 0.988834 Centerline is valid? [True, True] Translation: X:118.52, Y:95.00, Z:38.38 [[ 3.86059708e-02 -9.98982568e-01 -2.33111015e-02 1.18517396e+02] [ 9.49772763e-01 4.39343357e-02 -3.09841045e-01 9.49955873e+01] [ 3.10549961e-01 -1.01785350e-02 9.50502562e-01 3.83834973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.170714057 meters Centerline goodness : 0.989779 Centerline is valid? [True, True] Translation: X:118.52, Y:95.02, Z:38.39 [[ 4.06207540e-02 -9.98514654e-01 -3.63103236e-02 1.18524263e+02] [ 9.49489796e-01 4.98922626e-02 -3.09806212e-01 9.50237090e+01] [ 3.11157647e-01 -2.18917198e-02 9.50106137e-01 3.83892558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.200714057 meters Centerline goodness : 0.989760 Centerline is valid? [True, True] Translation: X:118.54, Y:95.05, Z:38.39 [[ 4.30394709e-02 -9.97231657e-01 -6.06351877e-02 1.18536756e+02] [ 9.53078131e-01 5.91853450e-02 -2.96882419e-01 9.50496446e+01] [ 2.99649261e-01 -4.50124092e-02 9.52986990e-01 3.83891816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.230714057 meters Centerline goodness : 0.990711 Centerline is valid? [True, True] Translation: X:118.52, Y:95.08, Z:38.41 [[ 4.25734336e-02 -9.98999112e-01 -1.37214292e-02 1.18518704e+02] [ 9.49856400e-01 4.47297971e-02 -3.09470621e-01 9.50782492e+01] [ 3.09774632e-01 1.41839603e-04 9.50810001e-01 3.84140098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.26071405700003 meters Centerline goodness : 0.988269 Centerline is valid? [True, True] Translation: X:118.54, Y:95.10, Z:38.41 [[ 4.87672341e-02 -9.97450119e-01 -5.21058318e-02 1.18538505e+02] [ 9.52799184e-01 6.21085865e-02 -2.97180482e-01 9.51005256e+01] [ 2.99658927e-01 -3.51537239e-02 9.53398523e-01 3.84073939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.290714057 meters Centerline goodness : 0.988269 Centerline is valid? [True, True] Translation: X:118.53, Y:95.13, Z:38.42 [[ 4.83833893e-02 -9.98258418e-01 -3.37517291e-02 1.18532969e+02] [ 9.52646103e-01 5.62762308e-02 -2.98828361e-01 9.51261612e+01] [ 3.00207347e-01 -1.76951243e-02 9.53709826e-01 3.84217348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.32071405700003 meters Centerline goodness : 0.988308 Centerline is valid? [True, True] Translation: X:118.54, Y:95.15, Z:38.43 [[ 4.83155985e-02 -9.97918914e-01 -4.27018101e-02 1.18538269e+02] [ 9.52093818e-01 5.89372931e-02 -3.00072920e-01 9.51504043e+01] [ 3.01965171e-01 -2.61579267e-02 9.52960019e-01 3.84297832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.350714057 meters Centerline goodness : 0.989019 Centerline is valid? [True, True] Translation: X:118.54, Y:95.18, Z:38.44 [[ 4.89304473e-02 -9.98134331e-01 -3.65194212e-02 1.18538746e+02] [ 9.52876303e-01 5.76090436e-02 -2.97838799e-01 9.51789206e+01] [ 2.99386979e-01 -2.02251054e-02 9.53917387e-01 3.84386254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.38071405700003 meters Centerline goodness : 0.988671 Centerline is valid? [True, True] Translation: X:118.54, Y:95.20, Z:38.45 [[ 5.09251369e-02 -9.98331754e-01 -2.72091886e-02 1.18537395e+02] [ 9.52548139e-01 5.67402854e-02 -2.99052810e-01 9.52046596e+01] [ 3.00097774e-01 -1.06887566e-02 9.53848561e-01 3.84509595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.410714057 meters Centerline goodness : 0.990443 Centerline is valid? [True, True] Translation: X:118.53, Y:95.24, Z:38.46 [[ 4.96480236e-02 -9.98695588e-01 -1.19245975e-02 1.18534654e+02] [ 9.50636813e-01 5.09137752e-02 -3.06100372e-01 9.52376026e+01] [ 3.06308217e-01 3.86131719e-03 9.51924559e-01 3.84633718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.44071405700004 meters Centerline goodness : 0.991104 Centerline is valid? [True, True] Translation: X:118.55, Y:95.27, Z:38.46 [[ 5.13605932e-02 -9.97971337e-01 -3.76204706e-02 1.18548876e+02] [ 9.50607480e-01 6.04003066e-02 -3.04462186e-01 9.52671542e+01] [ 3.06116823e-01 -2.01249423e-02 9.51781213e-01 3.84638723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.470714057 meters Centerline goodness : 0.989299 Centerline is valid? [True, True] Translation: X:118.56, Y:95.29, Z:38.46 [[ 5.65393979e-02 -9.96975517e-01 -5.33208644e-02 1.18557514e+02] [ 9.52584933e-01 6.98605410e-02 -2.96144308e-01 9.52878768e+01] [ 2.98973649e-01 -3.40488312e-02 9.53653729e-01 3.84645889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.500714057 meters Centerline goodness : 0.989293 Centerline is valid? [True, True] Translation: X:118.54, Y:95.32, Z:38.48 [[ 6.10902525e-02 -9.98121989e-01 -4.52501278e-03 1.18543314e+02] [ 9.53845164e-01 5.97145061e-02 -2.94301855e-01 9.53193033e+01] [ 2.94019361e-01 1.36628131e-02 9.55701806e-01 3.84801884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.530714057 meters Centerline goodness : 0.989562 Centerline is valid? [True, True] Translation: X:118.57, Y:95.35, Z:38.48 [[ 5.86975114e-02 -9.97058346e-01 -4.92874916e-02 1.18565303e+02] [ 9.53578840e-01 7.06092558e-02 -2.92748576e-01 9.53475077e+01] [ 2.95367564e-01 -2.98158961e-02 9.54918329e-01 3.84782856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.560714057 meters Centerline goodness : 0.991036 Centerline is valid? [True, True] Translation: X:118.56, Y:95.38, Z:38.50 [[ 5.41451618e-02 -9.98195382e-01 -2.59669186e-02 1.18557111e+02] [ 9.50839938e-01 5.94825007e-02 -3.03916509e-01 9.53759958e+01] [ 3.04912633e-01 -8.23477473e-03 9.52344725e-01 3.84970641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.590714057 meters Centerline goodness : 0.988857 Centerline is valid? [True, True] Translation: X:118.57, Y:95.40, Z:38.49 [[ 5.83501802e-02 -9.96549626e-01 -5.90262637e-02 1.18574035e+02] [ 9.53708435e-01 7.31197991e-02 -2.91708272e-01 9.53970305e+01] [ 2.95017757e-01 -3.92726154e-02 9.54684338e-01 3.84928725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.620714057 meters Centerline goodness : 0.990499 Centerline is valid? [True, True] Translation: X:118.56, Y:95.43, Z:38.52 [[ 5.14461989e-02 -9.98445902e-01 -2.14258895e-02 1.18560308e+02] [ 9.50904751e-01 5.55300842e-02 -3.04461106e-01 9.54285779e+01] [ 3.05177725e-01 -4.71061350e-03 9.52283764e-01 3.85156679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.650714057 meters Centerline goodness : 0.991128 Centerline is valid? [True, True] Translation: X:118.57, Y:95.46, Z:38.52 [[ 4.82310907e-02 -9.97871269e-01 -4.38941028e-02 1.18573431e+02] [ 9.51124037e-01 5.93026012e-02 -3.03061492e-01 9.54568984e+01] [ 3.05019390e-01 -2.71317500e-02 9.51959579e-01 3.85177604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.680714057 meters Centerline goodness : 0.990231 Centerline is valid? [True, True] Translation: X:118.58, Y:95.48, Z:38.52 [[ 4.82436837e-02 -9.97021478e-01 -6.01724121e-02 1.18581965e+02] [ 9.53360893e-01 6.39339582e-02 -2.94983824e-01 9.54787162e+01] [ 2.97952268e-01 -4.31349183e-02 9.53605697e-01 3.85208517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.710714057 meters Centerline goodness : 0.989447 Centerline is valid? [True, True] Translation: X:118.57, Y:95.50, Z:38.54 [[ 4.63971001e-02 -9.98289429e-01 -3.55742121e-02 1.18573305e+02] [ 9.53039050e-01 5.49071824e-02 -2.97828425e-01 9.55014490e+01] [ 2.99272248e-01 -2.00852380e-02 9.53956343e-01 3.85376881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.740714057 meters Centerline goodness : 0.989130 Centerline is valid? [True, True] Translation: X:118.58, Y:95.53, Z:38.55 [[ 4.42575274e-02 -9.98427196e-01 -3.44151844e-02 1.18575491e+02] [ 9.53243092e-01 5.25129786e-02 -2.97607115e-01 9.55288614e+01] [ 2.98946281e-01 -1.96346817e-02 9.54067922e-01 3.85467614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.770714057 meters Centerline goodness : 0.989350 Centerline is valid? [True, True] Translation: X:118.57, Y:95.56, Z:38.56 [[ 4.21747518e-02 -9.98913567e-01 -1.98236441e-02 1.18574286e+02] [ 9.54463358e-01 4.61471604e-02 -2.94737405e-01 9.55588400e+01] [ 2.95331997e-01 -6.49046499e-03 9.55372642e-01 3.85570102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.800714057 meters Centerline goodness : 0.989127 Centerline is valid? [True, True] Translation: X:118.58, Y:95.58, Z:38.56 [[ 4.20149016e-02 -9.98390784e-01 -3.80866283e-02 1.18584890e+02] [ 9.54624013e-01 5.13638362e-02 -2.93350900e-01 9.55841286e+01] [ 2.94835111e-01 -2.40333007e-02 9.55245863e-01 3.85603157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.830714057 meters Centerline goodness : 0.990623 Centerline is valid? [True, True] Translation: X:118.58, Y:95.62, Z:38.58 [[ 3.49039220e-02 -9.99217644e-01 -1.85961215e-02 1.18578183e+02] [ 9.51745448e-01 3.89109698e-02 -3.04411793e-01 9.56166534e+01] [ 3.04897227e-01 -7.07360852e-03 9.52358989e-01 3.85781493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.860714057 meters Centerline goodness : 0.988418 Centerline is valid? [True, True] Translation: X:118.60, Y:95.64, Z:38.57 [[ 3.94588761e-02 -9.97537095e-01 -5.79891546e-02 1.18597024e+02] [ 9.54204754e-01 5.48406358e-02 -2.94084669e-01 9.56383424e+01] [ 2.96540528e-01 -4.37292764e-02 9.54018588e-01 3.85731558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.890714057 meters Centerline goodness : 0.988815 Centerline is valid? [True, True] Translation: X:118.59, Y:95.67, Z:38.59 [[ 3.84182791e-02 -9.98687689e-01 -3.38664506e-02 1.18587533e+02] [ 9.52795727e-01 4.68254615e-02 -2.99979464e-01 9.56650139e+01] [ 3.01171610e-01 -2.07431146e-02 9.53344316e-01 3.85896650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.920714057 meters Centerline goodness : 0.988520 Centerline is valid? [True, True] Translation: X:118.59, Y:95.69, Z:38.60 [[ 3.98771371e-02 -9.98650565e-01 -3.32695630e-02 1.18589429e+02] [ 9.52806906e-01 4.80326800e-02 -2.99753002e-01 9.56895752e+01] [ 3.00946531e-01 -1.97461778e-02 9.53436560e-01 3.85965375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.950714057 meters Centerline goodness : 0.988969 Centerline is valid? [True, True] Translation: X:118.59, Y:95.72, Z:38.60 [[ 3.77729700e-02 -9.98497035e-01 -3.97098837e-02 1.18592778e+02] [ 9.53132281e-01 4.79373023e-02 -2.98732104e-01 9.57158512e+01] [ 3.00186705e-01 -2.65647732e-02 9.53510490e-01 3.86046710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.980714057 meters Centerline goodness : 0.989373 Centerline is valid? [True, True] Translation: X:118.59, Y:95.75, Z:38.62 [[ 3.56668089e-02 -9.99019845e-01 -2.62150190e-02 1.18589353e+02] [ 9.53632816e-01 4.18673644e-02 -2.98046266e-01 9.57450765e+01] [ 2.98851688e-01 -1.43691431e-02 9.54191383e-01 3.86157507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.01071405700003 meters Centerline goodness : 0.991347 Centerline is valid? [True, True] Translation: X:118.59, Y:95.78, Z:38.63 [[ 3.09965322e-02 -9.99429752e-01 -1.33935095e-02 1.18586494e+02] [ 9.51543182e-01 3.36077403e-02 -3.05673178e-01 9.57771439e+01] [ 3.05948994e-01 -3.26969410e-03 9.52042290e-01 3.86291033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.040714057 meters Centerline goodness : 0.989678 Centerline is valid? [True, True] Translation: X:118.61, Y:95.80, Z:38.62 [[ 3.21436299e-02 -9.97616850e-01 -6.10524916e-02 1.18607713e+02] [ 9.54335947e-01 4.87857832e-02 -2.94725039e-01 9.58010714e+01] [ 2.97001159e-01 -4.87910548e-02 9.53629773e-01 3.86219218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.07071405700003 meters Centerline goodness : 0.986312 Centerline is valid? [True, True] Translation: X:118.59, Y:95.82, Z:38.64 [[ 3.06271946e-02 -9.99184838e-01 -2.62989267e-02 1.18592483e+02] [ 9.53663739e-01 3.70906020e-02 -2.98579571e-01 9.58170847e+01] [ 2.99311624e-01 -1.59356782e-02 9.54022330e-01 3.86356314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.100714057 meters Centerline goodness : 0.987818 Centerline is valid? [True, True] Translation: X:118.60, Y:95.85, Z:38.65 [[ 2.49338230e-02 -9.99156368e-01 -3.26321353e-02 1.18596507e+02] [ 9.53008770e-01 3.36151308e-02 -3.01071932e-01 9.58500379e+01] [ 3.01914871e-01 -2.35918368e-02 9.53042935e-01 3.86462433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.13071405700003 meters Centerline goodness : 0.989785 Centerline is valid? [True, True] Translation: X:118.60, Y:95.88, Z:38.66 [[ 1.82809273e-02 -9.99219034e-01 -3.50304168e-02 1.18598583e+02] [ 9.53516274e-01 2.79635705e-02 -3.00041254e-01 9.58775786e+01] [ 3.00786508e-01 -2.79170401e-02 9.53282810e-01 3.86550118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.160714057 meters Centerline goodness : 0.989244 Centerline is valid? [True, True] Translation: X:118.60, Y:95.90, Z:38.67 [[ 1.46984085e-02 -9.99354091e-01 -3.27926612e-02 1.18598264e+02] [ 9.52191372e-01 2.39984707e-02 -3.04558148e-01 9.59038599e+01] [ 3.05148404e-01 -2.67483689e-02 9.51929081e-01 3.86655644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.19071405700004 meters Centerline goodness : 0.989183 Centerline is valid? [True, True] Translation: X:118.60, Y:95.93, Z:38.67 [[ 1.21952730e-02 -9.99377264e-01 -3.31113111e-02 1.18599198e+02] [ 9.52363867e-01 2.17000141e-02 -3.04191017e-01 9.59306176e+01] [ 3.04720102e-01 -2.78243238e-02 9.52035433e-01 3.86745313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.220714057 meters Centerline goodness : 0.991395 Centerline is valid? [True, True] Translation: X:118.59, Y:95.96, Z:38.69 [[ 5.08121990e-03 -9.99911712e-01 -1.22780378e-02 1.18589400e+02] [ 9.50761123e-01 8.63557785e-03 -3.09804316e-01 9.59631354e+01] [ 3.09882992e-01 -1.00992971e-02 9.50721061e-01 3.86931380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.250714057 meters Centerline goodness : 0.991962 Centerline is valid? [True, True] Translation: X:118.60, Y:95.99, Z:38.69 [[ 1.35743259e-03 -9.98838973e-01 -4.81545871e-02 1.18603862e+02] [ 9.51323196e-01 1.61307481e-02 -3.07772605e-01 9.59895801e+01] [ 3.08192042e-01 -4.53927951e-02 9.50240580e-01 3.86929812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.280714057 meters Centerline goodness : 0.988794 Centerline is valid? [True, True] Translation: X:118.61, Y:96.01, Z:38.70 [[ 4.48324266e-03 -9.98714541e-01 -5.04892673e-02 1.18606306e+02] [ 9.52730518e-01 1.96040356e-02 -3.03183511e-01 9.60090270e+01] [ 3.03783575e-01 -4.67434206e-02 9.51593712e-01 3.86984335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.310714057 meters Centerline goodness : 0.988827 Centerline is valid? [True, True] Translation: X:118.60, Y:96.03, Z:38.71 [[ 4.75607637e-03 -9.99732092e-01 -2.26522617e-02 1.18595984e+02] [ 9.53045426e-01 1.13906789e-02 -3.02613069e-01 9.60336395e+01] [ 3.02790021e-01 -2.01493835e-02 9.52844272e-01 3.87135254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.340714057 meters Centerline goodness : 0.990875 Centerline is valid? [True, True] Translation: X:118.59, Y:96.07, Z:38.73 [[-1.50078294e-03 -9.99912146e-01 -1.31699408e-02 1.18591229e+02] [ 9.51277137e-01 2.63320497e-03 -3.08325922e-01 9.60674663e+01] [ 3.08333514e-01 -1.29909938e-02 9.51189612e-01 3.87287564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.370714057 meters Centerline goodness : 0.991152 Centerline is valid? [True, True] Translation: X:118.60, Y:96.10, Z:38.73 [[-3.40262523e-03 -9.99333441e-01 -3.63468870e-02 1.18601571e+02] [ 9.51543551e-01 7.94099697e-03 -3.07411468e-01 9.60967284e+01] [ 3.07495191e-01 -3.56316520e-02 9.50882271e-01 3.87297084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.400714057 meters Centerline goodness : 0.989572 Centerline is valid? [True, True] Translation: X:118.61, Y:96.12, Z:38.73 [[-9.12935390e-04 -9.98832098e-01 -4.83074162e-02 1.18606575e+02] [ 9.53127624e-01 1.37471225e-02 -3.02256098e-01 9.61176871e+01] [ 3.02567181e-01 -4.63190731e-02 9.52001914e-01 3.87307447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.430714057 meters Centerline goodness : 0.989539 Centerline is valid? [True, True] Translation: X:118.60, Y:96.14, Z:38.74 [[-2.50109721e-03 -9.99439187e-01 -3.33924623e-02 1.18600438e+02] [ 9.53439819e-01 7.68700375e-03 -3.01485358e-01 9.61427769e+01] [ 3.01572969e-01 -3.25917474e-02 9.52885892e-01 3.87446976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.460714057 meters Centerline goodness : 0.988270 Centerline is valid? [True, True] Translation: X:118.60, Y:96.17, Z:38.75 [[-3.29124162e-03 -9.99584660e-01 -2.86299726e-02 1.18599557e+02] [ 9.52906194e-01 5.54708138e-03 -3.03214470e-01 9.61664124e+01] [ 3.03247346e-01 -2.82796303e-02 9.52492157e-01 3.87536075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.490714057 meters Centerline goodness : 0.989482 Centerline is valid? [True, True] Translation: X:118.60, Y:96.19, Z:38.76 [[-7.06673165e-03 -9.99467631e-01 -3.18514762e-02 1.18600625e+02] [ 9.52409269e-01 2.97973930e-03 -3.04807653e-01 9.61948467e+01] [ 3.04740292e-01 -3.24896351e-02 9.51881179e-01 3.87612423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.520714057 meters Centerline goodness : 0.992009 Centerline is valid? [True, True] Translation: X:118.59, Y:96.23, Z:38.78 [[-1.17196583e-02 -9.99866868e-01 -1.13532211e-02 1.18592638e+02] [ 9.49666894e-01 -7.57529254e-03 -3.13169931e-01 9.62271175e+01] [ 3.13042234e-01 -1.44520228e-02 9.49629243e-01 3.87788549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.550714057 meters Centerline goodness : 0.990826 Centerline is valid? [True, True] Translation: X:118.61, Y:96.25, Z:38.77 [[-9.37967080e-03 -9.98429939e-01 -5.52238949e-02 1.18609460e+02] [ 9.52793512e-01 7.83685467e-03 -3.03517885e-01 9.62529771e+01] [ 3.03474125e-01 -5.54638667e-02 9.51224061e-01 3.87704259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.580714057 meters Centerline goodness : 0.992416 Centerline is valid? [True, True] Translation: X:118.59, Y:96.28, Z:38.79 [[-1.32013770e-02 -9.99796207e-01 -1.52730997e-02 1.18591987e+02] [ 9.49612512e-01 -7.75224517e-03 -3.13330465e-01 9.62810476e+01] [ 3.13148209e-01 -1.86399201e-02 9.49521328e-01 3.87948013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.610714057 meters Centerline goodness : 0.990583 Centerline is valid? [True, True] Translation: X:118.61, Y:96.30, Z:38.79 [[-9.44953934e-03 -9.98594920e-01 -5.21429871e-02 1.18607360e+02] [ 9.52892708e-01 6.81654933e-03 -3.03230972e-01 9.63027274e+01] [ 3.03160343e-01 -5.25520652e-02 9.51489404e-01 3.87886736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.640714057 meters Centerline goodness : 0.990205 Centerline is valid? [True, True] Translation: X:118.60, Y:96.33, Z:38.81 [[-8.28282030e-03 -9.99699967e-01 -2.30514694e-02 1.18596217e+02] [ 9.52703261e-01 -8.85975154e-04 -3.03900826e-01 9.63292188e+01] [ 3.03789222e-01 -2.44783660e-02 9.52424757e-01 3.88058863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.670714057 meters Centerline goodness : 0.991657 Centerline is valid? [True, True] Translation: X:118.59, Y:96.37, Z:38.82 [[-8.98082401e-03 -9.99956573e-01 2.48930858e-03 1.18589854e+02] [ 9.51009642e-01 -9.31050316e-03 -3.09020995e-01 9.63657786e+01] [ 3.09030752e-01 -4.07906704e-04 9.51051959e-01 3.88215218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.700714057 meters Centerline goodness : 0.991708 Centerline is valid? [True, True] Translation: X:118.61, Y:96.40, Z:38.82 [[-9.52970921e-03 -9.99231059e-01 -3.80325497e-02 1.18606925e+02] [ 9.51922825e-01 2.58083632e-03 -3.06327070e-01 9.63971154e+01] [ 3.06189678e-01 -3.91232601e-02 9.51166259e-01 3.88183131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.730714057 meters Centerline goodness : 0.990547 Centerline is valid? [True, True] Translation: X:118.61, Y:96.42, Z:38.82 [[-1.31005242e-02 -9.98208634e-01 -5.83772183e-02 1.18613180e+02] [ 9.51273412e-01 5.54537925e-03 -3.08298791e-01 9.64167543e+01] [ 3.08070239e-01 -5.95715714e-02 9.49496686e-01 3.88246918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.76071405700003 meters Centerline goodness : 0.992341 Centerline is valid? [True, True] Translation: X:118.61, Y:96.44, Z:38.84 [[-1.23257535e-02 -9.98695298e-01 -4.95557953e-02 1.18609646e+02] [ 9.52930866e-01 3.28251743e-03 -3.03169904e-01 9.64381157e+01] [ 3.02937025e-01 -5.09600444e-02 9.51647116e-01 3.88364216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.790714057 meters Centerline goodness : 0.991735 Centerline is valid? [True, True] Translation: X:118.60, Y:96.47, Z:38.86 [[-1.57036021e-02 -9.99780111e-01 -1.38969769e-02 1.18595633e+02] [ 9.49454430e-01 -1.05523113e-02 -3.13727485e-01 9.64666859e+01] [ 3.13511855e-01 -1.81211979e-02 9.49411365e-01 3.88600546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.82071405700003 meters Centerline goodness : 0.992523 Centerline is valid? [True, True] Translation: X:118.60, Y:96.50, Z:38.86 [[-1.60302505e-02 -9.99423865e-01 -2.99160446e-02 1.18604834e+02] [ 9.50150935e-01 -5.90870378e-03 -3.11734324e-01 9.64965213e+01] [ 3.11377958e-01 -3.34219370e-02 9.49698237e-01 3.88616258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.850714057 meters Centerline goodness : 0.990684 Centerline is valid? [True, True] Translation: X:118.61, Y:96.52, Z:38.86 [[-1.35706464e-02 -9.98650131e-01 -5.01373517e-02 1.18613846e+02] [ 9.52171996e-01 2.40127745e-03 -3.05553146e-01 9.65168518e+01] [ 3.05261083e-01 -5.18859359e-02 9.50854101e-01 3.88611485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.88071405700003 meters Centerline goodness : 0.991307 Centerline is valid? [True, True] Translation: X:118.61, Y:96.54, Z:38.88 [[-1.73095231e-02 -9.99184182e-01 -3.64876844e-02 1.18607077e+02] [ 9.51387470e-01 -5.23587745e-03 -3.07952055e-01 9.65418483e+01] [ 3.07509778e-01 -4.00444290e-02 9.50701941e-01 3.88775192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.910714057 meters Centerline goodness : 0.992099 Centerline is valid? [True, True] Translation: X:118.60, Y:96.57, Z:38.90 [[-2.06179786e-02 -9.99756906e-01 -7.81206309e-03 1.18597546e+02] [ 9.48711895e-01 -1.70985720e-02 -3.15679236e-01 9.65714411e+01] [ 3.15468921e-01 -1.39200649e-02 9.48833806e-01 3.88970883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.94071405700004 meters Centerline goodness : 0.992004 Centerline is valid? [True, True] Translation: X:118.61, Y:96.60, Z:38.90 [[-2.15607991e-02 -9.99094633e-01 -3.66748617e-02 1.18611638e+02] [ 9.49353335e-01 -8.95798380e-03 -3.14082792e-01 9.65979353e+01] [ 3.13469899e-01 -4.15892782e-02 9.48686963e-01 3.88953752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.970714057 meters Centerline goodness : 0.990411 Centerline is valid? [True, True] Translation: X:118.61, Y:96.62, Z:38.90 [[-2.13113240e-02 -9.98994989e-01 -3.94314606e-02 1.18614746e+02] [ 9.50013123e-01 -7.94711818e-03 -3.12108809e-01 9.66217635e+01] [ 3.11481770e-01 -4.41118570e-02 9.49227713e-01 3.89023412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.000714057 meters Centerline goodness : 0.991522 Centerline is valid? [True, True] Translation: X:118.61, Y:96.65, Z:38.91 [[-2.23239716e-02 -9.99182709e-01 -3.36979733e-02 1.18613928e+02] [ 9.51583677e-01 -1.09001359e-02 -3.07196506e-01 9.66495466e+01] [ 3.06578124e-01 -3.89242874e-02 9.51049291e-01 3.89130236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.030714057 meters Centerline goodness : 0.990838 Centerline is valid? [True, True] Translation: X:118.61, Y:96.67, Z:38.92 [[-2.14030528e-02 -9.99501590e-01 -2.32051912e-02 1.18610160e+02] [ 9.51421743e-01 -1.32318636e-02 -3.07606216e-01 9.66744044e+01] [ 3.07145854e-01 -2.86616356e-02 9.51230748e-01 3.89238549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.060714057 meters Centerline goodness : 0.992664 Centerline is valid? [True, True] Translation: X:118.61, Y:96.70, Z:38.94 [[-2.35517221e-02 -9.99694654e-01 -7.47761780e-03 1.18605146e+02] [ 9.48940874e-01 -2.00012009e-02 -3.14819264e-01 9.67046491e+01] [ 3.14573574e-01 -1.45103530e-02 9.49122182e-01 3.89391820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.090714057 meters Centerline goodness : 0.991544 Centerline is valid? [True, True] Translation: X:118.62, Y:96.73, Z:38.94 [[-2.30596593e-02 -9.99138472e-01 -3.45045767e-02 1.18617846e+02] [ 9.49571737e-01 -1.10942279e-02 -3.13353529e-01 9.67324534e+01] [ 3.12700764e-01 -3.99903964e-02 9.49009484e-01 3.89382600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.120714057 meters Centerline goodness : 0.991665 Centerline is valid? [True, True] Translation: X:118.62, Y:96.76, Z:38.95 [[-1.90436608e-02 -9.99402368e-01 -2.88486607e-02 1.18616258e+02] [ 9.50175622e-01 -9.11154772e-03 -3.11581879e-01 9.67581099e+01] [ 3.11132812e-01 -3.33449537e-02 9.49781284e-01 3.89470725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.150714057 meters Centerline goodness : 0.991016 Centerline is valid? [True, True] Translation: X:118.62, Y:96.78, Z:38.95 [[-1.75925436e-02 -9.99319261e-01 -3.24271125e-02 1.18618931e+02] [ 9.50253957e-01 -6.62390402e-03 -3.11405749e-01 9.67844189e+01] [ 3.10978969e-01 -3.62924112e-02 9.49723613e-01 3.89545777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.180714057 meters Centerline goodness : 0.991016 Centerline is valid? [True, True] Translation: X:118.62, Y:96.81, Z:38.96 [[-1.82307703e-02 -9.99339846e-01 -3.14246827e-02 1.18620007e+02] [ 9.50153221e-01 -7.53216415e-03 -3.11692354e-01 9.68112177e+01] [ 3.11249893e-01 -3.55406551e-02 9.49663291e-01 3.89637996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.210714057 meters Centerline goodness : 0.991679 Centerline is valid? [True, True] Translation: X:118.62, Y:96.84, Z:38.98 [[-1.56506253e-02 -9.99656631e-01 -2.10161407e-02 1.18616486e+02] [ 9.50486067e-01 -8.34979956e-03 -3.10654982e-01 9.68410015e+01] [ 3.10372832e-01 -2.48374937e-02 9.50290379e-01 3.89759758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.240714057 meters Centerline goodness : 0.990161 Centerline is valid? [True, True] Translation: X:118.63, Y:96.86, Z:38.97 [[-1.07292919e-02 -9.99030338e-01 -4.26997120e-02 1.18626551e+02] [ 9.51901986e-01 2.87228266e-03 -3.06389227e-01 9.68627230e+01] [ 3.06214779e-01 -4.39332801e-02 9.50948146e-01 3.89746155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.270714057 meters Centerline goodness : 0.990317 Centerline is valid? [True, True] Translation: X:118.62, Y:96.89, Z:38.99 [[-8.66848414e-03 -9.99838206e-01 -1.57612978e-02 1.18616943e+02] [ 9.51181974e-01 -3.38172609e-03 -3.08612080e-01 9.68882708e+01] [ 3.08508848e-01 -1.76670613e-02 9.51057393e-01 3.89916862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.300714057 meters Centerline goodness : 0.991871 Centerline is valid? [True, True] Translation: X:118.62, Y:96.92, Z:39.00 [[-1.13220778e-02 -9.99734270e-01 -2.00798517e-02 1.18620716e+02] [ 9.50663969e-01 -4.53614038e-03 -3.10189364e-01 9.69227875e+01] [ 3.10015852e-01 -2.26011797e-02 9.50462708e-01 3.90008897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.330714057 meters Centerline goodness : 0.989395 Centerline is valid? [True, True] Translation: X:118.64, Y:96.94, Z:39.00 [[-7.62688078e-03 -9.98581116e-01 -5.27028127e-02 1.18635650e+02] [ 9.52508466e-01 8.78976049e-03 -3.04385222e-01 9.69444149e+01] [ 3.04416580e-01 -5.25213851e-02 9.51089928e-01 3.89961535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.360714057 meters Centerline goodness : 0.990873 Centerline is valid? [True, True] Translation: X:118.62, Y:96.97, Z:39.02 [[-1.22208354e-02 -9.99841412e-01 -1.29538354e-02 1.18619003e+02] [ 9.49942095e-01 -7.56435681e-03 -3.12334430e-01 9.69741570e+01] [ 3.12186910e-01 -1.61223812e-02 9.49883889e-01 3.90225582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.390714057 meters Centerline goodness : 0.990377 Centerline is valid? [True, True] Translation: X:118.63, Y:97.00, Z:39.02 [[-1.00737176e-02 -9.99060702e-01 -4.21453834e-02 1.18632559e+02] [ 9.51511741e-01 3.38157613e-03 -3.07593841e-01 9.69997885e+01] [ 3.07447437e-01 -4.32004406e-02 9.50583923e-01 3.90197784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.420714057 meters Centerline goodness : 0.990243 Centerline is valid? [True, True] Translation: X:118.62, Y:97.03, Z:39.04 [[-1.05661813e-02 -9.99629975e-01 -2.50652757e-02 1.18624238e+02] [ 9.49990199e-01 -2.21140606e-03 -3.12271886e-01 9.70253343e+01] [ 3.12100908e-01 -2.71112877e-02 9.49662046e-01 3.90380301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.450714057 meters Centerline goodness : 0.989922 Centerline is valid? [True, True] Translation: X:118.63, Y:97.06, Z:39.05 [[-1.10925232e-02 -9.99660772e-01 -2.35647300e-02 1.18625157e+02] [ 9.49962788e-01 -3.17819144e-03 -3.12346925e-01 9.70555486e+01] [ 3.12166075e-01 -2.58503321e-02 9.49675788e-01 3.90466834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.480714057 meters Centerline goodness : 0.987813 Centerline is valid? [True, True] Translation: X:118.63, Y:97.08, Z:39.05 [[-8.05864792e-03 -9.99183507e-01 -3.95901181e-02 1.18632317e+02] [ 9.49906361e-01 4.72076558e-03 -3.12498993e-01 9.70752210e+01] [ 3.12430735e-01 -4.01252243e-02 9.49092726e-01 3.90492372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.51071405700003 meters Centerline goodness : 0.990343 Centerline is valid? [True, True] Translation: X:118.62, Y:97.11, Z:39.07 [[-8.68229198e-03 -9.99798344e-01 -1.81076844e-02 1.18624612e+02] [ 9.49420573e-01 -2.55790629e-03 -3.13996866e-01 9.71077654e+01] [ 3.13887229e-01 -1.99180206e-02 9.49251326e-01 3.90665510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.540714057 meters Centerline goodness : 0.989736 Centerline is valid? [True, True] Translation: X:118.63, Y:97.14, Z:39.07 [[-8.95168928e-03 -9.99423308e-01 -3.27554385e-02 1.18631364e+02] [ 9.49468250e-01 1.78224061e-03 -3.13858035e-01 9.71358297e+01] [ 3.13735414e-01 -3.39098084e-02 9.48904745e-01 3.90707682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.57071405700003 meters Centerline goodness : 0.990037 Centerline is valid? [True, True] Translation: X:118.63, Y:97.16, Z:39.08 [[-9.38184743e-03 -9.99568905e-01 -2.78205999e-02 1.18630190e+02] [ 9.49449508e-01 -1.74230095e-04 -3.13919739e-01 9.71615907e+01] [ 3.13779562e-01 -2.93594019e-02 9.49041839e-01 3.90807947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.600714057 meters Centerline goodness : 0.988806 Centerline is valid? [True, True] Translation: X:118.63, Y:97.19, Z:39.09 [[-9.44558199e-03 -9.99510733e-01 -2.98173789e-02 1.18632359e+02] [ 9.49501128e-01 3.87200258e-04 -3.13763380e-01 9.71895576e+01] [ 3.13621411e-01 -3.12753126e-02 9.49032911e-01 3.90888816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.63071405700003 meters Centerline goodness : 0.989558 Centerline is valid? [True, True] Translation: X:118.63, Y:97.22, Z:39.10 [[-7.68381870e-03 -9.99401502e-01 -3.37282667e-02 1.18634641e+02] [ 9.49668786e-01 3.26987383e-03 -3.13238735e-01 9.72152910e+01] [ 3.13161549e-01 -3.44375518e-02 9.49075286e-01 3.90955699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.660714057 meters Centerline goodness : 0.988250 Centerline is valid? [True, True] Translation: X:118.63, Y:97.24, Z:39.11 [[-6.69349669e-03 -9.99566925e-01 -2.86558901e-02 1.18634197e+02] [ 9.49250020e-01 2.65994985e-03 -3.14511247e-01 9.72422390e+01] [ 3.14451264e-01 -2.93067843e-02 9.48821119e-01 3.91075440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.69071405700004 meters Centerline goodness : 0.989270 Centerline is valid? [True, True] Translation: X:118.63, Y:97.27, Z:39.12 [[-5.95212164e-03 -9.99646970e-01 -2.58941713e-02 1.18634873e+02] [ 9.49319772e-01 2.48900290e-03 -3.14302044e-01 9.72698787e+01] [ 3.14255536e-01 -2.64526128e-02 9.48969819e-01 3.91174563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.720714057 meters Centerline goodness : 0.989228 Centerline is valid? [True, True] Translation: X:118.64, Y:97.30, Z:39.13 [[-4.99434553e-03 -9.99503168e-01 -3.11202978e-02 1.18637795e+02] [ 9.49375698e-01 5.03595724e-03 -3.14102569e-01 9.72975102e+01] [ 3.14103233e-01 -3.11135912e-02 9.48878867e-01 3.91258267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.750714057 meters Centerline goodness : 0.988716 Centerline is valid? [True, True] Translation: X:118.64, Y:97.32, Z:39.13 [[-2.07825736e-03 -9.99050069e-01 -4.35274733e-02 1.18642222e+02] [ 9.48772562e-01 1.17827667e-02 -3.15740070e-01 9.73205196e+01] [ 3.15953013e-01 -4.19538615e-02 9.47846806e-01 3.91333906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.780714057 meters Centerline goodness : 0.989510 Centerline is valid? [True, True] Translation: X:118.64, Y:97.35, Z:39.15 [[-1.48247730e-03 -9.99687129e-01 -2.49689039e-02 1.18635207e+02] [ 9.48333952e-01 6.51646518e-03 -3.17206953e-01 9.73460879e+01] [ 3.17270417e-01 -2.41491115e-02 9.48027586e-01 3.91490638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.810714057 meters Centerline goodness : 0.989123 Centerline is valid? [True, True] Translation: X:118.64, Y:97.37, Z:39.16 [[ 1.06701234e-03 -9.99456272e-01 -3.29548388e-02 1.18639232e+02] [ 9.47903189e-01 1.15088741e-02 -3.18350578e-01 9.73720272e+01] [ 3.18556755e-01 -3.08983128e-02 9.47400068e-01 3.91565846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.840714057 meters Centerline goodness : 0.989186 Centerline is valid? [True, True] Translation: X:118.64, Y:97.40, Z:39.17 [[ 2.30360257e-03 -9.99735594e-01 -2.28787060e-02 1.18636300e+02] [ 9.47986593e-01 9.46559321e-03 -3.18169485e-01 9.73998964e+01] [ 3.18301920e-01 -2.09557705e-02 9.47757745e-01 3.91680267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.870714057 meters Centerline goodness : 0.987731 Centerline is valid? [True, True] Translation: X:118.64, Y:97.42, Z:39.17 [[ 5.73885544e-03 -9.99171665e-01 -4.02870925e-02 1.18644106e+02] [ 9.47411211e-01 1.83237074e-02 -3.19493724e-01 9.74193323e+01] [ 3.19967285e-01 -3.63349148e-02 9.46731594e-01 3.91711549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.900714057 meters Centerline goodness : 0.989409 Centerline is valid? [True, True] Translation: X:118.63, Y:97.45, Z:39.19 [[ 2.27261988e-03 -9.99933207e-01 -1.13320843e-02 1.18634490e+02] [ 9.47268343e-01 5.78384449e-03 -3.20389190e-01 9.74501976e+01] [ 3.20433333e-01 -1.00064019e-02 9.47218217e-01 3.91909116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.930714057 meters Centerline goodness : 0.990293 Centerline is valid? [True, True] Translation: X:118.64, Y:97.48, Z:39.20 [[ 1.27387157e-03 -9.99744954e-01 -2.25478107e-02 1.18642582e+02] [ 9.47651899e-01 8.40647088e-03 -3.19194627e-01 9.74788097e+01] [ 3.19302765e-01 -2.09608627e-02 9.47420913e-01 3.91951665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.960714057 meters Centerline goodness : 0.988239 Centerline is valid? [True, True] Translation: X:118.65, Y:97.50, Z:39.20 [[ 4.13476339e-03 -9.99415187e-01 -3.39438875e-02 1.18648721e+02] [ 9.48253796e-01 1.46954875e-02 -3.17173108e-01 9.75000305e+01] [ 3.17486443e-01 -3.08759845e-02 9.47760008e-01 3.91975099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.990714057 meters Centerline goodness : 0.989156 Centerline is valid? [True, True] Translation: X:118.64, Y:97.53, Z:39.22 [[-4.99020175e-04 -9.99955504e-01 -9.42027032e-03 1.18640537e+02] [ 9.47556904e-01 2.53776485e-03 -3.19577023e-01 9.75316615e+01] [ 3.19586709e-01 -9.08571757e-03 9.47513475e-01 3.92162648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.020714057 meters Centerline goodness : 0.989030 Centerline is valid? [True, True] Translation: X:118.65, Y:97.56, Z:39.22 [[-1.28940438e-03 -9.99451948e-01 -3.30778113e-02 1.18651733e+02] [ 9.47415048e-01 9.36414193e-03 -3.19870347e-01 9.75588417e+01] [ 3.20004787e-01 -3.17508584e-02 9.46883741e-01 3.92178380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.050714057 meters Centerline goodness : 0.989898 Centerline is valid? [True, True] Translation: X:118.65, Y:97.59, Z:39.23 [[-1.11489672e-03 -9.99703320e-01 -2.43316355e-02 1.18649471e+02] [ 9.47041822e-01 6.75755812e-03 -3.21039131e-01 9.75853846e+01] [ 3.21108308e-01 -2.34010019e-02 9.46753319e-01 3.92288624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.080714057 meters Centerline goodness : 0.988706 Centerline is valid? [True, True] Translation: X:118.65, Y:97.61, Z:39.24 [[-1.26518900e-03 -9.99566223e-01 -2.94238711e-02 1.18652412e+02] [ 9.46730828e-01 8.27791752e-03 -3.21919578e-01 9.76115435e+01] [ 3.22023506e-01 -2.82637750e-02 9.46309686e-01 3.92370314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.110714057 meters Centerline goodness : 0.989455 Centerline is valid? [True, True] Translation: X:118.65, Y:97.64, Z:39.25 [[-2.57063779e-03 -9.99605743e-01 -2.79598104e-02 1.18652353e+02] [ 9.46508248e-01 6.58964766e-03 -3.22612327e-01 9.76372766e+01] [ 3.22669380e-01 -2.72935106e-02 9.46118140e-01 3.92473939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.140714057 meters Centerline goodness : 0.988867 Centerline is valid? [True, True] Translation: X:118.66, Y:97.66, Z:39.25 [[-2.37925020e-03 -9.98684112e-01 -5.12287442e-02 1.18663138e+02] [ 9.47715848e-01 1.40956233e-02 -3.18803991e-01 9.76588270e+01] [ 3.19106581e-01 -4.93088072e-02 9.46435223e-01 3.92498682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.170714057 meters Centerline goodness : 0.990495 Centerline is valid? [True, True] Translation: X:118.64, Y:97.69, Z:39.28 [[-4.95649654e-03 -9.99977685e-01 4.47923255e-03 1.18641958e+02] [ 9.45817208e-01 -6.14222141e-03 -3.24641466e-01 9.76860940e+01] [ 3.24661734e-01 2.62745092e-03 9.45826546e-01 3.92782063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.200714057 meters Centerline goodness : 0.988477 Centerline is valid? [True, True] Translation: X:118.67, Y:97.71, Z:39.27 [[-6.85129488e-03 -9.98703646e-01 -5.04389406e-02 1.18666689e+02] [ 9.48420213e-01 9.49717583e-03 -3.16873639e-01 9.77098626e+01] [ 3.16941886e-01 -5.00083056e-02 9.47125657e-01 3.92702616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.230714057 meters Centerline goodness : 0.987845 Centerline is valid? [True, True] Translation: X:118.66, Y:97.73, Z:39.29 [[-9.43736418e-03 -9.99658580e-01 -2.43651279e-02 1.18655777e+02] [ 9.47464176e-01 -1.14853070e-03 -3.19859840e-01 9.77304769e+01] [ 3.19722649e-01 -2.61037196e-02 9.47151532e-01 3.92903836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.26071405700003 meters Centerline goodness : 0.989248 Centerline is valid? [True, True] Translation: X:118.65, Y:97.76, Z:39.31 [[-1.66168189e-02 -9.99858614e-01 2.57562334e-03 1.18648550e+02] [ 9.44490332e-01 -1.65418836e-02 -3.28122507e-01 9.77603500e+01] [ 3.28118721e-01 -3.01970094e-03 9.44631667e-01 3.93096714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.290714057 meters Centerline goodness : 0.990060 Centerline is valid? [True, True] Translation: X:118.66, Y:97.79, Z:39.31 [[-1.99877084e-02 -9.99428005e-01 -2.72791780e-02 1.18662806e+02] [ 9.44623778e-01 -9.93884872e-03 -3.28004784e-01 9.77874179e+01] [ 3.27546043e-01 -3.23246242e-02 9.44282113e-01 3.93091802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.32071405700003 meters Centerline goodness : 0.987598 Centerline is valid? [True, True] Translation: X:118.67, Y:97.81, Z:39.31 [[-2.10717031e-02 -9.99126241e-01 -3.60934679e-02 1.18668590e+02] [ 9.46698001e-01 -8.33319400e-03 -3.22014678e-01 9.78059570e+01] [ 3.21432540e-01 -4.09550116e-02 9.46046410e-01 3.93132622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.350714057 meters Centerline goodness : 0.990488 Centerline is valid? [True, True] Translation: X:118.65, Y:97.84, Z:39.34 [[-2.62094034e-02 -9.99590097e-01 1.15197905e-02 1.18651389e+02] [ 9.44126718e-01 -2.85391587e-02 -3.28344722e-01 9.78372729e+01] [ 3.28538897e-01 2.27042273e-03 9.44487712e-01 3.93394528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.38071405700003 meters Centerline goodness : 0.989611 Centerline is valid? [True, True] Translation: X:118.67, Y:97.86, Z:39.34 [[-2.85013777e-02 -9.99394541e-01 -1.99555321e-02 1.18666361e+02] [ 9.44639819e-01 -2.04009645e-02 -3.27474294e-01 9.78649162e+01] [ 3.26868910e-01 -2.81842588e-02 9.44649334e-01 3.93367573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.410714057 meters Centerline goodness : 0.989831 Centerline is valid? [True, True] Translation: X:118.68, Y:97.89, Z:39.34 [[-3.05096861e-02 -9.98672644e-01 -4.14982970e-02 1.18677874e+02] [ 9.48144742e-01 -1.57750212e-02 -3.17447156e-01 9.78888076e+01] [ 3.16371154e-01 -4.90316052e-02 9.47367508e-01 3.93363910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.44071405700004 meters Centerline goodness : 0.990679 Centerline is valid? [True, True] Translation: X:118.66, Y:97.92, Z:39.36 [[-3.33186074e-02 -9.99291619e-01 1.74965934e-02 1.18656263e+02] [ 9.44610767e-01 -3.72047098e-02 -3.26077152e-01 9.79165798e+01] [ 3.26497121e-01 5.66303393e-03 9.45181231e-01 3.93645724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.470714057 meters Centerline goodness : 0.991604 Centerline is valid? [True, True] Translation: X:118.67, Y:97.95, Z:39.36 [[-3.70062506e-02 -9.99243048e-01 -1.19945507e-02 1.18672653e+02] [ 9.45990857e-01 -3.11606128e-02 -3.22692290e-01 9.79490425e+01] [ 3.22074269e-01 -2.32883671e-02 9.46427925e-01 3.93598835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.500714057 meters Centerline goodness : 0.991531 Centerline is valid? [True, True] Translation: X:118.68, Y:97.98, Z:39.36 [[-3.70751477e-02 -9.99069257e-01 -2.20466120e-02 1.18678595e+02] [ 9.46396761e-01 -2.80195243e-02 -3.21788870e-01 9.79762199e+01] [ 3.20871632e-01 -3.27952121e-02 9.46554737e-01 3.93647245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.530714057 meters Centerline goodness : 0.991142 Centerline is valid? [True, True] Translation: X:118.68, Y:98.00, Z:39.37 [[-3.88675147e-02 -9.99026011e-01 -2.08888878e-02 1.18679202e+02] [ 9.45691390e-01 -3.00246810e-02 -3.23676247e-01 9.80031992e+01] [ 3.22733807e-01 -3.23349326e-02 9.45937282e-01 3.93744045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.560714057 meters Centerline goodness : 0.990749 Centerline is valid? [True, True] Translation: X:118.68, Y:98.03, Z:39.38 [[-3.74464413e-02 -9.99220757e-01 -1.24756628e-02 1.18677708e+02] [ 9.46462235e-01 -3.14579984e-02 -3.21278124e-01 9.80307513e+01] [ 3.20635311e-01 -2.38384661e-02 9.46902701e-01 3.93824878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.590714057 meters Centerline goodness : 0.991894 Centerline is valid? [True, True] Translation: X:118.68, Y:98.06, Z:39.39 [[-3.79062223e-02 -9.98908556e-01 -2.72913096e-02 1.18684775e+02] [ 9.46347674e-01 -2.71139640e-02 -3.22010736e-01 9.80580748e+01] [ 3.20919303e-01 -3.80332778e-02 9.46342576e-01 3.93875111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.620714057 meters Centerline goodness : 0.991617 Centerline is valid? [True, True] Translation: X:118.68, Y:98.09, Z:39.40 [[-3.60930346e-02 -9.99231444e-01 -1.52909845e-02 1.18681166e+02] [ 9.46290070e-01 -2.92533766e-02 -3.21992770e-01 9.80862218e+01] [ 3.21297988e-01 -2.60914030e-02 9.46618636e-01 3.93990781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.650714057 meters Centerline goodness : 0.991140 Centerline is valid? [True, True] Translation: X:118.69, Y:98.11, Z:39.40 [[-3.58991127e-02 -9.98919150e-01 -2.95260212e-02 1.18687060e+02] [ 9.46135302e-01 -2.44594886e-02 -3.22846286e-01 9.81116193e+01] [ 3.21775146e-01 -3.95255062e-02 9.45990745e-01 3.94047152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.680714057 meters Centerline goodness : 0.990500 Centerline is valid? [True, True] Translation: X:118.68, Y:98.14, Z:39.42 [[-3.33514366e-02 -9.99107573e-01 -2.59179342e-02 1.18684865e+02] [ 9.45594079e-01 -2.31465760e-02 -3.24524382e-01 9.81367806e+01] [ 3.23634856e-01 -3.53311995e-02 9.45522176e-01 3.94170024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.710714057 meters Centerline goodness : 0.991206 Centerline is valid? [True, True] Translation: X:118.68, Y:98.16, Z:39.43 [[-3.28481715e-02 -9.99352177e-01 -1.47045434e-02 1.18679600e+02] [ 9.45402163e-01 -2.62950912e-02 -3.24843528e-01 9.81639782e+01] [ 3.24246430e-01 -2.45722231e-02 9.45653456e-01 3.94295607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.740714057 meters Centerline goodness : 0.991912 Centerline is valid? [True, True] Translation: X:118.68, Y:98.19, Z:39.44 [[-2.70939743e-02 -9.99454955e-01 -1.88602558e-02 1.18680969e+02] [ 9.46279051e-01 -1.95618074e-02 -3.22758879e-01 9.81908918e+01] [ 3.22214020e-01 -2.65918857e-02 9.46293293e-01 3.94358955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.770714057 meters Centerline goodness : 0.991426 Centerline is valid? [True, True] Translation: X:118.68, Y:98.22, Z:39.45 [[-2.50971304e-02 -9.99644750e-01 -8.97265316e-03 1.18677685e+02] [ 9.46775170e-01 -2.08865888e-02 -3.21217261e-01 9.82202247e+01] [ 3.20915740e-01 -1.65567167e-02 9.46963021e-01 3.94460176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.800714057 meters Centerline goodness : 0.990977 Centerline is valid? [True, True] Translation: X:118.67, Y:98.26, Z:39.46 [[-1.79090411e-02 -9.99624086e-01 2.07594003e-02 1.18669135e+02] [ 9.49058792e-01 -2.35285834e-02 -3.14219376e-01 9.82557856e+01] [ 3.14589695e-01 1.40745237e-02 9.49123402e-01 3.94584646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.830714057 meters Centerline goodness : 0.990320 Centerline is valid? [True, True] Translation: X:118.70, Y:98.28, Z:39.45 [[-1.65342788e-02 -9.98897712e-01 -4.39315291e-02 1.18696360e+02] [ 9.49826595e-01 -1.96636573e-03 -3.12770801e-01 9.82844787e+01] [ 3.12339652e-01 -4.68987743e-02 9.48812124e-01 3.94470738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.860714057 meters Centerline goodness : 0.990814 Centerline is valid? [True, True] Translation: X:118.69, Y:98.31, Z:39.46 [[-1.60845604e-02 -9.99468926e-01 -2.83399443e-02 1.18688436e+02] [ 9.49530514e-01 -6.38849471e-03 -3.13609613e-01 9.83075325e+01] [ 3.13262014e-01 -3.19539147e-02 9.49129000e-01 3.94615450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.890714057 meters Centerline goodness : 0.990495 Centerline is valid? [True, True] Translation: X:118.68, Y:98.34, Z:39.47 [[-1.69479355e-02 -9.99683654e-01 -1.85838327e-02 1.18684561e+02] [ 9.49514646e-01 -1.02685149e-02 -3.13554611e-01 9.83351082e+01] [ 3.13264591e-01 -2.29597247e-02 9.49388301e-01 3.94726848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.920714057 meters Centerline goodness : 0.988775 Centerline is valid? [True, True] Translation: X:118.70, Y:98.36, Z:39.47 [[-1.67626181e-02 -9.98856302e-01 -4.47783658e-02 1.18695442e+02] [ 9.50840886e-01 -2.07430847e-03 -3.09672904e-01 9.83566809e+01] [ 3.09225848e-01 -4.77680296e-02 9.49788182e-01 3.94715204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.950714057 meters Centerline goodness : 0.991183 Centerline is valid? [True, True] Translation: X:118.67, Y:98.39, Z:39.50 [[-2.40144839e-02 -9.99687949e-01 6.87811629e-03 1.18673118e+02] [ 9.48167833e-01 -2.49564568e-02 -3.16788473e-01 9.83861785e+01] [ 3.16861272e-01 -1.08590308e-03 9.48471273e-01 3.95016055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.980714057 meters Centerline goodness : 0.990173 Centerline is valid? [True, True] Translation: X:118.69, Y:98.41, Z:39.50 [[-2.57561228e-02 -9.99154118e-01 -3.20573032e-02 1.18690406e+02] [ 9.49411950e-01 -1.44088989e-02 -3.13702619e-01 9.84144497e+01] [ 3.12975354e-01 -3.85153499e-02 9.48979977e-01 3.94961075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.01071405700003 meters Centerline goodness : 0.990077 Centerline is valid? [True, True] Translation: X:118.69, Y:98.44, Z:39.51 [[-3.02216399e-02 -9.99271325e-01 -2.33124977e-02 1.18686743e+02] [ 9.49400823e-01 -2.14033816e-02 -3.13336835e-01 9.84398306e+01] [ 3.12609548e-01 -3.16024575e-02 9.49355863e-01 3.95090723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.040714057 meters Centerline goodness : 0.990236 Centerline is valid? [True, True] Translation: X:118.69, Y:98.47, Z:39.52 [[-3.42199771e-02 -9.99066136e-01 -2.63789591e-02 1.18687065e+02] [ 9.48516709e-01 -2.41501648e-02 -3.15805039e-01 9.84652145e+01] [ 3.14873064e-01 -3.58277247e-02 9.48457341e-01 3.95195616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.07071405700003 meters Centerline goodness : 0.990296 Centerline is valid? [True, True] Translation: X:118.69, Y:98.49, Z:39.53 [[-3.90056448e-02 -9.98649457e-01 -3.43193966e-02 1.18689501e+02] [ 9.47785659e-01 -2.60962082e-02 -3.17838532e-01 9.84876457e+01] [ 3.16513671e-01 -4.49249288e-02 9.47523534e-01 3.95280103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.100714057 meters Centerline goodness : 0.990296 Centerline is valid? [True, True] Translation: X:118.68, Y:98.51, Z:39.54 [[-3.98259290e-02 -9.99021486e-01 -1.92344787e-02 1.18683043e+02] [ 9.47298167e-01 -3.16262500e-02 -3.18788274e-01 9.85128514e+01] [ 3.17868021e-01 -3.09168256e-02 9.47630767e-01 3.95426252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.13071405700003 meters Centerline goodness : 0.988165 Centerline is valid? [True, True] Translation: X:118.70, Y:98.53, Z:39.54 [[-3.80778095e-02 -9.97961841e-01 -5.12078485e-02 1.18696886e+02] [ 9.48991770e-01 -2.00632632e-02 -3.14661859e-01 9.85293370e+01] [ 3.12993131e-01 -6.05774611e-02 9.47821540e-01 3.95384010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.160714057 meters Centerline goodness : 0.990869 Centerline is valid? [True, True] Translation: X:118.67, Y:98.56, Z:39.57 [[-4.57756758e-02 -9.98937108e-01 5.40755695e-03 1.18670937e+02] [ 9.44565716e-01 -4.50446451e-02 -3.25217755e-01 9.85588346e+01] [ 3.25115665e-01 -9.77926961e-03 9.45623694e-01 3.95747215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.19071405700004 meters Centerline goodness : 0.990341 Centerline is valid? [True, True] Translation: X:118.69, Y:98.58, Z:39.57 [[-4.18747644e-02 -9.98653152e-01 -3.06330749e-02 1.18686670e+02] [ 9.46898398e-01 -2.98844900e-02 -3.20141128e-01 9.85815124e+01] [ 3.18794493e-01 -4.24122438e-02 9.46874476e-01 3.95680566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.220714057 meters Centerline goodness : 0.991282 Centerline is valid? [True, True] Translation: X:118.67, Y:98.61, Z:39.59 [[-4.65849489e-02 -9.98913265e-01 1.45982107e-03 1.18673462e+02] [ 9.44222678e-01 -4.45112557e-02 -3.26285585e-01 9.86120077e+01] [ 3.25995978e-01 -1.38216012e-02 9.45270113e-01 3.95919364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.250714057 meters Centerline goodness : 0.991435 Centerline is valid? [True, True] Translation: X:118.68, Y:98.64, Z:39.59 [[-4.57196200e-02 -9.98854597e-01 -1.41142007e-02 1.18680597e+02] [ 9.44785451e-01 -3.86466996e-02 -3.25402648e-01 9.86403918e+01] [ 3.24484464e-01 -2.82121769e-02 9.45470204e-01 3.95940635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.280714057 meters Centerline goodness : 0.990651 Centerline is valid? [True, True] Translation: X:118.68, Y:98.67, Z:39.60 [[-4.60015479e-02 -9.98742746e-01 -1.99194843e-02 1.18681999e+02] [ 9.44136647e-01 -3.69550627e-02 -3.27475670e-01 9.86674353e+01] [ 3.26327824e-01 -3.38711028e-02 9.44649617e-01 3.96041233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.310714057 meters Centerline goodness : 0.989083 Centerline is valid? [True, True] Translation: X:118.69, Y:98.69, Z:39.61 [[-4.30917845e-02 -9.98524301e-01 -3.30502500e-02 1.18686958e+02] [ 9.45183848e-01 -3.00275128e-02 -3.25155103e-01 9.86893347e+01] [ 3.23682855e-01 -4.52500761e-02 9.45082980e-01 3.96085666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.340714057 meters Centerline goodness : 0.989364 Centerline is valid? [True, True] Translation: X:118.68, Y:98.71, Z:39.62 [[-3.94416773e-02 -9.99169473e-01 -1.02332020e-02 1.18676408e+02] [ 9.46890374e-01 -3.41032735e-02 -3.19743001e-01 9.87122044e+01] [ 3.19128460e-01 -2.23009208e-02 9.47449046e-01 3.96230163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.370714057 meters Centerline goodness : 0.989628 Centerline is valid? [True, True] Translation: X:118.68, Y:98.74, Z:39.63 [[-4.04488349e-02 -9.99056964e-01 -1.57821022e-02 1.18678850e+02] [ 9.46761460e-01 -3.32731595e-02 -3.20211859e-01 9.87382133e+01] [ 3.19384767e-01 -2.78940828e-02 9.47214490e-01 3.96310211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.400714057 meters Centerline goodness : 0.990551 Centerline is valid? [True, True] Translation: X:118.67, Y:98.77, Z:39.65 [[-4.42409566e-02 -9.99020858e-01 -2.50442610e-04 1.18672654e+02] [ 9.43820540e-01 -4.17142688e-02 -3.27815051e-01 9.87684106e+01] [ 3.27483627e-01 -1.47392243e-02 9.44741885e-01 3.96499875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.430714057 meters Centerline goodness : 0.988596 Centerline is valid? [True, True] Translation: X:118.68, Y:98.79, Z:39.65 [[-4.13933113e-02 -9.98776813e-01 -2.70457299e-02 1.18682919e+02] [ 9.45369230e-01 -3.03905809e-02 -3.24581932e-01 9.87913162e+01] [ 3.23362973e-01 -3.90037218e-02 9.45470834e-01 3.96477605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.460714057 meters Centerline goodness : 0.990933 Centerline is valid? [True, True] Translation: X:118.67, Y:98.82, Z:39.67 [[-4.55503778e-02 -9.98957638e-01 2.96653844e-03 1.18670534e+02] [ 9.43683207e-01 -4.40037552e-02 -3.27911078e-01 9.88230209e+01] [ 3.27699815e-01 -1.21370010e-02 9.44703935e-01 3.96695208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.490714057 meters Centerline goodness : 0.989306 Centerline is valid? [True, True] Translation: X:118.68, Y:98.85, Z:39.67 [[-4.68924544e-02 -9.98646231e-01 -2.25122914e-02 1.18682035e+02] [ 9.43786997e-01 -3.69114653e-02 -3.28486908e-01 9.88499654e+01] [ 3.27211251e-01 -3.66503652e-02 9.44240196e-01 3.96692656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.520714057 meters Centerline goodness : 0.988378 Centerline is valid? [True, True] Translation: X:118.68, Y:98.88, Z:39.68 [[-5.00494019e-02 -9.98447718e-01 -2.44379179e-02 1.18683314e+02] [ 9.42656796e-01 -3.91399545e-02 -3.31460751e-01 9.88750754e+01] [ 3.29989731e-01 -3.96259817e-02 9.43152458e-01 3.96809645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.550714057 meters Centerline goodness : 0.989428 Centerline is valid? [True, True] Translation: X:118.68, Y:98.90, Z:39.69 [[-5.18009898e-02 -9.98550598e-01 -1.46068714e-02 1.18678750e+02] [ 9.42204639e-01 -4.40195026e-02 -3.32133560e-01 9.89008600e+01] [ 3.31009177e-01 -3.09675092e-02 9.43119260e-01 3.96940358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.580714057 meters Centerline goodness : 0.989606 Centerline is valid? [True, True] Translation: X:118.68, Y:98.93, Z:39.70 [[-5.30460913e-02 -9.98409752e-01 -1.90808631e-02 1.18680596e+02] [ 9.41811690e-01 -4.36693702e-02 -3.33292253e-01 9.89256950e+01] [ 3.31928987e-01 -3.56504313e-02 9.42630466e-01 3.97031634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.610714057 meters Centerline goodness : 0.988496 Centerline is valid? [True, True] Translation: X:118.68, Y:98.95, Z:39.71 [[-5.45627097e-02 -9.98365679e-01 -1.69965442e-02 1.18679373e+02] [ 9.41235673e-01 -4.57434296e-02 -3.34638532e-01 9.89489564e+01] [ 3.33314145e-01 -3.42565387e-02 9.42193277e-01 3.97146778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.640714057 meters Centerline goodness : 0.988082 Centerline is valid? [True, True] Translation: X:118.68, Y:98.97, Z:39.73 [[-5.51931036e-02 -9.98440307e-01 -8.40680435e-03 1.18676416e+02] [ 9.41094857e-01 -4.92062525e-02 -3.34543293e-01 9.89741314e+01] [ 3.33607841e-01 -2.63760830e-02 9.42342884e-01 3.97256805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.670714057 meters Centerline goodness : 0.988689 Centerline is valid? [True, True] Translation: X:118.68, Y:99.00, Z:39.73 [[-5.55585011e-02 -9.98413443e-01 -9.15693437e-03 1.18677547e+02] [ 9.41388956e-01 -4.93247714e-02 -3.33697318e-01 9.90015361e+01] [ 3.32716224e-01 -2.71599597e-02 9.42635800e-01 3.97323231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.700714057 meters Centerline goodness : 0.986026 Centerline is valid? [True, True] Translation: X:118.69, Y:99.02, Z:39.73 [[-5.15880816e-02 -9.98256954e-01 -2.86657125e-02 1.18686114e+02] [ 9.43150529e-01 -3.92629710e-02 -3.30038632e-01 9.90216475e+01] [ 3.28337859e-01 -4.40621417e-02 9.43532076e-01 3.97321078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.730714057 meters Centerline goodness : 0.988927 Centerline is valid? [True, True] Translation: X:118.68, Y:99.05, Z:39.76 [[-5.82025969e-02 -9.98303235e-01 -1.76310430e-03 1.18675116e+02] [ 9.40321325e-01 -5.42288611e-02 -3.35939037e-01 9.90506744e+01] [ 3.35273416e-01 -2.12104089e-02 9.41882081e-01 3.97560693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.76071405700003 meters Centerline goodness : 0.988488 Centerline is valid? [True, True] Translation: X:118.68, Y:99.08, Z:39.76 [[-5.97042898e-02 -9.98149344e-01 -1.15448835e-02 1.18678681e+02] [ 9.40532305e-01 -5.23757915e-02 -3.35642309e-01 9.90786154e+01] [ 3.34416479e-01 -3.08976216e-02 9.41918763e-01 3.97619657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.790714057 meters Centerline goodness : 0.986236 Centerline is valid? [True, True] Translation: X:118.68, Y:99.10, Z:39.76 [[-5.74655445e-02 -9.98072013e-01 -2.34513956e-02 1.18682854e+02] [ 9.42415523e-01 -4.64789563e-02 -3.31198867e-01 9.90980762e+01] [ 3.29470323e-01 -4.11334825e-02 9.43269496e-01 3.97641151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.82071405700003 meters Centerline goodness : 0.988852 Centerline is valid? [True, True] Translation: X:118.67, Y:99.13, Z:39.79 [[-6.31214003e-02 -9.97966129e-01 8.90477280e-03 1.18670938e+02] [ 9.40246511e-01 -6.24572869e-02 -3.34717172e-01 9.91293692e+01] [ 3.34592568e-01 -1.27551350e-02 9.42276562e-01 3.97865868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.850714057 meters Centerline goodness : 0.987866 Centerline is valid? [True, True] Translation: X:118.69, Y:99.15, Z:39.78 [[-6.15915243e-02 -9.97531387e-01 -3.37285657e-02 1.18687886e+02] [ 9.43845710e-01 -4.72204040e-02 -3.26994662e-01 9.91530699e+01] [ 3.24594762e-01 -5.19746617e-02 9.44424097e-01 3.97790849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.88071405700003 meters Centerline goodness : 0.988168 Centerline is valid? [True, True] Translation: X:118.68, Y:99.18, Z:39.80 [[-6.33274661e-02 -9.97907088e-01 -1.30795880e-02 1.18680050e+02] [ 9.44045502e-01 -5.56484774e-02 -3.25086660e-01 9.91790358e+01] [ 3.23678423e-01 -3.29346407e-02 9.45593775e-01 3.97952071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.910714057 meters Centerline goodness : 0.989577 Centerline is valid? [True, True] Translation: X:118.67, Y:99.21, Z:39.82 [[-6.90709346e-02 -9.97476075e-01 1.64525231e-02 1.18668087e+02] [ 9.39482907e-01 -7.05847502e-02 -3.35245671e-01 9.92075141e+01] [ 3.35560833e-01 -7.69886756e-03 9.41987078e-01 3.98169505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.94071405700004 meters Centerline goodness : 0.987579 Centerline is valid? [True, True] Translation: X:118.68, Y:99.23, Z:39.81 [[-6.61664312e-02 -9.97491152e-01 -2.51675243e-02 1.18684895e+02] [ 9.42811441e-01 -5.42413643e-02 -3.28883658e-01 9.92304152e+01] [ 3.26693418e-01 -4.54892878e-02 9.44035029e-01 3.98081223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.970714057 meters Centerline goodness : 0.989802 Centerline is valid? [True, True] Translation: X:118.67, Y:99.26, Z:39.83 [[-7.22258205e-02 -9.97368498e-01 6.28570536e-03 1.18671823e+02] [ 9.40148722e-01 -7.01837238e-02 -3.33458582e-01 9.92620569e+01] [ 3.33022239e-01 -1.81748218e-02 9.42743796e-01 3.98305333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.000714057 meters Centerline goodness : 0.990844 Centerline is valid? [True, True] Translation: X:118.68, Y:99.29, Z:39.83 [[-7.44365407e-02 -9.97136673e-01 -1.33288275e-02 1.18681096e+02] [ 9.40983716e-01 -6.58069272e-02 -3.31992612e-01 9.92904712e+01] [ 3.30164879e-01 -3.72545911e-02 9.43187812e-01 3.98316286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.030714057 meters Centerline goodness : 0.990104 Centerline is valid? [True, True] Translation: X:118.68, Y:99.32, Z:39.84 [[-7.43624254e-02 -9.97217916e-01 -5.16304475e-03 1.18678344e+02] [ 9.41438297e-01 -6.84935831e-02 -3.30155361e-01 9.93175916e+01] [ 3.28883205e-01 -2.94118414e-02 9.43912486e-01 3.98406276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.060714057 meters Centerline goodness : 0.988622 Centerline is valid? [True, True] Translation: X:118.68, Y:99.34, Z:39.84 [[-6.88871713e-02 -9.97543230e-01 -1.27303616e-02 1.18681624e+02] [ 9.45053354e-01 -6.11640460e-02 -3.21143454e-01 9.93391851e+01] [ 3.19575838e-01 -3.41535350e-02 9.46944993e-01 3.98406596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.090714057 meters Centerline goodness : 0.988862 Centerline is valid? [True, True] Translation: X:118.68, Y:99.37, Z:39.85 [[-6.95840289e-02 -9.97415802e-01 -1.78824115e-02 1.18684675e+02] [ 9.46894853e-01 -6.03972128e-02 -3.15820066e-01 9.93673241e+01] [ 3.13923877e-01 -3.89087961e-02 9.48650571e-01 3.98477204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.120714057 meters Centerline goodness : 0.988979 Centerline is valid? [True, True] Translation: X:118.68, Y:99.39, Z:39.86 [[-6.98881856e-02 -9.97537292e-01 -5.91539961e-03 1.18679937e+02] [ 9.47203700e-01 -6.44992940e-02 -3.14078003e-01 9.93946637e+01] [ 3.12922982e-01 -2.75534302e-02 9.49378753e-01 3.98591992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.150714057 meters Centerline goodness : 0.989267 Centerline is valid? [True, True] Translation: X:118.68, Y:99.42, Z:39.87 [[-6.97122282e-02 -9.97518198e-01 -9.88175832e-03 1.18681793e+02] [ 9.47187112e-01 -6.30800925e-02 -3.14416090e-01 9.94209826e+01] [ 3.13012429e-01 -3.12785203e-02 9.49233835e-01 3.98654992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.180714057 meters Centerline goodness : 0.990023 Centerline is valid? [True, True] Translation: X:118.67, Y:99.45, Z:39.88 [[-7.41255822e-02 -9.97074949e-01 1.86264180e-02 1.18670992e+02] [ 9.43296880e-01 -7.61633078e-02 -3.23094642e-01 9.94518563e+01] [ 3.23568223e-01 -6.37933639e-03 9.46183338e-01 3.98848827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.210714057 meters Centerline goodness : 0.989515 Centerline is valid? [True, True] Translation: X:118.68, Y:99.48, Z:39.88 [[-7.37101303e-02 -9.97194825e-01 -1.30114649e-02 1.18682992e+02] [ 9.44170416e-01 -6.55779363e-02 -3.22864926e-01 9.94818442e+01] [ 3.21105968e-01 -3.60834559e-02 9.46355610e-01 3.98799051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.240714057 meters Centerline goodness : 0.988694 Centerline is valid? [True, True] Translation: X:118.69, Y:99.50, Z:39.88 [[-6.93328156e-02 -9.96811242e-01 -3.95007498e-02 1.18693233e+02] [ 9.47306592e-01 -5.33732978e-02 -3.15850459e-01 9.95017653e+01] [ 3.12735003e-01 -5.93181223e-02 9.47986381e-01 3.98782612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.270714057 meters Centerline goodness : 0.989336 Centerline is valid? [True, True] Translation: X:118.67, Y:99.53, Z:39.91 [[-7.37339032e-02 -9.97078101e-01 1.99642803e-02 1.18668850e+02] [ 9.42780116e-01 -7.62176978e-02 -3.24586684e-01 9.95325524e+01] [ 3.25159906e-01 -5.11111661e-03 9.45645236e-01 3.99077643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.300714057 meters Centerline goodness : 0.988855 Centerline is valid? [True, True] Translation: X:118.69, Y:99.56, Z:39.90 [[-7.63516532e-02 -9.96824440e-01 -2.26154836e-02 1.18685811e+02] [ 9.43015496e-01 -6.48255634e-02 -3.26373131e-01 9.95621668e+01] [ 3.23870652e-01 -4.62458796e-02 9.44970433e-01 3.99031361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.330714057 meters Centerline goodness : 0.988931 Centerline is valid? [True, True] Translation: X:118.69, Y:99.59, Z:39.90 [[-7.40238388e-02 -9.96531496e-01 -3.80190694e-02 1.18691431e+02] [ 9.46440558e-01 -5.81864350e-02 -3.17591892e-01 9.95851905e+01] [ 3.14278129e-01 -5.94921603e-02 9.47465008e-01 3.99047976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.360714057 meters Centerline goodness : 0.988980 Centerline is valid? [True, True] Translation: X:118.68, Y:99.61, Z:39.92 [[-7.32235784e-02 -9.97251661e-01 -1.12886211e-02 1.18677758e+02] [ 9.46413360e-01 -6.59119066e-02 -3.16160358e-01 9.96075694e+01] [ 3.14547388e-01 -3.38340946e-02 9.48638601e-01 3.99233835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.390714057 meters Centerline goodness : 0.988255 Centerline is valid? [True, True] Translation: X:118.67, Y:99.63, Z:39.94 [[-7.20352533e-02 -9.97383029e-01 -6.16568062e-03 1.18673970e+02] [ 9.46112589e-01 -6.63728625e-02 -3.16963109e-01 9.96288146e+01] [ 3.15724392e-01 -2.86659459e-02 9.48417826e-01 3.99351357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.420714057 meters Centerline goodness : 0.988204 Centerline is valid? [True, True] Translation: X:118.67, Y:99.65, Z:39.95 [[-7.21627261e-02 -9.97378526e-01 -5.34954978e-03 1.18672935e+02] [ 9.46293814e-01 -6.67699105e-02 -3.16338104e-01 9.96546701e+01] [ 3.15151643e-01 -2.78900658e-02 9.48631428e-01 3.99450792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.450714057 meters Centerline goodness : 0.988782 Centerline is valid? [True, True] Translation: X:118.67, Y:99.68, Z:39.95 [[-7.24428125e-02 -9.97364647e-01 -3.97500138e-03 1.18671907e+02] [ 9.46829266e-01 -6.75184856e-02 -3.14572083e-01 9.96829959e+01] [ 3.13474688e-01 -2.65521341e-02 9.49225265e-01 3.99535860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.480714057 meters Centerline goodness : 0.987741 Centerline is valid? [True, True] Translation: X:118.67, Y:99.71, Z:39.96 [[-7.13878434e-02 -9.97448575e-01 3.41371698e-04 1.18669825e+02] [ 9.47284931e-01 -6.79047704e-02 -3.13113720e-01 9.97081273e+01] [ 3.12338015e-01 -2.20291369e-02 9.49715579e-01 3.99620780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.51071405700003 meters Centerline goodness : 0.989225 Centerline is valid? [True, True] Translation: X:118.67, Y:99.74, Z:39.97 [[-7.35002297e-02 -9.97256799e-01 -8.75169488e-03 1.18673477e+02] [ 9.47409989e-01 -6.70803476e-02 -3.12912991e-01 9.97366291e+01] [ 3.11467541e-01 -3.12906198e-02 9.49741474e-01 3.99686056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.540714057 meters Centerline goodness : 0.991880 Centerline is valid? [True, True] Translation: X:118.66, Y:99.77, Z:39.99 [[-7.72261435e-02 -9.96683995e-01 2.56346973e-02 1.18660083e+02] [ 9.43802914e-01 -8.13677992e-02 -3.20336292e-01 9.97669077e+01] [ 3.21359894e-01 -5.44234428e-04 9.46956980e-01 3.99895367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.57071405700003 meters Centerline goodness : 0.989889 Centerline is valid? [True, True] Translation: X:118.68, Y:99.79, Z:39.97 [[-7.42607074e-02 -9.96866664e-01 -2.72433707e-02 1.18681974e+02] [ 9.48082272e-01 -6.21025683e-02 -3.11902672e-01 9.97934876e+01] [ 3.09233493e-01 -4.89910698e-02 9.49723392e-01 3.99743162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.600714057 meters Centerline goodness : 0.990871 Centerline is valid? [True, True] Translation: X:118.67, Y:99.82, Z:39.99 [[-7.57546408e-02 -9.97126262e-01 -6.72030826e-04 1.18669579e+02] [ 9.47823907e-01 -7.17996577e-02 -3.10603688e-01 9.98208876e+01] [ 3.09662843e-01 -2.41666377e-02 9.50539267e-01 3.99921187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.63071405700003 meters Centerline goodness : 0.991768 Centerline is valid? [True, True] Translation: X:118.66, Y:99.85, Z:40.01 [[-7.88432045e-02 -9.96732077e-01 1.75759848e-02 1.18661889e+02] [ 9.44073729e-01 -8.03171208e-02 -3.19802993e-01 9.98503762e+01] [ 3.20169554e-01 -8.62126733e-03 9.47321028e-01 4.00090631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.660714057 meters Centerline goodness : 0.991572 Centerline is valid? [True, True] Translation: X:118.67, Y:99.85, Z:40.00 [[-7.99237712e-02 -9.96780232e-01 -6.43115969e-03 1.18671806e+02] [ 9.44628726e-01 -7.36790770e-02 -3.19762354e-01 9.98523200e+01] [ 3.18258951e-01 -3.16316714e-02 9.47475951e-01 3.99991320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.69071405700004 meters Centerline goodness : 0.990613 Centerline is valid? [True, True] Translation: X:118.67, Y:99.83, Z:39.99 [[-7.92803880e-02 -9.96839649e-01 -5.03332203e-03 1.18672406e+02] [ 9.45454571e-01 -7.35913426e-02 -3.17332583e-01 9.98348593e+01] [ 3.15959292e-01 -2.99170276e-02 9.48300953e-01 3.99922581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.720714057 meters Centerline goodness : 0.991168 Centerline is valid? [True, True] Translation: X:118.68, Y:99.83, Z:39.99 [[-8.10762642e-02 -9.96593357e-01 -1.51102587e-02 1.18675115e+02] [ 9.44929141e-01 -7.20327732e-02 -3.19249429e-01 9.98314094e+01] [ 3.17073426e-01 -4.01616748e-02 9.47550253e-01 3.99890311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.750714057 meters Centerline goodness : 0.991527 Centerline is valid? [True, True] Translation: X:118.67, Y:99.84, Z:40.00 [[-8.02750364e-02 -9.96767340e-01 3.28466665e-03 1.18666003e+02] [ 9.45136763e-01 -7.71629844e-02 -3.17430896e-01 9.98377790e+01] [ 3.16658205e-01 -2.23773175e-02 9.48275718e-01 3.99979647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.780714057 meters Centerline goodness : 0.991343 Centerline is valid? [True, True] Translation: X:118.67, Y:99.83, Z:39.99 [[-7.96927997e-02 -9.96819420e-01 3.18850382e-04 1.18665851e+02] [ 9.46009620e-01 -7.57315166e-02 -3.15167473e-01 9.98289985e+01] [ 3.14189205e-01 -2.48149428e-02 9.49036017e-01 3.99932104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.810714057 meters Centerline goodness : 0.991583 Centerline is valid? [True, True] Translation: X:118.66, Y:99.79, Z:39.98 [[-7.05839681e-02 -9.97426836e-01 1.25543153e-02 1.18662688e+02] [ 9.49345364e-01 -7.10342279e-02 -3.06100502e-01 9.97924626e+01] [ 3.06204641e-01 -9.68740708e-03 9.51916421e-01 3.99798115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.840714057 meters Centerline goodness : 0.989588 Centerline is valid? [True, True] Translation: X:118.68, Y:99.81, Z:39.97 [[-7.18118927e-02 -9.97017380e-01 -2.82735890e-02 1.18677474e+02] [ 9.49701787e-01 -5.96861742e-02 -3.07415155e-01 9.98109001e+01] [ 3.04810710e-01 -4.89275421e-02 9.51155364e-01 3.99739218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.870714057 meters Centerline goodness : 0.990973 Centerline is valid? [True, True] Translation: X:118.66, Y:99.84, Z:40.00 [[-7.19098028e-02 -9.97371715e-01 8.86807605e-03 1.18661408e+02] [ 9.49010828e-01 -7.11536547e-02 -3.07108461e-01 9.98409033e+01] [ 3.06932288e-01 -1.36682087e-02 9.51633202e-01 3.99993276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.900714057 meters Centerline goodness : 0.992050 Centerline is valid? [True, True] Translation: X:118.67, Y:99.87, Z:40.00 [[-7.27822833e-02 -9.97206921e-01 -1.67659119e-02 1.18669276e+02] [ 9.49819567e-01 -6.41765031e-02 -3.06144028e-01 9.98656041e+01] [ 3.04212966e-01 -3.82064526e-02 9.51837559e-01 4.00016114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.930714057 meters Centerline goodness : 0.992425 Centerline is valid? [True, True] Translation: X:118.66, Y:99.89, Z:40.02 [[-7.38147599e-02 -9.97267955e-01 -2.82966075e-03 1.18663873e+02] [ 9.49669193e-01 -6.94249144e-02 -3.05464572e-01 9.98923664e+01] [ 3.04433580e-01 -2.52350357e-02 9.52199238e-01 4.00156463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.960714057 meters Centerline goodness : 0.992440 Centerline is valid? [True, True] Translation: X:118.67, Y:99.92, Z:40.02 [[-7.45832704e-02 -9.97183875e-01 -7.85210811e-03 1.18665776e+02] [ 9.48728600e-01 -6.85293141e-02 -3.08573779e-01 9.99184128e+01] [ 3.07166697e-01 -3.04639611e-02 9.51168002e-01 4.00233915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.990714057 meters Centerline goodness : 0.992440 Centerline is valid? [True, True] Translation: X:118.66, Y:99.92, Z:40.03 [[-7.42132326e-02 -9.97239344e-01 -2.46712711e-03 1.18663397e+02] [ 9.48638835e-01 -6.98330892e-02 -3.08557452e-01 9.99202866e+01] [ 3.07533344e-01 -2.52394585e-02 9.51202508e-01 4.00262241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.020714057 meters Centerline goodness : 0.992570 Centerline is valid? [True, True] Translation: X:118.66, Y:99.94, Z:40.03 [[-7.54259749e-02 -9.97128181e-01 -6.80538407e-03 1.18664637e+02] [ 9.48075197e-01 -6.95973984e-02 -3.10337917e-01 9.99363949e+01] [ 3.08973046e-01 -2.98595558e-02 9.50601948e-01 4.00303576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.050714057 meters Centerline goodness : 0.993305 Centerline is valid? [True, True] Translation: X:118.65, Y:99.92, Z:40.03 [[-7.39458020e-02 -9.97145697e-01 1.52471767e-02 1.18654794e+02] [ 9.47029423e-01 -7.50040998e-02 -3.12265363e-01 9.99154639e+01] [ 3.12517664e-01 -8.65118779e-03 9.49872553e-01 4.00329425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.080714057 meters Centerline goodness : 0.994669 Centerline is valid? [True, True] Translation: X:118.66, Y:99.94, Z:40.03 [[-7.25408346e-02 -9.97338976e-01 -7.26601706e-03 1.18664479e+02] [ 9.48383870e-01 -6.67214487e-02 -3.10026263e-01 9.99449970e+01] [ 3.08716477e-01 -2.93805373e-02 9.50700227e-01 4.00310591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.110714057 meters Centerline goodness : 0.992737 Centerline is valid? [True, True] Translation: X:118.66, Y:99.97, Z:40.04 [[-7.32158391e-02 -9.97250337e-01 -1.14545462e-02 1.18664949e+02] [ 9.48317754e-01 -6.60583672e-02 -3.10370311e-01 9.99712782e+01] [ 3.08760228e-01 -3.35865722e-02 9.50546718e-01 4.00392338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.140714057 meters Centerline goodness : 0.992521 Centerline is valid? [True, True] Translation: X:118.67, Y:100.00, Z:40.04 [[-7.26722610e-02 -9.97265296e-01 -1.34414587e-02 1.18665716e+02] [ 9.49622910e-01 -6.50684993e-02 -3.06565522e-01 9.99981534e+01] [ 3.04852540e-01 -3.50431267e-02 9.51754647e-01 4.00446818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.170714057 meters Centerline goodness : 0.992389 Centerline is valid? [True, True] Translation: X:118.66, Y:100.02, Z:40.06 [[-7.38156859e-02 -9.97271613e-01 -7.57943941e-04 1.18660886e+02] [ 9.48475100e-01 -6.99690155e-02 -3.09029647e-01 1.00023518e+02] [ 3.08133462e-01 -2.35301263e-02 9.51052103e-01 4.00578399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.200714057 meters Centerline goodness : 0.991711 Centerline is valid? [True, True] Translation: X:118.67, Y:100.05, Z:40.06 [[-7.39210453e-02 -9.97074401e-01 -1.94504076e-02 1.18668174e+02] [ 9.49408817e-01 -6.43911920e-02 -3.07370578e-01 1.00048424e+02] [ 3.05218900e-01 -4.11875429e-02 9.51391092e-01 4.00600147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.230714057 meters Centerline goodness : 0.991404 Centerline is valid? [True, True] Translation: X:118.66, Y:100.07, Z:40.07 [[-7.43755888e-02 -9.97173897e-01 -1.06061859e-02 1.18664397e+02] [ 9.49760192e-01 -6.75888060e-02 -3.05593407e-01 1.00071835e+02] [ 3.04012909e-01 -3.28020228e-02 9.52103029e-01 4.00716100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.26071405700003 meters Centerline goodness : 0.991146 Centerline is valid? [True, True] Translation: X:118.66, Y:100.10, Z:40.09 [[-7.75681162e-02 -9.96983056e-01 2.82375251e-03 1.18657680e+02] [ 9.48393062e-01 -7.46605408e-02 -3.08182421e-01 1.00099952e+02] [ 3.07463475e-01 -2.12271025e-02 9.51323090e-01 4.00876997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.290714057 meters Centerline goodness : 0.991007 Centerline is valid? [True, True] Translation: X:118.66, Y:100.10, Z:40.08 [[-7.83787778e-02 -9.96892274e-01 -7.90950705e-03 1.18663100e+02] [ 9.48420203e-01 -7.21184456e-02 -3.08703820e-01 1.00097247e+02] [ 3.07174032e-01 -3.16973644e-02 9.51125329e-01 4.00830532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.32071405700003 meters Centerline goodness : 0.990980 Centerline is valid? [True, True] Translation: X:118.66, Y:100.10, Z:40.09 [[-8.00486732e-02 -9.96772460e-01 -6.07229982e-03 1.18661635e+02] [ 9.47332172e-01 -7.41803209e-02 -3.11542993e-01 1.00102265e+02] [ 3.10087030e-01 -3.06910882e-02 9.50212656e-01 4.00870433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.350714057 meters Centerline goodness : 0.990328 Centerline is valid? [True, True] Translation: X:118.66, Y:100.10, Z:40.09 [[-8.06572705e-02 -9.96741005e-01 -1.33166579e-03 1.18659784e+02] [ 9.46816442e-01 -7.61996567e-02 -3.12621557e-01 1.00104287e+02] [ 3.11501253e-01 -2.64760446e-02 9.49876828e-01 4.00914313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.38071405700003 meters Centerline goodness : 0.990819 Centerline is valid? [True, True] Translation: X:118.66, Y:100.11, Z:40.09 [[-8.05495033e-02 -9.96746741e-01 -2.77708954e-03 1.18659781e+02] [ 9.47288818e-01 -7.56853244e-02 -3.11312749e-01 1.00108526e+02] [ 3.10089783e-01 -2.77067932e-02 9.50303457e-01 4.00925918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.410714057 meters Centerline goodness : 0.990906 Centerline is valid? [True, True] Translation: X:118.66, Y:100.10, Z:40.09 [[-7.91991835e-02 -9.96858458e-01 -8.38735513e-04 1.18658097e+02] [ 9.47759321e-01 -7.50374604e-02 -3.10034915e-01 1.00100797e+02] [ 3.08997991e-01 -2.53494315e-02 9.50724801e-01 4.00905621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.44071405700004 meters Centerline goodness : 0.990500 Centerline is valid? [True, True] Translation: X:118.66, Y:100.09, Z:40.09 [[-7.75782535e-02 -9.96985912e-01 8.39927235e-04 1.18657594e+02] [ 9.48289783e-01 -7.40490970e-02 -3.08647403e-01 1.00094975e+02] [ 3.07779308e-01 -2.31478320e-02 9.51176154e-01 4.00884124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.470714057 meters Centerline goodness : 0.990807 Centerline is valid? [True, True] Translation: X:118.66, Y:100.10, Z:40.09 [[-7.50107384e-02 -9.97178284e-01 2.97653214e-03 1.18656604e+02] [ 9.47681653e-01 -7.22155988e-02 -3.10941138e-01 1.00097734e+02] [ 3.10278703e-01 -2.05031195e-02 9.50424510e-01 4.00909256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.500714057 meters Centerline goodness : 0.990121 Centerline is valid? [True, True] Translation: X:118.66, Y:100.12, Z:40.09 [[-7.30526053e-02 -9.97318881e-01 -4.28568332e-03 1.18659962e+02] [ 9.49036129e-01 -6.81936871e-02 -3.07701229e-01 1.00124946e+02] [ 3.06583989e-01 -2.65456447e-02 9.51473377e-01 4.00939909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.530714057 meters Centerline goodness : 0.991734 Centerline is valid? [True, True] Translation: X:118.66, Y:100.16, Z:40.10 [[-7.53053020e-02 -9.97156657e-01 -2.77707636e-03 1.18659337e+02] [ 9.48035011e-01 -7.07317166e-02 -3.10204194e-01 1.00156306e+02] [ 3.09125749e-01 -2.59927861e-02 9.50665896e-01 4.01048053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.560714057 meters Centerline goodness : 0.990598 Centerline is valid? [True, True] Translation: X:118.66, Y:100.18, Z:40.11 [[-7.29387376e-02 -9.97232250e-01 -1.44145673e-02 1.18664315e+02] [ 9.49632847e-01 -6.50263029e-02 -3.06543695e-01 1.00180911e+02] [ 3.04757932e-01 -3.60474567e-02 9.51747437e-01 4.01086523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.590714057 meters Centerline goodness : 0.990443 Centerline is valid? [True, True] Translation: X:118.66, Y:100.21, Z:40.12 [[-7.43687504e-02 -9.97222797e-01 -3.99784982e-03 1.18659900e+02] [ 9.48474391e-01 -6.94939629e-02 -3.09138995e-01 1.00206896e+02] [ 3.08002627e-01 -2.67821389e-02 9.51008464e-01 4.01209518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.620714057 meters Centerline goodness : 0.990408 Centerline is valid? [True, True] Translation: X:118.66, Y:100.21, Z:40.12 [[-7.54278917e-02 -9.97150761e-01 -9.96878355e-04 1.18658662e+02] [ 9.48172808e-01 -7.14134903e-02 -3.09626290e-01 1.00210333e+02] [ 3.08672900e-01 -2.42996712e-02 9.50857806e-01 4.01240266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.650714057 meters Centerline goodness : 0.989540 Centerline is valid? [True, True] Translation: X:118.66, Y:100.23, Z:40.13 [[-7.39420207e-02 -9.97231398e-01 -7.88134645e-03 1.18661491e+02] [ 9.49077473e-01 -6.79402690e-02 -3.07629761e-01 1.00234128e+02] [ 3.06242596e-01 -3.02267746e-02 9.51473496e-01 4.01279366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.680714057 meters Centerline goodness : 0.989165 Centerline is valid? [True, True] Translation: X:118.66, Y:100.26, Z:40.14 [[-7.52870723e-02 -9.97123739e-01 -8.72387326e-03 1.18661551e+02] [ 9.48911640e-01 -6.89528865e-02 -3.07915895e-01 1.00260243e+02] [ 3.06428712e-01 -3.14602711e-02 9.51373584e-01 4.01368675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.710714057 meters Centerline goodness : 0.989164 Centerline is valid? [True, True] Translation: X:118.66, Y:100.29, Z:40.15 [[-7.62935066e-02 -9.97078523e-01 -3.70399585e-03 1.18660310e+02] [ 9.48677836e-01 -7.14456029e-02 -3.08067995e-01 1.00285854e+02] [ 3.06903347e-01 -2.70174864e-02 9.51357131e-01 4.01459230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.740714057 meters Centerline goodness : 0.990180 Centerline is valid? [True, True] Translation: X:118.66, Y:100.31, Z:40.15 [[-7.70348300e-02 -9.97017163e-01 -4.73418716e-03 1.18660899e+02] [ 9.48501902e-01 -7.18213131e-02 -3.08522027e-01 1.00312638e+02] [ 3.07261740e-01 -2.82573274e-02 9.51205418e-01 4.01538816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.770714057 meters Centerline goodness : 0.989279 Centerline is valid? [True, True] Translation: X:118.66, Y:100.34, Z:40.16 [[-7.79135819e-02 -9.96925986e-01 -8.24938358e-03 1.18663051e+02] [ 9.49023650e-01 -7.16298077e-02 -3.06958112e-01 1.00340626e+02] [ 3.05423617e-01 -3.17450661e-02 9.51687273e-01 4.01607153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.800714057 meters Centerline goodness : 0.989295 Centerline is valid? [True, True] Translation: X:118.66, Y:100.35, Z:40.17 [[-7.71399656e-02 -9.97001727e-01 6.08128806e-03 1.18657530e+02] [ 9.49261945e-01 -7.53086688e-02 -3.05336476e-01 1.00349045e+02] [ 3.04878967e-01 -1.77809099e-02 9.52225107e-01 4.01685807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.830714057 meters Centerline goodness : 0.991920 Centerline is valid? [True, True] Translation: X:118.66, Y:100.38, Z:40.18 [[-8.25484844e-02 -9.96582679e-01 2.95154995e-03 1.18659173e+02] [ 9.47978608e-01 -7.94355100e-02 -3.08263781e-01 1.00384128e+02] [ 3.07444802e-01 -2.26487017e-02 9.51296342e-01 4.01790898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.860714057 meters Centerline goodness : 0.989824 Centerline is valid? [True, True] Translation: X:118.67, Y:100.39, Z:40.17 [[-8.35895690e-02 -9.96454235e-01 -9.57819670e-03 1.18665711e+02] [ 9.48528598e-01 -7.66155292e-02 -3.07284166e-01 1.00387412e+02] [ 3.05460770e-01 -3.47709445e-02 9.51569598e-01 4.01743966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.890714057 meters Centerline goodness : 0.988770 Centerline is valid? [True, True] Translation: X:118.67, Y:100.41, Z:40.18 [[-8.64104672e-02 -9.96140454e-01 -1.54086968e-02 1.18669057e+02] [ 9.47347100e-01 -7.73715293e-02 -3.10720322e-01 1.00414187e+02] [ 3.08328888e-01 -4.14468725e-02 9.50376480e-01 4.01815468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.920714057 meters Centerline goodness : 0.988771 Centerline is valid? [True, True] Translation: X:118.66, Y:100.39, Z:40.18 [[-8.50019789e-02 -9.96376003e-01 3.08615301e-03 1.18661488e+02] [ 9.47496717e-01 -8.17895188e-02 -3.09128528e-01 1.00392154e+02] [ 3.08260662e-01 -2.33524168e-02 9.51015262e-01 4.01808303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.950714057 meters Centerline goodness : 0.988523 Centerline is valid? [True, True] Translation: X:118.66, Y:100.40, Z:40.18 [[-8.27113145e-02 -9.96573486e-01 3.55371450e-04 1.18663309e+02] [ 9.48169157e-01 -7.88037368e-02 -3.07839604e-01 1.00398344e+02] [ 3.06812792e-01 -2.51248660e-02 9.51438202e-01 4.01799781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.980714057 meters Centerline goodness : 0.987996 Centerline is valid? [True, True] Translation: X:118.67, Y:100.39, Z:40.18 [[-8.38339763e-02 -9.96426989e-01 -1.02528100e-02 1.18665278e+02] [ 9.48359976e-01 -7.66227221e-02 -3.07802395e-01 1.00392643e+02] [ 3.05917016e-01 -3.55276533e-02 9.51395063e-01 4.01759075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.01071405700003 meters Centerline goodness : 0.990173 Centerline is valid? [True, True] Translation: X:118.65, Y:100.40, Z:40.19 [[-8.12485092e-02 -9.96549028e-01 1.69915961e-02 1.18653256e+02] [ 9.47374892e-01 -8.25132110e-02 -3.09309529e-01 1.00401461e+02] [ 3.09644141e-01 -9.03352655e-03 9.50809603e-01 4.01904270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.040714057 meters Centerline goodness : 0.988887 Centerline is valid? [True, True] Translation: X:118.67, Y:100.42, Z:40.18 [[-8.17739463e-02 -9.96330972e-01 -2.52510479e-02 1.18669870e+02] [ 9.48416206e-01 -7.00049057e-02 -3.09202221e-01 1.00420315e+02] [ 3.06300053e-01 -4.92331889e-02 9.50661018e-01 4.01773199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.07071405700003 meters Centerline goodness : 0.989784 Centerline is valid? [True, True] Translation: X:118.65, Y:100.41, Z:40.19 [[-7.92339670e-02 -9.96699991e-01 1.76382076e-02 1.18650660e+02] [ 9.48097631e-01 -8.08126545e-02 -3.07538935e-01 1.00412354e+02] [ 3.07949444e-01 -7.64478694e-03 9.51372008e-01 4.01930399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.100714057 meters Centerline goodness : 0.988304 Centerline is valid? [True, True] Translation: X:118.67, Y:100.41, Z:40.17 [[-7.98494990e-02 -9.96604072e-01 -2.01092322e-02 1.18667881e+02] [ 9.49101759e-01 -6.98463941e-02 -3.07127550e-01 1.00405532e+02] [ 3.04680009e-01 -4.36096886e-02 9.51455878e-01 4.01744547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.13071405700003 meters Centerline goodness : 0.990190 Centerline is valid? [True, True] Translation: X:118.65, Y:100.41, Z:40.19 [[-7.98453514e-02 -9.96786382e-01 6.45203954e-03 1.18654498e+02] [ 9.47235367e-01 -7.78887889e-02 -3.10931658e-01 1.00410284e+02] [ 3.10434984e-01 -1.87148475e-02 9.50410372e-01 4.01900922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.160714057 meters Centerline goodness : 0.989554 Centerline is valid? [True, True] Translation: X:118.66, Y:100.43, Z:40.19 [[-7.92898265e-02 -9.96835246e-01 -5.71098928e-03 1.18657622e+02] [ 9.47675435e-01 -7.35999113e-02 -3.10635354e-01 1.00425845e+02] [ 3.09231941e-01 -3.00423876e-02 9.50512000e-01 4.01905136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.19071405700004 meters Centerline goodness : 0.987505 Centerline is valid? [True, True] Translation: X:118.66, Y:100.45, Z:40.19 [[-8.29562649e-02 -9.96341846e-01 -2.05227834e-02 1.18663164e+02] [ 9.47200173e-01 -7.24307584e-02 -3.12354953e-01 1.00445958e+02] [ 3.09725830e-01 -4.53509843e-02 9.49743754e-01 4.01926559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.220714057 meters Centerline goodness : 0.989983 Centerline is valid? [True, True] Translation: X:118.65, Y:100.43, Z:40.20 [[-7.97194837e-02 -9.96780064e-01 8.62017255e-03 1.18648714e+02] [ 9.45805421e-01 -7.83679845e-02 -3.15135788e-01 1.00427178e+02] [ 3.14796616e-01 -1.69694564e-02 9.49007444e-01 4.02011810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.250714057 meters Centerline goodness : 0.991019 Centerline is valid? [True, True] Translation: X:118.65, Y:100.43, Z:40.20 [[-7.71368199e-02 -9.97020295e-01 -6.65390214e-04 1.18652570e+02] [ 9.46975638e-01 -7.30561814e-02 -3.12889653e-01 1.00426546e+02] [ 3.11908724e-01 -2.47654212e-02 9.49789251e-01 4.01953095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.280714057 meters Centerline goodness : 0.987828 Centerline is valid? [True, True] Translation: X:118.66, Y:100.41, Z:40.18 [[-7.72746364e-02 -9.96876334e-01 -1.63157814e-02 1.18659168e+02] [ 9.46472204e-01 -6.82037544e-02 -3.15497408e-01 1.00408197e+02] [ 3.13399102e-01 -3.98223811e-02 9.48786162e-01 4.01833955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.310714057 meters Centerline goodness : 0.990554 Centerline is valid? [True, True] Translation: X:118.65, Y:100.41, Z:40.20 [[-7.25492998e-02 -9.97297055e-01 1.16267973e-02 1.18645380e+02] [ 9.46440646e-01 -7.25177429e-02 -3.14628797e-01 1.00406755e+02] [ 3.14621522e-01 -1.18220254e-02 9.49143581e-01 4.01957865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.340714057 meters Centerline goodness : 0.990638 Centerline is valid? [True, True] Translation: X:118.65, Y:100.42, Z:40.19 [[-7.20914391e-02 -9.97339145e-01 -1.08376203e-02 1.18652827e+02] [ 9.46217669e-01 -6.49521054e-02 -3.16943761e-01 1.00423968e+02] [ 3.15396494e-01 -3.31036797e-02 9.48382411e-01 4.01939237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.370714057 meters Centerline goodness : 0.989752 Centerline is valid? [True, True] Translation: X:118.65, Y:100.41, Z:40.19 [[-6.86835151e-02 -9.97638203e-01 -7.69191978e-04 1.18648288e+02] [ 9.46714127e-01 -6.49343655e-02 -3.15461393e-01 1.00413528e+02] [ 3.14666390e-01 -2.23952022e-02 9.48938100e-01 4.01934285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.400714057 meters Centerline goodness : 0.990472 Centerline is valid? [True, True] Translation: X:118.65, Y:100.41, Z:40.19 [[-6.43468361e-02 -9.97926032e-01 -1.76624894e-03 1.18648779e+02] [ 9.47642011e-01 -6.05495504e-02 -3.13541659e-01 1.00408180e+02] [ 3.12784438e-01 -2.18491854e-02 9.49572803e-01 4.01892933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.430714057 meters Centerline goodness : 0.989812 Centerline is valid? [True, True] Translation: X:118.65, Y:100.44, Z:40.19 [[-6.10751369e-02 -9.97986536e-01 -1.71085058e-02 1.18653427e+02] [ 9.47479400e-01 -5.25761494e-02 -3.15465586e-01 1.00437460e+02] [ 3.13930908e-01 -3.54770606e-02 9.48782780e-01 4.01938627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.460714057 meters Centerline goodness : 0.991095 Centerline is valid? [True, True] Translation: X:118.64, Y:100.41, Z:40.20 [[-5.36279962e-02 -9.98472149e-01 1.33194118e-02 1.18638146e+02] [ 9.47719563e-01 -5.50949320e-02 -3.14312231e-01 1.00412248e+02] [ 3.14565840e-01 -4.23286799e-03 9.49226219e-01 4.01988475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.490714057 meters Centerline goodness : 0.989425 Centerline is valid? [True, True] Translation: X:118.65, Y:100.44, Z:40.19 [[-5.00666830e-02 -9.98379816e-01 -2.70383008e-02 1.18654278e+02] [ 9.50745734e-01 -3.93511405e-02 -3.07463880e-01 1.00441729e+02] [ 3.05901744e-01 -4.11002457e-02 9.51175532e-01 4.01896094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.520714057 meters Centerline goodness : 0.991231 Centerline is valid? [True, True] Translation: X:118.64, Y:100.44, Z:40.20 [[-4.66424936e-02 -9.98877033e-01 8.31565563e-03 1.18639456e+02] [ 9.49796235e-01 -4.69258431e-02 -3.09330047e-01 1.00435414e+02] [ 3.09372899e-01 -6.52974632e-03 9.50918383e-01 4.02027352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.550714057 meters Centerline goodness : 0.990865 Centerline is valid? [True, True] Translation: X:118.65, Y:100.47, Z:40.20 [[-4.38283648e-02 -9.98978020e-01 -1.10449370e-02 1.18648317e+02] [ 9.50371156e-01 -3.82821669e-02 -3.08754177e-01 1.00467230e+02] [ 3.08015812e-01 -2.40289802e-02 9.51077740e-01 4.02019980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.580714057 meters Centerline goodness : 0.990642 Centerline is valid? [True, True] Translation: X:118.65, Y:100.49, Z:40.21 [[-4.22005858e-02 -9.98972103e-01 -1.65483387e-02 1.18649977e+02] [ 9.50425204e-01 -3.50315082e-02 -3.08973666e-01 1.00493309e+02] [ 3.08076359e-01 -2.87668279e-02 9.50926615e-01 4.02090168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.610714057 meters Centerline goodness : 0.987889 Centerline is valid? [True, True] Translation: X:118.65, Y:100.51, Z:40.21 [[-3.52485219e-02 -9.98887696e-01 -3.13195347e-02 1.18653689e+02] [ 9.53248933e-01 -2.41935782e-02 -3.01216106e-01 1.00514195e+02] [ 3.00123330e-01 -4.04727355e-02 9.53041418e-01 4.02102023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.640714057 meters Centerline goodness : 0.987950 Centerline is valid? [True, True] Translation: X:118.64, Y:100.54, Z:40.23 [[-3.44256330e-02 -9.99381155e-01 -7.22373454e-03 1.18642593e+02] [ 9.52883812e-01 -3.06425852e-02 -3.01783818e-01 1.00536719e+02] [ 3.01375706e-01 -1.72724787e-02 9.53349015e-01 4.02284983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.670714057 meters Centerline goodness : 0.988441 Centerline is valid? [True, True] Translation: X:118.64, Y:100.57, Z:40.24 [[-3.59482627e-02 -9.99312650e-01 -9.05258619e-03 1.18644250e+02] [ 9.52901543e-01 -3.15462643e-02 -3.01634684e-01 1.00565681e+02] [ 3.01141781e-01 -1.94694662e-02 9.53380600e-01 4.02389262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.700714057 meters Centerline goodness : 0.987275 Centerline is valid? [True, True] Translation: X:118.65, Y:100.57, Z:40.24 [[-3.71901796e-02 -9.99263359e-01 -9.46728088e-03 1.18646766e+02] [ 9.52549465e-01 -3.25843607e-02 -3.02634723e-01 1.00566105e+02] [ 3.02103305e-01 -2.02730930e-02 9.53059597e-01 4.02415441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.730714057 meters Centerline goodness : 0.988315 Centerline is valid? [True, True] Translation: X:118.64, Y:100.57, Z:40.25 [[-3.60423535e-02 -9.99347383e-01 2.39933212e-03 1.18642322e+02] [ 9.53610978e-01 -3.51106673e-02 -2.98987196e-01 1.00569924e+02] [ 2.98876314e-01 -8.48817275e-03 9.54254107e-01 4.02462525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.76071405700003 meters Centerline goodness : 0.983529 Centerline is valid? [True, True] Translation: X:118.65, Y:100.59, Z:40.25 [[-3.72400077e-02 -9.99291605e-01 -5.42861362e-03 1.18645636e+02] [ 9.53748386e-01 -3.39201743e-02 -2.98686187e-01 1.00586960e+02] [ 2.98290459e-01 -1.63006074e-02 9.54335943e-01 4.02515210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.790714057 meters Centerline goodness : 0.986515 Centerline is valid? [True, True] Translation: X:118.65, Y:100.62, Z:40.26 [[-4.25902161e-02 -9.98944035e-01 -1.72304760e-02 1.18652557e+02] [ 9.52410154e-01 -3.53840410e-02 -3.02758763e-01 1.00622072e+02] [ 3.01829376e-01 -2.93050415e-02 9.52911456e-01 4.02593130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.82071405700003 meters Centerline goodness : 0.987437 Centerline is valid? [True, True] Translation: X:118.65, Y:100.63, Z:40.27 [[-4.28726157e-02 -9.99073800e-01 3.67162563e-03 1.18645772e+02] [ 9.53896877e-01 -4.20261039e-02 -2.97177649e-01 1.00625680e+02] [ 2.97056707e-01 -9.23843091e-03 9.54815147e-01 4.02663587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.850714057 meters Centerline goodness : 0.987554 Centerline is valid? [True, True] Translation: X:118.65, Y:100.65, Z:40.27 [[-4.77055517e-02 -9.98823820e-01 -8.66927841e-03 1.18654298e+02] [ 9.52476768e-01 -4.28743868e-02 -3.01578835e-01 1.00653454e+02] [ 3.00852434e-01 -2.26442710e-02 9.53401830e-01 4.02694538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.88071405700003 meters Centerline goodness : 0.987503 Centerline is valid? [True, True] Translation: X:118.66, Y:100.68, Z:40.28 [[-5.16777284e-02 -9.98615788e-01 -9.79389064e-03 1.18657081e+02] [ 9.52074603e-01 -4.63040558e-02 -3.02340678e-01 1.00676526e+02] [ 3.01468677e-01 -2.49487940e-02 9.53149618e-01 4.02780424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.910714057 meters Centerline goodness : 0.987503 Centerline is valid? [True, True] Translation: X:118.65, Y:100.70, Z:40.29 [[-5.20838052e-02 -9.98629297e-01 -5.17734248e-03 1.18654949e+02] [ 9.52033330e-01 -4.80868782e-02 -3.02192309e-01 1.00702017e+02] [ 3.01529131e-01 -2.06683280e-02 9.53232922e-01 4.02878518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.94071405700004 meters Centerline goodness : 0.987508 Centerline is valid? [True, True] Translation: X:118.65, Y:100.73, Z:40.30 [[-5.41006058e-02 -9.98519787e-01 -5.59998865e-03 1.18654701e+02] [ 9.52619748e-01 -4.99310073e-02 -3.00037516e-01 1.00726867e+02] [ 2.99313783e-01 -2.15668711e-02 9.53910965e-01 4.02973787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.970714057 meters Centerline goodness : 0.988565 Centerline is valid? [True, True] Translation: X:118.66, Y:100.75, Z:40.30 [[-6.11965502e-02 -9.97947294e-01 -1.88727750e-02 1.18660483e+02] [ 9.52336028e-01 -5.27173549e-02 -3.00461264e-01 1.00753527e+02] [ 2.98849583e-01 -3.63604164e-02 9.53607281e-01 4.03049025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.000714057 meters Centerline goodness : 0.988358 Centerline is valid? [True, True] Translation: X:118.65, Y:100.75, Z:40.31 [[-6.30382571e-02 -9.98001525e-01 4.37418793e-03 1.18653066e+02] [ 9.51430059e-01 -6.14188254e-02 -3.01676268e-01 1.00749637e+02] [ 3.01342033e-01 -1.48554123e-02 9.53400386e-01 4.03120167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.030714057 meters Centerline goodness : 0.987734 Centerline is valid? [True, True] Translation: X:118.65, Y:100.75, Z:40.32 [[-6.51824341e-02 -9.97776426e-01 1.39088006e-02 1.18650941e+02] [ 9.51790257e-01 -6.63530543e-02 -2.99487192e-01 1.00748353e+02] [ 2.99744152e-01 -6.28304324e-03 9.53998934e-01 4.03152798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.060714057 meters Centerline goodness : 0.989393 Centerline is valid? [True, True] Translation: X:118.66, Y:100.77, Z:40.31 [[-6.93444838e-02 -9.97493580e-01 -1.40677143e-02 1.18662895e+02] [ 9.50738119e-01 -6.18100085e-02 -3.03770558e-01 1.00770169e+02] [ 3.02139656e-01 -3.44395248e-02 9.52641353e-01 4.03117147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.090714057 meters Centerline goodness : 0.989265 Centerline is valid? [True, True] Translation: X:118.66, Y:100.78, Z:40.32 [[-7.07357672e-02 -9.97494840e-01 7.04019742e-04 1.18657138e+02] [ 9.50590123e-01 -6.76234431e-02 -3.02994206e-01 1.00780409e+02] [ 3.02282765e-01 -2.07632934e-02 9.52992138e-01 4.03196455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.120714057 meters Centerline goodness : 0.990857 Centerline is valid? [True, True] Translation: X:118.65, Y:100.76, Z:40.32 [[-6.88625747e-02 -9.97411668e-01 2.06860157e-02 1.18651070e+02] [ 9.51885566e-01 -7.18977562e-02 -2.97900289e-01 1.00757778e+02] [ 2.98616503e-01 -8.23461157e-04 9.54372834e-01 4.03181010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.150714057 meters Centerline goodness : 0.991143 Centerline is valid? [True, True] Translation: X:118.66, Y:100.79, Z:40.31 [[-6.74463015e-02 -9.97673924e-01 -9.88625058e-03 1.18664236e+02] [ 9.53382012e-01 -6.15245300e-02 -2.95427608e-01 1.00785673e+02] [ 2.94132174e-01 -2.93508730e-02 9.55313975e-01 4.03132936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.180714057 meters Centerline goodness : 0.991186 Centerline is valid? [True, True] Translation: X:118.66, Y:100.82, Z:40.33 [[-6.96366002e-02 -9.97572318e-01 4.62711300e-04 1.18660422e+02] [ 9.52934350e-01 -6.66577828e-02 -2.95758119e-01 1.00815552e+02] [ 2.95070956e-01 -2.01546564e-02 9.55262750e-01 4.03264326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.210714057 meters Centerline goodness : 0.991318 Centerline is valid? [True, True] Translation: X:118.66, Y:100.84, Z:40.33 [[-7.01602681e-02 -9.97486433e-01 -9.91733232e-03 1.18664474e+02] [ 9.53188945e-01 -6.41065407e-02 -2.95501583e-01 1.00842857e+02] [ 2.94123054e-01 -3.01855618e-02 9.55290773e-01 4.03310347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.240714057 meters Centerline goodness : 0.991611 Centerline is valid? [True, True] Translation: X:118.66, Y:100.87, Z:40.34 [[-6.92262836e-02 -9.97581989e-01 -6.15598540e-03 1.18663563e+02] [ 9.53638581e-01 -6.43626781e-02 -2.93991331e-01 1.00868496e+02] [ 2.92884241e-01 -2.62225125e-02 9.55788262e-01 4.03397097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.270714057 meters Centerline goodness : 0.991834 Centerline is valid? [True, True] Translation: X:118.66, Y:100.90, Z:40.35 [[-6.85877838e-02 -9.97643709e-01 -1.65685765e-03 1.18663264e+02] [ 9.53697983e-01 -6.50788548e-02 -2.93640767e-01 1.00897430e+02] [ 2.92841038e-01 -2.17203112e-02 9.55914408e-01 4.03481475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.300714057 meters Centerline goodness : 0.991994 Centerline is valid? [True, True] Translation: X:118.67, Y:100.92, Z:40.35 [[-7.00116075e-02 -9.97407629e-01 -1.66251560e-02 1.18668647e+02] [ 9.53220889e-01 -6.19786074e-02 -2.95852310e-01 1.00922249e+02] [ 2.94054947e-01 -3.65605418e-02 9.55089009e-01 4.03527718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.330714057 meters Centerline goodness : 0.992104 Centerline is valid? [True, True] Translation: X:118.66, Y:100.95, Z:40.36 [[-7.12731365e-02 -9.97436340e-01 -6.39441120e-03 1.18664007e+02] [ 9.52333043e-01 -6.61410458e-02 -2.97803857e-01 1.00949019e+02] [ 2.96617456e-01 -2.73150240e-02 9.54605664e-01 4.03649923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.360714057 meters Centerline goodness : 0.990600 Centerline is valid? [True, True] Translation: X:118.66, Y:100.96, Z:40.37 [[-7.11935883e-02 -9.97435985e-01 -7.27516963e-03 1.18664551e+02] [ 9.52607125e-01 -6.58276091e-02 -2.96995607e-01 1.00963669e+02] [ 2.95755199e-01 -2.80745614e-02 9.54851131e-01 4.03673263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.390714057 meters Centerline goodness : 0.992262 Centerline is valid? [True, True] Translation: X:118.66, Y:100.91, Z:40.35 [[-6.32179313e-02 -9.97824391e-01 1.87076716e-02 1.18655877e+02] [ 9.56166757e-01 -6.59277006e-02 -2.85304523e-01 1.00905201e+02] [ 2.85917165e-01 -1.48708006e-04 9.58254326e-01 4.03539774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.420714057 meters Centerline goodness : 0.992494 Centerline is valid? [True, True] Translation: X:118.68, Y:100.92, Z:40.34 [[-6.73571373e-02 -9.95638564e-01 -6.45512649e-02 1.18682858e+02] [ 9.57357293e-01 -4.62782158e-02 -2.85175981e-01 1.00922498e+02] [ 2.80944887e-01 -8.10072619e-02 9.56299009e-01 4.03356999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.450714057 meters Centerline goodness : 0.991942 Centerline is valid? [True, True] Translation: X:118.64, Y:100.96, Z:40.38 [[-5.95096319e-02 -9.96380433e-01 6.07012136e-02 1.18639323e+02] [ 9.57801081e-01 -7.41240071e-02 -2.77709777e-01 1.00956159e+02] [ 2.81204005e-01 4.16132814e-02 9.58745348e-01 4.03796370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.480714057 meters Centerline goodness : 0.992380 Centerline is valid? [True, True] Translation: X:118.67, Y:100.97, Z:40.36 [[-6.89296162e-02 -9.95903702e-01 -5.85194412e-02 1.18672893e+02] [ 9.54269546e-01 -4.87166003e-02 -2.94951397e-01 1.00972490e+02] [ 2.90892320e-01 -7.61742072e-02 9.53718590e-01 4.03593804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.51071405700003 meters Centerline goodness : 0.992749 Centerline is valid? [True, True] Translation: X:118.64, Y:101.01, Z:40.39 [[-5.83233186e-02 -9.97411469e-01 4.20565293e-02 1.18638433e+02] [ 9.56141968e-01 -6.79239032e-02 -2.84919077e-01 1.01009739e+02] [ 2.87038199e-01 2.35945866e-02 9.57628513e-01 4.03944770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.540714057 meters Centerline goodness : 0.993468 Centerline is valid? [True, True] Translation: X:118.66, Y:101.04, Z:40.38 [[-5.73290871e-02 -9.98217754e-01 -1.65738103e-02 1.18660841e+02] [ 9.57514283e-01 -5.02765686e-02 -2.83969478e-01 1.01041518e+02] [ 2.82630100e-01 -3.21493710e-02 9.58690067e-01 4.03802571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.57071405700003 meters Centerline goodness : 0.991820 Centerline is valid? [True, True] Translation: X:118.66, Y:101.06, Z:40.38 [[-5.10690225e-02 -9.98242449e-01 -3.00660531e-02 1.18662719e+02] [ 9.59043971e-01 -4.06204283e-02 -2.80329525e-01 1.01060757e+02] [ 2.78615535e-01 -4.31508218e-02 9.59432848e-01 4.03827017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.600714057 meters Centerline goodness : 0.992055 Centerline is valid? [True, True] Translation: X:118.64, Y:101.09, Z:40.41 [[-5.43606130e-02 -9.98426010e-01 1.37994912e-02 1.18643280e+02] [ 9.57356298e-01 -5.60417688e-02 -2.83422369e-01 1.01091716e+02] [ 2.83749613e-01 -2.19598390e-03 9.58895894e-01 4.04093777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.63071405700003 meters Centerline goodness : 0.990566 Centerline is valid? [True, True] Translation: X:118.66, Y:101.12, Z:40.40 [[-4.69037677e-02 -9.98098812e-01 -3.99849724e-02 1.18662250e+02] [ 9.59985206e-01 -3.39764149e-02 -2.77982028e-01 1.01115248e+02] [ 2.76094986e-01 -5.14233865e-02 9.59753715e-01 4.03983006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.660714057 meters Centerline goodness : 0.990082 Centerline is valid? [True, True] Translation: X:118.64, Y:101.14, Z:40.42 [[-4.54287640e-02 -9.98967108e-01 -9.72345523e-04 1.18643137e+02] [ 9.58035035e-01 -4.32915360e-02 -2.83363220e-01 1.01135443e+02] [ 2.83028442e-01 -1.38043819e-02 9.59012169e-01 4.04225778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.69071405700004 meters Centerline goodness : 0.992523 Centerline is valid? [True, True] Translation: X:118.64, Y:101.17, Z:40.44 [[-4.31264209e-02 -9.99024807e-01 9.46293102e-03 1.18635625e+02] [ 9.57500793e-01 -4.40339280e-02 -2.85049549e-01 1.01169870e+02] [ 2.85188261e-01 -3.23240287e-03 9.58466070e-01 4.04361326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.720714057 meters Centerline goodness : 0.992629 Centerline is valid? [True, True] Translation: X:118.64, Y:101.17, Z:40.43 [[-3.95766970e-02 -9.99176757e-01 -8.91588229e-03 1.18641569e+02] [ 9.57687801e-01 -3.53846456e-02 -2.85625633e-01 1.01165002e+02] [ 2.85075008e-01 -1.98427508e-02 9.58299799e-01 4.04271209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.750714057 meters Centerline goodness : 0.991950 Centerline is valid? [True, True] Translation: X:118.63, Y:101.16, Z:40.43 [[-2.99922463e-02 -9.99532039e-01 6.01405616e-03 1.18634404e+02] [ 9.59335323e-01 -3.04745408e-02 -2.80619029e-01 1.01157801e+02] [ 2.80670986e-01 -2.64689852e-03 9.59800392e-01 4.04275919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.780714057 meters Centerline goodness : 0.990331 Centerline is valid? [True, True] Translation: X:118.65, Y:101.18, Z:40.42 [[-2.40993084e-02 -9.99118269e-01 -3.43788947e-02 1.18650449e+02] [ 9.60518324e-01 -1.36064863e-02 -2.77883812e-01 1.01181457e+02] [ 2.77171017e-01 -3.97183660e-02 9.59999312e-01 4.04194323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.810714057 meters Centerline goodness : 0.990827 Centerline is valid? [True, True] Translation: X:118.63, Y:101.21, Z:40.45 [[-2.43631256e-02 -9.99678301e-01 7.05208144e-03 1.18631971e+02] [ 9.58977348e-01 -2.53629705e-02 -2.82345825e-01 1.01209972e+02] [ 2.82433857e-01 -1.16040423e-04 9.59286768e-01 4.04458158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.840714057 meters Centerline goodness : 0.987188 Centerline is valid? [True, True] Translation: X:118.65, Y:101.21, Z:40.43 [[-2.60879238e-02 -9.99246408e-01 -2.87408401e-02 1.18648760e+02] [ 9.58492554e-01 -1.68375526e-02 -2.84619959e-01 1.01211303e+02] [ 2.83921547e-01 -3.49730250e-02 9.58209498e-01 4.04309852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.870714057 meters Centerline goodness : 0.990638 Centerline is valid? [True, True] Translation: X:118.63, Y:101.22, Z:40.46 [[-2.32415936e-02 -9.99532677e-01 1.98558665e-02 1.18625682e+02] [ 9.58059982e-01 -2.79428350e-02 -2.85202154e-01 1.01215004e+02] [ 2.85623701e-01 1.23945586e-02 9.58261695e-01 4.04558573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.900714057 meters Centerline goodness : 0.990548 Centerline is valid? [True, True] Translation: X:118.64, Y:101.22, Z:40.45 [[-2.08507793e-02 -9.99780920e-01 -1.83249508e-03 1.18635821e+02] [ 9.58855964e-01 -1.94781548e-02 -2.83224013e-01 1.01219215e+02] [ 2.83126270e-01 -7.66254022e-03 9.59052032e-01 4.04456237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.930714057 meters Centerline goodness : 0.989994 Centerline is valid? [True, True] Translation: X:118.64, Y:101.23, Z:40.45 [[-2.28894193e-02 -9.99675831e-01 -1.11493332e-02 1.18641371e+02] [ 9.58025927e-01 -1.87452656e-02 -2.86068065e-01 1.01225802e+02] [ 2.85766334e-01 -1.72292822e-02 9.58144433e-01 4.04451587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.960714057 meters Centerline goodness : 0.989845 Centerline is valid? [True, True] Translation: X:118.64, Y:101.22, Z:40.45 [[-2.35574139e-02 -9.99685059e-01 -8.65049352e-03 1.18641568e+02] [ 9.58123044e-01 -2.01062192e-02 -2.85650087e-01 1.01222301e+02] [ 2.85386196e-01 -1.50174145e-02 9.58294942e-01 4.04458278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.990714057 meters Centerline goodness : 0.989625 Centerline is valid? [True, True] Translation: X:118.64, Y:101.24, Z:40.45 [[-2.95797334e-02 -9.99498225e-01 -1.13286248e-02 1.18643382e+02] [ 9.56446742e-01 -2.50092442e-02 -2.90833575e-01 1.01239814e+02] [ 2.90404321e-01 -1.94380059e-02 9.56706587e-01 4.04541678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.020714057 meters Centerline goodness : 0.986697 Centerline is valid? [True, True] Translation: X:118.65, Y:101.25, Z:40.45 [[-3.03730725e-02 -9.99429302e-01 -1.47833626e-02 1.18646999e+02] [ 9.57360628e-01 -2.48371236e-02 -2.87825895e-01 1.01253018e+02] [ 2.87294457e-01 -2.28951661e-02 9.57568643e-01 4.04544540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.050714057 meters Centerline goodness : 0.984865 Centerline is valid? [True, True] Translation: X:118.65, Y:101.24, Z:40.45 [[-3.70884322e-02 -9.99298110e-01 -5.26636605e-03 1.18647176e+02] [ 9.57076233e-01 -3.40044818e-02 -2.87834638e-01 1.01244802e+02] [ 2.87453530e-01 -1.57156492e-02 9.57665645e-01 4.04531114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.080714057 meters Centerline goodness : 0.988174 Centerline is valid? [True, True] Translation: X:118.63, Y:101.22, Z:40.46 [[-2.81505817e-02 -9.98485635e-01 4.72650150e-02 1.18628952e+02] [ 9.61177379e-01 -4.00222884e-02 -2.73013300e-01 1.01223889e+02] [ 2.74491513e-01 3.77445801e-02 9.60848456e-01 4.04621714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.110714057 meters Centerline goodness : 0.988096 Centerline is valid? [True, True] Translation: X:118.67, Y:101.25, Z:40.44 [[-3.71211595e-02 -9.98333268e-01 -4.41894256e-02 1.18668287e+02] [ 9.60565501e-01 -2.34531435e-02 -2.77062931e-01 1.01253143e+02] [ 2.75564760e-01 -5.27317350e-02 9.59835104e-01 4.04424169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.140714057 meters Centerline goodness : 0.986571 Centerline is valid? [True, True] Translation: X:118.66, Y:101.27, Z:40.46 [[-3.75880400e-02 -9.98887708e-01 -2.84690438e-02 1.18662673e+02] [ 9.61147395e-01 -2.83422334e-02 -2.74576771e-01 1.01270280e+02] [ 2.73464485e-01 -3.76837500e-02 9.61143647e-01 4.04558667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.170714057 meters Centerline goodness : 0.985349 Centerline is valid? [True, True] Translation: X:118.66, Y:101.29, Z:40.47 [[-4.42186002e-02 -9.98949119e-01 -1.20571016e-02 1.18657999e+02] [ 9.60351066e-01 -3.91784668e-02 -2.76026951e-01 1.01287627e+02] [ 2.75264500e-01 -2.37845757e-02 9.61074268e-01 4.04698012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.200714057 meters Centerline goodness : 0.989244 Centerline is valid? [True, True] Translation: X:118.65, Y:101.32, Z:40.49 [[-5.40855710e-02 -9.98412642e-01 1.57145853e-02 1.18649072e+02] [ 9.58356887e-01 -5.63222024e-02 -2.79964082e-01 1.01322782e+02] [ 2.80404759e-01 -8.18362373e-05 9.59881849e-01 4.04909482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.230714057 meters Centerline goodness : 0.987675 Centerline is valid? [True, True] Translation: X:118.66, Y:101.35, Z:40.49 [[-5.78105143e-02 -9.98239043e-01 -1.32949988e-02 1.18664510e+02] [ 9.59407186e-01 -5.18696081e-02 -2.77213628e-01 1.01351915e+02] [ 2.76035860e-01 -2.87811798e-02 9.60716320e-01 4.04859818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.26071405700003 meters Centerline goodness : 0.988594 Centerline is valid? [True, True] Translation: X:118.66, Y:101.36, Z:40.50 [[-6.03591645e-02 -9.98176715e-01 1.27486906e-04 1.18660266e+02] [ 9.58418542e-01 -5.79906973e-02 -2.79411841e-01 1.01364383e+02] [ 2.78909787e-01 -1.67428795e-02 9.60171342e-01 4.04965815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.290714057 meters Centerline goodness : 0.989542 Centerline is valid? [True, True] Translation: X:118.66, Y:101.40, Z:40.50 [[-6.33276434e-02 -9.97989581e-01 2.53102380e-03 1.18662561e+02] [ 9.58383528e-01 -6.15214432e-02 -2.78776120e-01 1.01396290e+02] [ 2.78371376e-01 -1.52285432e-02 9.60352783e-01 4.05043002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.32071405700003 meters Centerline goodness : 0.989526 Centerline is valid? [True, True] Translation: X:118.67, Y:101.41, Z:40.50 [[-6.53300415e-02 -9.97814013e-01 -9.95898184e-03 1.18668009e+02] [ 9.57562808e-01 -5.98807235e-02 -2.81935750e-01 1.01406336e+02] [ 2.80723091e-01 -2.79552249e-02 9.59381598e-01 4.05044763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.350714057 meters Centerline goodness : 0.988429 Centerline is valid? [True, True] Translation: X:118.67, Y:101.41, Z:40.51 [[-6.47866502e-02 -9.97879680e-01 -6.23172714e-03 1.18668730e+02] [ 9.57434005e-01 -6.03980213e-02 -2.82262652e-01 1.01412085e+02] [ 2.81287781e-01 -2.42533192e-02 9.59316924e-01 4.05064116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.38071405700003 meters Centerline goodness : 0.990532 Centerline is valid? [True, True] Translation: X:118.67, Y:101.41, Z:40.51 [[-6.37680058e-02 -9.97964058e-01 1.17520967e-03 1.18666847e+02] [ 9.58009658e-01 -6.15447882e-02 -2.80053094e-01 1.01407894e+02] [ 2.79555250e-01 -1.67325651e-02 9.59983793e-01 4.05063501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.410714057 meters Centerline goodness : 0.989761 Centerline is valid? [True, True] Translation: X:118.67, Y:101.40, Z:40.50 [[-6.09713472e-02 -9.98134776e-01 3.07623336e-03 1.18667999e+02] [ 9.59273564e-01 -5.94485954e-02 -2.76152301e-01 1.01399320e+02] [ 2.75820092e-01 -1.38864284e-02 9.61108966e-01 4.05018776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.44071405700004 meters Centerline goodness : 0.988464 Centerline is valid? [True, True] Translation: X:118.68, Y:101.43, Z:40.51 [[-6.70852451e-02 -9.97438271e-01 -2.48287162e-02 1.18679693e+02] [ 9.56277316e-01 -5.71772527e-02 -2.86817811e-01 1.01430866e+02] [ 2.84663424e-01 -4.29843812e-02 9.57663343e-01 4.05056812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.470714057 meters Centerline goodness : 0.987782 Centerline is valid? [True, True] Translation: X:118.67, Y:101.42, Z:40.51 [[-6.74130403e-02 -9.97658915e-01 -1.14965643e-02 1.18674630e+02] [ 9.57584549e-01 -6.14610409e-02 -2.81521531e-01 1.01421228e+02] [ 2.80155874e-01 -2.99871546e-02 9.59486038e-01 4.05052879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.500714057 meters Centerline goodness : 0.989342 Centerline is valid? [True, True] Translation: X:118.66, Y:101.41, Z:40.51 [[-6.49522740e-02 -9.97748198e-01 1.67253223e-02 1.18663180e+02] [ 9.56947157e-01 -6.70303398e-02 -2.82416488e-01 1.01412333e+02] [ 2.82901646e-01 -2.33834350e-03 9.59146074e-01 4.05134996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.530714057 meters Centerline goodness : 0.988554 Centerline is valid? [True, True] Translation: X:118.68, Y:101.43, Z:40.51 [[-6.86728285e-02 -9.97348449e-01 -2.40855378e-02 1.18679699e+02] [ 9.55767090e-01 -5.88503795e-02 -2.88176860e-01 1.01432118e+02] [ 2.85995301e-01 -4.28100845e-02 9.57274247e-01 4.05065424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.560714057 meters Centerline goodness : 0.985559 Centerline is valid? [True, True] Translation: X:118.67, Y:101.42, Z:40.51 [[-6.84815906e-02 -9.97652380e-01 -1.75398376e-05 1.18671001e+02] [ 9.57451823e-01 -6.57171738e-02 -2.81011137e-01 1.01421546e+02] [ 2.80350277e-01 -1.92608832e-02 9.59704507e-01 4.05103415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.590714057 meters Centerline goodness : 0.989164 Centerline is valid? [True, True] Translation: X:118.67, Y:101.46, Z:40.53 [[-6.99148134e-02 -9.97541774e-01 4.72520507e-03 1.18666739e+02] [ 9.55487979e-01 -6.83269030e-02 -2.87008982e-01 1.01456866e+02] [ 2.86626308e-01 -1.55513028e-02 9.57916237e-01 4.05260662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.620714057 meters Centerline goodness : 0.986772 Centerline is valid? [True, True] Translation: X:118.68, Y:101.48, Z:40.52 [[-6.86430593e-02 -9.97341425e-01 -2.44583687e-02 1.18677789e+02] [ 9.59187728e-01 -5.92364274e-02 -2.76495837e-01 1.01484028e+02] [ 2.74311926e-01 -4.24396873e-02 9.60703826e-01 4.05225305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.650714057 meters Centerline goodness : 0.986444 Centerline is valid? [True, True] Translation: X:118.66, Y:101.48, Z:40.53 [[-6.80282684e-02 -9.97591791e-01 1.35193652e-02 1.18662638e+02] [ 9.60398985e-01 -6.91498361e-02 -2.69911262e-01 1.01476660e+02] [ 2.70196122e-01 -5.37761120e-03 9.62790287e-01 4.05326641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.680714057 meters Centerline goodness : 0.986048 Centerline is valid? [True, True] Translation: X:118.67, Y:101.49, Z:40.53 [[-6.81624655e-02 -9.97656331e-01 -5.97691351e-03 1.18670969e+02] [ 9.60413802e-01 -6.39936468e-02 -2.71127538e-01 1.01485299e+02] [ 2.70109620e-01 -2.42210317e-02 9.62524875e-01 4.05274954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.710714057 meters Centerline goodness : 0.985719 Centerline is valid? [True, True] Translation: X:118.67, Y:101.49, Z:40.53 [[-6.88271400e-02 -9.97628437e-01 -5.72285925e-04 1.18669653e+02] [ 9.60444212e-01 -6.61065939e-02 -2.70512168e-01 1.01486546e+02] [ 2.69832799e-01 -1.91682276e-02 9.62716386e-01 4.05291676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.740714057 meters Centerline goodness : 0.985483 Centerline is valid? [True, True] Translation: X:118.67, Y:101.49, Z:40.53 [[-7.15346012e-02 -9.97436204e-01 1.95452129e-03 1.18669654e+02] [ 9.59704349e-01 -6.93621473e-02 -2.72316829e-01 1.01494281e+02] [ 2.71754234e-01 -1.76043132e-02 9.62205656e-01 4.05328841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.770714057 meters Centerline goodness : 0.986500 Centerline is valid? [True, True] Translation: X:118.67, Y:101.50, Z:40.53 [[-7.14867928e-02 -9.97439931e-01 -1.79517224e-03 1.18671196e+02] [ 9.60129787e-01 -6.83248864e-02 -2.71076562e-01 1.01504444e+02] [ 2.70259932e-01 -2.11019923e-02 9.62556115e-01 4.05335305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.800714057 meters Centerline goodness : 0.986500 Centerline is valid? [True, True] Translation: X:118.67, Y:101.51, Z:40.53 [[-7.11284296e-02 -9.97466960e-01 -6.39739048e-04 1.18670613e+02] [ 9.60134239e-01 -6.82924145e-02 -2.71068977e-01 1.01506870e+02] [ 2.70338659e-01 -1.98949460e-02 9.62559713e-01 4.05346848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.830714057 meters Centerline goodness : 0.987868 Centerline is valid? [True, True] Translation: X:118.67, Y:101.50, Z:40.53 [[-7.11898637e-02 -9.97453857e-01 -4.21975302e-03 1.18671359e+02] [ 9.59394079e-01 -6.73146550e-02 -2.73919220e-01 1.01497594e+02] [ 2.72937731e-01 -2.35486780e-02 9.61743445e-01 4.05308571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.860714057 meters Centerline goodness : 0.987377 Centerline is valid? [True, True] Translation: X:118.67, Y:101.50, Z:40.53 [[-7.05776565e-02 -9.97506212e-01 3.88659541e-04 1.18668560e+02] [ 9.59236006e-01 -6.79767618e-02 -2.74309031e-01 1.01499167e+02] [ 2.73651382e-01 -1.89872724e-02 9.61641516e-01 4.05324158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.890714057 meters Centerline goodness : 0.989251 Centerline is valid? [True, True] Translation: X:118.67, Y:101.50, Z:40.53 [[-7.00063898e-02 -9.97513548e-01 -8.11344249e-03 1.18670660e+02] [ 9.58568032e-01 -6.50173296e-02 -2.77344685e-01 1.01502306e+02] [ 2.76127566e-01 -2.71931867e-02 9.60736227e-01 4.05310602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.920714057 meters Centerline goodness : 0.988381 Centerline is valid? [True, True] Translation: X:118.67, Y:101.51, Z:40.54 [[-7.12151624e-02 -9.97458811e-01 -2.07860082e-03 1.18667584e+02] [ 9.57870804e-01 -6.78071394e-02 -2.79080123e-01 1.01508254e+02] [ 2.78229984e-01 -2.18657673e-02 9.60265570e-01 4.05361006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.950714057 meters Centerline goodness : 0.989842 Centerline is valid? [True, True] Translation: X:118.66, Y:101.51, Z:40.55 [[-7.00214909e-02 -9.97400118e-01 1.70292275e-02 1.18658208e+02] [ 9.56273130e-01 -7.19742552e-02 -2.83480876e-01 1.01511162e+02] [ 2.83969525e-01 -3.56516083e-03 9.58826678e-01 4.05465000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.980714057 meters Centerline goodness : 0.989621 Centerline is valid? [True, True] Translation: X:118.67, Y:101.54, Z:40.54 [[-6.99942013e-02 -9.97511700e-01 -8.43915817e-03 1.18667063e+02] [ 9.57267812e-01 -6.47858001e-02 -2.81853039e-01 1.01540674e+02] [ 2.80604967e-01 -2.78066129e-02 9.59420473e-01 4.05437184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.01071405700003 meters Centerline goodness : 0.987686 Centerline is valid? [True, True] Translation: X:118.67, Y:101.56, Z:40.54 [[-6.55007379e-02 -9.97385930e-01 -3.05116300e-02 1.18674999e+02] [ 9.61126478e-01 -5.48411808e-02 -2.70607352e-01 1.01563031e+02] [ 2.68226672e-01 -4.70505168e-02 9.62206164e-01 4.05415000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.040714057 meters Centerline goodness : 0.990242 Centerline is valid? [True, True] Translation: X:118.65, Y:101.59, Z:40.57 [[-7.18133593e-02 -9.97231199e-01 1.93074231e-02 1.18653049e+02] [ 9.56821302e-01 -7.43439523e-02 -2.81008848e-01 1.01592170e+02] [ 2.81666181e-01 -1.70643565e-03 9.59510943e-01 4.05689063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.07071405700003 meters Centerline goodness : 0.987950 Centerline is valid? [True, True] Translation: X:118.67, Y:101.60, Z:40.56 [[-7.39529375e-02 -9.97061260e-01 -1.99951673e-02 1.18668901e+02] [ 9.58819949e-01 -6.55747779e-02 -2.76340829e-01 1.01604019e+02] [ 2.74217556e-01 -3.96079813e-02 9.60851674e-01 4.05550480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.100714057 meters Centerline goodness : 0.989627 Centerline is valid? [True, True] Translation: X:118.65, Y:101.60, Z:40.57 [[-7.39090806e-02 -9.97174676e-01 1.34206588e-02 1.18653841e+02] [ 9.57140609e-01 -7.47078577e-02 -2.79822427e-01 1.01601076e+02] [ 2.80034466e-01 -7.83596076e-03 9.59957965e-01 4.05680491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.13071405700003 meters Centerline goodness : 0.989703 Centerline is valid? [True, True] Translation: X:118.67, Y:101.63, Z:40.56 [[-7.34514354e-02 -9.96737997e-01 -3.34402680e-02 1.18670823e+02] [ 9.61213318e-01 -6.18157496e-02 -2.68789454e-01 1.01626731e+02] [ 2.65845527e-01 -5.18862022e-02 9.62618293e-01 4.05576769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.160714057 meters Centerline goodness : 0.988654 Centerline is valid? [True, True] Translation: X:118.66, Y:101.63, Z:40.57 [[-7.68128389e-02 -9.97034231e-01 -4.74663661e-03 1.18658387e+02] [ 9.60131304e-01 -7.26846946e-02 -2.69934832e-01 1.01628719e+02] [ 2.68789260e-01 -2.52918552e-02 9.62866894e-01 4.05702417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.19071405700004 meters Centerline goodness : 0.988971 Centerline is valid? [True, True] Translation: X:118.66, Y:101.63, Z:40.57 [[-7.71819028e-02 -9.97016686e-01 -8.25576891e-04 1.18656710e+02] [ 9.60563552e-01 -7.41380494e-02 -2.67994801e-01 1.01633622e+02] [ 2.67134081e-01 -2.14773677e-02 9.63420005e-01 4.05724153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.220714057 meters Centerline goodness : 0.988678 Centerline is valid? [True, True] Translation: X:118.66, Y:101.66, Z:40.58 [[-7.82525195e-02 -9.96915179e-01 -6.05553698e-03 1.18658870e+02] [ 9.60454842e-01 -7.37597055e-02 -2.68488365e-01 1.01660818e+02] [ 2.67213472e-01 -2.68259608e-02 9.63263893e-01 4.05772430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.250714057 meters Centerline goodness : 0.989623 Centerline is valid? [True, True] Translation: X:118.65, Y:101.69, Z:40.59 [[-8.39100836e-02 -9.96445854e-01 7.39983183e-03 1.18650540e+02] [ 9.55979435e-01 -8.25934337e-02 -2.81569965e-01 1.01688924e+02] [ 2.81180402e-01 -1.65524722e-02 9.59512166e-01 4.05941109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.280714057 meters Centerline goodness : 0.988616 Centerline is valid? [True, True] Translation: X:118.66, Y:101.72, Z:40.58 [[-8.13760867e-02 -9.96172361e-01 -3.19148794e-02 1.18664700e+02] [ 9.60044206e-01 -6.97420569e-02 -2.71018761e-01 1.01715678e+02] [ 2.67755589e-01 -5.26941412e-02 9.62044839e-01 4.05845545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.310714057 meters Centerline goodness : 0.987509 Centerline is valid? [True, True] Translation: X:118.65, Y:101.70, Z:40.59 [[-8.02011221e-02 -9.96778701e-01 3.42501273e-05 1.18650873e+02] [ 9.59717919e-01 -7.72284824e-02 -2.70143070e-01 1.01700575e+02] [ 2.69275503e-01 -2.16329069e-02 9.62820191e-01 4.05914469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.340714057 meters Centerline goodness : 0.982328 Centerline is valid? [True, True] Translation: X:118.65, Y:101.72, Z:40.60 [[-7.96598392e-02 -9.96820375e-01 -1.85733337e-03 1.18650081e+02] [ 9.59826461e-01 -7.62003382e-02 -2.70049392e-01 1.01719215e+02] [ 2.69049207e-01 -2.32948088e-02 9.62844679e-01 4.05966957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.370714057 meters Centerline goodness : 0.988604 Centerline is valid? [True, True] Translation: X:118.65, Y:101.75, Z:40.60 [[-8.09471800e-02 -9.96654498e-01 -1.12856265e-02 1.18652330e+02] [ 9.59652558e-01 -7.48728338e-02 -2.71036947e-01 1.01754663e+02] [ 2.69285206e-01 -3.27699569e-02 9.62502783e-01 4.06043044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.400714057 meters Centerline goodness : 0.987927 Centerline is valid? [True, True] Translation: X:118.64, Y:101.78, Z:40.61 [[-7.75995348e-02 -9.96980315e-01 2.92628568e-03 1.18644992e+02] [ 9.60185309e-01 -7.55250525e-02 -2.68961223e-01 1.01780966e+02] [ 2.68370053e-01 -1.80614893e-02 9.63146561e-01 4.06136832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.430714057 meters Centerline goodness : 0.986357 Centerline is valid? [True, True] Translation: X:118.65, Y:101.80, Z:40.62 [[-7.43510924e-02 -9.97228350e-01 2.74453298e-03 1.18645202e+02] [ 9.58582668e-01 -7.22279886e-02 -2.75503878e-01 1.01802232e+02] [ 2.74938510e-01 -1.78531526e-02 9.61296042e-01 4.06195215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.460714057 meters Centerline goodness : 0.989307 Centerline is valid? [True, True] Translation: X:118.64, Y:101.84, Z:40.63 [[-8.28730472e-02 -9.96534858e-01 7.09472985e-03 1.18640255e+02] [ 9.56436879e-01 -8.15341781e-02 -2.80322448e-01 1.01839209e+02] [ 2.79929554e-01 -1.64455142e-02 9.59879675e-01 4.06346704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.490714057 meters Centerline goodness : 0.986303 Centerline is valid? [True, True] Translation: X:118.65, Y:101.83, Z:40.62 [[-8.20721100e-02 -9.96387618e-01 -2.18147643e-02 1.18651943e+02] [ 9.58618742e-01 -7.29360954e-02 -2.75191629e-01 1.01831969e+02] [ 2.72606448e-01 -4.34975996e-02 9.61141864e-01 4.06182380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.520714057 meters Centerline goodness : 0.989516 Centerline is valid? [True, True] Translation: X:118.63, Y:101.84, Z:40.64 [[-8.02375970e-02 -9.96599029e-01 1.87697639e-02 1.18631651e+02] [ 9.57080053e-01 -8.22897104e-02 -2.77895981e-01 1.01835309e+02] [ 2.78495424e-01 -4.33353911e-03 9.60427779e-01 4.06369982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.550714057 meters Centerline goodness : 0.986605 Centerline is valid? [True, True] Translation: X:118.65, Y:101.86, Z:40.62 [[-7.53628187e-02 -9.96490913e-01 -3.64184884e-02 1.18653893e+02] [ 9.61682846e-01 -6.29784746e-02 -2.66832937e-01 1.01859218e+02] [ 2.63603016e-01 -5.51323178e-02 9.63054452e-01 4.06208054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.580714057 meters Centerline goodness : 0.987478 Centerline is valid? [True, True] Translation: X:118.64, Y:101.88, Z:40.64 [[-7.66613653e-02 -9.97012835e-01 -9.40435170e-03 1.18639830e+02] [ 9.60922786e-01 -7.13635432e-02 -2.67459611e-01 1.01882252e+02] [ 2.65989538e-01 -2.95406748e-02 9.63523178e-01 4.06398418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.610714057 meters Centerline goodness : 0.986373 Centerline is valid? [True, True] Translation: X:118.64, Y:101.91, Z:40.65 [[-7.66962146e-02 -9.97041198e-01 -5.15162832e-03 1.18636670e+02] [ 9.60999260e-01 -7.25448548e-02 -2.66866383e-01 1.01909035e+02] [ 2.65703055e-01 -2.54183524e-02 9.63719770e-01 4.06486296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.640714057 meters Centerline goodness : 0.986950 Centerline is valid? [True, True] Translation: X:118.63, Y:101.94, Z:40.66 [[-7.57983393e-02 -9.97119168e-01 -2.82444118e-03 1.18634200e+02] [ 9.61017558e-01 -7.22980620e-02 -2.66867466e-01 1.01935574e+02] [ 2.65894464e-01 -2.29424483e-02 9.63729100e-01 4.06562413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.670714057 meters Centerline goodness : 0.986688 Centerline is valid? [True, True] Translation: X:118.63, Y:101.93, Z:40.65 [[-7.45330949e-02 -9.97218244e-01 -7.68928281e-04 1.18632339e+02] [ 9.61243574e-01 -7.16390287e-02 -2.66230429e-01 1.01928281e+02] [ 2.65434756e-01 -2.05821052e-02 9.63909107e-01 4.06541719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.700714057 meters Centerline goodness : 0.986804 Centerline is valid? [True, True] Translation: X:118.63, Y:101.95, Z:40.66 [[-7.42582780e-02 -9.97213899e-01 -7.08152596e-03 1.18633660e+02] [ 9.60889888e-01 -6.96500267e-02 -2.68028911e-01 1.01954818e+02] [ 2.66788926e-01 -2.67079320e-02 9.63384843e-01 4.06589225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.730714057 meters Centerline goodness : 0.986436 Centerline is valid? [True, True] Translation: X:118.63, Y:101.98, Z:40.67 [[-7.18811429e-02 -9.97406319e-01 -3.70618467e-03 1.18630360e+02] [ 9.60852992e-01 -6.82490385e-02 -2.68521130e-01 1.01979289e+02] [ 2.67571729e-01 -2.28627043e-02 9.63266664e-01 4.06664924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.76071405700003 meters Centerline goodness : 0.987632 Centerline is valid? [True, True] Translation: X:118.63, Y:102.01, Z:40.68 [[-7.15262397e-02 -9.97436487e-01 2.10967558e-03 1.18625967e+02] [ 9.60878714e-01 -6.94717691e-02 -2.68115218e-01 1.02008889e+02] [ 2.67574465e-01 -1.71501310e-02 9.63384544e-01 4.06755589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.790714057 meters Centerline goodness : 0.991416 Centerline is valid? [True, True] Translation: X:118.62, Y:102.01, Z:40.68 [[-7.04123893e-02 -9.97447172e-01 1.18841996e-02 1.18619293e+02] [ 9.59609560e-01 -7.09848817e-02 -2.72232693e-01 1.02010913e+02] [ 2.72381328e-01 -7.76436278e-03 9.62158057e-01 4.06837495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.82071405700003 meters Centerline goodness : 0.987242 Centerline is valid? [True, True] Translation: X:118.64, Y:102.03, Z:40.67 [[-6.46079688e-02 -9.97180337e-01 -3.81730943e-02 1.18637665e+02] [ 9.62898680e-01 -5.22516931e-02 -2.64756291e-01 1.02033800e+02] [ 2.62015159e-01 -5.38621882e-02 9.63559506e-01 4.06694863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.850714057 meters Centerline goodness : 0.986650 Centerline is valid? [True, True] Translation: X:118.62, Y:102.06, Z:40.69 [[-6.48935708e-02 -9.97891949e-01 -6.94310824e-04 1.18620680e+02] [ 9.62446054e-01 -6.24046743e-02 -2.64203046e-01 1.02057986e+02] [ 2.63602764e-01 -1.78133158e-02 9.64466831e-01 4.06904048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.88071405700003 meters Centerline goodness : 0.987143 Centerline is valid? [True, True] Translation: X:118.62, Y:102.09, Z:40.70 [[-6.57564410e-02 -9.97830572e-01 -3.19986081e-03 1.18621216e+02] [ 9.62225397e-01 -6.25603743e-02 -2.64968839e-01 1.02087646e+02] [ 2.64193824e-01 -2.05023952e-02 9.64251666e-01 4.06974438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.910714057 meters Centerline goodness : 0.990552 Centerline is valid? [True, True] Translation: X:118.61, Y:102.12, Z:40.71 [[-6.87271919e-02 -9.97467344e-01 1.83158889e-02 1.18610513e+02] [ 9.59811001e-01 -7.11177546e-02 -2.71486847e-01 1.02120290e+02] [ 2.72101849e-01 -1.07873696e-03 9.62267853e-01 4.07142667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.94071405700004 meters Centerline goodness : 0.990682 Centerline is valid? [True, True] Translation: X:118.62, Y:102.15, Z:40.71 [[-6.74501403e-02 -9.97554646e-01 -1.83086700e-02 1.18623302e+02] [ 9.60739290e-01 -5.99890609e-02 -2.70889885e-01 1.02149414e+02] [ 2.69129143e-01 -3.58614194e-02 9.62436212e-01 4.07074047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.970714057 meters Centerline goodness : 0.991331 Centerline is valid? [True, True] Translation: X:118.62, Y:102.18, Z:40.72 [[-6.79913761e-02 -9.97643957e-01 -9.14923959e-03 1.18618010e+02] [ 9.60422348e-01 -6.29662544e-02 -2.71337732e-01 1.02175836e+02] [ 2.70122355e-01 -2.72357599e-02 9.62440713e-01 4.07192020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.000714057 meters Centerline goodness : 0.990367 Centerline is valid? [True, True] Translation: X:118.62, Y:102.20, Z:40.72 [[-6.50631230e-02 -9.97530414e-01 -2.64549116e-02 1.18623108e+02] [ 9.62553526e-01 -5.57459693e-02 -2.65298129e-01 1.02202217e+02] [ 2.63168198e-01 -4.27253932e-02 9.63803424e-01 4.07198195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.030714057 meters Centerline goodness : 0.986873 Centerline is valid? [True, True] Translation: X:118.62, Y:102.16, Z:40.71 [[-5.66166795e-02 -9.98394820e-01 1.52812573e-03 1.18617141e+02] [ 9.66202393e-01 -5.51765374e-02 -2.51810416e-01 1.02157962e+02] [ 2.51490532e-01 -1.27801909e-02 9.67775376e-01 4.07089207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.060714057 meters Centerline goodness : 0.990185 Centerline is valid? [True, True] Translation: X:118.60, Y:102.21, Z:40.73 [[-5.24742234e-02 -9.96862837e-01 5.92531813e-02 1.18601975e+02] [ 9.68009782e-01 -6.53547654e-02 -2.42251555e-01 1.02212346e+02] [ 2.45364051e-01 4.46456969e-02 9.68402419e-01 4.07298550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.090714057 meters Centerline goodness : 0.992662 Centerline is valid? [True, True] Translation: X:118.62, Y:102.23, Z:40.72 [[-4.67654703e-02 -9.98759386e-01 1.71078876e-02 1.18618936e+02] [ 9.68755648e-01 -4.95233543e-02 -2.43022495e-01 1.02227639e+02] [ 2.43568237e-01 5.20830144e-03 9.69869779e-01 4.07168286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.120714057 meters Centerline goodness : 0.990691 Centerline is valid? [True, True] Translation: X:118.64, Y:102.25, Z:40.70 [[-4.10828322e-02 -9.98795159e-01 -2.68408696e-02 1.18640848e+02] [ 9.70803823e-01 -3.35486227e-02 -2.37517214e-01 1.02250628e+02] [ 2.36330569e-01 -3.58150986e-02 9.71012431e-01 4.06990772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.150714057 meters Centerline goodness : 0.991748 Centerline is valid? [True, True] Translation: X:118.63, Y:102.25, Z:40.71 [[-4.32532089e-02 -9.99052938e-01 4.73155410e-03 1.18625260e+02] [ 9.69970804e-01 -4.31277732e-02 -2.39367154e-01 1.02248807e+02] [ 2.39344520e-01 -5.76392818e-03 9.70917596e-01 4.07137906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.180714057 meters Centerline goodness : 0.989792 Centerline is valid? [True, True] Translation: X:118.64, Y:102.23, Z:40.69 [[-3.16251950e-02 -9.99291624e-01 -2.03984674e-02 1.18641485e+02] [ 9.73203454e-01 -2.61361201e-02 -2.28455553e-01 1.02232978e+02] [ 2.27760583e-01 -2.70768103e-02 9.73340620e-01 4.06896379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.210714057 meters Centerline goodness : 0.992712 Centerline is valid? [True, True] Translation: X:118.63, Y:102.27, Z:40.71 [[-3.98280144e-02 -9.99206512e-01 -2.75344224e-04 1.18631366e+02] [ 9.70634619e-01 -3.86237200e-02 -2.37437667e-01 1.02274038e+02] [ 2.37238628e-01 -9.72392945e-03 9.71402738e-01 4.07095873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.240714057 meters Centerline goodness : 0.992379 Centerline is valid? [True, True] Translation: X:118.66, Y:102.33, Z:40.72 [[-8.43826102e-02 -9.91461047e-01 -9.94211596e-02 1.18658129e+02] [ 9.54557780e-01 -5.18116113e-02 -2.93487652e-01 1.02325260e+02] [ 2.85830405e-01 -1.19668496e-01 9.50778855e-01 4.07228323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.270714057 meters Centerline goodness : 0.992721 Centerline is valid? [True, True] Translation: X:118.60, Y:102.28, Z:40.75 [[-5.30367812e-02 -9.96298253e-01 6.76527222e-02 1.18600189e+02] [ 9.67636824e-01 -6.80123172e-02 -2.43008852e-01 1.02278737e+02] [ 2.46710513e-01 5.25748579e-02 9.67662032e-01 4.07453326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.300714057 meters Centerline goodness : 0.991583 Centerline is valid? [True, True] Translation: X:118.65, Y:102.39, Z:40.75 [[-9.10519136e-02 -9.92583614e-01 -8.05438960e-02 1.18648612e+02] [ 9.52288677e-01 -6.31255321e-02 -2.98599134e-01 1.02386508e+02] [ 2.91300231e-01 -1.03889063e-01 9.50973837e-01 4.07494016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.330714057 meters Centerline goodness : 0.989057 Centerline is valid? [True, True] Translation: X:118.62, Y:102.34, Z:40.77 [[-9.23950824e-02 -9.95711609e-01 -4.64113715e-03 1.18618296e+02] [ 9.51078792e-01 -8.68715217e-02 -2.96483508e-01 1.02340699e+02] [ 2.94808888e-01 -3.18077053e-02 9.55026696e-01 4.07667952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.360714057 meters Centerline goodness : 0.989872 Centerline is valid? [True, True] Translation: X:118.61, Y:102.35, Z:40.78 [[-9.35532219e-02 -9.95515337e-01 1.40359552e-02 1.18610067e+02] [ 9.50314792e-01 -9.34918360e-02 -2.96919305e-01 1.02349869e+02] [ 2.96899969e-01 -1.44391817e-02 9.54799413e-01 4.07791414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.390714057 meters Centerline goodness : 0.989433 Centerline is valid? [True, True] Translation: X:118.62, Y:102.34, Z:40.77 [[-9.43918063e-02 -9.95528549e-01 -3.61858274e-03 1.18619597e+02] [ 9.52270914e-01 -8.92292130e-02 -2.91921659e-01 1.02338979e+02] [ 2.90293462e-01 -3.10008837e-02 9.56435388e-01 4.07651496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.420714057 meters Centerline goodness : 0.988780 Centerline is valid? [True, True] Translation: X:118.62, Y:102.36, Z:40.77 [[-9.77341693e-02 -9.95212553e-01 7.49241870e-05 1.18617034e+02] [ 9.51169220e-01 -9.34310718e-02 -2.94189990e-01 1.02356565e+02] [ 2.92788571e-01 -2.86811487e-02 9.55746956e-01 4.07747767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.450714057 meters Centerline goodness : 0.989494 Centerline is valid? [True, True] Translation: X:118.61, Y:102.35, Z:40.78 [[-9.98325188e-02 -9.94795562e-01 2.03778821e-02 1.18608785e+02] [ 9.50079841e-01 -1.01389515e-01 -2.95073656e-01 1.02353045e+02] [ 2.95604067e-01 -1.00973313e-02 9.55257180e-01 4.07848465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.480714057 meters Centerline goodness : 0.988382 Centerline is valid? [True, True] Translation: X:118.62, Y:102.35, Z:40.77 [[-1.03083076e-01 -9.94601703e-01 -1.18882825e-02 1.18623089e+02] [ 9.50506795e-01 -9.49769507e-02 -2.95831391e-01 1.02351853e+02] [ 2.93105293e-01 -4.17951031e-02 9.55166193e-01 4.07706636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.51071405700003 meters Centerline goodness : 0.988842 Centerline is valid? [True, True] Translation: X:118.62, Y:102.36, Z:40.78 [[-1.05236024e-01 -9.94429790e-01 5.89685296e-03 1.18615385e+02] [ 9.48822815e-01 -1.02181619e-01 -2.98821324e-01 1.02361980e+02] [ 2.97759376e-01 -2.58516995e-02 9.54290859e-01 4.07817900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.540714057 meters Centerline goodness : 0.989906 Centerline is valid? [True, True] Translation: X:118.61, Y:102.36, Z:40.79 [[-1.07078816e-01 -9.94063504e-01 1.92841117e-02 1.18610530e+02] [ 9.47890222e-01 -1.07920278e-01 -2.99762142e-01 1.02361213e+02] [ 3.00063752e-01 -1.38189543e-02 9.53819051e-01 4.07877100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.57071405700003 meters Centerline goodness : 0.990041 Centerline is valid? [True, True] Translation: X:118.62, Y:102.35, Z:40.78 [[-1.07980544e-01 -9.94149883e-01 2.49250720e-03 1.18618149e+02] [ 9.48488397e-01 -1.03771462e-01 -2.99334669e-01 1.02353707e+02] [ 2.97842177e-01 -2.99582063e-02 9.54144928e-01 4.07769145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.600714057 meters Centerline goodness : 0.989931 Centerline is valid? [True, True] Translation: X:118.62, Y:102.36, Z:40.78 [[-1.07099073e-01 -9.94231622e-01 5.76806960e-03 1.18617195e+02] [ 9.48931285e-01 -1.03947382e-01 -2.97866342e-01 1.02364290e+02] [ 2.96747712e-01 -2.64277073e-02 9.54590159e-01 4.07808744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.63071405700003 meters Centerline goodness : 0.988620 Centerline is valid? [True, True] Translation: X:118.62, Y:102.37, Z:40.77 [[-1.07713763e-01 -9.94156987e-01 -7.04494153e-03 1.18622920e+02] [ 9.50162582e-01 -1.00856708e-01 -2.94989816e-01 1.02368755e+02] [ 2.92555657e-01 -3.84683030e-02 9.55474425e-01 4.07743311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.660714057 meters Centerline goodness : 0.988315 Centerline is valid? [True, True] Translation: X:118.62, Y:102.37, Z:40.78 [[-1.09437463e-01 -9.93988723e-01 3.13996187e-03 1.18617939e+02] [ 9.49872219e-01 -1.05509935e-01 -2.94296486e-01 1.02372036e+02] [ 2.92858686e-01 -2.92244982e-02 9.55709014e-01 4.07817045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.69071405700004 meters Centerline goodness : 0.990702 Centerline is valid? [True, True] Translation: X:118.61, Y:102.36, Z:40.79 [[-1.07107196e-01 -9.93983307e-01 2.29180042e-02 1.18609910e+02] [ 9.49535581e-01 -1.09098103e-01 -2.94074455e-01 1.02362609e+02] [ 2.94805410e-01 -9.73602979e-03 9.55507708e-01 4.07871486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.720714057 meters Centerline goodness : 0.990702 Centerline is valid? [True, True] Translation: X:118.62, Y:102.37, Z:40.78 [[-1.06601421e-01 -9.94300969e-01 1.31175933e-03 1.18618780e+02] [ 9.50021806e-01 -1.02243286e-01 -2.94965895e-01 1.02368233e+02] [ 2.93418994e-01 -3.01975834e-02 9.55506881e-01 4.07794756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.750714057 meters Centerline goodness : 0.987933 Centerline is valid? [True, True] Translation: X:118.62, Y:102.37, Z:40.77 [[-1.06877784e-01 -9.94234907e-01 -8.60745621e-03 1.18623816e+02] [ 9.51409045e-01 -9.97520012e-02 -2.91325191e-01 1.02368100e+02] [ 2.88787063e-01 -3.93254025e-02 9.56585357e-01 4.07735788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.780714057 meters Centerline goodness : 0.987714 Centerline is valid? [True, True] Translation: X:118.62, Y:102.36, Z:40.78 [[-1.07362550e-01 -9.94217938e-01 1.99378043e-03 1.18619542e+02] [ 9.50824430e-01 -1.03262208e-01 -2.92009965e-01 1.02361223e+02] [ 2.90527427e-01 -2.94551992e-02 9.56413198e-01 4.07759083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.810714057 meters Centerline goodness : 0.987923 Centerline is valid? [True, True] Translation: X:118.62, Y:102.36, Z:40.78 [[-1.05999224e-01 -9.94328100e-01 8.70597936e-03 1.18615903e+02] [ 9.51098403e-01 -1.03937576e-01 -2.90875931e-01 1.02357601e+02] [ 2.90130990e-01 -2.25523799e-02 9.56721171e-01 4.07770482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.840714057 meters Centerline goodness : 0.988838 Centerline is valid? [True, True] Translation: X:118.62, Y:102.36, Z:40.78 [[-1.05109417e-01 -9.94451228e-01 4.33195363e-03 1.18616444e+02] [ 9.51055725e-01 -1.01793687e-01 -2.91772264e-01 1.02361456e+02] [ 2.90594252e-01 -2.65480833e-02 9.56478008e-01 4.07771257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.870714057 meters Centerline goodness : 0.987545 Centerline is valid? [True, True] Translation: X:118.62, Y:102.36, Z:40.78 [[-1.05583535e-01 -9.94403175e-01 3.80029481e-03 1.18616085e+02] [ 9.50333345e-01 -1.02028008e-01 -2.94035403e-01 1.02364347e+02] [ 2.92777475e-01 -2.74337505e-02 9.55786974e-01 4.07793669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.900714057 meters Centerline goodness : 0.987833 Centerline is valid? [True, True] Translation: X:118.61, Y:102.37, Z:40.78 [[-1.04775677e-01 -9.94471316e-01 6.98999103e-03 1.18613964e+02] [ 9.50226869e-01 -1.02182934e-01 -2.94325578e-01 1.02369241e+02] [ 2.93412603e-01 -2.41960844e-02 9.55679650e-01 4.07819572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.930714057 meters Centerline goodness : 0.986954 Centerline is valid? [True, True] Translation: X:118.61, Y:102.37, Z:40.78 [[-1.04951355e-01 -9.94462577e-01 5.42181318e-03 1.18614959e+02] [ 9.50129312e-01 -1.01879564e-01 -2.94745390e-01 1.02368514e+02] [ 2.93665632e-01 -2.57825046e-02 9.55560442e-01 4.07811023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.960714057 meters Centerline goodness : 0.987947 Centerline is valid? [True, True] Translation: X:118.61, Y:102.39, Z:40.79 [[-1.04755277e-01 -9.94496919e-01 1.48660588e-03 1.18614370e+02] [ 9.49496444e-01 -1.00459511e-01 -2.97261483e-01 1.02389123e+02] [ 2.95774972e-01 -2.97281820e-02 9.54794952e-01 4.07881723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.990714057 meters Centerline goodness : 0.987581 Centerline is valid? [True, True] Translation: X:118.61, Y:102.38, Z:40.79 [[-1.03035904e-01 -9.94644749e-01 8.08861900e-03 1.18611981e+02] [ 9.49150883e-01 -1.00748710e-01 -2.98265482e-01 1.02375421e+02] [ 2.97483114e-01 -2.30547338e-02 9.54448677e-01 4.07865595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.020714057 meters Centerline goodness : 0.987498 Centerline is valid? [True, True] Translation: X:118.61, Y:102.38, Z:40.79 [[-9.97849155e-02 -9.94971717e-01 8.61697390e-03 1.18611728e+02] [ 9.49970800e-01 -9.78406825e-02 -2.96618746e-01 1.02376456e+02] [ 2.95970354e-01 -2.14122029e-02 9.54957102e-01 4.07866617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.050714057 meters Centerline goodness : 0.986160 Centerline is valid? [True, True] Translation: X:118.61, Y:102.38, Z:40.78 [[-9.95808128e-02 -9.95016666e-01 5.04930777e-03 1.18613355e+02] [ 9.49600227e-01 -9.65489241e-02 -2.98224268e-01 1.02375361e+02] [ 2.97225623e-01 -2.49025913e-02 9.54482472e-01 4.07846781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.080714057 meters Centerline goodness : 0.987785 Centerline is valid? [True, True] Translation: X:118.61, Y:102.38, Z:40.79 [[-9.76726427e-02 -9.95200817e-01 5.94882742e-03 1.18612526e+02] [ 9.48943756e-01 -9.49309735e-02 -3.00821970e-01 1.02384651e+02] [ 2.99942999e-01 -2.37369742e-02 9.53661761e-01 4.07873923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.110714057 meters Centerline goodness : 0.986426 Centerline is valid? [True, True] Translation: X:118.61, Y:102.39, Z:40.79 [[-9.62708792e-02 -9.95316296e-01 8.79706646e-03 1.18611785e+02] [ 9.49101851e-01 -9.44565515e-02 -3.00472356e-01 1.02387084e+02] [ 2.99895973e-01 -2.05774258e-02 9.53749954e-01 4.07887601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.140714057 meters Centerline goodness : 0.987596 Centerline is valid? [True, True] Translation: X:118.61, Y:102.37, Z:40.78 [[-9.16181696e-02 -9.95745004e-01 9.89936425e-03 1.18612644e+02] [ 9.50345677e-01 -9.04013843e-02 -2.97776231e-01 1.02373006e+02] [ 2.97404111e-01 -1.78738952e-02 9.54584370e-01 4.07824669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.170714057 meters Centerline goodness : 0.987653 Centerline is valid? [True, True] Translation: X:118.61, Y:102.32, Z:40.76 [[-7.32897910e-02 -9.96983751e-01 2.55344065e-02 1.18613619e+02] [ 9.58010625e-01 -7.74952183e-02 -2.76061830e-01 1.02317924e+02] [ 2.77207954e-01 4.22971884e-03 9.60800635e-01 4.07582010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.200714057 meters Centerline goodness : 0.987976 Centerline is valid? [True, True] Translation: X:118.63, Y:102.34, Z:40.75 [[-7.58390557e-02 -9.97061180e-01 -1.08370608e-02 1.18626415e+02] [ 9.57007652e-01 -6.97322479e-02 -2.81555978e-01 1.02337461e+02] [ 2.79972843e-01 -3.17240896e-02 9.59483606e-01 4.07531570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.230714057 meters Centerline goodness : 0.988010 Centerline is valid? [True, True] Translation: X:118.62, Y:102.38, Z:40.77 [[-8.60147570e-02 -9.96235946e-01 -1.07425518e-02 1.18619148e+02] [ 9.52814198e-01 -7.91055676e-02 -2.93065545e-01 1.02375567e+02] [ 2.91112635e-01 -3.54436176e-02 9.56031999e-01 4.07739948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.26071405700003 meters Centerline goodness : 0.986889 Centerline is valid? [True, True] Translation: X:118.61, Y:102.38, Z:40.78 [[-8.52009222e-02 -9.96353670e-01 4.49088796e-03 1.18613404e+02] [ 9.51753660e-01 -8.27189851e-02 -2.95503875e-01 1.02377749e+02] [ 2.94797852e-01 -2.09029836e-02 9.55330986e-01 4.07806117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.290714057 meters Centerline goodness : 0.990222 Centerline is valid? [True, True] Translation: X:118.60, Y:102.36, Z:40.78 [[-7.48356293e-02 -9.96373148e-01 4.04991137e-02 1.18600695e+02] [ 9.54893017e-01 -8.33054361e-02 -2.85025492e-01 1.02357504e+02] [ 2.87365543e-01 1.73422588e-02 9.57663976e-01 4.07842122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.32071405700003 meters Centerline goodness : 0.988711 Centerline is valid? [True, True] Translation: X:118.63, Y:102.39, Z:40.77 [[-8.30675567e-02 -9.96114469e-01 -2.92531481e-02 1.18626911e+02] [ 9.51566094e-01 -7.05648383e-02 -2.99236650e-01 1.02394797e+02] [ 2.96009713e-01 -5.26931613e-02 9.53730403e-01 4.07729267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.350714057 meters Centerline goodness : 0.988075 Centerline is valid? [True, True] Translation: X:118.62, Y:102.39, Z:40.78 [[-8.22029698e-02 -9.96554855e-01 -1.10041719e-02 1.18620140e+02] [ 9.53031890e-01 -7.53737491e-02 -2.93341122e-01 1.02390105e+02] [ 2.91501094e-01 -3.46008381e-02 9.55944504e-01 4.07771063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.38071405700003 meters Centerline goodness : 0.987301 Centerline is valid? [True, True] Translation: X:118.62, Y:102.39, Z:40.78 [[-8.43392637e-02 -9.96416814e-01 -6.35778668e-03 1.18617776e+02] [ 9.51259480e-01 -7.86143010e-02 -2.98203274e-01 1.02392938e+02] [ 2.96634943e-01 -3.11981494e-02 9.54481213e-01 4.07830668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.410714057 meters Centerline goodness : 0.988083 Centerline is valid? [True, True] Translation: X:118.61, Y:102.39, Z:40.79 [[-8.39235237e-02 -9.96438745e-01 8.16510714e-03 1.18611252e+02] [ 9.51104069e-01 -8.25442000e-02 -2.97636532e-01 1.02394641e+02] [ 2.97250555e-01 -1.72128399e-02 9.54644345e-01 4.07901491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.44071405700004 meters Centerline goodness : 0.987925 Centerline is valid? [True, True] Translation: X:118.61, Y:102.40, Z:40.79 [[-8.48485437e-02 -9.96380989e-01 5.06454458e-03 1.18614535e+02] [ 9.52194264e-01 -8.25807405e-02 -2.94119882e-01 1.02401073e+02] [ 2.93473693e-01 -2.01332134e-02 9.55755118e-01 4.07895334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.470714057 meters Centerline goodness : 0.986732 Centerline is valid? [True, True] Translation: X:118.62, Y:102.42, Z:40.79 [[-8.68996162e-02 -9.96202747e-01 5.34256461e-03 1.18616020e+02] [ 9.52361676e-01 -8.46465980e-02 -2.92988381e-01 1.02416549e+02] [ 2.92328060e-01 -2.03725241e-02 9.56101075e-01 4.07933788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.500714057 meters Centerline goodness : 0.986529 Centerline is valid? [True, True] Translation: X:118.62, Y:102.40, Z:40.79 [[-8.84684927e-02 -9.96077591e-01 1.66105030e-03 1.18618562e+02] [ 9.51508328e-01 -8.50030065e-02 -2.95645719e-01 1.02402957e+02] [ 2.94627270e-01 -2.45748279e-02 9.55296210e-01 4.07885375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.530714057 meters Centerline goodness : 0.986857 Centerline is valid? [True, True] Translation: X:118.62, Y:102.41, Z:40.79 [[-9.01628746e-02 -9.95919048e-01 3.98810105e-03 1.18617920e+02] [ 9.50913460e-01 -8.72773103e-02 -2.96894363e-01 1.02413469e+02] [ 2.96030822e-01 -2.29765102e-02 9.54902002e-01 4.07931872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.560714057 meters Centerline goodness : 0.988658 Centerline is valid? [True, True] Translation: X:118.61, Y:102.42, Z:40.80 [[-9.19938844e-02 -9.95618148e-01 1.67817803e-02 1.18613970e+02] [ 9.49119788e-01 -9.27700425e-02 -3.00940770e-01 1.02415747e+02] [ 3.01178938e-01 -1.17567907e-02 9.53495163e-01 4.07986913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.590714057 meters Centerline goodness : 0.989830 Centerline is valid? [True, True] Translation: X:118.62, Y:102.44, Z:40.80 [[-9.35922339e-02 -9.95610611e-01 -6.99064688e-05 1.18621596e+02] [ 9.48835423e-01 -8.91738697e-02 -3.02918075e-01 1.02440212e+02] [ 3.01582216e-01 -2.84171091e-02 9.53016597e-01 4.07999499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.620714057 meters Centerline goodness : 0.987928 Centerline is valid? [True, True] Translation: X:118.63, Y:102.40, Z:40.78 [[-9.24290374e-02 -9.95592792e-01 -1.58703041e-02 1.18633923e+02] [ 9.49832359e-01 -8.33755753e-02 -3.01441541e-01 1.02396985e+02] [ 2.98789830e-01 -4.29360798e-02 9.53352574e-01 4.07766758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.650714057 meters Centerline goodness : 0.989356 Centerline is valid? [True, True] Translation: X:118.62, Y:102.44, Z:40.81 [[-1.13545587e-01 -9.93532710e-01 3.91728908e-04 1.18615620e+02] [ 9.42204063e-01 -1.07804582e-01 -3.17221808e-01 1.02442535e+02] [ 3.15212472e-01 -3.56500479e-02 9.48351291e-01 4.08094157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.680714057 meters Centerline goodness : 0.988002 Centerline is valid? [True, True] Translation: X:118.62, Y:102.42, Z:40.80 [[-9.68751749e-02 -9.95159470e-01 1.65175449e-02 1.18618935e+02] [ 9.46665994e-01 -9.72532050e-02 -3.07189373e-01 1.02415826e+02] [ 3.07308798e-01 -1.41224262e-02 9.51505050e-01 4.07996235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.710714057 meters Centerline goodness : 0.990748 Centerline is valid? [True, True] Translation: X:118.61, Y:102.44, Z:40.81 [[-1.12663035e-01 -9.93612374e-01 6.44126652e-03 1.18613647e+02] [ 9.42482318e-01 -1.08914151e-01 -3.16013905e-01 1.02439243e+02] [ 3.14696872e-01 -2.95323058e-02 9.48732692e-01 4.08109158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.740714057 meters Centerline goodness : 0.990009 Centerline is valid? [True, True] Translation: X:118.61, Y:102.46, Z:40.82 [[-1.11860009e-01 -9.93671423e-01 1.02196655e-02 1.18613670e+02] [ 9.42846359e-01 -1.09375799e-01 -3.14766069e-01 1.02458959e+02] [ 3.13891832e-01 -2.55741609e-02 9.49114261e-01 4.08182103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.770714057 meters Centerline goodness : 0.989567 Centerline is valid? [True, True] Translation: X:118.62, Y:102.38, Z:40.79 [[-8.34868223e-02 -9.96032537e-01 3.08080375e-02 1.18620492e+02] [ 9.53049317e-01 -8.88381569e-02 -2.89490555e-01 1.02382722e+02] [ 2.91078941e-01 5.19293252e-03 9.56684945e-01 4.07853701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.800714057 meters Centerline goodness : 0.988865 Centerline is valid? [True, True] Translation: X:118.63, Y:102.39, Z:40.77 [[-7.52454954e-02 -9.97094015e-01 1.19012692e-02 1.18634137e+02] [ 9.57747355e-01 -7.55884383e-02 -2.77500255e-01 1.02388816e+02] [ 2.77593442e-01 -9.48223508e-03 9.60651845e-01 4.07702907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.830714057 meters Centerline goodness : 0.989784 Centerline is valid? [True, True] Translation: X:118.64, Y:102.41, Z:40.78 [[-7.79097711e-02 -9.96960255e-01 5.62999725e-04 1.18636936e+02] [ 9.56203397e-01 -7.48845251e-02 -2.82961783e-01 1.02406047e+02] [ 2.82143811e-01 -2.15071455e-02 9.59131019e-01 4.07755526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.860714057 meters Centerline goodness : 0.988731 Centerline is valid? [True, True] Translation: X:118.65, Y:102.49, Z:40.80 [[-1.01091662e-01 -9.94047717e-01 -4.06154156e-02 1.18647465e+02] [ 9.47800631e-01 -8.38183233e-02 -3.07649887e-01 1.02492779e+02] [ 3.02414352e-01 -6.95961549e-02 9.50632387e-01 4.08035189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.890714057 meters Centerline goodness : 0.987463 Centerline is valid? [True, True] Translation: X:118.63, Y:102.45, Z:40.80 [[-1.01348345e-01 -9.94850991e-01 -1.35136751e-04 1.18633884e+02] [ 9.47411570e-01 -9.64741067e-02 -3.05129587e-01 1.02445801e+02] [ 3.03545435e-01 -3.10524089e-02 9.52310830e-01 4.08030747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.920714057 meters Centerline goodness : 0.987629 Centerline is valid? [True, True] Translation: X:118.64, Y:102.44, Z:40.80 [[-1.03358914e-01 -9.94641905e-01 -2.10138075e-03 1.18638834e+02] [ 9.48608869e-01 -9.79396181e-02 -3.00913683e-01 1.02444368e+02] [ 2.99095550e-01 -3.30954999e-02 9.53649065e-01 4.07990400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.950714057 meters Centerline goodness : 0.990171 Centerline is valid? [True, True] Translation: X:118.63, Y:102.46, Z:40.81 [[-1.04054043e-01 -9.94386495e-01 1.91899671e-02 1.18630728e+02] [ 9.46851344e-01 -1.04947926e-01 -3.04069835e-01 1.02458895e+02] [ 3.04376884e-01 -1.34696495e-02 9.52456446e-01 4.08134402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.980714057 meters Centerline goodness : 0.989345 Centerline is valid? [True, True] Translation: X:118.64, Y:102.45, Z:40.80 [[-1.05077215e-01 -9.94463955e-01 -4.69336178e-04 1.18643204e+02] [ 9.47537395e-01 -9.99755656e-02 -3.03607924e-01 1.02453067e+02] [ 3.01880215e-01 -3.23469887e-02 9.52796940e-01 4.08019360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.01071405700003 meters Centerline goodness : 0.989598 Centerline is valid? [True, True] Translation: X:118.64, Y:102.45, Z:40.80 [[-1.06828165e-01 -9.94276176e-01 1.62145278e-03 1.18644724e+02] [ 9.47067616e-01 -1.02252201e-01 -3.04314671e-01 1.02454795e+02] [ 3.02738625e-01 -3.09737524e-02 9.52570182e-01 4.08028205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.040714057 meters Centerline goodness : 0.989327 Centerline is valid? [True, True] Translation: X:118.65, Y:102.46, Z:40.80 [[-1.08275146e-01 -9.94005287e-01 -1.51651631e-02 1.18653706e+02] [ 9.46923998e-01 -9.84781172e-02 -3.06001639e-01 1.02455579e+02] [ 3.02673810e-01 -4.74926289e-02 9.51910193e-01 4.07959324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.07071405700003 meters Centerline goodness : 0.989165 Centerline is valid? [True, True] Translation: X:118.65, Y:102.45, Z:40.80 [[-1.08484582e-01 -9.94087088e-01 -4.68583703e-03 1.18651009e+02] [ 9.47160156e-01 -1.01929850e-01 -3.04134746e-01 1.02454644e+02] [ 3.01858797e-01 -3.74321690e-02 9.52617499e-01 4.07990392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.100714057 meters Centerline goodness : 0.989105 Centerline is valid? [True, True] Translation: X:118.65, Y:102.46, Z:40.80 [[-1.09274555e-01 -9.94002557e-01 4.24116037e-03 1.18650670e+02] [ 9.47382021e-01 -1.05438968e-01 -3.02241509e-01 1.02456106e+02] [ 3.00876016e-01 -2.90093073e-02 9.53221948e-01 4.08014092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.13071405700003 meters Centerline goodness : 0.989461 Centerline is valid? [True, True] Translation: X:118.65, Y:102.46, Z:40.81 [[-1.09711798e-01 -9.93889040e-01 1.21613450e-02 1.18648497e+02] [ 9.45303850e-01 -1.08114358e-01 -3.07753012e-01 1.02464388e+02] [ 3.07187162e-01 -2.22679701e-02 9.51388556e-01 4.08094190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.160714057 meters Centerline goodness : 0.989357 Centerline is valid? [True, True] Translation: X:118.66, Y:102.47, Z:40.80 [[-1.10353008e-01 -9.93731631e-01 -1.78790336e-02 1.18662839e+02] [ 9.47137102e-01 -9.96921752e-02 -3.04947175e-01 1.02469275e+02] [ 3.01253254e-01 -5.05857342e-02 9.52201429e-01 4.07984447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.19071405700004 meters Centerline goodness : 0.988725 Centerline is valid? [True, True] Translation: X:118.65, Y:102.47, Z:40.81 [[-1.08191803e-01 -9.94111771e-01 6.02666311e-03 1.18653152e+02] [ 9.47483640e-01 -1.04948541e-01 -3.02093621e-01 1.02472916e+02] [ 3.00947314e-01 -2.69738888e-02 9.53259211e-01 4.08094830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.220714057 meters Centerline goodness : 0.987938 Centerline is valid? [True, True] Translation: X:118.66, Y:102.47, Z:40.81 [[-1.06526508e-01 -9.94308222e-01 1.80658625e-03 1.18655105e+02] [ 9.47621431e-01 -1.02074543e-01 -3.02645687e-01 1.02466343e+02] [ 3.01107501e-01 -3.05278284e-02 9.53101424e-01 4.08063173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.250714057 meters Centerline goodness : 0.990102 Centerline is valid? [True, True] Translation: X:118.64, Y:102.48, Z:40.82 [[-1.21192944e-01 -9.92602687e-01 7.22334980e-03 1.18642631e+02] [ 9.41144144e-01 -1.17217138e-01 -3.17029719e-01 1.02483933e+02] [ 3.15531252e-01 -3.16235517e-02 9.48388096e-01 4.08223919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.280714057 meters Centerline goodness : 0.987899 Centerline is valid? [True, True] Translation: X:118.65, Y:102.46, Z:40.81 [[-9.74107178e-02 -9.95164046e-01 1.26362029e-02 1.18650671e+02] [ 9.49794482e-01 -9.67478113e-02 -2.97540424e-01 1.02464069e+02] [ 2.97324057e-01 -1.69818305e-02 9.54625593e-01 4.08075656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.310714057 meters Centerline goodness : 0.986677 Centerline is valid? [True, True] Translation: X:118.65, Y:102.47, Z:40.81 [[-9.37234819e-02 -9.95576307e-01 6.61257487e-03 1.18653059e+02] [ 9.50555908e-01 -9.14564738e-02 -2.96781366e-01 1.02468024e+02] [ 2.96073259e-01 -2.15297609e-02 9.54922559e-01 4.08058065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.340714057 meters Centerline goodness : 0.985697 Centerline is valid? [True, True] Translation: X:118.65, Y:102.48, Z:40.81 [[-8.93302417e-02 -9.96001625e-01 9.33330045e-04 1.18654559e+02] [ 9.51619554e-01 -8.56262030e-02 -2.95107402e-01 1.02477416e+02] [ 2.94007369e-01 -2.54738404e-02 9.55463631e-01 4.08067122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.370714057 meters Centerline goodness : 0.985116 Centerline is valid? [True, True] Translation: X:118.65, Y:102.47, Z:40.81 [[-8.74442077e-02 -9.96149569e-01 6.28862427e-03 1.18651877e+02] [ 9.51734090e-01 -8.54063812e-02 -2.94801580e-01 1.02474175e+02] [ 2.94203556e-01 -1.97935925e-02 9.55537797e-01 4.08073908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.400714057 meters Centerline goodness : 0.985684 Centerline is valid? [True, True] Translation: X:118.65, Y:102.48, Z:40.81 [[-8.35584696e-02 -9.96460865e-01 9.15022012e-03 1.18649166e+02] [ 9.50250237e-01 -8.24417666e-02 -3.00379496e-01 1.02475636e+02] [ 3.00070772e-01 -1.64042521e-02 9.53775881e-01 4.08104383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.430714057 meters Centerline goodness : 0.987458 Centerline is valid? [True, True] Translation: X:118.65, Y:102.49, Z:40.81 [[-7.88464141e-02 -9.96815725e-01 1.19018612e-02 1.18646161e+02] [ 9.51512024e-01 -7.88132189e-02 -2.97343817e-01 1.02485928e+02] [ 2.97335016e-01 -1.21197297e-02 9.54696287e-01 4.08120626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.460714057 meters Centerline goodness : 0.989207 Centerline is valid? [True, True] Translation: X:118.65, Y:102.48, Z:40.81 [[-7.71695461e-02 -9.97017486e-01 9.97333351e-04 1.18649339e+02] [ 9.51774215e-01 -7.39655433e-02 -2.97749797e-01 1.02480683e+02] [ 2.96935523e-01 -2.20279805e-02 9.54643422e-01 4.08062894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.490714057 meters Centerline goodness : 0.987654 Centerline is valid? [True, True] Translation: X:118.65, Y:102.49, Z:40.81 [[-7.56951990e-02 -9.97112887e-01 -6.01058886e-03 1.18651180e+02] [ 9.52246812e-01 -7.04984286e-02 -2.97079081e-01 1.02487578e+02] [ 2.95797643e-01 -2.82110242e-02 9.54833961e-01 4.08059528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.520714057 meters Centerline goodness : 0.989133 Centerline is valid? [True, True] Translation: X:118.64, Y:102.50, Z:40.82 [[-9.52414860e-02 -9.95135275e-01 -2.51961133e-02 1.18644742e+02] [ 9.45017189e-01 -8.24322698e-02 -3.16460792e-01 1.02504365e+02] [ 3.12844325e-01 -5.39509562e-02 9.48270912e-01 4.08159724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.550714057 meters Centerline goodness : 0.988200 Centerline is valid? [True, True] Translation: X:118.63, Y:102.46, Z:40.81 [[-6.84241609e-02 -9.96467023e-01 4.86991407e-02 1.18626486e+02] [ 9.55423078e-01 -7.95017550e-02 -2.84334683e-01 1.02464222e+02] [ 2.87201803e-01 2.70729208e-02 9.57487432e-01 4.08115660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.580714057 meters Centerline goodness : 0.988206 Centerline is valid? [True, True] Translation: X:118.65, Y:102.46, Z:40.79 [[-6.28872595e-02 -9.98019780e-01 1.30822067e-03 1.18648225e+02] [ 9.57996661e-01 -6.07327100e-02 -2.80274750e-01 1.02457517e+02] [ 2.79799196e-01 -1.63724399e-02 9.59918930e-01 4.07856230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.610714057 meters Centerline goodness : 0.988206 Centerline is valid? [True, True] Translation: X:118.65, Y:102.46, Z:40.78 [[-6.23727786e-02 -9.98014558e-01 -8.75093571e-03 1.18652572e+02] [ 9.58112447e-01 -5.74188234e-02 -2.80577293e-01 1.02461315e+02] [ 2.79517755e-01 -2.58847658e-02 9.59791542e-01 4.07828794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.640714057 meters Centerline goodness : 0.989789 Centerline is valid? [True, True] Translation: X:118.66, Y:102.50, Z:40.80 [[-9.69545300e-02 -9.93831205e-01 -5.38456576e-02 1.18655176e+02] [ 9.46134615e-01 -7.52396406e-02 -3.14909967e-01 1.02502778e+02] [ 3.08916024e-01 -8.14771884e-02 9.47592928e-01 4.08020847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.670714057 meters Centerline goodness : 0.981578 Centerline is valid? [True, True] Translation: X:118.60, Y:103.42, Z:41.12 [[-1.04810824e-01 -9.94481100e-01 4.69392114e-03 1.18598860e+02] [ 9.44622476e-01 -1.01029770e-01 -3.12220057e-01 1.03422659e+02] [ 3.10971171e-01 -2.82900582e-02 9.49998212e-01 4.11190034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.700714057 meters Centerline goodness : 0.988753 Centerline is valid? [True, True] Translation: X:118.60, Y:102.41, Z:40.80 [[-2.49536991e-02 -9.97582548e-01 6.48565529e-02 1.18604886e+02] [ 9.70757284e-01 -3.96754534e-02 -2.36761809e-01 1.02408309e+02] [ 2.38762662e-01 5.70518882e-02 9.69400574e-01 4.08029544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.730714057 meters Centerline goodness : 0.989246 Centerline is valid? [True, True] Translation: X:118.66, Y:102.40, Z:40.77 [[-4.32808816e-02 -9.90965348e-01 -1.26942682e-01 1.18663277e+02] [ 9.67238506e-01 -9.74790750e-03 -2.53682183e-01 1.02401824e+02] [ 2.50152827e-01 -1.33763439e-01 9.58921741e-01 4.07661355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.76071405700003 meters Centerline goodness : 0.988699 Centerline is valid? [True, True] Translation: X:118.60, Y:102.45, Z:40.82 [[-2.91633469e-02 -9.96665619e-01 7.62046104e-02 1.18596405e+02] [ 9.70045008e-01 -4.66132163e-02 -2.38411179e-01 1.02451213e+02] [ 2.41168367e-01 6.69690340e-02 9.68169906e-01 4.08248959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.790714057 meters Centerline goodness : 0.989484 Centerline is valid? [True, True] Translation: X:118.65, Y:102.45, Z:40.79 [[-4.54668721e-02 -9.92749396e-01 -1.11271744e-01 1.18653703e+02] [ 9.67038224e-01 -1.58041564e-02 -2.54140318e-01 1.02452173e+02] [ 2.50539091e-01 -1.19158995e-01 9.60745178e-01 4.07853593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.82071405700003 meters Centerline goodness : 0.988236 Centerline is valid? [True, True] Translation: X:118.61, Y:102.48, Z:40.83 [[-3.90689697e-02 -9.99099910e-01 1.65222794e-02 1.18607906e+02] [ 9.67024408e-01 -4.19688516e-02 -2.51201932e-01 1.02484401e+02] [ 2.51669249e-01 6.16324670e-03 9.67793678e-01 4.08328917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.850714057 meters Centerline goodness : 0.988895 Centerline is valid? [True, True] Translation: X:118.62, Y:102.50, Z:40.82 [[-4.65057541e-02 -9.98092761e-01 -4.05962370e-02 1.18619707e+02] [ 9.65724837e-01 -3.45338186e-02 -2.57260481e-01 1.02499680e+02] [ 2.55367880e-01 -5.11688870e-02 9.65488990e-01 4.08249017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.88071405700003 meters Centerline goodness : 0.987494 Centerline is valid? [True, True] Translation: X:118.61, Y:102.53, Z:40.84 [[-3.62727953e-02 -9.99286113e-01 -1.05616945e-02 1.18614523e+02] [ 9.69400425e-01 -3.26163984e-02 -2.43308420e-01 1.02533879e+02] [ 2.42790241e-01 -1.90639876e-02 9.69891470e-01 4.08355227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.910714057 meters Centerline goodness : 0.988708 Centerline is valid? [True, True] Translation: X:118.60, Y:102.58, Z:40.86 [[-3.62004711e-02 -9.98556531e-01 3.96784650e-02 1.18598867e+02] [ 9.67826283e-01 -4.49240686e-02 -2.47576479e-01 1.02575239e+02] [ 2.49001629e-01 2.94394762e-02 9.68055529e-01 4.08551094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.94071405700004 meters Centerline goodness : 0.988661 Centerline is valid? [True, True] Translation: X:118.62, Y:102.62, Z:40.84 [[-3.30873498e-02 -9.99447542e-01 -3.13661553e-03 1.18618843e+02] [ 9.69436660e-01 -3.13301562e-02 -2.43333072e-01 1.02616285e+02] [ 2.43100370e-01 -1.10919966e-02 9.69937719e-01 4.08411177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.970714057 meters Centerline goodness : 0.989004 Centerline is valid? [True, True] Translation: X:118.63, Y:102.65, Z:40.84 [[-3.32719452e-02 -9.99238992e-01 -2.03571713e-02 1.18625945e+02] [ 9.69700591e-01 -2.73426957e-02 -2.42761488e-01 1.02647580e+02] [ 2.42020125e-01 -2.78175079e-02 9.69872386e-01 4.08419019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.000714057 meters Centerline goodness : 0.989287 Centerline is valid? [True, True] Translation: X:118.63, Y:102.67, Z:40.85 [[-3.42316554e-02 -9.98882558e-01 -3.25857346e-02 1.18627210e+02] [ 9.69088823e-01 -2.52044475e-02 -2.45421250e-01 1.02672456e+02] [ 2.44325700e-01 -3.99796468e-02 9.68868712e-01 4.08482973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.030714057 meters Centerline goodness : 0.989216 Centerline is valid? [True, True] Translation: X:118.62, Y:102.70, Z:40.86 [[-3.61057614e-02 -9.98789860e-01 -3.33944536e-02 1.18624335e+02] [ 9.68054938e-01 -2.66588179e-02 -2.49316956e-01 1.02695101e+02] [ 2.48124991e-01 -4.13294443e-02 9.67845993e-01 4.08594170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.060714057 meters Centerline goodness : 0.986467 Centerline is valid? [True, True] Translation: X:118.63, Y:102.72, Z:40.86 [[-2.94250941e-02 -9.98740379e-01 -4.06425890e-02 1.18625040e+02] [ 9.70280607e-01 -1.87690720e-02 -2.41253528e-01 1.02716210e+02] [ 2.40186817e-01 -4.65336237e-02 9.69610703e-01 4.08614001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.090714057 meters Centerline goodness : 0.987967 Centerline is valid? [True, True] Translation: X:118.61, Y:102.72, Z:40.88 [[-4.55327879e-02 -9.98135077e-01 -4.06587480e-02 1.18605705e+02] [ 9.64471560e-01 -3.33215035e-02 -2.62076873e-01 1.02720245e+02] [ 2.60233309e-01 -5.11472968e-02 9.64190115e-01 4.08848880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.120714057 meters Centerline goodness : 0.986609 Centerline is valid? [True, True] Translation: X:118.59, Y:102.77, Z:40.90 [[-2.29918417e-02 -9.98219804e-01 5.50326986e-02 1.18586355e+02] [ 9.72349416e-01 -3.51242627e-02 -2.30874209e-01 1.02774102e+02] [ 2.32396190e-01 4.82027890e-02 9.71426015e-01 4.09048485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.150714057 meters Centerline goodness : 0.988767 Centerline is valid? [True, True] Translation: X:118.62, Y:102.78, Z:40.88 [[-4.37484331e-02 -9.95721175e-01 -8.13966633e-02 1.18621026e+02] [ 9.65545738e-01 -2.12203208e-02 -2.59366779e-01 1.02776613e+02] [ 2.56529730e-01 -8.99390915e-02 9.62342692e-01 4.08832385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.180714057 meters Centerline goodness : 0.988698 Centerline is valid? [True, True] Translation: X:118.59, Y:102.80, Z:40.92 [[-4.24579123e-02 -9.99089184e-01 -4.25774554e-03 1.18586821e+02] [ 9.64303965e-01 -3.98640498e-02 -2.61779909e-01 1.02795549e+02] [ 2.61371744e-01 -1.52203893e-02 9.65118206e-01 4.09202992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.210714057 meters Centerline goodness : 0.987149 Centerline is valid? [True, True] Translation: X:118.58, Y:102.86, Z:40.93 [[-2.01495720e-02 -9.97108717e-01 7.32680128e-02 1.18580424e+02] [ 9.72414635e-01 -3.65784810e-02 -2.30373158e-01 1.02858606e+02] [ 2.32387117e-01 6.66049674e-02 9.70340150e-01 4.09292301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.240714057 meters Centerline goodness : 0.987073 Centerline is valid? [True, True] Translation: X:118.63, Y:102.86, Z:40.89 [[-4.57242937e-02 -9.93600151e-01 -1.03286154e-01 1.18630782e+02] [ 9.65104002e-01 -1.72506275e-02 -2.61298071e-01 1.02856192e+02] [ 2.57844052e-01 -1.11629550e-01 9.59716254e-01 4.08935509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.270714057 meters Centerline goodness : 0.985602 Centerline is valid? [True, True] Translation: X:118.60, Y:102.89, Z:40.93 [[-3.11317063e-02 -9.99396885e-01 1.53845326e-02 1.18596514e+02] [ 9.68211969e-01 -3.39750685e-02 -2.47812990e-01 1.02889939e+02] [ 2.48186220e-01 7.18064738e-03 9.68685727e-01 4.09329580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.300714057 meters Centerline goodness : 0.986880 Centerline is valid? [True, True] Translation: X:118.60, Y:102.94, Z:40.93 [[-2.91529313e-02 -9.99283975e-01 2.41172978e-02 1.18601223e+02] [ 9.70959293e-01 -3.40419131e-02 -2.36810472e-01 1.02935753e+02] [ 2.37461908e-01 1.65131950e-02 9.71256483e-01 4.09348050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.330714057 meters Centerline goodness : 0.984520 Centerline is valid? [True, True] Translation: X:118.63, Y:102.96, Z:40.92 [[-3.20890486e-02 -9.98938540e-01 -3.30467231e-02 1.18625595e+02] [ 9.70904207e-01 -2.33040509e-02 -2.38331580e-01 1.02963299e+02] [ 2.37308478e-01 -3.97330362e-02 9.70621436e-01 4.09227278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.360714057 meters Centerline goodness : 0.985697 Centerline is valid? [True, True] Translation: X:118.62, Y:102.99, Z:40.94 [[-3.37351933e-02 -9.99347893e-01 -1.28734278e-02 1.18616725e+02] [ 9.70342737e-01 -2.96656315e-02 -2.39906071e-01 1.02988555e+02] [ 2.39367729e-01 -2.05849149e-02 9.70710746e-01 4.09366338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.390714057 meters Centerline goodness : 0.983430 Centerline is valid? [True, True] Translation: X:118.63, Y:103.00, Z:40.94 [[-4.15171018e-02 -9.97433279e-01 -5.83368245e-02 1.18629196e+02] [ 9.69352244e-01 -2.60605464e-02 -2.44288916e-01 1.03001305e+02] [ 2.42141605e-01 -6.66910995e-02 9.67946146e-01 4.09374326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.420714057 meters Centerline goodness : 0.985156 Centerline is valid? [True, True] Translation: X:118.60, Y:103.04, Z:40.97 [[-4.18527632e-02 -9.98541056e-01 3.41189956e-02 1.18595346e+02] [ 9.70552398e-01 -4.87403414e-02 -2.35907656e-01 1.03037400e+02] [ 2.37226451e-01 2.32408857e-02 9.71176334e-01 4.09688030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.450714057 meters Centerline goodness : 0.984193 Centerline is valid? [True, True] Translation: X:118.63, Y:103.06, Z:40.95 [[-4.96393077e-02 -9.97136340e-01 -5.70531175e-02 1.18630666e+02] [ 9.69464517e-01 -3.43688258e-02 -2.42811312e-01 1.03058811e+02] [ 2.40155135e-01 -6.73639585e-02 9.68394346e-01 4.09517815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.480714057 meters Centerline goodness : 0.987408 Centerline is valid? [True, True] Translation: X:118.60, Y:103.06, Z:40.98 [[-6.90964494e-02 -9.97203353e-01 -2.84807687e-02 1.18600617e+02] [ 9.62616495e-01 -5.91504641e-02 -2.64330676e-01 1.03061732e+02] [ 2.61906785e-01 -4.56803689e-02 9.64011483e-01 4.09812063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.51071405700003 meters Centerline goodness : 0.983999 Centerline is valid? [True, True] Translation: X:118.60, Y:103.10, Z:41.00 [[-5.59772002e-02 -9.98186616e-01 2.21366650e-02 1.18596780e+02] [ 9.66122178e-01 -5.97471030e-02 -2.51074134e-01 1.03099409e+02] [ 2.51941442e-01 7.33229592e-03 9.67714703e-01 4.09958684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.540714057 meters Centerline goodness : 0.984574 Centerline is valid? [True, True] Translation: X:118.61, Y:103.13, Z:40.99 [[-5.93894660e-02 -9.98116248e-01 -1.53898309e-02 1.18612817e+02] [ 9.66686880e-01 -5.36604272e-02 -2.50273921e-01 1.03133062e+02] [ 2.48976642e-01 -2.97407821e-02 9.68052745e-01 4.09898941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.57071405700003 meters Centerline goodness : 0.985683 Centerline is valid? [True, True] Translation: X:118.61, Y:103.14, Z:41.00 [[-7.45910402e-02 -9.96266414e-01 -4.34673265e-02 1.18608421e+02] [ 9.62761987e-01 -6.05871142e-02 -2.63474017e-01 1.03137122e+02] [ 2.59856754e-01 -6.15014906e-02 9.63686689e-01 4.09965027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.600714057 meters Centerline goodness : 0.985725 Centerline is valid? [True, True] Translation: X:118.59, Y:103.18, Z:41.02 [[-6.26240177e-02 -9.97625550e-01 2.86617348e-02 1.18593771e+02] [ 9.65889153e-01 -6.78119975e-02 -2.49919342e-01 1.03178581e+02] [ 2.51269530e-01 1.20331055e-02 9.67842357e-01 4.10220622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.63071405700003 meters Centerline goodness : 0.984050 Centerline is valid? [True, True] Translation: X:118.61, Y:103.21, Z:41.01 [[-6.21605861e-02 -9.98026983e-01 -8.84327628e-03 1.18611483e+02] [ 9.66676194e-01 -5.79985577e-02 -2.49345749e-01 1.03207727e+02] [ 2.48340888e-01 -2.40480626e-02 9.68374150e-01 4.10141156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.660714057 meters Centerline goodness : 0.984248 Centerline is valid? [True, True] Translation: X:118.60, Y:103.25, Z:41.02 [[-5.77632679e-02 -9.97926435e-01 2.83942727e-02 1.18602873e+02] [ 9.68750005e-01 -6.29012606e-02 -2.39930947e-01 1.03247997e+02] [ 2.41219470e-01 1.36477563e-02 9.70374621e-01 4.10249236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.69071405700004 meters Centerline goodness : 0.983057 Centerline is valid? [True, True] Translation: X:118.62, Y:103.26, Z:41.01 [[-5.66085345e-02 -9.98341805e-01 -1.04457468e-02 1.18619478e+02] [ 9.69240900e-01 -5.24424639e-02 -2.40461777e-01 1.03257732e+02] [ 2.39515243e-01 -2.37366338e-02 9.70602401e-01 4.10124167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.720714057 meters Centerline goodness : 0.985637 Centerline is valid? [True, True] Translation: X:118.61, Y:103.30, Z:41.03 [[-5.99710321e-02 -9.97852030e-01 2.63590711e-02 1.18607925e+02] [ 9.67176669e-01 -6.46191566e-02 -2.45751208e-01 1.03299834e+02] [ 2.46926643e-01 1.07559250e-02 9.68974480e-01 4.10292718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.750714057 meters Centerline goodness : 0.984242 Centerline is valid? [True, True] Translation: X:118.64, Y:103.31, Z:41.01 [[-6.79441044e-02 -9.96420831e-01 -5.02904254e-02 1.18638788e+02] [ 9.64840457e-01 -5.27954465e-02 -2.57479191e-01 1.03306343e+02] [ 2.53902524e-01 -6.60164301e-02 9.64974269e-01 4.10085894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.780714057 meters Centerline goodness : 0.984394 Centerline is valid? [True, True] Translation: X:118.61, Y:103.31, Z:41.03 [[-6.36510813e-02 -9.97934589e-01 8.66577451e-03 1.18614653e+02] [ 9.66648175e-01 -6.38093800e-02 -2.48031589e-01 1.03309637e+02] [ 2.48072259e-01 -7.41072369e-03 9.68713185e-01 4.10272833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.810714057 meters Centerline goodness : 0.986736 Centerline is valid? [True, True] Translation: X:118.62, Y:103.33, Z:41.04 [[-7.36954039e-02 -9.97199827e-01 -1.27079500e-02 1.18617749e+02] [ 9.61238805e-01 -6.76315065e-02 -2.67293731e-01 1.03328033e+02] [ 2.65685804e-01 -3.19136942e-02 9.63531302e-01 4.10363009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.840714057 meters Centerline goodness : 0.984422 Centerline is valid? [True, True] Translation: X:118.62, Y:103.30, Z:41.02 [[-6.99030964e-02 -9.97359482e-01 -1.96881134e-02 1.18623053e+02] [ 9.63040138e-01 -6.23248209e-02 -2.62048296e-01 1.03300668e+02] [ 2.60129294e-01 -3.72784307e-02 9.64853911e-01 4.10237191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.870714057 meters Centerline goodness : 0.977641 Centerline is valid? [True, True] Translation: X:118.55, Y:104.40, Z:41.37 [[-1.35297313e-01 -9.90804741e-01 7.75762264e-04 1.18546624e+02] [ 9.51141473e-01 -1.30100411e-01 -2.80006752e-01 1.04404961e+02] [ 2.77532945e-01 -3.71463017e-02 9.59997717e-01 4.13732393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.900714057 meters Centerline goodness : 0.984357 Centerline is valid? [True, True] Translation: X:118.60, Y:103.39, Z:41.07 [[-8.84708471e-02 -9.96053138e-01 7.14525021e-03 1.18601986e+02] [ 9.53471321e-01 -8.67598946e-02 -2.88730258e-01 1.03393667e+02] [ 2.88210600e-01 -1.87314193e-02 9.57383823e-01 4.10686339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.930714057 meters Centerline goodness : 0.985357 Centerline is valid? [True, True] Translation: X:118.59, Y:103.32, Z:41.04 [[-6.43704423e-02 -9.96634373e-01 5.07579806e-02 1.18592283e+02] [ 9.63468511e-01 -7.53178437e-02 -2.57012940e-01 1.03317102e+02] [ 2.59970912e-01 3.23596793e-02 9.65074078e-01 4.10427761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.960714057 meters Centerline goodness : 0.984740 Centerline is valid? [True, True] Translation: X:118.63, Y:103.37, Z:41.03 [[-8.24875893e-02 -9.95196233e-01 -5.27281255e-02 1.18627977e+02] [ 9.55906070e-01 -6.40459717e-02 -2.86603732e-01 1.03370806e+02] [ 2.81849930e-01 -7.40443862e-02 9.56597118e-01 4.10336173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.990714057 meters Centerline goodness : 0.983382 Centerline is valid? [True, True] Translation: X:118.60, Y:103.29, Z:41.03 [[-6.03413304e-02 -9.97414815e-01 3.90206436e-02 1.18598614e+02] [ 9.64198392e-01 -6.83556165e-02 -2.56220551e-01 1.03293460e+02] [ 2.58225453e-01 2.21629529e-02 9.65830430e-01 4.10264265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.020714057 meters Centerline goodness : 0.985798 Centerline is valid? [True, True] Translation: X:118.62, Y:103.32, Z:41.02 [[-7.13258057e-02 -9.97055887e-01 -2.81458232e-02 1.18620186e+02] [ 9.59591182e-01 -6.08903518e-02 -2.74731011e-01 1.03321547e+02] [ 2.72208363e-01 -4.66038945e-02 9.61109091e-01 4.10205153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.050714057 meters Centerline goodness : 0.985189 Centerline is valid? [True, True] Translation: X:118.60, Y:103.31, Z:41.02 [[-5.13197657e-02 -9.97788976e-01 4.22308186e-02 1.18598252e+02] [ 9.68231838e-01 -6.00729833e-02 -2.42731015e-01 1.03305383e+02] [ 2.44731262e-01 2.84323243e-02 9.69173985e-01 4.10226110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.080714057 meters Centerline goodness : 0.986015 Centerline is valid? [True, True] Translation: X:118.62, Y:103.31, Z:41.00 [[-4.76910538e-02 -9.98721590e-01 -1.67555785e-02 1.18623681e+02] [ 9.68265207e-01 -4.21036277e-02 -2.46352944e-01 1.03309769e+02] [ 2.45332533e-01 -2.79726752e-02 9.69035334e-01 4.10017989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.110714057 meters Centerline goodness : 0.983677 Centerline is valid? [True, True] Translation: X:118.63, Y:103.31, Z:41.00 [[-5.15185134e-02 -9.98135391e-01 -3.27350661e-02 1.18628575e+02] [ 9.66164462e-01 -4.15196360e-02 -2.54563063e-01 1.03310121e+02] [ 2.52729254e-01 -4.47421681e-02 9.66501972e-01 4.10002822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.140714057 meters Centerline goodness : 0.987163 Centerline is valid? [True, True] Translation: X:118.61, Y:103.31, Z:41.02 [[-5.06748806e-02 -9.98706697e-01 4.12189955e-03 1.18608513e+02] [ 9.65580691e-01 -5.00475003e-02 -2.55243370e-01 1.03311113e+02] [ 2.55119553e-01 -8.95440065e-03 9.66868053e-01 4.10173311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.170714057 meters Centerline goodness : 0.985442 Centerline is valid? [True, True] Translation: X:118.62, Y:103.33, Z:41.01 [[-5.40350327e-02 -9.97870017e-01 -3.65464718e-02 1.18622193e+02] [ 9.62794061e-01 -4.23607504e-02 -2.66895417e-01 1.03327022e+02] [ 2.64778798e-01 -4.96084285e-02 9.63032290e-01 4.10141987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.200714057 meters Centerline goodness : 0.986487 Centerline is valid? [True, True] Translation: X:118.61, Y:103.33, Z:41.03 [[-6.34987470e-02 -9.97357076e-01 -3.53096636e-02 1.18614035e+02] [ 9.57332695e-01 -5.08792178e-02 -2.84473928e-01 1.03331668e+02] [ 2.81925557e-01 -5.18668334e-02 9.58033304e-01 4.10277462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.230714057 meters Centerline goodness : 0.984991 Centerline is valid? [True, True] Translation: X:118.59, Y:103.33, Z:41.04 [[-5.78268424e-02 -9.98294265e-01 8.03850513e-03 1.18593663e+02] [ 9.58286204e-01 -5.77632715e-02 -2.79912408e-01 1.03331054e+02] [ 2.79899282e-01 -8.48326217e-03 9.59991889e-01 4.10429766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.26071405700003 meters Centerline goodness : 0.984580 Centerline is valid? [True, True] Translation: X:118.60, Y:103.32, Z:41.04 [[-5.59585233e-02 -9.98424019e-01 -4.25707329e-03 1.18598414e+02] [ 9.57988737e-01 -5.24900269e-02 -2.81961660e-01 1.03318347e+02] [ 2.81293839e-01 -1.98563864e-02 9.59416229e-01 4.10353426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.290714057 meters Centerline goodness : 0.986900 Centerline is valid? [True, True] Translation: X:118.58, Y:103.38, Z:41.07 [[-7.94225647e-02 -9.96792776e-01 -9.80904657e-03 1.18582040e+02] [ 9.48847985e-01 -7.25786109e-02 -3.07278125e-01 1.03384071e+02] [ 3.05580688e-01 -3.37121108e-02 9.51569197e-01 4.10711282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.32071405700003 meters Centerline goodness : 0.985767 Centerline is valid? [True, True] Translation: X:118.58, Y:103.30, Z:41.04 [[-4.00353077e-02 -9.98925237e-01 2.33569038e-02 1.18584666e+02] [ 9.60148841e-01 -4.49312383e-02 -2.75853925e-01 1.03301056e+02] [ 2.76606902e-01 1.13822073e-02 9.60915744e-01 4.10381801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.350714057 meters Centerline goodness : 0.984846 Centerline is valid? [True, True] Translation: X:118.60, Y:103.33, Z:41.03 [[-3.85029631e-02 -9.99148467e-01 -1.48278029e-02 1.18597729e+02] [ 9.59799745e-01 -3.28497562e-02 -2.78756781e-01 1.03328238e+02] [ 2.78032320e-01 -2.49646834e-02 9.60247256e-01 4.10335349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.38071405700003 meters Centerline goodness : 0.983218 Centerline is valid? [True, True] Translation: X:118.59, Y:103.35, Z:41.05 [[-4.11229933e-02 -9.99099664e-01 -1.04288068e-02 1.18593473e+02] [ 9.59055749e-01 -3.65432150e-02 -2.80849895e-01 1.03348097e+02] [ 2.80215934e-01 -2.15511955e-02 9.59695044e-01 4.10454492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.410714057 meters Centerline goodness : 0.986217 Centerline is valid? [True, True] Translation: X:118.58, Y:103.39, Z:41.08 [[-6.59749199e-02 -9.97788959e-01 -8.03134367e-03 1.18577716e+02] [ 9.51233406e-01 -6.04618412e-02 -3.02488632e-01 1.03388625e+02] [ 3.01334227e-01 -2.75963456e-02 9.53119156e-01 4.10784220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.44071405700004 meters Centerline goodness : 0.986284 Centerline is valid? [True, True] Translation: X:118.57, Y:103.38, Z:41.08 [[-6.51931940e-02 -9.97845062e-01 7.42163326e-03 1.18572812e+02] [ 9.51526752e-01 -6.44038912e-02 -3.00747369e-01 1.03382024e+02] [ 3.00577259e-01 -1.25447990e-02 9.53674965e-01 4.10838762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.470714057 meters Centerline goodness : 0.984860 Centerline is valid? [True, True] Translation: X:118.57, Y:103.38, Z:41.08 [[-6.56935763e-02 -9.97813238e-01 7.28673945e-03 1.18574093e+02] [ 9.51673501e-01 -6.48480280e-02 -3.00187076e-01 1.03381998e+02] [ 3.00003169e-01 -1.27857658e-02 9.53852516e-01 4.10838181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.500714057 meters Centerline goodness : 0.984860 Centerline is valid? [True, True] Translation: X:118.57, Y:103.38, Z:41.08 [[-6.53111097e-02 -9.97839220e-01 7.16595986e-03 1.18574006e+02] [ 9.51699834e-01 -6.44469772e-02 -3.00189962e-01 1.03384578e+02] [ 3.00003142e-01 -1.27858967e-02 9.53852523e-01 4.10845620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.530714057 meters Centerline goodness : 0.976801 Centerline is valid? [True, True] Translation: X:118.54, Y:104.45, Z:41.39 [[-8.65548408e-02 -9.96181386e-01 1.14414236e-02 1.18537348e+02] [ 9.57371455e-01 -8.63487129e-02 -2.75651586e-01 1.04445085e+02] [ 2.75586932e-01 -1.29052869e-02 9.61189522e-01 4.13940998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.560714057 meters Centerline goodness : 0.976721 Centerline is valid? [True, True] Translation: X:118.54, Y:104.47, Z:41.40 [[-8.36117881e-02 -9.96493929e-01 2.98630588e-03 1.18542565e+02] [ 9.57186221e-01 -8.11463508e-02 -2.77866530e-01 1.04473095e+02] [ 2.77134638e-01 -2.03744666e-02 9.60615050e-01 4.13986633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.590714057 meters Centerline goodness : 0.977572 Centerline is valid? [True, True] Translation: X:118.55, Y:104.44, Z:41.40 [[-8.31936428e-02 -9.96526558e-01 -3.69286337e-03 1.18551109e+02] [ 9.47228657e-01 -7.79258039e-02 -3.10942825e-01 1.04443961e+02] [ 3.09575014e-01 -2.93664523e-02 9.50421445e-01 4.13972406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.620714057 meters Centerline goodness : 0.976631 Centerline is valid? [True, True] Translation: X:118.55, Y:104.47, Z:41.40 [[-7.78558712e-02 -9.96929609e-01 8.35568271e-03 1.18547808e+02] [ 9.56154634e-01 -7.70396729e-02 -2.82547704e-01 1.04469486e+02] [ 2.82323891e-01 -1.40086729e-02 9.59216856e-01 4.13994758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.650714057 meters Centerline goodness : 0.983673 Centerline is valid? [True, True] Translation: X:118.57, Y:103.43, Z:41.09 [[-5.67750017e-02 -9.98371200e-01 5.61668671e-03 1.18573774e+02] [ 9.49802182e-01 -5.57448847e-02 -3.07844642e-01 1.03431442e+02] [ 3.07656327e-01 -1.21431388e-02 9.51420059e-01 4.10944172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.680714057 meters Centerline goodness : 0.979783 Centerline is valid? [True, True] Translation: X:118.58, Y:103.93, Z:41.23 [[-5.36801332e-02 -9.98549169e-01 -4.24271469e-03 1.18578983e+02] [ 9.54862016e-01 -5.00875370e-02 -2.92796462e-01 1.03930853e+02] [ 2.92159157e-01 -1.97685602e-02 9.56165378e-01 4.12340777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.710714057 meters Centerline goodness : 0.978753 Centerline is valid? [True, True] Translation: X:118.58, Y:103.94, Z:41.24 [[-5.06964149e-02 -9.98697041e-01 5.83900038e-03 1.18578069e+02] [ 9.55029515e-01 -5.01883108e-02 -2.92232371e-01 1.03936587e+02] [ 2.92144654e-01 -9.23871583e-03 9.56329518e-01 4.12420147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.740714057 meters Centerline goodness : 0.980295 Centerline is valid? [True, True] Translation: X:118.59, Y:103.78, Z:41.19 [[-4.09331614e-02 -9.99161230e-01 -1.14600116e-03 1.18587725e+02] [ 9.54603160e-01 -3.87689756e-02 -2.95346870e-01 1.03775392e+02] [ 2.95054713e-01 -1.31834574e-02 9.55389404e-01 4.11876548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.770714057 meters Centerline goodness : 0.977161 Centerline is valid? [True, True] Translation: X:118.56, Y:104.41, Z:41.38 [[-7.71100579e-02 -9.97001064e-01 6.55118021e-03 1.18562890e+02] [ 9.56394438e-01 -7.58228760e-02 -2.82064833e-01 1.04407215e+02] [ 2.81715668e-01 -1.54845233e-02 9.59372978e-01 4.13801877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.800714057 meters Centerline goodness : 0.977122 Centerline is valid? [True, True] Translation: X:118.56, Y:104.49, Z:41.40 [[-7.87937471e-02 -9.96888433e-01 2.23543202e-03 1.18564119e+02] [ 9.57701634e-01 -7.63186098e-02 -2.77458196e-01 1.04489522e+02] [ 2.76765471e-01 -1.97210941e-02 9.60735110e-01 4.14017904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.830714057 meters Centerline goodness : 0.980542 Centerline is valid? [True, True] Translation: X:118.58, Y:104.09, Z:41.28 [[-6.71565725e-02 -9.97742270e-01 5.97321453e-04 1.18575821e+02] [ 9.55951161e-01 -6.45151030e-02 -2.86348003e-01 1.04085427e+02] [ 2.85740043e-01 -1.86591403e-02 9.58125495e-01 4.12841409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.860714057 meters Centerline goodness : 0.978148 Centerline is valid? [True, True] Translation: X:118.57, Y:104.48, Z:41.40 [[-7.42093967e-02 -9.97232246e-01 4.56205588e-03 1.18571917e+02] [ 9.57175510e-01 -7.25107650e-02 -2.80280630e-01 1.04476983e+02] [ 2.79835680e-01 -1.64327683e-02 9.59907264e-01 4.14021406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.890714057 meters Centerline goodness : 0.981157 Centerline is valid? [True, True] Translation: X:118.59, Y:103.41, Z:41.08 [[-1.42586996e-02 -9.99738025e-01 1.79044917e-02 1.18594699e+02] [ 9.65869199e-01 -1.84029461e-02 -2.58375739e-01 1.03406546e+02] [ 2.58637546e-01 1.36092950e-02 9.65878567e-01 4.10772929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.920714057 meters Centerline goodness : 0.977915 Centerline is valid? [True, True] Translation: X:118.61, Y:103.42, Z:41.06 [[-2.02954588e-02 -9.99605880e-01 -1.93953463e-02 1.18608284e+02] [ 9.66188050e-01 -1.46221753e-02 -2.57423473e-01 1.03416085e+02] [ 2.57038415e-01 -2.39640793e-02 9.66104019e-01 4.10614984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.950714057 meters Centerline goodness : 0.982471 Centerline is valid? [True, True] Translation: X:118.61, Y:103.45, Z:41.09 [[-2.28414054e-02 -9.99738613e-01 -9.88045961e-04 1.18609673e+02] [ 9.63889238e-01 -2.17600324e-02 -2.65412958e-01 1.03454421e+02] [ 2.65322083e-01 -7.01477183e-03 9.64134319e-01 4.10879326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.980714057 meters Centerline goodness : 0.978979 Centerline is valid? [True, True] Translation: X:118.62, Y:103.46, Z:41.07 [[-2.93764632e-02 -9.99241357e-01 -2.55682299e-02 1.18616997e+02] [ 9.65086669e-01 -2.16931926e-02 -2.61030891e-01 1.03464352e+02] [ 2.60278205e-01 -3.23437222e-02 9.64991782e-01 4.10744313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.01071405700003 meters Centerline goodness : 0.985428 Centerline is valid? [True, True] Translation: X:118.61, Y:103.50, Z:41.11 [[-3.09498758e-02 -9.99430785e-01 1.34242730e-02 1.18608120e+02] [ 9.63314199e-01 -3.34082029e-02 -2.66288652e-01 1.03502871e+02] [ 2.66585558e-01 4.69019211e-03 9.63799846e-01 4.11062671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.040714057 meters Centerline goodness : 0.983894 Centerline is valid? [True, True] Translation: X:118.63, Y:103.52, Z:41.10 [[-3.18101660e-02 -9.98835686e-01 -3.62682498e-02 1.18629417e+02] [ 9.62862592e-01 -2.08903634e-02 -2.69182508e-01 1.03524402e+02] [ 2.68111438e-01 -4.34840813e-02 9.62406043e-01 4.10989862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.07071405700003 meters Centerline goodness : 0.981220 Centerline is valid? [True, True] Translation: X:118.62, Y:103.53, Z:41.10 [[-4.54841684e-02 -9.98223429e-01 -3.84860449e-02 1.18619633e+02] [ 9.62503653e-01 -3.34779033e-02 -2.69194998e-01 1.03533015e+02] [ 2.67428322e-01 -4.92870694e-02 9.62316412e-01 4.11014062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.100714057 meters Centerline goodness : 0.984523 Centerline is valid? [True, True] Translation: X:118.61, Y:103.57, Z:41.13 [[-3.86828028e-02 -9.99205216e-01 9.62175269e-03 1.18609693e+02] [ 9.61492679e-01 -3.98413150e-02 -2.71927376e-01 1.03565568e+02] [ 2.72094596e-01 -1.26766832e-03 9.62269673e-01 4.11314582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.13071405700003 meters Centerline goodness : 0.985984 Centerline is valid? [True, True] Translation: X:118.61, Y:103.61, Z:41.13 [[-3.70004545e-02 -9.99063939e-01 2.24100797e-02 1.18609983e+02] [ 9.64161665e-01 -4.15855965e-02 -2.62036107e-01 1.03606840e+02] [ 2.62722761e-01 1.19114847e-02 9.64797837e-01 4.11343617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.160714057 meters Centerline goodness : 0.984498 Centerline is valid? [True, True] Translation: X:118.63, Y:103.63, Z:41.12 [[-3.44118108e-02 -9.98961930e-01 -2.98477675e-02 1.18632335e+02] [ 9.64277440e-01 -2.53385862e-02 -2.63679684e-01 1.03633587e+02] [ 2.62649666e-01 -3.78552242e-02 9.64148399e-01 4.11234575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.19071405700004 meters Centerline goodness : 0.988493 Centerline is valid? [True, True] Translation: X:118.62, Y:103.64, Z:41.14 [[-5.38316255e-02 -9.96654272e-01 -6.15013665e-02 1.18622821e+02] [ 9.58166475e-01 -3.42179980e-02 -2.84158644e-01 1.03637861e+02] [ 2.81103473e-01 -7.42252693e-02 9.56802721e-01 4.11386320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.220714057 meters Centerline goodness : 0.988205 Centerline is valid? [True, True] Translation: X:118.60, Y:103.66, Z:41.17 [[-5.34402353e-02 -9.98545849e-01 -7.09426417e-03 1.18599183e+02] [ 9.57091009e-01 -4.91927107e-02 -2.85581647e-01 1.03659740e+02] [ 2.84817382e-01 -2.20514069e-02 9.58328125e-01 4.11662573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.250714057 meters Centerline goodness : 0.978849 Centerline is valid? [True, True] Translation: X:118.60, Y:103.68, Z:41.16 [[-5.52671304e-02 -9.98238770e-01 -2.15616066e-02 1.18600508e+02] [ 9.60432496e-01 -4.72454060e-02 -2.74476397e-01 1.03679824e+02] [ 2.72974294e-01 -3.58779904e-02 9.61352071e-01 4.11571566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.280714057 meters Centerline goodness : 0.985434 Centerline is valid? [True, True] Translation: X:118.57, Y:103.72, Z:41.20 [[-5.37446216e-02 -9.96579028e-01 6.27834054e-02 1.18565375e+02] [ 9.59366258e-01 -6.89744988e-02 -2.73603548e-01 1.03717696e+02] [ 2.76998012e-01 4.55275616e-02 9.59791302e-01 4.12035693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.310714057 meters Centerline goodness : 0.986435 Centerline is valid? [True, True] Translation: X:118.60, Y:103.76, Z:41.18 [[-5.30366349e-02 -9.98488071e-01 -1.44459920e-02 1.18598539e+02] [ 9.59765829e-01 -4.69744766e-02 -2.76844634e-01 1.03758388e+02] [ 2.75747472e-01 -2.85476773e-02 9.60806100e-01 4.11831755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.340714057 meters Centerline goodness : 0.985677 Centerline is valid? [True, True] Translation: X:118.60, Y:103.78, Z:41.19 [[-5.30113213e-02 -9.98296471e-01 -2.43711944e-02 1.18601188e+02] [ 9.59617916e-01 -4.41751472e-02 -2.77816509e-01 1.03783729e+02] [ 2.76266639e-01 -3.81144549e-02 9.60324962e-01 4.11876270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.370714057 meters Centerline goodness : 0.985298 Centerline is valid? [True, True] Translation: X:118.60, Y:103.81, Z:41.20 [[-5.27567578e-02 -9.98336932e-01 -2.32399574e-02 1.18597200e+02] [ 9.60614890e-01 -4.43776214e-02 -2.74316715e-01 1.03812069e+02] [ 2.72829173e-01 -3.67967096e-02 9.61358541e-01 4.11972285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.400714057 meters Centerline goodness : 0.987460 Centerline is valid? [True, True] Translation: X:118.59, Y:103.91, Z:41.25 [[-9.91249073e-02 -9.93446542e-01 -5.69053645e-02 1.18586581e+02] [ 9.42923386e-01 -7.55055075e-02 -3.24336871e-01 1.03909806e+02] [ 3.17914675e-01 -8.58072613e-02 9.44228454e-01 4.12489045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.430714057 meters Centerline goodness : 0.986784 Centerline is valid? [True, True] Translation: X:118.55, Y:103.81, Z:41.23 [[-5.03843072e-02 -9.96404649e-01 6.81116580e-02 1.18552920e+02] [ 9.61457053e-01 -6.68484195e-02 -2.66705128e-01 1.03813050e+02] [ 2.70299386e-01 5.20486808e-02 9.61368388e-01 4.12336165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.460714057 meters Centerline goodness : 0.987170 Centerline is valid? [True, True] Translation: X:118.59, Y:103.84, Z:41.21 [[-5.75254977e-02 -9.97642769e-01 -3.74128651e-02 1.18592176e+02] [ 9.57371516e-01 -4.45001215e-02 -2.85411142e-01 1.03844366e+02] [ 2.83073485e-01 -5.22364293e-02 9.57674662e-01 4.12132050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.490714057 meters Centerline goodness : 0.984410 Centerline is valid? [True, True] Translation: X:118.58, Y:103.84, Z:41.22 [[-5.80299498e-02 -9.98165460e-01 -1.72695869e-02 1.18579823e+02] [ 9.56139224e-01 -5.05950843e-02 -2.88509831e-01 1.03843025e+02] [ 2.87106792e-01 -3.32543404e-02 9.57321179e-01 4.12248486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.520714057 meters Centerline goodness : 0.986429 Centerline is valid? [True, True] Translation: X:118.57, Y:103.84, Z:41.23 [[-5.46002451e-02 -9.98501637e-01 -3.64604385e-03 1.18571873e+02] [ 9.55735488e-01 -5.12037177e-02 -2.89737566e-01 1.03837607e+02] [ 2.89116743e-01 -1.93043956e-02 9.57099185e-01 4.12287842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.550714057 meters Centerline goodness : 0.984858 Centerline is valid? [True, True] Translation: X:118.57, Y:103.88, Z:41.25 [[-6.51357972e-02 -9.97602979e-01 -2.33586044e-02 1.18573400e+02] [ 9.52009331e-01 -5.51094866e-02 -3.01066733e-01 1.03879366e+02] [ 2.99057789e-01 -4.18478310e-02 9.53316945e-01 4.12454518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.580714057 meters Centerline goodness : 0.978275 Centerline is valid? [True, True] Translation: X:118.51, Y:104.91, Z:41.60 [[-1.02308151e-01 -9.94747710e-01 -3.16783661e-03 1.18513778e+02] [ 9.44678250e-01 -9.61599554e-02 -3.13586141e-01 1.04914074e+02] [ 3.11634476e-01 -3.50750046e-02 9.49554473e-01 4.15963501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.610714057 meters Centerline goodness : 0.987502 Centerline is valid? [True, True] Translation: X:118.54, Y:103.90, Z:41.28 [[-8.31661362e-02 -9.96238418e-01 2.43394361e-02 1.18539763e+02] [ 9.44003806e-01 -8.65838105e-02 -3.18370943e-01 1.03902132e+02] [ 3.19280766e-01 -3.50116090e-03 9.47653700e-01 4.12835278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.640714057 meters Centerline goodness : 0.982976 Centerline is valid? [True, True] Translation: X:118.55, Y:103.90, Z:41.27 [[-6.66420612e-02 -9.97712436e-01 1.13459479e-02 1.18554773e+02] [ 9.50171581e-01 -6.69288580e-02 -3.04457707e-01 1.03901700e+02] [ 3.04520612e-01 -9.50909187e-03 9.52458280e-01 4.12682586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.670714057 meters Centerline goodness : 0.978188 Centerline is valid? [True, True] Translation: X:118.50, Y:104.94, Z:41.60 [[-1.03090131e-01 -9.94438673e-01 2.15441441e-02 1.18496354e+02] [ 9.50265059e-01 -1.04864110e-01 -2.93257286e-01 1.04944287e+02] [ 2.93885594e-01 -9.75928459e-03 9.55790779e-01 4.16046549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.700714057 meters Centerline goodness : 0.978989 Centerline is valid? [True, True] Translation: X:118.50, Y:104.95, Z:41.60 [[-9.61681357e-02 -9.95349884e-01 5.50436327e-03 1.18503630e+02] [ 9.48643884e-01 -9.33270783e-02 -3.02266171e-01 1.04945903e+02] [ 3.01374305e-01 -2.38466936e-02 9.53207671e-01 4.15984982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.730714057 meters Centerline goodness : 0.987717 Centerline is valid? [True, True] Translation: X:118.54, Y:103.94, Z:41.28 [[-8.11854344e-02 -9.96689765e-01 4.29391405e-03 1.18540823e+02] [ 9.42342998e-01 -7.81604648e-02 -3.25393018e-01 1.03939510e+02] [ 3.24651505e-01 -2.23708337e-02 9.45569112e-01 4.12791131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.76071405700003 meters Centerline goodness : 0.986325 Centerline is valid? [True, True] Translation: X:118.54, Y:103.94, Z:41.28 [[-8.13167330e-02 -9.96657041e-01 7.89509355e-03 1.18539910e+02] [ 9.42384080e-01 -7.94628119e-02 -3.24958316e-01 1.03939770e+02] [ 3.24499359e-01 -1.89843381e-02 9.45695385e-01 4.12803992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.790714057 meters Centerline goodness : 0.985302 Centerline is valid? [True, True] Translation: X:118.52, Y:104.59, Z:41.49 [[-8.61380011e-02 -9.96228003e-01 1.04885951e-02 1.18519613e+02] [ 9.43646207e-01 -8.49592008e-02 -3.19865239e-01 1.04589905e+02] [ 3.19549811e-01 -1.76550293e-02 9.47404992e-01 4.14941539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.82071405700003 meters Centerline goodness : 0.978998 Centerline is valid? [True, True] Translation: X:118.50, Y:104.96, Z:41.60 [[-1.16672490e-01 -9.93026021e-01 1.69367092e-02 1.18498050e+02] [ 9.49571584e-01 -1.16531700e-01 -2.91091343e-01 1.04955117e+02] [ 2.91034942e-01 -1.78797341e-02 9.56545335e-01 4.16047433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.850714057 meters Centerline goodness : 0.987058 Centerline is valid? [True, True] Translation: X:118.55, Y:103.97, Z:41.29 [[-9.54298846e-02 -9.95435034e-01 -1.49369160e-03 1.18554469e+02] [ 9.43660703e-01 -8.99885697e-02 -3.18443927e-01 1.03967652e+02] [ 3.16855826e-01 -3.17986052e-02 9.47940523e-01 4.12923045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.88071405700003 meters Centerline goodness : 0.984429 Centerline is valid? [True, True] Translation: X:118.56, Y:103.89, Z:41.26 [[-6.16283090e-02 -9.97202119e-01 4.23070440e-02 1.18558418e+02] [ 9.56352978e-01 -7.11283005e-02 -2.83425026e-01 1.03886931e+02] [ 2.85641265e-01 2.29934624e-02 9.58060733e-01 4.12574945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.910714057 meters Centerline goodness : 0.983763 Centerline is valid? [True, True] Translation: X:118.58, Y:103.90, Z:41.24 [[-6.20950000e-02 -9.98067650e-01 2.27511085e-03 1.18577068e+02] [ 9.57142974e-01 -6.01946290e-02 -2.83291254e-01 1.03902349e+02] [ 2.82880786e-01 -1.54133641e-02 9.59031224e-01 4.12442281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.94071405700004 meters Centerline goodness : 0.988173 Centerline is valid? [True, True] Translation: X:118.57, Y:103.90, Z:41.25 [[-6.26956710e-02 -9.97981697e-01 1.00888446e-02 1.18571872e+02] [ 9.56309151e-01 -6.29638558e-02 -2.85496690e-01 1.03901057e+02] [ 2.85555704e-01 -8.25135212e-03 9.58326591e-01 4.12489525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.970714057 meters Centerline goodness : 0.987667 Centerline is valid? [True, True] Translation: X:118.58, Y:103.92, Z:41.24 [[-6.47367970e-02 -9.97742952e-01 -1.78367391e-02 1.18583523e+02] [ 9.55557553e-01 -5.68282680e-02 -2.89275494e-01 1.03915152e+02] [ 2.87608955e-01 -3.57707997e-02 9.57079693e-01 4.12437565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.000714057 meters Centerline goodness : 0.987809 Centerline is valid? [True, True] Translation: X:118.58, Y:103.94, Z:41.25 [[-6.87643390e-02 -9.97554939e-01 -1.24743365e-02 1.18579849e+02] [ 9.54205309e-01 -6.21167813e-02 -2.92632422e-01 1.03938289e+02] [ 2.91142053e-01 -3.20257532e-02 9.56143638e-01 4.12547334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.030714057 meters Centerline goodness : 0.988014 Centerline is valid? [True, True] Translation: X:118.58, Y:103.93, Z:41.25 [[-7.48513456e-02 -9.96978166e-01 -2.07800983e-02 1.18582987e+02] [ 9.51670236e-01 -6.51942302e-02 -3.00122431e-01 1.03931028e+02] [ 2.97860769e-01 -4.22403689e-02 9.53674323e-01 4.12542295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.060714057 meters Centerline goodness : 0.987113 Centerline is valid? [True, True] Translation: X:118.58, Y:103.94, Z:41.26 [[-7.85365804e-02 -9.96826647e-01 -1.29862089e-02 1.18579258e+02] [ 9.50497816e-01 -7.09453453e-02 -3.02523816e-01 1.03936067e+02] [ 3.00642490e-01 -3.61025492e-02 9.53053356e-01 4.12616696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.090714057 meters Centerline goodness : 0.987434 Centerline is valid? [True, True] Translation: X:118.57, Y:103.99, Z:41.29 [[-1.05788910e-01 -9.94065095e-01 -2.53632283e-02 1.18570542e+02] [ 9.42296787e-01 -9.20672948e-02 -3.21870128e-01 1.03985079e+02] [ 3.17624735e-01 -5.79499784e-02 9.46444043e-01 4.12870384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.120714057 meters Centerline goodness : 0.987198 Centerline is valid? [True, True] Translation: X:118.56, Y:103.99, Z:41.31 [[-1.04994407e-01 -9.94412001e-01 1.09976072e-02 1.18555160e+02] [ 9.41565098e-01 -1.02961447e-01 -3.20708757e-01 1.03991338e+02] [ 3.20048967e-01 -2.33176627e-02 9.47114009e-01 4.13052590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.150714057 meters Centerline goodness : 0.986876 Centerline is valid? [True, True] Translation: X:118.56, Y:103.98, Z:41.30 [[-1.05664850e-01 -9.94342562e-01 1.08540163e-02 1.18555081e+02] [ 9.41606745e-01 -1.03558174e-01 -3.20394198e-01 1.03981416e+02] [ 3.19705609e-01 -2.36341900e-02 9.47222122e-01 4.13025092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.180714057 meters Centerline goodness : 0.987582 Centerline is valid? [True, True] Translation: X:118.56, Y:103.90, Z:41.26 [[-6.58327025e-02 -9.96901576e-01 4.30500169e-02 1.18561112e+02] [ 9.57004862e-01 -7.52950775e-02 -2.80129159e-01 1.03898421e+02] [ 2.82502654e-01 2.27574159e-02 9.58996533e-01 4.12619836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.210714057 meters Centerline goodness : 0.987448 Centerline is valid? [True, True] Translation: X:118.58, Y:103.92, Z:41.26 [[-7.02092466e-02 -9.97532084e-01 6.35029475e-04 1.18579352e+02] [ 9.55412022e-01 -6.74277188e-02 -2.87474122e-01 1.03924325e+02] [ 2.86807478e-01 -1.95766267e-02 9.57788195e-01 4.12553125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.240714057 meters Centerline goodness : 0.987328 Centerline is valid? [True, True] Translation: X:118.59, Y:103.94, Z:41.26 [[-7.36184357e-02 -9.97159740e-01 -1.58990172e-02 1.18586030e+02] [ 9.54295482e-01 -6.58056047e-02 -2.91530025e-01 1.03937749e+02] [ 2.89655760e-01 -3.66343447e-02 9.56429540e-01 4.12550042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.270714057 meters Centerline goodness : 0.988497 Centerline is valid? [True, True] Translation: X:118.58, Y:103.94, Z:41.26 [[-7.70864840e-02 -9.96955227e-01 -1.17452213e-02 1.18583639e+02] [ 9.52960567e-01 -7.02110770e-02 -2.94850067e-01 1.03938872e+02] [ 2.93127671e-01 -3.39216877e-02 9.55471343e-01 4.12592510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.300714057 meters Centerline goodness : 0.986073 Centerline is valid? [True, True] Translation: X:118.59, Y:103.95, Z:41.26 [[-8.09344162e-02 -9.96486359e-01 -2.15535762e-02 1.18586394e+02] [ 9.52771094e-01 -7.09972240e-02 -2.95273833e-01 1.03951959e+02] [ 2.92706103e-01 -4.44334397e-02 9.55169517e-01 4.12604321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.330714057 meters Centerline goodness : 0.984421 Centerline is valid? [True, True] Translation: X:118.58, Y:103.94, Z:41.27 [[-8.38670723e-02 -9.96460059e-01 5.80212673e-03 1.18576794e+02] [ 9.51087155e-01 -8.17828589e-02 -2.97900633e-01 1.03944847e+02] [ 2.97320597e-01 -1.94657257e-02 9.54579252e-01 4.12692743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.360714057 meters Centerline goodness : 0.986690 Centerline is valid? [True, True] Translation: X:118.59, Y:103.96, Z:41.27 [[-8.86802164e-02 -9.95818214e-01 -2.19522947e-02 1.18586154e+02] [ 9.49766811e-01 -7.78973403e-02 -3.03108907e-01 1.03958936e+02] [ 3.00131345e-01 -4.77293244e-02 9.52703043e-01 4.12660024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.390714057 meters Centerline goodness : 0.985334 Centerline is valid? [True, True] Translation: X:118.58, Y:103.94, Z:41.27 [[-8.50132269e-02 -9.96222473e-01 1.77069424e-02 1.18575487e+02] [ 9.52374761e-01 -8.64688330e-02 -2.92413158e-01 1.03935622e+02] [ 2.92839658e-01 -7.99534117e-03 9.56128134e-01 4.12682543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.420714057 meters Centerline goodness : 0.985334 Centerline is valid? [True, True] Translation: X:118.58, Y:103.94, Z:41.26 [[-8.43659651e-02 -9.96433608e-01 -1.56480749e-03 1.18583749e+02] [ 9.52731592e-01 -8.02056214e-02 -2.93035103e-01 1.03940745e+02] [ 2.91864518e-01 -2.62130308e-02 9.56100403e-01 4.12619601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.450714057 meters Centerline goodness : 0.985980 Centerline is valid? [True, True] Translation: X:118.59, Y:103.95, Z:41.26 [[-8.44222580e-02 -9.96421897e-01 -4.03550112e-03 1.18585124e+02] [ 9.52753567e-01 -7.95352001e-02 -2.93146366e-01 1.03949229e+02] [ 2.91776494e-01 -2.85929162e-02 9.56059058e-01 4.12625604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.480714057 meters Centerline goodness : 0.988371 Centerline is valid? [True, True] Translation: X:118.58, Y:104.01, Z:41.30 [[-1.16923394e-01 -9.92929011e-01 -2.05158089e-02 1.18575586e+02] [ 9.40385024e-01 -1.04045566e-01 -3.23806310e-01 1.04009928e+02] [ 3.19382101e-01 -5.71532923e-02 9.45900933e-01 4.12972865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.51071405700003 meters Centerline goodness : 0.987641 Centerline is valid? [True, True] Translation: X:118.56, Y:103.96, Z:41.29 [[-8.56857273e-02 -9.94844965e-01 5.42351457e-02 1.18559719e+02] [ 9.52088979e-01 -9.77998589e-02 -2.89761562e-01 1.03963100e+02] [ 2.93572021e-01 2.68082543e-02 9.55560980e-01 4.12925927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.540714057 meters Centerline goodness : 0.986804 Centerline is valid? [True, True] Translation: X:118.59, Y:104.01, Z:41.28 [[-9.61415985e-02 -9.94896921e-01 -3.06089774e-02 1.18591495e+02] [ 9.47883060e-01 -8.21270586e-02 -3.07851996e-01 1.04007593e+02] [ 3.03767178e-01 -5.86111142e-02 9.50941764e-01 4.12822643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.57071405700003 meters Centerline goodness : 0.988137 Centerline is valid? [True, True] Translation: X:118.58, Y:104.01, Z:41.29 [[-9.60080278e-02 -9.95380234e-01 -8.05435955e-04 1.18580085e+02] [ 9.47078307e-01 -9.11000648e-02 -3.07804253e-01 1.04010473e+02] [ 3.06308894e-01 -3.03144902e-02 9.51449364e-01 4.12945290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.600714057 meters Centerline goodness : 0.988920 Centerline is valid? [True, True] Translation: X:118.57, Y:103.96, Z:41.28 [[-7.90772564e-02 -9.96220219e-01 3.59452713e-02 1.18572731e+02] [ 9.55438876e-01 -8.60286991e-02 -2.82374959e-01 1.03962746e+02] [ 2.84399969e-01 1.20140725e-02 9.58630440e-01 4.12760424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.63071405700003 meters Centerline goodness : 0.987222 Centerline is valid? [True, True] Translation: X:118.61, Y:104.00, Z:41.26 [[-8.48888557e-02 -9.95212393e-01 -4.84373316e-02 1.18607637e+02] [ 9.53942838e-01 -6.71384894e-02 -2.92379011e-01 1.03995518e+02] [ 2.87727206e-01 -7.10261652e-02 9.55075044e-01 4.12598480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.660714057 meters Centerline goodness : 0.986153 Centerline is valid? [True, True] Translation: X:118.58, Y:103.97, Z:41.28 [[-8.76060480e-02 -9.96154664e-01 1.03235666e-03 1.18584960e+02] [ 9.51789574e-01 -8.40101399e-02 -2.95023563e-01 1.03974534e+02] [ 2.93975827e-01 -2.48632621e-02 9.55489420e-01 4.12760402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.69071405700004 meters Centerline goodness : 0.987445 Centerline is valid? [True, True] Translation: X:118.59, Y:103.99, Z:41.28 [[-8.89805969e-02 -9.95997377e-01 -8.46631166e-03 1.18588507e+02] [ 9.51462601e-01 -8.24815419e-02 -2.96505841e-01 1.03987155e+02] [ 2.94620725e-01 -3.44386456e-02 9.54993512e-01 4.12778765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.720714057 meters Centerline goodness : 0.988025 Centerline is valid? [True, True] Translation: X:118.58, Y:103.98, Z:41.28 [[-8.75033863e-02 -9.96086520e-01 1.24419861e-02 1.18580921e+02] [ 9.50405173e-01 -8.72193632e-02 -2.98534404e-01 1.03981601e+02] [ 2.98451278e-01 -1.42978434e-02 9.54317770e-01 4.12848566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.750714057 meters Centerline goodness : 0.988279 Centerline is valid? [True, True] Translation: X:118.60, Y:103.99, Z:41.27 [[-8.70688539e-02 -9.96042240e-01 -1.78569608e-02 1.18596215e+02] [ 9.52560040e-01 -7.79936945e-02 -2.94187618e-01 1.03987361e+02] [ 2.91630563e-01 -4.26244060e-02 9.55580857e-01 4.12717193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.780714057 meters Centerline goodness : 0.987451 Centerline is valid? [True, True] Translation: X:118.59, Y:103.98, Z:41.28 [[-9.26736649e-02 -9.95624059e-01 -1.20135658e-02 1.18593627e+02] [ 9.49743447e-01 -8.47670506e-02 -3.01333591e-01 1.03983936e+02] [ 2.98996618e-01 -3.93354936e-02 9.53443098e-01 4.12767720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.810714057 meters Centerline goodness : 0.987570 Centerline is valid? [True, True] Translation: X:118.59, Y:103.99, Z:41.28 [[-9.57854681e-02 -9.95398906e-01 2.48244868e-03 1.18588701e+02] [ 9.49311948e-01 -9.21001262e-02 -3.00540166e-01 1.03989757e+02] [ 2.99385986e-01 -2.64307623e-02 9.53765928e-01 4.12842953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.840714057 meters Centerline goodness : 0.986864 Centerline is valid? [True, True] Translation: X:118.59, Y:103.96, Z:41.27 [[-8.53073314e-02 -9.96157766e-01 1.98082147e-02 1.18588533e+02] [ 9.54529005e-01 -8.74098217e-02 -2.85015615e-01 1.03958486e+02] [ 2.85651951e-01 -5.40640610e-03 9.58318180e-01 4.12700923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.870714057 meters Centerline goodness : 0.989577 Centerline is valid? [True, True] Translation: X:118.60, Y:103.96, Z:41.26 [[-8.52239488e-02 -9.96360535e-01 1.60118757e-03 1.18595561e+02] [ 9.55181746e-01 -8.21587361e-02 -2.84390181e-01 1.03963077e+02] [ 2.83486704e-01 -2.27074290e-02 9.58707287e-01 4.12643456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.900714057 meters Centerline goodness : 0.989737 Centerline is valid? [True, True] Translation: X:118.60, Y:103.96, Z:41.26 [[-8.72046176e-02 -9.96188331e-01 -2.04073021e-03 1.18599880e+02] [ 9.53430832e-01 -8.28676141e-02 -2.90004497e-01 1.03958554e+02] [ 2.88729985e-01 -2.72354263e-02 9.57023107e-01 4.12639715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.930714057 meters Centerline goodness : 0.989102 Centerline is valid? [True, True] Translation: X:118.61, Y:103.97, Z:41.26 [[-9.17500489e-02 -9.95435957e-01 -2.62523101e-02 1.18610445e+02] [ 9.53437751e-01 -8.02117797e-02 -2.90727579e-01 1.03967649e+02] [ 2.87294942e-01 -5.17042131e-02 9.56445655e-01 4.12600479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.960714057 meters Centerline goodness : 0.989735 Centerline is valid? [True, True] Translation: X:118.60, Y:104.00, Z:41.28 [[-9.85291240e-02 -9.95041412e-01 -1.35867369e-02 1.18603518e+02] [ 9.51223768e-01 -9.01617903e-02 -2.95032533e-01 1.03997147e+02] [ 2.92344584e-01 -4.19933241e-02 9.55390603e-01 4.12779699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.990714057 meters Centerline goodness : 0.989166 Centerline is valid? [True, True] Translation: X:118.60, Y:103.96, Z:41.27 [[-9.33831640e-02 -9.95592737e-01 8.64218049e-03 1.18597805e+02] [ 9.53366193e-01 -9.19179007e-02 -2.87478696e-01 1.03963977e+02] [ 2.87006073e-01 -1.86065075e-02 9.57748042e-01 4.12707267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.020714057 meters Centerline goodness : 0.989094 Centerline is valid? [True, True] Translation: X:118.60, Y:103.98, Z:41.27 [[-9.95900223e-02 -9.94961160e-01 -1.15809279e-02 1.18604856e+02] [ 9.50788241e-01 -9.17237877e-02 -2.95953488e-01 1.03979241e+02] [ 2.93399979e-01 -4.04850245e-02 9.55132145e-01 4.12732909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.050714057 meters Centerline goodness : 0.989830 Centerline is valid? [True, True] Translation: X:118.60, Y:103.96, Z:41.27 [[-9.08172188e-02 -9.95821616e-01 9.56777198e-03 1.18601989e+02] [ 9.54871571e-01 -8.98028184e-02 -2.83117885e-01 1.03959232e+02] [ 2.82794123e-01 -1.65759855e-02 9.59037393e-01 4.12655519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.080714057 meters Centerline goodness : 0.991514 Centerline is valid? [True, True] Translation: X:118.61, Y:104.00, Z:41.28 [[-1.01524175e-01 -9.94641966e-01 -1.94987416e-02 1.18611974e+02] [ 9.51032556e-01 -9.12838454e-02 -2.95303805e-01 1.04001424e+02] [ 2.91941637e-01 -4.85244133e-02 9.55204408e-01 4.12763979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.110714057 meters Centerline goodness : 0.989488 Centerline is valid? [True, True] Translation: X:118.61, Y:103.99, Z:41.28 [[-9.77753474e-02 -9.95197509e-01 4.67964406e-03 1.18606253e+02] [ 9.53236041e-01 -9.50018538e-02 -2.86907126e-01 1.03994552e+02] [ 2.85973832e-01 -2.35916385e-02 9.57946972e-01 4.12774890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.140714057 meters Centerline goodness : 0.990586 Centerline is valid? [True, True] Translation: X:118.61, Y:103.99, Z:41.27 [[-9.58967178e-02 -9.95386533e-01 3.07729417e-03 1.18608191e+02] [ 9.53944142e-01 -9.27860499e-02 -2.85274120e-01 1.03988682e+02] [ 2.84243547e-01 -2.44212850e-02 9.58441029e-01 4.12725987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.170714057 meters Centerline goodness : 0.990284 Centerline is valid? [True, True] Translation: X:118.62, Y:104.03, Z:41.29 [[-1.09868677e-01 -9.93355076e-01 -3.42719481e-02 1.18618657e+02] [ 9.47065569e-01 -9.41597309e-02 -3.06921412e-01 1.04029843e+02] [ 3.01654906e-01 -6.61788316e-02 9.51117595e-01 4.12859186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.200714057 meters Centerline goodness : 0.989590 Centerline is valid? [True, True] Translation: X:118.61, Y:104.06, Z:41.31 [[-1.12337208e-01 -9.93637274e-01 -8.08202656e-03 1.18606150e+02] [ 9.44670535e-01 -1.04271539e-01 -3.11006472e-01 1.04061000e+02] [ 3.08184898e-01 -4.25724512e-02 9.50373429e-01 4.13080328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.230714057 meters Centerline goodness : 0.988102 Centerline is valid? [True, True] Translation: X:118.60, Y:104.08, Z:41.32 [[-1.17252804e-01 -9.93099178e-01 -2.40902315e-03 1.18602909e+02] [ 9.41564909e-01 -1.10396336e-01 -3.18226603e-01 1.04082186e+02] [ 3.15764630e-01 -3.95812132e-02 9.48011617e-01 4.13247129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.26071405700003 meters Centerline goodness : 0.990291 Centerline is valid? [True, True] Translation: X:118.58, Y:104.55, Z:41.48 [[-1.28993374e-01 -9.91634479e-01 4.66585432e-03 1.18579374e+02] [ 9.41455492e-01 -1.23941232e-01 -3.13528513e-01 1.04549487e+02] [ 3.11483975e-01 -3.60504065e-02 9.49567323e-01 4.14762414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.290714057 meters Centerline goodness : 0.987673 Centerline is valid? [True, True] Translation: X:118.60, Y:104.07, Z:41.33 [[-1.10914092e-01 -9.93669684e-01 1.78500397e-02 1.18595437e+02] [ 9.42141024e-01 -1.10845439e-01 -3.16359889e-01 1.04071951e+02] [ 3.16335826e-01 -1.82715150e-02 9.48471295e-01 4.13270896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.32071405700003 meters Centerline goodness : 0.989340 Centerline is valid? [True, True] Translation: X:118.60, Y:104.06, Z:41.32 [[-1.05383528e-01 -9.94284107e-01 1.71297203e-02 1.18597577e+02] [ 9.44948930e-01 -1.05490906e-01 -3.09746976e-01 1.04060146e+02] [ 3.09783525e-01 -1.64555183e-02 9.50664706e-01 4.13189256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.350714057 meters Centerline goodness : 0.988894 Centerline is valid? [True, True] Translation: X:118.60, Y:104.06, Z:41.31 [[-1.04607424e-01 -9.94512865e-01 1.20326253e-03 1.18604279e+02] [ 9.45210516e-01 -9.97976543e-02 -3.10833571e-01 1.04064761e+02] [ 3.09248068e-01 -3.13781626e-02 9.50463594e-01 4.13142531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.38071405700003 meters Centerline goodness : 0.989610 Centerline is valid? [True, True] Translation: X:118.60, Y:104.06, Z:41.31 [[-1.02708020e-01 -9.94669437e-01 9.15278201e-03 1.18601618e+02] [ 9.46092975e-01 -1.00525340e-01 -3.07900533e-01 1.04061725e+02] [ 3.07179336e-01 -2.29644714e-02 9.51374526e-01 4.13149863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.410714057 meters Centerline goodness : 0.990653 Centerline is valid? [True, True] Translation: X:118.59, Y:104.50, Z:41.46 [[-1.14559816e-01 -9.93399082e-01 -5.85771282e-03 1.18592638e+02] [ 9.43303039e-01 -1.06929742e-01 -3.14237819e-01 1.04504300e+02] [ 3.11537197e-01 -4.15246249e-02 9.49326224e-01 4.14568598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.44071405700004 meters Centerline goodness : 0.992658 Centerline is valid? [True, True] Translation: X:118.59, Y:104.07, Z:41.33 [[-1.13705756e-01 -9.93229107e-01 2.38105351e-02 1.18587824e+02] [ 9.40280019e-01 -1.15321937e-01 -3.20272287e-01 1.04072735e+02] [ 3.20849635e-01 -1.40282320e-02 9.47026251e-01 4.13317452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.470714057 meters Centerline goodness : 0.992011 Centerline is valid? [True, True] Translation: X:118.59, Y:104.08, Z:41.33 [[-1.11781286e-01 -9.93699215e-01 8.17405569e-03 1.18593835e+02] [ 9.40885285e-01 -1.08479805e-01 -3.20884735e-01 1.04076271e+02] [ 3.19749630e-01 -2.81780596e-02 9.47082980e-01 4.13269908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.500714057 meters Centerline goodness : 0.991456 Centerline is valid? [True, True] Translation: X:118.60, Y:104.01, Z:41.29 [[-7.73963562e-02 -9.96394545e-01 3.47521777e-02 1.18598077e+02] [ 9.54493272e-01 -8.41209858e-02 -2.86122794e-01 1.04005411e+02] [ 2.88014578e-01 1.10258581e-02 9.57562548e-01 4.12923360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.530714057 meters Centerline goodness : 0.984423 Centerline is valid? [True, True] Translation: X:118.57, Y:105.05, Z:41.62 [[-1.36603814e-01 -9.90382336e-01 -2.19596369e-02 1.18567168e+02] [ 9.41149847e-01 -1.22831358e-01 -3.14880015e-01 1.05045506e+02] [ 3.09154273e-01 -6.36811198e-02 9.48877416e-01 4.16231201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.560714057 meters Centerline goodness : 0.990000 Centerline is valid? [True, True] Translation: X:118.59, Y:103.98, Z:41.29 [[-5.86639095e-02 -9.96430221e-01 6.07071673e-02 1.18591215e+02] [ 9.61449345e-01 -7.27605153e-02 -2.65181192e-01 1.03981048e+02] [ 2.68651639e-01 4.28103007e-02 9.62285600e-01 4.12903973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.590714057 meters Centerline goodness : 0.988375 Centerline is valid? [True, True] Translation: X:118.62, Y:104.01, Z:41.28 [[-5.61257045e-02 -9.98381167e-01 -9.21681711e-03 1.18619533e+02] [ 9.61597772e-01 -5.15692167e-02 -2.69574369e-01 1.04014198e+02] [ 2.68662670e-01 -2.39929222e-02 9.62935465e-01 4.12758813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.620714057 meters Centerline goodness : 0.991759 Centerline is valid? [True, True] Translation: X:118.62, Y:104.09, Z:41.31 [[-9.62935735e-02 -9.93975245e-01 -5.23522628e-02 1.18616289e+02] [ 9.46425092e-01 -7.51457219e-02 -3.14058379e-01 1.04091287e+02] [ 3.08232206e-01 -7.97892988e-02 9.47959163e-01 4.13130764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.650714057 meters Centerline goodness : 0.991942 Centerline is valid? [True, True] Translation: X:118.59, Y:104.08, Z:41.33 [[-9.33431490e-02 -9.95611502e-01 6.69273514e-03 1.18588302e+02] [ 9.45362432e-01 -9.07370688e-02 -3.13139995e-01 1.04082695e+02] [ 3.12373060e-01 -2.29024129e-02 9.49683395e-01 4.13330453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.680714057 meters Centerline goodness : 0.990065 Centerline is valid? [True, True] Translation: X:118.60, Y:104.06, Z:41.32 [[-7.59086049e-02 -9.97094268e-01 -6.39565240e-03 1.18601702e+02] [ 9.49572215e-01 -7.03308166e-02 -3.05558808e-01 1.04061730e+02] [ 3.04221124e-01 -2.92676766e-02 9.52151727e-01 4.13171997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.710714057 meters Centerline goodness : 0.988776 Centerline is valid? [True, True] Translation: X:118.59, Y:104.07, Z:41.32 [[-7.39060689e-02 -9.97236481e-01 7.56923714e-03 1.18594182e+02] [ 9.50009910e-01 -7.27107220e-02 -3.03635178e-01 1.04068610e+02] [ 3.03346442e-01 -1.52496321e-02 9.52758304e-01 4.13243591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.740714057 meters Centerline goodness : 0.988123 Centerline is valid? [True, True] Translation: X:118.60, Y:104.08, Z:41.33 [[-7.60441679e-02 -9.97102366e-01 -2.03874612e-03 1.18596344e+02] [ 9.48843783e-01 -7.17350055e-02 -3.07489128e-01 1.04081641e+02] [ 3.06451887e-01 -2.53172064e-02 9.51549410e-01 4.13277576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.770714057 meters Centerline goodness : 0.987725 Centerline is valid? [True, True] Translation: X:118.59, Y:104.08, Z:41.33 [[-7.60145075e-02 -9.97105020e-01 1.83675450e-03 1.18592615e+02] [ 9.48193090e-01 -7.28553214e-02 -3.09228016e-01 1.04084380e+02] [ 3.08466624e-01 -2.17642174e-02 9.50986152e-01 4.13302316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.800714057 meters Centerline goodness : 0.988283 Centerline is valid? [True, True] Translation: X:118.59, Y:104.09, Z:41.33 [[-7.81434666e-02 -9.96940151e-01 1.98332376e-03 1.18590672e+02] [ 9.47555936e-01 -7.48906614e-02 -3.10691385e-01 1.04093382e+02] [ 3.09889249e-01 -2.23991917e-02 9.50508774e-01 4.13342691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.830714057 meters Centerline goodness : 0.987675 Centerline is valid? [True, True] Translation: X:118.59, Y:104.09, Z:41.33 [[-7.63030927e-02 -9.97073374e-01 4.74596926e-03 1.18587978e+02] [ 9.49431013e-01 -7.41094280e-02 -3.05104155e-01 1.04088200e+02] [ 3.04562950e-01 -1.87744202e-02 9.52307162e-01 4.13310854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.860714057 meters Centerline goodness : 0.987091 Centerline is valid? [True, True] Translation: X:118.59, Y:104.09, Z:41.33 [[-7.77612689e-02 -9.96967185e-01 3.10124665e-03 1.18587696e+02] [ 9.48822700e-01 -7.49604111e-02 -3.06783996e-01 1.04091818e+02] [ 3.06086048e-01 -2.09133796e-02 9.51774113e-01 4.13329625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.890714057 meters Centerline goodness : 0.987243 Centerline is valid? [True, True] Translation: X:118.58, Y:104.09, Z:41.33 [[-7.65471327e-02 -9.97019592e-01 9.61606711e-03 1.18583857e+02] [ 9.48776661e-01 -7.58014896e-02 -3.06719712e-01 1.04085904e+02] [ 3.06534475e-01 -1.43550145e-02 9.51751306e-01 4.13321417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.920714057 meters Centerline goodness : 0.986657 Centerline is valid? [True, True] Translation: X:118.59, Y:104.13, Z:41.34 [[-8.12217271e-02 -9.96625089e-01 -1.18937914e-02 1.18589896e+02] [ 9.46604081e-01 -7.33986897e-02 -3.13932074e-01 1.04127457e+02] [ 3.11999592e-01 -3.67568167e-02 9.49370945e-01 4.13428129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.950714057 meters Centerline goodness : 0.987121 Centerline is valid? [True, True] Translation: X:118.58, Y:104.09, Z:41.34 [[-8.10775741e-02 -9.96665128e-01 9.22227434e-03 1.18580031e+02] [ 9.47685286e-01 -7.99526247e-02 -3.09031030e-01 1.04092039e+02] [ 3.08737796e-01 -1.63156726e-02 9.51007241e-01 4.13380183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.980714057 meters Centerline goodness : 0.986810 Centerline is valid? [True, True] Translation: X:118.58, Y:104.10, Z:41.34 [[-8.02515307e-02 -9.96756251e-01 6.05547139e-03 1.18581242e+02] [ 9.48473507e-01 -7.82295249e-02 -3.07047469e-01 1.04102240e+02] [ 3.06525200e-01 -1.88975752e-02 9.51674936e-01 4.13395646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.01071405700003 meters Centerline goodness : 0.987821 Centerline is valid? [True, True] Translation: X:118.58, Y:104.08, Z:41.33 [[-7.65618930e-02 -9.97054889e-01 4.45257202e-03 1.18581848e+02] [ 9.50059420e-01 -7.43067345e-02 -3.03093398e-01 1.04078940e+02] [ 3.02531611e-01 -1.89751964e-02 9.52950453e-01 4.13294775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.040714057 meters Centerline goodness : 0.986495 Centerline is valid? [True, True] Translation: X:118.58, Y:104.08, Z:41.33 [[-7.52082715e-02 -9.97167491e-01 8.43192567e-04 1.18582368e+02] [ 9.50051242e-01 -7.19114760e-02 -3.03696194e-01 1.04078356e+02] [ 3.02896607e-01 -2.20393896e-02 9.52768551e-01 4.13270949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.07071405700003 meters Centerline goodness : 0.986372 Centerline is valid? [True, True] Translation: X:118.58, Y:104.08, Z:41.33 [[-7.20961755e-02 -9.97351941e-01 9.55237476e-03 1.18577838e+02] [ 9.51510318e-01 -7.16476389e-02 -2.99156701e-01 1.04079220e+02] [ 2.99048921e-01 -1.24788709e-02 9.54156182e-01 4.13288338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.100714057 meters Centerline goodness : 0.986439 Centerline is valid? [True, True] Translation: X:118.58, Y:104.07, Z:41.32 [[-7.02100423e-02 -9.97531999e-01 6.78367700e-04 1.18581330e+02] [ 9.51680828e-01 -6.71866401e-02 -2.99649056e-01 1.04071620e+02] [ 2.98955100e-01 -2.03927834e-02 9.54049256e-01 4.13228232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.13071405700003 meters Centerline goodness : 0.987963 Centerline is valid? [True, True] Translation: X:118.58, Y:104.08, Z:41.32 [[-6.75242980e-02 -9.97715455e-01 2.08331337e-03 1.18579730e+02] [ 9.52426020e-01 -6.50808645e-02 -2.97740083e-01 1.04078511e+02] [ 2.97195466e-01 -1.81204882e-02 9.54644700e-01 4.13237353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.160714057 meters Centerline goodness : 0.986164 Centerline is valid? [True, True] Translation: X:118.58, Y:104.09, Z:41.33 [[-6.79499326e-02 -9.97669299e-01 -6.22709055e-03 1.18582795e+02] [ 9.51686314e-01 -6.29421563e-02 -3.00551902e-01 1.04087604e+02] [ 2.99459458e-01 -2.63487183e-02 9.53745133e-01 4.13257618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.19071405700004 meters Centerline goodness : 0.985562 Centerline is valid? [True, True] Translation: X:118.58, Y:104.09, Z:41.33 [[-6.68667825e-02 -9.97761387e-01 1.02402696e-03 1.18580182e+02] [ 9.52020796e-01 -6.41085148e-02 -2.99243215e-01 1.04086007e+02] [ 2.98638974e-01 -1.90345360e-02 9.54176320e-01 4.13263290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.220714057 meters Centerline goodness : 0.988369 Centerline is valid? [True, True] Translation: X:118.57, Y:104.11, Z:41.34 [[-6.65257165e-02 -9.97649178e-01 1.64452571e-02 1.18572896e+02] [ 9.50922198e-01 -6.83843729e-02 -3.01778977e-01 1.04106618e+02] [ 3.02194147e-01 -4.43790266e-03 9.53236069e-01 4.13397270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.250714057 meters Centerline goodness : 0.984951 Centerline is valid? [True, True] Translation: X:118.59, Y:104.12, Z:41.33 [[-6.88212512e-02 -9.97340819e-01 -2.39776015e-02 1.18589330e+02] [ 9.51938505e-01 -5.84599858e-02 -3.00658464e-01 1.04118503e+02] [ 2.98457229e-01 -4.35168938e-02 9.53430418e-01 4.13265392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.280714057 meters Centerline goodness : 0.986094 Centerline is valid? [True, True] Translation: X:118.58, Y:104.10, Z:41.33 [[-6.60854336e-02 -9.97802826e-01 4.71560125e-03 1.18576877e+02] [ 9.52457309e-01 -6.44894071e-02 -2.97768687e-01 1.04096261e+02] [ 2.97418544e-01 -1.51867639e-02 9.54626404e-01 4.13288522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.310714057 meters Centerline goodness : 0.986094 Centerline is valid? [True, True] Translation: X:118.58, Y:104.10, Z:41.33 [[-6.57000801e-02 -9.97838895e-01 -1.01894443e-03 1.18579222e+02] [ 9.52570147e-01 -6.24153287e-02 -2.97849697e-01 1.04099499e+02] [ 2.97142415e-01 -2.05393650e-02 9.54612235e-01 4.13275483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.340714057 meters Centerline goodness : 0.985868 Centerline is valid? [True, True] Translation: X:118.58, Y:104.11, Z:41.33 [[-6.75184448e-02 -9.97674111e-01 9.36097508e-03 1.18575446e+02] [ 9.50990835e-01 -6.71911312e-02 -3.01830719e-01 1.04106014e+02] [ 3.01757669e-01 -1.14769392e-02 9.53315577e-01 4.13346343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.370714057 meters Centerline goodness : 0.985568 Centerline is valid? [True, True] Translation: X:118.58, Y:104.10, Z:41.33 [[-6.67302455e-02 -9.97769426e-01 -1.80181063e-03 1.18579201e+02] [ 9.52247318e-01 -6.31463009e-02 -2.98726616e-01 1.04095676e+02] [ 2.97946506e-01 -2.16498697e-02 9.54337028e-01 4.13260305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.400714057 meters Centerline goodness : 0.984029 Centerline is valid? [True, True] Translation: X:118.58, Y:104.10, Z:41.33 [[-6.81803837e-02 -9.97668338e-01 3.05331226e-03 1.18576819e+02] [ 9.51939545e-01 -6.59706611e-02 -2.99096930e-01 1.04101057e+02] [ 2.98600966e-01 -1.74859748e-02 9.54217849e-01 4.13310183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.430714057 meters Centerline goodness : 0.986700 Centerline is valid? [True, True] Translation: X:118.58, Y:104.12, Z:41.34 [[-6.88928773e-02 -9.97623968e-01 4.35306353e-04 1.18576233e+02] [ 9.49781450e-01 -6.57225107e-02 -3.05934224e-01 1.04123017e+02] [ 3.05235924e-01 -2.06632431e-02 9.52052552e-01 4.13392704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.460714057 meters Centerline goodness : 0.984297 Centerline is valid? [True, True] Translation: X:118.59, Y:104.11, Z:41.33 [[-7.04293268e-02 -9.97336095e-01 -1.89848487e-02 1.18585102e+02] [ 9.50875119e-01 -6.13724068e-02 -3.03430280e-01 1.04110706e+02] [ 3.01456825e-01 -3.94226106e-02 9.52664495e-01 4.13265894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.490714057 meters Centerline goodness : 0.984925 Centerline is valid? [True, True] Translation: X:118.57, Y:104.12, Z:41.34 [[-7.11966078e-02 -9.97403450e-01 1.08351613e-02 1.18572113e+02] [ 9.50309294e-01 -7.11273269e-02 -3.03072845e-01 1.04118087e+02] [ 3.03056578e-01 -1.12810040e-02 9.52905793e-01 4.13412079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.520714057 meters Centerline goodness : 0.985858 Centerline is valid? [True, True] Translation: X:118.58, Y:104.12, Z:41.33 [[-7.05320509e-02 -9.97403530e-01 -1.45405914e-02 1.18582610e+02] [ 9.50865484e-01 -6.28214255e-02 -3.03163817e-01 1.04119734e+02] [ 3.01463201e-01 -3.52089122e-02 9.52827514e-01 4.13304033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.550714057 meters Centerline goodness : 0.985007 Centerline is valid? [True, True] Translation: X:118.57, Y:104.12, Z:41.34 [[-7.12147412e-02 -9.97440359e-01 6.41798489e-03 1.18573135e+02] [ 9.50399614e-01 -6.98064122e-02 -3.03096749e-01 1.04121244e+02] [ 3.02768946e-01 -1.54853062e-02 9.52938178e-01 4.13408503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.580714057 meters Centerline goodness : 0.985079 Centerline is valid? [True, True] Translation: X:118.57, Y:104.13, Z:41.34 [[-6.87804696e-02 -9.97610939e-01 6.45455859e-03 1.18571203e+02] [ 9.51703370e-01 -6.75531014e-02 -2.99495032e-01 1.04127684e+02] [ 2.99215545e-01 -1.44565838e-02 9.54076027e-01 4.13423521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.610714057 meters Centerline goodness : 0.985688 Centerline is valid? [True, True] Translation: X:118.58, Y:104.14, Z:41.34 [[-6.68975292e-02 -9.97717082e-01 -9.23823832e-03 1.18576244e+02] [ 9.52153409e-01 -6.10696741e-02 -2.99456810e-01 1.04142153e+02] [ 2.98208999e-01 -2.88291408e-02 9.54065131e-01 4.13396170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.640714057 meters Centerline goodness : 0.985563 Centerline is valid? [True, True] Translation: X:118.57, Y:104.13, Z:41.34 [[-6.63099481e-02 -9.97799070e-01 8.76714923e-05 1.18571994e+02] [ 9.52106718e-01 -6.32996915e-02 -2.99142018e-01 1.04129023e+02] [ 2.98489177e-01 -1.97526191e-02 9.54208596e-01 4.13390284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.670714057 meters Centerline goodness : 0.984862 Centerline is valid? [True, True] Translation: X:118.57, Y:104.13, Z:41.34 [[-6.55250830e-02 -9.97850382e-01 1.03853346e-03 1.18571329e+02] [ 9.52596110e-01 -6.28632139e-02 -2.97672416e-01 1.04133044e+02] [ 2.97097819e-01 -1.85157068e-02 9.54667510e-01 4.13386662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.700714057 meters Centerline goodness : 0.986690 Centerline is valid? [True, True] Translation: X:118.57, Y:104.15, Z:41.34 [[-6.61411619e-02 -9.97788514e-01 -6.59004623e-03 1.18573688e+02] [ 9.52240340e-01 -6.11459970e-02 -2.99164674e-01 1.04151299e+02] [ 2.98100120e-01 -2.60624070e-02 9.54178741e-01 4.13416951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.730714057 meters Centerline goodness : 0.984842 Centerline is valid? [True, True] Translation: X:118.57, Y:104.14, Z:41.34 [[-6.54122883e-02 -9.97853258e-01 3.17920100e-03 1.18570258e+02] [ 9.53110269e-01 -6.34220088e-02 -2.95902794e-01 1.04136414e+02] [ 2.95469198e-01 -1.63255497e-02 9.55212767e-01 4.13389444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.76071405700003 meters Centerline goodness : 0.985712 Centerline is valid? [True, True] Translation: X:118.57, Y:104.16, Z:41.35 [[-7.05264937e-02 -9.97488034e-01 -6.60576261e-03 1.18571874e+02] [ 9.51254268e-01 -6.52614291e-02 -3.01423727e-01 1.04164887e+02] [ 3.00235459e-01 -2.75421184e-02 9.53467410e-01 4.13466054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.790714057 meters Centerline goodness : 0.985058 Centerline is valid? [True, True] Translation: X:118.57, Y:104.15, Z:41.34 [[-7.08880745e-02 -9.97481949e-01 -2.15440199e-03 1.18570582e+02] [ 9.51111780e-01 -6.69414819e-02 -3.01504926e-01 1.04148461e+02] [ 3.00601502e-01 -2.34221807e-02 9.53462185e-01 4.13430995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.82071405700003 meters Centerline goodness : 0.984528 Centerline is valid? [True, True] Translation: X:118.57, Y:104.16, Z:41.35 [[-7.30445302e-02 -9.97328606e-01 -3.85302142e-04 1.18569659e+02] [ 9.50638916e-01 -6.95081359e-02 -3.02414072e-01 1.04156466e+02] [ 3.01579423e-01 -2.24559770e-02 9.53176574e-01 4.13469248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.850714057 meters Centerline goodness : 0.984599 Centerline is valid? [True, True] Translation: X:118.57, Y:104.16, Z:41.35 [[-7.41023003e-02 -9.97250152e-01 9.92075913e-04 1.18568617e+02] [ 9.50531614e-01 -7.09316548e-02 -3.02420819e-01 1.04155443e+02] [ 3.01659577e-01 -2.14670788e-02 9.53173995e-01 4.13458148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.88071405700003 meters Centerline goodness : 0.982837 Centerline is valid? [True, True] Translation: X:118.57, Y:104.16, Z:41.35 [[-7.52952011e-02 -9.97104386e-01 1.06525131e-02 1.18565324e+02] [ 9.50827680e-01 -7.50110413e-02 -3.00499696e-01 1.04155771e+02] [ 3.00428621e-01 -1.24974807e-02 9.53722421e-01 4.13490920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.910714057 meters Centerline goodness : 0.984808 Centerline is valid? [True, True] Translation: X:118.57, Y:104.15, Z:41.34 [[-7.33172285e-02 -9.97298666e-01 -4.46703940e-03 1.18570577e+02] [ 9.51806437e-01 -6.86339203e-02 -2.98921212e-01 1.04154861e+02] [ 2.97807136e-01 -2.61678317e-02 9.54267339e-01 4.13403090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.94071405700004 meters Centerline goodness : 0.985485 Centerline is valid? [True, True] Translation: X:118.57, Y:104.16, Z:41.34 [[-7.39714535e-02 -9.97258948e-01 -1.67754883e-03 1.18568008e+02] [ 9.51279504e-01 -7.00558439e-02 -3.00265691e-01 1.04159427e+02] [ 2.99325125e-01 -2.38069074e-02 9.53854130e-01 4.13434733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.970714057 meters Centerline goodness : 0.984312 Centerline is valid? [True, True] Translation: X:118.57, Y:104.17, Z:41.34 [[-7.46277835e-02 -9.97194520e-01 -5.81231175e-03 1.18568735e+02] [ 9.51289700e-01 -6.94415794e-02 -3.00376053e-01 1.04167778e+02] [ 2.99129738e-01 -2.79455913e-02 9.53803147e-01 4.13441378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.000714057 meters Centerline goodness : 0.984969 Centerline is valid? [True, True] Translation: X:118.57, Y:104.16, Z:41.34 [[-7.50708863e-02 -9.97178190e-01 -1.38064611e-04 1.18566268e+02] [ 9.51519805e-01 -7.15921539e-02 -2.99139808e-01 1.04163189e+02] [ 2.98285808e-01 -2.25880617e-02 9.54209283e-01 4.13443754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.030714057 meters Centerline goodness : 0.986770 Centerline is valid? [True, True] Translation: X:118.56, Y:104.20, Z:41.37 [[-9.39616620e-02 -9.95573983e-01 1.91048427e-03 1.18555719e+02] [ 9.44924737e-01 -8.97853796e-02 -3.14731356e-01 1.04203201e+02] [ 3.13509883e-01 -2.77674174e-02 9.49178868e-01 4.13689156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.060714057 meters Centerline goodness : 0.985218 Centerline is valid? [True, True] Translation: X:118.57, Y:104.18, Z:41.35 [[-7.85928783e-02 -9.96898008e-01 -4.18588760e-03 1.18567222e+02] [ 9.50700474e-01 -7.36859486e-02 -3.01229133e-01 1.04178434e+02] [ 2.99986281e-01 -2.76539899e-02 9.53542599e-01 4.13488793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.090714057 meters Centerline goodness : 0.984462 Centerline is valid? [True, True] Translation: X:118.56, Y:104.17, Z:41.35 [[-7.93796088e-02 -9.96844141e-01 7.98138159e-04 1.18564829e+02] [ 9.50790160e-01 -7.59527935e-02 -3.00381833e-01 1.04168954e+02] [ 2.99494491e-01 -2.30853304e-02 9.53818703e-01 4.13477925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.120714057 meters Centerline goodness : 0.985385 Centerline is valid? [True, True] Translation: X:118.57, Y:104.17, Z:41.34 [[-7.75029637e-02 -9.96991692e-01 -9.25573401e-04 1.18565468e+02] [ 9.51402901e-01 -7.36814505e-02 -2.99004287e-01 1.04165287e+02] [ 2.98036593e-01 -2.40543116e-02 9.54251319e-01 4.13446438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.150714057 meters Centerline goodness : 0.984704 Centerline is valid? [True, True] Translation: X:118.56, Y:104.16, Z:41.34 [[-7.84760357e-02 -9.96915889e-01 4.71600205e-04 1.18564673e+02] [ 9.51416604e-01 -7.50356527e-02 -2.98623669e-01 1.04155800e+02] [ 2.97738068e-01 -2.29861135e-02 9.54370830e-01 4.13418146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.180714057 meters Centerline goodness : 0.986153 Centerline is valid? [True, True] Translation: X:118.57, Y:104.17, Z:41.34 [[-7.67916713e-02 -9.97027650e-01 -6.23739486e-03 1.18565581e+02] [ 9.51381702e-01 -7.14015467e-02 -2.99624225e-01 1.04167901e+02] [ 2.98288278e-01 -2.89427884e-02 9.54036906e-01 4.13423836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.210714057 meters Centerline goodness : 0.984253 Centerline is valid? [True, True] Translation: X:118.56, Y:104.18, Z:41.35 [[-7.67118490e-02 -9.97049093e-01 2.89797690e-03 1.18561717e+02] [ 9.51768066e-01 -7.40933677e-02 -2.97737672e-01 1.04176033e+02] [ 2.97073797e-01 -2.00818054e-02 9.54643326e-01 4.13493064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.240714057 meters Centerline goodness : 0.984293 Centerline is valid? [True, True] Translation: X:118.56, Y:104.17, Z:41.35 [[-7.50384628e-02 -9.97169877e-01 -4.63303780e-03 1.18562416e+02] [ 9.51090097e-01 -7.01731448e-02 -3.00837759e-01 1.04169336e+02] [ 2.99661236e-01 -2.69808394e-02 9.53664080e-01 4.13460425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.270714057 meters Centerline goodness : 0.985275 Centerline is valid? [True, True] Translation: X:118.56, Y:104.17, Z:41.35 [[-7.34078679e-02 -9.97290882e-01 -4.70963703e-03 1.18560310e+02] [ 9.51171002e-01 -6.85919094e-02 -3.00946632e-01 1.04174126e+02] [ 2.99808289e-01 -2.65715208e-02 9.53629354e-01 4.13478798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.300714057 meters Centerline goodness : 0.983760 Centerline is valid? [True, True] Translation: X:118.56, Y:104.18, Z:41.35 [[-7.35310079e-02 -9.97292596e-01 -8.17750214e-04 1.18557771e+02] [ 9.50711305e-01 -6.98488208e-02 -3.02107855e-01 1.04175494e+02] [ 3.01232808e-01 -2.29917395e-02 9.53273400e-01 4.13512468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.330714057 meters Centerline goodness : 0.985107 Centerline is valid? [True, True] Translation: X:118.56, Y:104.18, Z:41.35 [[-7.19841534e-02 -9.97404505e-01 -1.59210947e-03 1.18555037e+02] [ 9.50579362e-01 -6.81211827e-02 -3.02916457e-01 1.04183694e+02] [ 3.02021783e-01 -2.33186112e-02 9.53015784e-01 4.13529317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.360714057 meters Centerline goodness : 0.984337 Centerline is valid? [True, True] Translation: X:118.55, Y:104.19, Z:41.35 [[-7.11324290e-02 -9.97455896e-01 -4.68104006e-03 1.18554816e+02] [ 9.51320325e-01 -6.64299259e-02 -3.00959638e-01 1.04190697e+02] [ 2.99883005e-01 -2.58611586e-02 9.53625390e-01 4.13532634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.390714057 meters Centerline goodness : 0.984651 Centerline is valid? [True, True] Translation: X:118.55, Y:104.18, Z:41.35 [[-7.08072208e-02 -9.97488976e-01 -1.44206417e-03 1.18550978e+02] [ 9.50268358e-01 -6.70155548e-02 -3.04136423e-01 1.04183377e+02] [ 3.03276088e-01 -2.29054028e-02 9.52627397e-01 4.13530473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.420714057 meters Centerline goodness : 0.984397 Centerline is valid? [True, True] Translation: X:118.55, Y:104.19, Z:41.35 [[-7.04783663e-02 -9.97510495e-01 -2.36886363e-03 1.18549348e+02] [ 9.51267248e-01 -6.64960085e-02 -3.01112777e-01 1.04188368e+02] [ 3.00205635e-01 -2.34753589e-02 9.53585594e-01 4.13534979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.450714057 meters Centerline goodness : 0.986160 Centerline is valid? [True, True] Translation: X:118.55, Y:104.19, Z:41.35 [[-7.02797948e-02 -9.97512294e-01 -5.47476569e-03 1.18548957e+02] [ 9.51439688e-01 -6.53827661e-02 -3.00811592e-01 1.04186158e+02] [ 2.99705306e-01 -2.63498863e-02 9.53667874e-01 4.13514841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.480714057 meters Centerline goodness : 0.985176 Centerline is valid? [True, True] Translation: X:118.55, Y:104.20, Z:41.36 [[-7.15684224e-02 -9.97434849e-01 -1.29697638e-03 1.18545354e+02] [ 9.50251128e-01 -6.77875537e-02 -3.04019148e-01 1.04203023e+02] [ 3.03151374e-01 -2.29906240e-02 9.52665039e-01 4.13592070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.51071405700003 meters Centerline goodness : 0.985929 Centerline is valid? [True, True] Translation: X:118.54, Y:104.20, Z:41.36 [[-7.23047132e-02 -9.97374986e-01 -3.89426206e-03 1.18544527e+02] [ 9.50630199e-01 -6.77334920e-02 -3.02843851e-01 1.04204408e+02] [ 3.01785110e-01 -2.55990409e-02 9.53032233e-01 4.13583729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.540714057 meters Centerline goodness : 0.986175 Centerline is valid? [True, True] Translation: X:118.54, Y:104.21, Z:41.36 [[-7.17005193e-02 -9.97426129e-01 3.91789694e-04 1.18543293e+02] [ 9.50414115e-01 -6.84401963e-02 -3.03362736e-01 1.04206677e+02] [ 3.02608733e-01 -2.13789033e-02 9.52875069e-01 4.13612538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.57071405700003 meters Centerline goodness : 0.985119 Centerline is valid? [True, True] Translation: X:118.54, Y:104.21, Z:41.36 [[-6.82126550e-02 -9.97660096e-01 -4.62248697e-03 1.18544638e+02] [ 9.50293001e-01 -6.35618027e-02 -3.04800113e-01 1.04208054e+02] [ 3.03793096e-01 -2.51839420e-02 9.52405126e-01 4.13613943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.600714057 meters Centerline goodness : 0.984784 Centerline is valid? [True, True] Translation: X:118.54, Y:104.20, Z:41.36 [[-6.48854222e-02 -9.97889083e-01 2.69438900e-03 1.18541451e+02] [ 9.50393176e-01 -6.26197815e-02 -3.04682744e-01 1.04195834e+02] [ 3.04208306e-01 -1.72087396e-02 9.52450086e-01 4.13610413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.63071405700003 meters Centerline goodness : 0.985861 Centerline is valid? [True, True] Translation: X:118.54, Y:104.19, Z:41.36 [[-6.14638388e-02 -9.98104227e-01 -3.18583054e-03 1.18543654e+02] [ 9.50493001e-01 -5.75572102e-02 -3.05368995e-01 1.04192614e+02] [ 3.04606717e-01 -2.17972603e-02 9.52228768e-01 4.13570349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.660714057 meters Centerline goodness : 0.984251 Centerline is valid? [True, True] Translation: X:118.54, Y:104.21, Z:41.36 [[-6.06407905e-02 -9.98159653e-01 5.18013657e-05 1.18542620e+02] [ 9.50588449e-01 -5.77665466e-02 -3.05032173e-01 1.04211726e+02] [ 3.04473800e-01 -1.84481503e-02 9.52342045e-01 4.13634284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.69071405700004 meters Centerline goodness : 0.984098 Centerline is valid? [True, True] Translation: X:118.55, Y:104.20, Z:41.36 [[-5.53807809e-02 -9.98464931e-01 -8.66275639e-04 1.18546076e+02] [ 9.50677243e-01 -5.24649541e-02 -3.05712624e-01 1.04202325e+02] [ 3.05197885e-01 -1.77541524e-02 9.52123438e-01 4.13575361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.720714057 meters Centerline goodness : 0.985025 Centerline is valid? [True, True] Translation: X:118.55, Y:104.23, Z:41.36 [[-5.50965115e-02 -9.98440384e-01 -9.00970152e-03 1.18550803e+02] [ 9.51267512e-01 -4.97472064e-02 -3.04327680e-01 1.04231348e+02] [ 3.03404838e-01 -2.53380299e-02 9.52524797e-01 4.13614160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.750714057 meters Centerline goodness : 0.985471 Centerline is valid? [True, True] Translation: X:118.54, Y:104.22, Z:41.36 [[-5.04926723e-02 -9.98715579e-01 4.20494771e-03 1.18543813e+02] [ 9.51712912e-01 -4.93920256e-02 -3.02990035e-01 1.04218906e+02] [ 3.02808559e-01 -1.12968735e-02 9.52984447e-01 4.13640653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.780714057 meters Centerline goodness : 0.985405 Centerline is valid? [True, True] Translation: X:118.55, Y:104.25, Z:41.37 [[-5.02549660e-02 -9.98718882e-01 -5.91895423e-03 1.18547512e+02] [ 9.51817085e-01 -4.60980732e-02 -3.03181799e-01 1.04247720e+02] [ 3.02520535e-01 -2.08701528e-02 9.52914352e-01 4.13697655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.810714057 meters Centerline goodness : 0.985036 Centerline is valid? [True, True] Translation: X:118.55, Y:104.26, Z:41.37 [[-4.87242262e-02 -9.98804666e-01 -3.89731604e-03 1.18546435e+02] [ 9.52003055e-01 -4.52599024e-02 -3.02723842e-01 1.04257515e+02] [ 3.02185594e-01 -1.84602417e-02 9.53070347e-01 4.13743493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.840714057 meters Centerline goodness : 0.984106 Centerline is valid? [True, True] Translation: X:118.55, Y:104.28, Z:41.38 [[-4.80064807e-02 -9.98839350e-01 -3.91553155e-03 1.18547228e+02] [ 9.52549126e-01 -4.46013333e-02 -3.01099457e-01 1.04280948e+02] [ 3.00575348e-01 -1.81844614e-02 9.53584703e-01 4.13825305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.870714057 meters Centerline goodness : 0.983032 Centerline is valid? [True, True] Translation: X:118.55, Y:104.31, Z:41.39 [[-4.93390985e-02 -9.98778925e-01 -2.51226727e-03 1.18548032e+02] [ 9.52883561e-01 -4.63178479e-02 -2.99779213e-01 1.04307161e+02] [ 2.99296797e-01 -1.71847343e-02 9.54005300e-01 4.13908330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.900714057 meters Centerline goodness : 0.983530 Centerline is valid? [True, True] Translation: X:118.55, Y:104.34, Z:41.40 [[-5.39764911e-02 -9.98449608e-01 -1.35984661e-02 1.18552030e+02] [ 9.53361567e-01 -4.74793901e-02 -2.98072862e-01 1.04336682e+02] [ 2.96965085e-01 -2.90531821e-02 9.54446254e-01 4.13973970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.930714057 meters Centerline goodness : 0.983472 Centerline is valid? [True, True] Translation: X:118.55, Y:104.34, Z:41.41 [[-5.83509772e-02 -9.98286760e-01 4.32526520e-03 1.18545750e+02] [ 9.53473120e-01 -5.70142094e-02 -2.96037818e-01 1.04336582e+02] [ 2.95777235e-01 -1.31500718e-02 9.55166427e-01 4.14056793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.960714057 meters Centerline goodness : 0.983125 Centerline is valid? [True, True] Translation: X:118.55, Y:104.36, Z:41.41 [[-6.10343063e-02 -9.98135054e-01 1.10794307e-03 1.18548525e+02] [ 9.53752569e-01 -5.86476405e-02 -2.94816029e-01 1.04360630e+02] [ 2.94331191e-01 -1.69371883e-02 9.55553390e-01 4.14113348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.990714057 meters Centerline goodness : 0.983487 Centerline is valid? [True, True] Translation: X:118.55, Y:104.34, Z:41.40 [[-6.53127721e-02 -9.97864109e-01 -1.20876671e-03 1.18552521e+02] [ 9.53806975e-01 -6.20730571e-02 -2.93937392e-01 1.04343971e+02] [ 2.93234542e-01 -2.03507960e-02 9.55823911e-01 4.14035035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.020714057 meters Centerline goodness : 0.985056 Centerline is valid? [True, True] Translation: X:118.56, Y:104.34, Z:41.40 [[-6.64491424e-02 -9.97779534e-01 -4.52908384e-03 1.18555877e+02] [ 9.54373664e-01 -6.22327411e-02 -2.92058206e-01 1.04344647e+02] [ 2.91127843e-01 -2.37294556e-02 9.56389822e-01 4.14005557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.050714057 meters Centerline goodness : 0.984909 Centerline is valid? [True, True] Translation: X:118.56, Y:104.37, Z:41.41 [[-7.05869646e-02 -9.97505628e-01 -5.68271693e-05 1.18556686e+02] [ 9.53396792e-01 -6.74489164e-02 -2.94083663e-01 1.04365959e+02] [ 2.93346276e-01 -2.08126520e-02 9.55779680e-01 4.14086117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.080714057 meters Centerline goodness : 0.984764 Centerline is valid? [True, True] Translation: X:118.56, Y:104.39, Z:41.42 [[-7.50140033e-02 -9.97179382e-01 2.48572634e-03 1.18557066e+02] [ 9.52483460e-01 -7.23892147e-02 -2.95863247e-01 1.04394246e+02] [ 2.95208670e-01 -1.98262733e-02 9.55227073e-01 4.14180263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.110714057 meters Centerline goodness : 0.986200 Centerline is valid? [True, True] Translation: X:118.57, Y:104.42, Z:41.42 [[-8.15350007e-02 -9.96523560e-01 -1.71124914e-02 1.18569295e+02] [ 9.52930272e-01 -7.29145965e-02 -2.94291283e-01 1.04423901e+02] [ 2.92020446e-01 -4.03020510e-02 9.55562559e-01 4.14194123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.140714057 meters Centerline goodness : 0.986437 Centerline is valid? [True, True] Translation: X:118.56, Y:104.45, Z:41.43 [[-8.44220993e-02 -9.96429694e-01 8.80376864e-04 1.18564503e+02] [ 9.51175082e-01 -8.08511020e-02 -2.97874239e-01 1.04447662e+02] [ 2.96881916e-01 -2.43097761e-02 9.54604715e-01 4.14338682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.170714057 meters Centerline goodness : 0.987137 Centerline is valid? [True, True] Translation: X:118.57, Y:104.41, Z:41.42 [[-8.57653882e-02 -9.96301415e-01 5.27153337e-03 1.18566288e+02] [ 9.50791261e-01 -8.34265092e-02 -2.98389001e-01 1.04411779e+02] [ 2.97725170e-01 -2.05793206e-02 9.54429785e-01 4.14239094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.200714057 meters Centerline goodness : 0.987612 Centerline is valid? [True, True] Translation: X:118.58, Y:104.44, Z:41.42 [[-8.60284582e-02 -9.96161556e-01 -1.61634967e-02 1.18576310e+02] [ 9.53012382e-01 -7.75505952e-02 -2.92836653e-01 1.04439704e+02] [ 2.90459128e-01 -4.05962983e-02 9.56025855e-01 4.14240246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.230714057 meters Centerline goodness : 0.987612 Centerline is valid? [True, True] Translation: X:118.57, Y:104.47, Z:41.44 [[-8.66234264e-02 -9.96227521e-01 -5.20662731e-03 1.18571275e+02] [ 9.52675932e-01 -8.13056893e-02 -2.92912877e-01 1.04465445e+02] [ 2.91384541e-01 -3.03333456e-02 9.56124959e-01 4.14365210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.26071405700003 meters Centerline goodness : 0.987749 Centerline is valid? [True, True] Translation: X:118.57, Y:104.49, Z:41.45 [[-8.76094001e-02 -9.96150455e-01 2.97709701e-03 1.18569803e+02] [ 9.51759408e-01 -8.45868043e-02 -2.94956102e-01 1.04491344e+02] [ 2.94072478e-01 -2.30074471e-02 9.55506167e-01 4.14472173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.290714057 meters Centerline goodness : 0.988724 Centerline is valid? [True, True] Translation: X:118.58, Y:104.51, Z:41.45 [[-8.77001352e-02 -9.96078796e-01 -1.16498346e-02 1.18576856e+02] [ 9.51928580e-01 -8.03557525e-02 -2.95592511e-01 1.04507430e+02] [ 2.93497301e-01 -3.70133136e-02 9.55243084e-01 4.14468652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.32071405700003 meters Centerline goodness : 0.988698 Centerline is valid? [True, True] Translation: X:118.57, Y:104.51, Z:41.45 [[-8.69298259e-02 -9.96208971e-01 -3.30011244e-03 1.18574151e+02] [ 9.51748155e-01 -8.20705825e-02 -2.95702331e-01 1.04505785e+02] [ 2.94310473e-01 -2.88462281e-02 9.55274432e-01 4.14492421e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.350714057 meters Centerline goodness : 0.989577 Centerline is valid? [True, True] Translation: X:118.58, Y:104.53, Z:41.46 [[-8.34093987e-02 -9.96515311e-01 -3.28154903e-04 1.18575912e+02] [ 9.52759727e-01 -7.96504926e-02 -2.93095037e-01 1.04534261e+02] [ 2.92047554e-01 -2.47595336e-02 9.56083256e-01 4.14550962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.38071405700003 meters Centerline goodness : 0.991348 Centerline is valid? [True, True] Translation: X:118.57, Y:104.57, Z:41.47 [[-8.61560154e-02 -9.96175041e-01 1.45749206e-02 1.18570834e+02] [ 9.49581652e-01 -8.65351848e-02 -3.01340918e-01 1.04566238e+02] [ 3.01449545e-01 -1.21222556e-02 9.53405068e-01 4.14716135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.410714057 meters Centerline goodness : 0.988270 Centerline is valid? [True, True] Translation: X:118.59, Y:104.60, Z:41.47 [[-8.46334634e-02 -9.95975702e-01 -2.94886127e-02 1.18590036e+02] [ 9.50677038e-01 -7.18501622e-02 -3.01746125e-01 1.04602285e+02] [ 2.98413047e-01 -5.35719666e-02 9.52932158e-01 4.14666554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.44071405700004 meters Centerline goodness : 0.990305 Centerline is valid? [True, True] Translation: X:118.57, Y:104.58, Z:41.48 [[-9.79439606e-02 -9.95191646e-01 7.54011306e-04 1.18568144e+02] [ 9.43544010e-01 -9.31017996e-02 -3.17894253e-01 1.04581150e+02] [ 3.16435905e-01 -3.04243793e-02 9.48125875e-01 4.14828732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.470714057 meters Centerline goodness : 0.989168 Centerline is valid? [True, True] Translation: X:118.57, Y:104.57, Z:41.47 [[-7.70748464e-02 -9.96996290e-01 7.60689810e-03 1.18574833e+02] [ 9.50343342e-01 -7.57712137e-02 -3.01838128e-01 1.04570717e+02] [ 3.01507878e-01 -1.60349624e-02 9.53328841e-01 4.14715110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.500714057 meters Centerline goodness : 0.988045 Centerline is valid? [True, True] Translation: X:118.58, Y:104.58, Z:41.47 [[-7.52792111e-02 -9.97162184e-01 -7.86481966e-04 1.18579575e+02] [ 9.50771659e-01 -7.15392140e-02 -3.01521797e-01 1.04582119e+02] [ 3.00609870e-01 -2.34460878e-02 9.53458959e-01 4.14714800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.530714057 meters Centerline goodness : 0.988145 Centerline is valid? [True, True] Translation: X:118.58, Y:104.57, Z:41.47 [[-7.41110546e-02 -9.97233686e-01 -5.70325839e-03 1.18583059e+02] [ 9.49841545e-01 -6.88443687e-02 -3.05059818e-01 1.04569253e+02] [ 3.03823290e-01 -2.80254966e-02 9.52316114e-01 4.14677945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.560714057 meters Centerline goodness : 0.987681 Centerline is valid? [True, True] Translation: X:118.58, Y:104.57, Z:41.47 [[-7.27315517e-02 -9.97346437e-01 3.19483746e-03 1.18580271e+02] [ 9.49855020e-01 -7.02442894e-02 -3.04698507e-01 1.04565481e+02] [ 3.04114389e-01 -1.91265628e-02 9.52443496e-01 4.14699431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.590714057 meters Centerline goodness : 0.987462 Centerline is valid? [True, True] Translation: X:118.58, Y:104.57, Z:41.47 [[-6.80765517e-02 -9.97677801e-01 2.14208722e-03 1.18581297e+02] [ 9.50339904e-01 -6.54996821e-02 -3.04243093e-01 1.04570923e+02] [ 3.03676886e-01 -1.86761097e-02 9.52592018e-01 4.14705775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.620714057 meters Centerline goodness : 0.988892 Centerline is valid? [True, True] Translation: X:118.58, Y:104.57, Z:41.47 [[-6.63059742e-02 -9.97786484e-01 -5.06462215e-03 1.18584107e+02] [ 9.51080412e-01 -6.16656152e-02 -3.02726613e-01 1.04569332e+02] [ 3.01744210e-01 -2.48894459e-02 9.53063979e-01 4.14671508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.650714057 meters Centerline goodness : 0.988529 Centerline is valid? [True, True] Translation: X:118.58, Y:104.57, Z:41.47 [[-6.32023731e-02 -9.97998119e-01 2.28333221e-03 1.18581862e+02] [ 9.50870035e-01 -6.09122620e-02 -3.03538915e-01 1.04572244e+02] [ 3.03070349e-01 -1.70132276e-02 9.52816306e-01 4.14700733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.680714057 meters Centerline goodness : 0.988079 Centerline is valid? [True, True] Translation: X:118.58, Y:104.57, Z:41.47 [[-6.20176319e-02 -9.98068984e-01 -3.48079380e-03 1.18584253e+02] [ 9.50819349e-01 -5.80205250e-02 -3.04263346e-01 1.04568639e+02] [ 3.03473851e-01 -2.21792983e-02 9.52581598e-01 4.14671500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.710714057 meters Centerline goodness : 0.990776 Centerline is valid? [True, True] Translation: X:118.58, Y:104.60, Z:41.49 [[-7.78816707e-02 -9.96949747e-01 -5.06433815e-03 1.18575226e+02] [ 9.45402944e-01 -7.22404838e-02 -3.17796454e-01 1.04595265e+02] [ 3.16461244e-01 -2.95383590e-02 9.48145435e-01 4.14863311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.740714057 meters Centerline goodness : 0.990819 Centerline is valid? [True, True] Translation: X:118.57, Y:104.60, Z:41.49 [[-7.69972288e-02 -9.97026416e-01 3.12291920e-03 1.18571877e+02] [ 9.45551429e-01 -7.40147233e-02 -3.16945289e-01 1.04602604e+02] [ 3.16233967e-01 -2.14510282e-02 9.48438681e-01 4.14917861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.770714057 meters Centerline goodness : 0.988111 Centerline is valid? [True, True] Translation: X:118.58, Y:104.59, Z:41.48 [[-6.16523969e-02 -9.98078180e-01 6.23928719e-03 1.18580614e+02] [ 9.51217969e-01 -6.06488066e-02 -3.02499747e-01 1.04594190e+02] [ 3.02296802e-01 -1.27149124e-02 9.53129044e-01 4.14811080e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.800714057 meters Centerline goodness : 0.989409 Centerline is valid? [True, True] Translation: X:118.59, Y:104.60, Z:41.48 [[-6.14952302e-02 -9.98100077e-01 -3.81750116e-03 1.18585054e+02] [ 9.49719854e-01 -5.73371267e-02 -3.07806195e-01 1.04602221e+02] [ 3.07002502e-01 -2.25541694e-02 9.51441419e-01 4.14805648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.830714057 meters Centerline goodness : 0.988331 Centerline is valid? [True, True] Translation: X:118.58, Y:104.61, Z:41.48 [[-6.08953570e-02 -9.98144134e-01 2.07139834e-04 1.18583407e+02] [ 9.49112743e-01 -5.79682619e-02 -3.09555621e-01 1.04606708e+02] [ 3.08993135e-01 -1.86539010e-02 9.50881315e-01 4.14840586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.860714057 meters Centerline goodness : 0.987705 Centerline is valid? [True, True] Translation: X:118.58, Y:105.07, Z:41.64 [[-7.32978854e-02 -9.97285234e-01 -7.04145369e-03 1.18575933e+02] [ 9.47431443e-01 -6.74253829e-02 -3.12773845e-01 1.05074736e+02] [ 3.11449965e-01 -2.95969561e-02 9.49801526e-01 4.16379818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.890714057 meters Centerline goodness : 0.985682 Centerline is valid? [True, True] Translation: X:118.58, Y:104.58, Z:41.48 [[-5.89116070e-02 -9.97982816e-01 2.36584155e-02 1.18575766e+02] [ 9.51840806e-01 -6.32993777e-02 -2.99987114e-01 1.04582738e+02] [ 3.00879548e-01 4.84632234e-03 9.53649837e-01 4.14849337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.920714057 meters Centerline goodness : 0.986913 Centerline is valid? [True, True] Translation: X:118.59, Y:104.59, Z:41.48 [[-5.52083628e-02 -9.98473906e-01 1.37684251e-03 1.18585301e+02] [ 9.51679920e-01 -5.30380944e-02 -3.02476927e-01 1.04585676e+02] [ 3.02088343e-01 -1.53889425e-02 9.53155713e-01 4.14770743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.950714057 meters Centerline goodness : 0.988905 Centerline is valid? [True, True] Translation: X:118.59, Y:104.97, Z:41.60 [[-6.53329170e-02 -9.97650766e-01 -2.06048172e-02 1.18587122e+02] [ 9.49211756e-01 -5.57653592e-02 -3.09656694e-01 1.04966374e+02] [ 3.07780203e-01 -3.97891098e-02 9.50625149e-01 4.15970618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.980714057 meters Centerline goodness : 0.991672 Centerline is valid? [True, True] Translation: X:118.57, Y:104.98, Z:41.62 [[-6.11139334e-02 -9.97969613e-01 1.79370973e-02 1.18567874e+02] [ 9.48709846e-01 -6.36632644e-02 -3.09671789e-01 1.04980321e+02] [ 3.10184969e-01 -1.90816020e-03 9.50674310e-01 4.16195105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.01071405700003 meters Centerline goodness : 0.989571 Centerline is valid? [True, True] Translation: X:118.58, Y:104.58, Z:41.48 [[-3.79797992e-02 -9.99236054e-01 9.21099485e-03 1.18582803e+02] [ 9.57111220e-01 -3.90250011e-02 -2.87080409e-01 1.04575850e+02] [ 2.87220554e-01 -2.08730974e-03 9.57862201e-01 4.14765868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.040714057 meters Centerline goodness : 0.990484 Centerline is valid? [True, True] Translation: X:118.59, Y:104.60, Z:41.48 [[-4.95672809e-02 -9.98287737e-01 -3.10592785e-02 1.18592278e+02] [ 9.52892670e-01 -3.79507958e-02 -3.00924072e-01 1.04600627e+02] [ 2.99230086e-01 -4.45121468e-02 9.53142185e-01 4.14788027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.07071405700003 meters Centerline goodness : 0.984879 Centerline is valid? [True, True] Translation: X:118.59, Y:104.61, Z:41.48 [[-4.40853660e-02 -9.98846453e-01 -1.90326893e-02 1.18590139e+02] [ 9.55631602e-01 -3.66087098e-02 -2.92280762e-01 1.04614207e+02] [ 2.91246840e-01 -3.10735437e-02 9.56143145e-01 4.14824983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.100714057 meters Centerline goodness : 0.990662 Centerline is valid? [True, True] Translation: X:118.57, Y:104.64, Z:41.52 [[-4.67586860e-02 -9.98564884e-01 2.61112720e-02 1.18571937e+02] [ 9.51355645e-01 -5.24866156e-02 -3.03591159e-01 1.04641616e+02] [ 3.04525963e-01 1.06455824e-02 9.52444544e-01 4.15185718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.13071405700003 meters Centerline goodness : 0.984177 Centerline is valid? [True, True] Translation: X:118.59, Y:104.66, Z:41.50 [[-4.32889812e-02 -9.98853656e-01 -2.04312963e-02 1.18592195e+02] [ 9.55690174e-01 -3.54407783e-02 -2.92233197e-01 1.04664780e+02] [ 2.91174097e-01 -3.21764665e-02 9.56128820e-01 4.14987288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.160714057 meters Centerline goodness : 0.988298 Centerline is valid? [True, True] Translation: X:118.57, Y:104.70, Z:41.54 [[-3.83933747e-02 -9.98160511e-01 4.69206098e-02 1.18567037e+02] [ 9.53978719e-01 -5.05881465e-02 -2.95576459e-01 1.04696352e+02] [ 2.97406376e-01 3.34130855e-02 9.54166135e-01 4.15392011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.19071405700004 meters Centerline goodness : 0.987586 Centerline is valid? [True, True] Translation: X:118.59, Y:104.71, Z:41.53 [[-4.06056112e-02 -9.99102975e-01 -1.20179222e-02 1.18592290e+02] [ 9.52636714e-01 -3.50834906e-02 -3.02080189e-01 1.04711322e+02] [ 3.01387585e-01 -2.37148646e-02 9.53206761e-01 4.15251669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.220714057 meters Centerline goodness : 0.987383 Centerline is valid? [True, True] Translation: X:118.59, Y:104.72, Z:41.53 [[-4.07180560e-02 -9.99035288e-01 -1.64478776e-02 1.18593797e+02] [ 9.51256597e-01 -3.37237376e-02 -3.06551133e-01 1.04720739e+02] [ 3.05700715e-01 -2.81283183e-02 9.51712073e-01 4.15302698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.250714057 meters Centerline goodness : 0.990161 Centerline is valid? [True, True] Translation: X:118.58, Y:104.73, Z:41.55 [[-5.38197674e-02 -9.98547424e-01 2.54438539e-03 1.18576319e+02] [ 9.46647531e-01 -5.18329470e-02 -3.18075145e-01 1.04732256e+02] [ 3.17744999e-01 -1.47100941e-02 9.48062091e-01 4.15485276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.280714057 meters Centerline goodness : 0.987447 Centerline is valid? [True, True] Translation: X:118.58, Y:104.72, Z:41.54 [[-3.57896961e-02 -9.99244363e-01 1.51592012e-02 1.18581960e+02] [ 9.52989820e-01 -3.86921229e-02 -3.00521751e-01 1.04724005e+02] [ 3.00881207e-01 3.69098229e-03 9.53654485e-01 4.15394889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.310714057 meters Centerline goodness : 0.989641 Centerline is valid? [True, True] Translation: X:118.58, Y:104.72, Z:41.54 [[-2.96979289e-02 -9.99459170e-01 1.41209311e-02 1.18583080e+02] [ 9.52657699e-01 -3.25782597e-02 -3.02294501e-01 1.04718731e+02] [ 3.02591046e-01 4.47489315e-03 9.53109980e-01 4.15380965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.340714057 meters Centerline goodness : 0.985755 Centerline is valid? [True, True] Translation: X:118.61, Y:104.72, Z:41.53 [[-3.49353700e-02 -9.98689809e-01 -3.73923229e-02 1.18606049e+02] [ 9.50378154e-01 -2.16256452e-02 -3.10344479e-01 1.04723263e+02] [ 3.09129236e-01 -4.63788460e-02 9.49888477e-01 4.15269100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.370714057 meters Centerline goodness : 0.989251 Centerline is valid? [True, True] Translation: X:118.59, Y:104.73, Z:41.55 [[-3.15640765e-02 -9.99422608e-01 1.25761238e-02 1.18585727e+02] [ 9.50111179e-01 -3.39083491e-02 -3.10062850e-01 1.04731960e+02] [ 3.10310257e-01 2.16186832e-03 9.50632879e-01 4.15486173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.400714057 meters Centerline goodness : 0.987792 Centerline is valid? [True, True] Translation: X:118.60, Y:104.74, Z:41.54 [[-3.13201282e-02 -9.99422508e-01 -1.31795146e-02 1.18599291e+02] [ 9.51009370e-01 -2.57401411e-02 -3.08088662e-01 1.04735525e+02] [ 3.07571501e-01 -2.21832183e-02 9.51266354e-01 4.15394909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.430714057 meters Centerline goodness : 0.989316 Centerline is valid? [True, True] Translation: X:118.60, Y:104.74, Z:41.55 [[-3.14848124e-02 -9.99503108e-01 1.49790438e-03 1.18595443e+02] [ 9.50882036e-01 -3.04148934e-02 -3.08055658e-01 1.04737138e+02] [ 3.07948146e-01 -8.27474424e-03 9.51367157e-01 4.15458209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.460714057 meters Centerline goodness : 0.986482 Centerline is valid? [True, True] Translation: X:118.60, Y:104.73, Z:41.54 [[-3.23961187e-02 -9.99475043e-01 3.60070244e-04 1.18598081e+02] [ 9.50928456e-01 -3.09334813e-02 -3.07860670e-01 1.04730368e+02] [ 3.07710194e-01 -9.63108976e-03 9.51431384e-01 4.15429222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.490714057 meters Centerline goodness : 0.986611 Centerline is valid? [True, True] Translation: X:118.60, Y:104.73, Z:41.54 [[-3.24953741e-02 -9.99471431e-01 9.53211848e-04 1.18599568e+02] [ 9.52243520e-01 -3.12495520e-02 -3.03736307e-01 1.04732924e+02] [ 3.03605549e-01 -8.96233511e-03 9.52755660e-01 4.15433327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.520714057 meters Centerline goodness : 0.988071 Centerline is valid? [True, True] Translation: X:118.61, Y:104.74, Z:41.54 [[-3.56474618e-02 -9.99358690e-01 -3.38618435e-03 1.18605972e+02] [ 9.51434391e-01 -3.29008489e-02 -3.06088441e-01 1.04741205e+02] [ 3.05780735e-01 -1.41330083e-02 9.51997059e-01 4.15440299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.550714057 meters Centerline goodness : 0.988829 Centerline is valid? [True, True] Translation: X:118.61, Y:104.75, Z:41.55 [[-3.70987330e-02 -9.99308560e-01 2.46688190e-03 1.18607927e+02] [ 9.51732629e-01 -3.60849302e-02 -3.04799738e-01 1.04747558e+02] [ 3.04678005e-01 -8.95987211e-03 9.52413269e-01 4.15456315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.580714057 meters Centerline goodness : 0.986134 Centerline is valid? [True, True] Translation: X:118.61, Y:104.74, Z:41.55 [[-4.11985855e-02 -9.99143776e-01 3.79369452e-03 1.18609656e+02] [ 9.51625941e-01 -4.03957593e-02 -3.04591942e-01 1.04740756e+02] [ 3.04484392e-01 -8.93857904e-03 9.52475384e-01 4.15465035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.610714057 meters Centerline goodness : 0.988108 Centerline is valid? [True, True] Translation: X:118.61, Y:104.74, Z:41.54 [[-4.00186147e-02 -9.99195262e-01 -2.70898587e-03 1.18614647e+02] [ 9.50961673e-01 -3.72543357e-02 -3.07057015e-01 1.04743273e+02] [ 3.06708994e-01 -1.48641381e-02 9.51687265e-01 4.15417313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.640714057 meters Centerline goodness : 0.986890 Centerline is valid? [True, True] Translation: X:118.62, Y:104.75, Z:41.55 [[-4.46249992e-02 -9.99003795e-01 -1.65355296e-04 1.18617919e+02] [ 9.52243535e-01 -4.24861936e-02 -3.02369268e-01 1.04754636e+02] [ 3.02061021e-01 -1.36506869e-02 9.53190851e-01 4.15461994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.670714057 meters Centerline goodness : 0.987565 Centerline is valid? [True, True] Translation: X:118.63, Y:104.76, Z:41.55 [[-4.99022093e-02 -9.98678369e-01 -1.22997872e-02 1.18625253e+02] [ 9.50651510e-01 -4.37193275e-02 -3.07164984e-01 1.04758014e+02] [ 3.06221287e-01 -2.70210226e-02 9.51576790e-01 4.15459236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.700714057 meters Centerline goodness : 0.987705 Centerline is valid? [True, True] Translation: X:118.62, Y:104.76, Z:41.55 [[-5.06502741e-02 -9.98714110e-01 -2.16256134e-03 1.18621728e+02] [ 9.50375128e-01 -4.75329956e-02 -3.07453623e-01 1.04758605e+02] [ 3.06955478e-01 -1.76278548e-02 9.51560609e-01 4.15482040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.730714057 meters Centerline goodness : 0.989161 Centerline is valid? [True, True] Translation: X:118.63, Y:104.77, Z:41.55 [[-5.56882402e-02 -9.98425324e-01 -6.75961019e-03 1.18625488e+02] [ 9.49200130e-01 -5.08402200e-02 -3.10538863e-01 1.04774046e+02] [ 3.09706205e-01 -2.37095857e-02 9.50536650e-01 4.15539274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.76071405700003 meters Centerline goodness : 0.989450 Centerline is valid? [True, True] Translation: X:118.62, Y:104.76, Z:41.55 [[-5.59571711e-02 -9.98425960e-01 3.79429904e-03 1.18622499e+02] [ 9.49638873e-01 -5.43956044e-02 -3.08588933e-01 1.04762726e+02] [ 3.08309594e-01 -1.36645498e-02 9.51187928e-01 4.15516359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.790714057 meters Centerline goodness : 0.989164 Centerline is valid? [True, True] Translation: X:118.63, Y:104.76, Z:41.55 [[-5.84492576e-02 -9.98279068e-01 -4.75261296e-03 1.18626600e+02] [ 9.49570418e-01 -5.41270060e-02 -3.08846708e-01 1.04764844e+02] [ 3.08057959e-01 -2.25648015e-02 9.51099955e-01 4.15493846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.82071405700003 meters Centerline goodness : 0.988759 Centerline is valid? [True, True] Translation: X:118.63, Y:104.78, Z:41.56 [[-6.50994475e-02 -9.97861449e-01 -5.88137494e-03 1.18628850e+02] [ 9.48816127e-01 -6.00722745e-02 -3.10063346e-01 1.04780820e+02] [ 3.09046952e-01 -2.57652959e-02 9.50697707e-01 4.15561157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.850714057 meters Centerline goodness : 0.987684 Centerline is valid? [True, True] Translation: X:118.63, Y:104.78, Z:41.56 [[-6.77031595e-02 -9.97705507e-01 5.33427202e-05 1.18627132e+02] [ 9.48807988e-01 -6.44015620e-02 -3.09218113e-01 1.04776916e+02] [ 3.08512050e-01 -2.08844312e-02 9.50991144e-01 4.15573647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.88071405700003 meters Centerline goodness : 0.988607 Centerline is valid? [True, True] Translation: X:118.63, Y:104.78, Z:41.56 [[-7.28832732e-02 -9.97340470e-01 -1.26732913e-04 1.18627601e+02] [ 9.48294704e-01 -6.92597659e-02 -3.09742214e-01 1.04779585e+02] [ 3.08909668e-01 -2.26952066e-02 9.50820564e-01 4.15582684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.910714057 meters Centerline goodness : 0.988953 Centerline is valid? [True, True] Translation: X:118.63, Y:104.78, Z:41.56 [[-7.39496809e-02 -9.97260254e-01 1.85195812e-03 1.18627515e+02] [ 9.49417414e-01 -7.09700535e-02 -3.05891854e-01 1.04782295e+02] [ 3.05185222e-01 -2.08623237e-02 9.52064464e-01 4.15574844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.94071405700004 meters Centerline goodness : 0.986189 Centerline is valid? [True, True] Translation: X:118.63, Y:104.78, Z:41.56 [[-8.01880403e-02 -9.96765482e-01 5.33412581e-03 1.18626087e+02] [ 9.48034206e-01 -7.79185046e-02 -3.08479904e-01 1.04779964e+02] [ 3.07897747e-01 -1.96794652e-02 9.51215904e-01 4.15597877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.970714057 meters Centerline goodness : 0.987947 Centerline is valid? [True, True] Translation: X:118.63, Y:104.79, Z:41.56 [[-8.01958811e-02 -9.96724634e-01 -1.04222928e-02 1.18631132e+02] [ 9.47951622e-01 -7.30308774e-02 -3.09926141e-01 1.04790411e+02] [ 3.08149871e-01 -3.47346294e-02 9.50703509e-01 4.15582736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.000714057 meters Centerline goodness : 0.988923 Centerline is valid? [True, True] Translation: X:118.63, Y:104.79, Z:41.56 [[-8.12987947e-02 -9.96683090e-01 -3.65020910e-03 1.18626739e+02] [ 9.46897734e-01 -7.60937113e-02 -3.12401069e-01 1.04789996e+02] [ 3.11087105e-01 -2.88542051e-02 9.49943287e-01 4.15618161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.030714057 meters Centerline goodness : 0.988809 Centerline is valid? [True, True] Translation: X:118.62, Y:104.79, Z:41.56 [[-7.87029513e-02 -9.96897703e-01 9.02484123e-04 1.18622504e+02] [ 9.48414274e-01 -7.51541152e-02 -3.07997118e-01 1.04786971e+02] [ 3.07109445e-01 -2.33843534e-02 9.51386862e-01 4.15603660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.060714057 meters Centerline goodness : 0.987106 Centerline is valid? [True, True] Translation: X:118.62, Y:104.79, Z:41.56 [[-7.72853191e-02 -9.97006495e-01 2.24236499e-03 1.18621328e+02] [ 9.48493873e-01 -7.42174234e-02 -3.07979134e-01 1.04787628e+02] [ 3.07223620e-01 -2.16753962e-02 9.51390469e-01 4.15619999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.090714057 meters Centerline goodness : 0.988210 Centerline is valid? [True, True] Translation: X:118.62, Y:104.79, Z:41.56 [[-7.29497922e-02 -9.97329925e-01 -3.36874585e-03 1.18620546e+02] [ 9.49453785e-01 -6.84130715e-02 -3.06361162e-01 1.04790304e+02] [ 3.05312689e-01 -2.55474516e-02 9.51909392e-01 4.15594821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.120714057 meters Centerline goodness : 0.988210 Centerline is valid? [True, True] Translation: X:118.62, Y:104.79, Z:41.56 [[-7.25975543e-02 -9.97355337e-01 -3.45343591e-03 1.18620483e+02] [ 9.49484171e-01 -6.80522530e-02 -3.06347351e-01 1.04792811e+02] [ 3.05302151e-01 -2.55190512e-02 9.51913533e-01 4.15602733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.150714057 meters Centerline goodness : 0.987795 Centerline is valid? [True, True] Translation: X:118.62, Y:104.80, Z:41.56 [[-7.03906209e-02 -9.97517721e-01 -1.88615690e-03 1.18618114e+02] [ 9.49140366e-01 -6.63948820e-02 -3.07773107e-01 1.04802227e+02] [ 3.06883897e-01 -2.34545677e-02 9.51457911e-01 4.15637314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.180714057 meters Centerline goodness : 0.987507 Centerline is valid? [True, True] Translation: X:118.61, Y:104.79, Z:41.56 [[-6.46205718e-02 -9.97904602e-01 3.25379297e-03 1.18614622e+02] [ 9.51046230e-01 -6.25730198e-02 -3.02647791e-01 1.04789300e+02] [ 3.02217223e-01 -1.64627658e-02 9.53096914e-01 4.15596927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.210714057 meters Centerline goodness : 0.987635 Centerline is valid? [True, True] Translation: X:118.61, Y:104.80, Z:41.56 [[-5.98958612e-02 -9.98195872e-01 -4.18169364e-03 1.18613248e+02] [ 9.51193279e-01 -5.58040398e-02 -3.03508245e-01 1.04795590e+02] [ 3.02727321e-01 -2.21564866e-02 9.52819636e-01 4.15615912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.240714057 meters Centerline goodness : 0.987927 Centerline is valid? [True, True] Translation: X:118.60, Y:104.78, Z:41.56 [[-4.55602748e-02 -9.98618441e-01 2.61815089e-02 1.18598473e+02] [ 9.56927833e-01 -5.11508294e-02 -2.85784384e-01 1.04781903e+02] [ 2.86728762e-01 1.20333995e-02 9.57936227e-01 4.15579092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.270714057 meters Centerline goodness : 0.987930 Centerline is valid? [True, True] Translation: X:118.61, Y:104.81, Z:41.55 [[-4.15147458e-02 -9.99092890e-01 -9.48273041e-03 1.18613374e+02] [ 9.57692474e-01 -3.70856854e-02 -2.85394073e-01 1.04811381e+02] [ 2.84783515e-01 -2.09296019e-02 9.58363345e-01 4.15534694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.300714057 meters Centerline goodness : 0.989207 Centerline is valid? [True, True] Translation: X:118.61, Y:104.84, Z:41.56 [[-4.05010875e-02 -9.99126064e-01 -1.03329756e-02 1.18612829e+02] [ 9.56970545e-01 -3.58140958e-02 -2.87966536e-01 1.04839731e+02] [ 2.87344806e-01 -2.15513111e-02 9.57584724e-01 4.15634297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.330714057 meters Centerline goodness : 0.989112 Centerline is valid? [True, True] Translation: X:118.62, Y:104.87, Z:41.57 [[-3.86872723e-02 -9.98710637e-01 -3.28687953e-02 1.18618045e+02] [ 9.55977982e-01 -2.74167548e-02 -2.92154788e-01 1.04865758e+02] [ 2.90876939e-01 -4.27245164e-02 9.55806059e-01 4.15701512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.360714057 meters Centerline goodness : 0.985960 Centerline is valid? [True, True] Translation: X:118.60, Y:104.87, Z:41.58 [[-3.77457565e-02 -9.99285333e-01 -2.02018995e-03 1.18603516e+02] [ 9.55650134e-01 -3.55064977e-02 -2.92356135e-01 1.04867166e+02] [ 2.92075467e-01 -1.29657983e-02 9.56307382e-01 4.15813327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.390714057 meters Centerline goodness : 0.987398 Centerline is valid? [True, True] Translation: X:118.60, Y:104.87, Z:41.58 [[-2.95797197e-02 -9.99556063e-01 3.56607448e-03 1.18598443e+02] [ 9.57236599e-01 -2.93541849e-02 -2.87813177e-01 1.04866300e+02] [ 2.87790085e-01 -5.09985609e-03 9.57679935e-01 4.15800803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.420714057 meters Centerline goodness : 0.986924 Centerline is valid? [True, True] Translation: X:118.61, Y:104.89, Z:41.58 [[-2.76611161e-02 -9.99513612e-01 -1.44014449e-02 1.18605346e+02] [ 9.56903990e-01 -2.23099996e-02 -2.89546229e-01 1.04891147e+02] [ 2.89084101e-01 -2.17899720e-02 9.57055683e-01 4.15833829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.450714057 meters Centerline goodness : 0.986448 Centerline is valid? [True, True] Translation: X:118.60, Y:104.91, Z:41.59 [[-2.36330909e-02 -9.99696061e-01 -7.01879971e-03 1.18601298e+02] [ 9.56391724e-01 -2.05637289e-02 -2.91362323e-01 1.04912882e+02] [ 2.91129433e-01 -1.35985142e-02 9.56587023e-01 4.15929024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.480714057 meters Centerline goodness : 0.986918 Centerline is valid? [True, True] Translation: X:118.60, Y:104.94, Z:41.60 [[-2.41794636e-02 -9.99702119e-01 -3.32060553e-03 1.18600477e+02] [ 9.56652333e-01 -2.21736845e-02 -2.90387056e-01 1.04942929e+02] [ 2.90226925e-01 -1.01980683e-02 9.56903512e-01 4.16033590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.51071405700003 meters Centerline goodness : 0.986536 Centerline is valid? [True, True] Translation: X:118.60, Y:104.94, Z:41.60 [[-2.50336141e-02 -9.99627481e-01 -1.08728249e-02 1.18602515e+02] [ 9.56021028e-01 -2.07594135e-02 -2.92562542e-01 1.04944005e+02] [ 2.92227843e-01 -1.77185471e-02 9.56184575e-01 4.16021406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.540714057 meters Centerline goodness : 0.985187 Centerline is valid? [True, True] Translation: X:118.60, Y:104.94, Z:41.60 [[-2.72511707e-02 -9.99602037e-01 -7.28985219e-03 1.18601469e+02] [ 9.55591565e-01 -2.39093078e-02 -2.93722839e-01 1.04938587e+02] [ 2.93431652e-01 -1.49704125e-02 9.55862831e-01 4.16026044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.57071405700003 meters Centerline goodness : 0.985962 Centerline is valid? [True, True] Translation: X:118.60, Y:104.95, Z:41.61 [[-3.22550411e-02 -9.99479515e-01 -5.57237649e-04 1.18599833e+02] [ 9.55653869e-01 -3.06774126e-02 -2.92890047e-01 1.04953319e+02] [ 2.92720508e-01 -9.97970683e-03 9.56145967e-01 4.16090032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.600714057 meters Centerline goodness : 0.986578 Centerline is valid? [True, True] Translation: X:118.60, Y:104.96, Z:41.61 [[-3.73333420e-02 -9.99281311e-01 -6.56373779e-03 1.18601899e+02] [ 9.54423775e-01 -3.37096125e-02 -2.96544971e-01 1.04961920e+02] [ 2.96110586e-01 -1.73356022e-02 9.54996334e-01 4.16119747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.63071405700003 meters Centerline goodness : 0.985987 Centerline is valid? [True, True] Translation: X:118.60, Y:104.97, Z:41.61 [[-4.52997425e-02 -9.98961070e-01 -4.97130276e-03 1.18602256e+02] [ 9.53210776e-01 -4.17350961e-02 -2.99411755e-01 1.04968230e+02] [ 2.98893210e-01 -1.83019748e-02 9.54111045e-01 4.16146936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.660714057 meters Centerline goodness : 0.986984 Centerline is valid? [True, True] Translation: X:118.60, Y:104.98, Z:41.62 [[-4.86097866e-02 -9.98814584e-01 -2.55258059e-03 1.18601585e+02] [ 9.52727986e-01 -4.55992057e-02 -3.00383251e-01 1.04977810e+02] [ 2.99910776e-01 -1.70334807e-02 9.53815174e-01 4.16190863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.69071405700004 meters Centerline goodness : 0.987292 Centerline is valid? [True, True] Translation: X:118.60, Y:104.98, Z:41.62 [[-5.43971361e-02 -9.98513827e-01 -3.33001086e-03 1.18602054e+02] [ 9.51718338e-01 -5.08381999e-02 -3.02733682e-01 1.04978562e+02] [ 3.02114475e-01 -1.96370777e-02 9.53069373e-01 4.16189853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.720714057 meters Centerline goodness : 0.987857 Centerline is valid? [True, True] Translation: X:118.60, Y:104.98, Z:41.62 [[-5.61666449e-02 -9.98411189e-01 -4.51736016e-03 1.18601734e+02] [ 9.50420596e-01 -5.20797702e-02 -3.06575258e-01 1.04977777e+02] [ 3.05852904e-01 -2.15126958e-02 9.51835703e-01 4.16206433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.750714057 meters Centerline goodness : 0.987606 Centerline is valid? [True, True] Translation: X:118.60, Y:104.98, Z:41.62 [[-5.91715026e-02 -9.98247820e-01 -1.54091294e-04 1.18598901e+02] [ 9.50793933e-01 -5.63116278e-02 -3.04663582e-01 1.04980685e+02] [ 3.04121080e-01 -1.81739110e-02 9.52460014e-01 4.16226669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.780714057 meters Centerline goodness : 0.987707 Centerline is valid? [True, True] Translation: X:118.60, Y:104.99, Z:41.62 [[-6.03828216e-02 -9.98173264e-01 -2.01237556e-03 1.18599492e+02] [ 9.50702252e-01 -5.68965650e-02 -3.04840956e-01 1.04986785e+02] [ 3.04169595e-01 -2.03203271e-02 9.52401145e-01 4.16245836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.810714057 meters Centerline goodness : 0.988780 Centerline is valid? [True, True] Translation: X:118.60, Y:104.99, Z:41.63 [[-6.00409465e-02 -9.98186711e-01 -4.28650965e-03 1.18598793e+02] [ 9.50066077e-01 -5.58280799e-02 -3.07014128e-01 1.04988221e+02] [ 3.06218115e-01 -2.25058862e-02 9.51695304e-01 4.16254929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.840714057 meters Centerline goodness : 0.987529 Centerline is valid? [True, True] Translation: X:118.60, Y:104.98, Z:41.63 [[-6.04815059e-02 -9.98162414e-01 -3.71261598e-03 1.18598900e+02] [ 9.50069644e-01 -5.64259516e-02 -3.06893767e-01 1.04983409e+02] [ 3.06120336e-01 -2.20886409e-02 9.51736535e-01 4.16257557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.870714057 meters Centerline goodness : 0.988424 Centerline is valid? [True, True] Translation: X:118.60, Y:104.98, Z:41.62 [[-5.64770287e-02 -9.98400170e-01 -2.72869038e-03 1.18596836e+02] [ 9.49671415e-01 -5.28767229e-02 -3.08752742e-01 1.04980936e+02] [ 3.08114506e-01 -2.00287967e-02 9.51138422e-01 4.16233384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.900714057 meters Centerline goodness : 0.987286 Centerline is valid? [True, True] Translation: X:118.60, Y:104.98, Z:41.62 [[-5.44700075e-02 -9.98506104e-01 -4.31033085e-03 1.18596569e+02] [ 9.49434272e-01 -5.04553594e-02 -3.09885172e-01 1.04983575e+02] [ 3.09204756e-01 -2.09718235e-02 9.50764220e-01 4.16246786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.930714057 meters Centerline goodness : 0.988537 Centerline is valid? [True, True] Translation: X:118.59, Y:105.01, Z:41.63 [[-5.01432736e-02 -9.98740122e-01 -1.95464660e-03 1.18593285e+02] [ 9.49942157e-01 -4.70888297e-02 -3.08856830e-01 1.05011335e+02] [ 3.08375666e-01 -1.73438937e-02 9.51106533e-01 4.16348091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.960714057 meters Centerline goodness : 0.988776 Centerline is valid? [True, True] Translation: X:118.59, Y:105.01, Z:41.64 [[-4.80376001e-02 -9.98841390e-01 -2.87506556e-03 1.18592695e+02] [ 9.50093231e-01 -4.48044851e-02 -3.08731939e-01 1.05010760e+02] [ 3.08245423e-01 -1.75623217e-02 9.51144744e-01 4.16351359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.990714057 meters Centerline goodness : 0.988613 Centerline is valid? [True, True] Translation: X:118.59, Y:105.01, Z:41.63 [[-4.22943640e-02 -9.99100347e-01 3.11193518e-03 1.18589096e+02] [ 9.51195051e-01 -4.12189803e-02 -3.05825065e-01 1.05007044e+02] [ 3.05678199e-01 -9.97461929e-03 9.52082636e-01 4.16347977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.020714057 meters Centerline goodness : 0.987842 Centerline is valid? [True, True] Translation: X:118.59, Y:105.01, Z:41.63 [[-3.99896050e-02 -9.99200010e-01 4.14571834e-04 1.18589704e+02] [ 9.51953609e-01 -3.82247948e-02 -3.03847316e-01 1.05013645e+02] [ 3.03620088e-01 -1.17560810e-02 9.52720650e-01 4.16338931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.050714057 meters Centerline goodness : 0.987368 Centerline is valid? [True, True] Translation: X:118.59, Y:105.04, Z:41.64 [[-3.94718194e-02 -9.99204796e-01 -5.63482567e-03 1.18592124e+02] [ 9.52368816e-01 -3.59139148e-02 -3.02826402e-01 1.05039907e+02] [ 3.02383224e-01 -1.73195413e-02 9.53029076e-01 4.16390028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.080714057 meters Centerline goodness : 0.988579 Centerline is valid? [True, True] Translation: X:118.59, Y:105.07, Z:41.65 [[-4.19422807e-02 -9.99115471e-01 -3.02004181e-03 1.18590242e+02] [ 9.51304439e-01 -3.90109325e-02 -3.05774447e-01 1.05068101e+02] [ 3.05386166e-01 -1.56978568e-02 9.52099190e-01 4.16488853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.110714057 meters Centerline goodness : 0.987737 Centerline is valid? [True, True] Translation: X:118.59, Y:105.09, Z:41.65 [[-4.28319747e-02 -9.98921803e-01 -1.79068274e-02 1.18594980e+02] [ 9.51762641e-01 -3.53461150e-02 -3.04792597e-01 1.05091112e+02] [ 3.03831034e-01 -3.00979182e-02 9.52250397e-01 4.16544089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.140714057 meters Centerline goodness : 0.986554 Centerline is valid? [True, True] Translation: X:118.59, Y:105.12, Z:41.67 [[-4.72790515e-02 -9.98881695e-01 2.26939663e-04 1.18588582e+02] [ 9.51895481e-01 -4.51239592e-02 -3.03082202e-01 1.05116194e+02] [ 3.02753504e-01 -1.41134162e-02 9.52964389e-01 4.16661364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.170714057 meters Centerline goodness : 0.987250 Centerline is valid? [True, True] Translation: X:118.59, Y:105.14, Z:41.67 [[-5.49338889e-02 -9.98441990e-01 -9.79078759e-03 1.18591856e+02] [ 9.49408619e-01 -4.91945804e-02 -3.10166353e-01 1.05135374e+02] [ 3.09201458e-01 -2.63341021e-02 9.50631881e-01 4.16735509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.200714057 meters Centerline goodness : 0.986513 Centerline is valid? [True, True] Translation: X:118.59, Y:105.13, Z:41.68 [[-5.80905740e-02 -9.98310471e-01 -1.29935168e-03 1.18588372e+02] [ 9.48576881e-01 -5.47908488e-02 -3.11768926e-01 1.05133763e+02] [ 3.11170991e-01 -1.93433708e-02 9.50157065e-01 4.16774325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.230714057 meters Centerline goodness : 0.987927 Centerline is valid? [True, True] Translation: X:118.59, Y:105.14, Z:41.68 [[-5.75309562e-02 -9.98343275e-01 -9.45648797e-04 1.18587899e+02] [ 9.49863308e-01 -5.44455913e-02 -3.07888572e-01 1.05135381e+02] [ 3.07326999e-01 -1.86113611e-02 9.51421953e-01 4.16761759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.26071405700003 meters Centerline goodness : 0.988171 Centerline is valid? [True, True] Translation: X:118.59, Y:105.16, Z:41.68 [[-6.14814501e-02 -9.98096889e-01 -4.75729551e-03 1.18589568e+02] [ 9.48846082e-01 -5.69674357e-02 -3.10557280e-01 1.05162654e+02] [ 3.09695244e-01 -2.36074531e-02 9.50542763e-01 4.16828621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.290714057 meters Centerline goodness : 0.986074 Centerline is valid? [True, True] Translation: X:118.59, Y:105.18, Z:41.69 [[-5.96431158e-02 -9.98217104e-01 2.30463715e-03 1.18586985e+02] [ 9.49248682e-01 -5.74312260e-02 -3.09238733e-01 1.05183131e+02] [ 3.08819751e-01 -1.62562878e-02 9.50981648e-01 4.16910151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.32071405700003 meters Centerline goodness : 0.985225 Centerline is valid? [True, True] Translation: X:118.59, Y:105.21, Z:41.69 [[-6.24020491e-02 -9.97968077e-01 -1.28724826e-02 1.18594904e+02] [ 9.48676253e-01 -5.53035351e-02 -3.11375794e-01 1.05209659e+02] [ 3.10031209e-01 -3.16423062e-02 9.50199671e-01 4.16933800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.350714057 meters Centerline goodness : 0.986768 Centerline is valid? [True, True] Translation: X:118.59, Y:105.23, Z:41.71 [[-6.43474164e-02 -9.97927385e-01 5.87140760e-04 1.18587835e+02] [ 9.48544048e-01 -6.13458981e-02 -3.10645891e-01 1.05234887e+02] [ 3.10038060e-01 -1.94323316e-02 9.50525531e-01 4.17083005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.38071405700003 meters Centerline goodness : 0.988448 Centerline is valid? [True, True] Translation: X:118.59, Y:105.27, Z:41.72 [[-6.79284676e-02 -9.97685906e-01 -2.92520441e-03 1.18587896e+02] [ 9.47727239e-01 -6.36102153e-02 -3.12676865e-01 1.05265617e+02] [ 3.11767228e-01 -2.40119562e-02 9.49855053e-01 4.17176822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.410714057 meters Centerline goodness : 0.986958 Centerline is valid? [True, True] Translation: X:118.59, Y:105.26, Z:41.72 [[-6.79538864e-02 -9.97687352e-01 1.48896400e-03 1.18586471e+02] [ 9.48863647e-01 -6.50894472e-02 -3.08903128e-01 1.05264589e+02] [ 3.08285660e-01 -1.95783443e-02 9.51092341e-01 4.17180112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.44071405700004 meters Centerline goodness : 0.987841 Centerline is valid? [True, True] Translation: X:118.59, Y:105.28, Z:41.72 [[-6.86168925e-02 -9.97604008e-01 -8.82984686e-03 1.18589505e+02] [ 9.46710400e-01 -6.23194151e-02 -3.15999540e-01 1.05276565e+02] [ 3.14692136e-01 -3.00422143e-02 9.48718254e-01 4.17177666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.470714057 meters Centerline goodness : 0.986757 Centerline is valid? [True, True] Translation: X:118.58, Y:105.30, Z:41.73 [[-6.70422922e-02 -9.97733447e-01 5.77063633e-03 1.18583644e+02] [ 9.49117916e-01 -6.55571113e-02 -3.08021829e-01 1.05302608e+02] [ 3.07701988e-01 -1.51734752e-02 9.51361788e-01 4.17297644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.500714057 meters Centerline goodness : 0.986445 Centerline is valid? [True, True] Translation: X:118.59, Y:105.33, Z:41.74 [[-6.55732550e-02 -9.97829832e-01 -5.98127329e-03 1.18585611e+02] [ 9.48552917e-01 -6.04720161e-02 -3.10790120e-01 1.05328445e+02] [ 3.09753954e-01 -2.60530740e-02 9.50459744e-01 4.17354124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.530714057 meters Centerline goodness : 0.987482 Centerline is valid? [True, True] Translation: X:118.58, Y:105.32, Z:41.73 [[-6.35994034e-02 -9.97948765e-01 -7.30600631e-03 1.18584409e+02] [ 9.48608916e-01 -5.81777126e-02 -3.11057035e-01 1.05322636e+02] [ 3.09993937e-01 -2.67135846e-02 9.50363164e-01 4.17330959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.560714057 meters Centerline goodness : 0.985504 Centerline is valid? [True, True] Translation: X:118.57, Y:105.34, Z:41.75 [[-6.07640754e-02 -9.98099853e-01 1.02181753e-02 1.18574673e+02] [ 9.46538419e-01 -6.08682735e-02 -3.16796582e-01 1.05344271e+02] [ 3.16816585e-01 -9.57795591e-03 9.48438461e-01 4.17470663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.590714057 meters Centerline goodness : 0.989032 Centerline is valid? [True, True] Translation: X:118.59, Y:105.38, Z:41.75 [[-6.21254066e-02 -9.97720780e-01 -2.63378032e-02 1.18587902e+02] [ 9.49869485e-01 -5.10031565e-02 -3.08458488e-01 1.05380802e+02] [ 3.06412132e-01 -4.41805846e-02 9.50873115e-01 4.17465373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.620714057 meters Centerline goodness : 0.988186 Centerline is valid? [True, True] Translation: X:118.57, Y:105.38, Z:41.76 [[-6.20204884e-02 -9.98065367e-01 4.35691312e-03 1.18571482e+02] [ 9.49076237e-01 -6.03261115e-02 -3.09216845e-01 1.05384283e+02] [ 3.08881459e-01 -1.50427370e-02 9.50981577e-01 4.17613455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.650714057 meters Centerline goodness : 0.989125 Centerline is valid? [True, True] Translation: X:118.58, Y:105.39, Z:41.76 [[-5.95816223e-02 -9.98193715e-01 -7.70308367e-03 1.18575598e+02] [ 9.50089491e-01 -5.43395718e-02 -3.07208675e-01 1.05385394e+02] [ 3.06235186e-01 -2.56226101e-02 9.51610999e-01 4.17554292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.680714057 meters Centerline goodness : 0.986284 Centerline is valid? [True, True] Translation: X:118.57, Y:105.38, Z:41.76 [[-6.18516782e-02 -9.98001440e-01 1.29419939e-02 1.18566405e+02] [ 9.49982571e-01 -6.28427596e-02 -3.05914861e-01 1.05377136e+02] [ 3.06116783e-01 -6.62667890e-03 9.51970904e-01 4.17620732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.710714057 meters Centerline goodness : 0.988081 Centerline is valid? [True, True] Translation: X:118.58, Y:105.39, Z:41.75 [[-6.11627807e-02 -9.97948397e-01 -1.89238168e-02 1.18577766e+02] [ 9.49821501e-01 -5.23654692e-02 -3.08377971e-01 1.05390508e+02] [ 3.06754347e-01 -3.68355023e-02 9.51075663e-01 4.17539281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.740714057 meters Centerline goodness : 0.988601 Centerline is valid? [True, True] Translation: X:118.57, Y:105.40, Z:41.76 [[-6.03698009e-02 -9.98158023e-01 -6.00396197e-03 1.18570182e+02] [ 9.50009492e-01 -5.56097258e-02 -3.07228780e-01 1.05398776e+02] [ 3.06328993e-01 -2.42511611e-02 9.51616745e-01 4.17614159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.770714057 meters Centerline goodness : 0.986419 Centerline is valid? [True, True] Translation: X:118.57, Y:105.42, Z:41.77 [[-6.10103548e-02 -9.98071267e-01 -1.14665637e-02 1.18571238e+02] [ 9.48990020e-01 -5.44420461e-02 -3.10570453e-01 1.05419389e+02] [ 3.09347182e-01 -2.98296680e-02 9.50481200e-01 4.17709835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.800714057 meters Centerline goodness : 0.987206 Centerline is valid? [True, True] Translation: X:118.57, Y:105.45, Z:41.78 [[-6.14602366e-02 -9.98097855e-01 -4.82822169e-03 1.18567444e+02] [ 9.49675637e-01 -5.69885624e-02 -3.08007286e-01 1.05447933e+02] [ 3.07146258e-01 -2.35154452e-02 9.51371747e-01 4.17807475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.830714057 meters Centerline goodness : 0.987123 Centerline is valid? [True, True] Translation: X:118.56, Y:105.42, Z:41.78 [[-6.13198944e-02 -9.98081031e-01 8.60964516e-03 1.18561781e+02] [ 9.48981486e-01 -6.09721079e-02 -3.09380899e-01 1.05423646e+02] [ 3.09312155e-01 -1.08008102e-02 9.50899223e-01 4.17797156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.860714057 meters Centerline goodness : 0.987531 Centerline is valid? [True, True] Translation: X:118.57, Y:105.43, Z:41.77 [[-5.89071953e-02 -9.98244450e-01 -6.16119789e-03 1.18567027e+02] [ 9.49555839e-01 -5.41275536e-02 -3.08891431e-01 1.05431096e+02] [ 3.08015666e-01 -2.40463292e-02 9.51077349e-01 4.17741456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.890714057 meters Centerline goodness : 0.986531 Centerline is valid? [True, True] Translation: X:118.56, Y:105.43, Z:41.78 [[-5.80263379e-02 -9.98254786e-01 1.09693085e-02 1.18560320e+02] [ 9.50387315e-01 -5.86008838e-02 -3.05499407e-01 1.05428973e+02] [ 3.05609056e-01 -7.30192012e-03 9.52129081e-01 4.17794539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.920714057 meters Centerline goodness : 0.987563 Centerline is valid? [True, True] Translation: X:118.57, Y:105.46, Z:41.78 [[-5.69547382e-02 -9.98288584e-01 -1.32688068e-02 1.18570086e+02] [ 9.51141878e-01 -5.02157243e-02 -3.04643248e-01 1.05458488e+02] [ 3.03455574e-01 -2.99713942e-02 9.52374102e-01 4.17788138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.950714057 meters Centerline goodness : 0.988553 Centerline is valid? [True, True] Translation: X:118.57, Y:105.46, Z:41.78 [[-5.68350553e-02 -9.98326917e-01 -1.06368460e-02 1.18568047e+02] [ 9.50476127e-01 -5.08440606e-02 -3.06610523e-01 1.05459025e+02] [ 3.05556718e-01 -2.75362942e-02 9.51775627e-01 4.17805723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.980714057 meters Centerline goodness : 0.987519 Centerline is valid? [True, True] Translation: X:118.56, Y:105.46, Z:41.79 [[-5.57036051e-02 -9.98416376e-01 7.86440719e-03 1.18561159e+02] [ 9.49979311e-01 -5.54222128e-02 -3.07355961e-01 1.05460070e+02] [ 3.07305088e-01 -9.64981097e-03 9.51562118e-01 4.17880217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.01071405700003 meters Centerline goodness : 0.988755 Centerline is valid? [True, True] Translation: X:118.56, Y:105.48, Z:41.79 [[-5.41808967e-02 -9.98525735e-01 3.28429541e-03 1.18563764e+02] [ 9.49349812e-01 -5.25315406e-02 -3.09798922e-01 1.05476088e+02] [ 3.09514725e-01 -1.36672382e-02 9.50796425e-01 4.17899068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.040714057 meters Centerline goodness : 0.988755 Centerline is valid? [True, True] Translation: X:118.57, Y:105.50, Z:41.79 [[-5.47524361e-02 -9.98472224e-01 -7.44237753e-03 1.18568159e+02] [ 9.49550246e-01 -4.97617422e-02 -3.09641888e-01 1.05504186e+02] [ 3.08798479e-01 -2.40205591e-02 9.50824123e-01 4.17946893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.07071405700003 meters Centerline goodness : 0.988133 Centerline is valid? [True, True] Translation: X:118.57, Y:105.53, Z:41.80 [[-5.36289502e-02 -9.98490595e-01 -1.18518819e-02 1.18570564e+02] [ 9.52501692e-01 -4.75885443e-02 -3.00792051e-01 1.05531273e+02] [ 2.99774020e-01 -2.74200995e-02 9.53616105e-01 4.17990602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.100714057 meters Centerline goodness : 0.990601 Centerline is valid? [True, True] Translation: X:118.56, Y:105.54, Z:41.81 [[-5.09244150e-02 -9.98562292e-01 1.67347845e-02 1.18559420e+02] [ 9.51423939e-01 -5.36014575e-02 -3.03182078e-01 1.05539529e+02] [ 3.03643199e-01 4.82504661e-04 9.52785692e-01 4.18130439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.13071405700003 meters Centerline goodness : 0.987563 Centerline is valid? [True, True] Translation: X:118.58, Y:105.57, Z:41.80 [[-4.71874035e-02 -9.98363241e-01 -3.23138901e-02 1.18581364e+02] [ 9.55483463e-01 -3.56811197e-02 -2.92879172e-01 1.05565183e+02] [ 2.91246804e-01 -4.46955953e-02 9.55603267e-01 4.18017249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.160714057 meters Centerline goodness : 0.989126 Centerline is valid? [True, True] Translation: X:118.57, Y:105.59, Z:41.82 [[-4.79105887e-02 -9.98782072e-01 -1.17876185e-02 1.18572682e+02] [ 9.55120471e-01 -4.23561506e-02 -2.93173740e-01 1.05590103e+02] [ 2.92317398e-01 -2.53047222e-02 9.55986511e-01 4.18177972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.19071405700004 meters Centerline goodness : 0.990836 Centerline is valid? [True, True] Translation: X:118.56, Y:105.62, Z:41.84 [[-5.28795376e-02 -9.98441230e-01 1.78567680e-02 1.18560778e+02] [ 9.51632410e-01 -5.58039072e-02 -3.02128581e-01 1.05622058e+02] [ 3.02654110e-01 1.01665957e-03 9.53099919e-01 4.18380173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.220714057 meters Centerline goodness : 0.988621 Centerline is valid? [True, True] Translation: X:118.58, Y:105.65, Z:41.83 [[-4.94281168e-02 -9.98242433e-01 -3.26941195e-02 1.18583612e+02] [ 9.56265053e-01 -3.78502290e-02 -2.90042253e-01 1.05647147e+02] [ 2.88295005e-01 -4.56004863e-02 9.56455219e-01 4.18263663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.250714057 meters Centerline goodness : 0.988813 Centerline is valid? [True, True] Translation: X:118.57, Y:105.67, Z:41.84 [[-5.06675790e-02 -9.98660878e-01 -1.04521643e-02 1.18573815e+02] [ 9.55668329e-01 -4.54415326e-02 -2.90917706e-01 1.05669863e+02] [ 2.90053169e-01 -2.47288982e-02 9.56690985e-01 4.18432217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.280714057 meters Centerline goodness : 0.988902 Centerline is valid? [True, True] Translation: X:118.57, Y:105.69, Z:41.85 [[-5.42436502e-02 -9.98496813e-01 -7.85752115e-03 1.18571495e+02] [ 9.55174604e-01 -4.95934130e-02 -2.91859504e-01 1.05694152e+02] [ 2.91031104e-01 -2.33368295e-02 9.56428925e-01 4.18525603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.310714057 meters Centerline goodness : 0.987733 Centerline is valid? [True, True] Translation: X:118.57, Y:105.72, Z:41.86 [[-5.91505594e-02 -9.98167616e-01 -1.27522893e-02 1.18573841e+02] [ 9.54908423e-01 -5.28545338e-02 -2.92158008e-01 1.05718407e+02] [ 2.90948646e-01 -2.94585780e-02 9.56285040e-01 4.18604470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.340714057 meters Centerline goodness : 0.989204 Centerline is valid? [True, True] Translation: X:118.57, Y:105.74, Z:41.87 [[-6.10364330e-02 -9.98109475e-01 -7.21313089e-03 1.18571092e+02] [ 9.54538450e-01 -5.62564679e-02 -2.92731204e-01 1.05743553e+02] [ 2.91772004e-01 -2.47524793e-02 9.56167565e-01 4.18717444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.370714057 meters Centerline goodness : 0.988988 Centerline is valid? [True, True] Translation: X:118.57, Y:105.77, Z:41.88 [[-6.37497984e-02 -9.97912220e-01 -1.03520559e-02 1.18571609e+02] [ 9.54277795e-01 -5.79201379e-02 -2.93256112e-01 1.05769815e+02] [ 2.92044265e-01 -2.85737551e-02 9.55977870e-01 4.18799295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.400714057 meters Centerline goodness : 0.989462 Centerline is valid? [True, True] Translation: X:118.57, Y:105.79, Z:41.89 [[-6.64024279e-02 -9.97792829e-01 -4.34004960e-04 1.18567307e+02] [ 9.53360354e-01 -6.33171110e-02 -2.95118585e-01 1.05793844e+02] [ 2.94439728e-01 -2.00103537e-02 9.55460534e-01 4.18909802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.430714057 meters Centerline goodness : 0.989320 Centerline is valid? [True, True] Translation: X:118.57, Y:105.82, Z:41.90 [[-7.08051951e-02 -9.97471162e-01 -6.15680870e-03 1.18568444e+02] [ 9.52508681e-01 -6.57783506e-02 -2.97322083e-01 1.05820415e+02] [ 2.96165219e-01 -2.69163619e-02 9.54757389e-01 4.18970367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.460714057 meters Centerline goodness : 0.989407 Centerline is valid? [True, True] Translation: X:118.57, Y:105.85, Z:41.91 [[-7.27954122e-02 -9.97346588e-01 -7.82254377e-04 1.18565790e+02] [ 9.51810574e-01 -6.92374453e-02 -2.98768820e-01 1.05847492e+02] [ 2.97921902e-01 -2.24935574e-02 9.54325196e-01 4.19071493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.490714057 meters Centerline goodness : 0.989922 Centerline is valid? [True, True] Translation: X:118.55, Y:105.89, Z:41.92 [[-6.58455285e-02 -9.95735553e-01 6.46148218e-02 1.18550226e+02] [ 9.55253923e-01 -8.16174786e-02 -2.84303589e-01 1.05894067e+02] [ 2.88364890e-01 4.30034419e-02 9.56554439e-01 4.19189046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.520714057 meters Centerline goodness : 0.990304 Centerline is valid? [True, True] Translation: X:118.59, Y:105.98, Z:41.92 [[-9.21855668e-02 -9.93737362e-01 -6.31496365e-02 1.18592463e+02] [ 9.43174464e-01 -6.68094767e-02 -3.25512555e-01 1.05976227e+02] [ 3.19254994e-01 -8.95686840e-02 9.43426574e-01 4.19232231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.550714057 meters Centerline goodness : 0.992256 Centerline is valid? [True, True] Translation: X:118.55, Y:105.98, Z:41.96 [[-1.02207557e-01 -9.94423532e-01 2.59895174e-02 1.18545914e+02] [ 9.40084805e-01 -1.05099225e-01 -3.24337345e-01 1.05981612e+02] [ 3.25260166e-01 -8.71737722e-03 9.45584386e-01 4.19588812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.580714057 meters Centerline goodness : 0.990162 Centerline is valid? [True, True] Translation: X:118.57, Y:105.98, Z:41.94 [[-8.93813226e-02 -9.95922735e-01 -1.22018456e-02 1.18565852e+02] [ 9.42525565e-01 -8.06162668e-02 -3.24263129e-01 1.05977472e+02] [ 3.21957355e-01 -4.04836188e-02 9.45888227e-01 4.19438379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.610714057 meters Centerline goodness : 0.989932 Centerline is valid? [True, True] Translation: X:118.55, Y:105.96, Z:41.95 [[-8.59767296e-02 -9.96261543e-01 8.42254561e-03 1.18553122e+02] [ 9.42381974e-01 -8.40644500e-02 -3.23804545e-01 1.05958932e+02] [ 3.23302052e-01 -1.99024006e-02 9.46086506e-01 4.19456590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.640714057 meters Centerline goodness : 0.989487 Centerline is valid? [True, True] Translation: X:118.55, Y:105.96, Z:41.95 [[-8.46977830e-02 -9.96393120e-01 5.19966808e-03 1.18553455e+02] [ 9.43130850e-01 -8.18515869e-02 -3.22187085e-01 1.05963897e+02] [ 3.21450596e-01 -2.23845644e-02 9.46661738e-01 4.19454715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.670714057 meters Centerline goodness : 0.989435 Centerline is valid? [True, True] Translation: X:118.55, Y:105.96, Z:41.94 [[-8.41531462e-02 -9.96451969e-01 1.31196459e-03 1.18552548e+02] [ 9.42446046e-01 -8.00196306e-02 -3.24641817e-01 1.05958818e+02] [ 3.23594961e-01 -2.60831745e-02 9.45836122e-01 4.19413583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.700714057 meters Centerline goodness : 0.990160 Centerline is valid? [True, True] Translation: X:118.55, Y:105.97, Z:41.95 [[-8.32358007e-02 -9.96509119e-01 6.43244307e-03 1.18549002e+02] [ 9.42001125e-01 -8.07855448e-02 -3.25741579e-01 1.05973234e+02] [ 3.25124102e-01 -2.10539925e-02 9.45436961e-01 4.19472367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.730714057 meters Centerline goodness : 0.990696 Centerline is valid? [True, True] Translation: X:118.55, Y:105.97, Z:41.94 [[-8.47959364e-02 -9.96389793e-01 -4.12665031e-03 1.18550389e+02] [ 9.41584108e-01 -7.87756925e-02 -3.27435119e-01 1.05969467e+02] [ 3.25927931e-01 -3.16507559e-02 9.44864654e-01 4.19428414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.76071405700003 meters Centerline goodness : 0.989341 Centerline is valid? [True, True] Translation: X:118.55, Y:105.97, Z:41.95 [[-8.71178739e-02 -9.96187486e-01 4.57914102e-03 1.18545590e+02] [ 9.42321588e-01 -8.38966609e-02 -3.24023725e-01 1.05972035e+02] [ 3.23172555e-01 -2.39132346e-02 9.46037873e-01 4.19478650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.790714057 meters Centerline goodness : 0.990371 Centerline is valid? [True, True] Translation: X:118.55, Y:105.99, Z:41.95 [[-8.98858981e-02 -9.95951067e-01 1.41335274e-03 1.18545357e+02] [ 9.42554775e-01 -8.55250646e-02 -3.22917885e-01 1.05994936e+02] [ 3.21731289e-01 -2.76936017e-02 9.46425931e-01 4.19544388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.82071405700003 meters Centerline goodness : 0.990073 Centerline is valid? [True, True] Translation: X:118.55, Y:106.00, Z:41.95 [[-9.36514252e-02 -9.95604789e-01 -7.17073659e-04 1.18546557e+02] [ 9.42024036e-01 -8.83782196e-02 -3.23697398e-01 1.05995866e+02] [ 3.22211306e-01 -3.09902233e-02 9.46160388e-01 4.19546869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.850714057 meters Centerline goodness : 0.990747 Centerline is valid? [True, True] Translation: X:118.55, Y:105.99, Z:41.96 [[-9.67438640e-02 -9.95304110e-01 3.21782853e-03 1.18545294e+02] [ 9.42000519e-01 -9.26056500e-02 -3.22582107e-01 1.05991837e+02] [ 3.21365286e-01 -2.81766434e-02 9.46536016e-01 4.19553589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.88071405700003 meters Centerline goodness : 0.990391 Centerline is valid? [True, True] Translation: X:118.55, Y:106.01, Z:41.96 [[-9.92019951e-02 -9.95064810e-01 -2.23361426e-03 1.18546353e+02] [ 9.41802376e-01 -9.31670170e-02 -3.22998750e-01 1.06012068e+02] [ 3.21196590e-01 -3.41457436e-02 9.46396755e-01 4.19612836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.910714057 meters Centerline goodness : 0.990391 Centerline is valid? [True, True] Translation: X:118.54, Y:106.01, Z:41.96 [[-9.87988986e-02 -9.95105557e-01 1.92563064e-03 1.18544476e+02] [ 9.41742074e-01 -9.41255515e-02 -3.22896651e-01 1.06014044e+02] [ 3.21497503e-01 -3.00883861e-02 9.46432272e-01 4.19636463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.94071405700004 meters Centerline goodness : 0.989468 Centerline is valid? [True, True] Translation: X:118.54, Y:106.01, Z:41.96 [[-9.80049063e-02 -9.95177024e-01 4.21068186e-03 1.18543481e+02] [ 9.42293983e-01 -9.41563276e-02 -3.21273458e-01 1.06009090e+02] [ 3.20120426e-01 -2.75186750e-02 9.46977104e-01 4.19616744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.970714057 meters Centerline goodness : 0.990679 Centerline is valid? [True, True] Translation: X:118.54, Y:106.01, Z:41.97 [[-9.48122621e-02 -9.95275134e-01 2.09294841e-02 1.18537310e+02] [ 9.42095277e-01 -9.64998634e-02 -3.21160810e-01 1.06006570e+02] [ 3.21663061e-01 -1.07324148e-02 9.46793373e-01 4.19657949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.000714057 meters Centerline goodness : 0.990570 Centerline is valid? [True, True] Translation: X:118.55, Y:106.00, Z:41.95 [[-9.10346159e-02 -9.95847444e-01 7.53373786e-04 1.18546665e+02] [ 9.44032311e-01 -8.65387739e-02 -3.18298659e-01 1.06001905e+02] [ 3.17042102e-01 -2.82649870e-02 9.47990188e-01 4.19526431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.030714057 meters Centerline goodness : 0.989978 Centerline is valid? [True, True] Translation: X:118.56, Y:106.01, Z:41.94 [[-9.04881320e-02 -9.95678302e-01 -2.08953811e-02 1.18555922e+02] [ 9.45455126e-01 -7.92931612e-02 -3.15954427e-01 1.06005398e+02] [ 3.12932107e-01 -4.83457710e-02 9.48544244e-01 4.19444719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.060714057 meters Centerline goodness : 0.989535 Centerline is valid? [True, True] Translation: X:118.55, Y:105.99, Z:41.95 [[-8.68096735e-02 -9.96224564e-01 8.35575056e-04 1.18545713e+02] [ 9.45207823e-01 -8.26290508e-02 -3.15839534e-01 1.05992375e+02] [ 3.14716145e-01 -2.66281348e-02 9.48812253e-01 4.19503586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.090714057 meters Centerline goodness : 0.989868 Centerline is valid? [True, True] Translation: X:118.55, Y:106.00, Z:41.95 [[-8.45610212e-02 -9.96416241e-01 2.02709826e-03 1.18545392e+02] [ 9.45799514e-01 -8.09052639e-02 -3.14511713e-01 1.05996461e+02] [ 3.13548582e-01 -2.46782031e-02 9.49251428e-01 4.19517641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.120714057 meters Centerline goodness : 0.989412 Centerline is valid? [True, True] Translation: X:118.55, Y:105.98, Z:41.95 [[-7.77564601e-02 -9.96942088e-01 7.77211602e-03 1.18545096e+02] [ 9.47241817e-01 -7.63070015e-02 -3.11304002e-01 1.05983926e+02] [ 3.10945128e-01 -1.68438239e-02 9.50278597e-01 4.19456371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.150714057 meters Centerline goodness : 0.989995 Centerline is valid? [True, True] Translation: X:118.55, Y:106.00, Z:41.95 [[-7.73089398e-02 -9.97002931e-01 -2.91261529e-03 1.18546628e+02] [ 9.44426862e-01 -7.22953158e-02 -3.20673183e-01 1.06001419e+02] [ 3.19501535e-01 -2.75416559e-02 9.47185423e-01 4.19530038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.180714057 meters Centerline goodness : 0.989507 Centerline is valid? [True, True] Translation: X:118.55, Y:106.01, Z:41.95 [[-7.59979715e-02 -9.96949147e-01 -1.77962733e-02 1.18553144e+02] [ 9.45975150e-01 -6.64471317e-02 -3.17357519e-01 1.06007532e+02] [ 3.15206797e-01 -4.09533600e-02 9.48138965e-01 4.19485858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.210714057 meters Centerline goodness : 0.990245 Centerline is valid? [True, True] Translation: X:118.54, Y:106.01, Z:41.96 [[-6.83399546e-02 -9.97487669e-01 1.86547859e-02 1.18536151e+02] [ 9.45961875e-01 -7.07283756e-02 -3.16470581e-01 1.06007266e+02] [ 3.16994925e-01 -3.98086889e-03 9.48418879e-01 4.19638033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.240714057 meters Centerline goodness : 0.987911 Centerline is valid? [True, True] Translation: X:118.55, Y:106.01, Z:41.95 [[-6.53602118e-02 -9.97693794e-01 -1.83067255e-02 1.18551632e+02] [ 9.48558889e-01 -5.64250048e-02 -3.11532107e-01 1.06006282e+02] [ 3.09780693e-01 -3.77268117e-02 9.50059267e-01 4.19460860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.270714057 meters Centerline goodness : 0.987069 Centerline is valid? [True, True] Translation: X:118.54, Y:106.02, Z:41.96 [[-6.06484794e-02 -9.98158671e-01 -1.01448823e-03 1.18543783e+02] [ 9.49166798e-01 -5.73571485e-02 -3.09503712e-01 1.06019263e+02] [ 3.08875626e-01 -1.97338481e-02 9.50897693e-01 4.19572956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.300714057 meters Centerline goodness : 0.985939 Centerline is valid? [True, True] Translation: X:118.54, Y:106.01, Z:41.95 [[-5.87883653e-02 -9.98270054e-01 -9.09263601e-04 1.18544173e+02] [ 9.49343487e-01 -5.56253655e-02 -3.09277809e-01 1.06009519e+02] [ 3.08692197e-01 -1.90451403e-02 9.50971298e-01 4.19546329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.330714057 meters Centerline goodness : 0.986920 Centerline is valid? [True, True] Translation: X:118.54, Y:106.00, Z:41.95 [[-5.29115261e-02 -9.98583632e-01 5.57673004e-03 1.18543273e+02] [ 9.49293128e-01 -5.20313474e-02 -3.10056923e-01 1.05996903e+02] [ 3.09907933e-01 -1.11116335e-02 9.50701638e-01 4.19512017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.360714057 meters Centerline goodness : 0.986161 Centerline is valid? [True, True] Translation: X:118.55, Y:106.01, Z:41.95 [[-5.08850084e-02 -9.98704517e-01 -5.77382152e-05 1.18546583e+02] [ 9.51134250e-01 -4.84436247e-02 -3.04953856e-01 1.06012639e+02] [ 3.04555996e-01 -1.55724963e-02 9.52367126e-01 4.19519794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.390714057 meters Centerline goodness : 0.986276 Centerline is valid? [True, True] Translation: X:118.55, Y:106.02, Z:41.95 [[-5.12366152e-02 -9.98658560e-01 -7.47598122e-03 1.18548137e+02] [ 9.49018477e-01 -4.63557169e-02 -3.11793325e-01 1.06019233e+02] [ 3.11028518e-01 -2.30700789e-02 9.50120536e-01 4.19532963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.420714057 meters Centerline goodness : 0.984977 Centerline is valid? [True, True] Translation: X:118.54, Y:106.03, Z:41.96 [[-5.15205909e-02 -9.98665446e-01 3.59947671e-03 1.18543548e+02] [ 9.48409530e-01 -5.00563157e-02 -3.13071444e-01 1.06026021e+02] [ 3.12833810e-01 -1.27158478e-02 9.49722757e-01 4.19604627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.450714057 meters Centerline goodness : 0.986010 Centerline is valid? [True, True] Translation: X:118.55, Y:106.04, Z:41.96 [[-5.05295633e-02 -9.98621452e-01 -1.42112375e-02 1.18551915e+02] [ 9.48374242e-01 -4.35164113e-02 -3.14153813e-01 1.06044889e+02] [ 3.13102315e-01 -2.93516266e-02 9.49265728e-01 4.19572204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.480714057 meters Centerline goodness : 0.986246 Centerline is valid? [True, True] Translation: X:118.55, Y:106.02, Z:41.95 [[-4.97116677e-02 -9.98763611e-01 -1.89835900e-05 1.18547229e+02] [ 9.48582601e-01 -4.72080489e-02 -3.12989535e-01 1.06017237e+02] [ 3.12601662e-01 -1.55772392e-02 9.49756574e-01 4.19537633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.51071405700003 meters Centerline goodness : 0.986509 Centerline is valid? [True, True] Translation: X:118.55, Y:106.02, Z:41.95 [[-5.19136762e-02 -9.98626623e-01 -7.05962476e-03 1.18550806e+02] [ 9.47830619e-01 -4.70441950e-02 -3.15283937e-01 1.06022289e+02] [ 3.14518819e-01 -2.30588767e-02 9.48971128e-01 4.19549655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.540714057 meters Centerline goodness : 0.985987 Centerline is valid? [True, True] Translation: X:118.55, Y:106.01, Z:41.95 [[-4.88740513e-02 -9.98774040e-01 7.85771799e-03 1.18546578e+02] [ 9.49912850e-01 -4.89114447e-02 -3.08663649e-01 1.06012429e+02] [ 3.08669572e-01 -7.62149569e-03 9.51138795e-01 4.19544531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.57071405700003 meters Centerline goodness : 0.987340 Centerline is valid? [True, True] Translation: X:118.55, Y:106.02, Z:41.96 [[-5.16927302e-02 -9.98616652e-01 -9.62521519e-03 1.18553190e+02] [ 9.48506565e-01 -4.60782084e-02 -3.13388091e-01 1.06024749e+02] [ 3.12511054e-01 -2.53294658e-02 9.49576358e-01 4.19552011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.600714057 meters Centerline goodness : 0.986115 Centerline is valid? [True, True] Translation: X:118.55, Y:106.04, Z:41.97 [[-5.56437414e-02 -9.98441640e-01 -4.25041768e-03 1.18551386e+02] [ 9.47252760e-01 -5.14443150e-02 -3.16331615e-01 1.06041177e+02] [ 3.15619997e-01 -2.16280945e-02 9.48639153e-01 4.19659856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.63071405700003 meters Centerline goodness : 0.985527 Centerline is valid? [True, True] Translation: X:118.55, Y:106.03, Z:41.97 [[-5.50152144e-02 -9.98479598e-01 3.43787436e-03 1.18549828e+02] [ 9.47686286e-01 -5.33001758e-02 -3.14721773e-01 1.06031831e+02] [ 3.14426508e-01 -1.40564594e-02 9.49177743e-01 4.19650146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.660714057 meters Centerline goodness : 0.985222 Centerline is valid? [True, True] Translation: X:118.55, Y:106.04, Z:41.97 [[-5.62100151e-02 -9.98404333e-01 5.40579372e-03 1.18550751e+02] [ 9.47700618e-01 -5.50575708e-02 -3.14375893e-01 1.06042169e+02] [ 3.14171884e-01 -1.25479997e-02 9.49283190e-01 4.19703623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.69071405700004 meters Centerline goodness : 0.986715 Centerline is valid? [True, True] Translation: X:118.56, Y:106.04, Z:41.96 [[-5.77898762e-02 -9.98245862e-01 -1.28658140e-02 1.18559277e+02] [ 9.47444948e-01 -5.07779584e-02 -3.15863372e-01 1.06039974e+02] [ 3.14656004e-01 -3.04433556e-02 9.48717451e-01 4.19636229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.720714057 meters Centerline goodness : 0.986016 Centerline is valid? [True, True] Translation: X:118.55, Y:106.03, Z:41.97 [[-5.90768355e-02 -9.98253326e-01 -4.74059130e-04 1.18554191e+02] [ 9.46011608e-01 -5.58335339e-02 -3.19287728e-01 1.06033585e+02] [ 3.18703568e-01 -1.93109740e-02 9.47657703e-01 4.19677402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.750714057 meters Centerline goodness : 0.987213 Centerline is valid? [True, True] Translation: X:118.55, Y:106.03, Z:41.97 [[-6.12905879e-02 -9.98045074e-01 1.22267399e-02 1.18551459e+02] [ 9.45881828e-01 -6.19894889e-02 -3.18535510e-01 1.06025015e+02] [ 3.18670726e-01 -7.95817757e-03 9.47832072e-01 4.19694692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.780714057 meters Centerline goodness : 0.988039 Centerline is valid? [True, True] Translation: X:118.56, Y:106.05, Z:41.97 [[-6.58669561e-02 -9.97702577e-01 -1.58465011e-02 1.18564612e+02] [ 9.43957569e-01 -5.71555332e-02 -3.25080532e-01 1.06046300e+02] [ 3.23427970e-01 -3.63704898e-02 9.45553561e-01 4.19672799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.810714057 meters Centerline goodness : 0.988077 Centerline is valid? [True, True] Translation: X:118.56, Y:106.05, Z:41.97 [[-6.76619878e-02 -9.97703289e-01 -3.16254363e-03 1.18559006e+02] [ 9.42297527e-01 -6.28621871e-02 -3.28821708e-01 1.06045183e+02] [ 3.27867695e-01 -2.52287874e-02 9.44386723e-01 4.19742112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.840714057 meters Centerline goodness : 0.988802 Centerline is valid? [True, True] Translation: X:118.56, Y:106.03, Z:41.97 [[-6.37542030e-02 -9.97933177e-01 -8.04833692e-03 1.18561125e+02] [ 9.42884743e-01 -5.75912122e-02 -3.28103054e-01 1.06029257e+02] [ 3.26961410e-01 -2.85066028e-02 9.44607649e-01 4.19657957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.870714057 meters Centerline goodness : 0.988736 Centerline is valid? [True, True] Translation: X:118.55, Y:106.03, Z:41.98 [[-6.50868218e-02 -9.97860636e-01 6.15281898e-03 1.18553423e+02] [ 9.40636362e-01 -6.34102862e-02 -3.33440203e-01 1.06033279e+02] [ 3.33117005e-01 -1.59149979e-02 9.42751173e-01 4.19768024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.900714057 meters Centerline goodness : 0.988061 Centerline is valid? [True, True] Translation: X:118.56, Y:106.05, Z:41.98 [[-6.55014147e-02 -9.97830816e-01 -6.57476642e-03 1.18558669e+02] [ 9.39947544e-01 -5.94871860e-02 -3.36095061e-01 1.06047976e+02] [ 3.34974895e-01 -2.81946375e-02 9.41805119e-01 4.19790053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.930714057 meters Centerline goodness : 0.988061 Centerline is valid? [True, True] Translation: X:118.56, Y:106.05, Z:41.98 [[-6.49633335e-02 -9.97886581e-01 1.46155901e-03 1.18555228e+02] [ 9.39847936e-01 -6.16770572e-02 -3.35978866e-01 1.06049501e+02] [ 3.35358947e-01 -2.04526639e-02 9.41868391e-01 4.19826994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.960714057 meters Centerline goodness : 0.987870 Centerline is valid? [True, True] Translation: X:118.55, Y:106.05, Z:41.98 [[-6.19101192e-02 -9.98076890e-01 3.10780367e-03 1.18554783e+02] [ 9.39847289e-01 -5.93456520e-02 -3.36400309e-01 1.06045144e+02] [ 3.35937808e-01 -1.79057223e-02 9.41713956e-01 4.19817654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.990714057 meters Centerline goodness : 0.988569 Centerline is valid? [True, True] Translation: X:118.56, Y:106.05, Z:41.98 [[-6.01807842e-02 -9.98064097e-01 -1.56949221e-02 1.18562200e+02] [ 9.39829145e-01 -5.13579220e-02 -3.37762552e-01 1.06047689e+02] [ 3.36302618e-01 -3.50773604e-02 9.41100488e-01 4.19753465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.020714057 meters Centerline goodness : 0.988027 Centerline is valid? [True, True] Translation: X:118.55, Y:106.05, Z:41.98 [[-5.62994786e-02 -9.98372103e-01 9.13856605e-03 1.18551277e+02] [ 9.40453438e-01 -5.61021707e-02 -3.35260911e-01 1.06047519e+02] [ 3.35227834e-01 -1.02806186e-02 9.42080999e-01 4.19841603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.050714057 meters Centerline goodness : 0.986664 Centerline is valid? [True, True] Translation: X:118.53, Y:106.57, Z:42.16 [[-7.10396141e-02 -9.97195552e-01 2.35458066e-02 1.18531262e+02] [ 9.46105388e-01 -7.48399644e-02 -3.15092961e-01 1.06568180e+02] [ 3.15971466e-01 -1.07267885e-04 9.48768687e-01 4.21565519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.080714057 meters Centerline goodness : 0.987950 Centerline is valid? [True, True] Translation: X:118.55, Y:106.05, Z:41.98 [[-4.91040217e-02 -9.98792318e-01 -1.64345512e-03 1.18553842e+02] [ 9.45530504e-01 -4.59552077e-02 -3.22273463e-01 1.06049247e+02] [ 3.21808734e-01 -1.73788601e-02 9.46645189e-01 4.19772010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.110714057 meters Centerline goodness : 0.986775 Centerline is valid? [True, True] Translation: X:118.56, Y:106.07, Z:41.99 [[-5.06472433e-02 -9.98631295e-01 -1.30534973e-02 1.18558810e+02] [ 9.44706331e-01 -4.36641806e-02 -3.24997520e-01 1.06071502e+02] [ 3.23982724e-01 -2.87919500e-02 9.45624777e-01 4.19853116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.140714057 meters Centerline goodness : 0.986999 Centerline is valid? [True, True] Translation: X:118.56, Y:106.10, Z:41.99 [[-5.30197084e-02 -9.98465107e-01 -1.60106142e-02 1.18559824e+02] [ 9.45843986e-01 -4.50704979e-02 -3.21477535e-01 1.06099350e+02] [ 3.20262495e-01 -3.21881883e-02 9.46781841e-01 4.19937818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.170714057 meters Centerline goodness : 0.986846 Centerline is valid? [True, True] Translation: X:118.55, Y:106.10, Z:42.00 [[-5.60955319e-02 -9.98411161e-01 5.33333905e-03 1.18551684e+02] [ 9.45467187e-01 -5.48359761e-02 -3.21068238e-01 1.06099458e+02] [ 3.20850571e-01 -1.29679965e-02 9.47041046e-01 4.20033247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.200714057 meters Centerline goodness : 0.987436 Centerline is valid? [True, True] Translation: X:118.55, Y:106.11, Z:42.01 [[-5.76761960e-02 -9.98310922e-01 6.98279602e-03 1.18551355e+02] [ 9.45756257e-01 -5.68772067e-02 -3.19859477e-01 1.06110117e+02] [ 3.19716371e-01 -1.18442548e-02 9.47439262e-01 4.20078911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.230714057 meters Centerline goodness : 0.988317 Centerline is valid? [True, True] Translation: X:118.56, Y:106.11, Z:42.00 [[-6.06505439e-02 -9.98118475e-01 -9.00122552e-03 1.18559204e+02] [ 9.47121162e-01 -5.47003320e-02 -3.16179346e-01 1.06107380e+02] [ 3.15092077e-01 -2.77017005e-02 9.48656734e-01 4.19966656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.26071405700003 meters Centerline goodness : 0.988336 Centerline is valid? [True, True] Translation: X:118.56, Y:106.13, Z:42.01 [[-6.35002465e-02 -9.97950973e-01 -7.84696809e-03 1.18559522e+02] [ 9.46810986e-01 -5.77570051e-02 -3.16564505e-01 1.06133479e+02] [ 3.15462639e-01 -2.75315197e-02 9.48538528e-01 4.20057806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.290714057 meters Centerline goodness : 0.988250 Centerline is valid? [True, True] Translation: X:118.54, Y:106.16, Z:42.02 [[-6.17097372e-02 -9.97291910e-01 4.00094424e-02 1.18544881e+02] [ 9.47689005e-01 -7.11239980e-02 -3.11170254e-01 1.06164251e+02] [ 3.13173208e-01 1.87142741e-02 9.49511621e-01 4.20196340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.32071405700003 meters Centerline goodness : 0.988866 Centerline is valid? [True, True] Translation: X:118.58, Y:106.19, Z:42.01 [[-7.05144807e-02 -9.96428577e-01 -4.64521126e-02 1.18577728e+02] [ 9.47192567e-01 -5.22812400e-02 -3.16374640e-01 1.06192247e+02] [ 3.12816159e-01 -6.63080892e-02 9.47496326e-01 4.20077497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.350714057 meters Centerline goodness : 0.988701 Centerline is valid? [True, True] Translation: X:118.56, Y:106.22, Z:42.03 [[-7.26439137e-02 -9.97356376e-01 1.76687423e-03 1.18557438e+02] [ 9.46312691e-01 -6.94853460e-02 -3.15696178e-01 1.06216684e+02] [ 3.14984368e-01 -2.12613904e-02 9.48858683e-01 4.20325641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.38071405700003 meters Centerline goodness : 0.987131 Centerline is valid? [True, True] Translation: X:118.55, Y:106.24, Z:42.05 [[-7.34059310e-02 -9.97151527e-01 1.73320769e-02 1.18550862e+02] [ 9.44330935e-01 -7.50850831e-02 -3.20314400e-01 1.06240329e+02] [ 3.20703374e-01 -7.14576030e-03 9.47152725e-01 4.20459861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.410714057 meters Centerline goodness : 0.987864 Centerline is valid? [True, True] Translation: X:118.57, Y:106.27, Z:42.04 [[-7.74510426e-02 -9.96308017e-01 -3.70360723e-02 1.18572690e+02] [ 9.46224943e-01 -6.17528897e-02 -3.17560920e-01 1.06270612e+02] [ 3.14101406e-01 -5.96398797e-02 9.47514323e-01 4.20383858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.44071405700004 meters Centerline goodness : 0.988112 Centerline is valid? [True, True] Translation: X:118.55, Y:106.30, Z:42.06 [[-7.81553927e-02 -9.96926025e-01 5.49872995e-03 1.18554799e+02] [ 9.46365694e-01 -7.59238479e-02 -3.14050223e-01 1.06296000e+02] [ 3.13502325e-01 -1.93409091e-02 9.49390447e-01 4.20600279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.470714057 meters Centerline goodness : 0.987336 Centerline is valid? [True, True] Translation: X:118.56, Y:106.30, Z:42.06 [[-7.81876541e-02 -9.96938659e-01 2.50651785e-05 1.18556807e+02] [ 9.47246973e-01 -7.42982857e-02 -3.11773854e-01 1.06295093e+02] [ 3.10821271e-01 -2.43531234e-02 9.50156336e-01 4.20571234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.500714057 meters Centerline goodness : 0.988149 Centerline is valid? [True, True] Translation: X:118.56, Y:106.31, Z:42.06 [[-7.95086686e-02 -9.96822294e-01 -4.86672566e-03 1.18559121e+02] [ 9.46635304e-01 -7.39740751e-02 -3.13702784e-01 1.06307168e+02] [ 3.12345918e-01 -2.95491050e-02 9.49508756e-01 4.20602463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.530714057 meters Centerline goodness : 0.987834 Centerline is valid? [True, True] Translation: X:118.56, Y:106.31, Z:42.06 [[-7.82026523e-02 -9.96935995e-01 1.72276102e-03 1.18555610e+02] [ 9.46942057e-01 -7.48211232e-02 -3.12574055e-01 1.06305657e+02] [ 3.11745225e-01 -2.28127653e-02 9.49891832e-01 4.20605432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.560714057 meters Centerline goodness : 0.988018 Centerline is valid? [True, True] Translation: X:118.56, Y:106.31, Z:42.06 [[-7.83000406e-02 -9.96929168e-01 -1.15699278e-03 1.18556112e+02] [ 9.47112994e-01 -7.40250385e-02 -3.12245529e-01 1.06306859e+02] [ 3.11201029e-01 -2.55446405e-02 9.50000732e-01 4.20594717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.590714057 meters Centerline goodness : 0.986792 Centerline is valid? [True, True] Translation: X:118.55, Y:106.31, Z:42.06 [[-7.76983501e-02 -9.96899510e-01 1.24230880e-02 1.18549415e+02] [ 9.47692951e-01 -7.77210461e-02 -3.09576340e-01 1.06305929e+02] [ 3.09582037e-01 -1.22802979e-02 9.50793435e-01 4.20648594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.620714057 meters Centerline goodness : 0.988148 Centerline is valid? [True, True] Translation: X:118.56, Y:106.34, Z:42.06 [[-7.88332763e-02 -9.96699879e-01 -1.93562967e-02 1.18562399e+02] [ 9.49769635e-01 -6.91941717e-02 -3.05204534e-01 1.06336668e+02] [ 3.02857979e-01 -4.24442962e-02 9.52090083e-01 4.20628749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.650714057 meters Centerline goodness : 0.987363 Centerline is valid? [True, True] Translation: X:118.55, Y:106.34, Z:42.07 [[-7.69312850e-02 -9.97036189e-01 6.44679269e-04 1.18553420e+02] [ 9.50135289e-01 -7.35083638e-02 -3.03050250e-01 1.06335196e+02] [ 3.02199456e-01 -2.27015126e-02 9.52974360e-01 4.20685091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.680714057 meters Centerline goodness : 0.988224 Centerline is valid? [True, True] Translation: X:118.55, Y:106.34, Z:42.07 [[-7.50184686e-02 -9.97182084e-01 -3.46885303e-04 1.18553866e+02] [ 9.50678703e-01 -7.14149966e-02 -3.01844168e-01 1.06341321e+02] [ 3.00968824e-01 -2.29736637e-02 9.53357214e-01 4.20690679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.710714057 meters Centerline goodness : 0.987936 Centerline is valid? [True, True] Translation: X:118.55, Y:106.37, Z:42.08 [[-7.19644678e-02 -9.97398968e-01 -4.05138441e-03 1.18554728e+02] [ 9.51063355e-01 -6.73963476e-02 -3.01556341e-01 1.06366905e+02] [ 3.00498935e-01 -2.55544649e-02 9.53439751e-01 4.20750695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.740714057 meters Centerline goodness : 0.988303 Centerline is valid? [True, True] Translation: X:118.55, Y:106.40, Z:42.08 [[-7.06657868e-02 -9.97490453e-01 -4.37532191e-03 1.18553245e+02] [ 9.51413799e-01 -6.60824047e-02 -3.00740585e-01 1.06395523e+02] [ 2.99696730e-01 -2.54148117e-02 9.53695946e-01 4.20826622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.770714057 meters Centerline goodness : 0.987794 Centerline is valid? [True, True] Translation: X:118.55, Y:106.42, Z:42.09 [[-6.57616846e-02 -9.97822993e-01 -4.96742272e-03 1.18549921e+02] [ 9.51658161e-01 -6.12207461e-02 -3.00996287e-01 1.06422207e+02] [ 3.00036906e-01 -2.45213112e-02 9.53612374e-01 4.20907955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.800714057 meters Centerline goodness : 0.988597 Centerline is valid? [True, True] Translation: X:118.55, Y:106.42, Z:42.09 [[-6.13522038e-02 -9.98116121e-01 -3.40393720e-04 1.18547355e+02] [ 9.52741559e-01 -5.84614559e-02 -2.98103640e-01 1.06423388e+02] [ 2.97522149e-01 -1.86136225e-02 9.54533448e-01 4.20910639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.830714057 meters Centerline goodness : 0.987192 Centerline is valid? [True, True] Translation: X:118.55, Y:106.45, Z:42.10 [[-5.48109497e-02 -9.98482676e-01 -5.30142147e-03 1.18548557e+02] [ 9.53121555e-01 -5.07370489e-02 -2.98303628e-01 1.06447627e+02] [ 2.97582026e-01 -2.14032042e-02 9.54456306e-01 4.20951800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.860714057 meters Centerline goodness : 0.986916 Centerline is valid? [True, True] Translation: X:118.55, Y:106.47, Z:42.10 [[-5.47488273e-02 -9.98408309e-01 -1.35430554e-02 1.18549992e+02] [ 9.52438247e-01 -4.81463494e-02 -3.00904164e-01 1.06474466e+02] [ 2.99773169e-01 -2.93730740e-02 9.53558215e-01 4.21028104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.890714057 meters Centerline goodness : 0.986810 Centerline is valid? [True, True] Translation: X:118.54, Y:106.50, Z:42.12 [[-5.15269895e-02 -9.98665845e-01 3.39106855e-03 1.18541613e+02] [ 9.53070124e-01 -5.01882329e-02 -2.98560681e-01 1.06503486e+02] [ 2.98332546e-01 -1.21520069e-02 9.54384629e-01 4.21150870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.920714057 meters Centerline goodness : 0.989050 Centerline is valid? [True, True] Translation: X:118.53, Y:106.48, Z:42.11 [[-4.06705480e-02 -9.98844623e-01 2.55993107e-02 1.18533138e+02] [ 9.55925687e-01 -4.63534985e-02 -2.89926603e-01 1.06478022e+02] [ 2.90778246e-01 1.26795648e-02 9.56706455e-01 4.21098593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.950714057 meters Centerline goodness : 0.988878 Centerline is valid? [True, True] Translation: X:118.55, Y:106.49, Z:42.09 [[-4.92989906e-02 -9.96455671e-01 -6.81594093e-02 1.18554769e+02] [ 9.53270861e-01 -2.65772080e-02 -3.00945706e-01 1.06485190e+02] [ 2.98067568e-01 -7.98106983e-02 9.51202385e-01 4.20944634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.980714057 meters Centerline goodness : 0.985016 Centerline is valid? [True, True] Translation: X:118.53, Y:106.52, Z:42.12 [[-2.88276542e-02 -9.99191235e-01 2.80328897e-02 1.18528637e+02] [ 9.59127530e-01 -3.55478895e-02 -2.80732485e-01 1.06524820e+02] [ 2.81501948e-01 1.87942573e-02 9.59376584e-01 4.21228398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.01071405700003 meters Centerline goodness : 0.985283 Centerline is valid? [True, True] Translation: X:118.55, Y:106.56, Z:42.12 [[-2.93880007e-02 -9.99415489e-01 -1.74649745e-02 1.18547493e+02] [ 9.59000625e-01 -2.32637702e-02 -2.82447516e-01 1.06557970e+02] [ 2.81876121e-01 -2.50494892e-02 9.59123754e-01 4.21162657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.040714057 meters Centerline goodness : 0.980670 Centerline is valid? [True, True] Translation: X:118.56, Y:106.57, Z:42.10 [[-3.47599473e-02 -9.97562172e-01 -6.05099963e-02 1.18559729e+02] [ 9.59052072e-01 -1.62663070e-02 -2.82762321e-01 1.06571710e+02] [ 2.81088721e-01 -6.78610407e-02 9.57279484e-01 4.21037348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.07071405700003 meters Centerline goodness : 0.980324 Centerline is valid? [True, True] Translation: X:118.53, Y:106.59, Z:42.14 [[-3.13334997e-02 -9.99437431e-01 1.19596704e-02 1.18528839e+02] [ 9.58131299e-01 -3.34413869e-02 -2.84369632e-01 1.06588104e+02] [ 2.84609602e-01 2.54863880e-03 9.58640120e-01 4.21391055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.100714057 meters Centerline goodness : 0.980356 Centerline is valid? [True, True] Translation: X:118.53, Y:106.61, Z:42.14 [[-3.21697515e-02 -9.99479523e-01 2.40620014e-03 1.18531374e+02] [ 9.58962539e-01 -3.15440058e-02 -2.81772647e-01 1.06613247e+02] [ 2.81701892e-01 -6.75710021e-03 9.59478184e-01 4.21410178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.13071405700003 meters Centerline goodness : 0.984667 Centerline is valid? [True, True] Translation: X:118.54, Y:106.64, Z:42.16 [[-2.73121653e-02 -9.99562890e-01 1.13170065e-02 1.18536439e+02] [ 9.59673838e-01 -2.93875746e-02 -2.79575562e-01 1.06644918e+02] [ 2.79785936e-01 3.22482113e-03 9.60056993e-01 4.21557635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.160714057 meters Centerline goodness : 0.987632 Centerline is valid? [True, True] Translation: X:118.53, Y:106.67, Z:42.17 [[-3.39190813e-02 -9.99341389e-01 1.28951157e-02 1.18532619e+02] [ 9.55572072e-01 -3.62081201e-02 -2.92525191e-01 1.06669340e+02] [ 2.92799438e-01 2.40002671e-03 9.56170868e-01 4.21703625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.19071405700004 meters Centerline goodness : 0.984757 Centerline is valid? [True, True] Translation: X:118.56, Y:106.70, Z:42.15 [[-3.41663234e-02 -9.98832121e-01 -3.41622059e-02 1.18557060e+02] [ 9.59632520e-01 -2.32387535e-02 -2.80295179e-01 1.06699768e+02] [ 2.79173941e-01 -4.23598194e-02 9.59305768e-01 4.21545122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.220714057 meters Centerline goodness : 0.987449 Centerline is valid? [True, True] Translation: X:118.53, Y:106.72, Z:42.19 [[-3.89631743e-02 -9.98874416e-01 2.70512901e-02 1.18529746e+02] [ 9.55486407e-01 -4.51666254e-02 -2.91557373e-01 1.06720344e+02] [ 2.92451017e-01 1.44871393e-02 9.56170762e-01 4.21903133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.250714057 meters Centerline goodness : 0.988824 Centerline is valid? [True, True] Translation: X:118.55, Y:106.75, Z:42.19 [[-4.31633996e-02 -9.99059364e-01 -4.16020454e-03 1.18546221e+02] [ 9.55854727e-01 -4.00846393e-02 -2.91092705e-01 1.06750485e+02] [ 2.90652133e-01 -1.65411019e-02 9.56685805e-01 4.21858531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.280714057 meters Centerline goodness : 0.981205 Centerline is valid? [True, True] Translation: X:118.54, Y:106.77, Z:42.18 [[-4.64980987e-02 -9.98862431e-01 1.05721604e-02 1.18537058e+02] [ 9.60445648e-01 -4.76137093e-02 -2.74366712e-01 1.06768641e+02] [ 2.74557981e-01 -2.60354502e-03 9.61567021e-01 4.21818310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.310714057 meters Centerline goodness : 0.989897 Centerline is valid? [True, True] Translation: X:118.55, Y:106.80, Z:42.20 [[-5.09734783e-02 -9.98662532e-01 -8.65167419e-03 1.18551332e+02] [ 9.55563838e-01 -4.62514827e-02 -2.91133220e-01 1.06800594e+02] [ 2.90343686e-01 -2.31072999e-02 9.56643401e-01 4.21991274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.340714057 meters Centerline goodness : 0.982414 Centerline is valid? [True, True] Translation: X:118.54, Y:106.82, Z:42.20 [[-5.21001662e-02 -9.98569906e-01 1.19881561e-02 1.18541540e+02] [ 9.59854537e-01 -5.33861187e-02 -2.75371005e-01 1.06817327e+02] [ 2.75617200e-01 -2.83998917e-03 9.61263280e-01 4.21975727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.370714057 meters Centerline goodness : 0.991848 Centerline is valid? [True, True] Translation: X:118.55, Y:106.85, Z:42.21 [[-5.75214174e-02 -9.98305997e-01 -8.74202626e-03 1.18554651e+02] [ 9.55474986e-01 -5.25108758e-02 -2.90362118e-01 1.06849877e+02] [ 2.89411192e-01 -2.50548280e-02 9.56876908e-01 4.22134921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.400714057 meters Centerline goodness : 0.982794 Centerline is valid? [True, True] Translation: X:118.54, Y:106.87, Z:42.21 [[-5.77355383e-02 -9.98269953e-01 1.11224768e-02 1.18544522e+02] [ 9.59914644e-01 -5.85712409e-02 -2.74104515e-01 1.06868045e+02] [ 2.74281758e-01 -5.14894340e-03 9.61635589e-01 4.22117602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.430714057 meters Centerline goodness : 0.992273 Centerline is valid? [True, True] Translation: X:118.56, Y:106.90, Z:42.23 [[-6.17608614e-02 -9.98059108e-01 -7.97583453e-03 1.18557124e+02] [ 9.55900979e-01 -5.68494940e-02 -2.88134437e-01 1.06899099e+02] [ 2.87121777e-01 -2.54195391e-02 9.57556751e-01 4.22272405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.460714057 meters Centerline goodness : 0.991211 Centerline is valid? [True, True] Translation: X:118.56, Y:106.93, Z:42.24 [[-6.34346195e-02 -9.97981613e-01 -2.95794922e-03 1.18555960e+02] [ 9.55730544e-01 -5.98951607e-02 -2.88082797e-01 1.06925444e+02] [ 2.87324168e-01 -2.11014250e-02 9.57600936e-01 4.22366393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.490714057 meters Centerline goodness : 0.990388 Centerline is valid? [True, True] Translation: X:118.57, Y:106.96, Z:42.24 [[-5.35482458e-02 -9.98485820e-01 -1.25957127e-02 1.18571469e+02] [ 9.59602069e-01 -4.79655743e-02 -2.77242084e-01 1.06962886e+02] [ 2.76218129e-01 -2.69326993e-02 9.60717531e-01 4.22369620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.520714057 meters Centerline goodness : 0.992056 Centerline is valid? [True, True] Translation: X:118.56, Y:106.98, Z:42.25 [[-6.64384270e-02 -9.97790444e-01 4.06830686e-04 1.18556307e+02] [ 9.55686181e-01 -6.37520741e-02 -2.87401454e-01 1.06978448e+02] [ 2.86792361e-01 -1.87056981e-02 9.57810127e-01 4.22532170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.550714057 meters Centerline goodness : 0.991813 Centerline is valid? [True, True] Translation: X:118.56, Y:107.01, Z:42.25 [[-7.31129625e-02 -9.97239893e-01 -1.29263518e-02 1.18559437e+02] [ 9.55910745e-01 -6.63749860e-02 -2.86057701e-01 1.07007554e+02] [ 2.84410165e-01 -3.32709646e-02 9.58125201e-01 4.22543353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.580714057 meters Centerline goodness : 0.991692 Centerline is valid? [True, True] Translation: X:118.56, Y:107.03, Z:42.26 [[-7.46096554e-02 -9.97201423e-01 -4.76667508e-03 1.18556024e+02] [ 9.55780752e-01 -7.01454560e-02 -2.85591961e-01 1.07033369e+02] [ 2.84458350e-01 -2.58638141e-02 9.58339455e-01 4.22647378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.610714057 meters Centerline goodness : 0.991447 Centerline is valid? [True, True] Translation: X:118.55, Y:107.06, Z:42.27 [[-7.76274140e-02 -9.96981829e-01 -1.10333077e-03 1.18553058e+02] [ 9.55829996e-01 -7.41084692e-02 -2.84423899e-01 1.07058059e+02] [ 2.83483693e-01 -2.31336884e-02 9.58697986e-01 4.22709273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.640714057 meters Centerline goodness : 0.990832 Centerline is valid? [True, True] Translation: X:118.56, Y:107.08, Z:42.27 [[-7.00367943e-02 -9.97515305e-01 -7.61997244e-03 1.18562061e+02] [ 9.57647414e-01 -6.50949777e-02 -2.80488990e-01 1.07080861e+02] [ 2.79296039e-01 -2.69417966e-02 9.59826996e-01 4.22744411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.670714057 meters Centerline goodness : 0.990100 Centerline is valid? [True, True] Translation: X:118.58, Y:107.11, Z:42.28 [[-6.46387875e-02 -9.97698955e-01 -2.04602676e-02 1.18575366e+02] [ 9.58045599e-01 -5.63065080e-02 -2.81030618e-01 1.07110946e+02] [ 2.79231908e-01 -3.77673477e-02 9.59480677e-01 4.22790316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.700714057 meters Centerline goodness : 0.989054 Centerline is valid? [True, True] Translation: X:118.56, Y:107.14, Z:42.30 [[-6.41113111e-02 -9.97924358e-01 6.05926290e-03 1.18564635e+02] [ 9.56930591e-01 -6.31981717e-02 -2.83354609e-01 1.07135072e+02] [ 2.83149401e-01 -1.23679415e-02 9.58996064e-01 4.22962667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.730714057 meters Centerline goodness : 0.989685 Centerline is valid? [True, True] Translation: X:118.57, Y:107.16, Z:42.30 [[-6.15767490e-02 -9.98092446e-01 -4.44673606e-03 1.18569943e+02] [ 9.58348331e-01 -5.78787372e-02 -2.79675755e-01 1.07164378e+02] [ 2.78884887e-01 -2.14830458e-02 9.60084214e-01 4.22983056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.76071405700003 meters Centerline goodness : 0.989169 Centerline is valid? [True, True] Translation: X:118.57, Y:107.19, Z:42.31 [[-5.89213881e-02 -9.98262136e-01 9.89288203e-04 1.18568216e+02] [ 9.59141780e-01 -5.68870060e-02 -2.77147821e-01 1.07193507e+02] [ 2.76722454e-01 -1.53810667e-02 9.60826783e-01 4.23059641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.790714057 meters Centerline goodness : 0.988955 Centerline is valid? [True, True] Translation: X:118.57, Y:107.22, Z:42.31 [[-5.29423507e-02 -9.98577593e-01 6.31652576e-03 1.18566155e+02] [ 9.60613752e-01 -5.26555291e-02 -2.72852734e-01 1.07222598e+02] [ 2.72797227e-01 -8.37772364e-03 9.62035076e-01 4.23148226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.82071405700003 meters Centerline goodness : 0.990341 Centerline is valid? [True, True] Translation: X:118.57, Y:107.25, Z:42.32 [[-4.86895456e-02 -9.98813270e-01 1.17480414e-03 1.18567769e+02] [ 9.60948489e-01 -4.71644605e-02 -2.72678409e-01 1.07248358e+02] [ 2.72410222e-01 -1.21476616e-02 9.62104519e-01 4.23201586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.850714057 meters Centerline goodness : 0.990341 Centerline is valid? [True, True] Translation: X:118.57, Y:107.28, Z:42.33 [[-4.90551745e-02 -9.98787894e-01 -4.04135895e-03 1.18570037e+02] [ 9.61081491e-01 -4.61010683e-02 -2.72391372e-01 1.07276084e+02] [ 2.71874894e-01 -1.72462816e-02 9.62178054e-01 4.23258154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.88071405700003 meters Centerline goodness : 0.991995 Centerline is valid? [True, True] Translation: X:118.56, Y:107.31, Z:42.34 [[-4.59482528e-02 -9.98896936e-01 9.67833380e-03 1.18564851e+02] [ 9.59475384e-01 -4.68272325e-02 -2.77874427e-01 1.07309665e+02] [ 2.78021123e-01 -3.48172137e-03 9.60568651e-01 4.23388986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.910714057 meters Centerline goodness : 0.989755 Centerline is valid? [True, True] Translation: X:118.58, Y:107.33, Z:42.33 [[-3.73932578e-02 -9.99208331e-01 -1.35814771e-02 1.18575034e+02] [ 9.61371906e-01 -3.22617966e-02 -2.73355509e-01 1.07332518e+02] [ 2.72700938e-01 -2.32785036e-02 9.61817191e-01 4.23340437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.94071405700004 meters Centerline goodness : 0.989816 Centerline is valid? [True, True] Translation: X:118.57, Y:107.36, Z:42.35 [[-3.21322564e-02 -9.99482490e-01 -1.50660272e-03 1.18571022e+02] [ 9.62089631e-01 -3.05215860e-02 -2.71020249e-01 1.07359378e+02] [ 2.70834010e-01 -1.01579790e-02 9.62572467e-01 4.23454887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.970714057 meters Centerline goodness : 0.991557 Centerline is valid? [True, True] Translation: X:118.57, Y:107.40, Z:42.35 [[-2.60435657e-02 -9.99622028e-01 8.80534251e-03 1.18571229e+02] [ 9.64583755e-01 -2.74416141e-02 -2.62345454e-01 1.07396160e+02] [ 2.62487928e-01 1.66107927e-03 9.64933847e-01 4.23522280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.000714057 meters Centerline goodness : 0.989022 Centerline is valid? [True, True] Translation: X:118.58, Y:107.42, Z:42.36 [[-2.57914901e-02 -9.99528496e-01 -1.66609003e-02 1.18581010e+02] [ 9.62673935e-01 -2.03416372e-02 -2.69898336e-01 1.07415353e+02] [ 2.69432168e-01 -2.30000947e-02 9.62744672e-01 4.23553491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.030714057 meters Centerline goodness : 0.990048 Centerline is valid? [True, True] Translation: X:118.58, Y:107.44, Z:42.36 [[-2.37653127e-02 -9.99606919e-01 -1.48734027e-02 1.18583376e+02] [ 9.64005563e-01 -1.89728616e-02 -2.65204269e-01 1.07443960e+02] [ 2.64817831e-01 -2.06407053e-02 9.64077527e-01 4.23639486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.060714057 meters Centerline goodness : 0.991477 Centerline is valid? [True, True] Translation: X:118.57, Y:107.48, Z:42.38 [[-2.07290534e-02 -9.99546232e-01 2.18549013e-02 1.18572655e+02] [ 9.65390577e-01 -2.56955037e-02 -2.59539545e-01 1.07475412e+02] [ 2.59983347e-01 1.57185067e-02 9.65485157e-01 4.23775274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.090714057 meters Centerline goodness : 0.990979 Centerline is valid? [True, True] Translation: X:118.60, Y:107.50, Z:42.37 [[-2.37269537e-02 -9.98712280e-01 -4.48420913e-02 1.18601780e+02] [ 9.64360708e-01 -1.10410781e-02 -2.64360587e-01 1.07501059e+02] [ 2.63525060e-01 -4.95164223e-02 9.63380852e-01 4.23711337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.120714057 meters Centerline goodness : 0.992353 Centerline is valid? [True, True] Translation: X:118.57, Y:107.54, Z:42.40 [[-2.36753114e-02 -9.98167309e-01 5.56911306e-02 1.18565920e+02] [ 9.64211369e-01 -3.75138631e-02 -2.62467420e-01 1.07536585e+02] [ 2.64075588e-01 4.74840234e-02 9.63332420e-01 4.24034036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.150714057 meters Centerline goodness : 0.990985 Centerline is valid? [True, True] Translation: X:118.62, Y:107.56, Z:42.38 [[-2.59836472e-02 -9.97988615e-01 -5.78236442e-02 1.18616200e+02] [ 9.63754728e-01 -9.64458405e-03 -2.66615464e-01 1.07557172e+02] [ 2.65521513e-01 -6.26554526e-02 9.62066848e-01 4.23783866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.180714057 meters Centerline goodness : 0.990327 Centerline is valid? [True, True] Translation: X:118.60, Y:107.58, Z:42.40 [[-2.97711901e-02 -9.99459635e-01 -1.39324846e-02 1.18599488e+02] [ 9.62318676e-01 -2.48901468e-02 -2.70782656e-01 1.07579258e+02] [ 2.70289553e-01 -2.14690120e-02 9.62539682e-01 4.24020924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.210714057 meters Centerline goodness : 0.989816 Centerline is valid? [True, True] Translation: X:118.60, Y:107.61, Z:42.41 [[-3.39846911e-02 -9.99407044e-01 -5.53175363e-03 1.18600835e+02] [ 9.62535257e-01 -3.12400042e-02 -2.69350962e-01 1.07607314e+02] [ 2.69018437e-01 -1.44783172e-02 9.63026198e-01 4.24123736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.240714057 meters Centerline goodness : 0.990005 Centerline is valid? [True, True] Translation: X:118.61, Y:107.63, Z:42.42 [[-3.75698103e-02 -9.99159003e-01 -1.64254722e-02 1.18609528e+02] [ 9.61923082e-01 -3.17068285e-02 -2.71474973e-01 1.07634691e+02] [ 2.70725864e-01 -2.59993041e-02 9.62305327e-01 4.24191275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.270714057 meters Centerline goodness : 0.988315 Centerline is valid? [True, True] Translation: X:118.60, Y:107.63, Z:42.43 [[-3.81769810e-02 -9.99257384e-01 5.21526154e-03 1.18602612e+02] [ 9.61825404e-01 -3.81612134e-02 -2.70990061e-01 1.07630744e+02] [ 2.70987840e-01 -5.32941138e-03 9.62568017e-01 4.24272157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.300714057 meters Centerline goodness : 0.988546 Centerline is valid? [True, True] Translation: X:118.62, Y:107.64, Z:42.42 [[-3.97614373e-02 -9.99005958e-01 -2.01525115e-02 1.18616747e+02] [ 9.60590922e-01 -3.26640437e-02 -2.76040108e-01 1.07638959e+02] [ 2.75107450e-01 -3.03340710e-02 9.60934824e-01 4.24234015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.330714057 meters Centerline goodness : 0.988951 Centerline is valid? [True, True] Translation: X:118.61, Y:107.64, Z:42.43 [[-3.66481631e-02 -9.99306794e-01 6.54556021e-03 1.18608100e+02] [ 9.61677874e-01 -3.70476242e-02 -2.71667336e-01 1.07635834e+02] [ 2.71721511e-01 -3.66138841e-03 9.62368960e-01 4.24287213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.360714057 meters Centerline goodness : 0.987362 Centerline is valid? [True, True] Translation: X:118.61, Y:107.63, Z:42.43 [[-3.63055200e-02 -9.99322758e-01 -5.99459002e-03 1.18614783e+02] [ 9.61493073e-01 -3.32947008e-02 -2.72804936e-01 1.07634930e+02] [ 2.72420592e-01 -1.56680818e-02 9.62050691e-01 4.24252657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.390714057 meters Centerline goodness : 0.984813 Centerline is valid? [True, True] Translation: X:118.61, Y:107.63, Z:42.43 [[-3.88581435e-02 -9.99164218e-01 1.26850264e-02 1.18611544e+02] [ 9.61999793e-01 -4.08403457e-02 -2.69978638e-01 1.07631355e+02] [ 2.70271056e-01 1.71212409e-03 9.62782751e-01 4.24334138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.420714057 meters Centerline goodness : 0.987852 Centerline is valid? [True, True] Translation: X:118.63, Y:107.65, Z:42.43 [[-3.96461720e-02 -9.98505143e-01 -3.76252593e-02 1.18634548e+02] [ 9.59219422e-01 -2.74856137e-02 -2.81323019e-01 1.07652672e+02] [ 2.79868328e-01 -4.72442603e-02 9.58875226e-01 4.24273347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.450714057 meters Centerline goodness : 0.985989 Centerline is valid? [True, True] Translation: X:118.62, Y:107.64, Z:42.44 [[-3.73782887e-02 -9.99235522e-01 1.14558061e-02 1.18617161e+02] [ 9.60336995e-01 -3.90884538e-02 -2.76088663e-01 1.07644099e+02] [ 2.76325389e-01 6.81712631e-04 9.61063897e-01 4.24375810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.480714057 meters Centerline goodness : 0.985521 Centerline is valid? [True, True] Translation: X:118.63, Y:107.65, Z:42.44 [[-3.99690450e-02 -9.99200885e-01 -2.60195994e-04 1.18626758e+02] [ 9.59483190e-01 -3.83076053e-02 -2.79149665e-01 1.07650779e+02] [ 2.78916625e-01 -1.14069992e-02 9.60247571e-01 4.24370338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.51071405700003 meters Centerline goodness : 0.985916 Centerline is valid? [True, True] Translation: X:118.63, Y:107.65, Z:42.44 [[-4.10293985e-02 -9.99157903e-01 -2.71208982e-04 1.18628927e+02] [ 9.59337098e-01 -3.93183281e-02 -2.79511005e-01 1.07653292e+02] [ 2.79264966e-01 -1.17283493e-02 9.60142450e-01 4.24381251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.540714057 meters Centerline goodness : 0.985217 Centerline is valid? [True, True] Translation: X:118.63, Y:107.66, Z:42.44 [[-4.35876224e-02 -9.99038984e-01 -4.60728607e-03 1.18633914e+02] [ 9.58576038e-01 -4.05220162e-02 -2.81939613e-01 1.07657419e+02] [ 2.81481968e-01 -1.67055114e-02 9.59421090e-01 4.24383713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.57071405700003 meters Centerline goodness : 0.984923 Centerline is valid? [True, True] Translation: X:118.64, Y:107.66, Z:42.43 [[-4.44715072e-02 -9.98926236e-01 -1.29869470e-02 1.18639135e+02] [ 9.58640034e-01 -3.90125835e-02 -2.81934928e-01 1.07656391e+02] [ 2.81125542e-01 -2.49878785e-02 9.59345629e-01 4.24346676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.600714057 meters Centerline goodness : 0.984532 Centerline is valid? [True, True] Translation: X:118.64, Y:107.68, Z:42.44 [[-4.62795153e-02 -9.98923985e-01 -3.01306555e-03 1.18639400e+02] [ 9.58424091e-01 -4.35525680e-02 -2.82004320e-01 1.07682132e+02] [ 2.81569652e-01 -1.59388178e-02 9.59408404e-01 4.24444115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.63071405700003 meters Centerline goodness : 0.985925 Centerline is valid? [True, True] Translation: X:118.64, Y:107.71, Z:42.45 [[-4.70563265e-02 -9.98888210e-01 2.83647644e-03 1.18638385e+02] [ 9.57726146e-01 -4.59236693e-02 -2.83992334e-01 1.07708546e+02] [ 2.83806855e-01 -1.06470683e-02 9.58822355e-01 4.24526525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.660714057 meters Centerline goodness : 0.985535 Centerline is valid? [True, True] Translation: X:118.65, Y:107.74, Z:42.46 [[-4.92515734e-02 -9.98752589e-01 -8.21884787e-03 1.18646883e+02] [ 9.58573487e-01 -4.49555705e-02 -2.81275430e-01 1.07737028e+02] [ 2.80555081e-01 -2.17316271e-02 9.59591884e-01 4.24561075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.69071405700004 meters Centerline goodness : 0.984252 Centerline is valid? [True, True] Translation: X:118.64, Y:107.73, Z:42.46 [[-4.76463459e-02 -9.98754712e-01 1.47935952e-02 1.18639254e+02] [ 9.59618262e-01 -4.98799948e-02 -2.76847932e-01 1.07727655e+02] [ 2.77241081e-01 1.00541181e-03 9.60799861e-01 4.24567976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.720714057 meters Centerline goodness : 0.984911 Centerline is valid? [True, True] Translation: X:118.66, Y:107.76, Z:42.46 [[-5.23303931e-02 -9.98323711e-01 -2.47244381e-02 1.18656912e+02] [ 9.60250090e-01 -4.35059254e-02 -2.75729939e-01 1.07755801e+02] [ 2.74192076e-01 -3.81707000e-02 9.60917116e-01 4.24568630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.750714057 meters Centerline goodness : 0.985711 Centerline is valid? [True, True] Translation: X:118.65, Y:107.76, Z:42.46 [[-5.56271512e-02 -9.98450945e-01 -1.15315105e-03 1.18649622e+02] [ 9.60258346e-01 -5.31828571e-02 -2.73999074e-01 1.07760127e+02] [ 2.73513307e-01 -1.63491109e-02 9.61729264e-01 4.24624310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.780714057 meters Centerline goodness : 0.983416 Centerline is valid? [True, True] Translation: X:118.65, Y:107.78, Z:42.47 [[-5.75229514e-02 -9.98323067e-01 6.49335331e-03 1.18647900e+02] [ 9.59180974e-01 -5.70691161e-02 -2.76974684e-01 1.07784977e+02] [ 2.76880786e-01 -9.70410033e-03 9.60855276e-01 4.24722674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.810714057 meters Centerline goodness : 0.984841 Centerline is valid? [True, True] Translation: X:118.66, Y:107.81, Z:42.47 [[-6.25228812e-02 -9.97947556e-01 -1.38406990e-02 1.18659444e+02] [ 9.60549904e-01 -5.64029000e-02 -2.72328100e-01 1.07814533e+02] [ 2.70988506e-01 -3.03214196e-02 9.62104901e-01 4.24726871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.840714057 meters Centerline goodness : 0.985045 Centerline is valid? [True, True] Translation: X:118.65, Y:107.82, Z:42.48 [[-6.52877689e-02 -9.97837856e-01 7.55783034e-03 1.18650792e+02] [ 9.60373114e-01 -6.48895343e-02 -2.71058720e-01 1.07817193e+02] [ 2.70963077e-01 -1.04384820e-02 9.62533142e-01 4.24802465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.870714057 meters Centerline goodness : 0.985446 Centerline is valid? [True, True] Translation: X:118.65, Y:107.82, Z:42.48 [[-6.69582626e-02 -9.97755529e-01 -7.03875355e-04 1.18654595e+02] [ 9.60431797e-01 -6.42623291e-02 -2.71000213e-01 1.07819395e+02] [ 2.70346729e-01 -1.88217277e-02 9.62579030e-01 4.24791103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.900714057 meters Centerline goodness : 0.985386 Centerline is valid? [True, True] Translation: X:118.66, Y:107.82, Z:42.48 [[-6.88577837e-02 -9.97626244e-01 6.95591150e-04 1.18655529e+02] [ 9.60607778e-01 -6.64908515e-02 -2.69836364e-01 1.07820776e+02] [ 2.69242089e-01 -1.79121437e-02 9.62905942e-01 4.24791445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.930714057 meters Centerline goodness : 0.984907 Centerline is valid? [True, True] Translation: X:118.66, Y:107.82, Z:42.48 [[-7.01822584e-02 -9.97533289e-01 1.33698099e-03 1.18655222e+02] [ 9.60591692e-01 -6.79444520e-02 -2.69531358e-01 1.07821706e+02] [ 2.68957343e-01 -1.76320266e-02 9.62990685e-01 4.24797403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.960714057 meters Centerline goodness : 0.984423 Centerline is valid? [True, True] Translation: X:118.65, Y:107.83, Z:42.48 [[-7.20284386e-02 -9.97380410e-01 6.65000248e-03 1.18651982e+02] [ 9.60414888e-01 -7.11546458e-02 -2.69332991e-01 1.07828506e+02] [ 2.69100628e-01 -1.30128734e-02 9.63024152e-01 4.24836641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.990714057 meters Centerline goodness : 0.986002 Centerline is valid? [True, True] Translation: X:118.66, Y:107.83, Z:42.48 [[-7.23600171e-02 -9.97338006e-01 -8.99605688e-03 1.18658017e+02] [ 9.60748459e-01 -6.72776727e-02 -2.69139579e-01 1.07827891e+02] [ 2.67817897e-01 -2.81178923e-02 9.63059166e-01 4.24791472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.020714057 meters Centerline goodness : 0.985862 Centerline is valid? [True, True] Translation: X:118.65, Y:107.83, Z:42.48 [[-7.09539322e-02 -9.97479472e-01 -4.93018530e-04 1.18651020e+02] [ 9.60848472e-01 -6.82155184e-02 -2.68545820e-01 1.07831956e+02] [ 2.67835311e-01 -1.95280980e-02 9.63266785e-01 4.24823722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.050714057 meters Centerline goodness : 0.985903 Centerline is valid? [True, True] Translation: X:118.65, Y:107.86, Z:42.49 [[-7.24384463e-02 -9.97334747e-01 -8.72205635e-03 1.18652467e+02] [ 9.60843575e-01 -6.74376165e-02 -2.68759729e-01 1.07859204e+02] [ 2.67455222e-01 -2.78490690e-02 9.63167760e-01 4.24895180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.080714057 meters Centerline goodness : 0.986246 Centerline is valid? [True, True] Translation: X:118.65, Y:107.86, Z:42.49 [[-7.26772716e-02 -9.97344002e-01 -4.79132383e-03 1.18648022e+02] [ 9.60130042e-01 -6.86636011e-02 -2.70990061e-01 1.07861381e+02] [ 2.69941322e-01 -2.42951122e-02 9.62570221e-01 4.24915957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.110714057 meters Centerline goodness : 0.986588 Centerline is valid? [True, True] Translation: X:118.64, Y:107.86, Z:42.49 [[-7.03969250e-02 -9.97519029e-01 2.46138399e-04 1.18644716e+02] [ 9.60578804e-01 -6.78565029e-02 -2.69599436e-01 1.07862709e+02] [ 2.68947270e-01 -1.87425360e-02 9.62972525e-01 4.24916711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.140714057 meters Centerline goodness : 0.986227 Centerline is valid? [True, True] Translation: X:118.64, Y:107.89, Z:42.50 [[-7.18147241e-02 -9.97416699e-01 -1.60413407e-03 1.18641714e+02] [ 9.59815612e-01 -6.86698031e-02 -2.72100073e-01 1.07888535e+02] [ 2.71287001e-01 -2.10804646e-02 9.62267622e-01 4.24980628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.170714057 meters Centerline goodness : 0.987564 Centerline is valid? [True, True] Translation: X:118.64, Y:107.92, Z:42.51 [[-7.40052871e-02 -9.97186571e-01 -1.19230583e-02 1.18643742e+02] [ 9.59707425e-01 -6.79637129e-02 -2.72658379e-01 1.07915146e+02] [ 2.71080939e-01 -3.16208091e-02 9.62037031e-01 4.25051080e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.200714057 meters Centerline goodness : 0.987976 Centerline is valid? [True, True] Translation: X:118.64, Y:107.94, Z:42.51 [[-7.61286808e-02 -9.97089049e-01 -4.22519871e-03 1.18637059e+02] [ 9.59434999e-01 -7.20987977e-02 -2.72555032e-01 1.07941489e+02] [ 2.71457006e-01 -2.48030585e-02 9.62130917e-01 4.25148917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.230714057 meters Centerline goodness : 0.987725 Centerline is valid? [True, True] Translation: X:118.63, Y:107.97, Z:42.52 [[-7.86749692e-02 -9.96900091e-01 6.77326291e-04 1.18631344e+02] [ 9.58952047e-01 -7.58657665e-02 -2.73231326e-01 1.07967772e+02] [ 2.72435719e-01 -2.08469427e-02 9.61948119e-01 4.25236833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.26071405700003 meters Centerline goodness : 0.988051 Centerline is valid? [True, True] Translation: X:118.63, Y:107.96, Z:42.52 [[-7.74799857e-02 -9.96927955e-01 1.14675488e-02 1.18626396e+02] [ 9.60369796e-01 -7.77177644e-02 -2.67674812e-01 1.07963462e+02] [ 2.67743735e-01 -9.72635310e-03 9.63441067e-01 4.25224307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.290714057 meters Centerline goodness : 0.987852 Centerline is valid? [True, True] Translation: X:118.63, Y:107.99, Z:42.52 [[-8.06115660e-02 -9.96661703e-01 -1.29315754e-02 1.18632316e+02] [ 9.61243599e-01 -7.43020684e-02 -2.65499427e-01 1.07991278e+02] [ 2.63652268e-01 -3.38327186e-02 9.64024288e-01 4.25230847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.32071405700003 meters Centerline goodness : 0.988784 Centerline is valid? [True, True] Translation: X:118.63, Y:108.02, Z:42.53 [[-8.32468355e-02 -9.96478005e-01 -1.00771913e-02 1.18628884e+02] [ 9.61598063e-01 -7.76708109e-02 -2.63242113e-01 1.08018572e+02] [ 2.61532272e-01 -3.16042805e-02 9.64677169e-01 4.25313893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.350714057 meters Centerline goodness : 0.987876 Centerline is valid? [True, True] Translation: X:118.62, Y:108.02, Z:42.54 [[-8.61715580e-02 -9.96228936e-01 1.01177919e-02 1.18617129e+02] [ 9.61357090e-01 -8.58119447e-02 -2.61589096e-01 1.08022419e+02] [ 2.61470854e-01 -1.28147290e-02 9.65126300e-01 4.25401789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.38071405700003 meters Centerline goodness : 0.987702 Centerline is valid? [True, True] Translation: X:118.62, Y:108.03, Z:42.54 [[-8.53327025e-02 -9.96343873e-01 4.14937602e-03 1.18618643e+02] [ 9.63334607e-01 -8.35673897e-02 -2.54956716e-01 1.08031399e+02] [ 2.54371314e-01 -1.77589081e-02 9.66943564e-01 4.25362002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.410714057 meters Centerline goodness : 0.986146 Centerline is valid? [True, True] Translation: X:118.61, Y:108.06, Z:42.54 [[-8.67533493e-02 -9.96156896e-01 1.20538635e-02 1.18612723e+02] [ 9.63007801e-01 -8.69527694e-02 -2.55059193e-01 1.08059087e+02] [ 2.55127091e-01 -1.05192747e-02 9.66850305e-01 4.25443929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.44071405700004 meters Centerline goodness : 0.986132 Centerline is valid? [True, True] Translation: X:118.62, Y:108.08, Z:42.55 [[-8.75836777e-02 -9.96149916e-01 3.80067866e-03 1.18615629e+02] [ 9.63351089e-01 -8.56697827e-02 -2.54195530e-01 1.08083583e+02] [ 2.53542459e-01 -1.86019915e-02 9.67145381e-01 4.25489832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.470714057 meters Centerline goodness : 0.988522 Centerline is valid? [True, True] Translation: X:118.62, Y:108.09, Z:42.55 [[-8.90139820e-02 -9.96001111e-01 -7.63535806e-03 1.18616296e+02] [ 9.62447576e-01 -8.40364070e-02 -2.58132808e-01 1.08094275e+02] [ 2.56458916e-01 -3.03260610e-02 9.66079269e-01 4.25482683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.500714057 meters Centerline goodness : 0.987231 Centerline is valid? [True, True] Translation: X:118.61, Y:108.12, Z:42.56 [[-9.28537600e-02 -9.95636544e-01 9.27634709e-03 1.18608624e+02] [ 9.61505587e-01 -9.20828286e-02 -2.58897199e-01 1.08119294e+02] [ 2.58621705e-01 -1.51203188e-02 9.65860337e-01 4.25602083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.530714057 meters Centerline goodness : 0.986026 Centerline is valid? [True, True] Translation: X:118.61, Y:108.15, Z:42.56 [[-9.38401483e-02 -9.95587246e-01 -2.50089111e-04 1.18613698e+02] [ 9.61583465e-01 -9.05699896e-02 -2.59141499e-01 1.08147116e+02] [ 2.57975321e-01 -2.45583583e-02 9.65839335e-01 4.25619316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.560714057 meters Centerline goodness : 0.985582 Centerline is valid? [True, True] Translation: X:118.61, Y:108.17, Z:42.57 [[-9.71837520e-02 -9.95266441e-01 -1.70238467e-04 1.18613602e+02] [ 9.60920724e-01 -9.37854814e-02 -2.60452770e-01 1.08174402e+02] [ 2.59203936e-01 -2.54753631e-02 9.65486575e-01 4.25682594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.590714057 meters Centerline goodness : 0.986861 Centerline is valid? [True, True] Translation: X:118.62, Y:108.20, Z:42.57 [[-9.83517924e-02 -9.94757618e-01 -2.80036860e-02 1.18624644e+02] [ 9.62157482e-01 -8.78673158e-02 -2.57938586e-01 1.08203339e+02] [ 2.54125765e-01 -5.23126783e-02 9.65755393e-01 4.25686811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.620714057 meters Centerline goodness : 0.984906 Centerline is valid? [True, True] Translation: X:118.60, Y:108.23, Z:42.59 [[-9.94802875e-02 -9.94649610e-01 2.78536428e-02 1.18599765e+02] [ 9.59655636e-01 -1.03303643e-01 -2.61513703e-01 1.08225061e+02] [ 2.62991886e-01 7.14446952e-04 9.64797781e-01 4.25921264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.650714057 meters Centerline goodness : 0.987595 Centerline is valid? [True, True] Translation: X:118.62, Y:108.24, Z:42.58 [[-9.78185908e-02 -9.95069768e-01 -1.63609367e-02 1.18616560e+02] [ 9.59990692e-01 -9.00102507e-02 -2.65171693e-01 1.08238370e+02] [ 2.62391683e-01 -4.16450683e-02 9.64062391e-01 4.25783633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.680714057 meters Centerline goodness : 0.987857 Centerline is valid? [True, True] Translation: X:118.60, Y:108.27, Z:42.59 [[-9.56836916e-02 -9.95356355e-01 1.05051615e-02 1.18603180e+02] [ 9.59282219e-01 -9.50231373e-02 -2.65985389e-01 1.08266133e+02] [ 2.65748481e-01 -1.53730493e-02 9.63919817e-01 4.25943822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.710714057 meters Centerline goodness : 0.986737 Centerline is valid? [True, True] Translation: X:118.61, Y:108.29, Z:42.60 [[-9.44930803e-02 -9.95521736e-01 2.74436390e-03 1.18605123e+02] [ 9.59571235e-01 -9.18142027e-02 -2.66069910e-01 1.08292286e+02] [ 2.65130350e-01 -2.25083527e-02 9.63949828e-01 4.25989158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.740714057 meters Centerline goodness : 0.986737 Centerline is valid? [True, True] Translation: X:118.61, Y:108.32, Z:42.60 [[-9.48491744e-02 -9.95489788e-01 -1.92770821e-03 1.18606980e+02] [ 9.59679555e-01 -9.09221491e-02 -2.65985554e-01 1.08320024e+02] [ 2.64610632e-01 -2.70784924e-02 9.63975087e-01 4.26048880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.770714057 meters Centerline goodness : 0.986975 Centerline is valid? [True, True] Translation: X:118.60, Y:108.33, Z:42.61 [[-9.22294834e-02 -9.95731070e-01 3.65495194e-03 1.18602635e+02] [ 9.61121951e-01 -8.99820384e-02 -2.61051389e-01 1.08327054e+02] [ 2.60265859e-01 -2.05637802e-02 9.65317986e-01 4.26084758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.800714057 meters Centerline goodness : 0.987638 Centerline is valid? [True, True] Translation: X:118.61, Y:108.32, Z:42.60 [[-8.72032208e-02 -9.96086058e-01 -1.44278636e-02 1.18608545e+02] [ 9.61273377e-01 -8.03369871e-02 -2.63627507e-01 1.08324035e+02] [ 2.61436593e-01 -3.68582889e-02 9.64516653e-01 4.25999887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.830714057 meters Centerline goodness : 0.984602 Centerline is valid? [True, True] Translation: X:118.59, Y:108.35, Z:42.62 [[-8.31785586e-02 -9.96354762e-01 1.89344914e-02 1.18592507e+02] [ 9.60646808e-01 -8.52217061e-02 -2.64376570e-01 1.08345233e+02] [ 2.65026485e-01 -3.80110335e-03 9.64233641e-01 4.26154540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.860714057 meters Centerline goodness : 0.986830 Centerline is valid? [True, True] Translation: X:118.60, Y:108.38, Z:42.61 [[-7.82155960e-02 -9.96798297e-01 -1.65974627e-02 1.18604802e+02] [ 9.62257407e-01 -7.11314501e-02 -2.62680412e-01 1.08377678e+02] [ 2.60658785e-01 -3.65167363e-02 9.64740134e-01 4.26136673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.890714057 meters Centerline goodness : 0.984050 Centerline is valid? [True, True] Translation: X:118.59, Y:108.37, Z:42.62 [[-7.77708583e-02 -9.96908335e-01 1.12011591e-02 1.18593285e+02] [ 9.63049344e-01 -7.80257822e-02 -2.57774976e-01 1.08374379e+02] [ 2.57852001e-01 -9.26011217e-03 9.66140050e-01 4.26213802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.920714057 meters Centerline goodness : 0.987342 Centerline is valid? [True, True] Translation: X:118.60, Y:108.38, Z:42.61 [[-7.32246363e-02 -9.97269973e-01 -9.52641996e-03 1.18598462e+02] [ 9.61463546e-01 -6.80509766e-02 -2.66377391e-01 1.08380848e+02] [ 2.65001891e-01 -2.86646931e-02 9.63821733e-01 4.26139810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.950714057 meters Centerline goodness : 0.987077 Centerline is valid? [True, True] Translation: X:118.60, Y:108.41, Z:42.62 [[-7.34627092e-02 -9.97121388e-01 -1.87661170e-02 1.18600567e+02] [ 9.62546332e-01 -6.59662341e-02 -2.62969607e-01 1.08405669e+02] [ 2.60974690e-01 -3.73817169e-02 9.64621593e-01 4.26211914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.980714057 meters Centerline goodness : 0.986109 Centerline is valid? [True, True] Translation: X:118.59, Y:108.43, Z:42.63 [[-7.28005597e-02 -9.97342241e-01 -2.92111315e-03 1.18593367e+02] [ 9.62258437e-01 -6.94689778e-02 -2.63121191e-01 1.08431893e+02] [ 2.62218952e-01 -2.19662357e-02 9.64758367e-01 4.26322131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.01071405700003 meters Centerline goodness : 0.985996 Centerline is valid? [True, True] Translation: X:118.59, Y:108.46, Z:42.64 [[-7.16757254e-02 -9.97409810e-01 6.02181224e-03 1.18588852e+02] [ 9.61997289e-01 -7.07232404e-02 -2.63741237e-01 1.08457360e+02] [ 2.63483979e-01 -1.31108774e-02 9.64574672e-01 4.26409663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.040714057 meters Centerline goodness : 0.987451 Centerline is valid? [True, True] Translation: X:118.60, Y:108.49, Z:42.64 [[-7.26477041e-02 -9.97274554e-01 -1.28753359e-02 1.18596228e+02] [ 9.62666376e-01 -6.67397561e-02 -2.62334242e-01 1.08487436e+02] [ 2.60759967e-01 -3.14526333e-02 9.64891171e-01 4.26437759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.07071405700003 meters Centerline goodness : 0.987209 Centerline is valid? [True, True] Translation: X:118.59, Y:108.51, Z:42.65 [[-7.36467439e-02 -9.97260522e-01 -6.89985007e-03 1.18591634e+02] [ 9.62219045e-01 -6.92370610e-02 -2.63326298e-01 1.08513649e+02] [ 2.62127196e-01 -2.60322915e-02 9.64682151e-01 4.26540762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.100714057 meters Centerline goodness : 0.987613 Centerline is valid? [True, True] Translation: X:118.59, Y:108.54, Z:42.66 [[-7.18414299e-02 -9.97415999e-01 -3.65731155e-04 1.18586600e+02] [ 9.61774234e-01 -6.91770850e-02 -2.64961987e-01 1.08538031e+02] [ 2.64252025e-01 -1.93869988e-02 9.64258789e-01 4.26637657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.13071405700003 meters Centerline goodness : 0.987725 Centerline is valid? [True, True] Translation: X:118.59, Y:108.57, Z:42.67 [[-7.29863200e-02 -9.97201391e-01 -1.61982495e-02 1.18591561e+02] [ 9.62716677e-01 -6.62018474e-02 -2.62285943e-01 1.08567286e+02] [ 2.60479553e-01 -3.47376107e-02 9.64854238e-01 4.26663259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.160714057 meters Centerline goodness : 0.989290 Centerline is valid? [True, True] Translation: X:118.58, Y:108.57, Z:42.67 [[-7.02343475e-02 -9.97528429e-01 -2.04203321e-03 1.18582968e+02] [ 9.62692918e-01 -6.72450773e-02 -2.62107698e-01 1.08566597e+02] [ 2.61322564e-01 -2.03748141e-02 9.65036468e-01 4.26714467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.19071405700004 meters Centerline goodness : 0.987440 Centerline is valid? [True, True] Translation: X:118.58, Y:108.59, Z:42.68 [[-6.80275327e-02 -9.97637617e-01 9.56242725e-03 1.18576032e+02] [ 9.61688231e-01 -6.81214805e-02 -2.65547002e-01 1.08589865e+02] [ 2.65571085e-01 -8.86843364e-03 9.64050491e-01 4.26826420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.220714057 meters Centerline goodness : 0.990628 Centerline is valid? [True, True] Translation: X:118.58, Y:108.62, Z:42.68 [[-6.51123300e-02 -9.97877448e-01 -9.91129167e-04 1.18578441e+02] [ 9.63569157e-01 -6.26154175e-02 -2.60026516e-01 1.08622474e+02] [ 2.59412537e-01 -1.78859538e-02 9.65600968e-01 4.26835395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.250714057 meters Centerline goodness : 0.991112 Centerline is valid? [True, True] Translation: X:118.57, Y:108.62, Z:42.69 [[-6.10047748e-02 -9.97999527e-01 1.65940082e-02 1.18568553e+02] [ 9.63097764e-01 -6.32213824e-02 -2.61621394e-01 1.08623734e+02] [ 2.62147124e-01 2.14979573e-05 9.65027919e-01 4.26902810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.280714057 meters Centerline goodness : 0.990223 Centerline is valid? [True, True] Translation: X:118.58, Y:108.64, Z:42.68 [[-5.39428747e-02 -9.98458407e-01 -1.30757455e-02 1.18577339e+02] [ 9.64795543e-01 -4.87396159e-02 -2.58445371e-01 1.08644439e+02] [ 2.57409646e-01 -2.65567073e-02 9.65937377e-01 4.26847429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.310714057 meters Centerline goodness : 0.990747 Centerline is valid? [True, True] Translation: X:118.58, Y:108.68, Z:42.69 [[-5.53653445e-02 -9.98275928e-01 -1.94897367e-02 1.18578550e+02] [ 9.65840640e-01 -4.85969830e-02 -2.54539174e-01 1.08675244e+02] [ 2.53153187e-01 -3.29166289e-02 9.66866050e-01 4.26902620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.340714057 meters Centerline goodness : 0.990721 Centerline is valid? [True, True] Translation: X:118.57, Y:108.70, Z:42.70 [[-5.02906022e-02 -9.98714292e-01 6.37323863e-03 1.18566267e+02] [ 9.66908901e-01 -5.02851391e-02 -2.50117135e-01 1.08703233e+02] [ 2.50116037e-01 -6.41620017e-03 9.68194609e-01 4.27016207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.370714057 meters Centerline goodness : 0.989551 Centerline is valid? [True, True] Translation: X:118.57, Y:108.73, Z:42.70 [[-4.98721479e-02 -9.98692136e-01 -1.12599592e-02 1.18571942e+02] [ 9.67293218e-01 -4.54905804e-02 -2.49548469e-01 1.08728955e+02] [ 2.48709871e-01 -2.33372004e-02 9.68296842e-01 4.27040058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.400714057 meters Centerline goodness : 0.990730 Centerline is valid? [True, True] Translation: X:118.56, Y:108.76, Z:42.72 [[-4.53170378e-02 -9.98744171e-01 2.13646267e-02 1.18558738e+02] [ 9.68920952e-01 -4.91499614e-02 -2.42438590e-01 1.08763691e+02] [ 2.43184199e-01 9.71403574e-03 9.69931484e-01 4.27158365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.430714057 meters Centerline goodness : 0.989061 Centerline is valid? [True, True] Translation: X:118.57, Y:108.79, Z:42.71 [[-4.62953733e-02 -9.98666885e-01 -2.28296227e-02 1.18574510e+02] [ 9.68091769e-01 -3.92199444e-02 -2.47507822e-01 1.08791078e+02] [ 2.46282489e-01 -3.35596369e-02 9.68616893e-01 4.27106900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.460714057 meters Centerline goodness : 0.989291 Centerline is valid? [True, True] Translation: X:118.57, Y:108.81, Z:42.72 [[-4.20340242e-02 -9.99044985e-01 -1.19272674e-02 1.18566365e+02] [ 9.68050950e-01 -3.77704669e-02 -2.47892618e-01 1.08813326e+02] [ 2.47205378e-01 -2.19661268e-02 9.68714091e-01 4.27205535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.490714057 meters Centerline goodness : 0.991034 Centerline is valid? [True, True] Translation: X:118.56, Y:108.84, Z:42.73 [[-4.14589356e-02 -9.99137951e-01 2.12415254e-03 1.18558875e+02] [ 9.68473854e-01 -4.07090339e-02 -2.45766494e-01 1.08842611e+02] [ 2.45641103e-01 -8.13203107e-03 9.69326735e-01 4.27321538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.520714057 meters Centerline goodness : 0.989660 Centerline is valid? [True, True] Translation: X:118.56, Y:108.87, Z:42.73 [[-4.00295512e-02 -9.98924713e-01 -2.33891462e-02 1.18563678e+02] [ 9.67898254e-01 -3.29520242e-02 -2.49172901e-01 1.08868156e+02] [ 2.48134249e-01 -3.26125932e-02 9.68176540e-01 4.27342360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.550714057 meters Centerline goodness : 0.988479 Centerline is valid? [True, True] Translation: X:118.55, Y:108.89, Z:42.75 [[-3.82263959e-02 -9.99268547e-01 -1.05497064e-03 1.18550969e+02] [ 9.67988385e-01 -3.67676651e-02 -2.48287384e-01 1.08892640e+02] [ 2.48066984e-01 -1.05123311e-02 9.68685843e-01 4.27488820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.580714057 meters Centerline goodness : 0.988366 Centerline is valid? [True, True] Translation: X:118.55, Y:108.92, Z:42.75 [[-3.70854902e-02 -9.99289897e-01 -6.66088337e-03 1.18551932e+02] [ 9.68275580e-01 -3.42846073e-02 -2.47521651e-01 1.08919325e+02] [ 2.47117520e-01 -1.56290325e-02 9.68859466e-01 4.27542666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.610714057 meters Centerline goodness : 0.986634 Centerline is valid? [True, True] Translation: X:118.55, Y:108.93, Z:42.76 [[-3.69809759e-02 -9.99314697e-01 -1.59487520e-03 1.18548095e+02] [ 9.68031762e-01 -3.54270090e-02 -2.48313178e-01 1.08926715e+02] [ 2.48086506e-01 -1.07267535e-02 9.68678493e-01 4.27585530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.640714057 meters Centerline goodness : 0.987558 Centerline is valid? [True, True] Translation: X:118.55, Y:108.95, Z:42.77 [[-3.60088201e-02 -9.99341737e-01 -4.41112944e-03 1.18546743e+02] [ 9.68128962e-01 -3.37887465e-02 -2.48162515e-01 1.08953698e+02] [ 2.47850112e-01 -1.32065815e-02 9.68708371e-01 4.27651777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.670714057 meters Centerline goodness : 0.988475 Centerline is valid? [True, True] Translation: X:118.54, Y:108.98, Z:42.77 [[-3.40461291e-02 -9.99419884e-01 8.70042163e-04 1.18542483e+02] [ 9.68706175e-01 -3.32139747e-02 -2.45978005e-01 1.08984668e+02] [ 2.45864207e-01 -7.53178370e-03 9.69275020e-01 4.27741026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.700714057 meters Centerline goodness : 0.989881 Centerline is valid? [True, True] Translation: X:118.54, Y:108.99, Z:42.77 [[-3.22318440e-02 -9.99466611e-01 -5.25366103e-03 1.18543789e+02] [ 9.68523385e-01 -2.99349977e-02 -2.47116061e-01 1.08988759e+02] [ 2.46826984e-01 -1.30532999e-02 9.68971646e-01 4.27727437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.730714057 meters Centerline goodness : 0.987935 Centerline is valid? [True, True] Translation: X:118.55, Y:109.01, Z:42.78 [[-3.48311468e-02 -9.99261869e-01 -1.62021415e-02 1.18546345e+02] [ 9.66609244e-01 -2.95657808e-02 -2.54543581e-01 1.09012907e+02] [ 2.53876666e-01 -2.45271846e-02 9.66925569e-01 4.27791754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.76071405700003 meters Centerline goodness : 0.985864 Centerline is valid? [True, True] Translation: X:118.54, Y:109.01, Z:42.79 [[-3.58715635e-02 -9.99356197e-01 6.49357583e-04 1.18538812e+02] [ 9.65831772e-01 -3.48350894e-02 -2.56818039e-01 1.09009909e+02] [ 2.56675319e-01 -8.58529441e-03 9.66459556e-01 4.27872880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.790714057 meters Centerline goodness : 0.985435 Centerline is valid? [True, True] Translation: X:118.54, Y:109.01, Z:42.79 [[-3.15382017e-02 -9.99500025e-01 2.24536774e-03 1.18536610e+02] [ 9.65372071e-01 -3.10432226e-02 -2.59023325e-01 1.09008654e+02] [ 2.58963524e-01 -6.00151458e-03 9.65868456e-01 4.27895496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.82071405700003 meters Centerline goodness : 0.987196 Centerline is valid? [True, True] Translation: X:118.54, Y:109.02, Z:42.79 [[-2.79351751e-02 -9.99566645e-01 -9.28156093e-03 1.18540630e+02] [ 9.64082076e-01 -2.44876888e-02 -2.64473256e-01 1.09015040e+02] [ 2.64131361e-01 -1.63362932e-02 9.64348355e-01 4.27882941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.850714057 meters Centerline goodness : 0.985849 Centerline is valid? [True, True] Translation: X:118.54, Y:109.00, Z:42.79 [[-2.20605514e-02 -9.99756636e-01 -3.79810846e-05 1.18537890e+02] [ 9.64195665e-01 -2.12658235e-02 -2.64337824e-01 1.09004349e+02] [ 2.64272686e-01 -5.86805935e-03 9.64430150e-01 4.27878896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.88071405700003 meters Centerline goodness : 0.986580 Centerline is valid? [True, True] Translation: X:118.54, Y:109.00, Z:42.79 [[-2.04473172e-02 -9.99790909e-01 -2.12233937e-04 1.18539295e+02] [ 9.64103829e-01 -1.96612490e-02 -2.64796605e-01 1.09002831e+02] [ 2.64737066e-01 -5.61899572e-03 9.64304264e-01 4.27880971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.910714057 meters Centerline goodness : 0.985769 Centerline is valid? [True, True] Translation: X:118.54, Y:109.00, Z:42.79 [[-1.78720381e-02 -9.99830582e-01 4.40421661e-03 1.18541592e+02] [ 9.64332941e-01 -1.84006541e-02 -2.64051880e-01 1.09004909e+02] [ 2.64088185e-01 -4.72014093e-04 9.64498423e-01 4.27900136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.94071405700004 meters Centerline goodness : 0.986284 Centerline is valid? [True, True] Translation: X:118.55, Y:109.00, Z:42.78 [[-1.83876524e-02 -9.99816241e-01 -5.42016896e-03 1.18550418e+02] [ 9.63585730e-01 -1.62744059e-02 -2.66903886e-01 1.08997323e+02] [ 2.66766630e-01 -1.01305333e-02 9.63707911e-01 4.27816336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.970714057 meters Centerline goodness : 0.986341 Centerline is valid? [True, True] Translation: X:118.56, Y:109.00, Z:42.78 [[-1.62274361e-02 -9.99845010e-01 -6.82835713e-03 1.18555740e+02] [ 9.63898144e-01 -1.38279971e-02 -2.65911931e-01 1.08998863e+02] [ 2.65776295e-01 -1.08969096e-02 9.63973142e-01 4.27846442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.000714057 meters Centerline goodness : 0.986993 Centerline is valid? [True, True] Translation: X:118.56, Y:109.00, Z:42.79 [[-1.88457744e-02 -9.99821607e-01 -1.26136670e-03 1.18555633e+02] [ 9.62623355e-01 -1.78036644e-02 -2.70257849e-01 1.09002653e+02] [ 2.70187180e-01 -6.30743949e-03 9.62787154e-01 4.27882449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.030714057 meters Centerline goodness : 0.987844 Centerline is valid? [True, True] Translation: X:118.56, Y:108.98, Z:42.78 [[-1.07980859e-02 -9.99899735e-01 9.16082295e-03 1.18555303e+02] [ 9.65209380e-01 -1.28161753e-02 -2.61163930e-01 1.08978593e+02] [ 2.61255151e-01 6.02204169e-03 9.65250994e-01 4.27825584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.060714057 meters Centerline goodness : 0.983053 Centerline is valid? [True, True] Translation: X:118.56, Y:109.00, Z:42.79 [[-9.73388213e-03 -9.99900465e-01 1.02133476e-02 1.18561940e+02] [ 9.64205942e-01 -1.20919680e-02 -2.64878624e-01 1.08996036e+02] [ 2.64975759e-01 7.26947310e-03 9.64227671e-01 4.27865728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.090714057 meters Centerline goodness : 0.986419 Centerline is valid? [True, True] Translation: X:118.58, Y:109.03, Z:42.79 [[-1.27633004e-02 -9.99590695e-01 -2.56035295e-02 1.18578118e+02] [ 9.63826790e-01 -5.48120426e-03 -2.66473029e-01 1.09028688e+02] [ 2.66223622e-01 -2.80784430e-02 9.63502249e-01 4.27877919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.120714057 meters Centerline goodness : 0.985199 Centerline is valid? [True, True] Translation: X:118.56, Y:109.06, Z:42.81 [[-1.20780963e-02 -9.99499423e-01 2.92407792e-02 1.18563707e+02] [ 9.65172444e-01 -1.92960805e-02 -2.60901926e-01 1.09059268e+02] [ 2.61335557e-01 2.50711957e-02 9.64922361e-01 4.28062945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.150714057 meters Centerline goodness : 0.986099 Centerline is valid? [True, True] Translation: X:118.59, Y:109.09, Z:42.80 [[-2.37781473e-02 -9.99443006e-01 -2.34153250e-02 1.18590276e+02] [ 9.61042085e-01 -1.64002934e-02 -2.75915099e-01 1.09085145e+02] [ 2.75377398e-01 -2.90638626e-02 9.60896759e-01 4.28033315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.180714057 meters Centerline goodness : 0.985888 Centerline is valid? [True, True] Translation: X:118.58, Y:109.09, Z:42.81 [[-2.61429056e-02 -9.99657917e-01 7.73313406e-04 1.18583537e+02] [ 9.61401484e-01 -2.53543730e-02 -2.73978725e-01 1.09093462e+02] [ 2.73904609e-01 -6.41913531e-03 9.61735442e-01 4.28126759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.210714057 meters Centerline goodness : 0.985568 Centerline is valid? [True, True] Translation: X:118.59, Y:109.11, Z:42.82 [[-3.26300287e-02 -9.99467494e-01 9.54763678e-05 1.18590303e+02] [ 9.61713177e-01 -3.14234552e-02 -2.72250495e-01 1.09107239e+02] [ 2.72108520e-01 -8.79172059e-03 9.62226407e-01 4.28152458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.240714057 meters Centerline goodness : 0.985416 Centerline is valid? [True, True] Translation: X:118.59, Y:109.11, Z:42.82 [[-3.49267484e-02 -9.99389682e-01 6.21656129e-04 1.18593092e+02] [ 9.61335184e-01 -3.37668211e-02 -2.73302882e-01 1.09107997e+02] [ 2.73157072e-01 -8.94796110e-03 9.61927829e-01 4.28165392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.270714057 meters Centerline goodness : 0.985730 Centerline is valid? [True, True] Translation: X:118.60, Y:109.11, Z:42.81 [[-3.90195088e-02 -9.99233757e-01 3.06232470e-03 1.18597961e+02] [ 9.62827505e-01 -3.84172705e-02 -2.67371106e-01 1.09108533e+02] [ 2.67283881e-01 -7.48419877e-03 9.63588768e-01 4.28137869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.300714057 meters Centerline goodness : 0.984788 Centerline is valid? [True, True] Translation: X:118.60, Y:109.12, Z:42.81 [[-4.20064794e-02 -9.99115102e-01 -2.11398137e-03 1.18603290e+02] [ 9.62816184e-01 -3.99149991e-02 -2.67192419e-01 1.09117778e+02] [ 2.66871602e-01 -1.32591883e-02 9.63640878e-01 4.28139910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.330714057 meters Centerline goodness : 0.984040 Centerline is valid? [True, True] Translation: X:118.60, Y:109.12, Z:42.81 [[-4.36909857e-02 -9.99008986e-01 8.49374442e-03 1.18604858e+02] [ 9.64676315e-01 -4.43972277e-02 -2.59669972e-01 1.09116706e+02] [ 2.59789734e-01 -3.15152294e-03 9.65660066e-01 4.28121981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.360714057 meters Centerline goodness : 0.980689 Centerline is valid? [True, True] Translation: X:118.61, Y:109.14, Z:42.81 [[-4.64882485e-02 -9.98911025e-01 -3.95060337e-03 1.18612999e+02] [ 9.64779194e-01 -4.38739789e-02 -2.59376522e-01 1.09137792e+02] [ 2.58920738e-01 -1.58694201e-02 9.65768198e-01 4.28146293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.390714057 meters Centerline goodness : 0.979785 Centerline is valid? [True, True] Translation: X:118.61, Y:109.14, Z:42.82 [[-5.23051683e-02 -9.98631144e-01 8.92773907e-05 1.18614455e+02] [ 9.64280849e-01 -5.05292531e-02 -2.60017767e-01 1.09140404e+02] [ 2.59666351e-01 -1.35141846e-02 9.65603828e-01 4.28162379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.420714057 meters Centerline goodness : 0.979898 Centerline is valid? [True, True] Translation: X:118.62, Y:109.17, Z:42.82 [[-5.56523367e-02 -9.98450208e-01 -1.86570637e-05 1.18615957e+02] [ 9.64226690e-01 -5.37399112e-02 -2.59574484e-01 1.09166252e+02] [ 2.59171195e-01 -1.44639162e-02 9.65723090e-01 4.28221274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.450714057 meters Centerline goodness : 0.981482 Centerline is valid? [True, True] Translation: X:118.61, Y:109.17, Z:42.82 [[-5.22036118e-02 -9.98622684e-01 5.24566612e-03 1.18613919e+02] [ 9.64884408e-01 -5.17926401e-02 -2.57518159e-01 1.09174647e+02] [ 2.57435162e-01 -8.38191653e-03 9.66259220e-01 4.28245295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.480714057 meters Centerline goodness : 0.983969 Centerline is valid? [True, True] Translation: X:118.62, Y:109.21, Z:42.83 [[-6.01565750e-02 -9.98184380e-01 -3.02165567e-03 1.18619540e+02] [ 9.65002730e-01 -5.73822479e-02 -2.55884755e-01 1.09207252e+02] [ 2.55246776e-01 -1.83090565e-02 9.66702571e-01 4.28277898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.51071405700003 meters Centerline goodness : 0.981914 Centerline is valid? [True, True] Translation: X:118.62, Y:109.23, Z:42.83 [[-6.26913670e-02 -9.97974431e-01 -1.08087018e-02 1.18624528e+02] [ 9.64807701e-01 -5.78296175e-02 -2.56518686e-01 1.09231030e+02] [ 2.55374027e-01 -2.65098258e-02 9.66478834e-01 4.28336949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.540714057 meters Centerline goodness : 0.982806 Centerline is valid? [True, True] Translation: X:118.62, Y:109.25, Z:42.84 [[-6.68583753e-02 -9.97702218e-01 -1.09655152e-02 1.18623183e+02] [ 9.63601172e-01 -6.17142286e-02 -2.60123307e-01 1.09253552e+02] [ 2.58848872e-01 -2.79578050e-02 9.65513140e-01 4.28416823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.57071405700003 meters Centerline goodness : 0.983191 Centerline is valid? [True, True] Translation: X:118.62, Y:109.28, Z:42.85 [[-7.06813610e-02 -9.97498790e-01 5.56931831e-04 1.18617829e+02] [ 9.63096619e-01 -6.83890171e-02 -2.60322580e-01 1.09283151e+02] [ 2.59709547e-01 -1.78635751e-02 9.65521540e-01 4.28506003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.600714057 meters Centerline goodness : 0.982757 Centerline is valid? [True, True] Translation: X:118.62, Y:109.31, Z:42.86 [[-7.15759380e-02 -9.97337200e-01 -1.39783842e-02 1.18622757e+02] [ 9.62826307e-01 -6.54259836e-02 -2.62078125e-01 1.09308426e+02] [ 2.60465714e-01 -3.22172437e-02 9.64945419e-01 4.28556470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.63071405700003 meters Centerline goodness : 0.983175 Centerline is valid? [True, True] Translation: X:118.61, Y:109.33, Z:42.87 [[-7.02669466e-02 -9.97527975e-01 7.04243844e-04 1.18614068e+02] [ 9.63104909e-01 -6.80259791e-02 -2.60387022e-01 1.09331927e+02] [ 2.59791245e-01 -1.76183402e-02 9.65504067e-01 4.28664322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.660714057 meters Centerline goodness : 0.983175 Centerline is valid? [True, True] Translation: X:118.62, Y:109.36, Z:42.87 [[-7.07294274e-02 -9.97480503e-01 -5.47663530e-03 1.18616621e+02] [ 9.63153639e-01 -6.68650674e-02 -2.60507448e-01 1.09358960e+02] [ 2.59484905e-01 -2.37003839e-02 9.65456305e-01 4.28720596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.69071405700004 meters Centerline goodness : 0.983508 Centerline is valid? [True, True] Translation: X:118.62, Y:109.39, Z:42.88 [[-7.09053733e-02 -9.97435696e-01 -9.71903372e-03 1.18616230e+02] [ 9.63246829e-01 -6.59376309e-02 -2.60399260e-01 1.09385915e+02] [ 2.59090668e-01 -2.78255352e-02 9.65452104e-01 4.28804622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.720714057 meters Centerline goodness : 0.984358 Centerline is valid? [True, True] Translation: X:118.61, Y:109.42, Z:42.89 [[-6.87025033e-02 -9.97572341e-01 1.13749593e-02 1.18607045e+02] [ 9.64444628e-01 -6.93290176e-02 -2.55029503e-01 1.09418282e+02] [ 2.55198993e-01 -6.55064688e-03 9.66866362e-01 4.28881613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.750714057 meters Centerline goodness : 0.983946 Centerline is valid? [True, True] Translation: X:118.62, Y:109.44, Z:42.89 [[-6.80192439e-02 -9.97449754e-01 -2.16187710e-02 1.18617367e+02] [ 9.64054379e-01 -6.01324220e-02 -2.58811217e-01 1.09441882e+02] [ 2.56851196e-01 -3.84458142e-02 9.65685965e-01 4.28920785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.780714057 meters Centerline goodness : 0.984184 Centerline is valid? [True, True] Translation: X:118.61, Y:109.47, Z:42.91 [[-6.79798964e-02 -9.97660126e-01 -7.28051475e-03 1.18606411e+02] [ 9.63332871e-01 -6.37389013e-02 -2.60628342e-01 1.09467158e+02] [ 2.59554453e-01 -2.47310469e-02 9.65411757e-01 4.29061012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.810714057 meters Centerline goodness : 0.985193 Centerline is valid? [True, True] Translation: X:118.61, Y:109.49, Z:42.91 [[-6.75931239e-02 -9.97617876e-01 -1.37746986e-02 1.18606790e+02] [ 9.62991274e-01 -6.16239947e-02 -2.62393385e-01 1.09493208e+02] [ 2.60919480e-01 -3.10009032e-02 9.64862668e-01 4.29129625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.840714057 meters Centerline goodness : 0.986304 Centerline is valid? [True, True] Translation: X:118.60, Y:109.52, Z:42.92 [[-6.62506965e-02 -9.97735501e-01 -1.16067040e-02 1.18602758e+02] [ 9.62908485e-01 -6.08801618e-02 -2.62870415e-01 1.09518209e+02] [ 2.61568527e-01 -2.85915419e-02 9.64761333e-01 4.29225416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.870714057 meters Centerline goodness : 0.986752 Centerline is valid? [True, True] Translation: X:118.60, Y:109.54, Z:42.93 [[-6.54600867e-02 -9.97853423e-01 -1.87720804e-03 1.18597589e+02] [ 9.62696808e-01 -6.26585851e-02 -2.63227577e-01 1.09544533e+02] [ 2.62544915e-01 -1.90380822e-02 9.64731941e-01 4.29336401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.900714057 meters Centerline goodness : 0.987346 Centerline is valid? [True, True] Translation: X:118.60, Y:109.55, Z:42.94 [[-6.54968807e-02 -9.97783665e-01 -1.17437912e-02 1.18597032e+02] [ 9.60315136e-01 -5.98309552e-02 -2.72424479e-01 1.09554861e+02] [ 2.71118052e-01 -2.91206940e-02 9.62105497e-01 4.29354283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.930714057 meters Centerline goodness : 0.986480 Centerline is valid? [True, True] Translation: X:118.59, Y:109.55, Z:42.94 [[-6.36974984e-02 -9.97954003e-01 5.51694515e-03 1.18588204e+02] [ 9.61673435e-01 -6.28572453e-02 -2.66895431e-01 1.09547552e+02] [ 2.66696144e-01 -1.16950717e-02 9.63709703e-01 4.29399229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.960714057 meters Centerline goodness : 0.986911 Centerline is valid? [True, True] Translation: X:118.59, Y:109.56, Z:42.94 [[-6.31317086e-02 -9.97989725e-01 -5.55847119e-03 1.18588584e+02] [ 9.60572002e-01 -5.92517366e-02 -2.71644366e-01 1.09559309e+02] [ 2.70768937e-01 -2.24886848e-02 9.62381651e-01 4.29432555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.990714057 meters Centerline goodness : 0.986952 Centerline is valid? [True, True] Translation: X:118.59, Y:109.56, Z:42.94 [[-6.16857177e-02 -9.98084796e-01 -4.64886256e-03 1.18585814e+02] [ 9.60222114e-01 -5.80734607e-02 -2.73131774e-01 1.09556878e+02] [ 2.72338695e-01 -2.13122701e-02 9.61965396e-01 4.29435204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.020714057 meters Centerline goodness : 0.987029 Centerline is valid? [True, True] Translation: X:118.58, Y:109.56, Z:42.95 [[-5.83485376e-02 -9.98281038e-01 5.51524786e-03 1.18578075e+02] [ 9.60844861e-01 -5.76577556e-02 -2.71021653e-01 1.09555372e+02] [ 2.70873774e-01 -1.05144195e-02 9.62557451e-01 4.29460162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.050714057 meters Centerline goodness : 0.987503 Centerline is valid? [True, True] Translation: X:118.57, Y:109.55, Z:42.94 [[-5.03462136e-02 -9.98702800e-01 7.61417004e-03 1.18573983e+02] [ 9.62519002e-01 -5.05536454e-02 -2.66461065e-01 1.09548477e+02] [ 2.66500336e-01 -6.08652236e-03 9.63815607e-01 4.29432587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.080714057 meters Centerline goodness : 0.985468 Centerline is valid? [True, True] Translation: X:118.57, Y:109.57, Z:42.95 [[-4.88894312e-02 -9.98790696e-01 5.19319118e-03 1.18573284e+02] [ 9.62598299e-01 -4.85038134e-02 -2.66555613e-01 1.09571442e+02] [ 2.66485156e-01 -8.03279532e-03 9.63805549e-01 4.29512341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.110714057 meters Centerline goodness : 0.988007 Centerline is valid? [True, True] Translation: X:118.58, Y:109.61, Z:42.95 [[-4.66612321e-02 -9.98869644e-01 -9.06446327e-03 1.18575568e+02] [ 9.63736561e-01 -4.26294840e-02 -2.63428487e-01 1.09606911e+02] [ 2.62744306e-01 -2.10276524e-02 9.64636340e-01 4.29523322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.140714057 meters Centerline goodness : 0.987451 Centerline is valid? [True, True] Translation: X:118.57, Y:109.63, Z:42.96 [[-4.51986759e-02 -9.98968537e-01 4.35217834e-03 1.18569832e+02] [ 9.63777637e-01 -4.47519327e-02 -2.62925714e-01 1.09631363e+02] [ 2.62849284e-01 -7.68936199e-03 9.64806264e-01 4.29632221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.170714057 meters Centerline goodness : 0.988207 Centerline is valid? [True, True] Translation: X:118.57, Y:109.66, Z:42.97 [[-4.72860351e-02 -9.98810263e-01 -1.19201483e-02 1.18574448e+02] [ 9.64564117e-01 -4.25571112e-02 -2.60393849e-01 1.09659086e+02] [ 2.59576762e-01 -2.38107400e-02 9.65428896e-01 4.29666434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.200714057 meters Centerline goodness : 0.990114 Centerline is valid? [True, True] Translation: X:118.57, Y:109.69, Z:42.98 [[-5.02309023e-02 -9.98732720e-01 -3.13207063e-03 1.18569014e+02] [ 9.64098675e-01 -4.76697651e-02 -2.61230433e-01 1.09686793e+02] [ 2.60750076e-01 -1.61414655e-02 9.65271387e-01 4.29785031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.230714057 meters Centerline goodness : 0.989522 Centerline is valid? [True, True] Translation: X:118.57, Y:109.71, Z:42.98 [[-5.59215356e-02 -9.98401524e-01 -8.19627002e-03 1.18567846e+02] [ 9.62918817e-01 -5.17604320e-02 -2.64779550e-01 1.09705312e+02] [ 2.63932064e-01 -2.26992216e-02 9.64274137e-01 4.29832549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.26071405700003 meters Centerline goodness : 0.988235 Centerline is valid? [True, True] Translation: X:118.56, Y:109.70, Z:42.99 [[-5.94334388e-02 -9.98225072e-01 3.79102121e-03 1.18562588e+02] [ 9.62134247e-01 -5.82958500e-02 -2.66269196e-01 1.09696524e+02] [ 2.66017588e-01 -1.21778226e-02 9.63891251e-01 4.29857729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.290714057 meters Centerline goodness : 0.989686 Centerline is valid? [True, True] Translation: X:118.57, Y:109.70, Z:42.98 [[-6.44924094e-02 -9.97901836e-01 -5.71442829e-03 1.18566163e+02] [ 9.61816580e-01 -6.06319354e-02 -2.66894426e-01 1.09695214e+02] [ 2.65987961e-01 -2.27088965e-02 9.63708831e-01 4.29810745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.32071405700003 meters Centerline goodness : 0.988966 Centerline is valid? [True, True] Translation: X:118.56, Y:109.71, Z:42.99 [[-7.11717549e-02 -9.97463073e-01 -1.41402726e-03 1.18562927e+02] [ 9.60747360e-01 -6.81707616e-02 -2.68918683e-01 1.09707441e+02] [ 2.68140061e-01 -2.04979376e-02 9.63161847e-01 4.29856980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.350714057 meters Centerline goodness : 0.989401 Centerline is valid? [True, True] Translation: X:118.56, Y:109.72, Z:42.99 [[-7.40117531e-02 -9.97257239e-01 5.09120052e-04 1.18560406e+02] [ 9.60837034e-01 -7.14455060e-02 -2.67745651e-01 1.09722624e+02] [ 2.67047663e-01 -1.93271437e-02 9.63489495e-01 4.29905536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.38071405700003 meters Centerline goodness : 0.989185 Centerline is valid? [True, True] Translation: X:118.56, Y:109.71, Z:42.99 [[-7.75528672e-02 -9.96988239e-01 6.88900865e-05 1.18559140e+02] [ 9.60955007e-01 -7.47683536e-02 -2.66411651e-01 1.09711086e+02] [ 2.65614434e-01 -2.05947871e-02 9.63859340e-01 4.29873760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.410714057 meters Centerline goodness : 0.989886 Centerline is valid? [True, True] Translation: X:118.56, Y:109.71, Z:42.99 [[-7.84228368e-02 -9.96919573e-01 1.10647912e-03 1.18555331e+02] [ 9.60854031e-01 -7.58814799e-02 -2.66461128e-01 1.09714672e+02] [ 2.65724275e-01 -1.98334726e-02 9.63845031e-01 4.29886304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.44071405700004 meters Centerline goodness : 0.989007 Centerline is valid? [True, True] Translation: X:118.55, Y:109.74, Z:43.00 [[-7.73641576e-02 -9.96979916e-01 6.77013282e-03 1.18550888e+02] [ 9.60884160e-01 -7.63709344e-02 -2.66212531e-01 1.09741848e+02] [ 2.65925588e-01 -1.40899948e-02 9.63890582e-01 4.29952008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.470714057 meters Centerline goodness : 0.988850 Centerline is valid? [True, True] Translation: X:118.56, Y:109.77, Z:43.00 [[-7.62283782e-02 -9.96951617e-01 -1.66345593e-02 1.18555678e+02] [ 9.62043166e-01 -6.91544458e-02 -2.63989790e-01 1.09767300e+02] [ 2.62034694e-01 -3.61266777e-02 9.64382021e-01 4.29982015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.500714057 meters Centerline goodness : 0.989072 Centerline is valid? [True, True] Translation: X:118.55, Y:109.79, Z:43.01 [[-7.70298008e-02 -9.96970312e-01 -1.07984294e-02 1.18548903e+02] [ 9.61859006e-01 -7.14570003e-02 -2.64047627e-01 1.09794365e+02] [ 2.62476022e-01 -3.07261027e-02 9.64449192e-01 4.30093823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.530714057 meters Centerline goodness : 0.989521 Centerline is valid? [True, True] Translation: X:118.54, Y:109.79, Z:43.01 [[-7.57588630e-02 -9.97125595e-01 -1.06865795e-03 1.18542213e+02] [ 9.62148840e-01 -7.28199701e-02 -2.62615427e-01 1.09793414e+02] [ 2.61782744e-01 -2.09236542e-02 9.64899993e-01 4.30135894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.560714057 meters Centerline goodness : 0.988428 Centerline is valid? [True, True] Translation: X:118.54, Y:109.79, Z:43.01 [[-7.36476638e-02 -9.97277890e-01 -3.58214421e-03 1.18537660e+02] [ 9.62049464e-01 -7.00988377e-02 -2.63717616e-01 1.09792644e+02] [ 2.62748644e-01 -2.28683862e-02 9.64593276e-01 4.30140246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.590714057 meters Centerline goodness : 0.984957 Centerline is valid? [True, True] Translation: X:118.53, Y:109.80, Z:43.02 [[-7.54104618e-02 -9.97111703e-01 9.02855591e-03 1.18531603e+02] [ 9.62472853e-01 -7.51519115e-02 -2.60764641e-01 1.09795441e+02] [ 2.60689988e-01 -1.09746420e-02 9.65360185e-01 4.30198112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.620714057 meters Centerline goodness : 0.990302 Centerline is valid? [True, True] Translation: X:118.54, Y:109.81, Z:43.01 [[-6.89618034e-02 -9.97489515e-01 -1.60915451e-02 1.18535764e+02] [ 9.61820308e-01 -6.21962749e-02 -2.66520766e-01 1.09806194e+02] [ 2.64850835e-01 -3.38569275e-02 9.63694839e-01 4.30095155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.650714057 meters Centerline goodness : 0.988850 Centerline is valid? [True, True] Translation: X:118.52, Y:109.83, Z:43.03 [[-6.65438409e-02 -9.97705531e-01 1.24735932e-02 1.18521880e+02] [ 9.60719495e-01 -6.74426225e-02 -2.69201679e-01 1.09828382e+02] [ 2.69425256e-01 -5.93008953e-03 9.63003045e-01 4.30254364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.680714057 meters Centerline goodness : 0.988453 Centerline is valid? [True, True] Translation: X:118.53, Y:109.86, Z:43.02 [[-6.77984018e-02 -9.97438794e-01 -2.27865984e-02 1.18531472e+02] [ 9.61413429e-01 -5.92121029e-02 -2.68659906e-01 1.09861031e+02] [ 2.66622570e-01 -4.01220539e-02 9.62965537e-01 4.30223766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.710714057 meters Centerline goodness : 0.987585 Centerline is valid? [True, True] Translation: X:118.52, Y:109.85, Z:43.03 [[-6.46291108e-02 -9.97909106e-01 -7.02901888e-04 1.18518283e+02] [ 9.61336194e-01 -6.20715064e-02 -2.68290607e-01 1.09849409e+02] [ 2.67686010e-01 -1.80151084e-02 9.63337768e-01 4.30291975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.740714057 meters Centerline goodness : 0.989152 Centerline is valid? [True, True] Translation: X:118.52, Y:109.86, Z:43.03 [[-6.27083967e-02 -9.98020199e-01 -4.83109248e-03 1.18517818e+02] [ 9.61351106e-01 -5.91026840e-02 -2.68906906e-01 1.09864287e+02] [ 2.68088993e-01 -2.15070970e-02 9.63154057e-01 4.30310781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.770714057 meters Centerline goodness : 0.988164 Centerline is valid? [True, True] Translation: X:118.51, Y:109.89, Z:43.04 [[-5.81511274e-02 -9.98300779e-01 3.74182626e-03 1.18510091e+02] [ 9.60757897e-01 -5.69817826e-02 -2.71472539e-01 1.09886157e+02] [ 2.71224464e-01 -1.21914451e-02 9.62438912e-01 4.30428671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.800714057 meters Centerline goodness : 0.988487 Centerline is valid? [True, True] Translation: X:118.51, Y:109.92, Z:43.04 [[-5.66380906e-02 -9.98361691e-01 -8.12774171e-03 1.18513614e+02] [ 9.62249706e-01 -5.24151554e-02 -2.67073312e-01 1.09917153e+02] [ 2.66209747e-01 -2.29474395e-02 9.63641939e-01 4.30444354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.830714057 meters Centerline goodness : 0.990104 Centerline is valid? [True, True] Translation: X:118.50, Y:109.93, Z:43.06 [[-6.04735559e-02 -9.98153678e-01 5.67304389e-03 1.18495891e+02] [ 9.58600788e-01 -5.96597152e-02 -2.78433559e-01 1.09932193e+02] [ 2.78257933e-01 -1.13996831e-02 9.60438738e-01 4.30591123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.860714057 meters Centerline goodness : 0.986332 Centerline is valid? [True, True] Translation: X:118.51, Y:109.97, Z:43.06 [[-5.12918813e-02 -9.98683407e-01 7.71152758e-04 1.18506086e+02] [ 9.63208154e-01 -4.96738401e-02 -2.64126032e-01 1.09969910e+02] [ 2.63816592e-01 -1.28047405e-02 9.64487866e-01 4.30613637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.890714057 meters Centerline goodness : 0.987406 Centerline is valid? [True, True] Translation: X:118.50, Y:109.97, Z:43.06 [[-4.74590809e-02 -9.98872999e-01 6.05456105e-04 1.18504070e+02] [ 9.63898235e-01 -4.59563132e-02 -2.62275065e-01 1.09971668e+02] [ 2.62007306e-01 -1.18637355e-02 9.64992966e-01 4.30616890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.920714057 meters Centerline goodness : 0.988428 Centerline is valid? [True, True] Translation: X:118.51, Y:110.00, Z:43.07 [[-4.78781514e-02 -9.98817186e-01 -8.48005941e-03 1.18506311e+02] [ 9.63888742e-01 -4.39739403e-02 -2.62649550e-01 1.09998819e+02] [ 2.61965983e-01 -2.07490087e-02 9.64854032e-01 4.30667006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.950714057 meters Centerline goodness : 0.986176 Centerline is valid? [True, True] Translation: X:118.50, Y:110.03, Z:43.08 [[-4.69564445e-02 -9.98895847e-01 1.47629885e-03 1.18500095e+02] [ 9.63555232e-01 -4.56846930e-02 -2.63579634e-01 1.10025651e+02] [ 2.63356046e-01 -1.09542670e-02 9.64636510e-01 4.30760776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.980714057 meters Centerline goodness : 0.986266 Centerline is valid? [True, True] Translation: X:118.50, Y:110.05, Z:43.08 [[-4.67990018e-02 -9.98899973e-01 2.94913704e-03 1.18499568e+02] [ 9.64026854e-01 -4.59381267e-02 -2.61805106e-01 1.10052785e+02] [ 2.61652591e-01 -9.40917029e-03 9.65116257e-01 4.30805874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.01071405700003 meters Centerline goodness : 0.987680 Centerline is valid? [True, True] Translation: X:118.50, Y:110.08, Z:43.09 [[-5.21529212e-02 -9.98625159e-01 -5.27877924e-03 1.18501888e+02] [ 9.62821970e-01 -4.88787240e-02 -2.65677859e-01 1.10083714e+02] [ 2.65054575e-01 -1.89384011e-02 9.64047410e-01 4.30874370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.040714057 meters Centerline goodness : 0.987920 Centerline is valid? [True, True] Translation: X:118.50, Y:110.09, Z:43.09 [[-5.31277363e-02 -9.98567599e-01 -6.33987720e-03 1.18501989e+02] [ 9.62521915e-01 -4.95170414e-02 -2.66645132e-01 1.10088030e+02] [ 2.65949257e-01 -2.02685230e-02 9.63773926e-01 4.30874069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.07071405700003 meters Centerline goodness : 0.988887 Centerline is valid? [True, True] Translation: X:118.50, Y:110.08, Z:43.09 [[-5.41884362e-02 -9.98530510e-01 -6.58849820e-04 1.18499161e+02] [ 9.62970384e-01 -5.20841118e-02 -2.64528418e-01 1.10082972e+02] [ 2.64105381e-01 -1.49688342e-02 9.64377666e-01 4.30850226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.100714057 meters Centerline goodness : 0.987270 Centerline is valid? [True, True] Translation: X:118.50, Y:110.11, Z:43.09 [[-5.43568548e-02 -9.98514767e-01 -3.68687202e-03 1.18499784e+02] [ 9.62285345e-01 -5.13982227e-02 -2.67142541e-01 1.10106536e+02] [ 2.66556273e-01 -1.80688512e-02 9.63649973e-01 4.30911052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.13071405700003 meters Centerline goodness : 0.986969 Centerline is valid? [True, True] Translation: X:118.50, Y:110.13, Z:43.10 [[-5.63524735e-02 -9.98410923e-01 -1.67992964e-04 1.18496818e+02] [ 9.61100982e-01 -5.42010503e-02 -2.70826786e-01 1.10129664e+02] [ 2.70387316e-01 -1.54232175e-02 9.62628082e-01 4.31004830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.160714057 meters Centerline goodness : 0.988621 Centerline is valid? [True, True] Translation: X:118.50, Y:110.16, Z:43.10 [[-5.91449196e-02 -9.98172890e-01 -1.23596182e-02 1.18502493e+02] [ 9.61921373e-01 -5.36784171e-02 -2.68003545e-01 1.10162742e+02] [ 2.66850428e-01 -2.77400290e-02 9.63338642e-01 4.31031321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.19071405700004 meters Centerline goodness : 0.984769 Centerline is valid? [True, True] Translation: X:118.50, Y:110.18, Z:43.11 [[-5.86686179e-02 -9.98265532e-01 -4.89083328e-03 1.18497523e+02] [ 9.61747863e-01 -5.52078885e-02 -2.68315369e-01 1.10177555e+02] [ 2.67579972e-01 -2.04454403e-02 9.63318713e-01 4.31146594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.220714057 meters Centerline goodness : 0.987481 Centerline is valid? [True, True] Translation: X:118.50, Y:110.21, Z:43.12 [[-6.07750766e-02 -9.98121865e-01 -7.68979796e-03 1.18497604e+02] [ 9.61552220e-01 -5.64778351e-02 -2.68751897e-01 1.10208691e+02] [ 2.67812842e-01 -2.37275594e-02 9.63178740e-01 4.31228973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.250714057 meters Centerline goodness : 0.988926 Centerline is valid? [True, True] Translation: X:118.50, Y:110.24, Z:43.13 [[-6.19413620e-02 -9.98056430e-01 -6.82868629e-03 1.18495216e+02] [ 9.62005178e-01 -5.78783302e-02 -2.66826042e-01 1.10235315e+02] [ 2.65912214e-01 -2.30968000e-02 9.63720516e-01 4.31308046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.280714057 meters Centerline goodness : 0.987966 Centerline is valid? [True, True] Translation: X:118.49, Y:110.24, Z:43.13 [[-6.27177357e-02 -9.98030753e-01 -1.04937035e-03 1.18493006e+02] [ 9.61886183e-01 -6.01658863e-02 -2.66749016e-01 1.10235398e+02] [ 2.66160585e-01 -1.77392691e-02 9.63765460e-01 4.31349984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.310714057 meters Centerline goodness : 0.988950 Centerline is valid? [True, True] Translation: X:118.49, Y:110.23, Z:43.13 [[-6.21441202e-02 -9.98065845e-01 -1.63654987e-03 1.18491496e+02] [ 9.61921281e-01 -5.94561478e-02 -2.66781586e-01 1.10232258e+02] [ 2.66168286e-01 -1.81531391e-02 9.63755626e-01 4.31337930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.340714057 meters Centerline goodness : 0.988317 Centerline is valid? [True, True] Translation: X:118.49, Y:110.23, Z:43.14 [[-6.26247167e-02 -9.98032395e-01 3.07952032e-03 1.18488887e+02] [ 9.62201513e-01 -6.11952300e-02 -2.65374060e-01 1.10233778e+02] [ 2.65040360e-01 -1.36558562e-02 9.64140615e-01 4.31366388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.370714057 meters Centerline goodness : 0.987786 Centerline is valid? [True, True] Translation: X:118.49, Y:110.24, Z:43.13 [[-6.13498888e-02 -9.98116315e-01 -1.17983277e-04 1.18490105e+02] [ 9.62587381e-01 -5.91348207e-02 -2.64440175e-01 1.10235743e+02] [ 2.63935076e-01 -1.63369445e-02 9.64402084e-01 4.31336898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.400714057 meters Centerline goodness : 0.987355 Centerline is valid? [True, True] Translation: X:118.49, Y:110.26, Z:43.14 [[-6.58137849e-02 -9.97820699e-01 4.73279332e-03 1.18487745e+02] [ 9.62150859e-01 -6.47166990e-02 -2.64721503e-01 1.10261410e+02] [ 2.64450886e-01 -1.28686629e-02 9.64313293e-01 4.31413401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.430714057 meters Centerline goodness : 0.987123 Centerline is valid? [True, True] Translation: X:118.49, Y:110.24, Z:43.13 [[-6.53632368e-02 -9.97861073e-01 9.62217060e-04 1.18489623e+02] [ 9.61959060e-01 -6.32678083e-02 -2.65766725e-01 1.10239686e+02] [ 2.65259146e-01 -1.64457599e-02 9.64036888e-01 4.31327426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.460714057 meters Centerline goodness : 0.988364 Centerline is valid? [True, True] Translation: X:118.49, Y:110.23, Z:43.13 [[-6.15852416e-02 -9.98098645e-01 2.52035480e-03 1.18488083e+02] [ 9.62201376e-01 -6.00410657e-02 -2.65638068e-01 1.10234497e+02] [ 2.65284320e-01 -1.39342957e-02 9.64069533e-01 4.31285078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.490714057 meters Centerline goodness : 0.986553 Centerline is valid? [True, True] Translation: X:118.49, Y:110.26, Z:43.13 [[-6.23574474e-02 -9.98029344e-01 -6.99838273e-03 1.18492211e+02] [ 9.62213159e-01 -5.82544353e-02 -2.65992964e-01 1.10255737e+02] [ 2.65061097e-01 -2.33205782e-02 9.63949566e-01 4.31301823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.520714057 meters Centerline goodness : 0.987401 Centerline is valid? [True, True] Translation: X:118.49, Y:110.28, Z:43.14 [[-6.23815751e-02 -9.98052275e-01 -4.42026251e-04 1.18487876e+02] [ 9.62163449e-01 -6.00206935e-02 -2.65780010e-01 1.10281373e+02] [ 2.65235813e-01 -1.70050772e-02 9.64033605e-01 4.31402754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.550714057 meters Centerline goodness : 0.987401 Centerline is valid? [True, True] Translation: X:118.49, Y:110.31, Z:43.15 [[-6.26409818e-02 -9.98036049e-01 -3.90438748e-04 1.18487741e+02] [ 9.62146938e-01 -6.02844537e-02 -2.65780086e-01 1.10307916e+02] [ 2.65234570e-01 -1.70243850e-02 9.64033606e-01 4.31476096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.580714057 meters Centerline goodness : 0.987935 Centerline is valid? [True, True] Translation: X:118.49, Y:110.35, Z:43.16 [[-6.05185744e-02 -9.98102738e-01 1.13325163e-02 1.18485461e+02] [ 9.62929773e-01 -6.13683812e-02 -2.62678843e-01 1.10346731e+02] [ 2.62875931e-01 -4.98453181e-03 9.64816770e-01 4.31587234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.610714057 meters Centerline goodness : 0.987956 Centerline is valid? [True, True] Translation: X:118.49, Y:110.40, Z:43.17 [[-6.81928950e-02 -9.97620187e-01 -1.01829130e-02 1.18489765e+02] [ 9.61415212e-01 -6.29846534e-02 -2.67794183e-01 1.10402493e+02] [ 2.66515516e-01 -2.80516680e-02 9.63422329e-01 4.31701072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.640714057 meters Centerline goodness : 0.985131 Centerline is valid? [True, True] Translation: X:118.49, Y:110.40, Z:43.17 [[-7.26449347e-02 -9.97357289e-01 -1.07307015e-03 1.18487492e+02] [ 9.61248118e-01 -6.97278671e-02 -2.66720978e-01 1.10396757e+02] [ 2.65941289e-01 -2.04074147e-02 9.63773193e-01 4.31728453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.670714057 meters Centerline goodness : 0.985035 Centerline is valid? [True, True] Translation: X:118.49, Y:110.39, Z:43.17 [[-7.20283848e-02 -9.97398606e-01 2.81665220e-03 1.18485762e+02] [ 9.61317580e-01 -7.01749294e-02 -2.66353129e-01 1.10388444e+02] [ 2.65857898e-01 -1.64772884e-02 9.63871401e-01 4.31727988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.700714057 meters Centerline goodness : 0.984272 Centerline is valid? [True, True] Translation: X:118.49, Y:110.39, Z:43.17 [[-7.18543416e-02 -9.97411439e-01 2.71568828e-03 1.18485169e+02] [ 9.61234358e-01 -6.99742850e-02 -2.66706033e-01 1.10393248e+02] [ 2.66205676e-01 -1.65535735e-02 9.63774101e-01 4.31744889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.730714057 meters Centerline goodness : 0.984652 Centerline is valid? [True, True] Translation: X:118.49, Y:110.43, Z:43.18 [[-7.51175058e-02 -9.97171255e-01 2.61710275e-03 1.18485672e+02] [ 9.60836093e-01 -7.30819108e-02 -2.67307007e-01 1.10431116e+02] [ 2.66742126e-01 -1.75648289e-02 9.63607864e-01 4.31837900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.76071405700003 meters Centerline goodness : 0.987228 Centerline is valid? [True, True] Translation: X:118.48, Y:110.41, Z:43.18 [[-7.30296803e-02 -9.97318988e-01 4.63694020e-03 1.18484679e+02] [ 9.60517503e-01 -7.15848595e-02 -2.68852626e-01 1.10405806e+02] [ 2.68463764e-01 -1.51803591e-02 9.63170164e-01 4.31780689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.790714057 meters Centerline goodness : 0.989345 Centerline is valid? [True, True] Translation: X:118.49, Y:110.43, Z:43.18 [[-7.42763143e-02 -9.97237679e-01 2.03632087e-04 1.18486154e+02] [ 9.60658352e-01 -7.16066054e-02 -2.68343109e-01 1.10432356e+02] [ 2.67616440e-01 -1.97359162e-02 9.63323380e-01 4.31831310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.82071405700003 meters Centerline goodness : 0.987418 Centerline is valid? [True, True] Translation: X:118.49, Y:110.45, Z:43.19 [[-7.99121417e-02 -9.96800734e-01 -1.53187403e-03 1.18487681e+02] [ 9.59793720e-01 -7.65302956e-02 -2.70072450e-01 1.10450649e+02] [ 2.69091182e-01 -2.30523510e-02 9.62838784e-01 4.31889212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.850714057 meters Centerline goodness : 0.989565 Centerline is valid? [True, True] Translation: X:118.49, Y:110.49, Z:43.20 [[-8.05326151e-02 -9.96748171e-01 -2.75343846e-03 1.18487893e+02] [ 9.59826363e-01 -7.68039861e-02 -2.69878679e-01 1.10493322e+02] [ 2.68789605e-01 -2.43768586e-02 9.62890397e-01 4.32000008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.88071405700003 meters Centerline goodness : 0.987736 Centerline is valid? [True, True] Translation: X:118.49, Y:110.45, Z:43.19 [[-8.32056417e-02 -9.96532229e-01 5.82051133e-04 1.18488567e+02] [ 9.59411604e-01 -8.02641512e-02 -2.70346147e-01 1.10448415e+02] [ 2.69455366e-01 -2.19358980e-02 9.62763014e-01 4.31903255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.910714057 meters Centerline goodness : 0.988841 Centerline is valid? [True, True] Translation: X:118.49, Y:110.47, Z:43.19 [[-8.38487055e-02 -9.96466103e-01 -4.96988263e-03 1.18490097e+02] [ 9.59039608e-01 -7.93431438e-02 -2.71933255e-01 1.10469576e+02] [ 2.70577945e-01 -2.75675657e-02 9.62303281e-01 4.31942937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.94071405700004 meters Centerline goodness : 0.986100 Centerline is valid? [True, True] Translation: X:118.49, Y:110.45, Z:43.19 [[-8.80614375e-02 -9.96110985e-01 2.84420225e-03 1.18489688e+02] [ 9.59442406e-01 -8.55866740e-02 -2.68598567e-01 1.10453219e+02] [ 2.67797409e-01 -2.09243277e-02 9.63248006e-01 4.31936298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.970714057 meters Centerline goodness : 0.985797 Centerline is valid? [True, True] Translation: X:118.49, Y:110.46, Z:43.20 [[-8.80897936e-02 -9.96110280e-01 2.12085493e-03 1.18490371e+02] [ 9.59197973e-01 -8.53993642e-02 -2.69529586e-01 1.10461562e+02] [ 2.68662311e-01 -2.17084858e-02 9.62989774e-01 4.31964177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.000714057 meters Centerline goodness : 0.987822 Centerline is valid? [True, True] Translation: X:118.49, Y:110.48, Z:43.20 [[-8.42436666e-02 -9.96441443e-01 -2.73031907e-03 1.18492967e+02] [ 9.59651135e-01 -8.03949202e-02 -2.69455667e-01 1.10483390e+02] [ 2.68277290e-01 -2.53200871e-02 9.63008925e-01 4.31999134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.030714057 meters Centerline goodness : 0.986421 Centerline is valid? [True, True] Translation: X:118.49, Y:110.49, Z:43.20 [[-8.41753688e-02 -9.96450615e-01 8.24274425e-04 1.18491949e+02] [ 9.59429284e-01 -8.12713164e-02 -2.69982264e-01 1.10486739e+02] [ 2.69090983e-01 -2.19350236e-02 9.62864943e-01 4.32032788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.060714057 meters Centerline goodness : 0.986722 Centerline is valid? [True, True] Translation: X:118.49, Y:110.46, Z:43.20 [[-8.35558231e-02 -9.96493362e-01 4.40495875e-03 1.18492729e+02] [ 9.59624857e-01 -8.16542613e-02 -2.69170423e-01 1.10456437e+02] [ 2.68586223e-01 -1.82636483e-02 9.63082489e-01 4.31959124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.090714057 meters Centerline goodness : 0.988164 Centerline is valid? [True, True] Translation: X:118.50, Y:110.47, Z:43.20 [[-8.27047727e-02 -9.96566125e-01 -3.98489117e-03 1.18496848e+02] [ 9.59645807e-01 -7.85610769e-02 -2.70014969e-01 1.10473410e+02] [ 2.68774714e-01 -2.61556107e-02 9.62847879e-01 4.31966409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.120714057 meters Centerline goodness : 0.987593 Centerline is valid? [True, True] Translation: X:118.50, Y:110.50, Z:43.20 [[-8.31976923e-02 -9.96532308e-01 -1.22636466e-03 1.18497664e+02] [ 9.59230376e-01 -7.97497845e-02 -2.71140292e-01 1.10497222e+02] [ 2.70102259e-01 -2.37346128e-02 9.62539058e-01 4.32042197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.150714057 meters Centerline goodness : 0.988281 Centerline is valid? [True, True] Translation: X:118.50, Y:110.48, Z:43.20 [[-8.24145409e-02 -9.96583573e-01 -5.38758126e-03 1.18500313e+02] [ 9.58931174e-01 -7.78262826e-02 -2.72752770e-01 1.10483004e+02] [ 2.71401634e-01 -2.76451139e-02 9.62069073e-01 4.31986510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.180714057 meters Centerline goodness : 0.987822 Centerline is valid? [True, True] Translation: X:118.50, Y:110.48, Z:43.20 [[-8.19402864e-02 -9.96636392e-01 1.30035278e-03 1.18498506e+02] [ 9.58296342e-01 -7.91463681e-02 -2.74597841e-01 1.10482580e+02] [ 2.73777120e-01 -2.12545024e-02 9.61558285e-01 4.32013690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.210714057 meters Centerline goodness : 0.988176 Centerline is valid? [True, True] Translation: X:118.50, Y:110.48, Z:43.20 [[-8.04728097e-02 -9.96756732e-01 3.78564999e-04 1.18499740e+02] [ 9.58860881e-01 -7.75170191e-02 -2.73087756e-01 1.10481261e+02] [ 2.72231404e-01 -2.16131478e-02 9.61989051e-01 4.32005209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.240714057 meters Centerline goodness : 0.987975 Centerline is valid? [True, True] Translation: X:118.50, Y:110.47, Z:43.20 [[-7.79919789e-02 -9.96953491e-01 -9.93709537e-04 1.18502072e+02] [ 9.58796574e-01 -7.47337557e-02 -2.74087569e-01 1.10467845e+02] [ 2.73178296e-01 -2.23293972e-02 9.61704225e-01 4.31970003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.270714057 meters Centerline goodness : 0.986338 Centerline is valid? [True, True] Translation: X:118.50, Y:110.49, Z:43.21 [[-7.64874924e-02 -9.97054515e-01 5.65317963e-03 1.18499597e+02] [ 9.58155997e-01 -7.50696297e-02 -2.76227507e-01 1.10492445e+02] [ 2.75838265e-01 -1.57113214e-02 9.61075650e-01 4.32061975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.300714057 meters Centerline goodness : 0.987524 Centerline is valid? [True, True] Translation: X:118.51, Y:110.52, Z:43.21 [[-7.42098804e-02 -9.97190482e-01 -1.01997817e-02 1.18507695e+02] [ 9.59606259e-01 -6.86220555e-02 -2.72849484e-01 1.10522381e+02] [ 2.71382978e-01 -3.00359019e-02 9.62002663e-01 4.32081442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.330714057 meters Centerline goodness : 0.986085 Centerline is valid? [True, True] Translation: X:118.50, Y:110.52, Z:43.21 [[-7.03298336e-02 -9.97514828e-01 -4.22884971e-03 1.18504763e+02] [ 9.59682282e-01 -6.65046453e-02 -2.73106297e-01 1.10519757e+02] [ 2.72146343e-01 -2.32658726e-02 9.61974567e-01 4.32096602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.360714057 meters Centerline goodness : 0.987971 Centerline is valid? [True, True] Translation: X:118.50, Y:110.52, Z:43.21 [[-6.68323826e-02 -9.97762297e-01 1.95727720e-03 1.18501531e+02] [ 9.61040871e-01 -6.48997571e-02 -2.68679113e-01 1.10521326e+02] [ 2.68204916e-01 -1.60754419e-02 9.63227752e-01 4.32129345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.390714057 meters Centerline goodness : 0.987501 Centerline is valid? [True, True] Translation: X:118.50, Y:110.55, Z:43.22 [[-6.30378440e-02 -9.97999658e-01 -4.78682538e-03 1.18503894e+02] [ 9.61519512e-01 -5.94470707e-02 -2.68228027e-01 1.10547626e+02] [ 2.67406916e-01 -2.15111425e-02 9.63343559e-01 4.32188909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.420714057 meters Centerline goodness : 0.989198 Centerline is valid? [True, True] Translation: X:118.51, Y:110.58, Z:43.22 [[-6.46557358e-02 -9.97806178e-01 -1.42290833e-02 1.18508222e+02] [ 9.62289445e-01 -5.85660834e-02 -2.65648335e-01 1.10580637e+02] [ 2.64232208e-01 -3.08681852e-02 9.63964987e-01 4.32242709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.450714057 meters Centerline goodness : 0.987255 Centerline is valid? [True, True] Translation: X:118.50, Y:110.58, Z:43.23 [[-6.45588301e-02 -9.97913483e-01 9.15027776e-04 1.18503123e+02] [ 9.62333926e-01 -6.24996650e-02 -2.64588751e-01 1.10575574e+02] [ 2.64093871e-01 -1.62009780e-02 9.64360905e-01 4.32299990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.480714057 meters Centerline goodness : 0.987971 Centerline is valid? [True, True] Translation: X:118.50, Y:110.58, Z:43.23 [[-6.44852569e-02 -9.97916764e-01 -1.94520336e-03 1.18504327e+02] [ 9.62008845e-01 -6.16464508e-02 -2.65967473e-01 1.10581847e+02] [ 2.65293485e-01 -1.90222837e-02 9.63980041e-01 4.32299542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.51071405700003 meters Centerline goodness : 0.986525 Centerline is valid? [True, True] Translation: X:118.51, Y:110.59, Z:43.23 [[-6.79352447e-02 -9.97688279e-01 -1.70309556e-03 1.18507843e+02] [ 9.62749038e-01 -6.51081415e-02 -2.62440887e-01 1.10592397e+02] [ 2.61723312e-01 -1.94686395e-02 9.64946569e-01 4.32321492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.540714057 meters Centerline goodness : 0.988286 Centerline is valid? [True, True] Translation: X:118.51, Y:110.62, Z:43.24 [[-7.01926892e-02 -9.97486849e-01 -9.64227300e-03 1.18511002e+02] [ 9.62227758e-01 -6.51563223e-02 -2.64333871e-01 1.10623430e+02] [ 2.63041305e-01 -2.78323680e-02 9.64383031e-01 4.32384353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.57071405700003 meters Centerline goodness : 0.987234 Centerline is valid? [True, True] Translation: X:118.51, Y:110.60, Z:43.24 [[-7.40951061e-02 -9.97245342e-01 3.41228704e-03 1.18509151e+02] [ 9.61640438e-01 -7.23550501e-02 -2.64598591e-01 1.10602630e+02] [ 2.64116608e-01 -1.63240675e-02 9.64352603e-01 4.32374658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.600714057 meters Centerline goodness : 0.986877 Centerline is valid? [True, True] Translation: X:118.51, Y:110.63, Z:43.24 [[-7.74413007e-02 -9.96991662e-01 -3.23577291e-03 1.18513743e+02] [ 9.60225154e-01 -7.37113691e-02 -2.69321903e-01 1.10632118e+02] [ 2.68273178e-01 -2.39637090e-02 9.63044777e-01 4.32426126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.63071405700003 meters Centerline goodness : 0.987996 Centerline is valid? [True, True] Translation: X:118.51, Y:110.62, Z:43.24 [[-7.78678328e-02 -9.96962664e-01 -1.43060557e-03 1.18513168e+02] [ 9.60478470e-01 -7.46334294e-02 -2.68162188e-01 1.10618488e+02] [ 2.67240918e-01 -2.22552743e-02 9.63372718e-01 4.32396161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.660714057 meters Centerline goodness : 0.986816 Centerline is valid? [True, True] Translation: X:118.52, Y:110.63, Z:43.24 [[-7.96861013e-02 -9.96815418e-01 -3.02444992e-03 1.18515987e+02] [ 9.59953442e-01 -7.59211013e-02 -2.69676429e-01 1.10630698e+02] [ 2.68588003e-01 -2.43927943e-02 9.62946248e-01 4.32438174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.69071405700004 meters Centerline goodness : 0.987531 Centerline is valid? [True, True] Translation: X:118.52, Y:110.62, Z:43.24 [[-7.88450070e-02 -9.96883706e-01 -2.51813167e-03 1.18516608e+02] [ 9.59910983e-01 -7.52387117e-02 -2.70018594e-01 1.10616251e+02] [ 2.68987675e-01 -2.37068002e-02 9.62851815e-01 4.32406986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.720714057 meters Centerline goodness : 0.987545 Centerline is valid? [True, True] Translation: X:118.52, Y:110.63, Z:43.24 [[-7.66704774e-02 -9.97053182e-01 -2.56711037e-03 1.18516148e+02] [ 9.59958918e-01 -7.31217628e-02 -2.70429444e-01 1.10628961e+02] [ 2.69444826e-01 -2.31982751e-02 9.62736374e-01 4.32448615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.750714057 meters Centerline goodness : 0.984138 Centerline is valid? [True, True] Translation: X:118.51, Y:110.62, Z:43.25 [[-7.74257151e-02 -9.96986631e-01 4.78711538e-03 1.18513901e+02] [ 9.59860143e-01 -7.58390604e-02 -2.70031372e-01 1.10619147e+02] [ 2.69580719e-01 -1.63124109e-02 9.62839624e-01 4.32459984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.780714057 meters Centerline goodness : 0.987599 Centerline is valid? [True, True] Translation: X:118.52, Y:110.63, Z:43.24 [[-7.08519449e-02 -9.97478081e-01 -4.18096741e-03 1.18516638e+02] [ 9.60727623e-01 -6.71129273e-02 -2.69255063e-01 1.10625241e+02] [ 2.68295427e-01 -2.30940158e-02 9.63059827e-01 4.32430731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.810714057 meters Centerline goodness : 0.987688 Centerline is valid? [True, True] Translation: X:118.52, Y:110.62, Z:43.24 [[-6.25693569e-02 -9.98039642e-01 1.39580699e-03 1.18515162e+02] [ 9.61445709e-01 -6.06503239e-02 -2.68223203e-01 1.10615592e+02] [ 2.67782046e-01 -1.54405607e-02 9.63355783e-01 4.32422131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.840714057 meters Centerline goodness : 0.988049 Centerline is valid? [True, True] Translation: X:118.52, Y:110.62, Z:43.24 [[-5.43079721e-02 -9.98517509e-01 -3.66446471e-03 1.18518364e+02] [ 9.62544659e-01 -5.13744889e-02 -2.66211272e-01 1.10619513e+02] [ 2.65628356e-01 -1.79846053e-02 9.63907740e-01 4.32403510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.870714057 meters Centerline goodness : 0.986541 Centerline is valid? [True, True] Translation: X:118.52, Y:110.62, Z:43.24 [[-5.01325555e-02 -9.98741457e-01 1.49324465e-03 1.18516260e+02] [ 9.62777411e-01 -4.87248196e-02 -2.65867539e-01 1.10617114e+02] [ 2.65605691e-01 -1.18909569e-02 9.64008414e-01 4.32426442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.900714057 meters Centerline goodness : 0.986080 Centerline is valid? [True, True] Translation: X:118.51, Y:110.60, Z:43.24 [[-3.55965716e-02 -9.99332571e-01 8.20341086e-03 1.18513519e+02] [ 9.65560929e-01 -3.65082476e-02 -2.57602874e-01 1.10601787e+02] [ 2.57730435e-01 -1.24888614e-03 9.66216054e-01 4.32376423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.930714057 meters Centerline goodness : 0.985551 Centerline is valid? [True, True] Translation: X:118.52, Y:110.63, Z:43.24 [[-3.05632478e-02 -9.99516727e-01 -5.67455277e-03 1.18517956e+02] [ 9.65931143e-01 -2.80756586e-02 -2.57271811e-01 1.10632930e+02] [ 2.56988162e-01 -1.33442893e-02 9.66322418e-01 4.32404979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.960714057 meters Centerline goodness : 0.988631 Centerline is valid? [True, True] Translation: X:118.52, Y:110.63, Z:43.24 [[-1.76154740e-02 -9.99839587e-01 -3.23956311e-03 1.18515942e+02] [ 9.67049547e-01 -1.62145569e-02 -2.54071373e-01 1.10631260e+02] [ 2.53978089e-01 -7.60840571e-03 9.67180047e-01 4.32397045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.990714057 meters Centerline goodness : 0.984726 Centerline is valid? [True, True] Translation: X:118.52, Y:110.65, Z:43.24 [[-1.14886917e-02 -9.99901274e-01 -8.09030831e-03 1.18518690e+02] [ 9.67348876e-01 -9.06530338e-03 -2.53286343e-01 1.10653687e+02] [ 2.53187996e-01 -1.07360794e-02 9.67357522e-01 4.32421518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.020714057 meters Centerline goodness : 0.985930 Centerline is valid? [True, True] Translation: X:118.52, Y:110.68, Z:43.25 [[-1.03326482e-02 -9.99860686e-01 -1.31089551e-02 1.18521705e+02] [ 9.67243469e-01 -6.66854917e-03 -2.53762887e-01 1.10682327e+02] [ 2.53640116e-01 -1.53015939e-02 9.67177622e-01 4.32488034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.050714057 meters Centerline goodness : 0.985687 Centerline is valid? [True, True] Translation: X:118.52, Y:110.71, Z:43.26 [[-1.26683795e-02 -9.99866556e-01 -1.03141545e-02 1.18521405e+02] [ 9.66569060e-01 -9.60338523e-03 -2.56226517e-01 1.10711268e+02] [ 2.56093275e-01 -1.32153174e-02 9.66561736e-01 4.32575777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.080714057 meters Centerline goodness : 0.987517 Centerline is valid? [True, True] Translation: X:118.51, Y:110.75, Z:43.27 [[-1.18014278e-02 -9.99642840e-01 2.39774578e-02 1.18514472e+02] [ 9.68365555e-01 -1.74029792e-02 -2.48928279e-01 1.10748661e+02] [ 2.49256651e-01 2.02812351e-02 9.68225074e-01 4.32672597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.110714057 meters Centerline goodness : 0.986306 Centerline is valid? [True, True] Translation: X:118.54, Y:110.77, Z:43.26 [[-2.24265564e-02 -9.99191496e-01 -3.33677219e-02 1.18537549e+02] [ 9.65161641e-01 -1.29355763e-02 -2.61334416e-01 1.10767243e+02] [ 2.60691495e-01 -3.80660763e-02 9.64671404e-01 4.32588616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.140714057 meters Centerline goodness : 0.987646 Centerline is valid? [True, True] Translation: X:118.52, Y:110.76, Z:43.27 [[-2.32624640e-02 -9.99644020e-01 1.30649006e-02 1.18524252e+02] [ 9.66791240e-01 -2.58210153e-02 -2.54259659e-01 1.10758548e+02] [ 2.54506497e-01 6.71632530e-03 9.67047741e-01 4.32668116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.170714057 meters Centerline goodness : 0.990262 Centerline is valid? [True, True] Translation: X:118.53, Y:110.76, Z:43.26 [[-2.60007124e-02 -9.99656467e-01 3.30315050e-03 1.18529410e+02] [ 9.65945876e-01 -2.59745577e-02 -2.57437151e-01 1.10756691e+02] [ 2.57434511e-01 -3.50288474e-03 9.66289399e-01 4.32641214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.200714057 meters Centerline goodness : 0.988888 Centerline is valid? [True, True] Translation: X:118.55, Y:110.77, Z:43.26 [[-3.41222759e-02 -9.97971625e-01 -5.37429670e-02 1.18551933e+02] [ 9.64962837e-01 -1.89002622e-02 -2.61704993e-01 1.10771969e+02] [ 2.60158401e-01 -6.07899359e-02 9.63650450e-01 4.32590930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.230714057 meters Centerline goodness : 0.988872 Centerline is valid? [True, True] Translation: X:118.54, Y:110.79, Z:43.28 [[-3.99932998e-02 -9.98979105e-01 -2.10067372e-02 1.18539580e+02] [ 9.65221456e-01 -3.31888395e-02 -2.59318417e-01 1.10794133e+02] [ 2.58356491e-01 -3.06471526e-02 9.65563398e-01 4.32805355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.26071405700003 meters Centerline goodness : 0.989448 Centerline is valid? [True, True] Translation: X:118.54, Y:110.82, Z:43.29 [[-4.39339724e-02 -9.98954377e-01 -1.26474893e-02 1.18537202e+02] [ 9.66511038e-01 -3.92963738e-02 -2.53598520e-01 1.10821411e+02] [ 2.52836351e-01 -2.33655284e-02 9.67226877e-01 4.32914918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.290714057 meters Centerline goodness : 0.989320 Centerline is valid? [True, True] Translation: X:118.53, Y:110.82, Z:43.30 [[-4.89924776e-02 -9.98796651e-01 2.23322879e-03 1.18534470e+02] [ 9.65908657e-01 -4.79480991e-02 -2.54404099e-01 1.10824214e+02] [ 2.54205041e-01 -1.03067921e-02 9.67095428e-01 4.33002760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.32071405700003 meters Centerline goodness : 0.989574 Centerline is valid? [True, True] Translation: X:118.54, Y:110.84, Z:43.30 [[-4.99728401e-02 -9.98690433e-01 -1.09605541e-02 1.18540661e+02] [ 9.66003713e-01 -4.55442974e-02 -2.54484858e-01 1.10839058e+02] [ 2.53652402e-01 -2.33052670e-02 9.67014645e-01 4.32983265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.350714057 meters Centerline goodness : 0.989725 Centerline is valid? [True, True] Translation: X:118.54, Y:110.84, Z:43.30 [[-5.21473039e-02 -9.98619086e-01 -6.37017662e-03 1.18539833e+02] [ 9.65112193e-01 -4.87565538e-02 -2.57257172e-01 1.10842823e+02] [ 2.56591334e-01 -1.95632031e-02 9.66321980e-01 4.33026097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.38071405700003 meters Centerline goodness : 0.990270 Centerline is valid? [True, True] Translation: X:118.54, Y:110.84, Z:43.30 [[-5.31738341e-02 -9.98560163e-01 -7.08122621e-03 1.18541308e+02] [ 9.64210649e-01 -4.94975551e-02 -2.60476134e-01 1.10835202e+02] [ 2.59750587e-01 -2.06783085e-02 9.65454318e-01 4.33018062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.410714057 meters Centerline goodness : 0.989324 Centerline is valid? [True, True] Translation: X:118.54, Y:110.85, Z:43.31 [[-5.39536548e-02 -9.98542105e-01 -1.63322493e-03 1.18539873e+02] [ 9.64257974e-01 -5.16761424e-02 -2.59877156e-01 1.10850088e+02] [ 2.59413884e-01 -1.55961725e-02 9.65640304e-01 4.33077625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.44071405700004 meters Centerline goodness : 0.989453 Centerline is valid? [True, True] Translation: X:118.54, Y:110.85, Z:43.31 [[-5.44455984e-02 -9.98480400e-01 -8.51871615e-03 1.18543767e+02] [ 9.63543395e-01 -5.02985684e-02 -2.62781621e-01 1.10847969e+02] [ 2.61953819e-01 -2.25154553e-02 9.64817730e-01 4.33055878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.470714057 meters Centerline goodness : 0.989453 Centerline is valid? [True, True] Translation: X:118.54, Y:110.85, Z:43.31 [[-5.41091190e-02 -9.98531489e-01 -2.65869134e-03 1.18541185e+02] [ 9.63492484e-01 -5.15108466e-02 -2.62733450e-01 1.10849930e+02] [ 2.62210671e-01 -1.67779046e-02 9.64864792e-01 4.33083718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.500714057 meters Centerline goodness : 0.988471 Centerline is valid? [True, True] Translation: X:118.54, Y:110.84, Z:43.31 [[-5.49920411e-02 -9.98467257e-01 6.24597602e-03 1.18538806e+02] [ 9.62627314e-01 -5.46774097e-02 -2.65252777e-01 1.10841641e+02] [ 2.65187726e-01 -8.57424447e-03 9.64158676e-01 4.33118118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.530714057 meters Centerline goodness : 0.989145 Centerline is valid? [True, True] Translation: X:118.54, Y:110.84, Z:43.31 [[-5.23656307e-02 -9.98627804e-01 -5.90642433e-04 1.18542669e+02] [ 9.63065172e-01 -5.03443606e-02 -2.64520168e-01 1.10840734e+02] [ 2.64127459e-01 -1.44205926e-02 9.64379973e-01 4.33075519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.560714057 meters Centerline goodness : 0.987968 Centerline is valid? [True, True] Translation: X:118.54, Y:110.84, Z:43.31 [[-5.18376834e-02 -9.98651318e-01 2.89831888e-03 1.18541055e+02] [ 9.63117163e-01 -5.07601063e-02 -2.64251287e-01 1.10843086e+02] [ 2.64042015e-01 -1.09067539e-02 9.64449510e-01 4.33099684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.590714057 meters Centerline goodness : 0.988226 Centerline is valid? [True, True] Translation: X:118.54, Y:110.84, Z:43.31 [[-5.06652570e-02 -9.98703606e-01 -4.91314221e-03 1.18543730e+02] [ 9.62584155e-01 -4.75204324e-02 -2.66783721e-01 1.10840222e+02] [ 2.66204390e-01 -1.82459786e-02 9.63743901e-01 4.33072957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.620714057 meters Centerline goodness : 0.989414 Centerline is valid? [True, True] Translation: X:118.55, Y:110.87, Z:43.31 [[-5.22344918e-02 -9.98457648e-01 -1.88118037e-02 1.18549388e+02] [ 9.62910636e-01 -4.53635544e-02 -2.65979803e-01 1.10869501e+02] [ 2.64716198e-01 -3.20074057e-02 9.63795030e-01 4.33105017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.650714057 meters Centerline goodness : 0.989173 Centerline is valid? [True, True] Translation: X:118.54, Y:110.86, Z:43.32 [[-5.19571994e-02 -9.98649108e-01 6.38959615e-04 1.18541963e+02] [ 9.63745390e-01 -5.03089049e-02 -2.62037856e-01 1.10861442e+02] [ 2.61716016e-01 -1.29989588e-02 9.65057384e-01 4.33155883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.680714057 meters Centerline goodness : 0.989202 Centerline is valid? [True, True] Translation: X:118.54, Y:110.86, Z:43.32 [[-5.26499806e-02 -9.98604183e-01 4.20295441e-03 1.18542499e+02] [ 9.64045764e-01 -5.19248164e-02 -2.60613849e-01 1.10861421e+02] [ 2.60468317e-01 -9.66947370e-03 9.65433973e-01 4.33165559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.710714057 meters Centerline goodness : 0.990087 Centerline is valid? [True, True] Translation: X:118.54, Y:111.20, Z:43.40 [[-6.61918112e-02 -9.97647275e-01 -1.78481968e-02 1.18544714e+02] [ 9.62910236e-01 -5.91774172e-02 -2.63252561e-01 1.11202900e+02] [ 2.61576990e-01 -3.46113752e-02 9.64561834e-01 4.34026167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.740714057 meters Centerline goodness : 0.989251 Centerline is valid? [True, True] Translation: X:118.53, Y:110.83, Z:43.32 [[-4.68299936e-02 -9.98110807e-01 3.97714492e-02 1.18529536e+02] [ 9.68358386e-01 -5.51326513e-02 -2.43397672e-01 1.10832982e+02] [ 2.45130552e-01 2.71147050e-02 9.69110832e-01 4.33161256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.770714057 meters Centerline goodness : 0.988653 Centerline is valid? [True, True] Translation: X:118.56, Y:110.87, Z:43.30 [[-4.88445162e-02 -9.98560831e-01 -2.21467933e-02 1.18555853e+02] [ 9.69110054e-01 -4.20139808e-02 -2.43023722e-01 1.10867313e+02] [ 2.41743495e-01 -3.33330562e-02 9.69767493e-01 4.33024242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.800714057 meters Centerline goodness : 0.990652 Centerline is valid? [True, True] Translation: X:118.55, Y:110.89, Z:43.31 [[-5.35729846e-02 -9.98390460e-01 -1.86125026e-02 1.18551480e+02] [ 9.68446789e-01 -4.74049573e-02 -2.44670362e-01 1.10893358e+02] [ 2.43394231e-01 -3.11329399e-02 9.69427660e-01 4.33139596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.830714057 meters Centerline goodness : 0.990291 Centerline is valid? [True, True] Translation: X:118.55, Y:110.92, Z:43.33 [[-5.50942660e-02 -9.98445006e-01 -8.49655021e-03 1.18546490e+02] [ 9.68137038e-01 -5.13361003e-02 -2.45102592e-01 1.10920799e+02] [ 2.44285280e-01 -2.17295724e-02 9.69459916e-01 4.33250457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.860714057 meters Centerline goodness : 0.988856 Centerline is valid? [True, True] Translation: X:118.55, Y:110.92, Z:43.33 [[-5.62242526e-02 -9.98397381e-01 -6.44227314e-03 1.18546167e+02] [ 9.67828996e-01 -5.29155844e-02 -2.45981659e-01 1.10924988e+02] [ 2.45246547e-01 -2.00651536e-02 9.69253074e-01 4.33272530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.890714057 meters Centerline goodness : 0.989653 Centerline is valid? [True, True] Translation: X:118.54, Y:110.93, Z:43.33 [[-5.81119285e-02 -9.98293079e-01 -5.82515009e-03 1.18544421e+02] [ 9.66232064e-01 -5.47764286e-02 -2.51783917e-01 1.10929931e+02] [ 2.51035061e-01 -2.02600958e-02 9.67765946e-01 4.33305484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.920714057 meters Centerline goodness : 0.990361 Centerline is valid? [True, True] Translation: X:118.54, Y:110.93, Z:43.33 [[-5.92776239e-02 -9.98229241e-01 -4.95430810e-03 1.18542018e+02] [ 9.67295961e-01 -5.62131321e-02 -2.47343097e-01 1.10932177e+02] [ 2.46626615e-01 -1.94541933e-02 9.68915294e-01 4.33325410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.950714057 meters Centerline goodness : 0.990016 Centerline is valid? [True, True] Translation: X:118.53, Y:110.93, Z:43.33 [[-5.39072267e-02 -9.98441530e-01 1.44403143e-02 1.18534923e+02] [ 9.69210108e-01 -5.57976074e-02 -2.39829927e-01 1.10927366e+02] [ 2.40261894e-01 1.06713232e-03 9.70707517e-01 4.33324292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.980714057 meters Centerline goodness : 0.989495 Centerline is valid? [True, True] Translation: X:118.55, Y:110.95, Z:43.33 [[-5.68465242e-02 -9.97835108e-01 -3.30691693e-02 1.18549520e+02] [ 9.67830266e-01 -4.69451951e-02 -2.47185610e-01 1.10948029e+02] [ 2.45098041e-01 -4.60569856e-02 9.68403689e-01 4.33303385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.01071405700003 meters Centerline goodness : 0.988646 Centerline is valid? [True, True] Translation: X:118.54, Y:110.97, Z:43.35 [[-5.70944952e-02 -9.98334319e-01 -8.29500029e-03 1.18538198e+02] [ 9.67523983e-01 -5.32793411e-02 -2.47100496e-01 1.10971874e+02] [ 2.46246953e-01 -2.21336898e-02 9.68954353e-01 4.33456488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.040714057 meters Centerline goodness : 0.989320 Centerline is valid? [True, True] Translation: X:118.53, Y:111.00, Z:43.35 [[-5.83455634e-02 -9.98283299e-01 -5.12347455e-03 1.18534672e+02] [ 9.66958397e-01 -5.52374383e-02 -2.48878050e-01 1.11000156e+02] [ 2.48167793e-01 -1.94751168e-02 9.68521278e-01 4.33533533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.07071405700003 meters Centerline goodness : 0.990124 Centerline is valid? [True, True] Translation: X:118.53, Y:111.03, Z:43.36 [[-5.78847842e-02 -9.98321764e-01 -1.73434619e-03 1.18531121e+02] [ 9.68227442e-01 -5.57163335e-02 -2.43785380e-01 1.11026223e+02] [ 2.43279619e-01 -1.57907057e-02 9.69827655e-01 4.33599496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.100714057 meters Centerline goodness : 0.989616 Centerline is valid? [True, True] Translation: X:118.53, Y:111.05, Z:43.37 [[-5.96830343e-02 -9.98177178e-01 -8.95861432e-03 1.18532670e+02] [ 9.68154336e-01 -5.56972971e-02 -2.44079889e-01 1.11054286e+02] [ 2.43136004e-01 -2.32407497e-02 9.69713747e-01 4.33657944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.13071405700003 meters Centerline goodness : 0.989743 Centerline is valid? [True, True] Translation: X:118.53, Y:111.06, Z:43.37 [[-6.07432858e-02 -9.98148194e-01 -3.23058254e-03 1.18528760e+02] [ 9.67743728e-01 -5.80995588e-02 -2.45145912e-01 1.11061422e+02] [ 2.44504254e-01 -1.80173442e-02 9.69480812e-01 4.33698957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.160714057 meters Centerline goodness : 0.989811 Centerline is valid? [True, True] Translation: X:118.52, Y:111.06, Z:43.38 [[-6.03815847e-02 -9.98012363e-01 1.80384988e-02 1.18519756e+02] [ 9.67575610e-01 -6.29612629e-02 -2.44608498e-01 1.11055435e+02] [ 2.45258032e-01 2.68376276e-03 9.69454122e-01 4.33752739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.19071405700004 meters Centerline goodness : 0.990548 Centerline is valid? [True, True] Translation: X:118.53, Y:111.06, Z:43.36 [[-6.12197176e-02 -9.98008185e-01 -1.52252649e-02 1.18533059e+02] [ 9.68778316e-01 -5.57412229e-02 -2.41581229e-01 1.11060111e+02] [ 2.40251369e-01 -2.95394411e-02 9.70261151e-01 4.33616468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.220714057 meters Centerline goodness : 0.990179 Centerline is valid? [True, True] Translation: X:118.53, Y:111.09, Z:43.37 [[-6.38270225e-02 -9.97960416e-01 -1.05827063e-03 1.18525670e+02] [ 9.68363591e-01 -6.16776704e-02 -2.41801202e-01 1.11085403e+02] [ 2.41242756e-01 -1.64582415e-02 9.70325234e-01 4.33715556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.250714057 meters Centerline goodness : 0.990521 Centerline is valid? [True, True] Translation: X:118.53, Y:111.11, Z:43.38 [[-6.59953637e-02 -9.97808524e-01 -4.77098310e-03 1.18527024e+02] [ 9.68347086e-01 -6.28917919e-02 -2.41554433e-01 1.11113953e+02] [ 2.40725017e-01 -2.05614403e-02 9.70375542e-01 4.33771326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.280714057 meters Centerline goodness : 0.991689 Centerline is valid? [True, True] Translation: X:118.52, Y:111.11, Z:43.38 [[-6.70601699e-02 -9.97748540e-01 8.86123062e-04 1.18523543e+02] [ 9.67730594e-01 -6.52587793e-02 -2.43390201e-01 1.11109280e+02] [ 2.42900045e-01 -1.54642598e-02 9.69928051e-01 4.33780083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.310714057 meters Centerline goodness : 0.989641 Centerline is valid? [True, True] Translation: X:118.52, Y:111.13, Z:43.39 [[-6.68443046e-02 -9.97760514e-01 2.40728134e-03 1.18520379e+02] [ 9.67890535e-01 -6.54287620e-02 -2.42707621e-01 1.11132000e+02] [ 2.42321586e-01 -1.38936373e-02 9.70096498e-01 4.33853203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.340714057 meters Centerline goodness : 0.991674 Centerline is valid? [True, True] Translation: X:118.53, Y:111.16, Z:43.39 [[-6.84409723e-02 -9.97567083e-01 -1.32570266e-02 1.18526973e+02] [ 9.69226698e-01 -6.33352879e-02 -2.37882848e-01 1.11164480e+02] [ 2.36464461e-01 -2.91299975e-02 9.71203378e-01 4.33860962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.370714057 meters Centerline goodness : 0.990821 Centerline is valid? [True, True] Translation: X:118.52, Y:111.17, Z:43.39 [[-7.00451452e-02 -9.97529861e-01 -5.27769880e-03 1.18521760e+02] [ 9.68194098e-01 -6.67093964e-02 -2.41143206e-01 1.11166271e+02] [ 2.40195477e-01 -2.20007477e-02 9.70475193e-01 4.33906095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.400714057 meters Centerline goodness : 0.990929 Centerline is valid? [True, True] Translation: X:118.52, Y:111.15, Z:43.39 [[-6.84319389e-02 -9.97652565e-01 -2.53562369e-03 1.18520620e+02] [ 9.68699806e-01 -6.58376664e-02 -2.39345122e-01 1.11153731e+02] [ 2.38616335e-01 -1.88351089e-02 9.70931245e-01 4.33878928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.430714057 meters Centerline goodness : 0.991385 Centerline is valid? [True, True] Translation: X:118.52, Y:111.16, Z:43.39 [[-6.79010639e-02 -9.97689062e-01 -2.44580183e-03 1.18519528e+02] [ 9.68647225e-01 -6.53369205e-02 -2.39694891e-01 1.11156460e+02] [ 2.38981170e-01 -1.86446573e-02 9.70845187e-01 4.33873584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.460714057 meters Centerline goodness : 0.989174 Centerline is valid? [True, True] Translation: X:118.52, Y:111.18, Z:43.39 [[-6.61216861e-02 -9.97808777e-01 -2.35940972e-03 1.18518727e+02] [ 9.68494383e-01 -6.36097787e-02 -2.40774637e-01 1.11179636e+02] [ 2.40096964e-01 -1.82055000e-02 9.70578182e-01 4.33930161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.490714057 meters Centerline goodness : 0.990755 Centerline is valid? [True, True] Translation: X:118.52, Y:111.21, Z:43.40 [[-6.54100399e-02 -9.97856343e-01 -2.06031450e-03 1.18515584e+02] [ 9.67678243e-01 -6.29276166e-02 -2.44210838e-01 1.11211210e+02] [ 2.43557683e-01 -1.79675622e-02 9.69719971e-01 4.34008733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.520714057 meters Centerline goodness : 0.990524 Centerline is valid? [True, True] Translation: X:118.51, Y:111.21, Z:43.40 [[-6.27097365e-02 -9.98020521e-01 -4.74650189e-03 1.18514199e+02] [ 9.68291508e-01 -5.96880126e-02 -2.42587914e-01 1.11210606e+02] [ 2.41824407e-01 -1.98086216e-02 9.70117815e-01 4.34005433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.550714057 meters Centerline goodness : 0.988157 Centerline is valid? [True, True] Translation: X:118.51, Y:111.22, Z:43.41 [[-6.00672134e-02 -9.98157174e-01 8.61311755e-03 1.18507629e+02] [ 9.68906929e-01 -6.03774847e-02 -2.39945664e-01 1.11218888e+02] [ 2.40023524e-01 -6.06755813e-03 9.70748110e-01 4.34077687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.580714057 meters Centerline goodness : 0.991428 Centerline is valid? [True, True] Translation: X:118.50, Y:111.21, Z:43.41 [[-4.92866056e-02 -9.98735047e-01 9.95675779e-03 1.18503900e+02] [ 9.69533194e-01 -5.02357139e-02 -2.39753539e-01 1.11210529e+02] [ 2.39950447e-01 -2.16323094e-03 9.70782727e-01 4.34052924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.610714057 meters Centerline goodness : 0.991020 Centerline is valid? [True, True] Translation: X:118.51, Y:111.24, Z:43.40 [[-4.68003111e-02 -9.98791166e-01 -1.50312402e-02 1.18512897e+02] [ 9.70177654e-01 -4.18664870e-02 -2.38752001e-01 1.11239800e+02] [ 2.37834084e-01 -2.57566413e-02 9.70964234e-01 4.34028016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.640714057 meters Centerline goodness : 0.988148 Centerline is valid? [True, True] Translation: X:118.52, Y:111.26, Z:43.40 [[-3.61946617e-02 -9.98917843e-01 -2.92076987e-02 1.18515439e+02] [ 9.73908366e-01 -2.87061478e-02 -2.25118748e-01 1.11262222e+02] [ 2.24036694e-01 -3.65937190e-02 9.73893454e-01 4.34011407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.670714057 meters Centerline goodness : 0.990402 Centerline is valid? [True, True] Translation: X:118.49, Y:111.29, Z:43.43 [[-3.77368811e-02 -9.99218707e-01 1.17432149e-02 1.18494887e+02] [ 9.70671186e-01 -3.94458588e-02 -2.37152846e-01 1.11293138e+02] [ 2.37430782e-01 2.44939157e-03 9.71401371e-01 4.34264138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.700714057 meters Centerline goodness : 0.990066 Centerline is valid? [True, True] Translation: X:118.51, Y:111.32, Z:43.42 [[-3.62625134e-02 -9.99214598e-01 -1.59755009e-02 1.18505386e+02] [ 9.70852011e-01 -3.14342924e-02 -2.37609465e-01 1.11321306e+02] [ 2.36920668e-01 -2.41261636e-02 9.71229389e-01 4.34224035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.730714057 meters Centerline goodness : 0.987249 Centerline is valid? [True, True] Translation: X:118.51, Y:111.34, Z:43.42 [[-3.01273577e-02 -9.99070281e-01 -3.08369307e-02 1.18508778e+02] [ 9.71235765e-01 -2.19696257e-02 -2.37104246e-01 1.11340068e+02] [ 2.36206330e-01 -3.70932544e-02 9.70994676e-01 4.34228224e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.76071405700003 meters Centerline goodness : 0.987941 Centerline is valid? [True, True] Translation: X:118.51, Y:111.36, Z:43.43 [[-3.41447455e-02 -9.98972260e-01 -2.98087133e-02 1.18505353e+02] [ 9.71749915e-01 -2.62153891e-02 -2.34552459e-01 1.11363872e+02] [ 2.33529953e-01 -3.69753486e-02 9.71646327e-01 4.34341805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.790714057 meters Centerline goodness : 0.987334 Centerline is valid? [True, True] Translation: X:118.49, Y:111.39, Z:43.45 [[-3.59124024e-02 -9.99332387e-01 -6.71414756e-03 1.18493388e+02] [ 9.71519641e-01 -3.33367057e-02 -2.34602326e-01 1.11389382e+02] [ 2.34221875e-01 -1.49480594e-02 9.72068243e-01 4.34503437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.82071405700003 meters Centerline goodness : 0.987246 Centerline is valid? [True, True] Translation: X:118.49, Y:111.41, Z:43.46 [[-3.71818899e-02 -9.99267003e-01 -9.10847251e-03 1.18493436e+02] [ 9.71611948e-01 -3.40188136e-02 -2.34121639e-01 1.11414001e+02] [ 2.33640169e-01 -1.75549857e-02 9.72164643e-01 4.34569697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.850714057 meters Centerline goodness : 0.987408 Centerline is valid? [True, True] Translation: X:118.49, Y:111.44, Z:43.47 [[-4.12094471e-02 -9.99096269e-01 -1.04127847e-02 1.18492270e+02] [ 9.70984108e-01 -3.75884854e-02 -2.36171478e-01 1.11440245e+02] [ 2.35566642e-01 -1.98431445e-02 9.71655601e-01 4.34658347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.88071405700003 meters Centerline goodness : 0.988808 Centerline is valid? [True, True] Translation: X:118.49, Y:111.47, Z:43.48 [[-4.16376149e-02 -9.99108540e-01 6.95952609e-03 1.18486979e+02] [ 9.72024535e-01 -4.21184828e-02 -2.31072146e-01 1.11472631e+02] [ 2.31159279e-01 -2.85646290e-03 9.72911727e-01 4.34750082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.910714057 meters Centerline goodness : 0.990754 Centerline is valid? [True, True] Translation: X:118.49, Y:111.52, Z:43.49 [[-4.93639010e-02 -9.98777741e-01 2.49597000e-03 1.18486238e+02] [ 9.68777443e-01 -4.84887803e-02 -2.43144205e-01 1.11519413e+02] [ 2.42968046e-01 -9.58450701e-03 9.69986941e-01 4.34910407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.94071405700004 meters Centerline goodness : 0.988395 Centerline is valid? [True, True] Translation: X:118.50, Y:111.51, Z:43.48 [[-4.94710071e-02 -9.98625670e-01 -1.73028938e-02 1.18495841e+02] [ 9.70074698e-01 -4.39189727e-02 -2.38801599e-01 1.11513413e+02] [ 2.37713482e-01 -2.85988550e-02 9.70914212e-01 4.34766573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.970714057 meters Centerline goodness : 0.987542 Centerline is valid? [True, True] Translation: X:118.49, Y:111.52, Z:43.49 [[-5.10067810e-02 -9.98698303e-01 9.43054577e-05 1.18488944e+02] [ 9.70532663e-01 -4.95905372e-02 -2.35811636e-01 1.11519737e+02] [ 2.35509358e-01 -1.19364660e-02 9.71798777e-01 4.34858970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.000714057 meters Centerline goodness : 0.989542 Centerline is valid? [True, True] Translation: X:118.49, Y:111.56, Z:43.50 [[-5.34844326e-02 -9.98565102e-01 -2.67444918e-03 1.18489389e+02] [ 9.69359497e-01 -5.12767232e-02 -2.40235018e-01 1.11560209e+02] [ 2.39753168e-01 -1.54413363e-02 9.70711071e-01 4.34955893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.030714057 meters Centerline goodness : 0.987741 Centerline is valid? [True, True] Translation: X:118.49, Y:111.56, Z:43.49 [[-5.36645561e-02 -9.98554506e-01 -3.00218716e-03 1.18490169e+02] [ 9.69559661e-01 -5.13865371e-02 -2.39402355e-01 1.11558192e+02] [ 2.38902029e-01 -1.57582207e-02 9.70915804e-01 4.34941050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.060714057 meters Centerline goodness : 0.988781 Centerline is valid? [True, True] Translation: X:118.49, Y:111.52, Z:43.49 [[-5.28164646e-02 -9.98604049e-01 6.11221480e-04 1.18489471e+02] [ 9.69661398e-01 -5.14319532e-02 -2.38980181e-01 1.11516445e+02] [ 2.38678013e-01 -1.20294104e-02 9.71024253e-01 4.34856145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.090714057 meters Centerline goodness : 0.987350 Centerline is valid? [True, True] Translation: X:118.49, Y:111.50, Z:43.48 [[-5.00878807e-02 -9.98743243e-01 1.77145653e-03 1.18489885e+02] [ 9.70690798e-01 -4.90983079e-02 -2.35263111e-01 1.11502917e+02] [ 2.35054418e-01 -1.00642941e-02 9.71930106e-01 4.34802003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.120714057 meters Centerline goodness : 0.986046 Centerline is valid? [True, True] Translation: X:118.49, Y:111.50, Z:43.48 [[-5.14980762e-02 -9.98638561e-01 -8.30496389e-03 1.18493255e+02] [ 9.70159915e-01 -4.80530614e-02 -2.37656563e-01 1.11503583e+02] [ 2.36933929e-01 -2.02959988e-02 9.71313742e-01 4.34790783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.150714057 meters Centerline goodness : 0.988017 Centerline is valid? [True, True] Translation: X:118.49, Y:111.49, Z:43.48 [[-4.73453560e-02 -9.98878124e-01 -9.54251229e-04 1.18491135e+02] [ 9.70969745e-01 -4.57982518e-02 -2.34777075e-01 1.11492990e+02] [ 2.34469981e-01 -1.20421533e-02 9.72048772e-01 4.34760442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.180714057 meters Centerline goodness : 0.987578 Centerline is valid? [True, True] Translation: X:118.49, Y:111.52, Z:43.48 [[-4.78741390e-02 -9.98836576e-01 -5.79329481e-03 1.18491844e+02] [ 9.70756974e-01 -4.51607623e-02 -2.35778293e-01 1.11517293e+02] [ 2.35242353e-01 -1.69115641e-02 9.71789604e-01 4.34821052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.210714057 meters Centerline goodness : 0.987742 Centerline is valid? [True, True] Translation: X:118.49, Y:111.55, Z:43.49 [[-4.99253514e-02 -9.98707115e-01 -9.56860313e-03 1.18493199e+02] [ 9.70799229e-01 -4.62749871e-02 -2.35387943e-01 1.11547341e+02] [ 2.34640826e-01 -2.10410183e-02 9.71854392e-01 4.34893166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.240714057 meters Centerline goodness : 0.988581 Centerline is valid? [True, True] Translation: X:118.49, Y:111.55, Z:43.49 [[-4.99562349e-02 -9.98751098e-01 -7.86129957e-04 1.18489174e+02] [ 9.70990626e-01 -4.83833727e-02 -2.34171419e-01 1.11553068e+02] [ 2.33840926e-01 -1.24616472e-02 9.72195005e-01 4.34938851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.270714057 meters Centerline goodness : 0.987710 Centerline is valid? [True, True] Translation: X:118.49, Y:111.56, Z:43.50 [[-5.12558489e-02 -9.98681489e-01 -2.84972710e-03 1.18489861e+02] [ 9.71141594e-01 -4.91764605e-02 -2.33378834e-01 1.11557299e+02] [ 2.32930982e-01 -1.47295188e-02 9.72381715e-01 4.34954842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.300714057 meters Centerline goodness : 0.986904 Centerline is valid? [True, True] Translation: X:118.49, Y:111.56, Z:43.50 [[-5.11647286e-02 -9.98688530e-01 1.84130031e-03 1.18488305e+02] [ 9.71941216e-01 -5.02181004e-02 -2.29800815e-01 1.11563764e+02] [ 2.29591905e-01 -9.96806067e-03 9.73235940e-01 4.34971411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.330714057 meters Centerline goodness : 0.987604 Centerline is valid? [True, True] Translation: X:118.49, Y:111.56, Z:43.49 [[-5.12283912e-02 -9.98686767e-01 -6.27182495e-04 1.18489609e+02] [ 9.72449528e-01 -4.97395066e-02 -2.27745247e-01 1.11560915e+02] [ 2.27414968e-01 -1.22769259e-02 9.73720550e-01 4.34949349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.360714057 meters Centerline goodness : 0.987604 Centerline is valid? [True, True] Translation: X:118.49, Y:111.59, Z:43.50 [[-5.18506531e-02 -9.98634757e-01 -6.33502833e-03 1.18491780e+02] [ 9.72481422e-01 -4.90478991e-02 -2.27759054e-01 1.11588879e+02] [ 2.27137388e-01 -1.79701531e-02 9.73696914e-01 4.34993489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.390714057 meters Centerline goodness : 0.988357 Centerline is valid? [True, True] Translation: X:118.49, Y:111.58, Z:43.50 [[-5.01642219e-02 -9.98740708e-01 7.41173170e-04 1.18489572e+02] [ 9.73108004e-01 -4.90437805e-02 -2.25067811e-01 1.11577714e+02] [ 2.24820735e-01 -1.05691101e-02 9.74342820e-01 4.34978892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.420714057 meters Centerline goodness : 0.988935 Centerline is valid? [True, True] Translation: X:118.49, Y:111.61, Z:43.50 [[-5.17274691e-02 -9.98661178e-01 3.48123480e-04 1.18490229e+02] [ 9.73162478e-01 -5.04849807e-02 -2.24512936e-01 1.11609632e+02] [ 2.24229928e-01 -1.12747053e-02 9.74471046e-01 4.35024629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.450714057 meters Centerline goodness : 0.988391 Centerline is valid? [True, True] Translation: X:118.49, Y:111.60, Z:43.50 [[-5.10520453e-02 -9.98687961e-01 -4.00556336e-03 1.18492497e+02] [ 9.72386487e-01 -4.87921911e-02 -2.28218846e-01 1.11600637e+02] [ 2.27723974e-01 -1.55459946e-02 9.73601620e-01 4.34992332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.480714057 meters Centerline goodness : 0.987630 Centerline is valid? [True, True] Translation: X:118.49, Y:111.62, Z:43.50 [[-5.22300036e-02 -9.98585105e-01 -9.99074637e-03 1.18494928e+02] [ 9.71583183e-01 -4.84997966e-02 -2.31676257e-01 1.11623814e+02] [ 2.30863910e-01 -2.18072929e-02 9.72741639e-01 4.35027581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.51071405700003 meters Centerline goodness : 0.986545 Centerline is valid? [True, True] Translation: X:118.49, Y:111.61, Z:43.50 [[-5.03887399e-02 -9.98727709e-01 -1.98472872e-03 1.18491803e+02] [ 9.72109946e-01 -4.85898457e-02 -2.29436877e-01 1.11609733e+02] [ 2.29048529e-01 -1.34904097e-02 9.73321519e-01 4.35025959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.540714057 meters Centerline goodness : 0.986442 Centerline is valid? [True, True] Translation: X:118.49, Y:111.62, Z:43.51 [[-4.82728251e-02 -9.98804257e-01 -7.73237658e-03 1.18491787e+02] [ 9.70969862e-01 -4.51089845e-02 -2.34909997e-01 1.11624737e+02] [ 2.34280306e-01 -1.88476738e-02 9.71986370e-01 4.35059228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.57071405700003 meters Centerline goodness : 0.986811 Centerline is valid? [True, True] Translation: X:118.49, Y:111.62, Z:43.51 [[-4.71646030e-02 -9.98858352e-01 -7.58241063e-03 1.18489757e+02] [ 9.70826745e-01 -4.40517693e-02 -2.35700814e-01 1.11619843e+02] [ 2.35097708e-01 -1.84779423e-02 9.71796086e-01 4.35069855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.600714057 meters Centerline goodness : 0.985617 Centerline is valid? [True, True] Translation: X:118.49, Y:111.62, Z:43.51 [[-4.28511552e-02 -9.99079422e-01 -2.02181614e-03 1.18485060e+02] [ 9.70972371e-01 -4.11688022e-02 -2.35622123e-01 1.11624210e+02] [ 2.35321979e-01 -1.20598078e-02 9.71842645e-01 4.35114419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.63071405700003 meters Centerline goodness : 0.987017 Centerline is valid? [True, True] Translation: X:118.48, Y:111.63, Z:43.51 [[-4.07412506e-02 -9.99160650e-01 -4.25991317e-03 1.18484858e+02] [ 9.71298755e-01 -3.86044878e-02 -2.34709227e-01 1.11627407e+02] [ 2.34347772e-01 -1.36999958e-02 9.72056290e-01 4.35116466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.660714057 meters Centerline goodness : 0.986457 Centerline is valid? [True, True] Translation: X:118.48, Y:111.63, Z:43.51 [[-3.71932200e-02 -9.99307750e-01 -8.27732566e-04 1.18482955e+02] [ 9.72161406e-01 -3.59910817e-02 -2.31531517e-01 1.11625234e+02] [ 2.31341448e-01 -9.41609230e-03 9.72827051e-01 4.35126073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.69071405700004 meters Centerline goodness : 0.984488 Centerline is valid? [True, True] Translation: X:118.48, Y:111.63, Z:43.52 [[-3.83347860e-02 -9.99261894e-01 -2.47211048e-03 1.18482620e+02] [ 9.71786852e-01 -3.67043623e-02 -2.32987346e-01 1.11633292e+02] [ 2.32724639e-01 -1.13338845e-02 9.72476625e-01 4.35152062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.720714057 meters Centerline goodness : 0.984056 Centerline is valid? [True, True] Translation: X:118.48, Y:111.62, Z:43.51 [[-3.86833753e-02 -9.99246913e-01 -3.03358147e-03 1.18482719e+02] [ 9.71482057e-01 -3.68974524e-02 -2.34224661e-01 1.11623053e+02] [ 2.33936338e-01 -1.20076704e-02 9.72177765e-01 4.35119618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.750714057 meters Centerline goodness : 0.986154 Centerline is valid? [True, True] Translation: X:118.48, Y:111.63, Z:43.51 [[-3.99440737e-02 -9.99191824e-01 -4.49109920e-03 1.18483503e+02] [ 9.71418442e-01 -3.77804643e-02 -2.34347706e-01 1.11629583e+02] [ 2.33988636e-01 -1.37235386e-02 9.72142470e-01 4.35117026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.780714057 meters Centerline goodness : 0.984717 Centerline is valid? [True, True] Translation: X:118.48, Y:111.65, Z:43.52 [[-4.53758193e-02 -9.98969806e-01 -6.01994581e-04 1.18482898e+02] [ 9.70693835e-01 -4.39490729e-02 -2.36266709e-01 1.11652784e+02] [ 2.35996852e-01 -1.13051479e-02 9.71688057e-01 4.35183220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.810714057 meters Centerline goodness : 0.986837 Centerline is valid? [True, True] Translation: X:118.49, Y:111.65, Z:43.51 [[-4.71971076e-02 -9.98855404e-01 -7.76622924e-03 1.18486599e+02] [ 9.70355562e-01 -4.40027570e-02 -2.37642256e-01 1.11648509e+02] [ 2.37028516e-01 -1.87520308e-02 9.71321700e-01 4.35147188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.840714057 meters Centerline goodness : 0.985473 Centerline is valid? [True, True] Translation: X:118.48, Y:111.65, Z:43.52 [[-5.16679765e-02 -9.98653650e-01 4.61604954e-03 1.18482029e+02] [ 9.70130635e-01 -5.12882008e-02 -2.37099285e-01 1.11651084e+02] [ 2.37016815e-01 -7.77226921e-03 9.71474457e-01 4.35203048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.870714057 meters Centerline goodness : 0.986483 Centerline is valid? [True, True] Translation: X:118.49, Y:111.66, Z:43.52 [[-5.31746717e-02 -9.98567397e-01 -5.96723653e-03 1.18486133e+02] [ 9.70074987e-01 -5.02378643e-02 -2.37551418e-01 1.11659639e+02] [ 2.36911319e-01 -1.84203855e-02 9.71356637e-01 4.35180806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.900714057 meters Centerline goodness : 0.986381 Centerline is valid? [True, True] Translation: X:118.49, Y:111.68, Z:43.52 [[-5.68032765e-02 -9.98375525e-01 -4.43823326e-03 1.18485541e+02] [ 9.69554570e-01 -5.41018065e-02 -2.38824058e-01 1.11681224e+02] [ 2.38195978e-01 -1.78690983e-02 9.71052713e-01 4.35240488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.930714057 meters Centerline goodness : 0.986159 Centerline is valid? [True, True] Translation: X:118.48, Y:111.70, Z:43.53 [[-5.84800114e-02 -9.98288520e-01 -3.45732384e-04 1.18484592e+02] [ 9.69712109e-01 -5.67237200e-02 -2.37572822e-01 1.11697807e+02] [ 2.37146610e-01 -1.42285222e-02 9.71369669e-01 4.35300973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.960714057 meters Centerline goodness : 0.986443 Centerline is valid? [True, True] Translation: X:118.49, Y:111.67, Z:43.52 [[-6.01972937e-02 -9.98162142e-01 -6.97305579e-03 1.18487445e+02] [ 9.69136244e-01 -5.67708798e-02 -2.39899997e-01 1.11669466e+02] [ 2.39063229e-01 -2.11991717e-02 9.70772562e-01 4.35206307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.990714057 meters Centerline goodness : 0.985364 Centerline is valid? [True, True] Translation: X:118.48, Y:111.66, Z:43.52 [[-6.13741821e-02 -9.98107132e-01 3.91961222e-03 1.18483309e+02] [ 9.69040089e-01 -6.05268482e-02 -2.39369603e-01 1.11663082e+02] [ 2.39153750e-01 -1.08928522e-02 9.70920609e-01 4.35247892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.020714057 meters Centerline goodness : 0.986699 Centerline is valid? [True, True] Translation: X:118.49, Y:111.67, Z:43.52 [[-6.09780556e-02 -9.98103146e-01 -8.47274998e-03 1.18487057e+02] [ 9.69075402e-01 -5.71668730e-02 -2.40051692e-01 1.11665558e+02] [ 2.39111988e-01 -2.28486190e-02 9.70723131e-01 4.35197452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.050714057 meters Centerline goodness : 0.987152 Centerline is valid? [True, True] Translation: X:118.48, Y:111.69, Z:43.53 [[-6.02528863e-02 -9.98180065e-01 2.47932246e-03 1.18481571e+02] [ 9.68405666e-01 -5.90574233e-02 -2.42286372e-01 1.11688160e+02] [ 2.41991849e-01 -1.21974633e-02 9.70201612e-01 4.35307709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.080714057 meters Centerline goodness : 0.984262 Centerline is valid? [True, True] Translation: X:118.48, Y:111.71, Z:43.54 [[-5.77692416e-02 -9.98271431e-01 1.08103817e-02 1.18478407e+02] [ 9.68266983e-01 -5.86636782e-02 -2.42935427e-01 1.11710429e+02] [ 2.43149673e-01 -3.56685973e-03 9.69982224e-01 4.35378290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.110714057 meters Centerline goodness : 0.988362 Centerline is valid? [True, True] Translation: X:118.49, Y:111.75, Z:43.54 [[-6.00235371e-02 -9.98133002e-01 -1.12997594e-02 1.18486723e+02] [ 9.69038264e-01 -5.55503141e-02 -2.40580559e-01 1.11746249e+02] [ 2.39503690e-01 -2.53903954e-02 9.70563398e-01 4.35372571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.140714057 meters Centerline goodness : 0.987446 Centerline is valid? [True, True] Translation: X:118.48, Y:111.74, Z:43.54 [[-5.91220072e-02 -9.98247127e-01 2.69472857e-03 1.18481511e+02] [ 9.68507635e-01 -5.80142837e-02 -2.42130760e-01 1.11737336e+02] [ 2.41862668e-01 -1.17053913e-02 9.70239885e-01 4.35402187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.170714057 meters Centerline goodness : 0.988008 Centerline is valid? [True, True] Translation: X:118.48, Y:111.77, Z:43.54 [[-6.06055126e-02 -9.98159731e-01 -2.03056162e-03 1.18483139e+02] [ 9.68732950e-01 -5.83282226e-02 -2.41152007e-01 1.11767987e+02] [ 2.40589783e-01 -1.65822129e-02 9.70485232e-01 4.35447014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.200714057 meters Centerline goodness : 0.987267 Centerline is valid? [True, True] Translation: X:118.48, Y:111.77, Z:43.54 [[-6.15057997e-02 -9.98085751e-01 -6.47074591e-03 1.18484402e+02] [ 9.67988136e-01 -5.80679718e-02 -2.44186566e-01 1.11774286e+02] [ 2.43343389e-01 -2.12824953e-02 9.69706683e-01 4.35446583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.230714057 meters Centerline goodness : 0.990370 Centerline is valid? [True, True] Translation: X:118.47, Y:111.79, Z:43.56 [[-6.09431266e-02 -9.98024527e-01 1.52636673e-02 1.18473908e+02] [ 9.67775062e-01 -6.28254426e-02 -2.43853221e-01 1.11793861e+02] [ 2.44330442e-01 -8.93811685e-05 9.69692027e-01 4.35589820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.26071405700003 meters Centerline goodness : 0.988091 Centerline is valid? [True, True] Translation: X:118.49, Y:111.82, Z:43.54 [[-5.71137046e-02 -9.97702471e-01 -3.64390338e-02 1.18494608e+02] [ 9.70461782e-01 -4.69111460e-02 -2.36650108e-01 1.11817020e+02] [ 2.34397000e-01 -4.88786540e-02 9.70911388e-01 4.35435886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.290714057 meters Centerline goodness : 0.989853 Centerline is valid? [True, True] Translation: X:118.47, Y:111.85, Z:43.57 [[-6.30979283e-02 -9.97952586e-01 1.04540620e-02 1.18473615e+02] [ 9.67015289e-01 -6.37252950e-02 -2.46618163e-01 1.11846609e+02] [ 2.46779422e-01 -5.45185742e-03 9.69056342e-01 4.35722878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.32071405700003 meters Centerline goodness : 0.987197 Centerline is valid? [True, True] Translation: X:118.49, Y:111.87, Z:43.56 [[-5.93781176e-02 -9.97955241e-01 -2.36553798e-02 1.18487200e+02] [ 9.69261855e-01 -5.19705716e-02 -2.40479763e-01 1.11870876e+02] [ 2.38758656e-01 -3.72074930e-02 9.70365862e-01 4.35626833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.350714057 meters Centerline goodness : 0.989157 Centerline is valid? [True, True] Translation: X:118.48, Y:111.90, Z:43.58 [[-6.15262505e-02 -9.98040760e-01 -1.13649449e-02 1.18479603e+02] [ 9.69821010e-01 -5.70873450e-02 -2.37040593e-01 1.11898981e+02] [ 2.35927379e-01 -2.56061813e-02 9.71433268e-01 4.35750938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.38071405700003 meters Centerline goodness : 0.987900 Centerline is valid? [True, True] Translation: X:118.47, Y:111.92, Z:43.58 [[-5.87108522e-02 -9.98273742e-01 -1.60364539e-03 1.18474202e+02] [ 9.70593710e-01 -5.67071036e-02 -2.33949042e-01 1.11923123e+02] [ 2.33454247e-01 -1.52918357e-02 9.72247538e-01 4.35842836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.410714057 meters Centerline goodness : 0.987259 Centerline is valid? [True, True] Translation: X:118.48, Y:111.95, Z:43.59 [[-6.09248526e-02 -9.98035282e-01 -1.46197799e-02 1.18477852e+02] [ 9.70513144e-01 -5.58097051e-02 -2.34498432e-01 1.11950390e+02] [ 2.33221783e-01 -2.84754709e-02 9.72006557e-01 4.35880701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.44071405700004 meters Centerline goodness : 0.987498 Centerline is valid? [True, True] Translation: X:118.47, Y:111.95, Z:43.59 [[-5.99475462e-02 -9.98197642e-01 -2.78569235e-03 1.18472778e+02] [ 9.70738652e-01 -5.76479122e-02 -2.33116252e-01 1.11947321e+02] [ 2.32535503e-01 -1.66789265e-02 9.72444884e-01 4.35919830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.470714057 meters Centerline goodness : 0.987763 Centerline is valid? [True, True] Translation: X:118.47, Y:111.95, Z:43.59 [[-6.03712254e-02 -9.98175580e-01 -9.09578359e-04 1.18471616e+02] [ 9.70918536e-01 -5.85111320e-02 -2.32150048e-01 1.11946509e+02] [ 2.31673288e-01 -1.48983093e-02 9.72679561e-01 4.35921375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.500714057 meters Centerline goodness : 0.987006 Centerline is valid? [True, True] Translation: X:118.47, Y:111.97, Z:43.60 [[-6.15198661e-02 -9.98083981e-01 -6.60856288e-03 1.18473300e+02] [ 9.70972125e-01 -5.83127772e-02 -2.31975758e-01 1.11974564e+02] [ 2.31145924e-01 -2.06878479e-02 9.72699118e-01 4.35960988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.530714057 meters Centerline goodness : 0.986966 Centerline is valid? [True, True] Translation: X:118.47, Y:111.97, Z:43.60 [[-6.37174910e-02 -9.97953207e-01 -5.42941933e-03 1.18471787e+02] [ 9.69911249e-01 -6.06442633e-02 -2.35784738e-01 1.11973619e+02] [ 2.34972872e-01 -2.02896668e-02 9.71790141e-01 4.35983588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.560714057 meters Centerline goodness : 0.985051 Centerline is valid? [True, True] Translation: X:118.47, Y:111.98, Z:43.60 [[-6.57379575e-02 -9.97834079e-01 2.38153120e-03 1.18467784e+02] [ 9.69681034e-01 -6.44458173e-02 -2.35723203e-01 1.11983689e+02] [ 2.35366125e-01 -1.31866362e-02 9.71817318e-01 4.36033882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.590714057 meters Centerline goodness : 0.986751 Centerline is valid? [True, True] Translation: X:118.47, Y:111.98, Z:43.60 [[-6.60909863e-02 -9.97807668e-01 -3.44090777e-03 1.18469626e+02] [ 9.68925162e-01 -6.33533789e-02 -2.39103283e-01 1.11979124e+02] [ 2.38361096e-01 -1.91365539e-02 9.70988043e-01 4.35996065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.620714057 meters Centerline goodness : 0.986756 Centerline is valid? [True, True] Translation: X:118.47, Y:112.01, Z:43.60 [[-6.69910843e-02 -9.97747913e-01 -3.36110252e-03 1.18469573e+02] [ 9.69559326e-01 -6.43025435e-02 -2.36262347e-01 1.12005247e+02] [ 2.35514136e-01 -1.90862591e-02 9.71683491e-01 4.36042389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.650714057 meters Centerline goodness : 0.987162 Centerline is valid? [True, True] Translation: X:118.47, Y:112.00, Z:43.60 [[-6.86028343e-02 -9.97639489e-01 -3.01697653e-03 1.18468531e+02] [ 9.69091086e-01 -6.59207674e-02 -2.37732872e-01 1.12003953e+02] [ 2.36972820e-01 -1.92328739e-02 9.71325887e-01 4.36035054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.680714057 meters Centerline goodness : 0.987544 Centerline is valid? [True, True] Translation: X:118.47, Y:112.03, Z:43.61 [[-6.94954227e-02 -9.97579853e-01 -2.19612077e-03 1.18467492e+02] [ 9.69086348e-01 -6.69877083e-02 -2.37453781e-01 1.12030887e+02] [ 2.36731994e-01 -1.86301815e-02 9.71396355e-01 4.36099544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.710714057 meters Centerline goodness : 0.987706 Centerline is valid? [True, True] Translation: X:118.46, Y:112.04, Z:43.62 [[-6.64842286e-02 -9.97695802e-01 1.35253252e-02 1.18460391e+02] [ 9.69023331e-01 -6.77930040e-02 -2.37482406e-01 1.12035204e+02] [ 2.37852122e-01 -2.68247885e-03 9.71297675e-01 4.36189145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.740714057 meters Centerline goodness : 0.987355 Centerline is valid? [True, True] Translation: X:118.47, Y:112.07, Z:43.61 [[-6.72723434e-02 -9.97500623e-01 -2.16087481e-02 1.18473258e+02] [ 9.71525335e-01 -6.05583155e-02 -2.29065958e-01 1.12065305e+02] [ 2.27184846e-01 -3.64032501e-02 9.73171028e-01 4.36106494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.770714057 meters Centerline goodness : 0.987141 Centerline is valid? [True, True] Translation: X:118.46, Y:112.09, Z:43.62 [[-6.29521287e-02 -9.98014927e-01 -1.79865314e-03 1.18462134e+02] [ 9.71859435e-01 -6.08922028e-02 -2.27555219e-01 1.12090918e+02] [ 2.26993982e-01 -1.60731235e-02 9.73763517e-01 4.36244593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.800714057 meters Centerline goodness : 0.987884 Centerline is valid? [True, True] Translation: X:118.46, Y:112.06, Z:43.62 [[-5.93308318e-02 -9.98234164e-01 -2.89939293e-03 1.18462058e+02] [ 9.72340170e-01 -5.71340044e-02 -2.26473617e-01 1.12057991e+02] [ 2.25908048e-01 -1.62560643e-02 9.74012985e-01 4.36160798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.830714057 meters Centerline goodness : 0.987896 Centerline is valid? [True, True] Translation: X:118.46, Y:112.08, Z:43.62 [[-5.27149453e-02 -9.98607882e-01 -1.85275200e-03 1.18459057e+02] [ 9.72385957e-01 -5.09081628e-02 -2.27758444e-01 1.12083537e+02] [ 2.27347057e-01 -1.38078639e-02 9.73715902e-01 4.36229613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.860714057 meters Centerline goodness : 0.986426 Centerline is valid? [True, True] Translation: X:118.46, Y:112.11, Z:43.63 [[-5.10209201e-02 -9.98680958e-01 -5.76278029e-03 1.18459612e+02] [ 9.72605895e-01 -4.83767709e-02 -2.27370759e-01 1.12109401e+02] [ 2.26792062e-01 -1.72055794e-02 9.73791214e-01 4.36284416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.890714057 meters Centerline goodness : 0.986918 Centerline is valid? [True, True] Translation: X:118.46, Y:112.14, Z:43.64 [[-4.81288739e-02 -9.98826569e-01 -5.39420273e-03 1.18457482e+02] [ 9.72534061e-01 -4.56293160e-02 -2.28244312e-01 1.12135878e+02] [ 2.27730350e-01 -1.62311876e-02 9.73588946e-01 4.36358643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.920714057 meters Centerline goodness : 0.987093 Centerline is valid? [True, True] Translation: X:118.46, Y:112.16, Z:43.64 [[-4.79056196e-02 -9.98820449e-01 -7.92227918e-03 1.18457869e+02] [ 9.72932917e-01 -4.48659704e-02 -2.26690504e-01 1.12164142e+02] [ 2.26067670e-01 -1.85675952e-02 9.73934625e-01 4.36407474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.950714057 meters Centerline goodness : 0.987986 Centerline is valid? [True, True] Translation: X:118.45, Y:112.19, Z:43.66 [[-4.74973880e-02 -9.98811723e-01 1.09151463e-02 1.18448395e+02] [ 9.72783926e-01 -4.87352259e-02 -2.26531038e-01 1.12186326e+02] [ 2.26793808e-01 -1.41553699e-04 9.73942785e-01 4.36551132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.980714057 meters Centerline goodness : 0.988018 Centerline is valid? [True, True] Translation: X:118.46, Y:112.22, Z:43.65 [[-4.68045042e-02 -9.98717858e-01 -1.92867199e-02 1.18459948e+02] [ 9.73910090e-01 -4.13327658e-02 -2.23138385e-01 1.12216475e+02] [ 2.22055116e-01 -2.92274126e-02 9.74595959e-01 4.36480717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.01071405700003 meters Centerline goodness : 0.985900 Centerline is valid? [True, True] Translation: X:118.45, Y:112.16, Z:43.65 [[-4.54237305e-02 -9.98967713e-01 4.38993356e-04 1.18451907e+02] [ 9.73430931e-01 -4.43612744e-02 -2.24642605e-01 1.12159101e+02] [ 2.24430184e-01 -9.77677545e-03 9.74441126e-01 4.36454219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.040714057 meters Centerline goodness : 0.987641 Centerline is valid? [True, True] Translation: X:118.45, Y:112.18, Z:43.65 [[-4.27417033e-02 -9.99083310e-01 -2.38472356e-03 1.18451665e+02] [ 9.73597215e-01 -4.11154288e-02 -2.24539493e-01 1.12178409e+02] [ 2.24235611e-01 -1.19189606e-02 9.74462072e-01 4.36483347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.07071405700003 meters Centerline goodness : 0.987895 Centerline is valid? [True, True] Translation: X:118.45, Y:112.17, Z:43.65 [[-4.13291632e-02 -9.99129176e-01 -5.72617754e-03 1.18451775e+02] [ 9.73237465e-01 -3.89601812e-02 -2.26475033e-01 1.12172126e+02] [ 2.26054720e-01 -1.49329541e-02 9.74000139e-01 4.36469926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.100714057 meters Centerline goodness : 0.983867 Centerline is valid? [True, True] Translation: X:118.45, Y:112.16, Z:43.65 [[-4.26412103e-02 -9.99006750e-01 1.29321250e-02 1.18445835e+02] [ 9.74279984e-01 -4.44455140e-02 -2.20914257e-01 1.12159870e+02] [ 2.21269608e-01 3.17945928e-03 9.75207491e-01 4.36535151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.13071405700003 meters Centerline goodness : 0.987304 Centerline is valid? [True, True] Translation: X:118.45, Y:112.17, Z:43.64 [[-3.77889790e-02 -9.99233404e-01 -1.02272647e-02 1.18453555e+02] [ 9.73784937e-01 -3.45253558e-02 -2.24835263e-01 1.12167947e+02] [ 2.24309805e-01 -1.84554513e-02 9.74343116e-01 4.36447867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.160714057 meters Centerline goodness : 0.988880 Centerline is valid? [True, True] Translation: X:118.45, Y:112.16, Z:43.65 [[-3.03973713e-02 -9.99535140e-01 2.34584096e-03 1.18448832e+02] [ 9.75322073e-01 -3.01743252e-02 -2.18715260e-01 1.12161994e+02] [ 2.18684372e-01 -4.36041850e-03 9.75785905e-01 4.36468878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.19071405700004 meters Centerline goodness : 0.985901 Centerline is valid? [True, True] Translation: X:118.45, Y:112.19, Z:43.65 [[-2.63927109e-02 -9.99650338e-01 1.62065664e-03 1.18450397e+02] [ 9.75328955e-01 -2.61059634e-02 -2.19207456e-01 1.12185369e+02] [ 2.19173117e-01 -4.20480566e-03 9.75676926e-01 4.36493766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.220714057 meters Centerline goodness : 0.988212 Centerline is valid? [True, True] Translation: X:118.45, Y:112.22, Z:43.66 [[-2.41302426e-02 -9.99698889e-01 -4.45674066e-03 1.18453424e+02] [ 9.75538073e-01 -2.25722178e-02 -2.18668615e-01 1.12218723e+02] [ 2.18502173e-01 -9.62424692e-03 9.75789001e-01 4.36555801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.250714057 meters Centerline goodness : 0.987541 Centerline is valid? [True, True] Translation: X:118.45, Y:112.25, Z:43.66 [[-2.15427453e-02 -9.99766399e-01 -1.74852232e-03 1.18452703e+02] [ 9.76286678e-01 -2.06599261e-02 -2.15493594e-01 1.12245316e+02] [ 2.15407130e-01 -6.34938265e-03 9.76503689e-01 4.36609356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.280714057 meters Centerline goodness : 0.987673 Centerline is valid? [True, True] Translation: X:118.45, Y:112.28, Z:43.67 [[-1.70157335e-02 -9.99852203e-01 2.45712457e-03 1.18453202e+02] [ 9.76561474e-01 -1.71466314e-02 -2.14554611e-01 1.12275729e+02] [ 2.14565032e-01 -1.25127088e-03 9.76708903e-01 4.36658850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.310714057 meters Centerline goodness : 0.987673 Centerline is valid? [True, True] Translation: X:118.46, Y:112.31, Z:43.67 [[-1.76677725e-02 -9.99813096e-01 -7.85006891e-03 1.18457316e+02] [ 9.76554704e-01 -1.55710036e-02 -2.14705507e-01 1.12305039e+02] [ 2.14543144e-01 -1.14593898e-02 9.76647286e-01 4.36681146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.340714057 meters Centerline goodness : 0.988299 Centerline is valid? [True, True] Translation: X:118.46, Y:112.32, Z:43.67 [[-1.57685474e-02 -9.99871311e-01 -2.95201582e-03 1.18456126e+02] [ 9.76302095e-01 -1.47594006e-02 -2.15908267e-01 1.12316072e+02] [ 2.15836912e-01 -6.28661896e-03 9.76409190e-01 4.36726470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.370714057 meters Centerline goodness : 0.987462 Centerline is valid? [True, True] Translation: X:118.46, Y:112.30, Z:43.67 [[-1.02975458e-02 -9.99920112e-01 -7.33013307e-03 1.18460089e+02] [ 9.75820675e-01 -8.44826348e-03 -2.18409335e-01 1.12296056e+02] [ 2.18329960e-01 -9.40197552e-03 9.75829714e-01 4.36657496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.400714057 meters Centerline goodness : 0.984703 Centerline is valid? [True, True] Translation: X:118.46, Y:112.31, Z:43.67 [[-5.56672975e-03 -9.99977529e-01 -3.73541345e-03 1.18460009e+02] [ 9.75000891e-01 -4.59783507e-03 -2.22153378e-01 1.12313949e+02] [ 2.22131211e-01 -4.87869926e-03 9.75004576e-01 4.36726256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.430714057 meters Centerline goodness : 0.984894 Centerline is valid? [True, True] Translation: X:118.46, Y:112.34, Z:43.68 [[-4.17193491e-04 -9.99973518e-01 -7.26567950e-03 1.18463601e+02] [ 9.75044085e-01 1.20628930e-03 -2.22008059e-01 1.12340480e+02] [ 2.22010944e-01 -7.17697814e-03 9.75017760e-01 4.36791944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.460714057 meters Centerline goodness : 0.987002 Centerline is valid? [True, True] Translation: X:118.47, Y:112.37, Z:43.68 [[-1.44602698e-03 -9.99676279e-01 -2.54016930e-02 1.18470847e+02] [ 9.74566215e-01 4.28361035e-03 -2.24058794e-01 1.12372642e+02] [ 2.24095072e-01 -2.50796269e-02 9.74244533e-01 4.36846234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.490714057 meters Centerline goodness : 0.986657 Centerline is valid? [True, True] Translation: X:118.46, Y:112.38, Z:43.70 [[ 6.35512341e-03 -9.99979471e-01 -8.18543699e-04 1.18462692e+02] [ 9.74648394e-01 6.37720999e-03 -2.23651157e-01 1.12378347e+02] [ 2.23651786e-01 6.23538405e-04 9.74668913e-01 4.36972787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.520714057 meters Centerline goodness : 0.981465 Centerline is valid? [True, True] Translation: X:118.46, Y:112.36, Z:43.70 [[ 5.47656710e-03 -9.99960401e-01 7.01447024e-03 1.18463553e+02] [ 9.75237966e-01 3.79002708e-03 -2.21125632e-01 1.12362781e+02] [ 2.21090291e-01 8.05178705e-03 9.75220104e-01 4.36975386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.550714057 meters Centerline goodness : 0.985053 Centerline is valid? [True, True] Translation: X:118.47, Y:112.38, Z:43.70 [[ 1.81554397e-02 -9.99829112e-01 -3.48245888e-03 1.18470239e+02] [ 9.75546428e-01 1.84773441e-02 -2.19015421e-01 1.12377651e+02] [ 2.19042340e-01 5.79020938e-04 9.75715183e-01 4.36964560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.580714057 meters Centerline goodness : 0.985472 Centerline is valid? [True, True] Translation: X:118.47, Y:112.38, Z:43.70 [[ 2.17656181e-02 -9.99761517e-01 1.77956041e-03 1.18470707e+02] [ 9.76141357e-01 2.08666781e-02 -2.16131053e-01 1.12379322e+02] [ 2.16042376e-01 6.44132848e-03 9.76362741e-01 4.36971494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.610714057 meters Centerline goodness : 0.986633 Centerline is valid? [True, True] Translation: X:118.48, Y:112.39, Z:43.70 [[ 2.37082396e-02 -9.99697278e-01 -6.57807400e-03 1.18479868e+02] [ 9.75333544e-01 2.45738736e-02 -2.19364089e-01 1.12385630e+02] [ 2.19459331e-01 -1.21507984e-03 9.75620892e-01 4.36955818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.640714057 meters Centerline goodness : 0.985643 Centerline is valid? [True, True] Translation: X:118.48, Y:112.40, Z:43.70 [[ 2.07479550e-02 -9.99771882e-01 -5.07017329e-03 1.18482576e+02] [ 9.74896214e-01 2.13556935e-02 -2.21633269e-01 1.12395883e+02] [ 2.21690987e-01 -3.44455656e-04 9.75116910e-01 4.36995731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.670714057 meters Centerline goodness : 0.985206 Centerline is valid? [True, True] Translation: X:118.49, Y:112.40, Z:43.70 [[ 1.39158981e-02 -9.99900772e-01 -2.18931470e-03 1.18489421e+02] [ 9.74517585e-01 1.40528048e-02 -2.23870487e-01 1.12399695e+02] [ 2.23879039e-01 9.81833221e-04 9.74616443e-01 4.37017610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.700714057 meters Centerline goodness : 0.985447 Centerline is valid? [True, True] Translation: X:118.49, Y:112.41, Z:43.70 [[ 9.39885013e-03 -9.99955012e-01 -1.27907585e-03 1.18493603e+02] [ 9.74527861e-01 9.44646553e-03 -2.24067429e-01 1.12411826e+02] [ 2.24069432e-01 8.59481137e-04 9.74572804e-01 4.37043963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.730714057 meters Centerline goodness : 0.986622 Centerline is valid? [True, True] Translation: X:118.50, Y:112.80, Z:43.79 [[-8.81575042e-03 -9.99861434e-01 -1.41207615e-02 1.18495761e+02] [ 9.72769260e-01 -5.30443415e-03 -2.31714974e-01 1.12801022e+02] [ 2.31607963e-01 -1.57789841e-02 9.72681230e-01 4.37928260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.76071405700003 meters Centerline goodness : 0.985928 Centerline is valid? [True, True] Translation: X:118.50, Y:112.42, Z:43.72 [[-7.07389517e-03 -9.99734470e-01 2.19305404e-02 1.18498899e+02] [ 9.75723731e-01 -1.17013127e-02 -2.18692206e-01 1.12421065e+02] [ 2.18890753e-01 1.98511430e-02 9.75547421e-01 4.37153043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.790714057 meters Centerline goodness : 0.987571 Centerline is valid? [True, True] Translation: X:118.51, Y:112.44, Z:43.71 [[-1.35634519e-02 -9.99887345e-01 -6.42892073e-03 1.18514545e+02] [ 9.75077171e-01 -1.18024028e-02 -2.21551833e-01 1.12437951e+02] [ 2.21450997e-01 -9.27370147e-03 9.75127404e-01 4.37095218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.82071405700003 meters Centerline goodness : 0.988946 Centerline is valid? [True, True] Translation: X:118.52, Y:112.44, Z:43.71 [[-2.39368511e-02 -9.99713315e-01 5.61419436e-04 1.18520450e+02] [ 9.74766061e-01 -2.34641876e-02 -2.21992249e-01 1.12436824e+02] [ 2.21941781e-01 -4.76654280e-03 9.75048269e-01 4.37104597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.850714057 meters Centerline goodness : 0.984424 Centerline is valid? [True, True] Translation: X:118.50, Y:113.46, Z:43.94 [[-6.36176879e-02 -9.97967958e-01 -3.56987489e-03 1.18498895e+02] [ 9.73624066e-01 -6.12796662e-02 -2.19774839e-01 1.13460675e+02] [ 2.19109486e-01 -1.74572832e-02 9.75544092e-01 4.39363481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.88071405700003 meters Centerline goodness : 0.989514 Centerline is valid? [True, True] Translation: X:118.52, Y:112.46, Z:43.72 [[-3.19023055e-02 -9.99405104e-01 1.31026848e-02 1.18521260e+02] [ 9.75184211e-01 -3.39973126e-02 -2.18769144e-01 1.12461259e+02] [ 2.19084455e-01 5.79829133e-03 9.75688670e-01 4.37221344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.910714057 meters Centerline goodness : 0.989100 Centerline is valid? [True, True] Translation: X:118.54, Y:112.49, Z:43.72 [[-4.10458451e-02 -9.99105173e-01 -1.02025938e-02 1.18536768e+02] [ 9.75148855e-01 -3.78324707e-02 -2.18296620e-01 1.12489279e+02] [ 2.17715293e-01 -1.89092169e-02 9.75829131e-01 4.37218081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.94071405700004 meters Centerline goodness : 0.988863 Centerline is valid? [True, True] Translation: X:118.54, Y:112.51, Z:43.73 [[-4.57775207e-02 -9.98949791e-01 -1.93209951e-03 1.18538189e+02] [ 9.75129900e-01 -4.42659263e-02 -2.17168610e-01 1.12512960e+02] [ 2.16855012e-01 -1.18254885e-02 9.76132195e-01 4.37308625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.970714057 meters Centerline goodness : 0.988971 Centerline is valid? [True, True] Translation: X:118.54, Y:112.54, Z:43.74 [[-4.86019860e-02 -9.98772422e-01 -9.56532581e-03 1.18542987e+02] [ 9.75101846e-01 -4.53712718e-02 -2.17066437e-01 1.12540186e+02] [ 2.16365980e-01 -1.98770268e-02 9.76109966e-01 4.37361389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.000714057 meters Centerline goodness : 0.989369 Centerline is valid? [True, True] Translation: X:118.54, Y:112.57, Z:43.74 [[-5.03801771e-02 -9.98727200e-01 -2.41199760e-03 1.18541732e+02] [ 9.75467473e-01 -4.86883580e-02 -2.14691995e-01 1.12568604e+02] [ 2.14301299e-01 -1.31690459e-02 9.76678826e-01 4.37433843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.030714057 meters Centerline goodness : 0.989387 Centerline is valid? [True, True] Translation: X:118.54, Y:112.57, Z:43.75 [[-5.10396566e-02 -9.98696490e-01 5.23354959e-04 1.18543454e+02] [ 9.75229690e-01 -4.99532757e-02 -2.15480214e-01 1.12572021e+02] [ 2.15225477e-01 -1.04876449e-02 9.76508066e-01 4.37452886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.060714057 meters Centerline goodness : 0.989614 Centerline is valid? [True, True] Translation: X:118.55, Y:112.58, Z:43.74 [[-5.26702955e-02 -9.98564525e-01 -9.73287534e-03 1.18547821e+02] [ 9.74551802e-01 -4.92722734e-02 -2.18680196e-01 1.12575520e+02] [ 2.17886725e-01 -2.10031417e-02 9.75748043e-01 4.37432950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.090714057 meters Centerline goodness : 0.988681 Centerline is valid? [True, True] Translation: X:118.54, Y:112.57, Z:43.75 [[-5.24849323e-02 -9.98601748e-01 6.31518944e-03 1.18542845e+02] [ 9.74392378e-01 -5.25950649e-02 -2.18616680e-01 1.12573715e+02] [ 2.18643146e-01 -5.32060917e-03 9.75790380e-01 4.37486610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.120714057 meters Centerline goodness : 0.988606 Centerline is valid? [True, True] Translation: X:118.55, Y:112.60, Z:43.75 [[-5.32828710e-02 -9.98567915e-01 -4.80153665e-03 1.18548250e+02] [ 9.74598450e-01 -5.09552286e-02 -2.18085824e-01 1.12601823e+02] [ 2.17528843e-01 -1.62998090e-02 9.75917783e-01 4.37514222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.150714057 meters Centerline goodness : 0.988800 Centerline is valid? [True, True] Translation: X:118.55, Y:112.61, Z:43.75 [[-5.32198685e-02 -9.98516749e-01 -1.14868510e-02 1.18550560e+02] [ 9.74285142e-01 -4.93993677e-02 -2.19836675e-01 1.12605091e+02] [ 2.18943159e-01 -2.28911472e-02 9.75469061e-01 4.37500530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.180714057 meters Centerline goodness : 0.988897 Centerline is valid? [True, True] Translation: X:118.54, Y:112.62, Z:43.76 [[-5.40681930e-02 -9.98529443e-01 3.94746575e-03 1.18543397e+02] [ 9.73735746e-01 -5.36004576e-02 -2.21281919e-01 1.12616649e+02] [ 2.21168097e-01 -8.12052499e-03 9.75201892e-01 4.37584663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.210714057 meters Centerline goodness : 0.989189 Centerline is valid? [True, True] Translation: X:118.54, Y:112.60, Z:43.75 [[-5.29451157e-02 -9.98594101e-01 2.57624562e-03 1.18544396e+02] [ 9.73905249e-01 -5.22059351e-02 -2.20868978e-01 1.12601892e+02] [ 2.20692954e-01 -9.18491448e-03 9.75300086e-01 4.37542756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.240714057 meters Centerline goodness : 0.989592 Centerline is valid? [True, True] Translation: X:118.56, Y:112.63, Z:43.75 [[-5.59466081e-02 -9.98061770e-01 -2.72521789e-02 1.18555522e+02] [ 9.74089168e-01 -4.85714732e-02 -2.20887086e-01 1.12631556e+02] [ 2.19135277e-01 -3.89039355e-02 9.74918568e-01 4.37547905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.270714057 meters Centerline goodness : 0.989935 Centerline is valid? [True, True] Translation: X:118.54, Y:112.62, Z:43.76 [[-5.19139487e-02 -9.98580066e-01 1.19496031e-02 1.18539034e+02] [ 9.75372342e-01 -5.32687083e-02 -2.14035604e-01 1.12618501e+02] [ 2.14368228e-01 5.43879006e-04 9.76752767e-01 4.37625775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.300714057 meters Centerline goodness : 0.988641 Centerline is valid? [True, True] Translation: X:118.54, Y:112.65, Z:43.76 [[-5.15218465e-02 -9.98670119e-01 -1.86891757e-03 1.18543350e+02] [ 9.75954098e-01 -4.99528507e-02 -2.12175189e-01 1.12647549e+02] [ 2.11799664e-01 -1.27556353e-02 9.77229858e-01 4.37625203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.330714057 meters Centerline goodness : 0.988393 Centerline is valid? [True, True] Translation: X:118.54, Y:112.65, Z:43.77 [[-5.04027533e-02 -9.98678891e-01 1.00017989e-02 1.18538360e+02] [ 9.76254388e-01 -5.13786265e-02 -2.10446207e-01 1.12648428e+02] [ 2.10682063e-01 -8.42768130e-04 9.77554274e-01 4.37664243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.360714057 meters Centerline goodness : 0.989818 Centerline is valid? [True, True] Translation: X:118.55, Y:112.68, Z:43.76 [[-5.11522623e-02 -9.98594051e-01 -1.39056482e-02 1.18548458e+02] [ 9.77294295e-01 -4.71847210e-02 -2.06565880e-01 1.12679889e+02] [ 2.05619325e-01 -2.41562227e-02 9.78333875e-01 4.37642067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.390714057 meters Centerline goodness : 0.989724 Centerline is valid? [True, True] Translation: X:118.54, Y:113.05, Z:43.84 [[-6.29657038e-02 -9.97977870e-01 -8.68854317e-03 1.18537445e+02] [ 9.76732434e-01 -5.98322610e-02 -2.05946237e-01 1.13046998e+02] [ 2.05009932e-01 -2.14539317e-02 9.78524735e-01 4.38445780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.420714057 meters Centerline goodness : 0.988778 Centerline is valid? [True, True] Translation: X:118.53, Y:112.68, Z:43.77 [[-4.80419679e-02 -9.98730699e-01 1.51314588e-02 1.18533598e+02] [ 9.78576323e-01 -5.00980165e-02 -1.99696192e-01 1.12679044e+02] [ 2.00200774e-01 5.21348921e-03 9.79741022e-01 4.37732310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.450714057 meters Centerline goodness : 0.989158 Centerline is valid? [True, True] Translation: X:118.54, Y:112.68, Z:43.77 [[-4.74668181e-02 -9.98867041e-01 -3.39631076e-03 1.18540101e+02] [ 9.78796251e-01 -4.58342239e-02 -1.99642490e-01 1.12680740e+02] [ 1.99260636e-01 -1.28006900e-02 9.79862920e-01 4.37672374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.480714057 meters Centerline goodness : 0.989253 Centerline is valid? [True, True] Translation: X:118.54, Y:112.69, Z:43.77 [[-4.81395696e-02 -9.98813192e-01 -7.40193712e-03 1.18540381e+02] [ 9.78442383e-01 -4.56651814e-02 -2.01408029e-01 1.12687428e+02] [ 2.00830986e-01 -1.69380648e-02 9.79479462e-01 4.37677124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.51071405700003 meters Centerline goodness : 0.989210 Centerline is valid? [True, True] Translation: X:118.54, Y:112.69, Z:43.77 [[-5.00028814e-02 -9.98737106e-01 -4.88934876e-03 1.18537981e+02] [ 9.77863588e-01 -4.79607395e-02 -2.03672706e-01 1.12689575e+02] [ 2.03180992e-01 -1.49653383e-02 9.79026824e-01 4.37703601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.540714057 meters Centerline goodness : 0.989152 Centerline is valid? [True, True] Translation: X:118.54, Y:112.70, Z:43.78 [[-5.21952125e-02 -9.98636713e-01 -6.13058075e-04 1.18535146e+02] [ 9.77274903e-01 -5.09523905e-02 -2.05761072e-01 1.12699522e+02] [ 2.05449324e-01 -1.13388692e-02 9.78602067e-01 4.37751592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.57071405700003 meters Centerline goodness : 0.989139 Centerline is valid? [True, True] Translation: X:118.53, Y:112.69, Z:43.78 [[-5.47615000e-02 -9.98493350e-01 3.49403061e-03 1.18531797e+02] [ 9.77216236e-01 -5.43125599e-02 -2.05179372e-01 1.12694528e+02] [ 2.05060008e-01 -7.82150673e-03 9.78718150e-01 4.37751396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.600714057 meters Centerline goodness : 0.989133 Centerline is valid? [True, True] Translation: X:118.54, Y:112.71, Z:43.78 [[-5.92599070e-02 -9.98106549e-01 -1.64797083e-02 1.18537824e+02] [ 9.75832608e-01 -5.44432580e-02 -2.11628575e-01 1.12713869e+02] [ 2.10330658e-01 -2.86225264e-02 9.77211218e-01 4.37755719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.63071405700003 meters Centerline goodness : 0.988499 Centerline is valid? [True, True] Translation: X:118.53, Y:112.72, Z:43.78 [[-6.29947362e-02 -9.98013223e-01 1.12724434e-03 1.18528997e+02] [ 9.75092495e-01 -6.17885783e-02 -2.13018305e-01 1.12715105e+02] [ 2.12664736e-01 -1.23198644e-02 9.77047558e-01 4.37835002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.660714057 meters Centerline goodness : 0.988602 Centerline is valid? [True, True] Translation: X:118.53, Y:112.71, Z:43.79 [[-6.72246629e-02 -9.97713767e-01 6.93431909e-03 1.18525959e+02] [ 9.74811688e-01 -6.71597040e-02 -2.12677566e-01 1.12713022e+02] [ 2.12657042e-01 -7.53752237e-03 9.77097829e-01 4.37854544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.69071405700004 meters Centerline goodness : 0.987469 Centerline is valid? [True, True] Translation: X:118.53, Y:112.72, Z:43.79 [[-6.91713416e-02 -9.97595511e-01 4.30370991e-03 1.18526199e+02] [ 9.74595847e-01 -6.84965231e-02 -2.13239681e-01 1.12715624e+02] [ 2.13021738e-01 -1.05556970e-02 9.76990438e-01 4.37854053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.720714057 meters Centerline goodness : 0.989969 Centerline is valid? [True, True] Translation: X:118.53, Y:112.73, Z:43.78 [[-6.90776523e-02 -9.97427475e-01 -1.91496837e-02 1.18534386e+02] [ 9.74980382e-01 -6.34327321e-02 -2.13048217e-01 1.12725958e+02] [ 2.11285428e-01 -3.33874365e-02 9.76854005e-01 4.37763748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.750714057 meters Centerline goodness : 0.988069 Centerline is valid? [True, True] Translation: X:118.51, Y:112.72, Z:43.79 [[-7.30917294e-02 -9.97065989e-01 2.27379100e-02 1.18514812e+02] [ 9.74193367e-01 -7.62597192e-02 -2.12442318e-01 1.12723150e+02] [ 2.13552996e-01 6.62334474e-03 9.76909028e-01 4.37936901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.780714057 meters Centerline goodness : 0.990009 Centerline is valid? [True, True] Translation: X:118.53, Y:112.73, Z:43.78 [[-7.21802712e-02 -9.97179569e-01 -2.05649293e-02 1.18530536e+02] [ 9.74588156e-01 -6.61312488e-02 -2.14020055e-01 1.12730089e+02] [ 2.12056442e-01 -3.54903621e-02 9.76612769e-01 4.37767367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.810714057 meters Centerline goodness : 0.990522 Centerline is valid? [True, True] Translation: X:118.52, Y:112.73, Z:43.79 [[-7.13068827e-02 -9.97399258e-01 1.04904141e-02 1.18515644e+02] [ 9.75107966e-01 -7.19192424e-02 -2.09742885e-01 1.12731123e+02] [ 2.09951861e-01 -4.72682499e-03 9.77700298e-01 4.37859374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.840714057 meters Centerline goodness : 0.990734 Centerline is valid? [True, True] Translation: X:118.52, Y:112.73, Z:43.78 [[-7.08186237e-02 -9.97470008e-01 -6.18920061e-03 1.18520831e+02] [ 9.75724525e-01 -6.79829809e-02 -2.08182531e-01 1.12731566e+02] [ 2.07235071e-01 -2.07821552e-02 9.78070410e-01 4.37783354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.870714057 meters Centerline goodness : 0.989450 Centerline is valid? [True, True] Translation: X:118.51, Y:112.72, Z:43.78 [[-6.90261234e-02 -9.97416049e-01 1.99153299e-02 1.18508454e+02] [ 9.77481364e-01 -7.16099761e-02 -1.98499862e-01 1.12724162e+02] [ 1.99413084e-01 5.76518784e-03 9.79898558e-01 4.37830635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.900714057 meters Centerline goodness : 0.989397 Centerline is valid? [True, True] Translation: X:118.52, Y:112.75, Z:43.78 [[-6.96542636e-02 -9.97571033e-01 5.64259522e-04 1.18515061e+02] [ 9.77618690e-01 -6.83736547e-02 -1.98964170e-01 1.12751917e+02] [ 1.98519473e-01 -1.33070721e-02 9.80006602e-01 4.37807752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.930714057 meters Centerline goodness : 0.990388 Centerline is valid? [True, True] Translation: X:118.52, Y:112.78, Z:43.78 [[-7.13561544e-02 -9.97432022e-01 -6.13681493e-03 1.18516412e+02] [ 9.77723812e-01 -6.87260132e-02 -1.98325193e-01 1.12780952e+02] [ 1.97394140e-01 -2.01518332e-02 9.80117063e-01 4.37839831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.960714057 meters Centerline goodness : 0.990234 Centerline is valid? [True, True] Translation: X:118.51, Y:112.81, Z:43.79 [[-7.47600387e-02 -9.97201163e-01 -8.81387703e-04 1.18514063e+02] [ 9.77941965e-01 -7.31432502e-02 -1.95651677e-01 1.12813749e+02] [ 1.95039612e-01 -1.54888730e-02 9.80673057e-01 4.37887353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.990714057 meters Centerline goodness : 0.991928 Centerline is valid? [True, True] Translation: X:118.51, Y:112.80, Z:43.79 [[-7.34542148e-02 -9.97295467e-01 2.49584370e-03 1.18511905e+02] [ 9.78144311e-01 -7.25313418e-02 -1.94866393e-01 1.12799545e+02] [ 1.94520398e-01 -1.18724626e-02 9.80826621e-01 4.37853062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.020714057 meters Centerline goodness : 0.992286 Centerline is valid? [True, True] Translation: X:118.51, Y:112.83, Z:43.79 [[-7.54283199e-02 -9.97150996e-01 -6.77594027e-04 1.18512718e+02] [ 9.78379372e-01 -7.38770952e-02 -1.93173441e-01 1.12831995e+02] [ 1.92573031e-01 -1.52336921e-02 9.81164391e-01 4.37862664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.050714057 meters Centerline goodness : 0.988455 Centerline is valid? [True, True] Translation: X:118.51, Y:112.82, Z:43.78 [[-7.72992154e-02 -9.97006081e-01 -1.92524767e-03 1.18514162e+02] [ 9.78295278e-01 -7.54758895e-02 -1.92981191e-01 1.12818271e+02] [ 1.92258111e-01 -1.68007553e-02 9.81200567e-01 4.37813356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.080714057 meters Centerline goodness : 0.991212 Centerline is valid? [True, True] Translation: X:118.51, Y:112.84, Z:43.79 [[-7.42712595e-02 -9.97237513e-01 1.05984762e-03 1.18508324e+02] [ 9.78515054e-01 -7.30817592e-02 -1.92788344e-01 1.12835946e+02] [ 1.92333224e-01 -1.32815563e-02 9.81239793e-01 4.37861405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.110714057 meters Centerline goodness : 0.990717 Centerline is valid? [True, True] Translation: X:118.51, Y:112.84, Z:43.78 [[-7.38435929e-02 -9.97253809e-01 -5.65363366e-03 1.18509940e+02] [ 9.78642738e-01 -7.13725879e-02 -1.92780563e-01 1.12836049e+02] [ 1.91847637e-01 -1.97684969e-02 9.81225607e-01 4.37834031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.140714057 meters Centerline goodness : 0.990062 Centerline is valid? [True, True] Translation: X:118.51, Y:112.83, Z:43.78 [[-7.14280313e-02 -9.97442497e-01 -2.54972350e-03 1.18505726e+02] [ 9.79198691e-01 -6.96343970e-02 -1.90580625e-01 1.12831545e+02] [ 1.89915666e-01 -1.61094848e-02 9.81668235e-01 4.37845572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.170714057 meters Centerline goodness : 0.990062 Centerline is valid? [True, True] Translation: X:118.51, Y:112.83, Z:43.78 [[-7.10726385e-02 -9.97460198e-01 -4.67267807e-03 1.18506538e+02] [ 9.79240859e-01 -6.88813885e-02 -1.90637602e-01 1.12834327e+02] [ 1.89831559e-01 -1.81247946e-02 9.81649363e-01 4.37843130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.200714057 meters Centerline goodness : 0.988839 Centerline is valid? [True, True] Translation: X:118.51, Y:112.87, Z:43.79 [[-7.21103344e-02 -9.97364889e-01 -7.96103314e-03 1.18505578e+02] [ 9.78864339e-01 -6.92367070e-02 -1.92434103e-01 1.12867295e+02] [ 1.91375822e-01 -2.16692590e-02 9.81277605e-01 4.37911084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.230714057 meters Centerline goodness : 0.990132 Centerline is valid? [True, True] Translation: X:118.50, Y:112.84, Z:43.79 [[-6.99549451e-02 -9.97531517e-01 -6.09747770e-03 1.18500954e+02] [ 9.78912790e-01 -6.74706582e-02 -1.92814572e-01 1.12835827e+02] [ 1.91927212e-01 -1.94572317e-02 9.81216266e-01 4.37865371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.26071405700003 meters Centerline goodness : 0.988148 Centerline is valid? [True, True] Translation: X:118.50, Y:112.85, Z:43.79 [[-7.02580756e-02 -9.97525653e-01 -2.52481926e-03 1.18498657e+02] [ 9.78510735e-01 -6.84264868e-02 -1.94511072e-01 1.12854827e+02] [ 1.93857020e-01 -1.61365364e-02 9.80897073e-01 4.37916028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.290714057 meters Centerline goodness : 0.989559 Centerline is valid? [True, True] Translation: X:118.50, Y:112.87, Z:43.79 [[-7.21462165e-02 -9.97364031e-01 -7.74040421e-03 1.18498374e+02] [ 9.77945974e-01 -6.92122450e-02 -1.97056683e-01 1.12873845e+02] [ 1.96001517e-01 -2.17865912e-02 9.80361540e-01 4.37946526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.32071405700003 meters Centerline goodness : 0.990423 Centerline is valid? [True, True] Translation: X:118.49, Y:112.87, Z:43.80 [[-7.19778340e-02 -9.97329013e-01 1.24109081e-02 1.18488233e+02] [ 9.77223786e-01 -7.30064228e-02 -1.99257962e-01 1.12865149e+02] [ 1.99631822e-01 -2.21392190e-03 9.79868478e-01 4.38019772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.350714057 meters Centerline goodness : 0.989080 Centerline is valid? [True, True] Translation: X:118.50, Y:112.89, Z:43.79 [[-7.25483987e-02 -9.97091916e-01 -2.33332698e-02 1.18501762e+02] [ 9.78768259e-01 -6.66795042e-02 -1.93820896e-01 1.12893050e+02] [ 1.91701398e-01 -3.68992595e-02 9.80759409e-01 4.37927117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.38071405700003 meters Centerline goodness : 0.989318 Centerline is valid? [True, True] Translation: X:118.49, Y:112.89, Z:43.80 [[-7.33590216e-02 -9.97303731e-01 -1.92913176e-03 1.18491538e+02] [ 9.78468385e-01 -7.15990926e-02 -1.93579929e-01 1.12894038e+02] [ 1.92919861e-01 -1.60884286e-02 9.81082611e-01 4.38007952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.410714057 meters Centerline goodness : 0.989415 Centerline is valid? [True, True] Translation: X:118.49, Y:112.89, Z:43.80 [[-7.76005217e-02 -9.96934066e-01 -1.00312847e-02 1.18493186e+02] [ 9.77193141e-01 -7.40613506e-02 -1.99018796e-01 1.12894352e+02] [ 1.97665687e-01 -2.52464650e-02 9.79944331e-01 4.37992569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.44071405700004 meters Centerline goodness : 0.990161 Centerline is valid? [True, True] Translation: X:118.48, Y:112.91, Z:43.81 [[-7.93725869e-02 -9.96799306e-01 9.54655076e-03 1.18483214e+02] [ 9.75973921e-01 -7.96566163e-02 -2.02804658e-01 1.12907862e+02] [ 2.02915988e-01 -6.77994574e-03 9.79172678e-01 4.38111620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.470714057 meters Centerline goodness : 0.989155 Centerline is valid? [True, True] Translation: X:118.50, Y:112.93, Z:43.80 [[-7.96492788e-02 -9.96398101e-01 -2.91001018e-02 1.18498456e+02] [ 9.77303266e-01 -7.23074456e-02 -1.99122975e-01 1.12933220e+02] [ 1.96301600e-01 -4.42996259e-02 9.79542355e-01 4.38023682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.500714057 meters Centerline goodness : 0.988451 Centerline is valid? [True, True] Translation: X:118.48, Y:112.96, Z:43.82 [[-7.96581828e-02 -9.96822237e-01 -3.46900595e-05 1.18483728e+02] [ 9.77456816e-01 -7.81038244e-02 -1.96158012e-01 1.12955773e+02] [ 1.95531959e-01 -1.56594988e-02 9.80572299e-01 4.38171599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.530714057 meters Centerline goodness : 0.988710 Centerline is valid? [True, True] Translation: X:118.49, Y:112.98, Z:43.82 [[-8.14892204e-02 -9.96628434e-01 -9.55358025e-03 1.18487357e+02] [ 9.77128620e-01 -7.79984611e-02 -1.97827956e-01 1.12984449e+02] [ 1.96415802e-01 -2.54559226e-02 9.80190200e-01 4.38189071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.560714057 meters Centerline goodness : 0.988495 Centerline is valid? [True, True] Translation: X:118.48, Y:113.01, Z:43.83 [[-8.06182374e-02 -9.96743623e-01 -1.68829206e-03 1.18483248e+02] [ 9.77758062e-01 -7.87533969e-02 -1.94388979e-01 1.13010463e+02] [ 1.93623016e-01 -1.73220380e-02 9.80923073e-01 4.38271341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.590714057 meters Centerline goodness : 0.988422 Centerline is valid? [True, True] Translation: X:118.48, Y:113.04, Z:43.83 [[-8.08671223e-02 -9.96719000e-01 -3.42679891e-03 1.18482741e+02] [ 9.77917913e-01 -7.86760651e-02 -1.93614651e-01 1.13037612e+02] [ 1.92709795e-01 -1.90081877e-02 9.81071671e-01 4.38316575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.620714057 meters Centerline goodness : 0.988208 Centerline is valid? [True, True] Translation: X:118.48, Y:113.04, Z:43.83 [[-7.92900926e-02 -9.96827779e-01 6.88915977e-03 1.18476478e+02] [ 9.78470872e-01 -7.91472305e-02 -1.90605534e-01 1.13035477e+02] [ 1.90546149e-01 -8.37228823e-03 9.81642537e-01 4.38344178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.650714057 meters Centerline goodness : 0.988694 Centerline is valid? [True, True] Translation: X:118.49, Y:113.07, Z:43.83 [[-7.97067707e-02 -9.96683355e-01 -1.64049238e-02 1.18485286e+02] [ 9.79185922e-01 -7.52045437e-02 -1.88518452e-01 1.13065197e+02] [ 1.86659478e-01 -3.10896674e-02 9.81932621e-01 4.38322074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.680714057 meters Centerline goodness : 0.989133 Centerline is valid? [True, True] Translation: X:118.47, Y:113.04, Z:43.83 [[-7.08167219e-02 -9.97467742e-01 6.56475175e-03 1.18474286e+02] [ 9.80223870e-01 -7.08086467e-02 -1.84789882e-01 1.13041668e+02] [ 1.84786787e-01 -6.65128731e-03 9.82756126e-01 4.38323251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.710714057 meters Centerline goodness : 0.989654 Centerline is valid? [True, True] Translation: X:118.48, Y:113.07, Z:43.83 [[-7.17082457e-02 -9.97400150e-01 -7.13215656e-03 1.18478103e+02] [ 9.80183168e-01 -6.91430018e-02 -1.85634595e-01 1.13070397e+02] [ 1.84658834e-01 -2.03023509e-02 9.82592962e-01 4.38328804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.740714057 meters Centerline goodness : 0.988483 Centerline is valid? [True, True] Translation: X:118.48, Y:113.09, Z:43.84 [[-6.87824190e-02 -9.97547756e-01 -1.29404049e-02 1.18477474e+02] [ 9.80592633e-01 -6.52148768e-02 -1.84892151e-01 1.13093225e+02] [ 1.83594843e-01 -2.54065951e-02 9.82673617e-01 4.38363161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.770714057 meters Centerline goodness : 0.987609 Centerline is valid? [True, True] Translation: X:118.47, Y:113.12, Z:43.85 [[-6.87489391e-02 -9.97632783e-01 -1.55337116e-03 1.18470769e+02] [ 9.80088718e-01 -6.72490437e-02 -1.86825241e-01 1.13118471e+02] [ 1.86278522e-01 -1.43664787e-02 9.82391936e-01 4.38467245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.800714057 meters Centerline goodness : 0.989128 Centerline is valid? [True, True] Translation: X:118.47, Y:113.15, Z:43.85 [[-7.12106131e-02 -9.97322444e-01 -1.66430609e-02 1.18474443e+02] [ 9.79297871e-01 -6.67344684e-02 -1.91107798e-01 1.13148181e+02] [ 1.89485430e-01 -2.99074176e-02 9.81427948e-01 4.38488610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.830714057 meters Centerline goodness : 0.991170 Centerline is valid? [True, True] Translation: X:118.46, Y:113.18, Z:43.87 [[-7.27097439e-02 -9.97158663e-01 1.96950099e-02 1.18458805e+02] [ 9.77662191e-01 -7.51649249e-02 -1.96282637e-01 1.13179788e+02] [ 1.97205306e-01 4.98340624e-03 9.80349546e-01 4.38681820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.860714057 meters Centerline goodness : 0.988255 Centerline is valid? [True, True] Translation: X:118.48, Y:113.20, Z:43.85 [[-7.43756207e-02 -9.96945348e-01 -2.38378007e-02 1.18475654e+02] [ 9.77646144e-01 -6.81800693e-02 -1.98895691e-01 1.13200788e+02] [ 1.96662871e-01 -3.80979245e-02 9.79730710e-01 4.38542510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.890714057 meters Centerline goodness : 0.988706 Centerline is valid? [True, True] Translation: X:118.46, Y:113.19, Z:43.86 [[-7.26278656e-02 -9.97358739e-01 8.59547189e-04 1.18463484e+02] [ 9.77587011e-01 -7.13587853e-02 -1.98069585e-01 1.13185373e+02] [ 1.97607768e-01 -1.35450890e-02 9.80187584e-01 4.38610367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.920714057 meters Centerline goodness : 0.987948 Centerline is valid? [True, True] Translation: X:118.46, Y:113.20, Z:43.86 [[-7.38173748e-02 -9.97261360e-01 -4.55806725e-03 1.18464664e+02] [ 9.77276956e-01 -7.14259771e-02 -1.99569739e-01 1.13204350e+02] [ 1.98697625e-01 -1.91862083e-02 9.79873024e-01 4.38638832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.950714057 meters Centerline goodness : 0.988502 Centerline is valid? [True, True] Translation: X:118.46, Y:113.18, Z:43.86 [[-7.21822386e-02 -9.97391434e-01 2.28192261e-04 1.18461795e+02] [ 9.77323518e-01 -7.07755632e-02 -1.99573448e-01 1.13184965e+02] [ 1.99068998e-01 -1.41826406e-02 9.79882843e-01 4.38624046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.980714057 meters Centerline goodness : 0.988826 Centerline is valid? [True, True] Translation: X:118.46, Y:113.18, Z:43.86 [[-7.27725041e-02 -9.97347467e-01 -1.48059954e-03 1.18461439e+02] [ 9.77269592e-01 -7.10109589e-02 -1.99753818e-01 1.13181351e+02] [ 1.99118826e-01 -1.59835304e-02 9.79844998e-01 4.38615539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.01071405700003 meters Centerline goodness : 0.987975 Centerline is valid? [True, True] Translation: X:118.46, Y:113.19, Z:43.86 [[-7.32545155e-02 -9.97313144e-01 5.17928530e-04 1.18459727e+02] [ 9.77280225e-01 -7.18866072e-02 -1.99388261e-01 1.13190583e+02] [ 1.98889765e-01 -1.40999291e-02 9.79920432e-01 4.38644016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.040714057 meters Centerline goodness : 0.988587 Centerline is valid? [True, True] Translation: X:118.46, Y:113.20, Z:43.86 [[-7.39059271e-02 -9.97256579e-01 -4.15082918e-03 1.18459936e+02] [ 9.77556041e-01 -7.16212787e-02 -1.98127684e-01 1.13200657e+02] [ 1.97286849e-01 -1.87004783e-02 9.80167430e-01 4.38643686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.07071405700003 meters Centerline goodness : 0.988130 Centerline is valid? [True, True] Translation: X:118.46, Y:113.18, Z:43.86 [[-7.43352253e-02 -9.97231517e-01 -1.89098512e-03 1.18460005e+02] [ 9.76943308e-01 -7.24420832e-02 -2.00833058e-01 1.13179079e+02] [ 2.00140068e-01 -1.67763559e-02 9.79623656e-01 4.38601335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.100714057 meters Centerline goodness : 0.987762 Centerline is valid? [True, True] Translation: X:118.46, Y:113.20, Z:43.86 [[-7.24105492e-02 -9.97371804e-01 -2.48956647e-03 1.18464875e+02] [ 9.76400277e-01 -7.03783292e-02 -2.04179797e-01 1.13198562e+02] [ 2.03467961e-01 -1.72155846e-02 9.78930239e-01 4.38611089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.13071405700003 meters Centerline goodness : 0.989182 Centerline is valid? [True, True] Translation: X:118.47, Y:113.18, Z:43.86 [[-7.08555245e-02 -9.97484682e-01 -1.95048779e-03 1.18469220e+02] [ 9.76406603e-01 -6.89581182e-02 -2.04633632e-01 1.13180533e+02] [ 2.03984411e-01 -1.64038925e-02 9.78836693e-01 4.38569866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.160714057 meters Centerline goodness : 0.988197 Centerline is valid? [True, True] Translation: X:118.47, Y:113.18, Z:43.86 [[-6.78228989e-02 -9.97682571e-01 -5.43524510e-03 1.18470274e+02] [ 9.77329260e-01 -6.53421254e-02 -2.01389979e-01 1.13183639e+02] [ 2.00568121e-01 -1.89708762e-02 9.79496062e-01 4.38597979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.19071405700004 meters Centerline goodness : 0.988016 Centerline is valid? [True, True] Translation: X:118.47, Y:113.18, Z:43.86 [[-6.56301727e-02 -9.97836894e-01 3.77000069e-03 1.18467958e+02] [ 9.77235994e-01 -6.50381662e-02 -2.01940213e-01 1.13175882e+02] [ 2.01748589e-01 -9.56919068e-03 9.79390595e-01 4.38616507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.220714057 meters Centerline goodness : 0.988095 Centerline is valid? [True, True] Translation: X:118.47, Y:113.17, Z:43.86 [[-6.16717862e-02 -9.98095202e-01 1.59954035e-03 1.18471760e+02] [ 9.78006901e-01 -6.07503046e-02 -1.99529200e-01 1.13173637e+02] [ 1.99246309e-01 -1.07409606e-02 9.79890576e-01 4.38612475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.250714057 meters Centerline goodness : 0.988108 Centerline is valid? [True, True] Translation: X:118.48, Y:113.17, Z:43.86 [[-5.98264344e-02 -9.98198239e-01 -4.59069032e-03 1.18478275e+02] [ 9.77024609e-01 -5.76137340e-02 -2.05191548e-01 1.13174577e+02] [ 2.04557355e-01 -1.67610961e-02 9.78711068e-01 4.38578930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.280714057 meters Centerline goodness : 0.987079 Centerline is valid? [True, True] Translation: X:118.48, Y:113.20, Z:43.86 [[-5.66715408e-02 -9.98392823e-01 3.27879896e-04 1.18483941e+02] [ 9.77213090e-01 -5.55366002e-02 -2.04866452e-01 1.13202888e+02] [ 2.04555405e-01 -1.12896890e-02 9.78789880e-01 4.38622287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.310714057 meters Centerline goodness : 0.988497 Centerline is valid? [True, True] Translation: X:118.49, Y:113.18, Z:43.86 [[-5.44515160e-02 -9.98516400e-01 -1.76642669e-04 1.18485898e+02] [ 9.78281954e-01 -5.33126477e-02 -2.00305217e-01 1.13184364e+02] [ 1.99998627e-01 -1.10797291e-02 9.79733530e-01 4.38588031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.340714057 meters Centerline goodness : 0.988782 Centerline is valid? [True, True] Translation: X:118.49, Y:113.19, Z:43.86 [[-5.43699318e-02 -9.98515910e-01 -3.14460635e-03 1.18487605e+02] [ 9.78204413e-01 -5.26313810e-02 -2.00863296e-01 1.13192096e+02] [ 2.00399691e-01 -1.39969915e-02 9.79614234e-01 4.38608753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.370714057 meters Centerline goodness : 0.988486 Centerline is valid? [True, True] Translation: X:118.49, Y:113.20, Z:43.87 [[-5.18600510e-02 -9.98654156e-01 -6.41385459e-04 1.18486604e+02] [ 9.78726407e-01 -5.06975201e-02 -1.98807399e-01 1.13196641e+02] [ 1.98507318e-01 -1.09379027e-02 9.80038370e-01 4.38658103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.400714057 meters Centerline goodness : 0.989014 Centerline is valid? [True, True] Translation: X:118.49, Y:113.21, Z:43.87 [[-5.12925776e-02 -9.98681246e-01 -2.20010765e-03 1.18488671e+02] [ 9.77808406e-01 -4.97722225e-02 -2.03502944e-01 1.13206695e+02] [ 2.03125069e-01 -1.25894743e-02 9.79071862e-01 4.38679810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.430714057 meters Centerline goodness : 0.988646 Centerline is valid? [True, True] Translation: X:118.50, Y:113.23, Z:43.87 [[-4.97823837e-02 -9.98741927e-01 -6.02302782e-03 1.18495124e+02] [ 9.78477488e-01 -4.75613671e-02 -2.00797715e-01 1.13230084e+02] [ 2.00258634e-01 -1.58895860e-02 9.79614210e-01 4.38711290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.460714057 meters Centerline goodness : 0.987959 Centerline is valid? [True, True] Translation: X:118.50, Y:113.26, Z:43.88 [[-5.17063655e-02 -9.98661800e-01 -1.03006650e-03 1.18497433e+02] [ 9.79062538e-01 -5.04882005e-02 -1.97199108e-01 1.13260520e+02] [ 1.96883210e-01 -1.12049487e-02 9.80362918e-01 4.38771069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.490714057 meters Centerline goodness : 0.988535 Centerline is valid? [True, True] Translation: X:118.50, Y:113.27, Z:43.88 [[-5.32058120e-02 -9.98574659e-01 -4.21802098e-03 1.18499560e+02] [ 9.78594191e-01 -5.12993524e-02 -1.99303250e-01 1.13269884e+02] [ 1.98802793e-01 -1.47318221e-02 9.79928785e-01 4.38792808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.520714057 meters Centerline goodness : 0.986809 Centerline is valid? [True, True] Translation: X:118.50, Y:113.26, Z:43.88 [[-5.38195093e-02 -9.98550404e-01 7.42319012e-04 1.18498373e+02] [ 9.78726829e-01 -5.28984297e-02 -1.98231055e-01 1.13264960e+02] [ 1.97982968e-01 -9.94217059e-03 9.80155038e-01 4.38807461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.550714057 meters Centerline goodness : 0.989337 Centerline is valid? [True, True] Translation: X:118.50, Y:113.28, Z:43.88 [[-5.61956862e-02 -9.98399321e-01 -6.39063032e-03 1.18503579e+02] [ 9.78224440e-01 -5.37769953e-02 -2.00461917e-01 1.13279122e+02] [ 1.99797373e-01 -1.75165657e-02 9.79680652e-01 4.38816008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.580714057 meters Centerline goodness : 0.989137 Centerline is valid? [True, True] Translation: X:118.51, Y:113.27, Z:43.88 [[-5.64737549e-02 -9.98404082e-01 6.12839071e-05 1.18505726e+02] [ 9.78313732e-01 -5.53496154e-02 -1.99596247e-01 1.13273829e+02] [ 1.99281100e-01 -1.12119946e-02 9.79878224e-01 4.38825072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.610714057 meters Centerline goodness : 0.988391 Centerline is valid? [True, True] Translation: X:118.51, Y:113.27, Z:43.88 [[-5.57777856e-02 -9.98443068e-01 5.27386129e-04 1.18507335e+02] [ 9.78660443e-01 -5.47772448e-02 -1.98048457e-01 1.13273599e+02] [ 1.97768998e-01 -1.05305724e-02 9.80192089e-01 4.38818280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.640714057 meters Centerline goodness : 0.991111 Centerline is valid? [True, True] Translation: X:118.50, Y:113.28, Z:43.89 [[-5.31870298e-02 -9.98467335e-01 1.53010042e-02 1.18500395e+02] [ 9.77619235e-01 -5.51875760e-02 -2.03014686e-01 1.13279699e+02] [ 2.03547958e-01 4.16080781e-03 9.79056136e-01 4.38920272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.670714057 meters Centerline goodness : 0.987552 Centerline is valid? [True, True] Translation: X:118.52, Y:113.30, Z:43.88 [[-4.58345620e-02 -9.98719876e-01 -2.13963365e-02 1.18515451e+02] [ 9.80400605e-01 -4.08648358e-02 -1.92729654e-01 1.13300005e+02] [ 1.91608578e-01 -2.98106605e-02 9.81018592e-01 4.38816039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.700714057 meters Centerline goodness : 0.991165 Centerline is valid? [True, True] Translation: X:118.50, Y:113.33, Z:43.90 [[-5.57074466e-02 -9.98433705e-01 -5.17857562e-03 1.18502710e+02] [ 9.77019748e-01 -5.34424332e-02 -2.06340297e-01 1.13329914e+02] [ 2.05740351e-01 -1.65542617e-02 9.78466588e-01 4.39002446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.730714057 meters Centerline goodness : 0.991286 Centerline is valid? [True, True] Translation: X:118.50, Y:113.35, Z:43.91 [[-5.24306750e-02 -9.98623478e-01 1.47403559e-03 1.18497336e+02] [ 9.76814165e-01 -5.15923183e-02 -2.07779497e-01 1.13348476e+02] [ 2.07569533e-01 -9.45416042e-03 9.78174580e-01 4.39068646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.76071405700003 meters Centerline goodness : 0.988532 Centerline is valid? [True, True] Translation: X:118.51, Y:113.37, Z:43.90 [[-4.64908648e-02 -9.98497931e-01 -2.89910396e-02 1.18512537e+02] [ 9.80322899e-01 -4.00322569e-02 -1.93298814e-01 1.13373003e+02] [ 1.91847890e-01 -3.74072090e-02 9.80711521e-01 4.38958848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.790714057 meters Centerline goodness : 0.991714 Centerline is valid? [True, True] Translation: X:118.49, Y:113.40, Z:43.93 [[-4.75031278e-02 -9.98424752e-01 2.98574422e-02 1.18488005e+02] [ 9.76873805e-01 -5.26747984e-02 -2.07226772e-01 1.13399390e+02] [ 2.08473073e-01 1.93230333e-02 9.77837204e-01 4.39285158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.82071405700003 meters Centerline goodness : 0.991611 Centerline is valid? [True, True] Translation: X:118.50, Y:113.43, Z:43.92 [[-4.39106490e-02 -9.99034903e-01 -1.05707901e-03 1.18501504e+02] [ 9.77459314e-01 -4.27435717e-02 -2.06751726e-01 1.13428971e+02] [ 2.06507007e-01 -1.01118542e-02 9.78392869e-01 4.39235892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.850714057 meters Centerline goodness : 0.989023 Centerline is valid? [True, True] Translation: X:118.50, Y:113.46, Z:43.93 [[-4.65934137e-02 -9.98912841e-01 -1.48012540e-03 1.18498969e+02] [ 9.77995216e-01 -4.53159793e-02 -2.03646310e-01 1.13458929e+02] [ 2.03357841e-01 -1.09361323e-02 9.79043405e-01 4.39270326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.88071405700003 meters Centerline goodness : 0.991777 Centerline is valid? [True, True] Translation: X:118.50, Y:113.48, Z:43.93 [[-4.17833056e-02 -9.99124541e-01 -2.07531034e-03 1.18501574e+02] [ 9.77532951e-01 -4.04506621e-02 -2.06864871e-01 1.13482235e+02] [ 2.06599821e-01 -1.06721823e-02 9.78367323e-01 4.39349840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.910714057 meters Centerline goodness : 0.991571 Centerline is valid? [True, True] Translation: X:118.50, Y:113.51, Z:43.94 [[-4.11996662e-02 -9.99150575e-01 -8.46770570e-04 1.18503177e+02] [ 9.77512925e-01 -4.01319956e-02 -2.07021507e-01 1.13509309e+02] [ 2.06811675e-01 -9.35694615e-03 9.78336026e-01 4.39403177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.940714057 meters Centerline goodness : 0.991500 Centerline is valid? [True, True] Translation: X:118.50, Y:113.54, Z:43.95 [[-4.14821732e-02 -9.99138932e-01 -7.89742361e-04 1.18504143e+02] [ 9.77393130e-01 -4.04152951e-02 -2.07531381e-01 1.13536298e+02] [ 2.07320765e-01 -9.38074145e-03 9.78228042e-01 4.39458643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.970714057 meters Centerline goodness : 0.990351 Centerline is valid? [True, True] Translation: X:118.52, Y:113.56, Z:43.94 [[-3.68801693e-02 -9.98998963e-01 -2.53164831e-02 1.18521230e+02] [ 9.80419189e-01 -3.12672009e-02 -1.94423705e-01 1.13564538e+02] [ 1.93437504e-01 -3.19911449e-02 9.80590893e-01 4.39393664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.000714057 meters Centerline goodness : 0.992260 Centerline is valid? [True, True] Translation: X:118.50, Y:113.59, Z:43.97 [[-4.63813222e-02 -9.98618348e-01 2.47015803e-02 1.18497404e+02] [ 9.76816067e-01 -5.05146127e-02 -2.08035203e-01 1.13588407e+02] [ 2.08995561e-01 1.44799527e-02 9.77809381e-01 4.39671808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.030714057 meters Centerline goodness : 0.991774 Centerline is valid? [True, True] Translation: X:118.51, Y:113.62, Z:43.96 [[-4.88237267e-02 -9.98807197e-01 -6.54063933e-04 1.18508704e+02] [ 9.76855158e-01 -4.76141082e-02 -2.08535121e-01 1.13618097e+02] [ 2.08255237e-01 -1.08203875e-02 9.78014660e-01 4.39632533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.060714057 meters Centerline goodness : 0.990480 Centerline is valid? [True, True] Translation: X:118.51, Y:113.66, Z:43.97 [[-4.14484957e-02 -9.98513288e-01 3.54010861e-02 1.18508857e+02] [ 9.78889719e-01 -4.76803537e-02 -1.98749846e-01 1.13663513e+02] [ 2.00142298e-01 2.64158771e-02 9.79410671e-01 4.39720055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.090714057 meters Centerline goodness : 0.992573 Centerline is valid? [True, True] Translation: X:118.53, Y:113.68, Z:43.96 [[-5.56740372e-02 -9.97362432e-01 -4.65680202e-02 1.18530103e+02] [ 9.76701527e-01 -4.47206674e-02 -2.09890897e-01 1.13675135e+02] [ 2.07254742e-01 -5.71685300e-02 9.76615191e-01 4.39577412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.120714057 meters Centerline goodness : 0.992573 Centerline is valid? [True, True] Translation: X:118.51, Y:113.70, Z:43.98 [[-5.54455492e-02 -9.98461636e-01 -3.89892639e-04 1.18510268e+02] [ 9.76161383e-01 -5.41251170e-02 -2.10189026e-01 1.13699661e+02] [ 2.09844576e-01 -1.20346442e-02 9.77660688e-01 4.39798332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.150714057 meters Centerline goodness : 0.990954 Centerline is valid? [True, True] Translation: X:118.52, Y:113.74, Z:43.99 [[-5.60559937e-02 -9.98427615e-01 -1.52843181e-04 1.18515747e+02] [ 9.76557727e-01 -5.47962581e-02 -2.08164300e-01 1.13735065e+02] [ 2.07828610e-01 -1.18181169e-02 9.78093861e-01 4.39850306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.180714057 meters Centerline goodness : 0.992488 Centerline is valid? [True, True] Translation: X:118.51, Y:113.75, Z:43.99 [[-5.97406325e-02 -9.98198347e-01 -5.57824590e-03 1.18511581e+02] [ 9.75757526e-01 -5.72170937e-02 -2.11242644e-01 1.13753203e+02] [ 2.10542887e-01 -1.80627845e-02 9.77417735e-01 4.39904063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.210714057 meters Centerline goodness : 0.992577 Centerline is valid? [True, True] Translation: X:118.51, Y:113.78, Z:44.00 [[-6.11865600e-02 -9.98126325e-01 -2.11678106e-04 1.18508860e+02] [ 9.75602681e-01 -5.97610270e-02 -2.11253469e-01 1.13779600e+02] [ 2.10844999e-01 -1.31323868e-02 9.77431290e-01 4.39981655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.240714057 meters Centerline goodness : 0.990692 Centerline is valid? [True, True] Translation: X:118.51, Y:113.82, Z:44.00 [[-6.15628899e-02 -9.98102737e-01 -9.67691370e-04 1.18513851e+02] [ 9.76014165e-01 -5.99975688e-02 -2.09276470e-01 1.13815574e+02] [ 2.08821358e-01 -1.38281448e-02 9.77856034e-01 4.40029508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.270714057 meters Centerline goodness : 0.991689 Centerline is valid? [True, True] Translation: X:118.52, Y:113.84, Z:44.01 [[-6.31085543e-02 -9.97981616e-01 -7.07132429e-03 1.18516009e+02] [ 9.75891468e-01 -6.02252160e-02 -2.09782664e-01 1.13842984e+02] [ 2.08933370e-01 -2.01399257e-02 9.77722471e-01 4.40067244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.300714057 meters Centerline goodness : 0.991884 Centerline is valid? [True, True] Translation: X:118.51, Y:113.50, Z:43.94 [[-7.14109337e-02 -9.97446901e-01 3.97931844e-04 1.18508543e+02] [ 9.74941858e-01 -6.98839715e-02 -2.11198022e-01 1.13503519e+02] [ 2.10686622e-01 -1.46938876e-02 9.77443214e-01 4.39425205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.330714057 meters Centerline goodness : 0.992304 Centerline is valid? [True, True] Translation: X:118.51, Y:113.50, Z:43.94 [[-7.16718091e-02 -9.97427446e-01 1.28148705e-03 1.18506898e+02] [ 9.74792995e-01 -7.03174156e-02 -2.11740594e-01 1.13503901e+02] [ 2.11285990e-01 -1.39266468e-02 9.77325063e-01 4.39435709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.360714057 meters Centerline goodness : 0.990908 Centerline is valid? [True, True] Translation: X:118.52, Y:113.86, Z:44.01 [[-6.81562395e-02 -9.97530320e-01 -1.69701757e-02 1.18515513e+02] [ 9.75718019e-01 -6.30976900e-02 -2.09745152e-01 1.13855690e+02] [ 2.08156369e-01 -3.08535470e-02 9.77608810e-01 4.40055991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.390714057 meters Centerline goodness : 0.988482 Centerline is valid? [True, True] Translation: X:118.49, Y:114.11, Z:44.06 [[-8.62158723e-02 -9.96244852e-01 7.93845795e-03 1.18490308e+02] [ 9.76870336e-01 -8.60988588e-02 -1.95732811e-01 1.14114399e+02] [ 1.95681298e-01 -9.12043097e-03 9.80625131e-01 4.40633951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.420714057 meters Centerline goodness : 0.993073 Centerline is valid? [True, True] Translation: X:118.50, Y:113.52, Z:43.96 [[-7.27770146e-02 -9.97217417e-01 1.61533402e-02 1.18496832e+02] [ 9.75873449e-01 -7.45435300e-02 -2.05217628e-01 1.13521512e+02] [ 2.05850720e-01 8.28489547e-04 9.78583055e-01 4.39576060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.450714057 meters Centerline goodness : 0.988173 Centerline is valid? [True, True] Translation: X:118.50, Y:114.14, Z:44.06 [[-8.35266839e-02 -9.96484732e-01 -6.43980611e-03 1.18496750e+02] [ 9.77553387e-01 -8.06820497e-02 -1.94627293e-01 1.14138160e+02] [ 1.93423549e-01 -2.25518267e-02 9.80856129e-01 4.40643222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.480714057 meters Centerline goodness : 0.988815 Centerline is valid? [True, True] Translation: X:118.49, Y:114.17, Z:44.07 [[-8.05359417e-02 -9.96751493e-01 -6.51292809e-04 1.18494869e+02] [ 9.77185118e-01 -7.88261431e-02 -1.97219887e-01 1.14171875e+02] [ 1.96527878e-01 -1.65197230e-02 9.80359063e-01 4.40746068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.51071405700003 meters Centerline goodness : 0.990821 Centerline is valid? [True, True] Translation: X:118.50, Y:113.49, Z:43.94 [[-3.85218236e-02 -9.98768496e-01 3.12659738e-02 1.18495542e+02] [ 9.83635626e-01 -4.34120976e-02 -1.74860932e-01 1.13489009e+02] [ 1.76002912e-01 2.40183637e-02 9.84096587e-01 4.39411694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.540714057 meters Centerline goodness : 0.988681 Centerline is valid? [True, True] Translation: X:118.52, Y:113.50, Z:43.92 [[-4.98345856e-02 -9.97878221e-01 -4.18995213e-02 1.18515436e+02] [ 9.83390583e-01 -4.16938524e-02 -1.76648196e-01 1.13500470e+02] [ 1.74526435e-01 -5.00067843e-02 9.83381841e-01 4.39181565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.57071405700003 meters Centerline goodness : 0.990462 Centerline is valid? [True, True] Translation: X:118.50, Y:113.53, Z:43.94 [[-4.40400087e-02 -9.99027845e-01 1.96020677e-03 1.18504994e+02] [ 9.82519797e-01 -4.36673590e-02 -1.80964111e-01 1.13531484e+02] [ 1.80873783e-01 -6.04371907e-03 9.83487747e-01 4.39422750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.600714057 meters Centerline goodness : 0.989746 Centerline is valid? [True, True] Translation: X:118.51, Y:113.56, Z:43.95 [[-3.99020742e-02 -9.99196225e-01 3.83765380e-03 1.18507443e+02] [ 9.82503985e-01 -3.99341519e-02 -1.81909820e-01 1.13563629e+02] [ 1.81916859e-01 -3.48806897e-03 9.83307729e-01 4.39457554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.63071405700003 meters Centerline goodness : 0.990745 Centerline is valid? [True, True] Translation: X:118.51, Y:113.59, Z:43.95 [[-4.11470910e-02 -9.99137731e-01 -5.54176000e-03 1.18508988e+02] [ 9.82992035e-01 -3.94873816e-02 -1.79352741e-01 1.13592643e+02] [ 1.78979261e-01 -1.28273495e-02 9.83769223e-01 4.39488487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.660714057 meters Centerline goodness : 0.993605 Centerline is valid? [True, True] Translation: X:118.50, Y:113.61, Z:43.96 [[-5.25168636e-02 -9.98578233e-01 -9.13733091e-03 1.18496895e+02] [ 9.79647766e-01 -4.97418734e-02 -1.94463365e-01 1.13609746e+02] [ 1.93732375e-01 -1.91639718e-02 9.80867223e-01 4.39604404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.690714057 meters Centerline goodness : 0.984967 Centerline is valid? [True, True] Translation: X:118.49, Y:113.63, Z:43.96 [[-4.72159671e-02 -9.98872505e-01 -4.93674773e-03 1.18491223e+02] [ 9.82439083e-01 -4.55449103e-02 -1.80939516e-01 1.13626529e+02] [ 1.80510664e-01 -1.33932882e-02 9.83481835e-01 4.39567634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.720714057 meters Centerline goodness : 0.990766 Centerline is valid? [True, True] Translation: X:118.48, Y:113.67, Z:43.98 [[-4.00143507e-02 -9.98486261e-01 3.77364443e-02 1.18479003e+02] [ 9.82180354e-01 -4.62454707e-02 -1.82162312e-01 1.13670268e+02] [ 1.83631705e-01 2.97748876e-02 9.82544072e-01 4.39826905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.750714057 meters Centerline goodness : 0.990420 Centerline is valid? [True, True] Translation: X:118.50, Y:113.70, Z:43.97 [[-3.82398039e-02 -9.98997396e-01 -2.32791607e-02 1.18503343e+02] [ 9.82839496e-01 -3.33938832e-02 -1.81414922e-01 1.13697255e+02] [ 1.80455653e-01 -2.98169496e-02 9.83131073e-01 4.39668593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.780714057 meters Centerline goodness : 0.990102 Centerline is valid? [True, True] Translation: X:118.49, Y:113.73, Z:43.98 [[-3.94451145e-02 -9.99163465e-01 1.07913841e-02 1.18487537e+02] [ 9.83315050e-01 -4.07342697e-02 -1.77291375e-01 1.13729934e+02] [ 1.77582643e-01 3.61805182e-03 9.84099240e-01 4.39843268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.810714057 meters Centerline goodness : 0.990758 Centerline is valid? [True, True] Translation: X:118.50, Y:113.76, Z:43.98 [[-4.14021743e-02 -9.98941323e-01 -2.00522694e-02 1.18498132e+02] [ 9.82511797e-01 -3.70583128e-02 -1.82475341e-01 1.13759001e+02] [ 1.81539056e-01 -2.72564672e-02 9.83005929e-01 4.39826981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.840714057 meters Centerline goodness : 0.989316 Centerline is valid? [True, True] Translation: X:118.50, Y:113.78, Z:43.99 [[-4.12050654e-02 -9.99000381e-01 -1.73315128e-02 1.18495670e+02] [ 9.82783391e-01 -3.73971217e-02 -1.80937179e-01 1.13779881e+02] [ 1.80108162e-01 -2.44886512e-02 9.83341932e-01 4.39895108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.870714057 meters Centerline goodness : 0.990528 Centerline is valid? [True, True] Translation: X:118.49, Y:113.81, Z:44.00 [[-4.50062350e-02 -9.98935134e-01 1.01506716e-02 1.18485908e+02] [ 9.82571851e-01 -4.60988435e-02 -1.80076247e-01 1.13814108e+02] [ 1.80352425e-01 1.86921022e-03 9.83600279e-01 4.40030665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.900714057 meters Centerline goodness : 0.991476 Centerline is valid? [True, True] Translation: X:118.50, Y:113.84, Z:44.00 [[-4.76657249e-02 -9.98572235e-01 -2.41137112e-02 1.18498766e+02] [ 9.82127164e-01 -4.24527211e-02 -1.83368483e-01 1.13837776e+02] [ 1.82082983e-01 -3.24231225e-02 9.82748456e-01 4.39991432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.930714057 meters Centerline goodness : 0.991750 Centerline is valid? [True, True] Translation: X:118.49, Y:113.87, Z:44.01 [[-5.37934126e-02 -9.98531872e-01 -6.35362783e-03 1.18490617e+02] [ 9.81392868e-01 -5.16934440e-02 -1.84921134e-01 1.13865191e+02] [ 1.84321205e-01 -1.61829439e-02 9.82732825e-01 4.40118820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.960714057 meters Centerline goodness : 0.991213 Centerline is valid? [True, True] Translation: X:118.49, Y:113.89, Z:44.02 [[-5.44572651e-02 -9.98474566e-01 -9.10755396e-03 1.18491379e+02] [ 9.81238968e-01 -5.18233725e-02 -1.85699827e-01 1.13890143e+02] [ 1.84944570e-01 -1.90493916e-02 9.82564312e-01 4.40154775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.990714057 meters Centerline goodness : 0.991203 Centerline is valid? [True, True] Translation: X:118.49, Y:113.92, Z:44.02 [[-5.85899623e-02 -9.98280345e-01 -1.88909915e-03 1.18487420e+02] [ 9.80763607e-01 -5.72087237e-02 -1.86627730e-01 1.13918982e+02] [ 1.86198722e-01 -1.27872714e-02 9.82428889e-01 4.40232432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.020714057 meters Centerline goodness : 0.991624 Centerline is valid? [True, True] Translation: X:118.49, Y:113.95, Z:44.03 [[-6.16016319e-02 -9.97999599e-01 -1.42140588e-02 1.18491557e+02] [ 9.80184230e-01 -5.78034874e-02 -1.89466705e-01 1.13947338e+02] [ 1.88266073e-01 -2.56038544e-02 9.81784258e-01 4.40261474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.050714057 meters Centerline goodness : 0.991620 Centerline is valid? [True, True] Translation: X:118.49, Y:113.97, Z:44.03 [[-6.17746986e-02 -9.98083667e-01 -3.58886208e-03 1.18487282e+02] [ 9.80062887e-01 -5.99782310e-02 -1.89418450e-01 1.13973484e+02] [ 1.88840208e-01 -1.52185782e-02 9.81889898e-01 4.40341225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.080714057 meters Centerline goodness : 0.993332 Centerline is valid? [True, True] Translation: X:118.48, Y:114.01, Z:44.04 [[-6.58743493e-02 -9.97805636e-01 6.66956158e-03 1.18483328e+02] [ 9.78158317e-01 -6.58949773e-02 -1.97139949e-01 1.14005112e+02] [ 1.97146843e-01 -6.46257875e-03 9.80352670e-01 4.40445014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.110714057 meters Centerline goodness : 0.992644 Centerline is valid? [True, True] Translation: X:118.49, Y:114.03, Z:44.04 [[-6.47989657e-02 -9.97788056e-01 -1.48353777e-02 1.18491897e+02] [ 9.79213035e-01 -6.07151366e-02 -1.93534248e-01 1.14031348e+02] [ 1.92205429e-01 -2.70678143e-02 9.80981349e-01 4.40408093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.140714057 meters Centerline goodness : 0.992990 Centerline is valid? [True, True] Translation: X:118.48, Y:114.02, Z:44.05 [[-6.30456996e-02 -9.98009910e-01 1.20819266e-03 1.18482790e+02] [ 9.78726144e-01 -6.20642604e-02 -1.95558593e-01 1.14024001e+02] [ 1.95244399e-01 -1.11466385e-02 9.80691275e-01 4.40481538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.170714057 meters Centerline goodness : 0.992431 Centerline is valid? [True, True] Translation: X:118.49, Y:114.05, Z:44.05 [[-6.32919257e-02 -9.97902696e-01 -1.35772270e-02 1.18487271e+02] [ 9.78682227e-01 -5.93979264e-02 -1.96603622e-01 1.14051281e+02] [ 1.95384825e-01 -2.57312126e-02 9.80389043e-01 4.40498477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.200714057 meters Centerline goodness : 0.992406 Centerline is valid? [True, True] Translation: X:118.48, Y:114.08, Z:44.06 [[-6.26440047e-02 -9.98030105e-01 -3.41149459e-03 1.18482197e+02] [ 9.78711577e-01 -6.07613163e-02 -1.96040077e-01 1.14080037e+02] [ 1.95446611e-01 -1.56196047e-02 9.80589950e-01 4.40587325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.230714057 meters Centerline goodness : 0.992598 Centerline is valid? [True, True] Translation: X:118.48, Y:114.11, Z:44.06 [[-6.01637336e-02 -9.98172432e-01 -5.66753760e-03 1.18482531e+02] [ 9.79203086e-01 -5.79163622e-02 -1.94440249e-01 1.14106804e+02] [ 1.93756653e-01 -1.72479217e-02 9.80897991e-01 4.40618323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.26071405700003 meters Centerline goodness : 0.991726 Centerline is valid? [True, True] Translation: X:118.49, Y:114.13, Z:44.06 [[-5.62644252e-02 -9.98209034e-01 -2.03233434e-02 1.18487911e+02] [ 9.80779978e-01 -5.14500826e-02 -1.88211379e-01 1.14130007e+02] [ 1.86828661e-01 -3.05223333e-02 9.81918244e-01 4.40605496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.290714057 meters Centerline goodness : 0.991605 Centerline is valid? [True, True] Translation: X:118.48, Y:114.12, Z:44.07 [[-5.41988211e-02 -9.98528863e-01 -1.61150166e-03 1.18479426e+02] [ 9.80603561e-01 -5.29212856e-02 -1.88722000e-01 1.14121681e+02] [ 1.88359081e-01 -1.18087542e-02 9.82029231e-01 4.40659844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.32071405700003 meters Centerline goodness : 0.990716 Centerline is valid? [True, True] Translation: X:118.48, Y:114.15, Z:44.07 [[-5.45860570e-02 -9.98476322e-01 -8.08682625e-03 1.18480043e+02] [ 9.80825543e-01 -5.21001201e-02 -1.87794653e-01 1.14149328e+02] [ 1.87087190e-01 -1.81827354e-02 9.82175021e-01 4.40696869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.350714057 meters Centerline goodness : 0.991439 Centerline is valid? [True, True] Translation: X:118.47, Y:114.15, Z:44.08 [[-5.31530879e-02 -9.98527051e-01 1.08847103e-02 1.18471992e+02] [ 9.80529348e-01 -5.42523411e-02 -1.88729649e-01 1.14153236e+02] [ 1.89042181e-01 6.41214289e-04 9.81968759e-01 4.40779191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.38071405700003 meters Centerline goodness : 0.990537 Centerline is valid? [True, True] Translation: X:118.48, Y:114.18, Z:44.07 [[-5.49537084e-02 -9.98328036e-01 -1.79226654e-02 1.18482302e+02] [ 9.80206980e-01 -5.05196994e-02 -1.91421095e-01 1.14180122e+02] [ 1.90195598e-01 -2.80872207e-02 9.81344355e-01 4.40748692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.410714057 meters Centerline goodness : 0.992123 Centerline is valid? [True, True] Translation: X:118.47, Y:114.21, Z:44.09 [[-5.62950392e-02 -9.98412702e-01 1.71633939e-03 1.18474241e+02] [ 9.79798953e-01 -5.55757577e-02 -1.92107644e-01 1.14209206e+02] [ 1.91898099e-01 -9.13303982e-03 9.81372359e-01 4.40871322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.440714057 meters Centerline goodness : 0.991886 Centerline is valid? [True, True] Translation: X:118.48, Y:114.24, Z:44.09 [[-5.70181430e-02 -9.98315576e-01 -1.07211263e-02 1.18477661e+02] [ 9.79481470e-01 -5.38568385e-02 -1.94204765e-01 1.14236893e+02] [ 1.93300236e-01 -2.15743396e-02 9.80902425e-01 4.40888987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.470714057 meters Centerline goodness : 0.991627 Centerline is valid? [True, True] Translation: X:118.47, Y:114.25, Z:44.10 [[-5.84967076e-02 -9.98264515e-01 -6.78919706e-03 1.18474345e+02] [ 9.78952738e-01 -5.60304055e-02 -1.96245075e-01 1.14254113e+02] [ 1.95524093e-01 -1.81259938e-02 9.80531375e-01 4.40952154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.500714057 meters Centerline goodness : 0.990933 Centerline is valid? [True, True] Translation: X:118.47, Y:114.25, Z:44.10 [[-5.77650834e-02 -9.98315443e-01 -5.42881521e-03 1.18470270e+02] [ 9.78750882e-01 -5.55596668e-02 -1.97382459e-01 1.14246908e+02] [ 1.96748334e-01 -1.67152719e-02 9.80311528e-01 4.40951551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.530714057 meters Centerline goodness : 0.990347 Centerline is valid? [True, True] Translation: X:118.47, Y:114.25, Z:44.10 [[-5.89612944e-02 -9.98222484e-01 -8.68556234e-03 1.18469162e+02] [ 9.78055145e-01 -5.60240278e-02 -2.00672472e-01 1.14247365e+02] [ 1.99829173e-01 -2.03268676e-02 9.79619886e-01 4.40964936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.560714057 meters Centerline goodness : 0.989161 Centerline is valid? [True, True] Translation: X:118.47, Y:114.25, Z:44.10 [[-5.92829853e-02 -9.98173957e-01 -1.15879209e-02 1.18469539e+02] [ 9.78431334e-01 -5.58014731e-02 -1.98892735e-01 1.14248659e+02] [ 1.97882926e-01 -2.31289400e-02 9.79952754e-01 4.40951630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.590714057 meters Centerline goodness : 0.989696 Centerline is valid? [True, True] Translation: X:118.46, Y:114.25, Z:44.10 [[-5.78531656e-02 -9.98295556e-01 7.68072375e-03 1.18458719e+02] [ 9.78408131e-01 -5.82264225e-02 -1.98310898e-01 1.14245949e+02] [ 1.98420109e-01 -3.95803062e-03 9.80109073e-01 4.41037367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.620714057 meters Centerline goodness : 0.990562 Centerline is valid? [True, True] Translation: X:118.46, Y:114.26, Z:44.10 [[-5.86049803e-02 -9.98273122e-01 -4.02866244e-03 1.18461739e+02] [ 9.78360087e-01 -5.66328348e-02 -1.99008196e-01 1.14259123e+02] [ 1.98436379e-01 -1.56043540e-02 9.79989545e-01 4.41023075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.650714057 meters Centerline goodness : 0.989996 Centerline is valid? [True, True] Translation: X:118.46, Y:114.26, Z:44.10 [[-5.96431922e-02 -9.98201965e-01 -5.96050905e-03 1.18459434e+02] [ 9.77999016e-01 -5.72382014e-02 -2.00603371e-01 1.14255906e+02] [ 1.99901511e-01 -1.77939974e-02 9.79654408e-01 4.41029716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.680714057 meters Centerline goodness : 0.990217 Centerline is valid? [True, True] Translation: X:118.46, Y:114.26, Z:44.11 [[-5.91612124e-02 -9.98248428e-01 1.63461784e-04 1.18455938e+02] [ 9.78131694e-01 -5.80017001e-02 -1.99735305e-01 1.14258210e+02] [ 1.99394935e-01 -1.16566956e-02 9.79849877e-01 4.41052542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.710714057 meters Centerline goodness : 0.990885 Centerline is valid? [True, True] Translation: X:118.45, Y:114.27, Z:44.11 [[-5.64654712e-02 -9.98387097e-01 5.90388301e-03 1.18453955e+02] [ 9.79243215e-01 -5.65337742e-02 -1.94644952e-01 1.14265830e+02] [ 1.94664777e-01 -5.20938157e-03 9.80855997e-01 4.41055638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.740714057 meters Centerline goodness : 0.991574 Centerline is valid? [True, True] Translation: X:118.46, Y:114.29, Z:44.11 [[-5.98597084e-02 -9.98172817e-01 -8.23666501e-03 1.18457802e+02] [ 9.78665070e-01 -5.70611170e-02 -1.97379610e-01 1.14293864e+02] [ 1.96548968e-01 -1.98760222e-02 9.80292531e-01 4.41056359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.770714057 meters Centerline goodness : 0.992170 Centerline is valid? [True, True] Translation: X:118.46, Y:114.28, Z:44.11 [[-6.17124659e-02 -9.98078856e-01 -5.49259183e-03 1.18456025e+02] [ 9.77901027e-01 -5.93616597e-02 -2.00463898e-01 1.14283236e+02] [ 1.99752728e-01 -1.77423326e-02 9.79685693e-01 4.41054282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.800714057 meters Centerline goodness : 0.990631 Centerline is valid? [True, True] Translation: X:118.45, Y:114.27, Z:44.11 [[-6.04514337e-02 -9.98160818e-01 4.53939157e-03 1.18451804e+02] [ 9.78313295e-01 -6.01507968e-02 -1.98204387e-01 1.14274838e+02] [ 1.98112901e-01 -7.54079225e-03 9.80150200e-01 4.41054748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.830714057 meters Centerline goodness : 0.991857 Centerline is valid? [True, True] Translation: X:118.46, Y:114.30, Z:44.11 [[-6.17798544e-02 -9.98064476e-01 -7.10998714e-03 1.18455466e+02] [ 9.78275674e-01 -5.91394843e-02 -1.98693800e-01 1.14303202e+02] [ 1.97888743e-01 -1.92308015e-02 9.80035827e-01 4.41060995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.860714057 meters Centerline goodness : 0.991142 Centerline is valid? [True, True] Translation: X:118.45, Y:114.31, Z:44.11 [[-6.15098279e-02 -9.98100902e-01 -3.33610554e-03 1.18452566e+02] [ 9.78301586e-01 -5.96264469e-02 -1.98420498e-01 1.14312048e+02] [ 1.97844758e-01 -1.54685280e-02 9.80111308e-01 4.41098743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.890714057 meters Centerline goodness : 0.991468 Centerline is valid? [True, True] Translation: X:118.45, Y:114.34, Z:44.12 [[-6.19680557e-02 -9.98076280e-01 1.92360830e-03 1.18447917e+02] [ 9.78253832e-01 -6.11193266e-02 -1.98201583e-01 1.14342958e+02] [ 1.97937868e-01 -1.04003895e-02 9.80159391e-01 4.41172367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.920714057 meters Centerline goodness : 0.991197 Centerline is valid? [True, True] Translation: X:118.45, Y:114.33, Z:44.11 [[-5.97898749e-02 -9.98199006e-01 -4.89036643e-03 1.18449274e+02] [ 9.78788795e-01 -5.76641188e-02 -1.96589276e-01 1.14333704e+02] [ 1.95953221e-01 -1.65406841e-02 9.80473733e-01 4.41117796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.950714057 meters Centerline goodness : 0.992355 Centerline is valid? [True, True] Translation: X:118.45, Y:114.36, Z:44.12 [[-6.14303911e-02 -9.98091177e-01 -6.34900535e-03 1.18448615e+02] [ 9.78614706e-01 -5.89780925e-02 -1.97065576e-01 1.14362255e+02] [ 1.96314960e-01 -1.83190454e-02 9.80369751e-01 4.41173135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.980714057 meters Centerline goodness : 0.992355 Centerline is valid? [True, True] Translation: X:118.45, Y:114.36, Z:44.12 [[-6.11009497e-02 -9.98124906e-01 -3.65309467e-03 1.18447358e+02] [ 9.78596751e-01 -5.91841675e-02 -1.97092957e-01 1.14364645e+02] [ 1.96507184e-01 -1.56174734e-02 9.80377999e-01 4.41189629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.01071405700003 meters Centerline goodness : 0.991385 Centerline is valid? [True, True] Translation: X:118.45, Y:114.37, Z:44.12 [[-6.20399895e-02 -9.98055592e-01 -6.00624011e-03 1.18447866e+02] [ 9.78533360e-01 -5.96393090e-02 -1.97270416e-01 1.14366736e+02] [ 1.96528634e-01 -1.81159609e-02 9.80330714e-01 4.41191140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.040714057 meters Centerline goodness : 0.991636 Centerline is valid? [True, True] Translation: X:118.45, Y:114.40, Z:44.12 [[-6.53512234e-02 -9.97848576e-01 -5.23795199e-03 1.18447040e+02] [ 9.78546665e-01 -6.30575229e-02 -1.96138151e-01 1.14395362e+02] [ 1.95385882e-01 -1.79434486e-02 9.80562282e-01 4.41244860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.07071405700003 meters Centerline goodness : 0.990849 Centerline is valid? [True, True] Translation: X:118.45, Y:114.40, Z:44.12 [[-6.59942934e-02 -9.97802014e-01 -5.99124254e-03 1.18447862e+02] [ 9.78949331e-01 -6.35828402e-02 -1.93946975e-01 1.14397733e+02] [ 1.93139742e-01 -1.86645165e-02 9.80993719e-01 4.41233416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.100714057 meters Centerline goodness : 0.991617 Centerline is valid? [True, True] Translation: X:118.44, Y:114.41, Z:44.13 [[-7.04931317e-02 -9.97485972e-01 7.24248677e-03 1.18440588e+02] [ 9.78502877e-01 -7.05586220e-02 -1.93787513e-01 1.14407888e+02] [ 1.93811345e-01 -6.57389452e-03 9.81016792e-01 4.41324071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.13071405700003 meters Centerline goodness : 0.992168 Centerline is valid? [True, True] Translation: X:118.45, Y:114.41, Z:44.13 [[-7.15961944e-02 -9.97419038e-01 -5.40804858e-03 1.18445338e+02] [ 9.78356175e-01 -6.91704018e-02 -1.95024742e-01 1.14411874e+02] [ 1.94147313e-01 -1.92540270e-02 9.80783413e-01 4.41281866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.160714057 meters Centerline goodness : 0.991332 Centerline is valid? [True, True] Translation: X:118.45, Y:114.41, Z:44.13 [[-7.17434960e-02 -9.97412374e-01 -4.62888627e-03 1.18445310e+02] [ 9.78516242e-01 -6.94834683e-02 -1.94108248e-01 1.14410046e+02] [ 1.93284338e-01 -1.84554447e-02 9.80969195e-01 4.41280856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.190714057 meters Centerline goodness : 0.991188 Centerline is valid? [True, True] Translation: X:118.44, Y:114.41, Z:44.13 [[-7.18710809e-02 -9.97408812e-01 -3.19515359e-03 1.18444653e+02] [ 9.78266129e-01 -6.98662965e-02 -1.95228280e-01 1.14413430e+02] [ 1.94499173e-01 -1.71569780e-02 9.80752624e-01 4.41299103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.220714057 meters Centerline goodness : 0.991347 Centerline is valid? [True, True] Translation: X:118.45, Y:114.45, Z:44.14 [[-8.85742286e-02 -9.95694532e-01 -2.73313790e-02 1.18447443e+02] [ 9.73932746e-01 -8.08204085e-02 -2.11950626e-01 1.14450599e+02] [ 2.08829147e-01 -4.53922882e-02 9.76898115e-01 4.41375730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.250714057 meters Centerline goodness : 0.990568 Centerline is valid? [True, True] Translation: X:118.44, Y:114.41, Z:44.14 [[-6.67503107e-02 -9.97526588e-01 2.20250173e-02 1.18435327e+02] [ 9.78077887e-01 -6.97808988e-02 -1.96199575e-01 1.14406936e+02] [ 1.97251219e-01 8.44579981e-03 9.80316594e-01 4.41391876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.280714057 meters Centerline goodness : 0.990459 Centerline is valid? [True, True] Translation: X:118.44, Y:114.44, Z:44.13 [[-6.85126556e-02 -9.97648146e-01 -2.04753782e-03 1.18444207e+02] [ 9.78056398e-01 -6.67621668e-02 -1.97353731e-01 1.14439863e+02] [ 1.96752885e-01 -1.55238356e-02 9.80330206e-01 4.41341720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.310714057 meters Centerline goodness : 0.990073 Centerline is valid? [True, True] Translation: X:118.45, Y:114.40, Z:44.12 [[-6.61833763e-02 -9.97750413e-01 -1.06711989e-02 1.18447540e+02] [ 9.78024570e-01 -6.27484468e-02 -1.98822969e-01 1.14400068e+02] [ 1.97706099e-01 -2.35954701e-02 9.79977322e-01 4.41237593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.340714057 meters Centerline goodness : 0.989914 Centerline is valid? [True, True] Translation: X:118.44, Y:114.43, Z:44.13 [[-6.38623966e-02 -9.97903379e-01 -1.05090984e-02 1.18443762e+02] [ 9.77790543e-01 -6.04619114e-02 -2.00673895e-01 1.14426214e+02] [ 1.99617758e-01 -2.30912129e-02 9.79601729e-01 4.41309131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.370714057 meters Centerline goodness : 0.990190 Centerline is valid? [True, True] Translation: X:118.44, Y:114.42, Z:44.13 [[-5.90761993e-02 -9.98253376e-01 4.48278741e-04 1.18439028e+02] [ 9.78544064e-01 -5.79985934e-02 -1.97706040e-01 1.14420862e+02] [ 1.97386721e-01 -1.12410609e-02 9.80261251e-01 4.41329416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.400714057 meters Centerline goodness : 0.989382 Centerline is valid? [True, True] Translation: X:118.44, Y:114.45, Z:44.14 [[-5.67295584e-02 -9.98351747e-01 -8.69171774e-03 1.18441585e+02] [ 9.78462674e-01 -5.38645201e-02 -1.99272197e-01 1.14450640e+02] [ 1.98475571e-01 -1.98091451e-02 9.79905631e-01 4.41367005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.430714057 meters Centerline goodness : 0.989145 Centerline is valid? [True, True] Translation: X:118.44, Y:114.47, Z:44.14 [[-5.48920044e-02 -9.98479999e-01 -4.95570944e-03 1.18439016e+02] [ 9.78593063e-01 -5.28114508e-02 -1.98913470e-01 1.14469795e+02] [ 1.98349403e-01 -1.57683819e-02 9.80004527e-01 4.41421881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.460714057 meters Centerline goodness : 0.989591 Centerline is valid? [True, True] Translation: X:118.44, Y:114.46, Z:44.14 [[-5.19797622e-02 -9.98628306e-01 -6.29370921e-03 1.18439213e+02] [ 9.78699545e-01 -4.96870535e-02 -1.99194373e-01 1.14456882e+02] [ 1.98608424e-01 -1.65137265e-02 9.79939789e-01 4.41397218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.490714057 meters Centerline goodness : 0.989379 Centerline is valid? [True, True] Translation: X:118.44, Y:114.46, Z:44.14 [[-4.85850189e-02 -9.98794339e-01 -7.02599219e-03 1.18438136e+02] [ 9.78627874e-01 -4.61944555e-02 -2.00383526e-01 1.14459498e+02] [ 1.99817369e-01 -1.66114692e-02 9.79692338e-01 4.41407418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.520714057 meters Centerline goodness : 0.988265 Centerline is valid? [True, True] Translation: X:118.44, Y:114.46, Z:44.14 [[-4.84647026e-02 -9.98756617e-01 -1.16786971e-02 1.18440166e+02] [ 9.78056594e-01 -4.50817894e-02 -2.03403373e-01 1.14455358e+02] [ 2.02623968e-01 -2.12803107e-02 9.79025370e-01 4.41396782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.550714057 meters Centerline goodness : 0.986957 Centerline is valid? [True, True] Translation: X:118.44, Y:114.47, Z:44.14 [[-4.68509607e-02 -9.98802861e-01 -1.40652842e-02 1.18441666e+02] [ 9.78902403e-01 -4.31048619e-02 -1.99729957e-01 1.14469264e+02] [ 1.98884571e-01 -2.31260809e-02 9.79750025e-01 4.41401867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.580714057 meters Centerline goodness : 0.989368 Centerline is valid? [True, True] Translation: X:118.43, Y:114.48, Z:44.15 [[-4.56176212e-02 -9.98852218e-01 1.46040620e-02 1.18429119e+02] [ 9.78212155e-01 -4.76294274e-02 -2.02070327e-01 1.14475017e+02] [ 2.02533978e-01 5.06790329e-03 9.79262122e-01 4.41536509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.610714057 meters Centerline goodness : 0.987238 Centerline is valid? [True, True] Translation: X:118.44, Y:114.49, Z:44.14 [[-4.64854321e-02 -9.98752283e-01 -1.82477701e-02 1.18443554e+02] [ 9.79002119e-01 -4.19213403e-02 -1.99492987e-01 1.14488131e+02] [ 1.98479106e-01 -2.71381233e-02 9.79729334e-01 4.41420958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.640714057 meters Centerline goodness : 0.989126 Centerline is valid? [True, True] Translation: X:118.43, Y:114.48, Z:44.15 [[-4.58352771e-02 -9.98775824e-01 1.86005567e-02 1.18429379e+02] [ 9.78612682e-01 -4.86324017e-02 -1.99880235e-01 1.14481179e+02] [ 2.00540136e-01 9.04117471e-03 9.79643767e-01 4.41548185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.670714057 meters Centerline goodness : 0.989886 Centerline is valid? [True, True] Translation: X:118.44, Y:114.47, Z:44.14 [[-4.70111411e-02 -9.98876966e-01 -5.89570689e-03 1.18440965e+02] [ 9.78742570e-01 -4.48823526e-02 -2.00121356e-01 1.14471977e+02] [ 1.99632000e-01 -1.51783126e-02 9.79753379e-01 4.41414768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.700714057 meters Centerline goodness : 0.989840 Centerline is valid? [True, True] Translation: X:118.44, Y:114.50, Z:44.15 [[-4.92558228e-02 -9.98750753e-01 -8.41412721e-03 1.18442361e+02] [ 9.78728611e-01 -4.65851348e-02 -1.99800230e-01 1.14498491e+02] [ 1.99158657e-01 -1.80764718e-02 9.79800526e-01 4.41452291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.730714057 meters Centerline goodness : 0.989675 Centerline is valid? [True, True] Translation: X:118.44, Y:114.53, Z:44.15 [[-4.92568289e-02 -9.98751706e-01 8.29427123e-03 1.18438736e+02] [ 9.79233889e-01 -4.99260212e-02 -1.96490159e-01 1.14529993e+02] [ 1.96658981e-01 -1.55645066e-03 9.80470715e-01 4.41525165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.76071405700003 meters Centerline goodness : 0.990093 Centerline is valid? [True, True] Translation: X:118.45, Y:114.58, Z:44.16 [[-7.75002038e-02 -9.96350294e-01 -3.57744346e-02 1.18449492e+02] [ 9.73020317e-01 -6.77668081e-02 -2.20542792e-01 1.14578288e+02] [ 2.17313556e-01 -5.19013629e-02 9.74721020e-01 4.41572419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.790714057 meters Centerline goodness : 0.988917 Centerline is valid? [True, True] Translation: X:118.43, Y:114.55, Z:44.17 [[-6.15685155e-02 -9.97799932e-01 2.45888964e-02 1.18434549e+02] [ 9.77056182e-01 -6.52844181e-02 -2.02729283e-01 1.14551884e+02] [ 2.03888536e-01 1.15429923e-02 9.78926057e-01 4.41669266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.82071405700003 meters Centerline goodness : 0.990442 Centerline is valid? [True, True] Translation: X:118.45, Y:114.56, Z:44.16 [[-6.78554928e-02 -9.97664858e-01 -7.77581734e-03 1.18449802e+02] [ 9.76187746e-01 -6.47811563e-02 -2.07028709e-01 1.14559192e+02] [ 2.06041541e-01 -2.16386927e-02 9.78303966e-01 4.41566174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.850714057 meters Centerline goodness : 0.990244 Centerline is valid? [True, True] Translation: X:118.45, Y:114.58, Z:44.16 [[-7.04938588e-02 -9.97510063e-01 -2.07133495e-03 1.18448238e+02] [ 9.75908384e-01 -6.85371522e-02 -2.07136393e-01 1.14576067e+02] [ 2.06478673e-01 -1.66232768e-02 9.78309882e-01 4.41627746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.88071405700003 meters Centerline goodness : 0.990467 Centerline is valid? [True, True] Translation: X:118.45, Y:114.60, Z:44.17 [[-7.40732129e-02 -9.97246821e-01 -3.45500203e-03 1.18448825e+02] [ 9.75434573e-01 -7.17314425e-02 -2.08283447e-01 1.14600633e+02] [ 2.07462173e-01 -1.87983526e-02 9.78062405e-01 4.41679696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.910714057 meters Centerline goodness : 0.991030 Centerline is valid? [True, True] Translation: X:118.45, Y:114.59, Z:44.17 [[-7.74720219e-02 -9.96993764e-01 -1.23300628e-03 1.18449946e+02] [ 9.75147047e-01 -7.55168096e-02 -2.08291740e-01 1.14594984e+02] [ 2.07572454e-01 -1.73391447e-02 9.78065964e-01 4.41684727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.940714057 meters Centerline goodness : 0.991551 Centerline is valid? [True, True] Translation: X:118.45, Y:114.59, Z:44.17 [[-7.71267060e-02 -9.97020096e-01 -1.54923649e-03 1.18451524e+02] [ 9.75365455e-01 -7.51292797e-02 -2.07407379e-01 1.14588927e+02] [ 2.06672932e-01 -1.75077197e-02 9.78253433e-01 4.41663697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.970714057 meters Centerline goodness : 0.992383 Centerline is valid? [True, True] Translation: X:118.46, Y:114.58, Z:44.16 [[-8.01540875e-02 -9.96761437e-01 -6.47772698e-03 1.18455197e+02] [ 9.75205691e-01 -7.70725506e-02 -2.07445611e-01 1.14581831e+02] [ 2.06274531e-01 -2.29447299e-02 9.78225106e-01 4.41636038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.000714057 meters Centerline goodness : 0.992115 Centerline is valid? [True, True] Translation: X:118.45, Y:114.60, Z:44.17 [[-8.06295240e-02 -9.96741468e-01 -2.30792099e-03 1.18454196e+02] [ 9.75167243e-01 -7.84047225e-02 -2.07126888e-01 1.14602655e+02] [ 2.06271007e-01 -1.89511514e-02 9.78311364e-01 4.41695384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.030714057 meters Centerline goodness : 0.992353 Centerline is valid? [True, True] Translation: X:118.45, Y:114.60, Z:44.17 [[-7.97361110e-02 -9.96815735e-01 7.36618697e-04 1.18453039e+02] [ 9.75560581e-01 -7.81876409e-02 -2.05349082e-01 1.14596522e+02] [ 2.04752791e-01 -1.56551210e-02 9.78688516e-01 4.41690033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.060714057 meters Centerline goodness : 0.992101 Centerline is valid? [True, True] Translation: X:118.46, Y:114.58, Z:44.16 [[-7.77217330e-02 -9.96971670e-01 -2.61193383e-03 1.18456272e+02] [ 9.76125826e-01 -7.55631310e-02 -2.03638367e-01 1.14581121e+02] [ 2.02824317e-01 -1.83767029e-02 9.79042692e-01 4.41640196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.090714057 meters Centerline goodness : 0.991643 Centerline is valid? [True, True] Translation: X:118.46, Y:114.60, Z:44.17 [[-7.89630236e-02 -9.96864350e-01 -5.12921442e-03 1.18457789e+02] [ 9.75654007e-01 -7.62248178e-02 -2.05642981e-01 1.14604468e+02] [ 2.04607184e-01 -2.12425302e-02 9.78613639e-01 4.41691546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.120714057 meters Centerline goodness : 0.992896 Centerline is valid? [True, True] Translation: X:118.46, Y:114.58, Z:44.17 [[-7.75615428e-02 -9.96987388e-01 5.96307213e-04 1.18457057e+02] [ 9.75972531e-01 -7.60488017e-02 -2.04191572e-01 1.14584268e+02] [ 2.03621770e-01 -1.52554339e-02 9.78930767e-01 4.41670745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.150714057 meters Centerline goodness : 0.992317 Centerline is valid? [True, True] Translation: X:118.46, Y:114.59, Z:44.16 [[-7.83957464e-02 -9.96815615e-01 -1.45854810e-02 1.18464914e+02] [ 9.76464505e-01 -7.38300491e-02 -2.02647957e-01 1.14588642e+02] [ 2.00925801e-01 -3.01289423e-02 9.79143028e-01 4.41616173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.180714057 meters Centerline goodness : 0.992325 Centerline is valid? [True, True] Translation: X:118.46, Y:114.60, Z:44.17 [[-7.90494345e-02 -9.96834134e-01 8.53794806e-03 1.18457164e+02] [ 9.74874259e-01 -7.90916110e-02 -2.08241920e-01 1.14596145e+02] [ 2.08257934e-01 -8.13798021e-03 9.78040084e-01 4.41724153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.210714057 meters Centerline goodness : 0.992592 Centerline is valid? [True, True] Translation: X:118.46, Y:114.59, Z:44.17 [[-7.78540513e-02 -9.96963733e-01 -1.43619512e-03 1.18462911e+02] [ 9.75116159e-01 -7.58478553e-02 -2.08316055e-01 1.14587764e+02] [ 2.07574620e-01 -1.76187059e-02 9.78060509e-01 4.41653701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.240714057 meters Centerline goodness : 0.993398 Centerline is valid? [True, True] Translation: X:118.46, Y:114.60, Z:44.17 [[-7.69081223e-02 -9.97034474e-01 2.72002422e-03 1.18462976e+02] [ 9.75083766e-01 -7.57837005e-02 -2.08490959e-01 1.14596764e+02] [ 2.08078807e-01 -1.33823967e-02 9.78020512e-01 4.41679845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.270714057 meters Centerline goodness : 0.992326 Centerline is valid? [True, True] Translation: X:118.47, Y:114.60, Z:44.16 [[-7.65589638e-02 -9.97057683e-01 -3.83431688e-03 1.18466585e+02] [ 9.75383050e-01 -7.40959565e-02 -2.07696161e-01 1.14598942e+02] [ 2.06800946e-01 -1.96409306e-02 9.78185873e-01 4.41647278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.300714057 meters Centerline goodness : 0.992667 Centerline is valid? [True, True] Translation: X:118.47, Y:114.60, Z:44.17 [[-7.70161999e-02 -9.97019041e-01 -4.64089083e-03 1.18467175e+02] [ 9.74832963e-01 -7.43240539e-02 -2.10182371e-01 1.14597644e+02] [ 2.09210896e-01 -2.07115409e-02 9.77651182e-01 4.41652766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.330714057 meters Centerline goodness : 0.992521 Centerline is valid? [True, True] Translation: X:118.47, Y:114.61, Z:44.17 [[-7.62603734e-02 -9.97080160e-01 -3.93816314e-03 1.18468062e+02] [ 9.74695920e-01 -7.37148367e-02 -2.11030771e-01 1.14608565e+02] [ 2.10124294e-01 -1.99317969e-02 9.77471485e-01 4.41677402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.360714057 meters Centerline goodness : 0.992640 Centerline is valid? [True, True] Translation: X:118.47, Y:114.60, Z:44.16 [[-7.47511033e-02 -9.97127382e-01 -1.22171018e-02 1.18471864e+02] [ 9.75773649e-01 -7.06131595e-02 -2.07073822e-01 1.14595929e+02] [ 2.05616289e-01 -2.74001226e-02 9.78249035e-01 4.41614327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.390714057 meters Centerline goodness : 0.992792 Centerline is valid? [True, True] Translation: X:118.46, Y:114.59, Z:44.17 [[-7.01296003e-02 -9.97418449e-01 1.54362457e-02 1.18460230e+02] [ 9.76104783e-01 -7.18050857e-02 -2.05093838e-01 1.14594143e+02] [ 2.05672779e-01 6.84244340e-04 9.78620580e-01 4.41713149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.420714057 meters Centerline goodness : 0.992701 Centerline is valid? [True, True] Translation: X:118.47, Y:114.62, Z:44.17 [[-6.91777400e-02 -9.97604297e-01 -3.26225294e-04 1.18467043e+02] [ 9.76698185e-01 -6.76614266e-02 -2.03672746e-01 1.14624677e+02] [ 2.03162734e-01 -1.44082439e-02 9.79038971e-01 4.41700329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.450714057 meters Centerline goodness : 0.992931 Centerline is valid? [True, True] Translation: X:118.47, Y:114.63, Z:44.17 [[-6.58918047e-02 -9.97823736e-01 -2.46197516e-03 1.18468193e+02] [ 9.77379065e-01 -6.40443998e-02 -2.01565070e-01 1.14626768e+02] [ 2.00968736e-01 -1.56877692e-02 9.79472032e-01 4.41692541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.480714057 meters Centerline goodness : 0.992215 Centerline is valid? [True, True] Translation: X:118.47, Y:114.62, Z:44.17 [[-5.85153305e-02 -9.98286224e-01 -7.55537291e-04 1.18467737e+02] [ 9.78442016e-01 -5.72019590e-02 -1.98441826e-01 1.14620509e+02] [ 1.98058523e-01 -1.23511384e-02 9.80112377e-01 4.41681108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.51071405700003 meters Centerline goodness : 0.990928 Centerline is valid? [True, True] Translation: X:118.48, Y:114.65, Z:44.16 [[-5.27065408e-02 -9.98244791e-01 -2.70066418e-02 1.18477924e+02] [ 9.80513292e-01 -4.66072122e-02 -1.90844053e-01 1.14645548e+02] [ 1.89250378e-01 -3.65391011e-02 9.81248790e-01 4.41648107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.540714057 meters Centerline goodness : 0.991552 Centerline is valid? [True, True] Translation: X:118.46, Y:114.68, Z:44.19 [[-4.95886995e-02 -9.98694312e-01 1.22731926e-02 1.18460957e+02] [ 9.78554000e-01 -5.10411846e-02 -1.99566697e-01 1.14675835e+02] [ 1.99932563e-01 2.11372881e-03 9.79807380e-01 4.41860272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.57071405700003 meters Centerline goodness : 0.991272 Centerline is valid? [True, True] Translation: X:118.47, Y:114.69, Z:44.18 [[-4.68373575e-02 -9.98881778e-01 -6.43862234e-03 1.18468066e+02] [ 9.78570510e-01 -4.45891852e-02 -2.01026272e-01 1.14685060e+02] [ 2.00514387e-01 -1.57161853e-02 9.79564690e-01 4.41806915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.600714057 meters Centerline goodness : 0.990471 Centerline is valid? [True, True] Translation: X:118.47, Y:114.68, Z:44.18 [[-4.20956799e-02 -9.99107516e-01 -3.48225335e-03 1.18467571e+02] [ 9.79174178e-01 -4.05624841e-02 -1.98928667e-01 1.14677627e+02] [ 1.98609877e-01 -1.17837700e-02 9.80007785e-01 4.41788800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.63071405700003 meters Centerline goodness : 0.990730 Centerline is valid? [True, True] Translation: X:118.47, Y:114.71, Z:44.18 [[-3.75219892e-02 -9.99236153e-01 -1.09183938e-02 1.18471406e+02] [ 9.79034414e-01 -3.45699669e-02 -2.00739963e-01 1.14707485e+02] [ 2.00209180e-01 -1.82216460e-02 9.79583716e-01 4.41838502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.660714057 meters Centerline goodness : 0.990718 Centerline is valid? [True, True] Translation: X:118.47, Y:114.70, Z:44.19 [[-3.31699431e-02 -9.99448677e-01 1.44783167e-03 1.18466560e+02] [ 9.80083739e-01 -3.28109768e-02 -1.95855314e-01 1.14703958e+02] [ 1.95794839e-01 -5.07751333e-03 9.80631735e-01 4.41858832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.690714057 meters Centerline goodness : 0.989736 Centerline is valid? [True, True] Translation: X:118.47, Y:114.72, Z:44.19 [[-3.55985345e-02 -9.99198062e-01 -1.83296859e-02 1.18471502e+02] [ 9.78430325e-01 -3.11123334e-02 -2.04220766e-01 1.14723536e+02] [ 2.03486714e-01 -2.52042805e-02 9.78753238e-01 4.41885221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.720714057 meters Centerline goodness : 0.990355 Centerline is valid? [True, True] Translation: X:118.47, Y:114.73, Z:44.20 [[-3.44191975e-02 -9.99392500e-01 -5.47269873e-03 1.18465734e+02] [ 9.78161096e-01 -3.25638591e-02 -2.05281429e-01 1.14727252e+02] [ 2.04978508e-01 -1.24188030e-02 9.78687685e-01 4.41955905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.750714057 meters Centerline goodness : 0.989844 Centerline is valid? [True, True] Translation: X:118.47, Y:114.73, Z:44.20 [[-3.25961624e-02 -9.99462949e-01 -3.36217873e-03 1.18466221e+02] [ 9.78727680e-01 -3.12377883e-02 -2.02771617e-01 1.14733223e+02] [ 2.02557691e-01 -9.90023395e-03 9.79220285e-01 4.41960625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.780714057 meters Centerline goodness : 0.989336 Centerline is valid? [True, True] Translation: X:118.47, Y:114.73, Z:44.20 [[-3.41474586e-02 -9.99386090e-01 -7.83543263e-03 1.18468476e+02] [ 9.77676662e-01 -3.17772763e-02 -2.07698219e-01 1.14734143e+02] [ 2.07321722e-01 -1.47528859e-02 9.78161569e-01 4.41969817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.810714057 meters Centerline goodness : 0.989422 Centerline is valid? [True, True] Translation: X:118.47, Y:114.74, Z:44.20 [[-3.49540590e-02 -9.99383229e-01 -3.37285226e-03 1.18467338e+02] [ 9.77398582e-01 -3.34806592e-02 -2.08736816e-01 1.14736531e+02] [ 2.08495148e-01 -1.05928200e-02 9.77966035e-01 4.41992401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.840714057 meters Centerline goodness : 0.989807 Centerline is valid? [True, True] Translation: X:118.47, Y:114.73, Z:44.20 [[-3.58419714e-02 -9.99342410e-01 -5.48636793e-03 1.18469948e+02] [ 9.76590332e-01 -3.38597409e-02 -2.12426085e-01 1.14733646e+02] [ 2.12100629e-01 -1.29717035e-02 9.77161736e-01 4.41987811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.870714057 meters Centerline goodness : 0.990814 Centerline is valid? [True, True] Translation: X:118.47, Y:114.73, Z:44.19 [[-3.69308328e-02 -9.99266064e-01 -1.01708498e-02 1.18473581e+02] [ 9.77185253e-01 -3.39808582e-02 -2.09652765e-01 1.14729985e+02] [ 2.09153279e-01 -1.76814556e-02 9.77723004e-01 4.41944738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.900714057 meters Centerline goodness : 0.991574 Centerline is valid? [True, True] Translation: X:118.46, Y:114.77, Z:44.21 [[-5.37935052e-02 -9.98539479e-01 -5.01677075e-03 1.18464864e+02] [ 9.73615929e-01 -5.13337385e-02 -2.22344034e-01 1.14772111e+02] [ 2.21761767e-01 -1.68450729e-02 9.74955364e-01 4.42130765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.930714057 meters Centerline goodness : 0.991574 Centerline is valid? [True, True] Translation: X:118.46, Y:114.77, Z:44.22 [[-5.33163299e-02 -9.98574092e-01 2.67417515e-03 1.18461573e+02] [ 9.73569352e-01 -5.25764696e-02 -2.22257581e-01 1.14774038e+02] [ 2.22081261e-01 -9.24646356e-03 9.74984316e-01 4.42166477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.960714057 meters Centerline goodness : 0.991396 Centerline is valid? [True, True] Translation: X:118.46, Y:114.75, Z:44.21 [[-4.15727045e-02 -9.99030203e-01 1.45039448e-02 1.18464572e+02] [ 9.75738642e-01 -4.37180135e-02 -2.14529339e-01 1.14745060e+02] [ 2.14955373e-01 5.23349455e-03 9.76609850e-01 4.42091552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.990714057 meters Centerline goodness : 0.991111 Centerline is valid? [True, True] Translation: X:118.48, Y:114.74, Z:44.20 [[-4.45215906e-02 -9.98990061e-01 -6.05687910e-03 1.18476055e+02] [ 9.75447280e-01 -4.21617925e-02 -2.16159632e-01 1.14739399e+02] [ 2.15685955e-01 -1.55319369e-02 9.76339248e-01 4.41990023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.020714057 meters Centerline goodness : 0.991240 Centerline is valid? [True, True] Translation: X:118.48, Y:114.76, Z:44.20 [[-5.01041428e-02 -9.98603501e-01 -1.67518218e-02 1.18479909e+02] [ 9.73294278e-01 -4.50582388e-02 -2.25095544e-01 1.14757287e+02] [ 2.24026391e-01 -2.75826716e-02 9.74192677e-01 4.42038963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.050714057 meters Centerline goodness : 0.990231 Centerline is valid? [True, True] Translation: X:118.48, Y:114.74, Z:44.20 [[-5.00737400e-02 -9.98741249e-01 2.92209142e-03 1.18475738e+02] [ 9.75969110e-01 -4.95528658e-02 -2.12199930e-01 1.14740799e+02] [ 2.12077621e-01 -7.77377317e-03 9.77221905e-01 4.42031399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.080714057 meters Centerline goodness : 0.992229 Centerline is valid? [True, True] Translation: X:118.47, Y:114.79, Z:44.22 [[-6.52634191e-02 -9.97868023e-01 3.09129585e-04 1.18470092e+02] [ 9.73044107e-01 -6.37085274e-02 -2.21644735e-01 1.14790899e+02] [ 2.21191888e-01 -1.41644965e-02 9.75127436e-01 4.42196345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.110714057 meters Centerline goodness : 0.989700 Centerline is valid? [True, True] Translation: X:118.48, Y:114.77, Z:44.21 [[-5.59623835e-02 -9.98432847e-01 2.49035899e-04 1.18478896e+02] [ 9.75900308e-01 -5.47521177e-02 -2.11236347e-01 1.14767118e+02] [ 2.10918942e-01 -1.15782552e-02 9.77434982e-01 4.42094819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.140714057 meters Centerline goodness : 0.992505 Centerline is valid? [True, True] Translation: X:118.47, Y:114.79, Z:44.22 [[-6.92491177e-02 -9.97597158e-01 2.11428174e-03 1.18472144e+02] [ 9.73017514e-01 -6.80101794e-02 -2.20480232e-01 1.14794851e+02] [ 2.20094245e-01 -1.32108283e-02 9.75389152e-01 4.42220364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.170714057 meters Centerline goodness : 0.992681 Centerline is valid? [True, True] Translation: X:118.47, Y:114.78, Z:44.22 [[-5.75644369e-02 -9.98246996e-01 1.37575425e-02 1.18474445e+02] [ 9.75913843e-01 -5.91704469e-02 -2.09978639e-01 1.14777764e+02] [ 2.10424586e-01 1.33887410e-03 9.77609176e-01 4.42171431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.200714057 meters Centerline goodness : 0.991394 Centerline is valid? [True, True] Translation: X:118.49, Y:114.78, Z:44.21 [[-5.97316547e-02 -9.98120137e-01 -1.37230365e-02 1.18488672e+02] [ 9.76302066e-01 -5.55502366e-02 -2.09161295e-01 1.14775643e+02] [ 2.08005782e-01 -2.58913791e-02 9.77784859e-01 4.42057986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.230714057 meters Centerline goodness : 0.992540 Centerline is valid? [True, True] Translation: X:118.48, Y:114.78, Z:44.22 [[-5.89178981e-02 -9.98141359e-01 1.55726773e-02 1.18476440e+02] [ 9.76494676e-01 -6.08660908e-02 -2.06769116e-01 1.14778507e+02] [ 2.07332655e-01 3.02423474e-03 9.78265825e-01 4.42171540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.26071405700003 meters Centerline goodness : 0.992314 Centerline is valid? [True, True] Translation: X:118.49, Y:114.78, Z:44.21 [[-5.90274904e-02 -9.98244033e-01 -4.96034449e-03 1.18486405e+02] [ 9.76624941e-01 -5.67188761e-02 -2.07332326e-01 1.14780819e+02] [ 2.06686912e-01 -1.70827030e-02 9.78257993e-01 4.42090644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.290714057 meters Centerline goodness : 0.992522 Centerline is valid? [True, True] Translation: X:118.49, Y:114.81, Z:44.21 [[-6.13119759e-02 -9.98088511e-01 -7.75663839e-03 1.18487258e+02] [ 9.76163251e-01 -5.83404936e-02 -2.09049500e-01 1.14807710e+02] [ 2.08197378e-01 -2.03889833e-02 9.77874297e-01 4.42139395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.32071405700003 meters Centerline goodness : 0.990835 Centerline is valid? [True, True] Translation: X:118.49, Y:114.82, Z:44.21 [[-6.26021413e-02 -9.97933220e-01 -1.45003815e-02 1.18491167e+02] [ 9.76094899e-01 -5.81893636e-02 -2.09410475e-01 1.14815137e+02] [ 2.08133902e-01 -2.72632926e-02 9.77720304e-01 4.42122190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.350714057 meters Centerline goodness : 0.992056 Centerline is valid? [True, True] Translation: X:118.48, Y:114.81, Z:44.22 [[-6.31994451e-02 -9.97969228e-01 7.95295328e-03 1.18480836e+02] [ 9.74704853e-01 -6.34339824e-02 -2.14304876e-01 1.14812632e+02] [ 2.14374160e-01 -5.79216710e-03 9.76734442e-01 4.42215121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.38071405700003 meters Centerline goodness : 0.991739 Centerline is valid? [True, True] Translation: X:118.48, Y:114.83, Z:44.22 [[-7.82655233e-02 -9.96801349e-01 -1.61733996e-02 1.18483730e+02] [ 9.71473347e-01 -7.26138587e-02 -2.25758199e-01 1.14834168e+02] [ 2.23861664e-01 -3.33811102e-02 9.74049104e-01 4.42233250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.410714057 meters Centerline goodness : 0.992350 Centerline is valid? [True, True] Translation: X:118.48, Y:114.84, Z:44.23 [[-7.85398882e-02 -9.96908903e-01 2.03091982e-03 1.18475358e+02] [ 9.70929551e-01 -7.69548972e-02 -2.26657782e-01 1.14837561e+02] [ 2.26113450e-01 -1.58297968e-02 9.73972343e-01 4.42307754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.440714057 meters Centerline goodness : 0.992141 Centerline is valid? [True, True] Translation: X:118.47, Y:114.81, Z:44.22 [[-5.74301161e-02 -9.97837399e-01 3.19735337e-02 1.18471824e+02] [ 9.76763728e-01 -6.27833420e-02 -2.04916741e-01 1.14805628e+02] [ 2.06480993e-01 1.94621957e-02 9.78257033e-01 4.42231423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.470714057 meters Centerline goodness : 0.990437 Centerline is valid? [True, True] Translation: X:118.50, Y:114.83, Z:44.21 [[-5.64700910e-02 -9.97379321e-01 -4.52285176e-02 1.18500755e+02] [ 9.78986259e-01 -4.64240023e-02 -1.98571691e-01 1.14828170e+02] [ 1.95951610e-01 -5.54914587e-02 9.79042218e-01 4.42051306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.500714057 meters Centerline goodness : 0.991954 Centerline is valid? [True, True] Translation: X:118.48, Y:114.86, Z:44.23 [[-6.08874870e-02 -9.98084802e-01 1.09289762e-02 1.18476577e+02] [ 9.76438317e-01 -6.18308489e-02 -2.06749026e-01 1.14858381e+02] [ 2.07028809e-01 -1.91695752e-03 9.78332969e-01 4.42325445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.530714057 meters Centerline goodness : 0.992880 Centerline is valid? [True, True] Translation: X:118.48, Y:114.89, Z:44.23 [[-6.19429876e-02 -9.98041295e-01 -8.75447044e-03 1.18483681e+02] [ 9.76766213e-01 -5.88149056e-02 -2.06079043e-01 1.14886731e+02] [ 2.05160502e-01 -2.13162225e-02 9.78496187e-01 4.42311546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.560714057 meters Centerline goodness : 0.992565 Centerline is valid? [True, True] Translation: X:118.48, Y:114.92, Z:44.24 [[-6.05295515e-02 -9.98166405e-01 2.40963971e-05 1.18479574e+02] [ 9.77388421e-01 -5.92744591e-02 -2.02973922e-01 1.14916259e+02] [ 2.02603179e-01 -1.22623689e-02 9.79184143e-01 4.42376156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.590714057 meters Centerline goodness : 0.992891 Centerline is valid? [True, True] Translation: X:118.48, Y:114.95, Z:44.24 [[-6.07724069e-02 -9.98133518e-01 -6.01616947e-03 1.18482004e+02] [ 9.77431605e-01 -5.82880720e-02 -2.03051615e-01 1.14945562e+02] [ 2.02321952e-01 -1.82203296e-02 9.79149553e-01 4.42406411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.620714057 meters Centerline goodness : 0.992182 Centerline is valid? [True, True] Translation: X:118.48, Y:114.95, Z:44.24 [[-6.53718260e-02 -9.97750683e-01 -1.48357490e-02 1.18482968e+02] [ 9.75959522e-01 -6.08321071e-02 -2.09290386e-01 1.14954257e+02] [ 2.07917135e-01 -2.81607852e-02 9.77740986e-01 4.42429988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.650714057 meters Centerline goodness : 0.993335 Centerline is valid? [True, True] Translation: X:118.48, Y:114.97, Z:44.25 [[-6.71317689e-02 -9.97729395e-01 -5.42025935e-03 1.18478612e+02] [ 9.75363562e-01 -6.44807820e-02 -2.10969548e-01 1.14965477e+02] [ 2.10141017e-01 -1.94494824e-02 9.77477606e-01 4.42497946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.680714057 meters Centerline goodness : 0.993302 Centerline is valid? [True, True] Translation: X:118.48, Y:114.97, Z:44.25 [[-7.01326787e-02 -9.97477135e-01 -1.09896796e-02 1.18479806e+02] [ 9.73941568e-01 -6.60875754e-02 -2.16956802e-01 1.14974343e+02] [ 2.15683168e-01 -2.59190675e-02 9.76119344e-01 4.42525643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.710714057 meters Centerline goodness : 0.991813 Centerline is valid? [True, True] Translation: X:118.48, Y:115.00, Z:44.26 [[-7.42105151e-02 -9.97208978e-01 -8.18861790e-03 1.18477312e+02] [ 9.72468785e-01 -7.05456234e-02 -2.22098577e-01 1.14995227e+02] [ 2.20901024e-01 -2.44452251e-02 9.74989830e-01 4.42598094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.740714057 meters Centerline goodness : 0.992604 Centerline is valid? [True, True] Translation: X:118.47, Y:115.00, Z:44.27 [[-8.61011062e-02 -9.96286136e-01 7.30642300e-04 1.18468226e+02] [ 9.70870402e-01 -8.40691731e-02 -2.24372540e-01 1.15002078e+02] [ 2.23600675e-01 -1.86093649e-02 9.74503171e-01 4.42663300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.770714057 meters Centerline goodness : 0.991330 Centerline is valid? [True, True] Translation: X:118.47, Y:115.00, Z:44.27 [[-8.58012466e-02 -9.96308664e-01 2.68192538e-03 1.18465222e+02] [ 9.70672388e-01 -8.41996231e-02 -2.25178902e-01 1.15004578e+02] [ 2.24573508e-01 -1.67173596e-02 9.74313743e-01 4.42680880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.800714057 meters Centerline goodness : 0.992618 Centerline is valid? [True, True] Translation: X:118.46, Y:114.98, Z:44.27 [[-6.33292007e-02 -9.97300951e-01 3.71513824e-02 1.18458276e+02] [ 9.76541159e-01 -6.96018341e-02 -2.03771809e-01 1.14980949e+02] [ 2.05807624e-01 2.33751482e-02 9.78313255e-01 4.42664582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.830714057 meters Centerline goodness : 0.991912 Centerline is valid? [True, True] Translation: X:118.49, Y:115.00, Z:44.25 [[-6.57732340e-02 -9.96556949e-01 -5.04789892e-02 1.18487915e+02] [ 9.76182675e-01 -5.37822865e-02 -2.10178142e-01 1.15004585e+02] [ 2.06739612e-01 -6.31008108e-02 9.76359063e-01 4.42490081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.860714057 meters Centerline goodness : 0.991707 Centerline is valid? [True, True] Translation: X:118.47, Y:115.03, Z:44.27 [[-6.52236896e-02 -9.97790698e-01 -1.26330615e-02 1.18468909e+02] [ 9.75493055e-01 -6.10898509e-02 -2.11379588e-01 1.15026843e+02] [ 2.10140835e-01 -2.61104204e-02 9.77322401e-01 4.42712542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.890714057 meters Centerline goodness : 0.991872 Centerline is valid? [True, True] Translation: X:118.46, Y:115.05, Z:44.28 [[-6.47310368e-02 -9.97893991e-01 -4.18029613e-03 1.18463672e+02] [ 9.75552032e-01 -6.23990187e-02 -2.10723977e-01 1.15054461e+02] [ 2.10019344e-01 -1.77184779e-02 9.77536665e-01 4.42804167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.920714057 meters Centerline goodness : 0.990431 Centerline is valid? [True, True] Translation: X:118.46, Y:115.06, Z:44.28 [[-5.83361146e-02 -9.98283055e-01 5.27634389e-03 1.18457365e+02] [ 9.77124377e-01 -5.81808380e-02 -2.04555476e-01 1.15060881e+02] [ 2.04511247e-01 -6.77732745e-03 9.78840752e-01 4.42824384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.950714057 meters Centerline goodness : 0.989602 Centerline is valid? [True, True] Translation: X:118.47, Y:115.09, Z:44.28 [[-5.51086096e-02 -9.98231518e-01 -2.22907547e-02 1.18467824e+02] [ 9.79242903e-01 -4.96722128e-02 -1.96509563e-01 1.15087586e+02] [ 1.95054808e-01 -3.26574321e-02 9.80248496e-01 4.42758767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.980714057 meters Centerline goodness : 0.989519 Centerline is valid? [True, True] Translation: X:118.46, Y:115.10, Z:44.29 [[-5.10347322e-02 -9.98696401e-01 -9.77176025e-04 1.18457189e+02] [ 9.79376831e-01 -4.98559009e-02 -1.95794311e-01 1.15095887e+02] [ 1.95490355e-01 -1.09493338e-02 9.80644499e-01 4.42852506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.01071405700003 meters Centerline goodness : 0.989437 Centerline is valid? [True, True] Translation: X:118.46, Y:115.12, Z:44.29 [[-5.13968969e-02 -9.98665543e-01 -5.04893380e-03 1.18457730e+02] [ 9.79243177e-01 -4.94034886e-02 -1.96575926e-01 1.15121711e+02] [ 1.96064169e-01 -1.50475266e-02 9.80475606e-01 4.42903855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.040714057 meters Centerline goodness : 0.989330 Centerline is valid? [True, True] Translation: X:118.46, Y:115.13, Z:44.29 [[-5.04093961e-02 -9.98727642e-01 -1.41088792e-03 1.18455168e+02] [ 9.78579446e-01 -4.91100110e-02 -1.99926174e-01 1.15132981e+02] [ 1.99602508e-01 -1.14588236e-02 9.79809948e-01 4.42944543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.07071405700003 meters Centerline goodness : 0.988831 Centerline is valid? [True, True] Translation: X:118.45, Y:115.11, Z:44.29 [[-4.85665542e-02 -9.98819152e-01 -1.26138373e-03 1.18453603e+02] [ 9.78455308e-01 -4.73225931e-02 -2.00962140e-01 1.15109600e+02] [ 2.00665142e-01 -1.09942463e-02 9.79598197e-01 4.42906332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.100714057 meters Centerline goodness : 0.990918 Centerline is valid? [True, True] Translation: X:118.45, Y:115.09, Z:44.30 [[-4.77793665e-02 -9.98774273e-01 1.29261192e-02 1.18446370e+02] [ 9.77593138e-01 -4.94143088e-02 -2.04621317e-01 1.15091194e+02] [ 2.05009243e-01 2.85980853e-03 9.78755859e-01 4.42950261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.13071405700003 meters Centerline goodness : 0.990577 Centerline is valid? [True, True] Translation: X:118.45, Y:115.11, Z:44.29 [[-4.98343801e-02 -9.98722921e-01 -8.31036297e-03 1.18448058e+02] [ 9.77249169e-01 -4.70420019e-02 -2.06811778e-01 1.15111366e+02] [ 2.06156727e-01 -1.84276321e-02 9.78345453e-01 4.42914956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.160714057 meters Centerline goodness : 0.989093 Centerline is valid? [True, True] Translation: X:118.46, Y:115.14, Z:44.29 [[-4.16196635e-02 -9.99031914e-01 -1.42491454e-02 1.18456415e+02] [ 9.80283901e-01 -3.80731563e-02 -1.93891485e-01 1.15144802e+02] [ 1.93161272e-01 -2.20379062e-02 9.80919494e-01 4.42918330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.190714057 meters Centerline goodness : 0.990762 Centerline is valid? [True, True] Translation: X:118.43, Y:115.18, Z:44.32 [[-3.98439668e-02 -9.97827057e-01 5.24749799e-02 1.18431682e+02] [ 9.79506659e-01 -4.93812305e-02 -1.95264431e-01 1.15180927e+02] [ 1.97431412e-01 4.36194828e-02 9.79345791e-01 4.43164184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.220714057 meters Centerline goodness : 0.990557 Centerline is valid? [True, True] Translation: X:118.46, Y:115.22, Z:44.30 [[-5.54995987e-02 -9.97617087e-01 -4.09871073e-02 1.18460289e+02] [ 9.75283449e-01 -4.53725478e-02 -2.16248760e-01 1.15218556e+02] [ 2.13873769e-01 -5.19757668e-02 9.75477591e-01 4.42957011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.250714057 meters Centerline goodness : 0.989126 Centerline is valid? [True, True] Translation: X:118.45, Y:115.18, Z:44.30 [[-3.78705265e-02 -9.99277431e-01 3.23094237e-03 1.18447861e+02] [ 9.78964966e-01 -3.77490179e-02 -2.00505876e-01 1.15180334e+02] [ 2.00482961e-01 -4.43028369e-03 9.79687172e-01 4.42983305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.280714057 meters Centerline goodness : 0.989471 Centerline is valid? [True, True] Translation: X:118.45, Y:115.19, Z:44.30 [[-3.68040457e-02 -9.99259499e-01 -1.12212292e-02 1.18450857e+02] [ 9.77946310e-01 -3.37044307e-02 -2.06118963e-01 1.15189994e+02] [ 2.05588127e-01 -1.85597714e-02 9.78462599e-01 4.42975300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.310714057 meters Centerline goodness : 0.988878 Centerline is valid? [True, True] Translation: X:118.44, Y:115.19, Z:44.30 [[-3.51006352e-02 -9.99381862e-01 1.95933342e-03 1.18444474e+02] [ 9.78435041e-01 -3.47641169e-02 -2.03608267e-01 1.15193633e+02] [ 2.03550524e-01 -5.22969904e-03 9.79050476e-01 4.43028180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.340714057 meters Centerline goodness : 0.991286 Centerline is valid? [True, True] Translation: X:118.44, Y:115.19, Z:44.31 [[-3.06993114e-02 -9.99300041e-01 2.13770866e-02 1.18435459e+02] [ 9.78764560e-01 -3.43913967e-02 -2.02082082e-01 1.15185394e+02] [ 2.02675821e-01 1.47193540e-02 9.79135257e-01 4.43084560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.370714057 meters Centerline goodness : 0.990289 Centerline is valid? [True, True] Translation: X:118.45, Y:115.22, Z:44.30 [[-2.86559588e-02 -9.99449919e-01 -1.66941697e-02 1.18451244e+02] [ 9.80833698e-01 -2.48942769e-02 -1.93249923e-01 1.15216264e+02] [ 1.92728031e-01 -2.19119660e-02 9.81007529e-01 4.42957630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.400714057 meters Centerline goodness : 0.989444 Centerline is valid? [True, True] Translation: X:118.45, Y:115.21, Z:44.30 [[-2.74939271e-02 -9.99620555e-01 -1.68245401e-03 1.18445723e+02] [ 9.81150934e-01 -2.66637971e-02 -1.91394583e-01 1.15211354e+02] [ 1.91277098e-01 -6.91293003e-03 9.81511734e-01 4.42997542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.430714057 meters Centerline goodness : 0.991030 Centerline is valid? [True, True] Translation: X:118.44, Y:115.21, Z:44.30 [[-2.86904591e-02 -9.99543030e-01 9.51777624e-03 1.18440895e+02] [ 9.80464400e-01 -2.99939006e-02 -1.94396313e-01 1.15206184e+02] [ 1.94592955e-01 3.75452130e-03 9.80876896e-01 4.43043783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.460714057 meters Centerline goodness : 0.988914 Centerline is valid? [True, True] Translation: X:118.46, Y:115.23, Z:44.29 [[-2.83419278e-02 -9.98754673e-01 -4.10589686e-02 1.18461517e+02] [ 9.82032091e-01 -2.01536910e-02 -1.87634755e-01 1.15228208e+02] [ 1.86573599e-01 -4.56391555e-02 9.81380334e-01 4.42910624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.490714057 meters Centerline goodness : 0.990227 Centerline is valid? [True, True] Translation: X:118.44, Y:115.26, Z:44.32 [[-3.42750421e-02 -9.99113876e-01 2.44271057e-02 1.18435352e+02] [ 9.80060416e-01 -3.83878463e-02 -1.94956289e-01 1.15259509e+02] [ 1.95721238e-01 1.72579044e-02 9.80507706e-01 4.43213820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.520714057 meters Centerline goodness : 0.989658 Centerline is valid? [True, True] Translation: X:118.46, Y:115.28, Z:44.31 [[-3.84511771e-02 -9.98593446e-01 -3.65052878e-02 1.18461413e+02] [ 9.80908806e-01 -3.07505445e-02 -1.92021662e-01 1.15284462e+02] [ 1.90629015e-01 -4.31918171e-02 9.80711500e-01 4.43057536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.550714057 meters Centerline goodness : 0.988903 Centerline is valid? [True, True] Translation: X:118.45, Y:115.31, Z:44.32 [[-4.48228836e-02 -9.98864803e-01 -1.61249872e-02 1.18453079e+02] [ 9.80030111e-01 -4.08360344e-02 -1.94610892e-01 1.15305435e+02] [ 1.93731489e-01 -2.45259944e-02 9.80747973e-01 4.43215422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.580714057 meters Centerline goodness : 0.990455 Centerline is valid? [True, True] Translation: X:118.44, Y:115.34, Z:44.34 [[-5.09038535e-02 -9.98551798e-01 1.74098903e-02 1.18440081e+02] [ 9.77859033e-01 -5.33768600e-02 -2.02342836e-01 1.15335792e+02] [ 2.02979088e-01 6.72438838e-03 9.79159983e-01 4.43409547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.610714057 meters Centerline goodness : 0.988273 Centerline is valid? [True, True] Translation: X:118.46, Y:115.36, Z:44.33 [[-5.11929577e-02 -9.98259755e-01 -2.92701796e-02 1.18459043e+02] [ 9.79213548e-01 -4.44132723e-02 -1.97909801e-01 1.15360381e+02] [ 1.96265405e-01 -3.87933445e-02 9.79783123e-01 4.43281751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.640714057 meters Centerline goodness : 0.989587 Centerline is valid? [True, True] Translation: X:118.44, Y:115.39, Z:44.35 [[-6.00372198e-02 -9.98129448e-01 1.15384771e-02 1.18443036e+02] [ 9.76607594e-01 -6.11258964e-02 -2.06158271e-01 1.15389594e+02] [ 2.06477941e-01 -1.10860506e-03 9.78450628e-01 4.43510932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.670714057 meters Centerline goodness : 0.988401 Centerline is valid? [True, True] Translation: X:118.46, Y:115.38, Z:44.34 [[-6.27884061e-02 -9.97905048e-01 -1.55926475e-02 1.18455557e+02] [ 9.77496361e-01 -5.83366208e-02 -2.02725684e-01 1.15383777e+02] [ 2.01391362e-01 -2.79705788e-02 9.79111417e-01 4.43377899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.700714057 meters Centerline goodness : 0.990001 Centerline is valid? [True, True] Translation: X:118.44, Y:115.42, Z:44.36 [[-6.76442158e-02 -9.97654579e-01 1.04690460e-02 1.18444345e+02] [ 9.75449475e-01 -6.83355140e-02 -2.09352761e-01 1.15415202e+02] [ 2.09577148e-01 -3.94947794e-03 9.77784138e-01 4.43575509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.730714057 meters Centerline goodness : 0.988922 Centerline is valid? [True, True] Translation: X:118.45, Y:115.41, Z:44.35 [[-6.78530668e-02 -9.97694920e-01 8.98328909e-04 1.18448222e+02] [ 9.75995123e-01 -6.65639849e-02 -2.07371059e-01 1.15405503e+02] [ 2.06952849e-01 -1.31939977e-02 9.78261947e-01 4.43502551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.76071405700003 meters Centerline goodness : 0.989739 Centerline is valid? [True, True] Translation: X:118.45, Y:115.40, Z:44.35 [[-6.90256144e-02 -9.97593239e-01 -6.57216716e-03 1.18450395e+02] [ 9.75596820e-01 -6.61242593e-02 -2.09376280e-01 1.15404111e+02] [ 2.08437781e-01 -2.08641117e-02 9.77813060e-01 4.43487355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.790714057 meters Centerline goodness : 0.989739 Centerline is valid? [True, True] Translation: X:118.45, Y:115.41, Z:44.35 [[-6.85954004e-02 -9.97642154e-01 -2.19162936e-03 1.18448491e+02] [ 9.75566611e-01 -6.66176155e-02 -2.09360646e-01 1.15406375e+02] [ 2.08721005e-01 -1.64992578e-02 9.77836038e-01 4.43509921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.82071405700003 meters Centerline goodness : 0.990016 Centerline is valid? [True, True] Translation: X:118.45, Y:115.41, Z:44.35 [[-6.89105725e-02 -9.97619806e-01 -2.46095632e-03 1.18447265e+02] [ 9.75706398e-01 -6.68822658e-02 -2.08623555e-01 1.15412345e+02] [ 2.07962396e-01 -1.67775394e-02 9.77992922e-01 4.43532361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.850714057 meters Centerline goodness : 0.991012 Centerline is valid? [True, True] Translation: X:118.44, Y:115.43, Z:44.36 [[-7.29529873e-02 -9.97314885e-01 -6.39391416e-03 1.18441156e+02] [ 9.75326446e-01 -7.00022142e-02 -2.09375295e-01 1.15431212e+02] [ 2.08365510e-01 -2.15107068e-02 9.77814453e-01 4.43580923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.88071405700003 meters Centerline goodness : 0.991065 Centerline is valid? [True, True] Translation: X:118.45, Y:115.47, Z:44.37 [[-6.88503331e-02 -9.97585512e-01 -9.09825851e-03 1.18447708e+02] [ 9.75737659e-01 -6.54369106e-02 -2.08935471e-01 1.15468313e+02] [ 2.07835637e-01 -2.32627902e-02 9.77887105e-01 4.43653373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.910714057 meters Centerline goodness : 0.990314 Centerline is valid? [True, True] Translation: X:118.44, Y:115.46, Z:44.37 [[-6.50266250e-02 -9.97841246e-01 9.18621698e-03 1.18441415e+02] [ 9.77499236e-01 -6.55467804e-02 -2.00496544e-01 1.15459685e+02] [ 2.00665848e-01 -4.05809352e-03 9.79651341e-01 4.43661329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.940714057 meters Centerline goodness : 0.990856 Centerline is valid? [True, True] Translation: X:118.45, Y:115.49, Z:44.36 [[-6.72920019e-02 -9.97657848e-01 -1.22721074e-02 1.18448907e+02] [ 9.77380263e-01 -6.34425751e-02 -2.01749503e-01 1.15485900e+02] [ 2.00498401e-01 -2.55706436e-02 9.79360267e-01 4.43647451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.970714057 meters Centerline goodness : 0.990410 Centerline is valid? [True, True] Translation: X:118.45, Y:115.51, Z:44.37 [[-7.02494636e-02 -9.97510345e-01 -6.17458718e-03 1.18445915e+02] [ 9.76988678e-01 -6.75519229e-02 -2.02311296e-01 1.15514068e+02] [ 2.01390506e-01 -2.02447618e-02 9.79301799e-01 4.43732460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.000714057 meters Centerline goodness : 0.989996 Centerline is valid? [True, True] Translation: X:118.45, Y:115.52, Z:44.38 [[-7.28295306e-02 -9.97329160e-01 -5.51422922e-03 1.18445125e+02] [ 9.76571947e-01 -7.01890216e-02 -2.03422549e-01 1.15522559e+02] [ 2.02492201e-01 -2.02002103e-02 9.79075513e-01 4.43759324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.030714057 meters Centerline goodness : 0.990455 Centerline is valid? [True, True] Translation: X:118.45, Y:115.52, Z:44.38 [[-7.54516219e-02 -9.97132518e-01 -5.81325686e-03 1.18445244e+02] [ 9.75793157e-01 -7.26342877e-02 -2.06281300e-01 1.15524549e+02] [ 2.05267550e-01 -2.12367949e-02 9.78475463e-01 4.43776301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.060714057 meters Centerline goodness : 0.991613 Centerline is valid? [True, True] Translation: X:118.44, Y:115.53, Z:44.38 [[-7.51619474e-02 -9.97170706e-01 1.12463856e-03 1.18442827e+02] [ 9.76206329e-01 -7.38117116e-02 -2.03894668e-01 1.15528626e+02] [ 2.03400801e-01 -1.42272410e-02 9.78992186e-01 4.43795926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.090714057 meters Centerline goodness : 0.989475 Centerline is valid? [True, True] Translation: X:118.45, Y:115.53, Z:44.37 [[-7.65870965e-02 -9.96989517e-01 -1.20962928e-02 1.18449445e+02] [ 9.76904814e-01 -7.26059985e-02 -2.00961074e-01 1.15526152e+02] [ 1.99477820e-01 -2.72079518e-02 9.79524541e-01 4.43721602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.120714057 meters Centerline goodness : 0.991630 Centerline is valid? [True, True] Translation: X:118.44, Y:115.55, Z:44.39 [[-7.79821657e-02 -9.96891698e-01 1.12127071e-02 1.18437903e+02] [ 9.75831210e-01 -7.86279883e-02 -2.03889895e-01 1.15545864e+02] [ 2.04137776e-01 -4.95806603e-03 9.78929612e-01 4.43867495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.150714057 meters Centerline goodness : 0.991654 Centerline is valid? [True, True] Translation: X:118.44, Y:115.57, Z:44.38 [[-7.88158114e-02 -9.96873304e-01 -5.62881036e-03 1.18444054e+02] [ 9.76011693e-01 -7.60144541e-02 -2.04017100e-01 1.15573809e+02] [ 2.02951330e-01 -2.15735580e-02 9.78951143e-01 4.43846107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.180714057 meters Centerline goodness : 0.991246 Centerline is valid? [True, True] Translation: X:118.44, Y:115.60, Z:44.39 [[-7.96205753e-02 -9.96808757e-01 -5.73288693e-03 1.18442977e+02] [ 9.75679537e-01 -7.67519923e-02 -2.05325529e-01 1.15601435e+02] [ 2.04230275e-01 -2.19415972e-02 9.78676944e-01 4.43895301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.210714057 meters Centerline goodness : 0.991313 Centerline is valid? [True, True] Translation: X:118.44, Y:115.60, Z:44.39 [[-7.85837961e-02 -9.96907351e-01 5.66126781e-04 1.18439772e+02] [ 9.76018816e-01 -7.70528204e-02 -2.03593058e-01 1.15601527e+02] [ 2.03007038e-01 -1.54465649e-02 9.79055436e-01 4.43911122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.240714057 meters Centerline goodness : 0.991287 Centerline is valid? [True, True] Translation: X:118.44, Y:115.61, Z:44.39 [[-7.71413768e-02 -9.97007711e-01 -4.98317536e-03 1.18440507e+02] [ 9.75922126e-01 -7.44852711e-02 -2.05007191e-01 1.15607240e+02] [ 2.04022577e-01 -2.06777281e-02 9.78747781e-01 4.43909928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.270714057 meters Centerline goodness : 0.990363 Centerline is valid? [True, True] Translation: X:118.44, Y:115.64, Z:44.40 [[-7.34870749e-02 -9.97295188e-01 1.39925000e-03 1.18435800e+02] [ 9.76792592e-01 -7.22592094e-02 -2.01630452e-01 1.15636157e+02] [ 2.01186188e-01 -1.34504551e-02 9.79460669e-01 4.43976367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.300714057 meters Centerline goodness : 0.990433 Centerline is valid? [True, True] Translation: X:118.44, Y:115.64, Z:44.40 [[-7.26127220e-02 -9.97343470e-01 -5.77879993e-03 1.18436722e+02] [ 9.76867675e-01 -6.99510671e-02 -2.02080167e-01 1.15644807e+02] [ 2.01139102e-01 -2.03187138e-02 9.79351935e-01 4.43979386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.330714057 meters Centerline goodness : 0.989471 Centerline is valid? [True, True] Translation: X:118.43, Y:115.65, Z:44.40 [[-6.78905147e-02 -9.97692622e-01 -5.56245916e-04 1.18432078e+02] [ 9.77812409e-01 -6.64269496e-02 -1.98671471e-01 1.15649311e+02] [ 1.98176111e-01 -1.40318126e-02 9.80065986e-01 4.44009819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.360714057 meters Centerline goodness : 0.988951 Centerline is valid? [True, True] Translation: X:118.43, Y:115.64, Z:44.40 [[-6.69652214e-02 -9.97734245e-01 -6.48348296e-03 1.18432863e+02] [ 9.77556588e-01 -6.43072928e-02 -2.00618267e-01 1.15638398e+02] [ 1.99746780e-01 -1.97724181e-02 9.79648037e-01 4.43978729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.390714057 meters Centerline goodness : 0.987318 Centerline is valid? [True, True] Translation: X:118.44, Y:115.65, Z:44.39 [[-6.45365964e-02 -9.97842081e-01 -1.20917316e-02 1.18435736e+02] [ 9.78608170e-01 -6.09113460e-02 -1.96509177e-01 1.15650019e+02] [ 1.95348603e-01 -2.45151008e-02 9.80427424e-01 4.43945268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.420714057 meters Centerline goodness : 0.989549 Centerline is valid? [True, True] Translation: X:118.42, Y:115.64, Z:44.41 [[-6.01512769e-02 -9.97964960e-01 2.11604060e-02 1.18419476e+02] [ 9.78876287e-01 -6.31240731e-02 -1.94464821e-01 1.15640054e+02] [ 1.95404809e-01 9.01611233e-03 9.80681228e-01 4.44066890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.450714057 meters Centerline goodness : 0.989584 Centerline is valid? [True, True] Translation: X:118.43, Y:115.67, Z:44.40 [[-7.37636678e-02 -9.97086822e-01 -1.94110836e-02 1.18427884e+02] [ 9.76201139e-01 -6.82109087e-02 -2.05860650e-01 1.15665892e+02] [ 2.03936894e-01 -3.41341585e-02 9.78388779e-01 4.44007990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.480714057 meters Centerline goodness : 0.987797 Centerline is valid? [True, True] Translation: X:118.43, Y:115.65, Z:44.40 [[-6.28858619e-02 -9.98000576e-01 -6.34188461e-03 1.18427643e+02] [ 9.78364128e-01 -6.03910858e-02 -1.97880140e-01 1.15654931e+02] [ 1.97101501e-01 -1.86485356e-02 9.80205708e-01 4.43994094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.51071405700003 meters Centerline goodness : 0.987931 Centerline is valid? [True, True] Translation: X:118.42, Y:115.64, Z:44.40 [[-6.19197495e-02 -9.98081127e-01 -8.83802845e-05 1.18423780e+02] [ 9.78218090e-01 -6.06698920e-02 -1.98515823e-01 1.15643557e+02] [ 1.98129535e-01 -1.23785053e-02 9.80097679e-01 4.43998523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.540714057 meters Centerline goodness : 0.989239 Centerline is valid? [True, True] Translation: X:118.42, Y:115.66, Z:44.41 [[-6.12379081e-02 -9.97994777e-01 1.60107140e-02 1.18416541e+02] [ 9.77978950e-01 -6.32007133e-02 -1.98904107e-01 1.15656079e+02] [ 1.99517149e-01 3.47766986e-03 9.79888164e-01 4.44086483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.57071405700003 meters Centerline goodness : 0.987597 Centerline is valid? [True, True] Translation: X:118.43, Y:115.68, Z:44.40 [[-6.28213019e-02 -9.97932414e-01 -1.35786811e-02 1.18427760e+02] [ 9.78760012e-01 -5.89426287e-02 -1.96353269e-01 1.15678709e+02] [ 1.95146929e-01 -2.56254380e-02 9.80439194e-01 4.44002671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.600714057 meters Centerline goodness : 0.986823 Centerline is valid? [True, True] Translation: X:118.42, Y:115.68, Z:44.41 [[-6.43755610e-02 -9.97925681e-01 -3.51062330e-04 1.18421796e+02] [ 9.78244237e-01 -6.30363925e-02 -1.97647732e-01 1.15679968e+02] [ 1.97215618e-01 -1.30671084e-02 9.80273049e-01 4.44070296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.63071405700003 meters Centerline goodness : 0.989346 Centerline is valid? [True, True] Translation: X:118.42, Y:115.68, Z:44.41 [[-6.36951777e-02 -9.97908809e-01 1.09969892e-02 1.18416446e+02] [ 9.77550610e-01 -6.46058253e-02 -2.00551469e-01 1.15682229e+02] [ 2.00842547e-01 -2.02404797e-03 9.79621444e-01 4.44117545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.660714057 meters Centerline goodness : 0.988405 Centerline is valid? [True, True] Translation: X:118.43, Y:115.69, Z:44.40 [[-6.55558724e-02 -9.97739291e-01 -1.47896960e-02 1.18426930e+02] [ 9.78017349e-01 -6.13056700e-02 -1.99308004e-01 1.15688848e+02] [ 1.97950734e-01 -2.75303893e-02 9.79825283e-01 4.44012697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.690714057 meters Centerline goodness : 0.990270 Centerline is valid? [True, True] Translation: X:118.41, Y:115.70, Z:44.42 [[-6.39798417e-02 -9.97865223e-01 1.30987201e-02 1.18414430e+02] [ 9.77435021e-01 -6.53069227e-02 -2.00887494e-01 1.15701413e+02] [ 2.01314081e-01 -4.96023056e-05 9.79526742e-01 4.44155406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.720714057 meters Centerline goodness : 0.990321 Centerline is valid? [True, True] Translation: X:118.42, Y:115.73, Z:44.41 [[-6.41398101e-02 -9.97932961e-01 3.98632935e-03 1.18417242e+02] [ 9.77880261e-01 -6.36468780e-02 -1.99246759e-01 1.15732933e+02] [ 1.99088625e-01 -8.88149649e-03 9.79941242e-01 4.44147140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.750714057 meters Centerline goodness : 0.990744 Centerline is valid? [True, True] Translation: X:118.42, Y:115.74, Z:44.42 [[-6.49683029e-02 -9.97877476e-01 -4.43417111e-03 1.18418948e+02] [ 9.77512862e-01 -6.27478308e-02 -2.01323906e-01 1.15742960e+02] [ 2.00618357e-01 -1.74141318e-02 9.79514687e-01 4.44150173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.780714057 meters Centerline goodness : 0.989861 Centerline is valid? [True, True] Translation: X:118.41, Y:115.78, Z:44.42 [[-6.34017827e-02 -9.97987811e-01 7.36523961e-04 1.18414406e+02] [ 9.78272092e-01 -6.22951881e-02 -1.97744843e-01 1.15782134e+02] [ 1.97392825e-01 -1.18168548e-02 9.80253250e-01 4.44240492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.810714057 meters Centerline goodness : 0.990843 Centerline is valid? [True, True] Translation: X:118.41, Y:115.74, Z:44.42 [[-5.91014498e-02 -9.98245757e-01 3.52536362e-03 1.18413046e+02] [ 9.79224593e-01 -5.86608015e-02 -1.94108492e-01 1.15739360e+02] [ 1.93974779e-01 -8.01997051e-03 9.80973733e-01 4.44157498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.840714057 meters Centerline goodness : 0.989094 Centerline is valid? [True, True] Translation: X:118.42, Y:115.77, Z:44.41 [[-5.57464756e-02 -9.98131504e-01 -2.50166083e-02 1.18423730e+02] [ 9.81367501e-01 -5.01615051e-02 -1.85476820e-01 1.15766634e+02] [ 1.83875387e-01 -3.48901654e-02 9.82330147e-01 4.44085213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.870714057 meters Centerline goodness : 0.989274 Centerline is valid? [True, True] Translation: X:118.41, Y:115.79, Z:44.42 [[-5.18673200e-02 -9.98653192e-01 -1.25807229e-03 1.18412899e+02] [ 9.81564507e-01 -5.07476414e-02 -1.84270987e-01 1.15792069e+02] [ 1.83958965e-01 -1.07925213e-02 9.82874672e-01 4.44232339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.900714057 meters Centerline goodness : 0.989024 Centerline is valid? [True, True] Translation: X:118.42, Y:115.82, Z:44.43 [[-4.94399885e-02 -9.98736537e-01 -9.00092116e-03 1.18415274e+02] [ 9.81668777e-01 -4.69302770e-02 -1.84726723e-01 1.15817748e+02] [ 1.84070912e-01 -1.79688103e-02 9.82748707e-01 4.44257474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.930714057 meters Centerline goodness : 0.991234 Centerline is valid? [True, True] Translation: X:118.41, Y:115.85, Z:44.44 [[-4.90702992e-02 -9.98741557e-01 1.03637596e-02 1.18406444e+02] [ 9.79900506e-01 -5.01481617e-02 -1.93080708e-01 1.15849677e+02] [ 1.93357450e-01 6.80925146e-04 9.81128143e-01 4.44405239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.960714057 meters Centerline goodness : 0.990397 Centerline is valid? [True, True] Translation: X:118.41, Y:115.86, Z:44.44 [[-4.62135267e-02 -9.98926754e-01 -3.10643524e-03 1.18411474e+02] [ 9.80380450e-01 -4.47585459e-02 -1.91965740e-01 1.15860714e+02] [ 1.91620674e-01 -1.19169023e-02 9.81396711e-01 4.44356464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.990714057 meters Centerline goodness : 0.991025 Centerline is valid? [True, True] Translation: X:118.41, Y:115.86, Z:44.43 [[-4.24180189e-02 -9.99088124e-01 -4.86138227e-03 1.18411753e+02] [ 9.80580663e-01 -4.06987609e-02 -1.91846746e-01 1.15855432e+02] [ 1.91473953e-01 -1.29047364e-02 9.81412856e-01 4.44340890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.020714057 meters Centerline goodness : 0.989845 Centerline is valid? [True, True] Translation: X:118.41, Y:115.85, Z:44.43 [[-3.95727066e-02 -9.99213050e-01 -2.69852297e-03 1.18411665e+02] [ 9.81426433e-01 -3.83606620e-02 -1.87964400e-01 1.15846703e+02] [ 1.87712965e-01 -1.00866618e-02 9.82172135e-01 4.44310246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.050714057 meters Centerline goodness : 0.990680 Centerline is valid? [True, True] Translation: X:118.41, Y:115.88, Z:44.43 [[-3.78590839e-02 -9.99278864e-01 -2.90555839e-03 1.18414046e+02] [ 9.81849636e-01 -3.66576831e-02 -1.86084676e-01 1.15877384e+02] [ 1.85843973e-01 -9.89781683e-03 9.82529415e-01 4.44348807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.080714057 meters Centerline goodness : 0.991559 Centerline is valid? [True, True] Translation: X:118.42, Y:115.91, Z:44.44 [[-4.12642273e-02 -9.99100391e-01 -9.78124836e-03 1.18416222e+02] [ 9.81322264e-01 -3.86851165e-02 -1.88441172e-01 1.15907250e+02] [ 1.87893260e-01 -1.73744361e-02 9.82035769e-01 4.44399729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.110714057 meters Centerline goodness : 0.991345 Centerline is valid? [True, True] Translation: X:118.41, Y:115.98, Z:44.46 [[-6.65252835e-02 -9.97382923e-01 -2.83141680e-02 1.18412897e+02] [ 9.76725661e-01 -5.92956347e-02 -2.06133481e-01 1.15977838e+02] [ 2.03915107e-01 -4.13682626e-02 9.78114153e-01 4.44580404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.140714057 meters Centerline goodness : 0.989887 Centerline is valid? [True, True] Translation: X:118.40, Y:115.98, Z:44.47 [[-6.72623702e-02 -9.97730064e-01 3.23917189e-03 1.18400917e+02] [ 9.76170697e-01 -6.64795754e-02 -2.06570175e-01 1.15978865e+02] [ 2.06316612e-01 -1.07324149e-02 9.78426426e-01 4.44724664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.170714057 meters Centerline goodness : 0.991821 Centerline is valid? [True, True] Translation: X:118.40, Y:115.93, Z:44.46 [[-4.43947015e-02 -9.98581357e-01 2.94004171e-02 1.18401573e+02] [ 9.81012808e-01 -4.91374381e-02 -1.87614988e-01 1.15931671e+02] [ 1.88793490e-01 2.05130743e-02 9.81802542e-01 4.44620201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.200714057 meters Centerline goodness : 0.991365 Centerline is valid? [True, True] Translation: X:118.42, Y:116.00, Z:44.46 [[-6.96217899e-02 -9.97105314e-01 -3.05581243e-02 1.18416721e+02] [ 9.76088572e-01 -6.17671237e-02 -2.08412864e-01 1.15995071e+02] [ 2.05922087e-01 -4.43375125e-02 9.77563440e-01 4.44590576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.230714057 meters Centerline goodness : 0.990492 Centerline is valid? [True, True] Translation: X:118.40, Y:115.99, Z:44.47 [[-6.90584576e-02 -9.97607724e-01 3.12374377e-03 1.18403773e+02] [ 9.75681160e-01 -6.81929014e-02 -2.08317070e-01 1.15988602e+02] [ 2.08031735e-01 -1.13382776e-02 9.78056359e-01 4.44728961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.26071405700003 meters Centerline goodness : 0.990637 Centerline is valid? [True, True] Translation: X:118.41, Y:115.97, Z:44.47 [[-5.55025388e-02 -9.98396997e-01 1.10861979e-02 1.18408225e+02] [ 9.77877714e-01 -5.65979044e-02 -2.01374910e-01 1.15972609e+02] [ 2.01679561e-01 -3.35872886e-04 9.79451501e-01 4.44678840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.290714057 meters Centerline goodness : 0.990486 Centerline is valid? [True, True] Translation: X:118.42, Y:115.97, Z:44.46 [[-5.62884541e-02 -9.98404719e-01 -4.43026592e-03 1.18416029e+02] [ 9.77973482e-01 -5.42421911e-02 -2.01558065e-01 1.15971044e+02] [ 2.00996215e-01 -1.56780744e-02 9.79466548e-01 4.44609053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.32071405700003 meters Centerline goodness : 0.988888 Centerline is valid? [True, True] Translation: X:118.42, Y:115.97, Z:44.46 [[-5.52957467e-02 -9.98458303e-01 -4.83718163e-03 1.18417584e+02] [ 9.78998956e-01 -5.32647167e-02 -1.96783927e-01 1.15966230e+02] [ 1.96222895e-01 -1.56169100e-02 9.80434948e-01 4.44586856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.350714057 meters Centerline goodness : 0.990839 Centerline is valid? [True, True] Translation: X:118.41, Y:115.97, Z:44.47 [[-5.37220394e-02 -9.98526431e-01 7.67527940e-03 1.18411918e+02] [ 9.79055117e-01 -5.41829774e-02 -1.96253110e-01 1.15966889e+02] [ 1.96379787e-01 -3.02859572e-03 9.80523231e-01 4.44653515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.38071405700003 meters Centerline goodness : 0.991239 Centerline is valid? [True, True] Translation: X:118.42, Y:115.96, Z:44.46 [[-5.01482546e-02 -9.98726663e-01 -5.49599560e-03 1.18417511e+02] [ 9.79091198e-01 -4.80745944e-02 -1.97659451e-01 1.15963872e+02] [ 1.97143546e-01 -1.52933574e-02 9.80255342e-01 4.44597353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.410714057 meters Centerline goodness : 0.988379 Centerline is valid? [True, True] Translation: X:118.42, Y:116.00, Z:44.46 [[-5.50644490e-02 -9.98450490e-01 -8.03282887e-03 1.18419051e+02] [ 9.79406667e-01 -5.24456189e-02 -1.94966759e-01 1.15995965e+02] [ 1.94243369e-01 -1.86031433e-02 9.80776956e-01 4.44638112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.440714057 meters Centerline goodness : 0.990803 Centerline is valid? [True, True] Translation: X:118.41, Y:115.97, Z:44.47 [[-5.11673476e-02 -9.98661478e-01 7.56012008e-03 1.18413140e+02] [ 9.79105026e-01 -5.16543135e-02 -1.96685483e-01 1.15967697e+02] [ 1.96812728e-01 -2.66172292e-03 9.80437487e-01 4.44660275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.470714057 meters Centerline goodness : 0.991276 Centerline is valid? [True, True] Translation: X:118.42, Y:115.98, Z:44.46 [[-5.56433393e-02 -9.98442522e-01 -4.04329864e-03 1.18418361e+02] [ 9.78924153e-01 -5.37577170e-02 -1.97021851e-01 1.15976733e+02] [ 1.96497636e-01 -1.49210364e-02 9.80390760e-01 4.44614139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.500714057 meters Centerline goodness : 0.991135 Centerline is valid? [True, True] Translation: X:118.41, Y:115.95, Z:44.46 [[-4.94990043e-02 -9.98701371e-01 1.20590217e-02 1.18414134e+02] [ 9.80567800e-01 -5.08879838e-02 -1.89465573e-01 1.15954284e+02] [ 1.89833187e-01 2.44633114e-03 9.81813310e-01 4.44596793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.530714057 meters Centerline goodness : 0.991557 Centerline is valid? [True, True] Translation: X:118.42, Y:115.96, Z:44.45 [[-5.10789829e-02 -9.98657714e-01 -8.58538407e-03 1.18422776e+02] [ 9.80106909e-01 -4.84755955e-02 -1.92459254e-01 1.15957610e+02] [ 1.91784737e-01 -1.82452172e-02 9.81267408e-01 4.44516326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.560714057 meters Centerline goodness : 0.989818 Centerline is valid? [True, True] Translation: X:118.42, Y:115.98, Z:44.46 [[-5.81823382e-02 -9.98176344e-01 -1.60873115e-02 1.18424866e+02] [ 9.78348734e-01 -5.38057442e-02 -1.99846684e-01 1.15983764e+02] [ 1.98616643e-01 -2.73665482e-02 9.79695106e-01 4.44563141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.590714057 meters Centerline goodness : 0.989923 Centerline is valid? [True, True] Translation: X:118.42, Y:116.01, Z:44.47 [[-5.88628126e-02 -9.98264724e-01 -1.64630501e-03 1.18418293e+02] [ 9.78113098e-01 -5.73447097e-02 -2.00015878e-01 1.16011353e+02] [ 1.99574388e-01 -1.33837696e-02 9.79791273e-01 4.44675511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.620714057 meters Centerline goodness : 0.988482 Centerline is valid? [True, True] Translation: X:118.42, Y:115.98, Z:44.46 [[-5.76714305e-02 -9.98318444e-01 -5.85573510e-03 1.18420325e+02] [ 9.78797614e-01 -5.53870490e-02 -1.97199151e-01 1.15976373e+02] [ 1.96543217e-01 -1.71043367e-02 9.80345962e-01 4.44569172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.650714057 meters Centerline goodness : 0.990295 Centerline is valid? [True, True] Translation: X:118.41, Y:116.01, Z:44.47 [[-7.20924768e-02 -9.97381819e-01 -5.67284240e-03 1.18410421e+02] [ 9.75684608e-01 -6.93415636e-02 -2.07921361e-01 1.16010686e+02] [ 2.06983622e-01 -2.05244709e-02 9.78129095e-01 4.44726318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.680714057 meters Centerline goodness : 0.990539 Centerline is valid? [True, True] Translation: X:118.41, Y:115.98, Z:44.47 [[-5.21533839e-02 -9.98324404e-01 2.50680736e-02 1.18405899e+02] [ 9.79845662e-01 -5.60027842e-02 -1.91745057e-01 1.15976412e+02] [ 1.92827652e-01 1.45626896e-02 9.81124572e-01 4.44696384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.710714057 meters Centerline goodness : 0.988442 Centerline is valid? [True, True] Translation: X:118.42, Y:115.99, Z:44.46 [[-5.20793898e-02 -9.98505983e-01 -1.65390431e-02 1.18421235e+02] [ 9.80480493e-01 -4.79809770e-02 -1.90672044e-01 1.15993229e+02] [ 1.89593617e-01 -2.61462928e-02 9.81514458e-01 4.44551227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.740714057 meters Centerline goodness : 0.988442 Centerline is valid? [True, True] Translation: X:118.41, Y:115.99, Z:44.46 [[-5.17926930e-02 -9.98657036e-01 -1.28120230e-03 1.18414742e+02] [ 9.80366615e-01 -5.05996082e-02 -1.90580640e-01 1.15994519e+02] [ 1.90259869e-01 -1.11267325e-02 9.81670708e-01 4.44620698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.770714057 meters Centerline goodness : 0.989429 Centerline is valid? [True, True] Translation: X:118.41, Y:115.98, Z:44.46 [[-4.94593765e-02 -9.98774713e-01 -1.68613506e-03 1.18413643e+02] [ 9.81188723e-01 -4.82729613e-02 -1.86918194e-01 1.15978185e+02] [ 1.86607771e-01 -1.08992740e-02 9.82374036e-01 4.44586361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.800714057 meters Centerline goodness : 0.988597 Centerline is valid? [True, True] Translation: X:118.42, Y:115.99, Z:44.46 [[-5.12498436e-02 -9.98632630e-01 -1.03113337e-02 1.18416344e+02] [ 9.80010870e-01 -4.83014515e-02 -1.92991360e-01 1.15990853e+02] [ 1.92229417e-01 -1.99959962e-02 9.81146274e-01 4.44598313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.830714057 meters Centerline goodness : 0.989375 Centerline is valid? [True, True] Translation: X:118.41, Y:115.99, Z:44.46 [[-5.02492231e-02 -9.98736702e-01 1.23848858e-04 1.18411029e+02] [ 9.79970841e-01 -4.93289853e-02 -1.92934710e-01 1.15992366e+02] [ 1.92697086e-01 -9.57345102e-03 9.81211589e-01 4.44642666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.860714057 meters Centerline goodness : 0.989039 Centerline is valid? [True, True] Translation: X:118.41, Y:116.02, Z:44.47 [[-5.07500449e-02 -9.98687269e-01 -6.94054408e-03 1.18412298e+02] [ 9.79601399e-01 -4.84247794e-02 -1.95028562e-01 1.16021229e+02] [ 1.94436447e-01 -1.66966750e-02 9.80773006e-01 4.44681675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.890714057 meters Centerline goodness : 0.988765 Centerline is valid? [True, True] Translation: X:118.41, Y:116.02, Z:44.47 [[-5.13687057e-02 -9.98669156e-01 -4.60137914e-03 1.18410591e+02] [ 9.79177511e-01 -4.94589433e-02 -1.96888841e-01 1.16015830e+02] [ 1.96399233e-01 -1.46194919e-02 9.80415020e-01 4.44693048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.920714057 meters Centerline goodness : 0.990035 Centerline is valid? [True, True] Translation: X:118.41, Y:116.00, Z:44.47 [[-5.15183248e-02 -9.98663627e-01 4.10145138e-03 1.18406261e+02] [ 9.78352984e-01 -5.12939355e-02 -2.00485339e-01 1.16002129e+02] [ 2.00427795e-01 -6.31600161e-03 9.79688117e-01 4.44729777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.950714057 meters Centerline goodness : 0.988935 Centerline is valid? [True, True] Translation: X:118.41, Y:116.00, Z:44.47 [[-5.42369312e-02 -9.98475712e-01 -1.02278166e-02 1.18412207e+02] [ 9.77832044e-01 -5.10353772e-02 -2.03076056e-01 1.16001958e+02] [ 2.02244529e-01 -2.10153088e-02 9.79109548e-01 4.44680442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.980714057 meters Centerline goodness : 0.990315 Centerline is valid? [True, True] Translation: X:118.41, Y:116.01, Z:44.47 [[-5.34273577e-02 -9.98566834e-01 3.12986719e-03 1.18406324e+02] [ 9.77815926e-01 -5.29523172e-02 -2.02662448e-01 1.16007667e+02] [ 2.02537733e-01 -7.76728513e-03 9.79243655e-01 4.44749539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.01071405700003 meters Centerline goodness : 0.988360 Centerline is valid? [True, True] Translation: X:118.41, Y:116.01, Z:44.47 [[-5.60850722e-02 -9.98358822e-01 -1.15812931e-02 1.18412849e+02] [ 9.77979085e-01 -5.25973169e-02 -2.01966414e-01 1.16013733e+02] [ 2.01025806e-01 -2.26535633e-02 9.79323972e-01 4.44687655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.040714057 meters Centerline goodness : 0.988675 Centerline is valid? [True, True] Translation: X:118.41, Y:116.02, Z:44.48 [[-5.70227714e-02 -9.98372531e-01 8.32193799e-04 1.18407700e+02] [ 9.77356676e-01 -5.59925263e-02 -2.04055789e-01 1.16023800e+02] [ 2.03770291e-01 -1.08224764e-02 9.78958907e-01 4.44764517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.07071405700003 meters Centerline goodness : 0.988771 Centerline is valid? [True, True] Translation: X:118.41, Y:116.02, Z:44.47 [[-5.91867400e-02 -9.98237505e-01 -4.33750622e-03 1.18410125e+02] [ 9.77781637e-01 -5.70974659e-02 -2.01700150e-01 1.16015606e+02] [ 2.01096994e-01 -1.61791083e-02 9.79437714e-01 4.44723181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.100714057 meters Centerline goodness : 0.988416 Centerline is valid? [True, True] Translation: X:118.41, Y:116.01, Z:44.48 [[-6.03592813e-02 -9.98173675e-01 2.46406679e-03 1.18407960e+02] [ 9.77685218e-01 -5.96176154e-02 -2.01438217e-01 1.16014591e+02] [ 2.01217228e-01 -9.74958435e-03 9.79498123e-01 4.44751170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.13071405700003 meters Centerline goodness : 0.989933 Centerline is valid? [True, True] Translation: X:118.41, Y:116.01, Z:44.47 [[-5.91159915e-02 -9.98249268e-01 1.92307235e-03 1.18408813e+02] [ 9.78638754e-01 -5.83344383e-02 -1.97137726e-01 1.16009455e+02] [ 1.96904772e-01 -9.77199899e-03 9.80373918e-01 4.44715791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.160714057 meters Centerline goodness : 0.989020 Centerline is valid? [True, True] Translation: X:118.41, Y:116.00, Z:44.47 [[-5.66056115e-02 -9.98395607e-01 -1.42022684e-03 1.18411236e+02] [ 9.78224441e-01 -5.51773584e-02 -2.00080988e-01 1.15999001e+02] [ 1.99681615e-01 -1.27150073e-02 9.79778333e-01 4.44678150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.190714057 meters Centerline goodness : 0.991155 Centerline is valid? [True, True] Translation: X:118.40, Y:116.02, Z:44.48 [[-5.93502733e-02 -9.98201516e-01 8.44271054e-03 1.18404826e+02] [ 9.78123699e-01 -5.98415832e-02 -1.99231056e-01 1.16022745e+02] [ 1.99377967e-01 -3.56640237e-03 9.79916173e-01 4.44777224e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.220714057 meters Centerline goodness : 0.989033 Centerline is valid? [True, True] Translation: X:118.42, Y:116.05, Z:44.47 [[-5.72824664e-02 -9.97990337e-01 -2.70925691e-02 1.18417456e+02] [ 9.79635755e-01 -5.09567329e-02 -1.94209162e-01 1.16045295e+02] [ 1.92438318e-01 -3.76656292e-02 9.80585944e-01 4.44694024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.250714057 meters Centerline goodness : 0.990000 Centerline is valid? [True, True] Translation: X:118.41, Y:116.07, Z:44.49 [[-5.82048388e-02 -9.98303481e-01 -1.53504755e-03 1.18407430e+02] [ 9.79378086e-01 -5.68032865e-02 -1.93886442e-01 1.16071075e+02] [ 1.93470314e-01 -1.27885210e-02 9.81022778e-01 4.44854042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.280714057 meters Centerline goodness : 0.989396 Centerline is valid? [True, True] Translation: X:118.41, Y:116.10, Z:44.49 [[-5.70617546e-02 -9.98348159e-01 6.70153924e-03 1.18405839e+02] [ 9.78373528e-01 -5.72543109e-02 -1.98764140e-01 1.16100298e+02] [ 1.98819505e-01 -4.78522198e-03 9.80024442e-01 4.44916482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.310714057 meters Centerline goodness : 0.989777 Centerline is valid? [True, True] Translation: X:118.42, Y:116.13, Z:44.49 [[-5.84542005e-02 -9.98154258e-01 -1.64676527e-02 1.18415357e+02] [ 9.79775671e-01 -5.42000640e-02 -1.92618764e-01 1.16129795e+02] [ 1.91370691e-01 -2.73939813e-02 9.81135479e-01 4.44874582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.340714057 meters Centerline goodness : 0.991119 Centerline is valid? [True, True] Translation: X:118.40, Y:116.13, Z:44.50 [[-5.53030546e-02 -9.98388976e-01 1.26895229e-02 1.18402626e+02] [ 9.79326785e-01 -5.67150717e-02 -1.94171183e-01 1.16133661e+02] [ 1.94578056e-01 1.68893010e-03 9.80885583e-01 4.45013670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.370714057 meters Centerline goodness : 0.990886 Centerline is valid? [True, True] Translation: X:118.41, Y:116.16, Z:44.50 [[-5.42284219e-02 -9.98488063e-01 -8.99259837e-03 1.18411435e+02] [ 9.79699748e-01 -5.14630434e-02 -1.93752316e-01 1.16162206e+02] [ 1.92996588e-01 -1.93169287e-02 9.81009263e-01 4.44972876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.400714057 meters Centerline goodness : 0.989916 Centerline is valid? [True, True] Translation: X:118.41, Y:116.18, Z:44.50 [[-4.87400754e-02 -9.98772277e-01 -8.85118349e-03 1.18410939e+02] [ 9.79916586e-01 -4.61006269e-02 -1.94005711e-01 1.16181827e+02] [ 1.93359481e-01 -1.81292745e-02 9.80960468e-01 4.45020860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.430714057 meters Centerline goodness : 0.989110 Centerline is valid? [True, True] Translation: X:118.41, Y:116.21, Z:44.51 [[-4.73205792e-02 -9.98878946e-01 1.27065120e-03 1.18407465e+02] [ 9.80117547e-01 -4.66771017e-02 -1.92849274e-01 1.16207907e+02] [ 1.92692390e-01 -7.88035182e-03 9.81227569e-01 4.45092349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.460714057 meters Centerline goodness : 0.989099 Centerline is valid? [True, True] Translation: X:118.41, Y:116.24, Z:44.51 [[-4.71967809e-02 -9.98880208e-01 -3.28536691e-03 1.18409028e+02] [ 9.80010795e-01 -4.56683426e-02 -1.93631724e-01 1.16237750e+02] [ 1.93264860e-01 -1.23584891e-02 9.81068785e-01 4.45135020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.490714057 meters Centerline goodness : 0.990483 Centerline is valid? [True, True] Translation: X:118.41, Y:116.27, Z:44.52 [[-4.93966073e-02 -9.98776608e-01 -2.29408710e-03 1.18408778e+02] [ 9.80386029e-01 -4.80480328e-02 -1.91140317e-01 1.16272688e+02] [ 1.90796251e-01 -1.16907741e-02 9.81560042e-01 4.45192828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.520714057 meters Centerline goodness : 0.991032 Centerline is valid? [True, True] Translation: X:118.41, Y:116.30, Z:44.52 [[-5.03610328e-02 -9.98721431e-01 -4.38979248e-03 1.18409336e+02] [ 9.80447729e-01 -4.86014400e-02 -1.90683381e-01 1.16300619e+02] [ 1.90226228e-01 -1.39069740e-02 9.81641777e-01 4.45238740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.550714057 meters Centerline goodness : 0.990288 Centerline is valid? [True, True] Translation: X:118.41, Y:116.31, Z:44.53 [[-4.82108420e-02 -9.98836586e-01 1.09059122e-03 1.18408155e+02] [ 9.81408012e-01 -4.75726422e-02 -1.85943962e-01 1.16314726e+02] [ 1.85779515e-01 -7.89420003e-03 9.82559746e-01 4.45264642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.580714057 meters Centerline goodness : 0.989378 Centerline is valid? [True, True] Translation: X:118.41, Y:116.34, Z:44.53 [[-4.91711087e-02 -9.98761686e-01 -7.56944102e-03 1.18411612e+02] [ 9.81135669e-01 -4.68819370e-02 -1.87549679e-01 1.16343080e+02] [ 1.86962564e-01 -1.66486743e-02 9.82225952e-01 4.45279593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.610714057 meters Centerline goodness : 0.990317 Centerline is valid? [True, True] Translation: X:118.41, Y:116.35, Z:44.53 [[-4.61035470e-02 -9.98897595e-01 8.83500864e-03 1.18406808e+02] [ 9.82220125e-01 -4.69415146e-02 -1.81769414e-01 1.16348411e+02] [ 1.81983759e-01 2.97708576e-04 9.83301491e-01 4.45310702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.640714057 meters Centerline goodness : 0.989955 Centerline is valid? [True, True] Translation: X:118.41, Y:116.35, Z:44.52 [[-4.54847101e-02 -9.98921531e-01 -9.32286645e-03 1.18414586e+02] [ 9.82239483e-01 -4.30206111e-02 -1.82633036e-01 1.16350378e+02] [ 1.82034997e-01 -1.74642982e-02 9.83136948e-01 4.45232795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.670714057 meters Centerline goodness : 0.989062 Centerline is valid? [True, True] Translation: X:118.41, Y:116.38, Z:44.53 [[-4.52753341e-02 -9.98966323e-01 4.05328453e-03 1.18409805e+02] [ 9.82380455e-01 -4.52593651e-02 -1.81329071e-01 1.16380220e+02] [ 1.81325084e-01 -4.22786675e-03 9.83414124e-01 4.45317979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.700714057 meters Centerline goodness : 0.989583 Centerline is valid? [True, True] Translation: X:118.42, Y:116.39, Z:44.53 [[-6.52081031e-02 -9.97003181e-01 -4.16240253e-02 1.18418235e+02] [ 9.76778400e-01 -5.52429271e-02 -2.07007672e-01 1.16390306e+02] [ 2.04087875e-01 -5.41560264e-02 9.77453459e-01 4.45300761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.730714057 meters Centerline goodness : 0.989973 Centerline is valid? [True, True] Translation: X:118.40, Y:116.40, Z:44.55 [[-6.34508458e-02 -9.97982041e-01 2.41578305e-03 1.18400362e+02] [ 9.76491478e-01 -6.25838073e-02 -2.06270844e-01 1.16395621e+02] [ 2.06005787e-01 -1.07290680e-02 9.78491953e-01 4.45505866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.76071405700003 meters Centerline goodness : 0.990028 Centerline is valid? [True, True] Translation: X:118.40, Y:116.34, Z:44.53 [[-4.06887587e-02 -9.98978392e-01 1.96620882e-02 1.18404992e+02] [ 9.81071189e-01 -4.36726050e-02 -1.88658488e-01 1.16341423e+02] [ 1.89324447e-01 1.16136285e-02 9.81845903e-01 4.45348207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.790714057 meters Centerline goodness : 0.990629 Centerline is valid? [True, True] Translation: X:118.41, Y:116.40, Z:44.54 [[-6.07216243e-02 -9.97946458e-01 -2.03899928e-02 1.18412034e+02] [ 9.77386929e-01 -5.53004943e-02 -2.04099601e-01 1.16399499e+02] [ 2.02552897e-01 -3.23221717e-02 9.78737759e-01 4.45408405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.82071405700003 meters Centerline goodness : 0.991468 Centerline is valid? [True, True] Translation: X:118.41, Y:116.37, Z:44.54 [[-4.20516084e-02 -9.98989653e-01 1.58535594e-02 1.18406030e+02] [ 9.80623177e-01 -4.43068403e-02 -1.90827381e-01 1.16369362e+02] [ 1.91337000e-01 7.52176953e-03 9.81495581e-01 4.45419862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.850714057 meters Centerline goodness : 0.989929 Centerline is valid? [True, True] Translation: X:118.42, Y:116.36, Z:44.53 [[-4.39726977e-02 -9.98877131e-01 -1.76317708e-02 1.18420204e+02] [ 9.79427900e-01 -3.96238520e-02 -1.97865964e-01 1.16364119e+02] [ 1.96945147e-01 -2.59697485e-02 9.80070498e-01 4.45303352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.88071405700003 meters Centerline goodness : 0.992190 Centerline is valid? [True, True] Translation: X:118.41, Y:116.39, Z:44.54 [[-4.72495151e-02 -9.98881210e-01 1.95258102e-03 1.18411857e+02] [ 9.79443572e-01 -4.67136611e-02 -1.96234869e-01 1.16386214e+02] [ 1.96106535e-01 -7.35955945e-03 9.80554977e-01 4.45429742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.910714057 meters Centerline goodness : 0.991001 Centerline is valid? [True, True] Translation: X:118.41, Y:116.40, Z:44.54 [[-4.86090959e-02 -9.98814855e-01 -2.45782631e-03 1.18413937e+02] [ 9.79398716e-01 -4.71810159e-02 -1.96346905e-01 1.16401852e+02] [ 1.95998243e-01 -1.19514375e-02 9.80531413e-01 4.45440052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.940714057 meters Centerline goodness : 0.992006 Centerline is valid? [True, True] Translation: X:118.41, Y:116.38, Z:44.54 [[-4.89088205e-02 -9.98799818e-01 -2.61753517e-03 1.18414824e+02] [ 9.79247345e-01 -4.74350055e-02 -1.97039482e-01 1.16381853e+02] [ 1.96678836e-01 -1.22001830e-02 9.80392060e-01 4.45397828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.970714057 meters Centerline goodness : 0.989007 Centerline is valid? [True, True] Translation: X:118.40, Y:117.02, Z:44.67 [[-6.88316894e-02 -9.97627854e-01 -9.29492040e-04 1.18404425e+02] [ 9.77570545e-01 -6.72618803e-02 -1.99578729e-01 1.17019756e+02] [ 1.99042780e-01 -1.46459851e-02 9.79881353e-01 4.46700295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.000714057 meters Centerline goodness : 0.991546 Centerline is valid? [True, True] Translation: X:118.42, Y:116.42, Z:44.55 [[-5.57903956e-02 -9.98438747e-01 2.73861411e-03 1.18415800e+02] [ 9.78105854e-01 -5.52046104e-02 -2.00652410e-01 1.16421970e+02] [ 2.00490325e-01 -8.51582284e-03 9.79658670e-01 4.45496868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.030714057 meters Centerline goodness : 0.991029 Centerline is valid? [True, True] Translation: X:118.42, Y:116.40, Z:44.55 [[-5.78267100e-02 -9.98319948e-01 3.65416528e-03 1.18417937e+02] [ 9.78111520e-01 -5.73882601e-02 -2.00011104e-01 1.16404987e+02] [ 1.99884781e-01 -7.99180296e-03 9.79786816e-01 4.45451695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.060714057 meters Centerline goodness : 0.991536 Centerline is valid? [True, True] Translation: X:118.42, Y:116.41, Z:44.54 [[-5.65817862e-02 -9.98395187e-01 2.35648453e-03 1.18419960e+02] [ 9.78650147e-01 -5.59295886e-02 -1.97777075e-01 1.16407401e+02] [ 1.97591477e-01 -8.88440625e-03 9.80244192e-01 4.45424640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.090714057 meters Centerline goodness : 0.991973 Centerline is valid? [True, True] Translation: X:118.42, Y:116.42, Z:44.54 [[-6.09161699e-02 -9.98118801e-01 -6.93389445e-03 1.18424247e+02] [ 9.77874842e-01 -5.82849672e-02 -2.00907082e-01 1.16423409e+02] [ 2.00124994e-01 -1.90189709e-02 9.79585762e-01 4.45432590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.120714057 meters Centerline goodness : 0.991148 Centerline is valid? [True, True] Translation: X:118.42, Y:116.44, Z:44.55 [[-6.35969568e-02 -9.97971247e-01 2.96923996e-03 1.18421688e+02] [ 9.77854555e-01 -6.29088815e-02 -1.99606968e-01 1.16438372e+02] [ 1.99388807e-01 -9.79091091e-03 9.79871544e-01 4.45497641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.150714057 meters Centerline goodness : 0.993229 Centerline is valid? [True, True] Translation: X:118.42, Y:116.42, Z:44.54 [[-6.41377527e-02 -9.97940132e-01 -1.35682099e-03 1.18424699e+02] [ 9.78331078e-01 -6.26091499e-02 -1.97353479e-01 1.16424579e+02] [ 1.96862007e-01 -1.39852287e-02 9.80331456e-01 4.45442620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.180714057 meters Centerline goodness : 0.992024 Centerline is valid? [True, True] Translation: X:118.43, Y:116.44, Z:44.55 [[-6.52337916e-02 -9.97867596e-01 -2.19372525e-03 1.18425767e+02] [ 9.78455003e-01 -6.35328682e-02 -1.96441801e-01 1.16436450e+02] [ 1.95883534e-01 -1.49611050e-02 9.80513032e-01 4.45463833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.210714057 meters Centerline goodness : 0.992401 Centerline is valid? [True, True] Translation: X:118.43, Y:116.44, Z:44.55 [[-6.67574621e-02 -9.97763436e-01 -3.40113146e-03 1.18426975e+02] [ 9.78205921e-01 -6.47764654e-02 -1.97274390e-01 1.16444308e+02] [ 1.96612860e-01 -1.64965445e-02 9.80342413e-01 4.45484068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.240714057 meters Centerline goodness : 0.993279 Centerline is valid? [True, True] Translation: X:118.43, Y:116.44, Z:44.55 [[-6.72287274e-02 -9.97737453e-01 5.22168937e-04 1.18427474e+02] [ 9.78538000e-01 -6.60372033e-02 -1.95198541e-01 1.16437367e+02] [ 1.94791378e-01 -1.26119873e-02 9.80763609e-01 4.45480192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.270714057 meters Centerline goodness : 0.992502 Centerline is valid? [True, True] Translation: X:118.43, Y:116.43, Z:44.54 [[-6.65731265e-02 -9.97773983e-01 -3.88550717e-03 1.18430746e+02] [ 9.78713045e-01 -6.45426840e-02 -1.94820477e-01 1.16426023e+02] [ 1.94136022e-01 -1.67726048e-02 9.80831221e-01 4.45436166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.300714057 meters Centerline goodness : 0.992518 Centerline is valid? [True, True] Translation: X:118.43, Y:116.43, Z:44.54 [[-6.68054813e-02 -9.97757969e-01 -4.00797197e-03 1.18431588e+02] [ 9.78343024e-01 -6.47157507e-02 -1.96613324e-01 1.16430151e+02] [ 1.95913131e-01 -1.70560191e-02 9.80472915e-01 4.45444311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.330714057 meters Centerline goodness : 0.992824 Centerline is valid? [True, True] Translation: X:118.43, Y:116.43, Z:44.55 [[-6.48092702e-02 -9.97887282e-01 4.55314065e-03 1.18428856e+02] [ 9.78232037e-01 -6.44327736e-02 -1.97257444e-01 1.16428075e+02] [ 1.97134066e-01 -8.33008291e-03 9.80341150e-01 4.45469281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.360714057 meters Centerline goodness : 0.993082 Centerline is valid? [True, True] Translation: X:118.43, Y:116.44, Z:44.55 [[-6.26000375e-02 -9.98038680e-01 1.70222587e-04 1.18432633e+02] [ 9.78357472e-01 -6.13992745e-02 -1.97602594e-01 1.16438288e+02] [ 1.97225484e-01 -1.22033913e-02 9.80282197e-01 4.45453007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.390714057 meters Centerline goodness : 0.992938 Centerline is valid? [True, True] Translation: X:118.44, Y:116.45, Z:44.55 [[-6.25773502e-02 -9.98024134e-01 -5.64826721e-03 1.18435459e+02] [ 9.77860236e-01 -6.01787862e-02 -2.00419242e-01 1.16448167e+02] [ 1.99683335e-01 -1.80649210e-02 9.79693944e-01 4.45461289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.420714057 meters Centerline goodness : 0.992030 Centerline is valid? [True, True] Translation: X:118.43, Y:116.42, Z:44.54 [[-5.54340702e-02 -9.98451810e-01 4.58777474e-03 1.18432976e+02] [ 9.78965381e-01 -5.52546280e-02 -1.96401907e-01 1.16423344e+02] [ 1.96351335e-01 -6.39608443e-03 9.80512745e-01 4.45424567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.450714057 meters Centerline goodness : 0.991839 Centerline is valid? [True, True] Translation: X:118.44, Y:116.44, Z:44.54 [[-5.21328745e-02 -9.98448682e-01 -1.95548543e-02 1.18440063e+02] [ 9.79058128e-01 -4.72420782e-02 -1.98023657e-01 1.16443890e+02] [ 1.96792647e-01 -2.94688815e-02 9.80002163e-01 4.45425875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.480714057 meters Centerline goodness : 0.992726 Centerline is valid? [True, True] Translation: X:118.43, Y:116.48, Z:44.56 [[-5.01648669e-02 -9.98624937e-01 1.52223857e-02 1.18428144e+02] [ 9.79492568e-01 -5.21702614e-02 -1.94608771e-01 1.16479512e+02] [ 1.95135328e-01 5.14769053e-03 9.80762818e-01 4.45590190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.51071405700003 meters Centerline goodness : 0.991459 Centerline is valid? [True, True] Translation: X:118.44, Y:116.50, Z:44.55 [[-4.95041360e-02 -9.98456821e-01 -2.51658077e-02 1.18441708e+02] [ 9.79799895e-01 -4.36602592e-02 -1.95156212e-01 1.16499559e+02] [ 1.93756305e-01 -3.43184954e-02 9.80449252e-01 4.45511089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.540714057 meters Centerline goodness : 0.990708 Centerline is valid? [True, True] Translation: X:118.43, Y:116.52, Z:44.57 [[-4.56558411e-02 -9.98954735e-01 -2.23193192e-03 1.18431804e+02] [ 9.80543218e-01 -4.43871334e-02 -1.91219193e-01 1.16523983e+02] [ 1.90920250e-01 -1.09187788e-02 9.81544823e-01 4.45653658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.57071405700003 meters Centerline goodness : 0.992528 Centerline is valid? [True, True] Translation: X:118.43, Y:116.56, Z:44.58 [[-4.60937755e-02 -9.98803379e-01 1.63454725e-02 1.18426903e+02] [ 9.80101716e-01 -4.83811405e-02 -1.92509461e-01 1.16561473e+02] [ 1.93069912e-01 7.14673778e-03 9.81158974e-01 4.45752091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.600714057 meters Centerline goodness : 0.992528 Centerline is valid? [True, True] Translation: X:118.44, Y:116.57, Z:44.57 [[-4.56671294e-02 -9.98946476e-01 -4.52239950e-03 1.18435530e+02] [ 9.80277897e-01 -4.39414089e-02 -1.92676923e-01 1.16565830e+02] [ 1.92275213e-01 -1.32322102e-02 9.81251829e-01 4.45673621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.63071405700003 meters Centerline goodness : 0.993426 Centerline is valid? [True, True] Translation: X:118.44, Y:116.58, Z:44.57 [[-4.86144309e-02 -9.98785017e-01 -8.07011436e-03 1.18435837e+02] [ 9.79682457e-01 -4.61075764e-02 -1.95182929e-01 1.16579739e+02] [ 1.94573692e-01 -1.73948565e-02 9.80733653e-01 4.45701241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.660714057 meters Centerline goodness : 0.993302 Centerline is valid? [True, True] Translation: X:118.43, Y:116.58, Z:44.57 [[-4.83320400e-02 -9.98822551e-01 -4.18637220e-03 1.18434496e+02] [ 9.79673684e-01 -4.65876669e-02 -1.95112947e-01 1.16580817e+02] [ 1.94688178e-01 -1.35314854e-02 9.80771845e-01 4.45721298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.690714057 meters Centerline goodness : 0.992272 Centerline is valid? [True, True] Translation: X:118.43, Y:116.61, Z:44.58 [[-4.88218968e-02 -9.98803928e-01 -2.67122782e-03 1.18433687e+02] [ 9.79126329e-01 -4.73314087e-02 -1.97664790e-01 1.16605157e+02] [ 1.97301936e-01 -1.22658395e-02 9.80266033e-01 4.45783834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.720714057 meters Centerline goodness : 0.993143 Centerline is valid? [True, True] Translation: X:118.43, Y:116.61, Z:44.58 [[-4.85207114e-02 -9.98814659e-01 -3.87526201e-03 1.18434241e+02] [ 9.79349025e-01 -4.68120022e-02 -1.96682798e-01 1.16611357e+02] [ 1.96268253e-01 -1.33384233e-02 9.80459514e-01 4.45783738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.750714057 meters Centerline goodness : 0.992783 Centerline is valid? [True, True] Translation: X:118.44, Y:116.64, Z:44.58 [[-5.17714715e-02 -9.98608483e-01 -1.00405139e-02 1.18435942e+02] [ 9.78923929e-01 -4.87569467e-02 -1.98319694e-01 1.16638717e+02] [ 1.97554184e-01 -2.00962017e-02 9.80085959e-01 4.45829592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.780714057 meters Centerline goodness : 0.993898 Centerline is valid? [True, True] Translation: X:118.43, Y:116.67, Z:44.59 [[-5.61719660e-02 -9.98407066e-01 -5.29534253e-03 1.18434161e+02] [ 9.78704803e-01 -5.40131273e-02 -1.98039113e-01 1.16665840e+02] [ 1.97437631e-01 -1.63068235e-02 9.80179815e-01 4.45900425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.810714057 meters Centerline goodness : 0.995266 Centerline is valid? [True, True] Translation: X:118.43, Y:116.70, Z:44.60 [[-5.66577402e-02 -9.98393573e-01 -4.17088631e-04 1.18433972e+02] [ 9.78826632e-01 -5.54650252e-02 -1.97033134e-01 1.16696228e+02] [ 1.96693481e-01 -1.15717096e-02 9.80396741e-01 4.45965761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.840714057 meters Centerline goodness : 0.994603 Centerline is valid? [True, True] Translation: X:118.44, Y:116.74, Z:44.60 [[-6.58262312e-02 -9.97784311e-01 -9.66308176e-03 1.18437775e+02] [ 9.77672562e-01 -6.25566276e-02 -2.00606653e-01 1.16735191e+02] [ 1.99557681e-01 -2.26525098e-02 9.79624211e-01 4.46020605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.870714057 meters Centerline goodness : 0.992530 Centerline is valid? [True, True] Translation: X:118.43, Y:116.73, Z:44.61 [[-6.94540560e-02 -9.97499898e-01 1.30417973e-02 1.18430296e+02] [ 9.77630555e-01 -7.06607107e-02 -1.98104925e-01 1.16731802e+02] [ 1.98531185e-01 -1.00913103e-03 9.80094052e-01 4.46113069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.900714057 meters Centerline goodness : 0.994048 Centerline is valid? [True, True] Translation: X:118.44, Y:116.74, Z:44.60 [[-7.03472325e-02 -9.97478133e-01 -9.41499285e-03 1.18439007e+02] [ 9.77444548e-01 -6.70440739e-02 -2.00267940e-01 1.16742546e+02] [ 1.99131671e-01 -2.32909288e-02 9.79695927e-01 4.46030117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.930714057 meters Centerline goodness : 0.994063 Centerline is valid? [True, True] Translation: X:118.44, Y:116.76, Z:44.61 [[-7.06975408e-02 -9.97497784e-01 1.69202830e-04 1.18435514e+02] [ 9.77403262e-01 -6.93072181e-02 -1.99698207e-01 1.16755639e+02] [ 1.99210246e-01 -1.39527927e-02 9.79857437e-01 4.46084000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.960714057 meters Centerline goodness : 0.993699 Centerline is valid? [True, True] Translation: X:118.44, Y:116.75, Z:44.61 [[-7.07015143e-02 -9.97474124e-01 -6.83136055e-03 1.18438626e+02] [ 9.76987411e-01 -6.78645184e-02 -2.02212774e-01 1.16751796e+02] [ 2.01238402e-01 -2.09709026e-02 9.79317786e-01 4.46055237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.990714057 meters Centerline goodness : 0.993783 Centerline is valid? [True, True] Translation: X:118.44, Y:116.74, Z:44.61 [[-6.82663066e-02 -9.97667110e-01 -2.22310239e-04 1.18436554e+02] [ 9.77452636e-01 -6.68384801e-02 -2.00297183e-01 1.16741774e+02] [ 1.99815053e-01 -1.38908466e-02 9.79735163e-01 4.46051318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.020714057 meters Centerline goodness : 0.993279 Centerline is valid? [True, True] Translation: X:118.43, Y:116.76, Z:44.61 [[-7.20680325e-02 -9.97350884e-01 -9.86983997e-03 1.18432216e+02] [ 9.76775915e-01 -6.85724550e-02 -2.02994162e-01 1.16757481e+02] [ 2.01779608e-01 -2.42700119e-02 9.79130204e-01 4.46066758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.050714057 meters Centerline goodness : 0.992887 Centerline is valid? [True, True] Translation: X:118.43, Y:116.78, Z:44.62 [[-6.70881723e-02 -9.97747030e-01 -2.01807546e-04 1.18425317e+02] [ 9.77014083e-01 -6.56530743e-02 -2.02813103e-01 1.16783640e+02] [ 2.02342922e-01 -1.38035292e-02 9.79217445e-01 4.46170612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.080714057 meters Centerline goodness : 0.992937 Centerline is valid? [True, True] Translation: X:118.42, Y:116.81, Z:44.62 [[-6.41438020e-02 -9.97940656e-01 -1.43719298e-04 1.18423519e+02] [ 9.77313001e-01 -6.27888040e-02 -2.02279176e-01 1.16811046e+02] [ 2.01853590e-01 -1.31154142e-02 9.79327889e-01 4.46230634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.110714057 meters Centerline goodness : 0.991842 Centerline is valid? [True, True] Translation: X:118.44, Y:116.83, Z:44.62 [[-5.95648108e-02 -9.97166184e-01 -4.59525265e-02 1.18435014e+02] [ 9.78720250e-01 -4.92835305e-02 -1.99192888e-01 1.16831481e+02] [ 1.96363709e-01 -5.68395549e-02 9.78882301e-01 4.46193849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.140714057 meters Centerline goodness : 0.992975 Centerline is valid? [True, True] Translation: X:118.40, Y:116.88, Z:44.66 [[-4.67838876e-02 -9.96376983e-01 7.10223584e-02 1.18402806e+02] [ 9.79257112e-01 -5.97801300e-02 -1.93602285e-01 1.16882163e+02] [ 1.97146587e-01 6.04916821e-02 9.78505994e-01 4.46579893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.170714057 meters Centerline goodness : 0.991298 Centerline is valid? [True, True] Translation: X:118.43, Y:116.95, Z:44.64 [[-6.69327533e-02 -9.97388591e-01 -2.71294155e-02 1.18431463e+02] [ 9.76198039e-01 -5.98404312e-02 -2.08462256e-01 1.16952359e+02] [ 2.06294440e-01 -4.04366350e-02 9.77654071e-01 4.46395351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.200714057 meters Centerline goodness : 0.991497 Centerline is valid? [True, True] Translation: X:118.42, Y:116.95, Z:44.65 [[-6.48486072e-02 -9.97890542e-01 3.02052209e-03 1.18418060e+02] [ 9.76061265e-01 -6.40591534e-02 -2.07848099e-01 1.16952872e+02] [ 2.07603144e-01 -1.05304451e-02 9.78156452e-01 4.46525453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.230714057 meters Centerline goodness : 0.990502 Centerline is valid? [True, True] Translation: X:118.42, Y:116.95, Z:44.65 [[-6.21643620e-02 -9.98061578e-01 2.94590538e-03 1.18416515e+02] [ 9.76114595e-01 -6.14124986e-02 -2.08395783e-01 1.16951370e+02] [ 2.08172739e-01 -1.00792496e-02 9.78040142e-01 4.46520442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.26071405700003 meters Centerline goodness : 0.989607 Centerline is valid? [True, True] Translation: X:118.43, Y:116.92, Z:44.64 [[-3.96098223e-02 -9.99213634e-01 1.78197639e-03 1.18427035e+02] [ 9.80367981e-01 -3.92073806e-02 -1.93239239e-01 1.16916016e+02] [ 1.93157149e-01 -5.90717934e-03 9.81150050e-01 4.46355739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.290714057 meters Centerline goodness : 0.988319 Centerline is valid? [True, True] Translation: X:118.43, Y:116.94, Z:44.64 [[-4.39120058e-02 -9.98906373e-01 -1.60559874e-02 1.18432812e+02] [ 9.78593399e-01 -3.97734177e-02 -2.01923340e-01 1.16935956e+02] [ 2.01063909e-01 -2.45791421e-02 9.79269713e-01 4.46369640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.32071405700003 meters Centerline goodness : 0.988289 Centerline is valid? [True, True] Translation: X:118.43, Y:116.94, Z:44.64 [[-4.59529439e-02 -9.98932698e-01 -4.66820794e-03 1.18427755e+02] [ 9.77272723e-01 -4.39874511e-02 -2.07371960e-01 1.16940523e+02] [ 2.06945289e-01 -1.40914643e-02 9.78251030e-01 4.46447194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.350714057 meters Centerline goodness : 0.989366 Centerline is valid? [True, True] Translation: X:118.42, Y:116.96, Z:44.66 [[-4.41226600e-02 -9.98836116e-01 1.94834541e-02 1.18416281e+02] [ 9.77006538e-01 -4.72140008e-02 -2.07916001e-01 1.16956544e+02] [ 2.08593903e-01 9.86165501e-03 9.77952622e-01 4.46576948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.38071405700003 meters Centerline goodness : 0.986242 Centerline is valid? [True, True] Translation: X:118.43, Y:116.95, Z:44.64 [[-4.49120407e-02 -9.98839467e-01 -1.73962206e-02 1.18432982e+02] [ 9.77362529e-01 -4.03290896e-02 -2.07692204e-01 1.16947960e+02] [ 2.06749597e-01 -2.63302949e-02 9.78039529e-01 4.46388234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.410714057 meters Centerline goodness : 0.988118 Centerline is valid? [True, True] Translation: X:118.42, Y:116.94, Z:44.64 [[-4.29186188e-02 -9.99072825e-01 3.38869050e-03 1.18424258e+02] [ 9.77561633e-01 -4.26941911e-02 -2.06277626e-01 1.16941399e+02] [ 2.06231048e-01 -5.54049697e-03 9.78487638e-01 4.46440032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.440714057 meters Centerline goodness : 0.989601 Centerline is valid? [True, True] Translation: X:118.42, Y:116.97, Z:44.66 [[-4.56683562e-02 -9.98889387e-01 1.15928010e-02 1.18419546e+02] [ 9.76182921e-01 -4.70880579e-02 -2.11777290e-01 1.16972756e+02] [ 2.12087970e-01 1.64517368e-03 9.77249194e-01 4.46568314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.470714057 meters Centerline goodness : 0.987879 Centerline is valid? [True, True] Translation: X:118.43, Y:116.94, Z:44.64 [[-4.28726439e-02 -9.99053083e-01 -7.40766968e-03 1.18430104e+02] [ 9.78138905e-01 -4.04627136e-02 -2.03978065e-01 1.16941101e+02] [ 2.03485180e-01 -1.59908088e-02 9.78947433e-01 4.46378367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.500714057 meters Centerline goodness : 0.988111 Centerline is valid? [True, True] Translation: X:118.43, Y:116.94, Z:44.64 [[-4.35342672e-02 -9.99048969e-01 -2.43430945e-03 1.18428067e+02] [ 9.77901111e-01 -4.21137559e-02 -2.04782444e-01 1.16944833e+02] [ 2.04485171e-01 -1.12955675e-02 9.78804488e-01 4.46412995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.530714057 meters Centerline goodness : 0.990436 Centerline is valid? [True, True] Translation: X:118.42, Y:116.95, Z:44.65 [[-4.37341490e-02 -9.98969442e-01 1.21399230e-02 1.18422127e+02] [ 9.76950490e-01 -4.53052113e-02 -2.08602919e-01 1.16948850e+02] [ 2.08937943e-01 2.73703258e-03 9.77925071e-01 4.46490560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.560714057 meters Centerline goodness : 0.989604 Centerline is valid? [True, True] Translation: X:118.43, Y:116.98, Z:44.65 [[-4.51394576e-02 -9.98966639e-01 -5.29944563e-03 1.18428662e+02] [ 9.76768128e-01 -4.30226978e-02 -2.09935874e-01 1.16980538e+02] [ 2.09490938e-01 -1.46527211e-02 9.77700795e-01 4.46496147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.590714057 meters Centerline goodness : 0.988112 Centerline is valid? [True, True] Translation: X:118.43, Y:116.95, Z:44.64 [[-4.24000636e-02 -9.99007002e-01 -1.36837587e-02 1.18432899e+02] [ 9.78475437e-01 -3.87523122e-02 -2.02692076e-01 1.16954346e+02] [ 2.01960526e-01 -2.19833787e-02 9.79146913e-01 4.46403477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.620714057 meters Centerline goodness : 0.987666 Centerline is valid? [True, True] Translation: X:118.43, Y:116.95, Z:44.64 [[-4.31477262e-02 -9.99049121e-01 -6.25515756e-03 1.18429240e+02] [ 9.77927033e-01 -4.09526238e-02 -2.04894121e-01 1.16945562e+02] [ 2.04443127e-01 -1.49578031e-02 9.78764156e-01 4.46436951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.650714057 meters Centerline goodness : 0.990104 Centerline is valid? [True, True] Translation: X:118.42, Y:116.94, Z:44.65 [[-3.99965029e-02 -9.98991239e-01 2.04152892e-02 1.18418882e+02] [ 9.78206206e-01 -4.33142072e-02 -2.03067717e-01 1.16944982e+02] [ 2.03747142e-01 1.18483640e-02 9.78951847e-01 4.46525346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.680714057 meters Centerline goodness : 0.990371 Centerline is valid? [True, True] Translation: X:118.43, Y:116.98, Z:44.65 [[-4.23382454e-02 -9.99053653e-01 -9.96351213e-03 1.18432627e+02] [ 9.78367615e-01 -3.94362960e-02 -2.03080253e-01 1.16975768e+02] [ 2.02495145e-01 -1.83460392e-02 9.79111403e-01 4.46463272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.710714057 meters Centerline goodness : 0.989707 Centerline is valid? [True, True] Translation: X:118.43, Y:116.96, Z:44.65 [[-3.83091835e-02 -9.99231273e-01 8.32288868e-03 1.18427556e+02] [ 9.79871704e-01 -3.91973576e-02 -1.95742203e-01 1.16957771e+02] [ 1.95917966e-01 6.56639130e-04 9.80620069e-01 4.46457145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.740714057 meters Centerline goodness : 0.990001 Centerline is valid? [True, True] Translation: X:118.44, Y:116.98, Z:44.64 [[-4.00951479e-02 -9.99036087e-01 -1.78683108e-02 1.18437958e+02] [ 9.79795078e-01 -3.58035344e-02 -1.96773252e-01 1.16984308e+02] [ 1.95943831e-01 -2.53969356e-02 9.80286188e-01 4.46422798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.770714057 meters Centerline goodness : 0.987771 Centerline is valid? [True, True] Translation: X:118.44, Y:117.00, Z:44.64 [[-3.96012382e-02 -9.98667763e-01 -3.30823375e-02 1.18442771e+02] [ 9.80538310e-01 -3.24682365e-02 -1.93624471e-01 1.17002001e+02] [ 1.92292392e-01 -4.01062681e-02 9.80517783e-01 4.46434038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.800714057 meters Centerline goodness : 0.989623 Centerline is valid? [True, True] Translation: X:118.42, Y:117.03, Z:44.67 [[-4.54845224e-02 -9.98907948e-01 1.06803796e-02 1.18424196e+02] [ 9.78720215e-01 -4.67017131e-02 -1.99814139e-01 1.17030979e+02] [ 2.00094723e-01 1.36465275e-03 9.79775607e-01 4.46667866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.830714057 meters Centerline goodness : 0.988034 Centerline is valid? [True, True] Translation: X:118.44, Y:117.06, Z:44.66 [[-4.60031948e-02 -9.98803798e-01 -1.65734451e-02 1.18437459e+02] [ 9.79959007e-01 -4.19038261e-02 -1.94741916e-01 1.17057923e+02] [ 1.93814475e-01 -2.52000471e-02 9.80714488e-01 4.46585558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.860714057 meters Centerline goodness : 0.990932 Centerline is valid? [True, True] Translation: X:118.43, Y:117.07, Z:44.67 [[-4.81697480e-02 -9.98792490e-01 9.65596616e-03 1.18426507e+02] [ 9.79187322e-01 -4.91280099e-02 -1.96922895e-01 1.17069108e+02] [ 1.97159487e-01 -3.07265990e-05 9.80371427e-01 4.46717083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.890714057 meters Centerline goodness : 0.988604 Centerline is valid? [True, True] Translation: X:118.44, Y:117.10, Z:44.66 [[-4.73460686e-02 -9.98544670e-01 -2.58242621e-02 1.18440090e+02] [ 9.80698517e-01 -4.15587604e-02 -1.91058340e-01 1.17095001e+02] [ 1.89707062e-01 -3.43716768e-02 9.81238920e-01 4.46646039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.920714057 meters Centerline goodness : 0.990038 Centerline is valid? [True, True] Translation: X:118.42, Y:117.12, Z:44.68 [[-5.05596792e-02 -9.98668448e-01 1.02493686e-02 1.18424223e+02] [ 9.78880986e-01 -5.15880774e-02 -1.97814774e-01 1.17122750e+02] [ 1.98080118e-01 3.14605595e-05 9.80185832e-01 4.46842448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.950714057 meters Centerline goodness : 0.989349 Centerline is valid? [True, True] Translation: X:118.44, Y:117.15, Z:44.68 [[-4.84441251e-02 -9.98581246e-01 -2.21057197e-02 1.18435891e+02] [ 9.80501216e-01 -4.33238118e-02 -1.91677886e-01 1.17149695e+02] [ 1.90448238e-01 -3.09603526e-02 9.81208910e-01 4.46771162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.980714057 meters Centerline goodness : 0.988608 Centerline is valid? [True, True] Translation: X:118.43, Y:117.17, Z:44.69 [[-4.95928022e-02 -9.98484619e-01 -2.38541393e-02 1.18433739e+02] [ 9.79199085e-01 -4.39023632e-02 -1.98095268e-01 1.17171963e+02] [ 1.96747825e-01 -3.31820508e-02 9.79892466e-01 4.46883269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.01071405700003 meters Centerline goodness : 0.989527 Centerline is valid? [True, True] Translation: X:118.41, Y:117.20, Z:44.71 [[-5.04563343e-02 -9.98323837e-01 2.83491704e-02 1.18412004e+02] [ 9.78927848e-01 -5.50600798e-02 -1.96643473e-01 1.17203978e+02] [ 1.97874774e-01 1.78298836e-02 9.80065135e-01 4.47092333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.040714057 meters Centerline goodness : 0.990104 Centerline is valid? [True, True] Translation: X:118.42, Y:117.22, Z:44.70 [[-6.48926498e-02 -9.97775589e-01 -1.52583670e-02 1.18421212e+02] [ 9.76255848e-01 -6.03114003e-02 -2.08055413e-01 1.17220704e+02] [ 2.06672359e-01 -2.83973371e-02 9.77998020e-01 4.47024828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.07071405700003 meters Centerline goodness : 0.990420 Centerline is valid? [True, True] Translation: X:118.41, Y:117.23, Z:44.71 [[-6.07698249e-02 -9.98149975e-01 1.91177778e-03 1.18412211e+02] [ 9.76301111e-01 -5.98379602e-02 -2.07979709e-01 1.17226508e+02] [ 2.07709338e-01 -1.07724197e-02 9.78131272e-01 4.47111074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.100714057 meters Centerline goodness : 0.989734 Centerline is valid? [True, True] Translation: X:118.41, Y:117.22, Z:44.71 [[-5.87937014e-02 -9.98268475e-01 1.83112223e-03 1.18411379e+02] [ 9.76370429e-01 -5.78859143e-02 -2.08206642e-01 1.17215644e+02] [ 2.07952123e-01 -1.04533855e-02 9.78083146e-01 4.47088362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.13071405700003 meters Centerline goodness : 0.989801 Centerline is valid? [True, True] Translation: X:118.41, Y:117.18, Z:44.70 [[-3.15106086e-02 -9.99193213e-01 2.48999071e-02 1.18412262e+02] [ 9.82484799e-01 -3.55421043e-02 -1.82921783e-01 1.17183205e+02] [ 1.83659199e-01 1.86998036e-02 9.82812096e-01 4.46955062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.160714057 meters Centerline goodness : 0.990861 Centerline is valid? [True, True] Translation: X:118.42, Y:117.20, Z:44.69 [[-4.18416073e-02 -9.98335436e-01 -3.96942864e-02 1.18424953e+02] [ 9.79180434e-01 -3.30756071e-02 -2.00279012e-01 1.17195483e+02] [ 1.98632722e-01 -4.72478643e-02 9.78934462e-01 4.46889664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.190714057 meters Centerline goodness : 0.989197 Centerline is valid? [True, True] Translation: X:118.41, Y:117.24, Z:44.71 [[-2.74624547e-02 -9.98972132e-01 3.60623576e-02 1.18407491e+02] [ 9.82498310e-01 -3.36234227e-02 -1.83211728e-01 1.17238357e+02] [ 1.84235950e-01 3.03997616e-02 9.82411812e-01 4.47086497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.220714057 meters Centerline goodness : 0.990025 Centerline is valid? [True, True] Translation: X:118.43, Y:117.25, Z:44.70 [[-3.63232563e-02 -9.98280826e-01 -4.60001540e-02 1.18426580e+02] [ 9.79040849e-01 -2.63171660e-02 -2.01956487e-01 1.17250653e+02] [ 2.00398695e-01 -5.23717471e-02 9.78313632e-01 4.46964554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.250714057 meters Centerline goodness : 0.990437 Centerline is valid? [True, True] Translation: X:118.39, Y:117.30, Z:44.73 [[-2.05710522e-02 -9.97427404e-01 6.86688085e-02 1.18394294e+02] [ 9.82337398e-01 -3.29409705e-02 -1.84195897e-01 1.17298402e+02] [ 1.85984052e-01 6.36668353e-02 9.80487872e-01 4.47294160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.280714057 meters Centerline goodness : 0.989831 Centerline is valid? [True, True] Translation: X:118.43, Y:117.31, Z:44.70 [[-1.61076016e-02 -9.99713298e-01 -1.77162998e-02 1.18429686e+02] [ 9.82132645e-01 -1.24967132e-02 -1.87774598e-01 1.17311413e+02] [ 1.87499367e-01 -2.04243548e-02 9.82052358e-01 4.46957970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.310714057 meters Centerline goodness : 0.989870 Centerline is valid? [True, True] Translation: X:118.42, Y:117.34, Z:44.70 [[-1.43163543e-02 -9.99882512e-01 -5.47764361e-03 1.18424301e+02] [ 9.82275785e-01 -1.30398905e-02 -1.86987283e-01 1.17340099e+02] [ 1.86893887e-01 -8.05753287e-03 9.82347063e-01 4.47049711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.340714057 meters Centerline goodness : 0.990127 Centerline is valid? [True, True] Translation: X:118.44, Y:117.34, Z:44.70 [[-2.54405373e-02 -9.96777471e-01 -7.60753025e-02 1.18436519e+02] [ 9.78949762e-01 -9.42487078e-03 -2.03883633e-01 1.17342439e+02] [ 2.02509612e-01 -7.96608084e-02 9.76034842e-01 4.47026732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.370714057 meters Centerline goodness : 0.990110 Centerline is valid? [True, True] Translation: X:118.40, Y:117.38, Z:44.74 [[-1.36982180e-02 -9.98700949e-01 4.90792522e-02 1.18396986e+02] [ 9.81612989e-01 -2.27773471e-02 -1.89518158e-01 1.17381101e+02] [ 1.90389859e-01 4.55807705e-02 9.80649833e-01 4.47430879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.400714057 meters Centerline goodness : 0.989174 Centerline is valid? [True, True] Translation: X:118.42, Y:117.38, Z:44.72 [[-9.22522520e-03 -9.99944186e-01 -5.14982510e-03 1.18420073e+02] [ 9.82288866e-01 -8.09825227e-03 -1.87197761e-01 1.17375062e+02] [ 1.87145608e-01 -6.78555736e-03 9.82308749e-01 4.47169601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.430714057 meters Centerline goodness : 0.988487 Centerline is valid? [True, True] Translation: X:118.42, Y:117.41, Z:44.72 [[-1.18582328e-02 -9.99916192e-01 -5.19540557e-03 1.18418928e+02] [ 9.82235361e-01 -1.06751150e-02 -1.87349240e-01 1.17405361e+02] [ 1.87278077e-01 -7.32474197e-03 9.82279629e-01 4.47231103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.460714057 meters Centerline goodness : 0.989150 Centerline is valid? [True, True] Translation: X:118.42, Y:117.43, Z:44.73 [[-1.67804746e-02 -9.99597959e-01 -2.28546850e-02 1.18424739e+02] [ 9.81733103e-01 -1.21392802e-02 -1.89875626e-01 1.17431723e+02] [ 1.89521849e-01 -2.56234040e-02 9.81542108e-01 4.47266961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.490714057 meters Centerline goodness : 0.990318 Centerline is valid? [True, True] Translation: X:118.41, Y:117.46, Z:44.74 [[-2.07510050e-02 -9.99781086e-01 2.67889308e-03 1.18414593e+02] [ 9.81535351e-01 -2.08817746e-02 -1.90137597e-01 1.17461112e+02] [ 1.90151913e-01 -1.31611798e-03 9.81753797e-01 4.47411964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.520714057 meters Centerline goodness : 0.989962 Centerline is valid? [True, True] Translation: X:118.42, Y:117.45, Z:44.73 [[-2.52801209e-02 -9.99479715e-01 -2.00303346e-02 1.18424027e+02] [ 9.80631759e-01 -2.09006127e-02 -1.94742182e-01 1.17451644e+02] [ 1.94222214e-01 -2.45654882e-02 9.80649921e-01 4.47317515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.550714057 meters Centerline goodness : 0.989962 Centerline is valid? [True, True] Translation: X:118.42, Y:117.45, Z:44.74 [[-2.53713914e-02 -9.99670286e-01 -3.95122571e-03 1.18417034e+02] [ 9.80580104e-01 -2.41176048e-02 -1.94630419e-01 1.17451877e+02] [ 1.94470953e-01 -8.81253786e-03 9.80868690e-01 4.47385545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.580714057 meters Centerline goodness : 0.991217 Centerline is valid? [True, True] Translation: X:118.42, Y:117.48, Z:44.75 [[-3.72641846e-02 -9.99280991e-01 -6.99149512e-03 1.18417846e+02] [ 9.78957506e-01 -3.50998397e-02 -2.01022894e-01 1.17483211e+02] [ 2.00632956e-01 -1.43353308e-02 9.79561593e-01 4.47466575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.610714057 meters Centerline goodness : 0.990432 Centerline is valid? [True, True] Translation: X:118.42, Y:117.49, Z:44.75 [[-4.19995794e-02 -9.99098576e-01 -6.17013828e-03 1.18417725e+02] [ 9.78563246e-01 -3.98885450e-02 -2.02046723e-01 1.17486333e+02] [ 2.01618476e-01 -1.45237480e-02 9.79356447e-01 4.47474325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.640714057 meters Centerline goodness : 0.990037 Centerline is valid? [True, True] Translation: X:118.42, Y:117.49, Z:44.75 [[-5.14377579e-02 -9.98569257e-01 -1.46149566e-02 1.18422646e+02] [ 9.77403158e-01 -4.73322276e-02 -2.06016329e-01 1.17491501e+02] [ 2.05029814e-01 -2.48817228e-02 9.78439408e-01 4.47458631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.670714057 meters Centerline goodness : 0.989694 Centerline is valid? [True, True] Translation: X:118.42, Y:117.50, Z:44.76 [[-5.62068007e-02 -9.98415973e-01 2.51798949e-03 1.18415363e+02] [ 9.76707030e-01 -5.55074151e-02 -2.07273503e-01 1.17497646e+02] [ 2.07084944e-01 -9.19084245e-03 9.78279794e-01 4.47554073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.700714057 meters Centerline goodness : 0.989873 Centerline is valid? [True, True] Translation: X:118.42, Y:117.50, Z:44.75 [[-6.17005396e-02 -9.98059740e-01 -8.35451884e-03 1.18421180e+02] [ 9.76558958e-01 -5.86376892e-02 -2.07109206e-01 1.17495835e+02] [ 2.06217470e-01 -2.09374300e-02 9.78282157e-01 4.47502207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.730714057 meters Centerline goodness : 0.990121 Centerline is valid? [True, True] Translation: X:118.42, Y:117.50, Z:44.75 [[-6.46256906e-02 -9.97900469e-01 -4.26307734e-03 1.18419078e+02] [ 9.75929455e-01 -6.23099723e-02 -2.08995613e-01 1.17499049e+02] [ 2.08291188e-01 -1.76669486e-02 9.77907286e-01 4.47543058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.76071405700003 meters Centerline goodness : 0.990958 Centerline is valid? [True, True] Translation: X:118.42, Y:117.48, Z:44.75 [[-6.25440704e-02 -9.98039666e-01 2.25063119e-03 1.18417137e+02] [ 9.76409558e-01 -6.16552324e-02 -2.06937205e-01 1.17479192e+02] [ 2.06670302e-01 -1.07451573e-02 9.78351638e-01 4.47521893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.790714057 meters Centerline goodness : 0.990806 Centerline is valid? [True, True] Translation: X:118.42, Y:117.54, Z:44.76 [[-8.17379710e-02 -9.96536208e-01 -1.53130586e-02 1.18416591e+02] [ 9.73803825e-01 -7.65834103e-02 -2.14105329e-01 1.17541245e+02] [ 2.12190987e-01 -3.24124503e-02 9.76690544e-01 4.47638458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.82071405700003 meters Centerline goodness : 0.991628 Centerline is valid? [True, True] Translation: X:118.40, Y:117.53, Z:44.78 [[-8.22113307e-02 -9.96480782e-01 1.63507879e-02 1.18403421e+02] [ 9.73502066e-01 -8.38067564e-02 -2.12767844e-01 1.17528019e+02] [ 2.13389374e-01 -1.57440179e-03 9.76965965e-01 4.47754383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.850714057 meters Centerline goodness : 0.990709 Centerline is valid? [True, True] Translation: X:118.41, Y:117.54, Z:44.77 [[-8.39874287e-02 -9.96463411e-01 2.60425921e-03 1.18409073e+02] [ 9.73374658e-01 -8.26002003e-02 -2.13819976e-01 1.17537222e+02] [ 2.13278895e-01 -1.54232700e-02 9.76869610e-01 4.47713739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.88071405700003 meters Centerline goodness : 0.991364 Centerline is valid? [True, True] Translation: X:118.41, Y:117.55, Z:44.77 [[-8.48347977e-02 -9.96391836e-01 2.52296645e-03 1.18409038e+02] [ 9.73226958e-01 -8.34048184e-02 -2.14179654e-01 1.17546131e+02] [ 2.13617286e-01 -1.57144686e-02 9.76791027e-01 4.47722444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.910714057 meters Centerline goodness : 0.990684 Centerline is valid? [True, True] Translation: X:118.41, Y:117.56, Z:44.77 [[-8.55477002e-02 -9.96331067e-01 2.44847403e-03 1.18408814e+02] [ 9.72940506e-01 -8.40682220e-02 -2.15219203e-01 1.17557810e+02] [ 2.14635417e-01 -1.60292883e-02 9.76562696e-01 4.47744658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.940714057 meters Centerline goodness : 0.990519 Centerline is valid? [True, True] Translation: X:118.41, Y:117.54, Z:44.77 [[-8.66013910e-02 -9.96240206e-01 2.37737841e-03 1.18408543e+02] [ 9.72525477e-01 -8.50570373e-02 -2.16701403e-01 1.17543743e+02] [ 2.16088863e-01 -1.64545819e-02 9.76235038e-01 4.47701619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.970714057 meters Centerline goodness : 0.991423 Centerline is valid? [True, True] Translation: X:118.41, Y:117.55, Z:44.77 [[-8.68651463e-02 -9.96217437e-01 2.29456565e-03 1.18408452e+02] [ 9.72410986e-01 -8.52894392e-02 -2.17123434e-01 1.17552469e+02] [ 2.16497854e-01 -1.66291980e-02 9.76141460e-01 4.47717844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.000714057 meters Centerline goodness : 0.989729 Centerline is valid? [True, True] Translation: X:118.41, Y:117.50, Z:44.75 [[-6.55277790e-02 -9.97735207e-01 1.51844606e-02 1.18412988e+02] [ 9.77887167e-01 -6.72380276e-02 -1.98029636e-01 1.17496192e+02] [ 1.98602113e-01 1.87224691e-03 9.80078413e-01 4.47513150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.030714057 meters Centerline goodness : 0.990000 Centerline is valid? [True, True] Translation: X:118.42, Y:117.53, Z:44.75 [[-6.92550358e-02 -9.97593734e-01 -3.23768186e-03 1.18417418e+02] [ 9.76675743e-01 -6.71409395e-02 -2.03952415e-01 1.17526944e+02] [ 2.03244270e-01 -1.72868971e-02 9.78975449e-01 4.47541631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.060714057 meters Centerline goodness : 0.989633 Centerline is valid? [True, True] Translation: X:118.41, Y:117.53, Z:44.76 [[-6.54923816e-02 -9.97849606e-01 2.62903832e-03 1.18414369e+02] [ 9.77691832e-01 -6.46958560e-02 -1.99832751e-01 1.17532315e+02] [ 1.99573120e-01 -1.05171335e-02 9.79826495e-01 4.47561800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.090714057 meters Centerline goodness : 0.989812 Centerline is valid? [True, True] Translation: X:118.42, Y:117.54, Z:44.75 [[-6.43213950e-02 -9.97866624e-01 -1.11784588e-02 1.18416676e+02] [ 9.77103164e-01 -6.06985729e-02 -2.03924225e-01 1.17536481e+02] [ 2.02810662e-01 -2.40391981e-02 9.78922853e-01 4.47548789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.120714057 meters Centerline goodness : 0.989006 Centerline is valid? [True, True] Translation: X:118.41, Y:117.54, Z:44.76 [[-6.25118475e-02 -9.98021305e-01 -6.76348307e-03 1.18413448e+02] [ 9.77138627e-01 -5.98212669e-02 -2.04013529e-01 1.17543805e+02] [ 2.03205248e-01 -1.93621232e-02 9.78944705e-01 4.47591299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.150714057 meters Centerline goodness : 0.989486 Centerline is valid? [True, True] Translation: X:118.41, Y:117.54, Z:44.76 [[-5.86399988e-02 -9.98273282e-01 -3.43584789e-03 1.18409653e+02] [ 9.77361857e-01 -5.67100823e-02 -2.03832692e-01 1.17538655e+02] [ 2.03285883e-01 -1.53108155e-02 9.78999708e-01 4.47594857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.180714057 meters Centerline goodness : 0.986786 Centerline is valid? [True, True] Translation: X:118.42, Y:117.54, Z:44.75 [[-5.85386676e-02 -9.98056415e-01 -2.13686146e-02 1.18416644e+02] [ 9.78065439e-01 -5.30535199e-02 -2.01428206e-01 1.17536751e+02] [ 1.99903032e-01 -3.26912422e-02 9.79270167e-01 4.47526309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.210714057 meters Centerline goodness : 0.989147 Centerline is valid? [True, True] Translation: X:118.40, Y:117.55, Z:44.77 [[-5.63753893e-02 -9.98284135e-01 1.58304044e-02 1.18399368e+02] [ 9.77167482e-01 -5.84222859e-02 -2.04280565e-01 1.17546015e+02] [ 2.04854896e-01 3.95255996e-03 9.78784373e-01 4.47698749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.240714057 meters Centerline goodness : 0.989880 Centerline is valid? [True, True] Translation: X:118.41, Y:117.55, Z:44.76 [[-5.38202347e-02 -9.98526029e-01 -7.01078491e-03 1.18407197e+02] [ 9.77205048e-01 -5.12245107e-02 -2.06025104e-01 1.17549158e+02] [ 2.05362305e-01 -1.79392939e-02 9.78521592e-01 4.47618361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.270714057 meters Centerline goodness : 0.989832 Centerline is valid? [True, True] Translation: X:118.40, Y:117.55, Z:44.76 [[-5.07221107e-02 -9.98706425e-01 -3.56993573e-03 1.18403500e+02] [ 9.77538216e-01 -4.89142266e-02 -2.05003498e-01 1.17547679e+02] [ 2.04563690e-01 -1.38879587e-02 9.78754730e-01 4.47625582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.300714057 meters Centerline goodness : 0.989290 Centerline is valid? [True, True] Translation: X:118.40, Y:117.56, Z:44.76 [[-4.95661103e-02 -9.98766349e-01 -2.99677636e-03 1.18401895e+02] [ 9.77438670e-01 -4.78904202e-02 -2.05718631e-01 1.17556014e+02] [ 2.05321329e-01 -1.31258374e-02 9.78606593e-01 4.47645956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.330714057 meters Centerline goodness : 0.989505 Centerline is valid? [True, True] Translation: X:118.40, Y:117.55, Z:44.76 [[-4.60034760e-02 -9.98940506e-01 -1.24328366e-03 1.18400587e+02] [ 9.78015279e-01 -4.47863372e-02 -2.03667125e-01 1.17549839e+02] [ 2.03395659e-01 -1.05853461e-02 9.79039405e-01 4.47617644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.360714057 meters Centerline goodness : 0.989995 Centerline is valid? [True, True] Translation: X:118.40, Y:117.58, Z:44.77 [[-4.73197436e-02 -9.98876519e-01 -2.55782170e-03 1.18400180e+02] [ 9.77681749e-01 -4.57906375e-02 -2.05040520e-01 1.17580478e+02] [ 2.04693037e-01 -1.22032004e-02 9.78750143e-01 4.47676358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.390714057 meters Centerline goodness : 0.990524 Centerline is valid? [True, True] Translation: X:118.40, Y:117.59, Z:44.77 [[-4.36368455e-02 -9.99043763e-01 2.71757525e-03 1.18397466e+02] [ 9.78583659e-01 -4.32906011e-02 -2.01245985e-01 1.17588176e+02] [ 2.01171192e-01 -6.12236524e-03 9.79536966e-01 4.47686572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.420714057 meters Centerline goodness : 0.990590 Centerline is valid? [True, True] Translation: X:118.40, Y:117.61, Z:44.77 [[-5.93978918e-02 -9.97860816e-01 -2.73071952e-02 1.18398848e+02] [ 9.74380112e-01 -5.20122819e-02 -2.18810696e-01 1.17613853e+02] [ 2.16922310e-01 -3.96044820e-02 9.75385153e-01 4.47721059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.450714057 meters Centerline goodness : 0.991286 Centerline is valid? [True, True] Translation: X:118.37, Y:117.56, Z:44.78 [[-2.38721471e-02 -9.97854923e-01 6.09563290e-02 1.18373605e+02] [ 9.82834628e-01 -3.45829650e-02 -1.81218411e-01 1.17564301e+02] [ 1.82937734e-01 5.55839184e-02 9.81551941e-01 4.47790567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.480714057 meters Centerline goodness : 0.990414 Centerline is valid? [True, True] Translation: X:118.42, Y:117.57, Z:44.74 [[-3.69608359e-02 -9.95559886e-01 -8.65702609e-02 1.18419056e+02] [ 9.79997705e-01 -1.91583762e-02 -1.98084462e-01 1.17572508e+02] [ 1.95546399e-01 -9.21600243e-02 9.76354513e-01 4.47416704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.51071405700003 meters Centerline goodness : 0.991688 Centerline is valid? [True, True] Translation: X:118.37, Y:117.62, Z:44.79 [[-2.13886677e-02 -9.97860352e-01 6.17838387e-02 1.18370303e+02] [ 9.82746705e-01 -3.23401208e-02 -1.82107196e-01 1.17615226e+02] [ 1.83715648e-01 5.68228335e-02 9.81335685e-01 4.47934019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.540714057 meters Centerline goodness : 0.989859 Centerline is valid? [True, True] Translation: X:118.40, Y:117.65, Z:44.76 [[-1.66862952e-02 -9.99699626e-01 -1.79506349e-02 1.18401773e+02] [ 9.83551191e-01 -1.31820146e-02 -1.80147967e-01 1.17646641e+02] [ 1.79857230e-01 -2.06613705e-02 9.83475716e-01 4.47641792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.57071405700003 meters Centerline goodness : 0.987974 Centerline is valid? [True, True] Translation: X:118.40, Y:117.67, Z:44.77 [[-1.28491002e-02 -9.99681578e-01 -2.17173303e-02 1.18402788e+02] [ 9.85438578e-01 -8.97737151e-03 -1.69794631e-01 1.17671574e+02] [ 1.69545600e-01 -2.35828033e-02 9.85240144e-01 4.47670849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.600714057 meters Centerline goodness : 0.989044 Centerline is valid? [True, True] Translation: X:118.39, Y:117.70, Z:44.78 [[-1.73830057e-02 -9.99845529e-01 -2.59802583e-03 1.18391805e+02] [ 9.82764156e-01 -1.66076215e-02 -1.84116268e-01 1.17698341e+02] [ 1.84044681e-01 -5.75374079e-03 9.82901038e-01 4.47837685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.63071405700003 meters Centerline goodness : 0.990580 Centerline is valid? [True, True] Translation: X:118.40, Y:117.72, Z:44.78 [[-2.08002495e-02 -9.99428894e-01 -2.66314718e-02 1.18399554e+02] [ 9.81863421e-01 -1.53994315e-02 -1.88963171e-01 1.17723618e+02] [ 1.88445143e-01 -3.00789491e-02 9.81622985e-01 4.47849651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.660714057 meters Centerline goodness : 0.988805 Centerline is valid? [True, True] Translation: X:118.40, Y:117.72, Z:44.79 [[-2.44871847e-02 -9.99333065e-01 -2.70888068e-02 1.18399314e+02] [ 9.81485460e-01 -1.88831865e-02 -1.90603562e-01 1.17715408e+02] [ 1.89964918e-01 -3.12546146e-02 9.81293269e-01 4.47861620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.690714057 meters Centerline goodness : 0.990541 Centerline is valid? [True, True] Translation: X:118.39, Y:117.75, Z:44.81 [[-2.97361247e-02 -9.99557713e-01 3.76684347e-04 1.18385648e+02] [ 9.78535665e-01 -2.91876115e-02 -2.04000088e-01 1.17745679e+02] [ 2.03920856e-01 -5.69757298e-03 9.78970797e-01 4.48092829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.720714057 meters Centerline goodness : 0.990119 Centerline is valid? [True, True] Translation: X:118.39, Y:117.74, Z:44.81 [[-3.34397513e-02 -9.99427469e-01 -5.14951068e-03 1.18389753e+02] [ 9.77850638e-01 -3.16517864e-02 -2.06896819e-01 1.17738260e+02] [ 2.06615373e-01 -1.19540305e-02 9.78349216e-01 4.48056142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.750714057 meters Centerline goodness : 0.990400 Centerline is valid? [True, True] Translation: X:118.39, Y:117.75, Z:44.81 [[-3.58071430e-02 -9.99357017e-01 -1.84416534e-03 1.18389296e+02] [ 9.77703450e-01 -3.46490972e-02 -2.07112056e-01 1.17748756e+02] [ 2.06914988e-01 -9.21913783e-03 9.78315489e-01 4.48087512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.780714057 meters Centerline goodness : 0.988875 Centerline is valid? [True, True] Translation: X:118.40, Y:117.75, Z:44.80 [[-3.72766153e-02 -9.99116113e-01 -1.94279663e-02 1.18398398e+02] [ 9.78590850e-01 -3.25591110e-02 -2.03223650e-01 1.17749725e+02] [ 2.02411466e-01 -2.65875198e-02 9.78939581e-01 4.48003374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.810714057 meters Centerline goodness : 0.988536 Centerline is valid? [True, True] Translation: X:118.39, Y:117.74, Z:44.81 [[-3.68820593e-02 -9.99252172e-01 1.16108210e-02 1.18387215e+02] [ 9.79642682e-01 -3.84477063e-02 -1.97032968e-01 1.17738788e+02] [ 1.97332031e-01 4.10747419e-03 9.80328108e-01 4.48096561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.840714057 meters Centerline goodness : 0.990737 Centerline is valid? [True, True] Translation: X:118.38, Y:117.75, Z:44.81 [[-3.59873584e-02 -9.99210454e-01 1.68338262e-02 1.18384801e+02] [ 9.78995153e-01 -3.86319160e-02 -2.00190074e-01 1.17746620e+02] [ 2.00682337e-01 9.27592232e-03 9.79612452e-01 4.48135926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.870714057 meters Centerline goodness : 0.990435 Centerline is valid? [True, True] Translation: X:118.39, Y:117.77, Z:44.81 [[-5.02958418e-02 -9.98621436e-01 -1.50185418e-02 1.18392744e+02] [ 9.76910111e-01 -4.60647662e-02 -2.08625675e-01 1.17769880e+02] [ 2.07646246e-01 -2.51647693e-02 9.77880244e-01 4.48103464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.900714057 meters Centerline goodness : 0.991867 Centerline is valid? [True, True] Translation: X:118.39, Y:117.75, Z:44.81 [[-3.85249415e-02 -9.99183783e-01 1.21489665e-02 1.18387412e+02] [ 9.78906512e-01 -4.01787797e-02 -2.00319010e-01 1.17746242e+02] [ 2.00643637e-01 4.17542427e-03 9.79655397e-01 4.48120769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.930714057 meters Centerline goodness : 0.990678 Centerline is valid? [True, True] Translation: X:118.39, Y:117.75, Z:44.81 [[-3.80088902e-02 -9.99275080e-01 -2.15385605e-03 1.18394996e+02] [ 9.79346808e-01 -3.68223784e-02 -1.98806294e-01 1.17751400e+02] [ 1.98582865e-01 -9.66577864e-03 9.80036437e-01 4.48050860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.960714057 meters Centerline goodness : 0.990399 Centerline is valid? [True, True] Translation: X:118.40, Y:117.78, Z:44.81 [[-3.95049539e-02 -9.99216817e-01 -2.26089734e-03 1.18395521e+02] [ 9.79281878e-01 -3.82668684e-02 -1.98853339e-01 1.17780789e+02] [ 1.98611083e-01 -1.00697478e-02 9.80026652e-01 4.48096046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.990714057 meters Centerline goodness : 0.990999 Centerline is valid? [True, True] Translation: X:118.40, Y:117.78, Z:44.81 [[-3.91713479e-02 -9.99232487e-01 -2.07430274e-04 1.18396522e+02] [ 9.79578408e-01 -3.83599079e-02 -1.97369347e-01 1.17784480e+02] [ 1.97209907e-01 -7.93441758e-03 9.80329178e-01 4.48100846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.020714057 meters Centerline goodness : 0.990560 Centerline is valid? [True, True] Translation: X:118.40, Y:117.79, Z:44.81 [[-3.88258450e-02 -9.99241299e-01 -3.06278767e-03 1.18398484e+02] [ 9.79727131e-01 -3.74643941e-02 -1.96802359e-01 1.17788277e+02] [ 1.96538300e-01 -1.06417141e-02 9.80438397e-01 4.48085670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.050714057 meters Centerline goodness : 0.990504 Centerline is valid? [True, True] Translation: X:118.40, Y:117.82, Z:44.81 [[-4.15936674e-02 -9.99125744e-01 -4.20876631e-03 1.18398825e+02] [ 9.79250508e-01 -3.99293270e-02 -1.98680878e-01 1.17817199e+02] [ 1.98339127e-01 -1.23853029e-02 9.80055200e-01 4.48137361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.080714057 meters Centerline goodness : 0.990390 Centerline is valid? [True, True] Translation: X:118.40, Y:117.81, Z:44.81 [[-4.26243947e-02 -9.99064425e-01 -7.30992626e-03 1.18400998e+02] [ 9.78679709e-01 -4.02810697e-02 -2.01403732e-01 1.17810284e+02] [ 2.00920852e-01 -1.57387887e-02 9.79481037e-01 4.48107941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.110714057 meters Centerline goodness : 0.991815 Centerline is valid? [True, True] Translation: X:118.40, Y:117.82, Z:44.81 [[-4.51670995e-02 -9.98951940e-01 -7.41315868e-03 1.18400615e+02] [ 9.77976579e-01 -4.27026155e-02 -2.04299528e-01 1.17821555e+02] [ 2.03768848e-01 -1.64775127e-02 9.78880354e-01 4.48144619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.140714057 meters Centerline goodness : 0.990829 Centerline is valid? [True, True] Translation: X:118.40, Y:117.83, Z:44.82 [[-4.67789668e-02 -9.98900918e-01 -2.94675468e-03 1.18399206e+02] [ 9.77768686e-01 -4.51852936e-02 -2.04760067e-01 1.17827027e+02] [ 2.04401869e-01 -1.24597088e-02 9.78807760e-01 4.48172021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.170714057 meters Centerline goodness : 0.991925 Centerline is valid? [True, True] Translation: X:118.40, Y:117.79, Z:44.81 [[-4.15101278e-02 -9.99135858e-01 -2.10887638e-03 1.18401100e+02] [ 9.78275929e-01 -4.02142292e-02 -2.03369178e-01 1.17786682e+02] [ 2.03108631e-01 -1.05049436e-02 9.79099857e-01 4.48086105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.200714057 meters Centerline goodness : 0.991136 Centerline is valid? [True, True] Translation: X:118.41, Y:117.80, Z:44.80 [[-4.29797159e-02 -9.98314091e-01 -3.90092288e-02 1.18413199e+02] [ 9.79141382e-01 -3.43291453e-02 -2.00258994e-01 1.17803490e+02] [ 1.98582222e-01 -4.68026249e-02 9.78966095e-01 4.48021813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.230714057 meters Centerline goodness : 0.991188 Centerline is valid? [True, True] Translation: X:118.38, Y:117.82, Z:44.83 [[-5.33375101e-02 -9.98522600e-01 1.03791310e-02 1.18384267e+02] [ 9.76525115e-01 -5.43291054e-02 -2.08439555e-01 1.17820844e+02] [ 2.08695496e-01 -9.82164831e-04 9.77980176e-01 4.48309300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.26071405700003 meters Centerline goodness : 0.992102 Centerline is valid? [True, True] Translation: X:118.40, Y:117.86, Z:44.83 [[-5.04970147e-02 -9.98689415e-01 -8.33693357e-03 1.18398121e+02] [ 9.77165538e-01 -4.76801806e-02 -2.07060649e-01 1.17858631e+02] [ 2.06391772e-01 -1.86025088e-02 9.78292586e-01 4.48305968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.290714057 meters Centerline goodness : 0.992133 Centerline is valid? [True, True] Translation: X:118.40, Y:117.89, Z:44.84 [[-5.18134982e-02 -9.98634072e-01 -6.73435125e-03 1.18396652e+02] [ 9.77372011e-01 -4.93232003e-02 -2.05696801e-01 1.17885790e+02] [ 2.05083674e-01 -1.72398373e-02 9.78592599e-01 4.48377531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.32071405700003 meters Centerline goodness : 0.990411 Centerline is valid? [True, True] Translation: X:118.40, Y:117.91, Z:44.84 [[-4.94102328e-02 -9.98592078e-01 -1.93000364e-02 1.18401144e+02] [ 9.78766770e-01 -4.45623892e-02 -2.00074495e-01 1.17908002e+02] [ 1.98932750e-01 -2.87759617e-02 9.79590580e-01 4.48374561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.350714057 meters Centerline goodness : 0.991373 Centerline is valid? [True, True] Translation: X:118.39, Y:117.94, Z:44.86 [[-5.30914798e-02 -9.98525233e-01 1.13425695e-02 1.18388108e+02] [ 9.77262450e-01 -5.42892070e-02 -2.04965328e-01 1.17938398e+02] [ 2.05278831e-01 2.02754712e-04 9.78703510e-01 4.48563960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.38071405700003 meters Centerline goodness : 0.991465 Centerline is valid? [True, True] Translation: X:118.39, Y:117.97, Z:44.86 [[-5.30689674e-02 -9.98587347e-01 2.64474706e-03 1.18392456e+02] [ 9.77841465e-01 -5.25031797e-02 -2.02656075e-01 1.17969994e+02] [ 2.02508650e-01 -8.16860530e-03 9.79246404e-01 4.48552271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.410714057 meters Centerline goodness : 0.991465 Centerline is valid? [True, True] Translation: X:118.39, Y:117.97, Z:44.85 [[-5.27809919e-02 -9.98599785e-01 -3.55471158e-03 1.18394979e+02] [ 9.77913768e-01 -5.09660836e-02 -2.02699584e-01 1.17973146e+02] [ 2.02234591e-01 -1.41748865e-02 9.79234519e-01 4.48531374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.440714057 meters Centerline goodness : 0.991122 Centerline is valid? [True, True] Translation: X:118.39, Y:117.97, Z:44.85 [[-5.26538280e-02 -9.98608275e-01 -3.01462887e-03 1.18394113e+02] [ 9.77853888e-01 -5.09467053e-02 -2.02993118e-01 1.17973820e+02] [ 2.02557022e-01 -1.36362313e-02 9.79175524e-01 4.48532116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.470714057 meters Centerline goodness : 0.991417 Centerline is valid? [True, True] Translation: X:118.39, Y:117.99, Z:44.86 [[-5.37599615e-02 -9.98553550e-01 -8.21221066e-04 1.18391261e+02] [ 9.77628321e-01 -5.24658745e-02 -2.03691429e-01 1.17994999e+02] [ 2.03353714e-01 -1.17532924e-02 9.79034794e-01 4.48588303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.500714057 meters Centerline goodness : 0.991167 Centerline is valid? [True, True] Translation: X:118.39, Y:117.99, Z:44.86 [[-5.32586337e-02 -9.98578078e-01 -2.31094924e-03 1.18391269e+02] [ 9.77747011e-01 -5.16770815e-02 -2.03323046e-01 1.17990761e+02] [ 2.02914514e-01 -1.30882314e-02 9.79108982e-01 4.48569211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.530714057 meters Centerline goodness : 0.990041 Centerline is valid? [True, True] Translation: X:118.40, Y:118.01, Z:44.86 [[-4.99826098e-02 -9.98636228e-01 -1.50805277e-02 1.18396202e+02] [ 9.79180466e-01 -4.60232567e-02 -1.97705526e-01 1.18014546e+02] [ 1.96741845e-01 -2.46483963e-02 9.80145450e-01 4.48554798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.560714057 meters Centerline goodness : 0.991180 Centerline is valid? [True, True] Translation: X:118.39, Y:118.02, Z:44.87 [[-4.75373004e-02 -9.98808632e-01 1.10236590e-02 1.18385012e+02] [ 9.79395328e-01 -4.87762669e-02 -1.95973640e-01 1.18017017e+02] [ 1.96277856e-01 1.48046232e-03 9.80547200e-01 4.48666202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.590714057 meters Centerline goodness : 0.990389 Centerline is valid? [True, True] Translation: X:118.39, Y:118.04, Z:44.86 [[-4.82621827e-02 -9.98747224e-01 -1.32190841e-02 1.18393835e+02] [ 9.79586612e-01 -4.47423631e-02 -1.95980076e-01 1.18044180e+02] [ 1.95143104e-01 -2.24076640e-02 9.80518774e-01 4.48639161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.620714057 meters Centerline goodness : 0.990666 Centerline is valid? [True, True] Translation: X:118.39, Y:118.07, Z:44.87 [[-4.91338966e-02 -9.98760697e-01 -7.93285559e-03 1.18390802e+02] [ 9.79471214e-01 -4.66272515e-02 -1.96117414e-01 1.18070464e+02] [ 1.95504478e-01 -1.74060164e-02 9.80548331e-01 4.48717081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.650714057 meters Centerline goodness : 0.990680 Centerline is valid? [True, True] Translation: X:118.39, Y:118.10, Z:44.88 [[-4.92947772e-02 -9.98770796e-01 -5.18861949e-03 1.18389688e+02] [ 9.79545176e-01 -4.73298544e-02 -1.95578970e-01 1.18098428e+02] [ 1.95092987e-01 -1.47235089e-02 9.80674230e-01 4.48774103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.680714057 meters Centerline goodness : 0.990792 Centerline is valid? [True, True] Translation: X:118.39, Y:118.12, Z:44.88 [[-4.76287902e-02 -9.98719928e-01 -1.70294832e-02 1.18394456e+02] [ 9.80387597e-01 -4.34768597e-02 -1.92223624e-01 1.18122901e+02] [ 1.91237176e-01 -2.58508728e-02 9.81203381e-01 4.48775034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.710714057 meters Centerline goodness : 0.990265 Centerline is valid? [True, True] Translation: X:118.39, Y:118.15, Z:44.89 [[-4.77097259e-02 -9.98807516e-01 -1.03599405e-02 1.18391913e+02] [ 9.81304047e-01 -4.49325122e-02 -1.87145496e-01 1.18150733e+02] [ 1.86456830e-01 -1.90949119e-02 9.82277575e-01 4.48860098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.740714057 meters Centerline goodness : 0.990553 Centerline is valid? [True, True] Translation: X:118.39, Y:118.18, Z:44.89 [[-4.81863676e-02 -9.98786908e-01 -1.01383692e-02 1.18391419e+02] [ 9.79887485e-01 -4.53018774e-02 -1.94340568e-01 1.18177239e+02] [ 1.93645528e-01 -1.92990271e-02 9.80881724e-01 4.48945833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.770714057 meters Centerline goodness : 0.991848 Centerline is valid? [True, True] Translation: X:118.38, Y:118.21, Z:44.91 [[-5.04525389e-02 -9.98580547e-01 1.70713878e-02 1.18381054e+02] [ 9.79920872e-01 -5.27967468e-02 -1.92269573e-01 1.18207275e+02] [ 1.92897969e-01 7.02812118e-03 9.81193650e-01 4.49079203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.800714057 meters Centerline goodness : 0.991259 Centerline is valid? [True, True] Translation: X:118.39, Y:118.22, Z:44.90 [[-5.12256630e-02 -9.98662174e-01 -7.05651489e-03 1.18390856e+02] [ 9.79687285e-01 -4.88781469e-02 -1.94483289e-01 1.18217634e+02] [ 1.93878195e-01 -1.68757133e-02 9.80880449e-01 4.49002615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.830714057 meters Centerline goodness : 0.991650 Centerline is valid? [True, True] Translation: X:118.39, Y:118.23, Z:44.90 [[-5.25603047e-02 -9.98617653e-01 -4.44496315e-04 1.18389726e+02] [ 9.79680295e-01 -5.14772901e-02 -1.93846870e-01 1.18231993e+02] [ 1.93556025e-01 -1.06241148e-02 9.81031698e-01 4.49038117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.860714057 meters Centerline goodness : 0.990809 Centerline is valid? [True, True] Translation: X:118.39, Y:118.25, Z:44.91 [[-5.43587633e-02 -9.98512417e-01 -4.25183379e-03 1.18391984e+02] [ 9.79179544e-01 -5.24712709e-02 -1.96097391e-01 1.18247788e+02] [ 1.95582581e-01 -1.48229203e-02 9.80575206e-01 4.49051730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.890714057 meters Centerline goodness : 0.991152 Centerline is valid? [True, True] Translation: X:118.39, Y:118.23, Z:44.90 [[-5.39207927e-02 -9.98541660e-01 2.66471742e-03 1.18391380e+02] [ 9.79462324e-01 -5.34093611e-02 -1.94424783e-01 1.18230314e+02] [ 1.94283566e-01 -7.87354809e-03 9.80913810e-01 4.49021304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.920714057 meters Centerline goodness : 0.990685 Centerline is valid? [True, True] Translation: X:118.39, Y:118.25, Z:44.90 [[-6.68817693e-02 -9.97725166e-01 -8.44527851e-03 1.18390853e+02] [ 9.77626941e-01 -6.38379935e-02 -2.00425235e-01 1.18248854e+02] [ 1.99430172e-01 -2.16611262e-02 9.79672600e-01 4.49049799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.950714057 meters Centerline goodness : 0.991904 Centerline is valid? [True, True] Translation: X:118.38, Y:118.20, Z:44.90 [[-4.20098052e-02 -9.98590628e-01 3.24335462e-02 1.18383598e+02] [ 9.82626954e-01 -4.71681920e-02 -1.79497719e-01 1.18196771e+02] [ 1.80774572e-01 2.43294125e-02 9.83223593e-01 4.49000205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.980714057 meters Centerline goodness : 0.991369 Centerline is valid? [True, True] Translation: X:118.41, Y:118.22, Z:44.88 [[-4.33607529e-02 -9.98755790e-01 -2.46316172e-02 1.18407392e+02] [ 9.82978623e-01 -3.82440899e-02 -1.79695345e-01 1.18222666e+02] [ 1.78529753e-01 -3.20040786e-02 9.83413884e-01 4.48844259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.01071405700003 meters Centerline goodness : 0.991687 Centerline is valid? [True, True] Translation: X:118.40, Y:118.25, Z:44.90 [[-4.64439830e-02 -9.98713535e-01 -2.03526997e-02 1.18404012e+02] [ 9.82425854e-01 -4.19802075e-02 -1.81871119e-01 1.18246329e+02] [ 1.80782738e-01 -2.84418375e-02 9.83111725e-01 4.48959214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.040714057 meters Centerline goodness : 0.990711 Centerline is valid? [True, True] Translation: X:118.40, Y:118.27, Z:44.91 [[-4.75947760e-02 -9.98848375e-01 -6.05479807e-03 1.18400070e+02] [ 9.82417635e-01 -4.57145951e-02 -1.81013166e-01 1.18272567e+02] [ 1.80527914e-01 -1.45636215e-02 9.83462034e-01 4.49076743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.07071405700003 meters Centerline goodness : 0.989704 Centerline is valid? [True, True] Translation: X:118.41, Y:118.30, Z:44.91 [[-4.57893685e-02 -9.98782196e-01 -1.83700328e-02 1.18406772e+02] [ 9.83932697e-01 -4.19165921e-02 -1.73549552e-01 1.18298480e+02] [ 1.72568194e-01 -2.60216003e-02 9.84653794e-01 4.49072249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.100714057 meters Centerline goodness : 0.991327 Centerline is valid? [True, True] Translation: X:118.39, Y:118.33, Z:44.93 [[-4.91410069e-02 -9.98684180e-01 1.46652961e-02 1.18394931e+02] [ 9.82451887e-01 -5.09769215e-02 -1.79414727e-01 1.18329736e+02] [ 1.79926241e-01 5.59132749e-03 9.83664214e-01 4.49252995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.13071405700003 meters Centerline goodness : 0.990012 Centerline is valid? [True, True] Translation: X:118.41, Y:118.35, Z:44.92 [[-4.63231050e-02 -9.98875660e-01 -1.00789727e-02 1.18406611e+02] [ 9.82732980e-01 -4.37604451e-02 -1.79780183e-01 1.18353868e+02] [ 1.79136989e-01 -1.82329152e-02 9.83655173e-01 4.49198472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.160714057 meters Centerline goodness : 0.991694 Centerline is valid? [True, True] Translation: X:118.40, Y:118.39, Z:44.93 [[-4.79307190e-02 -9.98841398e-01 4.30215861e-03 1.18404879e+02] [ 9.82581186e-01 -4.79237918e-02 -1.79548108e-01 1.18389024e+02] [ 1.79546259e-01 -4.37864980e-03 9.83739787e-01 4.49294207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.190714057 meters Centerline goodness : 0.991856 Centerline is valid? [True, True] Translation: X:118.41, Y:118.42, Z:44.93 [[-4.99330862e-02 -9.98684383e-01 -1.16700717e-02 1.18411965e+02] [ 9.82392933e-01 -4.70056111e-02 -1.80816478e-01 1.18415816e+02] [ 1.80030034e-01 -2.04933208e-02 9.83447615e-01 4.49294741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.220714057 meters Centerline goodness : 0.991225 Centerline is valid? [True, True] Translation: X:118.41, Y:118.44, Z:44.94 [[-4.96185102e-02 -9.98753192e-01 -5.48317596e-03 1.18410697e+02] [ 9.82371749e-01 -4.78125163e-02 -1.80719976e-01 1.18442024e+02] [ 1.80232488e-01 -1.43535731e-02 9.83519306e-01 4.49360684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.250714057 meters Centerline goodness : 0.992305 Centerline is valid? [True, True] Translation: X:118.41, Y:118.47, Z:44.94 [[-5.13091881e-02 -9.98667834e-01 -5.47036992e-03 1.18413240e+02] [ 9.81756285e-01 -4.94345853e-02 -1.83605062e-01 1.18471259e+02] [ 1.83090044e-01 -1.47911967e-02 9.82984871e-01 4.49413543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.280714057 meters Centerline goodness : 0.991857 Centerline is valid? [True, True] Translation: X:118.42, Y:118.47, Z:44.94 [[-5.19905071e-02 -9.98603281e-01 -9.40612511e-03 1.18415664e+02] [ 9.81079095e-01 -4.93146499e-02 -1.87221458e-01 1.18466044e+02] [ 1.86496102e-01 -1.89618912e-02 9.82272697e-01 4.49400539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.310714057 meters Centerline goodness : 0.991957 Centerline is valid? [True, True] Translation: X:118.42, Y:118.47, Z:44.94 [[-5.18081678e-02 -9.98640596e-01 -5.73360791e-03 1.18415543e+02] [ 9.80535040e-01 -4.97784126e-02 -1.89929315e-01 1.18472693e+02] [ 1.89385714e-01 -1.54618933e-02 9.81781025e-01 4.49427509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.340714057 meters Centerline goodness : 0.991179 Centerline is valid? [True, True] Translation: X:118.42, Y:118.46, Z:44.94 [[-4.99111653e-02 -9.98750352e-01 -2.57103244e-03 1.18415605e+02] [ 9.80970132e-01 -4.85386810e-02 -1.87993606e-01 1.18464083e+02] [ 1.87633886e-01 -1.19050860e-02 9.82166887e-01 4.49411530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.370714057 meters Centerline goodness : 0.992367 Centerline is valid? [True, True] Translation: X:118.42, Y:118.49, Z:44.95 [[-4.95491540e-02 -9.98667877e-01 -1.43997475e-02 1.18420313e+02] [ 9.80547786e-01 -4.58984278e-02 -1.90838609e-01 1.18491008e+02] [ 1.89923463e-01 -2.35755322e-02 9.81515804e-01 4.49451401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.400714057 meters Centerline goodness : 0.990840 Centerline is valid? [True, True] Translation: X:118.42, Y:118.52, Z:44.95 [[-4.85910327e-02 -9.98816870e-01 -1.94196687e-03 1.18415259e+02] [ 9.80612853e-01 -4.73357267e-02 -1.90151945e-01 1.18518898e+02] [ 1.89835047e-01 -1.11439971e-02 9.81752752e-01 4.49546456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.430714057 meters Centerline goodness : 0.990662 Centerline is valid? [True, True] Translation: X:118.42, Y:118.55, Z:44.96 [[-4.64169749e-02 -9.98914289e-01 -3.96323446e-03 1.18415812e+02] [ 9.80893508e-01 -4.48284996e-02 -1.89310147e-01 1.18550025e+02] [ 1.88926946e-01 -1.26747153e-02 9.81909345e-01 4.49608823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.460714057 meters Centerline goodness : 0.990618 Centerline is valid? [True, True] Translation: X:118.41, Y:118.53, Z:44.96 [[-4.26994262e-02 -9.99067175e-01 6.44513154e-03 1.18412306e+02] [ 9.81976600e-01 -4.31560601e-02 -1.84009542e-01 1.18526988e+02] [ 1.84116039e-01 -1.52813349e-03 9.82903326e-01 4.49591921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.490714057 meters Centerline goodness : 0.989558 Centerline is valid? [True, True] Translation: X:118.42, Y:118.53, Z:44.95 [[-3.99902107e-02 -9.99036102e-01 -1.81010860e-02 1.18424981e+02] [ 9.82540671e-01 -3.60227897e-02 -1.82527225e-01 1.18533780e+02] [ 1.81699236e-01 -2.50843554e-02 9.83034162e-01 4.49487110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.520714057 meters Centerline goodness : 0.990272 Centerline is valid? [True, True] Translation: X:118.41, Y:118.54, Z:44.96 [[-3.78597861e-02 -9.99147584e-01 1.64542153e-02 1.18410313e+02] [ 9.83070167e-01 -4.01945505e-02 -1.78766455e-01 1.18539199e+02] [ 1.79275442e-01 9.40758839e-03 9.83753939e-01 4.49632462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.550714057 meters Centerline goodness : 0.990724 Centerline is valid? [True, True] Translation: X:118.42, Y:118.57, Z:44.96 [[-3.97782039e-02 -9.99169431e-01 -8.83983891e-03 1.18421480e+02] [ 9.82439633e-01 -3.74951301e-02 -1.82774402e-01 1.18569046e+02] [ 1.82291144e-01 -1.59550455e-02 9.83115138e-01 4.49602389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.580714057 meters Centerline goodness : 0.989969 Centerline is valid? [True, True] Translation: X:118.42, Y:118.57, Z:44.96 [[-3.86990554e-02 -9.99236093e-01 -5.44191947e-03 1.18420936e+02] [ 9.82548057e-01 -3.70600410e-02 -1.82279645e-01 1.18565932e+02] [ 1.81938722e-01 -1.24009975e-02 9.83231670e-01 4.49597466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.610714057 meters Centerline goodness : 0.989617 Centerline is valid? [True, True] Translation: X:118.42, Y:118.59, Z:44.96 [[-3.92591567e-02 -9.99223326e-01 -3.38566434e-03 1.18421089e+02] [ 9.82413828e-01 -3.79792920e-02 -1.82813140e-01 1.18594395e+02] [ 1.82542569e-01 -1.05032132e-02 9.83141848e-01 4.49648263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.640714057 meters Centerline goodness : 0.989431 Centerline is valid? [True, True] Translation: X:118.43, Y:118.60, Z:44.97 [[-4.23367336e-02 -9.99028285e-01 -1.22509991e-02 1.18425770e+02] [ 9.81105879e-01 -3.92540403e-02 -1.89447549e-01 1.18601964e+02] [ 1.88782559e-01 -2.00401177e-02 9.81814412e-01 4.49656446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.670714057 meters Centerline goodness : 0.990680 Centerline is valid? [True, True] Translation: X:118.42, Y:118.61, Z:44.97 [[-4.35348716e-02 -9.99034579e-01 -5.88430872e-03 1.18423504e+02] [ 9.80619627e-01 -4.16047480e-02 -1.91452848e-01 1.18607055e+02] [ 1.91023201e-01 -1.41051438e-02 9.81484173e-01 4.49703727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.700714057 meters Centerline goodness : 0.988900 Centerline is valid? [True, True] Translation: X:118.43, Y:118.61, Z:44.97 [[-4.75615579e-02 -9.98569813e-01 -2.44177522e-02 1.18432593e+02] [ 9.80744109e-01 -4.20489814e-02 -1.90716743e-01 1.18610694e+02] [ 1.89417241e-01 -3.30183520e-02 9.81341377e-01 4.49659223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.730714057 meters Centerline goodness : 0.990692 Centerline is valid? [True, True] Translation: X:118.42, Y:118.61, Z:44.98 [[-4.71650766e-02 -9.98743317e-01 1.69482436e-02 1.18415122e+02] [ 9.79643743e-01 -4.95641834e-02 -1.94528994e-01 1.18608076e+02] [ 1.95124559e-01 7.42826584e-03 9.80750339e-01 4.49824948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.76071405700003 meters Centerline goodness : 0.990715 Centerline is valid? [True, True] Translation: X:118.43, Y:118.61, Z:44.97 [[-4.71556530e-02 -9.98873842e-01 -5.23382007e-03 1.18425528e+02] [ 9.79958242e-01 -4.52461826e-02 -1.93996459e-01 1.18608594e+02] [ 1.93541178e-01 -1.42769548e-02 9.80988267e-01 4.49731189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.790714057 meters Centerline goodness : 0.990859 Centerline is valid? [True, True] Translation: X:118.43, Y:118.61, Z:44.98 [[-4.93410328e-02 -9.98772949e-01 -4.24958894e-03 1.18425128e+02] [ 9.79428127e-01 -4.75509525e-02 -1.96110814e-01 1.18610159e+02] [ 1.95668104e-01 -1.38384770e-02 9.80572532e-01 4.49754746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.82071405700003 meters Centerline goodness : 0.990678 Centerline is valid? [True, True] Translation: X:118.43, Y:118.60, Z:44.97 [[-4.95351190e-02 -9.98752564e-01 -6.29189966e-03 1.18426184e+02] [ 9.79274058e-01 -4.73284177e-02 -1.96932325e-01 1.18602653e+02] [ 1.96388879e-01 -1.59165603e-02 9.80396895e-01 4.49737491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.850714057 meters Centerline goodness : 0.990852 Centerline is valid? [True, True] Translation: X:118.42, Y:118.60, Z:44.98 [[-4.96787981e-02 -9.98765235e-01 1.48420350e-04 1.18424249e+02] [ 9.79519841e-01 -4.87505588e-02 -1.95356764e-01 1.18601494e+02] [ 1.95122780e-01 -9.55970854e-03 9.80732233e-01 4.49755165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.88071405700003 meters Centerline goodness : 0.991265 Centerline is valid? [True, True] Translation: X:118.43, Y:118.61, Z:44.97 [[-5.01358688e-02 -9.98739383e-01 -2.45741040e-03 1.18425327e+02] [ 9.79739837e-01 -4.87041235e-02 -1.94262091e-01 1.18608762e+02] [ 1.93897515e-01 -1.21471216e-02 9.80946584e-01 4.49747874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.910714057 meters Centerline goodness : 0.991591 Centerline is valid? [True, True] Translation: X:118.43, Y:118.60, Z:44.97 [[-5.18980661e-02 -9.98646136e-01 -3.53355433e-03 1.18427265e+02] [ 9.80013083e-01 -5.02486670e-02 -1.92482283e-01 1.18604760e+02] [ 1.92044132e-01 -1.34523877e-02 9.81294087e-01 4.49722447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.940714057 meters Centerline goodness : 0.991181 Centerline is valid? [True, True] Translation: X:118.43, Y:118.64, Z:44.98 [[-5.51133711e-02 -9.98480079e-01 -2.17391405e-04 1.18426859e+02] [ 9.79684421e-01 -5.40338536e-02 -1.93128914e-01 1.18635791e+02] [ 1.92823627e-01 -1.08569605e-02 9.81173367e-01 4.49780683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.970714057 meters Centerline goodness : 0.989716 Centerline is valid? [True, True] Translation: X:118.44, Y:118.64, Z:44.97 [[-5.86377326e-02 -9.97964854e-01 -2.50552674e-02 1.18438619e+02] [ 9.79804718e-01 -5.27281924e-02 -1.92879371e-01 1.18642001e+02] [ 1.91165714e-01 -3.58592782e-02 9.80902534e-01 4.49705331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.000714057 meters Centerline goodness : 0.988720 Centerline is valid? [True, True] Translation: X:118.41, Y:119.32, Z:45.12 [[-8.66890157e-02 -9.96234854e-01 1.06318927e-03 1.18408709e+02] [ 9.75084324e-01 -8.50672126e-02 -2.04875891e-01 1.19316516e+02] [ 2.04194946e-01 -1.67237901e-02 9.78787382e-01 4.51163560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.030714057 meters Centerline goodness : 0.991345 Centerline is valid? [True, True] Translation: X:118.91, Y:118.61, Z:46.02 [[-3.05214525e-02 7.98942821e-01 6.00632008e-01 1.18907239e+02] [ 9.83635792e-01 -8.27420052e-02 1.60044958e-01 1.18609138e+02] [ 1.77564267e-01 5.95687946e-01 -7.83343349e-01 4.60225706e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.060714057 meters Centerline goodness : 0.991502 Centerline is valid? [True, True] Translation: X:118.45, Y:118.75, Z:45.04 [[-1.29522093e-01 -9.90970495e-01 3.46627284e-02 1.18454771e+02] [ 9.80428397e-01 -1.33214780e-01 -1.44962001e-01 1.18747543e+02] [ 1.48270653e-01 1.52085415e-02 9.88829871e-01 4.50404149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.090714057 meters Centerline goodness : 0.991476 Centerline is valid? [True, True] Translation: X:118.47, Y:118.76, Z:45.03 [[-1.30946369e-01 -9.91368458e-01 6.45206402e-03 1.18466165e+02] [ 9.80473552e-01 -1.30464929e-01 -1.47141146e-01 1.18759285e+02] [ 1.46712859e-01 -1.29415207e-02 9.89094462e-01 4.50311425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.120714057 meters Centerline goodness : 0.990660 Centerline is valid? [True, True] Translation: X:118.46, Y:118.76, Z:45.03 [[-1.31083942e-01 -9.91273404e-01 1.39297732e-02 1.18462946e+02] [ 9.80976795e-01 -1.31726114e-01 -1.42592984e-01 1.18755139e+02] [ 1.43183547e-01 -5.02686611e-03 9.89683385e-01 4.50323607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.150714057 meters Centerline goodness : 0.990854 Centerline is valid? [True, True] Translation: X:118.47, Y:118.76, Z:45.03 [[-1.32993471e-01 -9.91116712e-01 -6.31917146e-04 1.18467752e+02] [ 9.80440911e-01 -1.31467550e-01 -1.46464685e-01 1.18762031e+02] [ 1.45080520e-01 -2.00984042e-02 9.89215698e-01 4.50291327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.180714057 meters Centerline goodness : 0.990979 Centerline is valid? [True, True] Translation: X:118.46, Y:118.77, Z:45.03 [[-1.33753744e-01 -9.90972960e-01 9.08447413e-03 1.18461833e+02] [ 9.80646019e-01 -1.33671333e-01 -1.43057196e-01 1.18772808e+02] [ 1.42980146e-01 -1.02257822e-02 9.89672729e-01 4.50339637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.210714057 meters Centerline goodness : 0.991220 Centerline is valid? [True, True] Translation: X:118.46, Y:118.77, Z:45.03 [[-1.34675818e-01 -9.90871058e-01 6.08035680e-03 1.18462467e+02] [ 9.80414487e-01 -1.34139471e-01 -1.44201372e-01 1.18769006e+02] [ 1.43700582e-01 -1.34591679e-02 9.89529683e-01 4.50333233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.240714057 meters Centerline goodness : 0.991333 Centerline is valid? [True, True] Translation: X:118.46, Y:118.77, Z:45.03 [[-1.35824525e-01 -9.90732082e-01 1.28049172e-03 1.18462543e+02] [ 9.79929619e-01 -1.34533683e-01 -1.47100748e-01 1.18765866e+02] [ 1.45909699e-01 -1.87250974e-02 9.89120685e-01 4.50328517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.270714057 meters Centerline goodness : 0.991053 Centerline is valid? [True, True] Translation: X:118.46, Y:118.77, Z:45.04 [[-1.35220996e-01 -9.90774566e-01 9.00229069e-03 1.18458803e+02] [ 9.80071166e-01 -1.35083557e-01 -1.45646632e-01 1.18766307e+02] [ 1.45519040e-01 -1.08715972e-02 9.89295718e-01 4.50351859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.300714057 meters Centerline goodness : 0.991473 Centerline is valid? [True, True] Translation: X:118.46, Y:118.77, Z:45.03 [[-1.36244803e-01 -9.90663399e-01 4.83574333e-03 1.18459127e+02] [ 9.79783198e-01 -1.35467086e-01 -1.47219406e-01 1.18773528e+02] [ 1.46499962e-01 -1.53198990e-02 9.89092039e-01 4.50349096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.330714057 meters Centerline goodness : 0.991526 Centerline is valid? [True, True] Translation: X:118.46, Y:118.77, Z:45.03 [[-1.35502707e-01 -9.90761792e-01 5.48532466e-03 1.18457785e+02] [ 9.79580206e-01 -1.34799321e-01 -1.49170251e-01 1.18773059e+02] [ 1.48531603e-01 -1.48396573e-02 9.88796312e-01 4.50349631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.360714057 meters Centerline goodness : 0.991526 Centerline is valid? [True, True] Translation: X:118.46, Y:118.78, Z:45.04 [[-1.35159668e-01 -9.90798414e-01 7.09694361e-03 1.18456820e+02] [ 9.79605947e-01 -1.34700760e-01 -1.49090218e-01 1.18775542e+02] [ 1.48674315e-01 -1.31987761e-02 9.88798129e-01 4.50359857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.390714057 meters Centerline goodness : 0.991718 Centerline is valid? [True, True] Translation: X:118.45, Y:118.78, Z:45.04 [[-1.37925155e-01 -9.90422218e-01 6.36255562e-03 1.18454832e+02] [ 9.79031045e-01 -1.37305553e-01 -1.50483881e-01 1.18784367e+02] [ 1.49916194e-01 -1.45263731e-02 9.88591988e-01 4.50373126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.420714057 meters Centerline goodness : 0.991898 Centerline is valid? [True, True] Translation: X:118.45, Y:118.78, Z:45.04 [[-1.37791311e-01 -9.90433351e-01 7.43856758e-03 1.18453720e+02] [ 9.78953652e-01 -1.37328048e-01 -1.50966071e-01 1.18778869e+02] [ 1.50543355e-01 -1.35197999e-02 9.88510958e-01 4.50370232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.450714057 meters Centerline goodness : 0.991270 Centerline is valid? [True, True] Translation: X:118.46, Y:118.79, Z:45.03 [[-1.39683988e-01 -9.90180940e-01 -5.48545292e-03 1.18457266e+02] [ 9.78288531e-01 -1.37145560e-01 -1.55379038e-01 1.18793818e+02] [ 1.53101057e-01 -2.70703195e-02 9.87839696e-01 4.50345209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.480714057 meters Centerline goodness : 0.991622 Centerline is valid? [True, True] Translation: X:118.44, Y:118.78, Z:45.04 [[-1.37983548e-01 -9.90190923e-01 2.19653337e-02 1.18444720e+02] [ 9.78394938e-01 -1.39720149e-01 -1.52386435e-01 1.18781535e+02] [ 1.53960665e-01 4.63950319e-04 9.88076869e-01 4.50445448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.51071405700003 meters Centerline goodness : 0.991691 Centerline is valid? [True, True] Translation: X:118.45, Y:118.80, Z:45.04 [[-1.38223266e-01 -9.90400224e-01 1.31312345e-03 1.18448527e+02] [ 9.78038874e-01 -1.36706669e-01 -1.57325290e-01 1.18796457e+02] [ 1.55994515e-01 -2.04617297e-02 9.87545963e-01 4.50405766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.540714057 meters Centerline goodness : 0.991905 Centerline is valid? [True, True] Translation: X:118.44, Y:118.79, Z:45.04 [[-1.35324290e-01 -9.90750250e-01 1.00637732e-02 1.18443149e+02] [ 9.78708936e-01 -1.35247865e-01 -1.54391819e-01 1.18787968e+02] [ 1.54324837e-01 -1.10434585e-02 9.87958444e-01 4.50424833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.57071405700003 meters Centerline goodness : 0.991905 Centerline is valid? [True, True] Translation: X:118.44, Y:118.79, Z:45.04 [[-1.35000655e-01 -9.90818556e-01 7.30835643e-03 1.18444039e+02] [ 9.78777225e-01 -1.34500432e-01 -1.54611701e-01 1.18790845e+02] [ 1.54175119e-01 -1.37194280e-02 9.87948283e-01 4.50417839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.600714057 meters Centerline goodness : 0.991933 Centerline is valid? [True, True] Translation: X:118.44, Y:118.79, Z:45.04 [[-1.33117240e-01 -9.91091350e-01 4.21143452e-03 1.18442942e+02] [ 9.78832739e-01 -1.32134865e-01 -1.56290903e-01 1.18785248e+02] [ 1.55455039e-01 -1.66827237e-02 9.87702090e-01 4.50414776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.63071405700003 meters Centerline goodness : 0.991600 Centerline is valid? [True, True] Translation: X:118.44, Y:118.79, Z:45.04 [[-1.32491448e-01 -9.91155049e-01 7.59512624e-03 1.18440124e+02] [ 9.78967181e-01 -1.32053949e-01 -1.55515317e-01 1.18785651e+02] [ 1.55142758e-01 -1.31690703e-02 9.87804282e-01 4.50434803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.660714057 meters Centerline goodness : 0.991351 Centerline is valid? [True, True] Translation: X:118.44, Y:118.78, Z:45.04 [[-1.29524184e-01 -9.91533533e-01 9.20541153e-03 1.18436689e+02] [ 9.79729044e-01 -1.29401922e-01 -1.52925286e-01 1.18783966e+02] [ 1.52821747e-01 -1.07887138e-02 9.88194878e-01 4.50439582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.690714057 meters Centerline goodness : 0.991312 Centerline is valid? [True, True] Translation: X:118.44, Y:118.79, Z:45.04 [[-1.28154348e-01 -9.91711656e-01 9.18996526e-03 1.18435427e+02] [ 9.80092527e-01 -1.28058835e-01 -1.51722027e-01 1.18785119e+02] [ 1.51641359e-01 -1.04368212e-02 9.88380479e-01 4.50437784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.720714057 meters Centerline goodness : 0.992174 Centerline is valid? [True, True] Translation: X:118.43, Y:118.78, Z:45.04 [[-1.24878236e-01 -9.92122138e-01 9.95435671e-03 1.18434491e+02] [ 9.80835392e-01 -1.24957478e-01 -1.49491014e-01 1.18778429e+02] [ 1.49557215e-01 -8.90458874e-03 9.88712975e-01 4.50409549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.750714057 meters Centerline goodness : 0.991891 Centerline is valid? [True, True] Translation: X:118.43, Y:118.79, Z:45.04 [[-1.24341139e-01 -9.92193334e-01 9.57436975e-03 1.18432640e+02] [ 9.80913213e-01 -1.24369865e-01 -1.49470419e-01 1.18794000e+02] [ 1.49494317e-01 -9.19369633e-03 9.88719842e-01 4.50426370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.780714057 meters Centerline goodness : 0.991197 Centerline is valid? [True, True] Translation: X:118.43, Y:118.78, Z:45.04 [[-1.23953163e-01 -9.92281077e-01 3.72531581e-03 1.18434604e+02] [ 9.80828070e-01 -1.23089683e-01 -1.51080198e-01 1.18784066e+02] [ 1.50372570e-01 -1.50729742e-02 9.88514489e-01 4.50392686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.810714057 meters Centerline goodness : 0.991821 Centerline is valid? [True, True] Translation: X:118.43, Y:118.78, Z:45.04 [[-1.21984062e-01 -9.92525499e-01 3.60876837e-03 1.18433241e+02] [ 9.81369138e-01 -1.21155098e-01 -1.49117597e-01 1.18784504e+02] [ 1.48440238e-01 -1.46484363e-02 9.88812884e-01 4.50388562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.840714057 meters Centerline goodness : 0.992031 Centerline is valid? [True, True] Translation: X:118.43, Y:118.78, Z:45.04 [[-1.20044938e-01 -9.92682494e-01 1.30644360e-02 1.18428849e+02] [ 9.81451800e-01 -1.20647564e-01 -1.48984997e-01 1.18777584e+02] [ 1.49470990e-01 -5.06278035e-03 9.88753150e-01 4.50416445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.870714057 meters Centerline goodness : 0.992258 Centerline is valid? [True, True] Translation: X:118.43, Y:118.79, Z:45.04 [[-1.20780825e-01 -9.92676119e-01 2.47281048e-03 1.18431575e+02] [ 9.80973054e-01 -1.19737581e-01 -1.52822708e-01 1.18792687e+02] [ 1.51999541e-01 -1.60322924e-02 9.88250528e-01 4.50410862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.900714057 meters Centerline goodness : 0.992156 Centerline is valid? [True, True] Translation: X:118.43, Y:118.78, Z:45.04 [[-1.16941870e-01 -9.93089650e-01 9.87649184e-03 1.18429726e+02] [ 9.81846202e-01 -1.17101869e-01 -1.49215238e-01 1.18782277e+02] [ 1.49340664e-01 -7.75231296e-03 9.88755414e-01 4.50408075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.930714057 meters Centerline goodness : 0.991568 Centerline is valid? [True, True] Translation: X:118.43, Y:118.79, Z:45.04 [[-1.15665065e-01 -9.93264618e-01 6.85501170e-03 1.18430223e+02] [ 9.81888333e-01 -1.15377444e-01 -1.50277568e-01 1.18786426e+02] [ 1.50056304e-01 -1.06510087e-02 9.88620079e-01 4.50401966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.960714057 meters Centerline goodness : 0.991660 Centerline is valid? [True, True] Translation: X:118.43, Y:118.79, Z:45.04 [[-1.12983602e-01 -9.93574782e-01 6.62260978e-03 1.18429248e+02] [ 9.82462520e-01 -1.12710057e-01 -1.48539021e-01 1.18794973e+02] [ 1.48331060e-01 -1.02760077e-02 9.88884372e-01 4.50411808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.990714057 meters Centerline goodness : 0.991921 Centerline is valid? [True, True] Translation: X:118.43, Y:118.81, Z:45.04 [[-1.11851522e-01 -9.93708352e-01 5.74004879e-03 1.18428006e+02] [ 9.82596684e-01 -1.11459141e-01 -1.48595479e-01 1.18809529e+02] [ 1.48300349e-01 -1.09804775e-02 9.88881406e-01 4.50435890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.020714057 meters Centerline goodness : 0.991615 Centerline is valid? [True, True] Translation: X:118.43, Y:118.80, Z:45.04 [[-1.10430966e-01 -9.93866217e-01 5.91141537e-03 1.18427684e+02] [ 9.82805206e-01 -1.10083674e-01 -1.48241400e-01 1.18802408e+02] [ 1.47982869e-01 -1.05606712e-02 9.88933538e-01 4.50432104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.050714057 meters Centerline goodness : 0.990001 Centerline is valid? [True, True] Translation: X:118.43, Y:118.79, Z:45.04 [[-1.07511870e-01 -9.94196829e-01 3.72321293e-03 1.18428775e+02] [ 9.83176931e-01 -1.06874903e-01 -1.48124536e-01 1.18794995e+02] [ 1.47662862e-01 -1.22645688e-02 9.88961708e-01 4.50420769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.080714057 meters Centerline goodness : 0.990348 Centerline is valid? [True, True] Translation: X:118.43, Y:118.80, Z:45.04 [[-1.04457198e-01 -9.94485848e-01 9.30547374e-03 1.18426715e+02] [ 9.83572315e-01 -1.04686915e-01 -1.47058328e-01 1.18796400e+02] [ 1.47221588e-01 -6.20869462e-03 9.89084049e-01 4.50443032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.110714057 meters Centerline goodness : 0.992255 Centerline is valid? [True, True] Translation: X:118.43, Y:118.80, Z:45.04 [[-1.02016951e-01 -9.94757742e-01 7.04109459e-03 1.18427439e+02] [ 9.84031706e-01 -1.01949682e-01 -1.45903612e-01 1.18800767e+02] [ 1.45856585e-01 -7.95598127e-03 9.89273753e-01 4.50437371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.140714057 meters Centerline goodness : 0.990958 Centerline is valid? [True, True] Translation: X:118.43, Y:118.81, Z:45.04 [[-1.00707879e-01 -9.94889822e-01 7.22261971e-03 1.18426773e+02] [ 9.84394004e-01 -1.00693187e-01 -1.44323690e-01 1.18813214e+02] [ 1.44313439e-01 -7.42462917e-03 9.89504172e-01 4.50447827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.170714057 meters Centerline goodness : 0.990781 Centerline is valid? [True, True] Translation: X:118.42, Y:118.87, Z:45.05 [[-1.00561785e-01 -9.94881622e-01 9.89368229e-03 1.18422162e+02] [ 9.84279511e-01 -1.00931469e-01 -1.44936824e-01 1.18870039e+02] [ 1.45193566e-01 -4.83695689e-03 9.89391445e-01 4.50534988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.200714057 meters Centerline goodness : 0.991440 Centerline is valid? [True, True] Translation: X:118.42, Y:118.87, Z:45.05 [[-1.01074598e-01 -9.94861118e-01 5.93975989e-03 1.18424212e+02] [ 9.84055222e-01 -1.00851466e-01 -1.46507005e-01 1.18869226e+02] [ 1.46353156e-01 -8.96308481e-03 9.89191800e-01 4.50516572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.230714057 meters Centerline goodness : 0.991486 Centerline is valid? [True, True] Translation: X:118.43, Y:118.82, Z:45.04 [[-1.00348913e-01 -9.94925621e-01 7.28727103e-03 1.18428842e+02] [ 9.84258591e-01 -1.00338657e-01 -1.45489453e-01 1.18819129e+02] [ 1.45482379e-01 -7.42714938e-03 9.89332965e-01 4.50430887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.26071405700003 meters Centerline goodness : 0.991058 Centerline is valid? [True, True] Translation: X:118.43, Y:118.85, Z:45.05 [[-1.01199562e-01 -9.94849759e-01 5.71014042e-03 1.18428025e+02] [ 9.83976829e-01 -1.00937116e-01 -1.46973801e-01 1.18853411e+02] [ 1.46793216e-01 -9.25503849e-03 9.89123903e-01 4.50475426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.290714057 meters Centerline goodness : 0.991042 Centerline is valid? [True, True] Translation: X:118.43, Y:118.80, Z:45.04 [[-9.67956413e-02 -9.95221669e-01 1.28231320e-02 1.18429821e+02] [ 9.85188423e-01 -9.76360880e-02 -1.40964413e-01 1.18801030e+02] [ 1.41542839e-01 -1.01153956e-03 9.89931615e-01 4.50399245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.32071405700003 meters Centerline goodness : 0.989107 Centerline is valid? [True, True] Translation: X:118.44, Y:118.82, Z:45.03 [[-1.02085385e-01 -9.94732104e-01 -9.30675996e-03 1.18438782e+02] [ 9.84433733e-01 -9.96741280e-02 -1.44759431e-01 1.18815527e+02] [ 1.43069210e-01 -2.39397106e-02 9.89423110e-01 4.50347856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.350714057 meters Centerline goodness : 0.989598 Centerline is valid? [True, True] Translation: X:118.43, Y:118.82, Z:45.04 [[-1.02697123e-01 -9.94707595e-01 3.17824225e-03 1.18432528e+02] [ 9.84340762e-01 -1.02085981e-01 -1.43707054e-01 1.18816671e+02] [ 1.43270952e-01 -1.16298276e-02 9.89615168e-01 4.50410327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.38071405700003 meters Centerline goodness : 0.991409 Centerline is valid? [True, True] Translation: X:118.43, Y:118.82, Z:45.05 [[-1.01852095e-01 -9.94672119e-01 1.59224919e-02 1.18425228e+02] [ 9.84450313e-01 -1.03082319e-01 -1.42237889e-01 1.18821590e+02] [ 1.43121390e-01 1.18767510e-03 9.89704429e-01 4.50487988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.410714057 meters Centerline goodness : 0.990355 Centerline is valid? [True, True] Translation: X:118.43, Y:118.83, Z:45.05 [[-1.02520888e-01 -9.94705632e-01 7.08330705e-03 1.18427438e+02] [ 9.84280924e-01 -1.02470756e-01 -1.43842995e-01 1.18829608e+02] [ 1.43807269e-01 -7.77494749e-03 9.89575171e-01 4.50475425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.440714057 meters Centerline goodness : 0.990510 Centerline is valid? [True, True] Translation: X:118.43, Y:118.82, Z:45.04 [[-1.02307901e-01 -9.94748512e-01 2.91380579e-03 1.18429875e+02] [ 9.84458825e-01 -1.01669067e-01 -1.43192955e-01 1.18822477e+02] [ 1.42737223e-01 -1.17812489e-02 9.89690501e-01 4.50444113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.470714057 meters Centerline goodness : 0.990514 Centerline is valid? [True, True] Translation: X:118.43, Y:118.83, Z:45.04 [[-1.01900415e-01 -9.94789639e-01 3.14313762e-03 1.18429810e+02] [ 9.85101837e-01 -1.01347035e-01 -1.38935774e-01 1.18827536e+02] [ 1.38530416e-01 -1.10613023e-02 9.90296406e-01 4.50430031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.500714057 meters Centerline goodness : 0.991155 Centerline is valid? [True, True] Translation: X:118.42, Y:118.82, Z:45.05 [[-1.02260996e-01 -9.94651699e-01 1.45150521e-02 1.18424336e+02] [ 9.84786433e-01 -1.03286001e-01 -1.39741484e-01 1.18821725e+02] [ 1.40493306e-01 4.12302402e-06 9.90081628e-01 4.50476691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.530714057 meters Centerline goodness : 0.991280 Centerline is valid? [True, True] Translation: X:118.43, Y:118.83, Z:45.04 [[-1.04955691e-01 -9.94475242e-01 -1.81552920e-03 1.18429693e+02] [ 9.84273123e-01 -1.03617776e-01 -1.43072626e-01 1.18833035e+02] [ 1.42094063e-01 -1.68032629e-02 9.89710527e-01 4.50436117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.560714057 meters Centerline goodness : 0.991713 Centerline is valid? [True, True] Translation: X:118.43, Y:118.85, Z:45.05 [[-1.23394860e-01 -9.92245297e-01 -1.49324956e-02 1.18425955e+02] [ 9.79757245e-01 -1.19423956e-01 -1.60666301e-01 1.18854548e+02] [ 1.57637084e-01 -3.44556165e-02 9.86895820e-01 4.50525053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.590714057 meters Centerline goodness : 0.989895 Centerline is valid? [True, True] Translation: X:118.42, Y:118.83, Z:45.05 [[-1.09887371e-01 -9.93851361e-01 1.35734271e-02 1.18423043e+02] [ 9.83024666e-01 -1.10688690e-01 -1.46323340e-01 1.18830217e+02] [ 1.46926075e-01 -2.73607344e-03 9.89143691e-01 4.50516873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.620714057 meters Centerline goodness : 0.991317 Centerline is valid? [True, True] Translation: X:118.42, Y:118.83, Z:45.05 [[-1.11609656e-01 -9.93680951e-01 1.18933469e-02 1.18422888e+02] [ 9.82189875e-01 -1.12123539e-01 -1.50769230e-01 1.18829006e+02] [ 1.51150036e-01 -5.14577707e-03 9.88497439e-01 4.50533358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.650714057 meters Centerline goodness : 0.991924 Centerline is valid? [True, True] Translation: X:118.42, Y:118.85, Z:45.05 [[-1.15228873e-01 -9.93336497e-01 2.21594121e-03 1.18424169e+02] [ 9.81101112e-01 -1.14158069e-01 -1.56232337e-01 1.18849010e+02] [ 1.55444250e-01 -1.58284136e-02 9.87717848e-01 4.50544082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.680714057 meters Centerline goodness : 0.992047 Centerline is valid? [True, True] Translation: X:118.42, Y:118.87, Z:45.06 [[-1.15974136e-01 -9.93235865e-01 5.70230800e-03 1.18420383e+02] [ 9.80623813e-01 -1.15410298e-01 -1.58295296e-01 1.18865187e+02] [ 1.57882670e-01 -1.27663411e-02 9.87375351e-01 4.50590058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.710714057 meters Centerline goodness : 0.991592 Centerline is valid? [True, True] Translation: X:118.42, Y:118.90, Z:45.06 [[-1.18670663e-01 -9.92932965e-01 1.18387996e-03 1.18417717e+02] [ 9.79378567e-01 -1.17246878e-01 -1.64532039e-01 1.18900149e+02] [ 1.63508092e-01 -1.83656596e-02 9.86371029e-01 4.50646488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.740714057 meters Centerline goodness : 0.991411 Centerline is valid? [True, True] Translation: X:118.42, Y:118.85, Z:45.06 [[-1.16297506e-01 -9.93129778e-01 1.29666445e-02 1.18415480e+02] [ 9.80044047e-01 -1.16864588e-01 -1.60799048e-01 1.18851899e+02] [ 1.61209664e-01 -5.99264543e-03 9.86901987e-01 4.50605009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.770714057 meters Centerline goodness : 0.991775 Centerline is valid? [True, True] Translation: X:118.42, Y:118.85, Z:45.06 [[-1.16932935e-01 -9.93116654e-01 6.78237103e-03 1.18416800e+02] [ 9.79949938e-01 -1.16486574e-01 -1.61644661e-01 1.18852559e+02] [ 1.61322060e-01 -1.22552006e-02 9.86825721e-01 4.50578440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.800714057 meters Centerline goodness : 0.991009 Centerline is valid? [True, True] Translation: X:118.41, Y:118.87, Z:45.06 [[-1.18433988e-01 -9.92944416e-01 5.89722707e-03 1.18413664e+02] [ 9.79653283e-01 -1.17813664e-01 -1.62478879e-01 1.18871896e+02] [ 1.62027270e-01 -1.34657837e-02 9.86694399e-01 4.50612801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.830714057 meters Centerline goodness : 0.991585 Centerline is valid? [True, True] Translation: X:118.41, Y:118.89, Z:45.06 [[-1.19218619e-01 -9.92836227e-01 7.94646291e-03 1.18410078e+02] [ 9.79670774e-01 -1.18930796e-01 -1.61556923e-01 1.18886605e+02] [ 1.61344645e-01 -1.14756759e-02 9.86831401e-01 4.50649162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.860714057 meters Centerline goodness : 0.991503 Centerline is valid? [True, True] Translation: X:118.41, Y:118.87, Z:45.06 [[-1.20921292e-01 -9.92650372e-01 4.82501919e-03 1.18410224e+02] [ 9.79548501e-01 -1.20109917e-01 -1.61425963e-01 1.18868161e+02] [ 1.60819074e-01 -1.47934957e-02 9.86873030e-01 4.50619847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.890714057 meters Centerline goodness : 0.991018 Centerline is valid? [True, True] Translation: X:118.41, Y:118.88, Z:45.06 [[-1.21433748e-01 -9.92559350e-01 8.93201177e-03 1.18407530e+02] [ 9.79715812e-01 -1.21297852e-01 -1.59511002e-01 1.18876014e+02] [ 1.59407570e-01 -1.06191856e-02 9.87155742e-01 4.50647586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.920714057 meters Centerline goodness : 0.991134 Centerline is valid? [True, True] Translation: X:118.41, Y:118.86, Z:45.06 [[-1.21644684e-01 -9.92563021e-01 4.60658033e-03 1.18409790e+02] [ 9.79525814e-01 -1.20794354e-01 -1.61052489e-01 1.18860294e+02] [ 1.60411194e-01 -1.50789148e-02 9.86935092e-01 4.50606630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.950714057 meters Centerline goodness : 0.989485 Centerline is valid? [True, True] Translation: X:118.41, Y:118.90, Z:45.06 [[-1.27177401e-01 -9.91854079e-01 -7.16893980e-03 1.18411837e+02] [ 9.79307734e-01 -1.24415010e-01 -1.59616002e-01 1.18898167e+02] [ 1.57423859e-01 -2.73201465e-02 9.87153148e-01 4.50619193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.980714057 meters Centerline goodness : 0.990861 Centerline is valid? [True, True] Translation: X:118.40, Y:118.90, Z:45.07 [[-1.26130925e-01 -9.91790933e-01 2.10174918e-02 1.18399826e+02] [ 9.79034108e-01 -1.27868729e-01 -1.58561670e-01 1.18901869e+02] [ 1.59947507e-01 5.77311269e-04 9.87125353e-01 4.50730205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.01071405700003 meters Centerline goodness : 0.990277 Centerline is valid? [True, True] Translation: X:118.41, Y:118.90, Z:45.06 [[-1.28472431e-01 -9.91700555e-01 -4.98426591e-03 1.18410065e+02] [ 9.78943695e-01 -1.26012674e-01 -1.60592804e-01 1.18902205e+02] [ 1.58631892e-01 -2.55110636e-02 9.87008160e-01 4.50623637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.040714057 meters Centerline goodness : 0.991293 Centerline is valid? [True, True] Translation: X:118.40, Y:118.90, Z:45.08 [[-1.28903215e-01 -9.91477718e-01 1.88651990e-02 1.18398483e+02] [ 9.77479480e-01 -1.30242671e-01 -1.66044309e-01 1.18902002e+02] [ 1.67086286e-01 -2.96330023e-03 9.85937824e-01 4.50752864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.07071405700003 meters Centerline goodness : 0.988890 Centerline is valid? [True, True] Translation: X:118.41, Y:118.90, Z:45.07 [[-1.29985458e-01 -9.91515045e-01 -1.30217732e-03 1.18406421e+02] [ 9.77920309e-01 -1.27986255e-01 -1.65201052e-01 1.18903467e+02] [ 1.63632667e-01 -2.27471599e-02 9.86259052e-01 4.50669884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.100714057 meters Centerline goodness : 0.991226 Centerline is valid? [True, True] Translation: X:118.40, Y:118.90, Z:45.08 [[-1.28250060e-01 -9.91590759e-01 1.73115339e-02 1.18397389e+02] [ 9.77159485e-01 -1.29327433e-01 -1.68623116e-01 1.18900519e+02] [ 1.69443979e-01 -4.70979517e-03 9.85528567e-01 4.50751311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.13071405700003 meters Centerline goodness : 0.991706 Centerline is valid? [True, True] Translation: X:118.40, Y:118.91, Z:45.07 [[-1.28155944e-01 -9.91727876e-01 7.20231548e-03 1.18400340e+02] [ 9.77147877e-01 -1.27506964e-01 -1.70070577e-01 1.18908985e+02] [ 1.69582078e-01 -1.47578281e-02 9.85405564e-01 4.50723952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.160714057 meters Centerline goodness : 0.992003 Centerline is valid? [True, True] Translation: X:118.40, Y:118.89, Z:45.07 [[-1.25896898e-01 -9.92014147e-01 7.60935915e-03 1.18400272e+02] [ 9.77339396e-01 -1.25342958e-01 -1.70577983e-01 1.18890964e+02] [ 1.70169552e-01 -1.40383124e-02 9.85314797e-01 4.50696676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.190714057 meters Centerline goodness : 0.990679 Centerline is valid? [True, True] Translation: X:118.40, Y:118.89, Z:45.06 [[-1.24285650e-01 -9.92242849e-01 -2.68424400e-03 1.18404740e+02] [ 9.78531341e-01 -1.22119055e-01 -1.66022140e-01 1.18889155e+02] [ 1.64406484e-01 -2.32607864e-02 9.86118372e-01 4.50636683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.220714057 meters Centerline goodness : 0.990679 Centerline is valid? [True, True] Translation: X:118.40, Y:118.89, Z:45.07 [[-1.23731965e-01 -9.92271650e-01 9.34733916e-03 1.18399550e+02] [ 9.78470695e-01 -1.23568249e-01 -1.65305737e-01 1.18890715e+02] [ 1.65183230e-01 -1.13075061e-02 9.86198074e-01 4.50692591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.250714057 meters Centerline goodness : 0.991699 Centerline is valid? [True, True] Translation: X:118.39, Y:118.90, Z:45.08 [[-1.19395137e-01 -9.92543508e-01 2.45394646e-02 1.18391123e+02] [ 9.78626655e-01 -1.21817333e-01 -1.65681646e-01 1.18897972e+02] [ 1.67435574e-01 4.23339122e-03 9.85873931e-01 4.50769168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.280714057 meters Centerline goodness : 0.990165 Centerline is valid? [True, True] Translation: X:118.40, Y:118.88, Z:45.06 [[-1.15966646e-01 -9.93234480e-01 -6.08316446e-03 1.18402170e+02] [ 9.79612187e-01 -1.13360330e-01 -1.65859573e-01 1.18881528e+02] [ 1.64047858e-01 -2.51933205e-02 9.86130619e-01 4.50616901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.310714057 meters Centerline goodness : 0.990138 Centerline is valid? [True, True] Translation: X:118.39, Y:118.90, Z:45.07 [[-1.11383993e-01 -9.93739968e-01 8.63025423e-03 1.18393703e+02] [ 9.80381707e-01 -1.11299520e-01 -1.62677980e-01 1.18899510e+02] [ 1.62620154e-01 -9.65877961e-03 9.86641472e-01 4.50702270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.340714057 meters Centerline goodness : 0.991969 Centerline is valid? [True, True] Translation: X:118.39, Y:118.89, Z:45.08 [[-1.03678456e-01 -9.94317546e-01 2.41535643e-02 1.18385313e+02] [ 9.81359823e-01 -1.06217842e-01 -1.60158258e-01 1.18886648e+02] [ 1.61813706e-01 7.09837670e-03 9.86795793e-01 4.50759747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.370714057 meters Centerline goodness : 0.991014 Centerline is valid? [True, True] Translation: X:118.39, Y:118.91, Z:45.07 [[-9.88978044e-02 -9.95054243e-01 9.28857037e-03 1.18388798e+02] [ 9.82678242e-01 -9.91293812e-02 -1.56578539e-01 1.18905460e+02] [ 1.56724910e-01 -6.35759774e-03 9.87621832e-01 4.50704585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.400714057 meters Centerline goodness : 0.992376 Centerline is valid? [True, True] Translation: X:118.39, Y:118.89, Z:45.06 [[-9.61443243e-02 -9.95367259e-01 5.36437520e-04 1.18393351e+02] [ 9.82560664e-01 -9.49934587e-02 -1.59846126e-01 1.18890380e+02] [ 1.59156559e-01 -1.48412154e-02 9.87141797e-01 4.50649142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.430714057 meters Centerline goodness : 0.990095 Centerline is valid? [True, True] Translation: X:118.39, Y:118.93, Z:45.07 [[-9.77326164e-02 -9.95183771e-01 -7.58925138e-03 1.18394478e+02] [ 9.82501328e-01 -9.52666054e-02 -1.60048163e-01 1.18926725e+02] [ 1.58554332e-01 -2.30983752e-02 9.87080032e-01 4.50659701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.460714057 meters Centerline goodness : 0.992017 Centerline is valid? [True, True] Translation: X:118.38, Y:118.98, Z:45.09 [[-9.61782449e-02 -9.95108699e-01 2.25482405e-02 1.18377714e+02] [ 9.82773394e-01 -9.85290011e-02 -1.56360134e-01 1.18978682e+02] [ 1.57816986e-01 7.12136751e-03 9.87442700e-01 4.50872227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.490714057 meters Centerline goodness : 0.991016 Centerline is valid? [True, True] Translation: X:118.39, Y:118.88, Z:45.06 [[-9.13708978e-02 -9.95803214e-01 5.22669527e-03 1.18389848e+02] [ 9.83443536e-01 -9.10591669e-02 -1.56674952e-01 1.18884095e+02] [ 1.56493359e-01 -9.17537135e-03 9.87636391e-01 4.50641669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.520714057 meters Centerline goodness : 0.991065 Centerline is valid? [True, True] Translation: X:118.39, Y:118.90, Z:45.07 [[-9.24262868e-02 -9.95719501e-01 2.39963147e-04 1.18389109e+02] [ 9.82752716e-01 -9.12614238e-02 -1.60836723e-01 1.18904367e+02] [ 1.60170161e-01 -1.46297166e-02 9.86980998e-01 4.50673011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.550714057 meters Centerline goodness : 0.991495 Centerline is valid? [True, True] Translation: X:118.38, Y:118.90, Z:45.07 [[-9.01048662e-02 -9.95864892e-01 1.15857758e-02 1.18384641e+02] [ 9.83572247e-01 -9.08076601e-02 -1.56011552e-01 1.18901782e+02] [ 1.56418504e-01 -2.66195250e-03 9.87687281e-01 4.50700455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.580714057 meters Centerline goodness : 0.989437 Centerline is valid? [True, True] Translation: X:118.39, Y:118.91, Z:45.06 [[-9.08901095e-02 -9.95816954e-01 -9.35851420e-03 1.18393261e+02] [ 9.84233026e-01 -8.83930207e-02 -1.53205821e-01 1.18909759e+02] [ 1.51737727e-01 -2.31358526e-02 9.88149986e-01 4.50614383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.610714057 meters Centerline goodness : 0.989310 Centerline is valid? [True, True] Translation: X:118.39, Y:118.89, Z:45.07 [[-9.02751830e-02 -9.95869820e-01 9.67947022e-03 1.18386811e+02] [ 9.83866515e-01 -9.06860132e-02 -1.54216493e-01 1.18892125e+02] [ 1.54457344e-01 -4.39861552e-03 9.87989666e-01 4.50665890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.640714057 meters Centerline goodness : 0.991341 Centerline is valid? [True, True] Translation: X:118.38, Y:118.90, Z:45.07 [[-8.83302226e-02 -9.95868632e-01 2.10580187e-02 1.18382523e+02] [ 9.84451970e-01 -9.05009408e-02 -1.50545336e-01 1.18897015e+02] [ 1.51829148e-01 7.43290499e-03 9.88378805e-01 4.50706368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.670714057 meters Centerline goodness : 0.990661 Centerline is valid? [True, True] Translation: X:118.39, Y:118.91, Z:45.06 [[-8.89755431e-02 -9.96024272e-01 4.35921606e-03 1.18389450e+02] [ 9.84578758e-01 -8.86132711e-02 -1.50838849e-01 1.18910687e+02] [ 1.50625439e-01 -9.12897693e-03 9.88548754e-01 4.50646382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.700714057 meters Centerline goodness : 0.991002 Centerline is valid? [True, True] Translation: X:118.39, Y:118.91, Z:45.06 [[-8.89827609e-02 -9.96006527e-01 7.28462146e-03 1.18389139e+02] [ 9.84651598e-01 -8.90660849e-02 -1.50094844e-01 1.18905283e+02] [ 1.50144257e-01 -6.18303946e-03 9.88644765e-01 4.50644818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.730714057 meters Centerline goodness : 0.991052 Centerline is valid? [True, True] Translation: X:118.39, Y:118.90, Z:45.06 [[-8.31734554e-02 -9.96370384e-01 1.81172610e-02 1.18387236e+02] [ 9.86256804e-01 -8.49063891e-02 -1.41733632e-01 1.18898653e+02] [ 1.42757464e-01 6.07979604e-03 9.89739027e-01 4.50636107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.76071405700003 meters Centerline goodness : 0.990832 Centerline is valid? [True, True] Translation: X:118.39, Y:118.93, Z:45.06 [[-8.64123068e-02 -9.96258833e-01 1.11887466e-03 1.18393725e+02] [ 9.85855495e-01 -8.56717294e-02 -1.44046168e-01 1.18925051e+02] [ 1.43603123e-01 -1.13443129e-02 9.89570336e-01 4.50596242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.790714057 meters Centerline goodness : 0.991591 Centerline is valid? [True, True] Translation: X:118.39, Y:118.97, Z:45.07 [[-9.37442041e-02 -9.95578957e-01 -5.87921860e-03 1.18392816e+02] [ 9.84111758e-01 -9.17668590e-02 -1.51996351e-01 1.18974901e+02] [ 1.50784851e-01 -2.00345851e-02 9.88363569e-01 4.50671490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.82071405700003 meters Centerline goodness : 0.990604 Centerline is valid? [True, True] Translation: X:118.39, Y:118.92, Z:45.06 [[-9.33991538e-02 -9.95587491e-01 9.06345316e-03 1.18391293e+02] [ 9.84543922e-01 -9.37100798e-02 -1.47958394e-01 1.18923309e+02] [ 1.48154863e-01 -4.89582109e-03 9.88952055e-01 4.50635832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.850714057 meters Centerline goodness : 0.991058 Centerline is valid? [True, True] Translation: X:118.40, Y:118.92, Z:45.06 [[-9.44864287e-02 -9.95526139e-01 1.44102741e-04 1.18395981e+02] [ 9.84494091e-01 -9.34608532e-02 -1.48446802e-01 1.18923789e+02] [ 1.47796140e-01 -1.38843399e-02 9.88920384e-01 4.50595026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.88071405700003 meters Centerline goodness : 0.991964 Centerline is valid? [True, True] Translation: X:118.39, Y:118.93, Z:45.06 [[-9.35164448e-02 -9.95586625e-01 7.87056881e-03 1.18393523e+02] [ 9.84768491e-01 -9.36583522e-02 -1.46489358e-01 1.18927267e+02] [ 1.46579990e-01 -5.94847579e-03 9.89180935e-01 4.50618814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.910714057 meters Centerline goodness : 0.991574 Centerline is valid? [True, True] Translation: X:118.39, Y:118.93, Z:45.06 [[-9.53903031e-02 -9.95418293e-01 6.56600100e-03 1.18394820e+02] [ 9.84814855e-01 -9.53312409e-02 -1.45091887e-01 1.18933195e+02] [ 1.45053064e-01 -7.37406380e-03 9.89396398e-01 4.50621698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.940714057 meters Centerline goodness : 0.991402 Centerline is valid? [True, True] Translation: X:118.40, Y:118.93, Z:45.06 [[-9.45499925e-02 -9.95519911e-01 6.37107779e-04 1.18398645e+02] [ 9.85136465e-01 -9.36559731e-02 -1.43995502e-01 1.18926634e+02] [ 1.43410059e-01 -1.29871356e-02 9.89578137e-01 4.50585339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.970714057 meters Centerline goodness : 0.991692 Centerline is valid? [True, True] Translation: X:118.40, Y:118.96, Z:45.06 [[-9.65188350e-02 -9.95331143e-01 -1.71711563e-04 1.18398166e+02] [ 9.84913920e-01 -9.54837631e-02 -1.44317089e-01 1.18960525e+02] [ 1.43626897e-01 -1.40984384e-02 9.89531479e-01 4.50639301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.000714057 meters Centerline goodness : 0.991118 Centerline is valid? [True, True] Translation: X:118.40, Y:118.96, Z:45.06 [[-9.59305170e-02 -9.95378050e-01 4.45806638e-03 1.18397246e+02] [ 9.85207792e-01 -9.55873525e-02 -1.42227513e-01 1.18958667e+02] [ 1.41996279e-01 -9.25183709e-03 9.89823954e-01 4.50648046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.030714057 meters Centerline goodness : 0.991760 Centerline is valid? [True, True] Translation: X:118.40, Y:118.94, Z:45.06 [[-9.74418877e-02 -9.95240805e-01 9.04592135e-04 1.18400534e+02] [ 9.84661564e-01 -9.65381936e-02 -1.45334036e-01 1.18938070e+02] [ 1.44729691e-01 -1.32709057e-02 9.89382231e-01 4.50626526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.060714057 meters Centerline goodness : 0.991922 Centerline is valid? [True, True] Translation: X:118.40, Y:118.94, Z:45.06 [[-9.82176641e-02 -9.95164714e-01 6.95224333e-04 1.18400943e+02] [ 9.84492773e-01 -9.72663875e-02 -1.45990511e-01 1.18940963e+02] [ 1.45352228e-01 -1.36544037e-02 9.89285746e-01 4.50628447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.090714057 meters Centerline goodness : 0.991463 Centerline is valid? [True, True] Translation: X:118.40, Y:118.95, Z:45.06 [[-9.86808525e-02 -9.95117908e-01 1.56167054e-03 1.18401056e+02] [ 9.84437170e-01 -9.78507805e-02 -1.45974937e-01 1.18946749e+02] [ 1.45415085e-01 -1.28675647e-02 9.89287056e-01 4.50638563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.120714057 meters Centerline goodness : 0.991221 Centerline is valid? [True, True] Translation: X:118.40, Y:118.98, Z:45.07 [[-1.02995840e-01 -9.94676042e-01 -3.38047903e-03 1.18402599e+02] [ 9.83452930e-01 -1.01323322e-01 -1.50179623e-01 1.18978379e+02] [ 1.49037552e-01 -1.87924184e-02 9.88652949e-01 4.50689862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.150714057 meters Centerline goodness : 0.991055 Centerline is valid? [True, True] Translation: X:118.40, Y:118.98, Z:45.07 [[-1.03548770e-01 -9.94615387e-01 4.22895451e-03 1.18400137e+02] [ 9.83276975e-01 -1.03006906e-01 -1.50186447e-01 1.18980746e+02] [ 1.49813363e-01 -1.13933883e-02 9.88648647e-01 4.50727808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.180714057 meters Centerline goodness : 0.992122 Centerline is valid? [True, True] Translation: X:118.40, Y:118.95, Z:45.07 [[-1.01033619e-01 -9.94829041e-01 1.03627885e-02 1.18400807e+02] [ 9.83957824e-01 -1.01458114e-01 -1.46742125e-01 1.18949287e+02] [ 1.47034717e-01 -4.62934124e-03 9.89120499e-01 4.50681892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.210714057 meters Centerline goodness : 0.992228 Centerline is valid? [True, True] Translation: X:118.41, Y:118.97, Z:45.07 [[-1.03368066e-01 -9.94635950e-01 -3.79066385e-03 1.18406153e+02] [ 9.83490841e-01 -1.01639217e-01 -1.49717182e-01 1.18966715e+02] [ 1.48528812e-01 -1.92040588e-02 9.88721597e-01 4.50657262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.240714057 meters Centerline goodness : 0.991837 Centerline is valid? [True, True] Translation: X:118.40, Y:118.99, Z:45.07 [[-1.02916362e-01 -9.94672283e-01 5.93899651e-03 1.18401309e+02] [ 9.83723893e-01 -1.02664073e-01 -1.47469967e-01 1.18993691e+02] [ 1.47294010e-01 -9.33473975e-03 9.89048703e-01 4.50731217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.270714057 meters Centerline goodness : 0.990750 Centerline is valid? [True, True] Translation: X:118.41, Y:118.97, Z:45.06 [[-1.01273396e-01 -9.94838936e-01 -6.26020325e-03 1.18408851e+02] [ 9.84888014e-01 -9.93677828e-02 -1.41850780e-01 1.18967855e+02] [ 1.40496617e-01 -2.05313094e-02 9.89868257e-01 4.50632196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.300714057 meters Centerline goodness : 0.991950 Centerline is valid? [True, True] Translation: X:118.40, Y:118.95, Z:45.07 [[-1.00846388e-01 -9.94794076e-01 1.46544193e-02 1.18400791e+02] [ 9.84144781e-01 -1.01905341e-01 -1.45170080e-01 1.18952203e+02] [ 1.45907699e-01 -2.17807858e-04 9.89298184e-01 4.50714360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.330714057 meters Centerline goodness : 0.991009 Centerline is valid? [True, True] Translation: X:118.41, Y:118.99, Z:45.07 [[-1.01487612e-01 -9.94836690e-01 4.73506975e-04 1.18405045e+02] [ 9.83913649e-01 -1.00443620e-01 -1.47732902e-01 1.18994988e+02] [ 1.47017672e-01 -1.45271694e-02 9.89027181e-01 4.50725932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.360714057 meters Centerline goodness : 0.990489 Centerline is valid? [True, True] Translation: X:118.41, Y:118.97, Z:45.07 [[-9.93421678e-02 -9.95051654e-01 -1.82722115e-03 1.18408094e+02] [ 9.84172042e-01 -9.79848339e-02 -1.47663009e-01 1.18968429e+02] [ 1.46753281e-01 -1.64674634e-02 9.89036044e-01 4.50690657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.390714057 meters Centerline goodness : 0.991091 Centerline is valid? [True, True] Translation: X:118.41, Y:118.98, Z:45.07 [[-9.76168536e-02 -9.95216433e-01 3.89883324e-03 1.18405113e+02] [ 9.84380285e-01 -9.71292268e-02 -1.46837897e-01 1.18981766e+02] [ 1.46514179e-01 -1.04959189e-02 9.89152886e-01 4.50737494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.420714057 meters Centerline goodness : 0.990660 Centerline is valid? [True, True] Translation: X:118.41, Y:118.97, Z:45.07 [[-9.53798942e-02 -9.95436125e-01 3.09786288e-03 1.18405894e+02] [ 9.84550419e-01 -9.47950215e-02 -1.47222202e-01 1.18973594e+02] [ 1.46843960e-01 -1.09920359e-02 9.89098593e-01 4.50724086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.450714057 meters Centerline goodness : 0.990543 Centerline is valid? [True, True] Translation: X:118.41, Y:119.00, Z:45.08 [[-1.08223203e-01 -9.94006127e-01 -1.54776259e-02 1.18405709e+02] [ 9.80950913e-01 -1.04249531e-01 -1.63912602e-01 1.19004429e+02] [ 1.61316596e-01 -3.29219381e-02 9.86353437e-01 4.50784325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.480714057 meters Centerline goodness : 0.991190 Centerline is valid? [True, True] Translation: X:118.40, Y:119.00, Z:45.09 [[-1.06258036e-01 -9.94309793e-01 7.56743618e-03 1.18396467e+02] [ 9.80931458e-01 -1.06067824e-01 -1.62859118e-01 1.19000970e+02] [ 1.62735077e-01 -9.88195374e-03 9.86620313e-01 4.50877169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.51071405700003 meters Centerline goodness : 0.991389 Centerline is valid? [True, True] Translation: X:118.39, Y:118.95, Z:45.08 [[-8.20938343e-02 -9.95679572e-01 4.33911484e-02 1.18394153e+02] [ 9.86602656e-01 -8.73501052e-02 -1.37786638e-01 1.18952216e+02] [ 1.40981562e-01 3.14983889e-02 9.89511016e-01 4.50819230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.540714057 meters Centerline goodness : 0.991678 Centerline is valid? [True, True] Translation: X:118.41, Y:118.96, Z:45.06 [[-8.03672012e-02 -9.96765077e-01 -7.03506035e-04 1.18413177e+02] [ 9.86938045e-01 -7.94759637e-02 -1.40131607e-01 1.18963454e+02] [ 1.39622380e-01 -1.19563019e-02 9.90132637e-01 4.50641951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.57071405700003 meters Centerline goodness : 0.990885 Centerline is valid? [True, True] Translation: X:118.42, Y:118.97, Z:45.06 [[-8.25003960e-02 -9.96566309e-01 -7.01965442e-03 1.18415675e+02] [ 9.86137621e-01 -8.06154916e-02 -1.45030119e-01 1.18967099e+02] [ 1.43966238e-01 -1.88873876e-02 9.89402339e-01 4.50644070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.600714057 meters Centerline goodness : 0.991040 Centerline is valid? [True, True] Translation: X:118.41, Y:118.97, Z:45.07 [[-8.27682512e-02 -9.96568615e-01 -6.41662069e-04 1.18414684e+02] [ 9.85946099e-01 -8.17922228e-02 -1.45671970e-01 1.18974378e+02] [ 1.45119631e-01 -1.26896584e-02 9.89332737e-01 4.50675547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.63071405700003 meters Centerline goodness : 0.990538 Centerline is valid? [True, True] Translation: X:118.41, Y:119.00, Z:45.07 [[-8.20681918e-02 -9.96624637e-01 2.03568638e-03 1.18413626e+02] [ 9.86187513e-01 -8.15032593e-02 -1.44192258e-01 1.19000738e+02] [ 1.43871472e-01 -9.82602939e-03 9.89547598e-01 4.50715530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.660714057 meters Centerline goodness : 0.990716 Centerline is valid? [True, True] Translation: X:118.42, Y:118.99, Z:45.07 [[-8.34967694e-02 -9.96502812e-01 -3.23031556e-03 1.18417637e+02] [ 9.85922888e-01 -8.21381835e-02 -1.45634400e-01 1.18990902e+02] [ 1.44859757e-01 -1.53448439e-02 9.89333203e-01 4.50692402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.690714057 meters Centerline goodness : 0.991407 Centerline is valid? [True, True] Translation: X:118.41, Y:118.99, Z:45.07 [[-8.31345442e-02 -9.96505540e-01 8.08431744e-03 1.18413381e+02] [ 9.86028010e-01 -8.34301379e-02 -1.44181051e-01 1.18988095e+02] [ 1.44351692e-01 -4.01506254e-03 9.89518301e-01 4.50732880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.720714057 meters Centerline goodness : 0.991625 Centerline is valid? [True, True] Translation: X:118.42, Y:118.98, Z:45.07 [[-8.13474476e-02 -9.96656484e-01 7.64497409e-03 1.18415892e+02] [ 9.86780887e-01 -8.16153511e-02 -1.40008624e-01 1.18976670e+02] [ 1.40164450e-01 -3.84542991e-03 9.90120770e-01 4.50689382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.750714057 meters Centerline goodness : 0.990955 Centerline is valid? [True, True] Translation: X:118.42, Y:118.98, Z:45.07 [[-8.50963987e-02 -9.96348280e-01 -6.97906494e-03 1.18423844e+02] [ 9.86103975e-01 -8.32142823e-02 -1.43785723e-01 1.18982853e+02] [ 1.42679900e-01 -1.91177309e-02 9.89584235e-01 4.50650755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.780714057 meters Centerline goodness : 0.990371 Centerline is valid? [True, True] Translation: X:118.42, Y:118.99, Z:45.07 [[-8.62858669e-02 -9.96270391e-01 2.41160983e-04 1.18421554e+02] [ 9.85897441e-01 -8.54223121e-02 -1.43907138e-01 1.18992626e+02] [ 1.43391022e-01 -1.21793922e-02 9.89591167e-01 4.50694493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.810714057 meters Centerline goodness : 0.991841 Centerline is valid? [True, True] Translation: X:118.42, Y:119.00, Z:45.07 [[-8.99748799e-02 -9.95938153e-01 3.42295898e-03 1.18421252e+02] [ 9.85206562e-01 -8.95076340e-02 -1.46138339e-01 1.18999184e+02] [ 1.45851128e-01 -9.77645783e-03 9.89258242e-01 4.50730866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.840714057 meters Centerline goodness : 0.991285 Centerline is valid? [True, True] Translation: X:118.43, Y:119.01, Z:45.07 [[-9.37103010e-02 -9.95576140e-01 -6.82126914e-03 1.18425207e+02] [ 9.84045492e-01 -9.15798383e-02 -1.52537217e-01 1.19012665e+02] [ 1.51237723e-01 -2.10067476e-02 9.88274187e-01 4.50736951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.870714057 meters Centerline goodness : 0.991182 Centerline is valid? [True, True] Translation: X:118.42, Y:119.02, Z:45.08 [[-9.57711066e-02 -9.95402091e-01 -1.60405943e-03 1.18423292e+02] [ 9.83648160e-01 -9.43930484e-02 -1.53382693e-01 1.19023876e+02] [ 1.52526041e-01 -1.62674603e-02 9.88165561e-01 4.50780456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.900714057 meters Centerline goodness : 0.991625 Centerline is valid? [True, True] Translation: X:118.42, Y:119.01, Z:45.08 [[-9.48073550e-02 -9.95452450e-01 9.27280578e-03 1.18421780e+02] [ 9.84125904e-01 -9.51242559e-02 -1.49825168e-01 1.19011662e+02] [ 1.50025899e-01 -5.07891953e-03 9.88669022e-01 4.50787683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.930714057 meters Centerline goodness : 0.991279 Centerline is valid? [True, True] Translation: X:118.42, Y:119.04, Z:45.08 [[-9.65975655e-02 -9.95323518e-01 6.85030465e-05 1.18424834e+02] [ 9.83651510e-01 -9.54752893e-02 -1.52689804e-01 1.19035510e+02] [ 1.51982293e-01 -1.46820802e-02 9.88274162e-01 4.50802573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.960714057 meters Centerline goodness : 0.990445 Centerline is valid? [True, True] Translation: X:118.43, Y:119.03, Z:45.08 [[-9.71473486e-02 -9.95269318e-01 1.17325853e-03 1.18426061e+02] [ 9.83679644e-01 -9.61953390e-02 -1.52055300e-01 1.19026379e+02] [ 1.51448837e-01 -1.36176587e-02 9.88371291e-01 4.50799193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.990714057 meters Centerline goodness : 0.990972 Centerline is valid? [True, True] Translation: X:118.43, Y:119.03, Z:45.08 [[-9.81776282e-02 -9.95168439e-01 9.64572975e-04 1.18427048e+02] [ 9.83462640e-01 -9.71709388e-02 -1.52836660e-01 1.19027835e+02] [ 1.52191949e-01 -1.40565193e-02 9.88250993e-01 4.50815144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.020714057 meters Centerline goodness : 0.991127 Centerline is valid? [True, True] Translation: X:118.43, Y:119.03, Z:45.08 [[-1.09244429e-01 -9.93982959e-01 -7.97067638e-03 1.18425930e+02] [ 9.80976660e-01 -1.06513530e-01 -1.62294983e-01 1.19034301e+02] [ 1.60469462e-01 -2.55488702e-02 9.86710093e-01 4.50843693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.050714057 meters Centerline goodness : 0.990985 Centerline is valid? [True, True] Translation: X:118.42, Y:119.02, Z:45.09 [[-9.79845953e-02 -9.95045519e-01 1.68354987e-02 1.18421396e+02] [ 9.83261943e-01 -9.94076401e-02 -1.52689465e-01 1.19023542e+02] [ 1.53606545e-01 1.59248969e-03 9.88130808e-01 4.50879855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.080714057 meters Centerline goodness : 0.990846 Centerline is valid? [True, True] Translation: X:118.43, Y:119.02, Z:45.08 [[-9.67825684e-02 -9.95281765e-01 6.88064642e-03 1.18427374e+02] [ 9.83847994e-01 -9.67120893e-02 -1.50631661e-01 1.19024949e+02] [ 1.50586387e-01 -7.80900889e-03 9.88566012e-01 4.50823934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.110714057 meters Centerline goodness : 0.991696 Centerline is valid? [True, True] Translation: X:118.43, Y:119.04, Z:45.08 [[-9.51773648e-02 -9.95386610e-01 1.21147145e-02 1.18425786e+02] [ 9.84606810e-01 -9.59248896e-02 -1.46109020e-01 1.19036111e+02] [ 1.46597064e-01 -1.97804105e-03 9.89194313e-01 4.50833750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.140714057 meters Centerline goodness : 0.989854 Centerline is valid? [True, True] Translation: X:118.44, Y:119.04, Z:45.07 [[-9.82573969e-02 -9.94992488e-01 -1.83148335e-02 1.18439791e+02] [ 9.84382818e-01 -9.44754502e-02 -1.48542439e-01 1.19038428e+02] [ 1.46068309e-01 -3.26242009e-02 9.88736421e-01 4.50724338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.170714057 meters Centerline goodness : 0.989854 Centerline is valid? [True, True] Translation: X:118.43, Y:119.04, Z:45.08 [[-9.79860035e-02 -9.95175669e-01 4.91231579e-03 1.18429739e+02] [ 9.84211291e-01 -9.76351754e-02 -1.47633014e-01 1.19039262e+02] [ 1.47400398e-01 -9.63121236e-03 9.89030011e-01 4.50818929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.200714057 meters Centerline goodness : 0.990941 Centerline is valid? [True, True] Translation: X:118.43, Y:119.07, Z:45.08 [[-9.87490444e-02 -9.95103486e-01 4.20467933e-03 1.18429573e+02] [ 9.84125025e-01 -9.82840118e-02 -1.47777498e-01 1.19065010e+02] [ 1.47467156e-01 -1.04549565e-02 9.89011695e-01 4.50844473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.230714057 meters Centerline goodness : 0.990703 Centerline is valid? [True, True] Translation: X:118.43, Y:119.04, Z:45.08 [[-9.91383689e-02 -9.95069569e-01 2.85253037e-03 1.18432455e+02] [ 9.83832466e-01 -9.84476890e-02 -1.49605254e-01 1.19037398e+02] [ 1.49148461e-01 -1.20252089e-02 9.88741691e-01 4.50795658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.26071405700003 meters Centerline goodness : 0.992115 Centerline is valid? [True, True] Translation: X:118.43, Y:119.04, Z:45.08 [[-1.01095345e-01 -9.94862962e-01 5.23629099e-03 1.18433628e+02] [ 9.83340785e-01 -1.00720912e-01 -1.51314901e-01 1.19038147e+02] [ 1.51064994e-01 -1.01481736e-02 9.88471741e-01 4.50792791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.290714057 meters Centerline goodness : 0.992632 Centerline is valid? [True, True] Translation: X:118.43, Y:119.05, Z:45.09 [[-1.00935551e-01 -9.94678860e-01 2.06392728e-02 1.18427896e+02] [ 9.82897438e-01 -1.02908849e-01 -1.52716719e-01 1.19047969e+02] [ 1.54028055e-01 4.87174224e-03 9.88054464e-01 4.50854678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.32071405700003 meters Centerline goodness : 0.990668 Centerline is valid? [True, True] Translation: X:118.44, Y:119.05, Z:45.07 [[-1.01754431e-01 -9.94744219e-01 -1.14006663e-02 1.18442242e+02] [ 9.83451113e-01 -9.88591865e-02 -1.51824800e-01 1.19047117e+02] [ 1.49899782e-01 -2.66608441e-02 9.88341669e-01 4.50730802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.350714057 meters Centerline goodness : 0.993657 Centerline is valid? [True, True] Translation: X:118.43, Y:119.08, Z:45.09 [[-1.00993929e-01 -9.94642944e-01 2.20372578e-02 1.18426698e+02] [ 9.83011948e-01 -1.03176139e-01 -1.51796558e-01 1.19076194e+02] [ 1.53257095e-01 6.33235694e-03 9.88166061e-01 4.50900733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.38071405700003 meters Centerline goodness : 0.993081 Centerline is valid? [True, True] Translation: X:118.44, Y:119.07, Z:45.08 [[-1.01589975e-01 -9.94821681e-01 -3.04971926e-03 1.18438136e+02] [ 9.83043368e-01 -9.99158183e-02 -1.53761393e-01 1.19071765e+02] [ 1.52660452e-01 -1.86186224e-02 9.88103301e-01 4.50794797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.410714057 meters Centerline goodness : 0.993277 Centerline is valid? [True, True] Translation: X:118.44, Y:119.03, Z:45.08 [[-9.62849525e-02 -9.95306205e-01 9.73477654e-03 1.18435914e+02] [ 9.84293750e-01 -9.66644410e-02 -1.47722038e-01 1.19034010e+02] [ 1.47969667e-01 -4.64152968e-03 9.88981008e-01 4.50755774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.440714057 meters Centerline goodness : 0.993665 Centerline is valid? [True, True] Translation: X:118.44, Y:119.06, Z:45.08 [[-1.00481232e-01 -9.94927552e-01 -4.76328268e-03 1.18439677e+02] [ 9.83315517e-01 -9.85765537e-02 -1.52883150e-01 1.19056725e+02] [ 1.51638110e-01 -2.00456971e-02 9.88232793e-01 4.50778423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.470714057 meters Centerline goodness : 0.992936 Centerline is valid? [True, True] Translation: X:118.44, Y:119.05, Z:45.08 [[-9.92052983e-02 -9.95060235e-01 3.66578096e-03 1.18436367e+02] [ 9.83606567e-01 -9.86195677e-02 -1.50971200e-01 1.19054096e+02] [ 1.50586956e-01 -1.13714567e-02 9.88531365e-01 4.50809710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.500714057 meters Centerline goodness : 0.993372 Centerline is valid? [True, True] Translation: X:118.44, Y:119.06, Z:45.08 [[-9.91160557e-02 -9.95070713e-01 -3.20693462e-03 1.18438860e+02] [ 9.83579998e-01 -9.74820164e-02 -1.51880362e-01 1.19058690e+02] [ 1.50819081e-01 -1.82080591e-02 9.88393682e-01 4.50802488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.530714057 meters Centerline goodness : 0.993480 Centerline is valid? [True, True] Translation: X:118.43, Y:119.05, Z:45.08 [[-9.42945032e-02 -9.95453524e-01 1.34472514e-02 1.18434151e+02] [ 9.84943321e-01 -9.52478493e-02 -1.44272320e-01 1.19045355e+02] [ 1.44897211e-01 -3.59306210e-04 9.89446648e-01 4.50806805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.560714057 meters Centerline goodness : 0.993592 Centerline is valid? [True, True] Translation: X:118.44, Y:119.07, Z:45.08 [[-9.86320287e-02 -9.95103353e-01 -6.40617123e-03 1.18440524e+02] [ 9.83511038e-01 -9.64983752e-02 -1.52951304e-01 1.19068266e+02] [ 1.51584170e-01 -2.13864375e-02 9.88212963e-01 4.50795546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.590714057 meters Centerline goodness : 0.992793 Centerline is valid? [True, True] Translation: X:118.44, Y:119.07, Z:45.08 [[-9.80491543e-02 -9.95177223e-01 2.94258207e-03 1.18436546e+02] [ 9.83509429e-01 -9.73502775e-02 -1.52420885e-01 1.19072481e+02] [ 1.51972254e-01 -1.20506817e-02 9.88311295e-01 4.50836688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.620714057 meters Centerline goodness : 0.992695 Centerline is valid? [True, True] Translation: X:118.44, Y:119.08, Z:45.08 [[-9.79803270e-02 -9.95181453e-01 -3.70564706e-03 1.18440149e+02] [ 9.83530699e-01 -9.62636472e-02 -1.52972791e-01 1.19079171e+02] [ 1.51878966e-01 -1.86329418e-02 9.88223453e-01 4.50820493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.650714057 meters Centerline goodness : 0.993567 Centerline is valid? [True, True] Translation: X:118.43, Y:119.07, Z:45.09 [[-9.60470390e-02 -9.95297759e-01 1.25434208e-02 1.18433176e+02] [ 9.83836660e-01 -9.68392995e-02 -1.50623958e-01 1.19065856e+02] [ 1.51130384e-01 -2.12630793e-03 9.88511551e-01 4.50860553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.680714057 meters Centerline goodness : 0.992050 Centerline is valid? [True, True] Translation: X:118.44, Y:119.06, Z:45.08 [[-9.45185721e-02 -9.95520615e-01 -2.22372971e-03 1.18440167e+02] [ 9.84058333e-01 -9.30918078e-02 -1.51535848e-01 1.19063175e+02] [ 1.50650050e-01 -1.65112318e-02 9.88449261e-01 4.50798025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.710714057 meters Centerline goodness : 0.993362 Centerline is valid? [True, True] Translation: X:118.44, Y:119.06, Z:45.08 [[-9.14798092e-02 -9.95784134e-01 6.73815351e-03 1.18436574e+02] [ 9.84705627e-01 -9.14654665e-02 -1.48286538e-01 1.19062434e+02] [ 1.48277690e-01 -6.93012649e-03 9.88921483e-01 4.50825068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.740714057 meters Centerline goodness : 0.992528 Centerline is valid? [True, True] Translation: X:118.44, Y:119.06, Z:45.08 [[-9.12518915e-02 -9.95826496e-01 -1.63760170e-03 1.18440109e+02] [ 9.84841562e-01 -9.00014539e-02 -1.48279589e-01 1.19062942e+02] [ 1.47513357e-01 -1.51435712e-02 9.88944125e-01 4.50795684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.770714057 meters Centerline goodness : 0.993264 Centerline is valid? [True, True] Translation: X:118.44, Y:119.07, Z:45.08 [[-9.05956122e-02 -9.95887653e-01 -4.65606501e-04 1.18439339e+02] [ 9.84832383e-01 -8.95204280e-02 -1.48631326e-01 1.19065135e+02] [ 1.47978421e-01 -1.39238903e-02 9.88892569e-01 4.50810833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.800714057 meters Centerline goodness : 0.991548 Centerline is valid? [True, True] Translation: X:118.44, Y:119.06, Z:45.08 [[-8.66698094e-02 -9.96235439e-01 -1.81520977e-03 1.18441768e+02] [ 9.85692629e-01 -8.54879308e-02 -1.45264772e-01 1.19056853e+02] [ 1.44562735e-01 -1.43793090e-02 9.89391152e-01 4.50766928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.830714057 meters Centerline goodness : 0.993446 Centerline is valid? [True, True] Translation: X:118.43, Y:119.07, Z:45.09 [[-8.80814253e-02 -9.96089532e-01 6.87797438e-03 1.18434885e+02] [ 9.84917459e-01 -8.81216831e-02 -1.48903216e-01 1.19073803e+02] [ 1.48927033e-01 -6.34137043e-03 9.88827854e-01 4.50866523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.860714057 meters Centerline goodness : 0.993288 Centerline is valid? [True, True] Translation: X:118.44, Y:119.07, Z:45.08 [[-8.41574946e-02 -9.96438073e-01 5.35560441e-03 1.18435678e+02] [ 9.85929844e-01 -8.40466060e-02 -1.44493982e-01 1.19068445e+02] [ 1.44429425e-01 -6.88000128e-03 9.89491186e-01 4.50833029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.890714057 meters Centerline goodness : 0.992631 Centerline is valid? [True, True] Translation: X:118.43, Y:119.06, Z:45.08 [[-8.20898375e-02 -9.96582572e-01 9.18889760e-03 1.18434414e+02] [ 9.86467940e-01 -8.25627419e-02 -1.41648851e-01 1.19063856e+02] [ 1.41923436e-01 -2.56337823e-03 9.89874319e-01 4.50823651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.920714057 meters Centerline goodness : 0.992942 Centerline is valid? [True, True] Translation: X:118.44, Y:119.07, Z:45.08 [[-8.01503745e-02 -9.96782301e-01 9.80321995e-04 1.18438774e+02] [ 9.87077480e-01 -7.95068493e-02 -1.39128395e-01 1.19066356e+02] [ 1.38758664e-01 -1.01835392e-02 9.90273866e-01 4.50771714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.950714057 meters Centerline goodness : 0.992489 Centerline is valid? [True, True] Translation: X:118.43, Y:119.07, Z:45.08 [[-7.44374537e-02 -9.97081648e-01 1.69485271e-02 1.18434320e+02] [ 9.88609620e-01 -7.60129663e-02 -1.29896300e-01 1.19074441e+02] [ 1.30805524e-01 7.08632718e-03 9.91382721e-01 4.50776903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.980714057 meters Centerline goodness : 0.992978 Centerline is valid? [True, True] Translation: X:118.45, Y:119.11, Z:45.08 [[-1.01941162e-01 -9.93470989e-01 -5.12190722e-02 1.18450354e+02] [ 9.81524526e-01 -9.20679262e-02 -1.67729252e-01 1.19111563e+02] [ 1.61918512e-01 -6.73712904e-02 9.84501653e-01 4.50763634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.01071405700003 meters Centerline goodness : 0.992850 Centerline is valid? [True, True] Translation: X:118.42, Y:119.08, Z:45.09 [[-7.86137014e-02 -9.95741889e-01 4.81453714e-02 1.18419609e+02] [ 9.87208145e-01 -8.44778631e-02 -1.35216752e-01 1.19075626e+02] [ 1.38708202e-01 3.68996134e-02 9.89645620e-01 4.50930236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.040714057 meters Centerline goodness : 0.992222 Centerline is valid? [True, True] Translation: X:118.45, Y:119.11, Z:45.08 [[-1.01590631e-01 -9.93911009e-01 -4.26643920e-02 1.18446082e+02] [ 9.81524381e-01 -9.31503129e-02 -1.67131412e-01 1.19109726e+02] [ 1.62139549e-01 -5.88551266e-02 9.85011087e-01 4.50791475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.07071405700003 meters Centerline goodness : 0.992521 Centerline is valid? [True, True] Translation: X:118.41, Y:119.08, Z:45.10 [[-7.68437034e-02 -9.95411955e-01 5.70095207e-02 1.18414591e+02] [ 9.87925227e-01 -8.37315495e-02 -1.30356337e-01 1.19076265e+02] [ 1.34531751e-01 4.63040800e-02 9.89826823e-01 4.50967394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.100714057 meters Centerline goodness : 0.992259 Centerline is valid? [True, True] Translation: X:118.44, Y:119.08, Z:45.07 [[-7.51097264e-02 -9.97170007e-01 -3.24120031e-03 1.18439568e+02] [ 9.88324547e-01 -7.40105713e-02 -1.33180421e-01 1.19080231e+02] [ 1.32563638e-01 -1.32065028e-02 9.91086510e-01 4.50735215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.13071405700003 meters Centerline goodness : 0.992171 Centerline is valid? [True, True] Translation: X:118.44, Y:119.09, Z:45.07 [[-7.54698509e-02 -9.97109106e-01 -8.81661219e-03 1.18440643e+02] [ 9.88147214e-01 -7.36003659e-02 -1.34714772e-01 1.19086664e+02] [ 1.33676420e-01 -1.88790145e-02 9.90845194e-01 4.50732674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.160714057 meters Centerline goodness : 0.992343 Centerline is valid? [True, True] Translation: X:118.44, Y:119.12, Z:45.08 [[-9.76976512e-02 -9.94387094e-01 -4.06137502e-02 1.18440803e+02] [ 9.82348346e-01 -8.98129479e-02 -1.64089496e-01 1.19121603e+02] [ 1.59520836e-01 -5.59280086e-02 9.85609030e-01 4.50832143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.190714057 meters Centerline goodness : 0.992212 Centerline is valid? [True, True] Translation: X:118.41, Y:119.07, Z:45.10 [[-7.31808091e-02 -9.95873637e-01 5.36681287e-02 1.18412171e+02] [ 9.88216239e-01 -7.96616418e-02 -1.30700758e-01 1.19068084e+02] [ 1.34436730e-01 4.34709291e-02 9.89968204e-01 4.50959350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.220714057 meters Centerline goodness : 0.991843 Centerline is valid? [True, True] Translation: X:118.44, Y:119.13, Z:45.08 [[-9.66502879e-02 -9.94108786e-01 -4.90555186e-02 1.18441458e+02] [ 9.82474538e-01 -8.73948695e-02 -1.64638751e-01 1.19134039e+02] [ 1.59381629e-01 -6.41081808e-02 9.85133310e-01 4.50813640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.250714057 meters Centerline goodness : 0.991664 Centerline is valid? [True, True] Translation: X:118.41, Y:119.09, Z:45.10 [[-7.56606755e-02 -9.96413916e-01 3.78783575e-02 1.18413949e+02] [ 9.86709675e-01 -8.02940923e-02 -1.41268808e-01 1.19089168e+02] [ 1.43803614e-01 2.66864484e-02 9.89246357e-01 4.50965143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.280714057 meters Centerline goodness : 0.989425 Centerline is valid? [True, True] Translation: X:118.44, Y:119.08, Z:45.07 [[-7.68768921e-02 -9.96860002e-01 -1.89757658e-02 1.18437120e+02] [ 9.86660086e-01 -7.33235404e-02 -1.45346250e-01 1.19080560e+02] [ 1.43498493e-01 -2.98963987e-02 9.89198862e-01 4.50724648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.310714057 meters Centerline goodness : 0.991386 Centerline is valid? [True, True] Translation: X:118.42, Y:119.11, Z:45.09 [[-9.60488524e-02 -9.95306939e-01 -1.17777470e-02 1.18422431e+02] [ 9.81853891e-01 -9.27935593e-02 -1.65385282e-01 1.19112494e+02] [ 1.63516220e-01 -2.74490933e-02 9.86158706e-01 4.50929292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.340714057 meters Centerline goodness : 0.991244 Centerline is valid? [True, True] Translation: X:118.41, Y:119.11, Z:45.10 [[-8.04833008e-02 -9.96364757e-01 2.79232610e-02 1.18411949e+02] [ 9.85608152e-01 -8.37299960e-02 -1.46853187e-01 1.19110928e+02] [ 1.48657354e-01 1.57021645e-02 9.88764094e-01 4.50992161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.370714057 meters Centerline goodness : 0.990980 Centerline is valid? [True, True] Translation: X:118.42, Y:119.09, Z:45.09 [[-7.86705282e-02 -9.96874128e-01 7.27471563e-03 1.18420774e+02] [ 9.86323612e-01 -7.88939485e-02 -1.44711702e-01 1.19094681e+02] [ 1.44833282e-01 -4.20932221e-03 9.89447119e-01 4.50869074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.400714057 meters Centerline goodness : 0.990979 Centerline is valid? [True, True] Translation: X:118.42, Y:119.10, Z:45.08 [[-8.02116496e-02 -9.96754519e-01 -6.82062624e-03 1.18424701e+02] [ 9.85963682e-01 -7.83343546e-02 -1.47442688e-01 1.19097659e+02] [ 1.46429877e-01 -1.85515110e-02 9.89047083e-01 4.50827617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.430714057 meters Centerline goodness : 0.991039 Centerline is valid? [True, True] Translation: X:118.42, Y:119.10, Z:45.09 [[-7.85797402e-02 -9.96887231e-01 6.40890125e-03 1.18418747e+02] [ 9.86388436e-01 -7.86804151e-02 -1.44385756e-01 1.19096943e+02] [ 1.44440572e-01 -5.02412914e-03 9.89500722e-01 4.50867148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.460714057 meters Centerline goodness : 0.991364 Centerline is valid? [True, True] Translation: X:118.42, Y:119.11, Z:45.09 [[-7.86547437e-02 -9.96895408e-01 -3.60242874e-03 1.18419872e+02] [ 9.86298638e-01 -7.72919989e-02 -1.45742730e-01 1.19108765e+02] [ 1.45011819e-01 -1.50164276e-02 9.89315965e-01 4.50859917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.490714057 meters Centerline goodness : 0.991514 Centerline is valid? [True, True] Translation: X:118.41, Y:119.16, Z:45.10 [[-7.96869094e-02 -9.96817648e-01 2.13863073e-03 1.18414349e+02] [ 9.86005663e-01 -7.91373913e-02 -1.46731404e-01 1.19158920e+02] [ 1.46433699e-01 -9.58387010e-03 9.89174060e-01 4.50968762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.520714057 meters Centerline goodness : 0.990811 Centerline is valid? [True, True] Translation: X:118.41, Y:119.11, Z:45.09 [[-7.53720991e-02 -9.97146077e-01 4.32978123e-03 1.18412851e+02] [ 9.86868215e-01 -7.52159163e-02 -1.42946468e-01 1.19114873e+02] [ 1.42864179e-01 -6.50125191e-03 9.89720951e-01 4.50896486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.550714057 meters Centerline goodness : 0.991615 Centerline is valid? [True, True] Translation: X:118.41, Y:119.11, Z:45.09 [[-7.35477159e-02 -9.97288614e-01 2.48063441e-03 1.18412985e+02] [ 9.87337689e-01 -7.31639636e-02 -1.40752696e-01 1.19111808e+02] [ 1.40552554e-01 -7.90281547e-03 9.90041678e-01 4.50873452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.580714057 meters Centerline goodness : 0.991912 Centerline is valid? [True, True] Translation: X:118.41, Y:119.13, Z:45.09 [[-7.34562809e-02 -9.97288294e-01 -4.49814300e-03 1.18412416e+02] [ 9.87009060e-01 -7.20514522e-02 -1.43602589e-01 1.19129988e+02] [ 1.42889083e-01 -1.49882200e-02 9.89625213e-01 4.50881689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.610714057 meters Centerline goodness : 0.990479 Centerline is valid? [True, True] Translation: X:118.41, Y:119.13, Z:45.09 [[-7.22965179e-02 -9.97368507e-01 -5.41057711e-03 1.18411939e+02] [ 9.87119526e-01 -7.07752509e-02 -1.43477889e-01 1.19126147e+02] [ 1.42717394e-01 -1.57138381e-02 9.89638733e-01 4.50871076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.640714057 meters Centerline goodness : 0.990996 Centerline is valid? [True, True] Translation: X:118.41, Y:119.15, Z:45.09 [[-7.18333823e-02 -9.97416609e-01 2.69487906e-04 1.18407525e+02] [ 9.87196982e-01 -7.11359435e-02 -1.42764831e-01 1.19147706e+02] [ 1.42415184e-01 -9.98924306e-03 9.89756602e-01 4.50920556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.670714057 meters Centerline goodness : 0.991629 Centerline is valid? [True, True] Translation: X:118.40, Y:119.12, Z:45.09 [[-6.70141959e-02 -9.97726025e-01 7.20248124e-03 1.18403202e+02] [ 9.87841788e-01 -6.73617464e-02 -1.40110662e-01 1.19115173e+02] [ 1.40277225e-01 -2.27449140e-03 9.90109654e-01 4.50886645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.700714057 meters Centerline goodness : 0.990668 Centerline is valid? [True, True] Translation: X:118.41, Y:119.11, Z:45.08 [[-6.40712112e-02 -9.97937245e-01 -4.01681776e-03 1.18407836e+02] [ 9.88344415e-01 -6.28972999e-02 -1.38633501e-01 1.19107670e+02] [ 1.38094887e-01 -1.28524157e-02 9.90335609e-01 4.50817037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.730714057 meters Centerline goodness : 0.990764 Centerline is valid? [True, True] Translation: X:118.40, Y:119.12, Z:45.09 [[-6.23572932e-02 -9.98052161e-01 1.85804172e-03 1.18402410e+02] [ 9.88290687e-01 -6.20069513e-02 -1.39415412e-01 1.19115101e+02] [ 1.39259064e-01 -6.85728237e-03 9.90232241e-01 4.50857186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.76071405700003 meters Centerline goodness : 0.990282 Centerline is valid? [True, True] Translation: X:118.41, Y:119.10, Z:45.08 [[-6.04296093e-02 -9.98085111e-01 -1.32050845e-02 1.18408899e+02] [ 9.88746531e-01 -5.80399528e-02 -1.37882783e-01 1.19102858e+02] [ 1.36852330e-01 -2.13886842e-02 9.90360522e-01 4.50764522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.790714057 meters Centerline goodness : 0.990740 Centerline is valid? [True, True] Translation: X:118.40, Y:119.12, Z:45.09 [[-6.05002022e-02 -9.98083897e-01 1.29714839e-02 1.18395325e+02] [ 9.88664059e-01 -6.17081206e-02 -1.36877633e-01 1.19121781e+02] [ 1.37415808e-01 4.54331547e-03 9.90503031e-01 4.50914071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.82071405700003 meters Centerline goodness : 0.991028 Centerline is valid? [True, True] Translation: X:118.40, Y:119.10, Z:45.08 [[-5.41476953e-02 -9.98471824e-01 1.10473256e-02 1.18396836e+02] [ 9.89964144e-01 -5.51260353e-02 -1.30123456e-01 1.19104638e+02] [ 1.30533600e-01 3.89057096e-03 9.91436253e-01 4.50845133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.850714057 meters Centerline goodness : 0.990579 Centerline is valid? [True, True] Translation: X:118.41, Y:119.13, Z:45.08 [[-6.15015658e-02 -9.97749902e-01 -2.66962770e-02 1.18409218e+02] [ 9.87963403e-01 -5.70512034e-02 -1.43782732e-01 1.19125210e+02] [ 1.41936152e-01 -3.52178079e-02 9.89249127e-01 4.50791450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.88071405700003 meters Centerline goodness : 0.990372 Centerline is valid? [True, True] Translation: X:118.39, Y:119.13, Z:45.09 [[-5.97652867e-02 -9.98166415e-01 9.58741327e-03 1.18394039e+02] [ 9.88857280e-01 -6.05143014e-02 -1.36012127e-01 1.19125028e+02] [ 1.36342913e-01 1.35177967e-03 9.90660781e-01 4.50917650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.910714057 meters Centerline goodness : 0.991110 Centerline is valid? [True, True] Translation: X:118.40, Y:119.13, Z:45.09 [[-6.24466621e-02 -9.98034103e-01 -5.32387475e-03 1.18399222e+02] [ 9.88500971e-01 -6.11123535e-02 -1.38315262e-01 1.19132344e+02] [ 1.37717994e-01 -1.38999818e-02 9.90373942e-01 4.50877735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.940714057 meters Centerline goodness : 0.991726 Centerline is valid? [True, True] Translation: X:118.40, Y:119.14, Z:45.09 [[-6.54838577e-02 -9.97848807e-01 -3.10210290e-03 1.18397141e+02] [ 9.87802614e-01 -6.43838210e-02 -1.41777006e-01 1.19136455e+02] [ 1.41272291e-01 -1.23483706e-02 9.89893761e-01 4.50912487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.970714057 meters Centerline goodness : 0.989194 Centerline is valid? [True, True] Translation: X:118.40, Y:119.15, Z:45.09 [[-6.89198849e-02 -9.97506983e-01 -1.51614069e-02 1.18403166e+02] [ 9.87772923e-01 -6.61013138e-02 -1.41192311e-01 1.19152216e+02] [ 1.39838128e-01 -2.47069851e-02 9.89866083e-01 4.50863339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.000714057 meters Centerline goodness : 0.990189 Centerline is valid? [True, True] Translation: X:118.39, Y:119.17, Z:45.10 [[-7.13355467e-02 -9.97374685e-01 1.24489723e-02 1.18391592e+02] [ 9.87283290e-01 -7.23804074e-02 -1.41537212e-01 1.19168253e+02] [ 1.42066694e-01 2.19402795e-03 9.89854656e-01 4.51006227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.030714057 meters Centerline goodness : 0.990458 Centerline is valid? [True, True] Translation: X:118.40, Y:119.16, Z:45.09 [[-7.47971419e-02 -9.97198078e-01 1.17546348e-03 1.18397054e+02] [ 9.86914218e-01 -7.41945324e-02 -1.43162489e-01 1.19155022e+02] [ 1.42848572e-01 -9.54806340e-03 9.89698500e-01 4.50933447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.060714057 meters Centerline goodness : 0.990458 Centerline is valid? [True, True] Translation: X:118.40, Y:119.16, Z:45.09 [[-7.44533668e-02 -9.97224000e-01 -9.95401211e-04 1.18397826e+02] [ 9.86943856e-01 -7.35428124e-02 -1.43294384e-01 1.19157847e+02] [ 1.42823394e-01 -1.16511545e-02 9.89679609e-01 4.50928468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.090714057 meters Centerline goodness : 0.990386 Centerline is valid? [True, True] Translation: X:118.40, Y:119.16, Z:45.09 [[-7.60596500e-02 -9.97090064e-01 -5.13171038e-03 1.18400525e+02] [ 9.86803796e-01 -7.45351836e-02 -1.43745520e-01 1.19157606e+02] [ 1.42944736e-01 -1.59972252e-02 9.89601380e-01 4.50901676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.120714057 meters Centerline goodness : 0.990973 Centerline is valid? [True, True] Translation: X:118.40, Y:119.16, Z:45.09 [[-7.89547450e-02 -9.96871164e-01 3.74579581e-03 1.18397870e+02] [ 9.86693531e-01 -7.86832912e-02 -1.42284275e-01 1.19161299e+02] [ 1.42133823e-01 -7.53806619e-03 9.89818748e-01 4.50930158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.150714057 meters Centerline goodness : 0.992458 Centerline is valid? [True, True] Translation: X:118.40, Y:119.17, Z:45.09 [[-8.20774142e-02 -9.96625079e-01 -1.32293180e-03 1.18399115e+02] [ 9.86038860e-01 -8.10124709e-02 -1.45479708e-01 1.19172942e+02] [ 1.44881552e-01 -1.32450604e-02 9.89360351e-01 4.50946822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.180714057 meters Centerline goodness : 0.991340 Centerline is valid? [True, True] Translation: X:118.40, Y:119.18, Z:45.10 [[-8.31990678e-02 -9.96530619e-01 -2.15437902e-03 1.18399273e+02] [ 9.85799826e-01 -8.19863439e-02 -1.46550134e-01 1.19182999e+02] [ 1.45865066e-01 -1.43166210e-02 9.89200898e-01 4.50963010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.210714057 meters Centerline goodness : 0.990846 Centerline is valid? [True, True] Translation: X:118.40, Y:119.20, Z:45.10 [[-8.67810425e-02 -9.96186721e-01 -9.00380343e-03 1.18400973e+02] [ 9.85034982e-01 -8.44516104e-02 -1.50246494e-01 1.19202758e+02] [ 1.48913176e-01 -2.19076087e-02 9.88607568e-01 4.50989883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.240714057 meters Centerline goodness : 0.991634 Centerline is valid? [True, True] Translation: X:118.39, Y:119.19, Z:45.10 [[-8.55305127e-02 -9.96304380e-01 7.88119396e-03 1.18393940e+02] [ 9.85388181e-01 -8.57574725e-02 -1.47159057e-01 1.19187424e+02] [ 1.47291085e-01 -4.82055425e-03 9.89081442e-01 4.51035109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.270714057 meters Centerline goodness : 0.990259 Centerline is valid? [True, True] Translation: X:118.40, Y:119.22, Z:45.10 [[-8.93411078e-02 -9.95886709e-01 -1.50940242e-02 1.18402972e+02] [ 9.84951926e-01 -8.60887937e-02 -1.49861344e-01 1.19217540e+02] [ 1.47945494e-01 -2.82556668e-02 9.88591801e-01 4.51005234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.300714057 meters Centerline goodness : 0.990854 Centerline is valid? [True, True] Translation: X:118.40, Y:119.20, Z:45.10 [[-8.68212326e-02 -9.96214308e-01 4.37323504e-03 1.18395309e+02] [ 9.85478493e-01 -8.65269517e-02 -1.46100056e-01 1.19195057e+02] [ 1.45925369e-01 -8.37485789e-03 9.89260152e-01 4.51042724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.330714057 meters Centerline goodness : 0.991420 Centerline is valid? [True, True] Translation: X:118.40, Y:119.20, Z:45.11 [[-8.71417629e-02 -9.96189491e-01 3.57924846e-03 1.18395064e+02] [ 9.85210544e-01 -8.67123701e-02 -1.47787514e-01 1.19204903e+02] [ 1.47534733e-01 -9.35215117e-03 9.89012659e-01 4.51075771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.360714057 meters Centerline goodness : 0.989721 Centerline is valid? [True, True] Translation: X:118.40, Y:119.18, Z:45.10 [[-8.65613793e-02 -9.96140864e-01 -1.45088215e-02 1.18403814e+02] [ 9.85846491e-01 -8.35498299e-02 -1.45348280e-01 1.19181823e+02] [ 1.43575152e-01 -2.68850184e-02 9.89274164e-01 4.50963136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.390714057 meters Centerline goodness : 0.991291 Centerline is valid? [True, True] Translation: X:118.40, Y:119.18, Z:45.10 [[-8.82542755e-02 -9.96096894e-01 -1.47002753e-03 1.18398932e+02] [ 9.85070184e-01 -8.70581269e-02 -1.48518064e-01 1.19184918e+02] [ 1.47810405e-01 -1.45554345e-02 9.88908602e-01 4.51021816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.420714057 meters Centerline goodness : 0.991662 Centerline is valid? [True, True] Translation: X:118.39, Y:119.18, Z:45.11 [[-8.27031495e-02 -9.96149746e-01 2.90838878e-02 1.18387692e+02] [ 9.86197079e-01 -8.60076891e-02 -1.41484980e-01 1.19178389e+02] [ 1.43441665e-01 1.69811917e-02 9.89513076e-01 4.51105707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.450714057 meters Centerline goodness : 0.991255 Centerline is valid? [True, True] Translation: X:118.40, Y:119.18, Z:45.10 [[-8.41688120e-02 -9.96400791e-01 -1.00536051e-02 1.18403477e+02] [ 9.85679249e-01 -8.17751090e-02 -1.47476269e-01 1.19176644e+02] [ 1.46123337e-01 -2.23225323e-02 9.89014497e-01 4.50955396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.480714057 meters Centerline goodness : 0.991241 Centerline is valid? [True, True] Translation: X:118.40, Y:119.20, Z:45.10 [[-8.52743178e-02 -9.96354181e-01 -2.57635387e-03 1.18398650e+02] [ 9.84878399e-01 -8.39002051e-02 -1.51576035e-01 1.19203251e+02] [ 1.50807260e-01 -1.54629383e-02 9.88442243e-01 4.51045202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.51071405700003 meters Centerline goodness : 0.990942 Centerline is valid? [True, True] Translation: X:118.40, Y:119.21, Z:45.11 [[-8.23763421e-02 -9.96599901e-01 1.66628126e-03 1.18396001e+02] [ 9.85098655e-01 -8.16787446e-02 -1.51357927e-01 1.19207566e+02] [ 1.50979395e-01 -1.08268610e-02 9.88477618e-01 4.51067955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.540714057 meters Centerline goodness : 0.991280 Centerline is valid? [True, True] Translation: X:118.40, Y:119.22, Z:45.11 [[-8.14117160e-02 -9.96674026e-01 -3.60808591e-03 1.18396613e+02] [ 9.84918831e-01 -7.98959487e-02 -1.53465090e-01 1.19218323e+02] [ 1.52666398e-01 -1.60475281e-02 9.88147483e-01 4.51073364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.57071405700003 meters Centerline goodness : 0.991090 Centerline is valid? [True, True] Translation: X:118.39, Y:119.20, Z:45.11 [[-7.74131927e-02 -9.96989773e-01 4.31155071e-03 1.18392943e+02] [ 9.85545889e-01 -7.71767896e-02 -1.50807968e-01 1.19202872e+02] [ 1.50686753e-01 -7.42529518e-03 9.88553675e-01 4.51073539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.600714057 meters Centerline goodness : 0.990432 Centerline is valid? [True, True] Translation: X:118.39, Y:119.20, Z:45.10 [[-7.50525356e-02 -9.97178462e-01 -1.49375508e-03 1.18394287e+02] [ 9.85750969e-01 -7.39661370e-02 -1.51076268e-01 1.19196850e+02] [ 1.50539513e-01 -1.28111275e-02 9.88520981e-01 4.51043602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.63071405700003 meters Centerline goodness : 0.990067 Centerline is valid? [True, True] Translation: X:118.39, Y:119.19, Z:45.10 [[-7.08735004e-02 -9.97484422e-01 -1.33192892e-03 1.18393635e+02] [ 9.86440821e-01 -6.98905485e-02 -1.48491808e-01 1.19189216e+02] [ 1.48025176e-01 -1.18380033e-02 9.88912741e-01 4.51025587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.660714057 meters Centerline goodness : 0.991760 Centerline is valid? [True, True] Translation: X:118.39, Y:119.18, Z:45.10 [[-6.89203458e-02 -9.97621019e-01 -1.51252276e-03 1.18393324e+02] [ 9.86452079e-01 -6.79223423e-02 -1.49327996e-01 1.19182602e+02] [ 1.48870013e-01 -1.17837683e-02 9.88786560e-01 4.51028078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.690714057 meters Centerline goodness : 0.990739 Centerline is valid? [True, True] Translation: X:118.39, Y:119.19, Z:45.10 [[-6.66514777e-02 -9.97769823e-01 -3.60007730e-03 1.18393809e+02] [ 9.86691549e-01 -6.53742575e-02 -1.48882481e-01 1.19185557e+02] [ 1.48315094e-01 -1.34754032e-02 9.88848343e-01 4.51037430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.720714057 meters Centerline goodness : 0.990154 Centerline is valid? [True, True] Translation: X:118.39, Y:119.18, Z:45.10 [[-6.58882182e-02 -9.97811953e-01 -5.48170459e-03 1.18394654e+02] [ 9.86711966e-01 -6.43355962e-02 -1.49199286e-01 1.19183393e+02] [ 1.48520162e-01 -1.52393386e-02 9.88791952e-01 4.51034879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.750714057 meters Centerline goodness : 0.990005 Centerline is valid? [True, True] Translation: X:118.39, Y:119.18, Z:45.10 [[-6.35965054e-02 -9.97975351e-01 8.26513729e-04 1.18392618e+02] [ 9.87052527e-01 -6.30225986e-02 -1.47497323e-01 1.19179683e+02] [ 1.47250782e-01 -8.56450185e-03 9.89062110e-01 4.51047524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.780714057 meters Centerline goodness : 0.989926 Centerline is valid? [True, True] Translation: X:118.40, Y:119.19, Z:45.10 [[-6.04886580e-02 -9.98165036e-01 2.77183097e-03 1.18397794e+02] [ 9.87133329e-01 -6.02314605e-02 -1.48121443e-01 1.19192395e+02] [ 1.48016597e-01 -6.22350057e-03 9.88965295e-01 4.51036477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.810714057 meters Centerline goodness : 0.989652 Centerline is valid? [True, True] Translation: X:118.40, Y:119.18, Z:45.10 [[-5.42944630e-02 -9.98485452e-01 8.88335567e-03 1.18398997e+02] [ 9.88734522e-01 -5.50027444e-02 -1.39207555e-01 1.19183795e+02] [ 1.39485327e-01 1.22508101e-03 9.90223380e-01 4.51027052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.840714057 meters Centerline goodness : 0.989725 Centerline is valid? [True, True] Translation: X:118.40, Y:119.19, Z:45.10 [[-5.22134709e-02 -9.98635577e-01 -8.58836128e-04 1.18403312e+02] [ 9.89162077e-01 -5.15999320e-02 -1.37462116e-01 1.19191635e+02] [ 1.37230244e-01 -8.02690233e-03 9.90506653e-01 4.51002920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.870714057 meters Centerline goodness : 0.990341 Centerline is valid? [True, True] Translation: X:118.40, Y:119.19, Z:45.10 [[-4.94330537e-02 -9.98773056e-01 2.95898688e-03 1.18402949e+02] [ 9.89531772e-01 -4.93774142e-02 -1.35605098e-01 1.19192104e+02] [ 1.35584826e-01 -3.77536257e-03 9.90758549e-01 4.51015761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.900714057 meters Centerline goodness : 0.990356 Centerline is valid? [True, True] Translation: X:118.41, Y:119.20, Z:45.10 [[-4.50825688e-02 -9.98979652e-01 -2.68658524e-03 1.18409234e+02] [ 9.89387610e-01 -4.42775182e-02 -1.38389520e-01 1.19201206e+02] [ 1.38129359e-01 -8.89702921e-03 9.90374234e-01 4.51003847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.930714057 meters Centerline goodness : 0.990784 Centerline is valid? [True, True] Translation: X:118.41, Y:119.20, Z:45.10 [[-4.14356748e-02 -9.99141051e-01 -4.95827817e-04 1.18411710e+02] [ 9.89609176e-01 -4.09719807e-02 -1.37822264e-01 1.19200507e+02] [ 1.37683566e-01 -6.20143425e-03 9.90456853e-01 4.50986213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.960714057 meters Centerline goodness : 0.990473 Centerline is valid? [True, True] Translation: X:118.42, Y:119.20, Z:45.10 [[-3.46015751e-02 -9.99399057e-01 -2.06307468e-03 1.18417499e+02] [ 9.89807423e-01 -3.39839992e-02 -1.38298057e-01 1.19201847e+02] [ 1.38144836e-01 -6.82737724e-03 9.90388505e-01 4.50958315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.990714057 meters Centerline goodness : 0.989692 Centerline is valid? [True, True] Translation: X:118.42, Y:119.21, Z:45.10 [[-2.86939941e-02 -9.99571715e-01 5.74817794e-03 1.18415683e+02] [ 9.90698080e-01 -2.92035696e-02 -1.32907736e-01 1.19206613e+02] [ 1.33018680e-01 1.88105507e-03 9.91111746e-01 4.50970923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.020714057 meters Centerline goodness : 0.990022 Centerline is valid? [True, True] Translation: X:118.43, Y:119.23, Z:45.10 [[-5.34664359e-02 -9.96798115e-01 -5.94546813e-02 1.18429233e+02] [ 9.84649766e-01 -4.27208131e-02 -1.69232891e-01 1.19232806e+02] [ 1.66151074e-01 -6.75903175e-02 9.83781159e-01 4.50969884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.050714057 meters Centerline goodness : 0.989583 Centerline is valid? [True, True] Translation: X:118.39, Y:119.18, Z:45.12 [[-1.68776044e-02 -9.97764132e-01 6.46674797e-02 1.18393685e+02] [ 9.91879759e-01 -2.48618214e-02 -1.24725434e-01 1.19183278e+02] [ 1.26054316e-01 6.20372976e-02 9.90081655e-01 4.51180855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.080714057 meters Centerline goodness : 0.990528 Centerline is valid? [True, True] Translation: X:118.43, Y:119.20, Z:45.09 [[-1.52201778e-02 -9.99661796e-01 -2.10864928e-02 1.18432816e+02] [ 9.90697569e-01 -1.22248364e-02 -1.35531843e-01 1.19197508e+02] [ 1.35228227e-01 -2.29531559e-02 9.90548575e-01 4.50900434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.110714057 meters Centerline goodness : 0.990776 Centerline is valid? [True, True] Translation: X:118.43, Y:119.21, Z:45.10 [[-3.76579694e-02 -9.98227401e-01 -4.60861492e-02 1.18432782e+02] [ 9.86141163e-01 -2.96658036e-02 -1.63234636e-01 1.19214642e+02] [ 1.61578104e-01 -5.15945337e-02 9.85510284e-01 4.51004466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.140714057 meters Centerline goodness : 0.987787 Centerline is valid? [True, True] Translation: X:118.42, Y:119.19, Z:45.11 [[-1.29741770e-02 -9.99388275e-01 3.24768678e-02 1.18415886e+02] [ 9.91367412e-01 -1.70944307e-02 -1.29993982e-01 1.19191677e+02] [ 1.30469635e-01 3.05099434e-02 9.90982754e-01 4.51103067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.170714057 meters Centerline goodness : 0.988915 Centerline is valid? [True, True] Translation: X:118.43, Y:119.20, Z:45.10 [[-1.24200906e-02 -9.99920781e-01 -2.04295692e-03 1.18431258e+02] [ 9.91058797e-01 -1.20385223e-02 -1.32881656e-01 1.19201003e+02] [ 1.32846535e-01 -3.67509263e-03 9.91129806e-01 4.51001347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.200714057 meters Centerline goodness : 0.991257 Centerline is valid? [True, True] Translation: X:118.43, Y:119.22, Z:45.11 [[-3.68850076e-02 -9.98892448e-01 -2.92125518e-02 1.18433631e+02] [ 9.86442166e-01 -3.17163869e-02 -1.61015290e-01 1.19222632e+02] [ 1.59910441e-01 -3.47555430e-02 9.86519490e-01 4.51100998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.230714057 meters Centerline goodness : 0.991596 Centerline is valid? [True, True] Translation: X:118.43, Y:119.23, Z:45.12 [[-4.15756463e-02 -9.99131352e-01 2.82980846e-03 1.18427957e+02] [ 9.86133345e-01 -4.14898785e-02 -1.60684833e-01 1.19227647e+02] [ 1.60662663e-01 -3.89000730e-03 9.87001711e-01 4.51220255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.26071405700003 meters Centerline goodness : 0.992670 Centerline is valid? [True, True] Translation: X:118.43, Y:119.23, Z:45.12 [[-4.42400386e-02 -9.99017080e-01 2.77356696e-03 1.18432916e+02] [ 9.85962799e-01 -4.41090248e-02 -1.61033391e-01 1.19228607e+02] [ 1.60997448e-01 -4.38948960e-03 9.86945061e-01 4.51210978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.290714057 meters Centerline goodness : 0.993114 Centerline is valid? [True, True] Translation: X:118.44, Y:119.24, Z:45.12 [[-4.70983528e-02 -9.98886554e-01 2.71970059e-03 1.18437562e+02] [ 9.85749272e-01 -4.69187644e-02 -1.61545669e-01 1.19236990e+02] [ 1.61493402e-01 -4.92759206e-03 9.86861490e-01 4.51214671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.32071405700003 meters Centerline goodness : 0.993223 Centerline is valid? [True, True] Translation: X:118.44, Y:119.24, Z:45.12 [[-5.39827334e-02 -9.98538293e-01 2.67234684e-03 1.18444656e+02] [ 9.85247547e-01 -5.36990832e-02 -1.62492090e-01 1.19243819e+02] [ 1.62398077e-01 -6.13884400e-03 9.86706227e-01 4.51218633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.350714057 meters Centerline goodness : 0.992872 Centerline is valid? [True, True] Translation: X:118.45, Y:119.24, Z:45.12 [[-3.81657562e-02 -9.98867547e-01 2.84077043e-02 1.18447659e+02] [ 9.88644395e-01 -4.18795971e-02 -1.44320338e-01 1.19240100e+02] [ 1.45346606e-01 2.25770228e-02 9.89123168e-01 4.51199900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.38071405700003 meters Centerline goodness : 0.992261 Centerline is valid? [True, True] Translation: X:118.47, Y:119.25, Z:45.11 [[-4.73185087e-02 -9.98692350e-01 -1.93532498e-02 1.18472145e+02] [ 9.86828068e-01 -4.37382034e-02 -1.55747660e-01 1.19246758e+02] [ 1.54697521e-01 -2.64680772e-02 9.87607269e-01 4.51092376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.410714057 meters Centerline goodness : 0.992110 Centerline is valid? [True, True] Translation: X:118.46, Y:119.25, Z:45.12 [[-4.76785734e-02 -9.98826952e-01 8.45423196e-03 1.18464479e+02] [ 9.87558238e-01 -4.84070553e-02 -1.49617794e-01 1.19254178e+02] [ 1.49851530e-01 1.21548344e-03 9.88707764e-01 4.51166442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.440714057 meters Centerline goodness : 0.990856 Centerline is valid? [True, True] Translation: X:118.48, Y:119.26, Z:45.11 [[-5.01435927e-02 -9.98671663e-01 -1.18545131e-02 1.18476134e+02] [ 9.87390319e-01 -4.77856888e-02 -1.50920131e-01 1.19256225e+02] [ 1.50153182e-01 -1.92727090e-02 9.88474878e-01 4.51099417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.470714057 meters Centerline goodness : 0.992112 Centerline is valid? [True, True] Translation: X:118.47, Y:119.25, Z:45.12 [[-4.99350992e-02 -9.98564850e-01 1.93578278e-02 1.18468113e+02] [ 9.87786168e-01 -5.22418407e-02 -1.46796717e-01 1.19251193e+02] [ 1.47597330e-01 1.17910859e-02 9.88977249e-01 4.51182734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.500714057 meters Centerline goodness : 0.991689 Centerline is valid? [True, True] Translation: X:118.48, Y:119.25, Z:45.11 [[-4.92899882e-02 -9.98770045e-01 -5.37525871e-03 1.18481331e+02] [ 9.88137091e-01 -4.79800988e-02 -1.45886941e-01 1.19248869e+02] [ 1.45449601e-01 -1.25022581e-02 9.89286666e-01 4.51083072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.530714057 meters Centerline goodness : 0.992693 Centerline is valid? [True, True] Translation: X:118.48, Y:119.27, Z:45.11 [[-6.94347299e-02 -9.97280975e-01 -2.46875326e-02 1.18483501e+02] [ 9.84707201e-01 -6.45535520e-02 -1.61816462e-01 1.19268935e+02] [ 1.59782811e-01 -3.55456734e-02 9.86512016e-01 4.51145625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.560714057 meters Centerline goodness : 0.993180 Centerline is valid? [True, True] Translation: X:118.47, Y:119.27, Z:45.12 [[-6.96028457e-02 -9.97571895e-01 2.39982243e-03 1.18473910e+02] [ 9.84614816e-01 -6.90849152e-02 -1.60502147e-01 1.19271570e+02] [ 1.60278222e-01 -8.80850545e-03 9.87032574e-01 4.51239788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.590714057 meters Centerline goodness : 0.992857 Centerline is valid? [True, True] Translation: X:118.48, Y:119.27, Z:45.12 [[-6.97405738e-02 -9.97562421e-01 2.33844133e-03 1.18477477e+02] [ 9.84587049e-01 -6.92099676e-02 -1.60618567e-01 1.19274504e+02] [ 1.60388890e-01 -8.89923200e-03 9.87013783e-01 4.51249360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.620714057 meters Centerline goodness : 0.992518 Centerline is valid? [True, True] Translation: X:118.48, Y:119.23, Z:45.12 [[-4.87162368e-02 -9.98530146e-01 2.37544911e-02 1.18480585e+02] [ 9.88203314e-01 -5.16423272e-02 -1.44177950e-01 1.19234621e+02] [ 1.45192767e-01 1.64504596e-02 9.89266619e-01 4.51162078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.650714057 meters Centerline goodness : 0.992658 Centerline is valid? [True, True] Translation: X:118.49, Y:119.24, Z:45.11 [[-4.56068011e-02 -9.98927098e-01 8.04195544e-03 1.18491540e+02] [ 9.89065846e-01 -4.62838495e-02 -1.40023420e-01 1.19235107e+02] [ 1.40245402e-01 1.56800318e-03 9.90115533e-01 4.51073605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.680714057 meters Centerline goodness : 0.993220 Centerline is valid? [True, True] Translation: X:118.50, Y:119.28, Z:45.11 [[-7.10720972e-02 -9.96771976e-01 -3.73414648e-02 1.18500448e+02] [ 9.84676408e-01 -6.41343742e-02 -1.62170138e-01 1.19282427e+02] [ 1.59251778e-01 -4.82950312e-02 9.86056013e-01 4.51115235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.710714057 meters Centerline goodness : 0.992593 Centerline is valid? [True, True] Translation: X:118.49, Y:119.63, Z:45.18 [[-6.67109047e-02 -9.97752333e-01 -6.31951356e-03 1.18486196e+02] [ 9.84076013e-01 -6.47480276e-02 -1.65535775e-01 1.19625355e+02] [ 1.64754529e-01 -1.72619230e-02 9.86183538e-01 4.51763608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.740714057 meters Centerline goodness : 0.992749 Centerline is valid? [True, True] Translation: X:118.49, Y:119.63, Z:45.18 [[-6.51565586e-02 -9.97874298e-01 1.22841127e-03 1.18486324e+02] [ 9.84004697e-01 -6.44553787e-02 -1.66073058e-01 1.19629030e+02] [ 1.65799214e-01 -9.61198650e-03 9.86112686e-01 4.51787242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.770714057 meters Centerline goodness : 0.992277 Centerline is valid? [True, True] Translation: X:118.48, Y:119.29, Z:45.13 [[-7.16144383e-02 -9.97397886e-01 8.29633063e-03 1.18484917e+02] [ 9.83851243e-01 -7.20048046e-02 -1.63865921e-01 1.19286321e+02] [ 1.64036899e-01 -3.57281070e-03 9.86447733e-01 4.51268582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.800714057 meters Centerline goodness : 0.991632 Centerline is valid? [True, True] Translation: X:118.50, Y:119.26, Z:45.12 [[-5.67745475e-02 -9.98387024e-01 4.56234210e-05 1.18497732e+02] [ 9.84935045e-01 -5.60170596e-02 -1.63600264e-01 1.19264656e+02] [ 1.63338936e-01 -9.24339485e-03 9.86526711e-01 4.51199572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.830714057 meters Centerline goodness : 0.991596 Centerline is valid? [True, True] Translation: X:118.50, Y:119.28, Z:45.12 [[-5.72976447e-02 -9.98357056e-01 -4.11688102e-04 1.18498241e+02] [ 9.85124380e-01 -5.64712694e-02 -1.62298959e-01 1.19278952e+02] [ 1.62009062e-01 -9.70491208e-03 9.86741546e-01 4.51214891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.860714057 meters Centerline goodness : 0.992082 Centerline is valid? [True, True] Translation: X:118.50, Y:119.27, Z:45.12 [[-5.72368149e-02 -9.98352302e-01 -4.07783659e-03 1.18499761e+02] [ 9.85054798e-01 -5.58088754e-02 -1.62949115e-01 1.19272098e+02] [ 1.62453045e-01 -1.33435809e-02 9.86626047e-01 4.51201646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.890714057 meters Centerline goodness : 0.991602 Centerline is valid? [True, True] Translation: X:118.50, Y:119.29, Z:45.13 [[-6.19391997e-02 -9.98008759e-01 -1.19185473e-02 1.18500878e+02] [ 9.83798004e-01 -5.90356237e-02 -1.69281665e-01 1.19287457e+02] [ 1.68240965e-01 -2.22106139e-02 9.85495645e-01 4.51254565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.920714057 meters Centerline goodness : 0.991233 Centerline is valid? [True, True] Translation: X:118.49, Y:119.28, Z:45.13 [[-5.97556011e-02 -9.98194331e-01 6.11109375e-03 1.18493529e+02] [ 9.84674573e-01 -5.99489107e-02 -1.63774583e-01 1.19284002e+02] [ 1.63845214e-01 -3.76901004e-03 9.86478860e-01 4.51283714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.950714057 meters Centerline goodness : 0.990363 Centerline is valid? [True, True] Translation: X:118.49, Y:119.29, Z:45.13 [[-5.75500405e-02 -9.98264909e-01 1.24564998e-02 1.18490497e+02] [ 9.86444571e-01 -5.87803208e-02 -1.53205689e-01 1.19293063e+02] [ 1.53672060e-01 3.47065293e-03 9.88115809e-01 4.51271814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.980714057 meters Centerline goodness : 0.990363 Centerline is valid? [True, True] Translation: X:118.50, Y:119.30, Z:45.12 [[-5.72019166e-02 -9.98362076e-01 -1.05190347e-03 1.18496011e+02] [ 9.86557601e-01 -5.63639585e-02 -1.53385801e-01 1.19296416e+02] [ 1.53075277e-01 -9.81172514e-03 9.88165821e-01 4.51232454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.01071405700003 meters Centerline goodness : 0.991806 Centerline is valid? [True, True] Translation: X:118.50, Y:119.29, Z:45.12 [[-5.96888663e-02 -9.98136702e-01 -1.26634720e-02 1.18498530e+02] [ 9.85361072e-01 -5.68859403e-02 -1.60709515e-01 1.19292932e+02] [ 1.59689692e-01 -2.20706611e-02 9.86920508e-01 4.51236862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.040714057 meters Centerline goodness : 0.991380 Centerline is valid? [True, True] Translation: X:118.50, Y:119.30, Z:45.13 [[-6.43951163e-02 -9.97845202e-01 -1.25785976e-02 1.18495063e+02] [ 9.83766899e-01 -6.13608207e-02 -1.68634330e-01 1.19301978e+02] [ 1.67499124e-01 -2.32336352e-02 9.85598418e-01 4.51306205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.07071405700003 meters Centerline goodness : 0.991950 Centerline is valid? [True, True] Translation: X:118.49, Y:119.31, Z:45.13 [[-6.28742155e-02 -9.97988245e-01 8.14228424e-03 1.18486697e+02] [ 9.84766090e-01 -6.33623359e-02 -1.61928882e-01 1.19305081e+02] [ 1.62119035e-01 -2.16290603e-03 9.86768838e-01 4.51341817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.100714057 meters Centerline goodness : 0.991708 Centerline is valid? [True, True] Translation: X:118.49, Y:119.31, Z:45.13 [[-6.44055695e-02 -9.97919535e-01 -2.91953849e-03 1.18490178e+02] [ 9.84563210e-01 -6.30658796e-02 -1.63272716e-01 1.19309094e+02] [ 1.62748909e-01 -1.33901424e-02 9.86576655e-01 4.51312315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.13071405700003 meters Centerline goodness : 0.992170 Centerline is valid? [True, True] Translation: X:118.49, Y:119.32, Z:45.13 [[-6.77980043e-02 -9.97692008e-01 -3.75329234e-03 1.18488101e+02] [ 9.84001116e-01 -6.62454546e-02 -1.65388461e-01 1.19318449e+02] [ 1.64758107e-01 -1.49062514e-02 9.86221359e-01 4.51333025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.160714057 meters Centerline goodness : 0.992421 Centerline is valid? [True, True] Translation: X:118.48, Y:119.32, Z:45.13 [[-6.77407970e-02 -9.97696448e-01 3.60298942e-03 1.18484015e+02] [ 9.84346137e-01 -6.74224140e-02 -1.62840108e-01 1.19319868e+02] [ 1.62707920e-01 -7.48432999e-03 9.86645893e-01 4.51338982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.190714057 meters Centerline goodness : 0.992918 Centerline is valid? [True, True] Translation: X:118.49, Y:119.32, Z:45.13 [[-6.98478347e-02 -9.97550507e-01 -3.77704153e-03 1.18485188e+02] [ 9.84118380e-01 -6.82869255e-02 -1.63853316e-01 1.19318290e+02] [ 1.63194036e-01 -1.51618553e-02 9.86477483e-01 4.51315160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.220714057 meters Centerline goodness : 0.993080 Centerline is valid? [True, True] Translation: X:118.48, Y:119.32, Z:45.13 [[-8.08474494e-02 -9.96721937e-01 3.01155775e-03 1.18475460e+02] [ 9.83449184e-01 -8.02616492e-02 -1.62436976e-01 1.19322636e+02] [ 1.62146210e-01 -1.01709012e-02 9.86714325e-01 4.51335841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.250714057 meters Centerline goodness : 0.992601 Centerline is valid? [True, True] Translation: X:118.48, Y:119.31, Z:45.13 [[-6.77660599e-02 -9.97609610e-01 1.35213264e-02 1.18475933e+02] [ 9.85620989e-01 -6.90419763e-02 -1.54222153e-01 1.19314795e+02] [ 1.54787041e-01 2.87587544e-03 9.87943673e-01 4.51319279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.280714057 meters Centerline goodness : 0.991814 Centerline is valid? [True, True] Translation: X:118.49, Y:119.32, Z:45.13 [[-7.22320020e-02 -9.97242995e-01 -1.69984163e-02 1.18486004e+02] [ 9.84270315e-01 -6.85166654e-02 -1.62841686e-01 1.19321419e+02] [ 1.61228056e-01 -2.84934175e-02 9.86505773e-01 4.51278947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.310714057 meters Centerline goodness : 0.992682 Centerline is valid? [True, True] Translation: X:118.48, Y:119.32, Z:45.13 [[-7.10162887e-02 -9.97470606e-01 3.01287440e-03 1.18476843e+02] [ 9.84712758e-01 -7.05889686e-02 -1.59241898e-01 1.19322600e+02] [ 1.59051788e-01 -8.34195272e-03 9.87234998e-01 4.51330136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.340714057 meters Centerline goodness : 0.992755 Centerline is valid? [True, True] Translation: X:118.47, Y:119.32, Z:45.13 [[-6.91100344e-02 -9.97581444e-01 7.42066960e-03 1.18472794e+02] [ 9.85679980e-01 -6.94286329e-02 -1.53670565e-01 1.19321560e+02] [ 1.53814111e-01 -3.30577255e-03 9.88094272e-01 4.51320690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.370714057 meters Centerline goodness : 0.992936 Centerline is valid? [True, True] Translation: X:118.48, Y:119.33, Z:45.13 [[-7.24437630e-02 -9.97283835e-01 -1.32986084e-02 1.18479075e+02] [ 9.84657149e-01 -6.93915117e-02 -1.60109702e-01 1.19328581e+02] [ 1.58752007e-01 -2.46935191e-02 9.87009640e-01 4.51300977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.400714057 meters Centerline goodness : 0.993577 Centerline is valid? [True, True] Translation: X:118.47, Y:119.33, Z:45.13 [[-6.93526753e-02 -9.97580423e-01 4.84839834e-03 1.18470214e+02] [ 9.85578563e-01 -6.92686627e-02 -1.54391542e-01 1.19327488e+02] [ 1.54353822e-01 -5.92898903e-03 9.87997847e-01 4.51337604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.430714057 meters Centerline goodness : 0.992978 Centerline is valid? [True, True] Translation: X:118.47, Y:119.35, Z:45.14 [[-7.10641364e-02 -9.97397941e-01 -1.21340595e-02 1.18474819e+02] [ 9.85368981e-01 -6.83074316e-02 -1.56147580e-01 1.19353813e+02] [ 1.54912428e-01 -2.30530187e-02 9.87659201e-01 4.51350400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.460714057 meters Centerline goodness : 0.993349 Centerline is valid? [True, True] Translation: X:118.47, Y:119.34, Z:45.14 [[-7.04495887e-02 -9.97514260e-01 -1.46869001e-03 1.18468340e+02] [ 9.85296483e-01 -6.93568101e-02 -1.56142481e-01 1.19342679e+02] [ 1.55652487e-01 -1.24472686e-02 9.87733450e-01 4.51379587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.490714057 meters Centerline goodness : 0.992774 Centerline is valid? [True, True] Translation: X:118.46, Y:119.34, Z:45.14 [[-6.57472847e-02 -9.97788364e-01 9.78138415e-03 1.18463904e+02] [ 9.86761294e-01 -6.64708614e-02 -1.47931648e-01 1.19336837e+02] [ 1.48254654e-01 -7.42128675e-05 9.88949216e-01 4.51366715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.520714057 meters Centerline goodness : 0.992826 Centerline is valid? [True, True] Translation: X:118.47, Y:119.36, Z:45.14 [[-6.59343458e-02 -9.97767614e-01 -1.06042444e-02 1.18469437e+02] [ 9.86639742e-01 -6.36049261e-02 -1.49988110e-01 1.19364298e+02] [ 1.48978796e-01 -2.03519369e-02 9.88630931e-01 4.51358936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.550714057 meters Centerline goodness : 0.992788 Centerline is valid? [True, True] Translation: X:118.46, Y:119.39, Z:45.14 [[-6.54542254e-02 -9.97853718e-01 -1.92422465e-03 1.18464912e+02] [ 9.86566512e-01 -6.44243551e-02 -1.50120020e-01 1.19391657e+02] [ 1.49673853e-01 -1.17243652e-02 9.88665908e-01 4.51424376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.580714057 meters Centerline goodness : 0.993025 Centerline is valid? [True, True] Translation: X:118.46, Y:119.37, Z:45.14 [[-6.10832221e-02 -9.98116285e-01 5.72029076e-03 1.18461950e+02] [ 9.87627339e-01 -6.12686259e-02 -1.44355101e-01 1.19373213e+02] [ 1.44433652e-01 -3.16815916e-03 9.89509415e-01 4.51388035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.610714057 meters Centerline goodness : 0.993603 Centerline is valid? [True, True] Translation: X:118.47, Y:119.40, Z:45.14 [[-6.21986384e-02 -9.97982890e-01 -1.27075252e-02 1.18466631e+02] [ 9.87215318e-01 -5.96454374e-02 -1.47811833e-01 1.19400421e+02] [ 1.46755735e-01 -2.17387583e-02 9.88933861e-01 4.51402095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.640714057 meters Centerline goodness : 0.992936 Centerline is valid? [True, True] Translation: X:118.46, Y:119.40, Z:45.14 [[-6.05251932e-02 -9.98166670e-01 3.26877971e-06 1.18460565e+02] [ 9.87323834e-01 -5.98682045e-02 -1.46994711e-01 1.19395917e+02] [ 1.46725416e-01 -8.89365591e-03 9.89137278e-01 4.51437832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.670714057 meters Centerline goodness : 0.992903 Centerline is valid? [True, True] Translation: X:118.46, Y:119.42, Z:45.15 [[-5.97369219e-02 -9.98196028e-01 -6.01576808e-03 1.18460888e+02] [ 9.87423479e-01 -5.82063671e-02 -1.46992831e-01 1.19422090e+02] [ 1.46377504e-01 -1.47210099e-02 9.89119264e-01 4.51455764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.700714057 meters Centerline goodness : 0.993156 Centerline is valid? [True, True] Translation: X:118.46, Y:119.45, Z:45.15 [[-6.06842177e-02 -9.98153806e-01 -2.53070638e-03 1.18458134e+02] [ 9.87356043e-01 -5.96553927e-02 -1.46864834e-01 1.19449050e+02] [ 1.46442722e-01 -1.14110858e-02 9.89153333e-01 4.51507934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.730714057 meters Centerline goodness : 0.993377 Centerline is valid? [True, True] Translation: X:118.46, Y:119.48, Z:45.15 [[-6.10823905e-02 -9.98131617e-01 -1.48914290e-03 1.18457233e+02] [ 9.87385021e-01 -6.02062488e-02 -1.46444623e-01 1.19478470e+02] [ 1.46081353e-01 -1.04155451e-02 9.89217749e-01 4.51544935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.76071405700003 meters Centerline goodness : 0.994460 Centerline is valid? [True, True] Translation: X:118.45, Y:119.49, Z:45.16 [[-6.24857668e-02 -9.98045771e-01 4.09300611e-04 1.18454880e+02] [ 9.87388837e-01 -6.18783163e-02 -1.45720138e-01 1.19486474e+02] [ 1.45460694e-01 -8.70129567e-03 9.89325767e-01 4.51563351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.790714057 meters Centerline goodness : 0.992977 Centerline is valid? [True, True] Translation: X:118.45, Y:119.49, Z:45.16 [[-6.55356506e-02 -9.97850219e-01 -1.36235279e-04 1.18453110e+02] [ 9.87312088e-01 -6.48237486e-02 -1.44957656e-01 1.19492171e+02] [ 1.44637197e-01 -9.63440103e-03 9.89437850e-01 4.51566916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.82071405700003 meters Centerline goodness : 0.993694 Centerline is valid? [True, True] Translation: X:118.45, Y:119.48, Z:45.15 [[-6.64661189e-02 -9.97779773e-01 -4.21663088e-03 1.18453943e+02] [ 9.87302520e-01 -6.51559480e-02 -1.44873865e-01 1.19482931e+02] [ 1.44277473e-01 -1.37922938e-02 9.89441147e-01 4.51541612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.850714057 meters Centerline goodness : 0.993399 Centerline is valid? [True, True] Translation: X:118.45, Y:119.51, Z:45.16 [[-6.91359584e-02 -9.97602195e-01 -3.17478057e-03 1.18452110e+02] [ 9.87158220e-01 -6.79520800e-02 -1.44572347e-01 1.19511829e+02] [ 1.44009958e-01 -1.31291585e-02 9.89489140e-01 4.51583321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.88071405700003 meters Centerline goodness : 0.994187 Centerline is valid? [True, True] Translation: X:118.45, Y:119.53, Z:45.16 [[-7.57730348e-02 -9.97091607e-01 -8.17153635e-03 1.18451818e+02] [ 9.86163230e-01 -7.37256861e-02 -1.48480997e-01 1.19533917e+02] [ 1.47446704e-01 -1.93093245e-02 9.88881499e-01 4.51625496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.910714057 meters Centerline goodness : 0.993408 Centerline is valid? [True, True] Translation: X:118.45, Y:119.52, Z:45.16 [[-7.64420518e-02 -9.97074025e-01 3.20808042e-05 1.18448127e+02] [ 9.86316437e-01 -7.56220200e-02 -1.46496405e-01 1.19517018e+02] [ 1.46070186e-01 -1.11668439e-02 9.89211202e-01 4.51619346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.940714057 meters Centerline goodness : 0.993070 Centerline is valid? [True, True] Translation: X:118.45, Y:119.54, Z:45.16 [[-8.17010210e-02 -9.96648949e-01 -3.97683092e-03 1.18447749e+02] [ 9.85728771e-01 -8.02152775e-02 -1.48001009e-01 1.19538683e+02] [ 1.47186047e-01 -1.60119102e-02 9.88979214e-01 4.51643492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.970714057 meters Centerline goodness : 0.993720 Centerline is valid? [True, True] Translation: X:118.45, Y:119.54, Z:45.17 [[-8.23306661e-02 -9.96605068e-01 1.88185374e-05 1.18445407e+02] [ 9.85676418e-01 -8.14306267e-02 -1.47685652e-01 1.19535409e+02] [ 1.47185802e-01 -1.21405091e-02 9.89034351e-01 4.51653708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.000714057 meters Centerline goodness : 0.993231 Centerline is valid? [True, True] Translation: X:118.44, Y:119.54, Z:45.17 [[-8.35514689e-02 -9.96502926e-01 -1.03488022e-03 1.18444111e+02] [ 9.85452072e-01 -8.24705877e-02 -1.48602878e-01 1.19540055e+02] [ 1.47997855e-01 -1.34358136e-02 9.88896412e-01 4.51661061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.030714057 meters Centerline goodness : 0.994369 Centerline is valid? [True, True] Translation: X:118.44, Y:119.54, Z:45.17 [[-8.38238176e-02 -9.96480280e-01 -7.87116200e-04 1.18440878e+02] [ 9.85390536e-01 -8.27733794e-02 -1.48842396e-01 1.19544983e+02] [ 1.48253360e-01 -1.32521547e-02 9.88860618e-01 4.51670131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.060714057 meters Centerline goodness : 0.993903 Centerline is valid? [True, True] Translation: X:118.44, Y:119.55, Z:45.17 [[-8.39914379e-02 -9.96464817e-01 -1.81839630e-03 1.18439550e+02] [ 9.85192845e-01 -8.27673315e-02 -1.50148680e-01 1.19554148e+02] [ 1.49467374e-01 -1.44026746e-02 9.88661756e-01 4.51682273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.090714057 meters Centerline goodness : 0.992792 Centerline is valid? [True, True] Translation: X:118.44, Y:119.54, Z:45.17 [[-8.16856176e-02 -9.96651044e-01 3.76238977e-03 1.18436470e+02] [ 9.85783724e-01 -8.13499074e-02 -1.47012390e-01 1.19542882e+02] [ 1.46826122e-01 -8.29989527e-03 9.89127495e-01 4.51663237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.120714057 meters Centerline goodness : 0.993251 Centerline is valid? [True, True] Translation: X:118.44, Y:119.56, Z:45.17 [[-8.18603677e-02 -9.96624255e-01 -6.24298896e-03 1.18437649e+02] [ 9.85511557e-01 -8.00107947e-02 -1.49550137e-01 1.19560608e+02] [ 1.48545787e-01 -1.83947669e-02 9.88734434e-01 4.51666091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.150714057 meters Centerline goodness : 0.994732 Centerline is valid? [True, True] Translation: X:118.43, Y:119.59, Z:45.17 [[-8.11417359e-02 -9.96660475e-01 9.16060032e-03 1.18430540e+02] [ 9.85577023e-01 -8.16020317e-02 -1.48253298e-01 1.19591271e+02] [ 1.48505726e-01 -3.00105278e-03 9.88906994e-01 4.51747374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.180714057 meters Centerline goodness : 0.993701 Centerline is valid? [True, True] Translation: X:118.43, Y:119.59, Z:45.17 [[-7.95817490e-02 -9.96826936e-01 -1.67470840e-03 1.18431533e+02] [ 9.85866567e-01 -7.84580390e-02 -1.48025164e-01 1.19585918e+02] [ 1.47424076e-01 -1.34311404e-02 9.88982177e-01 4.51700697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.210714057 meters Centerline goodness : 0.993791 Centerline is valid? [True, True] Translation: X:118.43, Y:119.59, Z:45.17 [[-7.82792011e-02 -9.96926854e-01 -3.03565577e-03 1.18428624e+02] [ 9.85899790e-01 -7.69608956e-02 -1.48588778e-01 1.19591389e+02] [ 1.47898516e-01 -1.46242632e-02 9.88894413e-01 4.51709073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.240714057 meters Centerline goodness : 0.993871 Centerline is valid? [True, True] Translation: X:118.43, Y:119.62, Z:45.18 [[-7.83017127e-02 -9.96918318e-01 -4.76537288e-03 1.18427218e+02] [ 9.85694995e-01 -7.67028239e-02 -1.50073493e-01 1.19620991e+02] [ 1.49245496e-01 -1.64482157e-02 9.88663359e-01 4.51752342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.270714057 meters Centerline goodness : 0.993168 Centerline is valid? [True, True] Translation: X:118.43, Y:119.60, Z:45.17 [[-7.75074991e-02 -9.96987310e-01 -2.98182991e-03 1.18425179e+02] [ 9.85652375e-01 -7.61758189e-02 -1.50620851e-01 1.19602197e+02] [ 1.49939934e-01 -1.46132932e-02 9.88587107e-01 4.51736379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.300714057 meters Centerline goodness : 0.992560 Centerline is valid? [True, True] Translation: X:118.42, Y:119.61, Z:45.17 [[-7.69234531e-02 -9.97027887e-01 -4.26329951e-03 1.18422673e+02] [ 9.85586906e-01 -7.53931877e-02 -1.51440807e-01 1.19607028e+02] [ 1.50669284e-01 -1.58512020e-02 9.88457134e-01 4.51741066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.330714057 meters Centerline goodness : 0.993117 Centerline is valid? [True, True] Translation: X:118.42, Y:119.60, Z:45.17 [[-7.54699007e-02 -9.97147654e-01 9.22443132e-04 1.18419602e+02] [ 9.85868276e-01 -7.47548987e-02 -1.49918135e-01 1.19597748e+02] [ 1.49559474e-01 -1.04048994e-02 9.88697983e-01 4.51738803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.360714057 meters Centerline goodness : 0.993350 Centerline is valid? [True, True] Translation: X:118.42, Y:119.63, Z:45.18 [[-7.68384434e-02 -9.97042302e-01 1.58156321e-03 1.18417575e+02] [ 9.85593611e-01 -7.61956506e-02 -1.50994889e-01 1.19628682e+02] [ 1.50668800e-01 -1.00434337e-02 9.88533278e-01 4.51770455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.390714057 meters Centerline goodness : 0.992891 Centerline is valid? [True, True] Translation: X:118.42, Y:119.64, Z:45.17 [[-7.76707836e-02 -9.96960522e-01 -6.08007284e-03 1.18419685e+02] [ 9.85390273e-01 -7.58393725e-02 -1.52493936e-01 1.19635547e+02] [ 1.51569325e-01 -1.78355681e-02 9.88285704e-01 4.51749796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.420714057 meters Centerline goodness : 0.992863 Centerline is valid? [True, True] Translation: X:118.42, Y:119.63, Z:45.18 [[-7.67674428e-02 -9.97042522e-01 3.60121048e-03 1.18415200e+02] [ 9.85575664e-01 -7.64299230e-02 -1.50993635e-01 1.19633798e+02] [ 1.50822315e-01 -8.04212982e-03 9.88528175e-01 4.51778540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.450714057 meters Centerline goodness : 0.992342 Centerline is valid? [True, True] Translation: X:118.42, Y:119.65, Z:45.18 [[-7.76126921e-02 -9.96974028e-01 -4.36541811e-03 1.18416033e+02] [ 9.85456608e-01 -7.60507027e-02 -1.51959087e-01 1.19646429e+02] [ 1.51167270e-01 -1.60958840e-02 9.88377144e-01 4.51775507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.480714057 meters Centerline goodness : 0.992741 Centerline is valid? [True, True] Translation: X:118.42, Y:119.64, Z:45.18 [[-7.75470469e-02 -9.96977180e-01 -4.79148047e-03 1.18415100e+02] [ 9.85430226e-01 -7.59174416e-02 -1.52196621e-01 1.19644969e+02] [ 1.51372802e-01 -1.65240682e-02 9.88338621e-01 4.51769437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.51071405700003 meters Centerline goodness : 0.992649 Centerline is valid? [True, True] Translation: X:118.41, Y:119.64, Z:45.18 [[-7.69266451e-02 -9.97034029e-01 -2.33144540e-03 1.18412669e+02] [ 9.85496353e-01 -7.56812834e-02 -1.51885751e-01 1.19641471e+02] [ 1.51258816e-01 -1.39816922e-02 9.88395307e-01 4.51766789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.540714057 meters Centerline goodness : 0.992353 Centerline is valid? [True, True] Translation: X:118.41, Y:119.65, Z:45.18 [[-7.71086685e-02 -9.97022448e-01 -7.01382658e-04 1.18410671e+02] [ 9.85193920e-01 -7.60857835e-02 -1.53635587e-01 1.19646035e+02] [ 1.53124764e-01 -1.25376335e-02 9.88127327e-01 4.51786128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.57071405700003 meters Centerline goodness : 0.992484 Centerline is valid? [True, True] Translation: X:118.41, Y:119.64, Z:45.18 [[-7.80558446e-02 -9.96903267e-01 -9.54781835e-03 1.18412823e+02] [ 9.84829827e-01 -7.56146908e-02 -1.56181403e-01 1.19640938e+02] [ 1.54975795e-01 -2.15938476e-02 9.87682241e-01 4.51751894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.600714057 meters Centerline goodness : 0.991472 Centerline is valid? [True, True] Translation: X:118.41, Y:119.67, Z:45.18 [[-7.87790523e-02 -9.96890450e-01 -1.81444729e-03 1.18409126e+02] [ 9.84728778e-01 -7.75342657e-02 -1.55877106e-01 1.19668692e+02] [ 1.55251716e-01 -1.40665891e-02 9.87774790e-01 4.51813311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.63071405700003 meters Centerline goodness : 0.991389 Centerline is valid? [True, True] Translation: X:118.41, Y:119.70, Z:45.18 [[-8.21764756e-02 -9.96594430e-01 -6.82410324e-03 1.18409015e+02] [ 9.84357781e-01 -8.00929555e-02 -1.56923157e-01 1.19696664e+02] [ 1.55842181e-01 -1.96127511e-02 9.87587239e-01 4.51847971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.660714057 meters Centerline goodness : 0.991237 Centerline is valid? [True, True] Translation: X:118.41, Y:119.69, Z:45.19 [[-8.25752724e-02 -9.96580255e-01 -3.01996996e-03 1.18407080e+02] [ 9.84246881e-01 -8.10772406e-02 -1.57113201e-01 1.19689109e+02] [ 1.56331063e-01 -1.59460614e-02 9.87575983e-01 4.51854275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.690714057 meters Centerline goodness : 0.991352 Centerline is valid? [True, True] Translation: X:118.40, Y:119.70, Z:45.19 [[-8.27913407e-02 -9.96566449e-01 9.52380566e-04 1.18404703e+02] [ 9.84537420e-01 -8.19399738e-02 -1.54828647e-01 1.19702213e+02] [ 1.54375073e-01 -1.18808169e-02 9.87940880e-01 4.51877286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.720714057 meters Centerline goodness : 0.991863 Centerline is valid? [True, True] Translation: X:118.40, Y:119.73, Z:45.19 [[-8.65443368e-02 -9.96243659e-01 -2.94117578e-03 1.18404362e+02] [ 9.84196600e-01 -8.50392448e-02 -1.55323469e-01 1.19731879e+02] [ 1.54489906e-01 -1.63370618e-02 9.87859286e-01 4.51910825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.750714057 meters Centerline goodness : 0.991775 Centerline is valid? [True, True] Translation: X:118.40, Y:119.72, Z:45.19 [[-8.61171696e-02 -9.96283452e-01 1.76530144e-03 1.18402548e+02] [ 9.84586686e-01 -8.53765858e-02 -1.52643038e-01 1.19724768e+02] [ 1.52226448e-01 -1.14070941e-02 9.88279812e-01 4.51905770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.780714057 meters Centerline goodness : 0.991285 Centerline is valid? [True, True] Translation: X:118.41, Y:119.70, Z:45.18 [[-8.66316785e-02 -9.96202483e-01 -8.69277687e-03 1.18408082e+02] [ 9.84988598e-01 -8.43422740e-02 -1.50611564e-01 1.19699616e+02] [ 1.49306446e-01 -2.16100187e-02 9.88554800e-01 4.51806453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.810714057 meters Centerline goodness : 0.991538 Centerline is valid? [True, True] Translation: X:118.40, Y:119.73, Z:45.19 [[-9.34267772e-02 -9.95620566e-01 3.33559402e-03 1.18403816e+02] [ 9.83681217e-01 -9.28227830e-02 -1.54127201e-01 1.19732044e+02] [ 1.53761830e-01 -1.11184465e-02 9.88045383e-01 4.51906786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.840714057 meters Centerline goodness : 0.991420 Centerline is valid? [True, True] Translation: X:118.41, Y:119.76, Z:45.19 [[-9.56098649e-02 -9.95408394e-01 -4.56970743e-03 1.18407082e+02] [ 9.83284518e-01 -9.37287448e-02 -1.56097659e-01 1.19758352e+02] [ 1.54952607e-01 -1.94177986e-02 9.87731056e-01 4.51919663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.870714057 meters Centerline goodness : 0.991420 Centerline is valid? [True, True] Translation: X:118.41, Y:119.76, Z:45.19 [[-9.52585664e-02 -9.95451328e-01 -1.56812571e-03 1.18405702e+02] [ 9.83272384e-01 -9.38472089e-02 -1.56102914e-01 1.19760791e+02] [ 1.55245689e-01 -1.64120345e-02 9.87739551e-01 4.51936003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.900714057 meters Centerline goodness : 0.992310 Centerline is valid? [True, True] Translation: X:118.41, Y:119.75, Z:45.19 [[-9.63652775e-02 -9.95345832e-01 6.39207947e-04 1.18406114e+02] [ 9.83268106e-01 -9.52956630e-02 -1.55250019e-01 1.19749656e+02] [ 1.54588373e-01 -1.43321983e-02 9.87875004e-01 4.51917703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.930714057 meters Centerline goodness : 0.989528 Centerline is valid? [True, True] Translation: X:118.42, Y:119.75, Z:45.18 [[-1.02096322e-01 -9.94553687e-01 -2.09596185e-02 1.18417000e+02] [ 9.82474936e-01 -9.75085893e-02 -1.58855514e-01 1.19751882e+02] [ 1.55946594e-01 -3.68108636e-02 9.87079338e-01 4.51827345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.960714057 meters Centerline goodness : 0.991714 Centerline is valid? [True, True] Translation: X:118.40, Y:119.77, Z:45.20 [[-9.86758778e-02 -9.94976209e-01 1.68941923e-02 1.18400237e+02] [ 9.82190016e-01 -1.00107571e-01 -1.59000775e-01 1.19768825e+02] [ 1.59893225e-01 9.03766038e-04 9.87133902e-01 4.52029597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.990714057 meters Centerline goodness : 0.990565 Centerline is valid? [True, True] Translation: X:118.41, Y:119.78, Z:45.19 [[-9.92784124e-02 -9.94998203e-01 -1.10622107e-02 1.18413016e+02] [ 9.83001805e-01 -9.63438826e-02 -1.56285983e-01 1.19778021e+02] [ 1.54438496e-01 -2.63899974e-02 9.87649897e-01 4.51922617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.020714057 meters Centerline goodness : 0.991813 Centerline is valid? [True, True] Translation: X:118.40, Y:119.76, Z:45.20 [[-9.72971203e-02 -9.95197244e-01 1.07570983e-02 1.18404146e+02] [ 9.82436009e-01 -9.77674501e-02 -1.58937138e-01 1.19755146e+02] [ 1.59225496e-01 -4.89596511e-03 9.87230100e-01 4.51982665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.050714057 meters Centerline goodness : 0.990853 Centerline is valid? [True, True] Translation: X:118.42, Y:119.75, Z:45.19 [[-9.63460797e-02 -9.95237329e-01 -1.48355175e-02 1.18416035e+02] [ 9.83093509e-01 -9.28176951e-02 -1.57835448e-01 1.19746201e+02] [ 1.55706731e-01 -2.97915276e-02 9.87353978e-01 4.51856601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.080714057 meters Centerline goodness : 0.991470 Centerline is valid? [True, True] Translation: X:118.40, Y:119.75, Z:45.20 [[-9.39779791e-02 -9.95499856e-01 1.21727458e-02 1.18404522e+02] [ 9.82916057e-01 -9.47197059e-02 -1.57810655e-01 1.19748688e+02] [ 1.58253484e-01 -2.86593915e-03 9.87394360e-01 4.51979965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.110714057 meters Centerline goodness : 0.992817 Centerline is valid? [True, True] Translation: X:118.41, Y:119.77, Z:45.20 [[-9.05745500e-02 -9.95889651e-01 -2.33537364e-04 1.18409820e+02] [ 9.83371465e-01 -8.93989720e-02 -1.58077153e-01 1.19772821e+02] [ 1.57406522e-01 -1.45474210e-02 9.87426736e-01 4.51958021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.140714057 meters Centerline goodness : 0.991541 Centerline is valid? [True, True] Translation: X:118.41, Y:119.77, Z:45.19 [[-8.82474871e-02 -9.96095533e-01 -2.46374208e-03 1.18411400e+02] [ 9.83615354e-01 -8.67509415e-02 -1.58035156e-01 1.19766156e+02] [ 1.57204381e-01 -1.63695799e-02 9.87430412e-01 4.51931496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.170714057 meters Centerline goodness : 0.991876 Centerline is valid? [True, True] Translation: X:118.41, Y:119.77, Z:45.19 [[-8.67452548e-02 -9.96229355e-01 -1.52765606e-03 1.18410981e+02] [ 9.83617203e-01 -8.54036274e-02 -1.58755846e-01 1.19770230e+02] [ 1.58026767e-01 -1.52739451e-02 9.87316691e-01 4.51943100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.200714057 meters Centerline goodness : 0.990245 Centerline is valid? [True, True] Translation: X:118.42, Y:119.75, Z:45.18 [[-8.41511525e-02 -9.96319040e-01 -1.63387272e-02 1.18417990e+02] [ 9.84226403e-01 -8.05466992e-02 -1.57513865e-01 1.19749788e+02] [ 1.55618032e-01 -2.93359800e-02 9.87381602e-01 4.51843137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.230714057 meters Centerline goodness : 0.991881 Centerline is valid? [True, True] Translation: X:118.41, Y:119.75, Z:45.20 [[-8.22884281e-02 -9.96546546e-01 1.11174138e-02 1.18405612e+02] [ 9.83191294e-01 -8.29998380e-02 -1.62621972e-01 1.19753839e+02] [ 1.62983108e-01 -2.45136204e-03 9.86625814e-01 4.51968970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.26071405700003 meters Centerline goodness : 0.991511 Centerline is valid? [True, True] Translation: X:118.41, Y:119.75, Z:45.19 [[-8.04995103e-02 -9.96743898e-01 -4.62927134e-03 1.18412504e+02] [ 9.83558138e-01 -7.86796436e-02 -1.62551231e-01 1.19748228e+02] [ 1.61657718e-01 -1.76384520e-02 9.86689246e-01 4.51888753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.290714057 meters Centerline goodness : 0.990074 Centerline is valid? [True, True] Translation: X:118.42, Y:119.75, Z:45.19 [[-8.09413680e-02 -9.96637554e-01 -1.27311157e-02 1.18416249e+02] [ 9.83829116e-01 -7.78405448e-02 -1.61310633e-01 1.19747948e+02] [ 1.59777237e-01 -2.55819456e-02 9.86821564e-01 4.51867021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.32071405700003 meters Centerline goodness : 0.990985 Centerline is valid? [True, True] Translation: X:118.41, Y:119.75, Z:45.20 [[-7.83058035e-02 -9.96838840e-01 1.34360766e-02 1.18405123e+02] [ 9.83535010e-01 -7.94485526e-02 -1.62317011e-01 1.19750307e+02] [ 1.62871378e-01 5.04487819e-04 9.86647181e-01 4.51967423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.350714057 meters Centerline goodness : 0.991113 Centerline is valid? [True, True] Translation: X:118.41, Y:119.75, Z:45.19 [[-7.66033434e-02 -9.97060376e-01 -1.59227863e-03 1.18410992e+02] [ 9.84056170e-01 -7.53469532e-02 -1.61109560e-01 1.19754423e+02] [ 1.60515986e-01 -1.39084226e-02 9.86935243e-01 4.51913453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.38071405700003 meters Centerline goodness : 0.991965 Centerline is valid? [True, True] Translation: X:118.41, Y:119.79, Z:45.20 [[-7.57779486e-02 -9.97124495e-01 6.66149254e-04 1.18409920e+02] [ 9.84490780e-01 -7.49238085e-02 -1.58632680e-01 1.19785995e+02] [ 1.58226442e-01 -1.13650413e-02 9.87337444e-01 4.51960750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.410714057 meters Centerline goodness : 0.991593 Centerline is valid? [True, True] Translation: X:118.41, Y:119.76, Z:45.19 [[-7.29995181e-02 -9.97326584e-01 -3.27958709e-03 1.18411698e+02] [ 9.84945887e-01 -7.15758898e-02 -1.57348312e-01 1.19764767e+02] [ 1.56692915e-01 -1.47165667e-02 9.87537722e-01 4.51910182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.440714057 meters Centerline goodness : 0.990350 Centerline is valid? [True, True] Translation: X:118.42, Y:119.79, Z:45.19 [[-7.09924007e-02 -9.97265557e-01 -2.05301612e-02 1.18418242e+02] [ 9.86347297e-01 -6.71193809e-02 -1.50379514e-01 1.19789539e+02] [ 1.48590339e-01 -3.09256718e-02 9.88415153e-01 4.51896341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.470714057 meters Centerline goodness : 0.991484 Centerline is valid? [True, True] Translation: X:118.40, Y:119.78, Z:45.20 [[-6.87280511e-02 -9.97530602e-01 1.44621344e-02 1.18403822e+02] [ 9.86033948e-01 -7.01260236e-02 -1.51060899e-01 1.19781703e+02] [ 1.51702042e-01 3.87803431e-03 9.88418662e-01 4.52021495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.500714057 meters Centerline goodness : 0.990948 Centerline is valid? [True, True] Translation: X:118.42, Y:119.81, Z:45.19 [[-6.89191772e-02 -9.97419413e-01 -2.01162113e-02 1.18417594e+02] [ 9.86422781e-01 -6.51186992e-02 -1.50763564e-01 1.19806026e+02] [ 1.49064564e-01 -3.02335899e-02 9.88365158e-01 4.51945313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.530714057 meters Centerline goodness : 0.991663 Centerline is valid? [True, True] Translation: X:118.41, Y:119.84, Z:45.21 [[-7.07857010e-02 -9.97446686e-01 9.46013322e-03 1.18405941e+02] [ 9.86016097e-01 -7.14026478e-02 -1.50578610e-01 1.19837898e+02] [ 1.50869614e-01 -1.33096884e-03 9.88552775e-01 4.52092333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.560714057 meters Centerline goodness : 0.992273 Centerline is valid? [True, True] Translation: X:118.42, Y:119.87, Z:45.21 [[-7.45747864e-02 -9.97156011e-01 -1.08853381e-02 1.18415218e+02] [ 9.85876783e-01 -7.20810505e-02 -1.51166434e-01 1.19866467e+02] [ 1.49951892e-01 -2.20048067e-02 9.88448389e-01 4.52072263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.590714057 meters Centerline goodness : 0.991472 Centerline is valid? [True, True] Translation: X:118.41, Y:119.89, Z:45.21 [[-7.55645513e-02 -9.97110010e-01 -7.85032044e-03 1.18414595e+02] [ 9.86060642e-01 -7.35521629e-02 -1.49246405e-01 1.19891805e+02] [ 1.48237677e-01 -1.90186297e-02 9.88768872e-01 4.52119557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.620714057 meters Centerline goodness : 0.990820 Centerline is valid? [True, True] Translation: X:118.42, Y:119.92, Z:45.21 [[-7.88572054e-02 -9.96628289e-01 -2.26626391e-02 1.18422376e+02] [ 9.86522858e-01 -7.47478698e-02 -1.45552072e-01 1.19916067e+02] [ 1.43367329e-01 -3.38350412e-02 9.89090996e-01 4.52121103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.650714057 meters Centerline goodness : 0.991876 Centerline is valid? [True, True] Translation: X:118.41, Y:119.94, Z:45.23 [[-8.03395499e-02 -9.96715794e-01 1.01578541e-02 1.18409611e+02] [ 9.85415442e-01 -8.09540878e-02 -1.49675793e-01 1.19940547e+02] [ 1.50006547e-01 -2.01517958e-03 9.88682950e-01 4.52274322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.680714057 meters Centerline goodness : 0.992125 Centerline is valid? [True, True] Translation: X:118.41, Y:119.98, Z:45.23 [[-8.67584818e-02 -9.96225943e-01 2.61476919e-03 1.18413655e+02] [ 9.84553338e-01 -8.61420216e-02 -1.52427940e-01 1.19975192e+02] [ 1.52077910e-01 -1.06500369e-02 9.88311128e-01 4.52302299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.710714057 meters Centerline goodness : 0.991533 Centerline is valid? [True, True] Translation: X:118.42, Y:120.00, Z:45.23 [[-9.02336562e-02 -9.95917695e-01 -2.41501023e-03 1.18418634e+02] [ 9.84443161e-01 -8.88264149e-02 -1.51596606e-01 1.19997169e+02] [ 1.50763226e-01 -1.60565563e-02 9.88439496e-01 4.52293682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.740714057 meters Centerline goodness : 0.992914 Centerline is valid? [True, True] Translation: X:118.42, Y:120.01, Z:45.23 [[-9.84774416e-02 -9.94770065e-01 -2.71055746e-02 1.18420582e+02] [ 9.82907269e-01 -9.29733581e-02 -1.58900143e-01 1.20011401e+02] [ 1.55549010e-01 -4.22903459e-02 9.86922506e-01 4.52313706e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.770714057 meters Centerline goodness : 0.993246 Centerline is valid? [True, True] Translation: X:118.41, Y:120.04, Z:45.25 [[-1.01927009e-01 -9.94791878e-01 -6.70259176e-05 1.18412307e+02] [ 9.82101482e-01 -1.00616014e-01 -1.59226560e-01 1.20037003e+02] [ 1.58390545e-01 -1.62953132e-02 9.87242067e-01 4.52459256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.800714057 meters Centerline goodness : 0.993272 Centerline is valid? [True, True] Translation: X:118.41, Y:120.06, Z:45.25 [[-1.03910224e-01 -9.94586680e-01 -2.40468860e-05 1.18413357e+02] [ 9.81889371e-01 -1.02579812e-01 -1.59281655e-01 1.20064241e+02] [ 1.58416946e-01 -1.65746039e-02 9.87233181e-01 4.52496862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.830714057 meters Centerline goodness : 0.993957 Centerline is valid? [True, True] Translation: X:118.41, Y:120.08, Z:45.25 [[-1.04565554e-01 -9.94517996e-01 1.34469324e-05 1.18414719e+02] [ 9.81860044e-01 -1.03236823e-01 -1.59037769e-01 1.20076321e+02] [ 1.58167312e-01 -1.66166695e-02 9.87272499e-01 4.52512683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.860714057 meters Centerline goodness : 0.992627 Centerline is valid? [True, True] Translation: X:118.42, Y:120.12, Z:45.26 [[-9.90937401e-02 -9.94781174e-01 2.43073342e-02 1.18416611e+02] [ 9.83016284e-01 -1.01655232e-01 -1.52791362e-01 1.20116617e+02] [ 1.54464938e-01 8.75383786e-03 9.87959490e-01 4.52564485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.890714057 meters Centerline goodness : 0.993639 Centerline is valid? [True, True] Translation: X:118.43, Y:120.14, Z:45.25 [[-1.14832296e-01 -9.93179004e-01 -2.02239723e-02 1.18427736e+02] [ 9.79811602e-01 -1.09885821e-01 -1.67015960e-01 1.20142683e+02] [ 1.63654417e-01 -3.89945088e-02 9.85746753e-01 4.52518605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.920714057 meters Centerline goodness : 0.992930 Centerline is valid? [True, True] Translation: X:118.42, Y:120.14, Z:45.26 [[-9.99674168e-02 -9.94861961e-01 1.60060921e-02 1.18421241e+02] [ 9.82818862e-01 -1.01240246e-01 -1.54329185e-01 1.20139168e+02] [ 1.55156696e-01 3.03199216e-04 9.87889826e-01 4.52571668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.950714057 meters Centerline goodness : 0.992623 Centerline is valid? [True, True] Translation: X:118.43, Y:120.13, Z:45.25 [[-9.74786639e-02 -9.95237156e-01 -9.55557000e-04 1.18430065e+02] [ 9.83577134e-01 -9.61899897e-02 -1.52720358e-01 1.20130762e+02] [ 1.51901060e-01 -1.58268405e-02 9.88268981e-01 4.52497335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.980714057 meters Centerline goodness : 0.991875 Centerline is valid? [True, True] Translation: X:118.43, Y:120.12, Z:45.25 [[-9.71016427e-02 -9.95232592e-01 -9.13014449e-03 1.18434819e+02] [ 9.83584398e-01 -9.45552196e-02 -1.53691387e-01 1.20116607e+02] [ 1.52095374e-01 -2.39039538e-02 9.88076717e-01 4.52450103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.01071405700003 meters Centerline goodness : 0.992762 Centerline is valid? [True, True] Translation: X:118.43, Y:120.12, Z:45.25 [[-9.45654484e-02 -9.95510402e-01 4.05171864e-03 1.18429867e+02] [ 9.83657955e-01 -9.40643937e-02 -1.53521717e-01 1.20117994e+02] [ 1.53213589e-01 -1.05323447e-02 9.88136967e-01 4.52511492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.040714057 meters Centerline goodness : 0.993274 Centerline is valid? [True, True] Translation: X:118.43, Y:120.15, Z:45.25 [[-9.63060688e-02 -9.95347318e-01 -2.97631533e-03 1.18433115e+02] [ 9.83375522e-01 -9.46844069e-02 -1.54943361e-01 1.20147445e+02] [ 1.53940648e-01 -1.78488216e-02 9.87918871e-01 4.52533358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.07071405700003 meters Centerline goodness : 0.992527 Centerline is valid? [True, True] Translation: X:118.43, Y:120.16, Z:45.25 [[-9.58049099e-02 -9.95392853e-01 -3.80619343e-03 1.18434364e+02] [ 9.83391250e-01 -9.40562212e-02 -1.55225891e-01 1.20157406e+02] [ 1.54152746e-01 -1.86143798e-02 9.87871670e-01 4.52541709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.100714057 meters Centerline goodness : 0.993107 Centerline is valid? [True, True] Translation: X:118.43, Y:120.15, Z:45.25 [[-9.34844403e-02 -9.95618263e-01 2.22110271e-03 1.18434474e+02] [ 9.84001570e-01 -9.27330492e-02 -1.52123281e-01 1.20150855e+02] [ 1.51662687e-01 -1.20355913e-02 9.88359031e-01 4.52525699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.13071405700003 meters Centerline goodness : 0.993286 Centerline is valid? [True, True] Translation: X:118.44, Y:120.18, Z:45.25 [[-9.30024618e-02 -9.95661514e-01 -2.94813150e-03 1.18437691e+02] [ 9.84284983e-01 -9.14925888e-02 -1.51037012e-01 1.20179245e+02] [ 1.50112008e-01 -1.69486155e-02 9.88523712e-01 4.52536299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.160714057 meters Centerline goodness : 0.992723 Centerline is valid? [True, True] Translation: X:118.44, Y:120.21, Z:45.26 [[-9.32964688e-02 -9.95638162e-01 6.46834589e-04 1.18437062e+02] [ 9.83925073e-01 -9.22982131e-02 -1.52880644e-01 1.20208853e+02] [ 1.52273505e-01 -1.36267875e-02 9.88244449e-01 4.52600613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.190714057 meters Centerline goodness : 0.991991 Centerline is valid? [True, True] Translation: X:118.44, Y:120.20, Z:45.26 [[-9.17226881e-02 -9.95769373e-01 -5.50490648e-03 1.18440253e+02] [ 9.84169714e-01 -8.98095580e-02 -1.52788145e-01 1.20203795e+02] [ 1.51647363e-01 -1.94319016e-02 9.88243633e-01 4.52569844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.220714057 meters Centerline goodness : 0.992309 Centerline is valid? [True, True] Translation: X:118.44, Y:120.21, Z:45.26 [[-8.95806855e-02 -9.95975400e-01 -2.88156166e-03 1.18438882e+02] [ 9.84027009e-01 -8.80583946e-02 -1.54714461e-01 1.20206176e+02] [ 1.53838051e-01 -1.66949620e-02 9.87955025e-01 4.52597082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.250714057 meters Centerline goodness : 0.991929 Centerline is valid? [True, True] Translation: X:118.44, Y:120.23, Z:45.26 [[-9.03318395e-02 -9.95879564e-01 -8.00326275e-03 1.18440837e+02] [ 9.83707016e-01 -8.79677215e-02 -1.56787075e-01 1.20226601e+02] [ 1.55437015e-01 -2.20357306e-02 9.87600001e-01 4.52625919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.280714057 meters Centerline goodness : 0.992488 Centerline is valid? [True, True] Translation: X:118.44, Y:120.22, Z:45.26 [[-8.89627762e-02 -9.96034504e-01 -9.43767040e-04 1.18437529e+02] [ 9.83737811e-01 -8.77159627e-02 -1.56734902e-01 1.20218403e+02] [ 1.56030587e-01 -1.48719913e-02 9.87640258e-01 4.52639599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.310714057 meters Centerline goodness : 0.991612 Centerline is valid? [True, True] Translation: X:118.44, Y:120.22, Z:45.26 [[-8.67714208e-02 -9.96214908e-01 -5.15530704e-03 1.18440375e+02] [ 9.83986056e-01 -8.48952138e-02 -1.56729846e-01 1.20218075e+02] [ 1.55698948e-01 -1.86724217e-02 9.87628057e-01 4.52627940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.340714057 meters Centerline goodness : 0.992085 Centerline is valid? [True, True] Translation: X:118.44, Y:120.22, Z:45.26 [[-8.50531614e-02 -9.96376352e-01 3.54099904e-04 1.18437792e+02] [ 9.84118896e-01 -8.40623973e-02 -1.56344211e-01 1.20219719e+02] [ 1.55807441e-01 -1.29490930e-02 9.87702568e-01 4.52648148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.370714057 meters Centerline goodness : 0.992743 Centerline is valid? [True, True] Translation: X:118.44, Y:120.23, Z:45.27 [[-9.84243096e-02 -9.94989277e-01 -1.75782284e-02 1.18435984e+02] [ 9.81241281e-01 -9.40917048e-02 -1.68262593e-01 1.20227798e+02] [ 1.65765510e-01 -3.38096129e-02 9.85585464e-01 4.52670331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.400714057 meters Centerline goodness : 0.992202 Centerline is valid? [True, True] Translation: X:118.43, Y:120.21, Z:45.27 [[-8.06723731e-02 -9.96634439e-01 1.45520700e-02 1.18430499e+02] [ 9.84262972e-01 -8.19568602e-02 -1.56555021e-01 1.20213876e+02] [ 1.57220768e-01 1.69339861e-03 9.87562030e-01 4.52696150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.430714057 meters Centerline goodness : 0.992710 Centerline is valid? [True, True] Translation: X:118.43, Y:120.23, Z:45.27 [[-9.47637742e-02 -9.95383860e-01 -1.51920412e-02 1.18432981e+02] [ 9.81511548e-01 -9.08720293e-02 -1.68455795e-01 1.20230720e+02] [ 1.66297648e-01 -3.08746709e-02 9.85592130e-01 4.52689994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.460714057 meters Centerline goodness : 0.992343 Centerline is valid? [True, True] Translation: X:118.42, Y:120.21, Z:45.27 [[-6.99212859e-02 -9.96946848e-01 3.47562328e-02 1.18421822e+02] [ 9.86413115e-01 -7.42908070e-02 -1.46526596e-01 1.20206672e+02] [ 1.48661297e-01 2.40386759e-02 9.88595954e-01 4.52709676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.490714057 meters Centerline goodness : 0.992497 Centerline is valid? [True, True] Translation: X:118.44, Y:120.22, Z:45.26 [[-7.66815163e-02 -9.95762410e-01 -5.07658222e-02 1.18442132e+02] [ 9.85010345e-01 -6.77664548e-02 -1.58626378e-01 1.20217945e+02] [ 1.54513964e-01 -6.21685712e-02 9.86032709e-01 4.52562797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.520714057 meters Centerline goodness : 0.992779 Centerline is valid? [True, True] Translation: X:118.42, Y:120.26, Z:45.28 [[-6.40452863e-02 -9.97133083e-01 4.02966079e-02 1.18415365e+02] [ 9.86487628e-01 -6.93599428e-02 -1.48429640e-01 1.20260375e+02] [ 1.50799075e-01 3.02458864e-02 9.88101627e-01 4.52826434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.550714057 meters Centerline goodness : 0.991813 Centerline is valid? [True, True] Translation: X:118.43, Y:120.29, Z:45.27 [[-5.84161575e-02 -9.98286601e-01 -3.37844799e-03 1.18431475e+02] [ 9.87334219e-01 -5.72745461e-02 -1.47955284e-01 1.20293879e+02] [ 1.47508278e-01 -1.19786365e-02 9.88988281e-01 4.52686013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.580714057 meters Centerline goodness : 0.991254 Centerline is valid? [True, True] Translation: X:118.43, Y:120.31, Z:45.27 [[-5.61727776e-02 -9.98334369e-01 -1.31570351e-02 1.18433855e+02] [ 9.87033102e-01 -5.35426026e-02 -1.51323648e-01 1.20305254e+02] [ 1.50367136e-01 -2.14866988e-02 9.88396705e-01 4.52683482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.610714057 meters Centerline goodness : 0.990636 Centerline is valid? [True, True] Translation: X:118.43, Y:120.33, Z:45.27 [[-5.38850756e-02 -9.98469198e-01 -1.24763741e-02 1.18431501e+02] [ 9.87038335e-01 -5.13683434e-02 -1.52041501e-01 1.20329825e+02] [ 1.51167865e-01 -2.05074273e-02 9.88295362e-01 4.52745466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.640714057 meters Centerline goodness : 0.989280 Centerline is valid? [True, True] Translation: X:118.43, Y:120.30, Z:45.27 [[-4.28186409e-02 -9.99072261e-01 -4.60242086e-03 1.18426699e+02] [ 9.88220552e-01 -4.16752064e-02 -1.47252566e-01 1.20302038e+02] [ 1.46924147e-01 -1.08533616e-02 9.89088216e-01 4.52707034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.670714057 meters Centerline goodness : 0.991138 Centerline is valid? [True, True] Translation: X:118.42, Y:120.34, Z:45.28 [[-4.28539070e-02 -9.99032895e-01 9.83960734e-03 1.18419689e+02] [ 9.87719621e-01 -4.38455797e-02 -1.49958379e-01 1.20335491e+02] [ 1.50244777e-01 3.29247079e-03 9.88643347e-01 4.52814995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.700714057 meters Centerline goodness : 0.989689 Centerline is valid? [True, True] Translation: X:118.43, Y:120.34, Z:45.28 [[-3.77291423e-02 -9.99211675e-01 -1.23506933e-02 1.18426935e+02] [ 9.87974887e-01 -3.54446466e-02 -1.50496845e-01 1.20337878e+02] [ 1.49940438e-01 -1.78802917e-02 9.88533338e-01 4.52756429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.730714057 meters Centerline goodness : 0.989411 Centerline is valid? [True, True] Translation: X:118.42, Y:120.34, Z:45.28 [[-3.70148524e-02 -9.99304801e-01 -4.45154459e-03 1.18422032e+02] [ 9.87659379e-01 -3.59044061e-02 -1.52446137e-01 1.20341190e+02] [ 1.52180327e-01 -1.00393810e-02 9.88301755e-01 4.52814414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.76071405700003 meters Centerline goodness : 0.989073 Centerline is valid? [True, True] Translation: X:118.42, Y:120.36, Z:45.29 [[-3.43132154e-02 -9.99411049e-01 3.97919805e-04 1.18419893e+02] [ 9.88122152e-01 -3.39852983e-02 -1.49865314e-01 1.20360296e+02] [ 1.49790574e-01 -4.74916741e-03 9.88706341e-01 4.52854914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.790714057 meters Centerline goodness : 0.989073 Centerline is valid? [True, True] Translation: X:118.42, Y:120.36, Z:45.28 [[-3.39513132e-02 -9.99415674e-01 -3.95207713e-03 1.18421615e+02] [ 9.88139749e-01 -3.29751980e-02 -1.49974905e-01 1.20363222e+02] [ 1.49756950e-01 -8.99704947e-03 9.88681905e-01 4.52842754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.82071405700003 meters Centerline goodness : 0.989134 Centerline is valid? [True, True] Translation: X:118.42, Y:120.34, Z:45.28 [[-3.06436814e-02 -9.99530347e-01 2.22395730e-04 1.18420373e+02] [ 9.88759935e-01 -3.03460552e-02 -1.46399824e-01 1.20344739e+02] [ 1.46337815e-01 -4.26633356e-03 9.89225476e-01 4.52808848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.850714057 meters Centerline goodness : 0.989288 Centerline is valid? [True, True] Translation: X:118.42, Y:120.34, Z:45.28 [[-2.57673870e-02 -9.99621157e-01 9.67385666e-03 1.18418353e+02] [ 9.89984883e-01 -2.68602435e-02 -1.38594584e-01 1.20336206e+02] [ 1.38801921e-01 6.00575156e-03 9.90301953e-01 4.52778357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.88071405700003 meters Centerline goodness : 0.989360 Centerline is valid? [True, True] Translation: X:118.43, Y:120.36, Z:45.27 [[-2.99384830e-02 -9.99054235e-01 -3.15328992e-02 1.18434857e+02] [ 9.89430094e-01 -2.51424637e-02 -1.42814372e-01 1.20360010e+02] [ 1.41886488e-01 -3.54752451e-02 9.89247053e-01 4.52720197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.910714057 meters Centerline goodness : 0.990280 Centerline is valid? [True, True] Translation: X:118.42, Y:120.39, Z:45.29 [[-3.28653769e-02 -9.99459725e-01 3.54030917e-04 1.18422349e+02] [ 9.88996631e-01 -3.25724345e-02 -1.44307656e-01 1.20389452e+02] [ 1.44241222e-01 -4.39259014e-03 9.89532806e-01 4.52867688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.940714057 meters Centerline goodness : 0.990433 Centerline is valid? [True, True] Translation: X:118.42, Y:120.76, Z:45.35 [[-5.30010416e-02 -9.98430859e-01 -1.80750961e-02 1.18421168e+02] [ 9.85862897e-01 -4.94355958e-02 -1.60095194e-01 1.20764988e+02] [ 1.58950429e-01 -2.63047786e-02 9.86936077e-01 4.53463179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.970714057 meters Centerline goodness : 0.991004 Centerline is valid? [True, True] Translation: X:118.42, Y:120.40, Z:45.30 [[-3.85740289e-02 -9.99167875e-01 1.32514592e-02 1.18417270e+02] [ 9.88249402e-01 -4.01086442e-02 -1.47493785e-01 1.20400454e+02] [ 1.47902550e-01 7.40631710e-03 9.88974207e-01 4.52953607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.000714057 meters Centerline goodness : 0.991539 Centerline is valid? [True, True] Translation: X:118.43, Y:120.44, Z:45.30 [[-6.45044046e-02 -9.97331740e-01 -3.41845420e-02 1.18425637e+02] [ 9.84145790e-01 -5.79054616e-02 -1.67642541e-01 1.20436891e+02] [ 1.65215756e-01 -4.44562554e-02 9.85254990e-01 4.52953955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.030714057 meters Centerline goodness : 0.990506 Centerline is valid? [True, True] Translation: X:118.41, Y:120.93, Z:45.39 [[-6.14934187e-02 -9.98105338e-01 -2.07195546e-03 1.18411856e+02] [ 9.84092917e-01 -6.02832014e-02 -1.67113933e-01 1.20934849e+02] [ 1.66672405e-01 -1.23154038e-02 9.85935414e-01 4.53866372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.060714057 meters Centerline goodness : 0.992019 Centerline is valid? [True, True] Translation: X:119.13, Y:120.46, Z:46.23 [[-2.01690756e-02 9.75476530e-01 2.19177433e-01 1.19133014e+02] [ 9.88609697e-01 -1.32441300e-02 1.49918179e-01 1.20461815e+02] [ 1.49144480e-01 2.19704647e-01 -9.64098435e-01 4.62348685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.090714057 meters Centerline goodness : 0.992598 Centerline is valid? [True, True] Translation: X:118.45, Y:120.56, Z:45.34 [[-1.41266488e-01 -9.89897746e-01 1.20926573e-02 1.18446473e+02] [ 9.78389743e-01 -1.41466390e-01 -1.50800437e-01 1.20561255e+02] [ 1.50987717e-01 -9.47171625e-03 9.88490261e-01 4.53414609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.120714057 meters Centerline goodness : 0.992155 Centerline is valid? [True, True] Translation: X:118.45, Y:120.57, Z:45.34 [[-1.43095257e-01 -9.89635544e-01 1.20514400e-02 1.18445893e+02] [ 9.78077227e-01 -1.43264402e-01 -1.51129911e-01 1.20572401e+02] [ 1.51290074e-01 -9.83873441e-03 9.88440445e-01 4.53432171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.150714057 meters Centerline goodness : 0.992325 Centerline is valid? [True, True] Translation: X:118.45, Y:120.55, Z:45.34 [[-1.44634177e-01 -9.89412433e-01 1.19997142e-02 1.18447612e+02] [ 9.77836818e-01 -1.44776347e-01 -1.51244723e-01 1.20551809e+02] [ 1.51380684e-01 -1.01413938e-02 9.88423513e-01 4.53398358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.180714057 meters Centerline goodness : 0.991737 Centerline is valid? [True, True] Translation: X:118.45, Y:120.54, Z:45.34 [[-1.24995430e-01 -9.91213627e-01 4.32630177e-02 1.18447626e+02] [ 9.83436750e-01 -1.29547625e-01 -1.26765818e-01 1.20538581e+02] [ 1.31256627e-01 2.67012936e-02 9.90988768e-01 4.53359309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.210714057 meters Centerline goodness : 0.992844 Centerline is valid? [True, True] Translation: X:118.46, Y:120.56, Z:45.33 [[-1.49273186e-01 -9.88437561e-01 -2.66215129e-02 1.18464459e+02] [ 9.77459893e-01 -1.43443246e-01 -1.54907046e-01 1.20558138e+02] [ 1.49297267e-01 -4.91449295e-02 9.87570302e-01 4.53250122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.240714057 meters Centerline goodness : 0.992245 Centerline is valid? [True, True] Translation: X:118.45, Y:120.56, Z:45.34 [[-1.50499635e-01 -9.88537816e-01 1.19518103e-02 1.18448579e+02] [ 9.76816174e-01 -1.50555174e-01 -1.52194944e-01 1.20557199e+02] [ 1.52249865e-01 -1.12305619e-02 9.88278227e-01 4.53394401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.270714057 meters Centerline goodness : 0.991635 Centerline is valid? [True, True] Translation: X:118.46, Y:120.53, Z:45.33 [[-1.32132457e-01 -9.91068309e-01 1.80172533e-02 1.18458336e+02] [ 9.80676327e-01 -1.33349376e-01 -1.43149871e-01 1.20530232e+02] [ 1.44273890e-01 -1.24565041e-03 9.89537009e-01 4.53300069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.300714057 meters Centerline goodness : 0.991665 Centerline is valid? [True, True] Translation: X:118.46, Y:120.55, Z:45.33 [[-1.33682599e-01 -9.90916810e-01 1.45889943e-02 1.18457008e+02] [ 9.80852154e-01 -1.34399902e-01 -1.40945801e-01 1.20548795e+02] [ 1.41626323e-01 -4.53235444e-03 9.89909815e-01 4.53317774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.330714057 meters Centerline goodness : 0.991367 Centerline is valid? [True, True] Translation: X:118.46, Y:120.55, Z:45.33 [[-1.33137559e-01 -9.91074841e-01 6.71192951e-03 1.18458770e+02] [ 9.81069211e-01 -1.32748344e-01 -1.41000289e-01 1.20553954e+02] [ 1.40632836e-01 -1.21875669e-02 9.89986802e-01 4.53286478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.360714057 meters Centerline goodness : 0.991979 Centerline is valid? [True, True] Translation: X:118.46, Y:120.57, Z:45.33 [[-1.33906201e-01 -9.90982875e-01 4.69799972e-03 1.18457230e+02] [ 9.80538286e-01 -1.33178733e-01 -1.44250113e-01 1.20568327e+02] [ 1.43575065e-01 -1.47094160e-02 9.89530108e-01 4.53315338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.390714057 meters Centerline goodness : 0.991011 Centerline is valid? [True, True] Translation: X:118.45, Y:120.57, Z:45.33 [[-1.31598727e-01 -9.91275055e-01 7.45252206e-03 1.18454224e+02] [ 9.80897471e-01 -1.31300094e-01 -1.43528521e-01 1.20571998e+02] [ 1.43254759e-01 -1.15780105e-02 9.89618120e-01 4.53330928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.420714057 meters Centerline goodness : 0.991429 Centerline is valid? [True, True] Translation: X:118.45, Y:120.57, Z:45.33 [[-1.30896929e-01 -9.91384373e-01 4.79779987e-03 1.18454199e+02] [ 9.80674747e-01 -1.30189649e-01 -1.46040047e-01 1.20568585e+02] [ 1.45406445e-01 -1.44111126e-02 9.89267045e-01 4.53325323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.450714057 meters Centerline goodness : 0.991652 Centerline is valid? [True, True] Translation: X:118.45, Y:120.57, Z:45.33 [[-1.29573037e-01 -9.91543697e-01 7.20597051e-03 1.18451679e+02] [ 9.80761942e-01 -1.29227387e-01 -1.46308907e-01 1.20567756e+02] [ 1.46002883e-01 -1.18903477e-02 9.89212706e-01 4.53340476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.480714057 meters Centerline goodness : 0.991073 Centerline is valid? [True, True] Translation: X:118.45, Y:120.56, Z:45.33 [[-1.24253032e-01 -9.92205084e-01 9.50028398e-03 1.18448316e+02] [ 9.81793000e-01 -1.24324261e-01 -1.43617490e-01 1.20561388e+02] [ 1.43679120e-01 -8.51759630e-03 9.89587672e-01 4.53342126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.51071405700003 meters Centerline goodness : 0.990769 Centerline is valid? [True, True] Translation: X:118.45, Y:120.56, Z:45.34 [[-1.21240834e-01 -9.92554375e-01 1.16821683e-02 1.18445724e+02] [ 9.82447452e-01 -1.21670492e-01 -1.41397652e-01 1.20564784e+02] [ 1.41766233e-01 -5.66605281e-03 9.89883948e-01 4.53353299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.540714057 meters Centerline goodness : 0.991244 Centerline is valid? [True, True] Translation: X:118.44, Y:120.58, Z:45.34 [[-1.32488068e-01 -9.91155966e-01 -7.53409419e-03 1.18442229e+02] [ 9.79755396e-01 -1.29805607e-01 -1.52413476e-01 1.20576307e+02] [ 1.50087558e-01 -2.75745364e-02 9.88288101e-01 4.53364882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.57071405700003 meters Centerline goodness : 0.990187 Centerline is valid? [True, True] Translation: X:118.44, Y:120.56, Z:45.34 [[-1.14907147e-01 -9.93062633e-01 2.49590770e-02 1.18437442e+02] [ 9.83340507e-01 -1.17272812e-01 -1.38883172e-01 1.20564125e+02] [ 1.40846709e-01 8.58460237e-03 9.89994197e-01 4.53405607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.600714057 meters Centerline goodness : 0.990612 Centerline is valid? [True, True] Translation: X:118.44, Y:120.57, Z:45.33 [[-1.09897371e-01 -9.93882102e-01 1.09970433e-02 1.18442078e+02] [ 9.84375629e-01 -1.10364305e-01 -1.37201828e-01 1.20569245e+02] [ 1.37576122e-01 -4.25289873e-03 9.90482066e-01 4.53336794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.63071405700003 meters Centerline goodness : 0.990709 Centerline is valid? [True, True] Translation: X:118.44, Y:120.58, Z:45.33 [[-1.25451181e-01 -9.92030666e-01 -1.17114583e-02 1.18441468e+02] [ 9.80546237e-01 -1.22185277e-01 -1.53622376e-01 1.20575871e+02] [ 1.50967140e-01 -3.07557349e-02 9.88060225e-01 4.53346333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.660714057 meters Centerline goodness : 0.990549 Centerline is valid? [True, True] Translation: X:118.43, Y:120.55, Z:45.34 [[-1.03911641e-01 -9.93868532e-01 3.77850658e-02 1.18431788e+02] [ 9.85360932e-01 -1.08035946e-01 -1.31878990e-01 1.20546672e+02] [ 1.35152523e-01 2.35281655e-02 9.90545416e-01 4.53382902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.690714057 meters Centerline goodness : 0.991030 Centerline is valid? [True, True] Translation: X:118.44, Y:120.58, Z:45.33 [[-1.22143763e-01 -9.92286271e-01 -2.11862640e-02 1.18443774e+02] [ 9.80922980e-01 -1.17437441e-01 -1.54914672e-01 1.20575899e+02] [ 1.51231641e-01 -3.97039541e-02 9.87700656e-01 4.53298762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.720714057 meters Centerline goodness : 0.990720 Centerline is valid? [True, True] Translation: X:118.43, Y:120.54, Z:45.34 [[-9.94730364e-02 -9.94204460e-01 4.07750794e-02 1.18430466e+02] [ 9.86016523e-01 -1.03994388e-01 -1.30217451e-01 1.20542040e+02] [ 1.33703150e-01 2.72517768e-02 9.90646662e-01 4.53373011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.750714057 meters Centerline goodness : 0.990755 Centerline is valid? [True, True] Translation: X:118.45, Y:120.58, Z:45.33 [[-1.20008648e-01 -9.92466010e-01 -2.46808206e-02 1.18445576e+02] [ 9.81259694e-01 -1.14805102e-01 -1.54755296e-01 1.20577117e+02] [ 1.50755887e-01 -4.27902684e-02 9.87644499e-01 4.53282084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.780714057 meters Centerline goodness : 0.991655 Centerline is valid? [True, True] Translation: X:118.43, Y:120.55, Z:45.34 [[-9.91409298e-02 -9.94630751e-01 2.96773694e-02 1.18434208e+02] [ 9.85374335e-01 -1.02284878e-01 -1.36290953e-01 1.20553793e+02] [ 1.38594719e-01 1.57313063e-02 9.90224232e-01 4.53376881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.810714057 meters Centerline goodness : 0.991408 Centerline is valid? [True, True] Translation: X:118.45, Y:120.58, Z:45.33 [[-1.01780659e-01 -9.94797011e-01 -4.42764721e-03 1.18446051e+02] [ 9.84500210e-01 -1.00086152e-01 -1.44021176e-01 1.20576700e+02] [ 1.42828690e-01 -1.90175898e-02 9.89564701e-01 4.53307512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.840714057 meters Centerline goodness : 0.990464 Centerline is valid? [True, True] Translation: X:118.44, Y:120.56, Z:45.33 [[-9.60834374e-02 -9.95213772e-01 1.78191097e-02 1.18438360e+02] [ 9.86003192e-01 -9.76142725e-02 -1.35163453e-01 1.20563683e+02] [ 1.36255929e-01 4.58272987e-03 9.90663071e-01 4.53343372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.870714057 meters Centerline goodness : 0.992131 Centerline is valid? [True, True] Translation: X:118.44, Y:120.58, Z:45.33 [[-1.12193771e-01 -9.93602212e-01 -1.29306448e-02 1.18440432e+02] [ 9.82408069e-01 -1.08955987e-01 -1.51667333e-01 1.20579259e+02] [ 1.49288127e-01 -2.97192998e-02 9.88347013e-01 4.53334785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.900714057 meters Centerline goodness : 0.991328 Centerline is valid? [True, True] Translation: X:118.44, Y:120.59, Z:45.34 [[-9.61919404e-02 -9.95166175e-01 1.97836996e-02 1.18435137e+02] [ 9.85268199e-01 -9.80211092e-02 -1.40137210e-01 1.20585728e+02] [ 1.41399031e-01 6.01217991e-03 9.89934426e-01 4.53417410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.930714057 meters Centerline goodness : 0.990727 Centerline is valid? [True, True] Translation: X:118.44, Y:120.56, Z:45.33 [[-9.00550278e-02 -9.95835810e-01 1.41820792e-02 1.18440842e+02] [ 9.86470086e-01 -9.11487003e-02 -1.36266962e-01 1.20557839e+02] [ 1.36992198e-01 1.71867184e-03 9.90570635e-01 4.53324775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.960714057 meters Centerline goodness : 0.991245 Centerline is valid? [True, True] Translation: X:118.45, Y:120.57, Z:45.33 [[-9.02774736e-02 -9.95911701e-01 3.14029702e-03 1.18445591e+02] [ 9.86388769e-01 -8.98484684e-02 -1.37711469e-01 1.20566890e+02] [ 1.37430615e-01 -9.33468982e-03 9.90467410e-01 4.53296160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.990714057 meters Centerline goodness : 0.991597 Centerline is valid? [True, True] Translation: X:118.44, Y:120.59, Z:45.34 [[-1.08514793e-01 -9.94069743e-01 -7.06304765e-03 1.18440115e+02] [ 9.82942989e-01 -1.06233507e-01 -1.50125021e-01 1.20590736e+02] [ 1.48484409e-01 -2.32333588e-02 9.88641791e-01 4.53371398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.020714057 meters Centerline goodness : 0.991216 Centerline is valid? [True, True] Translation: X:118.43, Y:120.59, Z:45.34 [[-1.09073521e-01 -9.93974648e-01 1.08335608e-02 1.18433678e+02] [ 9.82839247e-01 -1.09469791e-01 -1.48470130e-01 1.20585624e+02] [ 1.48761493e-01 -5.54651106e-03 9.88857550e-01 4.53431244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.050714057 meters Centerline goodness : 0.990879 Centerline is valid? [True, True] Translation: X:118.43, Y:120.59, Z:45.34 [[-1.09759307e-01 -9.93900094e-01 1.07469877e-02 1.18434002e+02] [ 9.82824352e-01 -1.10137303e-01 -1.48074537e-01 1.20591835e+02] [ 1.48354941e-01 -5.69015738e-03 9.88917809e-01 4.53434598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.080714057 meters Centerline goodness : 0.991477 Centerline is valid? [True, True] Translation: X:118.44, Y:120.60, Z:45.34 [[-1.11707633e-01 -9.93683112e-01 1.07367714e-02 1.18435864e+02] [ 9.82507088e-01 -1.12058358e-01 -1.48737174e-01 1.20595761e+02] [ 1.49000763e-01 -6.06612363e-03 9.88818474e-01 4.53437827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.110714057 meters Centerline goodness : 0.991276 Centerline is valid? [True, True] Translation: X:118.44, Y:120.60, Z:45.34 [[-1.12524343e-01 -9.93591708e-01 1.06672406e-02 1.18436711e+02] [ 9.82439877e-01 -1.12856532e-01 -1.48577562e-01 1.20597841e+02] [ 1.48829301e-01 -6.23866998e-03 9.88843222e-01 4.53437198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.140714057 meters Centerline goodness : 0.991283 Centerline is valid? [True, True] Translation: X:118.42, Y:120.95, Z:45.39 [[-1.07613320e-01 -9.94158007e-01 8.32049019e-03 1.18418549e+02] [ 9.83170966e-01 -1.07659301e-01 -1.47595142e-01 1.20946944e+02] [ 1.47628670e-01 -7.70273889e-03 9.89012863e-01 4.53928374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.170714057 meters Centerline goodness : 0.991660 Centerline is valid? [True, True] Translation: X:118.44, Y:120.61, Z:45.35 [[-1.15270262e-01 -9.93275935e-01 1.07556007e-02 1.18437843e+02] [ 9.82300395e-01 -1.15592562e-01 -1.47391637e-01 1.20606975e+02] [ 1.47643833e-01 -6.42464179e-03 9.89019728e-01 4.53459247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.200714057 meters Centerline goodness : 0.991480 Centerline is valid? [True, True] Translation: X:118.44, Y:120.61, Z:45.35 [[-1.15423440e-01 -9.93261442e-01 1.04468739e-02 1.18438533e+02] [ 9.82280039e-01 -1.15698114e-01 -1.47444470e-01 1.20609923e+02] [ 1.47659590e-01 -6.75679223e-03 9.89015162e-01 4.53465591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.230714057 meters Centerline goodness : 0.991106 Centerline is valid? [True, True] Translation: X:118.44, Y:120.61, Z:45.35 [[-1.15703893e-01 -9.93229622e-01 1.03695380e-02 1.18440381e+02] [ 9.82290286e-01 -1.15965982e-01 -1.47165505e-01 1.20609025e+02] [ 1.47371653e-01 -6.84172539e-03 9.89057524e-01 4.53458083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.26071405700003 meters Centerline goodness : 0.989137 Centerline is valid? [True, True] Translation: X:118.41, Y:121.11, Z:45.41 [[-1.15910996e-01 -9.93244346e-01 -5.50545955e-03 1.18414428e+02] [ 9.82613024e-01 -1.13857424e-01 -1.46656510e-01 1.21112622e+02] [ 1.45038912e-01 -2.24088384e-02 9.89172158e-01 4.54101480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.290714057 meters Centerline goodness : 0.991774 Centerline is valid? [True, True] Translation: X:118.44, Y:120.66, Z:45.36 [[-8.92054270e-02 -9.95678564e-01 2.58183691e-02 1.18436697e+02] [ 9.84821958e-01 -9.20483896e-02 -1.47148922e-01 1.20658441e+02] [ 1.48889566e-01 1.23000144e-02 9.88777329e-01 4.53557144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.32071405700003 meters Centerline goodness : 0.991766 Centerline is valid? [True, True] Translation: X:118.44, Y:120.67, Z:45.35 [[-1.02897137e-01 -9.94647611e-01 9.39727158e-03 1.18435623e+02] [ 9.83564154e-01 -1.03150658e-01 -1.48194122e-01 1.20674632e+02] [ 1.48370264e-01 -6.00593131e-03 9.88913643e-01 4.53522999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.350714057 meters Centerline goodness : 0.992405 Centerline is valid? [True, True] Translation: X:118.43, Y:121.03, Z:45.40 [[-9.71408828e-02 -9.95246136e-01 -6.98415362e-03 1.18427013e+02] [ 9.83096065e-01 -9.48560137e-02 -1.56602884e-01 1.21030733e+02] [ 1.55195926e-01 -2.20786363e-02 9.87636957e-01 4.54005276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.38071405700003 meters Centerline goodness : 0.991792 Centerline is valid? [True, True] Translation: X:118.44, Y:120.67, Z:45.35 [[-8.56075346e-02 -9.96197621e-01 1.61756089e-02 1.18440392e+02] [ 9.84307270e-01 -8.70778822e-02 -1.53481726e-01 1.20668663e+02] [ 1.54306668e-01 2.78257721e-03 9.88019084e-01 4.53538105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.410714057 meters Centerline goodness : 0.992463 Centerline is valid? [True, True] Translation: X:118.43, Y:120.68, Z:45.35 [[-9.64481181e-02 -9.95263358e-01 1.21904969e-02 1.18434854e+02] [ 9.83634438e-01 -9.71795562e-02 -1.51721542e-01 1.20675706e+02] [ 1.52187558e-01 -2.64226464e-03 9.88348099e-01 4.53527924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.440714057 meters Centerline goodness : 0.991975 Centerline is valid? [True, True] Translation: X:118.44, Y:120.65, Z:45.35 [[-7.53429037e-02 -9.96827946e-01 2.56416394e-02 1.18439719e+02] [ 9.87174880e-01 -7.81935018e-02 -1.39181653e-01 1.20654266e+02] [ 1.40745171e-01 1.48264324e-02 9.89934833e-01 4.53481453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.470714057 meters Centerline goodness : 0.992472 Centerline is valid? [True, True] Translation: X:118.45, Y:120.68, Z:45.34 [[-9.24095502e-02 -9.95605814e-01 -1.51505239e-02 1.18446960e+02] [ 9.84228999e-01 -8.90273925e-02 -1.52863992e-01 1.20677724e+02] [ 1.50843467e-01 -2.90376777e-02 9.88131095e-01 4.53428267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.500714057 meters Centerline goodness : 0.992016 Centerline is valid? [True, True] Translation: X:118.44, Y:120.68, Z:45.35 [[-9.02834785e-02 -9.95884769e-01 7.90067500e-03 1.18437582e+02] [ 9.84369050e-01 -9.04384187e-02 -1.51124009e-01 1.20680894e+02] [ 1.51216624e-01 -5.86682131e-03 9.88483239e-01 4.53519287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.530714057 meters Centerline goodness : 0.993055 Centerline is valid? [True, True] Translation: X:118.44, Y:120.68, Z:45.35 [[-9.00442182e-02 -9.95906911e-01 7.83986249e-03 1.18437190e+02] [ 9.84397181e-01 -9.01929473e-02 -1.51087465e-01 1.20683908e+02] [ 1.51176151e-01 -5.88701414e-03 9.88489309e-01 4.53522785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.560714057 meters Centerline goodness : 0.992251 Centerline is valid? [True, True] Translation: X:118.44, Y:120.65, Z:45.35 [[-6.86668062e-02 -9.96979059e-01 3.62991166e-02 1.18438439e+02] [ 9.88719981e-01 -7.28623938e-02 -1.30858212e-01 1.20648676e+02] [ 1.33107738e-01 2.69040463e-02 9.90736344e-01 4.53469842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.590714057 meters Centerline goodness : 0.992120 Centerline is valid? [True, True] Translation: X:118.43, Y:121.12, Z:45.40 [[-9.41112275e-02 -9.95208691e-01 -2.65092170e-02 1.18434144e+02] [ 9.83145658e-01 -8.87123702e-02 -1.59858470e-01 1.21116322e+02] [ 1.56740843e-01 -4.11068984e-02 9.86783933e-01 4.54032260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.620714057 meters Centerline goodness : 0.992648 Centerline is valid? [True, True] Translation: X:119.01, Y:120.74, Z:46.35 [[-7.42172864e-02 8.89919420e-01 4.50039131e-01 1.19005358e+02] [ 9.88449251e-01 5.85044652e-03 1.51439265e-01 1.20735366e+02] [ 1.32135813e-01 4.56080254e-01 -8.80074389e-01 4.63469381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.650714057 meters Centerline goodness : 0.991766 Centerline is valid? [True, True] Translation: X:119.18, Y:121.31, Z:46.28 [[-1.47705223e-01 9.88801587e-01 -2.13210896e-02 1.19183889e+02] [ 9.82883829e-01 1.49152869e-01 1.08133251e-01 1.21311036e+02] [ 1.10102432e-01 -4.98430822e-03 -9.93907748e-01 4.62780381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.680714057 meters Centerline goodness : 0.991766 Centerline is valid? [True, True] Translation: X:118.42, Y:121.27, Z:45.44 [[-2.33568873e-01 -9.72157952e-01 1.88281044e-02 1.18418216e+02] [ 9.63949947e-01 -2.34048303e-01 -1.26577614e-01 1.21271264e+02] [ 1.27460120e-01 -1.14152405e-02 9.91778004e-01 4.54444995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.710714057 meters Centerline goodness : 0.993161 Centerline is valid? [True, True] Translation: X:119.13, Y:120.95, Z:46.35 [[-1.97618912e-01 9.34094458e-01 2.97345438e-01 1.19133250e+02] [ 9.74294324e-01 1.53692628e-01 1.64709278e-01 1.20947497e+02] [ 1.08154222e-01 3.22251641e-01 -9.40455498e-01 4.63495476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.740714057 meters Centerline goodness : 0.993121 Centerline is valid? [True, True] Translation: X:118.52, Y:120.89, Z:45.42 [[-3.08722403e-01 -9.50775138e-01 2.67789992e-02 1.18523281e+02] [ 9.45219241e-01 -3.09814808e-01 -1.02836626e-01 1.20891186e+02] [ 1.06071037e-01 -6.43594490e-03 9.94337726e-01 4.54162866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.770714057 meters Centerline goodness : 0.992392 Centerline is valid? [True, True] Translation: X:118.53, Y:120.88, Z:45.41 [[-2.92610031e-01 -9.55196132e-01 4.44940345e-02 1.18527580e+02] [ 9.51978573e-01 -2.95376786e-01 -8.05565098e-02 1.20878569e+02] [ 9.00897715e-02 1.87857247e-02 9.95756461e-01 4.54131668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.800714057 meters Centerline goodness : 0.992078 Centerline is valid? [True, True] Translation: X:118.40, Y:121.40, Z:45.46 [[-3.17753232e-01 -9.48141387e-01 7.79706779e-03 1.18401898e+02] [ 9.42134671e-01 -3.16645443e-01 -1.10081451e-01 1.21395209e+02] [ 1.06841686e-01 -2.76328490e-02 9.93891986e-01 4.54582646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.830714057 meters Centerline goodness : 0.993709 Centerline is valid? [True, True] Translation: X:119.26, Y:121.17, Z:46.28 [[-2.55146044e-01 9.66825898e-01 1.21728960e-02 1.19264542e+02] [ 9.62372275e-01 2.52713207e-01 9.98781197e-02 1.21171788e+02] [ 9.34885012e-02 3.71983648e-02 -9.94925214e-01 4.62771060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.860714057 meters Centerline goodness : 0.990428 Centerline is valid? [True, True] Translation: X:119.07, Y:121.80, Z:46.33 [[-3.20671291e-01 9.46914309e-01 -2.28738971e-02 1.19072987e+02] [ 9.42376333e-01 3.21380092e-01 9.29606589e-02 1.21802149e+02] [ 9.53769932e-02 8.25399517e-03 -9.95407003e-01 4.63340059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.890714057 meters Centerline goodness : 0.994115 Centerline is valid? [True, True] Translation: X:119.00, Y:121.24, Z:46.45 [[-3.86636221e-01 7.65584411e-01 5.14191543e-01 1.19003565e+02] [ 9.17548131e-01 2.63209602e-01 2.98037135e-01 1.21242592e+02] [ 9.28324328e-02 5.87027440e-01 -8.04226911e-01 4.64451300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.920714057 meters Centerline goodness : 0.993953 Centerline is valid? [True, True] Translation: X:118.58, Y:121.10, Z:45.47 [[-5.09266930e-01 -8.60076857e-01 3.02488839e-02 1.18584475e+02] [ 8.57954147e-01 -5.10140919e-01 -6.05881480e-02 1.21100154e+02] [ 6.75416573e-02 -4.90338476e-03 9.97704406e-01 4.54684900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.950714057 meters Centerline goodness : 0.993398 Centerline is valid? [True, True] Translation: X:118.58, Y:121.11, Z:45.47 [[-5.08788988e-01 -8.60358562e-01 3.02805231e-02 1.18580413e+02] [ 8.58227409e-01 -5.09665662e-01 -6.07176089e-02 1.21107472e+02] [ 6.76718576e-02 -4.90487590e-03 9.97695576e-01 4.54689536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.980714057 meters Centerline goodness : 0.994246 Centerline is valid? [True, True] Translation: X:118.61, Y:121.06, Z:45.46 [[-4.89462362e-01 -8.71101222e-01 4.01155519e-02 1.18606216e+02] [ 8.70297986e-01 -4.90869472e-01 -4.03556394e-02 1.21055364e+02] [ 5.48453466e-02 1.51599174e-02 9.98379770e-01 4.54641448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.01071405700003 meters Centerline goodness : 0.993359 Centerline is valid? [True, True] Translation: X:118.60, Y:121.08, Z:45.46 [[-4.90857576e-01 -8.71012969e-01 1.98808262e-02 1.18604961e+02] [ 8.69373548e-01 -4.91171361e-01 -5.42247872e-02 1.21076295e+02] [ 5.69953853e-02 -9.33278318e-03 9.98330820e-01 4.54586824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.040714057 meters Centerline goodness : 0.992736 Centerline is valid? [True, True] Translation: X:118.58, Y:121.11, Z:45.46 [[-5.04363512e-01 -8.63331953e-01 1.65947676e-02 1.18584069e+02] [ 8.60954996e-01 -5.04261056e-01 -6.69125026e-02 1.21105876e+02] [ 6.61357966e-02 -1.94608767e-02 9.97620835e-01 4.54642958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.07071405700003 meters Centerline goodness : 0.992223 Centerline is valid? [True, True] Translation: X:118.59, Y:121.08, Z:45.47 [[-4.89506254e-01 -8.71446566e-01 3.10565629e-02 1.18592458e+02] [ 8.69796803e-01 -4.90489841e-01 -5.36025921e-02 1.21080242e+02] [ 6.19447234e-02 7.74095002e-04 9.98079281e-01 4.54670092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.100714057 meters Centerline goodness : 0.992859 Centerline is valid? [True, True] Translation: X:118.59, Y:121.08, Z:45.47 [[-4.88272826e-01 -8.72235726e-01 2.81866364e-02 1.18590717e+02] [ 8.70676971e-01 -4.89084866e-01 -5.21306655e-02 1.21082732e+02] [ 5.92558861e-02 -9.12532164e-04 9.98242409e-01 4.54661304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.13071405700003 meters Centerline goodness : 0.992836 Centerline is valid? [True, True] Translation: X:118.58, Y:121.10, Z:45.47 [[-4.87926509e-01 -8.72523995e-01 2.50918442e-02 1.18580294e+02] [ 8.70928616e-01 -4.88555278e-01 -5.28874896e-02 1.21102532e+02] [ 5.84043567e-02 -3.95200303e-03 9.98285186e-01 4.54660329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.160714057 meters Centerline goodness : 0.992549 Centerline is valid? [True, True] Translation: X:118.59, Y:121.08, Z:45.46 [[-4.86086964e-01 -8.73487543e-01 2.71841070e-02 1.18587924e+02] [ 8.72164535e-01 -4.86846373e-01 -4.80586351e-02 1.21083548e+02] [ 5.52131030e-02 3.48337967e-04 9.98474532e-01 4.54649635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.190714057 meters Centerline goodness : 0.992586 Centerline is valid? [True, True] Translation: X:118.58, Y:121.11, Z:45.46 [[-4.91016069e-01 -8.70995525e-01 1.64321361e-02 1.18581555e+02] [ 8.68870690e-01 -4.91007689e-01 -6.30489832e-02 1.21105060e+02] [ 6.29836874e-02 -1.66806624e-02 9.97875148e-01 4.54646035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.220714057 meters Centerline goodness : 0.992583 Centerline is valid? [True, True] Translation: X:118.58, Y:121.10, Z:45.47 [[-4.90717509e-01 -8.70883543e-01 2.75350664e-02 1.18577660e+02] [ 8.69135463e-01 -4.91479156e-01 -5.52429712e-02 1.21099561e+02] [ 6.16431057e-02 -3.17699051e-03 9.98093199e-01 4.54688102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.250714057 meters Centerline goodness : 0.993032 Centerline is valid? [True, True] Translation: X:118.57, Y:121.10, Z:45.47 [[-4.93601689e-01 -8.69246929e-01 2.76974699e-02 1.18574585e+02] [ 8.67226483e-01 -4.94349380e-01 -5.94719912e-02 1.21104250e+02] [ 6.53880727e-02 -5.33549588e-03 9.97845646e-01 4.54692896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.280714057 meters Centerline goodness : 0.993219 Centerline is valid? [True, True] Translation: X:118.57, Y:121.11, Z:45.47 [[-4.92831416e-01 -8.69556706e-01 3.14377357e-02 1.18570926e+02] [ 8.67866370e-01 -4.93832771e-01 -5.41955533e-02 1.21106481e+02] [ 6.26510909e-02 5.74482313e-04 9.98035325e-01 4.54696772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.310714057 meters Centerline goodness : 0.992922 Centerline is valid? [True, True] Translation: X:118.57, Y:121.11, Z:45.47 [[-4.92491594e-01 -8.69873429e-01 2.77893609e-02 1.18572367e+02] [ 8.68146743e-01 -4.93266516e-01 -5.48577808e-02 1.21106588e+02] [ 6.14268872e-02 -2.89175273e-03 9.98107397e-01 4.54668493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.340714057 meters Centerline goodness : 0.992195 Centerline is valid? [True, True] Translation: X:118.58, Y:121.11, Z:45.46 [[-4.93430397e-01 -8.69660520e-01 1.47317422e-02 1.18577321e+02] [ 8.67851777e-01 -4.93391603e-01 -5.82925346e-02 1.21108299e+02] [ 5.79632338e-02 -1.59783398e-02 9.98190842e-01 4.54613668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.370714057 meters Centerline goodness : 0.993723 Centerline is valid? [True, True] Translation: X:118.57, Y:121.10, Z:45.47 [[-4.94208898e-01 -8.68456778e-01 3.92477965e-02 1.18567298e+02] [ 8.67064446e-01 -4.95677556e-01 -5.00300576e-02 1.21100679e+02] [ 6.29031945e-02 9.30506929e-03 9.97976254e-01 4.54720244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.400714057 meters Centerline goodness : 0.993378 Centerline is valid? [True, True] Translation: X:118.57, Y:121.10, Z:45.47 [[-4.94875737e-01 -8.68590856e-01 2.54544658e-02 1.18573381e+02] [ 8.66787379e-01 -4.95496367e-01 -5.62404642e-02 1.21099943e+02] [ 6.14625483e-02 -5.76843144e-03 9.98092721e-01 4.54658120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.430714057 meters Centerline goodness : 0.994287 Centerline is valid? [True, True] Translation: X:118.57, Y:121.11, Z:45.47 [[-4.95969085e-01 -8.67913165e-01 2.72287377e-02 1.18567578e+02] [ 8.66134572e-01 -4.96699583e-01 -5.56814815e-02 1.21108688e+02] [ 6.18511935e-02 -4.03254235e-03 9.98077236e-01 4.54678676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.460714057 meters Centerline goodness : 0.993500 Centerline is valid? [True, True] Translation: X:118.57, Y:121.11, Z:45.47 [[-4.95986272e-01 -8.67913330e-01 2.69085440e-02 1.18568945e+02] [ 8.66227900e-01 -4.96702882e-01 -5.41799956e-02 1.21105631e+02] [ 6.03890918e-02 -3.56360253e-03 9.98168552e-01 4.54671569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.490714057 meters Centerline goodness : 0.994156 Centerline is valid? [True, True] Translation: X:118.57, Y:121.11, Z:45.47 [[-4.97109817e-01 -8.67338673e-01 2.46060208e-02 1.18568725e+02] [ 8.65662522e-01 -4.97686489e-01 -5.41900036e-02 1.21108840e+02] [ 5.92471699e-02 -5.63787274e-03 9.98227423e-01 4.54659446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.520714057 meters Centerline goodness : 0.993736 Centerline is valid? [True, True] Translation: X:118.57, Y:121.11, Z:45.47 [[-4.98079815e-01 -8.66775862e-01 2.48214081e-02 1.18568351e+02] [ 8.65087789e-01 -4.98666439e-01 -5.43589880e-02 1.21108507e+02] [ 5.94946618e-02 -5.60241764e-03 9.98212902e-01 4.54664498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.550714057 meters Centerline goodness : 0.993964 Centerline is valid? [True, True] Translation: X:118.57, Y:121.08, Z:45.47 [[-4.91402541e-01 -8.70205739e-01 3.55740595e-02 1.18574087e+02] [ 8.69568021e-01 -4.92508751e-01 -3.58690312e-02 1.21083634e+02] [ 4.87339724e-02 1.33079314e-02 9.98723134e-01 4.54655501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.580714057 meters Centerline goodness : 0.994167 Centerline is valid? [True, True] Translation: X:118.58, Y:121.09, Z:45.46 [[-4.89826557e-01 -8.71533333e-01 2.23515728e-02 1.18578561e+02] [ 8.70702708e-01 -4.90335570e-01 -3.80502847e-02 1.21086877e+02] [ 4.41218626e-02 8.23534989e-04 9.99025817e-01 4.54587702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.610714057 meters Centerline goodness : 0.994721 Centerline is valid? [True, True] Translation: X:118.56, Y:121.14, Z:45.46 [[-5.10247609e-01 -8.60026886e-01 -1.06436937e-03 1.18557325e+02] [ 8.57516682e-01 -5.08663044e-01 -7.69873283e-02 1.21140968e+02] [ 6.56697669e-02 -4.01953147e-02 9.97031503e-01 4.54624366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.640714057 meters Centerline goodness : 0.993049 Centerline is valid? [True, True] Translation: X:118.56, Y:121.10, Z:45.47 [[-4.92446050e-01 -8.69642820e-01 3.49034905e-02 1.18563677e+02] [ 8.69109226e-01 -4.93486953e-01 -3.34631300e-02 1.21097247e+02] [ 4.63253879e-02 1.38561594e-02 9.98830299e-01 4.54685127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.670714057 meters Centerline goodness : 0.993595 Centerline is valid? [True, True] Translation: X:118.55, Y:121.14, Z:45.47 [[-5.08140665e-01 -8.61155282e-01 1.43054098e-02 1.18547563e+02] [ 8.58689386e-01 -5.07831661e-01 -6.89894317e-02 1.21140911e+02] [ 6.66753536e-02 -2.27724321e-02 9.97514819e-01 4.54700164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.700714057 meters Centerline goodness : 0.992861 Centerline is valid? [True, True] Translation: X:118.56, Y:121.11, Z:45.47 [[-4.91332150e-01 -8.70333296e-01 3.33567409e-02 1.18555437e+02] [ 8.69704683e-01 -4.92322632e-01 -3.51025757e-02 1.21114286e+02] [ 4.69732189e-02 1.17634897e-02 9.98826880e-01 4.54689430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.730714057 meters Centerline goodness : 0.993425 Centerline is valid? [True, True] Translation: X:118.55, Y:121.12, Z:45.47 [[-4.90712770e-01 -8.70625170e-01 3.48251400e-02 1.18553646e+02] [ 8.69883381e-01 -4.91806767e-01 -3.78022194e-02 1.21116147e+02] [ 5.00388032e-02 1.17437788e-02 9.98678227e-01 4.54697502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.76071405700003 meters Centerline goodness : 0.993244 Centerline is valid? [True, True] Translation: X:118.56, Y:121.13, Z:45.46 [[-4.91842231e-01 -8.70610508e-01 1.13385592e-02 1.18559108e+02] [ 8.69006903e-01 -4.91661005e-01 -5.56458299e-02 1.21129898e+02] [ 5.40205716e-02 -1.75156829e-02 9.98386187e-01 4.54610861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.790714057 meters Centerline goodness : 0.993235 Centerline is valid? [True, True] Translation: X:118.55, Y:121.15, Z:45.47 [[-4.93434167e-01 -8.69551472e-01 2.00738671e-02 1.18546025e+02] [ 8.67774243e-01 -4.93731057e-01 -5.65464989e-02 1.21146818e+02] [ 5.90811830e-02 -1.04823897e-02 9.98198143e-01 4.54676498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.82071405700003 meters Centerline goodness : 0.993334 Centerline is valid? [True, True] Translation: X:118.55, Y:121.13, Z:45.47 [[-4.91472018e-01 -8.70465710e-01 2.72892309e-02 1.18547363e+02] [ 8.68947353e-01 -4.92226600e-01 -5.14147133e-02 1.21133852e+02] [ 5.81872303e-02 -1.55598801e-03 9.98304475e-01 4.54689210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.850714057 meters Centerline goodness : 0.992717 Centerline is valid? [True, True] Translation: X:118.55, Y:121.14, Z:45.47 [[-4.91469817e-01 -8.70558452e-01 2.41950593e-02 1.18546463e+02] [ 8.68835699e-01 -4.92027880e-01 -5.50735195e-02 1.21136749e+02] [ 5.98493616e-02 -6.04544132e-03 9.98189114e-01 4.54684754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.88071405700003 meters Centerline goodness : 0.992025 Centerline is valid? [True, True] Translation: X:118.55, Y:121.13, Z:45.47 [[-4.89644082e-01 -8.71508100e-01 2.68757131e-02 1.18546126e+02] [ 8.69988176e-01 -4.90377709e-01 -5.14808295e-02 1.21131073e+02] [ 5.80452105e-02 -1.82573086e-03 9.98312286e-01 4.54683636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.910714057 meters Centerline goodness : 0.992848 Centerline is valid? [True, True] Translation: X:118.55, Y:121.13, Z:45.47 [[-4.88112844e-01 -8.72279135e-01 2.95797768e-02 1.18545442e+02] [ 8.71078767e-01 -4.88996637e-01 -4.58701515e-02 1.21127756e+02] [ 5.44759874e-02 3.37650540e-03 9.98509372e-01 4.54679974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.940714057 meters Centerline goodness : 0.991969 Centerline is valid? [True, True] Translation: X:118.55, Y:121.13, Z:45.46 [[-4.89775169e-01 -8.71800517e-01 9.17294512e-03 1.18553682e+02] [ 8.70176020e-01 -4.89459849e-01 -5.67692714e-02 1.21131033e+02] [ 5.39812685e-02 -1.98221026e-02 9.98345184e-01 4.54601977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.970714057 meters Centerline goodness : 0.992457 Centerline is valid? [True, True] Translation: X:118.53, Y:121.15, Z:45.47 [[-4.90346499e-01 -8.70738803e-01 3.70708367e-02 1.18526934e+02] [ 8.69575559e-01 -4.91650722e-01 -4.60208130e-02 1.21153579e+02] [ 5.82980112e-02 9.66974905e-03 9.98252392e-01 4.54735090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.000714057 meters Centerline goodness : 0.992400 Centerline is valid? [True, True] Translation: X:118.54, Y:121.16, Z:45.47 [[-4.91837846e-01 -8.70486788e-01 1.86623991e-02 1.18535782e+02] [ 8.68636592e-01 -4.92037035e-01 -5.80519331e-02 1.21155577e+02] [ 5.97160323e-02 -1.23412950e-02 9.98139113e-01 4.54657936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.030714057 meters Centerline goodness : 0.992514 Centerline is valid? [True, True] Translation: X:118.54, Y:121.14, Z:45.47 [[-4.90820147e-01 -8.70784538e-01 2.88074997e-02 1.18539346e+02] [ 8.69316010e-01 -4.91664759e-01 -5.05513587e-02 1.21137307e+02] [ 5.81829739e-02 2.31195390e-04 9.98305909e-01 4.54687398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.060714057 meters Centerline goodness : 0.991962 Centerline is valid? [True, True] Translation: X:118.55, Y:121.13, Z:45.46 [[-4.91175942e-01 -8.70913532e-01 1.59942135e-02 1.18551610e+02] [ 8.69399774e-01 -4.91290169e-01 -5.27067656e-02 1.21127179e+02] [ 5.37608352e-02 -1.19829297e-02 9.98481939e-01 4.54607285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.090714057 meters Centerline goodness : 0.993026 Centerline is valid? [True, True] Translation: X:118.54, Y:121.14, Z:45.47 [[-4.93957025e-01 -8.69075002e-01 2.67413107e-02 1.18538541e+02] [ 8.67495331e-01 -4.94672930e-01 -5.24456166e-02 1.21140498e+02] [ 5.88073768e-02 -2.70791859e-03 9.98265676e-01 4.54692099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.120714057 meters Centerline goodness : 0.992870 Centerline is valid? [True, True] Translation: X:118.54, Y:121.14, Z:45.47 [[-4.95590081e-01 -8.68188347e-01 2.52876588e-02 1.18540919e+02] [ 8.66725634e-01 -4.96225165e-01 -5.04704055e-02 1.21136798e+02] [ 5.63661906e-02 -3.09517026e-03 9.98405365e-01 4.54681972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.150714057 meters Centerline goodness : 0.993714 Centerline is valid? [True, True] Translation: X:118.54, Y:121.14, Z:45.47 [[-4.95263003e-01 -8.68374921e-01 2.52893998e-02 1.18541136e+02] [ 8.66958219e-01 -4.95901081e-01 -4.96544560e-02 1.21135515e+02] [ 5.56597250e-02 -2.66716194e-03 9.98446234e-01 4.54681970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.180714057 meters Centerline goodness : 0.992718 Centerline is valid? [True, True] Translation: X:118.54, Y:121.15, Z:45.47 [[-4.95384583e-01 -8.68435263e-01 2.03545911e-02 1.18537869e+02] [ 8.66932931e-01 -4.95738783e-01 -5.16754513e-02 1.21146363e+02] [ 5.49673444e-02 -7.95315655e-03 9.98456478e-01 4.54670524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.210714057 meters Centerline goodness : 0.992838 Centerline is valid? [True, True] Translation: X:118.54, Y:121.14, Z:45.47 [[-4.95068520e-01 -8.68558232e-01 2.26662218e-02 1.18540408e+02] [ 8.67059585e-01 -4.95553693e-01 -5.13245813e-02 1.21137423e+02] [ 5.58107175e-02 -5.75621956e-03 9.98424774e-01 4.54677929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.240714057 meters Centerline goodness : 0.992592 Centerline is valid? [True, True] Translation: X:118.54, Y:121.14, Z:45.47 [[-4.94364849e-01 -8.68953410e-01 2.28772204e-02 1.18539075e+02] [ 8.67477067e-01 -4.94865271e-01 -5.09107184e-02 1.21140049e+02] [ 5.55601843e-02 -5.32300556e-03 9.98441151e-01 4.54675569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.270714057 meters Centerline goodness : 0.991975 Centerline is valid? [True, True] Translation: X:118.54, Y:121.15, Z:45.47 [[-4.95231624e-01 -8.68636264e-01 1.47200277e-02 1.18536489e+02] [ 8.66871262e-01 -4.95200419e-01 -5.75392065e-02 1.21153581e+02] [ 5.72700053e-02 -1.57348657e-02 9.98234722e-01 4.54652388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.300714057 meters Centerline goodness : 0.992832 Centerline is valid? [True, True] Translation: X:118.52, Y:121.16, Z:45.47 [[-4.93857980e-01 -8.68886801e-01 3.37642418e-02 1.18519980e+02] [ 8.67537659e-01 -4.94983013e-01 -4.86849844e-02 1.21164957e+02] [ 5.90144665e-02 5.24828324e-03 9.98243331e-01 4.54742997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.330714057 meters Centerline goodness : 0.990830 Centerline is valid? [True, True] Translation: X:118.54, Y:121.15, Z:45.46 [[-4.94068067e-01 -8.69364459e-01 1.01085504e-02 1.18541434e+02] [ 8.67585419e-01 -4.93745944e-01 -5.92493429e-02 1.21146885e+02] [ 5.65003287e-02 -2.05031774e-02 9.98192032e-01 4.54622284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.360714057 meters Centerline goodness : 0.991506 Centerline is valid? [True, True] Translation: X:118.52, Y:121.16, Z:45.47 [[-4.94083561e-01 -8.68653232e-01 3.63730142e-02 1.18519668e+02] [ 8.67170076e-01 -4.95380777e-01 -5.11267581e-02 1.21163808e+02] [ 6.24299157e-02 6.28069876e-03 9.98029588e-01 4.54744054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.390714057 meters Centerline goodness : 0.992319 Centerline is valid? [True, True] Translation: X:118.52, Y:121.17, Z:45.47 [[-5.06424406e-01 -8.62053605e-01 1.99475278e-02 1.18517375e+02] [ 8.59253021e-01 -5.06447078e-01 -7.20805261e-02 1.21174838e+02] [ 7.22396445e-02 -1.93633641e-02 9.97199325e-01 4.54725496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.420714057 meters Centerline goodness : 0.991264 Centerline is valid? [True, True] Translation: X:118.53, Y:121.12, Z:45.47 [[-4.85659914e-01 -8.72681586e-01 5.06092705e-02 1.18534780e+02] [ 8.72609944e-01 -4.87425032e-01 -3.11243296e-02 1.21118856e+02] [ 5.18298546e-02 2.90463135e-02 9.98233429e-01 4.54729292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.450714057 meters Centerline goodness : 0.991727 Centerline is valid? [True, True] Translation: X:118.52, Y:121.19, Z:45.47 [[-5.07185770e-01 -8.61834380e-01 2.02383878e-03 1.18518485e+02] [ 8.58879078e-01 -5.05638181e-01 -8.15889684e-02 1.21190916e+02] [ 7.13395082e-02 -3.96425309e-02 9.96664008e-01 4.54651813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.480714057 meters Centerline goodness : 0.991910 Centerline is valid? [True, True] Translation: X:118.51, Y:121.18, Z:45.48 [[-5.06698377e-01 -8.61515060e-01 3.23814087e-02 1.18508189e+02] [ 8.58953526e-01 -5.07697052e-01 -6.66524010e-02 1.21178303e+02] [ 7.38619930e-02 -5.95853829e-03 9.97250672e-01 4.54792930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.51071405700003 meters Centerline goodness : 0.992288 Centerline is valid? [True, True] Translation: X:118.51, Y:121.18, Z:45.48 [[-5.06451922e-01 -8.61665275e-01 3.22397952e-02 1.18507972e+02] [ 8.59121528e-01 -5.07442232e-01 -6.64272581e-02 1.21178261e+02] [ 7.35978952e-02 -5.94431043e-03 9.97270282e-01 4.54794701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.540714057 meters Centerline goodness : 0.990852 Centerline is valid? [True, True] Translation: X:118.40, Y:121.40, Z:45.49 [[-5.08196254e-01 -8.60692402e-01 3.07434122e-02 1.18402756e+02] [ 8.58214800e-01 -5.09077625e-01 -6.56302499e-02 1.21396190e+02] [ 7.21382407e-02 -6.96859580e-03 9.97370299e-01 4.54928034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.57071405700003 meters Centerline goodness : 0.991419 Centerline is valid? [True, True] Translation: X:118.51, Y:121.18, Z:45.48 [[-5.07681551e-01 -8.60940124e-01 3.22729858e-02 1.18506761e+02] [ 8.58515567e-01 -5.08679950e-01 -6.47744527e-02 1.21182196e+02] [ 7.21835461e-02 -5.17793390e-03 9.97377925e-01 4.54805054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.600714057 meters Centerline goodness : 0.991419 Centerline is valid? [True, True] Translation: X:118.51, Y:121.18, Z:45.48 [[-5.07330482e-01 -8.61149429e-01 3.22093569e-02 1.18505549e+02] [ 8.58723575e-01 -5.08325131e-01 -6.48026470e-02 1.21184590e+02] [ 7.21775881e-02 -5.21742403e-03 9.97378150e-01 4.54806367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.63071405700003 meters Centerline goodness : 0.991379 Centerline is valid? [True, True] Translation: X:118.50, Y:121.19, Z:45.48 [[-5.05853648e-01 -8.62005344e-01 3.25403344e-02 1.18503693e+02] [ 8.59680978e-01 -5.06882664e-01 -6.33922797e-02 1.21188082e+02] [ 7.11386152e-02 -4.09290948e-03 9.97458042e-01 4.54810741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.660714057 meters Centerline goodness : 0.991840 Centerline is valid? [True, True] Translation: X:118.51, Y:121.19, Z:45.48 [[-5.05465547e-01 -8.62286400e-01 3.10925349e-02 1.18505551e+02] [ 8.59914508e-01 -5.06388891e-01 -6.41664276e-02 1.21186847e+02] [ 7.10747521e-02 -5.69699657e-03 9.97454723e-01 4.54799625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.690714057 meters Centerline goodness : 0.991485 Centerline is valid? [True, True] Translation: X:118.51, Y:121.17, Z:45.48 [[-4.88112659e-01 -8.71485954e-01 4.75211982e-02 1.18512270e+02] [ 8.71291016e-01 -4.89736522e-01 -3.17821361e-02 1.21168895e+02] [ 5.09705515e-02 2.58915301e-02 9.98364478e-01 4.54771661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.720714057 meters Centerline goodness : 0.991718 Centerline is valid? [True, True] Translation: X:118.53, Y:121.16, Z:45.47 [[-4.85645059e-01 -8.73700067e-01 2.82324164e-02 1.18525661e+02] [ 8.72884794e-01 -4.86426984e-01 -3.82220494e-02 1.21162054e+02] [ 4.71276163e-02 6.08129755e-03 9.98870365e-01 4.54662030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.750714057 meters Centerline goodness : 0.991922 Centerline is valid? [True, True] Translation: X:118.52, Y:121.19, Z:45.46 [[-4.86635091e-01 -8.73412605e-01 1.83496370e-02 1.18518901e+02] [ 8.72334014e-01 -4.86952469e-01 -4.37110986e-02 1.21186943e+02] [ 4.71132256e-02 -5.26434195e-03 9.98875683e-01 4.54623452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.780714057 meters Centerline goodness : 0.992041 Centerline is valid? [True, True] Translation: X:118.52, Y:121.19, Z:45.46 [[-4.91230167e-01 -8.70955532e-01 1.13747654e-02 1.18522514e+02] [ 8.69405690e-01 -4.91069514e-01 -5.46303875e-02 1.21188718e+02] [ 5.31664387e-02 -1.69468086e-02 9.98441854e-01 4.54613825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.810714057 meters Centerline goodness : 0.991500 Centerline is valid? [True, True] Translation: X:118.52, Y:121.18, Z:45.46 [[-4.90540366e-01 -8.71272509e-01 1.59488126e-02 1.18524367e+02] [ 8.69927589e-01 -4.90689228e-01 -4.94981913e-02 1.21182537e+02] [ 5.09523239e-02 -1.04065488e-02 9.98646867e-01 4.54614114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.840714057 meters Centerline goodness : 0.992361 Centerline is valid? [True, True] Translation: X:118.52, Y:121.19, Z:45.47 [[-4.93138006e-01 -8.69575953e-01 2.55454389e-02 1.18515272e+02] [ 8.68269259e-01 -4.93797425e-01 -4.76717524e-02 1.21192969e+02] [ 5.40684815e-02 -1.32843363e-03 9.98536346e-01 4.54681900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.870714057 meters Centerline goodness : 0.992356 Centerline is valid? [True, True] Translation: X:118.52, Y:121.19, Z:45.47 [[-4.92967738e-01 -8.69749055e-01 2.27901213e-02 1.18519069e+02] [ 8.68480875e-01 -4.93482449e-01 -4.70748452e-02 1.21188293e+02] [ 5.21898270e-02 -3.41359544e-03 9.98631348e-01 4.54663939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.900714057 meters Centerline goodness : 0.992251 Centerline is valid? [True, True] Translation: X:118.51, Y:121.20, Z:45.47 [[-4.94012701e-01 -8.69255367e-01 1.86160669e-02 1.18514021e+02] [ 8.67836719e-01 -4.94285969e-01 -5.04064556e-02 1.21204307e+02] [ 5.30177427e-02 -8.74572286e-03 9.98555272e-01 4.54663875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.930714057 meters Centerline goodness : 0.991831 Centerline is valid? [True, True] Translation: X:118.52, Y:121.20, Z:45.47 [[-4.93367429e-01 -8.69555498e-01 2.14899045e-02 1.18517204e+02] [ 8.68239251e-01 -4.93809207e-01 -4.80943955e-02 1.21195035e+02] [ 5.24326587e-02 -5.06982966e-03 9.98611593e-01 4.54670990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.960714057 meters Centerline goodness : 0.992775 Centerline is valid? [True, True] Translation: X:118.51, Y:121.21, Z:45.47 [[-4.93728747e-01 -8.69300907e-01 2.34063686e-02 1.18510314e+02] [ 8.67964397e-01 -4.94270584e-01 -4.83155733e-02 1.21206851e+02] [ 5.35698512e-02 -3.53889284e-03 9.98557834e-01 4.54687120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.990714057 meters Centerline goodness : 0.992422 Centerline is valid? [True, True] Translation: X:118.51, Y:121.22, Z:45.47 [[-4.94628462e-01 -8.68971919e-01 1.51818558e-02 1.18510779e+02] [ 8.67274823e-01 -4.94644724e-01 -5.62225746e-02 1.21217051e+02] [ 5.63654634e-02 -1.46424442e-02 9.98302827e-01 4.54666863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.020714057 meters Centerline goodness : 0.991599 Centerline is valid? [True, True] Translation: X:118.51, Y:121.20, Z:45.47 [[-4.94065121e-01 -8.69102018e-01 2.36925995e-02 1.18513482e+02] [ 8.67555449e-01 -4.94605775e-01 -5.20833132e-02 1.21203531e+02] [ 5.69842091e-02 -5.17790466e-03 9.98361653e-01 4.54704171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.050714057 meters Centerline goodness : 0.991084 Centerline is valid? [True, True] Translation: X:118.51, Y:121.20, Z:45.47 [[-4.94547778e-01 -8.68865361e-01 2.22593639e-02 1.18514383e+02] [ 8.67192030e-01 -4.94989866e-01 -5.44335911e-02 1.21204071e+02] [ 5.83136214e-02 -7.61686857e-03 9.98269255e-01 4.54705060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.080714057 meters Centerline goodness : 0.991984 Centerline is valid? [True, True] Translation: X:118.52, Y:121.20, Z:45.47 [[-4.94001351e-01 -8.69193744e-01 2.15615534e-02 1.18517672e+02] [ 8.67402002e-01 -4.94385559e-01 -5.65392405e-02 1.21200602e+02] [ 5.98032747e-02 -9.22792658e-03 9.98167528e-01 4.54707913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.110714057 meters Centerline goodness : 0.992469 Centerline is valid? [True, True] Translation: X:118.51, Y:121.22, Z:45.47 [[-4.95666943e-01 -8.68243320e-01 2.16291408e-02 1.18507117e+02] [ 8.66171903e-01 -4.96004891e-01 -6.10359145e-02 1.21224119e+02] [ 6.37221847e-02 -1.15189311e-02 9.97901196e-01 4.54740462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.140714057 meters Centerline goodness : 0.992236 Centerline is valid? [True, True] Translation: X:118.51, Y:121.21, Z:45.48 [[-4.93645249e-01 -8.69210017e-01 2.80769349e-02 1.18510360e+02] [ 8.67401117e-01 -4.94431625e-01 -5.61486410e-02 1.21213051e+02] [ 6.26870858e-02 -3.36354518e-03 9.98027563e-01 4.54751589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.170714057 meters Centerline goodness : 0.992044 Centerline is valid? [True, True] Translation: X:118.51, Y:121.21, Z:45.47 [[-4.93443777e-01 -8.69444222e-01 2.40828502e-02 1.18513545e+02] [ 8.67319519e-01 -4.93940772e-01 -6.14765446e-02 1.21212187e+02] [ 6.53459281e-02 -9.44769238e-03 9.97817945e-01 4.54741400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.200714057 meters Centerline goodness : 0.992600 Centerline is valid? [True, True] Translation: X:118.51, Y:121.22, Z:45.48 [[-4.92709427e-01 -8.69792973e-01 2.64122070e-02 1.18511011e+02] [ 8.67541587e-01 -4.93349330e-01 -6.30716557e-02 1.21216689e+02] [ 6.78897275e-02 -8.16231138e-03 9.97659442e-01 4.54762805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.230714057 meters Centerline goodness : 0.992484 Centerline is valid? [True, True] Translation: X:118.51, Y:121.21, Z:45.48 [[-4.89831191e-01 -8.71232599e-01 3.19243330e-02 1.18509903e+02] [ 8.69366522e-01 -4.90870382e-01 -5.69922699e-02 1.21213798e+02] [ 6.53242330e-02 -1.62645130e-04 9.97864078e-01 4.54769342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.26071405700003 meters Centerline goodness : 0.992341 Centerline is valid? [True, True] Translation: X:118.51, Y:121.21, Z:45.47 [[-4.88602385e-01 -8.72085006e-01 2.71192231e-02 1.18512451e+02] [ 8.70091385e-01 -4.89325538e-01 -5.91734680e-02 1.21213699e+02] [ 6.48744226e-02 -5.31609524e-03 9.97879276e-01 4.54745077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.290714057 meters Centerline goodness : 0.992802 Centerline is valid? [True, True] Translation: X:118.51, Y:121.22, Z:45.47 [[-4.85893543e-01 -8.73500543e-01 3.00710366e-02 1.18507600e+02] [ 8.71781660e-01 -4.86823010e-01 -5.47731081e-02 1.21221008e+02] [ 6.24836122e-02 -3.98521307e-04 9.98045910e-01 4.54749800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.32071405700003 meters Centerline goodness : 0.993023 Centerline is valid? [True, True] Translation: X:118.51, Y:121.21, Z:45.47 [[-4.84803405e-01 -8.74235754e-01 2.60289224e-02 1.18513242e+02] [ 8.72449704e-01 -4.85481202e-01 -5.60313871e-02 1.21214142e+02] [ 6.16211944e-02 -4.45528161e-03 9.98089665e-01 4.54720377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.350714057 meters Centerline goodness : 0.993266 Centerline is valid? [True, True] Translation: X:118.50, Y:121.23, Z:45.47 [[-4.84130865e-01 -8.74515376e-01 2.89855623e-02 1.18503569e+02] [ 8.73006686e-01 -4.84997586e-01 -5.13484992e-02 1.21230754e+02] [ 5.89629799e-02 4.45196403e-04 9.98260071e-01 4.54732583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.38071405700003 meters Centerline goodness : 0.992535 Centerline is valid? [True, True] Translation: X:118.51, Y:121.23, Z:45.47 [[-4.82892543e-01 -8.75290340e-01 2.61076885e-02 1.18507305e+02] [ 8.73885486e-01 -4.83596470e-01 -4.95843844e-02 1.21226169e+02] [ 5.60263187e-02 -1.12879945e-03 9.98428654e-01 4.54703980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.410714057 meters Centerline goodness : 0.992632 Centerline is valid? [True, True] Translation: X:118.51, Y:121.24, Z:45.47 [[-4.85447201e-01 -8.74058920e-01 1.90268104e-02 1.18506801e+02] [ 8.72273639e-01 -4.85694632e-01 -5.69159310e-02 1.21236201e+02] [ 5.89890968e-02 -1.10330943e-02 9.98197654e-01 4.54690312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.440714057 meters Centerline goodness : 0.992987 Centerline is valid? [True, True] Translation: X:118.51, Y:121.23, Z:45.47 [[-4.86018384e-01 -8.73641758e-01 2.31561876e-02 1.18507173e+02] [ 8.71882016e-01 -4.86519946e-01 -5.58577913e-02 1.21231207e+02] [ 6.00656462e-02 -6.95844997e-03 9.98170175e-01 4.54706848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.470714057 meters Centerline goodness : 0.992478 Centerline is valid? [True, True] Translation: X:118.51, Y:121.23, Z:45.47 [[-4.87420848e-01 -8.72873300e-01 2.26521534e-02 1.18507750e+02] [ 8.71066018e-01 -4.87882931e-01 -5.66942540e-02 1.21231307e+02] [ 6.05384996e-02 -7.90244027e-03 9.98134581e-01 4.54711268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.500714057 meters Centerline goodness : 0.992764 Centerline is valid? [True, True] Translation: X:118.51, Y:121.23, Z:45.47 [[-4.87373451e-01 -8.72824013e-01 2.54039631e-02 1.18505683e+02] [ 8.71195140e-01 -4.88019382e-01 -5.34426010e-02 1.21232405e+02] [ 5.90436119e-02 -3.91469576e-03 9.98247728e-01 4.54722120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.530714057 meters Centerline goodness : 0.992298 Centerline is valid? [True, True] Translation: X:118.50, Y:121.26, Z:45.47 [[-4.89510567e-01 -8.71756955e-01 2.04747486e-02 1.18497118e+02] [ 8.70053179e-01 -4.89851575e-01 -5.52530532e-02 1.21255099e+02] [ 5.81968212e-02 -9.23283331e-03 9.98262433e-01 4.54727121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.560714057 meters Centerline goodness : 0.993638 Centerline is valid? [True, True] Translation: X:118.49, Y:121.27, Z:45.48 [[-5.04438488e-01 -8.63321204e-01 1.47753274e-02 1.18488687e+02] [ 8.60536138e-01 -5.04068013e-01 -7.34370074e-02 1.21266978e+02] [ 7.08474956e-02 -2.43297498e-02 9.97190401e-01 4.54775521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.590714057 meters Centerline goodness : 0.992831 Centerline is valid? [True, True] Translation: X:118.50, Y:121.24, Z:45.48 [[-4.94361136e-01 -8.68439508e-01 3.76814174e-02 1.18497191e+02] [ 8.67102505e-01 -4.95722399e-01 -4.89136833e-02 1.21241625e+02] [ 6.11580977e-02 8.49262741e-03 9.98091961e-01 4.54801169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.620714057 meters Centerline goodness : 0.993380 Centerline is valid? [True, True] Translation: X:118.50, Y:121.25, Z:45.48 [[-4.94496065e-01 -8.68718123e-01 2.83278170e-02 1.18499676e+02] [ 8.67142748e-01 -4.95305084e-01 -5.23099375e-02 1.21249465e+02] [ 5.94735025e-02 -1.30279718e-03 9.98229034e-01 4.54756280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.650714057 meters Centerline goodness : 0.993139 Centerline is valid? [True, True] Translation: X:118.50, Y:121.26, Z:45.47 [[-4.99047523e-01 -8.66323171e-01 2.08742423e-02 1.18500514e+02] [ 8.64364266e-01 -4.99349552e-01 -5.93669930e-02 1.21260228e+02] [ 6.18545452e-02 -1.15840017e-02 9.98017949e-01 4.54738112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.680714057 meters Centerline goodness : 0.993263 Centerline is valid? [True, True] Translation: X:118.50, Y:121.26, Z:45.48 [[-5.00074371e-01 -8.65605282e-01 2.55561925e-02 1.18499872e+02] [ 8.63771739e-01 -5.00687857e-01 -5.66573293e-02 1.21258242e+02] [ 6.18385588e-02 -6.25816151e-03 9.98066545e-01 4.54750854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.710714057 meters Centerline goodness : 0.993821 Centerline is valid? [True, True] Translation: X:118.50, Y:121.27, Z:45.48 [[-5.01714754e-01 -8.64607123e-01 2.71445834e-02 1.18496269e+02] [ 8.62736155e-01 -5.02421375e-01 -5.70884289e-02 1.21265892e+02] [ 6.29970811e-02 -5.22349355e-03 9.98000042e-01 4.54764552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.740714057 meters Centerline goodness : 0.993798 Centerline is valid? [True, True] Translation: X:118.50, Y:121.27, Z:45.47 [[-5.03776962e-01 -8.63490190e-01 2.43611375e-02 1.18499499e+02] [ 8.61514714e-01 -5.04289741e-01 -5.90275695e-02 1.21268099e+02] [ 6.32547989e-02 -8.74925121e-03 9.97959058e-01 4.54747623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.770714057 meters Centerline goodness : 0.993622 Centerline is valid? [True, True] Translation: X:118.49, Y:121.28, Z:45.48 [[-5.05308213e-01 -8.62572021e-01 2.51618547e-02 1.18493670e+02] [ 8.60472853e-01 -5.05852746e-01 -6.08232589e-02 1.21282606e+02] [ 6.51926347e-02 -9.08339939e-03 9.97831355e-01 4.54763619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.800714057 meters Centerline goodness : 0.994342 Centerline is valid? [True, True] Translation: X:118.50, Y:121.27, Z:45.48 [[-5.05351353e-01 -8.62411921e-01 2.94225767e-02 1.18499668e+02] [ 8.60478145e-01 -5.06191980e-01 -5.78536178e-02 1.21269930e+02] [ 6.47871220e-02 -3.91891983e-03 9.97891412e-01 4.54766743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.830714057 meters Centerline goodness : 0.993950 Centerline is valid? [True, True] Translation: X:118.50, Y:121.27, Z:45.48 [[-5.05025557e-01 -8.62664878e-01 2.75407752e-02 1.18500128e+02] [ 8.60779285e-01 -5.05749186e-01 -5.72431998e-02 1.21272299e+02] [ 6.33104226e-02 -5.20275006e-03 9.97980321e-01 4.54753818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.860714057 meters Centerline goodness : 0.993163 Centerline is valid? [True, True] Translation: X:118.50, Y:121.28, Z:45.47 [[-5.04824083e-01 -8.62843327e-01 2.55741714e-02 1.18500145e+02] [ 8.60942945e-01 -5.05421632e-01 -5.76733883e-02 1.21280339e+02] [ 6.26888377e-02 -7.09701299e-03 9.98007887e-01 4.54749119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.890714057 meters Centerline goodness : 0.994265 Centerline is valid? [True, True] Translation: X:118.50, Y:121.29, Z:45.48 [[-5.13902798e-01 -8.57673596e-01 1.73180936e-02 1.18496577e+02] [ 8.54767521e-01 -5.13662215e-01 -7.43210148e-02 1.21285965e+02] [ 7.26388224e-02 -2.33908335e-02 9.97083984e-01 4.54766925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.920714057 meters Centerline goodness : 0.993997 Centerline is valid? [True, True] Translation: X:118.49, Y:121.29, Z:45.48 [[-5.01598529e-01 -8.64085703e-01 4.18904936e-02 1.18488636e+02] [ 8.62756713e-01 -5.03214767e-01 -4.92519368e-02 1.21286950e+02] [ 6.36378094e-02 1.14366055e-02 9.97907527e-01 4.54831967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.950714057 meters Centerline goodness : 0.994722 Centerline is valid? [True, True] Translation: X:118.49, Y:121.31, Z:45.48 [[-5.10520400e-01 -8.59735890e-01 1.49372339e-02 1.18486989e+02] [ 8.56907217e-01 -5.10126928e-01 -7.40306616e-02 1.21311801e+02] [ 7.12667020e-02 -2.49943394e-02 9.97144092e-01 4.54785546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.980714057 meters Centerline goodness : 0.993389 Centerline is valid? [True, True] Translation: X:118.51, Y:121.25, Z:45.48 [[-4.90360398e-01 -8.70119802e-01 4.93782350e-02 1.18506048e+02] [ 8.70219336e-01 -4.91936166e-01 -2.67790135e-02 1.21246802e+02] [ 4.75918896e-02 2.98385272e-02 9.98421091e-01 4.54780926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.01071405700003 meters Centerline goodness : 0.994554 Centerline is valid? [True, True] Translation: X:118.51, Y:121.26, Z:45.47 [[-4.88631648e-01 -8.72022406e-01 2.85663289e-02 1.18512441e+02] [ 8.71372204e-01 -4.89400833e-01 -3.46021165e-02 1.21259818e+02] [ 4.41542060e-02 7.98421574e-03 9.98992822e-01 4.54695671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.040714057 meters Centerline goodness : 0.994110 Centerline is valid? [True, True] Translation: X:118.51, Y:121.30, Z:45.46 [[-4.98276108e-01 -8.66996267e-01 -6.19632397e-03 1.18513577e+02] [ 8.64973717e-01 -4.96597798e-01 -7.21879168e-02 1.21299794e+02] [ 5.95095735e-02 -4.13291716e-02 9.97371801e-01 4.54641841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.07071405700003 meters Centerline goodness : 0.993365 Centerline is valid? [True, True] Translation: X:118.50, Y:121.30, Z:45.48 [[-4.96350899e-01 -8.67524227e-01 3.22102591e-02 1.18495492e+02] [ 8.66091936e-01 -4.97385172e-01 -4.99274393e-02 1.21301377e+02] [ 5.93341684e-02 3.11551630e-03 9.98233314e-01 4.54776742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.100714057 meters Centerline goodness : 0.993923 Centerline is valid? [True, True] Translation: X:118.51, Y:121.29, Z:45.47 [[-4.97167797e-01 -8.67390182e-01 2.14115176e-02 1.18508303e+02] [ 8.65631806e-01 -4.97541797e-01 -5.59797895e-02 1.21288899e+02] [ 5.92094448e-02 -9.29685798e-03 9.98202289e-01 4.54727729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.13071405700003 meters Centerline goodness : 0.994222 Centerline is valid? [True, True] Translation: X:118.50, Y:121.30, Z:45.47 [[-4.96973189e-01 -8.67356575e-01 2.66499645e-02 1.18503556e+02] [ 8.65806719e-01 -4.97679795e-01 -5.18993859e-02 1.21295502e+02] [ 5.82784225e-02 -2.71888500e-03 9.98296666e-01 4.54746513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.160714057 meters Centerline goodness : 0.993849 Centerline is valid? [True, True] Translation: X:118.51, Y:121.30, Z:45.47 [[-4.99010228e-01 -8.66347851e-01 2.07411022e-02 1.18505644e+02] [ 8.64430395e-01 -4.99311591e-01 -5.87199149e-02 1.21302210e+02] [ 6.12281449e-02 -1.13725989e-02 9.98059005e-01 4.54737680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.190714057 meters Centerline goodness : 0.994164 Centerline is valid? [True, True] Translation: X:118.50, Y:121.31, Z:45.48 [[-5.00714289e-01 -8.65359054e-01 2.09501391e-02 1.18504102e+02] [ 8.63134476e-01 -5.00964627e-01 -6.35084181e-02 1.21308686e+02] [ 6.54528632e-02 -1.37167850e-02 9.97761381e-01 4.54754303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.220714057 meters Centerline goodness : 0.993535 Centerline is valid? [True, True] Translation: X:118.51, Y:121.31, Z:45.48 [[-5.01428633e-01 -8.64870600e-01 2.38363593e-02 1.18505406e+02] [ 8.62414862e-01 -5.01833752e-01 -6.63588123e-02 1.21306271e+02] [ 6.93536754e-02 -1.27173780e-02 9.97511071e-01 4.54777755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.250714057 meters Centerline goodness : 0.993932 Centerline is valid? [True, True] Translation: X:118.50, Y:121.31, Z:45.48 [[-5.00815894e-01 -8.65113272e-01 2.76127845e-02 1.18501526e+02] [ 8.62735406e-01 -5.01503420e-01 -6.46679111e-02 1.21311450e+02] [ 6.97929740e-02 -8.56419089e-03 9.97524734e-01 4.54801683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.280714057 meters Centerline goodness : 0.991912 Centerline is valid? [True, True] Translation: X:118.51, Y:121.31, Z:45.48 [[-5.01298647e-01 -8.65117210e-01 1.64887576e-02 1.18506985e+02] [ 8.62633248e-01 -5.01165536e-01 -6.85345526e-02 1.21311244e+02] [ 6.75540179e-02 -2.01325280e-02 9.97512474e-01 4.54768506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.310714057 meters Centerline goodness : 0.992475 Centerline is valid? [True, True] Translation: X:118.50, Y:121.31, Z:45.48 [[-4.99053806e-01 -8.66221392e-01 2.46129667e-02 1.18503827e+02] [ 8.63634389e-01 -4.99498267e-01 -6.80964303e-02 1.21308395e+02] [ 7.12807189e-02 -1.27271783e-02 9.97375094e-01 4.54821187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.340714057 meters Centerline goodness : 0.993409 Centerline is valid? [True, True] Translation: X:118.49, Y:121.32, Z:45.49 [[-4.96026241e-01 -8.67249100e-01 4.28598427e-02 1.18490903e+02] [ 8.65046007e-01 -4.97834935e-01 -6.20949474e-02 1.21315425e+02] [ 7.51889142e-02 6.27501240e-03 9.97149563e-01 4.54909333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.370714057 meters Centerline goodness : 0.993405 Centerline is valid? [True, True] Translation: X:118.50, Y:121.32, Z:45.49 [[-4.91254097e-01 -8.70527767e-01 2.91688042e-02 1.18495532e+02] [ 8.67660915e-01 -4.92023791e-01 -7.12539550e-02 1.21318792e+02] [ 7.63802920e-02 -9.69516595e-03 9.97031622e-01 4.54868136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.400714057 meters Centerline goodness : 0.993157 Centerline is valid? [True, True] Translation: X:118.49, Y:121.32, Z:45.48 [[-4.86475604e-01 -8.73257460e-01 2.76205500e-02 1.18494013e+02] [ 8.71047500e-01 -4.87218344e-01 -6.24062382e-02 1.21320531e+02] [ 6.79539517e-02 -6.30030139e-03 9.97668566e-01 4.54836639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.430714057 meters Centerline goodness : 0.993047 Centerline is valid? [True, True] Translation: X:118.49, Y:121.31, Z:45.49 [[-4.83425298e-01 -8.74622091e-01 3.65537822e-02 1.18492797e+02] [ 8.72250388e-01 -4.84804715e-01 -6.43711831e-02 1.21312433e+02] [ 7.40219047e-02 7.65392314e-04 9.97256322e-01 4.54890970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.460714057 meters Centerline goodness : 0.993729 Centerline is valid? [True, True] Translation: X:118.49, Y:121.31, Z:45.49 [[-4.75693695e-01 -8.79085777e-01 3.03925142e-02 1.18494127e+02] [ 8.76597069e-01 -4.76638548e-01 -6.62817706e-02 1.21311691e+02] [ 7.27536056e-02 -4.88783152e-03 9.97337968e-01 4.54872350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.490714057 meters Centerline goodness : 0.993729 Centerline is valid? [True, True] Translation: X:118.49, Y:121.31, Z:45.49 [[-4.75373122e-01 -8.79266617e-01 3.01763390e-02 1.18493015e+02] [ 8.76772788e-01 -4.76302711e-01 -6.63717260e-02 1.21314098e+02] [ 7.27315151e-02 -5.09354175e-03 9.97338550e-01 4.54873104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.520714057 meters Centerline goodness : 0.993511 Centerline is valid? [True, True] Translation: X:118.49, Y:121.31, Z:45.49 [[-4.69542457e-01 -8.82462351e-01 2.81083604e-02 1.18494484e+02] [ 8.79683462e-01 -4.70308654e-01 -7.04753553e-02 1.21309601e+02] [ 7.54114529e-02 -8.36471169e-03 9.97117418e-01 4.54871869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.550714057 meters Centerline goodness : 0.993296 Centerline is valid? [True, True] Translation: X:118.49, Y:121.30, Z:45.49 [[-4.65836200e-01 -8.84253241e-01 3.30581507e-02 1.18494661e+02] [ 8.81822893e-01 -4.67005693e-01 -6.55291304e-02 1.21303445e+02] [ 7.33826905e-02 -1.37440702e-03 9.97302909e-01 4.54878752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.580714057 meters Centerline goodness : 0.993499 Centerline is valid? [True, True] Translation: X:118.50, Y:121.30, Z:45.49 [[-4.63990945e-01 -8.85363044e-01 2.90634386e-02 1.18495861e+02] [ 8.82718831e-01 -4.64858935e-01 -6.86559200e-02 1.21304314e+02] [ 7.42958134e-02 -6.20088061e-03 9.97216968e-01 4.54867751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.610714057 meters Centerline goodness : 0.993886 Centerline is valid? [True, True] Translation: X:118.50, Y:121.30, Z:45.49 [[-4.60881262e-01 -8.86904302e-01 3.14518799e-02 1.18498750e+02] [ 8.84473894e-01 -4.61946741e-01 -6.56592627e-02 1.21295713e+02] [ 7.27625760e-02 -2.44275717e-03 9.97346299e-01 4.54861880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.640714057 meters Centerline goodness : 0.993523 Centerline is valid? [True, True] Translation: X:118.50, Y:121.29, Z:45.49 [[-4.57624072e-01 -8.88613377e-01 3.07648346e-02 1.18500216e+02] [ 8.86306546e-01 -4.58652532e-01 -6.40200036e-02 1.21292139e+02] [ 7.09994009e-02 -2.03002044e-03 9.97474292e-01 4.54854065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.670714057 meters Centerline goodness : 0.993333 Centerline is valid? [True, True] Translation: X:118.50, Y:121.30, Z:45.48 [[-4.56331026e-01 -8.89305092e-01 2.99741202e-02 1.18498896e+02] [ 8.87198026e-01 -4.57312450e-01 -6.11962863e-02 1.21295127e+02] [ 6.81297074e-02 -1.33278387e-03 9.97675582e-01 4.54845195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.700714057 meters Centerline goodness : 0.992756 Centerline is valid? [True, True] Translation: X:118.50, Y:121.30, Z:45.48 [[-4.57232829e-01 -8.89138333e-01 1.92656261e-02 1.18503319e+02] [ 8.86810234e-01 -4.57456641e-01 -6.55822450e-02 1.21297796e+02] [ 6.71248766e-02 -1.29014011e-02 9.97661167e-01 4.54806606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.730714057 meters Centerline goodness : 0.994098 Centerline is valid? [True, True] Translation: X:118.50, Y:121.30, Z:45.49 [[-4.57550172e-01 -8.88506729e-01 3.46934087e-02 1.18495294e+02] [ 8.86445540e-01 -4.58853494e-01 -6.05621661e-02 1.21297506e+02] [ 6.97290839e-02 3.04358788e-03 9.97561322e-01 4.54876905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.76071405700003 meters Centerline goodness : 0.993108 Centerline is valid? [True, True] Translation: X:118.50, Y:121.30, Z:45.48 [[-4.58400332e-01 -8.88242292e-01 2.99126404e-02 1.18495619e+02] [ 8.86279109e-01 -4.59374936e-01 -5.90254954e-02 1.21304682e+02] [ 6.61700586e-02 -5.46358398e-04 9.97808210e-01 4.54848602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.790714057 meters Centerline goodness : 0.993208 Centerline is valid? [True, True] Translation: X:118.49, Y:121.30, Z:45.48 [[-4.56272089e-01 -8.89102570e-01 3.62270720e-02 1.18493055e+02] [ 8.87927490e-01 -4.57581795e-01 -4.69433134e-02 1.21303975e+02] [ 5.83142691e-02 1.07480894e-02 9.98240414e-01 4.54839156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.82071405700003 meters Centerline goodness : 0.993536 Centerline is valid? [True, True] Translation: X:118.50, Y:121.32, Z:45.48 [[-4.60163655e-01 -8.87699870e-01 1.54386301e-02 1.18497749e+02] [ 8.85641474e-01 -4.60179160e-01 -6.22440420e-02 1.21318627e+02] [ 6.23585638e-02 -1.49693548e-02 9.97941545e-01 4.54787260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.850714057 meters Centerline goodness : 0.993276 Centerline is valid? [True, True] Translation: X:118.48, Y:121.33, Z:45.48 [[-4.73762420e-01 -8.80380163e-01 2.19074947e-02 1.18483853e+02] [ 8.78083766e-01 -4.74132949e-01 -6.45511099e-02 1.21328735e+02] [ 6.72165818e-02 -1.13452746e-02 9.97673903e-01 4.54829965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.88071405700003 meters Centerline goodness : 0.992977 Centerline is valid? [True, True] Translation: X:118.49, Y:121.32, Z:45.49 [[-4.61223510e-01 -8.86455242e-01 3.83403041e-02 1.18487839e+02] [ 8.85313006e-01 -4.62647695e-01 -4.66689668e-02 1.21317559e+02] [ 5.91080036e-02 1.24183452e-02 9.98174348e-01 4.54863228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.910714057 meters Centerline goodness : 0.993429 Centerline is valid? [True, True] Translation: X:118.49, Y:121.33, Z:45.48 [[-4.63278170e-01 -8.86013418e-01 1.88031840e-02 1.18492822e+02] [ 8.84096060e-01 -4.63533150e-01 -5.92551742e-02 1.21330966e+02] [ 6.12167786e-02 -1.08278078e-02 9.98065762e-01 4.54799483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.940714057 meters Centerline goodness : 0.993760 Centerline is valid? [True, True] Translation: X:118.49, Y:121.32, Z:45.48 [[-4.61034178e-01 -8.86895722e-01 2.93847887e-02 1.18491713e+02] [ 8.85448882e-01 -4.61962126e-01 -5.07077129e-02 1.21322320e+02] [ 5.85471131e-02 2.64073956e-03 9.98281154e-01 4.54820470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.970714057 meters Centerline goodness : 0.994236 Centerline is valid? [True, True] Translation: X:118.50, Y:121.32, Z:45.48 [[-4.61587098e-01 -8.86928660e-01 1.71727484e-02 1.18498537e+02] [ 8.84886252e-01 -4.61716767e-01 -6.15950328e-02 1.21323426e+02] [ 6.25593458e-02 -1.32355435e-02 9.97953480e-01 4.54796970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.000714057 meters Centerline goodness : 0.993769 Centerline is valid? [True, True] Translation: X:118.49, Y:121.32, Z:45.48 [[-4.60392843e-01 -8.87308005e-01 2.68874334e-02 1.18494002e+02] [ 8.85654699e-01 -4.61175946e-01 -5.41525773e-02 1.21323106e+02] [ 6.04498529e-02 -1.11847726e-03 9.98170609e-01 4.54830432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.030714057 meters Centerline goodness : 0.993367 Centerline is valid? [True, True] Translation: X:118.50, Y:121.33, Z:45.48 [[-4.60243454e-01 -8.87591124e-01 1.89198330e-02 1.18496349e+02] [ 8.85600142e-01 -4.60499357e-01 -6.04378283e-02 1.21328328e+02] [ 6.23566508e-02 -1.10607081e-02 9.97992640e-01 4.54822933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.060714057 meters Centerline goodness : 0.993271 Centerline is valid? [True, True] Translation: X:118.50, Y:121.32, Z:45.48 [[-4.58067828e-01 -8.88559608e-01 2.52128430e-02 1.18496098e+02] [ 8.86795561e-01 -4.58749161e-01 -5.60610329e-02 1.21322792e+02] [ 6.13799400e-02 -3.32111828e-03 9.98108949e-01 4.54844271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.090714057 meters Centerline goodness : 0.992574 Centerline is valid? [True, True] Translation: X:118.50, Y:121.32, Z:45.48 [[-4.57316709e-01 -8.88986953e-01 2.37407884e-02 1.18497730e+02] [ 8.87200967e-01 -4.57907500e-01 -5.65257995e-02 1.21321165e+02] [ 6.11217834e-02 -4.78734214e-03 9.98118835e-01 4.54838492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.120714057 meters Centerline goodness : 0.993268 Centerline is valid? [True, True] Translation: X:118.50, Y:121.32, Z:45.49 [[-4.57817437e-01 -8.88750924e-01 2.29126302e-02 1.18497225e+02] [ 8.86846922e-01 -4.58344869e-01 -5.85022939e-02 1.21324771e+02] [ 6.24958543e-02 -6.46337473e-03 9.98024295e-01 4.54850052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.150714057 meters Centerline goodness : 0.993275 Centerline is valid? [True, True] Translation: X:118.48, Y:121.35, Z:45.49 [[-4.71405258e-01 -8.81559913e-01 2.50839020e-02 1.18478208e+02] [ 8.79454199e-01 -4.72022804e-01 -6.12762869e-02 1.21349145e+02] [ 6.58588920e-02 -6.82582095e-03 9.97805600e-01 4.54884892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.180714057 meters Centerline goodness : 0.992894 Centerline is valid? [True, True] Translation: X:118.48, Y:121.35, Z:45.49 [[-4.73100473e-01 -8.80568732e-01 2.78325349e-02 1.18477550e+02] [ 8.78511699e-01 -4.73900960e-01 -6.02915828e-02 1.21349826e+02] [ 6.62807476e-02 -4.07276879e-03 9.97792701e-01 4.54894840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.210714057 meters Centerline goodness : 0.991853 Centerline is valid? [True, True] Translation: X:118.49, Y:121.33, Z:45.49 [[-4.56734310e-01 -8.88460810e-01 4.50683853e-02 1.18486083e+02] [ 8.88273227e-01 -4.58235024e-01 -3.14855095e-02 1.21327844e+02] [ 4.86255538e-02 2.56525276e-02 9.98487608e-01 4.54881935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.240714057 meters Centerline goodness : 0.991529 Centerline is valid? [True, True] Translation: X:118.49, Y:121.35, Z:45.48 [[-4.57639033e-01 -8.88907328e-01 2.02553266e-02 1.18489654e+02] [ 8.87928043e-01 -4.58085721e-01 -4.17284435e-02 1.21348168e+02] [ 4.63713951e-02 -1.11129208e-03 9.98923650e-01 4.54786845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.270714057 meters Centerline goodness : 0.993805 Centerline is valid? [True, True] Translation: X:118.48, Y:121.38, Z:45.48 [[-4.78237417e-01 -8.78230332e-01 -6.76539806e-04 1.18481686e+02] [ 8.75816075e-01 -4.76865375e-01 -7.44688986e-02 1.21376954e+02] [ 6.50782271e-02 -3.62063382e-02 9.97223107e-01 4.54789559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.300714057 meters Centerline goodness : 0.992515 Centerline is valid? [True, True] Translation: X:118.48, Y:121.36, Z:45.49 [[-4.67101080e-01 -8.83647796e-01 3.13552655e-02 1.18481007e+02] [ 8.81990565e-01 -4.68146327e-01 -5.41447957e-02 1.21359231e+02] [ 6.25237818e-02 2.36395580e-03 9.98040675e-01 4.54887258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.330714057 meters Centerline goodness : 0.992176 Centerline is valid? [True, True] Translation: X:118.49, Y:121.36, Z:45.49 [[-4.70242242e-01 -8.82204092e-01 2.42523190e-02 1.18485073e+02] [ 8.80191191e-01 -4.70817454e-01 -5.99532461e-02 1.21360272e+02] [ 6.43094141e-02 -6.84587126e-03 9.97906525e-01 4.54859466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.360714057 meters Centerline goodness : 0.992681 Centerline is valid? [True, True] Translation: X:118.48, Y:121.36, Z:45.49 [[-4.71330682e-01 -8.81551430e-01 2.67294846e-02 1.18481712e+02] [ 8.79613264e-01 -4.72070252e-01 -5.85677595e-02 1.21364832e+02] [ 6.42486866e-02 -4.09317285e-03 9.97925524e-01 4.54865906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.390714057 meters Centerline goodness : 0.991554 Centerline is valid? [True, True] Translation: X:118.48, Y:121.37, Z:45.49 [[-4.72866524e-01 -8.80754744e-01 2.58521002e-02 1.18479603e+02] [ 8.78714329e-01 -4.73537816e-01 -6.01919068e-02 1.21371215e+02] [ 6.52562546e-02 -5.74612692e-03 9.97851995e-01 4.54869178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.420714057 meters Centerline goodness : 0.991424 Centerline is valid? [True, True] Translation: X:118.48, Y:121.37, Z:45.49 [[-4.72991487e-01 -8.80461758e-01 3.26518962e-02 1.18478258e+02] [ 8.79016594e-01 -4.74093424e-01 -5.06483253e-02 1.21366311e+02] [ 6.00739627e-02 4.74533189e-03 9.98182649e-01 4.54867446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.450714057 meters Centerline goodness : 0.992638 Centerline is valid? [True, True] Translation: X:118.48, Y:121.38, Z:45.48 [[-4.77444775e-01 -8.78530299e-01 1.51987059e-02 1.18479108e+02] [ 8.76306666e-01 -4.77359445e-01 -6.49198481e-02 1.21384515e+02] [ 6.42892993e-02 -1.76769150e-02 9.97774730e-01 4.54840607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.480714057 meters Centerline goodness : 0.992272 Centerline is valid? [True, True] Translation: X:118.48, Y:121.38, Z:45.49 [[-4.76788826e-01 -8.78601312e-01 2.70582863e-02 1.18476037e+02] [ 8.76702869e-01 -4.77540379e-01 -5.78555662e-02 1.21377921e+02] [ 6.37534007e-02 -3.86281024e-03 9.97958207e-01 4.54880195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.51071405700003 meters Centerline goodness : 0.991126 Centerline is valid? [True, True] Translation: X:118.48, Y:121.39, Z:45.48 [[-4.78272747e-01 -8.78102178e-01 1.38471593e-02 1.18478087e+02] [ 8.76106469e-01 -4.78158132e-01 -6.16624388e-02 1.21386625e+02] [ 6.07670537e-02 -1.73598782e-02 9.98001002e-01 4.54835326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.540714057 meters Centerline goodness : 0.991082 Centerline is valid? [True, True] Translation: X:118.47, Y:121.38, Z:45.49 [[-4.79050933e-01 -8.77401993e-01 2.59989679e-02 1.18473685e+02] [ 8.75697728e-01 -4.79743367e-01 -5.47703477e-02 1.21381392e+02] [ 6.05284446e-02 -3.47054902e-03 9.98160439e-01 4.54886124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.57071405700003 meters Centerline goodness : 0.990603 Centerline is valid? [True, True] Translation: X:118.47, Y:121.38, Z:45.49 [[-4.79808548e-01 -8.77103948e-01 2.17352618e-02 1.18474593e+02] [ 8.75192403e-01 -4.80214632e-01 -5.85846774e-02 1.21384247e+02] [ 6.18224426e-02 -9.08689299e-03 9.98045798e-01 4.54881529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.600714057 meters Centerline goodness : 0.991776 Centerline is valid? [True, True] Translation: X:118.47, Y:121.38, Z:45.49 [[-4.77886077e-01 -8.77972234e-01 2.81007972e-02 1.18471816e+02] [ 8.76425493e-01 -4.78711485e-01 -5.20928981e-02 1.21381444e+02] [ 5.91882924e-02 -2.66215670e-04 9.98246801e-01 4.54895266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.63071405700003 meters Centerline goodness : 0.992621 Centerline is valid? [True, True] Translation: X:118.46, Y:121.39, Z:45.49 [[-4.75395780e-01 -8.78948615e-01 3.80550176e-02 1.18464206e+02] [ 8.77677729e-01 -4.76803067e-01 -4.83801616e-02 1.21386280e+02] [ 6.06684251e-02 1.04003168e-02 9.98103790e-01 4.54924408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.660714057 meters Centerline goodness : 0.992084 Centerline is valid? [True, True] Translation: X:118.47, Y:121.38, Z:45.48 [[-4.69552117e-01 -8.82526571e-01 2.58391393e-02 1.18472117e+02] [ 8.81696113e-01 -4.70239290e-01 -3.85613088e-02 1.21377450e+02] [ 4.61819581e-02 4.67572448e-03 9.98922101e-01 4.54828629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.690714057 meters Centerline goodness : 0.991963 Centerline is valid? [True, True] Translation: X:118.47, Y:121.38, Z:45.48 [[-4.65584026e-01 -8.84798413e-01 1.90600039e-02 1.18473763e+02] [ 8.83875748e-01 -4.65969776e-01 -4.04453832e-02 1.21380236e+02] [ 4.46673966e-02 -1.98404910e-03 9.98999944e-01 4.54794819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.720714057 meters Centerline goodness : 0.991297 Centerline is valid? [True, True] Translation: X:118.47, Y:121.37, Z:45.48 [[-4.60430217e-01 -8.87194643e-01 2.98275177e-02 1.18474007e+02] [ 8.86520975e-01 -4.61289370e-01 -3.59538229e-02 1.21368422e+02] [ 4.56571559e-02 9.88849364e-03 9.98908225e-01 4.54802592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.750714057 meters Centerline goodness : 0.991862 Centerline is valid? [True, True] Translation: X:118.48, Y:121.38, Z:45.48 [[-4.58876579e-01 -8.88359018e-01 1.58284661e-02 1.18476622e+02] [ 8.87332869e-01 -4.59113890e-01 -4.30675692e-02 1.21376396e+02] [ 4.55265322e-02 -5.71758060e-03 9.98946767e-01 4.54753689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.780714057 meters Centerline goodness : 0.991923 Centerline is valid? [True, True] Translation: X:118.48, Y:121.37, Z:45.48 [[-4.57402577e-01 -8.89121635e-01 1.56716660e-02 1.18476439e+02] [ 8.87973151e-01 -4.57617525e-01 -4.57152484e-02 1.21374800e+02] [ 4.78180454e-02 -6.99425381e-03 9.98831575e-01 4.54759848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.810714057 meters Centerline goodness : 0.992111 Centerline is valid? [True, True] Translation: X:118.47, Y:121.39, Z:45.48 [[-4.57767380e-01 -8.89035487e-01 8.05788539e-03 1.18474071e+02] [ 8.87160043e-01 -4.57358253e-01 -6.14042859e-02 1.21385578e+02] [ 5.82759296e-02 -2.09602451e-02 9.98080450e-01 4.54780391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.840714057 meters Centerline goodness : 0.991385 Centerline is valid? [True, True] Translation: X:118.46, Y:121.38, Z:45.49 [[-4.52736081e-01 -8.90875528e-01 3.70247857e-02 1.18460739e+02] [ 8.90221151e-01 -4.53968851e-01 -3.76640930e-02 1.21379356e+02] [ 5.03621182e-02 1.59083535e-02 9.98604317e-01 4.54855739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.870714057 meters Centerline goodness : 0.992104 Centerline is valid? [True, True] Translation: X:118.47, Y:121.38, Z:45.48 [[-4.50810884e-01 -8.92564717e-01 9.88803804e-03 1.18470018e+02] [ 8.90943489e-01 -4.50615338e-01 -5.62629238e-02 1.21384409e+02] [ 5.46740023e-02 -1.65542553e-02 9.98367022e-01 4.54766557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.900714057 meters Centerline goodness : 0.992524 Centerline is valid? [True, True] Translation: X:118.46, Y:121.38, Z:45.48 [[-4.47882971e-01 -8.93754046e-01 2.45875872e-02 1.18464373e+02] [ 8.92554048e-01 -4.48555749e-01 -4.63142684e-02 1.21378703e+02] [ 5.24224683e-02 1.20237831e-03 9.98624273e-01 4.54807499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.930714057 meters Centerline goodness : 0.990880 Centerline is valid? [True, True] Translation: X:118.48, Y:121.37, Z:45.47 [[-4.46573952e-01 -8.94736039e-01 4.37324658e-03 1.18475736e+02] [ 8.93260902e-01 -4.46108603e-01 -5.54263109e-02 1.21373368e+02] [ 5.15428608e-02 -2.08454965e-02 9.98453203e-01 4.54735763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.960714057 meters Centerline goodness : 0.991426 Centerline is valid? [True, True] Translation: X:118.47, Y:121.37, Z:45.48 [[-4.46935308e-01 -8.94348346e-01 1.97450646e-02 1.18468203e+02] [ 8.93037031e-01 -4.47352636e-01 -4.85847809e-02 1.21370662e+02] [ 5.22847251e-02 -4.08118014e-03 9.98623879e-01 4.54802438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.990714057 meters Centerline goodness : 0.992365 Centerline is valid? [True, True] Translation: X:118.46, Y:121.37, Z:45.49 [[-4.45813176e-01 -8.94406269e-01 3.58892520e-02 1.18457963e+02] [ 8.93537968e-01 -4.47051640e-01 -4.16501012e-02 1.21374067e+02] [ 5.32964606e-02 1.35002454e-02 9.98487471e-01 4.54872203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.020714057 meters Centerline goodness : 0.991959 Centerline is valid? [True, True] Translation: X:118.47, Y:121.38, Z:45.47 [[-4.45314541e-01 -8.95301351e-01 1.14214675e-02 1.18468518e+02] [ 8.94153825e-01 -4.45337182e-01 -4.65159228e-02 1.21378145e+02] [ 4.67321726e-02 -1.05016680e-02 9.98852251e-01 4.54747904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.050714057 meters Centerline goodness : 0.992738 Centerline is valid? [True, True] Translation: X:118.45, Y:121.39, Z:45.48 [[-4.47400727e-01 -8.93854364e-01 2.92739827e-02 1.18453295e+02] [ 8.92826450e-01 -4.48306933e-01 -4.33800043e-02 1.21389091e+02] [ 5.18991355e-02 6.72834055e-03 9.98629666e-01 4.54838327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.080714057 meters Centerline goodness : 0.991971 Centerline is valid? [True, True] Translation: X:118.46, Y:121.39, Z:45.47 [[-4.50366753e-01 -8.92839394e-01 2.75748325e-03 1.18464791e+02] [ 8.91280129e-01 -4.49758634e-01 -5.77659386e-02 1.21394963e+02] [ 5.28159076e-02 -2.35581682e-02 9.98326346e-01 4.54723781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.110714057 meters Centerline goodness : 0.992102 Centerline is valid? [True, True] Translation: X:118.46, Y:121.38, Z:45.48 [[-4.47599725e-01 -8.93753603e-01 2.93084043e-02 1.18458878e+02] [ 8.92895537e-01 -4.48482215e-01 -4.00157752e-02 1.21375599e+02] [ 4.89085413e-02 8.25829338e-03 9.98769120e-01 4.54794177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.140714057 meters Centerline goodness : 0.993982 Centerline is valid? [True, True] Translation: X:118.45, Y:121.40, Z:45.48 [[-4.65350375e-01 -8.85027289e-01 1.32562015e-02 1.18449410e+02] [ 8.82248506e-01 -4.64991995e-01 -7.36207715e-02 1.21397878e+02] [ 7.13204194e-02 -2.25641896e-02 9.97198203e-01 4.54839229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.170714057 meters Centerline goodness : 0.993251 Centerline is valid? [True, True] Translation: X:118.44, Y:121.40, Z:45.49 [[-4.64575103e-01 -8.85015543e-01 3.02896406e-02 1.18439379e+02] [ 8.82497772e-01 -4.65541375e-01 -6.68499114e-02 1.21398279e+02] [ 7.32642916e-02 -4.32626412e-03 9.97303177e-01 4.54906361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.200714057 meters Centerline goodness : 0.993207 Centerline is valid? [True, True] Translation: X:118.44, Y:121.41, Z:45.49 [[-4.65707699e-01 -8.84782397e-01 1.66267615e-02 1.18440191e+02] [ 8.81991912e-01 -4.65607038e-01 -7.28035251e-02 1.21406713e+02] [ 7.21568146e-02 -1.92404930e-02 9.97207700e-01 4.54862447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.230714057 meters Centerline goodness : 0.992547 Centerline is valid? [True, True] Translation: X:118.44, Y:121.37, Z:45.50 [[-4.42311126e-01 -8.94271455e-01 6.81133780e-02 1.18437201e+02] [ 8.95466512e-01 -4.44582123e-01 -2.20558946e-02 1.21367143e+02] [ 5.00059472e-02 5.12376814e-02 9.97433760e-01 4.54954214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.26071405700003 meters Centerline goodness : 0.992627 Centerline is valid? [True, True] Translation: X:118.46, Y:121.38, Z:45.47 [[-4.40735815e-01 -8.97554742e-01 1.21419270e-02 1.18458104e+02] [ 8.96241721e-01 -4.40764408e-01 -4.97746310e-02 1.21378796e+02] [ 5.00271854e-02 -1.10553610e-02 9.98686667e-01 4.54736293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.290714057 meters Centerline goodness : 0.991780 Centerline is valid? [True, True] Translation: X:118.46, Y:121.37, Z:45.47 [[-4.39335721e-01 -8.98317255e-01 3.19909917e-03 1.18463982e+02] [ 8.97079297e-01 -4.38912038e-01 -5.10387935e-02 1.21373104e+02] [ 4.72531520e-02 -1.95533195e-02 9.98691548e-01 4.54699025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.32071405700003 meters Centerline goodness : 0.991010 Centerline is valid? [True, True] Translation: X:118.45, Y:121.38, Z:45.48 [[-4.38583346e-01 -8.98579001e-01 1.41572753e-02 1.18453200e+02] [ 8.97348500e-01 -4.38734655e-01 -4.77239214e-02 1.21378953e+02] [ 4.90950009e-02 -8.22690743e-03 9.98760231e-01 4.54770516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.350714057 meters Centerline goodness : 0.991187 Centerline is valid? [True, True] Translation: X:118.44, Y:121.39, Z:45.49 [[-4.39250191e-01 -8.97836550e-01 3.08025823e-02 1.18437736e+02] [ 8.96715472e-01 -4.40262676e-01 -4.54987696e-02 1.21391256e+02] [ 5.44116857e-02 7.63580890e-03 9.98489391e-01 4.54865815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.38071405700003 meters Centerline goodness : 0.990315 Centerline is valid? [True, True] Translation: X:118.45, Y:121.39, Z:45.48 [[-4.37609228e-01 -8.99037003e-01 1.51865451e-02 1.18445472e+02] [ 8.97883124e-01 -4.37824528e-01 -4.59954180e-02 1.21391368e+02] [ 4.80006247e-02 -6.49227678e-03 9.98826206e-01 4.54770905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.410714057 meters Centerline goodness : 0.990315 Centerline is valid? [True, True] Translation: X:118.44, Y:121.39, Z:45.48 [[-4.37336868e-01 -8.99101158e-01 1.88034911e-02 1.18442809e+02] [ 8.98007327e-01 -4.37733567e-01 -4.44090513e-02 1.21392988e+02] [ 4.81591487e-02 -2.53604260e-03 9.98836456e-01 4.54787341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.440714057 meters Centerline goodness : 0.991948 Centerline is valid? [True, True] Translation: X:118.44, Y:121.40, Z:45.48 [[-4.39580428e-01 -8.98087206e-01 1.44366554e-02 1.18442670e+02] [ 8.96714447e-01 -4.39720157e-01 -5.04914187e-02 1.21396719e+02] [ 5.16937855e-02 -9.24948200e-03 9.98620148e-01 4.54778792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.470714057 meters Centerline goodness : 0.991415 Centerline is valid? [True, True] Translation: X:118.43, Y:121.42, Z:45.48 [[-4.43783676e-01 -8.95938209e-01 1.87289691e-02 1.18430053e+02] [ 8.94625495e-01 -4.44152029e-01 -4.87257464e-02 1.21420414e+02] [ 5.19737676e-02 -4.86827758e-03 9.98636584e-01 4.54801480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.500714057 meters Centerline goodness : 0.990919 Centerline is valid? [True, True] Translation: X:118.43, Y:121.42, Z:45.48 [[-4.45804300e-01 -8.94866097e-01 2.17530508e-02 1.18427783e+02] [ 8.93553692e-01 -4.46329370e-01 -4.84963153e-02 1.21423978e+02] [ 5.31067339e-02 -2.18234700e-03 9.98586457e-01 4.54818135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.530714057 meters Centerline goodness : 0.992618 Centerline is valid? [True, True] Translation: X:118.43, Y:121.41, Z:45.49 [[-4.49948339e-01 -8.92527443e-01 3.06798936e-02 1.18428086e+02] [ 8.91197222e-01 -4.50961997e-01 -4.89978534e-02 1.21414409e+02] [ 5.75673949e-02 5.29533323e-03 9.98327579e-01 4.54856726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.560714057 meters Centerline goodness : 0.991825 Centerline is valid? [True, True] Translation: X:118.43, Y:121.42, Z:45.48 [[-4.52302264e-01 -8.91596054e-01 2.18892459e-02 1.18429535e+02] [ 8.89915651e-01 -4.52799572e-01 -5.49789319e-02 1.21420750e+02] [ 5.89304398e-02 -5.38751292e-03 9.98247553e-01 4.54828480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.590714057 meters Centerline goodness : 0.991618 Centerline is valid? [True, True] Translation: X:118.44, Y:121.42, Z:45.48 [[-4.55351040e-01 -8.90277749e-01 7.80768928e-03 1.18438423e+02] [ 8.88350688e-01 -4.54912238e-01 -6.23531113e-02 1.21418350e+02] [ 5.90634010e-02 -2.14565879e-02 9.98023612e-01 4.54765461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.620714057 meters Centerline goodness : 0.993129 Centerline is valid? [True, True] Translation: X:118.42, Y:121.41, Z:45.49 [[-4.52540795e-01 -8.90680305e-01 4.35364695e-02 1.18424446e+02] [ 8.89978998e-01 -4.54176596e-01 -4.07553951e-02 1.21405635e+02] [ 5.60732733e-02 2.03030646e-02 9.98220203e-01 4.54895258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.650714057 meters Centerline goodness : 0.993197 Centerline is valid? [True, True] Translation: X:118.43, Y:121.42, Z:45.48 [[-4.53400864e-01 -8.91121340e-01 1.81772949e-02 1.18430108e+02] [ 8.89501988e-01 -4.53685854e-01 -5.43632123e-02 1.21420355e+02] [ 5.66910002e-02 -8.47958747e-03 9.98355762e-01 4.54809105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.680714057 meters Centerline goodness : 0.989033 Centerline is valid? [True, True] Translation: X:118.44, Y:121.41, Z:45.47 [[-4.58575861e-01 -8.88632527e-01 6.35705824e-03 1.18441544e+02] [ 8.86751729e-01 -4.58049835e-01 -6.21427398e-02 1.21411925e+02] [ 5.81339093e-02 -2.28600280e-02 9.98047027e-01 4.54738331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.710714057 meters Centerline goodness : 0.992605 Centerline is valid? [True, True] Translation: X:118.42, Y:121.42, Z:45.49 [[-4.51094402e-01 -8.91755541e-01 3.58593881e-02 1.18419960e+02] [ 8.90541757e-01 -4.52397204e-01 -4.76670719e-02 1.21418297e+02] [ 5.87300624e-02 1.04319332e-02 9.98219392e-01 4.54892322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.740714057 meters Centerline goodness : 0.992591 Centerline is valid? [True, True] Translation: X:118.42, Y:121.42, Z:45.48 [[-4.45511257e-01 -8.94887543e-01 2.63819273e-02 1.18422166e+02] [ 8.93531769e-01 -4.46288751e-01 -4.92679298e-02 1.21417604e+02] [ 5.58632140e-02 1.62367280e-03 9.98437111e-01 4.54849046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.770714057 meters Centerline goodness : 0.991930 Centerline is valid? [True, True] Translation: X:118.42, Y:121.43, Z:45.48 [[-4.42556913e-01 -8.96501256e-01 2.07093293e-02 1.18418138e+02] [ 8.95025476e-01 -4.43020326e-01 -5.15983434e-02 1.21428879e+02] [ 5.54326335e-02 -4.29982628e-03 9.98453171e-01 4.54838386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.800714057 meters Centerline goodness : 0.989817 Centerline is valid? [True, True] Translation: X:118.43, Y:121.41, Z:45.48 [[-4.37946021e-01 -8.98949086e-01 9.68622121e-03 1.18431336e+02] [ 8.97570107e-01 -4.37831170e-01 -5.16891702e-02 1.21407003e+02] [ 5.07068619e-02 -1.39430038e-02 9.98616246e-01 4.54783975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.830714057 meters Centerline goodness : 0.989733 Centerline is valid? [True, True] Translation: X:118.42, Y:121.40, Z:45.48 [[-4.27463485e-01 -9.03578587e-01 2.86479790e-02 1.18422362e+02] [ 9.02526661e-01 -4.28365426e-01 -4.41439377e-02 1.21399980e+02] [ 5.21593206e-02 6.98564344e-03 9.98614343e-01 4.54849886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.860714057 meters Centerline goodness : 0.989759 Centerline is valid? [True, True] Translation: X:118.42, Y:121.40, Z:45.48 [[-4.16452624e-01 -9.08995311e-01 1.71678752e-02 1.18424740e+02] [ 9.08013182e-01 -4.16801424e-01 -4.22922518e-02 1.21402807e+02] [ 4.55990534e-02 -2.02406222e-03 9.98957772e-01 4.54781828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.890714057 meters Centerline goodness : 0.990336 Centerline is valid? [True, True] Translation: X:118.42, Y:121.39, Z:45.48 [[-4.08184395e-01 -9.12034258e-01 3.97367815e-02 1.18416735e+02] [ 9.12165562e-01 -4.09214747e-01 -2.22997433e-02 1.21391405e+02] [ 3.65990068e-02 2.71441164e-02 9.98961315e-01 4.54849378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.920714057 meters Centerline goodness : 0.987582 Centerline is valid? [True, True] Translation: X:118.43, Y:121.41, Z:45.47 [[-4.04466743e-01 -9.14550984e-01 -1.77515232e-03 1.18431430e+02] [ 9.13916320e-01 -4.04112138e-01 -3.80833178e-02 1.21407294e+02] [ 3.41117752e-02 -1.70257762e-02 9.99272991e-01 4.54664041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.950714057 meters Centerline goodness : 0.989893 Centerline is valid? [True, True] Translation: X:118.42, Y:121.40, Z:45.48 [[-3.98611422e-01 -9.16496366e-01 3.38133820e-02 1.18419538e+02] [ 9.16596752e-01 -3.99358324e-01 -1.90610350e-02 1.21395708e+02] [ 3.09730249e-02 2.33952899e-02 9.99246382e-01 4.54795274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.980714057 meters Centerline goodness : 0.989371 Centerline is valid? [True, True] Translation: X:118.43, Y:121.41, Z:45.47 [[-3.99829836e-01 -9.16575991e-01 4.95532489e-03 1.18431129e+02] [ 9.15856061e-01 -3.99720326e-01 -3.78329985e-02 1.21405520e+02] [ 3.66575622e-02 -1.05883973e-02 9.99271789e-01 4.54689116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.01071405700003 meters Centerline goodness : 0.988460 Centerline is valid? [True, True] Translation: X:118.44, Y:121.41, Z:45.47 [[-4.04175182e-01 -9.14641701e-01 -8.54293552e-03 1.18438945e+02] [ 9.13783424e-01 -4.03346891e-01 -4.80743065e-02 1.21410516e+02] [ 4.05249989e-02 -2.72368345e-02 9.98807228e-01 4.54658604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.040714057 meters Centerline goodness : 0.990118 Centerline is valid? [True, True] Translation: X:118.42, Y:121.42, Z:45.48 [[-4.09177741e-01 -9.12079746e-01 2.61555587e-02 1.18417826e+02] [ 9.11028298e-01 -4.09972398e-01 -4.41596353e-02 1.21421292e+02] [ 5.10001661e-02 5.75931435e-03 9.98682038e-01 4.54828250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.07071405700003 meters Centerline goodness : 0.988735 Centerline is valid? [True, True] Translation: X:118.43, Y:121.41, Z:45.47 [[-4.11623079e-01 -9.11348794e-01 3.13309050e-03 1.18433994e+02] [ 9.10045033e-01 -4.11213561e-01 -5.21674754e-02 1.21414208e+02] [ 4.88311351e-02 -1.86220834e-02 9.98633435e-01 4.54734370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.100714057 meters Centerline goodness : 0.990974 Centerline is valid? [True, True] Translation: X:118.42, Y:121.42, Z:45.49 [[-4.19397270e-01 -9.07247131e-01 3.17580388e-02 1.18421786e+02] [ 9.06112377e-01 -4.20493985e-01 -4.63159598e-02 1.21419598e+02] [ 5.53740859e-02 9.35156489e-03 9.98421884e-01 4.54856383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.13071405700003 meters Centerline goodness : 0.991583 Centerline is valid? [True, True] Translation: X:118.43, Y:121.43, Z:45.48 [[-4.26525744e-01 -9.04229186e-01 2.11037564e-02 1.18427863e+02] [ 9.02818024e-01 -4.27040123e-01 -5.05603500e-02 1.21428178e+02] [ 5.47302949e-02 -2.51243925e-03 9.98498013e-01 4.54815636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.160714057 meters Centerline goodness : 0.990989 Centerline is valid? [True, True] Translation: X:118.43, Y:121.42, Z:45.48 [[-4.27970058e-01 -9.03455820e-01 2.46821859e-02 1.18430242e+02] [ 9.02446228e-01 -4.28663257e-01 -4.28791165e-02 1.21423050e+02] [ 4.93197335e-02 3.92336759e-03 9.98775336e-01 4.54804907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.190714057 meters Centerline goodness : 0.991648 Centerline is valid? [True, True] Translation: X:118.43, Y:121.44, Z:45.48 [[-4.33952167e-01 -9.00843724e-01 1.28880175e-02 1.18431558e+02] [ 8.99292498e-01 -4.33979910e-01 -5.41704705e-02 1.21437944e+02] [ 5.43922691e-02 -1.19172956e-02 9.98448526e-01 4.54792042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.220714057 meters Centerline goodness : 0.992491 Centerline is valid? [True, True] Translation: X:118.43, Y:121.45, Z:45.48 [[-4.40641556e-01 -8.97421859e-01 2.16570204e-02 1.18427020e+02] [ 8.96033721e-01 -4.41165719e-01 -4.99637843e-02 1.21446105e+02] [ 5.43929272e-02 -2.61069903e-03 9.98516196e-01 4.54831760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.250714057 meters Centerline goodness : 0.992785 Centerline is valid? [True, True] Translation: X:118.43, Y:121.46, Z:45.48 [[-4.43724210e-01 -8.96002272e-01 1.69927637e-02 1.18426985e+02] [ 8.94367617e-01 -4.43955230e-01 -5.48663794e-02 1.21455402e+02] [ 5.67044269e-02 -9.14776320e-03 9.98349100e-01 4.54824750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.280714057 meters Centerline goodness : 0.990927 Centerline is valid? [True, True] Translation: X:118.43, Y:121.45, Z:45.48 [[-4.47877028e-01 -8.94036890e-01 1.02082057e-02 1.18433061e+02] [ 8.92606835e-01 -4.47760841e-01 -5.25667957e-02 1.21452060e+02] [ 5.15674893e-02 -1.44315461e-02 9.98565233e-01 4.54787986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.310714057 meters Centerline goodness : 0.991046 Centerline is valid? [True, True] Translation: X:118.43, Y:121.45, Z:45.48 [[-4.47847288e-01 -8.93734595e-01 2.59090716e-02 1.18425993e+02] [ 8.92614664e-01 -4.48585752e-01 -4.48317298e-02 1.21454403e+02] [ 5.16901082e-02 3.04904867e-03 9.98658518e-01 4.54833528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.340714057 meters Centerline goodness : 0.992532 Centerline is valid? [True, True] Translation: X:118.41, Y:121.48, Z:45.49 [[-4.49743371e-01 -8.92659678e-01 2.98261455e-02 1.18412650e+02] [ 8.91448349e-01 -4.50697329e-01 -4.68162270e-02 1.21479870e+02] [ 5.52335222e-02 5.53318044e-03 9.98458132e-01 4.54872720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.370714057 meters Centerline goodness : 0.992425 Centerline is valid? [True, True] Translation: X:118.42, Y:121.46, Z:45.48 [[-4.48810252e-01 -8.93337720e-01 2.27393107e-02 1.18424534e+02] [ 8.92104155e-01 -4.49385258e-01 -4.69368336e-02 1.21461944e+02] [ 5.21491549e-02 -7.79898545e-04 9.98639003e-01 4.54820128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.400714057 meters Centerline goodness : 0.993166 Centerline is valid? [True, True] Translation: X:118.42, Y:121.47, Z:45.48 [[-4.48406677e-01 -8.93544986e-01 2.25568278e-02 1.18421817e+02] [ 8.92336356e-01 -4.48973116e-01 -4.64647024e-02 1.21466087e+02] [ 5.16457111e-02 -7.06805285e-04 9.98665220e-01 4.54819919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.430714057 meters Centerline goodness : 0.993040 Centerline is valid? [True, True] Translation: X:118.42, Y:121.47, Z:45.48 [[-4.45786202e-01 -8.95031513e-01 1.39015604e-02 1.18424753e+02] [ 8.93566030e-01 -4.45869352e-01 -5.23476007e-02 1.21465720e+02] [ 5.30510320e-02 -1.09138760e-02 9.98532160e-01 4.54794704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.460714057 meters Centerline goodness : 0.990711 Centerline is valid? [True, True] Translation: X:118.43, Y:121.47, Z:45.48 [[-4.44818854e-01 -8.95586420e-01 7.81990485e-03 1.18425565e+02] [ 8.94021947e-01 -4.44529406e-01 -5.58423230e-02 1.21468579e+02] [ 5.34878038e-02 -1.78485516e-02 9.98408976e-01 4.54784724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.490714057 meters Centerline goodness : 0.989720 Centerline is valid? [True, True] Translation: X:118.41, Y:121.46, Z:45.48 [[-4.34399694e-01 -9.00020335e-01 3.55007289e-02 1.18413559e+02] [ 8.99839779e-01 -4.35380118e-01 -2.70652122e-02 1.21457264e+02] [ 3.98155529e-02 2.01878481e-02 9.99003089e-01 4.54839747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.520714057 meters Centerline goodness : 0.992079 Centerline is valid? [True, True] Translation: X:118.41, Y:121.45, Z:45.48 [[-4.29999011e-01 -9.02201051e-01 3.36766078e-02 1.18413858e+02] [ 9.01951419e-01 -4.30926512e-01 -2.80353110e-02 1.21451920e+02] [ 3.98056302e-02 1.83195082e-02 9.99039492e-01 4.54831969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.550714057 meters Centerline goodness : 0.993586 Centerline is valid? [True, True] Translation: X:118.42, Y:121.48, Z:45.48 [[-4.50290056e-01 -8.92689190e-01 -1.85708295e-02 1.18418397e+02] [ 8.90343330e-01 -4.47345088e-01 -8.46825072e-02 1.21482210e+02] [ 6.72875894e-02 -5.46661051e-02 9.96234911e-01 4.54770249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.580714057 meters Centerline goodness : 0.990708 Centerline is valid? [True, True] Translation: X:118.41, Y:121.45, Z:45.49 [[-4.26610150e-01 -9.03399072e-01 4.32885276e-02 1.18409580e+02] [ 9.03559853e-01 -4.27814376e-01 -2.35467922e-02 1.21445015e+02] [ 3.97916046e-02 2.90684751e-02 9.98785088e-01 4.54878041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.610714057 meters Centerline goodness : 0.991459 Centerline is valid? [True, True] Translation: X:118.41, Y:121.47, Z:45.48 [[-4.25099925e-01 -9.04853087e-01 2.30422278e-02 1.18408102e+02] [ 9.04015797e-01 -4.25703330e-01 -3.91422210e-02 1.21465820e+02] [ 4.52271126e-02 4.19118277e-03 9.98967939e-01 4.54825175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.640714057 meters Centerline goodness : 0.990084 Centerline is valid? [True, True] Translation: X:118.42, Y:121.46, Z:45.47 [[-4.24271184e-01 -9.05530970e-01 -2.76141454e-03 1.18424916e+02] [ 9.04390125e-01 -4.23579412e-01 -5.15653356e-02 1.21455496e+02] [ 4.55243300e-02 -2.43750820e-02 9.98665805e-01 4.54713902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.670714057 meters Centerline goodness : 0.991638 Centerline is valid? [True, True] Translation: X:118.40, Y:121.45, Z:45.49 [[-4.21554955e-01 -9.06082285e-01 3.61429420e-02 1.18404362e+02] [ 9.05598109e-01 -4.22714227e-01 -3.47094773e-02 1.21453430e+02] [ 4.67277783e-02 1.80990278e-02 9.98743681e-01 4.54881662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.700714057 meters Centerline goodness : 0.989476 Centerline is valid? [True, True] Translation: X:118.42, Y:121.46, Z:45.48 [[-4.21615865e-01 -9.06772639e-01 1.85549720e-03 1.18418171e+02] [ 9.05447415e-01 -4.21108590e-01 -5.32215553e-02 1.21457436e+02] [ 4.90412160e-02 -2.07589969e-02 9.98581005e-01 4.54763688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.730714057 meters Centerline goodness : 0.989902 Centerline is valid? [True, True] Translation: X:118.41, Y:121.46, Z:45.48 [[-4.24214333e-01 -9.05458424e-01 1.36836243e-02 1.18409643e+02] [ 9.04099067e-01 -4.24339263e-01 -5.04090007e-02 1.21461951e+02] [ 5.14497534e-02 -9.01286870e-03 9.98634914e-01 4.54839324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.76071405700003 meters Centerline goodness : 0.989693 Centerline is valid? [True, True] Translation: X:118.41, Y:121.46, Z:45.49 [[-4.23956495e-01 -9.05323860e-01 2.54872411e-02 1.18406036e+02] [ 9.04496716e-01 -4.24673316e-01 -3.92207358e-02 1.21457762e+02] [ 4.63312191e-02 6.42524016e-03 9.98905468e-01 4.54866638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.790714057 meters Centerline goodness : 0.990469 Centerline is valid? [True, True] Translation: X:118.41, Y:121.46, Z:45.48 [[-4.25753610e-01 -9.04669147e-01 1.75384887e-02 1.18409371e+02] [ 9.03580189e-01 -4.26103486e-01 -4.44821503e-02 1.21461241e+02] [ 4.77148401e-02 -3.09100514e-03 9.98856216e-01 4.54837383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.82071405700003 meters Centerline goodness : 0.991282 Centerline is valid? [True, True] Translation: X:118.41, Y:121.47, Z:45.48 [[-4.31873765e-01 -9.01774081e-01 1.69870115e-02 1.18408309e+02] [ 9.00545562e-01 -4.32177084e-01 -4.73356034e-02 1.21467469e+02] [ 5.00274173e-02 -5.14542739e-03 9.98734590e-01 4.54838571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.850714057 meters Centerline goodness : 0.990302 Centerline is valid? [True, True] Translation: X:118.41, Y:121.46, Z:45.48 [[-4.32508322e-01 -9.01378107e-01 2.13086865e-02 1.18409306e+02] [ 9.00460372e-01 -4.33030013e-01 -4.06955391e-02 1.21463592e+02] [ 4.59093687e-02 1.58646845e-03 9.98944349e-01 4.54820956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.88071405700003 meters Centerline goodness : 0.991573 Centerline is valid? [True, True] Translation: X:118.40, Y:121.49, Z:45.49 [[-4.39044802e-01 -8.98155539e-01 2.35857794e-02 1.18395425e+02] [ 8.96793830e-01 -4.39677516e-01 -4.94419756e-02 1.21492622e+02] [ 5.47767211e-02 -5.55660972e-04 9.98498474e-01 4.54873771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.910714057 meters Centerline goodness : 0.991455 Centerline is valid? [True, True] Translation: X:118.40, Y:121.49, Z:45.49 [[-4.39534656e-01 -8.97975615e-01 2.11915563e-02 1.18399375e+02] [ 8.96608389e-01 -4.40036272e-01 -4.96132621e-02 1.21485652e+02] [ 5.38765530e-02 -2.80622090e-03 9.98543661e-01 4.54854984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.940714057 meters Centerline goodness : 0.991082 Centerline is valid? [True, True] Translation: X:118.40, Y:121.50, Z:45.48 [[-4.41403035e-01 -8.97209426e-01 1.33643584e-02 1.18397073e+02] [ 8.95830764e-01 -4.41481554e-01 -5.08063072e-02 1.21497023e+02] [ 5.14840155e-02 -1.04538548e-02 9.98619103e-01 4.54831078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.970714057 meters Centerline goodness : 0.992043 Centerline is valid? [True, True] Translation: X:118.39, Y:121.50, Z:45.49 [[-4.41447300e-01 -8.96797036e-01 2.96539702e-02 1.18386472e+02] [ 8.95674612e-01 -4.42393694e-01 -4.53299937e-02 1.21498522e+02] [ 5.37705335e-02 6.54950495e-03 9.98531839e-01 4.54921982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.000714057 meters Centerline goodness : 0.991918 Centerline is valid? [True, True] Translation: X:118.39, Y:121.49, Z:45.49 [[-4.42087833e-01 -8.96837017e-01 1.55471442e-02 1.18394475e+02] [ 8.95454973e-01 -4.42281528e-01 -5.04721727e-02 1.21493420e+02] [ 5.21415275e-02 -8.39136587e-03 9.98604449e-01 4.54864963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.030714057 meters Centerline goodness : 0.991599 Centerline is valid? [True, True] Translation: X:118.38, Y:121.51, Z:45.49 [[-4.44414515e-01 -8.95613226e-01 1.93051315e-02 1.18383437e+02] [ 8.94311967e-01 -4.44813155e-01 -4.84495871e-02 1.21513551e+02] [ 5.19792675e-02 -4.26688963e-03 9.98639049e-01 4.54896556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.060714057 meters Centerline goodness : 0.989430 Centerline is valid? [True, True] Translation: X:118.39, Y:121.51, Z:45.48 [[-4.46488697e-01 -8.94743621e-01 9.03857081e-03 1.18392315e+02] [ 8.93258115e-01 -4.46292615e-01 -5.39707467e-02 1.21507257e+02] [ 5.23238287e-02 -1.60235516e-02 9.98501609e-01 4.54849263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.090714057 meters Centerline goodness : 0.991888 Centerline is valid? [True, True] Translation: X:118.38, Y:121.51, Z:45.50 [[-4.48303522e-01 -8.93228625e-01 3.41551871e-02 1.18376476e+02] [ 8.92235030e-01 -4.49469058e-01 -4.35225944e-02 1.21514959e+02] [ 5.42273269e-02 1.09631221e-02 9.98468431e-01 4.54954801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.120714057 meters Centerline goodness : 0.992601 Centerline is valid? [True, True] Translation: X:118.39, Y:121.50, Z:45.49 [[-4.44176039e-01 -8.95490059e-01 2.83760543e-02 1.18386710e+02] [ 8.94810041e-01 -4.44983364e-01 -3.61219749e-02 1.21497130e+02] [ 4.49737415e-02 9.34666254e-03 9.98944444e-01 4.54874006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.150714057 meters Centerline goodness : 0.992114 Centerline is valid? [True, True] Translation: X:118.39, Y:121.51, Z:45.48 [[-4.44851541e-01 -8.95354467e-01 2.11538409e-02 1.18385281e+02] [ 8.94480330e-01 -4.45352272e-01 -3.95764331e-02 1.21508276e+02] [ 4.48558473e-02 1.31605736e-03 9.98992603e-01 4.54837378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.180714057 meters Centerline goodness : 0.992444 Centerline is valid? [True, True] Translation: X:118.39, Y:121.53, Z:45.48 [[-4.52355893e-01 -8.91837206e-01 7.37447278e-04 1.18387105e+02] [ 8.90012145e-01 -4.51482758e-01 -6.35743699e-02 1.21528080e+02] [ 5.70309332e-02 -2.81019039e-02 9.97976831e-01 4.54816942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.210714057 meters Centerline goodness : 0.992324 Centerline is valid? [True, True] Translation: X:118.38, Y:121.53, Z:45.49 [[-4.52554023e-01 -8.91470522e-01 2.17982842e-02 1.18376656e+02] [ 8.89733180e-01 -4.53039989e-01 -5.59431586e-02 1.21526767e+02] [ 5.97471712e-02 -5.92264476e-03 9.98195972e-01 4.54907268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.240714057 meters Centerline goodness : 0.992250 Centerline is valid? [True, True] Translation: X:118.37, Y:121.53, Z:45.49 [[-4.51817457e-01 -8.91845157e-01 2.17532144e-02 1.18372247e+02] [ 8.90209420e-01 -4.52311624e-01 -5.42345183e-02 1.21532323e+02] [ 5.82080242e-02 -5.13918577e-03 9.98291247e-01 4.54904219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.270714057 meters Centerline goodness : 0.992115 Centerline is valid? [True, True] Translation: X:118.36, Y:121.55, Z:45.49 [[-4.51339567e-01 -8.92113699e-01 2.06335673e-02 1.18362799e+02] [ 8.90559015e-01 -4.51777301e-01 -5.29330895e-02 1.21549980e+02] [ 5.65441116e-02 -5.51538833e-03 9.98384868e-01 4.54911594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.300714057 meters Centerline goodness : 0.992115 Centerline is valid? [True, True] Translation: X:118.36, Y:121.55, Z:45.49 [[-4.51012137e-01 -8.92255155e-01 2.16515852e-02 1.18361246e+02] [ 8.90717928e-01 -4.51510012e-01 -5.25383882e-02 1.21552194e+02] [ 5.66535552e-02 -4.40999567e-03 9.98384158e-01 4.54917499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.330714057 meters Centerline goodness : 0.992012 Centerline is valid? [True, True] Translation: X:118.36, Y:121.55, Z:45.49 [[-4.52106170e-01 -8.91820170e-01 1.60248363e-02 1.18363509e+02] [ 8.90076623e-01 -4.52244801e-01 -5.69055754e-02 1.21550136e+02] [ 5.79966888e-02 -1.14640296e-02 9.98250951e-01 4.54906215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.360714057 meters Centerline goodness : 0.992781 Centerline is valid? [True, True] Translation: X:118.37, Y:121.51, Z:45.49 [[-4.50422710e-01 -8.92376759e-01 2.79839686e-02 1.18370944e+02] [ 8.91094415e-01 -4.51278785e-01 -4.79395526e-02 1.21514008e+02] [ 5.54087139e-02 3.34329500e-03 9.98458160e-01 4.54927338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.390714057 meters Centerline goodness : 0.993709 Centerline is valid? [True, True] Translation: X:118.37, Y:121.49, Z:45.49 [[-4.46999915e-01 -8.93908930e-01 3.34350441e-02 1.18374395e+02] [ 8.93162070e-01 -4.48071778e-01 -3.86419343e-02 1.21493915e+02] [ 4.95236698e-02 1.25899719e-02 9.98693596e-01 4.54913582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.420714057 meters Centerline goodness : 0.992942 Centerline is valid? [True, True] Translation: X:118.37, Y:121.53, Z:45.48 [[-4.55360458e-01 -8.90282836e-01 6.58218869e-03 1.18372430e+02] [ 8.88559898e-01 -4.54917330e-01 -5.92581745e-02 1.21529294e+02] [ 5.57508874e-02 -2.11351606e-02 9.98220989e-01 4.54846185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.450714057 meters Centerline goodness : 0.992588 Centerline is valid? [True, True] Translation: X:118.37, Y:121.52, Z:45.49 [[-4.56551216e-01 -8.89410792e-01 2.25705822e-02 1.18367005e+02] [ 8.87810980e-01 -4.57087725e-01 -5.35020978e-02 1.21522286e+02] [ 5.79020793e-02 -4.38803705e-03 9.98312624e-01 4.54912362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.480714057 meters Centerline goodness : 0.993624 Centerline is valid? [True, True] Translation: X:118.37, Y:121.52, Z:45.49 [[-4.59272559e-01 -8.88133358e-01 1.69662681e-02 1.18369772e+02] [ 8.86447383e-01 -4.59464860e-01 -5.57052984e-02 1.21520901e+02] [ 5.72691377e-02 -1.05442110e-02 9.98303093e-01 4.54881303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.51071405700003 meters Centerline goodness : 0.994632 Centerline is valid? [True, True] Translation: X:118.36, Y:121.54, Z:45.50 [[-4.72587053e-01 -8.81166928e-01 1.43638939e-02 1.18355680e+02] [ 8.78420898e-01 -4.72301890e-01 -7.28536309e-02 1.21539267e+02] [ 7.09803044e-02 -2.18121382e-02 9.97239203e-01 4.54954693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.540714057 meters Centerline goodness : 0.993806 Centerline is valid? [True, True] Translation: X:118.36, Y:121.53, Z:45.50 [[-4.61329733e-01 -8.86471361e-01 3.66524801e-02 1.18356349e+02] [ 8.84961981e-01 -4.62709419e-01 -5.23668356e-02 1.21525968e+02] [ 6.33811479e-02 8.27767314e-03 9.97955064e-01 4.54986002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.57071405700003 meters Centerline goodness : 0.993381 Centerline is valid? [True, True] Translation: X:118.37, Y:121.51, Z:45.49 [[-4.61875519e-01 -8.86725892e-01 1.97027340e-02 1.18369348e+02] [ 8.84664637e-01 -4.62166295e-01 -6.14068091e-02 1.21514653e+02] [ 6.35569471e-02 -1.09319898e-02 9.97918336e-01 4.54894977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.600714057 meters Centerline goodness : 0.993128 Centerline is valid? [True, True] Translation: X:118.36, Y:121.53, Z:45.49 [[-4.62838419e-01 -8.86106689e-01 2.44035451e-02 1.18361891e+02] [ 8.84014626e-01 -4.63431933e-01 -6.12289592e-02 1.21526642e+02] [ 6.55647723e-02 -6.76602392e-03 9.97825376e-01 4.54928373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.63071405700003 meters Centerline goodness : 0.994151 Centerline is valid? [True, True] Translation: X:118.36, Y:121.52, Z:45.49 [[-4.61078368e-01 -8.86920390e-01 2.79098699e-02 1.18359301e+02] [ 8.84773690e-01 -4.61906723e-01 -6.17875192e-02 1.21524006e+02] [ 6.76923672e-02 -3.79496994e-03 9.97699024e-01 4.54947885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.660714057 meters Centerline goodness : 0.993709 Centerline is valid? [True, True] Translation: X:118.35, Y:121.53, Z:45.49 [[-4.60749025e-01 -8.87123883e-01 2.68617182e-02 1.18354802e+02] [ 8.85026681e-01 -4.61510519e-01 -6.11213121e-02 1.21531976e+02] [ 6.66191413e-02 -4.38824764e-03 9.97768828e-01 4.54945594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.690714057 meters Centerline goodness : 0.993524 Centerline is valid? [True, True] Translation: X:118.36, Y:121.53, Z:45.49 [[-4.60188060e-01 -8.87594673e-01 2.00660211e-02 1.18358949e+02] [ 8.85258873e-01 -4.60458556e-01 -6.55335480e-02 1.21525826e+02] [ 6.74067992e-02 -1.23941332e-02 9.97648590e-01 4.54920700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.720714057 meters Centerline goodness : 0.994154 Centerline is valid? [True, True] Translation: X:118.34, Y:121.55, Z:45.50 [[-4.59382137e-01 -8.87808440e-01 2.76446196e-02 1.18342136e+02] [ 8.85541382e-01 -4.60188896e-01 -6.35817648e-02 1.21551363e+02] [ 6.91701744e-02 -4.72787234e-03 9.97593672e-01 4.54978455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.750714057 meters Centerline goodness : 0.993250 Centerline is valid? [True, True] Translation: X:118.35, Y:121.52, Z:45.49 [[-4.56289133e-01 -8.89467325e-01 2.54579114e-02 1.18353882e+02] [ 8.87137865e-01 -4.56946085e-01 -6.47045890e-02 1.21521747e+02] [ 6.91855106e-02 -6.93932368e-03 9.97579677e-01 4.54948918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.780714057 meters Centerline goodness : 0.993466 Centerline is valid? [True, True] Translation: X:118.35, Y:121.54, Z:45.50 [[-4.56353516e-01 -8.89464392e-01 2.43836825e-02 1.18346363e+02] [ 8.86996957e-01 -4.56918698e-01 -6.67959678e-02 1.21536946e+02] [ 7.05539954e-02 -8.85432257e-03 9.97468664e-01 4.54960118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.810714057 meters Centerline goodness : 0.992407 Centerline is valid? [True, True] Translation: X:118.34, Y:121.55, Z:45.50 [[-4.54503561e-01 -8.90404138e-01 2.46370516e-02 1.18337685e+02] [ 8.87825376e-01 -4.55078107e-01 -6.83375245e-02 1.21550579e+02] [ 7.20597974e-02 -9.18624859e-03 9.97358009e-01 4.54984164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.840714057 meters Centerline goodness : 0.992532 Centerline is valid? [True, True] Translation: X:118.33, Y:121.55, Z:45.50 [[-4.63987491e-01 -8.85395156e-01 2.81251885e-02 1.18329403e+02] [ 8.82750369e-01 -4.64785348e-01 -6.87485789e-02 1.21548633e+02] [ 7.39418343e-02 -7.07096014e-03 9.97237488e-01 4.55027110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.870714057 meters Centerline goodness : 0.992492 Centerline is valid? [True, True] Translation: X:118.34, Y:121.53, Z:45.50 [[-4.52174249e-01 -8.91515863e-01 2.71645678e-02 1.18339643e+02] [ 8.88947674e-01 -4.52941792e-01 -6.79394366e-02 1.21532411e+02] [ 7.28730534e-02 -6.57258440e-03 9.97319567e-01 4.55009555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.900714057 meters Centerline goodness : 0.992869 Centerline is valid? [True, True] Translation: X:118.34, Y:121.53, Z:45.50 [[-4.51314073e-01 -8.91909650e-01 2.85093514e-02 1.18337170e+02] [ 8.89506834e-01 -4.52193859e-01 -6.55614598e-02 1.21533722e+02] [ 7.13666524e-02 -4.22954653e-03 9.97441182e-01 4.55017390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.930714057 meters Centerline goodness : 0.992469 Centerline is valid? [True, True] Translation: X:118.34, Y:121.52, Z:45.50 [[-4.49112373e-01 -8.92969339e-01 3.00638717e-02 1.18342306e+02] [ 8.90814892e-01 -4.50116237e-01 -6.20016273e-02 1.21518754e+02] [ 6.88977890e-02 -1.06435336e-03 9.97623156e-01 4.55007842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.960714057 meters Centerline goodness : 0.991935 Centerline is valid? [True, True] Translation: X:118.34, Y:121.53, Z:45.50 [[-4.50396885e-01 -8.92530597e-01 2.30603507e-02 1.18341230e+02] [ 8.90080086e-01 -4.50885679e-01 -6.67798282e-02 1.21526616e+02] [ 7.00006218e-02 -9.55186768e-03 9.97501215e-01 4.54986432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.990714057 meters Centerline goodness : 0.992421 Centerline is valid? [True, True] Translation: X:118.34, Y:121.53, Z:45.50 [[-4.51443096e-01 -8.91901157e-01 2.66731487e-02 1.18336087e+02] [ 8.89589201e-01 -4.52198807e-01 -6.43994801e-02 1.21534155e+02] [ 6.94995369e-02 -5.34455560e-03 9.97567667e-01 4.55003965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.020714057 meters Centerline goodness : 0.992699 Centerline is valid? [True, True] Translation: X:118.33, Y:121.54, Z:45.50 [[-4.50941723e-01 -8.92074191e-01 2.92438077e-02 1.18333191e+02] [ 8.90061020e-01 -4.51887892e-01 -5.99058740e-02 1.21538633e+02] [ 6.66554067e-02 -9.85284778e-04 9.97775569e-01 4.55006883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.050714057 meters Centerline goodness : 0.992624 Centerline is valid? [True, True] Translation: X:118.33, Y:121.54, Z:45.50 [[-4.51035412e-01 -8.92122610e-01 2.61592500e-02 1.18332371e+02] [ 8.90233439e-01 -4.51783950e-01 -5.81006582e-02 1.21544886e+02] [ 6.36512401e-02 -2.91761519e-03 9.97967939e-01 4.54982388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.080714057 meters Centerline goodness : 0.992608 Centerline is valid? [True, True] Translation: X:118.33, Y:121.55, Z:45.50 [[-4.51740467e-01 -8.91811061e-01 2.45679093e-02 1.18332470e+02] [ 8.89784287e-01 -4.52375875e-01 -6.03323290e-02 1.21546447e+02] [ 6.49189678e-02 -5.39441479e-03 9.97875958e-01 4.54982588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.110714057 meters Centerline goodness : 0.993843 Centerline is valid? [True, True] Translation: X:118.33, Y:121.56, Z:45.50 [[-4.52151113e-01 -8.91591345e-01 2.49848742e-02 1.18326740e+02] [ 8.89572333e-01 -4.52813483e-01 -6.01748679e-02 1.21560196e+02] [ 6.49648794e-02 -4.98228072e-03 9.97875113e-01 4.54990648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.140714057 meters Centerline goodness : 0.993095 Centerline is valid? [True, True] Translation: X:118.33, Y:121.55, Z:45.50 [[-4.50238753e-01 -8.92454563e-01 2.84590700e-02 1.18329103e+02] [ 8.90764002e-01 -4.51136852e-01 -5.49093257e-02 1.21551932e+02] [ 6.18430135e-02 6.28008738e-04 9.98085691e-01 4.54983851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.170714057 meters Centerline goodness : 0.993062 Centerline is valid? [True, True] Translation: X:118.34, Y:121.54, Z:45.49 [[-4.48328869e-01 -8.93602634e-01 2.18072571e-02 1.18337559e+02] [ 8.91831879e-01 -4.48820164e-01 -5.65363578e-02 1.21543777e+02] [ 6.03085750e-02 -5.89847436e-03 9.98162353e-01 4.54931572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.200714057 meters Centerline goodness : 0.993162 Centerline is valid? [True, True] Translation: X:118.34, Y:121.54, Z:45.49 [[-4.48114586e-01 -8.93645310e-01 2.43182645e-02 1.18335964e+02] [ 8.91839544e-01 -4.48757744e-01 -5.69097115e-02 1.21544911e+02] [ 6.17701063e-02 -3.81408193e-03 9.98083116e-01 4.54949087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.230714057 meters Centerline goodness : 0.992004 Centerline is valid? [True, True] Translation: X:118.34, Y:121.56, Z:45.49 [[-4.44923810e-01 -8.95506527e-01 1.05291581e-02 1.18337504e+02] [ 8.93661612e-01 -4.44712610e-01 -5.99968121e-02 1.21557950e+02] [ 5.84099862e-02 -1.72845059e-02 9.98143036e-01 4.54897262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.26071405700003 meters Centerline goodness : 0.992793 Centerline is valid? [True, True] Translation: X:118.33, Y:121.54, Z:45.50 [[-4.41683647e-01 -8.96537110e-01 3.37159568e-02 1.18332271e+02] [ 8.95113596e-01 -4.42903068e-01 -5.10737056e-02 1.21544480e+02] [ 6.07223731e-02 7.62119074e-03 9.98125599e-01 4.54981659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.290714057 meters Centerline goodness : 0.993045 Centerline is valid? [True, True] Translation: X:118.34, Y:121.55, Z:45.49 [[-4.38482594e-01 -8.98418090e-01 2.40405917e-02 1.18335463e+02] [ 8.96678378e-01 -4.39131008e-01 -5.59628835e-02 1.21547703e+02] [ 6.08350362e-02 -2.98207147e-03 9.98143379e-01 4.54945087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.32071405700003 meters Centerline goodness : 0.991854 Centerline is valid? [True, True] Translation: X:118.33, Y:121.55, Z:45.49 [[-4.29542130e-01 -9.02724395e-01 2.41293713e-02 1.18333491e+02] [ 9.01154949e-01 -4.30217878e-01 -5.32196915e-02 1.21550947e+02] [ 5.84236007e-02 -1.11579730e-03 9.98291259e-01 4.54942665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.350714057 meters Centerline goodness : 0.991302 Centerline is valid? [True, True] Translation: X:118.34, Y:121.54, Z:45.49 [[-4.18266082e-01 -9.08054009e-01 2.21675626e-02 1.18338012e+02] [ 9.06658737e-01 -4.18852014e-01 -5.03281818e-02 1.21539957e+02] [ 5.49856355e-02 -9.52157150e-04 9.98486692e-01 4.54932245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.38071405700003 meters Centerline goodness : 0.990550 Centerline is valid? [True, True] Translation: X:118.34, Y:121.55, Z:45.49 [[-4.14343345e-01 -9.09998741e-01 1.48957561e-02 1.18337693e+02] [ 9.08368679e-01 -4.14505389e-01 -5.52415168e-02 1.21546883e+02] [ 5.64440819e-02 -9.35811662e-03 9.98361904e-01 4.54922091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.410714057 meters Centerline goodness : 0.991875 Centerline is valid? [True, True] Translation: X:118.34, Y:121.53, Z:45.50 [[-4.00778597e-01 -9.15746206e-01 2.80250397e-02 1.18337467e+02] [ 9.14799936e-01 -4.01665099e-01 -4.24997107e-02 1.21530603e+02] [ 5.01756292e-02 8.60433012e-03 9.98703345e-01 4.54959597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.440714057 meters Centerline goodness : 0.990710 Centerline is valid? [True, True] Translation: X:118.35, Y:121.53, Z:45.49 [[-3.95337086e-01 -9.18439491e-01 1.33225557e-02 1.18347336e+02] [ 9.17235539e-01 -3.95507358e-01 -4.74646874e-02 1.21526065e+02] [ 4.88626121e-02 -6.54462964e-03 9.98784067e-01 4.54886911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.470714057 meters Centerline goodness : 0.990964 Centerline is valid? [True, True] Translation: X:118.35, Y:121.53, Z:45.49 [[-3.90023999e-01 -9.20616636e-01 1.86088791e-02 1.18345768e+02] [ 9.19540064e-01 -3.90467602e-01 -4.45098032e-02 1.21525789e+02] [ 4.82426297e-02 -2.48281499e-04 9.98835616e-01 4.54907727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.500714057 meters Centerline goodness : 0.991834 Centerline is valid? [True, True] Translation: X:118.35, Y:121.52, Z:45.49 [[-3.83436899e-01 -9.23276944e-01 2.31479792e-02 1.18348486e+02] [ 9.22521297e-01 -3.84074807e-01 -3.79605023e-02 1.21520573e+02] [ 4.39386122e-02 6.79904655e-03 9.99011097e-01 4.54907061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.530714057 meters Centerline goodness : 0.991908 Centerline is valid? [True, True] Translation: X:118.36, Y:121.53, Z:45.49 [[-3.83127287e-01 -9.23619848e-01 1.18261693e-02 1.18355623e+02] [ 9.22513814e-01 -3.83253189e-01 -4.56645964e-02 1.21526773e+02] [ 4.67091447e-02 -6.58554836e-03 9.98886824e-01 4.54865753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.560714057 meters Centerline goodness : 0.990973 Centerline is valid? [True, True] Translation: X:118.35, Y:121.54, Z:45.49 [[-3.86283372e-01 -9.22263341e-01 1.46794824e-02 1.18352734e+02] [ 9.20962573e-01 -3.86522855e-01 -4.92749631e-02 1.21536088e+02] [ 5.11184475e-02 -5.51484499e-03 9.98677371e-01 4.54902719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.590714057 meters Centerline goodness : 0.991707 Centerline is valid? [True, True] Translation: X:118.35, Y:121.55, Z:45.49 [[-3.91291146e-01 -9.20121444e-01 1.63635854e-02 1.18353392e+02] [ 9.18747828e-01 -3.91604733e-01 -5.04793204e-02 1.21547274e+02] [ 5.28551626e-02 -4.71810259e-03 9.98591043e-01 4.54911767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.620714057 meters Centerline goodness : 0.992099 Centerline is valid? [True, True] Translation: X:118.35, Y:121.54, Z:45.49 [[-3.87874981e-01 -9.20949700e-01 3.74786486e-02 1.18350487e+02] [ 9.20970061e-01 -3.88873407e-01 -2.43232353e-02 1.21537590e+02] [ 3.69749260e-02 2.50823389e-02 9.99001367e-01 4.54931430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.650714057 meters Centerline goodness : 0.992307 Centerline is valid? [True, True] Translation: X:118.36, Y:121.56, Z:45.48 [[-3.97719075e-01 -9.17507182e-01 -3.29470245e-04 1.18362065e+02] [ 9.16066443e-01 -3.97074379e-01 -5.61623439e-02 1.21562794e+02] [ 5.13985297e-02 -2.26386521e-02 9.98421596e-01 4.54834582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.680714057 meters Centerline goodness : 0.992789 Centerline is valid? [True, True] Translation: X:118.36, Y:121.55, Z:45.49 [[-4.00328916e-01 -9.15736017e-01 3.41219259e-02 1.18356384e+02] [ 9.15497370e-01 -4.01295707e-01 -2.87458158e-02 1.21549000e+02] [ 4.00165613e-02 1.97307521e-02 9.99004190e-01 4.54927026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.710714057 meters Centerline goodness : 0.992326 Centerline is valid? [True, True] Translation: X:118.37, Y:121.57, Z:45.48 [[-4.06521556e-01 -9.13641026e-01 -5.46997448e-04 1.18367475e+02] [ 9.12463899e-01 -4.05967268e-01 -5.09922488e-02 1.21570071e+02] [ 4.63665474e-02 -2.12285638e-02 9.98698899e-01 4.54827596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.740714057 meters Centerline goodness : 0.994326 Centerline is valid? [True, True] Translation: X:118.36, Y:121.60, Z:45.49 [[-4.35669020e-01 -9.00035202e-01 -1.13639553e-02 1.18358525e+02] [ 8.97200542e-01 -4.33213909e-01 -8.57723559e-02 1.21599606e+02] [ 7.22751161e-02 -4.75641051e-02 9.96249950e-01 4.54938974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.770714057 meters Centerline goodness : 0.994462 Centerline is valid? [True, True] Translation: X:118.35, Y:121.57, Z:45.51 [[-4.24404348e-01 -9.03836560e-01 5.44097739e-02 1.18348876e+02] [ 9.04026123e-01 -4.26355973e-01 -3.09411174e-02 1.21574618e+02] [ 5.11636452e-02 3.60563122e-02 9.98039190e-01 4.55100884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.800714057 meters Centerline goodness : 0.994659 Centerline is valid? [True, True] Translation: X:118.36, Y:121.61, Z:45.50 [[-4.45274021e-01 -8.95352604e-01 -8.64644359e-03 1.18360656e+02] [ 8.92664067e-01 -4.43142034e-01 -8.23164702e-02 1.21611557e+02] [ 6.98706634e-02 -4.43717552e-02 9.96568732e-01 4.54964230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.830714057 meters Centerline goodness : 0.994001 Centerline is valid? [True, True] Translation: X:118.36, Y:121.58, Z:45.51 [[-4.32994577e-01 -9.00327443e-01 4.38884082e-02 1.18355324e+02] [ 8.99522375e-01 -4.34719938e-01 -4.33367229e-02 1.21583049e+02] [ 5.80964070e-02 2.07140392e-02 9.98096056e-01 4.55088264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.860714057 meters Centerline goodness : 0.994877 Centerline is valid? [True, True] Translation: X:118.37, Y:121.60, Z:45.50 [[-4.38141099e-01 -8.98738205e-01 1.73786400e-02 1.18366062e+02] [ 8.97039082e-01 -4.38394745e-01 -5.59547365e-02 1.21598357e+02] [ 5.79073638e-02 -8.92675043e-03 9.98282050e-01 4.54985797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.890714057 meters Centerline goodness : 0.993342 Centerline is valid? [True, True] Translation: X:118.36, Y:121.61, Z:45.50 [[-4.40675508e-01 -8.97260607e-01 2.69907274e-02 1.18360346e+02] [ 8.95945121e-01 -4.41492773e-01 -4.86464058e-02 1.21608290e+02] [ 5.55647147e-02 2.74493096e-03 9.98451315e-01 4.55009993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.920714057 meters Centerline goodness : 0.993453 Centerline is valid? [True, True] Translation: X:118.37, Y:121.60, Z:45.50 [[-4.40854548e-01 -8.97309233e-01 2.19865433e-02 1.18366636e+02] [ 8.95949614e-01 -4.41397526e-01 -4.94217903e-02 1.21603122e+02] [ 5.40514346e-02 -2.08898601e-03 9.98535968e-01 4.54976607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.950714057 meters Centerline goodness : 0.991887 Centerline is valid? [True, True] Translation: X:118.38, Y:121.60, Z:45.49 [[-4.43478260e-01 -8.96258239e-01 6.94281115e-03 1.18378940e+02] [ 8.94501680e-01 -4.43070960e-01 -5.96227135e-02 1.21598948e+02] [ 5.65135062e-02 -2.02310210e-02 9.98196839e-01 4.54907744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.980714057 meters Centerline goodness : 0.993930 Centerline is valid? [True, True] Translation: X:118.36, Y:121.61, Z:45.50 [[-4.45961946e-01 -8.94622207e-01 2.77317397e-02 1.18364823e+02] [ 8.93064375e-01 -4.46821671e-01 -5.27865243e-02 1.21607384e+02] [ 5.96151391e-02 1.22544761e-03 9.98220684e-01 4.55003379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.01071405700003 meters Centerline goodness : 0.994456 Centerline is valid? [True, True] Translation: X:118.37, Y:121.60, Z:45.50 [[-4.43613935e-01 -8.95869939e-01 2.49745822e-02 1.18371237e+02] [ 8.94608806e-01 -4.44314616e-01 -4.75353250e-02 1.21597776e+02] [ 5.36820406e-02 1.25514857e-03 9.98557291e-01 4.54964833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.040714057 meters Centerline goodness : 0.994383 Centerline is valid? [True, True] Translation: X:118.36, Y:121.65, Z:45.50 [[-4.63768024e-01 -8.85956627e-01 2.73092889e-04 1.18355566e+02] [ 8.83106849e-01 -4.62300923e-01 -8.00009342e-02 1.21649425e+02] [ 7.10036090e-02 -3.68607050e-02 9.96794751e-01 4.54992047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.07071405700003 meters Centerline goodness : 0.993515 Centerline is valid? [True, True] Translation: X:118.35, Y:121.61, Z:45.51 [[-4.46896241e-01 -8.93369405e-01 4.66353472e-02 1.18354998e+02] [ 8.92701756e-01 -4.48730212e-01 -4.15303664e-02 1.21609826e+02] [ 5.80286480e-02 2.30716917e-02 9.98048282e-01 4.55077356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.100714057 meters Centerline goodness : 0.993510 Centerline is valid? [True, True] Translation: X:118.36, Y:121.62, Z:45.50 [[-4.47428147e-01 -8.94175448e-01 1.60723711e-02 1.18364826e+02] [ 8.92469313e-01 -4.47585732e-01 -5.62631223e-02 1.21618654e+02] [ 5.75028666e-02 -1.08296066e-02 9.98286602e-01 4.54976135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.13071405700003 meters Centerline goodness : 0.992616 Centerline is valid? [True, True] Translation: X:118.36, Y:121.61, Z:45.50 [[-4.42555494e-01 -8.96359500e-01 2.61587779e-02 1.18360741e+02] [ 8.95287840e-01 -4.43310333e-01 -4.39958121e-02 1.21612212e+02] [ 5.10325207e-02 3.94904739e-03 9.98689184e-01 4.54987930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.160714057 meters Centerline goodness : 0.993169 Centerline is valid? [True, True] Translation: X:118.37, Y:121.60, Z:45.49 [[-4.41028240e-01 -8.97463472e-01 7.30805311e-03 1.18374204e+02] [ 8.96178879e-01 -4.40808290e-01 -5.05120561e-02 1.21598246e+02] [ 4.85541756e-02 -1.57279203e-02 9.98696713e-01 4.54907698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.190714057 meters Centerline goodness : 0.993169 Centerline is valid? [True, True] Translation: X:118.37, Y:121.60, Z:45.49 [[-4.40879517e-01 -8.97389184e-01 1.78298585e-02 1.18369072e+02] [ 8.96211356e-01 -4.41218201e-01 -4.61703916e-02 1.21597779e+02] [ 4.92996681e-02 -4.37625829e-03 9.98774445e-01 4.54949211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.220714057 meters Centerline goodness : 0.993666 Centerline is valid? [True, True] Translation: X:118.35, Y:121.65, Z:45.50 [[-4.59667714e-01 -8.88054692e-01 8.02847639e-03 1.18346247e+02] [ 8.85237666e-01 -4.58896223e-01 -7.59508528e-02 1.21647999e+02] [ 7.11327487e-02 -2.78050452e-02 9.97079240e-01 4.55035001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.250714057 meters Centerline goodness : 0.993272 Centerline is valid? [True, True] Translation: X:118.35, Y:121.61, Z:45.50 [[-4.42240952e-01 -8.96167935e-01 3.61382339e-02 1.18353722e+02] [ 8.95425915e-01 -4.43463635e-01 -3.94009584e-02 1.21607072e+02] [ 5.13358681e-02 1.49343938e-02 9.98569774e-01 4.55042448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.280714057 meters Centerline goodness : 0.991708 Centerline is valid? [True, True] Translation: X:118.36, Y:121.64, Z:45.50 [[-4.48447260e-01 -8.93806914e-01 2.06271303e-03 1.18357626e+02] [ 8.91613436e-01 -4.47506017e-01 -6.90206180e-02 1.21638904e+02] [ 6.26141821e-02 -2.91129644e-02 9.97613101e-01 4.54978075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.310714057 meters Centerline goodness : 0.992440 Centerline is valid? [True, True] Translation: X:118.35, Y:121.63, Z:45.51 [[-4.47428954e-01 -8.94007626e-01 2.36155836e-02 1.18348099e+02] [ 8.92089442e-01 -4.48021263e-01 -5.87654312e-02 1.21633053e+02] [ 6.31170272e-02 -5.22614263e-03 9.97992449e-01 4.55067149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.340714057 meters Centerline goodness : 0.993489 Centerline is valid? [True, True] Translation: X:118.34, Y:121.64, Z:45.51 [[-4.46400706e-01 -8.94076420e-01 3.67935408e-02 1.18337257e+02] [ 8.92290187e-01 -4.47853336e-01 -5.69702684e-02 1.21638967e+02] [ 6.74138836e-02 7.39894735e-03 9.97697662e-01 4.55118907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.370714057 meters Centerline goodness : 0.993957 Centerline is valid? [True, True] Translation: X:118.34, Y:121.64, Z:45.51 [[-4.45409007e-01 -8.94983348e-01 2.48117542e-02 1.18341487e+02] [ 8.92913208e-01 -4.46071128e-01 -6.10454888e-02 1.21640595e+02] [ 6.57025031e-02 -5.03546752e-03 9.97826551e-01 4.55073618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.400714057 meters Centerline goodness : 0.993309 Centerline is valid? [True, True] Translation: X:118.34, Y:121.64, Z:45.51 [[-4.44722919e-01 -8.95382493e-01 2.26211469e-02 1.18340860e+02] [ 8.93308978e-01 -4.45241938e-01 -6.13081207e-02 1.21638825e+02] [ 6.49661013e-02 -7.05745281e-03 9.97862515e-01 4.55066302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.430714057 meters Centerline goodness : 0.992557 Centerline is valid? [True, True] Translation: X:118.34, Y:121.64, Z:45.50 [[-4.45274884e-01 -8.95285172e-01 1.39548851e-02 1.18343298e+02] [ 8.93333295e-01 -4.45252931e-01 -6.08724138e-02 1.21641026e+02] [ 6.07116230e-02 -1.46385935e-02 9.98048000e-01 4.55036070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.460714057 meters Centerline goodness : 0.992820 Centerline is valid? [True, True] Translation: X:118.33, Y:121.64, Z:45.51 [[-4.44745154e-01 -8.94921091e-01 3.63041117e-02 1.18329987e+02] [ 8.93438127e-01 -4.46130165e-01 -5.23086012e-02 1.21643567e+02] [ 6.30084298e-02 9.17148060e-03 9.97970852e-01 4.55114851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.490714057 meters Centerline goodness : 0.992584 Centerline is valid? [True, True] Translation: X:118.34, Y:121.64, Z:45.50 [[-4.43867482e-01 -8.95996657e-01 1.31014950e-02 1.18342503e+02] [ 8.94266174e-01 -4.43848487e-01 -5.73282658e-02 1.21639366e+02] [ 5.71810132e-02 -1.37299292e-02 9.98269413e-01 4.55011486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.520714057 meters Centerline goodness : 0.993874 Centerline is valid? [True, True] Translation: X:118.33, Y:121.65, Z:45.51 [[-4.43248537e-01 -8.95790442e-01 3.30184561e-02 1.18328793e+02] [ 8.94302492e-01 -4.44429500e-01 -5.20141518e-02 1.21646296e+02] [ 6.12681560e-02 6.47329091e-03 9.98100350e-01 4.55091061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.550714057 meters Centerline goodness : 0.993811 Centerline is valid? [True, True] Translation: X:118.33, Y:121.64, Z:45.50 [[-4.42128528e-01 -8.96633818e-01 2.38780438e-02 1.18331864e+02] [ 8.94992269e-01 -4.42765009e-01 -5.42953416e-02 1.21643009e+02] [ 5.92554017e-02 -2.63485487e-03 9.98239378e-01 4.55044079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.580714057 meters Centerline goodness : 0.993199 Centerline is valid? [True, True] Translation: X:118.33, Y:121.64, Z:45.50 [[-4.41090953e-01 -8.97285956e-01 1.77956371e-02 1.18334798e+02] [ 8.95660696e-01 -4.41374710e-01 -5.45919722e-02 1.21637142e+02] [ 5.68391541e-02 -8.14117237e-03 9.98350155e-01 4.55006946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.610714057 meters Centerline goodness : 0.993850 Centerline is valid? [True, True] Translation: X:118.34, Y:121.63, Z:45.50 [[-4.41075231e-01 -8.97384250e-01 1.24156936e-02 1.18339110e+02] [ 8.95892907e-01 -4.41077752e-01 -5.31631118e-02 1.21628239e+02] [ 5.31840254e-02 -1.23258000e-02 9.98508655e-01 4.54994478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.640714057 meters Centerline goodness : 0.993252 Centerline is valid? [True, True] Translation: X:118.33, Y:121.64, Z:45.50 [[-4.42299586e-01 -8.96656181e-01 1.94619953e-02 1.18331050e+02] [ 8.95118393e-01 -4.42687649e-01 -5.28271539e-02 1.21637049e+02] [ 5.59833790e-02 -5.94463831e-03 9.98414004e-01 4.55029483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.670714057 meters Centerline goodness : 0.992563 Centerline is valid? [True, True] Translation: X:118.33, Y:121.64, Z:45.50 [[-4.42457933e-01 -8.96504841e-01 2.25842523e-02 1.18327305e+02] [ 8.95160197e-01 -4.43031362e-01 -4.91063536e-02 1.21637343e+02] [ 5.40296157e-02 -1.51097194e-03 9.98538190e-01 4.55028886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.700714057 meters Centerline goodness : 0.993467 Centerline is valid? [True, True] Translation: X:118.32, Y:121.64, Z:45.50 [[-4.44051870e-01 -8.95590545e-01 2.71203384e-02 1.18322421e+02] [ 8.94001039e-01 -4.44878929e-01 -5.33374304e-02 1.21640126e+02] [ 5.98337655e-02 5.61025039e-04 9.98208198e-01 4.55039461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.730714057 meters Centerline goodness : 0.994023 Centerline is valid? [True, True] Translation: X:118.32, Y:121.66, Z:45.50 [[-4.44288234e-01 -8.95579657e-01 2.33461577e-02 1.18315734e+02] [ 8.94009844e-01 -4.44892961e-01 -5.30721414e-02 1.21659255e+02] [ 5.79168714e-02 -2.70763324e-03 9.98317737e-01 4.55024893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.76071405700003 meters Centerline goodness : 0.992215 Centerline is valid? [True, True] Translation: X:118.32, Y:121.65, Z:45.50 [[-4.45928895e-01 -8.95039422e-01 7.20092631e-03 1.18324619e+02] [ 8.93333766e-01 -4.45550914e-01 -5.86443918e-02 1.21650840e+02] [ 5.56974218e-02 -1.97183982e-02 9.98252965e-01 4.54971370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.790714057 meters Centerline goodness : 0.993165 Centerline is valid? [True, True] Translation: X:118.32, Y:121.65, Z:45.50 [[-4.45706109e-01 -8.94932521e-01 2.10201796e-02 1.18316254e+02] [ 8.93328216e-01 -4.46171115e-01 -5.38148281e-02 1.21651702e+02] [ 5.75392367e-02 -5.20767812e-03 9.98329663e-01 4.55032121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.82071405700003 meters Centerline goodness : 0.991556 Centerline is valid? [True, True] Translation: X:118.31, Y:121.65, Z:45.50 [[-4.45441212e-01 -8.94957372e-01 2.51680160e-02 1.18312622e+02] [ 8.93454551e-01 -4.46151244e-01 -5.18462513e-02 1.21652436e+02] [ 5.76289265e-02 -6.07978546e-04 9.98337887e-01 4.55048982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.850714057 meters Centerline goodness : 0.992423 Centerline is valid? [True, True] Translation: X:118.32, Y:121.63, Z:45.50 [[-4.41116862e-01 -8.97263237e-01 1.82919986e-02 1.18321186e+02] [ 8.95702524e-01 -4.41437842e-01 -5.33818252e-02 1.21631092e+02] [ 5.59723297e-02 -7.16343388e-03 9.98406622e-01 4.55005033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.88071405700003 meters Centerline goodness : 0.992999 Centerline is valid? [True, True] Translation: X:118.30, Y:121.67, Z:45.51 [[-4.42445666e-01 -8.96277606e-01 3.04677674e-02 1.18296673e+02] [ 8.94557351e-01 -4.43485431e-01 -5.55681407e-02 1.21669178e+02] [ 6.33164911e-02 2.66928228e-03 9.97989928e-01 4.55092593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.910714057 meters Centerline goodness : 0.991609 Centerline is valid? [True, True] Translation: X:118.31, Y:121.66, Z:45.50 [[-4.42427233e-01 -8.96778854e-01 6.76988225e-03 1.18309726e+02] [ 8.94802802e-01 -4.41931265e-01 -6.34405399e-02 1.21662125e+02] [ 5.98839573e-02 -2.20101129e-02 9.97962658e-01 4.54988986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.940714057 meters Centerline goodness : 0.990812 Centerline is valid? [True, True] Translation: X:118.30, Y:121.66, Z:45.51 [[-4.45302462e-01 -8.95078671e-01 2.32355355e-02 1.18298565e+02] [ 8.93283337e-01 -4.45884962e-01 -5.68461171e-02 1.21663942e+02] [ 6.12421228e-02 -4.55779921e-03 9.98112533e-01 4.55077189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.970714057 meters Centerline goodness : 0.991735 Centerline is valid? [True, True] Translation: X:118.30, Y:121.66, Z:45.51 [[-4.45365326e-01 -8.95059169e-01 2.27774264e-02 1.18298772e+02] [ 8.93134721e-01 -4.45908166e-01 -5.89599718e-02 1.21661938e+02] [ 6.29293038e-02 -5.91541666e-03 9.98000456e-01 4.55066164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.000714057 meters Centerline goodness : 0.991268 Centerline is valid? [True, True] Translation: X:118.30, Y:121.66, Z:45.51 [[-4.46030455e-01 -8.94744704e-01 2.21076550e-02 1.18297564e+02] [ 8.92796212e-01 -4.46526873e-01 -5.94026647e-02 1.21663538e+02] [ 6.30218816e-02 -6.75776694e-03 9.97989266e-01 4.55061799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.030714057 meters Centerline goodness : 0.990527 Centerline is valid? [True, True] Translation: X:118.29, Y:121.66, Z:45.51 [[-4.48055019e-01 -8.93531420e-01 2.91256188e-02 1.18293303e+02] [ 8.91389820e-01 -4.48997257e-01 -6.18518531e-02 1.21664979e+02] [ 6.83438970e-02 -1.75075316e-03 9.97660286e-01 4.55074535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.060714057 meters Centerline goodness : 0.993060 Centerline is valid? [True, True] Translation: X:118.28, Y:121.67, Z:45.51 [[-4.46719121e-01 -8.93920179e-01 3.67252057e-02 1.18282874e+02] [ 8.92088576e-01 -4.48171204e-01 -5.76241635e-02 1.21672721e+02] [ 6.79705822e-02 7.02032083e-03 9.97662626e-01 4.55113748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.090714057 meters Centerline goodness : 0.991829 Centerline is valid? [True, True] Translation: X:118.29, Y:121.67, Z:45.51 [[-4.46682578e-01 -8.94390978e-01 2.32261071e-02 1.18289102e+02] [ 8.92177664e-01 -4.47221957e-01 -6.33366875e-02 1.21671165e+02] [ 6.70349869e-02 -7.56958088e-03 9.97721911e-01 4.55050587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.120714057 meters Centerline goodness : 0.993251 Centerline is valid? [True, True] Translation: X:118.27, Y:121.69, Z:45.51 [[-4.58341190e-01 -8.88599019e-01 1.77521123e-02 1.18274753e+02] [ 8.85539097e-01 -4.58283857e-01 -7.61341865e-02 1.21692363e+02] [ 7.57882699e-02 -1.91752441e-02 9.96939541e-01 4.55092917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.150714057 meters Centerline goodness : 0.991303 Centerline is valid? [True, True] Translation: X:118.29, Y:121.66, Z:45.51 [[-4.46588718e-01 -8.94392303e-01 2.49183913e-02 1.18288518e+02] [ 8.92146297e-01 -4.47240488e-01 -6.36469228e-02 1.21663707e+02] [ 6.80698313e-02 -6.19314716e-03 9.97661337e-01 4.55059909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.180714057 meters Centerline goodness : 0.992745 Centerline is valid? [True, True] Translation: X:118.28, Y:121.67, Z:45.51 [[-4.45344870e-01 -8.94743751e-01 3.31898680e-02 1.18281450e+02] [ 8.92636447e-01 -4.46574115e-01 -6.14144367e-02 1.21667107e+02] [ 6.97719194e-02 2.27588155e-03 9.97560374e-01 4.55106379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.210714057 meters Centerline goodness : 0.992220 Centerline is valid? [True, True] Translation: X:118.28, Y:121.67, Z:45.51 [[-4.43996717e-01 -8.95739930e-01 2.27353048e-02 1.18282863e+02] [ 8.93299683e-01 -4.44480786e-01 -6.67271068e-02 1.21670133e+02] [ 6.98755401e-02 -9.31717576e-03 9.97512205e-01 4.55073644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.240714057 meters Centerline goodness : 0.992932 Centerline is valid? [True, True] Translation: X:118.28, Y:121.68, Z:45.51 [[-4.40883412e-01 -8.97346357e-01 1.97821481e-02 1.18278785e+02] [ 8.94485644e-01 -4.41088322e-01 -7.30515198e-02 1.21677119e+02] [ 7.42781897e-02 -1.45123558e-02 9.97131958e-01 4.55089130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.270714057 meters Centerline goodness : 0.991814 Centerline is valid? [True, True] Translation: X:118.28, Y:121.67, Z:45.51 [[-4.41455642e-01 -8.96833530e-01 2.83995579e-02 1.18276717e+02] [ 8.94293865e-01 -4.42345901e-01 -6.75913250e-02 1.21669854e+02] [ 7.31805946e-02 -4.44102141e-03 9.97308818e-01 4.55125011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.300714057 meters Centerline goodness : 0.992014 Centerline is valid? [True, True] Translation: X:118.27, Y:121.68, Z:45.51 [[-4.39401028e-01 -8.97854134e-01 2.80123371e-02 1.18272886e+02] [ 8.95514787e-01 -4.40279792e-01 -6.48611746e-02 1.21676772e+02] [ 7.05691396e-02 -3.41460473e-03 9.97501046e-01 4.55123700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.330714057 meters Centerline goodness : 0.989644 Centerline is valid? [True, True] Translation: X:118.28, Y:121.67, Z:45.50 [[-4.38210897e-01 -8.98804558e-01 1.10261431e-02 1.18283020e+02] [ 8.96379041e-01 -4.37875566e-01 -6.90623165e-02 1.21672436e+02] [ 6.69016036e-02 -2.03802561e-02 9.97551413e-01 4.55035855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.360714057 meters Centerline goodness : 0.990286 Centerline is valid? [True, True] Translation: X:118.28, Y:121.67, Z:45.51 [[-4.37351461e-01 -8.98963154e-01 2.42682471e-02 1.18275275e+02] [ 8.96631143e-01 -4.37973131e-01 -6.50548264e-02 1.21674037e+02] [ 6.91107321e-02 -6.69215721e-03 9.97586549e-01 4.55107802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.390714057 meters Centerline goodness : 0.990178 Centerline is valid? [True, True] Translation: X:118.27, Y:121.68, Z:45.51 [[-4.36729183e-01 -8.99254938e-01 2.46612445e-02 1.18270006e+02] [ 8.96818801e-01 -4.37370017e-01 -6.65094413e-02 1.21684352e+02] [ 7.05950324e-02 -6.92994623e-03 9.97480986e-01 4.55118849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.420714057 meters Centerline goodness : 0.991296 Centerline is valid? [True, True] Translation: X:118.27, Y:121.68, Z:45.51 [[-4.37021028e-01 -8.99167272e-01 2.26017216e-02 1.18271330e+02] [ 8.96358117e-01 -4.37462791e-01 -7.18918074e-02 1.21682084e+02] [ 7.45301726e-02 -1.11589950e-02 9.97156322e-01 4.55122197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.450714057 meters Centerline goodness : 0.989494 Centerline is valid? [True, True] Translation: X:118.27, Y:121.68, Z:45.51 [[-4.35993796e-01 -8.99570539e-01 2.61200290e-02 1.18270257e+02] [ 8.96746318e-01 -4.36705541e-01 -7.16541110e-02 1.21678859e+02] [ 7.58646887e-02 -7.81770803e-03 9.97087475e-01 4.55138628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.480714057 meters Centerline goodness : 0.990041 Centerline is valid? [True, True] Translation: X:118.26, Y:121.70, Z:45.52 [[-4.35846643e-01 -8.99544418e-01 2.92838409e-02 1.18259265e+02] [ 8.96676875e-01 -4.36799520e-01 -7.19497153e-02 1.21701766e+02] [ 7.75131324e-02 -5.10089894e-03 9.96978282e-01 4.55159094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.51071405700003 meters Centerline goodness : 0.990203 Centerline is valid? [True, True] Translation: X:118.26, Y:121.69, Z:45.52 [[-4.35920515e-01 -8.99361454e-01 3.35004423e-02 1.18261469e+02] [ 8.96417657e-01 -4.37202673e-01 -7.27269327e-02 1.21691488e+02] [ 8.00542828e-02 -1.67277395e-03 9.96789102e-01 4.55167768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.540714057 meters Centerline goodness : 0.990354 Centerline is valid? [True, True] Translation: X:118.26, Y:121.71, Z:45.52 [[-4.36642873e-01 -8.99230407e-01 2.69754660e-02 1.18257343e+02] [ 8.95957519e-01 -4.37370879e-01 -7.72453150e-02 1.21706492e+02] [ 8.12596194e-02 -9.55974470e-03 9.96647122e-01 4.55156334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.57071405700003 meters Centerline goodness : 0.990411 Centerline is valid? [True, True] Translation: X:118.26, Y:121.68, Z:45.52 [[-4.34896601e-01 -8.99821580e-01 3.44393866e-02 1.18262778e+02] [ 8.96998918e-01 -4.36258087e-01 -7.12167308e-02 1.21682286e+02] [ 7.91068121e-02 -7.98216215e-05 9.96866142e-01 4.55162623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.600714057 meters Centerline goodness : 0.991801 Centerline is valid? [True, True] Translation: X:118.25, Y:121.69, Z:45.52 [[-4.33601129e-01 -8.99960534e-01 4.53993256e-02 1.18253705e+02] [ 8.97562309e-01 -4.35811060e-01 -6.67129729e-02 1.21686872e+02] [ 7.98245709e-02 1.18219032e-02 9.96738823e-01 4.55216121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.63071405700003 meters Centerline goodness : 0.990203 Centerline is valid? [True, True] Translation: X:118.27, Y:121.69, Z:45.51 [[-4.34724699e-01 -9.00441151e-01 1.48380799e-02 1.18265812e+02] [ 8.97560885e-01 -4.34560811e-01 -7.44403043e-02 1.21691161e+02] [ 7.34771613e-02 -1.90429588e-02 9.97115075e-01 4.55082658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.660714057 meters Centerline goodness : 0.989308 Centerline is valid? [True, True] Translation: X:118.26, Y:121.69, Z:45.51 [[-4.32517695e-01 -9.01018662e-01 3.30728694e-02 1.18257545e+02] [ 8.98856152e-01 -4.33771809e-01 -6.24470617e-02 1.21685838e+02] [ 7.06120464e-02 2.71829294e-03 9.97500150e-01 4.55148973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.690714057 meters Centerline goodness : 0.989929 Centerline is valid? [True, True] Translation: X:118.25, Y:121.70, Z:45.51 [[-4.31324132e-01 -9.01819750e-01 2.60889078e-02 1.18254453e+02] [ 8.99757711e-01 -4.32103053e-01 -6.10165032e-02 1.21696952e+02] [ 6.62989844e-02 -2.84419433e-03 9.97795748e-01 4.55127828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.720714057 meters Centerline goodness : 0.990482 Centerline is valid? [True, True] Translation: X:118.26, Y:121.69, Z:45.51 [[-4.30753795e-01 -9.02198335e-01 2.21208603e-02 1.18255139e+02] [ 9.00293566e-01 -4.31287200e-01 -5.88459513e-02 1.21692928e+02] [ 6.26311632e-02 -5.43284863e-03 9.98021954e-01 4.55125354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.750714057 meters Centerline goodness : 0.990083 Centerline is valid? [True, True] Translation: X:118.25, Y:121.69, Z:45.51 [[-4.29773675e-01 -9.02537064e-01 2.68595591e-02 1.18252724e+02] [ 9.01009876e-01 -4.30609076e-01 -5.25073920e-02 1.21691828e+02] [ 5.89558373e-02 1.63443319e-03 9.98259254e-01 4.55124490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.780714057 meters Centerline goodness : 0.991059 Centerline is valid? [True, True] Translation: X:118.24, Y:121.70, Z:45.52 [[-4.29957987e-01 -9.02007962e-01 3.89585186e-02 1.18244126e+02] [ 9.00693757e-01 -4.31511846e-01 -5.04805302e-02 1.21698559e+02] [ 6.23449024e-02 1.33851873e-02 9.97964904e-01 4.55170178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.810714057 meters Centerline goodness : 0.990244 Centerline is valid? [True, True] Translation: X:118.25, Y:121.72, Z:45.50 [[-4.30566604e-01 -9.02503517e-01 9.99006550e-03 1.18251359e+02] [ 9.00853719e-01 -4.30406910e-01 -5.66786538e-02 1.21716802e+02] [ 5.54524776e-02 -1.54043478e-02 9.98342491e-01 4.55026940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.840714057 meters Centerline goodness : 0.989605 Centerline is valid? [True, True] Translation: X:118.25, Y:121.70, Z:45.51 [[-4.33618746e-01 -9.00817546e-01 2.24172311e-02 1.18251124e+02] [ 8.99280847e-01 -4.34189575e-01 -5.26628114e-02 1.21702327e+02] [ 5.71729126e-02 -2.67619567e-03 9.98360704e-01 4.55072928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.870714057 meters Centerline goodness : 0.989653 Centerline is valid? [True, True] Translation: X:118.25, Y:121.70, Z:45.51 [[-4.34624922e-01 -9.00414233e-01 1.88516788e-02 1.18252777e+02] [ 8.98826274e-01 -4.34985664e-01 -5.38405231e-02 1.21702509e+02] [ 5.66789833e-02 -6.45604892e-03 9.98371580e-01 4.55052198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.900714057 meters Centerline goodness : 0.990393 Centerline is valid? [True, True] Translation: X:118.24, Y:121.72, Z:45.51 [[-4.35811437e-01 -8.99776172e-01 2.17078631e-02 1.18243338e+02] [ 8.98173492e-01 -4.36333765e-01 -5.38258729e-02 1.21720730e+02] [ 5.79031115e-02 -3.96050383e-03 9.98314351e-01 4.55079963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.930714057 meters Centerline goodness : 0.990610 Centerline is valid? [True, True] Translation: X:118.24, Y:121.74, Z:45.51 [[-4.33300363e-01 -9.01035848e-01 1.96264172e-02 1.18237039e+02] [ 8.99411342e-01 -4.33704204e-01 -5.44049807e-02 1.21739625e+02] [ 5.75328975e-02 -5.92147567e-03 9.98326050e-01 4.55067587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.960714057 meters Centerline goodness : 0.991975 Centerline is valid? [True, True] Translation: X:118.23, Y:121.73, Z:45.51 [[-4.31275174e-01 -9.01480569e-01 3.65309234e-02 1.18234430e+02] [ 9.00096397e-01 -4.32683735e-01 -5.11005081e-02 1.21725846e+02] [ 6.18724515e-02 1.08429720e-02 9.98025165e-01 4.55142999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.990714057 meters Centerline goodness : 0.990324 Centerline is valid? [True, True] Translation: X:118.25, Y:121.71, Z:45.50 [[-4.27400089e-01 -9.03923087e-01 1.58813379e-02 1.18251725e+02] [ 9.02100345e-01 -4.27563386e-01 -5.83482573e-02 1.21705519e+02] [ 5.95326154e-02 -1.06114900e-02 9.98169957e-01 4.55032588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.020714057 meters Centerline goodness : 0.990970 Centerline is valid? [True, True] Translation: X:118.25, Y:121.71, Z:45.51 [[-4.26662471e-01 -9.04201449e-01 1.94646935e-02 1.18248927e+02] [ 9.02361656e-01 -4.27045107e-01 -5.81026478e-02 1.21707327e+02] [ 6.08488004e-02 -7.22602625e-03 9.98120838e-01 4.55057409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.050714057 meters Centerline goodness : 0.991098 Centerline is valid? [True, True] Translation: X:118.24, Y:121.72, Z:45.51 [[-4.25267581e-01 -9.04782426e-01 2.27210503e-02 1.18242234e+02] [ 9.03043158e-01 -4.25860769e-01 -5.61752658e-02 1.21720576e+02] [ 6.05023973e-02 -3.37143035e-03 9.98162358e-01 4.55076441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.080714057 meters Centerline goodness : 0.991047 Centerline is valid? [True, True] Translation: X:118.25, Y:121.71, Z:45.51 [[-4.24393200e-01 -9.05268366e-01 1.94832395e-02 1.18247111e+02] [ 9.03299257e-01 -4.24765782e-01 -6.02036873e-02 1.21712380e+02] [ 6.27763071e-02 -7.95083981e-03 9.97995952e-01 4.55060945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.110714057 meters Centerline goodness : 0.991047 Centerline is valid? [True, True] Translation: X:118.25, Y:121.71, Z:45.51 [[-4.24081276e-01 -9.05361357e-01 2.18147773e-02 1.18245091e+02] [ 9.03432371e-01 -4.24607031e-01 -5.93196411e-02 1.21714383e+02] [ 6.29684186e-02 -5.44817313e-03 9.98000649e-01 4.55073267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.140714057 meters Centerline goodness : 0.990938 Centerline is valid? [True, True] Translation: X:118.25, Y:121.71, Z:45.51 [[-4.24779800e-01 -9.05074596e-01 2.00523587e-02 1.18245920e+02] [ 9.02939788e-01 -4.25167240e-01 -6.27101064e-02 1.21714607e+02] [ 6.52829302e-02 -8.53191397e-03 9.97830319e-01 4.55072950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.170714057 meters Centerline goodness : 0.989947 Centerline is valid? [True, True] Translation: X:118.25, Y:121.72, Z:45.50 [[-4.24729485e-01 -9.05243353e-01 1.18040784e-02 1.18248408e+02] [ 9.03063553e-01 -4.24554775e-01 -6.50343234e-02 1.21719426e+02] [ 6.38833668e-02 -1.69621618e-02 9.97813209e-01 4.55033499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.200714057 meters Centerline goodness : 0.990991 Centerline is valid? [True, True] Translation: X:118.23, Y:121.74, Z:45.52 [[-4.27008585e-01 -9.03721868e-01 3.08294325e-02 1.18229452e+02] [ 9.01758397e-01 -4.28113573e-01 -5.95865947e-02 1.21742985e+02] [ 6.70482071e-02 2.35671220e-03 9.97746954e-01 4.55156590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.230714057 meters Centerline goodness : 0.991483 Centerline is valid? [True, True] Translation: X:118.24, Y:121.74, Z:45.51 [[-4.28566674e-01 -9.03187873e-01 2.41303312e-02 1.18236047e+02] [ 9.01006109e-01 -4.29213473e-01 -6.29586132e-02 1.21738073e+02] [ 6.72205192e-02 -5.24038765e-03 9.97724381e-01 4.55117112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.26071405700003 meters Centerline goodness : 0.991218 Centerline is valid? [True, True] Translation: X:118.23, Y:121.75, Z:45.51 [[-4.29238583e-01 -9.02884178e-01 2.35456988e-02 1.18234474e+02] [ 9.00633763e-01 -4.29838137e-01 -6.40156333e-02 1.21745285e+02] [ 6.79195418e-02 -6.27192841e-03 9.97671087e-01 4.55108418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.290714057 meters Centerline goodness : 0.991900 Centerline is valid? [True, True] Translation: X:118.24, Y:121.74, Z:45.51 [[-4.29301912e-01 -9.02839077e-01 2.41136736e-02 1.18239536e+02] [ 9.00637830e-01 -4.29944296e-01 -6.32408201e-02 1.21735736e+02] [ 6.74638201e-02 -5.43171831e-03 9.97706936e-01 4.55093103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.32071405700003 meters Centerline goodness : 0.991839 Centerline is valid? [True, True] Translation: X:118.24, Y:121.74, Z:45.51 [[-4.29525485e-01 -9.02747006e-01 2.35733222e-02 1.18236631e+02] [ 9.00522054e-01 -4.30128558e-01 -6.36353221e-02 1.21744771e+02] [ 6.75861555e-02 -6.10469605e-03 9.97694765e-01 4.55103720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.350714057 meters Centerline goodness : 0.992811 Centerline is valid? [True, True] Translation: X:118.23, Y:121.75, Z:45.51 [[-4.42739638e-01 -8.96500519e-01 1.63839010e-02 1.18233300e+02] [ 8.93404647e-01 -4.42616701e-01 -7.69323867e-02 1.21746705e+02] [ 7.62217128e-02 -1.94235637e-02 9.96901688e-01 4.55134161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.38071405700003 meters Centerline goodness : 0.991775 Centerline is valid? [True, True] Translation: X:118.23, Y:121.75, Z:45.52 [[-4.42523211e-01 -8.96308864e-01 2.83483479e-02 1.18225255e+02] [ 8.93498132e-01 -4.43387270e-01 -7.11956301e-02 1.21752660e+02] [ 7.63825709e-02 -6.17652290e-03 9.97059453e-01 4.55198879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.410714057 meters Centerline goodness : 0.991702 Centerline is valid? [True, True] Translation: X:118.22, Y:121.76, Z:45.52 [[-4.42418878e-01 -8.96379652e-01 2.77318697e-02 1.18223511e+02] [ 8.93684293e-01 -4.43245692e-01 -6.97254607e-02 1.21760096e+02] [ 7.47925160e-02 -6.06432365e-03 9.97180678e-01 4.55200887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.440714057 meters Centerline goodness : 0.991593 Centerline is valid? [True, True] Translation: X:118.23, Y:121.74, Z:45.52 [[-4.28706914e-01 -9.02808663e-01 3.38658978e-02 1.18234935e+02] [ 9.01053755e-01 -4.29997097e-01 -5.66094213e-02 1.21742879e+02] [ 6.56697137e-02 6.24614406e-03 9.97821865e-01 4.55162350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.470714057 meters Centerline goodness : 0.992300 Centerline is valid? [True, True] Translation: X:118.23, Y:121.76, Z:45.51 [[-4.42937297e-01 -8.96408279e-01 1.60856621e-02 1.18232944e+02] [ 8.93563870e-01 -4.42853437e-01 -7.36508299e-02 1.21758171e+02] [ 7.31448044e-02 -1.82491330e-02 9.97154355e-01 4.55140553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.500714057 meters Centerline goodness : 0.992263 Centerline is valid? [True, True] Translation: X:118.23, Y:121.76, Z:45.52 [[-4.42946250e-01 -8.96120039e-01 2.77037204e-02 1.18226043e+02] [ 8.93415553e-01 -4.43768648e-01 -6.98429455e-02 1.21763944e+02] [ 7.48817055e-02 -6.18573614e-03 9.97173238e-01 4.55198996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.530714057 meters Centerline goodness : 0.992085 Centerline is valid? [True, True] Translation: X:118.24, Y:121.75, Z:45.52 [[-4.30117785e-01 -9.02082293e-01 3.53019606e-02 1.18235827e+02] [ 9.00356432e-01 -4.31497580e-01 -5.62861756e-02 1.21749726e+02] [ 6.60074729e-02 7.57466218e-03 9.97790378e-01 4.55168368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.560714057 meters Centerline goodness : 0.992091 Centerline is valid? [True, True] Translation: X:118.24, Y:121.76, Z:45.51 [[-4.30697319e-01 -9.02261727e-01 2.05814364e-02 1.18238081e+02] [ 8.99960018e-01 -4.31083721e-01 -6.51060042e-02 1.21763881e+02] [ 6.76149780e-02 -9.51851156e-03 9.97666083e-01 4.55118684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.590714057 meters Centerline goodness : 0.992485 Centerline is valid? [True, True] Translation: X:118.23, Y:121.77, Z:45.52 [[-4.40750675e-01 -8.97431665e-01 1.88480411e-02 1.18233128e+02] [ 8.94398245e-01 -4.40847278e-01 -7.55344739e-02 1.21767217e+02] [ 7.60961363e-02 -1.64342155e-02 9.96965042e-01 4.55155924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.620714057 meters Centerline goodness : 0.992953 Centerline is valid? [True, True] Translation: X:118.24, Y:121.75, Z:45.52 [[-4.25264344e-01 -9.04362075e-01 3.57697655e-02 1.18238995e+02] [ 9.02570920e-01 -4.26693608e-01 -5.74308235e-02 1.21748801e+02] [ 6.72009890e-02 7.86146863e-03 9.97708487e-01 4.55164021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.650714057 meters Centerline goodness : 0.992835 Centerline is valid? [True, True] Translation: X:118.25, Y:121.74, Z:45.51 [[-4.17201230e-01 -9.08438944e-01 2.61116636e-02 1.18247692e+02] [ 9.06673207e-01 -4.18017562e-01 -5.66128447e-02 1.21737824e+02] [ 6.23444468e-02 5.57972939e-05 9.98054691e-01 4.55103202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.680714057 meters Centerline goodness : 0.990544 Centerline is valid? [True, True] Translation: X:118.25, Y:121.74, Z:45.50 [[-4.14178179e-01 -9.10141474e-01 9.94649984e-03 1.18254349e+02] [ 9.08221632e-01 -4.13974513e-01 -6.13071786e-02 1.21740331e+02] [ 5.99158033e-02 -1.63584693e-02 9.98069385e-01 4.55031454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.710714057 meters Centerline goodness : 0.991137 Centerline is valid? [True, True] Translation: X:118.24, Y:121.74, Z:45.51 [[-4.06610486e-01 -9.13043586e-01 3.19268403e-02 1.18241826e+02] [ 9.11664684e-01 -4.07774974e-01 -5.08632869e-02 1.21738279e+02] [ 5.94593643e-02 8.42502702e-03 9.98195173e-01 4.55147333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.740714057 meters Centerline goodness : 0.990674 Centerline is valid? [True, True] Translation: X:118.25, Y:121.74, Z:45.51 [[-4.03071897e-01 -9.14982467e-01 1.84426412e-02 1.18246337e+02] [ 9.13384910e-01 -4.03462205e-01 -5.42794153e-02 1.21740406e+02] [ 5.71056220e-02 -5.03327666e-03 9.98355455e-01 4.55091545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.770714057 meters Centerline goodness : 0.991948 Centerline is valid? [True, True] Translation: X:118.24, Y:121.74, Z:45.51 [[-3.99001809e-01 -9.16681464e-01 2.21956976e-02 1.18243542e+02] [ 9.15265576e-01 -3.99618684e-01 -5.09296900e-02 1.21741255e+02] [ 5.55561183e-02 -6.08051805e-06 9.98455566e-01 4.55115441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.800714057 meters Centerline goodness : 0.990708 Centerline is valid? [True, True] Translation: X:118.25, Y:121.74, Z:45.51 [[-3.94471345e-01 -9.18794188e-01 1.44774788e-02 1.18245043e+02] [ 9.17275109e-01 -3.94660291e-01 -5.33819201e-02 1.21744957e+02] [ 5.47606840e-02 -7.77780685e-03 9.98469215e-01 4.55090173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.830714057 meters Centerline goodness : 0.988786 Centerline is valid? [True, True] Translation: X:118.24, Y:121.76, Z:45.51 [[-3.91712457e-01 -9.20033582e-01 9.97795267e-03 1.18243066e+02] [ 9.18805402e-01 -3.91715882e-01 -4.85314521e-02 1.21756163e+02] [ 4.85590883e-02 -9.84257752e-03 9.98771815e-01 4.55064599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.860714057 meters Centerline goodness : 0.990813 Centerline is valid? [True, True] Translation: X:118.23, Y:121.77, Z:45.51 [[-3.90047589e-01 -9.20269476e-01 3.10961500e-02 1.18229307e+02] [ 9.19392354e-01 -3.91094526e-01 -4.19853626e-02 1.21766369e+02] [ 5.07993817e-02 1.22132731e-02 9.98634197e-01 4.55146593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.890714057 meters Centerline goodness : 0.991289 Centerline is valid? [True, True] Translation: X:118.25, Y:121.75, Z:45.51 [[-3.92535710e-01 -9.19655038e-01 1.22608173e-02 1.18245610e+02] [ 9.17998533e-01 -3.92578229e-01 -5.62230166e-02 1.21750146e+02] [ 5.65191104e-02 -1.08141294e-02 9.98342950e-01 4.55064211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.920714057 meters Centerline goodness : 0.990250 Centerline is valid? [True, True] Translation: X:118.24, Y:121.76, Z:45.51 [[-3.93009351e-01 -9.19326799e-01 1.95419380e-02 1.18241186e+02] [ 9.17808687e-01 -3.93484583e-01 -5.28875816e-02 1.21755209e+02] [ 5.63104224e-02 -2.84955363e-03 9.98409243e-01 4.55091153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.950714057 meters Centerline goodness : 0.990472 Centerline is valid? [True, True] Translation: X:118.24, Y:121.77, Z:45.51 [[-3.98272979e-01 -9.17118091e-01 1.65239591e-02 1.18238823e+02] [ 9.15213711e-01 -3.98521644e-01 -5.97022773e-02 1.21768200e+02] [ 6.13391940e-02 -8.65484994e-03 9.98079454e-01 4.55099611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.980714057 meters Centerline goodness : 0.988078 Centerline is valid? [True, True] Translation: X:118.00, Y:122.35, Z:45.55 [[-4.22984277e-01 -9.06074332e-01 1.06585948e-02 1.18000625e+02] [ 9.03999254e-01 -4.22764685e-01 -6.36817957e-02 1.22354871e+02] [ 6.22065180e-02 -1.73010366e-02 9.97913335e-01 4.55482963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.01071405700003 meters Centerline goodness : 0.992285 Centerline is valid? [True, True] Translation: X:118.22, Y:121.79, Z:45.52 [[-4.18028289e-01 -9.07943442e-01 2.98505624e-02 1.18220946e+02] [ 9.05041414e-01 -4.19079426e-01 -7.26117972e-02 1.21794814e+02] [ 7.84371616e-02 -3.33779013e-03 9.96913472e-01 4.55220850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.040714057 meters Centerline goodness : 0.991144 Centerline is valid? [True, True] Translation: X:118.22, Y:121.79, Z:45.52 [[-4.04577759e-01 -9.13489334e-01 4.30589594e-02 1.18223652e+02] [ 9.12312454e-01 -4.06418190e-01 -5.01022998e-02 1.21789672e+02] [ 6.32678608e-02 1.90129488e-02 9.97815457e-01 4.55204548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.07071405700003 meters Centerline goodness : 0.991775 Centerline is valid? [True, True] Translation: X:118.23, Y:121.80, Z:45.51 [[-4.06308891e-01 -9.13566728e-01 1.75760873e-02 1.18234158e+02] [ 9.11602551e-01 -4.06598938e-01 -6.04821673e-02 1.21796372e+02] [ 6.24009141e-02 -8.55203627e-03 9.98014523e-01 4.55102199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.100714057 meters Centerline goodness : 0.990461 Centerline is valid? [True, True] Translation: X:118.24, Y:121.80, Z:45.51 [[-4.07003250e-01 -9.13417265e-01 4.15393811e-03 1.18239242e+02] [ 9.11615274e-01 -4.06478172e-01 -6.10989966e-02 1.21799399e+02] [ 5.74973635e-02 -2.10806967e-02 9.98123067e-01 4.55056105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.13071405700003 meters Centerline goodness : 0.991603 Centerline is valid? [True, True] Translation: X:118.23, Y:121.80, Z:45.52 [[-4.07822564e-01 -9.12331853e-01 3.64876310e-02 1.18225361e+02] [ 9.10865942e-01 -4.09286503e-01 -5.29886226e-02 1.21798956e+02] [ 6.32771031e-02 1.16253845e-02 9.97928283e-01 4.55200883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.160714057 meters Centerline goodness : 0.991194 Centerline is valid? [True, True] Translation: X:118.23, Y:121.80, Z:45.51 [[-4.09293364e-01 -9.12226959e-01 1.79141962e-02 1.18232381e+02] [ 9.10095040e-01 -4.09574999e-01 -6.30502880e-02 1.21804770e+02] [ 6.48533794e-02 -9.50244331e-03 9.97849559e-01 4.55131453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.190714057 meters Centerline goodness : 0.989843 Centerline is valid? [True, True] Translation: X:118.24, Y:121.81, Z:45.51 [[-4.09964900e-01 -9.12075587e-01 6.84868958e-03 1.18237061e+02] [ 9.10087202e-01 -4.09546808e-01 -6.33458555e-02 1.21810788e+02] [ 6.05810673e-02 -1.97366726e-02 9.97968135e-01 4.55086282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.220714057 meters Centerline goodness : 0.991629 Centerline is valid? [True, True] Translation: X:118.22, Y:121.81, Z:45.52 [[-4.09928290e-01 -9.11415194e-01 3.57930361e-02 1.18223821e+02] [ 9.09595311e-01 -4.11396169e-01 -5.82199439e-02 1.21812168e+02] [ 6.77876594e-02 8.69117575e-03 9.97661915e-01 4.55216899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.250714057 meters Centerline goodness : 0.991124 Centerline is valid? [True, True] Translation: X:118.23, Y:121.82, Z:45.52 [[-4.10107226e-01 -9.11652312e-01 2.64976540e-02 1.18227059e+02] [ 9.09488634e-01 -4.10959037e-01 -6.27940617e-02 1.21821269e+02] [ 6.81358019e-02 -1.65298329e-03 9.97674687e-01 4.55169636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.280714057 meters Centerline goodness : 0.991663 Centerline is valid? [True, True] Translation: X:118.23, Y:121.82, Z:45.52 [[-4.10259773e-01 -9.11669190e-01 2.33710664e-02 1.18230255e+02] [ 9.09429929e-01 -4.10894189e-01 -6.40559836e-02 1.21821412e+02] [ 6.80009021e-02 -5.02524598e-03 9.97672604e-01 4.55150837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.310714057 meters Centerline goodness : 0.991517 Centerline is valid? [True, True] Translation: X:118.23, Y:121.82, Z:45.52 [[-4.08707584e-01 -9.12236579e-01 2.79738088e-02 1.18231317e+02] [ 9.10188736e-01 -4.09663497e-01 -6.10924264e-02 1.21819333e+02] [ 6.71905945e-02 4.92507681e-04 9.97740037e-01 4.55150360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.340714057 meters Centerline goodness : 0.991852 Centerline is valid? [True, True] Translation: X:118.23, Y:121.82, Z:45.51 [[-4.07344061e-01 -9.12935780e-01 2.48812577e-02 1.18233774e+02] [ 9.10911389e-01 -4.08097836e-01 -6.07996563e-02 1.21820105e+02] [ 6.56601691e-02 -2.10175790e-03 9.97839829e-01 4.55129469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.370714057 meters Centerline goodness : 0.991063 Centerline is valid? [True, True] Translation: X:118.24, Y:121.82, Z:45.51 [[-4.04828520e-01 -9.14158771e-01 2.06787255e-02 1.18237155e+02] [ 9.12083996e-01 -4.05309140e-01 -6.18650669e-02 1.21819661e+02] [ 6.49357700e-02 -6.18400896e-03 9.97870284e-01 4.55112809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.400714057 meters Centerline goodness : 0.991937 Centerline is valid? [True, True] Translation: X:118.24, Y:121.82, Z:45.51 [[-4.02518395e-01 -9.15116622e-01 2.32488687e-02 1.18236139e+02] [ 9.13223639e-01 -4.03181681e-01 -5.88822268e-02 1.21820820e+02] [ 6.32576224e-02 -2.46976295e-03 9.97994175e-01 4.55123970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.430714057 meters Centerline goodness : 0.991942 Centerline is valid? [True, True] Translation: X:118.24, Y:121.80, Z:45.51 [[-3.95392955e-01 -9.18109485e-01 2.71916332e-02 1.18240750e+02] [ 9.16532979e-01 -3.96310412e-01 -5.39013548e-02 1.21803660e+02] [ 6.02636725e-02 3.60981260e-03 9.98175966e-01 4.55128217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.460714057 meters Centerline goodness : 0.990051 Centerline is valid? [True, True] Translation: X:118.25, Y:121.81, Z:45.50 [[-3.94128676e-01 -9.19054455e-01 1.22282220e-03 1.18249309e+02] [ 9.17441308e-01 -3.93515012e-01 -5.87144101e-02 1.21811866e+02] [ 5.44429391e-02 -2.20191651e-02 9.98274072e-01 4.55030088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.490714057 meters Centerline goodness : 0.990149 Centerline is valid? [True, True] Translation: X:118.24, Y:121.81, Z:45.51 [[-3.89326238e-01 -9.20911661e-01 1.86223530e-02 1.18243181e+02] [ 9.19464929e-01 -3.89759810e-01 -5.16869016e-02 1.21806112e+02] [ 5.48573152e-02 -3.00046650e-03 9.98489696e-01 4.55106798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.520714057 meters Centerline goodness : 0.991305 Centerline is valid? [True, True] Translation: X:118.24, Y:121.81, Z:45.51 [[-3.86328841e-01 -9.22100220e-01 2.19365029e-02 1.18241134e+02] [ 9.20864172e-01 -3.86947184e-01 -4.77603689e-02 1.21806541e+02] [ 5.25281148e-02 1.74933159e-03 9.98617913e-01 4.55114420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.550714057 meters Centerline goodness : 0.990008 Centerline is valid? [True, True] Translation: X:118.24, Y:121.81, Z:45.51 [[-3.84129580e-01 -9.23060617e-01 2.00888938e-02 1.18241805e+02] [ 9.21928718e-01 -3.84653313e-01 -4.57085112e-02 1.21809730e+02] [ 4.99189861e-02 9.62536906e-04 9.98752806e-01 4.55097738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.580714057 meters Centerline goodness : 0.991454 Centerline is valid? [True, True] Translation: X:118.23, Y:121.84, Z:45.51 [[-3.85801418e-01 -9.22373202e-01 1.96199497e-02 1.18232477e+02] [ 9.21247784e-01 -3.86299659e-01 -4.55532075e-02 1.21838991e+02] [ 4.95962377e-02 5.00343148e-04 9.98769224e-01 4.55099320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.610714057 meters Centerline goodness : 0.990389 Centerline is valid? [True, True] Translation: X:118.24, Y:121.83, Z:45.51 [[-3.85754896e-01 -9.22425772e-01 1.79959930e-02 1.18240703e+02] [ 9.21372819e-01 -3.86174211e-01 -4.40636658e-02 1.21825535e+02] [ 4.75950493e-02 -4.16755939e-04 9.98866627e-01 4.55066466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.640714057 meters Centerline goodness : 0.989951 Centerline is valid? [True, True] Translation: X:118.25, Y:121.82, Z:45.51 [[-3.88140629e-01 -9.21479658e-01 1.49027562e-02 1.18245587e+02] [ 9.20291743e-01 -3.88400263e-01 -4.69930193e-02 1.21819957e+02] [ 4.90913458e-02 -4.52501658e-03 9.98784043e-01 4.55053056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.670714057 meters Centerline goodness : 0.991031 Centerline is valid? [True, True] Translation: X:118.25, Y:121.82, Z:45.51 [[-3.92744577e-01 -9.19483274e-01 1.73840704e-02 1.18245439e+02] [ 9.18279199e-01 -3.93120930e-01 -4.71088927e-02 1.21822926e+02] [ 5.01498808e-02 -2.53833192e-03 9.98738477e-01 4.55068162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.700714057 meters Centerline goodness : 0.993199 Centerline is valid? [True, True] Translation: X:118.24, Y:121.84, Z:45.51 [[-3.98678346e-01 -9.16627898e-01 2.91354160e-02 1.18237144e+02] [ 9.15147020e-01 -3.99699867e-01 -5.24018042e-02 1.21837149e+02] [ 5.96783776e-02 5.77172447e-03 9.98200971e-01 4.55134782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.730714057 meters Centerline goodness : 0.992771 Centerline is valid? [True, True] Translation: X:118.25, Y:121.83, Z:45.51 [[-3.97099825e-01 -9.17532657e-01 2.11081217e-02 1.18245024e+02] [ 9.16157728e-01 -3.97659983e-01 -5.02151004e-02 1.21831357e+02] [ 5.44678498e-02 -6.02038804e-04 9.98515343e-01 4.55061896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.76071405700003 meters Centerline goodness : 0.991455 Centerline is valid? [True, True] Translation: X:118.25, Y:121.84, Z:45.50 [[-4.03953399e-01 -9.14773935e-01 -3.20924483e-03 1.18251270e+02] [ 9.12964176e-01 -4.02928361e-01 -6.43828290e-02 1.21844814e+02] [ 5.76026381e-02 -2.89375882e-02 9.97920113e-01 4.55007924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.790714057 meters Centerline goodness : 0.993576 Centerline is valid? [True, True] Translation: X:118.23, Y:121.84, Z:45.52 [[-4.08055096e-01 -9.12239157e-01 3.62044101e-02 1.18234669e+02] [ 9.10632672e-01 -4.09524056e-01 -5.51197248e-02 1.21843363e+02] [ 6.51089482e-02 1.04770341e-02 9.97823159e-01 4.55170764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.82071405700003 meters Centerline goodness : 0.993521 Centerline is valid? [True, True] Translation: X:118.24, Y:121.87, Z:45.51 [[-4.22831250e-01 -9.06192443e-01 5.38437238e-03 1.18235087e+02] [ 9.02984969e-01 -4.21820468e-01 -8.17657583e-02 1.21867822e+02] [ 7.63667507e-02 -2.97111104e-02 9.96637030e-01 4.55134572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.850714057 meters Centerline goodness : 0.993622 Centerline is valid? [True, True] Translation: X:118.22, Y:121.87, Z:45.52 [[-4.13002486e-01 -9.09468829e-01 4.79102780e-02 1.18220184e+02] [ 9.08528656e-01 -4.15089126e-01 -4.77147640e-02 1.21867001e+02] [ 6.32821259e-02 2.38215443e-02 9.97711334e-01 4.55234449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.88071405700003 meters Centerline goodness : 0.992343 Centerline is valid? [True, True] Translation: X:118.24, Y:121.87, Z:45.51 [[-4.13319003e-01 -9.10559422e-01 6.99577886e-03 1.18237317e+02] [ 9.09020652e-01 -4.13046502e-01 -5.54440385e-02 1.21872828e+02] [ 5.33746737e-02 -1.65567672e-02 9.98437288e-01 4.55052903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.910714057 meters Centerline goodness : 0.993797 Centerline is valid? [True, True] Translation: X:118.23, Y:121.86, Z:45.51 [[-4.14953315e-01 -9.09186941e-01 3.45377075e-02 1.18230675e+02] [ 9.07949973e-01 -4.16238887e-01 -4.87035526e-02 1.21858093e+02] [ 5.86565709e-02 1.11488100e-02 9.98215964e-01 4.55149375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.940714057 meters Centerline goodness : 0.993160 Centerline is valid? [True, True] Translation: X:118.24, Y:121.86, Z:45.51 [[-4.16120902e-01 -9.09181747e-01 1.52297830e-02 1.18240706e+02] [ 9.07515091e-01 -4.16293208e-01 -5.58240501e-02 1.21855060e+02] [ 5.70942626e-02 -9.40829622e-03 9.98324461e-01 4.55064199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.970714057 meters Centerline goodness : 0.992870 Centerline is valid? [True, True] Translation: X:118.24, Y:121.87, Z:45.51 [[-4.22462964e-01 -9.06347819e-01 7.65993364e-03 1.18235863e+02] [ 9.03792505e-01 -4.21879949e-01 -7.19473208e-02 1.21874358e+02] [ 6.84408697e-02 -2.34720877e-02 9.97379019e-01 4.55098078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.000714057 meters Centerline goodness : 0.992870 Centerline is valid? [True, True] Translation: X:118.23, Y:121.87, Z:45.52 [[-4.22069421e-01 -9.06239466e-01 2.42370645e-02 1.18228022e+02] [ 9.03882260e-01 -4.22725371e-01 -6.55753024e-02 1.21873689e+02] [ 6.96725491e-02 -5.76987723e-03 9.97553229e-01 4.55167184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.030714057 meters Centerline goodness : 0.993256 Centerline is valid? [True, True] Translation: X:118.22, Y:121.88, Z:45.52 [[-4.22440308e-01 -9.05987250e-01 2.70423524e-02 1.18223866e+02] [ 9.03837721e-01 -4.23300626e-01 -6.24015604e-02 1.21877443e+02] [ 6.79820628e-02 -1.91903620e-03 9.97684698e-01 4.55178253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.060714057 meters Centerline goodness : 0.991559 Centerline is valid? [True, True] Translation: X:118.23, Y:121.88, Z:45.51 [[-4.23045648e-01 -9.06056977e-01 9.65063358e-03 1.18232625e+02] [ 9.03972886e-01 -4.22755481e-01 -6.41157150e-02 1.21876572e+02] [ 6.21723491e-02 -1.83999631e-02 9.97895806e-01 4.55100204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.090714057 meters Centerline goodness : 0.991579 Centerline is valid? [True, True] Translation: X:118.23, Y:121.87, Z:45.51 [[-4.24117522e-01 -9.05440419e-01 1.73774458e-02 1.18231225e+02] [ 9.03191373e-01 -4.24308925e-01 -6.48635517e-02 1.21867871e+02] [ 6.61034868e-02 -1.18146097e-02 9.97742825e-01 4.55130947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.120714057 meters Centerline goodness : 0.992770 Centerline is valid? [True, True] Translation: X:118.21, Y:121.89, Z:45.52 [[-4.23898345e-01 -9.04795285e-01 4.06901178e-02 1.18212392e+02] [ 9.03012110e-01 -4.25673928e-01 -5.80589046e-02 1.21885773e+02] [ 6.98521453e-02 1.21325955e-02 9.97483573e-01 4.55237832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.150714057 meters Centerline goodness : 0.992643 Centerline is valid? [True, True] Translation: X:118.23, Y:121.88, Z:45.51 [[-4.24825842e-01 -9.05258889e-01 5.41741933e-03 1.18231180e+02] [ 9.02810035e-01 -4.24102776e-01 -7.12100868e-02 1.21877664e+02] [ 6.67611067e-02 -2.53609846e-02 9.97446628e-01 4.55096492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.180714057 meters Centerline goodness : 0.993055 Centerline is valid? [True, True] Translation: X:118.22, Y:121.88, Z:45.52 [[-4.23905786e-01 -9.04965741e-01 3.66181854e-02 1.18215391e+02] [ 9.02757408e-01 -4.25440028e-01 -6.34810657e-02 1.21877026e+02] [ 7.30270315e-02 6.14734709e-03 9.97311016e-01 4.55234415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.210714057 meters Centerline goodness : 0.993985 Centerline is valid? [True, True] Translation: X:118.21, Y:121.89, Z:45.52 [[-4.23055371e-01 -9.05770517e-01 2.45748620e-02 1.18214602e+02] [ 9.03288970e-01 -4.23722129e-01 -6.72948357e-02 1.21889789e+02] [ 7.13665909e-02 -6.27123996e-03 9.97430439e-01 4.55191845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.240714057 meters Centerline goodness : 0.993402 Centerline is valid? [True, True] Translation: X:118.22, Y:121.88, Z:45.52 [[-4.21970129e-01 -9.06303205e-01 2.35735202e-02 1.18218063e+02] [ 9.03718087e-01 -4.22557113e-01 -6.88411625e-02 1.21878868e+02] [ 7.23521249e-02 -7.74509765e-03 9.97349078e-01 4.55182830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.270714057 meters Centerline goodness : 0.992986 Centerline is valid? [True, True] Translation: X:118.21, Y:121.88, Z:45.52 [[-4.19772868e-01 -9.07317396e-01 2.37882792e-02 1.18214001e+02] [ 9.04606149e-01 -4.20368359e-01 -7.05560608e-02 1.21883528e+02] [ 7.40165812e-02 -8.09849634e-03 9.97224127e-01 4.55191273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.300714057 meters Centerline goodness : 0.993144 Centerline is valid? [True, True] Translation: X:118.22, Y:121.88, Z:45.52 [[-4.18405872e-01 -9.07934830e-01 2.43078355e-02 1.18215037e+02] [ 9.05122952e-01 -4.19033810e-01 -7.18547693e-02 1.21877412e+02] [ 7.54252527e-02 -8.06287751e-03 9.97118860e-01 4.55192017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.330714057 meters Centerline goodness : 0.993241 Centerline is valid? [True, True] Translation: X:118.20, Y:121.89, Z:45.52 [[-4.25568122e-01 -9.04542420e-01 2.63587447e-02 1.18200793e+02] [ 9.01502819e-01 -4.26309525e-01 -7.45174955e-02 1.21891407e+02] [ 7.86412196e-02 -7.94978799e-03 9.96871285e-01 4.55235205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.360714057 meters Centerline goodness : 0.993257 Centerline is valid? [True, True] Translation: X:118.22, Y:121.84, Z:45.52 [[-4.05682319e-01 -9.13073073e-01 4.14658852e-02 1.18218684e+02] [ 9.11615825e-01 -4.07485553e-01 -5.39639852e-02 1.21840105e+02] [ 6.61698109e-02 1.59087225e-02 9.97681547e-01 4.55205531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.390714057 meters Centerline goodness : 0.992546 Centerline is valid? [True, True] Translation: X:118.21, Y:121.89, Z:45.52 [[-4.20455005e-01 -9.07283335e-01 7.38506656e-03 1.18205092e+02] [ 9.04134406e-01 -4.19648727e-01 -8.02242011e-02 1.21894791e+02] [ 7.58852145e-02 -2.70535741e-02 9.96749486e-01 4.55157974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.420714057 meters Centerline goodness : 0.992291 Centerline is valid? [True, True] Translation: X:118.20, Y:121.87, Z:45.52 [[-3.99591224e-01 -9.15464059e-01 4.74595784e-02 1.18199414e+02] [ 9.14712309e-01 -4.01594827e-01 -4.49776271e-02 1.21870916e+02] [ 6.02349223e-02 2.54391955e-02 9.97860011e-01 4.55235686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.450714057 meters Centerline goodness : 0.992345 Centerline is valid? [True, True] Translation: X:118.21, Y:121.87, Z:45.51 [[-3.98091478e-01 -9.17245545e-01 1.35567314e-02 1.18212713e+02] [ 9.15299587e-01 -3.98146656e-01 -6.08761481e-02 1.21872205e+02] [ 6.12359429e-02 -1.18258051e-02 9.98053260e-01 4.55100825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.480714057 meters Centerline goodness : 0.992184 Centerline is valid? [True, True] Translation: X:118.22, Y:121.86, Z:45.51 [[-3.97898790e-01 -9.17239117e-01 1.86803567e-02 1.18215267e+02] [ 9.15262058e-01 -3.98275279e-01 -6.05984045e-02 1.21856141e+02] [ 6.30231513e-02 -7.01461013e-03 9.97987414e-01 4.55117608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.51071405700003 meters Centerline goodness : 0.991969 Centerline is valid? [True, True] Translation: X:118.21, Y:121.87, Z:45.51 [[-3.96835203e-01 -9.17666116e-01 2.02662761e-02 1.18208816e+02] [ 9.15801686e-01 -3.97324361e-01 -5.86568413e-02 1.21870621e+02] [ 6.18796809e-02 -4.71720967e-03 9.98072469e-01 4.55123174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.540714057 meters Centerline goodness : 0.992806 Centerline is valid? [True, True] Translation: X:118.20, Y:121.90, Z:45.52 [[-4.15179374e-01 -9.09708826e-01 7.47925915e-03 1.18195135e+02] [ 9.06593927e-01 -4.14412897e-01 -7.96831367e-02 1.21901745e+02] [ 7.55879542e-02 -2.63021439e-02 9.96792184e-01 4.55152269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.57071405700003 meters Centerline goodness : 0.992249 Centerline is valid? [True, True] Translation: X:118.20, Y:121.87, Z:45.52 [[-4.01565852e-01 -9.15293663e-01 3.13429090e-02 1.18203292e+02] [ 9.12975409e-01 -4.02779705e-01 -6.51491483e-02 1.21866159e+02] [ 7.22548903e-02 2.45363197e-03 9.97383181e-01 4.55191765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.600714057 meters Centerline goodness : 0.992721 Centerline is valid? [True, True] Translation: X:118.20, Y:121.87, Z:45.52 [[-4.01223398e-01 -9.15501026e-01 2.96252460e-02 1.18202779e+02] [ 9.13401006e-01 -4.02309734e-01 -6.20119405e-02 1.21867237e+02] [ 6.86905200e-02 2.17908800e-03 9.97635637e-01 4.55177328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.63071405700003 meters Centerline goodness : 0.991834 Centerline is valid? [True, True] Translation: X:118.20, Y:121.88, Z:45.52 [[-4.07802282e-01 -9.12979473e-01 1.28755879e-02 1.18203654e+02] [ 9.10080707e-01 -4.07566830e-01 -7.51158222e-02 1.21881981e+02] [ 7.38268663e-02 -1.89145796e-02 9.97091687e-01 4.55153919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.660714057 meters Centerline goodness : 0.992165 Centerline is valid? [True, True] Translation: X:118.19, Y:121.89, Z:45.52 [[-4.08308485e-01 -9.12394356e-01 2.86482300e-02 1.18194026e+02] [ 9.10071151e-01 -4.09311975e-01 -6.50707923e-02 1.21887180e+02] [ 7.10962872e-02 -4.97028949e-04 9.97469333e-01 4.55215788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.690714057 meters Centerline goodness : 0.991903 Centerline is valid? [True, True] Translation: X:118.20, Y:121.89, Z:45.52 [[-4.15201598e-01 -9.09614641e-01 1.44512472e-02 1.18197947e+02] [ 9.06390352e-01 -4.14985215e-01 -7.90177239e-02 1.21894095e+02] [ 7.78727325e-02 -1.97098141e-02 9.96768459e-01 4.55191501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.720714057 meters Centerline goodness : 0.992555 Centerline is valid? [True, True] Translation: X:118.19, Y:121.89, Z:45.52 [[-4.14083102e-01 -9.09717528e-01 3.08091434e-02 1.18192688e+02] [ 9.07146661e-01 -4.15227522e-01 -6.83450099e-02 1.21888165e+02] [ 7.49674578e-02 -3.52102139e-04 9.97185919e-01 4.55239649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.750714057 meters Centerline goodness : 0.991560 Centerline is valid? [True, True] Translation: X:118.20, Y:121.89, Z:45.52 [[-4.17902504e-01 -9.08330883e-01 1.71027305e-02 1.18197110e+02] [ 9.05700344e-01 -4.18019220e-01 -7.04756572e-02 1.21894726e+02] [ 7.11644860e-02 -1.39620047e-02 9.97366873e-01 4.55176282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.780714057 meters Centerline goodness : 0.992888 Centerline is valid? [True, True] Translation: X:118.18, Y:121.92, Z:45.53 [[-4.19849065e-01 -9.06991717e-01 3.30573441e-02 1.18177066e+02] [ 9.04597147e-01 -4.21142530e-01 -6.59012243e-02 1.21923492e+02] [ 7.36937181e-02 2.23501177e-03 9.97278417e-01 4.55276912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.810714057 meters Centerline goodness : 0.992762 Centerline is valid? [True, True] Translation: X:118.19, Y:121.91, Z:45.52 [[-4.20557434e-01 -9.06944638e-01 2.41426752e-02 1.18186992e+02] [ 9.04395604e-01 -4.21193507e-01 -6.82980353e-02 1.21910103e+02] [ 7.21112748e-02 -6.88871719e-03 9.97372804e-01 4.55220736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.840714057 meters Centerline goodness : 0.992384 Centerline is valid? [True, True] Translation: X:118.19, Y:121.91, Z:45.52 [[-4.21675511e-01 -9.06435955e-01 2.37407342e-02 1.18185909e+02] [ 9.03874885e-01 -4.22278047e-01 -6.84941065e-02 1.21913412e+02] [ 7.21107117e-02 -7.42363397e-03 9.97369006e-01 4.55220385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.870714057 meters Centerline goodness : 0.992856 Centerline is valid? [True, True] Translation: X:118.18, Y:121.94, Z:45.52 [[-4.22455814e-01 -9.06037986e-01 2.50250708e-02 1.18176355e+02] [ 9.03626082e-01 -4.23162052e-01 -6.62855986e-02 1.21936791e+02] [ 7.06469305e-02 -5.38942975e-03 9.97486825e-01 4.55242499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.900714057 meters Centerline goodness : 0.993109 Centerline is valid? [True, True] Translation: X:118.18, Y:121.93, Z:45.52 [[-4.22550362e-01 -9.06049507e-01 2.29234223e-02 1.18180476e+02] [ 9.03579445e-01 -4.23101181e-01 -6.73021327e-02 1.21928991e+02] [ 7.06779912e-02 -7.72540737e-03 9.97469268e-01 4.55230272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.930714057 meters Centerline goodness : 0.993173 Centerline is valid? [True, True] Translation: X:118.17, Y:121.94, Z:45.52 [[-4.22999971e-01 -9.05733164e-01 2.68040957e-02 1.18172954e+02] [ 9.03533470e-01 -4.23841063e-01 -6.31349501e-02 1.21944847e+02] [ 6.85440946e-02 -2.48768446e-03 9.97644986e-01 4.55247537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.960714057 meters Centerline goodness : 0.993076 Centerline is valid? [True, True] Translation: X:118.18, Y:121.93, Z:45.52 [[-4.19588918e-01 -9.07283856e-01 2.79489609e-02 1.18177509e+02] [ 9.05511023e-01 -4.20516011e-01 -5.67104207e-02 1.21934627e+02] [ 6.32054347e-02 1.51302810e-03 9.97999391e-01 4.55218470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.990714057 meters Centerline goodness : 0.992452 Centerline is valid? [True, True] Translation: X:118.18, Y:121.94, Z:45.52 [[-4.22866756e-01 -9.06088547e-01 1.36840070e-02 1.18184151e+02] [ 9.03585027e-01 -4.22746789e-01 -6.94208287e-02 1.21937924e+02] [ 6.86862878e-02 -1.69910968e-02 9.97493607e-01 4.55184120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.020714057 meters Centerline goodness : 0.992028 Centerline is valid? [True, True] Translation: X:118.17, Y:121.96, Z:45.52 [[-4.23326750e-01 -9.05678965e-01 2.32394981e-02 1.18170283e+02] [ 9.03228226e-01 -4.23900145e-01 -6.69883510e-02 1.21963918e+02] [ 7.05211671e-02 -7.36739036e-03 9.97483076e-01 4.55248985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.050714057 meters Centerline goodness : 0.992220 Centerline is valid? [True, True] Translation: X:118.18, Y:121.93, Z:45.52 [[-4.20858700e-01 -9.06753818e-01 2.59897688e-02 1.18181555e+02] [ 9.04465260e-01 -4.21644781e-01 -6.44846749e-02 1.21932520e+02] [ 6.94301756e-02 -3.63209346e-03 9.97580202e-01 4.55229333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.080714057 meters Centerline goodness : 0.992520 Centerline is valid? [True, True] Translation: X:118.18, Y:121.93, Z:45.52 [[-4.18766128e-01 -9.07652787e-01 2.83081166e-02 1.18179834e+02] [ 9.05642692e-01 -4.19721686e-01 -6.03740151e-02 1.21934558e+02] [ 6.66801734e-02 3.54446415e-04 9.97774338e-01 4.55231405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.110714057 meters Centerline goodness : 0.991913 Centerline is valid? [True, True] Translation: X:118.18, Y:121.94, Z:45.52 [[-4.17710637e-01 -9.08369452e-01 1.95642948e-02 1.18181890e+02] [ 9.06043850e-01 -4.18055822e-01 -6.56800709e-02 1.21941829e+02] [ 6.78407373e-02 -9.70915531e-03 9.97648920e-01 4.55207476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.140714057 meters Centerline goodness : 0.991421 Centerline is valid? [True, True] Translation: X:118.18, Y:121.94, Z:45.52 [[-4.14345097e-01 -9.09817891e-01 2.34423884e-02 1.18182307e+02] [ 9.07606447e-01 -4.14976677e-01 -6.35994851e-02 1.21936461e+02] [ 6.75919939e-02 -5.07567201e-03 9.97700135e-01 4.55218955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.170714057 meters Centerline goodness : 0.990448 Centerline is valid? [True, True] Translation: X:118.19, Y:121.94, Z:45.52 [[-4.13879027e-01 -9.10298693e-01 7.77438365e-03 1.18186678e+02] [ 9.07993858e-01 -4.13412679e-01 -6.80963410e-02 1.21943235e+02] [ 6.52020389e-02 -2.11245547e-02 9.97648459e-01 4.55169266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.200714057 meters Centerline goodness : 0.991304 Centerline is valid? [True, True] Translation: X:118.17, Y:121.94, Z:45.53 [[-4.09145825e-01 -9.11619107e-01 3.93738141e-02 1.18170594e+02] [ 9.09872392e-01 -4.10854555e-01 -5.77127869e-02 1.21944431e+02] [ 6.87889902e-02 1.22122006e-02 9.97556483e-01 4.55290370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.230714057 meters Centerline goodness : 0.990788 Centerline is valid? [True, True] Translation: X:118.18, Y:121.95, Z:45.52 [[-4.07844959e-01 -9.12797522e-01 2.15214627e-02 1.18177603e+02] [ 9.10474684e-01 -4.08350593e-01 -6.54648249e-02 1.21946861e+02] [ 6.85444320e-02 -7.10475191e-03 9.97622766e-01 4.55215975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.26071405700003 meters Centerline goodness : 0.990576 Centerline is valid? [True, True] Translation: X:118.18, Y:121.94, Z:45.52 [[-4.05385528e-01 -9.13840512e-01 2.36239977e-02 1.18177548e+02] [ 9.11582737e-01 -4.06047743e-01 -6.43594952e-02 1.21943966e+02] [ 6.84067850e-02 -4.55517949e-03 9.97647113e-01 4.55218553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.290714057 meters Centerline goodness : 0.990509 Centerline is valid? [True, True] Translation: X:118.18, Y:121.95, Z:45.52 [[-4.02744643e-01 -9.15284255e-01 7.17533857e-03 1.18183610e+02] [ 9.13041444e-01 -4.02284938e-01 -6.72469368e-02 1.21945475e+02] [ 6.44365931e-02 -2.05319621e-02 9.97710561e-01 4.55157751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.32071405700003 meters Centerline goodness : 0.991172 Centerline is valid? [True, True] Translation: X:118.17, Y:121.94, Z:45.53 [[-3.97279559e-01 -9.16883708e-01 3.86421711e-02 1.18170091e+02] [ 9.15268727e-01 -3.98938216e-01 -5.59594333e-02 1.21938709e+02] [ 6.67241315e-02 1.31364318e-02 9.97684983e-01 4.55281182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.350714057 meters Centerline goodness : 0.990625 Centerline is valid? [True, True] Translation: X:118.18, Y:121.94, Z:45.52 [[-3.96015400e-01 -9.18221537e-01 6.40400498e-03 1.18182426e+02] [ 9.16160284e-01 -3.95576751e-01 -6.45706439e-02 1.21943799e+02] [ 6.18234314e-02 -1.97038743e-02 9.97892590e-01 4.55152778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.38071405700003 meters Centerline goodness : 0.991126 Centerline is valid? [True, True] Translation: X:118.18, Y:121.94, Z:45.52 [[-3.90169578e-01 -9.20421434e-01 2.43327759e-02 1.18175412e+02] [ 9.18787594e-01 -3.90926403e-01 -5.48261411e-02 1.21935584e+02] [ 5.99754800e-02 9.65160268e-04 9.98199384e-01 4.55220903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.410714057 meters Centerline goodness : 0.992377 Centerline is valid? [True, True] Translation: X:118.16, Y:121.95, Z:45.53 [[-3.89363838e-01 -9.20492869e-01 3.29951531e-02 1.18163515e+02] [ 9.18750442e-01 -3.90676424e-01 -5.71800336e-02 1.21954887e+02] [ 6.55242416e-02 8.05047413e-03 9.97818502e-01 4.55281320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.440714057 meters Centerline goodness : 0.991904 Centerline is valid? [True, True] Translation: X:118.17, Y:121.94, Z:45.52 [[-3.86831834e-01 -9.21985089e-01 1.74536079e-02 1.18174404e+02] [ 9.19831676e-01 -3.87131422e-01 -6.35527258e-02 1.21944926e+02] [ 6.53515056e-02 -8.52983602e-03 9.97825848e-01 4.55209474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.470714057 meters Centerline goodness : 0.990637 Centerline is valid? [True, True] Translation: X:118.17, Y:121.94, Z:45.52 [[-3.84218474e-01 -9.22968895e-01 2.24629142e-02 1.18172443e+02] [ 9.20829030e-01 -3.84858756e-01 -6.29097459e-02 1.21942296e+02] [ 6.67087879e-02 -3.48658313e-03 9.97766396e-01 4.55236849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.500714057 meters Centerline goodness : 0.991000 Centerline is valid? [True, True] Translation: X:118.17, Y:121.94, Z:45.52 [[-3.81570294e-01 -9.24039963e-01 2.35426591e-02 1.18173810e+02] [ 9.22066786e-01 -3.82293585e-01 -6.03693367e-02 1.21937637e+02] [ 6.47838872e-02 -1.32724157e-03 9.97898435e-01 4.55230008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.530714057 meters Centerline goodness : 0.990766 Centerline is valid? [True, True] Translation: X:118.17, Y:121.95, Z:45.52 [[-3.79846085e-01 -9.24868717e-01 1.82977479e-02 1.18173205e+02] [ 9.22727851e-01 -3.80219136e-01 -6.32986676e-02 1.21945446e+02] [ 6.55001114e-02 -7.15990952e-03 9.97826874e-01 4.55220937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.560714057 meters Centerline goodness : 0.991566 Centerline is valid? [True, True] Translation: X:118.18, Y:121.94, Z:45.52 [[-3.78501509e-01 -9.25421650e-01 1.82037755e-02 1.18176978e+02] [ 9.23046535e-01 -3.78844087e-01 -6.68000869e-02 1.21936740e+02] [ 6.87146394e-02 -8.48100175e-03 9.97600306e-01 4.55226780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.590714057 meters Centerline goodness : 0.991056 Centerline is valid? [True, True] Translation: X:118.17, Y:121.94, Z:45.53 [[-3.76718827e-01 -9.25987092e-01 2.51163440e-02 1.18173576e+02] [ 9.23899881e-01 -3.77555114e-01 -6.21381143e-02 1.21938202e+02] [ 6.70218959e-02 -2.03610291e-04 9.97751484e-01 4.55251906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.620714057 meters Centerline goodness : 0.991059 Centerline is valid? [True, True] Translation: X:118.18, Y:121.92, Z:45.52 [[-3.71117024e-01 -9.28017448e-01 3.24926109e-02 1.18176671e+02] [ 9.26575614e-01 -3.72388086e-01 -5.27706841e-02 1.21921733e+02] [ 6.10719769e-02 1.05227616e-02 9.98077895e-01 4.55243101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.650714057 meters Centerline goodness : 0.991437 Centerline is valid? [True, True] Translation: X:118.18, Y:121.94, Z:45.52 [[-3.72707046e-01 -9.27854638e-01 1.32374069e-02 1.18178140e+02] [ 9.25726102e-01 -3.72763188e-01 -6.38654080e-02 1.21943926e+02] [ 6.41922330e-02 -1.15488745e-02 9.97870723e-01 4.55186835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.680714057 meters Centerline goodness : 0.990955 Centerline is valid? [True, True] Translation: X:118.17, Y:121.95, Z:45.52 [[-3.71341846e-01 -9.28280019e-01 2.00359405e-02 1.18173155e+02] [ 9.26257104e-01 -3.71857798e-01 -6.13967102e-02 1.21950679e+02] [ 6.44438600e-02 -4.24073554e-03 9.97912323e-01 4.55215072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.710714057 meters Centerline goodness : 0.991581 Centerline is valid? [True, True] Translation: X:118.17, Y:121.96, Z:45.52 [[-3.69628901e-01 -9.28885392e-01 2.33752990e-02 1.18168963e+02] [ 9.26834654e-01 -3.70365532e-01 -6.17000637e-02 1.21961553e+02] [ 6.59696929e-02 -1.14108957e-03 9.97820975e-01 4.55238381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.740714057 meters Centerline goodness : 0.991758 Centerline is valid? [True, True] Translation: X:118.18, Y:121.92, Z:45.52 [[-3.62286848e-01 -9.31572204e-01 3.03556967e-02 1.18182334e+02] [ 9.30301370e-01 -3.63412358e-01 -4.97073372e-02 1.21923351e+02] [ 5.73376090e-02 1.02316317e-02 9.98302415e-01 4.55198576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.770714057 meters Centerline goodness : 0.991564 Centerline is valid? [True, True] Translation: X:118.19, Y:121.93, Z:45.51 [[-3.60352906e-01 -9.32647320e-01 1.77414765e-02 1.18187738e+02] [ 9.31292271e-01 -3.60785847e-01 -5.02819935e-02 1.21928171e+02] [ 5.32962401e-02 -1.59676253e-03 9.98577469e-01 4.55129701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.800714057 meters Centerline goodness : 0.992228 Centerline is valid? [True, True] Translation: X:118.18, Y:121.98, Z:45.52 [[-3.83098468e-01 -9.23679463e-01 -7.19813683e-03 1.18175177e+02] [ 9.20421674e-01 -3.81067405e-01 -8.72443433e-02 1.21978832e+02] [ 7.78428329e-02 -4.00484954e-02 9.96160937e-01 4.55181911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.830714057 meters Centerline goodness : 0.991492 Centerline is valid? [True, True] Translation: X:118.17, Y:121.94, Z:45.53 [[-3.65968102e-01 -9.29669412e-01 4.22153149e-02 1.18174379e+02] [ 9.28519664e-01 -3.67814652e-01 -5.06321603e-02 1.21941971e+02] [ 6.25985821e-02 2.06679944e-02 9.97824760e-01 4.55282416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.860714057 meters Centerline goodness : 0.992232 Centerline is valid? [True, True] Translation: X:118.19, Y:121.94, Z:45.52 [[-3.66189798e-01 -9.30313685e-01 2.05299714e-02 1.18187352e+02] [ 9.28464580e-01 -3.66756820e-01 -5.86767332e-02 1.21943317e+02] [ 6.21172749e-02 -2.42546981e-03 9.98065910e-01 4.55180212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.890714057 meters Centerline goodness : 0.991697 Centerline is valid? [True, True] Translation: X:118.18, Y:121.98, Z:45.52 [[-3.84430963e-01 -9.23146824e-01 3.57437990e-03 1.18175817e+02] [ 9.19973258e-01 -3.83424761e-01 -8.14533991e-02 1.21977541e+02] [ 7.65639524e-02 -2.80248747e-02 9.96670742e-01 4.55223881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.920714057 meters Centerline goodness : 0.991697 Centerline is valid? [True, True] Translation: X:118.17, Y:121.98, Z:45.53 [[-3.83819636e-01 -9.23014646e-01 2.69527506e-02 1.18165378e+02] [ 9.20142919e-01 -3.84751923e-01 -7.28214748e-02 1.21975809e+02] [ 7.75854104e-02 -3.14992936e-03 9.96980733e-01 4.55324950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.950714057 meters Centerline goodness : 0.991319 Centerline is valid? [True, True] Translation: X:118.18, Y:121.96, Z:45.53 [[-3.72690447e-01 -9.27568594e-01 2.68017423e-02 1.18180854e+02] [ 9.25832735e-01 -3.73635272e-01 -5.68368771e-02 1.21957959e+02] [ 6.27341784e-02 3.63136921e-03 9.98023665e-01 4.55256487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.980714057 meters Centerline goodness : 0.992129 Centerline is valid? [True, True] Translation: X:118.18, Y:121.97, Z:45.53 [[-3.76066329e-01 -9.25863222e-01 3.67615435e-02 1.18175206e+02] [ 9.24347220e-01 -3.77619989e-01 -5.46384589e-02 1.21967498e+02] [ 6.44696333e-02 1.34327458e-02 9.97829258e-01 4.55293502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.01071405700003 meters Centerline goodness : 0.993527 Centerline is valid? [True, True] Translation: X:118.18, Y:121.99, Z:45.53 [[-3.80523125e-01 -9.24601187e-01 1.77424796e-02 1.18178178e+02] [ 9.22190125e-01 -3.80823631e-01 -6.73701449e-02 1.21985433e+02] [ 6.90472715e-02 -9.27395859e-03 9.97570282e-01 4.55254470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.040714057 meters Centerline goodness : 0.990976 Centerline is valid? [True, True] Translation: X:118.00, Y:122.49, Z:45.56 [[-4.03282202e-01 -9.15058978e-01 -5.52561624e-03 1.17999545e+02] [ 9.11679677e-01 -4.01258491e-01 -8.84974025e-02 1.22486056e+02] [ 7.87631422e-02 -4.07270193e-02 9.96061081e-01 4.55552452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.07071405700003 meters Centerline goodness : 0.991549 Centerline is valid? [True, True] Translation: X:118.12, Y:122.08, Z:45.55 [[-3.69395241e-01 -9.27650325e-01 5.48819673e-02 1.18120351e+02] [ 9.26818972e-01 -3.72065630e-01 -5.07322362e-02 1.22077603e+02] [ 6.74814692e-02 3.21254018e-02 9.97203194e-01 4.55488176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.100714057 meters Centerline goodness : 0.990757 Centerline is valid? [True, True] Translation: X:118.13, Y:122.10, Z:45.54 [[-3.72491555e-01 -9.27850118e-01 1.85526194e-02 1.18130925e+02] [ 9.25601709e-01 -3.72887306e-01 -6.49348467e-02 1.22095917e+02] [ 6.71678414e-02 -7.01534580e-03 9.97717027e-01 4.55357555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.13071405700003 meters Centerline goodness : 0.992910 Centerline is valid? [True, True] Translation: X:118.12, Y:122.09, Z:45.54 [[-3.72393250e-01 -9.27290650e-01 3.81486316e-02 1.18124621e+02] [ 9.25710630e-01 -3.74062856e-01 -5.60072216e-02 1.22092615e+02] [ 6.62049590e-02 1.44578826e-02 9.97701295e-01 4.55410530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.160714057 meters Centerline goodness : 0.993417 Centerline is valid? [True, True] Translation: X:118.14, Y:122.07, Z:45.53 [[-3.66368700e-01 -9.29864670e-01 3.35510136e-02 1.18136232e+02] [ 9.28718795e-01 -3.67652527e-01 -4.80938590e-02 1.22066670e+02] [ 5.70558952e-02 1.35393723e-02 9.98279175e-01 4.55319938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.190714057 meters Centerline goodness : 0.992566 Centerline is valid? [True, True] Translation: X:118.14, Y:122.10, Z:45.53 [[-3.72516745e-01 -9.27995248e-01 7.48954016e-03 1.18136925e+02] [ 9.26008275e-01 -3.72226746e-01 -6.28961317e-02 1.22100240e+02] [ 6.11551186e-02 -1.64944861e-02 9.97991976e-01 4.55260106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.220714057 meters Centerline goodness : 0.992112 Centerline is valid? [True, True] Translation: X:118.13, Y:122.10, Z:45.53 [[-3.75214123e-01 -9.26838097e-01 1.36199555e-02 1.18134484e+02] [ 9.24626768e-01 -3.75275096e-01 -6.50687478e-02 1.22099562e+02] [ 6.54194245e-02 -1.18213377e-02 9.97787831e-01 4.55296674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.250714057 meters Centerline goodness : 0.992371 Centerline is valid? [True, True] Translation: X:118.13, Y:122.10, Z:45.53 [[-3.75738248e-01 -9.26510514e-01 1.99759042e-02 1.18132190e+02] [ 9.24293736e-01 -3.76225720e-01 -6.43062770e-02 1.22096413e+02] [ 6.70958907e-02 -5.69872473e-03 9.97730257e-01 4.55325334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.280714057 meters Centerline goodness : 0.992808 Centerline is valid? [True, True] Translation: X:118.12, Y:122.12, Z:45.54 [[-3.93560682e-01 -9.19274931e-01 6.60230183e-03 1.18122957e+02] [ 9.15685660e-01 -3.92639929e-01 -8.57534766e-02 1.22117384e+02] [ 8.14233486e-02 -2.77035637e-02 9.96294510e-01 4.55354575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.310714057 meters Centerline goodness : 0.992218 Centerline is valid? [True, True] Translation: X:118.12, Y:122.09, Z:45.54 [[-3.76833897e-01 -9.25395592e-01 4.04871789e-02 1.18122767e+02] [ 9.23685628e-01 -3.78688611e-01 -5.83077790e-02 1.22093664e+02] [ 6.92897953e-02 1.54250777e-02 9.97477314e-01 4.55402416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.340714057 meters Centerline goodness : 0.992537 Centerline is valid? [True, True] Translation: X:118.13, Y:122.10, Z:45.53 [[-3.78484450e-01 -9.25450356e-01 1.70634041e-02 1.18127829e+02] [ 9.22866503e-01 -3.78717158e-01 -6.99337663e-02 1.22102615e+02] [ 7.11824329e-02 -1.07215989e-02 9.97405689e-01 4.55331815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.370714057 meters Centerline goodness : 0.992436 Centerline is valid? [True, True] Translation: X:118.12, Y:122.12, Z:45.54 [[-3.78453222e-01 -9.25353578e-01 2.22242053e-02 1.18120309e+02] [ 9.22862452e-01 -3.79068903e-01 -6.80563074e-02 1.22116505e+02] [ 7.14006527e-02 -5.24624421e-03 9.97433920e-01 4.55368242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.400714057 meters Centerline goodness : 0.991137 Centerline is valid? [True, True] Translation: X:118.13, Y:122.12, Z:45.53 [[-3.78261651e-01 -9.25671497e-01 7.09954985e-03 1.18125733e+02] [ 9.23135762e-01 -3.77773583e-01 -7.14666649e-02 1.22115319e+02] [ 6.88366770e-02 -2.04792502e-02 9.97417722e-01 4.55318528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.430714057 meters Centerline goodness : 0.991257 Centerline is valid? [True, True] Translation: X:118.11, Y:122.11, Z:45.54 [[-3.75851956e-01 -9.26069271e-01 3.36305352e-02 1.18113733e+02] [ 9.23963851e-01 -3.77280012e-01 -6.28537561e-02 1.22113229e+02] [ 7.08950608e-02 7.44969163e-03 9.97455960e-01 4.55418904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.460714057 meters Centerline goodness : 0.990603 Centerline is valid? [True, True] Translation: X:118.11, Y:122.14, Z:45.54 [[-3.74690231e-01 -9.26916936e-01 2.07900148e-02 1.18108373e+02] [ 9.24536227e-01 -3.75222540e-01 -6.66394040e-02 1.22140166e+02] [ 6.95700743e-02 -5.74801192e-03 9.97560507e-01 4.55390484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.490714057 meters Centerline goodness : 0.990403 Centerline is valid? [True, True] Translation: X:118.12, Y:122.10, Z:45.53 [[-3.72197494e-01 -9.28086464e-01 1.11597838e-02 1.18124462e+02] [ 9.25894624e-01 -3.72103159e-01 -6.52563026e-02 1.22102918e+02] [ 6.47160819e-02 -1.39554484e-02 9.97806131e-01 4.55326312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.520714057 meters Centerline goodness : 0.990126 Centerline is valid? [True, True] Translation: X:118.12, Y:122.11, Z:45.54 [[-3.69211900e-01 -9.29081439e-01 2.21416499e-02 1.18116739e+02] [ 9.27143829e-01 -3.69871666e-01 -5.99939246e-02 1.22105429e+02] [ 6.39288107e-02 -1.62197687e-03 9.97953143e-01 4.55368185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.550714057 meters Centerline goodness : 0.990920 Centerline is valid? [True, True] Translation: X:118.11, Y:122.11, Z:45.54 [[-3.68239252e-01 -9.29315717e-01 2.77876028e-02 1.18112267e+02] [ 9.27000753e-01 -3.69282680e-01 -6.55736690e-02 1.22109521e+02] [ 7.12001217e-02 1.61232994e-03 9.97460748e-01 4.55404698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.580714057 meters Centerline goodness : 0.990267 Centerline is valid? [True, True] Translation: X:118.12, Y:122.10, Z:45.53 [[-3.64696397e-01 -9.31073890e-01 9.89693483e-03 1.18120807e+02] [ 9.28730926e-01 -3.64499524e-01 -6.78156703e-02 1.22103143e+02] [ 6.67488280e-02 -1.55405412e-02 9.97648779e-01 4.55319899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.610714057 meters Centerline goodness : 0.990527 Centerline is valid? [True, True] Translation: X:118.11, Y:122.10, Z:45.54 [[-3.59939860e-01 -9.32404436e-01 3.26383912e-02 1.18108652e+02] [ 9.30175265e-01 -3.61348259e-01 -6.48183003e-02 1.22104187e+02] [ 7.22306965e-02 7.02873427e-03 9.97363185e-01 4.55408344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.640714057 meters Centerline goodness : 0.990630 Centerline is valid? [True, True] Translation: X:118.11, Y:122.11, Z:45.54 [[-3.56399853e-01 -9.34049141e-01 2.30509723e-02 1.18111232e+02] [ 9.31625853e-01 -3.57135722e-01 -6.72855631e-02 1.22106220e+02] [ 7.10803480e-02 -2.50568309e-03 9.97467446e-01 4.55363499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.670714057 meters Centerline goodness : 0.990640 Centerline is valid? [True, True] Translation: X:118.11, Y:122.12, Z:45.54 [[-3.53540336e-01 -9.35242065e-01 1.82074228e-02 1.18106889e+02] [ 9.32545628e-01 -3.53912006e-01 -7.14488911e-02 1.22118418e+02] [ 7.32658340e-02 -8.28081248e-03 9.97278068e-01 4.55367087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.700714057 meters Centerline goodness : 0.989703 Centerline is valid? [True, True] Translation: X:118.11, Y:122.11, Z:45.53 [[-3.52479437e-01 -9.35753185e-01 1.11455165e-02 1.18110644e+02] [ 9.33113892e-01 -3.52340414e-01 -7.17962159e-02 1.22112925e+02] [ 7.11105537e-02 -1.49066535e-02 9.97357048e-01 4.55340914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.730714057 meters Centerline goodness : 0.990829 Centerline is valid? [True, True] Translation: X:118.10, Y:122.09, Z:45.54 [[-3.43641637e-01 -9.37756553e-01 5.02301950e-02 1.18099117e+02] [ 9.36956782e-01 -3.45978568e-01 -4.91000874e-02 1.22089259e+02] [ 6.34224996e-02 3.01906874e-02 9.97530004e-01 4.55447768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.76071405700003 meters Centerline goodness : 0.990878 Centerline is valid? [True, True] Translation: X:118.11, Y:122.10, Z:45.53 [[-3.41331756e-01 -9.39617891e-01 2.47154001e-02 1.18106641e+02] [ 9.38112132e-01 -3.42189484e-01 -5.34039789e-02 1.22100133e+02] [ 5.86366841e-02 4.95734285e-03 9.98267081e-01 4.55322370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.790714057 meters Centerline goodness : 0.988874 Centerline is valid? [True, True] Translation: X:118.12, Y:122.11, Z:45.52 [[-3.44127545e-01 -9.38870542e-01 -9.91657530e-03 1.18116943e+02] [ 9.36915253e-01 -3.42682249e-01 -6.89832154e-02 1.22112135e+02] [ 6.13680744e-02 -3.30300152e-02 9.97568533e-01 4.55222460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.82071405700003 meters Centerline goodness : 0.989008 Centerline is valid? [True, True] Translation: X:118.10, Y:122.13, Z:45.54 [[-3.47906319e-01 -9.37305030e-01 2.05054554e-02 1.18097051e+02] [ 9.34749147e-01 -3.48474794e-01 -6.93494816e-02 1.22125768e+02] [ 7.21472523e-02 -4.95966588e-03 9.97381660e-01 4.55388615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.850714057 meters Centerline goodness : 0.990501 Centerline is valid? [True, True] Translation: X:118.09, Y:122.13, Z:45.54 [[-3.48610121e-01 -9.36875196e-01 2.71265755e-02 1.18090115e+02] [ 9.34663129e-01 -3.49651901e-01 -6.44079488e-02 1.22133582e+02] [ 6.98270683e-02 2.90094714e-03 9.97554893e-01 4.55426904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.88071405700003 meters Centerline goodness : 0.990855 Centerline is valid? [True, True] Translation: X:118.10, Y:122.12, Z:45.54 [[-3.51108200e-01 -9.36045568e-01 2.32750084e-02 1.18097700e+02] [ 9.33855390e-01 -3.51878038e-01 -6.39996646e-02 1.22117446e+02] [ 6.80965667e-02 -7.35315006e-04 9.97678464e-01 4.55390678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.910714057 meters Centerline goodness : 0.990325 Centerline is valid? [True, True] Translation: X:118.10, Y:122.12, Z:45.54 [[-3.53485281e-01 -9.35254239e-01 1.86457533e-02 1.18099403e+02] [ 9.32895324e-01 -3.53922887e-01 -6.66701136e-02 1.22120539e+02] [ 6.89526652e-02 -6.17236776e-03 9.97600838e-01 4.55378779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.940714057 meters Centerline goodness : 0.990974 Centerline is valid? [True, True] Translation: X:118.10, Y:122.12, Z:45.54 [[-3.53903546e-01 -9.34976223e-01 2.39111362e-02 1.18096664e+02] [ 9.33044466e-01 -3.54708845e-01 -6.00804388e-02 1.22123362e+02] [ 6.46552733e-02 1.04747301e-03 9.97907109e-01 4.55381826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.970714057 meters Centerline goodness : 0.990189 Centerline is valid? [True, True] Translation: X:118.10, Y:122.13, Z:45.53 [[-3.58638314e-01 -9.33452341e-01 6.72952773e-03 1.18104203e+02] [ 9.31440395e-01 -3.58322615e-01 -6.34325896e-02 1.22128578e+02] [ 6.16226412e-02 -1.64812030e-02 9.97963436e-01 4.55312976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.000714057 meters Centerline goodness : 0.992066 Centerline is valid? [True, True] Translation: X:118.10, Y:122.12, Z:45.54 [[-3.59289092e-01 -9.32663699e-01 3.24002017e-02 1.18095491e+02] [ 9.30858170e-01 -3.60633094e-01 -5.87097815e-02 1.22122659e+02] [ 6.64410670e-02 9.06620838e-03 9.97749161e-01 4.55407517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.030714057 meters Centerline goodness : 0.992460 Centerline is valid? [True, True] Translation: X:118.11, Y:122.12, Z:45.53 [[-3.61488662e-01 -9.32339091e-01 8.35261400e-03 1.18107276e+02] [ 9.30391903e-01 -3.61288936e-01 -6.19775194e-02 1.22123897e+02] [ 6.08017712e-02 -1.46329661e-02 9.98042595e-01 4.55291456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.060714057 meters Centerline goodness : 0.992635 Centerline is valid? [True, True] Translation: X:118.10, Y:122.13, Z:45.54 [[-3.62532342e-01 -9.31509375e-01 2.93357377e-02 1.18096325e+02] [ 9.29607456e-01 -3.63674105e-01 -5.97588695e-02 1.22128791e+02] [ 6.63345953e-02 5.60619757e-03 9.97781686e-01 4.55379898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.090714057 meters Centerline goodness : 0.991404 Centerline is valid? [True, True] Translation: X:118.11, Y:122.13, Z:45.53 [[-3.63200048e-01 -9.31697198e-01 5.10459844e-03 1.18106480e+02] [ 9.29597352e-01 -3.62739440e-01 -6.53365296e-02 1.22132179e+02] [ 6.27255007e-02 -1.89850095e-02 9.97850230e-01 4.55282576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.120714057 meters Centerline goodness : 0.991893 Centerline is valid? [True, True] Translation: X:118.10, Y:122.13, Z:45.53 [[-3.63697798e-01 -9.31370285e-01 1.65318820e-02 1.18100610e+02] [ 9.29184790e-01 -3.63985138e-01 -6.42685415e-02 1.22132114e+02] [ 6.58751691e-02 -8.01315376e-03 9.97795696e-01 4.55345113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.150714057 meters Centerline goodness : 0.992842 Centerline is valid? [True, True] Translation: X:118.09, Y:122.13, Z:45.54 [[-3.62892679e-01 -9.31290704e-01 3.17258245e-02 1.18092600e+02] [ 9.29258565e-01 -3.64209155e-01 -6.18886992e-02 1.22134633e+02] [ 6.91912060e-02 7.02253823e-03 9.97578699e-01 4.55405890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.180714057 meters Centerline goodness : 0.992733 Centerline is valid? [True, True] Translation: X:118.10, Y:122.11, Z:45.54 [[-3.54733908e-01 -9.34002256e-01 4.24692903e-02 1.18097726e+02] [ 9.33371365e-01 -3.56415757e-01 -4.22575819e-02 1.22106811e+02] [ 5.46054010e-02 2.46494223e-02 9.98203715e-01 4.55366810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.210714057 meters Centerline goodness : 0.992355 Centerline is valid? [True, True] Translation: X:118.11, Y:122.12, Z:45.52 [[-3.54540098e-01 -9.34982135e-01 1.04750497e-02 1.18108804e+02] [ 9.33513385e-01 -3.54578801e-01 -5.31660883e-02 1.22117921e+02] [ 5.34235733e-02 -9.07091103e-03 9.98530741e-01 4.55236032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.240714057 meters Centerline goodness : 0.992079 Centerline is valid? [True, True] Translation: X:118.10, Y:122.13, Z:45.53 [[-3.56948177e-01 -9.34056582e-01 1.12383714e-02 1.18101917e+02] [ 9.32226617e-01 -3.56963755e-01 -5.94172664e-02 1.22133634e+02] [ 5.95107800e-02 -1.07321759e-02 9.98169969e-01 4.55274820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.270714057 meters Centerline goodness : 0.991388 Centerline is valid? [True, True] Translation: X:118.09, Y:122.16, Z:45.53 [[-3.78244156e-01 -9.25673552e-01 -7.73526812e-03 1.18091813e+02] [ 9.22215353e-01 -3.76079809e-01 -8.99045104e-02 1.22164627e+02] [ 8.03131492e-02 -4.11394387e-02 9.95920351e-01 4.55324606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.300714057 meters Centerline goodness : 0.991287 Centerline is valid? [True, True] Translation: X:118.09, Y:122.13, Z:45.54 [[-3.57196795e-01 -9.32891553e-01 4.60847154e-02 1.18086956e+02] [ 9.31879889e-01 -3.59286045e-01 -5.01339172e-02 1.22126227e+02] [ 6.33271030e-02 2.50377449e-02 9.97678700e-01 4.55430185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.330714057 meters Centerline goodness : 0.991900 Centerline is valid? [True, True] Translation: X:118.09, Y:122.17, Z:45.53 [[-3.78430563e-01 -9.25627097e-01 -2.18775840e-03 1.18087541e+02] [ 9.22144130e-01 -3.76799571e-01 -8.75915944e-02 1.22167217e+02] [ 8.02528068e-02 -3.51647649e-02 9.96154068e-01 4.55348688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.360714057 meters Centerline goodness : 0.991662 Centerline is valid? [True, True] Translation: X:118.09, Y:122.13, Z:45.54 [[-3.60759296e-01 -9.31769275e-01 4.07277368e-02 1.18086833e+02] [ 9.30138404e-01 -3.62649424e-01 -5.76883342e-02 1.22128707e+02] [ 6.85221076e-02 1.70708293e-02 9.97503538e-01 4.55439701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.390714057 meters Centerline goodness : 0.990987 Centerline is valid? [True, True] Translation: X:118.10, Y:122.13, Z:45.53 [[-3.61986705e-01 -9.32034263e-01 1.66660890e-02 1.18095707e+02] [ 9.29719368e-01 -3.62271252e-01 -6.61924230e-02 1.22133191e+02] [ 6.77312511e-02 -8.46599140e-03 9.97667682e-01 4.55345028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.420714057 meters Centerline goodness : 0.989166 Centerline is valid? [True, True] Translation: X:118.09, Y:122.17, Z:45.53 [[-3.65505043e-01 -9.30801525e-01 3.81892616e-03 1.18088772e+02] [ 9.28378240e-01 -3.64843673e-01 -7.07314534e-02 1.22171090e+02] [ 6.72302558e-02 -2.23072950e-02 9.97488084e-01 4.55322305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.450714057 meters Centerline goodness : 0.989328 Centerline is valid? [True, True] Translation: X:118.08, Y:122.16, Z:45.54 [[-3.67035964e-01 -9.30015772e-01 1.88484814e-02 1.18081955e+02] [ 9.27821755e-01 -3.67469807e-01 -6.41305902e-02 1.22162488e+02] [ 6.65687082e-02 -6.05020191e-03 9.97763500e-01 4.55396405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.480714057 meters Centerline goodness : 0.988304 Centerline is valid? [True, True] Translation: X:118.08, Y:122.15, Z:45.54 [[-3.66443182e-01 -9.30154438e-01 2.30676315e-02 1.18083415e+02] [ 9.27941393e-01 -3.67162482e-01 -6.41598197e-02 1.22152055e+02] [ 6.81481099e-02 -2.10551842e-03 9.97672994e-01 4.55399491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.51071405700003 meters Centerline goodness : 0.989088 Centerline is valid? [True, True] Translation: X:118.08, Y:122.15, Z:45.54 [[-3.66006014e-01 -9.30418583e-01 1.89962530e-02 1.18083877e+02] [ 9.28277785e-01 -3.66456732e-01 -6.33231158e-02 1.22152180e+02] [ 6.58783085e-02 -5.54284153e-03 9.97812270e-01 4.55395719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.540714057 meters Centerline goodness : 0.987380 Centerline is valid? [True, True] Translation: X:118.08, Y:122.16, Z:45.54 [[-3.66529939e-01 -9.30169192e-01 2.10018696e-02 1.18077911e+02] [ 9.27960398e-01 -3.67108921e-01 -6.41914372e-02 1.22160311e+02] [ 6.74188710e-02 -4.03918031e-03 9.97716583e-01 4.55430241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.57071405700003 meters Centerline goodness : 0.989822 Centerline is valid? [True, True] Translation: X:118.07, Y:122.16, Z:45.55 [[-3.64208147e-01 -9.30800665e-01 3.10249630e-02 1.18072864e+02] [ 9.28628052e-01 -3.65484698e-01 -6.38034220e-02 1.22157805e+02] [ 7.07274169e-02 5.57292488e-03 9.97480113e-01 4.55463993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.600714057 meters Centerline goodness : 0.987582 Centerline is valid? [True, True] Translation: X:118.08, Y:122.16, Z:45.54 [[-3.64097861e-01 -9.31343068e-01 5.73038152e-03 1.18081036e+02] [ 9.28875026e-01 -3.63568476e-01 -7.07753405e-02 1.22160921e+02] [ 6.79995088e-02 -2.04463418e-02 9.97475821e-01 4.55368854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.63071405700003 meters Centerline goodness : 0.987832 Centerline is valid? [True, True] Translation: X:118.08, Y:122.15, Z:45.54 [[-3.62405895e-01 -9.31751976e-01 2.23656475e-02 1.18075980e+02] [ 9.29417223e-01 -3.63081894e-01 -6.59936659e-02 1.22152349e+02] [ 6.96102902e-02 -3.12947557e-03 9.97569353e-01 4.55421663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.660714057 meters Centerline goodness : 0.989383 Centerline is valid? [True, True] Translation: X:118.07, Y:122.16, Z:45.55 [[-3.60600627e-01 -9.32079670e-01 3.45640836e-02 1.18066097e+02] [ 9.29953110e-01 -3.62136252e-01 -6.35967633e-02 1.22160017e+02] [ 7.17941578e-02 9.20994430e-03 9.97376948e-01 4.55484274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.690714057 meters Centerline goodness : 0.989321 Centerline is valid? [True, True] Translation: X:118.07, Y:122.17, Z:45.54 [[-3.59783403e-01 -9.32827682e-01 1.97083480e-02 1.18069472e+02] [ 9.30236769e-01 -3.60258963e-01 -6.98071168e-02 1.22167600e+02] [ 7.22181200e-02 -6.78201207e-03 9.97365804e-01 4.55423339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.720714057 meters Centerline goodness : 0.988184 Centerline is valid? [True, True] Translation: X:118.07, Y:122.17, Z:45.54 [[-3.59020721e-01 -9.33303462e-01 6.98356257e-03 1.18073793e+02] [ 9.30876193e-01 -3.58609131e-01 -6.97782493e-02 1.22165164e+02] [ 6.76286509e-02 -1.85510052e-02 9.97538082e-01 4.55364211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.750714057 meters Centerline goodness : 0.988023 Centerline is valid? [True, True] Translation: X:118.07, Y:122.16, Z:45.55 [[-3.57882916e-01 -9.33385499e-01 2.66707312e-02 1.18065104e+02] [ 9.31154402e-01 -3.58871105e-01 -6.45213865e-02 1.22161042e+02] [ 6.97946814e-02 1.74346678e-03 9.97559854e-01 4.55453263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.780714057 meters Centerline goodness : 0.987119 Centerline is valid? [True, True] Translation: X:118.07, Y:122.16, Z:45.54 [[-3.58001002e-01 -9.33584047e-01 1.60034445e-02 1.18067992e+02] [ 9.31246924e-01 -3.58246805e-01 -6.66212675e-02 1.22163558e+02] [ 6.79297354e-02 -8.94732203e-03 9.97649987e-01 4.55406193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.810714057 meters Centerline goodness : 0.987119 Centerline is valid? [True, True] Translation: X:118.07, Y:122.17, Z:45.54 [[-3.57668270e-01 -9.33616732e-01 2.08136228e-02 1.18065141e+02] [ 9.31358565e-01 -3.58252484e-01 -6.50106187e-02 1.22165257e+02] [ 6.81515334e-02 -3.86728963e-03 9.97667486e-01 4.55429425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.840714057 meters Centerline goodness : 0.986903 Centerline is valid? [True, True] Translation: X:118.06, Y:122.17, Z:45.55 [[-3.57393439e-01 -9.33378224e-01 3.27875138e-02 1.18056876e+02] [ 9.31528643e-01 -3.58773968e-01 -5.94611371e-02 1.22173322e+02] [ 6.72630370e-02 9.29148798e-03 9.97692013e-01 4.55498262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.870714057 meters Centerline goodness : 0.988276 Centerline is valid? [True, True] Translation: X:118.07, Y:122.17, Z:45.54 [[-3.56254885e-01 -9.34368091e-01 6.22310678e-03 1.18069226e+02] [ 9.31872364e-01 -3.55776020e-01 -7.09740792e-02 1.22167205e+02] [ 6.85299471e-02 -1.94857212e-02 9.97458748e-01 4.55357221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.900714057 meters Centerline goodness : 0.988490 Centerline is valid? [True, True] Translation: X:118.06, Y:122.18, Z:45.54 [[-3.57242689e-01 -9.33793392e-01 2.01881908e-02 1.18058533e+02] [ 9.30857871e-01 -3.57727985e-01 -7.43929684e-02 1.22179984e+02] [ 7.66895431e-02 -7.78400775e-03 9.97024635e-01 4.55430339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.930714057 meters Centerline goodness : 0.987980 Centerline is valid? [True, True] Translation: X:118.06, Y:122.17, Z:45.54 [[-3.57578473e-01 -9.33627524e-01 2.18467850e-02 1.18058069e+02] [ 9.31106245e-01 -3.58220340e-01 -6.86975105e-02 1.22174595e+02] [ 7.19638494e-02 -4.22307295e-03 9.97398301e-01 4.55446182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.960714057 meters Centerline goodness : 0.988019 Centerline is valid? [True, True] Translation: X:118.05, Y:122.19, Z:45.55 [[-3.58792878e-01 -9.33212776e-01 1.95342270e-02 1.18052359e+02] [ 9.30551000e-01 -3.59251579e-01 -7.08035268e-02 1.22194681e+02] [ 7.30924577e-02 -7.22620662e-03 9.97298990e-01 4.55452974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.990714057 meters Centerline goodness : 0.988377 Centerline is valid? [True, True] Translation: X:118.06, Y:122.18, Z:45.54 [[-3.61626003e-01 -9.32202899e-01 1.49796243e-02 1.18057632e+02] [ 9.29086894e-01 -3.61661752e-01 -7.74488255e-02 1.22183217e+02] [ 7.76155768e-02 -1.40901366e-02 9.96883790e-01 4.55445079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.020714057 meters Centerline goodness : 0.988260 Centerline is valid? [True, True] Translation: X:118.05, Y:122.19, Z:45.55 [[-3.62716373e-01 -9.31528175e-01 2.63076543e-02 1.18052091e+02] [ 9.28640889e-01 -3.63662728e-01 -7.33179371e-02 1.22185653e+02] [ 7.78648375e-02 -2.16325275e-03 9.96961578e-01 4.55506964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.050714057 meters Centerline goodness : 0.987850 Centerline is valid? [True, True] Translation: X:118.05, Y:122.18, Z:45.55 [[-3.62143989e-01 -9.31703570e-01 2.79318669e-02 1.18051277e+02] [ 9.29164801e-01 -3.63218030e-01 -6.87418050e-02 1.22184879e+02] [ 7.41923428e-02 1.05887606e-03 9.97243388e-01 4.55498837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.080714057 meters Centerline goodness : 0.988151 Centerline is valid? [True, True] Translation: X:118.05, Y:122.19, Z:45.55 [[-3.62343036e-01 -9.31666695e-01 2.65460740e-02 1.18048668e+02] [ 9.29306327e-01 -3.63313560e-01 -6.62797768e-02 1.22192819e+02] [ 7.13952092e-02 6.53418970e-04 9.97447892e-01 4.55498401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.110714057 meters Centerline goodness : 0.988497 Centerline is valid? [True, True] Translation: X:118.04, Y:122.21, Z:45.55 [[-3.62134792e-01 -9.31719567e-01 2.75143655e-02 1.18043440e+02] [ 9.29333150e-01 -3.63175716e-01 -6.66580550e-02 1.22206215e+02] [ 7.20991635e-02 1.43081102e-03 9.97396442e-01 4.55498883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.140714057 meters Centerline goodness : 0.987790 Centerline is valid? [True, True] Translation: X:118.05, Y:122.19, Z:45.55 [[-3.60147533e-01 -9.32668752e-01 2.05609681e-02 1.18051891e+02] [ 9.30592723e-01 -3.60718907e-01 -6.22820496e-02 1.22189288e+02] [ 6.55052514e-02 -3.29683929e-03 9.97846778e-01 4.55452573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.170714057 meters Centerline goodness : 0.987241 Centerline is valid? [True, True] Translation: X:118.05, Y:122.19, Z:45.54 [[-3.59297630e-01 -9.33108955e-01 1.45908220e-02 1.18054632e+02] [ 9.30825366e-01 -3.59450743e-01 -6.60250050e-02 1.22186598e+02] [ 6.68532052e-02 -1.01411205e-02 9.97711284e-01 4.55415480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.200714057 meters Centerline goodness : 0.988886 Centerline is valid? [True, True] Translation: X:118.04, Y:122.19, Z:45.55 [[-3.57189962e-01 -9.33191213e-01 3.96167913e-02 1.18041017e+02] [ 9.31360723e-01 -3.59053382e-01 -6.03976256e-02 1.22190182e+02] [ 7.05870764e-02 1.53240977e-02 9.97387907e-01 4.55530405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.230714057 meters Centerline goodness : 0.988089 Centerline is valid? [True, True] Translation: X:118.05, Y:122.20, Z:45.54 [[-3.56955448e-01 -9.34110307e-01 4.55434899e-03 1.18052234e+02] [ 9.31870016e-01 -3.56429190e-01 -6.76498773e-02 1.22202136e+02] [ 6.48157506e-02 -1.99039310e-02 9.97698728e-01 4.55374745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.26071405700003 meters Centerline goodness : 0.989206 Centerline is valid? [True, True] Translation: X:118.03, Y:122.21, Z:45.55 [[-3.56254981e-01 -9.33639066e-01 3.74230141e-02 1.18032510e+02] [ 9.31680957e-01 -3.57984449e-01 -6.17877652e-02 1.22213766e+02] [ 7.10843285e-02 1.28541105e-02 9.97387482e-01 4.55529554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.290714057 meters Centerline goodness : 0.988692 Centerline is valid? [True, True] Translation: X:118.05, Y:122.19, Z:45.54 [[-3.53423876e-01 -9.35127325e-01 2.50689157e-02 1.18046126e+02] [ 9.33193305e-01 -3.54305411e-01 -6.01492449e-02 1.22190782e+02] [ 6.51292549e-02 2.13596497e-03 9.97874550e-01 4.55433309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.32071405700003 meters Centerline goodness : 0.987511 Centerline is valid? [True, True] Translation: X:118.05, Y:122.20, Z:45.53 [[-3.57702963e-01 -9.33831826e-01 -2.59056580e-03 1.18054515e+02] [ 9.31567085e-01 -3.56639473e-01 -7.06473775e-02 1.22202623e+02] [ 6.50488715e-02 -2.76840621e-02 9.97497989e-01 4.55345822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.350714057 meters Centerline goodness : 0.990116 Centerline is valid? [True, True] Translation: X:118.04, Y:122.20, Z:45.55 [[-3.55398355e-01 -9.33993746e-01 3.67109210e-02 1.18038770e+02] [ 9.31929232e-01 -3.57095726e-01 -6.31707887e-02 1.22195941e+02] [ 7.21104345e-02 1.17611861e-02 9.97327308e-01 4.55505235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.38071405700003 meters Centerline goodness : 0.989625 Centerline is valid? [True, True] Translation: X:118.04, Y:122.20, Z:45.54 [[-3.54375700e-01 -9.34913395e-01 1.88363330e-02 1.18044970e+02] [ 9.32197331e-01 -3.54789591e-01 -7.16413427e-02 1.22200932e+02] [ 7.36613859e-02 -7.82877157e-03 9.97252581e-01 4.55423540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.410714057 meters Centerline goodness : 0.989547 Centerline is valid? [True, True] Translation: X:118.04, Y:122.21, Z:45.54 [[-3.56112245e-01 -9.34353271e-01 1.29627665e-02 1.18043685e+02] [ 9.30951144e-01 -3.55945471e-01 -8.14419358e-02 1.22209030e+02] [ 8.07095771e-02 -1.69347683e-02 9.96593788e-01 4.55440927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.440714057 meters Centerline goodness : 0.989156 Centerline is valid? [True, True] Translation: X:118.04, Y:122.20, Z:45.55 [[-3.55624293e-01 -9.34360890e-01 2.23850334e-02 1.18042370e+02] [ 9.31012895e-01 -3.56251569e-01 -7.93713413e-02 1.22199214e+02] [ 8.21361803e-02 -7.38562242e-03 9.96593749e-01 4.55482646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.470714057 meters Centerline goodness : 0.988395 Centerline is valid? [True, True] Translation: X:118.04, Y:122.22, Z:45.55 [[-3.56826600e-01 -9.34036808e-01 1.58120104e-02 1.18039936e+02] [ 9.31275163e-01 -3.57001288e-01 -7.26405599e-02 1.22217063e+02] [ 7.34938647e-02 -1.11947515e-02 9.97232836e-01 4.55454476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.500714057 meters Centerline goodness : 0.988999 Centerline is valid? [True, True] Translation: X:118.04, Y:122.21, Z:45.55 [[-3.54286378e-01 -9.34920422e-01 2.01237936e-02 1.18042181e+02] [ 9.32184061e-01 -3.54794663e-01 -7.17887347e-02 1.22205246e+02] [ 7.42565687e-02 -6.67469111e-03 9.97216832e-01 4.55461812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.530714057 meters Centerline goodness : 0.987093 Centerline is valid? [True, True] Translation: X:118.03, Y:122.23, Z:45.55 [[-3.59405308e-01 -9.32986083e-01 1.90995712e-02 1.18034753e+02] [ 9.30208527e-01 -3.59817690e-01 -7.24108216e-02 1.22227127e+02] [ 7.44306524e-02 -8.25824966e-03 9.97191997e-01 4.55504375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.560714057 meters Centerline goodness : 0.988108 Centerline is valid? [True, True] Translation: X:118.04, Y:122.22, Z:45.55 [[-3.60836240e-01 -9.32466300e-01 1.74300996e-02 1.18037339e+02] [ 9.29554798e-01 -3.61100192e-01 -7.43944145e-02 1.22221302e+02] [ 7.56642967e-02 -1.06419681e-02 9.97076558e-01 4.55491571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.590714057 meters Centerline goodness : 0.988849 Centerline is valid? [True, True] Translation: X:118.03, Y:122.23, Z:45.55 [[-3.64228919e-01 -9.30984261e-01 2.46089599e-02 1.18032433e+02] [ 9.27912772e-01 -3.65028533e-01 -7.57103541e-02 1.22230329e+02] [ 7.94681205e-02 -4.74093223e-03 9.96826134e-01 4.55528817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.620714057 meters Centerline goodness : 0.989379 Centerline is valid? [True, True] Translation: X:118.02, Y:122.23, Z:45.56 [[-3.63537609e-01 -9.30605816e-01 4.25819487e-02 1.18023703e+02] [ 9.28071647e-01 -3.65753152e-01 -7.00546200e-02 1.22234183e+02] [ 8.07677187e-02 1.40516103e-02 9.96633899e-01 4.55602562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.650714057 meters Centerline goodness : 0.989721 Centerline is valid? [True, True] Translation: X:118.04, Y:122.24, Z:45.54 [[-3.65591916e-01 -9.30724235e-01 9.74419170e-03 1.18039720e+02] [ 9.27743747e-01 -3.65225474e-01 -7.68237805e-02 1.22235998e+02] [ 7.50605814e-02 -1.90460402e-02 9.96997070e-01 4.55434179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.680714057 meters Centerline goodness : 0.990467 Centerline is valid? [True, True] Translation: X:118.03, Y:122.23, Z:45.56 [[-3.69347839e-01 -9.28464110e-01 3.91991108e-02 1.18031413e+02] [ 9.25830595e-01 -3.71281836e-01 -7.06222830e-02 1.22227795e+02] [ 8.01241730e-02 1.02075485e-02 9.96732624e-01 4.55553037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.710714057 meters Centerline goodness : 0.990763 Centerline is valid? [True, True] Translation: X:118.03, Y:122.25, Z:45.55 [[-3.71284666e-01 -9.28156385e-01 2.59503850e-02 1.18030916e+02] [ 9.25323048e-01 -3.72179025e-01 -7.25260696e-02 1.22252391e+02] [ 7.69737236e-02 -2.91532823e-03 9.97028860e-01 4.55495554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.740714057 meters Centerline goodness : 0.990318 Centerline is valid? [True, True] Translation: X:118.04, Y:122.25, Z:45.55 [[-3.75975455e-01 -9.26362125e-01 2.22636661e-02 1.18036614e+02] [ 9.23410323e-01 -3.76562120e-01 -7.42586384e-02 1.22247622e+02] [ 7.71740433e-02 -7.36092625e-03 9.96990463e-01 4.55481288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.770714057 meters Centerline goodness : 0.991215 Centerline is valid? [True, True] Translation: X:118.03, Y:122.29, Z:45.55 [[-3.80200174e-01 -9.24682168e-01 2.02661247e-02 1.18026318e+02] [ 9.21633801e-01 -3.80605862e-01 -7.56988493e-02 1.22287405e+02] [ 7.77107819e-02 -1.01027701e-02 9.96924756e-01 4.55510248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.800714057 meters Centerline goodness : 0.990667 Centerline is valid? [True, True] Translation: X:118.02, Y:122.30, Z:45.55 [[-3.79502149e-01 -9.24841599e-01 2.54191949e-02 1.18021842e+02] [ 9.22137852e-01 -3.80337210e-01 -7.07487699e-02 1.22296901e+02] [ 7.50992712e-02 -3.40930841e-03 9.97170234e-01 4.55533039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.830714057 meters Centerline goodness : 0.990817 Centerline is valid? [True, True] Translation: X:118.03, Y:122.29, Z:45.55 [[-3.80255506e-01 -9.24649202e-01 2.07268760e-02 1.18027209e+02] [ 9.21860761e-01 -3.80728138e-01 -7.22414216e-02 1.22289883e+02] [ 7.46892778e-02 -8.36290468e-03 9.97171787e-01 4.55515335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.860714057 meters Centerline goodness : 0.990089 Centerline is valid? [True, True] Translation: X:118.03, Y:122.30, Z:45.55 [[-3.82504073e-01 -9.23919287e-01 7.98652569e-03 1.18031387e+02] [ 9.21163195e-01 -3.82005856e-01 -7.43632535e-02 1.22301682e+02] [ 7.17565438e-02 -2.10873539e-02 9.97199239e-01 4.55464232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.890714057 meters Centerline goodness : 0.989444 Centerline is valid? [True, True] Translation: X:118.02, Y:122.32, Z:45.55 [[-3.82010269e-01 -9.23891515e-01 2.21951036e-02 1.18019958e+02] [ 9.21339350e-01 -3.82609607e-01 -6.88744625e-02 1.22320627e+02] [ 7.21245914e-02 -5.86152965e-03 9.97378407e-01 4.55537690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.920714057 meters Centerline goodness : 0.992277 Centerline is valid? [True, True] Translation: X:118.02, Y:122.29, Z:45.56 [[-3.80094641e-01 -9.24246909e-01 3.59960433e-02 1.18024453e+02] [ 9.21915621e-01 -3.81710175e-01 -6.60978871e-02 1.22291810e+02] [ 7.48308239e-02 8.06186195e-03 9.97163655e-01 4.55577740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.950714057 meters Centerline goodness : 0.991931 Centerline is valid? [True, True] Translation: X:118.05, Y:122.26, Z:45.55 [[-3.77538838e-01 -9.25835947e-01 1.70946030e-02 1.18046044e+02] [ 9.22696814e-01 -3.77686961e-01 -7.73508256e-02 1.22259535e+02] [ 7.80705835e-02 -1.34298051e-02 9.96857374e-01 4.55478549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.980714057 meters Centerline goodness : 0.991755 Centerline is valid? [True, True] Translation: X:118.03, Y:122.30, Z:45.55 [[-3.79568742e-01 -9.24904673e-01 2.18841601e-02 1.18029898e+02] [ 9.21788362e-01 -3.80096871e-01 -7.63713612e-02 1.22303445e+02] [ 7.89543296e-02 -8.81561744e-03 9.96839254e-01 4.55538590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.01071405700003 meters Centerline goodness : 0.990876 Centerline is valid? [True, True] Translation: X:118.05, Y:122.27, Z:45.55 [[-3.78951285e-01 -9.25393892e-01 6.48597501e-03 1.18049807e+02] [ 9.21855894e-01 -3.78098157e-01 -8.49911398e-02 1.22268362e+02] [ 8.11026169e-02 -2.62283673e-02 9.96360597e-01 4.55455838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.040714057 meters Centerline goodness : 0.991813 Centerline is valid? [True, True] Translation: X:118.03, Y:122.27, Z:45.56 [[-3.74606421e-01 -9.26254813e-01 4.14976019e-02 1.18033688e+02] [ 9.23589126e-01 -3.76717458e-01 -7.11834509e-02 1.22269914e+02] [ 8.15668851e-02 1.16609561e-02 9.96599652e-01 4.55607507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.07071405700003 meters Centerline goodness : 0.991235 Centerline is valid? [True, True] Translation: X:118.04, Y:122.28, Z:45.55 [[-3.72698646e-01 -9.27651249e-01 2.36406172e-02 1.18038550e+02] [ 9.24555931e-01 -3.73391694e-01 -7.59932507e-02 1.22279997e+02] [ 7.93224440e-02 -6.46550884e-03 9.96828043e-01 4.55534425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.100714057 meters Centerline goodness : 0.989493 Centerline is valid? [True, True] Translation: X:118.05, Y:122.28, Z:45.55 [[-3.72148958e-01 -9.28162153e-01 4.49123016e-03 1.18048988e+02] [ 9.24646922e-01 -3.71152214e-01 -8.52883565e-02 1.22276324e+02] [ 8.08283546e-02 -2.75871709e-02 9.96346187e-01 4.55474124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.13071405700003 meters Centerline goodness : 0.991517 Centerline is valid? [True, True] Translation: X:118.03, Y:122.28, Z:45.56 [[-3.68183098e-01 -9.28995804e-01 3.75233581e-02 1.18032523e+02] [ 9.25646365e-01 -3.70047272e-01 -7.90178744e-02 1.22282848e+02] [ 8.72926901e-02 5.64031413e-03 9.96166740e-01 4.55628451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.160714057 meters Centerline goodness : 0.991355 Centerline is valid? [True, True] Translation: X:118.04, Y:122.28, Z:45.56 [[-3.66439729e-01 -9.30119425e-01 2.44904147e-02 1.18038522e+02] [ 9.26402658e-01 -3.67172481e-01 -8.34415102e-02 1.22283832e+02] [ 8.66027758e-02 -7.88829921e-03 9.96211691e-01 4.55568322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.190714057 meters Centerline goodness : 0.991119 Centerline is valid? [True, True] Translation: X:118.04, Y:122.29, Z:45.56 [[-3.64896375e-01 -9.30692579e-01 2.57285755e-02 1.18035103e+02] [ 9.26979687e-01 -3.65743675e-01 -8.33080113e-02 1.22292716e+02] [ 8.69442116e-02 -6.54892451e-03 9.96191656e-01 4.55581235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.220714057 meters Centerline goodness : 0.990068 Centerline is valid? [True, True] Translation: X:118.03, Y:122.30, Z:45.56 [[-3.62509842e-01 -9.31621452e-01 2.58473305e-02 1.18032243e+02] [ 9.27948877e-01 -3.63379732e-01 -8.28616406e-02 1.22302806e+02] [ 8.65880780e-02 -6.05315899e-03 9.96225810e-01 4.55599434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.250714057 meters Centerline goodness : 0.990327 Centerline is valid? [True, True] Translation: X:118.04, Y:122.28, Z:45.56 [[-3.58524933e-01 -9.33044786e-01 2.97875846e-02 1.18037282e+02] [ 9.29945343e-01 -3.59759947e-01 -7.59897341e-02 1.22282254e+02] [ 8.16182051e-02 4.56611236e-04 9.96663564e-01 4.55585351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.280714057 meters Centerline goodness : 0.991149 Centerline is valid? [True, True] Translation: X:118.04, Y:122.28, Z:45.56 [[-3.52725766e-01 -9.35300119e-01 2.82528245e-02 1.18041070e+02] [ 9.32600487e-01 -3.53853086e-01 -7.10234130e-02 1.22275865e+02] [ 7.64255558e-02 1.29681011e-03 9.97074447e-01 4.55567797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.310714057 meters Centerline goodness : 0.990009 Centerline is valid? [True, True] Translation: X:118.04, Y:122.27, Z:45.55 [[-3.50709056e-01 -9.36178358e-01 2.39424484e-02 1.18043787e+02] [ 9.33541450e-01 -3.51517925e-01 -7.02531860e-02 1.22274015e+02] [ 7.41857120e-02 -2.28716057e-03 9.97241821e-01 4.55542679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.340714057 meters Centerline goodness : 0.989875 Centerline is valid? [True, True] Translation: X:118.04, Y:122.28, Z:45.55 [[-3.47271796e-01 -9.37418338e-01 2.54786019e-02 1.18041175e+02] [ 9.34967937e-01 -3.48205069e-01 -6.77361561e-02 1.22283986e+02] [ 7.23688932e-02 2.98819276e-04 9.97377889e-01 4.55544006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.370714057 meters Centerline goodness : 0.990128 Centerline is valid? [True, True] Translation: X:118.04, Y:122.29, Z:45.55 [[-3.46308126e-01 -9.37932089e-01 1.88169572e-02 1.18044479e+02] [ 9.35322948e-01 -3.46753807e-01 -7.02337515e-02 1.22286265e+02] [ 7.23993408e-02 -6.72258695e-03 9.97353068e-01 4.55510453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.400714057 meters Centerline goodness : 0.989764 Centerline is valid? [True, True] Translation: X:118.05, Y:122.27, Z:45.55 [[-3.42386909e-01 -9.39275179e-01 2.30942328e-02 1.18049088e+02] [ 9.36663143e-01 -3.43156845e-01 -7.00395295e-02 1.22271262e+02] [ 7.37113357e-02 -2.34910130e-03 9.97276853e-01 4.55509879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.430714057 meters Centerline goodness : 0.989590 Centerline is valid? [True, True] Translation: X:118.05, Y:122.28, Z:45.55 [[-3.41732085e-01 -9.39616087e-01 1.84605093e-02 1.18048252e+02] [ 9.36905494e-01 -3.42154590e-01 -7.16821623e-02 1.22283157e+02] [ 7.36700609e-02 -7.20034217e-03 9.97256676e-01 4.55492632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.460714057 meters Centerline goodness : 0.988341 Centerline is valid? [True, True] Translation: X:118.05, Y:122.30, Z:45.55 [[-3.39496593e-01 -9.40532487e-01 1.18618817e-02 1.18047134e+02] [ 9.37812721e-01 -3.39432408e-01 -7.27526018e-02 1.22302200e+02] [ 7.24524925e-02 -1.35750369e-02 9.97279477e-01 4.55465635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.490714057 meters Centerline goodness : 0.989976 Centerline is valid? [True, True] Translation: X:118.04, Y:122.28, Z:45.55 [[-3.36497412e-01 -9.41088371e-01 3.34987991e-02 1.18044908e+02] [ 9.38895605e-01 -3.38024253e-01 -6.49203178e-02 1.22278807e+02] [ 7.24191627e-02 9.60635632e-03 9.97328022e-01 4.55544343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.520714057 meters Centerline goodness : 0.989410 Centerline is valid? [True, True] Translation: X:118.05, Y:122.28, Z:45.55 [[-3.34892750e-01 -9.42022653e-01 2.09801736e-02 1.18051445e+02] [ 9.39539171e-01 -3.35533966e-01 -6.84332078e-02 1.22277628e+02] [ 7.15051928e-02 -3.20609026e-03 9.97435075e-01 4.55484647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.550714057 meters Centerline goodness : 0.989855 Centerline is valid? [True, True] Translation: X:118.05, Y:122.29, Z:45.55 [[-3.33650976e-01 -9.42528817e-01 1.77891688e-02 1.18050683e+02] [ 9.39947206e-01 -3.34058803e-01 -7.00283301e-02 1.22286945e+02] [ 7.19463476e-02 -6.64414116e-03 9.97386374e-01 4.55488946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.580714057 meters Centerline goodness : 0.990411 Centerline is valid? [True, True] Translation: X:118.05, Y:122.28, Z:45.55 [[-3.32362358e-01 -9.42923252e-01 2.07606623e-02 1.18052376e+02] [ 9.40443475e-01 -3.32994608e-01 -6.84153649e-02 1.22277621e+02] [ 7.14236269e-02 -3.21446261e-03 9.97440892e-01 4.55497506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.610714057 meters Centerline goodness : 0.990162 Centerline is valid? [True, True] Translation: X:118.05, Y:122.28, Z:45.55 [[-3.32076378e-01 -9.43112862e-01 1.62298570e-02 1.18054619e+02] [ 9.40388034e-01 -3.32358841e-01 -7.21660996e-02 1.22279056e+02] [ 7.34549132e-02 -8.70229363e-03 9.97260571e-01 4.55495169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.640714057 meters Centerline goodness : 0.989987 Centerline is valid? [True, True] Translation: X:118.05, Y:122.28, Z:45.55 [[-3.31908879e-01 -9.43129244e-01 1.85398390e-02 1.18052575e+02] [ 9.40344992e-01 -3.32358661e-01 -7.27256253e-02 1.22284410e+02] [ 7.47515401e-02 -6.70443593e-03 9.97179652e-01 4.55521931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.670714057 meters Centerline goodness : 0.988582 Centerline is valid? [True, True] Translation: X:118.06, Y:122.28, Z:45.55 [[-3.31528832e-01 -9.43411420e-01 7.97034084e-03 1.18059553e+02] [ 9.40925191e-01 -3.31248582e-01 -7.02435874e-02 1.22283997e+02] [ 6.89087667e-02 -1.57882800e-02 9.97498026e-01 4.55481776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.700714057 meters Centerline goodness : 0.991823 Centerline is valid? [True, True] Translation: X:118.05, Y:122.29, Z:45.56 [[-3.30852072e-01 -9.42954444e-01 3.70651205e-02 1.18045875e+02] [ 9.40904834e-01 -3.32635060e-01 -6.36553980e-02 1.22288631e+02] [ 7.23532991e-02 1.38142307e-02 9.97283394e-01 4.55595945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.730714057 meters Centerline goodness : 0.991823 Centerline is valid? [True, True] Translation: X:118.05, Y:122.29, Z:45.55 [[-3.30647262e-01 -9.43562755e-01 1.90188153e-02 1.18052179e+02] [ 9.41023694e-01 -3.31155506e-01 -6.93573200e-02 1.22293928e+02] [ 7.17411694e-02 -5.03565205e-03 9.97410571e-01 4.55522754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.76071405700003 meters Centerline goodness : 0.989531 Centerline is valid? [True, True] Translation: X:118.06, Y:122.30, Z:45.55 [[-3.33777465e-01 -9.42647249e-01 2.96122609e-03 1.18058879e+02] [ 9.40115206e-01 -3.33107925e-01 -7.22669322e-02 1.22302301e+02] [ 6.91086327e-02 -2.13371797e-02 9.97380931e-01 4.55475696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.790714057 meters Centerline goodness : 0.989059 Centerline is valid? [True, True] Translation: X:118.05, Y:122.30, Z:45.56 [[-3.34847092e-01 -9.41992013e-01 2.29885298e-02 1.18050437e+02] [ 9.39759912e-01 -3.35635275e-01 -6.48094956e-02 1.22304044e+02] [ 6.87657887e-02 -9.75724095e-05 9.97632827e-01 4.55558619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.82071405700003 meters Centerline goodness : 0.988713 Centerline is valid? [True, True] Translation: X:118.06, Y:122.30, Z:45.55 [[-3.35594549e-01 -9.41800173e-01 1.97163121e-02 1.18055402e+02] [ 9.39480042e-01 -3.36153045e-01 -6.61693407e-02 1.22300983e+02] [ 6.89459948e-02 -3.68298835e-03 9.97613595e-01 4.55541995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.850714057 meters Centerline goodness : 0.989526 Centerline is valid? [True, True] Translation: X:118.06, Y:122.31, Z:45.55 [[-3.38411221e-01 -9.40819571e-01 1.83406844e-02 1.18055035e+02] [ 9.38438786e-01 -3.38863213e-01 -6.71145795e-02 1.22312286e+02] [ 6.93576931e-02 -5.50071722e-03 9.97576690e-01 4.55545127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.88071405700003 meters Centerline goodness : 0.989107 Centerline is valid? [True, True] Translation: X:118.06, Y:122.30, Z:45.56 [[-3.35064004e-01 -9.41707362e-01 3.03208992e-02 1.18056175e+02] [ 9.40241416e-01 -3.36267417e-01 -5.35752131e-02 1.22298138e+02] [ 6.06481031e-02 1.05578398e-02 9.98103371e-01 4.55554346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.910714057 meters Centerline goodness : 0.989432 Centerline is valid? [True, True] Translation: X:118.06, Y:122.32, Z:45.55 [[-3.38351617e-01 -9.40979858e-01 8.66551611e-03 1.18058777e+02] [ 9.38623493e-01 -3.38132463e-01 -6.82083281e-02 1.22322021e+02] [ 6.71127551e-02 -1.49447411e-02 9.97633466e-01 4.55507408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.940714057 meters Centerline goodness : 0.988179 Centerline is valid? [True, True] Translation: X:118.06, Y:122.33, Z:45.56 [[-3.39900021e-01 -9.40285521e-01 1.81965772e-02 1.18055188e+02] [ 9.37875748e-01 -3.40335820e-01 -6.75322927e-02 1.22327205e+02] [ 6.96925840e-02 -5.88809928e-03 9.97551139e-01 4.55553674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.970714057 meters Centerline goodness : 0.990515 Centerline is valid? [True, True] Translation: X:118.05, Y:122.31, Z:45.56 [[-3.36376773e-01 -9.40809581e-01 4.15691957e-02 1.18048813e+02] [ 9.39136740e-01 -3.38396408e-01 -5.92457204e-02 1.22314446e+02] [ 6.98058080e-02 1.91102746e-02 9.97377535e-01 4.55620140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.000714057 meters Centerline goodness : 0.986922 Centerline is valid? [True, True] Translation: X:118.07, Y:122.32, Z:45.55 [[-3.44463613e-01 -9.38799380e-01 -7.37562387e-04 1.18069191e+02] [ 9.36305423e-01 -3.43491089e-01 -7.31165305e-02 1.22316768e+02] [ 6.83884074e-02 -2.58765680e-02 9.97323132e-01 4.55468281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.030714057 meters Centerline goodness : 0.990021 Centerline is valid? [True, True] Translation: X:118.05, Y:122.33, Z:45.56 [[-3.38017998e-01 -9.40298285e-01 3.97865274e-02 1.18046593e+02] [ 9.38414028e-01 -3.39952814e-01 -6.17348943e-02 1.22332701e+02] [ 7.15747572e-02 1.64687300e-02 9.97299271e-01 4.55617324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.060714057 meters Centerline goodness : 0.989375 Centerline is valid? [True, True] Translation: X:118.07, Y:122.33, Z:45.55 [[-3.39991880e-01 -9.40428369e-01 -6.98856748e-05 1.18067252e+02] [ 9.37893780e-01 -3.39070098e-01 -7.33943238e-02 1.22326458e+02] [ 6.89984081e-02 -2.50190194e-02 9.97302997e-01 4.55473565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.090714057 meters Centerline goodness : 0.991141 Centerline is valid? [True, True] Translation: X:118.05, Y:122.34, Z:45.56 [[-3.41655380e-01 -9.39368110e-01 2.93113429e-02 1.18050810e+02] [ 9.36490672e-01 -3.42902459e-01 -7.35059548e-02 1.22337978e+02] [ 7.91000814e-02 2.33609428e-03 9.96863943e-01 4.55619584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.120714057 meters Centerline goodness : 0.991611 Centerline is valid? [True, True] Translation: X:118.05, Y:122.35, Z:45.56 [[-3.55146875e-01 -9.34644342e-01 1.76253305e-02 1.18045244e+02] [ 9.31039257e-01 -3.55343135e-01 -8.30491274e-02 1.22352274e+02] [ 8.38844372e-02 -1.30847635e-02 9.96389578e-01 4.55620230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.150714057 meters Centerline goodness : 0.988906 Centerline is valid? [True, True] Translation: X:118.06, Y:122.35, Z:45.56 [[-3.45350931e-01 -9.38419007e-01 1.01243069e-02 1.18056048e+02] [ 9.35302580e-01 -3.45050081e-01 -7.84189111e-02 1.22348680e+02] [ 7.70831896e-02 -1.76127536e-02 9.96869085e-01 4.55573374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.180714057 meters Centerline goodness : 0.989437 Centerline is valid? [True, True] Translation: X:118.05, Y:122.36, Z:45.56 [[-3.48378359e-01 -9.37079563e-01 2.26806505e-02 1.18048746e+02] [ 9.33903193e-01 -3.49068523e-01 -7.73045408e-02 1.22360183e+02] [ 8.03576065e-02 -5.74969719e-03 9.96749515e-01 4.55641211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.210714057 meters Centerline goodness : 0.990677 Centerline is valid? [True, True] Translation: X:118.05, Y:122.36, Z:45.56 [[-3.49764548e-01 -9.36556844e-01 2.29355506e-02 1.18049378e+02] [ 9.33502454e-01 -3.50478867e-01 -7.57478261e-02 1.22359083e+02] [ 7.89805707e-02 -5.08351142e-03 9.96863194e-01 4.55637583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.240714057 meters Centerline goodness : 0.991977 Centerline is valid? [True, True] Translation: X:118.04, Y:122.37, Z:45.57 [[-3.51034234e-01 -9.35619415e-01 3.72998158e-02 1.18041136e+02] [ 9.32681225e-01 -3.52905444e-01 -7.45887342e-02 1.22367400e+02] [ 8.29499760e-02 8.60563869e-03 9.96516555e-01 4.55703968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.270714057 meters Centerline goodness : 0.992024 Centerline is valid? [True, True] Translation: X:118.05, Y:122.36, Z:45.56 [[-3.52517601e-01 -9.35420212e-01 2.68396791e-02 1.18048747e+02] [ 9.32441378e-01 -3.53535583e-01 -7.46034075e-02 1.22359993e+02] [ 7.92743168e-02 -1.27258689e-03 9.96852027e-01 4.55646306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.300714057 meters Centerline goodness : 0.992671 Centerline is valid? [True, True] Translation: X:118.05, Y:122.37, Z:45.56 [[-3.54032216e-01 -9.35019338e-01 2.00006778e-02 1.18047632e+02] [ 9.31766903e-01 -3.54478923e-01 -7.84546492e-02 1.22372450e+02] [ 8.04464329e-02 -9.13950372e-03 9.96717032e-01 4.55641304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.330714057 meters Centerline goodness : 0.991187 Centerline is valid? [True, True] Translation: X:118.05, Y:122.36, Z:45.56 [[-3.55095303e-01 -9.34745150e-01 1.26027983e-02 1.18054523e+02] [ 9.31785686e-01 -3.54993844e-01 -7.58604373e-02 1.22363943e+02] [ 7.53840917e-02 -1.51945779e-02 9.97038797e-01 4.55588878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.360714057 meters Centerline goodness : 0.992706 Centerline is valid? [True, True] Translation: X:118.04, Y:122.36, Z:45.57 [[-3.54109955e-01 -9.34537793e-01 3.52881489e-02 1.18044447e+02] [ 9.31854216e-01 -3.55781112e-01 -7.11865234e-02 1.22361683e+02] [ 7.90813533e-02 7.67555376e-03 9.96838616e-01 4.55683507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.390714057 meters Centerline goodness : 0.992709 Centerline is valid? [True, True] Translation: X:118.05, Y:122.37, Z:45.56 [[-3.54508126e-01 -9.34800794e-01 2.17132083e-02 1.18047507e+02] [ 9.31781977e-01 -3.55113370e-01 -7.53448224e-02 1.22371400e+02] [ 7.81430504e-02 -6.47837560e-03 9.96921107e-01 4.55635941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.420714057 meters Centerline goodness : 0.992001 Centerline is valid? [True, True] Translation: X:118.06, Y:122.36, Z:45.56 [[-3.54898793e-01 -9.34862954e-01 8.83760450e-03 1.18056194e+02] [ 9.31785214e-01 -3.54470369e-01 -7.82756165e-02 1.22362716e+02] [ 7.63096431e-02 -1.95451726e-02 9.96892584e-01 4.55577042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.450714057 meters Centerline goodness : 0.992906 Centerline is valid? [True, True] Translation: X:118.04, Y:122.36, Z:45.57 [[-3.53490362e-01 -9.34735315e-01 3.62553999e-02 1.18043726e+02] [ 9.32147749e-01 -3.55230233e-01 -7.00860564e-02 1.22361834e+02] [ 7.83909262e-02 9.02064396e-03 9.96881884e-01 4.55684683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.480714057 meters Centerline goodness : 0.992005 Centerline is valid? [True, True] Translation: X:118.05, Y:122.38, Z:45.56 [[-3.54892445e-01 -9.34875238e-01 7.72282721e-03 1.18051212e+02] [ 9.31841327e-01 -3.54385018e-01 -7.79935860e-02 1.22376678e+02] [ 7.56511265e-02 -2.04828849e-02 9.96923948e-01 4.55574269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.51071405700003 meters Centerline goodness : 0.991720 Centerline is valid? [True, True] Translation: X:118.05, Y:122.36, Z:45.56 [[-3.52307732e-01 -9.35563511e-01 2.44985674e-02 1.18048927e+02] [ 9.32928178e-01 -3.53153508e-01 -7.01969744e-02 1.22360665e+02] [ 7.43254828e-02 -1.87553303e-03 9.97232272e-01 4.55607315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.540714057 meters Centerline goodness : 0.992196 Centerline is valid? [True, True] Translation: X:118.05, Y:122.37, Z:45.56 [[-3.51830618e-01 -9.35826094e-01 2.10887973e-02 1.18047707e+02] [ 9.33191702e-01 -3.52425586e-01 -7.03523562e-02 1.22368123e+02] [ 7.32698025e-02 -5.07222233e-03 9.97299257e-01 4.55600612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.57071405700003 meters Centerline goodness : 0.992303 Centerline is valid? [True, True] Translation: X:118.04, Y:122.38, Z:45.56 [[-3.51622663e-01 -9.35922247e-01 2.02743706e-02 1.18044794e+02] [ 9.33386458e-01 -3.52165922e-01 -6.90571015e-02 1.22376330e+02] [ 7.17720200e-02 -5.35821900e-03 9.97406671e-01 4.55594174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.600714057 meters Centerline goodness : 0.992109 Centerline is valid? [True, True] Translation: X:118.04, Y:122.38, Z:45.56 [[-3.49122014e-01 -9.36613653e-01 2.94734608e-02 1.18036345e+02] [ 9.34301939e-01 -3.50334710e-01 -6.59202407e-02 1.22383671e+02] [ 7.20673738e-02 4.52290441e-03 9.97389511e-01 4.55630585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.63071405700003 meters Centerline goodness : 0.991498 Centerline is valid? [True, True] Translation: X:118.04, Y:122.38, Z:45.56 [[-3.48429078e-01 -9.37171541e-01 1.75122927e-02 1.18040328e+02] [ 9.34913377e-01 -3.48810343e-01 -6.53324039e-02 1.22384414e+02] [ 6.73361384e-02 -6.39123254e-03 9.97709876e-01 4.55575992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.660714057 meters Centerline goodness : 0.992754 Centerline is valid? [True, True] Translation: X:118.04, Y:122.37, Z:45.56 [[-3.46508415e-01 -9.37729612e-01 2.43945421e-02 1.18040637e+02] [ 9.35796591e-01 -3.47360499e-01 -6.02115045e-02 1.22370307e+02] [ 6.49358110e-02 1.96453636e-03 9.97887509e-01 4.55589320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.690714057 meters Centerline goodness : 0.992172 Centerline is valid? [True, True] Translation: X:118.04, Y:122.38, Z:45.56 [[-3.46736635e-01 -9.37827498e-01 1.59150509e-02 1.18041886e+02] [ 9.35992032e-01 -3.47057660e-01 -5.89058228e-02 1.22375681e+02] [ 6.07669407e-02 -5.52844599e-03 9.98136672e-01 4.55562754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.720714057 meters Centerline goodness : 0.991027 Centerline is valid? [True, True] Translation: X:118.04, Y:122.38, Z:45.56 [[-3.46544467e-01 -9.37905470e-01 1.55003600e-02 1.18040814e+02] [ 9.36199650e-01 -3.46852506e-01 -5.67763623e-02 1.22376499e+02] [ 5.86271995e-02 -5.16410267e-03 9.98266589e-01 4.55557358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.750714057 meters Centerline goodness : 0.990891 Centerline is valid? [True, True] Translation: X:118.04, Y:122.39, Z:45.56 [[-3.47411327e-01 -9.37565259e-01 1.66359288e-02 1.18035723e+02] [ 9.35926689e-01 -3.47789491e-01 -5.55310896e-02 1.22391284e+02] [ 5.78498216e-02 -3.72211978e-03 9.98318358e-01 4.55568087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.780714057 meters Centerline goodness : 0.989817 Centerline is valid? [True, True] Translation: X:118.03, Y:122.39, Z:45.56 [[-3.49779918e-01 -9.36704425e-01 1.54541097e-02 1.18033821e+02] [ 9.34955809e-01 -3.50075412e-01 -5.74877509e-02 1.22394573e+02] [ 5.92591344e-02 -5.65915110e-03 9.98226592e-01 4.55555855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.810714057 meters Centerline goodness : 0.990157 Centerline is valid? [True, True] Translation: X:118.03, Y:122.39, Z:45.56 [[-3.49549111e-01 -9.36676330e-01 2.12807844e-02 1.18032640e+02] [ 9.35120308e-01 -3.50194785e-01 -5.39779747e-02 1.22388492e+02] [ 5.80123110e-02 1.03214060e-03 9.98315334e-01 4.55559977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.840714057 meters Centerline goodness : 0.990732 Centerline is valid? [True, True] Translation: X:118.04, Y:122.40, Z:45.55 [[-3.54191126e-01 -9.35148177e-01 6.82147861e-03 1.18035544e+02] [ 9.33059567e-01 -3.53871382e-01 -6.46133827e-02 1.22396612e+02] [ 6.28370131e-02 -1.65206409e-02 9.97887057e-01 4.55532339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.870714057 meters Centerline goodness : 0.990739 Centerline is valid? [True, True] Translation: X:118.03, Y:122.40, Z:45.56 [[-3.54788285e-01 -9.34710803e-01 2.09997042e-02 1.18028333e+02] [ 9.32809737e-01 -3.55405806e-01 -5.96046018e-02 1.22395110e+02] [ 6.31764820e-02 -1.55828587e-03 9.98001154e-01 4.55583687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.900714057 meters Centerline goodness : 0.990772 Centerline is valid? [True, True] Translation: X:118.02, Y:122.42, Z:45.56 [[-3.58708143e-01 -9.33378552e-01 1.15302507e-02 1.18024208e+02] [ 9.31113371e-01 -3.58656420e-01 -6.62832030e-02 1.22418653e+02] [ 6.60027185e-02 -1.30403541e-02 9.97734228e-01 4.55577064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.930714057 meters Centerline goodness : 0.990703 Centerline is valid? [True, True] Translation: X:118.02, Y:122.41, Z:45.56 [[-3.58336341e-01 -9.33355070e-01 2.10565697e-02 1.18022690e+02] [ 9.31337877e-01 -3.58946563e-01 -6.13769050e-02 1.22405650e+02] [ 6.48446288e-02 -2.38279464e-03 9.97892528e-01 4.55600123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.960714057 meters Centerline goodness : 0.990441 Centerline is valid? [True, True] Translation: X:118.02, Y:122.42, Z:45.56 [[-3.60533866e-01 -9.32637410e-01 1.42405556e-02 1.18017881e+02] [ 9.30314272e-01 -3.60653719e-01 -6.66652118e-02 1.22423582e+02] [ 6.73103798e-02 -1.07868744e-02 9.97673772e-01 4.55597155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.990714057 meters Centerline goodness : 0.990759 Centerline is valid? [True, True] Translation: X:118.02, Y:122.41, Z:45.56 [[-3.61050638e-01 -9.32255244e-01 2.32937167e-02 1.18017170e+02] [ 9.30094607e-01 -3.61799141e-01 -6.34460655e-02 1.22409010e+02] [ 6.75755739e-02 -1.24188217e-03 9.97713385e-01 4.55632282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.020714057 meters Centerline goodness : 0.990690 Centerline is valid? [True, True] Translation: X:118.01, Y:122.42, Z:45.56 [[-3.61835497e-01 -9.32025930e-01 2.00683421e-02 1.18014481e+02] [ 9.29704089e-01 -3.62354190e-01 -6.59526129e-02 1.22415606e+02] [ 6.87413933e-02 -5.20637678e-03 9.97620927e-01 4.55637525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.050714057 meters Centerline goodness : 0.990888 Centerline is valid? [True, True] Translation: X:118.02, Y:122.42, Z:45.56 [[-3.61658890e-01 -9.32223894e-01 1.27066612e-02 1.18016274e+02] [ 9.29862428e-01 -3.61662775e-01 -6.74974263e-02 1.22415240e+02] [ 6.75182399e-02 -1.25955974e-02 9.97638531e-01 4.55607417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.080714057 meters Centerline goodness : 0.988745 Centerline is valid? [True, True] Translation: X:118.01, Y:122.42, Z:45.56 [[-3.62082013e-01 -9.32017824e-01 1.54722866e-02 1.18013338e+02] [ 9.29729000e-01 -3.62287907e-01 -6.59655899e-02 1.22415957e+02] [ 6.70865279e-02 -9.49992001e-03 9.97701934e-01 4.55619810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.110714057 meters Centerline goodness : 0.990300 Centerline is valid? [True, True] Translation: X:118.01, Y:122.43, Z:45.56 [[-3.62700183e-01 -9.31741557e-01 1.74999420e-02 1.18008498e+02] [ 9.29356274e-01 -3.63032227e-01 -6.71157068e-02 1.22425080e+02] [ 6.88875360e-02 -8.07919829e-03 9.97591717e-01 4.55638778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.140714057 meters Centerline goodness : 0.990547 Centerline is valid? [True, True] Translation: X:118.00, Y:122.43, Z:45.57 [[-3.62107434e-01 -9.31858612e-01 2.27537372e-02 1.18004319e+02] [ 9.29653750e-01 -3.62815784e-01 -6.40984485e-02 1.22426924e+02] [ 6.79861063e-02 -2.05742756e-03 9.97684147e-01 4.55654101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.170714057 meters Centerline goodness : 0.990339 Centerline is valid? [True, True] Translation: X:118.00, Y:122.43, Z:45.56 [[-3.61992660e-01 -9.31983080e-01 1.92055275e-02 1.18003366e+02] [ 9.29534359e-01 -3.62439702e-01 -6.78479003e-02 1.22432189e+02] [ 7.01939407e-02 -6.70824413e-03 9.97510807e-01 4.55640321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.200714057 meters Centerline goodness : 0.991867 Centerline is valid? [True, True] Translation: X:118.00, Y:122.42, Z:45.57 [[-3.61392333e-01 -9.31863271e-01 3.20378907e-02 1.17998903e+02] [ 9.29622299e-01 -3.62754431e-01 -6.48968680e-02 1.22423187e+02] [ 7.20968944e-02 6.32990709e-03 9.97377546e-01 4.55686484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.230714057 meters Centerline goodness : 0.990458 Centerline is valid? [True, True] Translation: X:118.00, Y:122.44, Z:45.56 [[-3.63358509e-01 -9.31618402e-01 7.59912138e-03 1.18003418e+02] [ 9.28881461e-01 -3.62895200e-01 -7.40696001e-02 1.22443829e+02] [ 7.17622872e-02 -1.98551365e-02 9.97224121e-01 4.55607137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.26071405700003 meters Centerline goodness : 0.991253 Centerline is valid? [True, True] Translation: X:118.00, Y:122.43, Z:45.57 [[-3.63400313e-01 -9.31408124e-01 2.04723874e-02 1.18000970e+02] [ 9.28615241e-01 -3.63902990e-01 -7.24454796e-02 1.22430017e+02] [ 7.49262712e-02 -7.31573905e-03 9.97162241e-01 4.55655479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.290714057 meters Centerline goodness : 0.990188 Centerline is valid? [True, True] Translation: X:118.00, Y:122.44, Z:45.57 [[-3.64183115e-01 -9.31141063e-01 1.86273923e-02 1.17996688e+02] [ 9.28559899e-01 -3.64569049e-01 -6.97561624e-02 1.22444932e+02] [ 7.17437979e-02 -8.10736700e-03 9.97390143e-01 4.55660501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.32071405700003 meters Centerline goodness : 0.990370 Centerline is valid? [True, True] Translation: X:118.00, Y:122.44, Z:45.57 [[-3.63708435e-01 -9.31282600e-01 2.07097591e-02 1.17997924e+02] [ 9.28614946e-01 -3.64239643e-01 -7.07372966e-02 1.22438400e+02] [ 7.34197287e-02 -6.49635967e-03 9.97279971e-01 4.55657441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.350714057 meters Centerline goodness : 0.989995 Centerline is valid? [True, True] Translation: X:118.00, Y:122.44, Z:45.57 [[-3.63434289e-01 -9.31335535e-01 2.30138692e-02 1.17995431e+02] [ 9.28441385e-01 -3.64122656e-01 -7.35614527e-02 1.22438979e+02] [ 7.68902661e-02 -5.36772565e-03 9.97025112e-01 4.55670676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.38071405700003 meters Centerline goodness : 0.991790 Centerline is valid? [True, True] Translation: X:118.01, Y:122.41, Z:45.56 [[-3.59520933e-01 -9.33008291e-01 1.54992528e-02 1.18007701e+02] [ 9.29862143e-01 -3.59600108e-01 -7.77441753e-02 1.22407301e+02] [ 7.81094931e-02 -1.35384901e-02 9.96852856e-01 4.55613554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.410714057 meters Centerline goodness : 0.990431 Centerline is valid? [True, True] Translation: X:117.99, Y:122.45, Z:45.57 [[-3.62477519e-01 -9.31725149e-01 2.23225031e-02 1.17991441e+02] [ 9.28588850e-01 -3.63095240e-01 -7.67111094e-02 1.22449635e+02] [ 7.95788645e-02 -7.07762512e-03 9.96803447e-01 4.55685797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.440714057 meters Centerline goodness : 0.989306 Centerline is valid? [True, True] Translation: X:117.99, Y:122.44, Z:45.57 [[-3.61179758e-01 -9.32042050e-01 2.90998196e-02 1.17990528e+02] [ 9.29470189e-01 -3.62344356e-01 -6.92223689e-02 1.22439743e+02] [ 7.50623140e-02 2.04569634e-03 9.97176747e-01 4.55700327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.470714057 meters Centerline goodness : 0.990953 Centerline is valid? [True, True] Translation: X:117.99, Y:122.45, Z:45.57 [[-3.59687216e-01 -9.32813219e-01 2.20137577e-02 1.17989353e+02] [ 9.29700358e-01 -3.60291497e-01 -7.64675148e-02 1.22446424e+02] [ 7.92612784e-02 -7.03818910e-03 9.96829029e-01 4.55690565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.500714057 meters Centerline goodness : 0.989297 Centerline is valid? [True, True] Translation: X:118.00, Y:122.44, Z:45.56 [[-3.60443849e-01 -9.32756893e-01 6.69406517e-03 1.17998062e+02] [ 9.29555200e-01 -3.59784435e-01 -8.05126759e-02 1.22438987e+02] [ 7.75071739e-02 -2.27977957e-02 9.96731106e-01 4.55622958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.530714057 meters Centerline goodness : 0.991941 Centerline is valid? [True, True] Translation: X:117.98, Y:122.44, Z:45.58 [[-3.59031415e-01 -9.32678211e-01 3.47533742e-02 1.17983390e+02] [ 9.29723168e-01 -3.60666037e-01 -7.43965130e-02 1.22442584e+02] [ 8.19223684e-02 5.60033180e-03 9.96622979e-01 4.55753384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.560714057 meters Centerline goodness : 0.990373 Centerline is valid? [True, True] Translation: X:117.99, Y:122.45, Z:45.57 [[-3.59904210e-01 -9.32755950e-01 2.08637706e-02 1.17985892e+02] [ 9.29356145e-01 -3.60384628e-01 -8.01253680e-02 1.22452934e+02] [ 8.22563960e-02 -9.44758379e-03 9.96566420e-01 4.55709789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.590714057 meters Centerline goodness : 0.989211 Centerline is valid? [True, True] Translation: X:117.99, Y:122.45, Z:45.57 [[-3.60892547e-01 -9.32555762e-01 9.81426542e-03 1.17991802e+02] [ 9.29038279e-01 -3.60411282e-01 -8.36156909e-02 1.22450715e+02] [ 8.15134664e-02 -2.10584514e-02 9.96449746e-01 4.55657890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.620714057 meters Centerline goodness : 0.989211 Centerline is valid? [True, True] Translation: X:117.99, Y:122.45, Z:45.57 [[-3.60338957e-01 -9.32522651e-01 2.36080848e-02 1.17985506e+02] [ 9.29155683e-01 -3.61049419e-01 -7.94545990e-02 1.22451185e+02] [ 8.26168986e-02 -6.69500116e-03 9.96558892e-01 4.55718153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.650714057 meters Centerline goodness : 0.990274 Centerline is valid? [True, True] Translation: X:117.98, Y:122.45, Z:45.58 [[-3.59819119e-01 -9.32464463e-01 3.22525603e-02 1.17980599e+02] [ 9.29007784e-01 -3.61260048e-01 -8.02229086e-02 1.22451245e+02] [ 8.64565728e-02 1.09714330e-03 9.96255016e-01 4.55768261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.680714057 meters Centerline goodness : 0.989433 Centerline is valid? [True, True] Translation: X:117.99, Y:122.46, Z:45.57 [[-3.61188076e-01 -9.32411437e-01 1.23323474e-02 1.17987411e+02] [ 9.28571764e-01 -3.60849353e-01 -8.68459777e-02 1.22455579e+02] [ 8.54263024e-02 -1.99162620e-02 9.96145416e-01 4.55685824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.710714057 meters Centerline goodness : 0.991587 Centerline is valid? [True, True] Translation: X:117.97, Y:122.46, Z:45.58 [[-3.59705478e-01 -9.32423574e-01 3.46157244e-02 1.17974946e+02] [ 9.28899747e-01 -3.61354759e-01 -8.10431839e-02 1.22460985e+02] [ 8.80751319e-02 3.00286043e-03 9.96109308e-01 4.55792947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.740714057 meters Centerline goodness : 0.989914 Centerline is valid? [True, True] Translation: X:117.99, Y:122.45, Z:45.57 [[-3.61163206e-01 -9.32451174e-01 9.79524664e-03 1.17988201e+02] [ 9.28657308e-01 -3.60607009e-01 -8.69378486e-02 1.22452061e+02] [ 8.45975335e-02 -2.23023248e-02 9.96165580e-01 4.55694675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.770714057 meters Centerline goodness : 0.989694 Centerline is valid? [True, True] Translation: X:117.98, Y:122.45, Z:45.58 [[-3.60592254e-01 -9.32397543e-01 2.46586286e-02 1.17982171e+02] [ 9.28890901e-01 -3.61379212e-01 -8.10355453e-02 1.22449343e+02] [ 8.44684591e-02 -6.31561423e-03 9.96406138e-01 4.55764460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.800714057 meters Centerline goodness : 0.989316 Centerline is valid? [True, True] Translation: X:117.98, Y:122.45, Z:45.58 [[-3.61018923e-01 -9.32249683e-01 2.39972165e-02 1.17983080e+02] [ 9.28375452e-01 -3.61715101e-01 -8.53299771e-02 1.22445955e+02] [ 8.82289996e-02 -8.52730972e-03 9.96063717e-01 4.55762756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.830714057 meters Centerline goodness : 0.988892 Centerline is valid? [True, True] Translation: X:117.98, Y:122.44, Z:45.58 [[-3.61240625e-01 -9.32161519e-01 2.40855435e-02 1.17983520e+02] [ 9.28478170e-01 -3.61961414e-01 -8.31397734e-02 1.22443542e+02] [ 8.62177348e-02 -7.67056237e-03 9.96246789e-01 4.55768411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.860714057 meters Centerline goodness : 0.989146 Centerline is valid? [True, True] Translation: X:117.97, Y:122.47, Z:45.58 [[-3.61492106e-01 -9.31843570e-01 3.14804546e-02 1.17973784e+02] [ 9.28787258e-01 -3.62854907e-01 -7.54357019e-02 1.22466601e+02] [ 8.17171112e-02 1.96923442e-03 9.96653619e-01 4.55794308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.890714057 meters Centerline goodness : 0.991479 Centerline is valid? [True, True] Translation: X:117.97, Y:122.48, Z:45.58 [[-3.61858393e-01 -9.31694706e-01 3.16777359e-02 1.17971489e+02] [ 9.28256014e-01 -3.63242011e-01 -7.99750820e-02 1.22476108e+02] [ 8.60190450e-02 4.65394263e-04 9.96293384e-01 4.55799742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.920714057 meters Centerline goodness : 0.988001 Centerline is valid? [True, True] Translation: X:117.98, Y:122.45, Z:45.58 [[-3.64664192e-01 -9.30672989e-01 2.94587052e-02 1.17982808e+02] [ 9.28014161e-01 -3.65848212e-01 -7.03192890e-02 1.22445657e+02] [ 7.62216775e-02 1.69516888e-03 9.97089456e-01 4.55766933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.950714057 meters Centerline goodness : 0.992509 Centerline is valid? [True, True] Translation: X:117.98, Y:122.46, Z:45.57 [[-3.61285432e-01 -9.32125631e-01 2.47920248e-02 1.17983692e+02] [ 9.29163873e-01 -3.62114876e-01 -7.43459080e-02 1.22456019e+02] [ 7.82772874e-02 -3.82423975e-03 9.96924291e-01 4.55714814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.980714057 meters Centerline goodness : 0.992538 Centerline is valid? [True, True] Translation: X:117.98, Y:122.47, Z:45.57 [[-3.65408421e-01 -9.30692871e-01 1.69547905e-02 1.17984546e+02] [ 9.27448620e-01 -3.65568920e-01 -7.87300547e-02 1.22471152e+02] [ 7.94716451e-02 -1.30439279e-02 9.96751781e-01 4.55695255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.01071405700003 meters Centerline goodness : 0.992391 Centerline is valid? [True, True] Translation: X:117.98, Y:122.49, Z:45.57 [[-3.68092174e-01 -9.29747243e-01 8.84394553e-03 1.17983835e+02] [ 9.26863950e-01 -3.67671394e-01 -7.57691490e-02 1.22492442e+02] [ 7.36978232e-02 -1.96928965e-02 9.97086165e-01 4.55681111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.040714057 meters Centerline goodness : 0.992416 Centerline is valid? [True, True] Translation: X:117.97, Y:122.49, Z:45.58 [[-3.68981967e-01 -9.28785676e-01 3.47775109e-02 1.17974952e+02] [ 9.26122181e-01 -3.70565866e-01 -7.05595131e-02 1.22493856e+02] [ 7.84220236e-02 6.17303626e-03 9.96901138e-01 4.55785050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.07071405700003 meters Centerline goodness : 0.991671 Centerline is valid? [True, True] Translation: X:117.99, Y:122.48, Z:45.57 [[-3.69997240e-01 -9.28987568e-01 9.17281467e-03 1.17992127e+02] [ 9.26185614e-01 -3.69617730e-01 -7.45851338e-02 1.22478934e+02] [ 7.26790970e-02 -1.91005646e-02 9.97172461e-01 4.55666892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.100714057 meters Centerline goodness : 0.992957 Centerline is valid? [True, True] Translation: X:117.98, Y:122.49, Z:45.58 [[-3.69191234e-01 -9.28868184e-01 3.00288080e-02 1.17980595e+02] [ 9.26117778e-01 -3.70407667e-01 -7.14424336e-02 1.22494237e+02] [ 7.74835043e-02 1.43429277e-03 9.96992603e-01 4.55763216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.13071405700003 meters Centerline goodness : 0.991288 Centerline is valid? [True, True] Translation: X:118.00, Y:122.48, Z:45.57 [[-3.68697734e-01 -9.29512340e-01 8.29405056e-03 1.17996051e+02] [ 9.26606570e-01 -3.68225305e-01 -7.62259058e-02 1.22481357e+02] [ 7.39069993e-02 -2.04189970e-02 9.97056077e-01 4.55681604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.160714057 meters Centerline goodness : 0.992460 Centerline is valid? [True, True] Translation: X:117.98, Y:122.49, Z:45.58 [[-3.65871981e-01 -9.30192170e-01 2.96685142e-02 1.17983588e+02] [ 9.27295005e-01 -3.67072306e-01 -7.33614040e-02 1.22492334e+02] [ 7.91306934e-02 6.70582787e-04 9.96864025e-01 4.55780203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.190714057 meters Centerline goodness : 0.990337 Centerline is valid? [True, True] Translation: X:118.00, Y:122.48, Z:45.57 [[-3.65128041e-01 -9.30905675e-01 9.80499078e-03 1.17997365e+02] [ 9.27966545e-01 -3.64778403e-01 -7.62548877e-02 1.22483602e+02] [ 7.45627566e-02 -1.87440944e-02 9.97040147e-01 4.55697669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.220714057 meters Centerline goodness : 0.991604 Centerline is valid? [True, True] Translation: X:117.98, Y:122.51, Z:45.58 [[-3.61754462e-01 -9.31705835e-01 3.25260726e-02 1.17981007e+02] [ 9.28987440e-01 -3.63186645e-01 -7.12586617e-02 1.22505697e+02] [ 7.82051461e-02 4.43817407e-03 9.96927408e-01 4.55798625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.250714057 meters Centerline goodness : 0.992132 Centerline is valid? [True, True] Translation: X:117.99, Y:122.50, Z:45.57 [[-3.58756283e-01 -9.33153848e-01 2.27557535e-02 1.17987921e+02] [ 9.30380395e-01 -3.59446858e-01 -7.20435811e-02 1.22497448e+02] [ 7.54072290e-02 -4.67458046e-03 9.97141865e-01 4.55745647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.280714057 meters Centerline goodness : 0.990878 Centerline is valid? [True, True] Translation: X:117.99, Y:122.50, Z:45.57 [[-3.53467455e-01 -9.35057109e-01 2.69992901e-02 1.17985402e+02] [ 9.32755696e-01 -3.54491481e-01 -6.55942126e-02 1.22503481e+02] [ 7.09053531e-02 1.99832219e-03 9.97481046e-01 4.55749763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.310714057 meters Centerline goodness : 0.990767 Centerline is valid? [True, True] Translation: X:117.99, Y:122.49, Z:45.57 [[-3.50703996e-01 -9.36317062e-01 1.78063754e-02 1.17993438e+02] [ 9.33919156e-01 -3.51086303e-01 -6.73306637e-02 1.22493406e+02] [ 6.92944237e-02 -6.98341777e-03 9.97571809e-01 4.55695133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.340714057 meters Centerline goodness : 0.991305 Centerline is valid? [True, True] Translation: X:117.99, Y:122.51, Z:45.57 [[-3.46142298e-01 -9.37851253e-01 2.49105989e-02 1.17986561e+02] [ 9.35896151e-01 -3.47029563e-01 -6.05712594e-02 1.22511199e+02] [ 6.54515458e-02 2.34745873e-03 9.97852987e-01 4.55708127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.370714057 meters Centerline goodness : 0.990131 Centerline is valid? [True, True] Translation: X:117.99, Y:122.50, Z:45.57 [[-3.42967994e-01 -9.39175320e-01 1.79631297e-02 1.17992980e+02] [ 9.37136868e-01 -3.43409498e-01 -6.20032827e-02 1.22500567e+02] [ 6.44006621e-02 -4.43123042e-03 9.97914284e-01 4.55673038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.400714057 meters Centerline goodness : 0.990987 Centerline is valid? [True, True] Translation: X:117.99, Y:122.51, Z:45.57 [[-3.42012414e-01 -9.39601263e-01 1.33032240e-02 1.17993122e+02] [ 9.37369917e-01 -3.42127191e-01 -6.54723120e-02 1.22506384e+02] [ 6.60692617e-02 -9.92230155e-03 9.97765704e-01 4.55665180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.430714057 meters Centerline goodness : 0.989382 Centerline is valid? [True, True] Translation: X:117.99, Y:122.54, Z:45.56 [[-3.40631793e-01 -9.40163312e-01 7.93271698e-03 1.17986802e+02] [ 9.38228974e-01 -3.40452359e-01 -6.17946952e-02 1.22538120e+02] [ 6.07978175e-02 -1.36065329e-02 9.98057357e-01 4.55642592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.460714057 meters Centerline goodness : 0.990543 Centerline is valid? [True, True] Translation: X:117.98, Y:122.51, Z:45.57 [[-3.37917160e-01 -9.40624447e-01 3.22124705e-02 1.17983572e+02] [ 9.39023045e-01 -3.39260292e-01 -5.60194155e-02 1.22511436e+02] [ 6.36216438e-02 1.13183304e-02 9.97909907e-01 4.55733576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.490714057 meters Centerline goodness : 0.990113 Centerline is valid? [True, True] Translation: X:117.99, Y:122.52, Z:45.57 [[-3.35651598e-01 -9.41836085e-01 1.68164944e-02 1.17988309e+02] [ 9.40077667e-01 -3.36053991e-01 -5.76341553e-02 1.22519669e+02] [ 5.99331773e-02 -3.53618546e-03 9.98196128e-01 4.55668005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.520714057 meters Centerline goodness : 0.989356 Centerline is valid? [True, True] Translation: X:117.99, Y:122.52, Z:45.57 [[-3.31820946e-01 -9.43084693e-01 2.20481501e-02 1.17986762e+02] [ 9.41800831e-01 -3.32523835e-01 -4.93871967e-02 1.22515320e+02] [ 5.39078447e-02 4.37725976e-03 9.98536321e-01 4.55664522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.550714057 meters Centerline goodness : 0.989480 Centerline is valid? [True, True] Translation: X:117.99, Y:122.52, Z:45.57 [[-3.31063031e-01 -9.43566780e-01 8.88821080e-03 1.17989425e+02] [ 9.41748087e-01 -3.30986821e-01 -5.96512042e-02 1.22518694e+02] [ 5.92267753e-02 -1.13778530e-02 9.98179710e-01 4.55655970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.580714057 meters Centerline goodness : 0.990045 Centerline is valid? [True, True] Translation: X:117.99, Y:122.51, Z:45.57 [[-3.31017883e-01 -9.43590732e-01 7.98069477e-03 1.17991569e+02] [ 9.41690432e-01 -3.30868828e-01 -6.11959933e-02 1.22510007e+02] [ 6.03845352e-02 -1.27416243e-02 9.98093863e-01 4.55658981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.610714057 meters Centerline goodness : 0.990531 Centerline is valid? [True, True] Translation: X:117.99, Y:122.51, Z:45.57 [[-3.29257991e-01 -9.44138637e-01 1.38350581e-02 1.17988154e+02] [ 9.42179826e-01 -3.29471696e-01 -6.12011161e-02 1.22512251e+02] [ 6.23405984e-02 -7.11584390e-03 9.98029566e-01 4.55700024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.640714057 meters Centerline goodness : 0.988959 Centerline is valid? [True, True] Translation: X:118.00, Y:122.51, Z:45.56 [[-3.29790542e-01 -9.44053261e-01 -1.28030121e-03 1.17996979e+02] [ 9.41951074e-01 -3.28965098e-01 -6.71575643e-02 1.22507235e+02] [ 6.29791432e-02 -2.33539106e-02 9.97741561e-01 4.55635915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.670714057 meters Centerline goodness : 0.991090 Centerline is valid? [True, True] Translation: X:117.98, Y:122.51, Z:45.58 [[-3.27488057e-01 -9.44352524e-01 3.08201568e-02 1.17983074e+02] [ 9.42532711e-01 -3.28794916e-01 -5.93800697e-02 1.22506841e+02] [ 6.62092296e-02 9.60274226e-03 9.97759553e-01 4.55770275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.700714057 meters Centerline goodness : 0.991934 Centerline is valid? [True, True] Translation: X:117.99, Y:122.49, Z:45.57 [[-3.17069089e-01 -9.47849318e-01 3.23861622e-02 1.17989137e+02] [ 9.46874161e-01 -3.18311348e-01 -4.59043453e-02 1.22491108e+02] [ 5.38192853e-02 1.61107712e-02 9.98420717e-01 4.55698518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.730714057 meters Centerline goodness : 0.990272 Centerline is valid? [True, True] Translation: X:118.00, Y:122.49, Z:45.56 [[-3.18882417e-01 -9.47794283e-01 -3.06414870e-05 1.18002145e+02] [ 9.45892340e-01 -3.18240467e-01 -6.33299717e-02 1.22492842e+02] [ 6.00140337e-02 -2.02237980e-02 9.97992642e-01 4.55607823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.76071405700003 meters Centerline goodness : 0.991026 Centerline is valid? [True, True] Translation: X:117.99, Y:122.50, Z:45.57 [[-3.17728658e-01 -9.48073034e-01 1.43534911e-02 1.17994240e+02] [ 9.46099608e-01 -3.17997283e-01 -6.14268638e-02 1.22498211e+02] [ 6.28015242e-02 -5.93724271e-03 9.98008376e-01 4.55687972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.790714057 meters Centerline goodness : 0.991647 Centerline is valid? [True, True] Translation: X:117.99, Y:122.49, Z:45.57 [[-3.17233501e-01 -9.48194301e-01 1.70433068e-02 1.17993859e+02] [ 9.46169118e-01 -3.17671097e-01 -6.20409086e-02 1.22494381e+02] [ 6.42410019e-02 -3.55560408e-03 9.97928079e-01 4.55705254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.82071405700003 meters Centerline goodness : 0.990414 Centerline is valid? [True, True] Translation: X:118.00, Y:122.49, Z:45.56 [[-3.12958171e-01 -9.49759615e-01 3.72242116e-03 1.18002388e+02] [ 9.48147864e-01 -3.12651028e-01 -5.71398447e-02 1.22492265e+02] [ 5.54329357e-02 -1.43529756e-02 9.98359245e-01 4.55629004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.850714057 meters Centerline goodness : 0.990080 Centerline is valid? [True, True] Translation: X:118.00, Y:122.50, Z:45.57 [[-3.13887386e-01 -9.49425671e-01 8.09969042e-03 1.18000085e+02] [ 9.47443305e-01 -3.13764958e-01 -6.24718692e-02 1.22496527e+02] [ 6.18537953e-02 -1.19351342e-02 9.98013858e-01 4.55666845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.88071405700003 meters Centerline goodness : 0.988632 Centerline is valid? [True, True] Translation: X:117.99, Y:122.50, Z:45.57 [[-3.14357988e-01 -9.49156317e-01 1.67732417e-02 1.17994989e+02] [ 9.47178937e-01 -3.14786880e-01 -6.13292903e-02 1.22503026e+02] [ 6.34910797e-02 -3.39209105e-03 9.97976641e-01 4.55727555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.910714057 meters Centerline goodness : 0.990619 Centerline is valid? [True, True] Translation: X:117.99, Y:122.51, Z:45.58 [[-3.14401087e-01 -9.48882204e-01 2.78301770e-02 1.17989866e+02] [ 9.46840925e-01 -3.15559717e-01 -6.25645872e-02 1.22509811e+02] [ 6.81485061e-02 6.68037635e-03 9.97652822e-01 4.55784958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.940714057 meters Centerline goodness : 0.988869 Centerline is valid? [True, True] Translation: X:117.99, Y:122.51, Z:45.57 [[-3.08587125e-01 -9.50870309e-01 2.48926106e-02 1.17994370e+02] [ 9.50193667e-01 -3.09357474e-01 -3.78146586e-02 1.22506244e+02] [ 4.36575513e-02 1.19836842e-02 9.98974679e-01 4.55682721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.970714057 meters Centerline goodness : 0.989043 Centerline is valid? [True, True] Translation: X:118.00, Y:122.52, Z:45.56 [[-3.08144954e-01 -9.51283018e-01 1.03589128e-02 1.17997611e+02] [ 9.50405316e-01 -3.08306552e-01 -4.09488099e-02 1.22517829e+02] [ 4.21476281e-02 -2.77300335e-03 9.99107546e-01 4.55627518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.000714057 meters Centerline goodness : 0.990488 Centerline is valid? [True, True] Translation: X:118.00, Y:122.51, Z:45.57 [[-3.08593319e-01 -9.51004417e-01 1.89937514e-02 1.17995184e+02] [ 9.50357046e-01 -3.09097812e-01 -3.57774926e-02 1.22514083e+02] [ 3.98954805e-02 7.01015027e-03 9.99179267e-01 4.55653492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.030714057 meters Centerline goodness : 0.991731 Centerline is valid? [True, True] Translation: X:117.99, Y:122.53, Z:45.57 [[-3.11086334e-01 -9.50041340e-01 2.54311835e-02 1.17988166e+02] [ 9.49169324e-01 -3.11929411e-01 -4.21620388e-02 1.22527765e+02] [ 4.79884139e-02 1.10224652e-02 9.98787073e-01 4.55691364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.060714057 meters Centerline goodness : 0.990191 Centerline is valid? [True, True] Translation: X:118.01, Y:122.55, Z:45.55 [[-3.18816048e-01 -9.47437081e-01 -2.68198808e-02 1.18005199e+02] [ 9.46246315e-01 -3.16532242e-01 -6.65225619e-02 1.22551288e+02] [ 5.45365848e-02 -4.65866737e-02 9.97424405e-01 4.55546689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.090714057 meters Centerline goodness : 0.990180 Centerline is valid? [True, True] Translation: X:117.98, Y:122.54, Z:45.57 [[-3.16080979e-01 -9.48189902e-01 3.20737405e-02 1.17982846e+02] [ 9.47650327e-01 -3.17154112e-01 -3.70422452e-02 1.22536033e+02] [ 4.52954015e-02 1.86863415e-02 9.98798852e-01 4.55725142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.120714057 meters Centerline goodness : 0.988804 Centerline is valid? [True, True] Translation: X:118.00, Y:122.55, Z:45.56 [[-3.25057945e-01 -9.45688413e-01 -3.27999200e-03 1.17997499e+02] [ 9.44084503e-01 -3.24300464e-01 -5.94446027e-02 1.22546407e+02] [ 5.51523691e-02 -2.24195300e-02 9.98226217e-01 4.55637632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.150714057 meters Centerline goodness : 0.990231 Centerline is valid? [True, True] Translation: X:117.99, Y:122.55, Z:45.57 [[-3.24385800e-01 -9.45786649e-01 1.61699450e-02 1.17989233e+02] [ 9.44495063e-01 -3.24787685e-01 -4.94169606e-02 1.22545231e+02] [ 5.19897006e-02 -7.57727091e-04 9.98647334e-01 4.55697947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.180714057 meters Centerline goodness : 0.989134 Centerline is valid? [True, True] Translation: X:117.99, Y:122.56, Z:45.57 [[-3.27715735e-01 -9.44728123e-01 9.54835795e-03 1.17988186e+02] [ 9.43166598e-01 -3.27730364e-01 -5.50415873e-02 1.22557734e+02] [ 5.51286223e-02 -9.03230196e-03 9.98438407e-01 4.55685261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.210714057 meters Centerline goodness : 0.990040 Centerline is valid? [True, True] Translation: X:117.98, Y:122.56, Z:45.57 [[-3.27624858e-01 -9.44631527e-01 1.82546093e-02 1.17983875e+02] [ 9.43257614e-01 -3.28132588e-01 -5.09320951e-02 1.22561343e+02] [ 5.41019950e-02 5.32178801e-04 9.98535273e-01 4.55706948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.240714057 meters Centerline goodness : 0.988043 Centerline is valid? [True, True] Translation: X:117.99, Y:122.56, Z:45.57 [[-3.30049842e-01 -9.43742438e-01 2.04282407e-02 1.17986101e+02] [ 9.42471418e-01 -3.30667266e-01 -4.90589944e-02 1.22555763e+02] [ 5.30540055e-02 3.06111957e-03 9.98586953e-01 4.55706443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.270714057 meters Centerline goodness : 0.991270 Centerline is valid? [True, True] Translation: X:117.98, Y:122.57, Z:45.57 [[-3.28860220e-01 -9.44194091e-01 1.86674737e-02 1.17983070e+02] [ 9.42737438e-01 -3.29389422e-01 -5.24283412e-02 1.22565834e+02] [ 5.56513983e-02 3.56930581e-04 9.98450196e-01 4.55697586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.300714057 meters Centerline goodness : 0.992183 Centerline is valid? [True, True] Translation: X:117.98, Y:122.57, Z:45.57 [[-3.27503488e-01 -9.44472965e-01 2.66886450e-02 1.17977608e+02] [ 9.43298704e-01 -3.28453265e-01 -4.80209176e-02 1.22571422e+02] [ 5.41204311e-02 9.44834624e-03 9.98489713e-01 4.55721970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.330714057 meters Centerline goodness : 0.990327 Centerline is valid? [True, True] Translation: X:117.98, Y:122.59, Z:45.56 [[-3.27327238e-01 -9.44907349e-01 2.64217898e-03 1.17982760e+02] [ 9.43462442e-01 -3.26978924e-01 -5.44371487e-02 1.22592007e+02] [ 5.23019987e-02 -1.53259649e-02 9.98513703e-01 4.55627223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.360714057 meters Centerline goodness : 0.991306 Centerline is valid? [True, True] Translation: X:117.98, Y:122.59, Z:45.56 [[-3.27880572e-01 -9.44718408e-01 1.20828924e-03 1.17982107e+02] [ 9.43321289e-01 -3.27464694e-01 -5.39612842e-02 1.22590176e+02] [ 5.13738906e-02 -1.65530518e-02 9.98542298e-01 4.55636718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.390714057 meters Centerline goodness : 0.991086 Centerline is valid? [True, True] Translation: X:117.98, Y:122.56, Z:45.57 [[-3.25522368e-01 -9.45363085e-01 1.79951488e-02 1.17982755e+02] [ 9.44247005e-01 -3.26013073e-01 -4.59681320e-02 1.22559395e+02] [ 4.93232288e-02 2.02821019e-03 9.98780810e-01 4.55669974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.420714057 meters Centerline goodness : 0.992260 Centerline is valid? [True, True] Translation: X:117.97, Y:122.57, Z:45.57 [[-3.25143293e-01 -9.45309148e-01 2.59317286e-02 1.17974439e+02] [ 9.43907653e-01 -3.26087966e-01 -5.20094391e-02 1.22570565e+02] [ 5.76210232e-02 7.56663681e-03 9.98309854e-01 4.55711268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.450714057 meters Centerline goodness : 0.991479 Centerline is valid? [True, True] Translation: X:117.98, Y:122.57, Z:45.56 [[-3.22952380e-01 -9.46337767e-01 1.21075215e-02 1.17980237e+02] [ 9.44734301e-01 -3.23114534e-01 -5.54445428e-02 1.22569208e+02] [ 5.63813810e-02 -6.46755620e-03 9.98388357e-01 4.55641446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.480714057 meters Centerline goodness : 0.988966 Centerline is valid? [True, True] Translation: X:117.98, Y:122.57, Z:45.56 [[-3.23173104e-01 -9.46338933e-01 -1.33006790e-03 1.17984493e+02] [ 9.44866190e-01 -3.22591121e-01 -5.62392436e-02 1.22571894e+02] [ 5.27923177e-02 -1.94317471e-02 9.98416435e-01 4.55601511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.51071405700003 meters Centerline goodness : 0.991377 Centerline is valid? [True, True] Translation: X:117.97, Y:122.56, Z:45.57 [[-3.18171014e-01 -9.47357963e-01 3.57784201e-02 1.17970081e+02] [ 9.46648017e-01 -3.19519221e-01 -4.20118977e-02 1.22557851e+02] [ 5.12321988e-02 2.05026023e-02 9.98476292e-01 4.55712077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.540714057 meters Centerline goodness : 0.991377 Centerline is valid? [True, True] Translation: X:117.98, Y:122.56, Z:45.56 [[-3.17517268e-01 -9.48182737e-01 1.15014190e-02 1.17979170e+02] [ 9.46930086e-01 -3.17691484e-01 -4.89441927e-02 1.22563890e+02] [ 5.00619414e-02 -4.64958665e-03 9.98735292e-01 4.55616622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.57071405700003 meters Centerline goodness : 0.990947 Centerline is valid? [True, True] Translation: X:117.98, Y:122.56, Z:45.56 [[-3.17165525e-01 -9.48365221e-01 3.07193395e-03 1.17983267e+02] [ 9.46978973e-01 -3.16873981e-01 -5.31197233e-02 1.22561188e+02] [ 5.13503141e-02 -1.39386881e-02 9.98583426e-01 4.55587791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.600714057 meters Centerline goodness : 0.991983 Centerline is valid? [True, True] Translation: X:117.97, Y:122.58, Z:45.57 [[-3.31704670e-01 -9.43334752e-01 -9.56860704e-03 1.17972401e+02] [ 9.40411324e-01 -3.29838216e-01 -8.26637382e-02 1.22581786e+02] [ 7.48234847e-02 -3.64183744e-02 9.96531559e-01 4.55678100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.63071405700003 meters Centerline goodness : 0.991853 Centerline is valid? [True, True] Translation: X:117.96, Y:122.60, Z:45.58 [[-3.30851790e-01 -9.43612032e-01 1.15510002e-02 1.17956096e+02] [ 9.40596926e-01 -3.30734277e-01 -7.67610585e-02 1.22603538e+02] [ 7.62529701e-02 -1.45316983e-02 9.96982605e-01 4.55781874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.660714057 meters Centerline goodness : 0.991361 Centerline is valid? [True, True] Translation: X:117.94, Y:122.62, Z:45.58 [[-3.31565746e-01 -9.43239399e-01 1.90681064e-02 1.17944260e+02] [ 9.40561934e-01 -3.32064871e-01 -7.12472465e-02 1.22624868e+02] [ 7.35350583e-02 -5.68841138e-03 9.97276410e-01 4.55834155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.690714057 meters Centerline goodness : 0.986976 Centerline is valid? [True, True] Translation: X:117.77, Y:123.23, Z:45.62 [[-3.27972623e-01 -9.44466946e-01 2.03996604e-02 1.17767686e+02] [ 9.42390169e-01 -3.28603819e-01 -6.26123041e-02 1.23234608e+02] [ 6.58386579e-02 -1.31068222e-03 9.97829421e-01 4.56241856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.720714057 meters Centerline goodness : 0.988435 Centerline is valid? [True, True] Translation: X:117.96, Y:122.54, Z:45.57 [[-2.92987911e-01 -9.55519055e-01 3.37848995e-02 1.17960099e+02] [ 9.55334907e-01 -2.93993845e-01 -3.00472262e-02 1.22541301e+02] [ 3.86432497e-02 2.34724198e-02 9.98977350e-01 4.55743709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.750714057 meters Centerline goodness : 0.989499 Centerline is valid? [True, True] Translation: X:117.96, Y:122.56, Z:45.57 [[-2.91265183e-01 -9.56598662e-01 9.14290523e-03 1.17963278e+02] [ 9.55710142e-01 -2.91389886e-01 -4.13528697e-02 1.22562106e+02] [ 4.22222500e-02 -3.30668392e-03 9.99102771e-01 4.55660507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.780714057 meters Centerline goodness : 0.988385 Centerline is valid? [True, True] Translation: X:117.96, Y:122.56, Z:45.57 [[-2.89555344e-01 -9.57107233e-01 1.01709387e-02 1.17962375e+02] [ 9.56151227e-01 -2.89721499e-01 -4.28519002e-02 1.22558356e+02] [ 4.39606032e-02 -2.68304124e-03 9.99029663e-01 4.55673857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.810714057 meters Centerline goodness : 0.988105 Centerline is valid? [True, True] Translation: X:117.96, Y:122.58, Z:45.57 [[-2.86696305e-01 -9.58010549e-01 4.58443946e-03 1.17956785e+02] [ 9.57045395e-01 -2.86616876e-01 -4.37593371e-02 1.22575319e+02] [ 4.32358843e-02 -8.15812358e-03 9.99031583e-01 4.55679151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.840714057 meters Centerline goodness : 0.989468 Centerline is valid? [True, True] Translation: X:117.95, Y:122.58, Z:45.58 [[-2.84420011e-01 -9.58346051e-01 2.60404389e-02 1.17946480e+02] [ 9.57454370e-01 -2.85329785e-01 -4.32208672e-02 1.22575143e+02] [ 4.88506602e-02 1.26396525e-02 9.98726115e-01 4.55764851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.870714057 meters Centerline goodness : 0.989181 Centerline is valid? [True, True] Translation: X:117.95, Y:122.59, Z:45.57 [[-2.83944303e-01 -9.58832643e-01 3.94915147e-03 1.17951303e+02] [ 9.57372534e-01 -2.83734945e-01 -5.41508219e-02 1.22587083e+02] [ 5.30420880e-02 -1.15950083e-02 9.98524959e-01 4.55715434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.900714057 meters Centerline goodness : 0.990317 Centerline is valid? [True, True] Translation: X:117.95, Y:122.56, Z:45.57 [[-2.77772466e-01 -9.60470174e-01 1.84255759e-02 1.17950873e+02] [ 9.59514354e-01 -2.78325036e-01 -4.32131856e-02 1.22562940e+02] [ 4.66332750e-02 5.67617147e-03 9.98895950e-01 4.55735534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.930714057 meters Centerline goodness : 0.987063 Centerline is valid? [True, True] Translation: X:117.96, Y:122.57, Z:45.57 [[-2.77046381e-01 -9.60842371e-01 -5.21935290e-03 1.17958246e+02] [ 9.59746066e-01 -2.76461030e-01 -4.95659976e-02 1.22571953e+02] [ 4.61821630e-02 -1.87413337e-02 9.98757213e-01 4.55668639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.960714057 meters Centerline goodness : 0.987366 Centerline is valid? [True, True] Translation: X:117.95, Y:122.56, Z:45.57 [[-2.74616277e-01 -9.61487846e-01 1.12703836e-02 1.17953723e+02] [ 9.60673959e-01 -2.74847449e-01 -3.95527992e-02 1.22563814e+02] [ 4.11271719e-02 -3.46784270e-05 9.99153919e-01 4.55709623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.990714057 meters Centerline goodness : 0.988459 Centerline is valid? [True, True] Translation: X:117.95, Y:122.57, Z:45.57 [[-2.73757762e-01 -9.61722944e-01 1.20692583e-02 1.17951168e+02] [ 9.60556533e-01 -2.74020234e-01 -4.73714924e-02 1.22573061e+02] [ 4.88654721e-02 -1.37510882e-03 9.98804423e-01 4.55720633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.020714057 meters Centerline goodness : 0.987439 Centerline is valid? [True, True] Translation: X:117.95, Y:122.57, Z:45.57 [[-2.73542196e-01 -9.61836910e-01 6.66523815e-03 1.17954579e+02] [ 9.60854064e-01 -2.73566393e-01 -4.38280254e-02 1.22570607e+02] [ 4.39787977e-02 -5.58449314e-03 9.99016856e-01 4.55700046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.050714057 meters Centerline goodness : 0.989716 Centerline is valid? [True, True] Translation: X:117.94, Y:122.59, Z:45.58 [[-2.72831819e-01 -9.61617485e-01 2.92337238e-02 1.17942955e+02] [ 9.60982249e-01 -2.73838912e-01 -3.90559506e-02 1.22586799e+02] [ 4.55622161e-02 1.74373836e-02 9.98809302e-01 4.55768428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.080714057 meters Centerline goodness : 0.989443 Centerline is valid? [True, True] Translation: X:117.95, Y:122.59, Z:45.57 [[-2.75133826e-01 -9.61393966e-01 4.79797174e-03 1.17954465e+02] [ 9.60167913e-01 -2.75029292e-01 -4.93605873e-02 1.22588399e+02] [ 4.87745535e-02 -8.97390871e-03 9.98769499e-01 4.55675152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.110714057 meters Centerline goodness : 0.988551 Centerline is valid? [True, True] Translation: X:117.96, Y:122.58, Z:45.56 [[-2.77056692e-01 -9.60853546e-01 2.30017776e-04 1.17961911e+02] [ 9.59736943e-01 -2.76746248e-01 -4.81301787e-02 1.22581530e+02] [ 4.63097094e-02 -1.31140315e-02 9.98841045e-01 4.55644723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.140714057 meters Centerline goodness : 0.987741 Centerline is valid? [True, True] Translation: X:117.96, Y:122.59, Z:45.57 [[-2.80557357e-01 -9.59749319e-01 1.29928218e-02 1.17957414e+02] [ 9.58619722e-01 -2.80857396e-01 -4.65548260e-02 1.22588169e+02] [ 4.83300926e-02 -6.06123750e-04 9.98831234e-01 4.55700124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.170714057 meters Centerline goodness : 0.987141 Centerline is valid? [True, True] Translation: X:117.96, Y:122.60, Z:45.57 [[-2.86386060e-01 -9.58110704e-01 2.62731748e-03 1.17960414e+02] [ 9.56665124e-01 -2.86102580e-01 -5.41955168e-02 1.22603667e+02] [ 5.26769871e-02 -1.30073775e-02 9.98526887e-01 4.55668507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.200714057 meters Centerline goodness : 0.988337 Centerline is valid? [True, True] Translation: X:117.96, Y:122.59, Z:45.57 [[-2.84514451e-01 -9.58437236e-01 2.12035997e-02 1.17956271e+02] [ 9.57363994e-01 -2.85211706e-01 -4.59180334e-02 1.22590255e+02] [ 5.00570679e-02 7.23521876e-03 9.98720152e-01 4.55736479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.230714057 meters Centerline goodness : 0.990347 Centerline is valid? [True, True] Translation: X:117.95, Y:122.60, Z:45.57 [[-2.85494409e-01 -9.58109443e-01 2.27867812e-02 1.17954548e+02] [ 9.57106860e-01 -2.86259755e-01 -4.47416124e-02 1.22602634e+02] [ 4.93902998e-02 9.03590435e-03 9.98738680e-01 4.55741449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.26071405700003 meters Centerline goodness : 0.990576 Centerline is valid? [True, True] Translation: X:117.97, Y:122.61, Z:45.57 [[-2.88793841e-01 -9.57384646e-01 -3.57159137e-03 1.17966421e+02] [ 9.56194221e-01 -2.88244241e-01 -5.10673111e-02 1.22608598e+02] [ 4.78615689e-02 -1.81630600e-02 9.98688827e-01 4.55656890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.290714057 meters Centerline goodness : 0.989139 Centerline is valid? [True, True] Translation: X:117.96, Y:122.61, Z:45.57 [[-2.89746990e-01 -9.57020441e-01 1.25919943e-02 1.17958903e+02] [ 9.55873410e-01 -2.90016370e-01 -4.68671408e-02 1.22611554e+02] [ 4.85046962e-02 -1.54326040e-03 9.98821762e-01 4.55717204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.32071405700003 meters Centerline goodness : 0.988300 Centerline is valid? [True, True] Translation: X:117.96, Y:122.60, Z:45.57 [[-2.88167607e-01 -9.57477287e-01 1.40241012e-02 1.17962054e+02] [ 9.56467175e-01 -2.88507705e-01 -4.39755299e-02 1.22601910e+02] [ 4.61516323e-02 7.41269188e-04 9.98934171e-01 4.55708036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.350714057 meters Centerline goodness : 0.989741 Centerline is valid? [True, True] Translation: X:117.97, Y:122.60, Z:45.57 [[-2.88288064e-01 -9.57526323e-01 5.77348015e-03 1.17966269e+02] [ 9.56278132e-01 -2.88211695e-01 -4.96603812e-02 1.22596699e+02] [ 4.92151067e-02 -8.79544232e-03 9.98749475e-01 4.55688043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.38071405700003 meters Centerline goodness : 0.988986 Centerline is valid? [True, True] Translation: X:117.96, Y:122.60, Z:45.57 [[-2.86976542e-01 -9.57784411e-01 1.71314252e-02 1.17961594e+02] [ 9.56871469e-01 -2.87454814e-01 -4.20324010e-02 1.22597602e+02] [ 4.51824890e-02 4.33025890e-03 9.98969365e-01 4.55721844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.410714057 meters Centerline goodness : 0.989137 Centerline is valid? [True, True] Translation: X:117.96, Y:122.60, Z:45.57 [[-2.87155065e-01 -9.57788168e-01 1.35570364e-02 1.17963305e+02] [ 9.56940430e-01 -2.87471516e-01 -4.03130324e-02 1.22600472e+02] [ 4.25086072e-02 1.39718483e-03 9.99095124e-01 4.55695943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.440714057 meters Centerline goodness : 0.989008 Centerline is valid? [True, True] Translation: X:117.96, Y:122.61, Z:45.57 [[-2.86554897e-01 -9.57960250e-01 1.40872513e-02 1.17960827e+02] [ 9.57214194e-01 -2.86888934e-01 -3.78909847e-02 1.22608255e+02] [ 4.03395337e-02 2.62666968e-03 9.99182577e-01 4.55701038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.470714057 meters Centerline goodness : 0.987947 Centerline is valid? [True, True] Translation: X:117.96, Y:122.63, Z:45.57 [[-2.92070063e-01 -9.56392381e-01 -2.94810312e-03 1.17962452e+02] [ 9.55047117e-01 -2.91492752e-01 -5.40090770e-02 1.22631675e+02] [ 5.07945191e-02 -1.85900119e-02 9.98536093e-01 4.55690331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.500714057 meters Centerline goodness : 0.988750 Centerline is valid? [True, True] Translation: X:117.96, Y:122.60, Z:45.57 [[-2.88510585e-01 -9.57194291e-01 2.32536223e-02 1.17958777e+02] [ 9.56473783e-01 -2.89234676e-01 -3.87453824e-02 1.22603884e+02] [ 4.38126127e-02 1.10630272e-02 9.98978511e-01 4.55720294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.530714057 meters Centerline goodness : 0.989175 Centerline is valid? [True, True] Translation: X:117.96, Y:122.62, Z:45.57 [[-2.92618421e-01 -9.56228094e-01 -1.51420248e-03 1.17964922e+02] [ 9.54899935e-01 -2.92127785e-01 -5.31739839e-02 1.22622132e+02] [ 5.04041167e-02 -1.70055991e-02 9.98584115e-01 4.55667278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.560714057 meters Centerline goodness : 0.987822 Centerline is valid? [True, True] Translation: X:117.96, Y:122.63, Z:45.57 [[-2.94514627e-01 -9.55580444e-01 1.12760890e-02 1.17958027e+02] [ 9.54198126e-01 -2.94697136e-01 -5.15706747e-02 1.22626519e+02] [ 5.26029594e-02 -4.42869500e-03 9.98605686e-01 4.55731026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.590714057 meters Centerline goodness : 0.988306 Centerline is valid? [True, True] Translation: X:117.96, Y:122.63, Z:45.57 [[-2.96209607e-01 -9.55057855e-01 1.11517587e-02 1.17957517e+02] [ 9.53575906e-01 -2.96373938e-01 -5.34366932e-02 1.22631538e+02] [ 5.43402242e-02 -5.19441346e-03 9.98508967e-01 4.55730597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.620714057 meters Centerline goodness : 0.988510 Centerline is valid? [True, True] Translation: X:117.95, Y:122.63, Z:45.58 [[-2.97521493e-01 -9.54563070e-01 1.70383722e-02 1.17954257e+02] [ 9.53183821e-01 -2.98007368e-01 -5.13050862e-02 1.22629114e+02] [ 5.40515010e-02 9.76334882e-04 9.98537672e-01 4.55758165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.650714057 meters Centerline goodness : 0.989186 Centerline is valid? [True, True] Translation: X:117.96, Y:122.64, Z:45.57 [[-2.99312045e-01 -9.54118148e-01 8.41777163e-03 1.17955233e+02] [ 9.52583978e-01 -2.99313607e-01 -5.47277661e-02 1.22637207e+02] [ 5.47363085e-02 -8.36204523e-03 9.98465830e-01 4.55735664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.680714057 meters Centerline goodness : 0.988942 Centerline is valid? [True, True] Translation: X:117.95, Y:122.64, Z:45.58 [[-3.02771765e-01 -9.52968866e-01 1.34014597e-02 1.17950249e+02] [ 9.51488173e-01 -3.03049598e-01 -5.32090096e-02 1.22644668e+02] [ 5.47678365e-02 -3.35885536e-03 9.98493466e-01 4.55758435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.710714057 meters Centerline goodness : 0.988667 Centerline is valid? [True, True] Translation: X:117.95, Y:122.66, Z:45.58 [[-3.05306581e-01 -9.52194983e-01 1.06115546e-02 1.17947477e+02] [ 9.50580426e-01 -3.05411455e-01 -5.58631922e-02 1.22659257e+02] [ 5.64335417e-02 -6.96826419e-03 9.98382040e-01 4.55767030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.740714057 meters Centerline goodness : 0.989045 Centerline is valid? [True, True] Translation: X:117.95, Y:122.65, Z:45.58 [[-3.08095495e-01 -9.51198614e-01 1.72731907e-02 1.17947243e+02] [ 9.49710416e-01 -3.08579320e-01 -5.31876756e-02 1.22651210e+02] [ 5.59221927e-02 1.76458727e-05 9.98435130e-01 4.55782558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.770714057 meters Centerline goodness : 0.991105 Centerline is valid? [True, True] Translation: X:117.95, Y:122.65, Z:45.57 [[-3.06939748e-01 -9.51613103e-01 1.48490421e-02 1.17947297e+02] [ 9.50239066e-01 -3.07294616e-01 -5.11442712e-02 1.22649844e+02] [ 5.32325893e-02 -1.58806980e-03 9.98580878e-01 4.55749185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.800714057 meters Centerline goodness : 0.990080 Centerline is valid? [True, True] Translation: X:117.94, Y:122.66, Z:45.58 [[-3.09687196e-01 -9.50789562e-01 9.64618561e-03 1.17944150e+02] [ 9.49135971e-01 -3.09723601e-01 -5.66762671e-02 1.22664314e+02] [ 5.68748545e-02 -8.39637248e-03 9.98346008e-01 4.55757828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.830714057 meters Centerline goodness : 0.990825 Centerline is valid? [True, True] Translation: X:117.94, Y:122.66, Z:45.58 [[-3.08003383e-01 -9.51249735e-01 1.60579738e-02 1.17941364e+02] [ 9.49726085e-01 -3.08418825e-01 -5.38348641e-02 1.22661513e+02] [ 5.61629816e-02 -1.33064368e-03 9.98420727e-01 4.55771739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.860714057 meters Centerline goodness : 0.989848 Centerline is valid? [True, True] Translation: X:117.94, Y:122.66, Z:45.58 [[-3.06703799e-01 -9.51689584e-01 1.48228094e-02 1.17942672e+02] [ 9.50149787e-01 -3.07051343e-01 -5.41743096e-02 1.22657005e+02] [ 5.61084897e-02 -2.53157742e-03 9.98421468e-01 4.55757609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.890714057 meters Centerline goodness : 0.989780 Centerline is valid? [True, True] Translation: X:117.94, Y:122.66, Z:45.57 [[-3.01497993e-01 -9.53329829e-01 1.61615782e-02 1.17941428e+02] [ 9.51980971e-01 -3.01930830e-01 -5.06952116e-02 1.22655502e+02] [ 5.32089361e-02 1.01010327e-04 9.98583396e-01 4.55746092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.920714057 meters Centerline goodness : 0.990008 Centerline is valid? [True, True] Translation: X:117.94, Y:122.65, Z:45.57 [[-2.98880257e-01 -9.54191611e-01 1.37463564e-02 1.17943341e+02] [ 9.52719063e-01 -2.99183449e-01 -5.30627094e-02 1.22648694e+02] [ 5.47446744e-02 -2.76298045e-03 9.98496563e-01 4.55733485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.950714057 meters Centerline goodness : 0.987945 Centerline is valid? [True, True] Translation: X:117.94, Y:122.64, Z:45.58 [[-2.92372129e-01 -9.56184190e-01 1.51767033e-02 1.17941658e+02] [ 9.54883245e-01 -2.92765754e-01 -4.98618333e-02 1.22641424e+02] [ 5.21203157e-02 -8.62306763e-05 9.98640809e-01 4.55752399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.980714057 meters Centerline goodness : 0.989220 Centerline is valid? [True, True] Translation: X:117.94, Y:122.64, Z:45.57 [[-2.87961825e-01 -9.57581564e-01 1.07487668e-02 1.17942011e+02] [ 9.56194110e-01 -2.88125325e-01 -5.17360682e-02 1.22639589e+02] [ 5.26384970e-02 -4.62010515e-03 9.98602946e-01 4.55731546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.01071405700003 meters Centerline goodness : 0.989460 Centerline is valid? [True, True] Translation: X:117.93, Y:122.64, Z:45.58 [[-2.81374055e-01 -9.59419579e-01 1.85124963e-02 1.17934608e+02] [ 9.58490904e-01 -2.81923579e-01 -4.25944026e-02 1.22644558e+02] [ 4.60850130e-02 5.75909954e-03 9.98920920e-01 4.55759155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.040714057 meters Centerline goodness : 0.990020 Centerline is valid? [True, True] Translation: X:117.93, Y:122.66, Z:45.58 [[-2.79440105e-01 -9.59860138e-01 2.41193478e-02 1.17928417e+02] [ 9.58751529e-01 -2.80302861e-01 -4.71785149e-02 1.22655038e+02] [ 5.20454980e-02 9.94089241e-03 9.98595236e-01 4.55790850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.07071405700003 meters Centerline goodness : 0.987558 Centerline is valid? [True, True] Translation: X:117.94, Y:122.66, Z:45.57 [[-2.79823221e-01 -9.60029761e-01 -6.46713259e-03 1.17940400e+02] [ 9.58869415e-01 -2.79138146e-01 -5.14911666e-02 1.22661233e+02] [ 4.76278290e-02 -2.06095597e-02 9.98652510e-01 4.55677497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.100714057 meters Centerline goodness : 0.989908 Centerline is valid? [True, True] Translation: X:117.92, Y:122.67, Z:45.58 [[-2.78753131e-01 -9.59795342e-01 3.30089912e-02 1.17919845e+02] [ 9.59049916e-01 -2.80004202e-01 -4.26720721e-02 1.22667423e+02] [ 5.01991123e-02 1.97622965e-02 9.98543690e-01 4.55820326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.13071405700003 meters Centerline goodness : 0.987442 Centerline is valid? [True, True] Translation: X:117.94, Y:122.67, Z:45.57 [[-2.79614396e-01 -9.60057547e-01 -1.02614018e-02 1.17937698e+02] [ 9.58893039e-01 -2.78704862e-01 -5.33642252e-02 1.22670052e+02] [ 4.83728246e-02 -2.47609924e-02 9.98522390e-01 4.55651101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.160714057 meters Centerline goodness : 0.987529 Centerline is valid? [True, True] Translation: X:117.93, Y:122.66, Z:45.57 [[-2.81011005e-01 -9.59641756e-01 1.09779258e-02 1.17930037e+02] [ 9.58336366e-01 -2.81202613e-01 -5.01647362e-02 1.22658855e+02] [ 5.12271969e-02 -3.57629737e-03 9.98680622e-01 4.55736460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.190714057 meters Centerline goodness : 0.988397 Centerline is valid? [True, True] Translation: X:117.93, Y:122.67, Z:45.57 [[-2.83431072e-01 -9.58943382e-01 9.71686838e-03 1.17927632e+02] [ 9.57418556e-01 -2.83531630e-01 -5.44015009e-02 1.22669362e+02] [ 5.49229988e-02 -6.11596564e-03 9.98471862e-01 4.55744480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.220714057 meters Centerline goodness : 0.988068 Centerline is valid? [True, True] Translation: X:117.93, Y:122.66, Z:45.57 [[-2.83539434e-01 -9.58859037e-01 1.39548064e-02 1.17927813e+02] [ 9.57393105e-01 -2.83877687e-01 -5.30273572e-02 1.22664013e+02] [ 5.48072188e-02 -1.67511143e-03 9.98495550e-01 4.55744472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.250714057 meters Centerline goodness : 0.987536 Centerline is valid? [True, True] Translation: X:117.93, Y:122.67, Z:45.57 [[-2.86434679e-01 -9.57964664e-01 1.60896695e-02 1.17927063e+02] [ 9.56631999e-01 -2.86884742e-01 -5.05209229e-02 1.22665425e+02] [ 5.30131396e-02 9.20948306e-04 9.98593390e-01 4.55735697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.280714057 meters Centerline goodness : 0.987868 Centerline is valid? [True, True] Translation: X:117.93, Y:122.67, Z:45.57 [[-2.89039001e-01 -9.57246358e-01 1.16561381e-02 1.17927171e+02] [ 9.55819130e-01 -2.89246191e-01 -5.24064092e-02 1.22670434e+02] [ 5.35373379e-02 -4.00633641e-03 9.98557811e-01 4.55732286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.310714057 meters Centerline goodness : 0.988504 Centerline is valid? [True, True] Translation: X:117.93, Y:122.67, Z:45.57 [[-2.91770570e-01 -9.56432673e-01 1.03187863e-02 1.17927857e+02] [ 9.54951887e-01 -2.91896170e-01 -5.35118556e-02 1.22666525e+02] [ 5.41925012e-02 -5.75924013e-03 9.98513898e-01 4.55736512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.340714057 meters Centerline goodness : 0.989168 Centerline is valid? [True, True] Translation: X:117.92, Y:122.68, Z:45.58 [[-2.93620187e-01 -9.55797867e-01 1.54150493e-02 1.17921992e+02] [ 9.54471664e-01 -2.94024546e-01 -5.03329872e-02 1.22675341e+02] [ 5.26405646e-02 -6.55533552e-05 9.98613522e-01 4.55769322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.370714057 meters Centerline goodness : 0.988650 Centerline is valid? [True, True] Translation: X:117.92, Y:122.68, Z:45.58 [[-2.93794200e-01 -9.55807311e-01 1.08329616e-02 1.17922298e+02] [ 9.54416205e-01 -2.93953459e-01 -5.17790700e-02 1.22679408e+02] [ 5.26752002e-02 -4.87323637e-03 9.98599807e-01 4.55753253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.400714057 meters Centerline goodness : 0.988748 Centerline is valid? [True, True] Translation: X:117.92, Y:122.68, Z:45.58 [[-2.94738822e-01 -9.55521420e-01 1.03847378e-02 1.17921884e+02] [ 9.54047881e-01 -2.94864263e-01 -5.33639145e-02 1.22678448e+02] [ 5.40524514e-02 -5.82088019e-03 9.98521131e-01 4.55764572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.430714057 meters Centerline goodness : 0.988748 Centerline is valid? [True, True] Translation: X:117.92, Y:122.68, Z:45.58 [[-2.94409893e-01 -9.55592031e-01 1.29106616e-02 1.17920117e+02] [ 9.54142391e-01 -2.94675459e-01 -5.27131150e-02 1.22680673e+02] [ 5.41766877e-02 -3.20065296e-03 9.98526235e-01 4.55776643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.460714057 meters Centerline goodness : 0.988458 Centerline is valid? [True, True] Translation: X:117.92, Y:122.68, Z:45.58 [[-2.92907622e-01 -9.55966330e-01 1.82619887e-02 1.17915765e+02] [ 9.54850799e-01 -2.93450886e-01 -4.63306441e-02 1.22681749e+02] [ 4.96495326e-02 3.86687568e-03 9.98759216e-01 4.55785166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.490714057 meters Centerline goodness : 0.988366 Centerline is valid? [True, True] Translation: X:117.92, Y:122.68, Z:45.58 [[-2.92500675e-01 -9.56227966e-01 8.45178742e-03 1.17919032e+02] [ 9.54883035e-01 -2.92541505e-01 -5.11650054e-02 1.22683451e+02] [ 5.13979077e-02 -6.89533022e-03 9.98654450e-01 4.55752439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.520714057 meters Centerline goodness : 0.987656 Centerline is valid? [True, True] Translation: X:117.91, Y:122.68, Z:45.58 [[-2.90769693e-01 -9.56696868e-01 1.35679296e-02 1.17914764e+02] [ 9.55343008e-01 -2.91080249e-01 -5.09119303e-02 1.22680323e+02] [ 5.26566406e-02 -1.84161963e-03 9.98610979e-01 4.55767226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.550714057 meters Centerline goodness : 0.988258 Centerline is valid? [True, True] Translation: X:117.91, Y:122.68, Z:45.57 [[-2.89735640e-01 -9.57005497e-01 1.39189582e-02 1.17912509e+02] [ 9.55712765e-01 -2.90067665e-01 -4.97379138e-02 1.22684691e+02] [ 5.16368966e-02 -1.10832029e-03 9.98665311e-01 4.55749521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.580714057 meters Centerline goodness : 0.987983 Centerline is valid? [True, True] Translation: X:117.91, Y:122.69, Z:45.57 [[-2.90416634e-01 -9.56834024e-01 1.12618032e-02 1.17911719e+02] [ 9.55366737e-01 -2.90597160e-01 -5.31760239e-02 1.22689798e+02] [ 5.41532770e-02 -4.68404968e-03 9.98521648e-01 4.55744881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.610714057 meters Centerline goodness : 0.986845 Centerline is valid? [True, True] Translation: X:117.91, Y:122.70, Z:45.58 [[-2.89898717e-01 -9.56949940e-01 1.43368445e-02 1.17906824e+02] [ 9.55551083e-01 -2.90250103e-01 -5.17397789e-02 1.22701382e+02] [ 5.36736489e-02 -1.29970829e-03 9.98557685e-01 4.55754387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.640714057 meters Centerline goodness : 0.989718 Centerline is valid? [True, True] Translation: X:117.90, Y:122.70, Z:45.58 [[-2.86753221e-01 -9.57532163e-01 3.00790245e-02 1.17897573e+02] [ 9.56232869e-01 -2.87990404e-01 -5.17709183e-02 1.22696152e+02] [ 5.82347898e-02 1.39170743e-02 9.98205903e-01 4.55826102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.670714057 meters Centerline goodness : 0.988532 Centerline is valid? [True, True] Translation: X:117.91, Y:122.69, Z:45.57 [[-2.85661379e-01 -9.58314376e-01 -5.57977921e-03 1.17913377e+02] [ 9.56845891e-01 -2.84889996e-01 -5.73029700e-02 1.22692200e+02] [ 5.33246367e-02 -2.17082343e-02 9.98341242e-01 4.55676623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.700714057 meters Centerline goodness : 0.988556 Centerline is valid? [True, True] Translation: X:117.90, Y:122.70, Z:45.58 [[-2.84611443e-01 -9.58542231e-01 1.38966614e-02 1.17900636e+02] [ 9.57166040e-01 -2.84947462e-01 -5.13625962e-02 1.22696664e+02] [ 5.31930360e-02 -1.31697027e-03 9.98583380e-01 4.55773129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.730714057 meters Centerline goodness : 0.988413 Centerline is valid? [True, True] Translation: X:117.90, Y:122.69, Z:45.57 [[-2.83528653e-01 -9.58914883e-01 9.68247305e-03 1.17904189e+02] [ 9.57456774e-01 -2.83634490e-01 -5.31789597e-02 1.22685436e+02] [ 5.37403792e-02 -5.80720940e-03 9.98538055e-01 4.55747650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.76071405700003 meters Centerline goodness : 0.989067 Centerline is valid? [True, True] Translation: X:117.89, Y:122.69, Z:45.58 [[-2.83795186e-01 -9.58509430e-01 2.68321640e-02 1.17893414e+02] [ 9.57115860e-01 -2.84859676e-01 -5.27654716e-02 1.22694503e+02] [ 5.82196037e-02 1.07069029e-02 9.98246382e-01 4.55837603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.790714057 meters Centerline goodness : 0.988522 Centerline is valid? [True, True] Translation: X:117.90, Y:122.71, Z:45.57 [[-2.87093503e-01 -9.57889674e-01 -4.96913132e-03 1.17903224e+02] [ 9.56381910e-01 -2.86341707e-01 -5.78106277e-02 1.22707005e+02] [ 5.39533338e-02 -2.13494429e-02 9.98315200e-01 4.55717713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.82071405700003 meters Centerline goodness : 0.989837 Centerline is valid? [True, True] Translation: X:117.89, Y:122.71, Z:45.59 [[-2.90053850e-01 -9.56573648e-01 2.89070844e-02 1.17887133e+02] [ 9.55252978e-01 -2.91218795e-01 -5.18011739e-02 1.22709482e+02] [ 5.79699242e-02 1.25884485e-02 9.98238959e-01 4.55867069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.850714057 meters Centerline goodness : 0.989477 Centerline is valid? [True, True] Translation: X:117.89, Y:122.72, Z:45.58 [[-2.92576775e-01 -9.56205978e-01 8.30416586e-03 1.17892154e+02] [ 9.54324614e-01 -2.92528768e-01 -6.07573070e-02 1.22721923e+02] [ 6.05257075e-02 -9.85130704e-03 9.98118024e-01 4.55797987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.88071405700003 meters Centerline goodness : 0.988611 Centerline is valid? [True, True] Translation: X:117.89, Y:122.72, Z:45.58 [[-2.96204824e-01 -9.55124070e-01 -8.44238427e-04 1.17894445e+02] [ 9.53368498e-01 -2.95606579e-01 -6.08708365e-02 1.22723749e+02] [ 5.78896387e-02 -1.88351057e-02 9.98145294e-01 4.55759779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.910714057 meters Centerline goodness : 0.988912 Centerline is valid? [True, True] Translation: X:117.89, Y:122.73, Z:45.58 [[-2.96874694e-01 -9.54794648e-01 1.52511227e-02 1.17886214e+02] [ 9.53045608e-01 -2.97254526e-01 -5.78257319e-02 1.22728702e+02] [ 5.97451646e-02 -2.63198094e-03 9.98210192e-01 4.55822039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.940714057 meters Centerline goodness : 0.991109 Centerline is valid? [True, True] Translation: X:117.88, Y:122.73, Z:45.59 [[-2.98307226e-01 -9.53999822e-01 2.99522739e-02 1.17878713e+02] [ 9.52138763e-01 -2.99623996e-01 -6.04750889e-02 1.22727310e+02] [ 6.66676441e-02 1.04785650e-02 9.97720214e-01 4.55884515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.970714057 meters Centerline goodness : 0.990209 Centerline is valid? [True, True] Translation: X:117.88, Y:122.73, Z:45.58 [[-2.98980784e-01 -9.54134171e-01 1.54426313e-02 1.17881974e+02] [ 9.51993327e-01 -2.99346347e-01 -6.40349159e-02 1.22728771e+02] [ 6.57205967e-02 -4.44392738e-03 9.97828169e-01 4.55817387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.000714057 meters Centerline goodness : 0.988845 Centerline is valid? [True, True] Translation: X:117.89, Y:122.73, Z:45.58 [[-3.00153530e-01 -9.53890245e-01 -1.12235409e-03 1.17886224e+02] [ 9.51725670e-01 -2.99392772e-01 -6.76920740e-02 1.22734795e+02] [ 6.42347843e-02 -2.13861882e-02 9.97705630e-01 4.55758333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.030714057 meters Centerline goodness : 0.988784 Centerline is valid? [True, True] Translation: X:117.88, Y:122.72, Z:45.58 [[-2.97897250e-01 -9.54481977e-01 1.48789681e-02 1.17879337e+02] [ 9.52412575e-01 -2.98233239e-01 -6.29858867e-02 1.22719656e+02] [ 6.45562966e-02 -4.59240608e-03 9.97903500e-01 4.55826822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.060714057 meters Centerline goodness : 0.990487 Centerline is valid? [True, True] Translation: X:117.87, Y:122.73, Z:45.59 [[-2.96672458e-01 -9.54635377e-01 2.56271280e-02 1.17868755e+02] [ 9.52448341e-01 -2.97732080e-01 -6.47901771e-02 1.22732600e+02] [ 6.94810133e-02 5.18705451e-03 9.97569789e-01 4.55901005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.090714057 meters Centerline goodness : 0.989389 Centerline is valid? [True, True] Translation: X:117.88, Y:122.72, Z:45.58 [[-2.95128432e-01 -9.55454504e-01 2.42894851e-03 1.17879123e+02] [ 9.53304367e-01 -2.94632953e-01 -6.63491322e-02 1.22724341e+02] [ 6.41092255e-02 -1.72659881e-02 9.97793512e-01 4.55796795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.120714057 meters Centerline goodness : 0.988983 Centerline is valid? [True, True] Translation: X:117.87, Y:122.72, Z:45.59 [[-2.91347138e-01 -9.56505631e-01 1.46226863e-02 1.17869954e+02] [ 9.54438780e-01 -2.91680702e-01 -6.29998723e-02 1.22720016e+02] [ 6.45248880e-02 -4.39837356e-03 9.97906405e-01 4.55861528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.150714057 meters Centerline goodness : 0.989521 Centerline is valid? [True, True] Translation: X:117.86, Y:122.73, Z:45.59 [[-2.88357774e-01 -9.57418070e-01 1.41574763e-02 1.17863128e+02] [ 9.55502114e-01 -2.88677852e-01 -6.06696652e-02 1.22729956e+02] [ 6.21731836e-02 -3.96707103e-03 9.98057492e-01 4.55870768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.180714057 meters Centerline goodness : 0.989181 Centerline is valid? [True, True] Translation: X:117.86, Y:122.72, Z:45.59 [[-2.86954220e-01 -9.57815083e-01 1.57334584e-02 1.17862074e+02] [ 9.55959988e-01 -2.87377785e-01 -5.96197057e-02 1.22723073e+02] [ 6.16260998e-02 -2.06756941e-03 9.98097164e-01 4.55880993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.210714057 meters Centerline goodness : 0.990704 Centerline is valid? [True, True] Translation: X:117.86, Y:122.73, Z:45.59 [[-2.85510314e-01 -9.58256860e-01 1.50881367e-02 1.17858680e+02] [ 9.56388157e-01 -2.85896293e-01 -5.98748945e-02 1.22727334e+02] [ 6.16891707e-02 -2.66478471e-03 9.98091852e-01 4.55882386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.240714057 meters Centerline goodness : 0.990256 Centerline is valid? [True, True] Translation: X:117.85, Y:122.74, Z:45.59 [[-2.85390289e-01 -9.58297261e-01 1.47899525e-02 1.17854011e+02] [ 9.56453881e-01 -2.85759269e-01 -5.94778416e-02 1.22737720e+02] [ 6.12238187e-02 -2.82849098e-03 9.98120055e-01 4.55889341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.270714057 meters Centerline goodness : 0.991303 Centerline is valid? [True, True] Translation: X:117.85, Y:122.76, Z:45.59 [[-2.87038205e-01 -9.57860591e-01 1.05903762e-02 1.17848777e+02] [ 9.55927628e-01 -2.87136471e-01 -6.12782025e-02 1.22763570e+02] [ 6.17368586e-02 -7.46555207e-03 9.98064540e-01 4.55889984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.300714057 meters Centerline goodness : 0.990246 Centerline is valid? [True, True] Translation: X:117.85, Y:122.74, Z:45.59 [[-2.90509766e-01 -9.56799103e-01 1.18131910e-02 1.17852989e+02] [ 9.54644185e-01 -2.90653256e-01 -6.46155212e-02 1.22743646e+02] [ 6.52576152e-02 -7.49404589e-03 9.97840309e-01 4.55895991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.330714057 meters Centerline goodness : 0.991231 Centerline is valid? [True, True] Translation: X:117.85, Y:122.75, Z:45.59 [[-2.90421890e-01 -9.56721527e-01 1.84131926e-02 1.17848671e+02] [ 9.54681105e-01 -2.91004480e-01 -6.24530295e-02 1.22745438e+02] [ 6.51084793e-02 -5.58999751e-04 9.97878035e-01 4.55905308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.360714057 meters Centerline goodness : 0.991197 Centerline is valid? [True, True] Translation: X:117.85, Y:122.73, Z:45.59 [[-2.90756360e-01 -9.56681225e-01 1.48920222e-02 1.17853695e+02] [ 9.54334080e-01 -2.91088828e-01 -6.71845015e-02 1.22734947e+02] [ 6.86090526e-02 -5.32235678e-03 9.97629425e-01 4.55879965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.390714057 meters Centerline goodness : 0.991659 Centerline is valid? [True, True] Translation: X:117.84, Y:122.75, Z:45.60 [[-2.89609135e-01 -9.56649548e-01 3.07927137e-02 1.17843056e+02] [ 9.54287501e-01 -2.91079137e-01 -6.78844665e-02 1.22748200e+02] [ 7.39047607e-02 9.72514020e-03 9.97217884e-01 4.55955117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.420714057 meters Centerline goodness : 0.991282 Centerline is valid? [True, True] Translation: X:117.86, Y:122.74, Z:45.58 [[-2.86072002e-01 -9.58200558e-01 3.80795035e-03 1.17857159e+02] [ 9.55692190e-01 -2.85606413e-01 -7.12840409e-02 1.22738501e+02] [ 6.93919828e-02 -1.67531399e-02 9.97448788e-01 4.55813348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.450714057 meters Centerline goodness : 0.991170 Centerline is valid? [True, True] Translation: X:117.85, Y:122.75, Z:45.59 [[-2.84254207e-01 -9.58674737e-01 1.19286843e-02 1.17849331e+02] [ 9.56096281e-01 -2.84370683e-01 -7.08040669e-02 1.22750292e+02] [ 7.12702383e-02 -8.72138325e-03 9.97418914e-01 4.55863831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.480714057 meters Centerline goodness : 0.991332 Centerline is valid? [True, True] Translation: X:117.84, Y:122.74, Z:45.59 [[-2.76999761e-01 -9.60572406e-01 2.39120127e-02 1.17844132e+02] [ 9.58547330e-01 -2.77973881e-01 -6.25902315e-02 1.22735702e+02] [ 6.67693642e-02 5.58331677e-03 9.97752814e-01 4.55920210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.51071405700003 meters Centerline goodness : 0.992263 Centerline is valid? [True, True] Translation: X:117.84, Y:122.74, Z:45.59 [[-2.73614663e-01 -9.61465108e-01 2.68302545e-02 1.17842135e+02] [ 9.59326223e-01 -2.74808722e-01 -6.46015867e-02 1.22735689e+02] [ 6.94853595e-02 8.06302534e-03 9.97550386e-01 4.55932099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.540714057 meters Centerline goodness : 0.990453 Centerline is valid? [True, True] Translation: X:117.86, Y:122.73, Z:45.58 [[-2.70910147e-01 -9.62604170e-01 -9.50630786e-04 1.17855763e+02] [ 9.60428440e-01 -2.70231190e-01 -6.74708479e-02 1.22728204e+02] [ 6.46908295e-02 -1.91915502e-02 9.97720793e-01 4.55805453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.57071405700003 meters Centerline goodness : 0.990944 Centerline is valid? [True, True] Translation: X:117.85, Y:122.73, Z:45.58 [[-2.71526830e-01 -9.62372525e-01 1.05973302e-02 1.17850303e+02] [ 9.60055617e-01 -2.71613404e-01 -6.72262687e-02 1.22733980e+02] [ 6.75750909e-02 -8.07970924e-03 9.97681475e-01 4.55829821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.600714057 meters Centerline goodness : 0.990026 Centerline is valid? [True, True] Translation: X:117.84, Y:122.74, Z:45.59 [[-2.69853645e-01 -9.62709886e-01 1.92011916e-02 1.17843818e+02] [ 9.60532024e-01 -2.70534142e-01 -6.47264219e-02 1.22742204e+02] [ 6.75073441e-02 9.76698539e-04 9.97718299e-01 4.55928913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.63071405700003 meters Centerline goodness : 0.990833 Centerline is valid? [True, True] Translation: X:117.84, Y:122.74, Z:45.60 [[-2.69524398e-01 -9.62643791e-01 2.59524504e-02 1.17840730e+02] [ 9.60366030e-01 -2.70680836e-01 -6.65505352e-02 1.22739869e+02] [ 7.10892904e-02 6.98685877e-03 9.97445486e-01 4.55976645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.660714057 meters Centerline goodness : 0.989896 Centerline is valid? [True, True] Translation: X:117.85, Y:122.74, Z:45.59 [[-2.72240778e-01 -9.62196976e-01 7.87012611e-03 1.17850263e+02] [ 9.60198447e-01 -2.72188244e-01 -6.27096586e-02 1.22739182e+02] [ 6.24811996e-02 -9.51524338e-03 9.98000782e-01 4.55881602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.690714057 meters Centerline goodness : 0.989089 Centerline is valid? [True, True] Translation: X:117.84, Y:122.77, Z:45.59 [[-2.75107958e-01 -9.61325733e-01 1.29786745e-02 1.17842323e+02] [ 9.59340021e-01 -2.75375756e-01 -6.19267011e-02 1.22768274e+02] [ 6.31057437e-02 -4.58556645e-03 9.97996311e-01 4.55923709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.720714057 meters Centerline goodness : 0.989242 Centerline is valid? [True, True] Translation: X:117.85, Y:122.77, Z:45.59 [[-2.78011725e-01 -9.60530108e-01 9.55993757e-03 1.17846402e+02] [ 9.58391507e-01 -2.78036330e-01 -6.46646608e-02 1.22771523e+02] [ 6.47703636e-02 -8.81537090e-03 9.97861258e-01 4.55906006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.750714057 meters Centerline goodness : 0.990187 Centerline is valid? [True, True] Translation: X:117.85, Y:122.76, Z:45.59 [[-2.80600402e-01 -9.59655961e-01 1.79958505e-02 1.17848716e+02] [ 9.57559660e-01 -2.81176324e-01 -6.33985241e-02 1.22755425e+02] [ 6.59007787e-02 -5.57550830e-04 9.97826025e-01 4.55942806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.780714057 meters Centerline goodness : 0.989683 Centerline is valid? [True, True] Translation: X:117.85, Y:122.78, Z:45.59 [[-2.84254431e-01 -9.58682270e-01 1.13015166e-02 1.17847582e+02] [ 9.56477091e-01 -2.84372178e-01 -6.54525718e-02 1.22783361e+02] [ 6.59620570e-02 -7.79554189e-03 9.97791680e-01 4.55923509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.810714057 meters Centerline goodness : 0.989366 Centerline is valid? [True, True] Translation: X:117.85, Y:122.79, Z:45.60 [[-2.86455602e-01 -9.57913018e-01 1.85967149e-02 1.17845730e+02] [ 9.55777944e-01 -2.87058115e-01 -6.39230865e-02 1.22786278e+02] [ 6.65710946e-02 -5.36796324e-04 9.97781540e-01 4.55956704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.840714057 meters Centerline goodness : 0.991078 Centerline is valid? [True, True] Translation: X:117.86, Y:122.77, Z:45.59 [[-2.90975488e-01 -9.56692878e-01 8.48548017e-03 1.17857042e+02] [ 9.54088755e-01 -2.90819272e-01 -7.16854172e-02 1.22772037e+02] [ 7.10486693e-02 -1.27627980e-02 9.97391196e-01 4.55906687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.870714057 meters Centerline goodness : 0.990393 Centerline is valid? [True, True] Translation: X:117.86, Y:122.77, Z:45.59 [[-2.92958135e-01 -9.55973147e-01 1.70549817e-02 1.17857400e+02] [ 9.53440997e-01 -2.93424871e-01 -6.96570921e-02 1.22770618e+02] [ 7.15946654e-02 -4.14569303e-03 9.97425194e-01 4.55934322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.900714057 meters Centerline goodness : 0.990897 Centerline is valid? [True, True] Translation: X:117.85, Y:122.78, Z:45.60 [[-2.94852374e-01 -9.55189568e-01 2.59801440e-02 1.17851039e+02] [ 9.52168571e-01 -2.95985458e-01 -7.59448620e-02 1.22781855e+02] [ 8.02314848e-02 2.34495378e-03 9.96773500e-01 4.56011155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.930714057 meters Centerline goodness : 0.990291 Centerline is valid? [True, True] Translation: X:117.86, Y:122.80, Z:45.59 [[-2.95909523e-01 -9.55205517e-01 4.46927692e-03 1.17857007e+02] [ 9.52136038e-01 -2.95327606e-01 -7.88579158e-02 1.22799644e+02] [ 7.66454171e-02 -1.90794487e-02 9.96875847e-01 4.55931024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.960714057 meters Centerline goodness : 0.991471 Centerline is valid? [True, True] Translation: X:117.85, Y:122.79, Z:45.61 [[-2.93476227e-01 -9.55425905e-01 3.21409983e-02 1.17847879e+02] [ 9.52810035e-01 -2.95071756e-01 -7.13140664e-02 1.22791889e+02] [ 7.76192072e-02 9.69528260e-03 9.96935936e-01 4.56059493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.990714057 meters Centerline goodness : 0.989257 Centerline is valid? [True, True] Translation: X:117.86, Y:122.78, Z:45.59 [[-2.93434729e-01 -9.55978610e-01 9.78341126e-04 1.17863914e+02] [ 9.53342145e-01 -2.92701127e-01 -7.39243149e-02 1.22784993e+02] [ 7.09564253e-02 -2.07592674e-02 9.97263375e-01 4.55916704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.020714057 meters Centerline goodness : 0.989959 Centerline is valid? [True, True] Translation: X:117.86, Y:122.78, Z:45.60 [[-2.91429683e-01 -9.56363651e-01 2.09119025e-02 1.17856943e+02] [ 9.53857760e-01 -2.92178919e-01 -6.91870793e-02 1.22782062e+02] [ 7.22780249e-02 -2.16188135e-04 9.97384500e-01 4.56000161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.050714057 meters Centerline goodness : 0.990607 Centerline is valid? [True, True] Translation: X:117.86, Y:122.79, Z:45.60 [[-2.91646109e-01 -9.56407335e-01 1.50850210e-02 1.17858782e+02] [ 9.53938680e-01 -2.91980204e-01 -6.89097639e-02 1.22790020e+02] [ 7.03103312e-02 -5.70707947e-03 9.97508840e-01 4.55968823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.080714057 meters Centerline goodness : 0.990503 Centerline is valid? [True, True] Translation: X:117.85, Y:122.82, Z:45.61 [[-2.91116556e-01 -9.56192981e-01 3.07592983e-02 1.17846174e+02] [ 9.53687413e-01 -2.92597880e-01 -6.97624463e-02 1.22822134e+02] [ 7.57064670e-02 9.02575252e-03 9.97089297e-01 4.56057945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.110714057 meters Centerline goodness : 0.989938 Centerline is valid? [True, True] Translation: X:117.86, Y:122.81, Z:45.59 [[-2.89707899e-01 -9.57099597e-01 5.44927550e-03 1.17860459e+02] [ 9.54724622e-01 -2.89381783e-01 -6.89860838e-02 1.22812127e+02] [ 6.76034740e-02 -1.47832559e-02 9.97602739e-01 4.55921405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.140714057 meters Centerline goodness : 0.990823 Centerline is valid? [True, True] Translation: X:117.85, Y:122.80, Z:45.60 [[-2.87077383e-01 -9.57399864e-01 3.11781432e-02 1.17854030e+02] [ 9.55174632e-01 -2.88563532e-01 -6.61249590e-02 1.22796842e+02] [ 7.23049019e-02 1.07975913e-02 9.97324126e-01 4.56037970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.170714057 meters Centerline goodness : 0.990933 Centerline is valid? [True, True] Translation: X:117.86, Y:122.81, Z:45.60 [[-2.86901411e-01 -9.57847908e-01 1.46617372e-02 1.17858639e+02] [ 9.55320363e-01 -2.87212746e-01 -6.97985919e-02 1.22808215e+02] [ 7.10674730e-02 -6.01865839e-03 9.97453352e-01 4.55974809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.200714057 meters Centerline goodness : 0.991655 Centerline is valid? [True, True] Translation: X:117.86, Y:122.81, Z:45.60 [[-2.83935923e-01 -9.58644222e-01 1.95357868e-02 1.17857285e+02] [ 9.56473635e-01 -2.84606943e-01 -6.44753746e-02 1.22808851e+02] [ 6.73689658e-02 3.78590023e-04 9.97728059e-01 4.55982207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.230714057 meters Centerline goodness : 0.989073 Centerline is valid? [True, True] Translation: X:117.87, Y:122.80, Z:45.59 [[-2.78915481e-01 -9.60307419e-01 3.97683903e-03 1.17868266e+02] [ 9.58386952e-01 -2.78615249e-01 -6.21932000e-02 1.22796167e+02] [ 6.08325994e-02 -1.35352957e-02 9.98056206e-01 4.55893240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.26071405700003 meters Centerline goodness : 0.990325 Centerline is valid? [True, True] Translation: X:117.85, Y:122.83, Z:45.60 [[-2.74941853e-01 -9.61123703e-01 2.54598761e-02 1.17850656e+02] [ 9.59313475e-01 -2.76000414e-01 -5.95099063e-02 1.22829162e+02] [ 6.42233178e-02 8.06223826e-03 9.97902984e-01 4.56028313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.290714057 meters Centerline goodness : 0.989665 Centerline is valid? [True, True] Translation: X:117.86, Y:122.80, Z:45.60 [[-2.70792471e-01 -9.62533325e-01 1.41786997e-02 1.17861804e+02] [ 9.60650877e-01 -2.71150085e-01 -6.02289373e-02 1.22804584e+02] [ 6.18169149e-02 -2.68876245e-03 9.98083884e-01 4.55954857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.32071405700003 meters Centerline goodness : 0.987939 Centerline is valid? [True, True] Translation: X:117.87, Y:122.80, Z:45.59 [[-2.64763424e-01 -9.64313299e-01 4.37332674e-04 1.17870491e+02] [ 9.62618464e-01 -2.64324911e-01 -5.91441806e-02 1.22799008e+02] [ 5.71491178e-02 -1.52382313e-02 9.98249355e-01 4.55885368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.350714057 meters Centerline goodness : 0.987939 Centerline is valid? [True, True] Translation: X:117.86, Y:122.80, Z:45.59 [[-2.64456959e-01 -9.64313564e-01 1.27226991e-02 1.17864860e+02] [ 9.62677355e-01 -2.64749876e-01 -5.62122144e-02 1.22800071e+02] [ 5.75745338e-02 -2.61785693e-03 9.98337778e-01 4.55940150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.38071405700003 meters Centerline goodness : 0.988577 Centerline is valid? [True, True] Translation: X:117.86, Y:122.80, Z:45.59 [[-2.61246154e-01 -9.65180798e-01 1.32843439e-02 1.17864751e+02] [ 9.63602695e-01 -2.61578682e-01 -5.51945571e-02 1.22803682e+02] [ 5.67476278e-02 -1.61853619e-03 9.98387243e-01 4.55935569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.410714057 meters Centerline goodness : 0.989807 Centerline is valid? [True, True] Translation: X:117.86, Y:122.81, Z:45.60 [[-2.56666163e-01 -9.66126896e-01 2.68570766e-02 1.17859901e+02] [ 9.64544656e-01 -2.57814705e-01 -5.64374380e-02 1.22807663e+02] [ 6.14498761e-02 1.14192691e-02 9.98044845e-01 4.55995824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.440714057 meters Centerline goodness : 0.990872 Centerline is valid? [True, True] Translation: X:117.86, Y:122.81, Z:45.60 [[-2.54685303e-01 -9.66902654e-01 1.53184310e-02 1.17864839e+02] [ 9.65124879e-01 -2.55145523e-01 -5.86065731e-02 1.22811788e+02] [ 6.05752801e-02 -1.42033921e-04 9.98163622e-01 4.55950420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.470714057 meters Centerline goodness : 0.989123 Centerline is valid? [True, True] Translation: X:117.88, Y:122.81, Z:45.59 [[-2.49969806e-01 -9.68239381e-01 -5.25336859e-03 1.17876280e+02] [ 9.66642428e-01 -2.49237305e-01 -5.90184915e-02 1.22807988e+02] [ 5.58346922e-02 -1.98309698e-02 9.98243067e-01 4.55868760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.500714057 meters Centerline goodness : 0.989481 Centerline is valid? [True, True] Translation: X:117.87, Y:122.80, Z:45.59 [[-2.45566520e-01 -9.69135450e-01 2.17615133e-02 1.17867543e+02] [ 9.67964879e-01 -2.46358752e-01 -4.84908002e-02 1.22802624e+02] [ 5.23552927e-02 9.15666350e-03 9.98586541e-01 4.55941075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.530714057 meters Centerline goodness : 0.988139 Centerline is valid? [True, True] Translation: X:117.88, Y:122.79, Z:45.59 [[-2.39377019e-01 -9.70897548e-01 7.52294351e-03 1.17880277e+02] [ 9.69666106e-01 -2.39453753e-01 -4.90871022e-02 1.22790037e+02] [ 4.94599442e-02 -4.45558086e-03 9.98766170e-01 4.55876058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.560714057 meters Centerline goodness : 0.988775 Centerline is valid? [True, True] Translation: X:117.88, Y:122.80, Z:45.59 [[-2.38163551e-01 -9.71172308e-01 1.01228199e-02 1.17876893e+02] [ 9.69877040e-01 -2.38369023e-01 -5.01870103e-02 1.22803952e+02] [ 5.11532013e-02 -2.13482603e-03 9.98688536e-01 4.55901303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.590714057 meters Centerline goodness : 0.989770 Centerline is valid? [True, True] Translation: X:117.87, Y:122.81, Z:45.60 [[-2.34578622e-01 -9.71659809e-01 2.91562354e-02 1.17868530e+02] [ 9.70459550e-01 -2.35818307e-01 -5.09704569e-02 1.22811904e+02] [ 5.64015184e-02 1.63383675e-02 9.98274475e-01 4.55981261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.620714057 meters Centerline goodness : 0.987359 Centerline is valid? [True, True] Translation: X:117.89, Y:122.82, Z:45.58 [[-2.30493389e-01 -9.73048061e-01 -7.08996720e-03 1.17886996e+02] [ 9.71584520e-01 -2.29731518e-01 -5.69820144e-02 1.22816813e+02] [ 5.38174497e-02 -2.00224800e-02 9.98350030e-01 4.55841871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.650714057 meters Centerline goodness : 0.986742 Centerline is valid? [True, True] Translation: X:117.89, Y:122.81, Z:45.59 [[-2.28120722e-01 -9.73573404e-01 1.07593791e-02 1.17886339e+02] [ 9.72143036e-01 -2.28368848e-01 -5.27786643e-02 1.22814123e+02] [ 5.38410109e-02 -1.58025150e-03 9.98548270e-01 4.55889341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.680714057 meters Centerline goodness : 0.987443 Centerline is valid? [True, True] Translation: X:117.89, Y:122.82, Z:45.59 [[-2.24061222e-01 -9.74423038e-01 1.72137137e-02 1.17886296e+02] [ 9.73308788e-01 -2.24635288e-01 -4.69998996e-02 1.22816474e+02] [ 4.96645925e-02 6.22340391e-03 9.98746563e-01 4.55918028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.710714057 meters Centerline goodness : 0.987460 Centerline is valid? [True, True] Translation: X:117.90, Y:122.82, Z:45.59 [[-2.23016192e-01 -9.74814705e-01 -2.64518885e-04 1.17900163e+02] [ 9.73212557e-01 -2.22634088e-01 -5.73705666e-02 1.22817437e+02] [ 5.58667810e-02 -1.30519984e-02 9.98352918e-01 4.55880945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.740714057 meters Centerline goodness : 0.987853 Centerline is valid? [True, True] Translation: X:117.90, Y:122.80, Z:45.59 [[-2.19783054e-01 -9.75458690e-01 1.32572043e-02 1.17902562e+02] [ 9.74154709e-01 -2.20174956e-01 -5.04538611e-02 1.22803871e+02] [ 5.21345616e-02 1.82566428e-03 9.98638400e-01 4.55886379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.770714057 meters Centerline goodness : 0.988588 Centerline is valid? [True, True] Translation: X:117.91, Y:122.81, Z:45.59 [[-2.18599005e-01 -9.75751155e-01 1.11426427e-02 1.17906732e+02] [ 9.74420086e-01 -2.18882628e-01 -5.09498948e-02 1.22806817e+02] [ 5.21533496e-02 -2.79981381e-04 9.98639049e-01 4.55912394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.800714057 meters Centerline goodness : 0.988535 Centerline is valid? [True, True] Translation: X:117.92, Y:122.81, Z:45.59 [[-2.18242643e-01 -9.75843364e-01 9.99386310e-03 1.17915189e+02] [ 9.74573850e-01 -2.18468460e-01 -4.97729197e-02 1.22814330e+02] [ 5.07539173e-02 -1.12281594e-03 9.98710558e-01 4.55874964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.830714057 meters Centerline goodness : 0.989193 Centerline is valid? [True, True] Translation: X:117.92, Y:122.81, Z:45.59 [[-2.17440795e-01 -9.76010144e-01 1.11220559e-02 1.17919448e+02] [ 9.74727072e-01 -2.17725051e-01 -5.00293588e-02 1.22813536e+02] [ 5.12507119e-02 -3.74545465e-05 9.98685818e-01 4.55906241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.860714057 meters Centerline goodness : 0.990277 Centerline is valid? [True, True] Translation: X:117.93, Y:122.82, Z:45.59 [[-2.17752989e-01 -9.75844661e-01 1.76304515e-02 1.17926774e+02] [ 9.74914049e-01 -2.18327768e-01 -4.33079960e-02 1.22818159e+02] [ 4.61110938e-02 7.75772934e-03 9.98906194e-01 4.55898740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.890714057 meters Centerline goodness : 0.991946 Centerline is valid? [True, True] Translation: X:117.85, Y:123.18, Z:45.61 [[-2.40525814e-01 -9.70634819e-01 -3.92193072e-03 1.17849441e+02] [ 9.67903992e-01 -2.39541876e-01 -7.60365168e-02 1.23184685e+02] [ 7.28642241e-02 -2.20847975e-02 9.97097321e-01 4.56139009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.920714057 meters Centerline goodness : 0.992633 Centerline is valid? [True, True] Translation: X:117.85, Y:123.18, Z:45.62 [[-2.44309725e-01 -9.69568454e-01 1.58041495e-02 1.17852839e+02] [ 9.66934890e-01 -2.44810720e-01 -7.14466873e-02 1.23184229e+02] [ 7.31414794e-02 -2.17353698e-03 9.97319207e-01 4.56200934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.950714057 meters Centerline goodness : 0.991919 Centerline is valid? [True, True] Translation: X:117.93, Y:122.86, Z:45.60 [[-2.50137114e-01 -9.67838725e-01 2.68258461e-02 1.17926974e+02] [ 9.65791532e-01 -2.51373674e-01 -6.37023707e-02 1.22864252e+02] [ 6.83969328e-02 9.97384783e-03 9.97608331e-01 4.56009753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.980714057 meters Centerline goodness : 0.984368 Centerline is valid? [True, True] Translation: X:117.72, Y:123.80, Z:45.65 [[-2.62741194e-01 -9.64746998e-01 1.51754794e-02 1.17715560e+02] [ 9.63597614e-01 -2.63169555e-01 -4.71319873e-02 1.23799986e+02] [ 4.94641674e-02 2.23954114e-03 9.98773388e-01 4.56458172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.01071405700003 meters Centerline goodness : 0.989112 Centerline is valid? [True, True] Translation: X:117.95, Y:122.87, Z:45.59 [[-2.34212225e-01 -9.72159658e-01 7.08757046e-03 1.17953997e+02] [ 9.70295371e-01 -2.34205041e-01 -6.06208932e-02 1.22871473e+02] [ 6.05931315e-02 -7.32111744e-03 9.98135699e-01 4.55890704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.040714057 meters Centerline goodness : 0.991163 Centerline is valid? [True, True] Translation: X:117.94, Y:122.90, Z:45.60 [[-2.53373238e-01 -9.67164540e-01 1.98684627e-02 1.17942761e+02] [ 9.64799087e-01 -2.54142914e-01 -6.76320990e-02 1.22898998e+02] [ 7.04607969e-02 2.03291071e-03 9.97512478e-01 4.55972404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.07071405700003 meters Centerline goodness : 0.989975 Centerline is valid? [True, True] Translation: X:117.96, Y:122.89, Z:45.60 [[-2.40795933e-01 -9.70367404e-01 2.01101703e-02 1.17957488e+02] [ 9.68261111e-01 -2.41600220e-01 -6.40293192e-02 1.22886327e+02] [ 6.69905858e-02 4.05389613e-03 9.97745372e-01 4.55956036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.100714057 meters Centerline goodness : 0.990874 Centerline is valid? [True, True] Translation: X:117.96, Y:122.91, Z:45.59 [[-2.59027409e-01 -9.65836124e-01 8.08603605e-03 1.17957886e+02] [ 9.63449787e-01 -2.58961585e-01 -6.85813789e-02 1.22913486e+02] [ 6.83323458e-02 -9.97396717e-03 9.97612756e-01 4.55941710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.13071405700003 meters Centerline goodness : 0.989399 Centerline is valid? [True, True] Translation: X:117.88, Y:123.29, Z:45.62 [[-2.61011509e-01 -9.65294625e-01 -8.90393875e-03 1.17884897e+02] [ 9.62504563e-01 -2.59529051e-01 -7.89280518e-02 1.23294140e+02] [ 7.38779933e-02 -2.91712115e-02 9.96840550e-01 4.56214537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.160714057 meters Centerline goodness : 0.989802 Centerline is valid? [True, True] Translation: X:117.95, Y:122.92, Z:45.60 [[-2.61890976e-01 -9.64211818e-01 4.13362674e-02 1.17953924e+02] [ 9.62711459e-01 -2.64013699e-01 -5.90204540e-02 1.22920298e+02] [ 6.78215601e-02 2.43379740e-02 9.97400571e-01 4.56043681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.190714057 meters Centerline goodness : 0.990631 Centerline is valid? [True, True] Translation: X:117.98, Y:122.91, Z:45.60 [[-2.49515747e-01 -9.68282412e-01 1.30790844e-02 1.17983435e+02] [ 9.66059301e-01 -2.49830099e-01 -6.56836968e-02 1.22905795e+02] [ 6.68679174e-02 -3.75394558e-03 9.97754774e-01 4.55957331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.220714057 meters Centerline goodness : 0.988960 Centerline is valid? [True, True] Translation: X:117.99, Y:122.92, Z:45.59 [[-2.51282223e-01 -9.67912892e-01 -1.37013385e-03 1.17990217e+02] [ 9.65860389e-01 -2.50656707e-01 -6.54593337e-02 1.22917894e+02] [ 6.30154998e-02 -1.77721249e-02 9.97854297e-01 4.55941774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.250714057 meters Centerline goodness : 0.989693 Centerline is valid? [True, True] Translation: X:117.98, Y:122.93, Z:45.60 [[-2.51574815e-01 -9.67590442e-01 2.18826227e-02 1.17980721e+02] [ 9.65220987e-01 -2.52491990e-01 -6.77955808e-02 1.22932288e+02] [ 7.11235430e-02 4.06590594e-03 9.97459227e-01 4.56021585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.280714057 meters Centerline goodness : 0.989721 Centerline is valid? [True, True] Translation: X:117.99, Y:122.91, Z:45.60 [[-2.48947754e-01 -9.68392302e-01 1.55359489e-02 1.17993663e+02] [ 9.65946868e-01 -2.49423019e-01 -6.88099318e-02 1.22910058e+02] [ 7.05100315e-02 -2.12317683e-03 9.97508811e-01 4.55973627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.310714057 meters Centerline goodness : 0.988725 Centerline is valid? [True, True] Translation: X:118.00, Y:122.92, Z:45.59 [[-2.48562705e-01 -9.68583432e-01 7.91942003e-03 1.17997649e+02] [ 9.66615411e-01 -2.48566267e-01 -6.22049753e-02 1.22918196e+02] [ 6.22192091e-02 -7.80680346e-03 9.98031975e-01 4.55945477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.340714057 meters Centerline goodness : 0.988642 Centerline is valid? [True, True] Translation: X:118.00, Y:122.93, Z:45.60 [[-2.49547791e-01 -9.68343643e-01 6.04061633e-03 1.18000246e+02] [ 9.65992286e-01 -2.49368326e-01 -6.83691483e-02 1.22933690e+02] [ 6.77111685e-02 -1.12261812e-02 9.97641805e-01 4.55966693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.370714057 meters Centerline goodness : 0.988788 Centerline is valid? [True, True] Translation: X:118.00, Y:122.93, Z:45.60 [[-2.48381644e-01 -9.68508534e-01 1.72562631e-02 1.17998365e+02] [ 9.66275328e-01 -2.48980118e-01 -6.57334889e-02 1.22928915e+02] [ 6.79599114e-02 3.47309272e-04 9.97687992e-01 4.55989778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.400714057 meters Centerline goodness : 0.987578 Centerline is valid? [True, True] Translation: X:118.01, Y:122.93, Z:45.60 [[-2.46497841e-01 -9.69083010e-01 1.08136297e-02 1.18005631e+02] [ 9.66746478e-01 -2.46657157e-01 -6.75388351e-02 1.22925948e+02] [ 6.81179967e-02 -6.19413865e-03 9.97658043e-01 4.55955504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.430714057 meters Centerline goodness : 0.987748 Centerline is valid? [True, True] Translation: X:118.00, Y:122.93, Z:45.60 [[-2.46158546e-01 -9.69041575e-01 1.90891547e-02 1.18004174e+02] [ 9.66961651e-01 -2.46881466e-01 -6.35193515e-02 1.22928891e+02] [ 6.62656509e-02 2.82264939e-03 9.97798024e-01 4.55985787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.460714057 meters Centerline goodness : 0.987643 Centerline is valid? [True, True] Translation: X:118.01, Y:122.93, Z:45.60 [[-2.42748513e-01 -9.69972185e-01 1.50705262e-02 1.18009179e+02] [ 9.67947050e-01 -2.43215082e-01 -6.26492808e-02 1.22925864e+02] [ 6.44334390e-02 -6.20548370e-04 9.97921814e-01 4.55958912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.490714057 meters Centerline goodness : 0.987125 Centerline is valid? [True, True] Translation: X:118.01, Y:122.93, Z:45.59 [[-2.41246848e-01 -9.70391173e-01 1.18713797e-02 1.18010699e+02] [ 9.68369782e-01 -2.41511449e-01 -6.27071476e-02 1.22930643e+02] [ 6.37175366e-02 -3.63201634e-03 9.97961364e-01 4.55939077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.520714057 meters Centerline goodness : 0.989897 Centerline is valid? [True, True] Translation: X:117.99, Y:122.95, Z:45.60 [[-2.53303300e-01 -9.66955188e-01 2.88981625e-02 1.17992627e+02] [ 9.65066766e-01 -2.54650687e-01 -6.16373692e-02 1.22949854e+02] [ 6.69595108e-02 1.22757072e-02 9.97680175e-01 4.55982506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.550714057 meters Centerline goodness : 0.987014 Centerline is valid? [True, True] Translation: X:118.02, Y:122.93, Z:45.59 [[-2.38212282e-01 -9.71203281e-01 -4.36984825e-03 1.18021291e+02] [ 9.69058589e-01 -2.37381898e-01 -6.76408595e-02 1.22930164e+02] [ 6.46557018e-02 -2.03475225e-02 9.97700165e-01 4.55912521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.580714057 meters Centerline goodness : 0.988202 Centerline is valid? [True, True] Translation: X:118.02, Y:122.93, Z:45.60 [[-2.37421479e-01 -9.71359693e-01 9.55973739e-03 1.18017193e+02] [ 9.68770310e-01 -2.37490201e-01 -7.12915925e-02 1.22925824e+02] [ 7.15201233e-02 -7.66496556e-03 9.97409705e-01 4.55974627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.610714057 meters Centerline goodness : 0.987307 Centerline is valid? [True, True] Translation: X:118.02, Y:122.93, Z:45.60 [[-2.36601875e-01 -9.71568997e-01 8.55788946e-03 1.18017593e+02] [ 9.68926190e-01 -2.36593791e-01 -7.21485664e-02 1.22930432e+02] [ 7.21220538e-02 -8.77852282e-03 9.97357181e-01 4.55977206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.640714057 meters Centerline goodness : 0.986983 Centerline is valid? [True, True] Translation: X:118.01, Y:122.93, Z:45.60 [[-2.34665055e-01 -9.71793696e-01 2.34376844e-02 1.18013330e+02] [ 9.69841456e-01 -2.35691490e-01 -6.21053364e-02 1.22934903e+02] [ 6.58776372e-02 8.15688570e-03 9.97794369e-01 4.55979518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.670714057 meters Centerline goodness : 0.988359 Centerline is valid? [True, True] Translation: X:118.02, Y:122.94, Z:45.60 [[-2.34537382e-01 -9.71999688e-01 1.44507422e-02 1.18017605e+02] [ 9.69712350e-01 -2.34976545e-01 -6.66631949e-02 1.22937763e+02] [ 6.81921901e-02 -1.62194797e-03 9.97670885e-01 4.55967746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.700714057 meters Centerline goodness : 0.987237 Centerline is valid? [True, True] Translation: X:118.02, Y:122.93, Z:45.59 [[-2.32348362e-01 -9.72364703e-01 2.28281022e-02 1.18019050e+02] [ 9.70707967e-01 -2.33300498e-01 -5.74188203e-02 1.22929775e+02] [ 6.11578418e-02 8.81825180e-03 9.98089153e-01 4.55946962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.730714057 meters Centerline goodness : 0.987196 Centerline is valid? [True, True] Translation: X:118.03, Y:122.94, Z:45.59 [[-2.34437528e-01 -9.72127490e-01 2.68135148e-03 1.18025935e+02] [ 9.69724114e-01 -2.34050132e-01 -6.96826942e-02 1.22939194e+02] [ 6.83680332e-02 -1.37360673e-02 9.97565603e-01 4.55944460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.76071405700003 meters Centerline goodness : 0.989765 Centerline is valid? [True, True] Translation: X:118.00, Y:122.97, Z:45.60 [[-2.47132365e-01 -9.68529343e-01 2.96058508e-02 1.18001390e+02] [ 9.66743219e-01 -2.48521955e-01 -6.03687456e-02 1.22970297e+02] [ 6.58266054e-02 1.37021847e-02 9.97736994e-01 4.55981806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.790714057 meters Centerline goodness : 0.987624 Centerline is valid? [True, True] Translation: X:118.03, Y:122.94, Z:45.59 [[-2.32173100e-01 -9.72673524e-01 -1.36635038e-03 1.18030404e+02] [ 9.70369840e-01 -2.31526120e-01 -6.91232920e-02 1.22941273e+02] [ 6.69180502e-02 -1.73744342e-02 9.97607189e-01 4.55931013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.82071405700003 meters Centerline goodness : 0.986994 Centerline is valid? [True, True] Translation: X:118.03, Y:122.94, Z:45.59 [[-2.29086745e-01 -9.73340391e-01 1.13025476e-02 1.18029196e+02] [ 9.71043052e-01 -2.29323791e-01 -6.69775300e-02 1.22935233e+02] [ 6.77838783e-02 -4.36840404e-03 9.97690465e-01 4.55934364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.850714057 meters Centerline goodness : 0.986585 Centerline is valid? [True, True] Translation: X:118.02, Y:122.93, Z:45.59 [[-2.24017438e-01 -9.74118872e-01 3.01431559e-02 1.18022804e+02] [ 9.72788524e-01 -2.25374651e-01 -5.37471336e-02 1.22930643e+02] [ 5.91496005e-02 1.72826210e-02 9.98099512e-01 4.55941773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.88071405700003 meters Centerline goodness : 0.987785 Centerline is valid? [True, True] Translation: X:118.01, Y:122.97, Z:45.59 [[-2.39435342e-01 -9.70817770e-01 1.35489503e-02 1.18010375e+02] [ 9.69131736e-01 -2.39817721e-01 -5.71938810e-02 1.22967416e+02] [ 5.87741144e-02 -5.63518727e-04 9.98271149e-01 4.55926207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.910714057 meters Centerline goodness : 0.986983 Centerline is valid? [True, True] Translation: X:118.04, Y:122.94, Z:45.59 [[-2.19364511e-01 -9.75640415e-01 -2.23428571e-03 1.18036208e+02] [ 9.73383644e-01 -2.18700187e-01 -6.85164905e-02 1.22943519e+02] [ 6.63588185e-02 -1.72049036e-02 9.97647482e-01 4.55914579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.940714057 meters Centerline goodness : 0.985724 Centerline is valid? [True, True] Translation: X:118.03, Y:122.93, Z:45.59 [[-2.16075343e-01 -9.76120035e-01 2.23858118e-02 1.18031003e+02] [ 9.74543302e-01 -2.17017297e-01 -5.62925034e-02 1.22934277e+02] [ 5.98063487e-02 9.65252093e-03 9.98163328e-01 4.55912315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.970714057 meters Centerline goodness : 0.986771 Centerline is valid? [True, True] Translation: X:118.04, Y:122.93, Z:45.59 [[-2.16329726e-01 -9.76302540e-01 5.89917014e-03 1.18037796e+02] [ 9.74076747e-01 -2.16238048e-01 -6.64499561e-02 1.22934913e+02] [ 6.61508860e-02 -8.62885634e-03 9.97772320e-01 4.55920127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.000714057 meters Centerline goodness : 0.986326 Centerline is valid? [True, True] Translation: X:118.04, Y:122.95, Z:45.60 [[-2.17382170e-01 -9.76063409e-01 6.72415321e-03 1.18037331e+02] [ 9.73794045e-01 -2.17338330e-01 -6.70015549e-02 1.22948815e+02] [ 6.68591823e-02 -8.01700303e-03 9.97730213e-01 4.55955918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.030714057 meters Centerline goodness : 0.987464 Centerline is valid? [True, True] Translation: X:118.01, Y:122.97, Z:45.60 [[-2.31419062e-01 -9.71949658e-01 4.19413942e-02 1.18009198e+02] [ 9.71435207e-01 -2.33194300e-01 -4.39779208e-02 1.22971310e+02] [ 5.25248191e-02 3.05660178e-02 9.98151723e-01 4.55971246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.060714057 meters Centerline goodness : 0.986348 Centerline is valid? [True, True] Translation: X:118.05, Y:122.95, Z:45.59 [[-2.14696164e-01 -9.76679627e-01 1.56933540e-03 1.18047400e+02] [ 9.75218356e-01 -2.14462291e-01 -5.43606877e-02 1.22946142e+02] [ 5.34295395e-02 -1.01405864e-02 9.98520131e-01 4.55867684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.090714057 meters Centerline goodness : 0.989023 Centerline is valid? [True, True] Translation: X:118.03, Y:122.98, Z:45.59 [[-2.32595641e-01 -9.72436398e-01 1.63315689e-02 1.18026118e+02] [ 9.70627476e-01 -2.33159246e-01 -5.93217467e-02 1.22981534e+02] [ 6.14944819e-02 2.05388981e-03 9.98105310e-01 4.55924041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.120714057 meters Centerline goodness : 0.984004 Centerline is valid? [True, True] Translation: X:118.05, Y:122.96, Z:45.59 [[-2.21373900e-01 -9.75151382e-01 8.56616308e-03 1.18050225e+02] [ 9.73549093e-01 -2.21502312e-01 -5.60257940e-02 1.22955393e+02] [ 5.65310554e-02 -4.06306823e-03 9.98392574e-01 4.55888338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.150714057 meters Centerline goodness : 0.988035 Centerline is valid? [True, True] Translation: X:118.03, Y:122.99, Z:45.59 [[-2.42406863e-01 -9.70039810e-01 1.61765216e-02 1.18033885e+02] [ 9.68184709e-01 -2.42943417e-01 -5.99738688e-02 1.22994997e+02] [ 6.21070198e-02 1.12378352e-03 9.98068863e-01 4.55917824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.180714057 meters Centerline goodness : 0.987059 Centerline is valid? [True, True] Translation: X:118.04, Y:123.00, Z:45.59 [[-2.45583191e-01 -9.69286354e-01 1.31476257e-02 1.18036232e+02] [ 9.67406243e-01 -2.45925834e-01 -6.03791849e-02 1.23001607e+02] [ 6.17580608e-02 -2.10901772e-03 9.98088921e-01 4.55915729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.210714057 meters Centerline goodness : 0.986797 Centerline is valid? [True, True] Translation: X:118.04, Y:123.01, Z:45.59 [[-2.51812340e-01 -9.67687352e-01 1.31047674e-02 1.18039275e+02] [ 9.65810455e-01 -2.52140454e-01 -6.02939195e-02 1.23007359e+02] [ 6.16499053e-02 -2.52603162e-03 9.98094639e-01 4.55917507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.240714057 meters Centerline goodness : 0.986797 Centerline is valid? [True, True] Translation: X:118.04, Y:123.01, Z:45.59 [[-2.51439090e-01 -9.67784717e-01 1.30814849e-02 1.18038662e+02] [ 9.65907694e-01 -2.51766480e-01 -6.02989704e-02 1.23009879e+02] [ 6.16499015e-02 -2.52601133e-03 9.98094639e-01 4.55919089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.270714057 meters Centerline goodness : 0.987904 Centerline is valid? [True, True] Translation: X:118.04, Y:123.02, Z:45.59 [[-2.54157334e-01 -9.67074907e-01 1.30450878e-02 1.18038491e+02] [ 9.65200499e-01 -2.54477357e-01 -6.02434304e-02 1.23019965e+02] [ 6.15795893e-02 -2.72018439e-03 9.98098470e-01 4.55926456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.300714057 meters Centerline goodness : 0.986979 Centerline is valid? [True, True] Translation: X:118.04, Y:123.02, Z:45.59 [[-2.56368459e-01 -9.66489635e-01 1.31528719e-02 1.18039413e+02] [ 9.64576184e-01 -2.56689091e-01 -6.08563584e-02 1.23023999e+02] [ 6.21932383e-02 -2.91470387e-03 9.98059871e-01 4.55931423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.330714057 meters Centerline goodness : 0.986036 Centerline is valid? [True, True] Translation: X:118.04, Y:123.03, Z:45.59 [[-2.60144021e-01 -9.65480483e-01 1.31348973e-02 1.18040527e+02] [ 9.63563888e-01 -2.60455953e-01 -6.08878565e-02 1.23032193e+02] [ 6.22070993e-02 -3.18329912e-03 9.98058186e-01 4.55933793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.360714057 meters Centerline goodness : 0.985921 Centerline is valid? [True, True] Translation: X:118.05, Y:123.01, Z:45.59 [[-2.46689309e-01 -9.68865128e-01 2.10890656e-02 1.18051571e+02] [ 9.67561447e-01 -2.47464324e-01 -5.08552322e-02 1.23013496e+02] [ 5.44906524e-02 7.85952475e-03 9.98483348e-01 4.55909618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.390714057 meters Centerline goodness : 0.984448 Centerline is valid? [True, True] Translation: X:118.06, Y:123.01, Z:45.58 [[-2.43992171e-01 -9.69639328e-01 1.63521873e-02 1.18056691e+02] [ 9.68970713e-01 -2.44442132e-01 -3.66579106e-02 1.23005223e+02] [ 3.95421153e-02 6.90054738e-03 9.99194077e-01 4.55842379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.420714057 meters Centerline goodness : 0.984924 Centerline is valid? [True, True] Translation: X:118.06, Y:123.02, Z:45.59 [[-2.49529728e-01 -9.68365975e-01 -1.50082041e-03 1.18062418e+02] [ 9.66866541e-01 -2.49056506e-01 -5.60352407e-02 1.23019239e+02] [ 5.38888314e-02 -1.54335514e-02 9.98427664e-01 4.55876918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.450714057 meters Centerline goodness : 0.984220 Centerline is valid? [True, True] Translation: X:118.06, Y:123.02, Z:45.59 [[-2.49353704e-01 -9.68352943e-01 1.07381694e-02 1.18058290e+02] [ 9.67333004e-01 -2.49583847e-01 -4.44382966e-02 1.23016366e+02] [ 4.57120289e-02 -6.93468128e-04 9.98954418e-01 4.55886154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.480714057 meters Centerline goodness : 0.985067 Centerline is valid? [True, True] Translation: X:118.06, Y:123.03, Z:45.59 [[-2.51383974e-01 -9.67884246e-01 2.48671337e-03 1.18058735e+02] [ 9.66644318e-01 -2.51190449e-01 -5.00211942e-02 1.23032377e+02] [ 4.90393645e-02 -1.01707592e-02 9.98745061e-01 4.55904082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.51071405700003 meters Centerline goodness : 0.986176 Centerline is valid? [True, True] Translation: X:118.05, Y:123.05, Z:45.59 [[-2.66963729e-01 -9.63667145e-01 8.71780801e-03 1.18045320e+02] [ 9.61831109e-01 -2.66997379e-01 -5.99442802e-02 1.23053058e+02] [ 6.00939652e-02 -7.61788962e-03 9.98163656e-01 4.55939881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.540714057 meters Centerline goodness : 0.985687 Centerline is valid? [True, True] Translation: X:118.05, Y:123.03, Z:45.60 [[-2.56060700e-01 -9.66582859e-01 1.22675923e-02 1.18054193e+02] [ 9.64670244e-01 -2.56326850e-01 -6.08922594e-02 1.23034615e+02] [ 6.20019275e-02 -3.75793330e-03 9.98068955e-01 4.55951870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.57071405700003 meters Centerline goodness : 0.983165 Centerline is valid? [True, True] Translation: X:118.06, Y:123.03, Z:45.59 [[-2.57930847e-01 -9.66105224e-01 1.06006742e-02 1.18056493e+02] [ 9.64475577e-01 -2.58113018e-01 -5.62541713e-02 1.23030968e+02] [ 5.70836208e-02 -4.28559469e-03 9.98360203e-01 4.55917968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.600714057 meters Centerline goodness : 0.984963 Centerline is valid? [True, True] Translation: X:118.05, Y:123.04, Z:45.59 [[-2.60371216e-01 -9.65435882e-01 1.18485129e-02 1.18052931e+02] [ 9.63315423e-01 -2.60586891e-01 -6.41706205e-02 1.23044634e+02] [ 6.50401867e-02 -5.29432727e-03 9.97868601e-01 4.55948685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.63071405700003 meters Centerline goodness : 0.984672 Centerline is valid? [True, True] Translation: X:118.06, Y:123.03, Z:45.59 [[-2.62214614e-01 -9.64991086e-01 5.97502407e-03 1.18057547e+02] [ 9.62943359e-01 -2.62053120e-01 -6.37828284e-02 1.23033122e+02] [ 6.31156345e-02 -1.09711800e-02 9.97945915e-01 4.55914048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.660714057 meters Centerline goodness : 0.985313 Centerline is valid? [True, True] Translation: X:118.05, Y:123.04, Z:45.60 [[-2.64144862e-01 -9.64361857e-01 1.52872960e-02 1.18050571e+02] [ 9.61981725e-01 -2.64567517e-01 -6.77878302e-02 1.23041792e+02] [ 6.94165198e-02 -3.19970766e-03 9.97582633e-01 4.55963576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.690714057 meters Centerline goodness : 0.985413 Centerline is valid? [True, True] Translation: X:118.05, Y:123.04, Z:45.60 [[-2.65610914e-01 -9.63974580e-01 1.42776590e-02 1.18048269e+02] [ 9.61694644e-01 -2.65965799e-01 -6.63747378e-02 1.23044420e+02] [ 6.77809290e-02 -3.89910657e-03 9.97692609e-01 4.55963885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.720714057 meters Centerline goodness : 0.985501 Centerline is valid? [True, True] Translation: X:118.05, Y:123.04, Z:45.59 [[-2.67591234e-01 -9.63531074e-01 -1.67363913e-03 1.18053026e+02] [ 9.61278037e-01 -2.66845963e-01 -6.88314461e-02 1.23036927e+02] [ 6.58746333e-02 -2.00275241e-02 9.97626900e-01 4.55946845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.750714057 meters Centerline goodness : 0.985436 Centerline is valid? [True, True] Translation: X:118.04, Y:123.05, Z:45.60 [[-2.68205968e-01 -9.62982055e-01 2.70392468e-02 1.18035967e+02] [ 9.60962446e-01 -2.69412255e-01 -6.29937685e-02 1.23051618e+02] [ 6.79465731e-02 9.08839608e-03 9.97647565e-01 4.56017055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.780714057 meters Centerline goodness : 0.985716 Centerline is valid? [True, True] Translation: X:118.04, Y:123.06, Z:45.60 [[-2.69249793e-01 -9.63012933e-01 1.05186062e-02 1.18038016e+02] [ 9.60716888e-01 -2.69338889e-01 -6.69299996e-02 1.23055277e+02] [ 6.72875249e-02 -7.91548587e-03 9.97702227e-01 4.56001219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.810714057 meters Centerline goodness : 0.983733 Centerline is valid? [True, True] Translation: X:118.04, Y:123.06, Z:45.60 [[-2.69376628e-01 -9.63022361e-01 4.91571031e-03 1.18037678e+02] [ 9.61176351e-01 -2.69170226e-01 -6.07240709e-02 1.23059445e+02] [ 5.98018010e-02 -1.16327810e-02 9.98142486e-01 4.55981155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.840714057 meters Centerline goodness : 0.987678 Centerline is valid? [True, True] Translation: X:118.01, Y:123.08, Z:45.60 [[-2.83046748e-01 -9.58727535e-01 2.69453629e-02 1.18012406e+02] [ 9.56995419e-01 -2.84175199e-01 -5.83457271e-02 1.23081608e+02] [ 6.35948589e-02 9.27202052e-03 9.97932725e-01 4.56029033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.870714057 meters Centerline goodness : 0.985057 Centerline is valid? [True, True] Translation: X:118.03, Y:123.06, Z:45.60 [[-2.71138188e-01 -9.62540049e-01 8.58199318e-04 1.18032211e+02] [ 9.60726255e-01 -2.70681760e-01 -6.11264952e-02 1.23063633e+02] [ 5.90689986e-02 -1.57492325e-02 9.98129658e-01 4.55984110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.900714057 meters Centerline goodness : 0.985862 Centerline is valid? [True, True] Translation: X:118.02, Y:123.08, Z:45.60 [[-2.73089270e-01 -9.61815932e-01 1.82308188e-02 1.18019355e+02] [ 9.59583941e-01 -2.73696840e-01 -6.54881645e-02 1.23075782e+02] [ 6.79772775e-02 -3.90114078e-04 9.97686793e-01 4.56036089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.930714057 meters Centerline goodness : 0.985105 Centerline is valid? [True, True] Translation: X:118.03, Y:123.07, Z:45.60 [[-2.76586154e-01 -9.60964100e-01 -6.93526396e-03 1.18025695e+02] [ 9.58539532e-01 -2.75358986e-01 -7.33443611e-02 1.23067457e+02] [ 6.85716107e-02 -2.69337594e-02 9.97282561e-01 4.56018436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.960714057 meters Centerline goodness : 0.985602 Centerline is valid? [True, True] Translation: X:118.01, Y:123.07, Z:45.61 [[-2.77257376e-01 -9.60510342e-01 2.34142950e-02 1.18007509e+02] [ 9.58590718e-01 -2.78189001e-01 -6.09484629e-02 1.23073357e+02] [ 6.50552283e-02 5.54631491e-03 9.97866251e-01 4.56068017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.990714057 meters Centerline goodness : 0.987174 Centerline is valid? [True, True] Translation: X:118.01, Y:123.08, Z:45.61 [[-2.78362334e-01 -9.60327222e-01 1.69126444e-02 1.18006290e+02] [ 9.57569246e-01 -2.78845773e-01 -7.28434899e-02 1.23078951e+02] [ 7.46696057e-02 -4.08185577e-03 9.97199974e-01 4.56080728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.020714057 meters Centerline goodness : 0.986368 Centerline is valid? [True, True] Translation: X:118.00, Y:123.08, Z:45.61 [[-2.78538466e-01 -9.60410609e-01 5.27105724e-03 1.18004952e+02] [ 9.57976834e-01 -2.78215876e-01 -6.98305921e-02 1.23079835e+02] [ 6.85325334e-02 -1.44009553e-02 9.97544939e-01 4.56067120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.050714057 meters Centerline goodness : 0.988002 Centerline is valid? [True, True] Translation: X:118.00, Y:123.08, Z:45.61 [[-2.76264722e-01 -9.61014345e-01 1.13680016e-02 1.17998657e+02] [ 9.58655752e-01 -2.76388010e-01 -6.77408111e-02 1.23079396e+02] [ 6.82418706e-02 -7.81639626e-03 9.97638186e-01 4.56064541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.080714057 meters Centerline goodness : 0.988853 Centerline is valid? [True, True] Translation: X:117.98, Y:123.09, Z:45.61 [[-2.84113118e-01 -9.57994379e-01 3.90705176e-02 1.17975361e+02] [ 9.56336267e-01 -2.86064352e-01 -5.99010018e-02 1.23090128e+02] [ 6.85615053e-02 2.03458926e-02 9.97439404e-01 4.56108815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.110714057 meters Centerline goodness : 0.988994 Centerline is valid? [True, True] Translation: X:117.99, Y:123.07, Z:45.60 [[-2.66626247e-01 -9.63693482e-01 1.43289167e-02 1.17989708e+02] [ 9.61408762e-01 -2.66981961e-01 -6.64366277e-02 1.23072374e+02] [ 6.78501073e-02 -3.93780266e-03 9.97687755e-01 4.56027755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.140714057 meters Centerline goodness : 0.988882 Centerline is valid? [True, True] Translation: X:117.99, Y:123.06, Z:45.60 [[-2.61962205e-01 -9.65075139e-01 -2.40406292e-03 1.17991514e+02] [ 9.62949045e-01 -2.61218095e-01 -6.70391255e-02 1.23060774e+02] [ 6.40698086e-02 -1.98767072e-02 9.97747451e-01 4.55988800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.170714057 meters Centerline goodness : 0.990169 Centerline is valid? [True, True] Translation: X:117.98, Y:123.06, Z:45.60 [[-2.57284017e-01 -9.66192026e-01 1.66704373e-02 1.17980441e+02] [ 9.64382771e-01 -2.57822057e-01 -5.91071803e-02 1.23055051e+02] [ 6.14068927e-02 8.69349730e-04 9.98112437e-01 4.56021665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.200714057 meters Centerline goodness : 0.990958 Centerline is valid? [True, True] Translation: X:117.96, Y:123.08, Z:45.61 [[-2.65794627e-01 -9.63760814e-01 2.27663957e-02 1.17958622e+02] [ 9.61605092e-01 -2.66726058e-01 -6.45976537e-02 1.23079594e+02] [ 6.83290783e-02 4.72257276e-03 9.97651660e-01 4.56076534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.230714057 meters Centerline goodness : 0.992001 Centerline is valid? [True, True] Translation: X:117.96, Y:123.08, Z:45.61 [[-2.63407648e-01 -9.64586776e-01 1.37390953e-02 1.17958898e+02] [ 9.62320941e-01 -2.63731970e-01 -6.62106834e-02 1.23078829e+02] [ 6.74893883e-02 -4.21898129e-03 9.97711072e-01 4.56058210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.26071405700003 meters Centerline goodness : 0.992186 Centerline is valid? [True, True] Translation: X:117.95, Y:123.07, Z:45.61 [[-2.59156249e-01 -9.65740770e-01 1.35204888e-02 1.17954106e+02] [ 9.63539500e-01 -2.59479523e-01 -6.52840574e-02 1.23074186e+02] [ 6.65557658e-02 -3.89124635e-03 9.97775119e-01 4.56055859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.290714057 meters Centerline goodness : 0.992459 Centerline is valid? [True, True] Translation: X:117.95, Y:123.08, Z:45.61 [[-2.57113179e-01 -9.66286480e-01 1.35370219e-02 1.17950967e+02] [ 9.64071877e-01 -2.57441421e-01 -6.54929886e-02 1.23076964e+02] [ 6.67699796e-02 -3.78844838e-03 9.97761203e-01 4.56056632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.32071405700003 meters Centerline goodness : 0.992668 Centerline is valid? [True, True] Translation: X:117.95, Y:123.08, Z:45.60 [[-2.52888704e-01 -9.67399251e-01 1.36379145e-02 1.17946925e+02] [ 9.65144103e-01 -2.53231200e-01 -6.61121810e-02 1.23076799e+02] [ 6.74104198e-02 -3.55647104e-03 9.97718992e-01 4.56047995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.350714057 meters Centerline goodness : 0.992415 Centerline is valid? [True, True] Translation: X:117.94, Y:123.08, Z:45.61 [[-2.49235594e-01 -9.68341866e-01 1.39874688e-02 1.17942246e+02] [ 9.65961352e-01 -2.49604319e-01 -6.79437297e-02 1.23083679e+02] [ 6.92840906e-02 -3.42264158e-03 9.97591099e-01 4.56052084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.38071405700003 meters Centerline goodness : 0.990842 Centerline is valid? [True, True] Translation: X:117.88, Y:123.44, Z:45.63 [[-2.49510310e-01 -9.68354499e-01 -5.84550708e-03 1.17878246e+02] [ 9.65742072e-01 -2.48383521e-01 -7.51523628e-02 1.23435831e+02] [ 7.13222010e-02 -2.43965415e-02 9.97154929e-01 4.56265158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.410714057 meters Centerline goodness : 0.991671 Centerline is valid? [True, True] Translation: X:117.93, Y:123.07, Z:45.61 [[-2.45877313e-01 -9.68638288e-01 3.58359467e-02 1.17932109e+02] [ 9.66782965e-01 -2.47734049e-01 -6.29169267e-02 1.23074958e+02] [ 6.98215283e-02 1.91757379e-02 9.97375178e-01 4.56106994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.440714057 meters Centerline goodness : 0.989724 Centerline is valid? [True, True] Translation: X:117.88, Y:123.45, Z:45.63 [[-2.45783112e-01 -9.69168742e-01 -1.73957100e-02 1.17877473e+02] [ 9.66229780e-01 -2.43525883e-01 -8.42327570e-02 1.23452849e+02] [ 7.73994495e-02 -3.75112422e-02 9.96294250e-01 4.56263482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.470714057 meters Centerline goodness : 0.989866 Centerline is valid? [True, True] Translation: X:117.86, Y:123.45, Z:45.64 [[-2.42383819e-01 -9.69886232e-01 2.38910305e-02 1.17858841e+02] [ 9.67483703e-01 -2.43471583e-01 -6.85337315e-02 1.23450342e+02] [ 7.22867096e-02 6.50271509e-03 9.97362696e-01 4.56375830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.500714057 meters Centerline goodness : 0.990108 Centerline is valid? [True, True] Translation: X:117.86, Y:123.46, Z:45.63 [[-2.43169334e-01 -9.69963500e-01 6.28353768e-03 1.17862428e+02] [ 9.66859034e-01 -2.42900433e-01 -7.86319778e-02 1.23457056e+02] [ 7.77964224e-02 -1.30455905e-02 9.96883910e-01 4.56348094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.530714057 meters Centerline goodness : 0.992311 Centerline is valid? [True, True] Translation: X:117.92, Y:123.08, Z:45.62 [[-2.40310190e-01 -9.69388047e-01 5.03768517e-02 1.17916181e+02] [ 9.68213436e-01 -2.43081970e-01 -5.89397871e-02 1.23082703e+02] [ 6.93812294e-02 3.46117132e-02 9.96989606e-01 4.56182764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.560714057 meters Centerline goodness : 0.990008 Centerline is valid? [True, True] Translation: X:117.87, Y:123.45, Z:45.63 [[-2.41020055e-01 -9.70352782e-01 -1.80225460e-02 1.17871587e+02] [ 9.67604704e-01 -2.38816298e-01 -8.19018521e-02 1.23454058e+02] [ 7.51696123e-02 -3.71786892e-02 9.96477433e-01 4.56285062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.590714057 meters Centerline goodness : 0.992062 Centerline is valid? [True, True] Translation: X:117.91, Y:123.09, Z:45.62 [[-2.39319059e-01 -9.69732662e-01 4.84247108e-02 1.17914434e+02] [ 9.68522396e-01 -2.41943892e-01 -5.85450311e-02 1.23086418e+02] [ 6.84890919e-02 3.28894752e-02 9.97109586e-01 4.56184934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.620714057 meters Centerline goodness : 0.989907 Centerline is valid? [True, True] Translation: X:117.86, Y:123.46, Z:45.63 [[-2.41132374e-01 -9.70470124e-01 -6.55112716e-03 1.17863185e+02] [ 9.67939960e-01 -2.40003508e-01 -7.40982512e-02 1.23462239e+02] [ 7.03378455e-02 -2.42085850e-02 9.97229428e-01 4.56308927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.650714057 meters Centerline goodness : 0.986299 Centerline is valid? [True, True] Translation: X:117.73, Y:124.00, Z:45.66 [[-2.45637744e-01 -9.68963225e-01 2.77915120e-02 1.17733203e+02] [ 9.68655225e-01 -2.46452200e-01 -3.11186289e-02 1.23999785e+02] [ 3.70020863e-02 1.92764835e-02 9.99129252e-01 4.56585175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.680714057 meters Centerline goodness : 0.985989 Centerline is valid? [True, True] Translation: X:117.74, Y:124.00, Z:45.65 [[-2.44906890e-01 -9.69521569e-01 6.96719101e-03 1.17742605e+02] [ 9.68794253e-01 -2.44993567e-01 -3.76277403e-02 1.23997499e+02] [ 3.81878228e-02 -2.46551826e-03 9.99267537e-01 4.56534633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.710714057 meters Centerline goodness : 0.986442 Centerline is valid? [True, True] Translation: X:117.75, Y:123.99, Z:45.66 [[-2.44652082e-01 -9.69606388e-01 2.96828123e-03 1.17748130e+02] [ 9.67899647e-01 -2.44400947e-01 -5.86383053e-02 1.23986259e+02] [ 5.75815261e-02 -1.14729851e-02 9.98274881e-01 4.56550641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.740714057 meters Centerline goodness : 0.993049 Centerline is valid? [True, True] Translation: X:117.92, Y:123.11, Z:45.61 [[-2.34648315e-01 -9.71830896e-01 2.20199243e-02 1.17916384e+02] [ 9.70022171e-01 -2.35564704e-01 -5.97181626e-02 1.23110491e+02] [ 6.32230725e-02 7.34704848e-03 9.97972376e-01 4.56119645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.770714057 meters Centerline goodness : 0.991779 Centerline is valid? [True, True] Translation: X:117.92, Y:123.12, Z:45.61 [[-2.37459995e-01 -9.71322205e-01 1.20799494e-02 1.17920743e+02] [ 9.69362020e-01 -2.37748723e-01 -6.17480311e-02 1.23116983e+02] [ 6.28492263e-02 -2.95284303e-03 9.98018665e-01 4.56089747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.800714057 meters Centerline goodness : 0.992797 Centerline is valid? [True, True] Translation: X:117.92, Y:123.12, Z:45.61 [[-2.39363363e-01 -9.70853470e-01 1.21950764e-02 1.17920092e+02] [ 9.68846880e-01 -2.39653289e-01 -6.24661816e-02 1.23123733e+02] [ 6.35680993e-02 -3.13695356e-03 9.97972573e-01 4.56089106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.830714057 meters Centerline goodness : 0.992169 Centerline is valid? [True, True] Translation: X:117.92, Y:123.13, Z:45.61 [[-2.43760439e-01 -9.69755625e-01 1.24449652e-02 1.17920642e+02] [ 9.67655767e-01 -2.44052400e-01 -6.38806936e-02 1.23129830e+02] [ 6.49858855e-02 -3.52914359e-03 9.97879943e-01 4.56086572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.860714057 meters Centerline goodness : 0.991195 Centerline is valid? [True, True] Translation: X:117.86, Y:123.47, Z:45.63 [[-2.48521566e-01 -9.68614732e-01 -4.74685963e-03 1.17862179e+02] [ 9.66184542e-01 -2.47544336e-01 -7.21750170e-02 1.23471076e+02] [ 6.87347265e-02 -2.25233906e-02 9.97380687e-01 4.56310864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.890714057 meters Centerline goodness : 0.986422 Centerline is valid? [True, True] Translation: X:117.73, Y:124.05, Z:45.66 [[-2.56584619e-01 -9.65982200e-01 3.22912201e-02 1.17728961e+02] [ 9.65939087e-01 -2.57446711e-01 -2.61317973e-02 1.24046862e+02] [ 3.35561195e-02 2.44863344e-02 9.99136831e-01 4.56605902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.920714057 meters Centerline goodness : 0.986410 Centerline is valid? [True, True] Translation: X:117.75, Y:124.01, Z:45.65 [[-2.56684476e-01 -9.66485182e-01 4.41285826e-03 1.17748184e+02] [ 9.65829695e-01 -2.56674457e-01 -3.59336042e-02 1.24010644e+02] [ 3.58619640e-02 -4.96152881e-03 9.99344437e-01 4.56516013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.950714057 meters Centerline goodness : 0.992490 Centerline is valid? [True, True] Translation: X:117.92, Y:123.16, Z:45.61 [[-2.47061888e-01 -9.68987089e-01 -4.94426231e-03 1.17918834e+02] [ 9.67480238e-01 -2.46385634e-01 -5.72373007e-02 1.23159066e+02] [ 5.42440102e-02 -1.89246317e-02 9.98348359e-01 4.56129975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.980714057 meters Centerline goodness : 0.992364 Centerline is valid? [True, True] Translation: X:117.91, Y:123.16, Z:45.62 [[-2.47021231e-01 -9.68955081e-01 1.03229471e-02 1.17912924e+02] [ 9.67396331e-01 -2.47210418e-01 -5.50576846e-02 1.23158563e+02] [ 5.59003632e-02 -3.61403585e-03 9.98429811e-01 4.56171141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.01071405700003 meters Centerline goodness : 0.990766 Centerline is valid? [True, True] Translation: X:117.85, Y:123.54, Z:45.64 [[-2.44463378e-01 -9.69656778e-01 -1.84132596e-03 1.17849035e+02] [ 9.68099106e-01 -2.43962135e-01 -5.71541495e-02 1.23544642e+02] [ 5.49706946e-02 -1.57546824e-02 9.98363668e-01 4.56355448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.040714057 meters Centerline goodness : 0.985856 Centerline is valid? [True, True] Translation: X:117.72, Y:124.11, Z:45.66 [[-2.59753008e-01 -9.65343798e-01 2.52928079e-02 1.17720758e+02] [ 9.65250941e-01 -2.60326050e-01 -2.28247522e-02 1.24110097e+02] [ 2.86181097e-02 1.84851085e-02 9.99419484e-01 4.56599232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.07071405700003 meters Centerline goodness : 0.989821 Centerline is valid? [True, True] Translation: X:117.85, Y:123.56, Z:45.64 [[-2.42439635e-01 -9.70112741e-01 -1.02124354e-02 1.17848817e+02] [ 9.68538414e-01 -2.41409797e-01 -6.04537027e-02 1.23556186e+02] [ 5.61815253e-02 -2.45475096e-02 9.98118758e-01 4.56370876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.100714057 meters Centerline goodness : 0.992070 Centerline is valid? [True, True] Translation: X:117.90, Y:123.18, Z:45.62 [[-2.44571701e-01 -9.69379378e-01 2.20976272e-02 1.17899430e+02] [ 9.67998522e-01 -2.45418436e-01 -5.24275921e-02 1.23180928e+02] [ 5.62453917e-02 8.56816503e-03 9.98380209e-01 4.56231772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.13071405700003 meters Centerline goodness : 0.990814 Centerline is valid? [True, True] Translation: X:117.84, Y:123.56, Z:45.64 [[-2.42991129e-01 -9.69991418e-01 -8.48289953e-03 1.17844325e+02] [ 9.68335585e-01 -2.42041347e-01 -6.11733680e-02 1.23563513e+02] [ 5.72844296e-02 -2.30788793e-02 9.98091108e-01 4.56372818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.160714057 meters Centerline goodness : 0.990814 Centerline is valid? [True, True] Translation: X:117.84, Y:123.56, Z:45.64 [[-2.42256795e-01 -9.70150805e-01 1.09114735e-02 1.17835983e+02] [ 9.68446515e-01 -2.42478820e-01 -5.75792499e-02 1.23564417e+02] [ 5.85063569e-02 -3.38178602e-03 9.98281308e-01 4.56429715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.190714057 meters Centerline goodness : 0.992666 Centerline is valid? [True, True] Translation: X:117.70, Y:123.26, Z:46.24 [[-1.74800717e-01 -2.43324682e-01 9.54063839e-01 1.17699072e+02] [ 9.83343818e-01 -9.21491177e-02 1.56663572e-01 1.23263578e+02] [ 4.97960270e-02 9.65557683e-01 2.55379554e-01 4.62441839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.220714057 meters Centerline goodness : 0.992474 Centerline is valid? [True, True] Translation: X:117.87, Y:123.28, Z:45.66 [[-2.28454101e-01 -9.73553222e-01 -1.68766640e-03 1.17871594e+02] [ 9.73500086e-01 -2.28459305e-01 1.01945788e-02 1.23283547e+02] [-1.03105281e-02 6.86049948e-04 9.99946610e-01 4.56602478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.250714057 meters Centerline goodness : 0.990866 Centerline is valid? [True, True] Translation: X:117.81, Y:123.67, Z:45.65 [[-2.31380194e-01 -9.72682267e-01 -1.87726978e-02 1.17814775e+02] [ 9.72840995e-01 -2.31462758e-01 2.32154408e-03 1.23669542e+02] [-6.60330516e-03 -1.77256907e-02 9.99821082e-01 4.56522355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.280714057 meters Centerline goodness : 0.990728 Centerline is valid? [True, True] Translation: X:117.80, Y:123.68, Z:45.66 [[-2.30272363e-01 -9.73108372e-01 5.89363558e-03 1.17802703e+02] [ 9.73045347e-01 -2.30170923e-01 1.42863529e-02 1.23676671e+02] [-1.25456260e-02 9.02452690e-03 9.99880575e-01 4.56578994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.310714057 meters Centerline goodness : 0.985012 Centerline is valid? [True, True] Translation: X:117.69, Y:124.30, Z:45.63 [[-2.44154093e-01 -9.69677716e-01 1.06726686e-02 1.17688389e+02] [ 9.69002361e-01 -2.43526340e-01 4.15854022e-02 1.24295129e+02] [-3.77253619e-02 2.04950872e-02 9.99077949e-01 4.56348717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.340714057 meters Centerline goodness : 0.992758 Centerline is valid? [True, True] Translation: X:117.80, Y:123.72, Z:45.65 [[-2.23661773e-01 -9.74444353e-01 -2.08233966e-02 1.17798792e+02] [ 9.74639212e-01 -2.23765193e-01 2.74667492e-03 1.23715846e+02] [-7.33603323e-03 -1.96809727e-02 9.99779397e-01 4.56486396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.370714057 meters Centerline goodness : 0.984616 Centerline is valid? [True, True] Translation: X:117.69, Y:124.28, Z:45.64 [[-2.49538061e-01 -9.68303662e-01 1.08983943e-02 1.17687847e+02] [ 9.67858911e-01 -2.49028045e-01 3.51306257e-02 1.24279037e+02] [-3.13031077e-02 1.93145362e-02 9.99323303e-01 4.56393690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.400714057 meters Centerline goodness : 0.992479 Centerline is valid? [True, True] Translation: X:117.86, Y:123.33, Z:45.66 [[-2.38874930e-01 -9.70877434e-01 -1.83241892e-02 1.17855121e+02] [ 9.70846597e-01 -2.39168827e-01 1.59736213e-02 1.23328422e+02] [-1.98910033e-02 -1.39742791e-02 9.99704490e-01 4.56606170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.430714057 meters Centerline goodness : 0.989741 Centerline is valid? [True, True] Translation: X:117.78, Y:123.76, Z:45.66 [[-2.42195794e-01 -9.70210156e-01 -5.78367590e-03 1.17783014e+02] [ 9.69990136e-01 -2.42264088e-01 2.06699565e-02 1.23758935e+02] [-2.14553787e-02 -6.03932048e-04 9.99769624e-01 4.56552283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.460714057 meters Centerline goodness : 0.993684 Centerline is valid? [True, True] Translation: X:117.84, Y:123.34, Z:45.67 [[-2.45336398e-01 -9.69437873e-01 -5.11708936e-04 1.17840533e+02] [ 9.69253677e-01 -2.45300008e-01 1.93705114e-02 1.23341861e+02] [-1.89040295e-02 4.25631571e-03 9.99812243e-01 4.56666781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.490714057 meters Centerline goodness : 0.992773 Centerline is valid? [True, True] Translation: X:117.84, Y:123.35, Z:45.67 [[-2.47450016e-01 -9.68896300e-01 -2.90674921e-03 1.17836063e+02] [ 9.68717503e-01 -2.47460456e-01 1.87008710e-02 1.23350637e+02] [-1.88385102e-02 1.81171199e-03 9.99820898e-01 4.56654730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.520714057 meters Centerline goodness : 0.990681 Centerline is valid? [True, True] Translation: X:117.78, Y:123.71, Z:45.66 [[-2.42929180e-01 -9.70037421e-01 -3.58002054e-03 1.17784073e+02] [ 9.69826365e-01 -2.42951193e-01 2.02864389e-02 1.23705139e+02] [-2.05483752e-02 1.45616966e-03 9.99787799e-01 4.56575617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.550714057 meters Centerline goodness : 0.991694 Centerline is valid? [True, True] Translation: X:117.77, Y:123.79, Z:45.65 [[-2.37711856e-01 -9.71318545e-01 -5.77567285e-03 1.17765923e+02] [ 9.71184828e-01 -2.37775532e-01 1.62119272e-02 1.23786698e+02] [-1.71202592e-02 -1.75547852e-03 9.99851897e-01 4.56536037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.580714057 meters Centerline goodness : 0.990927 Centerline is valid? [True, True] Translation: X:117.76, Y:123.78, Z:45.65 [[-2.37154612e-01 -9.71455936e-01 -5.57265075e-03 1.17762266e+02] [ 9.71303186e-01 -2.37216429e-01 1.72767676e-02 1.23779344e+02] [-1.81055428e-02 -1.31546831e-03 9.99835216e-01 4.56536945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.610714057 meters Centerline goodness : 0.990448 Centerline is valid? [True, True] Translation: X:117.76, Y:123.74, Z:45.66 [[-2.34785124e-01 -9.72035551e-01 4.77848986e-03 1.17762573e+02] [ 9.71812511e-01 -2.34617538e-01 2.31312495e-02 1.23737572e+02] [-2.13632793e-02 1.00746695e-02 9.99721017e-01 4.56591546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.640714057 meters Centerline goodness : 0.990384 Centerline is valid? [True, True] Translation: X:117.77, Y:123.71, Z:45.66 [[-2.33978750e-01 -9.72239141e-01 -2.23545251e-03 1.17766427e+02] [ 9.71973551e-01 -2.33967595e-01 2.29473337e-02 1.23713771e+02] [-2.28333194e-02 3.19638772e-03 9.99734176e-01 4.56577174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.670714057 meters Centerline goodness : 0.991262 Centerline is valid? [True, True] Translation: X:117.81, Y:123.35, Z:45.66 [[-2.08632969e-01 -9.77873908e-01 1.53265651e-02 1.17810869e+02] [ 9.77172085e-01 -2.07789667e-01 4.42512270e-02 1.23353580e+02] [-4.00874185e-02 2.42089564e-02 9.98902861e-01 4.56646294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.700714057 meters Centerline goodness : 0.992842 Centerline is valid? [True, True] Translation: X:117.82, Y:123.36, Z:45.66 [[-2.25107212e-01 -9.73835626e-01 -3.11595507e-02 1.17816657e+02] [ 9.74023943e-01 -2.25727206e-01 1.80163236e-02 1.23364636e+02] [-2.45784961e-02 -2.62945441e-02 9.99352037e-01 4.56584190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.730714057 meters Centerline goodness : 0.990785 Centerline is valid? [True, True] Translation: X:117.80, Y:123.38, Z:45.67 [[-2.00962996e-01 -9.79468741e-01 1.59643018e-02 1.17799853e+02] [ 9.78845584e-01 -2.00142833e-01 4.24755202e-02 1.23377311e+02] [-3.84083037e-02 2.41625942e-02 9.98969955e-01 4.56651361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.76071405700003 meters Centerline goodness : 0.988896 Centerline is valid? [True, True] Translation: X:117.81, Y:123.35, Z:45.66 [[-1.94417141e-01 -9.80918941e-01 -7.74956799e-05 1.17808963e+02] [ 9.79671638e-01 -1.94173908e-01 5.03981631e-02 1.23346712e+02] [-4.94515604e-02 9.72234645e-03 9.98729202e-01 4.56582614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.790714057 meters Centerline goodness : 0.992668 Centerline is valid? [True, True] Translation: X:117.80, Y:123.36, Z:45.66 [[-2.05108345e-01 -9.78215923e-01 -3.20027298e-02 1.17803481e+02] [ 9.78382857e-01 -2.05806367e-01 2.02663124e-02 1.23361335e+02] [-2.64111950e-02 -2.71541324e-02 9.99282293e-01 4.56586275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.82071405700003 meters Centerline goodness : 0.989971 Centerline is valid? [True, True] Translation: X:117.79, Y:123.34, Z:45.67 [[-1.81368136e-01 -9.83207858e-01 2.01967356e-02 1.17791933e+02] [ 9.82286233e-01 -1.80137870e-01 5.16149575e-02 1.23337762e+02] [-4.71100348e-02 2.92002839e-02 9.98462813e-01 4.56670782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.850714057 meters Centerline goodness : 0.993347 Centerline is valid? [True, True] Translation: X:117.80, Y:123.35, Z:45.66 [[-1.93326074e-01 -9.80677209e-01 -2.99539669e-02 1.17798121e+02] [ 9.80753110e-01 -1.94012073e-01 2.19693629e-02 1.23352182e+02] [-2.73562847e-02 -2.51301955e-02 9.99309815e-01 4.56587294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.88071405700003 meters Centerline goodness : 0.984641 Centerline is valid? [True, True] Translation: X:117.65, Y:124.26, Z:45.64 [[-1.96186709e-01 -9.80488962e-01 -1.23357762e-02 1.17654791e+02] [ 9.80173658e-01 -1.96448673e-01 2.58364046e-02 1.24259985e+02] [-2.77556564e-02 -7.02244371e-03 9.99590070e-01 4.56356304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.910714057 meters Centerline goodness : 0.993141 Centerline is valid? [True, True] Translation: X:117.77, Y:123.37, Z:45.67 [[-1.82729366e-01 -9.83147022e-01 5.64910727e-03 1.17774811e+02] [ 9.82849970e-01 -1.82523084e-01 2.62918303e-02 1.23370910e+02] [-2.48176422e-02 1.03565144e-02 9.99638348e-01 4.56704291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.940714057 meters Centerline goodness : 0.984493 Centerline is valid? [True, True] Translation: X:117.64, Y:124.31, Z:45.64 [[-1.88512376e-01 -9.82064514e-01 -3.51765817e-03 1.17643305e+02] [ 9.81688127e-01 -1.88537694e-01 2.72389473e-02 1.24310814e+02] [-2.74136147e-02 1.68163542e-03 9.99622762e-01 4.56364354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.970714057 meters Centerline goodness : 0.992859 Centerline is valid? [True, True] Translation: X:117.77, Y:123.39, Z:45.67 [[-1.79177024e-01 -9.83809013e-01 -3.92674059e-03 1.17774495e+02] [ 9.83528085e-01 -1.79219703e-01 2.35117953e-02 1.23387703e+02] [-2.38348654e-02 3.50713856e-04 9.99715848e-01 4.56655693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.000714057 meters Centerline goodness : 0.991709 Centerline is valid? [True, True] Translation: X:117.78, Y:123.34, Z:45.66 [[-1.56368996e-01 -9.87460066e-01 2.17107011e-02 1.17781788e+02] [ 9.86640646e-01 -1.55146583e-01 4.96968123e-02 1.23340358e+02] [-4.57052765e-02 2.91917008e-02 9.98528353e-01 4.56642411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.030714057 meters Centerline goodness : 0.992659 Centerline is valid? [True, True] Translation: X:117.79, Y:123.39, Z:45.66 [[-1.81793765e-01 -9.82887646e-01 -2.97136649e-02 1.17786063e+02] [ 9.83022388e-01 -1.82416596e-01 1.97780281e-02 1.23394255e+02] [-2.48598451e-02 -2.56136757e-02 9.99362761e-01 4.56563257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.060714057 meters Centerline goodness : 0.985094 Centerline is valid? [True, True] Translation: X:117.63, Y:124.42, Z:45.63 [[-1.94252824e-01 -9.80943590e-01 -3.93869471e-03 1.17631148e+02] [ 9.80494386e-01 -1.94283301e-01 2.97448974e-02 1.24421927e+02] [-2.99432891e-02 1.91616226e-03 9.99549763e-01 4.56301590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.090714057 meters Centerline goodness : 0.992412 Centerline is valid? [True, True] Translation: X:117.77, Y:123.42, Z:45.66 [[-1.83093780e-01 -9.83087748e-01 -3.89193261e-03 1.17771813e+02] [ 9.82798713e-01 -1.83134342e-01 2.38433129e-02 1.23418759e+02] [-2.41528153e-02 5.40575923e-04 9.99708132e-01 4.56641725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.120714057 meters Centerline goodness : 0.985616 Centerline is valid? [True, True] Translation: X:117.63, Y:124.44, Z:45.63 [[-1.97175183e-01 -9.80367788e-01 -9.73032067e-04 1.17632428e+02] [ 9.79877054e-01 -1.97107706e-01 3.14564873e-02 1.24435187e+02] [-3.10307190e-02 5.24898686e-03 9.99504649e-01 4.56298716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.150714057 meters Centerline goodness : 0.991374 Centerline is valid? [True, True] Translation: X:117.73, Y:123.81, Z:45.65 [[-1.80568122e-01 -9.83476856e-01 -1.29779637e-02 1.17726515e+02] [ 9.83402027e-01 -1.80761276e-01 1.56784798e-02 1.23811556e+02] [-1.77653353e-02 -9.93152219e-03 9.99792857e-01 4.56461926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.180714057 meters Centerline goodness : 0.990341 Centerline is valid? [True, True] Translation: X:117.72, Y:123.84, Z:45.65 [[-1.85191249e-01 -9.82671455e-01 7.81103807e-03 1.17716136e+02] [ 9.82297938e-01 -1.84881108e-01 3.01618546e-02 1.23840638e+02] [-2.81950802e-02 1.32584781e-02 9.99514507e-01 4.56516659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.210714057 meters Centerline goodness : 0.992860 Centerline is valid? [True, True] Translation: X:117.77, Y:123.46, Z:45.66 [[-1.93988084e-01 -9.81000928e-01 -2.40900449e-03 1.17765551e+02] [ 9.80811113e-01 -1.93998059e-01 1.93471731e-02 1.23457375e+02] [-1.94469370e-02 1.39034266e-03 9.99809924e-01 4.56591662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.240714057 meters Centerline goodness : 0.992568 Centerline is valid? [True, True] Translation: X:117.77, Y:123.46, Z:45.66 [[-1.96031482e-01 -9.80594654e-01 -2.40479274e-03 1.17765942e+02] [ 9.80400394e-01 -1.96040650e-01 1.95737391e-02 1.23460752e+02] [-1.96653411e-02 1.47940934e-03 9.99805524e-01 4.56590459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.270714057 meters Centerline goodness : 0.993258 Centerline is valid? [True, True] Translation: X:117.77, Y:123.47, Z:45.66 [[-1.98196031e-01 -9.80159428e-01 -2.41423349e-03 1.17765575e+02] [ 9.79962349e-01 -1.98204740e-01 1.97148545e-02 1.23466331e+02] [-1.98022130e-02 1.54154799e-03 9.99802729e-01 4.56589997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.300714057 meters Centerline goodness : 0.990834 Centerline is valid? [True, True] Translation: X:117.70, Y:124.00, Z:45.64 [[-2.01058550e-01 -9.79556085e-01 -6.73322656e-03 1.17702785e+02] [ 9.79352874e-01 -2.01155099e-01 2.01140333e-02 1.24001199e+02] [-2.10572466e-02 -2.55010641e-03 9.99775019e-01 4.56431430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.330714057 meters Centerline goodness : 0.992874 Centerline is valid? [True, True] Translation: X:118.31, Y:123.72, Z:46.58 [[-1.05328659e-01 9.30063067e-01 3.51978075e-01 1.18309481e+02] [ 9.94153120e-01 1.06945724e-01 1.49058912e-02 1.23716246e+02] [-2.37791313e-02 3.51490119e-01 -9.35889550e-01 4.65784599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.360714057 meters Centerline goodness : 0.992898 Centerline is valid? [True, True] Translation: X:117.79, Y:123.58, Z:45.67 [[-2.66814376e-01 -9.63714513e-01 -8.02657911e-03 1.17790465e+02] [ 9.62775307e-01 -2.66909938e-01 4.26941826e-02 1.23583693e+02] [-4.32873771e-02 3.66362951e-03 9.99055945e-01 4.56695467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.390714057 meters Centerline goodness : 0.991776 Centerline is valid? [True, True] Translation: X:117.70, Y:124.07, Z:45.64 [[-2.66557777e-01 -9.63644370e-01 -1.83433796e-02 1.17704726e+02] [ 9.62858848e-01 -2.67093295e-01 3.95475643e-02 1.24068021e+02] [-4.30091814e-02 -7.12037455e-03 9.99049303e-01 4.56413042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.420714057 meters Centerline goodness : 0.992380 Centerline is valid? [True, True] Translation: X:117.70, Y:124.07, Z:45.65 [[-2.59466205e-01 -9.65737032e-01 -5.41054744e-03 1.17699748e+02] [ 9.64880347e-01 -2.59465902e-01 4.10287995e-02 1.24067554e+02] [-4.10268836e-02 5.42505598e-03 9.99143315e-01 4.56472891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.450714057 meters Centerline goodness : 0.993002 Centerline is valid? [True, True] Translation: X:118.23, Y:123.88, Z:46.61 [[-1.63523243e-01 8.56421972e-01 4.89695370e-01 1.18234543e+02] [ 9.85430829e-01 1.65322000e-01 3.99339132e-02 1.23876497e+02] [-4.67571371e-02 4.89091037e-01 -8.70978603e-01 4.66130656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.480714057 meters Centerline goodness : 0.992544 Centerline is valid? [True, True] Translation: X:117.80, Y:123.70, Z:45.68 [[-3.19947730e-01 -9.47258970e-01 -1.82727578e-02 1.17798587e+02] [ 9.44379124e-01 -3.20404219e-01 7.40891769e-02 1.23700824e+02] [-7.60363061e-02 6.44825291e-03 9.97084199e-01 4.56835476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.51071405700003 meters Centerline goodness : 0.990752 Centerline is valid? [True, True] Translation: X:117.80, Y:123.69, Z:45.68 [[-3.02112384e-01 -9.53265040e-01 -3.72447831e-03 1.17803722e+02] [ 9.49222260e-01 -3.01186308e-01 9.09060430e-02 1.23685483e+02] [-8.77793146e-02 2.39284836e-02 9.95852509e-01 4.56840793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.540714057 meters Centerline goodness : 0.993244 Centerline is valid? [True, True] Translation: X:117.80, Y:123.71, Z:45.68 [[-3.20188447e-01 -9.46776802e-01 -3.30612439e-02 1.17800514e+02] [ 9.44192932e-01 -3.21774186e-01 7.04349320e-02 1.23711683e+02] [-7.73244145e-02 -8.66374134e-03 9.96968342e-01 4.56774491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.57071405700003 meters Centerline goodness : 0.983184 Centerline is valid? [True, True] Translation: X:117.54, Y:124.69, Z:45.59 [[-3.30388714e-01 -9.43806252e-01 -8.54732561e-03 1.17539460e+02] [ 9.38840046e-01 -3.29554648e-01 9.98654229e-02 1.24687388e+02] [-9.70704214e-02 2.49698371e-02 9.94964241e-01 4.55921302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.600714057 meters Centerline goodness : 0.990888 Centerline is valid? [True, True] Translation: X:117.80, Y:123.71, Z:45.68 [[-2.90712992e-01 -9.56321239e-01 -3.05882902e-02 1.17798323e+02] [ 9.51793655e-01 -2.92310342e-01 9.29704410e-02 1.23708783e+02] [-9.78508809e-02 -2.08602541e-03 9.95198902e-01 4.56753310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.63071405700003 meters Centerline goodness : 0.990355 Centerline is valid? [True, True] Translation: X:117.79, Y:123.71, Z:45.68 [[-2.92103228e-01 -9.55975854e-01 -2.80333774e-02 1.17794897e+02] [ 9.51015926e-01 -2.93440101e-01 9.72708389e-02 1.23709165e+02] [-1.01214690e-01 1.75293760e-03 9.94863063e-01 4.56764490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.660714057 meters Centerline goodness : 0.990744 Centerline is valid? [True, True] Translation: X:117.79, Y:123.71, Z:45.68 [[-2.92752269e-01 -9.55938048e-01 -2.18759601e-02 1.17791460e+02] [ 9.51116719e-01 -2.93476520e-01 9.61692171e-02 1.23710289e+02] [-9.83518943e-02 7.34716516e-03 9.95124577e-01 4.56784985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.690714057 meters Centerline goodness : 0.990614 Centerline is valid? [True, True] Translation: X:117.79, Y:123.71, Z:45.68 [[-2.93180349e-01 -9.55884537e-01 -1.81668508e-02 1.17787918e+02] [ 9.50945855e-01 -2.93522534e-01 9.77062043e-02 1.23713679e+02] [-9.87282300e-02 1.13698476e-02 9.95049478e-01 4.56779501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.720714057 meters Centerline goodness : 0.990401 Centerline is valid? [True, True] Translation: X:117.78, Y:123.72, Z:45.68 [[-2.94482461e-01 -9.55513829e-01 -1.65348854e-02 1.17783120e+02] [ 9.51776480e-01 -2.94800441e-01 8.49366342e-02 1.23718989e+02] [-8.60326201e-02 9.27483406e-03 9.96249148e-01 4.56814912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.750714057 meters Centerline goodness : 0.992607 Centerline is valid? [True, True] Translation: X:117.78, Y:123.72, Z:45.68 [[-2.92831985e-01 -9.56034544e-01 -1.57282941e-02 1.17780360e+02] [ 9.52316773e-01 -2.93088420e-01 8.48053164e-02 1.23721021e+02] [-8.56865929e-02 9.85539080e-03 9.96273396e-01 4.56820831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.780714057 meters Centerline goodness : 0.991399 Centerline is valid? [True, True] Translation: X:117.78, Y:123.74, Z:45.67 [[-2.88803252e-01 -9.56916861e-01 -3.00466857e-02 1.17777561e+02] [ 9.52940440e-01 -2.90341615e-01 8.72139031e-02 1.23744156e+02] [-9.21802576e-02 -3.44504297e-03 9.95736377e-01 4.56742281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.810714057 meters Centerline goodness : 0.992835 Centerline is valid? [True, True] Translation: X:117.76, Y:123.73, Z:45.69 [[-3.00893678e-01 -9.53542001e-01 -1.48541669e-02 1.17764585e+02] [ 9.50602274e-01 -3.01139099e-01 7.53031218e-02 1.23732785e+02] [-7.62778599e-02 8.53782847e-03 9.97050046e-01 4.56874322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.840714057 meters Centerline goodness : 0.990188 Centerline is valid? [True, True] Translation: X:117.78, Y:123.71, Z:45.68 [[-2.79804705e-01 -9.59862304e-01 -1.93309366e-02 1.17776568e+02] [ 9.55322553e-01 -2.80365626e-01 9.35624719e-02 1.23713472e+02] [-9.52268200e-02 7.71194023e-03 9.95425727e-01 4.56829902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.870714057 meters Centerline goodness : 0.991043 Centerline is valid? [True, True] Translation: X:117.77, Y:123.71, Z:45.68 [[-2.73165307e-01 -9.61710749e-01 -2.22070103e-02 1.17773962e+02] [ 9.57207216e-01 -2.74034867e-01 9.30550282e-02 1.23711958e+02] [-9.55775159e-02 4.16269479e-03 9.95413286e-01 4.56839929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.900714057 meters Centerline goodness : 0.989957 Centerline is valid? [True, True] Translation: X:117.77, Y:123.72, Z:45.68 [[-2.70974893e-01 -9.62387568e-01 -1.95646736e-02 1.17769889e+02] [ 9.57776037e-01 -2.71594472e-01 9.43477887e-02 1.23718867e+02] [-9.61127962e-02 6.82730640e-03 9.95347034e-01 4.56848517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.930714057 meters Centerline goodness : 0.991048 Centerline is valid? [True, True] Translation: X:117.77, Y:123.72, Z:45.68 [[-2.67812317e-01 -9.63278213e-01 -1.92781482e-02 1.17768304e+02] [ 9.58532436e-01 -2.68409538e-01 9.57699840e-02 1.23719103e+02] [-9.74275779e-02 7.16965094e-03 9.95216792e-01 4.56843162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.960714057 meters Centerline goodness : 0.992075 Centerline is valid? [True, True] Translation: X:117.76, Y:123.72, Z:45.69 [[-2.62061244e-01 -9.65044290e-01 -3.66357706e-03 1.17757827e+02] [ 9.60326207e-01 -2.61151476e-01 9.78441766e-02 1.23722424e+02] [-9.53807125e-02 2.21229376e-02 9.95195004e-01 4.56877778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.990714057 meters Centerline goodness : 0.991240 Centerline is valid? [True, True] Translation: X:117.77, Y:123.72, Z:45.68 [[-2.60968670e-01 -9.65087097e-01 -2.24109174e-02 1.17765210e+02] [ 9.61018729e-01 -2.61924490e-01 8.85356692e-02 1.23717357e+02] [-9.13146000e-02 1.56772450e-03 9.95820860e-01 4.56823737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.020714057 meters Centerline goodness : 0.992282 Centerline is valid? [True, True] Translation: X:117.76, Y:123.71, Z:45.68 [[-2.59467582e-01 -9.65638435e-01 -1.47981940e-02 1.17761600e+02] [ 9.61447406e-01 -2.59725893e-01 9.03401716e-02 1.23714991e+02] [-9.10794161e-02 9.21266065e-03 9.95801018e-01 4.56834438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.050714057 meters Centerline goodness : 0.992282 Centerline is valid? [True, True] Translation: X:117.76, Y:123.72, Z:45.68 [[-2.59141106e-01 -9.65671279e-01 -1.80240851e-02 1.17762278e+02] [ 9.61526438e-01 -2.59700603e-01 8.95684387e-02 1.23717751e+02] [-9.11745345e-02 5.88022994e-03 9.95817567e-01 4.56819659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.080714057 meters Centerline goodness : 0.992952 Centerline is valid? [True, True] Translation: X:117.76, Y:123.72, Z:45.68 [[-2.59307710e-01 -9.65566092e-01 -2.10150735e-02 1.17763523e+02] [ 9.61555741e-01 -2.60144896e-01 8.79499234e-02 1.23715511e+02] [-9.03884280e-02 2.59892862e-03 9.95903197e-01 4.56803427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.110714057 meters Centerline goodness : 0.991579 Centerline is valid? [True, True] Translation: X:117.75, Y:123.72, Z:45.68 [[-2.57828213e-01 -9.66170096e-01 -6.32123383e-03 1.17754256e+02] [ 9.61328106e-01 -2.57180679e-01 9.85209184e-02 1.23724584e+02] [-9.68136644e-02 1.93246926e-02 9.95114903e-01 4.56814658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.140714057 meters Centerline goodness : 0.993533 Centerline is valid? [True, True] Translation: X:117.76, Y:123.74, Z:45.68 [[-2.75260683e-01 -9.60414734e-01 -4.28380164e-02 1.17759567e+02] [ 9.58199910e-01 -2.77696057e-01 6.88319177e-02 1.23735806e+02] [-7.80031361e-02 -2.21006628e-02 9.96708118e-01 4.56770796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.170714057 meters Centerline goodness : 0.993107 Centerline is valid? [True, True] Translation: X:117.75, Y:123.72, Z:45.69 [[-2.57919712e-01 -9.66151135e-01 5.42270558e-03 1.17747611e+02] [ 9.61528566e-01 -2.56128333e-01 9.93030427e-02 1.23724833e+02] [-9.45528389e-02 3.08262985e-02 9.95042461e-01 4.56877198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.200714057 meters Centerline goodness : 0.993443 Centerline is valid? [True, True] Translation: X:117.76, Y:123.73, Z:45.68 [[-2.56573660e-01 -9.66384642e-01 -1.64523796e-02 1.17755533e+02] [ 9.61546873e-01 -2.56940643e-01 9.70006006e-02 1.23729239e+02] [-9.79671757e-02 9.06806494e-03 9.95148332e-01 4.56782262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.230714057 meters Centerline goodness : 0.991522 Centerline is valid? [True, True] Translation: X:117.76, Y:123.74, Z:45.67 [[-2.55224889e-01 -9.66247457e-01 -3.50158199e-02 1.17759275e+02] [ 9.61417484e-01 -2.57460796e-01 9.69038742e-02 1.23741251e+02] [-1.02648323e-01 -8.93254088e-03 9.94677602e-01 4.56707947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.26071405700003 meters Centerline goodness : 0.992378 Centerline is valid? [True, True] Translation: X:117.75, Y:123.73, Z:45.68 [[-2.52707990e-01 -9.67528701e-01 -5.18495253e-03 1.17749298e+02] [ 9.62383537e-01 -2.51909573e-01 1.01781607e-01 1.23727716e+02] [-9.97827648e-02 2.07311123e-02 9.94793255e-01 4.56824659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.290714057 meters Centerline goodness : 0.993105 Centerline is valid? [True, True] Translation: X:117.76, Y:123.74, Z:45.67 [[-2.69297319e-01 -9.61988080e-01 -4.53639604e-02 1.17755394e+02] [ 9.59661119e-01 -2.72002112e-01 7.11715414e-02 1.23743019e+02] [-8.08052675e-02 -2.43677237e-02 9.96431996e-01 4.56749250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.32071405700003 meters Centerline goodness : 0.991665 Centerline is valid? [True, True] Translation: X:117.74, Y:123.73, Z:45.68 [[-2.52265827e-01 -9.67654324e-01 2.65731391e-03 1.17744222e+02] [ 9.62862019e-01 -2.50741519e-01 1.00127033e-01 1.23734086e+02] [-9.62220572e-02 2.78172553e-02 9.94971113e-01 4.56847625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.350714057 meters Centerline goodness : 0.992150 Centerline is valid? [True, True] Translation: X:117.76, Y:123.74, Z:45.67 [[-2.54693548e-01 -9.66674089e-01 -2.59307311e-02 1.17756246e+02] [ 9.62641829e-01 -2.55998072e-01 8.82365909e-02 1.23737556e+02] [-9.19342433e-02 -2.48871603e-03 9.95761970e-01 4.56749868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.38071405700003 meters Centerline goodness : 0.990778 Centerline is valid? [True, True] Translation: X:117.76, Y:123.73, Z:45.67 [[-2.55863220e-01 -9.66219530e-01 -3.08841785e-02 1.17760685e+02] [ 9.62050360e-01 -2.57633147e-01 8.99125497e-02 1.23729346e+02] [-9.48320496e-02 -6.70682056e-03 9.95470693e-01 4.56746602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.410714057 meters Centerline goodness : 0.992159 Centerline is valid? [True, True] Translation: X:117.75, Y:123.73, Z:45.68 [[-2.56505255e-01 -9.66487733e-01 -1.03206683e-02 1.17753451e+02] [ 9.61352011e-01 -2.56218308e-01 1.00769486e-01 1.23729217e+02] [-1.00036817e-01 1.59261076e-02 9.94856268e-01 4.56800942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.440714057 meters Centerline goodness : 0.992289 Centerline is valid? [True, True] Translation: X:117.76, Y:123.73, Z:45.67 [[-2.61465095e-01 -9.64849549e-01 -2.64830349e-02 1.17761112e+02] [ 9.60590705e-01 -2.62796987e-01 9.05717458e-02 1.23733560e+02] [-9.43477700e-02 -1.75800704e-03 9.95537748e-01 4.56740913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.470714057 meters Centerline goodness : 0.992768 Centerline is valid? [True, True] Translation: X:117.76, Y:123.74, Z:45.68 [[-2.61910450e-01 -9.64989703e-01 -1.40637572e-02 1.17756131e+02] [ 9.60342593e-01 -2.62037778e-01 9.52801458e-02 1.23737100e+02] [-9.56295952e-02 1.14488408e-02 9.95351146e-01 4.56770366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.500714057 meters Centerline goodness : 0.992331 Centerline is valid? [True, True] Translation: X:117.76, Y:123.75, Z:45.68 [[-2.65519537e-01 -9.63869764e-01 -2.13179015e-02 1.17757492e+02] [ 9.59366902e-01 -2.66339498e-01 9.31580332e-02 1.23745398e+02] [-9.54700107e-02 4.28358870e-03 9.95423090e-01 4.56750989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.530714057 meters Centerline goodness : 0.993316 Centerline is valid? [True, True] Translation: X:117.75, Y:123.76, Z:45.68 [[-2.67654742e-01 -9.63457841e-01 -1.04846993e-02 1.17750134e+02] [ 9.59396524e-01 -2.67499957e-01 8.94543581e-02 1.23755902e+02] [-8.89901593e-02 1.38838990e-02 9.95935735e-01 4.56794439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.560714057 meters Centerline goodness : 0.992993 Centerline is valid? [True, True] Translation: X:117.75, Y:123.77, Z:45.68 [[-2.68330806e-01 -9.63173367e-01 -1.71942597e-02 1.17751386e+02] [ 9.59030643e-01 -2.68775383e-01 8.95545607e-02 1.23765096e+02] [-9.08779615e-02 7.54042551e-03 9.95833489e-01 4.56766246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.590714057 meters Centerline goodness : 0.992466 Centerline is valid? [True, True] Translation: X:117.75, Y:123.76, Z:45.68 [[-2.69670856e-01 -9.62746673e-01 -1.99116267e-02 1.17754106e+02] [ 9.58575640e-01 -2.70356990e-01 8.96651623e-02 1.23760333e+02] [-9.17080842e-02 5.09328084e-03 9.95772909e-01 4.56767105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.620714057 meters Centerline goodness : 0.992989 Centerline is valid? [True, True] Translation: X:117.75, Y:123.77, Z:45.68 [[-2.69120455e-01 -9.62997054e-01 -1.45208605e-02 1.17750920e+02] [ 9.58478333e-01 -2.69273074e-01 9.38685093e-02 1.23768264e+02] [-9.43051746e-02 1.13440058e-02 9.95478703e-01 4.56764366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.650714057 meters Centerline goodness : 0.993130 Centerline is valid? [True, True] Translation: X:117.75, Y:123.78, Z:45.67 [[-2.70930042e-01 -9.62419379e-01 -1.85970877e-02 1.17749592e+02] [ 9.57943287e-01 -2.71467172e-01 9.30066301e-02 1.23784548e+02] [-9.45598820e-02 7.38333489e-03 9.95491796e-01 4.56731836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.680714057 meters Centerline goodness : 0.992652 Centerline is valid? [True, True] Translation: X:117.75, Y:123.78, Z:45.67 [[-2.71003492e-01 -9.62461703e-01 -1.49859292e-02 1.17748903e+02] [ 9.57724562e-01 -2.71165761e-01 9.60874249e-02 1.23783376e+02] [-9.65441375e-02 1.16876352e-02 9.95260081e-01 4.56733023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.710714057 meters Centerline goodness : 0.993209 Centerline is valid? [True, True] Translation: X:117.75, Y:123.78, Z:45.67 [[-2.74399882e-01 -9.61414764e-01 -1.96559589e-02 1.17752240e+02] [ 9.56884990e-01 -2.75017962e-01 9.34678390e-02 1.23779276e+02] [-9.52671020e-02 6.83907201e-03 9.95428253e-01 4.56718992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.740714057 meters Centerline goodness : 0.993053 Centerline is valid? [True, True] Translation: X:117.75, Y:123.79, Z:45.67 [[-2.75707218e-01 -9.61139970e-01 -1.39817235e-02 1.17747989e+02] [ 9.56473004e-01 -2.75757487e-01 9.54840366e-02 1.23790734e+02] [-9.56290890e-02 1.29524970e-02 9.95332764e-01 4.56719715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.770714057 meters Centerline goodness : 0.992091 Centerline is valid? [True, True] Translation: X:117.75, Y:123.79, Z:45.67 [[-2.77220209e-01 -9.60622077e-01 -1.88197157e-02 1.17752355e+02] [ 9.55830051e-01 -2.77722457e-01 9.62244754e-02 1.23788595e+02] [-9.76620131e-02 8.68691935e-03 9.95181726e-01 4.56687699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.800714057 meters Centerline goodness : 0.992649 Centerline is valid? [True, True] Translation: X:117.75, Y:123.82, Z:45.67 [[-2.78986640e-01 -9.60147277e-01 -1.68422275e-02 1.17745335e+02] [ 9.55364818e-01 -2.79286553e-01 9.63176291e-02 1.23817041e+02] [-9.71829170e-02 1.07808601e-02 9.95208146e-01 4.56672136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.830714057 meters Centerline goodness : 0.993090 Centerline is valid? [True, True] Translation: X:117.75, Y:123.79, Z:45.67 [[-2.79446987e-01 -9.60013919e-01 -1.68124018e-02 1.17751155e+02] [ 9.54986347e-01 -2.79713767e-01 9.87992247e-02 1.23790549e+02] [-9.95512911e-02 1.15535315e-02 9.94965354e-01 4.56683584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.860714057 meters Centerline goodness : 0.993223 Centerline is valid? [True, True] Translation: X:117.75, Y:123.81, Z:45.67 [[-2.98242652e-01 -9.53391299e-01 -4.57859319e-02 1.17753580e+02] [ 9.51038911e-01 -3.00897696e-01 7.06085403e-02 1.23809285e+02] [-8.10944493e-02 -2.24857245e-02 9.96452750e-01 4.56661102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.890714057 meters Centerline goodness : 0.992100 Centerline is valid? [True, True] Translation: X:117.74, Y:123.81, Z:45.67 [[-2.86464382e-01 -9.58079837e-01 -4.60256844e-03 1.17742318e+02] [ 9.53800133e-01 -2.85632312e-01 9.31637745e-02 1.23809499e+02] [-9.05729761e-02 2.22981727e-02 9.95640160e-01 4.56745935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.920714057 meters Centerline goodness : 0.993932 Centerline is valid? [True, True] Translation: X:117.75, Y:123.81, Z:45.67 [[-3.01246866e-01 -9.53057924e-01 -3.05109605e-02 1.17748524e+02] [ 9.50207327e-01 -3.02713658e-01 7.39626662e-02 1.23812532e+02] [-7.97267896e-02 -6.71071687e-03 9.96794164e-01 4.56707882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.950714057 meters Centerline goodness : 0.992963 Centerline is valid? [True, True] Translation: X:117.75, Y:123.80, Z:45.67 [[-2.89490634e-01 -9.57154760e-01 -7.06670329e-03 1.17747408e+02] [ 9.53151689e-01 -2.88940887e-01 8.95266515e-02 1.23800955e+02] [-8.77327201e-02 1.91814869e-02 9.95959357e-01 4.56746557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.980714057 meters Centerline goodness : 0.992181 Centerline is valid? [True, True] Translation: X:117.75, Y:123.82, Z:45.67 [[-2.92063104e-01 -9.56136940e-01 -2.23896162e-02 1.17750498e+02] [ 9.52563031e-01 -2.92906578e-01 8.26402337e-02 1.23819268e+02] [-8.55734460e-02 2.80864255e-03 9.96327906e-01 4.56694207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.01071405700003 meters Centerline goodness : 0.992619 Centerline is valid? [True, True] Translation: X:117.75, Y:123.80, Z:45.67 [[-2.90109420e-01 -9.56942872e-01 -9.84193526e-03 1.17750621e+02] [ 9.52961765e-01 -2.89814957e-01 8.87195873e-02 1.23798828e+02] [-8.77519168e-02 1.63594001e-02 9.96008018e-01 4.56740770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.040714057 meters Centerline goodness : 0.992067 Centerline is valid? [True, True] Translation: X:117.75, Y:123.80, Z:45.67 [[-2.89665880e-01 -9.57029601e-01 -1.37120676e-02 1.17752317e+02] [ 9.52920150e-01 -2.89704727e-01 8.95229512e-02 1.23802114e+02] [-8.96485651e-02 1.28652389e-02 9.95890366e-01 4.56709919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.07071405700003 meters Centerline goodness : 0.992504 Centerline is valid? [True, True] Translation: X:117.76, Y:123.82, Z:45.67 [[-2.94461438e-01 -9.55131402e-01 -3.18820538e-02 1.17756654e+02] [ 9.52191644e-01 -2.96069477e-01 7.53255507e-02 1.23823095e+02] [-8.13851019e-02 -8.17735518e-03 9.96649184e-01 4.56663097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.100714057 meters Centerline goodness : 0.992571 Centerline is valid? [True, True] Translation: X:117.75, Y:123.82, Z:45.67 [[-2.92527408e-01 -9.56170439e-01 -1.28766073e-02 1.17750621e+02] [ 9.52761996e-01 -2.92582031e-01 8.14882493e-02 1.23818689e+02] [-8.16841190e-02 1.15692043e-02 9.96591119e-01 4.56724577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.130714057 meters Centerline goodness : 0.991282 Centerline is valid? [True, True] Translation: X:117.76, Y:123.82, Z:45.67 [[-2.93063735e-01 -9.55676534e-01 -2.82136379e-02 1.17757029e+02] [ 9.52501563e-01 -2.94391074e-01 7.79401534e-02 1.23822246e+02] [-8.27914188e-02 -4.03210177e-03 9.96558740e-01 4.56680389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.160714057 meters Centerline goodness : 0.992367 Centerline is valid? [True, True] Translation: X:117.74, Y:123.85, Z:45.67 [[-2.88687044e-01 -9.57402319e-01 -6.37109801e-03 1.17741764e+02] [ 9.54018242e-01 -2.88214641e-01 8.23499551e-02 1.23847884e+02] [-8.06782817e-02 1.76952214e-02 9.96583109e-01 4.56731553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.190714057 meters Centerline goodness : 0.991823 Centerline is valid? [True, True] Translation: X:117.75, Y:123.83, Z:45.67 [[-2.86351989e-01 -9.58002023e-01 -1.53186798e-02 1.17749893e+02] [ 9.54584942e-01 -2.86630685e-01 8.13046036e-02 1.23827648e+02] [-8.22807784e-02 8.65875384e-03 9.96571573e-01 4.56714582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.220714057 meters Centerline goodness : 0.992276 Centerline is valid? [True, True] Translation: X:117.75, Y:123.83, Z:45.67 [[-2.82628034e-01 -9.59135929e-01 -1.34038929e-02 1.17747975e+02] [ 9.55517468e-01 -2.82734958e-01 8.39482661e-02 1.23830402e+02] [-8.43075473e-02 1.09184796e-02 9.96379960e-01 4.56712333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.250714057 meters Centerline goodness : 0.992538 Centerline is valid? [True, True] Translation: X:117.75, Y:123.83, Z:45.67 [[-2.80823525e-01 -9.59633299e-01 -1.55589336e-02 1.17748322e+02] [ 9.55988650e-01 -2.81119066e-01 8.40105482e-02 1.23830613e+02] [-8.49932323e-02 8.71797431e-03 9.96343388e-01 4.56705280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.280714057 meters Centerline goodness : 0.992526 Centerline is valid? [True, True] Translation: X:117.75, Y:123.84, Z:45.67 [[-2.79507313e-01 -9.59958809e-01 -1.88347198e-02 1.17747448e+02] [ 9.56473559e-01 -2.80098875e-01 8.18715498e-02 1.23836772e+02] [-8.38688993e-02 4.86878545e-03 9.96464903e-01 4.56703254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.310714057 meters Centerline goodness : 0.992621 Centerline is valid? [True, True] Translation: X:117.75, Y:123.83, Z:45.67 [[-2.77586809e-01 -9.60564063e-01 -1.61939793e-02 1.17746956e+02] [ 9.56975957e-01 -2.77954206e-01 8.32975206e-02 1.23832158e+02] [-8.45137895e-02 7.62504409e-03 9.96393134e-01 4.56710352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.340714057 meters Centerline goodness : 0.992456 Centerline is valid? [True, True] Translation: X:117.74, Y:123.86, Z:45.67 [[-2.78270717e-01 -9.60329824e-01 -1.82218677e-02 1.17742644e+02] [ 9.56861628e-01 -2.78816259e-01 8.17148629e-02 1.23855981e+02] [-8.35537729e-02 5.30304753e-03 9.96489159e-01 4.56685158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.370714057 meters Centerline goodness : 0.993152 Centerline is valid? [True, True] Translation: X:117.74, Y:123.85, Z:45.67 [[-2.79814159e-01 -9.59871036e-01 -1.87517945e-02 1.17744383e+02] [ 9.56547605e-01 -2.80406817e-01 7.99293182e-02 1.23848409e+02] [-8.19799685e-02 4.42837080e-03 9.96624139e-01 4.56701519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.400714057 meters Centerline goodness : 0.991951 Centerline is valid? [True, True] Translation: X:117.75, Y:123.85, Z:45.67 [[-2.81599511e-01 -9.59027332e-01 -3.11173976e-02 1.17748942e+02] [ 9.55751571e-01 -2.83218400e-01 7.95378686e-02 1.23851252e+02] [-8.50920094e-02 -7.34267675e-03 9.96346042e-01 4.56660036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.430714057 meters Centerline goodness : 0.991382 Centerline is valid? [True, True] Translation: X:117.74, Y:123.86, Z:45.67 [[-2.83853287e-01 -9.58718365e-01 -1.69235839e-02 1.17742710e+02] [ 9.55484985e-01 -2.84289059e-01 7.89187782e-02 1.23857244e+02] [-8.04720718e-02 6.23112425e-03 9.96737387e-01 4.56720360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.460714057 meters Centerline goodness : 0.992661 Centerline is valid? [True, True] Translation: X:117.74, Y:123.85, Z:45.68 [[-2.84788453e-01 -9.58549467e-01 -8.85756764e-03 1.17741138e+02] [ 9.55650039e-01 -2.84625960e-01 7.56377305e-02 1.23852601e+02] [-7.50236000e-02 1.30760174e-02 9.97096022e-01 4.56751529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.490714057 meters Centerline goodness : 0.992731 Centerline is valid? [True, True] Translation: X:117.74, Y:123.85, Z:45.67 [[-2.85503196e-01 -9.58292470e-01 -1.27853868e-02 1.17743859e+02] [ 9.55319552e-01 -2.85631727e-01 7.60201993e-02 1.23851693e+02] [-7.65014967e-02 9.48987992e-03 9.97024304e-01 4.56727436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.520714057 meters Centerline goodness : 0.991766 Centerline is valid? [True, True] Translation: X:117.75, Y:123.85, Z:45.67 [[-2.87014962e-01 -9.57620757e-01 -2.41846670e-02 1.17749537e+02] [ 9.54486489e-01 -2.88030799e-01 7.74196455e-02 1.23852678e+02] [-8.11045885e-02 -8.63341297e-04 9.96705222e-01 4.56682304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.550714057 meters Centerline goodness : 0.992700 Centerline is valid? [True, True] Translation: X:117.74, Y:123.87, Z:45.67 [[-2.89036089e-01 -9.57296146e-01 -6.49828627e-03 1.17739756e+02] [ 9.54328526e-01 -2.88662846e-01 7.70118543e-02 1.23869523e+02] [-7.55989651e-02 1.60577052e-02 9.97009000e-01 4.56729904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.580714057 meters Centerline goodness : 0.992630 Centerline is valid? [True, True] Translation: X:117.74, Y:123.87, Z:45.67 [[-2.91303682e-01 -9.56516018e-01 -1.48078505e-02 1.17744701e+02] [ 9.53597652e-01 -2.91576950e-01 7.50626419e-02 1.23870894e+02] [-7.61162472e-02 7.74529246e-03 9.97068868e-01 4.56691660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.610714057 meters Centerline goodness : 0.991680 Centerline is valid? [True, True] Translation: X:117.75, Y:123.88, Z:45.66 [[-2.93405609e-01 -9.55556370e-01 -2.87258248e-02 1.17749853e+02] [ 9.52613635e-01 -2.94760396e-01 7.51237032e-02 1.23878644e+02] [-8.02521686e-02 -5.32289652e-03 9.96760381e-01 4.56643021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.640714057 meters Centerline goodness : 0.991226 Centerline is valid? [True, True] Translation: X:117.75, Y:123.87, Z:45.67 [[-2.92086530e-01 -9.56213277e-01 -1.84831748e-02 1.17747812e+02] [ 9.53136150e-01 -2.92631128e-01 7.68017048e-02 1.23867984e+02] [-7.88475621e-02 4.81576142e-03 9.96875053e-01 4.56687718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.670714057 meters Centerline goodness : 0.991982 Centerline is valid? [True, True] Translation: X:117.75, Y:123.86, Z:45.67 [[-2.89937199e-01 -9.56967599e-01 -1.22243916e-02 1.17746160e+02] [ 9.53686696e-01 -2.89965242e-01 8.00115331e-02 1.23864076e+02] [-8.01130933e-02 1.15400801e-02 9.96718977e-01 4.56702697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.700714057 meters Centerline goodness : 0.991771 Centerline is valid? [True, True] Translation: X:117.75, Y:123.87, Z:45.67 [[-2.87851550e-01 -9.57508546e-01 -1.78569032e-02 1.17746989e+02] [ 9.54630620e-01 -2.88372189e-01 7.43092210e-02 1.23865866e+02] [-7.63011485e-02 4.34327783e-03 9.97075359e-01 4.56696000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.730714057 meters Centerline goodness : 0.991570 Centerline is valid? [True, True] Translation: X:117.74, Y:123.88, Z:45.67 [[-2.85418184e-01 -9.58292665e-01 -1.45474382e-02 1.17741305e+02] [ 9.55275795e-01 -2.85679290e-01 7.63904380e-02 1.23881984e+02] [-7.73602983e-02 7.90640450e-03 9.96971852e-01 4.56698269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.76071405700003 meters Centerline goodness : 0.991925 Centerline is valid? [True, True] Translation: X:117.74, Y:123.87, Z:45.67 [[-2.77655333e-01 -9.60637666e-01 -9.09891224e-03 1.17740725e+02] [ 9.57108766e-01 -2.77426545e-01 8.35303720e-02 1.23868723e+02] [-8.27667014e-02 1.44840046e-02 9.96463691e-01 4.56715373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.790714057 meters Centerline goodness : 0.992227 Centerline is valid? [True, True] Translation: X:117.74, Y:123.87, Z:45.67 [[-2.74261230e-01 -9.61478115e-01 -1.84557005e-02 1.17743664e+02] [ 9.57986039e-01 -2.74839361e-01 8.20126482e-02 1.23869797e+02] [-8.39257193e-02 4.81258635e-03 9.96460392e-01 4.56680929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.82071405700003 meters Centerline goodness : 0.991583 Centerline is valid? [True, True] Translation: X:117.74, Y:123.86, Z:45.67 [[-2.68063974e-01 -9.63206804e-01 -1.93483335e-02 1.17743403e+02] [ 9.59802233e-01 -2.68743036e-01 8.09744017e-02 1.23864052e+02] [-8.31948245e-02 3.13574617e-03 9.96528368e-01 4.56694310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.850714057 meters Centerline goodness : 0.990689 Centerline is valid? [True, True] Translation: X:117.74, Y:123.87, Z:45.67 [[-2.61240883e-01 -9.65201352e-01 -1.18131501e-02 1.17737414e+02] [ 9.61498409e-01 -2.61280984e-01 8.51648835e-02 1.23867974e+02] [-8.52878122e-02 1.08902243e-02 9.96296839e-01 4.56726519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.880714057 meters Centerline goodness : 0.991543 Centerline is valid? [True, True] Translation: X:117.75, Y:123.84, Z:45.67 [[-2.55523125e-01 -9.66633863e-01 -1.80806011e-02 1.17746033e+02] [ 9.62629347e-01 -2.56111390e-01 8.80437141e-02 1.23839224e+02] [-8.97366833e-02 5.09228772e-03 9.95952507e-01 4.56707452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.910714057 meters Centerline goodness : 0.991410 Centerline is valid? [True, True] Translation: X:117.74, Y:123.86, Z:45.67 [[-2.53657412e-01 -9.67129091e-01 -1.78672692e-02 1.17739896e+02] [ 9.63248707e-01 -2.54241043e-01 8.66799937e-02 1.23855469e+02] [-8.83733367e-02 4.77639896e-03 9.96075971e-01 4.56703879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.940714057 meters Centerline goodness : 0.991410 Centerline is valid? [True, True] Translation: X:117.74, Y:123.86, Z:45.67 [[-2.53300833e-01 -9.67229771e-01 -1.74716392e-02 1.17739110e+02] [ 9.63342396e-01 -2.53850420e-01 8.67836006e-02 1.23858010e+02] [-8.83748651e-02 5.15118756e-03 9.96073967e-01 4.56703017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.970714057 meters Centerline goodness : 0.990900 Centerline is valid? [True, True] Translation: X:117.74, Y:123.86, Z:45.67 [[-2.55691021e-01 -9.66386519e-01 -2.68178689e-02 1.17741330e+02] [ 9.63269824e-01 -2.57024798e-01 7.77785328e-02 1.23864813e+02] [-8.20569828e-02 -5.94557135e-03 9.96609905e-01 4.56700618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.000714057 meters Centerline goodness : 0.991086 Centerline is valid? [True, True] Translation: X:117.74, Y:123.88, Z:45.67 [[-2.56700020e-01 -9.66277273e-01 -2.03305565e-02 1.17736247e+02] [ 9.63134672e-01 -2.57503526e-01 7.78687227e-02 1.23876603e+02] [-8.04779670e-02 4.07838860e-04 9.96756305e-01 4.56715042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.030714057 meters Centerline goodness : 0.990706 Centerline is valid? [True, True] Translation: X:117.73, Y:123.88, Z:45.67 [[-2.60431406e-01 -9.65406077e-01 -1.29069235e-02 1.17733534e+02] [ 9.62333067e-01 -2.60636597e-01 7.73539431e-02 1.23879032e+02] [-7.80419834e-02 7.72463687e-03 9.96920147e-01 4.56742979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.060714057 meters Centerline goodness : 0.991190 Centerline is valid? [True, True] Translation: X:117.74, Y:123.88, Z:45.67 [[-2.61493849e-01 -9.65057984e-01 -1.68539030e-02 1.17736435e+02] [ 9.61988558e-01 -2.62007041e-01 7.70086050e-02 1.23876529e+02] [-7.87336103e-02 3.92401471e-03 9.96887968e-01 4.56719693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.090714057 meters Centerline goodness : 0.991755 Centerline is valid? [True, True] Translation: X:117.73, Y:123.89, Z:45.67 [[-2.66961876e-01 -9.63623980e-01 -1.26562927e-02 1.17731586e+02] [ 9.60497370e-01 -2.67120753e-01 7.80468183e-02 1.23894975e+02] [-7.85885441e-02 8.67918920e-03 9.96869356e-01 4.56708295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.120714057 meters Centerline goodness : 0.991467 Centerline is valid? [True, True] Translation: X:117.73, Y:123.89, Z:45.67 [[-2.68887962e-01 -9.63092098e-01 -1.23642556e-02 1.17733138e+02] [ 9.59802178e-01 -2.68998076e-01 8.01237458e-02 1.23888882e+02] [-8.04925074e-02 9.67707122e-03 9.96708237e-01 4.56703916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.150714057 meters Centerline goodness : 0.990798 Centerline is valid? [True, True] Translation: X:117.73, Y:123.89, Z:45.67 [[-2.72416862e-01 -9.62112562e-01 -1.13344979e-02 1.17732838e+02] [ 9.58696923e-01 -2.72413409e-01 8.17994122e-02 1.23893980e+02] [-8.17879113e-02 1.14171909e-02 9.96584359e-01 4.56689395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.180714057 meters Centerline goodness : 0.991742 Centerline is valid? [True, True] Translation: X:117.73, Y:123.90, Z:45.67 [[-2.75324367e-01 -9.61153397e-01 -1.95100127e-02 1.17734214e+02] [ 9.57955354e-01 -2.75999584e-01 7.83949628e-02 1.23903900e+02] [-8.07343402e-02 2.89432238e-03 9.96731453e-01 4.56658867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.210714057 meters Centerline goodness : 0.993300 Centerline is valid? [True, True] Translation: X:117.72, Y:123.91, Z:45.67 [[-2.77570251e-01 -9.60703008e-01 2.11809918e-03 1.17724269e+02] [ 9.57536507e-01 -2.76475105e-01 8.17640138e-02 1.23906631e+02] [-7.79653323e-02 2.47234151e-02 9.96649467e-01 4.56725222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.240714057 meters Centerline goodness : 0.991297 Centerline is valid? [True, True] Translation: X:117.74, Y:123.90, Z:45.66 [[-2.79264196e-01 -9.59792579e-01 -2.84554816e-02 1.17737862e+02] [ 9.56577623e-01 -2.80661068e-01 7.86677588e-02 1.23903455e+02] [-8.34910769e-02 -5.25078847e-03 9.96494691e-01 4.56627975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.270714057 meters Centerline goodness : 0.993021 Centerline is valid? [True, True] Translation: X:117.72, Y:123.91, Z:45.67 [[-2.78732310e-01 -9.60361978e-01 -3.62922489e-03 1.17724130e+02] [ 9.57127373e-01 -2.78099766e-01 8.10414215e-02 1.23907117e+02] [-7.88383865e-02 1.91152321e-02 9.96704127e-01 4.56720764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.300714057 meters Centerline goodness : 0.991193 Centerline is valid? [True, True] Translation: X:117.73, Y:123.92, Z:45.66 [[-2.79607870e-01 -9.59657982e-01 -2.95972349e-02 1.17730726e+02] [ 9.56532888e-01 -2.81092621e-01 7.76644915e-02 1.23920369e+02] [-8.28509136e-02 -6.59512551e-03 9.96540130e-01 4.56632281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.330714057 meters Centerline goodness : 0.991711 Centerline is valid? [True, True] Translation: X:117.73, Y:123.90, Z:45.67 [[-2.76166650e-01 -9.60985209e-01 -1.54728816e-02 1.17727065e+02] [ 9.57376693e-01 -2.76475880e-01 8.36119384e-02 1.23903651e+02] [-8.46277146e-02 8.27745267e-03 9.96378258e-01 4.56683553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.360714057 meters Centerline goodness : 0.992021 Centerline is valid? [True, True] Translation: X:117.72, Y:123.91, Z:45.67 [[-2.72115365e-01 -9.62183622e-01 -1.24862148e-02 1.17723051e+02] [ 9.58380092e-01 -2.72158808e-01 8.62391001e-02 1.23909025e+02] [-8.63760831e-02 1.15004445e-02 9.96196222e-01 4.56689161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.390714057 meters Centerline goodness : 0.991771 Centerline is valid? [True, True] Translation: X:117.72, Y:123.91, Z:45.67 [[-2.66674937e-01 -9.63627465e-01 -1.75096204e-02 1.17723278e+02] [ 9.59949035e-01 -2.67188898e-01 8.43086174e-02 1.23906032e+02] [-8.59204754e-02 5.67465210e-03 9.96285838e-01 4.56675366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.420714057 meters Centerline goodness : 0.992765 Centerline is valid? [True, True] Translation: X:117.71, Y:123.91, Z:45.67 [[-2.62795178e-01 -9.64845414e-01 -3.46722215e-03 1.17714180e+02] [ 9.61398997e-01 -2.62156829e-01 8.35808930e-02 1.23913601e+02] [-8.15515973e-02 1.86312718e-02 9.96494964e-01 4.56725397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.450714057 meters Centerline goodness : 0.993381 Centerline is valid? [True, True] Translation: X:117.72, Y:123.91, Z:45.67 [[-2.54654427e-01 -9.66947429e-01 -1.27981129e-02 1.17716697e+02] [ 9.63429298e-01 -2.54824798e-01 8.28752752e-02 1.23908011e+02] [-8.33973109e-02 8.77447879e-03 9.96477745e-01 4.56690952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.480714057 meters Centerline goodness : 0.992614 Centerline is valid? [True, True] Translation: X:117.72, Y:123.91, Z:45.67 [[-2.50381565e-01 -9.68019110e-01 -1.57503907e-02 1.17716525e+02] [ 9.64499181e-01 -2.50816059e-01 8.26597510e-02 1.23908758e+02] [-8.39666695e-02 5.50523890e-03 9.96453356e-01 4.56677088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.51071405700003 meters Centerline goodness : 0.993580 Centerline is valid? [True, True] Translation: X:117.72, Y:123.90, Z:45.67 [[-2.43045570e-01 -9.69823946e-01 -1.92448527e-02 1.17715523e+02] [ 9.66571459e-01 -2.43805334e-01 7.93635579e-02 1.23902799e+02] [-8.16606767e-02 6.87435763e-04 9.96659953e-01 4.56688704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.540714057 meters Centerline goodness : 0.992432 Centerline is valid? [True, True] Translation: X:117.71, Y:123.90, Z:45.67 [[-2.37696691e-01 -9.71254274e-01 -1.28615034e-02 1.17712007e+02] [ 9.67722224e-01 -2.37932411e-01 8.30774685e-02 1.23899644e+02] [-8.37495149e-02 7.30087669e-03 9.96460093e-01 4.56703236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.57071405700003 meters Centerline goodness : 0.992648 Centerline is valid? [True, True] Translation: X:117.71, Y:123.89, Z:45.67 [[-2.29527664e-01 -9.73249164e-01 -1.01546160e-02 1.17709288e+02] [ 9.69448669e-01 -2.29533958e-01 8.65068805e-02 1.23891340e+02] [-8.65235783e-02 1.00113433e-02 9.96199500e-01 4.56708051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.600714057 meters Centerline goodness : 0.991768 Centerline is valid? [True, True] Translation: X:117.71, Y:123.89, Z:45.67 [[-2.22829453e-01 -9.74819809e-01 -8.56594736e-03 1.17708888e+02] [ 9.70572391e-01 -2.22664387e-01 9.17049839e-02 1.23885206e+02] [-9.13031663e-02 1.21206994e-02 9.95749376e-01 4.56687815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.630714057 meters Centerline goodness : 0.990657 Centerline is valid? [True, True] Translation: X:117.72, Y:123.89, Z:45.66 [[-2.22906772e-01 -9.74410713e-01 -2.89194251e-02 1.17717380e+02] [ 9.70182123e-01 -2.24640584e-01 9.10123997e-02 1.23885851e+02] [-9.51799339e-02 -7.76982900e-03 9.95429761e-01 4.56608051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.660714057 meters Centerline goodness : 0.992538 Centerline is valid? [True, True] Translation: X:117.70, Y:123.92, Z:45.67 [[-2.40852205e-01 -9.70269798e-01 -2.38061847e-02 1.17701126e+02] [ 9.67623998e-01 -2.41957931e-01 7.18342393e-02 1.23915607e+02] [-7.54586881e-02 -5.73400072e-03 9.97132442e-01 4.56669506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.690714057 meters Centerline goodness : 0.992426 Centerline is valid? [True, True] Translation: X:117.70, Y:123.91, Z:45.67 [[-2.42277641e-01 -9.70094141e-01 -1.47953586e-02 1.17697464e+02] [ 9.67368985e-01 -2.42706407e-01 7.27382037e-02 1.23914975e+02] [-7.41538336e-02 3.31026936e-03 9.97241320e-01 4.56703627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.720714057 meters Centerline goodness : 0.983652 Centerline is valid? [True, True] Translation: X:117.52, Y:124.78, Z:45.58 [[-2.56967017e-01 -9.66259343e-01 -1.76304749e-02 1.17517588e+02] [ 9.62528950e-01 -2.57525209e-01 8.49634454e-02 1.24781732e+02] [-8.66370147e-02 4.86296066e-03 9.96228076e-01 4.55833530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.750714057 meters Centerline goodness : 0.992582 Centerline is valid? [True, True] Translation: X:117.69, Y:123.94, Z:45.67 [[-2.47469687e-01 -9.68763403e-01 -1.60069679e-02 1.17692794e+02] [ 9.66073777e-01 -2.47975237e-01 7.21785317e-02 1.23940762e+02] [-7.38932516e-02 2.39808670e-03 9.97263273e-01 4.56678098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.780714057 meters Centerline goodness : 0.993205 Centerline is valid? [True, True] Translation: X:117.69, Y:123.95, Z:45.67 [[-2.53858275e-01 -9.67131220e-01 -1.46006707e-02 1.17692406e+02] [ 9.64367231e-01 -2.54237929e-01 7.32046358e-02 1.23946176e+02] [-7.45105331e-02 4.50319417e-03 9.97210059e-01 4.56681856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.810714057 meters Centerline goodness : 0.989838 Centerline is valid? [True, True] Translation: X:117.59, Y:124.49, Z:45.61 [[-2.60951288e-01 -9.65069564e-01 -2.33487044e-02 1.17586536e+02] [ 9.61735323e-01 -2.61989273e-01 8.01672640e-02 1.24490218e+02] [-8.34840966e-02 -1.53552290e-03 9.96507927e-01 4.56116872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.840714057 meters Centerline goodness : 0.990922 Centerline is valid? [True, True] Translation: X:117.63, Y:124.29, Z:45.63 [[-2.53563297e-01 -9.67174635e-01 -1.66996855e-02 1.17628772e+02] [ 9.63850970e-01 -2.54077144e-01 8.02253841e-02 1.24292771e+02] [-8.18349650e-02 4.24620487e-03 9.96636849e-01 4.56331214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.870714057 meters Centerline goodness : 0.989039 Centerline is valid? [True, True] Translation: X:117.56, Y:124.58, Z:45.61 [[-2.75871830e-01 -9.61104062e-01 -1.31800948e-02 1.17561500e+02] [ 9.57209545e-01 -2.75949610e-01 8.71877253e-02 1.24575033e+02] [-8.74335190e-02 1.14365248e-02 9.96104706e-01 4.56065960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.900714057 meters Centerline goodness : 0.992903 Centerline is valid? [True, True] Translation: X:117.68, Y:123.99, Z:45.67 [[-2.65294098e-01 -9.64077228e-01 -1.31962117e-02 1.17683092e+02] [ 9.61158983e-01 -2.65521890e-01 7.53095950e-02 1.23987601e+02] [-7.61081486e-02 7.29553368e-03 9.97072878e-01 4.56669486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.930714057 meters Centerline goodness : 0.991875 Centerline is valid? [True, True] Translation: X:117.69, Y:123.96, Z:45.67 [[-2.46426679e-01 -9.69160795e-01 1.11606782e-03 1.17690281e+02] [ 9.65009935e-01 -2.45264447e-01 9.27425317e-02 1.23962774e+02] [-8.96086940e-02 2.39312506e-02 9.95689498e-01 4.56664646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.960714057 meters Centerline goodness : 0.993355 Centerline is valid? [True, True] Translation: X:117.69, Y:123.99, Z:45.66 [[-2.65854226e-01 -9.63539047e-01 -3.02330145e-02 1.17688614e+02] [ 9.60945583e-01 -2.67377815e-01 7.13630898e-02 1.23990399e+02] [-7.68447609e-02 -1.00801028e-02 9.96992113e-01 4.56590718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.990714057 meters Centerline goodness : 0.992718 Centerline is valid? [True, True] Translation: X:117.68, Y:123.97, Z:45.67 [[-2.43261619e-01 -9.69942195e-01 5.99357778e-03 1.17684098e+02] [ 9.65779077e-01 -2.41635101e-01 9.42510105e-02 1.23966871e+02] [-8.99697732e-02 2.87161254e-02 9.95530424e-01 4.56671323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.020714057 meters Centerline goodness : 0.992266 Centerline is valid? [True, True] Translation: X:117.69, Y:123.97, Z:45.66 [[-2.43273666e-01 -9.69769867e-01 -1.90873716e-02 1.17692066e+02] [ 9.65955237e-01 -2.44008759e-01 8.59663065e-02 1.23972522e+02] [-8.80250195e-02 2.47579198e-03 9.96115187e-01 4.56583892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.050714057 meters Centerline goodness : 0.989786 Centerline is valid? [True, True] Translation: X:117.69, Y:123.98, Z:45.65 [[-2.40198025e-01 -9.70505676e-01 -2.05825564e-02 1.17689199e+02] [ 9.66022157e-01 -2.41065241e-01 9.32134254e-02 1.23983978e+02] [-9.54258973e-02 2.50647516e-03 9.95433381e-01 4.56549604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.080714057 meters Centerline goodness : 0.991607 Centerline is valid? [True, True] Translation: X:117.68, Y:123.97, Z:45.66 [[-2.37386668e-01 -9.71398421e-01 -5.71637662e-03 1.17683874e+02] [ 9.66987973e-01 -2.36861854e-01 9.39719227e-02 1.23972971e+02] [-9.26381689e-02 1.67800142e-02 9.95558437e-01 4.56611142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.110714057 meters Centerline goodness : 0.991251 Centerline is valid? [True, True] Translation: X:117.69, Y:123.97, Z:45.66 [[-2.33517100e-01 -9.72269754e-01 -1.26999507e-02 1.17685156e+02] [ 9.67528156e-01 -2.33638115e-01 9.64494593e-02 1.23971038e+02] [-9.67420846e-02 1.02350381e-02 9.95256858e-01 4.56574452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.140714057 meters Centerline goodness : 0.992174 Centerline is valid? [True, True] Translation: X:117.68, Y:123.98, Z:45.66 [[-2.31230420e-01 -9.72844191e-01 -1.03282273e-02 1.17681940e+02] [ 9.67996479e-01 -2.31116655e-01 9.78156854e-02 1.23975176e+02] [-9.75464467e-02 1.26202744e-02 9.95150953e-01 4.56579409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.170714057 meters Centerline goodness : 0.990174 Centerline is valid? [True, True] Translation: X:117.68, Y:123.99, Z:45.65 [[-2.30769760e-01 -9.72818656e-01 -1.92140875e-02 1.17679786e+02] [ 9.68255870e-01 -2.31547174e-01 9.41619643e-02 1.23989107e+02] [-9.60514832e-02 3.12558083e-03 9.95371460e-01 4.56548931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.200714057 meters Centerline goodness : 0.991062 Centerline is valid? [True, True] Translation: X:117.68, Y:123.99, Z:45.66 [[-2.27558206e-01 -9.73698026e-01 -1.13761981e-02 1.17675964e+02] [ 9.68520327e-01 -2.27528089e-01 1.00991804e-01 1.23991613e+02] [-1.00923925e-01 1.19634347e-02 9.94822214e-01 4.56555777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.230714057 meters Centerline goodness : 0.989741 Centerline is valid? [True, True] Translation: X:117.68, Y:123.99, Z:45.65 [[-2.28185246e-01 -9.73147834e-01 -3.02454550e-02 1.17684732e+02] [ 9.68424601e-01 -2.30062853e-01 9.60462208e-02 1.23985624e+02] [-1.00425527e-01 -7.37411213e-03 9.94917251e-01 4.56494929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.26071405700003 meters Centerline goodness : 0.990388 Centerline is valid? [True, True] Translation: X:117.68, Y:123.98, Z:45.66 [[-2.29033544e-01 -9.73343958e-01 -1.20488753e-02 1.17676515e+02] [ 9.68773743e-01 -2.29130968e-01 9.47440460e-02 1.23983272e+02] [-9.49793152e-02 1.00269306e-02 9.95428747e-01 4.56589378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.290714057 meters Centerline goodness : 0.990870 Centerline is valid? [True, True] Translation: X:117.67, Y:123.98, Z:45.66 [[-2.21047638e-01 -9.75176556e-01 1.29856289e-02 1.17668361e+02] [ 9.68900130e-01 -2.18067503e-01 1.16957692e-01 1.23977477e+02] [-1.11222656e-01 3.84349991e-02 9.93051999e-01 4.56615482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.32071405700003 meters Centerline goodness : 0.988911 Centerline is valid? [True, True] Translation: X:117.69, Y:124.00, Z:45.64 [[-2.33554255e-01 -9.70404604e-01 -6.13784580e-02 1.17694105e+02] [ 9.67661900e-01 -2.38153248e-01 8.31473250e-02 1.24002174e+02] [-9.53040261e-02 -3.99741838e-02 9.94645267e-01 4.56409519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.350714057 meters Centerline goodness : 0.990502 Centerline is valid? [True, True] Translation: X:117.67, Y:123.98, Z:45.66 [[-2.28571834e-01 -9.73521112e-01 -3.40004818e-03 1.17674043e+02] [ 9.68187490e-01 -2.27682074e-01 1.03797191e-01 1.23982447e+02] [-1.01822887e-01 2.04332302e-02 9.94592672e-01 4.56603767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.380714057 meters Centerline goodness : 0.991675 Centerline is valid? [True, True] Translation: X:117.67, Y:124.02, Z:45.66 [[-2.49542954e-01 -9.67852156e-01 -3.14724986e-02 1.17669919e+02] [ 9.65332414e-01 -2.51199970e-01 7.09359296e-02 1.24020826e+02] [-7.65613831e-02 -1.26798616e-02 9.96984240e-01 4.56563302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.410714057 meters Centerline goodness : 0.992456 Centerline is valid? [True, True] Translation: X:117.66, Y:124.00, Z:45.67 [[-2.26293352e-01 -9.73804073e-01 2.22922891e-02 1.17661037e+02] [ 9.68964711e-01 -2.22713225e-01 1.07266994e-01 1.23999559e+02] [-9.94922479e-02 4.58742490e-02 9.93980305e-01 4.56669498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.440714057 meters Centerline goodness : 0.991137 Centerline is valid? [True, True] Translation: X:117.68, Y:124.00, Z:45.65 [[-2.22105900e-01 -9.74876571e-01 -1.68712920e-02 1.17679013e+02] [ 9.69240286e-01 -2.22637349e-01 1.04908909e-01 1.23995670e+02] [-1.06029417e-01 6.94855167e-03 9.94338715e-01 4.56498925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.470714057 meters Centerline goodness : 0.991844 Centerline is valid? [True, True] Translation: X:117.67, Y:124.01, Z:45.65 [[-2.21430338e-01 -9.75159935e-01 -5.63094939e-03 1.17670242e+02] [ 9.69276197e-01 -2.20721194e-01 1.08562467e-01 1.24010673e+02] [-1.07108638e-01 1.85810785e-02 9.94073681e-01 4.56529933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.500714057 meters Centerline goodness : 0.990945 Centerline is valid? [True, True] Translation: X:117.69, Y:124.02, Z:45.64 [[-2.26348966e-01 -9.72869142e-01 -4.78725091e-02 1.17685598e+02] [ 9.69799866e-01 -2.29674092e-01 8.20855101e-02 1.24017047e+02] [-9.08535348e-02 -2.78467826e-02 9.95474858e-01 4.56442894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.530714057 meters Centerline goodness : 0.990165 Centerline is valid? [True, True] Translation: X:117.68, Y:124.01, Z:45.65 [[-2.24141853e-01 -9.74233766e-01 -2.50798601e-02 1.17676813e+02] [ 9.70118180e-01 -2.25500434e-01 8.95559620e-02 1.24010126e+02] [-9.29039614e-02 -4.25718901e-03 9.95665973e-01 4.56543040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.560714057 meters Centerline goodness : 0.989873 Centerline is valid? [True, True] Translation: X:117.67, Y:124.02, Z:45.66 [[-2.19495068e-01 -9.75534906e-01 -1.23920379e-02 1.17669984e+02] [ 9.70902843e-01 -2.19664311e-01 9.53690704e-02 1.24019043e+02] [-9.57579455e-02 8.90157582e-03 9.95364847e-01 4.56579054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.590714057 meters Centerline goodness : 0.990505 Centerline is valid? [True, True] Translation: X:117.67, Y:124.00, Z:45.66 [[-2.14771846e-01 -9.76663949e-01 7.64856499e-04 1.17667373e+02] [ 9.71987507e-01 -2.13666802e-01 9.79121215e-02 1.24004080e+02] [-9.54638148e-02 2.17721980e-02 9.95194771e-01 4.56627627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.620714057 meters Centerline goodness : 0.989771 Centerline is valid? [True, True] Translation: X:117.67, Y:124.00, Z:45.65 [[-2.05012249e-01 -9.78756694e-01 -2.30482038e-03 1.17671337e+02] [ 9.72395575e-01 -2.03946803e-01 1.13369077e-01 1.24003971e+02] [-1.11430804e-01 2.10008523e-02 9.93550271e-01 4.56545192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.650714057 meters Centerline goodness : 0.990147 Centerline is valid? [True, True] Translation: X:117.67, Y:124.02, Z:45.65 [[-2.05051887e-01 -9.78715309e-01 -8.37066005e-03 1.17671240e+02] [ 9.72666045e-01 -2.04721781e-01 1.09589039e-01 1.24015653e+02] [-1.08970127e-01 1.43295824e-02 9.93941736e-01 4.56534560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.680714057 meters Centerline goodness : 0.989719 Centerline is valid? [True, True] Translation: X:117.68, Y:124.02, Z:45.65 [[-2.05626161e-01 -9.78075651e-01 -3.29530312e-02 1.17682945e+02] [ 9.73287007e-01 -2.07901445e-01 9.74135047e-02 1.24016525e+02] [-1.02128760e-01 -1.20419921e-02 9.94698299e-01 4.56479729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.710714057 meters Centerline goodness : 0.991178 Centerline is valid? [True, True] Translation: X:117.68, Y:124.02, Z:45.65 [[-2.06260592e-01 -9.78253392e-01 -2.18373465e-02 1.17679442e+02] [ 9.73489627e-01 -2.07408848e-01 9.64339955e-02 1.24021325e+02] [-9.88661421e-02 -1.36789731e-03 9.95099801e-01 4.56536948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.740714057 meters Centerline goodness : 0.991497 Centerline is valid? [True, True] Translation: X:117.68, Y:124.03, Z:45.66 [[-2.07931596e-01 -9.77905891e-01 -2.15527131e-02 1.17678436e+02] [ 9.73618590e-01 -2.09036422e-01 9.14910644e-02 1.24030101e+02] [-9.39749529e-02 -1.96023905e-03 9.95572632e-01 4.56554922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.770714057 meters Centerline goodness : 0.992270 Centerline is valid? [True, True] Translation: X:117.68, Y:124.04, Z:45.66 [[-2.23824017e-01 -9.74139840e-01 -3.08930631e-02 1.17676283e+02] [ 9.71270766e-01 -2.25569852e-01 7.58375967e-02 1.24035613e+02] [-8.08449680e-02 -1.30312535e-02 9.96641499e-01 4.56588063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.800714057 meters Centerline goodness : 0.991764 Centerline is valid? [True, True] Translation: X:117.68, Y:124.04, Z:45.66 [[-2.09134555e-01 -9.77878181e-01 -4.12332880e-03 1.17677067e+02] [ 9.73859515e-01 -2.08653687e-01 8.97846581e-02 1.24036576e+02] [-8.86588059e-02 1.47615315e-02 9.95952666e-01 4.56639242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.830714057 meters Centerline goodness : 0.992261 Centerline is valid? [True, True] Translation: X:117.68, Y:124.04, Z:45.66 [[-2.10603035e-01 -9.77463340e-01 -1.45526482e-02 1.17682494e+02] [ 9.73572076e-01 -2.11063375e-01 8.72333900e-02 1.24041300e+02] [-8.83389719e-02 4.20356483e-03 9.96081601e-01 4.56593279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.860714057 meters Centerline goodness : 0.992261 Centerline is valid? [True, True] Translation: X:117.68, Y:124.04, Z:45.66 [[-2.10264567e-01 -9.77538487e-01 -1.43985589e-02 1.17681865e+02] [ 9.73648096e-01 -2.10712648e-01 8.72328236e-02 1.24043887e+02] [-8.83074008e-02 4.32284243e-03 9.96083890e-01 4.56591503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.890714057 meters Centerline goodness : 0.993084 Centerline is valid? [True, True] Translation: X:117.68, Y:124.05, Z:45.66 [[-2.26234839e-01 -9.73761265e-01 -2.46332239e-02 1.17682732e+02] [ 9.70796485e-01 -2.27474196e-01 7.62212202e-02 1.24047913e+02] [-7.98246946e-02 -6.66995169e-03 9.96786602e-01 4.56581670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.920714057 meters Centerline goodness : 0.993993 Centerline is valid? [True, True] Translation: X:117.68, Y:124.05, Z:45.66 [[-2.27161430e-01 -9.73749381e-01 -1.44854393e-02 1.17680007e+02] [ 9.70624542e-01 -2.27593279e-01 7.80339536e-02 1.24051931e+02] [-7.92823026e-02 3.66638161e-03 9.96845462e-01 4.56617743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.950714057 meters Centerline goodness : 0.991962 Centerline is valid? [True, True] Translation: X:117.69, Y:124.05, Z:45.66 [[-2.17970498e-01 -9.75948478e-01 -3.66479026e-03 1.17687348e+02] [ 9.72047640e-01 -2.17431910e-01 8.85818839e-02 1.24050320e+02] [-8.72481971e-02 1.57458866e-02 9.96062156e-01 4.56627180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.980714057 meters Centerline goodness : 0.993453 Centerline is valid? [True, True] Translation: X:117.69, Y:124.06, Z:45.66 [[-2.33657937e-01 -9.71995008e-01 -2.50932998e-02 1.17689885e+02] [ 9.68987055e-01 -2.34914365e-01 7.66767770e-02 1.24062313e+02] [-8.04242210e-02 -6.39894514e-03 9.96740186e-01 4.56571038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.01071405700003 meters Centerline goodness : 0.993022 Centerline is valid? [True, True] Translation: X:117.69, Y:124.07, Z:45.66 [[-2.37776290e-01 -9.71210895e-01 -1.45544831e-02 1.17688139e+02] [ 9.68021151e-01 -2.38176042e-01 7.87859461e-02 1.24071261e+02] [-7.99842985e-02 4.64438247e-03 9.96785304e-01 4.56600171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.040714057 meters Centerline goodness : 0.993783 Centerline is valid? [True, True] Translation: X:117.69, Y:124.08, Z:45.66 [[-2.39029414e-01 -9.70904417e-01 -1.44759382e-02 1.17688467e+02] [ 9.67734948e-01 -2.39419994e-01 7.85311157e-02 1.24081071e+02] [-7.97120361e-02 4.76237530e-03 9.96806557e-01 4.56594110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.07071405700003 meters Centerline goodness : 0.993010 Centerline is valid? [True, True] Translation: X:117.69, Y:124.09, Z:45.66 [[-2.41927023e-01 -9.70189419e-01 -1.42760658e-02 1.17690900e+02] [ 9.67092638e-01 -2.42296887e-01 7.76147364e-02 1.24087065e+02] [-7.87600424e-02 4.97082397e-03 9.96881210e-01 4.56588630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.100714057 meters Centerline goodness : 0.991691 Centerline is valid? [True, True] Translation: X:117.71, Y:124.08, Z:45.65 [[-2.33303579e-01 -9.71919654e-01 -3.06859201e-02 1.17707569e+02] [ 9.68894114e-01 -2.35024477e-01 7.75092953e-02 1.24080239e+02] [-8.25447498e-02 -1.16482114e-02 9.96519284e-01 4.56540196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.130714057 meters Centerline goodness : 0.992407 Centerline is valid? [True, True] Translation: X:117.70, Y:124.09, Z:45.66 [[-2.32995226e-01 -9.72476985e-01 1.31856581e-03 1.17697051e+02] [ 9.69130851e-01 -2.32080704e-01 8.32102167e-02 1.24089197e+02] [-8.06140070e-02 2.06654460e-02 9.96531144e-01 4.56635988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.160714057 meters Centerline goodness : 0.991889 Centerline is valid? [True, True] Translation: X:117.62, Y:124.56, Z:45.62 [[-2.46996555e-01 -9.68733563e-01 -2.34091123e-02 1.17617778e+02] [ 9.65976361e-01 -2.48061870e-01 7.31777239e-02 1.24557188e+02] [-7.66966253e-02 -4.53800342e-03 9.97044149e-01 4.56154115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.190714057 meters Centerline goodness : 0.993195 Centerline is valid? [True, True] Translation: X:117.83, Y:124.35, Z:46.56 [[-1.76086636e-01 4.22932947e-01 8.88887630e-01 1.17825369e+02] [ 9.78572453e-01 1.73107848e-01 1.11488242e-01 1.24349689e+02] [-1.06721374e-01 8.89472538e-01 -4.44352510e-01 4.65647046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.220714057 meters Centerline goodness : 0.992342 Centerline is valid? [True, True] Translation: X:118.44, Y:124.51, Z:45.74 [[-2.23987523e-01 1.42580231e-01 -9.64106046e-01 1.18441232e+02] [ 9.63905530e-01 -1.13683431e-01 -2.40753414e-01 1.24509484e+02] [-1.43929561e-01 -9.83232910e-01 -1.11970203e-01 4.57432376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.250714057 meters Centerline goodness : 0.992505 Centerline is valid? [True, True] Translation: X:117.68, Y:124.34, Z:45.64 [[-2.73012219e-01 -9.61925796e-01 -1.27707452e-02 1.17683439e+02] [ 9.59274581e-01 -2.73212258e-01 7.17449693e-02 1.24344144e+02] [-7.25024608e-02 7.33660202e-03 9.97341249e-01 4.56403125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.280714057 meters Centerline goodness : 0.991262 Centerline is valid? [True, True] Translation: X:117.69, Y:124.35, Z:45.64 [[-2.72171777e-01 -9.62055827e-01 -1.92642098e-02 1.17689517e+02] [ 9.59539507e-01 -2.72852325e-01 6.95380699e-02 1.24345168e+02] [-7.21557897e-02 4.41529711e-04 9.97393276e-01 4.56373913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.310714057 meters Centerline goodness : 0.992143 Centerline is valid? [True, True] Translation: X:117.69, Y:124.34, Z:45.64 [[-2.69937011e-01 -9.62853096e-01 -6.92279051e-03 1.17685855e+02] [ 9.60122651e-01 -2.69701134e-01 7.36599930e-02 1.24343383e+02] [-7.27908368e-02 1.32368304e-02 9.97259385e-01 4.56406640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.340714057 meters Centerline goodness : 0.990956 Centerline is valid? [True, True] Translation: X:117.69, Y:124.34, Z:45.64 [[-2.67594097e-01 -9.63402020e-01 -1.58097421e-02 1.17691182e+02] [ 9.60407372e-01 -2.68010774e-01 7.60782849e-02 1.24343668e+02] [-7.75311546e-02 5.17430705e-03 9.96976503e-01 4.56354346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.370714057 meters Centerline goodness : 0.992152 Centerline is valid? [True, True] Translation: X:117.69, Y:124.35, Z:45.64 [[-2.67613050e-01 -9.63367886e-01 -1.74806234e-02 1.17690100e+02] [ 9.60988638e-01 -2.68180152e-01 6.76775034e-02 1.24353141e+02] [-6.98862896e-02 1.31270270e-03 9.97554100e-01 4.56375944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.400714057 meters Centerline goodness : 0.992504 Centerline is valid? [True, True] Translation: X:117.69, Y:124.35, Z:45.64 [[-2.61828885e-01 -9.65078883e-01 -8.26946516e-03 1.17689108e+02] [ 9.62240187e-01 -2.61700347e-01 7.48782426e-02 1.24351035e+02] [-7.44275326e-02 1.16480751e-02 9.97158395e-01 4.56379979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.430714057 meters Centerline goodness : 0.991878 Centerline is valid? [True, True] Translation: X:117.69, Y:124.34, Z:45.64 [[-2.58145561e-01 -9.66094927e-01 -4.63268115e-03 1.17689484e+02] [ 9.62669878e-01 -2.57628528e-01 8.30316082e-02 1.24344306e+02] [-8.14099263e-02 1.69744985e-02 9.96536146e-01 4.56369479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.460714057 meters Centerline goodness : 0.992451 Centerline is valid? [True, True] Translation: X:117.69, Y:124.34, Z:45.63 [[-2.55090530e-01 -9.66812218e-01 -1.42462496e-02 1.17694735e+02] [ 9.63277368e-01 -2.55379906e-01 8.29325964e-02 1.24343178e+02] [-8.38184534e-02 7.43223022e-03 9.96453325e-01 4.56346943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.490714057 meters Centerline goodness : 0.992323 Centerline is valid? [True, True] Translation: X:117.70, Y:124.36, Z:45.63 [[-2.53487682e-01 -9.67102594e-01 -2.13674441e-02 1.17695419e+02] [ 9.63822041e-01 -2.54386314e-01 7.95906824e-02 1.24356153e+02] [-8.24079408e-02 -4.19155986e-04 9.96598593e-01 4.56328059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.520714057 meters Centerline goodness : 0.992348 Centerline is valid? [True, True] Translation: X:117.69, Y:124.35, Z:45.63 [[-2.51682741e-01 -9.67683897e-01 -1.56100533e-02 1.17693332e+02] [ 9.64334913e-01 -2.52112033e-01 8.06082997e-02 1.24354843e+02] [-8.19388358e-02 5.23439848e-03 9.96623614e-01 4.56349428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.550714057 meters Centerline goodness : 0.992446 Centerline is valid? [True, True] Translation: X:117.69, Y:124.35, Z:45.64 [[-2.46844569e-01 -9.69042092e-01 -5.01821345e-03 1.17691497e+02] [ 9.65004995e-01 -2.46282560e-01 9.00569888e-02 1.24348840e+02] [-8.85049113e-02 1.73874776e-02 9.95923971e-01 4.56355219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.580714057 meters Centerline goodness : 0.990959 Centerline is valid? [True, True] Translation: X:117.71, Y:124.36, Z:45.63 [[-2.51957792e-01 -9.66482558e-01 -4.92822152e-02 1.17708162e+02] [ 9.64501834e-01 -2.54950706e-01 6.88211447e-02 1.24360635e+02] [-7.90789715e-02 -3.01927632e-02 9.96411016e-01 4.56272645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.610714057 meters Centerline goodness : 0.992254 Centerline is valid? [True, True] Translation: X:117.69, Y:124.35, Z:45.64 [[-2.49342137e-01 -9.68406495e-01 4.16649122e-03 1.17687819e+02] [ 9.65070813e-01 -2.48121410e-01 8.41076187e-02 1.24354146e+02] [-8.04165685e-02 2.49925324e-02 9.96447966e-01 4.56418916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.640714057 meters Centerline goodness : 0.991671 Centerline is valid? [True, True] Translation: X:117.70, Y:124.35, Z:45.63 [[-2.50147070e-01 -9.67853189e-01 -2.62039618e-02 1.17701525e+02] [ 9.64521606e-01 -2.51462838e-01 8.04021932e-02 1.24351823e+02] [-8.44068417e-02 -5.16191422e-03 9.96418005e-01 4.56328770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.670714057 meters Centerline goodness : 0.991583 Centerline is valid? [True, True] Translation: X:117.69, Y:124.36, Z:45.64 [[-2.51268900e-01 -9.67888467e-01 -7.47361212e-03 1.17694033e+02] [ 9.64231203e-01 -2.50977755e-01 8.52546457e-02 1.24355040e+02] [-8.43926987e-02 1.42155511e-02 9.96331165e-01 4.56360787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.700714057 meters Centerline goodness : 0.991411 Centerline is valid? [True, True] Translation: X:117.70, Y:124.37, Z:45.63 [[-2.56033073e-01 -9.66460086e-01 -2.00491489e-02 1.17697651e+02] [ 9.62671314e-01 -2.56803721e-01 8.55323967e-02 1.24366694e+02] [-8.78123435e-02 2.59838183e-03 9.96133646e-01 4.56313085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.730714057 meters Centerline goodness : 0.993282 Centerline is valid? [True, True] Translation: X:117.69, Y:124.38, Z:45.63 [[-2.70649889e-01 -9.62502886e-01 -1.83530032e-02 1.17687034e+02] [ 9.59498890e-01 -2.71255168e-01 7.60428380e-02 1.24384831e+02] [-7.81697980e-02 2.97129944e-03 9.96935632e-01 4.56320964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.76071405700003 meters Centerline goodness : 0.991332 Centerline is valid? [True, True] Translation: X:117.69, Y:124.38, Z:45.63 [[-2.60563884e-01 -9.65415437e-01 -8.91611112e-03 1.17693859e+02] [ 9.61487677e-01 -2.60318186e-01 8.81810018e-02 1.24375670e+02] [-8.74523262e-02 1.44040534e-02 9.96064563e-01 4.56308566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.790714057 meters Centerline goodness : 0.991170 Centerline is valid? [True, True] Translation: X:117.70, Y:124.38, Z:45.63 [[-2.61381746e-01 -9.65007554e-01 -2.09762716e-02 1.17698599e+02] [ 9.60866327e-01 -2.62202527e-01 8.93629465e-02 1.24378197e+02] [-9.17359498e-02 3.20244994e-03 9.95778218e-01 4.56269459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.82071405700003 meters Centerline goodness : 0.992207 Centerline is valid? [True, True] Translation: X:117.69, Y:124.39, Z:45.63 [[-2.65455236e-01 -9.64015795e-01 -1.43897414e-02 1.17694725e+02] [ 9.60325051e-01 -2.65703538e-01 8.47196916e-02 1.24385197e+02] [-8.54945260e-02 8.67045653e-03 9.96300913e-01 4.56299819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.850714057 meters Centerline goodness : 0.991676 Centerline is valid? [True, True] Translation: X:117.70, Y:124.40, Z:45.63 [[-2.69025242e-01 -9.62811853e-01 -2.48747968e-02 1.17695907e+02] [ 9.59693613e-01 -2.70155836e-01 7.74854435e-02 1.24399523e+02] [-8.13239750e-02 -3.02664342e-03 9.96683124e-01 4.56280759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.880714057 meters Centerline goodness : 0.991613 Centerline is valid? [True, True] Translation: X:117.69, Y:124.41, Z:45.63 [[-2.70668875e-01 -9.62600344e-01 -1.17872122e-02 1.17687978e+02] [ 9.58997999e-01 -2.70684314e-01 8.39811933e-02 1.24410321e+02] [-8.40309390e-02 1.14271823e-02 9.96397622e-01 4.56302984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.910714057 meters Centerline goodness : 0.991275 Centerline is valid? [True, True] Translation: X:117.70, Y:124.40, Z:45.63 [[-2.71120771e-01 -9.62255104e-01 -2.36355925e-02 1.17695383e+02] [ 9.58438519e-01 -2.72148489e-01 8.56201167e-02 1.24403682e+02] [-8.88207851e-02 5.60129842e-04 9.96047466e-01 4.56263550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.940714057 meters Centerline goodness : 0.991942 Centerline is valid? [True, True] Translation: X:117.69, Y:124.41, Z:45.63 [[-2.72784873e-01 -9.62050009e-01 -6.94208722e-03 1.17687032e+02] [ 9.58194030e-01 -2.72324862e-01 8.77688517e-02 1.24409755e+02] [-8.63285276e-02 1.72901486e-02 9.96116678e-01 4.56299184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.970714057 meters Centerline goodness : 0.991116 Centerline is valid? [True, True] Translation: X:117.70, Y:124.40, Z:45.62 [[-2.74793683e-01 -9.61199407e-01 -2.41688191e-02 1.17696315e+02] [ 9.57272986e-01 -2.75853565e-01 8.67942494e-02 1.24404691e+02] [-9.00936360e-02 7.14353864e-04 9.95933043e-01 4.56236128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.000714057 meters Centerline goodness : 0.991708 Centerline is valid? [True, True] Translation: X:117.69, Y:124.40, Z:45.63 [[-2.77364325e-01 -9.60555062e-01 -2.00749529e-02 1.17694569e+02] [ 9.56745102e-01 -2.78052924e-01 8.55884474e-02 1.24404561e+02] [-8.77943157e-02 4.53256912e-03 9.96128312e-01 4.56255203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.030714057 meters Centerline goodness : 0.990394 Centerline is valid? [True, True] Translation: X:117.69, Y:124.40, Z:45.63 [[-2.77884262e-01 -9.60568001e-01 -9.45796155e-03 1.17692039e+02] [ 9.56694477e-01 -2.77625428e-01 8.75202785e-02 1.24399543e+02] [-8.66949495e-02 1.52721285e-02 9.96117838e-01 4.56273997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.060714057 meters Centerline goodness : 0.991815 Centerline is valid? [True, True] Translation: X:117.69, Y:124.41, Z:45.62 [[-2.77742780e-01 -9.60546282e-01 -1.44840588e-02 1.17691593e+02] [ 9.56590195e-01 -2.77921601e-01 8.77199113e-02 1.24409711e+02] [-8.82844675e-02 1.05082634e-02 9.96039873e-01 4.56239331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.090714057 meters Centerline goodness : 0.993041 Centerline is valid? [True, True] Translation: X:117.69, Y:124.40, Z:45.62 [[-2.70034728e-01 -9.62845732e-01 3.05652233e-03 1.17686559e+02] [ 9.57544646e-01 -2.68212504e-01 1.05689658e-01 1.24397216e+02] [-1.00943038e-01 3.14666345e-02 9.94394466e-01 4.56249302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.120714057 meters Centerline goodness : 0.991647 Centerline is valid? [True, True] Translation: X:117.69, Y:124.40, Z:45.62 [[-2.65852099e-01 -9.63762648e-01 -2.20049772e-02 1.17693368e+02] [ 9.58869815e-01 -2.66719554e-01 9.71048840e-02 1.24403414e+02] [-9.94552178e-02 4.71562880e-03 9.95030865e-01 4.56175855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.150714057 meters Centerline goodness : 0.992095 Centerline is valid? [True, True] Translation: X:117.69, Y:124.39, Z:45.62 [[-2.60066478e-01 -9.65549829e-01 -8.88564479e-03 1.17689744e+02] [ 9.59895780e-01 -2.59519661e-01 1.06064312e-01 1.24389653e+02] [-1.04716378e-01 1.90544791e-02 9.94319570e-01 4.56203827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.180714057 meters Centerline goodness : 0.992193 Centerline is valid? [True, True] Translation: X:117.69, Y:124.42, Z:45.62 [[-2.80248596e-01 -9.58283481e-01 -5.61559844e-02 1.17692332e+02] [ 9.56553591e-01 -2.83685779e-01 6.72874903e-02 1.24423907e+02] [-8.04111446e-02 -3.48589839e-02 9.96152046e-01 4.56162132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.210714057 meters Centerline goodness : 0.990551 Centerline is valid? [True, True] Translation: X:117.68, Y:124.38, Z:45.63 [[-2.50936353e-01 -9.67868758e-01 1.61559495e-02 1.17678162e+02] [ 9.61982824e-01 -2.47482269e-01 1.15505722e-01 1.24378506e+02] [-1.07796069e-01 4.45263305e-02 9.93175419e-01 4.56275850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.240714057 meters Centerline goodness : 0.990959 Centerline is valid? [True, True] Translation: X:117.70, Y:124.40, Z:45.62 [[-2.53260715e-01 -9.66289383e-01 -4.63016042e-02 1.17696499e+02] [ 9.62411162e-01 -2.56519950e-01 8.92315583e-02 1.24397726e+02] [-9.81007926e-02 -2.19623324e-02 9.94934114e-01 4.56152092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.270714057 meters Centerline goodness : 0.992012 Centerline is valid? [True, True] Translation: X:117.68, Y:124.41, Z:45.63 [[-2.53142570e-01 -9.67313322e-01 -1.49591542e-02 1.17679128e+02] [ 9.63206797e-01 -2.53450709e-01 8.94170286e-02 1.24407452e+02] [-9.02856912e-02 8.22649749e-03 9.95881930e-01 4.56260495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.300714057 meters Centerline goodness : 0.990539 Centerline is valid? [True, True] Translation: X:117.68, Y:124.40, Z:45.62 [[-2.49863139e-01 -9.68174470e-01 -1.43738139e-02 1.17679434e+02] [ 9.63129439e-01 -2.50035625e-01 9.93170148e-02 1.24399760e+02] [-9.97501638e-02 1.09718178e-02 9.94952021e-01 4.56235398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.330714057 meters Centerline goodness : 0.990598 Centerline is valid? [True, True] Translation: X:117.68, Y:124.41, Z:45.62 [[-2.54084998e-01 -9.66840615e-01 -2.56912141e-02 1.17681698e+02] [ 9.62664731e-01 -2.55373336e-01 8.97834919e-02 1.24407787e+02] [-9.33671776e-02 -1.91938730e-03 9.95629894e-01 4.56241165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.360714057 meters Centerline goodness : 0.991628 Centerline is valid? [True, True] Translation: X:117.67, Y:124.40, Z:45.63 [[-2.45276113e-01 -9.69374432e-01 1.23628089e-02 1.17665949e+02] [ 9.63603942e-01 -2.42377639e-01 1.12785295e-01 1.24399401e+02] [-1.06334712e-01 3.95763901e-02 9.93542469e-01 4.56280220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.390714057 meters Centerline goodness : 0.991210 Centerline is valid? [True, True] Translation: X:117.68, Y:124.40, Z:45.61 [[-2.45193462e-01 -9.69008595e-01 -3.00418039e-02 1.17681546e+02] [ 9.63952189e-01 -2.46982464e-01 9.89739335e-02 1.24401450e+02] [-1.03326391e-01 -4.69110125e-03 9.94636441e-01 4.56146074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.420714057 meters Centerline goodness : 0.992871 Centerline is valid? [True, True] Translation: X:117.68, Y:124.41, Z:45.62 [[-2.49299661e-01 -9.67961506e-01 -3.00033763e-02 1.17677178e+02] [ 9.64261661e-01 -2.50978578e-01 8.49070205e-02 1.24409489e+02] [-8.97169321e-02 -7.76381410e-03 9.95937044e-01 4.56197093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.450714057 meters Centerline goodness : 0.992144 Centerline is valid? [True, True] Translation: X:117.67, Y:124.42, Z:45.62 [[-2.47341227e-01 -9.68705435e-01 -2.07869325e-02 1.17669689e+02] [ 9.64090605e-01 -2.48190784e-01 9.45020665e-02 1.24416283e+02] [-9.67037905e-02 3.33377081e-03 9.95307622e-01 4.56213752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.480714057 meters Centerline goodness : 0.991586 Centerline is valid? [True, True] Translation: X:117.67, Y:124.42, Z:45.62 [[-2.50477107e-01 -9.67638685e-01 -3.06038176e-02 1.17671951e+02] [ 9.64612605e-01 -2.52133642e-01 7.71436949e-02 1.24418628e+02] [-8.23634755e-02 -1.01980987e-02 9.96550178e-01 4.56230677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.51071405700003 meters Centerline goodness : 0.991989 Centerline is valid? [True, True] Translation: X:117.66, Y:124.42, Z:45.63 [[-2.48606251e-01 -9.68521304e-01 -1.27049678e-02 1.17660466e+02] [ 9.65111831e-01 -2.48801383e-01 8.15905975e-02 1.24423401e+02] [-8.21832455e-02 8.02221780e-03 9.96584948e-01 4.56301093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.540714057 meters Centerline goodness : 0.991233 Centerline is valid? [True, True] Translation: X:117.66, Y:124.41, Z:45.63 [[-2.44731744e-01 -9.69522720e-01 -1.14921109e-02 1.17661753e+02] [ 9.65308893e-01 -2.44746522e-01 9.09828623e-02 1.24411179e+02] [-9.10226064e-02 1.11729577e-02 9.95786147e-01 4.56285279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.57071405700003 meters Centerline goodness : 0.991591 Centerline is valid? [True, True] Translation: X:117.66, Y:124.41, Z:45.63 [[-2.42431771e-01 -9.70096216e-01 -1.18392600e-02 1.17661867e+02] [ 9.65458973e-01 -2.42437929e-01 9.54611072e-02 1.24410762e+02] [-9.54767446e-02 1.17124855e-02 9.95362752e-01 4.56270000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.600714057 meters Centerline goodness : 0.992457 Centerline is valid? [True, True] Translation: X:117.66, Y:124.42, Z:45.63 [[-2.42106514e-01 -9.70136421e-01 -1.48242911e-02 1.17658718e+02] [ 9.65537848e-01 -2.42406588e-01 9.47402254e-02 1.24424483e+02] [-9.55044491e-02 8.62381166e-03 9.95391647e-01 4.56254654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.630714057 meters Centerline goodness : 0.990612 Centerline is valid? [True, True] Translation: X:117.66, Y:124.41, Z:45.62 [[-2.38103163e-01 -9.71083790e-01 -1.74113782e-02 1.17662290e+02] [ 9.65421713e-01 -2.38598080e-01 1.05032721e-01 1.24413208e+02] [-1.06149894e-01 8.19930048e-03 9.94316334e-01 4.56218457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.660714057 meters Centerline goodness : 0.990321 Centerline is valid? [True, True] Translation: X:117.66, Y:124.42, Z:45.62 [[-2.37268186e-01 -9.71318753e-01 -1.56105347e-02 1.17660345e+02] [ 9.65766073e-01 -2.37585782e-01 1.04157994e-01 1.24415813e+02] [-1.04879454e-01 9.63725346e-03 9.94438245e-01 4.56211856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.690714057 meters Centerline goodness : 0.990658 Centerline is valid? [True, True] Translation: X:117.67, Y:124.41, Z:45.62 [[-2.37631175e-01 -9.71011065e-01 -2.58638086e-02 1.17667259e+02] [ 9.65746665e-01 -2.39032524e-01 1.00979361e-01 1.24407806e+02] [-1.04234368e-01 -9.82042699e-04 9.94552277e-01 4.56179419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.720714057 meters Centerline goodness : 0.992322 Centerline is valid? [True, True] Translation: X:117.66, Y:124.42, Z:45.62 [[-2.41729523e-01 -9.70290424e-01 -1.01651800e-02 1.17656390e+02] [ 9.65263305e-01 -2.41521303e-01 9.96705180e-02 1.24424469e+02] [-9.91644567e-02 1.42812315e-02 9.94968571e-01 4.56226180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.750714057 meters Centerline goodness : 0.992322 Centerline is valid? [True, True] Translation: X:117.66, Y:124.43, Z:45.62 [[-2.41318848e-01 -9.70275913e-01 -1.81622000e-02 1.17659087e+02] [ 9.65341486e-01 -2.41924525e-01 9.79200713e-02 1.24427502e+02] [-9.94033683e-02 6.09723371e-03 9.95028539e-01 4.56195729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.780714057 meters Centerline goodness : 0.992094 Centerline is valid? [True, True] Translation: X:117.66, Y:124.43, Z:45.62 [[-2.45832389e-01 -9.68800483e-01 -3.14969894e-02 1.17663773e+02] [ 9.64972860e-01 -2.47673884e-01 8.65160511e-02 1.24434726e+02] [-9.16177738e-02 -9.12529237e-03 9.95752435e-01 4.56175062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.810714057 meters Centerline goodness : 0.992294 Centerline is valid? [True, True] Translation: X:117.65, Y:124.44, Z:45.62 [[-2.47927339e-01 -9.68750510e-01 -7.38129745e-03 1.17654608e+02] [ 9.64066475e-01 -2.47464827e-01 9.66281053e-02 1.24436574e+02] [-9.54351378e-02 1.68406876e-02 9.95293186e-01 4.56221991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.840714057 meters Centerline goodness : 0.992157 Centerline is valid? [True, True] Translation: X:117.66, Y:124.43, Z:45.62 [[-2.49713163e-01 -9.67990303e-01 -2.52608371e-02 1.17663386e+02] [ 9.63692113e-01 -2.50982582e-01 9.11331772e-02 1.24434384e+02] [-9.45560619e-02 -1.58651554e-03 9.95518274e-01 4.56163007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.870714057 meters Centerline goodness : 0.991726 Centerline is valid? [True, True] Translation: X:117.66, Y:124.45, Z:45.62 [[-2.55878881e-01 -9.66381392e-01 -2.51595493e-02 1.17660630e+02] [ 9.62586496e-01 -2.57102379e-01 8.55897404e-02 1.24447294e+02] [-8.91809125e-02 -2.31763538e-03 9.96012748e-01 4.56184236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.900714057 meters Centerline goodness : 0.991228 Centerline is valid? [True, True] Translation: X:117.66, Y:124.45, Z:45.62 [[-2.57906257e-01 -9.65988950e-01 -1.87005786e-02 1.17656430e+02] [ 9.62173356e-01 -2.58549978e-01 8.58739884e-02 1.24452227e+02] [-8.77883580e-02 4.15424045e-03 9.96130487e-01 4.56213736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.930714057 meters Centerline goodness : 0.991724 Centerline is valid? [True, True] Translation: X:117.65, Y:124.47, Z:45.62 [[-2.58777146e-01 -9.65778349e-01 -1.75091277e-02 1.17652801e+02] [ 9.62152055e-01 -2.59323894e-01 8.37528550e-02 1.24465184e+02] [-8.54272292e-02 4.82688157e-03 9.96332720e-01 4.56218550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.960714057 meters Centerline goodness : 0.990953 Centerline is valid? [True, True] Translation: X:117.66, Y:124.45, Z:45.62 [[-2.58212279e-01 -9.65759072e-01 -2.52157479e-02 1.17658605e+02] [ 9.61827328e-01 -2.59434546e-01 8.70741516e-02 1.24454587e+02] [-9.06344879e-02 -1.76958028e-03 9.95882653e-01 4.56210986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.990714057 meters Centerline goodness : 0.991227 Centerline is valid? [True, True] Translation: X:117.65, Y:124.46, Z:45.62 [[-2.56538613e-01 -9.66484878e-01 -9.74277390e-03 1.17651779e+02] [ 9.62193609e-01 -2.56327828e-01 9.20842196e-02 1.24460617e+02] [-9.14953498e-02 1.42487232e-02 9.95703558e-01 4.56233842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.020714057 meters Centerline goodness : 0.991270 Centerline is valid? [True, True] Translation: X:117.65, Y:124.46, Z:45.62 [[-2.55791177e-01 -9.66560682e-01 -1.82022520e-02 1.17654743e+02] [ 9.62720403e-01 -2.56398092e-01 8.61942269e-02 1.24461190e+02] [-8.79789734e-02 4.52404341e-03 9.96112059e-01 4.56222054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.050714057 meters Centerline goodness : 0.990634 Centerline is valid? [True, True] Translation: X:117.66, Y:124.46, Z:45.62 [[-2.54160354e-01 -9.66931095e-01 -2.11369994e-02 1.17655982e+02] [ 9.62916296e-01 -2.55029722e-01 8.80457175e-02 1.24461426e+02] [-9.05247051e-02 2.02456950e-03 9.95892152e-01 4.56203254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.080714057 meters Centerline goodness : 0.992732 Centerline is valid? [True, True] Translation: X:117.64, Y:124.49, Z:45.62 [[-2.65259003e-01 -9.64010786e-01 -1.79127460e-02 1.17643214e+02] [ 9.60579516e-01 -2.65827040e-01 8.13816814e-02 1.24485808e+02] [-8.32145109e-02 4.38060675e-03 9.96522030e-01 4.56210686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.110714057 meters Centerline goodness : 0.991914 Centerline is valid? [True, True] Translation: X:117.65, Y:124.46, Z:45.62 [[-2.47868031e-01 -9.68768664e-01 6.97961921e-03 1.17645828e+02] [ 9.63948624e-01 -2.45902346e-01 1.01661630e-01 1.24461334e+02] [-9.67702963e-02 3.19266622e-02 9.94794551e-01 4.56240996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.140714057 meters Centerline goodness : 0.992517 Centerline is valid? [True, True] Translation: X:117.65, Y:124.49, Z:45.61 [[-2.62837371e-01 -9.64146713e-01 -3.65736608e-02 1.17653212e+02] [ 9.61269578e-01 -2.64934609e-01 7.59634892e-02 1.24486045e+02] [-8.29295770e-02 -1.51911037e-02 9.96439620e-01 4.56134776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.170714057 meters Centerline goodness : 0.991144 Centerline is valid? [True, True] Translation: X:117.65, Y:124.47, Z:45.62 [[-2.44891341e-01 -9.69542608e-01 3.91940351e-03 1.17646539e+02] [ 9.64754510e-01 -2.43276370e-01 1.00326187e-01 1.24472239e+02] [-9.63170151e-02 2.83502767e-02 9.94946880e-01 4.56208597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.200714057 meters Centerline goodness : 0.991476 Centerline is valid? [True, True] Translation: X:117.66, Y:124.48, Z:45.61 [[-2.44804930e-01 -9.69330450e-01 -2.16569699e-02 1.17656018e+02] [ 9.64954016e-01 -2.45755617e-01 9.20213173e-02 1.24476742e+02] [-9.45213870e-02 1.62929208e-03 9.95521498e-01 4.56133100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.230714057 meters Centerline goodness : 0.991056 Centerline is valid? [True, True] Translation: X:117.66, Y:124.48, Z:45.62 [[-2.43202137e-01 -9.69735146e-01 -2.15978445e-02 1.17655275e+02] [ 9.65608333e-01 -2.44157676e-01 8.93732475e-02 1.24478149e+02] [-9.19416587e-02 8.80706189e-04 9.95764006e-01 4.56155299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.26071405700003 meters Centerline goodness : 0.988685 Centerline is valid? [True, True] Translation: X:117.66, Y:124.46, Z:45.62 [[-2.41808228e-01 -9.70245015e-01 -1.23851145e-02 1.17656299e+02] [ 9.65917583e-01 -2.41905554e-01 9.21136619e-02 1.24461500e+02] [-9.23688493e-02 1.03108415e-02 9.95671473e-01 4.56197503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.290714057 meters Centerline goodness : 0.987831 Centerline is valid? [True, True] Translation: X:117.66, Y:124.46, Z:45.62 [[-2.40096687e-01 -9.70508474e-01 -2.16074562e-02 1.17660882e+02] [ 9.66343825e-01 -2.41066035e-01 8.98152485e-02 1.24463564e+02] [-9.23752836e-02 6.84111757e-04 9.95724028e-01 4.56174378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.32071405700003 meters Centerline goodness : 0.990512 Centerline is valid? [True, True] Translation: X:117.66, Y:124.47, Z:45.62 [[-2.35269029e-01 -9.71782557e-01 -1.69453653e-02 1.17658067e+02] [ 9.66716815e-01 -2.35774875e-01 9.93418799e-02 1.24467301e+02] [-1.00533998e-01 6.99069804e-03 9.94909064e-01 4.56150054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.350714057 meters Centerline goodness : 0.991868 Centerline is valid? [True, True] Translation: X:117.66, Y:124.46, Z:45.62 [[-2.33312950e-01 -9.72344870e-01 -1.05128775e-02 1.17656835e+02] [ 9.67311116e-01 -2.33182775e-01 9.96744588e-02 1.24462278e+02] [-9.93693707e-02 1.30861187e-02 9.94964563e-01 4.56187026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.380714057 meters Centerline goodness : 0.991828 Centerline is valid? [True, True] Translation: X:117.66, Y:124.47, Z:45.62 [[-2.32851814e-01 -9.72345826e-01 -1.79896560e-02 1.17660467e+02] [ 9.67464750e-01 -2.33485855e-01 9.74490299e-02 1.24465222e+02] [-9.89544877e-02 5.28682544e-03 9.95077916e-01 4.56157706e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.410714057 meters Centerline goodness : 0.990137 Centerline is valid? [True, True] Translation: X:117.67, Y:124.46, Z:45.61 [[-2.32422787e-01 -9.72337264e-01 -2.32355803e-02 1.17668694e+02] [ 9.66931042e-01 -2.33577540e-01 1.02400647e-01 1.24461135e+02] [-1.04995274e-01 1.33303985e-03 9.94471827e-01 4.56091519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.440714057 meters Centerline goodness : 0.988275 Centerline is valid? [True, True] Translation: X:117.67, Y:124.45, Z:45.61 [[-2.34021047e-01 -9.72071552e-01 -1.76365112e-02 1.17669764e+02] [ 9.66138907e-01 -2.34543909e-01 1.07539610e-01 1.24453118e+02] [-1.08672732e-01 8.12721247e-03 9.94044358e-01 4.56131038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.470714057 meters Centerline goodness : 0.989364 Centerline is valid? [True, True] Translation: X:117.67, Y:124.49, Z:45.61 [[-2.41274653e-01 -9.69553199e-01 -4.18704784e-02 1.17671416e+02] [ 9.65816149e-01 -2.44111641e-01 8.72277104e-02 1.24493425e+02] [-9.47929769e-02 -1.93933487e-02 9.95308088e-01 4.56081816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.500714057 meters Centerline goodness : 0.989101 Centerline is valid? [True, True] Translation: X:117.66, Y:124.48, Z:45.62 [[-2.41048445e-01 -9.70393789e-01 -1.52164696e-02 1.17664315e+02] [ 9.65760312e-01 -2.41388276e-01 9.50721831e-02 1.24480176e+02] [-9.59305334e-02 8.22153946e-03 9.95354077e-01 4.56169190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.530714057 meters Centerline goodness : 0.989467 Centerline is valid? [True, True] Translation: X:117.67, Y:124.49, Z:45.62 [[-2.42406936e-01 -9.70060809e-01 -1.48628476e-02 1.17665271e+02] [ 9.65435863e-01 -2.42706921e-01 9.50102363e-02 1.24485345e+02] [-9.57730227e-02 8.68201412e-03 9.95365335e-01 4.56165755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.560714057 meters Centerline goodness : 0.989055 Centerline is valid? [True, True] Translation: X:117.67, Y:124.49, Z:45.61 [[-2.44300566e-01 -9.69458125e-01 -2.16374259e-02 1.17668336e+02] [ 9.65094706e-01 -2.45251892e-01 9.18897102e-02 1.24493843e+02] [-9.43898458e-02 1.56654298e-03 9.95534079e-01 4.56142942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.590714057 meters Centerline goodness : 0.990637 Centerline is valid? [True, True] Translation: X:117.66, Y:124.48, Z:45.62 [[-2.36975816e-01 -9.71417492e-01 1.38028855e-02 1.17657485e+02] [ 9.65054547e-01 -2.33740239e-01 1.18470345e-01 1.24479896e+02] [-1.11857875e-01 4.13951441e-02 9.92861651e-01 4.56183572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.620714057 meters Centerline goodness : 0.990773 Centerline is valid? [True, True] Translation: X:117.68, Y:124.50, Z:45.60 [[-2.46705697e-01 -9.67585255e-01 -5.39914212e-02 1.17683814e+02] [ 9.64304111e-01 -2.50636346e-01 8.54342083e-02 1.24500159e+02] [-9.61970928e-02 -3.09870435e-02 9.94879853e-01 4.56020279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.650714057 meters Centerline goodness : 0.989935 Centerline is valid? [True, True] Translation: X:117.67, Y:124.50, Z:45.61 [[-2.48687912e-01 -9.68397755e-01 -1.89765837e-02 1.17670248e+02] [ 9.64172751e-01 -2.49375529e-01 9.04585686e-02 1.24497205e+02] [-9.23321703e-02 4.19924765e-03 9.95719407e-01 4.56141353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.680714057 meters Centerline goodness : 0.989890 Centerline is valid? [True, True] Translation: X:117.67, Y:124.50, Z:45.61 [[-2.51557220e-01 -9.67726281e-01 -1.49936516e-02 1.17669187e+02] [ 9.63367742e-01 -2.51852101e-01 9.21580901e-02 1.24501426e+02] [-9.29599884e-02 8.73863261e-03 9.95631497e-01 4.56145081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.710714057 meters Centerline goodness : 0.989161 Centerline is valid? [True, True] Translation: X:117.67, Y:124.51, Z:45.61 [[-2.53784842e-01 -9.67145689e-01 -1.49154241e-02 1.17667700e+02] [ 9.62848564e-01 -2.54068345e-01 9.14981928e-02 1.24510433e+02] [-9.22816199e-02 8.85955973e-03 9.95693533e-01 4.56139698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.740714057 meters Centerline goodness : 0.989591 Centerline is valid? [True, True] Translation: X:117.67, Y:124.52, Z:45.61 [[-2.56210390e-01 -9.66358292e-01 -2.25363656e-02 1.17669391e+02] [ 9.62330980e-01 -2.57198079e-01 8.81375859e-02 1.24519311e+02] [-9.09687969e-02 8.94322394e-04 9.95853342e-01 4.56120287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.770714057 meters Centerline goodness : 0.989557 Centerline is valid? [True, True] Translation: X:117.67, Y:124.52, Z:45.61 [[-2.59392573e-01 -9.65669208e-01 -1.40880559e-02 1.17665013e+02] [ 9.61430078e-01 -2.59580599e-01 9.09401835e-02 1.24523477e+02] [-9.14751210e-02 1.00445274e-02 9.95756702e-01 4.56138787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.800714057 meters Centerline goodness : 0.990172 Centerline is valid? [True, True] Translation: X:117.67, Y:124.52, Z:45.61 [[-2.62361428e-01 -9.64739769e-01 -2.10631959e-02 1.17667816e+02] [ 9.60669921e-01 -2.63188445e-01 8.85728214e-02 1.24524183e+02] [-9.09933131e-02 3.00331322e-03 9.95846975e-01 4.56126869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.830714057 meters Centerline goodness : 0.989617 Centerline is valid? [True, True] Translation: X:117.66, Y:124.54, Z:45.61 [[-2.63752012e-01 -9.64463091e-01 -1.56787320e-02 1.17663210e+02] [ 9.60247379e-01 -2.64070483e-01 9.05082919e-02 1.24536135e+02] [-9.14321973e-02 8.81628278e-03 9.95772276e-01 4.56126530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.860714057 meters Centerline goodness : 0.989385 Centerline is valid? [True, True] Translation: X:117.66, Y:124.54, Z:45.61 [[-2.65465277e-01 -9.63971102e-01 -1.69676434e-02 1.17663473e+02] [ 9.59852342e-01 -2.65903302e-01 8.93247725e-02 1.24535786e+02] [-9.06182519e-02 7.42619324e-03 9.95858014e-01 4.56128824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.890714057 meters Centerline goodness : 0.989779 Centerline is valid? [True, True] Translation: X:117.66, Y:124.54, Z:45.61 [[-2.65378762e-01 -9.64047037e-01 -1.36902945e-02 1.17659902e+02] [ 9.59803052e-01 -2.65503177e-01 9.10283685e-02 1.24543123e+02] [-9.13904455e-02 1.10170093e-02 9.95754193e-01 4.56124667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.920714057 meters Centerline goodness : 0.987357 Centerline is valid? [True, True] Translation: X:117.66, Y:124.54, Z:45.61 [[-2.67760370e-01 -9.63406629e-01 -1.23309146e-02 1.17659800e+02] [ 9.59042610e-01 -2.67731470e-01 9.25047672e-02 1.24536688e+02] [-9.24210798e-02 1.29432382e-02 9.95635886e-01 4.56148661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.950714057 meters Centerline goodness : 0.989643 Centerline is valid? [True, True] Translation: X:117.66, Y:124.54, Z:45.61 [[-2.64635807e-01 -9.63936551e-01 -2.81818335e-02 1.17663032e+02] [ 9.60144530e-01 -2.66095389e-01 8.55320194e-02 1.24543776e+02] [-8.99464957e-02 -4.42379829e-03 9.95936774e-01 4.56094631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.980714057 meters Centerline goodness : 0.988819 Centerline is valid? [True, True] Translation: X:117.66, Y:124.54, Z:45.62 [[-2.62545602e-01 -9.64825738e-01 -1.34573847e-02 1.17655314e+02] [ 9.60776307e-01 -2.62683883e-01 8.89160618e-02 1.24542390e+02] [-8.93235431e-02 1.04149847e-02 9.95948208e-01 4.56150710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.01071405700003 meters Centerline goodness : 0.989717 Centerline is valid? [True, True] Translation: X:117.65, Y:124.54, Z:45.61 [[-2.59179747e-01 -9.65688054e-01 -1.65057863e-02 1.17653243e+02] [ 9.61560367e-01 -2.59601532e-01 8.94913725e-02 1.24542697e+02] [-9.07056768e-02 7.32304135e-03 9.95850819e-01 4.56133834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.040714057 meters Centerline goodness : 0.986808 Centerline is valid? [True, True] Translation: X:117.65, Y:124.55, Z:45.62 [[-2.61257337e-01 -9.65215870e-01 -1.01453255e-02 1.17648140e+02] [ 9.61010335e-01 -2.61076502e-01 9.10944351e-02 1.24548589e+02] [-9.05745005e-02 1.40493268e-02 9.95790579e-01 4.56172896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.07071405700003 meters Centerline goodness : 0.986872 Centerline is valid? [True, True] Translation: X:117.65, Y:124.54, Z:45.61 [[-2.58436586e-01 -9.65860945e-01 -1.79767972e-02 1.17651573e+02] [ 9.61686756e-01 -2.58992855e-01 8.98959696e-02 1.24543218e+02] [-9.14828682e-02 5.94435973e-03 9.95788908e-01 4.56144833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.100714057 meters Centerline goodness : 0.989145 Centerline is valid? [True, True] Translation: X:117.65, Y:124.53, Z:45.61 [[-2.47535177e-01 -9.68822235e-01 -1.04791890e-02 1.17648934e+02] [ 9.63961245e-01 -2.47352721e-01 9.79558584e-02 1.24525725e+02] [-9.74938695e-02 1.41459887e-02 9.95135587e-01 4.56126839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.130714057 meters Centerline goodness : 0.989382 Centerline is valid? [True, True] Translation: X:117.65, Y:124.54, Z:45.61 [[-2.48522109e-01 -9.68145617e-01 -3.05094380e-02 1.17652308e+02] [ 9.64505415e-01 -2.50244350e-01 8.43034451e-02 1.24538393e+02] [-8.92528254e-02 -8.47524813e-03 9.95972943e-01 4.56089158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.160714057 meters Centerline goodness : 0.988456 Centerline is valid? [True, True] Translation: X:117.64, Y:124.52, Z:45.62 [[-2.40423206e-01 -9.70667537e-01 1.10256147e-03 1.17641523e+02] [ 9.65603617e-01 -2.39052741e-01 1.02290963e-01 1.24516998e+02] [-9.90269472e-02 2.56577587e-02 9.94753911e-01 4.56174956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.190714057 meters Centerline goodness : 0.989489 Centerline is valid? [True, True] Translation: X:117.65, Y:124.51, Z:45.61 [[-2.33441209e-01 -9.72282213e-01 -1.31339490e-02 1.17646110e+02] [ 9.67045533e-01 -2.33553242e-01 1.01369724e-01 1.24512330e+02] [-1.01627456e-01 1.09627442e-02 9.94762122e-01 4.56114831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.220714057 meters Centerline goodness : 0.991170 Centerline is valid? [True, True] Translation: X:117.64, Y:124.51, Z:45.61 [[-2.29292194e-01 -9.73352681e-01 -3.10625936e-03 1.17639975e+02] [ 9.68451537e-01 -2.28455321e-01 9.95479132e-02 1.24511741e+02] [-9.76048697e-02 1.98172978e-02 9.95027921e-01 4.56140167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.250714057 meters Centerline goodness : 0.991548 Centerline is valid? [True, True] Translation: X:117.65, Y:124.51, Z:45.61 [[-2.27158568e-01 -9.73331832e-01 -3.20020335e-02 1.17650014e+02] [ 9.68552138e-01 -2.29224495e-01 9.67620085e-02 1.24514591e+02] [-1.01517193e-01 -9.01531864e-03 9.94792935e-01 4.56060031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.280714057 meters Centerline goodness : 0.990180 Centerline is valid? [True, True] Translation: X:117.64, Y:124.50, Z:45.61 [[-2.19809926e-01 -9.75493978e-01 -9.75169331e-03 1.17641974e+02] [ 9.69763064e-01 -2.19583240e-01 1.06502582e-01 1.24498996e+02] [-1.06033936e-01 1.39534927e-02 9.94264605e-01 4.56121569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.310714057 meters Centerline goodness : 0.990563 Centerline is valid? [True, True] Translation: X:117.65, Y:124.50, Z:45.61 [[-2.17970250e-01 -9.75751790e-01 -1.99352492e-02 1.17647076e+02] [ 9.70279257e-01 -2.18857139e-01 1.03245905e-01 1.24499128e+02] [-1.05105348e-01 3.16177696e-03 9.94456067e-01 4.56074728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.340714057 meters Centerline goodness : 0.990675 Centerline is valid? [True, True] Translation: X:117.64, Y:124.51, Z:45.61 [[-2.14739051e-01 -9.76527256e-01 -1.67826514e-02 1.17641136e+02] [ 9.70955951e-01 -2.15307154e-01 1.04342561e-01 1.24508737e+02] [-1.05506779e-01 6.11120719e-03 9.94399805e-01 4.56099373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.370714057 meters Centerline goodness : 0.988959 Centerline is valid? [True, True] Translation: X:117.64, Y:124.51, Z:45.61 [[-2.16346874e-01 -9.75940696e-01 -2.70885201e-02 1.17644347e+02] [ 9.71263193e-01 -2.17963519e-01 9.56018594e-02 1.24514100e+02] [-9.92060544e-02 -5.62691915e-03 9.95051002e-01 4.56090997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.400714057 meters Centerline goodness : 0.989643 Centerline is valid? [True, True] Translation: X:117.64, Y:124.52, Z:45.61 [[-2.16986971e-01 -9.75941467e-01 -2.13285754e-02 1.17640279e+02] [ 9.71571126e-01 -2.18031556e-01 9.22593535e-02 1.24522423e+02] [-9.46900313e-02 -7.03150321e-04 9.95506556e-01 4.56117386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.430714057 meters Centerline goodness : 0.990455 Centerline is valid? [True, True] Translation: X:117.63, Y:124.54, Z:45.61 [[-2.17479070e-01 -9.75983795e-01 -1.25890979e-02 1.17634277e+02] [ 9.71149871e-01 -2.17658663e-01 9.74301547e-02 1.24537381e+02] [-9.78303784e-02 8.96311858e-03 9.95162740e-01 4.56140071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.460714057 meters Centerline goodness : 0.989649 Centerline is valid? [True, True] Translation: X:117.64, Y:124.53, Z:45.61 [[-2.17381914e-01 -9.75923985e-01 -1.78179470e-02 1.17638833e+02] [ 9.71108688e-01 -2.18078493e-01 9.69003973e-02 1.24530018e+02] [-9.84531329e-02 3.76123075e-03 9.95134581e-01 4.56121662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.490714057 meters Centerline goodness : 0.990398 Centerline is valid? [True, True] Translation: X:117.64, Y:124.54, Z:45.61 [[-2.17260257e-01 -9.76049664e-01 -1.11818461e-02 1.17635911e+02] [ 9.70814012e-01 -2.17258590e-01 1.01581789e-01 1.24536421e+02] [-1.01578223e-01 1.12141927e-02 9.94764347e-01 4.56118806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.520714057 meters Centerline goodness : 0.990184 Centerline is valid? [True, True] Translation: X:117.64, Y:124.55, Z:45.61 [[-2.22708475e-01 -9.74714308e-01 -1.82469931e-02 1.17638012e+02] [ 9.69825425e-01 -2.23418269e-01 9.75854649e-02 1.24547393e+02] [-9.91946605e-02 4.03671224e-03 9.95059860e-01 4.56093267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.550714057 meters Centerline goodness : 0.988840 Centerline is valid? [True, True] Translation: X:117.64, Y:124.55, Z:45.61 [[-2.26641351e-01 -9.73755994e-01 -2.08077208e-02 1.17639519e+02] [ 9.69258980e-01 -2.27592235e-01 9.34815686e-02 1.24551209e+02] [-9.57639135e-02 1.01871875e-03 9.95403554e-01 4.56095998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.580714057 meters Centerline goodness : 0.988670 Centerline is valid? [True, True] Translation: X:117.64, Y:124.56, Z:45.61 [[-2.31831844e-01 -9.72528611e-01 -2.10260918e-02 1.17640643e+02] [ 9.68362577e-01 -2.32782869e-01 8.99224993e-02 1.24555749e+02] [-9.23467174e-02 4.86018352e-04 9.95726794e-01 4.56108406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.610714057 meters Centerline goodness : 0.988658 Centerline is valid? [True, True] Translation: X:117.64, Y:124.57, Z:45.61 [[-2.35931216e-01 -9.71629175e-01 -1.65289997e-02 1.17638643e+02] [ 9.67525578e-01 -2.36454767e-01 8.93498754e-02 1.24567314e+02] [-9.07233065e-02 5.08819473e-03 9.95863139e-01 4.56113606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.640714057 meters Centerline goodness : 0.989698 Centerline is valid? [True, True] Translation: X:117.64, Y:124.58, Z:45.61 [[-2.37452281e-01 -9.71222675e-01 -1.85183709e-02 1.17637754e+02] [ 9.67212550e-01 -2.38153931e-01 8.82189756e-02 1.24575208e+02] [-9.00904922e-02 3.03659622e-03 9.95928954e-01 4.56099346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.670714057 meters Centerline goodness : 0.989698 Centerline is valid? [True, True] Translation: X:117.64, Y:124.58, Z:45.61 [[-2.37121697e-01 -9.71354056e-01 -1.56396467e-02 1.17635983e+02] [ 9.67306955e-01 -2.37563098e-01 8.87751652e-02 1.24577628e+02] [-8.99475197e-02 5.92217875e-03 9.95928899e-01 4.56106799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.700714057 meters Centerline goodness : 0.989823 Centerline is valid? [True, True] Translation: X:117.64, Y:124.58, Z:45.61 [[-2.40609348e-01 -9.70504645e-01 -1.50955664e-02 1.17636744e+02] [ 9.66456215e-01 -2.40987070e-01 8.88122591e-02 1.24581310e+02] [-8.98305463e-02 6.77985583e-03 9.95933987e-01 4.56109176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.730714057 meters Centerline goodness : 0.989184 Centerline is valid? [True, True] Translation: X:117.64, Y:124.58, Z:45.61 [[-2.42715868e-01 -9.69924743e-01 -1.83029932e-02 1.17638874e+02] [ 9.66107620e-01 -2.43384000e-01 8.60249621e-02 1.24578924e+02] [-8.78923950e-02 3.19696218e-03 9.96124845e-01 4.56112646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.76071405700003 meters Centerline goodness : 0.989676 Centerline is valid? [True, True] Translation: X:117.64, Y:124.58, Z:45.61 [[-2.45030237e-01 -9.69340298e-01 -1.84274215e-02 1.17638350e+02] [ 9.65658671e-01 -2.45705072e-01 8.44532295e-02 1.24581279e+02] [-8.63916296e-02 2.89899549e-03 9.96257036e-01 4.56111245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.790714057 meters Centerline goodness : 0.991077 Centerline is valid? [True, True] Translation: X:117.63, Y:124.59, Z:45.61 [[-2.45021092e-01 -9.69504885e-01 -4.99415576e-03 1.17630872e+02] [ 9.65988142e-01 -2.44564982e-01 8.39933232e-02 1.24586139e+02] [-8.26533328e-02 1.57558405e-02 9.96453802e-01 4.56149698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.82071405700003 meters Centerline goodness : 0.989551 Centerline is valid? [True, True] Translation: X:117.64, Y:124.59, Z:45.61 [[-2.49560491e-01 -9.68029366e-01 -2.52726551e-02 1.17636492e+02] [ 9.64752185e-01 -2.50796728e-01 7.97133781e-02 1.24594823e+02] [-8.35031902e-02 -4.48853942e-03 9.96497401e-01 4.56096874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.850714057 meters Centerline goodness : 0.990314 Centerline is valid? [True, True] Translation: X:117.63, Y:124.60, Z:45.61 [[-2.52380427e-01 -9.67313086e-01 -2.46883388e-02 1.17633792e+02] [ 9.64455780e-01 -2.53535436e-01 7.44636203e-02 1.24599378e+02] [-7.82890030e-02 -5.01765072e-03 9.96918079e-01 4.56118229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.880714057 meters Centerline goodness : 0.990270 Centerline is valid? [True, True] Translation: X:117.63, Y:124.61, Z:45.61 [[-2.56021532e-01 -9.66533318e-01 -1.63193510e-02 1.17626341e+02] [ 9.63710051e-01 -2.56521281e-01 7.38902554e-02 1.24612192e+02] [-7.56036545e-02 3.19037377e-03 9.97132844e-01 4.56141768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.910714057 meters Centerline goodness : 0.989106 Centerline is valid? [True, True] Translation: X:117.62, Y:124.61, Z:45.62 [[-2.57519185e-01 -9.66262735e-01 4.49396449e-03 1.17618718e+02] [ 9.62806601e-01 -2.56198938e-01 8.58227958e-02 1.24605215e+02] [-8.17760205e-02 2.64278351e-02 9.96300282e-01 4.56213301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.940714057 meters Centerline goodness : 0.991635 Centerline is valid? [True, True] Translation: X:117.63, Y:124.62, Z:45.61 [[-2.58714751e-01 -9.65495380e-01 -2.97548202e-02 1.17627512e+02] [ 9.62899826e-01 -2.60221931e-01 7.14735772e-02 1.24621220e+02] [-7.67502653e-02 -1.01596424e-02 9.96998585e-01 4.56075513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.970714057 meters Centerline goodness : 0.990154 Centerline is valid? [True, True] Translation: X:117.62, Y:124.62, Z:45.62 [[-2.60536131e-01 -9.65404378e-01 -1.07382957e-02 1.17616085e+02] [ 9.62289242e-01 -2.60564576e-01 7.81378076e-02 1.24624841e+02] [-7.82326010e-02 1.00243757e-02 9.96884734e-01 4.56154540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.000714057 meters Centerline goodness : 0.990931 Centerline is valid? [True, True] Translation: X:117.61, Y:124.63, Z:45.62 [[-2.64213461e-01 -9.64364639e-01 -1.38596819e-02 1.17612026e+02] [ 9.61723513e-01 -2.64518027e-01 7.15408900e-02 1.24629330e+02] [-7.26576402e-02 5.57288419e-03 9.97341371e-01 4.56160170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.030714057 meters Centerline goodness : 0.990536 Centerline is valid? [True, True] Translation: X:117.61, Y:124.62, Z:45.62 [[-2.62942543e-01 -9.64806182e-01 -3.20154253e-03 1.17608923e+02] [ 9.61317156e-01 -2.62270943e-01 8.41622188e-02 1.24616969e+02] [-8.20399006e-02 1.90521301e-02 9.96446923e-01 4.56182491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.060714057 meters Centerline goodness : 0.990857 Centerline is valid? [True, True] Translation: X:117.61, Y:124.63, Z:45.61 [[-2.62508203e-01 -9.64699191e-01 -2.10929985e-02 1.17611171e+02] [ 9.61520242e-01 -2.63354140e-01 7.82522939e-02 1.24628672e+02] [-8.10448531e-02 2.60524010e-04 9.96710421e-01 4.56100765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.090714057 meters Centerline goodness : 0.990812 Centerline is valid? [True, True] Translation: X:117.61, Y:124.62, Z:45.62 [[-2.61308598e-01 -9.65166066e-01 -1.31256467e-02 1.17606639e+02] [ 9.61597902e-01 -2.61477041e-01 8.34220090e-02 1.24617269e+02] [-8.39481475e-02 9.17729385e-03 9.96427863e-01 4.56152570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.120714057 meters Centerline goodness : 0.991707 Centerline is valid? [True, True] Translation: X:117.60, Y:124.63, Z:45.61 [[-2.61573997e-01 -9.65008955e-01 -1.83510776e-02 1.17602764e+02] [ 9.61540799e-01 -2.62189990e-01 8.18272651e-02 1.24633862e+02] [-8.37755124e-02 3.75857497e-03 9.96477565e-01 4.56129580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.150714057 meters Centerline goodness : 0.990864 Centerline is valid? [True, True] Translation: X:117.60, Y:124.61, Z:45.62 [[-2.59000525e-01 -9.65847624e-01 -7.55608478e-03 1.17598977e+02] [ 9.61942665e-01 -2.58642983e-01 8.81482685e-02 1.24612299e+02] [-8.70921240e-02 1.55619275e-02 9.96078706e-01 4.56172386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.180714057 meters Centerline goodness : 0.992011 Centerline is valid? [True, True] Translation: X:117.60, Y:124.62, Z:45.61 [[-2.58679498e-01 -9.65709865e-01 -2.21217846e-02 1.17600716e+02] [ 9.62182639e-01 -2.59623677e-01 8.24628128e-02 1.24621310e+02] [-8.53784909e-02 4.62419689e-05 9.96348589e-01 4.56114164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.210714057 meters Centerline goodness : 0.991805 Centerline is valid? [True, True] Translation: X:117.60, Y:124.62, Z:45.61 [[-2.58266930e-01 -9.66013180e-01 -1.08041191e-02 1.17595605e+02] [ 9.62346904e-01 -2.58235927e-01 8.48683853e-02 1.24615983e+02] [-8.47739904e-02 1.15213868e-02 9.96333593e-01 4.56149188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.240714057 meters Centerline goodness : 0.992093 Centerline is valid? [True, True] Translation: X:117.59, Y:124.64, Z:45.61 [[-2.56870915e-01 -9.66275180e-01 -1.81551313e-02 1.17590080e+02] [ 9.62531855e-01 -2.57474434e-01 8.50843356e-02 1.24639687e+02] [-8.68893639e-02 4.38079895e-03 9.96208335e-01 4.56105178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.270714057 meters Centerline goodness : 0.991778 Centerline is valid? [True, True] Translation: X:117.59, Y:124.62, Z:45.61 [[-2.54663803e-01 -9.67002932e-01 -7.18868827e-03 1.17587806e+02] [ 9.63453361e-01 -2.54353722e-01 8.40345462e-02 1.24619273e+02] [-8.30901222e-02 1.44745912e-02 9.96436911e-01 4.56147546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.300714057 meters Centerline goodness : 0.991955 Centerline is valid? [True, True] Translation: X:117.59, Y:124.62, Z:45.61 [[-2.53556739e-01 -9.67106492e-01 -2.03472982e-02 1.17590539e+02] [ 9.63415148e-01 -2.54365424e-01 8.44362722e-02 1.24618458e+02] [-8.68345162e-02 1.80649047e-03 9.96221112e-01 4.56087813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.330714057 meters Centerline goodness : 0.992038 Centerline is valid? [True, True] Translation: X:117.58, Y:124.63, Z:45.61 [[-2.53967796e-01 -9.67065884e-01 -1.68503549e-02 1.17584515e+02] [ 9.63430684e-01 -2.54475473e-01 8.39258659e-02 1.24631393e+02] [-8.54498437e-02 5.08031831e-03 9.96329521e-01 4.56092316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.360714057 meters Centerline goodness : 0.993535 Centerline is valid? [True, True] Translation: X:117.57, Y:124.63, Z:45.62 [[-2.50743270e-01 -9.68053157e-01 9.47874138e-04 1.17573767e+02] [ 9.64495188e-01 -2.49737575e-01 8.59079519e-02 1.24626513e+02] [-8.29267442e-02 2.24550609e-02 9.96302627e-01 4.56153990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.390714057 meters Centerline goodness : 0.992610 Centerline is valid? [True, True] Translation: X:117.58, Y:124.62, Z:45.61 [[-2.49430699e-01 -9.68040574e-01 -2.61107791e-02 1.17584407e+02] [ 9.64269348e-01 -2.50763875e-01 8.54523525e-02 1.24618726e+02] [-8.92689845e-02 -3.86338387e-03 9.96000062e-01 4.56061860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.420714057 meters Centerline goodness : 0.992169 Centerline is valid? [True, True] Translation: X:117.57, Y:124.61, Z:45.61 [[-2.47510730e-01 -9.68838488e-01 -9.50904315e-03 1.17574944e+02] [ 9.64697901e-01 -2.47340649e-01 9.04464656e-02 1.24614116e+02] [-8.99799899e-02 1.32131167e-02 9.95855921e-01 4.56119795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.450714057 meters Centerline goodness : 0.990329 Centerline is valid? [True, True] Translation: X:117.58, Y:124.63, Z:45.61 [[-2.48791700e-01 -9.68264062e-01 -2.38200786e-02 1.17578002e+02] [ 9.64536059e-01 -2.49922544e-01 8.49053194e-02 1.24625512e+02] [-8.81639441e-02 -1.85158592e-03 9.96104257e-01 4.56067054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.480714057 meters Centerline goodness : 0.991303 Centerline is valid? [True, True] Translation: X:117.57, Y:124.63, Z:45.61 [[-2.49333949e-01 -9.68405754e-01 -4.78295638e-03 1.17565081e+02] [ 9.64798089e-01 -2.48825643e-01 8.51495575e-02 1.24627092e+02] [-8.36494437e-02 1.66160883e-02 9.96356701e-01 4.56139916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.51071405700003 meters Centerline goodness : 0.991961 Centerline is valid? [True, True] Translation: X:117.57, Y:124.62, Z:45.61 [[-2.49315697e-01 -9.68138652e-01 -2.34357159e-02 1.17569140e+02] [ 9.64364142e-01 -2.50411355e-01 8.54163616e-02 1.24624719e+02] [-8.85634505e-02 -1.30492427e-03 9.96069683e-01 4.56081300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.540714057 meters Centerline goodness : 0.990961 Centerline is valid? [True, True] Translation: X:117.56, Y:124.63, Z:45.61 [[-2.49703745e-01 -9.68230047e-01 -1.33647095e-02 1.17562543e+02] [ 9.64249632e-01 -2.49894357e-01 8.81785521e-02 1.24628100e+02] [-8.87168891e-02 9.13159850e-03 9.96015024e-01 4.56122738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.57071405700003 meters Centerline goodness : 0.992248 Centerline is valid? [True, True] Translation: X:117.55, Y:124.65, Z:45.61 [[-2.62895869e-01 -9.64672704e-01 -1.70978223e-02 1.17548840e+02] [ 9.61718037e-01 -2.63429191e-01 7.55213821e-02 1.24652145e+02] [-7.73574814e-02 3.41097530e-03 9.96997585e-01 4.56141852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.600714057 meters Centerline goodness : 0.992577 Centerline is valid? [True, True] Translation: X:117.55, Y:124.63, Z:45.62 [[-2.46514375e-01 -9.69117545e-01 6.46896435e-03 1.17549067e+02] [ 9.64841409e-01 -2.44787795e-01 9.57078405e-02 1.24628208e+02] [-9.11686239e-02 2.98348832e-02 9.95388448e-01 4.56170967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.630714057 meters Centerline goodness : 0.992598 Centerline is valid? [True, True] Translation: X:117.55, Y:124.66, Z:45.61 [[-2.66249134e-01 -9.63276068e-01 -3.47938941e-02 1.17551285e+02] [ 9.60720553e-01 -2.68128185e-01 7.15771983e-02 1.24657526e+02] [-7.82778258e-02 -1.43698421e-02 9.96828014e-01 4.56050911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.660714057 meters Centerline goodness : 0.992876 Centerline is valid? [True, True] Translation: X:117.55, Y:124.63, Z:45.61 [[-2.50534655e-01 -9.68106272e-01 1.62263414e-03 1.17548242e+02] [ 9.64050924e-01 -2.49331199e-01 9.18682155e-02 1.24627554e+02] [-8.85336223e-02 2.45804736e-02 9.95769852e-01 4.56141829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.690714057 meters Centerline goodness : 0.991510 Centerline is valid? [True, True] Translation: X:117.55, Y:124.64, Z:45.61 [[-2.53428133e-01 -9.67198392e-01 -1.73623681e-02 1.17553324e+02] [ 9.63463209e-01 -2.53976303e-01 8.50569377e-02 1.24635359e+02] [-8.66765634e-02 4.82781801e-03 9.96224807e-01 4.56064315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.720714057 meters Centerline goodness : 0.991784 Centerline is valid? [True, True] Translation: X:117.55, Y:124.64, Z:45.61 [[-2.56177870e-01 -9.66526050e-01 -1.41525194e-02 1.17549450e+02] [ 9.62997162e-01 -2.56455921e-01 8.28663127e-02 1.24640944e+02] [-8.37219473e-02 7.59967942e-03 9.96460175e-01 4.56064994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.750714057 meters Centerline goodness : 0.991019 Centerline is valid? [True, True] Translation: X:117.55, Y:124.64, Z:45.60 [[-2.58069079e-01 -9.65791003e-01 -2.54575751e-02 1.17553710e+02] [ 9.62375312e-01 -2.59297573e-01 8.12313267e-02 1.24640396e+02] [-8.50535720e-02 -3.53644807e-03 9.96370104e-01 4.56020295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.780714057 meters Centerline goodness : 0.992555 Centerline is valid? [True, True] Translation: X:117.53, Y:124.68, Z:45.61 [[-2.73611599e-01 -9.61757047e-01 -1.26521126e-02 1.17530843e+02] [ 9.59069738e-01 -2.73797553e-01 7.22505197e-02 1.24682572e+02] [-7.29515639e-02 7.63432192e-03 9.97306265e-01 4.56111080e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.810714057 meters Centerline goodness : 0.989975 Centerline is valid? [True, True] Translation: X:117.54, Y:124.66, Z:45.61 [[-2.59398588e-01 -9.65646801e-01 -1.54476238e-02 1.17542727e+02] [ 9.61637778e-01 -2.59733692e-01 8.82677374e-02 1.24655922e+02] [-8.92477266e-02 8.04150782e-03 9.95976996e-01 4.56059184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.840714057 meters Centerline goodness : 0.989919 Centerline is valid? [True, True] Translation: X:117.54, Y:124.67, Z:45.60 [[-2.59153334e-01 -9.65661981e-01 -1.83436241e-02 1.17538135e+02] [ 9.61644908e-01 -2.59749635e-01 8.81430511e-02 1.24673610e+02] [-8.98811430e-02 5.20251287e-03 9.95938911e-01 4.56044335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.870714057 meters Centerline goodness : 0.990237 Centerline is valid? [True, True] Translation: X:117.54, Y:124.68, Z:45.60 [[-2.58327954e-01 -9.65903555e-01 -1.72334128e-02 1.17535099e+02] [ 9.61947872e-01 -2.58831798e-01 8.75350966e-02 1.24678892e+02] [-8.90110162e-02 6.03511758e-03 9.96012358e-01 4.56045929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.900714057 meters Centerline goodness : 0.991842 Centerline is valid? [True, True] Translation: X:117.52, Y:124.71, Z:45.61 [[-2.56420612e-01 -9.66561988e-01 -2.52857183e-03 1.17520656e+02] [ 9.62974376e-01 -2.55692391e-01 8.54502907e-02 1.24706570e+02] [-8.32395394e-02 1.94762660e-02 9.96339226e-01 4.56093428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.930714057 meters Centerline goodness : 0.991633 Centerline is valid? [True, True] Translation: X:117.53, Y:124.68, Z:45.61 [[-2.55601741e-01 -9.66600986e-01 -1.87158691e-02 1.17531241e+02] [ 9.63406199e-01 -2.56277867e-01 7.85503106e-02 1.24678273e+02] [-8.07232707e-02 2.04661181e-03 9.96734451e-01 4.56068399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.960714057 meters Centerline goodness : 0.991342 Centerline is valid? [True, True] Translation: X:117.53, Y:124.69, Z:45.60 [[-2.54125215e-01 -9.66709836e-01 -2.98742056e-02 1.17531265e+02] [ 9.63593695e-01 -2.55718693e-01 7.80713875e-02 1.24689894e+02] [-8.31117710e-02 -8.94668802e-03 9.96500070e-01 4.56015583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.990714057 meters Centerline goodness : 0.991101 Centerline is valid? [True, True] Translation: X:117.51, Y:124.70, Z:45.61 [[-2.53289967e-01 -9.67375750e-01 5.32459583e-03 1.17514347e+02] [ 9.64168977e-01 -2.51993874e-01 8.29293122e-02 1.24702430e+02] [-7.88820401e-02 2.61389728e-02 9.96541207e-01 4.56140670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.020714057 meters Centerline goodness : 0.992092 Centerline is valid? [True, True] Translation: X:117.53, Y:124.67, Z:45.61 [[-2.51887710e-01 -9.67578271e-01 -1.85707183e-02 1.17528413e+02] [ 9.64863862e-01 -2.52571147e-01 7.24261202e-02 1.24672828e+02] [-7.47683678e-02 3.25034533e-04 9.97200875e-01 4.56083352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.050714057 meters Centerline goodness : 0.991582 Centerline is valid? [True, True] Translation: X:117.52, Y:124.69, Z:45.61 [[-2.53326055e-01 -9.67316539e-01 -1.11634694e-02 1.17522015e+02] [ 9.64629867e-01 -2.53458496e-01 7.24431542e-02 1.24691707e+02] [-7.29049373e-02 7.58312248e-03 9.97310065e-01 4.56092679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.080714057 meters Centerline goodness : 0.991191 Centerline is valid? [True, True] Translation: X:117.52, Y:124.70, Z:45.61 [[-2.53654116e-01 -9.67200781e-01 -1.34995927e-02 1.17521036e+02] [ 9.64697194e-01 -2.53970392e-01 6.97019698e-02 1.24704761e+02] [-7.08442965e-02 4.65717232e-03 9.97476514e-01 4.56064130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.110714057 meters Centerline goodness : 0.991586 Centerline is valid? [True, True] Translation: X:117.52, Y:124.71, Z:45.61 [[-2.53025091e-01 -9.67399495e-01 -1.07944637e-02 1.17519814e+02] [ 9.64891838e-01 -2.53150183e-01 6.99908947e-02 1.24706231e+02] [-7.04417767e-02 7.29396255e-03 9.97489225e-01 4.56068976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.140714057 meters Centerline goodness : 0.989897 Centerline is valid? [True, True] Translation: X:117.52, Y:124.73, Z:45.60 [[-2.52453917e-01 -9.67337835e-01 -2.29026647e-02 1.17520821e+02] [ 9.64515736e-01 -2.53467456e-01 7.39164664e-02 1.24730415e+02] [-7.73072748e-02 -3.42947897e-03 9.97001416e-01 4.55988083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.170714057 meters Centerline goodness : 0.990652 Centerline is valid? [True, True] Translation: X:117.51, Y:124.74, Z:45.61 [[-2.49839624e-01 -9.68284778e-01 2.17978306e-03 1.17506988e+02] [ 9.65518280e-01 -2.48954416e-01 7.61324532e-02 1.24742858e+02] [-7.31752289e-02 2.11255238e-02 9.97095331e-01 4.56086469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.200714057 meters Centerline goodness : 0.991444 Centerline is valid? [True, True] Translation: X:117.51, Y:124.74, Z:45.60 [[-2.46088134e-01 -9.69209043e-01 -8.62911651e-03 1.17511861e+02] [ 9.66150169e-01 -2.46003192e-01 7.76935021e-02 1.24735978e+02] [-7.74240350e-02 1.07824266e-02 9.96939947e-01 4.56041646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.230714057 meters Centerline goodness : 0.991237 Centerline is valid? [True, True] Translation: X:117.52, Y:124.69, Z:45.61 [[-2.42095084e-01 -9.70184919e-01 -1.14539382e-02 1.17520978e+02] [ 9.66897387e-01 -2.42222000e-01 8.02368141e-02 1.24688103e+02] [-8.06189428e-02 8.35015528e-03 9.96710019e-01 4.56069153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.26071405700003 meters Centerline goodness : 0.990912 Centerline is valid? [True, True] Translation: X:117.52, Y:124.71, Z:45.60 [[-2.41806396e-01 -9.70226025e-01 -1.38248896e-02 1.17517353e+02] [ 9.66985412e-01 -2.42130806e-01 7.94473757e-02 1.24712112e+02] [-8.04293431e-02 5.84241705e-03 9.96743190e-01 4.56043461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.290714057 meters Centerline goodness : 0.989671 Centerline is valid? [True, True] Translation: X:117.52, Y:124.71, Z:45.60 [[-2.42164991e-01 -9.70111874e-01 -1.54618428e-02 1.17518171e+02] [ 9.66814308e-01 -2.42617568e-01 8.00425533e-02 1.24713898e+02] [-8.14015461e-02 4.43477339e-03 9.96671521e-01 4.56032355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.32071405700003 meters Centerline goodness : 0.990584 Centerline is valid? [True, True] Translation: X:117.52, Y:124.72, Z:45.60 [[-2.41708821e-01 -9.70243007e-01 -1.43301546e-02 1.17516062e+02] [ 9.67067057e-01 -2.42078637e-01 7.86081494e-02 1.24715787e+02] [-7.97380315e-02 5.14206262e-03 9.96802591e-01 4.56047806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.350714057 meters Centerline goodness : 0.990618 Centerline is valid? [True, True] Translation: X:117.51, Y:124.73, Z:45.60 [[-2.42909006e-01 -9.69925583e-01 -1.54783102e-02 1.17514803e+02] [ 9.66957420e-01 -2.43376911e-01 7.59014351e-02 1.24726056e+02] [-7.73858070e-02 3.47027527e-03 9.96995183e-01 4.56039488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.380714057 meters Centerline goodness : 0.990417 Centerline is valid? [True, True] Translation: X:117.51, Y:124.72, Z:45.61 [[-2.41612400e-01 -9.70344395e-01 -7.42995274e-03 1.17512935e+02] [ 9.67152057e-01 -2.41426723e-01 7.95615216e-02 1.24716661e+02] [-7.89958656e-02 1.20371561e-02 9.96802267e-01 4.56061118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.410714057 meters Centerline goodness : 0.989162 Centerline is valid? [True, True] Translation: X:117.52, Y:124.71, Z:45.60 [[-2.44082434e-01 -9.69426312e-01 -2.52268057e-02 1.17520815e+02] [ 9.66249306e-01 -2.45327666e-01 7.85914511e-02 1.24711075e+02] [-8.23774539e-02 -5.19259081e-03 9.96587674e-01 4.56000574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.440714057 meters Centerline goodness : 0.990926 Centerline is valid? [True, True] Translation: X:117.50, Y:124.76, Z:45.60 [[-2.45726474e-01 -9.69335043e-01 -2.84140339e-03 1.17502711e+02] [ 9.66567897e-01 -2.45244393e-01 7.48444239e-02 1.24761677e+02] [-7.32461611e-02 1.56448471e-02 9.97191175e-01 4.56036849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.470714057 meters Centerline goodness : 0.990838 Centerline is valid? [True, True] Translation: X:117.50, Y:124.78, Z:45.60 [[-2.45256098e-01 -9.69417778e-01 -8.86672625e-03 1.17502475e+02] [ 9.66475007e-01 -2.45208113e-01 7.61514440e-02 1.24781912e+02] [-7.59967568e-02 1.01071367e-02 9.97056838e-01 4.55980665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.500714057 meters Centerline goodness : 0.990077 Centerline is valid? [True, True] Translation: X:117.52, Y:124.74, Z:45.59 [[-2.45326297e-01 -9.69003664e-01 -2.91016774e-02 1.17517908e+02] [ 9.66151469e-01 -2.46854477e-01 7.49280111e-02 1.24737675e+02] [-7.97893966e-02 -9.73481690e-03 9.96764208e-01 4.55947141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.530714057 meters Centerline goodness : 0.988282 Centerline is valid? [True, True] Translation: X:117.51, Y:124.74, Z:45.60 [[-2.45005768e-01 -9.69481142e-01 -8.85938144e-03 1.17509518e+02] [ 9.66255083e-01 -2.44919573e-01 7.97841964e-02 1.24738214e+02] [-7.95191098e-02 1.09871660e-02 9.96772789e-01 4.56033221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.560714057 meters Centerline goodness : 0.988282 Centerline is valid? [True, True] Translation: X:117.51, Y:124.74, Z:45.60 [[-2.44663724e-01 -9.69522248e-01 -1.28946896e-02 1.17510622e+02] [ 9.66313500e-01 -2.44906213e-01 7.91148901e-02 1.24740948e+02] [-7.98616357e-02 6.89623101e-03 9.96782103e-01 4.56013586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.590714057 meters Centerline goodness : 0.988394 Centerline is valid? [True, True] Translation: X:117.51, Y:124.74, Z:45.60 [[-2.43357996e-01 -9.69862480e-01 -1.19856795e-02 1.17509809e+02] [ 9.66661437e-01 -2.43532383e-01 7.91052828e-02 1.24736002e+02] [-7.96401468e-02 7.66480898e-03 9.96794210e-01 4.56022429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.620714057 meters Centerline goodness : 0.988775 Centerline is valid? [True, True] Translation: X:117.51, Y:124.73, Z:45.60 [[-2.43000670e-01 -9.69911511e-01 -1.49109392e-02 1.17511382e+02] [ 9.66821980e-01 -2.43417751e-01 7.74793985e-02 1.24732768e+02] [-7.87777478e-02 4.41132191e-03 9.96882444e-01 4.56017200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.650714057 meters Centerline goodness : 0.988428 Centerline is valid? [True, True] Translation: X:117.50, Y:124.75, Z:45.60 [[-2.40875651e-01 -9.70518365e-01 -8.54546951e-03 1.17504203e+02] [ 9.66939850e-01 -2.40728227e-01 8.41263770e-02 1.24754815e+02] [-8.37033296e-02 1.20010408e-02 9.96418450e-01 4.56006899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.680714057 meters Centerline goodness : 0.988523 Centerline is valid? [True, True] Translation: X:117.51, Y:124.75, Z:45.60 [[-2.38964565e-01 -9.70950409e-01 -1.22979865e-02 1.17506003e+02] [ 9.67132819e-01 -2.39120124e-01 8.64620006e-02 1.24754848e+02] [-8.68910108e-02 8.76756808e-03 9.96179242e-01 4.55981367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.710714057 meters Centerline goodness : 0.989326 Centerline is valid? [True, True] Translation: X:117.51, Y:124.75, Z:45.60 [[-2.38449332e-01 -9.70989465e-01 -1.79269179e-02 1.17508546e+02] [ 9.67273240e-01 -2.39104571e-01 8.49204557e-02 1.24747705e+02] [-8.67432758e-02 2.90899800e-03 9.96226451e-01 4.55960724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.740714057 meters Centerline goodness : 0.989274 Centerline is valid? [True, True] Translation: X:117.51, Y:124.74, Z:45.60 [[-2.37999098e-01 -9.71231011e-01 -8.17021531e-03 1.17506801e+02] [ 9.67312919e-01 -2.37780312e-01 8.81262754e-02 1.24736504e+02] [-8.75336879e-02 1.30708193e-02 9.96075804e-01 4.56008685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.770714057 meters Centerline goodness : 0.989207 Centerline is valid? [True, True] Translation: X:117.50, Y:124.77, Z:45.59 [[-2.37977233e-01 -9.71193652e-01 -1.22363280e-02 1.17502019e+02] [ 9.67233508e-01 -2.38116720e-01 8.80895472e-02 1.24771673e+02] [-8.84656833e-02 9.12792030e-03 9.96037401e-01 4.55941725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.800714057 meters Centerline goodness : 0.989180 Centerline is valid? [True, True] Translation: X:117.50, Y:124.77, Z:45.59 [[-2.39400092e-01 -9.70823372e-01 -1.37687078e-02 1.17503812e+02] [ 9.66815976e-01 -2.39666602e-01 8.84691420e-02 1.24768419e+02] [-8.91878101e-02 7.86771406e-03 9.95983752e-01 4.55929408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.830714057 meters Centerline goodness : 0.989936 Centerline is valid? [True, True] Translation: X:117.50, Y:124.77, Z:45.59 [[-2.42143695e-01 -9.70148666e-01 -1.33415783e-02 1.17504919e+02] [ 9.66394407e-01 -2.42384186e-01 8.56256812e-02 1.24766451e+02] [-8.63034280e-02 7.84049223e-03 9.96238046e-01 4.55935795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.860714057 meters Centerline goodness : 0.989881 Centerline is valid? [True, True] Translation: X:117.50, Y:124.78, Z:45.59 [[-2.42731032e-01 -9.70004890e-01 -1.31209939e-02 1.17502241e+02] [ 9.66134124e-01 -2.42938977e-01 8.69799304e-02 1.24783386e+02] [-8.75585586e-02 8.43608831e-03 9.96123653e-01 4.55910663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.890714057 meters Centerline goodness : 0.989500 Centerline is valid? [True, True] Translation: X:117.51, Y:124.75, Z:45.59 [[-2.43266086e-01 -9.69855844e-01 -1.41863955e-02 1.17507008e+02] [ 9.66174244e-01 -2.43581680e-01 8.47071163e-02 1.24754781e+02] [-8.56092378e-02 6.89983866e-03 9.96304898e-01 4.55931770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.920714057 meters Centerline goodness : 0.990115 Centerline is valid? [True, True] Translation: X:117.50, Y:124.78, Z:45.59 [[-2.47614544e-01 -9.68678174e-01 -1.86984757e-02 1.17503995e+02] [ 9.65285887e-01 -2.48311385e-01 8.10222963e-02 1.24783322e+02] [-8.31275744e-02 2.01292432e-03 9.96536881e-01 4.55900615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.950714057 meters Centerline goodness : 0.989693 Centerline is valid? [True, True] Translation: X:117.50, Y:124.80, Z:45.59 [[-2.48800023e-01 -9.68467324e-01 -1.30226758e-02 1.17498986e+02] [ 9.65060578e-01 -2.49021089e-01 8.15265451e-02 1.24802325e+02] [-8.21987159e-02 7.71613527e-03 9.96586089e-01 4.55915972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.980714057 meters Centerline goodness : 0.990632 Centerline is valid? [True, True] Translation: X:117.50, Y:124.80, Z:45.59 [[-2.48381547e-01 -9.68615671e-01 -9.50203765e-03 1.17499955e+02] [ 9.64945946e-01 -2.48275158e-01 8.50809425e-02 1.24795178e+02] [-8.47698541e-02 1.19635834e-02 9.96328733e-01 4.55931270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.01071405700003 meters Centerline goodness : 0.990032 Centerline is valid? [True, True] Translation: X:117.50, Y:124.81, Z:45.59 [[-2.48563610e-01 -9.68492564e-01 -1.54364985e-02 1.17500214e+02] [ 9.64879830e-01 -2.48971826e-01 8.37851022e-02 1.24809677e+02] [-8.49885016e-02 5.93156137e-03 9.96364276e-01 4.55892983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.040714057 meters Centerline goodness : 0.990638 Centerline is valid? [True, True] Translation: X:117.49, Y:124.80, Z:45.60 [[-2.46586984e-01 -9.69109460e-01 4.65988715e-03 1.17493518e+02] [ 9.65664466e-01 -2.45299006e-01 8.55601354e-02 1.24802676e+02] [-8.17740709e-02 2.55979032e-02 9.96322111e-01 4.55978737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.07071405700003 meters Centerline goodness : 0.990533 Centerline is valid? [True, True] Translation: X:117.50, Y:124.80, Z:45.59 [[-2.45932663e-01 -9.69212279e-01 -1.20284390e-02 1.17500604e+02] [ 9.65676919e-01 -2.46067875e-01 8.31786596e-02 1.24804285e+02] [-8.35775907e-02 8.84076343e-03 9.96462055e-01 4.55905156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.100714057 meters Centerline goodness : 0.989296 Centerline is valid? [True, True] Translation: X:117.51, Y:124.80, Z:45.58 [[-2.45960521e-01 -9.68863563e-01 -2.84045319e-02 1.17508351e+02] [ 9.65188834e-01 -2.47506801e-01 8.45629878e-02 1.24802906e+02] [-8.89603125e-02 -6.61658048e-03 9.96013195e-01 4.55845983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.130714057 meters Centerline goodness : 0.991140 Centerline is valid? [True, True] Translation: X:117.49, Y:124.81, Z:45.60 [[-2.57021098e-01 -9.66405354e-01 -9.19934691e-04 1.17488147e+02] [ 9.63464558e-01 -2.56312955e-01 7.77156065e-02 1.24812517e+02] [-7.53405695e-02 1.90882261e-02 9.96975144e-01 4.55987622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.160714057 meters Centerline goodness : 0.990695 Centerline is valid? [True, True] Translation: X:117.50, Y:124.83, Z:45.59 [[-2.42401858e-01 -9.70092256e-01 -1.27418447e-02 1.17497531e+02] [ 9.67001834e-01 -2.42649476e-01 7.76446069e-02 1.24826913e+02] [-7.84142338e-02 6.49980979e-03 9.96899674e-01 4.55891275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.190714057 meters Centerline goodness : 0.989953 Centerline is valid? [True, True] Translation: X:117.51, Y:124.78, Z:45.59 [[-2.39224855e-01 -9.70883448e-01 -1.25219352e-02 1.17506007e+02] [ 9.67886476e-01 -2.39472749e-01 7.64759541e-02 1.24775453e+02] [-7.72479003e-02 6.17513724e-03 9.96992793e-01 4.55939513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.220714057 meters Centerline goodness : 0.989312 Centerline is valid? [True, True] Translation: X:117.50, Y:124.82, Z:45.59 [[-2.36354497e-01 -9.71586131e-01 -1.25276166e-02 1.17497020e+02] [ 9.68716359e-01 -2.36621191e-01 7.48266541e-02 1.24821618e+02] [-7.56648390e-02 5.54990904e-03 9.97117862e-01 4.55898881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.250714057 meters Centerline goodness : 0.990100 Centerline is valid? [True, True] Translation: X:117.50, Y:124.79, Z:45.59 [[-2.33477608e-01 -9.72304467e-01 -1.05938433e-02 1.17500539e+02] [ 9.69398109e-01 -2.33602119e-01 7.54808392e-02 1.24793996e+02] [-7.58651014e-02 7.35343418e-03 9.97090976e-01 4.55932592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.280714057 meters Centerline goodness : 0.989008 Centerline is valid? [True, True] Translation: X:117.51, Y:124.78, Z:45.59 [[-2.28644972e-01 -9.73095489e-01 -2.84015049e-02 1.17509549e+02] [ 9.70285780e-01 -2.30163147e-01 7.46353167e-02 1.24777824e+02] [-7.91642698e-02 -1.04925864e-02 9.96806362e-01 4.55887975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.310714057 meters Centerline goodness : 0.990541 Centerline is valid? [True, True] Translation: X:117.48, Y:124.80, Z:45.60 [[-2.36803007e-01 -9.71511022e-01 9.52205772e-03 1.17483635e+02] [ 9.68622841e-01 -2.35315128e-01 7.99786332e-02 1.24800187e+02] [-7.54594394e-02 2.81624634e-02 9.96751097e-01 4.56032375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.340714057 meters Centerline goodness : 0.989095 Centerline is valid? [True, True] Translation: X:117.51, Y:124.78, Z:45.59 [[-2.19607355e-01 -9.74938345e-01 -3.56066479e-02 1.17510305e+02] [ 9.72120323e-01 -2.21755585e-01 7.62006515e-02 1.24783319e+02] [-8.21869101e-02 -1.78797225e-02 9.96456536e-01 4.55854152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.370714057 meters Centerline goodness : 0.989394 Centerline is valid? [True, True] Translation: X:117.49, Y:124.78, Z:45.60 [[-2.15973431e-01 -9.76381019e-01 5.96514116e-03 1.17493601e+02] [ 9.73457061e-01 -2.14844704e-01 7.88866547e-02 1.24777296e+02] [-7.57418533e-02 2.28442303e-02 9.96865745e-01 4.56035174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.400714057 meters Centerline goodness : 0.988671 Centerline is valid? [True, True] Translation: X:117.50, Y:124.77, Z:45.60 [[-2.13294726e-01 -9.76929725e-01 -1.06617273e-02 1.17500554e+02] [ 9.73856555e-01 -2.13471458e-01 7.76746241e-02 1.24774660e+02] [-7.81586236e-02 6.18459460e-03 9.96921752e-01 4.55962695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.430714057 meters Centerline goodness : 0.990139 Centerline is valid? [True, True] Translation: X:117.49, Y:124.80, Z:45.60 [[-2.22436979e-01 -9.74923526e-01 -6.77564662e-03 1.17486358e+02] [ 9.71695780e-01 -2.22256934e-01 8.00572733e-02 1.24803963e+02] [-7.95556536e-02 1.12238308e-02 9.96767236e-01 4.55967271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.460714057 meters Centerline goodness : 0.989162 Centerline is valid? [True, True] Translation: X:117.49, Y:124.81, Z:45.59 [[-2.20500587e-01 -9.75301931e-01 -1.28698800e-02 1.17488123e+02] [ 9.72117871e-01 -2.20821815e-01 7.88959565e-02 1.24805617e+02] [-7.97893290e-02 4.88556433e-03 9.96799776e-01 4.55937005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.490714057 meters Centerline goodness : 0.989830 Centerline is valid? [True, True] Translation: X:117.49, Y:124.81, Z:45.59 [[-2.17661964e-01 -9.75940035e-01 -1.28186755e-02 1.17487272e+02] [ 9.72764859e-01 -2.17988822e-01 7.87997600e-02 1.24809961e+02] [-7.96981684e-02 4.68215340e-03 9.96808045e-01 4.55928090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.520714057 meters Centerline goodness : 0.988419 Centerline is valid? [True, True] Translation: X:117.50, Y:124.80, Z:45.59 [[-2.05356910e-01 -9.78506196e-01 -1.88192341e-02 1.17498607e+02] [ 9.75606503e-01 -2.06197160e-01 7.53304952e-02 1.24798507e+02] [-7.75918290e-02 -2.89052948e-03 9.96981019e-01 4.55908853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.550714057 meters Centerline goodness : 0.987790 Centerline is valid? [True, True] Translation: X:117.40, Y:125.35, Z:45.54 [[-2.19723840e-01 -9.75476556e-01 -1.29198545e-02 1.17400942e+02] [ 9.72419444e-01 -2.20058975e-01 7.72947119e-02 1.25349253e+02] [-7.82423093e-02 4.41997316e-03 9.96924573e-01 4.55437924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.580714057 meters Centerline goodness : 0.988191 Centerline is valid? [True, True] Translation: X:117.93, Y:125.14, Z:46.59 [[-1.74284717e-01 7.01668898e-01 6.90858593e-01 1.17932462e+02] [ 9.78183641e-01 2.03921935e-01 3.96561323e-02 1.25143312e+02] [-1.13055746e-01 6.82698032e-01 -7.21901514e-01 4.65933719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.610714057 meters Centerline goodness : 0.987313 Centerline is valid? [True, True] Translation: X:117.53, Y:124.92, Z:45.60 [[-2.59958918e-01 -9.63582302e-01 -6.26937698e-02 1.17529423e+02] [ 9.56609843e-01 -2.65838537e-01 1.19279001e-01 1.24917212e+02] [-1.31601555e-01 -2.89658372e-02 9.90879413e-01 4.55969239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.640714057 meters Centerline goodness : 0.988154 Centerline is valid? [True, True] Translation: X:117.51, Y:124.92, Z:45.61 [[-2.58053556e-01 -9.65859625e-01 -2.28811462e-02 1.17513850e+02] [ 9.56908774e-01 -2.58783154e-01 1.31745504e-01 1.24915713e+02] [-1.33168918e-01 1.21022262e-02 9.91019463e-01 4.56114335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.670714057 meters Centerline goodness : 0.988696 Centerline is valid? [True, True] Translation: X:117.51, Y:124.93, Z:45.61 [[-2.58702929e-01 -9.65836137e-01 -1.52758256e-02 1.17506676e+02] [ 9.57226068e-01 -2.58453993e-01 1.30076086e-01 1.24934636e+02] [-1.29580283e-01 1.90286460e-02 9.91386333e-01 4.56115949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.700714057 meters Centerline goodness : 0.987747 Centerline is valid? [True, True] Translation: X:117.52, Y:124.94, Z:45.60 [[-2.60460485e-01 -9.64826025e-01 -3.56521715e-02 1.17515776e+02] [ 9.55935051e-01 -2.62889216e-01 1.30680674e-01 1.24937859e+02] [-1.35456686e-01 -4.40086626e-05 9.90783268e-01 4.56029870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.730714057 meters Centerline goodness : 0.988779 Centerline is valid? [True, True] Translation: X:117.51, Y:124.94, Z:45.61 [[-2.59228144e-01 -9.65639224e-01 -1.84840033e-02 1.17509442e+02] [ 9.56871742e-01 -2.59378989e-01 1.30839634e-01 1.24936447e+02] [-1.31138245e-01 1.62304952e-02 9.91231220e-01 4.56100995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.76071405700003 meters Centerline goodness : 0.989276 Centerline is valid? [True, True] Translation: X:117.51, Y:124.94, Z:45.61 [[-2.60806108e-01 -9.65002657e-01 -2.73869740e-02 1.17513739e+02] [ 9.56431238e-01 -2.62137618e-01 1.28542429e-01 1.24939958e+02] [-1.31222941e-01 7.33089309e-03 9.91325778e-01 4.56066430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.790714057 meters Centerline goodness : 0.989314 Centerline is valid? [True, True] Translation: X:117.51, Y:124.94, Z:45.61 [[-2.59945177e-01 -9.65344715e-01 -2.31966895e-02 1.17514105e+02] [ 9.56421194e-01 -2.60702204e-01 1.31502324e-01 1.24936093e+02] [-1.32992502e-01 1.19975895e-02 9.91044425e-01 4.56081248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.82071405700003 meters Centerline goodness : 0.988683 Centerline is valid? [True, True] Translation: X:117.52, Y:124.94, Z:45.60 [[-2.62387001e-01 -9.64097792e-01 -4.08473852e-02 1.17521056e+02] [ 9.55696888e-01 -2.65486646e-01 1.27123164e-01 1.24941344e+02] [-1.33403597e-01 -5.68225295e-03 9.91045505e-01 4.56018594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.850714057 meters Centerline goodness : 0.990406 Centerline is valid? [True, True] Translation: X:117.50, Y:124.96, Z:45.61 [[-2.74308947e-01 -9.61604704e-01 -8.42582178e-03 1.17497873e+02] [ 9.52569131e-01 -2.72911309e-01 1.34653138e-01 1.24963335e+02] [-1.31782593e-01 2.89103828e-02 9.90856972e-01 4.56111072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.880714057 meters Centerline goodness : 0.982059 Centerline is valid? [True, True] Translation: X:117.28, Y:125.98, Z:45.45 [[-2.84614175e-01 -9.58369180e-01 -2.28754306e-02 1.17279745e+02] [ 9.46589959e-01 -2.84727866e-01 1.51319172e-01 1.25981787e+02] [-1.51532903e-01 2.14139283e-02 9.88220230e-01 4.54466467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.910714057 meters Centerline goodness : 0.990199 Centerline is valid? [True, True] Translation: X:117.52, Y:124.97, Z:45.59 [[-2.61567495e-01 -9.63722451e-01 -5.31176296e-02 1.17522709e+02] [ 9.58040466e-01 -2.65921615e-01 1.06977384e-01 1.24968351e+02] [-1.17221632e-01 -2.29070323e-02 9.92841557e-01 4.55870787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.940714057 meters Centerline goodness : 0.991545 Centerline is valid? [True, True] Translation: X:117.49, Y:125.02, Z:45.60 [[-2.72941533e-01 -9.62028649e-01 1.94897696e-03 1.17485347e+02] [ 9.54675432e-01 -2.70604170e-01 1.23968553e-01 1.25018943e+02] [-1.18733898e-01 3.56968073e-02 9.92284233e-01 4.55979879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.970714057 meters Centerline goodness : 0.990466 Centerline is valid? [True, True] Translation: X:117.38, Y:125.60, Z:45.51 [[-2.76265271e-01 -9.60631278e-01 -2.94117033e-02 1.17377825e+02] [ 9.53575767e-01 -2.77796521e-01 1.16285635e-01 1.25600266e+02] [-1.19878087e-01 4.07939483e-03 9.92780239e-01 4.55065314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.000714057 meters Centerline goodness : 0.989761 Centerline is valid? [True, True] Translation: X:117.62, Y:125.89, Z:46.48 [[-1.87389717e-01 5.03469052e-01 8.43447691e-01 1.17616257e+02] [ 9.74567475e-01 2.02720005e-01 9.55135405e-02 1.25892340e+02] [-1.22895608e-01 8.39894942e-01 -5.28652207e-01 4.64787618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.030714057 meters Centerline goodness : 0.990516 Centerline is valid? [True, True] Translation: X:118.17, Y:126.05, Z:46.28 [[-2.23080841e-01 9.74695410e-01 -1.42757294e-02 1.18171952e+02] [ 9.54670139e-01 2.15489968e-01 -2.05350919e-01 1.26054474e+02] [-1.97078322e-01 -5.94384683e-02 -9.78584285e-01 4.62823262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.060714057 meters Centerline goodness : 0.992726 Centerline is valid? [True, True] Translation: X:118.46, Y:125.61, Z:45.82 [[-3.16020272e-01 5.33793210e-01 -7.84344310e-01 1.18457422e+02] [ 9.29622519e-01 9.03966386e-03 -3.68402303e-01 1.25605532e+02] [-1.89560439e-01 -8.45566729e-01 -4.99082906e-01 4.58162469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.090714057 meters Centerline goodness : 0.991689 Centerline is valid? [True, True] Translation: X:117.55, Y:125.28, Z:45.55 [[-4.11066530e-01 -9.11053827e-01 -3.17054051e-02 1.17548034e+02] [ 9.04178922e-01 -4.11901480e-01 1.13126689e-01 1.25275253e+02] [-1.16124006e-01 1.78352365e-02 9.93074579e-01 4.55505311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.120714057 meters Centerline goodness : 0.992493 Centerline is valid? [True, True] Translation: X:117.57, Y:125.25, Z:45.55 [[-3.93175719e-01 -9.18736397e-01 -3.65552679e-02 1.17571481e+02] [ 9.11001140e-01 -3.94630665e-01 1.19764609e-01 1.25245844e+02] [-1.24457935e-01 1.37866456e-02 9.92129100e-01 4.55492119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.150714057 meters Centerline goodness : 0.992198 Centerline is valid? [True, True] Translation: X:117.55, Y:125.28, Z:45.55 [[-4.11213174e-01 -9.10542116e-01 -4.26237117e-02 1.17553981e+02] [ 9.03858170e-01 -4.13359631e-01 1.10336863e-01 1.25279824e+02] [-1.18085282e-01 6.84618143e-03 9.92979857e-01 4.55454483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.180714057 meters Centerline goodness : 0.990926 Centerline is valid? [True, True] Translation: X:117.35, Y:125.83, Z:45.47 [[-4.13535981e-01 -9.09309741e-01 -4.63010545e-02 1.17354475e+02] [ 9.02869591e-01 -4.16109915e-01 1.08069612e-01 1.25834937e+02] [-1.17535079e-01 2.88685905e-03 9.93064535e-01 4.54687239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.210714057 meters Centerline goodness : 0.992161 Centerline is valid? [True, True] Translation: X:117.85, Y:125.66, Z:46.54 [[ -0.35301376 0.61409684 0.70587985 117.84811836] [ 0.92684988 0.33257738 0.17418835 125.65824527] [ -0.12779115 0.71573554 -0.68657997 46.53743732] [ 0. 0. 0. 1. ]] SLAMing on 410.240714057 meters Centerline goodness : 0.991697 Centerline is valid? [True, True] Translation: X:117.58, Y:125.37, Z:45.55 [[-4.36845365e-01 -8.96365930e-01 -7.54602283e-02 1.17575711e+02] [ 8.79752933e-01 -4.43228559e-01 1.71997738e-01 1.25371653e+02] [-1.87619041e-01 8.75005755e-03 9.82202898e-01 4.55543669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.270714057 meters Centerline goodness : 0.992982 Centerline is valid? [True, True] Translation: X:117.56, Y:125.39, Z:45.56 [[-4.39746845e-01 -8.96085004e-01 -6.04514554e-02 1.17563841e+02] [ 8.79682104e-01 -4.43310673e-01 1.72148317e-01 1.25387624e+02] [-1.81058300e-01 2.25236157e-02 9.83214411e-01 4.55572000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.300714057 meters Centerline goodness : 0.992727 Centerline is valid? [True, True] Translation: X:117.56, Y:125.40, Z:45.56 [[-4.36850536e-01 -8.98006854e-01 -5.23955955e-02 1.17555954e+02] [ 8.79734296e-01 -4.38663331e-01 1.83417694e-01 1.25396605e+02] [-1.87694373e-01 3.40319156e-02 9.81637739e-01 4.55557461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.330714057 meters Centerline goodness : 0.993083 Centerline is valid? [True, True] Translation: X:117.56, Y:125.41, Z:45.54 [[-4.58445210e-01 -8.83810507e-01 -9.33111825e-02 1.17562902e+02] [ 8.72591518e-01 -4.67549779e-01 1.41355041e-01 1.25412382e+02] [-1.68558693e-01 -1.66190049e-02 9.85551508e-01 4.55449017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.360714057 meters Centerline goodness : 0.993240 Centerline is valid? [True, True] Translation: X:117.55, Y:125.38, Z:45.57 [[-4.31786334e-01 -9.01643197e-01 -2.44970818e-02 1.17548421e+02] [ 8.80388383e-01 -4.27203082e-01 2.05946164e-01 1.25384747e+02] [-1.96155186e-01 6.73577929e-02 9.78256649e-01 4.55662375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.390714057 meters Centerline goodness : 0.992627 Centerline is valid? [True, True] Translation: X:117.57, Y:125.41, Z:45.54 [[-4.57431308e-01 -8.82439490e-01 -1.09805032e-01 1.17570675e+02] [ 8.72756911e-01 -4.69182244e-01 1.34771643e-01 1.25413747e+02] [-1.70446391e-01 -3.41843318e-02 9.84773811e-01 4.55383999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.420714057 meters Centerline goodness : 0.991640 Centerline is valid? [True, True] Translation: X:117.56, Y:125.40, Z:45.55 [[-4.41012794e-01 -8.95076817e-01 -6.59181954e-02 1.17561318e+02] [ 8.79174863e-01 -4.45607373e-01 1.68776863e-01 1.25403500e+02] [-1.80441891e-01 1.64791354e-02 9.83447590e-01 4.55545681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.450714057 meters Centerline goodness : 0.991269 Centerline is valid? [True, True] Translation: X:117.56, Y:125.41, Z:45.55 [[-4.42009335e-01 -8.94293073e-01 -6.97685280e-02 1.17561914e+02] [ 8.79084033e-01 -4.47335618e-01 1.64627177e-01 1.25406084e+02] [-1.78434891e-01 1.14343500e-02 9.83885281e-01 4.55530089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.480714057 meters Centerline goodness : 0.991269 Centerline is valid? [True, True] Translation: X:117.56, Y:125.41, Z:45.55 [[-4.41707028e-01 -8.94653237e-01 -6.70111031e-02 1.17559598e+02] [ 8.79275481e-01 -4.46532113e-01 1.65782091e-01 1.25408175e+02] [-1.78240094e-01 1.43058949e-02 9.83883027e-01 4.55536865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.51071405700003 meters Centerline goodness : 0.992066 Centerline is valid? [True, True] Translation: X:117.55, Y:125.40, Z:45.56 [[-4.35147151e-01 -8.99209016e-01 -4.54983686e-02 1.17552659e+02] [ 8.81052944e-01 -4.35680965e-01 1.84195024e-01 1.25399852e+02] [-1.85452600e-01 4.00654684e-02 9.81836082e-01 4.55585354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.540714057 meters Centerline goodness : 0.991305 Centerline is valid? [True, True] Translation: X:117.56, Y:125.43, Z:45.54 [[-4.40607006e-01 -8.93321925e-01 -8.85517046e-02 1.17559435e+02] [ 8.79321591e-01 -4.49339637e-01 1.57757507e-01 1.25433546e+02] [-1.80718031e-01 -8.35636288e-03 9.83499448e-01 4.55396567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.57071405700003 meters Centerline goodness : 0.993702 Centerline is valid? [True, True] Translation: X:117.54, Y:125.42, Z:45.56 [[-4.36471746e-01 -8.98618346e-01 -4.44689062e-02 1.17543968e+02] [ 8.81091025e-01 -4.36918168e-01 1.81055572e-01 1.25417801e+02] [-1.82129132e-01 3.98444874e-02 9.82466995e-01 4.55567110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.600714057 meters Centerline goodness : 0.992522 Centerline is valid? [True, True] Translation: X:117.56, Y:125.42, Z:45.54 [[-4.35936893e-01 -8.96267248e-01 -8.16336038e-02 1.17562255e+02] [ 8.80705452e-01 -4.43513994e-01 1.66292647e-01 1.25415906e+02] [-1.85248299e-01 5.97940068e-04 9.82691564e-01 4.55437648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.630714057 meters Centerline goodness : 0.992265 Centerline is valid? [True, True] Translation: X:117.55, Y:125.43, Z:45.55 [[-4.39925945e-01 -8.95991080e-01 -6.05404673e-02 1.17545739e+02] [ 8.80756509e-01 -4.43640761e-01 1.65682972e-01 1.25432064e+02] [-1.75308684e-01 1.95668273e-02 9.84319056e-01 4.55505478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.660714057 meters Centerline goodness : 0.991426 Centerline is valid? [True, True] Translation: X:117.56, Y:125.42, Z:45.55 [[-4.42069065e-01 -8.93484387e-01 -7.91239048e-02 1.17558057e+02] [ 8.79786730e-01 -4.49093687e-01 1.55853041e-01 1.25424094e+02] [-1.74786305e-01 -7.14353601e-04 9.84606133e-01 4.55480405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.690714057 meters Centerline goodness : 0.990745 Centerline is valid? [True, True] Translation: X:117.55, Y:125.43, Z:45.55 [[-4.39265046e-01 -8.96229079e-01 -6.18033865e-02 1.17546392e+02] [ 8.80285926e-01 -4.43138441e-01 1.69484545e-01 1.25430949e+02] [-1.79284434e-01 2.00439849e-02 9.83593072e-01 4.55505204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.720714057 meters Centerline goodness : 0.992310 Centerline is valid? [True, True] Translation: X:117.54, Y:125.41, Z:45.56 [[-4.30965202e-01 -9.01707283e-01 -3.45394030e-02 1.17542439e+02] [ 8.82302284e-01 -4.29100006e-01 1.93431809e-01 1.25408215e+02] [-1.89239729e-01 5.28881844e-02 9.80505566e-01 4.55595277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.750714057 meters Centerline goodness : 0.991493 Centerline is valid? [True, True] Translation: X:117.56, Y:125.44, Z:45.53 [[-4.37650870e-01 -8.93618693e-01 -9.95356597e-02 1.17563761e+02] [ 8.80155149e-01 -4.48405706e-01 1.55753768e-01 1.25435237e+02] [-1.83816836e-01 -1.94410512e-02 9.82768241e-01 4.55347133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.780714057 meters Centerline goodness : 0.990860 Centerline is valid? [True, True] Translation: X:117.55, Y:125.43, Z:45.55 [[-4.38465332e-01 -8.96204272e-01 -6.75726004e-02 1.17551140e+02] [ 8.80289049e-01 -4.43404050e-01 1.68772150e-01 1.25426141e+02] [-1.81216286e-01 1.45173166e-02 9.83336110e-01 4.55495829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.810714057 meters Centerline goodness : 0.991512 Centerline is valid? [True, True] Translation: X:117.55, Y:125.44, Z:45.55 [[-4.37088797e-01 -8.96819793e-01 -6.83201504e-02 1.17545158e+02] [ 8.80924371e-01 -4.42189166e-01 1.68644582e-01 1.25439083e+02] [-1.81454229e-01 1.35277717e-02 9.83306342e-01 4.55474896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.840714057 meters Centerline goodness : 0.991897 Centerline is valid? [True, True] Translation: X:117.55, Y:125.42, Z:45.55 [[-4.35088105e-01 -8.98135630e-01 -6.36453542e-02 1.17548415e+02] [ 8.81572306e-01 -4.39305631e-01 1.72744989e-01 1.25424250e+02] [-1.83108192e-01 1.90513083e-02 9.82908153e-01 4.55514278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.870714057 meters Centerline goodness : 0.991123 Centerline is valid? [True, True] Translation: X:117.55, Y:125.43, Z:45.55 [[-4.32587312e-01 -8.99408483e-01 -6.27104346e-02 1.17545575e+02] [ 8.81973900e-01 -4.36580459e-01 1.77537442e-01 1.25426931e+02] [-1.87056832e-01 2.14914783e-02 9.82113974e-01 4.55495864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.900714057 meters Centerline goodness : 0.991530 Centerline is valid? [True, True] Translation: X:117.55, Y:125.44, Z:45.54 [[-4.32845932e-01 -8.98533493e-01 -7.26771034e-02 1.17546951e+02] [ 8.82546399e-01 -4.38812616e-01 1.68983262e-01 1.25435337e+02] [-1.83728751e-01 9.00280180e-03 9.82935754e-01 4.55449641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.930714057 meters Centerline goodness : 0.990933 Centerline is valid? [True, True] Translation: X:117.55, Y:125.43, Z:45.55 [[-4.31367976e-01 -8.99853973e-01 -6.46876881e-02 1.17545204e+02] [ 8.82807197e-01 -4.35798203e-01 1.75303679e-01 1.25428446e+02] [-1.85938490e-01 1.85136367e-02 9.82386952e-01 4.55484702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.960714057 meters Centerline goodness : 0.990752 Centerline is valid? [True, True] Translation: X:117.54, Y:125.45, Z:45.54 [[-4.31196922e-01 -8.99579996e-01 -6.94625493e-02 1.17539409e+02] [ 8.83083352e-01 -4.36568143e-01 1.71965258e-01 1.25445439e+02] [-1.85021642e-01 1.28096689e-02 9.82650958e-01 4.55436668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.990714057 meters Centerline goodness : 0.991459 Centerline is valid? [True, True] Translation: X:117.54, Y:125.44, Z:45.55 [[-4.28736329e-01 -9.00818067e-01 -6.86437956e-02 1.17539994e+02] [ 8.84151776e-01 -4.33987385e-01 1.73004585e-01 1.25439839e+02] [-1.85636197e-01 1.34818170e-02 9.82526052e-01 4.55450130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.020714057 meters Centerline goodness : 0.991125 Centerline is valid? [True, True] Translation: X:117.54, Y:125.44, Z:45.55 [[-4.27894917e-01 -9.01231738e-01 -6.84638189e-02 1.17541216e+02] [ 8.84503332e-01 -4.33123082e-01 1.73373159e-01 1.25435034e+02] [-1.85902653e-01 1.36290173e-02 9.82473640e-01 4.55456829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.050714057 meters Centerline goodness : 0.989764 Centerline is valid? [True, True] Translation: X:117.54, Y:125.43, Z:45.55 [[-4.25078518e-01 -9.02625860e-01 -6.76373422e-02 1.17541301e+02] [ 8.85506114e-01 -4.30173430e-01 1.75584006e-01 1.25433112e+02] [-1.87582452e-01 1.47437089e-02 9.82138202e-01 4.55455529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.080714057 meters Centerline goodness : 0.990372 Centerline is valid? [True, True] Translation: X:117.54, Y:125.42, Z:45.55 [[-4.16984438e-01 -9.07252531e-01 -5.49256216e-02 1.17538204e+02] [ 8.86582581e-01 -4.19309249e-01 1.95323018e-01 1.25423911e+02] [-2.00238123e-01 3.27505595e-02 9.79199722e-01 4.55473893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.110714057 meters Centerline goodness : 0.990461 Centerline is valid? [True, True] Translation: X:117.55, Y:125.44, Z:45.54 [[-4.21031705e-01 -9.02949405e-01 -8.61085094e-02 1.17546989e+02] [ 8.87437686e-01 -4.29702104e-01 1.66764669e-01 1.25439631e+02] [-1.87581066e-01 -6.20272326e-03 9.82229540e-01 4.55368025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.140714057 meters Centerline goodness : 0.990195 Centerline is valid? [True, True] Translation: X:117.54, Y:125.43, Z:45.55 [[-4.18046529e-01 -9.05923631e-01 -6.73756197e-02 1.17539719e+02] [ 8.89208032e-01 -4.23250639e-01 1.73689298e-01 1.25430397e+02] [-1.85866014e-01 1.26992661e-02 9.82493030e-01 4.55466406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.170714057 meters Centerline goodness : 0.990123 Centerline is valid? [True, True] Translation: X:117.54, Y:125.43, Z:45.55 [[-4.15612022e-01 -9.07143395e-01 -6.60114324e-02 1.17539503e+02] [ 8.89945776e-01 -4.20569402e-01 1.76402647e-01 1.25429490e+02] [-1.87784884e-01 1.45684652e-02 9.82102132e-01 4.55463645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.200714057 meters Centerline goodness : 0.989723 Centerline is valid? [True, True] Translation: X:117.54, Y:125.44, Z:45.54 [[-4.14350761e-01 -9.07436403e-01 -6.98041711e-02 1.17537281e+02] [ 8.90996233e-01 -4.20089752e-01 1.72192663e-01 1.25437335e+02] [-1.85577908e-01 9.15290757e-03 9.82586925e-01 4.55440321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.230714057 meters Centerline goodness : 0.989727 Centerline is valid? [True, True] Translation: X:117.53, Y:125.45, Z:45.54 [[-4.12145667e-01 -9.08610476e-01 -6.75496248e-02 1.17532136e+02] [ 8.92032958e-01 -4.17497123e-01 1.73128143e-01 1.25447791e+02] [-1.85507818e-01 1.10975223e-02 9.82580121e-01 4.55422928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.26071405700003 meters Centerline goodness : 0.988922 Centerline is valid? [True, True] Translation: X:117.53, Y:125.44, Z:45.54 [[-4.11167778e-01 -9.09196746e-01 -6.55921920e-02 1.17534081e+02] [ 8.92628800e-01 -4.16173551e-01 1.73243764e-01 1.25442005e+02] [-1.84810402e-01 1.26827740e-02 9.82692354e-01 4.55447328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.290714057 meters Centerline goodness : 0.989279 Centerline is valid? [True, True] Translation: X:117.54, Y:125.44, Z:45.54 [[-4.10991135e-01 -9.08959556e-01 -6.98485021e-02 1.17536543e+02] [ 8.93188087e-01 -4.16826203e-01 1.68733394e-01 1.25441212e+02] [-1.82486517e-01 6.96007920e-03 9.83183721e-01 4.55438564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.32071405700003 meters Centerline goodness : 0.990787 Centerline is valid? [True, True] Translation: X:117.53, Y:125.44, Z:45.55 [[-4.09853099e-01 -9.10410248e-01 -5.63348773e-02 1.17530393e+02] [ 8.94784767e-01 -4.13276534e-01 1.69005111e-01 1.25441904e+02] [-1.77145868e-01 1.88596784e-02 9.84003889e-01 4.55490747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.350714057 meters Centerline goodness : 0.990765 Centerline is valid? [True, True] Translation: X:117.54, Y:125.44, Z:45.54 [[-4.05205361e-01 -9.11910501e-01 -6.50219498e-02 1.17537124e+02] [ 8.94723294e-01 -4.10169227e-01 1.76724171e-01 1.25435427e+02] [-1.87826631e-01 1.34329286e-02 9.82110337e-01 4.55449689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.380714057 meters Centerline goodness : 0.991160 Centerline is valid? [True, True] Translation: X:117.53, Y:125.45, Z:45.54 [[-4.09653346e-01 -9.10005724e-01 -6.38256893e-02 1.17530102e+02] [ 8.94882874e-01 -4.14457456e-01 1.65558630e-01 1.25453519e+02] [-1.77112333e-01 1.07051304e-02 9.84132421e-01 4.55442046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.410714057 meters Centerline goodness : 0.992707 Centerline is valid? [True, True] Translation: X:117.53, Y:125.46, Z:45.54 [[-4.11994278e-01 -9.08732299e-01 -6.68305511e-02 1.17530879e+02] [ 8.94317449e-01 -4.17325514e-01 1.61355868e-01 1.25455977e+02] [-1.74519383e-01 6.70996633e-03 9.84630876e-01 4.55446102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.440714057 meters Centerline goodness : 0.990219 Centerline is valid? [True, True] Translation: X:117.53, Y:125.46, Z:45.54 [[-4.12005362e-01 -9.08206427e-01 -7.35708393e-02 1.17533912e+02] [ 8.93935469e-01 -4.18522392e-01 1.60369525e-01 1.25457605e+02] [-1.76439677e-01 3.05521382e-04 9.84311408e-01 4.55417131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.470714057 meters Centerline goodness : 0.991346 Centerline is valid? [True, True] Translation: X:117.53, Y:125.46, Z:45.55 [[-4.12484158e-01 -9.08629538e-01 -6.51857491e-02 1.17528542e+02] [ 8.94011163e-01 -4.17510797e-01 1.62569294e-01 1.25460286e+02] [-1.74931017e-01 8.78047107e-03 9.84541539e-01 4.55455792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.500714057 meters Centerline goodness : 0.990790 Centerline is valid? [True, True] Translation: X:117.53, Y:125.46, Z:45.55 [[-4.09979028e-01 -9.10122073e-01 -5.99583898e-02 1.17526324e+02] [ 8.93983675e-01 -4.14004030e-01 1.71446355e-01 1.25458632e+02] [-1.80860127e-01 1.66875883e-02 9.83367245e-01 4.55478549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.530714057 meters Centerline goodness : 0.992204 Centerline is valid? [True, True] Translation: X:117.52, Y:125.47, Z:45.55 [[-4.09870942e-01 -9.10524314e-01 -5.43257304e-02 1.17520266e+02] [ 8.94532766e-01 -4.12890867e-01 1.71266642e-01 1.25467712e+02] [-1.78373040e-01 2.16010740e-02 9.83725801e-01 4.55480172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.560714057 meters Centerline goodness : 0.991034 Centerline is valid? [True, True] Translation: X:117.53, Y:125.47, Z:45.54 [[-4.10325914e-01 -9.08978400e-01 -7.34228399e-02 1.17529901e+02] [ 8.93595186e-01 -4.16834299e-01 1.66543718e-01 1.25467511e+02] [-1.81989801e-01 2.72690714e-03 9.83296637e-01 4.55405608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.590714057 meters Centerline goodness : 0.991624 Centerline is valid? [True, True] Translation: X:117.52, Y:125.47, Z:45.54 [[-4.09991537e-01 -9.09999653e-01 -6.17055145e-02 1.17524439e+02] [ 8.93518114e-01 -4.14305968e-01 1.73135626e-01 1.25467920e+02] [-1.83118322e-01 1.58491463e-02 9.82963115e-01 4.55447540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.620714057 meters Centerline goodness : 0.991425 Centerline is valid? [True, True] Translation: X:117.52, Y:125.48, Z:45.54 [[-4.11415036e-01 -9.08845717e-01 -6.88268181e-02 1.17524107e+02] [ 8.93124806e-01 -4.17058557e-01 1.68494041e-01 1.25477505e+02] [-1.81839901e-01 7.85004352e-03 9.83296815e-01 4.55406636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.650714057 meters Centerline goodness : 0.991581 Centerline is valid? [True, True] Translation: X:117.52, Y:125.47, Z:45.55 [[-4.11369129e-01 -9.09793850e-01 -5.52321454e-02 1.17518849e+02] [ 8.93757364e-01 -4.14522014e-01 1.71374661e-01 1.25474653e+02] [-1.78810552e-01 2.11341082e-02 9.83656513e-01 4.55460705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.680714057 meters Centerline goodness : 0.991522 Centerline is valid? [True, True] Translation: X:117.52, Y:125.48, Z:45.54 [[-4.11657260e-01 -9.09167548e-01 -6.28702635e-02 1.17518313e+02] [ 8.93360010e-01 -4.16210153e-01 1.69342849e-01 1.25484874e+02] [-1.80128265e-01 1.35454341e-02 9.83549861e-01 4.55399758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.710714057 meters Centerline goodness : 0.992322 Centerline is valid? [True, True] Translation: X:117.52, Y:125.47, Z:45.54 [[-4.11302240e-01 -9.09181738e-01 -6.49540997e-02 1.17524292e+02] [ 8.94056588e-01 -4.16279976e-01 1.65450290e-01 1.25471797e+02] [-1.77463474e-01 9.97743429e-03 9.84076809e-01 4.55417182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.740714057 meters Centerline goodness : 0.991106 Centerline is valid? [True, True] Translation: X:117.52, Y:125.48, Z:45.53 [[-4.12313516e-01 -9.07914461e-01 -7.54247761e-02 1.17524794e+02] [ 8.93629257e-01 -4.19153619e-01 1.60427536e-01 1.25482554e+02] [-1.77269048e-01 -1.25534535e-03 9.84161627e-01 4.55349499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.770714057 meters Centerline goodness : 0.991145 Centerline is valid? [True, True] Translation: X:117.52, Y:125.48, Z:45.54 [[-4.10798155e-01 -9.10173863e-01 -5.31828432e-02 1.17515737e+02] [ 8.94499459e-01 -4.13635725e-01 1.69635507e-01 1.25476038e+02] [-1.76396129e-01 2.21139288e-02 9.84070821e-01 4.55449749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.800714057 meters Centerline goodness : 0.992350 Centerline is valid? [True, True] Translation: X:117.51, Y:125.50, Z:45.53 [[-4.26409200e-01 -9.00623501e-01 -8.39791842e-02 1.17514169e+02] [ 8.89361774e-01 -4.34379154e-01 1.42654777e-01 1.25497146e+02] [-1.64957051e-01 -1.38585671e-02 9.86203382e-01 4.55334279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.830714057 meters Centerline goodness : 0.991679 Centerline is valid? [True, True] Translation: X:117.51, Y:125.47, Z:45.55 [[-4.07295754e-01 -9.12376480e-01 -4.09795994e-02 1.17512071e+02] [ 8.95291196e-01 -4.07729701e-01 1.79471907e-01 1.25467096e+02] [-1.80454546e-01 3.64094709e-02 9.82909206e-01 4.55495436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.860714057 meters Centerline goodness : 0.992144 Centerline is valid? [True, True] Translation: X:117.51, Y:125.50, Z:45.54 [[-4.24609164e-01 -9.02210209e-01 -7.56557814e-02 1.17508572e+02] [ 8.90331597e-01 -4.31263302e-01 1.46019220e-01 1.25498457e+02] [-1.64367593e-01 -5.35763374e-03 9.86384606e-01 4.55371432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.890714057 meters Centerline goodness : 0.991807 Centerline is valid? [True, True] Translation: X:117.51, Y:125.48, Z:45.55 [[-4.10409570e-01 -9.10524711e-01 -5.00872830e-02 1.17509210e+02] [ 8.94687733e-01 -4.12676364e-01 1.70973916e-01 1.25478819e+02] [-1.76345813e-01 2.53568535e-02 9.84001618e-01 4.55459145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.920714057 meters Centerline goodness : 0.992916 Centerline is valid? [True, True] Translation: X:117.50, Y:125.51, Z:45.54 [[-4.27851368e-01 -9.00750312e-01 -7.47802306e-02 1.17504309e+02] [ 8.88451166e-01 -4.34327217e-01 1.48372486e-01 1.25505071e+02] [-1.66125652e-01 -2.95721194e-03 9.86100159e-01 4.55368176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.950714057 meters Centerline goodness : 0.992210 Centerline is valid? [True, True] Translation: X:117.50, Y:125.50, Z:45.54 [[-4.14205692e-01 -9.08811153e-01 -4.99593190e-02 1.17500974e+02] [ 8.92615363e-01 -4.16330800e-01 1.72934898e-01 1.25498387e+02] [-1.77964767e-01 2.70361633e-02 9.83665384e-01 4.55421815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.980714057 meters Centerline goodness : 0.992548 Centerline is valid? [True, True] Translation: X:117.51, Y:125.50, Z:45.54 [[-4.18218507e-01 -9.06191232e-01 -6.25358492e-02 1.17506955e+02] [ 8.90598905e-01 -4.22616979e-01 1.68013333e-01 1.25497383e+02] [-1.78680921e-01 1.45719264e-02 9.83799160e-01 4.55377184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.01071405700003 meters Centerline goodness : 0.991948 Centerline is valid? [True, True] Translation: X:117.50, Y:125.51, Z:45.53 [[-4.21918085e-01 -9.04166355e-01 -6.68455899e-02 1.17502374e+02] [ 8.89458645e-01 -4.27081862e-01 1.62678830e-01 1.25513515e+02] [-1.75637264e-01 9.18075271e-03 9.84412142e-01 4.55344011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.040714057 meters Centerline goodness : 0.991014 Centerline is valid? [True, True] Translation: X:117.51, Y:125.52, Z:45.53 [[-4.26625754e-01 -9.01428923e-01 -7.35959381e-02 1.17505520e+02] [ 8.86420889e-01 -4.32901884e-01 1.63871798e-01 1.25515361e+02] [-1.79578599e-01 4.67495266e-03 9.83732520e-01 4.55319253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.07071405700003 meters Centerline goodness : 0.992407 Centerline is valid? [True, True] Translation: X:117.50, Y:125.52, Z:45.54 [[-4.28258040e-01 -9.02004076e-01 -5.46232391e-02 1.17495263e+02] [ 8.86727901e-01 -4.31112255e-01 1.66900731e-01 1.25519733e+02] [-1.74093888e-01 2.30406297e-02 9.84459470e-01 4.55378329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.100714057 meters Centerline goodness : 0.991531 Centerline is valid? [True, True] Translation: X:117.50, Y:125.52, Z:45.53 [[-4.29173126e-01 -9.01095898e-01 -6.19403798e-02 1.17500059e+02] [ 8.86066821e-01 -4.33332695e-01 1.64646179e-01 1.25518190e+02] [-1.75202788e-01 1.57783998e-02 9.84405925e-01 4.55341118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.130714057 meters Centerline goodness : 0.992530 Centerline is valid? [True, True] Translation: X:117.50, Y:125.53, Z:45.53 [[-4.32803182e-01 -8.99517775e-01 -5.95749823e-02 1.17495430e+02] [ 8.84658743e-01 -4.36504669e-01 1.63837058e-01 1.25528721e+02] [-1.73379104e-01 1.82056711e-02 9.84686874e-01 4.55315458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.160714057 meters Centerline goodness : 0.991732 Centerline is valid? [True, True] Translation: X:117.51, Y:125.52, Z:45.53 [[-4.34911759e-01 -8.97510173e-01 -7.29880167e-02 1.17505692e+02] [ 8.82923972e-01 -4.40957075e-01 1.61251721e-01 1.25520873e+02] [-1.76909642e-01 5.68739984e-03 9.84210664e-01 4.55272713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.190714057 meters Centerline goodness : 0.990944 Centerline is valid? [True, True] Translation: X:117.50, Y:125.52, Z:45.53 [[-4.37016161e-01 -8.97143863e-01 -6.44186621e-02 1.17500095e+02] [ 8.82438970e-01 -4.41512821e-01 1.62381939e-01 1.25523258e+02] [-1.74121625e-01 1.41179937e-02 9.84622944e-01 4.55315382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.220714057 meters Centerline goodness : 0.991105 Centerline is valid? [True, True] Translation: X:117.50, Y:125.52, Z:45.53 [[-4.34124140e-01 -8.98687422e-01 -6.24271484e-02 1.17498384e+02] [ 8.83228386e-01 -4.38248141e-01 1.66871764e-01 1.25522253e+02] [-1.77324138e-01 1.73056317e-02 9.84000338e-01 4.55306882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.250714057 meters Centerline goodness : 0.991285 Centerline is valid? [True, True] Translation: X:117.50, Y:125.52, Z:45.53 [[-4.33030514e-01 -8.98971485e-01 -6.58395231e-02 1.17498809e+02] [ 8.83536756e-01 -4.37786331e-01 1.66450979e-01 1.25522418e+02] [-1.78458327e-01 1.39067144e-02 9.83849190e-01 4.55297051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.280714057 meters Centerline goodness : 0.990883 Centerline is valid? [True, True] Translation: X:117.49, Y:125.53, Z:45.53 [[-4.27530157e-01 -9.01739619e-01 -6.39032386e-02 1.17491553e+02] [ 8.85450683e-01 -4.31956466e-01 1.71437159e-01 1.25530719e+02] [-1.82195095e-01 1.67113891e-02 9.83120378e-01 4.55286067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.310714057 meters Centerline goodness : 0.991817 Centerline is valid? [True, True] Translation: X:117.49, Y:125.52, Z:45.53 [[-4.23506312e-01 -9.04549494e-01 -4.93215751e-02 1.17487462e+02] [ 8.87517005e-01 -4.25210652e-01 1.77509064e-01 1.25520933e+02] [-1.81537793e-01 3.14024724e-02 9.82882452e-01 4.55348515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.340714057 meters Centerline goodness : 0.990387 Centerline is valid? [True, True] Translation: X:117.49, Y:125.55, Z:45.52 [[-4.18306346e-01 -9.04617366e-01 -8.17754314e-02 1.17490222e+02] [ 8.89043964e-01 -4.26215550e-01 1.67156023e-01 1.25549035e+02] [-1.86066202e-01 -2.77952839e-03 9.82533278e-01 4.55159776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.370714057 meters Centerline goodness : 0.990387 Centerline is valid? [True, True] Translation: X:117.48, Y:125.55, Z:45.52 [[-4.18219864e-01 -9.05969111e-01 -6.56666956e-02 1.17481905e+02] [ 8.89292772e-01 -4.23105238e-01 1.73609686e-01 1.25549844e+02] [-1.85068936e-01 1.42101015e-02 9.82622797e-01 4.55223508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.400714057 meters Centerline goodness : 0.991521 Centerline is valid? [True, True] Translation: X:117.40, Y:125.74, Z:45.49 [[-4.36122119e-01 -8.95824888e-01 -8.54123409e-02 1.17404639e+02] [ 8.84289980e-01 -4.44223218e-01 1.43864396e-01 1.25743870e+02] [-1.66819451e-01 -1.27868321e-02 9.85904543e-01 4.54860495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.430714057 meters Centerline goodness : 0.991083 Centerline is valid? [True, True] Translation: X:117.46, Y:125.56, Z:45.54 [[-4.26754614e-01 -9.03427119e-01 -4.12303318e-02 1.17457898e+02] [ 8.89372259e-01 -4.27509943e-01 1.62025412e-01 1.25557051e+02] [-1.64004528e-01 3.24759789e-02 9.85924858e-01 4.55384943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.460714057 meters Centerline goodness : 0.988623 Centerline is valid? [True, True] Translation: X:117.48, Y:125.54, Z:45.53 [[-4.05223794e-01 -9.12323982e-01 -5.88101092e-02 1.17475322e+02] [ 8.94626677e-01 -4.08964757e-01 1.79974824e-01 1.25543148e+02] [-1.88246610e-01 2.03169886e-02 9.81911622e-01 4.55250859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.490714057 meters Centerline goodness : 0.991212 Centerline is valid? [True, True] Translation: X:117.47, Y:125.57, Z:45.52 [[-4.23842264e-01 -9.01252877e-01 -9.00054791e-02 1.17473675e+02] [ 8.90284627e-01 -4.32826630e-01 1.41613527e-01 1.25565980e+02] [-1.66586367e-01 -2.01086966e-02 9.85821801e-01 4.55189107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.520714057 meters Centerline goodness : 0.989375 Centerline is valid? [True, True] Translation: X:117.47, Y:125.52, Z:45.54 [[-4.00627988e-01 -9.15606359e-01 -3.40912158e-02 1.17471932e+02] [ 8.96673736e-01 -3.99449235e-01 1.90831130e-01 1.25521239e+02] [-1.88343906e-01 4.58835938e-02 9.81030718e-01 4.55380520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.550714057 meters Centerline goodness : 0.988819 Centerline is valid? [True, True] Translation: X:117.49, Y:125.52, Z:45.52 [[-3.97422154e-01 -9.15355438e-01 -6.46533387e-02 1.17486219e+02] [ 8.97495957e-01 -4.02413950e-01 1.80455036e-01 1.25522864e+02] [-1.91197904e-01 1.36907191e-02 9.81456023e-01 4.55236131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.580714057 meters Centerline goodness : 0.990081 Centerline is valid? [True, True] Translation: X:117.48, Y:125.54, Z:45.53 [[-3.97961464e-01 -9.15690829e-01 -5.60087464e-02 1.17475054e+02] [ 8.99014043e-01 -4.01419598e-01 1.75031590e-01 1.25537989e+02] [-1.82757830e-01 1.93031783e-02 9.82968444e-01 4.55256367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.610714057 meters Centerline goodness : 0.989559 Centerline is valid? [True, True] Translation: X:117.48, Y:125.53, Z:45.52 [[-3.95116369e-01 -9.16604163e-01 -6.09906890e-02 1.17480235e+02] [ 8.99831578e-01 -3.99539553e-01 1.75132171e-01 1.25529311e+02] [-1.84895069e-01 1.43162395e-02 9.82653987e-01 4.55242806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.640714057 meters Centerline goodness : 0.990331 Centerline is valid? [True, True] Translation: X:117.48, Y:125.54, Z:45.52 [[-3.94393874e-01 -9.16508629e-01 -6.68236881e-02 1.17476716e+02] [ 9.00456956e-01 -3.99949342e-01 1.70932135e-01 1.25540920e+02] [-1.83386867e-01 7.24273230e-03 9.83014140e-01 4.55209338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.670714057 meters Centerline goodness : 0.989279 Centerline is valid? [True, True] Translation: X:117.47, Y:125.55, Z:45.52 [[-3.95612998e-01 -9.15798635e-01 -6.93052357e-02 1.17473327e+02] [ 9.00644148e-01 -4.01624730e-01 1.65944856e-01 1.25550119e+02] [-1.79806770e-01 3.23058730e-03 9.83696645e-01 4.55199226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.700714057 meters Centerline goodness : 0.989489 Centerline is valid? [True, True] Translation: X:117.47, Y:125.54, Z:45.53 [[-3.95493089e-01 -9.16392404e-01 -6.17266408e-02 1.17471516e+02] [ 9.00852909e-01 -4.00130038e-01 1.68404240e-01 1.25541630e+02] [-1.79023049e-01 1.09960890e-02 9.83783428e-01 4.55257842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.730714057 meters Centerline goodness : 0.988856 Centerline is valid? [True, True] Translation: X:117.46, Y:125.57, Z:45.52 [[-3.97694260e-01 -9.15031226e-01 -6.75065244e-02 1.17464055e+02] [ 9.00411152e-01 -4.03362910e-01 1.62966623e-01 1.25565526e+02] [-1.76349177e-01 4.02726313e-03 9.84319434e-01 4.55201383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.76071405700003 meters Centerline goodness : 0.988680 Centerline is valid? [True, True] Translation: X:117.48, Y:125.55, Z:45.52 [[-3.98628553e-01 -9.13650357e-01 -7.96134592e-02 1.17476703e+02] [ 8.99668723e-01 -4.06420805e-01 1.59431236e-01 1.25546057e+02] [-1.78020972e-01 -8.07189613e-03 9.83993586e-01 4.55201484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.790714057 meters Centerline goodness : 0.989408 Centerline is valid? [True, True] Translation: X:117.47, Y:125.54, Z:45.53 [[-4.01752680e-01 -9.13408718e-01 -6.54163352e-02 1.17470215e+02] [ 8.98940857e-01 -4.06994885e-01 1.62050918e-01 1.25544414e+02] [-1.74642835e-01 6.29897436e-03 9.84611702e-01 4.55269029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.82071405700003 meters Centerline goodness : 0.988996 Centerline is valid? [True, True] Translation: X:117.46, Y:125.56, Z:45.53 [[-4.09314848e-01 -9.10146008e-01 -6.39968740e-02 1.17464554e+02] [ 8.96993302e-01 -4.14247819e-01 1.54278192e-01 1.25555179e+02] [-1.66926246e-01 5.74358758e-03 9.85952656e-01 4.55294858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.850714057 meters Centerline goodness : 0.989521 Centerline is valid? [True, True] Translation: X:117.46, Y:125.56, Z:45.53 [[-4.10389283e-01 -9.09524210e-01 -6.59268330e-02 1.17463661e+02] [ 8.96562167e-01 -4.15634458e-01 1.53049920e-01 1.25559104e+02] [-1.66604071e-01 3.70254285e-03 9.86016924e-01 4.55275713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.880714057 meters Centerline goodness : 0.989408 Centerline is valid? [True, True] Translation: X:117.46, Y:125.56, Z:45.53 [[-4.13529595e-01 -9.08697471e-01 -5.71155060e-02 1.17457861e+02] [ 8.95462864e-01 -4.17253430e-01 1.55067193e-01 1.25563312e+02] [-1.64740807e-01 1.29800589e-02 9.86251481e-01 4.55306905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.910714057 meters Centerline goodness : 0.989203 Centerline is valid? [True, True] Translation: X:117.46, Y:125.56, Z:45.53 [[-4.13603074e-01 -9.08465824e-01 -6.01859131e-02 1.17460943e+02] [ 8.94975240e-01 -4.17819507e-01 1.56352741e-01 1.25560483e+02] [-1.67187970e-01 1.08030720e-02 9.85865851e-01 4.55287341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.940714057 meters Centerline goodness : 0.989949 Centerline is valid? [True, True] Translation: X:117.46, Y:125.57, Z:45.53 [[-4.15419504e-01 -9.07710452e-01 -5.90624327e-02 1.17457301e+02] [ 8.94367242e-01 -4.19431730e-01 1.55512894e-01 1.25568320e+02] [-1.65933337e-01 1.17795840e-02 9.86066615e-01 4.55284566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.970714057 meters Centerline goodness : 0.989819 Centerline is valid? [True, True] Translation: X:117.46, Y:125.57, Z:45.53 [[-4.16073864e-01 -9.07033828e-01 -6.45923679e-02 1.17459865e+02] [ 8.94300179e-01 -4.21024544e-01 1.51543800e-01 1.25566118e+02] [-1.64650325e-01 5.28844830e-03 9.86337824e-01 4.55273113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.000714057 meters Centerline goodness : 0.990059 Centerline is valid? [True, True] Translation: X:117.46, Y:125.57, Z:45.53 [[-4.16061719e-01 -9.07500513e-01 -5.77534811e-02 1.17455855e+02] [ 8.94465923e-01 -4.19870510e-01 1.53751317e-01 1.25565791e+02] [-1.63778382e-01 1.23115164e-02 9.86420330e-01 4.55313608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.030714057 meters Centerline goodness : 0.988916 Centerline is valid? [True, True] Translation: X:117.45, Y:125.57, Z:45.53 [[-4.16275813e-01 -9.07311537e-01 -5.91626832e-02 1.17454503e+02] [ 8.94143564e-01 -4.20304729e-01 1.54438409e-01 1.25568992e+02] [-1.64990106e-01 1.13890419e-02 9.86229464e-01 4.55311999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.060714057 meters Centerline goodness : 0.988868 Centerline is valid? [True, True] Translation: X:117.45, Y:125.58, Z:45.53 [[-4.15378888e-01 -9.07508081e-01 -6.23655539e-02 1.17450955e+02] [ 8.94426321e-01 -4.19956871e-01 1.53745839e-01 1.25578549e+02] [-1.65716434e-01 8.08138256e-03 9.86140332e-01 4.55284132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.090714057 meters Centerline goodness : 0.988741 Centerline is valid? [True, True] Translation: X:117.44, Y:125.60, Z:45.52 [[-4.14845426e-01 -9.07974855e-01 -5.90333464e-02 1.17439106e+02] [ 8.94543116e-01 -4.18854765e-01 1.56055438e-01 1.25602546e+02] [-1.66420812e-01 1.19310110e-02 9.85982639e-01 4.55247162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.120714057 meters Centerline goodness : 0.988558 Centerline is valid? [True, True] Translation: X:117.44, Y:125.61, Z:45.52 [[-4.15472950e-01 -9.07499637e-01 -6.18598210e-02 1.17437737e+02] [ 8.94403987e-01 -4.19964934e-01 1.53853703e-01 1.25608901e+02] [-1.65601135e-01 8.59438126e-03 9.86155363e-01 4.55232638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.150714057 meters Centerline goodness : 0.988514 Centerline is valid? [True, True] Translation: X:117.43, Y:125.62, Z:45.52 [[-4.14312144e-01 -9.08435555e-01 -5.55903821e-02 1.17429167e+02] [ 8.94521581e-01 -4.17709407e-01 1.59216809e-01 1.25622683e+02] [-1.67858835e-01 1.62386608e-02 9.85677289e-01 4.55207090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.180714057 meters Centerline goodness : 0.989080 Centerline is valid? [True, True] Translation: X:117.45, Y:125.58, Z:45.52 [[-4.14067761e-01 -9.08071986e-01 -6.28741398e-02 1.17449369e+02] [ 8.94724257e-01 -4.18736495e-01 1.55332711e-01 1.25581535e+02] [-1.67380980e-01 8.06324995e-03 9.85859316e-01 4.55240415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.210714057 meters Centerline goodness : 0.989081 Centerline is valid? [True, True] Translation: X:117.44, Y:125.60, Z:45.52 [[-4.14469029e-01 -9.08535743e-01 -5.27088920e-02 1.17437188e+02] [ 8.94549352e-01 -4.17368262e-01 1.59953715e-01 1.25598758e+02] [-1.67322686e-01 1.91451559e-02 9.85716279e-01 4.55233640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.240714057 meters Centerline goodness : 0.988255 Centerline is valid? [True, True] Translation: X:117.44, Y:125.61, Z:45.52 [[-4.15110289e-01 -9.07765707e-01 -6.03727576e-02 1.17438079e+02] [ 8.94566984e-01 -4.19354602e-01 1.54569172e-01 1.25605028e+02] [-1.65630187e-01 1.01557778e-02 9.86135640e-01 4.55183782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.270714057 meters Centerline goodness : 0.988390 Centerline is valid? [True, True] Translation: X:117.44, Y:125.59, Z:45.52 [[-4.15344881e-01 -9.07736114e-01 -5.91927221e-02 1.17443218e+02] [ 8.94320171e-01 -4.19374765e-01 1.55936647e-01 1.25588971e+02] [-1.66373260e-01 1.18302427e-02 9.85991878e-01 4.55213566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.300714057 meters Centerline goodness : 0.988885 Centerline is valid? [True, True] Translation: X:117.44, Y:125.60, Z:45.52 [[-4.16218632e-01 -9.07063169e-01 -6.32333616e-02 1.17440527e+02] [ 8.94368979e-01 -4.20945224e-01 1.51358014e-01 1.25597576e+02] [-1.63909061e-01 6.44406833e-03 9.86454405e-01 4.55183682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.330714057 meters Centerline goodness : 0.988860 Centerline is valid? [True, True] Translation: X:117.44, Y:125.60, Z:45.52 [[-4.14549814e-01 -9.08357003e-01 -5.50999724e-02 1.17435152e+02] [ 8.94525424e-01 -4.17868677e-01 1.58776683e-01 1.25598775e+02] [-1.67250464e-01 1.65325180e-02 9.85775815e-01 4.55216135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.360714057 meters Centerline goodness : 0.988512 Centerline is valid? [True, True] Translation: X:117.44, Y:125.60, Z:45.52 [[-4.12933309e-01 -9.09040472e-01 -5.59598362e-02 1.17436357e+02] [ 8.94794840e-01 -4.16382229e-01 1.61146000e-01 1.25595528e+02] [-1.69788917e-01 1.64699784e-02 9.85342815e-01 4.55223145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.390714057 meters Centerline goodness : 0.988555 Centerline is valid? [True, True] Translation: X:117.44, Y:125.60, Z:45.52 [[-4.10871257e-01 -9.09520495e-01 -6.29069166e-02 1.17435608e+02] [ 8.94726212e-01 -4.15513637e-01 1.63748048e-01 1.25603996e+02] [-1.75070888e-01 1.09948993e-02 9.84494437e-01 4.55165989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.420714057 meters Centerline goodness : 0.988118 Centerline is valid? [True, True] Translation: X:117.44, Y:125.60, Z:45.52 [[-4.09491011e-01 -9.10517769e-01 -5.72232857e-02 1.17435780e+02] [ 8.94781251e-01 -4.13068328e-01 1.69531915e-01 1.25596597e+02] [-1.77998948e-01 1.82194722e-02 9.83861995e-01 4.55202559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.450714057 meters Centerline goodness : 0.988081 Centerline is valid? [True, True] Translation: X:117.44, Y:125.60, Z:45.52 [[-4.07075821e-01 -9.11242956e-01 -6.26542216e-02 1.17438983e+02] [ 8.95044480e-01 -4.11638703e-01 1.71606983e-01 1.25595331e+02] [-1.82166557e-01 1.37787384e-02 9.83171141e-01 4.55158120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.480714057 meters Centerline goodness : 0.989532 Centerline is valid? [True, True] Translation: X:117.44, Y:125.60, Z:45.51 [[-4.06816646e-01 -9.11199758e-01 -6.49247035e-02 1.17440182e+02] [ 8.95707982e-01 -4.11842624e-01 1.67609263e-01 1.25596494e+02] [-1.79464280e-01 1.00326630e-02 9.83713331e-01 4.55143048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.51071405700003 meters Centerline goodness : 0.988948 Centerline is valid? [True, True] Translation: X:117.43, Y:125.61, Z:45.51 [[-4.05377003e-01 -9.11801318e-01 -6.54816132e-02 1.17433772e+02] [ 8.96124096e-01 -4.10517541e-01 1.68632599e-01 1.25613782e+02] [-1.80640776e-01 9.68012593e-03 9.83501502e-01 4.55096300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.540714057 meters Centerline goodness : 0.988414 Centerline is valid? [True, True] Translation: X:117.44, Y:125.60, Z:45.51 [[-4.04316051e-01 -9.12596712e-01 -6.07928656e-02 1.17436438e+02] [ 8.96447539e-01 -4.08590404e-01 1.71568329e-01 1.25604163e+02] [-1.81412075e-01 1.48702146e-02 9.83294735e-01 4.55119027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.57071405700003 meters Centerline goodness : 0.989282 Centerline is valid? [True, True] Translation: X:117.44, Y:125.60, Z:45.51 [[-4.04619179e-01 -9.12449061e-01 -6.09920574e-02 1.17438572e+02] [ 8.96872871e-01 -4.08969495e-01 1.68413201e-01 1.25599613e+02] [-1.78612358e-01 1.34410893e-02 9.83827710e-01 4.55117739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.600714057 meters Centerline goodness : 0.989243 Centerline is valid? [True, True] Translation: X:117.44, Y:125.61, Z:45.51 [[-4.05286265e-01 -9.12027728e-01 -6.28368310e-02 1.17436580e+02] [ 8.96703033e-01 -4.09973282e-01 1.66869942e-01 1.25607554e+02] [-1.77951436e-01 1.12841186e-02 9.83974570e-01 4.55087068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.630714057 meters Centerline goodness : 0.989689 Centerline is valid? [True, True] Translation: X:117.44, Y:125.61, Z:45.51 [[-4.07122472e-01 -9.11045079e-01 -6.51778791e-02 1.17435073e+02] [ 8.96847436e-01 -4.12250177e-01 1.60357317e-01 1.25613731e+02] [-1.72962336e-01 6.83045346e-03 9.84904754e-01 4.55075382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.660714057 meters Centerline goodness : 0.988529 Centerline is valid? [True, True] Translation: X:117.43, Y:125.62, Z:45.51 [[-4.08233660e-01 -9.10777292e-01 -6.18870125e-02 1.17431745e+02] [ 8.97059228e-01 -4.12802578e-01 1.57730061e-01 1.25617850e+02] [-1.69204077e-01 8.87440465e-03 9.85541083e-01 4.55100560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.690714057 meters Centerline goodness : 0.987842 Centerline is valid? [True, True] Translation: X:117.43, Y:125.61, Z:45.51 [[-4.06473069e-01 -9.11707667e-01 -5.97392163e-02 1.17432201e+02] [ 8.97771555e-01 -4.10690321e-01 1.59184467e-01 1.25613299e+02] [-1.69664017e-01 1.10720295e-02 9.85439766e-01 4.55122319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.720714057 meters Centerline goodness : 0.988420 Centerline is valid? [True, True] Translation: X:117.43, Y:125.62, Z:45.51 [[-4.06145109e-01 -9.11154427e-01 -6.95971303e-02 1.17431819e+02] [ 8.98749853e-01 -4.12061586e-01 1.49846426e-01 1.25619798e+02] [-1.65211539e-01 -1.69101755e-03 9.86256705e-01 4.55106850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.750714057 meters Centerline goodness : 0.987548 Centerline is valid? [True, True] Translation: X:117.42, Y:125.63, Z:45.51 [[-4.05153810e-01 -9.12282477e-01 -5.99255614e-02 1.17422730e+02] [ 8.99426375e-01 -4.09483053e-01 1.52826129e-01 1.25627790e+02] [-1.63959101e-01 8.01945799e-03 9.86434540e-01 4.55133266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.780714057 meters Centerline goodness : 0.988426 Centerline is valid? [True, True] Translation: X:117.42, Y:125.64, Z:45.51 [[-4.03809398e-01 -9.12637948e-01 -6.34818578e-02 1.17416912e+02] [ 9.00174641e-01 -4.08753267e-01 1.50354190e-01 1.25643455e+02] [-1.63167357e-01 3.56967656e-03 9.86591948e-01 4.55119792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.810714057 meters Centerline goodness : 0.988208 Centerline is valid? [True, True] Translation: X:117.41, Y:125.66, Z:45.51 [[-4.03131809e-01 -9.13248385e-01 -5.88398928e-02 1.17409136e+02] [ 9.00868646e-01 -4.07334517e-01 1.50047574e-01 1.25656243e+02] [-1.60998224e-01 7.48193535e-03 9.86926336e-01 4.55120263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.840714057 meters Centerline goodness : 0.988089 Centerline is valid? [True, True] Translation: X:117.42, Y:125.62, Z:45.52 [[-3.97943387e-01 -9.15661327e-01 -5.66162186e-02 1.17421115e+02] [ 9.02453671e-01 -4.01807694e-01 1.55331738e-01 1.25619763e+02] [-1.64980097e-01 1.07197236e-02 9.86238640e-01 4.55181568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.870714057 meters Centerline goodness : 0.988600 Centerline is valid? [True, True] Translation: X:117.42, Y:125.62, Z:45.52 [[-3.97654669e-01 -9.15590114e-01 -5.97118714e-02 1.17420363e+02] [ 9.02352741e-01 -4.02035515e-01 1.55328608e-01 1.25622775e+02] [-1.66223631e-01 7.88597536e-03 9.86056548e-01 4.55169757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.900714057 meters Centerline goodness : 0.989910 Centerline is valid? [True, True] Translation: X:117.42, Y:125.62, Z:45.52 [[-3.96104519e-01 -9.16821424e-01 -5.03953050e-02 1.17415713e+02] [ 9.04190930e-01 -3.99023450e-01 1.52377980e-01 1.25623867e+02] [-1.59812305e-01 1.47906289e-02 9.87036607e-01 4.55203880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.930714057 meters Centerline goodness : 0.990149 Centerline is valid? [True, True] Translation: X:117.42, Y:125.62, Z:45.52 [[-3.94475650e-01 -9.17259079e-01 -5.49976625e-02 1.17419827e+02] [ 9.04998243e-01 -3.98182366e-01 1.49763090e-01 1.25620283e+02] [-1.59270653e-01 9.30510420e-03 9.87191103e-01 4.55179913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.960714057 meters Centerline goodness : 0.990098 Centerline is valid? [True, True] Translation: X:117.41, Y:125.63, Z:45.52 [[-3.93042672e-01 -9.18300231e-01 -4.73512826e-02 1.17413287e+02] [ 9.05060067e-01 -3.95445054e-01 1.56491165e-01 1.25628145e+02] [-1.62430703e-01 1.86519504e-02 9.86543649e-01 4.55162831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.990714057 meters Centerline goodness : 0.990418 Centerline is valid? [True, True] Translation: X:117.42, Y:125.63, Z:45.51 [[-3.90904368e-01 -9.18919540e-01 -5.27319058e-02 1.17415154e+02] [ 9.05543609e-01 -3.94212424e-01 1.56803497e-01 1.25630908e+02] [-1.64877370e-01 1.35441315e-02 9.86221075e-01 4.55119842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.020714057 meters Centerline goodness : 0.990467 Centerline is valid? [True, True] Translation: X:117.42, Y:125.62, Z:45.51 [[-3.88159368e-01 -9.19656126e-01 -5.97069091e-02 1.17421327e+02] [ 9.05870255e-01 -3.92651815e-01 1.58819498e-01 1.25622465e+02] [-1.69503351e-01 7.56056312e-03 9.85500610e-01 4.55080391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.050714057 meters Centerline goodness : 0.988697 Centerline is valid? [True, True] Translation: X:117.42, Y:125.62, Z:45.51 [[-3.86446413e-01 -9.20608998e-01 -5.60200166e-02 1.17418138e+02] [ 9.05942771e-01 -3.90279451e-01 1.64163473e-01 1.25623584e+02] [-1.72993832e-01 1.26894562e-02 9.84841161e-01 4.55087430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.080714057 meters Centerline goodness : 0.989513 Centerline is valid? [True, True] Translation: X:117.41, Y:125.59, Z:45.52 [[-3.67054377e-01 -9.29879889e-01 -2.43819003e-02 1.17414780e+02] [ 9.08295389e-01 -3.63942628e-01 2.06265001e-01 1.25593348e+02] [-2.00675289e-01 5.35645037e-02 9.78192349e-01 4.55176610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.110714057 meters Centerline goodness : 0.989910 Centerline is valid? [True, True] Translation: X:117.42, Y:125.65, Z:45.49 [[-3.96263628e-01 -9.13104607e-01 -9.59953845e-02 1.17417911e+02] [ 9.03226504e-01 -4.06458047e-01 1.37745198e-01 1.25654655e+02] [-1.64793871e-01 -3.21221637e-02 9.85804822e-01 4.54888155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.140714057 meters Centerline goodness : 0.990702 Centerline is valid? [True, True] Translation: X:117.41, Y:125.60, Z:45.52 [[-3.65755472e-01 -9.30302588e-01 -2.75686159e-02 1.17410906e+02] [ 9.10935368e-01 -3.63900570e-01 1.94353108e-01 1.25601536e+02] [-1.90839434e-01 4.59724854e-02 9.80544156e-01 4.55187782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.170714057 meters Centerline goodness : 0.990556 Centerline is valid? [True, True] Translation: X:117.43, Y:125.61, Z:45.50 [[-3.66222136e-01 -9.28179210e-01 -6.60658890e-02 1.17426093e+02] [ 9.11237996e-01 -3.72106703e-01 1.76584022e-01 1.25606817e+02] [-1.88485178e-01 4.46722955e-03 9.82065874e-01 4.55021449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.200714057 meters Centerline goodness : 0.991032 Centerline is valid? [True, True] Translation: X:117.42, Y:125.62, Z:45.50 [[-3.68594606e-01 -9.26882553e-01 -7.08995789e-02 1.17422789e+02] [ 9.11748352e-01 -3.75338299e-01 1.66841556e-01 1.25618626e+02] [-1.81253854e-01 -3.14567671e-03 9.83431312e-01 4.55018602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.230714057 meters Centerline goodness : 0.990873 Centerline is valid? [True, True] Translation: X:117.41, Y:125.62, Z:45.51 [[-3.69141865e-01 -9.27580362e-01 -5.76970971e-02 1.17414069e+02] [ 9.11615934e-01 -3.73468130e-01 1.71691423e-01 1.25623833e+02] [-1.80805619e-01 1.07808990e-02 9.83459760e-01 4.55069329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.26071405700003 meters Centerline goodness : 0.990137 Centerline is valid? [True, True] Translation: X:117.42, Y:125.63, Z:45.50 [[-3.75601210e-01 -9.24048150e-01 -7.11248703e-02 1.17417689e+02] [ 9.11027544e-01 -3.82217670e-01 1.54720610e-01 1.25630813e+02] [-1.70154476e-01 -6.68346751e-03 9.85394736e-01 4.55041144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.290714057 meters Centerline goodness : 0.990137 Centerline is valid? [True, True] Translation: X:117.41, Y:125.63, Z:45.51 [[-3.75230253e-01 -9.25206981e-01 -5.65181426e-02 1.17410159e+02] [ 9.11265240e-01 -3.79364796e-01 1.60243610e-01 1.25632049e+02] [-1.69699500e-01 8.62523153e-03 9.85458109e-01 4.55103047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.32071405700003 meters Centerline goodness : 0.990130 Centerline is valid? [True, True] Translation: X:117.41, Y:125.64, Z:45.51 [[-3.75416896e-01 -9.25146871e-01 -5.62620875e-02 1.17408768e+02] [ 9.11249027e-01 -3.79507415e-01 1.59997913e-01 1.25637212e+02] [-1.69373448e-01 8.79714733e-03 9.85512682e-01 4.55095947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.350714057 meters Centerline goodness : 0.990419 Centerline is valid? [True, True] Translation: X:117.41, Y:125.65, Z:45.51 [[-3.80409741e-01 -9.22866141e-01 -6.00542689e-02 1.17405524e+02] [ 9.09885065e-01 -3.85099539e-01 1.54296838e-01 1.25653937e+02] [-1.65522199e-01 4.05353798e-03 9.86197734e-01 4.55056985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.380714057 meters Centerline goodness : 0.990226 Centerline is valid? [True, True] Translation: X:117.41, Y:125.65, Z:45.51 [[-3.81223703e-01 -9.22789777e-01 -5.59241910e-02 1.17406147e+02] [ 9.09754902e-01 -3.85218161e-01 1.54767525e-01 1.25649813e+02] [-1.64360904e-01 8.12374209e-03 9.86366817e-01 4.55084598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.410714057 meters Centerline goodness : 0.990216 Centerline is valid? [True, True] Translation: X:117.40, Y:125.67, Z:45.51 [[-3.86758517e-01 -9.20419453e-01 -5.69726355e-02 1.17400952e+02] [ 9.07862452e-01 -3.90870671e-01 1.51676916e-01 1.25665432e+02] [-1.61875316e-01 6.93902255e-03 9.86786822e-01 4.55075687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.440714057 meters Centerline goodness : 0.989455 Centerline is valid? [True, True] Translation: X:117.40, Y:125.68, Z:45.50 [[-3.91194352e-01 -9.17880556e-01 -6.68001792e-02 1.17400102e+02] [ 9.05529098e-01 -3.96852774e-01 1.50083072e-01 1.25680520e+02] [-1.64268170e-01 -1.77785599e-03 9.86414116e-01 4.55016157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.470714057 meters Centerline goodness : 0.990898 Centerline is valid? [True, True] Translation: X:117.40, Y:125.67, Z:45.51 [[-3.93196514e-01 -9.18220377e-01 -4.76218521e-02 1.17395776e+02] [ 9.05822293e-01 -3.95732640e-01 1.51266824e-01 1.25670230e+02] [-1.57741801e-01 1.63406524e-02 9.87345181e-01 4.55136596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.500714057 meters Centerline goodness : 0.990838 Centerline is valid? [True, True] Translation: X:117.40, Y:125.68, Z:45.51 [[-4.00093168e-01 -9.14551487e-01 -5.93383024e-02 1.17395965e+02] [ 9.03741743e-01 -4.04461933e-01 1.40219139e-01 1.25683410e+02] [-1.52237706e-01 2.47421851e-03 9.88340811e-01 4.55080222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.530714057 meters Centerline goodness : 0.991137 Centerline is valid? [True, True] Translation: X:117.39, Y:125.70, Z:45.51 [[-4.02329740e-01 -9.14006342e-01 -5.21841703e-02 1.17387977e+02] [ 9.03038858e-01 -4.05581307e-01 1.41508387e-01 1.25696365e+02] [-1.50504487e-01 9.80869887e-03 9.88560665e-01 4.55095625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.560714057 meters Centerline goodness : 0.991123 Centerline is valid? [True, True] Translation: X:117.39, Y:125.68, Z:45.51 [[-4.02414794e-01 -9.14003314e-01 -5.15778576e-02 1.17392691e+02] [ 9.03219557e-01 -4.05586224e-01 1.40336192e-01 1.25683995e+02] [-1.49187013e-01 9.88723020e-03 9.88759565e-01 4.55117258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.590714057 meters Centerline goodness : 0.991570 Centerline is valid? [True, True] Translation: X:117.40, Y:125.69, Z:45.51 [[-4.06472480e-01 -9.11393209e-01 -6.43625735e-02 1.17397191e+02] [ 9.01236423e-01 -4.11526845e-01 1.35715019e-01 1.25687009e+02] [-1.50176674e-01 -2.84147511e-03 9.88655093e-01 4.55061277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.620714057 meters Centerline goodness : 0.991982 Centerline is valid? [True, True] Translation: X:117.38, Y:125.70, Z:45.51 [[-4.06534723e-01 -9.12778512e-01 -3.95589054e-02 1.17381720e+02] [ 9.01647221e-01 -4.07815303e-01 1.43940847e-01 1.25697684e+02] [-1.47518839e-01 2.28487752e-02 9.88795290e-01 4.55144603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.650714057 meters Centerline goodness : 0.993183 Centerline is valid? [True, True] Translation: X:117.36, Y:125.76, Z:45.50 [[-4.10938648e-01 -9.10219473e-01 -5.12829306e-02 1.17362563e+02] [ 8.99380282e-01 -4.13962922e-01 1.40534010e-01 1.25759450e+02] [-1.49146024e-01 1.16279995e-02 9.88746809e-01 4.54986185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.680714057 meters Centerline goodness : 0.992741 Centerline is valid? [True, True] Translation: X:117.38, Y:125.71, Z:45.51 [[-4.09688556e-01 -9.10967929e-01 -4.78823607e-02 1.17379663e+02] [ 8.99393256e-01 -4.12141819e-01 1.45708245e-01 1.25707571e+02] [-1.52469862e-01 1.66299283e-02 9.88168198e-01 4.55090414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.710714057 meters Centerline goodness : 0.992411 Centerline is valid? [True, True] Translation: X:117.37, Y:125.73, Z:45.50 [[-4.11149464e-01 -9.09874047e-01 -5.55458020e-02 1.17372595e+02] [ 8.99061957e-01 -4.14814113e-01 1.40060163e-01 1.25734885e+02] [-1.50478290e-01 7.64654359e-03 9.88583742e-01 4.55021123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.740714057 meters Centerline goodness : 0.992067 Centerline is valid? [True, True] Translation: X:117.37, Y:125.74, Z:45.50 [[-4.11250682e-01 -9.09508950e-01 -6.05503712e-02 1.17373832e+02] [ 8.98154087e-01 -4.15659268e-01 1.43340882e-01 1.25735575e+02] [-1.55538138e-01 4.56547182e-03 9.87819338e-01 4.54996594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.770714057 meters Centerline goodness : 0.991216 Centerline is valid? [True, True] Translation: X:117.37, Y:125.74, Z:45.50 [[-4.08017490e-01 -9.11679184e-01 -4.86085772e-02 1.17368244e+02] [ 8.98779526e-01 -4.10456118e-01 1.54016682e-01 1.25735339e+02] [-1.60365491e-01 1.91531061e-02 9.86871860e-01 4.55018744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.800714057 meters Centerline goodness : 0.991971 Centerline is valid? [True, True] Translation: X:117.36, Y:125.75, Z:45.49 [[-4.06702477e-01 -9.11816002e-01 -5.64329064e-02 1.17363171e+02] [ 8.98929667e-01 -4.10435879e-01 1.53192174e-01 1.25754032e+02] [-1.62845166e-01 1.15744231e-02 9.86583744e-01 4.54946399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.830714057 meters Centerline goodness : 0.991909 Centerline is valid? [True, True] Translation: X:117.37, Y:125.72, Z:45.50 [[-4.04957559e-01 -9.12697373e-01 -5.47072279e-02 1.17374456e+02] [ 8.99604031e-01 -4.08416340e-01 1.54624324e-01 1.25720922e+02] [-1.63468540e-01 1.34014460e-02 9.86457519e-01 4.55013778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.860714057 meters Centerline goodness : 0.991278 Centerline is valid? [True, True] Translation: X:117.36, Y:125.74, Z:45.50 [[-4.03689026e-01 -9.13187398e-01 -5.58922751e-02 1.17364453e+02] [ 8.99973662e-01 -4.07351725e-01 1.55280324e-01 1.25744216e+02] [-1.64567850e-01 1.23833874e-02 9.86288028e-01 4.54953330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.890714057 meters Centerline goodness : 0.991256 Centerline is valid? [True, True] Translation: X:117.36, Y:125.77, Z:45.49 [[-4.05880422e-01 -9.11311872e-01 -6.90778927e-02 1.17359883e+02] [ 8.99967744e-01 -4.11697642e-01 1.43398438e-01 1.25771237e+02] [-1.59119905e-01 -3.96525668e-03 9.87251302e-01 4.54857177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.920714057 meters Centerline goodness : 0.992803 Centerline is valid? [True, True] Translation: X:117.35, Y:125.77, Z:45.50 [[-4.03367258e-01 -9.13962328e-01 -4.43589763e-02 1.17345347e+02] [ 9.00333165e-01 -4.05074386e-01 1.59106676e-01 1.25772563e+02] [-1.63386193e-01 2.42405661e-02 9.86264339e-01 4.54956410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.950714057 meters Centerline goodness : 0.992822 Centerline is valid? [True, True] Translation: X:117.35, Y:125.75, Z:45.50 [[-4.08065626e-01 -9.12118392e-01 -3.90190217e-02 1.17346925e+02] [ 8.98635657e-01 -4.08838677e-01 1.59075116e-01 1.25754717e+02] [-1.61047824e-01 2.98492024e-02 9.86495121e-01 4.55013637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.980714057 meters Centerline goodness : 0.992672 Centerline is valid? [True, True] Translation: X:117.37, Y:125.73, Z:45.49 [[-4.00798728e-01 -9.13396368e-01 -7.11860557e-02 1.17370861e+02] [ 9.01136701e-01 -4.07048159e-01 1.49212746e-01 1.25734872e+02] [-1.65266533e-01 -4.34408872e-03 9.86239374e-01 4.54897815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.01071405700003 meters Centerline goodness : 0.991134 Centerline is valid? [True, True] Translation: X:117.36, Y:125.72, Z:45.50 [[-4.00033076e-01 -9.15213114e-01 -4.85643291e-02 1.17362893e+02] [ 9.01656757e-01 -4.02499326e-01 1.58143557e-01 1.25724511e+02] [-1.64282167e-01 1.94742980e-02 9.86221132e-01 4.55021084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.040714057 meters Centerline goodness : 0.992826 Centerline is valid? [True, True] Translation: X:117.35, Y:125.75, Z:45.50 [[-4.05712062e-01 -9.12701059e-01 -4.87288378e-02 1.17350690e+02] [ 8.99974909e-01 -4.08222093e-01 1.52970210e-01 1.25746151e+02] [-1.59508261e-01 1.82071281e-02 9.87028680e-01 4.54992482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.07071405700003 meters Centerline goodness : 0.990903 Centerline is valid? [True, True] Translation: X:117.35, Y:125.75, Z:45.50 [[-3.93487004e-01 -9.18102182e-01 -4.75011672e-02 1.17351494e+02] [ 9.03890870e-01 -3.95791610e-01 1.62266132e-01 1.25747556e+02] [-1.67777453e-01 2.09137427e-02 9.85603035e-01 4.54969896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.100714057 meters Centerline goodness : 0.991800 Centerline is valid? [True, True] Translation: X:117.36, Y:125.74, Z:45.49 [[-3.93871273e-01 -9.16237371e-01 -7.33109874e-02 1.17363724e+02] [ 9.02965710e-01 -4.00605076e-01 1.55462214e-01 1.25742156e+02] [-1.71809044e-01 -4.96520778e-03 9.85117759e-01 4.54866897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.130714057 meters Centerline goodness : 0.991568 Centerline is valid? [True, True] Translation: X:117.36, Y:125.73, Z:45.49 [[-3.95152006e-01 -9.16126289e-01 -6.75833873e-02 1.17362557e+02] [ 9.03796782e-01 -4.00885357e-01 1.49807570e-01 1.25733309e+02] [-1.64335843e-01 -1.88488614e-03 9.86402645e-01 4.54948413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.160714057 meters Centerline goodness : 0.990085 Centerline is valid? [True, True] Translation: X:117.35, Y:125.75, Z:45.50 [[-3.94025262e-01 -9.17361328e-01 -5.65003282e-02 1.17351235e+02] [ 9.04247799e-01 -3.97931525e-01 1.54875497e-01 1.25747997e+02] [-1.64560053e-01 9.93456070e-03 9.86317035e-01 4.54972660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.190714057 meters Centerline goodness : 0.989995 Centerline is valid? [True, True] Translation: X:117.35, Y:125.76, Z:45.49 [[-3.92119265e-01 -9.18314288e-01 -5.42342185e-02 1.17345306e+02] [ 9.04217990e-01 -3.95602592e-01 1.60898772e-01 1.25760669e+02] [-1.69210839e-01 1.40519522e-02 9.85479698e-01 4.54939596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.220714057 meters Centerline goodness : 0.990696 Centerline is valid? [True, True] Translation: X:117.33, Y:125.78, Z:45.50 [[-3.91021338e-01 -9.19582629e-01 -3.83419131e-02 1.17329113e+02] [ 9.05366325e-01 -3.91802428e-01 1.63715224e-01 1.25784230e+02] [-1.65572131e-01 2.93026690e-02 9.85762255e-01 4.54974604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.250714057 meters Centerline goodness : 0.991002 Centerline is valid? [True, True] Translation: X:117.34, Y:125.79, Z:45.49 [[-3.91029330e-01 -9.18749810e-01 -5.47252261e-02 1.17335190e+02] [ 9.05308936e-01 -3.94662071e-01 1.57027326e-01 1.25786433e+02] [-1.65866797e-01 1.18590537e-02 9.86076857e-01 4.54891764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.280714057 meters Centerline goodness : 0.990140 Centerline is valid? [True, True] Translation: X:117.35, Y:125.77, Z:45.48 [[-3.91767953e-01 -9.16870754e-01 -7.65891078e-02 1.17350801e+02] [ 9.04690145e-01 -3.99038588e-01 1.49345060e-01 1.25771795e+02] [-1.67492128e-01 -1.07808025e-02 9.85814466e-01 4.54804859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.310714057 meters Centerline goodness : 0.990820 Centerline is valid? [True, True] Translation: X:117.35, Y:125.75, Z:45.50 [[-3.90845930e-01 -9.19147610e-01 -4.90625128e-02 1.17348675e+02] [ 9.05383820e-01 -3.93505868e-01 1.59478115e-01 1.25745758e+02] [-1.65890315e-01 1.79109670e-02 9.85981542e-01 4.54976108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.340714057 meters Centerline goodness : 0.991044 Centerline is valid? [True, True] Translation: X:117.34, Y:125.78, Z:45.49 [[-3.91370368e-01 -9.18529304e-01 -5.59745755e-02 1.17341133e+02] [ 9.05193717e-01 -3.95213321e-01 1.56303442e-01 1.25776287e+02] [-1.65691189e-01 1.05047013e-02 9.86121737e-01 4.54883123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.370714057 meters Centerline goodness : 0.989662 Centerline is valid? [True, True] Translation: X:117.35, Y:125.74, Z:45.49 [[-3.90200145e-01 -9.18773158e-01 -5.99977578e-02 1.17354967e+02] [ 9.06055068e-01 -3.94752716e-01 1.52428695e-01 1.25744531e+02] [-1.63731671e-01 5.11642631e-03 9.86491643e-01 4.54923427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.400714057 meters Centerline goodness : 0.989560 Centerline is valid? [True, True] Translation: X:117.35, Y:125.75, Z:45.49 [[-3.87543661e-01 -9.20356121e-01 -5.24835293e-02 1.17347892e+02] [ 9.06997164e-01 -3.90859764e-01 1.56795377e-01 1.25752744e+02] [-1.64821285e-01 1.31626422e-02 9.86235615e-01 4.54943509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.430714057 meters Centerline goodness : 0.989936 Centerline is valid? [True, True] Translation: X:117.35, Y:125.75, Z:45.49 [[-3.84447552e-01 -9.21741479e-01 -5.09188121e-02 1.17347729e+02] [ 9.07745231e-01 -3.87491470e-01 1.60776110e-01 1.25750318e+02] [-1.67924614e-01 1.55886730e-02 9.85676578e-01 4.54946320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.460714057 meters Centerline goodness : 0.990222 Centerline is valid? [True, True] Translation: X:117.35, Y:125.76, Z:45.49 [[-3.83767331e-01 -9.21469628e-01 -6.01361774e-02 1.17349399e+02] [ 9.08177743e-01 -3.88414702e-01 1.56035911e-01 1.25756346e+02] [-1.67140128e-01 5.26714722e-03 9.85919081e-01 4.54907282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.490714057 meters Centerline goodness : 0.990867 Centerline is valid? [True, True] Translation: X:117.34, Y:125.76, Z:45.49 [[-3.79095128e-01 -9.23766910e-01 -5.42363288e-02 1.17343832e+02] [ 9.09993166e-01 -3.82796080e-01 1.59309759e-01 1.25760848e+02] [-1.67926538e-01 1.10388648e-02 9.85737704e-01 4.54924544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.520714057 meters Centerline goodness : 0.989628 Centerline is valid? [True, True] Translation: X:117.34, Y:125.76, Z:45.49 [[-3.75547701e-01 -9.25227264e-01 -5.40225295e-02 1.17343156e+02] [ 9.10455741e-01 -3.79195924e-01 1.65168989e-01 1.25760523e+02] [-1.73303975e-01 1.28437119e-02 9.84784632e-01 4.54931036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.550714057 meters Centerline goodness : 0.987443 Centerline is valid? [True, True] Translation: X:117.35, Y:125.75, Z:45.49 [[-3.73227285e-01 -9.26112571e-01 -5.49263028e-02 1.17348029e+02] [ 9.10825092e-01 -3.77033596e-01 1.68057490e-01 1.25748338e+02] [-1.76349216e-01 1.26953860e-02 9.84245793e-01 4.54949717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.580714057 meters Centerline goodness : 0.990210 Centerline is valid? [True, True] Translation: X:117.35, Y:125.75, Z:45.49 [[-3.68086487e-01 -9.27701185e-01 -6.23125194e-02 1.17347643e+02] [ 9.12888634e-01 -3.73303124e-01 1.65163919e-01 1.25754620e+02] [-1.76484221e-01 3.91021591e-03 9.84295703e-01 4.54895892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.610714057 meters Centerline goodness : 0.991431 Centerline is valid? [True, True] Translation: X:117.34, Y:125.76, Z:45.50 [[-3.64474740e-01 -9.30355257e-01 -3.99657279e-02 1.17336013e+02] [ 9.15116237e-01 -3.65789797e-01 1.69588020e-01 1.25761610e+02] [-1.72396161e-01 2.52372629e-02 9.84704344e-01 4.54988603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.640714057 meters Centerline goodness : 0.989164 Centerline is valid? [True, True] Translation: X:117.35, Y:125.76, Z:45.48 [[-3.66037746e-01 -9.27778337e-01 -7.24135716e-02 1.17352559e+02] [ 9.13638039e-01 -3.73065432e-01 1.61516923e-01 1.25764018e+02] [-1.76866902e-01 -7.03850316e-03 9.84209611e-01 4.54821839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.670714057 meters Centerline goodness : 0.989838 Centerline is valid? [True, True] Translation: X:117.34, Y:125.78, Z:45.49 [[-3.62125106e-01 -9.30452820e-01 -5.58834201e-02 1.17342090e+02] [ 9.14950360e-01 -3.66268852e-01 1.69449011e-01 1.25775596e+02] [-1.78132666e-01 1.02311856e-02 9.83953290e-01 4.54867603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.700714057 meters Centerline goodness : 0.988863 Centerline is valid? [True, True] Translation: X:117.35, Y:125.77, Z:45.48 [[-3.64457222e-01 -9.29078804e-01 -6.31150571e-02 1.17350085e+02] [ 9.14506990e-01 -3.69876319e-01 1.63916056e-01 1.25771900e+02] [-1.75635698e-01 2.02122948e-03 9.84453156e-01 4.54830372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.730714057 meters Centerline goodness : 0.990000 Centerline is valid? [True, True] Translation: X:117.35, Y:125.77, Z:45.49 [[-3.64576759e-01 -9.29277290e-01 -5.93927990e-02 1.17349991e+02] [ 9.14533757e-01 -3.69336861e-01 1.64979663e-01 1.25771093e+02] [-1.75247804e-01 5.83103143e-03 9.84507088e-01 4.54850909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.76071405700003 meters Centerline goodness : 0.990936 Centerline is valid? [True, True] Translation: X:117.35, Y:125.78, Z:45.48 [[-3.64993823e-01 -9.29142236e-01 -5.89424724e-02 1.17349759e+02] [ 9.14582162e-01 -3.69674858e-01 1.63951118e-01 1.25776551e+02] [-1.74123458e-01 5.93341134e-03 9.84705954e-01 4.54838054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.790714057 meters Centerline goodness : 0.990488 Centerline is valid? [True, True] Translation: X:117.35, Y:125.78, Z:45.49 [[-3.64121852e-01 -9.29750803e-01 -5.45776572e-02 1.17350053e+02] [ 9.14162584e-01 -3.67994001e-01 1.69962305e-01 1.25776585e+02] [-1.78106840e-01 1.19941374e-02 9.83938054e-01 4.54884941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.82071405700003 meters Centerline goodness : 0.992030 Centerline is valid? [True, True] Translation: X:117.35, Y:125.79, Z:45.49 [[-3.66139207e-01 -9.28541201e-01 -6.12643347e-02 1.17352420e+02] [ 9.13799085e-01 -3.71203534e-01 1.64861061e-01 1.25785590e+02] [-1.75821825e-01 4.37880521e-03 9.84412267e-01 4.54862723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.850714057 meters Centerline goodness : 0.991812 Centerline is valid? [True, True] Translation: X:117.35, Y:125.79, Z:45.49 [[-3.66490042e-01 -9.28636310e-01 -5.76164281e-02 1.17351396e+02] [ 9.13720412e-01 -3.70901133e-01 1.65973971e-01 1.25787921e+02] [-1.75499454e-01 8.18250120e-03 9.84445523e-01 4.54872091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.880714057 meters Centerline goodness : 0.990856 Centerline is valid? [True, True] Translation: X:117.35, Y:125.80, Z:45.49 [[-3.69473939e-01 -9.27530578e-01 -5.63563284e-02 1.17351503e+02] [ 9.12934514e-01 -3.73633957e-01 1.64159191e-01 1.25795926e+02] [-1.73319307e-01 9.20290568e-03 9.84822687e-01 4.54887576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.910714057 meters Centerline goodness : 0.990590 Centerline is valid? [True, True] Translation: X:117.36, Y:125.80, Z:45.48 [[-3.71531122e-01 -9.26012865e-01 -6.68191477e-02 1.17358870e+02] [ 9.12411074e-01 -3.77485484e-01 1.58147845e-01 1.25795324e+02] [-1.71670197e-01 -2.20968396e-03 9.85151999e-01 4.54847617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.940714057 meters Centerline goodness : 0.990487 Centerline is valid? [True, True] Translation: X:117.36, Y:125.77, Z:45.50 [[-3.66273819e-01 -9.29449606e-01 -4.43499671e-02 1.17360419e+02] [ 9.13986350e-01 -3.68303348e-01 1.70239817e-01 1.25770502e+02] [-1.74563572e-01 2.18191234e-02 9.84404127e-01 4.54982566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.970714057 meters Centerline goodness : 0.990439 Centerline is valid? [True, True] Translation: X:117.36, Y:125.81, Z:45.48 [[-3.71314782e-01 -9.26141860e-01 -6.62313168e-02 1.17356902e+02] [ 9.13080885e-01 -3.77164106e-01 1.55017852e-01 1.25812833e+02] [-1.68548597e-01 -2.91412932e-03 9.85689037e-01 4.54830158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.000714057 meters Centerline goodness : 0.990237 Centerline is valid? [True, True] Translation: X:117.35, Y:125.81, Z:45.49 [[-3.69950722e-01 -9.27454341e-01 -5.44509846e-02 1.17354561e+02] [ 9.13699195e-01 -3.73822720e-01 1.59406258e-01 1.25807920e+02] [-1.68197041e-01 9.22063942e-03 9.85710269e-01 4.54891200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.030714057 meters Centerline goodness : 0.988392 Centerline is valid? [True, True] Translation: X:117.36, Y:125.81, Z:45.49 [[-3.72465544e-01 -9.26122556e-01 -5.97195902e-02 1.17358928e+02] [ 9.13401644e-01 -3.77214895e-01 1.52991371e-01 1.25814301e+02] [-1.64215879e-01 2.43604253e-03 9.86421416e-01 4.54874115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.060714057 meters Centerline goodness : 0.989567 Centerline is valid? [True, True] Translation: X:117.36, Y:125.81, Z:45.49 [[-3.66859818e-01 -9.29104641e-01 -4.66737675e-02 1.17358700e+02] [ 9.14557112e-01 -3.69390882e-01 1.64729067e-01 1.25809673e+02] [-1.70291405e-01 1.77466497e-02 9.85233928e-01 4.54922688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.090714057 meters Centerline goodness : 0.988943 Centerline is valid? [True, True] Translation: X:117.36, Y:125.81, Z:45.49 [[-3.65175685e-01 -9.29216061e-01 -5.66059322e-02 1.17363585e+02] [ 9.14460959e-01 -3.69438028e-01 1.65156586e-01 1.25811246e+02] [-1.74378536e-01 8.54725429e-03 9.84641595e-01 4.54887257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.120714057 meters Centerline goodness : 0.989657 Centerline is valid? [True, True] Translation: X:117.36, Y:125.82, Z:45.49 [[-3.62750160e-01 -9.30260145e-01 -5.50307628e-02 1.17364525e+02] [ 9.15438839e-01 -3.66771750e-01 1.65681069e-01 1.25819188e+02] [-1.74310225e-01 9.72353677e-03 9.84642777e-01 4.54884460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.150714057 meters Centerline goodness : 0.989119 Centerline is valid? [True, True] Translation: X:117.37, Y:125.81, Z:45.49 [[-3.60819018e-01 -9.31052575e-01 -5.43207122e-02 1.17368415e+02] [ 9.16069621e-01 -3.64737363e-01 1.66682651e-01 1.25814185e+02] [-1.75003105e-01 1.03807163e-02 9.84513156e-01 4.54897074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.180714057 meters Centerline goodness : 0.989119 Centerline is valid? [True, True] Translation: X:117.37, Y:125.82, Z:45.49 [[-3.60488519e-01 -9.31045049e-01 -5.65963320e-02 1.17368441e+02] [ 9.16185491e-01 -3.64817849e-01 1.65867668e-01 1.25816797e+02] [-1.75077623e-01 7.94065181e-03 9.84522611e-01 4.54882663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.210714057 meters Centerline goodness : 0.989441 Centerline is valid? [True, True] Translation: X:117.37, Y:125.82, Z:45.49 [[-3.57676880e-01 -9.32184519e-01 -5.56711028e-02 1.17368989e+02] [ 9.17295610e-01 -3.61886858e-01 1.66152540e-01 1.25824886e+02] [-1.75031466e-01 8.36206405e-03 9.84527329e-01 4.54877151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.240714057 meters Centerline goodness : 0.989535 Centerline is valid? [True, True] Translation: X:117.37, Y:125.83, Z:45.49 [[-3.55719673e-01 -9.33055392e-01 -5.35831080e-02 1.17368020e+02] [ 9.18250127e-01 -3.59599431e-01 1.65846171e-01 1.25830310e+02] [-1.74012119e-01 9.79205003e-03 9.84694825e-01 4.54868076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.270714057 meters Centerline goodness : 0.991179 Centerline is valid? [True, True] Translation: X:117.37, Y:125.84, Z:45.48 [[-3.54462693e-01 -9.33243173e-01 -5.84241323e-02 1.17372120e+02] [ 9.19070951e-01 -3.59225714e-01 1.62066261e-01 1.25837808e+02] [-1.72234682e-01 3.75052042e-03 9.85048805e-01 4.54843894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.300714057 meters Centerline goodness : 0.989386 Centerline is valid? [True, True] Translation: X:117.38, Y:125.82, Z:45.49 [[-3.51844103e-01 -9.34506635e-01 -5.38802013e-02 1.17379525e+02] [ 9.19321382e-01 -3.55816325e-01 1.68056357e-01 1.25824169e+02] [-1.76221236e-01 9.59641716e-03 9.84303807e-01 4.54871922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.330714057 meters Centerline goodness : 0.990343 Centerline is valid? [True, True] Translation: X:117.38, Y:125.85, Z:45.48 [[-3.54307518e-01 -9.33134457e-01 -6.10431694e-02 1.17376722e+02] [ 9.19408244e-01 -3.59527391e-01 1.59463274e-01 1.25848663e+02] [-1.70747367e-01 3.75443636e-04 9.85314770e-01 4.54844908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.360714057 meters Centerline goodness : 0.991086 Centerline is valid? [True, True] Translation: X:117.38, Y:125.84, Z:45.49 [[-3.51058589e-01 -9.35047952e-01 -4.94286855e-02 1.17377582e+02] [ 9.20265249e-01 -3.54289205e-01 1.66105483e-01 1.25838118e+02] [-1.72828641e-01 1.28252549e-02 9.84868404e-01 4.54878093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.390714057 meters Centerline goodness : 0.991377 Centerline is valid? [True, True] Translation: X:117.38, Y:125.84, Z:45.49 [[-3.48978926e-01 -9.35914229e-01 -4.77311875e-02 1.17379313e+02] [ 9.20546286e-01 -3.51897866e-01 1.69594895e-01 1.25840942e+02] [-1.75522778e-01 1.52462767e-02 9.84357306e-01 4.54876722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.420714057 meters Centerline goodness : 0.989374 Centerline is valid? [True, True] Translation: X:117.39, Y:125.85, Z:45.48 [[-3.51127163e-01 -9.34116518e-01 -6.43121065e-02 1.17386757e+02] [ 9.19990271e-01 -3.56960614e-01 1.61854940e-01 1.25850975e+02] [-1.74148262e-01 -2.33484634e-03 9.84716676e-01 4.54819669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.450714057 meters Centerline goodness : 0.989032 Centerline is valid? [True, True] Translation: X:117.39, Y:125.86, Z:45.49 [[-3.50942656e-01 -9.34580631e-01 -5.82949066e-02 1.17385396e+02] [ 9.20365019e-01 -3.55735628e-01 1.62420424e-01 1.25856697e+02] [-1.72532558e-01 3.34766226e-03 9.84998127e-01 4.54851889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.480714057 meters Centerline goodness : 0.989049 Centerline is valid? [True, True] Translation: X:117.39, Y:125.85, Z:45.49 [[-3.47024272e-01 -9.36765750e-01 -4.52115599e-02 1.17385915e+02] [ 9.20070822e-01 -3.49391326e-01 1.77187428e-01 1.25850003e+02] [-1.81779641e-01 1.98905011e-02 9.83138103e-01 4.54892792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.51071405700003 meters Centerline goodness : 0.990634 Centerline is valid? [True, True] Translation: X:117.39, Y:125.85, Z:45.48 [[-3.45664653e-01 -9.36562551e-01 -5.80218528e-02 1.17392964e+02] [ 9.20758502e-01 -3.50451957e-01 1.71426975e-01 1.25854375e+02] [-1.80885957e-01 5.83213169e-03 9.83486785e-01 4.54821081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.540714057 meters Centerline goodness : 0.990914 Centerline is valid? [True, True] Translation: X:117.40, Y:125.85, Z:45.48 [[-3.46955442e-01 -9.35797963e-01 -6.24827523e-02 1.17397905e+02] [ 9.20368064e-01 -3.52534687e-01 1.69239244e-01 1.25851217e+02] [-1.80401078e-01 1.21134704e-03 9.83592387e-01 4.54838979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.57071405700003 meters Centerline goodness : 0.991465 Centerline is valid? [True, True] Translation: X:117.40, Y:125.86, Z:45.48 [[-3.52336374e-01 -9.33656525e-01 -6.43783557e-02 1.17400207e+02] [ 9.19571740e-01 -3.58162445e-01 1.61578085e-01 1.25861460e+02] [-1.73916342e-01 -2.27068021e-03 9.84757813e-01 4.54847397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.600714057 meters Centerline goodness : 0.989884 Centerline is valid? [True, True] Translation: X:117.40, Y:125.88, Z:45.49 [[-3.54823912e-01 -9.33045633e-01 -5.93787633e-02 1.17396313e+02] [ 9.19226024e-01 -3.59751360e-01 1.60007738e-01 1.25876007e+02] [-1.70656112e-01 2.19206702e-03 9.85328212e-01 4.54862429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.630714057 meters Centerline goodness : 0.992808 Centerline is valid? [True, True] Translation: X:117.40, Y:125.87, Z:45.49 [[-3.56125988e-01 -9.33081761e-01 -5.03260095e-02 1.17400165e+02] [ 9.20058366e-01 -3.59548751e-01 1.55619084e-01 1.25865690e+02] [-1.63299982e-01 9.11713389e-03 9.86534335e-01 4.54907008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.660714057 meters Centerline goodness : 0.991603 Centerline is valid? [True, True] Translation: X:117.40, Y:125.89, Z:45.48 [[-3.60801137e-01 -9.30383114e-01 -6.48829762e-02 1.17401805e+02] [ 9.17733640e-01 -3.66562785e-01 1.52959771e-01 1.25886615e+02] [-1.66094872e-01 -4.35723070e-03 9.86100151e-01 4.54837183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.690714057 meters Centerline goodness : 0.990481 Centerline is valid? [True, True] Translation: X:117.40, Y:125.89, Z:45.49 [[-3.65472938e-01 -9.29514091e-01 -4.93263271e-02 1.17397150e+02] [ 9.16852312e-01 -3.68628576e-01 1.53280168e-01 1.25891526e+02] [-1.60659170e-01 1.07947962e-02 9.86950913e-01 4.54911545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.720714057 meters Centerline goodness : 0.990077 Centerline is valid? [True, True] Translation: X:117.40, Y:125.89, Z:45.49 [[-3.66494122e-01 -9.28821860e-01 -5.45161493e-02 1.17400112e+02] [ 9.16368052e-01 -3.70483682e-01 1.51695201e-01 1.25894893e+02] [-1.61095162e-01 5.63854192e-03 9.86922771e-01 4.54886354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.750714057 meters Centerline goodness : 0.990498 Centerline is valid? [True, True] Translation: X:117.40, Y:125.89, Z:45.49 [[-3.68595044e-01 -9.28353882e-01 -4.79245609e-02 1.17400505e+02] [ 9.15790801e-01 -3.71490620e-01 1.52715189e-01 1.25894659e+02] [-1.59577263e-01 1.24011896e-02 9.87107546e-01 4.54923148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.780714057 meters Centerline goodness : 0.989850 Centerline is valid? [True, True] Translation: X:117.40, Y:125.91, Z:45.49 [[-3.70096411e-01 -9.27541326e-01 -5.19204671e-02 1.17399574e+02] [ 9.15254873e-01 -3.73629489e-01 1.50696789e-01 1.25906341e+02] [-1.59176517e-01 8.25188038e-03 9.87215652e-01 4.54895028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.810714057 meters Centerline goodness : 0.990395 Centerline is valid? [True, True] Translation: X:117.40, Y:125.92, Z:45.49 [[-3.72993870e-01 -9.25924373e-01 -5.94947803e-02 1.17402407e+02] [ 9.14630360e-01 -3.77708419e-01 1.44179248e-01 1.25915668e+02] [-1.55970759e-01 -6.37756762e-04 9.87761467e-01 4.54860517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.840714057 meters Centerline goodness : 0.989643 Centerline is valid? [True, True] Translation: X:117.40, Y:125.91, Z:45.49 [[-3.71692140e-01 -9.27328169e-01 -4.36740263e-02 1.17397746e+02] [ 9.14380379e-01 -3.73823537e-01 1.55449301e-01 1.25913946e+02] [-1.60478895e-01 1.78446105e-02 9.86877953e-01 4.54909244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.870714057 meters Centerline goodness : 0.991755 Centerline is valid? [True, True] Translation: X:117.39, Y:125.92, Z:45.49 [[-3.67461348e-01 -9.29323635e-01 -3.64655768e-02 1.17391800e+02] [ 9.14980180e-01 -3.68260718e-01 1.64910019e-01 1.25922223e+02] [-1.66683618e-01 2.72327778e-02 9.85634287e-01 4.54861632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.900714057 meters Centerline goodness : 0.989338 Centerline is valid? [True, True] Translation: X:117.41, Y:125.92, Z:45.48 [[-3.69034199e-01 -9.27559772e-01 -5.87079996e-02 1.17405147e+02] [ 9.13430087e-01 -3.73627698e-01 1.61393370e-01 1.25917635e+02] [-1.71636932e-01 5.93401974e-03 9.85142401e-01 4.54824157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.930714057 meters Centerline goodness : 0.990797 Centerline is valid? [True, True] Translation: X:117.40, Y:125.94, Z:45.48 [[-3.68480017e-01 -9.28039436e-01 -5.44544047e-02 1.17396984e+02] [ 9.14772384e-01 -3.72398687e-01 1.56558945e-01 1.25936058e+02] [-1.65571624e-01 7.87545718e-03 9.86166322e-01 4.54796285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.960714057 meters Centerline goodness : 0.989788 Centerline is valid? [True, True] Translation: X:117.40, Y:125.92, Z:45.48 [[-3.65073444e-01 -9.29568747e-01 -5.12183999e-02 1.17402765e+02] [ 9.13707748e-01 -3.68306070e-01 1.71723004e-01 1.25918522e+02] [-1.78492385e-01 1.58928597e-02 9.83812932e-01 4.54796410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.990714057 meters Centerline goodness : 0.988819 Centerline is valid? [True, True] Translation: X:117.40, Y:125.94, Z:45.48 [[-3.69642222e-01 -9.27214781e-01 -6.03106743e-02 1.17402334e+02] [ 9.12703262e-01 -3.74491293e-01 1.63490145e-01 1.25936707e+02] [-1.74176302e-01 5.38711127e-03 9.84699749e-01 4.54771672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.020714057 meters Centerline goodness : 0.989569 Centerline is valid? [True, True] Translation: X:117.41, Y:125.93, Z:45.48 [[-3.67011722e-01 -9.28540768e-01 -5.58071557e-02 1.17405620e+02] [ 9.13733247e-01 -3.71102916e-01 1.65451439e-01 1.25926222e+02] [-1.74338604e-01 9.72976395e-03 9.84637691e-01 4.54779580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.050714057 meters Centerline goodness : 0.990192 Centerline is valid? [True, True] Translation: X:117.40, Y:125.94, Z:45.48 [[-3.68085073e-01 -9.28258028e-01 -5.33892516e-02 1.17400698e+02] [ 9.13671900e-01 -3.71752597e-01 1.64327924e-01 1.25938527e+02] [-1.72386308e-01 1.17063970e-02 9.84959858e-01 4.54783951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.080714057 meters Centerline goodness : 0.990594 Centerline is valid? [True, True] Translation: X:117.41, Y:125.92, Z:45.48 [[-3.66173711e-01 -9.28654489e-01 -5.93098046e-02 1.17411820e+02] [ 9.14665538e-01 -3.70917651e-01 1.60645729e-01 1.25916430e+02] [-1.71183431e-01 4.57560837e-03 9.85228551e-01 4.54775489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.110714057 meters Centerline goodness : 0.989723 Centerline is valid? [True, True] Translation: X:117.41, Y:125.94, Z:45.47 [[-3.69218003e-01 -9.27108376e-01 -6.44059408e-02 1.17406100e+02] [ 9.14362959e-01 -3.74786177e-01 1.53217820e-01 1.25939321e+02] [-1.66187981e-01 -2.31962896e-03 9.86091362e-01 4.54743512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.140714057 meters Centerline goodness : 0.991049 Centerline is valid? [True, True] Translation: X:117.41, Y:125.94, Z:45.48 [[-3.68891917e-01 -9.27352237e-01 -6.27421930e-02 1.17405392e+02] [ 9.14899028e-01 -3.74186454e-01 1.51473650e-01 1.25938196e+02] [-1.63946707e-01 -1.52536619e-03 9.86468018e-01 4.54794363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.170714057 meters Centerline goodness : 0.990961 Centerline is valid? [True, True] Translation: X:117.40, Y:125.94, Z:45.48 [[-3.68393208e-01 -9.28247178e-01 -5.14161484e-02 1.17399868e+02] [ 9.15273151e-01 -3.71828597e-01 1.54979206e-01 1.25939157e+02] [-1.62977005e-01 1.00334669e-02 9.86578849e-01 4.54841658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.200714057 meters Centerline goodness : 0.990898 Centerline is valid? [True, True] Translation: X:117.40, Y:125.94, Z:45.49 [[-3.67095861e-01 -9.28800800e-01 -5.06922311e-02 1.17400420e+02] [ 9.15765761e-01 -3.70426774e-01 1.55425470e-01 1.25935290e+02] [-1.63137061e-01 1.06338372e-02 9.86546107e-01 4.54853908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.230714057 meters Centerline goodness : 0.991750 Centerline is valid? [True, True] Translation: X:117.40, Y:125.94, Z:45.49 [[-3.65478994e-01 -9.29627007e-01 -4.71034186e-02 1.17397724e+02] [ 9.17912241e-01 -3.68347281e-01 1.47503891e-01 1.25936957e+02] [-1.54474017e-01 1.06727692e-02 9.87939204e-01 4.54880923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.26071405700003 meters Centerline goodness : 0.991404 Centerline is valid? [True, True] Translation: X:117.40, Y:125.94, Z:45.49 [[-3.62342058e-01 -9.30813182e-01 -4.79067153e-02 1.17395144e+02] [ 9.19231191e-01 -3.65381884e-01 1.46663210e-01 1.25944624e+02] [-1.54020295e-01 9.10490218e-03 9.88025733e-01 4.54870360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.290714057 meters Centerline goodness : 0.991961 Centerline is valid? [True, True] Translation: X:117.40, Y:125.92, Z:45.49 [[-3.53686121e-01 -9.34839297e-01 -3.13307700e-02 1.17396875e+02] [ 9.20105702e-01 -3.53746743e-01 1.68133101e-01 1.25918593e+02] [-1.68260587e-01 3.06387241e-02 9.85266280e-01 4.54911386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.32071405700003 meters Centerline goodness : 0.991807 Centerline is valid? [True, True] Translation: X:117.39, Y:125.96, Z:45.48 [[-3.66708530e-01 -9.28812980e-01 -5.32099849e-02 1.17385182e+02] [ 9.15250615e-01 -3.70429728e-01 1.58423889e-01 1.25959458e+02] [-1.66856725e-01 9.39492011e-03 9.85936392e-01 4.54763759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.350714057 meters Centerline goodness : 0.992226 Centerline is valid? [True, True] Translation: X:117.39, Y:125.96, Z:45.47 [[-3.69018700e-01 -9.26728190e-01 -7.07111025e-02 1.17390743e+02] [ 9.14160357e-01 -3.75637952e-01 1.52338342e-01 1.25962461e+02] [-1.67738009e-01 -8.42558990e-03 9.85795602e-01 4.54727766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.380714057 meters Centerline goodness : 0.992519 Centerline is valid? [True, True] Translation: X:117.38, Y:125.96, Z:45.48 [[-3.64930300e-01 -9.30220457e-01 -3.89330020e-02 1.17380274e+02] [ 9.16228768e-01 -3.66240724e-01 1.62457921e-01 1.25957311e+02] [-1.65380532e-01 2.36142813e-02 9.85947080e-01 4.54819538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.410714057 meters Centerline goodness : 0.990840 Centerline is valid? [True, True] Translation: X:117.40, Y:125.93, Z:45.48 [[-3.52596066e-01 -9.34044925e-01 -5.68866642e-02 1.17404215e+02] [ 9.20144295e-01 -3.57129851e-01 1.60601199e-01 1.25933077e+02] [-1.70324661e-01 4.28341149e-03 9.85378690e-01 4.54802088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.440714057 meters Centerline goodness : 0.991834 Centerline is valid? [True, True] Translation: X:117.40, Y:125.95, Z:45.48 [[-3.56018496e-01 -9.33124461e-01 -5.02948439e-02 1.17395702e+02] [ 9.19896550e-01 -3.59425960e-01 1.56854443e-01 1.25953940e+02] [-1.64441990e-01 9.57702945e-03 9.86340262e-01 4.54807449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.470714057 meters Centerline goodness : 0.991679 Centerline is valid? [True, True] Translation: X:117.39, Y:125.97, Z:45.48 [[-3.60522484e-01 -9.30932608e-01 -5.82066795e-02 1.17394515e+02] [ 9.19246961e-01 -3.65190682e-01 1.47040097e-01 1.25969482e+02] [-1.58140958e-01 -4.95052227e-04 9.87416423e-01 4.54782399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.500714057 meters Centerline goodness : 0.991320 Centerline is valid? [True, True] Translation: X:117.40, Y:125.94, Z:45.48 [[-3.57348008e-01 -9.32693981e-01 -4.88296933e-02 1.17400148e+02] [ 9.18614950e-01 -3.60433509e-01 1.61969932e-01 1.25941978e+02] [-1.68668239e-01 1.30239462e-02 9.85586831e-01 4.54843353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.530714057 meters Centerline goodness : 0.992042 Centerline is valid? [True, True] Translation: X:117.40, Y:125.95, Z:45.48 [[-3.59080384e-01 -9.32399174e-01 -4.11467768e-02 1.17396209e+02] [ 9.18268735e-01 -3.60833463e-01 1.63039085e-01 1.25952203e+02] [-1.66864643e-01 2.07603387e-02 9.85761228e-01 4.54830025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.560714057 meters Centerline goodness : 0.991544 Centerline is valid? [True, True] Translation: X:117.40, Y:125.97, Z:45.48 [[-3.63696538e-01 -9.29747348e-01 -5.73994471e-02 1.17397508e+02] [ 9.17197327e-01 -3.68187986e-01 1.52271698e-01 1.25971576e+02] [-1.62707994e-01 2.73406996e-03 9.86670479e-01 4.54770158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.590714057 meters Centerline goodness : 0.990866 Centerline is valid? [True, True] Translation: X:117.41, Y:125.94, Z:45.48 [[-3.61777888e-01 -9.30639735e-01 -5.50131184e-02 1.17405970e+02] [ 9.16787890e-01 -3.65859820e-01 1.60145423e-01 1.25944975e+02] [-1.69164784e-01 7.50171215e-03 9.85559232e-01 4.54823872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.620714057 meters Centerline goodness : 0.990440 Centerline is valid? [True, True] Translation: X:117.40, Y:125.95, Z:45.48 [[-3.63392631e-01 -9.30675996e-01 -4.22845858e-02 1.17401568e+02] [ 9.16511527e-01 -3.65269907e-01 1.63047586e-01 1.25947101e+02] [-1.67189761e-01 2.04959809e-02 9.85711671e-01 4.54849553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.650714057 meters Centerline goodness : 0.992155 Centerline is valid? [True, True] Translation: X:117.40, Y:125.95, Z:45.48 [[-3.61850670e-01 -9.30904551e-01 -4.98077227e-02 1.17402637e+02] [ 9.17239908e-01 -3.65065971e-01 1.59366833e-01 1.25948664e+02] [-1.66538415e-01 1.19813644e-02 9.85962171e-01 4.54828353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.680714057 meters Centerline goodness : 0.991891 Centerline is valid? [True, True] Translation: X:117.40, Y:125.95, Z:45.48 [[-3.61243822e-01 -9.31386459e-01 -4.49684981e-02 1.17399175e+02] [ 9.17114304e-01 -3.63597263e-01 1.63396402e-01 1.25951469e+02] [-1.68535619e-01 1.77846877e-02 9.85535109e-01 4.54829997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.710714057 meters Centerline goodness : 0.992008 Centerline is valid? [True, True] Translation: X:117.40, Y:125.95, Z:45.48 [[-3.63543136e-01 -9.30013224e-01 -5.39610175e-02 1.17401338e+02] [ 9.16806897e-01 -3.67452224e-01 1.56345696e-01 1.25954983e+02] [-1.65231661e-01 7.36657163e-03 9.86227272e-01 4.54823266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.740714057 meters Centerline goodness : 0.990888 Centerline is valid? [True, True] Translation: X:117.40, Y:125.96, Z:45.48 [[-3.64099461e-01 -9.29404571e-01 -6.03218526e-02 1.17402862e+02] [ 9.15757164e-01 -3.69053743e-01 1.58707757e-01 1.25958774e+02] [-1.69765720e-01 2.54524001e-03 9.85481163e-01 4.54809932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.770714057 meters Centerline goodness : 0.991615 Centerline is valid? [True, True] Translation: X:117.39, Y:125.99, Z:45.48 [[-3.69959735e-01 -9.27547569e-01 -5.27759615e-02 1.17387381e+02] [ 9.15566839e-01 -3.73644826e-01 1.48751160e-01 1.25993322e+02] [-1.57693242e-01 6.71201960e-03 9.87465336e-01 4.54801856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.800714057 meters Centerline goodness : 0.991206 Centerline is valid? [True, True] Translation: X:117.39, Y:125.98, Z:45.48 [[-3.69188732e-01 -9.28193512e-01 -4.64379573e-02 1.17389298e+02] [ 9.15895582e-01 -3.71860752e-01 1.51178252e-01 1.25980532e+02] [-1.57591126e-01 1.32809870e-02 9.87415137e-01 4.54847655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.830714057 meters Centerline goodness : 0.991015 Centerline is valid? [True, True] Translation: X:117.38, Y:125.99, Z:45.48 [[-3.67221200e-01 -9.29125584e-01 -4.32924967e-02 1.17382650e+02] [ 9.15771461e-01 -3.69306835e-01 1.58035100e-01 1.25991073e+02] [-1.62822670e-01 1.83878062e-02 9.86483992e-01 4.54806290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.860714057 meters Centerline goodness : 0.989895 Centerline is valid? [True, True] Translation: X:117.39, Y:125.99, Z:45.47 [[-3.66463872e-01 -9.28694818e-01 -5.68345444e-02 1.17387484e+02] [ 9.15234935e-01 -3.70800244e-01 1.57645786e-01 1.25993308e+02] [-1.67479088e-01 5.75452481e-03 9.85858834e-01 4.54740233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.890714057 meters Centerline goodness : 0.991612 Centerline is valid? [True, True] Translation: X:117.38, Y:126.00, Z:45.48 [[-3.66400024e-01 -9.29406666e-01 -4.42071513e-02 1.17379249e+02] [ 9.16183435e-01 -3.68661886e-01 1.57150649e-01 1.25997151e+02] [-1.62354353e-01 1.70781417e-02 9.86584716e-01 4.54783636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.920714057 meters Centerline goodness : 0.991492 Centerline is valid? [True, True] Translation: X:117.38, Y:126.01, Z:45.47 [[-3.65409002e-01 -9.29715339e-01 -4.58873521e-02 1.17375126e+02] [ 9.16251359e-01 -3.67937567e-01 1.58446816e-01 1.26005529e+02] [-1.64194116e-01 1.58535444e-02 9.86300642e-01 4.54748447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.950714057 meters Centerline goodness : 0.991618 Centerline is valid? [True, True] Translation: X:117.37, Y:125.99, Z:45.48 [[-3.60466292e-01 -9.32216217e-01 -3.22021209e-02 1.17372790e+02] [ 9.16101390e-01 -3.60310664e-01 1.75881975e-01 1.25985231e+02] [-1.75562797e-01 3.38991158e-02 9.83884421e-01 4.54791467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.980714057 meters Centerline goodness : 0.992246 Centerline is valid? [True, True] Translation: X:117.38, Y:125.99, Z:45.47 [[-3.59401051e-01 -9.31791695e-01 -5.09423391e-02 1.17377651e+02] [ 9.16275347e-01 -3.62707597e-01 1.69949072e-01 1.25990936e+02] [-1.76834307e-01 1.44026657e-02 9.84135250e-01 4.54720689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.01071405700003 meters Centerline goodness : 0.991270 Centerline is valid? [True, True] Translation: X:117.38, Y:125.99, Z:45.47 [[-3.59260169e-01 -9.31563031e-01 -5.58788936e-02 1.17379931e+02] [ 9.16551726e-01 -3.63475653e-01 1.66788440e-01 1.25986085e+02] [-1.75684562e-01 8.70454671e-03 9.84408028e-01 4.54722515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.040714057 meters Centerline goodness : 0.992886 Centerline is valid? [True, True] Translation: X:117.37, Y:125.99, Z:45.47 [[-3.59097648e-01 -9.31833894e-01 -5.22921962e-02 1.17374122e+02] [ 9.16828127e-01 -3.62685899e-01 1.66988397e-01 1.25988541e+02] [-1.74571090e-01 1.20221843e-02 9.84571176e-01 4.54741446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.07071405700003 meters Centerline goodness : 0.992400 Centerline is valid? [True, True] Translation: X:117.38, Y:125.98, Z:45.48 [[-3.57586719e-01 -9.32398944e-01 -5.25732638e-02 1.17376979e+02] [ 9.17580869e-01 -3.61260356e-01 1.65940663e-01 1.25976176e+02] [-1.73715535e-01 1.10979561e-02 9.84733339e-01 4.54768268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.100714057 meters Centerline goodness : 0.992400 Centerline is valid? [True, True] Translation: X:117.38, Y:125.98, Z:45.48 [[-3.57274313e-01 -9.32622296e-01 -5.07022421e-02 1.17375307e+02] [ 9.17727688e-01 -3.60621194e-01 1.66518004e-01 1.25978494e+02] [-1.73582706e-01 1.29617540e-02 9.84733993e-01 4.54770169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.130714057 meters Centerline goodness : 0.991770 Centerline is valid? [True, True] Translation: X:117.38, Y:125.98, Z:45.48 [[-3.57407228e-01 -9.32174653e-01 -5.75368624e-02 1.17375923e+02] [ 9.18311740e-01 -3.61981762e-01 1.60227188e-01 1.25977016e+02] [-1.70187018e-01 4.42957864e-03 9.85401826e-01 4.54761729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.160714057 meters Centerline goodness : 0.991095 Centerline is valid? [True, True] Translation: X:117.38, Y:125.98, Z:45.48 [[-3.56993263e-01 -9.31920483e-01 -6.38750690e-02 1.17375930e+02] [ 9.18087850e-01 -3.62659437e-01 1.59977599e-01 1.25978039e+02] [-1.72251297e-01 -1.53199993e-03 9.85051848e-01 4.54750659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.190714057 meters Centerline goodness : 0.990893 Centerline is valid? [True, True] Translation: X:117.36, Y:126.00, Z:45.48 [[-3.58500643e-01 -9.31776654e-01 -5.71800326e-02 1.17364227e+02] [ 9.18278045e-01 -3.63008142e-01 1.58083905e-01 1.25996877e+02] [-1.68055709e-01 4.16601303e-03 9.85768696e-01 4.54766639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.220714057 meters Centerline goodness : 0.991657 Centerline is valid? [True, True] Translation: X:117.35, Y:126.00, Z:45.48 [[-3.56323678e-01 -9.33591739e-01 -3.79460222e-02 1.17353973e+02] [ 9.20046009e-01 -3.57656551e-01 1.59991040e-01 1.25997450e+02] [-1.62937957e-01 2.20965095e-02 9.86388852e-01 4.54825729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.250714057 meters Centerline goodness : 0.992303 Centerline is valid? [True, True] Translation: X:117.35, Y:125.99, Z:45.48 [[-3.50247169e-01 -9.35851153e-01 -3.88527914e-02 1.17353200e+02] [ 9.21361869e-01 -3.51696807e-01 1.65534472e-01 1.25989501e+02] [-1.68580029e-01 2.21804997e-02 9.85438379e-01 4.54815890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.280714057 meters Centerline goodness : 0.992352 Centerline is valid? [True, True] Translation: X:117.36, Y:126.00, Z:45.48 [[-3.50494990e-01 -9.34813522e-01 -5.72445770e-02 1.17356895e+02] [ 9.22084778e-01 -3.55137248e-01 1.53743934e-01 1.25998096e+02] [-1.64051590e-01 1.10212546e-03 9.86451145e-01 4.54760995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.310714057 meters Centerline goodness : 0.992115 Centerline is valid? [True, True] Translation: X:117.35, Y:126.01, Z:45.48 [[-3.50993258e-01 -9.34862549e-01 -5.32517410e-02 1.17350763e+02] [ 9.22434131e-01 -3.54984722e-01 1.51990530e-01 1.26007899e+02] [-1.60993809e-01 4.22642803e-03 9.86946367e-01 4.54772827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.340714057 meters Centerline goodness : 0.992877 Centerline is valid? [True, True] Translation: X:117.34, Y:125.99, Z:45.48 [[-3.42735625e-01 -9.38838731e-01 -3.33785482e-02 1.17344277e+02] [ 9.23485438e-01 -3.43223871e-01 1.71382670e-01 1.25993975e+02] [-1.72357003e-01 2.79143432e-02 9.84638946e-01 4.54844950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.370714057 meters Centerline goodness : 0.991446 Centerline is valid? [True, True] Translation: X:117.35, Y:125.99, Z:45.48 [[-3.39793552e-01 -9.38836013e-01 -5.59221165e-02 1.17353038e+02] [ 9.22248872e-01 -3.44267092e-01 1.75889703e-01 1.25991625e+02] [-1.84383732e-01 8.19207814e-03 9.82820192e-01 4.54757896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.400714057 meters Centerline goodness : 0.991386 Centerline is valid? [True, True] Translation: X:117.36, Y:125.99, Z:45.48 [[-3.38212447e-01 -9.39152837e-01 -6.00357315e-02 1.17356499e+02] [ 9.23503387e-01 -3.43491822e-01 1.70747952e-01 1.25986614e+02] [-1.80980206e-01 2.30588134e-03 9.83484035e-01 4.54763941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.430714057 meters Centerline goodness : 0.992869 Centerline is valid? [True, True] Translation: X:117.34, Y:126.00, Z:45.48 [[-3.37045915e-01 -9.40819550e-01 -3.54770999e-02 1.17343596e+02] [ 9.24571092e-01 -3.37865858e-01 1.76110639e-01 1.25995605e+02] [-1.77674833e-01 2.65562704e-02 9.83730867e-01 4.54825840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.460714057 meters Centerline goodness : 0.992733 Centerline is valid? [True, True] Translation: X:117.35, Y:125.99, Z:45.48 [[-3.35184408e-01 -9.40770176e-01 -5.10185073e-02 1.17352790e+02] [ 9.24933430e-01 -3.38881240e-01 1.72213978e-01 1.25990020e+02] [-1.79302990e-01 1.05347174e-02 9.83737494e-01 4.54763348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.490714057 meters Centerline goodness : 0.992571 Centerline is valid? [True, True] Translation: X:117.36, Y:126.00, Z:45.47 [[-3.36473408e-01 -9.39852104e-01 -5.88529475e-02 1.17355064e+02] [ 9.25533802e-01 -3.41581255e-01 1.63430195e-01 1.25995897e+02] [-1.73703276e-01 5.19522284e-04 9.84797899e-01 4.54741385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.520714057 meters Centerline goodness : 0.991135 Centerline is valid? [True, True] Translation: X:117.36, Y:126.00, Z:45.47 [[-3.40442515e-01 -9.37761131e-01 -6.85780971e-02 1.17357839e+02] [ 9.24541330e-01 -3.47140378e-01 1.57216053e-01 1.26000776e+02] [-1.71237330e-01 -9.88025665e-03 9.85180266e-01 4.54728806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.550714057 meters Centerline goodness : 0.992915 Centerline is valid? [True, True] Translation: X:117.34, Y:126.00, Z:45.48 [[-3.35483607e-01 -9.41662070e-01 -2.68941325e-02 1.17342795e+02] [ 9.25472883e-01 -3.34778687e-01 1.77265829e-01 1.25997062e+02] [-1.75928090e-01 3.45799894e-02 9.83795472e-01 4.54833613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.580714057 meters Centerline goodness : 0.992298 Centerline is valid? [True, True] Translation: X:117.35, Y:126.01, Z:45.47 [[-3.39313511e-01 -9.38877003e-01 -5.81060670e-02 1.17351282e+02] [ 9.25009003e-01 -3.44251835e-01 1.60776297e-01 1.26012842e+02] [-1.70952288e-01 8.04934678e-04 9.85278980e-01 4.54715961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.610714057 meters Centerline goodness : 0.992189 Centerline is valid? [True, True] Translation: X:117.35, Y:126.00, Z:45.48 [[-3.33887984e-01 -9.41978289e-01 -3.45791426e-02 1.17346793e+02] [ 9.24842935e-01 -3.34462614e-01 1.81108546e-01 1.26000208e+02] [-1.82165749e-01 2.84896916e-02 9.82855013e-01 4.54771421e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.640714057 meters Centerline goodness : 0.992060 Centerline is valid? [True, True] Translation: X:117.35, Y:126.00, Z:45.47 [[-3.32319000e-01 -9.42236077e-01 -4.18957854e-02 1.17350530e+02] [ 9.24281343e-01 -3.34188005e-01 1.84451554e-01 1.26002596e+02] [-1.87797978e-01 2.25732634e-02 9.81948251e-01 4.54717520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.670714057 meters Centerline goodness : 0.992526 Centerline is valid? [True, True] Translation: X:117.35, Y:126.05, Z:45.46 [[-3.56603364e-01 -9.30285712e-01 -8.60379806e-02 1.17348514e+02] [ 9.19947816e-01 -3.65705456e-01 1.41264063e-01 1.26046202e+02] [-1.62880498e-01 -2.87752123e-02 9.86226105e-01 4.54602092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.700714057 meters Centerline goodness : 0.992575 Centerline is valid? [True, True] Translation: X:117.34, Y:126.04, Z:45.47 [[-3.54730101e-01 -9.33584769e-01 -5.08530684e-02 1.17337158e+02] [ 9.20748414e-01 -3.58267805e-01 1.54487989e-01 1.26040869e+02] [-1.62446651e-01 7.97865802e-03 9.86685070e-01 4.54735774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.730714057 meters Centerline goodness : 0.992931 Centerline is valid? [True, True] Translation: X:117.34, Y:126.04, Z:45.47 [[-3.53252274e-01 -9.34132487e-01 -5.10815789e-02 1.17337896e+02] [ 9.21150938e-01 -3.56840392e-01 1.55389462e-01 1.26040989e+02] [-1.63382316e-01 7.83783663e-03 9.86531696e-01 4.54731549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.76071405700003 meters Centerline goodness : 0.991991 Centerline is valid? [True, True] Translation: X:117.34, Y:126.04, Z:45.47 [[-3.50784231e-01 -9.35057021e-01 -5.11741117e-02 1.17338523e+02] [ 9.22003234e-01 -3.54418066e-01 1.55877745e-01 1.26044419e+02] [-1.63891609e-01 7.49675840e-03 9.86449866e-01 4.54719326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.790714057 meters Centerline goodness : 0.993254 Centerline is valid? [True, True] Translation: X:117.34, Y:126.05, Z:45.47 [[-3.49832842e-01 -9.35421247e-01 -5.10301235e-02 1.17337627e+02] [ 9.22411024e-01 -3.53458121e-01 1.55644661e-01 1.26049834e+02] [-1.63630334e-01 7.37886556e-03 9.86494129e-01 4.54707019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.82071405700003 meters Centerline goodness : 0.993335 Centerline is valid? [True, True] Translation: X:117.34, Y:126.05, Z:45.47 [[-3.49028643e-01 -9.35727743e-01 -5.09175505e-02 1.17338220e+02] [ 9.22744332e-01 -3.52647712e-01 1.55507199e-01 1.26051083e+02] [-1.63468358e-01 7.29258564e-03 9.86521624e-01 4.54700759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.850714057 meters Centerline goodness : 0.991038 Centerline is valid? [True, True] Translation: X:117.35, Y:126.03, Z:45.47 [[-3.29995567e-01 -9.42918192e-01 -4.48130518e-02 1.17352779e+02] [ 9.25899112e-01 -3.32556572e-01 1.79212059e-01 1.26028243e+02] [-1.83885185e-01 1.76468200e-02 9.82789310e-01 4.54691144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.880714057 meters Centerline goodness : 0.991246 Centerline is valid? [True, True] Translation: X:117.34, Y:126.08, Z:45.46 [[-3.51275475e-01 -9.33655584e-01 -6.99484902e-02 1.17340644e+02] [ 9.21221734e-01 -3.58004592e-01 1.52260397e-01 1.26077988e+02] [-1.67200651e-01 -1.09527261e-02 9.85862049e-01 4.54600572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.910714057 meters Centerline goodness : 0.990765 Centerline is valid? [True, True] Translation: X:117.35, Y:126.05, Z:45.47 [[-3.41409495e-01 -9.38169059e-01 -5.72570771e-02 1.17353955e+02] [ 9.25181366e-01 -3.46177407e-01 1.55565562e-01 1.26054017e+02] [-1.65767904e-01 1.38379297e-04 9.86164785e-01 4.54675767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.940714057 meters Centerline goodness : 0.990645 Centerline is valid? [True, True] Translation: X:117.35, Y:126.05, Z:45.47 [[-3.40564425e-01 -9.39214504e-01 -4.34969902e-02 1.17349450e+02] [ 9.24680140e-01 -3.42953168e-01 1.65377637e-01 1.26054231e+02] [-1.70242506e-01 1.61009369e-02 9.85270648e-01 4.54694595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.970714057 meters Centerline goodness : 0.990235 Centerline is valid? [True, True] Translation: X:117.34, Y:126.09, Z:45.46 [[-3.55232925e-01 -9.32945613e-01 -5.84983124e-02 1.17339156e+02] [ 9.19924436e-01 -3.60014748e-01 1.55333234e-01 1.26085217e+02] [-1.65977715e-01 1.36545210e-03 9.86128558e-01 4.54615111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.000714057 meters Centerline goodness : 0.989529 Centerline is valid? [True, True] Translation: X:117.35, Y:126.05, Z:45.47 [[-3.38915454e-01 -9.40391765e-01 -2.82779679e-02 1.17346552e+02] [ 9.22589328e-01 -3.38086936e-01 1.85812150e-01 1.26052909e+02] [-1.84296627e-01 3.68856578e-02 9.82178294e-01 4.54688807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.030714057 meters Centerline goodness : 0.988744 Centerline is valid? [True, True] Translation: X:117.36, Y:126.08, Z:45.46 [[-3.47264490e-01 -9.35359115e-01 -6.71617501e-02 1.17356334e+02] [ 9.21676651e-01 -3.53639738e-01 1.59533967e-01 1.26077943e+02] [-1.72972614e-01 -6.50093523e-03 9.84905180e-01 4.54583297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.060714057 meters Centerline goodness : 0.989773 Centerline is valid? [True, True] Translation: X:117.35, Y:126.08, Z:45.46 [[-3.49282942e-01 -9.35097686e-01 -5.99478465e-02 1.17353821e+02] [ 9.21294127e-01 -3.54389406e-01 1.60078983e-01 1.26079867e+02] [-1.70934369e-01 6.83259332e-04 9.85282180e-01 4.54620986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.090714057 meters Centerline goodness : 0.990555 Centerline is valid? [True, True] Translation: X:117.34, Y:126.06, Z:45.47 [[-3.40544781e-01 -9.40098863e-01 -1.56006382e-02 1.17342636e+02] [ 9.22512230e-01 -3.37287929e-01 1.87638049e-01 1.26056752e+02] [-1.81660224e-01 4.95073789e-02 9.82114343e-01 4.54729905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.120714057 meters Centerline goodness : 0.989759 Centerline is valid? [True, True] Translation: X:117.36, Y:126.05, Z:45.46 [[-3.36762598e-01 -9.39884326e-01 -5.66427910e-02 1.17360541e+02] [ 9.21089175e-01 -3.41318458e-01 1.87340443e-01 1.26054023e+02] [-1.95411576e-01 1.09161925e-02 9.80660570e-01 4.54589277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.150714057 meters Centerline goodness : 0.989778 Centerline is valid? [True, True] Translation: X:117.36, Y:126.06, Z:45.46 [[-3.36783183e-01 -9.39838523e-01 -5.72768558e-02 1.17360194e+02] [ 9.21196970e-01 -3.41470942e-01 1.86530798e-01 1.26056324e+02] [-1.94867211e-01 1.00571698e-02 9.80778070e-01 4.54591151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.180714057 meters Centerline goodness : 0.988919 Centerline is valid? [True, True] Translation: X:117.37, Y:126.05, Z:45.46 [[-3.40244759e-01 -9.38184535e-01 -6.35868062e-02 1.17365354e+02] [ 9.21096416e-01 -3.46129230e-01 1.78258096e-01 1.26053789e+02] [-1.89248241e-01 2.08180367e-03 9.81927069e-01 4.54617043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.210714057 meters Centerline goodness : 0.990058 Centerline is valid? [True, True] Translation: X:117.36, Y:126.06, Z:45.46 [[-3.40558724e-01 -9.38262251e-01 -6.06935228e-02 1.17359653e+02] [ 9.21649257e-01 -3.45902330e-01 1.75824415e-01 1.26062394e+02] [-1.85963442e-01 3.94039825e-03 9.82548763e-01 4.54621784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.240714057 meters Centerline goodness : 0.990319 Centerline is valid? [True, True] Translation: X:117.36, Y:126.06, Z:45.46 [[-3.41781985e-01 -9.38199759e-01 -5.44636403e-02 1.17356862e+02] [ 9.21469683e-01 -3.45943885e-01 1.76681781e-01 1.26062370e+02] [-1.84604167e-01 1.02000562e-02 9.82760022e-01 4.54643494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.270714057 meters Centerline goodness : 0.990653 Centerline is valid? [True, True] Translation: X:117.36, Y:126.07, Z:45.46 [[-3.47316669e-01 -9.35630561e-01 -6.29808345e-02 1.17356586e+02] [ 9.20768556e-01 -3.52980684e-01 1.66102084e-01 1.26073610e+02] [-1.77641204e-01 -3.00749720e-04 9.84095276e-01 4.54629439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.300714057 meters Centerline goodness : 0.990980 Centerline is valid? [True, True] Translation: X:117.35, Y:126.08, Z:45.47 [[-3.48710028e-01 -9.35659991e-01 -5.42374285e-02 1.17352486e+02] [ 9.20709675e-01 -3.52806895e-01 1.66796252e-01 1.26075252e+02] [-1.75199919e-01 8.22660065e-03 9.84498508e-01 4.54663456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.330714057 meters Centerline goodness : 0.991730 Centerline is valid? [True, True] Translation: X:117.35, Y:126.10, Z:45.46 [[-3.56486543e-01 -9.32065400e-01 -6.45866484e-02 1.17348760e+02] [ 9.20134296e-01 -3.62233787e-01 1.48793687e-01 1.26101504e+02] [-1.62080914e-01 -6.38544299e-03 9.86756811e-01 4.54608842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.360714057 meters Centerline goodness : 0.989892 Centerline is valid? [True, True] Translation: X:117.34, Y:126.10, Z:45.47 [[-3.56167803e-01 -9.33467293e-01 -4.22292480e-02 1.17339682e+02] [ 9.19776905e-01 -3.58197296e-01 1.60328232e-01 1.26098130e+02] [-1.64787563e-01 1.82622672e-02 9.86160002e-01 4.54704287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.390714057 meters Centerline goodness : 0.991032 Centerline is valid? [True, True] Translation: X:117.35, Y:126.08, Z:45.47 [[-3.51680906e-01 -9.35003928e-01 -4.56967756e-02 1.17347042e+02] [ 9.19667149e-01 -3.54199886e-01 1.69572334e-01 1.26076673e+02] [-1.74736591e-01 1.76095286e-02 9.84457733e-01 4.54684812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.420714057 meters Centerline goodness : 0.991329 Centerline is valid? [True, True] Translation: X:117.34, Y:126.10, Z:45.46 [[-3.57349303e-01 -9.31824124e-01 -6.32872683e-02 1.17344137e+02] [ 9.19476563e-01 -3.62886542e-01 1.51248830e-01 1.26103333e+02] [-1.63903406e-01 -4.14249593e-03 9.86467695e-01 4.54626582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.450714057 meters Centerline goodness : 0.991621 Centerline is valid? [True, True] Translation: X:117.34, Y:126.11, Z:45.47 [[-3.56507007e-01 -9.33017960e-01 -4.87877118e-02 1.17336173e+02] [ 9.19972642e-01 -3.59671406e-01 1.55842288e-01 1.26107304e+02] [-1.62951199e-01 1.06755075e-02 9.86576373e-01 4.54662112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.480714057 meters Centerline goodness : 0.991282 Centerline is valid? [True, True] Translation: X:117.34, Y:126.09, Z:45.47 [[-3.51498644e-01 -9.34875588e-01 -4.95614520e-02 1.17340973e+02] [ 9.21111338e-01 -3.54815630e-01 1.60186677e-01 1.26089867e+02] [-1.67339792e-01 1.06537844e-02 9.85841717e-01 4.54666021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.51071405700003 meters Centerline goodness : 0.991259 Centerline is valid? [True, True] Translation: X:117.34, Y:126.09, Z:45.47 [[-3.50773678e-01 -9.35352942e-01 -4.55269201e-02 1.17337356e+02] [ 9.21356287e-01 -3.53404378e-01 1.61888659e-01 1.26092942e+02] [-1.67512447e-01 1.48397664e-02 9.85758267e-01 4.54674358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.540714057 meters Centerline goodness : 0.992161 Centerline is valid? [True, True] Translation: X:117.34, Y:126.10, Z:45.46 [[-3.48596596e-01 -9.35211698e-01 -6.21248245e-02 1.17339702e+02] [ 9.22084158e-01 -3.54077671e-01 1.56172368e-01 1.26099754e+02] [-1.68051239e-01 -2.84316063e-03 9.85774162e-01 4.54609478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.57071405700003 meters Centerline goodness : 0.990966 Centerline is valid? [True, True] Translation: X:117.33, Y:126.09, Z:45.47 [[-3.43991282e-01 -9.38359707e-01 -3.39272528e-02 1.17331792e+02] [ 9.22586074e-01 -3.44488217e-01 1.73674423e-01 1.26085838e+02] [-1.74656619e-01 2.84416764e-02 9.84218541e-01 4.54704666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.600714057 meters Centerline goodness : 0.991559 Centerline is valid? [True, True] Translation: X:117.33, Y:126.09, Z:45.46 [[-3.39389103e-01 -9.39535490e-01 -4.56957335e-02 1.17330702e+02] [ 9.24652242e-01 -3.42144749e-01 1.67198094e-01 1.26094190e+02] [-1.72723099e-01 1.44925489e-02 9.84863796e-01 4.54617422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.630714057 meters Centerline goodness : 0.990811 Centerline is valid? [True, True] Translation: X:117.33, Y:126.10, Z:45.46 [[-3.36354163e-01 -9.40124282e-01 -5.50655250e-02 1.17331915e+02] [ 9.24439461e-01 -3.40766758e-01 1.71142335e-01 1.26097966e+02] [-1.79659565e-01 6.65969265e-03 9.83706302e-01 4.54570695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.660714057 meters Centerline goodness : 0.990327 Centerline is valid? [True, True] Translation: X:117.33, Y:126.09, Z:45.46 [[-3.33603623e-01 -9.41260232e-01 -5.23239830e-02 1.17331070e+02] [ 9.25253124e-01 -3.37553014e-01 1.73102915e-01 1.26092528e+02] [-1.80597008e-01 9.33483092e-03 9.83512878e-01 4.54584810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.690714057 meters Centerline goodness : 0.989821 Centerline is valid? [True, True] Translation: X:117.33, Y:126.08, Z:45.46 [[-3.27735527e-01 -9.43834641e-01 -4.20189814e-02 1.17328631e+02] [ 9.26184175e-01 -3.29748753e-01 1.82889676e-01 1.26081286e+02] [-1.86473319e-01 2.10221289e-02 9.82235090e-01 4.54602558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.720714057 meters Centerline goodness : 0.989535 Centerline is valid? [True, True] Translation: X:117.32, Y:126.11, Z:45.45 [[-3.29285018e-01 -9.42676687e-01 -5.41483202e-02 1.17324716e+02] [ 9.27328414e-01 -3.33660412e-01 1.69507351e-01 1.26106993e+02] [-1.77857779e-01 5.60295512e-03 9.84040252e-01 4.54529667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.750714057 meters Centerline goodness : 0.990638 Centerline is valid? [True, True] Translation: X:117.33, Y:126.08, Z:45.46 [[-3.16403511e-01 -9.47696112e-01 -4.19630564e-02 1.17327224e+02] [ 9.27486123e-01 -3.18336506e-01 1.96039182e-01 1.26076065e+02] [-1.99143943e-01 2.31073331e-02 9.79697780e-01 4.54556801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.780714057 meters Centerline goodness : 0.989970 Centerline is valid? [True, True] Translation: X:117.33, Y:126.09, Z:45.45 [[-3.22729828e-01 -9.43621706e-01 -7.36446439e-02 1.17334491e+02] [ 9.27812033e-01 -3.30783386e-01 1.72473718e-01 1.26092530e+02] [-1.87110369e-01 -1.26659733e-02 9.82257239e-01 4.54477812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.810714057 meters Centerline goodness : 0.991466 Centerline is valid? [True, True] Translation: X:117.32, Y:126.08, Z:45.46 [[-3.18279832e-01 -9.47001450e-01 -4.34304382e-02 1.17323093e+02] [ 9.28257298e-01 -3.20625526e-01 1.88514352e-01 1.26084424e+02] [-1.92448272e-01 1.96856951e-02 9.81109645e-01 4.54553338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.840714057 meters Centerline goodness : 0.990897 Centerline is valid? [True, True] Translation: X:117.32, Y:126.08, Z:45.45 [[-3.17229445e-01 -9.47024937e-01 -5.00923994e-02 1.17324730e+02] [ 9.28353364e-01 -3.20896754e-01 1.87577465e-01 1.26084698e+02] [-1.93715026e-01 1.30016478e-02 9.80971685e-01 4.54515022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.870714057 meters Centerline goodness : 0.989631 Centerline is valid? [True, True] Translation: X:117.32, Y:126.10, Z:45.45 [[-3.20609585e-01 -9.45431186e-01 -5.80462394e-02 1.17324526e+02] [ 9.27853058e-01 -3.25792975e-01 1.81514848e-01 1.26098390e+02] [-1.90520855e-01 4.33701940e-03 9.81673568e-01 4.54473938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.900714057 meters Centerline goodness : 0.987687 Centerline is valid? [True, True] Translation: X:117.32, Y:126.09, Z:45.45 [[-3.20517461e-01 -9.46329192e-01 -4.15886737e-02 1.17321320e+02] [ 9.27329067e-01 -3.22432017e-01 1.89995779e-01 1.26086139e+02] [-1.93208072e-01 2.23305788e-02 9.80903658e-01 4.54538527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.930714057 meters Centerline goodness : 0.991638 Centerline is valid? [True, True] Translation: X:117.32, Y:126.10, Z:45.45 [[-3.15662262e-01 -9.47492447e-01 -5.11409673e-02 1.17319444e+02] [ 9.27508343e-01 -3.19479139e-01 1.94065336e-01 1.26098316e+02] [-2.00213912e-01 1.38254291e-02 9.79654657e-01 4.54455562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.960714057 meters Centerline goodness : 0.988352 Centerline is valid? [True, True] Translation: X:117.33, Y:126.09, Z:45.44 [[-3.17688728e-01 -9.46286833e-01 -6.01257221e-02 1.17325770e+02] [ 9.27098770e-01 -3.23296948e-01 1.89649556e-01 1.26092521e+02] [-1.98901341e-01 4.50704334e-03 9.80009155e-01 4.54441077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.990714057 meters Centerline goodness : 0.988352 Centerline is valid? [True, True] Translation: X:117.32, Y:126.09, Z:45.45 [[-3.17462549e-01 -9.46637447e-01 -5.56333831e-02 1.17323022e+02] [ 9.27212396e-01 -3.22173257e-01 1.91001482e-01 1.26094709e+02] [-1.98732743e-01 9.05185494e-03 9.80011919e-01 4.54452559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.020714057 meters Centerline goodness : 0.991724 Centerline is valid? [True, True] Translation: X:117.32, Y:126.10, Z:45.45 [[-3.17708474e-01 -9.46746812e-01 -5.22666163e-02 1.17317658e+02] [ 9.26819526e-01 -3.21712901e-01 1.93665630e-01 1.26099333e+02] [-2.00167163e-01 1.30874912e-02 9.79674346e-01 4.54464380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.050714057 meters Centerline goodness : 0.989914 Centerline is valid? [True, True] Translation: X:117.33, Y:126.12, Z:45.44 [[-3.27600962e-01 -9.41260376e-01 -8.18933077e-02 1.17325072e+02] [ 9.26959046e-01 -3.36971710e-01 1.64915110e-01 1.26121334e+02] [-1.82823786e-01 -2.18853939e-02 9.82902077e-01 4.54400725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.080714057 meters Centerline goodness : 0.991449 Centerline is valid? [True, True] Translation: X:117.31, Y:126.12, Z:45.45 [[-3.28155994e-01 -9.43096254e-01 -5.36944920e-02 1.17312712e+02] [ 9.26990548e-01 -3.32441332e-01 1.73698830e-01 1.26116156e+02] [-1.81664985e-01 7.22602572e-03 9.83333930e-01 4.54521570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.110714057 meters Centerline goodness : 0.990427 Centerline is valid? [True, True] Translation: X:117.31, Y:126.12, Z:45.45 [[-3.28243513e-01 -9.43409305e-01 -4.72766262e-02 1.17308562e+02] [ 9.26397701e-01 -3.31293483e-01 1.78974658e-01 1.26119594e+02] [-1.84508795e-01 1.49503126e-02 9.82717148e-01 4.54526484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.140714057 meters Centerline goodness : 0.990045 Centerline is valid? [True, True] Translation: X:117.31, Y:126.12, Z:45.45 [[-3.29297791e-01 -9.42855555e-01 -5.08563381e-02 1.17308538e+02] [ 9.25835819e-01 -3.32993811e-01 1.78726491e-01 1.26122819e+02] [-1.85448110e-01 1.17696192e-02 9.82583571e-01 4.54508871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.170714057 meters Centerline goodness : 0.991064 Centerline is valid? [True, True] Translation: X:117.31, Y:126.12, Z:45.45 [[-3.28669547e-01 -9.43049645e-01 -5.13195416e-02 1.17306984e+02] [ 9.25970713e-01 -3.32459398e-01 1.79022310e-01 1.26124638e+02] [-1.85888590e-01 1.13187890e-02 9.82505632e-01 4.54495354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.200714057 meters Centerline goodness : 0.991269 Centerline is valid? [True, True] Translation: X:117.30, Y:126.14, Z:45.45 [[-3.29088259e-01 -9.42912841e-01 -5.11496956e-02 1.17302678e+02] [ 9.25839727e-01 -3.32839314e-01 1.78993828e-01 1.26139674e+02] [-1.85800209e-01 1.15483471e-02 9.82519678e-01 4.54466580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.230714057 meters Centerline goodness : 0.991539 Centerline is valid? [True, True] Translation: X:117.30, Y:126.15, Z:45.45 [[-3.31284171e-01 -9.42667464e-01 -4.03590139e-02 1.17296034e+02] [ 9.25694251e-01 -3.33001851e-01 1.79443367e-01 1.26149723e+02] [-1.82595050e-01 2.20866401e-02 9.82940094e-01 4.54459713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.26071405700003 meters Centerline goodness : 0.989884 Centerline is valid? [True, True] Translation: X:117.31, Y:126.14, Z:45.44 [[-3.31280474e-01 -9.41162567e-01 -6.68301676e-02 1.17310898e+02] [ 9.24727208e-01 -3.37933114e-01 1.75159359e-01 1.26138594e+02] [-1.87437559e-01 -3.77279879e-03 9.82269274e-01 4.54392520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.290714057 meters Centerline goodness : 0.991826 Centerline is valid? [True, True] Translation: X:117.30, Y:126.14, Z:45.45 [[-3.34076185e-01 -9.41665845e-01 -4.07251605e-02 1.17298432e+02] [ 9.25212007e-01 -3.35874416e-01 1.76553447e-01 1.26143915e+02] [-1.79932890e-01 2.13028946e-02 9.83448190e-01 4.54471165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.32071405700003 meters Centerline goodness : 0.988771 Centerline is valid? [True, True] Translation: X:117.31, Y:126.14, Z:45.44 [[-3.38977256e-01 -9.38410341e-01 -6.69361810e-02 1.17310253e+02] [ 9.22948215e-01 -3.45496656e-01 1.69701662e-01 1.26143654e+02] [-1.82376021e-01 -4.25362495e-03 9.83219657e-01 4.54394704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.350714057 meters Centerline goodness : 0.992197 Centerline is valid? [True, True] Translation: X:117.29, Y:126.16, Z:45.45 [[-3.38275800e-01 -9.40205996e-01 -3.97764920e-02 1.17293456e+02] [ 9.24297155e-01 -3.39897254e-01 1.73622078e-01 1.26157135e+02] [-1.76760439e-01 2.19668488e-02 9.84008742e-01 4.54457385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.380714057 meters Centerline goodness : 0.989821 Centerline is valid? [True, True] Translation: X:117.30, Y:126.17, Z:45.43 [[-3.40919470e-01 -9.37742988e-01 -6.64229090e-02 1.17301331e+02] [ 9.22670705e-01 -3.47304781e-01 1.67505697e-01 1.26168060e+02] [-1.80146286e-01 -4.18051892e-03 9.83630946e-01 4.54344095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.410714057 meters Centerline goodness : 0.989638 Centerline is valid? [True, True] Translation: X:117.30, Y:126.16, Z:45.44 [[-3.45021693e-01 -9.37363175e-01 -4.80656736e-02 1.17296257e+02] [ 9.21456189e-01 -3.48018785e-01 1.72630868e-01 1.26158264e+02] [-1.78545576e-01 1.52709820e-02 9.83813130e-01 4.54426198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.440714057 meters Centerline goodness : 0.989830 Centerline is valid? [True, True] Translation: X:117.30, Y:126.17, Z:45.44 [[-3.44764064e-01 -9.37199404e-01 -5.28679275e-02 1.17295708e+02] [ 9.21732293e-01 -3.48655544e-01 1.69849616e-01 1.26165522e+02] [-1.77615655e-01 9.82796780e-03 9.84050858e-01 4.54384956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.470714057 meters Centerline goodness : 0.988741 Centerline is valid? [True, True] Translation: X:117.29, Y:126.17, Z:45.44 [[-3.45543503e-01 -9.36890745e-01 -5.32486515e-02 1.17294763e+02] [ 9.21151104e-01 -3.49475028e-01 1.71312136e-01 1.26166756e+02] [-1.79109829e-01 1.01457414e-02 9.83776770e-01 4.54388475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.500714057 meters Centerline goodness : 0.989499 Centerline is valid? [True, True] Translation: X:117.29, Y:126.18, Z:45.44 [[-3.47052148e-01 -9.36164791e-01 -5.61274409e-02 1.17290688e+02] [ 9.20586509e-01 -3.51483388e-01 1.70234859e-01 1.26176739e+02] [-1.79095744e-01 7.41020851e-03 9.83803742e-01 4.54380766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.530714057 meters Centerline goodness : 0.990011 Centerline is valid? [True, True] Translation: X:117.28, Y:126.19, Z:45.44 [[-3.48460112e-01 -9.35798038e-01 -5.34563684e-02 1.17284920e+02] [ 9.19952761e-01 -3.52374391e-01 1.71811546e-01 1.26187490e+02] [-1.79617563e-01 1.06921368e-02 9.83678408e-01 4.54374652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.560714057 meters Centerline goodness : 0.989932 Centerline is valid? [True, True] Translation: X:117.29, Y:126.18, Z:45.44 [[-3.49995531e-01 -9.35004196e-01 -5.71863810e-02 1.17286812e+02] [ 9.19617525e-01 -3.54575620e-01 1.69055426e-01 1.26181285e+02] [-1.78344429e-01 6.57904524e-03 9.83946127e-01 4.54389643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.590714057 meters Centerline goodness : 0.990501 Centerline is valid? [True, True] Translation: X:117.28, Y:126.20, Z:45.44 [[-3.51064386e-01 -9.34883682e-01 -5.24051309e-02 1.17279155e+02] [ 9.19505199e-01 -3.54776564e-01 1.69244732e-01 1.26195101e+02] [-1.76816250e-01 1.12290076e-02 9.84179823e-01 4.54377587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.620714057 meters Centerline goodness : 0.990616 Centerline is valid? [True, True] Translation: X:117.28, Y:126.19, Z:45.44 [[-3.52323174e-01 -9.34214162e-01 -5.57878199e-02 1.17279752e+02] [ 9.19595860e-01 -3.56648841e-01 1.64757576e-01 1.26194433e+02] [-1.73815522e-01 6.74566397e-03 9.84755127e-01 4.54381943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.650714057 meters Centerline goodness : 0.990941 Centerline is valid? [True, True] Translation: X:117.28, Y:126.18, Z:45.44 [[-3.53970062e-01 -9.33668131e-01 -5.44886872e-02 1.17280109e+02] [ 9.19503678e-01 -3.58064891e-01 1.62180514e-01 1.26184901e+02] [-1.70933263e-01 7.30449837e-03 9.85255532e-01 4.54416361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.680714057 meters Centerline goodness : 0.990897 Centerline is valid? [True, True] Translation: X:117.27, Y:126.19, Z:45.44 [[-3.53429703e-01 -9.34409526e-01 -4.43427915e-02 1.17274116e+02] [ 9.19156589e-01 -3.55690830e-01 1.69219381e-01 1.26187777e+02] [-1.73892526e-01 1.90491865e-02 9.84580377e-01 4.54436048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.710714057 meters Centerline goodness : 0.990845 Centerline is valid? [True, True] Translation: X:117.27, Y:126.19, Z:45.44 [[-3.54260861e-01 -9.33602980e-01 -5.37095684e-02 1.17273452e+02] [ 9.18982767e-01 -3.58195327e-01 1.64823485e-01 1.26193170e+02] [-1.73118213e-01 9.03234192e-03 9.84859635e-01 4.54399690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.740714057 meters Centerline goodness : 0.990333 Centerline is valid? [True, True] Translation: X:117.27, Y:126.19, Z:45.44 [[-3.53865747e-01 -9.33817480e-01 -5.25732514e-02 1.17272483e+02] [ 9.19450519e-01 -3.57623606e-01 1.63450604e-01 1.26191780e+02] [-1.71434467e-01 9.50106688e-03 9.85149711e-01 4.54407271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.770714057 meters Centerline goodness : 0.991448 Centerline is valid? [True, True] Translation: X:117.27, Y:126.19, Z:45.44 [[-3.52213461e-01 -9.34771036e-01 -4.63550306e-02 1.17266476e+02] [ 9.19895520e-01 -3.54884114e-01 1.66881692e-01 1.26194681e+02] [-1.72446836e-01 1.61361933e-02 9.84886649e-01 4.54403451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.800714057 meters Centerline goodness : 0.991883 Centerline is valid? [True, True] Translation: X:117.27, Y:126.19, Z:45.44 [[-3.52257481e-01 -9.34375481e-01 -5.34521092e-02 1.17268972e+02] [ 9.20195618e-01 -3.56199870e-01 1.62362793e-01 1.26194609e+02] [-1.70747447e-01 8.00711184e-03 9.85282292e-01 4.54378421e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.830714057 meters Centerline goodness : 0.991555 Centerline is valid? [True, True] Translation: X:117.27, Y:126.18, Z:45.44 [[-3.50813102e-01 -9.35307854e-01 -4.61452618e-02 1.17269669e+02] [ 9.20617143e-01 -3.53486271e-01 1.65866009e-01 1.26180419e+02] [-1.71447498e-01 1.57058501e-02 9.85068060e-01 4.54419367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.860714057 meters Centerline goodness : 0.990775 Centerline is valid? [True, True] Translation: X:117.27, Y:126.19, Z:45.44 [[-3.50974500e-01 -9.34911101e-01 -5.25179314e-02 1.17267466e+02] [ 9.20899431e-01 -3.54784748e-01 1.61468327e-01 1.26188021e+02] [-1.69591092e-01 8.30753208e-03 9.85479501e-01 4.54388700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.890714057 meters Centerline goodness : 0.991193 Centerline is valid? [True, True] Translation: X:117.26, Y:126.18, Z:45.44 [[-3.49001950e-01 -9.35906068e-01 -4.77228652e-02 1.17264931e+02] [ 9.21416314e-01 -3.51991894e-01 1.64601587e-01 1.26184469e+02] [-1.70849686e-01 1.34736482e-02 9.85204976e-01 4.54401525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.920714057 meters Centerline goodness : 0.991347 Centerline is valid? [True, True] Translation: X:117.27, Y:126.16, Z:45.44 [[-3.43901469e-01 -9.37756657e-01 -4.84172787e-02 1.17271221e+02] [ 9.22952778e-01 -3.47066091e-01 1.66443080e-01 1.26159287e+02] [-1.72887102e-01 1.25531579e-02 9.84861649e-01 4.54431987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.950714057 meters Centerline goodness : 0.991306 Centerline is valid? [True, True] Translation: X:117.27, Y:126.17, Z:45.44 [[-3.42890831e-01 -9.38097403e-01 -4.89810195e-02 1.17266591e+02] [ 9.23376231e-01 -3.46174756e-01 1.65949917e-01 1.26170869e+02] [-1.72633179e-01 1.16747959e-02 9.84916994e-01 4.54410040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.980714057 meters Centerline goodness : 0.991797 Centerline is valid? [True, True] Translation: X:117.27, Y:126.17, Z:45.44 [[-3.41096084e-01 -9.38616257e-01 -5.15071170e-02 1.17265349e+02] [ 9.24429636e-01 -3.44872507e-01 1.62766097e-01 1.26167692e+02] [-1.70538293e-01 7.90417278e-03 9.85319347e-01 4.54421173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.01071405700003 meters Centerline goodness : 0.990895 Centerline is valid? [True, True] Translation: X:117.26, Y:126.16, Z:45.45 [[-3.37949051e-01 -9.40109211e-01 -4.45545782e-02 1.17259922e+02] [ 9.25085398e-01 -3.40516216e-01 1.68124103e-01 1.26164439e+02] [-1.73226574e-01 1.56005913e-02 9.84758435e-01 4.54466334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.040714057 meters Centerline goodness : 0.990895 Centerline is valid? [True, True] Translation: X:117.26, Y:126.17, Z:45.44 [[-3.37612355e-01 -9.39999533e-01 -4.91810528e-02 1.17260959e+02] [ 9.25156387e-01 -3.41004990e-01 1.66737089e-01 1.26167135e+02] [-1.73503770e-01 1.07923362e-02 9.84774069e-01 4.54443125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.07071405700003 meters Centerline goodness : 0.990914 Centerline is valid? [True, True] Translation: X:117.26, Y:126.17, Z:45.44 [[-3.36161847e-01 -9.40369320e-01 -5.19687870e-02 1.17257477e+02] [ 9.26129830e-01 -3.40088781e-01 1.63166048e-01 1.26173492e+02] [-1.71110347e-01 6.72035641e-03 9.85228951e-01 4.54440460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.100714057 meters Centerline goodness : 0.990829 Centerline is valid? [True, True] Translation: X:117.26, Y:126.17, Z:45.45 [[-3.35120364e-01 -9.40929652e-01 -4.84327593e-02 1.17255644e+02] [ 9.26649860e-01 -3.38455941e-01 1.63608110e-01 1.26172581e+02] [-1.70336077e-01 9.94819986e-03 9.85335808e-01 4.54463594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.130714057 meters Centerline goodness : 0.990385 Centerline is valid? [True, True] Translation: X:117.25, Y:126.19, Z:45.44 [[-3.35290657e-01 -9.40871599e-01 -4.83819185e-02 1.17249424e+02] [ 9.26653090e-01 -3.38618587e-01 1.63252883e-01 1.26188555e+02] [-1.69983018e-01 9.90391234e-03 9.85397222e-01 4.54430476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.160714057 meters Centerline goodness : 0.991243 Centerline is valid? [True, True] Translation: X:117.25, Y:126.18, Z:45.44 [[-3.34963067e-01 -9.41054522e-01 -4.70758005e-02 1.17249061e+02] [ 9.26679901e-01 -3.38062985e-01 1.64249140e-01 1.26182596e+02] [-1.70481982e-01 1.13931976e-02 9.85294925e-01 4.54447237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.190714057 meters Centerline goodness : 0.990438 Centerline is valid? [True, True] Translation: X:117.24, Y:126.20, Z:45.44 [[-3.35103082e-01 -9.41001214e-01 -4.71448851e-02 1.17242814e+02] [ 9.26718410e-01 -3.38218793e-01 1.63710224e-01 1.26200128e+02] [-1.69996805e-01 1.11697675e-02 9.85381308e-01 4.54420154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.220714057 meters Centerline goodness : 0.990823 Centerline is valid? [True, True] Translation: X:117.24, Y:126.20, Z:45.44 [[-3.34891444e-01 -9.41119690e-01 -4.62758070e-02 1.17242739e+02] [ 9.26556535e-01 -3.37841925e-01 1.65395952e-01 1.26197035e+02] [-1.71291294e-01 1.25125377e-02 9.85140969e-01 4.54423679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.250714057 meters Centerline goodness : 0.990774 Centerline is valid? [True, True] Translation: X:117.24, Y:126.19, Z:45.44 [[-3.30292759e-01 -9.43293152e-01 -3.32373674e-02 1.17239812e+02] [ 9.26034887e-01 -3.30662437e-01 1.81993796e-01 1.26187642e+02] [-1.82663851e-01 2.93322714e-02 9.82737776e-01 4.54444749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.280714057 meters Centerline goodness : 0.992841 Centerline is valid? [True, True] Translation: X:117.24, Y:126.22, Z:45.44 [[-3.36178864e-01 -9.40402001e-01 -5.12625347e-02 1.17236162e+02] [ 9.26188562e-01 -3.39985711e-01 1.63047427e-01 1.26219489e+02] [-1.70758656e-01 7.33432565e-03 9.85285588e-01 4.54353932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.310714057 meters Centerline goodness : 0.991350 Centerline is valid? [True, True] Translation: X:117.24, Y:126.20, Z:45.44 [[-3.36446587e-01 -9.40026234e-01 -5.61638205e-02 1.17243082e+02] [ 9.25493919e-01 -3.41084916e-01 1.64687848e-01 1.26202050e+02] [-1.73967529e-01 3.42938993e-03 9.84745418e-01 4.54376412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.340714057 meters Centerline goodness : 0.992103 Centerline is valid? [True, True] Translation: X:117.24, Y:126.21, Z:45.44 [[-3.38050580e-01 -9.39778908e-01 -5.03726985e-02 1.17237175e+02] [ 9.25206772e-01 -3.41658844e-01 1.65111064e-01 1.26211568e+02] [-1.72378173e-01 9.21072911e-03 9.84987781e-01 4.54387600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.370714057 meters Centerline goodness : 0.990645 Centerline is valid? [True, True] Translation: X:117.23, Y:126.20, Z:45.44 [[-3.30294478e-01 -9.43526964e-01 -2.57376405e-02 1.17232804e+02] [ 9.25202919e-01 -3.29036441e-01 1.89035920e-01 1.26197724e+02] [-1.86829109e-01 3.86249804e-02 9.81632821e-01 4.54428148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.400714057 meters Centerline goodness : 0.991726 Centerline is valid? [True, True] Translation: X:117.25, Y:126.21, Z:45.43 [[-3.37229355e-01 -9.38859699e-01 -6.94177832e-02 1.17245173e+02] [ 9.24948170e-01 -3.44160308e-01 1.61321314e-01 1.26211192e+02] [-1.75348925e-01 -9.80556901e-03 9.84457518e-01 4.54289549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.430714057 meters Centerline goodness : 0.991717 Centerline is valid? [True, True] Translation: X:117.23, Y:126.20, Z:45.44 [[-3.32800700e-01 -9.42770059e-01 -2.06956687e-02 1.17226848e+02] [ 9.25730836e-01 -3.30808940e-01 1.83269926e-01 1.26203982e+02] [-1.79627711e-01 4.18337409e-02 9.82844761e-01 4.54433008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.460714057 meters Centerline goodness : 0.992340 Centerline is valid? [True, True] Translation: X:117.23, Y:126.23, Z:45.42 [[-3.34425113e-01 -9.40494039e-01 -6.02561771e-02 1.17234326e+02] [ 9.24357197e-01 -3.39802262e-01 1.73488316e-01 1.26227836e+02] [-1.83639912e-01 2.32061870e-03 9.82990843e-01 4.54228137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.490714057 meters Centerline goodness : 0.992583 Centerline is valid? [True, True] Translation: X:117.22, Y:126.24, Z:45.43 [[-3.52169527e-01 -9.34378160e-01 -5.39822018e-02 1.17220240e+02] [ 9.21355081e-01 -3.56247182e-01 1.55540217e-01 1.26240150e+02] [-1.64564389e-01 5.03974869e-03 9.86353468e-01 4.54305171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.520714057 meters Centerline goodness : 0.992685 Centerline is valid? [True, True] Translation: X:117.22, Y:126.24, Z:45.43 [[-3.51728235e-01 -9.34907640e-01 -4.72753003e-02 1.17216507e+02] [ 9.21609761e-01 -3.54693145e-01 1.57569732e-01 1.26240902e+02] [-1.64081371e-01 1.18523454e-02 9.86375601e-01 4.54331508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.550714057 meters Centerline goodness : 0.991965 Centerline is valid? [True, True] Translation: X:117.23, Y:126.22, Z:45.43 [[-3.32670640e-01 -9.42141210e-01 -4.12333128e-02 1.17225913e+02] [ 9.25004981e-01 -3.34506289e-01 1.80198025e-01 1.26217967e+02] [-1.83564788e-01 2.18055725e-02 9.82765733e-01 4.54331021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.580714057 meters Centerline goodness : 0.991692 Centerline is valid? [True, True] Translation: X:117.23, Y:126.23, Z:45.43 [[-3.34832245e-01 -9.40525953e-01 -5.74308286e-02 1.17229502e+02] [ 9.25100168e-01 -3.39701848e-01 1.69683041e-01 1.26227805e+02] [-1.79100663e-01 3.68608460e-03 9.83823849e-01 4.54274939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.610714057 meters Centerline goodness : 0.989675 Centerline is valid? [True, True] Translation: X:117.23, Y:126.23, Z:45.43 [[-3.36631787e-01 -9.40300419e-01 -5.01414270e-02 1.17226272e+02] [ 9.24875063e-01 -3.40172874e-01 1.69966270e-01 1.26229246e+02] [-1.76876108e-01 1.08414937e-02 9.84173412e-01 4.54312400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.640714057 meters Centerline goodness : 0.990171 Centerline is valid? [True, True] Translation: X:117.23, Y:126.23, Z:45.43 [[-3.38845600e-01 -9.39575665e-01 -4.87978305e-02 1.17225216e+02] [ 9.24524113e-01 -3.42138449e-01 1.67917975e-01 1.26230756e+02] [-1.74467257e-01 1.17834959e-02 9.84592467e-01 4.54330905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.670714057 meters Centerline goodness : 0.991902 Centerline is valid? [True, True] Translation: X:117.21, Y:126.26, Z:45.43 [[-3.40619449e-01 -9.39290437e-01 -4.13747070e-02 1.17211067e+02] [ 9.25013184e-01 -3.42670292e-01 1.64096561e-01 1.26261741e+02] [-1.68312213e-01 1.76223308e-02 9.85576203e-01 4.54312577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.700714057 meters Centerline goodness : 0.992033 Centerline is valid? [True, True] Translation: X:117.21, Y:126.26, Z:45.43 [[-3.40809914e-01 -9.39082591e-01 -4.44127279e-02 1.17213852e+02] [ 9.24880113e-01 -3.43381412e-01 1.63358448e-01 1.26255020e+02] [-1.68657579e-01 1.45977296e-02 9.85566602e-01 4.54308877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.730714057 meters Centerline goodness : 0.991739 Centerline is valid? [True, True] Translation: X:117.22, Y:126.26, Z:45.42 [[-3.42540626e-01 -9.37473024e-01 -6.17272146e-02 1.17218188e+02] [ 9.23972371e-01 -3.48047278e-01 1.58550150e-01 1.26262287e+02] [-1.70120477e-01 -2.72437326e-03 9.85419505e-01 4.54232862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.76071405700003 meters Centerline goodness : 0.991646 Centerline is valid? [True, True] Translation: X:117.21, Y:126.26, Z:45.43 [[-3.42980714e-01 -9.38324082e-01 -4.37280981e-02 1.17208216e+02] [ 9.24097922e-01 -3.45401415e-01 1.63526431e-01 1.26264574e+02] [-1.68544535e-01 1.56773675e-02 9.85569358e-01 4.54299289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.790714057 meters Centerline goodness : 0.991564 Centerline is valid? [True, True] Translation: X:117.21, Y:126.27, Z:45.43 [[-3.44057899e-01 -9.37732442e-01 -4.77705835e-02 1.17206375e+02] [ 9.24270536e-01 -3.47201562e-01 1.58666477e-01 1.26269949e+02] [-1.65372725e-01 1.04375121e-02 9.86175907e-01 4.54275574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.82071405700003 meters Centerline goodness : 0.991974 Centerline is valid? [True, True] Translation: X:117.19, Y:126.30, Z:45.43 [[-3.46496720e-01 -9.37436116e-01 -3.39639816e-02 1.17189008e+02] [ 9.24752148e-01 -3.47435538e-01 1.55312629e-01 1.26303057e+02] [-1.57395962e-01 2.24070515e-02 9.87281335e-01 4.54282708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.850714057 meters Centerline goodness : 0.991902 Centerline is valid? [True, True] Translation: X:117.20, Y:126.26, Z:45.43 [[-3.42652155e-01 -9.38596768e-01 -4.03188296e-02 1.17203162e+02] [ 9.25337901e-01 -3.44603530e-01 1.58108116e-01 1.26264041e+02] [-1.62293778e-01 1.68675457e-02 9.86598305e-01 4.54315668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.880714057 meters Centerline goodness : 0.991072 Centerline is valid? [True, True] Translation: X:117.20, Y:126.28, Z:45.42 [[-3.44812432e-01 -9.36927230e-01 -5.71992368e-02 1.17203447e+02] [ 9.24162485e-01 -3.49524370e-01 1.54131165e-01 1.26278399e+02] [-1.64402213e-01 2.84953176e-04 9.86393345e-01 4.54246007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.910714057 meters Centerline goodness : 0.991072 Centerline is valid? [True, True] Translation: X:117.20, Y:126.28, Z:45.43 [[-3.44337306e-01 -9.37745052e-01 -4.54536816e-02 1.17197902e+02] [ 9.24479256e-01 -3.47107758e-01 1.57652500e-01 1.26280436e+02] [-1.63615177e-01 1.22646512e-02 9.86447998e-01 4.54290889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.940714057 meters Centerline goodness : 0.991753 Centerline is valid? [True, True] Translation: X:117.20, Y:126.26, Z:45.43 [[-3.41824690e-01 -9.38831930e-01 -4.18388506e-02 1.17201180e+02] [ 9.24836767e-01 -3.43965216e-01 1.62372674e-01 1.26261196e+02] [-1.66831760e-01 1.68088818e-02 9.85842089e-01 4.54330237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.970714057 meters Centerline goodness : 0.991054 Centerline is valid? [True, True] Translation: X:117.19, Y:126.29, Z:45.43 [[-3.40834280e-01 -9.38946467e-01 -4.70268647e-02 1.17191769e+02] [ 9.24872684e-01 -3.43858960e-01 1.62393146e-01 1.26291676e+02] [-1.68649080e-01 1.18552885e-02 9.85604860e-01 4.54250580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.000714057 meters Centerline goodness : 0.990068 Centerline is valid? [True, True] Translation: X:117.19, Y:126.29, Z:45.43 [[-3.40464610e-01 -9.39332373e-01 -4.16958226e-02 1.17190500e+02] [ 9.25082937e-01 -3.42575244e-01 1.63901682e-01 1.26285095e+02] [-1.68242113e-01 1.72306284e-02 9.85595098e-01 4.54279018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.030714057 meters Centerline goodness : 0.991793 Centerline is valid? [True, True] Translation: X:117.19, Y:126.27, Z:45.43 [[-3.35180356e-01 -9.41756915e-01 -2.73503558e-02 1.17185229e+02] [ 9.26291585e-01 -3.34702765e-01 1.73083677e-01 1.26274897e+02] [-1.72156989e-01 3.26798441e-02 9.84527297e-01 4.54335629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.060714057 meters Centerline goodness : 0.991658 Centerline is valid? [True, True] Translation: X:117.19, Y:126.27, Z:45.43 [[-3.33530658e-01 -9.41678684e-01 -4.47052076e-02 1.17192823e+02] [ 9.26432527e-01 -3.36174580e-01 1.69438558e-01 1.26270858e+02] [-1.74585433e-01 1.50965954e-02 9.84526292e-01 4.54265180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.090714057 meters Centerline goodness : 0.991092 Centerline is valid? [True, True] Translation: X:117.20, Y:126.27, Z:45.42 [[-3.32913395e-01 -9.41196341e-01 -5.76031259e-02 1.17198542e+02] [ 9.26134774e-01 -3.37850933e-01 1.67723364e-01 1.26268226e+02] [-1.77321886e-01 2.48909655e-03 9.84149762e-01 4.54205651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.120714057 meters Centerline goodness : 0.990844 Centerline is valid? [True, True] Translation: X:117.18, Y:126.28, Z:45.43 [[-3.31357569e-01 -9.43005523e-01 -3.07041610e-02 1.17182285e+02] [ 9.26418339e-01 -3.31349619e-01 1.78763788e-01 1.26280497e+02] [-1.78749051e-01 3.07898362e-02 9.83412814e-01 4.54285617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.150714057 meters Centerline goodness : 0.991084 Centerline is valid? [True, True] Translation: X:117.19, Y:126.28, Z:45.42 [[-3.31924383e-01 -9.41341877e-01 -6.08413907e-02 1.17193958e+02] [ 9.25311762e-01 -3.37452536e-01 1.72985344e-01 1.26280150e+02] [-1.83369430e-01 1.12079897e-03 9.83043436e-01 4.54159324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.180714057 meters Centerline goodness : 0.990175 Centerline is valid? [True, True] Translation: X:117.19, Y:126.29, Z:45.42 [[-3.33810267e-01 -9.41457912e-01 -4.71985834e-02 1.17185005e+02] [ 9.25365340e-01 -3.36823676e-01 1.73921819e-01 1.26288972e+02] [-1.79637673e-01 1.43809556e-02 9.83627722e-01 4.54196472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.210714057 meters Centerline goodness : 0.991864 Centerline is valid? [True, True] Translation: X:117.18, Y:126.27, Z:45.43 [[-3.31952616e-01 -9.42771728e-01 -3.14472571e-02 1.17181483e+02] [ 9.26069947e-01 -3.32051496e-01 1.79265887e-01 1.26274011e+02] [-1.79448918e-01 3.03854204e-02 9.83297926e-01 4.54264575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.240714057 meters Centerline goodness : 0.990607 Centerline is valid? [True, True] Translation: X:117.19, Y:126.28, Z:45.41 [[-3.33031700e-01 -9.41060389e-01 -5.91204870e-02 1.17191611e+02] [ 9.25312780e-01 -3.38230114e-01 1.71454510e-01 1.26279595e+02] [-1.81345377e-01 2.39484461e-03 9.83416554e-01 4.54129787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.270714057 meters Centerline goodness : 0.991560 Centerline is valid? [True, True] Translation: X:117.19, Y:126.27, Z:45.42 [[-3.33773656e-01 -9.41332591e-01 -4.98808646e-02 1.17187335e+02] [ 9.24828921e-01 -3.37245192e-01 1.75946432e-01 1.26274285e+02] [-1.82446193e-01 1.25950177e-02 9.83135165e-01 4.54188832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.300714057 meters Centerline goodness : 0.992118 Centerline is valid? [True, True] Translation: X:117.17, Y:126.29, Z:45.43 [[-3.35122500e-01 -9.41724099e-01 -2.91312611e-02 1.17173224e+02] [ 9.25117729e-01 -3.34754907e-01 1.79154514e-01 1.26285132e+02] [-1.78465956e-01 3.30888625e-02 9.83389562e-01 4.54255675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.330714057 meters Centerline goodness : 0.991381 Centerline is valid? [True, True] Translation: X:117.14, Y:126.44, Z:45.38 [[-3.57031134e-01 -9.30645050e-01 -8.01782997e-02 1.17143575e+02] [ 9.20186216e-01 -3.65173818e-01 1.41086537e-01 1.26437174e+02] [-1.60580503e-01 -2.34066800e-02 9.86745169e-01 4.53839679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.360714057 meters Centerline goodness : 0.990427 Centerline is valid? [True, True] Translation: X:117.18, Y:126.24, Z:45.44 [[-3.22844505e-01 -9.46431370e-01 -6.25191933e-03 1.17176877e+02] [ 9.24755424e-01 -3.16842975e-01 2.10803070e-01 1.26243033e+02] [-2.01491515e-01 6.22751165e-02 9.77508557e-01 4.54362826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.390714057 meters Centerline goodness : 0.991471 Centerline is valid? [True, True] Translation: X:117.13, Y:126.49, Z:45.37 [[-3.57323744e-01 -9.28869451e-01 -9.75770736e-02 1.17131766e+02] [ 9.19240456e-01 -3.68247724e-01 1.39250129e-01 1.26487148e+02] [-1.65277726e-01 -3.99394161e-02 9.85438033e-01 4.53697726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.420714057 meters Centerline goodness : 0.991337 Centerline is valid? [True, True] Translation: X:117.14, Y:126.35, Z:45.43 [[-3.52335289e-01 -9.35577624e-01 -2.35447335e-02 1.17139919e+02] [ 9.22200264e-01 -3.51362420e-01 1.61527469e-01 1.26353819e+02] [-1.59394220e-01 3.51988680e-02 9.86587311e-01 4.54257427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.450714057 meters Centerline goodness : 0.991530 Centerline is valid? [True, True] Translation: X:117.15, Y:126.34, Z:45.42 [[-3.52078810e-01 -9.34882464e-01 -4.51141958e-02 1.17151020e+02] [ 9.21989956e-01 -3.54716554e-01 1.55276164e-01 1.26342075e+02] [-1.61167715e-01 1.30746117e-02 9.86840424e-01 4.54179931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.480714057 meters Centerline goodness : 0.991777 Centerline is valid? [True, True] Translation: X:117.15, Y:126.36, Z:45.42 [[-3.51659331e-01 -9.35045573e-01 -4.50054487e-02 1.17146096e+02] [ 9.22173050e-01 -3.54286751e-01 1.55170115e-01 1.26357306e+02] [-1.61035963e-01 1.30642071e-02 9.86862070e-01 4.54150362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.51071405700003 meters Centerline goodness : 0.989936 Centerline is valid? [True, True] Translation: X:117.17, Y:126.30, Z:45.42 [[-3.35275039e-01 -9.40959920e-01 -4.67448044e-02 1.17169144e+02] [ 9.24817371e-01 -3.38177574e-01 1.74208954e-01 1.26299614e+02] [-1.79731688e-01 1.51775067e-02 9.83598579e-01 4.54178045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.540714057 meters Centerline goodness : 0.991378 Centerline is valid? [True, True] Translation: X:117.16, Y:126.31, Z:45.42 [[-3.34081276e-01 -9.42119465e-01 -2.82951499e-02 1.17158391e+02] [ 9.25945714e-01 -3.33659107e-01 1.76907140e-01 1.26307210e+02] [-1.76108595e-01 3.29015903e-02 9.83820740e-01 4.54224373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.57071405700003 meters Centerline goodness : 0.989704 Centerline is valid? [True, True] Translation: X:117.16, Y:126.35, Z:45.40 [[-3.39508130e-01 -9.38153008e-01 -6.78466232e-02 1.17159492e+02] [ 9.24284451e-01 -3.46126714e-01 1.60917840e-01 1.26352454e+02] [-1.74449085e-01 -8.07666381e-03 9.84633071e-01 4.53997412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.600714057 meters Centerline goodness : 0.990460 Centerline is valid? [True, True] Translation: X:117.15, Y:126.35, Z:45.41 [[-3.36997426e-01 -9.40508507e-01 -4.33183934e-02 1.17151591e+02] [ 9.26007003e-01 -3.39412831e-01 1.65257256e-01 1.26345168e+02] [-1.70128673e-01 1.55781341e-02 9.85298714e-01 4.54100118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.630714057 meters Centerline goodness : 0.989468 Centerline is valid? [True, True] Translation: X:117.16, Y:126.33, Z:45.41 [[-3.32939984e-01 -9.41689463e-01 -4.87023808e-02 1.17157464e+02] [ 9.27479566e-01 -3.36358071e-01 1.63232663e-01 1.26326903e+02] [-1.70095918e-01 9.17621725e-03 9.85384786e-01 4.54131205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.660714057 meters Centerline goodness : 0.990991 Centerline is valid? [True, True] Translation: X:117.15, Y:126.33, Z:45.42 [[-3.29536736e-01 -9.43704066e-01 -2.87780300e-02 1.17147626e+02] [ 9.29807595e-01 -3.29673849e-01 1.63624541e-01 1.26329934e+02] [-1.63900508e-01 2.71622663e-02 9.86102852e-01 4.54218764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.690714057 meters Centerline goodness : 0.988366 Centerline is valid? [True, True] Translation: X:117.16, Y:126.33, Z:45.41 [[-3.22635088e-01 -9.44710150e-01 -5.85604965e-02 1.17158770e+02] [ 9.31008605e-01 -3.27894721e-01 1.60337238e-01 1.26327122e+02] [-1.70673894e-01 -2.78990711e-03 9.85323621e-01 4.54097212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.720714057 meters Centerline goodness : 0.989290 Centerline is valid? [True, True] Translation: X:117.15, Y:126.33, Z:45.42 [[-3.19603218e-01 -9.46423113e-01 -4.62284989e-02 1.17152995e+02] [ 9.32220569e-01 -3.22798359e-01 1.63603274e-01 1.26325346e+02] [-1.69760403e-01 9.19297524e-03 9.85442487e-01 4.54159393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.750714057 meters Centerline goodness : 0.988783 Centerline is valid? [True, True] Translation: X:117.14, Y:126.33, Z:45.42 [[-3.15219416e-01 -9.48655179e-01 -2.62692019e-02 1.17142578e+02] [ 9.34849620e-01 -3.15159447e-01 1.63495293e-01 1.26331593e+02] [-1.63379643e-01 2.69791373e-02 9.86194311e-01 4.54238718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.780714057 meters Centerline goodness : 0.988810 Centerline is valid? [True, True] Translation: X:117.16, Y:126.33, Z:45.41 [[-3.12812803e-01 -9.48028898e-01 -5.82181963e-02 1.17157277e+02] [ 9.34449027e-01 -3.18154244e-01 1.59946533e-01 1.26326944e+02] [-1.70156302e-01 -4.36861355e-03 9.85407402e-01 4.54098252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.810714057 meters Centerline goodness : 0.989643 Centerline is valid? [True, True] Translation: X:117.14, Y:126.34, Z:45.42 [[-3.12439495e-01 -9.49540680e-01 -2.74601461e-02 1.17141203e+02] [ 9.35828952e-01 -3.12634076e-01 1.62739382e-01 1.26338044e+02] [-1.63112641e-01 2.51482107e-02 9.86286892e-01 4.54221364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.840714057 meters Centerline goodness : 0.988122 Centerline is valid? [True, True] Translation: X:117.16, Y:126.33, Z:45.41 [[-3.11967862e-01 -9.48233643e-01 -5.94054827e-02 1.17155991e+02] [ 9.34948467e-01 -3.17513818e-01 1.58291945e-01 1.26327504e+02] [-1.68959809e-01 -6.15906541e-03 9.85603698e-01 4.54126476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.870714057 meters Centerline goodness : 0.988323 Centerline is valid? [True, True] Translation: X:117.15, Y:126.34, Z:45.42 [[-3.10436625e-01 -9.49592742e-01 -4.36202441e-02 1.17145432e+02] [ 9.34958353e-01 -3.13297324e-01 1.66426154e-01 1.26337090e+02] [-1.71703174e-01 1.08816620e-02 9.85088630e-01 4.54168952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.900714057 meters Centerline goodness : 0.988426 Centerline is valid? [True, True] Translation: X:117.15, Y:126.34, Z:45.42 [[-3.12642439e-01 -9.48736080e-01 -4.64171890e-02 1.17146755e+02] [ 9.34647671e-01 -3.15978022e-01 1.63069375e-01 1.26338318e+02] [-1.69376611e-01 7.59868967e-03 9.85522107e-01 4.54166484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.930714057 meters Centerline goodness : 0.990313 Centerline is valid? [True, True] Translation: X:117.13, Y:126.35, Z:45.42 [[-3.11905401e-01 -9.49685657e-01 -2.84986583e-02 1.17134847e+02] [ 9.35896728e-01 -3.12269565e-01 1.63049175e-01 1.26352780e+02] [-1.63744727e-01 2.41841174e-02 9.86206263e-01 4.54245904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.960714057 meters Centerline goodness : 0.989003 Centerline is valid? [True, True] Translation: X:117.15, Y:126.37, Z:45.41 [[-3.14265844e-01 -9.47214930e-01 -6.34102204e-02 1.17145861e+02] [ 9.34263149e-01 -3.20440698e-01 1.56429302e-01 1.26368228e+02] [-1.68491386e-01 -1.00814457e-02 9.85651570e-01 4.54059593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.990714057 meters Centerline goodness : 0.991039 Centerline is valid? [True, True] Translation: X:117.14, Y:126.35, Z:45.43 [[-3.11330314e-01 -9.49973594e-01 -2.49721107e-02 1.17137962e+02] [ 9.36737877e-01 -3.11204642e-01 1.60230521e-01 1.26346394e+02] [-1.59986201e-01 2.64922965e-02 9.86763687e-01 4.54269184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.020714057 meters Centerline goodness : 0.989105 Centerline is valid? [True, True] Translation: X:117.15, Y:126.36, Z:45.41 [[-3.15005096e-01 -9.47332528e-01 -5.77310210e-02 1.17148921e+02] [ 9.34288471e-01 -3.20219036e-01 1.56731686e-01 1.26356378e+02] [-1.66963596e-01 -4.56614772e-03 9.85952488e-01 4.54111210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.050714057 meters Centerline goodness : 0.988457 Centerline is valid? [True, True] Translation: X:117.14, Y:126.37, Z:45.42 [[-3.18763085e-01 -9.46712389e-01 -4.61058405e-02 1.17142856e+02] [ 9.33757661e-01 -3.22009512e-01 1.56225813e-01 1.26367472e+02] [-1.62747432e-01 6.74734015e-03 9.86644691e-01 4.54162278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.080714057 meters Centerline goodness : 0.988417 Centerline is valid? [True, True] Translation: X:117.15, Y:126.37, Z:45.42 [[-3.20968221e-01 -9.45917783e-01 -4.71057305e-02 1.17145588e+02] [ 9.33235977e-01 -3.24357755e-01 1.54475427e-01 1.26370577e+02] [-1.61400163e-01 5.62094066e-03 9.86873038e-01 4.54158184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.110714057 meters Centerline goodness : 0.988422 Centerline is valid? [True, True] Translation: X:117.14, Y:126.37, Z:45.42 [[-3.22290789e-01 -9.45887846e-01 -3.77469323e-02 1.17144245e+02] [ 9.33139099e-01 -3.24151942e-01 1.55489357e-01 1.26367391e+02] [-1.59311234e-01 1.48896489e-02 9.87116117e-01 4.54217031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.140714057 meters Centerline goodness : 0.988318 Centerline is valid? [True, True] Translation: X:117.14, Y:126.38, Z:45.42 [[-3.22970550e-01 -9.45605011e-01 -3.90024045e-02 1.17144016e+02] [ 9.32980985e-01 -3.25035119e-01 1.54591889e-01 1.26375233e+02] [-1.58860016e-01 1.35401256e-02 9.87208266e-01 4.54200258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.170714057 meters Centerline goodness : 0.987939 Centerline is valid? [True, True] Translation: X:117.15, Y:126.38, Z:45.42 [[-3.25745172e-01 -9.44732498e-01 -3.70214952e-02 1.17145959e+02] [ 9.32174074e-01 -3.27463001e-01 1.54335602e-01 1.26376194e+02] [-1.57929029e-01 1.57635993e-02 9.87324633e-01 4.54244957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.200714057 meters Centerline goodness : 0.988884 Centerline is valid? [True, True] Translation: X:117.15, Y:126.38, Z:45.41 [[-3.24523030e-01 -9.44210910e-01 -5.61298621e-02 1.17153664e+02] [ 9.32363399e-01 -3.29317974e-01 1.49158189e-01 1.26378762e+02] [-1.59321362e-01 -3.92816156e-03 9.87218959e-01 4.54142929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.230714057 meters Centerline goodness : 0.989241 Centerline is valid? [True, True] Translation: X:117.15, Y:126.39, Z:45.42 [[-3.25979660e-01 -9.44520863e-01 -4.02194027e-02 1.17145716e+02] [ 9.32589665e-01 -3.28252918e-01 1.50088437e-01 1.26391523e+02] [-1.54963796e-01 1.14175784e-02 9.87854170e-01 4.54200254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.26071405700003 meters Centerline goodness : 0.988294 Centerline is valid? [True, True] Translation: X:117.14, Y:126.41, Z:45.41 [[-3.24868649e-01 -9.44689896e-01 -4.49595417e-02 1.17144862e+02] [ 9.33146309e-01 -3.27911584e-01 1.47349787e-01 1.26410405e+02] [-1.53942610e-01 5.91549605e-03 9.88062083e-01 4.54138318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.290714057 meters Centerline goodness : 0.988681 Centerline is valid? [True, True] Translation: X:117.15, Y:126.39, Z:45.42 [[-3.19254063e-01 -9.46843526e-01 -3.95497250e-02 1.17152373e+02] [ 9.34938982e-01 -3.21508601e-01 1.50071047e-01 1.26389459e+02] [-1.54809376e-01 1.09342118e-02 9.87883850e-01 4.54196898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.32071405700003 meters Centerline goodness : 0.988403 Centerline is valid? [True, True] Translation: X:117.15, Y:126.40, Z:45.42 [[-3.17691050e-01 -9.47434969e-01 -3.79391154e-02 1.17149445e+02] [ 9.35699383e-01 -3.19727814e-01 1.49133463e-01 1.26397777e+02] [-1.53424448e-01 1.18787596e-02 9.88088981e-01 4.54212443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.350714057 meters Centerline goodness : 0.987341 Centerline is valid? [True, True] Translation: X:117.15, Y:126.39, Z:45.42 [[-3.10670275e-01 -9.49819125e-01 -3.64363748e-02 1.17151880e+02] [ 9.37376259e-01 -3.12502111e-01 1.53844661e-01 1.26390372e+02] [-1.57511045e-01 1.36403704e-02 9.87423015e-01 4.54228303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.380714057 meters Centerline goodness : 0.987114 Centerline is valid? [True, True] Translation: X:117.15, Y:126.41, Z:45.42 [[-3.10076727e-01 -9.49574895e-01 -4.64751812e-02 1.17152007e+02] [ 9.37768980e-01 -3.13528586e-01 1.49295564e-01 1.26405806e+02] [-1.56338617e-01 2.71009646e-03 9.87699799e-01 4.54166792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.410714057 meters Centerline goodness : 0.987715 Centerline is valid? [True, True] Translation: X:117.15, Y:126.41, Z:45.42 [[-3.07169696e-01 -9.50919680e-01 -3.73970507e-02 1.17148573e+02] [ 9.38597414e-01 -3.09208440e-01 1.53052394e-01 1.26411969e+02] [-1.57104018e-01 1.19122824e-02 9.87510215e-01 4.54190906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.440714057 meters Centerline goodness : 0.989117 Centerline is valid? [True, True] Translation: X:117.15, Y:126.41, Z:45.42 [[-3.01645299e-01 -9.53155665e-01 -2.24586718e-02 1.17148445e+02] [ 9.40721997e-01 -3.01376935e-01 1.55608703e-01 1.26405737e+02] [-1.55087843e-01 2.58112672e-02 9.87563436e-01 4.54231573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.470714057 meters Centerline goodness : 0.987220 Centerline is valid? [True, True] Translation: X:117.16, Y:126.40, Z:45.41 [[-2.99779550e-01 -9.52812981e-01 -4.77456211e-02 1.17161831e+02] [ 9.39509398e-01 -3.03545807e-01 1.58688485e-01 1.26398353e+02] [-1.65693431e-01 2.71410291e-03 9.86173575e-01 4.54122132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.500714057 meters Centerline goodness : 0.986862 Centerline is valid? [True, True] Translation: X:117.16, Y:126.40, Z:45.41 [[-2.94639259e-01 -9.55116755e-01 -3.06543810e-02 1.17158591e+02] [ 9.39130063e-01 -2.95341006e-01 1.75523262e-01 1.26396435e+02] [-1.76698704e-01 2.29275931e-02 9.83997913e-01 4.54142619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.530714057 meters Centerline goodness : 0.987054 Centerline is valid? [True, True] Translation: X:117.17, Y:126.39, Z:45.41 [[-2.92681541e-01 -9.55411365e-01 -3.90722397e-02 1.17165271e+02] [ 9.38681725e-01 -2.94864396e-01 1.78694172e-01 1.26390675e+02] [-1.82247455e-01 1.56240883e-02 9.83128554e-01 4.54092860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.560714057 meters Centerline goodness : 0.986489 Centerline is valid? [True, True] Translation: X:117.16, Y:126.40, Z:45.41 [[-2.84559678e-01 -9.58600883e-01 -1.04945929e-02 1.17159316e+02] [ 9.34862230e-01 -2.79903588e-01 2.18372601e-01 1.26395580e+02] [-2.12269643e-01 5.23290386e-02 9.75809034e-01 4.54055952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.590714057 meters Centerline goodness : 0.987553 Centerline is valid? [True, True] Translation: X:117.17, Y:126.41, Z:45.39 [[-2.84115090e-01 -9.58058526e-01 -3.74496466e-02 1.17169763e+02] [ 9.34176727e-01 -2.85403655e-01 2.14146206e-01 1.26407171e+02] [-2.15852864e-01 2.58575803e-02 9.76083463e-01 4.53900683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.620714057 meters Centerline goodness : 0.985214 Centerline is valid? [True, True] Translation: X:117.18, Y:126.41, Z:45.38 [[-2.83449163e-01 -9.57228355e-01 -5.80555650e-02 1.17184503e+02] [ 9.33348368e-01 -2.89269925e-01 2.12564660e-01 1.26407039e+02] [-2.20266648e-01 6.06520788e-03 9.75420841e-01 4.53759708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.650714057 meters Centerline goodness : 0.987257 Centerline is valid? [True, True] Translation: X:117.19, Y:126.42, Z:45.38 [[-3.01918933e-01 -9.50399714e-01 -7.47351418e-02 1.17185347e+02] [ 9.33540431e-01 -3.10632082e-01 1.78913313e-01 1.26420675e+02] [-1.93254294e-01 -1.57509601e-02 9.81022265e-01 4.53796559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.680714057 meters Centerline goodness : 0.986787 Centerline is valid? [True, True] Translation: X:117.16, Y:126.43, Z:45.39 [[-2.88563058e-01 -9.57427474e-01 -7.99959925e-03 1.17157985e+02] [ 9.30033464e-01 -2.82272558e-01 2.35286971e-01 1.26433878e+02] [-2.27528278e-01 6.04552329e-02 9.71893023e-01 4.53877874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.710714057 meters Centerline goodness : 0.986930 Centerline is valid? [True, True] Translation: X:117.17, Y:126.44, Z:45.37 [[-2.89218084e-01 -9.56386339e-01 -4.09642624e-02 1.17171452e+02] [ 9.29076916e-01 -2.90752944e-01 2.28645597e-01 1.26442066e+02] [-2.30584006e-01 2.80694909e-02 9.72647480e-01 4.53729421e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.740714057 meters Centerline goodness : 0.986659 Centerline is valid? [True, True] Translation: X:117.18, Y:126.45, Z:45.36 [[-2.93567434e-01 -9.53867660e-01 -6.28860045e-02 1.17183652e+02] [ 9.29127475e-01 -3.00186580e-01 2.15893844e-01 1.26446510e+02] [-2.24811690e-01 4.95028732e-03 9.74389654e-01 4.53611364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.770714057 meters Centerline goodness : 0.988971 Centerline is valid? [True, True] Translation: X:117.17, Y:126.46, Z:45.37 [[-2.98903485e-01 -9.52843127e-01 -5.24087960e-02 1.17173169e+02] [ 9.28954779e-01 -3.03100052e-01 2.12540296e-01 1.26455920e+02] [-2.18402669e-01 1.48436336e-02 9.75745838e-01 4.53708045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.800714057 meters Centerline goodness : 0.988971 Centerline is valid? [True, True] Translation: X:117.17, Y:126.46, Z:45.37 [[-2.98721343e-01 -9.53048726e-01 -4.96355317e-02 1.17171220e+02] [ 9.29081044e-01 -3.02308188e-01 2.13115400e-01 1.26458355e+02] [-2.18114588e-01 1.75466870e-02 9.75765412e-01 4.53714094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.830714057 meters Centerline goodness : 0.987661 Centerline is valid? [True, True] Translation: X:117.17, Y:126.47, Z:45.37 [[-2.98009479e-01 -9.53286896e-01 -4.93400817e-02 1.17169466e+02] [ 9.27664644e-01 -3.01408817e-01 2.20433737e-01 1.26465696e+02] [-2.25008129e-01 1.99202940e-02 9.74153234e-01 4.53681355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.860714057 meters Centerline goodness : 0.987739 Centerline is valid? [True, True] Translation: X:117.17, Y:126.46, Z:45.37 [[-3.00328957e-01 -9.52239649e-01 -5.51558516e-02 1.17172904e+02] [ 9.27963428e-01 -3.05070475e-01 2.14046448e-01 1.26458020e+02] [-2.20649936e-01 1.31017334e-02 9.75265067e-01 4.53695700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.890714057 meters Centerline goodness : 0.988037 Centerline is valid? [True, True] Translation: X:117.16, Y:126.49, Z:45.36 [[-3.04552805e-01 -9.50771656e-01 -5.72786718e-02 1.17162621e+02] [ 9.28102636e-01 -3.09738503e-01 2.06609673e-01 1.26493219e+02] [-2.14180031e-01 9.76306929e-03 9.76745410e-01 4.53632258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.920714057 meters Centerline goodness : 0.987445 Centerline is valid? [True, True] Translation: X:117.17, Y:126.46, Z:45.37 [[-3.04985306e-01 -9.50774893e-01 -5.48731783e-02 1.17168971e+02] [ 9.28049322e-01 -3.09641956e-01 2.06993514e-01 1.26463516e+02] [-2.13795274e-01 1.22049641e-02 9.76802242e-01 4.53698511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.950714057 meters Centerline goodness : 0.987735 Centerline is valid? [True, True] Translation: X:117.17, Y:126.46, Z:45.37 [[-3.07389651e-01 -9.50070804e-01 -5.36383304e-02 1.17166077e+02] [ 9.27934430e-01 -3.11762250e-01 2.04308573e-01 1.26464227e+02] [-2.10830016e-01 1.30294872e-02 9.77435899e-01 4.53707101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.980714057 meters Centerline goodness : 0.987764 Centerline is valid? [True, True] Translation: X:117.16, Y:126.48, Z:45.37 [[-3.11082197e-01 -9.48918662e-01 -5.27374544e-02 1.17160255e+02] [ 9.27791489e-01 -3.15246697e-01 1.99555688e-01 1.26477247e+02] [-2.05987425e-01 1.31488604e-02 9.78466294e-01 4.53705229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.01071405700003 meters Centerline goodness : 0.987659 Centerline is valid? [True, True] Translation: X:117.16, Y:126.48, Z:45.37 [[-3.17414402e-01 -9.46287893e-01 -6.15412199e-02 1.17161845e+02] [ 9.27485893e-01 -3.23315558e-01 1.87715128e-01 1.26480563e+02] [-1.97529787e-01 2.50487185e-03 9.80293685e-01 4.53694095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.040714057 meters Centerline goodness : 0.987737 Centerline is valid? [True, True] Translation: X:117.16, Y:126.48, Z:45.37 [[-3.19148240e-01 -9.46351252e-01 -5.06330701e-02 1.17155676e+02] [ 9.27301392e-01 -3.22857777e-01 1.89406929e-01 1.26482762e+02] [-1.95592765e-01 1.34967717e-02 9.80592325e-01 4.53734051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.07071405700003 meters Centerline goodness : 0.986920 Centerline is valid? [True, True] Translation: X:117.15, Y:126.51, Z:45.37 [[-3.25170949e-01 -9.44100266e-01 -5.42083235e-02 1.17147937e+02] [ 9.26498623e-01 -3.29539632e-01 1.81669843e-01 1.26514135e+02] [-1.89378338e-01 8.84981803e-03 9.81864311e-01 4.53678608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.100714057 meters Centerline goodness : 0.987739 Centerline is valid? [True, True] Translation: X:117.14, Y:126.53, Z:45.37 [[-3.27596745e-01 -9.43508088e-01 -4.97278759e-02 1.17139461e+02] [ 9.26356760e-01 -3.31104113e-01 1.79536124e-01 1.26532739e+02] [-1.85858890e-01 1.27496959e-02 9.82493724e-01 4.53668563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.130714057 meters Centerline goodness : 0.987260 Centerline is valid? [True, True] Translation: X:117.14, Y:126.52, Z:45.37 [[-3.32930490e-01 -9.41447796e-01 -5.32290919e-02 1.17141882e+02] [ 9.25593311e-01 -3.37062073e-01 1.72238735e-01 1.26522194e+02] [-1.80095286e-01 8.07503514e-03 9.83616024e-01 4.53701038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.160714057 meters Centerline goodness : 0.987849 Centerline is valid? [True, True] Translation: X:117.14, Y:126.53, Z:45.37 [[-3.32835037e-01 -9.41966714e-01 -4.38126550e-02 1.17136243e+02] [ 9.25436703e-01 -3.35210097e-01 1.76638329e-01 1.26526842e+02] [-1.81073871e-01 1.82455858e-02 9.83300235e-01 4.53724052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.190714057 meters Centerline goodness : 0.988461 Centerline is valid? [True, True] Translation: X:117.13, Y:126.54, Z:45.37 [[-3.37750594e-01 -9.39595235e-01 -5.55457462e-02 1.17134816e+02] [ 9.25103975e-01 -3.42262398e-01 1.64435658e-01 1.26543006e+02] [-1.73514181e-01 4.15265047e-03 9.84822616e-01 4.53682610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.220714057 meters Centerline goodness : 0.987602 Centerline is valid? [True, True] Translation: X:117.13, Y:126.53, Z:45.37 [[-3.36177115e-01 -9.40871776e-01 -4.17761624e-02 1.17131725e+02] [ 9.25161419e-01 -3.38214162e-01 1.72300694e-01 1.26531814e+02] [-1.76242150e-01 1.92738566e-02 9.84158129e-01 4.53738687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.250714057 meters Centerline goodness : 0.988963 Centerline is valid? [True, True] Translation: X:117.14, Y:126.51, Z:45.38 [[-3.38287309e-01 -9.39633588e-01 -5.14822042e-02 1.17139318e+02] [ 9.25299725e-01 -3.42094860e-01 1.63681172e-01 1.26512791e+02] [-1.71412125e-01 7.73479397e-03 9.85169050e-01 4.53760933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.280714057 meters Centerline goodness : 0.988568 Centerline is valid? [True, True] Translation: X:117.13, Y:126.51, Z:45.38 [[-3.36311651e-01 -9.40958515e-01 -3.86205505e-02 1.17134053e+02] [ 9.25132839e-01 -3.37769214e-01 1.73323942e-01 1.26514166e+02] [-1.76135472e-01 2.25617216e-02 9.84107344e-01 4.53787889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.310714057 meters Centerline goodness : 0.988702 Centerline is valid? [True, True] Translation: X:117.14, Y:126.52, Z:45.37 [[-3.38180003e-01 -9.39674173e-01 -5.14464257e-02 1.17135850e+02] [ 9.25124716e-01 -3.41973045e-01 1.64920275e-01 1.26521870e+02] [-1.72564614e-01 8.17837912e-03 9.84964247e-01 4.53742604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.340714057 meters Centerline goodness : 0.987984 Centerline is valid? [True, True] Translation: X:117.13, Y:126.51, Z:45.38 [[-3.33281746e-01 -9.42076549e-01 -3.76171983e-02 1.17132493e+02] [ 9.25961331e-01 -3.34572042e-01 1.75091867e-01 1.26508548e+02] [-1.77535605e-01 2.35228523e-02 9.83833210e-01 4.53796508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.370714057 meters Centerline goodness : 0.988045 Centerline is valid? [True, True] Translation: X:117.13, Y:126.51, Z:45.38 [[-3.32194739e-01 -9.42069384e-01 -4.63889056e-02 1.17133331e+02] [ 9.26346807e-01 -3.35119109e-01 1.71978999e-01 1.26512853e+02] [-1.77561959e-01 1.41583042e-02 9.84007771e-01 4.53755775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.400714057 meters Centerline goodness : 0.986115 Centerline is valid? [True, True] Translation: X:117.13, Y:126.51, Z:45.38 [[-3.28923310e-01 -9.43289981e-01 -4.48716875e-02 1.17132376e+02] [ 9.27463069e-01 -3.31621658e-01 1.72740647e-01 1.26505449e+02] [-1.77824945e-01 1.52015925e-02 9.83944714e-01 4.53773199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.430714057 meters Centerline goodness : 0.985863 Centerline is valid? [True, True] Translation: X:117.13, Y:126.52, Z:45.38 [[-3.26764346e-01 -9.44125217e-01 -4.30422650e-02 1.17128307e+02] [ 9.27849576e-01 -3.29128305e-01 1.75413005e-01 1.26516264e+02] [-1.79778269e-01 1.73819686e-02 9.83553578e-01 4.53751491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.460714057 meters Centerline goodness : 0.986319 Centerline is valid? [True, True] Translation: X:117.13, Y:126.51, Z:45.38 [[-3.24304999e-01 -9.44906339e-01 -4.44778329e-02 1.17128785e+02] [ 9.28444951e-01 -3.26955027e-01 1.76324655e-01 1.26510057e+02] [-1.81152535e-01 1.58877478e-02 9.83326669e-01 4.53750068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.490714057 meters Centerline goodness : 0.985689 Centerline is valid? [True, True] Translation: X:117.00, Y:126.96, Z:45.29 [[-3.31740245e-01 -9.42277441e-01 -4.54052176e-02 1.17001317e+02] [ 9.26557515e-01 -3.34496646e-01 1.72055704e-01 1.26962474e+02] [-1.77312101e-01 1.50072557e-02 9.84040244e-01 4.52928404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.520714057 meters Centerline goodness : 0.985721 Centerline is valid? [True, True] Translation: X:116.99, Y:126.99, Z:45.29 [[-3.30979298e-01 -9.42479342e-01 -4.67481974e-02 1.16991342e+02] [ 9.26937253e-01 -3.34001510e-01 1.70968772e-01 1.26989676e+02] [-1.76748505e-01 1.32544787e-02 9.84166797e-01 4.52870413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.550714057 meters Centerline goodness : 0.984748 Centerline is valid? [True, True] Translation: X:116.99, Y:127.00, Z:45.29 [[-3.27594730e-01 -9.43668448e-01 -4.65999337e-02 1.16985044e+02] [ 9.27790414e-01 -3.30620818e-01 1.72901194e-01 1.26995717e+02] [-1.78568310e-01 1.34065482e-02 9.83836177e-01 4.52853721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.580714057 meters Centerline goodness : 0.984065 Centerline is valid? [True, True] Translation: X:116.97, Y:127.05, Z:45.27 [[-3.31252527e-01 -9.42365141e-01 -4.71137387e-02 1.16965655e+02] [ 9.26238753e-01 -3.34291016e-01 1.74158803e-01 1.27050421e+02] [-1.79870885e-01 1.40519730e-02 9.83589857e-01 4.52745343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.610714057 meters Centerline goodness : 0.983348 Centerline is valid? [True, True] Translation: X:116.96, Y:127.05, Z:45.27 [[-3.27852930e-01 -9.43520660e-01 -4.77621166e-02 1.16962318e+02] [ 9.27362301e-01 -3.31063764e-01 1.74344334e-01 1.27051347e+02] [-1.80309787e-01 1.28665142e-02 9.83525716e-01 4.52738291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.640714057 meters Centerline goodness : 0.984608 Centerline is valid? [True, True] Translation: X:116.97, Y:127.01, Z:45.28 [[-3.21079556e-01 -9.45692231e-01 -5.07358106e-02 1.16974647e+02] [ 9.29894466e-01 -3.24961158e-01 1.72326807e-01 1.27007438e+02] [-1.79455291e-01 8.15166519e-03 9.83732356e-01 4.52803400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.670714057 meters Centerline goodness : 0.984032 Centerline is valid? [True, True] Translation: X:116.97, Y:127.01, Z:45.28 [[-3.21755338e-01 -9.45769784e-01 -4.46432296e-02 1.16969435e+02] [ 9.29412695e-01 -3.24488059e-01 1.75782658e-01 1.27009739e+02] [-1.80736121e-01 1.50670243e-02 9.83416209e-01 4.52823703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.700714057 meters Centerline goodness : 0.984455 Centerline is valid? [True, True] Translation: X:116.96, Y:127.02, Z:45.28 [[-3.21140299e-01 -9.45772883e-01 -4.88114946e-02 1.16964254e+02] [ 9.29779148e-01 -3.24664184e-01 1.73504765e-01 1.27023824e+02] [-1.79943446e-01 1.03354624e-02 9.83622659e-01 4.52773469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.730714057 meters Centerline goodness : 0.983741 Centerline is valid? [True, True] Translation: X:116.95, Y:127.07, Z:45.27 [[-3.23002335e-01 -9.45258953e-01 -4.64220133e-02 1.16949189e+02] [ 9.28862329e-01 -3.26034564e-01 1.75830137e-01 1.27070996e+02] [-1.81340192e-01 1.36738854e-02 9.83325358e-01 4.52684509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.76071405700003 meters Centerline goodness : 0.984683 Centerline is valid? [True, True] Translation: X:116.94, Y:127.09, Z:45.27 [[-3.26435936e-01 -9.44139612e-01 -4.51660557e-02 1.16941786e+02] [ 9.27673376e-01 -3.29174539e-01 1.76256148e-01 1.27091266e+02] [-1.81277927e-01 1.56369933e-02 9.83307580e-01 4.52660137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.790714057 meters Centerline goodness : 0.984451 Centerline is valid? [True, True] Translation: X:116.94, Y:127.10, Z:45.26 [[-3.24297982e-01 -9.44680708e-01 -4.90833946e-02 1.16942991e+02] [ 9.28404342e-01 -3.27801124e-01 1.74962284e-01 1.27096409e+02] [-1.81373086e-01 1.11706788e-02 9.83350914e-01 4.52617435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.82071405700003 meters Centerline goodness : 0.984704 Centerline is valid? [True, True] Translation: X:116.94, Y:127.11, Z:45.26 [[-3.23791674e-01 -9.45068992e-01 -4.47610517e-02 1.16937891e+02] [ 9.28449604e-01 -3.26488577e-01 1.77162473e-01 1.27106542e+02] [-1.82044732e-01 1.58053531e-02 9.83163215e-01 4.52613862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.850714057 meters Centerline goodness : 0.984846 Centerline is valid? [True, True] Translation: X:116.92, Y:127.17, Z:45.25 [[-3.24660250e-01 -9.44631071e-01 -4.76220659e-02 1.16920894e+02] [ 9.27668731e-01 -3.27841714e-01 1.78747130e-01 1.27165089e+02] [-1.84462593e-01 1.38545864e-02 9.82741880e-01 4.52480700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.880714057 meters Centerline goodness : 0.979795 Centerline is valid? [True, True] Translation: X:116.87, Y:127.38, Z:45.21 [[-3.28102943e-01 -9.43255406e-01 -5.11634343e-02 1.16866082e+02] [ 9.29239454e-01 -3.32020179e-01 1.62100703e-01 1.27379474e+02] [-1.69889657e-01 5.64263580e-03 9.85446937e-01 4.52094152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.910714057 meters Centerline goodness : 0.979328 Centerline is valid? [True, True] Translation: X:116.85, Y:127.41, Z:45.21 [[-3.24758971e-01 -9.44812027e-01 -4.31490929e-02 1.16854957e+02] [ 9.30556673e-01 -3.27350204e-01 1.64030859e-01 1.27409528e+02] [-1.69103193e-01 1.31178167e-02 9.85511052e-01 4.52077878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.940714057 meters Centerline goodness : 0.978415 Centerline is valid? [True, True] Translation: X:116.83, Y:127.47, Z:45.20 [[-3.20735143e-01 -9.46363919e-01 -3.90422993e-02 1.16834970e+02] [ 9.27975761e-01 -3.22224814e-01 1.87168791e-01 1.27471990e+02] [-1.89710188e-01 2.38013013e-02 9.81551600e-01 4.51967463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.970714057 meters Centerline goodness : 0.979347 Centerline is valid? [True, True] Translation: X:116.84, Y:127.48, Z:45.19 [[-3.14642039e-01 -9.48003320e-01 -4.78549095e-02 1.16836621e+02] [ 9.29838752e-01 -3.17962185e-01 1.85202442e-01 1.27481675e+02] [-1.90788581e-01 1.37751246e-02 9.81534494e-01 4.51910556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.000714057 meters Centerline goodness : 0.985891 Centerline is valid? [True, True] Translation: X:116.95, Y:127.08, Z:45.27 [[-2.95366522e-01 -9.53737419e-01 -5.60673983e-02 1.16948301e+02] [ 9.38814769e-01 -3.00625989e-01 1.68079877e-01 1.27079728e+02] [-1.77159386e-01 -2.99173267e-03 9.84177627e-01 4.52651687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.030714057 meters Centerline goodness : 0.984724 Centerline is valid? [True, True] Translation: X:116.93, Y:127.13, Z:45.26 [[-2.94094612e-01 -9.54801643e-01 -4.31530133e-02 1.16931099e+02] [ 9.39397528e-01 -2.97082747e-01 1.71096832e-01 1.27125809e+02] [-1.76183552e-01 9.78082247e-03 9.84308738e-01 4.52612301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.060714057 meters Centerline goodness : 0.984209 Centerline is valid? [True, True] Translation: X:116.93, Y:127.14, Z:45.26 [[-2.94455583e-01 -9.54805171e-01 -4.05338645e-02 1.16925572e+02] [ 9.39083457e-01 -2.96952894e-01 1.73035370e-01 1.27140090e+02] [-1.77251714e-01 1.28865491e-02 9.84081179e-01 4.52605425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.090714057 meters Centerline goodness : 0.983794 Centerline is valid? [True, True] Translation: X:116.93, Y:127.13, Z:45.26 [[-2.87618047e-01 -9.56647099e-01 -4.58496254e-02 1.16932932e+02] [ 9.41738241e-01 -2.91202597e-01 1.68315577e-01 1.27129423e+02] [-1.74370138e-01 5.23225187e-03 9.84666278e-01 4.52605422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.120714057 meters Centerline goodness : 0.984069 Centerline is valid? [True, True] Translation: X:116.93, Y:127.13, Z:45.26 [[-2.83126177e-01 -9.58267437e-01 -3.95358904e-02 1.16930377e+02] [ 9.42830899e-01 -2.85648565e-01 1.71682244e-01 1.27134874e+02] [-1.75810874e-01 1.13320782e-02 9.84358736e-01 4.52618268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.150714057 meters Centerline goodness : 0.977976 Centerline is valid? [True, True] Translation: X:116.81, Y:127.62, Z:45.17 [[-2.94090322e-01 -9.55147784e-01 -3.46928333e-02 1.16807043e+02] [ 9.36907009e-01 -2.95271158e-01 1.87136846e-01 1.27616047e+02] [-1.88987137e-01 2.25311768e-02 9.81721044e-01 4.51718837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.180714057 meters Centerline goodness : 0.984932 Centerline is valid? [True, True] Translation: X:116.94, Y:127.14, Z:45.25 [[-2.68413277e-01 -9.61617289e-01 -5.69780936e-02 1.16939592e+02] [ 9.48484392e-01 -2.74156462e-01 1.58794184e-01 1.27141791e+02] [-1.68320145e-01 -1.14203653e-02 9.85666224e-01 4.52510423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.210714057 meters Centerline goodness : 0.983388 Centerline is valid? [True, True] Translation: X:116.93, Y:127.15, Z:45.26 [[-2.66887236e-01 -9.63180456e-01 -3.24748041e-02 1.16930893e+02] [ 9.48982979e-01 -2.68526623e-01 1.65302022e-01 1.27145415e+02] [-1.67936026e-01 1.32989634e-02 9.85708186e-01 4.52623946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.240714057 meters Centerline goodness : 0.985106 Centerline is valid? [True, True] Translation: X:116.95, Y:127.09, Z:45.27 [[-2.58934550e-01 -9.64968418e-01 -4.22948202e-02 1.16950037e+02] [ 9.51499351e-01 -2.62362545e-01 1.60670095e-01 1.27090007e+02] [-1.66138144e-01 1.35954490e-03 9.86101551e-01 4.52670474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.270714057 meters Centerline goodness : 0.984703 Centerline is valid? [True, True] Translation: X:116.95, Y:127.10, Z:45.27 [[-2.57666328e-01 -9.65563803e-01 -3.59806357e-02 1.16945896e+02] [ 9.51785533e-01 -2.60052972e-01 1.62716784e-01 1.27101389e+02] [-1.66470308e-01 7.68078760e-03 9.86016553e-01 4.52676341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.300714057 meters Centerline goodness : 0.984367 Centerline is valid? [True, True] Translation: X:117.09, Y:126.97, Z:46.21 [[-2.30597323e-01 1.12535454e-01 9.66519864e-01 1.17089409e+02] [ 9.51470339e-01 2.34103507e-01 1.99749199e-01 1.26968697e+02] [-2.03786823e-01 9.65676612e-01 -1.61057788e-01 4.62072677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.330714057 meters Centerline goodness : 0.978377 Centerline is valid? [True, True] Translation: X:116.83, Y:127.63, Z:45.14 [[-2.76484909e-01 -9.57221657e-01 -8.53392939e-02 1.16832650e+02] [ 9.32916976e-01 -2.88657089e-01 2.15274247e-01 1.27634006e+02] [-2.30698964e-01 -2.00943954e-02 9.72817662e-01 4.51385614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.360714057 meters Centerline goodness : 0.977977 Centerline is valid? [True, True] Translation: X:116.82, Y:127.66, Z:45.15 [[-2.71782253e-01 -9.61004326e-01 -5.10401125e-02 1.16815733e+02] [ 9.34424574e-01 -2.76207577e-01 2.24855708e-01 1.27656331e+02] [-2.30184974e-01 1.34186554e-02 9.73054375e-01 4.51476930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.390714057 meters Centerline goodness : 0.978663 Centerline is valid? [True, True] Translation: X:116.82, Y:127.67, Z:45.14 [[-2.68915723e-01 -9.61646008e-01 -5.40489601e-02 1.16816468e+02] [ 9.37555372e-01 -2.74207342e-01 2.14009949e-01 1.27668762e+02] [-2.20622435e-01 6.87674737e-03 9.75335046e-01 4.51443459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.420714057 meters Centerline goodness : 0.978612 Centerline is valid? [True, True] Translation: X:116.81, Y:127.68, Z:45.15 [[-2.62605869e-01 -9.63899546e-01 -4.39979917e-02 1.16812219e+02] [ 9.37717624e-01 -2.65689235e-01 2.23818872e-01 1.27676038e+02] [-2.27428702e-01 1.75184572e-02 9.73637145e-01 4.51480134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.450714057 meters Centerline goodness : 0.978936 Centerline is valid? [True, True] Translation: X:116.81, Y:127.71, Z:45.14 [[-2.58422112e-01 -9.64765031e-01 -4.94615742e-02 1.16810573e+02] [ 9.39200206e-01 -2.62898329e-01 2.20878793e-01 1.27707745e+02] [-2.26099501e-01 1.06256436e-02 9.74046257e-01 4.51383579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.480714057 meters Centerline goodness : 0.978639 Centerline is valid? [True, True] Translation: X:116.81, Y:127.72, Z:45.14 [[-2.56282598e-01 -9.65611707e-01 -4.37408421e-02 1.16808248e+02] [ 9.38707670e-01 -2.59424568e-01 2.26995165e-01 1.27722394e+02] [-2.30536637e-01 1.71150466e-02 9.72913117e-01 4.51367482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.51071405700003 meters Centerline goodness : 0.985417 Centerline is valid? [True, True] Translation: X:116.91, Y:127.31, Z:45.24 [[-2.33705263e-01 -9.71040179e-01 -4.96268082e-02 1.16906659e+02] [ 9.47417638e-01 -2.38900545e-01 2.12899858e-01 1.27308785e+02] [-2.18590187e-01 2.73850373e-03 9.75812908e-01 4.52354781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.540714057 meters Centerline goodness : 0.986267 Centerline is valid? [True, True] Translation: X:116.89, Y:127.36, Z:45.22 [[-2.40802690e-01 -9.69594823e-01 -4.35883501e-02 1.16893683e+02] [ 9.46330701e-01 -2.44525865e-01 2.11341679e-01 1.27361118e+02] [-2.15574277e-01 9.64265076e-03 9.76439835e-01 4.52248562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.57071405700003 meters Centerline goodness : 0.980457 Centerline is valid? [True, True] Translation: X:116.79, Y:127.85, Z:45.10 [[-2.65138258e-01 -9.63217327e-01 -4.37502677e-02 1.16790913e+02] [ 9.36973351e-01 -2.68091774e-01 2.24070839e-01 1.27850986e+02] [-2.27558002e-01 1.84169171e-02 9.73590352e-01 4.51046403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.600714057 meters Centerline goodness : 0.980005 Centerline is valid? [True, True] Translation: X:116.79, Y:127.88, Z:45.10 [[-2.63875888e-01 -9.63637479e-01 -4.20989868e-02 1.16788250e+02] [ 9.35507937e-01 -2.66315831e-01 2.32165411e-01 1.27877383e+02] [-2.34934918e-01 2.18789178e-02 9.71764836e-01 4.50991271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.630714057 meters Centerline goodness : 0.988382 Centerline is valid? [True, True] Translation: X:116.89, Y:127.41, Z:45.21 [[-2.45944148e-01 -9.68132299e-01 -4.72369272e-02 1.16888844e+02] [ 9.44031277e-01 -2.50303601e-01 2.14832622e-01 1.27411154e+02] [-2.19809973e-01 8.24368939e-03 9.75507877e-01 4.52133492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.660714057 meters Centerline goodness : 0.986617 Centerline is valid? [True, True] Translation: X:116.87, Y:127.50, Z:45.20 [[-2.55610769e-01 -9.66102872e-01 -3.61714729e-02 1.16865971e+02] [ 9.40750692e-01 -2.57178040e-01 2.21014914e-01 1.27496027e+02] [-2.22825651e-01 2.24654539e-02 9.74599422e-01 4.51984884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.690714057 meters Centerline goodness : 0.980779 Centerline is valid? [True, True] Translation: X:116.79, Y:127.91, Z:45.09 [[-2.62879349e-01 -9.63900965e-01 -4.23010419e-02 1.16790470e+02] [ 9.36840175e-01 -2.65491632e-01 2.27694269e-01 1.27912805e+02] [-2.30705298e-01 2.02268056e-02 9.72813416e-01 4.50921754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.720714057 meters Centerline goodness : 0.980779 Centerline is valid? [True, True] Translation: X:116.79, Y:127.92, Z:45.09 [[-2.57446411e-01 -9.65418489e-01 -4.10912106e-02 1.16787763e+02] [ 9.38305907e-01 -2.59924228e-01 2.28082048e-01 1.27924693e+02] [-2.30875227e-01 2.01627789e-02 9.72774430e-01 4.50897557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.750714057 meters Centerline goodness : 0.980705 Centerline is valid? [True, True] Translation: X:116.79, Y:127.93, Z:45.09 [[-2.49819480e-01 -9.67521688e-01 -3.86265624e-02 1.16787365e+02] [ 9.38371908e-01 -2.51747268e-01 2.36815278e-01 1.27931775e+02] [-2.38848049e-01 2.29149886e-02 9.70786543e-01 4.50874532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.780714057 meters Centerline goodness : 0.989207 Centerline is valid? [True, True] Translation: X:116.88, Y:127.45, Z:45.21 [[-2.33714292e-01 -9.71265102e-01 -4.49636604e-02 1.16881880e+02] [ 9.46947081e-01 -2.37867954e-01 2.16125110e-01 1.27450780e+02] [-2.20610191e-01 7.93332009e-03 9.75329794e-01 4.52070627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.810714057 meters Centerline goodness : 0.990114 Centerline is valid? [True, True] Translation: X:116.80, Y:127.66, Z:45.92 [[ -0.14821841 -0.17154002 0.97396372 116.7959558 ] [ 0.96256199 0.20098162 0.18188131 127.66344646] [ -0.22694873 0.96445861 0.13532872 45.91598314] [ 0. 0. 0. 1. ]] SLAMing on 425.840714057 meters Centerline goodness : 0.988462 Centerline is valid? [True, True] Translation: X:116.87, Y:127.53, Z:45.21 [[-2.20697971e-01 -9.73877737e-01 -5.34280757e-02 1.16867122e+02] [ 9.32231873e-01 -2.26732316e-01 2.82021617e-01 1.27532930e+02] [-2.86768446e-01 1.24342436e-02 9.57919228e-01 4.52064032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.870714057 meters Centerline goodness : 0.987864 Centerline is valid? [True, True] Translation: X:116.86, Y:127.58, Z:45.20 [[-2.20624287e-01 -9.74336810e-01 -4.46397298e-02 1.16855094e+02] [ 9.31650218e-01 -2.24063947e-01 2.86047580e-01 1.27576765e+02] [-2.88708840e-01 2.15204293e-02 9.57175050e-01 4.51961376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.900714057 meters Centerline goodness : 0.990213 Centerline is valid? [True, True] Translation: X:116.73, Y:127.75, Z:45.82 [[ -0.13929233 -0.35138327 0.92581178 116.72606425] [ 0.94563184 0.23028149 0.22967554 127.74980145] [ -0.29390146 0.90746913 0.30020277 45.81943351] [ 0. 0. 0. 1. ]] SLAMing on 425.930714057 meters Centerline goodness : 0.990925 Centerline is valid? [True, True] Translation: X:116.85, Y:127.61, Z:45.20 [[-1.92524943e-01 -9.79884336e-01 -5.25436391e-02 1.16848450e+02] [ 9.18327982e-01 -1.98784579e-01 3.42284105e-01 1.27609183e+02] [-3.45843699e-01 1.76459338e-02 9.38126195e-01 4.52046218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.960714057 meters Centerline goodness : 0.990853 Centerline is valid? [True, True] Translation: X:116.75, Y:127.99, Z:45.84 [[-1.15129943e-01 -1.81583834e-01 9.76612721e-01 1.16749476e+02] [ 9.26160663e-01 3.35816215e-01 1.71621377e-01 1.27985906e+02] [-3.59126055e-01 9.24259044e-01 1.29513303e-01 4.58412992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.990714057 meters Centerline goodness : 0.991906 Centerline is valid? [True, True] Translation: X:117.73, Y:128.07, Z:45.51 [[-1.19709140e-01 7.70153311e-01 -6.26525019e-01 1.17733108e+02] [ 8.99311199e-01 -1.83234296e-01 -3.97069970e-01 1.28067136e+02] [-4.20605623e-01 -6.10973870e-01 -6.70672677e-01 4.55122692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.020714057 meters Centerline goodness : 0.991846 Centerline is valid? [True, True] Translation: X:116.86, Y:127.72, Z:45.15 [[-2.23727806e-01 -9.71476988e-01 -7.86023633e-02 1.16860569e+02] [ 9.01928637e-01 -2.36927378e-01 3.61095766e-01 1.27723103e+02] [-3.69419279e-01 9.89344102e-03 9.29210157e-01 4.51521300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.050714057 meters Centerline goodness : 0.985281 Centerline is valid? [True, True] Translation: X:116.78, Y:128.12, Z:44.99 [[-2.32411223e-01 -9.70382569e-01 -6.58991192e-02 1.16782283e+02] [ 8.99513101e-01 -2.40219901e-01 3.64925444e-01 1.28121107e+02] [-3.69947570e-01 2.55356475e-02 9.28701635e-01 4.49917421e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.080714057 meters Centerline goodness : 0.992343 Centerline is valid? [True, True] Translation: X:116.75, Y:127.64, Z:45.90 [[ -0.16919271 -0.36339253 0.91614393 116.75008531] [ 0.89640399 0.32964389 0.29630186 127.64464503] [ -0.40967513 0.87136719 0.26997317 45.90473334] [ 0. 0. 0. 1. ]] SLAMing on 426.110714057 meters Centerline goodness : 0.991267 Centerline is valid? [True, True] Translation: X:116.92, Y:127.41, Z:45.33 [[-1.87897006e-01 -9.76327949e-01 -1.07137537e-01 1.16920998e+02] [ 8.74407803e-01 -2.15959872e-01 4.34479375e-01 1.27414304e+02] [-4.47331766e-01 -1.20445250e-02 8.94286990e-01 4.53257524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.140714057 meters Centerline goodness : 0.991948 Centerline is valid? [True, True] Translation: X:116.90, Y:127.41, Z:45.35 [[-1.81739576e-01 -9.82523865e-01 -4.02191715e-02 1.16897850e+02] [ 8.72126505e-01 -1.79943930e-01 4.54989606e-01 1.27409284e+02] [-4.54275341e-01 4.76134124e-02 8.89588038e-01 4.53482332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.170714057 meters Centerline goodness : 0.991770 Centerline is valid? [True, True] Translation: X:116.90, Y:127.42, Z:45.34 [[-1.83522761e-01 -9.81572434e-01 -5.32442851e-02 1.16901275e+02] [ 8.73527938e-01 -1.87684771e-01 4.49136246e-01 1.27423993e+02] [-4.50852900e-01 3.59163535e-02 8.91875372e-01 4.53384866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.200714057 meters Centerline goodness : 0.991291 Centerline is valid? [True, True] Translation: X:116.91, Y:127.44, Z:45.33 [[-1.87181775e-01 -9.79497278e-01 -7.44853337e-02 1.16908081e+02] [ 8.75942411e-01 -2.00750257e-01 4.38661859e-01 1.27435396e+02] [-4.44621047e-01 1.68646425e-02 8.95559997e-01 4.53286773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.230714057 meters Centerline goodness : 0.990937 Centerline is valid? [True, True] Translation: X:116.90, Y:127.43, Z:45.34 [[-1.85173013e-01 -9.80968021e-01 -5.84182895e-02 1.16904279e+02] [ 8.75148019e-01 -1.91655418e-01 4.44279356e-01 1.27430211e+02] [-4.47020022e-01 3.11438967e-02 8.93981632e-01 4.53361630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.26071405700003 meters Centerline goodness : 0.991708 Centerline is valid? [True, True] Translation: X:116.90, Y:127.45, Z:45.33 [[-1.85660208e-01 -9.81354687e-01 -4.97319298e-02 1.16899023e+02] [ 8.76654563e-01 -1.88289188e-01 4.42745931e-01 1.27445156e+02] [-4.43854779e-01 3.86025783e-02 8.95266874e-01 4.53327579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.290714057 meters Centerline goodness : 0.991593 Centerline is valid? [True, True] Translation: X:116.90, Y:127.44, Z:45.33 [[-1.84703860e-01 -9.81304346e-01 -5.40949625e-02 1.16901634e+02] [ 8.76022091e-01 -1.89338268e-01 4.43549677e-01 1.27443927e+02] [-4.45499472e-01 3.45369552e-02 8.94615794e-01 4.53305255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.32071405700003 meters Centerline goodness : 0.991453 Centerline is valid? [True, True] Translation: X:116.90, Y:127.44, Z:45.33 [[-1.83451399e-01 -9.81541571e-01 -5.40530217e-02 1.16901779e+02] [ 8.75697039e-01 -1.88157912e-01 4.44692361e-01 1.27444130e+02] [-4.46654542e-01 3.42453646e-02 8.94050879e-01 4.53294611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.350714057 meters Centerline goodness : 0.990829 Centerline is valid? [True, True] Translation: X:116.91, Y:127.45, Z:45.32 [[-1.83583375e-01 -9.80841610e-01 -6.51680870e-02 1.16905339e+02] [ 8.73749731e-01 -1.93195640e-01 4.46359555e-01 1.27449182e+02] [-4.50398215e-01 2.50035952e-02 8.92477601e-01 4.53230904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.380714057 meters Centerline goodness : 0.992177 Centerline is valid? [True, True] Translation: X:116.90, Y:127.46, Z:45.32 [[-1.84266300e-01 -9.81751522e-01 -4.70093580e-02 1.16895944e+02] [ 8.75966061e-01 -1.85728081e-01 4.45183716e-01 1.27463504e+02] [-4.45790748e-01 4.08537541e-02 8.94204439e-01 4.53215215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.410714057 meters Centerline goodness : 0.991841 Centerline is valid? [True, True] Translation: X:116.90, Y:127.46, Z:45.32 [[-1.84208099e-01 -9.81268158e-01 -5.63930672e-02 1.16899394e+02] [ 8.75728482e-01 -1.89905698e-01 4.43886756e-01 1.27463334e+02] [-4.46281304e-01 3.23825201e-02 8.94306642e-01 4.53172529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.440714057 meters Centerline goodness : 0.991538 Centerline is valid? [True, True] Translation: X:116.90, Y:127.46, Z:45.32 [[-1.83473232e-01 -9.81167759e-01 -6.03937161e-02 1.16899686e+02] [ 8.74478084e-01 -1.90968721e-01 4.45891275e-01 1.27459986e+02] [-4.49027454e-01 2.89961323e-02 8.93047351e-01 4.53189263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.470714057 meters Centerline goodness : 0.992870 Centerline is valid? [True, True] Translation: X:116.88, Y:127.48, Z:45.31 [[-1.79005938e-01 -9.83399608e-01 -2.96999084e-02 1.16883726e+02] [ 8.72171441e-01 -1.72583853e-01 4.57746426e-01 1.27480613e+02] [-4.55273381e-01 5.60359164e-02 8.88586588e-01 4.53134377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.500714057 meters Centerline goodness : 0.993722 Centerline is valid? [True, True] Translation: X:116.90, Y:127.50, Z:45.29 [[-1.98160308e-01 -9.75101959e-01 -9.95422599e-02 1.16899929e+02] [ 8.78455136e-01 -2.21728281e-01 4.23264861e-01 1.27499413e+02] [-4.34797730e-01 -3.56911418e-03 9.00521069e-01 4.52896529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.530714057 meters Centerline goodness : 0.992179 Centerline is valid? [True, True] Translation: X:116.88, Y:127.48, Z:45.32 [[-1.78123133e-01 -9.83693502e-01 -2.48846137e-02 1.16879433e+02] [ 8.72509989e-01 -1.69582204e-01 4.58222867e-01 1.27479612e+02] [-4.54970844e-01 5.99080185e-02 8.88488920e-01 4.53155739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.560714057 meters Centerline goodness : 0.992801 Centerline is valid? [True, True] Translation: X:116.89, Y:127.49, Z:45.30 [[-1.79134526e-01 -9.81949864e-01 -6.07065657e-02 1.16890503e+02] [ 8.73039264e-01 -1.87106524e-01 4.50326095e-01 1.27491045e+02] [-4.53556242e-01 2.76697362e-02 8.90798025e-01 4.52967826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.590714057 meters Centerline goodness : 0.992166 Centerline is valid? [True, True] Translation: X:116.89, Y:127.49, Z:45.30 [[-1.79434833e-01 -9.82250900e-01 -5.46471464e-02 1.16886520e+02] [ 8.72238662e-01 -1.84536712e-01 4.52930369e-01 1.27489291e+02] [-4.54975667e-01 3.36061315e-02 8.89869524e-01 4.52991850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.620714057 meters Centerline goodness : 0.992565 Centerline is valid? [True, True] Translation: X:116.88, Y:127.49, Z:45.30 [[-1.77678325e-01 -9.82838962e-01 -4.95780928e-02 1.16883895e+02] [ 8.70576394e-01 -1.80473552e-01 4.57740144e-01 1.27490317e+02] [-4.58832383e-01 3.81689847e-02 8.87702638e-01 4.52980201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.650714057 meters Centerline goodness : 0.993025 Centerline is valid? [True, True] Translation: X:116.89, Y:127.49, Z:45.29 [[-1.82834863e-01 -9.80266165e-01 -7.51642095e-02 1.16892805e+02] [ 8.71692996e-01 -1.96990630e-01 4.48715959e-01 1.27485058e+02] [-4.54667718e-01 1.65208059e-02 8.90507905e-01 4.52915330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.680714057 meters Centerline goodness : 0.992885 Centerline is valid? [True, True] Translation: X:116.88, Y:127.50, Z:45.30 [[-1.87211658e-01 -9.80503397e-01 -5.97066554e-02 1.16883362e+02] [ 8.73531484e-01 -1.93973102e-01 4.46449530e-01 1.27495480e+02] [-4.49326766e-01 3.14249133e-02 8.92814613e-01 4.52951262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.710714057 meters Centerline goodness : 0.993812 Centerline is valid? [True, True] Translation: X:116.87, Y:127.53, Z:45.28 [[-2.04823193e-01 -9.76299404e-01 -6.99066071e-02 1.16874876e+02] [ 8.77115525e-01 -2.14774472e-01 4.29581519e-01 1.27527136e+02] [-4.34414335e-01 2.66720879e-02 9.00318158e-01 4.52847647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.740714057 meters Centerline goodness : 0.992411 Centerline is valid? [True, True] Translation: X:116.88, Y:127.51, Z:45.30 [[-1.93322169e-01 -9.79593841e-01 -5.49767788e-02 1.16877345e+02] [ 8.72682978e-01 -1.97290572e-01 4.46655179e-01 1.27505145e+02] [-4.48387063e-01 3.83710491e-02 8.93015512e-01 4.52951014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.770714057 meters Centerline goodness : 0.992881 Centerline is valid? [True, True] Translation: X:116.87, Y:127.51, Z:45.29 [[-1.94519429e-01 -9.79301420e-01 -5.59546239e-02 1.16874515e+02] [ 8.72821522e-01 -1.98835242e-01 4.45698483e-01 1.27512703e+02] [-4.47598909e-01 3.78586143e-02 8.93432674e-01 4.52907526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.800714057 meters Centerline goodness : 0.992472 Centerline is valid? [True, True] Translation: X:116.87, Y:127.51, Z:45.29 [[-1.95269140e-01 -9.79086536e-01 -5.70921878e-02 1.16872684e+02] [ 8.72186587e-01 -1.99980984e-01 4.46428229e-01 1.27513799e+02] [-4.48509220e-01 3.73786157e-02 8.92996259e-01 4.52881324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.830714057 meters Centerline goodness : 0.991888 Centerline is valid? [True, True] Translation: X:116.87, Y:127.53, Z:45.29 [[-1.95038610e-01 -9.79546294e-01 -4.94873605e-02 1.16866072e+02] [ 8.72592833e-01 -1.96338386e-01 4.47250473e-01 1.27526566e+02] [-4.47818811e-01 4.40487944e-02 8.93038642e-01 4.52850179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.860714057 meters Centerline goodness : 0.992410 Centerline is valid? [True, True] Translation: X:116.87, Y:127.52, Z:45.28 [[-1.93938146e-01 -9.78903598e-01 -6.43097234e-02 1.16870717e+02] [ 8.72091049e-01 -2.02055928e-01 4.45679934e-01 1.27520686e+02] [-4.49271852e-01 3.03504060e-02 8.92879418e-01 4.52797432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.890714057 meters Centerline goodness : 0.992368 Centerline is valid? [True, True] Translation: X:116.87, Y:127.52, Z:45.28 [[-1.91707857e-01 -9.79926334e-01 -5.47035493e-02 1.16865087e+02] [ 8.72113617e-01 -1.95652166e-01 4.48484190e-01 1.27522917e+02] [-4.50184336e-01 3.82702327e-02 8.92115157e-01 4.52810051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.920714057 meters Centerline goodness : 0.991796 Centerline is valid? [True, True] Translation: X:116.86, Y:127.51, Z:45.28 [[-1.85781272e-01 -9.81306890e-01 -5.02205749e-02 1.16861228e+02] [ 8.71409605e-01 -1.88160580e-01 4.53035204e-01 1.27514824e+02] [-4.54016100e-01 4.04027653e-02 8.90076962e-01 4.52848481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.950714057 meters Centerline goodness : 0.990141 Centerline is valid? [True, True] Translation: X:116.86, Y:127.53, Z:45.28 [[-1.84771810e-01 -9.81423252e-01 -5.16505484e-02 1.16855687e+02] [ 8.72364229e-01 -1.87988667e-01 4.51265900e-01 1.27525530e+02] [-4.52592565e-01 3.83231265e-02 8.90893545e-01 4.52805856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.980714057 meters Centerline goodness : 0.990228 Centerline is valid? [True, True] Translation: X:116.86, Y:127.52, Z:45.28 [[-1.83553505e-01 -9.80924023e-01 -6.40013472e-02 1.16858773e+02] [ 8.73846865e-01 -1.92643237e-01 4.46408154e-01 1.27517627e+02] [-4.50221909e-01 2.60124048e-02 8.92537723e-01 4.52818977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.01071405700003 meters Centerline goodness : 0.990438 Centerline is valid? [True, True] Translation: X:116.85, Y:127.53, Z:45.28 [[-1.80469744e-01 -9.82051561e-01 -5.48215551e-02 1.16852631e+02] [ 8.73156217e-01 -1.85618736e-01 4.50714883e-01 1.27525695e+02] [-4.52801163e-01 3.34726181e-02 8.90982991e-01 4.52801078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.040714057 meters Centerline goodness : 0.991240 Centerline is valid? [True, True] Translation: X:116.85, Y:127.53, Z:45.27 [[-1.78162563e-01 -9.81781619e-01 -6.60526533e-02 1.16852441e+02] [ 8.73225845e-01 -1.88691388e-01 4.49301885e-01 1.27529012e+02] [-4.53579899e-01 2.23698914e-02 8.90934826e-01 4.52739336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.07071405700003 meters Centerline goodness : 0.989988 Centerline is valid? [True, True] Translation: X:116.84, Y:127.54, Z:45.28 [[-1.78406833e-01 -9.82715244e-01 -4.94140790e-02 1.16843728e+02] [ 8.73648258e-01 -1.81309895e-01 4.51514611e-01 1.27539315e+02] [-4.52669553e-01 3.73827678e-02 8.90894385e-01 4.52766108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.100714057 meters Centerline goodness : 0.990025 Centerline is valid? [True, True] Translation: X:116.84, Y:127.55, Z:45.27 [[-1.76888574e-01 -9.82746475e-01 -5.40351569e-02 1.16842157e+02] [ 8.71965486e-01 -1.81939045e-01 4.54504539e-01 1.27545602e+02] [-4.56493838e-01 3.32798680e-02 8.89103946e-01 4.52686291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.130714057 meters Centerline goodness : 0.989908 Centerline is valid? [True, True] Translation: X:116.83, Y:127.58, Z:45.26 [[-1.79518811e-01 -9.82464430e-01 -5.03650751e-02 1.16834806e+02] [ 8.74672108e-01 -1.82835590e-01 4.48909624e-01 1.27576070e+02] [-4.50246266e-01 3.65347957e-02 8.92156662e-01 4.52555157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.160714057 meters Centerline goodness : 0.989172 Centerline is valid? [True, True] Translation: X:116.83, Y:127.59, Z:45.25 [[-1.79659621e-01 -9.82318599e-01 -5.26553961e-02 1.16832373e+02] [ 8.74707741e-01 -1.84011782e-01 4.48359267e-01 1.27587917e+02] [-4.50120860e-01 3.44939733e-02 8.92301169e-01 4.52463769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.190714057 meters Centerline goodness : 0.989081 Centerline is valid? [True, True] Translation: X:116.83, Y:127.59, Z:45.24 [[-1.81113428e-01 -9.81373213e-01 -6.40667077e-02 1.16834001e+02] [ 8.73830402e-01 -1.90471892e-01 4.47371084e-01 1.27593792e+02] [-4.51240905e-01 2.50414739e-02 8.92050766e-01 4.52400226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.220714057 meters Centerline goodness : 0.990856 Centerline is valid? [True, True] Translation: X:116.82, Y:127.58, Z:45.26 [[-1.80683570e-01 -9.82713281e-01 -4.03491590e-02 1.16824843e+02] [ 8.75972912e-01 -1.79441850e-01 4.47741085e-01 1.27579748e+02] [-4.47241439e-01 4.55546875e-02 8.93252409e-01 4.52567718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.250714057 meters Centerline goodness : 0.989479 Centerline is valid? [True, True] Translation: X:116.83, Y:127.56, Z:45.26 [[-1.79580187e-01 -9.81959523e-01 -5.92153063e-02 1.16831462e+02] [ 8.73478507e-01 -1.86852312e-01 4.49579261e-01 1.27564031e+02] [-4.52533153e-01 2.90122304e-02 8.91275511e-01 4.52555035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.280714057 meters Centerline goodness : 0.989295 Centerline is valid? [True, True] Translation: X:116.83, Y:127.58, Z:45.25 [[-1.81609930e-01 -9.81929848e-01 -5.32128476e-02 1.16825278e+02] [ 8.73920072e-01 -1.85970250e-01 4.49086600e-01 1.27577554e+02] [-4.50867543e-01 3.50548102e-02 8.91902247e-01 4.52529272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.310714057 meters Centerline goodness : 0.991105 Centerline is valid? [True, True] Translation: X:116.82, Y:127.59, Z:45.25 [[-1.84460263e-01 -9.81749714e-01 -4.62807735e-02 1.16817105e+02] [ 8.77531289e-01 -1.85719539e-01 4.42093983e-01 1.27592905e+02] [-4.42620886e-01 4.09359458e-02 8.95773967e-01 4.52518734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.340714057 meters Centerline goodness : 0.988018 Centerline is valid? [True, True] Translation: X:116.82, Y:127.60, Z:45.24 [[-1.84892619e-01 -9.80735952e-01 -6.30215125e-02 1.16823023e+02] [ 8.75470923e-01 -1.93504199e-01 4.42839461e-01 1.27595493e+02] [-4.46503507e-01 2.67042460e-02 8.94383308e-01 4.52436574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.370714057 meters Centerline goodness : 0.988928 Centerline is valid? [True, True] Translation: X:116.82, Y:127.60, Z:45.25 [[-1.86264142e-01 -9.80848426e-01 -5.69388730e-02 1.16817835e+02] [ 8.76844330e-01 -1.92098268e-01 4.40729255e-01 1.27597884e+02] [-4.43226455e-01 3.21655285e-02 8.95832400e-01 4.52473949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.400714057 meters Centerline goodness : 0.987819 Centerline is valid? [True, True] Translation: X:116.81, Y:127.61, Z:45.24 [[-1.84039770e-01 -9.81104094e-01 -5.97002439e-02 1.16814575e+02] [ 8.78351924e-01 -1.91418297e-01 4.38014764e-01 1.27610764e+02] [-4.41165797e-01 2.81743124e-02 8.96983248e-01 4.52391264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.430714057 meters Centerline goodness : 0.988627 Centerline is valid? [True, True] Translation: X:116.81, Y:127.61, Z:45.24 [[-1.81771176e-01 -9.81618888e-01 -5.81686991e-02 1.16811939e+02] [ 8.77420879e-01 -1.88614191e-01 4.41086486e-01 1.27613378e+02] [-4.43950268e-01 2.91383781e-02 8.95577531e-01 4.52392057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.460714057 meters Centerline goodness : 0.988982 Centerline is valid? [True, True] Translation: X:116.81, Y:127.62, Z:45.24 [[-1.79110545e-01 -9.82237754e-01 -5.59321672e-02 1.16807889e+02] [ 8.78620048e-01 -1.85277509e-01 4.40112548e-01 1.27616592e+02] [-4.42658134e-01 2.96856750e-02 8.96198939e-01 4.52376988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.490714057 meters Centerline goodness : 0.990242 Centerline is valid? [True, True] Translation: X:116.80, Y:127.64, Z:45.23 [[-1.77066220e-01 -9.83374810e-01 -4.02683019e-02 1.16796525e+02] [ 8.79883241e-01 -1.76498127e-01 4.41195980e-01 1.27643754e+02] [-4.40968293e-01 4.26895003e-02 8.96506872e-01 4.52313911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.520714057 meters Centerline goodness : 0.987819 Centerline is valid? [True, True] Translation: X:116.81, Y:127.62, Z:45.23 [[-1.76087352e-01 -9.82322235e-01 -6.35316475e-02 1.16807542e+02] [ 8.78566340e-01 -1.85941544e-01 4.39939686e-01 1.27621859e+02] [-4.43975709e-01 2.16510475e-02 8.95777206e-01 4.52322328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.550714057 meters Centerline goodness : 0.988006 Centerline is valid? [True, True] Translation: X:116.80, Y:127.64, Z:45.23 [[-1.72177820e-01 -9.83770171e-01 -5.05079112e-02 1.16798628e+02] [ 8.78607275e-01 -1.76552961e-01 4.43709712e-01 1.27635933e+02] [-4.45425701e-01 3.20203528e-02 8.94746133e-01 4.52287069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.580714057 meters Centerline goodness : 0.988058 Centerline is valid? [True, True] Translation: X:116.80, Y:127.63, Z:45.23 [[-1.72088262e-01 -9.83543748e-01 -5.50211387e-02 1.16799009e+02] [ 8.79688814e-01 -1.78573247e-01 4.40748438e-01 1.27629361e+02] [-4.43320674e-01 2.74461526e-02 8.95942793e-01 4.52304914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.610714057 meters Centerline goodness : 0.988058 Centerline is valid? [True, True] Translation: X:116.80, Y:127.63, Z:45.23 [[-1.71552633e-01 -9.83724631e-01 -5.34372871e-02 1.16797604e+02] [ 8.79810503e-01 -1.77385868e-01 4.40984958e-01 1.27635000e+02] [-4.43286784e-01 2.86374442e-02 8.95922275e-01 4.52284208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.640714057 meters Centerline goodness : 0.988296 Centerline is valid? [True, True] Translation: X:116.79, Y:127.66, Z:45.21 [[-1.70694960e-01 -9.83859277e-01 -5.37043149e-02 1.16793046e+02] [ 8.80204944e-01 -1.76753618e-01 4.40451377e-01 1.27664018e+02] [-4.42834605e-01 2.79120266e-02 8.96168751e-01 4.52129202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.670714057 meters Centerline goodness : 0.988063 Centerline is valid? [True, True] Translation: X:116.79, Y:127.66, Z:45.22 [[-1.69054432e-01 -9.84513704e-01 -4.64043731e-02 1.16790016e+02] [ 8.80138940e-01 -1.71987174e-01 4.42465659e-01 1.27657331e+02] [-4.43594462e-01 3.39584848e-02 8.95584041e-01 4.52186149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.700714057 meters Centerline goodness : 0.989507 Centerline is valid? [True, True] Translation: X:116.79, Y:127.66, Z:45.21 [[-1.68980966e-01 -9.83965710e-01 -5.70693782e-02 1.16792566e+02] [ 8.80828398e-01 -1.76742485e-01 4.39207728e-01 1.27655100e+02] [-4.42251928e-01 2.39494170e-02 8.96571056e-01 4.52134792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.730714057 meters Centerline goodness : 0.988489 Centerline is valid? [True, True] Translation: X:116.79, Y:127.68, Z:45.21 [[-1.69824360e-01 -9.84187764e-01 -5.03401629e-02 1.16786765e+02] [ 8.79901832e-01 -1.74436249e-01 4.41978236e-01 1.27675612e+02] [-4.43770721e-01 3.07642697e-02 8.95612141e-01 4.52069385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.76071405700003 meters Centerline goodness : 0.988878 Centerline is valid? [True, True] Translation: X:116.79, Y:127.68, Z:45.20 [[-1.71132355e-01 -9.83703467e-01 -5.51471273e-02 1.16787200e+02] [ 8.81566597e-01 -1.77877217e-01 4.37264257e-01 1.27680364e+02] [-4.39947783e-01 2.62141966e-02 8.97640665e-01 4.52022579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.790714057 meters Centerline goodness : 0.988801 Centerline is valid? [True, True] Translation: X:116.79, Y:127.66, Z:45.21 [[-1.71144005e-01 -9.83675295e-01 -5.56115415e-02 1.16788928e+02] [ 8.80395786e-01 -1.78025108e-01 4.39556960e-01 1.27663740e+02] [-4.42281573e-01 2.62673716e-02 8.96491515e-01 4.52114226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.82071405700003 meters Centerline goodness : 0.988416 Centerline is valid? [True, True] Translation: X:116.78, Y:127.68, Z:45.20 [[-1.72458662e-01 -9.83824864e-01 -4.84421959e-02 1.16783960e+02] [ 8.80016315e-01 -1.75982599e-01 4.41136498e-01 1.27684025e+02] [-4.42526038e-01 3.34478874e-02 8.96131656e-01 4.52045347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.850714057 meters Centerline goodness : 0.987843 Centerline is valid? [True, True] Translation: X:116.78, Y:127.69, Z:45.20 [[-1.73220771e-01 -9.83641796e-01 -4.94305722e-02 1.16783266e+02] [ 8.79804861e-01 -1.77101881e-01 4.41110339e-01 1.27686352e+02] [-4.42648813e-01 3.29202151e-02 8.96090558e-01 4.52033960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.880714057 meters Centerline goodness : 0.990912 Centerline is valid? [True, True] Translation: X:116.77, Y:127.72, Z:45.19 [[-1.72209823e-01 -9.84217672e-01 -4.07351360e-02 1.16774476e+02] [ 8.81851851e-01 -1.72462243e-01 4.38855430e-01 1.27720974e+02] [-4.38954542e-01 3.96528610e-02 8.97633868e-01 4.51889678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.910714057 meters Centerline goodness : 0.988536 Centerline is valid? [True, True] Translation: X:116.78, Y:127.72, Z:45.18 [[-1.72896272e-01 -9.83157129e-01 -5.92363021e-02 1.16782470e+02] [ 8.80485669e-01 -1.81234422e-01 4.38062863e-01 1.27718774e+02] [-4.41420283e-01 2.35827209e-02 8.96990518e-01 4.51810987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.940714057 meters Centerline goodness : 0.989516 Centerline is valid? [True, True] Translation: X:116.78, Y:127.72, Z:45.19 [[-1.72730916e-01 -9.83661970e-01 -5.07263153e-02 1.16779425e+02] [ 8.81286110e-01 -1.77343248e-01 4.38045848e-01 1.27716136e+02] [-4.39885011e-01 3.09596636e-02 8.97520293e-01 4.51860624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.970714057 meters Centerline goodness : 0.989149 Centerline is valid? [True, True] Translation: X:116.78, Y:127.72, Z:45.19 [[-1.71606114e-01 -9.83987680e-01 -4.81621026e-02 1.16778197e+02] [ 8.81415505e-01 -1.75187875e-01 4.38652387e-01 1.27720421e+02] [-4.40065961e-01 3.28246075e-02 8.97365307e-01 4.51850290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.000714057 meters Centerline goodness : 0.989072 Centerline is valid? [True, True] Translation: X:116.78, Y:127.72, Z:45.18 [[-1.68482686e-01 -9.84720104e-01 -4.40443062e-02 1.16776981e+02] [ 8.80179552e-01 -1.70410260e-01 4.42994696e-01 1.27724672e+02] [-4.43731385e-01 3.58700387e-02 8.95441678e-01 4.51836425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.030714057 meters Centerline goodness : 0.988843 Centerline is valid? [True, True] Translation: X:116.78, Y:127.73, Z:45.18 [[-1.66852044e-01 -9.84705552e-01 -5.01534704e-02 1.16778703e+02] [ 8.80183991e-01 -1.71678929e-01 4.42495749e-01 1.27726345e+02] [-4.44338315e-01 2.96870384e-02 8.95367043e-01 4.51794790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.060714057 meters Centerline goodness : 0.989317 Centerline is valid? [True, True] Translation: X:116.78, Y:127.72, Z:45.18 [[-1.60696381e-01 -9.85891258e-01 -4.68519045e-02 1.16778138e+02] [ 8.80712870e-01 -1.64657829e-01 4.44108815e-01 1.27717830e+02] [-4.45557531e-01 3.01036040e-02 8.94747037e-01 4.51820596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.090714057 meters Centerline goodness : 0.988763 Centerline is valid? [True, True] Translation: X:116.78, Y:127.71, Z:45.19 [[-1.56609249e-01 -9.86762982e-01 -4.20994089e-02 1.16777433e+02] [ 8.79001667e-01 -1.58689831e-01 4.49637194e-01 1.27712044e+02] [-4.50366087e-01 3.34118925e-02 8.92218602e-01 4.51851284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.120714057 meters Centerline goodness : 0.989093 Centerline is valid? [True, True] Translation: X:116.78, Y:127.74, Z:45.17 [[-1.54811764e-01 -9.86861507e-01 -4.62350874e-02 1.16775046e+02] [ 8.79210734e-01 -1.58966330e-01 4.49130484e-01 1.27741139e+02] [-4.50579409e-01 2.88802975e-02 8.92269088e-01 4.51682276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.150714057 meters Centerline goodness : 0.988993 Centerline is valid? [True, True] Translation: X:116.78, Y:127.71, Z:45.18 [[-1.46710354e-01 -9.88402969e-01 -3.91872844e-02 1.16775741e+02] [ 8.77382276e-01 -1.48321941e-01 4.56290416e-01 1.27710912e+02] [-4.56811136e-01 3.25602998e-02 8.88967611e-01 4.51814928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.180714057 meters Centerline goodness : 0.990816 Centerline is valid? [True, True] Translation: X:116.78, Y:127.71, Z:45.18 [[-1.42856863e-01 -9.88842270e-01 -4.22241925e-02 1.16776674e+02] [ 8.76608749e-01 -1.46218762e-01 4.58450842e-01 1.27708903e+02] [-4.59509540e-01 2.84787527e-02 8.87716139e-01 4.51796935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.210714057 meters Centerline goodness : 0.991266 Centerline is valid? [True, True] Translation: X:116.76, Y:127.76, Z:45.16 [[-1.39261513e-01 -9.89996067e-01 -2.26719939e-02 1.16761987e+02] [ 8.77591136e-01 -1.33991127e-01 4.60304439e-01 1.27764214e+02] [-4.58737430e-01 4.42059518e-02 8.87471579e-01 4.51595634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.240714057 meters Centerline goodness : 0.989490 Centerline is valid? [True, True] Translation: X:116.77, Y:127.73, Z:45.17 [[-1.35403064e-01 -9.90184710e-01 -3.46446233e-02 1.16770138e+02] [ 8.76924221e-01 -1.36043768e-01 4.60972888e-01 1.27730163e+02] [-4.61161491e-01 3.20364322e-02 8.86737699e-01 4.51709496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.270714057 meters Centerline goodness : 0.988873 Centerline is valid? [True, True] Translation: X:116.78, Y:127.73, Z:45.16 [[-1.33797589e-01 -9.89485583e-01 -5.49225488e-02 1.16778794e+02] [ 8.74444321e-01 -1.43956401e-01 4.63274955e-01 1.27728918e+02] [-4.66310341e-01 1.39583610e-02 8.84511068e-01 4.51616059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.300714057 meters Centerline goodness : 0.988188 Centerline is valid? [True, True] Translation: X:116.77, Y:127.73, Z:45.17 [[-1.34183767e-01 -9.89942618e-01 -4.48143828e-02 1.16774682e+02] [ 8.75599681e-01 -1.39618508e-01 4.62419583e-01 1.27732458e+02] [-4.64025770e-01 2.28097423e-02 8.85527978e-01 4.51650643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.330714057 meters Centerline goodness : 0.989711 Centerline is valid? [True, True] Translation: X:116.77, Y:127.74, Z:45.17 [[-1.34655894e-01 -9.90309395e-01 -3.39866435e-02 1.16769656e+02] [ 8.80058063e-01 -1.35286298e-01 4.55187239e-01 1.27741940e+02] [-4.55374127e-01 3.13834250e-02 8.89746866e-01 4.51651482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.360714057 meters Centerline goodness : 0.988633 Centerline is valid? [True, True] Translation: X:116.78, Y:127.74, Z:45.16 [[-1.33001307e-01 -9.89895513e-01 -4.91683392e-02 1.16776755e+02] [ 8.77957799e-01 -1.40690493e-01 4.57598392e-01 1.27742928e+02] [-4.59892113e-01 1.76934573e-02 8.87798505e-01 4.51553529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.390714057 meters Centerline goodness : 0.988989 Centerline is valid? [True, True] Translation: X:116.77, Y:127.74, Z:45.16 [[-1.33097950e-01 -9.90288242e-01 -4.01762903e-02 1.16774063e+02] [ 8.79387770e-01 -1.36695097e-01 4.56060961e-01 1.27741150e+02] [-4.57123710e-01 2.53702407e-02 8.89041206e-01 4.51611562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.420714057 meters Centerline goodness : 0.987842 Centerline is valid? [True, True] Translation: X:116.77, Y:127.75, Z:45.16 [[-1.33309189e-01 -9.90229144e-01 -4.09255706e-02 1.16774279e+02] [ 8.80464275e-01 -1.37287435e-01 4.53800420e-01 1.27749697e+02] [-4.54984968e-01 2.44622630e-02 8.90163062e-01 4.51567237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.450714057 meters Centerline goodness : 0.988156 Centerline is valid? [True, True] Translation: X:116.78, Y:127.76, Z:45.15 [[-1.35472874e-01 -9.89547557e-01 -4.94240127e-02 1.16776482e+02] [ 8.83127047e-01 -1.43216351e-01 4.46738957e-01 1.27761419e+02] [-4.49147770e-01 1.68733279e-02 8.93298142e-01 4.51485525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.480714057 meters Centerline goodness : 0.989549 Centerline is valid? [True, True] Translation: X:116.77, Y:127.77, Z:45.15 [[-1.31588139e-01 -9.91054157e-01 -2.22759924e-02 1.16765990e+02] [ 8.82025067e-01 -1.27309063e-01 4.53678502e-01 1.27768202e+02] [-4.52455901e-01 4.00507262e-02 8.90886972e-01 4.51548219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.51071405700003 meters Centerline goodness : 0.988219 Centerline is valid? [True, True] Translation: X:116.78, Y:127.76, Z:45.15 [[-1.29373062e-01 -9.90492056e-01 -4.67770999e-02 1.16777844e+02] [ 8.79308213e-01 -1.36400193e-01 4.56302591e-01 1.27756992e+02] [-4.58344497e-01 1.79017752e-02 8.88594311e-01 4.51472200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.540714057 meters Centerline goodness : 0.990264 Centerline is valid? [True, True] Translation: X:116.77, Y:127.77, Z:45.15 [[-1.30982745e-01 -9.91080501e-01 -2.45552748e-02 1.16767617e+02] [ 8.81887242e-01 -1.27795304e-01 4.53809709e-01 1.27774975e+02] [-4.52900003e-01 3.77862577e-02 8.90760229e-01 4.51495490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.57071405700003 meters Centerline goodness : 0.989122 Centerline is valid? [True, True] Translation: X:116.78, Y:127.78, Z:45.13 [[-1.33285653e-01 -9.89582860e-01 -5.44122981e-02 1.16779041e+02] [ 8.81531598e-01 -1.43464651e-01 4.49799885e-01 1.27782319e+02] [-4.52920498e-01 1.19857111e-02 8.91470339e-01 4.51346823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.600714057 meters Centerline goodness : 0.989057 Centerline is valid? [True, True] Translation: X:116.77, Y:127.79, Z:45.14 [[-1.33848401e-01 -9.90284023e-01 -3.77115330e-02 1.16771786e+02] [ 8.82016354e-01 -1.36391376e-01 4.51048272e-01 1.27786617e+02] [-4.51809426e-01 2.71099013e-02 8.91702471e-01 4.51407278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.630714057 meters Centerline goodness : 0.989301 Centerline is valid? [True, True] Translation: X:116.77, Y:127.80, Z:45.13 [[-1.34200681e-01 -9.89993098e-01 -4.36330425e-02 1.16773667e+02] [ 8.82672520e-01 -1.39434325e-01 4.48828800e-01 1.27800449e+02] [-4.50421358e-01 2.17194429e-02 8.92551884e-01 4.51319607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.660714057 meters Centerline goodness : 0.988281 Centerline is valid? [True, True] Translation: X:116.77, Y:127.80, Z:45.14 [[-1.36827570e-01 -9.89717064e-01 -4.16935057e-02 1.16774026e+02] [ 8.84048936e-01 -1.40991613e-01 4.45621861e-01 1.27798115e+02] [-4.46917995e-01 2.41142571e-02 8.94249858e-01 4.51374928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.690714057 meters Centerline goodness : 0.988721 Centerline is valid? [True, True] Translation: X:116.77, Y:127.82, Z:45.14 [[-1.37460415e-01 -9.90142494e-01 -2.68789184e-02 1.16766409e+02] [ 8.85961483e-01 -1.35040961e-01 4.43662247e-01 1.27816394e+02] [-4.42918598e-01 3.71723099e-02 8.95790899e-01 4.51359805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.720714057 meters Centerline goodness : 0.988453 Centerline is valid? [True, True] Translation: X:116.78, Y:127.81, Z:45.13 [[-1.36488892e-01 -9.89482097e-01 -4.79161903e-02 1.16776411e+02] [ 8.83697215e-01 -1.43471873e-01 4.45527838e-01 1.27812502e+02] [-4.47716446e-01 1.84661969e-02 8.93984890e-01 4.51274981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.750714057 meters Centerline goodness : 0.987652 Centerline is valid? [True, True] Translation: X:116.77, Y:127.82, Z:45.13 [[-1.37437258e-01 -9.89827806e-01 -3.67684013e-02 1.16772904e+02] [ 8.83183266e-01 -1.39266586e-01 4.47875135e-01 1.27819970e+02] [-4.48439872e-01 2.90814939e-02 8.93339772e-01 4.51280116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.780714057 meters Centerline goodness : 0.986971 Centerline is valid? [True, True] Translation: X:116.77, Y:127.82, Z:45.12 [[-1.37313548e-01 -9.89741167e-01 -3.94640544e-02 1.16774667e+02] [ 8.83329632e-01 -1.40383096e-01 4.47237463e-01 1.27823712e+02] [-4.48189415e-01 2.65519941e-02 8.93544202e-01 4.51243805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.810714057 meters Centerline goodness : 0.987455 Centerline is valid? [True, True] Translation: X:116.78, Y:127.83, Z:45.12 [[-1.38396584e-01 -9.89545284e-01 -4.05772865e-02 1.16776023e+02] [ 8.84351978e-01 -1.41920756e-01 4.44724723e-01 1.27830604e+02] [-4.45834011e-01 2.56637789e-02 8.94747677e-01 4.51199112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.840714057 meters Centerline goodness : 0.988962 Centerline is valid? [True, True] Translation: X:116.78, Y:127.83, Z:45.12 [[-1.37369150e-01 -9.89843846e-01 -3.65906654e-02 1.16775492e+02] [ 8.84102764e-01 -1.39184495e-01 4.46082928e-01 1.27830269e+02] [-4.46645295e-01 2.89281242e-02 8.94243336e-01 4.51212597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.870714057 meters Centerline goodness : 0.988570 Centerline is valid? [True, True] Translation: X:116.78, Y:127.84, Z:45.11 [[-1.37754705e-01 -9.89598813e-01 -4.14467293e-02 1.16777168e+02] [ 8.84762528e-01 -1.41755325e-01 4.43960242e-01 1.27840217e+02] [-4.45217823e-01 2.44870993e-02 8.95087410e-01 4.51147860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.900714057 meters Centerline goodness : 0.988845 Centerline is valid? [True, True] Translation: X:116.77, Y:127.84, Z:45.12 [[-1.34061221e-01 -9.90580307e-01 -2.78970291e-02 1.16771966e+02] [ 8.83278673e-01 -1.32207473e-01 4.49822153e-01 1.27839564e+02] [-4.49273162e-01 3.56628563e-02 8.92682355e-01 4.51185630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.930714057 meters Centerline goodness : 0.989116 Centerline is valid? [True, True] Translation: X:116.78, Y:127.84, Z:45.11 [[-1.35008889e-01 -9.90155212e-01 -3.69493633e-02 1.16776009e+02] [ 8.83726046e-01 -1.37194286e-01 4.47443855e-01 1.27842945e+02] [-4.48108107e-01 2.77557830e-02 8.93548399e-01 4.51143977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.960714057 meters Centerline goodness : 0.988089 Centerline is valid? [True, True] Translation: X:116.77, Y:127.89, Z:45.09 [[-1.38887052e-01 -9.89284817e-01 -4.50104147e-02 1.16774862e+02] [ 8.85509128e-01 -1.44410177e-01 4.41609878e-01 1.27891018e+02] [-4.43377909e-01 2.14767609e-02 8.96077440e-01 4.50910146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.990714057 meters Centerline goodness : 0.988743 Centerline is valid? [True, True] Translation: X:116.77, Y:127.89, Z:45.09 [[-1.37100402e-01 -9.89683948e-01 -4.15831991e-02 1.16773953e+02] [ 8.85745009e-01 -1.41279421e-01 4.42149188e-01 1.27885530e+02] [-4.43462804e-01 2.37867205e-02 8.95977083e-01 4.50946270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.020714057 meters Centerline goodness : 0.988775 Centerline is valid? [True, True] Translation: X:116.78, Y:127.87, Z:45.11 [[-1.38468177e-01 -9.89436758e-01 -4.29123158e-02 1.16776231e+02] [ 8.87818426e-01 -1.43214767e-01 4.37341941e-01 1.27865090e+02] [-4.38867869e-01 2.24595966e-02 8.98270872e-01 4.51074371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.050714057 meters Centerline goodness : 0.988718 Centerline is valid? [True, True] Translation: X:116.77, Y:127.87, Z:45.11 [[-1.35852666e-01 -9.90199377e-01 -3.23920784e-02 1.16772407e+02] [ 8.87611117e-01 -1.36171558e-01 4.40004333e-01 1.27871948e+02] [-4.40102896e-01 3.10241929e-02 8.97411244e-01 4.51083640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.080714057 meters Centerline goodness : 0.989696 Centerline is valid? [True, True] Translation: X:116.77, Y:127.90, Z:45.09 [[-1.36384490e-01 -9.89741397e-01 -4.25586311e-02 1.16773457e+02] [ 8.88706994e-01 -1.41217986e-01 4.36185006e-01 1.27896970e+02] [-4.37720401e-01 2.16667165e-02 8.98850045e-01 4.50926819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.110714057 meters Centerline goodness : 0.989586 Centerline is valid? [True, True] Translation: X:116.77, Y:127.89, Z:45.10 [[-1.37598690e-01 -9.89675221e-01 -4.01193001e-02 1.16774093e+02] [ 8.90574557e-01 -1.41345528e-01 4.32317476e-01 1.27888846e+02] [-4.33524577e-01 2.37570905e-02 9.00828531e-01 4.50997156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.140714057 meters Centerline goodness : 0.988832 Centerline is valid? [True, True] Translation: X:116.77, Y:127.89, Z:45.11 [[-1.38371869e-01 -9.90116207e-01 -2.28718955e-02 1.16768418e+02] [ 8.90995356e-01 -1.34536157e-01 4.33621145e-01 1.27890230e+02] [-4.32412420e-01 3.96222155e-02 9.00804962e-01 4.51080643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.170714057 meters Centerline goodness : 0.988556 Centerline is valid? [True, True] Translation: X:116.78, Y:127.89, Z:45.10 [[-1.42439904e-01 -9.88315713e-01 -5.42487398e-02 1.16781648e+02] [ 8.92526039e-01 -1.51942314e-01 4.24630196e-01 1.27891555e+02] [-4.27911374e-01 1.20658715e-02 9.03740157e-01 4.50951650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.200714057 meters Centerline goodness : 0.988523 Centerline is valid? [True, True] Translation: X:116.77, Y:127.90, Z:45.10 [[-1.43504173e-01 -9.88926382e-01 -3.78307093e-02 1.16774978e+02] [ 8.92872167e-01 -1.45863206e-01 4.26031946e-01 1.27897437e+02] [-4.26832339e-01 2.73593745e-02 9.03916821e-01 4.50997868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.230714057 meters Centerline goodness : 0.989014 Centerline is valid? [True, True] Translation: X:116.77, Y:127.92, Z:45.09 [[-1.46764042e-01 -9.88436112e-01 -3.81361886e-02 1.16774989e+02] [ 8.92937661e-01 -1.48974741e-01 4.24816267e-01 1.27916031e+02] [-4.25585068e-01 2.82945134e-02 9.04475965e-01 4.50913058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.26071405700003 meters Centerline goodness : 0.988926 Centerline is valid? [True, True] Translation: X:116.77, Y:127.93, Z:45.09 [[-1.48255779e-01 -9.88190462e-01 -3.87277096e-02 1.16774720e+02] [ 8.93027514e-01 -1.50597638e-01 4.24054489e-01 1.27929423e+02] [-4.24878903e-01 2.82836185e-02 9.04808242e-01 4.50850264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.290714057 meters Centerline goodness : 0.989369 Centerline is valid? [True, True] Translation: X:116.78, Y:127.93, Z:45.09 [[-1.48047041e-01 -9.88237406e-01 -3.83262590e-02 1.16775943e+02] [ 8.92966189e-01 -1.50230462e-01 4.24313792e-01 1.27925134e+02] [-4.25080533e-01 2.85943480e-02 9.04703766e-01 4.50878561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.32071405700003 meters Centerline goodness : 0.988502 Centerline is valid? [True, True] Translation: X:116.78, Y:127.93, Z:45.09 [[-1.50358593e-01 -9.88065891e-01 -3.34378217e-02 1.16775404e+02] [ 8.92755928e-01 -1.50229307e-01 4.24756410e-01 1.27928655e+02] [-4.24710662e-01 3.40139626e-02 9.04689949e-01 4.50902314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.350714057 meters Centerline goodness : 0.989892 Centerline is valid? [True, True] Translation: X:116.78, Y:127.93, Z:45.09 [[-1.49299454e-01 -9.87965365e-01 -4.04241331e-02 1.16778138e+02] [ 8.92943293e-01 -1.52273506e-01 4.23633160e-01 1.27932071e+02] [-4.24690414e-01 2.71517411e-02 9.04931398e-01 4.50852835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.380714057 meters Centerline goodness : 0.989802 Centerline is valid? [True, True] Translation: X:116.77, Y:127.94, Z:45.08 [[-1.44812547e-01 -9.89035267e-01 -2.89580290e-02 1.16774709e+02] [ 8.90560686e-01 -1.43036493e-01 4.31789563e-01 1.27939826e+02] [-4.31197161e-01 3.67396642e-02 9.01509404e-01 4.50829587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.410714057 meters Centerline goodness : 0.989695 Centerline is valid? [True, True] Translation: X:116.78, Y:127.94, Z:45.08 [[-1.44943442e-01 -9.88784181e-01 -3.60172440e-02 1.16777645e+02] [ 8.91117399e-01 -1.46273434e-01 4.29550770e-01 1.27943097e+02] [-4.30001373e-01 3.01649742e-02 9.02324162e-01 4.50790372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.440714057 meters Centerline goodness : 0.988484 Centerline is valid? [True, True] Translation: X:116.77, Y:127.96, Z:45.08 [[-1.43698799e-01 -9.89396643e-01 -2.10935793e-02 1.16772256e+02] [ 8.89086199e-01 -1.38431702e-01 4.36305392e-01 1.27958010e+02] [-4.34599110e-01 4.39425505e-02 8.99551369e-01 4.50787226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.470714057 meters Centerline goodness : 0.989456 Centerline is valid? [True, True] Translation: X:116.78, Y:127.94, Z:45.08 [[-1.40248239e-01 -9.89656052e-01 -3.01882346e-02 1.16778591e+02] [ 8.87090714e-01 -1.39138767e-01 4.40125514e-01 1.27943806e+02] [-4.39773233e-01 3.49471257e-02 8.97428661e-01 4.50791609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.500714057 meters Centerline goodness : 0.989263 Centerline is valid? [True, True] Translation: X:116.78, Y:127.95, Z:45.07 [[-1.40831531e-01 -9.89211859e-01 -4.03283768e-02 1.16781653e+02] [ 8.87928276e-01 -1.44219127e-01 4.36788530e-01 1.27950353e+02] [-4.37892518e-01 2.57048913e-02 8.98659781e-01 4.50731103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.530714057 meters Centerline goodness : 0.989824 Centerline is valid? [True, True] Translation: X:116.78, Y:127.96, Z:45.08 [[-1.41676244e-01 -9.89406132e-01 -3.16756677e-02 1.16778078e+02] [ 8.89153025e-01 -1.41255546e-01 4.35262873e-01 1.27956913e+02] [-4.35126119e-01 3.35018933e-02 8.99746011e-01 4.50756410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.560714057 meters Centerline goodness : 0.989824 Centerline is valid? [True, True] Translation: X:116.78, Y:127.96, Z:45.07 [[-1.41197326e-01 -9.89435287e-01 -3.28805166e-02 1.16778100e+02] [ 8.89160077e-01 -1.41350533e-01 4.35217628e-01 1.27961373e+02] [-4.35267357e-01 3.22155226e-02 8.99724673e-01 4.50728844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.590714057 meters Centerline goodness : 0.988893 Centerline is valid? [True, True] Translation: X:116.78, Y:127.97, Z:45.07 [[-1.41661489e-01 -9.89468553e-01 -2.97322195e-02 1.16776378e+02] [ 8.89767661e-01 -1.40436645e-01 4.34270720e-01 1.27972389e+02] [-4.33872714e-01 3.50646692e-02 9.00291585e-01 4.50696361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.620714057 meters Centerline goodness : 0.990464 Centerline is valid? [True, True] Translation: X:116.77, Y:127.98, Z:45.07 [[-1.41701376e-01 -9.89640476e-01 -2.30748599e-02 1.16772773e+02] [ 8.92195376e-01 -1.37777622e-01 4.30121771e-01 1.27980151e+02] [-4.28845114e-01 4.03615635e-02 9.02475935e-01 4.50683060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.650714057 meters Centerline goodness : 0.990851 Centerline is valid? [True, True] Translation: X:116.77, Y:127.99, Z:45.06 [[-1.42733734e-01 -9.89329401e-01 -2.92304072e-02 1.16774301e+02] [ 8.92603148e-01 -1.41426833e-01 4.28086524e-01 1.27987046e+02] [-4.27652548e-01 3.50112347e-02 9.03264918e-01 4.50628770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.680714057 meters Centerline goodness : 0.989423 Centerline is valid? [True, True] Translation: X:116.78, Y:127.99, Z:45.06 [[-1.42739230e-01 -9.88951469e-01 -4.00063107e-02 1.16778823e+02] [ 8.90139742e-01 -1.45940445e-01 4.31685796e-01 1.27987547e+02] [-4.32754840e-01 2.60072909e-02 9.01136432e-01 4.50572998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.710714057 meters Centerline goodness : 0.989410 Centerline is valid? [True, True] Translation: X:116.77, Y:128.00, Z:45.06 [[-1.42891085e-01 -9.89287217e-01 -2.98821066e-02 1.16773433e+02] [ 8.90610348e-01 -1.41691157e-01 4.32130563e-01 1.27995564e+02] [-4.31735273e-01 3.51342918e-02 9.01315836e-01 4.50585263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.740714057 meters Centerline goodness : 0.987733 Centerline is valid? [True, True] Translation: X:116.77, Y:128.00, Z:45.05 [[-1.39432560e-01 -9.90073015e-01 -1.77196627e-02 1.16769099e+02] [ 8.86931024e-01 -1.32824655e-01 4.42392327e-01 1.28004228e+02] [-4.40354313e-01 4.59677763e-02 8.96646554e-01 4.50530319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.770714057 meters Centerline goodness : 0.987804 Centerline is valid? [True, True] Translation: X:116.78, Y:128.02, Z:45.04 [[-1.42320866e-01 -9.88733360e-01 -4.63800938e-02 1.16775244e+02] [ 8.89938864e-01 -1.48331099e-01 4.31284945e-01 1.28018194e+02] [-4.33305424e-01 2.01053988e-02 9.01022854e-01 4.50408631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.800714057 meters Centerline goodness : 0.988074 Centerline is valid? [True, True] Translation: X:116.77, Y:128.02, Z:45.05 [[-1.41826654e-01 -9.89523452e-01 -2.69914545e-02 1.16767076e+02] [ 8.90697387e-01 -1.39464269e-01 4.32675262e-01 1.28017289e+02] [-4.31906663e-01 3.73236666e-02 9.01145703e-01 4.50507732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.830714057 meters Centerline goodness : 0.987618 Centerline is valid? [True, True] Translation: X:116.77, Y:128.03, Z:45.04 [[-1.41338321e-01 -9.89411004e-01 -3.30052304e-02 1.16767018e+02] [ 8.89155851e-01 -1.41533273e-01 4.35166871e-01 1.28031867e+02] [-4.35230229e-01 3.21589611e-02 8.99744658e-01 4.50397137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.860714057 meters Centerline goodness : 0.988688 Centerline is valid? [True, True] Translation: X:116.76, Y:128.04, Z:45.04 [[-1.40737412e-01 -9.89507061e-01 -3.26918545e-02 1.16764797e+02] [ 8.89208818e-01 -1.40852999e-01 4.35279348e-01 1.28038385e+02] [-4.35316734e-01 3.21902036e-02 8.99701690e-01 4.50371201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.890714057 meters Centerline goodness : 0.987774 Centerline is valid? [True, True] Translation: X:116.76, Y:128.04, Z:45.04 [[-1.38768348e-01 -9.89948427e-01 -2.73030789e-02 1.16761153e+02] [ 8.87914222e-01 -1.36580537e-01 4.39265400e-01 1.28039861e+02] [-4.38579161e-01 3.67133419e-02 8.97942342e-01 4.50367109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.920714057 meters Centerline goodness : 0.985944 Centerline is valid? [True, True] Translation: X:116.76, Y:128.04, Z:45.04 [[-1.41509711e-01 -9.89549671e-01 -2.76848240e-02 1.16761349e+02] [ 8.86630756e-01 -1.39131325e-01 4.41053712e-01 1.28038311e+02] [-4.40296382e-01 3.78671671e-02 8.97053607e-01 4.50366632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.950714057 meters Centerline goodness : 0.989332 Centerline is valid? [True, True] Translation: X:116.76, Y:128.04, Z:45.03 [[-1.39092686e-01 -9.89201365e-01 -4.61939880e-02 1.16764813e+02] [ 8.88702034e-01 -1.45268706e-01 4.34862849e-01 1.28036132e+02] [-4.36877464e-01 1.94335507e-02 8.99311080e-01 4.50298384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.980714057 meters Centerline goodness : 0.989470 Centerline is valid? [True, True] Translation: X:116.75, Y:128.06, Z:45.03 [[-1.37248987e-01 -9.90433661e-01 -1.42786288e-02 1.16750503e+02] [ 8.86048363e-01 -1.29202432e-01 4.45224695e-01 1.28056019e+02] [-4.42810358e-01 4.84550826e-02 8.95305027e-01 4.50313361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.01071405700003 meters Centerline goodness : 0.988443 Centerline is valid? [True, True] Translation: X:116.75, Y:128.07, Z:45.02 [[-1.36562049e-01 -9.90225453e-01 -2.83612147e-02 1.16752557e+02] [ 8.84580219e-01 -1.34780464e-01 4.46488593e-01 1.28070515e+02] [-4.45946907e-01 3.58856277e-02 8.94339744e-01 4.50164500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.040714057 meters Centerline goodness : 0.986553 Centerline is valid? [True, True] Translation: X:116.76, Y:128.06, Z:45.02 [[-1.41179167e-01 -9.89342791e-01 -3.56270268e-02 1.16756755e+02] [ 8.84862562e-01 -1.42244390e-01 4.43604305e-01 1.28055431e+02] [-4.43944466e-01 3.11026640e-02 8.95514341e-01 4.50209836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.07071405700003 meters Centerline goodness : 0.988985 Centerline is valid? [True, True] Translation: X:116.75, Y:128.06, Z:45.02 [[-1.36268386e-01 -9.90256656e-01 -2.86824429e-02 1.16750891e+02] [ 8.84814142e-01 -1.34678379e-01 4.46055678e-01 1.28059107e+02] [-4.45572509e-01 3.54046560e-02 8.94545499e-01 4.50219754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.100714057 meters Centerline goodness : 0.989789 Centerline is valid? [True, True] Translation: X:116.75, Y:128.09, Z:45.01 [[-1.38624425e-01 -9.89678317e-01 -3.63331548e-02 1.16748766e+02] [ 8.86725666e-01 -1.40374351e-01 4.40468654e-01 1.28087258e+02] [-4.41022519e-01 2.88421729e-02 8.97032478e-01 4.50055894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.130714057 meters Centerline goodness : 0.989332 Centerline is valid? [True, True] Translation: X:116.75, Y:128.07, Z:45.01 [[-1.38007491e-01 -9.89989181e-01 -2.95863780e-02 1.16746097e+02] [ 8.87372048e-01 -1.36860150e-01 4.40272811e-01 1.28074158e+02] [-4.39914516e-01 3.45068210e-02 8.97376453e-01 4.50146248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.160714057 meters Centerline goodness : 0.989873 Centerline is valid? [True, True] Translation: X:116.74, Y:128.12, Z:44.99 [[-1.38701254e-01 -9.89887772e-01 -2.97348376e-02 1.16740810e+02] [ 8.88126863e-01 -1.37614987e-01 4.38512019e-01 1.28118752e+02] [-4.38169645e-01 3.44138588e-02 8.98233293e-01 4.49931137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.190714057 meters Centerline goodness : 0.989298 Centerline is valid? [True, True] Translation: X:116.74, Y:128.11, Z:45.00 [[-1.37678953e-01 -9.89963654e-01 -3.18821243e-02 1.16741413e+02] [ 8.89709109e-01 -1.37753422e-01 4.35249004e-01 1.28106165e+02] [-4.35272566e-01 3.15588105e-02 8.99745428e-01 4.49996125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.220714057 meters Centerline goodness : 0.991527 Centerline is valid? [True, True] Translation: X:116.73, Y:128.11, Z:45.01 [[-1.33126091e-01 -9.91071561e-01 -7.38954670e-03 1.16728748e+02] [ 8.91287753e-01 -1.22976764e-01 4.36443419e-01 1.28110861e+02] [-4.33455403e-01 5.15157939e-02 8.99701360e-01 4.50080784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.250714057 meters Centerline goodness : 0.989601 Centerline is valid? [True, True] Translation: X:116.74, Y:128.11, Z:44.99 [[-1.31157457e-01 -9.90655429e-01 -3.74104474e-02 1.16740304e+02] [ 8.88178148e-01 -1.34185860e-01 4.39469831e-01 1.28108862e+02] [-4.40383127e-01 2.44126037e-02 8.97477981e-01 4.49940136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.280714057 meters Centerline goodness : 0.989671 Centerline is valid? [True, True] Translation: X:116.74, Y:128.09, Z:45.01 [[-1.28769565e-01 -9.91288150e-01 -2.76803574e-02 1.16736499e+02] [ 8.88996302e-01 -1.27760592e-01 4.39730378e-01 1.28092970e+02] [-4.39435972e-01 3.20161542e-02 8.97703176e-01 4.50059753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.310714057 meters Centerline goodness : 0.988823 Centerline is valid? [True, True] Translation: X:116.73, Y:128.10, Z:45.00 [[-1.24084465e-01 -9.91954664e-01 -2.50796689e-02 1.16733130e+02] [ 8.87952734e-01 -1.22284802e-01 4.43380615e-01 1.28095249e+02] [-4.42880331e-01 3.27470860e-02 8.95982500e-01 4.50046787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.340714057 meters Centerline goodness : 0.989399 Centerline is valid? [True, True] Translation: X:116.73, Y:128.10, Z:45.00 [[-1.21603428e-01 -9.92264369e-01 -2.49805742e-02 1.16731418e+02] [ 8.86935314e-01 -1.19924743e-01 4.46053589e-01 1.28104565e+02] [-4.45598872e-01 3.20854919e-02 8.94657569e-01 4.50003565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.370714057 meters Centerline goodness : 0.989302 Centerline is valid? [True, True] Translation: X:116.73, Y:128.13, Z:44.99 [[-1.17602236e-01 -9.92821288e-01 -2.18083767e-02 1.16726598e+02] [ 8.86050314e-01 -1.14820882e-01 4.49144751e-01 1.28132242e+02] [-4.48424527e-01 3.34971079e-02 8.93192805e-01 4.49854389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.400714057 meters Centerline goodness : 0.989477 Centerline is valid? [True, True] Translation: X:116.73, Y:128.13, Z:44.98 [[-1.13638722e-01 -9.93313029e-01 -2.03830187e-02 1.16725664e+02] [ 8.84829216e-01 -1.10515609e-01 4.52618557e-01 1.28129083e+02] [-4.51844552e-01 3.33995041e-02 8.91471241e-01 4.49844520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.430714057 meters Centerline goodness : 0.989117 Centerline is valid? [True, True] Translation: X:116.73, Y:128.12, Z:44.99 [[-1.11778381e-01 -9.93360670e-01 -2.72061037e-02 1.16729943e+02] [ 8.84853058e-01 -1.11953839e-01 4.52218314e-01 1.28115092e+02] [-4.52261715e-01 2.64748271e-02 8.91492246e-01 4.49863068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.460714057 meters Centerline goodness : 0.988452 Centerline is valid? [True, True] Translation: X:116.73, Y:128.13, Z:44.98 [[-1.08231031e-01 -9.93853422e-01 -2.32684456e-02 1.16728244e+02] [ 8.83932042e-01 -1.06918508e-01 4.55228051e-01 1.28130844e+02] [-4.54917783e-01 2.87020765e-02 8.90070784e-01 4.49769964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.490714057 meters Centerline goodness : 0.989211 Centerline is valid? [True, True] Translation: X:116.73, Y:128.13, Z:44.98 [[-1.06666394e-01 -9.94027973e-01 -2.30362709e-02 1.16727601e+02] [ 8.83474426e-01 -1.05381810e-01 4.56473015e-01 1.28127884e+02] [-4.56174550e-01 2.83383743e-02 8.89438990e-01 4.49777931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.520714057 meters Centerline goodness : 0.989828 Centerline is valid? [True, True] Translation: X:116.72, Y:128.15, Z:44.97 [[-1.05607810e-01 -9.94360374e-01 -9.71792514e-03 1.16717840e+02] [ 8.83851970e-01 -9.83404039e-02 4.57312650e-01 1.28151958e+02] [-4.55689242e-01 3.97065800e-02 8.89252890e-01 4.49733976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.550714057 meters Centerline goodness : 0.990468 Centerline is valid? [True, True] Translation: X:116.72, Y:128.14, Z:44.97 [[-1.03134946e-01 -9.94455564e-01 -2.05259330e-02 1.16722535e+02] [ 8.82427206e-01 -1.01000312e-01 4.59479230e-01 1.28144197e+02] [-4.59004802e-01 2.92757239e-02 8.87951307e-01 4.49699461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.580714057 meters Centerline goodness : 0.990534 Centerline is valid? [True, True] Translation: X:116.72, Y:128.16, Z:44.97 [[-1.01443747e-01 -9.94777547e-01 -1.12604258e-02 1.16718163e+02] [ 8.81985277e-01 -9.51663495e-02 4.61568344e-01 1.28157301e+02] [-4.60229439e-01 3.68916928e-02 8.87033182e-01 4.49665926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.610714057 meters Centerline goodness : 0.989181 Centerline is valid? [True, True] Translation: X:116.73, Y:128.15, Z:44.96 [[-9.98970734e-02 -9.94511139e-01 -3.11154067e-02 1.16727438e+02] [ 8.81604618e-01 -1.02967281e-01 4.60620273e-01 1.28145840e+02] [-4.61295862e-01 1.85831310e-02 8.87051743e-01 4.49613220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.640714057 meters Centerline goodness : 0.990148 Centerline is valid? [True, True] Translation: X:116.72, Y:128.16, Z:44.96 [[-9.80401449e-02 -9.95039248e-01 -1.68826768e-02 1.16720582e+02] [ 8.81256529e-01 -9.46858677e-02 4.63056709e-01 1.28156480e+02] [-4.62358151e-01 3.05201777e-02 8.86167851e-01 4.49628940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.670714057 meters Centerline goodness : 0.989586 Centerline is valid? [True, True] Translation: X:116.72, Y:128.16, Z:44.96 [[-9.80438438e-02 -9.94916213e-01 -2.30029163e-02 1.16721663e+02] [ 8.80960967e-01 -9.75196316e-02 4.63030988e-01 1.28162264e+02] [-4.62920273e-01 2.51326665e-02 8.86043548e-01 4.49582205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.700714057 meters Centerline goodness : 0.990061 Centerline is valid? [True, True] Translation: X:116.72, Y:128.18, Z:44.95 [[-9.93564947e-02 -9.94790172e-01 -2.28210706e-02 1.16719254e+02] [ 8.81271695e-01 -9.86218939e-02 4.62205497e-01 1.28181360e+02] [-4.62048143e-01 2.58115545e-02 8.86479147e-01 4.49507288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.730714057 meters Centerline goodness : 0.988971 Centerline is valid? [True, True] Translation: X:116.72, Y:128.18, Z:44.95 [[-1.01600828e-01 -9.94445437e-01 -2.74871798e-02 1.16721582e+02] [ 8.83008224e-01 -1.02873397e-01 4.57944910e-01 1.28176169e+02] [-4.58228926e-01 2.22561762e-02 8.88555521e-01 4.49534348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.76071405700003 meters Centerline goodness : 0.988865 Centerline is valid? [True, True] Translation: X:116.72, Y:128.20, Z:44.94 [[-1.07419554e-01 -9.93745714e-01 -3.05040297e-02 1.16722105e+02] [ 8.85687521e-01 -1.09587844e-01 4.51163073e-01 1.28200976e+02] [-4.51684241e-01 2.14466977e-02 8.91920056e-01 4.49421132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.790714057 meters Centerline goodness : 0.990064 Centerline is valid? [True, True] Translation: X:116.72, Y:128.20, Z:44.95 [[-1.09824271e-01 -9.93554677e-01 -2.80665833e-02 1.16721766e+02] [ 8.87173986e-01 -1.10719420e-01 4.47954829e-01 1.28198633e+02] [-4.48175131e-01 2.42963700e-02 8.93615543e-01 4.49463913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.82071405700003 meters Centerline goodness : 0.988292 Centerline is valid? [True, True] Translation: X:116.72, Y:128.22, Z:44.94 [[-1.11165744e-01 -9.93496076e-01 -2.46520856e-02 1.16720097e+02] [ 8.86175247e-01 -1.10323912e-01 4.50024517e-01 1.28216951e+02] [-4.49817306e-01 2.81812423e-02 8.92675870e-01 4.49397420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.850714057 meters Centerline goodness : 0.989428 Centerline is valid? [True, True] Translation: X:116.72, Y:128.21, Z:44.95 [[-1.14543178e-01 -9.93027211e-01 -2.78714828e-02 1.16722835e+02] [ 8.88101726e-01 -1.14931483e-01 4.45046154e-01 1.28206031e+02] [-4.45146252e-01 2.62242889e-02 8.95073797e-01 4.49462704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.880714057 meters Centerline goodness : 0.988675 Centerline is valid? [True, True] Translation: X:116.72, Y:128.20, Z:44.95 [[-1.15375948e-01 -9.92998413e-01 -2.53484176e-02 1.16723472e+02] [ 8.89241442e-01 -1.14625024e-01 4.42843948e-01 1.28204798e+02] [-4.42648900e-01 2.85526767e-02 8.96240311e-01 4.49494920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.910714057 meters Centerline goodness : 0.989768 Centerline is valid? [True, True] Translation: X:116.72, Y:128.23, Z:44.94 [[-1.19141955e-01 -9.92432762e-01 -2.97053348e-02 1.16724406e+02] [ 8.91223915e-01 -1.20083332e-01 4.37378470e-01 1.28233364e+02] [-4.37635839e-01 2.56360211e-02 8.98786775e-01 4.49361716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.940714057 meters Centerline goodness : 0.988045 Centerline is valid? [True, True] Translation: X:116.72, Y:128.26, Z:44.93 [[-1.20741954e-01 -9.92499827e-01 -1.91173730e-02 1.16720364e+02] [ 8.91011988e-01 -1.16845400e-01 4.38685297e-01 1.28262338e+02] [-4.37628858e-01 3.59339117e-02 8.98437386e-01 4.49277208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.970714057 meters Centerline goodness : 0.990484 Centerline is valid? [True, True] Translation: X:116.72, Y:128.28, Z:44.92 [[-1.20604645e-01 -9.92493178e-01 -2.02931372e-02 1.16720003e+02] [ 8.94239315e-01 -1.17495881e-01 4.31892076e-01 1.28284096e+02] [-4.31034299e-01 3.39412694e-02 9.01696969e-01 4.49167903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.000714057 meters Centerline goodness : 0.988221 Centerline is valid? [True, True] Translation: X:116.73, Y:128.25, Z:44.93 [[-1.21298869e-01 -9.92231016e-01 -2.76440819e-02 1.16726750e+02] [ 8.92668060e-01 -1.21221889e-01 4.34107117e-01 1.28249384e+02] [-4.34085613e-01 2.79797132e-02 9.00437014e-01 4.49310938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.030714057 meters Centerline goodness : 0.987568 Centerline is valid? [True, True] Translation: X:116.68, Y:128.86, Z:44.63 [[-1.39651719e-01 -9.89950363e-01 -2.22637756e-02 1.16680697e+02] [ 8.88842317e-01 -1.35234550e-01 4.37802413e-01 1.28857115e+02] [-4.36413489e-01 4.13508737e-02 8.98795512e-01 4.46291730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.060714057 meters Centerline goodness : 0.989476 Centerline is valid? [True, True] Translation: X:116.73, Y:128.25, Z:44.93 [[-1.20951618e-01 -9.91762768e-01 -4.21582417e-02 1.16732399e+02] [ 8.95634424e-01 -1.27344052e-01 4.26171880e-01 1.28249636e+02] [-4.28030005e-01 1.37878060e-02 9.03659345e-01 4.49264432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.090714057 meters Centerline goodness : 0.988872 Centerline is valid? [True, True] Translation: X:116.72, Y:128.28, Z:44.92 [[-1.21758596e-01 -9.92317814e-01 -2.19134917e-02 1.16724366e+02] [ 8.95642898e-01 -1.19358194e-01 4.28459357e-01 1.28284155e+02] [-4.27783407e-01 3.25419466e-02 9.03295289e-01 4.49184195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.120714057 meters Centerline goodness : 0.990017 Centerline is valid? [True, True] Translation: X:116.72, Y:128.29, Z:44.92 [[-1.19087014e-01 -9.92728175e-01 -1.75799290e-02 1.16723713e+02] [ 8.96450068e-01 -1.15115674e-01 4.27931838e-01 1.28287846e+02] [-4.26843718e-01 3.52015961e-02 9.03640021e-01 4.49177905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.150714057 meters Centerline goodness : 0.988620 Centerline is valid? [True, True] Translation: X:116.73, Y:128.28, Z:44.92 [[-1.20393047e-01 -9.92330551e-01 -2.80284209e-02 1.16729690e+02] [ 8.95207889e-01 -1.20726477e-01 4.28984794e-01 1.28279757e+02] [-4.29078489e-01 2.65555228e-02 9.02876766e-01 4.49177068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.180714057 meters Centerline goodness : 0.988880 Centerline is valid? [True, True] Translation: X:116.73, Y:128.28, Z:44.92 [[-1.19740666e-01 -9.92664195e-01 -1.67322646e-02 1.16727777e+02] [ 8.94344023e-01 -1.15167590e-01 4.32302204e-01 1.28284266e+02] [-4.31057934e-01 3.67997528e-02 9.01573533e-01 4.49194856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.210714057 meters Centerline goodness : 0.989957 Centerline is valid? [True, True] Translation: X:116.73, Y:128.29, Z:44.91 [[-1.19372796e-01 -9.92709814e-01 -1.66541343e-02 1.16728762e+02] [ 8.93819714e-01 -1.14753818e-01 4.33494960e-01 1.28293806e+02] [-4.32245826e-01 3.68617116e-02 9.01002087e-01 4.49143435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.240714057 meters Centerline goodness : 0.991052 Centerline is valid? [True, True] Translation: X:116.73, Y:128.31, Z:44.91 [[-1.20169383e-01 -9.92556084e-01 -1.97923919e-02 1.16732034e+02] [ 8.95167565e-01 -1.16955288e-01 4.30112184e-01 1.28307433e+02] [-4.29225290e-01 3.39688085e-02 9.02558458e-01 4.49051349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.270714057 meters Centerline goodness : 0.990259 Centerline is valid? [True, True] Translation: X:116.74, Y:128.29, Z:44.91 [[-1.20495353e-01 -9.92518497e-01 -1.96952383e-02 1.16735198e+02] [ 8.93647288e-01 -1.17088834e-01 4.33225958e-01 1.28292259e+02] [-4.32290869e-01 3.46011183e-02 9.01070123e-01 4.49111475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.300714057 meters Centerline goodness : 0.991331 Centerline is valid? [True, True] Translation: X:116.73, Y:128.32, Z:44.90 [[-1.19471724e-01 -9.92825368e-01 -4.92917597e-03 1.16731107e+02] [ 8.94296210e-01 -1.09768953e-01 4.33803026e-01 1.28316543e+02] [-4.31231720e-01 4.74190518e-02 9.00994250e-01 4.49034339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.330714057 meters Centerline goodness : 0.991384 Centerline is valid? [True, True] Translation: X:116.74, Y:128.31, Z:44.90 [[-1.19477680e-01 -9.92714200e-01 -1.56077594e-02 1.16736773e+02] [ 8.94517736e-01 -1.14453407e-01 4.32132431e-01 1.28309707e+02] [-4.30770362e-01 3.76687627e-02 9.01675085e-01 4.49024227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.360714057 meters Centerline goodness : 0.990885 Centerline is valid? [True, True] Translation: X:116.74, Y:128.31, Z:44.90 [[-1.18082923e-01 -9.92941364e-01 -1.11297034e-02 1.16735931e+02] [ 8.94586492e-01 -1.11237836e-01 4.32829242e-01 1.28314334e+02] [-4.31012102e-01 4.11532598e-02 9.01407220e-01 4.49018243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.390714057 meters Centerline goodness : 0.991155 Centerline is valid? [True, True] Translation: X:116.74, Y:128.31, Z:44.90 [[-1.16592016e-01 -9.93035490e-01 -1.69356983e-02 1.16740889e+02] [ 8.92282601e-01 -1.12220706e-01 4.37307985e-01 1.28311338e+02] [-4.36162885e-01 3.58751907e-02 8.99152328e-01 4.48995863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.420714057 meters Centerline goodness : 0.991155 Centerline is valid? [True, True] Translation: X:116.74, Y:128.32, Z:44.90 [[-1.16048641e-01 -9.93133071e-01 -1.48127034e-02 1.16739735e+02] [ 8.92422416e-01 -1.10804131e-01 4.37383900e-01 1.28317151e+02] [-4.36021725e-01 3.75386188e-02 8.99152883e-01 4.48976878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.450714057 meters Centerline goodness : 0.991121 Centerline is valid? [True, True] Translation: X:116.74, Y:128.33, Z:44.89 [[-1.14049073e-01 -9.93460625e-01 -5.36616261e-03 1.16736636e+02] [ 8.93465064e-01 -1.04928452e-01 4.36703789e-01 1.28330970e+02] [-4.34411082e-01 4.50111834e-02 8.99589354e-01 4.48946751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.480714057 meters Centerline goodness : 0.989279 Centerline is valid? [True, True] Translation: X:116.74, Y:128.35, Z:44.88 [[-1.13776079e-01 -9.93399434e-01 -1.45797334e-02 1.16742755e+02] [ 8.91422492e-01 -1.08553857e-01 4.39979545e-01 1.28352017e+02] [-4.38658118e-01 3.70624453e-02 8.97889431e-01 4.48809171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.51071405700003 meters Centerline goodness : 0.990136 Centerline is valid? [True, True] Translation: X:116.74, Y:128.34, Z:44.88 [[-1.11450113e-01 -9.93640585e-01 -1.60393505e-02 1.16744348e+02] [ 8.91549656e-01 -1.07102979e-01 4.40077451e-01 1.28343980e+02] [-4.38996678e-01 3.47468044e-02 8.97816560e-01 4.48836733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.540714057 meters Centerline goodness : 0.990692 Centerline is valid? [True, True] Translation: X:116.75, Y:128.34, Z:44.88 [[-1.09278910e-01 -9.93850116e-01 -1.78904311e-02 1.16747550e+02] [ 8.91277814e-01 -1.05937431e-01 4.40909422e-01 1.28342551e+02] [-4.40093146e-01 3.22367567e-02 8.97373286e-01 4.48841739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.57071405700003 meters Centerline goodness : 0.989396 Centerline is valid? [True, True] Translation: X:116.75, Y:128.35, Z:44.89 [[-1.08314407e-01 -9.94050076e-01 -1.15080689e-02 1.16746170e+02] [ 8.91686876e-01 -1.02265482e-01 4.40949301e-01 1.28345940e+02] [-4.39502564e-01 3.74995682e-02 8.97458232e-01 4.48852762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.600714057 meters Centerline goodness : 0.990567 Centerline is valid? [True, True] Translation: X:116.75, Y:128.35, Z:44.88 [[-1.06505922e-01 -9.94175187e-01 -1.64980654e-02 1.16749312e+02] [ 8.91585161e-01 -1.02834111e-01 4.41022727e-01 1.28350559e+02] [-4.40150416e-01 3.22621018e-02 8.97344286e-01 4.48808081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.630714057 meters Centerline goodness : 0.989970 Centerline is valid? [True, True] Translation: X:116.75, Y:128.36, Z:44.88 [[-1.04472909e-01 -9.94431796e-01 -1.38135701e-02 1.16750125e+02] [ 8.92481082e-01 -9.98726541e-02 4.39889726e-01 1.28359946e+02] [-4.38819928e-01 3.36282095e-02 8.97945552e-01 4.48781412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.660714057 meters Centerline goodness : 0.991187 Centerline is valid? [True, True] Translation: X:116.75, Y:128.37, Z:44.87 [[-1.01311610e-01 -9.94812856e-01 -9.12907002e-03 1.16749752e+02] [ 8.94151795e-01 -9.50755869e-02 4.37553654e-01 1.28370058e+02] [-4.36151952e-01 3.61664909e-02 8.99145961e-01 4.48741033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.690714057 meters Centerline goodness : 0.992028 Centerline is valid? [True, True] Translation: X:116.75, Y:128.39, Z:44.86 [[-1.00959854e-01 -9.94834235e-01 -1.05807876e-02 1.16750675e+02] [ 8.94848059e-01 -9.54505145e-02 4.36046042e-01 1.28388726e+02] [-4.34803473e-01 3.45549474e-02 8.99862154e-01 4.48645191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.720714057 meters Centerline goodness : 0.989446 Centerline is valid? [True, True] Translation: X:116.75, Y:128.38, Z:44.87 [[-1.00211247e-01 -9.94896048e-01 -1.18135536e-02 1.16754649e+02] [ 8.93903044e-01 -9.52398814e-02 4.38025927e-01 1.28383325e+02] [-4.36915385e-01 3.33349528e-02 8.98884713e-01 4.48661656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.750714057 meters Centerline goodness : 0.990173 Centerline is valid? [True, True] Translation: X:116.76, Y:128.39, Z:44.86 [[-9.70621062e-02 -9.95209268e-01 -1.17243415e-02 1.16755265e+02] [ 8.92047296e-01 -9.22130116e-02 4.42434608e-01 1.28385993e+02] [-4.41396160e-01 3.24849678e-02 8.96724125e-01 4.48632870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.780714057 meters Centerline goodness : 0.989552 Centerline is valid? [True, True] Translation: X:116.76, Y:128.38, Z:44.86 [[-9.54085893e-02 -9.95301079e-01 -1.65216166e-02 1.16760218e+02] [ 8.92726558e-01 -9.28949871e-02 4.40919283e-01 1.28376994e+02] [-4.40382213e-01 2.73182008e-02 8.97394686e-01 4.48644620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.810714057 meters Centerline goodness : 0.989814 Centerline is valid? [True, True] Translation: X:116.76, Y:128.39, Z:44.86 [[-9.41392378e-02 -9.95487390e-01 -1.19440230e-02 1.16758566e+02] [ 8.90876175e-01 -8.95896455e-02 4.45323855e-01 1.28388278e+02] [-4.44384343e-01 3.12818028e-02 8.95289900e-01 4.48612210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.840714057 meters Centerline goodness : 0.990097 Centerline is valid? [True, True] Translation: X:116.76, Y:128.39, Z:44.86 [[-9.33361153e-02 -9.95488346e-01 -1.70681588e-02 1.16761006e+02] [ 8.91070842e-01 -9.11691440e-02 4.44613249e-01 1.28392426e+02] [-4.44163398e-01 2.62895348e-02 8.95560013e-01 4.48577353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.870714057 meters Centerline goodness : 0.992946 Centerline is valid? [True, True] Translation: X:116.76, Y:128.40, Z:44.86 [[-1.07435640e-01 -9.93879119e-01 -2.57270457e-02 1.16757847e+02] [ 8.96056653e-01 -1.08007602e-01 4.30600549e-01 1.28401904e+02] [-4.30743610e-01 2.32089553e-02 9.02175862e-01 4.48574470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.900714057 meters Centerline goodness : 0.992707 Centerline is valid? [True, True] Translation: X:116.76, Y:128.41, Z:44.86 [[-1.07077067e-01 -9.94125210e-01 -1.57977295e-02 1.16755201e+02] [ 8.95992236e-01 -1.03370079e-01 4.31870975e-01 1.28408071e+02] [-4.30966837e-01 3.20888343e-02 9.01797035e-01 4.48586633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.930714057 meters Centerline goodness : 0.991245 Centerline is valid? [True, True] Translation: X:116.76, Y:128.38, Z:44.87 [[-8.79962935e-02 -9.96118321e-01 2.22349905e-03 1.16762346e+02] [ 8.87153190e-01 -7.73548885e-02 4.54945533e-01 1.28377607e+02] [-4.53007582e-01 4.20061049e-02 8.90516490e-01 4.48683719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.960714057 meters Centerline goodness : 0.993911 Centerline is valid? [True, True] Translation: X:116.76, Y:128.42, Z:44.85 [[-1.07475786e-01 -9.93858596e-01 -2.63447537e-02 1.16763420e+02] [ 8.94823421e-01 -1.08246492e-01 4.33097844e-01 1.28419692e+02] [-4.33289742e-01 2.29736284e-02 9.00961826e-01 4.48494498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.990714057 meters Centerline goodness : 0.991380 Centerline is valid? [True, True] Translation: X:116.75, Y:128.88, Z:44.62 [[-1.03946993e-01 -9.94279079e-01 -2.45791827e-02 1.16753360e+02] [ 8.91207373e-01 -1.04085316e-01 4.41492543e-01 1.28876880e+02] [-4.41525131e-01 2.39866735e-02 8.96928201e-01 4.46221028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.020714057 meters Centerline goodness : 0.993469 Centerline is valid? [True, True] Translation: X:116.76, Y:128.44, Z:44.84 [[-7.74580731e-02 -9.96980251e-01 5.53409099e-03 1.16758684e+02] [ 8.90133998e-01 -6.66545885e-02 4.50797773e-01 1.28438572e+02] [-4.49067604e-01 3.98440093e-02 8.92608953e-01 4.48440040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.050714057 meters Centerline goodness : 0.992771 Centerline is valid? [True, True] Translation: X:116.76, Y:128.42, Z:44.85 [[-7.15976730e-02 -9.97423102e-01 4.57473079e-03 1.16762946e+02] [ 8.85826681e-01 -6.14775142e-02 4.59925654e-01 1.28423034e+02] [-4.58459230e-01 3.69820252e-02 8.87945643e-01 4.48464011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.080714057 meters Centerline goodness : 0.991947 Centerline is valid? [True, True] Translation: X:116.77, Y:128.43, Z:44.84 [[-7.09591708e-02 -9.97468907e-01 4.53614644e-03 1.16766135e+02] [ 8.86181987e-01 -6.09535182e-02 4.59310522e-01 1.28427930e+02] [-4.57871470e-01 3.66121450e-02 8.88264188e-01 4.48428360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.110714057 meters Centerline goodness : 0.989671 Centerline is valid? [True, True] Translation: X:116.75, Y:128.99, Z:44.56 [[-1.04591524e-01 -9.94273630e-01 -2.19217192e-02 1.16754575e+02] [ 8.90920043e-01 -1.03469338e-01 4.42216659e-01 1.28992819e+02] [-4.41952588e-01 2.67216151e-02 8.96640321e-01 4.45623595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.140714057 meters Centerline goodness : 0.988622 Centerline is valid? [True, True] Translation: X:116.75, Y:129.04, Z:44.54 [[-1.09640761e-01 -9.93906434e-01 -1.13536186e-02 1.16746688e+02] [ 8.89308249e-01 -1.03191428e-01 4.45513600e-01 1.29039376e+02] [-4.43970430e-01 3.87495834e-02 8.95203177e-01 4.45424593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.170714057 meters Centerline goodness : 0.991595 Centerline is valid? [True, True] Translation: X:116.77, Y:128.44, Z:44.83 [[-6.08833991e-02 -9.98124237e-01 6.42025536e-03 1.16770928e+02] [ 8.82285811e-01 -5.08074131e-02 4.67964052e-01 1.28444953e+02] [-4.66760065e-01 3.41557423e-02 8.83724180e-01 4.48341013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.200714057 meters Centerline goodness : 0.993715 Centerline is valid? [True, True] Translation: X:116.77, Y:128.50, Z:44.81 [[-8.56954977e-02 -9.96100643e-01 -2.09712077e-02 1.16770420e+02] [ 8.93092769e-01 -8.61297303e-02 4.41550649e-01 1.28503055e+02] [-4.41635130e-01 1.91096688e-02 8.96991211e-01 4.48134325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.230714057 meters Centerline goodness : 0.991350 Centerline is valid? [True, True] Translation: X:116.77, Y:128.50, Z:44.81 [[-6.85486315e-02 -9.97630330e-01 -5.90004662e-03 1.16774482e+02] [ 8.88998091e-01 -6.37660792e-02 4.53449315e-01 1.28504872e+02] [-4.52751013e-01 2.58381998e-02 8.91262536e-01 4.48119604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.26071405700003 meters Centerline goodness : 0.990293 Centerline is valid? [True, True] Translation: X:116.77, Y:128.49, Z:44.82 [[-6.29909211e-02 -9.97908040e-01 1.45494980e-02 1.16767534e+02] [ 8.86619318e-01 -4.92611563e-02 4.59869029e-01 1.28489302e+02] [-4.58190276e-01 4.18674397e-02 8.87867551e-01 4.48241096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.290714057 meters Centerline goodness : 0.990496 Centerline is valid? [True, True] Translation: X:116.77, Y:128.50, Z:44.82 [[-6.21256232e-02 -9.98047626e-01 -6.42980284e-03 1.16774655e+02] [ 8.89207199e-01 -5.82740287e-02 4.53778244e-01 1.28500606e+02] [-4.53266990e-01 2.24738292e-02 8.91091445e-01 4.48158333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.32071405700003 meters Centerline goodness : 0.993097 Centerline is valid? [True, True] Translation: X:116.76, Y:128.52, Z:44.81 [[-7.21379930e-02 -9.97386632e-01 -4.00204382e-03 1.16763508e+02] [ 8.93889139e-01 -6.64312382e-02 4.43338581e-01 1.28520250e+02] [-4.42445835e-01 2.84041720e-02 8.96345294e-01 4.48141746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.350714057 meters Centerline goodness : 0.991176 Centerline is valid? [True, True] Translation: X:116.77, Y:128.50, Z:44.82 [[-5.51073791e-02 -9.98450832e-01 -7.68846119e-03 1.16773958e+02] [ 8.89925823e-01 -5.26063205e-02 4.53061369e-01 1.28504722e+02] [-4.52763962e-01 1.81248645e-02 8.91446175e-01 4.48150490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.380714057 meters Centerline goodness : 0.990468 Centerline is valid? [True, True] Translation: X:116.77, Y:128.50, Z:44.82 [[-5.17156425e-02 -9.98653265e-01 4.14100740e-03 1.16769150e+02] [ 8.90973828e-01 -4.42656107e-02 4.51891795e-01 1.28503379e+02] [-4.51099912e-01 2.70594037e-02 8.92063147e-01 4.48211667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.410714057 meters Centerline goodness : 0.990966 Centerline is valid? [True, True] Translation: X:116.77, Y:128.51, Z:44.82 [[-4.87261106e-02 -9.98796711e-01 5.55852672e-03 1.16768981e+02] [ 8.90110741e-01 -4.08978002e-02 4.53905540e-01 1.28509087e+02] [-4.53132029e-01 2.70647559e-02 8.91032471e-01 4.48172548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.440714057 meters Centerline goodness : 0.990762 Centerline is valid? [True, True] Translation: X:116.77, Y:128.50, Z:44.82 [[-4.57132213e-02 -9.98832731e-01 1.56037501e-02 1.16765978e+02] [ 8.89182578e-01 -3.35662826e-02 4.56319676e-01 1.28504649e+02] [-4.55263269e-01 3.47344251e-02 8.89679086e-01 4.48208348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.470714057 meters Centerline goodness : 0.990411 Centerline is valid? [True, True] Translation: X:116.77, Y:128.51, Z:44.81 [[-4.32508391e-02 -9.99063904e-01 -8.25289354e-04 1.16772207e+02] [ 8.89799773e-01 -3.88962486e-02 4.54690496e-01 1.28512565e+02] [-4.54296962e-01 1.89314032e-02 8.90649130e-01 4.48106700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.500714057 meters Centerline goodness : 0.991176 Centerline is valid? [True, True] Translation: X:116.76, Y:128.51, Z:44.82 [[-3.65881008e-02 -9.99055851e-01 2.34247203e-02 1.16764389e+02] [ 8.86037954e-01 -2.15906157e-02 4.63109694e-01 1.28508599e+02] [-4.62166695e-01 3.76994954e-02 8.85991362e-01 4.48161186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.530714057 meters Centerline goodness : 0.990564 Centerline is valid? [True, True] Translation: X:116.77, Y:128.53, Z:44.81 [[-3.62889311e-02 -9.99335594e-01 3.38882844e-03 1.16770641e+02] [ 8.89021717e-01 -3.07339411e-02 4.56832368e-01 1.28528999e+02] [-4.56424694e-01 1.95907004e-02 8.89546347e-01 4.48054160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.560714057 meters Centerline goodness : 0.992288 Centerline is valid? [True, True] Translation: X:116.75, Y:128.57, Z:44.80 [[-3.61280271e-02 -9.98114847e-01 4.96136822e-02 1.16754241e+02] [ 8.89777700e-01 -9.52540631e-03 4.56294763e-01 1.28565903e+02] [-4.54961987e-01 6.06301776e-02 8.88444467e-01 4.47974975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.590714057 meters Centerline goodness : 0.991857 Centerline is valid? [True, True] Translation: X:116.77, Y:128.58, Z:44.78 [[-3.74945383e-02 -9.99295114e-01 -1.85306909e-03 1.16771711e+02] [ 8.91208541e-01 -3.42777519e-02 4.52296775e-01 1.28583244e+02] [-4.52041477e-01 1.53071878e-02 8.91865569e-01 4.47777749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.620714057 meters Centerline goodness : 0.992016 Centerline is valid? [True, True] Translation: X:116.76, Y:128.61, Z:44.77 [[-3.34262263e-02 -9.99014352e-01 2.92063754e-02 1.16759232e+02] [ 8.90678884e-01 -1.65189028e-02 4.54332754e-01 1.28612606e+02] [-4.53402484e-01 4.12001313e-02 8.90353153e-01 4.47726433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.650714057 meters Centerline goodness : 0.991923 Centerline is valid? [True, True] Translation: X:116.75, Y:128.65, Z:44.76 [[-2.87904324e-02 -9.97767049e-01 6.02662983e-02 1.16749509e+02] [ 8.88479315e-01 2.08186919e-03 4.58911944e-01 1.28646819e+02] [-4.58012683e-01 6.67576327e-02 8.86435446e-01 4.47563650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.680714057 meters Centerline goodness : 0.992664 Centerline is valid? [True, True] Translation: X:116.78, Y:128.66, Z:44.73 [[-5.11506453e-02 -9.97804865e-01 -4.20602251e-02 1.16777674e+02] [ 9.00995773e-01 -6.42731351e-02 4.29040303e-01 1.28662092e+02] [-4.30801845e-01 -1.59503966e-02 9.02305578e-01 4.47272278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.710714057 meters Centerline goodness : 0.992861 Centerline is valid? [True, True] Translation: X:116.76, Y:128.68, Z:44.73 [[-4.84539177e-02 -9.98808525e-01 -5.80925071e-03 1.16763415e+02] [ 9.01724324e-01 -4.62441711e-02 4.29831037e-01 1.28675672e+02] [-4.29587549e-01 1.55886550e-02 9.02890653e-01 4.47349947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.740714057 meters Centerline goodness : 0.992098 Centerline is valid? [True, True] Translation: X:116.77, Y:128.63, Z:44.75 [[-2.11305119e-02 -9.99652148e-01 1.57824191e-02 1.16766677e+02] [ 8.93537084e-01 -1.18013104e-02 4.48834278e-01 1.28631862e+02] [-4.48491897e-01 2.35862748e-02 8.93475632e-01 4.47522673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.770714057 meters Centerline goodness : 0.992330 Centerline is valid? [True, True] Translation: X:116.77, Y:128.68, Z:44.73 [[-4.24634158e-02 -9.98881396e-01 -2.08041916e-02 1.16769829e+02] [ 9.01604426e-01 -4.72832622e-02 4.29969478e-01 1.28684999e+02] [-4.30472203e-01 -4.99178494e-04 9.02603697e-01 4.47264494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.800714057 meters Centerline goodness : 0.992322 Centerline is valid? [True, True] Translation: X:116.76, Y:128.68, Z:44.74 [[-3.82384978e-02 -9.99259425e-01 4.29180033e-03 1.16761836e+02] [ 9.02345302e-01 -3.26840345e-02 4.29772859e-01 1.28681408e+02] [-4.29314306e-01 2.03065544e-02 9.02926836e-01 4.47377024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.830714057 meters Centerline goodness : 0.992516 Centerline is valid? [True, True] Translation: X:116.77, Y:128.69, Z:44.73 [[-3.68733680e-02 -9.99308181e-01 -4.84904163e-03 1.16766089e+02] [ 9.02701575e-01 -3.53894448e-02 4.28809344e-01 1.28685290e+02] [-4.28684291e-01 1.14344072e-02 9.03381997e-01 4.47322074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.860714057 meters Centerline goodness : 0.992966 Centerline is valid? [True, True] Translation: X:116.77, Y:128.70, Z:44.72 [[-3.54809100e-02 -9.99316112e-01 -1.04122018e-02 1.16769735e+02] [ 9.02904250e-01 -3.65202561e-02 4.28287505e-01 1.28696056e+02] [-4.28374860e-01 5.79480921e-03 9.03582536e-01 4.47242852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.890714057 meters Centerline goodness : 0.991361 Centerline is valid? [True, True] Translation: X:116.78, Y:128.66, Z:44.75 [[-1.91176825e-02 -9.99790418e-01 -7.32360903e-03 1.16779284e+02] [ 9.05294717e-01 -2.04187724e-02 4.24293000e-01 1.28660924e+02] [-4.24353615e-01 1.48147431e-03 9.05495342e-01 4.47455137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.920714057 meters Centerline goodness : 0.991977 Centerline is valid? [True, True] Translation: X:116.76, Y:128.68, Z:44.75 [[-2.55171666e-02 -9.99290444e-01 2.77034644e-02 1.16760557e+02] [ 9.05422713e-01 -1.13556588e-02 4.24359234e-01 1.28678489e+02] [-4.23743537e-01 3.59117911e-02 9.05070030e-01 4.47474702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.950714057 meters Centerline goodness : 0.991178 Centerline is valid? [True, True] Translation: X:116.77, Y:128.70, Z:44.73 [[-2.71760283e-02 -9.99630624e-01 2.82849336e-04 1.16773197e+02] [ 9.05207738e-01 -2.44889942e-02 4.24263172e-01 1.28699657e+02] [-4.24099533e-01 1.17858254e-02 9.05538890e-01 4.47266114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.980714057 meters Centerline goodness : 0.992085 Centerline is valid? [True, True] Translation: X:116.78, Y:128.72, Z:44.72 [[-2.83194077e-02 -9.99598915e-01 1.43642481e-04 1.16775384e+02] [ 9.05193416e-01 -2.55838654e-02 4.24229120e-01 1.28724022e+02] [-4.24055293e-01 1.21439416e-02 9.05554876e-01 4.47153396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.01071405700003 meters Centerline goodness : 0.991548 Centerline is valid? [True, True] Translation: X:116.78, Y:128.75, Z:44.70 [[-3.15410278e-02 -9.99502454e-01 8.54208457e-05 1.16779584e+02] [ 9.05192254e-01 -2.85286662e-02 4.24043746e-01 1.28749373e+02] [-4.23830328e-01 1.34520979e-02 9.05641703e-01 4.47037542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.040714057 meters Centerline goodness : 0.991546 Centerline is valid? [True, True] Translation: X:116.78, Y:128.74, Z:44.71 [[-1.68468573e-02 -9.99472095e-01 2.77797394e-02 1.16778782e+02] [ 8.99358745e-01 -3.00762357e-03 4.37201100e-01 1.28744530e+02] [-4.36886748e-01 3.23494161e-02 8.98934639e-01 4.47097601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.07071405700003 meters Centerline goodness : 0.992029 Centerline is valid? [True, True] Translation: X:116.80, Y:128.75, Z:44.70 [[-2.81039712e-02 -9.99167467e-01 -2.95726324e-02 1.16795648e+02] [ 8.98233467e-01 -3.82242263e-02 4.37853339e-01 1.28749412e+02] [-4.38619203e-01 -1.42577105e-02 8.98559911e-01 4.46956317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.100714057 meters Centerline goodness : 0.990948 Centerline is valid? [True, True] Translation: X:116.79, Y:128.79, Z:44.69 [[-2.30876492e-02 -9.99561937e-01 1.85173871e-02 1.16787560e+02] [ 8.96298024e-01 -1.24905679e-02 4.43276255e-01 1.28789239e+02] [-4.42850780e-01 2.68313041e-02 8.96193767e-01 4.46876135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.130714057 meters Centerline goodness : 0.990383 Centerline is valid? [True, True] Translation: X:116.79, Y:128.81, Z:44.67 [[-2.78843625e-02 -9.99509065e-01 1.42860523e-02 1.16792790e+02] [ 8.96882231e-01 -1.87055417e-02 4.41873700e-01 1.28814503e+02] [-4.41389540e-01 2.51342729e-02 8.96963512e-01 4.46736777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.160714057 meters Centerline goodness : 0.990765 Centerline is valid? [True, True] Translation: X:116.80, Y:128.84, Z:44.66 [[-3.27330603e-02 -9.99454967e-01 -4.27971789e-03 1.16800069e+02] [ 8.97821934e-01 -3.12853598e-02 4.39245946e-01 1.28835683e+02] [-4.39140434e-01 1.05354394e-02 8.98356657e-01 4.46614912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.190714057 meters Centerline goodness : 0.990637 Centerline is valid? [True, True] Translation: X:116.80, Y:128.86, Z:44.65 [[-3.80717691e-02 -9.99255963e-01 6.16940233e-03 1.16798395e+02] [ 8.98352382e-01 -3.15222373e-02 4.38143066e-01 1.28862018e+02] [-4.37622597e-01 2.22231789e-02 8.98884082e-01 4.46531009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.220714057 meters Centerline goodness : 0.991414 Centerline is valid? [True, True] Translation: X:116.79, Y:128.90, Z:44.64 [[-4.16239356e-02 -9.98479801e-01 3.61321764e-02 1.16788167e+02] [ 9.01709374e-01 -2.19647742e-02 4.31784384e-01 1.28895174e+02] [-4.30334351e-01 5.05532875e-02 9.01252857e-01 4.46436543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.250714057 meters Centerline goodness : 0.990571 Centerline is valid? [True, True] Translation: X:116.81, Y:128.91, Z:44.62 [[-4.35796717e-02 -9.98921612e-01 -1.60132910e-02 1.16808544e+02] [ 8.98184261e-01 -4.61931691e-02 4.37185573e-01 1.28910212e+02] [-4.37453822e-01 4.66951779e-03 8.99228752e-01 4.46223529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.280714057 meters Centerline goodness : 0.991512 Centerline is valid? [True, True] Translation: X:116.79, Y:128.94, Z:44.62 [[-5.02192791e-02 -9.98518770e-01 2.09353948e-02 1.16793255e+02] [ 9.03195503e-01 -3.64582171e-02 4.27678246e-01 1.28943140e+02] [-4.26281489e-01 4.03864476e-02 9.03688568e-01 4.46212176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.310714057 meters Centerline goodness : 0.991533 Centerline is valid? [True, True] Translation: X:116.80, Y:128.96, Z:44.60 [[-5.05258042e-02 -9.98715969e-01 3.68200413e-03 1.16800104e+02] [ 9.00528340e-01 -4.39636486e-02 4.32568961e-01 1.28963192e+02] [-4.31851655e-01 2.51716437e-02 9.01593332e-01 4.46034076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.340714057 meters Centerline goodness : 0.991788 Centerline is valid? [True, True] Translation: X:116.79, Y:128.99, Z:44.60 [[-5.86693665e-02 -9.97948161e-01 2.56392934e-02 1.16786007e+02] [ 9.01750990e-01 -4.19608628e-02 4.30214410e-01 1.28987226e+02] [-4.28255833e-01 4.83606651e-02 9.02362559e-01 4.45963081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.370714057 meters Centerline goodness : 0.991788 Centerline is valid? [True, True] Translation: X:116.79, Y:129.01, Z:44.58 [[-5.92571153e-02 -9.98239525e-01 2.53881626e-03 1.16794949e+02] [ 9.01083563e-01 -5.23949721e-02 4.30468558e-01 1.29009252e+02] [-4.29577708e-01 2.77960106e-02 9.02602002e-01 4.45768706e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.400714057 meters Centerline goodness : 0.991141 Centerline is valid? [True, True] Translation: X:116.79, Y:129.03, Z:44.57 [[-6.11311162e-02 -9.98126837e-01 2.40911483e-03 1.16794589e+02] [ 9.01087261e-01 -5.41493944e-02 4.30243642e-01 1.29034013e+02] [-4.29307274e-01 2.84720968e-02 9.02709590e-01 4.45650776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.430714057 meters Centerline goodness : 0.990552 Centerline is valid? [True, True] Translation: X:116.79, Y:129.07, Z:44.55 [[-5.67236847e-02 -9.97578500e-01 4.02437637e-02 1.16787204e+02] [ 8.98499439e-01 -3.34324722e-02 4.37699701e-01 1.29070297e+02] [-4.35294363e-01 6.09869389e-02 8.98220135e-01 4.45500665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.460714057 meters Centerline goodness : 0.990536 Centerline is valid? [True, True] Translation: X:116.79, Y:129.09, Z:44.53 [[-5.83183796e-02 -9.98167595e-01 1.61374893e-02 1.16794848e+02] [ 8.97689466e-01 -4.53620574e-02 4.38287470e-01 1.29092740e+02] [-4.36752320e-01 4.00466692e-02 8.98689977e-01 4.45304009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.490714057 meters Centerline goodness : 0.990293 Centerline is valid? [True, True] Translation: X:116.79, Y:129.12, Z:44.52 [[-5.72396752e-02 -9.97754871e-01 3.47683408e-02 1.16786855e+02] [ 8.95010295e-01 -3.58525091e-02 4.44602261e-01 1.29120153e+02] [-4.42357539e-01 5.65669119e-02 8.95053067e-01 4.45157962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.520714057 meters Centerline goodness : 0.989784 Centerline is valid? [True, True] Translation: X:116.80, Y:129.14, Z:44.50 [[-5.75605364e-02 -9.98338641e-01 2.59646939e-03 1.16797674e+02] [ 8.91128085e-01 -5.02063026e-02 4.50965701e-01 1.29141213e+02] [-4.50086126e-01 2.82716145e-02 8.92537503e-01 4.44971936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.550714057 meters Centerline goodness : 0.989613 Centerline is valid? [True, True] Translation: X:116.79, Y:129.17, Z:44.49 [[-5.80453055e-02 -9.98129705e-01 1.91790370e-02 1.16787304e+02] [ 8.92167347e-01 -4.32435279e-02 4.49630318e-01 1.29165324e+02] [-4.47960007e-01 4.32098397e-02 8.93008814e-01 4.44927530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.580714057 meters Centerline goodness : 0.991178 Centerline is valid? [True, True] Translation: X:116.79, Y:129.20, Z:44.48 [[-6.22504693e-02 -9.97910970e-01 1.72793390e-02 1.16786240e+02] [ 8.94518998e-01 -4.81051935e-02 4.44434081e-01 1.29196352e+02] [-4.42674419e-01 4.31229271e-02 8.95644892e-01 4.44757124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.610714057 meters Centerline goodness : 0.991357 Centerline is valid? [True, True] Translation: X:116.78, Y:129.22, Z:44.46 [[-6.73742437e-02 -9.97495428e-01 2.15309597e-02 1.16780486e+02] [ 8.95266497e-01 -5.09155608e-02 4.42612138e-01 1.29224720e+02] [-4.40407323e-01 4.90966049e-02 8.96454635e-01 4.44644830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.640714057 meters Centerline goodness : 0.991801 Centerline is valid? [True, True] Translation: X:116.79, Y:129.22, Z:44.46 [[-6.93137161e-02 -9.97588196e-01 3.66059771e-03 1.16785076e+02] [ 8.96011240e-01 -6.06419347e-02 4.39870905e-01 1.29222773e+02] [-4.38588037e-01 3.37690237e-02 8.98053555e-01 4.44599109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.670714057 meters Centerline goodness : 0.990323 Centerline is valid? [True, True] Translation: X:116.79, Y:129.23, Z:44.46 [[-7.40482892e-02 -9.97246251e-01 -4.09451827e-03 1.16786494e+02] [ 8.97208871e-01 -6.84115071e-02 4.36275265e-01 1.29225343e+02] [-4.35353985e-01 2.86317989e-02 8.99803939e-01 4.44569050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.700714057 meters Centerline goodness : 0.989961 Centerline is valid? [True, True] Translation: X:116.79, Y:129.22, Z:44.46 [[-7.48260930e-02 -9.97180330e-01 -5.69600714e-03 1.16785371e+02] [ 8.95841818e-01 -6.97287519e-02 4.38868248e-01 1.29223092e+02] [-4.38027960e-01 2.77360750e-02 8.98533370e-01 4.44565971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.730714057 meters Centerline goodness : 0.992132 Centerline is valid? [True, True] Translation: X:116.78, Y:129.23, Z:44.45 [[-7.71384026e-02 -9.97015892e-01 2.99644606e-03 1.16778097e+02] [ 8.96815041e-01 -6.80721562e-02 4.37137238e-01 1.29230329e+02] [-4.35628799e-01 3.64073261e-02 8.99389825e-01 4.44548885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.76071405700003 meters Centerline goodness : 0.992482 Centerline is valid? [True, True] Translation: X:116.77, Y:129.25, Z:44.45 [[-7.95363804e-02 -9.96651833e-01 1.89496344e-02 1.16766332e+02] [ 8.99379845e-01 -6.35500158e-02 4.32524323e-01 1.29245089e+02] [-4.29871910e-01 5.14443383e-02 9.01423109e-01 4.44542791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.790714057 meters Centerline goodness : 0.991085 Centerline is valid? [True, True] Translation: X:116.77, Y:129.26, Z:44.44 [[-7.85283434e-02 -9.96909340e-01 -2.25105931e-03 1.16771282e+02] [ 8.96129453e-01 -7.15787110e-02 4.37982297e-01 1.29264668e+02] [-4.36789771e-01 3.23767837e-02 8.98980779e-01 4.44391314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.82071405700003 meters Centerline goodness : 0.992124 Centerline is valid? [True, True] Translation: X:116.76, Y:129.29, Z:44.43 [[-8.07914194e-02 -9.96721358e-01 4.39099820e-03 1.16762725e+02] [ 8.97419464e-01 -7.08239102e-02 4.35456404e-01 1.29291537e+02] [-4.33717710e-01 3.91217082e-02 9.00199111e-01 4.44322986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.850714057 meters Centerline goodness : 0.991660 Centerline is valid? [True, True] Translation: X:116.76, Y:129.30, Z:44.43 [[-8.05164941e-02 -9.96732734e-01 6.39928977e-03 1.16759578e+02] [ 8.99803572e-01 -6.99215895e-02 4.30655898e-01 1.29295477e+02] [-4.28801382e-01 4.04330069e-02 9.02493516e-01 4.44323082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.880714057 meters Centerline goodness : 0.991669 Centerline is valid? [True, True] Translation: X:116.76, Y:129.32, Z:44.42 [[-8.06828195e-02 -9.96738364e-01 -1.70755315e-03 1.16760537e+02] [ 8.97295433e-01 -7.33789398e-02 4.35288912e-01 1.29320392e+02] [-4.33994457e-01 3.35881571e-02 9.00289202e-01 4.44181463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.910714057 meters Centerline goodness : 0.991886 Centerline is valid? [True, True] Translation: X:116.75, Y:129.33, Z:44.42 [[-7.97279208e-02 -9.96797420e-01 6.19374113e-03 1.16753777e+02] [ 8.97860360e-01 -6.91127034e-02 4.34822043e-01 1.29330556e+02] [-4.33001424e-01 4.02285720e-02 9.00495102e-01 4.44165918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.940714057 meters Centerline goodness : 0.992702 Centerline is valid? [True, True] Translation: X:116.75, Y:129.34, Z:44.41 [[-7.77092886e-02 -9.96975738e-01 8.02215909e-04 1.16751035e+02] [ 8.97786686e-01 -6.96280609e-02 4.34891941e-01 1.29337033e+02] [-4.33520857e-01 3.45153621e-02 9.00482291e-01 4.44123042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.970714057 meters Centerline goodness : 0.992169 Centerline is valid? [True, True] Translation: X:116.74, Y:129.36, Z:44.40 [[-7.71236493e-02 -9.96947276e-01 1.21685047e-02 1.16744545e+02] [ 8.97970738e-01 -6.41530168e-02 4.35353815e-01 1.29362528e+02] [-4.33244154e-01 4.45030362e-02 9.00177195e-01 4.44046142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.000714057 meters Centerline goodness : 0.991625 Centerline is valid? [True, True] Translation: X:116.74, Y:129.39, Z:44.39 [[-7.56177278e-02 -9.96850293e-01 2.39050924e-02 1.16740261e+02] [ 8.96099970e-01 -5.74207361e-02 4.40122372e-01 1.29394263e+02] [-4.37363467e-01 5.47024063e-02 8.97619543e-01 4.43881183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.030714057 meters Centerline goodness : 0.992458 Centerline is valid? [True, True] Translation: X:116.75, Y:129.41, Z:44.37 [[-8.03968994e-02 -9.96690056e-01 -1.20528174e-02 1.16750702e+02] [ 8.99409059e-01 -7.77514183e-02 4.30137259e-01 1.29413010e+02] [-4.29650653e-01 2.37412888e-02 9.02683038e-01 4.43712315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.060714057 meters Centerline goodness : 0.991635 Centerline is valid? [True, True] Translation: X:116.74, Y:129.41, Z:44.38 [[-7.99084835e-02 -9.96768230e-01 8.22977458e-03 1.16742901e+02] [ 8.99572821e-01 -6.85550825e-02 4.31357091e-01 1.29414062e+02] [-4.29398852e-01 4.18723725e-02 9.02143742e-01 4.43784674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.090714057 meters Centerline goodness : 0.991564 Centerline is valid? [True, True] Translation: X:116.75, Y:129.42, Z:44.37 [[-7.82630109e-02 -9.96921476e-01 -4.74047853e-03 1.16746346e+02] [ 8.99523289e-01 -7.26652402e-02 4.30787204e-01 1.29419547e+02] [-4.29805484e-01 2.94505328e-02 9.02441085e-01 4.43689933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.120714057 meters Centerline goodness : 0.991876 Centerline is valid? [True, True] Translation: X:116.74, Y:129.43, Z:44.37 [[-7.59441519e-02 -9.97092447e-01 6.25599008e-03 1.16740049e+02] [ 8.99917649e-01 -6.58381975e-02 4.31060967e-01 1.29425040e+02] [-4.29395752e-01 3.83664355e-02 9.02301117e-01 4.43703306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.150714057 meters Centerline goodness : 0.991630 Centerline is valid? [True, True] Translation: X:116.74, Y:129.43, Z:44.36 [[-7.27019804e-02 -9.97353676e-01 2.57811061e-04 1.16739094e+02] [ 9.01071563e-01 -6.55726941e-02 4.28684337e-01 1.29430028e+02] [-4.27532994e-01 3.13985065e-02 9.03454300e-01 4.43649601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.180714057 meters Centerline goodness : 0.991167 Centerline is valid? [True, True] Translation: X:116.74, Y:129.45, Z:44.36 [[-7.26552964e-02 -9.97355958e-01 -1.51696087e-03 1.16738035e+02] [ 9.01510162e-01 -6.63235717e-02 4.27645427e-01 1.29445131e+02] [-4.26615325e-01 2.97031496e-02 9.03945290e-01 4.43584655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.210714057 meters Centerline goodness : 0.991048 Centerline is valid? [True, True] Translation: X:116.73, Y:129.44, Z:44.36 [[-7.01908720e-02 -9.97519682e-01 5.26553456e-03 1.16734714e+02] [ 9.01109682e-01 -6.11410466e-02 4.29258795e-01 1.29436049e+02] [-4.27872156e-01 3.48748733e-02 9.03166187e-01 4.43648773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.240714057 meters Centerline goodness : 0.992330 Centerline is valid? [True, True] Translation: X:116.73, Y:129.46, Z:44.36 [[-6.90968136e-02 -9.97609379e-01 1.07533423e-03 1.16732190e+02] [ 9.04149659e-01 -6.21679707e-02 4.22668355e-01 1.29455527e+02] [-4.21591064e-01 3.01772996e-02 9.06283789e-01 4.43568960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.270714057 meters Centerline goodness : 0.990251 Centerline is valid? [True, True] Translation: X:116.73, Y:129.48, Z:44.35 [[-6.52525740e-02 -9.97819711e-01 9.89573179e-03 1.16727503e+02] [ 9.01886953e-01 -5.47295386e-02 4.28491076e-01 1.29476215e+02] [-4.27015253e-01 3.68849770e-02 9.03491822e-01 4.43497038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.300714057 meters Centerline goodness : 0.990525 Centerline is valid? [True, True] Translation: X:116.73, Y:129.50, Z:44.33 [[-6.36422787e-02 -9.97942829e-01 7.73108014e-03 1.16727688e+02] [ 9.00471449e-01 -5.40830478e-02 4.31539330e-01 1.29500677e+02] [-4.30233460e-01 3.44257632e-02 9.02060994e-01 4.43346715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.330714057 meters Centerline goodness : 0.991644 Centerline is valid? [True, True] Translation: X:116.73, Y:129.53, Z:44.32 [[-6.54247843e-02 -9.97857404e-01 -4.46670306e-04 1.16729405e+02] [ 9.01163563e-01 -5.92772423e-02 4.29407081e-01 1.29526542e+02] [-4.28513512e-01 2.76913426e-02 9.03110934e-01 4.43206363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.360714057 meters Centerline goodness : 0.990739 Centerline is valid? [True, True] Translation: X:116.72, Y:129.55, Z:44.31 [[-6.51580700e-02 -9.97783062e-01 1.35420617e-02 1.16722862e+02] [ 9.00646931e-01 -5.29609701e-02 4.31312231e-01 1.29554549e+02] [-4.29638838e-01 4.03000888e-02 9.02101087e-01 4.43107053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.390714057 meters Centerline goodness : 0.992273 Centerline is valid? [True, True] Translation: X:116.72, Y:129.56, Z:44.31 [[-6.23691617e-02 -9.98006805e-01 9.61795829e-03 1.16723087e+02] [ 9.00960152e-01 -5.21530860e-02 4.30756150e-01 1.29558470e+02] [-4.29395963e-01 3.55312971e-02 9.02417107e-01 4.43054565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.420714057 meters Centerline goodness : 0.991200 Centerline is valid? [True, True] Translation: X:116.72, Y:129.58, Z:44.30 [[-6.34898746e-02 -9.97754423e-01 2.13341802e-02 1.16718109e+02] [ 9.00605559e-01 -4.80715400e-02 4.31970779e-01 1.29583414e+02] [-4.29975188e-01 4.66394519e-02 9.01635236e-01 4.42953052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.450714057 meters Centerline goodness : 0.990756 Centerline is valid? [True, True] Translation: X:116.72, Y:129.60, Z:44.28 [[-6.30633227e-02 -9.97959781e-01 9.96459887e-03 1.16720806e+02] [ 9.00498866e-01 -5.25943751e-02 4.31666102e-01 1.29601861e+02] [-4.30261326e-01 3.61954087e-02 9.01978427e-01 4.42821799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.480714057 meters Centerline goodness : 0.990203 Centerline is valid? [True, True] Translation: X:116.72, Y:129.63, Z:44.27 [[-6.58510268e-02 -9.97752167e-01 1.24199840e-02 1.16718480e+02] [ 9.00471498e-01 -5.40587396e-02 4.31542273e-01 1.29627948e+02] [-4.29900829e-01 3.96013434e-02 9.02007212e-01 4.42686596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.51071405700003 meters Centerline goodness : 0.991027 Centerline is valid? [True, True] Translation: X:116.72, Y:129.65, Z:44.25 [[-6.83111328e-02 -9.97652560e-01 4.79159485e-03 1.16720515e+02] [ 9.01032155e-01 -5.96318790e-02 4.29633675e-01 1.29652164e+02] [-4.28339404e-01 3.36661441e-02 9.02990557e-01 4.42542511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.540714057 meters Centerline goodness : 0.991561 Centerline is valid? [True, True] Translation: X:116.72, Y:129.68, Z:44.24 [[-7.15986911e-02 -9.97426321e-01 3.78978734e-03 1.16718654e+02] [ 8.99447130e-01 -6.29221860e-02 4.32476194e-01 1.29678404e+02] [-4.31124677e-01 3.43734428e-02 9.01637388e-01 4.42416589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.57071405700003 meters Centerline goodness : 0.990324 Centerline is valid? [True, True] Translation: X:116.71, Y:129.71, Z:44.23 [[-7.08705075e-02 -9.97295620e-01 1.94632357e-02 1.16711869e+02] [ 8.99766983e-01 -5.54927862e-02 4.32827827e-01 1.29705270e+02] [-4.30577227e-01 4.81871045e-02 9.01266473e-01 4.42335049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.600714057 meters Centerline goodness : 0.990436 Centerline is valid? [True, True] Translation: X:116.71, Y:129.73, Z:44.22 [[-7.23890069e-02 -9.97339726e-01 8.56168925e-03 1.16714488e+02] [ 8.99731494e-01 -6.15952330e-02 4.32075533e-01 1.29729246e+02] [-4.30398735e-01 3.89807402e-02 9.01796779e-01 4.42175536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.630714057 meters Centerline goodness : 0.991892 Centerline is valid? [True, True] Translation: X:116.71, Y:129.73, Z:44.21 [[-7.22313472e-02 -9.97376585e-01 4.75177764e-03 1.16713576e+02] [ 8.99514715e-01 -6.30844060e-02 4.32311965e-01 1.29733159e+02] [-4.30878068e-01 3.55007696e-02 9.01711587e-01 4.42126704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.660714057 meters Centerline goodness : 0.990992 Centerline is valid? [True, True] Translation: X:116.71, Y:129.76, Z:44.20 [[-7.32369296e-02 -9.97232546e-01 1.27906609e-02 1.16708823e+02] [ 9.00267543e-01 -6.05864407e-02 4.31100492e-01 1.29761536e+02] [-4.29132500e-01 4.30874932e-02 9.02213259e-01 4.42020780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.690714057 meters Centerline goodness : 0.989633 Centerline is valid? [True, True] Translation: X:116.70, Y:129.78, Z:44.20 [[-7.08904004e-02 -9.97234324e-01 2.23216210e-02 1.16701285e+02] [ 9.01073251e-01 -5.44243476e-02 4.30238291e-01 1.29783978e+02] [-4.27833552e-01 5.06131804e-02 9.02439337e-01 4.41957580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.720714057 meters Centerline goodness : 0.990526 Centerline is valid? [True, True] Translation: X:116.71, Y:129.81, Z:44.17 [[-7.50111248e-02 -9.97054464e-01 -1.59914501e-02 1.16714467e+02] [ 8.98055273e-01 -7.45163223e-02 4.33525136e-01 1.29806994e+02] [-4.33439797e-01 1.81580021e-02 9.00999573e-01 4.41698378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.750714057 meters Centerline goodness : 0.991297 Centerline is valid? [True, True] Translation: X:116.69, Y:129.84, Z:44.17 [[-7.85653609e-02 -9.96601819e-01 2.47446657e-02 1.16694336e+02] [ 9.01015891e-01 -6.03643130e-02 4.29565495e-01 1.29842195e+02] [-4.26612059e-01 5.60443052e-02 9.02696620e-01 4.41729358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.780714057 meters Centerline goodness : 0.989046 Centerline is valid? [True, True] Translation: X:116.70, Y:129.83, Z:44.17 [[-7.61581217e-02 -9.96994499e-01 1.42094777e-02 1.16699064e+02] [ 8.98369851e-01 -6.24277785e-02 4.34780845e-01 1.29826974e+02] [-4.32587044e-01 4.58774589e-02 9.00424182e-01 4.41721984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.810714057 meters Centerline goodness : 0.989612 Centerline is valid? [True, True] Translation: X:116.71, Y:129.83, Z:44.16 [[-7.66724599e-02 -9.96922774e-01 -1.63191991e-02 1.16708699e+02] [ 8.97397848e-01 -7.61323724e-02 4.34604376e-01 1.29828499e+02] [-4.34509420e-01 1.86773724e-02 9.00473609e-01 4.41602368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.840714057 meters Centerline goodness : 0.987507 Centerline is valid? [True, True] Translation: X:116.69, Y:129.85, Z:44.16 [[-7.69798425e-02 -9.96878026e-01 1.75586445e-02 1.16693861e+02] [ 8.97587102e-01 -6.16240007e-02 4.36508735e-01 1.29850331e+02] [-4.34063932e-01 4.93627865e-02 8.99528664e-01 4.41631638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.870714057 meters Centerline goodness : 0.988222 Centerline is valid? [True, True] Translation: X:116.70, Y:129.84, Z:44.16 [[-7.66940607e-02 -9.97037696e-01 5.81843031e-03 1.16696557e+02] [ 8.98039071e-01 -6.65412100e-02 4.34854106e-01 1.29843787e+02] [-4.33178771e-01 3.85759050e-02 9.00482122e-01 4.41619964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.900714057 meters Centerline goodness : 0.988349 Centerline is valid? [True, True] Translation: X:116.70, Y:129.84, Z:44.16 [[-7.60732002e-02 -9.97081619e-01 -6.41199508e-03 1.16700377e+02] [ 8.97861282e-01 -7.12970554e-02 4.34467315e-01 1.29844680e+02] [-4.33656531e-01 2.72942370e-02 9.00664776e-01 4.41552352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.930714057 meters Centerline goodness : 0.988233 Centerline is valid? [True, True] Translation: X:116.69, Y:129.87, Z:44.15 [[-7.44601153e-02 -9.97185064e-01 8.81133894e-03 1.16692851e+02] [ 8.97085025e-01 -6.31213080e-02 4.37326146e-01 1.29867127e+02] [-4.35538918e-01 4.04678755e-02 8.99259808e-01 4.41495923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.960714057 meters Centerline goodness : 0.988862 Centerline is valid? [True, True] Translation: X:116.69, Y:129.88, Z:44.14 [[-7.29611227e-02 -9.97323659e-01 -4.71108807e-03 1.16694388e+02] [ 8.98426507e-01 -6.77755595e-02 4.33862058e-01 1.29884446e+02] [-4.33020192e-01 2.74224965e-02 9.00966992e-01 4.41377339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.990714057 meters Centerline goodness : 0.989323 Centerline is valid? [True, True] Translation: X:116.68, Y:129.91, Z:44.13 [[-7.29029353e-02 -9.97191377e-01 1.71615689e-02 1.16683893e+02] [ 8.99005326e-01 -5.82548353e-02 4.34045849e-01 1.29913423e+02] [-4.31827033e-01 4.70715583e-02 9.00727307e-01 4.41347124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.020714057 meters Centerline goodness : 0.988473 Centerline is valid? [True, True] Translation: X:116.68, Y:129.94, Z:44.12 [[-7.04156390e-02 -9.97452516e-01 1.14068317e-02 1.16684256e+02] [ 8.97895171e-01 -5.83976156e-02 4.36318668e-01 1.29938371e+02] [-4.34541022e-01 4.09657970e-02 8.99719903e-01 4.41193325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.050714057 meters Centerline goodness : 0.989255 Centerline is valid? [True, True] Translation: X:116.68, Y:129.92, Z:44.12 [[-6.58501783e-02 -9.97794488e-01 8.36142645e-03 1.16683703e+02] [ 8.97039176e-01 -5.55265952e-02 4.38448988e-01 1.29920815e+02] [-4.37017702e-01 3.63724711e-02 8.98717181e-01 4.41246959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.080714057 meters Centerline goodness : 0.988968 Centerline is valid? [True, True] Translation: X:116.68, Y:129.95, Z:44.12 [[-6.26465701e-02 -9.97756987e-01 2.35881801e-02 1.16675482e+02] [ 8.96624664e-01 -4.58849687e-02 4.40407517e-01 1.29947579e+02] [-4.38337334e-01 4.87397644e-02 8.97488059e-01 4.41167737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.110714057 meters Centerline goodness : 0.989057 Centerline is valid? [True, True] Translation: X:116.68, Y:129.97, Z:44.10 [[-6.19154845e-02 -9.97968891e-01 1.49854761e-02 1.16677469e+02] [ 8.96597296e-01 -4.90173231e-02 4.40125653e-01 1.29971341e+02] [-4.38497162e-01 4.06865304e-02 8.97811141e-01 4.41028939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.140714057 meters Centerline goodness : 0.987803 Centerline is valid? [True, True] Translation: X:116.67, Y:130.00, Z:44.09 [[-6.00919318e-02 -9.97864623e-01 2.55959861e-02 1.16672584e+02] [ 8.95677303e-01 -4.25835651e-02 4.42661055e-01 1.29996295e+02] [-4.40625838e-01 4.95261017e-02 8.96323622e-01 4.40931431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.170714057 meters Centerline goodness : 0.988441 Centerline is valid? [True, True] Translation: X:116.68, Y:130.02, Z:44.07 [[-6.05966528e-02 -9.98117960e-01 9.41186226e-03 1.16678343e+02] [ 8.95586878e-01 -5.02035860e-02 4.42044956e-01 1.30018586e+02] [-4.40740501e-01 3.52155851e-02 8.96943517e-01 4.40745832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.200714057 meters Centerline goodness : 0.988268 Centerline is valid? [True, True] Translation: X:116.68, Y:130.06, Z:44.06 [[-6.02361641e-02 -9.98106962e-01 1.24135685e-02 1.16676100e+02] [ 8.94872638e-01 -4.84878330e-02 4.43679943e-01 1.30059854e+02] [-4.42238133e-01 3.78341407e-02 8.96099331e-01 4.40567312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.230714057 meters Centerline goodness : 0.988268 Centerline is valid? [True, True] Translation: X:116.68, Y:130.06, Z:44.05 [[-5.96536028e-02 -9.98192253e-01 7.32622263e-03 1.16678056e+02] [ 8.94807853e-01 -5.02192517e-02 4.43618003e-01 1.30064437e+02] [-4.42448137e-01 3.30189737e-02 8.96186026e-01 4.40521012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.26071405700003 meters Centerline goodness : 0.989946 Centerline is valid? [True, True] Translation: X:116.67, Y:130.09, Z:44.04 [[-5.85457214e-02 -9.97767921e-01 3.21181471e-02 1.16668183e+02] [ 8.94794155e-01 -3.81840626e-02 4.44843115e-01 1.30094388e+02] [-4.42623789e-01 5.47827913e-02 8.95032417e-01 4.40447643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.290714057 meters Centerline goodness : 0.990479 Centerline is valid? [True, True] Translation: X:116.68, Y:130.08, Z:44.04 [[-5.65314871e-02 -9.98382327e-01 6.07615727e-03 1.16677295e+02] [ 8.95154091e-01 -4.79892760e-02 4.43166090e-01 1.30084491e+02] [-4.42157602e-01 3.04919351e-02 8.96418929e-01 4.40368292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.32071405700003 meters Centerline goodness : 0.990117 Centerline is valid? [True, True] Translation: X:116.67, Y:130.12, Z:44.02 [[-5.65623397e-02 -9.98368205e-01 7.85047765e-03 1.16674801e+02] [ 8.95541758e-01 -4.72575220e-02 4.42460943e-01 1.30115647e+02] [-4.41367943e-01 3.20570567e-02 8.96753413e-01 4.40234235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.350714057 meters Centerline goodness : 0.989020 Centerline is valid? [True, True] Translation: X:116.68, Y:130.10, Z:44.03 [[-5.41059511e-02 -9.98511639e-01 6.85948791e-03 1.16675020e+02] [ 8.95774915e-01 -4.55013962e-02 4.42172958e-01 1.30104775e+02] [-4.41202729e-01 3.00687456e-02 8.96903575e-01 4.40275811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.380714057 meters Centerline goodness : 0.989945 Centerline is valid? [True, True] Translation: X:116.67, Y:130.13, Z:44.02 [[-5.39264663e-02 -9.98387814e-01 1.77118592e-02 1.16668123e+02] [ 8.96605416e-01 -4.06059209e-02 4.40964724e-01 1.30131770e+02] [-4.39534600e-01 3.96602182e-02 8.97349655e-01 4.40205709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.410714057 meters Centerline goodness : 0.989745 Centerline is valid? [True, True] Translation: X:116.67, Y:130.13, Z:44.01 [[-5.02954371e-02 -9.98712984e-01 6.53787719e-03 1.16670300e+02] [ 8.97538428e-01 -4.23270891e-02 4.38899975e-01 1.30131577e+02] [-4.38058374e-01 2.79426621e-02 8.98512142e-01 4.40147905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.440714057 meters Centerline goodness : 0.990354 Centerline is valid? [True, True] Translation: X:116.67, Y:130.13, Z:44.01 [[-4.52304185e-02 -9.98970207e-01 3.56861151e-03 1.16670970e+02] [ 8.99802403e-01 -3.91881114e-02 4.34534150e-01 1.30130268e+02] [-4.33946822e-01 2.28652067e-02 9.00648288e-01 4.40142495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.470714057 meters Centerline goodness : 0.989175 Centerline is valid? [True, True] Translation: X:116.67, Y:130.13, Z:44.01 [[-4.37519574e-02 -9.99041744e-01 1.16641013e-03 1.16671487e+02] [ 9.00537756e-01 -3.89325049e-02 4.33031188e-01 1.30127458e+02] [-4.32570822e-01 1.99963585e-02 9.01378183e-01 4.40136085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.500714057 meters Centerline goodness : 0.989882 Centerline is valid? [True, True] Translation: X:116.67, Y:130.16, Z:44.00 [[-4.46251808e-02 -9.99000506e-01 2.56556954e-03 1.16668705e+02] [ 9.01511223e-01 -3.91635360e-02 4.30979968e-01 1.30158108e+02] [-4.30448730e-01 2.15454487e-02 9.02357847e-01 4.40041504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.530714057 meters Centerline goodness : 0.991441 Centerline is valid? [True, True] Translation: X:116.67, Y:130.12, Z:44.02 [[-4.29436964e-02 -9.99076984e-01 -1.00941419e-03 1.16667409e+02] [ 9.03625901e-01 -3.92718186e-02 4.26518412e-01 1.30123542e+02] [-4.26164371e-01 1.74041444e-02 9.04478316e-01 4.40246908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.560714057 meters Centerline goodness : 0.991123 Centerline is valid? [True, True] Translation: X:116.67, Y:130.15, Z:44.01 [[-4.37312149e-02 -9.99036214e-01 3.77160333e-03 1.16666241e+02] [ 9.05210698e-01 -3.80262503e-02 4.23258310e-01 1.30152965e+02] [-4.22706960e-01 2.19236958e-02 9.06001202e-01 4.40138782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.590714057 meters Centerline goodness : 0.990668 Centerline is valid? [True, True] Translation: X:116.66, Y:130.16, Z:44.01 [[-4.14907362e-02 -9.99034169e-01 1.44653957e-02 1.16664896e+02] [ 9.05290270e-01 -3.14636207e-02 4.23626683e-01 1.30158217e+02] [-4.22762398e-01 3.06719649e-02 9.05721362e-01 4.40149580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.620714057 meters Centerline goodness : 0.990191 Centerline is valid? [True, True] Translation: X:116.67, Y:130.18, Z:44.00 [[-4.16268235e-02 -9.99103407e-01 7.71950012e-03 1.16668724e+02] [ 9.05046613e-01 -3.44326659e-02 4.23916288e-01 1.30176760e+02] [-4.23270405e-01 2.46327959e-02 9.05668477e-01 4.40032716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.650714057 meters Centerline goodness : 0.989999 Centerline is valid? [True, True] Translation: X:116.67, Y:130.19, Z:44.00 [[-3.93060448e-02 -9.99225039e-01 2.08701848e-03 1.16670305e+02] [ 9.03990400e-01 -3.46697829e-02 4.26144767e-01 1.30188720e+02] [-4.25742165e-01 1.86367100e-02 9.04652575e-01 4.39956417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.680714057 meters Centerline goodness : 0.991157 Centerline is valid? [True, True] Translation: X:116.67, Y:130.18, Z:44.00 [[-3.75032766e-02 -9.99275551e-01 6.47124439e-03 1.16668484e+02] [ 9.04311025e-01 -3.11821892e-02 4.25733768e-01 1.30182842e+02] [-4.25223558e-01 2.18184289e-02 9.04825332e-01 4.40004749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.710714057 meters Centerline goodness : 0.989765 Centerline is valid? [True, True] Translation: X:116.67, Y:130.21, Z:43.99 [[-3.94706481e-02 -9.99114293e-01 1.45841527e-02 1.16666988e+02] [ 9.05542520e-01 -2.95962304e-02 4.23221937e-01 1.30208258e+02] [-4.22415450e-01 2.99114145e-02 9.05908657e-01 4.39942211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.740714057 meters Centerline goodness : 0.989814 Centerline is valid? [True, True] Translation: X:116.67, Y:130.23, Z:43.98 [[-4.13257546e-02 -9.99140367e-01 3.27250538e-03 1.16672887e+02] [ 9.05648555e-01 -3.60750147e-02 4.22491761e-01 1.30230449e+02] [-4.22010517e-01 2.04235306e-02 9.06360857e-01 4.39786016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.770714057 meters Centerline goodness : 0.990367 Centerline is valid? [True, True] Translation: X:116.68, Y:130.26, Z:43.97 [[-4.52795000e-02 -9.98974040e-01 -7.96488576e-04 1.16676464e+02] [ 9.06822215e-01 -4.14370737e-02 4.19471618e-01 1.30256982e+02] [-4.19074261e-01 1.82711916e-02 9.07768102e-01 4.39664442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.800714057 meters Centerline goodness : 0.989591 Centerline is valid? [True, True] Translation: X:116.67, Y:130.27, Z:43.97 [[-4.47252895e-02 -9.98835391e-01 1.80972400e-02 1.16671509e+02] [ 9.04014443e-01 -3.27565963e-02 4.26245108e-01 1.30272939e+02] [-4.25155895e-01 3.54241022e-02 9.04426668e-01 4.39651558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.830714057 meters Centerline goodness : 0.989976 Centerline is valid? [True, True] Translation: X:116.67, Y:130.30, Z:43.95 [[-4.63964964e-02 -9.98831794e-01 1.35059842e-02 1.16673862e+02] [ 9.03399361e-01 -3.61861282e-02 4.27270591e-01 1.30297693e+02] [-4.26282722e-01 3.20251560e-02 9.04022915e-01 4.39503697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.860714057 meters Centerline goodness : 0.989083 Centerline is valid? [True, True] Translation: X:116.68, Y:130.32, Z:43.94 [[-5.05127513e-02 -9.98717967e-01 3.29905284e-03 1.16678559e+02] [ 9.03557961e-01 -4.42920237e-02 4.26170421e-01 1.30320038e+02] [-4.25477935e-01 2.45079260e-02 9.04636882e-01 4.39382900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.890714057 meters Centerline goodness : 0.989056 Centerline is valid? [True, True] Translation: X:116.68, Y:130.32, Z:43.94 [[-5.17880044e-02 -9.98591510e-01 1.15325446e-02 1.16679736e+02] [ 9.02270439e-01 -4.18366814e-02 4.29136048e-01 1.30320844e+02] [-4.28049130e-01 3.26295736e-02 9.03166238e-01 4.39392572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.920714057 meters Centerline goodness : 0.988954 Centerline is valid? [True, True] Translation: X:116.68, Y:130.35, Z:43.92 [[-5.39021624e-02 -9.98529592e-01 5.76286051e-03 1.16684272e+02] [ 9.01883244e-01 -4.62062415e-02 4.29501568e-01 1.30345081e+02] [-4.28603745e-01 2.83484906e-02 9.03047724e-01 4.39245866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.950714057 meters Centerline goodness : 0.988381 Centerline is valid? [True, True] Translation: X:116.69, Y:130.33, Z:43.93 [[-5.68831456e-02 -9.98379380e-01 1.70914520e-03 1.16689030e+02] [ 9.02244676e-01 -5.06727175e-02 4.28236875e-01 1.30332283e+02] [-4.27456258e-01 2.59015277e-02 9.03664904e-01 4.39292455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.980714057 meters Centerline goodness : 0.989596 Centerline is valid? [True, True] Translation: X:116.69, Y:130.36, Z:43.92 [[-5.74208490e-02 -9.98310278e-01 8.91265595e-03 1.16688304e+02] [ 9.01382372e-01 -4.80036474e-02 4.30355051e-01 1.30358296e+02] [-4.29200031e-01 3.27450634e-02 9.02615696e-01 4.39175114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.01071405700003 meters Centerline goodness : 0.989341 Centerline is valid? [True, True] Translation: X:116.69, Y:130.38, Z:43.91 [[-6.08499657e-02 -9.98096196e-01 1.00630370e-02 1.16687308e+02] [ 9.02463673e-01 -5.07067425e-02 4.27771136e-01 1.30384454e+02] [-4.26446480e-01 3.51113843e-02 9.03831063e-01 4.39078225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.040714057 meters Centerline goodness : 0.989667 Centerline is valid? [True, True] Translation: X:116.69, Y:130.38, Z:43.91 [[-5.98110727e-02 -9.98124571e-01 1.30374634e-02 1.16689752e+02] [ 9.01119408e-01 -4.83702546e-02 4.30864400e-01 1.30384128e+02] [-4.29425719e-01 3.75187733e-02 9.02322500e-01 4.39059440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.07071405700003 meters Centerline goodness : 0.989566 Centerline is valid? [True, True] Translation: X:116.69, Y:130.41, Z:43.89 [[-6.01997976e-02 -9.98134094e-01 1.02134344e-02 1.16692614e+02] [ 9.01522883e-01 -4.99746408e-02 4.29836047e-01 1.30406924e+02] [-4.28523601e-01 3.50836879e-02 9.02849189e-01 4.38929315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.100714057 meters Centerline goodness : 0.989419 Centerline is valid? [True, True] Translation: X:116.69, Y:130.43, Z:43.88 [[-6.00445045e-02 -9.98102541e-01 1.36372711e-02 1.16692452e+02] [ 9.01494930e-01 -4.83564574e-02 4.30079695e-01 1.30431902e+02] [-4.28604186e-01 3.81178529e-02 9.02687920e-01 4.38820216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.130714057 meters Centerline goodness : 0.989300 Centerline is valid? [True, True] Translation: X:116.69, Y:130.46, Z:43.87 [[-6.01486917e-02 -9.98144258e-01 9.49607627e-03 1.16694763e+02] [ 9.00782623e-01 -5.01777703e-02 4.31361633e-01 1.30458401e+02] [-4.30084645e-01 3.44997383e-02 9.02129130e-01 4.38658783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.160714057 meters Centerline goodness : 0.989240 Centerline is valid? [True, True] Translation: X:116.70, Y:130.46, Z:43.86 [[-5.96286043e-02 -9.98218803e-01 1.91050898e-03 1.16698384e+02] [ 9.01033621e-01 -5.29993069e-02 4.30499115e-01 1.30456747e+02] [-4.29631056e-01 2.73914942e-02 9.02588977e-01 4.38641360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.190714057 meters Centerline goodness : 0.989318 Centerline is valid? [True, True] Translation: X:116.69, Y:130.48, Z:43.86 [[-5.83769520e-02 -9.98209613e-01 1.30268623e-02 1.16693577e+02] [ 9.01088269e-01 -4.70715302e-02 4.31073315e-01 1.30483730e+02] [-4.29688333e-01 3.69030990e-02 9.02222865e-01 4.38578668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.220714057 meters Centerline goodness : 0.987993 Centerline is valid? [True, True] Translation: X:116.70, Y:130.51, Z:43.84 [[-5.68586426e-02 -9.98359077e-01 6.80053849e-03 1.16695703e+02] [ 9.01035363e-01 -4.83797374e-02 4.31039064e-01 1.30505965e+02] [-4.30002754e-01 3.06358218e-02 9.02307640e-01 4.38441846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.250714057 meters Centerline goodness : 0.988755 Centerline is valid? [True, True] Translation: X:116.70, Y:130.53, Z:43.83 [[-5.77219512e-02 -9.98312917e-01 6.28457375e-03 1.16696196e+02] [ 9.00230767e-01 -4.93275270e-02 4.32609941e-01 1.30533110e+02] [-4.31570090e-01 3.06286565e-02 9.01559284e-01 4.38321009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.280714057 meters Centerline goodness : 0.989950 Centerline is valid? [True, True] Translation: X:116.70, Y:130.53, Z:43.83 [[-6.07461620e-02 -9.98058071e-01 -1.37837459e-02 1.16702335e+02] [ 9.03978659e-01 -6.08650332e-02 4.23223384e-01 1.30533545e+02] [-4.23240462e-01 1.32489841e-02 9.05920513e-01 4.38285284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.310714057 meters Centerline goodness : 0.990793 Centerline is valid? [True, True] Translation: X:116.69, Y:130.58, Z:43.82 [[-7.09448427e-02 -9.97348794e-01 1.61929603e-02 1.16685287e+02] [ 9.06346090e-01 -5.76754197e-02 4.18581308e-01 1.30579088e+02] [-4.16537627e-01 4.43726113e-02 9.08034954e-01 4.38237358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.340714057 meters Centerline goodness : 0.990256 Centerline is valid? [True, True] Translation: X:116.70, Y:130.55, Z:43.82 [[-5.81364163e-02 -9.98307701e-01 -1.37525673e-03 1.16700320e+02] [ 9.02219440e-01 -5.31303164e-02 4.27992115e-01 1.30553177e+02] [-4.27340893e-01 2.36411445e-02 9.03781422e-01 4.38199732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.370714057 meters Centerline goodness : 0.989426 Centerline is valid? [True, True] Translation: X:116.70, Y:130.58, Z:43.81 [[-5.84336191e-02 -9.98276743e-01 5.39049151e-03 1.16700274e+02] [ 9.01377539e-01 -5.04392939e-02 4.30086515e-01 1.30577637e+02] [-4.29073473e-01 2.99903796e-02 9.02771583e-01 4.38088116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.400714057 meters Centerline goodness : 0.989546 Centerline is valid? [True, True] Translation: X:116.70, Y:130.61, Z:43.80 [[-6.08891213e-02 -9.98069487e-01 1.22398388e-02 1.16698238e+02] [ 9.03294361e-01 -4.98815592e-02 4.26111638e-01 1.30606237e+02] [-4.24678482e-01 3.70017406e-02 9.04587784e-01 4.37997574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.430714057 meters Centerline goodness : 0.990377 Centerline is valid? [True, True] Translation: X:116.70, Y:130.63, Z:43.79 [[-5.99108458e-02 -9.98184654e-01 6.17149789e-03 1.16702586e+02] [ 9.02776520e-01 -5.15443831e-02 4.27010225e-01 1.30628317e+02] [-4.25916948e-01 3.11540272e-02 9.04225735e-01 4.37864653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.460714057 meters Centerline goodness : 0.990940 Centerline is valid? [True, True] Translation: X:116.70, Y:130.66, Z:43.78 [[-6.26828527e-02 -9.97747151e-01 2.39057014e-02 1.16696290e+02] [ 9.06537526e-01 -4.69013007e-02 4.19511599e-01 1.30661439e+02] [-4.17445294e-01 4.79675992e-02 9.07435141e-01 4.37774225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.490714057 meters Centerline goodness : 0.990198 Centerline is valid? [True, True] Translation: X:116.71, Y:130.66, Z:43.76 [[-6.32295479e-02 -9.97920552e-01 -1.25138354e-02 1.16711071e+02] [ 9.06833402e-01 -6.26848058e-02 4.16801866e-01 1.30662937e+02] [-4.16719576e-01 1.50062296e-02 9.08911221e-01 4.37637238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.520714057 meters Centerline goodness : 0.990098 Centerline is valid? [True, True] Translation: X:116.71, Y:130.67, Z:43.77 [[-5.74660514e-02 -9.98344131e-01 2.57847690e-03 1.16705213e+02] [ 9.06277509e-01 -5.10828861e-02 4.19585052e-01 1.30670559e+02] [-4.18758558e-01 2.64487118e-02 9.07712364e-01 4.37663155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.550714057 meters Centerline goodness : 0.989004 Centerline is valid? [True, True] Translation: X:116.70, Y:130.66, Z:43.77 [[-5.19844621e-02 -9.98628176e-01 6.27547361e-03 1.16704844e+02] [ 9.05549772e-01 -4.44879189e-02 4.21900978e-01 1.30663071e+02] [-4.21043021e-01 2.76150491e-02 9.06620198e-01 4.37714542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.580714057 meters Centerline goodness : 0.990680 Centerline is valid? [True, True] Translation: X:116.70, Y:130.67, Z:43.77 [[-4.77720867e-02 -9.98792839e-01 1.14320937e-02 1.16702900e+02] [ 9.06996317e-01 -3.85814314e-02 4.19367564e-01 1.30666112e+02] [-4.18420253e-01 3.04029305e-02 9.07744542e-01 4.37722298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.610714057 meters Centerline goodness : 0.990305 Centerline is valid? [True, True] Translation: X:116.71, Y:130.69, Z:43.76 [[-4.34613503e-02 -9.99046133e-01 4.23489828e-03 1.16706171e+02] [ 9.05170775e-01 -3.75828080e-02 4.23383278e-01 1.30686741e+02] [-4.22820268e-01 2.22341151e-02 9.05940763e-01 4.37600927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.640714057 meters Centerline goodness : 0.989878 Centerline is valid? [True, True] Translation: X:116.71, Y:130.71, Z:43.75 [[-3.95580590e-02 -9.99190450e-01 7.32146564e-03 1.16705393e+02] [ 9.04076549e-01 -3.26701387e-02 4.26120001e-01 1.30714083e+02] [-4.25535843e-01 2.34756456e-02 9.04637022e-01 4.37502211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.670714057 meters Centerline goodness : 0.989465 Centerline is valid? [True, True] Translation: X:116.71, Y:130.74, Z:43.74 [[-3.89510880e-02 -9.99238629e-01 2.23037032e-03 1.16706718e+02] [ 9.04714181e-01 -3.43186387e-02 4.24634527e-01 1.30738212e+02] [-4.24234679e-01 1.85578245e-02 9.05362107e-01 4.37399654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.700714057 meters Centerline goodness : 0.988511 Centerline is valid? [True, True] Translation: X:116.70, Y:130.76, Z:43.73 [[-3.39637687e-02 -9.99358198e-01 1.13866255e-02 1.16704335e+02] [ 9.04211676e-01 -2.58729211e-02 4.26300172e-01 1.30763920e+02] [-4.25731967e-01 2.47746802e-02 9.04510093e-01 4.37315085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.730714057 meters Centerline goodness : 0.988070 Centerline is valid? [True, True] Translation: X:116.71, Y:130.79, Z:43.72 [[-3.12548557e-02 -9.99458556e-01 1.02824160e-02 1.16706353e+02] [ 9.04358397e-01 -2.38971491e-02 4.26104232e-01 1.30786225e+02] [-4.25627801e-01 2.26168156e-02 9.04615639e-01 4.37179133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.76071405700003 meters Centerline goodness : 0.990227 Centerline is valid? [True, True] Translation: X:116.70, Y:130.82, Z:43.71 [[-3.15139229e-02 -9.98855924e-01 3.59682598e-02 1.16699450e+02] [ 9.05232609e-01 -1.32665570e-02 4.24709221e-01 1.30823833e+02] [-4.23746147e-01 4.59438953e-02 9.04615035e-01 4.37059440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.790714057 meters Centerline goodness : 0.989065 Centerline is valid? [True, True] Translation: X:116.71, Y:130.84, Z:43.68 [[-2.65430042e-02 -9.99613528e-01 8.26219474e-03 1.16710945e+02] [ 9.01421849e-01 -2.03612211e-02 4.32462798e-01 1.30840061e+02] [-4.32127435e-01 1.89265847e-02 9.01613922e-01 4.36849020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.82071405700003 meters Centerline goodness : 0.990839 Centerline is valid? [True, True] Translation: X:116.71, Y:130.84, Z:43.69 [[-2.07651307e-02 -9.99455804e-01 2.56301494e-02 1.16706646e+02] [ 9.01270923e-01 -7.61645450e-03 4.33189003e-01 1.30843067e+02] [-4.32758053e-01 3.20949347e-02 9.00938612e-01 4.36867777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.850714057 meters Centerline goodness : 0.990662 Centerline is valid? [True, True] Translation: X:116.71, Y:130.87, Z:43.67 [[-2.30269724e-02 -9.99624606e-01 1.48460677e-02 1.16711068e+02] [ 9.03112859e-01 -1.44300225e-02 4.29160737e-01 1.30868776e+02] [-4.28785403e-01 2.32899471e-02 9.03106116e-01 4.36740088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.880714057 meters Centerline goodness : 0.992552 Centerline is valid? [True, True] Translation: X:116.72, Y:130.89, Z:43.66 [[-2.52323184e-02 -9.99648876e-01 8.09042691e-03 1.16716021e+02] [ 9.04550784e-01 -1.93848048e-02 4.25925004e-01 1.30893585e+02] [-4.25618620e-01 1.80652773e-02 9.04722298e-01 4.36642932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.910714057 meters Centerline goodness : 0.990520 Centerline is valid? [True, True] Translation: X:116.72, Y:130.91, Z:43.66 [[-2.35440694e-02 -9.99722530e-01 7.34236180e-04 1.16719132e+02] [ 9.02023487e-01 -2.09265225e-02 4.31179440e-01 1.30912483e+02] [-4.31044435e-01 1.08140169e-02 9.02265899e-01 4.36553537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.940714057 meters Centerline goodness : 0.991965 Centerline is valid? [True, True] Translation: X:116.71, Y:130.95, Z:43.65 [[-2.85394186e-02 -9.99465508e-01 1.59436671e-02 1.16714885e+02] [ 9.05714607e-01 -1.91073211e-02 4.23457155e-01 1.30945020e+02] [-4.22926179e-01 2.65256332e-02 9.05775821e-01 4.36479086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.970714057 meters Centerline goodness : 0.990723 Centerline is valid? [True, True] Translation: X:116.72, Y:130.96, Z:43.63 [[-2.63591041e-02 -9.99622760e-01 7.71591208e-03 1.16721817e+02] [ 9.01323685e-01 -2.04273917e-02 4.32664231e-01 1.30964997e+02] [-4.32343396e-01 1.83591758e-02 9.01522117e-01 4.36342574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.000714057 meters Centerline goodness : 0.992366 Centerline is valid? [True, True] Translation: X:116.72, Y:130.99, Z:43.63 [[-3.15823534e-02 -9.99477988e-01 6.80489170e-03 1.16721314e+02] [ 9.05803559e-01 -2.57429545e-02 4.22915137e-01 1.30994240e+02] [-4.22519192e-01 1.95205504e-02 9.06143742e-01 4.36259405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.030714057 meters Centerline goodness : 0.990610 Centerline is valid? [True, True] Translation: X:116.73, Y:131.02, Z:43.62 [[-2.96100347e-02 -9.99560264e-01 1.58911449e-03 1.16726477e+02] [ 9.01854400e-01 -2.60300725e-02 4.31255234e-01 1.31015027e+02] [-4.31024231e-01 1.42026324e-02 9.02228573e-01 4.36150167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.060714057 meters Centerline goodness : 0.992652 Centerline is valid? [True, True] Translation: X:116.72, Y:131.05, Z:43.60 [[-3.22451497e-02 -9.98900451e-01 3.40314423e-02 1.16717121e+02] [ 9.03304189e-01 -1.45520710e-02 4.28753752e-01 1.31050491e+02] [-4.27787088e-01 4.45659733e-02 9.02780196e-01 4.36043222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.090714057 meters Centerline goodness : 0.991077 Centerline is valid? [True, True] Translation: X:116.74, Y:131.05, Z:43.59 [[-3.54868200e-02 -9.99196112e-01 -1.86498101e-02 1.16739249e+02] [ 9.04352008e-01 -4.00491531e-02 4.24904119e-01 1.31049396e+02] [-4.25309453e-01 -1.78749719e-03 9.05046228e-01 4.35888321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.120714057 meters Centerline goodness : 0.993255 Centerline is valid? [True, True] Translation: X:116.72, Y:131.08, Z:43.59 [[-4.97111816e-02 -9.98574286e-01 1.94471871e-02 1.16720401e+02] [ 9.04826531e-01 -3.67831637e-02 4.24188575e-01 1.31083986e+02] [-4.22868475e-01 3.86832461e-02 9.05365042e-01 4.35883629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.150714057 meters Centerline goodness : 0.991059 Centerline is valid? [True, True] Translation: X:116.74, Y:131.05, Z:43.59 [[-3.49239344e-02 -9.99389095e-01 1.32515117e-03 1.16741470e+02] [ 8.98607971e-01 -3.08217781e-02 4.37668518e-01 1.31051181e+02] [-4.37360301e-01 1.64758980e-02 8.99135425e-01 4.35886402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.180714057 meters Centerline goodness : 0.991059 Centerline is valid? [True, True] Translation: X:116.74, Y:131.06, Z:43.59 [[-3.45168048e-02 -9.99387536e-01 5.75694971e-03 1.16739583e+02] [ 8.98684439e-01 -2.85175503e-02 4.37667714e-01 1.31056566e+02] [-4.37235484e-01 2.02805722e-02 8.99118363e-01 4.35878822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.210714057 meters Centerline goodness : 0.992371 Centerline is valid? [True, True] Translation: X:116.74, Y:131.08, Z:43.58 [[-3.85858366e-02 -9.99240798e-01 5.38144900e-03 1.16739944e+02] [ 9.02988993e-01 -3.25617428e-02 4.28428071e-01 1.31081499e+02] [-4.27927579e-01 2.13906447e-02 9.03559864e-01 4.35789744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.240714057 meters Centerline goodness : 0.992877 Centerline is valid? [True, True] Translation: X:116.73, Y:131.10, Z:43.58 [[-4.76973903e-02 -9.98808925e-01 1.02805723e-02 1.16730336e+02] [ 9.04490002e-01 -3.88216435e-02 4.24724283e-01 1.31098028e+02] [-4.23819295e-01 2.95569148e-02 9.05264378e-01 4.35762907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.270714057 meters Centerline goodness : 0.991973 Centerline is valid? [True, True] Translation: X:116.74, Y:131.13, Z:43.55 [[-4.58870592e-02 -9.98825893e-01 1.55310350e-02 1.16743767e+02] [ 9.03235075e-01 -3.48446358e-02 4.27729179e-01 1.31131996e+02] [-4.26685806e-01 3.36554097e-02 9.03773499e-01 4.35535666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.300714057 meters Centerline goodness : 0.992415 Centerline is valid? [True, True] Translation: X:116.75, Y:131.16, Z:43.54 [[-4.93299034e-02 -9.98756106e-01 7.26639763e-03 1.16749680e+02] [ 9.03532759e-01 -4.15236984e-02 4.26502446e-01 1.31156989e+02] [-4.25670195e-01 2.76047528e-02 9.04457220e-01 4.35402249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.330714057 meters Centerline goodness : 0.991679 Centerline is valid? [True, True] Translation: X:116.75, Y:131.17, Z:43.54 [[-5.24990718e-02 -9.98577173e-01 9.35292103e-03 1.16753198e+02] [ 9.03329763e-01 -4.34946319e-02 4.26735934e-01 1.31167867e+02] [-4.25721961e-01 3.08520124e-02 9.04327908e-01 4.35352928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.360714057 meters Centerline goodness : 0.990459 Centerline is valid? [True, True] Translation: X:116.76, Y:131.17, Z:43.53 [[-5.34602355e-02 -9.98558536e-01 -4.78046310e-03 1.16760220e+02] [ 9.02551504e-01 -5.03674686e-02 4.27625888e-01 1.31166749e+02] [-4.27250261e-01 1.85463665e-02 9.03943166e-01 4.35309146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.390714057 meters Centerline goodness : 0.992632 Centerline is valid? [True, True] Translation: X:116.75, Y:131.20, Z:43.53 [[-6.86838610e-02 -9.97563020e-01 1.22697993e-02 1.16747020e+02] [ 9.05234335e-01 -5.71480326e-02 4.21052136e-01 1.31196003e+02] [-4.19324846e-01 4.00265301e-02 9.06953444e-01 4.35264366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.420714057 meters Centerline goodness : 0.992670 Centerline is valid? [True, True] Translation: X:116.75, Y:131.20, Z:43.52 [[-6.88663475e-02 -9.97620479e-01 -3.28723179e-03 1.16754695e+02] [ 9.04768292e-01 -6.38442324e-02 4.21091738e-01 1.31201024e+02] [-4.20299612e-01 2.60248669e-02 9.07012096e-01 4.35175622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.450714057 meters Centerline goodness : 0.991557 Centerline is valid? [True, True] Translation: X:116.77, Y:131.19, Z:43.52 [[-5.54440481e-02 -9.98458638e-01 -2.51122653e-03 1.16765148e+02] [ 9.04241035e-01 -5.12784124e-02 4.23932394e-01 1.31187958e+02] [-4.23407733e-01 2.12337740e-02 9.05690355e-01 4.35221005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.480714057 meters Centerline goodness : 0.992482 Centerline is valid? [True, True] Translation: X:116.75, Y:131.21, Z:43.52 [[-6.20006156e-02 -9.97967900e-01 1.46967148e-02 1.16750214e+02] [ 9.04978834e-01 -5.00013701e-02 4.22508193e-01 1.31205926e+02] [-4.20914758e-01 3.94959839e-02 9.06239943e-01 4.35215858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.51071405700003 meters Centerline goodness : 0.991990 Centerline is valid? [True, True] Translation: X:116.76, Y:131.24, Z:43.50 [[-5.75918882e-02 -9.98308697e-01 7.93227171e-03 1.16764817e+02] [ 9.03366390e-01 -4.87291120e-02 4.26092290e-01 1.31239262e+02] [-4.24985106e-01 3.17052072e-02 9.04644924e-01 4.34992575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.540714057 meters Centerline goodness : 0.991830 Centerline is valid? [True, True] Translation: X:116.76, Y:131.27, Z:43.49 [[-5.74250134e-02 -9.97941482e-01 2.85511017e-02 1.16758622e+02] [ 9.02707069e-01 -3.96877628e-02 4.28421321e-01 1.31270470e+02] [-4.26406279e-01 5.03753814e-02 9.03127901e-01 4.34877016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.57071405700003 meters Centerline goodness : 0.990568 Centerline is valid? [True, True] Translation: X:116.77, Y:131.27, Z:43.48 [[-6.23523155e-02 -9.97957754e-01 -1.38747895e-02 1.16774792e+02] [ 9.05735509e-01 -6.24187977e-02 4.19221995e-01 1.31274160e+02] [-4.19231888e-01 1.35725725e-02 9.07777731e-01 4.34758599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.600714057 meters Centerline goodness : 0.992696 Centerline is valid? [True, True] Translation: X:116.76, Y:131.29, Z:43.48 [[-7.50708183e-02 -9.97141581e-01 8.54632595e-03 1.16756751e+02] [ 9.07385785e-01 -6.47541650e-02 4.15280551e-01 1.31294768e+02] [-4.13540095e-01 3.89302654e-02 9.09653244e-01 4.34764342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.630714057 meters Centerline goodness : 0.991685 Centerline is valid? [True, True] Translation: X:116.76, Y:131.30, Z:43.47 [[-7.43577045e-02 -9.97221249e-01 -4.55117507e-03 1.16762164e+02] [ 9.07201499e-01 -6.95389776e-02 4.14909353e-01 1.31296116e+02] [-4.14072907e-01 2.67228742e-02 9.09851370e-01 4.34703457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.660714057 meters Centerline goodness : 0.991389 Centerline is valid? [True, True] Translation: X:116.76, Y:131.29, Z:43.47 [[-5.51575684e-02 -9.98260432e-01 2.08267212e-02 1.16761251e+02] [ 9.00981968e-01 -4.07710758e-02 4.31936584e-01 1.31290255e+02] [-4.30336073e-01 4.25890719e-02 9.01663482e-01 4.34706622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.690714057 meters Centerline goodness : 0.992411 Centerline is valid? [True, True] Translation: X:116.76, Y:131.30, Z:43.47 [[-6.32356380e-02 -9.97885003e-01 -1.50590747e-02 1.16762774e+02] [ 9.03449160e-01 -6.36490042e-02 4.23943887e-01 1.31300929e+02] [-4.24005742e-01 1.32032538e-02 9.05563253e-01 4.34661058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.720714057 meters Centerline goodness : 0.991247 Centerline is valid? [True, True] Translation: X:116.75, Y:131.34, Z:43.45 [[-5.61421870e-02 -9.97642321e-01 3.94696603e-02 1.16751142e+02] [ 9.01009163e-01 -3.35933027e-02 4.32497373e-01 1.31342198e+02] [-4.30151767e-01 5.98438740e-02 9.00770874e-01 4.34534205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.750714057 meters Centerline goodness : 0.990828 Centerline is valid? [True, True] Translation: X:116.76, Y:131.36, Z:43.43 [[-5.75657699e-02 -9.98254499e-01 1.31961441e-02 1.16759764e+02] [ 8.99795620e-01 -4.61526583e-02 4.33863775e-01 1.31362566e+02] [-4.32497428e-01 3.68495349e-02 9.00881839e-01 4.34336397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.780714057 meters Centerline goodness : 0.991282 Centerline is valid? [True, True] Translation: X:116.76, Y:131.39, Z:43.42 [[-5.82598333e-02 -9.98282983e-01 6.07274390e-03 1.16761627e+02] [ 8.98360575e-01 -4.97734735e-02 4.36429695e-01 1.31385509e+02] [-4.35378076e-01 3.08818349e-02 8.99717869e-01 4.34212061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.810714057 meters Centerline goodness : 0.992039 Centerline is valid? [True, True] Translation: X:116.76, Y:131.41, Z:43.41 [[-6.36804766e-02 -9.97957616e-01 5.03929252e-03 1.16759678e+02] [ 9.01199038e-01 -5.53356185e-02 4.29858423e-01 1.31412200e+02] [-4.28701634e-01 3.19149948e-02 9.02882241e-01 4.34127848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.840714057 meters Centerline goodness : 0.991876 Centerline is valid? [True, True] Translation: X:116.75, Y:131.44, Z:43.40 [[-6.53939431e-02 -9.97743900e-01 1.51901733e-02 1.16754366e+02] [ 9.01157353e-01 -5.25123781e-02 4.30299750e-01 1.31438270e+02] [-4.28531278e-01 4.18277338e-02 9.02558244e-01 4.34038094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.870714057 meters Centerline goodness : 0.991513 Centerline is valid? [True, True] Translation: X:116.76, Y:131.44, Z:43.40 [[-6.70983770e-02 -9.97741674e-01 3.05933651e-03 1.16756798e+02] [ 9.01111284e-01 -5.92829508e-02 4.29515991e-01 1.31439505e+02] [-4.28364637e-01 3.15766285e-02 9.03054070e-01 4.34003492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.900714057 meters Centerline goodness : 0.992336 Centerline is valid? [True, True] Translation: X:116.75, Y:131.45, Z:43.40 [[-6.60422822e-02 -9.97759246e-01 1.07192847e-02 1.16753280e+02] [ 8.99877374e-01 -5.49150724e-02 4.32671985e-01 1.31447899e+02] [-4.31113824e-01 3.82206871e-02 9.01487687e-01 4.33973959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.930714057 meters Centerline goodness : 0.991666 Centerline is valid? [True, True] Translation: X:116.76, Y:131.47, Z:43.39 [[-6.54971518e-02 -9.97852046e-01 1.19075266e-03 1.16755532e+02] [ 8.96708048e-01 -5.83346668e-02 4.38761601e-01 1.31469745e+02] [-4.37749699e-01 2.98053927e-02 8.98602715e-01 4.33852402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.960714057 meters Centerline goodness : 0.991358 Centerline is valid? [True, True] Translation: X:116.75, Y:131.47, Z:43.39 [[-6.41589360e-02 -9.97912727e-01 7.33625574e-03 1.16750969e+02] [ 8.96902167e-01 -5.44382863e-02 4.38865555e-01 1.31470835e+02] [-4.37550150e-01 3.47370507e-02 8.98522790e-01 4.33860480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.990714057 meters Centerline goodness : 0.992377 Centerline is valid? [True, True] Translation: X:116.75, Y:131.50, Z:43.37 [[-6.46556813e-02 -9.97879155e-01 7.53889075e-03 1.16749706e+02] [ 8.96216544e-01 -5.47427747e-02 4.40226232e-01 1.31498869e+02] [-4.38879881e-01 3.52196056e-02 8.97855239e-01 4.33709278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.020714057 meters Centerline goodness : 0.992757 Centerline is valid? [True, True] Translation: X:116.74, Y:131.49, Z:43.38 [[-6.18131115e-02 -9.97923085e-01 1.81288377e-02 1.16744609e+02] [ 8.97528287e-01 -4.76306775e-02 4.38376885e-01 1.31492091e+02] [-4.36602925e-01 4.33685839e-02 8.98608397e-01 4.33759865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.050714057 meters Centerline goodness : 0.991999 Centerline is valid? [True, True] Translation: X:116.75, Y:131.51, Z:43.36 [[-6.03040114e-02 -9.98177743e-01 2.14917672e-03 1.16747902e+02] [ 8.94833513e-01 -5.31062443e-02 4.43229863e-01 1.31514804e+02] [-4.42308049e-01 2.86516940e-02 8.96405416e-01 4.33599345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.080714057 meters Centerline goodness : 0.991805 Centerline is valid? [True, True] Translation: X:116.74, Y:131.52, Z:43.36 [[-5.70014665e-02 -9.98315446e-01 1.08214204e-02 1.16742082e+02] [ 8.93915533e-01 -4.62076337e-02 4.45847368e-01 1.31517868e+02] [-4.44596281e-01 3.50873896e-02 8.95043587e-01 4.33601429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.110714057 meters Centerline goodness : 0.993337 Centerline is valid? [True, True] Translation: X:116.73, Y:131.52, Z:43.36 [[-5.06660034e-02 -9.98109812e-01 3.47815835e-02 1.16732280e+02] [ 8.92236879e-01 -2.95895234e-02 4.50597172e-01 1.31523840e+02] [-4.48716288e-01 5.38633693e-02 8.92049567e-01 4.33609442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.140714057 meters Centerline goodness : 0.993824 Centerline is valid? [True, True] Translation: X:116.75, Y:131.53, Z:43.35 [[-5.93017332e-02 -9.97770660e-01 -3.06107084e-02 1.16746114e+02] [ 8.96003917e-01 -6.67215782e-02 4.39004796e-01 1.31530551e+02] [-4.40068500e-01 -1.39356934e-03 8.97963125e-01 4.33507851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.170714057 meters Centerline goodness : 0.992703 Centerline is valid? [True, True] Translation: X:116.73, Y:131.57, Z:43.34 [[-4.99416977e-02 -9.98127237e-01 3.53248503e-02 1.16728384e+02] [ 8.93764371e-01 -2.88785720e-02 4.47606164e-01 1.31572205e+02] [-4.45747773e-01 5.39263043e-02 8.93532807e-01 4.33425145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.200714057 meters Centerline goodness : 0.992437 Centerline is valid? [True, True] Translation: X:116.74, Y:131.60, Z:43.32 [[-4.99465226e-02 -9.98661312e-01 1.34509995e-02 1.16736390e+02] [ 8.94349227e-01 -3.87264985e-02 4.45690160e-01 1.31595557e+02] [-4.44572610e-01 3.42905646e-02 8.95086226e-01 4.33240176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.230714057 meters Centerline goodness : 0.991222 Centerline is valid? [True, True] Translation: X:116.74, Y:131.62, Z:43.31 [[-4.42539874e-02 -9.99020002e-01 -7.87393567e-04 1.16740933e+02] [ 8.91499186e-01 -3.98467678e-02 4.51266480e-01 1.31616254e+02] [-4.50855615e-01 1.92683804e-02 8.92388897e-01 4.33100841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.26071405700003 meters Centerline goodness : 0.993561 Centerline is valid? [True, True] Translation: X:116.73, Y:131.64, Z:43.31 [[-5.14418405e-02 -9.98675256e-01 -1.21237826e-03 1.16730891e+02] [ 8.98082757e-01 -4.67912263e-02 4.37330474e-01 1.31638335e+02] [-4.36807852e-01 2.14082685e-02 8.99300054e-01 4.33093620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.290714057 meters Centerline goodness : 0.993155 Centerline is valid? [True, True] Translation: X:116.73, Y:131.67, Z:43.29 [[-4.25666061e-02 -9.98766180e-01 2.55773689e-02 1.16728942e+02] [ 8.95735019e-01 -2.68107757e-02 4.43779176e-01 1.31673333e+02] [-4.42545884e-01 4.18007184e-02 8.95771087e-01 4.32927822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.32071405700003 meters Centerline goodness : 0.991774 Centerline is valid? [True, True] Translation: X:116.74, Y:131.67, Z:43.29 [[-3.68383816e-02 -9.99295417e-01 7.18350340e-03 1.16736626e+02] [ 8.94982813e-01 -2.97932997e-02 4.45104621e-01 1.31667975e+02] [-4.44576988e-01 2.28260460e-02 8.95449761e-01 4.32869855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.350714057 meters Centerline goodness : 0.992477 Centerline is valid? [True, True] Translation: X:116.73, Y:131.70, Z:43.28 [[-3.59334301e-02 -9.99225905e-01 1.60118383e-02 1.16733157e+02] [ 8.95725821e-01 -2.50983086e-02 4.43897880e-01 1.31695189e+02] [-4.43152391e-01 3.02929905e-02 8.95934313e-01 4.32777609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.380714057 meters Centerline goodness : 0.992467 Centerline is valid? [True, True] Translation: X:116.73, Y:131.68, Z:43.28 [[-2.70734393e-02 -9.99121204e-01 3.19976403e-02 1.16730423e+02] [ 8.88165017e-01 -9.35324297e-03 4.59429450e-01 1.31683552e+02] [-4.58726424e-01 4.08575200e-02 8.87637725e-01 4.32791540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.410714057 meters Centerline goodness : 0.993573 Centerline is valid? [True, True] Translation: X:116.75, Y:131.69, Z:43.27 [[-3.73414833e-02 -9.98622268e-01 -3.68670440e-02 1.16745778e+02] [ 8.93328371e-01 -4.98927402e-02 4.46626395e-01 1.31690449e+02] [-4.47850461e-01 -1.62566843e-02 8.93960673e-01 4.32713962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.440714057 meters Centerline goodness : 0.991225 Centerline is valid? [True, True] Translation: X:116.74, Y:131.73, Z:43.26 [[-2.88459629e-02 -9.99435056e-01 1.72476049e-02 1.16735857e+02] [ 8.88037311e-01 -1.77022167e-02 4.59430480e-01 1.31726080e+02] [-4.58865607e-01 2.85692313e-02 8.88046257e-01 4.32646943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.470714057 meters Centerline goodness : 0.991734 Centerline is valid? [True, True] Translation: X:116.74, Y:131.75, Z:43.25 [[-3.02963458e-02 -9.99465827e-01 1.22553023e-02 1.16739701e+02] [ 8.87669575e-01 -2.12671932e-02 4.59989599e-01 1.31751324e+02] [-4.59483249e-01 2.48146630e-02 8.87839724e-01 4.32488166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.500714057 meters Centerline goodness : 0.991861 Centerline is valid? [True, True] Translation: X:116.73, Y:131.79, Z:43.24 [[-3.34271604e-02 -9.97861830e-01 5.61639793e-02 1.16727045e+02] [ 8.89075736e-01 -4.01923165e-03 4.57742483e-01 1.31785946e+02] [-4.56538016e-01 6.52350627e-02 8.87309093e-01 4.32380449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.530714057 meters Centerline goodness : 0.991464 Centerline is valid? [True, True] Translation: X:116.74, Y:131.81, Z:43.21 [[-3.57611797e-02 -9.98562828e-01 3.99176175e-02 1.16738624e+02] [ 8.87744721e-01 -1.33983194e-02 4.60141060e-01 1.31811890e+02] [-4.58944929e-01 5.18918413e-02 8.86948019e-01 4.32133577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.560714057 meters Centerline goodness : 0.991996 Centerline is valid? [True, True] Translation: X:116.75, Y:131.84, Z:43.20 [[-3.99822823e-02 -9.99115084e-01 1.30562525e-02 1.16750034e+02] [ 8.89474964e-01 -2.96355262e-02 4.56021956e-01 1.31835877e+02] [-4.55231486e-01 2.98460083e-02 8.89872750e-01 4.31958794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.590714057 meters Centerline goodness : 0.991211 Centerline is valid? [True, True] Translation: X:116.76, Y:131.84, Z:43.19 [[-4.10116133e-02 -9.99145050e-01 5.21704055e-03 1.16755168e+02] [ 8.88138365e-01 -3.40620756e-02 4.58312142e-01 1.31839122e+02] [-4.57742605e-01 2.34295742e-02 8.88775992e-01 4.31902349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.620714057 meters Centerline goodness : 0.992039 Centerline is valid? [True, True] Translation: X:116.75, Y:131.84, Z:43.19 [[-4.53248992e-02 -9.98894986e-01 1.24281923e-02 1.16753361e+02] [ 8.90571842e-01 -3.47671642e-02 4.53511894e-01 1.31843886e+02] [-4.52578664e-01 3.16235790e-02 8.91163567e-01 4.31937373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.650714057 meters Centerline goodness : 0.992546 Centerline is valid? [True, True] Translation: X:116.76, Y:131.84, Z:43.19 [[-4.78351587e-02 -9.98854349e-01 1.33706723e-03 1.16758798e+02] [ 8.92683844e-01 -4.21500097e-02 4.48708070e-01 1.31843023e+02] [-4.48137649e-01 2.26576000e-02 8.93677392e-01 4.31929861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.680714057 meters Centerline goodness : 0.991650 Centerline is valid? [True, True] Translation: X:116.76, Y:131.84, Z:43.20 [[-4.93652529e-02 -9.98768047e-01 5.04573380e-03 1.16758774e+02] [ 8.93780769e-01 -4.19202317e-02 4.46540739e-01 1.31840387e+02] [-4.45779104e-01 2.65533764e-02 8.94749076e-01 4.31975947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.710714057 meters Centerline goodness : 0.990810 Centerline is valid? [True, True] Translation: X:116.76, Y:131.86, Z:43.19 [[-4.90669245e-02 -9.98782960e-01 -5.00350153e-03 1.16762120e+02] [ 8.92579889e-01 -4.60964555e-02 4.48526766e-01 1.31860321e+02] [-4.48211534e-01 1.75418041e-02 8.93755395e-01 4.31897860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.740714057 meters Centerline goodness : 0.992254 Centerline is valid? [True, True] Translation: X:116.76, Y:131.89, Z:43.19 [[-5.61805981e-02 -9.98417520e-01 2.48904178e-03 1.16758086e+02] [ 8.97614438e-01 -4.94165096e-02 4.38002660e-01 1.31891116e+02] [-4.37186530e-01 2.68414512e-02 8.98970230e-01 4.31850155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.770714057 meters Centerline goodness : 0.990887 Centerline is valid? [True, True] Translation: X:116.76, Y:131.89, Z:43.18 [[-5.59718137e-02 -9.98429260e-01 2.48372068e-03 1.16759207e+02] [ 8.96377825e-01 -4.91548813e-02 4.40557138e-01 1.31893117e+02] [-4.39743050e-01 2.68851342e-02 8.97721137e-01 4.31823199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.800714057 meters Centerline goodness : 0.991408 Centerline is valid? [True, True] Translation: X:116.76, Y:131.90, Z:43.18 [[-5.50588599e-02 -9.98409941e-01 1.20876365e-02 1.16756185e+02] [ 8.97209743e-01 -4.41583576e-02 4.39391303e-01 1.31902624e+02] [-4.38158875e-01 3.50375294e-02 8.98214435e-01 4.31815773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.830714057 meters Centerline goodness : 0.992671 Centerline is valid? [True, True] Translation: X:116.76, Y:131.93, Z:43.17 [[-5.58694813e-02 -9.98342291e-01 1.38300762e-02 1.16755585e+02] [ 8.97340135e-01 -4.41339237e-02 4.39127406e-01 1.31927430e+02] [-4.37789085e-01 3.69441028e-02 8.98318346e-01 4.31705004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.860714057 meters Centerline goodness : 0.992716 Centerline is valid? [True, True] Translation: X:116.75, Y:131.96, Z:43.15 [[-5.17418970e-02 -9.97672877e-01 4.44027671e-02 1.16747653e+02] [ 8.94718429e-01 -2.65596963e-02 4.45840235e-01 1.31958614e+02] [-4.43623387e-01 6.27965936e-02 8.94010559e-01 4.31548233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.890714057 meters Centerline goodness : 0.991616 Centerline is valid? [True, True] Translation: X:116.77, Y:131.97, Z:43.14 [[-5.95988677e-02 -9.98045303e-01 -1.88029026e-02 1.16769717e+02] [ 8.98636811e-01 -6.18449545e-02 4.34312195e-01 1.31974674e+02] [-4.34626111e-01 8.98753459e-03 9.00566138e-01 4.31385473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.920714057 meters Centerline goodness : 0.991850 Centerline is valid? [True, True] Translation: X:116.75, Y:132.00, Z:43.13 [[-6.99997100e-02 -9.97310440e-01 2.17239006e-02 1.16748919e+02] [ 8.96164152e-01 -5.33050190e-02 4.40509236e-01 1.32000969e+02] [-4.38166467e-01 5.03036998e-02 8.97485200e-01 4.31339216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.950714057 meters Centerline goodness : 0.984785 Centerline is valid? [True, True] Translation: X:116.75, Y:132.88, Z:42.68 [[-7.90236647e-02 -9.96864753e-01 3.99061806e-03 1.16745251e+02] [ 8.87219508e-01 -6.85054668e-02 4.56232995e-01 1.32884253e+02] [-4.54529212e-01 3.95937574e-02 8.89851409e-01 4.26788133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.980714057 meters Centerline goodness : 0.991350 Centerline is valid? [True, True] Translation: X:116.77, Y:132.01, Z:43.11 [[-6.62015652e-02 -9.97561851e-01 -2.20840645e-02 1.16765923e+02] [ 8.96053015e-01 -6.91731782e-02 4.38524876e-01 1.32013198e+02] [-4.38983312e-01 9.24254062e-03 8.98447677e-01 4.31114129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.01071405700003 meters Centerline goodness : 0.991606 Centerline is valid? [True, True] Translation: X:116.76, Y:132.02, Z:43.11 [[-6.54582694e-02 -9.97854420e-01 -1.33098843e-03 1.16757474e+02] [ 8.97032065e-01 -5.94285840e-02 4.37951730e-01 1.32021748e+02] [-4.37091168e-01 2.74736230e-02 8.98997503e-01 4.31148982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.040714057 meters Centerline goodness : 0.991606 Centerline is valid? [True, True] Translation: X:116.76, Y:132.03, Z:43.11 [[-6.49183963e-02 -9.97890005e-01 -1.06752167e-03 1.16757309e+02] [ 8.97071326e-01 -5.88280825e-02 4.37952387e-01 1.32026460e+02] [-4.37091110e-01 2.74735235e-02 8.98997535e-01 4.31126749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.07071405700003 meters Centerline goodness : 0.991544 Centerline is valid? [True, True] Translation: X:116.76, Y:132.04, Z:43.11 [[-6.40919700e-02 -9.97943673e-01 -8.03445307e-04 1.16757660e+02] [ 8.97328387e-01 -5.79823128e-02 4.37538360e-01 1.32037167e+02] [-4.36685224e-01 2.73217412e-02 8.99199387e-01 4.31074423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.100714057 meters Centerline goodness : 0.991665 Centerline is valid? [True, True] Translation: X:116.76, Y:132.03, Z:43.11 [[-6.21774695e-02 -9.98064964e-01 -5.38965591e-04 1.16758321e+02] [ 8.97818450e-01 -5.61681702e-02 4.36769010e-01 1.32034340e+02] [-4.35954119e-01 2.66732986e-02 8.99573533e-01 4.31092218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.130714057 meters Centerline goodness : 0.991256 Centerline is valid? [True, True] Translation: X:116.76, Y:132.04, Z:43.11 [[-6.06850934e-02 -9.98156923e-01 -2.75607886e-04 1.16758591e+02] [ 8.97793294e-01 -5.47039359e-02 4.37006500e-01 1.32040144e+02] [-4.36216141e-01 2.62723414e-02 8.99458305e-01 4.31059747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.160714057 meters Centerline goodness : 0.991245 Centerline is valid? [True, True] Translation: X:116.76, Y:132.04, Z:43.11 [[-5.88116266e-02 -9.98269098e-01 -1.27517273e-05 1.16759235e+02] [ 8.97850471e-01 -5.29011873e-02 4.37110966e-01 1.32042431e+02] [-4.36355045e-01 2.56957578e-02 8.99407585e-01 4.31057406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.190714057 meters Centerline goodness : 0.990973 Centerline is valid? [True, True] Translation: X:116.76, Y:132.07, Z:43.09 [[-5.82264079e-02 -9.98303371e-01 2.53799322e-04 1.16759346e+02] [ 8.97782362e-01 -5.22523010e-02 4.37328856e-01 1.32066990e+02] [-4.36573610e-01 2.56919449e-02 8.99301622e-01 4.30937622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.220714057 meters Centerline goodness : 0.990938 Centerline is valid? [True, True] Translation: X:116.76, Y:132.09, Z:43.08 [[-5.80912371e-02 -9.98311262e-01 1.81848793e-04 1.16760172e+02] [ 8.98270226e-01 -5.21904179e-02 4.36333315e-01 1.32092761e+02] [-4.35586971e-01 2.55104914e-02 8.99785088e-01 4.30818616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.250714057 meters Centerline goodness : 0.990929 Centerline is valid? [True, True] Translation: X:116.76, Y:132.12, Z:43.07 [[-5.85969709e-02 -9.98281720e-01 4.75710396e-05 1.16760266e+02] [ 8.98412090e-01 -5.27140647e-02 4.35978146e-01 1.32116583e+02] [-4.35226506e-01 2.55897371e-02 8.99957251e-01 4.30701981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.280714057 meters Centerline goodness : 0.986692 Centerline is valid? [True, True] Translation: X:116.77, Y:132.09, Z:43.08 [[-4.62127005e-02 -9.98931622e-01 -1.05863063e-05 1.16770883e+02] [ 8.95541551e-01 -4.14343512e-02 4.43044609e-01 1.32087352e+02] [-4.42571709e-01 2.04648074e-02 8.96499567e-01 4.30832344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.310714057 meters Centerline goodness : 0.991140 Centerline is valid? [True, True] Translation: X:116.76, Y:132.11, Z:43.07 [[-5.82138714e-02 -9.98304103e-01 2.49585043e-04 1.16760935e+02] [ 8.98139085e-01 -5.22638198e-02 4.36594408e-01 1.32112710e+02] [-4.35840945e-01 2.56400128e-02 8.99658413e-01 4.30726606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.340714057 meters Centerline goodness : 0.991111 Centerline is valid? [True, True] Translation: X:116.76, Y:132.14, Z:43.06 [[-5.82007493e-02 -9.98304891e-01 1.28261071e-04 1.16760904e+02] [ 8.97881892e-01 -5.22899706e-02 4.37119968e-01 1.32137658e+02] [-4.36372296e-01 2.55558730e-02 8.99403200e-01 4.30611986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.370714057 meters Centerline goodness : 0.991913 Centerline is valid? [True, True] Translation: X:116.76, Y:132.14, Z:43.06 [[-5.73871462e-02 -9.98352000e-01 -6.11726979e-06 1.16760392e+02] [ 8.97555101e-01 -5.15958344e-02 4.37872938e-01 1.32140227e+02] [-4.37151639e-01 2.51227878e-02 8.99036868e-01 4.30603367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.400714057 meters Centerline goodness : 0.991702 Centerline is valid? [True, True] Translation: X:116.76, Y:132.17, Z:43.05 [[-5.78115816e-02 -9.98327478e-01 2.61217927e-04 1.16759659e+02] [ 8.97660308e-01 -5.18675963e-02 4.37625096e-01 1.32165170e+02] [-4.36879609e-01 2.55342839e-02 8.99157499e-01 4.30480540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.430714057 meters Centerline goodness : 0.991281 Centerline is valid? [True, True] Translation: X:116.76, Y:132.19, Z:43.04 [[-5.87089871e-02 -9.98275132e-01 1.21492585e-04 1.16758678e+02] [ 8.98306585e-01 -5.27767089e-02 4.36187916e-01 1.32189073e+02] [-4.35429137e-01 2.57172883e-02 8.99855593e-01 4.30357731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.460714057 meters Centerline goodness : 0.990829 Centerline is valid? [True, True] Translation: X:116.78, Y:132.21, Z:43.02 [[-5.64712926e-02 -9.97328066e-01 -4.63435258e-02 1.16779097e+02] [ 8.95833105e-01 -7.11081166e-02 4.38664660e-01 1.32209233e+02] [-4.40787977e-01 -1.67441042e-02 8.97455065e-01 4.30194495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.490714057 meters Centerline goodness : 0.991480 Centerline is valid? [True, True] Translation: X:116.61, Y:132.36, Z:43.73 [[ 1.26865704e-02 -2.11613389e-01 9.77271111e-01 1.16605546e+02] [ 8.88033495e-01 4.51614165e-01 8.62621471e-02 1.32355095e+02] [-4.59603702e-01 8.66755110e-01 1.93649212e-01 4.37254730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.520714057 meters Centerline goodness : 0.992067 Centerline is valid? [True, True] Translation: X:116.74, Y:132.04, Z:43.15 [[-4.56243149e-02 -9.98907551e-01 1.01057449e-02 1.16744872e+02] [ 8.61496349e-01 -3.42229046e-02 5.06609153e-01 1.32041687e+02] [-5.05709861e-01 3.18197579e-02 8.62116605e-01 4.31523276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.550714057 meters Centerline goodness : 0.991314 Centerline is valid? [True, True] Translation: X:116.74, Y:132.08, Z:43.13 [[-3.85423866e-02 -9.98424932e-01 4.07693507e-02 1.16743551e+02] [ 8.58913844e-01 -1.22510563e-02 5.11973554e-01 1.32082198e+02] [-5.10667693e-01 5.47500424e-02 8.58033181e-01 4.31316764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.580714057 meters Centerline goodness : 0.990777 Centerline is valid? [True, True] Translation: X:116.77, Y:132.08, Z:43.12 [[-4.20646855e-02 -9.98521747e-01 -3.44221425e-02 1.16768178e+02] [ 8.56531866e-01 -5.37775979e-02 5.13284651e-01 1.32084711e+02] [-5.14377026e-01 -7.89250456e-03 8.57527832e-01 4.31154376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.610714057 meters Centerline goodness : 0.990231 Centerline is valid? [True, True] Translation: X:116.75, Y:132.12, Z:43.11 [[-4.37609879e-02 -9.99012755e-01 7.64802141e-03 1.16748670e+02] [ 8.59237277e-01 -3.37303321e-02 5.10464069e-01 1.32116592e+02] [-5.09702145e-01 2.89098771e-02 8.59865072e-01 4.31142010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.640714057 meters Centerline goodness : 0.991812 Centerline is valid? [True, True] Translation: X:116.73, Y:132.15, Z:43.10 [[-4.63937435e-02 -9.97294356e-01 5.70226912e-02 1.16727189e+02] [ 8.62978708e-01 -1.12642901e-02 5.05114705e-01 1.32148549e+02] [-5.03105725e-01 7.26435305e-02 8.61166388e-01 4.31047960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.670714057 meters Centerline goodness : 0.983307 Centerline is valid? [True, True] Translation: X:116.75, Y:132.15, Z:43.07 [[-4.69189988e-02 -9.98898360e-01 -8.21007386e-04 1.16749083e+02] [ 8.52612843e-01 -4.04760538e-02 5.20973156e-01 1.32149159e+02] [-5.20432462e-01 2.37435374e-02 8.53572667e-01 4.30693453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.700714057 meters Centerline goodness : 0.990030 Centerline is valid? [True, True] Translation: X:116.76, Y:132.17, Z:43.05 [[-4.45138847e-02 -9.98600990e-01 -2.85407847e-02 1.16763668e+02] [ 8.54328047e-01 -5.28601127e-02 5.17039067e-01 1.32174299e+02] [-5.17824394e-01 -1.36777535e-03 8.55485842e-01 4.30521012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.730714057 meters Centerline goodness : 0.992388 Centerline is valid? [True, True] Translation: X:116.73, Y:132.21, Z:43.05 [[-4.72906919e-02 -9.97816892e-01 4.60981543e-02 1.16729364e+02] [ 8.58891279e-01 -1.70583659e-02 5.11873795e-01 1.32213461e+02] [-5.09969961e-01 6.38001686e-02 8.57822929e-01 4.30522545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.76071405700003 meters Centerline goodness : 0.990618 Centerline is valid? [True, True] Translation: X:116.76, Y:132.22, Z:43.02 [[-4.47539336e-02 -9.98507072e-01 -3.13163423e-02 1.16761914e+02] [ 8.53092217e-01 -5.45108150e-02 5.18904846e-01 1.32222559e+02] [-5.19837238e-01 -3.49269485e-03 8.54258185e-01 4.30211491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.790714057 meters Centerline goodness : 0.990354 Centerline is valid? [True, True] Translation: X:116.74, Y:132.25, Z:43.02 [[-4.41881882e-02 -9.98937935e-01 1.30539917e-02 1.16742659e+02] [ 8.55119460e-01 -3.10637369e-02 5.17499520e-01 1.32254651e+02] [-5.16544396e-01 3.40300884e-02 8.55583918e-01 4.30192030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.82071405700003 meters Centerline goodness : 0.991016 Centerline is valid? [True, True] Translation: X:116.75, Y:132.28, Z:43.00 [[-4.45820819e-02 -9.98998862e-01 -3.70283556e-03 1.16748739e+02] [ 8.52711755e-01 -3.99843141e-02 5.20849227e-01 1.32276195e+02] [-5.20475841e-01 2.00630915e-02 8.53640657e-01 4.29972470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.850714057 meters Centerline goodness : 0.991501 Centerline is valid? [True, True] Translation: X:116.72, Y:132.31, Z:43.00 [[-4.72856979e-02 -9.97472440e-01 5.30357804e-02 1.16723231e+02] [ 8.58213141e-01 -1.34014395e-02 5.13118512e-01 1.32310209e+02] [-5.11110818e-01 6.97791706e-02 8.56677652e-01 4.29956103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.880714057 meters Centerline goodness : 0.990488 Centerline is valid? [True, True] Translation: X:116.75, Y:132.33, Z:42.96 [[-3.77556727e-02 -9.99141590e-01 1.70467474e-02 1.16745590e+02] [ 8.54168369e-01 -2.34145419e-02 5.19469110e-01 1.32328677e+02] [-5.18624051e-01 3.41736981e-02 8.54319175e-01 4.29633023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.910714057 meters Centerline goodness : 0.992444 Centerline is valid? [True, True] Translation: X:116.74, Y:132.35, Z:42.95 [[-4.84694716e-02 -9.98716180e-01 1.47208121e-02 1.16735486e+02] [ 8.58353634e-01 -3.41118144e-02 5.11923259e-01 1.32350530e+02] [-5.10763889e-01 3.74483124e-02 8.58905044e-01 4.29545994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.940714057 meters Centerline goodness : 0.991441 Centerline is valid? [True, True] Translation: X:116.74, Y:132.37, Z:42.94 [[-4.93788904e-02 -9.98760626e-01 -6.24004420e-03 1.16743307e+02] [ 8.58467995e-01 -4.56343747e-02 5.10832854e-01 1.32374543e+02] [-5.10484502e-01 1.98674813e-02 8.59657407e-01 4.29352766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.970714057 meters Centerline goodness : 0.991397 Centerline is valid? [True, True] Translation: X:116.72, Y:132.42, Z:42.93 [[-4.41417529e-02 -9.97057534e-01 6.26720079e-02 1.16719260e+02] [ 8.58251391e-01 -5.73849175e-03 5.13197446e-01 1.32415828e+02] [-5.11327737e-01 7.64417728e-02 8.55979323e-01 4.29302246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.000714057 meters Centerline goodness : 0.991708 Centerline is valid? [True, True] Translation: X:116.74, Y:132.42, Z:42.91 [[-4.90026213e-02 -9.98712025e-01 -1.31542238e-02 1.16743236e+02] [ 8.58475497e-01 -4.88459979e-02 5.10523153e-01 1.32421238e+02] [-5.10508144e-01 1.37243940e-02 8.59763384e-01 4.29053717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.030714057 meters Centerline goodness : 0.990297 Centerline is valid? [True, True] Translation: X:116.74, Y:132.44, Z:42.90 [[-4.73660389e-02 -9.98855502e-01 -6.64413804e-03 1.16737332e+02] [ 8.53237232e-01 -4.39174943e-02 5.19670549e-01 1.32440929e+02] [-5.19367581e-01 1.89457095e-02 8.54340902e-01 4.28952283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.060714057 meters Centerline goodness : 0.990807 Centerline is valid? [True, True] Translation: X:116.73, Y:132.47, Z:42.88 [[-4.51848084e-02 -9.98962900e-01 5.60868508e-03 1.16732493e+02] [ 8.53673985e-01 -3.56959381e-02 5.19583033e-01 1.32467865e+02] [-5.18843966e-01 2.82652483e-02 8.54401553e-01 4.28844164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.090714057 meters Centerline goodness : 0.984171 Centerline is valid? [True, True] Translation: X:116.72, Y:132.49, Z:42.87 [[-4.71217836e-02 -9.98550319e-01 2.60153421e-02 1.16720895e+02] [ 8.52368046e-01 -2.66167976e-02 5.22264550e-01 1.32493027e+02] [-5.20814988e-01 4.67846834e-02 8.52386615e-01 4.28734631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.120714057 meters Centerline goodness : 0.990470 Centerline is valid? [True, True] Translation: X:116.74, Y:132.51, Z:42.85 [[-4.49773737e-02 -9.98721925e-01 -2.30554101e-02 1.16743198e+02] [ 8.52107551e-01 -5.04003287e-02 5.20934284e-01 1.32509685e+02] [-5.21430492e-01 3.78456695e-03 8.53285368e-01 4.28463882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.150714057 meters Centerline goodness : 0.991556 Centerline is valid? [True, True] Translation: X:116.72, Y:132.55, Z:42.84 [[-3.84936600e-02 -9.98147181e-01 4.71215826e-02 1.16721352e+02] [ 8.51027271e-01 -8.03237603e-03 5.25060059e-01 1.32551656e+02] [-5.23708719e-01 6.03132352e-02 8.49759667e-01 4.28418210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.180714057 meters Centerline goodness : 0.991165 Centerline is valid? [True, True] Translation: X:116.74, Y:132.56, Z:42.82 [[-4.62560633e-02 -9.98659003e-01 -2.32502151e-02 1.16741991e+02] [ 8.51920305e-01 -5.15919058e-02 5.21123852e-01 1.32556043e+02] [-5.21624550e-01 4.29780759e-03 8.53164321e-01 4.28206176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.210714057 meters Centerline goodness : 0.991752 Centerline is valid? [True, True] Translation: X:116.73, Y:132.59, Z:42.81 [[-4.44912067e-02 -9.98821140e-01 1.94129542e-02 1.16731372e+02] [ 8.52238087e-01 -2.78082736e-02 5.22414531e-01 1.32591388e+02] [-5.21258837e-01 3.97873119e-02 8.52470642e-01 4.28118926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.240714057 meters Centerline goodness : 0.992338 Centerline is valid? [True, True] Translation: X:116.73, Y:132.62, Z:42.79 [[-4.62852217e-02 -9.98762018e-01 1.82238517e-02 1.16733250e+02] [ 8.51415781e-01 -2.99022808e-02 5.23638255e-01 1.32615729e+02] [-5.22445065e-01 3.97527876e-02 8.51745778e-01 4.27939507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.270714057 meters Centerline goodness : 0.993830 Centerline is valid? [True, True] Translation: X:116.72, Y:132.64, Z:42.79 [[-5.46318852e-02 -9.97872972e-01 3.55652757e-02 1.16719747e+02] [ 8.55240778e-01 -2.83804179e-02 5.17453152e-01 1.32637787e+02] [-5.15343157e-01 5.86863152e-02 8.54972132e-01 4.27871521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.300714057 meters Centerline goodness : 0.992852 Centerline is valid? [True, True] Translation: X:116.75, Y:132.66, Z:42.76 [[-5.14874630e-02 -9.98525637e-01 -1.71928313e-02 1.16747698e+02] [ 8.52823358e-01 -5.29196014e-02 5.19511151e-01 1.32657427e+02] [-5.19655041e-01 1.20858631e-02 8.54290682e-01 4.27566028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.330714057 meters Centerline goodness : 0.992303 Centerline is valid? [True, True] Translation: X:116.73, Y:132.69, Z:42.75 [[-5.07774532e-02 -9.98521866e-01 1.93838567e-02 1.16733717e+02] [ 8.53005366e-01 -3.32667086e-02 5.20840831e-01 1.32688272e+02] [-5.19426121e-01 4.29815047e-02 8.53433708e-01 4.27521911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.360714057 meters Centerline goodness : 0.993478 Centerline is valid? [True, True] Translation: X:116.73, Y:132.72, Z:42.74 [[-5.10470091e-02 -9.98184228e-01 3.19757650e-02 1.16728124e+02] [ 8.57055914e-01 -2.73483623e-02 5.14497062e-01 1.32715496e+02] [-5.12688368e-01 5.36685547e-02 8.56895748e-01 4.27401758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.390714057 meters Centerline goodness : 0.992791 Centerline is valid? [True, True] Translation: X:116.74, Y:132.73, Z:42.72 [[-4.69556821e-02 -9.98819296e-01 1.24570094e-02 1.16736089e+02] [ 8.52675127e-01 -3.35829946e-02 5.21361018e-01 1.32732221e+02] [-5.20327101e-01 3.51026442e-02 8.53245282e-01 4.27193752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.420714057 meters Centerline goodness : 0.992310 Centerline is valid? [True, True] Translation: X:116.73, Y:132.76, Z:42.71 [[-4.41298426e-02 -9.98171735e-01 4.13006712e-02 1.16725367e+02] [ 8.54980441e-01 -1.63496734e-02 5.18402482e-01 1.32763860e+02] [-5.16779452e-01 5.81882860e-02 8.54138818e-01 4.27084850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.450714057 meters Centerline goodness : 0.993345 Centerline is valid? [True, True] Translation: X:116.73, Y:132.78, Z:42.69 [[-4.18638908e-02 -9.98845885e-01 2.35438634e-02 1.16731734e+02] [ 8.54130382e-01 -2.35527705e-02 5.19525319e-01 1.32783628e+02] [-5.18371204e-01 4.18588803e-02 8.54130628e-01 4.26884366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.480714057 meters Centerline goodness : 0.994249 Centerline is valid? [True, True] Translation: X:116.73, Y:132.80, Z:42.68 [[-4.25795867e-02 -9.98985981e-01 1.46283617e-02 1.16725593e+02] [ 8.54714058e-01 -2.88407761e-02 5.18297297e-01 1.32798824e+02] [-5.17349840e-01 3.45719511e-02 8.55075390e-01 4.26815147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.51071405700003 meters Centerline goodness : 0.993373 Centerline is valid? [True, True] Translation: X:116.73, Y:132.82, Z:42.66 [[-4.13082281e-02 -9.99122447e-01 6.92582196e-03 1.16728351e+02] [ 8.54548241e-01 -3.17373689e-02 5.18401431e-01 1.32821490e+02] [-5.17726699e-01 2.73326935e-02 8.55109344e-01 4.26645249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.540714057 meters Centerline goodness : 0.993432 Centerline is valid? [True, True] Translation: X:116.73, Y:132.85, Z:42.64 [[-3.33461581e-02 -9.99255097e-01 1.94238177e-02 1.16732365e+02] [ 8.53242854e-01 -1.83425133e-02 5.21191120e-01 1.32853225e+02] [-5.20446602e-01 3.39529552e-02 8.53218924e-01 4.26443783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.57071405700003 meters Centerline goodness : 0.991905 Centerline is valid? [True, True] Translation: X:116.74, Y:132.87, Z:42.63 [[-3.15133428e-02 -9.99461135e-01 9.18422019e-03 1.16735993e+02] [ 8.50458111e-01 -2.19855540e-02 5.25583140e-01 1.32871027e+02] [-5.25098002e-01 2.43736762e-02 8.50692666e-01 4.26296012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.600714057 meters Centerline goodness : 0.991110 Centerline is valid? [True, True] Translation: X:116.72, Y:132.90, Z:42.62 [[-2.96096453e-02 -9.98540344e-01 4.51713503e-02 1.16724305e+02] [ 8.49285755e-01 -1.30155642e-03 5.27931825e-01 1.32902841e+02] [-5.27102433e-01 5.39952585e-02 8.48084629e-01 4.26164748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.630714057 meters Centerline goodness : 0.992542 Centerline is valid? [True, True] Translation: X:116.74, Y:132.92, Z:42.60 [[-3.27059669e-02 -9.99427886e-01 8.61515939e-03 1.16737249e+02] [ 8.50671257e-01 -2.33108450e-02 5.25180937e-01 1.32920722e+02] [-5.24679647e-01 2.45052188e-02 8.50946980e-01 4.25964588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.660714057 meters Centerline goodness : 0.992207 Centerline is valid? [True, True] Translation: X:116.74, Y:132.95, Z:42.58 [[-3.45430255e-02 -9.99341184e-01 1.11345184e-02 1.16735781e+02] [ 8.51180593e-01 -2.35795805e-02 5.24343019e-01 1.32945961e+02] [-5.23735026e-01 2.75898802e-02 8.51434332e-01 4.25838529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.690714057 meters Centerline goodness : 0.992078 Centerline is valid? [True, True] Translation: X:116.73, Y:132.97, Z:42.57 [[-3.74593124e-02 -9.98991405e-01 2.47582758e-02 1.16731612e+02] [ 8.51399532e-01 -1.89342476e-02 5.24175859e-01 1.32973749e+02] [-5.23178398e-01 4.07144517e-02 8.51250079e-01 4.25701969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.720714057 meters Centerline goodness : 0.991727 Centerline is valid? [True, True] Translation: X:116.74, Y:132.99, Z:42.55 [[-4.08444576e-02 -9.99154784e-01 4.63116493e-03 1.16740243e+02] [ 8.52758805e-01 -3.24436837e-02 5.21296297e-01 1.32993595e+02] [-5.20705437e-01 2.52413312e-02 8.53363184e-01 4.25537617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.750714057 meters Centerline goodness : 0.992404 Centerline is valid? [True, True] Translation: X:116.73, Y:133.02, Z:42.54 [[-4.24041972e-02 -9.98922091e-01 1.88822831e-02 1.16734873e+02] [ 8.53025404e-01 -2.63587616e-02 5.21203296e-01 1.33019758e+02] [-5.20143772e-01 3.82082745e-02 8.53223643e-01 4.25409888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.780714057 meters Centerline goodness : 0.991506 Centerline is valid? [True, True] Translation: X:116.74, Y:133.04, Z:42.53 [[-4.96599315e-02 -9.98756143e-01 -4.47872425e-03 1.16743627e+02] [ 8.55298083e-01 -4.48417035e-02 5.16192224e-01 1.33038555e+02] [-5.15750988e-01 2.18034262e-02 8.56461050e-01 4.25271221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.810714057 meters Centerline goodness : 0.991550 Centerline is valid? [True, True] Translation: X:116.74, Y:133.06, Z:42.52 [[-5.20791917e-02 -9.98636329e-01 3.63861494e-03 1.16740332e+02] [ 8.55749184e-01 -4.27488719e-02 5.15621826e-01 1.33063731e+02] [-5.14763141e-01 2.99669097e-02 8.56808551e-01 4.25158842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.840714057 meters Centerline goodness : 0.991396 Centerline is valid? [True, True] Translation: X:116.74, Y:133.09, Z:42.50 [[-5.52895060e-02 -9.98456274e-01 5.30473271e-03 1.16739964e+02] [ 8.55061820e-01 -4.46043562e-02 5.16604041e-01 1.33089375e+02] [-5.15569932e-01 3.30986566e-02 8.56207992e-01 4.25029274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.870714057 meters Centerline goodness : 0.993050 Centerline is valid? [True, True] Translation: X:116.74, Y:133.12, Z:42.49 [[-5.86780450e-02 -9.98219444e-01 1.07158280e-02 1.16737654e+02] [ 8.57847584e-01 -4.49310004e-02 5.11936254e-01 1.33118383e+02] [-5.10543250e-01 3.92319657e-02 8.58956601e-01 4.24899215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.900714057 meters Centerline goodness : 0.991711 Centerline is valid? [True, True] Translation: X:116.74, Y:133.14, Z:42.48 [[-5.74441939e-02 -9.98343740e-01 3.15291092e-03 1.16739770e+02] [ 8.54707816e-01 -4.75469258e-02 5.16927305e-01 1.33137189e+02] [-5.15921228e-01 3.23892899e-02 8.56023493e-01 4.24762817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.930714057 meters Centerline goodness : 0.992065 Centerline is valid? [True, True] Translation: X:116.74, Y:133.16, Z:42.46 [[-5.70113405e-02 -9.98357593e-01 5.64122268e-03 1.16737389e+02] [ 8.54810867e-01 -4.58933050e-02 5.16906362e-01 1.33161420e+02] [-5.15798497e-01 3.42917031e-02 8.56023358e-01 4.24642585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.960714057 meters Centerline goodness : 0.992799 Centerline is valid? [True, True] Translation: X:116.74, Y:133.19, Z:42.45 [[-5.73480652e-02 -9.98349391e-01 3.11337857e-03 1.16738073e+02] [ 8.54122878e-01 -4.74481870e-02 5.17902286e-01 1.33186745e+02] [-5.16899708e-01 3.23599019e-02 8.55434117e-01 4.24475093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.990714057 meters Centerline goodness : 0.992799 Centerline is valid? [True, True] Translation: X:116.74, Y:133.21, Z:42.43 [[-5.74900813e-02 -9.98308985e-01 8.60587719e-03 1.16735952e+02] [ 8.54053954e-01 -4.47151719e-02 5.18259006e-01 1.33212351e+02] [-5.16997809e-01 3.71446358e-02 8.55180415e-01 4.24335889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.020714057 meters Centerline goodness : 0.991682 Centerline is valid? [True, True] Translation: X:116.74, Y:133.23, Z:42.42 [[-5.89552298e-02 -9.98259957e-01 1.15763667e-03 1.16737091e+02] [ 8.54164444e-01 -4.98449909e-02 5.17608519e-01 1.33233525e+02] [-5.16650156e-01 3.15045413e-02 8.55616784e-01 4.24217800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.050714057 meters Centerline goodness : 0.991971 Centerline is valid? [True, True] Translation: X:116.73, Y:133.26, Z:42.41 [[-5.96471186e-02 -9.98183269e-01 8.50780533e-03 1.16734656e+02] [ 8.53396651e-01 -4.65701949e-02 5.19177593e-01 1.33259108e+02] [-5.17838177e-01 3.82279800e-02 8.54624037e-01 4.24063608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.080714057 meters Centerline goodness : 0.993074 Centerline is valid? [True, True] Translation: X:116.72, Y:133.28, Z:42.40 [[-6.71334596e-02 -9.96875546e-01 4.16202427e-02 1.16717446e+02] [ 8.54616446e-01 -3.59256752e-02 5.18015517e-01 1.33283285e+02] [-5.14901766e-01 7.03455176e-02 8.54358051e-01 4.23951875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.110714057 meters Centerline goodness : 0.992227 Centerline is valid? [True, True] Translation: X:116.75, Y:133.30, Z:42.37 [[-6.61242142e-02 -9.97476246e-01 -2.58597553e-02 1.16748867e+02] [ 8.53265830e-01 -6.99614333e-02 5.16761862e-01 1.33299183e+02] [-5.17266867e-01 1.21052264e-02 8.55738542e-01 4.23655940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.140714057 meters Centerline goodness : 0.992249 Centerline is valid? [True, True] Translation: X:116.74, Y:133.33, Z:42.36 [[-6.91166316e-02 -9.97565312e-01 -9.29190042e-03 1.16742218e+02] [ 8.52259251e-01 -6.38852216e-02 5.19204052e-01 1.33326720e+02] [-5.18533567e-01 2.79665271e-02 8.54599797e-01 4.23552785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.170714057 meters Centerline goodness : 0.992597 Centerline is valid? [True, True] Translation: X:116.73, Y:133.35, Z:42.35 [[-7.19953923e-02 -9.97251410e-01 1.75011081e-02 1.16731487e+02] [ 8.53524425e-01 -5.25216292e-02 5.18399010e-01 1.33354738e+02] [-5.16054957e-01 5.22599633e-02 8.54959752e-01 4.23454810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.200714057 meters Centerline goodness : 0.992548 Centerline is valid? [True, True] Translation: X:116.73, Y:133.38, Z:42.33 [[-7.35108552e-02 -9.97261341e-01 8.12226680e-03 1.16734763e+02] [ 8.52941835e-01 -5.86480736e-02 5.18700906e-01 1.33376337e+02] [-5.16804006e-01 4.50579683e-02 8.54917188e-01 4.23266479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.230714057 meters Centerline goodness : 0.991849 Centerline is valid? [True, True] Translation: X:116.73, Y:133.40, Z:42.31 [[-7.41403580e-02 -9.97072317e-01 1.87083213e-02 1.16730769e+02] [ 8.53198608e-01 -5.37075560e-02 5.18813679e-01 1.33399791e+02] [-5.16289979e-01 5.44269456e-02 8.54682611e-01 4.23125072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.26071405700003 meters Centerline goodness : 0.992652 Centerline is valid? [True, True] Translation: X:116.73, Y:133.42, Z:42.29 [[-7.38827286e-02 -9.97100844e-01 1.82002757e-02 1.16730471e+02] [ 8.51307207e-01 -5.35529366e-02 5.21927315e-01 1.33423624e+02] [-5.19439488e-01 5.40554400e-02 8.52795772e-01 4.22933219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.290714057 meters Centerline goodness : 0.991671 Centerline is valid? [True, True] Translation: X:116.73, Y:133.44, Z:42.28 [[-7.50306964e-02 -9.97181222e-01 6.54530403e-05 1.16734524e+02] [ 8.51580945e-01 -6.40411742e-02 5.20296667e-01 1.33444849e+02] [-5.18825875e-01 3.90939598e-02 8.53985582e-01 4.22776390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.32071405700003 meters Centerline goodness : 0.992465 Centerline is valid? [True, True] Translation: X:116.73, Y:133.47, Z:42.26 [[-7.47212048e-02 -9.97176189e-01 7.50931910e-03 1.16730437e+02] [ 8.51249045e-01 -5.98605065e-02 5.21336536e-01 1.33470265e+02] [-5.19414868e-01 4.53471947e-02 8.53318128e-01 4.22646276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.350714057 meters Centerline goodness : 0.992506 Centerline is valid? [True, True] Translation: X:116.73, Y:133.50, Z:42.25 [[-7.30751589e-02 -9.97091996e-01 2.16234366e-02 1.16725061e+02] [ 8.50312573e-01 -5.09584478e-02 5.23805082e-01 1.33495467e+02] [-5.21179958e-01 5.66638196e-02 8.51563658e-01 4.22513675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.380714057 meters Centerline goodness : 0.992123 Centerline is valid? [True, True] Translation: X:116.73, Y:133.52, Z:42.23 [[-7.38819973e-02 -9.97208671e-01 1.07850405e-02 1.16727785e+02] [ 8.47911450e-01 -5.71205606e-02 5.27051625e-01 1.33518699e+02] [-5.24964403e-01 4.80843860e-02 8.49764831e-01 4.22314867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.410714057 meters Centerline goodness : 0.991793 Centerline is valid? [True, True] Translation: X:116.73, Y:133.54, Z:42.22 [[-7.46084118e-02 -9.97145705e-01 1.15770802e-02 1.16727034e+02] [ 8.48125704e-01 -5.73435411e-02 5.26682550e-01 1.33541418e+02] [-5.24515371e-01 4.91137679e-02 8.49983213e-01 4.22177780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.440714057 meters Centerline goodness : 0.993048 Centerline is valid? [True, True] Translation: X:116.72, Y:133.57, Z:42.20 [[-7.86713143e-02 -9.96524526e-01 2.73805164e-02 1.16721497e+02] [ 8.50590286e-01 -5.27757058e-02 5.23173863e-01 1.33572082e+02] [-5.19910559e-01 6.44483766e-02 8.51786016e-01 4.22017959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.470714057 meters Centerline goodness : 0.991681 Centerline is valid? [True, True] Translation: X:116.73, Y:133.57, Z:42.19 [[-8.03858054e-02 -9.96758140e-01 3.36636967e-03 1.16731487e+02] [ 8.49588244e-01 -6.67499251e-02 5.23205756e-01 1.33569063e+02] [-5.21284891e-01 4.49183442e-02 8.52199744e-01 4.21921734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.500714057 meters Centerline goodness : 0.993232 Centerline is valid? [True, True] Translation: X:116.73, Y:133.58, Z:42.19 [[-8.07754886e-02 -9.96696696e-01 8.42714242e-03 1.16728721e+02] [ 8.50345838e-01 -6.44990307e-02 5.22256480e-01 1.33584103e+02] [-5.19987765e-01 4.93515078e-02 8.52746828e-01 4.21853475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.530714057 meters Centerline goodness : 0.993501 Centerline is valid? [True, True] Translation: X:116.72, Y:133.61, Z:42.17 [[-8.33314635e-02 -9.96333253e-01 1.93885807e-02 1.16723576e+02] [ 8.51612950e-01 -6.10965166e-02 5.20598309e-01 1.33611207e+02] [-5.17504831e-01 5.98937854e-02 8.53581563e-01 4.21730262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.560714057 meters Centerline goodness : 0.993268 Centerline is valid? [True, True] Translation: X:116.72, Y:133.60, Z:42.18 [[-7.89271332e-02 -9.96383821e-01 3.14609254e-02 1.16720364e+02] [ 8.46242326e-01 -5.02858227e-02 5.30419892e-01 1.33597870e+02] [-5.26919760e-01 6.84880882e-02 8.47151078e-01 4.21786028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.590714057 meters Centerline goodness : 0.993041 Centerline is valid? [True, True] Translation: X:116.73, Y:133.62, Z:42.16 [[-8.24749923e-02 -9.96494514e-01 1.40199913e-02 1.16726304e+02] [ 8.47200047e-01 -6.26961886e-02 5.27561625e-01 1.33619615e+02] [-5.24833265e-01 5.53883782e-02 8.49401066e-01 4.21608521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.620714057 meters Centerline goodness : 0.993669 Centerline is valid? [True, True] Translation: X:116.73, Y:133.64, Z:42.15 [[-8.58256211e-02 -9.96283046e-01 7.35217726e-03 1.16726935e+02] [ 8.48576937e-01 -6.92305840e-02 5.24522933e-01 1.33642880e+02] [-5.22064310e-01 5.12563946e-02 8.51364574e-01 4.21492881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.650714057 meters Centerline goodness : 0.993626 Centerline is valid? [True, True] Translation: X:116.73, Y:133.65, Z:42.15 [[-8.52329602e-02 -9.96318028e-01 9.25905609e-03 1.16725581e+02] [ 8.48874998e-01 -6.77476601e-02 5.24234197e-01 1.33646777e+02] [-5.21676702e-01 5.25418136e-02 8.51523797e-01 4.21474439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.680714057 meters Centerline goodness : 0.993445 Centerline is valid? [True, True] Translation: X:116.72, Y:133.67, Z:42.14 [[-8.64155255e-02 -9.96146917e-01 1.49558483e-02 1.16722372e+02] [ 8.49926054e-01 -6.58822339e-02 5.22766902e-01 1.33672539e+02] [-5.19767313e-01 5.78865417e-02 8.52344466e-01 4.21358175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.710714057 meters Centerline goodness : 0.993068 Centerline is valid? [True, True] Translation: X:116.72, Y:133.67, Z:42.13 [[-8.53461353e-02 -9.96291379e-01 1.09327995e-02 1.16723369e+02] [ 8.49167333e-01 -6.69943788e-02 5.23857417e-01 1.33670344e+02] [-5.21182192e-01 5.39929822e-02 8.51735804e-01 4.21344241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.740714057 meters Centerline goodness : 0.993259 Centerline is valid? [True, True] Translation: X:116.72, Y:133.70, Z:42.12 [[-8.54944652e-02 -9.96233405e-01 1.44809649e-02 1.16719934e+02] [ 8.49499467e-01 -6.52921578e-02 5.23533753e-01 1.33695862e+02] [-5.20616320e-01 5.70608101e-02 8.51881865e-01 4.21224140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.770714057 meters Centerline goodness : 0.993336 Centerline is valid? [True, True] Translation: X:116.72, Y:133.70, Z:42.12 [[-8.41558669e-02 -9.96419435e-01 8.13017816e-03 1.16721580e+02] [ 8.49104324e-01 -6.74391603e-02 5.23902478e-01 1.33701363e+02] [-5.21478319e-01 5.09928367e-02 8.51739452e-01 4.21168282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.800714057 meters Centerline goodness : 0.992276 Centerline is valid? [True, True] Translation: X:116.72, Y:133.70, Z:42.11 [[-8.30449549e-02 -9.96525207e-01 6.40677037e-03 1.16722020e+02] [ 8.47983012e-01 -6.72862528e-02 5.25735077e-01 1.33702466e+02] [-5.23477169e-01 4.90924782e-02 8.50624231e-01 4.21143133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.830714057 meters Centerline goodness : 0.991634 Centerline is valid? [True, True] Translation: X:116.72, Y:133.70, Z:42.11 [[-8.15161440e-02 -9.96670492e-01 -1.74621026e-03 1.16724554e+02] [ 8.45557816e-01 -7.00841644e-02 5.29263819e-01 1.33699214e+02] [-5.27624012e-01 4.16670239e-02 8.48455515e-01 4.21131052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.860714057 meters Centerline goodness : 0.991546 Centerline is valid? [True, True] Translation: X:116.72, Y:133.70, Z:42.11 [[-8.13286320e-02 -9.96686463e-01 1.32249558e-03 1.16721893e+02] [ 8.47141297e-01 -6.84266968e-02 5.26943461e-01 1.33704915e+02] [-5.25106920e-01 4.39759314e-02 8.49899312e-01 4.21136649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.890714057 meters Centerline goodness : 0.992327 Centerline is valid? [True, True] Translation: X:116.72, Y:133.71, Z:42.11 [[-8.25736882e-02 -9.96580252e-01 3.06400893e-03 1.16720225e+02] [ 8.47474974e-01 -6.86008868e-02 5.26383974e-01 1.33712662e+02] [-5.24373679e-01 4.60621370e-02 8.50241451e-01 4.21110382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.920714057 meters Centerline goodness : 0.993307 Centerline is valid? [True, True] Translation: X:116.71, Y:133.73, Z:42.11 [[-9.02937515e-02 -9.95757628e-01 1.77139532e-02 1.16709697e+02] [ 8.49963268e-01 -6.77790161e-02 5.22463825e-01 1.33728747e+02] [-5.19046705e-01 6.22314283e-02 8.52477429e-01 4.21077058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.950714057 meters Centerline goodness : 0.991630 Centerline is valid? [True, True] Translation: X:116.73, Y:133.72, Z:42.10 [[-8.27227901e-02 -9.96375021e-01 -1.98433436e-02 1.16728717e+02] [ 8.47348219e-01 -8.08027790e-02 5.24854177e-01 1.33721514e+02] [-5.24554989e-01 2.66031801e-02 8.50960830e-01 4.20958066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.980714057 meters Centerline goodness : 0.992696 Centerline is valid? [True, True] Translation: X:116.71, Y:133.74, Z:42.10 [[-8.19738497e-02 -9.96475210e-01 1.78169710e-02 1.16713281e+02] [ 8.50667086e-01 -6.06422670e-02 5.22195389e-01 1.33738735e+02] [-5.19274298e-01 5.79626771e-02 8.52639743e-01 4.21022373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.01071405700003 meters Centerline goodness : 0.991270 Centerline is valid? [True, True] Translation: X:116.72, Y:133.76, Z:42.08 [[-8.22604023e-02 -9.96610074e-01 1.25997407e-03 1.16720537e+02] [ 8.45674383e-01 -6.91330895e-02 5.29202658e-01 1.33755521e+02] [-5.27321594e-01 4.45979514e-02 8.48494525e-01 4.20835437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.040714057 meters Centerline goodness : 0.992309 Centerline is valid? [True, True] Translation: X:116.72, Y:133.78, Z:42.07 [[-8.35100407e-02 -9.96474397e-01 8.05293452e-03 1.16718248e+02] [ 8.46267266e-01 -6.66502319e-02 5.28573043e-01 1.33780276e+02] [-5.26172774e-01 5.09560912e-02 8.48849627e-01 4.20695056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.07071405700003 meters Centerline goodness : 0.992528 Centerline is valid? [True, True] Translation: X:116.72, Y:133.80, Z:42.05 [[-8.57492348e-02 -9.96287836e-01 7.59052766e-03 1.16719575e+02] [ 8.46138541e-01 -6.87995052e-02 5.28503735e-01 1.33804297e+02] [-5.26019618e-01 5.17414288e-02 8.48897041e-01 4.20523102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.100714057 meters Centerline goodness : 0.991414 Centerline is valid? [True, True] Translation: X:116.72, Y:133.83, Z:42.04 [[-8.66739385e-02 -9.96160480e-01 1.23258101e-02 1.16718745e+02] [ 8.45857522e-01 -6.70486881e-02 5.29178161e-01 1.33829459e+02] [-5.26319942e-01 5.62918347e-02 8.48421209e-01 4.20380405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.130714057 meters Centerline goodness : 0.991515 Centerline is valid? [True, True] Translation: X:116.72, Y:133.85, Z:42.03 [[-8.85445494e-02 -9.96024631e-01 9.73640814e-03 1.16719887e+02] [ 8.47121858e-01 -7.01583048e-02 5.26746970e-01 1.33851477e+02] [-5.23969867e-01 5.48884973e-02 8.49966371e-01 4.20252478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.160714057 meters Centerline goodness : 0.992380 Centerline is valid? [True, True] Translation: X:116.72, Y:133.88, Z:42.01 [[-8.94546355e-02 -9.95792629e-01 1.98723159e-02 1.16716219e+02] [ 8.51054103e-01 -6.60570464e-02 5.20906308e-01 1.33877757e+02] [-5.17401955e-01 6.35098998e-02 8.53382511e-01 4.20104300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.190714057 meters Centerline goodness : 0.993167 Centerline is valid? [True, True] Translation: X:116.72, Y:133.90, Z:41.99 [[-9.09095447e-02 -9.95825741e-01 8.15773580e-03 1.16720898e+02] [ 8.50886538e-01 -7.34165598e-02 5.20194299e-01 1.33901619e+02] [-5.17423961e-01 5.42319345e-02 8.54008983e-01 4.19905473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.220714057 meters Centerline goodness : 0.992732 Centerline is valid? [True, True] Translation: X:116.72, Y:133.90, Z:41.99 [[-8.99579292e-02 -9.95941971e-01 2.67597235e-03 1.16723586e+02] [ 8.49035321e-01 -7.52835760e-02 5.22944937e-01 1.33901343e+02] [-5.20621355e-01 4.93150387e-02 8.52362266e-01 4.19887274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.250714057 meters Centerline goodness : 0.993085 Centerline is valid? [True, True] Translation: X:116.73, Y:133.90, Z:41.98 [[-8.89629011e-02 -9.95941615e-01 -1.36345586e-02 1.16729576e+02] [ 8.49358778e-01 -8.30052789e-02 5.21248299e-01 1.33901153e+02] [-5.20264613e-01 3.47911288e-02 8.53296144e-01 4.19828839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.280714057 meters Centerline goodness : 0.992789 Centerline is valid? [True, True] Translation: X:116.73, Y:133.91, Z:41.99 [[-8.77136576e-02 -9.96141503e-01 -2.90172869e-03 1.16725270e+02] [ 8.51388160e-01 -7.64792608e-02 5.18930750e-01 1.33910120e+02] [-5.17150379e-01 4.30468166e-02 8.54811358e-01 4.19858130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.310714057 meters Centerline goodness : 0.992543 Centerline is valid? [True, True] Translation: X:116.72, Y:133.91, Z:41.99 [[-8.34489218e-02 -9.96487777e-01 6.95618768e-03 1.16722100e+02] [ 8.52475415e-01 -6.77703981e-02 5.18355901e-01 1.33909517e+02] [-5.16063896e-01 4.91862201e-02 8.55136697e-01 4.19895995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.340714057 meters Centerline goodness : 0.993155 Centerline is valid? [True, True] Translation: X:116.73, Y:133.92, Z:41.98 [[-8.20935362e-02 -9.96623014e-01 -1.79436869e-03 1.16725433e+02] [ 8.52452389e-01 -7.11504817e-02 5.17940666e-01 1.33920935e+02] [-5.16319258e-01 4.09899670e-02 8.55414663e-01 4.19796796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.370714057 meters Centerline goodness : 0.993030 Centerline is valid? [True, True] Translation: X:116.72, Y:133.92, Z:41.98 [[-8.08704706e-02 -9.96714138e-01 4.57096804e-03 1.16723045e+02] [ 8.53590671e-01 -6.68885562e-02 5.16632256e-01 1.33922823e+02] [-5.14628928e-01 4.56820293e-02 8.56195199e-01 4.19824121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.400714057 meters Centerline goodness : 0.991545 Centerline is valid? [True, True] Translation: X:116.72, Y:133.93, Z:41.99 [[-7.90696251e-02 -9.96705711e-01 1.80477337e-02 1.16717740e+02] [ 8.54048389e-01 -5.83926693e-02 5.16905839e-01 1.33930318e+02] [-5.14149146e-01 5.62851888e-02 8.55851993e-01 4.19856907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.430714057 meters Centerline goodness : 0.991465 Centerline is valid? [True, True] Translation: X:116.72, Y:134.40, Z:41.67 [[-9.22203920e-02 -9.95736438e-01 -2.08452985e-03 1.16717739e+02] [ 8.44237844e-01 -7.92989876e-02 5.30069933e-01 1.34400191e+02] [-5.27975248e-01 4.71234180e-02 8.47951367e-01 4.16684161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.460714057 meters Centerline goodness : 0.991968 Centerline is valid? [True, True] Translation: X:116.72, Y:133.97, Z:41.95 [[-6.64165087e-02 -9.97783911e-01 4.01431447e-03 1.16719619e+02] [ 8.47458117e-01 -5.42856346e-02 5.28079359e-01 1.33973903e+02] [-5.26691168e-01 3.84751507e-02 8.49185537e-01 4.19465697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.490714057 meters Centerline goodness : 0.991679 Centerline is valid? [True, True] Translation: X:116.71, Y:134.00, Z:41.94 [[-6.49400984e-02 -9.97403386e-01 3.11330808e-02 1.16709991e+02] [ 8.48982671e-01 -3.88269427e-02 5.26992308e-01 1.34002134e+02] [-5.24415110e-01 6.06543784e-02 8.49299617e-01 4.19383582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.520714057 meters Centerline goodness : 0.992525 Centerline is valid? [True, True] Translation: X:116.72, Y:134.02, Z:41.91 [[-6.69025581e-02 -9.97745857e-01 -5.22048130e-03 1.16724090e+02] [ 8.47458285e-01 -5.95852834e-02 5.27507393e-01 1.34018987e+02] [-5.26629379e-01 3.08674539e-02 8.49534400e-01 4.19125402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.550714057 meters Centerline goodness : 0.992286 Centerline is valid? [True, True] Translation: X:116.72, Y:134.05, Z:41.90 [[-6.63727982e-02 -9.97623943e-01 1.84694170e-02 1.16715602e+02] [ 8.47968790e-01 -4.66412145e-02 5.27990084e-01 1.34047702e+02] [-5.25874114e-01 5.07056685e-02 8.49049676e-01 4.19040235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.580714057 meters Centerline goodness : 0.991621 Centerline is valid? [True, True] Translation: X:116.71, Y:134.07, Z:41.89 [[-6.46559917e-02 -9.97414127e-01 3.13793197e-02 1.16710515e+02] [ 8.46991937e-01 -3.82236959e-02 5.30229769e-01 1.34071285e+02] [-5.27659228e-01 6.08605623e-02 8.47273115e-01 4.18901560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.610714057 meters Centerline goodness : 0.990743 Centerline is valid? [True, True] Translation: X:116.72, Y:134.08, Z:41.87 [[-7.07026193e-02 -9.97412859e-01 -1.29895329e-02 1.16722104e+02] [ 8.44556299e-01 -6.67862781e-02 5.31285470e-01 1.34079660e+02] [-5.30778482e-01 2.65928825e-02 8.47093278e-01 4.18660467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.640714057 meters Centerline goodness : 0.991601 Centerline is valid? [True, True] Translation: X:116.72, Y:134.11, Z:41.85 [[-6.62405934e-02 -9.97802027e-01 -1.81648862e-03 1.16723272e+02] [ 8.45324450e-01 -5.70851741e-02 5.31194746e-01 1.34109595e+02] [-5.30130888e-01 3.36511329e-02 8.47247805e-01 4.18523680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.670714057 meters Centerline goodness : 0.992095 Centerline is valid? [True, True] Translation: X:116.72, Y:134.13, Z:41.84 [[-6.51847508e-02 -9.97872574e-01 1.12877504e-03 1.16720515e+02] [ 8.46920454e-01 -5.47257192e-02 5.28895869e-01 1.34134252e+02] [-5.27708909e-01 3.54319281e-02 8.48685976e-01 4.18400210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.700714057 meters Centerline goodness : 0.992316 Centerline is valid? [True, True] Translation: X:116.72, Y:134.16, Z:41.82 [[-6.47848851e-02 -9.97896143e-01 2.49120250e-03 1.16720091e+02] [ 8.45922944e-01 -5.35939292e-02 5.30605375e-01 1.34157739e+02] [-5.29355544e-01 3.64825736e-02 8.47615319e-01 4.18246153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.730714057 meters Centerline goodness : 0.992222 Centerline is valid? [True, True] Translation: X:116.71, Y:134.18, Z:41.82 [[-6.43604783e-02 -9.97794391e-01 1.62505849e-02 1.16714132e+02] [ 8.46006683e-01 -4.59185039e-02 5.31191286e-01 1.34183308e+02] [-5.29273484e-01 4.79358287e-02 8.47096061e-01 4.18150527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.76071405700003 meters Centerline goodness : 0.991651 Centerline is valid? [True, True] Translation: X:116.72, Y:134.20, Z:41.79 [[-6.45055750e-02 -9.97897047e-01 6.36508466e-03 1.16718706e+02] [ 8.44215255e-01 -5.11680628e-02 5.33556401e-01 1.34203866e+02] [-5.32108668e-01 3.97908640e-02 8.45740535e-01 4.17930668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.790714057 meters Centerline goodness : 0.991335 Centerline is valid? [True, True] Translation: X:116.72, Y:134.23, Z:41.78 [[-6.55666674e-02 -9.97798145e-01 9.99367185e-03 1.16718007e+02] [ 8.43629634e-01 -5.00817919e-02 5.34584750e-01 1.34227641e+02] [-5.32907171e-01 4.34818982e-02 8.45055780e-01 4.17792826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.82071405700003 meters Centerline goodness : 0.991316 Centerline is valid? [True, True] Translation: X:116.72, Y:134.25, Z:41.76 [[-6.62814626e-02 -9.97655903e-01 1.70137297e-02 1.16716644e+02] [ 8.43484506e-01 -4.69132930e-02 5.35100955e-01 1.34250682e+02] [-5.33048456e-01 4.98180913e-02 8.44616778e-01 4.17639458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.850714057 meters Centerline goodness : 0.991316 Centerline is valid? [True, True] Translation: X:116.72, Y:134.27, Z:41.75 [[-6.66868490e-02 -9.97758735e-01 5.51104056e-03 1.16721262e+02] [ 8.42871055e-01 -5.33770956e-02 5.35461736e-01 1.34271105e+02] [-5.33967461e-01 4.03533525e-02 8.44541507e-01 4.17453863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.880714057 meters Centerline goodness : 0.991463 Centerline is valid? [True, True] Translation: X:116.72, Y:134.29, Z:41.73 [[-6.83619177e-02 -9.97646696e-01 5.26472312e-03 1.16721401e+02] [ 8.42166130e-01 -5.48771398e-02 5.36418409e-01 1.34294964e+02] [-5.34867140e-01 4.11043626e-02 8.43935764e-01 4.17281765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.910714057 meters Centerline goodness : 0.991076 Centerline is valid? [True, True] Translation: X:116.72, Y:134.32, Z:41.71 [[-6.95809781e-02 -9.97483937e-01 1.35750864e-02 1.16718370e+02] [ 8.42168837e-01 -5.14418738e-02 5.36754491e-01 1.34318295e+02] [-5.34705655e-01 4.87804172e-02 8.43629263e-01 4.17132149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.940714057 meters Centerline goodness : 0.991204 Centerline is valid? [True, True] Translation: X:116.72, Y:134.34, Z:41.70 [[-6.96563343e-02 -9.97371361e-01 1.99590342e-02 1.16715472e+02] [ 8.42352532e-01 -4.80880414e-02 5.36777190e-01 1.34340462e+02] [-5.34406406e-01 5.42024744e-02 8.43487928e-01 4.17007739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.970714057 meters Centerline goodness : 0.991735 Centerline is valid? [True, True] Translation: X:116.72, Y:134.36, Z:41.68 [[-7.04590572e-02 -9.97510862e-01 -2.75717461e-03 1.16724712e+02] [ 8.40362219e-01 -6.08475993e-02 5.38599025e-01 1.34360909e+02] [-5.37426145e-01 3.56321542e-02 8.42557706e-01 4.16761711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.000714057 meters Centerline goodness : 0.992071 Centerline is valid? [True, True] Translation: X:116.72, Y:134.39, Z:41.67 [[-6.92087558e-02 -9.97420440e-01 1.90424231e-02 1.16715292e+02] [ 8.40845526e-01 -4.80513284e-02 5.39138082e-01 1.34387941e+02] [-5.36832330e-01 5.33248122e-02 8.42002087e-01 4.16654553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.030714057 meters Centerline goodness : 0.991533 Centerline is valid? [True, True] Translation: X:116.72, Y:134.41, Z:41.65 [[-6.80016438e-02 -9.97565380e-01 1.54624978e-02 1.16716805e+02] [ 8.40209157e-01 -4.89041024e-02 5.40052739e-01 1.34408408e+02] [-5.37981736e-01 4.97162063e-02 8.41489127e-01 4.16478067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.060714057 meters Centerline goodness : 0.991505 Centerline is valid? [True, True] Translation: X:116.72, Y:134.43, Z:41.63 [[-6.85486163e-02 -9.97641401e-01 3.56690747e-03 1.16719662e+02] [ 8.39726267e-01 -5.57669808e-02 5.40138723e-01 1.34431219e+02] [-5.38665837e-01 4.00209879e-02 8.41568439e-01 4.16314172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.090714057 meters Centerline goodness : 0.991655 Centerline is valid? [True, True] Translation: X:116.71, Y:134.46, Z:41.62 [[-6.72425171e-02 -9.97557521e-01 1.89059963e-02 1.16713127e+02] [ 8.39818005e-01 -4.63587370e-02 5.40885002e-01 1.34456539e+02] [-5.38687444e-01 5.22480651e-02 8.40884046e-01 4.16201087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.120714057 meters Centerline goodness : 0.990644 Centerline is valid? [True, True] Translation: X:116.72, Y:134.48, Z:41.60 [[-6.79176194e-02 -9.97688749e-01 2.08725748e-03 1.16717591e+02] [ 8.40165653e-01 -5.60657161e-02 5.39424055e-01 1.34475724e+02] [-5.38060287e-01 3.83900397e-02 8.42031670e-01 4.16046722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.150714057 meters Centerline goodness : 0.991454 Centerline is valid? [True, True] Translation: X:116.72, Y:134.50, Z:41.59 [[-6.69821460e-02 -9.97728859e-01 -7.10741187e-03 1.16719594e+02] [ 8.39402411e-01 -6.02008827e-02 5.40166129e-01 1.34499100e+02] [-5.39367208e-01 3.02155079e-02 8.41528394e-01 4.15871189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.180714057 meters Centerline goodness : 0.991353 Centerline is valid? [True, True] Translation: X:116.71, Y:134.53, Z:41.58 [[-6.54326602e-02 -9.97719045e-01 1.65913701e-02 1.16710646e+02] [ 8.39726178e-01 -4.60738178e-02 5.41051891e-01 1.34526397e+02] [-5.39053349e-01 4.93346724e-02 8.40825533e-01 4.15777567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.210714057 meters Centerline goodness : 0.990533 Centerline is valid? [True, True] Translation: X:116.72, Y:134.55, Z:41.56 [[-6.53858186e-02 -9.97859561e-01 -9.95950699e-04 1.16716144e+02] [ 8.39785179e-01 -5.55668597e-02 5.40067752e-01 1.34546809e+02] [-5.38967112e-01 3.44763874e-02 8.41620954e-01 4.15595180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.240714057 meters Centerline goodness : 0.990780 Centerline is valid? [True, True] Translation: X:116.71, Y:134.57, Z:41.54 [[-6.53938804e-02 -9.97849800e-01 4.40653424e-03 1.16714096e+02] [ 8.38829957e-01 -5.25797293e-02 5.41848388e-01 1.34571391e+02] [-5.40451611e-01 3.91299016e-02 8.40464697e-01 4.15437662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.270714057 meters Centerline goodness : 0.990113 Centerline is valid? [True, True] Translation: X:116.71, Y:134.60, Z:41.53 [[-6.53804932e-02 -9.97757083e-01 1.43595083e-02 1.16709175e+02] [ 8.40941049e-01 -4.73468222e-02 5.39051418e-01 1.34595571e+02] [-5.37162493e-01 4.73189475e-02 8.42150446e-01 4.15348970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.300714057 meters Centerline goodness : 0.990368 Centerline is valid? [True, True] Translation: X:116.71, Y:134.62, Z:41.51 [[-6.61682347e-02 -9.97805647e-01 2.37815718e-03 1.16714056e+02] [ 8.40362191e-01 -5.44422456e-02 5.39284184e-01 1.34616113e+02] [-5.37971332e-01 3.76819958e-02 8.42120486e-01 4.15145959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.330714057 meters Centerline goodness : 0.990917 Centerline is valid? [True, True] Translation: X:116.72, Y:134.64, Z:41.50 [[-6.77047009e-02 -9.97644260e-01 -1.10455450e-02 1.16718954e+02] [ 8.40308204e-01 -6.29885320e-02 5.38437153e-01 1.34638796e+02] [-5.37864478e-01 2.71730643e-02 8.42593276e-01 4.14958656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.360714057 meters Centerline goodness : 0.991100 Centerline is valid? [True, True] Translation: X:116.71, Y:134.67, Z:41.49 [[-6.78635066e-02 -9.97654332e-01 8.96537219e-03 1.16710929e+02] [ 8.41231394e-01 -5.23872477e-02 5.38131321e-01 1.34665581e+02] [-5.36399372e-01 4.40614310e-02 8.42813327e-01 4.14865799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.390714057 meters Centerline goodness : 0.989708 Centerline is valid? [True, True] Translation: X:116.71, Y:134.69, Z:41.47 [[-6.77646360e-02 -9.97597985e-01 1.43601633e-02 1.16709224e+02] [ 8.41179759e-01 -4.93879870e-02 5.38495534e-01 1.34688227e+02] [-5.36492840e-01 4.85704326e-02 8.42505991e-01 4.14737763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.420714057 meters Centerline goodness : 0.990927 Centerline is valid? [True, True] Translation: X:116.72, Y:134.71, Z:41.45 [[-6.95176277e-02 -9.97573566e-01 -3.77875484e-03 1.16715856e+02] [ 8.40652494e-01 -6.06208775e-02 5.38171436e-01 1.34709995e+02] [-5.37094670e-01 3.42357818e-02 8.42826926e-01 4.14510941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.450714057 meters Centerline goodness : 0.990271 Centerline is valid? [True, True] Translation: X:116.71, Y:134.73, Z:41.44 [[-7.05116882e-02 -9.97506242e-01 3.06583400e-03 1.16713370e+02] [ 8.40352880e-01 -5.77463594e-02 5.38954910e-01 1.34734762e+02] [-5.37433846e-01 4.05790030e-02 8.42329037e-01 4.14386688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.480714057 meters Centerline goodness : 0.989962 Centerline is valid? [True, True] Translation: X:116.71, Y:134.76, Z:41.42 [[-7.03696159e-02 -9.97517660e-01 2.57589228e-03 1.16713150e+02] [ 8.40823798e-01 -5.79258926e-02 5.38200643e-01 1.34758680e+02] [-5.36715435e-01 4.00388441e-02 8.42812810e-01 4.14241835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.51071405700003 meters Centerline goodness : 0.991101 Centerline is valid? [True, True] Translation: X:116.71, Y:134.78, Z:41.41 [[-7.07486860e-02 -9.97493987e-01 -6.07202891e-04 1.16712928e+02] [ 8.41432957e-01 -6.00067334e-02 5.37019340e-01 1.34781808e+02] [-5.35709999e-01 3.74824921e-02 8.43569713e-01 4.14108432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.540714057 meters Centerline goodness : 0.990062 Centerline is valid? [True, True] Translation: X:116.71, Y:134.81, Z:41.40 [[-6.93714809e-02 -9.97566135e-01 7.02879662e-03 1.16709542e+02] [ 8.41586605e-01 -5.47384724e-02 5.37341312e-01 1.34807035e+02] [-5.35648750e-01 4.31915036e-02 8.43335586e-01 4.13991083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.57071405700003 meters Centerline goodness : 0.989624 Centerline is valid? [True, True] Translation: X:116.71, Y:134.83, Z:41.38 [[-6.77590670e-02 -9.97696024e-01 -3.36924284e-03 1.16711905e+02] [ 8.39953745e-01 -5.88676685e-02 5.39455563e-01 1.34830205e+02] [-5.38411010e-01 3.37229975e-02 8.42007330e-01 4.13832469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.600714057 meters Centerline goodness : 0.989103 Centerline is valid? [True, True] Translation: X:116.71, Y:134.85, Z:41.38 [[-6.64869509e-02 -9.97785805e-01 1.72441769e-03 1.16708490e+02] [ 8.41576486e-01 -5.51494104e-02 5.37315141e-01 1.34854902e+02] [-5.36030319e-01 3.71756747e-02 8.43379788e-01 4.13751052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.630714057 meters Centerline goodness : 0.990464 Centerline is valid? [True, True] Translation: X:116.71, Y:134.88, Z:41.36 [[-6.51760036e-02 -9.97828044e-01 -9.55417990e-03 1.16710930e+02] [ 8.40068490e-01 -6.00338174e-02 5.39148285e-01 1.34878165e+02] [-5.38550853e-01 2.71133651e-02 8.42156662e-01 4.13569903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.660714057 meters Centerline goodness : 0.990400 Centerline is valid? [True, True] Translation: X:116.71, Y:134.90, Z:41.35 [[-6.57952850e-02 -9.97755329e-01 -1.24613120e-02 1.16710494e+02] [ 8.41359726e-01 -6.21873967e-02 5.36885965e-01 1.34903636e+02] [-5.36455769e-01 2.48401190e-02 8.43562788e-01 4.13454055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.690714057 meters Centerline goodness : 0.990889 Centerline is valid? [True, True] Translation: X:116.71, Y:134.93, Z:41.33 [[-6.53221401e-02 -9.97862924e-01 -1.61348118e-03 1.16706556e+02] [ 8.42137961e-01 -5.59953061e-02 5.36347070e-01 1.34930498e+02] [-5.35291203e-01 3.36765647e-02 8.43995982e-01 4.13334743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.720714057 meters Centerline goodness : 0.989378 Centerline is valid? [True, True] Translation: X:116.71, Y:134.95, Z:41.32 [[-6.57715645e-02 -9.97832751e-01 -1.97550943e-03 1.16707504e+02] [ 8.43588221e-01 -5.66618253e-02 5.33992838e-01 1.34954096e+02] [-5.32947478e-01 3.34550279e-02 8.45486692e-01 4.13177643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.750714057 meters Centerline goodness : 0.990095 Centerline is valid? [True, True] Translation: X:116.71, Y:134.98, Z:41.30 [[-6.61862258e-02 -9.97804805e-01 2.22605881e-03 1.16705795e+02] [ 8.43954286e-01 -5.47905787e-02 5.33609554e-01 1.34979067e+02] [-5.32316210e-01 3.71962943e-02 8.45728023e-01 4.13034031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.780714057 meters Centerline goodness : 0.990546 Centerline is valid? [True, True] Translation: X:116.71, Y:135.00, Z:41.29 [[-6.78861829e-02 -9.97682257e-01 -4.64548829e-03 1.16707532e+02] [ 8.44801855e-01 -5.99593927e-02 5.31709222e-01 1.35003171e+02] [-5.30755397e-01 3.21711924e-02 8.46914236e-01 4.12859918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.810714057 meters Centerline goodness : 0.991062 Centerline is valid? [True, True] Translation: X:116.71, Y:135.01, Z:41.28 [[-6.87013156e-02 -9.97590505e-01 -9.65994859e-03 1.16708975e+02] [ 8.46833256e-01 -6.34324534e-02 5.28062270e-01 1.35010056e+02] [-5.27402661e-01 2.80982070e-02 8.49150708e-01 4.12811458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.840714057 meters Centerline goodness : 0.990850 Centerline is valid? [True, True] Translation: X:116.70, Y:135.04, Z:41.27 [[-6.62984299e-02 -9.97510572e-01 2.40245045e-02 1.16698060e+02] [ 8.48335803e-01 -4.36754308e-02 5.27654074e-01 1.35040210e+02] [-5.25291237e-01 5.53634840e-02 8.49119545e-01 4.12738253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.870714057 meters Centerline goodness : 0.990954 Centerline is valid? [True, True] Translation: X:116.70, Y:135.06, Z:41.25 [[-6.74701116e-02 -9.97710474e-01 4.64690235e-03 1.16704429e+02] [ 8.47503940e-01 -5.48534550e-02 5.27947129e-01 1.35057762e+02] [-5.26483482e-01 3.95589198e-02 8.49264526e-01 4.12532754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.900714057 meters Centerline goodness : 0.991196 Centerline is valid? [True, True] Translation: X:116.71, Y:135.08, Z:41.23 [[-6.89080710e-02 -9.97543241e-01 -1.26158435e-02 1.16711084e+02] [ 8.44632517e-01 -6.50656273e-02 5.31377809e-01 1.35078610e+02] [-5.30893200e-01 2.59604682e-02 8.47041005e-01 4.12311733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.930714057 meters Centerline goodness : 0.990196 Centerline is valid? [True, True] Translation: X:116.70, Y:135.11, Z:41.22 [[-6.73027224e-02 -9.97664798e-01 1.16316480e-02 1.16701423e+02] [ 8.45441541e-01 -5.08353430e-02 5.31643083e-01 1.35106901e+02] [-5.29810290e-01 4.56149052e-02 8.46888621e-01 4.12231672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.960714057 meters Centerline goodness : 0.991227 Centerline is valid? [True, True] Translation: X:116.70, Y:135.13, Z:41.21 [[-6.68081728e-02 -9.97735474e-01 7.78409122e-03 1.16702084e+02] [ 8.43881854e-01 -5.23402597e-02 5.33969956e-01 1.35127373e+02] [-5.32353346e-01 4.22424104e-02 8.45467618e-01 4.12053438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.990714057 meters Centerline goodness : 0.990933 Centerline is valid? [True, True] Translation: X:116.70, Y:135.15, Z:41.19 [[-6.31320680e-02 -9.97962454e-01 9.23489381e-03 1.16700721e+02] [ 8.42336708e-01 -4.83197947e-02 5.36781210e-01 1.35150077e+02] [-5.35241265e-01 4.16669979e-02 8.43670937e-01 4.11883768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.020714057 meters Centerline goodness : 0.989617 Centerline is valid? [True, True] Translation: X:116.69, Y:135.64, Z:40.85 [[-7.40985729e-02 -9.97226559e-01 6.97078533e-03 1.16693428e+02] [ 8.31419163e-01 -5.79154086e-02 5.52619201e-01 1.35636125e+02] [-5.50682828e-01 4.67439387e-02 8.33404720e-01 4.08482005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.050714057 meters Centerline goodness : 0.987608 Centerline is valid? [True, True] Translation: X:116.69, Y:135.73, Z:40.78 [[-6.43034420e-02 -9.97911934e-01 6.06962426e-03 1.16690554e+02] [ 8.25213756e-01 -4.97530503e-02 5.62625000e-01 1.35725983e+02] [-5.61148219e-01 4.11874615e-02 8.26689948e-01 4.07782080e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.080714057 meters Centerline goodness : 0.987151 Centerline is valid? [True, True] Translation: X:116.69, Y:135.76, Z:40.75 [[-5.59584038e-02 -9.98430368e-01 2.33589830e-03 1.16690886e+02] [ 8.24661726e-01 -4.49001546e-02 5.63841301e-01 1.35756790e+02] [-5.62851396e-01 3.34779852e-02 8.25879852e-01 4.07548531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.110714057 meters Centerline goodness : 0.988863 Centerline is valid? [True, True] Translation: X:116.68, Y:135.80, Z:40.74 [[-4.93849827e-02 -9.97453712e-01 5.14511025e-02 1.16677128e+02] [ 8.26146202e-01 -1.18453618e-02 5.63331288e-01 1.35804654e+02] [-5.61287428e-01 7.03262388e-02 8.24627579e-01 4.07448508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.140714057 meters Centerline goodness : 0.988664 Centerline is valid? [True, True] Translation: X:116.69, Y:135.80, Z:40.72 [[-4.72897745e-02 -9.98877835e-01 2.59780842e-03 1.16694840e+02] [ 8.27322033e-01 -3.77102200e-02 5.60460697e-01 1.35802663e+02] [-5.59733804e-01 2.86532842e-02 8.28176949e-01 4.07242596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.170714057 meters Centerline goodness : 0.988759 Centerline is valid? [True, True] Translation: X:116.69, Y:135.81, Z:40.72 [[-4.65808263e-02 -9.98891889e-01 6.72464955e-03 1.16692953e+02] [ 8.28042218e-01 -3.48465130e-02 5.59581813e-01 1.35812876e+02] [-5.58727403e-01 3.16340770e-02 8.28747835e-01 4.07194519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.200714057 meters Centerline goodness : 0.985718 Centerline is valid? [True, True] Translation: X:116.68, Y:136.45, Z:40.29 [[-8.21026576e-02 -9.96056623e-01 -3.36207752e-02 1.16681670e+02] [ 8.41850340e-01 -8.73688486e-02 5.32592424e-01 1.36451058e+02] [-5.33429620e-01 1.54235924e-02 8.45703821e-01 4.02928078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.230714057 meters Centerline goodness : 0.988812 Centerline is valid? [True, True] Translation: X:116.69, Y:135.85, Z:40.70 [[-4.05218882e-02 -9.99137317e-01 9.08832961e-03 1.16687295e+02] [ 8.31406043e-01 -2.86715344e-02 5.54925162e-01 1.35851337e+02] [-5.54185861e-01 3.00427075e-02 8.31850628e-01 4.06966017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.26071405700003 meters Centerline goodness : 0.989649 Centerline is valid? [True, True] Translation: X:116.69, Y:135.87, Z:40.69 [[-4.36247958e-02 -9.98868705e-01 -1.89258420e-02 1.16692572e+02] [ 8.34012611e-01 -4.68411683e-02 5.49753462e-01 1.35865569e+02] [-5.50018038e-01 8.19849162e-03 8.35112533e-01 4.06868220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.290714057 meters Centerline goodness : 0.988082 Centerline is valid? [True, True] Translation: X:116.67, Y:135.90, Z:40.68 [[-4.14287445e-02 -9.98431083e-01 3.76700284e-02 1.16674216e+02] [ 8.32181141e-01 -1.36157031e-02 5.54336685e-01 1.35903235e+02] [-5.52954073e-01 5.43137601e-02 8.31439600e-01 4.06791012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.32071405700003 meters Centerline goodness : 0.988144 Centerline is valid? [True, True] Translation: X:116.68, Y:135.92, Z:40.66 [[-4.36392206e-02 -9.98855206e-01 1.95932718e-02 1.16681072e+02] [ 8.31820661e-01 -2.54654724e-02 5.54460006e-01 1.35924368e+02] [-5.53326311e-01 4.04942908e-02 8.31979691e-01 4.06565538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.350714057 meters Centerline goodness : 0.986448 Centerline is valid? [True, True] Translation: X:116.69, Y:135.93, Z:40.65 [[-5.35590785e-02 -9.98550559e-01 -5.31089140e-03 1.16691015e+02] [ 8.35617513e-01 -4.77303873e-02 5.47234121e-01 1.35925193e+02] [-5.46694428e-01 2.48714813e-02 8.36962730e-01 4.06508945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.380714057 meters Centerline goodness : 0.989494 Centerline is valid? [True, True] Translation: X:116.69, Y:135.94, Z:40.64 [[-5.15771024e-02 -9.98585572e-01 -1.29096164e-02 1.16693488e+02] [ 8.38205603e-01 -5.03136703e-02 5.43028454e-01 1.35935220e+02] [-5.42909910e-01 1.71869214e-02 8.39615054e-01 4.06424373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.410714057 meters Centerline goodness : 0.989715 Centerline is valid? [True, True] Translation: X:116.69, Y:135.95, Z:40.64 [[-5.31833012e-02 -9.98584201e-01 -1.06281239e-03 1.16688826e+02] [ 8.40753779e-01 -4.53516734e-02 5.39514883e-01 1.35951647e+02] [-5.38799239e-01 2.77996190e-02 8.41975392e-01 4.06389843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.440714057 meters Centerline goodness : 0.989216 Centerline is valid? [True, True] Translation: X:116.69, Y:135.96, Z:40.63 [[-5.40828118e-02 -9.98488795e-01 -9.75578646e-03 1.16691269e+02] [ 8.44075748e-01 -5.09345954e-02 5.33799399e-01 1.35956853e+02] [-5.33489626e-01 2.06347496e-02 8.45554863e-01 4.06348768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.470714057 meters Centerline goodness : 0.990292 Centerline is valid? [True, True] Translation: X:116.69, Y:135.97, Z:40.63 [[-5.40271927e-02 -9.98521220e-01 -6.03620426e-03 1.16689561e+02] [ 8.46945794e-01 -4.90262541e-02 5.29414062e-01 1.35968497e+02] [-5.28927108e-01 2.34904178e-02 8.48342098e-01 4.06306537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.500714057 meters Centerline goodness : 0.989872 Centerline is valid? [True, True] Translation: X:116.69, Y:135.96, Z:40.64 [[-5.04799124e-02 -9.98721802e-01 -2.55761645e-03 1.16689885e+02] [ 8.44926760e-01 -4.40715324e-02 5.33063289e-01 1.35961843e+02] [-5.32494646e-01 2.47479895e-02 8.46071503e-01 4.06373656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.530714057 meters Centerline goodness : 0.991210 Centerline is valid? [True, True] Translation: X:116.69, Y:135.97, Z:40.63 [[-5.03404411e-02 -9.98701693e-01 -7.79542171e-03 1.16692000e+02] [ 8.47311926e-01 -4.68388489e-02 5.29026108e-01 1.35971603e+02] [-5.28704398e-01 2.00262539e-02 8.48569743e-01 4.06287535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.560714057 meters Centerline goodness : 0.990660 Centerline is valid? [True, True] Translation: X:116.69, Y:135.97, Z:40.63 [[-4.92679718e-02 -9.98784822e-01 -1.24339828e-03 1.16690036e+02] [ 8.47416887e-01 -4.24601485e-02 5.29227508e-01 1.35972617e+02] [-5.28637197e-01 2.50202892e-02 8.48479050e-01 4.06331243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.590714057 meters Centerline goodness : 0.990434 Centerline is valid? [True, True] Translation: X:116.69, Y:135.99, Z:40.62 [[-4.79609456e-02 -9.98847993e-01 1.56025373e-03 1.16689688e+02] [ 8.46439049e-01 -3.98133954e-02 5.30995132e-01 1.35991007e+02] [-5.30321303e-01 2.67876884e-02 8.47373433e-01 4.06205931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.620714057 meters Centerline goodness : 0.991121 Centerline is valid? [True, True] Translation: X:116.69, Y:135.98, Z:40.63 [[-4.89766030e-02 -9.98796497e-01 -2.61740046e-03 1.16691904e+02] [ 8.47544948e-01 -4.29461190e-02 5.28983169e-01 1.35978826e+02] [-5.28458943e-01 2.36894341e-02 8.48628279e-01 4.06282498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.650714057 meters Centerline goodness : 0.990971 Centerline is valid? [True, True] Translation: X:116.69, Y:135.98, Z:40.63 [[-5.11411989e-02 -9.98661513e-01 7.73048717e-03 1.16690776e+02] [ 8.45666212e-01 -3.91861150e-02 5.32271647e-01 1.35981003e+02] [-5.31256280e-01 3.37584220e-02 8.46538324e-01 4.06288997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.680714057 meters Centerline goodness : 0.991628 Centerline is valid? [True, True] Translation: X:116.70, Y:135.99, Z:40.62 [[-5.70889990e-02 -9.98343577e-01 -7.13786931e-03 1.16698809e+02] [ 8.45998735e-01 -5.21711799e-02 5.30626336e-01 1.35988777e+02] [-5.30119785e-01 2.42542979e-02 8.47575804e-01 4.06168513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.710714057 meters Centerline goodness : 0.991815 Centerline is valid? [True, True] Translation: X:116.70, Y:136.00, Z:40.62 [[-5.89797707e-02 -9.98252798e-01 3.56895588e-03 1.16696187e+02] [ 8.44569809e-01 -4.79930979e-02 5.33290259e-01 1.35995618e+02] [-5.32187208e-01 3.44675696e-02 8.45924797e-01 4.06156594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.740714057 meters Centerline goodness : 0.991924 Centerline is valid? [True, True] Translation: X:116.70, Y:136.02, Z:40.60 [[-6.16561245e-02 -9.98059572e-01 8.69554805e-03 1.16695645e+02] [ 8.44032142e-01 -4.74868551e-02 5.34186056e-01 1.36019247e+02] [-5.32736582e-01 4.02751640e-02 8.45322214e-01 4.06010210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.770714057 meters Centerline goodness : 0.991423 Centerline is valid? [True, True] Translation: X:116.70, Y:136.04, Z:40.58 [[-6.86730564e-02 -9.97622034e-01 5.85557790e-03 1.16698322e+02] [ 8.42623951e-01 -5.48591776e-02 5.35700800e-01 1.36042831e+02] [-5.34105690e-01 4.17222615e-02 8.44387568e-01 4.05839180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.800714057 meters Centerline goodness : 0.991423 Centerline is valid? [True, True] Translation: X:116.70, Y:136.07, Z:40.57 [[-6.89997756e-02 -9.97604842e-01 4.85912647e-03 1.16698586e+02] [ 8.42384781e-01 -5.56531918e-02 5.35994966e-01 1.36065337e+02] [-5.34440747e-01 4.10767865e-02 8.44207194e-01 4.05685654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.830714057 meters Centerline goodness : 0.991524 Centerline is valid? [True, True] Translation: X:116.70, Y:136.09, Z:40.55 [[-6.97634012e-02 -9.97534702e-01 7.58860948e-03 1.16698176e+02] [ 8.41836815e-01 -5.47898145e-02 5.36943994e-01 1.36088146e+02] [-5.35204488e-01 4.38474101e-02 8.43583760e-01 4.05535837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.860714057 meters Centerline goodness : 0.991740 Centerline is valid? [True, True] Translation: X:116.70, Y:136.11, Z:40.54 [[-7.22545705e-02 -9.97384727e-01 1.72714203e-03 1.16701841e+02] [ 8.40576975e-01 -5.99625171e-02 5.38363117e-01 1.36110502e+02] [-5.36851587e-01 4.03509916e-02 8.42711203e-01 4.05353072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.890714057 meters Centerline goodness : 0.991821 Centerline is valid? [True, True] Translation: X:116.70, Y:136.11, Z:40.54 [[-7.01543239e-02 -9.97482129e-01 1.03813500e-02 1.16699425e+02] [ 8.39462323e-01 -5.34123021e-02 5.40786589e-01 1.36107308e+02] [-5.38870466e-01 4.66532696e-02 8.41095769e-01 4.05397620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.920714057 meters Centerline goodness : 0.991029 Centerline is valid? [True, True] Translation: X:116.70, Y:136.13, Z:40.52 [[-6.99727547e-02 -9.97543636e-01 3.24148930e-03 1.16701920e+02] [ 8.39065996e-01 -5.70982866e-02 5.41024990e-01 1.36127931e+02] [-5.39510952e-01 4.05768323e-02 8.41000270e-01 4.05231565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.950714057 meters Centerline goodness : 0.992079 Centerline is valid? [True, True] Translation: X:116.70, Y:136.16, Z:40.51 [[-6.70642539e-02 -9.97587571e-01 1.79283238e-02 1.16697084e+02] [ 8.37392833e-01 -4.65072074e-02 5.44619430e-01 1.36155084e+02] [-5.42471778e-01 5.15375455e-02 8.38491653e-01 4.05068244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.980714057 meters Centerline goodness : 0.992969 Centerline is valid? [True, True] Translation: X:116.70, Y:136.16, Z:40.50 [[-6.54745081e-02 -9.97842461e-01 4.84898903e-03 1.16701993e+02] [ 8.36949393e-01 -5.22699997e-02 5.44778451e-01 1.36161256e+02] [-5.43349614e-01 3.97274596e-02 8.38565994e-01 4.04975528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.01071405700003 meters Centerline goodness : 0.992067 Centerline is valid? [True, True] Translation: X:116.70, Y:136.16, Z:40.50 [[-6.03558381e-02 -9.98146142e-01 7.83915023e-03 1.16702105e+02] [ 8.35412900e-01 -4.62144026e-02 5.47676469e-01 1.36156238e+02] [-5.46298873e-01 3.96043995e-02 8.36653472e-01 4.04992100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.040714057 meters Centerline goodness : 0.991628 Centerline is valid? [True, True] Translation: X:116.70, Y:136.18, Z:40.49 [[-5.99006476e-02 -9.98186382e-01 5.98826138e-03 1.16701951e+02] [ 8.36821157e-01 -4.69449128e-02 5.45459922e-01 1.36178397e+02] [-5.44189548e-01 3.76845064e-02 8.38115514e-01 4.04877360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.07071405700003 meters Centerline goodness : 0.991421 Centerline is valid? [True, True] Translation: X:116.70, Y:136.20, Z:40.47 [[-5.84806208e-02 -9.98235204e-01 1.03196345e-02 1.16700601e+02] [ 8.36931705e-01 -4.33906275e-02 5.45584618e-01 1.36203771e+02] [-5.44173997e-01 4.05429564e-02 8.37992202e-01 4.04717610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.100714057 meters Centerline goodness : 0.991668 Centerline is valid? [True, True] Translation: X:116.70, Y:136.23, Z:40.45 [[-5.40340651e-02 -9.98490047e-01 9.89674181e-03 1.16700679e+02] [ 8.36049230e-01 -3.98196928e-02 5.47207526e-01 1.36227986e+02] [-5.45987183e-01 3.78420105e-02 8.36938455e-01 4.04545317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.130714057 meters Centerline goodness : 0.990706 Centerline is valid? [True, True] Translation: X:116.70, Y:136.24, Z:40.45 [[-5.01730753e-02 -9.98700780e-01 8.91143962e-03 1.16700822e+02] [ 8.34529095e-01 -3.70202032e-02 5.49718741e-01 1.36236182e+02] [-5.48674633e-01 3.50179355e-02 8.35302276e-01 4.04477169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.160714057 meters Centerline goodness : 0.991120 Centerline is valid? [True, True] Translation: X:116.70, Y:136.26, Z:40.43 [[-4.26240953e-02 -9.98976074e-01 1.51654057e-02 1.16697668e+02] [ 8.33799066e-01 -2.72056237e-02 5.51397291e-01 1.36260407e+02] [-5.50420117e-01 3.61477117e-02 8.34104932e-01 4.04334180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.190714057 meters Centerline goodness : 0.990631 Centerline is valid? [True, True] Translation: X:116.70, Y:136.28, Z:40.42 [[-4.02409187e-02 -9.99164632e-01 7.12080782e-03 1.16699843e+02] [ 8.34106659e-01 -2.96678268e-02 5.50804777e-01 1.36283173e+02] [-5.50133393e-01 2.81044035e-02 8.34603734e-01 4.04170021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.220714057 meters Centerline goodness : 0.990124 Centerline is valid? [True, True] Translation: X:116.70, Y:136.31, Z:40.40 [[-3.52176355e-02 -9.99280740e-01 1.40612945e-02 1.16698179e+02] [ 8.33159090e-01 -2.15869808e-02 5.52611919e-01 1.36307769e+02] [-5.51910907e-01 3.11769805e-02 8.33320075e-01 4.04006390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.250714057 meters Centerline goodness : 0.990488 Centerline is valid? [True, True] Translation: X:116.70, Y:136.31, Z:40.40 [[-3.37229833e-02 -9.99430165e-01 -1.45143774e-03 1.16703966e+02] [ 8.35346965e-01 -2.89836867e-02 5.48958462e-01 1.36307811e+02] [-5.48687714e-01 1.73000629e-02 8.35848371e-01 4.03960792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.280714057 meters Centerline goodness : 0.991503 Centerline is valid? [True, True] Translation: X:116.70, Y:136.31, Z:40.40 [[-3.10108900e-02 -9.99508023e-01 4.69431960e-03 1.16702171e+02] [ 8.35597771e-01 -2.33476614e-02 5.48845381e-01 1.36312006e+02] [-5.48465761e-01 2.09427467e-02 8.35910707e-01 4.03960270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.310714057 meters Centerline goodness : 0.991432 Centerline is valid? [True, True] Translation: X:116.70, Y:136.34, Z:40.38 [[-2.80830600e-02 -9.99312885e-01 2.41888243e-02 1.16695744e+02] [ 8.36034040e-01 -1.02158487e-02 5.48582465e-01 1.36339948e+02] [-5.47958416e-01 3.56285548e-02 8.35746481e-01 4.03831032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.340714057 meters Centerline goodness : 0.991216 Centerline is valid? [True, True] Translation: X:116.71, Y:136.34, Z:40.37 [[-2.95706194e-02 -9.99549922e-01 -5.05286010e-03 1.16706600e+02] [ 8.39787591e-01 -2.75851855e-02 5.42213851e-01 1.36344793e+02] [-5.42109197e-01 1.17902702e-02 8.40225332e-01 4.03711154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.370714057 meters Centerline goodness : 0.990329 Centerline is valid? [True, True] Translation: X:116.71, Y:136.35, Z:40.37 [[-2.71469918e-02 -9.99578551e-01 -1.02840508e-02 1.16710410e+02] [ 8.42310030e-01 -2.84134858e-02 5.38243892e-01 1.36349544e+02] [-5.38309255e-01 5.94934341e-03 8.42726380e-01 4.03690529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.400714057 meters Centerline goodness : 0.990569 Centerline is valid? [True, True] Translation: X:116.71, Y:136.36, Z:40.37 [[-2.56067478e-02 -9.99671874e-01 -6.62818597e-04 1.16706711e+02] [ 8.43317758e-01 -2.19577414e-02 5.36966495e-01 1.36357620e+02] [-5.36804856e-01 1.31909989e-02 8.43603310e-01 4.03689341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.430714057 meters Centerline goodness : 0.989943 Centerline is valid? [True, True] Translation: X:116.71, Y:136.36, Z:40.37 [[-2.20653698e-02 -9.99750726e-01 3.40652271e-03 1.16707639e+02] [ 8.41536286e-01 -1.67336581e-02 5.39941353e-01 1.36361587e+02] [-5.39749757e-01 1.47807181e-02 8.41695747e-01 4.03678901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.460714057 meters Centerline goodness : 0.990425 Centerline is valid? [True, True] Translation: X:116.71, Y:136.37, Z:40.36 [[-1.94098150e-02 -9.99811292e-01 7.99771035e-04 1.16708878e+02] [ 8.41183709e-01 -1.58979314e-02 5.40515701e-01 1.36365638e+02] [-5.40400987e-01 1.11640641e-02 8.41333547e-01 4.03648839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.490714057 meters Centerline goodness : 0.989062 Centerline is valid? [True, True] Translation: X:116.71, Y:136.37, Z:40.37 [[-1.63537644e-02 -9.99792152e-01 1.21740010e-02 1.16708559e+02] [ 8.39448790e-01 -7.11436888e-03 5.43392229e-01 1.36365403e+02] [-5.43192676e-01 1.91059589e-02 8.39390659e-01 4.03669742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.520714057 meters Centerline goodness : 0.990502 Centerline is valid? [True, True] Translation: X:116.72, Y:136.38, Z:40.35 [[-1.35856058e-02 -9.99872144e-01 -8.43373981e-03 1.16716384e+02] [ 8.41904827e-01 -1.59888988e-02 5.39389115e-01 1.36376757e+02] [-5.39454997e-01 2.27521618e-04 8.42014403e-01 4.03527253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.550714057 meters Centerline goodness : 0.990299 Centerline is valid? [True, True] Translation: X:116.71, Y:136.38, Z:40.36 [[-1.01810256e-02 -9.99937012e-01 4.72429735e-03 1.16713520e+02] [ 8.42434096e-01 -6.03193400e-03 5.38765636e-01 1.36377763e+02] [-5.38703203e-01 9.46509592e-03 8.42442444e-01 4.03570596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.580714057 meters Centerline goodness : 0.990807 Centerline is valid? [True, True] Translation: X:116.72, Y:136.40, Z:40.34 [[-7.98749936e-03 -9.99960839e-01 3.81068687e-03 1.16718595e+02] [ 8.42482206e-01 -4.67667745e-03 5.38703872e-01 1.36400451e+02] [-5.38664954e-01 7.51333271e-03 8.42486568e-01 4.03411313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.610714057 meters Centerline goodness : 0.991172 Centerline is valid? [True, True] Translation: X:116.72, Y:136.40, Z:40.34 [[-6.19967741e-03 -9.99980684e-01 4.41985233e-04 1.16721970e+02] [ 8.43588356e-01 -4.99274055e-03 5.36967186e-01 1.36403133e+02] [-5.36954607e-01 3.70187693e-03 8.43603015e-01 4.03389661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.640714057 meters Centerline goodness : 0.990869 Centerline is valid? [True, True] Translation: X:116.73, Y:136.42, Z:40.33 [[-6.82214919e-03 -9.99939109e-01 -8.67385666e-03 1.16729234e+02] [ 8.45158751e-01 -1.04018642e-02 5.34414153e-01 1.36424551e+02] [-5.34471836e-01 -3.68493277e-03 8.45178252e-01 4.03292346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.670714057 meters Centerline goodness : 0.989686 Centerline is valid? [True, True] Translation: X:116.73, Y:136.45, Z:40.32 [[-8.18019565e-03 -9.99964860e-01 1.83376020e-03 1.16729534e+02] [ 8.44471260e-01 -5.92604493e-03 5.35568084e-01 1.36449909e+02] [-5.35538398e-01 5.92960950e-03 8.44490062e-01 4.03171576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.700714057 meters Centerline goodness : 0.990070 Centerline is valid? [True, True] Translation: X:116.73, Y:136.47, Z:40.30 [[-8.00039910e-03 -9.99963924e-01 2.85381040e-03 1.16732208e+02] [ 8.44717797e-01 -5.23094771e-03 5.35186398e-01 1.36473012e+02] [-5.35152162e-01 6.69236921e-03 8.44729173e-01 4.03032267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.730714057 meters Centerline goodness : 0.989620 Centerline is valid? [True, True] Translation: X:116.74, Y:136.50, Z:40.28 [[-1.10432860e-02 -9.99905921e-01 -8.13607394e-03 1.16743176e+02] [ 8.44364759e-01 -1.36834812e-02 5.35593984e-01 1.36495261e+02] [-5.35654926e-01 -9.55096535e-04 8.44436432e-01 4.02844995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.76071405700003 meters Centerline goodness : 0.990420 Centerline is valid? [True, True] Translation: X:116.74, Y:136.47, Z:40.30 [[-5.78834402e-03 -9.99841996e-01 1.68070858e-02 1.16742987e+02] [ 8.37607131e-01 4.33329635e-03 5.46255907e-01 1.36473279e+02] [-5.46242427e-01 1.72396520e-02 8.37449703e-01 4.03003242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.790714057 meters Centerline goodness : 0.989765 Centerline is valid? [True, True] Translation: X:116.75, Y:136.49, Z:40.29 [[-1.02210729e-02 -9.99942625e-01 -3.20571127e-03 1.16753716e+02] [ 8.39568731e-01 -1.03230849e-02 5.43155392e-01 1.36493274e+02] [-5.43157321e-01 2.86021593e-03 8.39626074e-01 4.02873639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.82071405700003 meters Centerline goodness : 0.989964 Centerline is valid? [True, True] Translation: X:116.75, Y:136.52, Z:40.27 [[-1.17029275e-02 -9.99780896e-01 1.73551415e-02 1.16750942e+02] [ 8.39450013e-01 -3.92686664e-04 5.43436769e-01 1.36519432e+02] [-5.43310885e-01 2.09285748e-02 8.39270682e-01 4.02748150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.850714057 meters Centerline goodness : 0.990312 Centerline is valid? [True, True] Translation: X:116.76, Y:136.54, Z:40.25 [[-1.63300291e-02 -9.99845959e-01 -6.43343565e-03 1.16764123e+02] [ 8.38798150e-01 -1.72011353e-02 5.44170730e-01 1.36539996e+02] [-5.44197568e-01 3.48996995e-03 8.38949836e-01 4.02543543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.880714057 meters Centerline goodness : 0.990619 Centerline is valid? [True, True] Translation: X:116.76, Y:136.57, Z:40.24 [[-1.99471559e-02 -9.99494888e-01 2.47402495e-02 1.16762793e+02] [ 8.36876424e-01 -3.15251020e-03 5.47382784e-01 1.36566641e+02] [-5.47028301e-01 3.16232613e-02 8.36516591e-01 4.02406240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.910714057 meters Centerline goodness : 0.990185 Centerline is valid? [True, True] Translation: X:116.78, Y:136.59, Z:40.22 [[-2.79730189e-02 -9.99598179e-01 4.58148717e-03 1.16778796e+02] [ 8.36703348e-01 -2.09062673e-02 5.47257194e-01 1.36586729e+02] [-5.46941513e-01 1.91417815e-02 8.36951954e-01 4.02206320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.940714057 meters Centerline goodness : 0.990175 Centerline is valid? [True, True] Translation: X:116.78, Y:136.61, Z:40.21 [[-3.01184136e-02 -9.99500883e-01 9.53233067e-03 1.16779764e+02] [ 8.37770819e-01 -2.00409753e-02 5.45654116e-01 1.36609494e+02] [-5.45190733e-01 2.44201448e-02 8.37956276e-01 4.02071884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.970714057 meters Centerline goodness : 0.990472 Centerline is valid? [True, True] Translation: X:116.78, Y:136.63, Z:40.19 [[-3.24790044e-02 -9.99386458e-01 1.31080935e-02 1.16782327e+02] [ 8.36357830e-01 -1.99954738e-02 5.47819096e-01 1.36634385e+02] [-5.47220883e-01 2.87556754e-02 8.36494122e-01 4.01875706e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.000714057 meters Centerline goodness : 0.990328 Centerline is valid? [True, True] Translation: X:116.79, Y:136.65, Z:40.18 [[-3.78691057e-02 -9.99202752e-01 -1.26408617e-02 1.16794240e+02] [ 8.40075712e-01 -3.86835767e-02 5.41088144e-01 1.36653951e+02] [-5.41145756e-01 9.87124320e-03 8.40870875e-01 4.01778713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.030714057 meters Centerline goodness : 0.990170 Centerline is valid? [True, True] Translation: X:116.79, Y:136.68, Z:40.16 [[-3.95592716e-02 -9.99092216e-01 1.58053096e-02 1.16787316e+02] [ 8.38044743e-01 -2.45600754e-02 5.45048449e-01 1.36682525e+02] [-5.44165483e-01 3.48072762e-02 8.38255558e-01 4.01610547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.060714057 meters Centerline goodness : 0.990845 Centerline is valid? [True, True] Translation: X:116.79, Y:136.71, Z:40.14 [[-4.10266981e-02 -9.98512669e-01 3.59062761e-02 1.16785611e+02] [ 8.35848260e-01 -1.46096762e-02 5.48766110e-01 1.36708712e+02] [-5.47425334e-01 5.25262599e-02 8.35204464e-01 4.01383740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.090714057 meters Centerline goodness : 0.989784 Centerline is valid? [True, True] Translation: X:116.80, Y:136.72, Z:40.13 [[-4.36568128e-02 -9.99039353e-01 -3.80172651e-03 1.16799365e+02] [ 8.39294775e-01 -3.87398061e-02 5.42294670e-01 1.36721098e+02] [-5.41920994e-01 2.04840877e-02 8.40179765e-01 4.01266886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.120714057 meters Centerline goodness : 0.990658 Centerline is valid? [True, True] Translation: X:116.79, Y:136.75, Z:40.11 [[-4.39307921e-02 -9.98850940e-01 1.91542723e-02 1.16794301e+02] [ 8.34588842e-01 -2.61545229e-02 5.50252129e-01 1.36752348e+02] [-5.49118885e-01 4.01589538e-02 8.34778838e-01 4.01052748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.150714057 meters Centerline goodness : 0.990162 Centerline is valid? [True, True] Translation: X:116.81, Y:136.77, Z:40.09 [[-4.78027877e-02 -9.98823329e-01 -8.17621271e-03 1.16805166e+02] [ 8.35867953e-01 -4.44825723e-02 5.47125274e-01 1.36772999e+02] [-5.46845187e-01 1.93198791e-02 8.37010803e-01 4.00935317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.180714057 meters Centerline goodness : 0.991344 Centerline is valid? [True, True] Translation: X:116.79, Y:136.79, Z:40.09 [[-5.36541469e-02 -9.98447785e-01 1.49416825e-02 1.16789892e+02] [ 8.35109501e-01 -3.66630963e-02 5.48860583e-01 1.36793575e+02] [-5.47460825e-01 4.19265873e-02 8.35780358e-01 4.00852368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.210714057 meters Centerline goodness : 0.990357 Centerline is valid? [True, True] Translation: X:116.80, Y:136.82, Z:40.06 [[-4.64443707e-02 -9.98824344e-01 1.38870472e-02 1.16798691e+02] [ 8.35793230e-01 -3.12423704e-02 5.48154715e-01 1.36820504e+02] [-5.47076409e-01 3.70654008e-02 8.36261657e-01 4.00632713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.240714057 meters Centerline goodness : 0.991095 Centerline is valid? [True, True] Translation: X:116.81, Y:136.84, Z:40.05 [[-4.79231539e-02 -9.98823112e-01 -7.46740004e-03 1.16806571e+02] [ 8.34386289e-01 -4.41410341e-02 5.49409766e-01 1.36841791e+02] [-5.49092791e-01 2.00987526e-02 8.35519687e-01 4.00455267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.270714057 meters Centerline goodness : 0.990296 Centerline is valid? [True, True] Translation: X:116.80, Y:136.83, Z:40.05 [[-4.28894621e-02 -9.98853281e-01 2.12747852e-02 1.16797406e+02] [ 8.28778191e-01 -2.36787809e-02 5.59076046e-01 1.36834440e+02] [-5.57931182e-01 4.16105489e-02 8.28843386e-01 4.00520134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.300714057 meters Centerline goodness : 0.991080 Centerline is valid? [True, True] Translation: X:116.80, Y:136.86, Z:40.04 [[-4.37029573e-02 -9.98988798e-01 1.05561398e-02 1.16801532e+02] [ 8.28737845e-01 -3.03500719e-02 5.58813437e-01 1.36856746e+02] [-5.57927984e-01 3.31700723e-02 8.29226212e-01 4.00354808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.330714057 meters Centerline goodness : 0.991138 Centerline is valid? [True, True] Translation: X:116.80, Y:136.88, Z:40.02 [[-4.55082248e-02 -9.98909600e-01 1.04217679e-02 1.16801252e+02] [ 8.29291357e-01 -3.19601040e-02 5.57901781e-01 1.36879441e+02] [-5.56960364e-01 3.40318017e-02 8.29841545e-01 4.00216582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.360714057 meters Centerline goodness : 0.990961 Centerline is valid? [True, True] Translation: X:116.80, Y:136.90, Z:40.01 [[-4.77411793e-02 -9.98832978e-01 7.31176460e-03 1.16802860e+02] [ 8.27289747e-01 -3.54377556e-02 5.60656615e-01 1.36902451e+02] [-5.59743204e-01 3.28153559e-02 8.28016122e-01 4.00063591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.390714057 meters Centerline goodness : 0.991393 Centerline is valid? [True, True] Translation: X:116.80, Y:136.93, Z:39.99 [[-5.35100125e-02 -9.98459368e-01 1.46823029e-02 1.16800305e+02] [ 8.29816559e-01 -3.62834736e-02 5.56855447e-01 1.36927686e+02] [-5.55464812e-01 4.19809599e-02 8.30479645e-01 3.99944506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.420714057 meters Centerline goodness : 0.992113 Centerline is valid? [True, True] Translation: X:116.80, Y:136.95, Z:39.98 [[-5.67563576e-02 -9.98349903e-01 8.72853738e-03 1.16802248e+02] [ 8.30627854e-01 -4.23671166e-02 5.55213829e-01 1.36949770e+02] [-5.53927870e-01 3.87620809e-02 8.31661840e-01 3.99762587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.450714057 meters Centerline goodness : 0.991029 Centerline is valid? [True, True] Translation: X:116.80, Y:136.97, Z:39.96 [[-6.05041743e-02 -9.98097707e-01 1.18411630e-02 1.16800058e+02] [ 8.30235624e-01 -4.37358544e-02 5.55694146e-01 1.36972914e+02] [-5.54119169e-01 4.34527708e-02 8.31302474e-01 3.99636817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.480714057 meters Centerline goodness : 0.991709 Centerline is valid? [True, True] Translation: X:116.80, Y:137.00, Z:39.94 [[-6.61433647e-02 -9.97763582e-01 9.63795368e-03 1.16800669e+02] [ 8.29724303e-01 -4.96334191e-02 5.55962323e-01 1.36997032e+02] [-5.54240595e-01 4.47700631e-02 8.31151614e-01 3.99430508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.51071405700003 meters Centerline goodness : 0.991834 Centerline is valid? [True, True] Translation: X:116.80, Y:136.99, Z:39.95 [[-6.73891539e-02 -9.97685117e-01 9.11638390e-03 1.16800381e+02] [ 8.28667760e-01 -5.08793116e-02 5.57423573e-01 1.36993006e+02] [-5.55669367e-01 4.51187564e-02 8.30178205e-01 3.99470652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.540714057 meters Centerline goodness : 0.991915 Centerline is valid? [True, True] Translation: X:116.80, Y:136.99, Z:39.95 [[-6.99072479e-02 -9.97480154e-01 1.20962371e-02 1.16798933e+02] [ 8.28694368e-01 -5.13192980e-02 5.57343678e-01 1.36993559e+02] [-5.55318487e-01 4.89864462e-02 8.30193776e-01 3.99453791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.57071405700003 meters Centerline goodness : 0.991609 Centerline is valid? [True, True] Translation: X:116.80, Y:137.02, Z:39.94 [[-7.39010886e-02 -9.97226638e-01 8.81258256e-03 1.16796979e+02] [ 8.29701412e-01 -5.65788359e-02 5.55332696e-01 1.37016426e+02] [-5.53293951e-01 4.83515029e-02 8.31581587e-01 3.99374318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.600714057 meters Centerline goodness : 0.992161 Centerline is valid? [True, True] Translation: X:116.80, Y:137.04, Z:39.93 [[-7.79589357e-02 -9.96953202e-01 2.59186735e-03 1.16796251e+02] [ 8.30961075e-01 -6.35419416e-02 5.52689889e-01 1.37038303e+02] [-5.50841262e-01 4.52408564e-02 8.33382967e-01 3.99254652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.630714057 meters Centerline goodness : 0.991621 Centerline is valid? [True, True] Translation: X:116.79, Y:137.06, Z:39.91 [[-7.86771956e-02 -9.96877754e-01 6.68145029e-03 1.16793077e+02] [ 8.30232613e-01 -6.18119806e-02 5.53979320e-01 1.37062310e+02] [-5.51836667e-01 4.91326973e-02 8.32503616e-01 3.99125581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.660714057 meters Centerline goodness : 0.991621 Centerline is valid? [True, True] Translation: X:116.79, Y:137.09, Z:39.90 [[-7.91100010e-02 -9.96843121e-01 6.73790224e-03 1.16792912e+02] [ 8.29910974e-01 -6.21146701e-02 5.54427221e-01 1.37085501e+02] [-5.52258439e-01 4.94525970e-02 8.32204937e-01 3.98965768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.690714057 meters Centerline goodness : 0.991830 Centerline is valid? [True, True] Translation: X:116.79, Y:137.06, Z:39.91 [[-7.27852829e-02 -9.97241675e-01 1.45377034e-02 1.16789765e+02] [ 8.26702088e-01 -5.21713991e-02 5.60215853e-01 1.37060974e+02] [-5.57912143e-01 5.27938191e-02 8.28219085e-01 3.99107662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.720714057 meters Centerline goodness : 0.992287 Centerline is valid? [True, True] Translation: X:116.79, Y:137.08, Z:39.90 [[-7.27928243e-02 -9.97280167e-01 1.15530385e-02 1.16787963e+02] [ 8.26598637e-01 -5.38447684e-02 5.60210170e-01 1.37082857e+02] [-5.58064422e-01 5.03290064e-02 8.28269939e-01 3.98959495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.750714057 meters Centerline goodness : 0.991113 Centerline is valid? [True, True] Translation: X:116.78, Y:137.11, Z:39.89 [[-7.11484658e-02 -9.97230076e-01 2.16811414e-02 1.16782410e+02] [ 8.28375095e-01 -4.69652607e-02 5.58201546e-01 1.37106512e+02] [-5.55637110e-01 5.76753012e-02 8.29422065e-01 3.98854468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.780714057 meters Centerline goodness : 0.991829 Centerline is valid? [True, True] Translation: X:116.79, Y:137.13, Z:39.86 [[-6.92792861e-02 -9.97575029e-01 6.66654497e-03 1.16786485e+02] [ 8.26521598e-01 -5.36553940e-02 5.60341990e-01 1.37125937e+02] [-5.58625481e-01 4.43301365e-02 8.28234515e-01 3.98641771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.810714057 meters Centerline goodness : 0.992102 Centerline is valid? [True, True] Translation: X:116.79, Y:137.15, Z:39.85 [[-6.83146750e-02 -9.97662942e-01 1.32659062e-03 1.16786133e+02] [ 8.27728365e-01 -5.59360393e-02 5.58334052e-01 1.37150457e+02] [-5.56954989e-01 3.92404660e-02 8.29615168e-01 3.98507838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.840714057 meters Centerline goodness : 0.991941 Centerline is valid? [True, True] Translation: X:116.77, Y:137.18, Z:39.83 [[-6.11324744e-02 -9.97790172e-01 2.60306277e-02 1.16774347e+02] [ 8.26482809e-01 -3.59801563e-02 5.61810996e-01 1.37175842e+02] [-5.59632904e-01 5.58587626e-02 8.26855980e-01 3.98334801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.870714057 meters Centerline goodness : 0.992420 Centerline is valid? [True, True] Translation: X:116.78, Y:137.20, Z:39.81 [[-5.72020627e-02 -9.98198035e-01 1.81275449e-02 1.16776212e+02] [ 8.25162315e-01 -3.70496247e-02 5.63679413e-01 1.37198635e+02] [-5.61992063e-01 4.72017920e-02 8.25794715e-01 3.98134402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.900714057 meters Centerline goodness : 0.992184 Centerline is valid? [True, True] Translation: X:116.77, Y:137.22, Z:39.80 [[-4.90186657e-02 -9.98744292e-01 1.03445210e-02 1.16774852e+02] [ 8.24452461e-01 -3.46136971e-02 5.64871695e-01 1.37219913e+02] [-5.63804320e-01 3.62178226e-02 8.25113906e-01 3.97973947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.930714057 meters Centerline goodness : 0.992212 Centerline is valid? [True, True] Translation: X:116.77, Y:137.25, Z:39.78 [[-4.28962339e-02 -9.98826279e-01 2.24939245e-02 1.16768806e+02] [ 8.24062584e-01 -2.26431607e-02 5.66046063e-01 1.37245368e+02] [-5.64872350e-01 4.28176458e-02 8.24066671e-01 3.97803834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.960714057 meters Centerline goodness : 0.991083 Centerline is valid? [True, True] Translation: X:116.77, Y:137.27, Z:39.77 [[-3.45909912e-02 -9.99232914e-01 1.83588618e-02 1.16766309e+02] [ 8.23776610e-01 -1.81065429e-02 5.66625317e-01 1.37267895e+02] [-5.65858251e-01 3.47237322e-02 8.23771026e-01 3.97651605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.990714057 meters Centerline goodness : 0.990899 Centerline is valid? [True, True] Translation: X:116.77, Y:137.29, Z:39.75 [[-3.16653470e-02 -9.99496515e-01 2.00578455e-03 1.16770964e+02] [ 8.22514172e-01 -2.49180588e-02 5.68198494e-01 1.37287874e+02] [-5.67862434e-01 1.96419887e-02 8.22889087e-01 3.97469653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.020714057 meters Centerline goodness : 0.992373 Centerline is valid? [True, True] Translation: X:116.76, Y:137.31, Z:39.73 [[-3.95789710e-02 -9.99205292e-01 -4.72122832e-03 1.16763006e+02] [ 8.26093816e-01 -3.53793771e-02 5.62420934e-01 1.37309436e+02] [-5.62141007e-01 1.83598643e-02 8.26837592e-01 3.97338012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.050714057 meters Centerline goodness : 0.990480 Centerline is valid? [True, True] Translation: X:116.77, Y:137.29, Z:39.74 [[-2.51127577e-02 -9.99681537e-01 2.48483283e-03 1.16767174e+02] [ 8.24117064e-01 -1.92953560e-02 5.66090766e-01 1.37294932e+02] [-5.65862541e-01 1.62638933e-02 8.24339172e-01 3.97438773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.080714057 meters Centerline goodness : 0.990258 Centerline is valid? [True, True] Translation: X:116.77, Y:137.32, Z:39.73 [[-2.55403528e-02 -9.99665626e-01 4.04051428e-03 1.16767175e+02] [ 8.24319186e-01 -1.87735008e-02 5.65813958e-01 1.37319250e+02] [-5.65548910e-01 1.77817616e-02 8.24523038e-01 3.97296932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.110714057 meters Centerline goodness : 0.991188 Centerline is valid? [True, True] Translation: X:116.77, Y:137.33, Z:39.73 [[-2.71246553e-02 -9.99624824e-01 3.80322483e-03 1.16766484e+02] [ 8.26432085e-01 -2.02843316e-02 5.62670912e-01 1.37325225e+02] [-5.62382665e-01 1.84053615e-02 8.26672233e-01 3.97258873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.140714057 meters Centerline goodness : 0.990959 Centerline is valid? [True, True] Translation: X:116.76, Y:137.32, Z:39.73 [[-2.52070033e-02 -9.99544280e-01 1.66084153e-02 1.16763085e+02] [ 8.22532119e-01 -1.12950645e-02 5.68606486e-01 1.37317053e+02] [-5.68159767e-01 2.79938206e-02 8.22441989e-01 3.97321590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.170714057 meters Centerline goodness : 0.990796 Centerline is valid? [True, True] Translation: X:116.77, Y:137.34, Z:39.72 [[-3.11253307e-02 -9.99494251e-01 6.51590486e-03 1.16767773e+02] [ 8.24308534e-01 -2.19818550e-02 5.65713919e-01 1.37337831e+02] [-5.65284578e-01 2.29791488e-02 8.24575833e-01 3.97188712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.200714057 meters Centerline goodness : 0.990941 Centerline is valid? [True, True] Translation: X:116.77, Y:137.36, Z:39.70 [[-3.36158137e-02 -9.99430965e-01 2.77920966e-03 1.16769823e+02] [ 8.22872918e-01 -2.60988429e-02 5.67625767e-01 1.37360328e+02] [-5.67230234e-01 2.13681384e-02 8.23282008e-01 3.97022908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.230714057 meters Centerline goodness : 0.990489 Centerline is valid? [True, True] Translation: X:116.78, Y:137.38, Z:39.69 [[-4.07742466e-02 -9.99138598e-01 -7.71508799e-03 1.16775644e+02] [ 8.23529865e-01 -3.79782656e-02 5.66000188e-01 1.37383241e+02] [-5.65805640e-01 1.67246259e-02 8.24369010e-01 3.96859347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.26071405700003 meters Centerline goodness : 0.990907 Centerline is valid? [True, True] Translation: X:116.77, Y:137.41, Z:39.68 [[-4.33849512e-02 -9.98986704e-01 1.19712345e-02 1.16768670e+02] [ 8.25811856e-01 -2.91151862e-02 5.63193648e-01 1.37409875e+02] [-5.62274422e-01 3.43201163e-02 8.26238225e-01 3.96750818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.290714057 meters Centerline goodness : 0.989889 Centerline is valid? [True, True] Translation: X:116.77, Y:137.43, Z:39.66 [[-4.64517674e-02 -9.98889155e-01 7.91760810e-03 1.16771533e+02] [ 8.25286041e-01 -3.39105416e-02 5.63695862e-01 1.37430826e+02] [-5.62801193e-01 3.27189605e-02 8.25944481e-01 3.96569030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.32071405700003 meters Centerline goodness : 0.990384 Centerline is valid? [True, True] Translation: X:116.78, Y:137.45, Z:39.64 [[-5.41537288e-02 -9.98526642e-01 -3.45246395e-03 1.16776577e+02] [ 8.24806229e-01 -4.66805225e-02 5.63485237e-01 1.37452527e+02] [-5.62816185e-01 2.76672130e-02 8.26118919e-01 3.96400998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.350714057 meters Centerline goodness : 0.991007 Centerline is valid? [True, True] Translation: X:116.77, Y:137.46, Z:39.64 [[-5.47863817e-02 -9.98473015e-01 7.07743724e-03 1.16773273e+02] [ 8.21894098e-01 -4.10702159e-02 5.68157838e-01 1.37457355e+02] [-5.66999598e-01 3.69442161e-02 8.22889167e-01 3.96375136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.380714057 meters Centerline goodness : 0.990781 Centerline is valid? [True, True] Translation: X:116.77, Y:137.48, Z:39.63 [[-5.94751632e-02 -9.98216186e-01 5.21058725e-03 1.16774103e+02] [ 8.22217543e-01 -4.60276130e-02 5.67309237e-01 1.37478829e+02] [-5.66057432e-01 3.80250457e-02 8.23488360e-01 3.96250049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.410714057 meters Centerline goodness : 0.991908 Centerline is valid? [True, True] Translation: X:116.77, Y:137.50, Z:39.61 [[-6.16354977e-02 -9.98093739e-01 3.15508243e-03 1.16774418e+02] [ 8.21289094e-01 -4.89204338e-02 5.68410956e-01 1.37501217e+02] [-5.67173068e-01 3.76255270e-02 8.22738738e-01 3.96069982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.440714057 meters Centerline goodness : 0.991374 Centerline is valid? [True, True] Translation: X:116.77, Y:137.52, Z:39.59 [[-6.38212939e-02 -9.97960605e-01 1.21403953e-03 1.16773826e+02] [ 8.22152941e-01 -5.18884503e-02 5.66896931e-01 1.37523099e+02] [-5.65677809e-01 3.71782218e-02 8.23787834e-01 3.95933816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.470714057 meters Centerline goodness : 0.991413 Centerline is valid? [True, True] Translation: X:116.77, Y:137.55, Z:39.58 [[-6.69816020e-02 -9.97735784e-01 6.06378868e-03 1.16770282e+02] [ 8.22345481e-01 -5.17633022e-02 5.66629041e-01 1.37545491e+02] [-5.65032189e-01 4.29402501e-02 8.23950703e-01 3.95777650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.500714057 meters Centerline goodness : 0.991230 Centerline is valid? [True, True] Translation: X:116.77, Y:137.57, Z:39.56 [[-7.06824643e-02 -9.97486854e-01 4.89544716e-03 1.16768595e+02] [ 8.21892237e-01 -5.54573306e-02 5.66937065e-01 1.37567388e+02] [-5.65240781e-01 4.40960389e-02 8.23746563e-01 3.95597217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.530714057 meters Centerline goodness : 0.990154 Centerline is valid? [True, True] Translation: X:116.76, Y:137.59, Z:39.55 [[-7.15681595e-02 -9.97305000e-01 1.61473088e-02 1.16763416e+02] [ 8.21726428e-01 -4.97767027e-02 5.67704111e-01 1.37590269e+02] [-5.65370389e-01 5.38982088e-02 8.23074302e-01 3.95452454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.560714057 meters Centerline goodness : 0.990662 Centerline is valid? [True, True] Translation: X:116.77, Y:137.61, Z:39.52 [[-7.35548826e-02 -9.97219251e-01 -1.19768689e-02 1.16772428e+02] [ 8.20609520e-01 -6.73440672e-02 5.67507526e-01 1.37609177e+02] [-5.66736000e-01 3.19146168e-02 8.23281096e-01 3.95233659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.590714057 meters Centerline goodness : 0.990332 Centerline is valid? [True, True] Translation: X:116.76, Y:137.62, Z:39.52 [[-7.59903551e-02 -9.97108471e-01 -4.03836207e-04 1.16763899e+02] [ 8.20657991e-01 -6.27729653e-02 5.67961282e-01 1.37615496e+02] [-5.66344355e-01 4.28281681e-02 8.23055174e-01 3.95231592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.620714057 meters Centerline goodness : 0.991227 Centerline is valid? [True, True] Translation: X:116.76, Y:137.62, Z:39.52 [[-7.65755385e-02 -9.97062873e-01 1.34677219e-03 1.16758842e+02] [ 8.20052551e-01 -6.22125176e-02 5.68896666e-01 1.37617152e+02] [-5.67141958e-01 4.46679925e-02 8.22407910e-01 3.95211719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.650714057 meters Centerline goodness : 0.990530 Centerline is valid? [True, True] Translation: X:116.76, Y:137.64, Z:39.50 [[-7.84402283e-02 -9.96912054e-01 -3.67246882e-03 1.16758684e+02] [ 8.19709903e-01 -6.65931154e-02 5.68894571e-01 1.37638396e+02] [-5.67382416e-01 4.16138609e-02 8.22402262e-01 3.95029584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.680714057 meters Centerline goodness : 0.990348 Centerline is valid? [True, True] Translation: X:116.75, Y:137.66, Z:39.49 [[-7.81459007e-02 -9.96935692e-01 3.52762490e-03 1.16753366e+02] [ 8.20077234e-01 -6.22697815e-02 5.68854818e-01 1.37662357e+02] [-5.66892007e-01 4.73465970e-02 8.22430393e-01 3.94890273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.710714057 meters Centerline goodness : 0.991340 Centerline is valid? [True, True] Translation: X:116.75, Y:137.68, Z:39.47 [[-7.97501865e-02 -9.96808678e-01 -3.51658010e-03 1.16751510e+02] [ 8.20136136e-01 -6.76197818e-02 5.68158678e-01 1.37684954e+02] [-5.66583292e-01 4.24266861e-02 8.22911508e-01 3.94704050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.740714057 meters Centerline goodness : 0.991662 Centerline is valid? [True, True] Translation: X:116.75, Y:137.69, Z:39.47 [[-7.91573619e-02 -9.96862082e-01 3.19131200e-04 1.16747447e+02] [ 8.20566562e-01 -6.49765582e-02 5.67845546e-01 1.37689485e+02] [-5.66042957e-01 4.52110238e-02 8.23135065e-01 3.94679696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.770714057 meters Centerline goodness : 0.990263 Centerline is valid? [True, True] Translation: X:116.74, Y:137.71, Z:39.45 [[-7.97385393e-02 -9.96762954e-01 1.02654674e-02 1.16737898e+02] [ 8.22105489e-01 -5.99354885e-02 5.66171619e-01 1.37713792e+02] [-5.63723630e-01 5.35849950e-02 8.24223464e-01 3.94548056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.800714057 meters Centerline goodness : 0.990551 Centerline is valid? [True, True] Translation: X:116.74, Y:137.73, Z:39.43 [[-8.07308151e-02 -9.96677186e-01 -1.08222983e-02 1.16742659e+02] [ 8.20912294e-01 -7.26442127e-02 5.66414887e-01 1.37733255e+02] [-5.65318973e-01 3.68429778e-02 8.24049182e-01 3.94335015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.830714057 meters Centerline goodness : 0.989357 Centerline is valid? [True, True] Translation: X:116.73, Y:137.76, Z:39.42 [[-7.88052167e-02 -9.96815907e-01 1.21566629e-02 1.16730118e+02] [ 8.20931752e-01 -5.79723864e-02 5.68075930e-01 1.37759408e+02] [-5.65562373e-01 5.47471373e-02 8.22886355e-01 3.94213733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.860714057 meters Centerline goodness : 0.991324 Centerline is valid? [True, True] Translation: X:116.73, Y:137.78, Z:39.40 [[-7.86111515e-02 -9.96891703e-01 -5.21723912e-03 1.16734669e+02] [ 8.19806411e-01 -6.76228172e-02 5.68633979e-01 1.37781640e+02] [-5.67219300e-01 4.04238458e-02 8.22574117e-01 3.93993578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.890714057 meters Centerline goodness : 0.990219 Centerline is valid? [True, True] Translation: X:116.73, Y:137.80, Z:39.39 [[-7.81145827e-02 -9.96939091e-01 3.24972701e-03 1.16728763e+02] [ 8.20162265e-01 -6.24094882e-02 5.68716903e-01 1.37804847e+02] [-5.66773298e-01 4.70903870e-02 8.22526914e-01 3.93877663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.920714057 meters Centerline goodness : 0.989678 Centerline is valid? [True, True] Translation: X:116.72, Y:137.83, Z:39.37 [[-7.49225252e-02 -9.97189313e-01 -2.97513394e-04 1.16723008e+02] [ 8.20443839e-01 -6.18125594e-02 5.68375857e-01 1.37829253e+02] [-5.66796721e-01 4.23400615e-02 8.22768981e-01 3.93718000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.950714057 meters Centerline goodness : 0.990211 Centerline is valid? [True, True] Translation: X:116.72, Y:137.85, Z:39.36 [[-7.34255845e-02 -9.97299238e-01 1.70677446e-03 1.16718963e+02] [ 8.20066836e-01 -5.94028641e-02 5.69176321e-01 1.37852712e+02] [-5.67537724e-01 4.31917732e-02 8.22213721e-01 3.93562394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.980714057 meters Centerline goodness : 0.989500 Centerline is valid? [True, True] Translation: X:116.71, Y:137.85, Z:39.36 [[-6.68225935e-02 -9.97681809e-01 1.28743315e-02 1.16710241e+02] [ 8.16307555e-01 -4.72457913e-02 5.75682039e-01 1.37851853e+02] [-5.73739241e-01 4.89779810e-02 8.17572285e-01 3.93558884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.01071405700003 meters Centerline goodness : 0.989450 Centerline is valid? [True, True] Translation: X:116.71, Y:137.87, Z:39.34 [[-6.43939811e-02 -9.97827504e-01 1.39171635e-02 1.16708905e+02] [ 8.15845067e-01 -4.46085192e-02 5.76547402e-01 1.37872617e+02] [-5.74674031e-01 4.84804316e-02 8.16945167e-01 3.93405813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.040714057 meters Centerline goodness : 0.988726 Centerline is valid? [True, True] Translation: X:116.71, Y:137.90, Z:39.32 [[-6.34553771e-02 -9.97951466e-01 8.14167034e-03 1.16709930e+02] [ 8.14957537e-01 -4.71072862e-02 5.77602906e-01 1.37895429e+02] [-5.76036135e-01 4.32871258e-02 8.16277279e-01 3.93207021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.07071405700003 meters Centerline goodness : 0.989410 Centerline is valid? [True, True] Translation: X:116.71, Y:137.92, Z:39.31 [[-6.43778640e-02 -9.97915047e-01 4.58802872e-03 1.16705453e+02] [ 8.15549616e-01 -4.99623923e-02 5.76526308e-01 1.37917350e+02] [-5.75095048e-01 4.08572973e-02 8.17065705e-01 3.93075008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.100714057 meters Centerline goodness : 0.988334 Centerline is valid? [True, True] Translation: X:116.70, Y:137.94, Z:39.29 [[-6.32053885e-02 -9.97816832e-01 1.91480524e-02 1.16700124e+02] [ 8.14512767e-01 -4.04884162e-02 5.78731060e-01 1.37941223e+02] [-5.76692319e-01 5.21752546e-02 8.15293636e-01 3.92908427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.130714057 meters Centerline goodness : 0.989059 Centerline is valid? [True, True] Translation: X:116.70, Y:137.96, Z:39.27 [[-6.66784042e-02 -9.97770286e-01 2.90635722e-03 1.16701500e+02] [ 8.13919884e-01 -5.27068360e-02 5.78581379e-01 1.37961249e+02] [-5.77138123e-01 4.09444250e-02 8.15619483e-01 3.92700999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.160714057 meters Centerline goodness : 0.988188 Centerline is valid? [True, True] Translation: X:116.70, Y:137.98, Z:39.26 [[-6.85956827e-02 -9.97598888e-01 9.54415620e-03 1.16698107e+02] [ 8.13875041e-01 -5.04247759e-02 5.78847786e-01 1.37984837e+02] [-5.76976646e-01 4.74742096e-02 8.15379758e-01 3.92552472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.190714057 meters Centerline goodness : 0.989726 Centerline is valid? [True, True] Translation: X:116.70, Y:138.00, Z:39.24 [[-7.65518163e-02 -9.97002086e-01 -1.12543642e-02 1.16700953e+02] [ 8.18539400e-01 -6.92862683e-02 5.70256665e-01 1.38002550e+02] [-5.69326857e-01 3.44420430e-02 8.21389478e-01 3.92384825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.220714057 meters Centerline goodness : 0.988680 Centerline is valid? [True, True] Translation: X:116.69, Y:138.01, Z:39.24 [[-7.80620373e-02 -9.96870753e-01 1.24506770e-02 1.16691682e+02] [ 8.17297095e-01 -5.68384405e-02 5.73406357e-01 1.38011761e+02] [-5.70904350e-01 5.49371706e-02 8.19176495e-01 3.92411221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.250714057 meters Centerline goodness : 0.990192 Centerline is valid? [True, True] Translation: X:116.70, Y:138.04, Z:39.22 [[-8.07023623e-02 -9.96707463e-01 -7.83340590e-03 1.16696938e+02] [ 8.18774183e-01 -7.07730131e-02 5.69736797e-01 1.38037687e+02] [-5.68415311e-01 3.95653149e-02 8.21789888e-01 3.92151440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.280714057 meters Centerline goodness : 0.990305 Centerline is valid? [True, True] Translation: X:116.69, Y:138.02, Z:39.23 [[-8.29648459e-02 -9.96552221e-01 -7.10919937e-04 1.16691317e+02] [ 8.18977385e-01 -6.85878278e-02 5.69711991e-01 1.38018974e+02] [-5.67796510e-01 4.66838402e-02 8.21844110e-01 3.92318657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.310714057 meters Centerline goodness : 0.989210 Centerline is valid? [True, True] Translation: X:116.69, Y:138.03, Z:39.22 [[-8.30053000e-02 -9.96536856e-01 -4.94116987e-03 1.16691404e+02] [ 8.19140150e-01 -7.10514296e-02 5.69175816e-01 1.38027995e+02] [-5.67555755e-01 4.31970987e-02 8.22200995e-01 3.92237551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.340714057 meters Centerline goodness : 0.990407 Centerline is valid? [True, True] Translation: X:116.69, Y:138.03, Z:39.22 [[-8.41228752e-02 -9.96432950e-01 -6.68719048e-03 1.16688972e+02] [ 8.21862459e-01 -7.31764968e-02 5.64966635e-01 1.38034060e+02] [-5.63440716e-01 4.20306669e-02 8.25086652e-01 3.92217848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.370714057 meters Centerline goodness : 0.990424 Centerline is valid? [True, True] Translation: X:116.68, Y:138.04, Z:39.22 [[-8.24019490e-02 -9.96597974e-01 1.54842354e-03 1.16684570e+02] [ 8.21596013e-01 -6.70526449e-02 5.66113005e-01 1.38039336e+02] [-5.64083248e-01 4.79209936e-02 8.24326190e-01 3.92210495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.400714057 meters Centerline goodness : 0.990118 Centerline is valid? [True, True] Translation: X:116.68, Y:138.04, Z:39.22 [[-7.89184430e-02 -9.96873853e-01 -3.79472037e-03 1.16684273e+02] [ 8.22021483e-01 -6.72286384e-02 5.65474129e-01 1.38038073e+02] [-5.63961488e-01 4.15069962e-02 8.24757303e-01 3.92196756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.430714057 meters Centerline goodness : 0.990319 Centerline is valid? [True, True] Translation: X:116.68, Y:138.06, Z:39.20 [[-7.78410319e-02 -9.96938839e-01 -7.32975882e-03 1.16683444e+02] [ 8.22236141e-01 -6.83544646e-02 5.65026898e-01 1.38061694e+02] [-5.63798282e-01 3.79554842e-02 8.25039926e-01 3.92044814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.460714057 meters Centerline goodness : 0.990939 Centerline is valid? [True, True] Translation: X:116.68, Y:138.08, Z:39.19 [[-7.66358545e-02 -9.96929060e-01 -1.61057775e-02 1.16684145e+02] [ 8.21720395e-01 -7.22996444e-02 5.65286081e-01 1.38083633e+02] [-5.64714564e-01 3.00867360e-02 8.24737686e-01 3.91892372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.490714057 meters Centerline goodness : 0.989493 Centerline is valid? [True, True] Translation: X:116.67, Y:138.11, Z:39.18 [[-7.15455603e-02 -9.97410026e-01 7.38064067e-03 1.16674158e+02] [ 8.21378670e-01 -5.47173353e-02 5.67752669e-01 1.38110728e+02] [-5.65878355e-01 4.66824837e-02 8.23166103e-01 3.91767834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.520714057 meters Centerline goodness : 0.991026 Centerline is valid? [True, True] Translation: X:116.68, Y:138.13, Z:39.16 [[-6.95203788e-02 -9.97526249e-01 -1.04066756e-02 1.16679996e+02] [ 8.20829707e-01 -6.31281515e-02 5.67673699e-01 1.38130542e+02] [-5.66926370e-01 3.09227821e-02 8.23187872e-01 3.91553687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.550714057 meters Centerline goodness : 0.989850 Centerline is valid? [True, True] Translation: X:116.67, Y:138.16, Z:39.14 [[-6.49493333e-02 -9.97851796e-01 8.56604180e-03 1.16671998e+02] [ 8.19966286e-01 -4.84747074e-02 5.70355584e-01 1.38158002e+02] [-5.68715107e-01 4.40680804e-02 8.21353232e-01 3.91408531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.580714057 meters Centerline goodness : 0.989028 Centerline is valid? [True, True] Translation: X:116.67, Y:138.18, Z:39.12 [[-6.25639092e-02 -9.98026175e-01 5.43246333e-03 1.16672906e+02] [ 8.19208115e-01 -4.82436317e-02 5.71463574e-01 1.38179509e+02] [-5.70073523e-01 4.02033132e-02 8.20609451e-01 3.91242891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.610714057 meters Centerline goodness : 0.989028 Centerline is valid? [True, True] Translation: X:116.68, Y:138.20, Z:39.11 [[-6.27253524e-02 -9.98030813e-01 -1.65329684e-04 1.16675032e+02] [ 8.18943230e-01 -5.15645377e-02 5.71553221e-01 1.38200735e+02] [-5.70436251e-01 3.57154816e-02 8.20564981e-01 3.91068503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.640714057 meters Centerline goodness : 0.990391 Centerline is valid? [True, True] Translation: X:116.67, Y:138.22, Z:39.09 [[-6.19394150e-02 -9.98078495e-01 -1.68120613e-03 1.16674965e+02] [ 8.18162061e-01 -5.17386469e-02 5.72655180e-01 1.38224435e+02] [-5.71641803e-01 3.40944277e-02 8.19794620e-01 3.90892908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.670714057 meters Centerline goodness : 0.987444 Centerline is valid? [True, True] Translation: X:116.67, Y:138.25, Z:39.08 [[-5.98179975e-02 -9.98150809e-01 1.08059707e-02 1.16668977e+02] [ 8.18084005e-01 -4.28180740e-02 5.73502548e-01 1.38246689e+02] [-5.71979342e-01 4.31459657e-02 8.19132503e-01 3.90766213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.700714057 meters Centerline goodness : 0.989731 Centerline is valid? [True, True] Translation: X:116.67, Y:138.26, Z:39.06 [[-5.80850198e-02 -9.98311389e-01 -7.07277245e-04 1.16672374e+02] [ 8.18558011e-01 -4.80319196e-02 5.72412193e-01 1.38255644e+02] [-5.71479583e-01 3.26696261e-02 8.19965720e-01 3.90630042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.730714057 meters Centerline goodness : 0.990350 Centerline is valid? [True, True] Translation: X:116.67, Y:138.28, Z:39.05 [[-6.09986179e-02 -9.98133935e-01 -2.79576644e-03 1.16673794e+02] [ 8.20067015e-01 -5.17128345e-02 5.69926200e-01 1.38279110e+02] [-5.69007258e-01 3.24719947e-02 8.21691128e-01 3.90476197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.76071405700003 meters Centerline goodness : 0.990227 Centerline is valid? [True, True] Translation: X:116.67, Y:138.31, Z:39.03 [[-6.24350893e-02 -9.97969248e-01 1.26190314e-02 1.16669465e+02] [ 8.19708397e-01 -4.40615204e-02 5.71083818e-01 1.38305343e+02] [-5.69368074e-01 4.59995951e-02 8.20794757e-01 3.90325533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.790714057 meters Centerline goodness : 0.990557 Centerline is valid? [True, True] Translation: X:116.67, Y:138.32, Z:39.01 [[-6.55002620e-02 -9.97834565e-01 5.99135106e-03 1.16672942e+02] [ 8.20849700e-01 -5.04666115e-02 5.68910267e-01 1.38324831e+02] [-5.67375965e-01 4.21817703e-02 8.22377780e-01 3.90138727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.82071405700003 meters Centerline goodness : 0.989264 Centerline is valid? [True, True] Translation: X:116.67, Y:138.35, Z:39.00 [[-6.77616243e-02 -9.97656513e-01 9.47865267e-03 1.16672373e+02] [ 8.20009305e-01 -5.02788549e-02 5.70137507e-01 1.38347647e+02] [-5.68324821e-01 4.64060269e-02 8.21494600e-01 3.90000043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.850714057 meters Centerline goodness : 0.988499 Centerline is valid? [True, True] Translation: X:116.67, Y:138.37, Z:38.98 [[-6.93272789e-02 -9.97587843e-01 3.49633532e-03 1.16674588e+02] [ 8.20616111e-01 -5.50350370e-02 5.68823648e-01 1.38367781e+02] [-5.67259135e-01 4.23041448e-02 8.22452086e-01 3.89843540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.880714057 meters Centerline goodness : 0.990324 Centerline is valid? [True, True] Translation: X:116.67, Y:138.39, Z:38.97 [[-6.94195826e-02 -9.97537504e-01 9.99249684e-03 1.16672377e+02] [ 8.19105186e-01 -5.12790335e-02 5.71346790e-01 1.38394799e+02] [-5.69427445e-01 4.78475617e-02 8.20647912e-01 3.89668332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.910714057 meters Centerline goodness : 0.988923 Centerline is valid? [True, True] Translation: X:116.68, Y:138.41, Z:38.95 [[-6.91883024e-02 -9.97601569e-01 -2.02211415e-03 1.16676055e+02] [ 8.17703368e-01 -5.78724228e-02 5.72723306e-01 1.38412989e+02] [-5.71466693e-01 3.79722637e-02 8.19746257e-01 3.89509479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.940714057 meters Centerline goodness : 0.987860 Centerline is valid? [True, True] Translation: X:116.68, Y:138.44, Z:38.94 [[-6.92140391e-02 -9.97601812e-01 2.01663282e-04 1.16675743e+02] [ 8.18034455e-01 -5.66398751e-02 5.72373615e-01 1.38437539e+02] [-5.70989534e-01 3.97812573e-02 8.19992929e-01 3.89370830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.970714057 meters Centerline goodness : 0.988471 Centerline is valid? [True, True] Translation: X:116.68, Y:138.46, Z:38.92 [[-6.91147701e-02 -9.97608715e-01 7.22117803e-06 1.16675792e+02] [ 8.17884221e-01 -5.66592335e-02 5.72586353e-01 1.38461119e+02] [-5.71216727e-01 3.95800802e-02 8.19844417e-01 3.89213411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.000714057 meters Centerline goodness : 0.986932 Centerline is valid? [True, True] Translation: X:116.68, Y:138.47, Z:38.92 [[-6.85992891e-02 -9.97644276e-01 -1.91128654e-04 1.16676764e+02] [ 8.18534824e-01 -5.63930183e-02 5.71682227e-01 1.38470613e+02] [-5.70346280e-01 3.90605489e-02 8.20475103e-01 3.89156159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.030714057 meters Centerline goodness : 0.988931 Centerline is valid? [True, True] Translation: X:116.68, Y:138.49, Z:38.89 [[-7.02044809e-02 -9.97426399e-01 -1.45570879e-02 1.16682665e+02] [ 8.19468469e-01 -6.59877208e-02 5.69312787e-01 1.38490839e+02] [-5.68808192e-01 2.80392342e-02 8.21992118e-01 3.88949226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.060714057 meters Centerline goodness : 0.988453 Centerline is valid? [True, True] Translation: X:116.67, Y:138.52, Z:38.89 [[-7.27643423e-02 -9.97229798e-01 1.54298423e-02 1.16673673e+02] [ 8.21294657e-01 -5.11352615e-02 5.68207948e-01 1.38519352e+02] [-5.65844888e-01 5.40177246e-02 8.22740329e-01 3.88865975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.090714057 meters Centerline goodness : 0.987126 Centerline is valid? [True, True] Translation: X:116.68, Y:138.50, Z:38.89 [[-7.33217778e-02 -9.97308336e-01 -8.75725020e-06 1.16680839e+02] [ 8.21069567e-01 -6.03697463e-02 5.67626867e-01 1.38496560e+02] [-5.66099535e-01 4.16122207e-02 8.23285941e-01 3.88939586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.120714057 meters Centerline goodness : 0.988870 Centerline is valid? [True, True] Translation: X:116.69, Y:138.52, Z:38.87 [[-7.60689264e-02 -9.96933003e-01 -1.83876456e-02 1.16688508e+02] [ 8.19083052e-01 -7.29934342e-02 5.69012226e-01 1.38516723e+02] [-5.68609244e-01 2.82231402e-02 8.22123459e-01 3.88723513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.150714057 meters Centerline goodness : 0.987572 Centerline is valid? [True, True] Translation: X:116.68, Y:138.54, Z:38.86 [[-7.98479869e-02 -9.96800720e-01 3.55297402e-03 1.16680570e+02] [ 8.21372940e-01 -6.37751314e-02 5.66814984e-01 1.38544307e+02] [-5.64774993e-01 4.81773522e-02 8.23837454e-01 3.88648158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.180714057 meters Centerline goodness : 0.988243 Centerline is valid? [True, True] Translation: X:116.68, Y:138.57, Z:38.85 [[-8.01899893e-02 -9.96641367e-01 1.65997597e-02 1.16677816e+02] [ 8.19711421e-01 -5.64606304e-02 5.69987179e-01 1.38569345e+02] [-5.67135568e-01 5.93142784e-02 8.21485888e-01 3.88499345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.210714057 meters Centerline goodness : 0.987767 Centerline is valid? [True, True] Translation: X:116.68, Y:138.59, Z:38.83 [[-8.06837996e-02 -9.96739741e-01 1.13505305e-04 1.16684537e+02] [ 8.18621451e-01 -6.62005647e-02 5.70505395e-01 1.38588385e+02] [-5.68637885e-01 4.61234608e-02 8.21293846e-01 3.88288838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.240714057 meters Centerline goodness : 0.988187 Centerline is valid? [True, True] Translation: X:116.69, Y:138.59, Z:38.82 [[-7.84369333e-02 -9.96915642e-01 -2.61735556e-03 1.16685666e+02] [ 8.19886615e-01 -6.60014772e-02 5.68708839e-01 1.38590589e+02] [-5.67127486e-01 4.24618425e-02 8.22534745e-01 3.88231665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.270714057 meters Centerline goodness : 0.988135 Centerline is valid? [True, True] Translation: X:116.68, Y:138.61, Z:38.81 [[-7.75391330e-02 -9.96953423e-01 8.45902838e-03 1.16683848e+02] [ 8.17006016e-01 -5.86762967e-02 5.73636002e-01 1.38614793e+02] [-5.71392031e-01 5.13903153e-02 8.19066653e-01 3.88108862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.300714057 meters Centerline goodness : 0.987944 Centerline is valid? [True, True] Translation: X:116.68, Y:138.64, Z:38.79 [[-7.73978021e-02 -9.96966213e-01 8.24317095e-03 1.16684713e+02] [ 8.16139207e-01 -5.86063813e-02 5.74875714e-01 1.38638073e+02] [-5.72648562e-01 5.12216918e-02 8.18199220e-01 3.87927541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.330714057 meters Centerline goodness : 0.987967 Centerline is valid? [True, True] Translation: X:116.69, Y:138.66, Z:38.78 [[-7.87185072e-02 -9.96852933e-01 9.36087632e-03 1.16686387e+02] [ 8.16195924e-01 -5.90554197e-02 5.74749225e-01 1.38661430e+02] [-5.72387640e-01 5.28837101e-02 8.18276055e-01 3.87752153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.360714057 meters Centerline goodness : 0.987339 Centerline is valid? [True, True] Translation: X:116.69, Y:138.68, Z:38.76 [[-8.00538068e-02 -9.96781404e-01 -4.26849157e-03 1.16693142e+02] [ 8.14531990e-01 -6.78840975e-02 5.76133132e-01 1.38679931e+02] [-5.74568555e-01 4.26448275e-02 8.17344722e-01 3.87570396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.390714057 meters Centerline goodness : 0.988732 Centerline is valid? [True, True] Translation: X:116.69, Y:138.71, Z:38.74 [[-8.14632242e-02 -9.96529700e-01 1.70967992e-02 1.16688111e+02] [ 8.16246636e-01 -5.68624914e-02 5.74898327e-01 1.38708568e+02] [-5.71931091e-01 6.07882762e-02 8.18046217e-01 3.87420492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.420714057 meters Centerline goodness : 0.988038 Centerline is valid? [True, True] Translation: X:116.69, Y:138.73, Z:38.72 [[-8.30972272e-02 -9.96524446e-01 5.82058197e-03 1.16693297e+02] [ 8.16393530e-01 -6.47248092e-02 5.73857390e-01 1.38729563e+02] [-5.71486182e-01 5.24378434e-02 8.18934562e-01 3.87229350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.450714057 meters Centerline goodness : 0.989861 Centerline is valid? [True, True] Translation: X:116.70, Y:138.75, Z:38.70 [[-8.56722075e-02 -9.96323352e-01 -2.25710598e-04 1.16696561e+02] [ 8.15055216e-01 -7.02155465e-02 5.75112834e-01 1.38753549e+02] [-5.73014195e-01 4.90872194e-02 8.18074066e-01 3.87042226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.480714057 meters Centerline goodness : 0.989050 Centerline is valid? [True, True] Translation: X:116.70, Y:138.76, Z:38.71 [[-8.69225270e-02 -9.96146727e-01 1.16693092e-02 1.16695077e+02] [ 8.15924484e-01 -6.44659842e-02 5.74553194e-01 1.38755933e+02] [-5.71587010e-01 5.94628905e-02 8.18384051e-01 3.87075257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.51071405700003 meters Centerline goodness : 0.987896 Centerline is valid? [True, True] Translation: X:116.70, Y:138.76, Z:38.70 [[-9.04123906e-02 -9.95872214e-01 -8.00827486e-03 1.16704285e+02] [ 8.16681108e-01 -7.87413857e-02 5.71692017e-01 1.38762912e+02] [-5.69962777e-01 4.51478352e-02 8.20429220e-01 3.86955918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.540714057 meters Centerline goodness : 0.989656 Centerline is valid? [True, True] Translation: X:116.71, Y:138.78, Z:38.69 [[-8.90587671e-02 -9.95986102e-01 -8.95658530e-03 1.16706242e+02] [ 8.18994978e-01 -7.83443151e-02 5.68427124e-01 1.38775810e+02] [-5.66847213e-01 4.32880205e-02 8.22684863e-01 3.86876045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.57071405700003 meters Centerline goodness : 0.989518 Centerline is valid? [True, True] Translation: X:116.70, Y:138.78, Z:38.69 [[-8.95065479e-02 -9.95965537e-01 -6.42075174e-03 1.16704410e+02] [ 8.22295248e-01 -7.75333419e-02 5.63754473e-01 1.38783641e+02] [-5.61977849e-01 4.51799631e-02 8.25917471e-01 3.86866279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.600714057 meters Centerline goodness : 0.989427 Centerline is valid? [True, True] Translation: X:116.70, Y:138.78, Z:38.69 [[-8.71398609e-02 -9.96195784e-01 7.77869178e-04 1.16702237e+02] [ 8.22873511e-01 -7.15387447e-02 5.63703285e-01 1.38783244e+02] [-5.61503188e-01 4.97611138e-02 8.25976998e-01 3.86898480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.630714057 meters Centerline goodness : 0.990236 Centerline is valid? [True, True] Translation: X:116.70, Y:138.79, Z:38.69 [[-8.22602361e-02 -9.96609291e-01 -1.78177065e-03 1.16702170e+02] [ 8.26453348e-01 -6.92144704e-02 5.58734482e-01 1.38792647e+02] [-5.56963300e-01 4.44890801e-02 8.29344684e-01 3.86857758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.660714057 meters Centerline goodness : 0.990517 Centerline is valid? [True, True] Translation: X:116.70, Y:138.79, Z:38.68 [[-7.54740416e-02 -9.97059965e-01 -1.32323493e-02 1.16704736e+02] [ 8.28701178e-01 -7.00992348e-02 5.55284121e-01 1.38794216e+02] [-5.54579144e-01 3.09438734e-02 8.31555440e-01 3.86823612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.690714057 meters Centerline goodness : 0.989757 Centerline is valid? [True, True] Translation: X:116.70, Y:138.80, Z:38.69 [[-6.92881435e-02 -9.97596560e-01 -5.07527540e-04 1.16698495e+02] [ 8.29320890e-01 -5.78832906e-02 5.55766486e-01 1.38798342e+02] [-5.54460112e-01 3.80871248e-02 8.31338292e-01 3.86877227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.720714057 meters Centerline goodness : 0.989892 Centerline is valid? [True, True] Translation: X:116.70, Y:138.79, Z:38.69 [[-6.23461029e-02 -9.98045952e-01 4.15215666e-03 1.16696251e+02] [ 8.27581582e-01 -4.93711982e-02 5.59170108e-01 1.38792658e+02] [-5.57872466e-01 3.82983254e-02 8.29042550e-01 3.86933280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.750714057 meters Centerline goodness : 0.989820 Centerline is valid? [True, True] Translation: X:116.69, Y:138.82, Z:38.67 [[-5.23867455e-02 -9.98201053e-01 2.91596770e-02 1.16687244e+02] [ 8.22762191e-01 -2.65938805e-02 5.67763281e-01 1.38823509e+02] [-5.65966436e-01 5.37347502e-02 8.22675252e-01 3.86748131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.780714057 meters Centerline goodness : 0.989561 Centerline is valid? [True, True] Translation: X:116.70, Y:138.84, Z:38.66 [[-4.99004890e-02 -9.98752757e-01 -1.69436150e-03 1.16697439e+02] [ 8.23960218e-01 -4.21260083e-02 5.65079604e-01 1.38839566e+02] [-5.64446189e-01 2.68016621e-02 8.25034648e-01 3.86583373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.810714057 meters Centerline goodness : 0.988926 Centerline is valid? [True, True] Translation: X:116.70, Y:138.87, Z:38.64 [[-4.62431412e-02 -9.98923395e-01 3.69098876e-03 1.16695718e+02] [ 8.24164710e-01 -3.60646429e-02 5.65200736e-01 1.38866328e+02] [-5.64459124e-01 2.91786401e-02 8.24945153e-01 3.86442713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.840714057 meters Centerline goodness : 0.989165 Centerline is valid? [True, True] Translation: X:116.69, Y:138.89, Z:38.63 [[-4.40165990e-02 -9.98912939e-01 1.53453398e-02 1.16692355e+02] [ 8.24711116e-01 -2.76628158e-02 5.64877282e-01 1.38890552e+02] [-5.63838731e-01 3.75194491e-02 8.25032228e-01 3.86317251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.870714057 meters Centerline goodness : 0.989525 Centerline is valid? [True, True] Translation: X:116.69, Y:138.92, Z:38.61 [[-4.38362015e-02 -9.98675107e-01 2.69521457e-02 1.16689792e+02] [ 8.23041488e-01 -2.08085448e-02 5.67599959e-01 1.38915144e+02] [-5.66287115e-01 4.70641603e-02 8.22863214e-01 3.86122443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.900714057 meters Centerline goodness : 0.986864 Centerline is valid? [True, True] Translation: X:116.70, Y:138.92, Z:38.60 [[-4.05745123e-02 -9.98961081e-01 2.07477136e-02 1.16697163e+02] [ 8.17177423e-01 -2.12280470e-02 5.75995164e-01 1.38918556e+02] [-5.74956318e-01 4.03252860e-02 8.17189760e-01 3.85982486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.930714057 meters Centerline goodness : 0.987214 Centerline is valid? [True, True] Translation: X:116.70, Y:138.94, Z:38.58 [[-4.12038621e-02 -9.99063889e-01 1.31752773e-02 1.16700923e+02] [ 8.17648551e-01 -2.61373266e-02 5.75124062e-01 1.38940297e+02] [-5.74241315e-01 3.44700789e-02 8.17960100e-01 3.85790155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.960714057 meters Centerline goodness : 0.987652 Centerline is valid? [True, True] Translation: X:116.70, Y:138.95, Z:38.57 [[-3.86474263e-02 -9.99093101e-01 1.78704137e-02 1.16701159e+02] [ 8.15801430e-01 -2.12197949e-02 5.77942685e-01 1.38947538e+02] [-5.77039343e-01 3.69147064e-02 8.15881671e-01 3.85732954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.990714057 meters Centerline goodness : 0.987553 Centerline is valid? [True, True] Translation: X:116.71, Y:138.97, Z:38.56 [[-3.99572225e-02 -9.99189793e-01 -4.81426114e-03 1.16709211e+02] [ 8.17643662e-01 -3.54659291e-02 5.74631194e-01 1.38965605e+02] [-5.74336367e-01 1.90243164e-02 8.18398322e-01 3.85591461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.020714057 meters Centerline goodness : 0.987944 Centerline is valid? [True, True] Translation: X:116.70, Y:139.00, Z:38.55 [[-4.01685237e-02 -9.98863006e-01 2.56745923e-02 1.16698028e+02] [ 8.18115740e-01 -1.81261807e-02 5.74767847e-01 1.38995503e+02] [-5.73648957e-01 4.40923639e-02 8.17913649e-01 3.85483830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.050714057 meters Centerline goodness : 0.988414 Centerline is valid? [True, True] Translation: X:116.71, Y:139.01, Z:38.53 [[-3.90555921e-02 -9.99198111e-01 8.82024739e-03 1.16706337e+02] [ 8.18486021e-01 -2.69261510e-02 5.73895126e-01 1.39014903e+02] [-5.73197430e-01 2.96330631e-02 8.18881303e-01 3.85296278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.080714057 meters Centerline goodness : 0.988918 Centerline is valid? [True, True] Translation: X:116.71, Y:139.04, Z:38.51 [[-3.85793646e-02 -9.99181565e-01 1.21586709e-02 1.16706818e+02] [ 8.17973050e-01 -2.45890427e-02 5.74730780e-01 1.39039557e+02] [-5.73961430e-01 3.21182134e-02 8.18252221e-01 3.85108571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.110714057 meters Centerline goodness : 0.988566 Centerline is valid? [True, True] Translation: X:116.70, Y:139.02, Z:38.52 [[-2.83871291e-02 -9.99146766e-01 2.99985248e-02 1.16703903e+02] [ 8.08923793e-01 -5.33176056e-03 5.87889334e-01 1.39023945e+02] [-5.87227782e-01 4.09550109e-02 8.08384945e-01 3.85185336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.140714057 meters Centerline goodness : 0.990096 Centerline is valid? [True, True] Translation: X:116.70, Y:139.06, Z:38.50 [[-2.90528386e-02 -9.98561649e-01 4.50617976e-02 1.16698247e+02] [ 8.10358950e-01 2.86380459e-03 5.85926762e-01 1.39057218e+02] [-5.85213042e-01 5.35390666e-02 8.09110168e-01 3.85020322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.170714057 meters Centerline goodness : 0.988907 Centerline is valid? [True, True] Translation: X:116.72, Y:139.07, Z:38.49 [[-3.07506701e-02 -9.99496076e-01 -7.87343810e-03 1.16717759e+02] [ 8.14324523e-01 -2.96198173e-02 5.79653549e-01 1.39068846e+02] [-5.79594658e-01 1.14132014e-02 8.14824995e-01 3.84856110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.200714057 meters Centerline goodness : 0.989870 Centerline is valid? [True, True] Translation: X:116.71, Y:139.07, Z:38.49 [[-2.51656560e-02 -9.99632778e-01 1.00498036e-02 1.16712239e+02] [ 8.13926539e-01 -1.46516204e-02 5.80783022e-01 1.39069489e+02] [-5.80422500e-01 2.27955877e-02 8.13996365e-01 3.84916767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.230714057 meters Centerline goodness : 0.989634 Centerline is valid? [True, True] Translation: X:116.71, Y:139.10, Z:38.48 [[-2.46312866e-02 -9.99282943e-01 2.87558698e-02 1.16706131e+02] [ 8.12954958e-01 -3.28143830e-03 5.82317327e-01 1.39097473e+02] [-5.81805412e-01 3.77204519e-02 8.12452848e-01 3.84811139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.26071405700003 meters Centerline goodness : 0.990748 Centerline is valid? [True, True] Translation: X:116.71, Y:139.12, Z:38.46 [[-2.50602666e-02 -9.99408889e-01 2.35341217e-02 1.16710842e+02] [ 8.13404699e-01 -6.69925030e-03 5.81659622e-01 1.39121394e+02] [-5.81158136e-01 3.37193104e-02 8.13091772e-01 3.84627838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.290714057 meters Centerline goodness : 0.989752 Centerline is valid? [True, True] Translation: X:116.71, Y:139.14, Z:38.45 [[-2.65199493e-02 -9.99332461e-01 2.51261570e-02 1.16711196e+02] [ 8.14330385e-01 -7.01849006e-03 5.80359168e-01 1.39144714e+02] [-5.79795409e-01 3.58520888e-02 8.13972918e-01 3.84497359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.32071405700003 meters Centerline goodness : 0.990742 Centerline is valid? [True, True] Translation: X:116.72, Y:139.20, Z:38.42 [[-4.92000834e-02 -9.98726789e-01 -1.11423945e-02 1.16716061e+02] [ 8.27780359e-01 -4.70162013e-02 5.59078844e-01 1.39196548e+02] [-5.58890892e-01 1.82832705e-02 8.29039621e-01 3.84170934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.350714057 meters Centerline goodness : 0.991792 Centerline is valid? [True, True] Translation: X:116.72, Y:139.20, Z:38.42 [[-5.04633071e-02 -9.98708733e-01 -5.85837099e-03 1.16719073e+02] [ 8.28451384e-01 -4.51350510e-02 5.58239313e-01 1.39198899e+02] [-5.57782896e-01 2.33172264e-02 8.29659297e-01 3.84168824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.380714057 meters Centerline goodness : 0.990776 Centerline is valid? [True, True] Translation: X:116.72, Y:139.15, Z:38.44 [[-2.53550483e-02 -9.99253239e-01 2.91562392e-02 1.16718037e+02] [ 8.16903728e-01 -3.89936769e-03 5.76760864e-01 1.39154802e+02] [-5.76216470e-01 3.84416401e-02 8.16392565e-01 3.84447624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.410714057 meters Centerline goodness : 0.989493 Centerline is valid? [True, True] Translation: X:116.73, Y:139.17, Z:38.44 [[-2.56883441e-02 -9.99578291e-01 1.35406723e-02 1.16726380e+02] [ 8.16237270e-01 -1.31526840e-02 5.77567075e-01 1.39171823e+02] [-5.77145413e-01 2.58891431e-02 8.16230926e-01 3.84351296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.440714057 meters Centerline goodness : 0.989353 Centerline is valid? [True, True] Translation: X:116.73, Y:139.19, Z:38.43 [[-2.93708713e-02 -9.99563337e-01 3.23853270e-03 1.16730161e+02] [ 8.19382435e-01 -2.22205942e-02 5.72816437e-01 1.39193526e+02] [-5.72494347e-01 1.94777146e-02 8.19677279e-01 3.84270770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.470714057 meters Centerline goodness : 0.989353 Centerline is valid? [True, True] Translation: X:116.73, Y:139.22, Z:38.41 [[-2.98713995e-02 -9.99440052e-01 1.50758818e-02 1.16725498e+02] [ 8.19503208e-01 -1.58522854e-02 5.72855302e-01 1.39218828e+02] [-5.72295546e-01 2.94667231e-02 8.19517859e-01 3.84139129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.500714057 meters Centerline goodness : 0.988197 Centerline is valid? [True, True] Translation: X:116.73, Y:139.24, Z:38.40 [[-3.10853950e-02 -9.99497405e-01 6.21575619e-03 1.16731790e+02] [ 8.20992257e-01 -2.19857310e-02 5.70515856e-01 1.39240496e+02] [-5.70092460e-01 2.28377984e-02 8.21263065e-01 3.84016471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.530714057 meters Centerline goodness : 0.990220 Centerline is valid? [True, True] Translation: X:116.73, Y:139.26, Z:38.38 [[-3.26879849e-02 -9.99463827e-01 1.88512917e-03 1.16734192e+02] [ 8.22280771e-01 -2.58208576e-02 5.68495925e-01 1.39264511e+02] [-5.68142437e-01 2.01330917e-02 8.22683918e-01 3.83844099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.560714057 meters Centerline goodness : 0.989575 Centerline is valid? [True, True] Translation: X:116.74, Y:139.29, Z:38.37 [[-3.24540543e-02 -9.99426189e-01 9.69671352e-03 1.16736603e+02] [ 8.18398445e-01 -2.10038953e-02 5.74267205e-01 1.39287886e+02] [-5.73734015e-01 2.65730743e-02 8.18610500e-01 3.83693540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.590714057 meters Centerline goodness : 0.989726 Centerline is valid? [True, True] Translation: X:116.73, Y:139.31, Z:38.35 [[-3.04591144e-02 -9.99144049e-01 2.79894773e-02 1.16732416e+02] [ 8.18800228e-01 -8.88129602e-03 5.74009851e-01 1.39312608e+02] [-5.73269944e-01 4.04016221e-02 8.18369892e-01 3.83547296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.620714057 meters Centerline goodness : 0.990101 Centerline is valid? [True, True] Translation: X:116.75, Y:139.33, Z:38.34 [[-3.16975710e-02 -9.99485276e-01 -4.94442944e-03 1.16745400e+02] [ 8.21539455e-01 -2.88711239e-02 5.69420216e-01 1.39330744e+02] [-5.69269873e-01 1.39871938e-02 8.22031733e-01 3.83373255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.650714057 meters Centerline goodness : 0.990005 Centerline is valid? [True, True] Translation: X:116.75, Y:139.36, Z:38.32 [[-3.01758226e-02 -9.99542846e-01 -1.87587281e-03 1.16747921e+02] [ 8.21468217e-01 -2.58689286e-02 5.69667242e-01 1.39355409e+02] [-5.69455343e-01 1.56492078e-02 8.21873296e-01 3.83233041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.680714057 meters Centerline goodness : 0.990139 Centerline is valid? [True, True] Translation: X:116.75, Y:139.38, Z:38.31 [[-2.99598236e-02 -9.99542536e-01 4.13846814e-03 1.16747494e+02] [ 8.21459709e-01 -2.22627415e-02 5.69831833e-01 1.39377752e+02] [-5.69479022e-01 2.04716460e-02 8.21750909e-01 3.83080615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.710714057 meters Centerline goodness : 0.989266 Centerline is valid? [True, True] Translation: X:116.75, Y:139.40, Z:38.29 [[-2.93143322e-02 -9.99524889e-01 9.52188810e-03 1.16749147e+02] [ 8.19416197e-01 -1.85743932e-02 5.72897973e-01 1.39403296e+02] [-5.72448920e-01 2.45965109e-02 8.19571380e-01 3.82937653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.740714057 meters Centerline goodness : 0.989317 Centerline is valid? [True, True] Translation: X:116.75, Y:139.42, Z:38.27 [[-2.87830195e-02 -9.99426886e-01 1.78167948e-02 1.16748859e+02] [ 8.17887263e-01 -1.33002260e-02 5.75224764e-01 1.39424679e+02] [-5.74658127e-01 3.11288352e-02 8.17801341e-01 3.82748807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.770714057 meters Centerline goodness : 0.989618 Centerline is valid? [True, True] Translation: X:116.75, Y:139.45, Z:38.25 [[-2.81142868e-02 -9.99045741e-01 3.34244645e-02 1.16749990e+02] [ 8.12157226e-01 -3.33559896e-03 5.83429100e-01 1.39448526e+02] [-5.82760866e-01 4.35486134e-02 8.11475995e-01 3.82544550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.800714057 meters Centerline goodness : 0.989533 Centerline is valid? [True, True] Translation: X:116.76, Y:139.47, Z:38.23 [[-3.20844859e-02 -9.99398316e-01 1.31753955e-02 1.16759570e+02] [ 8.12112693e-01 -1.83832440e-02 5.83210966e-01 1.39468066e+02] [-5.82617851e-01 2.94119299e-02 8.12213875e-01 3.82339879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.830714057 meters Centerline goodness : 0.990033 Centerline is valid? [True, True] Translation: X:116.76, Y:139.49, Z:38.22 [[-3.56238896e-02 -9.99229045e-01 1.65001173e-02 1.16761245e+02] [ 8.11087955e-01 -1.92628755e-02 5.84606937e-01 1.39491591e+02] [-5.83838392e-01 3.42090194e-02 8.11148861e-01 3.82152149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.860714057 meters Centerline goodness : 0.990615 Centerline is valid? [True, True] Translation: X:116.76, Y:139.52, Z:38.20 [[-4.03051731e-02 -9.98573848e-01 3.50109056e-02 1.16759183e+02] [ 8.11682467e-01 -1.22872182e-02 5.83969688e-01 1.39515154e+02] [-5.82706672e-01 5.19547376e-02 8.11020123e-01 3.81956563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.890714057 meters Centerline goodness : 0.991948 Centerline is valid? [True, True] Translation: X:116.77, Y:139.55, Z:38.16 [[-6.70832044e-02 -9.97691784e-01 -1.05331353e-02 1.16770715e+02] [ 8.18479338e-01 -6.10645535e-02 5.71281624e-01 1.39552296e+02] [-5.70606184e-01 2.97022483e-02 8.20686517e-01 3.81606622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.920714057 meters Centerline goodness : 0.990595 Centerline is valid? [True, True] Translation: X:116.78, Y:139.54, Z:38.17 [[-5.65564914e-02 -9.98373504e-01 -7.19101825e-03 1.16779651e+02] [ 8.18508765e-01 -5.04893167e-02 5.72271116e-01 1.39539153e+02] [-5.71703389e-01 2.64797350e-02 8.20032962e-01 3.81712377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.950714057 meters Centerline goodness : 0.990796 Centerline is valid? [True, True] Translation: X:116.77, Y:139.54, Z:38.17 [[-5.71230640e-02 -9.98190610e-01 1.87739577e-02 1.16771399e+02] [ 8.14763311e-01 -3.57421282e-02 5.78690978e-01 1.39544767e+02] [-5.76972879e-01 4.83529337e-02 8.15330786e-01 3.81694915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.980714057 meters Centerline goodness : 0.988952 Centerline is valid? [True, True] Translation: X:116.78, Y:139.56, Z:38.16 [[-6.37312850e-02 -9.97964896e-01 2.09502611e-03 1.16779158e+02] [ 8.13057829e-01 -5.07053573e-02 5.79970631e-01 1.39564540e+02] [-5.78684102e-01 3.86656510e-02 8.14634690e-01 3.81570941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.01071405700003 meters Centerline goodness : 0.990154 Centerline is valid? [True, True] Translation: X:116.78, Y:139.59, Z:38.14 [[-6.61953981e-02 -9.97753307e-01 1.03202112e-02 1.16777040e+02] [ 8.13803546e-01 -4.80008982e-02 5.79154300e-01 1.39588288e+02] [-5.77357739e-01 4.67359739e-02 8.15152618e-01 3.81393022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.040714057 meters Centerline goodness : 0.990121 Centerline is valid? [True, True] Translation: X:116.77, Y:139.61, Z:38.13 [[-7.21994985e-02 -9.97210978e-01 1.89076353e-02 1.16773521e+02] [ 8.16286046e-01 -4.81859456e-02 5.75634611e-01 1.39614784e+02] [-5.73118071e-01 5.69945691e-02 8.17488407e-01 3.81253497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.07071405700003 meters Centerline goodness : 0.990272 Centerline is valid? [True, True] Translation: X:116.78, Y:139.62, Z:38.12 [[-7.37360665e-02 -9.97277771e-01 1.99215428e-04 1.16780656e+02] [ 8.14091544e-01 -6.00763789e-02 5.77620798e-01 1.39615168e+02] [-5.76036414e-01 4.27536652e-02 8.16305196e-01 3.81203671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.100714057 meters Centerline goodness : 0.989953 Centerline is valid? [True, True] Translation: X:116.78, Y:139.61, Z:38.12 [[-7.31486983e-02 -9.97305978e-01 5.48223138e-03 1.16778680e+02] [ 8.11715498e-01 -5.63407339e-02 5.81329228e-01 1.39613279e+02] [-5.79454242e-01 4.69734885e-02 8.13649970e-01 3.81232194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.130714057 meters Centerline goodness : 0.990116 Centerline is valid? [True, True] Translation: X:116.77, Y:139.64, Z:38.11 [[-7.09583419e-02 -9.97148250e-01 2.56959506e-02 1.16769300e+02] [ 8.12503720e-01 -4.28369655e-02 5.81379995e-01 1.39636247e+02] [-5.78621308e-01 6.21318159e-02 8.13226303e-01 3.81086787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.160714057 meters Centerline goodness : 0.989332 Centerline is valid? [True, True] Translation: X:116.78, Y:139.66, Z:38.09 [[-7.45074491e-02 -9.97184424e-01 -8.47728994e-03 1.16781680e+02] [ 8.12109907e-01 -6.56081318e-02 5.79804339e-01 1.39657891e+02] [-5.78728035e-01 3.63152511e-02 8.14711645e-01 3.80890076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.190714057 meters Centerline goodness : 0.989697 Centerline is valid? [True, True] Translation: X:116.77, Y:139.66, Z:38.09 [[-7.09662848e-02 -9.97235553e-01 2.20236040e-02 1.16767512e+02] [ 8.13326132e-01 -4.50683141e-02 5.80059868e-01 1.39663413e+02] [-5.77463756e-01 5.90770665e-02 8.14276065e-01 3.80912847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.220714057 meters Centerline goodness : 0.988931 Centerline is valid? [True, True] Translation: X:116.77, Y:139.68, Z:38.08 [[-6.89946420e-02 -9.97611507e-01 -3.31974025e-03 1.16774276e+02] [ 8.10797623e-01 -5.80128198e-02 5.82444613e-01 1.39679883e+02] [-5.81246036e-01 3.74939201e-02 8.12863612e-01 3.80775865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.250714057 meters Centerline goodness : 0.990022 Centerline is valid? [True, True] Translation: X:116.77, Y:139.71, Z:38.06 [[-6.90138215e-02 -9.97589311e-01 7.25661221e-03 1.16768447e+02] [ 8.12127310e-01 -5.19559883e-02 5.81162462e-01 1.39705285e+02] [-5.79384436e-01 4.60015354e-02 8.13755205e-01 3.80627202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.280714057 meters Centerline goodness : 0.990440 Centerline is valid? [True, True] Translation: X:116.76, Y:139.73, Z:38.05 [[-6.68079952e-02 -9.97657750e-01 1.46869410e-02 1.16762467e+02] [ 8.12671195e-01 -4.58685125e-02 5.80914459e-01 1.39730427e+02] [-5.78880144e-01 5.07453842e-02 8.13832099e-01 3.80469196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.310714057 meters Centerline goodness : 0.991287 Centerline is valid? [True, True] Translation: X:116.76, Y:139.76, Z:38.03 [[-6.98594845e-02 -9.97443155e-01 1.50600224e-02 1.16761026e+02] [ 8.13133105e-01 -4.81922716e-02 5.80079356e-01 1.39757924e+02] [-5.77870406e-01 5.27698475e-02 8.14420737e-01 3.80271512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.340714057 meters Centerline goodness : 0.991110 Centerline is valid? [True, True] Translation: X:116.76, Y:139.75, Z:38.03 [[-6.63465589e-02 -9.97565974e-01 2.14537194e-02 1.16756053e+02] [ 8.10140209e-01 -4.13048626e-02 5.84779233e-01 1.39754155e+02] [-5.82469722e-01 5.61786105e-02 8.10908742e-01 3.80270479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.370714057 meters Centerline goodness : 0.990791 Centerline is valid? [True, True] Translation: X:116.75, Y:139.77, Z:38.02 [[-6.63190247e-02 -9.97614757e-01 1.91463484e-02 1.16753334e+02] [ 8.13000806e-01 -4.29018525e-02 5.80679879e-01 1.39773386e+02] [-5.78473402e-01 5.40761199e-02 8.13906810e-01 3.80187423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.400714057 meters Centerline goodness : 0.991389 Centerline is valid? [True, True] Translation: X:116.75, Y:139.80, Z:37.99 [[-6.93335906e-02 -9.97243701e-01 2.64169354e-02 1.16749096e+02] [ 8.10849329e-01 -4.09090267e-02 5.83823447e-01 1.39799527e+02] [-5.81133564e-01 6.18987302e-02 8.11450755e-01 3.79938224e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.430714057 meters Centerline goodness : 0.991735 Centerline is valid? [True, True] Translation: X:116.75, Y:139.80, Z:37.99 [[-6.78575287e-02 -9.97344534e-01 2.64430684e-02 1.16748113e+02] [ 8.07735980e-01 -3.93609104e-02 5.88228957e-01 1.39797708e+02] [-5.85626112e-01 6.12747811e-02 8.08261999e-01 3.79910300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.460714057 meters Centerline goodness : 0.989470 Centerline is valid? [True, True] Translation: X:116.76, Y:139.80, Z:37.98 [[-7.23039016e-02 -9.97361149e-01 -6.54865940e-03 1.16759331e+02] [ 8.08064051e-01 -6.24269770e-02 5.85777570e-01 1.39801749e+02] [-5.84640603e-01 3.70622675e-02 8.10445405e-01 3.79825248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.490714057 meters Centerline goodness : 0.989243 Centerline is valid? [True, True] Translation: X:116.74, Y:139.82, Z:37.98 [[-7.25661780e-02 -9.97149720e-01 2.06539575e-02 1.16743924e+02] [ 8.08964154e-01 -4.67334744e-02 5.85997423e-01 1.39816540e+02] [-5.83361935e-01 5.92319046e-02 8.10049649e-01 3.79774983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.520714057 meters Centerline goodness : 0.990176 Centerline is valid? [True, True] Translation: X:116.74, Y:139.82, Z:37.97 [[-7.04066554e-02 -9.97366526e-01 1.74044897e-02 1.16740105e+02] [ 8.08813751e-01 -4.68668803e-02 5.86194346e-01 1.39819530e+02] [-5.83834925e-01 5.53489739e-02 8.09983501e-01 3.79741606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.550714057 meters Centerline goodness : 0.989803 Centerline is valid? [True, True] Translation: X:116.73, Y:139.84, Z:37.96 [[-7.14017044e-02 -9.97039884e-01 2.85178104e-02 1.16731898e+02] [ 8.09863745e-01 -4.12601563e-02 5.85165202e-01 1.39844900e+02] [-5.82256396e-01 6.48773335e-02 8.10412501e-01 3.79606565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.580714057 meters Centerline goodness : 0.990586 Centerline is valid? [True, True] Translation: X:116.74, Y:139.86, Z:37.95 [[-7.24989138e-02 -9.97343583e-01 7.04882896e-03 1.16736509e+02] [ 8.11613392e-01 -5.48872178e-02 5.81610777e-01 1.39855341e+02] [-5.79678885e-01 4.78870735e-02 8.13436672e-01 3.79478325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.610714057 meters Centerline goodness : 0.988215 Centerline is valid? [True, True] Translation: X:116.73, Y:139.86, Z:37.95 [[-7.10790301e-02 -9.97469393e-01 1.60643316e-03 1.16733695e+02] [ 8.12651785e-01 -5.69750187e-02 5.79957692e-01 1.39855081e+02] [-5.78398520e-01 4.25283010e-02 8.14645012e-01 3.79455048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.640714057 meters Centerline goodness : 0.987084 Centerline is valid? [True, True] Translation: X:116.73, Y:139.86, Z:37.94 [[-7.20501261e-02 -9.97400619e-01 8.85561999e-04 1.16731709e+02] [ 8.11442641e-01 -5.81005831e-02 5.81536897e-01 1.39862173e+02] [-5.79973810e-01 4.26183895e-02 8.13519547e-01 3.79437866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.670714057 meters Centerline goodness : 0.990092 Centerline is valid? [True, True] Translation: X:116.72, Y:139.86, Z:37.95 [[-7.05428917e-02 -9.97337035e-01 1.85077869e-02 1.16720304e+02] [ 8.14003708e-01 -4.68314562e-02 5.78968720e-01 1.39863864e+02] [-5.76560200e-01 5.59075348e-02 8.15139671e-01 3.79473063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.700714057 meters Centerline goodness : 0.988614 Centerline is valid? [True, True] Translation: X:116.72, Y:139.88, Z:37.93 [[-7.09997503e-02 -9.97452804e-01 6.85127548e-03 1.16722537e+02] [ 8.08292500e-01 -5.35076507e-02 5.86344750e-01 1.39881527e+02] [-5.84484619e-01 4.71681654e-02 8.10032650e-01 3.79339720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.730714057 meters Centerline goodness : 0.988187 Centerline is valid? [True, True] Translation: X:116.72, Y:139.91, Z:37.92 [[-7.43724352e-02 -9.97165280e-01 1.14081672e-02 1.16716918e+02] [ 8.07958235e-01 -5.35472816e-02 5.86801652e-01 1.39906126e+02] [-5.84527357e-01 5.28591905e-02 8.09650341e-01 3.79186729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.76071405700003 meters Centerline goodness : 0.989031 Centerline is valid? [True, True] Translation: X:116.72, Y:139.91, Z:37.91 [[-7.63077017e-02 -9.97042540e-01 9.12738136e-03 1.16715965e+02] [ 8.08298908e-01 -5.64973696e-02 5.86055393e-01 1.39912847e+02] [-5.83806484e-01 5.20981924e-02 8.10219580e-01 3.79144473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.790714057 meters Centerline goodness : 0.989093 Centerline is valid? [True, True] Translation: X:116.71, Y:139.92, Z:37.91 [[-7.85729181e-02 -9.96885225e-01 6.79301816e-03 1.16711734e+02] [ 8.12276755e-01 -6.00689451e-02 5.80170833e-01 1.39917412e+02] [-5.77955682e-01 5.11035261e-02 8.14466487e-01 3.79127143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.82071405700003 meters Centerline goodness : 0.988905 Centerline is valid? [True, True] Translation: X:116.71, Y:139.94, Z:37.90 [[-7.83820184e-02 -9.96894756e-01 7.55680595e-03 1.16709771e+02] [ 8.07463552e-01 -5.90384409e-02 5.86955769e-01 1.39937449e+02] [-5.84686986e-01 5.21086233e-02 8.09583733e-01 3.78979193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.850714057 meters Centerline goodness : 0.988892 Centerline is valid? [True, True] Translation: X:116.71, Y:139.96, Z:37.88 [[-8.03755795e-02 -9.96762732e-01 1.95506467e-03 1.16707753e+02] [ 8.08939229e-01 -6.40838976e-02 5.84389064e-01 1.39959920e+02] [-5.82371952e-01 4.85521381e-02 8.11471256e-01 3.78812400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.880714057 meters Centerline goodness : 0.987351 Centerline is valid? [True, True] Translation: X:116.70, Y:139.98, Z:37.87 [[-8.05423911e-02 -9.96717520e-01 8.19197371e-03 1.16703432e+02] [ 8.07922138e-01 -6.04685076e-02 5.86178623e-01 1.39983556e+02] [-5.83759147e-01 5.38307049e-02 8.10140428e-01 3.78667007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.910714057 meters Centerline goodness : 0.988550 Centerline is valid? [True, True] Translation: X:116.70, Y:139.99, Z:37.86 [[-8.00428407e-02 -9.96782794e-01 4.14800327e-03 1.16703400e+02] [ 8.08662601e-01 -6.25023896e-02 5.84942945e-01 1.39986281e+02] [-5.82801803e-01 5.01748301e-02 8.11063835e-01 3.78638194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.940714057 meters Centerline goodness : 0.990729 Centerline is valid? [True, True] Translation: X:116.69, Y:140.00, Z:37.86 [[-7.22076300e-02 -9.96540389e-01 4.11498613e-02 1.16686235e+02] [ 8.06242847e-01 -3.40313037e-02 5.90605065e-01 1.39995902e+02] [-5.87161418e-01 7.58229732e-02 8.05910880e-01 3.78641556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.970714057 meters Centerline goodness : 0.991331 Centerline is valid? [True, True] Translation: X:116.70, Y:140.01, Z:37.84 [[-7.40376129e-02 -9.97253164e-01 -2.13494499e-03 1.16697778e+02] [ 8.08749537e-01 -6.12950898e-02 5.84950509e-01 1.40012069e+02] [-5.83474608e-01 4.15817036e-02 8.11066177e-01 3.78447047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.000714057 meters Centerline goodness : 0.988004 Centerline is valid? [True, True] Translation: X:116.69, Y:140.03, Z:37.83 [[-6.81268942e-02 -9.97503041e-01 1.86120673e-02 1.16689739e+02] [ 8.03302962e-01 -4.37810462e-02 5.93959233e-01 1.40034269e+02] [-5.91661286e-01 5.54157267e-02 8.04279815e-01 3.78333383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.030714057 meters Centerline goodness : 0.988874 Centerline is valid? [True, True] Translation: X:116.69, Y:140.06, Z:37.81 [[-6.76280793e-02 -9.97678990e-01 7.94202982e-03 1.16692539e+02] [ 8.02893018e-01 -4.96955087e-02 5.94048111e-01 1.40055935e+02] [-5.92274636e-01 4.65509331e-02 8.04390307e-01 3.78135562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.060714057 meters Centerline goodness : 0.991231 Centerline is valid? [True, True] Translation: X:116.68, Y:140.09, Z:37.80 [[-6.58146162e-02 -9.97272984e-01 3.33920852e-02 1.16680282e+02] [ 8.08880851e-01 -3.37268525e-02 5.87004488e-01 1.40087691e+02] [-5.84277508e-01 6.56436934e-02 8.08894740e-01 3.77996012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.090714057 meters Centerline goodness : 0.990377 Centerline is valid? [True, True] Translation: X:116.68, Y:140.11, Z:37.78 [[-6.43113399e-02 -9.97716770e-01 2.06227830e-02 1.16684134e+02] [ 8.08615437e-01 -3.99893491e-02 5.86976939e-01 1.40108326e+02] [-5.84812043e-01 5.44251741e-02 8.09340951e-01 3.77792846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.120714057 meters Centerline goodness : 0.989588 Centerline is valid? [True, True] Translation: X:116.69, Y:140.13, Z:37.76 [[-5.90772059e-02 -9.98210517e-01 9.25461031e-03 1.16685990e+02] [ 8.02760126e-01 -4.19951338e-02 5.94821477e-01 1.40126226e+02] [-5.93368405e-01 4.25696230e-02 8.03804555e-01 3.77619311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.150714057 meters Centerline goodness : 0.988157 Centerline is valid? [True, True] Translation: X:116.68, Y:140.15, Z:37.75 [[-5.75033071e-02 -9.98224558e-01 1.55274352e-02 1.16682761e+02] [ 8.02908136e-01 -3.69974574e-02 5.94953539e-01 1.40148730e+02] [-5.93322758e-01 4.66789002e-02 8.03610095e-01 3.77488553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.180714057 meters Centerline goodness : 0.988402 Centerline is valid? [True, True] Translation: X:116.69, Y:140.17, Z:37.73 [[-5.81292744e-02 -9.98294839e-01 5.32943432e-03 1.16685732e+02] [ 8.02526692e-01 -4.35534165e-02 5.95024377e-01 1.40169271e+02] [-5.93777649e-01 3.88653486e-02 8.03689982e-01 3.77290604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.210714057 meters Centerline goodness : 0.989354 Centerline is valid? [True, True] Translation: X:116.68, Y:140.19, Z:37.72 [[-6.03354098e-02 -9.98084457e-01 1.36768154e-02 1.16681546e+02] [ 8.03625027e-01 -4.04437691e-02 5.93760152e-01 1.40193611e+02] [-5.92069636e-01 4.68157932e-02 8.04525840e-01 3.77172314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.240714057 meters Centerline goodness : 0.989307 Centerline is valid? [True, True] Translation: X:116.69, Y:140.21, Z:37.70 [[-6.35841870e-02 -9.97972851e-01 -2.69060376e-03 1.16686387e+02] [ 8.03601100e-01 -5.27984012e-02 5.92821728e-01 1.40214003e+02] [-5.91762049e-01 3.55319154e-02 8.05329225e-01 3.76972656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.270714057 meters Centerline goodness : 0.989658 Centerline is valid? [True, True] Translation: X:116.68, Y:140.24, Z:37.68 [[-6.68205273e-02 -9.97571755e-01 1.96369702e-02 1.16678706e+02] [ 8.02379248e-01 -4.20269214e-02 5.95332916e-01 1.40240003e+02] [-5.93062020e-01 5.55367567e-02 8.03239136e-01 3.76822792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.300714057 meters Centerline goodness : 0.989110 Centerline is valid? [True, True] Translation: X:116.68, Y:140.26, Z:37.66 [[-6.94941508e-02 -9.97528269e-01 1.03882177e-02 1.16681018e+02] [ 8.02515266e-01 -4.97166201e-02 5.94556562e-01 1.40259823e+02] [-5.92570511e-01 4.96549067e-02 8.03986679e-01 3.76626339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.330714057 meters Centerline goodness : 0.989560 Centerline is valid? [True, True] Translation: X:116.68, Y:140.28, Z:37.65 [[-7.44077343e-02 -9.97111350e-01 1.52461154e-02 1.16677725e+02] [ 8.02569393e-01 -5.08019543e-02 5.94391732e-01 1.40281310e+02] [-5.91900210e-01 5.64634077e-02 8.04031109e-01 3.76463280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.360714057 meters Centerline goodness : 0.989880 Centerline is valid? [True, True] Translation: X:116.68, Y:140.30, Z:37.63 [[-7.79059462e-02 -9.96927297e-01 8.16261036e-03 1.16678831e+02] [ 8.01822843e-01 -5.77895360e-02 5.94760875e-01 1.40301607e+02] [-5.92461638e-01 5.28803761e-02 8.03861228e-01 3.76282472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.390714057 meters Centerline goodness : 0.989412 Centerline is valid? [True, True] Translation: X:116.68, Y:140.31, Z:37.62 [[-7.88024033e-02 -9.96872535e-01 5.94391017e-03 1.16678849e+02] [ 8.00666390e-01 -5.97379522e-02 5.96124743e-01 1.40309808e+02] [-5.93905307e-01 5.17351515e-02 8.02869828e-01 3.76201622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.420714057 meters Centerline goodness : 0.989412 Centerline is valid? [True, True] Translation: X:116.68, Y:140.33, Z:37.60 [[-7.91023856e-02 -9.96811114e-01 1.05078507e-02 1.16676918e+02] [ 8.00676420e-01 -5.72515722e-02 5.96355203e-01 1.40333185e+02] [-5.93851904e-01 5.55865075e-02 8.02651890e-01 3.76045107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.450714057 meters Centerline goodness : 0.990561 Centerline is valid? [True, True] Translation: X:116.67, Y:140.34, Z:37.60 [[-8.22477884e-02 -9.96598734e-01 5.12491672e-03 1.16674975e+02] [ 8.00234662e-01 -6.29753745e-02 5.96371183e-01 1.40343028e+02] [-5.94020022e-01 5.31513468e-02 8.02692437e-01 3.75962719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.480714057 meters Centerline goodness : 0.990000 Centerline is valid? [True, True] Translation: X:116.67, Y:140.35, Z:37.59 [[-8.35005892e-02 -9.96500276e-01 3.85377756e-03 1.16671547e+02] [ 7.99695051e-01 -6.47010853e-02 5.96910040e-01 1.40347737e+02] [-5.94571676e-01 5.29241868e-02 8.02298917e-01 3.75925202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.51071405700003 meters Centerline goodness : 0.990317 Centerline is valid? [True, True] Translation: X:116.67, Y:140.36, Z:37.58 [[-8.19537444e-02 -9.96634758e-01 -1.65633775e-03 1.16671469e+02] [ 7.98840393e-01 -6.66825821e-02 5.97835646e-01 1.40361917e+02] [-5.95934233e-01 4.76717202e-02 8.01616989e-01 3.75779204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.540714057 meters Centerline goodness : 0.991712 Centerline is valid? [True, True] Translation: X:116.66, Y:140.39, Z:37.57 [[-8.29822715e-02 -9.96013512e-01 3.27265322e-02 1.16655510e+02] [ 8.04679703e-01 -4.75963877e-02 5.91798243e-01 1.40394591e+02] [-5.87881382e-01 7.54431386e-02 8.05421513e-01 3.75657655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.57071405700003 meters Centerline goodness : 0.990453 Centerline is valid? [True, True] Translation: X:116.67, Y:140.41, Z:37.54 [[-8.20760284e-02 -9.96625723e-01 8.32709631e-04 1.16665780e+02] [ 7.97943348e-01 -6.52131132e-02 5.99194178e-01 1.40407348e+02] [-5.97118027e-01 4.98439335e-02 8.00603300e-01 3.75423997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.600714057 meters Centerline goodness : 0.990665 Centerline is valid? [True, True] Translation: X:116.66, Y:140.41, Z:37.54 [[-8.17118785e-02 -9.96613435e-01 9.21033697e-03 1.16660415e+02] [ 7.98108827e-01 -5.98959507e-02 5.99528795e-01 1.40408939e+02] [-5.96946790e-01 5.63394753e-02 8.00300190e-01 3.75432035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.630714057 meters Centerline goodness : 0.989232 Centerline is valid? [True, True] Translation: X:116.66, Y:140.43, Z:37.53 [[-8.26932860e-02 -9.96451978e-01 1.56612684e-02 1.16657081e+02] [ 7.97566702e-01 -5.67492987e-02 6.00555470e-01 1.40432029e+02] [-5.97535920e-01 6.21528115e-02 7.99429704e-01 3.75268690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.660714057 meters Centerline goodness : 0.990259 Centerline is valid? [True, True] Translation: X:116.66, Y:140.45, Z:37.51 [[-8.41052766e-02 -9.96398035e-01 1.08286132e-02 1.16657702e+02] [ 7.97772835e-01 -6.08200775e-02 5.99882840e-01 1.40453385e+02] [-5.97063486e-01 5.90920857e-02 8.00014574e-01 3.75066104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.690714057 meters Centerline goodness : 0.990319 Centerline is valid? [True, True] Translation: X:116.66, Y:140.46, Z:37.50 [[-8.49179696e-02 -9.96378951e-01 4.23371395e-03 1.16657722e+02] [ 8.00073501e-01 -6.56537953e-02 5.96298559e-01 1.40456941e+02] [-5.93861373e-01 5.40237452e-02 8.02751583e-01 3.75021279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.720714057 meters Centerline goodness : 0.990238 Centerline is valid? [True, True] Translation: X:116.65, Y:140.45, Z:37.50 [[-8.14385429e-02 -9.96605659e-01 1.20384200e-02 1.16654593e+02] [ 7.98325689e-01 -5.79951830e-02 5.99426937e-01 1.40454476e+02] [-5.96694108e-01 5.84270363e-02 8.00338943e-01 3.75042063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.750714057 meters Centerline goodness : 0.990202 Centerline is valid? [True, True] Translation: X:116.65, Y:140.48, Z:37.49 [[-8.07773005e-02 -9.96617649e-01 1.51092765e-02 1.16650858e+02] [ 7.98624599e-01 -5.56446918e-02 5.99251549e-01 1.40477921e+02] [-5.96383919e-01 6.04725623e-02 8.00418198e-01 3.74867506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.780714057 meters Centerline goodness : 0.989728 Centerline is valid? [True, True] Translation: X:116.65, Y:140.50, Z:37.47 [[-7.97649066e-02 -9.96646978e-01 1.82307542e-02 1.16647680e+02] [ 7.98806650e-01 -5.29695420e-02 5.99251336e-01 1.40501571e+02] [-5.96276359e-01 6.23620745e-02 8.00353344e-01 3.74702518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.810714057 meters Centerline goodness : 0.989890 Centerline is valid? [True, True] Translation: X:116.65, Y:140.49, Z:37.47 [[-7.33880630e-02 -9.97261091e-01 9.19290944e-03 1.16647790e+02] [ 7.97881206e-01 -5.31805989e-02 6.00464325e-01 1.40494261e+02] [-5.98330823e-01 5.14017634e-02 7.99598702e-01 3.74708479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.840714057 meters Centerline goodness : 0.989879 Centerline is valid? [True, True] Translation: X:116.64, Y:140.52, Z:37.46 [[-6.94649561e-02 -9.97287718e-01 2.43275071e-02 1.16639771e+02] [ 7.97912738e-01 -4.09077714e-02 6.01383253e-01 1.40519593e+02] [-5.98756948e-01 6.11862891e-02 7.98590230e-01 3.74569209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.870714057 meters Centerline goodness : 0.989417 Centerline is valid? [True, True] Translation: X:116.64, Y:140.54, Z:37.44 [[-6.17680944e-02 -9.97876360e-01 2.06753947e-02 1.16637101e+02] [ 7.96367679e-01 -3.67866441e-02 6.03693020e-01 1.40543063e+02] [-6.01650415e-01 5.37541835e-02 7.96948722e-01 3.74384460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.900714057 meters Centerline goodness : 0.988871 Centerline is valid? [True, True] Translation: X:116.64, Y:140.55, Z:37.43 [[-5.67079564e-02 -9.98363531e-01 7.38022121e-03 1.16639245e+02] [ 7.96803236e-01 -4.08026179e-02 6.02859643e-01 1.40547099e+02] [-6.01571950e-01 4.00675225e-02 7.97813125e-01 3.74300163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.930714057 meters Centerline goodness : 0.989355 Centerline is valid? [True, True] Translation: X:116.63, Y:140.57, Z:37.42 [[-5.29526929e-02 -9.98431732e-01 1.81683272e-02 1.16631928e+02] [ 7.96785999e-01 -3.12773098e-02 6.03451574e-01 1.40573518e+02] [-6.01936944e-01 4.64306546e-02 7.97192643e-01 3.74177339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.960714057 meters Centerline goodness : 0.989113 Centerline is valid? [True, True] Translation: X:116.63, Y:140.57, Z:37.42 [[-4.55617603e-02 -9.98936567e-01 7.06129345e-03 1.16633465e+02] [ 7.97681150e-01 -3.21254461e-02 6.02223164e-01 1.40573684e+02] [-6.01355893e-01 3.30710081e-02 7.98296561e-01 3.74152555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.990714057 meters Centerline goodness : 0.987801 Centerline is valid? [True, True] Translation: X:116.63, Y:140.58, Z:37.41 [[-4.14998945e-02 -9.99115701e-01 6.75087417e-03 1.16632762e+02] [ 7.97433134e-01 -2.90502767e-02 6.02707623e-01 1.40578179e+02] [-6.01978534e-01 3.03956735e-02 7.97933548e-01 3.74116608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.020714057 meters Centerline goodness : 0.988775 Centerline is valid? [True, True] Translation: X:116.63, Y:140.57, Z:37.42 [[-3.34716634e-02 -9.99415831e-01 6.90251205e-03 1.16631612e+02] [ 7.97477944e-01 -2.25443738e-02 6.02926762e-01 1.40571571e+02] [-6.02418938e-01 2.56855628e-02 7.97766679e-01 3.74164765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.050714057 meters Centerline goodness : 0.988300 Centerline is valid? [True, True] Translation: X:116.63, Y:140.60, Z:37.40 [[-3.04971726e-02 -9.99522118e-01 5.04570630e-03 1.16629748e+02] [ 8.01596659e-01 -2.14419669e-02 5.97480576e-01 1.40597674e+02] [-5.97086860e-01 2.22660895e-02 8.01867509e-01 3.74043142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.080714057 meters Centerline goodness : 0.988215 Centerline is valid? [True, True] Translation: X:116.62, Y:140.63, Z:37.40 [[-2.79836662e-02 -9.99088138e-01 3.22460394e-02 1.16619616e+02] [ 8.03996559e-01 -3.32751607e-03 5.94624639e-01 1.40626455e+02] [-5.93975124e-01 4.25654821e-02 8.03356541e-01 3.73963050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.110714057 meters Centerline goodness : 0.989018 Centerline is valid? [True, True] Translation: X:116.63, Y:140.64, Z:37.37 [[-2.94693344e-02 -9.99559094e-01 -3.62993123e-03 1.16632634e+02] [ 8.01927860e-01 -2.58102321e-02 5.96863082e-01 1.40640742e+02] [-5.96693611e-01 1.46782148e-02 8.02334896e-01 3.73690891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.140714057 meters Centerline goodness : 0.989772 Centerline is valid? [True, True] Translation: X:116.63, Y:140.65, Z:37.37 [[-2.98422719e-02 -9.99521455e-01 -8.14245183e-03 1.16633119e+02] [ 8.08898497e-01 -2.89347555e-02 5.87235900e-01 1.40645941e+02] [-5.87190481e-01 1.09380364e-02 8.09374882e-01 3.73706739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.170714057 meters Centerline goodness : 0.988151 Centerline is valid? [True, True] Translation: X:116.63, Y:140.66, Z:37.37 [[-2.91253958e-02 -9.99494732e-01 1.27276089e-02 1.16627268e+02] [ 8.09235604e-01 -1.61029833e-02 5.87263511e-01 1.40663571e+02] [-5.86761833e-01 2.74039164e-02 8.09295729e-01 3.73672889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.200714057 meters Centerline goodness : 0.988429 Centerline is valid? [True, True] Translation: X:116.63, Y:140.66, Z:37.37 [[-2.52221960e-02 -9.99553222e-01 1.60373710e-02 1.16628743e+02] [ 8.05032788e-01 -1.07972399e-02 5.93132052e-01 1.40659027e+02] [-5.92693894e-01 2.78707024e-02 8.04945447e-01 3.73664662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.230714057 meters Centerline goodness : 0.987803 Centerline is valid? [True, True] Translation: X:116.63, Y:140.68, Z:37.35 [[-2.67349153e-02 -9.99591675e-01 1.00859654e-02 1.16632227e+02] [ 8.03713503e-01 -1.54942586e-02 5.94814705e-01 1.40680180e+02] [-5.94415553e-01 2.40085473e-02 8.03799565e-01 3.73484889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.26071405700003 meters Centerline goodness : 0.988242 Centerline is valid? [True, True] Translation: X:116.63, Y:140.70, Z:37.34 [[-2.61482103e-02 -9.99450883e-01 2.03519815e-02 1.16629418e+02] [ 8.04462672e-01 -8.95240585e-03 5.93935741e-01 1.40703576e+02] [-5.93427401e-01 3.19027661e-02 8.04255017e-01 3.73354019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.290714057 meters Centerline goodness : 0.987619 Centerline is valid? [True, True] Translation: X:116.63, Y:140.73, Z:37.31 [[-2.32126768e-02 -9.99081786e-01 3.60105118e-02 1.16627359e+02] [ 8.00459272e-01 3.00592422e-03 5.99379611e-01 1.40727109e+02] [-5.98937497e-01 4.27381532e-02 7.99654504e-01 3.73142192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.32071405700003 meters Centerline goodness : 0.990334 Centerline is valid? [True, True] Translation: X:116.62, Y:140.74, Z:37.30 [[-3.07915427e-02 -9.99205734e-01 2.52939226e-02 1.16622559e+02] [ 8.06844519e-01 -9.91122772e-03 5.90680701e-01 1.40740707e+02] [-5.89960849e-01 3.85962328e-02 8.06508851e-01 3.72997812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.350714057 meters Centerline goodness : 0.988036 Centerline is valid? [True, True] Translation: X:116.64, Y:140.77, Z:37.26 [[-1.59531194e-02 -9.99463565e-01 2.86021135e-02 1.16637117e+02] [ 7.95437334e-01 4.64618231e-03 6.06018037e-01 1.40767345e+02] [-6.05825838e-01 3.24190670e-02 7.94936512e-01 3.72643547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.380714057 meters Centerline goodness : 0.988968 Centerline is valid? [True, True] Translation: X:116.64, Y:140.77, Z:37.26 [[-7.44457669e-03 -9.99411589e-01 3.34821444e-02 1.16638828e+02] [ 7.94396117e-01 1.44258648e-02 6.07228709e-01 1.40768234e+02] [-6.07354418e-01 3.11186462e-02 7.93821291e-01 3.72580433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.410714057 meters Centerline goodness : 0.988164 Centerline is valid? [True, True] Translation: X:116.63, Y:140.79, Z:37.25 [[-4.34859437e-03 -9.98405046e-01 5.62890198e-02 1.16633473e+02] [ 7.92500761e-01 3.08879802e-02 6.09088234e-01 1.40794940e+02] [-6.09855420e-01 4.72577687e-02 7.91102439e-01 3.72454808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.440714057 meters Centerline goodness : 0.986731 Centerline is valid? [True, True] Translation: X:116.65, Y:140.81, Z:37.22 [[-1.49035097e-03 -9.99567842e-01 2.93582602e-02 1.16645451e+02] [ 7.87763803e-01 1.69104730e-02 6.15745261e-01 1.40809607e+02] [-6.15975625e-01 2.40450513e-02 7.87398162e-01 3.72238277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.470714057 meters Centerline goodness : 0.988138 Centerline is valid? [True, True] Translation: X:116.65, Y:140.84, Z:37.21 [[-2.67526976e-03 -9.99807484e-01 1.94380578e-02 1.16654742e+02] [ 7.90887587e-01 9.77986817e-03 6.11883305e-01 1.40835666e+02] [-6.11955609e-01 1.70102715e-02 7.90709165e-01 3.72061751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.500714057 meters Centerline goodness : 0.989350 Centerline is valid? [True, True] Translation: X:116.65, Y:140.86, Z:37.20 [[ 1.34359576e-03 -9.98411515e-01 5.63262070e-02 1.16648274e+02] [ 7.85070813e-01 3.59419168e-02 6.18362351e-01 1.40856495e+02] [-6.19404564e-01 4.33892321e-02 7.83872031e-01 3.71986246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.530714057 meters Centerline goodness : 0.987806 Centerline is valid? [True, True] Translation: X:116.66, Y:140.87, Z:37.18 [[ 2.28675874e-03 -9.99692774e-01 2.46805410e-02 1.16662720e+02] [ 7.80431706e-01 1.72153845e-02 6.25003986e-01 1.40866856e+02] [-6.25236853e-01 1.78322434e-02 7.80231305e-01 3.71820870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.560714057 meters Centerline goodness : 0.989609 Centerline is valid? [True, True] Translation: X:116.66, Y:140.90, Z:37.17 [[-4.35433960e-03 -9.98852039e-01 4.77037140e-02 1.16656835e+02] [ 7.88144553e-01 2.59330151e-02 6.14943609e-01 1.40899841e+02] [-6.15474779e-01 4.02750957e-02 7.87126873e-01 3.71694993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.590714057 meters Centerline goodness : 0.988751 Centerline is valid? [True, True] Translation: X:116.66, Y:140.92, Z:37.15 [[-7.06323227e-03 -9.98526125e-01 5.38115971e-02 1.16663563e+02] [ 7.87579189e-01 2.76039731e-02 6.15594868e-01 1.40921237e+02] [-6.16172972e-01 4.67289835e-02 7.86223423e-01 3.71509923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.620714057 meters Centerline goodness : 0.989529 Centerline is valid? [True, True] Translation: X:116.67, Y:140.94, Z:37.13 [[-9.44360401e-03 -9.98773802e-01 4.85974411e-02 1.16669268e+02] [ 7.88869978e-01 2.24238826e-02 6.14150900e-01 1.40943259e+02] [-6.14487573e-01 4.41368601e-02 7.87690904e-01 3.71326757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.650714057 meters Centerline goodness : 0.989620 Centerline is valid? [True, True] Translation: X:116.67, Y:140.97, Z:37.11 [[-1.22026982e-02 -9.97465897e-01 7.00919260e-02 1.16670011e+02] [ 7.89019438e-01 3.34549720e-02 6.13456674e-01 1.40972856e+02] [-6.14247035e-01 6.27897188e-02 7.86611741e-01 3.71115580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.680714057 meters Centerline goodness : 0.990263 Centerline is valid? [True, True] Translation: X:116.69, Y:140.97, Z:37.10 [[-1.12189113e-02 -9.99353649e-01 3.41528855e-02 1.16688572e+02] [ 7.88285367e-01 1.21746576e-02 6.15189368e-01 1.40965713e+02] [-6.15207540e-01 3.38239748e-02 7.87639272e-01 3.70990260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.710714057 meters Centerline goodness : 0.987983 Centerline is valid? [True, True] Translation: X:116.71, Y:140.97, Z:37.09 [[-1.78170722e-02 -9.99841243e-01 2.02979296e-04 1.16708561e+02] [ 7.93472056e-01 -1.40160722e-02 6.08445270e-01 1.40967786e+02] [-6.08345829e-01 1.10017717e-02 7.93595812e-01 3.70932845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.740714057 meters Centerline goodness : 0.989445 Centerline is valid? [True, True] Translation: X:116.70, Y:140.98, Z:37.10 [[-1.92206425e-02 -9.99494133e-01 2.53386048e-02 1.16700837e+02] [ 7.98621481e-01 -1.00444198e-04 6.01833631e-01 1.40978654e+02] [-6.01526638e-01 3.18035832e-02 7.98219416e-01 3.70966303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.770714057 meters Centerline goodness : 0.989055 Centerline is valid? [True, True] Translation: X:116.71, Y:140.98, Z:37.09 [[-2.42395456e-02 -9.99703607e-01 -2.26755091e-03 1.16713424e+02] [ 8.02451007e-01 -2.08094810e-02 5.96355050e-01 1.40983587e+02] [-5.96225482e-01 1.26357770e-02 8.02717579e-01 3.70912660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.800714057 meters Centerline goodness : 0.988871 Centerline is valid? [True, True] Translation: X:116.72, Y:140.99, Z:37.09 [[-2.77378466e-02 -9.99615162e-01 -3.74767607e-04 1.16717565e+02] [ 8.07998134e-01 -2.26414860e-02 5.88749845e-01 1.40994766e+02] [-5.88531756e-01 1.60278413e-02 8.08315211e-01 3.70904103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.830714057 meters Centerline goodness : 0.989899 Centerline is valid? [True, True] Translation: X:116.73, Y:141.01, Z:37.09 [[-3.47039761e-02 -9.99313324e-01 -1.29813194e-02 1.16725034e+02] [ 8.15544536e-01 -3.58250452e-02 5.77584345e-01 1.41010830e+02] [-5.77652788e-01 9.45762919e-03 8.16227793e-01 3.70859864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.860714057 meters Centerline goodness : 0.988680 Centerline is valid? [True, True] Translation: X:116.71, Y:141.01, Z:37.09 [[-2.71101709e-02 -9.98925918e-01 3.75772508e-02 1.16710624e+02] [ 8.04187023e-01 5.33945602e-04 5.94376099e-01 1.41010568e+02] [-5.93757754e-01 4.63327750e-02 8.03308784e-01 3.70927001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.890714057 meters Centerline goodness : 0.988627 Centerline is valid? [True, True] Translation: X:116.72, Y:141.02, Z:37.08 [[-2.84888964e-02 -9.99474885e-01 1.54381679e-02 1.16723158e+02] [ 8.01545600e-01 -1.36136911e-02 5.97778653e-01 1.41019776e+02] [-5.97254580e-01 2.94044496e-02 8.01512536e-01 3.70758648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.920714057 meters Centerline goodness : 0.987709 Centerline is valid? [True, True] Translation: X:116.73, Y:141.03, Z:37.06 [[-3.15233394e-02 -9.99352983e-01 1.73174435e-02 1.16726940e+02] [ 7.97965556e-01 -1.47299110e-02 6.02523029e-01 1.41033501e+02] [-6.01878103e-01 3.28122614e-02 7.97913595e-01 3.70640210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.950714057 meters Centerline goodness : 0.987964 Centerline is valid? [True, True] Translation: X:116.74, Y:141.04, Z:37.05 [[-3.66248031e-02 -9.99308792e-01 6.36884445e-03 1.16736217e+02] [ 7.97495426e-01 -2.53865804e-02 6.02790650e-01 1.41040707e+02] [-6.02212313e-01 2.71562131e-02 7.97873969e-01 3.70547663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.980714057 meters Centerline goodness : 0.987852 Centerline is valid? [True, True] Translation: X:116.74, Y:141.05, Z:37.05 [[-3.89064123e-02 -9.99169463e-01 1.21109407e-02 1.16736806e+02] [ 7.95892209e-01 -2.36581316e-02 6.04975937e-01 1.41046242e+02] [-6.04186960e-01 3.31764466e-02 7.96151644e-01 3.70508302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.01071405700003 meters Centerline goodness : 0.987523 Centerline is valid? [True, True] Translation: X:116.74, Y:141.05, Z:37.05 [[-4.46796838e-02 -9.98997644e-01 2.72648475e-03 1.16742144e+02] [ 7.98470064e-01 -3.40707337e-02 6.01069665e-01 1.41049956e+02] [-6.00374285e-01 2.90326190e-02 7.99191982e-01 3.70476907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.040714057 meters Centerline goodness : 0.988978 Centerline is valid? [True, True] Translation: X:116.74, Y:141.06, Z:37.04 [[-5.41285041e-02 -9.98505097e-01 7.59445848e-03 1.16743629e+02] [ 7.98220357e-01 -3.86991357e-02 6.01121151e-01 1.41060109e+02] [-5.99928635e-01 3.85998400e-02 7.99121822e-01 3.70405652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.07071405700003 meters Centerline goodness : 0.988476 Centerline is valid? [True, True] Translation: X:116.75, Y:141.07, Z:37.03 [[-5.83686896e-02 -9.98276974e-01 6.01495722e-03 1.16745694e+02] [ 7.99166980e-01 -4.31142831e-02 5.99560919e-01 1.41067984e+02] [-5.98268530e-01 3.98025404e-02 8.00306519e-01 3.70342306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.100714057 meters Centerline goodness : 0.988161 Centerline is valid? [True, True] Translation: X:116.75, Y:141.07, Z:37.03 [[-6.43050746e-02 -9.97854238e-01 1.23197772e-02 1.16746572e+02] [ 7.98185654e-01 -4.40201097e-02 6.00801042e-01 1.41067955e+02] [-5.98969548e-01 4.84680253e-02 7.99303654e-01 3.70323974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.130714057 meters Centerline goodness : 0.989158 Centerline is valid? [True, True] Translation: X:116.76, Y:141.08, Z:37.02 [[-6.96645892e-02 -9.97482106e-01 -1.32775587e-02 1.16756070e+02] [ 8.03041471e-01 -6.39713097e-02 5.92479592e-01 1.41080881e+02] [-5.91837174e-01 3.06124171e-02 8.05476033e-01 3.70209789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.160714057 meters Centerline goodness : 0.988979 Centerline is valid? [True, True] Translation: X:116.75, Y:141.08, Z:37.03 [[-7.25273952e-02 -9.97320387e-01 9.58242564e-03 1.16748959e+02] [ 8.03058617e-01 -5.26971615e-02 5.93565386e-01 1.41081461e+02] [-5.91469894e-01 5.07450008e-02 8.04728718e-01 3.70278486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.190714057 meters Centerline goodness : 0.989059 Centerline is valid? [True, True] Translation: X:116.76, Y:141.10, Z:37.02 [[-7.61043648e-02 -9.97014335e-01 -1.30591539e-02 1.16755184e+02] [ 8.09925973e-01 -6.94519871e-02 5.82405648e-01 1.41095970e+02] [-5.81573764e-01 3.37466640e-02 8.12793405e-01 3.70184324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.220714057 meters Centerline goodness : 0.990194 Centerline is valid? [True, True] Translation: X:116.75, Y:141.09, Z:37.03 [[-7.43105858e-02 -9.97218233e-01 -5.80806378e-03 1.16751094e+02] [ 8.13527581e-01 -6.39887452e-02 5.77995083e-01 1.41087933e+02] [-5.76758886e-01 3.82261331e-02 8.16019577e-01 3.70296774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.250714057 meters Centerline goodness : 0.990154 Centerline is valid? [True, True] Translation: X:116.75, Y:141.09, Z:37.02 [[-7.33609443e-02 -9.97215596e-01 -1.33875894e-02 1.16753738e+02] [ 8.13345873e-01 -6.75919180e-02 5.77840656e-01 1.41094397e+02] [-5.77136607e-01 3.15021956e-02 8.16039796e-01 3.70219579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.280714057 meters Centerline goodness : 0.991398 Centerline is valid? [True, True] Translation: X:116.75, Y:141.08, Z:37.04 [[-6.83287474e-02 -9.97662794e-01 -3.61834069e-04 1.16747444e+02] [ 8.15931423e-01 -5.60908751e-02 5.75421347e-01 1.41079213e+02] [-5.74096764e-01 3.90225881e-02 8.17857043e-01 3.70391240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.310714057 meters Centerline goodness : 0.991398 Centerline is valid? [True, True] Translation: X:116.74, Y:141.08, Z:37.04 [[-6.77736280e-02 -9.97664302e-01 8.52504828e-03 1.16743876e+02] [ 8.16203457e-01 -5.05284899e-02 5.75550857e-01 1.41084170e+02] [-5.73775786e-01 4.59653435e-02 8.17721551e-01 3.70387106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.340714057 meters Centerline goodness : 0.991016 Centerline is valid? [True, True] Translation: X:116.74, Y:141.09, Z:37.04 [[-6.80890014e-02 -9.97669795e-01 4.34369297e-03 1.16743640e+02] [ 8.20176676e-01 -5.34954823e-02 5.69603769e-01 1.41088745e+02] [-5.68044108e-01 4.23463475e-02 8.21907950e-01 3.70395828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.370714057 meters Centerline goodness : 0.990700 Centerline is valid? [True, True] Translation: X:116.74, Y:141.09, Z:37.04 [[-6.30647770e-02 -9.97985889e-01 6.85567428e-03 1.16741647e+02] [ 8.17206373e-01 -4.76953197e-02 5.74368262e-01 1.41086690e+02] [-5.72884437e-01 4.18249071e-02 8.18568323e-01 3.70393578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.400714057 meters Centerline goodness : 0.991413 Centerline is valid? [True, True] Translation: X:116.74, Y:141.09, Z:37.04 [[-6.16453497e-02 -9.97993985e-01 1.44172254e-02 1.16737946e+02] [ 8.17820637e-01 -4.22251809e-02 5.73921981e-01 1.41086068e+02] [-5.72161915e-01 4.71703257e-02 8.18783063e-01 3.70440619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.430714057 meters Centerline goodness : 0.990065 Centerline is valid? [True, True] Translation: X:116.74, Y:141.11, Z:37.03 [[-6.69869521e-02 -9.97684219e-01 -1.17876228e-02 1.16744482e+02] [ 8.18607362e-01 -6.17099908e-02 5.71028777e-01 1.41106434e+02] [-5.70433813e-01 2.86020425e-02 8.20845410e-01 3.70326521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.460714057 meters Centerline goodness : 0.991672 Centerline is valid? [True, True] Translation: X:116.74, Y:141.11, Z:37.04 [[-6.52848819e-02 -9.97866662e-01 9.93173827e-05 1.16738437e+02] [ 8.18835571e-01 -5.35149864e-02 5.71528175e-01 1.41105004e+02] [-5.70303597e-01 3.73934740e-02 8.20582437e-01 3.70366146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.490714057 meters Centerline goodness : 0.990891 Centerline is valid? [True, True] Translation: X:116.73, Y:141.13, Z:37.03 [[-6.73368471e-02 -9.97694540e-01 8.44717677e-03 1.16733994e+02] [ 8.20093074e-01 -5.05241120e-02 5.69995320e-01 1.41128964e+02] [-5.68254432e-01 4.53091588e-02 8.21604516e-01 3.70252553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.520714057 meters Centerline goodness : 0.991028 Centerline is valid? [True, True] Translation: X:116.73, Y:141.15, Z:37.01 [[-6.91644457e-02 -9.97289694e-01 2.50907474e-02 1.16727847e+02] [ 8.19845138e-01 -4.24923234e-02 5.71006437e-01 1.41154872e+02] [-5.68392671e-01 6.00638710e-02 8.20562065e-01 3.70082989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.550714057 meters Centerline goodness : 0.990981 Centerline is valid? [True, True] Translation: X:116.73, Y:141.17, Z:36.99 [[-7.28357656e-02 -9.97293874e-01 9.99404768e-03 1.16731138e+02] [ 8.18571632e-01 -5.40524121e-02 5.71855593e-01 1.41173220e+02] [-5.69767877e-01 4.98323839e-02 8.20293423e-01 3.69880270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.580714057 meters Centerline goodness : 0.991543 Centerline is valid? [True, True] Translation: X:116.73, Y:141.20, Z:36.97 [[-7.53204854e-02 -9.97149042e-01 4.54015607e-03 1.16731216e+02] [ 8.19727924e-01 -5.93250366e-02 5.69672425e-01 1.41196915e+02] [-5.67778968e-01 4.66296962e-02 8.21859304e-01 3.69714698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.610714057 meters Centerline goodness : 0.990430 Centerline is valid? [True, True] Translation: X:116.73, Y:141.22, Z:36.96 [[-7.81148973e-02 -9.96879877e-01 -1.13390642e-02 1.16733256e+02] [ 8.18152918e-01 -7.06008505e-02 5.70649913e-01 1.41216920e+02] [-5.69669962e-01 3.52991709e-02 8.21115158e-01 3.69555600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.640714057 meters Centerline goodness : 0.991280 Centerline is valid? [True, True] Translation: X:116.72, Y:141.22, Z:36.97 [[-7.74036143e-02 -9.96949759e-01 9.99295627e-03 1.16723901e+02] [ 8.20077208e-01 -5.79646597e-02 5.69309645e-01 1.41215615e+02] [-5.66993875e-01 5.22616198e-02 8.22062448e-01 3.69669222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.670714057 meters Centerline goodness : 0.990824 Centerline is valid? [True, True] Translation: X:116.72, Y:141.24, Z:36.95 [[-7.78168047e-02 -9.96941088e-01 7.28098956e-03 1.16723035e+02] [ 8.20091805e-01 -5.98564607e-02 5.69092818e-01 1.41236912e+02] [-5.66916198e-01 5.02560645e-02 8.22241055e-01 3.69492880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.700714057 meters Centerline goodness : 0.990905 Centerline is valid? [True, True] Translation: X:116.73, Y:141.26, Z:36.93 [[-7.80754718e-02 -9.96910353e-01 -8.60056320e-03 1.16726053e+02] [ 8.16311463e-01 -6.88790552e-02 5.73490429e-01 1.41255187e+02] [-5.72310944e-01 3.77547975e-02 8.19167113e-01 3.69266626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.730714057 meters Centerline goodness : 0.990133 Centerline is valid? [True, True] Translation: X:116.72, Y:141.26, Z:36.94 [[-7.70207747e-02 -9.96933034e-01 1.38681345e-02 1.16715688e+02] [ 8.17822860e-01 -5.52148158e-02 5.72815061e-01 1.41258908e+02] [-5.70292531e-01 5.54603372e-02 8.19567313e-01 3.69350020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.76071405700003 meters Centerline goodness : 0.990344 Centerline is valid? [True, True] Translation: X:116.71, Y:141.26, Z:36.93 [[-7.41257948e-02 -9.97134504e-01 1.51045866e-02 1.16711915e+02] [ 8.13319015e-01 -5.16826354e-02 5.79517976e-01 1.41256511e+02] [-5.77076725e-01 5.52420781e-02 8.14819469e-01 3.69337595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.790714057 meters Centerline goodness : 0.989851 Centerline is valid? [True, True] Translation: X:116.71, Y:141.28, Z:36.91 [[-7.26417775e-02 -9.97317172e-01 9.03491528e-03 1.16713835e+02] [ 8.11066389e-01 -5.37990266e-02 5.82474873e-01 1.41275085e+02] [-5.80426124e-01 4.96399262e-02 8.12798495e-01 3.69099739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.82071405700003 meters Centerline goodness : 0.989822 Centerline is valid? [True, True] Translation: X:116.71, Y:141.30, Z:36.89 [[-7.27363074e-02 -9.97287246e-01 1.12950336e-02 1.16710674e+02] [ 8.10705987e-01 -5.25241942e-02 5.83092627e-01 1.41295976e+02] [-5.80917578e-01 5.15689559e-02 8.12327157e-01 3.68936081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.850714057 meters Centerline goodness : 0.989870 Centerline is valid? [True, True] Translation: X:116.71, Y:141.32, Z:36.88 [[-7.38244744e-02 -9.97251689e-01 6.24622199e-03 1.16710928e+02] [ 8.09975996e-01 -5.63045377e-02 5.83753960e-01 1.41316416e+02] [-5.81797932e-01 4.81546191e-02 8.11906583e-01 3.68755294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.880714057 meters Centerline goodness : 0.989875 Centerline is valid? [True, True] Translation: X:116.71, Y:141.34, Z:36.86 [[-7.38257341e-02 -9.97171336e-01 1.41098237e-02 1.16705949e+02] [ 8.08983011e-01 -5.16075650e-02 5.85562248e-01 1.41339082e+02] [-5.83177716e-01 5.46441705e-02 8.10504637e-01 3.68579140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.910714057 meters Centerline goodness : 0.989486 Centerline is valid? [True, True] Translation: X:116.71, Y:141.36, Z:36.84 [[-7.42504282e-02 -9.97133781e-01 1.45291735e-02 1.16706206e+02] [ 8.06958488e-01 -5.15163281e-02 5.88357091e-01 1.41360651e+02] [-5.85922241e-01 5.54102058e-02 8.08470678e-01 3.68364434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.940714057 meters Centerline goodness : 0.989765 Centerline is valid? [True, True] Translation: X:116.70, Y:141.38, Z:36.82 [[-7.57028297e-02 -9.96981459e-01 1.72352014e-02 1.16704500e+02] [ 8.06092224e-01 -5.10158067e-02 5.89586901e-01 1.41381288e+02] [-5.86927941e-01 5.85265586e-02 8.07521042e-01 3.68174097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.970714057 meters Centerline goodness : 0.988401 Centerline is valid? [True, True] Translation: X:116.70, Y:141.40, Z:36.80 [[-7.67611464e-02 -9.96853613e-01 1.97636397e-02 1.16702772e+02] [ 8.07099571e-01 -5.04867224e-02 5.88252814e-01 1.41402736e+02] [-5.85404142e-01 6.11061855e-02 8.08435542e-01 3.67998770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.000714057 meters Centerline goodness : 0.988927 Centerline is valid? [True, True] Translation: X:116.70, Y:141.42, Z:36.78 [[-7.72402617e-02 -9.96907900e-01 1.44423049e-02 1.16703958e+02] [ 8.06259803e-01 -5.39345594e-02 5.89097779e-01 1.41422508e+02] [-5.86497291e-01 5.71463165e-02 8.07932687e-01 3.67797789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.030714057 meters Centerline goodness : 0.989853 Centerline is valid? [True, True] Translation: X:116.70, Y:141.45, Z:36.76 [[-7.89901643e-02 -9.96768390e-01 1.46058130e-02 1.16701320e+02] [ 8.05218124e-01 -5.51591805e-02 5.90407688e-01 1.41447522e+02] [-5.87694076e-01 5.83972656e-02 8.06973006e-01 3.67596328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.060714057 meters Centerline goodness : 0.989528 Centerline is valid? [True, True] Translation: X:116.71, Y:141.44, Z:36.76 [[-8.23278077e-02 -9.96556470e-01 -9.86578853e-03 1.16710109e+02] [ 8.04785638e-01 -7.23176318e-02 5.89143647e-01 1.41435740e+02] [-5.87828384e-01 4.05630600e-02 8.07968087e-01 3.67559159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.090714057 meters Centerline goodness : 0.989469 Centerline is valid? [True, True] Translation: X:116.70, Y:141.44, Z:36.76 [[-7.60257993e-02 -9.97076205e-01 7.68886356e-03 1.16700557e+02] [ 8.03315401e-01 -5.66800696e-02 5.92850518e-01 1.41442435e+02] [-5.90681339e-01 5.12485170e-02 8.05275819e-01 3.67593645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.120714057 meters Centerline goodness : 0.988924 Centerline is valid? [True, True] Translation: X:116.71, Y:141.44, Z:36.76 [[-7.88379029e-02 -9.96863992e-01 -6.83857054e-03 1.16706389e+02] [ 8.04013055e-01 -6.76387184e-02 5.90752073e-01 1.41436030e+02] [-5.89362022e-01 4.10753546e-02 8.06824158e-01 3.67556737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.150714057 meters Centerline goodness : 0.990025 Centerline is valid? [True, True] Translation: X:116.69, Y:141.45, Z:36.76 [[-6.96237397e-02 -9.97508050e-01 1.14116287e-02 1.16693874e+02] [ 8.03155208e-01 -4.92660184e-02 5.93729375e-01 1.41446109e+02] [-5.91687626e-01 5.05029685e-02 8.04583870e-01 3.67589568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.180714057 meters Centerline goodness : 0.990010 Centerline is valid? [True, True] Translation: X:116.69, Y:141.47, Z:36.75 [[-7.00475978e-02 -9.97439297e-01 1.44285167e-02 1.16690230e+02] [ 8.05716018e-01 -4.80436175e-02 5.90350327e-01 1.41471536e+02] [-5.88145417e-01 5.29779093e-02 8.07018159e-01 3.67453990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.210714057 meters Centerline goodness : 0.990851 Centerline is valid? [True, True] Translation: X:116.69, Y:141.49, Z:36.73 [[-6.80915835e-02 -9.97662092e-01 -5.82125282e-03 1.16693491e+02] [ 8.07301633e-01 -5.85256872e-02 5.87229783e-01 1.41491476e+02] [-5.86197586e-01 3.52858989e-02 8.09399342e-01 3.67305819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.240714057 meters Centerline goodness : 0.990890 Centerline is valid? [True, True] Translation: X:116.69, Y:141.52, Z:36.72 [[-6.88425228e-02 -9.97627525e-01 1.67333260e-04 1.16688452e+02] [ 8.10275648e-01 -5.58162227e-02 5.83384884e-01 1.41517377e+02] [-5.81991478e-01 4.02972733e-02 8.12195819e-01 3.67211111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.270714057 meters Centerline goodness : 0.990686 Centerline is valid? [True, True] Translation: X:116.69, Y:141.54, Z:36.70 [[-6.57150528e-02 -9.97838314e-01 -4.79818013e-04 1.16685851e+02] [ 8.10240956e-01 -5.36410218e-02 5.83637074e-01 1.41541898e+02] [-5.82401172e-01 3.79649729e-02 8.12014492e-01 3.67044196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.300714057 meters Centerline goodness : 0.990060 Centerline is valid? [True, True] Translation: X:116.68, Y:141.55, Z:36.71 [[-6.31325266e-02 -9.97951079e-01 1.03888306e-02 1.16680196e+02] [ 8.11273097e-01 -4.52546555e-02 5.82913354e-01 1.41546175e+02] [-5.81248868e-01 4.52289716e-02 8.12467903e-01 3.67081141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.330714057 meters Centerline goodness : 0.992098 Centerline is valid? [True, True] Translation: X:116.68, Y:141.55, Z:36.71 [[-5.67886433e-02 -9.98349560e-01 8.55601645e-03 1.16676277e+02] [ 8.15437163e-01 -4.14360509e-02 5.77360621e-01 1.41549169e+02] [-5.76053195e-01 3.97644201e-02 8.16444430e-01 3.67067877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.360714057 meters Centerline goodness : 0.991251 Centerline is valid? [True, True] Translation: X:116.68, Y:141.57, Z:36.69 [[-5.23039613e-02 -9.98617513e-01 5.23055968e-03 1.16675276e+02] [ 8.11567923e-01 -3.94537404e-02 5.82924445e-01 1.41567955e+02] [-5.81912194e-01 3.47342120e-02 8.12509528e-01 3.66940836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.390714057 meters Centerline goodness : 0.990292 Centerline is valid? [True, True] Translation: X:116.67, Y:141.59, Z:36.68 [[-4.45671536e-02 -9.98618314e-01 2.78429754e-02 1.16665505e+02] [ 8.11675538e-01 -1.99477960e-02 5.83767853e-01 1.41593037e+02] [-5.82405863e-01 4.86163336e-02 8.11443074e-01 3.66818791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.420714057 meters Centerline goodness : 0.991696 Centerline is valid? [True, True] Translation: X:116.65, Y:141.63, Z:36.66 [[-4.39351157e-02 -9.96925087e-01 6.48851105e-02 1.16653729e+02] [ 8.11567211e-01 2.26008102e-03 5.84254700e-01 1.41625338e+02] [-5.82604813e-01 7.83279260e-02 8.08972415e-01 3.66564566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.450714057 meters Centerline goodness : 0.990989 Centerline is valid? [True, True] Translation: X:116.68, Y:141.62, Z:36.63 [[-4.06822309e-02 -9.98630045e-01 -3.29088043e-02 1.16683617e+02] [ 8.07515684e-01 -5.22579291e-02 5.87526619e-01 1.41620322e+02] [-5.88441480e-01 -2.67248198e-03 8.08535393e-01 3.66292227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.480714057 meters Centerline goodness : 0.990612 Centerline is valid? [True, True] Translation: X:116.67, Y:141.65, Z:36.62 [[-3.82261970e-02 -9.99268612e-01 9.99897831e-04 1.16669367e+02] [ 8.07111044e-01 -3.02853740e-02 5.89622386e-01 1.41649424e+02] [-5.89160861e-01 2.33460501e-02 8.07678427e-01 3.66204307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.51071405700003 meters Centerline goodness : 0.988781 Centerline is valid? [True, True] Translation: X:116.66, Y:141.68, Z:36.61 [[-3.22153571e-02 -9.98939044e-01 3.29083118e-02 1.16660747e+02] [ 8.04341005e-01 -6.36694637e-03 5.94133831e-01 1.41679972e+02] [-5.93293956e-01 4.56097382e-02 8.03692748e-01 3.66050566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.540714057 meters Centerline goodness : 0.988953 Centerline is valid? [True, True] Translation: X:116.66, Y:141.70, Z:36.58 [[-3.06232586e-02 -9.98286431e-01 4.98639911e-02 1.16657495e+02] [ 8.00437705e-01 5.38528244e-03 5.99391758e-01 1.41704552e+02] [-5.98633190e-01 5.82683474e-02 7.98901185e-01 3.65801408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.57071405700003 meters Centerline goodness : 0.989780 Centerline is valid? [True, True] Translation: X:116.68, Y:141.70, Z:36.55 [[-3.95207239e-02 -9.98605105e-01 -3.50136556e-02 1.16684374e+02] [ 8.01869795e-01 -5.26032341e-02 5.95178739e-01 1.41704214e+02] [-5.96190359e-01 -4.55449827e-03 8.02830189e-01 3.65534973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.600714057 meters Centerline goodness : 0.988528 Centerline is valid? [True, True] Translation: X:116.66, Y:141.74, Z:36.55 [[-3.55094424e-02 -9.98764272e-01 3.47708067e-02 1.16663456e+02] [ 8.00874724e-01 -7.62786098e-03 5.98783344e-01 1.41743427e+02] [-5.97778183e-01 4.91095229e-02 8.00155921e-01 3.65478106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.630714057 meters Centerline goodness : 0.984114 Centerline is valid? [True, True] Translation: X:116.67, Y:141.75, Z:36.52 [[-4.83690102e-02 -9.98828347e-01 -1.54002190e-03 1.16672105e+02] [ 7.99121914e-01 -3.96229606e-02 5.99861807e-01 1.41747845e+02] [-5.99219998e-01 2.77840566e-02 8.00102144e-01 3.65245607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.660714057 meters Centerline goodness : 0.990480 Centerline is valid? [True, True] Translation: X:116.68, Y:141.78, Z:36.50 [[-4.63007155e-02 -9.98923636e-01 -2.79511447e-03 1.16677800e+02] [ 7.99484300e-01 -3.87338815e-02 5.99436853e-01 1.41779806e+02] [-5.98899906e-01 2.55197050e-02 8.00417170e-01 3.65036903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.690714057 meters Centerline goodness : 0.991308 Centerline is valid? [True, True] Translation: X:116.67, Y:141.81, Z:36.49 [[-5.30315099e-02 -9.98569089e-01 6.88724313e-03 1.16674790e+02] [ 8.00849230e-01 -3.84091599e-02 5.97633038e-01 1.41808344e+02] [-5.96513345e-01 3.72090257e-02 8.01740181e-01 3.64895854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.720714057 meters Centerline goodness : 0.991367 Centerline is valid? [True, True] Translation: X:116.68, Y:141.81, Z:36.49 [[-5.57300150e-02 -9.98407863e-01 8.71229209e-03 1.16675170e+02] [ 8.02708314e-01 -3.96137264e-02 5.95054716e-01 1.41810072e+02] [-5.93762181e-01 4.01558375e-02 8.03637966e-01 3.64912280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.750714057 meters Centerline goodness : 0.990327 Centerline is valid? [True, True] Translation: X:116.68, Y:141.83, Z:36.47 [[-6.44509318e-02 -9.97903660e-01 -5.86200126e-03 1.16680600e+02] [ 8.08718774e-01 -5.56719095e-02 5.85554936e-01 1.41834957e+02] [-5.84653763e-01 3.29988508e-02 8.10611531e-01 3.64731630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.780714057 meters Centerline goodness : 0.983273 Centerline is valid? [True, True] Translation: X:116.65, Y:142.66, Z:35.85 [[-9.00923208e-02 -9.95873703e-01 1.09059845e-02 1.16654015e+02] [ 7.95507753e-01 -6.53690293e-02 6.02407092e-01 1.42658140e+02] [-5.99208468e-01 6.29480482e-02 7.98114500e-01 3.58504940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.810714057 meters Centerline goodness : 0.983439 Centerline is valid? [True, True] Translation: X:116.66, Y:142.66, Z:35.84 [[-8.72792625e-02 -9.96172925e-01 -4.67267307e-03 1.16659621e+02] [ 7.93657868e-01 -7.23693391e-02 6.04044591e-01 1.42658547e+02] [-6.02071026e-01 4.90120627e-02 7.96936822e-01 3.58426336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.840714057 meters Centerline goodness : 0.991380 Centerline is valid? [True, True] Translation: X:116.68, Y:141.85, Z:36.45 [[-6.32223175e-02 -9.97255003e-01 -3.85408497e-02 1.16683748e+02] [ 8.11557772e-01 -7.38490278e-02 5.79586321e-01 1.41854940e+02] [-5.80841563e-01 5.36466430e-03 8.13998956e-01 3.64480902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.870714057 meters Centerline goodness : 0.984037 Centerline is valid? [True, True] Translation: X:116.65, Y:141.89, Z:36.45 [[-6.89994894e-02 -9.96816860e-01 3.99401788e-02 1.16647380e+02] [ 8.11767401e-01 -3.28286162e-02 5.83057432e-01 1.41887854e+02] [-5.79890298e-01 7.26528003e-02 8.11448589e-01 3.64522353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.900714057 meters Centerline goodness : 0.991098 Centerline is valid? [True, True] Translation: X:116.68, Y:141.90, Z:36.41 [[-6.58319130e-02 -9.96943974e-01 -4.20579559e-02 1.16682690e+02] [ 8.11318634e-01 -7.80164106e-02 5.79375106e-01 1.41897810e+02] [-5.80885732e-01 4.01896826e-03 8.13975193e-01 3.64148377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.930714057 meters Centerline goodness : 0.991879 Centerline is valid? [True, True] Translation: X:116.66, Y:141.93, Z:36.41 [[-6.50757928e-02 -9.97635590e-01 2.20990929e-02 1.16657683e+02] [ 8.13058208e-01 -4.01703465e-02 5.80794881e-01 1.41932735e+02] [-5.78533916e-01 5.57635363e-02 8.13749922e-01 3.64107276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.960714057 meters Centerline goodness : 0.990873 Centerline is valid? [True, True] Translation: X:116.66, Y:141.95, Z:36.39 [[-6.86429160e-02 -9.97636713e-01 3.02294967e-03 1.16661136e+02] [ 8.11944967e-01 -5.41051338e-02 5.81221133e-01 1.41949200e+02] [-5.79683984e-01 4.23511822e-02 8.13740042e-01 3.63919298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.990714057 meters Centerline goodness : 0.992798 Centerline is valid? [True, True] Translation: X:116.65, Y:141.98, Z:36.38 [[-7.18153250e-02 -9.97014851e-01 2.83539507e-02 1.16645013e+02] [ 8.16057918e-01 -4.23883960e-02 5.76413653e-01 1.41978073e+02] [-5.73491093e-01 6.45337998e-02 8.16665999e-01 3.63839341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.020714057 meters Centerline goodness : 0.991477 Centerline is valid? [True, True] Translation: X:116.67, Y:142.00, Z:36.35 [[-6.42819912e-02 -9.97902972e-01 -7.58178557e-03 1.16665454e+02] [ 8.10545137e-01 -5.66418910e-02 5.82930765e-01 1.41997830e+02] [-5.82137789e-01 3.13265708e-02 8.12486455e-01 3.63536429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.050714057 meters Centerline goodness : 0.990299 Centerline is valid? [True, True] Translation: X:116.65, Y:142.03, Z:36.35 [[-6.27993575e-02 -9.97743002e-01 2.37727289e-02 1.16650660e+02] [ 8.10680898e-01 -3.71033049e-02 5.84311412e-01 1.42026115e+02] [-5.82110575e-01 5.59664785e-02 8.11181257e-01 3.63466374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.080714057 meters Centerline goodness : 0.990930 Centerline is valid? [True, True] Translation: X:116.66, Y:142.05, Z:36.33 [[-6.47258513e-02 -9.97893205e-01 4.44028848e-03 1.16655889e+02] [ 8.09956786e-01 -4.99356203e-02 5.84359853e-01 1.42046208e+02] [-5.82906998e-01 4.14196307e-02 8.11482499e-01 3.63253910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.110714057 meters Centerline goodness : 0.983980 Centerline is valid? [True, True] Translation: X:116.64, Y:142.07, Z:36.32 [[-6.83710091e-02 -9.96733421e-01 4.29871280e-02 1.16635654e+02] [ 8.10606607e-01 -3.03822622e-02 5.84802400e-01 1.42069312e+02] [-5.81586050e-01 7.48291802e-02 8.10035962e-01 3.63217347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.140714057 meters Centerline goodness : 0.990929 Centerline is valid? [True, True] Translation: X:116.67, Y:142.08, Z:36.28 [[-6.65691681e-02 -9.97271088e-01 -3.19205652e-02 1.16666746e+02] [ 8.09185338e-01 -7.26761324e-02 5.83041396e-01 1.42082279e+02] [-5.83770190e-01 1.29829273e-02 8.11815132e-01 3.62811301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.170714057 meters Centerline goodness : 0.991184 Centerline is valid? [True, True] Translation: X:116.64, Y:142.12, Z:36.28 [[-6.88351508e-02 -9.97410836e-01 2.08169772e-02 1.16644309e+02] [ 8.11321453e-01 -4.38255399e-02 5.82955249e-01 1.42116823e+02] [-5.80533567e-01 5.70170726e-02 8.12237546e-01 3.62774417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.200714057 meters Centerline goodness : 0.990770 Centerline is valid? [True, True] Translation: X:116.64, Y:142.14, Z:36.26 [[-6.93298501e-02 -9.97447394e-01 1.70899896e-02 1.16644133e+02] [ 8.12026391e-01 -4.64738986e-02 5.81767408e-01 1.42137794e+02] [-5.79488146e-01 5.42113697e-02 8.13175636e-01 3.62622294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.230714057 meters Centerline goodness : 0.990770 Centerline is valid? [True, True] Translation: X:116.64, Y:142.16, Z:36.25 [[-6.98484819e-02 -9.97437531e-01 1.54777884e-02 1.16644585e+02] [ 8.11877443e-01 -4.78249614e-02 5.81865784e-01 1.42159418e+02] [-5.79634546e-01 5.32085090e-02 8.13137533e-01 3.62456172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.26071405700003 meters Centerline goodness : 0.990684 Centerline is valid? [True, True] Translation: X:116.64, Y:142.18, Z:36.23 [[-7.40136655e-02 -9.97230161e-01 7.34728745e-03 1.16643476e+02] [ 8.14030088e-01 -5.61574197e-02 5.78101514e-01 1.42180779e+02] [-5.76087661e-01 4.87683251e-02 8.15931772e-01 3.62308904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.290714057 meters Centerline goodness : 0.991590 Centerline is valid? [True, True] Translation: X:116.64, Y:142.20, Z:36.21 [[-7.57468400e-02 -9.97109113e-01 5.98606471e-03 1.16642545e+02] [ 8.13129102e-01 -5.82936085e-02 5.79157076e-01 1.42204206e+02] [-5.77133849e-01 4.87367618e-02 8.15193994e-01 3.62137650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.32071405700003 meters Centerline goodness : 0.990444 Centerline is valid? [True, True] Translation: X:116.64, Y:142.23, Z:36.20 [[-7.84499216e-02 -9.96876888e-01 9.05978660e-03 1.16637507e+02] [ 8.14251094e-01 -5.88294189e-02 5.77524246e-01 1.42227838e+02] [-5.75187591e-01 5.26836730e-02 8.16323260e-01 3.62003538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.350714057 meters Centerline goodness : 0.990708 Centerline is valid? [True, True] Translation: X:116.63, Y:142.25, Z:36.19 [[-7.82556625e-02 -9.96815829e-01 1.53053503e-02 1.16634151e+02] [ 8.15324684e-01 -5.51578486e-02 5.76370777e-01 1.42250837e+02] [-5.73691303e-01 5.75831068e-02 8.17044965e-01 3.61862126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.380714057 meters Centerline goodness : 0.991286 Centerline is valid? [True, True] Translation: X:116.64, Y:142.27, Z:36.17 [[-7.91673524e-02 -9.96861279e-01 -3.47606947e-04 1.16635898e+02] [ 8.14078871e-01 -6.48526348e-02 5.77121934e-01 1.42271528e+02] [-5.75333053e-01 4.54062361e-02 8.16657916e-01 3.61683398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.410714057 meters Centerline goodness : 0.990505 Centerline is valid? [True, True] Translation: X:116.63, Y:142.29, Z:36.16 [[-7.69980283e-02 -9.97013425e-01 5.96101552e-03 1.16629631e+02] [ 8.13682336e-01 -5.93822156e-02 5.78268804e-01 1.42288265e+02] [-5.76187782e-01 4.93759308e-02 8.15824526e-01 3.61611096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.440714057 meters Centerline goodness : 0.990582 Centerline is valid? [True, True] Translation: X:116.63, Y:142.29, Z:36.16 [[-7.45432583e-02 -9.97209892e-01 -3.96664384e-03 1.16631293e+02] [ 8.12896979e-01 -6.30685754e-02 5.78982605e-01 1.42286179e+02] [-5.77617351e-01 3.99347770e-02 8.15330246e-01 3.61582888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.470714057 meters Centerline goodness : 0.989626 Centerline is valid? [True, True] Translation: X:116.62, Y:142.31, Z:36.15 [[-7.17110065e-02 -9.97213867e-01 2.05434818e-02 1.16620524e+02] [ 8.14341900e-01 -4.66426574e-02 5.78508196e-01 1.42314002e+02] [-5.75938193e-01 5.82148230e-02 8.15417827e-01 3.61509450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.500714057 meters Centerline goodness : 0.990448 Centerline is valid? [True, True] Translation: X:116.62, Y:142.33, Z:36.13 [[-6.97099581e-02 -9.97530971e-01 8.51371152e-03 1.16621925e+02] [ 8.12428942e-01 -5.18179635e-02 5.80753057e-01 1.42333770e+02] [-5.78877998e-01 4.74010569e-02 8.14035259e-01 3.61299494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.530714057 meters Centerline goodness : 0.989129 Centerline is valid? [True, True] Translation: X:116.62, Y:142.36, Z:36.11 [[-6.99818343e-02 -9.97548035e-01 6.78226913e-04 1.16624045e+02] [ 8.10280112e-01 -5.64476743e-02 5.83317924e-01 1.42355318e+02] [-5.81849365e-01 4.13712121e-02 8.12243646e-01 3.61100649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.560714057 meters Centerline goodness : 0.988656 Centerline is valid? [True, True] Translation: X:116.61, Y:142.39, Z:36.10 [[-6.43373766e-02 -9.96587099e-01 5.17190202e-02 1.16607655e+02] [ 8.07979320e-01 -2.16040860e-02 5.88814642e-01 1.42385138e+02] [-5.85687733e-01 7.96706881e-02 8.06611716e-01 3.60973516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.590714057 meters Centerline goodness : 0.989070 Centerline is valid? [True, True] Translation: X:116.62, Y:142.40, Z:36.07 [[-6.72735202e-02 -9.97733252e-01 -1.62211593e-03 1.16624226e+02] [ 8.08038323e-01 -5.54366400e-02 5.86515855e-01 1.42396724e+02] [-5.85276296e-01 3.81462544e-02 8.09936122e-01 3.60677301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.620714057 meters Centerline goodness : 0.988592 Centerline is valid? [True, True] Translation: X:116.61, Y:142.41, Z:36.07 [[-6.47171859e-02 -9.97738515e-01 1.81533044e-02 1.16614050e+02] [ 8.06591571e-01 -4.15904021e-02 5.89644195e-01 1.42405475e+02] [-5.87555720e-01 5.28024153e-02 8.07459089e-01 3.60697701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.650714057 meters Centerline goodness : 0.988357 Centerline is valid? [True, True] Translation: X:116.61, Y:142.43, Z:36.06 [[-6.52985512e-02 -9.97637830e-01 2.13274209e-02 1.16611860e+02] [ 8.08603351e-01 -4.03775133e-02 5.86967016e-01 1.42426589e+02] [-5.84719352e-01 5.55735197e-02 8.09329886e-01 3.60579536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.680714057 meters Centerline goodness : 0.988732 Centerline is valid? [True, True] Translation: X:116.63, Y:142.44, Z:36.03 [[-7.09648111e-02 -9.97016710e-01 -3.03590981e-02 1.16628200e+02] [ 8.11082261e-01 -7.53931038e-02 5.80052969e-01 1.42439623e+02] [-5.80611369e-01 1.65396234e-02 8.14012825e-01 3.60340686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.710714057 meters Centerline goodness : 0.988560 Centerline is valid? [True, True] Translation: X:116.61, Y:142.45, Z:36.04 [[-6.92725275e-02 -9.97573463e-01 6.96445654e-03 1.16613870e+02] [ 8.12366027e-01 -5.23567879e-02 5.80792738e-01 1.42452775e+02] [-5.79018786e-01 4.58906688e-02 8.14021678e-01 3.60415176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.740714057 meters Centerline goodness : 0.988427 Centerline is valid? [True, True] Translation: X:116.61, Y:142.48, Z:36.03 [[-7.05441918e-02 -9.97437396e-01 1.19229994e-02 1.16610407e+02] [ 8.12488741e-01 -5.05211440e-02 5.80783660e-01 1.42475380e+02] [-5.78692978e-01 5.06582166e-02 8.13970628e-01 3.60267562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.770714057 meters Centerline goodness : 0.988949 Centerline is valid? [True, True] Translation: X:116.61, Y:142.50, Z:36.01 [[-7.09350992e-02 -9.97464900e-01 5.65561773e-03 1.16611603e+02] [ 8.13027621e-01 -5.45320715e-02 5.79665715e-01 1.42496484e+02] [-5.77887792e-01 4.57168185e-02 8.14834752e-01 3.60101290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.800714057 meters Centerline goodness : 0.987857 Centerline is valid? [True, True] Translation: X:116.61, Y:142.52, Z:35.99 [[-7.11539339e-02 -9.97419462e-01 9.56735016e-03 1.16609447e+02] [ 8.11608161e-01 -5.23173109e-02 5.81854872e-01 1.42520230e+02] [-5.79852836e-01 4.91662026e-02 8.13236358e-01 3.59933094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.830714057 meters Centerline goodness : 0.988175 Centerline is valid? [True, True] Translation: X:116.61, Y:142.54, Z:35.97 [[-7.15061265e-02 -9.97439812e-01 -8.33655668e-04 1.16612541e+02] [ 8.09707497e-01 -5.85356864e-02 5.83906965e-01 1.42540671e+02] [-5.82460852e-01 4.10779080e-02 8.11820153e-01 3.59730289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.860714057 meters Centerline goodness : 0.988150 Centerline is valid? [True, True] Translation: X:116.60, Y:142.57, Z:35.96 [[-6.76347791e-02 -9.96746011e-01 4.38511810e-02 1.16596999e+02] [ 8.05396133e-01 -2.86039346e-02 5.92046353e-01 1.42572861e+02] [-5.88865524e-01 7.53604959e-02 8.04710004e-01 3.59553476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.890714057 meters Centerline goodness : 0.988264 Centerline is valid? [True, True] Translation: X:116.61, Y:142.56, Z:35.94 [[-6.69084062e-02 -9.97728350e-01 7.83615867e-03 1.16609715e+02] [ 8.04241908e-01 -4.92814884e-02 5.92255256e-01 1.42563210e+02] [-5.90523682e-01 4.59290224e-02 8.05712298e-01 3.59437270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.920714057 meters Centerline goodness : 0.987515 Centerline is valid? [True, True] Translation: X:116.61, Y:142.60, Z:35.92 [[-6.92701378e-02 -9.97597261e-01 -1.16318231e-03 1.16609909e+02] [ 8.06836372e-01 -5.67099315e-02 5.88046811e-01 1.42602064e+02] [-5.86699852e-01 3.97955859e-02 8.08826060e-01 3.59159440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.950714057 meters Centerline goodness : 0.989665 Centerline is valid? [True, True] Translation: X:116.60, Y:142.59, Z:35.93 [[-8.03984460e-02 -9.96692074e-01 1.18743429e-02 1.16597246e+02] [ 8.11453638e-01 -5.85285428e-02 5.81478636e-01 1.42591488e+02] [-5.78860159e-01 5.63854574e-02 8.13475013e-01 3.59317946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.980714057 meters Centerline goodness : 0.986915 Centerline is valid? [True, True] Translation: X:116.61, Y:142.59, Z:35.92 [[-6.71830595e-02 -9.97732195e-01 -4.11133997e-03 1.16609516e+02] [ 8.03673166e-01 -5.65569463e-02 5.92377206e-01 1.42591157e+02] [-5.91266335e-01 3.64935395e-02 8.05650261e-01 3.59175508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.01071405700003 meters Centerline goodness : 0.987143 Centerline is valid? [True, True] Translation: X:116.61, Y:142.60, Z:35.91 [[-6.62338900e-02 -9.97790456e-01 5.22290288e-03 1.16605831e+02] [ 8.03281539e-01 -5.02157326e-02 5.93478853e-01 1.42604092e+02] [-5.91905263e-01 4.35038745e-02 8.04832636e-01 3.59109452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.040714057 meters Centerline goodness : 0.985891 Centerline is valid? [True, True] Translation: X:116.61, Y:142.62, Z:35.90 [[-7.04773368e-02 -9.97493563e-01 6.28780071e-03 1.16605317e+02] [ 8.04243750e-01 -5.30921339e-02 5.91923319e-01 1.42620154e+02] [-5.90105868e-01 4.67741036e-02 8.05969756e-01 3.58992396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.07071405700003 meters Centerline goodness : 0.987297 Centerline is valid? [True, True] Translation: X:116.61, Y:142.65, Z:35.88 [[-6.68655118e-02 -9.97761975e-01 -2.12874006e-04 1.16606091e+02] [ 8.04511888e-01 -5.40409534e-02 5.91472905e-01 1.42646568e+02] [-5.90160677e-01 3.93778788e-02 8.06324846e-01 3.58757359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.100714057 meters Centerline goodness : 0.985994 Centerline is valid? [True, True] Translation: X:116.60, Y:142.67, Z:35.86 [[-6.59634098e-02 -9.97797966e-01 6.93158956e-03 1.16602993e+02] [ 8.03298554e-01 -4.89818645e-02 5.93558936e-01 1.42665943e+02] [-5.91912377e-01 4.47213072e-02 8.04760674e-01 3.58620734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.130714057 meters Centerline goodness : 0.987129 Centerline is valid? [True, True] Translation: X:116.60, Y:142.69, Z:35.84 [[-6.52187210e-02 -9.97806417e-01 1.13521824e-02 1.16601378e+02] [ 8.02983558e-01 -4.57238858e-02 5.94244674e-01 1.42693190e+02] [-5.92422083e-01 4.78714934e-02 8.04204200e-01 3.58417346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.160714057 meters Centerline goodness : 0.987000 Centerline is valid? [True, True] Translation: X:116.60, Y:142.71, Z:35.83 [[-6.12278162e-02 -9.98037123e-01 1.31550945e-02 1.16599171e+02] [ 8.00357015e-01 -4.12168856e-02 5.98105188e-01 1.42708110e+02] [-5.96388969e-01 4.71494466e-02 8.01309633e-01 3.58298006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.190714057 meters Centerline goodness : 0.987718 Centerline is valid? [True, True] Translation: X:116.60, Y:142.73, Z:35.81 [[-6.01414382e-02 -9.98155783e-01 8.24865376e-03 1.16598544e+02] [ 8.01031828e-01 -4.33302454e-02 5.97051505e-01 1.42728294e+02] [-5.95592996e-01 4.25149704e-02 8.02160495e-01 3.58144698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.220714057 meters Centerline goodness : 0.986306 Centerline is valid? [True, True] Translation: X:116.59, Y:142.75, Z:35.80 [[-5.57735644e-02 -9.98111220e-01 2.57546502e-02 1.16591689e+02] [ 7.99978858e-01 -2.92377368e-02 5.99315428e-01 1.42754998e+02] [-5.97430445e-01 5.40291332e-02 8.00098567e-01 3.58008661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.250714057 meters Centerline goodness : 0.986681 Centerline is valid? [True, True] Translation: X:116.60, Y:142.78, Z:35.78 [[-5.36728563e-02 -9.98463020e-01 1.38138547e-02 1.16595479e+02] [ 7.99592432e-01 -3.46877599e-02 5.99540410e-01 1.42775378e+02] [-5.98139756e-01 4.32244999e-02 8.00225265e-01 3.57786321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.280714057 meters Centerline goodness : 0.986421 Centerline is valid? [True, True] Translation: X:116.59, Y:142.80, Z:35.76 [[-5.28178821e-02 -9.98445283e-01 1.78125741e-02 1.16592914e+02] [ 8.00419605e-01 -3.16630297e-02 5.98603299e-01 1.42799629e+02] [-5.97108640e-01 4.58744920e-02 8.00847553e-01 3.57633279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.310714057 meters Centerline goodness : 0.986356 Centerline is valid? [True, True] Translation: X:116.59, Y:142.80, Z:35.76 [[-4.53682244e-02 -9.98911649e-01 1.08278658e-02 1.16594758e+02] [ 7.99129562e-01 -2.97862350e-02 6.00420456e-01 1.42796457e+02] [-5.99444466e-01 3.58928777e-02 7.99611176e-01 3.57591109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.340714057 meters Centerline goodness : 0.986663 Centerline is valid? [True, True] Translation: X:116.59, Y:142.82, Z:35.74 [[-4.04875762e-02 -9.99054770e-01 1.58215661e-02 1.16591096e+02] [ 7.98689289e-01 -2.28449237e-02 6.01309844e-01 1.42821785e+02] [-6.00380026e-01 3.69820935e-02 7.98859280e-01 3.57430982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.370714057 meters Centerline goodness : 0.986290 Centerline is valid? [True, True] Translation: X:116.60, Y:142.82, Z:35.74 [[-3.76742873e-02 -9.99285303e-01 3.08714586e-03 1.16595095e+02] [ 8.00291298e-01 -2.83216238e-02 5.98942171e-01 1.42819988e+02] [-5.98426676e-01 2.50353354e-02 8.00786330e-01 3.57391777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.400714057 meters Centerline goodness : 0.986869 Centerline is valid? [True, True] Translation: X:116.59, Y:142.85, Z:35.73 [[-3.25798068e-02 -9.99257188e-01 2.05822236e-02 1.16588582e+02] [ 8.00583174e-01 -1.37630081e-02 5.99063570e-01 1.42846955e+02] [-5.98335305e-01 3.59951572e-02 8.00436888e-01 3.57273492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.430714057 meters Centerline goodness : 0.989256 Centerline is valid? [True, True] Translation: X:116.59, Y:143.00, Z:35.61 [[-5.79566007e-02 -9.97833078e-01 -3.11477422e-02 1.16592195e+02] [ 8.15923265e-01 -6.53227625e-02 5.74458147e-01 1.43003392e+02] [-5.75247997e-01 7.87947394e-03 8.17941108e-01 3.56092858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.460714057 meters Centerline goodness : 0.989437 Centerline is valid? [True, True] Translation: X:116.59, Y:142.91, Z:35.69 [[-5.12667804e-02 -9.98584487e-01 -1.41682659e-02 1.16587069e+02] [ 8.17795993e-01 -5.01196865e-02 5.73321664e-01 1.42909055e+02] [-5.73220229e-01 1.78056047e-02 8.19207867e-01 3.56892077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.490714057 meters Centerline goodness : 0.988552 Centerline is valid? [True, True] Translation: X:116.59, Y:142.88, Z:35.71 [[-2.67997565e-02 -9.99591815e-01 9.89831082e-03 1.16590607e+02] [ 8.09628235e-01 -1.58967150e-02 5.86727719e-01 1.42881327e+02] [-5.86330874e-01 2.37381119e-02 8.09723785e-01 3.57076443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.520714057 meters Centerline goodness : 0.988111 Centerline is valid? [True, True] Translation: X:116.59, Y:142.91, Z:35.70 [[-2.73024038e-02 -9.99341938e-01 2.38803101e-02 1.16585599e+02] [ 8.09780190e-01 -8.10424068e-03 5.86677395e-01 1.42906458e+02] [-5.86097793e-01 3.53555052e-02 8.09468570e-01 3.56967676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.550714057 meters Centerline goodness : 0.988356 Centerline is valid? [True, True] Translation: X:116.59, Y:142.93, Z:35.68 [[-3.06972675e-02 -9.99506017e-01 6.73796817e-03 1.16591581e+02] [ 8.11081487e-01 -2.09696163e-02 5.84557180e-01 1.42926231e+02] [-5.84127126e-01 2.34093494e-02 8.11324536e-01 3.56779565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.580714057 meters Centerline goodness : 0.988665 Centerline is valid? [True, True] Translation: X:116.59, Y:142.95, Z:35.67 [[-3.63402932e-02 -9.99304747e-01 8.33100097e-03 1.16592089e+02] [ 8.13113233e-01 -2.47208137e-02 5.81580392e-01 1.42950478e+02] [-5.80970098e-01 2.79088491e-02 8.13446275e-01 3.56656075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.610714057 meters Centerline goodness : 0.989118 Centerline is valid? [True, True] Translation: X:116.59, Y:142.97, Z:35.65 [[-3.97600087e-02 -9.99160809e-01 9.83967729e-03 1.16592007e+02] [ 8.13884238e-01 -2.66713345e-02 5.80414582e-01 1.42973597e+02] [-5.79665066e-01 3.10856471e-02 8.14261686e-01 3.56509506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.640714057 meters Centerline goodness : 0.988713 Centerline is valid? [True, True] Translation: X:116.59, Y:143.00, Z:35.64 [[-4.81199607e-02 -9.98826066e-01 5.56413336e-03 1.16594682e+02] [ 8.14733367e-01 -3.60271811e-02 5.78715460e-01 1.42996357e+02] [-5.77835626e-01 3.23810503e-02 8.15510550e-01 3.56374493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.670714057 meters Centerline goodness : 0.988373 Centerline is valid? [True, True] Translation: X:116.60, Y:143.01, Z:35.63 [[-5.24404141e-02 -9.98619371e-01 -3.05846682e-03 1.16597817e+02] [ 8.16462094e-01 -4.46379093e-02 5.75671005e-01 1.43005492e+02] [-5.75012740e-01 2.76913036e-02 8.17675694e-01 3.56286079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.700714057 meters Centerline goodness : 0.989994 Centerline is valid? [True, True] Translation: X:116.60, Y:143.02, Z:35.62 [[-5.88642761e-02 -9.98242908e-01 6.78924616e-03 1.16595221e+02] [ 8.17203505e-01 -4.42804865e-02 5.74645691e-01 1.43022488e+02] [-5.73335355e-01 3.93742984e-02 8.18374142e-01 3.56243380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.730714057 meters Centerline goodness : 0.989103 Centerline is valid? [True, True] Translation: X:116.60, Y:143.02, Z:35.62 [[-6.25917564e-02 -9.98030251e-01 4.22976702e-03 1.16597089e+02] [ 8.17733484e-01 -4.88537484e-02 5.73520062e-01 1.43023943e+02] [-5.72183731e-01 3.93564501e-02 8.19180596e-01 3.56219783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.76071405700003 meters Centerline goodness : 0.988057 Centerline is valid? [True, True] Translation: X:116.60, Y:143.05, Z:35.61 [[-6.46722753e-02 -9.97902866e-01 2.71422190e-03 1.16597024e+02] [ 8.17385006e-01 -5.14125654e-02 5.73793081e-01 1.43046360e+02] [-5.72450215e-01 3.93270684e-02 8.18995808e-01 3.56074703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.790714057 meters Centerline goodness : 0.989284 Centerline is valid? [True, True] Translation: X:116.60, Y:143.07, Z:35.59 [[-6.55977671e-02 -9.97835643e-01 4.57839503e-03 1.16596976e+02] [ 8.16580392e-01 -5.10438858e-02 5.74970421e-01 1.43068699e+02] [-5.73492281e-01 4.14554033e-02 8.18161386e-01 3.55906654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.82071405700003 meters Centerline goodness : 0.988743 Centerline is valid? [True, True] Translation: X:116.60, Y:143.08, Z:35.58 [[-6.72016386e-02 -9.97725393e-01 5.28956087e-03 1.16596096e+02] [ 8.16395145e-01 -5.19389237e-02 5.75153297e-01 1.43080494e+02] [-5.73570315e-01 4.29696158e-02 8.18028548e-01 3.55838428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.850714057 meters Centerline goodness : 0.988544 Centerline is valid? [True, True] Translation: X:116.60, Y:143.08, Z:35.58 [[-6.63207298e-02 -9.97797292e-01 1.45794199e-03 1.16597485e+02] [ 8.15732473e-01 -5.33778307e-02 5.75961231e-01 1.43081101e+02] [-5.74614735e-01 3.93874598e-02 8.17475709e-01 3.55812478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.880714057 meters Centerline goodness : 0.989285 Centerline is valid? [True, True] Translation: X:116.60, Y:143.10, Z:35.57 [[-6.69313023e-02 -9.97757578e-01 1.29213060e-04 1.16596431e+02] [ 8.15815682e-01 -5.46517673e-02 5.75723855e-01 1.43102173e+02] [-5.74425777e-01 3.86393614e-02 8.17644193e-01 3.55667675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.910714057 meters Centerline goodness : 0.988433 Centerline is valid? [True, True] Translation: X:116.60, Y:143.12, Z:35.56 [[-6.80909225e-02 -9.97679101e-01 -1.93734548e-04 1.16595673e+02] [ 8.15323280e-01 -5.57571732e-02 5.76315093e-01 1.43117922e+02] [-5.74988326e-01 3.90838701e-02 8.17227555e-01 3.55559408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.940714057 meters Centerline goodness : 0.988278 Centerline is valid? [True, True] Translation: X:116.60, Y:143.12, Z:35.55 [[-6.81381305e-02 -9.97675328e-01 -1.06544490e-03 1.16595741e+02] [ 8.14807483e-01 -5.62650125e-02 5.76994813e-01 1.43124406e+02] [-5.75713437e-01 3.84472154e-02 8.16747115e-01 3.55507739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.970714057 meters Centerline goodness : 0.987953 Centerline is valid? [True, True] Translation: X:116.60, Y:143.12, Z:35.56 [[-7.08287299e-02 -9.97483862e-01 -3.03909808e-03 1.16595425e+02] [ 8.16407908e-01 -5.97209963e-02 5.74379257e-01 1.43123076e+02] [-5.73115538e-01 3.82014095e-02 8.18583675e-01 3.55554627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.000714057 meters Centerline goodness : 0.988590 Centerline is valid? [True, True] Translation: X:116.60, Y:143.13, Z:35.55 [[-7.08506858e-02 -9.97479031e-01 -3.97031568e-03 1.16595049e+02] [ 8.16163392e-01 -6.02592709e-02 5.74670461e-01 1.43128856e+02] [-5.73460983e-01 3.74753699e-02 8.18375280e-01 3.55492128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.030714057 meters Centerline goodness : 0.989423 Centerline is valid? [True, True] Translation: X:116.59, Y:143.15, Z:35.53 [[-7.36080482e-02 -9.97287176e-01 3.78616419e-04 1.16592705e+02] [ 8.16664554e-01 -6.00586946e-02 5.73979058e-01 1.43153125e+02] [-5.72399215e-01 4.25586808e-02 8.18869890e-01 3.55322491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.060714057 meters Centerline goodness : 0.989047 Centerline is valid? [True, True] Translation: X:116.59, Y:143.18, Z:35.52 [[-7.56911594e-02 -9.97120188e-01 -4.70937716e-03 1.16593887e+02] [ 8.17040295e-01 -6.47273008e-02 5.72935890e-01 1.43175039e+02] [-5.71590768e-01 3.95184309e-02 8.19586657e-01 3.55158112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.090714057 meters Centerline goodness : 0.989467 Centerline is valid? [True, True] Translation: X:116.60, Y:143.20, Z:35.50 [[-7.69304844e-02 -9.97027061e-01 -4.32908360e-03 1.16595552e+02] [ 8.16176491e-01 -6.54687350e-02 5.74081685e-01 1.43197967e+02] [-5.72658395e-01 4.06310859e-02 8.18786589e-01 3.54969707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.120714057 meters Centerline goodness : 0.989467 Centerline is valid? [True, True] Translation: X:116.59, Y:143.22, Z:35.48 [[-7.69360383e-02 -9.97035097e-01 1.36467297e-03 1.16593472e+02] [ 8.16063845e-01 -6.21849414e-02 5.74606677e-01 1.43221773e+02] [-5.72818162e-01 4.53216216e-02 8.18428558e-01 3.54819737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.150714057 meters Centerline goodness : 0.989542 Centerline is valid? [True, True] Translation: X:116.59, Y:143.25, Z:35.47 [[-7.86561527e-02 -9.96900964e-01 1.29491177e-03 1.16592243e+02] [ 8.17301078e-01 -6.37417334e-02 5.72674375e-01 1.43245370e+02] [-5.70817097e-01 4.61026959e-02 8.19781912e-01 3.54664822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.180714057 meters Centerline goodness : 0.989567 Centerline is valid? [True, True] Translation: X:116.59, Y:143.27, Z:35.45 [[-7.90875233e-02 -9.96828693e-01 8.81597216e-03 1.16590022e+02] [ 8.16077101e-01 -5.96628183e-02 5.74855211e-01 1.43269099e+02] [-5.72506182e-01 5.26583879e-02 8.18207654e-01 3.54484262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.210714057 meters Centerline goodness : 0.989242 Centerline is valid? [True, True] Translation: X:116.59, Y:143.29, Z:35.43 [[-7.80421141e-02 -9.96858187e-01 1.35345109e-02 1.16588458e+02] [ 8.15187272e-01 -5.59924179e-02 5.76484659e-01 1.43292239e+02] [-5.73915622e-01 5.60232425e-02 8.16995872e-01 3.54303551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.240714057 meters Centerline goodness : 0.989817 Centerline is valid? [True, True] Translation: X:116.59, Y:143.30, Z:35.42 [[-7.44759909e-02 -9.97155066e-01 1.16232896e-02 1.16587820e+02] [ 8.11842832e-01 -5.38583970e-02 5.81386695e-01 1.43297123e+02] [-5.79106676e-01 5.27356346e-02 8.13544350e-01 3.54233676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.270714057 meters Centerline goodness : 0.988760 Centerline is valid? [True, True] Translation: X:116.59, Y:143.32, Z:35.41 [[-7.28533097e-02 -9.97297306e-01 9.51198275e-03 1.16587432e+02] [ 8.11704381e-01 -5.37485411e-02 5.81590140e-01 1.43317919e+02] [-5.79507025e-01 5.00916847e-02 8.13426352e-01 3.54069346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.300714057 meters Centerline goodness : 0.988693 Centerline is valid? [True, True] Translation: X:116.59, Y:143.34, Z:35.39 [[-6.93160737e-02 -9.97571700e-01 6.78119217e-03 1.16586727e+02] [ 8.11698475e-01 -5.24463703e-02 5.81717255e-01 1.43340315e+02] [-5.79949022e-01 4.58266394e-02 8.13362804e-01 3.53896511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.330714057 meters Centerline goodness : 0.988692 Centerline is valid? [True, True] Translation: X:116.58, Y:143.36, Z:35.37 [[-6.76234324e-02 -9.97622863e-01 1.32549896e-02 1.16583612e+02] [ 8.11621225e-01 -4.72790495e-02 5.82267704e-01 1.43364614e+02] [-5.80256891e-01 5.01329716e-02 8.12889061e-01 3.53742583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.360714057 meters Centerline goodness : 0.988975 Centerline is valid? [True, True] Translation: X:116.58, Y:143.39, Z:35.36 [[-6.21699819e-02 -9.97904460e-01 1.79327324e-02 1.16579933e+02] [ 8.10714709e-01 -4.00119493e-02 5.84072517e-01 1.43387208e+02] [-5.82131046e-01 5.08501077e-02 8.11503365e-01 3.53576653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.390714057 meters Centerline goodness : 0.989062 Centerline is valid? [True, True] Translation: X:116.58, Y:143.41, Z:35.34 [[-5.90271130e-02 -9.98217490e-01 8.81145939e-03 1.16580123e+02] [ 8.09860651e-01 -4.27246222e-02 5.85064383e-01 1.43408345e+02] [-5.83645034e-01 4.16707157e-02 8.10938978e-01 3.53368264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.420714057 meters Centerline goodness : 0.988268 Centerline is valid? [True, True] Translation: X:116.58, Y:143.40, Z:35.34 [[-5.37217020e-02 -9.98498274e-01 1.07319626e-02 1.16579142e+02] [ 8.08076350e-01 -3.71576664e-02 5.87904686e-01 1.43401169e+02] [-5.86623040e-01 4.02554856e-02 8.08859014e-01 3.53412392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.450714057 meters Centerline goodness : 0.988920 Centerline is valid? [True, True] Translation: X:116.57, Y:143.43, Z:35.33 [[-5.26413819e-02 -9.98418148e-01 1.97506035e-02 1.16574697e+02] [ 8.07711454e-01 -3.09395126e-02 5.88765618e-01 1.43426459e+02] [-5.87223204e-01 4.69462244e-02 8.08062473e-01 3.53259616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.480714057 meters Centerline goodness : 0.988039 Centerline is valid? [True, True] Translation: X:116.58, Y:143.42, Z:35.32 [[-4.73343899e-02 -9.98821334e-01 1.07423962e-02 1.16576587e+02] [ 8.05802105e-01 -3.18273744e-02 5.91329000e-01 1.43424332e+02] [-5.90290118e-01 3.66464429e-02 8.06358862e-01 3.53215346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.51071405700003 meters Centerline goodness : 0.987892 Centerline is valid? [True, True] Translation: X:116.57, Y:143.45, Z:35.31 [[-4.65770657e-02 -9.98736894e-01 1.88465631e-02 1.16572982e+02] [ 8.05310288e-01 -2.63801259e-02 5.92266350e-01 1.43449858e+02] [-5.91021080e-01 4.27633599e-02 8.05521805e-01 3.53061818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.540714057 meters Centerline goodness : 0.988261 Centerline is valid? [True, True] Translation: X:116.57, Y:143.46, Z:35.29 [[-4.42242747e-02 -9.98988718e-01 8.10887820e-03 1.16574988e+02] [ 8.05316126e-01 -3.08449125e-02 5.92042675e-01 1.43459415e+02] [-5.91193836e-01 3.27128683e-02 8.05865818e-01 3.52945867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.57071405700003 meters Centerline goodness : 0.987471 Centerline is valid? [True, True] Translation: X:116.57, Y:143.46, Z:35.29 [[-4.01352876e-02 -9.99132166e-01 1.11388069e-02 1.16572676e+02] [ 8.02962731e-01 -2.56164509e-02 5.95478505e-01 1.43464879e+02] [-5.94676392e-01 3.28437479e-02 8.03294016e-01 3.52907582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.600714057 meters Centerline goodness : 0.987923 Centerline is valid? [True, True] Translation: X:116.57, Y:143.46, Z:35.29 [[-3.75224705e-02 -9.99260331e-01 8.41754445e-03 1.16573495e+02] [ 8.02388998e-01 -2.51070336e-02 5.96273036e-01 1.43458382e+02] [-5.95620652e-01 2.91277825e-02 8.02737573e-01 3.52932982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.630714057 meters Centerline goodness : 0.987175 Centerline is valid? [True, True] Translation: X:116.57, Y:143.48, Z:35.28 [[-3.72053904e-02 -9.99133769e-01 1.86405527e-02 1.16568644e+02] [ 8.02808557e-01 -1.87763979e-02 5.95941161e-01 1.43484927e+02] [-5.95074936e-01 3.71370187e-02 8.02811723e-01 3.52789492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.660714057 meters Centerline goodness : 0.987742 Centerline is valid? [True, True] Translation: X:116.57, Y:143.48, Z:35.28 [[-3.19035594e-02 -9.99405025e-01 1.31056636e-02 1.16570565e+02] [ 8.01730392e-01 -1.77590081e-02 5.97421958e-01 1.43478406e+02] [-5.96833764e-01 2.95670957e-02 8.01819958e-01 3.52768955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.690714057 meters Centerline goodness : 0.987416 Centerline is valid? [True, True] Translation: X:116.57, Y:143.50, Z:35.26 [[-3.14013913e-02 -9.99476291e-01 7.81641695e-03 1.16571753e+02] [ 8.03309696e-01 -2.05834457e-02 5.95205724e-01 1.43495568e+02] [-5.94733120e-01 2.49692913e-02 8.03535345e-01 3.52617175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.720714057 meters Centerline goodness : 0.987410 Centerline is valid? [True, True] Translation: X:116.57, Y:143.48, Z:35.27 [[-2.83744755e-02 -9.99485726e-01 1.49389887e-02 1.16571107e+02] [ 8.02878543e-01 -1.38850461e-02 5.95980915e-01 1.43482042e+02] [-5.95466989e-01 2.89048394e-02 8.02859624e-01 3.52733722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.750714057 meters Centerline goodness : 0.988599 Centerline is valid? [True, True] Translation: X:116.57, Y:143.50, Z:35.26 [[-2.66172145e-02 -9.99427091e-01 2.09048911e-02 1.16568302e+02] [ 8.02910282e-01 -8.91633431e-03 5.96033202e-01 1.43504468e+02] [-5.95505334e-01 3.26494956e-02 8.02687615e-01 3.52608371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.780714057 meters Centerline goodness : 0.987411 Centerline is valid? [True, True] Translation: X:116.57, Y:143.53, Z:35.24 [[-2.60350048e-02 -9.99219475e-01 2.97089114e-02 1.16567612e+02] [ 8.02871916e-01 -3.19450786e-03 5.96143004e-01 1.43528983e+02] [-5.95582795e-01 3.93730366e-02 8.02328423e-01 3.52418781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.810714057 meters Centerline goodness : 0.987092 Centerline is valid? [True, True] Translation: X:116.57, Y:143.53, Z:35.23 [[-2.36847676e-02 -9.99684045e-01 8.41671419e-03 1.16574301e+02] [ 8.03578382e-01 -1.40287720e-02 5.95033593e-01 1.43529423e+02] [-5.94727514e-01 2.08567219e-02 8.03656756e-01 3.52320990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.840714057 meters Centerline goodness : 0.988320 Centerline is valid? [True, True] Translation: X:116.57, Y:143.56, Z:35.22 [[-2.35983701e-02 -9.99360519e-01 2.68639087e-02 1.16567614e+02] [ 8.02989134e-01 -2.94059065e-03 5.95986412e-01 1.43556058e+02] [-5.95526294e-01 3.56357347e-02 8.02545031e-01 3.52218611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.870714057 meters Centerline goodness : 0.987834 Centerline is valid? [True, True] Translation: X:116.58, Y:143.55, Z:35.21 [[-2.19221845e-02 -9.99716785e-01 9.26108595e-03 1.16575586e+02] [ 8.03271720e-01 -1.20980143e-02 5.95489867e-01 1.43553216e+02] [-5.95209175e-01 2.04936072e-02 8.03309436e-01 3.52142298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.900714057 meters Centerline goodness : 0.986181 Centerline is valid? [True, True] Translation: X:116.57, Y:143.58, Z:35.20 [[-1.76857307e-02 -9.98767232e-01 4.63813591e-02 1.16567121e+02] [ 7.98513961e-01 1.38078516e-02 6.01817911e-01 1.43579164e+02] [-6.01716436e-01 4.76797523e-02 7.97285377e-01 3.52014518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.930714057 meters Centerline goodness : 0.986982 Centerline is valid? [True, True] Translation: X:116.58, Y:143.59, Z:35.19 [[-2.24820311e-02 -9.99722231e-01 7.07243992e-03 1.16579580e+02] [ 8.01668962e-01 -1.38004267e-02 5.97608921e-01 1.43591670e+02] [-5.97345321e-01 1.91052179e-02 8.01756545e-01 3.51859140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.960714057 meters Centerline goodness : 0.987836 Centerline is valid? [True, True] Translation: X:116.58, Y:143.62, Z:35.17 [[-2.71491974e-02 -9.99499557e-01 1.62344078e-02 1.16576777e+02] [ 8.02708971e-01 -1.21192395e-02 5.96247794e-01 1.43620516e+02] [-5.95752657e-01 2.92191538e-02 8.02636289e-01 3.51714463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.990714057 meters Centerline goodness : 0.987659 Centerline is valid? [True, True] Translation: X:116.58, Y:143.64, Z:35.16 [[-3.27664742e-02 -9.99295205e-01 1.83153418e-02 1.16579354e+02] [ 8.02718921e-01 -1.53942658e-02 5.96158831e-01 1.43641958e+02] [-5.95456710e-01 3.42360943e-02 8.02657584e-01 3.51550360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.020714057 meters Centerline goodness : 0.986961 Centerline is valid? [True, True] Translation: X:116.58, Y:143.65, Z:35.15 [[-3.31663965e-02 -9.99341117e-01 1.47418584e-02 1.16581064e+02] [ 8.02151252e-01 -1.78174540e-02 5.96855014e-01 1.43649627e+02] [-5.96199094e-01 3.16207302e-02 8.02213668e-01 3.51496747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.050714057 meters Centerline goodness : 0.986391 Centerline is valid? [True, True] Translation: X:116.58, Y:143.68, Z:35.14 [[-3.78665578e-02 -9.98897835e-01 2.77351666e-02 1.16579661e+02] [ 8.02187625e-01 -1.38358879e-02 5.96911705e-01 1.43675413e+02] [-5.95870069e-01 4.48517990e-02 8.01827399e-01 3.51358656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.080714057 meters Centerline goodness : 0.986765 Centerline is valid? [True, True] Translation: X:116.59, Y:143.68, Z:35.12 [[-4.01805930e-02 -9.99153720e-01 8.79572122e-03 1.16588118e+02] [ 8.02545543e-01 -2.70275695e-02 5.95978324e-01 1.43682582e+02] [-5.95236232e-01 3.10057293e-02 8.02952348e-01 3.51212930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.110714057 meters Centerline goodness : 0.985512 Centerline is valid? [True, True] Translation: X:116.59, Y:143.69, Z:35.12 [[-4.37743450e-02 -9.99018254e-01 6.80701831e-03 1.16592031e+02] [ 8.02043966e-01 -3.10793756e-02 5.96455824e-01 1.43689618e+02] [-5.95658697e-01 3.15689909e-02 8.02617041e-01 3.51152896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.140714057 meters Centerline goodness : 0.985723 Centerline is valid? [True, True] Translation: X:116.59, Y:143.71, Z:35.11 [[-4.57332114e-02 -9.98624930e-01 2.56265947e-02 1.16586918e+02] [ 8.02867938e-01 -2.14797131e-02 5.95769835e-01 1.43714880e+02] [-5.94400158e-01 4.78212390e-02 8.02746275e-01 3.51064506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.170714057 meters Centerline goodness : 0.985931 Centerline is valid? [True, True] Translation: X:116.59, Y:143.74, Z:35.09 [[-4.72759391e-02 -9.98661066e-01 2.10014287e-02 1.16589977e+02] [ 8.02548000e-01 -2.54575178e-02 5.96044144e-01 1.43735500e+02] [-5.94711437e-01 4.50332013e-02 8.02676970e-01 3.50876143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.200714057 meters Centerline goodness : 0.986656 Centerline is valid? [True, True] Translation: X:116.60, Y:143.76, Z:35.07 [[-4.97629275e-02 -9.98719423e-01 9.11951106e-03 1.16596193e+02] [ 8.01985712e-01 -3.45149790e-02 5.96345230e-01 1.43755382e+02] [-5.95266804e-01 3.69896020e-02 8.02676274e-01 3.50671871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.230714057 meters Centerline goodness : 0.984884 Centerline is valid? [True, True] Translation: X:116.60, Y:143.76, Z:35.06 [[-5.08170914e-02 -9.98689615e-01 6.05600716e-03 1.16597710e+02] [ 8.03009216e-01 -3.72532889e-02 5.94801136e-01 1.43764750e+02] [-5.93796112e-01 3.50890932e-02 8.03850069e-01 3.50601479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.26071405700003 meters Centerline goodness : 0.986362 Centerline is valid? [True, True] Translation: X:116.60, Y:143.76, Z:35.06 [[-5.08359387e-02 -9.98670096e-01 8.58757022e-03 1.16597685e+02] [ 8.03545516e-01 -3.57941500e-02 5.94166124e-01 1.43763335e+02] [-5.93068556e-01 3.71054962e-02 8.04296507e-01 3.50632268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.290714057 meters Centerline goodness : 0.985533 Centerline is valid? [True, True] Translation: X:116.60, Y:143.77, Z:35.05 [[-5.12168015e-02 -9.98687042e-01 1.01527232e-03 1.16601582e+02] [ 8.04685539e-01 -4.06654587e-02 5.92306935e-01 1.43774493e+02] [-5.91487974e-01 3.11530416e-02 8.05711775e-01 3.50522086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.32071405700003 meters Centerline goodness : 0.985679 Centerline is valid? [True, True] Translation: X:116.60, Y:143.78, Z:35.05 [[-4.99333928e-02 -9.98692373e-01 1.09635867e-02 1.16598905e+02] [ 8.04487690e-01 -3.37133483e-02 5.93011776e-01 1.43778640e+02] [-5.91866719e-01 3.84311604e-02 8.05119142e-01 3.50524150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.350714057 meters Centerline goodness : 0.985626 Centerline is valid? [True, True] Translation: X:116.60, Y:143.80, Z:35.04 [[-5.26078058e-02 -9.98594291e-01 6.46999746e-03 1.16601002e+02] [ 8.05839549e-01 -3.86247997e-02 5.90872869e-01 1.43800215e+02] [-5.89792371e-01 3.62983049e-02 8.06738739e-01 3.50363475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.380714057 meters Centerline goodness : 0.985412 Centerline is valid? [True, True] Translation: X:116.60, Y:143.81, Z:35.03 [[-5.59930413e-02 -9.98414293e-01 5.80336368e-03 1.16602288e+02] [ 8.07008049e-01 -4.18346619e-02 5.89056762e-01 1.43807744e+02] [-5.87879909e-01 3.76664408e-02 8.08070821e-01 3.50335905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.410714057 meters Centerline goodness : 0.986169 Centerline is valid? [True, True] Translation: X:116.60, Y:143.82, Z:35.02 [[-5.69154762e-02 -9.98373850e-01 -3.20687879e-03 1.16604785e+02] [ 8.08901742e-01 -4.79962486e-02 5.85981512e-01 1.43818536e+02] [-5.85182536e-01 3.07573670e-02 8.10318076e-01 3.50192617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.440714057 meters Centerline goodness : 0.986126 Centerline is valid? [True, True] Translation: X:116.60, Y:143.83, Z:35.02 [[-5.95924915e-02 -9.98189867e-01 8.10706441e-03 1.16600567e+02] [ 8.07870290e-01 -4.34566901e-02 5.87755996e-01 1.43828365e+02] [-5.86339773e-01 4.15753006e-02 8.08997630e-01 3.50171551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.470714057 meters Centerline goodness : 0.986035 Centerline is valid? [True, True] Translation: X:116.59, Y:143.85, Z:35.00 [[-5.95175934e-02 -9.97930529e-01 2.43375405e-02 1.16594984e+02] [ 8.07844560e-01 -3.38301841e-02 5.88423899e-01 1.43852926e+02] [-5.86382829e-01 5.46825241e-02 8.08186240e-01 3.50025929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.500714057 meters Centerline goodness : 0.985774 Centerline is valid? [True, True] Translation: X:116.60, Y:143.86, Z:34.99 [[-5.98615970e-02 -9.98191497e-01 5.50668976e-03 1.16601622e+02] [ 8.05954987e-01 -4.50769061e-02 5.90258105e-01 1.43857047e+02] [-5.88942398e-01 3.97719369e-02 8.07195791e-01 3.49879824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.530714057 meters Centerline goodness : 0.986438 Centerline is valid? [True, True] Translation: X:116.59, Y:143.88, Z:34.97 [[-5.86693927e-02 -9.97918967e-01 2.67514078e-02 1.16594923e+02] [ 8.02944458e-01 -3.12499456e-02 5.95234104e-01 1.43883309e+02] [-5.93159422e-01 5.64019181e-02 8.03106919e-01 3.49717859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.560714057 meters Centerline goodness : 0.985949 Centerline is valid? [True, True] Translation: X:116.60, Y:143.89, Z:34.96 [[-5.42880985e-02 -9.98399853e-01 1.58283579e-02 1.16598999e+02] [ 7.97278314e-01 -3.37976087e-02 6.02664924e-01 1.43888873e+02] [-6.01165611e-01 4.53371393e-02 7.97837359e-01 3.49562398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.590714057 meters Centerline goodness : 0.985801 Centerline is valid? [True, True] Translation: X:116.60, Y:143.91, Z:34.94 [[-5.33209988e-02 -9.98324341e-01 2.24806999e-02 1.16595365e+02] [ 7.97782161e-01 -2.90483130e-02 6.02245646e-01 1.43913534e+02] [-6.00583462e-01 5.00470407e-02 7.97994235e-01 3.49404681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.620714057 meters Centerline goodness : 0.985314 Centerline is valid? [True, True] Translation: X:116.59, Y:143.94, Z:34.92 [[-4.99153069e-02 -9.98148395e-01 3.47598134e-02 1.16590813e+02] [ 7.95948861e-01 -1.87324586e-02 6.05073968e-01 1.43938705e+02] [-6.03302473e-01 5.78694867e-02 7.95410114e-01 3.49200050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.650714057 meters Centerline goodness : 0.986312 Centerline is valid? [True, True] Translation: X:116.60, Y:143.92, Z:34.92 [[-4.60159031e-02 -9.98808670e-01 1.62412540e-02 1.16597142e+02] [ 7.93318618e-01 -2.66587322e-02 6.08222725e-01 1.43920831e+02] [-6.07065159e-01 4.08724071e-02 7.93600239e-01 3.49221089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.680714057 meters Centerline goodness : 0.985680 Centerline is valid? [True, True] Translation: X:116.58, Y:143.95, Z:34.91 [[-4.22271410e-02 -9.97172714e-01 6.21566324e-02 1.16582769e+02] [ 7.90387628e-01 4.71398188e-03 6.12588913e-01 1.43952460e+02] [-6.11149954e-01 7.49957116e-02 7.87953918e-01 3.49095288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.710714057 meters Centerline goodness : 0.985427 Centerline is valid? [True, True] Translation: X:116.59, Y:143.97, Z:34.88 [[-4.08996302e-02 -9.98760890e-01 2.83532178e-02 1.16593669e+02] [ 7.90347054e-01 -1.49777878e-02 6.12476286e-01 1.43967141e+02] [-6.11292692e-01 4.74589358e-02 7.89980313e-01 3.48825203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.740714057 meters Centerline goodness : 0.984852 Centerline is valid? [True, True] Translation: X:116.59, Y:143.99, Z:34.87 [[-3.76089754e-02 -9.98820178e-01 3.07216007e-02 1.16591626e+02] [ 7.91362581e-01 -1.09967876e-02 6.11248179e-01 1.43989721e+02] [-6.10189176e-01 4.73003430e-02 7.90842492e-01 3.48660746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.770714057 meters Centerline goodness : 0.984780 Centerline is valid? [True, True] Translation: X:116.60, Y:143.99, Z:34.85 [[-3.24906001e-02 -9.99438932e-01 8.13527869e-03 1.16598859e+02] [ 7.90791657e-01 -2.07282962e-02 6.11734332e-01 1.43989370e+02] [-6.11222476e-01 2.63089260e-02 7.91021444e-01 3.48526520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.800714057 meters Centerline goodness : 0.984399 Centerline is valid? [True, True] Translation: X:116.59, Y:144.02, Z:34.84 [[-2.94332393e-02 -9.99258490e-01 2.48224817e-02 1.16589515e+02] [ 7.93192511e-01 -8.23754556e-03 6.08915251e-01 1.44015292e+02] [-6.08259258e-01 3.76113549e-02 7.92846808e-01 3.48449256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.830714057 meters Centerline goodness : 0.984896 Centerline is valid? [True, True] Translation: X:116.59, Y:144.04, Z:34.83 [[-2.80503663e-02 -9.99308910e-01 2.43901571e-02 1.16588179e+02] [ 7.93949206e-01 -7.44799845e-03 6.07938472e-01 1.44038486e+02] [-6.07336674e-01 3.64174427e-02 7.93609434e-01 3.48286087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.860714057 meters Centerline goodness : 0.984538 Centerline is valid? [True, True] Translation: X:116.59, Y:144.06, Z:34.81 [[-2.70571920e-02 -9.99545020e-01 1.33289881e-02 1.16591713e+02] [ 7.92730089e-01 -1.33320709e-02 6.09426994e-01 1.44058529e+02] [-6.08972014e-01 2.70556731e-02 7.92730141e-01 3.48095125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.890714057 meters Centerline goodness : 0.984988 Centerline is valid? [True, True] Translation: X:116.58, Y:144.09, Z:34.80 [[-2.70518019e-02 -9.99227682e-01 2.84998250e-02 1.16583748e+02] [ 7.95433263e-01 -4.24954178e-03 6.06026292e-01 1.44090639e+02] [-6.05437135e-01 3.90638120e-02 7.94933893e-01 3.47964446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.920714057 meters Centerline goodness : 0.985609 Centerline is valid? [True, True] Translation: X:116.59, Y:144.08, Z:34.79 [[-2.31716206e-02 -9.99729216e-01 -2.13787291e-03 1.16593549e+02] [ 7.97112375e-01 -1.97659599e-02 6.03507389e-01 1.44081919e+02] [-6.03386227e-01 1.22801193e-02 7.97354539e-01 3.47890223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.950714057 meters Centerline goodness : 0.985525 Centerline is valid? [True, True] Translation: X:116.59, Y:144.09, Z:34.79 [[-2.42055660e-02 -9.99705117e-01 -1.94153829e-03 1.16591924e+02] [ 8.01006586e-01 -2.05565068e-02 5.98302498e-01 1.44090352e+02] [-5.98165981e-01 1.29270657e-02 8.01267964e-01 3.47884853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.980714057 meters Centerline goodness : 0.985741 Centerline is valid? [True, True] Translation: X:116.59, Y:144.11, Z:34.78 [[-2.51352077e-02 -9.99681300e-01 -2.34964327e-03 1.16590297e+02] [ 8.04486068e-01 -2.16225117e-02 5.93577825e-01 1.44107289e+02] [-5.93439457e-01 1.30294467e-02 8.04773164e-01 3.47814678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.01071405700003 meters Centerline goodness : 0.985556 Centerline is valid? [True, True] Translation: X:116.59, Y:144.10, Z:34.79 [[-2.58447276e-02 -9.99664901e-01 -1.46154281e-03 1.16591265e+02] [ 8.06084938e-01 -2.17046778e-02 5.91401707e-01 1.44097557e+02] [-5.91235252e-01 1.41064884e-02 8.06375771e-01 3.47912335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.040714057 meters Centerline goodness : 0.985556 Centerline is valid? [True, True] Translation: X:116.59, Y:144.10, Z:34.79 [[-2.53809814e-02 -9.99672296e-01 3.33256641e-03 1.16589323e+02] [ 8.06155742e-01 -1.84961579e-02 5.91414248e-01 1.44103672e+02] [-5.91158799e-01 1.76972416e-02 8.06361012e-01 3.47893368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.07071405700003 meters Centerline goodness : 0.985220 Centerline is valid? [True, True] Translation: X:116.59, Y:144.13, Z:34.77 [[-2.51614202e-02 -9.99643722e-01 8.90689059e-03 1.16587806e+02] [ 8.03255049e-01 -1.49127561e-02 5.95448517e-01 1.44134436e+02] [-5.95103546e-01 2.21368352e-02 8.03344092e-01 3.47701248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.100714057 meters Centerline goodness : 0.984999 Centerline is valid? [True, True] Translation: X:116.59, Y:144.12, Z:34.78 [[-2.53918942e-02 -9.99652870e-01 7.02785194e-03 1.16590228e+02] [ 8.02094794e-01 -1.61768515e-02 5.96977597e-01 1.44122112e+02] [-5.96656680e-01 2.07953955e-02 8.02227124e-01 3.47781455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.130714057 meters Centerline goodness : 0.984708 Centerline is valid? [True, True] Translation: X:116.59, Y:144.12, Z:34.78 [[-2.78750864e-02 -9.99532816e-01 1.25351160e-02 1.16592948e+02] [ 8.00449220e-01 -1.48082470e-02 5.99217625e-01 1.44124132e+02] [-5.98752057e-01 2.67369669e-02 8.00488044e-01 3.47764464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.160714057 meters Centerline goodness : 0.986090 Centerline is valid? [True, True] Translation: X:116.59, Y:144.14, Z:34.76 [[-4.06841957e-02 -9.99172008e-01 3.09326953e-04 1.16593593e+02] [ 8.04808734e-01 -3.25866583e-02 5.92639023e-01 1.44140882e+02] [-5.92138242e-01 2.43599910e-02 8.05468121e-01 3.47634407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.190714057 meters Centerline goodness : 0.986886 Centerline is valid? [True, True] Translation: X:116.58, Y:144.19, Z:34.75 [[-3.73391267e-02 -9.97470051e-01 6.04920421e-02 1.16580147e+02] [ 8.02272882e-01 6.16868613e-03 5.96925599e-01 1.44185739e+02] [-5.95788564e-01 7.08198055e-02 8.00012839e-01 3.47464189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.220714057 meters Centerline goodness : 0.986547 Centerline is valid? [True, True] Translation: X:116.61, Y:144.20, Z:34.71 [[-4.50808206e-02 -9.98900364e-01 -1.28756876e-02 1.16607899e+02] [ 8.10632190e-01 -4.41104791e-02 5.83891872e-01 1.44195511e+02] [-5.83817756e-01 1.58848779e-02 8.11729326e-01 3.47110980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.250714057 meters Centerline goodness : 0.987278 Centerline is valid? [True, True] Translation: X:116.60, Y:144.20, Z:34.71 [[-5.00098079e-02 -9.98746231e-01 2.23266993e-03 1.16604458e+02] [ 8.13145104e-01 -3.94180849e-02 5.80724766e-01 1.44204149e+02] [-5.79908664e-01 3.08574186e-02 8.14096899e-01 3.47126565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.280714057 meters Centerline goodness : 0.987161 Centerline is valid? [True, True] Translation: X:116.61, Y:144.21, Z:34.71 [[-5.13214002e-02 -9.98682168e-01 -2.04510516e-04 1.16605883e+02] [ 8.14278786e-01 -4.19636309e-02 5.78955190e-01 1.44213984e+02] [-5.78200806e-01 2.95462624e-02 8.15359336e-01 3.47054768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.310714057 meters Centerline goodness : 0.988119 Centerline is valid? [True, True] Translation: X:116.61, Y:144.22, Z:34.70 [[-5.01242718e-02 -9.98742986e-01 -6.82954196e-05 1.16606756e+02] [ 8.14196578e-01 -4.09019780e-02 5.79146753e-01 1.44224580e+02] [-5.78421551e-01 2.89737033e-02 8.15223303e-01 3.46985761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.340714057 meters Centerline goodness : 0.988404 Centerline is valid? [True, True] Translation: X:116.60, Y:144.22, Z:34.70 [[-4.72991834e-02 -9.98863217e-01 5.92117045e-03 1.16604578e+02] [ 8.13985929e-01 -3.51075503e-02 5.79822704e-01 1.44224373e+02] [-5.78955694e-01 3.22448898e-02 8.14721162e-01 3.47032204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.370714057 meters Centerline goodness : 0.987535 Centerline is valid? [True, True] Translation: X:116.60, Y:144.24, Z:34.70 [[-4.67944227e-02 -9.98862988e-01 9.11115017e-03 1.16603286e+02] [ 8.13424879e-01 -3.28098078e-02 5.80743905e-01 1.44236917e+02] [-5.79784657e-01 3.45868120e-02 8.14035321e-01 3.46955042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.400714057 meters Centerline goodness : 0.988233 Centerline is valid? [True, True] Translation: X:116.61, Y:144.24, Z:34.69 [[-4.54474014e-02 -9.98966059e-01 1.16018655e-03 1.16607444e+02] [ 8.13935186e-01 -3.63561333e-02 5.79816992e-01 1.44235276e+02] [-5.79175316e-01 2.72954923e-02 8.14745917e-01 3.46925682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.430714057 meters Centerline goodness : 0.987588 Centerline is valid? [True, True] Translation: X:116.60, Y:144.24, Z:34.69 [[-4.35304316e-02 -9.99001522e-01 1.00529060e-02 1.16603677e+02] [ 8.11995454e-01 -2.95159742e-02 5.82916967e-01 1.44244757e+02] [-5.82038216e-01 3.35375412e-02 8.12469537e-01 3.46897665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.460714057 meters Centerline goodness : 0.986956 Centerline is valid? [True, True] Translation: X:116.61, Y:144.24, Z:34.69 [[-4.23509602e-02 -9.99086079e-01 5.77961005e-03 1.16606679e+02] [ 8.10659992e-01 -3.09812230e-02 5.84696965e-01 1.44243932e+02] [-5.83983539e-01 2.94477765e-02 8.11231197e-01 3.46859474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.490714057 meters Centerline goodness : 0.988369 Centerline is valid? [True, True] Translation: X:116.61, Y:144.25, Z:34.68 [[-4.28556288e-02 -9.99076475e-01 3.09703905e-03 1.16606766e+02] [ 8.10659883e-01 -3.29612851e-02 5.84588837e-01 1.44252216e+02] [-5.83946872e-01 2.75635675e-02 8.11323795e-01 3.46825019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.520714057 meters Centerline goodness : 0.987893 Centerline is valid? [True, True] Translation: X:116.61, Y:144.26, Z:34.68 [[-4.33283433e-02 -9.99037379e-01 6.85344980e-03 1.16605319e+02] [ 8.11109659e-01 -3.11711980e-02 5.84062906e-01 1.44255970e+02] [-5.83287045e-01 3.08653774e-02 8.11679464e-01 3.46829003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.550714057 meters Centerline goodness : 0.988123 Centerline is valid? [True, True] Translation: X:116.61, Y:144.27, Z:34.68 [[-4.60470258e-02 -9.98897435e-01 9.14255028e-03 1.16605176e+02] [ 8.10824980e-01 -3.20283788e-02 5.84411700e-01 1.44265383e+02] [-5.83474527e-01 3.43234288e-02 8.11405804e-01 3.46779729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.580714057 meters Centerline goodness : 0.989502 Centerline is valid? [True, True] Translation: X:116.61, Y:144.27, Z:34.67 [[-5.10445024e-02 -9.98696072e-01 7.84320726e-04 1.16609819e+02] [ 8.12185775e-01 -4.10547137e-02 5.81952556e-01 1.44267269e+02] [-5.81161531e-01 3.03424927e-02 8.13222361e-01 3.46744349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.610714057 meters Centerline goodness : 0.988741 Centerline is valid? [True, True] Translation: X:116.60, Y:144.72, Z:34.36 [[-7.41954528e-02 -9.96972860e-01 -2.32411627e-02 1.16604018e+02] [ 8.22348121e-01 -7.43500397e-02 5.64106054e-01 1.44721577e+02] [-5.64126407e-01 2.27417777e-02 8.25375192e-01 3.43621793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.640714057 meters Centerline goodness : 0.989118 Centerline is valid? [True, True] Translation: X:116.60, Y:144.74, Z:34.35 [[-7.78331765e-02 -9.96864196e-01 -1.42748499e-02 1.16600635e+02] [ 8.23741908e-01 -7.23685216e-02 5.62327366e-01 1.44743326e+02] [-5.61597067e-01 3.20089330e-02 8.26791487e-01 3.43509645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.670714057 meters Centerline goodness : 0.987863 Centerline is valid? [True, True] Translation: X:116.61, Y:144.31, Z:34.64 [[-5.39303862e-02 -9.98521628e-01 6.78765020e-03 1.16607698e+02] [ 8.15864983e-01 -4.01438235e-02 5.76847296e-01 1.44314841e+02] [-5.75722019e-01 3.66474036e-02 8.16823803e-01 3.46435862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.700714057 meters Centerline goodness : 0.982848 Centerline is valid? [True, True] Translation: X:116.59, Y:145.04, Z:34.15 [[-8.73173509e-02 -9.95929229e-01 -2.23752161e-02 1.16594312e+02] [ 8.25317980e-01 -8.49011364e-02 5.58249074e-01 1.45038578e+02] [-5.57876251e-01 3.02781622e-02 8.29371642e-01 3.41483562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.730714057 meters Centerline goodness : 0.982652 Centerline is valid? [True, True] Translation: X:116.59, Y:145.06, Z:34.14 [[-8.29987283e-02 -9.96532571e-01 -5.83488647e-03 1.16587509e+02] [ 8.24321823e-01 -7.19435950e-02 5.61531524e-01 1.45062390e+02] [-5.60004236e-01 4.17965781e-02 8.27434772e-01 3.41395858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.76071405700003 meters Centerline goodness : 0.982730 Centerline is valid? [True, True] Translation: X:116.59, Y:145.08, Z:34.13 [[-7.91557812e-02 -9.96816503e-01 -9.55099388e-03 1.16589077e+02] [ 8.29703050e-01 -7.11903045e-02 5.53646809e-01 1.45078903e+02] [-5.52564214e-01 3.58998569e-02 8.32696817e-01 3.41291907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.790714057 meters Centerline goodness : 0.982599 Centerline is valid? [True, True] Translation: X:116.58, Y:145.14, Z:34.09 [[-7.46960498e-02 -9.97206100e-01 -7.02949593e-04 1.16584757e+02] [ 8.29317014e-01 -6.25116837e-02 5.55270726e-01 1.45141491e+02] [-5.53763298e-01 4.08935618e-02 8.31669361e-01 3.40904422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.820714057 meters Centerline goodness : 0.988376 Centerline is valid? [True, True] Translation: X:116.59, Y:144.80, Z:34.32 [[-5.27484903e-02 -9.98598110e-01 -4.40577498e-03 1.16590770e+02] [ 8.33554797e-01 -4.64591777e-02 5.50479740e-01 1.44795023e+02] [-5.49912717e-01 2.53645204e-02 8.34836897e-01 3.43239353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.850714057 meters Centerline goodness : 0.988853 Centerline is valid? [True, True] Translation: X:116.59, Y:144.82, Z:34.31 [[-5.23351549e-02 -9.98591070e-01 -8.76960133e-03 1.16591705e+02] [ 8.33915253e-01 -4.85325902e-02 5.49754436e-01 1.44817102e+02] [-5.49405482e-01 2.14583792e-02 8.35280285e-01 3.43090077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.880714057 meters Centerline goodness : 0.988904 Centerline is valid? [True, True] Translation: X:116.58, Y:144.86, Z:34.30 [[-6.04985284e-02 -9.97944192e-01 2.11499099e-02 1.16577383e+02] [ 8.37842198e-01 -3.92528016e-02 5.44499466e-01 1.44855334e+02] [-5.42549886e-01 5.06617034e-02 8.38494492e-01 3.42990686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.910714057 meters Centerline goodness : 0.986808 Centerline is valid? [True, True] Translation: X:116.59, Y:144.86, Z:34.28 [[-5.67034946e-02 -9.98389811e-01 -1.58092625e-03 1.16585751e+02] [ 8.32229144e-01 -4.81410223e-02 5.52337845e-01 1.44862776e+02] [-5.51524584e-01 3.00037931e-02 8.33618861e-01 3.42805102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.940714057 meters Centerline goodness : 0.991601 Centerline is valid? [True, True] Translation: X:116.58, Y:144.90, Z:34.27 [[-6.40094810e-02 -9.97948786e-01 1.00345292e-03 1.16583559e+02] [ 8.36362589e-01 -5.30965646e-02 5.45599097e-01 1.44895071e+02] [-5.44426677e-01 3.57627655e-02 8.38045714e-01 3.42678471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.970714057 meters Centerline goodness : 0.989026 Centerline is valid? [True, True] Translation: X:116.60, Y:144.91, Z:34.24 [[-6.04876880e-02 -9.97941404e-01 -2.13118111e-02 1.16595066e+02] [ 8.30302054e-01 -6.21542702e-02 5.53836931e-01 1.44906689e+02] [-5.54021424e-01 1.58050749e-02 8.32352366e-01 3.42443029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.000714057 meters Centerline goodness : 0.987403 Centerline is valid? [True, True] Translation: X:116.58, Y:144.94, Z:34.24 [[-6.71173919e-02 -9.97709557e-01 8.41998034e-03 1.16582210e+02] [ 8.30380095e-01 -5.11784085e-02 5.54842022e-01 1.44935413e+02] [-5.53140266e-01 4.42313335e-02 8.31913118e-01 3.42390566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.030714057 meters Centerline goodness : 0.989623 Centerline is valid? [True, True] Translation: X:116.59, Y:144.96, Z:34.22 [[-7.56419883e-02 -9.97124521e-01 -4.58031026e-03 1.16587140e+02] [ 8.34696087e-01 -6.58317087e-02 5.46761949e-01 1.44963417e+02] [-5.45491276e-01 3.75349939e-02 8.37275577e-01 3.42172750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.060714057 meters Centerline goodness : 0.988518 Centerline is valid? [True, True] Translation: X:116.58, Y:145.00, Z:34.20 [[-6.81627509e-02 -9.96548203e-01 4.73869056e-02 1.16578260e+02] [ 8.31094219e-01 -3.04408951e-02 5.55297895e-01 1.44999068e+02] [-5.51938619e-01 7.72336154e-02 8.30300385e-01 3.42048810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.090714057 meters Centerline goodness : 0.989743 Centerline is valid? [True, True] Translation: X:116.58, Y:145.48, Z:33.89 [[-1.00347665e-01 -9.94645811e-01 -2.46993447e-02 1.16582347e+02] [ 8.46699373e-01 -9.84062884e-02 5.22892316e-01 1.45475109e+02] [-5.22523222e-01 3.15581032e-02 8.52040826e-01 3.38898120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.120714057 meters Centerline goodness : 0.981455 Centerline is valid? [True, True] Translation: X:116.55, Y:145.94, Z:33.60 [[-1.23592494e-01 -9.92294370e-01 -8.76233578e-03 1.16553224e+02] [ 8.36179478e-01 -1.08894688e-01 5.37536815e-01 1.45935733e+02] [-5.34348927e-01 5.91086304e-02 8.43194755e-01 3.35967004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.150714057 meters Centerline goodness : 0.985816 Centerline is valid? [True, True] Translation: X:116.58, Y:145.57, Z:33.83 [[-1.04224906e-01 -9.94020051e-01 -3.25777108e-02 1.16580349e+02] [ 8.48516650e-01 -1.05960167e-01 5.18451481e-01 1.45566045e+02] [-5.18803107e-01 2.63928270e-02 8.54486252e-01 3.38267023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.180714057 meters Centerline goodness : 0.987843 Centerline is valid? [True, True] Translation: X:116.57, Y:145.54, Z:33.85 [[-9.75923727e-02 -9.95095942e-01 -1.61181762e-02 1.16573096e+02] [ 8.49227457e-01 -9.17093550e-02 5.20002039e-01 1.45542239e+02] [-5.18930106e-01 3.70602350e-02 8.54012929e-01 3.38497099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.210714057 meters Centerline goodness : 0.986822 Centerline is valid? [True, True] Translation: X:116.57, Y:145.57, Z:33.84 [[-8.82662363e-02 -9.96021673e-01 -1.22433397e-02 1.16569605e+02] [ 8.48599764e-01 -8.16270422e-02 5.22700169e-01 1.45568514e+02] [-5.21620084e-01 3.57470814e-02 8.52428668e-01 3.38375494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.240714057 meters Centerline goodness : 0.989216 Centerline is valid? [True, True] Translation: X:116.58, Y:145.07, Z:34.15 [[-5.61581981e-02 -9.98414969e-01 -3.71571848e-03 1.16579926e+02] [ 8.48332298e-01 -4.96782157e-02 5.27128435e-01 1.45071579e+02] [-5.26477510e-01 2.64504191e-02 8.49777504e-01 3.41475782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.270714057 meters Centerline goodness : 0.986698 Centerline is valid? [True, True] Translation: X:116.57, Y:145.10, Z:34.15 [[-4.65347524e-02 -9.98699769e-01 2.08155664e-02 1.16567896e+02] [ 8.45649001e-01 -2.82943897e-02 5.32988926e-01 1.45096099e+02] [-5.31706954e-01 4.24051707e-02 8.45866134e-01 3.41456643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.300714057 meters Centerline goodness : 0.986622 Centerline is valid? [True, True] Translation: X:116.57, Y:145.12, Z:34.13 [[-4.44848886e-02 -9.98821822e-01 1.93923552e-02 1.16567390e+02] [ 8.45662672e-01 -2.73149108e-02 5.33018330e-01 1.45118637e+02] [-5.31860639e-01 4.01106520e-02 8.45881432e-01 3.41296825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.330714057 meters Centerline goodness : 0.986934 Centerline is valid? [True, True] Translation: X:116.57, Y:145.14, Z:34.11 [[-4.16775799e-02 -9.99084075e-01 9.69485613e-03 1.16569173e+02] [ 8.44985402e-01 -3.00679819e-02 5.33943430e-01 1.45140579e+02] [-5.33162873e-01 3.04454819e-02 8.45464620e-01 3.41115134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.360714057 meters Centerline goodness : 0.986907 Centerline is valid? [True, True] Translation: X:116.57, Y:145.16, Z:34.10 [[-4.05893736e-02 -9.99071109e-01 1.44714309e-02 1.16566510e+02] [ 8.46292268e-01 -2.66757189e-02 5.32050565e-01 1.45161998e+02] [-5.31170312e-01 3.38426593e-02 8.46588905e-01 3.41026672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.390714057 meters Centerline goodness : 0.986680 Centerline is valid? [True, True] Translation: X:116.57, Y:145.19, Z:34.08 [[-4.04097756e-02 -9.99076542e-01 1.45984323e-02 1.16567248e+02] [ 8.45682361e-01 -2.64167924e-02 5.33032361e-01 1.45185845e+02] [-5.32154484e-01 3.38853548e-02 8.45968905e-01 3.40841942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.420714057 meters Centerline goodness : 0.987117 Centerline is valid? [True, True] Translation: X:116.57, Y:145.21, Z:34.06 [[-4.49890603e-02 -9.98902533e-01 1.30274182e-02 1.16569210e+02] [ 8.44958624e-01 -3.10923251e-02 5.33927141e-01 1.45211834e+02] [-5.32936121e-01 3.50285096e-02 8.45430124e-01 3.40647673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.450714057 meters Centerline goodness : 0.987678 Centerline is valid? [True, True] Translation: X:116.57, Y:145.22, Z:34.06 [[-4.60975483e-02 -9.98904951e-01 7.99463422e-03 1.16570153e+02] [ 8.45140866e-01 -3.47325052e-02 5.33414070e-01 1.45216225e+02] [-5.32552282e-01 3.13456729e-02 8.45816479e-01 3.40601375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.480714057 meters Centerline goodness : 0.987797 Centerline is valid? [True, True] Translation: X:116.57, Y:145.22, Z:34.06 [[-4.69597187e-02 -9.98820330e-01 1.23584939e-02 1.16569184e+02] [ 8.44443191e-01 -3.30867200e-02 5.34622265e-01 1.45221378e+02] [-5.33582686e-01 3.55417572e-02 8.45000770e-01 3.40578526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.51071405700003 meters Centerline goodness : 0.987217 Centerline is valid? [True, True] Translation: X:116.57, Y:145.24, Z:34.05 [[-4.89927843e-02 -9.98776740e-01 6.68811287e-03 1.16569149e+02] [ 8.45683273e-01 -3.79184366e-02 5.32336355e-01 1.45243575e+02] [-5.31431566e-01 3.17366654e-02 8.46506512e-01 3.40468155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.540714057 meters Centerline goodness : 0.988787 Centerline is valid? [True, True] Translation: X:116.57, Y:145.25, Z:34.04 [[-4.58138320e-02 -9.98865716e-01 1.29758745e-02 1.16566798e+02] [ 8.42840020e-01 -3.16786214e-02 5.37231016e-01 1.45247254e+02] [-5.36210586e-01 3.55491979e-02 8.43335320e-01 3.40445781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.570714057 meters Centerline goodness : 0.988055 Centerline is valid? [True, True] Translation: X:116.56, Y:145.27, Z:34.04 [[-4.86072087e-02 -9.98721182e-01 1.39047053e-02 1.16563153e+02] [ 8.44474688e-01 -3.36580226e-02 5.34536845e-01 1.45271036e+02] [-5.33385265e-01 3.77245157e-02 8.45030781e-01 3.40351752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.600714057 meters Centerline goodness : 0.989451 Centerline is valid? [True, True] Translation: X:116.56, Y:145.30, Z:34.02 [[-5.12823372e-02 -9.98509555e-01 1.86759110e-02 1.16561069e+02] [ 8.44673482e-01 -3.33891853e-02 5.34239525e-01 1.45297591e+02] [-5.32819698e-01 4.31720983e-02 8.45126819e-01 3.40216443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.630714057 meters Centerline goodness : 0.988769 Centerline is valid? [True, True] Translation: X:116.56, Y:145.32, Z:34.01 [[-5.30845879e-02 -9.98473141e-01 1.52778738e-02 1.16561409e+02] [ 8.45310135e-01 -3.67858773e-02 5.33008045e-01 1.45320015e+02] [-5.31632207e-01 4.12090540e-02 8.45972228e-01 3.40081251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.660714057 meters Centerline goodness : 0.988299 Centerline is valid? [True, True] Translation: X:116.56, Y:145.34, Z:34.00 [[-5.40457623e-02 -9.98472763e-01 1.14541056e-02 1.16562472e+02] [ 8.46363017e-01 -3.97194525e-02 5.31123346e-01 1.45342872e+02] [-5.29857244e-01 3.83992974e-02 8.47217088e-01 3.39959969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.690714057 meters Centerline goodness : 0.989355 Centerline is valid? [True, True] Translation: X:116.56, Y:145.36, Z:33.98 [[-5.40315387e-02 -9.98518097e-01 6.49631620e-03 1.16562836e+02] [ 8.46915729e-01 -4.23796839e-02 5.30035575e-01 1.45364830e+02] [-5.28974802e-01 3.41404701e-02 8.47950522e-01 3.39819918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.720714057 meters Centerline goodness : 0.988042 Centerline is valid? [True, True] Translation: X:116.56, Y:145.39, Z:33.97 [[-5.14409766e-02 -9.98604961e-01 1.19146482e-02 1.16559112e+02] [ 8.47696884e-01 -3.73536607e-02 5.29164150e-01 1.45389896e+02] [-5.27980889e-01 3.73207308e-02 8.48435822e-01 3.39720619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.750714057 meters Centerline goodness : 0.988592 Centerline is valid? [True, True] Translation: X:116.56, Y:145.42, Z:33.95 [[-4.94971336e-02 -9.98480640e-01 2.42166356e-02 1.16556453e+02] [ 8.44498757e-01 -2.88936550e-02 5.34777530e-01 1.45417702e+02] [-5.33265303e-01 4.69208735e-02 8.44645812e-01 3.39529520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.780714057 meters Centerline goodness : 0.988321 Centerline is valid? [True, True] Translation: X:116.57, Y:145.42, Z:33.94 [[-4.91635594e-02 -9.98757596e-01 -8.13691312e-03 1.16566967e+02] [ 8.48396230e-01 -4.60584370e-02 5.27354205e-01 1.45416228e+02] [-5.27073792e-01 1.90232834e-02 8.49606575e-01 3.39439990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.810714057 meters Centerline goodness : 0.988741 Centerline is valid? [True, True] Translation: X:116.56, Y:145.43, Z:33.95 [[-4.60566954e-02 -9.98869390e-01 1.17780739e-02 1.16560462e+02] [ 8.49137559e-01 -3.29369704e-02 5.27143777e-01 1.45426727e+02] [-5.26159849e-01 3.42797053e-02 8.49694484e-01 3.39474834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.840714057 meters Centerline goodness : 0.988416 Centerline is valid? [True, True] Translation: X:116.57, Y:145.43, Z:33.94 [[-4.18289952e-02 -9.99122552e-01 -2.11206435e-03 1.16566726e+02] [ 8.49669137e-01 -3.66840220e-02 5.26038629e-01 1.45427446e+02] [-5.25654537e-01 2.02091114e-02 8.50458053e-01 3.39404983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.870714057 meters Centerline goodness : 0.988491 Centerline is valid? [True, True] Translation: X:116.56, Y:145.44, Z:33.94 [[-3.99084509e-02 -9.99141864e-01 1.10837832e-02 1.16562134e+02] [ 8.51031369e-01 -2.81756472e-02 5.24358409e-01 1.45438974e+02] [-5.23596146e-01 3.03589790e-02 8.51425515e-01 3.39393866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.900714057 meters Centerline goodness : 0.988922 Centerline is valid? [True, True] Translation: X:116.57, Y:145.43, Z:33.94 [[-3.79520467e-02 -9.99271943e-01 3.90219024e-03 1.16566658e+02] [ 8.50946411e-01 -3.02709684e-02 5.24379513e-01 1.45434650e+02] [-5.23879611e-01 2.32218305e-02 8.51475719e-01 3.39414961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.930714057 meters Centerline goodness : 0.988922 Centerline is valid? [True, True] Translation: X:116.57, Y:145.44, Z:33.94 [[-3.73951109e-02 -9.99285555e-01 5.47594205e-03 1.16566023e+02] [ 8.50904414e-01 -2.89681132e-02 5.24521235e-01 1.45440048e+02] [-5.23987866e-01 2.42740330e-02 8.51379755e-01 3.39387594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.960714057 meters Centerline goodness : 0.988251 Centerline is valid? [True, True] Translation: X:116.56, Y:145.47, Z:33.92 [[-3.60905331e-02 -9.99121607e-01 2.12952528e-02 1.16562537e+02] [ 8.49659049e-01 -1.94597124e-02 5.26973264e-01 1.45466131e+02] [-5.26095975e-01 3.71124502e-02 8.49615025e-01 3.39248888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.990714057 meters Centerline goodness : 0.988709 Centerline is valid? [True, True] Translation: X:116.57, Y:145.49, Z:33.91 [[-3.70695122e-02 -9.99104431e-01 2.04006806e-02 1.16567210e+02] [ 8.47981627e-01 -2.06480817e-02 5.29623279e-01 1.45488274e+02] [-5.28727730e-01 3.69322790e-02 8.47987615e-01 3.39071155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.020714057 meters Centerline goodness : 0.988740 Centerline is valid? [True, True] Translation: X:116.57, Y:145.49, Z:33.90 [[-3.76770788e-02 -9.99279858e-01 4.49488755e-03 1.16574857e+02] [ 8.48150135e-01 -2.95996619e-02 5.28928359e-01 1.45491727e+02] [-5.28414408e-01 2.37408149e-02 8.48654575e-01 3.38983725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.050714057 meters Centerline goodness : 0.989570 Centerline is valid? [True, True] Translation: X:116.57, Y:145.50, Z:33.90 [[-3.54501302e-02 -9.99053705e-01 2.51988799e-02 1.16572719e+02] [ 8.41182283e-01 -1.62151571e-02 5.40508497e-01 1.45495440e+02] [-5.39588413e-01 4.03579479e-02 8.40961105e-01 3.38987614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.080714057 meters Centerline goodness : 0.990352 Centerline is valid? [True, True] Translation: X:116.58, Y:145.52, Z:33.88 [[-4.04269492e-02 -9.99178068e-01 2.97500175e-03 1.16584517e+02] [ 8.42396203e-01 -3.24820162e-02 5.37878756e-01 1.45515632e+02] [-5.37340022e-01 2.42509273e-02 8.43016959e-01 3.38798618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.110714057 meters Centerline goodness : 0.989498 Centerline is valid? [True, True] Translation: X:116.58, Y:145.54, Z:33.87 [[-4.15016373e-02 -9.98885771e-01 2.24684554e-02 1.16579562e+02] [ 8.44025760e-01 -2.30153046e-02 5.35808559e-01 1.45541180e+02] [-5.34694427e-01 4.12008876e-02 8.44040495e-01 3.38729608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.140714057 meters Centerline goodness : 0.991152 Centerline is valid? [True, True] Translation: X:116.59, Y:145.56, Z:33.85 [[-4.70348245e-02 -9.98883378e-01 -4.44106381e-03 1.16594539e+02] [ 8.42668265e-01 -4.20656323e-02 5.36787367e-01 1.45560109e+02] [-5.36374794e-01 2.15053560e-02 8.43705873e-01 3.38497165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.170714057 meters Centerline goodness : 0.990492 Centerline is valid? [True, True] Translation: X:116.59, Y:145.59, Z:33.84 [[-4.82738855e-02 -9.98612172e-01 2.10561670e-02 1.16588418e+02] [ 8.42356333e-01 -2.93738373e-02 5.38119863e-01 1.45587606e+02] [-5.36754545e-01 4.37139323e-02 8.42605276e-01 3.38392760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.200714057 meters Centerline goodness : 0.991102 Centerline is valid? [True, True] Translation: X:116.59, Y:145.61, Z:33.82 [[-5.09870442e-02 -9.98508986e-01 1.94968427e-02 1.16593113e+02] [ 8.41346232e-01 -3.24271129e-02 5.39522938e-01 1.45609597e+02] [-5.38086275e-01 4.39122750e-02 8.41745135e-01 3.38208685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.230714057 meters Centerline goodness : 0.989471 Centerline is valid? [True, True] Translation: X:116.60, Y:145.62, Z:33.81 [[-5.07402481e-02 -9.98639079e-01 1.20589246e-02 1.16597748e+02] [ 8.39297865e-01 -3.60936683e-02 5.42472434e-01 1.45616819e+02] [-5.41298921e-01 3.76462155e-02 8.39987048e-01 3.38107624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.26071405700003 meters Centerline goodness : 0.990258 Centerline is valid? [True, True] Translation: X:116.60, Y:145.64, Z:33.80 [[-5.24031036e-02 -9.98340087e-01 2.38952985e-02 1.16595491e+02] [ 8.39777040e-01 -3.11063593e-02 5.42039591e-01 1.45643242e+02] [-5.40396556e-01 4.84712799e-02 8.40013153e-01 3.37962463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.290714057 meters Centerline goodness : 0.989211 Centerline is valid? [True, True] Translation: X:116.61, Y:145.66, Z:33.78 [[-5.39641211e-02 -9.98519279e-01 6.86457731e-03 1.16605464e+02] [ 8.38735907e-01 -4.15961341e-02 5.42947365e-01 1.45656511e+02] [-5.41857872e-01 3.50572448e-02 8.39738672e-01 3.37793330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.320714057 meters Centerline goodness : 0.990489 Centerline is valid? [True, True] Translation: X:116.60, Y:145.64, Z:33.79 [[-4.35286858e-02 -9.98076296e-01 4.41470339e-02 1.16597595e+02] [ 8.26567875e-01 -1.11581752e-02 5.62726438e-01 1.45638406e+02] [-5.61151318e-01 6.09852623e-02 8.25463504e-01 3.37896274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.350714057 meters Centerline goodness : 0.989764 Centerline is valid? [True, True] Translation: X:116.60, Y:145.66, Z:33.77 [[-4.26963598e-02 -9.98580657e-01 3.18385332e-02 1.16603598e+02] [ 8.25661595e-01 -1.73235946e-02 5.63899658e-01 1.45656784e+02] [-5.62547733e-01 5.03643168e-02 8.25229352e-01 3.37727387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.380714057 meters Centerline goodness : 0.988988 Centerline is valid? [True, True] Translation: X:116.60, Y:145.69, Z:33.76 [[-4.62297752e-02 -9.98045690e-01 4.20429483e-02 1.16601867e+02] [ 8.26280685e-01 -1.45540688e-02 5.63070519e-01 1.45685081e+02] [-5.61358208e-01 6.07698996e-02 8.25338707e-01 3.37563705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.410714057 meters Centerline goodness : 0.989426 Centerline is valid? [True, True] Translation: X:116.61, Y:145.71, Z:33.74 [[-4.81856068e-02 -9.98551980e-01 2.39184301e-02 1.16606811e+02] [ 8.27144515e-01 -2.64678009e-02 5.61365662e-01 1.45706555e+02] [-5.59919725e-01 4.68337433e-02 8.27222160e-01 3.37414677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.440714057 meters Centerline goodness : 0.990093 Centerline is valid? [True, True] Translation: X:116.61, Y:145.73, Z:33.73 [[-5.22262692e-02 -9.98298206e-01 2.59443435e-02 1.16607228e+02] [ 8.28377734e-01 -2.87980643e-02 5.59429174e-01 1.45731032e+02] [-5.57729994e-01 5.07086151e-02 8.28472021e-01 3.37295374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.470714057 meters Centerline goodness : 0.990810 Centerline is valid? [True, True] Translation: X:116.61, Y:145.75, Z:33.72 [[-5.56728404e-02 -9.98383794e-01 1.14164186e-02 1.16612151e+02] [ 8.29996116e-01 -3.99213671e-02 5.56338685e-01 1.45754067e+02] [-5.54983768e-01 4.04485379e-02 8.30877207e-01 3.37162403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.500714057 meters Centerline goodness : 0.990404 Centerline is valid? [True, True] Translation: X:116.62, Y:145.77, Z:33.71 [[-6.07051946e-02 -9.98066381e-01 -1.33558773e-02 1.16617592e+02] [ 8.33339995e-01 -5.80420902e-02 5.49704983e-01 1.45772174e+02] [-5.49417266e-01 2.22399612e-02 8.35252089e-01 3.37094497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.530714057 meters Centerline goodness : 0.990010 Centerline is valid? [True, True] Translation: X:116.61, Y:145.80, Z:33.70 [[-6.15814040e-02 -9.98100285e-01 1.88480837e-03 1.16611755e+02] [ 8.35141706e-01 -5.04927879e-02 5.47712341e-01 1.45799719e+02] [-5.46576674e-01 3.53029770e-02 8.36664592e-01 3.37016344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.560714057 meters Centerline goodness : 0.990813 Centerline is valid? [True, True] Translation: X:116.61, Y:145.82, Z:33.69 [[-6.28382384e-02 -9.97996656e-01 7.35058106e-03 1.16609085e+02] [ 8.35588814e-01 -4.85819956e-02 5.47203001e-01 1.45824476e+02] [-5.45749659e-01 4.05273359e-02 8.36967649e-01 3.36888014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.590714057 meters Centerline goodness : 0.990180 Centerline is valid? [True, True] Translation: X:116.61, Y:145.85, Z:33.67 [[-6.35428426e-02 -9.97914966e-01 1.13149548e-02 1.16607949e+02] [ 8.35720786e-01 -4.70112453e-02 5.47138658e-01 1.45848505e+02] [-5.45465925e-01 4.42228885e-02 8.36965508e-01 3.36744943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.620714057 meters Centerline goodness : 0.990560 Centerline is valid? [True, True] Translation: X:116.61, Y:145.87, Z:33.66 [[-6.63203002e-02 -9.97735422e-01 -1.12091318e-02 1.16614337e+02] [ 8.38121687e-01 -6.17994590e-02 5.41971277e-01 1.45869449e+02] [-5.41436659e-01 2.65490813e-02 8.40322254e-01 3.36595284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.650714057 meters Centerline goodness : 0.990771 Centerline is valid? [True, True] Translation: X:116.61, Y:145.90, Z:33.65 [[-6.74254666e-02 -9.97721595e-01 2.32907325e-03 1.16608754e+02] [ 8.39244121e-01 -5.54529287e-02 5.40919844e-01 1.45895982e+02] [-5.39558256e-01 3.84264339e-02 8.41070923e-01 3.36481718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.680714057 meters Centerline goodness : 0.989953 Centerline is valid? [True, True] Translation: X:116.61, Y:145.92, Z:33.64 [[-6.81277525e-02 -9.97613303e-01 1.12386570e-02 1.16606136e+02] [ 8.41415445e-01 -5.14007129e-02 5.37938673e-01 1.45920787e+02] [-5.36077101e-01 4.61049323e-02 8.42909056e-01 3.36353510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.710714057 meters Centerline goodness : 0.989858 Centerline is valid? [True, True] Translation: X:116.60, Y:145.94, Z:33.62 [[-7.08991730e-02 -9.97399035e-01 1.29796731e-02 1.16603612e+02] [ 8.45515607e-01 -5.31886643e-02 5.31294950e-01 1.45944875e+02] [-5.29222699e-01 4.86428887e-02 8.47087483e-01 3.36225634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.740714057 meters Centerline goodness : 0.990088 Centerline is valid? [True, True] Translation: X:116.62, Y:145.96, Z:33.60 [[-7.33954238e-02 -9.97016412e-01 -2.39036752e-02 1.16616645e+02] [ 8.41266216e-01 -7.47668147e-02 5.35426070e-01 1.45960064e+02] [-5.35615781e-01 1.91884690e-02 8.44243767e-01 3.35988538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.770714057 meters Centerline goodness : 0.989533 Centerline is valid? [True, True] Translation: X:116.61, Y:145.99, Z:33.59 [[-7.41865300e-02 -9.97236324e-01 4.00899671e-03 1.16606535e+02] [ 8.41398901e-01 -6.04345559e-02 5.37024724e-01 1.45988018e+02] [-5.35298280e-01 4.32131662e-02 8.43556977e-01 3.35893349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.800714057 meters Centerline goodness : 0.989845 Centerline is valid? [True, True] Translation: X:116.61, Y:146.01, Z:33.57 [[-7.47556005e-02 -9.97200917e-01 -1.38946799e-03 1.16607762e+02] [ 8.41337529e-01 -6.38190952e-02 5.36729248e-01 1.46010580e+02] [-5.35315573e-01 3.89545057e-02 8.43753390e-01 3.35724869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.830714057 meters Centerline goodness : 0.990317 Centerline is valid? [True, True] Translation: X:116.61, Y:146.03, Z:33.56 [[-7.49038645e-02 -9.97186802e-01 -2.80937365e-03 1.16605869e+02] [ 8.41611353e-01 -6.47283968e-02 5.36190792e-01 1.46034922e+02] [-5.34864227e-01 3.77983617e-02 8.44092141e-01 3.35590607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.860714057 meters Centerline goodness : 0.990538 Centerline is valid? [True, True] Translation: X:116.61, Y:146.06, Z:33.54 [[-7.40499318e-02 -9.97249794e-01 -3.07500795e-03 1.16605515e+02] [ 8.39785968e-01 -6.40199903e-02 5.39129825e-01 1.46058019e+02] [-5.37843969e-01 3.73401782e-02 8.42217060e-01 3.35428489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.890714057 meters Centerline goodness : 0.991206 Centerline is valid? [True, True] Translation: X:116.60, Y:146.08, Z:33.53 [[-7.25753113e-02 -9.97341618e-01 6.52083990e-03 1.16599402e+02] [ 8.39449428e-01 -5.75525578e-02 5.40381680e-01 1.46082708e+02] [-5.38569848e-01 4.46922840e-02 8.41394746e-01 3.35291335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.920714057 meters Centerline goodness : 0.990628 Centerline is valid? [True, True] Translation: X:116.60, Y:146.10, Z:33.51 [[-7.22206478e-02 -9.97386698e-01 -1.98807036e-03 1.16601372e+02] [ 8.38467086e-01 -6.17925346e-02 5.41437557e-01 1.46104410e+02] [-5.40145465e-01 3.74360396e-02 8.40738615e-01 3.35112757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.950714057 meters Centerline goodness : 0.990583 Centerline is valid? [True, True] Translation: X:116.60, Y:146.11, Z:33.51 [[-6.96978186e-02 -9.97562436e-01 3.37643330e-03 1.16598308e+02] [ 8.35707160e-01 -5.65403865e-02 5.46257016e-01 1.46110710e+02] [-5.44734574e-01 4.08946319e-02 8.37610812e-01 3.35069738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.980714057 meters Centerline goodness : 0.990813 Centerline is valid? [True, True] Translation: X:116.60, Y:146.13, Z:33.49 [[-6.89998343e-02 -9.97599274e-01 5.89156990e-03 1.16596393e+02] [ 8.34468240e-01 -5.44782770e-02 5.48356520e-01 1.46134325e+02] [-5.46719104e-01 4.27528370e-02 8.36223903e-01 3.34900614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.01071405700003 meters Centerline goodness : 0.990857 Centerline is valid? [True, True] Translation: X:116.60, Y:146.16, Z:33.47 [[-6.74682770e-02 -9.97703190e-01 6.03129987e-03 1.16595308e+02] [ 8.33476804e-01 -5.30378281e-02 5.50003097e-01 1.46157961e+02] [-5.48419957e-01 4.21347099e-02 8.35140836e-01 3.34713450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.040714057 meters Centerline goodness : 0.990469 Centerline is valid? [True, True] Translation: X:116.60, Y:146.18, Z:33.45 [[-6.70231190e-02 -9.97747091e-01 2.94000781e-03 1.16595719e+02] [ 8.32287607e-01 -5.42828624e-02 5.51679898e-01 1.46180123e+02] [-5.50277421e-01 3.94222395e-02 8.34050746e-01 3.34530430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.070714057 meters Centerline goodness : 0.989776 Centerline is valid? [True, True] Translation: X:116.59, Y:146.19, Z:33.45 [[-6.61377435e-02 -9.97785522e-01 7.06048450e-03 1.16592199e+02] [ 8.33667430e-01 -5.13682693e-02 5.49872637e-01 1.46194321e+02] [-5.48292272e-01 4.22534314e-02 8.35218674e-01 3.34458423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.100714057 meters Centerline goodness : 0.990951 Centerline is valid? [True, True] Translation: X:116.60, Y:146.19, Z:33.44 [[-6.68995109e-02 -9.97619230e-01 -1.67429692e-02 1.16597808e+02] [ 8.36462821e-01 -6.52245631e-02 5.44128391e-01 1.46190607e+02] [-5.43924999e-01 2.23970519e-02 8.38834887e-01 3.34401606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.130714057 meters Centerline goodness : 0.991506 Centerline is valid? [True, True] Translation: X:116.59, Y:146.20, Z:33.44 [[-6.49981423e-02 -9.97871445e-01 5.27453764e-03 1.16588956e+02] [ 8.36643109e-01 -5.16138463e-02 5.45311213e-01 1.46199747e+02] [-5.43878249e-01 3.98571214e-02 8.38217073e-01 3.34445250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.160714057 meters Centerline goodness : 0.990635 Centerline is valid? [True, True] Translation: X:116.59, Y:146.22, Z:33.43 [[-6.46905095e-02 -9.97900482e-01 3.12501463e-03 1.16586900e+02] [ 8.37257006e-01 -5.25720865e-02 5.44276475e-01 1.46222231e+02] [-5.42969468e-01 3.78259629e-02 8.38900085e-01 3.34271223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.190714057 meters Centerline goodness : 0.990657 Centerline is valid? [True, True] Translation: X:116.59, Y:146.23, Z:33.42 [[-6.30505677e-02 -9.98008325e-01 2.00251015e-03 1.16586904e+02] [ 8.36889840e-01 -5.17783035e-02 5.44916877e-01 1.46226246e+02] [-5.43727893e-01 3.60331988e-02 8.38487679e-01 3.34240053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.220714057 meters Centerline goodness : 0.990932 Centerline is valid? [True, True] Translation: X:116.58, Y:146.25, Z:33.41 [[-6.17147613e-02 -9.98093149e-01 1.16371580e-03 1.16584207e+02] [ 8.37126030e-01 -5.11267465e-02 5.44615521e-01 1.46249256e+02] [-5.43517523e-01 3.45849936e-02 8.38685031e-01 3.34097747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.250714057 meters Centerline goodness : 0.991020 Centerline is valid? [True, True] Translation: X:116.58, Y:146.27, Z:33.39 [[-5.96277651e-02 -9.98206722e-01 5.27926651e-03 1.16581342e+02] [ 8.37491165e-01 -4.71481745e-02 5.44413077e-01 1.46272169e+02] [-5.43187885e-01 3.68834741e-02 8.38800650e-01 3.33931887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.280714057 meters Centerline goodness : 0.988813 Centerline is valid? [True, True] Translation: X:116.56, Y:146.75, Z:33.06 [[-6.78751677e-02 -9.97151038e-01 3.29054555e-02 1.16559806e+02] [ 8.17230077e-01 -3.66486278e-02 5.75145094e-01 1.46747933e+02] [-5.72300588e-01 6.59293977e-02 8.17389351e-01 3.30551219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.310714057 meters Centerline goodness : 0.990523 Centerline is valid? [True, True] Translation: X:116.59, Y:146.28, Z:33.37 [[-4.89553362e-02 -9.98095251e-01 -3.75399045e-02 1.16591693e+02] [ 8.33752706e-01 -6.15319431e-02 5.48698684e-01 1.46276831e+02] [-5.49963454e-01 -4.43726841e-03 8.35176933e-01 3.33671841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.340714057 meters Centerline goodness : 0.989450 Centerline is valid? [True, True] Translation: X:116.57, Y:146.31, Z:33.37 [[-4.35713053e-02 -9.98706680e-01 2.62013246e-02 1.16568250e+02] [ 8.33223628e-01 -2.18565718e-02 5.52504006e-01 1.46313827e+02] [-5.51216770e-01 4.59048835e-02 8.33098322e-01 3.33678587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.370714057 meters Centerline goodness : 0.989700 Centerline is valid? [True, True] Translation: X:116.58, Y:146.33, Z:33.34 [[-4.41370256e-02 -9.99018350e-01 -3.77624941e-03 1.16577157e+02] [ 8.29781688e-01 -3.87645387e-02 5.56740209e-01 1.46331777e+02] [-5.56340070e-01 2.14393943e-02 8.30678084e-01 3.33434773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.400714057 meters Centerline goodness : 0.989366 Centerline is valid? [True, True] Translation: X:116.57, Y:146.36, Z:33.33 [[-4.40028755e-02 -9.98910929e-01 1.55146109e-02 1.16569096e+02] [ 8.30835561e-01 -2.79663599e-02 5.55814855e-01 1.46358997e+02] [-5.54775646e-01 3.73475424e-02 8.31161322e-01 3.33337929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.430714057 meters Centerline goodness : 0.988856 Centerline is valid? [True, True] Translation: X:116.56, Y:146.38, Z:33.32 [[-4.22531814e-02 -9.98638836e-01 3.05801351e-02 1.16564286e+02] [ 8.31388058e-01 -1.81694635e-02 5.55395145e-01 1.46381667e+02] [-5.54083536e-01 4.88911710e-02 8.31024120e-01 3.33194287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.460714057 meters Centerline goodness : 0.990102 Centerline is valid? [True, True] Translation: X:116.58, Y:146.40, Z:33.29 [[-4.47840050e-02 -9.98991329e-01 3.27380953e-03 1.16575160e+02] [ 8.28399216e-01 -3.53045057e-02 5.59024446e-01 1.46400113e+02] [-5.58344994e-01 2.77473749e-02 8.29144710e-01 3.32898904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.490714057 meters Centerline goodness : 0.989356 Centerline is valid? [True, True] Translation: X:116.57, Y:146.43, Z:33.28 [[-4.78705189e-02 -9.98573487e-01 2.36517530e-02 1.16567834e+02] [ 8.30174168e-01 -2.66079012e-02 5.56868809e-01 1.46427987e+02] [-5.55445105e-01 4.62926732e-02 8.30263647e-01 3.32806322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.520714057 meters Centerline goodness : 0.987166 Centerline is valid? [True, True] Translation: X:116.57, Y:146.44, Z:33.27 [[-4.95776429e-02 -9.98570482e-01 1.99762225e-02 1.16569182e+02] [ 8.28937931e-01 -2.99822003e-02 5.58536458e-01 1.46444787e+02] [-5.57139089e-01 4.42499696e-02 8.29239396e-01 3.32656016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.550714057 meters Centerline goodness : 0.990007 Centerline is valid? [True, True] Translation: X:116.58, Y:146.47, Z:33.24 [[-5.21624773e-02 -9.98608921e-01 -7.70056583e-03 1.16578449e+02] [ 8.28093170e-01 -4.75628532e-02 5.58569134e-01 1.46467846e+02] [-5.58158381e-01 2.27595638e-02 8.29422223e-01 3.32362151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.580714057 meters Centerline goodness : 0.990132 Centerline is valid? [True, True] Translation: X:116.57, Y:146.50, Z:33.23 [[-5.50161110e-02 -9.98227182e-01 2.27094882e-02 1.16567609e+02] [ 8.28585795e-01 -3.29518448e-02 5.58891543e-01 1.46495873e+02] [-5.57152410e-01 4.95647985e-02 8.28929745e-01 3.32286120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.610714057 meters Centerline goodness : 0.989065 Centerline is valid? [True, True] Translation: X:116.57, Y:146.52, Z:33.21 [[-5.76455376e-02 -9.98230453e-01 1.45929480e-02 1.16569893e+02] [ 8.28385361e-01 -3.96690735e-02 5.58752234e-01 1.46516996e+02] [-5.57184607e-01 4.42981574e-02 8.29206239e-01 3.32096717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.640714057 meters Centerline goodness : 0.990422 Centerline is valid? [True, True] Translation: X:116.57, Y:146.54, Z:33.19 [[-5.99555809e-02 -9.98180333e-01 6.43047625e-03 1.16572157e+02] [ 8.26869787e-01 -4.60549522e-02 5.60504502e-01 1.46540539e+02] [-5.59188415e-01 3.89225395e-02 8.28126411e-01 3.31912185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.670714057 meters Centerline goodness : 0.990382 Centerline is valid? [True, True] Translation: X:116.57, Y:146.57, Z:33.18 [[-6.28190464e-02 -9.97969066e-01 1.05598851e-02 1.16568559e+02] [ 8.27246810e-01 -4.61476736e-02 5.59940272e-01 1.46565860e+02] [-5.58315756e-01 4.39105452e-02 8.28465678e-01 3.31763382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.700714057 meters Centerline goodness : 0.990404 Centerline is valid? [True, True] Translation: X:116.57, Y:146.57, Z:33.17 [[-6.63073439e-02 -9.97797008e-01 -2.11363192e-03 1.16570960e+02] [ 8.30604743e-01 -5.63703339e-02 5.54001937e-01 1.46571878e+02] [-5.52900622e-01 3.49788043e-02 8.32512694e-01 3.31715694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.730714057 meters Centerline goodness : 0.991070 Centerline is valid? [True, True] Translation: X:116.57, Y:146.58, Z:33.17 [[-6.70868871e-02 -9.97747135e-01 6.67183312e-05 1.16569106e+02] [ 8.31331367e-01 -5.58603867e-02 5.52962725e-01 1.46578235e+02] [-5.51713248e-01 3.71520130e-02 8.33205989e-01 3.31672654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.76071405700003 meters Centerline goodness : 0.990379 Centerline is valid? [True, True] Translation: X:116.57, Y:146.60, Z:33.16 [[-6.99995321e-02 -9.97517705e-01 7.64814056e-03 1.16565907e+02] [ 8.33013037e-01 -5.42341682e-02 5.50588717e-01 1.46600469e+02] [-5.48807203e-01 4.49119534e-02 8.34741619e-01 3.31569593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.790714057 meters Centerline goodness : 0.991483 Centerline is valid? [True, True] Translation: X:116.57, Y:146.61, Z:33.15 [[-7.18380601e-02 -9.97358660e-01 -1.07236620e-02 1.16570745e+02] [ 8.35071858e-01 -6.60212155e-02 5.46164985e-01 1.46605246e+02] [-5.45430366e-01 3.02804046e-02 8.37608986e-01 3.31477829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.820714057 meters Centerline goodness : 0.991483 Centerline is valid? [True, True] Translation: X:116.57, Y:146.61, Z:33.15 [[-7.10278836e-02 -9.97466423e-01 3.97187329e-03 1.16565232e+02] [ 8.35565248e-01 -5.73234629e-02 5.46392476e-01 1.46613483e+02] [-5.44780466e-01 4.21278604e-02 8.37519843e-01 3.31492059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.850714057 meters Centerline goodness : 0.990955 Centerline is valid? [True, True] Translation: X:116.56, Y:146.61, Z:33.15 [[-7.16327668e-02 -9.97416979e-01 5.30254017e-03 1.16563660e+02] [ 8.35835460e-01 -5.71255774e-02 5.45999774e-01 1.46608492e+02] [-5.44286534e-01 4.35435256e-02 8.37768542e-01 3.31542663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.880714057 meters Centerline goodness : 0.990581 Centerline is valid? [True, True] Translation: X:116.56, Y:146.61, Z:33.16 [[-7.34732036e-02 -9.97283739e-01 5.18002467e-03 1.16561964e+02] [ 8.34952838e-01 -5.86715956e-02 5.47184980e-01 1.46608173e+02] [-5.45394762e-01 4.45285097e-02 8.36995678e-01 3.31552739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.910714057 meters Centerline goodness : 0.990579 Centerline is valid? [True, True] Translation: X:116.56, Y:146.63, Z:33.14 [[-7.58795929e-02 -9.97116781e-01 -6.42705617e-04 1.16563177e+02] [ 8.35036505e-01 -6.38976814e-02 5.46471519e-01 1.46631544e+02] [-5.44936989e-01 4.09293537e-02 8.37477442e-01 3.31392144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.940714057 meters Centerline goodness : 0.990238 Centerline is valid? [True, True] Translation: X:116.56, Y:146.65, Z:33.13 [[-7.99293963e-02 -9.96789239e-01 -4.74397185e-03 1.16563142e+02] [ 8.35729420e-01 -6.96069379e-02 5.44712044e-01 1.46654754e+02] [-5.43293317e-01 3.95738280e-02 8.38609733e-01 3.31255275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.970714057 meters Centerline goodness : 0.990815 Centerline is valid? [True, True] Translation: X:116.56, Y:146.66, Z:33.13 [[-7.97784263e-02 -9.96802843e-01 4.41539896e-03 1.16559626e+02] [ 8.35445120e-01 -6.44466975e-02 5.45782077e-01 1.46656041e+02] [-5.43752568e-01 4.72304587e-02 8.37915526e-01 3.31282391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.000714057 meters Centerline goodness : 0.990925 Centerline is valid? [True, True] Translation: X:116.56, Y:146.68, Z:33.11 [[-8.21188871e-02 -9.96622539e-01 -5.36763854e-05 1.16559733e+02] [ 8.35781061e-01 -6.88953407e-02 5.44723279e-01 1.46678417e+02] [-5.42887195e-01 4.46872077e-02 8.38615852e-01 3.31123453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.030714057 meters Centerline goodness : 0.990598 Centerline is valid? [True, True] Translation: X:116.56, Y:146.70, Z:33.10 [[-8.35610410e-02 -9.96493079e-01 4.36998223e-03 1.16555325e+02] [ 8.37568912e-01 -6.78571271e-02 5.42101216e-01 1.46703223e+02] [-5.39903576e-01 4.89587032e-02 8.40301835e-01 3.31003457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.060714057 meters Centerline goodness : 0.990312 Centerline is valid? [True, True] Translation: X:116.56, Y:146.73, Z:33.08 [[-8.36763902e-02 -9.96485855e-01 3.76859959e-03 1.16555124e+02] [ 8.35943858e-01 -6.81359417e-02 5.44568967e-01 1.46726183e+02] [-5.42398496e-01 4.87179031e-02 8.38707600e-01 3.30818618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.090714057 meters Centerline goodness : 0.990643 Centerline is valid? [True, True] Translation: X:116.55, Y:146.75, Z:33.07 [[-8.28882073e-02 -9.96536980e-01 6.60246412e-03 1.16554044e+02] [ 8.34987288e-01 -6.58315359e-02 5.46317159e-01 1.46749141e+02] [-5.43990601e-01 5.07962235e-02 8.37552368e-01 3.30654947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.120714057 meters Centerline goodness : 0.990027 Centerline is valid? [True, True] Translation: X:116.55, Y:146.74, Z:33.07 [[-7.87914325e-02 -9.96847157e-01 9.36247510e-03 1.16551669e+02] [ 8.33123654e-01 -6.06873490e-02 5.49747236e-01 1.46741141e+02] [-5.47445786e-01 5.11154717e-02 8.35278589e-01 3.30697939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.150714057 meters Centerline goodness : 0.990348 Centerline is valid? [True, True] Translation: X:116.55, Y:146.76, Z:33.05 [[-7.67823058e-02 -9.97024961e-01 6.76045558e-03 1.16549311e+02] [ 8.32189634e-01 -6.03506411e-02 5.51197073e-01 1.46764499e+02] [-5.49149242e-01 4.79481632e-02 8.34347699e-01 3.30514436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.180714057 meters Centerline goodness : 0.989282 Centerline is valid? [True, True] Translation: X:116.54, Y:146.79, Z:33.04 [[-7.38243830e-02 -9.96833196e-01 2.95557158e-02 1.16540299e+02] [ 8.33747550e-01 -4.54310393e-02 5.50273608e-01 1.46791230e+02] [-5.47188252e-01 6.52656152e-02 8.34461153e-01 3.30423710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.210714057 meters Centerline goodness : 0.989113 Centerline is valid? [True, True] Translation: X:116.55, Y:146.81, Z:33.01 [[-7.37598165e-02 -9.97264673e-01 -4.76051180e-03 1.16551436e+02] [ 8.30335175e-01 -6.40558630e-02 5.53570541e-01 1.46807459e+02] [-5.52361283e-01 3.68784411e-02 8.32788685e-01 3.30148592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.240714057 meters Centerline goodness : 0.989611 Centerline is valid? [True, True] Translation: X:116.54, Y:146.84, Z:33.01 [[-6.80952159e-02 -9.97374585e-01 2.46369222e-02 1.16539925e+02] [ 8.31133080e-01 -4.30503884e-02 5.54404607e-01 1.46835663e+02] [-5.51888436e-01 5.82288625e-02 8.31882536e-01 3.30057376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.270714057 meters Centerline goodness : 0.988740 Centerline is valid? [True, True] Translation: X:116.54, Y:146.86, Z:32.98 [[-6.64109466e-02 -9.97728426e-01 1.12948538e-02 1.16544275e+02] [ 8.29440434e-01 -4.89100079e-02 5.56449798e-01 1.46855258e+02] [-5.54633350e-01 4.63227663e-02 8.30804459e-01 3.29830248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.300714057 meters Centerline goodness : 0.989058 Centerline is valid? [True, True] Translation: X:116.54, Y:146.88, Z:32.97 [[-6.13899811e-02 -9.97946432e-01 1.82808494e-02 1.16541227e+02] [ 8.28338036e-01 -4.07209147e-02 5.58746728e-01 1.46878969e+02] [-5.56854891e-01 4.94441740e-02 8.29136843e-01 3.29665615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.330714057 meters Centerline goodness : 0.989112 Centerline is valid? [True, True] Translation: X:116.54, Y:146.89, Z:32.96 [[-5.70094810e-02 -9.98212278e-01 1.79490034e-02 1.16540835e+02] [ 8.24851138e-01 -3.69646627e-02 5.64140243e-01 1.46889849e+02] [-5.62468238e-01 4.69665983e-02 8.25483870e-01 3.29552908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.360714057 meters Centerline goodness : 0.988508 Centerline is valid? [True, True] Translation: X:116.53, Y:146.92, Z:32.94 [[-5.05658366e-02 -9.97657384e-01 4.60742949e-02 1.16532684e+02] [ 8.23037161e-01 -1.54939728e-02 5.67776160e-01 1.46919609e+02] [-5.65732205e-01 6.66309334e-02 8.21892567e-01 3.29378913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.390714057 meters Centerline goodness : 0.988334 Centerline is valid? [True, True] Translation: X:116.55, Y:146.94, Z:32.91 [[-5.13190377e-02 -9.98669246e-01 5.10826846e-03 1.16545886e+02] [ 8.24389658e-01 -3.94750599e-02 5.64644500e-01 1.46935771e+02] [-5.63691447e-01 3.31882161e-02 8.25318420e-01 3.29135379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.420714057 meters Centerline goodness : 0.987764 Centerline is valid? [True, True] Translation: X:116.54, Y:146.94, Z:32.91 [[-4.54978819e-02 -9.98831635e-01 1.62882562e-02 1.16542591e+02] [ 8.23263780e-01 -2.82550560e-02 5.66955377e-01 1.46942155e+02] [-5.65832741e-01 3.92048002e-02 8.23587453e-01 3.29125561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.450714057 meters Centerline goodness : 0.988790 Centerline is valid? [True, True] Translation: X:116.55, Y:146.94, Z:32.91 [[-4.24120268e-02 -9.99073674e-01 7.28100918e-03 1.16546529e+02] [ 8.22890856e-01 -3.07980142e-02 5.67364188e-01 1.46944579e+02] [-5.66614383e-01 3.00545410e-02 8.23434797e-01 3.29059894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.480714057 meters Centerline goodness : 0.987855 Centerline is valid? [True, True] Translation: X:116.54, Y:146.97, Z:32.90 [[-3.82193608e-02 -9.99047592e-01 2.10520444e-02 1.16541425e+02] [ 8.22851208e-01 -1.95115148e-02 5.67921817e-01 1.46968574e+02] [-5.66970167e-01 3.90283090e-02 8.22813236e-01 3.28962613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.51071405700003 meters Centerline goodness : 0.986259 Centerline is valid? [True, True] Translation: X:116.54, Y:146.99, Z:32.88 [[-3.79118628e-02 -9.99019241e-01 2.28745850e-02 1.16541636e+02] [ 8.23140778e-01 -1.82423524e-02 5.67544251e-01 1.46993780e+02] [-5.66570341e-01 4.03456635e-02 8.23025076e-01 3.28788593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.540714057 meters Centerline goodness : 0.987588 Centerline is valid? [True, True] Translation: X:116.54, Y:147.02, Z:32.86 [[-3.93777832e-02 -9.99103107e-01 1.55683140e-02 1.16544698e+02] [ 8.25616835e-01 -2.37559280e-02 5.63730873e-01 1.47018064e+02] [-5.62855427e-01 3.50519343e-02 8.25811801e-01 3.28623801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.570714057 meters Centerline goodness : 0.986199 Centerline is valid? [True, True] Translation: X:116.55, Y:147.03, Z:32.85 [[-3.79250480e-02 -9.99185386e-01 1.37932856e-02 1.16546921e+02] [ 8.25232497e-01 -2.35325637e-02 5.64302706e-01 1.47030836e+02] [-5.63518426e-01 3.27838747e-02 8.25452725e-01 3.28522786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.600714057 meters Centerline goodness : 0.987797 Centerline is valid? [True, True] Translation: X:116.55, Y:147.32, Z:32.64 [[-5.13826982e-02 -9.98555989e-01 -1.56765697e-02 1.16550389e+02] [ 8.31247664e-01 -5.14632778e-02 5.53514998e-01 1.47324445e+02] [-5.53522484e-01 1.54099821e-02 8.32691655e-01 3.26446913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.630714057 meters Centerline goodness : 0.986058 Centerline is valid? [True, True] Translation: X:117.01, Y:147.71, Z:33.55 [[-5.25888481e-02 7.21502023e-01 6.90412372e-01 1.17014220e+02] [ 8.13959283e-01 4.31506279e-01 -3.88937805e-01 1.47708463e+02] [-5.78536687e-01 5.41513768e-01 -6.09965688e-01 3.35506976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.660714057 meters Centerline goodness : 0.986758 Centerline is valid? [True, True] Translation: X:116.57, Y:147.53, Z:32.47 [[-1.03669788e-01 -9.91011826e-01 -8.45466476e-02 1.16573236e+02] [ 8.01310681e-01 -1.33575315e-01 5.83145632e-01 1.47534534e+02] [-5.89197563e-01 -7.29354756e-03 8.07956086e-01 3.24734279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.690714057 meters Centerline goodness : 0.979671 Centerline is valid? [True, True] Translation: X:116.51, Y:148.01, Z:32.12 [[-1.23127670e-01 -9.91863677e-01 -3.23422932e-02 1.16511387e+02] [ 7.89385252e-01 -1.17639239e-01 6.02521314e-01 1.48014383e+02] [-6.01423729e-01 4.86565165e-02 7.97447203e-01 3.21247064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.720714057 meters Centerline goodness : 0.987276 Centerline is valid? [True, True] Translation: X:116.60, Y:147.15, Z:32.78 [[-8.40012847e-02 -9.94791140e-01 -5.77440207e-02 1.16597283e+02] [ 7.95983512e-01 -1.01849340e-01 5.96688328e-01 1.47147571e+02] [-5.99461452e-01 4.15929768e-03 8.00392821e-01 3.27806204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.750714057 meters Centerline goodness : 0.986676 Centerline is valid? [True, True] Translation: X:116.58, Y:147.17, Z:32.78 [[-8.58373648e-02 -9.96197891e-01 -1.48898693e-02 1.16581235e+02] [ 7.93604645e-01 -7.74011129e-02 6.03490460e-01 1.47174941e+02] [-6.02348416e-01 3.99853613e-02 7.97231181e-01 3.27811906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.780714057 meters Centerline goodness : 0.987357 Centerline is valid? [True, True] Translation: X:116.58, Y:147.18, Z:32.77 [[-8.72665713e-02 -9.95910655e-01 -2.33776048e-02 1.16584811e+02] [ 7.94726204e-01 -8.37492493e-02 6.01162478e-01 1.47178814e+02] [-6.00661974e-01 3.38825932e-02 7.98784804e-01 3.27740777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.810714057 meters Centerline goodness : 0.989951 Centerline is valid? [True, True] Translation: X:116.57, Y:147.20, Z:32.77 [[-1.07303374e-01 -9.93939646e-01 -2.38739562e-02 1.16574924e+02] [ 8.01991133e-01 -1.00723346e-01 5.88782668e-01 1.47201501e+02] [-5.87619101e-01 4.40316658e-02 8.07938738e-01 3.27682047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.840714057 meters Centerline goodness : 0.987763 Centerline is valid? [True, True] Translation: X:116.59, Y:147.19, Z:32.76 [[-9.42896878e-02 -9.94616277e-01 -4.29873867e-02 1.16592302e+02] [ 7.99111465e-01 -1.01366970e-01 5.92575400e-01 1.47194442e+02] [-5.93742639e-01 2.15220359e-02 8.04367130e-01 3.27598899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.870714057 meters Centerline goodness : 0.988103 Centerline is valid? [True, True] Translation: X:116.59, Y:147.20, Z:32.77 [[-9.56878675e-02 -9.95147716e-01 -2.29097321e-02 1.16586307e+02] [ 7.98080568e-01 -9.04533818e-02 5.95722748e-01 1.47199007e+02] [-5.94904394e-01 3.87196273e-02 8.02863346e-01 3.27660269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.900714057 meters Centerline goodness : 0.988548 Centerline is valid? [True, True] Translation: X:116.59, Y:147.21, Z:32.76 [[-9.78468901e-02 -9.94792345e-01 -2.85337823e-02 1.16588168e+02] [ 7.99792160e-01 -9.56646283e-02 5.92605079e-01 1.47208031e+02] [-5.92248669e-01 3.51634686e-02 8.04987605e-01 3.27577532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.930714057 meters Centerline goodness : 0.988568 Centerline is valid? [True, True] Translation: X:116.59, Y:147.22, Z:32.75 [[-1.01996782e-01 -9.94429880e-01 -2.65682070e-02 1.16587680e+02] [ 8.01554897e-01 -9.79727280e-02 5.89839887e-01 1.47222040e+02] [-5.89157368e-01 3.88658939e-02 8.07083043e-01 3.27496393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.960714057 meters Centerline goodness : 0.988366 Centerline is valid? [True, True] Translation: X:116.59, Y:147.22, Z:32.75 [[-1.03104643e-01 -9.94493413e-01 -1.87692123e-02 1.16586975e+02] [ 8.00832631e-01 -9.41889938e-02 5.91435146e-01 1.47219864e+02] [-5.89946210e-01 4.59487116e-02 8.06134099e-01 3.27533200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.990714057 meters Centerline goodness : 0.989159 Centerline is valid? [True, True] Translation: X:116.59, Y:147.22, Z:32.75 [[-1.03344763e-01 -9.94424880e-01 -2.09527372e-02 1.16588491e+02] [ 8.01111764e-01 -9.57034268e-02 5.90813673e-01 1.47220900e+02] [-5.89525065e-01 4.42720147e-02 8.06535918e-01 3.27516970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.020714057 meters Centerline goodness : 0.989054 Centerline is valid? [True, True] Translation: X:116.59, Y:147.23, Z:32.75 [[-1.05030468e-01 -9.94272487e-01 -1.97692370e-02 1.16588004e+02] [ 8.02373681e-01 -9.64697764e-02 5.88973734e-01 1.47225753e+02] [-5.87507513e-01 4.59978714e-02 8.07910341e-01 3.27496651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.050714057 meters Centerline goodness : 0.989040 Centerline is valid? [True, True] Translation: X:116.59, Y:147.23, Z:32.74 [[-1.06968454e-01 -9.93995243e-01 -2.30479347e-02 1.16588857e+02] [ 8.01959484e-01 -9.99588151e-02 5.88956044e-01 1.47229916e+02] [-5.87723350e-01 4.45162077e-02 8.07836352e-01 3.27446383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.080714057 meters Centerline goodness : 0.989008 Centerline is valid? [True, True] Translation: X:116.59, Y:147.24, Z:32.74 [[-1.06670441e-01 -9.94102177e-01 -1.95519667e-02 1.16586926e+02] [ 8.00672292e-01 -9.75406854e-02 5.91108870e-01 1.47242654e+02] [-5.89529726e-01 4.73991261e-02 8.06354776e-01 3.27361232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.110714057 meters Centerline goodness : 0.988501 Centerline is valid? [True, True] Translation: X:116.59, Y:147.24, Z:32.73 [[-1.08419599e-01 -9.93890055e-01 -2.06821032e-02 1.16587143e+02] [ 8.01328317e-01 -9.96883365e-02 5.89860292e-01 1.47244918e+02] [-5.88318042e-01 4.73792613e-02 8.07240414e-01 3.27343103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.140714057 meters Centerline goodness : 0.990333 Centerline is valid? [True, True] Translation: X:116.59, Y:147.25, Z:32.73 [[-1.08676791e-01 -9.93872736e-01 -2.01578477e-02 1.16585829e+02] [ 8.04117944e-01 -9.98136528e-02 5.86030347e-01 1.47245681e+02] [-5.84451613e-01 4.74786105e-02 8.10038329e-01 3.27345815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.170714057 meters Centerline goodness : 0.988412 Centerline is valid? [True, True] Translation: X:116.58, Y:147.25, Z:32.74 [[-1.07178996e-01 -9.94216764e-01 -6.75940768e-03 1.16582161e+02] [ 7.97576766e-01 -9.00358937e-02 5.96460258e-01 1.47246845e+02] [-5.93619377e-01 5.85368650e-02 8.02614148e-01 3.27352804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.200714057 meters Centerline goodness : 0.988615 Centerline is valid? [True, True] Translation: X:116.58, Y:147.26, Z:32.72 [[-1.07000825e-01 -9.94085266e-01 -1.85824380e-02 1.16584009e+02] [ 7.95522067e-01 -9.68090353e-02 5.98140996e-01 1.47255873e+02] [-5.96402099e-01 4.92188407e-02 8.01175412e-01 3.27222337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.230714057 meters Centerline goodness : 0.989547 Centerline is valid? [True, True] Translation: X:116.58, Y:147.26, Z:32.72 [[-1.07407214e-01 -9.93961273e-01 -2.24650482e-02 1.16583389e+02] [ 7.96486653e-01 -9.95478277e-02 5.96405266e-01 1.47257711e+02] [-5.95040084e-01 4.61651171e-02 8.02369042e-01 3.27207326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.26071405700003 meters Centerline goodness : 0.989347 Centerline is valid? [True, True] Translation: X:116.58, Y:147.27, Z:32.72 [[-1.06697312e-01 -9.94230454e-01 -1.10221731e-02 1.16577083e+02] [ 7.96365434e-01 -9.20900244e-02 5.97763768e-01 1.47265096e+02] [-5.95329975e-01 5.50021095e-02 8.01596525e-01 3.27219276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.290714057 meters Centerline goodness : 0.989281 Centerline is valid? [True, True] Translation: X:116.57, Y:147.26, Z:32.73 [[-9.40389909e-02 -9.95370840e-01 1.98383176e-02 1.16566788e+02] [ 7.83484957e-01 -6.16969068e-02 6.18340371e-01 1.47261948e+02] [-6.14254012e-01 7.36911279e-02 7.85659994e-01 3.27254182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.320714057 meters Centerline goodness : 0.988465 Centerline is valid? [True, True] Translation: X:116.57, Y:147.25, Z:32.72 [[-9.30990665e-02 -9.95656753e-01 4.41443943e-04 1.16572577e+02] [ 7.82004003e-01 -7.28469806e-02 6.19001661e-01 1.47254245e+02] [-6.16281026e-01 5.79736878e-02 7.85389552e-01 3.27204322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.350714057 meters Centerline goodness : 0.990233 Centerline is valid? [True, True] Translation: X:116.58, Y:147.28, Z:32.69 [[-1.19718463e-01 -9.91221731e-01 -5.60978582e-02 1.16580681e+02] [ 7.97501354e-01 -1.29667763e-01 5.89218009e-01 1.47281241e+02] [-5.91319779e-01 2.58021566e-02 8.06024297e-01 3.26923038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.380714057 meters Centerline goodness : 0.989726 Centerline is valid? [True, True] Translation: X:116.57, Y:147.30, Z:32.69 [[-1.20191132e-01 -9.92418225e-01 -2.56935332e-02 1.16567700e+02] [ 7.98062313e-01 -1.11981614e-01 5.92078258e-01 1.47296658e+02] [-5.90466457e-01 5.06575153e-02 8.05470781e-01 3.26934633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.410714057 meters Centerline goodness : 0.988557 Centerline is valid? [True, True] Translation: X:116.57, Y:147.27, Z:32.71 [[-9.74489552e-02 -9.95233201e-01 3.81799150e-03 1.16567573e+02] [ 7.87228369e-01 -7.47337681e-02 6.12116296e-01 1.47270798e+02] [-6.08913128e-01 6.26557247e-02 7.90758537e-01 3.27112116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.440714057 meters Centerline goodness : 0.988855 Centerline is valid? [True, True] Translation: X:116.57, Y:147.27, Z:32.70 [[-9.79586878e-02 -9.95166092e-01 -6.96738205e-03 1.16570428e+02] [ 7.86695311e-01 -8.17220775e-02 6.11908482e-01 1.47274074e+02] [-6.09519962e-01 5.44605452e-02 7.90897885e-01 3.27022038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.470714057 meters Centerline goodness : 0.988401 Centerline is valid? [True, True] Translation: X:116.58, Y:147.31, Z:32.68 [[-1.12539426e-01 -9.92880361e-01 -3.90316031e-02 1.16576833e+02] [ 8.01054807e-01 -1.13898279e-01 5.87654982e-01 1.47305057e+02] [-5.87916723e-01 3.48679010e-02 8.08169633e-01 3.26799922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.500714057 meters Centerline goodness : 0.989188 Centerline is valid? [True, True] Translation: X:116.56, Y:147.30, Z:32.69 [[-9.94607141e-02 -9.95017557e-01 6.90128321e-03 1.16563412e+02] [ 7.87792642e-01 -7.45060744e-02 6.11417695e-01 1.47295023e+02] [-6.07857153e-01 6.62488207e-02 7.91277938e-01 3.26914087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.530714057 meters Centerline goodness : 0.989026 Centerline is valid? [True, True] Translation: X:116.57, Y:147.30, Z:32.68 [[-1.03436344e-01 -9.94594354e-01 -9.11010426e-03 1.16566721e+02] [ 7.89767691e-01 -8.76955234e-02 6.07105008e-01 1.47303976e+02] [-6.04622128e-01 5.56018564e-02 7.94569390e-01 3.26795370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.560714057 meters Centerline goodness : 0.988434 Centerline is valid? [True, True] Translation: X:116.57, Y:147.31, Z:32.67 [[-1.05533443e-01 -9.94371167e-01 -9.41677201e-03 1.16566264e+02] [ 7.90606785e-01 -8.96440378e-02 6.05726719e-01 1.47314611e+02] [-6.03161342e-01 5.64794624e-02 7.95617035e-01 3.26713300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.590714057 meters Centerline goodness : 0.988313 Centerline is valid? [True, True] Translation: X:116.57, Y:147.31, Z:32.67 [[-1.05562422e-01 -9.94345210e-01 -1.15835478e-02 1.16566769e+02] [ 7.89793898e-01 -9.09132015e-02 6.06597386e-01 1.47308402e+02] [-6.04220303e-01 5.48852739e-02 7.94924797e-01 3.26732186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.620714057 meters Centerline goodness : 0.989169 Centerline is valid? [True, True] Translation: X:116.57, Y:147.33, Z:32.66 [[-1.06034932e-01 -9.94252240e-01 -1.48012519e-02 1.16565790e+02] [ 7.90227941e-01 -9.32926660e-02 6.05670108e-01 1.47330234e+02] [-6.03569710e-01 5.25258261e-02 7.95578182e-01 3.26554075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.650714057 meters Centerline goodness : 0.988379 Centerline is valid? [True, True] Translation: X:116.56, Y:147.35, Z:32.65 [[-1.08422366e-01 -9.94046146e-01 -1.08097326e-02 1.16562683e+02] [ 7.91632606e-01 -9.29117715e-02 6.03891728e-01 1.47347391e+02] [-6.01300596e-01 5.69180332e-02 7.96993055e-01 3.26466124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.680714057 meters Centerline goodness : 0.988385 Centerline is valid? [True, True] Translation: X:116.57, Y:147.36, Z:32.63 [[-1.12441788e-01 -9.93095856e-01 -3.34285156e-02 1.16569015e+02] [ 7.96869078e-01 -1.10219325e-01 5.94012940e-01 1.47358097e+02] [-5.93596257e-01 4.01537266e-02 8.03760637e-01 3.26341372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.710714057 meters Centerline goodness : 0.988639 Centerline is valid? [True, True] Translation: X:116.56, Y:147.37, Z:32.64 [[-1.12904636e-01 -9.93424754e-01 -1.89684551e-02 1.16562640e+02] [ 7.98421393e-01 -1.02072204e-01 5.93383978e-01 1.47365870e+02] [-5.91418484e-01 5.18509815e-02 8.04696000e-01 3.26359580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.740714057 meters Centerline goodness : 0.988639 Centerline is valid? [True, True] Translation: X:116.56, Y:147.37, Z:32.63 [[-1.12298616e-01 -9.93538497e-01 -1.64400555e-02 1.16561461e+02] [ 7.98550409e-01 -1.00080766e-01 5.93549564e-01 1.47371289e+02] [-5.91359675e-01 5.35265817e-02 8.04629505e-01 3.26331081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.770714057 meters Centerline goodness : 0.989051 Centerline is valid? [True, True] Translation: X:116.56, Y:147.37, Z:32.63 [[-1.13150809e-01 -9.93371472e-01 -2.02487775e-02 1.16562524e+02] [ 7.99674889e-01 -1.03144864e-01 5.91507574e-01 1.47371587e+02] [-5.89675306e-01 5.07371214e-02 8.06045146e-01 3.26328383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.800714057 meters Centerline goodness : 0.988594 Centerline is valid? [True, True] Translation: X:116.56, Y:147.38, Z:32.63 [[-1.12366601e-01 -9.93535423e-01 -1.61589265e-02 1.16560906e+02] [ 7.98199879e-01 -9.99361855e-02 5.94045210e-01 1.47384123e+02] [-5.91819820e-01 5.38527879e-02 8.04269344e-01 3.26252109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.830714057 meters Centerline goodness : 0.987856 Centerline is valid? [True, True] Translation: X:116.56, Y:147.38, Z:32.63 [[-1.10301658e-01 -9.93776710e-01 -1.55369182e-02 1.16561777e+02] [ 7.96330539e-01 -9.77189465e-02 5.96915974e-01 1.47379096e+02] [-5.94719444e-01 5.34682989e-02 8.02153305e-01 3.26274787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.860714057 meters Centerline goodness : 0.988343 Centerline is valid? [True, True] Translation: X:116.56, Y:147.38, Z:32.63 [[-1.11123153e-01 -9.93733694e-01 -1.20412254e-02 1.16561381e+02] [ 7.94627650e-01 -9.61218424e-02 5.99439312e-01 1.47376601e+02] [-5.96840467e-01 5.70432956e-02 8.00329632e-01 3.26301894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.890714057 meters Centerline goodness : 0.988262 Centerline is valid? [True, True] Translation: X:116.56, Y:147.40, Z:32.61 [[-1.10488151e-01 -9.93769646e-01 -1.46375910e-02 1.16562455e+02] [ 7.93421601e-01 -9.70639125e-02 6.00883316e-01 1.47400231e+02] [-5.98560382e-01 5.47767058e-02 7.99202716e-01 3.26091919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.920714057 meters Centerline goodness : 0.987300 Centerline is valid? [True, True] Translation: X:116.56, Y:147.40, Z:32.61 [[-1.11222248e-01 -9.93698545e-01 -1.38857120e-02 1.16563717e+02] [ 7.94069013e-01 -9.72623983e-02 5.99995357e-01 1.47395623e+02] [-5.97565071e-01 5.57066189e-02 7.99882966e-01 3.26120378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.950714057 meters Centerline goodness : 0.988727 Centerline is valid? [True, True] Translation: X:116.56, Y:147.39, Z:32.62 [[-1.08603907e-01 -9.94049304e-01 -8.43643249e-03 1.16563540e+02] [ 7.92656697e-01 -9.17162809e-02 6.02730027e-01 1.47388011e+02] [-5.99917121e-01 5.87716409e-02 7.97900584e-01 3.26164463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.980714057 meters Centerline goodness : 0.987904 Centerline is valid? [True, True] Translation: X:116.57, Y:147.39, Z:32.61 [[-1.08624737e-01 -9.94053487e-01 -7.63747323e-03 1.16565445e+02] [ 7.92571898e-01 -9.12402125e-02 6.02913767e-01 1.47387427e+02] [-6.00025377e-01 5.94381025e-02 7.97769803e-01 3.26147947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.01071405700003 meters Centerline goodness : 0.987932 Centerline is valid? [True, True] Translation: X:116.57, Y:147.39, Z:32.61 [[-1.07822592e-01 -9.94063138e-01 -1.45865431e-02 1.16568099e+02] [ 7.92409976e-01 -9.47920024e-02 6.02578547e-01 1.47393388e+02] [-6.00383809e-01 5.34130584e-02 7.97926267e-01 3.26063776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.040714057 meters Centerline goodness : 0.987917 Centerline is valid? [True, True] Translation: X:116.57, Y:147.40, Z:32.60 [[-1.05541642e-01 -9.94383592e-01 -7.88885478e-03 1.16565465e+02] [ 7.91364282e-01 -8.87922509e-02 6.04862390e-01 1.47404394e+02] [-6.02165705e-01 5.75952120e-02 7.96290937e-01 3.25995659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.070714057 meters Centerline goodness : 0.987708 Centerline is valid? [True, True] Translation: X:116.57, Y:147.40, Z:32.60 [[-1.03526016e-01 -9.94592713e-01 -8.22800692e-03 1.16565907e+02] [ 7.90574424e-01 -8.73041812e-02 6.06110601e-01 1.47402039e+02] [-6.03551526e-01 5.62433638e-02 7.95337815e-01 3.26002164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.100714057 meters Centerline goodness : 0.987852 Centerline is valid? [True, True] Translation: X:116.57, Y:147.40, Z:32.60 [[-9.97374769e-02 -9.95001203e-01 -5.00420483e-03 1.16565676e+02] [ 7.89404667e-01 -8.21883627e-02 6.08346402e-01 1.47401292e+02] [-6.05716689e-01 5.67245925e-02 7.93655853e-01 3.26003740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.130714057 meters Centerline goodness : 0.987200 Centerline is valid? [True, True] Translation: X:116.57, Y:147.41, Z:32.59 [[-9.76382707e-02 -9.95202883e-01 -6.16351545e-03 1.16566751e+02] [ 7.87561155e-01 -8.10501042e-02 6.10883219e-01 1.47408184e+02] [-6.08452295e-01 5.47914357e-02 7.91696725e-01 3.25925662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.160714057 meters Centerline goodness : 0.987257 Centerline is valid? [True, True] Translation: X:116.57, Y:147.41, Z:32.59 [[-9.30846884e-02 -9.95656807e-01 -1.66246102e-03 1.16565908e+02] [ 7.84679149e-01 -7.43878110e-02 6.15422689e-01 1.47411938e+02] [-6.12873456e-01 5.59819308e-02 7.88195502e-01 3.25885923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.190714057 meters Centerline goodness : 0.987098 Centerline is valid? [True, True] Translation: X:116.57, Y:147.41, Z:32.59 [[-8.95331144e-02 -9.95977792e-01 -3.47260876e-03 1.16566562e+02] [ 7.83324339e-01 -7.25692152e-02 6.17362688e-01 1.47411854e+02] [-6.15131531e-01 5.25542252e-02 7.86670994e-01 3.25865687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.220714057 meters Centerline goodness : 0.985636 Centerline is valid? [True, True] Translation: X:116.57, Y:147.42, Z:32.58 [[-8.58901902e-02 -9.96295856e-01 4.17646599e-03 1.16565188e+02] [ 7.80341688e-01 -6.46654602e-02 6.22000988e-01 1.47418974e+02] [-6.19426933e-01 5.66828536e-02 7.83005318e-01 3.25812962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.250714057 meters Centerline goodness : 0.986613 Centerline is valid? [True, True] Translation: X:116.57, Y:147.42, Z:32.58 [[-8.34663266e-02 -9.96507570e-01 -2.45665951e-03 1.16567507e+02] [ 7.80021187e-01 -6.68674934e-02 6.22170142e-01 1.47417602e+02] [-6.20161527e-01 5.00140098e-02 7.82878202e-01 3.25783287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.280714057 meters Centerline goodness : 0.986984 Centerline is valid? [True, True] Translation: X:116.57, Y:147.40, Z:32.59 [[-7.79895443e-02 -9.96953464e-01 1.19222979e-03 1.16567102e+02] [ 7.79284347e-01 -6.02158027e-02 6.23770762e-01 1.47401834e+02] [-6.21798631e-01 4.95766835e-02 7.81606433e-01 3.25888846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.310714057 meters Centerline goodness : 0.985759 Centerline is valid? [True, True] Translation: X:116.56, Y:147.44, Z:32.56 [[-8.02384807e-02 -9.96764641e-01 4.69425501e-03 1.16564772e+02] [ 7.81140999e-01 -5.99542044e-02 6.21469415e-01 1.47438520e+02] [-6.19177298e-01 5.35326367e-02 7.83424362e-01 3.25645980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.340714057 meters Centerline goodness : 0.986341 Centerline is valid? [True, True] Translation: X:116.57, Y:147.42, Z:32.57 [[-7.82676657e-02 -9.96932355e-01 2.28454680e-04 1.16566544e+02] [ 7.82262688e-01 -6.12722105e-02 6.19928063e-01 1.47423743e+02] [-6.18012346e-01 4.86990339e-02 7.84658617e-01 3.25735051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.370714057 meters Centerline goodness : 0.985239 Centerline is valid? [True, True] Translation: X:116.57, Y:147.43, Z:32.57 [[-7.74140683e-02 -9.96998403e-01 1.11672455e-03 1.16566272e+02] [ 7.82988217e-01 -6.01033160e-02 6.19126032e-01 1.47429308e+02] [-6.17200546e-01 4.88034471e-02 7.85290844e-01 3.25697183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.400714057 meters Centerline goodness : 0.979512 Centerline is valid? [True, True] Translation: X:116.53, Y:148.27, Z:31.92 [[-1.15594104e-01 -9.93199430e-01 -1.38886636e-02 1.16533669e+02] [ 7.85973899e-01 -1.00007777e-01 6.10117591e-01 1.48271950e+02] [-6.07357418e-01 5.96098694e-02 7.92189138e-01 3.19214765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.430714057 meters Centerline goodness : 0.986479 Centerline is valid? [True, True] Translation: X:116.58, Y:147.44, Z:32.54 [[-7.65543832e-02 -9.96548740e-01 -3.20941516e-02 1.16575846e+02] [ 7.89246159e-01 -8.02364891e-02 6.08812456e-01 1.47444880e+02] [-6.09286408e-01 2.12770762e-02 7.92664720e-01 3.25401029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.460714057 meters Centerline goodness : 0.986262 Centerline is valid? [True, True] Translation: X:116.55, Y:147.91, Z:32.20 [[-9.55845307e-02 -9.95362648e-01 -1.08072147e-02 1.16550864e+02] [ 7.93373702e-01 -8.27356093e-02 6.03086219e-01 1.47908769e+02] [-6.01183638e-01 4.90715533e-02 7.97602794e-01 3.22032297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.490714057 meters Centerline goodness : 0.985683 Centerline is valid? [True, True] Translation: X:116.56, Y:147.49, Z:32.52 [[-7.26753744e-02 -9.97318070e-01 -8.65782347e-03 1.16562782e+02] [ 7.93774539e-01 -6.30944594e-02 6.04930632e-01 1.47487860e+02] [-6.03854511e-01 3.70912003e-02 7.96231105e-01 3.25220066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.520714057 meters Centerline goodness : 0.980154 Centerline is valid? [True, True] Translation: X:116.53, Y:148.27, Z:31.93 [[-1.02048429e-01 -9.94776641e-01 -2.35628117e-03 1.16531162e+02] [ 7.90013607e-01 -8.24819579e-02 6.07515619e-01 1.48268507e+02] [-6.04536698e-01 6.01345203e-02 7.94304237e-01 3.19312554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.550714057 meters Centerline goodness : 0.985711 Centerline is valid? [True, True] Translation: X:116.56, Y:147.50, Z:32.51 [[-6.35343804e-02 -9.97787435e-01 -1.95861575e-02 1.16562057e+02] [ 7.89914371e-01 -6.22729801e-02 6.10047016e-01 1.47496939e+02] [-6.09916936e-01 2.32875720e-02 7.92123109e-01 3.25087736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.580714057 meters Centerline goodness : 0.985672 Centerline is valid? [True, True] Translation: X:116.55, Y:147.53, Z:32.50 [[-5.99113347e-02 -9.98039320e-01 1.81148763e-02 1.16546301e+02] [ 7.89947275e-01 -3.63098943e-02 6.12098762e-01 1.47527295e+02] [-6.10240883e-01 5.09814510e-02 7.90573815e-01 3.25040944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.610714057 meters Centerline goodness : 0.986058 Centerline is valid? [True, True] Translation: X:116.54, Y:147.55, Z:32.48 [[-5.67994337e-02 -9.98159031e-01 2.12690625e-02 1.16542533e+02] [ 7.88225975e-01 -3.17580141e-02 6.14565896e-01 1.47552091e+02] [-6.12759036e-01 5.16718224e-02 7.88578713e-01 3.24847976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.640714057 meters Centerline goodness : 0.979138 Centerline is valid? [True, True] Translation: X:116.54, Y:147.56, Z:32.47 [[-6.03951113e-02 -9.98118173e-01 1.06086608e-02 1.16539112e+02] [ 7.85025328e-01 -4.09313996e-02 6.18109905e-01 1.47557933e+02] [-6.16512502e-01 4.56588839e-02 7.86020102e-01 3.24680228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.670714057 meters Centerline goodness : 0.979218 Centerline is valid? [True, True] Translation: X:116.55, Y:147.57, Z:32.44 [[-5.58705752e-02 -9.98322672e-01 -1.51763451e-02 1.16548718e+02] [ 7.83563987e-01 -5.32620295e-02 6.19023937e-01 1.47572087e+02] [-6.18793953e-01 2.26935859e-02 7.85225474e-01 3.24428011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.700714057 meters Centerline goodness : 0.978454 Centerline is valid? [True, True] Translation: X:116.55, Y:147.59, Z:32.42 [[-5.65413401e-02 -9.98296659e-01 -1.43825296e-02 1.16547592e+02] [ 7.81174310e-01 -5.32058027e-02 6.22041671e-01 1.47591713e+02] [-6.21747356e-01 2.39358070e-02 7.82852031e-01 3.24231697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.730714057 meters Centerline goodness : 0.979367 Centerline is valid? [True, True] Translation: X:116.55, Y:147.62, Z:32.41 [[-5.46780558e-02 -9.98494075e-01 -4.46016228e-03 1.16545307e+02] [ 7.84108158e-01 -4.57029038e-02 6.18939125e-01 1.47616145e+02] [-6.18210891e-01 3.03451384e-02 7.85426296e-01 3.24103722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.76071405700003 meters Centerline goodness : 0.983977 Centerline is valid? [True, True] Translation: X:116.56, Y:147.64, Z:32.39 [[-5.21095292e-02 -9.98154747e-01 -3.11720798e-02 1.16560290e+02] [ 7.86318988e-01 -6.02528463e-02 6.14875633e-01 1.47640047e+02] [-6.15619238e-01 7.52968150e-03 7.88007777e-01 3.23851677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.790714057 meters Centerline goodness : 0.986599 Centerline is valid? [True, True] Translation: X:116.55, Y:147.67, Z:32.38 [[-5.16960543e-02 -9.98613614e-01 9.91801241e-03 1.16546524e+02] [ 7.87463769e-01 -3.46534066e-02 6.15386020e-01 1.47673274e+02] [-6.14189165e-01 3.96231046e-02 7.88163485e-01 3.23778672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.820714057 meters Centerline goodness : 0.987387 Centerline is valid? [True, True] Translation: X:116.55, Y:147.69, Z:32.36 [[-5.47291589e-02 -9.98459796e-01 9.09700134e-03 1.16546325e+02] [ 7.89413811e-01 -3.76882380e-02 6.12703380e-01 1.47692890e+02] [-6.11416842e-01 4.07140391e-02 7.90260598e-01 3.23612566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.850714057 meters Centerline goodness : 0.986048 Centerline is valid? [True, True] Translation: X:116.54, Y:147.73, Z:32.34 [[-5.16224002e-02 -9.98172229e-01 3.14217893e-02 1.16543170e+02] [ 7.89656538e-01 -2.15363979e-02 6.13171050e-01 1.47726124e+02] [-6.11373601e-01 5.64657827e-02 7.89324987e-01 3.23435820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.880714057 meters Centerline goodness : 0.986931 Centerline is valid? [True, True] Translation: X:116.55, Y:147.72, Z:32.34 [[-5.20234438e-02 -9.98617328e-01 7.54945052e-03 1.16551922e+02] [ 7.91125315e-01 -3.65982880e-02 6.10558188e-01 1.47723630e+02] [-6.09437690e-01 3.77359010e-02 7.91935417e-01 3.23351508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.910714057 meters Centerline goodness : 0.986834 Centerline is valid? [True, True] Translation: X:116.54, Y:147.75, Z:32.33 [[-5.34096670e-02 -9.98330965e-01 2.19702301e-02 1.16544030e+02] [ 7.92538992e-01 -2.89948768e-02 6.09131549e-01 1.47750346e+02] [-6.07477863e-01 4.99457771e-02 7.92764823e-01 3.23255147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.940714057 meters Centerline goodness : 0.986975 Centerline is valid? [True, True] Translation: X:116.55, Y:147.74, Z:32.33 [[-5.07006497e-02 -9.98596623e-01 1.53045496e-02 1.16546305e+02] [ 7.90612465e-01 -3.07683501e-02 6.11543325e-01 1.47742591e+02] [-6.10214203e-01 4.31056116e-02 7.91062913e-01 3.23257450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.970714057 meters Centerline goodness : 0.987273 Centerline is valid? [True, True] Translation: X:116.54, Y:147.77, Z:32.31 [[-4.94776516e-02 -9.98191381e-01 3.41457072e-02 1.16537556e+02] [ 7.90495087e-01 -1.82409426e-02 6.12196688e-01 1.47769733e+02] [-6.10466607e-01 5.72820682e-02 7.89967902e-01 3.23121315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.000714057 meters Centerline goodness : 0.986461 Centerline is valid? [True, True] Translation: X:116.54, Y:147.79, Z:32.29 [[-4.68678547e-02 -9.98483075e-01 2.88955508e-02 1.16538273e+02] [ 7.89285961e-01 -1.92875395e-02 6.13722790e-01 1.47788857e+02] [-6.12234495e-01 5.15707231e-02 7.88992639e-01 3.22931222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.030714057 meters Centerline goodness : 0.986722 Centerline is valid? [True, True] Translation: X:116.54, Y:147.81, Z:32.28 [[-4.80419461e-02 -9.98503171e-01 2.61417135e-02 1.16537682e+02] [ 7.89916905e-01 -2.19618406e-02 6.12820497e-01 1.47812746e+02] [-6.11329089e-01 5.00908707e-02 7.89789624e-01 3.22752622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.060714057 meters Centerline goodness : 0.987397 Centerline is valid? [True, True] Translation: X:116.54, Y:147.82, Z:32.26 [[-4.81969636e-02 -9.98807037e-01 7.84576805e-03 1.16542229e+02] [ 7.91468349e-01 -3.33979651e-02 6.10297000e-01 1.47822015e+02] [-6.09306905e-01 3.56241394e-02 7.92133837e-01 3.22611165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.090714057 meters Centerline goodness : 0.980609 Centerline is valid? [True, True] Translation: X:116.51, Y:148.67, Z:31.64 [[-9.16540914e-02 -9.95730992e-01 -1.09233700e-02 1.16513278e+02] [ 7.98738394e-01 -8.00633420e-02 5.96327795e-01 1.48666735e+02] [-5.94656628e-01 4.59309673e-02 8.02666706e-01 3.16366374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.120714057 meters Centerline goodness : 0.981397 Centerline is valid? [True, True] Translation: X:116.51, Y:148.67, Z:31.63 [[-9.33384326e-02 -9.95535712e-01 -1.40207934e-02 1.16513745e+02] [ 8.00338677e-01 -8.33990907e-02 5.93719289e-01 1.48671065e+02] [-5.92238077e-01 4.41954446e-02 8.04550075e-01 3.16327125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.150714057 meters Centerline goodness : 0.980806 Centerline is valid? [True, True] Translation: X:116.51, Y:148.69, Z:31.62 [[-8.51338502e-02 -9.96305157e-01 -1.13252975e-02 1.16513254e+02] [ 8.02614087e-01 -7.53093516e-02 5.91725552e-01 1.48689844e+02] [-5.90392120e-01 4.12860312e-02 8.06059929e-01 3.16205765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.180714057 meters Centerline goodness : 0.986644 Centerline is valid? [True, True] Translation: X:116.54, Y:147.85, Z:32.23 [[-3.80017792e-02 -9.99252190e-01 -7.13618432e-03 1.16536876e+02] [ 7.92961168e-01 -3.45006374e-02 6.08294577e-01 1.47846105e+02] [-6.08085891e-01 1.74575592e-02 7.93679269e-01 3.22289337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.210714057 meters Centerline goodness : 0.985623 Centerline is valid? [True, True] Translation: X:116.52, Y:147.88, Z:32.23 [[-4.02957965e-02 -9.98428846e-01 3.89369666e-02 1.16517921e+02] [ 7.95237377e-01 -8.45288573e-03 6.06239279e-01 1.47879715e+02] [-6.04957654e-01 5.53930257e-02 7.94328553e-01 3.22281901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.240714057 meters Centerline goodness : 0.986524 Centerline is valid? [True, True] Translation: X:116.52, Y:147.90, Z:32.21 [[-4.37846462e-02 -9.98936446e-01 1.44527132e-02 1.16524662e+02] [ 7.97586484e-01 -2.62402594e-02 6.02633595e-01 1.47897718e+02] [-6.01613419e-01 3.79133874e-02 7.97887128e-01 3.22088990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.270714057 meters Centerline goodness : 0.978957 Centerline is valid? [True, True] Translation: X:116.51, Y:147.91, Z:32.20 [[-4.98119649e-02 -9.98360887e-01 2.81834764e-02 1.16512590e+02] [ 7.97496693e-01 -2.27705671e-02 6.02893462e-01 1.47912444e+02] [-6.01263497e-01 5.25075372e-02 7.97323752e-01 3.22008888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.300714057 meters Centerline goodness : 0.986412 Centerline is valid? [True, True] Translation: X:116.53, Y:147.93, Z:32.17 [[-4.42929150e-02 -9.98984297e-01 -8.27723357e-03 1.16533954e+02] [ 7.98040005e-01 -4.03652124e-02 6.01251029e-01 1.47933103e+02] [-6.00974449e-01 2.00255972e-02 7.99017326e-01 3.21695086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.330714057 meters Centerline goodness : 0.986423 Centerline is valid? [True, True] Translation: X:116.52, Y:147.97, Z:32.16 [[-4.52832795e-02 -9.98667646e-01 2.47458666e-02 1.16520346e+02] [ 7.98868935e-01 -2.13284167e-02 6.01126878e-01 1.47965313e+02] [-5.99798173e-01 4.69897005e-02 7.98770380e-01 3.21633755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.360714057 meters Centerline goodness : 0.985743 Centerline is valid? [True, True] Translation: X:116.52, Y:147.99, Z:32.15 [[-4.26853131e-02 -9.98667885e-01 2.89899885e-02 1.16517585e+02] [ 7.97088371e-01 -1.65466100e-02 6.03635932e-01 1.47985904e+02] [-6.02352134e-01 4.88739715e-02 7.96732855e-01 3.21486064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.390714057 meters Centerline goodness : 0.986569 Centerline is valid? [True, True] Translation: X:116.52, Y:148.01, Z:32.13 [[-4.51044101e-02 -9.98771694e-01 2.05108508e-02 1.16519443e+02] [ 7.97735879e-01 -2.36517884e-02 6.02542994e-01 1.48009830e+02] [-6.01317769e-01 4.35395879e-02 7.97822815e-01 3.21291141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.420714057 meters Centerline goodness : 0.986299 Centerline is valid? [True, True] Translation: X:116.51, Y:148.04, Z:32.11 [[-4.54125046e-02 -9.98415593e-01 3.32266222e-02 1.16513950e+02] [ 7.96655405e-01 -1.61275281e-02 6.04218560e-01 1.48036378e+02] [-6.02725368e-01 5.39092463e-02 7.96125570e-01 3.21131242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.450714057 meters Centerline goodness : 0.986535 Centerline is valid? [True, True] Translation: X:116.51, Y:148.06, Z:32.09 [[-4.60455543e-02 -9.98384120e-01 3.33009949e-02 1.16513722e+02] [ 7.96197311e-01 -1.65472856e-02 6.04810739e-01 1.48059961e+02] [-6.03282396e-01 5.43630084e-02 7.95672680e-01 3.20942400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.480714057 meters Centerline goodness : 0.986405 Centerline is valid? [True, True] Translation: X:116.51, Y:148.08, Z:32.08 [[-4.80829864e-02 -9.98472068e-01 2.72315278e-02 1.16514944e+02] [ 7.96207334e-01 -2.18524412e-02 6.04629104e-01 1.48080102e+02] [-6.03110196e-01 5.07543151e-02 7.96041513e-01 3.20764803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.51071405700003 meters Centerline goodness : 0.986891 Centerline is valid? [True, True] Translation: X:116.51, Y:148.10, Z:32.06 [[-5.13079740e-02 -9.98088753e-01 3.44431736e-02 1.16511456e+02] [ 7.96583144e-01 -2.00990962e-02 6.04194771e-01 1.48103923e+02] [-6.02347729e-01 5.84368611e-02 7.96091921e-01 3.20610847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.540714057 meters Centerline goodness : 0.987523 Centerline is valid? [True, True] Translation: X:116.51, Y:148.12, Z:32.04 [[-5.36515059e-02 -9.98293500e-01 2.30565202e-02 1.16514147e+02] [ 7.97677938e-01 -2.89570650e-02 6.02388077e-01 1.48124382e+02] [-6.00692453e-01 5.07107050e-02 7.97870291e-01 3.20430180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.570714057 meters Centerline goodness : 0.985932 Centerline is valid? [True, True] Translation: X:116.51, Y:148.14, Z:32.03 [[-5.79919954e-02 -9.98205576e-01 1.49183344e-02 1.16512544e+02] [ 7.98879435e-01 -3.74399491e-02 6.00324828e-01 1.48140454e+02] [-5.98689049e-01 4.67319852e-02 7.99617124e-01 3.20301832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.600714057 meters Centerline goodness : 0.987015 Centerline is valid? [True, True] Translation: X:116.52, Y:148.17, Z:32.01 [[-5.68676501e-02 -9.98223669e-01 1.77644853e-02 1.16515516e+02] [ 7.97909405e-01 -3.47467300e-02 6.01775079e-01 1.48165647e+02] [-6.00088870e-01 4.83959845e-02 7.98468019e-01 3.20099240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.630714057 meters Centerline goodness : 0.987015 Centerline is valid? [True, True] Translation: X:116.51, Y:148.19, Z:32.00 [[-5.75158358e-02 -9.98084383e-01 2.27923705e-02 1.16513411e+02] [ 7.98173683e-01 -3.22583720e-02 6.01563105e-01 1.48188938e+02] [-5.99675496e-01 5.27916751e-02 7.98500056e-01 3.19955085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.660714057 meters Centerline goodness : 0.987339 Centerline is valid? [True, True] Translation: X:116.51, Y:148.21, Z:31.98 [[-5.93364250e-02 -9.97845726e-01 2.79838507e-02 1.16511098e+02] [ 7.97616357e-01 -3.05362490e-02 6.02391637e-01 1.48214220e+02] [-6.00239399e-01 5.80641433e-02 7.97709985e-01 3.19768427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.690714057 meters Centerline goodness : 0.987525 Centerline is valid? [True, True] Translation: X:116.51, Y:148.24, Z:31.96 [[-6.08709498e-02 -9.97816409e-01 2.56347581e-02 1.16510654e+02] [ 7.97785680e-01 -3.32016725e-02 6.02026294e-01 1.48236676e+02] [-5.99860598e-01 5.70969552e-02 7.98064660e-01 3.19599767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.720714057 meters Centerline goodness : 0.986585 Centerline is valid? [True, True] Translation: X:116.51, Y:148.26, Z:31.95 [[-6.04814635e-02 -9.97734205e-01 2.94694709e-02 1.16507255e+02] [ 7.97765615e-01 -3.05730219e-02 6.02192091e-01 1.48258306e+02] [-5.99926676e-01 5.99311895e-02 7.97807142e-01 3.19461558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.750714057 meters Centerline goodness : 0.987363 Centerline is valid? [True, True] Translation: X:116.51, Y:148.28, Z:31.93 [[-6.15456829e-02 -9.97688829e-01 2.87946183e-02 1.16506141e+02] [ 7.96949227e-01 -3.17529364e-02 6.03211141e-01 1.48282502e+02] [-6.00902703e-01 6.00728904e-02 7.97061597e-01 3.19253920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.780714057 meters Centerline goodness : 0.987118 Centerline is valid? [True, True] Translation: X:116.50, Y:148.30, Z:31.91 [[-6.08108968e-02 -9.97619605e-01 3.25139818e-02 1.16502678e+02] [ 7.97756503e-01 -2.89987300e-02 6.02282024e-01 1.48304388e+02] [-5.99905490e-01 6.25635504e-02 7.97620966e-01 3.19122997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.810714057 meters Centerline goodness : 0.987873 Centerline is valid? [True, True] Translation: X:116.51, Y:148.32, Z:31.89 [[-6.12842800e-02 -9.97950914e-01 1.83904890e-02 1.16505853e+02] [ 7.97778508e-01 -3.79023200e-02 6.01758146e-01 1.48324182e+02] [-5.99828050e-01 5.15498516e-02 7.98466608e-01 3.18922061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.840714057 meters Centerline goodness : 0.987696 Centerline is valid? [True, True] Translation: X:116.51, Y:148.35, Z:31.88 [[-6.17690092e-02 -9.97989812e-01 1.41747723e-02 1.16505282e+02] [ 7.95366254e-01 -4.06382658e-02 6.04765287e-01 1.48345446e+02] [-6.02973558e-01 4.86298882e-02 7.96277604e-01 3.18767206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.870714057 meters Centerline goodness : 0.987455 Centerline is valid? [True, True] Translation: X:116.50, Y:148.37, Z:31.86 [[-6.19543109e-02 -9.97790647e-01 2.39893527e-02 1.16501089e+02] [ 7.96064145e-01 -3.49022294e-02 6.04205025e-01 1.48369642e+02] [-6.02032841e-01 5.65301696e-02 7.96467701e-01 3.18636187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.900714057 meters Centerline goodness : 0.987482 Centerline is valid? [True, True] Translation: X:116.50, Y:148.39, Z:31.84 [[-6.41777929e-02 -9.97791763e-01 1.71116731e-02 1.16501852e+02] [ 7.96762406e-01 -4.09080491e-02 6.02906460e-01 1.48391961e+02] [-6.00875094e-01 5.23271438e-02 7.97628354e-01 3.18449600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.930714057 meters Centerline goodness : 0.987620 Centerline is valid? [True, True] Translation: X:116.50, Y:148.43, Z:31.82 [[-6.58150529e-02 -9.97807073e-01 7.03025506e-03 1.16503610e+02] [ 7.97784392e-01 -4.83871614e-02 6.00998125e-01 1.48425279e+02] [-5.99340006e-01 4.51633512e-02 7.99219513e-01 3.18155329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.960714057 meters Centerline goodness : 0.987271 Centerline is valid? [True, True] Translation: X:116.51, Y:148.40, Z:31.83 [[-6.50287594e-02 -9.97880662e-01 2.33340700e-03 1.16505388e+02] [ 7.98166543e-01 -5.06102793e-02 6.00307230e-01 1.48395870e+02] [-5.98916881e-01 4.08996818e-02 7.99766082e-01 3.18342323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.990714057 meters Centerline goodness : 0.988185 Centerline is valid? [True, True] Translation: X:116.50, Y:148.43, Z:31.82 [[-6.80695619e-02 -9.97550405e-01 1.61159406e-02 1.16499307e+02] [ 7.99478716e-01 -4.48763924e-02 5.99015770e-01 1.48425411e+02] [-5.96825199e-01 5.36590925e-02 8.00575033e-01 3.18212177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.020714057 meters Centerline goodness : 0.987658 Centerline is valid? [True, True] Translation: X:116.50, Y:148.44, Z:31.80 [[-7.05472528e-02 -9.97500496e-01 3.98071659e-03 1.16504404e+02] [ 8.01895553e-01 -5.43388697e-02 5.94988075e-01 1.48442050e+02] [-5.93284592e-01 4.51668931e-02 8.03724670e-01 3.18049932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.050714057 meters Centerline goodness : 0.987787 Centerline is valid? [True, True] Translation: X:116.51, Y:148.46, Z:31.79 [[-6.90268432e-02 -9.97613953e-01 1.30232390e-03 1.16505254e+02] [ 8.01358634e-01 -5.46699325e-02 5.95680735e-01 1.48455994e+02] [-5.94188215e-01 4.21615892e-02 8.03220248e-01 3.17921157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.080714057 meters Centerline goodness : 0.987672 Centerline is valid? [True, True] Translation: X:116.50, Y:148.45, Z:31.80 [[-6.97136388e-02 -9.97560519e-01 3.60813190e-03 1.16503982e+02] [ 8.04138580e-01 -5.40553551e-02 5.91979023e-01 1.48454109e+02] [-5.90339862e-01 4.41704498e-02 8.05945295e-01 3.17981706e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.110714057 meters Centerline goodness : 0.987671 Centerline is valid? [True, True] Translation: X:116.50, Y:148.47, Z:31.79 [[-7.13558215e-02 -9.97440355e-01 4.59179919e-03 1.16503941e+02] [ 8.05140416e-01 -5.48802905e-02 5.90539638e-01 1.48471276e+02] [-5.88776067e-01 4.58354841e-02 8.06995571e-01 3.17883221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.140714057 meters Centerline goodness : 0.987909 Centerline is valid? [True, True] Translation: X:116.50, Y:148.47, Z:31.79 [[-6.94136601e-02 -9.97554381e-01 8.18543442e-03 1.16503647e+02] [ 8.04176530e-01 -5.10984709e-02 5.92190050e-01 1.48470477e+02] [-5.90323516e-01 4.76886131e-02 8.05756752e-01 3.17886401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.170714057 meters Centerline goodness : 0.988371 Centerline is valid? [True, True] Translation: X:116.51, Y:148.48, Z:31.78 [[-7.14578547e-02 -9.97418567e-01 7.06945700e-03 1.16505045e+02] [ 8.05262069e-01 -5.35059083e-02 5.90499888e-01 1.48479754e+02] [-5.88597295e-01 4.78886208e-02 8.07006756e-01 3.17849393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.200714057 meters Centerline goodness : 0.988405 Centerline is valid? [True, True] Translation: X:116.50, Y:148.50, Z:31.77 [[-7.27056914e-02 -9.97258642e-01 1.37507734e-02 1.16503728e+02] [ 8.05440813e-01 -5.05787603e-02 5.90514086e-01 1.48502969e+02] [-5.88199779e-01 5.40091690e-02 8.06910175e-01 3.17722334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.230714057 meters Centerline goodness : 0.988347 Centerline is valid? [True, True] Translation: X:116.51, Y:148.53, Z:31.75 [[-7.44285991e-02 -9.97138504e-01 1.32358084e-02 1.16505697e+02] [ 8.04237024e-01 -5.21717365e-02 5.92014290e-01 1.48526255e+02] [-5.89629709e-01 5.47075214e-02 8.05818772e-01 3.17546408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.26071405700003 meters Centerline goodness : 0.988113 Centerline is valid? [True, True] Translation: X:116.51, Y:148.52, Z:31.76 [[-7.52756446e-02 -9.97060078e-01 1.43100664e-02 1.16507131e+02] [ 8.02870410e-01 -5.20913646e-02 5.93873383e-01 1.48524525e+02] [-5.91382011e-01 5.61933305e-02 8.04431244e-01 3.17556184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.290714057 meters Centerline goodness : 0.988298 Centerline is valid? [True, True] Translation: X:116.51, Y:148.52, Z:31.75 [[-7.36839366e-02 -9.97272919e-01 4.17152324e-03 1.16511928e+02] [ 8.02852726e-01 -5.68367073e-02 5.93461953e-01 1.48521507e+02] [-5.91606439e-01 4.70777317e-02 8.04851234e-01 3.17514927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.320714057 meters Centerline goodness : 0.988953 Centerline is valid? [True, True] Translation: X:116.51, Y:148.54, Z:31.75 [[-7.14501138e-02 -9.97348758e-01 1.37962180e-02 1.16509428e+02] [ 8.02887269e-01 -4.93009173e-02 5.94088759e-01 1.48536345e+02] [-5.91833520e-01 5.35245172e-02 8.04281177e-01 3.17459336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.350714057 meters Centerline goodness : 0.987616 Centerline is valid? [True, True] Translation: X:116.50, Y:148.56, Z:31.74 [[-6.97042974e-02 -9.97169239e-01 2.81925463e-02 1.16504360e+02] [ 8.03649130e-01 -3.93886071e-02 5.93798462e-01 1.48559823e+02] [-5.91007095e-01 6.40472199e-02 8.04119747e-01 3.17352867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.380714057 meters Centerline goodness : 0.987876 Centerline is valid? [True, True] Translation: X:116.51, Y:148.58, Z:31.71 [[-6.82548949e-02 -9.97458757e-01 2.04278424e-02 1.16509406e+02] [ 8.03350907e-01 -4.28079873e-02 5.93965316e-01 1.48580911e+02] [-5.91581431e-01 5.69517659e-02 8.04231252e-01 3.17147169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.410714057 meters Centerline goodness : 0.987584 Centerline is valid? [True, True] Translation: X:116.50, Y:148.61, Z:31.69 [[-6.16418547e-02 -9.95997515e-01 6.47242815e-02 1.16500468e+02] [ 7.98337207e-01 -1.02801583e-02 6.02122929e-01 1.48613699e+02] [-5.99047565e-01 8.87877762e-02 7.95775562e-01 3.16922092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.440714057 meters Centerline goodness : 0.988087 Centerline is valid? [True, True] Translation: X:116.52, Y:148.61, Z:31.68 [[-7.00337328e-02 -9.97476380e-01 -1.16682093e-02 1.16524965e+02] [ 8.09055437e-01 -6.36392372e-02 5.84276772e-01 1.48606464e+02] [-5.83544836e-01 3.14788551e-02 8.11470582e-01 3.16751876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.470714057 meters Centerline goodness : 0.988284 Centerline is valid? [True, True] Translation: X:116.52, Y:148.62, Z:31.68 [[-6.49201103e-02 -9.97784147e-01 1.45662662e-02 1.16516788e+02] [ 8.07668114e-01 -4.39664216e-02 5.87995893e-01 1.48617009e+02] [-5.86052554e-01 4.99374670e-02 8.08732745e-01 3.16791848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.500714057 meters Centerline goodness : 0.988176 Centerline is valid? [True, True] Translation: X:116.52, Y:148.62, Z:31.68 [[-5.92248707e-02 -9.98134162e-01 1.48529325e-02 1.16518531e+02] [ 8.05539894e-01 -3.89988647e-02 5.91256770e-01 1.48616568e+02] [-5.89574333e-01 4.69817354e-02 8.06346590e-01 3.16769899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.530714057 meters Centerline goodness : 0.987579 Centerline is valid? [True, True] Translation: X:116.52, Y:148.63, Z:31.66 [[-5.71124660e-02 -9.98291374e-01 1.23490797e-02 1.16520763e+02] [ 8.05360942e-01 -3.87576893e-02 5.91516352e-01 1.48633919e+02] [-5.90027049e-01 4.37284240e-02 8.06198428e-01 3.16624716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.560714057 meters Centerline goodness : 0.981763 Centerline is valid? [True, True] Translation: X:116.50, Y:149.34, Z:31.15 [[-9.62102624e-02 -9.95104510e-01 -2.25964564e-02 1.16504980e+02] [ 8.13342474e-01 -9.16827439e-02 5.74515705e-01 1.49336274e+02] [-5.73774874e-01 3.68956490e-02 8.18181584e-01 3.11545828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.590714057 meters Centerline goodness : 0.981775 Centerline is valid? [True, True] Translation: X:116.50, Y:149.37, Z:31.13 [[-9.06127269e-02 -9.95789203e-01 -1.38995656e-02 1.16500537e+02] [ 8.13067488e-01 -8.20308474e-02 5.76361172e-01 1.49374662e+02] [-5.75074425e-01 4.09243726e-02 8.17076864e-01 3.11311392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.620714057 meters Centerline goodness : 0.989919 Centerline is valid? [True, True] Translation: X:116.52, Y:148.68, Z:31.64 [[-7.38703323e-02 -9.97220424e-01 -9.72621904e-03 1.16516668e+02] [ 8.20644436e-01 -6.63260128e-02 5.67576929e-01 1.48675951e+02] [-5.66644408e-01 3.39453288e-02 8.23262917e-01 3.16359939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.650714057 meters Centerline goodness : 0.980911 Centerline is valid? [True, True] Translation: X:116.50, Y:149.45, Z:31.08 [[-8.22499486e-02 -9.96519375e-01 -1.35676857e-02 1.16502051e+02] [ 8.11291185e-01 -7.48561597e-02 5.79830292e-01 1.49445217e+02] [-5.78827745e-01 3.66836680e-02 8.14624300e-01 3.10798899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.680714057 meters Centerline goodness : 0.980602 Centerline is valid? [True, True] Translation: X:116.50, Y:149.40, Z:31.11 [[-7.83582926e-02 -9.96886221e-01 -8.82270279e-03 1.16502009e+02] [ 8.14548926e-01 -6.91234380e-02 5.75961802e-01 1.49403475e+02] [-5.74778240e-01 3.79448603e-02 8.17428996e-01 3.11144855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.710714057 meters Centerline goodness : 0.986577 Centerline is valid? [True, True] Translation: X:116.51, Y:149.14, Z:31.30 [[-5.38851833e-02 -9.98509545e-01 -8.66467296e-03 1.16512747e+02] [ 8.17703608e-01 -4.91048445e-02 5.73541214e-01 1.49144018e+02] [-5.73111853e-01 2.38202391e-02 8.19130881e-01 3.12980922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.740714057 meters Centerline goodness : 0.986291 Centerline is valid? [True, True] Translation: X:116.50, Y:149.17, Z:31.29 [[-5.39637769e-02 -9.98362142e-01 1.89985325e-02 1.16504570e+02] [ 8.19317627e-01 -3.33940439e-02 5.72366547e-01 1.49172617e+02] [-5.70794654e-01 4.64528932e-02 8.19777770e-01 3.12942991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.770714057 meters Centerline goodness : 0.987138 Centerline is valid? [True, True] Translation: X:116.51, Y:149.20, Z:31.27 [[-5.40872258e-02 -9.98416420e-01 1.54668971e-02 1.16511954e+02] [ 8.16923534e-01 -3.53373760e-02 5.75662409e-01 1.49197322e+02] [-5.74204242e-01 4.37712550e-02 8.17541171e-01 3.12654861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.800714057 meters Centerline goodness : 0.987083 Centerline is valid? [True, True] Translation: X:116.51, Y:149.67, Z:30.94 [[-7.81376385e-02 -9.96924051e-01 -6.07832052e-03 1.16505565e+02] [ 8.22545564e-01 -6.79126639e-02 5.64629671e-01 1.49670276e+02] [-5.63305694e-01 3.91191336e-02 8.25321991e-01 3.09407617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.830714057 meters Centerline goodness : 0.979619 Centerline is valid? [True, True] Translation: X:116.49, Y:150.07, Z:30.66 [[-9.67888947e-02 -9.95229756e-01 -1.22328493e-02 1.16488269e+02] [ 8.19687159e-01 -8.66765127e-02 5.66215634e-01 1.50074328e+02] [-5.64574948e-01 4.47762759e-02 8.24166375e-01 3.06550522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.860714057 meters Centerline goodness : 0.988923 Centerline is valid? [True, True] Translation: X:116.52, Y:149.24, Z:31.23 [[-8.34528201e-02 -9.96281758e-01 -2.14075876e-02 1.16516134e+02] [ 8.30138450e-01 -8.13881219e-02 5.51585104e-01 1.49244239e+02] [-5.51276500e-01 2.82600708e-02 8.33843863e-01 3.12323716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.890714057 meters Centerline goodness : 0.988729 Centerline is valid? [True, True] Translation: X:116.51, Y:149.26, Z:31.23 [[-8.17400440e-02 -9.96595985e-01 -1.07241507e-02 1.16512347e+02] [ 8.30046153e-01 -7.40278791e-02 5.52759674e-01 1.49255045e+02] [-5.51671958e-01 3.62810601e-02 8.33271706e-01 3.12305908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.920714057 meters Centerline goodness : 0.986635 Centerline is valid? [True, True] Translation: X:116.52, Y:149.25, Z:31.23 [[-5.87150513e-02 -9.98188792e-01 1.31025705e-02 1.16516296e+02] [ 8.19949197e-01 -4.07357684e-02 5.70985036e-01 1.49251736e+02] [-5.69417120e-01 4.42688579e-02 8.20855902e-01 3.12301391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.950714057 meters Centerline goodness : 0.985531 Centerline is valid? [True, True] Translation: X:116.52, Y:149.25, Z:31.22 [[-5.74849843e-02 -9.98345242e-01 -1.50156266e-03 1.16522992e+02] [ 8.16646476e-01 -4.78877734e-02 5.75148063e-01 1.49250153e+02] [-5.74268239e-01 3.18361316e-02 8.18047951e-01 3.12239462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.980714057 meters Centerline goodness : 0.986400 Centerline is valid? [True, True] Translation: X:116.52, Y:149.25, Z:31.23 [[-5.93356555e-02 -9.98237705e-01 -8.74286456e-04 1.16520563e+02] [ 8.19890165e-01 -4.92341785e-02 5.70399959e-01 1.49252475e+02] [-5.69437790e-01 3.31282366e-02 8.21366619e-01 3.12259563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.01071405700003 meters Centerline goodness : 0.987156 Centerline is valid? [True, True] Translation: X:116.52, Y:149.27, Z:31.22 [[-5.89745394e-02 -9.98237216e-01 6.66810948e-03 1.16516645e+02] [ 8.20536057e-01 -4.46696792e-02 5.69846645e-01 1.49268710e+02] [-5.68544266e-01 3.90778677e-02 8.21724003e-01 3.12176650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.040714057 meters Centerline goodness : 0.988960 Centerline is valid? [True, True] Translation: X:116.51, Y:149.28, Z:31.21 [[-6.23205947e-02 -9.97948726e-01 1.46452433e-02 1.16513054e+02] [ 8.22887107e-01 -4.30736154e-02 5.66569919e-01 1.49283069e+02] [-5.64776905e-01 4.73603562e-02 8.23883514e-01 3.12132233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.070714057 meters Centerline goodness : 0.989122 Centerline is valid? [True, True] Translation: X:116.51, Y:149.31, Z:31.19 [[-6.26150874e-02 -9.97935850e-01 1.42615240e-02 1.16514324e+02] [ 8.20498184e-01 -4.33358895e-02 5.70004150e-01 1.49306829e+02] [-5.68209539e-01 4.73924142e-02 8.21518033e-01 3.11921000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.100714057 meters Centerline goodness : 0.980167 Centerline is valid? [True, True] Translation: X:116.50, Y:150.16, Z:30.60 [[-1.07634854e-01 -9.93636236e-01 -3.31929090e-02 1.16500893e+02] [ 8.29697733e-01 -1.08170265e-01 5.47632053e-01 1.50158724e+02] [-5.47737537e-01 3.14042147e-02 8.36060623e-01 3.05971416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.130714057 meters Centerline goodness : 0.988828 Centerline is valid? [True, True] Translation: X:116.52, Y:149.29, Z:31.19 [[-6.68701662e-02 -9.97756914e-01 -3.08575062e-03 1.16522433e+02] [ 8.22372842e-01 -5.68666084e-02 5.66099901e-01 1.49293006e+02] [-5.65005566e-01 3.53175570e-02 8.24330868e-01 3.11880154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.160714057 meters Centerline goodness : 0.989369 Centerline is valid? [True, True] Translation: X:116.52, Y:149.30, Z:31.19 [[-6.77973396e-02 -9.97659633e-01 8.87571181e-03 1.16515663e+02] [ 8.22758338e-01 -5.08752649e-02 5.66109905e-01 1.49302598e+02] [-5.64333446e-01 4.56833114e-02 8.24281989e-01 3.11883483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.190714057 meters Centerline goodness : 0.989654 Centerline is valid? [True, True] Translation: X:116.51, Y:149.31, Z:31.19 [[-6.49899051e-02 -9.97610253e-01 2.34540970e-02 1.16509226e+02] [ 8.24212283e-01 -4.04143171e-02 5.64836964e-01 1.49312542e+02] [-5.62539266e-01 5.60398556e-02 8.24869147e-01 3.11859170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.220714057 meters Centerline goodness : 0.988620 Centerline is valid? [True, True] Translation: X:116.51, Y:149.33, Z:31.17 [[-6.21087214e-02 -9.98032065e-01 8.63155400e-03 1.16513857e+02] [ 8.21000486e-01 -4.61702996e-02 5.69057559e-01 1.49330492e+02] [-5.67539169e-01 4.24299474e-02 8.22252389e-01 3.11704429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.250714057 meters Centerline goodness : 0.989215 Centerline is valid? [True, True] Translation: X:116.51, Y:149.36, Z:31.16 [[-5.97548609e-02 -9.97934808e-01 2.35685177e-02 1.16507999e+02] [ 8.21466285e-01 -3.57467454e-02 5.69135584e-01 1.49356255e+02] [-5.67117712e-01 5.33693603e-02 8.21905842e-01 3.11585650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.280714057 meters Centerline goodness : 0.989262 Centerline is valid? [True, True] Translation: X:116.51, Y:149.38, Z:31.14 [[-5.87920001e-02 -9.98009869e-01 2.27991688e-02 1.16508129e+02] [ 8.22663586e-01 -3.55000047e-02 5.67419047e-01 1.49378491e+02] [-5.65480438e-01 5.21157466e-02 8.23113494e-01 3.11409696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.310714057 meters Centerline goodness : 0.990599 Centerline is valid? [True, True] Translation: X:116.50, Y:149.41, Z:31.13 [[-5.99512614e-02 -9.97382223e-01 4.04295268e-02 1.16499924e+02] [ 8.24961670e-01 -2.67026000e-02 5.64557538e-01 1.49412321e+02] [-5.62000079e-01 6.71987465e-02 8.24402960e-01 3.11259807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.340714057 meters Centerline goodness : 0.988665 Centerline is valid? [True, True] Translation: X:116.51, Y:149.40, Z:31.12 [[-5.70100108e-02 -9.98360519e-01 5.11201248e-03 1.16514534e+02] [ 8.20818312e-01 -4.39556568e-02 5.69495565e-01 1.49397071e+02] [-5.68337186e-01 3.66629818e-02 8.21978509e-01 3.11175421e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.370714057 meters Centerline goodness : 0.988893 Centerline is valid? [True, True] Translation: X:116.51, Y:149.42, Z:31.10 [[-5.52849035e-02 -9.98427428e-01 9.28710899e-03 1.16512977e+02] [ 8.21404972e-01 -4.01908053e-02 5.68927562e-01 1.49423831e+02] [-5.67659626e-01 3.90815829e-02 8.22335199e-01 3.11011745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.400714057 meters Centerline goodness : 0.988995 Centerline is valid? [True, True] Translation: X:116.51, Y:149.41, Z:31.11 [[-5.27376273e-02 -9.98569547e-01 8.80926432e-03 1.16513685e+02] [ 8.21819175e-01 -3.83880468e-02 5.68453693e-01 1.49408448e+02] [-5.67302376e-01 3.72185213e-02 8.22668096e-01 3.11109995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.430714057 meters Centerline goodness : 0.989712 Centerline is valid? [True, True] Translation: X:116.51, Y:149.42, Z:31.10 [[-5.05968346e-02 -9.98560147e-01 1.78211505e-02 1.16511149e+02] [ 8.22341019e-01 -3.15286838e-02 5.68120753e-01 1.49422851e+02] [-5.66740866e-01 4.34001749e-02 8.22752220e-01 3.11036137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.460714057 meters Centerline goodness : 0.990049 Centerline is valid? [True, True] Translation: X:116.51, Y:149.43, Z:31.10 [[-5.12359383e-02 -9.98536008e-01 1.73412620e-02 1.16512012e+02] [ 8.20244453e-01 -3.21693591e-02 5.71107844e-01 1.49432235e+02] [-5.69713890e-01 4.34853202e-02 8.20691849e-01 3.10973259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.490714057 meters Centerline goodness : 0.988950 Centerline is valid? [True, True] Translation: X:116.51, Y:149.43, Z:31.10 [[-5.03800722e-02 -9.98618854e-01 1.49074647e-02 1.16513174e+02] [ 8.20427966e-01 -3.28693725e-02 5.70804307e-01 1.49429441e+02] [-5.69525944e-01 4.09876632e-02 8.20950797e-01 3.10976102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.520714057 meters Centerline goodness : 0.989800 Centerline is valid? [True, True] Translation: X:116.51, Y:149.45, Z:31.09 [[-5.27376909e-02 -9.98287618e-01 2.53094264e-02 1.16509929e+02] [ 8.21397938e-01 -2.89514445e-02 5.69620260e-01 1.49454512e+02] [-5.67912108e-01 5.08295679e-02 8.21518224e-01 3.10863439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.550714057 meters Centerline goodness : 0.989800 Centerline is valid? [True, True] Translation: X:116.51, Y:149.48, Z:31.07 [[-5.35872998e-02 -9.98197621e-01 2.70168660e-02 1.16508949e+02] [ 8.21760132e-01 -2.87120949e-02 5.69109745e-01 1.49479189e+02] [-5.67308283e-01 5.26984379e-02 8.21817612e-01 3.10706763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.580714057 meters Centerline goodness : 0.990282 Centerline is valid? [True, True] Translation: X:116.52, Y:149.49, Z:31.05 [[-5.53843373e-02 -9.98410378e-01 1.04542505e-02 1.16515386e+02] [ 8.22496489e-01 -3.96849322e-02 5.67384026e-01 1.49494297e+02] [-5.66067224e-01 4.00227726e-02 8.23386954e-01 3.10532312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.610714057 meters Centerline goodness : 0.989946 Centerline is valid? [True, True] Translation: X:116.52, Y:149.50, Z:31.05 [[-5.85124944e-02 -9.98277175e-01 4.35543117e-03 1.16517479e+02] [ 8.25123236e-01 -4.59066318e-02 5.63084564e-01 1.49501513e+02] [-5.61914524e-01 3.65412499e-02 8.26387805e-01 3.10490638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.640714057 meters Centerline goodness : 0.990815 Centerline is valid? [True, True] Translation: X:116.51, Y:149.51, Z:31.05 [[-5.79134599e-02 -9.97987641e-01 2.58205330e-02 1.16509074e+02] [ 8.26630377e-01 -3.34355972e-02 5.61751084e-01 1.49514231e+02] [-5.59757314e-01 5.38769858e-02 8.26903271e-01 3.10500176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.670714057 meters Centerline goodness : 0.990957 Centerline is valid? [True, True] Translation: X:116.51, Y:149.54, Z:31.04 [[-6.12565012e-02 -9.97678068e-01 2.97676647e-02 1.16508062e+02] [ 8.27392161e-01 -3.40748139e-02 5.60589974e-01 1.49538452e+02] [-5.58273994e-01 5.89693128e-02 8.27558317e-01 3.10366261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.700714057 meters Centerline goodness : 0.989969 Centerline is valid? [True, True] Translation: X:116.51, Y:149.55, Z:31.02 [[-6.20685702e-02 -9.97972541e-01 1.40819135e-02 1.16514858e+02] [ 8.24127257e-01 -4.32874295e-02 5.64748142e-01 1.49553805e+02] [-5.62993568e-01 4.66583984e-02 8.25143161e-01 3.10199366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.730714057 meters Centerline goodness : 0.991217 Centerline is valid? [True, True] Translation: X:116.51, Y:149.58, Z:31.01 [[-6.74769662e-02 -9.97404835e-01 2.51088473e-02 1.16510267e+02] [ 8.28957377e-01 -4.20406853e-02 5.57729547e-01 1.49583981e+02] [-5.55226554e-01 5.84480620e-02 8.29642874e-01 3.10074847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.76071405700003 meters Centerline goodness : 0.989933 Centerline is valid? [True, True] Translation: X:116.51, Y:149.60, Z:30.99 [[-6.62133014e-02 -9.97663595e-01 1.68270910e-02 1.16513956e+02] [ 8.25133294e-01 -4.52648550e-02 5.63121781e-01 1.49601722e+02] [-5.61044424e-01 5.11707452e-02 8.26202583e-01 3.09910139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.790714057 meters Centerline goodness : 0.991353 Centerline is valid? [True, True] Translation: X:116.51, Y:149.63, Z:30.98 [[-7.31099889e-02 -9.96977734e-01 2.62741015e-02 1.16511102e+02] [ 8.29013254e-01 -4.61052746e-02 5.57325155e-01 1.49631582e+02] [-5.54429395e-01 6.25276143e-02 8.29878511e-01 3.09759961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.820714057 meters Centerline goodness : 0.989373 Centerline is valid? [True, True] Translation: X:116.52, Y:149.63, Z:30.96 [[-7.71280380e-02 -9.97019719e-01 -1.71603748e-03 1.16522204e+02] [ 8.28402015e-01 -6.50415730e-02 5.56344943e-01 1.49631993e+02] [-5.54798493e-01 4.14882249e-02 8.30949674e-01 3.09646499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.850714057 meters Centerline goodness : 0.990748 Centerline is valid? [True, True] Translation: X:116.52, Y:149.64, Z:30.96 [[-7.74671630e-02 -9.96965856e-01 7.61056703e-03 1.16521021e+02] [ 8.27601132e-01 -6.00466777e-02 5.58095657e-01 1.49637460e+02] [-5.55945325e-01 4.95326011e-02 8.29741717e-01 3.09628780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.880714057 meters Centerline goodness : 0.990887 Centerline is valid? [True, True] Translation: X:116.52, Y:149.65, Z:30.95 [[-7.93677055e-02 -9.96842144e-01 -2.55081046e-03 1.16524319e+02] [ 8.28450759e-01 -6.73832566e-02 5.55993558e-01 1.49645808e+02] [-5.54409693e-01 4.20147121e-02 8.31182685e-01 3.09543357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.910714057 meters Centerline goodness : 0.990333 Centerline is valid? [True, True] Translation: X:116.52, Y:149.66, Z:30.95 [[-7.82644516e-02 -9.96887157e-01 9.52213247e-03 1.16519955e+02] [ 8.27514400e-01 -5.96346883e-02 5.58268414e-01 1.49658614e+02] [-5.55962763e-01 5.15722730e-02 8.29605754e-01 3.09509458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.940714057 meters Centerline goodness : 0.990264 Centerline is valid? [True, True] Translation: X:116.52, Y:149.66, Z:30.95 [[-7.76747213e-02 -9.96887520e-01 1.34874000e-02 1.16518447e+02] [ 8.29531184e-01 -5.71187061e-02 5.55531699e-01 1.49662903e+02] [-5.53032235e-01 5.43389887e-02 8.31385964e-01 3.09500091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.970714057 meters Centerline goodness : 0.990540 Centerline is valid? [True, True] Translation: X:116.51, Y:149.69, Z:30.94 [[-7.84380799e-02 -9.96597071e-01 2.53326930e-02 1.16514644e+02] [ 8.30350190e-01 -5.12488591e-02 5.54880273e-01 1.49689383e+02] [-5.51693783e-01 6.45587496e-02 8.31544429e-01 3.09369352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.000714057 meters Centerline goodness : 0.988637 Centerline is valid? [True, True] Translation: X:116.53, Y:149.69, Z:30.93 [[-7.86078846e-02 -9.96902385e-01 2.53693438e-03 1.16525108e+02] [ 8.27639602e-01 -6.38421185e-02 5.57617138e-01 1.49687966e+02] [-5.55727892e-01 4.59327710e-02 8.30094387e-01 3.09256326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.030714057 meters Centerline goodness : 0.990130 Centerline is valid? [True, True] Translation: X:116.52, Y:149.70, Z:30.92 [[-7.78001222e-02 -9.96958043e-01 4.66925474e-03 1.16524099e+02] [ 8.28667113e-01 -6.20617295e-02 5.56290533e-01 1.49696779e+02] [-5.54308539e-01 4.71487293e-02 8.30974753e-01 3.09207085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.060714057 meters Centerline goodness : 0.989128 Centerline is valid? [True, True] Translation: X:116.52, Y:149.71, Z:30.91 [[-7.90447096e-02 -9.96860098e-01 4.67746491e-03 1.16523258e+02] [ 8.29479766e-01 -6.31685562e-02 5.54953197e-01 1.49709044e+02] [-5.52915230e-01 4.77459768e-02 8.31868422e-01 3.09141558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.090714057 meters Centerline goodness : 0.989026 Centerline is valid? [True, True] Translation: X:116.52, Y:149.70, Z:30.92 [[-7.87136807e-02 -9.96886164e-01 4.70460307e-03 1.16523439e+02] [ 8.29646735e-01 -6.28905704e-02 5.54735137e-01 1.49703471e+02] [-5.52711907e-01 4.75684030e-02 8.32013699e-01 3.09183133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.120714057 meters Centerline goodness : 0.989568 Centerline is valid? [True, True] Translation: X:116.52, Y:149.73, Z:30.90 [[-7.76848601e-02 -9.96968279e-01 4.39469812e-03 1.16523280e+02] [ 8.29035266e-01 -6.21496350e-02 5.55731906e-01 1.49734173e+02] [-5.53773953e-01 4.68153151e-02 8.31349948e-01 3.08964083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.150714057 meters Centerline goodness : 0.988617 Centerline is valid? [True, True] Translation: X:116.52, Y:149.74, Z:30.90 [[-7.72251297e-02 -9.97002583e-01 4.70403989e-03 1.16523307e+02] [ 8.29769971e-01 -6.16546164e-02 5.54689556e-01 1.49735031e+02] [-5.52736895e-01 4.67392440e-02 8.32044090e-01 3.08965827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.180714057 meters Centerline goodness : 0.988987 Centerline is valid? [True, True] Translation: X:116.52, Y:149.72, Z:30.90 [[-7.45841102e-02 -9.97134453e-01 1.26528075e-02 1.16520580e+02] [ 8.27567564e-01 -5.48115364e-02 5.58683831e-01 1.49724786e+02] [-5.56389377e-01 5.21399896e-02 8.29284199e-01 3.09040577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.210714057 meters Centerline goodness : 0.988124 Centerline is valid? [True, True] Translation: X:116.52, Y:149.75, Z:30.89 [[-7.44880138e-02 -9.97183091e-01 8.79874528e-03 1.16521060e+02] [ 8.27903142e-01 -5.69197150e-02 5.57975388e-01 1.49746426e+02] [-5.55902801e-01 4.88469873e-02 8.29810851e-01 3.08904234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.240714057 meters Centerline goodness : 0.988788 Centerline is valid? [True, True] Translation: X:116.52, Y:149.77, Z:30.88 [[-7.30261833e-02 -9.97132309e-01 1.98578619e-02 1.16516460e+02] [ 8.28767531e-01 -4.95953612e-02 5.57390957e-01 1.49770678e+02] [-5.54807674e-01 5.71616854e-02 8.30012642e-01 3.08767975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.270714057 meters Centerline goodness : 0.988855 Centerline is valid? [True, True] Translation: X:116.52, Y:149.79, Z:30.86 [[-7.36746040e-02 -9.97213490e-01 1.17178845e-02 1.16520085e+02] [ 8.28067364e-01 -5.46216117e-02 5.57961396e-01 1.49793055e+02] [-5.55766581e-01 5.08107827e-02 8.29784172e-01 3.08571896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.300714057 meters Centerline goodness : 0.988231 Centerline is valid? [True, True] Translation: X:116.52, Y:149.81, Z:30.84 [[-7.45521272e-02 -9.97208158e-01 4.22733511e-03 1.16523045e+02] [ 8.28166456e-01 -5.95518963e-02 5.57309513e-01 1.49814867e+02] [-5.55501847e-01 4.50495468e-02 8.30294066e-01 3.08406311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.330714057 meters Centerline goodness : 0.989696 Centerline is valid? [True, True] Translation: X:116.52, Y:149.83, Z:30.83 [[-7.45026714e-02 -9.97220598e-01 -6.56355527e-04 1.16523433e+02] [ 8.29628331e-01 -6.23469760e-02 5.54824015e-01 1.49833431e+02] [-5.53322858e-01 4.07913402e-02 8.31967476e-01 3.08276508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.360714057 meters Centerline goodness : 0.988771 Centerline is valid? [True, True] Translation: X:116.52, Y:149.81, Z:30.85 [[-7.20026414e-02 -9.97384653e-01 6.28274193e-03 1.16520925e+02] [ 8.28890056e-01 -5.63328305e-02 5.56567954e-01 1.49809469e+02] [-5.54758411e-01 4.52820651e-02 8.30778334e-01 3.08464061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.390714057 meters Centerline goodness : 0.989260 Centerline is valid? [True, True] Translation: X:116.52, Y:149.83, Z:30.83 [[-7.30489957e-02 -9.97308153e-01 6.34765897e-03 1.16520193e+02] [ 8.29143791e-01 -5.71921267e-02 5.56102180e-01 1.49833659e+02] [-5.54242201e-01 4.58858277e-02 8.31089690e-01 3.08324278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.420714057 meters Centerline goodness : 0.989644 Centerline is valid? [True, True] Translation: X:116.52, Y:149.84, Z:30.83 [[-7.16376434e-02 -9.97419892e-01 4.64839003e-03 1.16520287e+02] [ 8.29028130e-01 -5.69506641e-02 5.56299363e-01 1.49841098e+02] [-5.54599321e-01 4.37056215e-02 8.30968959e-01 3.08281369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.450714057 meters Centerline goodness : 0.989262 Centerline is valid? [True, True] Translation: X:116.52, Y:149.85, Z:30.83 [[-7.01059492e-02 -9.97534741e-01 3.09786195e-03 1.16519632e+02] [ 8.29656716e-01 -5.65828132e-02 5.55399062e-01 1.49845108e+02] [-5.53854574e-01 4.15069404e-02 8.31578189e-01 3.08257888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.480714057 meters Centerline goodness : 0.989284 Centerline is valid? [True, True] Translation: X:116.52, Y:149.87, Z:30.81 [[-6.76242106e-02 -9.97657600e-01 1.03092318e-02 1.16515208e+02] [ 8.29909852e-01 -5.05124471e-02 5.55606092e-01 1.49869692e+02] [-5.53783896e-01 4.61281564e-02 8.31381735e-01 3.08127723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.51071405700003 meters Centerline goodness : 0.988955 Centerline is valid? [True, True] Translation: X:116.51, Y:149.89, Z:30.80 [[-6.57626798e-02 -9.97767145e-01 1.16616762e-02 1.16512694e+02] [ 8.29711515e-01 -4.81864868e-02 5.56108680e-01 1.49893527e+02] [-5.54305035e-01 4.62470242e-02 8.31027762e-01 3.07969570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.540714057 meters Centerline goodness : 0.990196 Centerline is valid? [True, True] Translation: X:116.51, Y:149.89, Z:30.81 [[-6.13312355e-02 -9.97756458e-01 2.68426975e-02 1.16505410e+02] [ 8.30020986e-01 -3.60473526e-02 5.56566035e-01 1.49889553e+02] [-5.54349747e-01 5.64148847e-02 8.30369628e-01 3.08057150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.570714057 meters Centerline goodness : 0.990488 Centerline is valid? [True, True] Translation: X:116.51, Y:149.91, Z:30.79 [[-5.90445177e-02 -9.98020694e-01 2.16434804e-02 1.16505306e+02] [ 8.28795775e-01 -3.69246939e-02 5.58331559e-01 1.49910638e+02] [-5.56427271e-01 5.09044427e-02 8.29335535e-01 3.07902646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.600714057 meters Centerline goodness : 0.989325 Centerline is valid? [True, True] Translation: X:116.51, Y:149.93, Z:30.77 [[-5.50517597e-02 -9.98406450e-01 1.24042268e-02 1.16508738e+02] [ 8.23353705e-01 -3.83645562e-02 5.66230374e-01 1.49928737e+02] [-5.64852175e-01 4.13850446e-02 8.24153686e-01 3.07742560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.630714057 meters Centerline goodness : 0.989289 Centerline is valid? [True, True] Translation: X:116.51, Y:149.95, Z:30.76 [[-5.38709267e-02 -9.98370894e-01 1.88010884e-02 1.16505604e+02] [ 8.23224329e-01 -3.37480295e-02 5.66712251e-01 1.49953927e+02] [-5.65154517e-01 4.60068275e-02 8.23701247e-01 3.07609680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.660714057 meters Centerline goodness : 0.991208 Centerline is valid? [True, True] Translation: X:116.50, Y:149.97, Z:30.75 [[-6.38711689e-02 -9.97957436e-01 1.19534287e-03 1.16500328e+02] [ 8.32479545e-01 -5.26196275e-02 5.51551432e-01 1.49972889e+02] [-5.50361954e-01 3.62233331e-02 8.34140030e-01 3.07540053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.690714057 meters Centerline goodness : 0.989515 Centerline is valid? [True, True] Translation: X:116.50, Y:150.00, Z:30.73 [[-5.30069888e-02 -9.98447098e-01 1.71362893e-02 1.16504566e+02] [ 8.23441669e-01 -3.39952753e-02 5.66381620e-01 1.50000739e+02] [-5.64919532e-01 4.41329188e-02 8.23964931e-01 3.07294293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.720714057 meters Centerline goodness : 0.989540 Centerline is valid? [True, True] Translation: X:116.50, Y:150.03, Z:30.72 [[-5.47077193e-02 -9.97981798e-01 3.22396837e-02 1.16498667e+02] [ 8.28657444e-01 -2.73644047e-02 5.59086782e-01 1.50029639e+02] [-5.57076212e-01 5.73020167e-02 8.28482090e-01 3.07162207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.750714057 meters Centerline goodness : 0.991437 Centerline is valid? [True, True] Translation: X:116.50, Y:150.04, Z:30.71 [[-6.15607642e-02 -9.98096760e-01 -3.62364280e-03 1.16502054e+02] [ 8.31870497e-01 -5.33137637e-02 5.52403041e-01 1.50040500e+02] [-5.51544875e-01 3.09919518e-02 8.33569283e-01 3.07063129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.780714057 meters Centerline goodness : 0.989122 Centerline is valid? [True, True] Translation: X:116.51, Y:150.07, Z:30.68 [[-5.20062339e-02 -9.98555132e-01 1.35277349e-02 1.16506238e+02] [ 8.23498081e-01 -3.52181796e-02 5.66224859e-01 1.50068618e+02] [-5.64930317e-01 4.05872862e-02 8.24139800e-01 3.06833751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.810714057 meters Centerline goodness : 0.989383 Centerline is valid? [True, True] Translation: X:116.51, Y:150.09, Z:30.67 [[-5.21659889e-02 -9.98577477e-01 1.10332538e-02 1.16507765e+02] [ 8.24011822e-01 -3.67998006e-02 5.65376239e-01 1.50092488e+02] [-5.64165956e-01 3.85849421e-02 8.24759344e-01 3.06677689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.840714057 meters Centerline goodness : 0.989427 Centerline is valid? [True, True] Translation: X:116.51, Y:150.12, Z:30.65 [[-5.20227696e-02 -9.98514123e-01 1.62227808e-02 1.16506051e+02] [ 8.24337700e-01 -3.37671668e-02 5.65090378e-01 1.50116931e+02] [-5.63702926e-01 4.27706164e-02 8.24869496e-01 3.06541641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.870714057 meters Centerline goodness : 0.989978 Centerline is valid? [True, True] Translation: X:116.51, Y:150.14, Z:30.64 [[-5.18444696e-02 -9.98609187e-01 9.58343514e-03 1.16507669e+02] [ 8.24804229e-01 -3.74067842e-02 5.64179685e-01 1.50138533e+02] [-5.63036531e-01 3.71540544e-02 8.25596416e-01 3.06380422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.900714057 meters Centerline goodness : 0.989845 Centerline is valid? [True, True] Translation: X:116.51, Y:150.16, Z:30.62 [[-4.90897082e-02 -9.98749373e-01 9.48101136e-03 1.16508157e+02] [ 8.25908941e-01 -3.52527487e-02 5.62700334e-01 1.50160848e+02] [-5.61662374e-01 3.54532473e-02 8.26606584e-01 3.06247966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.930714057 meters Centerline goodness : 0.991346 Centerline is valid? [True, True] Translation: X:116.50, Y:150.19, Z:30.61 [[-5.01248290e-02 -9.98578848e-01 1.81048781e-02 1.16504007e+02] [ 8.32401030e-01 -3.17523190e-02 5.53263333e-01 1.50189384e+02] [-5.51902189e-01 4.28027492e-02 8.32809641e-01 3.06118071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.960714057 meters Centerline goodness : 0.990584 Centerline is valid? [True, True] Translation: X:116.51, Y:150.21, Z:30.59 [[-4.65296686e-02 -9.98912149e-01 3.08344521e-03 1.16509441e+02] [ 8.27348036e-01 -3.68080551e-02 5.60482287e-01 1.50206546e+02] [-5.59759071e-01 2.86301374e-02 8.28160672e-01 3.05937225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.990714057 meters Centerline goodness : 0.990651 Centerline is valid? [True, True] Translation: X:116.51, Y:150.23, Z:30.58 [[-4.61005160e-02 -9.98930715e-01 3.48835318e-03 1.16508737e+02] [ 8.28588600e-01 -3.62882890e-02 5.58680671e-01 1.50231188e+02] [-5.57956695e-01 2.86458769e-02 8.29375512e-01 3.05803620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.020714057 meters Centerline goodness : 0.990257 Centerline is valid? [True, True] Translation: X:116.51, Y:150.26, Z:30.57 [[-4.59412884e-02 -9.98839015e-01 1.44920567e-02 1.16505320e+02] [ 8.28491513e-01 -2.99928618e-02 5.59197855e-01 1.50256868e+02] [-5.58113977e-01 3.76968159e-02 8.28907557e-01 3.05664100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.050714057 meters Centerline goodness : 0.990960 Centerline is valid? [True, True] Translation: X:116.51, Y:150.28, Z:30.55 [[-4.79643308e-02 -9.98793186e-01 1.05637952e-02 1.16508101e+02] [ 8.28234248e-01 -3.38576149e-02 5.59358286e-01 1.50279777e+02] [-5.58325580e-01 3.55785429e-02 8.28858681e-01 3.05489985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.080714057 meters Centerline goodness : 0.990858 Centerline is valid? [True, True] Translation: X:116.51, Y:150.28, Z:30.55 [[-4.76758505e-02 -9.98850544e-01 4.96019335e-03 1.16511492e+02] [ 8.27599757e-01 -3.67204458e-02 5.60116284e-01 1.50275449e+02] [-5.59290314e-01 3.08090750e-02 8.28399146e-01 3.05483764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.110714057 meters Centerline goodness : 0.989749 Centerline is valid? [True, True] Translation: X:116.51, Y:150.30, Z:30.54 [[-4.97192432e-02 -9.98637929e-01 1.58203310e-02 1.16509733e+02] [ 8.26401336e-01 -3.22384359e-02 5.62157909e-01 1.50300765e+02] [-5.60882187e-01 4.10240085e-02 8.26878590e-01 3.05354874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.140714057 meters Centerline goodness : 0.989685 Centerline is valid? [True, True] Translation: X:116.51, Y:150.31, Z:30.53 [[-4.97858538e-02 -9.98719886e-01 8.94194654e-03 1.16512825e+02] [ 8.25875362e-01 -3.61315841e-02 5.62693874e-01 1.50309328e+02] [-5.61650475e-01 3.53991283e-02 8.26616989e-01 3.05274703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.170714057 meters Centerline goodness : 0.989331 Centerline is valid? [True, True] Translation: X:116.51, Y:150.33, Z:30.51 [[-4.98245599e-02 -9.98654709e-01 1.43626719e-02 1.16512331e+02] [ 8.25027208e-01 -3.30487243e-02 5.64125774e-01 1.50334495e+02] [-5.62892192e-01 3.99569135e-02 8.25563944e-01 3.05111205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.200714057 meters Centerline goodness : 0.990445 Centerline is valid? [True, True] Translation: X:116.51, Y:150.35, Z:30.51 [[-4.82746063e-02 -9.98528028e-01 2.47252777e-02 1.16509187e+02] [ 8.24926380e-01 -2.59000792e-02 5.64646485e-01 1.50347482e+02] [-5.63174954e-01 4.76546206e-02 8.24962428e-01 3.05060356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.230714057 meters Centerline goodness : 0.990060 Centerline is valid? [True, True] Translation: X:116.52, Y:150.36, Z:30.49 [[-4.60891971e-02 -9.98916419e-01 6.46330512e-03 1.16518216e+02] [ 8.19749895e-01 -3.41234913e-02 5.71704205e-01 1.50362951e+02] [-5.70864166e-01 3.16476814e-02 8.20434353e-01 3.04897716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.26071405700003 meters Centerline goodness : 0.989584 Centerline is valid? [True, True] Translation: X:116.51, Y:150.39, Z:30.48 [[-4.67928717e-02 -9.98615091e-01 2.40484461e-02 1.16513251e+02] [ 8.19370050e-01 -2.46013170e-02 5.72736847e-01 1.50390272e+02] [-5.71352035e-01 4.65045783e-02 8.19386463e-01 3.04779909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.290714057 meters Centerline goodness : 0.991676 Centerline is valid? [True, True] Translation: X:116.51, Y:150.42, Z:30.46 [[-5.21448285e-02 -9.98162247e-01 3.08714315e-02 1.16512065e+02] [ 8.24973079e-01 -2.56354797e-02 5.64590331e-01 1.50420371e+02] [-5.62761349e-01 5.49085658e-02 8.24793740e-01 3.04593020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.320714057 meters Centerline goodness : 0.989352 Centerline is valid? [True, True] Translation: X:116.52, Y:150.43, Z:30.44 [[-5.11596214e-02 -9.98643747e-01 9.66230249e-03 1.16521157e+02] [ 8.21464213e-01 -3.65767259e-02 5.69085837e-01 1.50434873e+02] [-5.67960597e-01 3.70514516e-02 8.22221351e-01 3.04420702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.350714057 meters Centerline goodness : 0.989882 Centerline is valid? [True, True] Translation: X:116.52, Y:150.46, Z:30.43 [[-5.06700682e-02 -9.98485731e-01 2.14193835e-02 1.16518868e+02] [ 8.21258153e-01 -2.94531261e-02 5.69796068e-01 1.50459382e+02] [-5.68302376e-01 4.64624490e-02 8.21506939e-01 3.04264014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.380714057 meters Centerline goodness : 0.990428 Centerline is valid? [True, True] Translation: X:116.52, Y:150.48, Z:30.41 [[-5.41719038e-02 -9.98444907e-01 1.31595432e-02 1.16521224e+02] [ 8.23230323e-01 -3.71990854e-02 5.66487479e-01 1.50480582e+02] [-5.65117015e-01 4.15210403e-02 8.23965268e-01 3.04117803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.410714057 meters Centerline goodness : 0.992776 Centerline is valid? [True, True] Translation: X:116.51, Y:150.50, Z:30.41 [[-6.68675896e-02 -9.97683881e-01 1.24739572e-02 1.16510279e+02] [ 8.31436441e-01 -4.88052007e-02 5.53472218e-01 1.50502416e+02] [-5.51581517e-01 4.73806557e-02 8.32774222e-01 3.04066208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.440714057 meters Centerline goodness : 0.992776 Centerline is valid? [True, True] Translation: X:116.51, Y:150.52, Z:30.39 [[-6.73552121e-02 -9.97728476e-01 1.07828007e-03 1.16514572e+02] [ 8.30977023e-01 -5.54998409e-02 5.53531350e-01 1.50523130e+02] [-5.52214146e-01 3.81792474e-02 8.32827642e-01 3.03866977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.470714057 meters Centerline goodness : 0.992210 Centerline is valid? [True, True] Translation: X:116.52, Y:150.56, Z:30.36 [[-6.20054414e-02 -9.97536409e-01 3.28091275e-02 1.16515016e+02] [ 8.28185198e-01 -3.30775072e-02 5.59477575e-01 1.50560412e+02] [-5.57014006e-01 6.18626877e-02 8.28195873e-01 3.03619525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.500714057 meters Centerline goodness : 0.993214 Centerline is valid? [True, True] Translation: X:116.51, Y:150.57, Z:30.36 [[-7.33109378e-02 -9.97308733e-01 -8.93042029e-04 1.16514452e+02] [ 8.31469469e-01 -6.16147152e-02 5.52143233e-01 1.50569198e+02] [-5.50712292e-01 3.97356010e-02 8.33748795e-01 3.03562492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.530714057 meters Centerline goodness : 0.992186 Centerline is valid? [True, True] Translation: X:116.52, Y:150.60, Z:30.33 [[-7.19764669e-02 -9.97333662e-01 1.20397465e-02 1.16520905e+02] [ 8.30267387e-01 -5.32217468e-02 5.54818450e-01 1.50601613e+02] [-5.52698340e-01 4.99300807e-02 8.31884326e-01 3.03315232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.560714057 meters Centerline goodness : 0.991368 Centerline is valid? [True, True] Translation: X:116.52, Y:150.59, Z:30.33 [[-6.82053091e-02 -9.97614708e-01 1.06269011e-02 1.16523032e+02] [ 8.22762959e-01 -5.02200471e-02 5.66161691e-01 1.50588587e+02] [-5.64277547e-01 4.73586538e-02 8.24225702e-01 3.03332012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.590714057 meters Centerline goodness : 0.990991 Centerline is valid? [True, True] Translation: X:116.53, Y:150.60, Z:30.32 [[-7.76108625e-02 -9.96955766e-01 -7.46687344e-03 1.16527387e+02] [ 8.28800795e-01 -6.86794718e-02 5.55312860e-01 1.50604449e+02] [-5.54135179e-01 3.69097594e-02 8.31608005e-01 3.03225505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.620714057 meters Centerline goodness : 0.991416 Centerline is valid? [True, True] Translation: X:116.52, Y:150.61, Z:30.32 [[-7.89831762e-02 -9.96873691e-01 -2.12176510e-03 1.16523703e+02] [ 8.29307516e-01 -6.68875546e-02 5.54774819e-01 1.50614934e+02] [-5.53182341e-01 4.20582815e-02 8.31997836e-01 3.03195820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.650714057 meters Centerline goodness : 0.991285 Centerline is valid? [True, True] Translation: X:116.52, Y:150.64, Z:30.31 [[-7.99277183e-02 -9.96796536e-01 2.86808303e-03 1.16518793e+02] [ 8.29060609e-01 -6.48798816e-02 5.55381948e-01 1.50638572e+02] [-5.53416721e-01 4.67682266e-02 8.31590444e-01 3.03062502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.680714057 meters Centerline goodness : 0.991119 Centerline is valid? [True, True] Translation: X:116.51, Y:150.62, Z:30.32 [[-7.37373564e-02 -9.97045057e-01 2.15396482e-02 1.16512697e+02] [ 8.22501922e-01 -4.85865294e-02 5.66683277e-01 1.50620294e+02] [-5.63962224e-01 5.95021289e-02 8.23654118e-01 3.03200765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.710714057 meters Centerline goodness : 0.989478 Centerline is valid? [True, True] Translation: X:116.52, Y:150.62, Z:30.31 [[-7.67671807e-02 -9.97019802e-01 -7.63639379e-03 1.16520120e+02] [ 8.26305626e-01 -6.79051349e-02 5.59113499e-01 1.50621742e+02] [-5.57965781e-01 3.66115719e-02 8.29055957e-01 3.03116640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.740714057 meters Centerline goodness : 0.990071 Centerline is valid? [True, True] Translation: X:116.51, Y:150.63, Z:30.31 [[-7.52843597e-02 -9.97137991e-01 6.93484847e-03 1.16513162e+02] [ 8.25213250e-01 -5.83968247e-02 5.61794360e-01 1.50633723e+02] [-5.59781526e-01 4.80170575e-02 8.27247850e-01 3.03078842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.770714057 meters Centerline goodness : 0.990393 Centerline is valid? [True, True] Translation: X:116.51, Y:150.64, Z:30.30 [[-7.63546488e-02 -9.97052448e-01 7.50895233e-03 1.16511600e+02] [ 8.24718571e-01 -5.89212427e-02 5.62465614e-01 1.50641918e+02] [-5.60365280e-01 4.91396368e-02 8.26786580e-01 3.03014932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.800714057 meters Centerline goodness : 0.989679 Centerline is valid? [True, True] Translation: X:116.51, Y:150.64, Z:30.30 [[-7.65846414e-02 -9.97028022e-01 8.36154458e-03 1.16510847e+02] [ 8.23948941e-01 -5.85630670e-02 5.63629762e-01 1.50644884e+02] [-5.61464990e-01 5.00548690e-02 8.25985215e-01 3.02987782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.830714057 meters Centerline goodness : 0.990327 Centerline is valid? [True, True] Translation: X:116.51, Y:150.68, Z:30.28 [[-8.06689138e-02 -9.96728509e-01 4.98062689e-03 1.16509770e+02] [ 8.24630967e-01 -6.39318922e-02 5.62046689e-01 1.50677799e+02] [-5.59889538e-01 4.94468751e-02 8.27090510e-01 3.02754238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.860714057 meters Centerline goodness : 0.991020 Centerline is valid? [True, True] Translation: X:116.50, Y:150.68, Z:30.28 [[-7.89702947e-02 -9.96541812e-01 2.58478035e-02 1.16500691e+02] [ 8.25859464e-01 -5.08788101e-02 5.61575901e-01 1.50680782e+02] [-5.58318761e-01 6.56944675e-02 8.27021401e-01 3.02814878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.890714057 meters Centerline goodness : 0.989552 Centerline is valid? [True, True] Translation: X:116.50, Y:150.69, Z:30.27 [[-7.96276260e-02 -9.96767747e-01 1.06535971e-02 1.16504226e+02] [ 8.21185536e-01 -5.95350673e-02 5.67547259e-01 1.50694280e+02] [-5.65078540e-01 5.39410208e-02 8.23271893e-01 3.02664201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.920714057 meters Centerline goodness : 0.990888 Centerline is valid? [True, True] Translation: X:116.50, Y:150.73, Z:30.25 [[-8.53178490e-02 -9.95902072e-01 2.99987891e-02 1.16495819e+02] [ 8.26545498e-01 -5.39323691e-02 5.60280144e-01 1.50727474e+02] [-5.56366251e-01 7.25972608e-02 8.27759768e-01 3.02533778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.950714057 meters Centerline goodness : 0.990966 Centerline is valid? [True, True] Translation: X:116.49, Y:150.75, Z:30.24 [[-8.68688296e-02 -9.95827971e-01 2.79366752e-02 1.16494759e+02] [ 8.25561643e-01 -5.62638624e-02 5.61500091e-01 1.50749748e+02] [-5.57585671e-01 7.18403032e-02 8.27004952e-01 3.02360211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.980714057 meters Centerline goodness : 0.989765 Centerline is valid? [True, True] Translation: X:116.50, Y:150.76, Z:30.22 [[-8.30274844e-02 -9.96509681e-01 8.65399694e-03 1.16500492e+02] [ 8.20501747e-01 -6.34291261e-02 5.68114099e-01 1.50763303e+02] [-5.65582284e-01 5.42697041e-02 8.22904295e-01 3.02184650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.01071405700003 meters Centerline goodness : 0.989125 Centerline is valid? [True, True] Translation: X:116.49, Y:150.79, Z:30.20 [[-7.91739287e-02 -9.96521476e-01 2.60083925e-02 1.16491217e+02] [ 8.19914943e-01 -5.02587783e-02 5.70274970e-01 1.50788847e+02] [-5.66984105e-01 6.64755795e-02 8.21042034e-01 3.02041963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.040714057 meters Centerline goodness : 0.989723 Centerline is valid? [True, True] Translation: X:116.49, Y:150.81, Z:30.18 [[-7.92384571e-02 -9.96719765e-01 1.64613809e-02 1.16492731e+02] [ 8.19852204e-01 -5.57661818e-02 5.69853048e-01 1.50813320e+02] [-5.67065808e-01 5.86501758e-02 8.21581722e-01 3.01828873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.070714057 meters Centerline goodness : 0.989731 Centerline is valid? [True, True] Translation: X:116.49, Y:150.83, Z:30.17 [[-7.26309860e-02 -9.97238349e-01 1.55052979e-02 1.16488950e+02] [ 8.19515406e-01 -5.08121134e-02 5.70799991e-01 1.50834024e+02] [-5.68435784e-01 5.41645967e-02 8.20942724e-01 3.01685158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.100714057 meters Centerline goodness : 0.990090 Centerline is valid? [True, True] Translation: X:116.49, Y:150.86, Z:30.15 [[-7.05704384e-02 -9.97302831e-01 2.01711931e-02 1.16485313e+02] [ 8.19579570e-01 -4.64439934e-02 5.71079928e-01 1.50860504e+02] [-5.68602798e-01 5.68332586e-02 8.20646598e-01 3.01523402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.130714057 meters Centerline goodness : 0.989070 Centerline is valid? [True, True] Translation: X:116.48, Y:150.88, Z:30.14 [[-6.43977723e-02 -9.97750053e-01 1.86482928e-02 1.16482345e+02] [ 8.19237548e-01 -4.21870251e-02 5.71900424e-01 1.50884213e+02] [-5.69826962e-01 5.21064949e-02 8.20111058e-01 3.01360744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.160714057 meters Centerline goodness : 0.990559 Centerline is valid? [True, True] Translation: X:116.48, Y:150.91, Z:30.12 [[-6.19837106e-02 -9.97982516e-01 1.37447285e-02 1.16482298e+02] [ 8.19082830e-01 -4.29936962e-02 5.72061936e-01 1.50906333e+02] [-5.70316874e-01 4.67165926e-02 8.20095253e-01 3.01207068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.190714057 meters Centerline goodness : 0.989176 Centerline is valid? [True, True] Translation: X:116.48, Y:150.93, Z:30.11 [[-5.58107703e-02 -9.98317305e-01 1.57390044e-02 1.16478906e+02] [ 8.18419323e-01 -3.67128975e-02 5.73447448e-01 1.50928019e+02] [-5.71904686e-01 4.48856491e-02 8.19091148e-01 3.01068410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.220714057 meters Centerline goodness : 0.989365 Centerline is valid? [True, True] Translation: X:116.48, Y:150.95, Z:30.09 [[-5.39502346e-02 -9.98513948e-01 7.69852201e-03 1.16480629e+02] [ 8.19008998e-01 -3.98383262e-02 5.72395990e-01 1.50948082e+02] [-5.71238684e-01 3.71860567e-02 8.19941195e-01 3.00896538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.250714057 meters Centerline goodness : 0.990053 Centerline is valid? [True, True] Translation: X:116.48, Y:150.97, Z:30.08 [[-5.14219506e-02 -9.98676654e-01 -8.50405439e-04 1.16480300e+02] [ 8.21064253e-01 -4.27613915e-02 5.69231899e-01 1.50968596e+02] [-5.68514973e-01 2.85727771e-02 8.22176576e-01 3.00766212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.280714057 meters Centerline goodness : 0.988865 Centerline is valid? [True, True] Translation: X:116.47, Y:151.00, Z:30.06 [[-5.13977937e-02 -9.98597023e-01 1.27378677e-02 1.16474742e+02] [ 8.22057061e-01 -3.50618667e-02 5.68324603e-01 1.50995920e+02] [-5.67080643e-01 3.96818848e-02 8.22705836e-01 3.00630139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.310714057 meters Centerline goodness : 0.989948 Centerline is valid? [True, True] Translation: X:116.48, Y:151.00, Z:30.05 [[-4.98212493e-02 -9.98740973e-01 5.85760277e-03 1.16475931e+02] [ 8.21593118e-01 -3.76482166e-02 5.68829816e-01 1.51003053e+02] [-5.67893116e-01 3.31523782e-02 8.22434392e-01 3.00543549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.340714057 meters Centerline goodness : 0.989612 Centerline is valid? [True, True] Translation: X:116.47, Y:151.03, Z:30.04 [[-4.97985843e-02 -9.98689136e-01 1.18368457e-02 1.16473476e+02] [ 8.21874276e-01 -3.42421718e-02 5.68638856e-01 1.51027811e+02] [-5.67488129e-01 3.80458090e-02 8.22502122e-01 3.00396742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.370714057 meters Centerline goodness : 0.989673 Centerline is valid? [True, True] Translation: X:116.48, Y:151.03, Z:30.03 [[-5.06083602e-02 -9.98697580e-01 6.47594157e-03 1.16475814e+02] [ 8.21805195e-01 -3.79580599e-02 5.68502777e-01 1.51030341e+02] [-5.67516534e-01 3.40929558e-02 8.22655854e-01 3.00331303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.400714057 meters Centerline goodness : 0.990244 Centerline is valid? [True, True] Translation: X:116.48, Y:151.05, Z:30.02 [[-5.35736146e-02 -9.98563042e-01 1.31084415e-03 1.16476842e+02] [ 8.23749709e-01 -4.34526872e-02 5.65286017e-01 1.51053228e+02] [-5.64416766e-01 3.13642227e-02 8.24893933e-01 3.00187666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.430714057 meters Centerline goodness : 0.989284 Centerline is valid? [True, True] Translation: X:116.48, Y:151.08, Z:30.01 [[-5.80243161e-02 -9.98313698e-01 1.71466167e-03 1.16476004e+02] [ 8.25342227e-01 -4.70043882e-02 5.62672903e-01 1.51075040e+02] [-5.61643470e-01 3.40638931e-02 8.26677848e-01 3.00070621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.460714057 meters Centerline goodness : 0.989977 Centerline is valid? [True, True] Translation: X:116.48, Y:151.10, Z:29.99 [[-6.44177079e-02 -9.97872350e-01 -1.00564304e-02 1.16479500e+02] [ 8.27442514e-01 -5.90434647e-02 5.58437781e-01 1.51097504e+02] [-5.57843388e-01 2.76521638e-02 8.29485450e-01 2.99922297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.490714057 meters Centerline goodness : 0.991190 Centerline is valid? [True, True] Translation: X:116.48, Y:151.10, Z:30.00 [[-6.50583889e-02 -9.97868429e-01 -5.09940721e-03 1.16477478e+02] [ 8.29010224e-01 -5.68923030e-02 5.56332018e-01 1.51096144e+02] [-5.55436274e-01 3.19666041e-02 8.30944452e-01 2.99965833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.520714057 meters Centerline goodness : 0.990760 Centerline is valid? [True, True] Translation: X:116.48, Y:151.12, Z:29.98 [[-6.90601910e-02 -9.97568121e-01 -9.40926144e-03 1.16477406e+02] [ 8.30447665e-01 -6.27119323e-02 5.53555679e-01 1.51121569e+02] [-5.52799571e-01 3.04147617e-02 8.32759015e-01 2.99845197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.550714057 meters Centerline goodness : 0.990749 Centerline is valid? [True, True] Translation: X:116.47, Y:151.15, Z:29.97 [[-6.88171489e-02 -9.97607462e-01 6.59938558e-03 1.16471421e+02] [ 8.30819138e-01 -5.36472221e-02 5.53950842e-01 1.51148637e+02] [-5.52271455e-01 4.36042134e-02 8.32523221e-01 2.99743732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.580714057 meters Centerline goodness : 0.990766 Centerline is valid? [True, True] Translation: X:116.48, Y:151.17, Z:29.95 [[-6.92758882e-02 -9.97584376e-01 -5.12486282e-03 1.16475789e+02] [ 8.29041123e-01 -6.04275085e-02 5.55913062e-01 1.51169503e+02] [-5.54879867e-01 3.42626491e-02 8.31224641e-01 2.99548251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.610714057 meters Centerline goodness : 0.990624 Centerline is valid? [True, True] Translation: X:116.47, Y:151.20, Z:29.95 [[-6.56148237e-02 -9.97831492e-01 5.19689683e-03 1.16470286e+02] [ 8.30591472e-01 -5.17297432e-02 5.54474383e-01 1.51196661e+02] [-5.53003166e-01 4.06982370e-02 8.32184566e-01 2.99459384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.640714057 meters Centerline goodness : 0.990234 Centerline is valid? [True, True] Translation: X:116.47, Y:151.22, Z:29.93 [[-6.38109454e-02 -9.97955562e-01 -3.58606442e-03 1.16472358e+02] [ 8.29626782e-01 -5.50442153e-02 5.55598360e-01 1.51217225e+02] [-5.54659865e-01 3.24781615e-02 8.31443085e-01 2.99293560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.670714057 meters Centerline goodness : 0.991194 Centerline is valid? [True, True] Translation: X:116.47, Y:151.21, Z:29.94 [[-5.62958767e-02 -9.98396933e-01 5.85998421e-03 1.16468462e+02] [ 8.28535763e-01 -4.34414597e-02 5.58248447e-01 1.51208804e+02] [-5.57098971e-01 3.62822922e-02 8.29653139e-01 2.99391806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.700714057 meters Centerline goodness : 0.990706 Centerline is valid? [True, True] Translation: X:116.47, Y:151.23, Z:29.92 [[-5.45236395e-02 -9.98510295e-01 -2.08875965e-03 1.16470757e+02] [ 8.28765980e-01 -4.64213230e-02 5.57666578e-01 1.51229258e+02] [-5.56932782e-01 2.86749185e-02 8.30062423e-01 2.99224105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.730714057 meters Centerline goodness : 0.991155 Centerline is valid? [True, True] Translation: X:116.47, Y:151.25, Z:29.91 [[-5.14254645e-02 -9.98675419e-01 1.68187255e-03 1.16470145e+02] [ 8.28171763e-01 -4.17043250e-02 5.58920639e-01 1.51253762e+02] [-5.58110162e-01 3.01356328e-02 8.29219446e-01 2.99079177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.76071405700003 meters Centerline goodness : 0.990009 Centerline is valid? [True, True] Translation: X:116.47, Y:151.28, Z:29.89 [[-4.81044857e-02 -9.98804748e-01 8.66220222e-03 1.16469003e+02] [ 8.27320640e-01 -3.49832744e-02 5.60639572e-01 1.51277551e+02] [-5.59666434e-01 3.41356969e-02 8.28014636e-01 2.98935216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.790714057 meters Centerline goodness : 0.991422 Centerline is valid? [True, True] Translation: X:116.47, Y:151.30, Z:29.87 [[-4.71628448e-02 -9.98873104e-01 -5.30928224e-03 1.16472977e+02] [ 8.27128009e-01 -4.20326082e-02 5.60439574e-01 1.51298311e+02] [-5.60031180e-01 2.20404686e-02 8.28178299e-01 2.98739042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.820714057 meters Centerline goodness : 0.990761 Centerline is valid? [True, True] Translation: X:116.47, Y:151.33, Z:29.86 [[-4.50818531e-02 -9.98948065e-01 8.38992593e-03 1.16468760e+02] [ 8.27587810e-01 -3.26419289e-02 5.60386404e-01 1.51325906e+02] [-5.59523051e-01 3.22066580e-02 8.28188799e-01 2.98641667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.850714057 meters Centerline goodness : 0.988867 Centerline is valid? [True, True] Translation: X:116.46, Y:151.36, Z:29.86 [[-3.82133380e-02 -9.98267913e-01 4.47315805e-02 1.16457847e+02] [ 8.29368627e-01 -6.71476562e-03 5.58661429e-01 1.51356741e+02] [-5.57393417e-01 5.84472875e-02 8.28188683e-01 2.98580895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.880714057 meters Centerline goodness : 0.990366 Centerline is valid? [True, True] Translation: X:116.49, Y:151.36, Z:29.81 [[-3.63946966e-02 -9.98966043e-01 -2.72446570e-02 1.16485744e+02] [ 8.23696704e-01 -4.54240637e-02 5.65208276e-01 1.51362238e+02] [-5.65861438e-01 -1.87075046e-03 8.24498231e-01 2.98120938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.910714057 meters Centerline goodness : 0.987367 Centerline is valid? [True, True] Translation: X:116.47, Y:151.40, Z:29.81 [[-3.30001124e-02 -9.99177852e-01 2.35502325e-02 1.16469624e+02] [ 8.23896374e-01 -1.38571859e-02 5.66571040e-01 1.51395023e+02] [-5.65778895e-01 3.80998592e-02 8.23676297e-01 2.98111557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.940714057 meters Centerline goodness : 0.988427 Centerline is valid? [True, True] Translation: X:116.48, Y:151.41, Z:29.79 [[-3.10603501e-02 -9.99491599e-01 -7.19705627e-03 1.16482642e+02] [ 8.22653205e-01 -2.96532425e-02 5.67769663e-01 1.51410098e+02] [-5.67694425e-01 1.17144431e-02 8.23156007e-01 2.97859577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.970714057 meters Centerline goodness : 0.988896 Centerline is valid? [True, True] Translation: X:116.48, Y:151.43, Z:29.77 [[-3.19287179e-02 -9.99487875e-01 -2.13195545e-03 1.16482162e+02] [ 8.22012775e-01 -2.74725524e-02 5.68805992e-01 1.51434355e+02] [-5.68573263e-01 1.64087515e-02 8.22468965e-01 2.97706907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.000714057 meters Centerline goodness : 0.987022 Centerline is valid? [True, True] Translation: X:116.48, Y:151.46, Z:29.76 [[-2.91672605e-02 -9.99482788e-01 1.35435150e-02 1.16479734e+02] [ 8.21212301e-01 -1.62358012e-02 5.70391756e-01 1.51459373e+02] [-5.69876852e-01 2.77588660e-02 8.21261115e-01 2.97577598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.030714057 meters Centerline goodness : 0.988006 Centerline is valid? [True, True] Translation: X:116.48, Y:151.48, Z:29.74 [[-3.01143310e-02 -9.99484196e-01 1.11565294e-02 1.16483348e+02] [ 8.22195109e-01 -1.84223239e-02 5.68907568e-01 1.51481973e+02] [-5.68408594e-01 2.63051147e-02 8.22325794e-01 2.97376055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.060714057 meters Centerline goodness : 0.987709 Centerline is valid? [True, True] Translation: X:116.49, Y:151.50, Z:29.72 [[-3.14675524e-02 -9.99502090e-01 -2.31639141e-03 1.16491737e+02] [ 8.21370467e-01 -2.71798087e-02 5.69747149e-01 1.51501258e+02] [-5.69526425e-01 1.60259327e-02 8.21816781e-01 2.97168864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.090714057 meters Centerline goodness : 0.988684 Centerline is valid? [True, True] Translation: X:116.49, Y:151.51, Z:29.72 [[-3.08383654e-02 -9.99439217e-01 1.30478711e-02 1.16487821e+02] [ 8.21399344e-01 -1.79024204e-02 5.70072470e-01 1.51509720e+02] [-5.69519195e-01 2.82976159e-02 8.21490798e-01 2.97181514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.120714057 meters Centerline goodness : 0.984925 Centerline is valid? [True, True] Translation: X:116.50, Y:151.52, Z:29.70 [[-3.30263102e-02 -9.99440003e-01 -5.37995041e-03 1.16498194e+02] [ 8.21552693e-01 -3.02127484e-02 5.69331505e-01 1.51519359e+02] [-5.69175224e-01 1.43830061e-02 8.22090442e-01 2.97024777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.150714057 meters Centerline goodness : 0.985757 Centerline is valid? [True, True] Translation: X:116.49, Y:151.53, Z:29.70 [[-3.21834377e-02 -9.99376763e-01 1.45021495e-02 1.16492831e+02] [ 8.19547563e-01 -1.80813715e-02 5.72725813e-01 1.51526374e+02] [-5.72106650e-01 3.03174868e-02 8.19618711e-01 2.97047859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.180714057 meters Centerline goodness : 0.986418 Centerline is valid? [True, True] Translation: X:116.50, Y:151.54, Z:29.68 [[-3.79535048e-02 -9.99271467e-01 -4.00827485e-03 1.16503610e+02] [ 8.19272032e-01 -3.34130470e-02 5.72430700e-01 1.51543773e+02] [-5.72147594e-01 1.84418838e-02 8.19943308e-01 2.96843172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.210714057 meters Centerline goodness : 0.987176 Centerline is valid? [True, True] Translation: X:116.50, Y:151.56, Z:29.68 [[-3.94703124e-02 -9.99214131e-01 3.63521239e-03 1.16504144e+02] [ 8.17877812e-01 -3.02168536e-02 5.74597969e-01 1.51556039e+02] [-5.74036565e-01 2.56527209e-02 8.18427736e-01 2.96768655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.240714057 meters Centerline goodness : 0.986081 Centerline is valid? [True, True] Translation: X:116.51, Y:151.56, Z:29.67 [[-4.01522234e-02 -9.99190981e-01 -2.27670257e-03 1.16507668e+02] [ 8.16549948e-01 -3.41258889e-02 5.76265222e-01 1.51563584e+02] [-5.75876707e-01 2.12792886e-02 8.17259573e-01 2.96684921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.270714057 meters Centerline goodness : 0.985458 Centerline is valid? [True, True] Translation: X:116.51, Y:151.57, Z:29.67 [[-4.55287781e-02 -9.98931686e-01 7.91315605e-03 1.16508185e+02] [ 8.15562760e-01 -3.25945719e-02 5.77749927e-01 1.51570669e+02] [-5.76874783e-01 3.27579236e-02 8.16175473e-01 2.96669310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.300714057 meters Centerline goodness : 0.985817 Centerline is valid? [True, True] Translation: X:116.51, Y:151.58, Z:29.65 [[-4.61564201e-02 -9.98925626e-01 4.14471921e-03 1.16513071e+02] [ 8.10054766e-01 -3.50008921e-02 5.85308648e-01 1.51576550e+02] [-5.84534739e-01 3.03732014e-02 8.10799980e-01 2.96513193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.330714057 meters Centerline goodness : 0.986151 Centerline is valid? [True, True] Translation: X:116.52, Y:151.60, Z:29.63 [[-4.77571675e-02 -9.98858887e-01 4.21563563e-04 1.16515658e+02] [ 8.11430338e-01 -3.85497583e-02 5.83176408e-01 1.51598052e+02] [-5.82494687e-01 2.81929229e-02 8.12345431e-01 2.96337428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.360714057 meters Centerline goodness : 0.986151 Centerline is valid? [True, True] Translation: X:116.52, Y:151.60, Z:29.63 [[-4.71577535e-02 -9.98887307e-01 -5.42224077e-04 1.16515994e+02] [ 8.11417236e-01 -3.86238099e-02 5.83189738e-01 1.51602759e+02] [-5.82561770e-01 2.70619480e-02 8.12335790e-01 2.96298500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.390714057 meters Centerline goodness : 0.985383 Centerline is valid? [True, True] Translation: X:116.52, Y:151.63, Z:29.62 [[-4.64094825e-02 -9.98916358e-01 3.50283479e-03 1.16516413e+02] [ 8.09459044e-01 -3.55520929e-02 5.86099058e-01 1.51628145e+02] [-5.85339403e-01 3.00359552e-02 8.10231834e-01 2.96176218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.420714057 meters Centerline goodness : 0.986065 Centerline is valid? [True, True] Translation: X:116.52, Y:151.65, Z:29.60 [[-4.58984013e-02 -9.98946097e-01 1.77533316e-04 1.16518510e+02] [ 8.07884597e-01 -3.70152009e-02 5.88177144e-01 1.51648284e+02] [-5.87550691e-01 2.71398170e-02 8.08732104e-01 2.95998065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.450714057 meters Centerline goodness : 0.986907 Centerline is valid? [True, True] Translation: X:116.52, Y:151.67, Z:29.58 [[-4.54839248e-02 -9.98965067e-01 8.91696032e-05 1.16519045e+02] [ 8.08018593e-01 -3.67374450e-02 5.88010471e-01 1.51670629e+02] [-5.87398644e-01 2.68170747e-02 8.08853311e-01 2.95832952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.480714057 meters Centerline goodness : 0.986228 Centerline is valid? [True, True] Translation: X:116.52, Y:151.68, Z:29.58 [[-4.38149175e-02 -9.99039658e-01 -1.17967480e-04 1.16519395e+02] [ 8.07529050e-01 -3.54853512e-02 5.88759394e-01 1.51676233e+02] [-5.88198170e-01 2.57011821e-02 8.08308334e-01 2.95806984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.51071405700003 meters Centerline goodness : 0.985972 Centerline is valid? [True, True] Translation: X:116.52, Y:151.70, Z:29.57 [[-4.49336178e-02 -9.98989928e-01 3.07467699e-04 1.16518941e+02] [ 8.08773207e-01 -3.61971826e-02 5.87005676e-01 1.51699056e+02] [-5.86401629e-01 2.66249603e-02 8.09582758e-01 2.95654133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.540714057 meters Centerline goodness : 0.985966 Centerline is valid? [True, True] Translation: X:116.52, Y:151.72, Z:29.55 [[-4.48505757e-02 -9.98993701e-01 1.02991695e-04 1.16519762e+02] [ 8.08495012e-01 -3.62374365e-02 5.87386299e-01 1.51720239e+02] [-5.86791481e-01 2.64278819e-02 8.09306694e-01 2.95477959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.570714057 meters Centerline goodness : 0.984891 Centerline is valid? [True, True] Translation: X:116.52, Y:151.72, Z:29.55 [[-4.52277028e-02 -9.98976699e-01 -1.03196430e-04 1.16520122e+02] [ 8.09883435e-01 -3.67271656e-02 5.85439951e-01 1.51721272e+02] [-5.84844660e-01 2.63945271e-02 8.10715766e-01 2.95484940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.600714057 meters Centerline goodness : 0.984755 Centerline is valid? [True, True] Translation: X:116.52, Y:151.74, Z:29.53 [[-4.65847532e-02 -9.98914290e-01 3.19218158e-04 1.16519986e+02] [ 8.10302731e-01 -3.76018975e-02 5.84803884e-01 1.51742921e+02] [-5.84156953e-01 2.75016079e-02 8.11174652e-01 2.95329812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.630714057 meters Centerline goodness : 0.984276 Centerline is valid? [True, True] Translation: X:116.52, Y:151.77, Z:29.52 [[-4.77738661e-02 -9.98858161e-01 1.81448339e-04 1.16520424e+02] [ 8.10281709e-01 -3.86483154e-02 5.84764791e-01 1.51765155e+02] [-5.84090071e-01 2.80834991e-02 8.11202876e-01 2.95164702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.660714057 meters Centerline goodness : 0.986136 Centerline is valid? [True, True] Translation: X:116.52, Y:151.78, Z:29.51 [[-5.07531005e-02 -9.98705233e-01 -3.46116385e-03 1.16521680e+02] [ 8.12800707e-01 -4.33189343e-02 5.80928981e-01 1.51783007e+02] [-5.80326747e-01 2.66707105e-02 8.13946890e-01 2.95063353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.690714057 meters Centerline goodness : 0.986296 Centerline is valid? [True, True] Translation: X:116.53, Y:151.80, Z:29.49 [[-5.66003445e-02 -9.98387019e-01 -4.44544395e-03 1.16525949e+02] [ 8.12616616e-01 -4.86546138e-02 5.80764121e-01 1.51803738e+02] [-5.80043650e-01 2.92590077e-02 8.14059748e-01 2.94887212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.720714057 meters Centerline goodness : 0.986560 Centerline is valid? [True, True] Translation: X:116.52, Y:151.83, Z:29.48 [[-6.28585580e-02 -9.98014105e-01 4.08018050e-03 1.16522583e+02] [ 8.13577752e-01 -4.88733311e-02 5.79398515e-01 1.51833712e+02] [-5.78048478e-01 3.97396993e-02 8.15034179e-01 2.94775047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.750714057 meters Centerline goodness : 0.986681 Centerline is valid? [True, True] Translation: X:116.53, Y:151.85, Z:29.46 [[-6.68726255e-02 -9.97740208e-01 -6.52146608e-03 1.16526950e+02] [ 8.14309484e-01 -5.83529618e-02 5.77490256e-01 1.51851078e+02] [-5.76565795e-01 3.33077979e-02 8.16371530e-01 2.94611464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.780714057 meters Centerline goodness : 0.988261 Centerline is valid? [True, True] Translation: X:116.52, Y:151.88, Z:29.45 [[-7.11328260e-02 -9.97463091e-01 -2.73921002e-03 1.16524322e+02] [ 8.15220021e-01 -5.97183649e-02 5.76064262e-01 1.51878402e+02] [-5.74766421e-01 3.87440200e-02 8.17399818e-01 2.94503741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.810714057 meters Centerline goodness : 0.985599 Centerline is valid? [True, True] Translation: X:116.52, Y:151.90, Z:29.44 [[-7.21152635e-02 -9.97394951e-01 1.64345263e-03 1.16522764e+02] [ 8.15256807e-01 -5.79966057e-02 5.76188105e-01 1.51900861e+02] [-5.74591792e-01 4.28917929e-02 8.17315464e-01 2.94361327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.840714057 meters Centerline goodness : 0.986242 Centerline is valid? [True, True] Translation: X:116.52, Y:151.92, Z:29.42 [[-7.38728196e-02 -9.97267519e-01 -5.49362547e-04 1.16523289e+02] [ 8.14999552e-01 -6.06887295e-02 5.76274768e-01 1.51923306e+02] [-5.74733448e-01 4.21233118e-02 8.17255829e-01 2.94184181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.870714057 meters Centerline goodness : 0.987123 Centerline is valid? [True, True] Translation: X:116.52, Y:151.95, Z:29.40 [[-7.53414389e-02 -9.97155823e-01 -1.98321349e-03 1.16523854e+02] [ 8.14892525e-01 -6.27162972e-02 5.76209024e-01 1.51946087e+02] [-5.74694563e-01 4.17963111e-02 8.17299962e-01 2.94014838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.900714057 meters Centerline goodness : 0.985984 Centerline is valid? [True, True] Translation: X:116.52, Y:151.97, Z:29.39 [[-7.56966951e-02 -9.97128522e-01 2.17263572e-03 1.16521549e+02] [ 8.15759079e-01 -6.06747913e-02 5.75200569e-01 1.51969322e+02] [-5.73417069e-01 4.53131294e-02 8.18009526e-01 2.93885732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.930714057 meters Centerline goodness : 0.987578 Centerline is valid? [True, True] Translation: X:116.52, Y:151.99, Z:29.37 [[-7.72621959e-02 -9.96944640e-01 -1.14863854e-02 1.16523859e+02] [ 8.15800975e-01 -6.98382954e-02 5.74100497e-01 1.51992619e+02] [-5.73148604e-01 3.49856607e-02 8.18704270e-01 2.93702192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.960714057 meters Centerline goodness : 0.987953 Centerline is valid? [True, True] Translation: X:116.52, Y:152.02, Z:29.36 [[-7.67419062e-02 -9.97040907e-01 -4.48428178e-03 1.16520409e+02] [ 8.15767275e-01 -6.53739827e-02 5.74673817e-01 1.52017300e+02] [-5.73266459e-01 4.04434338e-02 8.18370268e-01 2.93554992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.990714057 meters Centerline goodness : 0.987800 Centerline is valid? [True, True] Translation: X:116.52, Y:152.03, Z:29.35 [[-7.53160034e-02 -9.97144843e-01 -5.44626619e-03 1.16518520e+02] [ 8.17660635e-01 -6.48836254e-02 5.72032518e-01 1.52028327e+02] [-5.70752648e-01 3.86300055e-02 8.20212861e-01 2.93486209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.020714057 meters Centerline goodness : 0.987705 Centerline is valid? [True, True] Translation: X:116.52, Y:152.05, Z:29.33 [[-7.59433880e-02 -9.97098290e-01 -5.25375554e-03 1.16518034e+02] [ 8.17400691e-01 -6.52726179e-02 5.72359673e-01 1.52051101e+02] [-5.71041777e-01 3.91725093e-02 8.19985855e-01 2.93337418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.050714057 meters Centerline goodness : 0.988667 Centerline is valid? [True, True] Translation: X:116.51, Y:152.08, Z:29.32 [[-7.56636175e-02 -9.97069294e-01 1.13066141e-02 1.16511793e+02] [ 8.17692155e-01 -5.55540214e-02 5.72968838e-01 1.52077739e+02] [-5.70661507e-01 5.25982247e-02 8.19499159e-01 2.93211404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.080714057 meters Centerline goodness : 0.988955 Centerline is valid? [True, True] Translation: X:116.52, Y:152.10, Z:29.30 [[-7.61235041e-02 -9.97065447e-01 -8.10599769e-03 1.16515386e+02] [ 8.17037804e-01 -6.70345919e-02 5.72674070e-01 1.52096339e+02] [-5.71536909e-01 3.69710503e-02 8.19743071e-01 2.93011148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.110714057 meters Centerline goodness : 0.989454 Centerline is valid? [True, True] Translation: X:116.51, Y:152.12, Z:29.29 [[-7.57022791e-02 -9.97128490e-01 -1.98474517e-03 1.16512343e+02] [ 8.16738013e-01 -6.31485970e-02 5.73542739e-01 1.52120305e+02] [-5.72021139e-01 4.17974757e-02 8.19173234e-01 2.92851048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.140714057 meters Centerline goodness : 0.988632 Centerline is valid? [True, True] Translation: X:116.51, Y:152.14, Z:29.27 [[-7.64367281e-02 -9.97073908e-01 -1.02447847e-03 1.16511297e+02] [ 8.16691915e-01 -6.31978244e-02 5.73602956e-01 1.52143514e+02] [-5.71989286e-01 4.30076499e-02 8.19132834e-01 2.92695189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.170714057 meters Centerline goodness : 0.989417 Centerline is valid? [True, True] Translation: X:116.51, Y:152.17, Z:29.25 [[-7.69868794e-02 -9.97030958e-01 -1.51303625e-03 1.16510619e+02] [ 8.17167018e-01 -6.39677901e-02 5.72840455e-01 1.52167099e+02] [-5.71236453e-01 4.28647957e-02 8.19665495e-01 2.92527575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.200714057 meters Centerline goodness : 0.989389 Centerline is valid? [True, True] Translation: X:116.51, Y:152.19, Z:29.24 [[-7.62467185e-02 -9.97033160e-01 1.05506535e-02 1.16505613e+02] [ 8.18030168e-01 -5.65006187e-02 5.72393505e-01 1.52191406e+02] [-5.70099186e-01 5.22738793e-02 8.19911190e-01 2.92395344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.230714057 meters Centerline goodness : 0.988924 Centerline is valid? [True, True] Translation: X:116.51, Y:152.21, Z:29.22 [[-7.71686692e-02 -9.96998666e-01 -6.21740144e-03 1.16509069e+02] [ 8.17539410e-01 -6.68452820e-02 5.71979914e-01 1.52211078e+02] [-5.70678815e-01 3.90559580e-02 8.20244063e-01 2.92193832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.26071405700003 meters Centerline goodness : 0.989083 Centerline is valid? [True, True] Translation: X:116.51, Y:152.21, Z:29.22 [[-7.49067340e-02 -9.97187670e-01 -2.39404496e-03 1.16505804e+02] [ 8.18552430e-01 -6.28588259e-02 5.70982213e-01 1.52211625e+02] [-5.69526910e-01 4.08107614e-02 8.20958940e-01 2.92211824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.290714057 meters Centerline goodness : 0.988722 Centerline is valid? [True, True] Translation: X:116.50, Y:152.24, Z:29.21 [[-7.39280820e-02 -9.97196727e-01 1.15467347e-02 1.16499799e+02] [ 8.19923981e-01 -5.41867988e-02 5.69902146e-01 1.52236968e+02] [-5.67678874e-01 5.15992173e-02 8.21631436e-01 2.92086922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.320714057 meters Centerline goodness : 0.988875 Centerline is valid? [True, True] Translation: X:116.50, Y:152.26, Z:29.19 [[-7.19844682e-02 -9.97308000e-01 1.39638618e-02 1.16497965e+02] [ 8.17875266e-01 -5.10085207e-02 5.73130160e-01 1.52257956e+02] [-5.70875018e-01 5.26771670e-02 8.19345367e-01 2.91874410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.350714057 meters Centerline goodness : 0.989901 Centerline is valid? [True, True] Translation: X:116.50, Y:152.28, Z:29.17 [[-7.14153447e-02 -9.97390933e-01 1.05440042e-02 1.16498093e+02] [ 8.17264141e-01 -5.24511482e-02 5.73871240e-01 1.52278810e+02] [-5.71820927e-01 4.96004490e-02 8.18877661e-01 2.91697870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.380714057 meters Centerline goodness : 0.987554 Centerline is valid? [True, True] Translation: X:116.49, Y:152.30, Z:29.15 [[-6.91320712e-02 -9.97423907e-01 1.91391151e-02 1.16493876e+02] [ 8.15025908e-01 -4.54058288e-02 5.77642692e-01 1.52300659e+02] [-5.75285604e-01 5.55325104e-02 8.16065325e-01 2.91499941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.410714057 meters Centerline goodness : 0.989468 Centerline is valid? [True, True] Translation: X:116.50, Y:152.32, Z:29.13 [[-6.82702221e-02 -9.97558063e-01 1.47338949e-02 1.16495206e+02] [ 8.13458436e-01 -4.71086068e-02 5.79712128e-01 1.52322051e+02] [-5.77602415e-01 5.15624869e-02 8.14688137e-01 2.91285516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.440714057 meters Centerline goodness : 0.987820 Centerline is valid? [True, True] Translation: X:116.47, Y:152.36, Z:29.11 [[-5.86159896e-02 -9.92978495e-01 1.02751518e-01 1.16469302e+02] [ 8.06158787e-01 1.36237430e-02 5.91542394e-01 1.52363537e+02] [-5.88788736e-01 1.17507882e-01 7.99699770e-01 2.91087186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.470714057 meters Centerline goodness : 0.986565 Centerline is valid? [True, True] Translation: X:116.51, Y:152.36, Z:29.06 [[-5.88908472e-02 -9.98252693e-01 -4.84032296e-03 1.16505644e+02] [ 8.07224796e-01 -5.04728512e-02 5.88082154e-01 1.52357421e+02] [-5.87298899e-01 3.07254276e-02 8.08786716e-01 2.90612135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.500714057 meters Centerline goodness : 0.985812 Centerline is valid? [True, True] Translation: X:116.50, Y:152.36, Z:29.07 [[-5.55390959e-02 -9.98437108e-01 6.22495180e-03 1.16498817e+02] [ 8.08355635e-01 -4.13043318e-02 5.87243663e-01 1.52358648e+02] [-5.86068747e-01 3.76469570e-02 8.09386268e-01 2.90670936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.530714057 meters Centerline goodness : 0.986187 Centerline is valid? [True, True] Translation: X:116.50, Y:152.36, Z:29.06 [[-5.65766621e-02 -9.98397154e-01 -1.48448795e-03 1.16499777e+02] [ 8.12019004e-01 -4.68800599e-02 5.81745130e-01 1.52362554e+02] [-5.80882276e-01 3.17077652e-02 8.13369780e-01 2.90647482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.560714057 meters Centerline goodness : 0.985597 Centerline is valid? [True, True] Translation: X:116.49, Y:152.37, Z:29.06 [[-5.56614573e-02 -9.98391148e-01 1.08128720e-02 1.16493429e+02] [ 8.10471453e-01 -3.88545383e-02 5.84488108e-01 1.52374440e+02] [-5.83127624e-01 4.12969840e-02 8.11330224e-01 2.90642850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.590714057 meters Centerline goodness : 0.984417 Centerline is valid? [True, True] Translation: X:116.50, Y:152.38, Z:29.06 [[-5.55793274e-02 -9.98454265e-01 -1.34776285e-04 1.16495872e+02] [ 8.12647392e-01 -4.53147439e-02 5.80991213e-01 1.52380110e+02] [-5.80099262e-01 3.21815753e-02 8.13909818e-01 2.90572564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.620714057 meters Centerline goodness : 0.983772 Centerline is valid? [True, True] Translation: X:116.49, Y:152.39, Z:29.05 [[-5.49089146e-02 -9.98490619e-01 -1.22248231e-03 1.16494109e+02] [ 8.14024471e-01 -4.54737129e-02 5.79047754e-01 1.52386492e+02] [-5.78229342e-01 3.07997531e-02 8.15292710e-01 2.90534627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.650714057 meters Centerline goodness : 0.984743 Centerline is valid? [True, True] Translation: X:116.49, Y:152.40, Z:29.05 [[-5.30440589e-02 -9.98562288e-01 7.72553481e-03 1.16490486e+02] [ 8.13130739e-01 -3.87004572e-02 5.80793144e-01 1.52399392e+02] [-5.79659149e-01 3.70894956e-02 8.14014521e-01 2.90467990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.680714057 meters Centerline goodness : 0.983288 Centerline is valid? [True, True] Translation: X:116.49, Y:152.40, Z:29.04 [[-5.06434774e-02 -9.98709449e-01 3.83086808e-03 1.16491312e+02] [ 8.12965825e-01 -3.89959923e-02 5.81004199e-01 1.52401510e+02] [-5.80104995e-01 3.25384379e-02 8.13891544e-01 2.90426286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.710714057 meters Centerline goodness : 0.983801 Centerline is valid? [True, True] Translation: X:116.49, Y:152.40, Z:29.04 [[-4.77566967e-02 -9.98858433e-01 1.06209151e-03 1.16491510e+02] [ 8.12326536e-01 -3.82195789e-02 5.81949193e-01 1.52402135e+02] [-5.81244266e-01 2.86547362e-02 8.13224452e-01 2.90396292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.740714057 meters Centerline goodness : 0.983138 Centerline is valid? [True, True] Translation: X:116.49, Y:152.41, Z:29.03 [[-4.46388273e-02 -9.98996576e-01 3.63533076e-03 1.16490618e+02] [ 8.11898726e-01 -3.41578176e-02 5.82798167e-01 1.52412439e+02] [-5.82089198e-01 2.89669471e-02 8.12608812e-01 2.90330017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.770714057 meters Centerline goodness : 0.983466 Centerline is valid? [True, True] Translation: X:116.49, Y:152.41, Z:29.04 [[-4.36016584e-02 -9.99048973e-01 2.13483049e-04 1.16490855e+02] [ 8.13815120e-01 -3.53935193e-02 5.80045040e-01 1.52411030e+02] [-5.79485846e-01 2.54646614e-02 8.14584376e-01 2.90352497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.800714057 meters Centerline goodness : 0.984339 Centerline is valid? [True, True] Translation: X:116.49, Y:152.41, Z:29.03 [[-3.98359091e-02 -9.99205833e-01 8.96892757e-04 1.16489732e+02] [ 8.13963863e-01 -3.19301170e-02 5.80037325e-01 1.52414660e+02] [-5.79548040e-01 2.38363524e-02 8.14589404e-01 2.90326141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.830714057 meters Centerline goodness : 0.984181 Centerline is valid? [True, True] Translation: X:116.49, Y:152.42, Z:29.03 [[-3.88287686e-02 -9.99245527e-01 8.38878579e-04 1.16488897e+02] [ 8.17020814e-01 -3.12645077e-02 5.75759950e-01 1.52418801e+02] [-5.75299327e-01 2.30414311e-02 8.17618356e-01 2.90315618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.860714057 meters Centerline goodness : 0.984656 Centerline is valid? [True, True] Translation: X:116.49, Y:152.42, Z:29.02 [[-3.85447538e-02 -9.99252115e-01 -3.08430790e-03 1.16490580e+02] [ 8.18802748e-01 -3.33531277e-02 5.73105251e-01 1.52421610e+02] [-5.72779506e-01 1.95647610e-02 8.19475966e-01 2.90249108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.890714057 meters Centerline goodness : 0.985103 Centerline is valid? [True, True] Translation: X:116.49, Y:152.43, Z:29.03 [[-3.63875046e-02 -9.99296064e-01 9.12833723e-03 1.16486668e+02] [ 8.17237989e-01 -2.44985883e-02 5.75779375e-01 1.52429823e+02] [-5.75150432e-01 2.84111986e-02 8.17554148e-01 2.90265699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.920714057 meters Centerline goodness : 0.985318 Centerline is valid? [True, True] Translation: X:116.49, Y:152.42, Z:29.02 [[-3.33785536e-02 -9.99420963e-01 -6.60392053e-03 1.16493535e+02] [ 8.17634813e-01 -3.11060483e-02 5.74896275e-01 1.52420320e+02] [-5.74768810e-01 1.37896108e-02 8.18199646e-01 2.90247937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.950714057 meters Centerline goodness : 0.985174 Centerline is valid? [True, True] Translation: X:116.49, Y:152.45, Z:29.02 [[-3.36467818e-02 -9.99364508e-01 1.17674773e-02 1.16486878e+02] [ 8.18682743e-01 -2.08062711e-02 5.73869031e-01 1.52447605e+02] [-5.73259505e-01 2.89426767e-02 8.18862541e-01 2.90170228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.980714057 meters Centerline goodness : 0.986383 Centerline is valid? [True, True] Translation: X:116.49, Y:152.47, Z:29.00 [[-3.47213592e-02 -9.99395730e-01 -1.61305985e-03 1.16491796e+02] [ 8.19836435e-01 -2.94060202e-02 5.71842203e-01 1.52469568e+02] [-5.71544090e-01 1.85326933e-02 8.20362050e-01 2.89999970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.01071405700003 meters Centerline goodness : 0.986021 Centerline is valid? [True, True] Translation: X:116.49, Y:152.50, Z:28.99 [[-3.50641592e-02 -9.99308558e-01 1.23656749e-02 1.16487336e+02] [ 8.20171355e-01 -2.17040941e-02 5.71706113e-01 1.52495107e+02] [-5.71042426e-01 3.01883665e-02 8.20365291e-01 2.89880767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.040714057 meters Centerline goodness : 0.986346 Centerline is valid? [True, True] Translation: X:116.49, Y:152.51, Z:28.98 [[-3.59110622e-02 -9.99354860e-01 -5.10335455e-04 1.16492674e+02] [ 8.22070410e-01 -2.98308455e-02 5.68603870e-01 1.52514447e+02] [-5.68252264e-01 1.99996373e-02 8.22611317e-01 2.89751930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.070714057 meters Centerline goodness : 0.987039 Centerline is valid? [True, True] Translation: X:116.49, Y:152.54, Z:28.96 [[-3.90073866e-02 -9.99211360e-01 7.42177888e-03 1.16490679e+02] [ 8.23331561e-01 -2.79308338e-02 5.66873010e-01 1.52542489e+02] [-5.66218655e-01 2.82228195e-02 8.23771757e-01 2.89611156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.100714057 meters Centerline goodness : 0.988260 Centerline is valid? [True, True] Translation: X:116.50, Y:152.56, Z:28.94 [[-4.24458954e-02 -9.99057049e-01 -9.13011564e-03 1.16498350e+02] [ 8.22212923e-01 -4.01211489e-02 5.67764214e-01 1.52563614e+02] [-5.67595151e-01 1.65923614e-02 8.23140594e-01 2.89432811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.130714057 meters Centerline goodness : 0.987030 Centerline is valid? [True, True] Translation: X:116.49, Y:152.57, Z:28.94 [[-4.28776361e-02 -9.99068006e-01 4.96262159e-03 1.16494431e+02] [ 8.22542989e-01 -3.24813209e-02 5.67774599e-01 1.52574109e+02] [-5.67084244e-01 2.84268023e-02 8.23169106e-01 2.89432178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.160714057 meters Centerline goodness : 0.987234 Centerline is valid? [True, True] Translation: X:116.50, Y:152.58, Z:28.94 [[-4.43004539e-02 -9.98981045e-01 8.62212041e-03 1.16497167e+02] [ 8.21645652e-01 -3.15243225e-02 5.69126207e-01 1.52581896e+02] [-5.68274486e-01 3.22968770e-02 8.22204974e-01 2.89383012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.190714057 meters Centerline goodness : 0.987973 Centerline is valid? [True, True] Translation: X:116.50, Y:152.58, Z:28.93 [[-4.52673792e-02 -9.98974888e-01 -1.93743232e-04 1.16501754e+02] [ 8.21622125e-01 -3.73411619e-02 5.68808159e-01 1.52580606e+02] [-5.68232301e-01 2.55892709e-02 8.22470207e-01 2.89347985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.220714057 meters Centerline goodness : 0.988597 Centerline is valid? [True, True] Translation: X:116.50, Y:152.60, Z:28.92 [[-4.80586236e-02 -9.98835796e-01 4.17380997e-03 1.16503783e+02] [ 8.20018160e-01 -3.70682866e-02 5.71135850e-01 1.52603561e+02] [-5.70316216e-01 3.08706028e-02 8.20844943e-01 2.89202155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.250714057 meters Centerline goodness : 0.988597 Centerline is valid? [True, True] Translation: X:116.50, Y:152.63, Z:28.90 [[-4.83100641e-02 -9.98814051e-01 6.05215315e-03 1.16502986e+02] [ 8.19666424e-01 -3.61810462e-02 5.71697372e-01 1.52627472e+02] [-5.70800396e-01 3.25794834e-02 8.20442250e-01 2.89038279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.280714057 meters Centerline goodness : 0.986939 Centerline is valid? [True, True] Translation: X:116.51, Y:152.63, Z:28.90 [[-4.97934049e-02 -9.98754613e-01 3.13699545e-03 1.16505110e+02] [ 8.19639705e-01 -3.90683709e-02 5.71545638e-01 1.52633032e+02] [-5.70711285e-01 3.10304094e-02 8.20564283e-01 2.88990269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.310714057 meters Centerline goodness : 0.987803 Centerline is valid? [True, True] Translation: X:116.49, Y:152.66, Z:28.88 [[-4.80971062e-02 -9.97273445e-01 5.59673463e-02 1.16493172e+02] [ 8.15413341e-01 -6.84160844e-03 5.78838730e-01 1.52664219e+02] [-5.76877588e-01 7.34769887e-02 8.13519134e-01 2.88828563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.340714057 meters Centerline goodness : 0.987795 Centerline is valid? [True, True] Translation: X:116.52, Y:152.67, Z:28.85 [[-5.13175888e-02 -9.98420571e-01 -2.28663127e-02 1.16520788e+02] [ 8.16736214e-01 -5.51337635e-02 5.74371156e-01 1.52671118e+02] [-5.74724683e-01 1.07995971e-02 8.18275569e-01 2.88547127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.370714057 meters Centerline goodness : 0.988425 Centerline is valid? [True, True] Translation: X:116.51, Y:152.70, Z:28.85 [[-5.26675153e-02 -9.98443259e-01 1.83627599e-02 1.16509441e+02] [ 8.17686726e-01 -3.25623740e-02 5.74741777e-01 1.52702592e+02] [-5.73249118e-01 4.52852064e-02 8.18128779e-01 2.88476635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.400714057 meters Centerline goodness : 0.989919 Centerline is valid? [True, True] Translation: X:116.52, Y:152.70, Z:28.83 [[-5.22620616e-02 -9.98603998e-01 -7.66374852e-03 1.16519509e+02] [ 8.16457125e-01 -4.71458676e-02 5.75478089e-01 1.52704216e+02] [-5.75036034e-01 2.38185492e-02 8.17781289e-01 2.88327973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.430714057 meters Centerline goodness : 0.990174 Centerline is valid? [True, True] Translation: X:116.51, Y:152.74, Z:28.82 [[-5.30336918e-02 -9.97657118e-01 4.32169294e-02 1.16505312e+02] [ 8.14662466e-01 -1.81965036e-02 5.79649855e-01 1.52737896e+02] [-5.77505406e-01 6.59481820e-02 8.13718835e-01 2.88204105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.460714057 meters Centerline goodness : 0.990261 Centerline is valid? [True, True] Translation: X:116.51, Y:152.75, Z:28.80 [[-5.56097249e-02 -9.98218676e-01 2.16109711e-02 1.16513478e+02] [ 8.14858046e-01 -3.28657000e-02 5.78728098e-01 1.52754745e+02] [-5.76986936e-01 4.97927840e-02 8.15234172e-01 2.88002123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.490714057 meters Centerline goodness : 0.990537 Centerline is valid? [True, True] Translation: X:116.51, Y:152.78, Z:28.78 [[-5.96674750e-02 -9.97498366e-01 3.79051689e-02 1.16510615e+02] [ 8.13412286e-01 -2.65747934e-02 5.81080229e-01 1.52780308e+02] [-5.78619257e-01 6.55041201e-02 8.12963077e-01 2.87823018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.520714057 meters Centerline goodness : 0.990863 Centerline is valid? [True, True] Translation: X:116.52, Y:152.78, Z:28.77 [[-6.41374164e-02 -9.97839002e-01 1.42729987e-02 1.16520650e+02] [ 8.13351424e-01 -4.39814243e-02 5.80107831e-01 1.52781376e+02] [-5.78226473e-01 4.88155814e-02 8.14414627e-01 2.87713355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.550714057 meters Centerline goodness : 0.989579 Centerline is valid? [True, True] Translation: X:116.52, Y:152.79, Z:28.77 [[-6.31761713e-02 -9.97776589e-01 2.12285279e-02 1.16519765e+02] [ 8.10253907e-01 -3.88609291e-02 5.84789222e-01 1.52785619e+02] [-5.82664035e-01 5.41452417e-02 8.10907464e-01 2.87679899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.580714057 meters Centerline goodness : 0.990254 Centerline is valid? [True, True] Translation: X:116.52, Y:152.81, Z:28.75 [[-6.60201882e-02 -9.97401355e-01 2.88421994e-02 1.16516705e+02] [ 8.11052389e-01 -3.68029703e-02 5.83814666e-01 1.52809829e+02] [-5.81236060e-01 6.19360888e-02 8.11374490e-01 2.87543908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.610714057 meters Centerline goodness : 0.990480 Centerline is valid? [True, True] Translation: X:116.52, Y:152.81, Z:28.75 [[-6.82624679e-02 -9.97659560e-01 3.95453925e-03 1.16524783e+02] [ 8.14112837e-01 -5.34116650e-02 5.78245175e-01 1.52807383e+02] [-5.76680608e-01 4.26918838e-02 8.15853467e-01 2.87493691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.640714057 meters Centerline goodness : 0.990094 Centerline is valid? [True, True] Translation: X:116.52, Y:152.81, Z:28.75 [[-6.65346086e-02 -9.97667497e-01 1.52548899e-02 1.16520675e+02] [ 8.12321416e-01 -4.52831648e-02 5.81449354e-01 1.52813433e+02] [-5.79402332e-01 5.10783789e-02 8.13439572e-01 2.87487666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.670714057 meters Centerline goodness : 0.989727 Centerline is valid? [True, True] Translation: X:116.51, Y:152.84, Z:28.74 [[-6.60618853e-02 -9.97200818e-01 3.50193693e-02 1.16514051e+02] [ 8.11327048e-01 -3.32519556e-02 5.83646065e-01 1.52838680e+02] [-5.80847871e-01 6.69689209e-02 8.11252683e-01 2.87365654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.700714057 meters Centerline goodness : 0.990733 Centerline is valid? [True, True] Translation: X:116.52, Y:152.85, Z:28.72 [[-6.83648823e-02 -9.97660345e-01 2.79962468e-04 1.16524125e+02] [ 8.14309411e-01 -5.56385915e-02 5.77758194e-01 1.52854981e+02] [-5.76390862e-01 3.97263470e-02 8.16207934e-01 2.87199719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.730714057 meters Centerline goodness : 0.989795 Centerline is valid? [True, True] Translation: X:116.51, Y:152.88, Z:28.71 [[-6.75970672e-02 -9.97218751e-01 3.13910730e-02 1.16513367e+02] [ 8.16303180e-01 -3.71885226e-02 5.76425305e-01 1.52883858e+02] [-5.73654735e-01 6.45892927e-02 8.16546672e-01 2.87110058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.76071405700003 meters Centerline goodness : 0.991117 Centerline is valid? [True, True] Translation: X:116.52, Y:152.88, Z:28.70 [[-6.56441429e-02 -9.97833925e-01 4.27830456e-03 1.16521789e+02] [ 8.15965611e-01 -5.12107230e-02 5.75827738e-01 1.52881719e+02] [-5.74361357e-01 4.12906677e-02 8.17559852e-01 2.87008832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.790714057 meters Centerline goodness : 0.990709 Centerline is valid? [True, True] Translation: X:116.52, Y:152.91, Z:28.70 [[-6.49730335e-02 -9.97733623e-01 1.74963772e-02 1.16515028e+02] [ 8.19235927e-01 -4.33216847e-02 5.71817915e-01 1.52905902e+02] [-5.69763987e-01 5.14864054e-02 8.20193971e-01 2.86951289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.820714057 meters Centerline goodness : 0.990262 Centerline is valid? [True, True] Translation: X:116.52, Y:152.93, Z:28.68 [[-6.72938833e-02 -9.97698602e-01 -8.30863721e-03 1.16522248e+02] [ 8.19696036e-01 -6.00316538e-02 5.69644284e-01 1.52925672e+02] [-5.68832087e-01 3.15230190e-02 8.21849352e-01 2.86776777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.850714057 meters Centerline goodness : 0.990083 Centerline is valid? [True, True] Translation: X:116.51, Y:152.95, Z:28.67 [[-6.53765591e-02 -9.97699030e-01 1.79597159e-02 1.16512659e+02] [ 8.23342361e-01 -4.37653973e-02 5.65855058e-01 1.52954512e+02] [-5.63767028e-01 5.17806515e-02 8.24309106e-01 2.86698669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.880714057 meters Centerline goodness : 0.991171 Centerline is valid? [True, True] Translation: X:116.52, Y:152.97, Z:28.65 [[-6.52423440e-02 -9.97868010e-01 1.69431594e-03 1.16517435e+02] [ 8.22754359e-01 -5.28321856e-02 5.65936414e-01 1.52974316e+02] [-5.64640329e-01 3.83170240e-02 8.24447151e-01 2.86491554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.910714057 meters Centerline goodness : 0.990607 Centerline is valid? [True, True] Translation: X:116.51, Y:153.00, Z:28.64 [[-6.43299856e-02 -9.97839104e-01 1.33706673e-02 1.16512344e+02] [ 8.23175325e-01 -4.54858522e-02 5.65962385e-01 1.53000666e+02] [-5.64131224e-01 4.74147555e-02 8.24322633e-01 2.86362492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.940714057 meters Centerline goodness : 0.990405 Centerline is valid? [True, True] Translation: X:116.51, Y:153.02, Z:28.62 [[-6.35255317e-02 -9.97967851e-01 4.96739341e-03 1.16513528e+02] [ 8.22049014e-01 -4.95038925e-02 5.67260773e-01 1.53022674e+02] [-5.65862109e-01 4.01189830e-02 8.23523249e-01 2.86187229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.970714057 meters Centerline goodness : 0.990425 Centerline is valid? [True, True] Translation: X:116.51, Y:153.04, Z:28.61 [[-6.31052552e-02 -9.97932055e-01 1.22204747e-02 1.16510288e+02] [ 8.22445195e-01 -4.50641038e-02 5.67056548e-01 1.53036380e+02] [-5.65333202e-01 4.58349188e-02 8.23588205e-01 2.86128405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.000714057 meters Centerline goodness : 0.989538 Centerline is valid? [True, True] Translation: X:116.51, Y:153.03, Z:28.61 [[-6.22641851e-02 -9.98059622e-01 4.04000052e-04 1.16514957e+02] [ 8.22043291e-01 -5.10537981e-02 5.67131676e-01 1.53030317e+02] [-5.66010600e-01 3.56440972e-02 8.23627039e-01 2.86113425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.030714057 meters Centerline goodness : 0.989492 Centerline is valid? [True, True] Translation: X:116.51, Y:153.04, Z:28.61 [[-6.05722724e-02 -9.98118822e-01 9.47723138e-03 1.16511150e+02] [ 8.21120930e-01 -4.44279800e-02 5.69022471e-01 1.53042570e+02] [-5.67530984e-01 4.22489371e-02 8.22267359e-01 2.86072752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.060714057 meters Centerline goodness : 0.989335 Centerline is valid? [True, True] Translation: X:116.51, Y:153.04, Z:28.60 [[-5.69344064e-02 -9.98340315e-01 8.66543038e-03 1.16509986e+02] [ 8.16878961e-01 -4.15922608e-02 5.75307611e-01 1.53044588e+02] [-5.73992367e-01 3.98334051e-02 8.17891229e-01 2.86016141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.090714057 meters Centerline goodness : 0.988525 Centerline is valid? [True, True] Translation: X:116.50, Y:153.07, Z:28.59 [[-5.61364057e-02 -9.98123600e-01 2.44536837e-02 1.16504609e+02] [ 8.17259563e-01 -3.18674559e-02 5.75387932e-01 1.53070604e+02] [-5.73528998e-01 5.22852173e-02 8.17514982e-01 2.85880992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.120714057 meters Centerline goodness : 0.989583 Centerline is valid? [True, True] Translation: X:116.51, Y:153.09, Z:28.57 [[-5.71884336e-02 -9.98216485e-01 1.71269625e-02 1.16506785e+02] [ 8.15731908e-01 -3.68294659e-02 5.77256480e-01 1.53090554e+02] [-5.75596158e-01 4.69834037e-02 8.16383258e-01 2.85670154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.150714057 meters Centerline goodness : 0.988986 Centerline is valid? [True, True] Translation: X:116.51, Y:153.11, Z:28.55 [[-5.79252077e-02 -9.98155780e-01 1.81579005e-02 1.16507375e+02] [ 8.14230205e-01 -3.67118304e-02 5.79380199e-01 1.53113433e+02] [-5.77645085e-01 4.83454294e-02 8.14855126e-01 2.85477503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.180714057 meters Centerline goodness : 0.988459 Centerline is valid? [True, True] Translation: X:116.50, Y:153.13, Z:28.53 [[-5.42645299e-02 -9.97896465e-01 3.54683727e-02 1.16503011e+02] [ 8.04204437e-01 -2.26219109e-02 5.93922111e-01 1.53126698e+02] [-5.91870413e-01 6.07527269e-02 8.03740332e-01 2.85346457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.210714057 meters Centerline goodness : 0.990023 Centerline is valid? [True, True] Translation: X:116.51, Y:153.15, Z:28.52 [[-5.99516700e-02 -9.98194488e-01 -3.68268927e-03 1.16514205e+02] [ 8.07312495e-01 -5.06564154e-02 5.87945969e-01 1.53145255e+02] [-5.87070977e-01 3.22752617e-02 8.08891819e-01 2.85151141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.240714057 meters Centerline goodness : 0.990007 Centerline is valid? [True, True] Translation: X:116.51, Y:153.17, Z:28.51 [[-6.23758474e-02 -9.97901833e-01 1.73546938e-02 1.16505729e+02] [ 8.08557207e-01 -4.03312716e-02 5.87033757e-01 1.53171812e+02] [-5.85102126e-01 5.06489908e-02 8.09376416e-01 2.85065973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.270714057 meters Centerline goodness : 0.989113 Centerline is valid? [True, True] Translation: X:116.50, Y:153.20, Z:28.49 [[-6.57545158e-02 -9.97447849e-01 2.78232285e-02 1.16503320e+02] [ 8.08313311e-01 -3.68956136e-02 5.87595358e-01 1.53196124e+02] [-5.85069171e-01 6.11269343e-02 8.08676427e-01 2.84893711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.300714057 meters Centerline goodness : 0.989861 Centerline is valid? [True, True] Translation: X:116.51, Y:153.22, Z:28.47 [[-6.91809084e-02 -9.97339897e-01 2.29593533e-02 1.16505020e+02] [ 8.08485132e-01 -4.25684044e-02 5.86975061e-01 1.53218839e+02] [-5.84436303e-01 5.91697636e-02 8.09279399e-01 2.84674076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.330714057 meters Centerline goodness : 0.988612 Centerline is valid? [True, True] Translation: X:116.51, Y:153.21, Z:28.47 [[-6.90546698e-02 -9.97521924e-01 1.34708579e-02 1.16508261e+02] [ 8.07910154e-01 -4.79968293e-02 5.87347842e-01 1.53212193e+02] [-5.85245791e-01 5.14423542e-02 8.09222496e-01 2.84669610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.360714057 meters Centerline goodness : 0.987850 Centerline is valid? [True, True] Translation: X:116.51, Y:153.21, Z:28.47 [[-6.48165771e-02 -9.97726717e-01 1.84447735e-02 1.16506558e+02] [ 8.03598755e-01 -4.12288139e-02 5.93741717e-01 1.53207666e+02] [-5.91631518e-01 5.33065027e-02 8.04444258e-01 2.84669400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.390714057 meters Centerline goodness : 0.988150 Centerline is valid? [True, True] Translation: X:116.50, Y:153.23, Z:28.45 [[-6.33927828e-02 -9.97439315e-01 3.31084341e-02 1.16501117e+02] [ 8.02963297e-01 -3.12757826e-02 5.95207333e-01 1.53234225e+02] [-5.92647703e-01 6.43167066e-02 8.02889819e-01 2.84512967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.420714057 meters Centerline goodness : 0.987898 Centerline is valid? [True, True] Translation: X:116.50, Y:153.26, Z:28.43 [[-6.07223837e-02 -9.97746324e-01 2.85493311e-02 1.16501110e+02] [ 8.01523439e-01 -3.16943860e-02 5.97122804e-01 1.53256376e+02] [-5.94872229e-01 5.91416781e-02 8.01641624e-01 2.84328812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.450714057 meters Centerline goodness : 0.988075 Centerline is valid? [True, True] Translation: X:116.50, Y:153.28, Z:28.42 [[-5.88634777e-02 -9.97740627e-01 3.23841260e-02 1.16498431e+02] [ 8.01402986e-01 -2.78876928e-02 5.97474292e-01 1.53281824e+02] [-5.95221257e-01 6.11221500e-02 8.01233885e-01 2.84154562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.480714057 meters Centerline goodness : 0.987523 Centerline is valid? [True, True] Translation: X:116.51, Y:153.27, Z:28.41 [[-5.60925280e-02 -9.98402729e-01 6.75417914e-03 1.16508223e+02] [ 8.00641595e-01 -4.09381347e-02 5.97743344e-01 1.53270318e+02] [-5.96512082e-01 3.89366120e-02 8.01659077e-01 2.84107768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.51071405700003 meters Centerline goodness : 0.988411 Centerline is valid? [True, True] Translation: X:116.50, Y:153.30, Z:28.41 [[-5.65660673e-02 -9.98148582e-01 2.23537252e-02 1.16499394e+02] [ 8.04559864e-01 -3.23150424e-02 5.92991706e-01 1.53296669e+02] [-5.91171469e-01 5.15281189e-02 8.04898222e-01 2.84050106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.540714057 meters Centerline goodness : 0.987236 Centerline is valid? [True, True] Translation: X:116.50, Y:153.29, Z:28.40 [[-5.56625327e-02 -9.98415165e-01 8.29704917e-03 1.16504169e+02] [ 8.04337655e-01 -3.99159900e-02 5.92830204e-01 1.53288256e+02] [-5.91559481e-01 3.96720597e-02 8.05284738e-01 2.84042850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.570714057 meters Centerline goodness : 0.986103 Centerline is valid? [True, True] Translation: X:116.50, Y:153.30, Z:28.39 [[-4.25224157e-02 -9.98175182e-01 4.28736626e-02 1.16495833e+02] [ 7.87352918e-01 -7.06304960e-03 6.16462080e-01 1.53303330e+02] [-6.15034330e-01 5.99701602e-02 7.86216479e-01 2.83891836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.600714057 meters Centerline goodness : 0.988386 Centerline is valid? [True, True] Translation: X:116.51, Y:153.33, Z:28.37 [[-5.34492172e-02 -9.98570507e-01 -3.50739779e-04 1.16505850e+02] [ 7.98664986e-01 -4.29599575e-02 6.00240521e-01 1.53326429e+02] [-5.99397549e-01 3.18022624e-02 7.99819476e-01 2.83730818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.630714057 meters Centerline goodness : 0.987676 Centerline is valid? [True, True] Translation: X:116.50, Y:153.35, Z:28.37 [[-5.43675409e-02 -9.98336882e-01 1.91739408e-02 1.16496866e+02] [ 8.01174560e-01 -3.21536654e-02 5.97566286e-01 1.53351638e+02] [-5.95955950e-01 4.78498830e-02 8.01590228e-01 2.83687713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.660714057 meters Centerline goodness : 0.986733 Centerline is valid? [True, True] Translation: X:116.50, Y:153.37, Z:28.35 [[-5.35675216e-02 -9.98389210e-01 1.86950788e-02 1.16497317e+02] [ 7.99028497e-01 -3.16272591e-02 6.00460805e-01 1.53370484e+02] [-5.98902315e-01 4.71030978e-02 7.99435623e-01 2.83533944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.690714057 meters Centerline goodness : 0.987741 Centerline is valid? [True, True] Translation: X:116.49, Y:153.40, Z:28.34 [[-5.65197002e-02 -9.98138261e-01 2.29245453e-02 1.16493466e+02] [ 8.01467731e-01 -3.16671559e-02 5.97199019e-01 1.53398416e+02] [-5.95361235e-01 5.21267929e-02 8.01765425e-01 2.83383400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.720714057 meters Centerline goodness : 0.987370 Centerline is valid? [True, True] Translation: X:116.49, Y:153.42, Z:28.32 [[-5.58002980e-02 -9.97983655e-01 3.02481634e-02 1.16490023e+02] [ 8.01232917e-01 -2.66817720e-02 5.97757389e-01 1.53421945e+02] [-5.95745029e-01 5.75908646e-02 8.01106206e-01 2.83219501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.750714057 meters Centerline goodness : 0.987819 Centerline is valid? [True, True] Translation: X:116.49, Y:153.45, Z:28.30 [[-5.62494659e-02 -9.97974300e-01 2.97202519e-02 1.16489279e+02] [ 8.01433574e-01 -2.73791061e-02 5.97456786e-01 1.53445390e+02] [-5.95432804e-01 5.74254328e-02 8.01350170e-01 2.83022707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.780714057 meters Centerline goodness : 0.986388 Centerline is valid? [True, True] Translation: X:116.49, Y:153.45, Z:28.29 [[-5.54435421e-02 -9.98314546e-01 1.71487978e-02 1.16494908e+02] [ 7.99357245e-01 -3.40892906e-02 5.99888253e-01 1.53449695e+02] [-5.98292578e-01 4.69679453e-02 7.99899995e-01 2.82904587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.810714057 meters Centerline goodness : 0.986101 Centerline is valid? [True, True] Translation: X:116.49, Y:153.46, Z:28.28 [[-5.46806149e-02 -9.98402359e-01 1.42393481e-02 1.16494833e+02] [ 7.97316731e-01 -3.50740115e-02 6.02541156e-01 1.53455281e+02] [-6.01079080e-01 4.43005914e-02 7.97960774e-01 2.82843351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.840714057 meters Centerline goodness : 0.986107 Centerline is valid? [True, True] Translation: X:116.49, Y:153.46, Z:28.28 [[-5.34599099e-02 -9.98504917e-01 1.14003943e-02 1.16494601e+02] [ 7.97209693e-01 -3.58019520e-02 6.02639963e-01 1.53459110e+02] [-6.01330810e-01 4.13055829e-02 7.97931767e-01 2.82804161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.870714057 meters Centerline goodness : 0.984457 Centerline is valid? [True, True] Translation: X:116.49, Y:153.48, Z:28.27 [[-5.28450155e-02 -9.98101209e-01 3.16446133e-02 1.16485910e+02] [ 7.97141496e-01 -2.30759488e-02 6.03351420e-01 1.53482908e+02] [-6.01475552e-01 5.71093496e-02 7.96847340e-01 2.82714356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.900714057 meters Centerline goodness : 0.984055 Centerline is valid? [True, True] Translation: X:116.49, Y:153.50, Z:28.25 [[-5.16357268e-02 -9.98247619e-01 2.89040214e-02 1.16487538e+02] [ 7.96222572e-01 -2.36813883e-02 6.04540162e-01 1.53502450e+02] [-6.02796290e-01 5.42299049e-02 7.96050093e-01 2.82522313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.930714057 meters Centerline goodness : 0.985365 Centerline is valid? [True, True] Translation: X:116.49, Y:153.53, Z:28.23 [[-5.63013086e-02 -9.98108610e-01 2.46853366e-02 1.16488514e+02] [ 7.97180061e-01 -3.00540363e-02 6.02993122e-01 1.53530164e+02] [-6.01110733e-01 5.36279600e-02 7.97364364e-01 2.82292407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.960714057 meters Centerline goodness : 0.985025 Centerline is valid? [True, True] Translation: X:116.49, Y:153.54, Z:28.22 [[-5.80500804e-02 -9.98297185e-01 5.73744110e-03 1.16494124e+02] [ 7.99578026e-01 -4.30520530e-02 5.99017112e-01 1.53535658e+02] [-5.97750088e-01 3.93605233e-02 8.00715668e-01 2.82181607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.990714057 meters Centerline goodness : 0.984550 Centerline is valid? [True, True] Translation: X:116.49, Y:153.56, Z:28.21 [[-5.82486749e-02 -9.98202925e-01 1.40717210e-02 1.16489158e+02] [ 7.99621146e-01 -3.82125328e-02 5.99287764e-01 1.53555831e+02] [-5.97673083e-01 4.61597639e-02 8.00409996e-01 2.82067119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.020714057 meters Centerline goodness : 0.984461 Centerline is valid? [True, True] Translation: X:116.49, Y:153.54, Z:28.21 [[-5.73328124e-02 -9.98319435e-01 8.44128135e-03 1.16490474e+02] [ 7.99213340e-01 -4.08278706e-02 5.99659172e-01 1.53542443e+02] [-5.98306766e-01 4.11265315e-02 8.00210986e-01 2.82134328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.050714057 meters Centerline goodness : 0.984523 Centerline is valid? [True, True] Translation: X:116.48, Y:153.55, Z:28.21 [[-5.49382160e-02 -9.98353709e-01 1.64822476e-02 1.16484763e+02] [ 7.97768949e-01 -3.39615001e-02 6.02006080e-01 1.53549859e+02] [-6.00455241e-01 4.62221654e-02 7.98321373e-01 2.82099179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.080714057 meters Centerline goodness : 0.984731 Centerline is valid? [True, True] Translation: X:116.49, Y:153.56, Z:28.20 [[-5.34136649e-02 -9.98543704e-01 7.57967366e-03 1.16486613e+02] [ 7.99084216e-01 -3.81897904e-02 6.00004963e-01 1.53559833e+02] [-5.98841712e-01 3.81052616e-02 7.99960370e-01 2.81999407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.110714057 meters Centerline goodness : 0.983609 Centerline is valid? [True, True] Translation: X:116.47, Y:153.59, Z:28.19 [[-5.05061744e-02 -9.98196485e-01 3.24484702e-02 1.16473733e+02] [ 7.99716226e-01 -2.09589278e-02 6.00012234e-01 1.53589140e+02] [-5.98250018e-01 5.62538906e-02 7.99332481e-01 2.81901465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.140714057 meters Centerline goodness : 0.983405 Centerline is valid? [True, True] Translation: X:116.48, Y:153.59, Z:28.17 [[-4.93784438e-02 -9.98771920e-01 4.05222444e-03 1.16482285e+02] [ 8.01107144e-01 -3.71824305e-02 5.97364890e-01 1.53594350e+02] [-5.96480607e-01 3.27432146e-02 8.01959331e-01 2.81739696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.170714057 meters Centerline goodness : 0.983405 Centerline is valid? [True, True] Translation: X:116.48, Y:153.60, Z:28.17 [[-4.90014808e-02 -9.98758812e-01 8.92694653e-03 1.16480269e+02] [ 8.01350444e-01 -3.39780967e-02 5.97229399e-01 1.53600509e+02] [-5.96184804e-01 3.64187375e-02 8.02020794e-01 2.81720852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.200714057 meters Centerline goodness : 0.983978 Centerline is valid? [True, True] Translation: X:116.47, Y:153.60, Z:28.17 [[-4.53446053e-02 -9.98866969e-01 1.44445626e-02 1.16474918e+02] [ 7.99704546e-01 -2.76303566e-02 5.99757620e-01 1.53600403e+02] [-5.98678967e-01 3.87471549e-02 8.00051344e-01 2.81737287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.230714057 meters Centerline goodness : 0.984004 Centerline is valid? [True, True] Translation: X:116.47, Y:153.63, Z:28.16 [[-4.58515549e-02 -9.98575538e-01 2.72860576e-02 1.16467945e+02] [ 8.00832842e-01 -2.04167218e-02 5.98539820e-01 1.53626859e+02] [-5.97130132e-01 4.92955525e-02 8.00628225e-01 2.81627041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.26071405700003 meters Centerline goodness : 0.983908 Centerline is valid? [True, True] Translation: X:116.47, Y:153.65, Z:28.15 [[-4.64997220e-02 -9.98661658e-01 2.26421914e-02 1.16466820e+02] [ 8.01414946e-01 -2.37655806e-02 5.97636413e-01 1.53649021e+02] [-5.96298466e-01 4.59357177e-02 8.01447471e-01 2.81466044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.290714057 meters Centerline goodness : 0.983281 Centerline is valid? [True, True] Translation: X:116.47, Y:153.65, Z:28.14 [[-4.67246765e-02 -9.98882929e-01 7.04976401e-03 1.16471223e+02] [ 8.01767848e-01 -3.32928864e-02 5.96707551e-01 1.53653160e+02] [-5.95806279e-01 3.35332414e-02 8.02427816e-01 2.81371102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.320714057 meters Centerline goodness : 0.983809 Centerline is valid? [True, True] Translation: X:116.47, Y:153.66, Z:28.13 [[-4.84161476e-02 -9.98826905e-01 8.30805381e-04 1.16469861e+02] [ 8.04558750e-01 -3.85064522e-02 5.92623380e-01 1.53658108e+02] [-5.91896186e-01 2.93609728e-02 8.05479260e-01 2.81348575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.350714057 meters Centerline goodness : 0.983507 Centerline is valid? [True, True] Translation: X:116.47, Y:153.66, Z:28.14 [[-4.91086786e-02 -9.98770956e-01 6.70185810e-03 1.16466737e+02] [ 8.05095811e-01 -3.56129607e-02 5.92074701e-01 1.53660295e+02] [-5.91108343e-01 3.44716441e-02 8.05855218e-01 2.81356713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.380714057 meters Centerline goodness : 0.983802 Centerline is valid? [True, True] Translation: X:116.47, Y:153.67, Z:28.13 [[-5.07395281e-02 -9.98710072e-01 -1.92161500e-03 1.16468410e+02] [ 8.07716098e-01 -4.21675550e-02 5.88061734e-01 1.53669944e+02] [-5.87384206e-01 2.82858555e-02 8.08813764e-01 2.81262315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.410714057 meters Centerline goodness : 0.983561 Centerline is valid? [True, True] Translation: X:116.46, Y:153.67, Z:28.13 [[-5.21359208e-02 -9.98635353e-01 3.04579559e-03 1.16463883e+02] [ 8.12044419e-01 -4.06189116e-02 5.82180355e-01 1.53673495e+02] [-5.81262168e-01 3.28258302e-02 8.13053969e-01 2.81285188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.440714057 meters Centerline goodness : 0.983961 Centerline is valid? [True, True] Translation: X:116.46, Y:153.68, Z:28.12 [[-5.14442533e-02 -9.98648573e-01 7.38356040e-03 1.16461743e+02] [ 8.11630749e-01 -3.75000523e-02 5.82965928e-01 1.53679816e+02] [-5.81901209e-01 3.59829715e-02 8.12463051e-01 2.81238337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.470714057 meters Centerline goodness : 0.983695 Centerline is valid? [True, True] Translation: X:116.46, Y:153.68, Z:28.12 [[-5.12389837e-02 -9.98674761e-01 4.82579443e-03 1.16461759e+02] [ 8.12695586e-01 -3.88875654e-02 5.81389406e-01 1.53683224e+02] [-5.80431263e-01 3.37117041e-02 8.13611129e-01 2.81205488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.500714057 meters Centerline goodness : 0.984215 Centerline is valid? [True, True] Translation: X:116.46, Y:153.71, Z:28.11 [[-5.47020037e-02 -9.98484278e-01 6.06942525e-03 1.16458849e+02] [ 8.13832152e-01 -4.10623619e-02 5.79647403e-01 1.53709241e+02] [-5.78519593e-01 3.66473678e-02 8.14844802e-01 2.81057642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.530714057 meters Centerline goodness : 0.984438 Centerline is valid? [True, True] Translation: X:116.46, Y:153.72, Z:28.10 [[-5.61336402e-02 -9.98406883e-01 5.71922415e-03 1.16458047e+02] [ 8.12879435e-01 -4.23751592e-02 5.80888432e-01 1.53718970e+02] [-5.79720656e-01 3.72564219e-02 8.13963095e-01 2.80966684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.560714057 meters Centerline goodness : 0.984521 Centerline is valid? [True, True] Translation: X:116.45, Y:153.75, Z:28.09 [[-5.71788090e-02 -9.98195855e-01 1.83199165e-02 1.16453100e+02] [ 8.13272419e-01 -3.59270540e-02 5.80772950e-01 1.53745257e+02] [-5.79066970e-01 4.81069884e-02 8.13859424e-01 2.80853027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.590714057 meters Centerline goodness : 0.984662 Centerline is valid? [True, True] Translation: X:116.46, Y:153.75, Z:28.08 [[-5.91277312e-02 -9.98235793e-01 5.40489696e-03 1.16456648e+02] [ 8.12597577e-01 -4.49857028e-02 5.81086452e-01 1.53748822e+02] [-5.79818152e-01 3.87503297e-02 8.13823889e-01 2.80763353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.620714057 meters Centerline goodness : 0.984075 Centerline is valid? [True, True] Translation: X:116.45, Y:153.78, Z:28.07 [[-6.03162909e-02 -9.98036366e-01 1.68925244e-02 1.16451816e+02] [ 8.12782693e-01 -3.92825451e-02 5.81241065e-01 1.53775020e+02] [-5.79436139e-01 4.87882566e-02 8.13556062e-01 2.80652120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.650714057 meters Centerline goodness : 0.984779 Centerline is valid? [True, True] Translation: X:116.46, Y:153.79, Z:28.05 [[-6.17283991e-02 -9.98077031e-01 5.64318361e-03 1.16455264e+02] [ 8.11250418e-01 -4.68783943e-02 5.82816588e-01 1.53793709e+02] [-5.81431306e-01 4.05543700e-02 8.12584137e-01 2.80456672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.680714057 meters Centerline goodness : 0.984962 Centerline is valid? [True, True] Translation: X:116.45, Y:153.82, Z:28.03 [[-6.36710045e-02 -9.97831120e-01 1.67050683e-02 1.16451004e+02] [ 8.11201965e-01 -4.19978009e-02 5.83255996e-01 1.53819364e+02] [-5.81289408e-01 5.06876794e-02 8.12116607e-01 2.80341667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.710714057 meters Centerline goodness : 0.984739 Centerline is valid? [True, True] Translation: X:116.45, Y:153.84, Z:28.02 [[-6.55836925e-02 -9.97681146e-01 1.81964418e-02 1.16450783e+02] [ 8.10412163e-01 -4.26163145e-02 5.84308117e-01 1.53842285e+02] [-5.82177727e-01 5.30677017e-02 8.11327871e-01 2.80180967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.740714057 meters Centerline goodness : 0.985079 Centerline is valid? [True, True] Translation: X:116.46, Y:153.84, Z:28.01 [[-6.80221270e-02 -9.97670187e-01 5.21423652e-03 1.16456843e+02] [ 8.09624157e-01 -5.21454591e-02 5.84627724e-01 1.53844748e+02] [-5.82993752e-01 4.39891932e-02 8.11284929e-01 2.80082153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.770714057 meters Centerline goodness : 0.985098 Centerline is valid? [True, True] Translation: X:116.45, Y:153.87, Z:28.00 [[-6.97447266e-02 -9.97352959e-01 2.05608391e-02 1.16451498e+02] [ 8.10719353e-01 -4.46596558e-02 5.83729085e-01 1.53869794e+02] [-5.81265691e-01 5.73810956e-02 8.11688122e-01 2.79976353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.800714057 meters Centerline goodness : 0.985497 Centerline is valid? [True, True] Translation: X:116.46, Y:153.89, Z:27.98 [[-7.31554861e-02 -9.97261187e-01 1.08811742e-02 1.16455322e+02] [ 8.11384457e-01 -5.31690259e-02 5.82089614e-01 1.53888672e+02] [-5.79916838e-01 5.14118642e-02 8.13051832e-01 2.79793199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.830714057 meters Centerline goodness : 0.985379 Centerline is valid? [True, True] Translation: X:116.45, Y:153.91, Z:27.96 [[-7.36681098e-02 -9.97096176e-01 1.92931264e-02 1.16453048e+02] [ 8.11933782e-01 -4.87320954e-02 5.81711885e-01 1.53911896e+02] [-5.79082502e-01 5.85183561e-02 8.13166071e-01 2.79646585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.860714057 meters Centerline goodness : 0.984705 Centerline is valid? [True, True] Translation: X:116.45, Y:153.93, Z:27.95 [[-7.56754793e-02 -9.97047853e-01 1.29923302e-02 1.16454724e+02] [ 8.14362095e-01 -5.42803463e-02 5.77813138e-01 1.53932966e+02] [-5.75402120e-01 5.43067474e-02 8.16065670e-01 2.79477232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.890714057 meters Centerline goodness : 0.985357 Centerline is valid? [True, True] Translation: X:116.46, Y:153.93, Z:27.95 [[-7.59592183e-02 -9.97106686e-01 -2.90751169e-03 1.16460136e+02] [ 8.15478463e-01 -6.38002768e-02 5.75260290e-01 1.53925950e+02] [-5.73781382e-01 4.13253088e-02 8.17965247e-01 2.79457042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.920714057 meters Centerline goodness : 0.985156 Centerline is valid? [True, True] Translation: X:116.46, Y:153.93, Z:27.94 [[-7.49739562e-02 -9.97181882e-01 2.68328087e-03 1.16457067e+02] [ 8.16542558e-01 -5.98474112e-02 5.74174658e-01 1.53932518e+02] [-5.72395979e-01 4.52391587e-02 8.18728442e-01 2.79441124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.950714057 meters Centerline goodness : 0.985725 Centerline is valid? [True, True] Translation: X:116.45, Y:153.96, Z:27.93 [[-7.48954312e-02 -9.97176771e-01 5.40009885e-03 1.16453841e+02] [ 8.16519822e-01 -5.82162821e-02 5.74374655e-01 1.53957588e+02] [-5.72438691e-01 4.74273253e-02 8.18574733e-01 2.79279710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.980714057 meters Centerline goodness : 0.984587 Centerline is valid? [True, True] Translation: X:116.45, Y:153.97, Z:27.92 [[-7.90998480e-02 -9.96854316e-01 4.96856745e-03 1.16452686e+02] [ 8.17153861e-01 -6.19843565e-02 5.73077226e-01 1.53972348e+02] [-5.70966533e-01 4.93904056e-02 8.19486306e-01 2.79215130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.01071405700003 meters Centerline goodness : 0.986228 Centerline is valid? [True, True] Translation: X:116.46, Y:153.97, Z:27.91 [[-7.40364421e-02 -9.97171304e-01 -1.29613270e-02 1.16456441e+02] [ 8.18042797e-01 -6.81600526e-02 5.71104359e-01 1.53972998e+02] [-5.70372323e-01 3.16796146e-02 8.20775131e-01 2.79126911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.040714057 meters Centerline goodness : 0.986096 Centerline is valid? [True, True] Translation: X:116.44, Y:154.38, Z:27.63 [[-8.24719990e-02 -9.96579207e-01 -5.31542001e-03 1.16444910e+02] [ 8.17482723e-01 -7.06995631e-02 5.71597383e-01 1.54379488e+02] [-5.70017865e-01 4.27955148e-02 8.20517019e-01 2.76335913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.070714057 meters Centerline goodness : 0.985855 Centerline is valid? [True, True] Translation: X:116.44, Y:154.44, Z:27.59 [[-6.95844702e-02 -9.97566841e-01 -4.28934833e-03 1.16442209e+02] [ 8.18125817e-01 -5.95269825e-02 5.71949898e-01 1.54439312e+02] [-5.70813585e-01 3.62896040e-02 8.20277341e-01 2.75910356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.100714057 meters Centerline goodness : 0.986053 Centerline is valid? [True, True] Translation: X:116.44, Y:154.46, Z:27.58 [[-7.28116786e-02 -9.97329901e-01 -5.61495279e-03 1.16440216e+02] [ 8.19116362e-01 -6.30108824e-02 5.70156131e-01 1.54463466e+02] [-5.68987561e-01 3.69147253e-02 8.21517169e-01 2.75751429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.130714057 meters Centerline goodness : 0.985665 Centerline is valid? [True, True] Translation: X:116.44, Y:154.48, Z:27.56 [[-7.31828499e-02 -9.97286978e-01 -7.93437512e-03 1.16440545e+02] [ 8.18214491e-01 -6.45871939e-02 5.71273613e-01 1.54484307e+02] [-5.70236194e-01 3.53154104e-02 8.20721332e-01 2.75576784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.160714057 meters Centerline goodness : 0.985552 Centerline is valid? [True, True] Translation: X:116.44, Y:154.51, Z:27.54 [[-7.37875744e-02 -9.97269827e-01 -2.87847507e-03 1.16437841e+02] [ 8.19721565e-01 -6.22942416e-02 5.69364543e-01 1.54507100e+02] [-5.67989392e-01 3.96524805e-02 8.22080125e-01 2.75428985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.190714057 meters Centerline goodness : 0.985514 Centerline is valid? [True, True] Translation: X:116.44, Y:154.53, Z:27.52 [[-7.44777053e-02 -9.97177192e-01 -9.52467491e-03 1.16441124e+02] [ 8.19459573e-01 -6.66415005e-02 5.69249435e-01 1.54528542e+02] [-5.68277292e-01 3.45913056e-02 8.22109702e-01 2.75243339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.220714057 meters Centerline goodness : 0.986198 Centerline is valid? [True, True] Translation: X:116.44, Y:154.55, Z:27.51 [[-7.48408547e-02 -9.97181214e-01 -5.33604035e-03 1.16439463e+02] [ 8.19710757e-01 -6.45667375e-02 5.69126886e-01 1.54551742e+02] [-5.67867169e-01 3.82199329e-02 8.22232397e-01 2.75094895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.250714057 meters Centerline goodness : 0.986704 Centerline is valid? [True, True] Translation: X:116.44, Y:154.57, Z:27.49 [[-7.46970397e-02 -9.97203105e-01 -2.51397947e-03 1.16437876e+02] [ 8.19513496e-01 -6.28229189e-02 5.69605926e-01 1.54574956e+02] [-5.68170734e-01 4.04876364e-02 8.21914089e-01 2.74939208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.280714057 meters Centerline goodness : 0.976492 Centerline is valid? [True, True] Translation: X:116.42, Y:154.60, Z:27.49 [[-7.55046695e-02 -9.96622470e-01 3.22908263e-02 1.16419533e+02] [ 8.20049098e-01 -4.36389120e-02 5.70626955e-01 1.54599487e+02] [-5.67290509e-01 6.95650627e-02 8.20574300e-01 2.74885980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.310714057 meters Centerline goodness : 0.981484 Centerline is valid? [True, True] Translation: X:116.45, Y:154.61, Z:27.45 [[-7.41861501e-02 -9.96355407e-01 -4.20989076e-02 1.16448898e+02] [ 8.17422098e-01 -8.49365086e-02 5.69742839e-01 1.54606200e+02] [-5.71242093e-01 7.85445045e-03 8.20744040e-01 2.74476651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.340714057 meters Centerline goodness : 0.980676 Centerline is valid? [True, True] Translation: X:116.44, Y:154.63, Z:27.44 [[-6.98923642e-02 -9.97429031e-01 -1.58235592e-02 1.16438141e+02] [ 8.17504706e-01 -6.63603833e-02 5.72085968e-01 1.54634566e+02] [-5.71665210e-01 2.70486067e-02 8.20041011e-01 2.74395173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.370714057 meters Centerline goodness : 0.981491 Centerline is valid? [True, True] Translation: X:116.44, Y:154.66, Z:27.42 [[-6.71152130e-02 -9.97603065e-01 -1.68426165e-02 1.16438331e+02] [ 8.17225070e-01 -6.46486428e-02 5.72681184e-01 1.54657074e+02] [-5.72397356e-01 2.46714112e-02 8.19605142e-01 2.74232340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.400714057 meters Centerline goodness : 0.979986 Centerline is valid? [True, True] Translation: X:116.43, Y:154.68, Z:27.41 [[-6.07472950e-02 -9.98121580e-01 -7.94209795e-03 1.16433241e+02] [ 8.17369992e-01 -5.43102035e-02 5.73547468e-01 1.54680918e+02] [-5.72901442e-01 2.83498247e-02 8.19133826e-01 2.74113124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.430714057 meters Centerline goodness : 0.980272 Centerline is valid? [True, True] Translation: X:116.43, Y:154.70, Z:27.39 [[-5.42181104e-02 -9.98386514e-01 -1.68749770e-02 1.16434991e+02] [ 8.16571178e-01 -5.40583517e-02 5.74707931e-01 1.54701107e+02] [-5.74692882e-01 1.73799582e-02 8.18184593e-01 2.73918526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.460714057 meters Centerline goodness : 0.979114 Centerline is valid? [True, True] Translation: X:116.44, Y:154.72, Z:27.38 [[-5.00692646e-02 -9.98567217e-01 -1.88833700e-02 1.16435847e+02] [ 8.16677891e-01 -5.18181613e-02 5.74762647e-01 1.54720533e+02] [-5.74917638e-01 1.33563123e-02 8.18102266e-01 2.73770976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.490714057 meters Centerline goodness : 0.986505 Centerline is valid? [True, True] Translation: X:116.44, Y:154.75, Z:27.36 [[-4.11337210e-02 -9.98838610e-01 -2.50888189e-02 1.16442189e+02] [ 8.17176473e-01 -4.80798328e-02 5.74378744e-01 1.54750495e+02] [-5.74917933e-01 3.12434243e-03 8.18205114e-01 2.73569765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.520714057 meters Centerline goodness : 0.985591 Centerline is valid? [True, True] Translation: X:116.42, Y:154.78, Z:27.36 [[-3.97846225e-02 -9.99009242e-01 1.99428664e-02 1.16424416e+02] [ 8.18356297e-01 -2.11252832e-02 5.74322814e-01 1.54783143e+02] [-5.73332500e-01 3.91695866e-02 8.18385965e-01 2.73594185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.550714057 meters Centerline goodness : 0.979416 Centerline is valid? [True, True] Translation: X:116.42, Y:154.79, Z:27.34 [[-4.18890523e-02 -9.99119981e-01 2.13802460e-03 1.16423994e+02] [ 8.15106301e-01 -3.29364365e-02 5.78374368e-01 1.54790895e+02] [-5.77794968e-01 2.59702714e-02 8.15768668e-01 2.73371920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.580714057 meters Centerline goodness : 0.979324 Centerline is valid? [True, True] Translation: X:116.43, Y:154.81, Z:27.31 [[-4.00160107e-02 -9.99056324e-01 -1.68872747e-02 1.16433234e+02] [ 8.14576456e-01 -4.24054746e-02 5.78504082e-01 1.54808211e+02] [-5.78674274e-01 9.39344919e-03 8.15504658e-01 2.73136156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.610714057 meters Centerline goodness : 0.979948 Centerline is valid? [True, True] Translation: X:116.44, Y:154.83, Z:27.30 [[-3.96172289e-02 -9.99051740e-01 -1.80581105e-02 1.16435432e+02] [ 8.15473827e-01 -4.27707199e-02 5.77211489e-01 1.54831534e+02] [-5.77436501e-01 8.14160320e-03 8.16395004e-01 2.72962452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.640714057 meters Centerline goodness : 0.985297 Centerline is valid? [True, True] Translation: X:116.44, Y:154.86, Z:27.28 [[-3.26309307e-02 -9.99332348e-01 -1.64341283e-02 1.16444876e+02] [ 8.17065631e-01 -3.61421160e-02 5.75410725e-01 1.54861278e+02] [-5.75620515e-01 5.34842614e-03 8.17699466e-01 2.72805641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.670714057 meters Centerline goodness : 0.985069 Centerline is valid? [True, True] Translation: X:116.44, Y:154.89, Z:27.27 [[-3.45452700e-02 -9.99401291e-01 1.91957732e-03 1.16439472e+02] [ 8.17078001e-01 -2.71369655e-02 5.75888119e-01 1.54890240e+02] [-5.75491238e-01 2.14626550e-02 8.17526262e-01 2.72726759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.700714057 meters Centerline goodness : 0.978900 Centerline is valid? [True, True] Translation: X:116.43, Y:154.90, Z:27.26 [[-4.44056302e-02 -9.99009691e-01 2.78896289e-03 1.16429244e+02] [ 8.14200735e-01 -3.45729824e-02 5.79553167e-01 1.54902925e+02] [-5.78882807e-01 2.80061992e-02 8.14929659e-01 2.72571790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.730714057 meters Centerline goodness : 0.984703 Centerline is valid? [True, True] Translation: X:116.45, Y:154.93, Z:27.24 [[-3.91351100e-02 -9.99104646e-01 -1.60732431e-02 1.16445524e+02] [ 8.17038743e-01 -4.12556406e-02 5.75104917e-01 1.54930617e+02] [-5.75253106e-01 9.37433185e-03 8.17921748e-01 2.72363729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.76071405700003 meters Centerline goodness : 0.979330 Centerline is valid? [True, True] Translation: X:116.43, Y:154.95, Z:27.23 [[-5.05453283e-02 -9.98720540e-01 -1.56590944e-03 1.16432607e+02] [ 8.15693943e-01 -4.21869357e-02 5.76943372e-01 1.54949107e+02] [-5.76271257e-01 2.78844893e-02 8.16782648e-01 2.72272623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.790714057 meters Centerline goodness : 0.980375 Centerline is valid? [True, True] Translation: X:116.45, Y:154.96, Z:27.20 [[-5.43188560e-02 -9.97442421e-01 -4.64551221e-02 1.16453074e+02] [ 8.14498078e-01 -7.11727540e-02 5.75784092e-01 1.54959771e+02] [-5.77617818e-01 -6.56167444e-03 8.16280957e-01 2.71954432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.820714057 meters Centerline goodness : 0.985538 Centerline is valid? [True, True] Translation: X:116.44, Y:155.01, Z:27.20 [[-5.26261682e-02 -9.98557796e-01 1.06213730e-02 1.16437452e+02] [ 8.18720727e-01 -3.70535786e-02 5.72995117e-01 1.55006318e+02] [-5.71775182e-01 3.88504756e-02 8.19489953e-01 2.71993652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.850714057 meters Centerline goodness : 0.986457 Centerline is valid? [True, True] Translation: X:116.44, Y:155.03, Z:27.18 [[-5.50023907e-02 -9.98485632e-01 1.08619152e-03 1.16441489e+02] [ 8.18168289e-01 -4.44458508e-02 5.73258421e-01 1.55025760e+02] [-5.72342021e-01 3.24192711e-02 8.19373909e-01 2.71801313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.880714057 meters Centerline goodness : 0.987906 Centerline is valid? [True, True] Translation: X:116.44, Y:155.06, Z:27.16 [[-5.44900092e-02 -9.98389439e-01 1.57913727e-02 1.16443029e+02] [ 8.18023483e-01 -3.55658106e-02 5.74084187e-01 1.55058168e+02] [-5.72597957e-01 4.41995663e-02 8.18643988e-01 2.71620045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.910714057 meters Centerline goodness : 0.987806 Centerline is valid? [True, True] Translation: X:116.45, Y:155.06, Z:27.16 [[-5.58110888e-02 -9.98433425e-01 3.97717084e-03 1.16446834e+02] [ 8.19559087e-01 -4.35363779e-02 5.71338329e-01 1.55055820e+02] [-5.70270133e-01 3.51465407e-02 8.20704999e-01 2.71600091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.940714057 meters Centerline goodness : 0.987576 Centerline is valid? [True, True] Translation: X:116.45, Y:155.07, Z:27.15 [[-5.77898879e-02 -9.98328494e-01 7.39876013e-04 1.16445853e+02] [ 8.22534734e-01 -4.71937475e-02 5.66753352e-01 1.55069039e+02] [-5.65771103e-01 3.33611864e-02 8.23887183e-01 2.71539248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.970714057 meters Centerline goodness : 0.987894 Centerline is valid? [True, True] Translation: X:116.44, Y:155.07, Z:27.16 [[-5.68258491e-02 -9.98383393e-01 1.19287400e-03 1.16444382e+02] [ 8.23914504e-01 -4.62205954e-02 5.64826120e-01 1.55068782e+02] [-5.63857883e-01 3.30795501e-02 8.25209083e-01 2.71565006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.000714057 meters Centerline goodness : 0.987765 Centerline is valid? [True, True] Translation: X:116.44, Y:155.07, Z:27.16 [[-5.28314475e-02 -9.98535496e-01 1.16491029e-02 1.16440821e+02] [ 8.21982540e-01 -3.68601073e-02 5.68318604e-01 1.55071494e+02] [-5.67056912e-01 3.96004537e-02 8.22726116e-01 2.71582870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.030714057 meters Centerline goodness : 0.988596 Centerline is valid? [True, True] Translation: X:116.44, Y:155.08, Z:27.15 [[-5.15046625e-02 -9.98652770e-01 6.31780954e-03 1.16441395e+02] [ 8.22479124e-01 -3.88286633e-02 5.67468435e-01 1.55080350e+02] [-5.66458613e-01 3.44235367e-02 8.23370913e-01 2.71500712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.060714057 meters Centerline goodness : 0.988596 Centerline is valid? [True, True] Translation: X:116.44, Y:155.09, Z:27.15 [[-5.09750699e-02 -9.98672309e-01 7.42702976e-03 1.16440855e+02] [ 8.22531199e-01 -3.77641466e-02 5.67464797e-01 1.55086345e+02] [-5.66430904e-01 3.50355214e-02 8.23364162e-01 2.71465559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.090714057 meters Centerline goodness : 0.987415 Centerline is valid? [True, True] Translation: X:116.44, Y:155.09, Z:27.15 [[-4.96844311e-02 -9.98758820e-01 3.50383792e-03 1.16441837e+02] [ 8.23855996e-01 -3.89999569e-02 5.65455836e-01 1.55086079e+02] [-5.64617354e-01 3.09810094e-02 8.24771133e-01 2.71458003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.120714057 meters Centerline goodness : 0.987987 Centerline is valid? [True, True] Translation: X:116.44, Y:155.09, Z:27.14 [[-4.79668101e-02 -9.98801109e-01 9.77395647e-03 1.16439211e+02] [ 8.23501371e-01 -3.40065699e-02 5.66294133e-01 1.55093120e+02] [-5.65282829e-01 3.52121897e-02 8.24145269e-01 2.71423471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.150714057 meters Centerline goodness : 0.988290 Centerline is valid? [True, True] Translation: X:116.44, Y:155.10, Z:27.14 [[-4.91094284e-02 -9.98772510e-01 6.46049477e-03 1.16440585e+02] [ 8.25322176e-01 -3.69362556e-02 5.63452765e-01 1.55096786e+02] [-5.62522506e-01 3.30028328e-02 8.26123020e-01 2.71402265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.180714057 meters Centerline goodness : 0.988719 Centerline is valid? [True, True] Translation: X:116.44, Y:155.11, Z:27.14 [[-4.97255720e-02 -9.98742565e-01 6.37616976e-03 1.16439642e+02] [ 8.26209424e-01 -3.75468369e-02 5.62110508e-01 1.55105864e+02] [-5.61164286e-01 3.32193181e-02 8.27037557e-01 2.71352837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.210714057 meters Centerline goodness : 0.989168 Centerline is valid? [True, True] Translation: X:116.44, Y:155.11, Z:27.13 [[-4.94280065e-02 -9.98758392e-01 6.20854168e-03 1.16439081e+02] [ 8.27392038e-01 -3.74637497e-02 5.60373878e-01 1.55109221e+02] [-5.59445518e-01 3.28350616e-02 8.28216500e-01 2.71333783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.240714057 meters Centerline goodness : 0.988605 Centerline is valid? [True, True] Translation: X:116.44, Y:155.11, Z:27.14 [[-4.83357265e-02 -9.98712698e-01 1.53819497e-02 1.16435856e+02] [ 8.27015358e-01 -3.13808532e-02 5.61302806e-01 1.55111305e+02] [-5.60097541e-01 3.98520875e-02 8.27467556e-01 2.71353215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.270714057 meters Centerline goodness : 0.989605 Centerline is valid? [True, True] Translation: X:116.43, Y:155.14, Z:27.12 [[-4.96489763e-02 -9.98622661e-01 1.69634803e-02 1.16433597e+02] [ 8.27721737e-01 -3.16353823e-02 5.60246311e-01 1.55135707e+02] [-5.58938016e-01 4.18566972e-02 8.28152348e-01 2.71207707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.300714057 meters Centerline goodness : 0.989002 Centerline is valid? [True, True] Translation: X:116.44, Y:155.14, Z:27.12 [[-4.85148706e-02 -9.98719362e-01 1.43506922e-02 1.16435415e+02] [ 8.25332281e-01 -3.19917949e-02 5.63740322e-01 1.55136073e+02] [-5.62559270e-01 3.91938783e-02 8.25827408e-01 2.71170396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.330714057 meters Centerline goodness : 0.989004 Centerline is valid? [True, True] Translation: X:116.43, Y:155.16, Z:27.10 [[-5.03001227e-02 -9.98583228e-01 1.73618921e-02 1.16433025e+02] [ 8.26702121e-01 -3.18755753e-02 5.61736194e-01 1.55160716e+02] [-5.60386921e-01 4.26085125e-02 8.27134217e-01 2.71037390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.360714057 meters Centerline goodness : 0.988508 Centerline is valid? [True, True] Translation: X:116.43, Y:155.18, Z:27.09 [[-5.10365215e-02 -9.98462457e-01 2.16331991e-02 1.16430051e+02] [ 8.26346515e-01 -3.00544273e-02 5.62359466e-01 1.55183844e+02] [-5.60844641e-01 4.65773897e-02 8.26609845e-01 2.70896363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.390714057 meters Centerline goodness : 0.987894 Centerline is valid? [True, True] Translation: X:116.43, Y:155.21, Z:27.07 [[-5.07249510e-02 -9.98411783e-01 2.45130813e-02 1.16428102e+02] [ 8.26459241e-01 -2.81833885e-02 5.62290689e-01 1.55207686e+02] [-5.60706788e-01 4.87812303e-02 8.26576246e-01 2.70739977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.420714057 meters Centerline goodness : 0.989007 Centerline is valid? [True, True] Translation: X:116.43, Y:155.21, Z:27.06 [[-5.09810080e-02 -9.98693879e-01 3.38715434e-03 1.16434957e+02] [ 8.26307955e-01 -4.02757933e-02 5.61776667e-01 1.55213414e+02] [-5.60906499e-01 3.14387734e-02 8.27281997e-01 2.70600776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.450714057 meters Centerline goodness : 0.988342 Centerline is valid? [True, True] Translation: X:116.43, Y:155.22, Z:27.06 [[-4.92773655e-02 -9.98678164e-01 1.46172876e-02 1.16431114e+02] [ 8.23704670e-01 -3.23579942e-02 5.66095025e-01 1.55219654e+02] [-5.64873755e-01 3.99359996e-02 8.24210384e-01 2.70605133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.480714057 meters Centerline goodness : 0.988576 Centerline is valid? [True, True] Translation: X:116.43, Y:155.24, Z:27.05 [[-5.07126798e-02 -9.98564056e-01 1.72641365e-02 1.16429259e+02] [ 8.24021908e-01 -3.20689563e-02 5.65649607e-01 1.55243983e+02] [-5.64283723e-01 4.29116341e-02 8.24464961e-01 2.70465897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.51071405700003 meters Centerline goodness : 0.987990 Centerline is valid? [True, True] Translation: X:116.43, Y:155.27, Z:27.03 [[-5.04020654e-02 -9.98498999e-01 2.14331933e-02 1.16428054e+02] [ 8.22711663e-01 -2.93427635e-02 5.67701084e-01 1.55267388e+02] [-5.66220055e-01 4.62466452e-02 8.22955708e-01 2.70306496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.540714057 meters Centerline goodness : 0.987183 Centerline is valid? [True, True] Translation: X:116.43, Y:155.26, Z:27.03 [[-4.95675447e-02 -9.98698881e-01 1.19834720e-02 1.16431469e+02] [ 8.19575726e-01 -3.38141395e-02 5.71972231e-01 1.55256247e+02] [-5.70822816e-01 3.81726218e-02 8.20185445e-01 2.70326874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.570714057 meters Centerline goodness : 0.987526 Centerline is valid? [True, True] Translation: X:116.43, Y:155.28, Z:27.02 [[-5.17963098e-02 -9.98498528e-01 1.78278445e-02 1.16429999e+02] [ 8.19643464e-01 -3.23061582e-02 5.71962327e-01 1.55280289e+02] [-5.70527592e-01 4.42380141e-02 8.20086132e-01 2.70179918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.600714057 meters Centerline goodness : 0.987060 Centerline is valid? [True, True] Translation: X:116.44, Y:155.29, Z:27.01 [[-5.44643115e-02 -9.98514564e-01 1.51800160e-03 1.16436445e+02] [ 8.21556122e-01 -4.39478907e-02 5.68431282e-01 1.55287702e+02] [-5.67520200e-01 3.22063419e-02 8.22729344e-01 2.70065809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.630714057 meters Centerline goodness : 0.987907 Centerline is valid? [True, True] Translation: X:116.44, Y:155.29, Z:27.01 [[-5.70143115e-02 -9.98372744e-01 1.11057037e-03 1.16437117e+02] [ 8.23001534e-01 -4.63695790e-02 5.66143389e-01 1.55288630e+02] [-5.65170632e-01 3.31922766e-02 8.24306029e-01 2.70065794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.660714057 meters Centerline goodness : 0.988415 Centerline is valid? [True, True] Translation: X:116.43, Y:155.30, Z:27.00 [[-5.75638479e-02 -9.98307709e-01 8.25357150e-03 1.16434327e+02] [ 8.23122424e-01 -4.27809054e-02 5.66250182e-01 1.55301749e+02] [-5.64938827e-01 3.93892391e-02 8.24192095e-01 2.70006719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.690714057 meters Centerline goodness : 0.987607 Centerline is valid? [True, True] Translation: X:116.43, Y:155.33, Z:26.99 [[-6.16992383e-02 -9.97991710e-01 1.43440428e-02 1.16430967e+02] [ 8.25987585e-01 -4.29871120e-02 5.62046811e-01 1.55326578e+02] [-5.60301448e-01 4.65258614e-02 8.26981034e-01 2.69897208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.720714057 meters Centerline goodness : 0.987738 Centerline is valid? [True, True] Translation: X:116.43, Y:155.35, Z:26.97 [[-6.33992521e-02 -9.97946277e-01 9.15227220e-03 1.16432436e+02] [ 8.26616454e-01 -4.73718490e-02 5.60768354e-01 1.55347704e+02] [-5.59183131e-01 4.31177130e-02 8.27922152e-01 2.69741103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.750714057 meters Centerline goodness : 0.988513 Centerline is valid? [True, True] Translation: X:116.43, Y:155.35, Z:26.97 [[-6.39215521e-02 -9.97941776e-01 5.12318472e-03 1.16433842e+02] [ 8.25248229e-01 -4.99719277e-02 5.62555034e-01 1.55352019e+02] [-5.61141154e-01 4.01872900e-02 8.26743967e-01 2.69671110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.780714057 meters Centerline goodness : 0.989623 Centerline is valid? [True, True] Translation: X:116.43, Y:155.38, Z:26.95 [[-6.41811793e-02 -9.97695300e-01 2.20196560e-02 1.16428124e+02] [ 8.25855004e-01 -4.07140902e-02 5.62410771e-01 1.55380560e+02] [-5.60218073e-01 5.42812297e-02 8.26564734e-01 2.69543543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.810714057 meters Centerline goodness : 0.988233 Centerline is valid? [True, True] Translation: X:116.43, Y:155.40, Z:26.94 [[-6.55588208e-02 -9.97830639e-01 6.00481489e-03 1.16431788e+02] [ 8.26187064e-01 -5.09050308e-02 5.61091449e-01 1.55399082e+02] [-5.59568563e-01 4.17455941e-02 8.27732039e-01 2.69371150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.840714057 meters Centerline goodness : 0.988515 Centerline is valid? [True, True] Translation: X:116.43, Y:155.40, Z:26.94 [[-6.38929599e-02 -9.97953631e-01 2.49783775e-03 1.16431443e+02] [ 8.26211307e-01 -5.14931678e-02 5.61002076e-01 1.55399585e+02] [-5.59725438e-01 3.79078249e-02 8.27810625e-01 2.69368241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.870714057 meters Centerline goodness : 0.987907 Centerline is valid? [True, True] Translation: X:116.43, Y:155.41, Z:26.94 [[-6.11686925e-02 -9.98068861e-01 1.08138863e-02 1.16427173e+02] [ 8.25194879e-01 -4.44727333e-02 5.63094653e-01 1.55406603e+02] [-5.61526315e-01 4.33673272e-02 8.26321652e-01 2.69364511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.900714057 meters Centerline goodness : 0.987984 Centerline is valid? [True, True] Translation: X:116.42, Y:155.43, Z:26.92 [[-6.06154313e-02 -9.97934658e-01 2.12647323e-02 1.16423495e+02] [ 8.25185643e-01 -3.81134438e-02 5.63574325e-01 1.55431373e+02] [-5.61599879e-01 5.17086526e-02 8.25791615e-01 2.69232211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.930714057 meters Centerline goodness : 0.987724 Centerline is valid? [True, True] Translation: X:116.43, Y:155.45, Z:26.90 [[-6.20908018e-02 -9.98042643e-01 7.45753675e-03 1.16428033e+02] [ 8.24184932e-01 -4.70576595e-02 5.64362273e-01 1.55450617e+02] [-5.62906680e-01 4.11880955e-02 8.25493555e-01 2.69039799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.960714057 meters Centerline goodness : 0.987971 Centerline is valid? [True, True] Translation: X:116.43, Y:155.45, Z:26.90 [[-6.26985807e-02 -9.97992994e-01 8.88096349e-03 1.16427573e+02] [ 8.23257287e-01 -4.66863993e-02 5.65745367e-01 1.55450290e+02] [-5.64195292e-01 4.27827494e-02 8.24532176e-01 2.69027942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.990714057 meters Centerline goodness : 0.988427 Centerline is valid? [True, True] Translation: X:116.42, Y:155.47, Z:26.89 [[-6.41390886e-02 -9.97789914e-01 1.73627579e-02 1.16424441e+02] [ 8.24148677e-01 -4.31502861e-02 5.64727378e-01 1.55474334e+02] [-5.62730074e-01 5.05305933e-02 8.25094857e-01 2.68915700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.020714057 meters Centerline goodness : 0.988305 Centerline is valid? [True, True] Translation: X:116.43, Y:155.50, Z:26.87 [[-6.83574624e-02 -9.97636382e-01 6.99334841e-03 1.16428610e+02] [ 8.24575540e-01 -5.25507064e-02 5.63305959e-01 1.55496060e+02] [-5.61607013e-01 4.42727099e-02 8.26218791e-01 2.68715078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.050714057 meters Centerline goodness : 0.989274 Centerline is valid? [True, True] Translation: X:116.43, Y:155.49, Z:26.88 [[-6.76019955e-02 -9.97615634e-01 1.38930651e-02 1.16425876e+02] [ 8.24338265e-01 -4.80048718e-02 5.64058469e-01 1.55485831e+02] [-5.62046612e-01 4.95840633e-02 8.25617966e-01 2.68814714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.080714057 meters Centerline goodness : 0.989108 Centerline is valid? [True, True] Translation: X:116.43, Y:155.51, Z:26.87 [[-6.76809400e-02 -9.97639499e-01 1.16068966e-02 1.16426619e+02] [ 8.26010722e-01 -4.95050425e-02 5.61476213e-01 1.55506487e+02] [-5.59576248e-01 4.75886590e-02 8.27411471e-01 2.68656473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.110714057 meters Centerline goodness : 0.988406 Centerline is valid? [True, True] Translation: X:116.42, Y:155.53, Z:26.85 [[-6.84374438e-02 -9.97499389e-01 1.76432594e-02 1.16424434e+02] [ 8.25335270e-01 -4.66724945e-02 5.62710734e-01 1.55530748e+02] [-5.60480159e-01 5.30720885e-02 8.26465574e-01 2.68526369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.140714057 meters Centerline goodness : 0.988254 Centerline is valid? [True, True] Translation: X:116.43, Y:155.55, Z:26.83 [[-6.96319806e-02 -9.97518763e-01 1.03780785e-02 1.16425965e+02] [ 8.27744238e-01 -5.19682479e-02 5.58693814e-01 1.55553987e+02] [-5.56768232e-01 4.74933515e-02 8.29309060e-01 2.68333578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.170714057 meters Centerline goodness : 0.988832 Centerline is valid? [True, True] Translation: X:116.42, Y:155.58, Z:26.82 [[-6.85873604e-02 -9.97522248e-01 1.56569099e-02 1.16422490e+02] [ 8.26656132e-01 -4.80390961e-02 5.60653088e-01 1.55577882e+02] [-5.58511785e-01 5.13965960e-02 8.27902758e-01 2.68206766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.200714057 meters Centerline goodness : 0.989738 Centerline is valid? [True, True] Translation: X:116.43, Y:155.58, Z:26.82 [[-6.71524480e-02 -9.97734770e-01 3.98473387e-03 1.16426274e+02] [ 8.26457394e-01 -5.33862759e-02 5.60462383e-01 1.55576794e+02] [-5.58980076e-01 4.09296338e-02 8.28170296e-01 2.68158159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.230714057 meters Centerline goodness : 0.988739 Centerline is valid? [True, True] Translation: X:116.42, Y:155.59, Z:26.81 [[-6.61770317e-02 -9.97773295e-01 8.30982329e-03 1.16424524e+02] [ 8.25979013e-01 -5.01066999e-02 5.61469491e-01 1.55590580e+02] [-5.59802886e-01 4.40201239e-02 8.27455714e-01 2.68082871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.26071405700003 meters Centerline goodness : 0.988359 Centerline is valid? [True, True] Translation: X:116.42, Y:155.61, Z:26.79 [[-6.70343183e-02 -9.97721132e-01 7.67749810e-03 1.16424028e+02] [ 8.28090438e-01 -5.13416034e-02 5.58238539e-01 1.55613805e+02] [-5.56572212e-01 4.37788027e-02 8.29644978e-01 2.67943615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.290714057 meters Centerline goodness : 0.988577 Centerline is valid? [True, True] Translation: X:116.42, Y:155.64, Z:26.78 [[-6.64968115e-02 -9.97607594e-01 1.89013778e-02 1.16419406e+02] [ 8.25439091e-01 -4.43585237e-02 5.62745616e-01 1.55639438e+02] [-5.60560863e-01 5.30227253e-02 8.26414006e-01 2.67806373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.320714057 meters Centerline goodness : 0.987744 Centerline is valid? [True, True] Translation: X:116.42, Y:155.66, Z:26.77 [[-6.59758465e-02 -9.97720721e-01 1.41615676e-02 1.16420356e+02] [ 8.25414925e-01 -4.65963538e-02 5.62600197e-01 1.55659714e+02] [-5.60657997e-01 4.88071935e-02 8.26607808e-01 2.67654979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.350714057 meters Centerline goodness : 0.988019 Centerline is valid? [True, True] Translation: X:116.42, Y:155.66, Z:26.76 [[-6.31605445e-02 -9.97954021e-01 9.92556064e-03 1.16421485e+02] [ 8.23471656e-01 -4.64936430e-02 5.65449178e-01 1.55662057e+02] [-5.63830806e-01 4.38874958e-02 8.24723414e-01 2.67601071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.380714057 meters Centerline goodness : 0.989312 Centerline is valid? [True, True] Translation: X:116.41, Y:155.69, Z:26.75 [[-6.60839616e-02 -9.97316101e-01 3.15199249e-02 1.16413154e+02] [ 8.28345688e-01 -3.72212733e-02 5.58979425e-01 1.55694492e+02] [-5.56305969e-01 6.30489688e-02 8.28582221e-01 2.67481765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.410714057 meters Centerline goodness : 0.989015 Centerline is valid? [True, True] Translation: X:116.42, Y:155.72, Z:26.73 [[-6.66124553e-02 -9.97481972e-01 2.43412499e-02 1.16415566e+02] [ 8.27751941e-01 -4.16232944e-02 5.59548234e-01 1.55715810e+02] [-5.57126112e-01 5.74213985e-02 8.28440268e-01 2.67284496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.440714057 meters Centerline goodness : 0.988479 Centerline is valid? [True, True] Translation: X:116.42, Y:155.74, Z:26.71 [[-6.93322100e-02 -9.97388131e-01 2.02474658e-02 1.16417212e+02] [ 8.28298478e-01 -4.62428549e-02 5.58375527e-01 1.55738336e+02] [-5.55980823e-01 5.54843544e-02 8.29341191e-01 2.67102903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.470714057 meters Centerline goodness : 0.987707 Centerline is valid? [True, True] Translation: X:116.42, Y:155.73, Z:26.71 [[-6.86752365e-02 -9.97569795e-01 1.17565002e-02 1.16421434e+02] [ 8.26511121e-01 -5.02915561e-02 5.60669356e-01 1.55732727e+02] [-5.58715562e-01 4.82209788e-02 8.27956314e-01 2.67064511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.500714057 meters Centerline goodness : 0.986720 Centerline is valid? [True, True] Translation: X:116.42, Y:155.75, Z:26.69 [[-7.01024050e-02 -9.97529995e-01 4.42287862e-03 1.16424453e+02] [ 8.22819171e-01 -5.53166342e-02 5.65604704e-01 1.55750602e+02] [-5.63962999e-01 4.32894794e-02 8.24664633e-01 2.66914550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.530714057 meters Centerline goodness : 0.987736 Centerline is valid? [True, True] Translation: X:116.42, Y:155.76, Z:26.68 [[-7.19849840e-02 -9.97382674e-01 6.77970709e-03 1.16424111e+02] [ 8.22168731e-01 -5.54881056e-02 5.66533006e-01 1.55764152e+02] [-5.64674012e-01 4.63559326e-02 8.24011158e-01 2.66824024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.560714057 meters Centerline goodness : 0.987635 Centerline is valid? [True, True] Translation: X:116.42, Y:155.79, Z:26.67 [[-7.40247701e-02 -9.97206682e-01 9.95823907e-03 1.16422796e+02] [ 8.22700264e-01 -5.54209589e-02 5.65767437e-01 1.55788639e+02] [-5.63635173e-01 5.00734503e-02 8.24504725e-01 2.66690398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.590714057 meters Centerline goodness : 0.987251 Centerline is valid? [True, True] Translation: X:116.42, Y:155.81, Z:26.66 [[-7.38846686e-02 -9.97113406e-01 1.74903277e-02 1.16420915e+02] [ 8.22259928e-01 -5.09856454e-02 5.66823672e-01 1.55811183e+02] [-5.64295727e-01 5.62611748e-02 8.23653454e-01 2.66566635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.620714057 meters Centerline goodness : 0.988477 Centerline is valid? [True, True] Translation: X:116.43, Y:155.83, Z:26.64 [[-7.39266030e-02 -9.97252081e-01 4.81087629e-03 1.16425168e+02] [ 8.22127494e-01 -5.82125636e-02 5.66319417e-01 1.55831375e+02] [-5.64483163e-01 4.58212244e-02 8.24171811e-01 2.66389002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.650714057 meters Centerline goodness : 0.986949 Centerline is valid? [True, True] Translation: X:116.42, Y:155.86, Z:26.62 [[-7.28546079e-02 -9.97286354e-01 1.05893382e-02 1.16422210e+02] [ 8.22379542e-01 -5.40634201e-02 5.66364755e-01 1.55855655e+02] [-5.64255345e-01 4.99707372e-02 8.24086665e-01 2.66245644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.680714057 meters Centerline goodness : 0.987726 Centerline is valid? [True, True] Translation: X:116.43, Y:155.84, Z:26.63 [[-6.81650855e-02 -9.97673857e-01 -6.29363925e-04 1.16425855e+02] [ 8.23204228e-01 -5.66009869e-02 5.64916921e-01 1.55844822e+02] [-5.63638466e-01 3.79895152e-02 8.25147548e-01 2.66263988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.710714057 meters Centerline goodness : 0.987731 Centerline is valid? [True, True] Translation: X:116.42, Y:155.87, Z:26.61 [[-6.73775286e-02 -9.97721567e-01 -3.45588264e-03 1.16423837e+02] [ 8.25654113e-01 -5.77015067e-02 5.61218159e-01 1.55867630e+02] [-5.60138871e-01 3.49601289e-02 8.27660700e-01 2.66146979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.740714057 meters Centerline goodness : 0.987065 Centerline is valid? [True, True] Translation: X:116.42, Y:155.89, Z:26.60 [[-6.07879695e-02 -9.98127384e-01 6.82259643e-03 1.16418975e+02] [ 8.27498617e-01 -4.65717041e-02 5.59532944e-01 1.55893894e+02] [-5.58167414e-01 3.96585607e-02 8.28780029e-01 2.66034102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.770714057 meters Centerline goodness : 0.987968 Centerline is valid? [True, True] Translation: X:116.42, Y:155.92, Z:26.59 [[-5.74307473e-02 -9.98342386e-01 3.76701873e-03 1.16418345e+02] [ 8.27425601e-01 -4.54865557e-02 5.59730157e-01 1.55916502e+02] [-5.58630992e-01 3.52626489e-02 8.28666375e-01 2.65857709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.800714057 meters Centerline goodness : 0.987827 Centerline is valid? [True, True] Translation: X:116.41, Y:155.91, Z:26.59 [[-4.68266400e-02 -9.98799862e-01 1.43562501e-02 1.16414950e+02] [ 8.24777787e-01 -3.05522556e-02 5.64630997e-01 1.55914503e+02] [-5.63514746e-01 3.82804886e-02 8.25218599e-01 2.65895895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.830714057 meters Centerline goodness : 0.986945 Centerline is valid? [True, True] Translation: X:116.41, Y:155.94, Z:26.57 [[-4.27895396e-02 -9.98938301e-01 1.70682628e-02 1.16413875e+02] [ 8.24252867e-01 -2.56421164e-02 5.65640958e-01 1.55937439e+02] [-5.64602751e-01 3.82720807e-02 8.24474973e-01 2.65745663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.860714057 meters Centerline goodness : 0.987165 Centerline is valid? [True, True] Translation: X:116.42, Y:155.96, Z:26.55 [[-3.72714886e-02 -9.99290245e-01 5.46278900e-03 1.16416817e+02] [ 8.23600516e-01 -2.76217665e-02 5.66497332e-01 1.55959231e+02] [-5.65944366e-01 2.56133547e-02 8.24045466e-01 2.65534769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.890714057 meters Centerline goodness : 0.987427 Centerline is valid? [True, True] Translation: X:116.41, Y:155.98, Z:26.54 [[-3.53840648e-02 -9.99253037e-01 1.55349707e-02 1.16414164e+02] [ 8.23072849e-01 -2.03216261e-02 5.67572126e-01 1.55984516e+02] [-5.66832474e-01 3.28694214e-02 8.23177106e-01 2.65405283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.920714057 meters Centerline goodness : 0.988811 Centerline is valid? [True, True] Translation: X:116.41, Y:156.02, Z:26.52 [[-3.89788858e-02 -9.98918053e-01 2.53647522e-02 1.16411842e+02] [ 8.27428538e-01 -1.80349930e-02 5.61281350e-01 1.56015415e+02] [-5.60216620e-01 4.28656415e-02 8.27236288e-01 2.65235903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.950714057 meters Centerline goodness : 0.989121 Centerline is valid? [True, True] Translation: X:116.42, Y:156.02, Z:26.51 [[-4.04823101e-02 -9.99147866e-01 8.04519005e-03 1.16418865e+02] [ 8.27854762e-01 -2.90313707e-02 5.60190747e-01 1.56018661e+02] [-5.59479826e-01 2.93380644e-02 8.28324575e-01 2.65128455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.980714057 meters Centerline goodness : 0.989121 Centerline is valid? [True, True] Translation: X:116.41, Y:156.05, Z:26.50 [[-4.11298434e-02 -9.98874339e-01 2.36302838e-02 1.16412658e+02] [ 8.28275845e-01 -2.08589800e-02 5.59932163e-01 1.56045867e+02] [-5.58808966e-01 4.26023155e-02 8.28201414e-01 2.65026565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.01071405700003 meters Centerline goodness : 0.988655 Centerline is valid? [True, True] Translation: X:116.42, Y:156.06, Z:26.49 [[-4.67009234e-02 -9.98871061e-01 8.69638963e-03 1.16420065e+02] [ 8.28657353e-01 -3.38783761e-02 5.58730031e-01 1.56059401e+02] [-5.57804640e-01 3.32995356e-02 8.29304000e-01 2.64858242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.040714057 meters Centerline goodness : 0.989600 Centerline is valid? [True, True] Translation: X:116.42, Y:156.06, Z:26.49 [[-5.47864450e-02 -9.98470303e-01 7.44986735e-03 1.16423266e+02] [ 8.30594673e-01 -4.14315420e-02 5.55334058e-01 1.56059905e+02] [-5.54175905e-01 3.66125990e-02 8.31594002e-01 2.64864409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.070714057 meters Centerline goodness : 0.989005 Centerline is valid? [True, True] Translation: X:116.43, Y:156.06, Z:26.48 [[-5.89144891e-02 -9.98256477e-01 -3.61798899e-03 1.16428783e+02] [ 8.28808902e-01 -5.09336320e-02 5.57208731e-01 1.56061922e+02] [-5.56421502e-01 2.98290462e-02 8.30364583e-01 2.64801848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.100714057 meters Centerline goodness : 0.988054 Centerline is valid? [True, True] Translation: X:116.43, Y:156.08, Z:26.48 [[-6.56932717e-02 -9.97830367e-01 4.35339492e-03 1.16427940e+02] [ 8.29639099e-01 -5.21950951e-02 5.55854871e-01 1.56075981e+02] [-5.54421644e-01 4.01276717e-02 8.31267954e-01 2.64753720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.130714057 meters Centerline goodness : 0.989907 Centerline is valid? [True, True] Translation: X:116.43, Y:156.09, Z:26.47 [[-6.77696204e-02 -9.97622161e-01 1.25419993e-02 1.16425076e+02] [ 8.32316615e-01 -4.95995723e-02 5.52076929e-01 1.56091135e+02] [-5.50142101e-01 4.78529583e-02 8.33698844e-01 2.64694613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.160714057 meters Centerline goodness : 0.989188 Centerline is valid? [True, True] Translation: X:116.43, Y:156.11, Z:26.45 [[-7.02576708e-02 -9.97502826e-01 7.20915644e-03 1.16428927e+02] [ 8.27063454e-01 -5.42094823e-02 5.59488495e-01 1.56109474e+02] [-5.57700550e-01 4.52707883e-02 8.28806764e-01 2.64527637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.190714057 meters Centerline goodness : 0.987623 Centerline is valid? [True, True] Translation: X:116.43, Y:156.12, Z:26.45 [[-7.14398220e-02 -9.97382096e-01 1.11939987e-02 1.16428086e+02] [ 8.27315724e-01 -5.29819356e-02 5.59233053e-01 1.56117044e+02] [-5.57175955e-01 4.92124808e-02 8.28934911e-01 2.64501149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.220714057 meters Centerline goodness : 0.989330 Centerline is valid? [True, True] Translation: X:116.43, Y:156.13, Z:26.43 [[-7.25842183e-02 -9.97362138e-01 5.45006221e-04 1.16432268e+02] [ 8.26725747e-01 -5.98602624e-02 5.59411555e-01 1.56133473e+02] [-5.57903281e-01 4.10550211e-02 8.28889869e-01 2.64326871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.250714057 meters Centerline goodness : 0.989662 Centerline is valid? [True, True] Translation: X:116.42, Y:156.17, Z:26.43 [[-7.47435225e-02 -9.96575767e-01 3.53574082e-02 1.16419991e+02] [ 8.32125357e-01 -4.27921909e-02 5.52934190e-01 1.56166093e+02] [-5.49527794e-01 7.07500450e-02 8.32474405e-01 2.64256477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.280714057 meters Centerline goodness : 0.989802 Centerline is valid? [True, True] Translation: X:116.43, Y:156.16, Z:26.41 [[-7.37253703e-02 -9.97232062e-01 9.63248542e-03 1.16429214e+02] [ 8.31343104e-01 -5.61204343e-02 5.52918747e-01 1.56163268e+02] [-5.50847722e-01 4.87720397e-02 8.33179497e-01 2.64139027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.310714057 meters Centerline goodness : 0.988814 Centerline is valid? [True, True] Translation: X:116.43, Y:156.18, Z:26.40 [[-6.99737848e-02 -9.97489972e-01 1.08363018e-02 1.16428525e+02] [ 8.26807908e-01 -5.19159563e-02 5.60083401e-01 1.56182535e+02] [-5.58114999e-01 4.81506954e-02 8.28365353e-01 2.64016548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.340714057 meters Centerline goodness : 0.989085 Centerline is valid? [True, True] Translation: X:116.43, Y:156.21, Z:26.38 [[-6.94870916e-02 -9.97475275e-01 1.46499214e-02 1.16428198e+02] [ 8.25733557e-01 -4.92703625e-02 5.61904373e-01 1.56207823e+02] [-5.59763912e-01 5.11420324e-02 8.27072461e-01 2.63849406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.370714057 meters Centerline goodness : 0.988418 Centerline is valid? [True, True] Translation: X:116.43, Y:156.21, Z:26.38 [[-6.75237654e-02 -9.97641765e-01 1.23065343e-02 1.16430444e+02] [ 8.24290542e-01 -4.88327717e-02 5.64057146e-01 1.56205684e+02] [-5.62126004e-01 4.82314222e-02 8.25644043e-01 2.63835397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.400714057 meters Centerline goodness : 0.987599 Centerline is valid? [True, True] Translation: X:116.43, Y:156.23, Z:26.37 [[-6.77361763e-02 -9.97614174e-01 1.33330857e-02 1.16430978e+02] [ 8.24517735e-01 -4.84486332e-02 5.63758136e-01 1.56230238e+02] [-5.61767137e-01 4.91801861e-02 8.25832303e-01 2.63655435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.430714057 meters Centerline goodness : 0.988451 Centerline is valid? [True, True] Translation: X:116.43, Y:156.23, Z:26.36 [[-6.61706289e-02 -9.97773842e-01 8.29512843e-03 1.16433037e+02] [ 8.24010224e-01 -4.99549743e-02 5.64368365e-01 1.56231592e+02] [-5.62697609e-01 4.41798803e-02 8.25481398e-01 2.63617841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.460714057 meters Centerline goodness : 0.988513 Centerline is valid? [True, True] Translation: X:116.43, Y:156.26, Z:26.35 [[-6.65214401e-02 -9.97533920e-01 2.23825115e-02 1.16428464e+02] [ 8.23310830e-01 -4.22029578e-02 5.66019600e-01 1.56259038e+02] [-5.63679142e-01 5.60802030e-02 8.24087881e-01 2.63481023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.490714057 meters Centerline goodness : 0.989234 Centerline is valid? [True, True] Translation: X:116.43, Y:156.25, Z:26.35 [[-6.45270436e-02 -9.97682926e-01 2.15648044e-02 1.16429103e+02] [ 8.24679474e-01 -4.11447181e-02 5.64101832e-01 1.56254821e+02] [-5.61907489e-01 5.41838751e-02 8.25423577e-01 2.63486153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.520714057 meters Centerline goodness : 0.989604 Centerline is valid? [True, True] Translation: X:116.43, Y:156.28, Z:26.33 [[-6.41281918e-02 -9.97636124e-01 2.46929060e-02 1.16429891e+02] [ 8.22131533e-01 -3.87885557e-02 5.67974639e-01 1.56276668e+02] [-5.65674215e-01 5.67240032e-02 8.22675556e-01 2.63320312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.550714057 meters Centerline goodness : 0.990080 Centerline is valid? [True, True] Translation: X:116.43, Y:156.30, Z:26.32 [[-6.71592143e-02 -9.97325115e-01 2.88488175e-02 1.16427265e+02] [ 8.25800214e-01 -3.93352742e-02 5.62589320e-01 1.56302917e+02] [-5.59949682e-01 6.16064163e-02 8.26233020e-01 2.63190018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.580714057 meters Centerline goodness : 0.990304 Centerline is valid? [True, True] Translation: X:116.42, Y:156.33, Z:26.30 [[-6.84866180e-02 -9.96722642e-01 4.30529633e-02 1.16423418e+02] [ 8.25111060e-01 -3.23312310e-02 5.64044705e-01 1.56331032e+02] [-5.60804174e-01 7.41529905e-02 8.24621133e-01 2.63024949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.610714057 meters Centerline goodness : 0.988552 Centerline is valid? [True, True] Translation: X:116.44, Y:156.33, Z:26.28 [[-7.04935956e-02 -9.97508889e-01 -2.58248231e-03 1.16441066e+02] [ 8.23292219e-01 -5.96431545e-02 5.64475524e-01 1.56328086e+02] [-5.63223380e-01 3.76657717e-02 8.25445767e-01 2.62826539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.640714057 meters Centerline goodness : 0.989449 Centerline is valid? [True, True] Translation: X:116.44, Y:156.34, Z:26.28 [[-7.14310023e-02 -9.97403362e-01 9.17312019e-03 1.16436730e+02] [ 8.23325250e-01 -5.37675910e-02 5.65017326e-01 1.56342699e+02] [-5.63056964e-01 4.79122154e-02 8.25028045e-01 2.62788530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.670714057 meters Centerline goodness : 0.989443 Centerline is valid? [True, True] Translation: X:116.44, Y:156.34, Z:26.28 [[-7.14865135e-02 -9.97374687e-01 1.15504088e-02 1.16436245e+02] [ 8.23052518e-01 -5.24426270e-02 5.65538968e-01 1.56340790e+02] [-5.63448517e-01 4.99350021e-02 8.24640688e-01 2.62812412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.700714057 meters Centerline goodness : 0.990182 Centerline is valid? [True, True] Translation: X:116.43, Y:156.35, Z:26.28 [[-7.07190587e-02 -9.97140740e-01 2.66300367e-02 1.16432031e+02] [ 8.22937786e-01 -4.32355182e-02 5.66483972e-01 1.56349476e+02] [-5.63712884e-01 6.19760767e-02 8.23642368e-01 2.62807667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.730714057 meters Centerline goodness : 0.990086 Centerline is valid? [True, True] Translation: X:116.43, Y:156.38, Z:26.27 [[-7.17687458e-02 -9.96705747e-01 3.77743419e-02 1.16428926e+02] [ 8.22849837e-01 -3.77611357e-02 5.67002859e-01 1.56376033e+02] [-5.63708606e-01 7.17756951e-02 8.22849231e-01 2.62677294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.76071405700003 meters Centerline goodness : 0.988697 Centerline is valid? [True, True] Translation: X:116.44, Y:156.39, Z:26.25 [[-7.04653943e-02 -9.97289025e-01 2.11950100e-02 1.16435674e+02] [ 8.19325241e-01 -4.57451180e-02 5.71501123e-01 1.56391490e+02] [-5.68982230e-01 5.76366586e-02 8.20327518e-01 2.62491316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.790714057 meters Centerline goodness : 0.989459 Centerline is valid? [True, True] Translation: X:116.43, Y:156.42, Z:26.24 [[-7.21630794e-02 -9.96340344e-01 4.58083915e-02 1.16427526e+02] [ 8.22575667e-01 -3.34780917e-02 5.67669349e-01 1.56423564e+02] [-5.64058297e-01 7.86456365e-02 8.21981205e-01 2.62373122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.820714057 meters Centerline goodness : 0.990399 Centerline is valid? [True, True] Translation: X:116.44, Y:156.42, Z:26.22 [[-7.05468187e-02 -9.97400928e-01 1.46469893e-02 1.16439999e+02] [ 8.23628708e-01 -4.99597901e-02 5.64924570e-01 1.56421737e+02] [-5.62724531e-01 5.19173121e-02 8.25012543e-01 2.62242409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.850714057 meters Centerline goodness : 0.990160 Centerline is valid? [True, True] Translation: X:116.44, Y:156.43, Z:26.22 [[-6.86173580e-02 -9.97515933e-01 1.59254945e-02 1.16440271e+02] [ 8.23553083e-01 -4.76266778e-02 5.65236251e-01 1.56429789e+02] [-5.63073688e-01 5.19005082e-02 8.24775339e-01 2.62179474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.880714057 meters Centerline goodness : 0.989408 Centerline is valid? [True, True] Translation: X:116.44, Y:156.45, Z:26.21 [[-6.63262683e-02 -9.97368198e-01 2.92831621e-02 1.16437460e+02] [ 8.21128047e-01 -3.78857393e-02 5.69485207e-01 1.56454149e+02] [-5.66877020e-01 6.18170543e-02 8.21479821e-01 2.62056156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.910714057 meters Centerline goodness : 0.989883 Centerline is valid? [True, True] Translation: X:116.44, Y:156.48, Z:26.18 [[-6.74992395e-02 -9.97581257e-01 1.65978257e-02 1.16442060e+02] [ 8.25356553e-01 -4.64838564e-02 5.62695133e-01 1.56479965e+02] [-5.60562587e-01 5.16806177e-02 8.26497852e-01 2.61840208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.940714057 meters Centerline goodness : 0.988120 Centerline is valid? [True, True] Translation: X:116.45, Y:156.47, Z:26.18 [[-6.82894656e-02 -9.97665445e-01 4.57870707e-04 1.16450330e+02] [ 8.25342841e-01 -5.62362653e-02 5.61824418e-01 1.56469910e+02] [-5.60487059e-01 3.87445896e-02 8.27256377e-01 2.61837580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.970714057 meters Centerline goodness : 0.989263 Centerline is valid? [True, True] Translation: X:116.44, Y:156.49, Z:26.18 [[-6.70737536e-02 -9.97507024e-01 2.19282663e-02 1.16442182e+02] [ 8.27678409e-01 -4.33541527e-02 5.59525575e-01 1.56488323e+02] [-5.57180010e-01 5.56790331e-02 8.28522952e-01 2.61809860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.000714057 meters Centerline goodness : 0.989166 Centerline is valid? [True, True] Translation: X:116.45, Y:156.48, Z:26.18 [[-6.71260391e-02 -9.97734119e-01 4.55214245e-03 1.16449071e+02] [ 8.30377003e-01 -5.33359563e-02 5.54643407e-01 1.56481422e+02] [-5.53143858e-01 4.10110094e-02 8.32075699e-01 2.61798644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.030714057 meters Centerline goodness : 0.989452 Centerline is valid? [True, True] Translation: X:116.44, Y:156.51, Z:26.17 [[-6.78374618e-02 -9.97374017e-01 2.53604015e-02 1.16440212e+02] [ 8.31927828e-01 -4.25168133e-02 5.53252573e-01 1.56509251e+02] [-5.50721498e-01 5.86292740e-02 8.32627432e-01 2.61729405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.060714057 meters Centerline goodness : 0.989900 Centerline is valid? [True, True] Translation: X:116.45, Y:156.51, Z:26.16 [[-6.80374265e-02 -9.97648677e-01 8.24777442e-03 1.16446580e+02] [ 8.32668137e-01 -5.22283728e-02 5.51303883e-01 1.56511329e+02] [-5.49576821e-01 4.43769563e-02 8.34263749e-01 2.61648639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.090714057 meters Centerline goodness : 0.989478 Centerline is valid? [True, True] Translation: X:116.45, Y:156.53, Z:26.15 [[-6.93252308e-02 -9.97582961e-01 4.71682106e-03 1.16447486e+02] [ 8.34599918e-01 -5.54076396e-02 5.48062926e-01 1.56533914e+02] [-5.46476888e-01 4.19312473e-02 8.36423805e-01 2.61509942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.120714057 meters Centerline goodness : 0.990546 Centerline is valid? [True, True] Translation: X:116.45, Y:156.52, Z:26.16 [[-6.74059856e-02 -9.97690477e-01 8.37532264e-03 1.16445942e+02] [ 8.34639823e-01 -5.17866624e-02 5.48356187e-01 1.56519865e+02] [-5.46656015e-01 4.39528671e-02 8.36202934e-01 2.61637435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.150714057 meters Centerline goodness : 0.989506 Centerline is valid? [True, True] Translation: X:116.45, Y:156.53, Z:26.16 [[-6.96819878e-02 -9.97565824e-01 -2.61687886e-03 1.16448370e+02] [ 8.38422585e-01 -5.99865583e-02 5.41709500e-01 1.56531753e+02] [-5.40547861e-01 3.55533444e-02 8.40561699e-01 2.61565927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.180714057 meters Centerline goodness : 0.988213 Centerline is valid? [True, True] Translation: X:116.45, Y:156.54, Z:26.15 [[-7.20713290e-02 -9.97325942e-01 -1.21115464e-02 1.16451231e+02] [ 8.38686787e-01 -6.71706463e-02 5.40455898e-01 1.56539295e+02] [-5.39824228e-01 2.87935809e-02 8.41285167e-01 2.61500813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.210714057 meters Centerline goodness : 0.990582 Centerline is valid? [True, True] Translation: X:116.44, Y:156.55, Z:26.16 [[-6.89326493e-02 -9.97458969e-01 1.79970678e-02 1.16440598e+02] [ 8.38523671e-01 -4.81564240e-02 5.42732911e-01 1.56547428e+02] [-5.40487136e-01 5.25029848e-02 8.39712506e-01 2.61559082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.240714057 meters Centerline goodness : 0.990256 Centerline is valid? [True, True] Translation: X:116.44, Y:156.55, Z:26.15 [[-6.93501074e-02 -9.97558787e-01 8.18713092e-03 1.16444660e+02] [ 8.37983227e-01 -5.37996442e-02 5.43037485e-01 1.56549441e+02] [-5.41271350e-01 4.45203863e-02 8.39668542e-01 2.61491374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.270714057 meters Centerline goodness : 0.990460 Centerline is valid? [True, True] Translation: X:116.45, Y:156.55, Z:26.15 [[-7.14484188e-02 -9.97428146e-01 5.67601627e-03 1.16445318e+02] [ 8.40014930e-01 -5.71021019e-02 5.39550059e-01 1.56552679e+02] [-5.37838303e-01 4.33179370e-02 8.41934390e-01 2.61466463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.300714057 meters Centerline goodness : 0.989532 Centerline is valid? [True, True] Translation: X:116.45, Y:156.57, Z:26.13 [[-7.19454527e-02 -9.97388488e-01 -6.32896541e-03 1.16449656e+02] [ 8.34801842e-01 -6.36875401e-02 5.46854443e-01 1.56571298e+02] [-5.45829402e-01 3.40602585e-02 8.37203776e-01 2.61294312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.330714057 meters Centerline goodness : 0.988566 Centerline is valid? [True, True] Translation: X:116.44, Y:156.58, Z:26.13 [[-7.06313316e-02 -9.97361511e-01 1.67699443e-02 1.16442878e+02] [ 8.32679378e-01 -4.96953974e-02 5.51521007e-01 1.56581985e+02] [-5.49232436e-01 5.29186499e-02 8.33992415e-01 2.61297234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.360714057 meters Centerline goodness : 0.988761 Centerline is valid? [True, True] Translation: X:116.45, Y:156.60, Z:26.11 [[-7.11299566e-02 -9.97401651e-01 1.14225722e-02 1.16445054e+02] [ 8.32339248e-01 -5.30399765e-02 5.51722880e-01 1.56604672e+02] [-5.49683459e-01 4.87514798e-02 8.33949272e-01 2.61112019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.390714057 meters Centerline goodness : 0.990095 Centerline is valid? [True, True] Translation: X:116.45, Y:156.61, Z:26.10 [[-7.20475170e-02 -9.97400795e-01 -8.99708142e-04 1.16448733e+02] [ 8.32832503e-01 -6.06561837e-02 5.50191647e-01 1.56613727e+02] [-5.48816159e-01 3.88906359e-02 8.35037928e-01 2.61012378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.420714057 meters Centerline goodness : 0.988684 Centerline is valid? [True, True] Translation: X:116.45, Y:156.62, Z:26.10 [[-7.03879164e-02 -9.97501248e-01 6.06645927e-03 1.16446272e+02] [ 8.32965620e-01 -5.54293815e-02 5.50541425e-01 1.56616791e+02] [-5.48829498e-01 4.38046158e-02 8.34785804e-01 2.61016793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.450714057 meters Centerline goodness : 0.988626 Centerline is valid? [True, True] Translation: X:116.44, Y:156.64, Z:26.09 [[-6.99205821e-02 -9.97511593e-01 9.04066193e-03 1.16444810e+02] [ 8.32672678e-01 -5.33706653e-02 5.51187612e-01 1.56640174e+02] [-5.49333527e-01 4.60672708e-02 8.34332357e-01 2.60886219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.480714057 meters Centerline goodness : 0.988266 Centerline is valid? [True, True] Translation: X:116.44, Y:156.67, Z:26.07 [[-6.69469047e-02 -9.97638607e-01 1.53401865e-02 1.16441253e+02] [ 8.31511965e-01 -4.72881714e-02 5.53490453e-01 1.56665316e+02] [-5.51458035e-01 4.98100213e-02 8.32714235e-01 2.60724771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.51071405700003 meters Centerline goodness : 0.988140 Centerline is valid? [True, True] Translation: X:116.44, Y:156.67, Z:26.06 [[-6.46672030e-02 -9.97889217e-01 5.93832084e-03 1.16443001e+02] [ 8.31453507e-01 -5.05889630e-02 5.53286383e-01 1.56672127e+02] [-5.51818102e-01 4.07169205e-02 8.32969936e-01 2.60639517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.540714057 meters Centerline goodness : 0.989129 Centerline is valid? [True, True] Translation: X:116.43, Y:156.68, Z:26.07 [[-5.91043765e-02 -9.98011858e-01 2.18861809e-02 1.16433512e+02] [ 8.34017001e-01 -3.73204558e-02 5.50475091e-01 1.56676185e+02] [-5.48563865e-01 5.07889339e-02 8.34564659e-01 2.60684658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.570714057 meters Centerline goodness : 0.987761 Centerline is valid? [True, True] Translation: X:116.44, Y:156.69, Z:26.05 [[-5.57290578e-02 -9.98421198e-01 7.02734582e-03 1.16437868e+02] [ 8.28177489e-01 -4.22929653e-02 5.58867920e-01 1.56691337e+02] [-5.57688371e-01 3.69650722e-02 8.29226908e-01 2.60511856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.600714057 meters Centerline goodness : 0.987499 Centerline is valid? [True, True] Translation: X:116.43, Y:156.72, Z:26.04 [[-5.27585452e-02 -9.98439925e-01 1.82825860e-02 1.16431278e+02] [ 8.28462178e-01 -3.35400914e-02 5.59039785e-01 1.56718081e+02] [-5.57554442e-01 4.46405568e-02 8.28939241e-01 2.60379518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.630714057 meters Centerline goodness : 0.988844 Centerline is valid? [True, True] Translation: X:116.43, Y:156.74, Z:26.02 [[-5.22825761e-02 -9.98452239e-01 1.89646939e-02 1.16430190e+02] [ 8.28378937e-01 -3.27552423e-02 5.59209649e-01 1.56741839e+02] [-5.57722933e-01 4.49468740e-02 8.28809332e-01 2.60210582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.660714057 meters Centerline goodness : 0.987593 Centerline is valid? [True, True] Translation: X:116.43, Y:156.76, Z:26.01 [[-5.15751782e-02 -9.98516857e-01 1.74380718e-02 1.16429188e+02] [ 8.29887852e-01 -3.31387125e-02 5.56945221e-01 1.56763021e+02] [-5.55541317e-01 4.31961930e-02 8.30366145e-01 2.60082628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.690714057 meters Centerline goodness : 0.988026 Centerline is valid? [True, True] Translation: X:116.43, Y:156.78, Z:25.99 [[-5.08683543e-02 -9.98671292e-01 8.24996260e-03 1.16429028e+02] [ 8.30986237e-01 -3.77422293e-02 5.55011169e-01 1.56783879e+02] [-5.53962349e-01 3.50881101e-02 8.31801984e-01 2.59914416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.720714057 meters Centerline goodness : 0.987733 Centerline is valid? [True, True] Translation: X:116.43, Y:156.81, Z:25.98 [[-5.00874435e-02 -9.98620187e-01 1.57787921e-02 1.16425248e+02] [ 8.31061264e-01 -3.29106595e-02 5.55206326e-01 1.56809177e+02] [-5.53920955e-01 4.09220083e-02 8.31562965e-01 2.59775802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.750714057 meters Centerline goodness : 0.987515 Centerline is valid? [True, True] Translation: X:116.43, Y:156.83, Z:25.96 [[-4.96049343e-02 -9.98748245e-01 6.42596196e-03 1.16427026e+02] [ 8.31427920e-01 -3.77279197e-02 5.54350266e-01 1.56831150e+02] [-5.53413918e-01 3.28412327e-02 8.32258667e-01 2.59614193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.780714057 meters Centerline goodness : 0.988109 Centerline is valid? [True, True] Translation: X:116.42, Y:156.86, Z:25.95 [[-4.80267160e-02 -9.98736082e-01 1.48213952e-02 1.16423528e+02] [ 8.30760559e-01 -3.17021293e-02 5.55726433e-01 1.56856152e+02] [-5.54554170e-01 3.90027461e-02 8.31233095e-01 2.59470512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.810714057 meters Centerline goodness : 0.988723 Centerline is valid? [True, True] Translation: X:116.42, Y:156.88, Z:25.93 [[-4.51054873e-02 -9.98970289e-01 4.88442262e-03 1.16424849e+02] [ 8.30904612e-01 -3.48017490e-02 5.55325458e-01 1.56878211e+02] [-5.54583647e-01 2.91067147e-02 8.31618770e-01 2.59317610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.840714057 meters Centerline goodness : 0.987590 Centerline is valid? [True, True] Translation: X:116.42, Y:156.88, Z:25.93 [[-4.00008577e-02 -9.99100076e-01 1.41056544e-02 1.16421342e+02] [ 8.28411477e-01 -2.52670917e-02 5.59549818e-01 1.56881244e+02] [-5.58689856e-01 3.40677586e-02 8.28676675e-01 2.59325051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.870714057 meters Centerline goodness : 0.987590 Centerline is valid? [True, True] Translation: X:116.42, Y:156.90, Z:25.92 [[-4.05743397e-02 -9.99092325e-01 1.29710833e-02 1.16421610e+02] [ 8.28268862e-01 -2.63703527e-02 5.59710011e-01 1.56904228e+02] [-5.58859925e-01 3.34534085e-02 8.28587023e-01 2.59162011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.900714057 meters Centerline goodness : 0.987762 Centerline is valid? [True, True] Translation: X:116.42, Y:156.93, Z:25.90 [[-3.79362155e-02 -9.99171629e-01 1.47274975e-02 1.16420139e+02] [ 8.27892859e-01 -2.31729194e-02 5.60407379e-01 1.56927050e+02] [-5.59601875e-01 3.34525252e-02 8.28086149e-01 2.59023031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.930714057 meters Centerline goodness : 0.989257 Centerline is valid? [True, True] Translation: X:116.41, Y:156.96, Z:25.89 [[-3.53167400e-02 -9.98871635e-01 3.17519287e-02 1.16413683e+02] [ 8.32890726e-01 -1.18596952e-02 5.53310389e-01 1.56958944e+02] [-5.52309485e-01 4.59870061e-02 8.32369767e-01 2.58888397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.960714057 meters Centerline goodness : 0.988069 Centerline is valid? [True, True] Translation: X:116.43, Y:156.93, Z:25.89 [[-2.71163442e-02 -9.99630891e-01 1.66899233e-03 1.16426376e+02] [ 8.27606630e-01 -2.15134758e-02 5.60896101e-01 1.56927969e+02] [-5.60653164e-01 1.65907209e-02 8.27884520e-01 2.58918664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.990714057 meters Centerline goodness : 0.987963 Centerline is valid? [True, True] Translation: X:116.42, Y:156.94, Z:25.89 [[-2.33505995e-02 -9.99637194e-01 1.34249585e-02 1.16422287e+02] [ 8.26230170e-01 -1.17361513e-02 5.63210413e-01 1.56940496e+02] [-5.62848519e-01 2.42434065e-02 8.26204455e-01 2.58879086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.020714057 meters Centerline goodness : 0.987796 Centerline is valid? [True, True] Translation: X:116.42, Y:156.94, Z:25.89 [[-1.72527656e-02 -9.99720025e-01 1.61930400e-02 1.16423216e+02] [ 8.24062025e-01 -5.04577510e-03 5.66477113e-01 1.56935452e+02] [-5.66236806e-01 2.31173662e-02 8.23918362e-01 2.58885031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.050714057 meters Centerline goodness : 0.988063 Centerline is valid? [True, True] Translation: X:116.42, Y:156.96, Z:25.87 [[-1.63656469e-02 -9.99689172e-01 1.88076041e-02 1.16423292e+02] [ 8.23606383e-01 -2.81290188e-03 5.67154842e-01 1.56958590e+02] [-5.66925650e-01 2.47719186e-02 8.23396417e-01 2.58742588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.080714057 meters Centerline goodness : 0.987180 Centerline is valid? [True, True] Translation: X:116.42, Y:156.98, Z:25.86 [[-1.64723662e-02 -9.99626690e-01 2.17977460e-02 1.16423815e+02] [ 8.23293793e-01 -1.18933004e-03 5.67614231e-01 1.56983329e+02] [-5.67376410e-01 2.72958984e-02 8.23006041e-01 2.58576777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.110714057 meters Centerline goodness : 0.988405 Centerline is valid? [True, True] Translation: X:116.43, Y:156.98, Z:25.85 [[-1.42386537e-02 -9.99743172e-01 1.76309473e-02 1.16429291e+02] [ 8.19971964e-01 -1.58372300e-03 5.72401494e-01 1.56984503e+02] [-5.72226563e-01 2.26071091e-02 8.19783922e-01 2.58538992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.140714057 meters Centerline goodness : 0.987868 Centerline is valid? [True, True] Translation: X:116.43, Y:157.01, Z:25.84 [[-1.53091911e-02 -9.99787574e-01 1.37998269e-02 1.16432242e+02] [ 8.20726311e-01 -4.68177658e-03 5.71302375e-01 1.57012250e+02] [-5.71116408e-01 2.00720582e-02 8.20623642e-01 2.58353946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.170714057 meters Centerline goodness : 0.989103 Centerline is valid? [True, True] Translation: X:116.44, Y:157.01, Z:25.84 [[-1.59709634e-02 -9.99866757e-01 -3.37577667e-03 1.16441282e+02] [ 8.24523645e-01 -1.50798751e-02 5.65626517e-01 1.57008369e+02] [-5.65602058e-01 6.25019274e-03 8.24654623e-01 2.58370734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.200714057 meters Centerline goodness : 0.988921 Centerline is valid? [True, True] Translation: X:116.44, Y:157.01, Z:25.84 [[-1.45725867e-02 -9.99864997e-01 7.59133945e-03 1.16439702e+02] [ 8.24218213e-01 -7.71366619e-03 5.66219777e-01 1.57014007e+02] [-5.66084779e-01 1.45082070e-02 8.24219349e-01 2.58399559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.230714057 meters Centerline goodness : 0.989677 Centerline is valid? [True, True] Translation: X:116.44, Y:157.00, Z:25.85 [[-1.13208889e-02 -9.99886306e-01 9.96059223e-03 1.16444935e+02] [ 8.24257046e-01 -3.69201753e-03 5.66203754e-01 1.57001641e+02] [-5.66102605e-01 1.46200181e-02 8.24205130e-01 2.58486419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.26071405700003 meters Centerline goodness : 0.990066 Centerline is valid? [True, True] Translation: X:116.45, Y:157.02, Z:25.84 [[-1.43300447e-02 -9.99875833e-01 -6.55510097e-03 1.16450976e+02] [ 8.27033746e-01 -1.55369170e-02 5.61937530e-01 1.57019718e+02] [-5.61969602e-01 2.63130022e-03 8.27153700e-01 2.58368374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.290714057 meters Centerline goodness : 0.989756 Centerline is valid? [True, True] Translation: X:116.45, Y:157.05, Z:25.82 [[-1.22994752e-02 -9.99855744e-01 1.17138274e-02 1.16453188e+02] [ 8.27589953e-01 -3.60421832e-03 5.61321547e-01 1.57048085e+02] [-5.61198354e-01 1.65982063e-02 8.27514899e-01 2.58238871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.320714057 meters Centerline goodness : 0.990795 Centerline is valid? [True, True] Translation: X:116.46, Y:157.07, Z:25.81 [[-1.38025545e-02 -9.99897199e-01 3.88347140e-03 1.16458396e+02] [ 8.28575227e-01 -9.26343543e-03 5.59801110e-01 1.57069848e+02] [-5.59707588e-01 1.09444335e-02 8.28617907e-01 2.58084368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.350714057 meters Centerline goodness : 0.990399 Centerline is valid? [True, True] Translation: X:116.46, Y:157.09, Z:25.79 [[-1.30678844e-02 -9.99863895e-01 1.00708075e-02 1.16460725e+02] [ 8.28477344e-01 -5.18751456e-03 5.59998554e-01 1.57094927e+02] [-5.59870093e-01 1.56614322e-02 8.28432374e-01 2.57934557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.380714057 meters Centerline goodness : 0.992150 Centerline is valid? [True, True] Translation: X:116.46, Y:157.12, Z:25.79 [[-2.34757120e-02 -9.99499219e-01 2.12179714e-02 1.16456607e+02] [ 8.36018910e-01 -7.98905970e-03 5.48642468e-01 1.57117048e+02] [-5.48198207e-01 3.06183978e-02 8.35787796e-01 2.57855534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.410714057 meters Centerline goodness : 0.991512 Centerline is valid? [True, True] Translation: X:116.48, Y:157.13, Z:25.76 [[-2.82105038e-02 -9.98822655e-01 -3.94648095e-02 1.16483981e+02] [ 8.34420163e-01 -4.52694082e-02 5.49266486e-01 1.57127782e+02] [-5.50406358e-01 -1.74351485e-02 8.34714835e-01 2.57629362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.440714057 meters Centerline goodness : 0.991260 Centerline is valid? [True, True] Translation: X:116.48, Y:157.09, Z:25.80 [[-1.10729551e-02 -9.99934979e-01 2.72519889e-03 1.16479840e+02] [ 8.31458005e-01 -7.69325582e-03 5.55534337e-01 1.57088940e+02] [-5.55477251e-01 8.41729521e-03 8.31489130e-01 2.58019445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.470714057 meters Centerline goodness : 0.990906 Centerline is valid? [True, True] Translation: X:116.47, Y:157.12, Z:25.79 [[-1.22218839e-02 -9.99250568e-01 3.67277577e-02 1.16471897e+02] [ 8.30337636e-01 1.03228676e-02 5.57165010e-01 1.57116231e+02] [-5.57126588e-01 3.73060455e-02 8.29589190e-01 2.57924437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.500714057 meters Centerline goodness : 0.990959 Centerline is valid? [True, True] Translation: X:116.48, Y:157.14, Z:25.77 [[-1.76749144e-02 -9.99617179e-01 2.12859833e-02 1.16484598e+02] [ 8.30433012e-01 -2.82024912e-03 5.57111352e-01 1.57138194e+02] [-5.56838046e-01 2.75234787e-02 8.30164953e-01 2.57720858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.530714057 meters Centerline goodness : 0.991173 Centerline is valid? [True, True] Translation: X:116.49, Y:157.16, Z:25.76 [[-2.32295318e-02 -9.99721374e-01 -4.19076602e-03 1.16494494e+02] [ 8.33250766e-01 -2.16773381e-02 5.52470139e-01 1.57158334e+02] [-5.52407051e-01 9.34166367e-03 8.33522155e-01 2.57589951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.560714057 meters Centerline goodness : 0.989969 Centerline is valid? [True, True] Translation: X:116.49, Y:157.18, Z:25.75 [[-2.85456461e-02 -9.99535684e-01 1.06565407e-02 1.16494067e+02] [ 8.34124310e-01 -1.79441630e-02 5.51284539e-01 1.57183852e+02] [-5.50837346e-01 2.46256529e-02 8.34249240e-01 2.57513133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.590714057 meters Centerline goodness : 0.990357 Centerline is valid? [True, True] Translation: X:116.50, Y:157.21, Z:25.73 [[-3.17953266e-02 -9.99451774e-01 9.23086071e-03 1.16497344e+02] [ 8.33382213e-01 -2.14113577e-02 5.52282211e-01 1.57206722e+02] [-5.51781790e-01 2.52528284e-02 8.33606113e-01 2.57348504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.620714057 meters Centerline goodness : 0.989651 Centerline is valid? [True, True] Translation: X:116.50, Y:157.23, Z:25.72 [[-3.53934248e-02 -9.99141254e-01 2.15420766e-02 1.16498256e+02] [ 8.32240875e-01 -1.75336524e-02 5.54136894e-01 1.57232939e+02] [-5.53283320e-01 3.75409992e-02 8.32146767e-01 2.57186239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.650714057 meters Centerline goodness : 0.989578 Centerline is valid? [True, True] Translation: X:116.50, Y:157.25, Z:25.70 [[-3.71354420e-02 -9.99163629e-01 1.71173007e-02 1.16501560e+02] [ 8.32406877e-01 -2.14510395e-02 5.53749623e-01 1.57254138e+02] [-5.52919299e-01 3.48122958e-02 8.32507269e-01 2.57037027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.680714057 meters Centerline goodness : 0.991302 Centerline is valid? [True, True] Translation: X:116.51, Y:157.28, Z:25.69 [[-4.08133180e-02 -9.99156134e-01 4.61450109e-03 1.16507491e+02] [ 8.31750966e-01 -3.14153968e-02 5.54259329e-01 1.57275698e+02] [-5.53646642e-01 2.64592780e-02 8.32331246e-01 2.56854513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.710714057 meters Centerline goodness : 0.990877 Centerline is valid? [True, True] Translation: X:116.50, Y:157.30, Z:25.67 [[-4.01309816e-02 -9.98704313e-01 3.12921597e-02 1.16501690e+02] [ 8.30133564e-01 -1.58943596e-02 5.57337990e-01 1.57302973e+02] [-5.56118486e-01 4.83431927e-02 8.29695827e-01 2.56721421e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.740714057 meters Centerline goodness : 0.989836 Centerline is valid? [True, True] Translation: X:116.51, Y:157.32, Z:25.65 [[-4.13378244e-02 -9.99077847e-01 1.16034240e-02 1.16508811e+02] [ 8.29955771e-01 -2.78696205e-02 5.57132572e-01 1.57322921e+02] [-5.56295428e-01 3.26609771e-02 8.30342494e-01 2.56530002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.770714057 meters Centerline goodness : 0.989711 Centerline is valid? [True, True] Translation: X:116.51, Y:157.35, Z:25.64 [[-4.12323816e-02 -9.99126562e-01 6.78267660e-03 1.16512217e+02] [ 8.30451957e-01 -3.04952501e-02 5.56254966e-01 1.57345890e+02] [-5.55562272e-01 2.85684041e-02 8.30984000e-01 2.56389216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.800714057 meters Centerline goodness : 0.990285 Centerline is valid? [True, True] Translation: X:116.51, Y:157.37, Z:25.62 [[-4.04469103e-02 -9.99081974e-01 1.41158568e-02 1.16510467e+02] [ 8.30587598e-01 -2.57658229e-02 5.56291619e-01 1.57369790e+02] [-5.55417222e-01 3.42247328e-02 8.30867244e-01 2.56244912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.830714057 meters Centerline goodness : 0.990135 Centerline is valid? [True, True] Translation: X:116.51, Y:157.39, Z:25.61 [[-3.91790914e-02 -9.99160352e-01 1.19829193e-02 1.16512401e+02] [ 8.30196791e-01 -2.58751584e-02 5.56869612e-01 1.57391809e+02] [-5.56091977e-01 3.17658266e-02 8.30513483e-01 2.56079985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.860714057 meters Centerline goodness : 0.991231 Centerline is valid? [True, True] Translation: X:116.51, Y:157.42, Z:25.59 [[-3.60259621e-02 -9.98943667e-01 2.85250752e-02 1.16508829e+02] [ 8.26946133e-01 -1.37717771e-02 5.62112472e-01 1.57418171e+02] [-5.61125853e-01 4.38393433e-02 8.26568745e-01 2.55868178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.890714057 meters Centerline goodness : 0.990840 Centerline is valid? [True, True] Translation: X:116.51, Y:157.44, Z:25.57 [[-3.34062978e-02 -9.98850772e-01 3.43679298e-02 1.16507461e+02] [ 8.26360479e-01 -8.26321642e-03 5.63080880e-01 1.57439961e+02] [-5.62149782e-01 4.72107465e-02 8.25686846e-01 2.55703987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.920714057 meters Centerline goodness : 0.988676 Centerline is valid? [True, True] Translation: X:116.51, Y:157.46, Z:25.55 [[-3.08036939e-02 -9.99127613e-01 2.81983293e-02 1.16511121e+02] [ 8.25953752e-01 -9.55658142e-03 5.63656874e-01 1.57458483e+02] [-5.62895668e-01 4.06532297e-02 8.25527578e-01 2.55522478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.950714057 meters Centerline goodness : 0.990371 Centerline is valid? [True, True] Translation: X:116.51, Y:157.48, Z:25.53 [[-2.82670682e-02 -9.99333888e-01 2.30814481e-02 1.16513474e+02] [ 8.25401664e-01 -1.03101888e-02 5.64451764e-01 1.57481989e+02] [-5.63837801e-01 3.50068622e-02 8.25143293e-01 2.55330592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.980714057 meters Centerline goodness : 0.990767 Centerline is valid? [True, True] Translation: X:116.51, Y:157.51, Z:25.52 [[-2.95111176e-02 -9.98607796e-01 4.37214250e-02 1.16507010e+02] [ 8.30351730e-01 -1.41494696e-04 5.57239611e-01 1.57511384e+02] [-5.56457634e-01 5.27489245e-02 8.29199887e-01 2.55168938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.01071405700003 meters Centerline goodness : 0.991649 Centerline is valid? [True, True] Translation: X:116.51, Y:157.53, Z:25.49 [[-2.91206936e-02 -9.98965841e-01 3.49175279e-02 1.16511163e+02] [ 8.29687691e-01 -4.67466223e-03 5.58208279e-01 1.57534138e+02] [-5.57467775e-01 4.52260553e-02 8.28965792e-01 2.54947470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.040714057 meters Centerline goodness : 0.990362 Centerline is valid? [True, True] Translation: X:116.52, Y:157.55, Z:25.48 [[-2.36328131e-02 -9.99592905e-01 1.59847985e-02 1.16518165e+02] [ 8.24189137e-01 -1.04312647e-02 5.66218558e-01 1.57548796e+02] [-5.65821312e-01 2.65558346e-02 8.24100134e-01 2.54778921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.070714057 meters Centerline goodness : 0.986155 Centerline is valid? [True, True] Translation: X:116.53, Y:157.55, Z:25.46 [[-2.54904440e-02 -9.99591511e-01 -1.29247510e-02 1.16526037e+02] [ 8.21650350e-01 -2.83137060e-02 5.69288185e-01 1.57554412e+02] [-5.69421584e-01 3.89178242e-03 8.22036443e-01 2.54593013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.100714057 meters Centerline goodness : 0.989586 Centerline is valid? [True, True] Translation: X:116.52, Y:157.59, Z:25.45 [[-1.81220472e-02 -9.99445586e-01 2.79305040e-02 1.16517177e+02] [ 8.22108162e-01 1.00396012e-03 5.69330451e-01 1.57594950e+02] [-5.69042847e-01 3.32793286e-02 8.21634179e-01 2.54510593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.130714057 meters Centerline goodness : 0.992143 Centerline is valid? [True, True] Translation: X:116.52, Y:157.61, Z:25.44 [[-2.56651323e-02 -9.99618757e-01 -1.01804628e-02 1.16522293e+02] [ 8.31129707e-01 -2.69958083e-02 5.55422935e-01 1.57609761e+02] [-5.55486013e-01 5.79371804e-03 8.31505696e-01 2.54377187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.160714057 meters Centerline goodness : 0.992908 Centerline is valid? [True, True] Translation: X:116.52, Y:157.64, Z:25.43 [[-2.29163219e-02 -9.99735762e-01 1.80227341e-03 1.16519821e+02] [ 8.30643952e-01 -1.80370840e-02 5.56511714e-01 1.57635559e+02] [-5.56332155e-01 1.42502491e-02 8.30837808e-01 2.54251977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.190714057 meters Centerline goodness : 0.989687 Centerline is valid? [True, True] Translation: X:116.50, Y:157.67, Z:25.40 [[-1.06299646e-02 -9.96575113e-01 8.20063922e-02 1.16504877e+02] [ 8.14463787e-01 3.89496346e-02 5.78905576e-01 1.57672150e+02] [-5.80117009e-01 7.29449825e-02 8.11260307e-01 2.54001578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.220714057 meters Centerline goodness : 0.989923 Centerline is valid? [True, True] Translation: X:116.53, Y:157.69, Z:25.37 [[-1.16329058e-02 -9.99320197e-01 3.49831323e-02 1.16526149e+02] [ 8.20004789e-01 1.04875582e-02 5.72260568e-01 1.57690299e+02] [-5.72238431e-01 3.53433893e-02 8.19325346e-01 2.53657854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.250714057 meters Centerline goodness : 0.989792 Centerline is valid? [True, True] Translation: X:116.54, Y:157.71, Z:25.35 [[-1.15857071e-02 -9.99905278e-01 7.43009106e-03 1.16538015e+02] [ 8.16406866e-01 -5.16860469e-03 5.77453993e-01 1.57708641e+02] [-5.77360893e-01 1.27561902e-02 8.16389416e-01 2.53467189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.280714057 meters Centerline goodness : 0.989649 Centerline is valid? [True, True] Translation: X:116.54, Y:157.71, Z:25.35 [[-1.35308871e-02 -9.99892482e-01 5.65142854e-03 1.16543082e+02] [ 8.18466452e-01 -7.82866762e-03 5.74500982e-01 1.57706010e+02] [-5.74394970e-01 1.23990126e-02 8.18484382e-01 2.53469067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.310714057 meters Centerline goodness : 0.989597 Centerline is valid? [True, True] Translation: X:116.54, Y:157.73, Z:25.34 [[-1.70499999e-02 -9.99628134e-01 2.12812309e-02 1.16539384e+02] [ 8.19614357e-01 -1.78279708e-03 5.72912845e-01 1.57733257e+02] [-5.72661858e-01 2.72105663e-02 8.19339967e-01 2.53350390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.340714057 meters Centerline goodness : 0.990248 Centerline is valid? [True, True] Translation: X:116.54, Y:157.73, Z:25.33 [[-1.54698723e-02 -9.99738000e-01 1.68704920e-02 1.16543048e+02] [ 8.18185525e-01 -2.95836716e-03 5.74946688e-01 1.57730081e+02] [-5.74746143e-01 2.26975442e-02 8.18016927e-01 2.53334787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.370714057 meters Centerline goodness : 0.988840 Centerline is valid? [True, True] Translation: X:116.55, Y:157.75, Z:25.33 [[-2.26810879e-02 -9.99741482e-01 1.59295946e-03 1.16550577e+02] [ 8.22482384e-01 -1.77537660e-02 5.68513440e-01 1.57751055e+02] [-5.68338188e-01 1.42046844e-02 8.22672432e-01 2.53253428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.400714057 meters Centerline goodness : 0.989510 Centerline is valid? [True, True] Translation: X:116.55, Y:157.78, Z:25.31 [[-2.33350687e-02 -9.99515121e-01 2.06154765e-02 1.16545754e+02] [ 8.22220175e-01 -7.45748582e-03 5.69120699e-01 1.57775387e+02] [-5.68691005e-01 3.02309313e-02 8.21995518e-01 2.53143310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.430714057 meters Centerline goodness : 0.989564 Centerline is valid? [True, True] Translation: X:116.55, Y:157.80, Z:25.30 [[-2.77726655e-02 -9.99584302e-01 7.73971506e-03 1.16553307e+02] [ 8.24958651e-01 -1.85469331e-02 5.64888692e-01 1.57799145e+02] [-5.64510321e-01 2.20734096e-02 8.25130815e-01 2.52989489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.460714057 meters Centerline goodness : 0.990188 Centerline is valid? [True, True] Translation: X:116.56, Y:157.82, Z:25.29 [[-3.20050685e-02 -9.99364676e-01 -1.56818160e-02 1.16561462e+02] [ 8.27789441e-01 -3.52965623e-02 5.59927490e-01 1.57821322e+02] [-5.60125269e-01 4.93927599e-03 8.28393196e-01 2.52855358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.490714057 meters Centerline goodness : 0.989837 Centerline is valid? [True, True] Translation: X:116.56, Y:157.82, Z:25.29 [[-3.35047542e-02 -9.99436163e-01 2.18806653e-03 1.16557072e+02] [ 8.29077999e-01 -2.65709984e-02 5.58501257e-01 1.57824829e+02] [-5.58128214e-01 2.05265252e-02 8.29500789e-01 2.52902433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.520714057 meters Centerline goodness : 0.989362 Centerline is valid? [True, True] Translation: X:116.55, Y:157.83, Z:25.29 [[-3.30071694e-02 -9.99338780e-01 1.52489239e-02 1.16554403e+02] [ 8.28418192e-01 -1.88199305e-02 5.59793810e-01 1.57828640e+02] [-5.59136679e-01 3.11096951e-02 8.28491618e-01 2.52921950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.550714057 meters Centerline goodness : 0.989154 Centerline is valid? [True, True] Translation: X:116.56, Y:157.83, Z:25.28 [[-3.38360308e-02 -9.99426478e-01 1.35589281e-03 1.16560218e+02] [ 8.28680508e-01 -2.72968947e-02 5.59055896e-01 1.57834588e+02] [-5.58698253e-01 2.00398345e-02 8.29128860e-01 2.52848007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.580714057 meters Centerline goodness : 0.985076 Centerline is valid? [True, True] Translation: X:116.54, Y:158.63, Z:24.73 [[-5.81813403e-02 -9.98028598e-01 2.35340050e-02 1.16539110e+02] [ 8.14431091e-01 -3.38187271e-02 5.79273935e-01 1.58626349e+02] [-5.77336063e-01 5.28697593e-02 8.14793139e-01 2.47287276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.610714057 meters Centerline goodness : 0.989151 Centerline is valid? [True, True] Translation: X:116.58, Y:157.85, Z:25.26 [[-3.58915006e-02 -9.98415488e-01 -4.33395152e-02 1.16579596e+02] [ 8.26915576e-01 -5.40230536e-02 5.59725058e-01 1.57854724e+02] [-5.61179500e-01 -1.57487479e-02 8.27544287e-01 2.52552092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.640714057 meters Centerline goodness : 0.989183 Centerline is valid? [True, True] Translation: X:116.56, Y:157.89, Z:25.25 [[-3.68904175e-02 -9.99290946e-01 7.53006629e-03 1.16561001e+02] [ 8.28239104e-01 -2.63577859e-02 5.59754637e-01 1.57887592e+02] [-5.59159265e-01 2.68862776e-02 8.28624188e-01 2.52499038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.670714057 meters Centerline goodness : 0.990003 Centerline is valid? [True, True] Translation: X:116.56, Y:157.91, Z:25.24 [[-4.10337980e-02 -9.99060729e-01 1.39243323e-02 1.16560248e+02] [ 8.28234740e-01 -2.62158486e-02 5.59767759e-01 1.57910294e+02] [-5.58876947e-01 3.45020129e-02 8.28532539e-01 2.52363405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.700714057 meters Centerline goodness : 0.988742 Centerline is valid? [True, True] Translation: X:116.56, Y:157.93, Z:25.22 [[-4.16706043e-02 -9.98925050e-01 2.03053038e-02 1.16559098e+02] [ 8.25864053e-01 -2.29989678e-02 5.63400047e-01 1.57933308e+02] [-5.62327419e-01 4.02466410e-02 8.25934671e-01 2.52158135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.730714057 meters Centerline goodness : 0.990243 Centerline is valid? [True, True] Translation: X:116.56, Y:157.95, Z:25.20 [[-4.43217220e-02 -9.98741589e-01 2.34696268e-02 1.16558865e+02] [ 8.23999031e-01 -2.32638611e-02 5.66113408e-01 1.57954532e+02] [-5.64855010e-01 4.44300708e-02 8.23993196e-01 2.51972879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.76071405700003 meters Centerline goodness : 0.989125 Centerline is valid? [True, True] Translation: X:116.57, Y:157.98, Z:25.18 [[-4.67975360e-02 -9.98895013e-01 4.32945172e-03 1.16565308e+02] [ 8.23916148e-01 -3.61486348e-02 5.65557652e-01 1.57976276e+02] [-5.64776214e-01 3.00338097e-02 8.24697398e-01 2.51781153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.790714057 meters Centerline goodness : 0.989125 Centerline is valid? [True, True] Translation: X:116.56, Y:158.00, Z:25.16 [[-4.71926885e-02 -9.98827538e-01 1.07888499e-02 1.16562736e+02] [ 8.24151004e-01 -3.28321894e-02 5.65417696e-01 1.58000804e+02] [-5.64400543e-01 3.55752226e-02 8.24734157e-01 2.51636133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.820714057 meters Centerline goodness : 0.988908 Centerline is valid? [True, True] Translation: X:116.56, Y:158.03, Z:25.15 [[-4.76547606e-02 -9.98618772e-01 2.21262710e-02 1.16559832e+02] [ 8.22898323e-01 -2.66938786e-02 5.67561262e-01 1.58025063e+02] [-5.66186695e-01 4.52546674e-02 8.23033804e-01 2.51455263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.850714057 meters Centerline goodness : 0.988605 Centerline is valid? [True, True] Translation: X:116.56, Y:158.05, Z:25.13 [[-4.95555974e-02 -9.98753665e-01 5.94639746e-03 1.16562701e+02] [ 8.23096602e-01 -3.74661288e-02 5.66664163e-01 1.58046150e+02] [-5.65735121e-01 3.29758407e-02 8.23927404e-01 2.51292922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.880714057 meters Centerline goodness : 0.989697 Centerline is valid? [True, True] Translation: X:116.56, Y:158.07, Z:25.12 [[-5.16228807e-02 -9.98666217e-01 9.30193997e-04 1.16563068e+02] [ 8.23766522e-01 -4.20553925e-02 5.65367192e-01 1.58069213e+02] [-5.64573995e-01 2.99521458e-02 8.24838816e-01 2.51163786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.910714057 meters Centerline goodness : 0.984904 Centerline is valid? [True, True] Translation: X:116.54, Y:158.08, Z:25.11 [[-5.85941203e-02 -9.97813706e-01 3.05701997e-02 1.16543624e+02] [ 8.22751579e-01 -3.09256194e-02 5.67559200e-01 1.58084167e+02] [-5.65372946e-01 5.84073121e-02 8.22764862e-01 2.51093989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.940714057 meters Centerline goodness : 0.989627 Centerline is valid? [True, True] Translation: X:116.57, Y:158.11, Z:25.08 [[-5.51975025e-02 -9.98029958e-01 -2.98234488e-02 1.16571016e+02] [ 8.22807224e-01 -6.23866564e-02 5.64885986e-01 1.58108908e+02] [-5.65633723e-01 6.64134658e-03 8.24629847e-01 2.50777652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.970714057 meters Centerline goodness : 0.990504 Centerline is valid? [True, True] Translation: X:116.56, Y:158.11, Z:25.09 [[-5.73836012e-02 -9.98351620e-01 1.07930755e-03 1.16557588e+02] [ 8.25133227e-01 -4.68186464e-02 5.62994824e-01 1.58110346e+02] [-5.62016263e-01 3.31972430e-02 8.26459717e-01 2.50887032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.000714057 meters Centerline goodness : 0.985202 Centerline is valid? [True, True] Translation: X:116.54, Y:158.87, Z:24.57 [[-8.68435636e-02 -9.96192222e-01 7.69749935e-03 1.16535067e+02] [ 8.21464636e-01 -6.72359815e-02 5.66281886e-01 1.58867543e+02] [-5.63608062e-01 5.55011605e-02 8.24175694e-01 2.45741157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.030714057 meters Centerline goodness : 0.985036 Centerline is valid? [True, True] Translation: X:116.54, Y:158.88, Z:24.56 [[-8.48309502e-02 -9.96379530e-01 -5.61622980e-03 1.16538989e+02] [ 8.20253510e-01 -7.30334913e-02 5.67318507e-01 1.58880816e+02] [-5.65674720e-01 4.35194358e-02 8.23479307e-01 2.45587664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.060714057 meters Centerline goodness : 0.984890 Centerline is valid? [True, True] Translation: X:116.54, Y:158.87, Z:24.56 [[-8.60104796e-02 -9.96281109e-01 -5.11361097e-03 1.16536507e+02] [ 8.22050879e-01 -7.38668509e-02 5.64602551e-01 1.58874599e+02] [-5.62880582e-01 4.43580878e-02 8.25347085e-01 2.45633548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.090714057 meters Centerline goodness : 0.984477 Centerline is valid? [True, True] Translation: X:116.53, Y:158.92, Z:24.53 [[-8.64251202e-02 -9.96258149e-01 -6.31086506e-04 1.16532814e+02] [ 8.21914299e-01 -7.16587966e-02 5.65085747e-01 1.58919710e+02] [-5.63016504e-01 4.83189046e-02 8.25031939e-01 2.45344242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.120714057 meters Centerline goodness : 0.985218 Centerline is valid? [True, True] Translation: X:116.53, Y:158.94, Z:24.52 [[-8.57719265e-02 -9.96308985e-01 3.40345699e-03 1.16530088e+02] [ 8.20197851e-01 -6.86704420e-02 5.67943533e-01 1.58939762e+02] [-5.65613527e-01 5.15051190e-02 8.23060484e-01 2.45218910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.150714057 meters Centerline goodness : 0.989937 Centerline is valid? [True, True] Translation: X:116.54, Y:158.56, Z:24.78 [[-7.40337564e-02 -9.96931958e-01 -2.54101088e-02 1.16541029e+02] [ 8.40181759e-01 -7.60789773e-02 5.36941897e-01 1.58562037e+02] [-5.37227712e-01 1.84027157e-02 8.43236459e-01 2.47822356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.180714057 meters Centerline goodness : 0.989534 Centerline is valid? [True, True] Translation: X:116.53, Y:158.59, Z:24.77 [[-7.57000049e-02 -9.97128542e-01 -2.04445095e-03 1.16528578e+02] [ 8.40924555e-01 -6.49428372e-02 5.37241399e-01 1.58588948e+02] [-5.35831506e-01 3.89499475e-02 8.43426049e-01 2.47734482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.210714057 meters Centerline goodness : 0.984167 Centerline is valid? [True, True] Translation: X:116.50, Y:158.61, Z:24.77 [[-8.05767003e-02 -9.95698483e-01 4.57375732e-02 1.16504282e+02] [ 8.38958862e-01 -4.29729587e-02 5.42495487e-01 1.58611674e+02] [-5.38196454e-01 8.20844386e-02 8.38812686e-01 2.47651704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.240714057 meters Centerline goodness : 0.984276 Centerline is valid? [True, True] Translation: X:116.53, Y:158.63, Z:24.73 [[-7.95558964e-02 -9.96660000e-01 -1.84310764e-02 1.16526472e+02] [ 8.36469548e-01 -7.68033979e-02 5.42604768e-01 1.58625573e+02] [-5.42208037e-01 2.77503745e-02 8.39785902e-01 2.47329849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.270714057 meters Centerline goodness : 0.991263 Centerline is valid? [True, True] Translation: X:116.55, Y:158.65, Z:24.71 [[-7.66759532e-02 -9.94615456e-01 -6.97200974e-02 1.16548111e+02] [ 8.36803617e-01 -1.02213950e-01 5.37877324e-01 1.58647147e+02] [-5.42107466e-01 -1.70997732e-02 8.40135163e-01 2.47105443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.300714057 meters Centerline goodness : 0.984295 Centerline is valid? [True, True] Translation: X:116.50, Y:158.68, Z:24.72 [[-7.64462378e-02 -9.96354274e-01 3.78699460e-02 1.16499630e+02] [ 8.38369568e-01 -4.36727856e-02 5.43349938e-01 1.58678648e+02] [-5.39715147e-01 7.32860688e-02 8.38651723e-01 2.47196651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.330714057 meters Centerline goodness : 0.991024 Centerline is valid? [True, True] Translation: X:116.54, Y:158.69, Z:24.68 [[-7.15793971e-02 -9.94949422e-01 -7.03707143e-02 1.16542213e+02] [ 8.36348559e-01 -9.83135129e-02 5.39310246e-01 1.58691439e+02] [-5.43504810e-01 -2.02509433e-02 8.39161737e-01 2.46800790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.360714057 meters Centerline goodness : 0.983634 Centerline is valid? [True, True] Translation: X:116.49, Y:158.73, Z:24.69 [[-7.19194460e-02 -9.96252779e-01 4.80415917e-02 1.16487887e+02] [ 8.36347565e-01 -3.39913235e-02 5.47144716e-01 1.58727139e+02] [-5.43461446e-01 7.95298131e-02 8.35658223e-01 2.46916673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.390714057 meters Centerline goodness : 0.984139 Centerline is valid? [True, True] Translation: X:116.51, Y:158.74, Z:24.66 [[-6.91220155e-02 -9.97450954e-01 -1.77127698e-02 1.16511448e+02] [ 8.34131262e-01 -6.75252304e-02 5.47417009e-01 1.58738552e+02] [-5.47217676e-01 2.30637920e-02 8.36672502e-01 2.46592015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.420714057 meters Centerline goodness : 0.984770 Centerline is valid? [True, True] Translation: X:116.51, Y:158.76, Z:24.64 [[-6.58163007e-02 -9.97603621e-01 -2.13360998e-02 1.16508908e+02] [ 8.34413868e-01 -6.67505731e-02 5.47081217e-01 1.58759081e+02] [-5.47194400e-01 1.82037243e-02 8.36807573e-01 2.46433998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.450714057 meters Centerline goodness : 0.984582 Centerline is valid? [True, True] Translation: X:116.51, Y:158.78, Z:24.62 [[-6.30733007e-02 -9.97278106e-01 -3.81855672e-02 1.16514702e+02] [ 8.35213726e-01 -7.36900940e-02 5.44965872e-01 1.58783088e+02] [-5.46296431e-01 2.47968643e-03 8.37588241e-01 2.46238983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.480714057 meters Centerline goodness : 0.984283 Centerline is valid? [True, True] Translation: X:116.50, Y:158.81, Z:24.62 [[-6.29761036e-02 -9.97902467e-01 -1.49892059e-02 1.16503134e+02] [ 8.37105473e-01 -6.09941680e-02 5.43630516e-01 1.58811723e+02] [-5.43404487e-01 2.16881854e-02 8.39190792e-01 2.46162691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.51071405700003 meters Centerline goodness : 0.983912 Centerline is valid? [True, True] Translation: X:116.49, Y:158.83, Z:24.60 [[-5.93698532e-02 -9.98229241e-01 -3.68816852e-03 1.16493536e+02] [ 8.37102470e-01 -5.17989073e-02 5.44588219e-01 1.58833804e+02] [-5.43814928e-01 2.92447477e-02 8.38695457e-01 2.46045719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.540714057 meters Centerline goodness : 0.984744 Centerline is valid? [True, True] Translation: X:116.50, Y:158.85, Z:24.59 [[-5.56750404e-02 -9.98143387e-01 -2.46995771e-02 1.16501249e+02] [ 8.37517069e-01 -6.01545701e-02 5.43089851e-01 1.58854042e+02] [-5.43567336e-01 9.55023197e-03 8.39311232e-01 2.45872519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.570714057 meters Centerline goodness : 0.984746 Centerline is valid? [True, True] Translation: X:116.49, Y:158.88, Z:24.57 [[-5.33075769e-02 -9.98427148e-01 -1.73647018e-02 1.16493051e+02] [ 8.36951669e-01 -5.41576997e-02 5.44590532e-01 1.58878789e+02] [-5.44674404e-01 1.44973855e-02 8.38522283e-01 2.45727527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.600714057 meters Centerline goodness : 0.989062 Centerline is valid? [True, True] Translation: X:116.50, Y:158.91, Z:24.55 [[-4.68839174e-02 -9.98517979e-01 -2.76359306e-02 1.16498990e+02] [ 8.38955388e-01 -5.43783133e-02 5.41476551e-01 1.58911094e+02] [-5.42176867e-01 2.20122902e-03 8.40261507e-01 2.45546092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.630714057 meters Centerline goodness : 0.983874 Centerline is valid? [True, True] Translation: X:116.47, Y:158.93, Z:24.56 [[-5.06885858e-02 -9.98487931e-01 2.12724707e-02 1.16473634e+02] [ 8.38608494e-01 -3.09856419e-02 5.43852631e-01 1.58930648e+02] [-5.42371147e-01 4.54063953e-02 8.38911079e-01 2.45557457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.660714057 meters Centerline goodness : 0.983696 Centerline is valid? [True, True] Translation: X:116.49, Y:158.95, Z:24.53 [[-4.93553906e-02 -9.98631668e-01 -1.72869037e-02 1.16486131e+02] [ 8.37846205e-01 -5.08178153e-02 5.43535912e-01 1.58946453e+02] [-5.43670657e-01 1.23426606e-02 8.39207886e-01 2.45292246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.690714057 meters Centerline goodness : 0.983568 Centerline is valid? [True, True] Translation: X:116.49, Y:158.97, Z:24.51 [[-4.87493732e-02 -9.98595686e-01 -2.07401704e-02 1.16487605e+02] [ 8.38649073e-01 -5.22015155e-02 5.42164859e-01 1.58971180e+02] [-5.42486158e-01 9.03647243e-03 8.40016137e-01 2.45140976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.720714057 meters Centerline goodness : 0.988587 Centerline is valid? [True, True] Translation: X:116.49, Y:159.01, Z:24.50 [[-4.47275974e-02 -9.98975985e-01 -6.81342242e-03 1.16487933e+02] [ 8.40692171e-01 -4.13232571e-02 5.39934313e-01 1.59010143e+02] [-5.39662965e-01 1.84219737e-02 8.41679580e-01 2.44998195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.750714057 meters Centerline goodness : 0.983877 Centerline is valid? [True, True] Translation: X:116.47, Y:159.02, Z:24.49 [[-5.25590640e-02 -9.98546939e-01 1.18977079e-02 1.16474070e+02] [ 8.38624160e-01 -3.76667399e-02 5.43406601e-01 1.59021187e+02] [-5.42168850e-01 3.85386476e-02 8.39385317e-01 2.44930966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.780714057 meters Centerline goodness : 0.989176 Centerline is valid? [True, True] Translation: X:116.50, Y:159.04, Z:24.46 [[-4.92633867e-02 -9.97998188e-01 -3.96577424e-02 1.16499578e+02] [ 8.37923214e-01 -6.29053410e-02 5.42150907e-01 1.59042560e+02] [-5.43560306e-01 -6.52195316e-03 8.39344779e-01 2.44628507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.810714057 meters Centerline goodness : 0.989634 Centerline is valid? [True, True] Translation: X:116.48, Y:159.07, Z:24.46 [[-5.46749602e-02 -9.98504188e-01 -1.90577174e-04 1.16481542e+02] [ 8.39607451e-01 -4.60775746e-02 5.41235795e-01 1.59072543e+02] [-5.40434989e-01 2.94320355e-02 8.40870845e-01 2.44603702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.840714057 meters Centerline goodness : 0.983781 Centerline is valid? [True, True] Translation: X:116.47, Y:159.09, Z:24.45 [[-6.04931575e-02 -9.97871161e-01 2.43664439e-02 1.16467311e+02] [ 8.39252571e-01 -3.76318655e-02 5.42437982e-01 1.59094765e+02] [-5.40366265e-01 5.32633870e-02 8.39742408e-01 2.44522794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.870714057 meters Centerline goodness : 0.989072 Centerline is valid? [True, True] Translation: X:116.49, Y:159.12, Z:24.43 [[-5.89850204e-02 -9.97977700e-01 -2.36912930e-02 1.16490470e+02] [ 8.40162239e-01 -6.24464350e-02 5.38727998e-01 1.59115221e+02] [-5.39117965e-01 1.18723522e-02 8.42146583e-01 2.44252618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.900714057 meters Centerline goodness : 0.983504 Centerline is valid? [True, True] Translation: X:116.47, Y:159.14, Z:24.42 [[-6.54326991e-02 -9.97820548e-01 8.52738481e-03 1.16472008e+02] [ 8.39840534e-01 -5.04540856e-02 5.40483360e-01 1.59136776e+02] [-5.38875161e-01 4.25269285e-02 8.41311489e-01 2.44185951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.930714057 meters Centerline goodness : 0.992506 Centerline is valid? [True, True] Translation: X:116.47, Y:159.17, Z:24.40 [[-6.98021380e-02 -9.97559451e-01 -1.67437179e-03 1.16474962e+02] [ 8.47402143e-01 -6.01806365e-02 5.27529998e-01 1.59169098e+02] [-5.26343299e-01 3.54038554e-02 8.49534754e-01 2.44048026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.960714057 meters Centerline goodness : 0.983589 Centerline is valid? [True, True] Translation: X:116.47, Y:159.18, Z:24.38 [[-7.23014331e-02 -9.97381728e-01 -1.48047368e-03 1.16471733e+02] [ 8.38644422e-01 -6.15976832e-02 5.41185051e-01 1.59181715e+02] [-5.39859275e-01 3.78868637e-02 8.40902223e-01 2.43848952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.990714057 meters Centerline goodness : 0.992035 Centerline is valid? [True, True] Translation: X:116.47, Y:159.21, Z:24.38 [[-7.40899318e-02 -9.97247226e-01 -2.94163118e-03 1.16472032e+02] [ 8.47672832e-01 -6.45306650e-02 5.26580064e-01 1.59214499e+02] [-5.25320333e-01 3.65207402e-02 8.50120452e-01 2.43761204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.020714057 meters Centerline goodness : 0.989242 Centerline is valid? [True, True] Translation: X:116.48, Y:159.24, Z:24.35 [[-6.48908893e-02 -9.97887355e-01 3.16222001e-03 1.16480711e+02] [ 8.42155042e-01 -5.30633887e-02 5.36618265e-01 1.59244317e+02] [-5.35316783e-01 3.74847160e-02 8.43819197e-01 2.43535258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.050714057 meters Centerline goodness : 0.989678 Centerline is valid? [True, True] Translation: X:116.47, Y:159.27, Z:24.34 [[-6.70455235e-02 -9.97252578e-01 3.14990996e-02 1.16468462e+02] [ 8.40968363e-01 -3.94934616e-02 5.39641065e-01 1.59272940e+02] [-5.36914435e-01 6.26702640e-02 8.41305728e-01 2.43434396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.080714057 meters Centerline goodness : 0.991994 Centerline is valid? [True, True] Translation: X:116.46, Y:159.29, Z:24.34 [[-7.88047694e-02 -9.96795694e-01 1.37169151e-02 1.16461476e+02] [ 8.47665506e-01 -5.97606428e-02 5.27154489e-01 1.59287913e+02] [-5.24645593e-01 5.31696437e-02 8.49658750e-01 2.43372504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.110714057 meters Centerline goodness : 0.989492 Centerline is valid? [True, True] Translation: X:116.48, Y:159.31, Z:24.31 [[-7.08891633e-02 -9.97473227e-01 -4.67851793e-03 1.16476991e+02] [ 8.41009915e-01 -6.22902203e-02 5.37421856e-01 1.59312911e+02] [-5.36355339e-01 3.41627058e-02 8.43300575e-01 2.43088408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.140714057 meters Centerline goodness : 0.982671 Centerline is valid? [True, True] Translation: X:116.47, Y:159.33, Z:24.30 [[-7.56579572e-02 -9.97084350e-01 9.93339800e-03 1.16465064e+02] [ 8.41039603e-01 -5.84595488e-02 5.37805603e-01 1.59331760e+02] [-5.35656848e-01 4.90436544e-02 8.43010356e-01 2.43011370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.170714057 meters Centerline goodness : 0.982526 Centerline is valid? [True, True] Translation: X:116.47, Y:159.35, Z:24.28 [[-7.51772836e-02 -9.97116861e-01 -1.03122164e-02 1.16471366e+02] [ 8.40600920e-01 -6.89330830e-02 5.37250708e-01 1.59350389e+02] [-5.36412592e-01 3.17205902e-02 8.43359553e-01 2.42796567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.200714057 meters Centerline goodness : 0.982412 Centerline is valid? [True, True] Translation: X:116.47, Y:159.37, Z:24.26 [[-7.52445192e-02 -9.97052899e-01 -1.49592145e-02 1.16472918e+02] [ 8.42065100e-01 -7.15689998e-02 5.34606628e-01 1.59372923e+02] [-5.34101704e-01 2.76295863e-02 8.44968624e-01 2.42645948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.230714057 meters Centerline goodness : 0.983391 Centerline is valid? [True, True] Translation: X:116.46, Y:159.40, Z:24.26 [[-7.41819112e-02 -9.97215503e-01 7.63446304e-03 1.16463572e+02] [ 8.41498472e-01 -5.84864694e-02 5.37084401e-01 1.59400513e+02] [-5.35142378e-01 4.62663364e-02 8.43493960e-01 2.42557749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.26071405700003 meters Centerline goodness : 0.989392 Centerline is valid? [True, True] Translation: X:116.47, Y:159.43, Z:24.24 [[-6.62750069e-02 -9.97800735e-01 -1.14764014e-03 1.16471197e+02] [ 8.43339277e-01 -5.66301476e-02 5.34389269e-01 1.59428893e+02] [-5.33278996e-01 3.44488025e-02 8.45237713e-01 2.42370826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.290714057 meters Centerline goodness : 0.988826 Centerline is valid? [True, True] Translation: X:116.46, Y:159.46, Z:24.23 [[-6.64095603e-02 -9.97732516e-01 1.09360053e-02 1.16462014e+02] [ 8.45063801e-01 -5.04135730e-02 5.32283425e-01 1.59456714e+02] [-5.30525158e-01 4.45903304e-02 8.46495576e-01 2.42280359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.320714057 meters Centerline goodness : 0.989211 Centerline is valid? [True, True] Translation: X:116.46, Y:159.48, Z:24.21 [[-6.51260316e-02 -9.97592423e-01 2.38318490e-02 1.16456683e+02] [ 8.44429308e-01 -4.23704026e-02 5.33988663e-01 1.59482433e+02] [-5.31693279e-01 5.49008743e-02 8.45155696e-01 2.42141606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.350714057 meters Centerline goodness : 0.989188 Centerline is valid? [True, True] Translation: X:116.46, Y:159.50, Z:24.20 [[-6.34777545e-02 -9.97878306e-01 1.44727822e-02 1.16458025e+02] [ 8.44610146e-01 -4.59917145e-02 5.33402721e-01 1.59503190e+02] [-5.31605376e-01 4.60830657e-02 8.45737593e-01 2.41979013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.380714057 meters Centerline goodness : 0.989741 Centerline is valid? [True, True] Translation: X:116.46, Y:159.53, Z:24.18 [[-6.13616795e-02 -9.98036187e-01 1.25902548e-02 1.16455027e+02] [ 8.44717950e-01 -4.52077211e-02 5.33299022e-01 1.59528023e+02] [-5.31682545e-01 4.33593378e-02 8.45833103e-01 2.41828590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.410714057 meters Centerline goodness : 0.989282 Centerline is valid? [True, True] Translation: X:116.45, Y:159.55, Z:24.17 [[-5.87795703e-02 -9.98106360e-01 1.81288574e-02 1.16450573e+02] [ 8.45445548e-01 -4.01163177e-02 5.32552821e-01 1.59551978e+02] [-5.30817095e-01 4.66301877e-02 8.46202598e-01 2.41711531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.440714057 meters Centerline goodness : 0.989055 Centerline is valid? [True, True] Translation: X:116.45, Y:159.58, Z:24.15 [[-5.55337168e-02 -9.98383587e-01 1.20921526e-02 1.16448716e+02] [ 8.45585384e-01 -4.05875125e-02 5.32295043e-01 1.59575318e+02] [-5.30943844e-01 3.97852697e-02 8.46472544e-01 2.41544311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.470714057 meters Centerline goodness : 0.989142 Centerline is valid? [True, True] Translation: X:116.44, Y:159.60, Z:24.14 [[-5.28615925e-02 -9.98363132e-01 2.18336662e-02 1.16443526e+02] [ 8.45011724e-01 -3.30696386e-02 5.33724260e-01 1.59599165e+02] [-5.32128593e-01 4.66632183e-02 8.45376665e-01 2.41412932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.500714057 meters Centerline goodness : 0.987831 Centerline is valid? [True, True] Translation: X:116.44, Y:159.62, Z:24.12 [[-5.00567599e-02 -9.98663748e-01 1.28467604e-02 1.16441689e+02] [ 8.44678854e-01 -3.54678637e-02 5.34097055e-01 1.59621543e+02] [-5.32927719e-01 3.75865549e-02 8.45325557e-01 2.41238497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.530714057 meters Centerline goodness : 0.988359 Centerline is valid? [True, True] Translation: X:116.44, Y:159.65, Z:24.11 [[-4.89370220e-02 -9.98638122e-01 1.80850299e-02 1.16438179e+02] [ 8.43708334e-01 -3.16404645e-02 5.35868574e-01 1.59647304e+02] [-5.34566568e-01 4.14823027e-02 8.44107696e-01 2.41086935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.560714057 meters Centerline goodness : 0.988110 Centerline is valid? [True, True] Translation: X:116.43, Y:159.68, Z:24.09 [[-4.89554193e-02 -9.98084739e-01 3.78182610e-02 1.16429127e+02] [ 8.47381886e-01 -2.14605569e-02 5.30550076e-01 1.59677991e+02] [-5.28722333e-01 5.80198107e-02 8.46809539e-01 2.40948525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.590714057 meters Centerline goodness : 0.987364 Centerline is valid? [True, True] Translation: X:116.44, Y:159.69, Z:24.07 [[-4.61156253e-02 -9.98861263e-01 1.22280901e-02 1.16437506e+02] [ 8.43687346e-01 -3.23915504e-02 5.35856743e-01 1.59693572e+02] [-5.34850457e-01 3.50280537e-02 8.44220365e-01 2.40721149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.620714057 meters Centerline goodness : 0.987270 Centerline is valid? [True, True] Translation: X:116.43, Y:159.72, Z:24.06 [[-4.72251408e-02 -9.98842631e-01 9.12055309e-03 1.16434996e+02] [ 8.43323995e-01 -3.49755304e-02 5.36266121e-01 1.59718325e+02] [-5.35326467e-01 3.30168243e-02 8.43999682e-01 2.40587258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.650714057 meters Centerline goodness : 0.986863 Centerline is valid? [True, True] Translation: X:116.43, Y:159.73, Z:24.05 [[-4.72080903e-02 -9.98832218e-01 1.02760606e-02 1.16433638e+02] [ 8.42561215e-01 -3.42922891e-02 5.37507802e-01 1.59726610e+02] [-5.36527721e-01 3.40329270e-02 8.43196160e-01 2.40533004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.680714057 meters Centerline goodness : 0.986863 Centerline is valid? [True, True] Translation: X:116.44, Y:159.73, Z:24.05 [[-4.66940376e-02 -9.98891815e-01 5.89982570e-03 1.16435182e+02] [ 8.42497422e-01 -3.62086814e-02 5.37482116e-01 1.59730805e+02] [-5.36672862e-01 3.00677981e-02 8.43254509e-01 2.40485476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.710714057 meters Centerline goodness : 0.987555 Centerline is valid? [True, True] Translation: X:116.43, Y:159.74, Z:24.04 [[-4.72800263e-02 -9.98880541e-01 1.50489202e-03 1.16433446e+02] [ 8.44205046e-01 -3.91533694e-02 5.34588490e-01 1.59741505e+02] [-5.33931118e-01 2.65457953e-02 8.45111165e-01 2.40416483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.740714057 meters Centerline goodness : 0.986804 Centerline is valid? [True, True] Translation: X:116.43, Y:159.75, Z:24.04 [[-4.77170146e-02 -9.98836841e-01 6.93187906e-03 1.16430356e+02] [ 8.45203745e-01 -3.66772924e-02 5.33184214e-01 1.59754036e+02] [-5.32309794e-01 3.13008091e-02 8.45970769e-01 2.40366424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.770714057 meters Centerline goodness : 0.987534 Centerline is valid? [True, True] Translation: X:116.43, Y:159.76, Z:24.03 [[-5.04945972e-02 -9.98716612e-01 3.92734772e-03 1.16429252e+02] [ 8.46165807e-01 -4.06921747e-02 5.31363881e-01 1.59763853e+02] [-5.30522122e-01 3.01541925e-02 8.47134583e-01 2.40300257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.800714057 meters Centerline goodness : 0.988263 Centerline is valid? [True, True] Translation: X:116.43, Y:159.76, Z:24.03 [[-5.20639449e-02 -9.98643327e-01 9.22891744e-04 1.16429054e+02] [ 8.46210701e-01 -4.36261432e-02 5.31059516e-01 1.59763986e+02] [-5.30298780e-01 2.84300142e-02 8.47334018e-01 2.40285716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.830714057 meters Centerline goodness : 0.988608 Centerline is valid? [True, True] Translation: X:116.43, Y:159.78, Z:24.02 [[-5.74736814e-02 -9.98330110e-01 5.81101271e-03 1.16425255e+02] [ 8.47143497e-01 -4.56884213e-02 5.29396321e-01 1.59780996e+02] [-5.28246791e-01 3.53491171e-02 8.48354742e-01 2.40222598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.860714057 meters Centerline goodness : 0.987249 Centerline is valid? [True, True] Translation: X:116.43, Y:159.78, Z:24.02 [[-5.86654518e-02 -9.98276524e-01 -1.53164011e-03 1.16427281e+02] [ 8.47346415e-01 -5.06068412e-02 5.28623686e-01 1.59778389e+02] [-5.27790127e-01 2.97141176e-02 8.48854907e-01 2.40209319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.890714057 meters Centerline goodness : 0.988472 Centerline is valid? [True, True] Translation: X:116.42, Y:159.80, Z:24.01 [[-6.02751710e-02 -9.98180737e-01 1.45607930e-03 1.16423834e+02] [ 8.47300506e-01 -5.03930061e-02 5.28717692e-01 1.59797195e+02] [-5.27682439e-01 3.31022860e-02 8.48796490e-01 2.40105536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.920714057 meters Centerline goodness : 0.988997 Centerline is valid? [True, True] Translation: X:116.42, Y:159.79, Z:24.02 [[-6.13818674e-02 -9.98095674e-01 6.10665982e-03 1.16420529e+02] [ 8.48093120e-01 -4.89289450e-02 5.27583186e-01 1.59793860e+02] [-5.26279704e-01 3.75630573e-02 8.49481424e-01 2.40173352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.950714057 meters Centerline goodness : 0.989174 Centerline is valid? [True, True] Translation: X:116.42, Y:159.79, Z:24.01 [[-5.96525548e-02 -9.98212982e-01 3.52361717e-03 1.16420878e+02] [ 8.46106426e-01 -4.86891333e-02 5.30785535e-01 1.59793286e+02] [-5.29665450e-01 3.46440683e-02 8.47498850e-01 2.40146174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.980714057 meters Centerline goodness : 0.988082 Centerline is valid? [True, True] Translation: X:116.41, Y:159.82, Z:24.00 [[-5.85463581e-02 -9.98034315e-01 2.23568613e-02 1.16412668e+02] [ 8.45553020e-01 -3.76717142e-02 5.32560731e-01 1.59818768e+02] [-5.30671664e-01 5.00834028e-02 8.46096471e-01 2.40043685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.01071405700003 meters Centerline goodness : 0.988461 Centerline is valid? [True, True] Translation: X:116.42, Y:159.84, Z:23.98 [[-5.99014529e-02 -9.98199386e-01 3.13071643e-03 1.16419303e+02] [ 8.44607762e-01 -4.90123823e-02 5.33137427e-01 1.59839460e+02] [-5.32024008e-01 3.45799339e-02 8.46022862e-01 2.39831102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.040714057 meters Centerline goodness : 0.988548 Centerline is valid? [True, True] Translation: X:116.41, Y:159.87, Z:23.97 [[-5.80900162e-02 -9.98089432e-01 2.10484200e-02 1.16413288e+02] [ 8.43799782e-01 -3.78208834e-02 5.35323743e-01 1.59865470e+02] [-5.33504900e-01 4.88576171e-02 8.44384660e-01 2.39707832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.070714057 meters Centerline goodness : 0.990153 Centerline is valid? [True, True] Translation: X:116.41, Y:159.89, Z:23.95 [[-6.00994677e-02 -9.97651659e-01 3.28515163e-02 1.16409136e+02] [ 8.47695335e-01 -3.36328970e-02 5.29416138e-01 1.59894632e+02] [-5.27067997e-01 5.96657052e-02 8.47725976e-01 2.39548263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.100714057 meters Centerline goodness : 0.989032 Centerline is valid? [True, True] Translation: X:116.42, Y:159.91, Z:23.93 [[-5.86942771e-02 -9.98269086e-01 3.71665066e-03 1.16418954e+02] [ 8.43403603e-01 -4.75963168e-02 5.35168155e-01 1.59910070e+02] [-5.34064926e-01 3.45459445e-02 8.44737375e-01 2.39325844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.130714057 meters Centerline goodness : 0.989011 Centerline is valid? [True, True] Translation: X:116.42, Y:159.91, Z:23.93 [[-5.76591771e-02 -9.98313017e-01 6.82200021e-03 1.16417473e+02] [ 8.43132790e-01 -4.50349782e-02 5.35816152e-01 1.59908840e+02] [-5.34605010e-01 3.66465704e-02 8.44307119e-01 2.39346971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.160714057 meters Centerline goodness : 0.989209 Centerline is valid? [True, True] Translation: X:116.42, Y:159.91, Z:23.93 [[-5.83262946e-02 -9.98288658e-01 -4.21880333e-03 1.16420895e+02] [ 8.45475642e-01 -5.16441821e-02 5.31510882e-01 1.59910441e+02] [-5.30819162e-01 2.74341648e-02 8.47040958e-01 2.39311340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.190714057 meters Centerline goodness : 0.988820 Centerline is valid? [True, True] Translation: X:116.41, Y:159.92, Z:23.93 [[-5.61822548e-02 -9.98231555e-01 1.94246216e-02 1.16412893e+02] [ 8.44058628e-01 -3.70951991e-02 5.34966334e-01 1.59924789e+02] [-5.33299716e-01 4.64511344e-02 8.44650049e-01 2.39326382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.220714057 meters Centerline goodness : 0.988863 Centerline is valid? [True, True] Translation: X:116.42, Y:159.94, Z:23.92 [[-5.59534201e-02 -9.98432982e-01 8.91874740e-04 1.16419121e+02] [ 8.43625681e-01 -4.68000253e-02 5.34888276e-01 1.59941426e+02] [-5.34008357e-01 3.06812369e-02 8.44922326e-01 2.39158433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.250714057 meters Centerline goodness : 0.988198 Centerline is valid? [True, True] Translation: X:116.42, Y:159.97, Z:23.90 [[-5.75650669e-02 -9.98284933e-01 1.06515521e-02 1.16415574e+02] [ 8.43578797e-01 -4.29326707e-02 5.35286464e-01 1.59970634e+02] [-5.33911113e-01 3.97992246e-02 8.44603425e-01 2.39010378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.280714057 meters Centerline goodness : 0.988583 Centerline is valid? [True, True] Translation: X:116.42, Y:159.98, Z:23.89 [[-5.88181921e-02 -9.98258530e-01 4.50853441e-03 1.16417461e+02] [ 8.46422948e-01 -4.74764621e-02 5.30390591e-01 1.59979920e+02] [-5.29252883e-01 3.50127426e-02 8.47741408e-01 2.38949387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.310714057 meters Centerline goodness : 0.987992 Centerline is valid? [True, True] Translation: X:116.42, Y:159.98, Z:23.89 [[-5.68283538e-02 -9.98359845e-01 6.93955671e-03 1.16418164e+02] [ 8.44982322e-01 -4.43933400e-02 5.32948503e-01 1.59978942e+02] [-5.31766314e-01 3.61503888e-02 8.46119221e-01 2.38930338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.340714057 meters Centerline goodness : 0.988451 Centerline is valid? [True, True] Translation: X:116.42, Y:160.00, Z:23.88 [[-5.63237150e-02 -9.98287736e-01 1.57871598e-02 1.16416517e+02] [ 8.45282122e-01 -3.92640666e-02 5.32875658e-01 1.60003947e+02] [-5.31343367e-01 4.33581406e-02 8.46046274e-01 2.38810160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.370714057 meters Centerline goodness : 0.988499 Centerline is valid? [True, True] Translation: X:116.41, Y:160.04, Z:23.87 [[-5.76992545e-02 -9.97705385e-01 3.54226138e-02 1.16411507e+02] [ 8.49241716e-01 -3.03980963e-02 5.27128508e-01 1.60037170e+02] [-5.24842170e-01 6.04972832e-02 8.49046980e-01 2.38675857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.400714057 meters Centerline goodness : 0.987955 Centerline is valid? [True, True] Translation: X:116.43, Y:160.04, Z:23.85 [[-5.75715977e-02 -9.98331666e-01 -4.40413839e-03 1.16426349e+02] [ 8.46537803e-01 -5.11554769e-02 5.29864949e-01 1.60039085e+02] [-5.29206253e-01 2.67769021e-02 8.48070598e-01 2.38482951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.430714057 meters Centerline goodness : 0.987274 Centerline is valid? [True, True] Translation: X:116.42, Y:160.05, Z:23.85 [[-5.48720259e-02 -9.98467184e-01 7.23488040e-03 1.16422394e+02] [ 8.45604420e-01 -4.26156244e-02 5.32106262e-01 1.60048922e+02] [-5.30982322e-01 3.53155955e-02 8.46646669e-01 2.38469041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.460714057 meters Centerline goodness : 0.988873 Centerline is valid? [True, True] Translation: X:116.42, Y:160.05, Z:23.85 [[-5.36459075e-02 -9.98385127e-01 1.86883502e-02 1.16418748e+02] [ 8.48048295e-01 -3.56710762e-02 5.28716998e-01 1.60052036e+02] [-5.27196553e-01 4.42121267e-02 8.48592412e-01 2.38521276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.490714057 meters Centerline goodness : 0.987245 Centerline is valid? [True, True] Translation: X:116.42, Y:160.07, Z:23.83 [[-5.01463787e-02 -9.98661223e-01 1.26926046e-02 1.16423562e+02] [ 8.41804686e-01 -3.54244093e-02 5.38618586e-01 1.60071643e+02] [-5.37447868e-01 3.76944656e-02 8.42454104e-01 2.38349903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.520714057 meters Centerline goodness : 0.987640 Centerline is valid? [True, True] Translation: X:116.42, Y:160.10, Z:23.82 [[-4.76040533e-02 -9.98650513e-01 2.07607333e-02 1.16423286e+02] [ 8.41019152e-01 -2.88591894e-02 5.40235072e-01 1.60096488e+02] [-5.38906894e-01 4.31775535e-02 8.41258022e-01 2.38220542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.550714057 meters Centerline goodness : 0.988242 Centerline is valid? [True, True] Translation: X:116.42, Y:160.12, Z:23.81 [[-4.54774301e-02 -9.98705567e-01 2.27814414e-02 1.16423549e+02] [ 8.40454082e-01 -2.59245144e-02 5.41262280e-01 1.60118393e+02] [-5.39971054e-01 4.37619729e-02 8.40545151e-01 2.38076622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.580714057 meters Centerline goodness : 0.988271 Centerline is valid? [True, True] Translation: X:116.42, Y:160.15, Z:23.79 [[-4.67118701e-02 -9.98119820e-01 3.96840776e-02 1.16419456e+02] [ 8.45606023e-01 -1.83632445e-02 5.33491560e-01 1.60151887e+02] [-5.31759772e-01 5.84774835e-02 8.44873913e-01 2.37924743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.610714057 meters Centerline goodness : 0.989909 Centerline is valid? [True, True] Translation: X:116.43, Y:160.15, Z:23.78 [[-4.40762813e-02 -9.98830840e-01 1.98553161e-02 1.16428129e+02] [ 8.44235992e-01 -2.66131389e-02 5.35310500e-01 1.60153553e+02] [-5.34156224e-01 4.03570686e-02 8.44421953e-01 2.37798555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.640714057 meters Centerline goodness : 0.989042 Centerline is valid? [True, True] Translation: X:116.43, Y:160.16, Z:23.77 [[-4.22506696e-02 -9.98981851e-01 1.58159181e-02 1.16431356e+02] [ 8.43779284e-01 -2.72005924e-02 5.36000605e-01 1.60159471e+02] [-5.35024674e-01 3.59915285e-02 8.44069433e-01 2.37728715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.670714057 meters Centerline goodness : 0.990564 Centerline is valid? [True, True] Translation: X:116.43, Y:160.17, Z:23.77 [[-5.41985930e-02 -9.98249229e-01 -2.36851965e-02 1.16434692e+02] [ 8.51265263e-01 -5.85907058e-02 5.21454294e-01 1.60168016e+02] [-5.21929080e-01 8.09970407e-03 8.52950427e-01 2.37731622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.700714057 meters Centerline goodness : 0.989018 Centerline is valid? [True, True] Translation: X:116.42, Y:160.22, Z:23.76 [[-4.29946013e-02 -9.96345909e-01 7.37990163e-02 1.16415915e+02] [ 8.44894851e-01 3.16243498e-03 5.34923070e-01 1.60217931e+02] [-5.33201797e-01 8.53512130e-02 8.41671560e-01 2.37585535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.730714057 meters Centerline goodness : 0.987797 Centerline is valid? [True, True] Translation: X:116.44, Y:160.23, Z:23.73 [[-3.94000771e-02 -9.99040873e-01 1.91041153e-02 1.16438160e+02] [ 8.39379654e-01 -2.27185299e-02 5.43070589e-01 1.60226517e+02] [-5.42115698e-01 3.74326288e-02 8.39469695e-01 2.37265472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.76071405700003 meters Centerline goodness : 0.987409 Centerline is valid? [True, True] Translation: X:116.44, Y:160.25, Z:23.72 [[-3.89991398e-02 -9.98810325e-01 2.92745825e-02 1.16435281e+02] [ 8.39609556e-01 -1.68701196e-02 5.42928350e-01 1.60251967e+02] [-5.41788576e-01 4.57529578e-02 8.39268614e-01 2.37152572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.790714057 meters Centerline goodness : 0.988057 Centerline is valid? [True, True] Translation: X:116.44, Y:160.28, Z:23.70 [[-3.87682945e-02 -9.98799209e-01 2.99526055e-02 1.16436927e+02] [ 8.39512038e-01 -1.62988641e-02 5.43096571e-01 1.60275673e+02] [-5.41956232e-01 4.62005007e-02 8.39135839e-01 2.36996317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.820714057 meters Centerline goodness : 0.987400 Centerline is valid? [True, True] Translation: X:116.44, Y:160.29, Z:23.68 [[-3.45381970e-02 -9.99121928e-01 2.37167901e-02 1.16443413e+02] [ 8.34564238e-01 -1.57777256e-02 5.50684661e-01 1.60291506e+02] [-5.49826923e-01 3.88128401e-02 8.34376365e-01 2.36820569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.850714057 meters Centerline goodness : 0.986872 Centerline is valid? [True, True] Translation: X:116.45, Y:160.31, Z:23.67 [[-3.61337591e-02 -9.99301251e-01 9.55831182e-03 1.16448095e+02] [ 8.36472352e-01 -2.50097816e-02 5.47438138e-01 1.60312678e+02] [-5.46816565e-01 2.77762614e-02 8.36791565e-01 2.36700922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.880714057 meters Centerline goodness : 0.988301 Centerline is valid? [True, True] Translation: X:116.44, Y:160.35, Z:23.66 [[-4.14581822e-02 -9.98251528e-01 4.21320061e-02 1.16436941e+02] [ 8.41832620e-01 -1.21876849e-02 5.39601057e-01 1.60348666e+02] [-5.38144088e-01 5.78389760e-02 8.40865978e-01 2.36620045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.910714057 meters Centerline goodness : 0.986324 Centerline is valid? [True, True] Translation: X:116.45, Y:160.36, Z:23.64 [[-3.87960224e-02 -9.98948391e-01 2.44331800e-02 1.16445860e+02] [ 8.36520083e-01 -1.90940370e-02 5.47603478e-01 1.60363626e+02] [-5.46561085e-01 4.16836825e-02 8.36381164e-01 2.36438425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.940714057 meters Centerline goodness : 0.988481 Centerline is valid? [True, True] Translation: X:116.45, Y:160.39, Z:23.63 [[-4.50574949e-02 -9.98635936e-01 2.63835143e-02 1.16446305e+02] [ 8.42909086e-01 -2.38299985e-02 5.37528050e-01 1.60393125e+02] [-5.36166108e-01 4.64585713e-02 8.42833024e-01 2.36292301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.970714057 meters Centerline goodness : 0.991024 Centerline is valid? [True, True] Translation: X:116.46, Y:160.40, Z:23.62 [[-7.06807259e-02 -9.96599485e-01 -4.23521188e-02 1.16462539e+02] [ 8.60638091e-01 -8.23929478e-02 5.02507192e-01 1.60398019e+02] [-5.04287925e-01 -9.32273520e-04 8.63535072e-01 2.36215778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.000714057 meters Centerline goodness : 0.989407 Centerline is valid? [True, True] Translation: X:116.45, Y:160.40, Z:23.63 [[-4.83481763e-02 -9.98029816e-01 3.99867506e-02 1.16445252e+02] [ 8.45156530e-01 -1.95408901e-02 5.34161580e-01 1.60397779e+02] [-5.32327807e-01 5.96208016e-02 8.44436182e-01 2.36343381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.030714057 meters Centerline goodness : 0.988294 Centerline is valid? [True, True] Translation: X:116.47, Y:160.40, Z:23.61 [[-5.53022596e-02 -9.98233379e-01 -2.17205200e-02 1.16468530e+02] [ 8.49636401e-01 -5.84742109e-02 5.24117118e-01 1.60401113e+02] [-5.24461292e-01 1.05303165e-02 8.51369171e-01 2.36148068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.060714057 meters Centerline goodness : 0.988294 Centerline is valid? [True, True] Translation: X:116.46, Y:160.40, Z:23.62 [[-5.38746646e-02 -9.98542763e-01 -3.14184296e-03 1.16463504e+02] [ 8.50970344e-01 -4.75584058e-02 5.23056088e-01 1.60400091e+02] [-5.22443293e-01 2.55058561e-02 8.52292472e-01 2.36243612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.090714057 meters Centerline goodness : 0.987843 Centerline is valid? [True, True] Translation: X:116.46, Y:160.41, Z:23.62 [[-5.45326786e-02 -9.98501422e-01 -4.59315750e-03 1.16464148e+02] [ 8.52373453e-01 -4.89469296e-02 5.20637776e-01 1.60410900e+02] [-5.20082381e-01 2.44766870e-02 8.53765313e-01 2.36186332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.120714057 meters Centerline goodness : 0.988696 Centerline is valid? [True, True] Translation: X:116.46, Y:160.42, Z:23.62 [[-5.40253856e-02 -9.98533054e-01 -3.60528334e-03 1.16463951e+02] [ 8.53158294e-01 -4.80353843e-02 5.19435777e-01 1.60415188e+02] [-5.18846974e-01 2.49868408e-02 8.54501887e-01 2.36167952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.150714057 meters Centerline goodness : 0.988488 Centerline is valid? [True, True] Translation: X:116.47, Y:160.41, Z:23.62 [[-5.05374892e-02 -9.98721495e-01 -1.15697129e-03 1.16465089e+02] [ 8.52845719e-01 -4.37586295e-02 5.20326207e-01 1.60410974e+02] [-5.19711595e-01 2.53092621e-02 8.53966802e-01 2.36192457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.180714057 meters Centerline goodness : 0.988404 Centerline is valid? [True, True] Translation: X:116.47, Y:160.41, Z:23.62 [[-4.74988296e-02 -9.98871228e-01 -3.62780063e-04 1.16465330e+02] [ 8.52564266e-01 -4.07308009e-02 5.21032797e-01 1.60412504e+02] [-5.20459446e-01 2.44391547e-02 8.53536580e-01 2.36183398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.210714057 meters Centerline goodness : 0.989094 Centerline is valid? [True, True] Translation: X:116.46, Y:160.41, Z:23.62 [[-4.14626467e-02 -9.99135055e-01 3.16077121e-03 1.16463635e+02] [ 8.51115689e-01 -3.36627044e-02 5.23897802e-01 1.60414916e+02] [-5.23338259e-01 2.44123714e-02 8.51775265e-01 2.36182297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.240714057 meters Centerline goodness : 0.988449 Centerline is valid? [True, True] Translation: X:116.46, Y:160.42, Z:23.62 [[-4.06310455e-02 -9.99168606e-01 3.34875586e-03 1.16463929e+02] [ 8.51368413e-01 -3.28661137e-02 5.23537624e-01 1.60418775e+02] [-5.22992298e-01 2.41229060e-02 8.51995975e-01 2.36169800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.270714057 meters Centerline goodness : 0.988128 Centerline is valid? [True, True] Translation: X:116.47, Y:160.42, Z:23.61 [[-3.71040250e-02 -9.99310479e-01 1.36295049e-03 1.16465841e+02] [ 8.51410028e-01 -3.08984172e-02 5.23589774e-01 1.60423614e+02] [-5.23186635e-01 2.05877178e-02 8.51969419e-01 2.36142090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.300714057 meters Centerline goodness : 0.990261 Centerline is valid? [True, True] Translation: X:116.46, Y:160.43, Z:23.62 [[-3.58981310e-02 -9.99202582e-01 1.74792551e-02 1.16460446e+02] [ 8.53620506e-01 -2.15635170e-02 5.20448889e-01 1.60429509e+02] [-5.19656959e-01 3.36037930e-02 8.53713904e-01 2.36162948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.330714057 meters Centerline goodness : 0.989411 Centerline is valid? [True, True] Translation: X:116.46, Y:160.45, Z:23.60 [[-3.45706666e-02 -9.98942203e-01 3.03206822e-02 1.16458705e+02] [ 8.48307068e-01 -1.32907174e-02 5.29337770e-01 1.60454891e+02] [-5.28374854e-01 4.40208086e-02 8.47869201e-01 2.36019126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.360714057 meters Centerline goodness : 0.988116 Centerline is valid? [True, True] Translation: X:116.47, Y:160.46, Z:23.59 [[-3.41685136e-02 -9.99317167e-01 1.40610446e-02 1.16467189e+02] [ 8.46542441e-01 -2.14608438e-02 5.31888454e-01 1.60464634e+02] [-5.31223501e-01 3.00771089e-02 8.46697679e-01 2.35859983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.390714057 meters Centerline goodness : 0.989064 Centerline is valid? [True, True] Translation: X:116.48, Y:160.47, Z:23.57 [[-4.06722287e-02 -9.99007907e-01 -1.81375476e-02 1.16477649e+02] [ 8.48195678e-01 -4.41155473e-02 5.27842695e-01 1.60474781e+02] [-5.28119174e-01 6.08434928e-03 8.49148467e-01 2.35731693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.420714057 meters Centerline goodness : 0.989980 Centerline is valid? [True, True] Translation: X:116.47, Y:160.50, Z:23.57 [[-4.42035772e-02 -9.98876672e-01 -1.70715658e-02 1.16474190e+02] [ 8.51462747e-01 -4.66072142e-02 5.22339888e-01 1.60499124e+02] [-5.22548787e-01 8.55348921e-03 8.52566480e-01 2.35685484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.450714057 meters Centerline goodness : 0.988747 Centerline is valid? [True, True] Translation: X:116.47, Y:160.54, Z:23.55 [[-3.46806499e-02 -9.98799423e-01 3.45971735e-02 1.16471291e+02] [ 8.45570892e-01 -1.08716743e-02 5.33752447e-01 1.60536677e+02] [-5.32735507e-01 4.77652445e-02 8.44932756e-01 2.35480879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.480714057 meters Centerline goodness : 0.988224 Centerline is valid? [True, True] Translation: X:116.48, Y:160.56, Z:23.53 [[-3.48557765e-02 -9.99167215e-01 2.12120447e-02 1.16478346e+02] [ 8.44910569e-01 -1.81251403e-02 5.34600420e-01 1.60555371e+02] [-5.33770742e-01 3.65561935e-02 8.44838706e-01 2.35301938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.51071405700003 meters Centerline goodness : 0.988931 Centerline is valid? [True, True] Translation: X:116.48, Y:160.58, Z:23.51 [[-3.67910769e-02 -9.99191907e-01 1.61848872e-02 1.16481826e+02] [ 8.44824397e-01 -2.24481430e-02 5.34572558e-01 1.60580090e+02] [-5.33777252e-01 3.33408877e-02 8.44967591e-01 2.35130880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.540714057 meters Centerline goodness : 0.987818 Centerline is valid? [True, True] Translation: X:116.48, Y:160.60, Z:23.50 [[-3.71929291e-02 -9.98943849e-01 2.69791048e-02 1.16481439e+02] [ 8.44347446e-01 -1.69736393e-02 5.35527111e-01 1.60604217e+02] [-5.34503580e-01 4.26975600e-02 8.44086987e-01 2.34994719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.570714057 meters Centerline goodness : 0.987818 Centerline is valid? [True, True] Translation: X:116.48, Y:160.63, Z:23.48 [[-3.76189070e-02 -9.99105685e-01 1.93040846e-02 1.16484228e+02] [ 8.44416170e-01 -2.14525331e-02 5.35257995e-01 1.60627843e+02] [-5.34365184e-01 3.64365019e-02 8.44468017e-01 2.34819004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.600714057 meters Centerline goodness : 0.988308 Centerline is valid? [True, True] Translation: X:116.49, Y:160.65, Z:23.47 [[-3.86727452e-02 -9.99077021e-01 1.86955799e-02 1.16485753e+02] [ 8.44462676e-01 -2.26739721e-02 5.35134264e-01 1.60652017e+02] [-5.34216443e-01 3.64828304e-02 8.44560119e-01 2.34666348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.630714057 meters Centerline goodness : 0.987659 Centerline is valid? [True, True] Translation: X:116.49, Y:160.67, Z:23.45 [[-3.83836959e-02 -9.99076892e-01 1.92887654e-02 1.16488633e+02] [ 8.43615723e-01 -2.20531334e-02 5.36494336e-01 1.60674757e+02] [-5.35573715e-01 3.68649412e-02 8.43683455e-01 2.34520006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.660714057 meters Centerline goodness : 0.988183 Centerline is valid? [True, True] Translation: X:116.49, Y:160.70, Z:23.44 [[-3.95328196e-02 -9.99090799e-01 1.59602977e-02 1.16492211e+02] [ 8.43442033e-01 -2.48011386e-02 5.36647408e-01 1.60698969e+02] [-5.35763654e-01 3.46767711e-02 8.43655634e-01 2.34359710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.690714057 meters Centerline goodness : 0.988538 Centerline is valid? [True, True] Translation: X:116.49, Y:160.72, Z:23.42 [[-4.08981049e-02 -9.99026972e-01 1.65061854e-02 1.16493489e+02] [ 8.43595576e-01 -2.56731012e-02 5.36364984e-01 1.60722765e+02] [-5.35419321e-01 3.58608564e-02 8.43824715e-01 2.34214901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.720714057 meters Centerline goodness : 0.987730 Centerline is valid? [True, True] Translation: X:116.49, Y:160.75, Z:23.40 [[-4.31815332e-02 -9.98887928e-01 1.89278011e-02 1.16494683e+02] [ 8.43512379e-01 -2.62992925e-02 5.36465483e-01 1.60749525e+02] [-5.35371107e-01 3.91312366e-02 8.43709976e-01 2.34044123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.750714057 meters Centerline goodness : 0.987376 Centerline is valid? [True, True] Translation: X:116.50, Y:160.77, Z:23.39 [[-4.72082148e-02 -9.98774230e-01 1.48802882e-02 1.16498688e+02] [ 8.44372816e-01 -3.19424649e-02 5.34802979e-01 1.60773564e+02] [-5.33672121e-01 3.78116047e-02 8.44845755e-01 2.33892122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.780714057 meters Centerline goodness : 0.987971 Centerline is valid? [True, True] Translation: X:116.50, Y:160.79, Z:23.38 [[-4.81456819e-02 -9.98751695e-01 1.33058531e-02 1.16499612e+02] [ 8.45672053e-01 -3.36702623e-02 5.32639739e-01 1.60794680e+02] [-5.31526830e-01 3.68966915e-02 8.46237474e-01 2.33777158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.810714057 meters Centerline goodness : 0.987723 Centerline is valid? [True, True] Translation: X:116.50, Y:160.82, Z:23.36 [[-5.28645881e-02 -9.98534148e-01 1.16142213e-02 1.16503039e+02] [ 8.46395526e-01 -3.86320658e-02 5.31151746e-01 1.60821166e+02] [-5.29924475e-01 3.79093432e-02 8.47197104e-01 2.33618619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.840714057 meters Centerline goodness : 0.987829 Centerline is valid? [True, True] Translation: X:116.51, Y:160.83, Z:23.35 [[-5.57076424e-02 -9.98432497e-01 5.40449166e-03 1.16506668e+02] [ 8.47732507e-01 -4.44382426e-02 5.28559212e-01 1.60831921e+02] [-5.27490527e-01 3.40263508e-02 8.48879233e-01 2.33536602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.870714057 meters Centerline goodness : 0.987855 Centerline is valid? [True, True] Translation: X:116.51, Y:160.83, Z:23.35 [[-5.89776901e-02 -9.98254694e-01 3.03282548e-03 1.16509838e+02] [ 8.50116253e-01 -4.86325260e-02 5.24344575e-01 1.60833037e+02] [-5.23281939e-01 3.35028861e-02 8.51500774e-01 2.33536926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.900714057 meters Centerline goodness : 0.989076 Centerline is valid? [True, True] Translation: X:116.51, Y:160.84, Z:23.35 [[-6.11374937e-02 -9.98126828e-01 -2.24558996e-03 1.16511853e+02] [ 8.52077519e-01 -5.33630945e-02 5.20688277e-01 1.60839305e+02] [-5.19832770e-01 2.99201595e-02 8.53743917e-01 2.33491156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.930714057 meters Centerline goodness : 0.988052 Centerline is valid? [True, True] Translation: X:116.51, Y:160.85, Z:23.35 [[-6.38055747e-02 -9.97955081e-01 3.80861595e-03 1.16509762e+02] [ 8.54529426e-01 -5.26634217e-02 5.16726257e-01 1.60845733e+02] [-5.15469019e-01 3.62245902e-02 8.56142202e-01 2.33517030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.960714057 meters Centerline goodness : 0.990566 Centerline is valid? [True, True] Translation: X:116.50, Y:160.88, Z:23.34 [[-8.07243499e-02 -9.96676478e-01 1.09351594e-02 1.16497014e+02] [ 8.57483198e-01 -6.38491979e-02 5.10534862e-01 1.60881321e+02] [-5.08139887e-01 5.05893103e-02 8.59787519e-01 2.33374435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.990714057 meters Centerline goodness : 0.990373 Centerline is valid? [True, True] Translation: X:116.51, Y:160.85, Z:23.35 [[-6.39777072e-02 -9.97951323e-01 9.73613918e-05 1.16508653e+02] [ 8.55937420e-01 -5.48231688e-02 5.14164908e-01 1.60854853e+02] [-5.13106213e-01 3.29784272e-02 8.57691342e-01 2.33469200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.020714057 meters Centerline goodness : 0.990021 Centerline is valid? [True, True] Translation: X:116.50, Y:160.88, Z:23.34 [[-6.50018964e-02 -9.97429575e-01 3.01495609e-02 1.16497889e+02] [ 8.56218898e-01 -4.02309018e-02 5.15044341e-01 1.60883895e+02] [-5.12507515e-01 5.92934827e-02 8.56633136e-01 2.33398414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.050714057 meters Centerline goodness : 0.989183 Centerline is valid? [True, True] Translation: X:116.50, Y:160.91, Z:23.33 [[-6.67787038e-02 -9.97479951e-01 2.39656503e-02 1.16499368e+02] [ 8.55430219e-01 -4.48720304e-02 5.15970582e-01 1.60905231e+02] [-5.13594923e-01 5.49567881e-02 8.56270989e-01 2.33252868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.080714057 meters Centerline goodness : 0.988399 Centerline is valid? [True, True] Translation: X:116.50, Y:160.92, Z:23.31 [[-6.55206036e-02 -9.97814315e-01 8.58158869e-03 1.16504463e+02] [ 8.50432177e-01 -5.13399492e-02 5.23573607e-01 1.60922687e+02] [-5.21988662e-01 4.16029179e-02 8.51937224e-01 2.33097375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.110714057 meters Centerline goodness : 0.990035 Centerline is valid? [True, True] Translation: X:116.49, Y:160.96, Z:23.30 [[-6.95019679e-02 -9.97002648e-01 3.39881760e-02 1.16494923e+02] [ 8.55154783e-01 -4.20002117e-02 5.16668443e-01 1.60955740e+02] [-5.13692295e-01 6.49746248e-02 8.55510680e-01 2.32981413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.140714057 meters Centerline goodness : 0.989968 Centerline is valid? [True, True] Translation: X:116.50, Y:160.98, Z:23.28 [[-7.06368348e-02 -9.97110124e-01 2.79613672e-02 1.16496342e+02] [ 8.54453160e-01 -4.60192333e-02 5.17486258e-01 1.60976719e+02] [-5.14704026e-01 6.04452698e-02 8.55234550e-01 2.32814378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.170714057 meters Centerline goodness : 0.989065 Centerline is valid? [True, True] Translation: X:116.50, Y:161.00, Z:23.26 [[-7.35604766e-02 -9.96952830e-01 2.59597839e-02 1.16497223e+02] [ 8.54945079e-01 -4.96373954e-02 5.16338107e-01 1.61000143e+02] [-5.13476161e-01 6.01762667e-02 8.55991267e-01 2.32646490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.200714057 meters Centerline goodness : 0.987478 Centerline is valid? [True, True] Translation: X:116.50, Y:161.02, Z:23.25 [[-7.19745076e-02 -9.97374406e-01 7.99780568e-03 1.16502575e+02] [ 8.51079700e-01 -5.72321932e-02 5.21907865e-01 1.61015066e+02] [-5.20079815e-01 4.43708317e-02 8.52964369e-01 2.32513942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.230714057 meters Centerline goodness : 0.987866 Centerline is valid? [True, True] Translation: X:116.50, Y:161.04, Z:23.24 [[-7.40949798e-02 -9.97202837e-01 9.82020753e-03 1.16501811e+02] [ 8.51091074e-01 -5.80999713e-02 5.21793425e-01 1.61039310e+02] [-5.19763329e-01 4.70201643e-02 8.53015349e-01 2.32362454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.26071405700003 meters Centerline goodness : 0.986809 Centerline is valid? [True, True] Translation: X:116.50, Y:161.06, Z:23.22 [[-7.59437688e-02 -9.97089287e-01 6.74514734e-03 1.16502290e+02] [ 8.50877781e-01 -6.12777595e-02 5.21777767e-01 1.61055143e+02] [-5.19845694e-01 4.53650661e-02 8.53054784e-01 2.32245276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.290714057 meters Centerline goodness : 0.986846 Centerline is valid? [True, True] Translation: X:116.50, Y:161.08, Z:23.21 [[-7.56344477e-02 -9.96892844e-01 2.20020078e-02 1.16495931e+02] [ 8.51589342e-01 -5.31001436e-02 5.21513151e-01 1.61078954e+02] [-5.18724419e-01 5.81810345e-02 8.52959521e-01 2.32143212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.320714057 meters Centerline goodness : 0.987842 Centerline is valid? [True, True] Translation: X:116.50, Y:161.10, Z:23.19 [[-7.72100615e-02 -9.97006533e-01 -4.07184301e-03 1.16502546e+02] [ 8.51398346e-01 -6.80579545e-02 5.20085543e-01 1.61101485e+02] [-5.18805805e-01 3.66890763e-02 8.54104472e-01 2.31942892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.350714057 meters Centerline goodness : 0.988016 Centerline is valid? [True, True] Translation: X:116.49, Y:161.11, Z:23.19 [[-7.53493378e-02 -9.97112842e-01 9.40520254e-03 1.16494590e+02] [ 8.50949199e-01 -5.93815103e-02 5.21880540e-01 1.61109697e+02] [-5.19815293e-01 4.73267026e-02 8.52966731e-01 2.31947311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.380714057 meters Centerline goodness : 0.988048 Centerline is valid? [True, True] Translation: X:116.50, Y:161.11, Z:23.19 [[-7.42001239e-02 -9.97243251e-01 -4.90186673e-04 1.16496254e+02] [ 8.51764228e-01 -6.36313470e-02 5.20046875e-01 1.61108155e+02] [-5.18644427e-01 3.81700191e-02 8.54137581e-01 2.31930825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.410714057 meters Centerline goodness : 0.987739 Centerline is valid? [True, True] Translation: X:116.49, Y:161.11, Z:23.19 [[-7.21669402e-02 -9.97380036e-01 4.99970502e-03 1.16492837e+02] [ 8.52154455e-01 -5.90525101e-02 5.19947677e-01 1.61110844e+02] [-5.18290187e-01 4.17835538e-02 8.54183480e-01 2.31933909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.440714057 meters Centerline goodness : 0.987613 Centerline is valid? [True, True] Translation: X:116.49, Y:161.14, Z:23.18 [[-7.09272577e-02 -9.97480262e-01 1.56529341e-03 1.16490703e+02] [ 8.51920608e-01 -5.97606299e-02 5.20249887e-01 1.61135667e+02] [-5.18845451e-01 3.82334035e-02 8.54012649e-01 2.31775700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.470714057 meters Centerline goodness : 0.988257 Centerline is valid? [True, True] Translation: X:116.49, Y:161.13, Z:23.18 [[-6.80985108e-02 -9.97655796e-01 6.74576292e-03 1.16487486e+02] [ 8.51800797e-01 -5.46197915e-02 5.21010634e-01 1.61132416e+02] [-5.19420827e-01 4.12260945e-02 8.53523528e-01 2.31819009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.500714057 meters Centerline goodness : 0.987718 Centerline is valid? [True, True] Translation: X:116.48, Y:161.16, Z:23.17 [[-6.43423650e-02 -9.97782299e-01 1.70453412e-02 1.16481117e+02] [ 8.51318221e-01 -4.59693348e-02 5.22631903e-01 1.61157774e+02] [-5.20689299e-01 4.81383822e-02 8.52388028e-01 2.31705150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.530714057 meters Centerline goodness : 0.988396 Centerline is valid? [True, True] Translation: X:116.48, Y:161.18, Z:23.15 [[-6.42273752e-02 -9.97914887e-01 6.38141615e-03 1.16483881e+02] [ 8.50132588e-01 -5.13646569e-02 5.24057492e-01 1.61181550e+02] [-5.22636994e-01 3.90838870e-02 8.51658983e-01 2.31522250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.560714057 meters Centerline goodness : 0.988377 Centerline is valid? [True, True] Translation: X:116.48, Y:161.18, Z:23.16 [[-6.04554300e-02 -9.98110994e-01 1.09354497e-02 1.16482106e+02] [ 8.48555436e-01 -4.56214939e-02 5.27135990e-01 1.61175044e+02] [-5.25641335e-01 4.11475682e-02 8.49710577e-01 2.31561540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.590714057 meters Centerline goodness : 0.987739 Centerline is valid? [True, True] Translation: X:116.48, Y:161.20, Z:23.14 [[-5.79226500e-02 -9.98255023e-01 1.14837139e-02 1.16478522e+02] [ 8.48707768e-01 -4.31817315e-02 5.27096255e-01 1.61198426e+02] [-5.25680598e-01 4.02771291e-02 8.49727993e-01 2.31436321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.620714057 meters Centerline goodness : 0.988865 Centerline is valid? [True, True] Translation: X:116.47, Y:161.22, Z:23.13 [[-5.36565777e-02 -9.98375838e-01 1.91483310e-02 1.16473393e+02] [ 8.48536305e-01 -3.54778826e-02 5.27946455e-01 1.61222605e+02] [-5.26409642e-01 4.45758540e-02 8.49061766e-01 2.31302486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.650714057 meters Centerline goodness : 0.988188 Centerline is valid? [True, True] Translation: X:116.48, Y:161.25, Z:23.11 [[-5.28586338e-02 -9.98563395e-01 8.78133773e-03 1.16475283e+02] [ 8.48676292e-01 -4.02866779e-02 5.27376085e-01 1.61245759e+02] [-5.26264683e-01 3.53288925e-02 8.49586578e-01 2.31136100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.680714057 meters Centerline goodness : 0.989254 Centerline is valid? [True, True] Translation: X:116.47, Y:161.25, Z:23.11 [[-4.81367496e-02 -9.98428646e-01 2.86895694e-02 1.16466652e+02] [ 8.47981404e-01 -2.56710356e-02 5.29403945e-01 1.61251559e+02] [-5.27835573e-01 4.98120064e-02 8.47884646e-01 2.31128365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.710714057 meters Centerline goodness : 0.987812 Centerline is valid? [True, True] Translation: X:116.47, Y:161.27, Z:23.10 [[-4.39797071e-02 -9.99007950e-01 6.99300868e-03 1.16470746e+02] [ 8.44087360e-01 -3.34134590e-02 5.35163591e-01 1.61266198e+02] [-5.34399021e-01 2.94390482e-02 8.44719497e-01 2.31005887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.740714057 meters Centerline goodness : 0.987810 Centerline is valid? [True, True] Translation: X:116.46, Y:161.29, Z:23.09 [[-4.50341613e-02 -9.98752908e-01 2.15534753e-02 1.16464721e+02] [ 8.43716436e-01 -2.64734845e-02 5.36135926e-01 1.61294139e+02] [-5.34896719e-01 4.23294531e-02 8.43856455e-01 2.30875637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.770714057 meters Centerline goodness : 0.987329 Centerline is valid? [True, True] Translation: X:116.46, Y:161.32, Z:23.07 [[-4.73371163e-02 -9.98668766e-01 2.04912812e-02 1.16463446e+02] [ 8.43343681e-01 -2.89645299e-02 5.36593414e-01 1.61317163e+02] [-5.35285562e-01 4.26819773e-02 8.43592091e-01 2.30725156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.800714057 meters Centerline goodness : 0.988407 Centerline is valid? [True, True] Translation: X:116.46, Y:161.34, Z:23.06 [[-5.03182028e-02 -9.98610733e-01 1.56423354e-02 1.16463984e+02] [ 8.43653642e-01 -3.41173274e-02 5.35802707e-01 1.61340744e+02] [-5.34524660e-01 4.01573425e-02 8.44198304e-01 2.30569269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.830714057 meters Centerline goodness : 0.988535 Centerline is valid? [True, True] Translation: X:116.46, Y:161.37, Z:23.04 [[-5.29823342e-02 -9.98288800e-01 2.47455829e-02 1.16460503e+02] [ 8.43587577e-01 -3.14838019e-02 5.36067878e-01 1.61365220e+02] [-5.34371474e-01 4.92771937e-02 8.43812116e-01 2.30425673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.860714057 meters Centerline goodness : 0.988901 Centerline is valid? [True, True] Translation: X:116.46, Y:161.39, Z:23.02 [[-5.63825705e-02 -9.98343336e-01 1.14712749e-02 1.16464006e+02] [ 8.44330358e-01 -4.15462762e-02 5.34209840e-01 1.61387762e+02] [-5.32848245e-01 3.98056697e-02 8.45274072e-01 2.30249050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.890714057 meters Centerline goodness : 0.988736 Centerline is valid? [True, True] Translation: X:116.46, Y:161.41, Z:23.01 [[-5.78138412e-02 -9.98044962e-01 2.37447757e-02 1.16457634e+02] [ 8.44874169e-01 -3.62428361e-02 5.33735978e-01 1.61411885e+02] [-5.31831926e-01 5.09186748e-02 8.45317746e-01 2.30146799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.920714057 meters Centerline goodness : 0.989832 Centerline is valid? [True, True] Translation: X:116.45, Y:161.44, Z:23.00 [[-6.27727394e-02 -9.97535226e-01 3.13537418e-02 1.16453810e+02] [ 8.49210440e-01 -3.68821188e-02 5.26764974e-01 1.61442275e+02] [-5.24310224e-01 5.96924052e-02 8.49432520e-01 2.29973461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.950714057 meters Centerline goodness : 0.989813 Centerline is valid? [True, True] Translation: X:116.46, Y:161.46, Z:22.98 [[-6.45009782e-02 -9.97629667e-01 2.39723209e-02 1.16455502e+02] [ 8.49374723e-01 -4.22739962e-02 5.26094563e-01 1.61464581e+02] [-5.23834138e-01 5.42950974e-02 8.50088136e-01 2.29810580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.980714057 meters Centerline goodness : 0.988733 Centerline is valid? [True, True] Translation: X:116.47, Y:161.46, Z:22.97 [[-6.72879249e-02 -9.97727928e-01 -3.36408260e-03 1.16465095e+02] [ 8.46678858e-01 -5.88841005e-02 5.28836056e-01 1.61463947e+02] [-5.27832593e-01 3.27359832e-02 8.48717332e-01 2.29711570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.01071405700003 meters Centerline goodness : 0.988571 Centerline is valid? [True, True] Translation: X:116.46, Y:161.47, Z:22.97 [[-6.91915409e-02 -9.97603274e-01 4.87312830e-04 1.16462951e+02] [ 8.48941173e-01 -5.86241046e-02 5.25225760e-01 1.61474840e+02] [-5.23938369e-01 3.67548796e-02 8.50962786e-01 2.29674253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.040714057 meters Centerline goodness : 0.989921 Centerline is valid? [True, True] Translation: X:116.46, Y:161.49, Z:22.97 [[-7.01490337e-02 -9.97398761e-01 1.65778292e-02 1.16455913e+02] [ 8.50563884e-01 -5.11226980e-02 5.23380884e-01 1.61487602e+02] [-5.21171942e-01 5.08151660e-02 8.51937572e-01 2.29655680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.070714057 meters Centerline goodness : 0.989999 Centerline is valid? [True, True] Translation: X:116.45, Y:161.51, Z:22.95 [[-7.21130630e-02 -9.97142301e-01 2.25153004e-02 1.16452869e+02] [ 8.50815056e-01 -4.97190327e-02 5.23107789e-01 1.61512743e+02] [-5.20493465e-01 5.68792615e-02 8.51969074e-01 2.29520737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.100714057 meters Centerline goodness : 0.989836 Centerline is valid? [True, True] Translation: X:116.46, Y:161.53, Z:22.94 [[-7.57487136e-02 -9.97094258e-01 8.07303950e-03 1.16456531e+02] [ 8.51636443e-01 -6.04830344e-02 5.20631512e-01 1.61526184e+02] [-5.18630409e-01 4.63124619e-02 8.53743319e-01 2.29389064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.130714057 meters Centerline goodness : 0.990101 Centerline is valid? [True, True] Translation: X:116.46, Y:161.52, Z:22.94 [[-7.61023680e-02 -9.97067864e-01 8.00653079e-03 1.16456552e+02] [ 8.51560443e-01 -6.08149460e-02 5.20717154e-01 1.61523104e+02] [-5.18703423e-01 4.64458533e-02 8.53691713e-01 2.29402416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.160714057 meters Centerline goodness : 0.989626 Centerline is valid? [True, True] Translation: X:116.45, Y:161.54, Z:22.93 [[-7.58458132e-02 -9.97028280e-01 1.34915534e-02 1.16453732e+02] [ 8.50318585e-01 -5.76067849e-02 5.23105881e-01 1.61540156e+02] [-5.20774151e-01 5.11475095e-02 8.52160910e-01 2.29300772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.190714057 meters Centerline goodness : 0.988973 Centerline is valid? [True, True] Translation: X:116.46, Y:161.53, Z:22.93 [[-7.49178126e-02 -9.97175317e-01 -5.35810370e-03 1.16460131e+02] [ 8.48546893e-01 -6.65718736e-02 5.24915571e-01 1.61530874e+02] [-5.23789549e-01 3.47789241e-02 8.51137436e-01 2.29284013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.220714057 meters Centerline goodness : 0.989778 Centerline is valid? [True, True] Translation: X:116.45, Y:161.54, Z:22.93 [[-7.09737792e-02 -9.97139440e-01 2.59934463e-02 1.16445259e+02] [ 8.50196438e-01 -4.68452852e-02 5.24377284e-01 1.61543122e+02] [-5.21659601e-01 5.93165730e-02 8.51089187e-01 2.29343455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.250714057 meters Centerline goodness : 0.989442 Centerline is valid? [True, True] Translation: X:116.44, Y:161.57, Z:22.92 [[-6.98389562e-02 -9.97261589e-01 2.43278227e-02 1.16444411e+02] [ 8.49980997e-01 -4.67240207e-02 5.24737239e-01 1.61565566e+02] [-5.22163599e-01 5.73252881e-02 8.50916557e-01 2.29189601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.280714057 meters Centerline goodness : 0.988404 Centerline is valid? [True, True] Translation: X:116.45, Y:161.58, Z:22.90 [[-6.49752993e-02 -9.97884872e-01 1.99838472e-03 1.16449580e+02] [ 8.45179993e-01 -5.39673293e-02 5.31750229e-01 1.61580524e+02] [-5.30517662e-01 3.62396251e-02 8.46898873e-01 2.29012700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.310714057 meters Centerline goodness : 0.988387 Centerline is valid? [True, True] Translation: X:116.44, Y:161.61, Z:22.89 [[-6.48548902e-02 -9.97801544e-01 1.36353296e-02 1.16444691e+02] [ 8.45296530e-01 -4.76701467e-02 5.32166642e-01 1.61608409e+02] [-5.30346698e-01 4.60395059e-02 8.46529824e-01 2.28882342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.340714057 meters Centerline goodness : 0.989578 Centerline is valid? [True, True] Translation: X:116.44, Y:161.61, Z:22.89 [[-6.34316374e-02 -9.97862761e-01 1.56951761e-02 1.16442099e+02] [ 8.48041737e-01 -4.56036609e-02 5.27963558e-01 1.61613507e+02] [-5.26119416e-01 4.67997573e-02 8.49121984e-01 2.28864401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.370714057 meters Centerline goodness : 0.987882 Centerline is valid? [True, True] Translation: X:116.44, Y:161.63, Z:22.87 [[-6.05140677e-02 -9.98139622e-01 7.43926838e-03 1.16443572e+02] [ 8.43707817e-01 -4.71659641e-02 5.34726557e-01 1.61634109e+02] [-5.33380883e-01 3.86350480e-02 8.44992406e-01 2.28710163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.400714057 meters Centerline goodness : 0.990119 Centerline is valid? [True, True] Translation: X:116.43, Y:161.67, Z:22.86 [[-6.06033837e-02 -9.97624448e-01 3.27519577e-02 1.16432035e+02] [ 8.48537473e-01 -3.42115578e-02 5.28028149e-01 1.61666683e+02] [-5.25653295e-01 5.97915559e-02 8.48595065e-01 2.28603298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.430714057 meters Centerline goodness : 0.989722 Centerline is valid? [True, True] Translation: X:116.44, Y:161.68, Z:22.84 [[-5.90909788e-02 -9.98250764e-01 -1.91540196e-03 1.16442232e+02] [ 8.43931518e-01 -5.09807856e-02 5.34022989e-01 1.61682009e+02] [-5.33186505e-01 2.99394730e-02 8.45467787e-01 2.28378322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.460714057 meters Centerline goodness : 0.990680 Centerline is valid? [True, True] Translation: X:116.43, Y:161.70, Z:22.84 [[-5.92115101e-02 -9.98090439e-01 1.75918307e-02 1.16434138e+02] [ 8.47060953e-01 -4.09116389e-02 5.29918843e-01 1.61695700e+02] [-5.28187220e-01 4.62786478e-02 8.47865878e-01 2.28383711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.490714057 meters Centerline goodness : 0.990680 Centerline is valid? [True, True] Translation: X:116.43, Y:161.72, Z:22.82 [[-5.99124505e-02 -9.98005490e-01 1.98882169e-02 1.16433094e+02] [ 8.47314446e-01 -4.03130989e-02 5.29559330e-01 1.61720273e+02] [-5.27701363e-01 4.85787706e-02 8.48039725e-01 2.28241774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.520714057 meters Centerline goodness : 0.989634 Centerline is valid? [True, True] Translation: X:116.44, Y:161.74, Z:22.81 [[-6.00397892e-02 -9.98172881e-01 6.79144962e-03 1.16436740e+02] [ 8.42616546e-01 -4.70331398e-02 5.36456186e-01 1.61738872e+02] [-5.35156594e-01 3.79313042e-02 8.43900845e-01 2.28064897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.550714057 meters Centerline goodness : 0.989474 Centerline is valid? [True, True] Translation: X:116.44, Y:161.76, Z:22.79 [[-6.27023860e-02 -9.98011986e-01 6.36291450e-03 1.16435317e+02] [ 8.44053764e-01 -4.96253150e-02 5.33957462e-01 1.61761357e+02] [-5.32580186e-01 3.88510488e-02 8.45487399e-01 2.27948272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.580714057 meters Centerline goodness : 0.991016 Centerline is valid? [True, True] Translation: X:116.43, Y:161.79, Z:22.78 [[-6.75375550e-02 -9.97689892e-01 7.31827782e-03 1.16433867e+02] [ 8.44743526e-01 -5.32779137e-02 5.32512760e-01 1.61786022e+02] [-5.30892696e-01 4.21466776e-02 8.46390338e-01 2.27802470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.610714057 meters Centerline goodness : 0.989751 Centerline is valid? [True, True] Translation: X:116.43, Y:161.81, Z:22.77 [[-6.98538963e-02 -9.97492046e-01 1.14040018e-02 1.16432473e+02] [ 8.44956032e-01 -5.30874644e-02 5.32194537e-01 1.61811248e+02] [-5.30254408e-01 4.68117421e-02 8.46545287e-01 2.27652692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.640714057 meters Centerline goodness : 0.990899 Centerline is valid? [True, True] Translation: X:116.43, Y:161.83, Z:22.75 [[-7.33344194e-02 -9.97142265e-01 1.81484551e-02 1.16429817e+02] [ 8.44802566e-01 -5.24388664e-02 5.32502386e-01 1.61834944e+02] [-5.30028950e-01 5.43826147e-02 8.46233917e-01 2.27505371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.670714057 meters Centerline goodness : 0.989921 Centerline is valid? [True, True] Translation: X:116.43, Y:161.86, Z:22.73 [[-7.52304690e-02 -9.97043105e-01 1.56659709e-02 1.16430122e+02] [ 8.44681973e-01 -5.53690245e-02 5.32397065e-01 1.61858196e+02] [-5.29955414e-01 5.32852441e-02 8.46349775e-01 2.27336286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.700714057 meters Centerline goodness : 0.989817 Centerline is valid? [True, True] Translation: X:116.43, Y:161.86, Z:22.73 [[-7.46573845e-02 -9.97150125e-01 1.08582822e-02 1.16430705e+02] [ 8.42769144e-01 -5.72705863e-02 5.35219814e-01 1.61861822e+02] [-5.33072644e-01 4.91091366e-02 8.44643030e-01 2.27284496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.730714057 meters Centerline goodness : 0.989328 Centerline is valid? [True, True] Translation: X:116.43, Y:161.88, Z:22.72 [[-7.52322190e-02 -9.97081233e-01 1.30049083e-02 1.16428266e+02] [ 8.42698743e-01 -5.66004470e-02 5.35401921e-01 1.61884869e+02] [-5.33103124e-01 5.12386945e-02 8.44497279e-01 2.27168660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.76071405700003 meters Centerline goodness : 0.989657 Centerline is valid? [True, True] Translation: X:116.43, Y:161.91, Z:22.70 [[-7.58710574e-02 -9.96923279e-01 1.96864996e-02 1.16425725e+02] [ 8.42080950e-01 -5.34885481e-02 5.36692323e-01 1.61910875e+02] [-5.33988068e-01 5.72970403e-02 8.43548334e-01 2.27021275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.790714057 meters Centerline goodness : 0.988772 Centerline is valid? [True, True] Translation: X:116.42, Y:161.94, Z:22.69 [[-7.60970474e-02 -9.96849665e-01 2.23603442e-02 1.16424455e+02] [ 8.40823184e-01 -5.21006161e-02 5.38796713e-01 1.61936288e+02] [-5.35934335e-01 5.98019348e-02 8.42139013e-01 2.26854206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.820714057 meters Centerline goodness : 0.989601 Centerline is valid? [True, True] Translation: X:116.43, Y:161.93, Z:22.68 [[-7.55070042e-02 -9.97129910e-01 5.53486817e-03 1.16429808e+02] [ 8.40970649e-01 -6.06974739e-02 5.37665494e-01 1.61934073e+02] [-5.35786393e-01 4.52521724e-02 8.43140072e-01 2.26801564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.850714057 meters Centerline goodness : 0.988507 Centerline is valid? [True, True] Translation: X:116.43, Y:161.94, Z:22.68 [[-7.39337445e-02 -9.97256829e-01 3.55225861e-03 1.16428982e+02] [ 8.42174619e-01 -6.05278724e-02 5.35796871e-01 1.61936445e+02] [-5.34112078e-01 4.26050911e-02 8.44339442e-01 2.26790724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.880714057 meters Centerline goodness : 0.988535 Centerline is valid? [True, True] Translation: X:116.42, Y:162.40, Z:22.39 [[-9.01169347e-02 -9.95891177e-01 -8.92761801e-03 1.16420787e+02] [ 8.46262227e-01 -8.12972285e-02 5.26527306e-01 1.62401521e+02] [-5.25089689e-01 3.98939209e-02 8.50111342e-01 2.23898727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.910714057 meters Centerline goodness : 0.987092 Centerline is valid? [True, True] Translation: X:116.42, Y:162.52, Z:22.32 [[-1.02606476e-01 -9.94591431e-01 -1.61182299e-02 1.16415892e+02] [ 8.51610909e-01 -9.62063741e-02 5.15270020e-01 1.62521839e+02] [-5.14033823e-01 3.91435807e-02 8.56876309e-01 2.23190863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.940714057 meters Centerline goodness : 0.989418 Centerline is valid? [True, True] Translation: X:116.41, Y:161.96, Z:22.67 [[-5.58039444e-02 -9.97839603e-01 3.46705378e-02 1.16414368e+02] [ 8.31269867e-01 -2.71976985e-02 5.55203291e-01 1.61958952e+02] [-5.53060872e-01 5.98031069e-02 8.30991733e-01 2.26717381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.970714057 meters Centerline goodness : 0.988909 Centerline is valid? [True, True] Translation: X:116.41, Y:161.98, Z:22.66 [[-5.50973741e-02 -9.97731845e-01 3.86709858e-02 1.16413259e+02] [ 8.31174070e-01 -2.43699027e-02 5.55477968e-01 1.61984326e+02] [-5.53275650e-01 6.27476981e-02 8.30631556e-01 2.26557419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.000714057 meters Centerline goodness : 0.988439 Centerline is valid? [True, True] Translation: X:116.42, Y:162.00, Z:22.64 [[-5.59116314e-02 -9.98367088e-01 1.17067000e-02 1.16422413e+02] [ 8.33980566e-01 -4.02524685e-02 5.50323681e-01 1.62001678e+02] [-5.48953828e-01 4.05326551e-02 8.34869330e-01 2.26355783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.030714057 meters Centerline goodness : 0.988387 Centerline is valid? [True, True] Translation: X:116.41, Y:162.03, Z:22.63 [[-5.31247802e-02 -9.97987650e-01 3.46180336e-02 1.16412344e+02] [ 8.34138691e-01 -2.52906706e-02 5.50974614e-01 1.62028556e+02] [-5.48990347e-01 5.81466465e-02 8.33803674e-01 2.26283038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.060714057 meters Centerline goodness : 0.987845 Centerline is valid? [True, True] Translation: X:116.41, Y:162.05, Z:22.61 [[-5.29002123e-02 -9.98069244e-01 3.25476861e-02 1.16413228e+02] [ 8.34929405e-01 -2.63264298e-02 5.49727031e-01 1.62054625e+02] [-5.47808777e-01 5.62556968e-02 8.34710034e-01 2.26098404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.090714057 meters Centerline goodness : 0.988509 Centerline is valid? [True, True] Translation: X:116.42, Y:162.07, Z:22.59 [[-5.20282882e-02 -9.98567145e-01 1.25185430e-02 1.16418000e+02] [ 8.37009454e-01 -3.67663283e-02 5.45951840e-01 1.62074823e+02] [-5.44709309e-01 3.88830785e-02 8.37723030e-01 2.25934501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.120714057 meters Centerline goodness : 0.988389 Centerline is valid? [True, True] Translation: X:116.41, Y:162.10, Z:22.58 [[-4.66562702e-02 -9.98582445e-01 2.56182164e-02 1.16411024e+02] [ 8.36505603e-01 -2.50406771e-02 5.47385916e-01 1.62100753e+02] [-5.45968469e-01 4.69687668e-02 8.36488115e-01 2.25834501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.150714057 meters Centerline goodness : 0.989282 Centerline is valid? [True, True] Translation: X:116.41, Y:162.12, Z:22.57 [[-4.52276009e-02 -9.98829146e-01 1.71697989e-02 1.16412466e+02] [ 8.37085314e-01 -2.85123878e-02 5.46328858e-01 1.62123797e+02] [-5.45199634e-01 3.90817300e-02 8.37394756e-01 2.25679592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.180714057 meters Centerline goodness : 0.989104 Centerline is valid? [True, True] Translation: X:116.41, Y:162.15, Z:22.55 [[-4.26053265e-02 -9.98854632e-01 2.17763500e-02 1.16408940e+02] [ 8.37243520e-01 -2.38016144e-02 5.46311973e-01 1.62150361e+02] [-5.45167933e-01 4.15079079e-02 8.37298643e-01 2.25540455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.210714057 meters Centerline goodness : 0.987755 Centerline is valid? [True, True] Translation: X:116.41, Y:162.17, Z:22.54 [[-3.48786092e-02 -9.99259396e-01 1.62524543e-02 1.16410330e+02] [ 8.36646708e-01 -2.03000573e-02 5.47366599e-01 1.62170616e+02] [-5.46631291e-01 3.26889481e-02 8.36735122e-01 2.25405880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.240714057 meters Centerline goodness : 0.986946 Centerline is valid? [True, True] Translation: X:116.41, Y:162.19, Z:22.53 [[-3.27525632e-02 -9.99413905e-01 9.95570945e-03 1.16411523e+02] [ 8.37378818e-01 -2.20015878e-02 5.46180049e-01 1.62191253e+02] [-5.45640894e-01 2.62254968e-02 8.37608642e-01 2.25266023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.270714057 meters Centerline goodness : 0.988719 Centerline is valid? [True, True] Translation: X:116.41, Y:162.22, Z:22.52 [[-2.63582886e-02 -9.99616933e-01 8.43961440e-03 1.16409901e+02] [ 8.38694430e-01 -1.75194064e-02 5.44320424e-01 1.62217582e+02] [-5.43964056e-01 2.14256124e-02 8.38834935e-01 2.25150439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.300714057 meters Centerline goodness : 0.987553 Centerline is valid? [True, True] Translation: X:116.41, Y:162.24, Z:22.50 [[-2.35313091e-02 -9.99689735e-01 8.16767956e-03 1.16409607e+02] [ 8.40000510e-01 -1.53411778e-02 5.42368686e-01 1.62241545e+02] [-5.42075106e-01 1.96235002e-02 8.40100885e-01 2.25036717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.330714057 meters Centerline goodness : 0.988254 Centerline is valid? [True, True] Translation: X:116.41, Y:162.27, Z:22.49 [[-1.98621866e-02 -9.99686453e-01 1.52475982e-02 1.16407950e+02] [ 8.39851245e-01 -8.40826177e-03 5.42751497e-01 1.62267600e+02] [-5.42453113e-01 2.35859458e-02 8.39754919e-01 2.24887145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.360714057 meters Centerline goodness : 0.989314 Centerline is valid? [True, True] Translation: X:116.40, Y:162.30, Z:22.47 [[-1.25762269e-02 -9.99254797e-01 3.64923270e-02 1.16403554e+02] [ 8.37257144e-01 9.42886973e-03 5.46728060e-01 1.62297493e+02] [-5.46664718e-01 3.74292376e-02 8.36514637e-01 2.24720464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.390714057 meters Centerline goodness : 0.988400 Centerline is valid? [True, True] Translation: X:116.42, Y:162.31, Z:22.45 [[-1.18810451e-02 -9.99928159e-01 1.58685551e-03 1.16415603e+02] [ 8.39635353e-01 -9.11462026e-03 5.43074027e-01 1.62314353e+02] [-5.43020548e-01 7.78466697e-03 8.39683323e-01 2.24521736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.420714057 meters Centerline goodness : 0.988820 Centerline is valid? [True, True] Translation: X:116.41, Y:162.35, Z:22.44 [[-6.53755102e-03 -9.99118253e-01 4.14726146e-02 1.16407090e+02] [ 8.37746623e-01 1.71736295e-02 5.45789028e-01 1.62349097e+02] [-5.46020015e-01 3.83116664e-02 8.36895668e-01 2.24389664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.450714057 meters Centerline goodness : 0.988000 Centerline is valid? [True, True] Translation: X:116.42, Y:162.37, Z:22.42 [[-7.80649765e-03 -9.99575757e-01 2.80600347e-02 1.16416465e+02] [ 8.38924298e-01 8.72429969e-03 5.44178196e-01 1.62370279e+02] [-5.44192136e-01 2.77883707e-02 8.38500284e-01 2.24184989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.480714057 meters Centerline goodness : 0.989458 Centerline is valid? [True, True] Translation: X:116.42, Y:162.36, Z:22.42 [[-6.21303352e-03 -9.99864453e-01 1.52470914e-02 1.16424226e+02] [ 8.38151109e-01 3.10916995e-03 5.45429236e-01 1.62363155e+02] [-5.45402711e-01 1.61681367e-02 8.38018183e-01 2.24150134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.51071405700003 meters Centerline goodness : 0.989614 Centerline is valid? [True, True] Translation: X:116.42, Y:162.40, Z:22.40 [[-1.01857088e-02 -9.98996534e-01 4.36139414e-02 1.16417565e+02] [ 8.38649559e-01 1.52190223e-02 5.44458720e-01 1.62399609e+02] [-5.44576136e-01 4.21225107e-02 8.37652987e-01 2.24023378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.540714057 meters Centerline goodness : 0.989571 Centerline is valid? [True, True] Translation: X:116.44, Y:162.39, Z:22.39 [[-1.41950384e-02 -9.99849329e-01 9.99101870e-03 1.16435711e+02] [ 8.39250527e-01 -6.48199033e-03 5.43706296e-01 1.62394923e+02] [-5.43559613e-01 1.61028994e-02 8.39216089e-01 2.23908550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.570714057 meters Centerline goodness : 0.990719 Centerline is valid? [True, True] Translation: X:116.43, Y:162.41, Z:22.39 [[-1.93525077e-02 -9.99644350e-01 1.83481131e-02 1.16433567e+02] [ 8.45039664e-01 -6.54589729e-03 5.34663555e-01 1.62411935e+02] [-5.34353297e-01 2.58519640e-02 8.44865806e-01 2.23898647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.600714057 meters Centerline goodness : 0.989251 Centerline is valid? [True, True] Translation: X:116.45, Y:162.41, Z:22.39 [[-2.50677140e-02 -9.99685057e-01 1.18187793e-03 1.16447222e+02] [ 8.42856793e-01 -2.04993974e-02 5.37747340e-01 1.62409780e+02] [-5.37553752e-01 1.44762503e-02 8.43105214e-01 2.23860932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.630714057 meters Centerline goodness : 0.989483 Centerline is valid? [True, True] Translation: X:116.45, Y:162.42, Z:22.38 [[-2.81432743e-02 -9.99576813e-01 7.35880773e-03 1.16447873e+02] [ 8.44017859e-01 -1.98178687e-02 5.35948790e-01 1.62422951e+02] [-5.35576147e-01 2.12943190e-02 8.44218421e-01 2.23807516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.660714057 meters Centerline goodness : 0.988031 Centerline is valid? [True, True] Translation: X:116.45, Y:162.43, Z:22.38 [[-3.10153182e-02 -9.99511866e-01 3.75233720e-03 1.16452007e+02] [ 8.44121310e-01 -2.41827190e-02 5.35606582e-01 1.62428923e+02] [-5.35254393e-01 1.97794364e-02 8.44459300e-01 2.23785451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.690714057 meters Centerline goodness : 0.987441 Centerline is valid? [True, True] Translation: X:116.46, Y:162.44, Z:22.37 [[-3.50633226e-02 -9.99343617e-01 9.10490025e-03 1.16456972e+02] [ 8.42203524e-01 -2.46427635e-02 5.38596286e-01 1.62444026e+02] [-5.38018390e-01 2.65531544e-02 8.42514772e-01 2.23691480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.720714057 meters Centerline goodness : 0.991390 Centerline is valid? [True, True] Translation: X:116.46, Y:162.48, Z:22.35 [[-5.89684596e-02 -9.97869812e-01 -2.79026617e-02 1.16462896e+02] [ 8.60578617e-01 -6.49805962e-02 5.05155389e-01 1.62478579e+02] [-5.05892445e-01 5.77580118e-03 8.62577228e-01 2.23545739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.750714057 meters Centerline goodness : 0.990030 Centerline is valid? [True, True] Translation: X:116.45, Y:162.47, Z:22.37 [[-3.92090984e-02 -9.98582911e-01 3.59835472e-02 1.16451997e+02] [ 8.47439241e-01 -1.41507774e-02 5.30703768e-01 1.62469348e+02] [-5.29442518e-01 5.13022862e-02 8.46793183e-01 2.23678398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.780714057 meters Centerline goodness : 0.988868 Centerline is valid? [True, True] Translation: X:116.47, Y:162.48, Z:22.35 [[-3.83334497e-02 -9.99251122e-01 -5.26707971e-03 1.16467352e+02] [ 8.43478688e-01 -3.51829988e-02 5.36009197e-01 1.62482790e+02] [-5.35793103e-01 1.61044121e-02 8.44195711e-01 2.23488095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.810714057 meters Centerline goodness : 0.989721 Centerline is valid? [True, True] Translation: X:116.47, Y:162.51, Z:22.34 [[-4.15481425e-02 -9.99123488e-01 -5.09973859e-03 1.16468636e+02] [ 8.46119432e-01 -3.78991563e-02 5.31644206e-01 1.62507653e+02] [-5.31371489e-01 1.77738413e-02 8.46952437e-01 2.23412126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.840714057 meters Centerline goodness : 0.989952 Centerline is valid? [True, True] Translation: X:116.46, Y:162.52, Z:22.34 [[-3.91319386e-02 -9.99042400e-01 1.95697530e-02 1.16460670e+02] [ 8.47954316e-01 -2.28402769e-02 5.29577001e-01 1.62517178e+02] [-5.28622899e-01 3.73176312e-02 8.48036099e-01 2.23427711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.870714057 meters Centerline goodness : 0.989948 Centerline is valid? [True, True] Translation: X:116.46, Y:162.54, Z:22.33 [[-4.00945381e-02 -9.98813668e-01 2.76348504e-02 1.16460848e+02] [ 8.47770102e-01 -1.93671751e-02 5.30010158e-01 1.62542305e+02] [-5.28846180e-01 4.46785124e-02 8.47540883e-01 2.23281231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.900714057 meters Centerline goodness : 0.989629 Centerline is valid? [True, True] Translation: X:116.46, Y:162.57, Z:22.31 [[-3.88695215e-02 -9.98710499e-01 3.26572972e-02 1.16461127e+02] [ 8.46639677e-01 -1.55568454e-02 5.31939133e-01 1.62565923e+02] [-5.30745153e-01 4.83251831e-02 8.46152622e-01 2.23101918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.930714057 meters Centerline goodness : 0.988724 Centerline is valid? [True, True] Translation: X:116.48, Y:162.58, Z:22.29 [[-3.70413740e-02 -9.99255348e-01 -1.08021135e-02 1.16476958e+02] [ 8.44253698e-01 -3.70753811e-02 5.34659808e-01 1.62576535e+02] [-5.34662165e-01 1.06848096e-02 8.44998346e-01 2.22932009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.960714057 meters Centerline goodness : 0.989691 Centerline is valid? [True, True] Translation: X:116.47, Y:162.61, Z:22.28 [[-3.90602752e-02 -9.99133726e-01 1.43559140e-02 1.16468276e+02] [ 8.45847993e-01 -2.54119746e-02 5.32818360e-01 1.62608112e+02] [-5.31991982e-01 3.29549528e-02 8.46107855e-01 2.22836770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.990714057 meters Centerline goodness : 0.990228 Centerline is valid? [True, True] Translation: X:116.47, Y:162.63, Z:22.27 [[-4.07520251e-02 -9.99109326e-01 1.09465348e-02 1.16470405e+02] [ 8.46154432e-01 -2.86826868e-02 5.32165370e-01 1.62632129e+02] [-5.31377408e-01 3.09492755e-02 8.46569662e-01 2.22687992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.020714057 meters Centerline goodness : 0.989806 Centerline is valid? [True, True] Translation: X:116.47, Y:162.65, Z:22.25 [[-3.99653125e-02 -9.99198243e-01 2.37593844e-03 1.16474182e+02] [ 8.45213316e-01 -3.25378868e-02 5.33437659e-01 1.62650137e+02] [-5.32932663e-01 2.33271776e-02 8.45836047e-01 2.22548113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.050714057 meters Centerline goodness : 0.989837 Centerline is valid? [True, True] Translation: X:116.47, Y:162.68, Z:22.24 [[-4.11918609e-02 -9.99122268e-01 7.61084839e-03 1.16473960e+02] [ 8.44507920e-01 -3.07446233e-02 5.34659837e-01 1.62675460e+02] [-5.33956556e-01 2.84510554e-02 8.45033096e-01 2.22393718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.080714057 meters Centerline goodness : 0.990198 Centerline is valid? [True, True] Translation: X:116.48, Y:162.70, Z:22.23 [[-4.36473909e-02 -9.99039662e-01 3.82884623e-03 1.16476563e+02] [ 8.42797319e-01 -3.47627869e-02 5.37107279e-01 1.62699716e+02] [-5.36458372e-01 2.66702727e-02 8.43505253e-01 2.22252709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.110714057 meters Centerline goodness : 0.989725 Centerline is valid? [True, True] Translation: X:116.48, Y:162.72, Z:22.21 [[-4.52109909e-02 -9.98977266e-01 6.23641067e-04 1.16477744e+02] [ 8.43890265e-01 -3.78580745e-02 5.35178463e-01 1.62722608e+02] [-5.34607508e-01 2.47222333e-02 8.44738790e-01 2.22129966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.140714057 meters Centerline goodness : 0.990038 Centerline is valid? [True, True] Translation: X:116.48, Y:162.75, Z:22.20 [[-4.87036108e-02 -9.98788002e-01 -7.10526072e-03 1.16482643e+02] [ 8.44315442e-01 -4.49696114e-02 5.33956148e-01 1.62746337e+02] [-5.33628515e-01 2.00065110e-02 8.45482317e-01 2.21950983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.170714057 meters Centerline goodness : 0.990038 Centerline is valid? [True, True] Translation: X:116.48, Y:162.77, Z:22.18 [[-4.90666643e-02 -9.98782702e-01 5.05739768e-03 1.16478136e+02] [ 8.44529383e-01 -3.87842810e-02 5.34102894e-01 1.62772334e+02] [-5.33256584e-01 3.04777683e-02 8.45404354e-01 2.21832395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.200714057 meters Centerline goodness : 0.989301 Centerline is valid? [True, True] Translation: X:116.48, Y:162.80, Z:22.17 [[-4.88378075e-02 -9.98777018e-01 7.70307776e-03 1.16478668e+02] [ 8.43367134e-01 -3.71043050e-02 5.36055173e-01 1.62795840e+02] [-5.35113769e-01 3.26762819e-02 8.44147804e-01 2.21704286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.230714057 meters Centerline goodness : 0.990826 Centerline is valid? [True, True] Translation: X:116.48, Y:162.82, Z:22.15 [[-4.92051663e-02 -9.98783871e-01 -3.10328183e-03 1.16484510e+02] [ 8.44128250e-01 -4.32464402e-02 5.34394276e-01 1.62817929e+02] [-5.33878590e-01 2.36753914e-02 8.45229630e-01 2.21489926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.26071405700003 meters Centerline goodness : 0.990237 Centerline is valid? [True, True] Translation: X:116.48, Y:162.82, Z:22.15 [[-4.57293750e-02 -9.98953311e-01 1.05190359e-03 1.16484106e+02] [ 8.43003318e-01 -3.80254034e-02 5.36562648e-01 1.62817940e+02] [-5.35961035e-01 2.54234327e-02 8.43859833e-01 2.21508372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.290714057 meters Centerline goodness : 0.989991 Centerline is valid? [True, True] Translation: X:116.48, Y:162.84, Z:22.14 [[-4.51790309e-02 -9.98957905e-01 6.47756208e-03 1.16482564e+02] [ 8.45505865e-01 -3.47839316e-02 5.32831973e-01 1.62842338e+02] [-5.32051396e-01 2.95496489e-02 8.46196272e-01 2.21350259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.320714057 meters Centerline goodness : 0.990268 Centerline is valid? [True, True] Translation: X:116.48, Y:162.84, Z:22.14 [[-4.22845126e-02 -9.99084174e-01 6.54472258e-03 1.16483957e+02] [ 8.44278581e-01 -3.22284254e-02 5.34934582e-01 1.62839458e+02] [-5.34233749e-01 2.81450172e-02 8.44868131e-01 2.21381361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.350714057 meters Centerline goodness : 0.990395 Centerline is valid? [True, True] Translation: X:116.49, Y:162.85, Z:22.13 [[-4.08617002e-02 -9.99164345e-01 -9.66404476e-04 1.16487399e+02] [ 8.44073983e-01 -3.50366812e-02 5.35080874e-01 1.62846831e+02] [-5.34667591e-01 2.10485974e-02 8.44800287e-01 2.21300271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.380714057 meters Centerline goodness : 0.990395 Centerline is valid? [True, True] Translation: X:116.49, Y:162.85, Z:22.13 [[-4.03808940e-02 -9.99183692e-01 1.15473302e-03 1.16486564e+02] [ 8.44116908e-01 -3.34956268e-02 5.35111847e-01 1.62850849e+02] [-5.34636352e-01 2.25830244e-02 8.44780432e-01 2.21282691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.410714057 meters Centerline goodness : 0.990741 Centerline is valid? [True, True] Translation: X:116.49, Y:162.84, Z:22.13 [[-3.60224876e-02 -9.99313452e-01 8.66059801e-03 1.16486564e+02] [ 8.42055567e-01 -2.56844221e-02 5.38778927e-01 1.62839804e+02] [-5.38186587e-01 2.67008620e-02 8.42402672e-01 2.21343020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.440714057 meters Centerline goodness : 0.990672 Centerline is valid? [True, True] Translation: X:116.49, Y:162.86, Z:22.12 [[-3.71173784e-02 -9.99286058e-01 -7.04805430e-03 1.16492181e+02] [ 8.41725607e-01 -3.50649320e-02 5.38765675e-01 1.62861707e+02] [-5.38628167e-01 1.40650417e-02 8.42426182e-01 2.21172967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.470714057 meters Centerline goodness : 0.989481 Centerline is valid? [True, True] Translation: X:116.49, Y:162.89, Z:22.10 [[-3.78459319e-02 -9.99178835e-01 1.44686509e-02 1.16486254e+02] [ 8.39502399e-01 -2.39374119e-02 5.42828447e-01 1.62889143e+02] [-5.42036353e-01 3.26903156e-02 8.39718962e-01 2.21047572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.500714057 meters Centerline goodness : 0.990820 Centerline is valid? [True, True] Translation: X:116.49, Y:162.91, Z:22.08 [[-3.78602640e-02 -9.99087553e-01 1.97651497e-02 1.16486495e+02] [ 8.36216996e-01 -2.08470703e-02 5.48002313e-01 1.62914307e+02] [-5.47090245e-01 3.72754663e-02 8.36243268e-01 2.20839004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.530714057 meters Centerline goodness : 0.990176 Centerline is valid? [True, True] Translation: X:116.49, Y:162.94, Z:22.07 [[-4.36901665e-02 -9.99035313e-01 -4.42857747e-03 1.16494918e+02] [ 8.41231718e-01 -3.91794750e-02 5.39253341e-01 1.62938570e+02] [-5.38906640e-01 1.98346085e-02 8.42131950e-01 2.20664460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.560714057 meters Centerline goodness : 0.985200 Centerline is valid? [True, True] Translation: X:116.47, Y:163.77, Z:21.52 [[-6.49295834e-02 -9.97631337e-01 2.27126493e-02 1.16471304e+02] [ 8.26155825e-01 -4.09756428e-02 5.61949775e-01 1.63774440e+02] [-5.59688040e-01 5.52513523e-02 8.26859472e-01 2.15217229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.590714057 meters Centerline goodness : 0.989744 Centerline is valid? [True, True] Translation: X:116.49, Y:163.38, Z:21.77 [[-4.57581407e-02 -9.98644134e-01 -2.48211003e-02 1.16494933e+02] [ 8.39774981e-01 -5.19114211e-02 5.40447210e-01 1.63384239e+02] [-5.41002934e-01 3.88572049e-03 8.41011728e-01 2.17725436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.620714057 meters Centerline goodness : 0.990905 Centerline is valid? [True, True] Translation: X:116.49, Y:163.41, Z:21.76 [[-4.85286705e-02 -9.98820371e-01 1.68355861e-03 1.16486781e+02] [ 8.40857718e-01 -3.99440745e-02 5.39780297e-01 1.63411837e+02] [-5.39076309e-01 2.76104534e-02 8.41804251e-01 2.17632959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.650714057 meters Centerline goodness : 0.985280 Centerline is valid? [True, True] Translation: X:116.49, Y:163.42, Z:21.74 [[-5.37549269e-02 -9.98389514e-01 -1.81324746e-02 1.16491402e+02] [ 8.36611083e-01 -5.49432860e-02 5.45034982e-01 1.63421612e+02] [-5.45153468e-01 1.41284864e-02 8.38217205e-01 2.17356401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.680714057 meters Centerline goodness : 0.984767 Centerline is valid? [True, True] Translation: X:116.47, Y:163.45, Z:21.73 [[-5.48408600e-02 -9.97968201e-01 3.24337772e-02 1.16472982e+02] [ 8.37461949e-01 -2.82834360e-02 5.45763255e-01 1.63453068e+02] [-5.43737035e-01 5.70921805e-02 8.37311483e-01 2.17345544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.710714057 meters Centerline goodness : 0.991301 Centerline is valid? [True, True] Translation: X:116.51, Y:163.47, Z:21.71 [[-4.99136916e-02 -9.97942567e-01 -4.02399734e-02 1.16505601e+02] [ 8.37386701e-01 -6.37736645e-02 5.42877916e-01 1.63468397e+02] [-5.44327232e-01 -6.59937767e-03 8.38847014e-01 2.17060179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.740714057 meters Centerline goodness : 0.984703 Centerline is valid? [True, True] Translation: X:116.48, Y:163.49, Z:21.70 [[-5.46742137e-02 -9.98104671e-01 2.82452685e-02 1.16476919e+02] [ 8.35422410e-01 -3.02330327e-02 5.48776240e-01 1.63494706e+02] [-5.46882188e-01 5.36006397e-02 8.35491977e-01 2.17046732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.770714057 meters Centerline goodness : 0.992206 Centerline is valid? [True, True] Translation: X:116.51, Y:163.51, Z:21.68 [[-5.20000450e-02 -9.97823144e-01 -4.05582034e-02 1.16506896e+02] [ 8.36562498e-01 -6.57046277e-02 5.43917355e-01 1.63513883e+02] [-5.45398187e-01 -5.64574498e-03 8.38158066e-01 2.16759145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.800714057 meters Centerline goodness : 0.985298 Centerline is valid? [True, True] Translation: X:116.48, Y:163.54, Z:21.68 [[-5.57703249e-02 -9.97908900e-01 3.26726045e-02 1.16476899e+02] [ 8.36591709e-01 -2.88431994e-02 5.47067073e-01 1.63544094e+02] [-5.44980718e-01 5.78437384e-02 8.36450907e-01 2.16768212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.830714057 meters Centerline goodness : 0.985369 Centerline is valid? [True, True] Translation: X:116.49, Y:163.56, Z:21.65 [[-5.58180695e-02 -9.98412800e-01 -7.49824503e-03 1.16491692e+02] [ 8.36264109e-01 -5.08531314e-02 5.45963643e-01 1.63560837e+02] [-5.45478399e-01 2.42041234e-02 8.37775314e-01 2.16511590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.860714057 meters Centerline goodness : 0.985464 Centerline is valid? [True, True] Translation: X:116.49, Y:163.58, Z:21.64 [[-5.36385255e-02 -9.98509858e-01 -1.00484435e-02 1.16494021e+02] [ 8.36766575e-01 -5.04368153e-02 5.45231902e-01 1.63583977e+02] [-5.44926240e-01 2.08372336e-02 8.38225031e-01 2.16362295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.890714057 meters Centerline goodness : 0.992616 Centerline is valid? [True, True] Translation: X:116.51, Y:163.61, Z:21.61 [[-5.35024765e-02 -9.97767322e-01 -3.99731826e-02 1.16505635e+02] [ 8.41193127e-01 -6.66049160e-02 5.36617096e-01 1.63608523e+02] [-5.38081414e-01 -4.91482283e-03 8.42878542e-01 2.16146148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.920714057 meters Centerline goodness : 0.985305 Centerline is valid? [True, True] Translation: X:116.49, Y:163.63, Z:21.61 [[-5.32106760e-02 -9.98563621e-01 -6.27047807e-03 1.16491262e+02] [ 8.39236385e-01 -4.81217559e-02 5.41633258e-01 1.63632416e+02] [-5.41157014e-01 2.35582585e-02 8.40591515e-01 2.16067150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.950714057 meters Centerline goodness : 0.984587 Centerline is valid? [True, True] Translation: X:116.49, Y:163.66, Z:21.60 [[-4.72432557e-02 -9.98788270e-01 1.37864890e-02 1.16485633e+02] [ 8.36936315e-01 -3.20460235e-02 5.46361289e-01 1.63655028e+02] [-5.45257444e-01 3.73502994e-02 8.37436132e-01 2.15981743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.980714057 meters Centerline goodness : 0.992032 Centerline is valid? [True, True] Translation: X:116.50, Y:163.68, Z:21.57 [[-4.88059119e-02 -9.98383609e-01 -2.91230503e-02 1.16501775e+02] [ 8.41637367e-01 -5.68091459e-02 5.37046799e-01 1.63679803e+02] [-5.37833177e-01 1.70001141e-03 8.43049574e-01 2.15726157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.01071405700003 meters Centerline goodness : 0.984564 Centerline is valid? [True, True] Translation: X:116.49, Y:163.70, Z:21.57 [[-4.64510262e-02 -9.98852424e-01 1.16677956e-02 1.16486097e+02] [ 8.36725120e-01 -3.25257919e-02 5.46656334e-01 1.63700983e+02] [-5.45649500e-01 3.51554853e-02 8.37275770e-01 2.15678652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.040714057 meters Centerline goodness : 0.991857 Centerline is valid? [True, True] Translation: X:116.50, Y:163.73, Z:21.54 [[-4.80243268e-02 -9.98438833e-01 -2.85229875e-02 1.16502235e+02] [ 8.42420847e-01 -5.58298905e-02 5.35919901e-01 1.63726473e+02] [-5.36675675e-01 1.70883314e-03 8.43786880e-01 2.15432487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.070714057 meters Centerline goodness : 0.985509 Centerline is valid? [True, True] Translation: X:116.49, Y:163.75, Z:21.54 [[-4.60451920e-02 -9.98916551e-01 6.75022050e-03 1.16490561e+02] [ 8.37081084e-01 -3.48959847e-02 5.45964769e-01 1.63745080e+02] [-5.45137688e-01 3.07895345e-02 8.37780942e-01 2.15358680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.100714057 meters Centerline goodness : 0.985177 Centerline is valid? [True, True] Translation: X:116.50, Y:163.76, Z:21.51 [[-4.61082202e-02 -9.98734452e-01 -2.00879753e-02 1.16503271e+02] [ 8.36092993e-01 -4.95884194e-02 5.46341922e-01 1.63764330e+02] [-5.46646631e-01 8.39543822e-03 8.37321311e-01 2.15134678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.130714057 meters Centerline goodness : 0.991075 Centerline is valid? [True, True] Translation: X:116.52, Y:163.79, Z:21.49 [[-4.27888695e-02 -9.98199365e-01 -4.20373675e-02 1.16517455e+02] [ 8.36973456e-01 -5.87905470e-02 5.44076378e-01 1.63789106e+02] [-5.45568095e-01 -1.19037476e-02 8.37981953e-01 2.14939179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.160714057 meters Centerline goodness : 0.985915 Centerline is valid? [True, True] Translation: X:116.49, Y:163.82, Z:21.49 [[-4.74965431e-02 -9.98707344e-01 1.81030426e-02 1.16490649e+02] [ 8.36776774e-01 -2.98851951e-02 5.46728000e-01 1.63815258e+02] [-5.45480256e-01 4.11158956e-02 8.37114552e-01 2.14942451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.190714057 meters Centerline goodness : 0.985777 Centerline is valid? [True, True] Translation: X:116.51, Y:163.83, Z:21.47 [[-4.69288322e-02 -9.98631461e-01 -2.30843947e-02 1.16507486e+02] [ 8.34897982e-01 -5.19009614e-02 5.47952233e-01 1.63832082e+02] [-5.48400442e-01 6.44164387e-03 8.36191043e-01 2.14680306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.220714057 meters Centerline goodness : 0.985297 Centerline is valid? [True, True] Translation: X:116.51, Y:163.86, Z:21.45 [[-4.60370658e-02 -9.98722818e-01 -2.08163981e-02 1.16508609e+02] [ 8.34662012e-01 -4.99068558e-02 5.48496701e-01 1.63855410e+02] [-5.48835051e-01 7.87652202e-03 8.35893562e-01 2.14538978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.250714057 meters Centerline goodness : 0.985759 Centerline is valid? [True, True] Translation: X:116.50, Y:163.88, Z:21.45 [[-4.17926696e-02 -9.99123860e-01 2.21018160e-03 1.16503565e+02] [ 8.37343301e-01 -3.38184995e-02 5.45630374e-01 1.63876979e+02] [-5.45077580e-01 2.46540307e-02 8.38023037e-01 2.14514462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.280714057 meters Centerline goodness : 0.985589 Centerline is valid? [True, True] Translation: X:116.50, Y:163.90, Z:21.44 [[-2.14356352e-02 -9.99674842e-01 1.38102553e-02 1.16502110e+02] [ 8.42136665e-01 -1.06092496e-02 5.39159792e-01 1.63898717e+02] [-5.38837964e-01 2.31873550e-02 8.42090254e-01 2.14422651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.310714057 meters Centerline goodness : 0.984665 Centerline is valid? [True, True] Translation: X:116.51, Y:163.92, Z:21.43 [[-2.21892925e-02 -9.99730647e-01 6.80212998e-03 1.16505416e+02] [ 8.44070594e-01 -1.50873169e-02 5.36019780e-01 1.63919342e+02] [-5.35772776e-01 1.76353776e-02 8.44178018e-01 2.14289864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.340714057 meters Centerline goodness : 0.984965 Centerline is valid? [True, True] Translation: X:116.52, Y:163.94, Z:21.41 [[-2.19863904e-02 -9.99727479e-01 -7.84642077e-03 1.16515886e+02] [ 8.42086764e-01 -2.27487868e-02 5.38862111e-01 1.63940729e+02] [-5.38893757e-01 5.24026570e-03 8.42357441e-01 2.14082979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.370714057 meters Centerline goodness : 0.985206 Centerline is valid? [True, True] Translation: X:116.52, Y:163.96, Z:21.39 [[-2.30136990e-02 -9.99708983e-01 -7.23320791e-03 1.16518656e+02] [ 8.41860799e-01 -2.32811966e-02 5.39192342e-01 1.63964676e+02] [-5.39203825e-01 6.31945608e-03 8.42151589e-01 2.13934592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.400714057 meters Centerline goodness : 0.985077 Centerline is valid? [True, True] Translation: X:116.52, Y:163.99, Z:21.38 [[-2.74688447e-02 -9.99621290e-01 -1.65503946e-03 1.16519407e+02] [ 8.41442985e-01 -2.40159718e-02 5.39811945e-01 1.63988340e+02] [-5.39647260e-01 1.34353891e-02 8.41784013e-01 2.13783466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.430714057 meters Centerline goodness : 0.985411 Centerline is valid? [True, True] Translation: X:116.53, Y:164.01, Z:21.36 [[-2.80139058e-02 -9.99457801e-01 -1.73010267e-02 1.16528572e+02] [ 8.41565011e-01 -3.29212503e-02 5.39151670e-01 1.64009835e+02] [-5.39428914e-01 5.43805309e-04 8.42030968e-01 2.13598669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.460714057 meters Centerline goodness : 0.985417 Centerline is valid? [True, True] Translation: X:116.52, Y:164.04, Z:21.36 [[-3.03259701e-02 -9.99368085e-01 1.85409231e-02 1.16516026e+02] [ 8.44210542e-01 -1.56775103e-02 5.35782397e-01 1.64039627e+02] [-5.35153153e-01 3.19005637e-02 8.44152508e-01 2.13552559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.490714057 meters Centerline goodness : 0.985804 Centerline is valid? [True, True] Translation: X:116.54, Y:164.05, Z:21.33 [[-3.20270007e-02 -9.99174784e-01 -2.49804199e-02 1.16536301e+02] [ 8.42077617e-01 -4.04380175e-02 5.37838315e-01 1.64054193e+02] [-5.38404641e-01 -3.81010442e-03 8.42677830e-01 2.13289905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.520714057 meters Centerline goodness : 0.984969 Centerline is valid? [True, True] Translation: X:116.53, Y:164.08, Z:21.32 [[-3.25842507e-02 -9.99459541e-01 -4.34644674e-03 1.16530503e+02] [ 8.43417429e-01 -2.98298114e-02 5.36430072e-01 1.64080874e+02] [-5.36269808e-01 1.38133030e-02 8.43933579e-01 2.13192991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.550714057 meters Centerline goodness : 0.984893 Centerline is valid? [True, True] Translation: X:116.54, Y:164.10, Z:21.30 [[-3.24226064e-02 -9.99287277e-01 -1.93316338e-02 1.16540174e+02] [ 8.42647676e-01 -3.77315530e-02 5.37141717e-01 1.64101789e+02] [-5.37488296e-01 1.12577816e-03 8.43270457e-01 2.12988351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.580714057 meters Centerline goodness : 0.985025 Centerline is valid? [True, True] Translation: X:116.52, Y:164.13, Z:21.30 [[-3.42428255e-02 -9.99065849e-01 2.63601497e-02 1.16522349e+02] [ 8.43362884e-01 -1.47337374e-02 5.37142405e-01 1.64131681e+02] [-5.36252250e-01 4.06244455e-02 8.43079581e-01 2.12965540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.610714057 meters Centerline goodness : 0.985025 Centerline is valid? [True, True] Translation: X:116.54, Y:164.15, Z:21.28 [[-3.33481827e-02 -9.99402791e-01 -9.05314831e-03 1.16537881e+02] [ 8.42635373e-01 -3.29858834e-02 5.37473311e-01 1.64149675e+02] [-5.37450954e-01 1.02952552e-02 8.43232163e-01 2.12751494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.640714057 meters Centerline goodness : 0.984999 Centerline is valid? [True, True] Translation: X:116.54, Y:164.17, Z:21.26 [[-3.38933218e-02 -9.99425383e-01 3.83436881e-04 1.16535666e+02] [ 8.41410137e-01 -2.83275388e-02 5.39654085e-01 1.64174951e+02] [-5.39333128e-01 1.86132972e-02 8.41886763e-01 2.12615659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.670714057 meters Centerline goodness : 0.984991 Centerline is valid? [True, True] Translation: X:116.54, Y:164.20, Z:21.24 [[-3.32847257e-02 -9.99410132e-01 -8.45668823e-03 1.16541127e+02] [ 8.41607876e-01 -3.25909531e-02 5.39104826e-01 1.64198109e+02] [-5.39062437e-01 1.08267408e-02 8.42196219e-01 2.12447925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.700714057 meters Centerline goodness : 0.984624 Centerline is valid? [True, True] Translation: X:116.54, Y:164.22, Z:21.23 [[-3.52132666e-02 -9.99376561e-01 2.55253239e-03 1.16538641e+02] [ 8.42210983e-01 -2.83003477e-02 5.38404820e-01 1.64223273e+02] [-5.37996920e-01 2.11087633e-02 8.42682464e-01 2.12322569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.730714057 meters Centerline goodness : 0.984682 Centerline is valid? [True, True] Translation: X:116.54, Y:164.25, Z:21.22 [[-3.45253382e-02 -9.99368574e-01 8.39376418e-03 1.16538607e+02] [ 8.42243911e-01 -2.45739260e-02 5.38536273e-01 1.64247006e+02] [-5.37989959e-01 2.56627437e-02 8.42560519e-01 2.12188344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.76071405700003 meters Centerline goodness : 0.989326 Centerline is valid? [True, True] Translation: X:116.56, Y:164.27, Z:21.20 [[-3.08214182e-02 -9.98739316e-01 -3.96209389e-02 1.16562479e+02] [ 8.41886670e-01 -4.73070801e-02 5.37576855e-01 1.64265758e+02] [-5.38773491e-01 -1.67874592e-02 8.42283388e-01 2.11960668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.790714057 meters Centerline goodness : 0.984747 Centerline is valid? [True, True] Translation: X:116.53, Y:164.30, Z:21.20 [[-3.52489915e-02 -9.98672933e-01 3.75483963e-02 1.16527201e+02] [ 8.43839183e-01 -9.61214393e-03 5.36510056e-01 1.64295926e+02] [-5.35437151e-01 5.05962465e-02 8.43058170e-01 2.11978135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.820714057 meters Centerline goodness : 0.984742 Centerline is valid? [True, True] Translation: X:116.53, Y:164.32, Z:21.18 [[-3.42416600e-02 -9.99134446e-01 2.36192005e-02 1.16533786e+02] [ 8.43796282e-01 -1.62372772e-02 5.36417921e-01 1.64319665e+02] [-5.35570111e-01 3.82976336e-02 8.43621922e-01 2.11799624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.850714057 meters Centerline goodness : 0.987511 Centerline is valid? [True, True] Translation: X:116.56, Y:164.34, Z:21.15 [[-2.67785217e-02 -9.98881778e-01 -3.89628630e-02 1.16564778e+02] [ 8.44256979e-01 -4.34694633e-02 5.34172781e-01 1.64337374e+02] [-5.35269152e-01 -1.85903116e-02 8.44476960e-01 2.11540246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.880714057 meters Centerline goodness : 0.984488 Centerline is valid? [True, True] Translation: X:116.53, Y:164.37, Z:21.15 [[-3.05633392e-02 -9.98531193e-01 4.47363239e-02 1.16528263e+02] [ 8.43987303e-01 -1.80293821e-03 5.36360123e-01 1.64367671e+02] [-5.35491657e-01 5.41498457e-02 8.42802753e-01 2.11542833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.910714057 meters Centerline goodness : 0.983739 Centerline is valid? [True, True] Translation: X:116.54, Y:164.38, Z:21.13 [[-2.95135477e-02 -9.99519468e-01 9.47541902e-03 1.16542371e+02] [ 8.42942733e-01 -1.97933864e-02 5.37639072e-01 1.64384068e+02] [-5.37193168e-01 2.38548720e-02 8.43121845e-01 2.11306588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.940714057 meters Centerline goodness : 0.984644 Centerline is valid? [True, True] Translation: X:116.55, Y:164.41, Z:21.11 [[-2.81432730e-02 -9.99575616e-01 7.51952828e-03 1.16545265e+02] [ 8.42951472e-01 -1.96890511e-02 5.37629200e-01 1.64408873e+02] [-5.37252986e-01 2.14692428e-02 8.43147852e-01 2.11146509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.970714057 meters Centerline goodness : 0.984194 Centerline is valid? [True, True] Translation: X:116.55, Y:164.43, Z:21.10 [[-2.72000038e-02 -9.99629627e-01 8.76696728e-04 1.16549358e+02] [ 8.42821832e-01 -2.24616556e-02 5.37723752e-01 1.64430107e+02] [-5.37504902e-01 1.53649873e-02 8.43120631e-01 2.10985770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.000714057 meters Centerline goodness : 0.984015 Centerline is valid? [True, True] Translation: X:116.55, Y:164.46, Z:21.09 [[-2.70971704e-02 -9.99541095e-01 1.35404157e-02 1.16546508e+02] [ 8.43937160e-01 -1.56149043e-02 5.36214738e-01 1.64456321e+02] [-5.35757234e-01 2.59571621e-02 8.43972992e-01 2.10869177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.030714057 meters Centerline goodness : 0.984292 Centerline is valid? [True, True] Translation: X:116.55, Y:164.48, Z:21.07 [[-2.69004012e-02 -9.99633908e-01 -2.90143458e-03 1.16554845e+02] [ 8.43923429e-01 -2.42656834e-02 5.35914567e-01 1.64477096e+02] [-5.35788778e-01 1.19677282e-02 8.44267232e-01 2.10695335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.060714057 meters Centerline goodness : 0.985112 Centerline is valid? [True, True] Translation: X:116.56, Y:164.50, Z:21.05 [[-2.76822870e-02 -9.99583440e-01 -8.16312383e-03 1.16558336e+02] [ 8.43891582e-01 -2.77461744e-02 5.35795808e-01 1.64498911e+02] [-5.35799113e-01 7.94326186e-03 8.44308128e-01 2.10526663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.090714057 meters Centerline goodness : 0.984658 Centerline is valid? [True, True] Translation: X:116.55, Y:164.53, Z:21.05 [[-2.81501080e-02 -9.99357563e-01 2.21818147e-02 1.16550468e+02] [ 8.43701298e-01 -1.18533160e-02 5.36682047e-01 1.64527965e+02] [-5.36074334e-01 3.38224834e-02 8.43492945e-01 2.10452457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.120714057 meters Centerline goodness : 0.991058 Centerline is valid? [True, True] Translation: X:116.58, Y:164.54, Z:21.02 [[-2.57501905e-02 -9.98650468e-01 -4.51017860e-02 1.16581207e+02] [ 8.43040184e-01 -4.59398153e-02 5.35885045e-01 1.64542960e+02] [-5.37233818e-01 -2.42234760e-02 8.43085433e-01 2.10190063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.150714057 meters Centerline goodness : 0.985177 Centerline is valid? [True, True] Translation: X:116.54, Y:164.58, Z:21.03 [[-2.89960628e-02 -9.96934474e-01 7.26696826e-02 1.16536289e+02] [ 8.45346966e-01 1.43396644e-02 5.34025169e-01 1.64582846e+02] [-5.33430160e-01 7.69157230e-02 8.42339739e-01 2.10289852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.180714057 meters Centerline goodness : 0.985062 Centerline is valid? [True, True] Translation: X:116.56, Y:164.60, Z:21.00 [[-2.70201936e-02 -9.99614912e-01 6.31952053e-03 1.16564664e+02] [ 8.44075574e-01 -1.94281118e-02 5.35872162e-01 1.64598171e+02] [-5.35543028e-01 1.98135225e-02 8.44275482e-01 2.09986402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.210714057 meters Centerline goodness : 0.985409 Centerline is valid? [True, True] Translation: X:116.58, Y:164.62, Z:20.98 [[-2.69427868e-02 -9.99528574e-01 -1.47212666e-02 1.16575707e+02] [ 8.43894796e-01 -3.06365203e-02 5.35633248e-01 1.64617777e+02] [-5.35831745e-01 2.00825212e-03 8.44322396e-01 2.09801497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.240714057 meters Centerline goodness : 0.991680 Centerline is valid? [True, True] Translation: X:116.57, Y:164.65, Z:20.98 [[-2.90372910e-02 -9.99472214e-01 1.45646297e-02 1.16565930e+02] [ 8.52228166e-01 -1.71397521e-02 5.22889455e-01 1.64654402e+02] [-5.22363847e-01 2.75956810e-02 8.52276064e-01 2.09765496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.270714057 meters Centerline goodness : 0.991624 Centerline is valid? [True, True] Translation: X:116.57, Y:164.68, Z:20.96 [[-2.98751395e-02 -9.99360976e-01 1.96243617e-02 1.16565641e+02] [ 8.52737400e-01 -1.52391641e-02 5.22117510e-01 1.64679290e+02] [-5.21484806e-01 3.23327606e-02 8.52647753e-01 2.09627445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.300714057 meters Centerline goodness : 0.991624 Centerline is valid? [True, True] Translation: X:116.57, Y:164.70, Z:20.95 [[-3.01425032e-02 -9.99356365e-01 1.94495749e-02 1.16566530e+02] [ 8.52727646e-01 -1.55582692e-02 5.22124029e-01 1.64703395e+02] [-5.21485370e-01 3.23233154e-02 8.52647766e-01 2.09477313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.330714057 meters Centerline goodness : 0.990817 Centerline is valid? [True, True] Translation: X:116.57, Y:164.73, Z:20.93 [[-3.26630407e-02 -9.99281068e-01 1.92476532e-02 1.16569340e+02] [ 8.53302345e-01 -1.78541275e-02 5.21110677e-01 1.64726130e+02] [-5.20392384e-01 3.34451269e-02 8.53272049e-01 2.09331242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.360714057 meters Centerline goodness : 0.991445 Centerline is valid? [True, True] Translation: X:116.57, Y:164.75, Z:20.92 [[-3.50653406e-02 -9.99201064e-01 1.91743500e-02 1.16571887e+02] [ 8.53217556e-01 -1.99411266e-02 5.21173822e-01 1.64748648e+02] [-5.20375080e-01 3.46350297e-02 8.53235133e-01 2.09187972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.390714057 meters Centerline goodness : 0.991086 Centerline is valid? [True, True] Translation: X:116.57, Y:164.77, Z:20.90 [[-3.60884577e-02 -9.99166094e-01 1.90981423e-02 1.16572919e+02] [ 8.53237927e-01 -2.08573039e-02 5.21104608e-01 1.64772731e+02] [-5.20271720e-01 3.51011209e-02 8.53279115e-01 2.09045371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.420714057 meters Centerline goodness : 0.989661 Centerline is valid? [True, True] Translation: X:116.59, Y:164.80, Z:20.88 [[-2.53580261e-02 -9.99660211e-01 6.03599726e-03 1.16590703e+02] [ 8.48341156e-01 -1.83246397e-02 5.29132773e-01 1.64802707e+02] [-5.28842372e-01 1.85383476e-02 8.48517575e-01 2.08824179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.450714057 meters Centerline goodness : 0.986042 Centerline is valid? [True, True] Translation: X:116.57, Y:164.82, Z:20.88 [[-3.15296986e-02 -9.98135973e-01 5.22537832e-02 1.16569379e+02] [ 8.46993965e-01 1.07472423e-03 5.31601419e-01 1.64823932e+02] [-5.30666658e-01 6.10198715e-02 8.45381259e-01 2.08780580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.480714057 meters Centerline goodness : 0.991551 Centerline is valid? [True, True] Translation: X:116.59, Y:164.85, Z:20.86 [[-3.07212107e-02 -9.99521318e-01 -3.65282667e-03 1.16592102e+02] [ 8.53792840e-01 -2.81419490e-02 5.19851726e-01 1.64847456e+02] [-5.19705680e-01 1.28517172e-02 8.54248699e-01 2.08557545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.51071405700003 meters Centerline goodness : 0.991475 Centerline is valid? [True, True] Translation: X:116.58, Y:164.87, Z:20.85 [[-3.00018240e-02 -9.99327008e-01 2.11049992e-02 1.16583091e+02] [ 8.54886969e-01 -1.47128986e-02 5.18605632e-01 1.64874113e+02] [-5.17946099e-01 3.36015037e-02 8.54753051e-01 2.08473378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.540714057 meters Centerline goodness : 0.990274 Centerline is valid? [True, True] Translation: X:116.60, Y:164.90, Z:20.83 [[-2.50231781e-02 -9.99666644e-01 -6.35928477e-03 1.16599134e+02] [ 8.50718050e-01 -2.46347901e-02 5.25044690e-01 1.64897185e+02] [-5.25026323e-01 7.72832843e-03 8.51050900e-01 2.08280330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.570714057 meters Centerline goodness : 0.991243 Centerline is valid? [True, True] Translation: X:116.58, Y:164.93, Z:20.82 [[-2.93114170e-02 -9.98818802e-01 3.87536086e-02 1.16581263e+02] [ 8.55719633e-01 -5.03659607e-03 5.17415251e-01 1.64931330e+02] [-5.16608895e-01 4.83283979e-02 8.54856488e-01 2.08201504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.600714057 meters Centerline goodness : 0.991307 Centerline is valid? [True, True] Translation: X:116.58, Y:164.95, Z:20.81 [[-3.17434094e-02 -9.98475628e-01 4.51528054e-02 1.16575052e+02] [ 8.55868215e-01 -3.82188014e-03 5.17179846e-01 1.64949660e+02] [-5.16218903e-01 5.50619025e-02 8.54684873e-01 2.08087458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.630714057 meters Centerline goodness : 0.990368 Centerline is valid? [True, True] Translation: X:116.60, Y:164.97, Z:20.79 [[-3.14031840e-02 -9.99400759e-01 -1.45589736e-02 1.16600873e+02] [ 8.52372210e-01 -3.43847352e-02 5.21803895e-01 1.64966584e+02] [-5.21991815e-01 3.97663928e-03 8.52941224e-01 2.07864695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.660714057 meters Centerline goodness : 0.991759 Centerline is valid? [True, True] Translation: X:116.57, Y:165.00, Z:20.78 [[-3.65708870e-02 -9.97896778e-01 5.35218666e-02 1.16573127e+02] [ 8.57375159e-01 -3.81647862e-03 5.14677833e-01 1.64998922e+02] [-5.13391086e-01 6.47105438e-02 8.55711481e-01 2.07811948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.690714057 meters Centerline goodness : 0.991912 Centerline is valid? [True, True] Translation: X:116.59, Y:165.02, Z:20.76 [[-4.19414988e-02 -9.98911491e-01 2.04142857e-02 1.16586707e+02] [ 8.56153378e-01 -2.54002505e-02 5.16097105e-01 1.65015736e+02] [-5.15016801e-01 3.91236458e-02 8.56286772e-01 2.07586627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.720714057 meters Centerline goodness : 0.991154 Centerline is valid? [True, True] Translation: X:116.61, Y:165.03, Z:20.74 [[-4.29041923e-02 -9.98788813e-01 -2.40860231e-02 1.16605268e+02] [ 8.53138741e-01 -4.91721388e-02 5.19361521e-01 1.65034061e+02] [-5.19916838e-01 1.73406714e-03 8.54215122e-01 2.07414558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.750714057 meters Centerline goodness : 0.991466 Centerline is valid? [True, True] Translation: X:116.59, Y:165.07, Z:20.73 [[-4.73311416e-02 -9.98587715e-01 2.41317000e-02 1.16587548e+02] [ 8.56210117e-01 -2.81164815e-02 5.15862094e-01 1.65070540e+02] [-5.14455051e-01 4.50781475e-02 8.56331689e-01 2.07347887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.780714057 meters Centerline goodness : 0.991874 Centerline is valid? [True, True] Translation: X:116.57, Y:165.09, Z:20.72 [[-4.75020725e-02 -9.97214392e-01 5.75065987e-02 1.16573677e+02] [ 8.55514570e-01 -1.08999826e-02 5.17663994e-01 1.65093930e+02] [-5.15595165e-01 7.37878456e-02 8.53649214e-01 2.07247793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.810714057 meters Centerline goodness : 0.991635 Centerline is valid? [True, True] Translation: X:116.59, Y:165.11, Z:20.70 [[-4.85982084e-02 -9.98610811e-01 2.03632633e-02 1.16587543e+02] [ 8.53927657e-01 -3.09642712e-02 5.19469701e-01 1.65111861e+02] [-5.18117525e-01 4.26340505e-02 8.54246199e-01 2.07009310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.840714057 meters Centerline goodness : 0.984794 Centerline is valid? [True, True] Translation: X:116.58, Y:165.13, Z:20.69 [[-4.79920079e-02 -9.98430497e-01 2.88670974e-02 1.16581576e+02] [ 8.46992027e-01 -2.53602123e-02 5.31000344e-01 1.65125568e+02] [-5.29434862e-01 4.99339740e-02 8.46879758e-01 2.06851968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.870714057 meters Centerline goodness : 0.989108 Centerline is valid? [True, True] Translation: X:116.61, Y:165.15, Z:20.66 [[-4.40553263e-02 -9.98558810e-01 -3.06501378e-02 1.16609374e+02] [ 8.47305551e-01 -5.36009213e-02 5.28394025e-01 1.65145044e+02] [-5.29275384e-01 -2.69146071e-03 8.48445829e-01 2.06616236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.900714057 meters Centerline goodness : 0.989213 Centerline is valid? [True, True] Translation: X:116.60, Y:165.17, Z:20.65 [[-4.36252033e-02 -9.99040404e-01 3.88742685e-03 1.16595860e+02] [ 8.49156365e-01 -3.50296427e-02 5.26978550e-01 1.65174021e+02] [-5.26336689e-01 2.62905796e-02 8.49869693e-01 2.06547893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.930714057 meters Centerline goodness : 0.988951 Centerline is valid? [True, True] Translation: X:116.59, Y:165.20, Z:20.64 [[-4.18034698e-02 -9.98875222e-01 2.23777035e-02 1.16587564e+02] [ 8.49368907e-01 -2.37342672e-02 5.27265724e-01 1.65201031e+02] [-5.26141549e-01 4.10484623e-02 8.49405730e-01 2.06446617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.960714057 meters Centerline goodness : 0.990596 Centerline is valid? [True, True] Translation: X:116.59, Y:165.23, Z:20.63 [[-4.22173688e-02 -9.98995226e-01 1.50410115e-02 1.16587823e+02] [ 8.50912473e-01 -2.80616067e-02 5.24557441e-01 1.65228197e+02] [-5.23608305e-01 3.49440192e-02 8.51242186e-01 2.06251192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.990714057 meters Centerline goodness : 0.987998 Centerline is valid? [True, True] Translation: X:116.59, Y:165.25, Z:20.61 [[-3.36872263e-02 -9.98961236e-01 3.06858172e-02 1.16585576e+02] [ 8.45258732e-01 -1.20939962e-02 5.34220377e-01 1.65251316e+02] [-5.33294334e-01 4.39338576e-02 8.44788121e-01 2.06120402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.020714057 meters Centerline goodness : 0.990582 Centerline is valid? [True, True] Translation: X:116.57, Y:165.27, Z:20.60 [[-3.88294238e-02 -9.97402866e-01 6.06613384e-02 1.16565967e+02] [ 8.47678712e-01 -7.35373533e-04 5.30509434e-01 1.65272163e+02] [-5.29087022e-01 7.20207009e-02 8.45505732e-01 2.06008559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.050714057 meters Centerline goodness : 0.990976 Centerline is valid? [True, True] Translation: X:116.58, Y:165.29, Z:20.58 [[-3.36832691e-02 -9.99234427e-01 1.98996698e-02 1.16579486e+02] [ 8.45590907e-01 -1.78788435e-02 5.33531972e-01 1.65287792e+02] [-5.32767731e-01 3.47980808e-02 8.45545763e-01 2.05765769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.080714057 meters Centerline goodness : 0.990666 Centerline is valid? [True, True] Translation: X:116.59, Y:165.31, Z:20.56 [[-3.16245805e-02 -9.99448653e-01 -1.01131172e-02 1.16592642e+02] [ 8.46826063e-01 -3.21672709e-02 5.30896304e-01 1.65312704e+02] [-5.30928908e-01 8.22532164e-03 8.47376445e-01 2.05588814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.110714057 meters Centerline goodness : 0.991150 Centerline is valid? [True, True] Translation: X:116.57, Y:165.34, Z:20.56 [[-2.64787427e-02 -9.98049301e-01 5.65373320e-02 1.16565266e+02] [ 8.46867268e-01 7.65463382e-03 5.31749224e-01 1.65341089e+02] [-5.31144714e-01 6.19596668e-02 8.45012599e-01 2.05560066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.140714057 meters Centerline goodness : 0.990623 Centerline is valid? [True, True] Translation: X:116.58, Y:165.36, Z:20.53 [[-2.46297070e-02 -9.99506319e-01 1.95063019e-02 1.16579125e+02] [ 8.45842018e-01 -1.04346688e-02 5.33331415e-01 1.65357169e+02] [-5.32864578e-01 2.96350463e-02 8.45681445e-01 2.05322495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.170714057 meters Centerline goodness : 0.990206 Centerline is valid? [True, True] Translation: X:116.58, Y:165.38, Z:20.52 [[-2.32426844e-02 -9.99541463e-01 1.94072599e-02 1.16578946e+02] [ 8.46214261e-01 -9.33313879e-03 5.32761032e-01 1.65379973e+02] [-5.32335610e-01 2.88054967e-02 8.46043168e-01 2.05179768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.200714057 meters Centerline goodness : 0.991350 Centerline is valid? [True, True] Translation: X:116.58, Y:165.40, Z:20.50 [[-2.12423396e-02 -9.99589156e-01 1.92426994e-02 1.16578615e+02] [ 8.47027494e-01 -7.76869067e-03 5.31492307e-01 1.65403330e+02] [-5.31124456e-01 2.75892355e-02 8.46844523e-01 2.05033304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.230714057 meters Centerline goodness : 0.991406 Centerline is valid? [True, True] Translation: X:116.58, Y:165.43, Z:20.49 [[-2.15107329e-02 -9.99587272e-01 1.90413594e-02 1.16578825e+02] [ 8.47452001e-01 -8.12532628e-03 5.30809839e-01 1.65426733e+02] [-5.30436042e-01 2.75547468e-02 8.47277016e-01 2.04884104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.26071405700003 meters Centerline goodness : 0.991484 Centerline is valid? [True, True] Translation: X:116.58, Y:165.45, Z:20.47 [[-2.11016328e-02 -9.99599245e-01 1.88698253e-02 1.16579757e+02] [ 8.47322304e-01 -7.86276549e-03 5.31020799e-01 1.65450038e+02] [-5.30659621e-01 2.71942298e-02 8.47148653e-01 2.04730748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.290714057 meters Centerline goodness : 0.991614 Centerline is valid? [True, True] Translation: X:116.58, Y:165.47, Z:20.46 [[-2.17200817e-02 -9.99589099e-01 1.87048213e-02 1.16580421e+02] [ 8.47038384e-01 -8.46027281e-03 5.31464392e-01 1.65473821e+02] [-5.31087765e-01 2.73871516e-02 8.46874093e-01 2.04577072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.320714057 meters Centerline goodness : 0.991432 Centerline is valid? [True, True] Translation: X:116.58, Y:165.50, Z:20.44 [[-2.18508861e-02 -9.99589286e-01 1.85417913e-02 1.16581573e+02] [ 8.46694078e-01 -8.64014881e-03 5.32009855e-01 1.65496714e+02] [-5.31631148e-01 2.73241116e-02 8.46535124e-01 2.04427361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.350714057 meters Centerline goodness : 0.991184 Centerline is valid? [True, True] Translation: X:116.58, Y:165.52, Z:20.43 [[-2.30352807e-02 -9.99563959e-01 1.84734453e-02 1.16582061e+02] [ 8.46508415e-01 -9.67059172e-03 5.32287501e-01 1.65519533e+02] [-5.31876752e-01 2.78993189e-02 8.46362067e-01 2.04291692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.380714057 meters Centerline goodness : 0.992104 Centerline is valid? [True, True] Translation: X:116.58, Y:165.54, Z:20.41 [[-2.38458607e-02 -9.99547027e-01 1.83606978e-02 1.16582658e+02] [ 8.46340817e-01 -1.04086335e-02 5.32540028e-01 1.65542992e+02] [-5.32107692e-01 2.82382833e-02 8.46205651e-01 2.04139985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.410714057 meters Centerline goodness : 0.985096 Centerline is valid? [True, True] Translation: X:116.58, Y:165.56, Z:20.40 [[-2.59728940e-02 -9.99299686e-01 2.69359565e-02 1.16579732e+02] [ 8.38580269e-01 -7.11247000e-03 5.44731628e-01 1.65559470e+02] [-5.44158563e-01 3.67362184e-02 8.38177731e-01 2.03964204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.440714057 meters Centerline goodness : 0.990074 Centerline is valid? [True, True] Translation: X:116.61, Y:165.58, Z:20.37 [[-2.38852448e-02 -9.99152293e-01 -3.35289573e-02 1.16607307e+02] [ 8.38425737e-01 -3.82871272e-02 5.43669366e-01 1.65575546e+02] [-5.44492221e-01 -1.51258649e-02 8.38629495e-01 2.03690802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.470714057 meters Centerline goodness : 0.991303 Centerline is valid? [True, True] Translation: X:116.56, Y:165.61, Z:20.37 [[-3.24750850e-02 -9.97372251e-01 6.47608008e-02 1.16564075e+02] [ 8.41628573e-01 7.65916026e-03 5.40002484e-01 1.65607626e+02] [-5.39079507e-01 7.20411669e-02 8.39168252e-01 2.03711460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.500714057 meters Centerline goodness : 0.989664 Centerline is valid? [True, True] Translation: X:116.60, Y:165.62, Z:20.34 [[-3.02670446e-02 -9.99390008e-01 -1.74217819e-02 1.16598721e+02] [ 8.36457977e-01 -3.48667142e-02 5.46920803e-01 1.65620075e+02] [-5.47194626e-01 1.98108792e-03 8.37003057e-01 2.03413607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.530714057 meters Centerline goodness : 0.990054 Centerline is valid? [True, True] Translation: X:116.58, Y:165.65, Z:20.33 [[-3.13535990e-02 -9.99116187e-01 2.79963586e-02 1.16584398e+02] [ 8.39925154e-01 -1.11540571e-02 5.42587617e-01 1.65653956e+02] [-5.41795798e-01 4.05269204e-02 8.39532538e-01 2.03300308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.560714057 meters Centerline goodness : 0.990219 Centerline is valid? [True, True] Translation: X:116.59, Y:165.67, Z:20.32 [[-3.12068781e-02 -9.99342536e-01 1.84560479e-02 1.16586424e+02] [ 8.35606995e-01 -1.59530316e-02 5.49096030e-01 1.65674538e+02] [-5.48440589e-01 3.25575756e-02 8.35555459e-01 2.03168251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.590714057 meters Centerline goodness : 0.989645 Centerline is valid? [True, True] Translation: X:116.58, Y:165.70, Z:20.30 [[-2.95085089e-02 -9.98967478e-01 3.45430887e-02 1.16580462e+02] [ 8.36097654e-01 -5.72927460e-03 5.48550717e-01 1.65697876e+02] [-5.47786419e-01 4.50683091e-02 8.35403427e-01 2.03037680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.620714057 meters Centerline goodness : 0.991333 Centerline is valid? [True, True] Translation: X:116.58, Y:165.72, Z:20.28 [[-3.28179276e-02 -9.99219392e-01 2.19906808e-02 1.16583987e+02] [ 8.39399215e-01 -1.56121885e-02 5.43291099e-01 1.65722537e+02] [-5.42523679e-01 3.62886482e-02 8.39256333e-01 2.02833606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.650714057 meters Centerline goodness : 0.991489 Centerline is valid? [True, True] Translation: X:116.58, Y:165.75, Z:20.27 [[-3.18947239e-02 -9.98423294e-01 4.61914729e-02 1.16576004e+02] [ 8.37538407e-01 -1.47745240e-03 5.46376458e-01 1.65748466e+02] [-5.45446738e-01 5.61136589e-02 8.36264978e-01 2.02678963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.680714057 meters Centerline goodness : 0.990170 Centerline is valid? [True, True] Translation: X:116.59, Y:165.76, Z:20.25 [[-3.01042618e-02 -9.99446074e-01 1.41872535e-02 1.16585599e+02] [ 8.33424640e-01 -1.72626756e-02 5.52363440e-01 1.65762854e+02] [-5.51812562e-01 2.84525003e-02 8.33482665e-01 2.02500606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.710714057 meters Centerline goodness : 0.991134 Centerline is valid? [True, True] Translation: X:116.58, Y:165.79, Z:20.24 [[-2.87091396e-02 -9.99479418e-01 1.47199950e-02 1.16583042e+02] [ 8.35179577e-01 -1.58932782e-02 5.49747650e-01 1.65787258e+02] [-5.49227512e-01 2.80766212e-02 8.35201080e-01 2.02372228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.740714057 meters Centerline goodness : 0.992286 Centerline is valid? [True, True] Translation: X:116.57, Y:165.82, Z:20.22 [[-2.85884161e-02 -9.98555146e-01 4.55008073e-02 1.16571422e+02] [ 8.38241624e-01 8.48739837e-04 5.45298322e-01 1.65816713e+02] [-5.44549063e-01 5.37298859e-02 8.37006223e-01 2.02233206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.770714057 meters Centerline goodness : 0.990961 Centerline is valid? [True, True] Translation: X:116.58, Y:165.83, Z:20.20 [[-2.71788724e-02 -9.99530692e-01 1.41317172e-02 1.16582450e+02] [ 8.33772449e-01 -1.48685653e-02 5.51907990e-01 1.65834075e+02] [-5.51438856e-01 2.67828733e-02 8.33785263e-01 2.02022218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.800714057 meters Centerline goodness : 0.990890 Centerline is valid? [True, True] Translation: X:116.58, Y:165.86, Z:20.19 [[-2.55895703e-02 -9.99548630e-01 1.57388366e-02 1.16579738e+02] [ 8.34301248e-01 -1.26804699e-02 5.51162982e-01 1.65859077e+02] [-5.50714627e-01 2.72349548e-02 8.34249157e-01 2.01877443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.830714057 meters Centerline goodness : 0.991576 Centerline is valid? [True, True] Translation: X:116.58, Y:165.88, Z:20.18 [[-2.57299754e-02 -9.99535475e-01 1.63341197e-02 1.16578585e+02] [ 8.35855283e-01 -1.25480949e-02 5.48806425e-01 1.65882018e+02] [-5.48346528e-01 2.77737360e-02 8.35789869e-01 2.01758092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.860714057 meters Centerline goodness : 0.991747 Centerline is valid? [True, True] Translation: X:116.57, Y:165.91, Z:20.16 [[-2.30144036e-02 -9.99230665e-01 3.17555665e-02 1.16572698e+02] [ 8.36167768e-01 -1.82831091e-03 5.48470711e-01 1.65907349e+02] [-5.47990694e-01 3.91757074e-02 8.35566552e-01 2.01599337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.890714057 meters Centerline goodness : 0.991520 Centerline is valid? [True, True] Translation: X:116.56, Y:165.92, Z:20.15 [[-2.99040912e-02 -9.98620892e-01 4.31515895e-02 1.16559477e+02] [ 8.38775400e-01 -1.59003630e-03 5.44475252e-01 1.65924743e+02] [-5.43655750e-01 5.24765294e-02 8.37666186e-01 2.01484065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.920714057 meters Centerline goodness : 0.991200 Centerline is valid? [True, True] Translation: X:116.57, Y:165.94, Z:20.12 [[-3.02898821e-02 -9.99495533e-01 9.55005527e-03 1.16571734e+02] [ 8.37761822e-01 -2.01747725e-02 5.45662999e-01 1.65942444e+02] [-5.45195059e-01 2.45287396e-02 8.37950290e-01 2.01241788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.950714057 meters Centerline goodness : 0.991689 Centerline is valid? [True, True] Translation: X:116.59, Y:165.97, Z:20.10 [[-2.58421308e-02 -9.99542508e-01 -1.57149053e-02 1.16588575e+02] [ 8.39743612e-01 -3.02342862e-02 5.42140714e-01 1.65973054e+02] [-5.42367818e-01 8.13579939e-04 8.40140755e-01 2.01045890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.980714057 meters Centerline goodness : 0.991929 Centerline is valid? [True, True] Translation: X:116.56, Y:166.00, Z:20.10 [[-3.03108987e-02 -9.98247577e-01 5.08234570e-02 1.16557436e+02] [ 8.37941206e-01 2.34253449e-03 5.45755484e-01 1.65996153e+02] [-5.44918146e-01 5.91294080e-02 8.36401774e-01 2.01036848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.01071405700003 meters Centerline goodness : 0.990644 Centerline is valid? [True, True] Translation: X:116.59, Y:166.02, Z:20.07 [[-2.46552878e-02 -9.99570515e-01 -1.58398681e-02 1.16590204e+02] [ 8.34386547e-01 -2.93028928e-02 5.50400246e-01 1.66015956e+02] [-5.50628012e-01 3.53703625e-04 8.34750662e-01 2.00713812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.040714057 meters Centerline goodness : 0.989739 Centerline is valid? [True, True] Translation: X:116.58, Y:166.05, Z:20.07 [[-2.64296468e-02 -9.99406803e-01 2.20797615e-02 1.16576684e+02] [ 8.35295721e-01 -9.94498300e-03 5.49710974e-01 1.66046047e+02] [-5.49165305e-01 3.29717971e-02 8.35063069e-01 2.00658754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.070714057 meters Centerline goodness : 0.990771 Centerline is valid? [True, True] Translation: X:116.57, Y:166.07, Z:20.05 [[-3.15408219e-02 -9.98757994e-01 3.85700034e-02 1.16570566e+02] [ 8.38105071e-01 -5.40198611e-03 5.45482088e-01 1.66074806e+02] [-5.44596242e-01 4.95306688e-02 8.37234523e-01 2.00477053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.100714057 meters Centerline goodness : 0.991412 Centerline is valid? [True, True] Translation: X:116.56, Y:166.09, Z:20.04 [[-4.02554285e-02 -9.98638625e-01 3.31722311e-02 1.16563337e+02] [ 8.37163927e-01 -1.55853574e-02 5.46729966e-01 1.66086586e+02] [-5.45468660e-01 4.97794443e-02 8.36651629e-01 2.00363756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.130714057 meters Centerline goodness : 0.991085 Centerline is valid? [True, True] Translation: X:116.57, Y:166.11, Z:20.01 [[-4.23231592e-02 -9.99073877e-01 7.75490886e-03 1.16572676e+02] [ 8.35885754e-01 -3.11563468e-02 5.48018511e-01 1.66105616e+02] [-5.47269364e-01 2.96760925e-02 8.36430256e-01 2.00143314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.160714057 meters Centerline goodness : 0.991088 Centerline is valid? [True, True] Translation: X:116.57, Y:166.14, Z:19.99 [[-3.65080461e-02 -9.98603008e-01 3.81994192e-02 1.16573357e+02] [ 8.32082326e-01 -9.20608961e-03 5.54575740e-01 1.66143110e+02] [-5.53449335e-01 5.20315382e-02 8.31256009e-01 1.99911189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.190714057 meters Centerline goodness : 0.991088 Centerline is valid? [True, True] Translation: X:116.57, Y:166.17, Z:19.97 [[-3.74809279e-02 -9.98651080e-01 3.59332706e-02 1.16574195e+02] [ 8.32273993e-01 -1.12936403e-02 5.54249451e-01 1.66167177e+02] [-5.53095995e-01 5.06801103e-02 8.31574619e-01 1.99745700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.220714057 meters Centerline goodness : 0.991508 Centerline is valid? [True, True] Translation: X:116.57, Y:166.18, Z:19.97 [[-4.83954138e-02 -9.98810900e-01 5.88810468e-03 1.16573642e+02] [ 8.34566468e-01 -3.71970234e-02 5.49650064e-01 1.66176130e+02] [-5.48777455e-01 3.15145570e-02 8.35374250e-01 1.99679493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.250714057 meters Centerline goodness : 0.991125 Centerline is valid? [True, True] Translation: X:116.57, Y:166.21, Z:19.94 [[-4.20251437e-02 -9.98153117e-01 4.38661824e-02 1.16570643e+02] [ 8.31200348e-01 -1.05668218e-02 5.55872579e-01 1.66212941e+02] [-5.54382421e-01 5.98222111e-02 8.30109290e-01 1.99447554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.280714057 meters Centerline goodness : 0.991235 Centerline is valid? [True, True] Translation: X:116.58, Y:166.22, Z:19.93 [[-5.26829261e-02 -9.98605591e-01 -3.37391206e-03 1.16575543e+02] [ 8.34438783e-01 -4.58775599e-02 5.49187734e-01 1.66221142e+02] [-5.48576728e-01 2.61174937e-02 8.35692198e-01 1.99345384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.310714057 meters Centerline goodness : 0.989073 Centerline is valid? [True, True] Translation: X:116.58, Y:166.25, Z:19.91 [[-4.31611922e-02 -9.99015581e-01 1.02459994e-02 1.16580087e+02] [ 8.29582843e-01 -3.01225701e-02 5.57570567e-01 1.66249523e+02] [-5.56713048e-01 3.25653157e-02 8.30066312e-01 1.99143138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.340714057 meters Centerline goodness : 0.989552 Centerline is valid? [True, True] Translation: X:116.58, Y:166.27, Z:19.90 [[-4.48722601e-02 -9.98875614e-01 1.52966419e-02 1.16575702e+02] [ 8.30515314e-01 -2.87906954e-02 5.56251211e-01 1.66274989e+02] [-5.55185369e-01 3.76643444e-02 8.30873398e-01 1.99019669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.370714057 meters Centerline goodness : 0.989278 Centerline is valid? [True, True] Translation: X:116.57, Y:166.30, Z:19.89 [[-4.31477703e-02 -9.98553975e-01 3.20660025e-02 1.16569487e+02] [ 8.29627178e-01 -1.79287018e-02 5.58029845e-01 1.66298444e+02] [-5.56648018e-01 5.06805707e-02 8.29201100e-01 1.98870633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.400714057 meters Centerline goodness : 0.991019 Centerline is valid? [True, True] Translation: X:116.57, Y:166.33, Z:19.86 [[-4.71570125e-02 -9.98592960e-01 2.42552390e-02 1.16570821e+02] [ 8.33609409e-01 -2.59643848e-02 5.51743785e-01 1.66325769e+02] [-5.50337687e-01 4.62379840e-02 8.33660890e-01 1.98648968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.430714057 meters Centerline goodness : 0.989449 Centerline is valid? [True, True] Translation: X:116.57, Y:166.35, Z:19.85 [[-4.44589779e-02 -9.98773220e-01 2.18049258e-02 1.16570873e+02] [ 8.28754104e-01 -2.46854030e-02 5.59068213e-01 1.66345299e+02] [-5.57844096e-01 4.29265231e-02 8.28834892e-01 1.98505898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.460714057 meters Centerline goodness : 0.990081 Centerline is valid? [True, True] Translation: X:116.56, Y:166.37, Z:19.83 [[-4.59430359e-02 -9.98247599e-01 3.72956793e-02 1.16564626e+02] [ 8.31925893e-01 -1.75674821e-02 5.54608594e-01 1.66372848e+02] [-5.52981507e-01 5.65076438e-02 8.31275129e-01 1.98335149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.490714057 meters Centerline goodness : 0.990488 Centerline is valid? [True, True] Translation: X:116.56, Y:166.40, Z:19.81 [[-4.72962417e-02 -9.97655627e-01 4.94602390e-02 1.16557914e+02] [ 8.32024713e-01 -1.19485169e-02 5.54609872e-01 1.66401926e+02] [-5.52718683e-01 6.73831037e-02 8.30639257e-01 1.98133373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.520714057 meters Centerline goodness : 0.989494 Centerline is valid? [True, True] Translation: X:116.57, Y:166.41, Z:19.79 [[-4.44362360e-02 -9.98954099e-01 1.07763448e-02 1.16568613e+02] [ 8.27160074e-01 -3.07411567e-02 5.61124935e-01 1.66413886e+02] [-5.60206777e-01 3.38480422e-02 8.27660968e-01 1.97939560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.550714057 meters Centerline goodness : 0.988563 Centerline is valid? [True, True] Translation: X:116.56, Y:166.44, Z:19.78 [[-4.45430630e-02 -9.98773092e-01 2.16385527e-02 1.16562465e+02] [ 8.27708563e-01 -2.47682452e-02 5.60611335e-01 1.66438083e+02] [-5.59387567e-01 4.28817614e-02 8.27796294e-01 1.97833673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.580714057 meters Centerline goodness : 0.989246 Centerline is valid? [True, True] Translation: X:116.56, Y:166.46, Z:19.77 [[-4.41318872e-02 -9.98746242e-01 2.36288069e-02 1.16560205e+02] [ 8.27524936e-01 -2.32949712e-02 5.60945473e-01 1.66463866e+02] [-5.59691751e-01 4.43090093e-02 8.27515472e-01 1.97658724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.610714057 meters Centerline goodness : 0.988986 Centerline is valid? [True, True] Translation: X:116.56, Y:166.49, Z:19.75 [[-4.40127930e-02 -9.98794740e-01 2.17242350e-02 1.16555693e+02] [ 8.28077927e-01 -2.43078848e-02 5.60085773e-01 1.66488476e+02] [-5.58882654e-01 4.26402987e-02 8.28149735e-01 1.97508985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.640714057 meters Centerline goodness : 0.989553 Centerline is valid? [True, True] Translation: X:116.56, Y:166.51, Z:19.74 [[-4.39965437e-02 -9.99012068e-01 6.26032897e-03 1.16556251e+02] [ 8.30227873e-01 -3.30763244e-02 5.56441943e-01 1.66509901e+02] [-5.55685148e-01 2.96790219e-02 8.30862908e-01 1.97379187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.670714057 meters Centerline goodness : 0.990880 Centerline is valid? [True, True] Translation: X:116.55, Y:166.53, Z:19.73 [[-5.57157524e-02 -9.98445088e-01 -1.77796276e-03 1.16545198e+02] [ 8.38729344e-01 -4.77691679e-02 5.42449254e-01 1.66530016e+02] [-5.41690725e-01 2.87317388e-02 8.40086689e-01 1.97333388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.700714057 meters Centerline goodness : 0.989149 Centerline is valid? [True, True] Translation: X:116.54, Y:166.56, Z:19.71 [[-4.37807413e-02 -9.98685792e-01 2.66446154e-02 1.16544583e+02] [ 8.29983631e-01 -2.15145928e-02 5.57372671e-01 1.66560939e+02] [-5.56066919e-01 4.65167833e-02 8.29834785e-01 1.97100705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.730714057 meters Centerline goodness : 0.990943 Centerline is valid? [True, True] Translation: X:116.55, Y:166.57, Z:19.70 [[-5.69052270e-02 -9.97629931e-01 -3.86822514e-02 1.16552211e+02] [ 8.34990668e-01 -6.87968265e-02 5.45946500e-01 1.66570085e+02] [-5.47313785e-01 -1.23210938e-03 8.36926581e-01 1.96994690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.76071405700003 meters Centerline goodness : 0.988492 Centerline is valid? [True, True] Translation: X:116.53, Y:166.58, Z:19.71 [[-3.68625975e-02 -9.98663126e-01 3.62368513e-02 1.16533473e+02] [ 8.24496914e-01 -9.90426139e-03 5.65779766e-01 1.66578365e+02] [-5.64664491e-01 5.07332839e-02 8.23759763e-01 1.97094041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.790714057 meters Centerline goodness : 0.988842 Centerline is valid? [True, True] Translation: X:116.54, Y:166.60, Z:19.69 [[-3.63200373e-02 -9.99241187e-01 1.40678449e-02 1.16538938e+02] [ 8.24372140e-01 -2.20008601e-02 5.65620489e-01 1.66596375e+02] [-5.64881784e-01 3.21404966e-02 8.24545668e-01 1.96911668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.820714057 meters Centerline goodness : 0.988593 Centerline is valid? [True, True] Translation: X:116.54, Y:166.62, Z:19.68 [[-3.72735367e-02 -9.99302572e-01 2.24773740e-03 1.16542022e+02] [ 8.25400861e-01 -2.95189789e-02 5.63774821e-01 1.66619753e+02] [-5.63315278e-01 2.28691659e-02 8.25925480e-01 1.96757707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.850714057 meters Centerline goodness : 0.988537 Centerline is valid? [True, True] Translation: X:116.53, Y:166.65, Z:19.66 [[-3.57913486e-02 -9.98970320e-01 2.78797381e-02 1.16533150e+02] [ 8.24554806e-01 -1.37569008e-02 5.65614816e-01 1.66647043e+02] [-5.64648875e-01 4.32324891e-02 8.24198156e-01 1.96635021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.880714057 meters Centerline goodness : 0.982725 Centerline is valid? [True, True] Translation: X:116.53, Y:166.65, Z:19.65 [[-4.26284659e-02 -9.99063801e-01 7.37131651e-03 1.16534119e+02] [ 8.22581961e-01 -3.09088668e-02 5.67805918e-01 1.66654182e+02] [-5.67046499e-01 3.02682072e-02 8.23129457e-01 1.96461181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.910714057 meters Centerline goodness : 0.990394 Centerline is valid? [True, True] Translation: X:116.55, Y:166.67, Z:19.62 [[-4.12974859e-02 -9.98649372e-01 -3.15269605e-02 1.16551702e+02] [ 8.23269470e-01 -5.18904170e-02 5.65274061e-01 1.66674796e+02] [-5.66146533e-01 -2.61078647e-03 8.24300483e-01 1.96215045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.940714057 meters Centerline goodness : 0.991424 Centerline is valid? [True, True] Translation: X:116.53, Y:166.71, Z:19.61 [[-4.35378065e-02 -9.98707626e-01 2.62209496e-02 1.16532153e+02] [ 8.28310480e-01 -2.14104280e-02 5.59860110e-01 1.66712270e+02] [-5.58575159e-01 4.60941685e-02 8.28172156e-01 1.96127717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.970714057 meters Centerline goodness : 0.990605 Centerline is valid? [True, True] Translation: X:116.54, Y:166.73, Z:19.59 [[-4.64589645e-02 -9.98865738e-01 1.04307934e-02 1.16537555e+02] [ 8.27971439e-01 -3.26643985e-02 5.59818125e-01 1.66730822e+02] [-5.58842429e-01 3.46449694e-02 8.28549857e-01 1.95929325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.000714057 meters Centerline goodness : 0.988833 Centerline is valid? [True, True] Translation: X:116.54, Y:166.76, Z:19.57 [[-3.52153451e-02 -9.98898502e-01 3.10106860e-02 1.16543381e+02] [ 8.18723620e-01 -1.10411312e-02 5.74081638e-01 1.66759609e+02] [-5.73106895e-01 4.56056642e-02 8.18210615e-01 1.95659544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.030714057 meters Centerline goodness : 0.988827 Centerline is valid? [True, True] Translation: X:116.54, Y:166.78, Z:19.55 [[-3.73803815e-02 -9.98558084e-01 3.85286808e-02 1.16540715e+02] [ 8.17881573e-01 -8.41835023e-03 5.75325007e-01 1.66784853e+02] [-5.74171089e-01 5.30177663e-02 8.17016938e-01 1.95482655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.060714057 meters Centerline goodness : 0.981349 Centerline is valid? [True, True] Translation: X:116.54, Y:166.79, Z:19.53 [[-4.21668463e-02 -9.98941124e-01 1.84007688e-02 1.16544982e+02] [ 8.15037825e-01 -2.37401175e-02 5.78921196e-01 1.66788273e+02] [-5.77871353e-01 3.94086037e-02 8.15175847e-01 1.95314504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.090714057 meters Centerline goodness : 0.988207 Centerline is valid? [True, True] Translation: X:116.55, Y:166.82, Z:19.51 [[-4.24170857e-02 -9.99072078e-01 7.46816472e-03 1.16550104e+02] [ 8.16960608e-01 -3.03804172e-02 5.75892695e-01 1.66822092e+02] [-5.75131425e-01 3.05288862e-02 8.17491181e-01 1.95100889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.120714057 meters Centerline goodness : 0.987971 Centerline is valid? [True, True] Translation: X:116.54, Y:166.85, Z:19.50 [[-4.43968016e-02 -9.98708088e-01 2.47199929e-02 1.16542712e+02] [ 8.18785337e-01 -2.21989999e-02 5.73670443e-01 1.66847540e+02] [-5.72380552e-01 4.57095006e-02 8.18713103e-01 1.95033474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.150714057 meters Centerline goodness : 0.987981 Centerline is valid? [True, True] Translation: X:116.54, Y:166.87, Z:19.49 [[-4.74731175e-02 -9.98643933e-01 2.13681602e-02 1.16543762e+02] [ 8.19569246e-01 -2.67135144e-02 5.72357091e-01 1.66873260e+02] [-5.71010118e-01 4.46842624e-02 8.19726029e-01 1.94852815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.180714057 meters Centerline goodness : 0.988125 Centerline is valid? [True, True] Translation: X:116.55, Y:166.89, Z:19.48 [[-4.96142018e-02 -9.98699056e-01 1.17739871e-02 1.16545002e+02] [ 8.23302603e-01 -3.42212318e-02 5.66570147e-01 1.66894688e+02] [-5.65430150e-01 3.78034798e-02 8.23929391e-01 1.94766583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.210714057 meters Centerline goodness : 0.988625 Centerline is valid? [True, True] Translation: X:116.54, Y:166.92, Z:19.46 [[-5.14309642e-02 -9.98628205e-01 9.82673272e-03 1.16544968e+02] [ 8.23169458e-01 -3.68190731e-02 5.66600740e-01 1.66918820e+02] [-5.65461669e-01 3.72298886e-02 8.23933879e-01 1.94629104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.240714057 meters Centerline goodness : 0.990346 Centerline is valid? [True, True] Translation: X:116.54, Y:166.95, Z:19.45 [[-5.66131110e-02 -9.98282102e-01 1.50930559e-02 1.16541603e+02] [ 8.29136703e-01 -3.85887137e-02 5.57712505e-01 1.66950268e+02] [-5.56171991e-01 4.40880465e-02 8.29896958e-01 1.94505999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.270714057 meters Centerline goodness : 0.989712 Centerline is valid? [True, True] Translation: X:116.54, Y:166.97, Z:19.44 [[-5.12289435e-02 -9.98263440e-01 2.90809064e-02 1.16537634e+02] [ 8.23277228e-01 -2.57297996e-02 5.67056067e-01 1.66969978e+02] [-5.65323095e-01 5.29913312e-02 8.23165668e-01 1.94356489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.300714057 meters Centerline goodness : 0.988398 Centerline is valid? [True, True] Translation: X:116.55, Y:166.99, Z:19.42 [[-5.20099234e-02 -9.98646543e-01 2.23569367e-04 1.16546208e+02] [ 8.25303533e-01 -4.28560943e-02 5.63060773e-01 1.66989688e+02] [-5.62289113e-01 2.94692603e-02 8.26415462e-01 1.94190420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.330714057 meters Centerline goodness : 0.990040 Centerline is valid? [True, True] Translation: X:116.54, Y:167.01, Z:19.40 [[-5.15533519e-02 -9.98626000e-01 9.40020528e-03 1.16542315e+02] [ 8.24534019e-01 -3.72514631e-02 5.64584785e-01 1.67014345e+02] [-5.63458875e-01 3.68570272e-02 8.25321547e-01 1.94044179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.360714057 meters Centerline goodness : 0.988770 Centerline is valid? [True, True] Translation: X:116.54, Y:167.04, Z:19.39 [[-4.80453047e-02 -9.98516805e-01 2.56093488e-02 1.16536818e+02] [ 8.23938865e-01 -2.51256595e-02 5.66121407e-01 1.67040400e+02] [-5.64638287e-01 4.83000133e-02 8.23923973e-01 1.93906662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.390714057 meters Centerline goodness : 0.989187 Centerline is valid? [True, True] Translation: X:116.54, Y:167.06, Z:19.37 [[-4.67567697e-02 -9.98644127e-01 2.28847486e-02 1.16536932e+02] [ 8.22990255e-01 -2.55283056e-02 5.67481582e-01 1.67061264e+02] [-5.66127941e-01 4.53675307e-02 8.23068006e-01 1.93736853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.420714057 meters Centerline goodness : 0.988442 Centerline is valid? [True, True] Translation: X:116.54, Y:167.08, Z:19.36 [[-4.60514561e-02 -9.98840906e-01 1.40038796e-02 1.16538818e+02] [ 8.23631037e-01 -3.00333999e-02 5.66330213e-01 1.67082109e+02] [-5.65253198e-01 3.76143608e-02 8.24059453e-01 1.93590402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.450714057 meters Centerline goodness : 0.988432 Centerline is valid? [True, True] Translation: X:116.53, Y:167.11, Z:19.34 [[-4.24430343e-02 -9.98640290e-01 3.02681301e-02 1.16533117e+02] [ 8.21791182e-01 -1.76651805e-02 5.69514877e-01 1.67107477e+02] [-5.68205810e-01 4.90460219e-02 8.21423548e-01 1.93424535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.480714057 meters Centerline goodness : 0.987930 Centerline is valid? [True, True] Translation: X:116.54, Y:167.13, Z:19.32 [[-4.15387146e-02 -9.98890237e-01 2.21997484e-02 1.16535807e+02] [ 8.21610169e-01 -2.15065457e-02 5.69643922e-01 1.67127977e+02] [-5.68534313e-01 4.19018153e-02 8.21591731e-01 1.93243780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.51071405700003 meters Centerline goodness : 0.988907 Centerline is valid? [True, True] Translation: X:116.54, Y:167.14, Z:19.31 [[-4.39399992e-02 -9.99026607e-01 3.88772135e-03 1.16536828e+02] [ 8.22787327e-01 -3.39807198e-02 5.67332640e-01 1.67142395e+02] [-5.66648295e-01 2.81273636e-02 8.23479545e-01 1.93096706e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.540714057 meters Centerline goodness : 0.990206 Centerline is valid? [True, True] Translation: X:116.54, Y:167.16, Z:19.29 [[-4.47771063e-02 -9.98944957e-01 -1.01972056e-02 1.16540017e+02] [ 8.23256098e-01 -4.26803204e-02 5.66063413e-01 1.67161694e+02] [-5.65901412e-01 1.69517700e-02 8.24298629e-01 1.92933243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.570714057 meters Centerline goodness : 0.987199 Centerline is valid? [True, True] Translation: X:116.53, Y:167.20, Z:19.27 [[-3.29413481e-02 -9.98341202e-01 4.72198301e-02 1.16533758e+02] [ 8.19382652e-01 7.71823857e-05 5.73246949e-01 1.67198371e+02] [-5.72299692e-01 5.75746368e-02 8.18020919e-01 1.92715482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.600714057 meters Centerline goodness : 0.987489 Centerline is valid? [True, True] Translation: X:116.54, Y:167.22, Z:19.25 [[-3.23296675e-02 -9.99157797e-01 2.52683652e-02 1.16542678e+02] [ 8.18554812e-01 -1.19619595e-02 5.74303867e-01 1.67216048e+02] [-5.73517927e-01 3.92505949e-02 8.18252149e-01 1.92472805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.630714057 meters Centerline goodness : 0.987626 Centerline is valid? [True, True] Translation: X:116.55, Y:167.24, Z:19.23 [[-3.31749459e-02 -9.99409604e-01 8.93678519e-03 1.16547722e+02] [ 8.19863063e-01 -2.20989300e-02 5.72133022e-01 1.67236296e+02] [-5.71597744e-01 2.63074221e-02 8.20112150e-01 1.92313027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.660714057 meters Centerline goodness : 0.987082 Centerline is valid? [True, True] Translation: X:116.55, Y:167.26, Z:19.22 [[-3.34243403e-02 -9.99251954e-01 1.94511005e-02 1.16545410e+02] [ 8.20216022e-01 -1.63048187e-02 5.71821502e-01 1.67260039e+02] [-5.71076607e-01 3.50668608e-02 8.20147441e-01 1.92183117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.690714057 meters Centerline goodness : 0.982991 Centerline is valid? [True, True] Translation: X:116.54, Y:167.27, Z:19.20 [[-3.82637918e-02 -9.99260306e-01 3.83720192e-03 1.16544889e+02] [ 8.18773315e-01 -2.91507733e-02 5.73376396e-01 1.67267907e+02] [-5.72840415e-01 2.50813536e-02 8.19283092e-01 1.92019303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.720714057 meters Centerline goodness : 0.988546 Centerline is valid? [True, True] Translation: X:116.56, Y:167.29, Z:19.18 [[-3.38511414e-02 -9.99171470e-01 -2.25936726e-02 1.16562615e+02] [ 8.17710015e-01 -4.06872030e-02 5.74190633e-01 1.67290509e+02] [-5.74634172e-01 9.61935981e-04 8.18409826e-01 1.91755193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.750714057 meters Centerline goodness : 0.987873 Centerline is valid? [True, True] Translation: X:116.55, Y:167.32, Z:19.17 [[-2.91199133e-02 -9.99155980e-01 2.89716976e-02 1.16548479e+02] [ 8.19198620e-01 -7.24688005e-03 5.73464126e-01 1.67324753e+02] [-5.72770156e-01 4.04328003e-02 8.18718228e-01 1.91709027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.780714057 meters Centerline goodness : 0.988341 Centerline is valid? [True, True] Translation: X:116.56, Y:167.34, Z:19.15 [[-3.01742170e-02 -9.99461764e-01 1.28724427e-02 1.16555412e+02] [ 8.19897530e-01 -1.73829138e-02 5.72246341e-01 1.67343908e+02] [-5.71714576e-01 2.78211693e-02 8.19980747e-01 1.91516091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.810714057 meters Centerline goodness : 0.987107 Centerline is valid? [True, True] Translation: X:116.55, Y:167.37, Z:19.14 [[-3.15092586e-02 -9.99107967e-01 2.81146997e-02 1.16550547e+02] [ 8.18955183e-01 -9.68177271e-03 5.73775803e-01 1.67367135e+02] [-5.72991776e-01 4.11039292e-02 8.18529714e-01 1.91432773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.840714057 meters Centerline goodness : 0.989413 Centerline is valid? [True, True] Translation: X:116.57, Y:167.38, Z:19.11 [[-3.83844979e-02 -9.98889142e-01 -2.73333725e-02 1.16566373e+02] [ 8.18132362e-01 -4.71205922e-02 5.73096055e-01 1.67380588e+02] [-5.73747391e-01 -3.64312244e-04 8.19032233e-01 1.91143807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.870714057 meters Centerline goodness : 0.989877 Centerline is valid? [True, True] Translation: X:116.55, Y:167.41, Z:19.11 [[-4.28035276e-02 -9.99038802e-01 9.45150517e-03 1.16554935e+02] [ 8.18716397e-01 -2.96526571e-02 5.73431933e-01 1.67410190e+02] [-5.72600489e-01 3.22830118e-02 8.19198686e-01 1.91092881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.900714057 meters Centerline goodness : 0.991218 Centerline is valid? [True, True] Translation: X:116.54, Y:167.44, Z:19.10 [[-4.91713063e-02 -9.97967603e-01 4.05320489e-02 1.16541238e+02] [ 8.23872061e-01 -1.75850801e-02 5.66502949e-01 1.67439506e+02] [-5.64638831e-01 6.12489127e-02 8.23062307e-01 1.90978030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.930714057 meters Centerline goodness : 0.982077 Centerline is valid? [True, True] Translation: X:116.55, Y:167.45, Z:19.07 [[-5.13160450e-02 -9.98537062e-01 1.70411048e-02 1.16552277e+02] [ 8.13428738e-01 -3.18913032e-02 5.80789663e-01 1.67445442e+02] [-5.79396541e-01 4.36655528e-02 8.13875278e-01 1.90700403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.960714057 meters Centerline goodness : 0.988609 Centerline is valid? [True, True] Translation: X:116.58, Y:167.46, Z:19.04 [[-5.02434276e-02 -9.98153358e-01 -3.41390076e-02 1.16576383e+02] [ 8.13807374e-01 -6.07313507e-02 5.77952647e-01 1.67463541e+02] [-5.78958683e-01 1.25574590e-03 8.15355914e-01 1.90440561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.990714057 meters Centerline goodness : 0.989233 Centerline is valid? [True, True] Translation: X:116.56, Y:167.50, Z:19.03 [[-4.76706782e-02 -9.98550422e-01 2.49912374e-02 1.16559693e+02] [ 8.12169142e-01 -2.41838029e-02 5.82920603e-01 1.67500187e+02] [-5.81471230e-01 4.80853323e-02 8.12144697e-01 1.90334785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.020714057 meters Centerline goodness : 0.989476 Centerline is valid? [True, True] Translation: X:116.57, Y:167.52, Z:19.02 [[-5.27637570e-02 -9.98593359e-01 -5.22393745e-03 1.16565758e+02] [ 8.15262723e-01 -4.60967027e-02 5.77253659e-01 1.67516774e+02] [-5.76682477e-01 2.61991903e-02 8.16548176e-01 1.90205183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.050714057 meters Centerline goodness : 0.989775 Centerline is valid? [True, True] Translation: X:116.56, Y:167.54, Z:19.01 [[-5.31532887e-02 -9.98577477e-01 4.21302955e-03 1.16562742e+02] [ 8.15201738e-01 -4.09549305e-02 5.77727289e-01 1.67542193e+02] [-5.76732915e-01 3.41425744e-02 8.16218984e-01 1.90052795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.080714057 meters Centerline goodness : 0.991928 Centerline is valid? [True, True] Translation: X:116.55, Y:167.57, Z:19.00 [[-5.82113203e-02 -9.97681665e-01 3.52524727e-02 1.16545987e+02] [ 8.22218775e-01 -2.78864822e-02 5.68488022e-01 1.67569829e+02] [-5.66187009e-01 6.20776832e-02 8.21935905e-01 1.89961914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.110714057 meters Centerline goodness : 0.991928 Centerline is valid? [True, True] Translation: X:116.56, Y:167.59, Z:18.97 [[-5.87803020e-02 -9.98236275e-01 8.31952729e-03 1.16556120e+02] [ 8.21116591e-01 -4.36078155e-02 5.69092174e-01 1.67587339e+02] [-5.67725655e-01 4.02827117e-02 8.22231648e-01 1.89719710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.140714057 meters Centerline goodness : 0.988802 Centerline is valid? [True, True] Translation: X:116.57, Y:167.60, Z:18.95 [[-5.65946874e-02 -9.98206133e-01 -1.95334710e-02 1.16569466e+02] [ 8.18017816e-01 -5.75778293e-02 5.72303805e-01 1.67604784e+02] [-5.72401864e-01 1.64106277e-02 8.19809001e-01 1.89487015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.170714057 meters Centerline goodness : 0.989947 Centerline is valid? [True, True] Translation: X:116.56, Y:167.63, Z:18.94 [[-5.79943513e-02 -9.98299959e-01 5.81790286e-03 1.16558806e+02] [ 8.16135795e-01 -4.40540094e-02 5.76178452e-01 1.67632033e+02] [-5.74942623e-01 3.81632944e-02 8.17303214e-01 1.89393330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.200714057 meters Centerline goodness : 0.990746 Centerline is valid? [True, True] Translation: X:116.55, Y:167.66, Z:18.93 [[-6.16601393e-02 -9.97894103e-01 2.01342303e-02 1.16552590e+02] [ 8.21652962e-01 -3.92970275e-02 5.68631826e-01 1.67662372e+02] [-5.66643130e-01 5.16052675e-02 8.22345706e-01 1.89260518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.230714057 meters Centerline goodness : 0.991901 Centerline is valid? [True, True] Translation: X:116.55, Y:167.68, Z:18.91 [[-6.28393230e-02 -9.97591180e-01 2.93778381e-02 1.16545721e+02] [ 8.21124563e-01 -3.49471819e-02 5.69678107e-01 1.67682514e+02] [-5.67279182e-01 5.99210511e-02 8.21342679e-01 1.89135346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.26071405700003 meters Centerline goodness : 0.990484 Centerline is valid? [True, True] Translation: X:116.56, Y:167.71, Z:18.88 [[-5.32773345e-02 -9.98286737e-01 2.41891603e-02 1.16558287e+02] [ 8.12833492e-01 -2.92834968e-02 5.81759565e-01 1.67707549e+02] [-5.80054514e-01 5.06563586e-02 8.13001042e-01 1.88812401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.290714057 meters Centerline goodness : 0.991267 Centerline is valid? [True, True] Translation: X:116.57, Y:167.72, Z:18.87 [[-5.98659762e-02 -9.98135523e-01 -1.18971936e-02 1.16565375e+02] [ 8.15014322e-01 -5.57573155e-02 5.76751920e-01 1.67721211e+02] [-5.76339934e-01 2.48314335e-02 8.16832712e-01 1.88678799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.320714057 meters Centerline goodness : 0.981973 Centerline is valid? [True, True] Translation: X:116.55, Y:167.75, Z:18.86 [[-6.46632434e-02 -9.97730751e-01 1.87620288e-02 1.16547823e+02] [ 8.17685656e-01 -4.21983797e-02 5.74116247e-01 1.67745658e+02] [-5.72021707e-01 5.24656604e-02 8.18558807e-01 1.88618824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.350714057 meters Centerline goodness : 0.982435 Centerline is valid? [True, True] Translation: X:116.56, Y:167.76, Z:18.84 [[-6.46917333e-02 -9.97900713e-01 -3.02450126e-03 1.16556172e+02] [ 8.14419455e-01 -5.45479939e-02 5.77707078e-01 1.67762576e+02] [-5.76659285e-01 3.49096595e-02 8.16238559e-01 1.88374229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.380714057 meters Centerline goodness : 0.989619 Centerline is valid? [True, True] Translation: X:116.57, Y:167.79, Z:18.82 [[-6.24608903e-02 -9.97707692e-01 -2.60383930e-02 1.16566794e+02] [ 8.14882478e-01 -6.60439211e-02 5.75851324e-01 1.67785781e+02] [-5.76250974e-01 1.47499562e-02 8.17139679e-01 1.88154223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.410714057 meters Centerline goodness : 0.991625 Centerline is valid? [True, True] Translation: X:116.54, Y:167.82, Z:18.82 [[-6.66091738e-02 -9.97094403e-01 3.69590224e-02 1.16538387e+02] [ 8.20513687e-01 -3.36614370e-02 5.70634908e-01 1.67822333e+02] [-5.67732779e-01 6.83349035e-02 8.20371765e-01 1.88160465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.440714057 meters Centerline goodness : 0.990825 Centerline is valid? [True, True] Translation: X:116.55, Y:167.84, Z:18.79 [[-6.94130531e-02 -9.97579673e-01 -4.07738064e-03 1.16551604e+02] [ 8.18381199e-01 -5.92804875e-02 5.71610040e-01 1.67839795e+02] [-5.70468265e-01 3.63403464e-02 8.20515288e-01 1.87875072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.470714057 meters Centerline goodness : 0.990399 Centerline is valid? [True, True] Translation: X:116.55, Y:167.86, Z:18.77 [[-6.65885796e-02 -9.97769630e-01 4.66124143e-03 1.16549157e+02] [ 8.14170686e-01 -5.16339189e-02 5.78325197e-01 1.67861373e+02] [-5.76794639e-01 4.23048995e-02 8.15793013e-01 1.87748579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.500714057 meters Centerline goodness : 0.991566 Centerline is valid? [True, True] Translation: X:116.54, Y:167.89, Z:18.76 [[-6.96659021e-02 -9.97121950e-01 2.99078260e-02 1.16539149e+02] [ 8.18722814e-01 -4.00212681e-02 5.72792504e-01 1.67893253e+02] [-5.69947029e-01 6.43903259e-02 8.19154607e-01 1.87613140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.530714057 meters Centerline goodness : 0.989948 Centerline is valid? [True, True] Translation: X:116.54, Y:167.91, Z:18.74 [[-6.96826380e-02 -9.97517442e-01 1.01628306e-02 1.16544739e+02] [ 8.15211756e-01 -5.10698817e-02 5.76906977e-01 1.67909341e+02] [-5.74955757e-01 4.84852590e-02 8.16746630e-01 1.87425922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.560714057 meters Centerline goodness : 0.991316 Centerline is valid? [True, True] Translation: X:116.54, Y:167.94, Z:18.73 [[-7.33644581e-02 -9.96825640e-01 3.09241107e-02 1.16535277e+02] [ 8.18971675e-01 -4.25218754e-02 5.72256312e-01 1.67939961e+02] [-5.69124813e-01 6.73092449e-02 8.19491558e-01 1.87280257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.590714057 meters Centerline goodness : 0.989955 Centerline is valid? [True, True] Translation: X:116.54, Y:167.96, Z:18.71 [[-7.19634941e-02 -9.97232792e-01 1.86551508e-02 1.16538476e+02] [ 8.14371735e-01 -4.79483361e-02 5.78359434e-01 1.67957748e+02] [-5.75864509e-01 5.68129932e-02 8.15568729e-01 1.87085542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.620714057 meters Centerline goodness : 0.991308 Centerline is valid? [True, True] Translation: X:116.53, Y:167.99, Z:18.69 [[-7.34347905e-02 -9.96688558e-01 3.49177515e-02 1.16530070e+02] [ 8.17326349e-01 -4.00829282e-02 5.74779086e-01 1.67986669e+02] [-5.71476133e-01 7.07479802e-02 8.17563302e-01 1.86931471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.650714057 meters Centerline goodness : 0.990223 Centerline is valid? [True, True] Translation: X:116.54, Y:168.00, Z:18.67 [[-7.14420866e-02 -9.97350183e-01 1.37346931e-02 1.16535367e+02] [ 8.13730856e-01 -5.03147433e-02 5.79060032e-01 1.68002687e+02] [-5.76834571e-01 5.25456005e-02 8.15169208e-01 1.86746403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.680714057 meters Centerline goodness : 0.990536 Centerline is valid? [True, True] Translation: X:116.53, Y:168.03, Z:18.66 [[-6.51450973e-02 -9.97523918e-01 2.64981052e-02 1.16527306e+02] [ 8.13524002e-01 -3.77134418e-02 5.80307156e-01 1.68027427e+02] [-5.77870933e-01 5.93610107e-02 8.13966495e-01 1.86607258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.710714057 meters Centerline goodness : 0.991599 Centerline is valid? [True, True] Translation: X:116.52, Y:168.06, Z:18.64 [[-6.44783625e-02 -9.97439239e-01 3.09435738e-02 1.16524394e+02] [ 8.15524795e-01 -3.47974813e-02 5.77675034e-01 1.68055723e+02] [-5.75118988e-01 6.24827919e-02 8.15680115e-01 1.86392447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.740714057 meters Centerline goodness : 0.990136 Centerline is valid? [True, True] Translation: X:116.53, Y:168.07, Z:18.62 [[-5.61134931e-02 -9.98388871e-01 8.42246854e-03 1.16526711e+02] [ 8.13843676e-01 -4.08513770e-02 5.79646130e-01 1.68071780e+02] [-5.78368176e-01 3.93805419e-02 8.14824782e-01 1.86237973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.770714057 meters Centerline goodness : 0.990756 Centerline is valid? [True, True] Translation: X:116.51, Y:168.11, Z:18.61 [[-4.86080468e-02 -9.96234611e-01 7.17903709e-02 1.16505232e+02] [ 8.12045427e-01 2.43330224e-03 5.83589157e-01 1.68107893e+02] [-5.81566405e-01 8.66641714e-02 8.08869482e-01 1.86102161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.800714057 meters Centerline goodness : 0.990394 Centerline is valid? [True, True] Translation: X:116.53, Y:168.11, Z:18.58 [[-4.58631069e-02 -9.98806040e-01 -1.68246878e-02 1.16531573e+02] [ 8.11691864e-01 -4.70780096e-02 5.82185520e-01 1.68109540e+02] [-5.82282486e-01 1.30443745e-02 8.12881880e-01 1.85843760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.830714057 meters Centerline goodness : 0.991746 Centerline is valid? [True, True] Translation: X:116.51, Y:168.15, Z:18.58 [[-4.25871301e-02 -9.98676010e-01 2.88541755e-02 1.16510810e+02] [ 8.14325583e-01 -1.79643937e-02 5.80130266e-01 1.68145526e+02] [-5.78843832e-01 4.82027764e-02 8.14012476e-01 1.85790436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.860714057 meters Centerline goodness : 0.991192 Centerline is valid? [True, True] Translation: X:116.50, Y:168.17, Z:18.56 [[-3.89647509e-02 -9.98051430e-01 4.87349172e-02 1.16504684e+02] [ 8.11187385e-01 -3.11467543e-03 5.84778014e-01 1.68173230e+02] [-5.83486740e-01 6.23188796e-02 8.09728091e-01 1.85591285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.890714057 meters Centerline goodness : 0.989631 Centerline is valid? [True, True] Translation: X:116.52, Y:168.18, Z:18.54 [[-3.71859157e-02 -9.99307968e-01 8.90614532e-04 1.16518737e+02] [ 8.08650003e-01 -2.95675751e-02 5.87546535e-01 1.68180444e+02] [-5.87113600e-01 2.25686514e-02 8.09189889e-01 1.85386908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.920714057 meters Centerline goodness : 0.990550 Centerline is valid? [True, True] Translation: X:116.51, Y:168.21, Z:18.52 [[-3.88821348e-02 -9.98898519e-01 2.62664721e-02 1.16509986e+02] [ 8.07678124e-01 -1.59401349e-02 5.89408144e-01 1.68212029e+02] [-5.88340231e-01 4.41323019e-02 8.07408269e-01 1.85225097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.950714057 meters Centerline goodness : 0.990625 Centerline is valid? [True, True] Translation: X:116.51, Y:168.23, Z:18.51 [[-4.16628358e-02 -9.99095421e-01 8.51753479e-03 1.16514189e+02] [ 8.09526686e-01 -2.87586946e-02 5.86378275e-01 1.68229539e+02] [-5.85602897e-01 3.13253535e-02 8.09992574e-01 1.85077292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.980714057 meters Centerline goodness : 0.991696 Centerline is valid? [True, True] Translation: X:116.51, Y:168.25, Z:18.49 [[-4.75767250e-02 -9.98759123e-01 1.47196966e-02 1.16511295e+02] [ 8.10303916e-01 -2.99742047e-02 5.85242780e-01 1.68253911e+02] [-5.84075355e-01 3.97713625e-02 8.10724503e-01 1.84930189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.01071405700003 meters Centerline goodness : 0.990869 Centerline is valid? [True, True] Translation: X:116.51, Y:168.27, Z:18.48 [[-5.17542620e-02 -9.98644369e-01 5.56058989e-03 1.16513534e+02] [ 8.10928987e-01 -3.87749985e-02 5.83858440e-01 1.68274372e+02] [-5.82851332e-01 3.47264062e-02 8.11836438e-01 1.84764126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.040714057 meters Centerline goodness : 0.991613 Centerline is valid? [True, True] Translation: X:116.51, Y:168.30, Z:18.46 [[-5.37200827e-02 -9.98518933e-01 8.60775164e-03 1.16511637e+02] [ 8.11170877e-01 -3.86104420e-02 5.83533241e-01 1.68297083e+02] [-5.82336640e-01 3.83298114e-02 8.12043634e-01 1.84625043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.070714057 meters Centerline goodness : 0.990627 Centerline is valid? [True, True] Translation: X:116.51, Y:168.32, Z:18.45 [[-5.34306600e-02 -9.98513901e-01 1.07309814e-02 1.16511023e+02] [ 8.10705695e-01 -3.71018106e-02 5.84277102e-01 1.68320161e+02] [-5.83010670e-01 3.99179789e-02 8.11483280e-01 1.84462380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.100714057 meters Centerline goodness : 0.991034 Centerline is valid? [True, True] Translation: X:116.51, Y:168.34, Z:18.43 [[-5.39104489e-02 -9.98542170e-01 2.68289645e-03 1.16513177e+02] [ 8.10473658e-01 -4.21870073e-02 5.84253974e-01 1.68341797e+02] [-5.83289048e-01 3.36718109e-02 8.11566446e-01 1.84279715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.130714057 meters Centerline goodness : 0.990912 Centerline is valid? [True, True] Translation: X:116.51, Y:168.37, Z:18.41 [[-5.26991565e-02 -9.98503630e-01 1.46048225e-02 1.16508671e+02] [ 8.10981858e-01 -3.42591234e-02 5.84067409e-01 1.68365482e+02] [-5.82693079e-01 4.26241059e-02 8.11573756e-01 1.84146992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.160714057 meters Centerline goodness : 0.991943 Centerline is valid? [True, True] Translation: X:116.51, Y:168.39, Z:18.39 [[-4.97006922e-02 -9.98730651e-01 8.18099909e-03 1.16510878e+02] [ 8.11198364e-01 -3.55871481e-02 5.83687219e-01 1.68386302e+02] [-5.82655178e-01 3.56460719e-02 8.11937375e-01 1.83925481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.190714057 meters Centerline goodness : 0.990811 Centerline is valid? [True, True] Translation: X:116.51, Y:168.40, Z:18.38 [[-4.84804342e-02 -9.98822336e-01 1.89433206e-03 1.16512707e+02] [ 8.11791199e-01 -3.82972815e-02 5.82690628e-01 1.68396818e+02] [-5.81931867e-01 2.97868967e-02 8.12691850e-01 1.83849432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.220714057 meters Centerline goodness : 0.990947 Centerline is valid? [True, True] Translation: X:116.51, Y:168.39, Z:18.39 [[-4.28975427e-02 -9.99037914e-01 9.11298299e-03 1.16509815e+02] [ 8.11678868e-01 -2.95313187e-02 5.83356937e-01 1.68392464e+02] [-5.82526579e-01 3.24213948e-02 8.12164785e-01 1.83898979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.250714057 meters Centerline goodness : 0.990995 Centerline is valid? [True, True] Translation: X:116.51, Y:168.39, Z:18.39 [[-4.03047719e-02 -9.99186782e-01 1.14016216e-03 1.16512358e+02] [ 8.11653375e-01 -3.20745789e-02 5.83258108e-01 1.68389859e+02] [-5.82747221e-01 2.44335014e-02 8.12286083e-01 1.83880889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.280714057 meters Centerline goodness : 0.989449 Centerline is valid? [True, True] Translation: X:116.51, Y:168.41, Z:18.38 [[-3.75662372e-02 -9.99176154e-01 1.53555028e-02 1.16507071e+02] [ 8.11570404e-01 -2.15399674e-02 5.83857440e-01 1.68413761e+02] [-5.83045674e-01 3.43953986e-02 8.11710970e-01 1.83771406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.310714057 meters Centerline goodness : 0.988921 Centerline is valid? [True, True] Translation: X:116.52, Y:168.43, Z:18.35 [[-3.76437368e-02 -9.99245063e-01 -9.60485861e-03 1.16517144e+02] [ 8.11285809e-01 -3.61718574e-02 5.83529719e-01 1.68428525e+02] [-5.83436616e-01 1.41739537e-02 8.12034983e-01 1.83543060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.340714057 meters Centerline goodness : 0.990330 Centerline is valid? [True, True] Translation: X:116.51, Y:168.46, Z:18.34 [[-3.91592631e-02 -9.99103608e-01 1.60789327e-02 1.16507821e+02] [ 8.11997220e-01 -2.24396151e-02 5.83229781e-01 1.68461414e+02] [-5.82346174e-01 3.58948971e-02 8.12148072e-01 1.83418742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.370714057 meters Centerline goodness : 0.990498 Centerline is valid? [True, True] Translation: X:116.52, Y:168.48, Z:18.32 [[-4.17770768e-02 -9.99106291e-01 -6.42615072e-03 1.16515855e+02] [ 8.10464199e-01 -3.76490526e-02 5.84577053e-01 1.68482428e+02] [-5.84296550e-01 1.92137553e-02 8.11312747e-01 1.83204837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.400714057 meters Centerline goodness : 0.990495 Centerline is valid? [True, True] Translation: X:116.51, Y:168.49, Z:18.32 [[-4.27046709e-02 -9.99066056e-01 6.58231194e-03 1.16510266e+02] [ 8.12713366e-01 -3.09056457e-02 5.81843473e-01 1.68490256e+02] [-5.81096633e-01 3.01969669e-02 8.13274152e-01 1.83226609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.430714057 meters Centerline goodness : 0.990418 Centerline is valid? [True, True] Translation: X:116.51, Y:168.50, Z:18.32 [[-4.61510832e-02 -9.98928322e-01 -3.50496640e-03 1.16514151e+02] [ 8.17714715e-01 -3.97937808e-02 5.74246549e-01 1.68497583e+02] [-5.73770618e-01 2.36360377e-02 8.18674915e-01 1.83155804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.460714057 meters Centerline goodness : 0.991051 Centerline is valid? [True, True] Translation: X:116.51, Y:168.51, Z:18.31 [[-4.84466801e-02 -9.98821753e-01 -2.83299770e-03 1.16512378e+02] [ 8.17972732e-01 -4.13022233e-02 5.73772374e-01 1.68509506e+02] [-5.73213337e-01 2.54800517e-02 8.19009913e-01 1.83106204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.490714057 meters Centerline goodness : 0.989782 Centerline is valid? [True, True] Translation: X:116.51, Y:168.52, Z:18.31 [[-5.28808918e-02 -9.98592651e-01 -4.04085490e-03 1.16512482e+02] [ 8.21166639e-01 -4.57870978e-02 5.68848744e-01 1.68517786e+02] [-5.68233194e-01 2.67630136e-02 8.22432233e-01 1.83073912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.520714057 meters Centerline goodness : 0.989893 Centerline is valid? [True, True] Translation: X:116.51, Y:168.52, Z:18.32 [[-5.37771548e-02 -9.98478326e-01 1.22086267e-02 1.16507212e+02] [ 8.21267336e-01 -3.72714609e-02 5.69324865e-01 1.68517612e+02] [-5.68003504e-01 4.06432177e-02 8.22021988e-01 1.83161432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.550714057 meters Centerline goodness : 0.990223 Centerline is valid? [True, True] Translation: X:116.52, Y:168.53, Z:18.29 [[-5.56251039e-02 -9.98343708e-01 -1.46863085e-02 1.16515923e+02] [ 8.20647224e-01 -5.40927683e-02 5.68869147e-01 1.68528742e+02] [-5.68721357e-01 1.95911271e-02 8.22296908e-01 1.82941095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.580714057 meters Centerline goodness : 0.989641 Centerline is valid? [True, True] Translation: X:116.51, Y:168.54, Z:18.29 [[-5.54665717e-02 -9.98459168e-01 -1.65816019e-03 1.16510300e+02] [ 8.20274658e-01 -4.65147708e-02 5.70075313e-01 1.68542532e+02] [-5.69274052e-01 3.02599764e-02 8.21590767e-01 1.82908991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.610714057 meters Centerline goodness : 0.989478 Centerline is valid? [True, True] Translation: X:116.50, Y:168.55, Z:18.29 [[-5.30157445e-02 -9.98445005e-01 1.72308528e-02 1.16503278e+02] [ 8.18263838e-01 -3.35448754e-02 5.73863253e-01 1.68549622e+02] [-5.72392892e-01 4.45231713e-02 8.18769848e-01 1.82928574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.640714057 meters Centerline goodness : 0.988944 Centerline is valid? [True, True] Translation: X:116.51, Y:168.54, Z:18.29 [[-5.12040266e-02 -9.98678934e-01 -4.30517381e-03 1.16510821e+02] [ 8.16541474e-01 -4.43467722e-02 5.75580911e-01 1.68539431e+02] [-5.75011451e-01 2.59567073e-02 8.17733502e-01 1.82886056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.670714057 meters Centerline goodness : 0.989613 Centerline is valid? [True, True] Translation: X:116.50, Y:168.57, Z:18.28 [[-5.09052186e-02 -9.98153841e-01 3.31295687e-02 1.16496774e+02] [ 8.20443554e-01 -2.28811891e-02 5.71269486e-01 1.68572935e+02] [-5.69456788e-01 5.62615392e-02 8.20093657e-01 1.82783918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.700714057 meters Centerline goodness : 0.990914 Centerline is valid? [True, True] Translation: X:116.50, Y:168.59, Z:18.26 [[-5.01176737e-02 -9.98505361e-01 2.18005247e-02 1.16499852e+02] [ 8.19784988e-01 -2.86596584e-02 5.71953843e-01 1.68592589e+02] [-5.70474183e-01 4.65367389e-02 8.19996060e-01 1.82567676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.730714057 meters Centerline goodness : 0.988602 Centerline is valid? [True, True] Translation: X:116.51, Y:168.58, Z:18.25 [[-4.50051080e-02 -9.98975635e-01 4.71393748e-03 1.16505101e+02] [ 8.17566554e-01 -3.41199456e-02 5.74822372e-01 1.68581422e+02] [-5.74072705e-01 2.97239006e-02 8.18264639e-01 1.82525779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.76071405700003 meters Centerline goodness : 0.990742 Centerline is valid? [True, True] Translation: X:116.50, Y:168.59, Z:18.25 [[-4.05600386e-02 -9.98850547e-01 2.55434386e-02 1.16496946e+02] [ 8.15898501e-01 -1.83523190e-02 5.77903822e-01 1.68591181e+02] [-5.76770768e-01 4.42806546e-02 8.15705035e-01 1.82518363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.790714057 meters Centerline goodness : 0.988746 Centerline is valid? [True, True] Translation: X:116.50, Y:168.61, Z:18.24 [[-3.73758120e-02 -9.99254630e-01 9.65572700e-03 1.16501340e+02] [ 8.13682857e-01 -2.48227178e-02 5.80778823e-01 1.68605834e+02] [-5.80106247e-01 2.95637796e-02 8.14004131e-01 1.82350224e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.820714057 meters Centerline goodness : 0.989993 Centerline is valid? [True, True] Translation: X:116.49, Y:168.63, Z:18.23 [[-4.77022677e-02 -9.98802472e-01 1.08680865e-02 1.16490137e+02] [ 8.20003556e-01 -3.29453547e-02 5.71409461e-01 1.68627816e+02] [-5.70367129e-01 3.61693966e-02 8.20593147e-01 1.82299424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.850714057 meters Centerline goodness : 0.991070 Centerline is valid? [True, True] Translation: X:116.50, Y:168.66, Z:18.20 [[-4.46420869e-02 -9.98980359e-01 6.73243479e-03 1.16499285e+02] [ 8.17790775e-01 -3.26728288e-02 5.74587448e-01 1.68658804e+02] [-5.73781607e-01 3.11565058e-02 8.18415505e-01 1.82015771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.880714057 meters Centerline goodness : 0.989733 Centerline is valid? [True, True] Translation: X:116.50, Y:168.68, Z:18.19 [[-4.47769872e-02 -9.98984663e-01 4.96635408e-03 1.16498453e+02] [ 8.12053722e-01 -3.35018362e-02 5.82620271e-01 1.68678723e+02] [-5.81862333e-01 3.01209267e-02 8.12729325e-01 1.81893771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.910714057 meters Centerline goodness : 0.988821 Centerline is valid? [True, True] Translation: X:116.49, Y:168.71, Z:18.18 [[-4.85040168e-02 -9.98595114e-01 2.13344694e-02 1.16491759e+02] [ 8.10631506e-01 -2.68772707e-02 5.84939461e-01 1.68705540e+02] [-5.83544275e-01 4.56663065e-02 8.10796317e-01 1.81774478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.940714057 meters Centerline goodness : 0.988822 Centerline is valid? [True, True] Translation: X:116.49, Y:168.69, Z:18.19 [[-4.82681525e-02 -9.98501649e-01 2.57806563e-02 1.16491123e+02] [ 8.07494740e-01 -2.38170077e-02 5.89393752e-01 1.68693471e+02] [-5.87896615e-01 4.92666919e-02 8.07434433e-01 1.81857520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.970714057 meters Centerline goodness : 0.990989 Centerline is valid? [True, True] Translation: X:116.49, Y:168.72, Z:18.16 [[-5.42881052e-02 -9.98350342e-01 1.86921246e-02 1.16493876e+02] [ 8.10017386e-01 -3.30851767e-02 5.85471780e-01 1.68719138e+02] [-5.83887520e-01 4.69250995e-02 8.10477266e-01 1.81626413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.000714057 meters Centerline goodness : 0.990989 Centerline is valid? [True, True] Translation: X:116.50, Y:168.72, Z:18.16 [[-5.38319681e-02 -9.98444469e-01 1.45176288e-02 1.16495309e+02] [ 8.09940243e-01 -3.51559040e-02 5.85457825e-01 1.68723066e+02] [-5.84036747e-01 4.32747587e-02 8.10572868e-01 1.81577000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.030714057 meters Centerline goodness : 0.989682 Centerline is valid? [True, True] Translation: X:116.50, Y:168.72, Z:18.16 [[-5.72468762e-02 -9.98272443e-01 1.32258971e-02 1.16496668e+02] [ 8.04579624e-01 -3.82880267e-02 5.92609193e-01 1.68723666e+02] [-5.91079034e-01 4.45663124e-02 8.05381537e-01 1.81562433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.060714057 meters Centerline goodness : 0.990252 Centerline is valid? [True, True] Translation: X:116.50, Y:168.74, Z:18.14 [[-5.99366135e-02 -9.98153559e-01 9.85264441e-03 1.16498395e+02] [ 8.02899793e-01 -4.23428141e-02 5.94608282e-01 1.68735145e+02] [-5.93093184e-01 4.35494930e-02 8.03955171e-01 1.81437866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.090714057 meters Centerline goodness : 0.989668 Centerline is valid? [True, True] Translation: X:116.50, Y:168.75, Z:18.14 [[-6.24082462e-02 -9.98013060e-01 8.66846928e-03 1.16499208e+02] [ 8.04009534e-01 -4.51269407e-02 5.92901534e-01 1.68745504e+02] [-5.91332293e-01 4.39714769e-02 8.05228308e-01 1.81362272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.120714057 meters Centerline goodness : 0.990207 Centerline is valid? [True, True] Translation: X:116.50, Y:168.74, Z:18.14 [[-6.25901107e-02 -9.97888103e-01 1.73727333e-02 1.16497292e+02] [ 8.03074837e-01 -4.00204033e-02 5.94532735e-01 1.68740181e+02] [-5.92581879e-01 5.11634746e-02 8.03883708e-01 1.81417835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.150714057 meters Centerline goodness : 0.990151 Centerline is valid? [True, True] Translation: X:116.50, Y:168.76, Z:18.12 [[-6.59092834e-02 -9.97815823e-01 4.42155468e-03 1.16502777e+02] [ 8.05484774e-01 -5.05886975e-02 5.90453269e-01 1.68759534e+02] [-5.88939934e-01 4.24778468e-02 8.07059717e-01 1.81230573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.180714057 meters Centerline goodness : 0.988216 Centerline is valid? [True, True] Translation: X:116.50, Y:169.28, Z:17.74 [[-9.22843376e-02 -9.95403026e-01 -2.56206529e-02 1.16497295e+02] [ 8.11577634e-01 -9.00997505e-02 5.77255384e-01 1.69278990e+02] [-5.76910170e-01 3.24784819e-02 8.16161628e-01 1.77410233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.210714057 meters Centerline goodness : 0.986365 Centerline is valid? [True, True] Translation: X:116.49, Y:169.35, Z:17.70 [[-8.45127563e-02 -9.96391984e-01 -7.78512376e-03 1.16488655e+02] [ 8.11256970e-01 -7.33421113e-02 5.80071602e-01 1.69352295e+02] [-5.78549672e-01 4.27077140e-02 8.14528286e-01 1.76960542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.240714057 meters Centerline goodness : 0.990963 Centerline is valid? [True, True] Translation: X:116.48, Y:168.83, Z:18.09 [[-6.87208272e-02 -9.97557703e-01 1.24931235e-02 1.16484069e+02] [ 8.17483150e-01 -4.91288851e-02 5.73853336e-01 1.68832009e+02] [-5.71838042e-01 4.96485940e-02 8.18862791e-01 1.80863989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.270714057 meters Centerline goodness : 0.988534 Centerline is valid? [True, True] Translation: X:116.49, Y:168.86, Z:18.06 [[-5.46840643e-02 -9.97904591e-01 3.45843824e-02 1.16488034e+02] [ 8.04076854e-01 -2.34741191e-02 5.94061763e-01 1.68859399e+02] [-5.92005123e-01 6.02942131e-02 8.03675645e-01 1.80572155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.300714057 meters Centerline goodness : 0.988045 Centerline is valid? [True, True] Translation: X:116.50, Y:168.88, Z:18.04 [[-5.03805779e-02 -9.98670544e-01 1.09060213e-02 1.16495477e+02] [ 8.04901963e-01 -3.41358066e-02 5.92425166e-01 1.68876956e+02] [-5.91265277e-01 3.86250001e-02 8.05551663e-01 1.80357510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.330714057 meters Centerline goodness : 0.988714 Centerline is valid? [True, True] Translation: X:116.50, Y:168.89, Z:18.02 [[-5.27925391e-02 -9.98344072e-01 -2.28486619e-02 1.16501682e+02] [ 8.05930842e-01 -5.61057890e-02 5.89345075e-01 1.68887330e+02] [-5.89651105e-01 1.26985816e-02 8.07558246e-01 1.80172226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.360714057 meters Centerline goodness : 0.989047 Centerline is valid? [True, True] Translation: X:116.46, Y:168.95, Z:18.02 [[-4.51588070e-02 -9.95235349e-01 8.64134385e-02 1.16463996e+02] [ 8.06869772e-01 1.46638167e-02 5.90547326e-01 1.68948634e+02] [-5.89000725e-01 9.63928041e-02 8.02363118e-01 1.80207926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.390714057 meters Centerline goodness : 0.988486 Centerline is valid? [True, True] Translation: X:116.50, Y:168.94, Z:17.99 [[-4.31705864e-02 -9.99067697e-01 1.91247289e-04 1.16495055e+02] [ 8.08897633e-01 -3.48408212e-02 5.86916295e-01 1.68938558e+02] [-5.86362448e-01 2.54922201e-02 8.09647594e-01 1.79872141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.420714057 meters Centerline goodness : 0.987519 Centerline is valid? [True, True] Translation: X:116.49, Y:169.46, Z:17.63 [[-7.55063242e-02 -9.95723912e-01 -5.32229847e-02 1.16492923e+02] [ 8.33615526e-01 -9.23219222e-02 5.44574896e-01 1.69458041e+02] [-5.47159894e-01 -3.24865774e-03 8.37021802e-01 1.76323227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.450714057 meters Centerline goodness : 0.988905 Centerline is valid? [True, True] Translation: X:116.45, Y:169.50, Z:18.55 [[-6.78725975e-02 -1.31665917e-01 9.88967844e-01 1.16450688e+02] [ 7.96776358e-01 5.89421072e-01 1.33154933e-01 1.69496807e+02] [-6.00450453e-01 7.97023768e-01 6.49027508e-02 1.85531443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.480714057 meters Centerline goodness : 0.988389 Centerline is valid? [True, True] Translation: X:116.51, Y:169.07, Z:17.93 [[-4.34197402e-02 -9.97891907e-01 -4.82334668e-02 1.16511062e+02] [ 7.68950525e-01 -6.42031428e-02 6.36076290e-01 1.69069501e+02] [-6.37832123e-01 -9.47088231e-03 7.70117190e-01 1.79284962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.51071405700003 meters Centerline goodness : 0.988988 Centerline is valid? [True, True] Translation: X:116.48, Y:169.10, Z:17.94 [[-4.17913677e-02 -9.98402803e-01 3.80174312e-02 1.16479218e+02] [ 7.63724241e-01 -7.38861686e-03 6.45500342e-01 1.69098952e+02] [-6.44188454e-01 5.60111759e-02 7.62813204e-01 1.79433184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.540714057 meters Centerline goodness : 0.989614 Centerline is valid? [True, True] Translation: X:116.49, Y:169.09, Z:17.94 [[-4.51184038e-02 -9.98956513e-01 7.08620168e-03 1.16489830e+02] [ 7.73130719e-01 -3.04249460e-02 6.33516546e-01 1.69089839e+02] [-6.32639883e-01 3.40618155e-02 7.73696692e-01 1.79392415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.570714057 meters Centerline goodness : 0.988894 Centerline is valid? [True, True] Translation: X:116.50, Y:169.10, Z:17.93 [[-4.72419275e-02 -9.98879273e-01 -2.89788087e-03 1.16495226e+02] [ 7.70130844e-01 -3.82705439e-02 6.36736876e-01 1.69096739e+02] [-6.36134171e-01 2.78489299e-02 7.71075712e-01 1.79302265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.600714057 meters Centerline goodness : 0.989110 Centerline is valid? [True, True] Translation: X:116.49, Y:169.10, Z:17.93 [[-4.80955431e-02 -9.98800717e-01 9.16227573e-03 1.16491741e+02] [ 7.70560382e-01 -3.12653141e-02 6.36599700e-01 1.69104927e+02] [-6.35549775e-01 3.76776950e-02 7.71139984e-01 1.79274435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.630714057 meters Centerline goodness : 0.988703 Centerline is valid? [True, True] Translation: X:116.49, Y:169.11, Z:17.92 [[-4.98505210e-02 -9.98735878e-01 6.44765953e-03 1.16494370e+02] [ 7.71409511e-01 -3.44017568e-02 6.35408440e-01 1.69108291e+02] [-6.34383395e-01 3.66492276e-02 7.72149301e-01 1.79231499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.660714057 meters Centerline goodness : 0.988521 Centerline is valid? [True, True] Translation: X:116.49, Y:169.11, Z:17.93 [[-4.69728339e-02 -9.98556363e-01 2.60526825e-02 1.16489067e+02] [ 7.66462524e-01 -1.93049941e-02 6.41998845e-01 1.69110096e+02] [-6.40569085e-01 5.01249099e-02 7.66262841e-01 1.79255101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.690714057 meters Centerline goodness : 0.989376 Centerline is valid? [True, True] Translation: X:116.49, Y:169.12, Z:17.91 [[-4.66892134e-02 -9.98515717e-01 2.80442696e-02 1.16489927e+02] [ 7.63965388e-01 -1.76060451e-02 6.45016987e-01 1.69121252e+02] [-6.43565850e-01 5.15401870e-02 7.63653459e-01 1.79134299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.720714057 meters Centerline goodness : 0.988984 Centerline is valid? [True, True] Translation: X:116.49, Y:169.12, Z:17.91 [[-5.06539366e-02 -9.98644407e-01 1.19803126e-02 1.16494608e+02] [ 7.68871942e-01 -3.13378323e-02 6.38634385e-01 1.69120470e+02] [-6.37393219e-01 4.15606719e-02 7.69417048e-01 1.79100702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.750714057 meters Centerline goodness : 0.988771 Centerline is valid? [True, True] Translation: X:116.50, Y:169.13, Z:17.90 [[-5.28993091e-02 -9.98535656e-01 1.13228036e-02 1.16495055e+02] [ 7.70995735e-01 -3.36336386e-02 6.35951535e-01 1.69128252e+02] [-6.34639456e-01 4.23712301e-02 7.71645929e-01 1.79041195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.780714057 meters Centerline goodness : 0.989147 Centerline is valid? [True, True] Translation: X:116.49, Y:169.14, Z:17.90 [[-5.49051002e-02 -9.98364513e-01 1.59288892e-02 1.16492027e+02] [ 7.76734087e-01 -3.26811564e-02 6.28980207e-01 1.69135079e+02] [-6.27430943e-01 4.69067325e-02 7.77258110e-01 1.79016579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.810714057 meters Centerline goodness : 0.988848 Centerline is valid? [True, True] Translation: X:116.50, Y:169.13, Z:17.90 [[-5.52784401e-02 -9.98468892e-01 2.04085829e-03 1.16497294e+02] [ 7.75070970e-01 -4.16216764e-02 6.30501886e-01 1.69134149e+02] [-6.29451576e-01 3.64349707e-02 7.76185034e-01 1.78951870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.840714057 meters Centerline goodness : 0.988895 Centerline is valid? [True, True] Translation: X:116.49, Y:169.14, Z:17.90 [[-5.46148609e-02 -9.98449402e-01 1.07707054e-02 1.16493761e+02] [ 7.73178912e-01 -3.54620817e-02 6.33195713e-01 1.69138765e+02] [-6.31831930e-01 4.29095781e-02 7.73916779e-01 1.78950426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.870714057 meters Centerline goodness : 0.988020 Centerline is valid? [True, True] Translation: X:116.49, Y:169.15, Z:17.88 [[-5.72780460e-02 -9.98357934e-01 8.12529964e-04 1.16494484e+02] [ 7.76088768e-01 -4.40139708e-02 6.29085841e-01 1.69154428e+02] [-6.28017078e-01 3.66634031e-02 7.77335413e-01 1.78826926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.900714057 meters Centerline goodness : 0.987728 Centerline is valid? [True, True] Translation: X:116.49, Y:169.15, Z:17.88 [[-5.80267067e-02 -9.98313805e-01 1.56467114e-03 1.16492922e+02] [ 7.75927197e-01 -4.41142719e-02 6.29278092e-01 1.69154476e+02] [-6.28147982e-01 3.77290062e-02 7.77178638e-01 1.78845649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.930714057 meters Centerline goodness : 0.988860 Centerline is valid? [True, True] Translation: X:116.49, Y:169.16, Z:17.88 [[-5.89985422e-02 -9.98253525e-01 3.01186328e-03 1.16490451e+02] [ 7.77951869e-01 -4.40872622e-02 6.26775241e-01 1.69159035e+02] [-6.25547809e-01 3.93219102e-02 7.79194280e-01 1.78844855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.960714057 meters Centerline goodness : 0.989069 Centerline is valid? [True, True] Translation: X:116.49, Y:169.17, Z:17.88 [[-6.19582848e-02 -9.98078723e-01 -1.82433936e-04 1.16489390e+02] [ 7.79422777e-01 -4.84988296e-02 6.24618282e-01 1.69165411e+02] [-6.23427065e-01 3.85580842e-02 7.80930194e-01 1.78827230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.990714057 meters Centerline goodness : 0.988208 Centerline is valid? [True, True] Translation: X:116.49, Y:169.17, Z:17.88 [[-6.48926211e-02 -9.97890340e-01 1.95390881e-03 1.16488059e+02] [ 7.79956170e-01 -4.94988339e-02 6.23873576e-01 1.69170922e+02] [-6.22460698e-01 4.20087548e-02 7.81522836e-01 1.78800187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.020714057 meters Centerline goodness : 0.989930 Centerline is valid? [True, True] Translation: X:116.49, Y:169.17, Z:17.88 [[-6.47070266e-02 -9.97886350e-01 5.98603174e-03 1.16486053e+02] [ 7.79660079e-01 -4.68104433e-02 6.24450914e-01 1.69174196e+02] [-6.22850835e-01 4.50734319e-02 7.81041115e-01 1.78779165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.050714057 meters Centerline goodness : 0.989270 Centerline is valid? [True, True] Translation: X:116.49, Y:169.19, Z:17.86 [[-6.88378825e-02 -9.97627274e-01 -1.08055526e-03 1.16487678e+02] [ 7.83521684e-01 -5.47346526e-02 6.18949020e-01 1.69190537e+02] [-6.17539567e-01 4.17605014e-02 7.85430419e-01 1.78637101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.080714057 meters Centerline goodness : 0.989244 Centerline is valid? [True, True] Translation: X:116.49, Y:169.20, Z:17.86 [[-7.47296116e-02 -9.97177201e-01 -7.28805708e-03 1.16487603e+02] [ 7.89262108e-01 -6.36120151e-02 6.10752681e-01 1.69201583e+02] [-6.09492257e-01 3.98891234e-02 7.91787880e-01 1.78574576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.110714057 meters Centerline goodness : 0.989178 Centerline is valid? [True, True] Translation: X:116.48, Y:169.20, Z:17.86 [[-7.60510275e-02 -9.97103744e-01 -6.04725838e-04 1.16484797e+02] [ 7.90004514e-01 -6.06251820e-02 6.10096268e-01 1.69198416e+02] [-6.08365934e-01 4.59207119e-02 7.92327066e-01 1.78627863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.140714057 meters Centerline goodness : 0.989709 Centerline is valid? [True, True] Translation: X:116.48, Y:169.21, Z:17.85 [[-7.95985180e-02 -9.96790267e-01 -8.55803741e-03 1.16484537e+02] [ 7.93836142e-01 -6.85795175e-02 6.04252456e-01 1.69208040e+02] [-6.02899873e-01 4.13039206e-02 7.96746967e-01 1.78540243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.170714057 meters Centerline goodness : 0.990553 Centerline is valid? [True, True] Translation: X:116.48, Y:169.21, Z:17.85 [[-7.97280630e-02 -9.96803951e-01 -5.03185854e-03 1.16481270e+02] [ 7.95169509e-01 -6.66430909e-02 6.02713987e-01 1.69211326e+02] [-6.01123022e-01 4.40520382e-02 7.97941433e-01 1.78533716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.200714057 meters Centerline goodness : 0.989510 Centerline is valid? [True, True] Translation: X:116.47, Y:169.22, Z:17.85 [[-7.93297477e-02 -9.96840440e-01 3.99097488e-03 1.16474889e+02] [ 7.95774716e-01 -6.09164295e-02 6.02521195e-01 1.69220035e+02] [-6.00374378e-01 5.09737713e-02 7.98092903e-01 1.78511951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.230714057 meters Centerline goodness : 0.988774 Centerline is valid? [True, True] Translation: X:116.48, Y:169.22, Z:17.85 [[-7.93624613e-02 -9.96845762e-01 3.55487943e-04 1.16475198e+02] [ 7.95251838e-01 -6.30978141e-02 6.02986883e-01 1.69218679e+02] [-6.01062488e-01 4.81372256e-02 7.97751022e-01 1.78497686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.26071405700003 meters Centerline goodness : 0.989895 Centerline is valid? [True, True] Translation: X:116.47, Y:169.23, Z:17.84 [[-8.05632301e-02 -9.96737768e-01 -4.83613465e-03 1.16474227e+02] [ 7.97325093e-01 -6.73554304e-02 5.99779911e-01 1.69231432e+02] [-5.98149030e-01 4.44642355e-02 8.00150405e-01 1.78408037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.290714057 meters Centerline goodness : 0.989424 Centerline is valid? [True, True] Translation: X:116.47, Y:169.27, Z:17.82 [[-7.85328033e-02 -9.96878515e-01 8.11328610e-03 1.16465831e+02] [ 7.95173598e-01 -5.77300122e-02 6.03627531e-01 1.69267266e+02] [-6.01274936e-01 5.38560330e-02 7.97225175e-01 1.78190435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.320714057 meters Centerline goodness : 0.989628 Centerline is valid? [True, True] Translation: X:116.47, Y:169.25, Z:17.83 [[-7.78395152e-02 -9.96958051e-01 -3.95649702e-03 1.16468808e+02] [ 7.95142794e-01 -6.44753685e-02 6.02984962e-01 1.69250899e+02] [-6.01405809e-01 4.37900770e-02 7.97742742e-01 1.78269117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.350714057 meters Centerline goodness : 0.988442 Centerline is valid? [True, True] Translation: X:116.46, Y:169.25, Z:17.83 [[-7.74774385e-02 -9.96982783e-01 -4.75149162e-03 1.16464999e+02] [ 7.96983920e-01 -6.47971204e-02 6.00514750e-01 1.69247483e+02] [-5.99010750e-01 4.27394822e-02 7.99599561e-01 1.78306829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.380714057 meters Centerline goodness : 0.988628 Centerline is valid? [True, True] Translation: X:116.46, Y:169.26, Z:17.83 [[-7.66720814e-02 -9.97056235e-01 5.06480950e-04 1.16461530e+02] [ 7.97141596e-01 -6.09938118e-02 6.00703780e-01 1.69257628e+02] [-5.98904557e-01 4.64609461e-02 7.99471521e-01 1.78259707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.410714057 meters Centerline goodness : 0.988824 Centerline is valid? [True, True] Translation: X:116.46, Y:169.25, Z:17.83 [[-7.47009696e-02 -9.97199136e-01 3.69435580e-03 1.16458217e+02] [ 7.94909541e-01 -5.73095826e-02 6.04015259e-01 1.69254174e+02] [-6.02111772e-01 4.80572042e-02 7.96964189e-01 1.78272446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.440714057 meters Centerline goodness : 0.988466 Centerline is valid? [True, True] Translation: X:116.46, Y:169.27, Z:17.81 [[-7.59538653e-02 -9.97097986e-01 -5.15910730e-03 1.16459466e+02] [ 7.96534432e-01 -6.37867317e-02 6.01218888e-01 1.69268591e+02] [-5.99803225e-01 4.15554918e-02 7.99067727e-01 1.78142166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.470714057 meters Centerline goodness : 0.989324 Centerline is valid? [True, True] Translation: X:116.46, Y:169.29, Z:17.79 [[-7.28840222e-02 -9.97334717e-01 -3.37377908e-03 1.16457904e+02] [ 7.94616446e-01 -6.01132572e-02 6.04128380e-01 1.69291440e+02] [-6.02721016e-01 4.13504459e-02 7.96879864e-01 1.77938735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.500714057 meters Centerline goodness : 0.989001 Centerline is valid? [True, True] Translation: X:116.45, Y:169.28, Z:17.81 [[-6.71669106e-02 -9.97722172e-01 6.25086216e-03 1.16453178e+02] [ 7.95082542e-01 -4.97381473e-02 6.04458326e-01 1.69277444e+02] [-6.02770568e-01 4.55695497e-02 7.96612239e-01 1.78077160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.530714057 meters Centerline goodness : 0.988503 Centerline is valid? [True, True] Translation: X:116.45, Y:169.30, Z:17.80 [[-6.46288357e-02 -9.97777204e-01 1.62408425e-02 1.16447980e+02] [ 7.96398267e-01 -4.17645605e-02 6.03328701e-01 1.69300847e+02] [-6.01309333e-01 5.19266103e-02 7.97327231e-01 1.77962863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.560714057 meters Centerline goodness : 0.988816 Centerline is valid? [True, True] Translation: X:116.45, Y:169.32, Z:17.77 [[-6.15584700e-02 -9.98098993e-01 2.99242587e-03 1.16450895e+02] [ 7.94721541e-01 -4.72007460e-02 6.05136152e-01 1.69320644e+02] [-6.03844539e-01 3.96294010e-02 7.96116375e-01 1.77730651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.590714057 meters Centerline goodness : 0.988182 Centerline is valid? [True, True] Translation: X:116.45, Y:169.34, Z:17.76 [[-5.91070624e-02 -9.98192887e-01 1.08312584e-02 1.16448186e+02] [ 7.94401316e-01 -4.04636322e-02 6.06043929e-01 1.69343392e+02] [-6.04510467e-01 4.44258422e-02 7.95357429e-01 1.77576739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.620714057 meters Centerline goodness : 0.988224 Centerline is valid? [True, True] Translation: X:116.44, Y:169.37, Z:17.74 [[-5.83126937e-02 -9.98160339e-01 1.66001978e-02 1.16443872e+02] [ 7.95132792e-01 -3.63844583e-02 6.05342890e-01 1.69367201e+02] [-6.03625275e-01 4.84985361e-02 7.95791694e-01 1.77421001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.650714057 meters Centerline goodness : 0.987980 Centerline is valid? [True, True] Translation: X:116.45, Y:169.39, Z:17.72 [[-5.79969967e-02 -9.98270441e-01 9.61643089e-03 1.16445822e+02] [ 7.95768781e-01 -4.04113576e-02 6.04250751e-01 1.69386888e+02] [-6.02817050e-01 4.26971843e-02 7.96736189e-01 1.77226678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.680714057 meters Centerline goodness : 0.988613 Centerline is valid? [True, True] Translation: X:116.45, Y:169.39, Z:17.72 [[-5.72619613e-02 -9.98350121e-01 4.25490181e-03 1.16447904e+02] [ 7.95792200e-01 -4.30695668e-02 6.04036246e-01 1.69386884e+02] [-6.02856402e-01 3.79743178e-02 7.96945487e-01 1.77195457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.710714057 meters Centerline goodness : 0.987655 Centerline is valid? [True, True] Translation: X:116.44, Y:169.41, Z:17.71 [[-5.71704669e-02 -9.98266770e-01 1.39640142e-02 1.16443301e+02] [ 7.95200346e-01 -3.70750423e-02 6.05212237e-01 1.69410024e+02] [-6.03645549e-01 4.57044551e-02 7.95941678e-01 1.77056164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.740714057 meters Centerline goodness : 0.988183 Centerline is valid? [True, True] Translation: X:116.44, Y:169.43, Z:17.69 [[-5.75117863e-02 -9.98224020e-01 1.55306366e-02 1.16441929e+02] [ 7.94226245e-01 -3.63219939e-02 6.06535560e-01 1.69432880e+02] [-6.04894261e-01 4.72177827e-02 7.94904657e-01 1.76876921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.770714057 meters Centerline goodness : 0.988226 Centerline is valid? [True, True] Translation: X:116.44, Y:169.46, Z:17.67 [[-5.77551175e-02 -9.98248334e-01 1.28300710e-02 1.16441361e+02] [ 7.92968124e-01 -3.80630212e-02 6.08072990e-01 1.69455197e+02] [-6.06519498e-01 4.52931643e-02 7.93777443e-01 1.76688599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.800714057 meters Centerline goodness : 0.988555 Centerline is valid? [True, True] Translation: X:116.44, Y:169.46, Z:17.66 [[-5.93360504e-02 -9.98237626e-01 9.35620363e-04 1.16444701e+02] [ 7.94494118e-01 -4.66578752e-02 6.05476786e-01 1.69462707e+02] [-6.04366056e-01 3.66699460e-02 7.95862416e-01 1.76591919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.830714057 meters Centerline goodness : 0.988859 Centerline is valid? [True, True] Translation: X:116.44, Y:169.48, Z:17.65 [[-5.88143723e-02 -9.98243029e-01 7.19197891e-03 1.16442370e+02] [ 7.93218223e-01 -4.23581969e-02 6.07462454e-01 1.69481222e+02] [-6.06090521e-01 4.14323317e-02 7.94315833e-01 1.76464553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.860714057 meters Centerline goodness : 0.989595 Centerline is valid? [True, True] Translation: X:116.44, Y:169.50, Z:17.63 [[-6.09165087e-02 -9.98126754e-01 5.67110560e-03 1.16442194e+02] [ 7.94191755e-01 -4.50270643e-02 6.05996717e-01 1.69503823e+02] [-6.04606183e-01 4.14191496e-02 7.95446930e-01 1.76312397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.890714057 meters Centerline goodness : 0.988381 Centerline is valid? [True, True] Translation: X:116.44, Y:169.53, Z:17.61 [[-6.09975194e-02 -9.98116515e-01 6.53651237e-03 1.16444133e+02] [ 7.94118237e-01 -4.45612132e-02 6.06127482e-01 1.69525394e+02] [-6.04694575e-01 4.21630365e-02 7.95340650e-01 1.76121299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.920714057 meters Centerline goodness : 0.988381 Centerline is valid? [True, True] Translation: X:116.44, Y:169.55, Z:17.60 [[-6.13951395e-02 -9.98051335e-01 1.11431781e-02 1.16442175e+02] [ 7.94242697e-01 -4.20903237e-02 6.06141026e-01 1.69548335e+02] [-6.04490839e-01 4.60645006e-02 7.95279125e-01 1.75972015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.950714057 meters Centerline goodness : 0.988387 Centerline is valid? [True, True] Translation: X:116.45, Y:169.55, Z:17.59 [[-6.28886877e-02 -9.98016372e-01 -2.88695946e-03 1.16446842e+02] [ 7.98056122e-01 -5.20250378e-02 6.00333092e-01 1.69547851e+02] [-5.99292449e-01 3.54502047e-02 7.99744862e-01 1.75921550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.980714057 meters Centerline goodness : 0.989165 Centerline is valid? [True, True] Translation: X:116.44, Y:169.57, Z:17.58 [[-6.25610743e-02 -9.97962981e-01 1.24900407e-02 1.16442327e+02] [ 7.98717930e-01 -4.25588394e-02 6.00198646e-01 1.69573512e+02] [-5.98444468e-01 4.75250915e-02 7.99753452e-01 1.75796772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.01071405700003 meters Centerline goodness : 0.988253 Centerline is valid? [True, True] Translation: X:116.45, Y:169.59, Z:17.56 [[-6.24282254e-02 -9.98043111e-01 3.55879640e-03 1.16446445e+02] [ 7.98458414e-01 -4.78040807e-02 6.00149091e-01 1.69589677e+02] [-5.98804541e-01 4.03077936e-02 7.99880244e-01 1.75617480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.040714057 meters Centerline goodness : 0.988242 Centerline is valid? [True, True] Translation: X:116.45, Y:169.58, Z:17.57 [[-6.18229597e-02 -9.98076449e-01 4.61777016e-03 1.16447034e+02] [ 7.98766978e-01 -4.67021179e-02 5.99825163e-01 1.69579702e+02] [-5.98455709e-01 4.07714892e-02 8.00117773e-01 1.75700332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.070714057 meters Centerline goodness : 0.987099 Centerline is valid? [True, True] Translation: X:116.45, Y:169.60, Z:17.55 [[-6.10248463e-02 -9.97969154e-01 1.82629781e-02 1.16445991e+02] [ 7.96941634e-01 -3.76994411e-02 6.02878748e-01 1.69603445e+02] [-6.00965890e-01 5.13451105e-02 7.97623771e-01 1.75545841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.100714057 meters Centerline goodness : 0.988550 Centerline is valid? [True, True] Translation: X:116.45, Y:169.63, Z:17.54 [[-6.31322580e-02 -9.97946607e-01 1.08114750e-02 1.16447132e+02] [ 7.96754607e-01 -4.38748458e-02 6.02708133e-01 1.69625711e+02] [-6.00996185e-01 4.66644179e-02 7.97888475e-01 1.75364946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.130714057 meters Centerline goodness : 0.988122 Centerline is valid? [True, True] Translation: X:116.45, Y:169.64, Z:17.52 [[-6.61217680e-02 -9.97811117e-01 -9.42143155e-04 1.16453359e+02] [ 7.96566203e-01 -5.33545038e-02 6.02192313e-01 1.69643345e+02] [-6.00924452e-01 3.90675410e-02 7.98350506e-01 1.75201608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.160714057 meters Centerline goodness : 0.986409 Centerline is valid? [True, True] Translation: X:116.45, Y:169.67, Z:17.51 [[-6.75333793e-02 -9.97527629e-01 1.94389113e-02 1.16447683e+02] [ 7.96972981e-01 -4.22139643e-02 6.02538006e-01 1.69666807e+02] [-6.00227715e-01 5.61837148e-02 7.97853420e-01 1.75126514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.190714057 meters Centerline goodness : 0.986225 Centerline is valid? [True, True] Translation: X:116.46, Y:169.69, Z:17.49 [[-7.08676551e-02 -9.97485724e-01 8.00558823e-05 1.16457775e+02] [ 7.96631297e-01 -5.65493941e-02 6.01814541e-01 1.69685372e+02] [-6.00296886e-01 4.27129604e-02 7.98635869e-01 1.74902772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.220714057 meters Centerline goodness : 0.988174 Centerline is valid? [True, True] Translation: X:116.46, Y:169.69, Z:17.48 [[-6.82388827e-02 -9.97639564e-01 -7.66516529e-03 1.16460752e+02] [ 7.98092522e-01 -5.91968583e-02 5.99619928e-01 1.69689168e+02] [-5.98658317e-01 3.47998828e-02 8.00248204e-01 1.74827328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.250714057 meters Centerline goodness : 0.988740 Centerline is valid? [True, True] Translation: X:116.46, Y:169.72, Z:17.47 [[-7.26254838e-02 -9.97306651e-01 1.02460813e-02 1.16456039e+02] [ 7.99564101e-01 -5.20785751e-02 5.98318536e-01 1.69717568e+02] [-5.96173454e-01 5.16455720e-02 8.01192828e-01 1.74714704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.280714057 meters Centerline goodness : 0.988646 Centerline is valid? [True, True] Translation: X:116.46, Y:169.74, Z:17.46 [[-7.46785163e-02 -9.97177475e-01 7.75902339e-03 1.16458116e+02] [ 8.00383598e-01 -5.52959201e-02 5.96932540e-01 1.69739031e+02] [-5.94818641e-01 5.07882315e-02 8.02253912e-01 1.74569516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.310714057 meters Centerline goodness : 0.989229 Centerline is valid? [True, True] Translation: X:116.46, Y:169.76, Z:17.44 [[-7.82951420e-02 -9.96928746e-01 1.71670548e-03 1.16464088e+02] [ 7.99797105e-01 -6.17849709e-02 5.97082245e-01 1.69760602e+02] [-5.95142387e-01 4.81216553e-02 8.02178188e-01 1.74388781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.340714057 meters Centerline goodness : 0.988814 Centerline is valid? [True, True] Translation: X:116.46, Y:169.79, Z:17.43 [[-7.87660196e-02 -9.96805683e-01 1.32039349e-02 1.16460950e+02] [ 8.00964964e-01 -5.53943344e-02 5.96143099e-01 1.69785616e+02] [-5.93507406e-01 5.75317083e-02 8.02769619e-01 1.74259279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.370714057 meters Centerline goodness : 0.989148 Centerline is valid? [True, True] Translation: X:116.46, Y:169.81, Z:17.41 [[-7.99578229e-02 -9.96774603e-01 6.86566760e-03 1.16464377e+02] [ 8.00757281e-01 -6.01290630e-02 5.95963314e-01 1.69806360e+02] [-5.93628270e-01 5.31496625e-02 8.02982310e-01 1.74082739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.400714057 meters Centerline goodness : 0.989077 Centerline is valid? [True, True] Translation: X:116.47, Y:169.83, Z:17.39 [[-8.23051746e-02 -9.96600674e-01 -3.59936280e-03 1.16469961e+02] [ 8.00609594e-01 -6.82690259e-02 5.95284485e-01 1.69826451e+02] [-5.93506644e-01 4.61133091e-02 8.03506955e-01 1.73905297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.430714057 meters Centerline goodness : 0.988803 Centerline is valid? [True, True] Translation: X:116.47, Y:169.85, Z:17.38 [[-8.17099490e-02 -9.96596323e-01 1.09203147e-02 1.16466138e+02] [ 8.02120110e-01 -5.92538517e-02 5.94215710e-01 1.69852243e+02] [-5.91546121e-01 5.73127394e-02 8.04231581e-01 1.73789111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.460714057 meters Centerline goodness : 0.989773 Centerline is valid? [True, True] Translation: X:116.47, Y:169.87, Z:17.36 [[-8.36302932e-02 -9.96495818e-01 -1.43506809e-03 1.16473919e+02] [ 8.01268936e-01 -6.81020252e-02 5.94415853e-01 1.69873072e+02] [-5.92430643e-01 4.85612966e-02 8.04156536e-01 1.73571763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.490714057 meters Centerline goodness : 0.988916 Centerline is valid? [True, True] Translation: X:116.48, Y:169.90, Z:17.34 [[-8.41362094e-02 -9.96454239e-01 -2.19421152e-04 1.16475569e+02] [ 8.00519250e-01 -6.77234447e-02 5.95468274e-01 1.69895083e+02] [-5.93371746e-01 4.99247925e-02 8.03378794e-01 1.73408507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.520714057 meters Centerline goodness : 0.989016 Centerline is valid? [True, True] Translation: X:116.48, Y:169.92, Z:17.33 [[-8.49591021e-02 -9.96384427e-01 -1.55414455e-04 1.16477866e+02] [ 8.02322074e-01 -6.85043982e-02 5.92947246e-01 1.69917719e+02] [-5.90814049e-01 5.02515732e-02 8.05241292e-01 1.73272406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.550714057 meters Centerline goodness : 0.990118 Centerline is valid? [True, True] Translation: X:116.48, Y:169.94, Z:17.31 [[-8.54960270e-02 -9.96338319e-01 -6.19622574e-04 1.16479258e+02] [ 8.01803871e-01 -6.91721213e-02 5.93570358e-01 1.69940272e+02] [-5.91439753e-01 5.02510916e-02 8.04781863e-01 1.73088322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.580714057 meters Centerline goodness : 0.990480 Centerline is valid? [True, True] Translation: X:116.48, Y:169.96, Z:17.29 [[-8.52818961e-02 -9.96354605e-01 2.12102532e-03 1.16479428e+02] [ 8.01470238e-01 -6.73359873e-02 5.94231707e-01 1.69962352e+02] [-5.91922677e-01 5.23771454e-02 8.04291104e-01 1.72927953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.610714057 meters Centerline goodness : 0.989789 Centerline is valid? [True, True] Translation: X:116.48, Y:169.99, Z:17.28 [[-8.39353305e-02 -9.96447460e-01 6.87895851e-03 1.16480560e+02] [ 8.00970396e-01 -6.33594695e-02 5.95341921e-01 1.69985439e+02] [-5.92791098e-01 5.54800630e-02 8.03443014e-01 1.72750974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.640714057 meters Centerline goodness : 0.989977 Centerline is valid? [True, True] Translation: X:116.49, Y:170.01, Z:17.26 [[-8.20872439e-02 -9.96624926e-01 -6.64439835e-04 1.16485481e+02] [ 7.99822311e-01 -6.62752757e-02 5.96566727e-01 1.70006756e+02] [-5.94597306e-01 4.84390846e-02 8.02563206e-01 1.72559627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.670714057 meters Centerline goodness : 0.989444 Centerline is valid? [True, True] Translation: X:116.48, Y:170.02, Z:17.25 [[-7.98496208e-02 -9.96761629e-01 9.50225983e-03 1.16482712e+02] [ 8.00155876e-01 -5.84090016e-02 5.96941340e-01 1.70021559e+02] [-5.94453205e-01 5.52688287e-02 8.02228611e-01 1.72507905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.700714057 meters Centerline goodness : 0.989159 Centerline is valid? [True, True] Translation: X:116.49, Y:170.02, Z:17.25 [[-7.66417997e-02 -9.97055971e-01 -2.32922352e-03 1.16487474e+02] [ 7.99941114e-01 -6.28840804e-02 5.96774502e-01 1.70017651e+02] [-5.95164051e-01 4.38746302e-02 8.02405614e-01 1.72478575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.730714057 meters Centerline goodness : 0.988782 Centerline is valid? [True, True] Translation: X:116.48, Y:170.04, Z:17.24 [[-7.09091684e-02 -9.97357170e-01 1.58292323e-02 1.16482412e+02] [ 8.01041631e-01 -4.74810195e-02 5.96722598e-01 1.70043706e+02] [-5.94393974e-01 5.49929773e-02 8.02291454e-01 1.72373367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.76071405700003 meters Centerline goodness : 0.989571 Centerline is valid? [True, True] Translation: X:116.49, Y:170.06, Z:17.21 [[-6.89481480e-02 -9.97570687e-01 9.94375454e-03 1.16485596e+02] [ 7.98569802e-01 -4.92143385e-02 5.99886840e-01 1.70064981e+02] [-5.97940151e-01 4.93018687e-02 8.00023063e-01 1.72140722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.790714057 meters Centerline goodness : 0.989334 Centerline is valid? [True, True] Translation: X:116.48, Y:170.09, Z:17.20 [[-6.36174012e-02 -9.97812167e-01 1.79918061e-02 1.16484694e+02] [ 7.98442967e-01 -4.00742295e-02 6.00735286e-01 1.70088756e+02] [-5.98699970e-01 5.25826488e-02 7.99245526e-01 1.71985703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.820714057 meters Centerline goodness : 0.989378 Centerline is valid? [True, True] Translation: X:116.49, Y:170.11, Z:17.18 [[-6.13774362e-02 -9.97907873e-01 2.03146863e-02 1.16485605e+02] [ 7.96765829e-01 -3.67270505e-02 6.03171068e-01 1.70110963e+02] [-6.01163059e-01 5.32071416e-02 7.97353106e-01 1.71783920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.850714057 meters Centerline goodness : 0.988927 Centerline is valid? [True, True] Translation: X:116.49, Y:170.12, Z:17.17 [[-5.40469546e-02 -9.98342673e-01 1.97695144e-02 1.16487410e+02] [ 7.93247228e-01 -3.09016717e-02 6.08115056e-01 1.70119057e+02] [-6.06496300e-01 4.85488793e-02 7.93602699e-01 1.71678391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.880714057 meters Centerline goodness : 0.990168 Centerline is valid? [True, True] Translation: X:116.49, Y:170.14, Z:17.15 [[-5.42821042e-02 -9.98435308e-01 1.34309060e-02 1.16488898e+02] [ 7.94436804e-01 -3.50348853e-02 6.06335485e-01 1.70140989e+02] [-6.04916207e-01 4.35831720e-02 7.95095523e-01 1.71524978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.910714057 meters Centerline goodness : 0.988664 Centerline is valid? [True, True] Translation: X:116.49, Y:170.13, Z:17.16 [[-5.25156598e-02 -9.98561120e-01 1.08533218e-02 1.16490771e+02] [ 7.96232389e-01 -3.53105093e-02 6.03959561e-01 1.70131101e+02] [-6.02707300e-01 4.03591012e-02 7.96941061e-01 1.71608276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.940714057 meters Centerline goodness : 0.989215 Centerline is valid? [True, True] Translation: X:116.49, Y:170.19, Z:17.11 [[-6.30131312e-02 -9.98010052e-01 -2.29822022e-03 1.16490201e+02] [ 7.98357918e-01 -5.17889116e-02 5.99952118e-01 1.70190710e+02] [-5.98877266e-01 3.59700592e-02 8.00032609e-01 1.71126499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.970714057 meters Centerline goodness : 0.989956 Centerline is valid? [True, True] Translation: X:116.50, Y:170.14, Z:17.15 [[-4.29751084e-02 -9.99074840e-01 1.61355102e-03 1.16498318e+02] [ 7.96188341e-01 -3.32722624e-02 6.04133331e-01 1.70140002e+02] [-6.03520725e-01 2.72473859e-02 7.96881619e-01 1.71473819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.000714057 meters Centerline goodness : 0.990015 Centerline is valid? [True, True] Translation: X:116.49, Y:170.17, Z:17.14 [[-4.30811020e-02 -9.98857200e-01 2.06957110e-02 1.16491933e+02] [ 7.97037362e-01 -2.18716813e-02 6.03533821e-01 1.70166563e+02] [-6.02391453e-01 4.24961570e-02 7.97068764e-01 1.71376852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.030714057 meters Centerline goodness : 0.989480 Centerline is valid? [True, True] Translation: X:116.50, Y:170.19, Z:17.12 [[-4.35138267e-02 -9.99031676e-01 6.50060879e-03 1.16497406e+02] [ 7.97569782e-01 -3.08189364e-02 6.02438907e-01 1.70186591e+02] [-6.01655209e-01 3.13991113e-02 7.98138526e-01 1.71196954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.060714057 meters Centerline goodness : 0.990536 Centerline is valid? [True, True] Translation: X:116.48, Y:170.22, Z:17.10 [[-3.77335930e-02 -9.96268026e-01 7.76285758e-02 1.16479087e+02] [ 7.91252400e-01 1.76583815e-02 6.11234669e-01 1.70222077e+02] [-6.10324353e-01 8.44878771e-02 7.87633153e-01 1.71018107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.090714057 meters Centerline goodness : 0.989344 Centerline is valid? [True, True] Translation: X:116.51, Y:170.21, Z:17.08 [[-4.25594849e-02 -9.99058396e-01 -8.42688198e-03 1.16509755e+02] [ 7.98796601e-01 -3.90920891e-02 6.00329741e-01 1.70210896e+02] [-6.00093893e-01 1.88183599e-02 7.99708190e-01 1.70785417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.120714057 meters Centerline goodness : 0.990112 Centerline is valid? [True, True] Translation: X:116.51, Y:170.22, Z:17.08 [[-4.00115554e-02 -9.99177258e-01 6.62439871e-03 1.16506203e+02] [ 7.99679672e-01 -2.80463770e-02 5.99771476e-01 1.70218471e+02] [-5.99092229e-01 2.92951866e-02 8.00143921e-01 1.70808151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.150714057 meters Centerline goodness : 0.990155 Centerline is valid? [True, True] Translation: X:116.51, Y:170.22, Z:17.08 [[-3.85343260e-02 -9.99215174e-01 9.17289672e-03 1.16506236e+02] [ 7.99864628e-01 -2.53416495e-02 5.99645210e-01 1.70224829e+02] [-5.98942137e-01 3.04439996e-02 8.00213397e-01 1.70776976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.180714057 meters Centerline goodness : 0.989792 Centerline is valid? [True, True] Translation: X:116.50, Y:170.23, Z:17.07 [[-3.51120076e-02 -9.99201879e-01 1.90460754e-02 1.16504671e+02] [ 7.95448230e-01 -1.64047750e-02 6.05799469e-01 1.70230881e+02] [-6.05003521e-01 3.64210025e-02 7.95389370e-01 1.70729647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.210714057 meters Centerline goodness : 0.988957 Centerline is valid? [True, True] Translation: X:116.51, Y:170.23, Z:17.07 [[-2.94176128e-02 -9.99334295e-01 2.15770819e-02 1.16507009e+02] [ 7.91815507e-01 -1.01234456e-02 6.10676444e-01 1.70228916e+02] [-6.10051479e-01 3.50497113e-02 7.91586199e-01 1.70723000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.240714057 meters Centerline goodness : 0.990482 Centerline is valid? [True, True] Translation: X:116.51, Y:170.25, Z:17.06 [[-2.90578339e-02 -9.99416699e-01 1.79416795e-02 1.16509752e+02] [ 7.93061985e-01 -1.21248896e-02 6.09020259e-01 1.70251150e+02] [-6.08447476e-01 3.19256734e-02 7.92951714e-01 1.70574372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.270714057 meters Centerline goodness : 0.990346 Centerline is valid? [True, True] Translation: X:116.51, Y:170.25, Z:17.06 [[-2.62273180e-02 -9.99519722e-01 1.65061451e-02 1.16512929e+02] [ 7.90611451e-01 -1.06352380e-02 6.12225796e-01 1.70247371e+02] [-6.11756211e-01 2.91069880e-02 7.90510672e-01 1.70569206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.300714057 meters Centerline goodness : 0.990116 Centerline is valid? [True, True] Translation: X:116.51, Y:170.27, Z:17.05 [[-2.96870983e-02 -9.99431440e-01 1.59834927e-02 1.16513476e+02] [ 7.92667926e-01 -1.37979571e-02 6.09497477e-01 1.70270404e+02] [-6.08930402e-01 3.07638135e-02 7.92626869e-01 1.70462913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.330714057 meters Centerline goodness : 0.990308 Centerline is valid? [True, True] Translation: X:116.52, Y:170.29, Z:17.03 [[-3.42694208e-02 -9.99276236e-01 1.65109099e-02 1.16517875e+02] [ 7.93313287e-01 -1.71507224e-02 6.08572002e-01 1.70293404e+02] [-6.07848365e-01 3.39537342e-02 7.93326861e-01 1.70313137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.360714057 meters Centerline goodness : 0.990207 Centerline is valid? [True, True] Translation: X:116.52, Y:170.32, Z:17.01 [[-3.61696437e-02 -9.98988287e-01 2.67237521e-02 1.16518879e+02] [ 7.91658869e-01 -1.23225738e-02 6.10839086e-01 1.70319846e+02] [-6.09891787e-01 4.32499275e-02 7.91303641e-01 1.70114600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.390714057 meters Centerline goodness : 0.991366 Centerline is valid? [True, True] Translation: X:116.54, Y:170.35, Z:16.99 [[-4.95381520e-02 -9.98651998e-01 -1.54970750e-02 1.16535930e+02] [ 8.02776884e-01 -4.90434736e-02 5.94259213e-01 1.70345230e+02] [-5.94218180e-01 1.69978097e-02 8.04124262e-01 1.69872377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.420714057 meters Centerline goodness : 0.991561 Centerline is valid? [True, True] Translation: X:116.54, Y:170.35, Z:16.99 [[-5.35380876e-02 -9.98494385e-01 -1.19430209e-02 1.16535481e+02] [ 8.08392014e-01 -5.03600037e-02 5.86486336e-01 1.70354743e+02] [-5.86204764e-01 2.17447141e-02 8.09871065e-01 1.69885515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.450714057 meters Centerline goodness : 0.992350 Centerline is valid? [True, True] Translation: X:116.53, Y:170.37, Z:16.99 [[-5.28014345e-02 -9.98482493e-01 1.56435326e-02 1.16527958e+02] [ 8.09828162e-01 -3.36487121e-02 5.85701385e-01 1.70365013e+02] [-5.84286194e-01 4.35944465e-02 8.10375942e-01 1.69905218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.480714057 meters Centerline goodness : 0.991521 Centerline is valid? [True, True] Translation: X:116.54, Y:170.37, Z:16.98 [[-5.76375243e-02 -9.98312073e-01 -7.13591333e-03 1.16540515e+02] [ 8.09002610e-01 -5.08935864e-02 5.85597660e-01 1.70372833e+02] [-5.84972386e-01 2.79794269e-02 8.10570453e-01 1.69766261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.51071405700003 meters Centerline goodness : 0.990556 Centerline is valid? [True, True] Translation: X:116.53, Y:170.37, Z:16.98 [[-5.63879959e-02 -9.98237370e-01 1.85080528e-02 1.16534399e+02] [ 8.05572535e-01 -3.45381772e-02 5.91489650e-01 1.70373106e+02] [-5.89807837e-01 4.82624950e-02 8.06100147e-01 1.69847341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.540714057 meters Centerline goodness : 0.991088 Centerline is valid? [True, True] Translation: X:116.53, Y:170.39, Z:16.96 [[-6.46688513e-02 -9.97719256e-01 1.93448960e-02 1.16532452e+02] [ 7.99364816e-01 -4.01883900e-02 5.99500446e-01 1.70389243e+02] [-5.97355699e-01 5.42326344e-02 8.00140606e-01 1.69591749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.570714057 meters Centerline goodness : 0.991254 Centerline is valid? [True, True] Translation: X:116.56, Y:170.38, Z:16.96 [[-6.00782914e-02 -9.97576334e-01 -3.51006587e-02 1.16557675e+02] [ 8.08811763e-01 -6.92577964e-02 5.83975076e-01 1.70381856e+02] [-5.84990710e-01 6.69439915e-03 8.11012364e-01 1.69563347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.600714057 meters Centerline goodness : 0.991932 Centerline is valid? [True, True] Translation: X:116.53, Y:170.40, Z:16.96 [[-6.71642867e-02 -9.97164044e-01 3.39533309e-02 1.16531300e+02] [ 7.99557097e-01 -3.34360974e-02 5.99658633e-01 1.70401630e+02] [-5.96822761e-01 6.74232710e-02 7.99535299e-01 1.69565268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.630714057 meters Centerline goodness : 0.991802 Centerline is valid? [True, True] Translation: X:116.54, Y:170.38, Z:16.96 [[-4.71237871e-02 -9.98144708e-01 3.85550458e-02 1.16539986e+02] [ 7.85109586e-01 -1.31477782e-02 6.19217308e-01 1.70375671e+02] [-6.17561566e-01 5.94498006e-02 7.84272551e-01 1.69638148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.660714057 meters Centerline goodness : 0.990708 Centerline is valid? [True, True] Translation: X:116.57, Y:170.38, Z:16.95 [[-5.42147583e-02 -9.97447076e-01 -4.64767793e-02 1.16566326e+02] [ 7.87053148e-01 -7.13305204e-02 6.12747338e-01 1.70383215e+02] [-6.14498253e-01 -3.35974666e-03 7.88911027e-01 1.69535173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.690714057 meters Centerline goodness : 0.990545 Centerline is valid? [True, True] Translation: X:116.55, Y:170.42, Z:16.95 [[-5.65661497e-02 -9.98344873e-01 1.03819488e-02 1.16547168e+02] [ 7.88861930e-01 -3.83182785e-02 6.13374735e-01 1.70418062e+02] [-6.11961704e-01 4.28861712e-02 7.89723781e-01 1.69514846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.720714057 meters Centerline goodness : 0.991502 Centerline is valid? [True, True] Translation: X:116.54, Y:170.44, Z:16.93 [[-5.72465937e-02 -9.98257568e-01 1.43057865e-02 1.16544946e+02] [ 7.89003354e-01 -3.64574507e-02 6.13306255e-01 1.70440098e+02] [-6.11716058e-01 4.63970075e-02 7.89715634e-01 1.69346109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.750714057 meters Centerline goodness : 0.990558 Centerline is valid? [True, True] Translation: X:116.55, Y:170.46, Z:16.92 [[-5.79458111e-02 -9.98288147e-01 7.94097525e-03 1.16546978e+02] [ 7.88582465e-01 -4.08927260e-02 6.13567829e-01 1.70461729e+02] [-6.12192763e-01 4.18157994e-02 7.89602090e-01 1.69161442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.780714057 meters Centerline goodness : 0.992269 Centerline is valid? [True, True] Translation: X:116.55, Y:170.48, Z:16.90 [[-6.00665722e-02 -9.98153672e-01 -9.01406358e-03 1.16552106e+02] [ 7.88217061e-01 -5.29699401e-02 6.13113407e-01 1.70481260e+02] [-6.12458873e-01 2.97225821e-02 7.89943477e-01 1.68984943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.810714057 meters Centerline goodness : 0.992269 Centerline is valid? [True, True] Translation: X:116.55, Y:170.51, Z:16.88 [[-6.00047716e-02 -9.98184986e-01 5.11476272e-03 1.16547020e+02] [ 7.88165103e-01 -4.42341418e-02 6.13872227e-01 1.70506467e+02] [-6.12531794e-01 4.08665403e-02 7.89388832e-01 1.68835848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.840714057 meters Centerline goodness : 0.991033 Centerline is valid? [True, True] Translation: X:116.55, Y:170.53, Z:16.87 [[-6.15193027e-02 -9.98104944e-01 -1.37678466e-03 1.16548917e+02] [ 7.88193448e-01 -4.94273530e-02 6.13439504e-01 1.70528539e+02] [-6.12345053e-01 3.66531979e-02 7.89740514e-01 1.68676576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.870714057 meters Centerline goodness : 0.990324 Centerline is valid? [True, True] Translation: X:116.55, Y:170.55, Z:16.85 [[-6.13660793e-02 -9.98104595e-01 4.62829351e-03 1.16547625e+02] [ 7.86280503e-01 -4.54852417e-02 6.16193202e-01 1.70551744e+02] [-6.14814748e-01 4.14524979e-02 7.87581435e-01 1.68513437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.900714057 meters Centerline goodness : 0.991140 Centerline is valid? [True, True] Translation: X:116.55, Y:170.57, Z:16.83 [[-5.99512713e-02 -9.98158696e-01 9.22299550e-03 1.16546151e+02] [ 7.85515296e-01 -4.14742605e-02 6.17450893e-01 1.70573874e+02] [-6.15931461e-01 4.42617700e-02 7.86555358e-01 1.68342017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.930714057 meters Centerline goodness : 0.991430 Centerline is valid? [True, True] Translation: X:116.55, Y:170.59, Z:16.81 [[-5.91638116e-02 -9.98243447e-01 3.10860908e-03 1.16548026e+02] [ 7.84749873e-01 -4.45853466e-02 6.18206910e-01 1.70593715e+02] [-6.16982398e-01 3.90149577e-02 7.86009258e-01 1.68115390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.960714057 meters Centerline goodness : 0.992092 Centerline is valid? [True, True] Translation: X:116.54, Y:170.62, Z:16.79 [[-5.63934969e-02 -9.98280443e-01 1.59978043e-02 1.16543464e+02] [ 7.83247170e-01 -3.42981691e-02 6.20763648e-01 1.70616550e+02] [-6.19147515e-01 4.75372678e-02 7.83834525e-01 1.67929520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.990714057 meters Centerline goodness : 0.991229 Centerline is valid? [True, True] Translation: X:116.55, Y:170.64, Z:16.77 [[-5.61807411e-02 -9.98390651e-01 7.73514226e-03 1.16545911e+02] [ 7.81829640e-01 -3.91735408e-02 6.22260273e-01 1.70636055e+02] [-6.20955826e-01 4.10066068e-02 7.82772202e-01 1.67735761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.020714057 meters Centerline goodness : 0.991189 Centerline is valid? [True, True] Translation: X:116.55, Y:170.66, Z:16.75 [[-5.36504820e-02 -9.98529392e-01 7.78970776e-03 1.16545568e+02] [ 7.81384426e-01 -3.71236876e-02 6.22944789e-01 1.70657543e+02] [-6.21739499e-01 3.95080445e-02 7.82227019e-01 1.67543215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.050714057 meters Centerline goodness : 0.990942 Centerline is valid? [True, True] Translation: X:116.55, Y:170.68, Z:16.73 [[-5.35805159e-02 -9.98563416e-01 4.82723499e-04 1.16547263e+02] [ 7.81293950e-01 -4.16212978e-02 6.22773981e-01 1.70677538e+02] [-6.21859222e-01 3.37457002e-02 7.82401646e-01 1.67340863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.080714057 meters Centerline goodness : 0.990669 Centerline is valid? [True, True] Translation: X:116.54, Y:170.70, Z:16.72 [[-5.23840311e-02 -9.98585457e-01 9.11037213e-03 1.16544197e+02] [ 7.81440638e-01 -3.53093799e-02 6.22979757e-01 1.70700574e+02] [-6.21776843e-01 3.97534060e-02 7.82184904e-01 1.67191709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.110714057 meters Centerline goodness : 0.990960 Centerline is valid? [True, True] Translation: X:116.55, Y:170.72, Z:16.70 [[-5.26602770e-02 -9.98610021e-01 2.21833450e-03 1.16546628e+02] [ 7.80822750e-01 -3.97905538e-02 6.23484198e-01 1.70720338e+02] [-6.22529299e-01 3.45649766e-02 7.81832804e-01 1.67001742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.140714057 meters Centerline goodness : 0.990522 Centerline is valid? [True, True] Translation: X:116.54, Y:170.74, Z:16.68 [[-5.23787392e-02 -9.98607292e-01 6.32007663e-03 1.16544554e+02] [ 7.80698295e-01 -3.70009859e-02 6.23811749e-01 1.70741704e+02] [-6.22709113e-01 3.76085460e-02 7.81549076e-01 1.66836016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.170714057 meters Centerline goodness : 0.991072 Centerline is valid? [True, True] Translation: X:116.55, Y:170.76, Z:16.66 [[-5.37985594e-02 -9.98457848e-01 -1.36981759e-02 1.16550178e+02] [ 7.82085850e-01 -5.06612661e-02 6.21108010e-01 1.70761550e+02] [-6.20844134e-01 2.27015666e-02 7.83605258e-01 1.66647391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.200714057 meters Centerline goodness : 0.991004 Centerline is valid? [True, True] Translation: X:116.54, Y:170.79, Z:16.65 [[-5.33493822e-02 -9.98571015e-01 3.12586204e-03 1.16544641e+02] [ 7.81988233e-01 -3.98311611e-02 6.22019197e-01 1.70786985e+02] [-6.21005834e-01 3.56287272e-02 7.82995752e-01 1.66502314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.230714057 meters Centerline goodness : 0.990270 Centerline is valid? [True, True] Translation: X:116.55, Y:170.81, Z:16.63 [[-5.41948472e-02 -9.98525310e-01 -3.18175088e-03 1.16545942e+02] [ 7.82025915e-01 -4.44252575e-02 6.21660571e-01 1.70806440e+02] [-6.20885165e-01 3.12025880e-02 7.83280289e-01 1.66321568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.26071405700003 meters Centerline goodness : 0.990597 Centerline is valid? [True, True] Translation: X:116.54, Y:170.83, Z:16.61 [[-5.42708624e-02 -9.98525718e-01 1.03178867e-03 1.16544958e+02] [ 7.77341129e-01 -4.16006484e-02 6.27702283e-01 1.70827149e+02] [-6.26733949e-01 3.48679960e-02 7.78452811e-01 1.66095114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.290714057 meters Centerline goodness : 0.990791 Centerline is valid? [True, True] Translation: X:116.54, Y:170.85, Z:16.60 [[-5.37172650e-02 -9.98390752e-01 1.81758791e-02 1.16538631e+02] [ 7.78652755e-01 -3.04850749e-02 6.26714088e-01 1.70851142e+02] [-6.25151456e-01 4.78180651e-02 7.79037284e-01 1.65956148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.320714057 meters Centerline goodness : 0.991210 Centerline is valid? [True, True] Translation: X:116.54, Y:170.87, Z:16.57 [[-5.54609433e-02 -9.98459754e-01 1.48441586e-03 1.16544693e+02] [ 7.77030893e-01 -4.22276281e-02 6.28044440e-01 1.70868146e+02] [-6.27014414e-01 3.59853741e-02 7.78176058e-01 1.65731423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.350714057 meters Centerline goodness : 0.991825 Centerline is valid? [True, True] Translation: X:116.55, Y:170.89, Z:16.55 [[-5.91465925e-02 -9.98236018e-01 -5.15110529e-03 1.16548014e+02] [ 7.73767228e-01 -4.91055682e-02 6.31563869e-01 1.70888862e+02] [-6.30702750e-01 3.33690943e-02 7.75306743e-01 1.65518467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.380714057 meters Centerline goodness : 0.990277 Centerline is valid? [True, True] Translation: X:116.54, Y:170.90, Z:16.55 [[-6.02387852e-02 -9.98091815e-01 1.35652816e-02 1.16541241e+02] [ 7.70263013e-01 -3.78362084e-02 6.36602947e-01 1.70895860e+02] [-6.34874932e-01 4.87970229e-02 7.71072416e-01 1.65481032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.410714057 meters Centerline goodness : 0.990793 Centerline is valid? [True, True] Translation: X:116.54, Y:170.92, Z:16.53 [[-6.01390491e-02 -9.97908833e-01 2.36908334e-02 1.16538267e+02] [ 7.69143076e-01 -3.11985688e-02 6.38314639e-01 1.70917915e+02] [-6.36240697e-01 5.66092758e-02 7.69410921e-01 1.65285212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.440714057 meters Centerline goodness : 0.990620 Centerline is valid? [True, True] Translation: X:116.54, Y:170.94, Z:16.51 [[-6.35649017e-02 -9.97964027e-01 5.22533928e-03 1.16544214e+02] [ 7.68280562e-01 -4.55921889e-02 6.38487534e-01 1.70935954e+02] [-6.36949356e-01 4.45999240e-02 7.69614426e-01 1.65058000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.470714057 meters Centerline goodness : 0.990186 Centerline is valid? [True, True] Translation: X:116.54, Y:170.96, Z:16.49 [[-6.62032514e-02 -9.97773972e-01 8.01435792e-03 1.16541777e+02] [ 7.69813726e-01 -4.59644581e-02 6.36611417e-01 1.70957608e+02] [-6.34825927e-01 4.83153084e-02 7.71143096e-01 1.64903547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.500714057 meters Centerline goodness : 0.990218 Centerline is valid? [True, True] Translation: X:116.54, Y:170.98, Z:16.47 [[-6.79180052e-02 -9.97658310e-01 8.06476935e-03 1.16541226e+02] [ 7.69501102e-01 -4.72371741e-02 6.36896148e-01 1.70979415e+02] [-6.35023778e-01 4.94625648e-02 7.70907424e-01 1.64717170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.530714057 meters Centerline goodness : 0.989885 Centerline is valid? [True, True] Translation: X:116.54, Y:171.00, Z:16.45 [[-7.05507240e-02 -9.97507648e-01 1.04271926e-03 1.16541469e+02] [ 7.70537878e-01 -5.38339298e-02 6.35116751e-01 1.70999713e+02] [-6.33477683e-01 4.56114013e-02 7.72415449e-01 1.64531544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.560714057 meters Centerline goodness : 0.989847 Centerline is valid? [True, True] Translation: X:116.54, Y:171.00, Z:16.45 [[-7.13419662e-02 -9.97425057e-01 -7.31977561e-03 1.16543195e+02] [ 7.72967979e-01 -5.99225880e-02 6.31608888e-01 1.71003806e+02] [-6.30421151e-01 3.94022678e-02 7.75252626e-01 1.64494951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.590714057 meters Centerline goodness : 0.988501 Centerline is valid? [True, True] Translation: X:116.53, Y:171.03, Z:16.44 [[-6.81286633e-02 -9.97369522e-01 2.47491679e-02 1.16530253e+02] [ 7.73053231e-01 -3.70920996e-02 6.33255777e-01 1.71029084e+02] [-6.30672013e-01 6.22752938e-02 7.73546766e-01 1.64357280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.620714057 meters Centerline goodness : 0.988555 Centerline is valid? [True, True] Translation: X:116.54, Y:171.05, Z:16.42 [[-6.88374637e-02 -9.97627887e-01 -5.11291598e-05 1.16537075e+02] [ 7.73616253e-01 -5.34127647e-02 6.31399216e-01 1.71047168e+02] [-6.29904197e-01 4.34243663e-02 7.75457947e-01 1.64162089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.650714057 meters Centerline goodness : 0.987497 Centerline is valid? [True, True] Translation: X:116.53, Y:171.07, Z:16.40 [[-6.68068455e-02 -9.97697206e-01 1.17102443e-02 1.16533043e+02] [ 7.71955182e-01 -4.42479075e-02 6.34135096e-01 1.71070315e+02] [-6.32156660e-01 5.14043492e-02 7.73133592e-01 1.63957633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.680714057 meters Centerline goodness : 0.987908 Centerline is valid? [True, True] Translation: X:116.53, Y:171.07, Z:16.40 [[-6.27303970e-02 -9.98014818e-01 5.59644483e-03 1.16532926e+02] [ 7.71069824e-01 -4.49039912e-02 6.35165300e-01 1.71066749e+02] [-6.33653079e-01 4.41594212e-02 7.72355955e-01 1.63958143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.710714057 meters Centerline goodness : 0.988257 Centerline is valid? [True, True] Translation: X:116.53, Y:171.09, Z:16.38 [[-6.09954268e-02 -9.98012130e-01 1.58539029e-02 1.16528023e+02] [ 7.71687139e-01 -3.70771204e-02 6.34920662e-01 1.71090101e+02] [-6.33070705e-01 5.09615097e-02 7.72414660e-01 1.63804666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.740714057 meters Centerline goodness : 0.987579 Centerline is valid? [True, True] Translation: X:116.52, Y:171.11, Z:16.36 [[-5.76191911e-02 -9.98022382e-01 2.51267654e-02 1.16522113e+02] [ 7.69569026e-01 -2.83688506e-02 6.37933164e-01 1.71113055e+02] [-6.35958759e-01 5.60939733e-02 7.69681703e-01 1.63595406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.770714057 meters Centerline goodness : 0.987364 Centerline is valid? [True, True] Translation: X:116.52, Y:171.13, Z:16.34 [[-5.73882914e-02 -9.98214042e-01 1.65924562e-02 1.16523606e+02] [ 7.69573288e-01 -3.36440453e-02 6.37671572e-01 1.71133040e+02] [-6.35974480e-01 4.93639930e-02 7.70129637e-01 1.63405894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.800714057 meters Centerline goodness : 0.987054 Centerline is valid? [True, True] Translation: X:116.53, Y:171.13, Z:16.33 [[-5.52171592e-02 -9.98461004e-01 5.16608932e-03 1.16526466e+02] [ 7.70423894e-01 -3.93138435e-02 6.36318667e-01 1.71134835e+02] [-6.35136276e-01 3.91157878e-02 7.71409013e-01 1.63345990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.830714057 meters Centerline goodness : 0.988029 Centerline is valid? [True, True] Translation: X:116.52, Y:171.14, Z:16.33 [[-5.15746632e-02 -9.98647642e-01 6.55296530e-03 1.16523358e+02] [ 7.71551408e-01 -3.56785354e-02 6.35165700e-01 1.71139845e+02] [-6.34072928e-01 3.78144067e-02 7.72348103e-01 1.63308282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.860714057 meters Centerline goodness : 0.987095 Centerline is valid? [True, True] Translation: X:116.52, Y:171.16, Z:16.32 [[-5.01372254e-02 -9.98533764e-01 2.04103026e-02 1.16517155e+02] [ 7.72542639e-01 -2.58219416e-02 6.34437623e-01 1.71163817e+02] [-6.32980355e-01 4.75767712e-02 7.72704550e-01 1.63183816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.890714057 meters Centerline goodness : 0.988396 Centerline is valid? [True, True] Translation: X:116.51, Y:171.19, Z:16.30 [[-4.82645586e-02 -9.98438518e-01 2.81257475e-02 1.16511695e+02] [ 7.70258268e-01 -1.92777827e-02 6.37440639e-01 1.71186450e+02] [-6.35903085e-01 5.24298807e-02 7.69985957e-01 1.62972288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.920714057 meters Centerline goodness : 0.987981 Centerline is valid? [True, True] Translation: X:116.52, Y:171.19, Z:16.29 [[-4.93133472e-02 -9.98775502e-01 3.96119592e-03 1.16517922e+02] [ 7.72545160e-01 -3.56291781e-02 6.33959413e-01 1.71190428e+02] [-6.33041997e-01 3.43228634e-02 7.73356174e-01 1.62866853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.950714057 meters Centerline goodness : 0.987235 Centerline is valid? [True, True] Translation: X:116.51, Y:171.19, Z:16.29 [[-4.42504137e-02 -9.98717188e-01 2.46146220e-02 1.16509268e+02] [ 7.65333300e-01 -1.80528950e-02 6.43380939e-01 1.71193729e+02] [-6.42111237e-01 4.73082626e-02 7.65150370e-01 1.62853275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.980714057 meters Centerline goodness : 0.988502 Centerline is valid? [True, True] Translation: X:116.51, Y:171.22, Z:16.26 [[-4.48610599e-02 -9.98689599e-01 2.46286263e-02 1.16507815e+02] [ 7.66066213e-01 -1.85671418e-02 6.42493439e-01 1.71215705e+02] [-6.41194232e-01 4.76900951e-02 7.65895301e-01 1.62648222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.01071405700003 meters Centerline goodness : 0.987528 Centerline is valid? [True, True] Translation: X:116.50, Y:171.22, Z:16.26 [[-3.75080573e-02 -9.98588361e-01 3.76089124e-02 1.16503984e+02] [ 7.53615998e-01 -3.55114579e-03 6.57305345e-01 1.71215687e+02] [-6.56243913e-01 5.29969246e-02 7.52685361e-01 1.62579886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.040714057 meters Centerline goodness : 0.987140 Centerline is valid? [True, True] Translation: X:116.51, Y:171.23, Z:16.24 [[-4.10286852e-02 -9.99054547e-01 1.43756270e-02 1.16507993e+02] [ 7.54926699e-01 -2.15714781e-02 6.55454308e-01 1.71234139e+02] [-6.54524504e-01 3.77449731e-02 7.55098001e-01 1.62433533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.070714057 meters Centerline goodness : 0.990188 Centerline is valid? [True, True] Translation: X:116.50, Y:171.25, Z:16.24 [[-5.71916688e-02 -9.98343776e-01 -6.23039625e-03 1.16499246e+02] [ 7.66082064e-01 -4.78862347e-02 6.40956457e-01 1.71250779e+02] [-6.40193240e-01 3.18843746e-02 7.67551954e-01 1.62389941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.100714057 meters Centerline goodness : 0.986952 Centerline is valid? [True, True] Translation: X:116.49, Y:171.28, Z:16.21 [[-4.58951226e-02 -9.97866241e-01 4.64392469e-02 1.16494152e+02] [ 7.54281006e-01 -4.13748563e-03 6.56538685e-01 1.71283619e+02] [-6.54945648e-01 6.51601653e-02 7.52861443e-01 1.62142750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.130714057 meters Centerline goodness : 0.987623 Centerline is valid? [True, True] Translation: X:116.50, Y:171.30, Z:16.19 [[-5.09032823e-02 -9.98476161e-01 2.13122553e-02 1.16502115e+02] [ 7.54827360e-01 -2.44910491e-02 6.55466128e-01 1.71299954e+02] [-6.53945343e-01 4.94524507e-02 7.54923800e-01 1.61909968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.160714057 meters Centerline goodness : 0.987083 Centerline is valid? [True, True] Translation: X:116.50, Y:171.32, Z:16.18 [[-5.24582757e-02 -9.98173879e-01 2.99505840e-02 1.16498931e+02] [ 7.54277002e-01 -1.99493350e-02 6.56253174e-01 1.71322161e+02] [-6.54457282e-01 5.70169467e-02 7.53946108e-01 1.61758049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.190714057 meters Centerline goodness : 0.988201 Centerline is valid? [True, True] Translation: X:116.50, Y:171.34, Z:16.16 [[-5.59095627e-02 -9.98316374e-01 1.54446741e-02 1.16502397e+02] [ 7.54623518e-01 -3.21227582e-02 6.55371250e-01 1.71341323e+02] [-6.53771724e-01 4.82964343e-02 7.55148983e-01 1.61557485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.220714057 meters Centerline goodness : 0.988545 Centerline is valid? [True, True] Translation: X:116.50, Y:171.37, Z:16.14 [[-5.93059290e-02 -9.97956801e-01 2.37703838e-02 1.16497901e+02] [ 7.54975183e-01 -2.92623117e-02 6.55100138e-01 1.71365312e+02] [-6.53066061e-01 5.67973721e-02 7.55168047e-01 1.61382290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.250714057 meters Centerline goodness : 0.988085 Centerline is valid? [True, True] Translation: X:116.50, Y:171.39, Z:16.12 [[-5.98058399e-02 -9.97851195e-01 2.67629175e-02 1.16496140e+02] [ 7.55446890e-01 -2.77200728e-02 6.54623246e-01 1.71385682e+02] [-6.52474719e-01 5.93682558e-02 7.55481404e-01 1.61199332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.280714057 meters Centerline goodness : 0.988032 Centerline is valid? [True, True] Translation: X:116.50, Y:171.41, Z:16.10 [[-6.09670720e-02 -9.97773748e-01 2.70289378e-02 1.16495322e+02] [ 7.55660691e-01 -2.84474950e-02 6.54345214e-01 1.71408786e+02] [-6.52119572e-01 6.03182177e-02 7.55712761e-01 1.60985348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.310714057 meters Centerline goodness : 0.988617 Centerline is valid? [True, True] Translation: X:116.50, Y:171.41, Z:16.09 [[-6.00451329e-02 -9.98145540e-01 1.00031085e-02 1.16500266e+02] [ 7.56388426e-01 -3.89580443e-02 6.52961576e-01 1.71406715e+02] [-6.51360983e-01 4.67734001e-02 7.57324975e-01 1.60920904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.340714057 meters Centerline goodness : 0.988362 Centerline is valid? [True, True] Translation: X:116.50, Y:171.41, Z:16.09 [[-5.90929001e-02 -9.98056591e-01 1.97754864e-02 1.16495337e+02] [ 7.54632475e-01 -3.16945233e-02 6.55381786e-01 1.71411222e+02] [-6.53481336e-01 5.36516346e-02 7.55038837e-01 1.60908577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.370714057 meters Centerline goodness : 0.987958 Centerline is valid? [True, True] Translation: X:116.50, Y:171.42, Z:16.08 [[-5.88678950e-02 -9.98221017e-01 9.45372161e-03 1.16496558e+02] [ 7.54624612e-01 -3.82987475e-02 6.55038091e-01 1.71417049e+02] [-6.53510724e-01 4.56947246e-02 7.55536714e-01 1.60799326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.400714057 meters Centerline goodness : 0.988296 Centerline is valid? [True, True] Translation: X:116.49, Y:171.44, Z:16.06 [[-6.00745027e-02 -9.97863862e-01 2.56664591e-02 1.16489025e+02] [ 7.55647393e-01 -2.86614871e-02 6.54351233e-01 1.71444318e+02] [-6.52217810e-01 5.87046178e-02 7.55755051e-01 1.60649779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.430714057 meters Centerline goodness : 0.988687 Centerline is valid? [True, True] Translation: X:116.49, Y:171.45, Z:16.05 [[-6.07922713e-02 -9.98084647e-01 1.14602531e-02 1.16493133e+02] [ 7.55387083e-01 -3.84987458e-02 6.54146926e-01 1.71452870e+02] [-6.52452799e-01 4.84240045e-02 7.56280676e-01 1.60515013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.460714057 meters Centerline goodness : 0.988492 Centerline is valid? [True, True] Translation: X:116.49, Y:171.45, Z:16.05 [[-6.12724479e-02 -9.98093224e-01 7.45674797e-03 1.16492815e+02] [ 7.55895365e-01 -4.15226859e-02 6.53374367e-01 1.71448306e+02] [-6.51818904e-01 4.56703681e-02 7.56998239e-01 1.60528426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.490714057 meters Centerline goodness : 0.988593 Centerline is valid? [True, True] Translation: X:116.49, Y:171.46, Z:16.05 [[-6.23286396e-02 -9.98000298e-01 1.05141211e-02 1.16489661e+02] [ 7.56839508e-01 -4.03946535e-02 6.52351310e-01 1.71460067e+02] [-6.50622087e-01 4.86176719e-02 7.57843798e-01 1.60451014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.520714057 meters Centerline goodness : 0.989309 Centerline is valid? [True, True] Translation: X:116.49, Y:171.47, Z:16.04 [[-6.40113759e-02 -9.97871298e-01 1.24666383e-02 1.16487079e+02] [ 7.55748761e-01 -4.03138950e-02 6.53619614e-01 1.71466437e+02] [-6.51725674e-01 5.12607373e-02 7.56720545e-01 1.60413527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.550714057 meters Centerline goodness : 0.988574 Centerline is valid? [True, True] Translation: X:116.48, Y:171.49, Z:16.03 [[-6.58989953e-02 -9.97382492e-01 2.97571522e-02 1.16480076e+02] [ 7.56130851e-01 -3.04553907e-02 6.53711409e-01 1.71493467e+02] [-6.51094048e-01 6.55792259e-02 7.56158651e-01 1.60254687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.580714057 meters Centerline goodness : 0.988514 Centerline is valid? [True, True] Translation: X:116.49, Y:171.48, Z:16.03 [[-6.56481296e-02 -9.97792404e-01 1.00320204e-02 1.16486207e+02] [ 7.56062099e-01 -4.31777289e-02 6.53074105e-01 1.71478034e+02] [-6.51199221e-01 5.04579239e-02 7.57227557e-01 1.60274180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.610714057 meters Centerline goodness : 0.988894 Centerline is valid? [True, True] Translation: X:116.48, Y:171.51, Z:16.01 [[-6.83269972e-02 -9.97232283e-01 2.93120395e-02 1.16477480e+02] [ 7.57508913e-01 -3.27373660e-02 6.52003460e-01 1.71505868e+02] [-6.49239300e-01 6.67535698e-02 7.57649189e-01 1.60137284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.640714057 meters Centerline goodness : 0.989089 Centerline is valid? [True, True] Translation: X:116.48, Y:171.51, Z:16.00 [[-6.69898825e-02 -9.97631761e-01 1.55956533e-02 1.16482815e+02] [ 7.55834626e-01 -4.05374143e-02 6.53506493e-01 1.71507543e+02] [-6.51326627e-01 5.55660580e-02 7.56760225e-01 1.60033069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.670714057 meters Centerline goodness : 0.988549 Centerline is valid? [True, True] Translation: X:116.48, Y:171.53, Z:15.99 [[-6.81779795e-02 -9.97203956e-01 3.05946552e-02 1.16475004e+02] [ 7.56678476e-01 -3.16985709e-02 6.53018288e-01 1.71532382e+02] [-6.50222614e-01 6.76717846e-02 7.56723914e-01 1.59909165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.700714057 meters Centerline goodness : 0.988702 Centerline is valid? [True, True] Translation: X:116.47, Y:171.55, Z:15.97 [[-6.83636423e-02 -9.97088084e-01 3.37900304e-02 1.16472822e+02] [ 7.57655200e-01 -2.98528465e-02 6.51971937e-01 1.71553635e+02] [-6.49064720e-01 7.01723685e-02 7.57489820e-01 1.59749352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.730714057 meters Centerline goodness : 0.988702 Centerline is valid? [True, True] Translation: X:116.47, Y:171.58, Z:15.96 [[-6.89346448e-02 -9.97168005e-01 3.00663423e-02 1.16473916e+02] [ 7.57889426e-01 -3.27475352e-02 6.51560601e-01 1.71575429e+02] [-6.48730786e-01 6.77020615e-02 7.58000527e-01 1.59552335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.76071405700003 meters Centerline goodness : 0.988262 Centerline is valid? [True, True] Translation: X:116.48, Y:171.57, Z:15.95 [[-6.74846133e-02 -9.97708774e-01 4.79886895e-03 1.16481297e+02] [ 7.60847244e-01 -4.83507858e-02 6.47127246e-01 1.71568139e+02] [-6.45412502e-01 4.73223381e-02 7.62366906e-01 1.59508100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.790714057 meters Centerline goodness : 0.988210 Centerline is valid? [True, True] Translation: X:116.47, Y:171.60, Z:15.94 [[-6.82072844e-02 -9.97274931e-01 2.81154426e-02 1.16471165e+02] [ 7.62187164e-01 -3.39033627e-02 6.46468320e-01 1.71596082e+02] [-6.43753442e-01 6.55230780e-02 7.62422608e-01 1.59405511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.820714057 meters Centerline goodness : 0.988710 Centerline is valid? [True, True] Translation: X:116.48, Y:171.59, Z:15.94 [[-6.58803467e-02 -9.97749741e-01 1.24593454e-02 1.16476610e+02] [ 7.61483535e-01 -4.22029515e-02 6.46808888e-01 1.71588153e+02] [-6.44827579e-01 5.20995801e-02 7.62550344e-01 1.59381676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.850714057 meters Centerline goodness : 0.989614 Centerline is valid? [True, True] Translation: X:116.47, Y:171.62, Z:15.92 [[-6.79364739e-02 -9.97279429e-01 2.86072591e-02 1.16469284e+02] [ 7.62436830e-01 -3.34021332e-02 6.46199952e-01 1.71616127e+02] [-6.43486375e-01 6.57117741e-02 7.62631790e-01 1.59248186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.880714057 meters Centerline goodness : 0.989381 Centerline is valid? [True, True] Translation: X:116.47, Y:171.62, Z:15.91 [[-6.66790943e-02 -9.97722828e-01 1.01516608e-02 1.16474506e+02] [ 7.62619060e-01 -4.44007643e-02 6.45322200e-01 1.71620085e+02] [-6.43401949e-01 5.07713499e-02 7.63843048e-01 1.59143636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.910714057 meters Centerline goodness : 0.989173 Centerline is valid? [True, True] Translation: X:116.47, Y:171.63, Z:15.91 [[-6.56171698e-02 -9.97724784e-01 1.54803866e-02 1.16471908e+02] [ 7.63261204e-01 -4.01921337e-02 6.44838682e-01 1.71627214e+02] [-6.42749345e-01 5.41280679e-02 7.64161914e-01 1.59107099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.940714057 meters Centerline goodness : 0.989469 Centerline is valid? [True, True] Translation: X:116.47, Y:171.63, Z:15.91 [[-6.50070142e-02 -9.97773877e-01 1.48788185e-02 1.16471510e+02] [ 7.61645843e-01 -3.99783074e-02 6.46759109e-01 1.71631652e+02] [-6.44724514e-01 5.33762689e-02 7.62549196e-01 1.59063184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.970714057 meters Centerline goodness : 0.988236 Centerline is valid? [True, True] Translation: X:116.47, Y:171.63, Z:15.91 [[-6.75514186e-02 -9.97658024e-01 1.07365288e-02 1.16473257e+02] [ 7.63334161e-01 -4.47499311e-02 6.44452018e-01 1.71628610e+02] [-6.42462267e-01 5.17292072e-02 7.64569372e-01 1.59083668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.000714057 meters Centerline goodness : 0.989112 Centerline is valid? [True, True] Translation: X:116.47, Y:171.64, Z:15.90 [[-6.62310023e-02 -9.97743169e-01 1.10464521e-02 1.16473091e+02] [ 7.62320360e-01 -4.34541807e-02 6.45739423e-01 1.71637741e+02] [-6.43802083e-01 5.11889046e-02 7.63477946e-01 1.58997652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.030714057 meters Centerline goodness : 0.988806 Centerline is valid? [True, True] Translation: X:116.47, Y:171.66, Z:15.89 [[-6.92831124e-02 -9.97403115e-01 1.96691771e-02 1.16468708e+02] [ 7.63746285e-01 -4.03475445e-02 6.44254365e-01 1.71660548e+02] [-6.41787708e-01 5.96582086e-02 7.64558328e-01 1.58884756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.060714057 meters Centerline goodness : 0.988519 Centerline is valid? [True, True] Translation: X:116.47, Y:171.68, Z:15.87 [[-7.06018581e-02 -9.97321423e-01 1.91143324e-02 1.16467039e+02] [ 7.64717522e-01 -4.18118115e-02 6.43007686e-01 1.71682926e+02] [-6.40486135e-01 6.00146023e-02 7.65621159e-01 1.58734524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.090714057 meters Centerline goodness : 0.988789 Centerline is valid? [True, True] Translation: X:116.47, Y:171.68, Z:15.87 [[-6.95471077e-02 -9.97559120e-01 6.24514853e-03 1.16470966e+02] [ 7.64732975e-01 -4.92930326e-02 6.42459083e-01 1.71677800e+02] [-6.40583075e-01 4.94570421e-02 7.66294542e-01 1.58709967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.120714057 meters Centerline goodness : 0.988643 Centerline is valid? [True, True] Translation: X:116.46, Y:171.70, Z:15.86 [[-6.83279518e-02 -9.97437612e-01 2.12014524e-02 1.16463768e+02] [ 7.66452846e-01 -3.88770338e-02 6.41122930e-01 1.71700928e+02] [-6.38655875e-01 6.00565303e-02 7.67145284e-01 1.58604237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.150714057 meters Centerline goodness : 0.988554 Centerline is valid? [True, True] Translation: X:116.47, Y:171.72, Z:15.84 [[-6.86300656e-02 -9.97613149e-01 7.61041951e-03 1.16467411e+02] [ 7.67441774e-01 -4.79184190e-02 6.39325386e-01 1.71720203e+02] [-6.37434733e-01 4.97174970e-02 7.68898649e-01 1.58401016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.180714057 meters Centerline goodness : 0.988443 Centerline is valid? [True, True] Translation: X:116.46, Y:171.74, Z:15.82 [[-6.78043346e-02 -9.97536449e-01 1.79890044e-02 1.16463163e+02] [ 7.67192052e-01 -4.06036564e-02 6.40131001e-01 1.71743777e+02] [-6.37823587e-01 5.72046778e-02 7.68055139e-01 1.58241300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.210714057 meters Centerline goodness : 0.988422 Centerline is valid? [True, True] Translation: X:116.46, Y:171.75, Z:15.81 [[-6.25477714e-02 -9.97878075e-01 1.80865762e-02 1.16464215e+02] [ 7.62819543e-01 -3.61125568e-02 6.45602221e-01 1.71749292e+02] [-6.43579149e-01 5.41777739e-02 7.63459657e-01 1.58134564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.240714057 meters Centerline goodness : 0.988667 Centerline is valid? [True, True] Translation: X:116.47, Y:171.77, Z:15.80 [[-6.40342681e-02 -9.97945081e-01 -2.28639713e-03 1.16469941e+02] [ 7.64845037e-01 -5.05485538e-02 6.42228085e-01 1.71767355e+02] [-6.41023932e-01 3.93758659e-02 7.66510182e-01 1.57970520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.270714057 meters Centerline goodness : 0.988542 Centerline is valid? [True, True] Translation: X:116.46, Y:171.79, Z:15.78 [[-6.29957221e-02 -9.97878762e-01 1.64169059e-02 1.16462869e+02] [ 7.65116390e-01 -3.77265319e-02 6.42785827e-01 1.71793931e+02] [-6.40802972e-01 5.30536011e-02 7.65870006e-01 1.57838516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.300714057 meters Centerline goodness : 0.988250 Centerline is valid? [True, True] Translation: X:116.46, Y:171.81, Z:15.76 [[-6.28938917e-02 -9.97958322e-01 1.11150812e-02 1.16464256e+02] [ 7.64878737e-01 -4.10444994e-02 6.42865357e-01 1.71814240e+02] [-6.41096620e-01 4.89339934e-02 7.65898550e-01 1.57645578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.330714057 meters Centerline goodness : 0.988512 Centerline is valid? [True, True] Translation: X:116.46, Y:171.84, Z:15.75 [[-6.09659103e-02 -9.98021444e-01 1.53738232e-02 1.16463688e+02] [ 7.64258948e-01 -3.67678917e-02 6.43860531e-01 1.71837409e+02] [-6.42021354e-01 5.10031253e-02 7.64988407e-01 1.57457453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.360714057 meters Centerline goodness : 0.989124 Centerline is valid? [True, True] Translation: X:116.46, Y:171.86, Z:15.72 [[-6.01327840e-02 -9.98060055e-01 1.61299458e-02 1.16463770e+02] [ 7.64034149e-01 -3.56218282e-02 6.44191667e-01 1.71859918e+02] [-6.42367393e-01 5.10608678e-02 7.64694005e-01 1.57248575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.390714057 meters Centerline goodness : 0.990231 Centerline is valid? [True, True] Translation: X:116.46, Y:171.87, Z:15.72 [[-5.77532307e-02 -9.98087121e-01 2.20604377e-02 1.16461452e+02] [ 7.65250693e-01 -3.00676970e-02 6.43029790e-01 1.71869133e+02] [-6.41136445e-01 5.40188130e-02 7.65523368e-01 1.57201806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.420714057 meters Centerline goodness : 0.989290 Centerline is valid? [True, True] Translation: X:116.46, Y:171.89, Z:15.70 [[-5.34599896e-02 -9.98461697e-01 1.47061008e-02 1.16463631e+02] [ 7.59643870e-01 -3.11053935e-02 6.49594986e-01 1.71885327e+02] [-6.48138273e-01 4.58987405e-02 7.60138201e-01 1.57048174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.450714057 meters Centerline goodness : 0.989880 Centerline is valid? [True, True] Translation: X:116.46, Y:171.91, Z:15.69 [[-5.07869603e-02 -9.98574075e-01 1.64469398e-02 1.16461899e+02] [ 7.61775460e-01 -2.80833163e-02 6.47232165e-01 1.71906719e+02] [-6.45847376e-01 4.53998294e-02 7.62115492e-01 1.56893845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.480714057 meters Centerline goodness : 0.989808 Centerline is valid? [True, True] Translation: X:116.46, Y:171.93, Z:15.67 [[-4.86938202e-02 -9.98499877e-01 2.50381105e-02 1.16459311e+02] [ 7.60843967e-01 -2.08399396e-02 6.48600150e-01 1.71929834e+02] [-6.47105377e-01 5.06329144e-02 7.60717384e-01 1.56721666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.51071405700003 meters Centerline goodness : 0.988356 Centerline is valid? [True, True] Translation: X:116.46, Y:171.95, Z:15.65 [[-4.41711517e-02 -9.98778533e-01 2.21438840e-02 1.16461598e+02] [ 7.61144006e-01 -1.92883750e-02 6.48296044e-01 1.71949449e+02] [-6.47077052e-01 4.54906675e-02 7.61066284e-01 1.56523603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.540714057 meters Centerline goodness : 0.990115 Centerline is valid? [True, True] Translation: X:116.46, Y:171.98, Z:15.63 [[-4.40899625e-02 -9.98103580e-01 4.29571835e-02 1.16455258e+02] [ 7.65186564e-01 -6.09363739e-03 6.43779768e-01 1.71979975e+02] [-6.42297126e-01 6.12544855e-02 7.64004117e-01 1.56316999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.570714057 meters Centerline goodness : 0.989484 Centerline is valid? [True, True] Translation: X:116.46, Y:171.99, Z:15.61 [[-3.60693205e-02 -9.99163645e-01 1.92617604e-02 1.16462925e+02] [ 7.60727843e-01 -1.49525100e-02 6.48898737e-01 1.71993184e+02] [-6.48068015e-01 3.80582940e-02 7.60630932e-01 1.56114812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.600714057 meters Centerline goodness : 0.988049 Centerline is valid? [True, True] Translation: X:116.46, Y:171.99, Z:15.61 [[-3.00769038e-02 -9.99376740e-01 1.84800298e-02 1.16463604e+02] [ 7.58201447e-01 -1.07633463e-02 6.51931527e-01 1.71992267e+02] [-6.51326297e-01 3.36196672e-02 7.58052618e-01 1.56094554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.630714057 meters Centerline goodness : 0.988434 Centerline is valid? [True, True] Translation: X:116.46, Y:172.02, Z:15.59 [[-2.52068580e-02 -9.99358622e-01 2.54353711e-02 1.16461199e+02] [ 7.59515158e-01 -2.60134699e-03 6.50484402e-01 1.72016378e+02] [-6.50001030e-01 3.57152178e-02 7.59093594e-01 1.55942613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.660714057 meters Centerline goodness : 0.988806 Centerline is valid? [True, True] Translation: X:116.46, Y:172.04, Z:15.58 [[-2.37329278e-02 -9.99535207e-01 1.91342074e-02 1.16463341e+02] [ 7.61077345e-01 -5.65407639e-03 6.48636498e-01 1.72037833e+02] [-6.48226830e-01 2.99566549e-02 7.60857790e-01 1.55765766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.690714057 meters Centerline goodness : 0.988305 Centerline is valid? [True, True] Translation: X:116.47, Y:172.03, Z:15.57 [[-1.99067133e-02 -9.99716956e-01 1.30280757e-02 1.16466854e+02] [ 7.60999436e-01 -6.69934729e-03 6.48717949e-01 1.72034976e+02] [-6.48447053e-01 2.28282005e-02 7.60917402e-01 1.55749072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.720714057 meters Centerline goodness : 0.988344 Centerline is valid? [True, True] Translation: X:116.46, Y:172.06, Z:15.56 [[-1.68255848e-02 -9.99008107e-01 4.12274474e-02 1.16460182e+02] [ 7.59555289e-01 1.40438108e-02 6.50291115e-01 1.72064227e+02] [-6.50225086e-01 4.22560540e-02 7.58565596e-01 1.55582200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.750714057 meters Centerline goodness : 0.988454 Centerline is valid? [True, True] Translation: X:116.47, Y:172.06, Z:15.55 [[-1.62683382e-02 -9.99812996e-01 1.04553807e-02 1.16474124e+02] [ 7.62287872e-01 -5.63534617e-03 6.47213599e-01 1.72064739e+02] [-6.47033648e-01 1.84990996e-02 7.62236999e-01 1.55453041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.780714057 meters Centerline goodness : 0.988556 Centerline is valid? [True, True] Translation: X:116.47, Y:172.07, Z:15.54 [[-1.55895798e-02 -9.99763096e-01 1.51893532e-02 1.16473214e+02] [ 7.63324513e-01 -2.08790065e-03 6.46011864e-01 1.72070681e+02] [-6.45827107e-01 2.16654591e-02 7.63176228e-01 1.55434603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.810714057 meters Centerline goodness : 0.989039 Centerline is valid? [True, True] Translation: X:116.48, Y:172.08, Z:15.54 [[-1.99524674e-02 -9.99797550e-01 -2.59955254e-03 1.16478495e+02] [ 7.71710462e-01 -1.70536338e-02 6.35745339e-01 1.72078262e+02] [-6.35660965e-01 1.06785863e-02 7.71894491e-01 1.55385002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.840714057 meters Centerline goodness : 0.988510 Centerline is valid? [True, True] Translation: X:116.48, Y:172.09, Z:15.54 [[-2.12115735e-02 -9.99692748e-01 1.28249347e-02 1.16475848e+02] [ 7.71439511e-01 -8.20610573e-03 6.36249748e-01 1.72093344e+02] [-6.35949016e-01 2.33895196e-02 7.71376549e-01 1.55358117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.870714057 meters Centerline goodness : 0.988862 Centerline is valid? [True, True] Translation: X:116.48, Y:172.12, Z:15.52 [[-2.71168985e-02 -9.99629598e-01 -2.31091963e-03 1.16480782e+02] [ 7.76075099e-01 -2.25095182e-02 6.30238655e-01 1.72115364e+02] [-6.30057231e-01 1.52966705e-02 7.76398028e-01 1.55165666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.900714057 meters Centerline goodness : 0.988842 Centerline is valid? [True, True] Translation: X:116.48, Y:172.16, Z:15.48 [[-3.15663449e-02 -9.99501209e-01 -9.48616895e-04 1.16483101e+02] [ 7.78369661e-01 -2.51779121e-02 6.27301159e-01 1.72158348e+02] [-6.27012151e-01 1.90632301e-02 7.78776191e-01 1.54845901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.930714057 meters Centerline goodness : 0.988588 Centerline is valid? [True, True] Translation: X:116.49, Y:172.13, Z:15.51 [[-3.47210643e-02 -9.99386923e-01 -4.49737769e-03 1.16485649e+02] [ 7.82289541e-01 -2.99785424e-02 6.22193186e-01 1.72131925e+02] [-6.21946558e-01 1.80849581e-02 7.82850824e-01 1.55089693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.960714057 meters Centerline goodness : 0.989936 Centerline is valid? [True, True] Translation: X:116.49, Y:172.14, Z:15.51 [[-3.87969914e-02 -9.99243623e-01 -2.64113817e-03 1.16488483e+02] [ 7.83473450e-01 -3.20597463e-02 6.20597717e-01 1.72135815e+02] [-6.20212985e-01 2.20080626e-02 7.84124670e-01 1.55074760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.990714057 meters Centerline goodness : 0.990129 Centerline is valid? [True, True] Translation: X:116.49, Y:172.14, Z:15.50 [[-4.15397577e-02 -9.99136543e-01 -7.85851085e-04 1.16489662e+02] [ 7.83470110e-01 -3.30613650e-02 6.20549379e-01 1.72142500e+02] [-6.20039543e-01 2.51617800e-02 7.84166979e-01 1.55029002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.020714057 meters Centerline goodness : 0.989506 Centerline is valid? [True, True] Translation: X:116.49, Y:172.16, Z:15.49 [[-4.39352819e-02 -9.98909173e-01 1.58162646e-02 1.16487842e+02] [ 7.79466086e-01 -2.43721386e-02 6.25970142e-01 1.72159425e+02] [-6.24901841e-01 3.98304165e-02 7.79686621e-01 1.54930853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.050714057 meters Centerline goodness : 0.990789 Centerline is valid? [True, True] Translation: X:116.49, Y:172.18, Z:15.47 [[-4.61451234e-02 -9.98933268e-01 1.71878506e-03 1.16494277e+02] [ 7.79067497e-01 -3.49115038e-02 6.25967269e-01 1.72175901e+02] [-6.25239524e-01 3.02243865e-02 7.79847436e-01 1.54744967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.080714057 meters Centerline goodness : 0.992625 Centerline is valid? [True, True] Translation: X:116.48, Y:172.18, Z:15.48 [[-5.60924665e-02 -9.98078212e-01 2.63347127e-02 1.16481122e+02] [ 7.76951438e-01 -2.70691806e-02 6.28978316e-01 1.72177189e+02] [-6.27056694e-01 5.57417380e-02 7.76976680e-01 1.54788274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.110714057 meters Centerline goodness : 0.990747 Centerline is valid? [True, True] Translation: X:116.50, Y:172.16, Z:15.47 [[-4.38177969e-02 -9.98982678e-01 -1.06588352e-02 1.16502684e+02] [ 7.70971543e-01 -4.05980575e-02 6.35574289e-01 1.72161836e+02] [-6.35360433e-01 1.96318065e-02 7.71966134e-01 1.54735983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.140714057 meters Centerline goodness : 0.990444 Centerline is valid? [True, True] Translation: X:116.50, Y:172.18, Z:15.47 [[-4.31967082e-02 -9.99032232e-01 8.28521479e-03 1.16496776e+02] [ 7.72090806e-01 -2.81187950e-02 6.34889849e-01 1.72177860e+02] [-6.34042453e-01 3.38220897e-02 7.72558240e-01 1.54698246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.170714057 meters Centerline goodness : 0.990872 Centerline is valid? [True, True] Translation: X:116.50, Y:172.20, Z:15.45 [[-4.49649248e-02 -9.98984231e-01 2.94317654e-03 1.16497735e+02] [ 7.73195902e-01 -3.29362040e-02 6.33311380e-01 1.72199180e+02] [-6.32571145e-01 3.07524506e-02 7.73891487e-01 1.54539006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.200714057 meters Centerline goodness : 0.990478 Centerline is valid? [True, True] Translation: X:116.50, Y:172.21, Z:15.45 [[-4.70088541e-02 -9.98893219e-01 1.58235397e-03 1.16499829e+02] [ 7.74232351e-01 -3.54350912e-02 6.31908713e-01 1.72208645e+02] [-6.31153257e-01 3.09304141e-02 7.75041209e-01 1.54473760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.230714057 meters Centerline goodness : 0.991236 Centerline is valid? [True, True] Translation: X:116.50, Y:172.21, Z:15.45 [[-4.66999800e-02 -9.98881604e-01 7.39282171e-03 1.16498856e+02] [ 7.73055361e-01 -3.14530634e-02 6.33558296e-01 1.72207102e+02] [-6.32617199e-01 3.53022202e-02 7.73659636e-01 1.54507463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.26071405700003 meters Centerline goodness : 0.990883 Centerline is valid? [True, True] Translation: X:116.50, Y:172.23, Z:15.44 [[-4.84231798e-02 -9.98815412e-01 4.79263201e-03 1.16500872e+02] [ 7.73464775e-01 -3.44611808e-02 6.32901784e-01 1.72227234e+02] [-6.31986896e-01 3.43540489e-02 7.74217258e-01 1.54356818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.290714057 meters Centerline goodness : 0.989211 Centerline is valid? [True, True] Translation: X:116.49, Y:172.25, Z:15.42 [[-4.75844270e-02 -9.98550465e-01 2.51533419e-02 1.16494404e+02] [ 7.71191957e-01 -2.07225667e-02 6.36265307e-01 1.72248981e+02] [-6.34821777e-01 4.96743750e-02 7.71060159e-01 1.54194261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.320714057 meters Centerline goodness : 0.991515 Centerline is valid? [True, True] Translation: X:116.51, Y:172.26, Z:15.40 [[-4.59528581e-02 -9.98925917e-01 -5.94540380e-03 1.16505388e+02] [ 7.74325352e-01 -3.93796461e-02 6.31561155e-01 1.72258133e+02] [-6.31116934e-01 2.44183633e-02 7.75303269e-01 1.54006129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.350714057 meters Centerline goodness : 0.990868 Centerline is valid? [True, True] Translation: X:116.50, Y:172.28, Z:15.39 [[-4.64354516e-02 -9.98919608e-01 -1.83457998e-03 1.16504055e+02] [ 7.75371540e-01 -3.72014548e-02 6.30408619e-01 1.72281049e+02] [-6.29795779e-01 2.78508278e-02 7.76261301e-01 1.53860877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.380714057 meters Centerline goodness : 0.990736 Centerline is valid? [True, True] Translation: X:116.50, Y:172.31, Z:15.37 [[-4.51845682e-02 -9.98529155e-01 2.99646813e-02 1.16495235e+02] [ 7.74009708e-01 -1.60301046e-02 6.32970779e-01 1.72309070e+02] [-6.31559440e-01 5.17934656e-02 7.73595573e-01 1.53695985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.410714057 meters Centerline goodness : 0.991286 Centerline is valid? [True, True] Translation: X:116.51, Y:172.33, Z:15.35 [[-4.54883073e-02 -9.98964448e-01 -9.19819094e-04 1.16506214e+02] [ 7.74819610e-01 -3.58629274e-02 6.31164338e-01 1.72325318e+02] [-6.30543722e-01 2.79979035e-02 7.75648588e-01 1.53477036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.440714057 meters Centerline goodness : 0.990956 Centerline is valid? [True, True] Translation: X:116.50, Y:172.35, Z:15.33 [[-4.37500237e-02 -9.98897718e-01 1.70083901e-02 1.16500531e+02] [ 7.74471324e-01 -2.31562132e-02 6.32185066e-01 1.72350808e+02] [-6.31094370e-01 4.08306220e-02 7.74630723e-01 1.53318829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.470714057 meters Centerline goodness : 0.989903 Centerline is valid? [True, True] Translation: X:116.50, Y:172.37, Z:15.31 [[-3.99307391e-02 -9.99131459e-01 1.19106539e-02 1.16501570e+02] [ 7.73837128e-01 -2.33813128e-02 6.32952932e-01 1.72371818e+02] [-6.32124700e-01 3.44911846e-02 7.74098652e-01 1.53144547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.500714057 meters Centerline goodness : 0.990518 Centerline is valid? [True, True] Translation: X:116.50, Y:172.39, Z:15.30 [[-3.56642010e-02 -9.99322605e-01 9.07723581e-03 1.16502242e+02] [ 7.75440558e-01 -2.19422398e-02 6.31039206e-01 1.72393724e+02] [-6.30412568e-01 2.95443659e-02 7.75697831e-01 1.52956024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.530714057 meters Centerline goodness : 0.991028 Centerline is valid? [True, True] Translation: X:116.50, Y:172.42, Z:15.28 [[-3.32240824e-02 -9.99320789e-01 1.59411465e-02 1.16499328e+02] [ 7.74615018e-01 -1.56679012e-02 6.32238951e-01 1.72416689e+02] [-6.31559764e-01 3.33538105e-02 7.74609443e-01 1.52793773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.560714057 meters Centerline goodness : 0.991056 Centerline is valid? [True, True] Translation: X:116.50, Y:172.44, Z:15.26 [[-3.07944651e-02 -9.99413715e-01 1.49642090e-02 1.16500184e+02] [ 7.74638491e-01 -1.44020457e-02 6.32240294e-01 1.72438731e+02] [-6.31654106e-01 3.10613540e-02 7.74627835e-01 1.52588019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.590714057 meters Centerline goodness : 0.991273 Centerline is valid? [True, True] Translation: X:116.50, Y:172.46, Z:15.24 [[-2.83826845e-02 -9.99502162e-01 1.37786443e-02 1.16500303e+02] [ 7.74562578e-01 -1.32777409e-02 6.32357901e-01 1.72458895e+02] [-6.31860140e-01 2.86204370e-02 7.74553829e-01 1.52422173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.620714057 meters Centerline goodness : 0.991273 Centerline is valid? [True, True] Translation: X:116.50, Y:172.46, Z:15.24 [[-2.79525221e-02 -9.99594468e-01 5.43657453e-03 1.16503356e+02] [ 7.74433876e-01 -1.82167183e-02 6.32392539e-01 1.72460987e+02] [-6.32037047e-01 2.18872339e-02 7.74629021e-01 1.52365718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.650714057 meters Centerline goodness : 0.990240 Centerline is valid? [True, True] Translation: X:116.50, Y:172.48, Z:15.22 [[-2.70163500e-02 -9.99459230e-01 1.87446960e-02 1.16499563e+02] [ 7.72234682e-01 -8.95978570e-03 6.35274207e-01 1.72484973e+02] [-6.34762722e-01 3.16380947e-02 7.72059142e-01 1.52186117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.680714057 meters Centerline goodness : 0.990495 Centerline is valid? [True, True] Translation: X:116.50, Y:172.49, Z:15.21 [[-2.77972848e-02 -9.99577686e-01 8.47112354e-03 1.16504169e+02] [ 7.72841105e-01 -1.61156524e-02 6.34394918e-01 1.72487999e+02] [-6.33990487e-01 2.41812887e-02 7.72962695e-01 1.52141327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.710714057 meters Centerline goodness : 0.990404 Centerline is valid? [True, True] Translation: X:116.50, Y:172.48, Z:15.21 [[-2.63906777e-02 -9.99518385e-01 1.63257289e-02 1.16504075e+02] [ 7.67272286e-01 -9.78472611e-03 6.41246831e-01 1.72484664e+02] [-6.40778255e-01 2.94492178e-02 7.67160982e-01 1.52147508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.740714057 meters Centerline goodness : 0.989990 Centerline is valid? [True, True] Translation: X:116.50, Y:172.51, Z:15.20 [[-2.81243430e-02 -9.99102187e-01 3.16834679e-02 1.16499537e+02] [ 7.67739689e-01 -1.29181735e-03 6.40760565e-01 1.72508366e+02] [-6.40144352e-01 4.23456256e-02 7.67086733e-01 1.52011956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.770714057 meters Centerline goodness : 0.991485 Centerline is valid? [True, True] Translation: X:116.50, Y:172.53, Z:15.18 [[-3.22517161e-02 -9.98895816e-01 3.41610117e-02 1.16500865e+02] [ 7.65848953e-01 -2.73693275e-03 6.43014689e-01 1.72533852e+02] [-6.42211186e-01 4.69005022e-02 7.65091586e-01 1.51755687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.800714057 meters Centerline goodness : 0.991078 Centerline is valid? [True, True] Translation: X:116.50, Y:172.55, Z:15.16 [[-3.88343361e-02 -9.98693300e-01 3.32202872e-02 1.16502766e+02] [ 7.67282048e-01 -8.50538089e-03 6.41253396e-01 1.72554769e+02] [-6.40132918e-01 5.03919799e-02 7.66609741e-01 1.51583179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.830714057 meters Centerline goodness : 0.990666 Centerline is valid? [True, True] Translation: X:116.50, Y:172.58, Z:15.14 [[-4.35475649e-02 -9.98299322e-01 3.87565815e-02 1.16502370e+02] [ 7.66453462e-01 -8.50047223e-03 6.42243593e-01 1.72575306e+02] [-6.40821895e-01 5.76732606e-02 7.65520146e-01 1.51411547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.860714057 meters Centerline goodness : 0.990915 Centerline is valid? [True, True] Translation: X:116.50, Y:172.60, Z:15.12 [[-4.50764222e-02 -9.98321445e-01 3.63649262e-02 1.16503865e+02] [ 7.66158065e-01 -1.11879868e-02 6.42554782e-01 1.72597175e+02] [-6.41069368e-01 5.68253522e-02 7.65376342e-01 1.51206250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.890714057 meters Centerline goodness : 0.991677 Centerline is valid? [True, True] Translation: X:116.51, Y:172.60, Z:15.11 [[-4.69130522e-02 -9.98875140e-01 6.90067403e-03 1.16513801e+02] [ 7.69744593e-01 -3.17471714e-02 6.37562059e-01 1.72597607e+02] [-6.36625814e-01 3.52217387e-02 7.70368095e-01 1.51112089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.920714057 meters Centerline goodness : 0.991925 Centerline is valid? [True, True] Translation: X:116.51, Y:172.61, Z:15.11 [[-4.82560597e-02 -9.98525837e-01 2.48496463e-02 1.16505113e+02] [ 7.73394236e-01 -2.16091479e-02 6.33556943e-01 1.72614275e+02] [-6.32085998e-01 4.97915348e-02 7.73296900e-01 1.51083714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.950714057 meters Centerline goodness : 0.991459 Centerline is valid? [True, True] Translation: X:116.51, Y:172.63, Z:15.09 [[-4.73849918e-02 -9.98741710e-01 1.64213243e-02 1.16507008e+02] [ 7.70032353e-01 -2.60526127e-02 6.37472695e-01 1.72633550e+02] [-6.36242751e-01 4.28515894e-02 7.70297932e-01 1.50926542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.980714057 meters Centerline goodness : 0.990161 Centerline is valid? [True, True] Translation: X:116.49, Y:172.63, Z:15.09 [[-3.01591290e-02 -9.96731876e-01 7.49399434e-02 1.16489942e+02] [ 7.45054185e-01 2.75624351e-02 6.66434223e-01 1.72631672e+02] [-6.66321760e-01 7.59333941e-02 7.41787996e-01 1.50947241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.01071405700003 meters Centerline goodness : 0.990980 Centerline is valid? [True, True] Translation: X:116.51, Y:172.64, Z:15.08 [[-3.31797224e-02 -9.99402270e-01 9.70608281e-03 1.16509549e+02] [ 7.49866445e-01 -1.84724657e-02 6.61331296e-01 1.72639283e+02] [-6.60756703e-01 2.92210546e-02 7.50031139e-01 1.50784236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.040714057 meters Centerline goodness : 0.992761 Centerline is valid? [True, True] Translation: X:116.51, Y:172.65, Z:15.08 [[-4.91783230e-02 -9.98237640e-01 -3.32130387e-02 1.16506023e+02] [ 7.60554163e-01 -5.89819409e-02 6.46589898e-01 1.72653783e+02] [-6.47409344e-01 6.53789199e-03 7.62114425e-01 1.50819723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.070714057 meters Centerline goodness : 0.992670 Centerline is valid? [True, True] Translation: X:116.49, Y:172.68, Z:15.07 [[-4.68369384e-02 -9.98901415e-01 1.50496349e-03 1.16494200e+02] [ 7.60128823e-01 -3.46636966e-02 6.48847132e-01 1.72683752e+02] [-6.48082150e-01 3.15339792e-02 7.60917298e-01 1.50713602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.100714057 meters Centerline goodness : 0.989792 Centerline is valid? [True, True] Translation: X:116.47, Y:172.73, Z:15.04 [[-2.95924437e-02 -9.91129300e-01 1.29564647e-01 1.16466954e+02] [ 7.45621187e-01 6.44402328e-02 6.63246939e-01 1.72733770e+02] [-6.65712650e-01 1.16233244e-01 7.37100061e-01 1.50386509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.130714057 meters Centerline goodness : 0.991821 Centerline is valid? [True, True] Translation: X:116.50, Y:172.74, Z:15.00 [[-3.06122402e-02 -9.98979059e-01 3.32224498e-02 1.16499822e+02] [ 7.49815722e-01 -9.73031129e-04 6.61646006e-01 1.72739986e+02] [-6.60938178e-01 4.51651816e-02 7.49079990e-01 1.49966341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.160714057 meters Centerline goodness : 0.991412 Centerline is valid? [True, True] Translation: X:116.50, Y:172.76, Z:14.99 [[-3.56456674e-02 -9.99349405e-01 5.49119932e-03 1.16504427e+02] [ 7.56990424e-01 -2.34128729e-02 6.53006383e-01 1.72756366e+02] [-6.52452975e-01 2.74336336e-02 7.57332497e-01 1.49915451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.190714057 meters Centerline goodness : 0.992152 Centerline is valid? [True, True] Translation: X:116.50, Y:172.78, Z:14.99 [[-3.94086374e-02 -9.99211553e-01 -4.81993864e-03 1.16501765e+02] [ 7.64821987e-01 -3.32678847e-02 6.43382138e-01 1.72779140e+02] [-6.43035215e-01 2.16684183e-02 7.65530008e-01 1.49873160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.220714057 meters Centerline goodness : 0.992672 Centerline is valid? [True, True] Translation: X:116.50, Y:172.81, Z:14.97 [[-4.10481352e-02 -9.99107501e-01 9.96253744e-03 1.16495359e+02] [ 7.66533750e-01 -2.50940820e-02 6.41713563e-01 1.72806349e+02] [-6.40890834e-01 3.39777663e-02 7.66879685e-01 1.49738444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.250714057 meters Centerline goodness : 0.992731 Centerline is valid? [True, True] Translation: X:116.49, Y:172.83, Z:14.96 [[-4.33093875e-02 -9.98959979e-01 1.42568277e-02 1.16493133e+02] [ 7.66164502e-01 -2.40514763e-02 6.42194272e-01 1.72829116e+02] [-6.41183479e-01 3.87361159e-02 7.66409329e-01 1.49571164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.280714057 meters Centerline goodness : 0.992688 Centerline is valid? [True, True] Translation: X:116.48, Y:172.82, Z:14.97 [[-2.96932506e-02 -9.96748276e-01 7.49078497e-02 1.16475305e+02] [ 7.41010307e-01 2.83444775e-02 6.70895160e-01 1.72816913e+02] [-6.70836818e-01 7.54285468e-02 7.37759106e-01 1.49683229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.310714057 meters Centerline goodness : 0.992304 Centerline is valid? [True, True] Translation: X:116.49, Y:172.83, Z:14.95 [[-3.41689106e-02 -9.99331947e-01 1.29670560e-02 1.16493497e+02] [ 7.45637541e-01 -1.68510227e-02 6.66138649e-01 1.72825578e+02] [-6.65475125e-01 3.24299557e-02 7.45715197e-01 1.49492473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.340714057 meters Centerline goodness : 0.991882 Centerline is valid? [True, True] Translation: X:116.48, Y:172.86, Z:14.93 [[-3.71072057e-02 -9.97993031e-01 5.13124332e-02 1.16479910e+02] [ 7.43721413e-01 6.71615685e-03 6.68455948e-01 1.72855208e+02] [-6.67458999e-01 6.29666877e-02 7.41979569e-01 1.49344492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.370714057 meters Centerline goodness : 0.992476 Centerline is valid? [True, True] Translation: X:116.48, Y:172.88, Z:14.91 [[-4.22083352e-02 -9.98329302e-01 3.94596209e-02 1.16482901e+02] [ 7.49313476e-01 -5.50660661e-03 6.62192565e-01 1.72877631e+02] [-6.60868952e-01 5.75176714e-02 7.48294024e-01 1.49133757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.400714057 meters Centerline goodness : 0.991699 Centerline is valid? [True, True] Translation: X:116.47, Y:172.90, Z:14.89 [[-3.87579378e-02 -9.96751997e-01 7.05923472e-02 1.16473940e+02] [ 7.42422453e-01 1.85594397e-02 6.69674883e-01 1.72899776e+02] [-6.68809931e-01 7.83645610e-02 7.39291737e-01 1.48930752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.430714057 meters Centerline goodness : 0.990407 Centerline is valid? [True, True] Translation: X:116.49, Y:172.91, Z:14.87 [[-4.08834770e-02 -9.98659769e-01 3.17365278e-02 1.16485817e+02] [ 7.41984889e-01 -9.07233422e-03 6.70355217e-01 1.72912957e+02] [-6.69168862e-01 5.09544761e-02 7.41361366e-01 1.48703497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.460714057 meters Centerline goodness : 0.990451 Centerline is valid? [True, True] Translation: X:116.46, Y:172.96, Z:14.85 [[-3.65954097e-02 -9.92051774e-01 1.20391253e-01 1.16457663e+02] [ 7.33086874e-01 5.52232655e-02 6.77889391e-01 1.72957956e+02] [-6.79149771e-01 1.13064887e-01 7.25239216e-01 1.48480923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.490714057 meters Centerline goodness : 0.991664 Centerline is valid? [True, True] Translation: X:116.49, Y:172.96, Z:14.81 [[-3.41393439e-02 -9.98684011e-01 3.82720787e-02 1.16485568e+02] [ 7.31681563e-01 1.11033045e-03 6.81645698e-01 1.72957398e+02] [-6.80791154e-01 5.12739113e-02 7.30680772e-01 1.48146140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.520714057 meters Centerline goodness : 0.991027 Centerline is valid? [True, True] Translation: X:116.48, Y:172.98, Z:14.80 [[-3.89087490e-02 -9.98449285e-01 3.98137421e-02 1.16481892e+02] [ 7.37108048e-01 -1.77767391e-03 6.75772569e-01 1.72983318e+02] [-6.74653863e-01 5.56404950e-02 7.36034171e-01 1.48020943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.550714057 meters Centerline goodness : 0.991024 Centerline is valid? [True, True] Translation: X:116.49, Y:172.97, Z:14.80 [[-3.70147559e-02 -9.99197676e-01 1.52941691e-02 1.16491052e+02] [ 7.36259430e-01 -1.69197190e-02 6.76487823e-01 1.72972938e+02] [-6.75686288e-01 3.63005079e-02 7.36294991e-01 1.47979847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.580714057 meters Centerline goodness : 0.990258 Centerline is valid? [True, True] Translation: X:116.49, Y:172.99, Z:14.79 [[-4.07437211e-02 -9.99169346e-01 7.52671720e-04 1.16492937e+02] [ 7.43575938e-01 -2.98180447e-02 6.67986309e-01 1.72986736e+02] [-6.67409000e-01 2.77759165e-02 7.44173182e-01 1.47869733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.610714057 meters Centerline goodness : 0.989988 Centerline is valid? [True, True] Translation: X:116.49, Y:173.00, Z:14.78 [[-3.96729329e-02 -9.99100406e-01 1.49812375e-02 1.16486938e+02] [ 7.43031475e-01 -1.94737114e-02 6.68973095e-01 1.72997564e+02] [-6.68079551e-01 3.76716557e-02 7.43135627e-01 1.47825515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.640714057 meters Centerline goodness : 0.989355 Centerline is valid? [True, True] Translation: X:116.49, Y:172.99, Z:14.78 [[-3.76977829e-02 -9.99202291e-01 1.31779901e-02 1.16487477e+02] [ 7.42862525e-01 -1.92012904e-02 6.69168573e-01 1.72993035e+02] [-6.68381737e-01 3.50156066e-02 7.42993783e-01 1.47837167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.670714057 meters Centerline goodness : 0.989840 Centerline is valid? [True, True] Translation: X:116.49, Y:173.01, Z:14.77 [[-3.57337822e-02 -9.99238462e-01 1.56714066e-02 1.16485811e+02] [ 7.42425248e-01 -1.60461654e-02 6.69736718e-01 1.73005903e+02] [-6.68975222e-01 3.55670739e-02 7.42433254e-01 1.47721932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.700714057 meters Centerline goodness : 0.992307 Centerline is valid? [True, True] Translation: X:116.49, Y:173.02, Z:14.76 [[-6.06420477e-02 -9.96993060e-01 -4.82429293e-02 1.16494375e+02] [ 7.67593332e-01 -7.74753517e-02 6.36237414e-01 1.73020985e+02] [-6.38061924e-01 1.55178883e-03 7.69983489e-01 1.47578457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.730714057 meters Centerline goodness : 0.990480 Centerline is valid? [True, True] Translation: X:116.47, Y:173.02, Z:14.78 [[-3.08795732e-02 -9.97589813e-01 6.21370822e-02 1.16467860e+02] [ 7.38777475e-01 1.90933278e-02 6.73678920e-01 1.73017562e+02] [-6.73241631e-01 6.67083942e-02 7.36407290e-01 1.47784324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.76071405700003 meters Centerline goodness : 0.991267 Centerline is valid? [True, True] Translation: X:116.47, Y:173.04, Z:14.75 [[-3.05932200e-02 -9.98396408e-01 4.76305326e-02 1.16473735e+02] [ 7.38782576e-01 9.51062106e-03 6.73876735e-01 1.73040776e+02] [-6.73249107e-01 5.58046667e-02 7.37306910e-01 1.47485872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.790714057 meters Centerline goodness : 0.991246 Centerline is valid? [True, True] Translation: X:116.49, Y:173.03, Z:14.74 [[-2.84474102e-02 -9.99572852e-01 6.69758737e-03 1.16488941e+02] [ 7.41176123e-01 -1.65968433e-02 6.71105431e-01 1.73030858e+02] [-6.70707611e-01 2.40553033e-02 7.41331669e-01 1.47371410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.820714057 meters Centerline goodness : 0.989970 Centerline is valid? [True, True] Translation: X:116.48, Y:173.06, Z:14.73 [[-3.04849553e-02 -9.99318130e-01 2.08312773e-02 1.16480767e+02] [ 7.44411776e-01 -8.79108189e-03 6.67662957e-01 1.73057177e+02] [-6.67024568e-01 3.58607236e-02 7.44172180e-01 1.47331979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.850714057 meters Centerline goodness : 0.990834 Centerline is valid? [True, True] Translation: X:116.49, Y:173.05, Z:14.73 [[-2.89216615e-02 -9.99573329e-01 4.08631514e-03 1.16486419e+02] [ 7.46942053e-01 -1.88950179e-02 6.64620604e-01 1.73052521e+02] [-6.64259819e-01 2.22741727e-02 7.47169830e-01 1.47288614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.880714057 meters Centerline goodness : 0.990555 Centerline is valid? [True, True] Translation: X:116.47, Y:173.08, Z:14.72 [[-2.94622039e-02 -9.98848251e-01 3.78701706e-02 1.16474347e+02] [ 7.47282013e-01 3.15176659e-03 6.64499556e-01 1.73084032e+02] [-6.63853577e-01 4.78773188e-02 7.46328473e-01 1.47153362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.910714057 meters Centerline goodness : 0.989897 Centerline is valid? [True, True] Translation: X:116.48, Y:173.08, Z:14.71 [[-2.78846240e-02 -9.99470320e-01 1.67787754e-02 1.16484662e+02] [ 7.43441267e-01 -9.51509028e-03 6.68733539e-01 1.73079097e+02] [-6.68219673e-01 3.11214174e-02 7.43312805e-01 1.47076688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.940714057 meters Centerline goodness : 0.991020 Centerline is valid? [True, True] Translation: X:116.48, Y:173.11, Z:14.69 [[-3.00807025e-02 -9.98893874e-01 3.61411047e-02 1.16476461e+02] [ 7.46437142e-01 1.59865774e-03 6.65454009e-01 1.73106654e+02] [-6.64775710e-01 4.69943869e-02 7.45563399e-01 1.46939316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.970714057 meters Centerline goodness : 0.984304 Centerline is valid? [True, True] Translation: X:116.47, Y:173.92, Z:14.02 [[-7.75638403e-02 -9.96686733e-01 -2.44827854e-02 1.16465622e+02] [ 7.71953739e-01 -7.55789032e-02 6.31169751e-01 1.73919038e+02] [-6.30928899e-01 3.00563720e-02 7.75258240e-01 1.40158431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.000714057 meters Centerline goodness : 0.983968 Centerline is valid? [True, True] Translation: X:116.47, Y:173.86, Z:14.06 [[-7.46984677e-02 -9.96879132e-01 -2.55369298e-02 1.16468731e+02] [ 7.86285795e-01 -7.46300553e-02 6.13339223e-01 1.73864515e+02] [-6.13330895e-01 2.57361750e-02 7.89406652e-01 1.40647585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.030714057 meters Centerline goodness : 0.990526 Centerline is valid? [True, True] Translation: X:116.49, Y:173.13, Z:14.64 [[-3.28473865e-02 -9.99445083e-01 -5.52958696e-03 1.16488543e+02] [ 7.71645193e-01 -2.88760370e-02 6.35397412e-01 1.73131466e+02] [-6.35204492e-01 1.66042652e-02 7.72165495e-01 1.46430639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.060714057 meters Centerline goodness : 0.992468 Centerline is valid? [True, True] Translation: X:116.47, Y:173.15, Z:14.65 [[-4.81765059e-02 -9.98828843e-01 4.46841110e-03 1.16469130e+02] [ 7.80497460e-01 -3.48533367e-02 6.24186639e-01 1.73153658e+02] [-6.23299879e-01 3.35587148e-02 7.81262487e-01 1.46506123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.090714057 meters Centerline goodness : 0.992763 Centerline is valid? [True, True] Translation: X:116.47, Y:173.18, Z:14.63 [[-5.01116753e-02 -9.98733874e-01 4.41236804e-03 1.16469596e+02] [ 7.80529966e-01 -3.64061883e-02 6.24057339e-01 1.73175011e+02] [-6.23106566e-01 3.47165442e-02 7.81366091e-01 1.46334233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.120714057 meters Centerline goodness : 0.992599 Centerline is valid? [True, True] Translation: X:116.48, Y:173.20, Z:14.61 [[-4.46776450e-02 -9.98953812e-01 -9.75655030e-03 1.16484708e+02] [ 7.80843183e-01 -4.10111734e-02 6.23379506e-01 1.73204598e+02] [-6.23127461e-01 2.02327924e-02 7.81858556e-01 1.46050414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.150714057 meters Centerline goodness : 0.985067 Centerline is valid? [True, True] Translation: X:116.47, Y:173.23, Z:14.61 [[-4.34464993e-02 -9.98394441e-01 3.63447605e-02 1.16466861e+02] [ 7.80100072e-01 -1.11749143e-02 6.25554953e-01 1.73227082e+02] [-6.24144438e-01 5.55307232e-02 7.79333087e-01 1.46065989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.180714057 meters Centerline goodness : 0.990413 Centerline is valid? [True, True] Translation: X:116.49, Y:173.24, Z:14.57 [[-4.01306123e-02 -9.99093645e-01 -1.41923167e-02 1.16491185e+02] [ 7.78844377e-01 -4.01753004e-02 6.25929215e-01 1.73243610e+02] [-6.25932082e-01 1.40653166e-02 7.79750727e-01 1.45745247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.210714057 meters Centerline goodness : 0.991788 Centerline is valid? [True, True] Translation: X:116.49, Y:173.27, Z:14.56 [[-4.73934029e-02 -9.98461238e-01 -2.87927301e-02 1.16491908e+02] [ 7.79696386e-01 -5.49962079e-02 6.23737895e-01 1.73269471e+02] [-6.24361602e-01 7.11147380e-03 7.81103077e-01 1.45615656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.240714057 meters Centerline goodness : 0.992726 Centerline is valid? [True, True] Translation: X:116.47, Y:173.31, Z:14.55 [[-5.10926126e-02 -9.98549281e-01 1.69964267e-02 1.16474647e+02] [ 7.85628335e-01 -2.96792990e-02 6.17986455e-01 1.73306971e+02] [-6.16585488e-01 4.49274169e-02 7.86005002e-01 1.45538308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.270714057 meters Centerline goodness : 0.992683 Centerline is valid? [True, True] Translation: X:116.47, Y:173.33, Z:14.54 [[-5.38171360e-02 -9.98342754e-01 2.03828477e-02 1.16470558e+02] [ 7.86039453e-01 -2.97661436e-02 6.17459274e-01 1.73330459e+02] [-6.15829274e-01 4.92516122e-02 7.86338721e-01 1.45408697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.300714057 meters Centerline goodness : 0.992675 Centerline is valid? [True, True] Translation: X:116.47, Y:173.35, Z:14.52 [[-5.52840639e-02 -9.98286672e-01 1.91674801e-02 1.16470711e+02] [ 7.81626466e-01 -3.13245884e-02 6.22959740e-01 1.73349217e+02] [-6.21291992e-01 4.94215558e-02 7.82019035e-01 1.45203894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.330714057 meters Centerline goodness : 0.991516 Centerline is valid? [True, True] Translation: X:116.47, Y:173.37, Z:14.51 [[-5.49949395e-02 -9.98349359e-01 1.65564012e-02 1.16468365e+02] [ 7.79258844e-01 -3.25470856e-02 6.25856486e-01 1.73368737e+02] [-6.24284559e-01 4.73206616e-02 7.79762493e-01 1.45066965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.360714057 meters Centerline goodness : 0.992344 Centerline is valid? [True, True] Translation: X:116.48, Y:173.38, Z:14.48 [[-5.61775439e-02 -9.98386665e-01 -8.25534084e-03 1.16476491e+02] [ 7.75205417e-01 -4.88272848e-02 6.29819385e-01 1.73382580e+02] [-6.29206362e-01 2.89821212e-02 7.76697748e-01 1.44812512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.390714057 meters Centerline goodness : 0.992049 Centerline is valid? [True, True] Translation: X:116.46, Y:173.42, Z:14.47 [[-5.36804952e-02 -9.97753046e-01 4.00907018e-02 1.16458759e+02] [ 7.81678116e-01 -1.70045201e-02 6.23450214e-01 1.73416157e+02] [-6.21367627e-01 6.48051405e-02 7.80834532e-01 1.44713861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.420714057 meters Centerline goodness : 0.992474 Centerline is valid? [True, True] Translation: X:116.44, Y:173.43, Z:14.45 [[-5.42921014e-02 -9.96553530e-01 6.27170543e-02 1.16442805e+02] [ 7.77606627e-01 -2.79450226e-03 6.28744880e-01 1.73430245e+02] [-6.26402667e-01 8.29050778e-02 7.75078349e-01 1.44505657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.450714057 meters Centerline goodness : 0.991662 Centerline is valid? [True, True] Translation: X:116.48, Y:173.44, Z:14.41 [[-4.82794007e-02 -9.98002164e-01 -4.07526817e-02 1.16484919e+02] [ 7.72972234e-01 -6.31714811e-02 6.31287011e-01 1.73435466e+02] [-6.32600210e-01 -1.02253281e-03 7.74477843e-01 1.44077101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.480714057 meters Centerline goodness : 0.991835 Centerline is valid? [True, True] Translation: X:116.46, Y:173.47, Z:14.40 [[-4.35877359e-02 -9.99000415e-01 9.91367351e-03 1.16463596e+02] [ 7.74319905e-01 -2.75109660e-02 6.32196038e-01 1.73468962e+02] [-6.31291370e-01 3.52323487e-02 7.74745047e-01 1.44035051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.51071405700003 meters Centerline goodness : 0.990768 Centerline is valid? [True, True] Translation: X:116.44, Y:173.51, Z:14.38 [[-3.54260952e-02 -9.95524584e-01 8.76116141e-02 1.16440343e+02] [ 7.65933091e-01 2.92658549e-02 6.42253852e-01 1.73505340e+02] [-6.41943527e-01 8.98571805e-02 7.61468447e-01 1.43840706e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.540714057 meters Centerline goodness : 0.990768 Centerline is valid? [True, True] Translation: X:116.46, Y:173.51, Z:14.35 [[-3.59516414e-02 -9.98774820e-01 3.40049907e-02 1.16459389e+02] [ 7.64923661e-01 -5.60463022e-03 6.44096562e-01 1.73514334e+02] [-6.43116842e-01 4.91675506e-02 7.64187987e-01 1.43491297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.570714057 meters Centerline goodness : 0.991146 Centerline is valid? [True, True] Translation: X:116.46, Y:173.53, Z:14.33 [[-3.03856808e-02 -9.99199215e-01 2.60315063e-02 1.16460249e+02] [ 7.65844658e-01 -6.53788630e-03 6.42992392e-01 1.73533059e+02] [-6.42307302e-01 3.94738516e-02 7.65430039e-01 1.43318908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.600714057 meters Centerline goodness : 0.991241 Centerline is valid? [True, True] Translation: X:116.46, Y:173.56, Z:14.32 [[-2.70118872e-02 -9.98970826e-01 3.64368807e-02 1.16456455e+02] [ 7.65793296e-01 2.74917006e-03 6.43080920e-01 1.73555182e+02] [-6.42519250e-01 4.52739483e-02 7.64930901e-01 1.43170513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.630714057 meters Centerline goodness : 0.991294 Centerline is valid? [True, True] Translation: X:116.46, Y:173.57, Z:14.30 [[-2.69205913e-02 -9.99637227e-01 8.34991399e-04 1.16464824e+02] [ 7.69732978e-01 -2.01962303e-02 6.38046436e-01 1.73568625e+02] [-6.37798106e-01 1.78193077e-02 7.69997434e-01 1.43008095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.660714057 meters Centerline goodness : 0.991383 Centerline is valid? [True, True] Translation: X:116.44, Y:173.61, Z:14.28 [[-1.87515175e-02 -9.97438535e-01 6.90271698e-02 1.16444576e+02] [ 7.64514257e-01 3.01880868e-02 6.43899549e-01 1.73606273e+02] [-6.44334021e-01 6.48463491e-02 7.61989908e-01 1.42834539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.690714057 meters Centerline goodness : 0.991115 Centerline is valid? [True, True] Translation: X:116.46, Y:173.62, Z:14.26 [[-1.54262810e-02 -9.99455575e-01 2.91647599e-02 1.16459119e+02] [ 7.63631119e-01 7.05303648e-03 6.45614258e-01 1.73618868e+02] [-6.45468469e-01 3.22305452e-02 7.63106577e-01 1.42560352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.720714057 meters Centerline goodness : 0.990322 Centerline is valid? [True, True] Translation: X:116.46, Y:173.62, Z:14.25 [[-1.14914387e-02 -9.99510669e-01 2.90924346e-02 1.16460322e+02] [ 7.59664706e-01 1.01922683e-02 6.50235074e-01 1.73617304e+02] [-6.50213412e-01 2.95726323e-02 7.59175855e-01 1.42533725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.750714057 meters Centerline goodness : 0.991318 Centerline is valid? [True, True] Translation: X:116.46, Y:173.64, Z:14.24 [[-1.20108605e-02 -9.99037303e-01 4.21924994e-02 1.16455913e+02] [ 7.60617990e-01 1.82624232e-02 6.48942799e-01 1.73643992e+02] [-6.49088601e-01 3.98867355e-02 7.59666398e-01 1.42390441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.780714057 meters Centerline goodness : 0.990880 Centerline is valid? [True, True] Translation: X:116.45, Y:173.67, Z:14.22 [[-1.18584222e-02 -9.98136780e-01 5.98527065e-02 1.16452876e+02] [ 7.58751430e-01 3.00038004e-02 6.50688896e-01 1.73668849e+02] [-6.51272328e-01 5.31294702e-02 7.56981911e-01 1.42200872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.810714057 meters Centerline goodness : 0.991075 Centerline is valid? [True, True] Translation: X:116.47, Y:173.67, Z:14.20 [[-1.48010671e-02 -9.99799106e-01 1.35157832e-02 1.16472960e+02] [ 7.62887530e-01 -2.55375492e-03 6.46526175e-01 1.73671507e+02] [-6.46361776e-01 1.98802997e-02 7.62772068e-01 1.41969124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.840714057 meters Centerline goodness : 0.990002 Centerline is valid? [True, True] Translation: X:116.48, Y:173.68, Z:14.20 [[-2.04369393e-02 -9.99697511e-01 1.36827544e-02 1.16476558e+02] [ 7.65954126e-01 -6.85975624e-03 6.42858632e-01 1.73675147e+02] [-6.42570314e-01 2.36184250e-02 7.65862626e-01 1.41964714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.870714057 meters Centerline goodness : 0.991855 Centerline is valid? [True, True] Translation: X:116.48, Y:173.69, Z:14.18 [[-2.93424786e-02 -9.99535920e-01 -8.18307912e-03 1.16483734e+02] [ 7.76505347e-01 -2.79487327e-02 6.29490520e-01 1.73694073e+02] [-6.29427093e-01 1.21166074e-02 7.76965072e-01 1.41819008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.900714057 meters Centerline goodness : 0.989478 Centerline is valid? [True, True] Translation: X:116.48, Y:173.71, Z:14.18 [[-3.29739447e-02 -9.99398503e-01 1.07401293e-02 1.16478282e+02] [ 7.77708343e-01 -1.89070221e-02 6.28340878e-01 1.73710210e+02] [-6.27759869e-01 2.90715655e-02 7.77863993e-01 1.41798529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.930714057 meters Centerline goodness : 0.990162 Centerline is valid? [True, True] Translation: X:116.48, Y:173.71, Z:14.17 [[-3.15120955e-02 -9.99265729e-01 2.17942987e-02 1.16479509e+02] [ 7.68494790e-01 -1.02810168e-02 6.39773443e-01 1.73711282e+02] [-6.39079608e-01 3.69094068e-02 7.68254483e-01 1.41745731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.960714057 meters Centerline goodness : 0.990933 Centerline is valid? [True, True] Translation: X:116.48, Y:173.72, Z:14.16 [[-3.21129902e-02 -9.99399177e-01 1.30400079e-02 1.16483691e+02] [ 7.67608425e-01 -1.63051130e-02 6.40711674e-01 1.73720343e+02] [-6.40114101e-01 3.05847876e-02 7.67670834e-01 1.41635206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.990714057 meters Centerline goodness : 0.989693 Centerline is valid? [True, True] Translation: X:116.49, Y:173.72, Z:14.17 [[-3.29120001e-02 -9.99304389e-01 1.75368024e-02 1.16486360e+02] [ 7.64390492e-01 -1.38629610e-02 6.44604525e-01 1.73716315e+02] [-6.43913019e-01 3.46201892e-02 7.64315031e-01 1.41680402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.020714057 meters Centerline goodness : 0.989944 Centerline is valid? [True, True] Translation: X:116.49, Y:173.73, Z:14.16 [[-3.31949874e-02 -9.99317358e-01 1.62145534e-02 1.16489005e+02] [ 7.62577936e-01 -1.48375177e-02 6.46726171e-01 1.73728929e+02] [-6.46044105e-01 3.38329277e-02 7.62549899e-01 1.41551054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.050714057 meters Centerline goodness : 0.991231 Centerline is valid? [True, True] Translation: X:116.49, Y:173.74, Z:14.15 [[-3.30959674e-02 -9.99016360e-01 2.95122086e-02 1.16487290e+02] [ 7.60300760e-01 -5.99932700e-03 6.49543503e-01 1.73736488e+02] [-6.48727532e-01 4.39354253e-02 7.59751451e-01 1.41516806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.080714057 meters Centerline goodness : 0.991571 Centerline is valid? [True, True] Translation: X:116.50, Y:173.73, Z:14.15 [[-3.85879920e-02 -9.99223724e-01 7.93202373e-03 1.16497213e+02] [ 7.66121291e-01 -2.44879133e-02 6.42229328e-01 1.73732449e+02] [-6.41536542e-01 3.08592324e-02 7.66471509e-01 1.41480467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.110714057 meters Centerline goodness : 0.991547 Centerline is valid? [True, True] Translation: X:116.50, Y:173.75, Z:14.13 [[-4.41621086e-02 -9.99023017e-01 -1.64933556e-03 1.16500250e+02] [ 7.72677842e-01 -3.52028597e-02 6.33821514e-01 1.73751440e+02] [-6.33260343e-01 2.67164895e-02 7.73477581e-01 1.41347837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.140714057 meters Centerline goodness : 0.991981 Centerline is valid? [True, True] Translation: X:116.50, Y:173.76, Z:14.14 [[-4.55122962e-02 -9.98926658e-01 8.61184081e-03 1.16497629e+02] [ 7.74090809e-01 -2.98167666e-02 6.32372027e-01 1.73755369e+02] [-6.31436498e-01 3.54470498e-02 7.74616974e-01 1.41362506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.170714057 meters Centerline goodness : 0.991394 Centerline is valid? [True, True] Translation: X:116.50, Y:173.76, Z:14.14 [[-4.80198645e-02 -9.98786581e-01 1.09297229e-02 1.16498135e+02] [ 7.73868661e-01 -3.02834350e-02 6.32621695e-01 1.73755718e+02] [-6.31523070e-01 3.88365781e-02 7.74383840e-01 1.41356482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.200714057 meters Centerline goodness : 0.990736 Centerline is valid? [True, True] Translation: X:116.49, Y:173.76, Z:14.13 [[-4.46086206e-02 -9.98698931e-01 2.47086403e-02 1.16494911e+02] [ 7.67916729e-01 -1.84591842e-02 6.40283653e-01 1.73755993e+02] [-6.38994498e-01 4.75363488e-02 7.67741055e-01 1.41334889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.230714057 meters Centerline goodness : 0.991105 Centerline is valid? [True, True] Translation: X:116.49, Y:173.78, Z:14.12 [[-4.87332097e-02 -9.98380751e-01 2.93419485e-02 1.16492284e+02] [ 7.69041389e-01 -1.87609706e-02 6.38923601e-01 1.73778640e+02] [-6.37338541e-01 5.37019706e-02 7.68710402e-01 1.41165343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.26071405700003 meters Centerline goodness : 0.990429 Centerline is valid? [True, True] Translation: X:116.49, Y:173.80, Z:14.10 [[-4.93966052e-02 -9.97983472e-01 3.98618269e-02 1.16487724e+02] [ 7.70090423e-01 -1.26410923e-02 6.37809489e-01 1.73799678e+02] [-6.36019431e-01 6.22028346e-02 7.69161941e-01 1.41011093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.290714057 meters Centerline goodness : 0.993003 Centerline is valid? [True, True] Translation: X:116.50, Y:173.81, Z:14.09 [[-6.29165582e-02 -9.97319235e-01 -3.73610730e-02 1.16501445e+02] [ 7.75562120e-01 -7.24190997e-02 6.27103558e-01 1.73805204e+02] [-6.28128096e-01 1.04793645e-02 7.78039381e-01 1.40853753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.320714057 meters Centerline goodness : 0.990622 Centerline is valid? [True, True] Translation: X:116.48, Y:173.85, Z:14.07 [[-5.22345947e-02 -9.97172868e-01 5.40168293e-02 1.16479079e+02] [ 7.68975400e-01 -5.65265858e-03 6.39253378e-01 1.73847871e+02] [-6.37140786e-01 7.49287540e-02 7.67096670e-01 1.40683038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.350714057 meters Centerline goodness : 0.990825 Centerline is valid? [True, True] Translation: X:116.49, Y:173.84, Z:14.05 [[-5.14814789e-02 -9.98607282e-01 1.15392608e-02 1.16493813e+02] [ 7.68048912e-01 -3.22048555e-02 6.39580891e-01 1.73841913e+02] [-6.38318515e-01 4.17892868e-02 7.68637190e-01 1.40549657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.380714057 meters Centerline goodness : 0.989708 Centerline is valid? [True, True] Translation: X:116.49, Y:173.85, Z:14.05 [[-4.89333002e-02 -9.98608664e-01 1.96536977e-02 1.16489045e+02] [ 7.63083441e-01 -2.46816130e-02 6.45828522e-01 1.73850033e+02] [-6.44444873e-01 4.65999322e-02 7.63229489e-01 1.40484898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.410714057 meters Centerline goodness : 0.990025 Centerline is valid? [True, True] Translation: X:116.48, Y:173.87, Z:14.04 [[-4.97280361e-02 -9.98131208e-01 3.55135801e-02 1.16481724e+02] [ 7.63228774e-01 -1.50418662e-02 6.45953235e-01 1.73873931e+02] [-6.44211892e-01 5.92269720e-02 7.62550460e-01 1.40358218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.440714057 meters Centerline goodness : 0.989269 Centerline is valid? [True, True] Translation: X:116.48, Y:173.90, Z:14.02 [[-5.34899904e-02 -9.98003888e-01 3.35717291e-02 1.16480789e+02] [ 7.64157409e-01 -1.92681315e-02 6.44741959e-01 1.73896034e+02] [-6.42808117e-01 6.01413267e-02 7.63662717e-01 1.40156237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.470714057 meters Centerline goodness : 0.989258 Centerline is valid? [True, True] Translation: X:116.49, Y:173.90, Z:14.00 [[-5.71992708e-02 -9.98357829e-01 3.14460813e-03 1.16491149e+02] [ 7.67616835e-01 -4.19649540e-02 6.39533687e-01 1.73897828e+02] [-6.38351500e-01 3.89947147e-02 7.68756642e-01 1.40038048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.500714057 meters Centerline goodness : 0.989486 Centerline is valid? [True, True] Translation: X:116.49, Y:173.90, Z:14.00 [[-6.11958446e-02 -9.98111741e-01 5.29358148e-03 1.16490088e+02] [ 7.68519193e-01 -4.37337081e-02 6.38330332e-01 1.73897598e+02] [-6.36893491e-01 4.31313827e-02 7.69744351e-01 1.40032671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.530714057 meters Centerline goodness : 0.989881 Centerline is valid? [True, True] Translation: X:116.49, Y:173.90, Z:14.00 [[-6.42780146e-02 -9.97928645e-01 2.59918678e-03 1.16489743e+02] [ 7.71024543e-01 -4.80089045e-02 6.34993149e-01 1.73902915e+02] [-6.33553069e-01 4.28201357e-02 7.72513395e-01 1.40002909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.560714057 meters Centerline goodness : 0.989511 Centerline is valid? [True, True] Translation: X:116.49, Y:173.91, Z:14.00 [[-6.52040984e-02 -9.97851243e-01 6.42827110e-03 1.16486453e+02] [ 7.71339925e-01 -4.63137865e-02 6.34735972e-01 1.73906161e+02] [-6.33074361e-01 4.63457689e-02 7.72702351e-01 1.39991517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.590714057 meters Centerline goodness : 0.989239 Centerline is valid? [True, True] Translation: X:116.48, Y:173.91, Z:14.00 [[-6.38449719e-02 -9.97927593e-01 8.02111544e-03 1.16484128e+02] [ 7.71118152e-01 -4.42290338e-02 6.35153988e-01 1.73907948e+02] [-6.33482924e-01 4.67366162e-02 7.72343883e-01 1.39978737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.620714057 meters Centerline goodness : 0.989974 Centerline is valid? [True, True] Translation: X:116.48, Y:173.91, Z:13.99 [[-6.09135372e-02 -9.98105126e-01 8.70047927e-03 1.16480934e+02] [ 7.70734669e-01 -4.14950066e-02 6.35803613e-01 1.73910894e+02] [-6.34237819e-01 4.54348081e-02 7.71801831e-01 1.39940106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.650714057 meters Centerline goodness : 0.989707 Centerline is valid? [True, True] Translation: X:116.48, Y:173.92, Z:13.99 [[-5.87782767e-02 -9.98242686e-01 7.52695242e-03 1.16479461e+02] [ 7.70789834e-01 -4.05914308e-02 6.35795068e-01 1.73916849e+02] [-6.34372246e-01 4.31726368e-02 7.71821208e-01 1.39878395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.680714057 meters Centerline goodness : 0.989545 Centerline is valid? [True, True] Translation: X:116.47, Y:173.94, Z:13.97 [[-5.45799309e-02 -9.98046983e-01 3.03850310e-02 1.16468283e+02] [ 7.69539987e-01 -2.26540571e-02 6.38196680e-01 1.73941766e+02] [-6.36261927e-01 5.82152271e-02 7.69273519e-01 1.39732797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.710714057 meters Centerline goodness : 0.989393 Centerline is valid? [True, True] Translation: X:116.46, Y:173.97, Z:13.95 [[-5.35275971e-02 -9.97229091e-01 5.16617536e-02 1.16457298e+02] [ 7.67287095e-01 -7.96478255e-03 6.41254299e-01 1.73972975e+02] [-6.39065967e-01 7.39641986e-02 7.65587348e-01 1.39502485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.740714057 meters Centerline goodness : 0.990330 Centerline is valid? [True, True] Translation: X:116.47, Y:173.96, Z:13.94 [[-5.14029141e-02 -9.98621808e-01 1.05936442e-02 1.16471609e+02] [ 7.66927704e-01 -3.26778784e-02 6.40900970e-01 1.73963785e+02] [-6.39671507e-01 4.10687367e-02 7.67550469e-01 1.39385353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.770714057 meters Centerline goodness : 0.990485 Centerline is valid? [True, True] Translation: X:116.47, Y:173.97, Z:13.93 [[-5.45672106e-02 -9.98384309e-01 1.58489828e-02 1.16466347e+02] [ 7.67896889e-01 -3.18134825e-02 6.39782986e-01 1.73974220e+02] [-6.38245084e-01 4.70815576e-02 7.68392179e-01 1.39340804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.800714057 meters Centerline goodness : 0.990814 Centerline is valid? [True, True] Translation: X:116.47, Y:173.98, Z:13.93 [[-5.58686923e-02 -9.98315568e-01 1.56434149e-02 1.16465910e+02] [ 7.67674991e-01 -3.29328010e-02 6.39992608e-01 1.73977779e+02] [-6.38399403e-01 4.77646085e-02 7.68221807e-01 1.39300055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.830714057 meters Centerline goodness : 0.990698 Centerline is valid? [True, True] Translation: X:116.47, Y:173.99, Z:13.92 [[-6.06427556e-02 -9.98085012e-01 1.21969504e-02 1.16465336e+02] [ 7.69573384e-01 -3.89697294e-02 6.37368157e-01 1.73985005e+02] [-6.35672293e-01 4.80382097e-02 7.70462891e-01 1.39235557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.860714057 meters Centerline goodness : 0.990851 Centerline is valid? [True, True] Translation: X:116.47, Y:173.99, Z:13.92 [[-6.42258568e-02 -9.97897897e-01 8.65022726e-03 1.16465127e+02] [ 7.72643622e-01 -4.42385317e-02 6.33296760e-01 1.73992697e+02] [-6.31582831e-01 4.73575699e-02 7.73860703e-01 1.39180951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.890714057 meters Centerline goodness : 0.990745 Centerline is valid? [True, True] Translation: X:116.46, Y:174.00, Z:13.91 [[-7.08855587e-02 -9.97468384e-01 5.66221741e-03 1.16464715e+02] [ 7.75810325e-01 -5.15635696e-02 6.28855737e-01 1.73999748e+02] [-6.26971751e-01 4.89695969e-02 7.77501384e-01 1.39116036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.920714057 meters Centerline goodness : 0.990730 Centerline is valid? [True, True] Translation: X:116.46, Y:174.00, Z:13.91 [[-7.39376445e-02 -9.97258171e-01 3.06038336e-03 1.16463516e+02] [ 7.79439521e-01 -5.58734970e-02 6.23980917e-01 1.74001964e+02] [-6.22099074e-01 4.85210630e-02 7.81433586e-01 1.39103167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.950714057 meters Centerline goodness : 0.991548 Centerline is valid? [True, True] Translation: X:116.46, Y:174.01, Z:13.91 [[-7.29422883e-02 -9.97287993e-01 9.80210530e-03 1.16459773e+02] [ 7.79388606e-01 -5.08671952e-02 6.24472521e-01 1.74008967e+02] [-6.22280341e-01 5.31901038e-02 7.80985269e-01 1.39070090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.980714057 meters Centerline goodness : 0.990879 Centerline is valid? [True, True] Translation: X:116.46, Y:174.02, Z:13.90 [[-7.17954866e-02 -9.97404754e-01 5.40043764e-03 1.16457664e+02] [ 7.80418735e-01 -5.28029793e-02 6.23023630e-01 1.74018126e+02] [-6.21121571e-01 4.89448874e-02 7.82184372e-01 1.38985805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.01071405700003 meters Centerline goodness : 0.990879 Centerline is valid? [True, True] Translation: X:116.46, Y:174.02, Z:13.90 [[-7.05767683e-02 -9.97497517e-01 4.19792403e-03 1.16455996e+02] [ 7.81271818e-01 -5.26604575e-02 6.21965612e-01 1.74021951e+02] [-6.20188089e-01 4.71760426e-02 7.83033304e-01 1.38962208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.040714057 meters Centerline goodness : 0.991023 Centerline is valid? [True, True] Translation: X:116.45, Y:174.03, Z:13.89 [[-6.62162420e-02 -9.97788153e-01 5.84905683e-03 1.16452315e+02] [ 7.80699027e-01 -4.81572238e-02 6.23048884e-01 1.74027816e+02] [-6.21389121e-01 4.58223086e-02 7.82161030e-01 1.38919110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.070714057 meters Centerline goodness : 0.990238 Centerline is valid? [True, True] Translation: X:116.45, Y:174.03, Z:13.89 [[-6.60240671e-02 -9.97817525e-01 -1.00515996e-03 1.16452095e+02] [ 7.83664628e-01 -5.24774140e-02 6.18963546e-01 1.74033693e+02] [-6.17665422e-01 4.00787824e-02 7.85419072e-01 1.38878590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.100714057 meters Centerline goodness : 0.990256 Centerline is valid? [True, True] Translation: X:116.45, Y:174.04, Z:13.89 [[-6.37763041e-02 -9.97958752e-01 3.30335175e-03 1.16448169e+02] [ 7.83757021e-01 -4.80377245e-02 6.19207000e-01 1.74037240e+02] [-6.17784360e-01 4.20797591e-02 7.85220847e-01 1.38869435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.130714057 meters Centerline goodness : 0.990441 Centerline is valid? [True, True] Translation: X:116.44, Y:174.04, Z:13.88 [[-6.08258905e-02 -9.98144107e-01 2.92446258e-03 1.16443932e+02] [ 7.83955857e-01 -4.59595362e-02 6.19113023e-01 1.74044940e+02] [-6.17829609e-01 3.99507505e-02 7.85296448e-01 1.38825559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.160714057 meters Centerline goodness : 0.990123 Centerline is valid? [True, True] Translation: X:116.44, Y:174.05, Z:13.88 [[-5.77177828e-02 -9.98299672e-01 8.14999830e-03 1.16439465e+02] [ 7.81951078e-01 -4.01310395e-02 6.22046631e-01 1.74047569e+02] [-6.20661879e-01 4.22760523e-02 7.82937780e-01 1.38813618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.190714057 meters Centerline goodness : 0.989753 Centerline is valid? [True, True] Translation: X:116.44, Y:174.07, Z:13.87 [[-5.92168723e-02 -9.98156313e-01 1.33168103e-02 1.16435791e+02] [ 7.82653892e-01 -3.81430735e-02 6.21287366e-01 1.74070556e+02] [-6.19633962e-01 4.72131480e-02 7.83469637e-01 1.38691408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.220714057 meters Centerline goodness : 0.990150 Centerline is valid? [True, True] Translation: X:116.43, Y:174.09, Z:13.85 [[-6.19341052e-02 -9.98004301e-01 1.23118870e-02 1.16434516e+02] [ 7.83528123e-01 -4.09754714e-02 6.20003784e-01 1.74091974e+02] [-6.18261957e-01 4.80460892e-02 7.84502215e-01 1.38549583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.250714057 meters Centerline goodness : 0.989375 Centerline is valid? [True, True] Translation: X:116.43, Y:174.11, Z:13.84 [[-6.26817545e-02 -9.97923745e-01 1.48053005e-02 1.16433208e+02] [ 7.83588189e-01 -4.00206337e-02 6.19990241e-01 1.74114422e+02] [-6.18110466e-01 5.04633347e-02 7.84469823e-01 1.38378791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.280714057 meters Centerline goodness : 0.989718 Centerline is valid? [True, True] Translation: X:116.44, Y:174.14, Z:13.82 [[-6.64958517e-02 -9.97780700e-01 3.46068487e-03 1.16436965e+02] [ 7.84543350e-01 -5.01413036e-02 6.18043350e-01 1.74135664e+02] [-6.16498203e-01 4.38123762e-02 7.86136401e-01 1.38188048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.310714057 meters Centerline goodness : 0.989047 Centerline is valid? [True, True] Translation: X:116.43, Y:174.16, Z:13.80 [[-6.81296813e-02 -9.97539151e-01 1.65526142e-02 1.16432027e+02] [ 7.84867644e-01 -4.33475314e-02 6.18145430e-01 1.74159654e+02] [-6.15906753e-01 5.51056625e-02 7.85889457e-01 1.38018176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.340714057 meters Centerline goodness : 0.990599 Centerline is valid? [True, True] Translation: X:116.43, Y:174.18, Z:13.78 [[-6.82784217e-02 -9.97571484e-01 1.37547150e-02 1.16433253e+02] [ 7.85434533e-01 -4.52474853e-02 6.17288636e-01 1.74181931e+02] [-6.15167174e-01 5.29509219e-02 7.86616519e-01 1.37831938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.370714057 meters Centerline goodness : 0.989871 Centerline is valid? [True, True] Translation: X:116.44, Y:174.19, Z:13.77 [[-6.69452403e-02 -9.97741738e-01 5.45520594e-03 1.16435519e+02] [ 7.85362232e-01 -4.93214081e-02 6.17068524e-01 1.74187050e+02] [-6.15405963e-01 4.55941133e-02 7.86890512e-01 1.37739634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.400714057 meters Centerline goodness : 0.990266 Centerline is valid? [True, True] Translation: X:116.43, Y:174.21, Z:13.76 [[-6.83554980e-02 -9.97629674e-01 7.90948470e-03 1.16433508e+02] [ 7.85592529e-01 -4.89369480e-02 6.16805929e-01 1.74211069e+02] [-6.14956832e-01 4.83757085e-02 7.87075528e-01 1.37591539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.430714057 meters Centerline goodness : 0.990266 Centerline is valid? [True, True] Translation: X:116.43, Y:174.24, Z:13.74 [[-6.89358359e-02 -9.97506292e-01 1.51343616e-02 1.16430416e+02] [ 7.85953140e-01 -4.49598610e-02 6.16649230e-01 1.74235366e+02] [-6.14431048e-01 5.44041291e-02 7.87092547e-01 1.37442864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.460714057 meters Centerline goodness : 0.989328 Centerline is valid? [True, True] Translation: X:116.43, Y:174.26, Z:13.73 [[-6.87137459e-02 -9.97516592e-01 1.54619157e-02 1.16429982e+02] [ 7.87154925e-01 -4.46881893e-02 6.15134205e-01 1.74257015e+02] [-6.12915611e-01 5.44390986e-02 7.88270790e-01 1.37276105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.490714057 meters Centerline goodness : 0.990004 Centerline is valid? [True, True] Translation: X:116.43, Y:174.26, Z:13.72 [[-6.85984414e-02 -9.97635729e-01 4.14804286e-03 1.16433624e+02] [ 7.87880065e-01 -5.16239047e-02 6.13661125e-01 1.74259810e+02] [-6.11996125e-01 4.53643570e-02 7.89558622e-01 1.37213705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.520714057 meters Centerline goodness : 0.989814 Centerline is valid? [True, True] Translation: X:116.43, Y:174.28, Z:13.71 [[-6.84920405e-02 -9.97579809e-01 1.19735576e-02 1.16430888e+02] [ 7.87591252e-01 -4.66998911e-02 6.14425862e-01 1.74284239e+02] [-6.12379670e-01 5.15135502e-02 7.88883701e-01 1.37052225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.550714057 meters Centerline goodness : 0.989505 Centerline is valid? [True, True] Translation: X:116.43, Y:174.29, Z:13.70 [[-6.61641119e-02 -9.97759566e-01 9.90749697e-03 1.16431750e+02] [ 7.86150755e-01 -4.60118681e-02 6.16319640e-01 1.74286367e+02] [-6.14482955e-01 4.85670279e-02 7.87433770e-01 1.37006733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.580714057 meters Centerline goodness : 0.989771 Centerline is valid? [True, True] Translation: X:116.43, Y:174.31, Z:13.69 [[-6.47919026e-02 -9.97758204e-01 1.67504194e-02 1.16427099e+02] [ 7.87128071e-01 -4.07820746e-02 6.15439861e-01 1.74311313e+02] [-6.13377053e-01 5.30602448e-02 7.88005838e-01 1.36860013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.610714057 meters Centerline goodness : 0.989353 Centerline is valid? [True, True] Translation: X:116.43, Y:174.32, Z:13.68 [[-6.21277512e-02 -9.98040614e-01 7.42126465e-03 1.16429999e+02] [ 7.86201915e-01 -4.43575836e-02 6.16375660e-01 1.74315407e+02] [-6.14838753e-01 4.41286461e-02 7.87417278e-01 1.36772700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.640714057 meters Centerline goodness : 0.989765 Centerline is valid? [True, True] Translation: X:116.43, Y:174.34, Z:13.66 [[-5.97262395e-02 -9.98138056e-01 1.23772688e-02 1.16426409e+02] [ 7.85702609e-01 -3.93592276e-02 6.17351004e-01 1.74339222e+02] [-6.15714371e-01 4.65969063e-02 7.86590454e-01 1.36627320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.670714057 meters Centerline goodness : 0.988808 Centerline is valid? [True, True] Translation: X:116.42, Y:174.36, Z:13.65 [[-5.90514851e-02 -9.98098457e-01 1.76746480e-02 1.16423343e+02] [ 7.86602032e-01 -3.56225393e-02 6.16431892e-01 1.74361386e+02] [-6.14630104e-01 5.03041328e-02 7.87209838e-01 1.36484250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.700714057 meters Centerline goodness : 0.989794 Centerline is valid? [True, True] Translation: X:116.42, Y:174.38, Z:13.63 [[-5.82653047e-02 -9.98179988e-01 1.55520424e-02 1.16423818e+02] [ 7.86709628e-01 -3.63199728e-02 6.16253861e-01 1.74384664e+02] [-6.14567422e-01 4.81411605e-02 7.87394001e-01 1.36285419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.730714057 meters Centerline goodness : 0.988819 Centerline is valid? [True, True] Translation: X:116.43, Y:174.38, Z:13.63 [[-5.95056571e-02 -9.98226393e-01 1.77358080e-03 1.16428677e+02] [ 7.88200831e-01 -4.58953544e-02 6.13704380e-01 1.74383216e+02] [-6.12534511e-01 3.79168203e-02 7.89533906e-01 1.36266113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.76071405700003 meters Centerline goodness : 0.989595 Centerline is valid? [True, True] Translation: X:116.43, Y:174.40, Z:13.61 [[-6.08532185e-02 -9.98145173e-01 -1.76039168e-03 1.16428837e+02] [ 7.91768513e-01 -4.93449589e-02 6.08824849e-01 1.74401793e+02] [-6.07782451e-01 3.56551288e-02 7.93302719e-01 1.36122796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.790714057 meters Centerline goodness : 0.989546 Centerline is valid? [True, True] Translation: X:116.43, Y:174.40, Z:13.62 [[-6.04472040e-02 -9.98164274e-01 3.77058163e-03 1.16426430e+02] [ 7.92046961e-01 -4.56655130e-02 6.08749761e-01 1.74399888e+02] [-6.07460078e-01 3.97836988e-02 7.93353333e-01 1.36177606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.820714057 meters Centerline goodness : 0.989275 Centerline is valid? [True, True] Translation: X:116.43, Y:174.41, Z:13.62 [[-6.17274739e-02 -9.98088951e-01 2.85750266e-03 1.16425536e+02] [ 7.92576878e-01 -4.72769369e-02 6.07936496e-01 1.74407754e+02] [-6.06639606e-01 3.97911747e-02 7.93980511e-01 1.36163548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.850714057 meters Centerline goodness : 0.988608 Centerline is valid? [True, True] Translation: X:116.43, Y:174.41, Z:13.61 [[-6.32839691e-02 -9.97938092e-01 -1.07100036e-02 1.16429395e+02] [ 7.95748026e-01 -5.69330365e-02 6.02945858e-01 1.74414689e+02] [-6.02312392e-01 2.96343429e-02 7.97710215e-01 1.36079894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.880714057 meters Centerline goodness : 0.988381 Centerline is valid? [True, True] Translation: X:116.42, Y:174.84, Z:13.29 [[-7.52507038e-02 -9.97164167e-01 -9.77211824e-04 1.16417294e+02] [ 7.94087630e-01 -6.05182737e-02 6.04782915e-01 1.74836818e+02] [-6.03126992e-01 4.47343482e-02 7.96389773e-01 1.32906419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.910714057 meters Centerline goodness : 0.988517 Centerline is valid? [True, True] Translation: X:116.42, Y:174.91, Z:13.23 [[-6.36065804e-02 -9.97924300e-01 -1.00645168e-02 1.16418392e+02] [ 7.98401693e-01 -5.69347278e-02 5.99427371e-01 1.74913651e+02] [-5.98756160e-01 3.00919980e-02 8.00365874e-01 1.32260437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.940714057 meters Centerline goodness : 0.988041 Centerline is valid? [True, True] Translation: X:116.41, Y:174.94, Z:13.21 [[-6.26672521e-02 -9.98032634e-01 1.91774198e-03 1.16413324e+02] [ 7.99620125e-01 -4.90587461e-02 5.98498869e-01 1.74938158e+02] [-5.97227320e-01 3.90397446e-02 8.01121356e-01 1.32137161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.970714057 meters Centerline goodness : 0.991193 Centerline is valid? [True, True] Translation: X:116.40, Y:174.97, Z:13.21 [[-6.57271287e-02 -9.97456205e-01 2.75873961e-02 1.16399419e+02] [ 8.06485638e-01 -3.68221665e-02 5.90105960e-01 1.74970474e+02] [-5.87589024e-01 6.10348092e-02 8.06854319e-01 1.32050994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.000714057 meters Centerline goodness : 0.980221 Centerline is valid? [True, True] Translation: X:116.41, Y:174.98, Z:13.18 [[-6.53000377e-02 -9.97824488e-01 9.06618202e-03 1.16405208e+02] [ 7.96167174e-01 -4.66217452e-02 6.03277916e-01 1.74976819e+02] [-6.01542796e-01 4.66122671e-02 7.97479505e-01 1.31776940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.030714057 meters Centerline goodness : 0.988235 Centerline is valid? [True, True] Translation: X:116.43, Y:174.99, Z:13.14 [[-6.14190959e-02 -9.96810387e-01 -5.09582942e-02 1.16433864e+02] [ 7.93715524e-01 -7.97335405e-02 6.03040819e-01 1.74987594e+02] [-6.05180437e-01 -3.40816735e-03 7.96081041e-01 1.31407214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.0607140569999 meters Centerline goodness : 0.988695 Centerline is valid? [True, True] Translation: X:116.41, Y:175.02, Z:13.14 [[-6.19268026e-02 -9.98078182e-01 -2.23921085e-03 1.16414520e+02] [ 7.96772606e-01 -5.07875054e-02 6.02141215e-01 1.75021427e+02] [-6.01097733e-01 3.55045383e-02 7.98386462e-01 1.31393113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.0907140569999 meters Centerline goodness : 0.989231 Centerline is valid? [True, True] Translation: X:116.41, Y:175.05, Z:13.13 [[-6.23718518e-02 -9.98040247e-01 5.04157641e-03 1.16412622e+02] [ 7.99195873e-01 -4.69181769e-02 5.99236716e-01 1.75045120e+02] [-5.97825818e-01 4.14047106e-02 8.00556020e-01 1.31262060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.120714057 meters Centerline goodness : 0.987851 Centerline is valid? [True, True] Translation: X:116.42, Y:175.06, Z:13.10 [[-6.50948437e-02 -9.97857432e-01 -6.57322543e-03 1.16416657e+02] [ 7.94326242e-01 -5.58023987e-02 6.04923065e-01 1.75063579e+02] [-6.03993777e-01 3.41560869e-02 7.96256792e-01 1.31036855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.150714057 meters Centerline goodness : 0.988577 Centerline is valid? [True, True] Translation: X:116.41, Y:175.09, Z:13.09 [[-6.49323104e-02 -9.97886162e-01 2.64621407e-03 1.16413621e+02] [ 7.94614682e-01 -5.01009985e-02 6.05043301e-01 1.75088100e+02] [-6.03631760e-01 4.13895800e-02 7.96188169e-01 1.30901271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.1807140569999 meters Centerline goodness : 0.991985 Centerline is valid? [True, True] Translation: X:116.40, Y:175.12, Z:13.08 [[-6.85478718e-02 -9.97226220e-01 2.90009554e-02 1.16401328e+02] [ 8.03278105e-01 -3.79301875e-02 5.94395144e-01 1.75120054e+02] [-5.91646411e-01 6.40403546e-02 8.03650022e-01 1.30844100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.2107140569999 meters Centerline goodness : 0.989634 Centerline is valid? [True, True] Translation: X:116.42, Y:175.14, Z:13.05 [[-6.05311741e-02 -9.98150458e-01 -5.62490705e-03 1.16424503e+02] [ 7.93671543e-01 -5.15467948e-02 6.06158733e-01 1.75138774e+02] [-6.05327563e-01 3.22271711e-02 7.95323803e-01 1.30483328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.240714057 meters Centerline goodness : 0.990942 Centerline is valid? [True, True] Translation: X:116.41, Y:175.17, Z:13.04 [[-6.62388712e-02 -9.97263506e-01 3.28315714e-02 1.16409547e+02] [ 8.01766492e-01 -3.36097571e-02 5.96691609e-01 1.75174444e+02] [-5.93955305e-01 6.58474325e-02 8.01798735e-01 1.30416147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.270714057 meters Centerline goodness : 0.990439 Centerline is valid? [True, True] Translation: X:116.42, Y:175.19, Z:13.02 [[-6.63828062e-02 -9.97753024e-01 9.06789798e-03 1.16418131e+02] [ 7.95720526e-01 -4.74535725e-02 6.03802123e-01 1.75188247e+02] [-6.02015090e-01 4.72975919e-02 7.97082662e-01 1.30205044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.3007140569999 meters Centerline goodness : 0.990165 Centerline is valid? [True, True] Translation: X:116.41, Y:175.21, Z:13.01 [[-6.86260065e-02 -9.97425997e-01 2.07810560e-02 1.16413278e+02] [ 7.95895107e-01 -4.21766629e-02 6.03963665e-01 1.75211429e+02] [-6.01532585e-01 5.79871551e-02 7.96740886e-01 1.30067261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.3307140569999 meters Centerline goodness : 0.989560 Centerline is valid? [True, True] Translation: X:116.42, Y:175.23, Z:12.99 [[-7.18819177e-02 -9.97350668e-01 1.11640162e-02 1.16416645e+02] [ 7.95990167e-01 -5.06173850e-02 6.03189468e-01 1.75232027e+02] [-6.01026325e-01 5.22448628e-02 7.97519800e-01 1.29880558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.360714057 meters Centerline goodness : 0.989908 Centerline is valid? [True, True] Translation: X:116.42, Y:175.25, Z:12.98 [[-7.33711716e-02 -9.97238244e-01 1.15133265e-02 1.16416360e+02] [ 7.95185327e-01 -5.15299518e-02 6.04172955e-01 1.75246730e+02] [-6.01911096e-01 5.34841059e-02 7.96770032e-01 1.29765400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.390714057 meters Centerline goodness : 0.990231 Centerline is valid? [True, True] Translation: X:116.42, Y:175.27, Z:12.96 [[-7.51887933e-02 -9.97116229e-01 1.02893424e-02 1.16416321e+02] [ 7.95264376e-01 -5.37364391e-02 6.03876616e-01 1.75269382e+02] [-6.01582261e-01 5.35875015e-02 7.97011394e-01 1.29592939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.4207140569999 meters Centerline goodness : 0.990313 Centerline is valid? [True, True] Translation: X:116.42, Y:175.27, Z:12.96 [[-7.42357635e-02 -9.97212245e-01 7.53595723e-03 1.16417117e+02] [ 7.94841057e-01 -5.46034529e-02 6.04355986e-01 1.75271515e+02] [-6.02259700e-01 5.08547162e-02 7.96678763e-01 1.29552665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.4507140569999 meters Centerline goodness : 0.989570 Centerline is valid? [True, True] Translation: X:116.42, Y:175.26, Z:12.96 [[-7.19020682e-02 -9.97391597e-01 6.33210879e-03 1.16417062e+02] [ 7.94584686e-01 -5.34420418e-02 6.04796763e-01 1.75263147e+02] [-6.02880808e-01 4.85175348e-02 7.96354682e-01 1.29612424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.480714057 meters Centerline goodness : 0.990400 Centerline is valid? [True, True] Translation: X:116.41, Y:175.29, Z:12.95 [[-7.14315560e-02 -9.97366876e-01 1.25239130e-02 1.16413641e+02] [ 7.94325893e-01 -4.92866179e-02 6.05489228e-01 1.75287616e+02] [-6.03277638e-01 5.31991061e-02 7.95754954e-01 1.29471887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.510714057 meters Centerline goodness : 0.990738 Centerline is valid? [True, True] Translation: X:116.41, Y:175.31, Z:12.93 [[-6.91427355e-02 -9.97586583e-01 6.34755797e-03 1.16414327e+02] [ 7.94422538e-01 -5.12105807e-02 6.05202699e-01 1.75308156e+02] [-6.03417031e-01 4.68880133e-02 7.96046105e-01 1.29285861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.540714057 meters Centerline goodness : 0.991110 Centerline is valid? [True, True] Translation: X:116.41, Y:175.33, Z:12.91 [[-6.78245190e-02 -9.97551879e-01 1.70318612e-02 1.16409224e+02] [ 7.95192965e-01 -4.37401876e-02 6.04776772e-01 1.75333838e+02] [-6.02551228e-01 5.45623099e-02 7.96212893e-01 1.29144917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.5707140569999 meters Centerline goodness : 0.991878 Centerline is valid? [True, True] Translation: X:116.41, Y:175.32, Z:12.92 [[-6.20091870e-02 -9.98035050e-01 8.99442035e-03 1.16411532e+02] [ 7.94071626e-01 -4.38731786e-02 6.06238729e-01 1.75322208e+02] [-6.04652887e-01 4.47345847e-02 7.95231855e-01 1.29172525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.6007140569999 meters Centerline goodness : 0.991746 Centerline is valid? [True, True] Translation: X:116.41, Y:175.34, Z:12.90 [[-6.25581339e-02 -9.98041191e-01 -5.11131418e-04 1.16413228e+02] [ 7.96416518e-01 -5.02287576e-02 6.02658943e-01 1.75344060e+02] [-6.01504123e-01 3.72941453e-02 7.97998707e-01 1.29022921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.630714057 meters Centerline goodness : 0.992372 Centerline is valid? [True, True] Translation: X:116.39, Y:175.37, Z:12.91 [[-6.65422903e-02 -9.96753949e-01 4.53176540e-02 1.16385465e+02] [ 8.04963988e-01 -2.67904978e-02 5.92718523e-01 1.75373114e+02] [-5.89580445e-01 7.59199275e-02 8.04133735e-01 1.29057120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.660714057 meters Centerline goodness : 0.992175 Centerline is valid? [True, True] Translation: X:116.41, Y:175.38, Z:12.87 [[-6.63993941e-02 -9.97244859e-01 -3.30728248e-02 1.16413960e+02] [ 7.99096745e-01 -7.29970108e-02 5.96754412e-01 1.75377884e+02] [-5.97524487e-01 1.31957448e-02 8.01742078e-01 1.28669068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.6907140569999 meters Centerline goodness : 0.991076 Centerline is valid? [True, True] Translation: X:116.41, Y:175.41, Z:12.85 [[-5.46414477e-02 -9.98496021e-01 4.47300692e-03 1.16406544e+02] [ 7.99654451e-01 -4.10764831e-02 5.99053823e-01 1.75412772e+02] [-5.97969123e-01 3.63100280e-02 8.00696266e-01 1.28524498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.7207140569999 meters Centerline goodness : 0.991400 Centerline is valid? [True, True] Translation: X:116.40, Y:175.44, Z:12.84 [[-5.01344363e-02 -9.98455982e-01 2.39204887e-02 1.16396489e+02] [ 7.99354106e-01 -2.57552737e-02 6.00307987e-01 1.75440129e+02] [-5.98765022e-01 4.92170434e-02 7.99411115e-01 1.28397831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.750714057 meters Centerline goodness : 0.991045 Centerline is valid? [True, True] Translation: X:116.40, Y:175.43, Z:12.84 [[-4.54512352e-02 -9.98959583e-01 3.73322384e-03 1.16402175e+02] [ 8.00763165e-01 -3.41987731e-02 5.98004011e-01 1.75430554e+02] [-5.97254166e-01 3.01694491e-02 8.01484414e-01 1.28392266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.780714057 meters Centerline goodness : 0.990476 Centerline is valid? [True, True] Translation: X:116.39, Y:175.46, Z:12.83 [[-3.85673609e-02 -9.98754848e-01 3.16435073e-02 1.16389407e+02] [ 7.98681006e-01 -1.17797075e-02 6.01639334e-01 1.75460016e+02] [-6.00517451e-01 4.84767096e-02 7.98140840e-01 1.28289357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.8107140569999 meters Centerline goodness : 0.990589 Centerline is valid? [True, True] Translation: X:116.39, Y:175.48, Z:12.81 [[-3.37905059e-02 -9.98912625e-01 3.21211582e-02 1.16389112e+02] [ 7.96485392e-01 -7.50098730e-03 6.04611244e-01 1.75480153e+02] [-6.03712864e-01 4.60141531e-02 7.95872776e-01 1.28093562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.8407140569999 meters Centerline goodness : 0.989982 Centerline is valid? [True, True] Translation: X:116.39, Y:175.50, Z:12.79 [[-3.09365168e-02 -9.99343437e-01 1.88580802e-02 1.16393107e+02] [ 7.96198139e-01 -1.32331981e-02 6.04891235e-01 1.75499009e+02] [-6.04244533e-01 3.37279962e-02 7.96084774e-01 1.27889499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.870714057 meters Centerline goodness : 0.989738 Centerline is valid? [True, True] Translation: X:116.40, Y:175.49, Z:12.79 [[-2.43730664e-02 -9.99679638e-01 6.82465239e-03 1.16396717e+02] [ 7.96508565e-01 -1.52932049e-02 6.04433805e-01 1.75494976e+02] [-6.04135796e-01 2.01677994e-02 7.96626136e-01 1.27860077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.900714057 meters Centerline goodness : 0.988973 Centerline is valid? [True, True] Translation: X:116.39, Y:175.52, Z:12.77 [[-2.05366488e-02 -9.99402848e-01 2.77883782e-02 1.16389677e+02] [ 7.96705007e-01 4.33020274e-04 6.04368219e-01 1.75522576e+02] [-6.04019352e-01 3.45508379e-02 7.96220360e-01 1.27746080e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.9307140569999 meters Centerline goodness : 0.988092 Centerline is valid? [True, True] Translation: X:116.39, Y:175.53, Z:12.76 [[-1.73264667e-02 -9.99712970e-01 1.65460549e-02 1.16394921e+02] [ 7.94834996e-01 -3.73237335e-03 6.06814138e-01 1.75526748e+02] [-6.06578208e-01 2.36653284e-02 7.94671523e-01 1.27616031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.9607140569999 meters Centerline goodness : 0.987113 Centerline is valid? [True, True] Translation: X:116.39, Y:175.55, Z:12.75 [[-1.52929595e-02 -9.99413612e-01 3.06358878e-02 1.16391937e+02] [ 7.94368888e-01 6.46381585e-03 6.07401259e-01 1.75552271e+02] [-6.07243111e-01 3.36251590e-02 7.93804229e-01 1.27474784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.990714057 meters Centerline goodness : 0.987739 Centerline is valid? [True, True] Translation: X:116.39, Y:175.57, Z:12.73 [[-1.62559854e-02 -9.99410686e-01 3.02328199e-02 1.16394392e+02] [ 7.94591963e-01 5.44126378e-03 6.07119433e-01 1.75574123e+02] [-6.06926154e-01 3.38920804e-02 7.94035245e-01 1.27277982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.020714057 meters Centerline goodness : 0.987537 Centerline is valid? [True, True] Translation: X:116.40, Y:175.58, Z:12.71 [[-1.42139762e-02 -9.99781731e-01 1.53118879e-02 1.16403847e+02] [ 7.93549625e-01 -1.96260369e-03 6.08502375e-01 1.75577786e+02] [-6.08339506e-01 2.07999812e-02 7.93404314e-01 1.27144437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.0507140569999 meters Centerline goodness : 0.988168 Centerline is valid? [True, True] Translation: X:116.40, Y:175.60, Z:12.70 [[-1.62423760e-02 -9.99631952e-01 2.17289068e-02 1.16401942e+02] [ 7.95037304e-01 2.66699429e-04 6.06560479e-01 1.75602602e+02] [-6.06343031e-01 2.71272749e-02 7.94740360e-01 1.27038779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.0807140569999 meters Centerline goodness : 0.988436 Centerline is valid? [True, True] Translation: X:116.40, Y:175.63, Z:12.69 [[-1.99174764e-02 -9.99343116e-01 3.02759149e-02 1.16402209e+02] [ 7.94829559e-01 2.54292641e-03 6.06827410e-01 1.75626377e+02] [-6.06505784e-01 3.61506627e-02 7.94256799e-01 1.26899730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.110714057 meters Centerline goodness : 0.987901 Centerline is valid? [True, True] Translation: X:116.40, Y:175.66, Z:12.67 [[-2.12630657e-02 -9.98053894e-01 5.86200243e-02 1.16395867e+02] [ 7.91965723e-01 1.89713869e-02 6.10270743e-01 1.75656419e+02] [-6.10195195e-01 5.94012768e-02 7.90021084e-01 1.26711695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.140714057 meters Centerline goodness : 0.987997 Centerline is valid? [True, True] Translation: X:116.42, Y:175.66, Z:12.64 [[-2.90566511e-02 -9.99574867e-01 -2.40737547e-03 1.16423060e+02] [ 7.97018365e-01 -2.46218900e-02 6.03452971e-01 1.75656771e+02] [-6.03255698e-01 1.56156000e-02 7.97394956e-01 1.26432374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.1707140569999 meters Centerline goodness : 0.988799 Centerline is valid? [True, True] Translation: X:116.42, Y:175.67, Z:12.65 [[-3.51295398e-02 -9.99264064e-01 1.54027985e-02 1.16419074e+02] [ 7.97146054e-01 -1.87216215e-02 6.03496205e-01 1.75665195e+02] [-6.02763705e-01 3.34788240e-02 7.97217087e-01 1.26470552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.2007140569999 meters Centerline goodness : 0.988996 Centerline is valid? [True, True] Translation: X:116.42, Y:175.68, Z:12.64 [[-3.88797930e-02 -9.99180645e-01 1.12427530e-02 1.16422050e+02] [ 7.96186894e-01 -2.41783895e-02 6.04567479e-01 1.75679658e+02] [-6.03800292e-01 3.24567910e-02 7.96474585e-01 1.26355533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.230714057 meters Centerline goodness : 0.988491 Centerline is valid? [True, True] Translation: X:116.43, Y:175.69, Z:12.63 [[-4.53560781e-02 -9.98956965e-01 5.27344082e-03 1.16426149e+02] [ 7.97406954e-01 -3.30242513e-02 6.02537591e-01 1.75686556e+02] [-6.01734971e-01 3.15338204e-02 7.98073081e-01 1.26306751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.260714057 meters Centerline goodness : 0.988067 Centerline is valid? [True, True] Translation: X:116.43, Y:175.70, Z:12.62 [[-4.78232984e-02 -9.98809803e-01 9.58694768e-03 1.16425836e+02] [ 7.96701668e-01 -3.23536267e-02 6.03506168e-01 1.75697580e+02] [-6.02477704e-01 3.64995928e-02 7.97300693e-01 1.26234573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.290714057 meters Centerline goodness : 0.989422 Centerline is valid? [True, True] Translation: X:116.43, Y:175.70, Z:12.62 [[-5.35831478e-02 -9.98550485e-01 5.07684820e-03 1.16429354e+02] [ 7.99669948e-01 -3.98650022e-02 5.99114977e-01 1.75697447e+02] [-5.98044162e-01 3.61622693e-02 8.00646907e-01 1.26221780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.3207140569999 meters Centerline goodness : 0.990354 Centerline is valid? [True, True] Translation: X:116.42, Y:175.71, Z:12.62 [[-5.50272557e-02 -9.98335027e-01 1.72966655e-02 1.16424657e+02] [ 8.01896031e-01 -3.38650082e-02 5.96503073e-01 1.75712412e+02] [-5.94924160e-01 4.66940545e-02 8.02424395e-01 1.26184605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.3507140569999 meters Centerline goodness : 0.990354 Centerline is valid? [True, True] Translation: X:116.42, Y:175.74, Z:12.61 [[-5.57984921e-02 -9.97961945e-01 3.09593971e-02 1.16419074e+02] [ 8.02727282e-01 -2.64003561e-02 5.95761641e-01 1.75738660e+02] [-5.93730107e-01 5.80945539e-02 8.02564380e-01 1.26061596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.380714057 meters Centerline goodness : 0.989668 Centerline is valid? [True, True] Translation: X:116.43, Y:175.74, Z:12.59 [[-6.22457756e-02 -9.98048061e-01 -5.05294117e-03 1.16433584e+02] [ 8.03793354e-01 -5.31304742e-02 5.92531347e-01 1.75744037e+02] [-5.91643226e-01 3.28210527e-02 8.05531546e-01 1.25860705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.410714057 meters Centerline goodness : 0.990343 Centerline is valid? [True, True] Translation: X:116.42, Y:175.75, Z:12.59 [[-6.18274596e-02 -9.97927297e-01 1.78458593e-02 1.16424710e+02] [ 8.03867681e-01 -3.91905297e-02 5.93515672e-01 1.75751177e+02] [-5.91586102e-01 5.10412758e-02 8.04624553e-01 1.25905878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.4407140569999 meters Centerline goodness : 0.989670 Centerline is valid? [True, True] Translation: X:116.42, Y:175.77, Z:12.58 [[-6.00475372e-02 -9.98042989e-01 1.74495204e-02 1.16424901e+02] [ 7.99406118e-01 -3.76130275e-02 5.99612474e-01 1.75771793e+02] [-5.97782697e-01 4.99545057e-02 8.00100240e-01 1.25750590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.4707140569999 meters Centerline goodness : 0.988927 Centerline is valid? [True, True] Translation: X:116.43, Y:175.75, Z:12.58 [[-5.87149374e-02 -9.98260757e-01 5.29308837e-03 1.16428043e+02] [ 7.98933788e-01 -4.38106383e-02 5.99821165e-01 1.75752245e+02] [-5.98546037e-01 3.94472893e-02 8.00116587e-01 1.25848198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.500714057 meters Centerline goodness : 0.989872 Centerline is valid? [True, True] Translation: X:116.42, Y:175.78, Z:12.57 [[-5.82857420e-02 -9.98038646e-01 2.28392896e-02 1.16420348e+02] [ 7.98600746e-01 -3.28859923e-02 6.00962029e-01 1.75779442e+02] [-5.99032237e-01 5.32669915e-02 7.98951192e-01 1.25721455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.530714057 meters Centerline goodness : 0.989873 Centerline is valid? [True, True] Translation: X:116.42, Y:175.78, Z:12.57 [[-5.41810774e-02 -9.98439864e-01 1.34999876e-02 1.16421581e+02] [ 7.96695075e-01 -3.50751289e-02 6.03362820e-01 1.75777938e+02] [-6.01947978e-01 4.34462213e-02 7.97352530e-01 1.25672669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.5607140569999 meters Centerline goodness : 0.990034 Centerline is valid? [True, True] Translation: X:116.42, Y:175.80, Z:12.55 [[-5.46031529e-02 -9.98228370e-01 2.36350956e-02 1.16415564e+02] [ 7.97838201e-01 -2.93845467e-02 6.02155091e-01 1.75803840e+02] [-6.00393788e-01 5.17365486e-02 7.98029215e-01 1.25549827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.5907140569999 meters Centerline goodness : 0.990118 Centerline is valid? [True, True] Translation: X:116.41, Y:175.83, Z:12.54 [[-5.35038335e-02 -9.97934892e-01 3.55427985e-02 1.16409295e+02] [ 7.97515414e-01 -2.12845164e-02 6.02922991e-01 1.75829205e+02] [-6.00921379e-01 6.06046210e-02 7.97007262e-01 1.25376227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.620714057 meters Centerline goodness : 0.989606 Centerline is valid? [True, True] Translation: X:116.42, Y:175.83, Z:12.53 [[-5.20181601e-02 -9.98506075e-01 1.67250936e-02 1.16415366e+02] [ 7.96398811e-01 -3.13728235e-02 6.03957515e-01 1.75828067e+02] [-6.02530535e-01 4.47366034e-02 7.96841007e-01 1.25274802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.650714057 meters Centerline goodness : 0.988725 Centerline is valid? [True, True] Translation: X:116.41, Y:175.86, Z:12.51 [[-5.36728746e-02 -9.98107580e-01 3.00080098e-02 1.16407915e+02] [ 7.98294710e-01 -2.48363118e-02 6.01754696e-01 1.75855041e+02] [-5.99870635e-01 5.62531398e-02 7.98117037e-01 1.25139775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.6807140569999 meters Centerline goodness : 0.988915 Centerline is valid? [True, True] Translation: X:116.41, Y:175.86, Z:12.50 [[-5.23725892e-02 -9.98545394e-01 1.28144083e-02 1.16411701e+02] [ 7.99243823e-01 -3.42191893e-02 6.00031965e-01 1.75857461e+02] [-5.98720656e-01 4.16670642e-02 7.99873385e-01 1.25023775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.7107140569999 meters Centerline goodness : 0.988361 Centerline is valid? [True, True] Translation: X:116.40, Y:175.89, Z:12.49 [[-5.20689505e-02 -9.98034435e-01 3.48725063e-02 1.16401454e+02] [ 7.99963110e-01 -2.07814208e-02 5.99689216e-01 1.75885520e+02] [-5.97785788e-01 5.91219067e-02 7.99472797e-01 1.24919424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.740714057 meters Centerline goodness : 0.988266 Centerline is valid? [True, True] Translation: X:116.41, Y:175.90, Z:12.47 [[-4.88326423e-02 -9.98673202e-01 1.63465290e-02 1.16405124e+02] [ 7.99155862e-01 -2.92490500e-02 6.00411860e-01 1.75898254e+02] [-5.99137115e-01 4.23831220e-02 7.99523851e-01 1.24717332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.770714057 meters Centerline goodness : 0.987383 Centerline is valid? [True, True] Translation: X:116.40, Y:175.92, Z:12.46 [[-4.85446983e-02 -9.98434384e-01 2.77883504e-02 1.16397994e+02] [ 7.99986523e-01 -2.22077879e-02 5.99606852e-01 1.75923410e+02] [-5.98050981e-01 5.13380395e-02 7.99812122e-01 1.24616636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.8007140569999 meters Centerline goodness : 0.988088 Centerline is valid? [True, True] Translation: X:116.40, Y:175.92, Z:12.46 [[-4.39453472e-02 -9.98943865e-01 1.34149258e-02 1.16399739e+02] [ 7.98364206e-01 -2.70429719e-02 6.01567347e-01 1.75918854e+02] [-6.00569231e-01 3.71460825e-02 7.98709439e-01 1.24576570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.8307140569999 meters Centerline goodness : 0.988676 Centerline is valid? [True, True] Translation: X:116.39, Y:175.95, Z:12.45 [[-4.64794880e-02 -9.98559074e-01 2.68222360e-02 1.16391443e+02] [ 7.99572057e-01 -2.10954025e-02 6.00199558e-01 1.75948339e+02] [-5.98768889e-01 4.93432786e-02 7.99400437e-01 1.24460136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.860714057 meters Centerline goodness : 0.986864 Centerline is valid? [True, True] Translation: X:116.40, Y:175.95, Z:12.44 [[-4.62756170e-02 -9.98907446e-01 6.51785267e-03 1.16396125e+02] [ 7.98861771e-01 -3.30893259e-02 6.00603835e-01 1.75950074e+02] [-5.99731972e-01 3.30001764e-02 7.99520200e-01 1.24350804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.890714057 meters Centerline goodness : 0.987877 Centerline is valid? [True, True] Translation: X:116.39, Y:175.95, Z:12.43 [[-4.57519219e-02 -9.98928997e-01 6.90070898e-03 1.16393408e+02] [ 7.99333693e-01 -3.24653308e-02 6.00009708e-01 1.75954674e+02] [-5.99143062e-01 3.29675665e-02 7.99962956e-01 1.24336182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.9207140569999 meters Centerline goodness : 0.987562 Centerline is valid? [True, True] Translation: X:116.39, Y:175.97, Z:12.43 [[-4.91036351e-02 -9.98580453e-01 2.06376419e-02 1.16386468e+02] [ 7.99034789e-01 -2.68769685e-02 6.00683806e-01 1.75965170e+02] [-5.99276430e-01 4.59859523e-02 7.99220278e-01 1.24336429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.9507140569999 meters Centerline goodness : 0.988494 Centerline is valid? [True, True] Translation: X:116.40, Y:175.97, Z:12.41 [[-5.24685216e-02 -9.98552580e-01 -1.18237116e-02 1.16396638e+02] [ 8.01367557e-01 -4.91664201e-02 5.96148222e-01 1.75974901e+02] [-5.95866674e-01 2.18038769e-02 8.02787330e-01 1.24107186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.980714057 meters Centerline goodness : 0.988631 Centerline is valid? [True, True] Translation: X:116.39, Y:175.98, Z:12.41 [[-5.61340276e-02 -9.98335329e-01 1.32492461e-02 1.16385371e+02] [ 8.00941429e-01 -3.71041922e-02 5.97591923e-01 1.75984189e+02] [-5.96105526e-01 4.41571116e-02 8.01690933e-01 1.24142921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.010714057 meters Centerline goodness : 0.988936 Centerline is valid? [True, True] Translation: X:116.38, Y:176.01, Z:12.40 [[-5.93988988e-02 -9.97765467e-01 3.05915489e-02 1.16377627e+02] [ 8.01167157e-01 -2.93689060e-02 5.97719545e-01 1.76011523e+02] [-5.95485481e-01 6.00128270e-02 8.01121403e-01 1.24015467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.040714057 meters Centerline goodness : 0.989222 Centerline is valid? [True, True] Translation: X:116.38, Y:176.03, Z:12.38 [[-6.71589970e-02 -9.97587803e-01 1.75568964e-02 1.16379262e+02] [ 8.02666188e-01 -4.35678917e-02 5.94835128e-01 1.76033221e+02] [-5.92635352e-01 5.40408577e-02 8.03655975e-01 1.23809830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.0707140569999 meters Centerline goodness : 0.988520 Centerline is valid? [True, True] Translation: X:116.38, Y:176.03, Z:12.38 [[-7.15570456e-02 -9.97367084e-01 1.17681773e-02 1.16379382e+02] [ 8.03315185e-01 -5.06329625e-02 5.93397857e-01 1.76034900e+02] [-5.91239632e-01 5.19153530e-02 8.04823269e-01 1.23765963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.1007140569999 meters Centerline goodness : 0.986350 Centerline is valid? [True, True] Translation: X:116.38, Y:176.03, Z:12.37 [[-7.26467691e-02 -9.97345837e-01 4.87125805e-03 1.16382642e+02] [ 8.02520401e-01 -5.55542783e-02 5.94032599e-01 1.76028443e+02] [-5.92185320e-01 4.70638330e-02 8.04426219e-01 1.23745280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.130714057 meters Centerline goodness : 0.987583 Centerline is valid? [True, True] Translation: X:116.38, Y:176.03, Z:12.37 [[-6.58366789e-02 -9.97827052e-01 2.58942040e-03 1.16379516e+02] [ 8.02515057e-01 -5.14074466e-02 5.94413036e-01 1.76034636e+02] [-5.92988293e-01 4.12122291e-02 8.04155729e-01 1.23684989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.160714057 meters Centerline goodness : 0.988742 Centerline is valid? [True, True] Translation: X:116.37, Y:176.06, Z:12.36 [[-6.33800864e-02 -9.97964374e-01 7.07620208e-03 1.16374851e+02] [ 8.03858827e-01 -4.68480144e-02 5.92972386e-01 1.76055480e+02] [-5.91433810e-01 4.32709085e-02 8.05191702e-01 1.23569412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.1907140569999 meters Centerline goodness : 0.988217 Centerline is valid? [True, True] Translation: X:116.37, Y:176.06, Z:12.36 [[-5.72782507e-02 -9.98263751e-01 1.37363181e-02 1.16369777e+02] [ 8.02715643e-01 -3.78686116e-02 5.95158436e-01 1.76058790e+02] [-5.93604917e-01 4.51159915e-02 8.03490977e-01 1.23577136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.2207140569999 meters Centerline goodness : 0.987647 Centerline is valid? [True, True] Translation: X:116.37, Y:176.08, Z:12.34 [[-5.61210572e-02 -9.98265812e-01 1.77706631e-02 1.16365515e+02] [ 8.02980068e-01 -3.45503987e-02 5.95003597e-01 1.76083357e+02] [-5.93357766e-01 4.76617191e-02 8.03526554e-01 1.23445333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.250714057 meters Centerline goodness : 0.989402 Centerline is valid? [True, True] Translation: X:116.36, Y:176.07, Z:12.35 [[-4.80347198e-02 -9.98724841e-01 1.55356638e-02 1.16363850e+02] [ 7.98872275e-01 -2.90768957e-02 6.00797489e-01 1.76071270e+02] [-5.99579648e-01 4.12701502e-02 7.99250286e-01 1.23487586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.280714057 meters Centerline goodness : 0.989135 Centerline is valid? [True, True] Translation: X:116.36, Y:176.10, Z:12.34 [[-4.60844694e-02 -9.98584457e-01 2.65575683e-02 1.16357685e+02] [ 7.99156055e-01 -2.09035465e-02 6.00760053e-01 1.76095724e+02] [-5.99354504e-01 4.89093498e-02 7.98988144e-01 1.23371549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.3107140569999 meters Centerline goodness : 0.989717 Centerline is valid? [True, True] Translation: X:116.36, Y:176.12, Z:12.32 [[-4.37835747e-02 -9.98781221e-01 2.27831177e-02 1.16355789e+02] [ 7.99330269e-01 -2.13419935e-02 6.00512815e-01 1.76119608e+02] [-5.99294685e-01 4.45038333e-02 7.99290491e-01 1.23182285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.3407140569999 meters Centerline goodness : 0.989124 Centerline is valid? [True, True] Translation: X:116.36, Y:176.11, Z:12.32 [[-4.26592550e-02 -9.99048114e-01 9.11337251e-03 1.16359892e+02] [ 7.99234093e-01 -2.86509126e-02 6.00336564e-01 1.76105721e+02] [-5.99504006e-01 3.28936286e-02 7.99695540e-01 1.23194779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.370714057 meters Centerline goodness : 0.989549 Centerline is valid? [True, True] Translation: X:116.36, Y:176.12, Z:12.31 [[-4.35768533e-02 -9.99034810e-01 5.52324716e-03 1.16359934e+02] [ 8.01193548e-01 -3.16435196e-02 5.97568060e-01 1.76119323e+02] [-5.96816518e-01 3.04653257e-02 8.01799169e-01 1.23092400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.400714057 meters Centerline goodness : 0.989487 Centerline is valid? [True, True] Translation: X:116.36, Y:176.11, Z:12.31 [[-4.41388525e-02 -9.99023219e-01 2.09042367e-03 1.16359730e+02] [ 8.04253211e-01 -3.42920685e-02 5.93296575e-01 1.76114012e+02] [-5.92645370e-01 2.78686600e-02 8.04981244e-01 1.23147909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.4307140569999 meters Centerline goodness : 0.990086 Centerline is valid? [True, True] Translation: X:116.35, Y:176.14, Z:12.30 [[-4.60949841e-02 -9.98891579e-01 9.53235206e-03 1.16354927e+02] [ 8.05986626e-01 -3.15524150e-02 5.91092213e-01 1.76140100e+02] [-5.90136265e-01 3.49293344e-02 8.06547662e-01 1.23029533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.4607140569999 meters Centerline goodness : 0.989431 Centerline is valid? [True, True] Translation: X:116.35, Y:176.14, Z:12.30 [[-4.30087369e-02 -9.99029799e-01 9.47148086e-03 1.16354497e+02] [ 8.05241292e-01 -2.90512524e-02 5.92235162e-01 1.76137447e+02] [-5.91385416e-01 3.30981138e-02 8.05709504e-01 1.23029066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.490714057 meters Centerline goodness : 0.989733 Centerline is valid? [True, True] Translation: X:116.35, Y:176.14, Z:12.30 [[-4.06796305e-02 -9.99127344e-01 9.47193848e-03 1.16353550e+02] [ 8.05030024e-01 -2.71588392e-02 5.92612063e-01 1.76138078e+02] [-5.91837670e-01 3.17324346e-02 8.05432322e-01 1.23023565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.520714057 meters Centerline goodness : 0.989353 Centerline is valid? [True, True] Translation: X:116.35, Y:176.16, Z:12.29 [[-4.06910790e-02 -9.98995390e-01 1.87735564e-02 1.16348108e+02] [ 8.06107008e-01 -2.17210478e-02 5.91371023e-01 1.76163393e+02] [-5.90369145e-01 3.91970204e-02 8.06181038e-01 1.22918325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.5507140569999 meters Centerline goodness : 0.989725 Centerline is valid? [True, True] Translation: X:116.35, Y:176.19, Z:12.27 [[-3.82494257e-02 -9.99090620e-01 1.88391933e-02 1.16347822e+02] [ 8.05742152e-01 -1.96854182e-02 5.91939244e-01 1.76185586e+02] [-5.91030089e-01 3.78208683e-02 8.05762382e-01 1.22745744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.5807140569999 meters Centerline goodness : 0.989711 Centerline is valid? [True, True] Translation: X:116.35, Y:176.19, Z:12.26 [[-3.28970930e-02 -9.99387135e-01 1.19639172e-02 1.16351027e+02] [ 8.03877721e-01 -1.93447872e-02 5.94479932e-01 1.76192207e+02] [-5.93884157e-01 2.91741881e-02 8.04021440e-01 1.22646989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.610714057 meters Centerline goodness : 0.989768 Centerline is valid? [True, True] Translation: X:116.35, Y:176.22, Z:12.25 [[-3.24196766e-02 -9.99172485e-01 2.45623654e-02 1.16345813e+02] [ 8.03953843e-01 -1.14690963e-02 5.94581095e-01 1.76219278e+02] [-5.93807363e-01 3.90231348e-02 8.03660383e-01 1.22517052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.640714057 meters Centerline goodness : 0.989077 Centerline is valid? [True, True] Translation: X:116.35, Y:176.24, Z:12.24 [[-2.90674019e-02 -9.99284097e-01 2.42152817e-02 1.16346418e+02] [ 8.03495766e-01 -8.94795805e-03 5.95243218e-01 1.76240818e+02] [-5.94600404e-01 3.67590502e-02 8.03180635e-01 1.22362668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.6707140569999 meters Centerline goodness : 0.989154 Centerline is valid? [True, True] Translation: X:116.35, Y:176.26, Z:12.22 [[-2.71422391e-02 -9.99308804e-01 2.54010529e-02 1.16346578e+02] [ 8.03481735e-01 -6.69188047e-03 5.95291794e-01 1.76262154e+02] [-5.94710350e-01 3.65668342e-02 8.03108004e-01 1.22203849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.7007140569999 meters Centerline goodness : 0.988943 Centerline is valid? [True, True] Translation: X:116.35, Y:176.28, Z:12.20 [[-2.48081603e-02 -9.99549799e-01 1.68746881e-02 1.16350193e+02] [ 8.03931289e-01 -9.91416278e-03 5.94639548e-01 1.76282936e+02] [-5.94204542e-01 2.83180030e-02 8.03815310e-01 1.22015716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.730714057 meters Centerline goodness : 0.989543 Centerline is valid? [True, True] Translation: X:116.36, Y:176.29, Z:12.19 [[-2.70845143e-02 -9.99613678e-01 -6.23888363e-03 1.16358058e+02] [ 8.11197808e-01 -2.56256172e-02 5.84210102e-01 1.76288308e+02] [-5.84144285e-01 1.07620781e-02 8.11578482e-01 1.21920174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.760714057 meters Centerline goodness : 0.990056 Centerline is valid? [True, True] Translation: X:116.35, Y:176.29, Z:12.20 [[-2.44219083e-02 -9.99667486e-01 8.27578446e-03 1.16354255e+02] [ 8.10448196e-01 -1.49512024e-02 5.85619486e-01 1.76288727e+02] [-5.85301027e-01 2.10090400e-02 8.10543847e-01 1.21979490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.790714057 meters Centerline goodness : 0.989665 Centerline is valid? [True, True] Translation: X:116.36, Y:176.31, Z:12.18 [[-2.66241162e-02 -9.99643842e-01 1.82887964e-03 1.16356554e+02] [ 8.13160144e-01 -2.05931899e-02 5.81675598e-01 1.76312788e+02] [-5.81430767e-01 1.69737707e-02 8.13418806e-01 1.21801536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.8207140569999 meters Centerline goodness : 0.989630 Centerline is valid? [True, True] Translation: X:116.36, Y:176.31, Z:12.18 [[-2.63165447e-02 -9.99640553e-01 5.11895237e-03 1.16358076e+02] [ 8.12344033e-01 -1.84009256e-02 5.82888136e-01 1.76313731e+02] [-5.82584425e-01 1.94979521e-02 8.12536287e-01 1.21803592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.8507140569999 meters Centerline goodness : 0.990223 Centerline is valid? [True, True] Translation: X:116.35, Y:176.34, Z:12.17 [[-2.86253183e-02 -9.99517115e-01 1.20883343e-02 1.16354578e+02] [ 8.14950695e-01 -1.63333371e-02 5.79300083e-01 1.76338893e+02] [-5.78822905e-01 2.64340457e-02 8.15024715e-01 1.21721091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.880714057 meters Centerline goodness : 0.990371 Centerline is valid? [True, True] Translation: X:116.36, Y:176.36, Z:12.15 [[-3.22358888e-02 -9.99445746e-01 8.30948973e-03 1.16360495e+02] [ 8.12031040e-01 -2.13420783e-02 5.83223889e-01 1.76364573e+02] [-5.82723294e-01 2.55483040e-02 8.12268950e-01 1.21485995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.910714057 meters Centerline goodness : 0.991017 Centerline is valid? [True, True] Translation: X:116.36, Y:176.37, Z:12.15 [[-3.36838660e-02 -9.99304631e-01 1.59890883e-02 1.16359657e+02] [ 8.11258570e-01 -1.79946455e-02 5.84410580e-01 1.76371426e+02] [-5.83716481e-01 3.26564926e-02 8.11300575e-01 1.21470399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.9407140569999 meters Centerline goodness : 0.990267 Centerline is valid? [True, True] Translation: X:116.36, Y:176.38, Z:12.14 [[-3.50413494e-02 -9.99228040e-01 1.77602919e-02 1.16362608e+02] [ 8.07481057e-01 -1.78371053e-02 5.89623762e-01 1.76381321e+02] [-5.88851804e-01 3.50023115e-02 8.07482750e-01 1.21375010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.9707140569999 meters Centerline goodness : 0.990264 Centerline is valid? [True, True] Translation: X:116.36, Y:176.41, Z:12.12 [[-4.03125835e-02 -9.98958244e-01 2.13850796e-02 1.16363793e+02] [ 8.06640254e-01 -1.99061650e-02 5.90707411e-01 1.76408802e+02] [-5.89666343e-01 4.10630078e-02 8.06602401e-01 1.21194675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.000714057 meters Centerline goodness : 0.989297 Centerline is valid? [True, True] Translation: X:116.36, Y:176.43, Z:12.10 [[-4.03639696e-02 -9.98861203e-01 2.54371263e-02 1.16363656e+02] [ 8.05183691e-01 -1.74419348e-02 5.92768929e-01 1.76430593e+02] [-5.91650213e-01 4.44080663e-02 8.04970776e-01 1.21037535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.030714057 meters Centerline goodness : 0.988951 Centerline is valid? [True, True] Translation: X:116.37, Y:176.45, Z:12.08 [[-4.48998915e-02 -9.98761833e-01 2.14196312e-02 1.16368248e+02] [ 8.04012070e-01 -2.34025085e-02 5.94152265e-01 1.76452843e+02] [-5.92915332e-01 4.38990143e-02 8.04067339e-01 1.20839008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.0607140569999 meters Centerline goodness : 0.988696 Centerline is valid? [True, True] Translation: X:116.37, Y:176.47, Z:12.07 [[-4.59537771e-02 -9.98790008e-01 1.75148652e-02 1.16371071e+02] [ 8.03769093e-01 -2.65584310e-02 5.94348295e-01 1.76472241e+02] [-5.93163971e-01 4.13904563e-02 8.04016999e-01 1.20674416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.0907140569999 meters Centerline goodness : 0.988349 Centerline is valid? [True, True] Translation: X:116.38, Y:176.50, Z:12.05 [[-5.07897606e-02 -9.98623682e-01 1.30821234e-02 1.16375110e+02] [ 8.04356957e-01 -3.31381089e-02 5.93221503e-01 1.76495402e+02] [-5.91971525e-01 4.06522751e-02 8.04932982e-01 1.20486697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.120714057 meters Centerline goodness : 0.988249 Centerline is valid? [True, True] Translation: X:116.38, Y:176.51, Z:12.04 [[-5.14837069e-02 -9.98656650e-01 5.85860554e-03 1.16379268e+02] [ 8.04664124e-01 -3.80068511e-02 5.92512554e-01 1.76505921e+02] [-5.91493935e-01 3.52189524e-02 8.05539912e-01 1.20374129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.150714057 meters Centerline goodness : 0.987278 Centerline is valid? [True, True] Translation: X:116.37, Y:176.53, Z:12.03 [[-5.23080066e-02 -9.98339845e-01 2.41128013e-02 1.16373882e+02] [ 8.05881955e-01 -2.79397509e-02 5.91416643e-01 1.76531212e+02] [-5.89761094e-01 5.03678972e-02 8.06005538e-01 1.20260885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.1807140569999 meters Centerline goodness : 0.988668 Centerline is valid? [True, True] Translation: X:116.38, Y:176.55, Z:12.00 [[-5.56453577e-02 -9.98445026e-01 3.33540187e-03 1.16383625e+02] [ 8.06595209e-01 -4.29837671e-02 5.89539282e-01 1.76549834e+02] [-5.88479195e-01 3.54954434e-02 8.07732821e-01 1.20039529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.2107140569999 meters Centerline goodness : 0.989063 Centerline is valid? [True, True] Translation: X:116.38, Y:176.54, Z:12.01 [[-5.53476512e-02 -9.98448652e-01 6.07681379e-03 1.16383385e+02] [ 8.07576421e-01 -4.11862226e-02 5.88323057e-01 1.76542342e+02] [-5.87160082e-01 3.74697909e-02 8.08603149e-01 1.20114144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.240714057 meters Centerline goodness : 0.989063 Centerline is valid? [True, True] Translation: X:116.38, Y:176.57, Z:12.00 [[-5.59178189e-02 -9.98323727e-01 1.49309676e-02 1.16379752e+02] [ 8.07914851e-01 -3.64559916e-02 5.88170514e-01 1.76566702e+02] [-5.86640257e-01 4.49521628e-02 8.08599105e-01 1.19985334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.270714057 meters Centerline goodness : 0.988738 Centerline is valid? [True, True] Translation: X:116.38, Y:176.58, Z:11.98 [[-5.44017100e-02 -9.98497947e-01 6.50419203e-03 1.16384998e+02] [ 8.08141057e-01 -4.02026790e-02 5.87615331e-01 1.76584585e+02] [-5.86471215e-01 3.72235834e-02 8.09114280e-01 1.19799597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.3007140569999 meters Centerline goodness : 0.988799 Centerline is valid? [True, True] Translation: X:116.38, Y:176.61, Z:11.97 [[-5.41925990e-02 -9.98385906e-01 1.69924835e-02 1.16382109e+02] [ 8.08813530e-01 -3.39103812e-02 5.87086672e-01 1.76610760e+02] [-5.85562837e-01 4.55595031e-02 8.09345720e-01 1.19660449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.3307140569999 meters Centerline goodness : 0.988165 Centerline is valid? [True, True] Translation: X:116.39, Y:176.61, Z:11.96 [[-5.12019513e-02 -9.98671455e-01 5.80386176e-03 1.16387216e+02] [ 8.08439232e-01 -3.80353030e-02 5.87349405e-01 1.76608615e+02] [-5.86348333e-01 3.47655051e-02 8.09312666e-01 1.19614981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.360714057 meters Centerline goodness : 0.988704 Centerline is valid? [True, True] Translation: X:116.39, Y:176.62, Z:11.96 [[-4.61802971e-02 -9.98932442e-01 1.16461531e-03 1.16388408e+02] [ 8.09816770e-01 -3.67548993e-02 5.85530423e-01 1.76616388e+02] [-5.84862530e-01 2.79830939e-02 8.10649596e-01 1.19573471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.390714057 meters Centerline goodness : 0.988292 Centerline is valid? [True, True] Translation: X:116.39, Y:176.62, Z:11.96 [[-3.70142614e-02 -9.99283303e-01 7.92622786e-03 1.16385432e+02] [ 8.08046229e-01 -2.52621427e-02 5.88577197e-01 1.76615755e+02] [-5.87955132e-01 2.81905087e-02 8.08402164e-01 1.19606044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.4207140569999 meters Centerline goodness : 0.989518 Centerline is valid? [True, True] Translation: X:116.39, Y:176.64, Z:11.95 [[-3.56100201e-02 -9.99351343e-01 5.36836189e-03 1.16385472e+02] [ 8.09862444e-01 -2.57097331e-02 5.86056168e-01 1.76639603e+02] [-5.85537999e-01 2.52171066e-02 8.10252645e-01 1.19464968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.4507140569999 meters Centerline goodness : 0.988451 Centerline is valid? [True, True] Translation: X:116.38, Y:176.63, Z:11.95 [[-2.71549803e-02 -9.99596046e-01 8.38763278e-03 1.16384174e+02] [ 8.08775616e-01 -1.70383269e-02 5.87870478e-01 1.76629645e+02] [-5.87490094e-01 2.27473241e-02 8.08911583e-01 1.19539259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.480714057 meters Centerline goodness : 0.987681 Centerline is valid? [True, True] Translation: X:116.38, Y:176.65, Z:11.94 [[-2.53260944e-02 -9.99568035e-01 1.49108466e-02 1.16382203e+02] [ 8.08928888e-01 -1.17276360e-02 5.87789517e-01 1.76654229e+02] [-5.87360743e-01 2.69482273e-02 8.08876474e-01 1.19398442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.510714057 meters Centerline goodness : 0.988188 Centerline is valid? [True, True] Translation: X:116.38, Y:176.68, Z:11.92 [[-2.22014097e-02 -9.99417994e-01 2.58992315e-02 1.16380456e+02] [ 8.08203768e-01 -2.69285614e-03 5.88896781e-01 1.76680146e+02] [-5.88484296e-01 3.40061952e-02 8.07793174e-01 1.19224927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.540714057 meters Centerline goodness : 0.988351 Centerline is valid? [True, True] Translation: X:116.39, Y:176.67, Z:11.92 [[-2.14370945e-02 -9.99761300e-01 4.21829953e-03 1.16388916e+02] [ 8.09696516e-01 -1.48863865e-02 5.86659993e-01 1.76670191e+02] [-5.86457162e-01 1.59918281e-02 8.09822362e-01 1.19200719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.5707140569999 meters Centerline goodness : 0.987491 Centerline is valid? [True, True] Translation: X:116.39, Y:176.70, Z:11.91 [[-2.17528835e-02 -9.99573324e-01 1.94931529e-02 1.16385596e+02] [ 8.09706328e-01 -6.17744695e-03 5.86802779e-01 1.76697647e+02] [-5.86431986e-01 2.85483817e-02 8.09495223e-01 1.19082339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.6007140569999 meters Centerline goodness : 0.988804 Centerline is valid? [True, True] Translation: X:116.39, Y:176.72, Z:11.89 [[-2.39835946e-02 -9.99589450e-01 1.56753914e-02 1.16389640e+02] [ 8.10598329e-01 -1.02671387e-02 5.85512540e-01 1.76720832e+02] [-5.85111217e-01 2.67491415e-02 8.10511781e-01 1.18912256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.630714057 meters Centerline goodness : 0.988902 Centerline is valid? [True, True] Translation: X:116.40, Y:176.72, Z:11.89 [[-2.76631556e-02 -9.99570204e-01 -9.70345297e-03 1.16399145e+02] [ 8.18176256e-01 -2.82179120e-02 5.74274642e-01 1.76721915e+02] [-5.74301632e-01 7.94711397e-03 8.18605203e-01 1.18874506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.660714057 meters Centerline goodness : 0.988688 Centerline is valid? [True, True] Translation: X:116.40, Y:176.74, Z:11.89 [[-3.05319090e-02 -9.99531789e-01 2.00142871e-03 1.16399126e+02] [ 8.19880865e-01 -2.38988301e-02 5.72035151e-01 1.76736282e+02] [-5.71719486e-01 1.91062583e-02 8.20226664e-01 1.18856864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.6907140569999 meters Centerline goodness : 0.988593 Centerline is valid? [True, True] Translation: X:116.40, Y:176.74, Z:11.89 [[-3.23110376e-02 -9.99464454e-01 5.17710572e-03 1.16399906e+02] [ 8.20458266e-01 -2.35652090e-02 5.71220548e-01 1.76738514e+02] [-5.70792633e-01 2.27043278e-02 8.20780289e-01 1.18867756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.7207140569999 meters Centerline goodness : 0.988875 Centerline is valid? [True, True] Translation: X:116.40, Y:176.75, Z:11.88 [[-3.38697662e-02 -9.99425442e-01 1.27475511e-03 1.16402985e+02] [ 8.21109840e-01 -2.70995969e-02 5.70126514e-01 1.76750515e+02] [-5.69764398e-01 2.03567657e-02 8.21555922e-01 1.18782649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.750714057 meters Centerline goodness : 0.990063 Centerline is valid? [True, True] Translation: X:116.40, Y:176.75, Z:11.88 [[-3.64234341e-02 -9.99327647e-01 4.19367055e-03 1.16404791e+02] [ 8.21297290e-01 -2.75432855e-02 5.69835177e-01 1.76747871e+02] [-5.69336539e-01 2.41996043e-02 8.21748310e-01 1.18822918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.780714057 meters Centerline goodness : 0.990244 Centerline is valid? [True, True] Translation: X:116.40, Y:176.77, Z:11.87 [[-4.08286110e-02 -9.99048152e-01 1.53562231e-02 1.16403595e+02] [ 8.22178107e-01 -2.48591640e-02 5.68687245e-01 1.76772846e+02] [-5.67764198e-01 3.58442607e-02 8.22410484e-01 1.18729158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.8107140569999 meters Centerline goodness : 0.990942 Centerline is valid? [True, True] Translation: X:116.41, Y:176.79, Z:11.85 [[-4.48045038e-02 -9.98990601e-01 -3.21499378e-03 1.16410998e+02] [ 8.22458166e-01 -3.87134378e-02 5.67506682e-01 1.76792588e+02] [-5.67058305e-01 2.27826574e-02 8.23362514e-01 1.18542407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.8407140569999 meters Centerline goodness : 0.990759 Centerline is valid? [True, True] Translation: X:116.41, Y:176.82, Z:11.85 [[-4.71392606e-02 -9.98831848e-01 1.06221041e-02 1.16406136e+02] [ 8.24718208e-01 -3.29179785e-02 5.64585055e-01 1.76818597e+02] [-5.63575876e-01 3.53743647e-02 8.25306541e-01 1.18468383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.870714057 meters Centerline goodness : 0.991185 Centerline is valid? [True, True] Translation: X:116.41, Y:176.84, Z:11.83 [[-5.04171912e-02 -9.98708212e-01 6.32564202e-03 1.16409897e+02] [ 8.24238969e-01 -3.80311851e-02 5.64963495e-01 1.76840219e+02] [-5.63993110e-01 3.36977132e-02 8.25091653e-01 1.18297823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.900714057 meters Centerline goodness : 0.991378 Centerline is valid? [True, True] Translation: X:116.41, Y:176.84, Z:11.82 [[-5.23329180e-02 -9.98621291e-01 4.09664971e-03 1.16412665e+02] [ 8.22471696e-01 -4.07743553e-02 5.67342720e-01 1.76844491e+02] [-5.66393481e-01 3.30600785e-02 8.23471588e-01 1.18241983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.9307140569999 meters Centerline goodness : 0.990691 Centerline is valid? [True, True] Translation: X:116.41, Y:176.87, Z:11.81 [[-5.23776775e-02 -9.98472064e-01 1.76101381e-02 1.16410096e+02] [ 8.21030524e-01 -3.30175978e-02 5.69928695e-01 1.76869248e+02] [-5.68476436e-01 4.43100023e-02 8.21505427e-01 1.18091198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.9607140569999 meters Centerline goodness : 0.990605 Centerline is valid? [True, True] Translation: X:116.41, Y:176.89, Z:11.79 [[-5.52269506e-02 -9.98350848e-01 1.56706099e-02 1.16412385e+02] [ 8.19690819e-01 -3.63708959e-02 5.71650348e-01 1.76889518e+02] [-5.70137655e-01 4.44155606e-02 8.20347678e-01 1.17904755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.990714057 meters Centerline goodness : 0.991384 Centerline is valid? [True, True] Translation: X:116.42, Y:176.89, Z:11.79 [[-5.54327884e-02 -9.98446570e-01 5.62611117e-03 1.16416919e+02] [ 8.18524766e-01 -4.22153883e-02 5.72918030e-01 1.76888086e+02] [-5.71790533e-01 3.63635553e-02 8.19593361e-01 1.17854585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.020714057 meters Centerline goodness : 0.990624 Centerline is valid? [True, True] Translation: X:116.41, Y:176.91, Z:11.77 [[-5.81354825e-02 -9.98186415e-01 1.56251950e-02 1.16413890e+02] [ 8.18795468e-01 -3.87215266e-02 5.72777990e-01 1.76911769e+02] [-5.71134177e-01 4.60925637e-02 8.19561607e-01 1.17720823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.0507140569999 meters Centerline goodness : 0.991204 Centerline is valid? [True, True] Translation: X:116.42, Y:176.93, Z:11.75 [[-6.21794255e-02 -9.98053922e-01 4.69982796e-03 1.16418293e+02] [ 8.18701897e-01 -4.83112701e-02 5.72182859e-01 1.76931114e+02] [-5.70842292e-01 3.94257595e-02 8.20112606e-01 1.17502695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.0807140569999 meters Centerline goodness : 0.991252 Centerline is valid? [True, True] Translation: X:116.41, Y:176.95, Z:11.74 [[-6.75208718e-02 -9.97522665e-01 1.97348817e-02 1.16406928e+02] [ 8.17610059e-01 -4.39851155e-02 5.74089803e-01 1.76949634e+02] [-5.71799549e-01 5.48984818e-02 8.18554478e-01 1.17370113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.110714057 meters Centerline goodness : 0.992117 Centerline is valid? [True, True] Translation: X:116.42, Y:176.97, Z:11.71 [[-6.99991535e-02 -9.97520978e-01 -7.21225557e-03 1.16416392e+02] [ 8.17538473e-01 -6.15090743e-02 5.72579671e-01 1.76965535e+02] [-5.71603852e-01 3.41837959e-02 8.19817360e-01 1.17117603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.140714057 meters Centerline goodness : 0.991153 Centerline is valid? [True, True] Translation: X:116.42, Y:177.00, Z:11.69 [[-6.70830566e-02 -9.97718367e-01 -7.61082000e-03 1.16421545e+02] [ 8.17763483e-01 -5.93505794e-02 5.72486152e-01 1.76995246e+02] [-5.71631655e-01 3.21802703e-02 8.19879065e-01 1.16923586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.1707140569999 meters Centerline goodness : 0.992509 Centerline is valid? [True, True] Translation: X:116.41, Y:177.01, Z:11.68 [[-7.14445032e-02 -9.97413212e-01 7.91000293e-03 1.16408624e+02] [ 8.18649795e-01 -5.41055329e-02 5.71738669e-01 1.77014933e+02] [-5.69831727e-01 4.73231074e-02 8.20397664e-01 1.16848466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.2007140569999 meters Centerline goodness : 0.992080 Centerline is valid? [True, True] Translation: X:116.41, Y:177.04, Z:11.66 [[-7.22296719e-02 -9.97378273e-01 -4.41073130e-03 1.16412840e+02] [ 8.18268052e-01 -6.17859813e-02 5.71506682e-01 1.77035440e+02] [-5.70280869e-01 3.76705796e-02 8.20585558e-01 1.16638599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.230714057 meters Centerline goodness : 0.991777 Centerline is valid? [True, True] Translation: X:116.41, Y:177.06, Z:11.65 [[-7.22498162e-02 -9.97369468e-01 -5.84027278e-03 1.16411477e+02] [ 8.17621035e-01 -6.25802436e-02 5.72345662e-01 1.77056957e+02] [-5.71205574e-01 3.65767390e-02 8.19991667e-01 1.16472975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.260714057 meters Centerline goodness : 0.990626 Centerline is valid? [True, True] Translation: X:116.41, Y:177.09, Z:11.63 [[-6.72410944e-02 -9.97729965e-01 3.68132897e-03 1.16414358e+02] [ 8.17201448e-01 -5.29569674e-02 5.73914064e-01 1.77088107e+02] [-5.72416307e-01 4.15989971e-02 8.18907257e-01 1.16270543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.290714057 meters Centerline goodness : 0.989374 Centerline is valid? [True, True] Translation: X:116.41, Y:177.11, Z:11.61 [[-6.63683617e-02 -9.97754946e-01 8.96148119e-03 1.16411171e+02] [ 8.15584037e-01 -4.90723682e-02 5.76554057e-01 1.77106989e+02] [-5.74819901e-01 4.55737892e-02 8.17009860e-01 1.16135695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.3207140569999 meters Centerline goodness : 0.990141 Centerline is valid? [True, True] Translation: X:116.41, Y:177.14, Z:11.59 [[-6.57558712e-02 -9.97649087e-01 1.92993549e-02 1.16406614e+02] [ 8.15460954e-01 -4.25810186e-02 5.77243700e-01 1.77136284e+02] [-5.75064864e-01 5.36950328e-02 8.16343828e-01 1.15931656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.3507140569999 meters Centerline goodness : 0.990007 Centerline is valid? [True, True] Translation: X:116.41, Y:177.15, Z:11.58 [[-6.66934819e-02 -9.97773253e-01 7.17424054e-04 1.16411794e+02] [ 8.16677151e-01 -5.41754845e-02 5.74546297e-01 1.77145586e+02] [-5.73228061e-01 3.89043969e-02 8.18471770e-01 1.15802712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.380714057 meters Centerline goodness : 0.989216 Centerline is valid? [True, True] Translation: X:116.41, Y:177.15, Z:11.58 [[-6.18420158e-02 -9.97977029e-01 1.47449799e-02 1.16405204e+02] [ 8.13061105e-01 -4.18038566e-02 5.80675536e-01 1.77146609e+02] [-5.78884449e-01 4.78987153e-02 8.14001540e-01 1.15815620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.410714057 meters Centerline goodness : 0.990378 Centerline is valid? [True, True] Translation: X:116.40, Y:177.17, Z:11.57 [[-6.04516953e-02 -9.97995060e-01 1.87470567e-02 1.16402786e+02] [ 8.12776041e-01 -3.83125566e-02 5.81315109e-01 1.77168733e+02] [-5.79431360e-01 5.03786423e-02 8.13462533e-01 1.15667760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.4407140569999 meters Centerline goodness : 0.989373 Centerline is valid? [True, True] Translation: X:116.40, Y:177.19, Z:11.55 [[-6.02175516e-02 -9.98074051e-01 1.49008525e-02 1.16403030e+02] [ 8.12626586e-01 -4.03489423e-02 5.81386269e-01 1.77191954e+02] [-5.79665315e-01 4.71184866e-02 8.13491223e-01 1.15486638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.4707140569999 meters Centerline goodness : 0.989429 Centerline is valid? [True, True] Translation: X:116.40, Y:177.20, Z:11.55 [[-5.47061952e-02 -9.98328903e-01 1.86180875e-02 1.16400232e+02] [ 8.08850045e-01 -3.33748152e-02 5.87067055e-01 1.77195390e+02] [-5.85464634e-01 4.71754458e-02 8.09324187e-01 1.15466419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.500714057 meters Centerline goodness : 0.988522 Centerline is valid? [True, True] Translation: X:116.40, Y:177.22, Z:11.53 [[-5.05766466e-02 -9.98485548e-01 2.16474745e-02 1.16397262e+02] [ 8.08386042e-01 -2.81999489e-02 5.87976844e-01 1.77218506e+02] [-5.86475924e-01 4.72374133e-02 8.08588039e-01 1.15310068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.530714057 meters Centerline goodness : 0.989194 Centerline is valid? [True, True] Translation: X:116.39, Y:177.24, Z:11.52 [[-4.84341429e-02 -9.98449615e-01 2.74317422e-02 1.16394498e+02] [ 8.08739230e-01 -2.30843569e-02 5.87714191e-01 1.77243616e+02] [-5.86169764e-01 5.06505592e-02 8.08603444e-01 1.15153764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.5607140569999 meters Centerline goodness : 0.989293 Centerline is valid? [True, True] Translation: X:116.39, Y:177.26, Z:11.50 [[-4.27906663e-02 -9.98663771e-01 2.89763941e-02 1.16392739e+02] [ 8.08349172e-01 -1.75623596e-02 5.88441314e-01 1.77264423e+02] [-5.87146128e-01 4.86028401e-02 8.08020537e-01 1.14987177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.5907140569999 meters Centerline goodness : 0.988106 Centerline is valid? [True, True] Translation: X:116.39, Y:177.29, Z:11.48 [[-4.16705969e-02 -9.98716139e-01 2.88033856e-02 1.16392760e+02] [ 8.07742615e-01 -1.67067734e-02 5.89298525e-01 1.77290926e+02] [-5.88060736e-01 4.78221432e-02 8.07401767e-01 1.14771480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.620714057 meters Centerline goodness : 0.987905 Centerline is valid? [True, True] Translation: X:116.40, Y:177.29, Z:11.47 [[-3.23812825e-02 -9.99338547e-01 1.65505891e-02 1.16396847e+02] [ 8.05966195e-01 -1.63154203e-02 5.91736681e-01 1.77293169e+02] [-5.91075245e-01 3.25004080e-02 8.05961400e-01 1.14669318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.650714057 meters Centerline goodness : 0.987503 Centerline is valid? [True, True] Translation: X:116.40, Y:177.29, Z:11.47 [[-2.62672385e-02 -9.99517824e-01 1.65575246e-02 1.16397166e+02] [ 8.02894452e-01 -1.12266922e-02 5.96015487e-01 1.77285045e+02] [-5.95542217e-01 2.89496256e-02 8.02802209e-01 1.14699428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.6807140569999 meters Centerline goodness : 0.986496 Centerline is valid? [True, True] Translation: X:116.38, Y:177.32, Z:11.46 [[-1.90939272e-02 -9.98626977e-01 4.87809722e-02 1.16384773e+02] [ 8.02794182e-01 1.37686141e-02 5.96097246e-01 1.77315335e+02] [-5.95950437e-01 5.05429181e-02 8.01429030e-01 1.14613929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.7107140569999 meters Centerline goodness : 0.987488 Centerline is valid? [True, True] Translation: X:116.39, Y:177.34, Z:11.44 [[-1.69106250e-02 -9.99291846e-01 3.36130439e-02 1.16389923e+02] [ 8.02079498e-01 6.51404374e-03 5.97181753e-01 1.77335437e+02] [-5.96977813e-01 3.70590500e-02 8.01401346e-01 1.14390856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.740714057 meters Centerline goodness : 0.987624 Centerline is valid? [True, True] Translation: X:116.39, Y:177.36, Z:11.42 [[-1.49094949e-02 -9.98850093e-01 4.55653249e-02 1.16385573e+02] [ 8.03197397e-01 1.51772289e-02 5.95519599e-01 1.77363947e+02] [-5.95526362e-01 4.54768468e-02 8.02047510e-01 1.14235884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.770714057 meters Centerline goodness : 0.986753 Centerline is valid? [True, True] Translation: X:116.40, Y:177.36, Z:11.41 [[-1.46060875e-02 -9.99870769e-01 6.71619737e-03 1.16401366e+02] [ 8.06139369e-01 -7.80174914e-03 5.91674278e-01 1.77362827e+02] [-5.91545417e-01 1.40562374e-02 8.06149144e-01 1.14059222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.8007140569999 meters Centerline goodness : 0.988069 Centerline is valid? [True, True] Translation: X:116.40, Y:177.38, Z:11.40 [[-1.61486853e-02 -9.99676240e-01 1.96630410e-02 1.16396831e+02] [ 8.07268165e-01 -1.43198919e-03 5.90183072e-01 1.77376330e+02] [-5.89963837e-01 2.54040278e-02 8.07029929e-01 1.14037753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.8307140569999 meters Centerline goodness : 0.988970 Centerline is valid? [True, True] Translation: X:116.40, Y:177.39, Z:11.39 [[-2.20905896e-02 -9.99737529e-01 6.07276237e-03 1.16403604e+02] [ 8.12369216e-01 -1.44092868e-02 5.82965376e-01 1.77389624e+02] [-5.82724861e-01 1.78113741e-02 8.12474302e-01 1.13884583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.860714057 meters Centerline goodness : 0.988289 Centerline is valid? [True, True] Translation: X:116.40, Y:177.40, Z:11.39 [[-2.34628515e-02 -9.99542167e-01 1.91036970e-02 1.16400093e+02] [ 8.08075529e-01 -7.71066576e-03 5.89028424e-01 1.77398194e+02] [-5.88611446e-01 2.92575165e-02 8.07886480e-01 1.13879291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.890714057 meters Centerline goodness : 0.989259 Centerline is valid? [True, True] Translation: X:116.41, Y:177.40, Z:11.38 [[-3.15965639e-02 -9.99485079e-01 -5.58878606e-03 1.16411333e+02] [ 8.13201225e-01 -2.89578230e-02 5.81261741e-01 1.77403934e+02] [-5.81124276e-01 1.38210661e-02 8.13697458e-01 1.13776164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.9207140569999 meters Centerline goodness : 0.989329 Centerline is valid? [True, True] Translation: X:116.41, Y:177.42, Z:11.37 [[-3.56955796e-02 -9.99362345e-01 8.54396222e-04 1.16409046e+02] [ 8.16082272e-01 -2.86556234e-02 5.77224896e-01 1.77418055e+02] [-5.76832342e-01 2.13016348e-02 8.16584772e-01 1.13748632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.9507140569999 meters Centerline goodness : 0.989887 Centerline is valid? [True, True] Translation: X:116.42, Y:177.40, Z:11.38 [[-4.27247361e-02 -9.98964921e-01 -1.56103463e-02 1.16417174e+02] [ 8.21962232e-01 -4.40278346e-02 5.67837688e-01 1.77404261e+02] [-5.67937221e-01 1.14296002e-02 8.22992514e-01 1.13829946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.980714057 meters Centerline goodness : 0.990652 Centerline is valid? [True, True] Translation: X:116.41, Y:177.41, Z:11.39 [[-4.46194743e-02 -9.98986256e-01 5.96339191e-03 1.16410371e+02] [ 8.21743431e-01 -3.33070498e-02 5.68883446e-01 1.77412948e+02] [-5.68108121e-01 3.02836584e-02 8.22396536e-01 1.13878037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.010714057 meters Centerline goodness : 0.989980 Centerline is valid? [True, True] Translation: X:116.42, Y:177.42, Z:11.38 [[-5.07045414e-02 -9.98706801e-01 -3.71138431e-03 1.16417101e+02] [ 8.23140907e-01 -4.38949028e-02 5.66138044e-01 1.77423869e+02] [-5.65568826e-01 2.56507776e-02 8.24302093e-01 1.13787088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.040714057 meters Centerline goodness : 0.991727 Centerline is valid? [True, True] Translation: X:116.42, Y:177.42, Z:11.38 [[-5.59345058e-02 -9.98431822e-01 -2.28664443e-03 1.16418002e+02] [ 8.26590764e-01 -4.75919003e-02 5.60787589e-01 1.77423373e+02] [-5.60017000e-01 2.94772575e-02 8.27956551e-01 1.13830672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.0707140569999 meters Centerline goodness : 0.992235 Centerline is valid? [True, True] Translation: X:116.42, Y:177.44, Z:11.38 [[-5.90675572e-02 -9.98252414e-01 -1.77268723e-03 1.16418348e+02] [ 8.28685038e-01 -5.00240516e-02 5.57475294e-01 1.77437164e+02] [-5.56589734e-01 3.14597044e-02 8.30191637e-01 1.13757610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.1007140569999 meters Centerline goodness : 0.991201 Centerline is valid? [True, True] Translation: X:116.42, Y:177.45, Z:11.38 [[-6.57198770e-02 -9.97810649e-01 7.40317298e-03 1.16415257e+02] [ 8.32475866e-01 -5.07367144e-02 5.51733376e-01 1.77454081e+02] [-5.50149825e-01 4.24228124e-02 8.33987695e-01 1.13759130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.130714057 meters Centerline goodness : 0.990463 Centerline is valid? [True, True] Translation: X:116.42, Y:177.45, Z:11.37 [[-6.68578805e-02 -9.97742189e-01 6.36776462e-03 1.16416447e+02] [ 8.32164123e-01 -5.22392665e-02 5.52063339e-01 1.77454659e+02] [-5.50484237e-01 4.22088101e-02 8.33777861e-01 1.13739466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.160714057 meters Centerline goodness : 0.990463 Centerline is valid? [True, True] Translation: X:116.42, Y:177.46, Z:11.37 [[-6.64116076e-02 -9.97786366e-01 -3.44460712e-03 1.16420050e+02] [ 8.31846435e-01 -5.72726105e-02 5.52042894e-01 1.77457524e+02] [-5.51018155e-01 3.37966719e-02 8.33808598e-01 1.13673106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.1907140569999 meters Centerline goodness : 0.991400 Centerline is valid? [True, True] Translation: X:116.43, Y:177.47, Z:11.35 [[-6.92028288e-02 -9.97201387e-01 -2.82906731e-02 1.16428286e+02] [ 8.33373598e-01 -7.33752982e-02 5.47817955e-01 1.77469832e+02] [-5.48360661e-01 1.43338521e-02 8.36119086e-01 1.13509454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.2207140569999 meters Centerline goodness : 0.991149 Centerline is valid? [True, True] Translation: X:116.42, Y:177.48, Z:11.36 [[-6.73322081e-02 -9.97724097e-01 3.60558811e-03 1.16416760e+02] [ 8.32659975e-01 -5.42010585e-02 5.51125767e-01 1.77475137e+02] [-5.49676031e-01 4.01107437e-02 8.34414399e-01 1.13606156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.250714057 meters Centerline goodness : 0.990484 Centerline is valid? [True, True] Translation: X:116.42, Y:177.49, Z:11.35 [[-6.86889992e-02 -9.97637425e-01 -1.17855645e-03 1.16417933e+02] [ 8.33556525e-01 -5.80407606e-02 5.49376728e-01 1.77486813e+02] [-5.48147189e-01 3.67537442e-02 8.35573948e-01 1.13521534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.280714057 meters Centerline goodness : 0.990325 Centerline is valid? [True, True] Translation: X:116.42, Y:177.49, Z:11.35 [[-6.80089587e-02 -9.97680259e-01 2.98025718e-03 1.16416191e+02] [ 8.34167812e-01 -5.52236056e-02 5.48738931e-01 1.77489153e+02] [-5.47301418e-01 3.98051979e-02 8.35988459e-01 1.13520966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.3107140569999 meters Centerline goodness : 0.991559 Centerline is valid? [True, True] Translation: X:116.41, Y:177.51, Z:11.34 [[-7.63321790e-02 -9.97068758e-01 5.22397599e-03 1.16408877e+02] [ 8.32997859e-01 -6.08902809e-02 5.49915394e-01 1.77505090e+02] [-5.47985370e-01 4.63278011e-02 8.35204028e-01 1.13393009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.3407140569999 meters Centerline goodness : 0.992492 Centerline is valid? [True, True] Translation: X:116.41, Y:177.52, Z:11.32 [[-7.50297644e-02 -9.97150241e-01 -7.86969434e-03 1.16412863e+02] [ 8.32761288e-01 -6.69977067e-02 5.49563412e-01 1.77518711e+02] [-5.48524540e-01 3.46800365e-02 8.35414941e-01 1.13233632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.370714057 meters Centerline goodness : 0.991300 Centerline is valid? [True, True] Translation: X:116.40, Y:177.52, Z:11.33 [[-6.88908843e-02 -9.97455838e-01 1.83275284e-02 1.16402056e+02] [ 8.33793594e-01 -4.74808732e-02 5.50030734e-01 1.77518798e+02] [-5.47761160e-01 5.31734795e-02 8.34943287e-01 1.13343605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.400714057 meters Centerline goodness : 0.991747 Centerline is valid? [True, True] Translation: X:116.42, Y:177.57, Z:11.28 [[-7.13958736e-02 -9.96815586e-01 -3.55150194e-02 1.16419081e+02] [ 8.34040245e-01 -7.91900748e-02 5.45990661e-01 1.77574345e+02] [-5.47064438e-01 9.36052481e-03 8.37038160e-01 1.12758443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.4307140569999 meters Centerline goodness : 0.990888 Centerline is valid? [True, True] Translation: X:116.40, Y:177.53, Z:11.33 [[-5.27435811e-02 -9.98334369e-01 2.33795354e-02 1.16402735e+02] [ 8.27116586e-01 -3.05554087e-02 5.61199180e-01 1.77526023e+02] [-5.59550058e-01 4.89372559e-02 8.27350517e-01 1.13277720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.4607140569999 meters Centerline goodness : 0.989729 Centerline is valid? [True, True] Translation: X:116.40, Y:177.55, Z:11.31 [[-5.01286519e-02 -9.98465722e-01 2.35227597e-02 1.16401115e+02] [ 8.26916675e-01 -2.82849356e-02 5.61612655e-01 1.77548241e+02] [-5.60085645e-01 4.76042476e-02 8.27065841e-01 1.13073925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.490714057 meters Centerline goodness : 0.989826 Centerline is valid? [True, True] Translation: X:116.41, Y:177.57, Z:11.29 [[-4.76242053e-02 -9.98828479e-01 8.57935324e-03 1.16405265e+02] [ 8.23779073e-01 -3.44173866e-02 5.65865251e-01 1.77566489e+02] [-5.64907048e-01 3.40163745e-02 8.24453099e-01 1.12885324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.520714057 meters Centerline goodness : 0.990099 Centerline is valid? [True, True] Translation: X:116.40, Y:177.59, Z:11.27 [[-4.43546561e-02 -9.98763429e-01 2.24561395e-02 1.16398696e+02] [ 8.20827035e-01 -2.36212565e-02 5.70688195e-01 1.77593728e+02] [-5.69452056e-01 4.37452850e-02 8.20859736e-01 1.12691957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.5507140569999 meters Centerline goodness : 0.989229 Centerline is valid? [True, True] Translation: X:116.40, Y:177.60, Z:11.26 [[-4.36242384e-02 -9.99037823e-01 4.51158145e-03 1.16404433e+02] [ 8.21543441e-01 -3.33033829e-02 5.69172433e-01 1.77595450e+02] [-5.68474538e-01 2.85361740e-02 8.22205806e-01 1.12608676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.5807140569999 meters Centerline goodness : 0.988677 Centerline is valid? [True, True] Translation: X:116.40, Y:177.60, Z:11.26 [[-4.21591803e-02 -9.99010676e-01 1.41518042e-02 1.16399412e+02] [ 8.20284600e-01 -2.65232710e-02 5.71340258e-01 1.77601119e+02] [-5.70399665e-01 3.56957440e-02 8.20591272e-01 1.12608974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.610714057 meters Centerline goodness : 0.989212 Centerline is valid? [True, True] Translation: X:116.40, Y:177.63, Z:11.24 [[-4.18628267e-02 -9.98911570e-01 2.05712998e-02 1.16397442e+02] [ 8.19976363e-01 -2.25853225e-02 5.71951630e-01 1.77626150e+02] [-5.70864491e-01 4.08114916e-02 8.20029362e-01 1.12436758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.640714057 meters Centerline goodness : 0.988191 Centerline is valid? [True, True] Translation: X:116.40, Y:177.63, Z:11.24 [[-4.41027624e-02 -9.99025061e-01 1.96844108e-03 1.16403659e+02] [ 8.21950198e-01 -3.51655535e-02 5.68472739e-01 1.77625001e+02] [-5.67849292e-01 2.66891787e-02 8.22699745e-01 1.12371236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.6707140569999 meters Centerline goodness : 0.988028 Centerline is valid? [True, True] Translation: X:116.40, Y:177.63, Z:11.23 [[-4.41234530e-02 -9.99026036e-01 3.17384930e-04 1.16402953e+02] [ 8.23659907e-01 -3.61983582e-02 5.65927590e-01 1.77626684e+02] [-5.65364908e-01 2.52320967e-02 8.24454888e-01 1.12346266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.7007140569999 meters Centerline goodness : 0.988333 Centerline is valid? [True, True] Translation: X:116.40, Y:177.65, Z:11.22 [[-4.61095789e-02 -9.98931632e-01 -3.08229678e-03 1.16402580e+02] [ 8.22220497e-01 -3.97047344e-02 5.67782518e-01 1.77648317e+02] [-5.67298300e-01 2.36458852e-02 8.23172832e-01 1.12197627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.730714057 meters Centerline goodness : 0.988081 Centerline is valid? [True, True] Translation: X:116.39, Y:177.68, Z:11.21 [[-4.74260022e-02 -9.98425716e-01 2.99477013e-02 1.16389732e+02] [ 8.24601378e-01 -2.22137434e-02 5.65277911e-01 1.77679357e+02] [-5.63722752e-01 5.15037872e-02 8.24356730e-01 1.12125978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.760714057 meters Centerline goodness : 0.988154 Centerline is valid? [True, True] Translation: X:116.40, Y:177.70, Z:11.18 [[-4.86330680e-02 -9.98791406e-01 -7.11000151e-03 1.16402919e+02] [ 8.24955316e-01 -4.41797661e-02 5.63468611e-01 1.77696438e+02] [-5.63101725e-01 2.15377738e-02 8.26106877e-01 1.11832954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.790714057 meters Centerline goodness : 0.988877 Centerline is valid? [True, True] Translation: X:116.39, Y:177.73, Z:11.18 [[-5.31205759e-02 -9.98478888e-01 1.47687037e-02 1.16392366e+02] [ 8.27750695e-01 -3.57551618e-02 5.59955673e-01 1.77727059e+02] [-5.58575860e-01 4.19699726e-02 8.28390928e-01 1.11750884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.8207140569999 meters Centerline goodness : 0.988101 Centerline is valid? [True, True] Translation: X:116.40, Y:177.72, Z:11.18 [[-5.42127065e-02 -9.98500752e-01 7.56512942e-03 1.16395087e+02] [ 8.26934456e-01 -4.06485672e-02 5.60827157e-01 1.77719294e+02] [-5.59678826e-01 3.66598243e-02 8.27898344e-01 1.11771813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.8507140569999 meters Centerline goodness : 0.988461 Centerline is valid? [True, True] Translation: X:116.40, Y:177.73, Z:11.17 [[-5.62631587e-02 -9.98415540e-01 -9.31182755e-04 1.16396430e+02] [ 8.28160897e-01 -4.71897842e-02 5.58500361e-01 1.77728295e+02] [-5.57659382e-01 3.06518253e-02 8.29503755e-01 1.11689022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.880714057 meters Centerline goodness : 0.989349 Centerline is valid? [True, True] Translation: X:116.40, Y:177.74, Z:11.16 [[-5.95881130e-02 -9.98187929e-01 -8.37351891e-03 1.16397553e+02] [ 8.29967602e-01 -5.42031653e-02 5.55171862e-01 1.77736706e+02] [-5.54619722e-01 2.61318942e-02 8.31693506e-01 1.11611495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.910714057 meters Centerline goodness : 0.988839 Centerline is valid? [True, True] Translation: X:116.39, Y:177.75, Z:11.15 [[-6.17973344e-02 -9.98088687e-01 -2.49780339e-04 1.16393774e+02] [ 8.31928267e-01 -5.16476614e-02 5.52474324e-01 1.77754959e+02] [-5.51431273e-01 3.39336412e-02 8.33529879e-01 1.11540154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.9407140569999 meters Centerline goodness : 0.990177 Centerline is valid? [True, True] Translation: X:116.39, Y:177.75, Z:11.16 [[-6.39070992e-02 -9.97955616e-01 6.86992629e-04 1.16391772e+02] [ 8.32874213e-01 -5.29563580e-02 5.50923017e-01 1.77751344e+02] [-5.49760338e-01 3.57800703e-02 8.34555785e-01 1.11571216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.9707140569999 meters Centerline goodness : 0.989454 Centerline is valid? [True, True] Translation: X:116.39, Y:177.76, Z:11.16 [[-6.33485268e-02 -9.97974249e-01 5.86188994e-03 1.16389487e+02] [ 8.31803187e-01 -4.95531172e-02 5.52854364e-01 1.77755987e+02] [-5.51443944e-01 3.98984482e-02 8.33257278e-01 1.11554544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.000714057 meters Centerline goodness : 0.989638 Centerline is valid? [True, True] Translation: X:116.38, Y:177.78, Z:11.14 [[-6.47309666e-02 -9.97804517e-01 1.40017411e-02 1.16384832e+02] [ 8.31374198e-01 -4.61629489e-02 5.53792312e-01 1.77781928e+02] [-5.51930108e-01 4.74881979e-02 8.32537102e-01 1.11389522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.030714057 meters Centerline goodness : 0.989541 Centerline is valid? [True, True] Translation: X:116.39, Y:177.78, Z:11.13 [[-6.35769368e-02 -9.97962983e-01 5.27810443e-03 1.16387447e+02] [ 8.29772348e-01 -4.99221642e-02 5.55864757e-01 1.77783285e+02] [-5.54468956e-01 3.97198036e-02 8.31255986e-01 1.11336741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.0607140569999 meters Centerline goodness : 0.990399 Centerline is valid? [True, True] Translation: X:116.38, Y:177.81, Z:11.12 [[-6.30273287e-02 -9.97808790e-01 2.01289459e-02 1.16380447e+02] [ 8.29484027e-01 -4.11582867e-02 5.57011889e-01 1.77810264e+02] [-5.54962886e-01 5.18036105e-02 8.30260550e-01 1.11193675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.0907140569999 meters Centerline goodness : 0.990003 Centerline is valid? [True, True] Translation: X:116.38, Y:177.81, Z:11.11 [[-6.09377133e-02 -9.98118445e-01 6.79454779e-03 1.16384355e+02] [ 8.28974074e-01 -4.68171083e-02 5.57324092e-01 1.77809529e+02] [-5.55957355e-01 3.95945597e-02 8.30267240e-01 1.11128261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.120714057 meters Centerline goodness : 0.989721 Centerline is valid? [True, True] Translation: X:116.38, Y:177.84, Z:11.10 [[-6.00989915e-02 -9.98002328e-01 1.94798449e-02 1.16375579e+02] [ 8.29037510e-01 -3.90358800e-02 5.57828834e-01 1.77837029e+02] [-5.55954062e-01 4.96744724e-02 8.29727382e-01 1.11004081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.150714057 meters Centerline goodness : 0.988809 Centerline is valid? [True, True] Translation: X:116.37, Y:177.83, Z:11.10 [[-5.33246412e-02 -9.98469836e-01 1.46447944e-02 1.16373261e+02] [ 8.25526929e-01 -3.58274441e-02 5.63224364e-01 1.77833128e+02] [-5.61837853e-01 4.21234092e-02 8.26174222e-01 1.10972123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.1807140569999 meters Centerline goodness : 0.989399 Centerline is valid? [True, True] Translation: X:116.37, Y:177.86, Z:11.09 [[-5.17762138e-02 -9.98375460e-01 2.37836982e-02 1.16367332e+02] [ 8.26179404e-01 -2.94426768e-02 5.62637291e-01 1.77859307e+02] [-5.61023008e-01 4.87808303e-02 8.26361673e-01 1.10857669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.2107140569999 meters Centerline goodness : 0.987946 Centerline is valid? [True, True] Translation: X:116.36, Y:177.88, Z:11.07 [[-4.56876952e-02 -9.98549875e-01 2.84742368e-02 1.16362427e+02] [ 8.25518547e-01 -2.16892161e-02 5.63958072e-01 1.77880279e+02] [-5.62522679e-01 4.92719551e-02 8.25312372e-01 1.10710051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.240714057 meters Centerline goodness : 0.988971 Centerline is valid? [True, True] Translation: X:116.36, Y:177.91, Z:11.05 [[-4.45625979e-02 -9.98635846e-01 2.72143732e-02 1.16362184e+02] [ 8.25299273e-01 -2.14499950e-02 5.64288054e-01 1.77906531e+02] [-5.62934530e-01 4.76061440e-02 8.25129305e-01 1.10516977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.270714057 meters Centerline goodness : 0.987746 Centerline is valid? [True, True] Translation: X:116.36, Y:177.93, Z:11.04 [[-3.71300511e-02 -9.98903608e-01 2.85121095e-02 1.16359047e+02] [ 8.23715387e-01 -1.44392026e-02 5.66819610e-01 1.77926285e+02] [-5.65786462e-01 4.45319044e-02 8.23348401e-01 1.10361355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.3007140569999 meters Centerline goodness : 0.989297 Centerline is valid? [True, True] Translation: X:116.36, Y:177.95, Z:11.02 [[-3.76447405e-02 -9.98980588e-01 2.49130189e-02 1.16358044e+02] [ 8.25048853e-01 -1.70050759e-02 5.64805469e-01 1.77954342e+02] [-5.63806052e-01 4.18164130e-02 8.24847940e-01 1.10180403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.3307140569999 meters Centerline goodness : 0.988076 Centerline is valid? [True, True] Translation: X:116.36, Y:177.96, Z:11.01 [[-3.12981851e-02 -9.99372021e-01 1.66128860e-02 1.16359615e+02] [ 8.22108396e-01 -1.62863679e-02 5.69098006e-01 1.77959900e+02] [-5.68470060e-01 3.14693278e-02 8.22101862e-01 1.10060494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.360714057 meters Centerline goodness : 0.988717 Centerline is valid? [True, True] Translation: X:116.36, Y:177.97, Z:11.00 [[-2.87631670e-02 -9.99425590e-01 1.79212389e-02 1.16357733e+02] [ 8.22452140e-01 -1.34727112e-02 5.68674744e-01 1.77969805e+02] [-5.68106644e-01 3.10962479e-02 8.22367232e-01 1.09998636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.390714057 meters Centerline goodness : 0.989252 Centerline is valid? [True, True] Translation: X:116.36, Y:177.97, Z:10.99 [[-2.71764109e-02 -9.99566928e-01 1.12870936e-02 1.16359024e+02] [ 8.23383674e-01 -1.59808169e-02 5.67260028e-01 1.77973239e+02] [-5.66833986e-01 2.47097002e-02 8.23461391e-01 1.09942049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.4207140569999 meters Centerline goodness : 0.988024 Centerline is valid? [True, True] Translation: X:116.36, Y:177.97, Z:10.99 [[-2.55649992e-02 -9.99574609e-01 1.40368327e-02 1.16358677e+02] [ 8.22977508e-01 -1.30731332e-02 5.67923511e-01 1.77974387e+02] [-5.67498416e-01 2.60709617e-02 8.22961635e-01 1.09923697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.4507140569999 meters Centerline goodness : 0.989714 Centerline is valid? [True, True] Translation: X:116.35, Y:178.00, Z:10.98 [[-2.85813646e-02 -9.99530256e-01 1.10622350e-02 1.16354817e+02] [ 8.26407682e-01 -1.74021719e-02 5.62803259e-01 1.78000015e+02] [-5.62346378e-01 2.52276011e-02 8.26516859e-01 1.09840622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.480714057 meters Centerline goodness : 0.989508 Centerline is valid? [True, True] Translation: X:116.36, Y:178.01, Z:10.98 [[-3.02965324e-02 -9.99528710e-01 4.94752996e-03 1.16356122e+02] [ 8.29118231e-01 -2.23661307e-02 5.58625738e-01 1.78009287e+02] [-5.58251806e-01 2.10265100e-02 8.29405092e-01 1.09779155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.510714057 meters Centerline goodness : 0.989592 Centerline is valid? [True, True] Translation: X:116.36, Y:178.02, Z:10.97 [[-3.02482459e-02 -9.99531036e-01 4.76987460e-03 1.16355739e+02] [ 8.31499940e-01 -2.25143663e-02 5.55068422e-01 1.78016690e+02] [-5.54700724e-01 2.07559966e-02 8.31791017e-01 1.09741849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.540714057 meters Centerline goodness : 0.988837 Centerline is valid? [True, True] Translation: X:116.35, Y:178.02, Z:10.98 [[-2.92151992e-02 -9.99458091e-01 1.51656137e-02 1.16352841e+02] [ 8.28994933e-01 -1.57496887e-02 5.59034301e-01 1.78015364e+02] [-5.58492501e-01 2.89045154e-02 8.29005823e-01 1.09763153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.5707140569999 meters Centerline goodness : 0.989612 Centerline is valid? [True, True] Translation: X:116.35, Y:178.04, Z:10.96 [[-3.12061088e-02 -9.99266218e-01 2.22082207e-02 1.16350457e+02] [ 8.28688535e-01 -1.34434313e-02 5.59548556e-01 1.78041505e+02] [-5.58839415e-01 3.58650310e-02 8.28499975e-01 1.09641520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.6007140569999 meters Centerline goodness : 0.988761 Centerline is valid? [True, True] Translation: X:116.35, Y:178.06, Z:10.95 [[-3.49286749e-02 -9.99313643e-01 1.23381685e-02 1.16354559e+02] [ 8.28703152e-01 -2.20604810e-02 5.59253450e-01 1.78062463e+02] [-5.58597417e-01 2.97586611e-02 8.28904909e-01 1.09467702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.630714057 meters Centerline goodness : 0.988513 Centerline is valid? [True, True] Translation: X:116.35, Y:178.09, Z:10.93 [[-3.77532136e-02 -9.98916965e-01 2.71954322e-02 1.16351401e+02] [ 8.26053262e-01 -1.58823239e-02 5.63368228e-01 1.78091627e+02] [-5.62326154e-01 4.37338366e-02 8.25758226e-01 1.09319437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.660714057 meters Centerline goodness : 0.989109 Centerline is valid? [True, True] Translation: X:116.36, Y:178.10, Z:10.92 [[-3.87803580e-02 -9.99209461e-01 8.74850894e-03 1.16358044e+02] [ 8.25635816e-01 -2.71096462e-02 5.63551743e-01 1.78102248e+02] [-5.62869064e-01 2.90778206e-02 8.26034441e-01 1.09172091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.6907140569999 meters Centerline goodness : 0.989039 Centerline is valid? [True, True] Translation: X:116.36, Y:178.11, Z:10.91 [[-4.21478746e-02 -9.99078876e-01 8.05955784e-03 1.16358226e+02] [ 8.25904965e-01 -3.03005623e-02 5.62994551e-01 1.78114093e+02] [-5.62231754e-01 3.03854526e-02 8.26421308e-01 1.09124709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.7207140569999 meters Centerline goodness : 0.989141 Centerline is valid? [True, True] Translation: X:116.36, Y:178.12, Z:10.91 [[-4.31382739e-02 -9.99019002e-01 1.00061571e-02 1.16357018e+02] [ 8.26395680e-01 -3.00524293e-02 5.62287321e-01 1.78116998e+02] [-5.61435009e-01 3.25251495e-02 8.26881397e-01 1.09122700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.750714057 meters Centerline goodness : 0.988725 Centerline is valid? [True, True] Translation: X:116.36, Y:178.12, Z:10.91 [[-5.01691422e-02 -9.98740562e-01 5.89108405e-04 1.16362510e+02] [ 8.30409765e-01 -4.13857516e-02 5.55613932e-01 1.78122750e+02] [-5.54889790e-01 2.83638758e-02 8.31440203e-01 1.09056769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.780714057 meters Centerline goodness : 0.989276 Centerline is valid? [True, True] Translation: X:116.36, Y:178.13, Z:10.90 [[-5.04632618e-02 -9.98715061e-01 4.65686477e-03 1.16361663e+02] [ 8.32153412e-01 -3.94679950e-02 5.53139201e-01 1.78129233e+02] [-5.52244654e-01 3.17884343e-02 8.33075829e-01 1.09016245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.8107140569999 meters Centerline goodness : 0.989445 Centerline is valid? [True, True] Translation: X:116.36, Y:178.16, Z:10.89 [[-5.50363318e-02 -9.98265573e-01 2.09008868e-02 1.16356737e+02] [ 8.32015818e-01 -3.42778997e-02 5.53691885e-01 1.78156332e+02] [-5.52015109e-01 4.78630387e-02 8.32459278e-01 1.08932309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.8407140569999 meters Centerline goodness : 0.987632 Centerline is valid? [True, True] Translation: X:116.36, Y:178.17, Z:10.88 [[-5.54422884e-02 -9.98411327e-01 1.00486256e-02 1.16361585e+02] [ 8.31784227e-01 -4.06175186e-02 5.53611070e-01 1.78167427e+02] [-5.52323413e-01 3.90517529e-02 8.32714722e-01 1.08792405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.870714057 meters Centerline goodness : 0.989601 Centerline is valid? [True, True] Translation: X:116.36, Y:178.19, Z:10.87 [[-5.71071814e-02 -9.98219811e-01 1.72040165e-02 1.16358421e+02] [ 8.32820349e-01 -3.81273444e-02 5.52228732e-01 1.78194214e+02] [-5.50589717e-01 4.58640814e-02 8.33515117e-01 1.08655958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.900714057 meters Centerline goodness : 0.990449 Centerline is valid? [True, True] Translation: X:116.36, Y:178.20, Z:10.86 [[-5.51387482e-02 -9.98242257e-01 2.17281884e-02 1.16356157e+02] [ 8.34630007e-01 -3.41353346e-02 5.49752244e-01 1.78199745e+02] [-5.48044222e-01 4.84476486e-02 8.35045122e-01 1.08635971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.9307140569999 meters Centerline goodness : 0.989359 Centerline is valid? [True, True] Translation: X:116.36, Y:178.22, Z:10.85 [[-4.88631567e-02 -9.98517329e-01 2.39903416e-02 1.16355829e+02] [ 8.29962689e-01 -2.72286542e-02 5.57153961e-01 1.78219594e+02] [-5.55674660e-01 4.71353897e-02 8.30062605e-01 1.08485440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.9607140569999 meters Centerline goodness : 0.990077 Centerline is valid? [True, True] Translation: X:116.35, Y:178.25, Z:10.84 [[-4.95451255e-02 -9.97906388e-01 4.15706906e-02 1.16347933e+02] [ 8.34197109e-01 -1.84570471e-02 5.51157437e-01 1.78251941e+02] [-5.49236254e-01 6.19853144e-02 8.33365081e-01 1.08357276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.990714057 meters Centerline goodness : 0.990464 Centerline is valid? [True, True] Translation: X:116.35, Y:178.28, Z:10.82 [[-4.47580373e-02 -9.98268620e-01 3.81638511e-02 1.16346607e+02] [ 8.34134282e-01 -1.63219836e-02 5.51319864e-01 1.78276966e+02] [-5.49742411e-01 5.65097716e-02 8.33420619e-01 1.08170251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.020714057 meters Centerline goodness : 0.990880 Centerline is valid? [True, True] Translation: X:116.36, Y:178.28, Z:10.80 [[-4.21750085e-02 -9.99046720e-01 1.12658414e-02 1.16355163e+02] [ 8.34668469e-01 -2.90337619e-02 5.49986898e-01 1.78280768e+02] [-5.49135516e-01 3.25989446e-02 8.35097296e-01 1.08023457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.0507140569999 meters Centerline goodness : 0.990880 Centerline is valid? [True, True] Translation: X:116.35, Y:178.31, Z:10.80 [[-4.31575254e-02 -9.98476210e-01 3.43902020e-02 1.16345671e+02] [ 8.35660624e-01 -1.72118631e-02 5.48976387e-01 1.78310414e+02] [-5.47547942e-01 5.24310000e-02 8.35130074e-01 1.07958879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.0807140569999 meters Centerline goodness : 0.989312 Centerline is valid? [True, True] Translation: X:116.36, Y:178.30, Z:10.79 [[-3.72513068e-02 -9.99305842e-01 4.18487481e-04 1.16358598e+02] [ 8.32675460e-01 -3.08082516e-02 5.52903635e-01 1.78297940e+02] [-5.52506940e-01 2.09448472e-02 8.33245099e-01 1.07858131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.110714057 meters Centerline goodness : 0.991047 Centerline is valid? [True, True] Translation: X:116.35, Y:178.31, Z:10.79 [[-3.44659008e-02 -9.99160460e-01 2.21467150e-02 1.16347911e+02] [ 8.35676093e-01 -1.66584346e-02 5.48969911e-01 1.78311970e+02] [-5.48140099e-01 3.74282228e-02 8.35548658e-01 1.07907987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.140714057 meters Centerline goodness : 0.990330 Centerline is valid? [True, True] Translation: X:116.35, Y:178.32, Z:10.78 [[-3.11009036e-02 -9.99322344e-01 1.96872077e-02 1.16349526e+02] [ 8.33610700e-01 -1.50660246e-02 5.52146916e-01 1.78323568e+02] [-5.51476142e-01 3.35837350e-02 8.33514366e-01 1.07790752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.1707140569999 meters Centerline goodness : 0.989513 Centerline is valid? [True, True] Translation: X:116.35, Y:178.35, Z:10.76 [[-3.09505499e-02 -9.99363770e-01 1.77233812e-02 1.16350578e+02] [ 8.31106190e-01 -1.58811015e-02 5.55886941e-01 1.78349131e+02] [-5.55251802e-01 3.19350183e-02 8.31068945e-01 1.07640185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.2007140569999 meters Centerline goodness : 0.989798 Centerline is valid? [True, True] Translation: X:116.35, Y:178.36, Z:10.76 [[-2.48370930e-02 -9.99033061e-01 3.62775611e-02 1.16345348e+02] [ 8.25716847e-01 -4.48279050e-05 5.64084822e-01 1.78358561e+02] [-5.63537760e-01 4.39652206e-02 8.24919543e-01 1.07612582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.230714057 meters Centerline goodness : 0.988885 Centerline is valid? [True, True] Translation: X:116.35, Y:178.38, Z:10.75 [[-2.32211561e-02 -9.99402941e-01 2.55839690e-02 1.16349879e+02] [ 8.25723149e-01 -4.74629817e-03 5.64055630e-01 1.78375733e+02] [-5.63597426e-01 3.42232993e-02 8.25340358e-01 1.07459721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.260714057 meters Centerline goodness : 0.988945 Centerline is valid? [True, True] Translation: X:116.35, Y:178.40, Z:10.73 [[-2.75753778e-02 -9.99190718e-01 2.92832382e-02 1.16347313e+02] [ 8.28765256e-01 -6.47305473e-03 5.59558979e-01 1.78403552e+02] [-5.58916586e-01 3.96989806e-02 8.28273048e-01 1.07334459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.290714057 meters Centerline goodness : 0.989474 Centerline is valid? [True, True] Translation: X:116.35, Y:178.43, Z:10.72 [[-2.96459865e-02 -9.99246114e-01 2.50663162e-02 1.16349776e+02] [ 8.30004055e-01 -1.06359272e-02 5.57655938e-01 1.78425918e+02] [-5.56968925e-01 3.73374045e-02 8.29693639e-01 1.07183658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.3207140569999 meters Centerline goodness : 0.989410 Centerline is valid? [True, True] Translation: X:116.35, Y:178.45, Z:10.70 [[-3.25093417e-02 -9.99301171e-01 1.84475594e-02 1.16352950e+02] [ 8.32155224e-01 -1.68393433e-02 5.54287038e-01 1.78449885e+02] [-5.53589041e-01 3.33707396e-02 8.32121126e-01 1.07025643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.3507140569999 meters Centerline goodness : 0.989930 Centerline is valid? [True, True] Translation: X:116.36, Y:178.45, Z:10.69 [[-3.37590597e-02 -9.99422179e-01 3.95409653e-03 1.16357967e+02] [ 8.33976556e-01 -2.59898333e-02 5.51187476e-01 1.78454634e+02] [-5.50766222e-01 2.19051947e-02 8.34372058e-01 1.06949629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.380714057 meters Centerline goodness : 0.989226 Centerline is valid? [True, True] Translation: X:116.36, Y:178.46, Z:10.69 [[-3.51462412e-02 -9.99382100e-01 4.00444559e-04 1.16358091e+02] [ 8.36701814e-01 -2.92059753e-02 5.46879407e-01 1.78460980e+02] [-5.46529795e-01 1.95558083e-02 8.37211296e-01 1.06949265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.410714057 meters Centerline goodness : 0.989717 Centerline is valid? [True, True] Translation: X:116.36, Y:178.47, Z:10.69 [[-3.46621092e-02 -9.99380157e-01 6.15137856e-03 1.16356136e+02] [ 8.36029569e-01 -2.56229473e-02 5.48085782e-01 1.78472938e+02] [-5.47588438e-01 2.41405436e-02 8.36399508e-01 1.06904290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.4407140569999 meters Centerline goodness : 0.989094 Centerline is valid? [True, True] Translation: X:116.36, Y:178.47, Z:10.69 [[-3.40234946e-02 -9.99405199e-01 5.62582666e-03 1.16356744e+02] [ 8.35893579e-01 -2.53704427e-02 5.48304901e-01 1.78469000e+02] [-5.47836039e-01 2.33578412e-02 8.36259580e-01 1.06946581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.4707140569999 meters Centerline goodness : 0.989127 Centerline is valid? [True, True] Translation: X:116.36, Y:178.48, Z:10.69 [[-3.58108498e-02 -9.99353092e-01 3.31371302e-03 1.16357417e+02] [ 8.37709935e-01 -2.82101001e-02 5.45386336e-01 1.78477312e+02] [-5.44940041e-01 2.23066785e-02 8.38178241e-01 1.06917578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.500714057 meters Centerline goodness : 0.989435 Centerline is valid? [True, True] Translation: X:116.36, Y:178.49, Z:10.69 [[-3.82197869e-02 -9.99268975e-01 8.74052205e-04 1.16359620e+02] [ 8.38458293e-01 -3.15932654e-02 5.44049222e-01 1.78486852e+02] [-5.43623895e-01 2.15263017e-02 8.39052847e-01 1.06857206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.530714057 meters Centerline goodness : 0.988943 Centerline is valid? [True, True] Translation: X:116.36, Y:178.49, Z:10.69 [[-3.77028102e-02 -9.99243371e-01 9.54904461e-03 1.16356419e+02] [ 8.38245356e-01 -2.64232856e-02 5.44652672e-01 1.78493936e+02] [-5.43988254e-01 2.85393786e-02 8.38607347e-01 1.06868527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.5607140569999 meters Centerline goodness : 0.989781 Centerline is valid? [True, True] Translation: X:116.35, Y:178.52, Z:10.67 [[-4.07522924e-02 -9.98937374e-01 2.15261291e-02 1.16352934e+02] [ 8.37808594e-01 -2.24238730e-02 5.45503372e-01 1.78519799e+02] [-5.44441007e-01 4.02652889e-02 8.37832141e-01 1.06744739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.5907140569999 meters Centerline goodness : 0.988981 Centerline is valid? [True, True] Translation: X:116.36, Y:178.55, Z:10.65 [[-4.50502563e-02 -9.98982812e-01 1.95338485e-03 1.16363257e+02] [ 8.39483172e-01 -3.67973572e-02 5.42138320e-01 1.78545440e+02] [-5.41514984e-01 2.60633040e-02 8.40286991e-01 1.06496274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.620714057 meters Centerline goodness : 0.988297 Centerline is valid? [True, True] Translation: X:116.36, Y:178.55, Z:10.65 [[-4.49372458e-02 -9.98974648e-01 5.50427317e-03 1.16362820e+02] [ 8.39559451e-01 -3.47789894e-02 5.42153439e-01 1.78545978e+02] [-5.41406107e-01 2.89840469e-02 8.40261478e-01 1.06489727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.650714057 meters Centerline goodness : 0.988434 Centerline is valid? [True, True] Translation: X:116.37, Y:178.54, Z:10.65 [[-4.54777521e-02 -9.98962306e-01 -2.46690667e-03 1.16367909e+02] [ 8.41418975e-01 -3.96364584e-02 5.38927695e-01 1.78536574e+02] [-5.38466232e-01 2.24335180e-02 8.42348416e-01 1.06515590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.6807140569999 meters Centerline goodness : 0.988641 Centerline is valid? [True, True] Translation: X:116.37, Y:178.55, Z:10.65 [[-4.50512019e-02 -9.98960476e-01 6.95386547e-03 1.16365309e+02] [ 8.42604505e-01 -3.42586584e-02 5.37442083e-01 1.78551226e+02] [-5.36645169e-01 3.00717702e-02 8.43271991e-01 1.06455512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.7107140569999 meters Centerline goodness : 0.988108 Centerline is valid? [True, True] Translation: X:116.37, Y:178.56, Z:10.64 [[-4.59357511e-02 -9.98922498e-01 6.61436309e-03 1.16366240e+02] [ 8.43446402e-01 -3.52366393e-02 5.36056477e-01 1.78559160e+02] [-5.35245807e-01 3.02030176e-02 8.44156208e-01 1.06407264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.740714057 meters Centerline goodness : 0.988352 Centerline is valid? [True, True] Translation: X:116.37, Y:178.55, Z:10.65 [[-4.15077881e-02 -9.99074191e-01 1.13076865e-02 1.16366599e+02] [ 8.42208270e-01 -2.88971531e-02 5.38377363e-01 1.78546584e+02] [-5.37552169e-01 3.18702806e-02 8.42628003e-01 1.06476786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.770714057 meters Centerline goodness : 0.988678 Centerline is valid? [True, True] Translation: X:116.36, Y:178.57, Z:10.63 [[-4.38953011e-02 -9.98847639e-01 1.94060866e-02 1.16364313e+02] [ 8.43162360e-01 -2.66204811e-02 5.36999614e-01 1.78573105e+02] [-5.35864197e-01 3.99342415e-02 8.43359247e-01 1.06325699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.8007140569999 meters Centerline goodness : 0.987570 Centerline is valid? [True, True] Translation: X:116.37, Y:178.59, Z:10.62 [[-4.51958406e-02 -9.98878672e-01 1.40973303e-02 1.16366747e+02] [ 8.43029292e-01 -3.05654465e-02 5.36998479e-01 1.78594885e+02] [-5.35965436e-01 3.61545600e-02 8.43465411e-01 1.06177441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.8307140569999 meters Centerline goodness : 0.988082 Centerline is valid? [True, True] Translation: X:116.37, Y:178.62, Z:10.60 [[-4.92861661e-02 -9.98673403e-01 1.49100275e-02 1.16367484e+02] [ 8.43156815e-01 -3.35995678e-02 5.36616860e-01 1.78618356e+02] [-5.35404015e-01 3.90192790e-02 8.43694279e-01 1.06038754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.860714057 meters Centerline goodness : 0.988420 Centerline is valid? [True, True] Translation: X:116.37, Y:178.64, Z:10.59 [[-5.11319723e-02 -9.98640601e-01 1.01227810e-02 1.16369690e+02] [ 8.43397691e-01 -3.77504796e-02 5.35961973e-01 1.78641913e+02] [-5.34851247e-01 3.59423229e-02 8.44181434e-01 1.05860403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.890714057 meters Centerline goodness : 0.988056 Centerline is valid? [True, True] Translation: X:116.37, Y:178.67, Z:10.57 [[-5.34406657e-02 -9.98392193e-01 1.88977112e-02 1.16367456e+02] [ 8.41243778e-01 -3.48166522e-02 5.39533787e-01 1.78668234e+02] [-5.38008366e-01 4.47306267e-02 8.41751845e-01 1.05737894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.9207140569999 meters Centerline goodness : 0.988244 Centerline is valid? [True, True] Translation: X:116.37, Y:178.66, Z:10.57 [[-5.52556344e-02 -9.98468935e-01 2.56928690e-03 1.16373329e+02] [ 8.42618842e-01 -4.52500249e-02 5.36605928e-01 1.78663047e+02] [-5.35668089e-01 3.18154306e-02 8.43829057e-01 1.05711408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.9507140569999 meters Centerline goodness : 0.988481 Centerline is valid? [True, True] Translation: X:116.37, Y:178.67, Z:10.57 [[-5.72569580e-02 -9.98359469e-01 1.07750318e-04 1.16372481e+02] [ 8.43258341e-01 -4.83039692e-02 5.35333631e-01 1.78673954e+02] [-5.34450195e-01 3.07424366e-02 8.44640688e-01 1.05657596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.980714057 meters Centerline goodness : 0.988246 Centerline is valid? [True, True] Translation: X:116.37, Y:178.68, Z:10.56 [[-5.77770175e-02 -9.98321819e-01 3.91938324e-03 1.16371606e+02] [ 8.43492627e-01 -4.67156022e-02 5.35105449e-01 1.78682047e+02] [-5.34024349e-01 3.42227678e-02 8.44776182e-01 1.05624433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.010714057 meters Centerline goodness : 0.988557 Centerline is valid? [True, True] Translation: X:116.37, Y:178.69, Z:10.56 [[-5.90167536e-02 -9.98255870e-01 -1.49711092e-03 1.16372391e+02] [ 8.45482715e-01 -5.07820538e-02 5.31582696e-01 1.78686278e+02] [-5.30731573e-01 3.01065036e-02 8.47005075e-01 1.05593373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.040714057 meters Centerline goodness : 0.988770 Centerline is valid? [True, True] Translation: X:116.37, Y:178.70, Z:10.55 [[-5.97560597e-02 -9.98210600e-01 -2.19338459e-03 1.16372322e+02] [ 8.47259641e-01 -5.18812432e-02 5.28639232e-01 1.78695801e+02] [-5.27807080e-01 2.97310313e-02 8.48843774e-01 1.05545119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.0707140569999 meters Centerline goodness : 0.988795 Centerline is valid? [True, True] Translation: X:116.37, Y:178.70, Z:10.56 [[-5.85007683e-02 -9.98282439e-01 3.13573273e-03 1.16370560e+02] [ 8.48354651e-01 -4.80586507e-02 5.27242594e-01 1.78696264e+02] [-5.26186324e-01 3.35043103e-02 8.49709017e-01 1.05579967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.1007140569999 meters Centerline goodness : 0.991507 Centerline is valid? [True, True] Translation: X:116.36, Y:178.72, Z:10.55 [[-6.63599202e-02 -9.97506020e-01 2.40437451e-02 1.16355347e+02] [ 8.53537496e-01 -4.42688382e-02 5.19147391e-01 1.78723718e+02] [-5.16788259e-01 5.49728174e-02 8.54346467e-01 1.05536737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.130714057 meters Centerline goodness : 0.987848 Centerline is valid? [True, True] Translation: X:116.37, Y:178.74, Z:10.53 [[-5.72388615e-02 -9.98360512e-01 1.84735190e-06 1.16371933e+02] [ 8.48005717e-01 -4.86176148e-02 5.27752434e-01 1.78738447e+02] [-5.26887100e-01 3.02095150e-02 8.49398239e-01 1.05269984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.160714057 meters Centerline goodness : 0.989382 Centerline is valid? [True, True] Translation: X:116.37, Y:178.71, Z:10.54 [[-4.98454794e-02 -9.98753044e-01 2.79010084e-03 1.16371248e+02] [ 8.47970515e-01 -4.08439501e-02 5.28467386e-01 1.78709152e+02] [-5.27694452e-01 2.87076335e-02 8.48949019e-01 1.05422825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.1907140569999 meters Centerline goodness : 0.988791 Centerline is valid? [True, True] Translation: X:116.37, Y:178.73, Z:10.53 [[-4.93123307e-02 -9.98702642e-01 1.27014588e-02 1.16367426e+02] [ 8.49040416e-01 -3.52182432e-02 5.27152774e-01 1.78734517e+02] [-5.26021545e-01 3.67791837e-02 8.49675600e-01 1.05313794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.2207140569999 meters Centerline goodness : 0.988696 Centerline is valid? [True, True] Translation: X:116.36, Y:178.76, Z:10.52 [[-4.70063688e-02 -9.98662502e-01 2.15315807e-02 1.16364604e+02] [ 8.48640039e-01 -2.85567134e-02 5.28199392e-01 1.78760363e+02] [-5.26878055e-01 4.31012970e-02 8.48847332e-01 1.05161097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.250714057 meters Centerline goodness : 0.988358 Centerline is valid? [True, True] Translation: X:116.37, Y:178.78, Z:10.50 [[-4.61815922e-02 -9.98797922e-01 1.64308398e-02 1.16366164e+02] [ 8.47687118e-01 -3.04820805e-02 5.29620046e-01 1.78783601e+02] [-5.28482555e-01 3.83869082e-02 8.48075843e-01 1.04995712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.280714057 meters Centerline goodness : 0.989530 Centerline is valid? [True, True] Translation: X:116.37, Y:178.81, Z:10.48 [[-4.54813854e-02 -9.98919181e-01 9.58717201e-03 1.16367842e+02] [ 8.46929565e-01 -3.34682634e-02 5.30650720e-01 1.78806114e+02] [-5.29756317e-01 3.22543893e-02 8.47536371e-01 1.04827415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.3107140569999 meters Centerline goodness : 0.989118 Centerline is valid? [True, True] Translation: X:116.37, Y:178.83, Z:10.47 [[-4.48440778e-02 -9.98873198e-01 1.55352263e-02 1.16365204e+02] [ 8.46663683e-01 -2.97475643e-02 5.31296237e-01 1.78830306e+02] [-5.30235436e-01 3.69786017e-02 8.47043662e-01 1.04702591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.3407140569999 meters Centerline goodness : 0.988059 Centerline is valid? [True, True] Translation: X:116.37, Y:178.85, Z:10.46 [[-4.65484290e-02 -9.98893548e-01 6.70257246e-03 1.16366853e+02] [ 8.47120705e-01 -3.59182749e-02 5.30185239e-01 1.78852469e+02] [-5.29357870e-01 3.03571779e-02 8.47855346e-01 1.04555077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.370714057 meters Centerline goodness : 0.988581 Centerline is valid? [True, True] Translation: X:116.37, Y:178.87, Z:10.44 [[-4.83775472e-02 -9.98807188e-01 6.61918568e-03 1.16365615e+02] [ 8.48564565e-01 -3.76030244e-02 5.27753913e-01 1.78873933e+02] [-5.26875500e-01 3.11482462e-02 8.49371529e-01 1.04427867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.400714057 meters Centerline goodness : 0.988591 Centerline is valid? [True, True] Translation: X:116.36, Y:178.90, Z:10.43 [[-4.95985300e-02 -9.98677894e-01 1.35074024e-02 1.16363317e+02] [ 8.48977881e-01 -3.50323792e-02 5.27265863e-01 1.78900387e+02] [-5.26095565e-01 3.76190975e-02 8.49592997e-01 1.04286722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.4307140569999 meters Centerline goodness : 0.988529 Centerline is valid? [True, True] Translation: X:116.36, Y:178.92, Z:10.41 [[-5.16410370e-02 -9.98632305e-01 8.16837290e-03 1.16364770e+02] [ 8.46839912e-01 -3.94532892e-02 5.30382504e-01 1.78920668e+02] [-5.29334834e-01 3.43068067e-02 8.47719103e-01 1.04134888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.4607140569999 meters Centerline goodness : 0.990334 Centerline is valid? [True, True] Translation: X:116.36, Y:178.95, Z:10.40 [[-5.61683486e-02 -9.98217699e-01 2.01628699e-02 1.16360404e+02] [ 8.50820907e-01 -3.72876759e-02 5.24131103e-01 1.78951962e+02] [-5.22445117e-01 4.65945698e-02 8.51398876e-01 1.03991140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.490714057 meters Centerline goodness : 0.988306 Centerline is valid? [True, True] Translation: X:116.37, Y:178.97, Z:10.38 [[-5.49303165e-02 -9.98481065e-01 4.26878849e-03 1.16365727e+02] [ 8.46264821e-01 -4.42864835e-02 5.30918601e-01 1.78966189e+02] [-5.29923121e-01 3.27760523e-02 8.47412070e-01 1.03827902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.520714057 meters Centerline goodness : 0.988704 Centerline is valid? [True, True] Translation: X:116.37, Y:178.98, Z:10.36 [[-5.57977463e-02 -9.98361275e-01 -1.27033810e-02 1.16372844e+02] [ 8.46151764e-01 -5.40371879e-02 5.30195412e-01 1.78984258e+02] [-5.30013022e-01 1.88347208e-02 8.47780307e-01 1.03615419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.5507140569999 meters Centerline goodness : 0.989140 Centerline is valid? [True, True] Translation: X:116.35, Y:179.03, Z:10.36 [[-6.00865048e-02 -9.97407614e-01 3.95937367e-02 1.16354707e+02] [ 8.49015112e-01 -3.02067881e-02 5.27504398e-01 1.79025398e+02] [-5.24940903e-01 6.53115764e-02 8.48629157e-01 1.03578551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.5807140569999 meters Centerline goodness : 0.989805 Centerline is valid? [True, True] Translation: X:116.37, Y:179.04, Z:10.33 [[-6.09735886e-02 -9.98105270e-01 8.25177547e-03 1.16366655e+02] [ 8.48107312e-01 -4.74476207e-02 5.27695660e-01 1.79041189e+02] [-5.26304292e-01 3.91738892e-02 8.49393430e-01 1.03318914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.610714057 meters Centerline goodness : 0.990040 Centerline is valid? [True, True] Translation: X:116.37, Y:179.07, Z:10.32 [[-6.27106468e-02 -9.97955515e-01 1.23354759e-02 1.16365082e+02] [ 8.49344074e-01 -4.68733190e-02 5.25754255e-01 1.79066813e+02] [-5.24101154e-01 4.34474527e-02 8.50547059e-01 1.03177292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.640714057 meters Centerline goodness : 0.990191 Centerline is valid? [True, True] Translation: X:116.37, Y:179.07, Z:10.31 [[-6.20172217e-02 -9.98069319e-01 3.39085523e-03 1.16368090e+02] [ 8.49892022e-01 -5.10280236e-02 5.24480402e-01 1.79066406e+02] [-5.23294769e-01 3.54086782e-02 8.51415768e-01 1.03132262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.6707140569999 meters Centerline goodness : 0.989925 Centerline is valid? [True, True] Translation: X:116.36, Y:179.09, Z:10.30 [[-6.17164005e-02 -9.97967361e-01 1.58818518e-02 1.16363107e+02] [ 8.49889117e-01 -4.42023140e-02 5.25104412e-01 1.79091933e+02] [-5.23335050e-01 4.59053672e-02 8.50889607e-01 1.03016320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.7007140569999 meters Centerline goodness : 0.990893 Centerline is valid? [True, True] Translation: X:116.36, Y:179.12, Z:10.29 [[-6.11330127e-02 -9.97946447e-01 1.91217976e-02 1.16362372e+02] [ 8.50341459e-01 -4.20399394e-02 5.24549376e-01 1.79117805e+02] [-5.22668307e-01 4.83273408e-02 8.51165266e-01 1.02851050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.730714057 meters Centerline goodness : 0.990224 Centerline is valid? [True, True] Translation: X:116.37, Y:179.12, Z:10.28 [[-5.94752872e-02 -9.98188674e-01 9.05876987e-03 1.16365959e+02] [ 8.49968745e-01 -4.58809130e-02 5.24831472e-01 1.79120043e+02] [-5.23465207e-01 3.89141738e-02 8.51157955e-01 1.02780816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.760714057 meters Centerline goodness : 0.990772 Centerline is valid? [True, True] Translation: X:116.36, Y:179.11, Z:10.28 [[-5.50555478e-02 -9.98422256e-01 1.10401969e-02 1.16364692e+02] [ 8.48590708e-01 -4.09609695e-02 5.27461856e-01 1.79114059e+02] [-5.26177439e-01 3.84083099e-02 8.49506977e-01 1.02812032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.790714057 meters Centerline goodness : 0.990402 Centerline is valid? [True, True] Translation: X:116.36, Y:179.14, Z:10.27 [[-5.49782406e-02 -9.98179367e-01 2.48061340e-02 1.16358887e+02] [ 8.48731010e-01 -3.36314243e-02 5.27754298e-01 1.79140913e+02] [-5.25959186e-01 5.00687380e-02 8.49034779e-01 1.02713795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.8207140569999 meters Centerline goodness : 0.990745 Centerline is valid? [True, True] Translation: X:116.36, Y:179.16, Z:10.25 [[-5.50245872e-02 -9.98251354e-01 2.15992663e-02 1.16360890e+02] [ 8.47194133e-01 -3.52280305e-02 5.30114221e-01 1.79163782e+02] [-5.28426340e-01 4.74680879e-02 8.47651098e-01 1.02545968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.8507140569999 meters Centerline goodness : 0.988867 Centerline is valid? [True, True] Translation: X:116.36, Y:179.18, Z:10.24 [[-5.21290699e-02 -9.98532834e-01 1.46539940e-02 1.16363622e+02] [ 8.43788514e-01 -3.61924702e-02 5.35454059e-01 1.79181103e+02] [-5.34138095e-01 4.02775939e-02 8.44437216e-01 1.02400585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.880714057 meters Centerline goodness : 0.990553 Centerline is valid? [True, True] Translation: X:116.36, Y:179.22, Z:10.23 [[-5.80847066e-02 -9.97741156e-01 3.37454023e-02 1.16358214e+02] [ 8.47149879e-01 -3.13778666e-02 5.30426726e-01 1.79216084e+02] [-5.28169716e-01 5.93970943e-02 8.47058874e-01 1.02269919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.910714057 meters Centerline goodness : 0.990281 Centerline is valid? [True, True] Translation: X:116.37, Y:179.24, Z:10.20 [[-5.87276565e-02 -9.98194442e-01 1.26063149e-02 1.16367467e+02] [ 8.46498224e-01 -4.31012135e-02 5.30643988e-01 1.79237127e+02] [-5.29142532e-01 4.18347011e-02 8.47501055e-01 1.02037693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.9407140569999 meters Centerline goodness : 0.990054 Centerline is valid? [True, True] Translation: X:116.36, Y:179.27, Z:10.19 [[-5.97580878e-02 -9.97685636e-01 3.24398218e-02 1.16360550e+02] [ 8.47197968e-01 -3.35042347e-02 5.30219831e-01 1.79266098e+02] [-5.27905838e-01 5.91678743e-02 8.47239393e-01 1.01946683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.9707140569999 meters Centerline goodness : 0.990054 Centerline is valid? [True, True] Translation: X:116.37, Y:179.27, Z:10.18 [[-5.88517644e-02 -9.98176889e-01 1.33928403e-02 1.16367739e+02] [ 8.46841880e-01 -4.28164059e-02 5.30118464e-01 1.79267315e+02] [-5.28578566e-01 4.25400250e-02 8.47817814e-01 1.01844441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.000714057 meters Centerline goodness : 0.990005 Centerline is valid? [True, True] Translation: X:116.36, Y:179.30, Z:10.18 [[-5.88988226e-02 -9.97754270e-01 3.18958391e-02 1.16361463e+02] [ 8.47879392e-01 -3.31357431e-02 5.29152681e-01 1.79295041e+02] [-5.26907455e-01 5.82102945e-02 8.47926940e-01 1.01756506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.030714057 meters Centerline goodness : 0.990482 Centerline is valid? [True, True] Translation: X:116.36, Y:179.32, Z:10.16 [[-5.99949543e-02 -9.97873729e-01 2.54681391e-02 1.16363494e+02] [ 8.49339763e-01 -3.76270354e-02 5.26503726e-01 1.79319289e+02] [-5.24425946e-01 5.32186702e-02 8.49791269e-01 1.01592689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.0607140569999 meters Centerline goodness : 0.990465 Centerline is valid? [True, True] Translation: X:116.37, Y:179.35, Z:10.13 [[-7.81505088e-02 -9.96565995e-01 -2.73626784e-02 1.16373192e+02] [ 8.61795101e-01 -8.13293470e-02 5.00694259e-01 1.79351937e+02] [-5.01200261e-01 1.55484889e-02 8.65191622e-01 1.01330172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.0907140569999 meters Centerline goodness : 0.988561 Centerline is valid? [True, True] Translation: X:116.36, Y:179.33, Z:10.16 [[-5.20616073e-02 -9.98027039e-01 3.50944146e-02 1.16360640e+02] [ 8.49137194e-01 -2.57443726e-02 5.27544551e-01 1.79325244e+02] [-5.25600242e-01 5.72647900e-02 8.48802173e-01 1.01584025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.120714057 meters Centerline goodness : 0.989580 Centerline is valid? [True, True] Translation: X:116.36, Y:179.35, Z:10.14 [[-4.56579184e-02 -9.98482605e-01 3.07870577e-02 1.16362089e+02] [ 8.49065015e-01 -2.25511409e-02 5.27806827e-01 1.79350375e+02] [-5.26311652e-01 5.02387747e-02 8.48806285e-01 1.01400362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.150714057 meters Centerline goodness : 0.989792 Centerline is valid? [True, True] Translation: X:116.37, Y:179.34, Z:10.14 [[-3.75473059e-02 -9.99257215e-01 8.67278357e-03 1.16369630e+02] [ 8.50381938e-01 -2.73927629e-02 5.25452373e-01 1.79342667e+02] [-5.24824503e-01 2.71044995e-02 8.50778812e-01 1.01365402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.1807140569999 meters Centerline goodness : 0.990112 Centerline is valid? [True, True] Translation: X:116.37, Y:179.35, Z:10.13 [[-3.30259790e-02 -9.99355961e-01 1.40338124e-02 1.16367553e+02] [ 8.50405555e-01 -2.07209717e-02 5.25719540e-01 1.79350868e+02] [-5.25090161e-01 2.92968345e-02 8.50542191e-01 1.01348147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.2107140569999 meters Centerline goodness : 0.989748 Centerline is valid? [True, True] Translation: X:116.37, Y:179.36, Z:10.13 [[-2.25336639e-02 -9.99571470e-01 1.86845110e-02 1.16366529e+02] [ 8.48083457e-01 -9.21564940e-03 5.29782524e-01 1.79356995e+02] [-5.29383306e-01 2.77839660e-02 8.47927690e-01 1.01315749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.240714057 meters Centerline goodness : 0.989297 Centerline is valid? [True, True] Translation: X:116.36, Y:179.39, Z:10.12 [[-2.04296277e-02 -9.99288069e-01 3.17172600e-02 1.16361758e+02] [ 8.48772006e-01 -5.69724674e-04 5.28758695e-01 1.79385306e+02] [-5.28364185e-01 3.77230656e-02 8.48179378e-01 1.01226461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.270714057 meters Centerline goodness : 0.989228 Centerline is valid? [True, True] Translation: X:116.37, Y:179.39, Z:10.11 [[-1.24114654e-02 -9.99765603e-01 1.77396388e-02 1.16369834e+02] [ 8.45911523e-01 -1.03830100e-03 5.33322246e-01 1.79387025e+02] [-5.33178818e-01 2.16254755e-02 8.45726130e-01 1.01129594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.3007140569999 meters Centerline goodness : 0.988556 Centerline is valid? [True, True] Translation: X:116.37, Y:179.41, Z:10.10 [[-9.87666410e-03 -9.99323461e-01 3.54269938e-02 1.16365134e+02] [ 8.44885403e-01 1.06103769e-02 5.34842104e-01 1.79412556e+02] [-5.34856156e-01 3.52142058e-02 8.44209010e-01 1.01041985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.3307140569999 meters Centerline goodness : 0.990582 Centerline is valid? [True, True] Translation: X:116.38, Y:179.41, Z:10.10 [[-1.99774762e-02 -9.99290877e-01 -3.19161872e-02 1.16377855e+02] [ 8.52996123e-01 -3.36874717e-02 5.20828924e-01 1.79414559e+02] [-5.21534768e-01 -1.68195365e-02 8.53064235e-01 1.00979983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.360714057 meters Centerline goodness : 0.988694 Centerline is valid? [True, True] Translation: X:116.36, Y:179.46, Z:10.09 [[-8.61399597e-03 -9.97861190e-01 6.47984863e-02 1.16360835e+02] [ 8.45186929e-01 2.73655669e-02 5.33769783e-01 1.79464650e+02] [-5.34401398e-01 5.93647244e-02 8.43143508e-01 1.00852507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.390714057 meters Centerline goodness : 0.989255 Centerline is valid? [True, True] Translation: X:116.38, Y:179.48, Z:10.06 [[-1.37211918e-02 -9.99501091e-01 2.84481586e-02 1.16379516e+02] [ 8.47624405e-01 3.46548939e-03 5.30585393e-01 1.79484628e+02] [-5.30419266e-01 3.13936174e-02 8.47153967e-01 1.00577861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.4207140569999 meters Centerline goodness : 0.990962 Centerline is valid? [True, True] Translation: X:116.39, Y:179.51, Z:10.04 [[-4.26568668e-02 -9.98621665e-01 -3.05804165e-02 1.16394887e+02] [ 8.62223250e-01 -5.22589643e-02 5.03825434e-01 1.79508172e+02] [-5.04729094e-01 -4.87553167e-03 8.63264021e-01 1.00362360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.4507140569999 meters Centerline goodness : 0.990066 Centerline is valid? [True, True] Translation: X:116.39, Y:179.80, Z:9.87 [[-3.28880324e-02 -9.99449672e-01 4.32779109e-03 1.16386633e+02] [ 8.57498367e-01 -2.59919906e-02 5.13829706e-01 1.79801198e+02] [-5.13434443e-01 2.06099218e-02 8.57881288e-01 9.86944312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.480714057 meters Centerline goodness : 0.991496 Centerline is valid? [True, True] Translation: X:117.35, Y:179.94, Z:10.37 [[-4.42686418e-02 8.59853631e-01 -5.08617755e-01 1.17353992e+02] [ 8.64781653e-01 -2.21924393e-01 -4.50446729e-01 1.79938425e+02] [-5.00192942e-01 -4.59783968e-01 -7.33761353e-01 1.03720072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.510714057 meters Centerline goodness : 0.991882 Centerline is valid? [True, True] Translation: X:116.44, Y:179.64, Z:9.93 [[-1.11031362e-01 -9.93058945e-01 -3.88068020e-02 1.16438483e+02] [ 8.74855939e-01 -1.16191489e-01 4.70241027e-01 1.79636082e+02] [-4.71486078e-01 1.82611406e-02 8.81684416e-01 9.93352439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.540714057 meters Centerline goodness : 0.989789 Centerline is valid? [True, True] Translation: X:116.43, Y:179.94, Z:9.77 [[-1.08519366e-01 -9.92719723e-01 -5.22599246e-02 1.16426220e+02] [ 8.74380646e-01 -1.20329836e-01 4.70084265e-01 1.79935556e+02] [-4.72950349e-01 5.31817951e-03 8.81073030e-01 9.76539432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.5707140569999 meters Centerline goodness : 0.990152 Centerline is valid? [True, True] Translation: X:116.42, Y:180.17, Z:10.58 [[-7.93750103e-02 1.63283870e-02 9.96711087e-01 1.16420921e+02] [ 8.55618908e-01 5.14150070e-01 5.97159187e-02 1.80166173e+02] [-5.11484011e-01 8.57544803e-01 -5.47815437e-02 1.05803675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.6007140569999 meters Centerline goodness : 0.990713 Centerline is valid? [True, True] Translation: X:116.47, Y:179.78, Z:9.87 [[-1.28791303e-01 -9.85320764e-01 -1.12052631e-01 1.16466997e+02] [ 8.37363237e-01 -1.68587325e-01 5.20001081e-01 1.79781719e+02] [-5.31258516e-01 -2.68571370e-02 8.46783965e-01 9.87041379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.630714057 meters Centerline goodness : 0.982770 Centerline is valid? [True, True] Translation: X:116.37, Y:180.52, Z:9.41 [[-1.34977897e-01 -9.90282115e-01 -3.35007438e-02 1.16371844e+02] [ 8.27457237e-01 -1.31254464e-01 5.45973247e-01 1.80522315e+02] [-5.45064664e-01 4.59738880e-02 8.37132554e-01 9.41348663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.660714057 meters Centerline goodness : 0.991116 Centerline is valid? [True, True] Translation: X:116.44, Y:179.81, Z:9.87 [[-1.30579524e-01 -9.89985024e-01 -5.36529558e-02 1.16442324e+02] [ 8.34544494e-01 -1.38969964e-01 5.33125536e-01 1.79812865e+02] [-5.35242446e-01 2.48394999e-02 8.44333183e-01 9.87480947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.6907140569999 meters Centerline goodness : 0.990934 Centerline is valid? [True, True] Translation: X:116.42, Y:180.12, Z:9.68 [[-1.28439333e-01 -9.90117555e-01 -5.63077789e-02 1.16423962e+02] [ 8.39322143e-01 -1.38770117e-01 5.25624575e-01 1.80122658e+02] [-5.28243956e-01 2.02505044e-02 8.48851129e-01 9.67858312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.7207140569999 meters Centerline goodness : 0.990468 Centerline is valid? [True, True] Translation: X:116.70, Y:180.50, Z:10.57 [[-5.25926191e-02 5.56303349e-01 8.29313331e-01 1.16696239e+02] [ 8.37063026e-01 4.77432362e-01 -2.67177527e-01 1.80503701e+02] [-5.44572775e-01 6.80135960e-01 -4.90770383e-01 1.05738066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.750714057 meters Centerline goodness : 0.990048 Centerline is valid? [True, True] Translation: X:116.47, Y:179.95, Z:9.82 [[-1.63442388e-01 -9.83479833e-01 -7.78074801e-02 1.16470124e+02] [ 7.98646150e-01 -1.78201209e-01 5.74811844e-01 1.79946906e+02] [-5.79181244e-01 3.18079762e-02 8.14578013e-01 9.81904986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.780714057 meters Centerline goodness : 0.988134 Centerline is valid? [True, True] Translation: X:116.47, Y:179.93, Z:9.84 [[-1.62056635e-01 -9.84871168e-01 -6.13712489e-02 1.16465235e+02] [ 7.95005325e-01 -1.67151391e-01 5.83118295e-01 1.79934582e+02] [-5.84554685e-01 4.57077190e-02 8.10065815e-01 9.83503749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.8107140569999 meters Centerline goodness : 0.988073 Centerline is valid? [True, True] Translation: X:116.47, Y:179.94, Z:9.83 [[-1.62018643e-01 -9.84660028e-01 -6.47656450e-02 1.16465137e+02] [ 7.94636334e-01 -1.69102102e-01 5.83058810e-01 1.79941326e+02] [-5.85066711e-01 4.30012622e-02 8.09844328e-01 9.82749774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.8407140569999 meters Centerline goodness : 0.988674 Centerline is valid? [True, True] Translation: X:116.46, Y:179.94, Z:9.82 [[-1.60789105e-01 -9.84812340e-01 -6.55096778e-02 1.16464324e+02] [ 7.95049765e-01 -1.68564701e-01 5.82650678e-01 1.79944120e+02] [-5.84844198e-01 4.16004271e-02 8.10078187e-01 9.82346033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.870714057 meters Centerline goodness : 0.987389 Centerline is valid? [True, True] Translation: X:116.46, Y:179.95, Z:9.82 [[-1.59944363e-01 -9.85693848e-01 -5.31548527e-02 1.16457649e+02] [ 7.94060714e-01 -1.60464542e-01 5.86275288e-01 1.79949162e+02] [-5.86417414e-01 5.15632472e-02 8.08366160e-01 9.82346691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.900714057 meters Centerline goodness : 0.987556 Centerline is valid? [True, True] Translation: X:116.46, Y:179.95, Z:9.82 [[-1.60632641e-01 -9.85070196e-01 -6.19181999e-02 1.16459245e+02] [ 7.94812113e-01 -1.66292618e-01 5.83626996e-01 1.79951051e+02] [-5.85210099e-01 4.45362107e-02 8.09657746e-01 9.81864304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.9307140569999 meters Centerline goodness : 0.988710 Centerline is valid? [True, True] Translation: X:116.46, Y:179.95, Z:9.81 [[-1.61964798e-01 -9.84648486e-01 -6.50750537e-02 1.16457174e+02] [ 7.95445748e-01 -1.69300169e-01 5.81896481e-01 1.79954694e+02] [-5.83980707e-01 4.24830714e-02 8.10655120e-01 9.81469057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.9607140569999 meters Centerline goodness : 0.988369 Centerline is valid? [True, True] Translation: X:116.45, Y:179.96, Z:9.81 [[-1.64106725e-01 -9.84566369e-01 -6.08115797e-02 1.16453566e+02] [ 7.96811588e-01 -1.68648765e-01 5.80214519e-01 1.79961307e+02] [-5.81515500e-01 4.67617334e-02 8.12190288e-01 9.81302322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.990714057 meters Centerline goodness : 0.988795 Centerline is valid? [True, True] Translation: X:116.45, Y:179.97, Z:9.81 [[-1.64824404e-01 -9.84736979e-01 -5.59106308e-02 1.16449404e+02] [ 7.96092918e-01 -1.66286878e-01 5.81880348e-01 1.79967745e+02] [-5.82296300e-01 5.13980242e-02 8.11350271e-01 9.80727272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.020714057 meters Centerline goodness : 0.988335 Centerline is valid? [True, True] Translation: X:116.45, Y:179.98, Z:9.80 [[-1.68170608e-01 -9.83920321e-01 -6.01618567e-02 1.16448958e+02] [ 7.97096531e-01 -1.71638508e-01 5.78945027e-01 1.79975505e+02] [-5.79961868e-01 4.94067296e-02 8.13144026e-01 9.80281834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.0507140569999 meters Centerline goodness : 0.989084 Centerline is valid? [True, True] Translation: X:116.45, Y:179.98, Z:9.80 [[-1.70043036e-01 -9.83763862e-01 -5.73936413e-02 1.16445439e+02] [ 7.96944236e-01 -1.71541433e-01 5.79183409e-01 1.79981978e+02] [-5.79625095e-01 5.27465736e-02 8.13174365e-01 9.79615249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.0807140569999 meters Centerline goodness : 0.989249 Centerline is valid? [True, True] Translation: X:116.44, Y:179.98, Z:9.80 [[-1.72316451e-01 -9.83679655e-01 -5.17820214e-02 1.16441266e+02] [ 7.97261731e-01 -1.70148132e-01 5.79157445e-01 1.79983789e+02] [-5.78516010e-01 5.85145317e-02 8.13569466e-01 9.79683042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.110714057 meters Centerline goodness : 0.988711 Centerline is valid? [True, True] Translation: X:116.44, Y:179.99, Z:9.79 [[-1.73054081e-01 -9.83294741e-01 -5.64246166e-02 1.16441416e+02] [ 7.97054781e-01 -1.73470626e-01 5.78456236e-01 1.79989329e+02] [-5.78580989e-01 5.51307019e-02 8.13759575e-01 9.78995023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.140714057 meters Centerline goodness : 0.988032 Centerline is valid? [True, True] Translation: X:116.44, Y:180.00, Z:9.78 [[-1.71669581e-01 -9.83313615e-01 -6.01987459e-02 1.16439528e+02] [ 7.95428513e-01 -1.74401060e-01 5.80411708e-01 1.79995127e+02] [-5.81225460e-01 5.17552357e-02 8.12095044e-01 9.78428152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.1707140569999 meters Centerline goodness : 0.989236 Centerline is valid? [True, True] Translation: X:116.44, Y:180.00, Z:9.79 [[-1.71643915e-01 -9.83424984e-01 -5.84266028e-02 1.16436656e+02] [ 7.96710861e-01 -1.73450771e-01 5.78935776e-01 1.79995607e+02] [-5.79474046e-01 5.28216941e-02 8.13277135e-01 9.78609402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.2007140569999 meters Centerline goodness : 0.989440 Centerline is valid? [True, True] Translation: X:116.43, Y:180.01, Z:9.78 [[-1.67881750e-01 -9.84118046e-01 -5.76835252e-02 1.16430465e+02] [ 7.95037871e-01 -1.69758728e-01 5.82320151e-01 1.80009973e+02] [-5.82864051e-01 5.19003389e-02 8.10910508e-01 9.77543097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.230714057 meters Centerline goodness : 0.988857 Centerline is valid? [True, True] Translation: X:116.43, Y:180.00, Z:9.78 [[-1.65378205e-01 -9.84633491e-01 -5.60975710e-02 1.16429016e+02] [ 7.94572681e-01 -1.66718413e-01 5.83831504e-01 1.80002818e+02] [-5.84212550e-01 5.19794088e-02 8.09934465e-01 9.78190764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.260714057 meters Centerline goodness : 0.989267 Centerline is valid? [True, True] Translation: X:116.42, Y:180.00, Z:9.79 [[-1.60481893e-01 -9.85807246e-01 -4.92913302e-02 1.16423076e+02] [ 7.94218867e-01 -1.58621470e-01 5.86562547e-01 1.80003147e+02] [-5.86056272e-01 5.49845632e-02 8.08402588e-01 9.78545937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.290714057 meters Centerline goodness : 0.988552 Centerline is valid? [True, True] Translation: X:116.42, Y:180.00, Z:9.78 [[-1.57787761e-01 -9.85987760e-01 -5.41401836e-02 1.16423744e+02] [ 7.93411171e-01 -1.59228559e-01 5.87490408e-01 1.80004108e+02] [-5.87879015e-01 4.97433695e-02 8.07418021e-01 9.78248048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.3207140569999 meters Centerline goodness : 0.989090 Centerline is valid? [True, True] Translation: X:116.42, Y:180.01, Z:9.78 [[-1.52992137e-01 -9.86482025e-01 -5.87079221e-02 1.16421506e+02] [ 7.94214879e-01 -1.58090295e-01 5.86711329e-01 1.80012483e+02] [-5.88061333e-01 4.31355147e-02 8.07665275e-01 9.77501085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.3507140569999 meters Centerline goodness : 0.988730 Centerline is valid? [True, True] Translation: X:116.42, Y:180.01, Z:9.78 [[-1.45748676e-01 -9.87854604e-01 -5.38572630e-02 1.16416939e+02] [ 7.95810695e-01 -1.49407718e-01 5.86824226e-01 1.80007188e+02] [-5.87743704e-01 4.26686683e-02 8.07921236e-01 9.78039662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.380714057 meters Centerline goodness : 0.989254 Centerline is valid? [True, True] Translation: X:116.41, Y:180.02, Z:9.77 [[-1.44037432e-01 -9.88005608e-01 -5.56609068e-02 1.16414629e+02] [ 7.97059071e-01 -1.49167652e-01 5.85188730e-01 1.80016361e+02] [-5.86472554e-01 3.99240509e-02 8.08984557e-01 9.77423831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.410714057 meters Centerline goodness : 0.988875 Centerline is valid? [True, True] Translation: X:116.41, Y:180.02, Z:9.77 [[-1.36628938e-01 -9.89318297e-01 -5.08118084e-02 1.16409155e+02] [ 7.99273349e-01 -1.40394818e-01 5.84338436e-01 1.80020052e+02] [-5.85230421e-01 3.92250159e-02 8.09917744e-01 9.77204176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.4407140569999 meters Centerline goodness : 0.989274 Centerline is valid? [True, True] Translation: X:116.41, Y:180.02, Z:9.78 [[-1.32318809e-01 -9.90086848e-01 -4.71143942e-02 1.16407769e+02] [ 7.99783798e-01 -1.34722706e-01 5.84974930e-01 1.80015682e+02] [-5.85523363e-01 3.97218570e-02 8.09681768e-01 9.77572024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.4707140569999 meters Centerline goodness : 0.988173 Centerline is valid? [True, True] Translation: X:116.41, Y:180.01, Z:9.77 [[-1.23189112e-01 -9.91193724e-01 -4.85741047e-02 1.16406766e+02] [ 7.99571465e-01 -1.28127402e-01 5.86744272e-01 1.80013972e+02] [-5.87800914e-01 3.34420380e-02 8.08314119e-01 9.77267120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.500714057 meters Centerline goodness : 0.989082 Centerline is valid? [True, True] Translation: X:116.41, Y:180.02, Z:9.77 [[-1.16916102e-01 -9.92065348e-01 -4.62273850e-02 1.16405103e+02] [ 7.98270670e-01 -1.21564958e-01 5.89903297e-01 1.80016037e+02] [-5.90842249e-01 3.20672286e-02 8.06149570e-01 9.77021218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.530714057 meters Centerline goodness : 0.987877 Centerline is valid? [True, True] Translation: X:116.40, Y:180.02, Z:9.77 [[-1.06946194e-01 -9.93502741e-01 -3.89206185e-02 1.16401529e+02] [ 7.95913036e-01 -1.09005988e-01 5.95516694e-01 1.80015774e+02] [-5.95890049e-01 3.27108164e-02 8.02399559e-01 9.76931344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.5607140569999 meters Centerline goodness : 0.987700 Centerline is valid? [True, True] Translation: X:116.40, Y:180.02, Z:9.76 [[-1.01724099e-01 -9.93879423e-01 -4.30801607e-02 1.16402094e+02] [ 7.94524136e-01 -1.07227140e-01 5.97690336e-01 1.80018958e+02] [-5.98651488e-01 2.65712836e-02 8.00568774e-01 9.76441783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.5907140569999 meters Centerline goodness : 0.988734 Centerline is valid? [True, True] Translation: X:116.40, Y:180.01, Z:9.77 [[-9.44494557e-02 -9.94736188e-01 -3.97393586e-02 1.16400992e+02] [ 7.93827595e-01 -9.93420876e-02 5.99974082e-01 1.80013682e+02] [-6.00763722e-01 2.51210260e-02 7.99031842e-01 9.76940622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.620714057 meters Centerline goodness : 0.987741 Centerline is valid? [True, True] Translation: X:116.40, Y:180.02, Z:9.76 [[-9.11055239e-02 -9.95051008e-01 -3.96645262e-02 1.16400680e+02] [ 7.91523872e-01 -9.65261447e-02 6.03467202e-01 1.80023204e+02] [-6.04309312e-01 2.35837763e-02 7.96400691e-01 9.75877221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.650714057 meters Centerline goodness : 0.987846 Centerline is valid? [True, True] Translation: X:116.40, Y:180.02, Z:9.76 [[-8.60017862e-02 -9.95538085e-01 -3.88279957e-02 1.16402559e+02] [ 7.89508476e-01 -9.18708425e-02 6.06824616e-01 1.80021273e+02] [-6.07684177e-01 2.15329692e-02 7.93886813e-01 9.75821389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.6807140569999 meters Centerline goodness : 0.988869 Centerline is valid? [True, True] Translation: X:116.40, Y:180.02, Z:9.76 [[-8.51172565e-02 -9.95441375e-01 -4.30293158e-02 1.16404606e+02] [ 7.90735016e-01 -9.37625756e-02 6.04935298e-01 1.80019713e+02] [-6.06212164e-01 1.74656462e-02 7.95111164e-01 9.75904003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.7107140569999 meters Centerline goodness : 0.988188 Centerline is valid? [True, True] Translation: X:116.40, Y:180.03, Z:9.75 [[-8.58403575e-02 -9.95562607e-01 -3.85555184e-02 1.16402983e+02] [ 7.91235804e-01 -9.16374954e-02 6.04606046e-01 1.80034105e+02] [-6.05456303e-01 2.13930926e-02 7.95590976e-01 9.75259870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.740714057 meters Centerline goodness : 0.988486 Centerline is valid? [True, True] Translation: X:116.40, Y:180.03, Z:9.76 [[-8.12488879e-02 -9.96296747e-01 -2.81320041e-02 1.16404793e+02] [ 7.83976124e-01 -8.13119455e-02 6.15442771e-01 1.80025865e+02] [-6.15451099e-01 2.79492211e-02 7.87679368e-01 9.75564502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.770714057 meters Centerline goodness : 0.989252 Centerline is valid? [True, True] Translation: X:116.41, Y:180.03, Z:9.75 [[-8.43512399e-02 -9.95267201e-01 -4.82500429e-02 1.16411788e+02] [ 7.88451932e-01 -9.62751805e-02 6.07515136e-01 1.80034752e+02] [-6.09285171e-01 1.32018155e-02 7.92841278e-01 9.74500943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.8007140569999 meters Centerline goodness : 0.989194 Centerline is valid? [True, True] Translation: X:116.41, Y:180.05, Z:9.74 [[-8.77589767e-02 -9.95476529e-01 -3.63983914e-02 1.16407510e+02] [ 7.90153366e-01 -9.18155476e-02 6.05993039e-01 1.80051251e+02] [-6.06593785e-01 2.44210175e-02 7.94636768e-01 9.73968464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.8307140569999 meters Centerline goodness : 0.990463 Centerline is valid? [True, True] Translation: X:116.41, Y:180.06, Z:9.73 [[-8.86653657e-02 -9.95273324e-01 -3.96164666e-02 1.16409199e+02] [ 7.90824034e-01 -9.45215828e-02 6.04700767e-01 1.80059920e+02] [-6.05587154e-01 2.22863608e-02 7.95466855e-01 9.73164633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.860714057 meters Centerline goodness : 0.990463 Centerline is valid? [True, True] Translation: X:116.41, Y:180.07, Z:9.73 [[-8.82889478e-02 -9.95433380e-01 -3.62966691e-02 1.16407285e+02] [ 7.90966242e-01 -9.22094921e-02 6.04871733e-01 1.80065491e+02] [-6.05456411e-01 2.46940490e-02 7.95495279e-01 9.72915358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.890714057 meters Centerline goodness : 0.989793 Centerline is valid? [True, True] Translation: X:116.42, Y:180.07, Z:9.73 [[-1.00862189e-01 -9.93015305e-01 -6.12161980e-02 1.16417576e+02] [ 8.01492518e-01 -1.17554673e-01 5.86336629e-01 1.80068504e+02] [-5.89437496e-01 1.00748714e-02 8.07751159e-01 9.72783889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.9207140569999 meters Centerline goodness : 0.990073 Centerline is valid? [True, True] Translation: X:116.41, Y:180.08, Z:9.73 [[-1.02638270e-01 -9.93793076e-01 -4.29034657e-02 1.16410784e+02] [ 8.01750308e-01 -1.08179828e-01 5.87787010e-01 1.80081309e+02] [-5.88779950e-01 2.59315751e-02 8.07877295e-01 9.72706945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.9507140569999 meters Centerline goodness : 0.990685 Centerline is valid? [True, True] Translation: X:116.41, Y:180.09, Z:9.72 [[-1.05126222e-01 -9.93433979e-01 -4.51376462e-02 1.16412976e+02] [ 8.01441615e-01 -1.11506944e-01 5.87586197e-01 1.80093182e+02] [-5.88761255e-01 2.55955291e-02 8.07901636e-01 9.71812912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.980714057 meters Centerline goodness : 0.989662 Centerline is valid? [True, True] Translation: X:116.41, Y:180.09, Z:9.72 [[-1.05535193e-01 -9.93440002e-01 -4.40373165e-02 1.16413574e+02] [ 8.01117056e-01 -1.11173324e-01 5.88091790e-01 1.80093808e+02] [-5.89129684e-01 2.67853350e-02 8.07594428e-01 9.71829156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.010714057 meters Centerline goodness : 0.989767 Centerline is valid? [True, True] Translation: X:116.41, Y:180.10, Z:9.72 [[-1.03303468e-01 -9.94212622e-01 -2.94899293e-02 1.16410364e+02] [ 7.96276548e-01 -1.00431217e-01 5.96537702e-01 1.80095272e+02] [-5.96047022e-01 3.81422742e-02 8.02043088e-01 9.71885156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.040714057 meters Centerline goodness : 0.990725 Centerline is valid? [True, True] Translation: X:116.42, Y:180.11, Z:9.71 [[-1.06540464e-01 -9.93288486e-01 -4.50234742e-02 1.16416694e+02] [ 8.02490508e-01 -1.12634589e-01 5.85937227e-01 1.80106532e+02] [-5.87075902e-01 2.62951133e-02 8.09104723e-01 9.70825327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.0707140569999 meters Centerline goodness : 0.989981 Centerline is valid? [True, True] Translation: X:116.42, Y:180.11, Z:9.70 [[-1.08781317e-01 -9.92753893e-01 -5.10522629e-02 1.16418559e+02] [ 8.03505981e-01 -1.18049530e-01 5.83474461e-01 1.80114457e+02] [-5.85273238e-01 2.24503217e-02 8.10525274e-01 9.70231560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.1007140569999 meters Centerline goodness : 0.988953 Centerline is valid? [True, True] Translation: X:116.42, Y:180.12, Z:9.70 [[-1.08142626e-01 -9.93323658e-01 -4.01657000e-02 1.16415095e+02] [ 8.02686651e-01 -1.11081957e-01 5.85964964e-01 1.80121887e+02] [-5.86514546e-01 3.11273190e-02 8.09340335e-01 9.70050337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.130714057 meters Centerline goodness : 0.990041 Centerline is valid? [True, True] Translation: X:116.41, Y:180.12, Z:9.70 [[-1.02772258e-01 -9.94504352e-01 -1.99739215e-02 1.16408638e+02] [ 7.96221703e-01 -9.42843336e-02 5.97613139e-01 1.80119294e+02] [-5.96212095e-01 4.55143818e-02 8.01535763e-01 9.70335614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.160714057 meters Centerline goodness : 0.988895 Centerline is valid? [True, True] Translation: X:116.42, Y:180.12, Z:9.69 [[-1.08167019e-01 -9.92354182e-01 -5.94396631e-02 1.16424314e+02] [ 8.03891792e-01 -1.22486557e-01 5.82026657e-01 1.80123660e+02] [-5.84857147e-01 1.51730312e-02 8.10994388e-01 9.68792344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.1907140569999 meters Centerline goodness : 0.989265 Centerline is valid? [True, True] Translation: X:116.41, Y:180.13, Z:9.69 [[-1.03255587e-01 -9.94259946e-01 -2.80257665e-02 1.16413494e+02] [ 8.00096269e-01 -9.97647967e-02 5.91517494e-01 1.80129854e+02] [-5.90918136e-01 3.86541750e-02 8.05804946e-01 9.68974128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.2207140569999 meters Centerline goodness : 0.990465 Centerline is valid? [True, True] Translation: X:116.41, Y:180.14, Z:9.68 [[-1.04724749e-01 -9.93946881e-01 -3.32012776e-02 1.16412081e+02] [ 8.02924645e-01 -1.04202725e-01 5.86901871e-01 1.80143383e+02] [-5.86808948e-01 3.48050269e-02 8.08977051e-01 9.68187691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.250714057 meters Centerline goodness : 0.989977 Centerline is valid? [True, True] Translation: X:116.41, Y:180.14, Z:9.69 [[-1.03932629e-01 -9.94271158e-01 -2.49574059e-02 1.16408891e+02] [ 8.01962345e-01 -9.86193821e-02 5.89177915e-01 1.80141178e+02] [-5.88263892e-01 4.12199100e-02 8.07617801e-01 9.68551256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.280714057 meters Centerline goodness : 0.987894 Centerline is valid? [True, True] Translation: X:116.42, Y:180.15, Z:9.67 [[-1.06206908e-01 -9.93383621e-01 -4.36929480e-02 1.16415603e+02] [ 8.01136167e-01 -1.11515520e-01 5.88000962e-01 1.80149832e+02] [-5.88982966e-01 2.74457633e-02 8.07679265e-01 9.67158564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.3107140569999 meters Centerline goodness : 0.989896 Centerline is valid? [True, True] Translation: X:116.40, Y:180.15, Z:9.68 [[-1.01650090e-01 -9.94754286e-01 -1.14528950e-02 1.16402684e+02] [ 7.96411953e-01 -8.82704007e-02 5.98277810e-01 1.80154728e+02] [-5.96150368e-01 5.16937707e-02 8.01206898e-01 9.67801271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.3407140569999 meters Centerline goodness : 0.988390 Centerline is valid? [True, True] Translation: X:116.42, Y:180.15, Z:9.67 [[-1.06972851e-01 -9.92651295e-01 -5.65704525e-02 1.16419947e+02] [ 8.00514970e-01 -1.19733152e-01 5.87230581e-01 1.80148583e+02] [-5.89688555e-01 1.75322354e-02 8.07440418e-01 9.66896321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.370714057 meters Centerline goodness : 0.988156 Centerline is valid? [True, True] Translation: X:116.41, Y:180.16, Z:9.67 [[-1.06515801e-01 -9.93662799e-01 -3.58974535e-02 1.16410245e+02] [ 7.99024044e-01 -1.07027367e-01 5.91697321e-01 1.80160102e+02] [-5.91789626e-01 3.43421853e-02 8.05360573e-01 9.67127085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.400714057 meters Centerline goodness : 0.988113 Centerline is valid? [True, True] Translation: X:116.41, Y:180.16, Z:9.67 [[-1.03682072e-01 -9.93960441e-01 -3.59537218e-02 1.16409635e+02] [ 7.97444005e-01 -1.04678128e-01 5.94243677e-01 1.80164109e+02] [-5.94418276e-01 3.29413356e-02 8.03481040e-01 9.66531803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.4307140569999 meters Centerline goodness : 0.986407 Centerline is valid? [True, True] Translation: X:116.41, Y:180.16, Z:9.67 [[-1.03478269e-01 -9.93875422e-01 -3.87800724e-02 1.16409747e+02] [ 7.95920318e-01 -1.06124403e-01 5.96027230e-01 1.80164794e+02] [-5.96492327e-01 3.08100185e-02 8.02027211e-01 9.66510532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.4607140569999 meters Centerline goodness : 0.987828 Centerline is valid? [True, True] Translation: X:116.40, Y:180.18, Z:9.65 [[-9.82548058e-02 -9.95030685e-01 -1.61223331e-02 1.16399682e+02] [ 7.86620629e-01 -8.75783336e-02 6.11193931e-01 1.80183750e+02] [-6.09568683e-01 4.73705812e-02 7.91316655e-01 9.65306500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.490714057 meters Centerline goodness : 0.987921 Centerline is valid? [True, True] Translation: X:116.41, Y:180.18, Z:9.65 [[-9.82397443e-02 -9.94688083e-01 -3.07338686e-02 1.16405347e+02] [ 7.86728199e-01 -9.65393469e-02 6.09703941e-01 1.80181350e+02] [-6.09432271e-01 3.57179581e-02 7.92033165e-01 9.64751346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.520714057 meters Centerline goodness : 0.989668 Centerline is valid? [True, True] Translation: X:116.41, Y:180.20, Z:9.63 [[-1.31954297e-01 -9.87150936e-01 -9.01171031e-02 1.16414264e+02] [ 8.06605340e-01 -1.59772484e-01 5.69087497e-01 1.80198103e+02] [-5.76173489e-01 2.40460386e-03 8.17323882e-01 9.63335022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.5507140569999 meters Centerline goodness : 0.987809 Centerline is valid? [True, True] Translation: X:116.39, Y:180.20, Z:9.65 [[-1.03817749e-01 -9.94590298e-01 3.46609739e-03 1.16391388e+02] [ 7.90093147e-01 -8.03540451e-02 6.07697332e-01 1.80203318e+02] [-6.04131355e-01 6.58283087e-02 7.94161155e-01 9.64728611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.5807140569999 meters Centerline goodness : 0.988106 Centerline is valid? [True, True] Translation: X:116.41, Y:180.20, Z:9.63 [[-1.05102206e-01 -9.93877609e-01 -3.40708918e-02 1.16405737e+02] [ 7.93726925e-01 -1.04478558e-01 5.99234344e-01 1.80197313e+02] [-5.99125274e-01 3.59378671e-02 7.99848345e-01 9.63436693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.610714057 meters Centerline goodness : 0.987085 Centerline is valid? [True, True] Translation: X:116.41, Y:180.19, Z:9.64 [[-1.07497514e-01 -9.93633060e-01 -3.37287342e-02 1.16405570e+02] [ 7.91926571e-01 -1.06087690e-01 6.01329950e-01 1.80194243e+02] [-6.01079521e-01 3.79307941e-02 7.98288585e-01 9.63780865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.640714057 meters Centerline goodness : 0.987535 Centerline is valid? [True, True] Translation: X:116.40, Y:180.20, Z:9.63 [[-1.09192616e-01 -9.93380563e-01 -3.56655270e-02 1.16404560e+02] [ 7.93994265e-01 -1.08750410e-01 5.98119099e-01 1.80204260e+02] [-5.98038528e-01 3.69919653e-02 8.00613211e-01 9.63161471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.6707140569999 meters Centerline goodness : 0.988370 Centerline is valid? [True, True] Translation: X:116.41, Y:180.21, Z:9.63 [[-1.09470568e-01 -9.93016142e-01 -4.39901842e-02 1.16405192e+02] [ 7.96118704e-01 -1.14091201e-01 5.94287984e-01 1.80208708e+02] [-5.95156454e-01 3.00356346e-02 8.03048352e-01 9.62803631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.7007140569999 meters Centerline goodness : 0.990768 Centerline is valid? [True, True] Translation: X:116.39, Y:180.24, Z:9.62 [[-1.29052042e-01 -9.90479181e-01 -4.79224598e-02 1.16393471e+02] [ 8.07829235e-01 -1.33036022e-01 5.74206708e-01 1.80236858e+02] [-5.75115204e-01 3.53893843e-02 8.17306610e-01 9.61976672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.730714057 meters Centerline goodness : 0.987903 Centerline is valid? [True, True] Translation: X:116.40, Y:180.22, Z:9.63 [[-1.10490599e-01 -9.93222025e-01 -3.60809816e-02 1.16398651e+02] [ 7.99247957e-01 -1.10373398e-01 5.90779499e-01 1.80221127e+02] [-5.90757590e-01 3.64379300e-02 8.06025897e-01 9.62676117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.760714057 meters Centerline goodness : 0.988873 Centerline is valid? [True, True] Translation: X:116.40, Y:180.22, Z:9.62 [[-1.08276754e-01 -9.93263930e-01 -4.12663189e-02 1.16398753e+02] [ 7.98101042e-01 -1.11601244e-01 5.92097871e-01 1.80219726e+02] [-5.92714831e-01 3.11757437e-02 8.04808798e-01 9.62429463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.790714057 meters Centerline goodness : 0.987109 Centerline is valid? [True, True] Translation: X:116.40, Y:180.26, Z:9.60 [[-1.15759257e-01 -9.92276063e-01 -4.45870957e-02 1.16396524e+02] [ 8.03047848e-01 -1.19913031e-01 5.83725123e-01 1.80256485e+02] [-5.84563041e-01 3.17660156e-02 8.10726200e-01 9.60318297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.8207140569999 meters Centerline goodness : 0.987859 Centerline is valid? [True, True] Translation: X:116.39, Y:180.25, Z:9.61 [[-1.15774140e-01 -9.92529711e-01 -3.84853417e-02 1.16394782e+02] [ 8.03220664e-01 -1.16344804e-01 5.84209254e-01 1.80249597e+02] [-5.84322611e-01 3.67241023e-02 8.10690093e-01 9.61083405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.8507140569999 meters Centerline goodness : 0.986414 Centerline is valid? [True, True] Translation: X:116.35, Y:180.73, Z:9.26 [[-1.36635332e-01 -9.89578662e-01 -4.54407047e-02 1.16349325e+02] [ 7.98583781e-01 -1.37174536e-01 5.86043592e-01 1.80726297e+02] [-5.86169541e-01 4.37860508e-02 8.09004358e-01 9.25675064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.880714057 meters Centerline goodness : 0.988002 Centerline is valid? [True, True] Translation: X:116.39, Y:180.27, Z:9.59 [[-1.15723269e-01 -9.92038182e-01 -4.96826982e-02 1.16394020e+02] [ 8.03081285e-01 -1.22881615e-01 5.83061368e-01 1.80267124e+02] [-5.84524230e-01 2.75745225e-02 8.10907560e-01 9.59334817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.910714057 meters Centerline goodness : 0.987683 Centerline is valid? [True, True] Translation: X:116.39, Y:180.30, Z:9.58 [[-1.21689928e-01 -9.91840441e-01 -3.80013423e-02 1.16385884e+02] [ 8.05298198e-01 -1.21039636e-01 5.80382821e-01 1.80295348e+02] [-5.80246821e-01 4.00243311e-02 8.13456624e-01 9.58088882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.9407140569999 meters Centerline goodness : 0.987562 Centerline is valid? [True, True] Translation: X:116.38, Y:180.28, Z:9.59 [[-1.21811541e-01 -9.92028830e-01 -3.22606384e-02 1.16384956e+02] [ 8.04738833e-01 -1.17735385e-01 5.81836567e-01 1.80281593e+02] [-5.80996867e-01 4.49130203e-02 8.12665651e-01 9.59219012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.9707140569999 meters Centerline goodness : 0.987058 Centerline is valid? [True, True] Translation: X:116.38, Y:180.29, Z:9.59 [[-1.24819346e-01 -9.91787150e-01 -2.78994767e-02 1.16383548e+02] [ 8.04858113e-01 -1.17656937e-01 5.81687428e-01 1.80286758e+02] [-5.80192683e-01 5.01507240e-02 8.12933795e-01 9.59089981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.000714057 meters Centerline goodness : 0.988838 Centerline is valid? [True, True] Translation: X:116.35, Y:180.68, Z:9.30 [[-1.42832907e-01 -9.89030707e-01 -3.76433357e-02 1.16353314e+02] [ 8.02513324e-01 -1.37989326e-01 5.80457846e-01 1.80682043e+02] [-5.79285013e-01 5.26992030e-02 8.13419737e-01 9.29759342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.030714057 meters Centerline goodness : 0.989487 Centerline is valid? [True, True] Translation: X:116.39, Y:180.32, Z:9.56 [[-1.28552003e-01 -9.90328548e-01 -5.21895509e-02 1.16387761e+02] [ 8.08392712e-01 -1.35128020e-01 5.72923766e-01 1.80316449e+02] [-5.74435032e-01 3.14608450e-02 8.17945359e-01 9.55880839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.0607140569999 meters Centerline goodness : 0.989579 Centerline is valid? [True, True] Translation: X:116.38, Y:180.32, Z:9.57 [[-1.27274910e-01 -9.91512568e-01 -2.65315703e-02 1.16377535e+02] [ 8.08437978e-01 -1.19197959e-01 5.76385186e-01 1.80321178e+02] [-5.74655665e-01 5.19102435e-02 8.16747325e-01 9.56591646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.0907140569999 meters Centerline goodness : 0.989745 Centerline is valid? [True, True] Translation: X:116.38, Y:180.34, Z:9.55 [[-1.26730498e-01 -9.91574938e-01 -2.68052706e-02 1.16375716e+02] [ 8.08729114e-01 -1.18933340e-01 5.76031320e-01 1.80337520e+02] [-5.74366261e-01 5.13225334e-02 8.16988002e-01 9.55479047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.120714057 meters Centerline goodness : 0.990649 Centerline is valid? [True, True] Translation: X:116.37, Y:180.34, Z:9.56 [[-1.25551235e-01 -9.91944380e-01 -1.68295786e-02 1.16369524e+02] [ 8.12967696e-01 -1.12591168e-01 5.71320186e-01 1.80339619e+02] [-5.68612709e-01 5.80480513e-02 8.20554697e-01 9.56037061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.150714057 meters Centerline goodness : 0.990653 Centerline is valid? [True, True] Translation: X:116.37, Y:180.34, Z:9.56 [[-1.23333038e-01 -9.91882558e-01 -3.09508061e-02 1.16374180e+02] [ 8.11607122e-01 -1.18766032e-01 5.72003942e-01 1.80335938e+02] [-5.71036637e-01 4.54270894e-02 8.19666724e-01 9.55633598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.1807140569999 meters Centerline goodness : 0.990590 Centerline is valid? [True, True] Translation: X:116.37, Y:180.34, Z:9.56 [[-1.19652729e-01 -9.92694479e-01 -1.55207905e-02 1.16368520e+02] [ 8.09207861e-01 -1.06570024e-01 5.77776312e-01 1.80341418e+02] [-5.75209407e-01 5.65729669e-02 8.16047571e-01 9.55737773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.2107140569999 meters Centerline goodness : 0.989675 Centerline is valid? [True, True] Translation: X:116.37, Y:180.35, Z:9.55 [[-1.17417632e-01 -9.92797637e-01 -2.37897349e-02 1.16370848e+02] [ 8.09857080e-01 -1.09590831e-01 5.76299714e-01 1.80346113e+02] [-5.74756131e-01 4.84014627e-02 8.16892091e-01 9.54617073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.240714057 meters Centerline goodness : 0.990232 Centerline is valid? [True, True] Translation: X:116.37, Y:180.35, Z:9.55 [[-1.15484564e-01 -9.93092241e-01 -2.07633369e-02 1.16368448e+02] [ 8.09887567e-01 -1.06241435e-01 5.76883772e-01 1.80347679e+02] [-5.75104725e-01 4.98052024e-02 8.16562305e-01 9.54567019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.270714057 meters Centerline goodness : 0.990565 Centerline is valid? [True, True] Translation: X:116.37, Y:180.35, Z:9.54 [[-1.12680946e-01 -9.93513516e-01 -1.52937308e-02 1.16366200e+02] [ 8.07621690e-01 -1.00542419e-01 5.81066630e-01 1.80352672e+02] [-5.78835219e-01 5.31235888e-02 8.13712279e-01 9.54160889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.3007140569999 meters Centerline goodness : 0.989528 Centerline is valid? [True, True] Translation: X:116.37, Y:180.35, Z:9.54 [[-1.11498188e-01 -9.93615854e-01 -1.71956047e-02 1.16366489e+02] [ 8.07902271e-01 -1.00707161e-01 5.80647904e-01 1.80353704e+02] [-5.78672683e-01 5.08488212e-02 8.13973171e-01 9.53947462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.3307140569999 meters Centerline goodness : 0.988711 Centerline is valid? [True, True] Translation: X:116.36, Y:180.36, Z:9.54 [[-1.10969120e-01 -9.93705627e-01 -1.53290917e-02 1.16364570e+02] [ 8.08067398e-01 -9.91961758e-02 5.80678223e-01 1.80355837e+02] [-5.78543805e-01 5.20504124e-02 8.13988833e-01 9.53943534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.360714057 meters Centerline goodness : 0.989042 Centerline is valid? [True, True] Translation: X:116.36, Y:180.36, Z:9.54 [[-1.09066547e-01 -9.93967577e-01 -1.15301717e-02 1.16362549e+02] [ 8.06533108e-01 -9.52678989e-02 5.83462401e-01 1.80359908e+02] [-5.81041164e-01 5.43367640e-02 8.12058300e-01 9.53631833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.390714057 meters Centerline goodness : 0.989030 Centerline is valid? [True, True] Translation: X:116.36, Y:180.36, Z:9.53 [[-1.08525652e-01 -9.94050629e-01 -9.24828596e-03 1.16360983e+02] [ 8.04713398e-01 -9.33093062e-02 5.86284675e-01 1.80364406e+02] [-5.83659601e-01 5.61847070e-02 8.10052312e-01 9.53212331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.4207140569999 meters Centerline goodness : 0.990253 Centerline is valid? [True, True] Translation: X:116.36, Y:180.37, Z:9.52 [[-1.07089313e-01 -9.94173815e-01 -1.22598627e-02 1.16360607e+02] [ 8.05064131e-01 -9.39417109e-02 5.85701886e-01 1.80372277e+02] [-5.83441191e-01 5.28524366e-02 8.10433832e-01 9.52381590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.4507140569999 meters Centerline goodness : 0.988243 Centerline is valid? [True, True] Translation: X:116.36, Y:180.38, Z:9.52 [[-1.10017536e-01 -9.93771396e-01 -1.77356877e-02 1.16362562e+02] [ 8.02182659e-01 -9.93148341e-02 5.88761026e-01 1.80376603e+02] [-5.86855284e-01 5.05467763e-02 8.08112554e-01 9.51906295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.480714057 meters Centerline goodness : 0.990740 Centerline is valid? [True, True] Translation: X:116.35, Y:180.40, Z:9.51 [[-1.30059513e-01 -9.91326178e-01 -1.88926455e-02 1.16351544e+02] [ 8.07737139e-01 -1.16985143e-01 5.77819341e-01 1.80404947e+02] [-5.75017598e-01 5.98906106e-02 8.15946001e-01 9.50528867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.510714057 meters Centerline goodness : 0.988308 Centerline is valid? [True, True] Translation: X:116.36, Y:180.39, Z:9.51 [[-1.15509285e-01 -9.93077799e-01 -2.13093871e-02 1.16362585e+02] [ 8.02185330e-01 -1.05914540e-01 5.87605996e-01 1.80389833e+02] [-5.85795443e-01 5.07798710e-02 8.08866555e-01 9.50942568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.540714057 meters Centerline goodness : 0.990515 Centerline is valid? [True, True] Translation: X:116.36, Y:180.41, Z:9.49 [[-1.18709719e-01 -9.92782711e-01 -1.70438258e-02 1.16359606e+02] [ 8.04258721e-01 -1.06205575e-01 5.84712139e-01 1.80412256e+02] [-5.82302252e-01 5.57033683e-02 8.11061787e-01 9.49437678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.5707140569999 meters Centerline goodness : 0.989525 Centerline is valid? [True, True] Translation: X:116.36, Y:180.42, Z:9.49 [[-1.21453560e-01 -9.92509062e-01 -1.32209655e-02 1.16357244e+02] [ 8.05931476e-01 -1.06379658e-01 5.82372582e-01 1.80423014e+02] [-5.79416507e-01 6.00760313e-02 8.12814482e-01 9.49010321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.6007140569999 meters Centerline goodness : 0.989769 Centerline is valid? [True, True] Translation: X:116.36, Y:180.41, Z:9.49 [[-1.22992717e-01 -9.92144737e-01 -2.28388432e-02 1.16361729e+02] [ 8.04009476e-01 -1.13108199e-01 5.83759623e-01 1.80414089e+02] [-5.81757298e-01 5.34355356e-02 8.11605255e-01 9.49108601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.630714057 meters Centerline goodness : 0.989813 Centerline is valid? [True, True] Translation: X:116.36, Y:180.43, Z:9.48 [[-1.22134741e-01 -9.92350338e-01 -1.79975739e-02 1.16359628e+02] [ 8.04979536e-01 -1.09648812e-01 5.83082399e-01 1.80425532e+02] [-5.80595428e-01 5.67269392e-02 8.12213644e-01 9.48455478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.660714057 meters Centerline goodness : 0.990499 Centerline is valid? [True, True] Translation: X:116.35, Y:180.44, Z:9.48 [[-1.21635060e-01 -9.92536583e-01 -8.72026026e-03 1.16354246e+02] [ 8.07820648e-01 -1.04095399e-01 5.80163726e-01 1.80442191e+02] [-5.76741461e-01 6.35238435e-02 8.14453196e-01 9.47837697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.6907140569999 meters Centerline goodness : 0.990070 Centerline is valid? [True, True] Translation: X:116.36, Y:180.43, Z:9.48 [[-1.18607266e-01 -9.92731493e-01 -2.04083283e-02 1.16359293e+02] [ 8.06059800e-01 -1.08266008e-01 5.81847119e-01 1.80433337e+02] [-5.79827487e-01 5.25609629e-02 8.13042084e-01 9.47933817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.7207140569999 meters Centerline goodness : 0.989713 Centerline is valid? [True, True] Translation: X:116.36, Y:180.43, Z:9.48 [[-1.14913623e-01 -9.93243119e-01 -1.62162209e-02 1.16357526e+02] [ 8.05719156e-01 -1.02741546e-01 5.83318794e-01 1.80427115e+02] [-5.81043458e-01 5.39655560e-02 8.12081411e-01 9.48426878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.750714057 meters Centerline goodness : 0.991728 Centerline is valid? [True, True] Translation: X:116.35, Y:180.44, Z:9.48 [[-1.10270300e-01 -9.93895295e-01 -3.55005447e-03 1.16349958e+02] [ 8.08575931e-01 -9.17854857e-02 5.81188771e-01 1.80443498e+02] [-5.77966629e-01 6.12173717e-02 8.13761027e-01 9.47896844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.780714057 meters Centerline goodness : 0.991728 Centerline is valid? [True, True] Translation: X:116.35, Y:180.45, Z:9.47 [[-1.09817777e-01 -9.93910946e-01 -9.00486105e-03 1.16351824e+02] [ 8.08385160e-01 -9.45828558e-02 5.81005609e-01 1.80447171e+02] [-5.78319540e-01 5.65253481e-02 8.13849738e-01 9.47357266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.8107140569999 meters Centerline goodness : 0.990459 Centerline is valid? [True, True] Translation: X:116.35, Y:180.44, Z:9.47 [[-1.07636695e-01 -9.94043643e-01 -1.70756465e-02 1.16354584e+02] [ 8.07002239e-01 -9.73890643e-02 5.82462665e-01 1.80441847e+02] [-5.80656291e-01 4.89142711e-02 8.12678083e-01 9.47301871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.8407140569999 meters Centerline goodness : 0.990185 Centerline is valid? [True, True] Translation: X:116.35, Y:180.45, Z:9.47 [[-1.02715168e-01 -9.94619206e-01 -1.34992507e-02 1.16350919e+02] [ 8.05807961e-01 -9.11578642e-02 5.85118598e-01 1.80448093e+02] [-5.83200758e-01 4.92227513e-02 8.10835369e-01 9.46991620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.870714057 meters Centerline goodness : 0.990823 Centerline is valid? [True, True] Translation: X:116.35, Y:180.46, Z:9.46 [[-1.00186900e-01 -9.94894976e-01 -1.21067107e-02 1.16349253e+02] [ 8.05650104e-01 -8.82580171e-02 5.85780191e-01 1.80456035e+02] [-5.83858283e-01 4.89337286e-02 8.10379538e-01 9.46432854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.900714057 meters Centerline goodness : 0.990497 Centerline is valid? [True, True] Translation: X:116.35, Y:180.46, Z:9.46 [[-9.48755106e-02 -9.95429937e-01 -1.08571326e-02 1.16346616e+02] [ 8.05316971e-01 -8.31578504e-02 5.86983261e-01 1.80455314e+02] [-5.85203567e-01 4.69469035e-02 8.09526265e-01 9.46460339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.9307140569999 meters Centerline goodness : 0.990412 Centerline is valid? [True, True] Translation: X:116.34, Y:180.46, Z:9.46 [[-8.94854086e-02 -9.95940357e-01 -9.75538287e-03 1.16343663e+02] [ 8.04563263e-01 -7.80566928e-02 5.88714795e-01 1.80462367e+02] [-5.87086295e-01 4.48325613e-02 8.08281958e-01 9.45824031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.9607140569999 meters Centerline goodness : 0.989472 Centerline is valid? [True, True] Translation: X:116.34, Y:180.47, Z:9.45 [[-8.56065832e-02 -9.96315718e-01 -5.14819327e-03 1.16341715e+02] [ 8.02916288e-01 -7.20466585e-02 5.91721821e-01 1.80465824e+02] [-5.89912661e-01 4.65217150e-02 8.06125786e-01 9.45484005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.990714057 meters Centerline goodness : 0.988468 Centerline is valid? [True, True] Translation: X:116.34, Y:180.46, Z:9.45 [[-8.24793640e-02 -9.96556633e-01 -8.48718588e-03 1.16341084e+02] [ 8.02353190e-01 -7.14527608e-02 5.92557054e-01 1.80464757e+02] [-5.91123095e-01 4.20640083e-02 8.05483771e-01 9.45313553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.020714057 meters Centerline goodness : 0.989657 Centerline is valid? [True, True] Translation: X:116.34, Y:180.47, Z:9.45 [[-7.93534597e-02 -9.96823897e-01 -6.71915784e-03 1.16339426e+02] [ 8.01598298e-01 -6.78161983e-02 5.94004320e-01 1.80474988e+02] [-5.92573369e-01 4.17502324e-02 8.04433789e-01 9.44610209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.0507140569999 meters Centerline goodness : 0.988380 Centerline is valid? [True, True] Translation: X:116.34, Y:180.47, Z:9.45 [[-7.76246221e-02 -9.96922257e-01 -1.09741793e-02 1.16338829e+02] [ 8.02073930e-01 -6.89831819e-02 5.93227386e-01 1.80473358e+02] [-5.92158618e-01 3.72469485e-02 8.04960146e-01 9.44539645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.0807140569999 meters Centerline goodness : 0.988507 Centerline is valid? [True, True] Translation: X:116.34, Y:180.48, Z:9.44 [[-7.54416611e-02 -9.97107822e-01 -9.19497863e-03 1.16337015e+02] [ 8.02007663e-01 -6.61546193e-02 5.93639011e-01 1.80481723e+02] [-5.92530391e-01 3.74106697e-02 8.04678928e-01 9.43927081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.110714057 meters Centerline goodness : 0.988694 Centerline is valid? [True, True] Translation: X:116.34, Y:180.48, Z:9.44 [[-7.31368908e-02 -9.97262517e-01 -1.08843184e-02 1.16336659e+02] [ 8.02471824e-01 -6.53246458e-02 5.93103416e-01 1.80482139e+02] [-5.92190819e-01 3.46433809e-02 8.05052712e-01 9.43737026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.140714057 meters Centerline goodness : 0.988855 Centerline is valid? [True, True] Translation: X:116.33, Y:180.48, Z:9.44 [[-6.92873882e-02 -9.97593312e-01 -2.61562554e-03 1.16332737e+02] [ 8.02877447e-01 -5.73192963e-02 5.93382089e-01 1.80484506e+02] [-5.92103929e-01 3.90138684e-02 8.04916676e-01 9.43763913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.1707140569999 meters Centerline goodness : 0.988195 Centerline is valid? [True, True] Translation: X:116.33, Y:180.49, Z:9.43 [[-6.58413360e-02 -9.97807064e-01 -6.78098925e-03 1.16332616e+02] [ 8.03052778e-01 -5.70214152e-02 5.93173495e-01 1.80485718e+02] [-5.92259365e-01 3.36098431e-02 8.05046100e-01 9.43330456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.2007140569999 meters Centerline goodness : 0.989702 Centerline is valid? [True, True] Translation: X:116.34, Y:180.49, Z:9.43 [[-6.91929690e-02 -9.97176552e-01 -2.91763107e-02 1.16337436e+02] [ 8.10364463e-01 -7.32393971e-02 5.81330739e-01 1.80493069e+02] [-5.81826238e-01 1.65805545e-02 8.13144092e-01 9.42568792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.230714057 meters Centerline goodness : 0.990158 Centerline is valid? [True, True] Translation: X:116.33, Y:180.50, Z:9.44 [[-6.60421918e-02 -9.97800277e-01 -5.74771194e-03 1.16327378e+02] [ 8.09843230e-01 -5.69650692e-02 5.83874065e-01 1.80495491e+02] [-5.82917123e-01 3.39055774e-02 8.11823897e-01 9.43525946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.260714057 meters Centerline goodness : 0.989308 Centerline is valid? [True, True] Translation: X:116.33, Y:180.51, Z:9.43 [[-6.57100602e-02 -9.97819667e-01 -6.17249531e-03 1.16326471e+02] [ 8.09825541e-01 -5.69419627e-02 5.83900852e-01 1.80506873e+02] [-5.82979228e-01 3.33695158e-02 8.11801512e-01 9.42721867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.290714057 meters Centerline goodness : 0.990549 Centerline is valid? [True, True] Translation: X:116.32, Y:180.52, Z:9.43 [[-6.38147114e-02 -9.97863039e-01 1.40369949e-02 1.16316912e+02] [ 8.11833404e-01 -4.37273252e-02 5.82249469e-01 1.80517371e+02] [-5.80391425e-01 4.85517832e-02 8.12888995e-01 9.42877895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.3207140569999 meters Centerline goodness : 0.988931 Centerline is valid? [True, True] Translation: X:116.33, Y:180.51, Z:9.41 [[-6.36167003e-02 -9.97797112e-01 -1.88105875e-02 1.16329473e+02] [ 8.08866361e-01 -6.25929316e-02 5.84651464e-01 1.80512545e+02] [-5.84540952e-01 2.19783456e-02 8.11066475e-01 9.41482914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.3507140569999 meters Centerline goodness : 0.989480 Centerline is valid? [True, True] Translation: X:116.32, Y:180.52, Z:9.42 [[-6.05289245e-02 -9.98123587e-01 9.24951112e-03 1.16319077e+02] [ 8.04204510e-01 -4.32759579e-02 5.92775083e-01 1.80520353e+02] [-5.91262511e-01 4.33185368e-02 8.05314937e-01 9.41790244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.380714057 meters Centerline goodness : 0.988921 Centerline is valid? [True, True] Translation: X:116.32, Y:180.52, Z:9.41 [[-6.35796048e-02 -9.97961044e-01 -5.60252911e-03 1.16324360e+02] [ 8.04679960e-01 -5.45847128e-02 5.91194275e-01 1.80522952e+02] [-5.90294668e-01 3.30796555e-02 8.06509728e-01 9.41042497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.410714057 meters Centerline goodness : 0.988957 Centerline is valid? [True, True] Translation: X:116.33, Y:180.53, Z:9.41 [[-6.58057009e-02 -9.97771538e-01 -1.10258073e-02 1.16325480e+02] [ 8.07483606e-01 -5.97407280e-02 5.86857114e-01 1.80527576e+02] [-5.86208015e-01 2.97153851e-02 8.09615439e-01 9.40612290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.4407140569999 meters Centerline goodness : 0.988634 Centerline is valid? [True, True] Translation: X:116.32, Y:180.53, Z:9.40 [[-6.39614627e-02 -9.97952157e-01 6.51513892e-04 1.16320830e+02] [ 8.05925328e-01 -5.12688951e-02 5.89793070e-01 1.80533233e+02] [-5.88551864e-01 3.82490990e-02 8.07554153e-01 9.40425288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.4707140569999 meters Centerline goodness : 0.989097 Centerline is valid? [True, True] Translation: X:116.32, Y:180.54, Z:9.40 [[-6.51389234e-02 -9.97871565e-01 -3.04315664e-03 1.16321876e+02] [ 8.06603050e-01 -5.44482864e-02 5.88580414e-01 1.80541054e+02] [-5.87493353e-01 3.58848751e-02 8.08432951e-01 9.39619607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.500714057 meters Centerline goodness : 0.988984 Centerline is valid? [True, True] Translation: X:116.32, Y:180.55, Z:9.39 [[-6.72968134e-02 -9.97704648e-01 -7.52153505e-03 1.16322875e+02] [ 8.07713466e-01 -5.89040709e-02 5.86625321e-01 1.80546260e+02] [-5.85721859e-01 3.34027696e-02 8.09823536e-01 9.39311817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.530714057 meters Centerline goodness : 0.989365 Centerline is valid? [True, True] Translation: X:116.32, Y:180.56, Z:9.38 [[-6.77646950e-02 -9.97698673e-01 -2.30326274e-03 1.16319673e+02] [ 8.08535509e-01 -5.62687934e-02 5.85750931e-01 1.80562579e+02] [-5.84532528e-01 3.78309634e-02 8.10487842e-01 9.38424606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.5607140569999 meters Centerline goodness : 0.989661 Centerline is valid? [True, True] Translation: X:116.32, Y:180.56, Z:9.38 [[-6.65277316e-02 -9.97766316e-01 -6.03646577e-03 1.16319834e+02] [ 8.08827024e-01 -5.74705285e-02 5.85231564e-01 1.80562513e+02] [-5.84271261e-01 3.40516718e-02 8.10843744e-01 9.38368938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.5907140569999 meters Centerline goodness : 0.989043 Centerline is valid? [True, True] Translation: X:116.32, Y:180.57, Z:9.38 [[-6.65305405e-02 -9.97783209e-01 -1.53493086e-03 1.16317258e+02] [ 8.09525785e-01 -5.48770274e-02 5.84513914e-01 1.80570629e+02] [-5.83302401e-01 3.76454606e-02 8.11382233e-01 9.38068282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.620714057 meters Centerline goodness : 0.990267 Centerline is valid? [True, True] Translation: X:116.32, Y:180.58, Z:9.37 [[-6.45041844e-02 -9.97913992e-01 2.62196483e-03 1.16315473e+02] [ 8.06851772e-01 -5.06076414e-02 5.88582266e-01 1.80582444e+02] [-5.87221788e-01 4.00815560e-02 8.08433078e-01 9.37330480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.650714057 meters Centerline goodness : 0.990410 Centerline is valid? [True, True] Translation: X:116.32, Y:180.57, Z:9.38 [[-6.49427100e-02 -9.97886427e-01 -2.26346528e-03 1.16316705e+02] [ 8.09501555e-01 -5.40086619e-02 5.84628341e-01 1.80572835e+02] [-5.83514933e-01 3.61350701e-02 8.11298083e-01 9.37752529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.6807140569999 meters Centerline goodness : 0.989159 Centerline is valid? [True, True] Translation: X:116.32, Y:180.58, Z:9.37 [[-6.50595937e-02 -9.97880588e-01 1.25774546e-03 1.16316326e+02] [ 8.06488148e-01 -5.18388807e-02 5.88973342e-01 1.80581835e+02] [-5.87659864e-01 3.93327231e-02 8.08151484e-01 9.37126991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.7107140569999 meters Centerline goodness : 0.989535 Centerline is valid? [True, True] Translation: X:116.31, Y:180.59, Z:9.36 [[-6.13720696e-02 -9.98012303e-01 1.43147405e-02 1.16313657e+02] [ 8.01092225e-01 -4.06974526e-02 5.97155729e-01 1.80590159e+02] [-5.95386191e-01 4.81161103e-02 8.01997583e-01 9.36481546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.740714057 meters Centerline goodness : 0.988467 Centerline is valid? [True, True] Translation: X:116.32, Y:180.60, Z:9.35 [[-6.53205630e-02 -9.97860062e-01 -2.91917307e-03 1.16319232e+02] [ 8.04226336e-01 -5.43765348e-02 5.91830375e-01 1.80597857e+02] [-5.90722629e-01 3.63110174e-02 8.06057247e-01 9.35426454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.770714057 meters Centerline goodness : 0.989438 Centerline is valid? [True, True] Translation: X:116.32, Y:180.60, Z:9.35 [[-6.87530672e-02 -9.97628594e-01 3.19427808e-03 1.16317699e+02] [ 8.04747809e-01 -5.35674692e-02 5.91194968e-01 1.80601656e+02] [-5.89621896e-01 4.32170556e-02 8.06522353e-01 9.35494286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.8007140569999 meters Centerline goodness : 0.989320 Centerline is valid? [True, True] Translation: X:116.32, Y:180.61, Z:9.34 [[-7.28747579e-02 -9.97318309e-01 -6.74248151e-03 1.16322882e+02] [ 8.06352832e-01 -6.28965611e-02 5.88080890e-01 1.80612180e+02] [-5.86927917e-01 3.74194334e-02 8.08774014e-01 9.34322427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.8307140569999 meters Centerline goodness : 0.989131 Centerline is valid? [True, True] Translation: X:116.32, Y:180.62, Z:9.34 [[-7.45985265e-02 -9.97213474e-01 -5.89179930e-04 1.16321208e+02] [ 8.08169894e-01 -6.08028549e-02 5.85802386e-01 1.80621679e+02] [-5.84205857e-01 4.32238373e-02 8.10453711e-01 9.34033774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.860714057 meters Centerline goodness : 0.988609 Centerline is valid? [True, True] Translation: X:116.32, Y:180.63, Z:9.34 [[-7.60293576e-02 -9.97105518e-01 3.50121546e-04 1.16322276e+02] [ 8.06087359e-01 -6.12575252e-02 5.88617606e-01 1.80625468e+02] [-5.86892415e-01 4.50344470e-02 8.08411524e-01 9.33878810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.890714057 meters Centerline goodness : 0.989409 Centerline is valid? [True, True] Translation: X:116.32, Y:180.64, Z:9.33 [[-7.51437756e-02 -9.97167572e-01 3.20087147e-03 1.16322291e+02] [ 8.06100483e-01 -5.88553211e-02 5.88844685e-01 1.80637316e+02] [-5.86988437e-01 4.68282369e-02 8.08239872e-01 9.33080753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.9207140569999 meters Centerline goodness : 0.988883 Centerline is valid? [True, True] Translation: X:116.33, Y:180.66, Z:9.31 [[-7.40915143e-02 -9.97245347e-01 -3.48788676e-03 1.16325378e+02] [ 8.06778495e-01 -6.19956732e-02 5.87592543e-01 1.80663500e+02] [-5.86190164e-01 4.07216693e-02 8.09149453e-01 9.31007737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.9507140569999 meters Centerline goodness : 0.989165 Centerline is valid? [True, True] Translation: X:116.33, Y:180.64, Z:9.33 [[-7.01189208e-02 -9.97538639e-01 -3.36715609e-05 1.16325141e+02] [ 8.06217131e-01 -5.66904399e-02 5.88897386e-01 1.80639200e+02] [-5.87449806e-01 4.12657026e-02 8.08207812e-01 9.33116290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.980714057 meters Centerline goodness : 0.989125 Centerline is valid? [True, True] Translation: X:116.33, Y:180.64, Z:9.33 [[-6.80226382e-02 -9.97679947e-01 -2.76488634e-03 1.16325595e+02] [ 8.07287027e-01 -5.66694519e-02 5.87431893e-01 1.80644365e+02] [-5.86225704e-01 3.77266102e-02 8.09268884e-01 9.32804595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.010714057 meters Centerline goodness : 0.988938 Centerline is valid? [True, True] Translation: X:116.33, Y:180.65, Z:9.33 [[-6.15758969e-02 -9.98081974e-01 -6.38606519e-03 1.16326962e+02] [ 8.08923912e-01 -5.36519078e-02 5.85460141e-01 1.80646443e+02] [-5.84679838e-01 3.08843924e-02 8.10676040e-01 9.32610686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.040714057 meters Centerline goodness : 0.989249 Centerline is valid? [True, True] Translation: X:116.33, Y:180.65, Z:9.32 [[-5.70324557e-02 -9.98353813e-01 -6.07970917e-03 1.16326525e+02] [ 8.09387396e-01 -4.98009334e-02 5.85159730e-01 1.80654218e+02] [-5.84499223e-01 2.84522564e-02 8.10895263e-01 9.32060116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.0707140569999 meters Centerline goodness : 0.989330 Centerline is valid? [True, True] Translation: X:116.32, Y:180.66, Z:9.32 [[-5.24436342e-02 -9.98622717e-01 1.52763175e-03 1.16323238e+02] [ 8.09308439e-01 -4.16053255e-02 5.85908566e-01 1.80660566e+02] [-5.85038047e-01 3.19634998e-02 8.10375727e-01 9.32026064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.1007140569999 meters Centerline goodness : 0.988023 Centerline is valid? [True, True] Translation: X:116.32, Y:180.67, Z:9.31 [[-4.44008424e-02 -9.99012998e-01 1.26283587e-03 1.16322919e+02] [ 8.09337363e-01 -3.52296487e-02 5.86286538e-01 1.80671433e+02] [-5.85663383e-01 2.70536764e-02 8.10102771e-01 9.31363843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.130714057 meters Centerline goodness : 0.988116 Centerline is valid? [True, True] Translation: X:116.32, Y:180.66, Z:9.32 [[-3.90972728e-02 -9.99235232e-01 5.94719515e-04 1.16323834e+02] [ 8.07989553e-01 -3.12641846e-02 5.88366751e-01 1.80657400e+02] [-5.87898194e-01 2.34840625e-02 8.08593973e-01 9.32201658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.160714057 meters Centerline goodness : 0.989654 Centerline is valid? [True, True] Translation: X:116.32, Y:180.67, Z:9.32 [[-3.28485018e-02 -9.99289609e-01 1.84730181e-02 1.16317538e+02] [ 8.09109173e-01 -1.57372735e-02 5.87447602e-01 1.80673067e+02] [-5.86739570e-01 3.42434620e-02 8.09051335e-01 9.31809873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.1907140569999 meters Centerline goodness : 0.987796 Centerline is valid? [True, True] Translation: X:116.33, Y:180.69, Z:9.30 [[-2.86958310e-02 -9.99588016e-01 -5.89376053e-04 1.16327462e+02] [ 8.04230950e-01 -2.34377350e-02 5.93854571e-01 1.80687211e+02] [-5.93623726e-01 1.65671559e-02 8.04572185e-01 9.29852297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.2207140569999 meters Centerline goodness : 0.987891 Centerline is valid? [True, True] Translation: X:116.32, Y:180.69, Z:9.30 [[-2.71143858e-02 -9.99562646e-01 1.18036943e-02 1.16324919e+02] [ 8.03337379e-01 -1.47612298e-02 5.95341214e-01 1.80692061e+02] [-5.94906602e-01 2.56246602e-02 8.03386278e-01 9.30028623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.250714057 meters Centerline goodness : 0.989587 Centerline is valid? [True, True] Translation: X:116.32, Y:180.73, Z:9.28 [[-3.05055162e-02 -9.98740246e-01 3.98413746e-02 1.16319985e+02] [ 8.08293878e-01 -1.20120931e-03 5.88778026e-01 1.80725450e+02] [-5.87988452e-01 5.01645168e-02 8.07312270e-01 9.28178680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.280714057 meters Centerline goodness : 0.988639 Centerline is valid? [True, True] Translation: X:116.34, Y:180.73, Z:9.25 [[-3.44441121e-02 -9.99353608e-01 -1.02941855e-02 1.16340065e+02] [ 8.09234645e-01 -3.39328918e-02 5.86504772e-01 1.80732927e+02] [-5.86474971e-01 1.18712246e-02 8.09880350e-01 9.25478320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.3107140569999 meters Centerline goodness : 0.988082 Centerline is valid? [True, True] Translation: X:116.34, Y:180.74, Z:9.26 [[-3.73862495e-02 -9.99290659e-01 4.52190541e-03 1.16338621e+02] [ 8.09275404e-01 -2.76220036e-02 5.86779640e-01 1.80737378e+02] [-5.86238509e-01 2.55969569e-02 8.09734035e-01 9.26017075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.3407140569999 meters Centerline goodness : 0.989602 Centerline is valid? [True, True] Translation: X:116.34, Y:180.74, Z:9.26 [[-3.63813522e-02 -9.99141141e-01 1.98337436e-02 1.16335082e+02] [ 8.09584729e-01 -1.78320078e-02 5.86732125e-01 1.80742959e+02] [-5.85874529e-01 3.74032040e-02 8.09538163e-01 9.26072276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.370714057 meters Centerline goodness : 0.990336 Centerline is valid? [True, True] Translation: X:116.34, Y:180.77, Z:9.25 [[-4.13366919e-02 -9.98539910e-01 3.47753522e-02 1.16335202e+02] [ 8.09150633e-01 -1.30376359e-02 5.87456614e-01 1.80769868e+02] [-5.86145486e-01 5.24220112e-02 8.08508134e-01 9.24734564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.400714057 meters Centerline goodness : 0.989311 Centerline is valid? [True, True] Translation: X:116.35, Y:180.78, Z:9.23 [[-4.33041230e-02 -9.99059144e-01 -2.36199667e-03 1.16349962e+02] [ 8.05399623e-01 -3.63086879e-02 5.91619073e-01 1.80778871e+02] [-5.91148205e-01 2.37171939e-02 8.06214174e-01 9.23102415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.4307140569999 meters Centerline goodness : 0.989441 Centerline is valid? [True, True] Translation: X:116.35, Y:180.80, Z:9.22 [[-5.16529368e-02 -9.98654231e-01 4.65841333e-03 1.16350859e+02] [ 8.06854003e-01 -3.89828772e-02 5.89463276e-01 1.80803573e+02] [-5.88488396e-01 3.42061688e-02 8.07781744e-01 9.21782619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.4607140569999 meters Centerline goodness : 0.990812 Centerline is valid? [True, True] Translation: X:116.35, Y:180.82, Z:9.21 [[-5.61361160e-02 -9.98230437e-01 1.96145746e-02 1.16349267e+02] [ 8.09258845e-01 -3.39854608e-02 5.86468338e-01 1.80818892e+02] [-5.84763934e-01 4.87953226e-02 8.09734622e-01 9.21191906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.490714057 meters Centerline goodness : 0.990889 Centerline is valid? [True, True] Translation: X:116.35, Y:180.84, Z:9.20 [[-5.94802946e-02 -9.97960983e-01 2.31510668e-02 1.16349136e+02] [ 8.10425783e-01 -3.47362026e-02 5.84810608e-01 1.80841017e+02] [-5.82813988e-01 5.35469287e-02 8.10839430e-01 9.19868683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.520714057 meters Centerline goodness : 0.991489 Centerline is valid? [True, True] Translation: X:116.35, Y:180.86, Z:9.18 [[-6.30894988e-02 -9.97639009e-01 2.71315710e-02 1.16349666e+02] [ 8.10330937e-01 -3.53373850e-02 5.84906011e-01 1.80864971e+02] [-5.82566294e-01 5.88869784e-02 8.10647172e-01 9.18075583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.5507140569999 meters Centerline goodness : 0.990877 Centerline is valid? [True, True] Translation: X:116.35, Y:180.88, Z:9.16 [[-6.63809882e-02 -9.97582891e-01 2.05411726e-02 1.16354448e+02] [ 8.09998019e-01 -4.18543413e-02 5.84937111e-01 1.80884572e+02] [-5.82663517e-01 5.54670126e-02 8.10818498e-01 9.16385393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.5807140569999 meters Centerline goodness : 0.990744 Centerline is valid? [True, True] Translation: X:116.35, Y:180.91, Z:9.15 [[-7.03897146e-02 -9.97232983e-01 2.39095165e-02 1.16354848e+02] [ 8.10426675e-01 -4.31962019e-02 5.84245404e-01 1.80909970e+02] [-5.81595987e-01 6.05017772e-02 8.11224779e-01 9.14733296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.610714057 meters Centerline goodness : 0.988513 Centerline is valid? [True, True] Translation: X:116.36, Y:180.93, Z:9.13 [[-6.60585364e-02 -9.97710813e-01 1.44707873e-02 1.16359057e+02] [ 8.05145901e-01 -4.47313152e-02 5.91387511e-01 1.80925536e+02] [-5.89386417e-01 5.07172885e-02 8.06257656e-01 9.13043118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.640714057 meters Centerline goodness : 0.988674 Centerline is valid? [True, True] Translation: X:116.36, Y:180.95, Z:9.11 [[-6.41077563e-02 -9.97703834e-01 2.18461549e-02 1.16358070e+02] [ 8.03125713e-01 -3.85863642e-02 5.94558813e-01 1.80946936e+02] [-5.92350644e-01 5.56610402e-02 8.03755288e-01 9.11426328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.6707140569999 meters Centerline goodness : 0.988674 Centerline is valid? [True, True] Translation: X:116.36, Y:180.97, Z:9.09 [[-6.45855383e-02 -9.97833440e-01 1.25352973e-02 1.16361554e+02] [ 8.02837337e-01 -4.44954052e-02 5.94535424e-01 1.80967719e+02] [-5.92689564e-01 4.84621951e-02 8.03971701e-01 9.09464715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.7007140569999 meters Centerline goodness : 0.988415 Centerline is valid? [True, True] Translation: X:116.36, Y:180.99, Z:9.08 [[-6.45371352e-02 -9.97748026e-01 1.82711560e-02 1.16360434e+02] [ 8.02113642e-01 -4.09730873e-02 5.95764142e-01 1.80992129e+02] [-5.93673870e-01 5.31044544e-02 8.02951588e-01 9.07701867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.730714057 meters Centerline goodness : 0.989887 Centerline is valid? [True, True] Translation: X:116.35, Y:181.02, Z:9.06 [[-6.86590977e-02 -9.97034074e-01 3.47704406e-02 1.16354162e+02] [ 8.06699535e-01 -3.49790311e-02 5.89925696e-01 1.81024333e+02] [-5.86959784e-01 6.85530643e-02 8.06708553e-01 9.05821217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.760714057 meters Centerline goodness : 0.990270 Centerline is valid? [True, True] Translation: X:116.36, Y:181.05, Z:9.04 [[-6.91531104e-02 -9.97256758e-01 2.63970950e-02 1.16355999e+02] [ 8.07229868e-01 -4.03892272e-02 5.88853675e-01 1.81046872e+02] [-5.86172149e-01 6.20295867e-02 8.07808482e-01 9.04123149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.790714057 meters Centerline goodness : 0.989065 Centerline is valid? [True, True] Translation: X:116.36, Y:181.07, Z:9.02 [[-6.70329699e-02 -9.97591357e-01 1.78343798e-02 1.16359176e+02] [ 8.02698535e-01 -4.33034879e-02 5.94810785e-01 1.81066109e+02] [-5.92605807e-01 5.41875640e-02 8.03667883e-01 9.02431473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.8207140569999 meters Centerline goodness : 0.987884 Centerline is valid? [True, True] Translation: X:116.37, Y:181.07, Z:9.02 [[-6.72571739e-02 -9.97735151e-01 1.01992162e-03 1.16366158e+02] [ 8.02785035e-01 -5.35085480e-02 5.93862798e-01 1.81067175e+02] [-5.92463214e-01 4.07603113e-02 8.04565682e-01 9.01576824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.8507140569999 meters Centerline goodness : 0.988508 Centerline is valid? [True, True] Translation: X:116.36, Y:181.06, Z:9.02 [[-6.68857867e-02 -9.97754776e-01 3.42032065e-03 1.16364616e+02] [ 8.02857774e-01 -5.17846544e-02 5.93917288e-01 1.81062501e+02] [-5.92406690e-01 4.24706560e-02 8.04518836e-01 9.02071080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.880714057 meters Centerline goodness : 0.988589 Centerline is valid? [True, True] Translation: X:116.36, Y:181.07, Z:9.01 [[-6.65665475e-02 -9.97749364e-01 8.06852018e-03 1.16362286e+02] [ 8.02391911e-01 -4.87229185e-02 5.94805261e-01 1.81072127e+02] [-5.93073450e-01 4.60682480e-02 8.03829335e-01 9.01499496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.910714057 meters Centerline goodness : 0.988600 Centerline is valid? [True, True] Translation: X:116.36, Y:181.07, Z:9.01 [[-6.65132377e-02 -9.97780360e-01 3.21600807e-03 1.16363470e+02] [ 8.05494170e-01 -5.17924602e-02 5.90336077e-01 1.81072648e+02] [-5.88859178e-01 4.18556396e-02 8.07151147e-01 9.01447091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.9407140569999 meters Centerline goodness : 0.990844 Centerline is valid? [True, True] Translation: X:116.35, Y:181.11, Z:9.00 [[-8.51291941e-02 -9.96363745e-01 -3.50815406e-03 1.16353713e+02] [ 8.18901200e-01 -7.19716634e-02 5.69403991e-01 1.81114056e+02] [-5.67585981e-01 4.56000713e-02 8.22050356e-01 8.99530692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.9707140569999 meters Centerline goodness : 0.988686 Centerline is valid? [True, True] Translation: X:116.35, Y:181.09, Z:9.01 [[-5.60215044e-02 -9.97832514e-01 3.45234113e-02 1.16351078e+02] [ 7.97031976e-01 -2.38689872e-02 6.03465244e-01 1.81087910e+02] [-6.01333202e-01 6.13232935e-02 7.96641597e-01 9.00771757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.000714057 meters Centerline goodness : 0.989150 Centerline is valid? [True, True] Translation: X:116.36, Y:181.11, Z:8.99 [[-5.49751268e-02 -9.98426278e-01 1.10770948e-02 1.16356506e+02] [ 7.99482516e-01 -3.73694573e-02 5.99525838e-01 1.81105315e+02] [-5.98168406e-01 4.18149526e-02 8.00278744e-01 8.99380787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.030714057 meters Centerline goodness : 0.990789 Centerline is valid? [True, True] Translation: X:116.34, Y:181.15, Z:8.98 [[-5.68812746e-02 -9.96445126e-01 6.21420310e-02 1.16337842e+02] [ 8.05719994e-01 -9.06038010e-03 5.92227323e-01 1.81146679e+02] [-5.89558998e-01 8.37557218e-02 8.03371126e-01 8.98026805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.0607140569999 meters Centerline goodness : 0.989542 Centerline is valid? [True, True] Translation: X:116.36, Y:181.15, Z:8.96 [[-5.25893716e-02 -9.98507429e-01 -1.47401809e-02 1.16362888e+02] [ 8.01426282e-01 -5.10065249e-02 5.95914632e-01 1.81146742e+02] [-5.95777033e-01 1.95256076e-02 8.02912497e-01 8.96025824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.0907140569999 meters Centerline goodness : 0.991471 Centerline is valid? [True, True] Translation: X:116.34, Y:181.19, Z:8.95 [[-5.46030358e-02 -9.97574360e-01 4.31729601e-02 1.16341568e+02] [ 8.08177439e-01 -1.87611108e-02 5.88640169e-01 1.81188813e+02] [-5.86402367e-01 6.70329525e-02 8.07241505e-01 8.95238669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.120714057 meters Centerline goodness : 0.990281 Centerline is valid? [True, True] Translation: X:116.35, Y:181.20, Z:8.93 [[-4.86002591e-02 -9.98745620e-01 1.20499701e-02 1.16352445e+02] [ 8.02496853e-01 -3.18620896e-02 5.95805009e-01 1.81203473e+02] [-5.94673705e-01 3.86263409e-02 8.03038723e-01 8.93111331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.150714057 meters Centerline goodness : 0.990630 Centerline is valid? [True, True] Translation: X:116.35, Y:181.20, Z:8.93 [[-4.17608474e-02 -9.99112730e-01 5.45750625e-03 1.16353998e+02] [ 8.03332779e-01 -3.03288742e-02 5.94757602e-01 1.81198125e+02] [-5.94064371e-01 2.92217751e-02 8.03886566e-01 8.93295964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.1807140569999 meters Centerline goodness : 0.991432 Centerline is valid? [True, True] Translation: X:116.34, Y:181.22, Z:8.93 [[-3.81686779e-02 -9.98748266e-01 3.23272930e-02 1.16343503e+02] [ 8.03567993e-01 -1.14473918e-02 5.95102880e-01 1.81222049e+02] [-5.93987906e-01 4.86914682e-02 8.02999071e-01 8.92669473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.2107140569999 meters Centerline goodness : 0.990512 Centerline is valid? [True, True] Translation: X:116.34, Y:181.25, Z:8.91 [[-3.26438804e-02 -9.97942377e-01 5.51850409e-02 1.16336872e+02] [ 8.01650281e-01 6.83217517e-03 5.97754255e-01 1.81248681e+02] [-5.96901336e-01 6.37521219e-02 7.99777758e-01 8.90965536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.240714057 meters Centerline goodness : 0.990530 Centerline is valid? [True, True] Translation: X:116.34, Y:181.27, Z:8.89 [[-3.12341659e-02 -9.98209947e-01 5.10032178e-02 1.16339855e+02] [ 8.00895922e-01 5.53419521e-03 5.98778001e-01 1.81271431e+02] [-5.97988419e-01 5.95506006e-02 7.99289420e-01 8.88654459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.270714057 meters Centerline goodness : 0.990529 Centerline is valid? [True, True] Translation: X:116.34, Y:181.30, Z:8.87 [[-3.20398841e-02 -9.98095117e-01 5.27217554e-02 1.16340775e+02] [ 8.02029574e-01 5.80251051e-03 5.97256138e-01 1.81295924e+02] [-5.96424353e-01 6.14204244e-02 8.00315889e-01 8.86773613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.3007140569999 meters Centerline goodness : 0.989928 Centerline is valid? [True, True] Translation: X:116.36, Y:181.29, Z:8.85 [[-3.06277692e-02 -9.99426296e-01 1.44574738e-02 1.16357070e+02] [ 8.02127054e-01 -1.59462598e-02 5.96940454e-01 1.81289725e+02] [-5.96367444e-01 2.98796853e-02 8.02155269e-01 8.85396178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.3307140569999 meters Centerline goodness : 0.990881 Centerline is valid? [True, True] Translation: X:116.36, Y:181.30, Z:8.86 [[-4.64536057e-02 -9.98562696e-01 -2.67321066e-02 1.16356655e+02] [ 8.14066337e-01 -5.33526079e-02 5.78316089e-01 1.81299198e+02] [-5.78911100e-01 5.10315948e-03 8.15374697e-01 8.85975377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.360714057 meters Centerline goodness : 0.991403 Centerline is valid? [True, True] Translation: X:116.35, Y:181.31, Z:8.87 [[-4.52183214e-02 -9.98977097e-01 -2.52997064e-04 1.16347306e+02] [ 8.15336926e-01 -3.70522498e-02 5.77799989e-01 1.81307687e+02] [-5.77218330e-01 2.59208678e-02 8.16178356e-01 8.86660668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.390714057 meters Centerline goodness : 0.990014 Centerline is valid? [True, True] Translation: X:116.31, Y:181.37, Z:8.84 [[-2.84635336e-02 -9.88321390e-01 1.49701897e-01 1.16313552e+02] [ 8.00511954e-01 6.71527252e-02 5.95542713e-01 1.81369116e+02] [-5.98640492e-01 1.36789408e-01 7.89251683e-01 8.84061502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.4207140569999 meters Centerline goodness : 0.990370 Centerline is valid? [True, True] Translation: X:116.37, Y:181.34, Z:8.80 [[-2.25582499e-02 -9.99634970e-01 1.48678259e-02 1.16366337e+02] [ 8.02780515e-01 -9.24845831e-03 5.96202911e-01 1.81343893e+02] [-5.95847775e-01 2.53848952e-02 8.02696105e-01 8.79525846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.4507140569999 meters Centerline goodness : 0.991491 Centerline is valid? [True, True] Translation: X:116.37, Y:181.34, Z:8.82 [[-4.28546964e-02 -9.97486421e-01 -5.64297381e-02 1.16371270e+02] [ 8.17988459e-01 -6.74605614e-02 5.71265222e-01 1.81340727e+02] [-5.73636083e-01 -2.16774768e-02 8.18823382e-01 8.81675854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.480714057 meters Centerline goodness : 0.989744 Centerline is valid? [True, True] Translation: X:116.33, Y:181.40, Z:8.81 [[-2.54027146e-02 -9.93552919e-01 1.10486643e-01 1.16328823e+02] [ 8.06166978e-01 4.49955896e-02 5.89974745e-01 1.81403429e+02] [-5.91142542e-01 1.04057643e-01 7.99826545e-01 8.80607475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.510714057 meters Centerline goodness : 0.990398 Centerline is valid? [True, True] Translation: X:116.36, Y:181.41, Z:8.77 [[-2.59975578e-02 -9.98899541e-01 3.90363205e-02 1.16355794e+02] [ 8.06358733e-01 2.12595655e-03 5.91422923e-01 1.81414432e+02] [-5.90855076e-01 4.68528296e-02 8.05416098e-01 8.76808937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.540714057 meters Centerline goodness : 0.990130 Centerline is valid? [True, True] Translation: X:116.36, Y:181.41, Z:8.76 [[-2.31124495e-02 -9.99461243e-01 2.33031935e-02 1.16364692e+02] [ 8.01388736e-01 -4.58627493e-03 5.98126290e-01 1.81411618e+02] [-5.97697171e-01 3.24990805e-02 8.01062983e-01 8.76276334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.5707140569999 meters Centerline goodness : 0.988854 Centerline is valid? [True, True] Translation: X:116.37, Y:181.41, Z:8.76 [[-2.19699260e-02 -9.99584135e-01 1.86783392e-02 1.16367900e+02] [ 8.00972351e-01 -6.41786808e-03 5.98666939e-01 1.81407091e+02] [-5.98298099e-01 2.81135016e-02 8.00780254e-01 8.76316809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.6007140569999 meters Centerline goodness : 0.992299 Centerline is valid? [True, True] Translation: X:116.38, Y:181.45, Z:8.74 [[-5.76180054e-02 -9.97310202e-01 -4.53048121e-02 1.16377622e+02] [ 8.31788944e-01 -7.30521253e-02 5.50264063e-01 1.81447709e+02] [-5.52093577e-01 -5.97892410e-03 8.33760718e-01 8.74130753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.630714057 meters Centerline goodness : 0.991865 Centerline is valid? [True, True] Translation: X:116.37, Y:181.46, Z:8.75 [[-5.88649571e-02 -9.98207504e-01 -1.08025743e-02 1.16367083e+02] [ 8.33412302e-01 -5.50978595e-02 5.49898319e-01 1.81462270e+02] [-5.49507828e-01 2.33667427e-02 8.35161747e-01 8.74604787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.660714057 meters Centerline goodness : 0.990004 Centerline is valid? [True, True] Translation: X:116.35, Y:181.45, Z:8.76 [[-2.85855799e-02 -9.96596698e-01 7.73167936e-02 1.16350427e+02] [ 8.05492514e-01 2.28366079e-02 5.92165770e-01 1.81449661e+02] [-5.91916105e-01 7.92055004e-02 8.02098382e-01 8.75969686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.6907140569999 meters Centerline goodness : 0.990100 Centerline is valid? [True, True] Translation: X:116.38, Y:181.45, Z:8.73 [[-3.65902451e-02 -9.99325645e-01 -3.06760215e-03 1.16381884e+02] [ 8.14158895e-01 -3.15901175e-02 5.79782164e-01 1.81454867e+02] [-5.79488091e-01 1.87168559e-02 8.14765753e-01 8.72953455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.7207140569999 meters Centerline goodness : 0.990177 Centerline is valid? [True, True] Translation: X:116.38, Y:181.45, Z:8.74 [[-4.17285949e-02 -9.99033793e-01 1.37914917e-02 1.16377284e+02] [ 8.16415869e-01 -2.61372076e-02 5.76872581e-01 1.81454916e+02] [-5.75954732e-01 3.53316749e-02 8.16717711e-01 8.73868054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.750714057 meters Centerline goodness : 0.989733 Centerline is valid? [True, True] Translation: X:116.37, Y:181.46, Z:8.74 [[-4.03527626e-02 -9.98673791e-01 3.19736531e-02 1.16371988e+02] [ 8.13659414e-01 -1.42703085e-02 5.81166686e-01 1.81459495e+02] [-5.79939664e-01 4.94673451e-02 8.13156177e-01 8.74001798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.780714057 meters Centerline goodness : 0.990124 Centerline is valid? [True, True] Translation: X:116.38, Y:181.47, Z:8.73 [[-4.55776848e-02 -9.98960140e-01 1.14635039e-03 1.16383738e+02] [ 8.18517684e-01 -3.66870778e-02 5.73308695e-01 1.81469156e+02] [-5.72670478e-01 2.70683911e-02 8.19338652e-01 8.72581842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.8107140569999 meters Centerline goodness : 0.988959 Centerline is valid? [True, True] Translation: X:116.38, Y:181.48, Z:8.72 [[-4.85572378e-02 -9.98820304e-01 -4.42025486e-04 1.16384853e+02] [ 8.18477937e-01 -4.00436100e-02 5.73140799e-01 1.81477231e+02] [-5.72482368e-01 2.74683460e-02 8.19456789e-01 8.72389408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.8407140569999 meters Centerline goodness : 0.988886 Centerline is valid? [True, True] Translation: X:116.38, Y:181.48, Z:8.73 [[-5.03212584e-02 -9.98651896e-01 1.27343070e-02 1.16380009e+02] [ 8.23247252e-01 -3.42571452e-02 5.66648401e-01 1.81483461e+02] [-5.65448259e-01 3.89979439e-02 8.23861291e-01 8.72859191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.870714057 meters Centerline goodness : 0.987550 Centerline is valid? [True, True] Translation: X:116.39, Y:181.48, Z:8.72 [[-5.21925366e-02 -9.98635683e-01 -1.64664261e-03 1.16387247e+02] [ 8.21386061e-01 -4.38664880e-02 5.68683277e-01 1.81484048e+02] [-5.67979645e-01 2.83284935e-02 8.22554934e-01 8.72368507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.900714057 meters Centerline goodness : 0.988362 Centerline is valid? [True, True] Translation: X:116.38, Y:181.50, Z:8.72 [[-5.34095668e-02 -9.98362784e-01 2.04736214e-02 1.16379292e+02] [ 8.24222661e-01 -3.25001833e-02 5.65332418e-01 1.81499863e+02] [-5.63741450e-01 4.70689822e-02 8.24609052e-01 8.72181598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.9307140569999 meters Centerline goodness : 0.987668 Centerline is valid? [True, True] Translation: X:116.39, Y:181.51, Z:8.71 [[-5.57191292e-02 -9.98446265e-01 -6.58957760e-04 1.16388747e+02] [ 8.21449887e-01 -4.62168359e-02 5.68404862e-01 1.81506367e+02] [-5.67552167e-01 3.11297232e-02 8.22748733e-01 8.70900496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.9607140569999 meters Centerline goodness : 0.989039 Centerline is valid? [True, True] Translation: X:116.38, Y:181.52, Z:8.71 [[-5.93844110e-02 -9.98175960e-01 1.08740216e-02 1.16383657e+02] [ 8.26633245e-01 -4.30663708e-02 5.61090693e-01 1.81516597e+02] [-5.59598937e-01 4.23088681e-02 8.27682904e-01 8.71046654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.990714057 meters Centerline goodness : 0.988979 Centerline is valid? [True, True] Translation: X:116.38, Y:181.52, Z:8.71 [[-5.97388059e-02 -9.98138822e-01 1.22542885e-02 1.16383616e+02] [ 8.26262746e-01 -4.25562266e-02 5.61675033e-01 1.81516401e+02] [-5.60108160e-01 4.36790578e-02 8.27267181e-01 8.71052785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.020714057 meters Centerline goodness : 0.989047 Centerline is valid? [True, True] Translation: X:116.38, Y:181.52, Z:8.71 [[-6.21166486e-02 -9.97996502e-01 1.20209598e-02 1.16384219e+02] [ 8.26286154e-01 -4.46661258e-02 5.61476740e-01 1.81518703e+02] [-5.59814893e-01 4.48098060e-02 8.27405201e-01 8.70838976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.0507140569999 meters Centerline goodness : 0.989180 Centerline is valid? [True, True] Translation: X:116.39, Y:181.53, Z:8.70 [[-6.42839952e-02 -9.97896810e-01 8.33820183e-03 1.16385436e+02] [ 8.27613840e-01 -4.86420196e-02 5.59186272e-01 1.81527833e+02] [-5.57604609e-01 4.28475389e-02 8.29000113e-01 8.70241783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.0807140569999 meters Centerline goodness : 0.987564 Centerline is valid? [True, True] Translation: X:116.39, Y:181.53, Z:8.70 [[-6.73936359e-02 -9.97725449e-01 -1.42336536e-03 1.16389595e+02] [ 8.25207563e-01 -5.65422668e-02 5.61992393e-01 1.81531541e+02] [-5.60794593e-01 3.67001389e-02 8.27141175e-01 8.69643803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.110714057 meters Centerline goodness : 0.987246 Centerline is valid? [True, True] Translation: X:116.39, Y:181.54, Z:8.70 [[-6.84660099e-02 -9.97651968e-01 1.71946445e-03 1.16387906e+02] [ 8.26663929e-01 -5.57665500e-02 5.59925745e-01 1.81535060e+02] [-5.58515133e-01 3.97573008e-02 8.28541009e-01 8.69621214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.140714057 meters Centerline goodness : 0.987850 Centerline is valid? [True, True] Translation: X:116.39, Y:181.54, Z:8.69 [[-6.90131991e-02 -9.97610045e-01 3.37285746e-03 1.16386601e+02] [ 8.27138731e-01 -5.53293950e-02 5.59267537e-01 1.81541794e+02] [-5.57744295e-01 4.13866629e-02 8.28980365e-01 8.69288969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.1707140569999 meters Centerline goodness : 0.987869 Centerline is valid? [True, True] Translation: X:116.39, Y:181.54, Z:8.69 [[-7.01718350e-02 -9.97532797e-01 2.05745125e-03 1.16385559e+02] [ 8.28408547e-01 -5.71254686e-02 5.57203697e-01 1.81542577e+02] [-5.55711429e-01 4.08044160e-02 8.30373294e-01 8.69476212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.2007140569999 meters Centerline goodness : 0.989149 Centerline is valid? [True, True] Translation: X:116.38, Y:181.55, Z:8.69 [[-6.95529760e-02 -9.97526158e-01 1.01955234e-02 1.16380447e+02] [ 8.31221181e-01 -5.23003089e-02 5.53476310e-01 1.81554365e+02] [-5.51573868e-01 4.69706595e-02 8.32802513e-01 8.69127767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.230714057 meters Centerline goodness : 0.987978 Centerline is valid? [True, True] Translation: X:116.38, Y:181.57, Z:8.68 [[-6.76875627e-02 -9.97691950e-01 5.40058487e-03 1.16381103e+02] [ 8.25500957e-01 -5.29637473e-02 5.61910146e-01 1.81574919e+02] [-5.60327194e-01 4.24925163e-02 8.27180646e-01 8.67520469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.260714057 meters Centerline goodness : 0.987551 Centerline is valid? [True, True] Translation: X:116.38, Y:181.58, Z:8.67 [[-6.69837765e-02 -9.97725106e-01 7.60173636e-03 1.16379110e+02] [ 8.25550329e-01 -5.11425989e-02 5.62006307e-01 1.81577689e+02] [-5.60339029e-01 4.39209208e-02 8.27098014e-01 8.67428821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.290714057 meters Centerline goodness : 0.990261 Centerline is valid? [True, True] Translation: X:116.37, Y:181.59, Z:8.67 [[-6.60093728e-02 -9.97755723e-01 1.12374430e-02 1.16374453e+02] [ 8.29920516e-01 -4.86464251e-02 5.55756657e-01 1.81586117e+02] [-5.53962724e-01 4.60113329e-02 8.31269065e-01 8.67295971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.3207140569999 meters Centerline goodness : 0.988774 Centerline is valid? [True, True] Translation: X:116.37, Y:181.61, Z:8.66 [[-6.17835295e-02 -9.97842007e-01 2.22288966e-02 1.16369975e+02] [ 8.24302082e-01 -3.84554489e-02 5.64842683e-01 1.81606752e+02] [-5.62768935e-01 5.32213003e-02 8.24899157e-01 8.65983977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.3507140569999 meters Centerline goodness : 0.989196 Centerline is valid? [True, True] Translation: X:116.37, Y:181.63, Z:8.64 [[-6.21198592e-02 -9.98035254e-01 8.17039629e-03 1.16372112e+02] [ 8.24825864e-01 -4.67262398e-02 5.63452706e-01 1.81627147e+02] [-5.61963893e-01 4.17407569e-02 8.26107918e-01 8.64245588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.380714057 meters Centerline goodness : 0.989189 Centerline is valid? [True, True] Translation: X:116.37, Y:181.65, Z:8.63 [[-6.42473543e-02 -9.97931894e-01 2.05258009e-03 1.16373091e+02] [ 8.25553592e-01 -5.19937700e-02 5.61923407e-01 1.81650695e+02] [-5.60654568e-01 3.77966071e-02 8.27186721e-01 8.62609287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.410714057 meters Centerline goodness : 0.989207 Centerline is valid? [True, True] Translation: X:116.37, Y:181.68, Z:8.62 [[-6.53843591e-02 -9.97710038e-01 1.73079648e-02 1.16365529e+02] [ 8.26608110e-01 -4.44388784e-02 5.61020694e-01 1.81676231e+02] [-5.58966831e-01 5.09888826e-02 8.27620816e-01 8.61580469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.4407140569999 meters Centerline goodness : 0.988022 Centerline is valid? [True, True] Translation: X:116.36, Y:181.70, Z:8.60 [[-6.62119900e-02 -9.97655720e-01 1.72927068e-02 1.16364419e+02] [ 8.26776188e-01 -4.51520484e-02 5.60715995e-01 1.81697702e+02] [-5.58620718e-01 5.14233201e-02 8.27827600e-01 8.59972906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.4707140569999 meters Centerline goodness : 0.988933 Centerline is valid? [True, True] Translation: X:116.37, Y:181.72, Z:8.58 [[-6.93827661e-02 -9.97588861e-01 1.57984266e-03 1.16367901e+02] [ 8.27000084e-01 -5.66324295e-02 5.59342140e-01 1.81718875e+02] [-5.57904018e-01 4.01152349e-02 8.28935386e-01 8.57931998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.500714057 meters Centerline goodness : 0.989959 Centerline is valid? [True, True] Translation: X:116.36, Y:181.72, Z:8.59 [[-6.58350944e-02 -9.97355560e-01 3.07835557e-02 1.16355383e+02] [ 8.25754974e-01 -3.71367201e-02 5.62805106e-01 1.81723349e+02] [-5.60173602e-01 6.24720015e-02 8.26016214e-01 8.58522395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.530714057 meters Centerline goodness : 0.988280 Centerline is valid? [True, True] Translation: X:116.36, Y:181.74, Z:8.57 [[-6.38663816e-02 -9.97673276e-01 2.38562169e-02 1.16357552e+02] [ 8.20079584e-01 -3.88456810e-02 5.70929496e-01 1.81742108e+02] [-5.68674389e-01 5.60271975e-02 8.20652419e-01 8.56745381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.5607140569999 meters Centerline goodness : 0.990338 Centerline is valid? [True, True] Translation: X:116.35, Y:181.77, Z:8.55 [[-6.73731969e-02 -9.97192188e-01 3.26893203e-02 1.16351697e+02] [ 8.25879726e-01 -3.73557880e-02 5.62607521e-01 1.81772395e+02] [-5.59806690e-01 6.49021142e-02 8.26077590e-01 8.55167752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.5907140569999 meters Centerline goodness : 0.990338 Centerline is valid? [True, True] Translation: X:116.35, Y:181.80, Z:8.53 [[-6.83893092e-02 -9.97171269e-01 3.11827264e-02 1.16351984e+02] [ 8.25924836e-01 -3.90569424e-02 5.62425747e-01 1.81795977e+02] [-5.59616894e-01 6.42184965e-02 8.26259594e-01 8.53470466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.620714057 meters Centerline goodness : 0.989137 Centerline is valid? [True, True] Translation: X:116.36, Y:181.81, Z:8.52 [[-6.64540904e-02 -9.97716897e-01 1.20352838e-02 1.16356670e+02] [ 8.20951191e-01 -4.78167465e-02 5.68992708e-01 1.81810897e+02] [-5.67118150e-01 4.76922734e-02 8.22254493e-01 8.51886321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.650714057 meters Centerline goodness : 0.987973 Centerline is valid? [True, True] Translation: X:116.35, Y:181.83, Z:8.51 [[-6.60325898e-02 -9.97718375e-01 1.40620694e-02 1.16352343e+02] [ 8.22458448e-01 -4.64428729e-02 5.66926063e-01 1.81833703e+02] [-5.64979467e-01 4.90010639e-02 8.23648650e-01 8.50870553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.6807140569999 meters Centerline goodness : 0.988983 Centerline is valid? [True, True] Translation: X:116.35, Y:181.86, Z:8.49 [[-6.62697626e-02 -9.97734184e-01 1.16110341e-02 1.16352701e+02] [ 8.21530147e-01 -4.79545145e-02 5.68144861e-01 1.81857056e+02] [-5.66300748e-01 4.71896396e-02 8.22846645e-01 8.49062850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.7107140569999 meters Centerline goodness : 0.990411 Centerline is valid? [True, True] Translation: X:116.35, Y:181.88, Z:8.48 [[-6.77744941e-02 -9.97685075e-01 5.57756279e-03 1.16350501e+02] [ 8.29242790e-01 -5.32216450e-02 5.56348678e-01 1.81875027e+02] [-5.54763925e-01 4.23314039e-02 8.30930225e-01 8.48264879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.740714057 meters Centerline goodness : 0.989036 Centerline is valid? [True, True] Translation: X:116.35, Y:181.89, Z:8.47 [[-6.46748031e-02 -9.97883124e-01 6.81472005e-03 1.16348235e+02] [ 8.25336380e-01 -4.96506045e-02 5.62454155e-01 1.81894150e+02] [-5.60925155e-01 4.20010481e-02 8.26800389e-01 8.47188157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.770714057 meters Centerline goodness : 0.989792 Centerline is valid? [True, True] Translation: X:116.34, Y:181.92, Z:8.45 [[-6.16393442e-02 -9.97542726e-01 3.33031670e-02 1.16338767e+02] [ 8.23880018e-01 -3.20171962e-02 5.65859183e-01 1.81921295e+02] [-5.63402438e-01 6.23170028e-02 8.23829038e-01 8.45492037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.8007140569999 meters Centerline goodness : 0.989922 Centerline is valid? [True, True] Translation: X:116.35, Y:181.92, Z:8.45 [[-6.54633650e-02 -9.97826379e-01 -7.55420154e-03 1.16352008e+02] [ 8.29520032e-01 -5.86261414e-02 5.55391296e-01 1.81920961e+02] [-5.54626959e-01 3.00914216e-02 8.31554834e-01 8.44522174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.8307140569999 meters Centerline goodness : 0.989033 Centerline is valid? [True, True] Translation: X:116.35, Y:181.93, Z:8.44 [[-6.81766995e-02 -9.97633785e-01 -8.87514759e-03 1.16350144e+02] [ 8.36353967e-01 -6.20006073e-02 5.44672348e-01 1.81934974e+02] [-5.43933801e-01 2.97111981e-02 8.38601971e-01 8.44257349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.860714057 meters Centerline goodness : 0.989874 Centerline is valid? [True, True] Translation: X:116.35, Y:181.94, Z:8.44 [[-6.75830811e-02 -9.97706303e-01 -3.82895459e-03 1.16347654e+02] [ 8.36782423e-01 -5.87715148e-02 5.44372194e-01 1.81941143e+02] [-5.43348602e-01 3.35863482e-02 8.38835058e-01 8.44068085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.890714057 meters Centerline goodness : 0.982036 Centerline is valid? [True, True] Translation: X:116.32, Y:182.77, Z:7.84 [[-9.00488263e-02 -9.95503623e-01 2.93895400e-02 1.16317388e+02] [ 8.05600554e-01 -5.54570901e-02 5.89857829e-01 1.82770509e+02] [-5.85575747e-01 7.67922349e-02 8.06972117e-01 7.83554034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.9207140569999 meters Centerline goodness : 0.982215 Centerline is valid? [True, True] Translation: X:116.33, Y:182.77, Z:7.82 [[-8.68516832e-02 -9.96219417e-01 -1.91266217e-03 1.16329392e+02] [ 8.03591524e-01 -7.11926335e-02 5.90908006e-01 1.82768884e+02] [-5.88810197e-01 4.97843558e-02 8.06736680e-01 7.82169809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.9507140569999 meters Centerline goodness : 0.987229 Centerline is valid? [True, True] Translation: X:116.35, Y:181.95, Z:8.42 [[-4.34366231e-02 -9.98862794e-01 -1.96565288e-02 1.16349420e+02] [ 8.08405603e-01 -4.67013855e-02 5.86770280e-01 1.81951188e+02] [-5.87020989e-01 9.59687146e-03 8.09514829e-01 8.42159520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.980714057 meters Centerline goodness : 0.987490 Centerline is valid? [True, True] Translation: X:116.33, Y:181.98, Z:8.42 [[-4.07420275e-02 -9.98539121e-01 3.54924114e-02 1.16328398e+02] [ 8.10145693e-01 -1.22226907e-02 5.86101153e-01 1.81984266e+02] [-5.84811117e-01 5.26329735e-02 8.09460146e-01 8.42225527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.010714057 meters Centerline goodness : 0.986755 Centerline is valid? [True, True] Translation: X:116.33, Y:182.01, Z:8.40 [[-4.12297115e-02 -9.98910009e-01 2.18838927e-02 1.16332802e+02] [ 8.10509605e-01 -2.06295653e-02 5.85361941e-01 1.82005441e+02] [-5.84272446e-01 4.18714092e-02 8.10476708e-01 8.40315098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.040714057 meters Centerline goodness : 0.987502 Centerline is valid? [True, True] Translation: X:116.33, Y:182.03, Z:8.39 [[-4.10943263e-02 -9.98939988e-01 2.07402193e-02 1.16332453e+02] [ 8.11592217e-01 -2.12654658e-02 5.83837180e-01 1.82026771e+02] [-5.82777255e-01 4.08249961e-02 8.11605810e-01 8.39015403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.0707140569999 meters Centerline goodness : 0.989398 Centerline is valid? [True, True] Translation: X:116.33, Y:182.04, Z:8.38 [[-4.86252225e-02 -9.98799878e-01 -5.86437186e-03 1.16333899e+02] [ 8.13166605e-01 -4.29959276e-02 5.80440714e-01 1.82041264e+02] [-5.79996258e-01 2.34553475e-02 8.14281393e-01 8.37840366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.1007140569999 meters Centerline goodness : 0.989115 Centerline is valid? [True, True] Translation: X:116.33, Y:182.06, Z:8.36 [[-5.00587652e-02 -9.98743121e-01 2.50954872e-03 1.16330341e+02] [ 8.11932809e-01 -3.92320246e-02 5.82431079e-01 1.82062436e+02] [-5.81600579e-01 3.11933656e-02 8.12876214e-01 8.36269512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.130714057 meters Centerline goodness : 0.989414 Centerline is valid? [True, True] Translation: X:116.33, Y:182.08, Z:8.35 [[-5.17317818e-02 -9.98660486e-01 1.02798597e-03 1.16330066e+02] [ 8.11947181e-01 -4.14604596e-02 5.82256649e-01 1.82084169e+02] [-5.81434087e-01 3.09558442e-02 8.13004390e-01 8.34608488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.160714057 meters Centerline goodness : 0.987988 Centerline is valid? [True, True] Translation: X:116.33, Y:182.12, Z:8.33 [[-4.45764259e-02 -9.98497528e-01 3.18689464e-02 1.16328397e+02] [ 8.10242046e-01 -1.74740089e-02 5.85834863e-01 1.82119250e+02] [-5.84397784e-01 5.19359846e-02 8.09803608e-01 8.32638315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.1907140569999 meters Centerline goodness : 0.986639 Centerline is valid? [True, True] Translation: X:116.33, Y:182.14, Z:8.31 [[-4.51710002e-02 -9.98409379e-01 3.37385814e-02 1.16329676e+02] [ 8.09767249e-01 -1.68167239e-02 5.86510188e-01 1.82140664e+02] [-5.85009900e-01 5.38136501e-02 8.09238845e-01 8.30800908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.2207140569999 meters Centerline goodness : 0.986582 Centerline is valid? [True, True] Translation: X:116.33, Y:182.16, Z:8.29 [[-4.68010570e-02 -9.98536782e-01 2.70916388e-02 1.16333795e+02] [ 8.08726875e-01 -2.19576306e-02 5.87774365e-01 1.82161898e+02] [-5.86319455e-01 4.94181980e-02 8.08571171e-01 8.28765257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.250714057 meters Centerline goodness : 0.985632 Centerline is valid? [True, True] Translation: X:116.34, Y:182.18, Z:8.27 [[-4.86625543e-02 -9.98669048e-01 1.70905906e-02 1.16336819e+02] [ 8.09852391e-01 -2.94353756e-02 5.85894754e-01 1.82182881e+02] [-5.84611889e-01 4.23519910e-02 8.10206917e-01 8.27078404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.280714057 meters Centerline goodness : 0.986234 Centerline is valid? [True, True] Translation: X:116.34, Y:182.20, Z:8.26 [[-5.06724610e-02 -9.98701236e-01 5.30497669e-03 1.16340265e+02] [ 8.10740536e-01 -3.80326112e-02 5.84168900e-01 1.82202824e+02] [-5.83208440e-01 3.39022354e-02 8.11614782e-01 8.25621754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.3107140569999 meters Centerline goodness : 0.982964 Centerline is valid? [True, True] Translation: X:116.33, Y:182.23, Z:8.25 [[-5.01108985e-02 -9.98196642e-01 3.30509116e-02 1.16331630e+02] [ 8.10443068e-01 -2.13014493e-02 5.85429998e-01 1.82226296e+02] [-5.83670226e-01 5.61223054e-02 8.10048983e-01 8.24819983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.3407140569999 meters Centerline goodness : 0.985225 Centerline is valid? [True, True] Translation: X:116.34, Y:182.25, Z:8.22 [[-5.19715750e-02 -9.98643242e-01 3.26045933e-03 1.16343560e+02] [ 8.08495158e-01 -4.01589359e-02 5.87131024e-01 1.82246700e+02] [-5.86203492e-01 3.31501896e-02 8.09485349e-01 8.21936404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.370714057 meters Centerline goodness : 0.984891 Centerline is valid? [True, True] Translation: X:116.34, Y:182.27, Z:8.21 [[-5.11500285e-02 -9.98299990e-01 2.79428992e-02 1.16335336e+02] [ 8.08185998e-01 -2.49395598e-02 5.88399023e-01 1.82273072e+02] [-5.86701855e-01 5.26796867e-02 8.08087733e-01 8.20756176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.400714057 meters Centerline goodness : 0.986437 Centerline is valid? [True, True] Translation: X:116.34, Y:182.29, Z:8.19 [[-5.26451204e-02 -9.98419766e-01 1.96586559e-02 1.16338990e+02] [ 8.07025310e-01 -3.09420200e-02 5.89705639e-01 1.82294670e+02] [-5.88165488e-01 4.69101573e-02 8.07378967e-01 8.18596326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.4307140569999 meters Centerline goodness : 0.987019 Centerline is valid? [True, True] Translation: X:116.34, Y:182.32, Z:8.17 [[-5.42902156e-02 -9.98102801e-01 2.90408539e-02 1.16335022e+02] [ 8.06682892e-01 -2.67004741e-02 5.90381061e-01 1.82318299e+02] [-5.88485586e-01 5.54786751e-02 8.06602028e-01 8.17011861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.4607140569999 meters Centerline goodness : 0.986775 Centerline is valid? [True, True] Translation: X:116.34, Y:182.34, Z:8.15 [[-5.60115678e-02 -9.98149496e-01 2.36704182e-02 1.16337341e+02] [ 8.06709500e-01 -3.12745489e-02 5.90120060e-01 1.82339302e+02] [-5.88287759e-01 5.21487010e-02 8.06968417e-01 8.15236456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.490714057 meters Centerline goodness : 0.987058 Centerline is valid? [True, True] Translation: X:116.34, Y:182.36, Z:8.14 [[-5.85039836e-02 -9.98124259e-01 1.80346119e-02 1.16338276e+02] [ 8.06928379e-01 -3.66456532e-02 5.89511397e-01 1.82360941e+02] [-5.87744736e-01 4.90414052e-02 8.07558707e-01 8.13555511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.520714057 meters Centerline goodness : 0.985244 Centerline is valid? [True, True] Translation: X:116.33, Y:182.39, Z:8.12 [[-5.96087348e-02 -9.97730276e-01 3.13224529e-02 1.16333452e+02] [ 8.05631150e-01 -2.95568807e-02 5.91679678e-01 1.82386419e+02] [-5.89410934e-01 6.05036207e-02 8.05564438e-01 8.11889166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.5507140569999 meters Centerline goodness : 0.986144 Centerline is valid? [True, True] Translation: X:116.34, Y:182.41, Z:8.10 [[-6.24824527e-02 -9.97954049e-01 1.35520670e-02 1.16338211e+02] [ 8.06311503e-01 -4.24719800e-02 5.89964314e-01 1.82405043e+02] [-5.88181693e-01 4.77896049e-02 8.07315582e-01 8.10068679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.5807140569999 meters Centerline goodness : 0.985124 Centerline is valid? [True, True] Translation: X:116.34, Y:182.43, Z:8.09 [[-6.59307108e-02 -9.97721162e-01 1.43396400e-02 1.16336063e+02] [ 8.06983538e-01 -4.48630868e-02 5.88867449e-01 1.82427587e+02] [-5.86882195e-01 5.03963029e-02 8.08102408e-01 8.08774263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.610714057 meters Centerline goodness : 0.985344 Centerline is valid? [True, True] Translation: X:116.34, Y:182.45, Z:8.07 [[-7.10876946e-02 -9.97455260e-01 5.43536720e-03 1.16337199e+02] [ 8.08272486e-01 -5.44099893e-02 5.86289298e-01 1.82449508e+02] [-5.84501606e-01 4.60712124e-02 8.10083524e-01 8.07108222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.640714057 meters Centerline goodness : 0.986754 Centerline is valid? [True, True] Translation: X:116.33, Y:182.47, Z:8.06 [[-7.36206462e-02 -9.97157156e-01 1.60501340e-02 1.16333106e+02] [ 8.07746101e-01 -5.01817467e-02 5.87390865e-01 1.82474756e+02] [-5.84915580e-01 5.62085282e-02 8.09144218e-01 8.05628551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.6707140569999 meters Centerline goodness : 0.986655 Centerline is valid? [True, True] Translation: X:116.33, Y:182.50, Z:8.04 [[-7.75149453e-02 -9.96929975e-01 1.10479811e-02 1.16333916e+02] [ 8.08061113e-01 -5.63312239e-02 5.86399208e-01 1.82495956e+02] [-5.83976601e-01 5.43821465e-02 8.09946857e-01 8.03907798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.7007140569999 meters Centerline goodness : 0.987229 Centerline is valid? [True, True] Translation: X:116.33, Y:182.52, Z:8.02 [[-7.96719302e-02 -9.96786359e-01 8.32693057e-03 1.16333144e+02] [ 8.08422879e-01 -5.97245923e-02 5.85564191e-01 1.82518140e+02] [-5.83185075e-01 5.33847105e-02 8.10583272e-01 8.02304904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.730714057 meters Centerline goodness : 0.986640 Centerline is valid? [True, True] Translation: X:116.33, Y:182.54, Z:8.01 [[-7.98642022e-02 -9.96560926e-01 2.20913951e-02 1.16326598e+02] [ 8.07865184e-01 -5.17277023e-02 5.87092914e-01 1.82543828e+02] [-5.83931121e-01 6.47345761e-02 8.09218068e-01 8.00878416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.760714057 meters Centerline goodness : 0.986931 Centerline is valid? [True, True] Translation: X:116.32, Y:182.57, Z:7.99 [[-7.86056878e-02 -9.96600755e-01 2.46592938e-02 1.16324777e+02] [ 8.07784573e-01 -4.91781984e-02 5.87422836e-01 1.82565244e+02] [-5.84213342e-01 6.60941731e-02 8.08904402e-01 7.99185596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.790714057 meters Centerline goodness : 0.986385 Centerline is valid? [True, True] Translation: X:116.33, Y:182.59, Z:7.97 [[-7.65839783e-02 -9.96937860e-01 1.58050169e-02 1.16325501e+02] [ 8.06529431e-01 -5.26216245e-02 5.88847384e-01 1.82586562e+02] [-5.86212564e-01 5.78434865e-02 8.08089698e-01 7.97136685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.8207140569999 meters Centerline goodness : 0.986349 Centerline is valid? [True, True] Translation: X:116.32, Y:182.61, Z:7.95 [[-7.15393827e-02 -9.97090491e-01 2.63186152e-02 1.16319108e+02] [ 8.05461219e-01 -4.21868216e-02 5.91145073e-01 1.82611907e+02] [-5.88314832e-01 6.34887774e-02 8.06135741e-01 7.95372497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.8507140569999 meters Centerline goodness : 0.985347 Centerline is valid? [True, True] Translation: X:116.32, Y:182.63, Z:7.94 [[-6.88255813e-02 -9.97143989e-01 3.10951054e-02 1.16316496e+02] [ 8.04782368e-01 -3.70744158e-02 5.92411030e-01 1.82633651e+02] [-5.89566265e-01 6.57978260e-02 8.05035568e-01 7.93745366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.880714057 meters Centerline goodness : 0.985627 Centerline is valid? [True, True] Translation: X:116.31, Y:182.66, Z:7.92 [[-6.46302494e-02 -9.97493138e-01 2.88161463e-02 1.16314302e+02] [ 8.03833520e-01 -3.49276844e-02 5.93828030e-01 1.82657715e+02] [-5.91332904e-01 6.15426380e-02 8.04075805e-01 7.91628562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.910714057 meters Centerline goodness : 0.985612 Centerline is valid? [True, True] Translation: X:116.31, Y:182.68, Z:7.90 [[-6.23077389e-02 -9.97719141e-01 2.59665294e-02 1.16313449e+02] [ 8.03830777e-01 -3.47440955e-02 5.93842513e-01 1.82678672e+02] [-5.91585858e-01 5.78736797e-02 8.04162179e-01 7.89971773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.9407140569999 meters Centerline goodness : 0.985321 Centerline is valid? [True, True] Translation: X:116.31, Y:182.70, Z:7.88 [[-5.91511787e-02 -9.97687638e-01 3.34740989e-02 1.16308390e+02] [ 8.02982926e-01 -2.76321043e-02 5.95361141e-01 1.82703749e+02] [-5.93059491e-01 6.20954431e-02 8.02760610e-01 7.88141339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.9707140569999 meters Centerline goodness : 0.985442 Centerline is valid? [True, True] Translation: X:116.32, Y:182.70, Z:7.87 [[-5.62812788e-02 -9.98317463e-01 1.39520783e-02 1.16315748e+02] [ 8.00807949e-01 -3.67919853e-02 5.97790079e-01 1.82703853e+02] [-5.96270950e-01 4.48173253e-02 8.01531260e-01 7.86876686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.000714057 meters Centerline goodness : 0.985155 Centerline is valid? [True, True] Translation: X:116.31, Y:182.73, Z:7.86 [[-5.87095798e-02 -9.98161654e-01 1.50498694e-02 1.16311349e+02] [ 8.02535565e-01 -3.82264325e-02 5.95378372e-01 1.82728155e+02] [-5.93708558e-01 4.70324695e-02 8.03304485e-01 7.85667523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.030714057 meters Centerline goodness : 0.986066 Centerline is valid? [True, True] Translation: X:116.31, Y:182.74, Z:7.84 [[-5.84855428e-02 -9.98248051e-01 8.95940177e-03 1.16312500e+02] [ 8.03408774e-01 -4.17393694e-02 5.93963102e-01 1.82742112e+02] [-5.92548549e-01 4.19363165e-02 8.04442392e-01 7.84441582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.0607140569999 meters Centerline goodness : 0.986611 Centerline is valid? [True, True] Translation: X:116.31, Y:182.77, Z:7.83 [[-6.31232270e-02 -9.97941936e-01 1.12849401e-02 1.16308016e+02] [ 8.05661150e-01 -4.42808322e-02 5.90719324e-01 1.82767705e+02] [-5.89003880e-01 4.63799478e-02 8.06798197e-01 7.83177950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.0907140569999 meters Centerline goodness : 0.986638 Centerline is valid? [True, True] Translation: X:116.31, Y:182.77, Z:7.83 [[-6.48794597e-02 -9.97881572e-01 4.79830378e-03 1.16309306e+02] [ 8.08033948e-01 -4.97133493e-02 5.87034686e-01 1.82771689e+02] [-5.85552556e-01 4.19636856e-02 8.09547561e-01 7.82773516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.120714057 meters Centerline goodness : 0.986085 Centerline is valid? [True, True] Translation: X:116.31, Y:182.78, Z:7.82 [[-7.21963098e-02 -9.97373262e-01 -5.85393418e-03 1.16310129e+02] [ 8.14319791e-01 -6.23326851e-02 5.77059715e-01 1.82779804e+02] [-5.75908822e-01 3.68946076e-02 8.16680976e-01 7.82337213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.150714057 meters Centerline goodness : 0.987404 Centerline is valid? [True, True] Translation: X:116.31, Y:182.79, Z:7.82 [[-7.29517106e-02 -9.97332661e-01 2.36866675e-03 1.16306083e+02] [ 8.14796550e-01 -5.82298377e-02 5.76815280e-01 1.82786571e+02] [-5.75138792e-01 4.40096429e-02 8.16871178e-01 7.82267047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.1807140569999 meters Centerline goodness : 0.987395 Centerline is valid? [True, True] Translation: X:116.30, Y:182.80, Z:7.82 [[-7.58893617e-02 -9.97114864e-01 1.65904121e-03 1.16304285e+02] [ 8.17316700e-01 -6.12518585e-02 5.72923749e-01 1.82796320e+02] [-5.71169166e-01 4.48347797e-02 8.19606995e-01 7.81968207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.2107140569999 meters Centerline goodness : 0.987811 Centerline is valid? [True, True] Translation: X:116.30, Y:182.80, Z:7.82 [[-7.70167792e-02 -9.97023240e-01 -3.61591863e-03 1.16304548e+02] [ 8.19849344e-01 -6.53936702e-02 5.68832770e-01 1.82797139e+02] [-5.67375950e-01 4.08451594e-02 8.22445259e-01 7.82015340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.240714057 meters Centerline goodness : 0.988016 Centerline is valid? [True, True] Translation: X:116.30, Y:182.80, Z:7.82 [[-7.66020636e-02 -9.97048034e-01 5.22895888e-03 1.16299663e+02] [ 8.19481764e-01 -5.99707341e-02 5.69958902e-01 1.82804596e+02] [-5.67962818e-01 4.79450645e-02 8.21656563e-01 7.82073112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.270714057 meters Centerline goodness : 0.987523 Centerline is valid? [True, True] Translation: X:116.30, Y:182.81, Z:7.81 [[-7.50172323e-02 -9.97179379e-01 -2.38776962e-03 1.16300733e+02] [ 8.18678093e-01 -6.29554565e-02 5.70791373e-01 1.82812075e+02] [-5.69331709e-01 4.08643743e-02 8.21091656e-01 7.81234882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.3007140569999 meters Centerline goodness : 0.988556 Centerline is valid? [True, True] Translation: X:116.30, Y:182.81, Z:7.81 [[-7.27009068e-02 -9.97352607e-01 1.53460648e-03 1.16298048e+02] [ 8.19963716e-01 -5.88942512e-02 5.69377705e-01 1.82812430e+02] [-5.67779959e-01 4.26525971e-02 8.22074616e-01 7.81434677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.3307140569999 meters Centerline goodness : 0.988432 Centerline is valid? [True, True] Translation: X:116.30, Y:182.83, Z:7.80 [[-7.28548042e-02 -9.97339755e-01 -2.36464675e-03 1.16297563e+02] [ 8.22364141e-01 -6.14140873e-02 5.65637278e-01 1.82827909e+02] [-5.64277766e-01 3.92647924e-02 8.24650762e-01 7.80400680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.360714057 meters Centerline goodness : 0.988998 Centerline is valid? [True, True] Translation: X:116.29, Y:182.83, Z:7.81 [[-6.85098544e-02 -9.97537902e-01 1.49844626e-02 1.16290589e+02] [ 8.20067514e-01 -4.77550829e-02 5.70270747e-01 1.82826934e+02] [-5.68151101e-01 5.13574369e-02 8.21320121e-01 7.81101056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.390714057 meters Centerline goodness : 0.988184 Centerline is valid? [True, True] Translation: X:116.29, Y:182.83, Z:7.80 [[-6.87454305e-02 -9.97590257e-01 9.36718773e-03 1.16291755e+02] [ 8.19972301e-01 -5.11522567e-02 5.70113035e-01 1.82833393e+02] [-5.68260056e-01 4.68735005e-02 8.21512863e-01 7.80350844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.4207140569999 meters Centerline goodness : 0.988473 Centerline is valid? [True, True] Translation: X:116.30, Y:182.84, Z:7.79 [[-6.58915207e-02 -9.97826297e-01 -9.94637335e-04 1.16295064e+02] [ 8.18004489e-01 -5.45877623e-02 5.72615781e-01 1.82839628e+02] [-5.71425379e-01 3.69169067e-02 8.19823261e-01 7.78932931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.4507140569999 meters Centerline goodness : 0.989328 Centerline is valid? [True, True] Translation: X:116.29, Y:182.86, Z:7.77 [[-6.55929045e-02 -9.97838567e-01 -3.97056145e-03 1.16294899e+02] [ 8.18735934e-01 -5.60933828e-02 5.71423663e-01 1.82862367e+02] [-5.70411292e-01 3.42304964e-02 8.20645619e-01 7.77450534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.480714057 meters Centerline goodness : 0.989328 Centerline is valid? [True, True] Translation: X:116.29, Y:182.87, Z:7.77 [[-6.48848040e-02 -9.97888261e-01 2.99683160e-03 1.16292240e+02] [ 8.18951019e-01 -5.15334779e-02 5.71544862e-01 1.82868988e+02] [-5.70183471e-01 3.95388346e-02 8.20565348e-01 7.77330525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.510714057 meters Centerline goodness : 0.989036 Centerline is valid? [True, True] Translation: X:116.28, Y:182.89, Z:7.76 [[-6.07083281e-02 -9.97949609e-01 2.02750410e-02 1.16284522e+02] [ 8.18339034e-01 -3.81310609e-02 5.73469482e-01 1.82894719e+02] [-5.71520537e-01 5.14062309e-02 8.18975992e-01 7.75860220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.540714057 meters Centerline goodness : 0.988367 Centerline is valid? [True, True] Translation: X:116.28, Y:182.92, Z:7.74 [[-5.81019787e-02 -9.98117126e-01 1.96561382e-02 1.16284343e+02] [ 8.18026511e-01 -3.63140612e-02 5.74033028e-01 1.82916339e+02] [-5.72238401e-01 4.94316969e-02 8.18596188e-01 7.74034020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.5707140569999 meters Centerline goodness : 0.987358 Centerline is valid? [True, True] Translation: X:116.28, Y:182.93, Z:7.73 [[-5.58246568e-02 -9.98287431e-01 1.74874978e-02 1.16284178e+02] [ 8.18239207e-01 -3.57053038e-02 5.73768012e-01 1.82934223e+02] [-5.72160999e-01 4.63393587e-02 8.18831152e-01 7.72619662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.6007140569999 meters Centerline goodness : 0.988864 Centerline is valid? [True, True] Translation: X:116.29, Y:182.96, Z:7.70 [[-5.26132765e-02 -9.98600008e-01 5.46507970e-03 1.16289434e+02] [ 8.15108786e-01 -3.97827496e-02 5.77940308e-01 1.82956658e+02] [-5.76913781e-01 3.48619677e-02 8.16060741e-01 7.69849227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.630714057 meters Centerline goodness : 0.987948 Centerline is valid? [True, True] Translation: X:116.29, Y:182.96, Z:7.70 [[-5.06036605e-02 -9.98700669e-01 6.02019770e-03 1.16289706e+02] [ 8.14926465e-01 -3.78057234e-02 5.78329996e-01 1.82960951e+02] [-5.77350956e-01 3.41716332e-02 8.15780714e-01 7.69652369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.660714057 meters Centerline goodness : 0.988728 Centerline is valid? [True, True] Translation: X:116.29, Y:182.99, Z:7.68 [[-4.93865103e-02 -9.98697300e-01 1.28325995e-02 1.16287129e+02] [ 8.13996022e-01 -3.28009688e-02 5.79943595e-01 1.82986169e+02] [-5.78767180e-01 3.90870753e-02 8.14555555e-01 7.68149264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.6907140569999 meters Centerline goodness : 0.988349 Centerline is valid? [True, True] Translation: X:116.29, Y:183.01, Z:7.67 [[-4.81924004e-02 -9.98777460e-01 1.10035090e-02 1.16287214e+02] [ 8.13664343e-01 -3.28661245e-02 5.80405164e-01 1.83009279e+02] [-5.79333953e-01 3.69242810e-02 8.14253504e-01 7.66576312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.7207140569999 meters Centerline goodness : 0.988983 Centerline is valid? [True, True] Translation: X:116.29, Y:183.02, Z:7.65 [[-4.74265721e-02 -9.98874721e-01 1.11119733e-04 1.16290541e+02] [ 8.14443497e-01 -3.86053715e-02 5.78957180e-01 1.83022813e+02] [-5.78301401e-01 2.75484552e-02 8.15357941e-01 7.65207156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.750714057 meters Centerline goodness : 0.988373 Centerline is valid? [True, True] Translation: X:116.28, Y:183.05, Z:7.64 [[-4.39554917e-02 -9.98672204e-01 2.68652917e-02 1.16281942e+02] [ 8.13534941e-01 -2.01729189e-02 5.81166029e-01 1.83049953e+02] [-5.79852408e-01 4.74012921e-02 8.13341443e-01 7.64274275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.780714057 meters Centerline goodness : 0.988297 Centerline is valid? [True, True] Translation: X:116.29, Y:183.05, Z:7.63 [[-3.65125128e-02 -9.99023323e-01 2.48844498e-02 1.16286400e+02] [ 8.06354093e-01 -1.47435009e-02 5.91249275e-01 1.83050697e+02] [-5.90304932e-01 4.16536746e-02 8.06104868e-01 7.63303717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.8107140569999 meters Centerline goodness : 0.988104 Centerline is valid? [True, True] Translation: X:116.29, Y:183.07, Z:7.62 [[-3.55875627e-02 -9.98933060e-01 2.94324031e-02 1.16286234e+02] [ 8.06102111e-01 -1.12850136e-02 5.91668857e-01 1.83073596e+02] [-5.90705437e-01 4.47815748e-02 8.05643654e-01 7.61689723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.8407140569999 meters Centerline goodness : 0.988354 Centerline is valid? [True, True] Translation: X:116.29, Y:183.10, Z:7.60 [[-3.55330487e-02 -9.98790647e-01 3.39800909e-02 1.16287207e+02] [ 8.04831938e-01 -8.44310549e-03 5.93442723e-01 1.83099147e+02] [-5.92438144e-01 4.84350916e-02 8.04158621e-01 7.59686148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.870714057 meters Centerline goodness : 0.988194 Centerline is valid? [True, True] Translation: X:116.29, Y:183.12, Z:7.58 [[-3.45600871e-02 -9.98477616e-01 4.29889650e-02 1.16285519e+02] [ 8.04553732e-01 -2.27882361e-03 5.93875491e-01 1.83124150e+02] [-5.92873420e-01 5.51113209e-02 8.03407649e-01 7.57904917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.900714057 meters Centerline goodness : 0.987880 Centerline is valid? [True, True] Translation: X:116.29, Y:183.14, Z:7.56 [[-3.52587084e-02 -9.99094358e-01 2.38177930e-02 1.16293294e+02] [ 8.06907871e-01 -1.43991205e-02 5.90501781e-01 1.83143442e+02] [-5.89624043e-01 4.00390948e-02 8.06684796e-01 7.55850300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.9307140569999 meters Centerline goodness : 0.988881 Centerline is valid? [True, True] Translation: X:116.29, Y:183.17, Z:7.54 [[-3.40158397e-02 -9.98324922e-01 4.68003499e-02 1.16286602e+02] [ 8.06141614e-01 2.71695431e-04 5.91722590e-01 1.83173084e+02] [-5.90744124e-01 5.78556504e-02 8.04782022e-01 7.54316035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.9607140569999 meters Centerline goodness : 0.987658 Centerline is valid? [True, True] Translation: X:116.30, Y:183.18, Z:7.52 [[-3.06551058e-02 -9.99410593e-01 1.54509293e-02 1.16299970e+02] [ 8.05091711e-01 -1.55277405e-02 5.92947069e-01 1.83176879e+02] [-5.92357664e-01 3.06162703e-02 8.05093188e-01 7.52321495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.990714057 meters Centerline goodness : 0.988769 Centerline is valid? [True, True] Translation: X:116.29, Y:183.21, Z:7.51 [[-3.22981885e-02 -9.98923423e-01 3.32989866e-02 1.16292610e+02] [ 8.07667373e-01 -6.45996573e-03 5.89602988e-01 1.83207136e+02] [-5.88753125e-01 4.59376135e-02 8.07006502e-01 7.51409717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.020714057 meters Centerline goodness : 0.988441 Centerline is valid? [True, True] Translation: X:116.30, Y:183.20, Z:7.51 [[-2.78206461e-02 -9.99466648e-01 1.71006353e-02 1.16300740e+02] [ 8.05617155e-01 -1.22904848e-02 5.92308993e-01 1.83204680e+02] [-5.91782909e-01 3.02549840e-02 8.05529407e-01 7.50565192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.0507140569999 meters Centerline goodness : 0.988549 Centerline is valid? [True, True] Translation: X:116.30, Y:183.23, Z:7.50 [[-2.93605961e-02 -9.99412311e-01 1.76914596e-02 1.16298727e+02] [ 8.06208203e-01 -1.32142982e-02 5.91484332e-01 1.83228218e+02] [-5.90902943e-01 3.16293325e-02 8.06122383e-01 7.49636244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.0807140569999 meters Centerline goodness : 0.987256 Centerline is valid? [True, True] Translation: X:116.29, Y:183.25, Z:7.49 [[-2.65668843e-02 -9.98834763e-01 4.02904111e-02 1.16291761e+02] [ 8.06783870e-01 2.37429589e-03 5.90841899e-01 1.83254882e+02] [-5.90249090e-01 4.82024822e-02 8.05780698e-01 7.48680667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.110714057 meters Centerline goodness : 0.987606 Centerline is valid? [True, True] Translation: X:116.30, Y:183.28, Z:7.47 [[-2.74859252e-02 -9.99281927e-01 2.60797623e-02 1.16297570e+02] [ 8.06508565e-01 -6.75455079e-03 5.91183821e-01 1.83277520e+02] [-5.90583151e-01 3.72827860e-02 8.06115088e-01 7.46530399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.140714057 meters Centerline goodness : 0.987329 Centerline is valid? [True, True] Translation: X:116.30, Y:183.27, Z:7.46 [[-2.57734182e-02 -9.99526411e-01 1.68132563e-02 1.16302961e+02] [ 8.06679251e-01 -1.08612458e-02 5.90889684e-01 1.83272229e+02] [-5.90427232e-01 2.87921520e-02 8.06577148e-01 7.46439069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.1707140569999 meters Centerline goodness : 0.987144 Centerline is valid? [True, True] Translation: X:116.31, Y:183.27, Z:7.46 [[-2.60471330e-02 -9.99527134e-01 1.63418014e-02 1.16305138e+02] [ 8.07047566e-01 -1.13788358e-02 5.90376786e-01 1.83273753e+02] [-5.89911666e-01 2.85662337e-02 8.06962327e-01 7.46383407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.2007140569999 meters Centerline goodness : 0.986610 Centerline is valid? [True, True] Translation: X:116.29, Y:183.29, Z:7.45 [[-1.22405295e-02 -9.97593473e-01 6.82453866e-02 1.16293386e+02] [ 7.86986937e-01 3.24919594e-02 6.16113491e-01 1.83291444e+02] [-6.16848224e-01 6.12497832e-02 7.84695312e-01 7.45452964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.230714057 meters Centerline goodness : 0.987256 Centerline is valid? [True, True] Translation: X:116.31, Y:183.29, Z:7.45 [[-2.05068069e-02 -9.99789220e-01 9.93574721e-04 1.16310973e+02] [ 7.96126456e-01 -1.57282877e-02 6.04925853e-01 1.83294042e+02] [-6.04782719e-01 1.31961088e-02 7.96281185e-01 7.44970017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.260714057 meters Centerline goodness : 0.990685 Centerline is valid? [True, True] Translation: X:116.31, Y:183.31, Z:7.46 [[-4.32856711e-02 -9.98057009e-01 -4.48169441e-02 1.16310311e+02] [ 8.08722164e-01 -6.13424373e-02 5.84983390e-01 1.83308039e+02] [-5.86595953e-01 -1.09230574e-02 8.09806072e-01 7.45814333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.290714057 meters Centerline goodness : 0.990757 Centerline is valid? [True, True] Translation: X:116.29, Y:183.34, Z:7.46 [[-4.32586166e-02 -9.99057054e-01 3.70070021e-03 1.16294149e+02] [ 8.10467010e-01 -3.29263447e-02 5.84858172e-01 1.83341936e+02] [-5.84184832e-01 2.82994509e-02 8.11127132e-01 7.45679285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.3207140569999 meters Centerline goodness : 0.991231 Centerline is valid? [True, True] Translation: X:116.30, Y:183.36, Z:7.44 [[-4.66541846e-02 -9.98830229e-01 -1.27106245e-02 1.16302837e+02] [ 8.08904238e-01 -4.52426224e-02 5.86197099e-01 1.83360369e+02] [-5.86086445e-01 1.70668696e-02 8.10068763e-01 7.43510198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.3507140569999 meters Centerline goodness : 0.991308 Centerline is valid? [True, True] Translation: X:116.30, Y:183.38, Z:7.42 [[-4.78036117e-02 -9.98849822e-01 -3.72122282e-03 1.16300474e+02] [ 8.09308455e-01 -4.09154041e-02 5.85957127e-01 1.83384599e+02] [-5.85435428e-01 2.49992499e-02 8.10333510e-01 7.42103772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.380714057 meters Centerline goodness : 0.990802 Centerline is valid? [True, True] Translation: X:116.30, Y:183.41, Z:7.41 [[-5.11355888e-02 -9.98691328e-01 -8.84711409e-04 1.16301959e+02] [ 8.09334665e-01 -4.19590208e-02 5.85847114e-01 1.83407740e+02] [-5.85117554e-01 2.92416095e-02 8.10421111e-01 7.40603077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.410714057 meters Centerline goodness : 0.992471 Centerline is valid? [True, True] Translation: X:116.29, Y:183.44, Z:7.39 [[-5.41025526e-02 -9.97775079e-01 3.89590363e-02 1.16291333e+02] [ 8.14292320e-01 -2.15046963e-02 5.80056520e-01 1.83439899e+02] [-5.77928137e-01 6.31065824e-02 8.13644042e-01 7.39133048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.4407140569999 meters Centerline goodness : 0.991913 Centerline is valid? [True, True] Translation: X:116.32, Y:183.44, Z:7.36 [[-5.72408262e-02 -9.97671156e-01 -3.70911241e-02 1.16318501e+02] [ 8.06994336e-01 -6.81099767e-02 5.86618422e-01 1.83444808e+02] [-5.87778555e-01 3.64619608e-03 8.09013644e-01 7.36021220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.4707140569999 meters Centerline goodness : 0.991312 Centerline is valid? [True, True] Translation: X:116.31, Y:183.47, Z:7.35 [[-5.90601199e-02 -9.98248314e-01 -3.49381202e-03 1.16308282e+02] [ 8.07488984e-01 -4.98312572e-02 5.87774095e-01 1.83474485e+02] [-5.86918600e-01 3.18927938e-02 8.09017556e-01 7.35394069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.500714057 meters Centerline goodness : 0.991065 Centerline is valid? [True, True] Translation: X:116.31, Y:183.50, Z:7.34 [[-5.75926963e-02 -9.98339385e-01 -1.24637260e-03 1.16310824e+02] [ 8.06451873e-01 -4.72588387e-02 5.89408160e-01 1.83498408e+02] [-5.88488283e-01 3.29404657e-02 8.07834431e-01 7.33557276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.530714057 meters Centerline goodness : 0.991113 Centerline is valid? [True, True] Translation: X:116.31, Y:183.52, Z:7.32 [[-5.97182113e-02 -9.98211108e-01 -2.88422110e-03 1.16310012e+02] [ 8.05950368e-01 -4.99205453e-02 5.89874515e-01 1.83519490e+02] [-5.88963275e-01 3.29017118e-02 8.07489776e-01 7.31880639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.5607140569999 meters Centerline goodness : 0.991153 Centerline is valid? [True, True] Translation: X:116.31, Y:183.54, Z:7.30 [[-5.88128973e-02 -9.98266102e-01 -2.41502425e-03 1.16311653e+02] [ 8.04937941e-01 -4.88535507e-02 5.91344436e-01 1.83542058e+02] [-5.90437087e-01 3.28347349e-02 8.06415480e-01 7.30161773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.5907140569999 meters Centerline goodness : 0.989911 Centerline is valid? [True, True] Translation: X:116.31, Y:183.56, Z:7.28 [[-5.71965867e-02 -9.98357515e-01 -3.28981821e-03 1.16313597e+02] [ 8.04208099e-01 -4.80257423e-02 5.92404306e-01 1.83564082e+02] [-5.91589287e-01 3.12378058e-02 8.05634108e-01 7.28360910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.620714057 meters Centerline goodness : 0.990380 Centerline is valid? [True, True] Translation: X:116.31, Y:183.59, Z:7.27 [[-5.59160218e-02 -9.98434760e-01 -1.19493727e-03 1.16313926e+02] [ 8.04107840e-01 -4.57423737e-02 5.92721028e-01 1.83586353e+02] [-5.91847937e-01 3.21817435e-02 8.05406950e-01 7.26681544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.650714057 meters Centerline goodness : 0.990175 Centerline is valid? [True, True] Translation: X:116.32, Y:183.61, Z:7.25 [[-5.40879789e-02 -9.98533685e-01 -2.22959884e-03 1.16315965e+02] [ 8.04028181e-01 -4.48759803e-02 5.92895295e-01 1.83608188e+02] [-5.92125979e-01 3.02758479e-02 8.05276473e-01 7.24890201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.6807140569999 meters Centerline goodness : 0.989454 Centerline is valid? [True, True] Translation: X:116.32, Y:183.63, Z:7.23 [[-5.37667419e-02 -9.98552813e-01 -1.19057962e-03 1.16316385e+02] [ 8.03965491e-01 -4.39963447e-02 5.93046213e-01 1.83630791e+02] [-5.92240345e-01 3.09289777e-02 8.05167543e-01 7.23104435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.7107140569999 meters Centerline goodness : 0.988346 Centerline is valid? [True, True] Translation: X:116.31, Y:183.65, Z:7.21 [[-4.90189781e-02 -9.98543764e-01 2.25275750e-02 1.16313900e+02] [ 8.00098947e-01 -2.57564301e-02 5.99314843e-01 1.83653521e+02] [-5.97861869e-01 4.74020902e-02 8.00196368e-01 7.20955406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.740714057 meters Centerline goodness : 0.985645 Centerline is valid? [True, True] Translation: X:116.30, Y:183.71, Z:7.20 [[-4.23277093e-02 -9.94554547e-01 9.52345479e-02 1.16297391e+02] [ 7.99657763e-01 2.34204988e-02 5.99999119e-01 1.83705035e+02] [-5.98962292e-01 1.01551634e-01 7.94311927e-01 7.19505595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.770714057 meters Centerline goodness : 0.991152 Centerline is valid? [True, True] Translation: X:116.34, Y:183.71, Z:7.16 [[-7.59589769e-02 -9.95121195e-01 -6.29606381e-02 1.16336960e+02] [ 8.32925729e-01 -9.80368378e-02 5.44631535e-01 1.83712118e+02] [-5.48146846e-01 -1.10718812e-02 8.36308824e-01 7.15772391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.8007140569999 meters Centerline goodness : 0.986502 Centerline is valid? [True, True] Translation: X:116.31, Y:183.71, Z:7.18 [[-4.24119694e-02 -9.97699822e-01 5.28799545e-02 1.16311574e+02] [ 8.05591766e-01 -2.84379505e-03 5.92464192e-01 1.83712300e+02] [-5.90951039e-01 6.77272291e-02 8.03859373e-01 7.17690376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.8307140569999 meters Centerline goodness : 0.982043 Centerline is valid? [True, True] Translation: X:116.30, Y:184.60, Z:6.57 [[-9.33509184e-02 -9.94695093e-01 -4.32120098e-02 1.16303443e+02] [ 8.34998310e-01 -1.01854798e-01 5.40743398e-01 1.84598216e+02] [-5.42276156e-01 1.43969377e-02 8.40076960e-01 6.56543693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.860714057 meters Centerline goodness : 0.982058 Centerline is valid? [True, True] Translation: X:116.30, Y:184.49, Z:6.65 [[-8.46768141e-02 -9.96244110e-01 -1.80972299e-02 1.16297866e+02] [ 8.38666010e-01 -8.10668345e-02 5.38579142e-01 1.84485025e+02] [-5.38023384e-01 3.04276343e-02 8.42380554e-01 6.65307266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.890714057 meters Centerline goodness : 0.982811 Centerline is valid? [True, True] Translation: X:116.30, Y:184.49, Z:6.65 [[-7.99035189e-02 -9.96695235e-01 -1.46299909e-02 1.16296925e+02] [ 8.39068226e-01 -7.51756853e-02 5.38807135e-01 1.84491025e+02] [-5.38126324e-01 3.07770256e-02 8.42302104e-01 6.65100698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.9207140569999 meters Centerline goodness : 0.982460 Centerline is valid? [True, True] Translation: X:116.30, Y:184.51, Z:6.64 [[-7.49296498e-02 -9.97129660e-01 -1.08622581e-02 1.16295121e+02] [ 8.38345935e-01 -6.88886670e-02 5.40768383e-01 1.84514195e+02] [-5.39964481e-01 3.14132557e-02 8.41101401e-01 6.63788327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.9507140569999 meters Centerline goodness : 0.990337 Centerline is valid? [True, True] Translation: X:116.31, Y:183.77, Z:7.12 [[-6.68372162e-02 -9.97544522e-01 -2.09216063e-02 1.16313392e+02] [ 8.46532994e-01 -6.77930207e-02 5.28001891e-01 1.83769688e+02] [-5.28123733e-01 1.75793466e-02 8.48985447e-01 7.12216053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.980714057 meters Centerline goodness : 0.981944 Centerline is valid? [True, True] Translation: X:116.29, Y:184.59, Z:6.59 [[-7.61238420e-02 -9.97098281e-01 -4.23787063e-04 1.16294209e+02] [ 8.36108846e-01 -6.40645986e-02 5.44809806e-01 1.84594092e+02] [-5.43256070e-01 4.11186835e-02 8.38559536e-01 6.58892364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.010714057 meters Centerline goodness : 0.982414 Centerline is valid? [True, True] Translation: X:116.30, Y:184.63, Z:6.57 [[-7.38495789e-02 -9.97255196e-01 -5.32109082e-03 1.16296667e+02] [ 8.35266609e-01 -6.47672684e-02 5.46017301e-01 1.84626492e+02] [-5.44863223e-01 3.58786183e-02 8.37757001e-01 6.56500471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.040714057 meters Centerline goodness : 0.987357 Centerline is valid? [True, True] Translation: X:116.31, Y:184.22, Z:6.83 [[-6.15901260e-02 -9.98044743e-01 -1.06464909e-02 1.16307922e+02] [ 8.38037144e-01 -5.75037622e-02 5.42574477e-01 1.84219451e+02] [-5.42125817e-01 2.44950756e-02 8.39940230e-01 6.82607159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.0707140569999 meters Centerline goodness : 0.981866 Centerline is valid? [True, True] Translation: X:116.30, Y:184.24, Z:6.82 [[-6.89277786e-02 -9.97581927e-01 8.90279536e-03 1.16295716e+02] [ 8.38219971e-01 -5.30730405e-02 5.42743524e-01 1.84239864e+02] [-5.40958632e-01 4.48726063e-02 8.39851301e-01 6.81888531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.1007140569999 meters Centerline goodness : 0.987857 Centerline is valid? [True, True] Translation: X:116.30, Y:183.79, Z:7.11 [[-5.04167621e-02 -9.98722222e-01 -3.47466983e-03 1.16302703e+02] [ 8.41668520e-01 -4.43608456e-02 5.38169320e-01 1.83786482e+02] [-5.37635799e-01 2.42082344e-02 8.42829585e-01 7.10597613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.130714057 meters Centerline goodness : 0.987261 Centerline is valid? [True, True] Translation: X:116.30, Y:183.81, Z:7.10 [[-5.52038769e-02 -9.98365207e-01 1.48136602e-02 1.16297764e+02] [ 8.42038593e-01 -3.85765754e-02 5.38036111e-01 1.83812217e+02] [-5.36585073e-01 4.21753528e-02 8.42791611e-01 7.09516958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.160714057 meters Centerline goodness : 0.988037 Centerline is valid? [True, True] Translation: X:116.30, Y:183.83, Z:7.08 [[-6.01969711e-02 -9.98159895e-01 7.29027746e-03 1.16300823e+02] [ 8.42526817e-01 -4.68918164e-02 5.36609467e-01 1.83833763e+02] [-5.35280195e-01 3.84445188e-02 8.43799225e-01 7.07882745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.1907140569999 meters Centerline goodness : 0.982140 Centerline is valid? [True, True] Translation: X:116.29, Y:183.86, Z:7.07 [[-6.41238133e-02 -9.97540504e-01 2.83033621e-02 1.16289810e+02] [ 8.42005944e-01 -3.88591042e-02 5.38066874e-01 1.83855016e+02] [-5.35643657e-01 5.83344989e-02 8.42426827e-01 7.06956813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.2207140569999 meters Centerline goodness : 0.988676 Centerline is valid? [True, True] Translation: X:116.31, Y:183.87, Z:7.04 [[-6.41262439e-02 -9.97789666e-01 -1.74243261e-02 1.16309718e+02] [ 8.41295027e-01 -6.34434033e-02 5.36840397e-01 1.83873774e+02] [-5.36759259e-01 1.97665593e-02 8.43503871e-01 7.04172570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.250714057 meters Centerline goodness : 0.988644 Centerline is valid? [True, True] Translation: X:116.30, Y:183.90, Z:7.04 [[-6.51479144e-02 -9.97778457e-01 1.39248110e-02 1.16297484e+02] [ 8.42492450e-01 -4.75200266e-02 5.36608162e-01 1.83904237e+02] [-5.34754356e-01 4.66904507e-02 8.43716647e-01 7.03594452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.280714057 meters Centerline goodness : 0.981217 Centerline is valid? [True, True] Translation: X:116.29, Y:183.92, Z:7.02 [[-6.96378557e-02 -9.97253229e-01 2.52302735e-02 1.16288803e+02] [ 8.41128475e-01 -4.51003670e-02 5.38951617e-01 1.83922781e+02] [-5.36333346e-01 5.87533364e-02 8.41958780e-01 7.02449569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.3107140569999 meters Centerline goodness : 0.981258 Centerline is valid? [True, True] Translation: X:116.30, Y:183.94, Z:7.00 [[-7.00944254e-02 -9.97539805e-01 1.05348014e-03 1.16298595e+02] [ 8.40200478e-01 -5.84692690e-02 5.39114554e-01 1.83940912e+02] [-5.37726630e-01 3.86740594e-02 8.42231790e-01 7.00197649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.3407140569999 meters Centerline goodness : 0.988875 Centerline is valid? [True, True] Translation: X:116.31, Y:183.97, Z:6.98 [[-6.90448840e-02 -9.97531657e-01 -1.27826760e-02 1.16306858e+02] [ 8.40736081e-01 -6.50801053e-02 5.37519694e-01 1.83967234e+02] [-5.37024809e-01 2.63661280e-02 8.43154305e-01 6.98365337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.370714057 meters Centerline goodness : 0.988140 Centerline is valid? [True, True] Translation: X:116.30, Y:184.00, Z:6.98 [[-7.13418410e-02 -9.97381839e-01 1.18240592e-02 1.16295437e+02] [ 8.41446550e-01 -5.38139877e-02 5.37653938e-01 1.83995014e+02] [-5.35609974e-01 4.83065356e-02 8.43082697e-01 6.97680551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.400714057 meters Centerline goodness : 0.988140 Centerline is valid? [True, True] Translation: X:116.30, Y:184.02, Z:6.96 [[-7.16101832e-02 -9.97384539e-01 9.80118247e-03 1.16296385e+02] [ 8.41394192e-01 -5.51274326e-02 5.37602808e-01 1.84017751e+02] [-5.35656415e-01 4.67444936e-02 8.43141244e-01 6.96146981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.4307140569999 meters Centerline goodness : 0.978779 Centerline is valid? [True, True] Translation: X:116.29, Y:184.04, Z:6.95 [[-7.56200986e-02 -9.96650119e-01 3.11470845e-02 1.16285004e+02] [ 8.41176852e-01 -4.69878847e-02 5.38714806e-01 1.84039658e+02] [-5.35446640e-01 6.69378732e-02 8.41912238e-01 6.95249446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.4607140569999 meters Centerline goodness : 0.988431 Centerline is valid? [True, True] Translation: X:116.31, Y:184.06, Z:6.92 [[-7.43665117e-02 -9.96999112e-01 -2.15033234e-02 1.16307913e+02] [ 8.40362993e-01 -7.42631227e-02 5.36912497e-01 1.84057193e+02] [-5.36898187e-01 2.18577123e-02 8.43363847e-01 6.92162105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.490714057 meters Centerline goodness : 0.989317 Centerline is valid? [True, True] Translation: X:116.30, Y:184.09, Z:6.92 [[-7.55571983e-02 -9.97103575e-01 8.69313471e-03 1.16295213e+02] [ 8.41938191e-01 -5.91233918e-02 5.36325002e-01 1.84086613e+02] [-5.34257609e-01 4.78422967e-02 8.43966778e-01 6.91644340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.520714057 meters Centerline goodness : 0.988620 Centerline is valid? [True, True] Translation: X:116.30, Y:184.11, Z:6.90 [[-7.46663302e-02 -9.97162758e-01 9.55890726e-03 1.16295907e+02] [ 8.41979915e-01 -5.79045135e-02 5.36392478e-01 1.84111460e+02] [-5.34317099e-01 4.80988658e-02 8.43914532e-01 6.90099749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.5507140569999 meters Centerline goodness : 0.980824 Centerline is valid? [True, True] Translation: X:116.28, Y:184.13, Z:6.89 [[-7.64545364e-02 -9.96689709e-01 2.76464636e-02 1.16284087e+02] [ 8.41802254e-01 -4.96641275e-02 5.37496456e-01 1.84131752e+02] [-5.34344149e-01 6.43668977e-02 8.42812692e-01 6.89241555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.5807140569999 meters Centerline goodness : 0.989296 Centerline is valid? [True, True] Translation: X:116.30, Y:184.15, Z:6.86 [[-7.22828739e-02 -9.97297132e-01 -1.31763844e-02 1.16301074e+02] [ 8.41364078e-01 -6.80649094e-02 5.36165698e-01 1.84153310e+02] [-5.35613363e-01 2.76694611e-02 8.44009909e-01 6.86371162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.610714057 meters Centerline goodness : 0.989289 Centerline is valid? [True, True] Translation: X:116.29, Y:184.18, Z:6.86 [[-7.42418577e-02 -9.97164713e-01 1.22752645e-02 1.16285154e+02] [ 8.43524319e-01 -5.62275279e-02 5.34139671e-01 1.84177325e+02] [-5.31935024e-01 5.00100056e-02 8.45307122e-01 6.86277855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.640714057 meters Centerline goodness : 0.988760 Centerline is valid? [True, True] Translation: X:116.29, Y:184.20, Z:6.84 [[-7.17198807e-02 -9.97418718e-01 3.48701858e-03 1.16286738e+02] [ 8.43438324e-01 -5.87809564e-02 5.34000555e-01 1.84198469e+02] [-5.32417179e-01 4.12395412e-02 8.45476935e-01 6.84474878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.6707140569999 meters Centerline goodness : 0.989183 Centerline is valid? [True, True] Translation: X:116.28, Y:184.22, Z:6.83 [[-7.10964452e-02 -9.97446209e-01 6.80856154e-03 1.16284087e+02] [ 8.43224863e-01 -5.64546860e-02 5.34588346e-01 1.84222680e+02] [-5.32838743e-01 4.37484794e-02 8.45085170e-01 6.83031840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.7007140569999 meters Centerline goodness : 0.988994 Centerline is valid? [True, True] Translation: X:116.29, Y:184.24, Z:6.81 [[-6.91312452e-02 -9.97593297e-01 -5.33704294e-03 1.16287118e+02] [ 8.42445859e-01 -6.12435862e-02 5.35288892e-01 1.84244005e+02] [-5.34327471e-01 3.25090180e-02 8.44652188e-01 6.81178649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.730714057 meters Centerline goodness : 0.989267 Centerline is valid? [True, True] Translation: X:116.29, Y:184.27, Z:6.80 [[-6.82428050e-02 -9.97666574e-01 -2.08002232e-03 1.16285609e+02] [ 8.42462707e-01 -5.87430312e-02 5.35542570e-01 1.84269183e+02] [-5.34415108e-01 3.47945859e-02 8.44505672e-01 6.79738073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.760714057 meters Centerline goodness : 0.980692 Centerline is valid? [True, True] Translation: X:116.27, Y:184.30, Z:6.79 [[-6.91703993e-02 -9.96920084e-01 3.69567475e-02 1.16267053e+02] [ 8.42481849e-01 -3.85349758e-02 5.37344759e-01 1.84296249e+02] [-5.34265655e-01 6.83037405e-02 8.42552556e-01 6.79475314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.790714057 meters Centerline goodness : 0.988436 Centerline is valid? [True, True] Translation: X:116.29, Y:184.32, Z:6.76 [[-6.46290287e-02 -9.97782655e-01 -1.59016503e-02 1.16291092e+02] [ 8.42106434e-01 -6.30814685e-02 5.35609449e-01 1.84318108e+02] [-5.35424918e-01 2.12250364e-02 8.44316087e-01 6.76309345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.8207140569999 meters Centerline goodness : 0.989544 Centerline is valid? [True, True] Translation: X:116.28, Y:184.33, Z:6.77 [[-6.62744701e-02 -9.97787930e-01 -5.19052899e-03 1.16284059e+02] [ 8.46283160e-01 -5.89655813e-02 5.29459983e-01 1.84327473e+02] [-5.28594843e-01 3.06970226e-02 8.48319035e-01 6.76684376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.8507140569999 meters Centerline goodness : 0.988170 Centerline is valid? [True, True] Translation: X:116.28, Y:184.34, Z:6.76 [[-6.73224987e-02 -9.97721754e-01 4.35700456e-03 1.16279352e+02] [ 8.47884577e-01 -5.49092267e-02 5.27329803e-01 1.84343033e+02] [-5.25889176e-01 3.91953969e-02 8.49649513e-01 6.76264946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.880714057 meters Centerline goodness : 0.988201 Centerline is valid? [True, True] Translation: X:116.28, Y:184.35, Z:6.76 [[-6.61552311e-02 -9.97805031e-01 2.93360341e-03 1.16279701e+02] [ 8.47545086e-01 -5.46408175e-02 5.27903124e-01 1.84348231e+02] [-5.26584099e-01 3.74099143e-02 8.49299526e-01 6.75750710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.910714057 meters Centerline goodness : 0.989701 Centerline is valid? [True, True] Translation: X:116.28, Y:184.35, Z:6.76 [[-6.54417050e-02 -9.97837565e-01 6.13000826e-03 1.16278170e+02] [ 8.47180842e-01 -5.23130061e-02 5.28722962e-01 1.84347593e+02] [-5.27258954e-01 3.97937577e-02 8.48772321e-01 6.75854696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.9407140569999 meters Centerline goodness : 0.989492 Centerline is valid? [True, True] Translation: X:116.28, Y:184.36, Z:6.75 [[-6.69015147e-02 -9.97758998e-01 -1.08090705e-03 1.16279800e+02] [ 8.48892952e-01 -5.74889972e-02 5.25429132e-01 1.84356137e+02] [-5.24313784e-01 3.42344304e-02 8.50836682e-01 6.75248022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.9707140569999 meters Centerline goodness : 0.988921 Centerline is valid? [True, True] Translation: X:116.28, Y:184.35, Z:6.75 [[-6.47710271e-02 -9.97894830e-01 3.25918386e-03 1.16278136e+02] [ 8.47297053e-01 -5.32701564e-02 5.28441098e-01 1.84353206e+02] [-5.27155023e-01 3.69891696e-02 8.48963712e-01 6.75371894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.000714057 meters Centerline goodness : 0.990039 Centerline is valid? [True, True] Translation: X:116.27, Y:184.36, Z:6.75 [[-6.39375011e-02 -9.97906298e-01 9.74760440e-03 1.16274730e+02] [ 8.46884849e-01 -4.90890665e-02 5.29505728e-01 1.84361433e+02] [-5.27918600e-01 4.21103716e-02 8.48250357e-01 6.75016565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.030714057 meters Centerline goodness : 0.989189 Centerline is valid? [True, True] Translation: X:116.28, Y:184.38, Z:6.73 [[-6.42974514e-02 -9.97906991e-01 6.89018576e-03 1.16275506e+02] [ 8.45690499e-01 -5.08217148e-02 5.31248278e-01 1.84383185e+02] [-5.29786200e-01 3.99848750e-02 8.47188168e-01 6.73453743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.0607140569999 meters Centerline goodness : 0.989060 Centerline is valid? [True, True] Translation: X:116.27, Y:184.41, Z:6.72 [[-6.41559655e-02 -9.97874993e-01 1.13803075e-02 1.16273210e+02] [ 8.45547504e-01 -4.82985157e-02 5.31711079e-01 1.84407009e+02] [-5.30031537e-01 4.37350283e-02 8.46849348e-01 6.71944178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.0907140569999 meters Centerline goodness : 0.989461 Centerline is valid? [True, True] Translation: X:116.27, Y:184.43, Z:6.70 [[-6.61523077e-02 -9.97695230e-01 1.51030037e-02 1.16271209e+02] [ 8.45774286e-01 -4.80352856e-02 5.31374132e-01 1.84432455e+02] [-5.29423960e-01 4.79253573e-02 8.47002616e-01 6.70384287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.120714057 meters Centerline goodness : 0.989349 Centerline is valid? [True, True] Translation: X:116.28, Y:184.46, Z:6.68 [[-6.80186855e-02 -9.97682582e-01 1.71009012e-03 1.16275532e+02] [ 8.45025423e-01 -5.66996405e-02 5.31711563e-01 1.84455435e+02] [-5.30382403e-01 3.76113912e-02 8.46923780e-01 6.68425717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.150714057 meters Centerline goodness : 0.987954 Centerline is valid? [True, True] Translation: X:116.26, Y:184.93, Z:6.39 [[-8.83297517e-02 -9.96088391e-01 -2.40264520e-03 1.16264323e+02] [ 8.45713814e-01 -7.62690027e-02 5.28158295e-01 1.84930563e+02] [-5.26275593e-01 4.46201408e-02 8.49142534e-01 6.39042138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.1807140569999 meters Centerline goodness : 0.988526 Centerline is valid? [True, True] Translation: X:116.28, Y:184.48, Z:6.67 [[-6.90397950e-02 -9.97595168e-01 -6.11454596e-03 1.16276361e+02] [ 8.45057537e-01 -6.17384989e-02 5.31098971e-01 1.84475252e+02] [-5.30199270e-01 3.14998209e-02 8.47287729e-01 6.66975160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.2107140569999 meters Centerline goodness : 0.989372 Centerline is valid? [True, True] Translation: X:116.27, Y:184.50, Z:6.66 [[-7.34179472e-02 -9.97298200e-01 -2.47100926e-03 1.16273462e+02] [ 8.44919670e-01 -6.35162505e-02 5.31108687e-01 1.84502496e+02] [-5.29830686e-01 3.69051052e-02 8.47300099e-01 6.65765498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.240714057 meters Centerline goodness : 0.989102 Centerline is valid? [True, True] Translation: X:116.27, Y:184.50, Z:6.66 [[-7.19878874e-02 -9.97285808e-01 1.54519317e-02 1.16267171e+02] [ 8.43363085e-01 -5.25915292e-02 5.34764282e-01 1.84499847e+02] [-5.32500189e-01 5.15281397e-02 8.44859989e-01 6.66391226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.270714057 meters Centerline goodness : 0.989463 Centerline is valid? [True, True] Translation: X:116.27, Y:184.52, Z:6.65 [[-7.24372863e-02 -9.97336388e-01 8.54218410e-03 1.16267590e+02] [ 8.43886344e-01 -5.67225392e-02 5.33515128e-01 1.84522460e+02] [-5.31609516e-01 4.58550206e-02 8.45747385e-01 6.64810493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.3007140569999 meters Centerline goodness : 0.988789 Centerline is valid? [True, True] Translation: X:116.26, Y:184.55, Z:6.64 [[-7.01794352e-02 -9.97463561e-01 1.18866247e-02 1.16263934e+02] [ 8.44768284e-01 -5.30904869e-02 5.32492203e-01 1.84546137e+02] [-5.30510503e-01 4.74114457e-02 8.46351441e-01 6.63563191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.3307140569999 meters Centerline goodness : 0.988687 Centerline is valid? [True, True] Translation: X:116.26, Y:184.57, Z:6.62 [[-6.91475917e-02 -9.97586879e-01 6.24740264e-03 1.16264592e+02] [ 8.44598586e-01 -5.52081526e-02 5.32546044e-01 1.84568544e+02] [-5.30916039e-01 4.21008239e-02 8.46377977e-01 6.61980102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.360714057 meters Centerline goodness : 0.988949 Centerline is valid? [True, True] Translation: X:116.26, Y:184.59, Z:6.61 [[-6.91378260e-02 -9.97606239e-01 -1.32432894e-03 1.16264136e+02] [ 8.45261720e-01 -5.92847610e-02 5.31053614e-01 1.84591335e+02] [-5.29860911e-01 3.55964878e-02 8.47337185e-01 6.60527408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.390714057 meters Centerline goodness : 0.990230 Centerline is valid? [True, True] Translation: X:116.26, Y:184.60, Z:6.60 [[-6.23571910e-02 -9.98048091e-01 3.40438576e-03 1.16260093e+02] [ 8.44192471e-01 -5.09242367e-02 5.33615774e-01 1.84599356e+02] [-5.32400839e-01 3.61487376e-02 8.45720176e-01 6.60111412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.4207140569999 meters Centerline goodness : 0.988860 Centerline is valid? [True, True] Translation: X:116.25, Y:184.62, Z:6.59 [[-5.96924700e-02 -9.98075917e-01 1.67712187e-02 1.16253889e+02] [ 8.44325418e-01 -4.15202431e-02 5.34219672e-01 1.84624372e+02] [-5.32495444e-01 4.60492580e-02 8.45179311e-01 6.59161941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.4507140569999 meters Centerline goodness : 0.989393 Centerline is valid? [True, True] Translation: X:116.25, Y:184.65, Z:6.58 [[-5.77086650e-02 -9.98215953e-01 1.53173479e-02 1.16252441e+02] [ 8.43962006e-01 -4.05836028e-02 5.34865501e-01 1.84646932e+02] [-5.33289643e-01 4.37936337e-02 8.44798363e-01 6.57632072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.480714057 meters Centerline goodness : 0.987834 Centerline is valid? [True, True] Translation: X:116.25, Y:184.67, Z:6.56 [[-5.62975153e-02 -9.98283195e-01 1.61633277e-02 1.16251395e+02] [ 8.43610385e-01 -3.89037759e-02 5.35544597e-01 1.84669333e+02] [-5.33996357e-01 4.37853812e-02 8.44352256e-01 6.56161659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.510714057 meters Centerline goodness : 0.988398 Centerline is valid? [True, True] Translation: X:116.25, Y:184.69, Z:6.54 [[-5.73637169e-02 -9.98319070e-01 8.27281107e-03 1.16253413e+02] [ 8.43493776e-01 -4.40312578e-02 5.35331204e-01 1.84691671e+02] [-5.34067087e-01 3.76866523e-02 8.44601719e-01 6.54468473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.540714057 meters Centerline goodness : 0.988635 Centerline is valid? [True, True] Translation: X:116.25, Y:184.72, Z:6.53 [[-5.85928732e-02 -9.98245100e-01 8.57884343e-03 1.16252806e+02] [ 8.44041577e-01 -4.49492487e-02 5.34390664e-01 1.84715429e+02] [-5.33067249e-01 3.85523850e-02 8.45194073e-01 6.53025534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.5707140569999 meters Centerline goodness : 0.988337 Centerline is valid? [True, True] Translation: X:116.25, Y:184.74, Z:6.52 [[-5.92329807e-02 -9.98153361e-01 1.34655825e-02 1.16250611e+02] [ 8.45533872e-01 -4.29966734e-02 5.32187708e-01 1.84739937e+02] [-5.30625974e-01 4.29086703e-02 8.46519298e-01 6.51710516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.6007140569999 meters Centerline goodness : 0.989035 Centerline is valid? [True, True] Translation: X:116.26, Y:184.76, Z:6.50 [[-6.14174092e-02 -9.98111536e-01 -1.12431410e-03 1.16255496e+02] [ 8.44268429e-01 -5.25516606e-02 5.33337739e-01 1.84761216e+02] [-5.32389634e-01 3.18069992e-02 8.45901645e-01 6.50028831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.630714057 meters Centerline goodness : 0.989429 Centerline is valid? [True, True] Translation: X:116.25, Y:184.79, Z:6.49 [[-6.32714777e-02 -9.97974971e-01 6.53285266e-03 1.16251374e+02] [ 8.44920600e-01 -5.00817735e-02 5.32542013e-01 1.84787026e+02] [-5.31136423e-01 3.92144619e-02 8.46378359e-01 6.48987074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.660714057 meters Centerline goodness : 0.989665 Centerline is valid? [True, True] Translation: X:116.25, Y:184.81, Z:6.47 [[-6.78578979e-02 -9.97690030e-01 -3.14799578e-03 1.16252806e+02] [ 8.46688404e-01 -5.92559696e-02 5.28779232e-01 1.84810309e+02] [-5.27744306e-01 3.32164756e-02 8.48753565e-01 6.47454577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.6907140569999 meters Centerline goodness : 0.989792 Centerline is valid? [True, True] Translation: X:116.25, Y:184.82, Z:6.47 [[-6.91670704e-02 -9.97603632e-01 1.70584806e-03 1.16250382e+02] [ 8.47760158e-01 -5.78764353e-02 5.27212512e-01 1.84820158e+02] [-5.25850389e-01 3.79118950e-02 8.49731756e-01 6.47071355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.7207140569999 meters Centerline goodness : 0.988414 Centerline is valid? [True, True] Translation: X:116.25, Y:184.82, Z:6.48 [[-7.12904693e-02 -9.97363881e-01 1.35261622e-02 1.16245996e+02] [ 8.48559734e-01 -5.35153085e-02 5.26386255e-01 1.84818093e+02] [-5.24274782e-01 4.90040798e-02 8.50137961e-01 6.47821632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.750714057 meters Centerline goodness : 0.989318 Centerline is valid? [True, True] Translation: X:116.25, Y:184.84, Z:6.46 [[-7.07918982e-02 -9.97488797e-01 -2.14628966e-03 1.16250939e+02] [ 8.47250915e-01 -6.12648346e-02 5.27648090e-01 1.84837866e+02] [-5.26454551e-01 3.55347640e-02 8.49460350e-01 6.45826548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.780714057 meters Centerline goodness : 0.989779 Centerline is valid? [True, True] Translation: X:116.25, Y:184.86, Z:6.45 [[-7.26476539e-02 -9.97350407e-01 3.80586698e-03 1.16247269e+02] [ 8.46204168e-01 -5.96174526e-02 5.29513235e-01 1.84863656e+02] [-5.27883344e-01 4.16884347e-02 8.48293139e-01 6.44530725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.8107140569999 meters Centerline goodness : 0.989740 Centerline is valid? [True, True] Translation: X:116.24, Y:184.89, Z:6.44 [[-7.19170720e-02 -9.97153512e-01 2.26452690e-02 1.16239959e+02] [ 8.46752361e-01 -4.90398417e-02 5.29722128e-01 1.84891142e+02] [-5.27103760e-01 5.72709994e-02 8.47868893e-01 6.43557551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.8407140569999 meters Centerline goodness : 0.988960 Centerline is valid? [True, True] Translation: X:116.24, Y:184.91, Z:6.41 [[-7.17342343e-02 -9.97383469e-01 8.96744059e-03 1.16244365e+02] [ 8.43374355e-01 -5.58526123e-02 5.34415739e-01 1.84912862e+02] [-5.32516569e-01 4.58988133e-02 8.45174185e-01 6.41277099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.870714057 meters Centerline goodness : 0.988568 Centerline is valid? [True, True] Translation: X:116.24, Y:184.95, Z:6.39 [[-7.29125924e-02 -9.97308033e-01 7.77441314e-03 1.16243565e+02] [ 8.43440003e-01 -5.74995794e-02 5.34137398e-01 1.84947871e+02] [-5.32252492e-01 4.55025934e-02 8.45361934e-01 6.39332338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.900714057 meters Centerline goodness : 0.989056 Centerline is valid? [True, True] Translation: X:116.25, Y:184.93, Z:6.40 [[-7.05410194e-02 -9.97508003e-01 1.32232287e-03 1.16245660e+02] [ 8.43180501e-01 -5.89189988e-02 5.34392360e-01 1.84926555e+02] [-5.32982746e-01 3.88115387e-02 8.45235504e-01 6.40334498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.9307140569999 meters Centerline goodness : 0.988554 Centerline is valid? [True, True] Translation: X:116.24, Y:184.95, Z:6.39 [[-7.06278280e-02 -9.97320404e-01 1.90715055e-02 1.16239044e+02] [ 8.42646938e-01 -4.94207287e-02 5.36193742e-01 1.84954516e+02] [-5.33814432e-01 5.39407451e-02 8.43879463e-01 6.39210433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.9607140569999 meters Centerline goodness : 0.989058 Centerline is valid? [True, True] Translation: X:116.24, Y:184.95, Z:6.39 [[-6.96065088e-02 -9.97480254e-01 1.37140910e-02 1.16240854e+02] [ 8.41841582e-01 -5.13588187e-02 5.37275556e-01 1.84954318e+02] [-5.35217419e-01 4.89429678e-02 8.43295263e-01 6.38776637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.990714057 meters Centerline goodness : 0.989313 Centerline is valid? [True, True] Translation: X:116.24, Y:184.96, Z:6.38 [[-7.31303755e-02 -9.97321568e-01 -1.28022496e-03 1.16244572e+02] [ 8.46856172e-01 -6.27751408e-02 5.28104067e-01 1.84962643e+02] [-5.26769942e-01 3.75362823e-02 8.49178695e-01 6.38075040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.020714057 meters Centerline goodness : 0.989581 Centerline is valid? [True, True] Translation: X:116.24, Y:184.98, Z:6.37 [[-7.39379264e-02 -9.97249314e-01 5.19502277e-03 1.16240905e+02] [ 8.48597863e-01 -6.01785708e-02 5.25604610e-01 1.84976937e+02] [-5.23846208e-01 4.32706002e-02 8.50713116e-01 6.37316726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.0507140569999 meters Centerline goodness : 0.989311 Centerline is valid? [True, True] Translation: X:116.24, Y:184.99, Z:6.37 [[-7.44320000e-02 -9.97195958e-01 7.75237875e-03 1.16240047e+02] [ 8.49035180e-01 -5.92916531e-02 5.24998822e-01 1.84987439e+02] [-5.23067052e-01 4.56587546e-02 8.51067646e-01 6.36772908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.0807140569999 meters Centerline goodness : 0.989907 Centerline is valid? [True, True] Translation: X:116.24, Y:184.99, Z:6.37 [[-7.45650115e-02 -9.97155584e-01 1.09909664e-02 1.16239505e+02] [ 8.46580655e-01 -5.74729205e-02 5.29148428e-01 1.84986737e+02] [-5.27011626e-01 4.87606982e-02 8.48458096e-01 6.36647258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.110714057 meters Centerline goodness : 0.988921 Centerline is valid? [True, True] Translation: X:116.24, Y:185.01, Z:6.35 [[-7.62117888e-02 -9.96951756e-01 1.67020676e-02 1.16236702e+02] [ 8.46709525e-01 -5.58622192e-02 5.29114726e-01 1.85010514e+02] [-5.26568841e-01 5.44665794e-02 8.48385907e-01 6.35460198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.140714057 meters Centerline goodness : 0.989582 Centerline is valid? [True, True] Translation: X:116.24, Y:185.03, Z:6.34 [[-7.64811260e-02 -9.96984011e-01 1.31726792e-02 1.16237453e+02] [ 8.46343930e-01 -5.79294175e-02 5.29477228e-01 1.85032416e+02] [-5.27117244e-01 5.16436317e-02 8.48221873e-01 6.33842376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.1707140569999 meters Centerline goodness : 0.989726 Centerline is valid? [True, True] Translation: X:116.24, Y:185.06, Z:6.32 [[-7.52048976e-02 -9.97077681e-01 1.34283669e-02 1.16236447e+02] [ 8.45145698e-01 -5.65868486e-02 5.31532387e-01 1.85055781e+02] [-5.29219211e-01 5.13227653e-02 8.46931521e-01 6.32088110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.2007140569999 meters Centerline goodness : 0.991410 Centerline is valid? [True, True] Translation: X:116.23, Y:185.07, Z:6.32 [[-7.15112529e-02 -9.97155964e-01 2.37933815e-02 1.16231402e+02] [ 8.46614206e-01 -4.80678971e-02 5.30031946e-01 1.85068989e+02] [-5.27380818e-01 5.80470633e-02 8.47643800e-01 6.31632103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.230714057 meters Centerline goodness : 0.991161 Centerline is valid? [True, True] Translation: X:116.23, Y:185.09, Z:6.30 [[-6.68713277e-02 -9.97271684e-01 3.12636206e-02 1.16227667e+02] [ 8.45966403e-01 -4.00563917e-02 5.31729565e-01 1.85093175e+02] [-5.29026531e-01 6.20054346e-02 8.46336964e-01 6.30132406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.260714057 meters Centerline goodness : 0.988583 Centerline is valid? [True, True] Translation: X:116.24, Y:185.11, Z:6.28 [[-6.23652894e-02 -9.98025490e-01 7.46270839e-03 1.16236198e+02] [ 8.39413281e-01 -4.84060146e-02 5.41333725e-01 1.85107121e+02] [-5.39903616e-01 4.00247309e-02 8.40774706e-01 6.28089430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.290714057 meters Centerline goodness : 0.988583 Centerline is valid? [True, True] Translation: X:116.23, Y:185.13, Z:6.27 [[-6.29554313e-02 -9.97900051e-01 1.52348671e-02 1.16233051e+02] [ 8.39583481e-01 -4.47022337e-02 5.41388298e-01 1.85132564e+02] [-5.39570378e-01 4.68742766e-02 8.40634647e-01 6.26833323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.3207140569999 meters Centerline goodness : 0.989959 Centerline is valid? [True, True] Translation: X:116.22, Y:185.17, Z:6.26 [[-6.17407415e-02 -9.96835962e-01 5.00614222e-02 1.16220442e+02] [ 8.43588057e-01 -2.53111907e-02 5.36394010e-01 1.85166875e+02] [-5.33429725e-01 7.53485818e-02 8.42481644e-01 6.25636094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.3507140569999 meters Centerline goodness : 0.989311 Centerline is valid? [True, True] Translation: X:116.24, Y:185.18, Z:6.23 [[-5.85465531e-02 -9.98214458e-01 1.18405180e-02 1.16235356e+02] [ 8.36544800e-01 -4.25850747e-02 5.46241073e-01 1.85178380e+02] [-5.44761507e-01 4.18856557e-02 8.37544323e-01 6.22726941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.380714057 meters Centerline goodness : 0.989493 Centerline is valid? [True, True] Translation: X:116.23, Y:185.19, Z:6.23 [[-5.56658313e-02 -9.98015391e-01 2.94379770e-02 1.16229384e+02] [ 8.36468343e-01 -3.05158381e-02 5.47164961e-01 1.85188877e+02] [-5.45180728e-01 5.50823283e-02 8.36506970e-01 6.22734515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.410714057 meters Centerline goodness : 0.990086 Centerline is valid? [True, True] Translation: X:116.23, Y:185.21, Z:6.21 [[-5.65271361e-02 -9.97802744e-01 3.45596087e-02 1.16228011e+02] [ 8.36313608e-01 -2.84149609e-02 5.47514510e-01 1.85214325e+02] [-5.45329471e-01 5.98520983e-02 8.36082230e-01 6.21204443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.4407140569999 meters Centerline goodness : 0.988558 Centerline is valid? [True, True] Translation: X:116.24, Y:185.23, Z:6.19 [[-5.58999429e-02 -9.98384439e-01 1.01837499e-02 1.16237751e+02] [ 8.30555554e-01 -4.08375567e-02 5.55436554e-01 1.85230919e+02] [-5.54123332e-01 3.95070417e-02 8.31496558e-01 6.19080854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.4707140569999 meters Centerline goodness : 0.988625 Centerline is valid? [True, True] Translation: X:116.23, Y:185.26, Z:6.18 [[-5.93448478e-02 -9.97628111e-01 3.48760886e-02 1.16230051e+02] [ 8.31405800e-01 -3.00598800e-02 5.54852052e-01 1.85260208e+02] [-5.52487634e-01 6.19237929e-02 8.31217696e-01 6.18088973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.500714057 meters Centerline goodness : 0.988853 Centerline is valid? [True, True] Translation: X:116.23, Y:185.25, Z:6.17 [[-5.16771672e-02 -9.98077613e-01 3.42132823e-02 1.16233189e+02] [ 8.22892272e-01 -2.31454727e-02 5.67725810e-01 1.85253112e+02] [-5.65842539e-01 5.74923072e-02 8.22506447e-01 6.17472090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.530714057 meters Centerline goodness : 0.988815 Centerline is valid? [True, True] Translation: X:116.23, Y:185.28, Z:6.16 [[-5.42160348e-02 -9.97562965e-01 4.39175563e-02 1.16231505e+02] [ 8.23396671e-01 -1.97829330e-02 5.67121291e-01 1.85278772e+02] [-5.64870379e-01 6.69086372e-02 8.22462576e-01 6.16097275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.5607140569999 meters Centerline goodness : 0.988726 Centerline is valid? [True, True] Translation: X:116.24, Y:185.30, Z:6.14 [[-5.63822940e-02 -9.97828398e-01 3.40517898e-02 1.16235173e+02] [ 8.24808158e-01 -2.73331290e-02 5.64751629e-01 1.85301249e+02] [-5.62594471e-01 5.99281864e-02 8.24558108e-01 6.14345389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.5907140569999 meters Centerline goodness : 0.989134 Centerline is valid? [True, True] Translation: X:116.24, Y:185.33, Z:6.13 [[-5.86016818e-02 -9.97667169e-01 3.50151719e-02 1.16235641e+02] [ 8.25902537e-01 -2.87500238e-02 5.63079422e-01 1.85325927e+02] [-5.60759166e-01 6.19165205e-02 8.25660646e-01 6.12896442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.620714057 meters Centerline goodness : 0.988206 Centerline is valid? [True, True] Translation: X:116.24, Y:185.34, Z:6.11 [[-5.86639449e-02 -9.98123355e-01 1.75587572e-02 1.16241598e+02] [ 8.26111771e-01 -3.86643830e-02 5.62178271e-01 1.85342904e+02] [-5.60444363e-01 4.74850910e-02 8.26829657e-01 6.11466428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.650714057 meters Centerline goodness : 0.988013 Centerline is valid? [True, True] Translation: X:116.24, Y:185.37, Z:6.10 [[-5.89153505e-02 -9.97978203e-01 2.38429684e-02 1.16239126e+02] [ 8.26450004e-01 -3.53647682e-02 5.61898322e-01 1.85368100e+02] [-5.59919076e-01 5.28094579e-02 8.26862618e-01 6.10309574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.6807140569999 meters Centerline goodness : 0.988217 Centerline is valid? [True, True] Translation: X:116.24, Y:185.39, Z:6.09 [[-5.83853707e-02 -9.98085103e-01 2.04273192e-02 1.16240144e+02] [ 8.26775469e-01 -3.68759003e-02 5.61322092e-01 1.85392470e+02] [-5.59493943e-01 4.96618049e-02 8.27345293e-01 6.08787969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.7107140569999 meters Centerline goodness : 0.988939 Centerline is valid? [True, True] Translation: X:116.24, Y:185.42, Z:6.07 [[-5.88299038e-02 -9.97961385e-01 2.47409831e-02 1.16237931e+02] [ 8.27539348e-01 -3.48922659e-02 5.60322369e-01 1.85416687e+02] [-5.58316819e-01 5.34378481e-02 8.27905022e-01 6.07475219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.740714057 meters Centerline goodness : 0.987808 Centerline is valid? [True, True] Translation: X:116.25, Y:185.43, Z:6.06 [[-5.88622572e-02 -9.98245726e-01 6.38014147e-03 1.16245195e+02] [ 8.28825827e-01 -4.53080334e-02 5.57669195e-01 1.85427495e+02] [-5.56401818e-01 3.81136936e-02 8.30038772e-01 6.06037359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.770714057 meters Centerline goodness : 0.988540 Centerline is valid? [True, True] Translation: X:116.24, Y:185.43, Z:6.06 [[-5.79105895e-02 -9.98279663e-01 9.16937228e-03 1.16244272e+02] [ 8.29675186e-01 -4.30174343e-02 5.56586549e-01 1.85431085e+02] [-5.55234590e-01 3.98398558e-02 8.30739030e-01 6.05907704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.8007140569999 meters Centerline goodness : 0.987666 Centerline is valid? [True, True] Translation: X:116.25, Y:185.43, Z:6.06 [[-5.62866545e-02 -9.98393429e-01 6.50954485e-03 1.16246165e+02] [ 8.31258995e-01 -4.32506821e-02 5.54200201e-01 1.85433972e+02] [-5.53028296e-01 3.66051929e-02 8.32357954e-01 6.05563714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.8307140569999 meters Centerline goodness : 0.987357 Centerline is valid? [True, True] Translation: X:116.24, Y:185.46, Z:6.05 [[-5.70429847e-02 -9.98097841e-01 2.33837150e-02 1.16239384e+02] [ 8.32432619e-01 -3.46180700e-02 5.53043872e-01 1.85461184e+02] [-5.51182396e-01 5.10126403e-02 8.32823917e-01 6.04605334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.860714057 meters Centerline goodness : 0.987472 Centerline is valid? [True, True] Translation: X:116.25, Y:185.45, Z:6.04 [[-5.61291806e-02 -9.98368148e-01 1.05145778e-02 1.16245389e+02] [ 8.32416047e-01 -4.09789899e-02 5.52633918e-01 1.85452587e+02] [-5.51301225e-01 3.97713923e-02 8.33357784e-01 6.04438391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.890714057 meters Centerline goodness : 0.987843 Centerline is valid? [True, True] Translation: X:116.24, Y:185.48, Z:6.03 [[-5.66676101e-02 -9.98121512e-01 2.32857985e-02 1.16240432e+02] [ 8.32908936e-01 -3.44019100e-02 5.52339762e-01 1.85477800e+02] [-5.50501123e-01 5.06947239e-02 8.33293801e-01 6.03345336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.9207140569999 meters Centerline goodness : 0.987637 Centerline is valid? [True, True] Translation: X:116.25, Y:185.48, Z:6.02 [[-5.80372701e-02 -9.98293979e-01 6.38802618e-03 1.16247627e+02] [ 8.34018045e-01 -4.49680612e-02 5.49901604e-01 1.85484231e+02] [-5.48676203e-01 3.72425170e-02 8.35205016e-01 6.02174767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.9507140569999 meters Centerline goodness : 0.987011 Centerline is valid? [True, True] Translation: X:116.25, Y:185.49, Z:6.02 [[-6.00612431e-02 -9.98175759e-01 6.14828855e-03 1.16246979e+02] [ 8.35055272e-01 -4.68696768e-02 5.48165967e-01 1.85490351e+02] [-5.46877811e-01 3.80576902e-02 8.36346981e-01 6.01914881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.980714057 meters Centerline goodness : 0.987028 Centerline is valid? [True, True] Translation: X:116.24, Y:185.50, Z:6.02 [[-5.58927399e-02 -9.98132054e-01 2.46658744e-02 1.16241897e+02] [ 8.29161796e-01 -3.26401812e-02 5.58054957e-01 1.85498559e+02] [-5.56207441e-01 5.16432213e-02 8.29437315e-01 6.01578457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.010714057 meters Centerline goodness : 0.987139 Centerline is valid? [True, True] Translation: X:116.24, Y:185.52, Z:6.00 [[-5.66313215e-02 -9.97939373e-01 3.01645563e-02 1.16240347e+02] [ 8.28724955e-01 -3.01366051e-02 5.58844105e-01 1.85523396e+02] [-5.56783479e-01 5.66462008e-02 8.28723938e-01 6.00067227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.040714057 meters Centerline goodness : 0.986401 Centerline is valid? [True, True] Translation: X:116.24, Y:185.55, Z:5.98 [[-5.80868364e-02 -9.97873144e-01 2.95822346e-02 1.16241290e+02] [ 8.28556008e-01 -3.16587532e-02 5.59010433e-01 1.85547709e+02] [-5.56884962e-01 5.69816858e-02 8.28632746e-01 5.98415743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.0707140569999 meters Centerline goodness : 0.985696 Centerline is valid? [True, True] Translation: X:116.24, Y:185.57, Z:5.97 [[-5.77652207e-02 -9.97911482e-01 2.89111203e-02 1.16241683e+02] [ 8.28443152e-01 -3.17552281e-02 5.59172201e-01 1.85568595e+02] [-5.57086280e-01 5.62519252e-02 8.28547281e-01 5.96946675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.1007140569999 meters Centerline goodness : 0.986676 Centerline is valid? [True, True] Translation: X:116.24, Y:185.59, Z:5.95 [[-6.06475245e-02 -9.97931059e-01 2.13419801e-02 1.16244065e+02] [ 8.29973125e-01 -3.85393705e-02 5.56470420e-01 1.85594193e+02] [-5.54496609e-01 5.14618234e-02 8.30593277e-01 5.95096420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.130714057 meters Centerline goodness : 0.986171 Centerline is valid? [True, True] Translation: X:116.25, Y:185.58, Z:5.95 [[-6.09442590e-02 -9.98122647e-01 6.08107912e-03 1.16249988e+02] [ 8.31393016e-01 -4.73907482e-02 5.53660338e-01 1.85580257e+02] [-5.52332735e-01 3.87981857e-02 8.32720392e-01 5.95413620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.160714057 meters Centerline goodness : 0.986065 Centerline is valid? [True, True] Translation: X:116.25, Y:185.58, Z:5.95 [[-6.03919368e-02 -9.98113208e-01 1.10832132e-02 1.16249146e+02] [ 8.30558454e-01 -4.40890024e-02 5.55183586e-01 1.85581036e+02] [-5.53647422e-01 4.27338685e-02 8.31653984e-01 5.95495067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.1907140569999 meters Centerline goodness : 0.986288 Centerline is valid? [True, True] Translation: X:116.25, Y:185.59, Z:5.95 [[-6.05792117e-02 -9.98151470e-01 4.87868947e-03 1.16252278e+02] [ 8.32452445e-01 -4.78245411e-02 5.52028750e-01 1.85586241e+02] [-5.50774987e-01 3.75027435e-02 8.33810804e-01 5.95057511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.2207140569999 meters Centerline goodness : 0.986728 Centerline is valid? [True, True] Translation: X:116.25, Y:185.60, Z:5.95 [[-6.12999007e-02 -9.98088681e-01 7.82988043e-03 1.16251607e+02] [ 8.33447906e-01 -4.68686690e-02 5.50606861e-01 1.85595646e+02] [-5.49187500e-01 4.02779434e-02 8.34727966e-01 5.94700198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.250714057 meters Centerline goodness : 0.985623 Centerline is valid? [True, True] Translation: X:116.25, Y:185.60, Z:5.94 [[-6.06452986e-02 -9.98123321e-01 8.48431938e-03 1.16252481e+02] [ 8.33351174e-01 -4.59516452e-02 5.50830525e-01 1.85600096e+02] [-5.49406924e-01 4.04756992e-02 8.34573993e-01 5.94362331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.280714057 meters Centerline goodness : 0.986413 Centerline is valid? [True, True] Translation: X:116.25, Y:185.61, Z:5.94 [[-6.17033206e-02 -9.98084818e-01 4.40408830e-03 1.16254803e+02] [ 8.34835830e-01 -4.91916065e-02 5.48296747e-01 1.85611081e+02] [-5.47030015e-01 3.75084207e-02 8.36272253e-01 5.93557416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.3107140569999 meters Centerline goodness : 0.986466 Centerline is valid? [True, True] Translation: X:116.26, Y:185.62, Z:5.93 [[-6.30104784e-02 -9.98010803e-01 2.02921151e-03 1.16256329e+02] [ 8.36771259e-01 -5.17221110e-02 5.45104287e-01 1.85616284e+02] [-5.43915011e-01 3.60452678e-02 8.38365791e-01 5.93246159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.3407140569999 meters Centerline goodness : 0.986191 Centerline is valid? [True, True] Translation: X:116.25, Y:185.62, Z:5.93 [[-6.17084315e-02 -9.98047769e-01 9.62915392e-03 1.16254835e+02] [ 8.35780445e-01 -4.63971687e-02 5.47099946e-01 1.85617361e+02] [-5.45585115e-01 4.18085381e-02 8.37011905e-01 5.93357122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.370714057 meters Centerline goodness : 0.987590 Centerline is valid? [True, True] Translation: X:116.26, Y:185.64, Z:5.92 [[-6.32548266e-02 -9.97968825e-01 7.55318462e-03 1.16255880e+02] [ 8.37069612e-01 -4.89323246e-02 5.44903746e-01 1.85641688e+02] [-5.43427357e-01 4.07903333e-02 8.38464583e-01 5.92046477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.400714057 meters Centerline goodness : 0.986353 Centerline is valid? [True, True] Translation: X:116.26, Y:185.61, Z:5.94 [[-6.37619300e-02 -9.97960963e-01 2.88666210e-03 1.16258288e+02] [ 8.38509539e-01 -5.20053032e-02 5.42399485e-01 1.85607315e+02] [-5.41143391e-01 3.70049317e-02 8.40115745e-01 5.94225142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.4307140569999 meters Centerline goodness : 0.987300 Centerline is valid? [True, True] Translation: X:116.26, Y:185.62, Z:5.94 [[-5.86849819e-02 -9.98240314e-01 8.50581101e-03 1.16256914e+02] [ 8.36891705e-01 -4.45510043e-02 5.45552456e-01 1.85615559e+02] [-5.44213512e-01 3.91341787e-02 8.38033513e-01 5.93602719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.4607140569999 meters Centerline goodness : 0.987120 Centerline is valid? [True, True] Translation: X:116.25, Y:185.65, Z:5.92 [[-5.41113897e-02 -9.97889949e-01 3.58832423e-02 1.16248320e+02] [ 8.36313865e-01 -2.56567742e-02 5.47650298e-01 1.85645667e+02] [-5.45574080e-01 5.96437718e-02 8.35937524e-01 5.92282259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.490714057 meters Centerline goodness : 0.986372 Centerline is valid? [True, True] Translation: X:116.26, Y:185.66, Z:5.90 [[-5.28329727e-02 -9.98564031e-01 8.86303817e-03 1.16258977e+02] [ 8.37361572e-01 -3.94646387e-02 5.45223018e-01 1.85662719e+02] [-5.44090318e-01 3.62273204e-02 8.38244181e-01 5.90397541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.520714057 meters Centerline goodness : 0.986160 Centerline is valid? [True, True] Translation: X:116.26, Y:185.69, Z:5.89 [[-4.92051434e-02 -9.98654183e-01 1.63913835e-02 1.16256005e+02] [ 8.38066144e-01 -3.23538210e-02 5.44608455e-01 1.85687327e+02] [-5.43345187e-01 4.05346007e-02 8.38530234e-01 5.89196527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.5507140569999 meters Centerline goodness : 0.985194 Centerline is valid? [True, True] Translation: X:116.25, Y:185.71, Z:5.88 [[-4.69346774e-02 -9.98483205e-01 2.87823673e-02 1.16252962e+02] [ 8.36988268e-01 -2.35838693e-02 5.46712392e-01 1.85714531e+02] [-5.45204342e-01 4.97502735e-02 8.36825630e-01 5.87590742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.5807140569999 meters Centerline goodness : 0.985996 Centerline is valid? [True, True] Translation: X:116.26, Y:185.74, Z:5.86 [[-4.64701589e-02 -9.98574113e-01 2.62728970e-02 1.16255007e+02] [ 8.36214668e-01 -2.45002331e-02 5.47854696e-01 1.85740380e+02] [-5.46429825e-01 4.74286766e-02 8.36160850e-01 5.85731528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.610714057 meters Centerline goodness : 0.985789 Centerline is valid? [True, True] Translation: X:116.26, Y:185.76, Z:5.84 [[-4.52158764e-02 -9.98758637e-01 2.08975764e-02 1.16258720e+02] [ 8.35634771e-01 -2.63511512e-02 5.48653030e-01 1.85759808e+02] [-5.47421277e-01 4.22705691e-02 8.35788935e-01 5.84231771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.640714057 meters Centerline goodness : 0.987193 Centerline is valid? [True, True] Translation: X:116.26, Y:185.78, Z:5.82 [[-5.08110349e-02 -9.98689401e-01 6.14154836e-03 1.16264200e+02] [ 8.37291053e-01 -3.92457848e-02 5.45347101e-01 1.85784608e+02] [-5.44391340e-01 3.28519141e-02 8.38187820e-01 5.82482418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.6707140569999 meters Centerline goodness : 0.986388 Centerline is valid? [True, True] Translation: X:116.26, Y:185.78, Z:5.83 [[-5.05881197e-02 -9.98682415e-01 8.61835911e-03 1.16264713e+02] [ 8.36632340e-01 -3.76636205e-02 5.46468461e-01 1.85782303e+02] [-5.45423844e-01 3.48552099e-02 8.37435338e-01 5.82554398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.7007140569999 meters Centerline goodness : 0.987764 Centerline is valid? [True, True] Translation: X:116.27, Y:185.81, Z:5.81 [[-5.44219713e-02 -9.98512174e-01 3.41880703e-03 1.16267048e+02] [ 8.38434938e-01 -4.38372861e-02 5.43235811e-01 1.85811305e+02] [-5.42277699e-01 3.24304110e-02 8.39573204e-01 5.80741059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.730714057 meters Centerline goodness : 0.987599 Centerline is valid? [True, True] Translation: X:116.27, Y:185.80, Z:5.82 [[-5.65342264e-02 -9.98381317e-01 6.21502914e-03 1.16266772e+02] [ 8.39238675e-01 -4.41488252e-02 5.41968013e-01 1.85799313e+02] [-5.40816353e-01 3.58556352e-02 8.40376134e-01 5.81611069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.760714057 meters Centerline goodness : 0.988437 Centerline is valid? [True, True] Translation: X:116.27, Y:185.81, Z:5.81 [[-5.81309380e-02 -9.98308930e-01 -2.71790816e-04 1.16267902e+02] [ 8.41034448e-01 -4.91196126e-02 5.38746991e-01 1.85811217e+02] [-5.37849283e-01 3.10892825e-02 8.42467570e-01 5.80917106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.790714057 meters Centerline goodness : 0.987579 Centerline is valid? [True, True] Translation: X:116.26, Y:185.84, Z:5.80 [[-5.80386810e-02 -9.97979293e-01 2.58619849e-02 1.16258307e+02] [ 8.41569975e-01 -3.49742958e-02 5.39014634e-01 1.85836679e+02] [-5.37020938e-01 5.30483684e-02 8.41899271e-01 5.80162625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.8207140569999 meters Centerline goodness : 0.987205 Centerline is valid? [True, True] Translation: X:116.26, Y:185.86, Z:5.78 [[-5.75162761e-02 -9.98010998e-01 2.58055407e-02 1.16259196e+02] [ 8.40847407e-01 -3.44915806e-02 5.40172167e-01 1.85859694e+02] [-5.38207689e-01 5.27672134e-02 8.41158787e-01 5.78393972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.8507140569999 meters Centerline goodness : 0.988570 Centerline is valid? [True, True] Translation: X:116.26, Y:185.88, Z:5.76 [[-6.00890675e-02 -9.98001659e-01 1.95446435e-02 1.16261793e+02] [ 8.40414909e-01 -4.00165365e-02 5.40464113e-01 1.85884486e+02] [-5.38601972e-01 4.89015943e-02 8.41140030e-01 5.76364651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.880714057 meters Centerline goodness : 0.988937 Centerline is valid? [True, True] Translation: X:116.27, Y:185.89, Z:5.75 [[-5.97877408e-02 -9.98157458e-01 1.03496162e-02 1.16265609e+02] [ 8.40175198e-01 -4.47209407e-02 5.40468014e-01 1.85891516e+02] [-5.39009334e-01 4.10088523e-02 8.41300904e-01 5.75469564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.910714057 meters Centerline goodness : 0.989069 Centerline is valid? [True, True] Translation: X:116.27, Y:185.90, Z:5.75 [[-6.21910006e-02 -9.98038202e-01 7.21290561e-03 1.16267617e+02] [ 8.41269894e-01 -4.85309606e-02 5.38432643e-01 1.85898949e+02] [-5.37026298e-01 3.95536651e-02 8.42637682e-01 5.74951877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.9407140569999 meters Centerline goodness : 0.988728 Centerline is valid? [True, True] Translation: X:116.27, Y:185.90, Z:5.75 [[-6.34318062e-02 -9.97927944e-01 1.07807080e-02 1.16265856e+02] [ 8.42002949e-01 -4.77155310e-02 5.37358597e-01 1.85903660e+02] [-5.35730753e-01 4.31630143e-02 8.43284955e-01 5.74867445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.9707140569999 meters Centerline goodness : 0.989973 Centerline is valid? [True, True] Translation: X:116.26, Y:185.91, Z:5.75 [[-6.37587012e-02 -9.97808849e-01 1.76728339e-02 1.16261634e+02] [ 8.44542248e-01 -4.45135999e-02 5.33635579e-01 1.85912502e+02] [-5.31679622e-01 4.89493663e-02 8.45529857e-01 5.74667209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.000714057 meters Centerline goodness : 0.989005 Centerline is valid? [True, True] Translation: X:116.26, Y:185.93, Z:5.73 [[-6.38565883e-02 -9.97790796e-01 1.83265865e-02 1.16261339e+02] [ 8.42055684e-01 -4.40158224e-02 5.37591696e-01 1.85934195e+02] [-5.35597387e-01 4.97607780e-02 8.43006112e-01 5.73383374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.030714057 meters Centerline goodness : 0.989729 Centerline is valid? [True, True] Translation: X:116.26, Y:185.96, Z:5.72 [[-6.36687260e-02 -9.97623449e-01 2.63390931e-02 1.16258108e+02] [ 8.43478995e-01 -3.96878592e-02 5.35693997e-01 1.85957747e+02] [-5.33375551e-01 5.63234261e-02 8.44001300e-01 5.72095430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.0607140569999 meters Centerline goodness : 0.989860 Centerline is valid? [True, True] Translation: X:116.26, Y:185.98, Z:5.70 [[-6.51763528e-02 -9.97744264e-01 1.60756808e-02 1.16261830e+02] [ 8.42337271e-01 -4.63732080e-02 5.36951997e-01 1.85980988e+02] [-5.34995294e-01 4.85377179e-02 8.43459617e-01 5.70355144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.0907140569999 meters Centerline goodness : 0.989127 Centerline is valid? [True, True] Translation: X:116.26, Y:185.98, Z:5.70 [[-6.14451829e-02 -9.97988484e-01 1.56036682e-02 1.16261807e+02] [ 8.41336339e-01 -4.33765508e-02 5.38768633e-01 1.85981015e+02] [-5.37008058e-01 4.62326703e-02 8.42309258e-01 5.70140239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.120714057 meters Centerline goodness : 0.988691 Centerline is valid? [True, True] Translation: X:116.26, Y:186.00, Z:5.69 [[-6.01380272e-02 -9.97968990e-01 2.10074676e-02 1.16258070e+02] [ 8.42235367e-01 -3.94354720e-02 5.37665724e-01 1.86004263e+02] [-5.35745280e-01 5.00273881e-02 8.42896349e-01 5.69027794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.150714057 meters Centerline goodness : 0.990177 Centerline is valid? [True, True] Translation: X:116.25, Y:186.04, Z:5.68 [[-5.95248496e-02 -9.97259451e-01 4.39360786e-02 1.16247402e+02] [ 8.45918056e-01 -2.70256380e-02 5.32627692e-01 1.86037992e+02] [-5.29980599e-01 6.88709054e-02 8.45208473e-01 5.67549849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.1807140569999 meters Centerline goodness : 0.989219 Centerline is valid? [True, True] Translation: X:116.26, Y:186.04, Z:5.66 [[-5.64101870e-02 -9.98325094e-01 1.28412268e-02 1.16258968e+02] [ 8.45130196e-01 -4.08981598e-02 5.32993708e-01 1.86039377e+02] [-5.31575811e-01 4.09187832e-02 8.46021755e-01 5.65917319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.2107140569999 meters Centerline goodness : 0.989219 Centerline is valid? [True, True] Translation: X:116.25, Y:186.07, Z:5.65 [[-5.74326407e-02 -9.97848385e-01 3.16242332e-02 1.16250825e+02] [ 8.46118951e-01 -3.18379171e-02 5.32042356e-01 1.86067621e+02] [-5.29890756e-01 5.73144605e-02 8.46126964e-01 5.65074164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.240714057 meters Centerline goodness : 0.989272 Centerline is valid? [True, True] Translation: X:116.26, Y:186.06, Z:5.64 [[-5.37186454e-02 -9.98459497e-01 1.38902786e-02 1.16258728e+02] [ 8.40229686e-01 -3.76805204e-02 5.40919822e-01 1.86061901e+02] [-5.39563140e-01 4.07285045e-02 8.40959456e-01 5.64126576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.270714057 meters Centerline goodness : 0.990929 Centerline is valid? [True, True] Translation: X:116.25, Y:186.09, Z:5.63 [[-6.03727561e-02 -9.97936953e-01 2.18395829e-02 1.16251683e+02] [ 8.47464568e-01 -3.96844979e-02 5.29366553e-01 1.86093221e+02] [-5.27407752e-01 5.04675904e-02 8.48112071e-01 5.63265672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.3007140569999 meters Centerline goodness : 0.988767 Centerline is valid? [True, True] Translation: X:116.26, Y:186.09, Z:5.62 [[-5.69205760e-02 -9.98331071e-01 9.75297511e-03 1.16257087e+02] [ 8.41040180e-01 -4.26840844e-02 5.39286088e-01 1.86091913e+02] [-5.37969761e-01 3.88991187e-02 8.42066147e-01 5.62289198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.3307140569999 meters Centerline goodness : 0.992386 Centerline is valid? [True, True] Translation: X:116.26, Y:186.10, Z:5.62 [[-8.15125077e-02 -9.96254246e-01 -2.88649935e-02 1.16258715e+02] [ 8.56229911e-01 -8.48203021e-02 5.09584002e-01 1.86104155e+02] [-5.10123564e-01 1.68223990e-02 8.59936600e-01 5.61683667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.360714057 meters Centerline goodness : 0.992267 Centerline is valid? [True, True] Translation: X:116.25, Y:186.12, Z:5.62 [[-8.08002981e-02 -9.96702283e-01 -7.47467911e-03 1.16249467e+02] [ 8.56900461e-01 -7.32934292e-02 5.10244719e-01 1.86121502e+02] [-5.09109921e-01 3.48228694e-02 8.59996777e-01 5.61614128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.390714057 meters Centerline goodness : 0.989795 Centerline is valid? [True, True] Translation: X:116.25, Y:186.12, Z:5.62 [[-6.15610683e-02 -9.98050718e-01 1.02468713e-02 1.16252152e+02] [ 8.47161583e-01 -4.68200915e-02 5.29268488e-01 1.86116049e+02] [-5.27757035e-01 4.12630892e-02 8.48392521e-01 5.61663860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.4207140569999 meters Centerline goodness : 0.990732 Centerline is valid? [True, True] Translation: X:116.25, Y:186.13, Z:5.61 [[-5.83772369e-02 -9.97982313e-01 2.49679874e-02 1.16245466e+02] [ 8.47075376e-01 -3.62842858e-02 5.30232740e-01 1.86127310e+02] [-5.28256951e-01 5.21032896e-02 8.47484419e-01 5.61330601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.4507140569999 meters Centerline goodness : 0.991233 Centerline is valid? [True, True] Translation: X:116.24, Y:186.11, Z:5.62 [[-5.07807938e-02 -9.98329249e-01 2.75684891e-02 1.16244496e+02] [ 8.41318997e-01 -2.78874431e-02 5.39819077e-01 1.86113814e+02] [-5.38148360e-01 5.06063349e-02 8.41329509e-01 5.61728445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.480714057 meters Centerline goodness : 0.990952 Centerline is valid? [True, True] Translation: X:116.25, Y:186.13, Z:5.61 [[-5.49866316e-02 -9.98485741e-01 1.64205478e-03 1.16249794e+02] [ 8.45481071e-01 -4.56856849e-02 5.32047533e-01 1.86134476e+02] [-5.31166856e-01 3.06438279e-02 8.46712895e-01 5.60542578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.510714057 meters Centerline goodness : 0.991224 Centerline is valid? [True, True] Translation: X:116.24, Y:186.16, Z:5.60 [[-5.49264778e-02 -9.98068669e-01 2.90174762e-02 1.16238058e+02] [ 8.45935440e-01 -3.10759741e-02 5.32379108e-01 1.86164866e+02] [-5.30449162e-01 5.37886208e-02 8.46008553e-01 5.59787520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.540714057 meters Centerline goodness : 0.991106 Centerline is valid? [True, True] Translation: X:116.25, Y:186.18, Z:5.58 [[-5.65846142e-02 -9.98395256e-01 2.25684944e-03 1.16247165e+02] [ 8.48656219e-01 -4.69071131e-02 5.26860839e-01 1.86177455e+02] [-5.25909501e-01 3.17275066e-02 8.49948565e-01 5.58124748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.5707140569999 meters Centerline goodness : 0.990595 Centerline is valid? [True, True] Translation: X:116.24, Y:186.18, Z:5.59 [[-5.42866440e-02 -9.98401545e-01 1.57262618e-02 1.16241101e+02] [ 8.47747590e-01 -3.77616911e-02 5.29053946e-01 1.86177762e+02] [-5.27614427e-01 4.20524637e-02 8.48442459e-01 5.58549072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.6007140569999 meters Centerline goodness : 0.989801 Centerline is valid? [True, True] Translation: X:116.25, Y:186.18, Z:5.58 [[-5.32440932e-02 -9.98580531e-01 1.41085051e-03 1.16246474e+02] [ 8.45808117e-01 -4.43471699e-02 5.31640816e-01 1.86175253e+02] [-5.30823601e-01 2.95000420e-02 8.46968743e-01 5.57999540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.630714057 meters Centerline goodness : 0.990669 Centerline is valid? [True, True] Translation: X:116.24, Y:186.18, Z:5.58 [[-5.12876181e-02 -9.98515609e-01 1.83346190e-02 1.16238904e+02] [ 8.46998908e-01 -3.37637691e-02 5.30521308e-01 1.86182674e+02] [-5.29114761e-01 4.27385765e-02 8.47473294e-01 5.58145689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.660714057 meters Centerline goodness : 0.991383 Centerline is valid? [True, True] Translation: X:116.23, Y:186.21, Z:5.57 [[-5.30864162e-02 -9.98109182e-01 3.09821392e-02 1.16232856e+02] [ 8.48530889e-01 -2.87298987e-02 5.28365332e-01 1.86211625e+02] [-5.26476175e-01 5.43383240e-02 8.48451639e-01 5.56925871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.6907140569999 meters Centerline goodness : 0.989555 Centerline is valid? [True, True] Translation: X:116.25, Y:186.22, Z:5.55 [[-5.28663836e-02 -9.98598057e-01 -2.65835357e-03 1.16245015e+02] [ 8.47887730e-01 -4.62936707e-02 5.28150824e-01 1.86216401e+02] [-5.27533451e-01 2.56674387e-02 8.49146419e-01 5.55061250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.7207140569999 meters Centerline goodness : 0.989561 Centerline is valid? [True, True] Translation: X:116.24, Y:186.22, Z:5.55 [[-5.28822042e-02 -9.98525750e-01 1.22392676e-02 1.16239355e+02] [ 8.48035503e-01 -3.84336575e-02 5.28543886e-01 1.86218721e+02] [-5.27294280e-01 3.83298991e-02 8.48817743e-01 5.55486953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.750714057 meters Centerline goodness : 0.989489 Centerline is valid? [True, True] Translation: X:116.24, Y:186.22, Z:5.55 [[-5.31744170e-02 -9.98513336e-01 1.19832743e-02 1.16238455e+02] [ 8.47388094e-01 -3.87711853e-02 5.29556619e-01 1.86224401e+02] [-5.28304741e-01 3.83133485e-02 8.48189948e-01 5.54987659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.780714057 meters Centerline goodness : 0.989694 Centerline is valid? [True, True] Translation: X:116.24, Y:186.25, Z:5.54 [[-5.57272236e-02 -9.98342306e-01 1.43915335e-02 1.16235781e+02] [ 8.48162357e-01 -3.97293448e-02 5.28244446e-01 1.86249430e+02] [-5.26797012e-01 4.16439533e-02 8.48970370e-01 5.53887404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.8107140569999 meters Centerline goodness : 0.989504 Centerline is valid? [True, True] Translation: X:116.24, Y:186.25, Z:5.54 [[-5.79774041e-02 -9.98316100e-01 1.89354808e-03 1.16238703e+02] [ 8.48403311e-01 -4.82713316e-02 5.27144858e-01 1.86250451e+02] [-5.26165794e-01 3.21689829e-02 8.49773331e-01 5.53522154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.8407140569999 meters Centerline goodness : 0.987881 Centerline is valid? [True, True] Translation: X:116.24, Y:186.26, Z:5.53 [[-5.91303385e-02 -9.98237848e-01 4.98021818e-03 1.16236805e+02] [ 8.49040523e-01 -4.76675949e-02 5.26172967e-01 1.86258746e+02] [-5.25008375e-01 3.53411927e-02 8.50362985e-01 5.53278649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.870714057 meters Centerline goodness : 0.988747 Centerline is valid? [True, True] Translation: X:116.24, Y:186.26, Z:5.53 [[-5.89072173e-02 -9.98232067e-01 7.91711000e-03 1.16235268e+02] [ 8.49259198e-01 -4.59445346e-02 5.25973301e-01 1.86264729e+02] [-5.24679668e-01 3.77073021e-02 8.50464230e-01 5.53111988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.900714057 meters Centerline goodness : 0.988687 Centerline is valid? [True, True] Translation: X:116.23, Y:186.29, Z:5.52 [[-5.91592127e-02 -9.98029244e-01 2.09240430e-02 1.16230079e+02] [ 8.49186629e-01 -3.92954496e-02 5.26628842e-01 1.86290689e+02] [-5.24768766e-01 4.89233652e-02 8.49837777e-01 5.51918268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.9307140569999 meters Centerline goodness : 0.988636 Centerline is valid? [True, True] Translation: X:116.23, Y:186.78, Z:5.21 [[-8.12013274e-02 -9.96485308e-01 -2.05760683e-02 1.16232729e+02] [ 8.54235609e-01 -8.02161096e-02 5.13660297e-01 1.86781862e+02] [-5.13505472e-01 2.41330877e-02 8.57746888e-01 5.20751805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.9607140569999 meters Centerline goodness : 0.988398 Centerline is valid? [True, True] Translation: X:116.12, Y:186.80, Z:6.04 [[-9.09836955e-03 -3.00825021e-01 9.53635951e-01 1.16116723e+02] [ 8.48147944e-01 5.02843364e-01 1.66714173e-01 1.86798393e+02] [-5.29681305e-01 8.10341198e-01 2.50569068e-01 6.04148896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.990714057 meters Centerline goodness : 0.988528 Centerline is valid? [True, True] Translation: X:116.23, Y:186.43, Z:5.47 [[-5.02190782e-02 -9.98734626e-01 -2.68166568e-03 1.16226009e+02] [ 8.12353662e-01 -4.24090285e-02 5.81621012e-01 1.86432130e+02] [-5.80998771e-01 2.70300101e-02 8.13455473e-01 5.47067956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.020714057 meters Centerline goodness : 0.988785 Centerline is valid? [True, True] Translation: X:116.21, Y:186.46, Z:5.46 [[-5.23165898e-02 -9.98226418e-01 2.84076210e-02 1.16214099e+02] [ 8.12964927e-01 -2.60522047e-02 5.81729585e-01 1.86462917e+02] [-5.79957759e-01 5.35285076e-02 8.12886030e-01 5.46237527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.0507140569999 meters Centerline goodness : 0.988201 Centerline is valid? [True, True] Translation: X:116.22, Y:186.48, Z:5.45 [[-5.48418066e-02 -9.98208467e-01 2.39213859e-02 1.16215720e+02] [ 8.13270398e-01 -3.07562579e-02 5.81072553e-01 1.86483164e+02] [-5.79295810e-01 5.13216236e-02 8.13500126e-01 5.44626244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.0807140569999 meters Centerline goodness : 0.987853 Centerline is valid? [True, True] Translation: X:116.22, Y:186.51, Z:5.43 [[-5.66993121e-02 -9.98104857e-01 2.39140600e-02 1.16215226e+02] [ 8.14006336e-01 -3.23458281e-02 5.79954682e-01 1.86506308e+02] [-5.78082065e-01 5.23492278e-02 8.14297663e-01 5.43047038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.110714057 meters Centerline goodness : 0.988093 Centerline is valid? [True, True] Translation: X:116.22, Y:186.53, Z:5.41 [[-5.84927043e-02 -9.98179531e-01 1.47046810e-02 1.16216169e+02] [ 8.15118399e-01 -3.92511721e-02 5.77963097e-01 1.86526416e+02] [-5.76333757e-01 4.57926806e-02 8.15930408e-01 5.41483244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.140714057 meters Centerline goodness : 0.987559 Centerline is valid? [True, True] Translation: X:116.21, Y:186.55, Z:5.40 [[-5.94307318e-02 -9.98038870e-01 1.96571153e-02 1.16212908e+02] [ 8.15523290e-01 -3.71875366e-02 5.77528224e-01 1.86550336e+02] [-5.75664617e-01 5.03537603e-02 8.16134026e-01 5.40127940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.1707140569999 meters Centerline goodness : 0.988436 Centerline is valid? [True, True] Translation: X:116.21, Y:186.57, Z:5.38 [[-6.11310060e-02 -9.98066983e-01 1.11936722e-02 1.16212122e+02] [ 8.16358337e-01 -4.35425166e-02 5.75902001e-01 1.86571759e+02] [-5.74301371e-01 4.43435163e-02 8.17442100e-01 5.38490130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.2007140569999 meters Centerline goodness : 0.987182 Centerline is valid? [True, True] Translation: X:116.21, Y:186.60, Z:5.37 [[-6.24097647e-02 -9.97905225e-01 1.70347472e-02 1.16208902e+02] [ 8.16165113e-01 -4.12050508e-02 5.76347684e-01 1.86595958e+02] [-5.74438448e-01 4.98728897e-02 8.17027028e-01 5.37197847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.230714057 meters Centerline goodness : 0.987839 Centerline is valid? [True, True] Translation: X:116.21, Y:186.62, Z:5.36 [[-6.40697788e-02 -9.97842822e-01 1.43096699e-02 1.16208535e+02] [ 8.15684570e-01 -4.41018560e-02 5.76813409e-01 1.86617410e+02] [-5.74938036e-01 4.86284844e-02 8.16750589e-01 5.35658551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.260714057 meters Centerline goodness : 0.988179 Centerline is valid? [True, True] Translation: X:116.21, Y:186.64, Z:5.34 [[-6.48614185e-02 -9.97754590e-01 1.66965398e-02 1.16207687e+02] [ 8.14984814e-01 -4.33100311e-02 5.77861571e-01 1.86641123e+02] [-5.75840907e-01 5.10883476e-02 8.15963989e-01 5.34022573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.290714057 meters Centerline goodness : 0.988250 Centerline is valid? [True, True] Translation: X:116.21, Y:186.66, Z:5.32 [[-6.76327505e-02 -9.97656773e-01 1.03331361e-02 1.16207800e+02] [ 8.14893358e-01 -4.92613815e-02 5.77513750e-01 1.86662612e+02] [-5.75651480e-01 4.74792474e-02 8.16315561e-01 5.32377688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.3207140569999 meters Centerline goodness : 0.988454 Centerline is valid? [True, True] Translation: X:116.21, Y:186.69, Z:5.31 [[-6.79541646e-02 -9.97538719e-01 1.72839586e-02 1.16205140e+02] [ 8.14186035e-01 -4.54347963e-02 5.78823617e-01 1.86687114e+02] [-5.76613676e-01 5.34058330e-02 8.15269578e-01 5.30721073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.3507140569999 meters Centerline goodness : 0.990070 Centerline is valid? [True, True] Translation: X:116.21, Y:186.71, Z:5.29 [[-6.92074538e-02 -9.97554991e-01 9.71429529e-03 1.16206348e+02] [ 8.14392070e-01 -5.08707307e-02 5.78081072e-01 1.86708745e+02] [-5.76173485e-01 4.79187641e-02 8.15921508e-01 5.28929580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.380714057 meters Centerline goodness : 0.989900 Centerline is valid? [True, True] Translation: X:116.20, Y:186.73, Z:5.28 [[-6.89490149e-02 -9.97516715e-01 1.43679291e-02 1.16202569e+02] [ 8.14929759e-01 -4.80093716e-02 5.77567821e-01 1.86731621e+02] [-5.75443760e-01 5.15315853e-02 8.16216255e-01 5.27555905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.410714057 meters Centerline goodness : 0.989281 Centerline is valid? [True, True] Translation: X:116.20, Y:186.75, Z:5.26 [[-6.95093215e-02 -9.97460879e-01 1.54999741e-02 1.16201410e+02] [ 8.15319024e-01 -4.78497962e-02 5.77031442e-01 1.86753811e+02] [-5.74824619e-01 5.27464878e-02 8.16574838e-01 5.26202320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.4407140569999 meters Centerline goodness : 0.989244 Centerline is valid? [True, True] Translation: X:116.20, Y:186.78, Z:5.24 [[-6.93728749e-02 -9.97493242e-01 1.39512213e-02 1.16202249e+02] [ 8.13684625e-01 -4.84875130e-02 5.79280840e-01 1.86776008e+02] [-5.77152263e-01 5.15382716e-02 8.15008633e-01 5.24281200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.4707140569999 meters Centerline goodness : 0.990042 Centerline is valid? [True, True] Translation: X:116.20, Y:186.80, Z:5.23 [[-7.00883922e-02 -9.97425987e-01 1.51333183e-02 1.16200514e+02] [ 8.13995030e-01 -4.84162975e-02 5.78850545e-01 1.86799551e+02] [-5.76627877e-01 5.28891499e-02 8.15293217e-01 5.22765559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.500714057 meters Centerline goodness : 0.989763 Centerline is valid? [True, True] Translation: X:116.20, Y:186.82, Z:5.21 [[-7.22018894e-02 -9.97281371e-01 1.47225716e-02 1.16200408e+02] [ 8.13891489e-01 -5.03796213e-02 5.78828592e-01 1.86821747e+02] [-5.76513254e-01 5.37750937e-02 8.15316324e-01 5.21044414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.530714057 meters Centerline goodness : 0.989823 Centerline is valid? [True, True] Translation: X:116.20, Y:186.84, Z:5.19 [[-7.29306744e-02 -9.97194278e-01 1.68727259e-02 1.16199707e+02] [ 8.13378366e-01 -4.96800237e-02 5.79609807e-01 1.86844269e+02] [-5.77145346e-01 5.59952444e-02 8.14719450e-01 5.19216419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.5607140569999 meters Centerline goodness : 0.990089 Centerline is valid? [True, True] Translation: X:116.20, Y:186.87, Z:5.18 [[-7.46853090e-02 -9.97070144e-01 1.65297630e-02 1.16199958e+02] [ 8.12800018e-01 -5.12624727e-02 5.80282939e-01 1.86867633e+02] [-5.77735437e-01 5.67740024e-02 8.14247184e-01 5.17552112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.5907140569999 meters Centerline goodness : 0.989762 Centerline is valid? [True, True] Translation: X:116.20, Y:186.89, Z:5.16 [[-7.31667803e-02 -9.97123067e-01 1.98043424e-02 1.16198208e+02] [ 8.13646071e-01 -4.81966929e-02 5.79359258e-01 1.86889148e+02] [-5.76737976e-01 5.85035769e-02 8.14831663e-01 5.15937335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.620714057 meters Centerline goodness : 0.989865 Centerline is valid? [True, True] Translation: X:116.20, Y:186.91, Z:5.14 [[-7.04972263e-02 -9.97413603e-01 1.40087563e-02 1.16201518e+02] [ 8.14673539e-01 -4.94658149e-02 5.77806333e-01 1.86909565e+02] [-5.75618942e-01 5.21463069e-02 8.16053672e-01 5.14127632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.650714057 meters Centerline goodness : 0.989823 Centerline is valid? [True, True] Translation: X:116.20, Y:186.93, Z:5.13 [[-6.70652447e-02 -9.97629253e-01 1.54313187e-02 1.16200603e+02] [ 8.15671389e-01 -4.59129510e-02 5.76690720e-01 1.86934084e+02] [-5.74615035e-01 5.12627894e-02 8.16816802e-01 5.12529682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.6807140569999 meters Centerline goodness : 0.989516 Centerline is valid? [True, True] Translation: X:116.20, Y:186.96, Z:5.11 [[-6.62447242e-02 -9.97635884e-01 1.82833186e-02 1.16199282e+02] [ 8.14843406e-01 -4.35133539e-02 5.78045684e-01 1.86957875e+02] [-5.75883548e-01 5.31905185e-02 8.15799551e-01 5.10902871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.7107140569999 meters Centerline goodness : 0.989908 Centerline is valid? [True, True] Translation: X:116.20, Y:186.98, Z:5.09 [[-6.49746455e-02 -9.97706787e-01 1.89595230e-02 1.16197976e+02] [ 8.14617308e-01 -4.20583684e-02 5.78471897e-01 1.86980532e+02] [-5.76347930e-01 5.30307620e-02 8.15481944e-01 5.09361890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.740714057 meters Centerline goodness : 0.989314 Centerline is valid? [True, True] Translation: X:116.20, Y:187.00, Z:5.08 [[-6.50589733e-02 -9.97652995e-01 2.13502121e-02 1.16198695e+02] [ 8.13893747e-01 -4.06722136e-02 5.79588423e-01 1.87004351e+02] [-5.77359766e-01 5.50842319e-02 8.14629627e-01 5.07541954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.770714057 meters Centerline goodness : 0.989382 Centerline is valid? [True, True] Translation: X:116.20, Y:187.02, Z:5.06 [[-6.27318659e-02 -9.97807916e-01 2.10731101e-02 1.16199277e+02] [ 8.14079103e-01 -3.89433212e-02 5.79446832e-01 1.87024761e+02] [-5.77355979e-01 5.35049596e-02 8.14737561e-01 5.05950177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.8007140569999 meters Centerline goodness : 0.990704 Centerline is valid? [True, True] Translation: X:116.20, Y:187.05, Z:5.04 [[-6.27107222e-02 -9.97766996e-01 2.29866565e-02 1.16199120e+02] [ 8.13714496e-01 -3.77799053e-02 5.80035686e-01 1.87048020e+02] [-5.77872031e-01 5.50790324e-02 8.14266674e-01 5.04296694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.8307140569999 meters Centerline goodness : 0.989168 Centerline is valid? [True, True] Translation: X:116.20, Y:187.07, Z:5.02 [[-6.12901433e-02 -9.97835717e-01 2.38201576e-02 1.16199405e+02] [ 8.12241710e-01 -3.59919840e-02 5.82209569e-01 1.87071569e+02] [-5.80092168e-01 5.50314334e-02 8.12689743e-01 5.02490687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.860714057 meters Centerline goodness : 0.989233 Centerline is valid? [True, True] Translation: X:116.20, Y:187.07, Z:5.02 [[-5.85769711e-02 -9.98180137e-01 1.43231174e-02 1.16203384e+02] [ 8.09482922e-01 -3.90971503e-02 5.85840261e-01 1.87073111e+02] [-5.84214119e-01 4.59110670e-02 8.10299967e-01 5.01683223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.890714057 meters Centerline goodness : 0.988361 Centerline is valid? [True, True] Translation: X:116.20, Y:187.10, Z:5.00 [[-5.70819780e-02 -9.98074814e-01 2.42551635e-02 1.16199405e+02] [ 8.08511041e-01 -3.19603020e-02 5.87612488e-01 1.87096232e+02] [-5.85706022e-01 5.31526506e-02 8.08778864e-01 5.00442915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.9207140569999 meters Centerline goodness : 0.989697 Centerline is valid? [True, True] Translation: X:116.20, Y:187.12, Z:4.99 [[-5.73043776e-02 -9.97942342e-01 2.87626600e-02 1.16199008e+02] [ 8.08551853e-01 -2.94908459e-02 5.87685453e-01 1.87123872e+02] [-5.85627962e-01 5.69330511e-02 8.08578084e-01 4.98524383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.9507140569999 meters Centerline goodness : 0.987119 Centerline is valid? [True, True] Translation: X:116.21, Y:187.13, Z:4.97 [[-5.86873223e-02 -9.98275864e-01 -1.04806402e-03 1.16212406e+02] [ 8.10609867e-01 -4.82673859e-02 5.83593954e-01 1.87131736e+02] [-5.82638346e-01 3.33999955e-02 8.12044948e-01 4.96563234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.980714057 meters Centerline goodness : 0.988605 Centerline is valid? [True, True] Translation: X:116.21, Y:187.14, Z:4.97 [[-5.75320188e-02 -9.98327664e-01 5.65176834e-03 1.16209496e+02] [ 8.11290808e-01 -4.34527388e-02 5.83025800e-01 1.87138766e+02] [-5.81805201e-01 3.81278790e-02 8.12433981e-01 4.96524767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.010714057 meters Centerline goodness : 0.987769 Centerline is valid? [True, True] Translation: X:116.21, Y:187.13, Z:4.97 [[-5.73531008e-02 -9.98332782e-01 6.50211244e-03 1.16210089e+02] [ 8.11150040e-01 -4.28008423e-02 5.83269836e-01 1.87127781e+02] [-5.82019102e-01 3.87265225e-02 8.12252437e-01 4.97374402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.040714057 meters Centerline goodness : 0.989109 Centerline is valid? [True, True] Translation: X:116.21, Y:187.14, Z:4.96 [[-5.70480982e-02 -9.98371392e-01 -2.79137527e-04 1.16211397e+02] [ 8.14514022e-01 -4.67039527e-02 5.78260883e-01 1.87141806e+02] [-5.77332160e-01 3.27613222e-02 8.15851870e-01 4.96433160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.0707140569999 meters Centerline goodness : 0.987960 Centerline is valid? [True, True] Translation: X:116.21, Y:187.15, Z:4.96 [[-5.55578512e-02 -9.98407352e-01 9.80225925e-03 1.16208921e+02] [ 8.14368063e-01 -3.96322115e-02 5.78993908e-01 1.87148709e+02] [-5.77683289e-01 4.01503043e-02 8.15272942e-01 4.96467564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.1007140569999 meters Centerline goodness : 0.987960 Centerline is valid? [True, True] Translation: X:116.21, Y:187.17, Z:4.95 [[-5.60784628e-02 -9.98289593e-01 1.65255861e-02 1.16205936e+02] [ 8.14728866e-01 -3.61870850e-02 5.78711820e-01 1.87173638e+02] [-5.77123974e-01 4.59171413e-02 8.15364664e-01 4.95076345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.130714057 meters Centerline goodness : 0.988931 Centerline is valid? [True, True] Translation: X:116.21, Y:187.20, Z:4.93 [[-5.55411464e-02 -9.98239523e-01 2.08095118e-02 1.16205334e+02] [ 8.14250844e-01 -3.32225156e-02 5.79561754e-01 1.87198004e+02] [-5.77850105e-01 4.91336868e-02 8.14662591e-01 4.93345676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.160714057 meters Centerline goodness : 0.988386 Centerline is valid? [True, True] Translation: X:116.21, Y:187.20, Z:4.92 [[-5.29489602e-02 -9.98589752e-01 3.86209703e-03 1.16212830e+02] [ 8.15402382e-01 -4.10023998e-02 5.77440697e-01 1.87201097e+02] [-5.76468007e-01 3.37240476e-02 8.16423497e-01 4.92378817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.1907140569999 meters Centerline goodness : 0.988967 Centerline is valid? [True, True] Translation: X:116.21, Y:187.20, Z:4.93 [[-4.92046412e-02 -9.98725398e-01 1.12464631e-02 1.16210933e+02] [ 8.14625554e-01 -3.36143622e-02 5.79012333e-01 1.87202430e+02] [-5.77896280e-01 3.76517504e-02 8.15241213e-01 4.92557739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.2207140569999 meters Centerline goodness : 0.988346 Centerline is valid? [True, True] Translation: X:116.21, Y:187.22, Z:4.91 [[-4.50618599e-02 -9.98923785e-01 1.09863460e-02 1.16210500e+02] [ 8.14314781e-01 -3.03592071e-02 5.79628982e-01 1.87224873e+02] [-5.78671640e-01 3.50655039e-02 8.14806446e-01 4.91308935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.250714057 meters Centerline goodness : 0.988642 Centerline is valid? [True, True] Translation: X:116.21, Y:187.25, Z:4.90 [[-4.37289514e-02 -9.98818885e-01 2.11804978e-02 1.16206637e+02] [ 8.15226364e-01 -2.34201647e-02 5.78668707e-01 1.87252155e+02] [-5.77489182e-01 4.25714760e-02 8.15287627e-01 4.89847173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.280714057 meters Centerline goodness : 0.987968 Centerline is valid? [True, True] Translation: X:116.21, Y:187.24, Z:4.90 [[-3.37992678e-02 -9.99280848e-01 1.71870793e-02 1.16211899e+02] [ 8.11990764e-01 -1.74301148e-02 5.83409968e-01 1.87235104e+02] [-5.82690835e-01 3.36745794e-02 8.11995944e-01 4.90416495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.3107140569999 meters Centerline goodness : 0.987722 Centerline is valid? [True, True] Translation: X:116.21, Y:187.26, Z:4.89 [[-3.16113178e-02 -9.99122917e-01 2.74612655e-02 1.16208770e+02] [ 8.10752185e-01 -9.56394180e-03 5.85311392e-01 1.87261972e+02] [-5.84535388e-01 4.07667454e-02 8.10343417e-01 4.88970575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.3407140569999 meters Centerline goodness : 0.987794 Centerline is valid? [True, True] Translation: X:116.21, Y:187.29, Z:4.87 [[-2.53329214e-02 -9.98954438e-01 3.80562008e-02 1.16208392e+02] [ 8.08170598e-01 1.94172689e-03 5.88945256e-01 1.87286505e+02] [-5.88403372e-01 4.56756065e-02 8.07276415e-01 4.87205362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.370714057 meters Centerline goodness : 0.988819 Centerline is valid? [True, True] Translation: X:116.21, Y:187.32, Z:4.86 [[-2.74576424e-02 -9.98825331e-01 3.99253769e-02 1.16206617e+02] [ 8.14001776e-01 8.41544156e-04 5.80861774e-01 1.87316295e+02] [-5.80213053e-01 4.84484226e-02 8.13022486e-01 4.85615503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.400714057 meters Centerline goodness : 0.987721 Centerline is valid? [True, True] Translation: X:116.23, Y:187.30, Z:4.85 [[-2.23331805e-02 -9.99750397e-01 6.10353120e-04 1.16225317e+02] [ 8.13320713e-01 -1.78135381e-02 5.81542858e-01 1.87302147e+02] [-5.81386831e-01 1.34841144e-02 8.13515539e-01 4.84711019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.4307140569999 meters Centerline goodness : 0.989285 Centerline is valid? [True, True] Translation: X:116.22, Y:187.31, Z:4.85 [[-2.07309703e-02 -9.99564241e-01 2.10131994e-02 1.16218141e+02] [ 8.16760428e-01 -4.81062216e-03 5.76956897e-01 1.87314133e+02] [-5.76604396e-01 2.91236260e-02 8.16504247e-01 4.85076702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.4607140569999 meters Centerline goodness : 0.988113 Centerline is valid? [True, True] Translation: X:116.22, Y:187.34, Z:4.84 [[-1.84425373e-02 -9.99665688e-01 1.81214066e-02 1.16222483e+02] [ 8.14203491e-01 -4.49687818e-03 5.80562188e-01 1.87336221e+02] [-5.80286609e-01 2.54615523e-02 8.14014226e-01 4.83840831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.490714057 meters Centerline goodness : 0.986984 Centerline is valid? [True, True] Translation: X:116.23, Y:187.34, Z:4.84 [[-1.87500937e-02 -9.99785048e-01 8.84829048e-03 1.16227744e+02] [ 8.16073279e-01 -1.01905803e-02 5.77858594e-01 1.87336321e+02] [-5.77644213e-01 1.80557562e-02 8.16088937e-01 4.83621620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.520714057 meters Centerline goodness : 0.988826 Centerline is valid? [True, True] Translation: X:116.23, Y:187.35, Z:4.83 [[-1.81455459e-02 -9.99593518e-01 2.19895089e-02 1.16226009e+02] [ 8.19864591e-01 -2.28766348e-03 5.72552897e-01 1.87352840e+02] [-5.72269860e-01 2.84177046e-02 8.19572841e-01 4.83333893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.5507140569999 meters Centerline goodness : 0.988170 Centerline is valid? [True, True] Translation: X:116.22, Y:187.38, Z:4.82 [[-1.84501369e-02 -9.99271767e-01 3.33995153e-02 1.16223308e+02] [ 8.20654854e-01 3.94651559e-03 5.71410567e-01 1.87377653e+02] [-5.71126259e-01 3.79520775e-02 8.19984412e-01 4.82163872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.5807140569999 meters Centerline goodness : 0.987476 Centerline is valid? [True, True] Translation: X:116.23, Y:187.40, Z:4.80 [[-1.77544891e-02 -9.98983121e-01 4.14427481e-02 1.16226818e+02] [ 8.20089384e-01 9.16101776e-03 5.72162108e-01 1.87400547e+02] [-5.71959947e-01 4.41452037e-02 8.19092803e-01 4.80483219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.610714057 meters Centerline goodness : 0.988027 Centerline is valid? [True, True] Translation: X:116.23, Y:187.42, Z:4.79 [[-2.01276613e-02 -9.99435797e-01 2.68880040e-02 1.16233709e+02] [ 8.21611898e-01 -1.21041014e-03 5.70045984e-01 1.87421576e+02] [-5.69691817e-01 3.35651965e-02 8.21172705e-01 4.78701837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.640714057 meters Centerline goodness : 0.989491 Centerline is valid? [True, True] Translation: X:116.24, Y:187.43, Z:4.78 [[-3.05188204e-02 -9.99519970e-01 -5.33204826e-03 1.16237876e+02] [ 8.26131281e-01 -2.82268200e-02 5.62770249e-01 1.87430808e+02] [-5.62650609e-01 1.27701123e-02 8.26596163e-01 4.78210276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.6707140569999 meters Centerline goodness : 0.990218 Centerline is valid? [True, True] Translation: X:116.24, Y:187.46, Z:4.77 [[-3.20763295e-02 -9.99485376e-01 3.02203968e-04 1.16240441e+02] [ 8.26170859e-01 -2.63440045e-02 5.62803434e-01 1.87455791e+02] [-5.62505841e-01 1.83023405e-02 8.26590711e-01 4.76836953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.7007140569999 meters Centerline goodness : 0.990199 Centerline is valid? [True, True] Translation: X:116.24, Y:187.48, Z:4.75 [[-3.40039890e-02 -9.99421692e-01 1.06232994e-04 1.16243130e+02] [ 8.25681571e-01 -2.80328228e-02 5.63439530e-01 1.87478205e+02] [-5.63110710e-01 1.92469062e-02 8.26157300e-01 4.75219238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.730714057 meters Centerline goodness : 0.990482 Centerline is valid? [True, True] Translation: X:116.25, Y:187.48, Z:4.75 [[-3.51326214e-02 -9.99382654e-01 -9.88025862e-05 1.16246411e+02] [ 8.25201099e-01 -2.90651547e-02 5.64090740e-01 1.87481806e+02] [-5.63745372e-01 1.97364544e-02 8.25712800e-01 4.74922475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.760714057 meters Centerline goodness : 0.990380 Centerline is valid? [True, True] Translation: X:116.25, Y:187.50, Z:4.73 [[-4.11019566e-02 -9.99154909e-01 3.12680809e-04 1.16252283e+02] [ 8.24259754e-01 -3.37304648e-02 5.65206258e-01 1.87504012e+02] [-5.64718061e-01 2.34888133e-02 8.24949567e-01 4.73309402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.790714057 meters Centerline goodness : 0.990466 Centerline is valid? [True, True] Translation: X:116.26, Y:187.53, Z:4.72 [[-4.50072642e-02 -9.98986653e-01 1.17497668e-04 1.16255252e+02] [ 8.24216403e-01 -3.70668938e-02 5.65060498e-01 1.87526188e+02] [-5.64483540e-01 2.55286706e-02 8.25049465e-01 4.71649005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.8207140569999 meters Centerline goodness : 0.990341 Centerline is valid? [True, True] Translation: X:116.26, Y:187.53, Z:4.71 [[-5.25375241e-02 -9.98618947e-01 -8.74885245e-05 1.16260112e+02] [ 8.24797223e-01 -4.34421221e-02 5.63757327e-01 1.87534391e+02] [-5.62982549e-01 2.95462538e-02 8.25940475e-01 4.71011451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.8507140569999 meters Centerline goodness : 0.990274 Centerline is valid? [True, True] Translation: X:116.26, Y:187.56, Z:4.69 [[-5.71091287e-02 -9.98367888e-01 3.26680899e-04 1.16262032e+02] [ 8.25280817e-01 -4.70239734e-02 5.62761334e-01 1.87557068e+02] [-5.61827483e-01 3.24084129e-02 8.26619365e-01 4.69354415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.880714057 meters Centerline goodness : 0.990862 Centerline is valid? [True, True] Translation: X:116.27, Y:187.58, Z:4.68 [[-6.54151561e-02 -9.97858126e-01 1.30872015e-04 1.16265702e+02] [ 8.25464276e-01 -5.40400896e-02 5.61861547e-01 1.87578774e+02] [-5.60651038e-01 3.68622910e-02 8.27231276e-01 4.67782589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.910714057 meters Centerline goodness : 0.991246 Centerline is valid? [True, True] Translation: X:116.27, Y:187.60, Z:4.66 [[-6.87420550e-02 -9.97634466e-01 4.70083362e-05 1.16267039e+02] [ 8.25315818e-01 -5.68419575e-02 5.61803162e-01 1.87600560e+02] [-5.60471525e-01 3.86583006e-02 8.27270938e-01 4.66254051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.9407140569999 meters Centerline goodness : 0.990844 Centerline is valid? [True, True] Translation: X:116.27, Y:187.61, Z:4.66 [[-7.31774606e-02 -9.97318935e-01 -4.51384541e-05 1.16268462e+02] [ 8.24552574e-01 -6.05263306e-02 5.62538547e-01 1.87608766e+02] [-5.61033076e-01 4.11279233e-02 8.26771058e-01 4.65796155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.9707140569999 meters Centerline goodness : 0.989750 Centerline is valid? [True, True] Translation: X:116.27, Y:187.63, Z:4.64 [[-7.57588498e-02 -9.97121880e-01 -2.92461282e-03 1.16271416e+02] [ 8.23079213e-01 -6.41906046e-02 5.64287317e-01 1.87633984e+02] [-5.62850963e-01 4.03425701e-02 8.25573298e-01 4.63835303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.000714057 meters Centerline goodness : 0.990896 Centerline is valid? [True, True] Translation: X:116.27, Y:187.66, Z:4.63 [[-7.75545449e-02 -9.96933090e-01 1.04741212e-02 1.16267730e+02] [ 8.22824100e-01 -5.80706009e-02 5.65321418e-01 1.87660493e+02] [-5.62979389e-01 5.24616046e-02 8.24804212e-01 4.62589724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.030714057 meters Centerline goodness : 0.990049 Centerline is valid? [True, True] Translation: X:117.03, Y:187.91, Z:5.40 [[-1.33094165e-02 9.98701114e-01 -4.91827682e-02 1.17029369e+02] [ 8.17946818e-01 -1.74178013e-02 -5.75030106e-01 1.87913723e+02] [-5.75139863e-01 -4.78822040e-02 -8.16652578e-01 5.39886867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.0607140569999 meters Centerline goodness : 0.990353 Centerline is valid? [True, True] Translation: X:116.33, Y:187.44, Z:4.75 [[-1.36957459e-01 -9.89787008e-01 -3.95516631e-02 1.16332081e+02] [ 8.13381153e-01 -1.35157796e-01 5.65812222e-01 1.87437906e+02] [-5.65379302e-01 4.53216268e-02 8.23584965e-01 4.75294688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.0907140569999 meters Centerline goodness : 0.990411 Centerline is valid? [True, True] Translation: X:116.33, Y:187.44, Z:4.76 [[-1.35421819e-01 -9.90241429e-01 -3.29065896e-02 1.16329321e+02] [ 8.12847514e-01 -1.30029812e-01 5.67777392e-01 1.87438234e+02] [-5.66515534e-01 5.01414079e-02 8.22524157e-01 4.75512447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.120714057 meters Centerline goodness : 0.989863 Centerline is valid? [True, True] Translation: X:116.33, Y:187.45, Z:4.75 [[-1.36718381e-01 -9.89879952e-01 -3.80232265e-02 1.16329763e+02] [ 8.13948387e-01 -1.34131389e-01 5.65240475e-01 1.87448366e+02] [-5.64620322e-01 4.63298188e-02 8.24049416e-01 4.74986088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.150714057 meters Centerline goodness : 0.990313 Centerline is valid? [True, True] Translation: X:116.33, Y:187.45, Z:4.75 [[-1.35626376e-01 -9.90208183e-01 -3.30641785e-02 1.16327786e+02] [ 8.13057381e-01 -1.30309025e-01 5.67412771e-01 1.87450118e+02] [-5.66165330e-01 5.00730636e-02 8.22769413e-01 4.74919673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.1807140569999 meters Centerline goodness : 0.990745 Centerline is valid? [True, True] Translation: X:116.33, Y:187.45, Z:4.75 [[-1.35739951e-01 -9.90113891e-01 -3.53432843e-02 1.16327661e+02] [ 8.14228967e-01 -1.31808959e-01 5.65382692e-01 1.87454412e+02] [-5.64451818e-01 4.79674931e-02 8.24071152e-01 4.74597657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.2107140569999 meters Centerline goodness : 0.990203 Centerline is valid? [True, True] Translation: X:116.33, Y:187.46, Z:4.74 [[-1.35839160e-01 -9.90132616e-01 -3.44256578e-02 1.16326397e+02] [ 8.15124715e-01 -1.31444985e-01 5.64175430e-01 1.87461834e+02] [-5.63133574e-01 4.85759120e-02 8.24936942e-01 4.74069397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.240714057 meters Centerline goodness : 0.990340 Centerline is valid? [True, True] Translation: X:116.32, Y:187.46, Z:4.74 [[-1.34639583e-01 -9.90393336e-01 -3.15154307e-02 1.16324650e+02] [ 8.15811053e-01 -1.28846098e-01 5.63782768e-01 1.87462746e+02] [-5.62427337e-01 5.01968400e-02 8.25321615e-01 4.73923633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.270714057 meters Centerline goodness : 0.990249 Centerline is valid? [True, True] Translation: X:116.32, Y:187.46, Z:4.74 [[-1.29110191e-01 -9.91478275e-01 -1.73605507e-02 1.16319804e+02] [ 8.12618530e-01 -1.15820172e-01 5.71171439e-01 1.87457888e+02] [-5.68314775e-01 5.96365482e-02 8.20647183e-01 4.74202872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.3007140569999 meters Centerline goodness : 0.990579 Centerline is valid? [True, True] Translation: X:116.33, Y:187.46, Z:4.73 [[-1.29386672e-01 -9.90710529e-01 -4.18537445e-02 1.16326171e+02] [ 8.16329541e-01 -1.30383526e-01 5.62677720e-01 1.87462368e+02] [-5.62907781e-01 3.86365497e-02 8.25616162e-01 4.73385593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.3307140569999 meters Centerline goodness : 0.989825 Centerline is valid? [True, True] Translation: X:116.32, Y:187.47, Z:4.74 [[-1.27351163e-01 -9.91229081e-01 -3.53070967e-02 1.16321229e+02] [ 8.18085334e-01 -1.25100136e-01 5.61325523e-01 1.87466755e+02] [-5.60819105e-01 4.26012400e-02 8.26841621e-01 4.73560048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.360714057 meters Centerline goodness : 0.990696 Centerline is valid? [True, True] Translation: X:116.31, Y:187.47, Z:4.74 [[-1.19165884e-01 -9.92509635e-01 -2.69093986e-02 1.16313780e+02] [ 8.17941228e-01 -1.13497596e-01 5.63995074e-01 1.87467086e+02] [-5.62824697e-01 4.51986649e-02 8.25339591e-01 4.73917583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.390714057 meters Centerline goodness : 0.990046 Centerline is valid? [True, True] Translation: X:116.31, Y:187.47, Z:4.74 [[-1.13239528e-01 -9.93265094e-01 -2.45206578e-02 1.16311415e+02] [ 8.15919820e-01 -1.07047200e-01 5.68168764e-01 1.87471383e+02] [-5.66967068e-01 4.43322721e-02 8.22546651e-01 4.73517970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.4207140569999 meters Centerline goodness : 0.990106 Centerline is valid? [True, True] Translation: X:116.31, Y:187.47, Z:4.73 [[-1.07148536e-01 -9.93737174e-01 -3.17115249e-02 1.16310004e+02] [ 8.17390720e-01 -1.06202721e-01 5.66209672e-01 1.87474482e+02] [-5.66031450e-01 3.47478314e-02 8.23651010e-01 4.73317384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.4507140569999 meters Centerline goodness : 0.990303 Centerline is valid? [True, True] Translation: X:116.31, Y:187.48, Z:4.73 [[-1.02447461e-01 -9.94296681e-01 -2.96416501e-02 1.16305896e+02] [ 8.17879848e-01 -1.01156483e-01 5.66427330e-01 1.87480315e+02] [-5.66195259e-01 3.37857338e-02 8.23578443e-01 4.73090987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.480714057 meters Centerline goodness : 0.990025 Centerline is valid? [True, True] Translation: X:116.30, Y:187.49, Z:4.72 [[-1.01815504e-01 -9.94429314e-01 -2.72753047e-02 1.16303001e+02] [ 8.17628530e-01 -9.92687278e-02 5.67123713e-01 1.87489820e+02] [-5.66672030e-01 3.54409194e-02 8.23180874e-01 4.72417490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.510714057 meters Centerline goodness : 0.990185 Centerline is valid? [True, True] Translation: X:116.30, Y:187.48, Z:4.73 [[-1.03489562e-01 -9.94030839e-01 -3.45340784e-02 1.16304237e+02] [ 8.19503872e-01 -1.04892454e-01 5.63392383e-01 1.87484933e+02] [-5.63651767e-01 3.00044201e-02 8.25467395e-01 4.72795520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.540714057 meters Centerline goodness : 0.990740 Centerline is valid? [True, True] Translation: X:116.30, Y:187.50, Z:4.72 [[-1.04751720e-01 -9.94103044e-01 -2.80395248e-02 1.16300444e+02] [ 8.19639547e-01 -1.02266969e-01 5.63677639e-01 1.87495344e+02] [-5.63221174e-01 3.60638986e-02 8.25518810e-01 4.72397627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.5707140569999 meters Centerline goodness : 0.990757 Centerline is valid? [True, True] Translation: X:116.30, Y:187.50, Z:4.72 [[-1.06992634e-01 -9.93935733e-01 -2.53837698e-02 1.16298365e+02] [ 8.18825179e-01 -1.02567151e-01 5.64805547e-01 1.87504255e+02] [-5.63983956e-01 3.96451635e-02 8.24833533e-01 4.71821051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.6007140569999 meters Centerline goodness : 0.989700 Centerline is valid? [True, True] Translation: X:116.30, Y:187.51, Z:4.71 [[-1.12315397e-01 -9.93017065e-01 -3.60882396e-02 1.16301149e+02] [ 8.20837851e-01 -1.13186524e-01 5.59833934e-01 1.87510141e+02] [-5.60009352e-01 3.32553773e-02 8.27818582e-01 4.71371771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.630714057 meters Centerline goodness : 0.990315 Centerline is valid? [True, True] Translation: X:116.30, Y:187.52, Z:4.71 [[-1.14435828e-01 -9.93071540e-01 -2.67087659e-02 1.16296353e+02] [ 8.20915641e-01 -1.09670118e-01 5.60419464e-01 1.87515531e+02] [-5.59465774e-01 4.22064215e-02 8.27778150e-01 4.71313539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.660714057 meters Centerline goodness : 0.990376 Centerline is valid? [True, True] Translation: X:116.30, Y:187.52, Z:4.71 [[-1.16278656e-01 -9.92659927e-01 -3.32497043e-02 1.16297848e+02] [ 8.22784223e-01 -1.15023075e-01 5.56593042e-01 1.87519440e+02] [-5.56332092e-01 3.73625585e-02 8.30119655e-01 4.70941683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.6907140569999 meters Centerline goodness : 0.990276 Centerline is valid? [True, True] Translation: X:116.30, Y:187.53, Z:4.70 [[-1.18624570e-01 -9.92431068e-01 -3.17614150e-02 1.16295112e+02] [ 8.24292549e-01 -1.16260273e-01 5.54098676e-01 1.87529408e+02] [-5.53597331e-01 3.95490192e-02 8.31844859e-01 4.70340797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.7207140569999 meters Centerline goodness : 0.990143 Centerline is valid? [True, True] Translation: X:116.29, Y:187.54, Z:4.70 [[-1.18531019e-01 -9.92573971e-01 -2.73369794e-02 1.16292013e+02] [ 8.24332022e-01 -1.13713575e-01 5.54568246e-01 1.87536796e+02] [-5.53558592e-01 4.31987916e-02 8.31689094e-01 4.69975487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.750714057 meters Centerline goodness : 0.990954 Centerline is valid? [True, True] Translation: X:116.28, Y:187.54, Z:4.69 [[-1.27240451e-01 -9.91468586e-01 -2.82826878e-02 1.16284510e+02] [ 8.23579483e-01 -1.21498783e-01 5.54035090e-01 1.87542099e+02] [-5.52744700e-01 4.72026336e-02 8.32012745e-01 4.69315621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.780714057 meters Centerline goodness : 0.990879 Centerline is valid? [True, True] Translation: X:116.29, Y:187.53, Z:4.70 [[-1.09427815e-01 -9.93666981e-01 -2.55241968e-02 1.16290165e+02] [ 8.19021845e-01 -1.04685745e-01 5.64131290e-01 1.87526872e+02] [-5.63230655e-01 4.08267794e-02 8.25290497e-01 4.69799538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.8107140569999 meters Centerline goodness : 0.990786 Centerline is valid? [True, True] Translation: X:116.29, Y:187.55, Z:4.68 [[-1.21608369e-01 -9.91614089e-01 -4.37367442e-02 1.16285351e+02] [ 8.23956654e-01 -1.25420650e-01 5.52598491e-01 1.87546768e+02] [-5.53449940e-01 3.11634200e-02 8.32299228e-01 4.68462542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.8407140569999 meters Centerline goodness : 0.990966 Centerline is valid? [True, True] Translation: X:116.28, Y:187.55, Z:4.68 [[-1.19515079e-01 -9.91957904e-01 -4.16612793e-02 1.16282259e+02] [ 8.23974533e-01 -1.22510655e-01 5.53224283e-01 1.87552904e+02] [-5.53879151e-01 3.17908107e-02 8.31989922e-01 4.68115091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.870714057 meters Centerline goodness : 0.989985 Centerline is valid? [True, True] Translation: X:116.28, Y:187.55, Z:4.68 [[-1.02070860e-01 -9.94348275e-01 -2.92069878e-02 1.16283118e+02] [ 8.19996130e-01 -1.00723266e-01 5.63436927e-01 1.87549172e+02] [-5.63194360e-01 3.35608749e-02 8.25642647e-01 4.68418062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.900714057 meters Centerline goodness : 0.990297 Centerline is valid? [True, True] Translation: X:116.28, Y:187.56, Z:4.68 [[-9.91019995e-02 -9.94955815e-01 -1.55473480e-02 1.16276684e+02] [ 8.17087939e-01 -9.02831119e-02 5.69399912e-01 1.87560612e+02] [-5.67931416e-01 4.37251192e-02 8.21913633e-01 4.67859794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.9307140569999 meters Centerline goodness : 0.991085 Centerline is valid? [True, True] Translation: X:116.28, Y:187.56, Z:4.67 [[-1.13493897e-01 -9.92403017e-01 -4.74909220e-02 1.16279875e+02] [ 8.23123518e-01 -1.20688561e-01 5.54889129e-01 1.87564183e+02] [-5.56405257e-01 2.38856352e-02 8.30567677e-01 4.67118232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.9607140569999 meters Centerline goodness : 0.991128 Centerline is valid? [True, True] Translation: X:116.28, Y:187.57, Z:4.67 [[-1.12704421e-01 -9.92811176e-01 -4.02949444e-02 1.16275635e+02] [ 8.24041260e-01 -1.16051560e-01 5.54516039e-01 1.87568752e+02] [-5.55206012e-01 2.92917123e-02 8.31196896e-01 4.67143270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.990714057 meters Centerline goodness : 0.990976 Centerline is valid? [True, True] Translation: X:116.27, Y:187.58, Z:4.67 [[-1.12302910e-01 -9.92877978e-01 -3.97665462e-02 1.16273563e+02] [ 8.25349878e-01 -1.15490051e-01 5.52684021e-01 1.87575539e+02] [-5.53340434e-01 2.92467100e-02 8.32441586e-01 4.66723612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.020714057 meters Centerline goodness : 0.990976 Centerline is valid? [True, True] Translation: X:116.27, Y:187.58, Z:4.66 [[-1.11713304e-01 -9.92960213e-01 -3.93719777e-02 1.16273010e+02] [ 8.25429948e-01 -1.14780911e-01 5.52712170e-01 1.87580623e+02] [-5.53340346e-01 2.92464930e-02 8.32441652e-01 4.66390424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.0507140569999 meters Centerline goodness : 0.990946 Centerline is valid? [True, True] Translation: X:116.27, Y:187.58, Z:4.67 [[-9.15485420e-02 -9.95800107e-01 -1.00547222e-03 1.16266965e+02] [ 8.13970418e-01 -7.54136767e-02 5.75990395e-01 1.87577669e+02] [-5.73647124e-01 5.19126562e-02 8.17455842e-01 4.66753668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.0807140569999 meters Centerline goodness : 0.990455 Centerline is valid? [True, True] Translation: X:116.28, Y:187.58, Z:4.66 [[-9.39087885e-02 -9.95301678e-01 -2.35734783e-02 1.16275711e+02] [ 8.14597930e-01 -9.04288048e-02 5.72933542e-01 1.87580106e+02] [-5.72373438e-01 3.46005882e-02 8.19262746e-01 4.65640119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.110714057 meters Centerline goodness : 0.991342 Centerline is valid? [True, True] Translation: X:116.27, Y:187.59, Z:4.65 [[-9.52182944e-02 -9.95322229e-01 -1.63443356e-02 1.16272321e+02] [ 8.14450687e-01 -8.73346148e-02 5.73622475e-01 1.87594068e+02] [-5.72366627e-01 4.13076983e-02 8.18956726e-01 4.64926090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.140714057 meters Centerline goodness : 0.989554 Centerline is valid? [True, True] Translation: X:116.28, Y:187.58, Z:4.65 [[-9.95377334e-02 -9.94299860e-01 -3.82103135e-02 1.16281269e+02] [ 8.14250261e-01 -1.03464860e-01 5.71219341e-01 1.87583930e+02] [-5.71916736e-01 2.57451207e-02 8.19907578e-01 4.64971499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.1707140569999 meters Centerline goodness : 0.989833 Centerline is valid? [True, True] Translation: X:116.27, Y:187.60, Z:4.65 [[-9.99033992e-02 -9.94976475e-01 -6.41287451e-03 1.16266467e+02] [ 8.15279453e-01 -8.55516971e-02 5.72713123e-01 1.87601049e+02] [-5.70384717e-01 5.19877029e-02 8.19730781e-01 4.64978006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.2007140569999 meters Centerline goodness : 0.990488 Centerline is valid? [True, True] Translation: X:116.27, Y:187.60, Z:4.64 [[-1.03264343e-01 -9.94334857e-01 -2.51926065e-02 1.16271501e+02] [ 8.16623896e-01 -9.92141769e-02 5.68578895e-01 1.87599697e+02] [-5.67857278e-01 3.81410416e-02 8.22242892e-01 4.64485556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.230714057 meters Centerline goodness : 0.990010 Centerline is valid? [True, True] Translation: X:116.27, Y:187.60, Z:4.64 [[-1.03305265e-01 -9.94490939e-01 -1.77706262e-02 1.16267749e+02] [ 8.16356611e-01 -9.49808429e-02 5.69684582e-01 1.87604779e+02] [-5.68234024e-01 4.43442485e-02 8.21671274e-01 4.64492353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.260714057 meters Centerline goodness : 0.990271 Centerline is valid? [True, True] Translation: X:116.27, Y:187.61, Z:4.64 [[-1.04155883e-01 -9.94402370e-01 -1.77617199e-02 1.16265636e+02] [ 8.15203361e-01 -9.55893652e-02 5.71232136e-01 1.87611453e+02] [-5.69732421e-01 4.50177739e-02 8.20596349e-01 4.64088359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.290714057 meters Centerline goodness : 0.989005 Centerline is valid? [True, True] Translation: X:116.26, Y:187.62, Z:4.63 [[-9.69508299e-02 -9.95288769e-01 -8.95574143e-04 1.16259044e+02] [ 8.01786894e-01 -7.86349227e-02 5.92413982e-01 1.87622983e+02] [-5.89693407e-01 5.67169676e-02 8.05633212e-01 4.62984044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.3207140569999 meters Centerline goodness : 0.989031 Centerline is valid? [True, True] Translation: X:116.27, Y:187.62, Z:4.63 [[-1.05882152e-01 -9.93420862e-01 -4.36344012e-02 1.16272552e+02] [ 8.10604625e-01 -1.11646437e-01 5.74852342e-01 1.87615888e+02] [-5.75941934e-01 2.54963553e-02 8.17092910e-01 4.62684728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.3507140569999 meters Centerline goodness : 0.988716 Centerline is valid? [True, True] Translation: X:116.25, Y:187.61, Z:4.64 [[-9.53290508e-02 -9.95132076e-01 2.49904583e-02 1.16248046e+02] [ 7.98458381e-01 -6.14484726e-02 5.98905919e-01 1.87614255e+02] [-5.94454865e-01 7.70469736e-02 8.00429371e-01 4.64486534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.380714057 meters Centerline goodness : 0.988363 Centerline is valid? [True, True] Translation: X:116.26, Y:187.62, Z:4.62 [[-1.00213448e-01 -9.94688223e-01 -2.35075137e-02 1.16264075e+02] [ 8.00910904e-01 -9.46637716e-02 5.91253324e-01 1.87619183e+02] [-5.90338029e-01 4.04241101e-02 8.06143228e-01 4.62151273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.410714057 meters Centerline goodness : 0.987431 Centerline is valid? [True, True] Translation: X:116.22, Y:188.22, Z:4.21 [[-1.48442551e-01 -9.86654170e-01 -6.69205416e-02 1.16223993e+02] [ 8.20686843e-01 -1.60663246e-01 5.48325110e-01 1.88216843e+02] [-5.51758928e-01 2.64739701e-02 8.33583358e-01 4.21234170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.4407140569999 meters Centerline goodness : 0.990022 Centerline is valid? [True, True] Translation: X:116.25, Y:187.63, Z:4.62 [[-1.04263140e-01 -9.94366466e-01 -1.90926280e-02 1.16253929e+02] [ 8.11337368e-01 -9.61433581e-02 5.76617837e-01 1.87633510e+02] [-5.75205071e-01 4.46294237e-02 8.16790880e-01 4.61615659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.4707140569999 meters Centerline goodness : 0.989444 Centerline is valid? [True, True] Translation: X:116.25, Y:187.66, Z:4.60 [[-1.10900038e-01 -9.93189265e-01 -3.57248477e-02 1.16251558e+02] [ 8.21322423e-01 -1.11830657e-01 5.59395551e-01 1.87656486e+02] [-5.59580789e-01 3.26953693e-02 8.28130638e-01 4.60336451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.500714057 meters Centerline goodness : 0.988062 Centerline is valid? [True, True] Translation: X:116.20, Y:188.21, Z:4.23 [[-1.41085841e-01 -9.89259730e-01 -3.82095738e-02 1.16204460e+02] [ 8.22951223e-01 -1.38646826e-01 5.50934064e-01 1.88205658e+02] [-5.50314520e-01 4.62843804e-02 8.33673609e-01 4.23195830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.530714057 meters Centerline goodness : 0.991037 Centerline is valid? [True, True] Translation: X:116.24, Y:187.68, Z:4.59 [[-1.11194140e-01 -9.93275759e-01 -3.22355424e-02 1.16236735e+02] [ 8.31548022e-01 -1.10753778e-01 5.44299079e-01 1.87684817e+02] [-5.44209289e-01 3.37174664e-02 8.38271664e-01 4.59477083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.5607140569999 meters Centerline goodness : 0.988633 Centerline is valid? [True, True] Translation: X:116.23, Y:187.69, Z:4.60 [[-1.10851228e-01 -9.93365323e-01 -3.06160136e-02 1.16234022e+02] [ 8.29795281e-01 -1.09463994e-01 5.47227033e-01 1.87686267e+02] [-5.46947709e-01 3.52557649e-02 8.36424076e-01 4.59716890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.5907140569999 meters Centerline goodness : 0.989181 Centerline is valid? [True, True] Translation: X:116.23, Y:187.70, Z:4.59 [[-1.09613225e-01 -9.93578213e-01 -2.80584212e-02 1.16227640e+02] [ 8.31822815e-01 -1.07147503e-01 5.44600971e-01 1.87700295e+02] [-5.44110049e-01 3.63558336e-02 8.38225809e-01 4.59213579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.620714057 meters Centerline goodness : 0.989724 Centerline is valid? [True, True] Translation: X:116.22, Y:187.72, Z:4.58 [[-1.08572257e-01 -9.93835947e-01 -2.24092689e-02 1.16222192e+02] [ 8.32529790e-01 -1.03222795e-01 5.44278608e-01 1.87719083e+02] [-5.43236793e-01 4.04371731e-02 8.38605164e-01 4.58314803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.650714057 meters Centerline goodness : 0.990196 Centerline is valid? [True, True] Translation: X:116.22, Y:187.71, Z:4.59 [[-1.07814770e-01 -9.93727481e-01 -2.96929104e-02 1.16221407e+02] [ 8.32525887e-01 -1.06569277e-01 5.43639253e-01 1.87710212e+02] [-5.43393617e-01 3.38922246e-02 8.38793594e-01 4.58663949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.6807140569999 meters Centerline goodness : 0.988824 Centerline is valid? [True, True] Translation: X:116.21, Y:187.74, Z:4.57 [[-1.06810763e-01 -9.94108479e-01 -1.84334874e-02 1.16214045e+02] [ 8.31267928e-01 -9.94556250e-02 5.46902377e-01 1.87739356e+02] [-5.45513604e-01 4.30918936e-02 8.36993427e-01 4.57284382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.7107140569999 meters Centerline goodness : 0.989975 Centerline is valid? [True, True] Translation: X:116.21, Y:187.71, Z:4.59 [[-1.00705746e-01 -9.94912515e-01 -2.72776736e-03 1.16206393e+02] [ 8.26849876e-01 -8.52185268e-02 5.55929029e-01 1.87712973e+02] [-5.53333204e-01 5.37297936e-02 8.31225285e-01 4.59228691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.740714057 meters Centerline goodness : 0.989537 Centerline is valid? [True, True] Translation: X:116.21, Y:187.71, Z:4.59 [[-9.91647967e-02 -9.94858166e-01 -2.05808775e-02 1.16213175e+02] [ 8.27012365e-01 -9.39010321e-02 5.54286158e-01 1.87705167e+02] [-5.53368676e-01 3.79450340e-02 8.32071681e-01 4.58887028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.770714057 meters Centerline goodness : 0.990878 Centerline is valid? [True, True] Translation: X:116.21, Y:187.72, Z:4.58 [[-1.00691445e-01 -9.94771207e-01 -1.70727553e-02 1.16207635e+02] [ 8.27930840e-01 -9.32948775e-02 5.53015905e-01 1.87722096e+02] [-5.51717100e-01 4.15489100e-02 8.32995756e-01 4.58040970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.8007140569999 meters Centerline goodness : 0.991461 Centerline is valid? [True, True] Translation: X:116.20, Y:187.74, Z:4.58 [[-1.00427618e-01 -9.94932435e-01 -4.87263150e-03 1.16200918e+02] [ 8.32714855e-01 -8.67317702e-02 5.46867049e-01 1.87737702e+02] [-5.44518377e-01 5.08630427e-02 8.37205284e-01 4.57688892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.8307140569999 meters Centerline goodness : 0.990122 Centerline is valid? [True, True] Translation: X:116.21, Y:187.75, Z:4.56 [[-1.04659188e-01 -9.93951010e-01 -3.32842952e-02 1.16208737e+02] [ 8.31837848e-01 -1.05834105e-01 5.44834779e-01 1.87748477e+02] [-5.45061692e-01 2.93348293e-02 8.37882581e-01 4.55632615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.860714057 meters Centerline goodness : 0.990521 Centerline is valid? [True, True] Translation: X:116.20, Y:187.76, Z:4.56 [[-1.05090449e-01 -9.94100149e-01 -2.68494048e-02 1.16204004e+02] [ 8.34772241e-01 -1.02856346e-01 5.40902835e-01 1.87757957e+02] [-5.40473221e-01 3.44305843e-02 8.40656429e-01 4.55524543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.890714057 meters Centerline goodness : 0.989929 Centerline is valid? [True, True] Translation: X:116.20, Y:187.77, Z:4.55 [[-1.04210978e-01 -9.94392330e-01 -1.79990692e-02 1.16198089e+02] [ 8.35173184e-01 -9.73230036e-02 5.41307663e-01 1.87773245e+02] [-5.40023912e-01 4.13778609e-02 8.40631934e-01 4.54872175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.9207140569999 meters Centerline goodness : 0.989883 Centerline is valid? [True, True] Translation: X:116.20, Y:187.78, Z:4.54 [[-1.02737129e-01 -9.94561684e-01 -1.70920851e-02 1.16195119e+02] [ 8.34757916e-01 -9.55486687e-02 5.42263472e-01 1.87780776e+02] [-5.40947598e-01 4.14428388e-02 8.40034634e-01 4.54492894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.9507140569999 meters Centerline goodness : 0.990723 Centerline is valid? [True, True] Translation: X:116.20, Y:187.77, Z:4.55 [[-1.01329225e-01 -9.94369104e-01 -3.10237588e-02 1.16198964e+02] [ 8.36183518e-01 -1.02022299e-01 5.38877143e-01 1.87770197e+02] [-5.39007897e-01 2.86624476e-02 8.41812896e-01 4.54661468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.980714057 meters Centerline goodness : 0.990041 Centerline is valid? [True, True] Translation: X:116.19, Y:187.80, Z:4.53 [[-9.82669860e-02 -9.94984617e-01 -1.86872135e-02 1.16191928e+02] [ 8.35041581e-01 -9.26563376e-02 5.42328647e-01 1.87799431e+02] [-5.41340149e-01 3.76884012e-02 8.39958587e-01 4.53236117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.010714057 meters Centerline goodness : 0.990305 Centerline is valid? [True, True] Translation: X:116.19, Y:187.80, Z:4.53 [[-9.62054737e-02 -9.95195846e-01 -1.81586162e-02 1.16191029e+02] [ 8.34726282e-01 -9.06035489e-02 5.43160226e-01 1.87801547e+02] [-5.42196035e-01 3.70975126e-02 8.39432686e-01 4.53105977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.040714057 meters Centerline goodness : 0.989708 Centerline is valid? [True, True] Translation: X:116.20, Y:187.79, Z:4.53 [[-9.46400146e-02 -9.94990230e-01 -3.22135202e-02 1.16195171e+02] [ 8.36073673e-01 -9.70064275e-02 5.39972747e-01 1.87790050e+02] [-5.40392526e-01 2.41701524e-02 8.41065825e-01 4.53469865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.0707140569999 meters Centerline goodness : 0.991430 Centerline is valid? [True, True] Translation: X:116.19, Y:187.80, Z:4.53 [[-8.73881665e-02 -9.96152001e-01 -6.67077738e-03 1.16185165e+02] [ 8.33178338e-01 -7.67585543e-02 5.47651332e-01 1.87800783e+02] [-5.46056009e-01 4.23002985e-02 8.36680058e-01 4.53317659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.1007140569999 meters Centerline goodness : 0.991461 Centerline is valid? [True, True] Translation: X:116.19, Y:187.80, Z:4.53 [[-8.62390475e-02 -9.96228964e-01 -9.52254314e-03 1.16185920e+02] [ 8.34257817e-01 -7.74360637e-02 5.45909837e-01 1.87800161e+02] [-5.44588580e-01 3.91344884e-02 8.37789813e-01 4.53084340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.130714057 meters Centerline goodness : 0.992274 Centerline is valid? [True, True] Translation: X:116.18, Y:187.82, Z:4.52 [[-8.25627785e-02 -9.96581347e-01 3.00115500e-03 1.16180177e+02] [ 8.33542071e-01 -6.74043623e-02 5.48328613e-01 1.87822768e+02] [-5.46251777e-01 4.77731228e-02 8.36257571e-01 4.51904887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.160714057 meters Centerline goodness : 0.991256 Centerline is valid? [True, True] Translation: X:116.19, Y:187.80, Z:4.52 [[-8.04081064e-02 -9.96586291e-01 -1.87163277e-02 1.16189134e+02] [ 8.30559606e-01 -7.73704483e-02 5.51529287e-01 1.87799474e+02] [-5.51094617e-01 2.88023998e-02 8.33945529e-01 4.51855714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.1907140569999 meters Centerline goodness : 0.990792 Centerline is valid? [True, True] Translation: X:116.18, Y:187.80, Z:4.52 [[-7.83631378e-02 -9.96908727e-01 -5.67523443e-03 1.16183496e+02] [ 8.31642025e-01 -6.85093104e-02 5.51069884e-01 1.87800047e+02] [-5.49755183e-01 3.84638018e-02 8.34439797e-01 4.52233503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.2207140569999 meters Centerline goodness : 0.991600 Centerline is valid? [True, True] Translation: X:116.18, Y:187.83, Z:4.50 [[-7.94611144e-02 -9.96679016e-01 -1.78008775e-02 1.16183623e+02] [ 8.34177499e-01 -7.62607371e-02 5.46197950e-01 1.87832385e+02] [-5.45741544e-01 2.85524064e-02 8.37466971e-01 4.49599469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.250714057 meters Centerline goodness : 0.991027 Centerline is valid? [True, True] Translation: X:116.18, Y:187.82, Z:4.51 [[-7.40444974e-02 -9.97254773e-01 -5.73998408e-04 1.16178225e+02] [ 8.30135382e-01 -6.19550956e-02 5.54109026e-01 1.87818865e+02] [-5.52623434e-01 4.05522280e-02 8.32443907e-01 4.51129930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.280714057 meters Centerline goodness : 0.991362 Centerline is valid? [True, True] Translation: X:116.18, Y:187.81, Z:4.51 [[-6.80326706e-02 -9.97674101e-01 -4.23592531e-03 1.16179377e+02] [ 8.26898895e-01 -5.87618490e-02 5.59272084e-01 1.87810534e+02] [-5.58220184e-01 3.45460915e-02 8.28973337e-01 4.51271824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.3107140569999 meters Centerline goodness : 0.990614 Centerline is valid? [True, True] Translation: X:116.18, Y:187.82, Z:4.51 [[-6.56743758e-02 -9.97840686e-01 -9.17948109e-04 1.16176895e+02] [ 8.23267135e-01 -5.47043308e-02 5.65012089e-01 1.87822465e+02] [-5.63842266e-01 3.63510997e-02 8.25082115e-01 4.50546506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.3407140569999 meters Centerline goodness : 0.990033 Centerline is valid? [True, True] Translation: X:116.18, Y:187.82, Z:4.51 [[-6.11164378e-02 -9.98127997e-01 2.29831407e-03 1.16177178e+02] [ 8.19001830e-01 -4.88319205e-02 5.71709232e-01 1.87818052e+02] [-5.70526760e-01 3.68231551e-02 8.20453089e-01 4.50596920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.370714057 meters Centerline goodness : 0.991060 Centerline is valid? [True, True] Translation: X:116.18, Y:187.84, Z:4.49 [[-6.52967971e-02 -9.97759152e-01 -1.45946531e-02 1.16183499e+02] [ 8.21217719e-01 -6.20404681e-02 5.67232261e-01 1.87836040e+02] [-5.66866639e-01 2.50530622e-02 8.23428538e-01 4.48953389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.400714057 meters Centerline goodness : 0.992305 Centerline is valid? [True, True] Translation: X:116.17, Y:187.83, Z:4.50 [[-6.19483638e-02 -9.98005169e-01 1.21689287e-02 1.16174797e+02] [ 8.21260990e-01 -4.40413299e-02 5.68850374e-01 1.87832067e+02] [-5.67179678e-01 4.52332164e-02 8.22351001e-01 4.50302090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.4307140569999 meters Centerline goodness : 0.991625 Centerline is valid? [True, True] Translation: X:116.19, Y:187.85, Z:4.48 [[-7.17482367e-02 -9.97289490e-01 -1.63052997e-02 1.16185354e+02] [ 8.27173498e-01 -6.86283792e-02 5.57740217e-01 1.87852539e+02] [-5.57347464e-01 2.65295654e-02 8.29855401e-01 4.48346772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.4607140569999 meters Centerline goodness : 0.990801 Centerline is valid? [True, True] Translation: X:116.19, Y:187.85, Z:4.48 [[-7.11682062e-02 -9.97355088e-01 -1.47619620e-02 1.16187666e+02] [ 8.23697845e-01 -6.71102267e-02 5.63043584e-01 1.87852186e+02] [-5.62545061e-01 2.79114056e-02 8.26295351e-01 4.48280550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.490714057 meters Centerline goodness : 0.988476 Centerline is valid? [True, True] Translation: X:116.19, Y:187.87, Z:4.48 [[-7.91668909e-02 -9.96849825e-01 -4.79885991e-03 1.16185922e+02] [ 8.26086822e-01 -6.82983057e-02 5.59388866e-01 1.87872019e+02] [-5.57954448e-01 4.03208024e-02 8.28891469e-01 4.48048640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.520714057 meters Centerline goodness : 0.990718 Centerline is valid? [True, True] Translation: X:116.20, Y:187.88, Z:4.46 [[-7.86452420e-02 -9.96225869e-01 -3.67279588e-02 1.16197887e+02] [ 8.30878958e-01 -8.58613578e-02 5.49789037e-01 1.87879749e+02] [-5.50867574e-01 1.27218037e-02 8.34495699e-01 4.46018719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.5507140569999 meters Centerline goodness : 0.990536 Centerline is valid? [True, True] Translation: X:116.19, Y:187.89, Z:4.47 [[-7.84370604e-02 -9.96840283e-01 -1.25330546e-02 1.16191286e+02] [ 8.33230101e-01 -7.24551592e-02 5.48158598e-01 1.87888445e+02] [-5.47334656e-01 3.25530307e-02 8.36280500e-01 4.46535688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.5807140569999 meters Centerline goodness : 0.990071 Centerline is valid? [True, True] Translation: X:116.19, Y:187.88, Z:4.48 [[-7.24800604e-02 -9.97367685e-01 -2.08349026e-03 1.16192430e+02] [ 8.31684124e-01 -6.15923625e-02 5.51822343e-01 1.87875573e+02] [-5.50498100e-01 3.82633110e-02 8.33959088e-01 4.47513384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.610714057 meters Centerline goodness : 0.990096 Centerline is valid? [True, True] Translation: X:116.19, Y:187.88, Z:4.47 [[-6.64138337e-02 -9.97792037e-01 5.03637664e-04 1.16194211e+02] [ 8.28007570e-01 -5.48311776e-02 5.58029575e-01 1.87878456e+02] [-5.56769851e-01 3.74778992e-02 8.29820909e-01 4.46963139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.640714057 meters Centerline goodness : 0.989847 Centerline is valid? [True, True] Translation: X:116.20, Y:187.89, Z:4.46 [[-6.34045431e-02 -9.97964681e-01 -6.80874032e-03 1.16199368e+02] [ 8.29332881e-01 -5.64833625e-02 5.55892617e-01 1.87885235e+02] [-5.55145779e-01 2.95994052e-02 8.31226226e-01 4.46465771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.6707140569999 meters Centerline goodness : 0.990953 Centerline is valid? [True, True] Translation: X:116.19, Y:187.90, Z:4.47 [[-5.91902618e-02 -9.98171358e-01 1.22658944e-02 1.16192814e+02] [ 8.30792788e-01 -4.24453667e-02 5.54961020e-01 1.87896870e+02] [-5.53425565e-01 4.30387046e-02 8.31785918e-01 4.46596141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.7007140569999 meters Centerline goodness : 0.989984 Centerline is valid? [True, True] Translation: X:116.20, Y:187.91, Z:4.45 [[-5.62826635e-02 -9.98351991e-01 -1.12054886e-02 1.16203873e+02] [ 8.26076858e-01 -5.28680208e-02 5.61072186e-01 1.87906697e+02] [-5.60739946e-01 2.23220423e-02 8.27691029e-01 4.44578324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.730714057 meters Centerline goodness : 0.988679 Centerline is valid? [True, True] Translation: X:116.20, Y:187.91, Z:4.45 [[-5.03092113e-02 -9.98733688e-01 5.75445923e-05 1.16202670e+02] [ 8.24424524e-01 -4.14962138e-02 5.64448641e-01 1.87912153e+02] [-5.63731485e-01 2.84444071e-02 8.25468188e-01 4.44822027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.760714057 meters Centerline goodness : 0.988349 Centerline is valid? [True, True] Translation: X:116.21, Y:187.91, Z:4.45 [[-4.29754518e-02 -9.99074073e-01 2.02641558e-03 1.16206281e+02] [ 8.19292522e-01 -3.40811798e-02 5.72361980e-01 1.87909638e+02] [-5.71762953e-01 2.62577419e-02 8.19998571e-01 4.44951513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.790714057 meters Centerline goodness : 0.987612 Centerline is valid? [True, True] Translation: X:116.21, Y:187.93, Z:4.43 [[-4.08422536e-02 -9.99147617e-01 -5.99579042e-03 1.16210261e+02] [ 8.19288900e-01 -3.69238144e-02 5.72190816e-01 1.87926966e+02] [-5.71924478e-01 1.84572778e-02 8.20098604e-01 4.43467480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.8207140569999 meters Centerline goodness : 0.987376 Centerline is valid? [True, True] Translation: X:116.21, Y:187.93, Z:4.43 [[-3.67145790e-02 -9.99324859e-01 -1.36611754e-03 1.16212611e+02] [ 8.17448994e-01 -3.08188607e-02 5.75175920e-01 1.87931727e+02] [-5.74829698e-01 2.00006104e-02 8.18028602e-01 4.43324894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.8507140569999 meters Centerline goodness : 0.987058 Centerline is valid? [True, True] Translation: X:116.22, Y:187.92, Z:4.44 [[-3.30847741e-02 -9.99452457e-01 -4.28268033e-04 1.16216162e+02] [ 8.15367264e-01 -2.72388248e-02 5.78302923e-01 1.87923425e+02] [-5.77997943e-01 1.87838258e-02 8.15822006e-01 4.43665832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.880714057 meters Centerline goodness : 0.988416 Centerline is valid? [True, True] Translation: X:116.21, Y:187.94, Z:4.43 [[-2.99450596e-02 -9.99324575e-01 2.12999292e-02 1.16213060e+02] [ 8.15765673e-01 -1.21195352e-02 5.78255553e-01 1.87936725e+02] [-5.77606839e-01 3.46916480e-02 8.15577604e-01 4.43384271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.910714057 meters Centerline goodness : 0.988416 Centerline is valid? [True, True] Translation: X:116.22, Y:187.94, Z:4.42 [[-2.89963971e-02 -9.99563245e-01 5.70328117e-03 1.16219007e+02] [ 8.15814951e-01 -2.03683547e-02 5.77954234e-01 1.87939100e+02] [-5.77585643e-01 2.14114125e-02 8.16049249e-01 4.42450599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.9407140569999 meters Centerline goodness : 0.989696 Centerline is valid? [True, True] Translation: X:116.22, Y:187.93, Z:4.43 [[-2.63815486e-02 -9.99597850e-01 1.03996410e-02 1.16221055e+02] [ 8.14714870e-01 -1.54714544e-02 5.79655342e-01 1.87933082e+02] [-5.79261336e-01 2.37649477e-02 8.14795393e-01 4.42702206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.9707140569999 meters Centerline goodness : 0.989937 Centerline is valid? [True, True] Translation: X:116.22, Y:187.94, Z:4.42 [[-2.27154048e-02 -9.99390599e-01 2.65035982e-02 1.16224482e+02] [ 8.09448848e-01 -2.82620244e-03 5.87183596e-01 1.87937249e+02] [-5.86750862e-01 3.47914202e-02 8.09019767e-01 4.42182999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.000714057 meters Centerline goodness : 0.990161 Centerline is valid? [True, True] Translation: X:116.24, Y:187.94, Z:4.41 [[-3.03424808e-02 -9.99495470e-01 -9.38822677e-03 1.16244739e+02] [ 8.17243572e-01 -3.02153642e-02 5.75499762e-01 1.87939954e+02] [-5.75493074e-01 9.78962248e-03 8.17748057e-01 4.41005816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.030714057 meters Centerline goodness : 0.990110 Centerline is valid? [True, True] Translation: X:116.24, Y:187.95, Z:4.41 [[-2.88883160e-02 -9.99447873e-01 1.64138699e-02 1.16238921e+02] [ 8.15520550e-01 -1.40704240e-02 5.78557046e-01 1.87953465e+02] [-5.78006658e-01 3.00993870e-02 8.15476750e-01 4.40892792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.0607140569999 meters Centerline goodness : 0.989129 Centerline is valid? [True, True] Translation: X:116.26, Y:187.94, Z:4.41 [[-2.99635737e-02 -9.99534814e-01 -5.68674709e-03 1.16255026e+02] [ 8.15262640e-01 -2.77304503e-02 5.78427048e-01 1.87943534e+02] [-5.78315668e-01 1.26955490e-02 8.15714295e-01 4.40749506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.0907140569999 meters Centerline goodness : 0.989583 Centerline is valid? [True, True] Translation: X:116.24, Y:187.96, Z:4.41 [[-2.90421812e-02 -9.99219729e-01 2.67672243e-02 1.16243995e+02] [ 8.15658210e-01 -8.21070820e-03 5.78475815e-01 1.87957563e+02] [-5.77804670e-01 3.86331057e-02 8.15260233e-01 4.41261363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.120714057 meters Centerline goodness : 0.989785 Centerline is valid? [True, True] Translation: X:116.27, Y:187.95, Z:4.40 [[-2.72895290e-02 -9.99551524e-01 -1.23301609e-02 1.16266932e+02] [ 8.14264728e-01 -2.93824843e-02 5.79749620e-01 1.87946338e+02] [-5.79851907e-01 5.78107897e-03 8.14701384e-01 4.40480141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.150714057 meters Centerline goodness : 0.989631 Centerline is valid? [True, True] Translation: X:116.26, Y:187.96, Z:4.41 [[-2.61116813e-02 -9.99616913e-01 9.17645543e-03 1.16261484e+02] [ 8.12509635e-01 -1.58746637e-02 5.82731574e-01 1.87955120e+02] [-5.82362664e-01 2.26720596e-02 8.12612888e-01 4.40828799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.1807140569999 meters Centerline goodness : 0.990040 Centerline is valid? [True, True] Translation: X:116.27, Y:187.96, Z:4.41 [[-2.65605552e-02 -9.99602560e-01 -9.44772625e-03 1.16274318e+02] [ 8.16691925e-01 -2.71485805e-02 5.76434953e-01 1.87955425e+02] [-5.76462347e-01 7.59455064e-03 8.17088420e-01 4.40500127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.2107140569999 meters Centerline goodness : 0.990460 Centerline is valid? [True, True] Translation: X:116.27, Y:187.96, Z:4.40 [[-2.53073426e-02 -9.99658088e-01 6.57612273e-03 1.16270973e+02] [ 8.15851231e-01 -1.68516826e-02 5.78016254e-01 1.87964734e+02] [-5.77707805e-01 1.99931932e-02 8.15998753e-01 4.40457622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.240714057 meters Centerline goodness : 0.990463 Centerline is valid? [True, True] Translation: X:116.28, Y:187.97, Z:4.40 [[-2.79224166e-02 -9.99608580e-01 -1.73946553e-03 1.16279566e+02] [ 8.18641827e-01 -2.38659195e-02 5.73808311e-01 1.87970923e+02] [-5.73625225e-01 1.45981155e-02 8.18987788e-01 4.40045770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.270714057 meters Centerline goodness : 0.991050 Centerline is valid? [True, True] Translation: X:116.29, Y:187.98, Z:4.40 [[-3.22867521e-02 -9.99463810e-01 -5.44587251e-03 1.16286646e+02] [ 8.22041487e-01 -2.96537721e-02 5.68654946e-01 1.87976857e+02] [-5.68511530e-01 1.38832882e-02 8.22558141e-01 4.39844787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.3007140569999 meters Centerline goodness : 0.990560 Centerline is valid? [True, True] Translation: X:116.29, Y:187.98, Z:4.40 [[-3.27990086e-02 -9.99457416e-01 3.01628447e-03 1.16286804e+02] [ 8.22085705e-01 -2.52616308e-02 5.68803079e-01 1.87976792e+02] [-5.68418260e-01 2.11358214e-02 8.22468212e-01 4.40128216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.3307140569999 meters Centerline goodness : 0.990882 Centerline is valid? [True, True] Translation: X:116.29, Y:187.98, Z:4.40 [[-3.90236373e-02 -9.99238090e-01 -6.28378776e-04 1.16294913e+02] [ 8.24770129e-01 -3.25650805e-02 5.64529671e-01 1.87984697e+02] [-5.64120014e-01 2.15117331e-02 8.25412537e-01 4.39752476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.360714057 meters Centerline goodness : 0.991489 Centerline is valid? [True, True] Translation: X:116.29, Y:188.01, Z:4.38 [[-5.63132291e-02 -9.98353475e-01 -1.09160472e-02 1.16292659e+02] [ 8.28000704e-01 -5.28080611e-02 5.58234846e-01 1.88014250e+02] [-5.57892154e-01 2.23975120e-02 8.29611172e-01 4.37922831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.390714057 meters Centerline goodness : 0.991892 Centerline is valid? [True, True] Translation: X:116.30, Y:187.98, Z:4.40 [[-3.72032639e-02 -9.99279259e-01 7.54192615e-03 1.16299820e+02] [ 8.20930486e-01 -2.62581225e-02 5.70424095e-01 1.87984382e+02] [-5.69814930e-01 2.74130353e-02 8.21315695e-01 4.39541647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.4207140569999 meters Centerline goodness : 0.991351 Centerline is valid? [True, True] Translation: X:116.30, Y:188.00, Z:4.39 [[-4.13502948e-02 -9.99144372e-01 -8.22738901e-04 1.16304119e+02] [ 8.24946991e-01 -3.46055587e-02 5.64149729e-01 1.87996379e+02] [-5.63695499e-01 2.26490416e-02 8.25672093e-01 4.38886088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.4507140569999 meters Centerline goodness : 0.991131 Centerline is valid? [True, True] Translation: X:116.30, Y:188.00, Z:4.39 [[-3.94280855e-02 -9.99018592e-01 2.01811724e-02 1.16301688e+02] [ 8.20807166e-01 -2.08634283e-02 5.70824240e-01 1.87997132e+02] [-5.69842980e-01 3.90713579e-02 8.20824224e-01 4.39153157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.480714057 meters Centerline goodness : 0.990864 Centerline is valid? [True, True] Translation: X:116.31, Y:188.01, Z:4.38 [[-4.25735703e-02 -9.99093315e-01 -1.96499991e-04 1.16311086e+02] [ 8.24277414e-01 -3.52354198e-02 5.65088674e-01 1.88010725e+02] [-5.64583240e-01 2.38958719e-02 8.25030152e-01 4.37953868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.510714057 meters Centerline goodness : 0.990499 Centerline is valid? [True, True] Translation: X:116.31, Y:188.01, Z:4.38 [[-4.18309913e-02 -9.99123412e-01 1.60512166e-03 1.16312851e+02] [ 8.24355058e-01 -3.36060344e-02 5.65074662e-01 1.88013639e+02] [-5.64525382e-01 2.49608234e-02 8.25038212e-01 4.37971547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.540714057 meters Centerline goodness : 0.990952 Centerline is valid? [True, True] Translation: X:116.31, Y:188.01, Z:4.38 [[-3.87733547e-02 -9.99126633e-01 1.55755576e-02 1.16310916e+02] [ 8.20086506e-01 -2.29117120e-02 5.71780706e-01 1.88010792e+02] [-5.70924469e-01 3.49431607e-02 8.20258634e-01 4.38183050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.5707140569999 meters Centerline goodness : 0.990671 Centerline is valid? [True, True] Translation: X:116.31, Y:188.03, Z:4.37 [[-3.96339941e-02 -9.98953475e-01 2.28276332e-02 1.16309151e+02] [ 8.20046809e-01 -1.94654869e-02 5.71965320e-01 1.88034074e+02] [-5.70922393e-01 4.13889979e-02 8.19960104e-01 4.36801761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.6007140569999 meters Centerline goodness : 0.989891 Centerline is valid? [True, True] Translation: X:116.32, Y:188.05, Z:4.35 [[-4.39319206e-02 -9.99029565e-01 -3.14878797e-03 1.16319760e+02] [ 8.23479282e-01 -3.79963419e-02 5.66072566e-01 1.88052114e+02] [-5.65642872e-01 2.22756934e-02 8.24349401e-01 4.35448869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.630714057 meters Centerline goodness : 0.990897 Centerline is valid? [True, True] Translation: X:116.32, Y:188.08, Z:4.34 [[-4.80635335e-02 -9.98824709e-01 6.25277125e-03 1.16317087e+02] [ 8.22964373e-01 -3.60519518e-02 5.66947879e-01 1.88078625e+02] [-5.66056126e-01 3.23953263e-02 8.23729935e-01 4.34034261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.660714057 meters Centerline goodness : 0.991214 Centerline is valid? [True, True] Translation: X:116.32, Y:188.10, Z:4.33 [[-5.38027209e-02 -9.98532055e-01 6.24520432e-03 1.16317374e+02] [ 8.25193637e-01 -4.09394341e-02 5.63364380e-01 1.88101928e+02] [-5.62281717e-01 3.54640394e-02 8.26184950e-01 4.32910030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.6907140569999 meters Centerline goodness : 0.990042 Centerline is valid? [True, True] Translation: X:116.31, Y:188.13, Z:4.31 [[-5.55594399e-02 -9.98212060e-01 2.20415819e-02 1.16313120e+02] [ 8.23311205e-01 -3.33132519e-02 5.66611761e-01 1.88127901e+02] [-5.64864417e-01 4.96277134e-02 8.23690039e-01 4.31202906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.7207140569999 meters Centerline goodness : 0.990398 Centerline is valid? [True, True] Translation: X:116.32, Y:188.15, Z:4.30 [[-6.31185243e-02 -9.97995233e-01 -4.64395966e-03 1.16321819e+02] [ 8.23723188e-01 -5.47226948e-02 5.64345228e-01 1.88148202e+02] [-5.63467977e-01 3.17953007e-02 8.25525831e-01 4.29515788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.750714057 meters Centerline goodness : 0.990127 Centerline is valid? [True, True] Translation: X:116.31, Y:188.18, Z:4.28 [[-6.68352586e-02 -9.97259675e-01 3.17204722e-02 1.16310455e+02] [ 8.21306189e-01 -3.69352555e-02 5.69290726e-01 1.88176258e+02] [-5.66559081e-01 6.41009131e-02 8.21524121e-01 4.27845327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.780714057 meters Centerline goodness : 0.990023 Centerline is valid? [True, True] Translation: X:116.31, Y:188.18, Z:4.26 [[-6.32797123e-02 -9.97640089e-01 2.66445101e-02 1.16314365e+02] [ 8.13346553e-01 -3.60820982e-02 5.80659510e-01 1.88178755e+02] [-5.78327816e-01 5.84151872e-02 8.13710393e-01 4.26481403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.8107140569999 meters Centerline goodness : 0.989453 Centerline is valid? [True, True] Translation: X:116.32, Y:188.20, Z:4.25 [[-6.84316500e-02 -9.97604388e-01 1.01288685e-02 1.16317359e+02] [ 8.15439699e-01 -5.00808286e-02 5.76671490e-01 1.88201383e+02] [-5.74782747e-01 4.77220631e-02 8.16913336e-01 4.24914565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.8407140569999 meters Centerline goodness : 0.991728 Centerline is valid? [True, True] Translation: X:116.31, Y:188.22, Z:4.24 [[-8.09560178e-02 -9.96717064e-01 -1.10364700e-03 1.16307522e+02] [ 8.22321054e-01 -6.74167410e-02 5.65015988e-01 1.88219796e+02] [-5.63235481e-01 4.48338922e-02 8.25079218e-01 4.24418105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.870714057 meters Centerline goodness : 0.989848 Centerline is valid? [True, True] Translation: X:116.30, Y:188.25, Z:4.22 [[-6.56419489e-02 -9.96569930e-01 5.03935459e-02 1.16298919e+02] [ 8.14909397e-01 -2.43942839e-02 5.79074774e-01 1.88254273e+02] [-5.75859192e-01 7.90777708e-02 8.13715489e-01 4.21842885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.900714057 meters Centerline goodness : 0.989098 Centerline is valid? [True, True] Translation: X:116.32, Y:188.25, Z:4.21 [[-7.09344010e-02 -9.97343626e-01 -1.65530250e-02 1.16321562e+02] [ 8.22529879e-01 -6.78727464e-02 5.64657320e-01 1.88254858e+02] [-5.64280878e-01 2.64382710e-02 8.25159444e-01 4.20505667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.9307140569999 meters Centerline goodness : 0.989310 Centerline is valid? [True, True] Translation: X:116.31, Y:188.26, Z:4.21 [[-6.36911197e-02 -9.97777324e-01 1.95921664e-02 1.16306093e+02] [ 8.17790829e-01 -4.09299424e-02 5.74058272e-01 1.88255697e+02] [-5.71980420e-01 5.25847081e-02 8.18580019e-01 4.20811586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.9607140569999 meters Centerline goodness : 0.989136 Centerline is valid? [True, True] Translation: X:116.31, Y:188.26, Z:4.20 [[-6.52718773e-02 -9.97866408e-01 1.48817714e-03 1.16309012e+02] [ 8.20494252e-01 -5.28208141e-02 5.69209227e-01 1.88263211e+02] [-5.67916160e-01 3.83743956e-02 8.22191365e-01 4.20014801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.990714057 meters Centerline goodness : 0.991732 Centerline is valid? [True, True] Translation: X:116.30, Y:188.29, Z:4.19 [[-8.42209918e-02 -9.96374964e-01 -1.19898296e-02 1.16301013e+02] [ 8.30622594e-01 -7.68469140e-02 5.51507623e-01 1.88288368e+02] [-5.50429769e-01 3.64894956e-02 8.34083681e-01 4.18984229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.020714057 meters Centerline goodness : 0.983443 Centerline is valid? [True, True] Translation: X:116.29, Y:189.10, Z:3.63 [[-9.38529212e-02 -9.95540712e-01 -9.50372233e-03 1.16285539e+02] [ 8.24041774e-01 -8.30349939e-02 5.60410872e-01 1.89102142e+02] [-5.58700980e-01 4.47647332e-02 8.28160210e-01 3.63299116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.0507140569999 meters Centerline goodness : 0.989951 Centerline is valid? [True, True] Translation: X:116.29, Y:188.61, Z:3.97 [[-6.52799522e-02 -9.97836380e-01 -7.81578714e-03 1.16294782e+02] [ 8.25144408e-01 -5.83833732e-02 5.61896867e-01 1.88611854e+02] [-5.61137447e-01 3.02314475e-02 8.27170372e-01 3.96969766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.0807140569999 meters Centerline goodness : 0.991583 Centerline is valid? [True, True] Translation: X:116.28, Y:188.64, Z:3.96 [[-7.12485658e-02 -9.97447679e-01 4.66589666e-03 1.16279944e+02] [ 8.30999879e-01 -5.67704874e-02 5.53368154e-01 1.88638035e+02] [-5.51690895e-01 4.33040468e-02 8.32923716e-01 3.96246343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.110714057 meters Centerline goodness : 0.991044 Centerline is valid? [True, True] Translation: X:116.28, Y:188.66, Z:3.95 [[-6.97386001e-02 -9.97561278e-01 2.83272421e-03 1.16276301e+02] [ 8.30673216e-01 -5.64987652e-02 5.53886178e-01 1.88661605e+02] [-5.52375359e-01 4.09803148e-02 8.32587579e-01 3.94721952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.140714057 meters Centerline goodness : 0.990200 Centerline is valid? [True, True] Translation: X:116.28, Y:188.69, Z:3.93 [[-6.85635689e-02 -9.97637264e-01 -4.35042935e-03 1.16280229e+02] [ 8.30226051e-01 -5.94749881e-02 5.54244919e-01 1.88688443e+02] [-5.53194126e-01 3.43891699e-02 8.32342264e-01 3.92723399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.1707140569999 meters Centerline goodness : 0.990549 Centerline is valid? [True, True] Translation: X:116.26, Y:188.71, Z:3.92 [[-6.91122350e-02 -9.97397575e-01 2.05323027e-02 1.16264241e+02] [ 8.31497931e-01 -4.62202466e-02 5.53601735e-01 1.88712234e+02] [-5.51212020e-01 5.53332204e-02 8.32528404e-01 3.92139960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.2007140569999 meters Centerline goodness : 0.990116 Centerline is valid? [True, True] Translation: X:116.27, Y:188.73, Z:3.90 [[-7.11636983e-02 -9.97461792e-01 -2.38787639e-03 1.16271855e+02] [ 8.29542972e-01 -6.05125800e-02 5.55154650e-01 1.88733069e+02] [-5.53890049e-01 3.75260120e-02 8.31743718e-01 3.89725916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.230714057 meters Centerline goodness : 0.991010 Centerline is valid? [True, True] Translation: X:116.27, Y:188.76, Z:3.88 [[-7.14329818e-02 -9.97445249e-01 5.51749568e-04 1.16268859e+02] [ 8.30390744e-01 -5.91627463e-02 5.54031571e-01 1.88758214e+02] [-5.52583515e-01 4.00342949e-02 8.32495474e-01 3.88338834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.260714057 meters Centerline goodness : 0.989436 Centerline is valid? [True, True] Translation: X:116.27, Y:188.78, Z:3.87 [[-6.87125032e-02 -9.97632096e-01 -2.96513410e-03 1.16268620e+02] [ 8.25877500e-01 -5.85496018e-02 5.60801479e-01 1.88775688e+02] [-5.59647163e-01 3.60852359e-02 8.27944991e-01 3.86785489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.290714057 meters Centerline goodness : 0.990149 Centerline is valid? [True, True] Translation: X:116.26, Y:188.81, Z:3.85 [[-7.40116143e-02 -9.97178025e-01 1.25804290e-02 1.16258400e+02] [ 8.31282609e-01 -5.47201222e-02 5.53150009e-01 1.88805332e+02] [-5.50900631e-01 5.13974170e-02 8.32986675e-01 3.85497549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.3207140569999 meters Centerline goodness : 0.988572 Centerline is valid? [True, True] Translation: X:116.27, Y:188.82, Z:3.84 [[-7.04922343e-02 -9.97477223e-01 -8.36867736e-03 1.16265195e+02] [ 8.26071385e-01 -6.30774113e-02 5.60024380e-01 1.88819387e+02] [-5.59139438e-01 3.25642450e-02 8.28433859e-01 3.83688948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.3507140569999 meters Centerline goodness : 0.988912 Centerline is valid? [True, True] Translation: X:116.26, Y:188.85, Z:3.82 [[-7.41218773e-02 -9.97229049e-01 6.33801145e-03 1.16256782e+02] [ 8.31788611e-01 -5.83166121e-02 5.52020723e-01 1.88849855e+02] [-5.50121490e-01 4.61886980e-02 8.33806303e-01 3.82435985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.380714057 meters Centerline goodness : 0.988734 Centerline is valid? [True, True] Translation: X:116.26, Y:188.87, Z:3.81 [[-6.94552161e-02 -9.97547737e-01 -8.63046708e-03 1.16261401e+02] [ 8.25891009e-01 -6.23516096e-02 5.60371589e-01 1.88865604e+02] [-5.59535534e-01 3.17929046e-02 8.28196352e-01 3.80565836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.410714057 meters Centerline goodness : 0.988270 Centerline is valid? [True, True] Translation: X:116.26, Y:188.89, Z:3.79 [[-6.90599648e-02 -9.97551899e-01 -1.09968633e-02 1.16261185e+02] [ 8.25057401e-01 -6.33080617e-02 5.61491207e-01 1.88887785e+02] [-5.60812809e-01 2.97035195e-02 8.27409629e-01 3.78918199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.4407140569999 meters Centerline goodness : 0.989868 Centerline is valid? [True, True] Translation: X:116.25, Y:188.92, Z:3.78 [[-6.80673822e-02 -9.97661230e-01 6.23719000e-03 1.16253408e+02] [ 8.31216768e-01 -5.32516805e-02 5.53392214e-01 1.88920027e+02] [-5.51765816e-01 4.28524162e-02 8.32897445e-01 3.77581113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.4707140569999 meters Centerline goodness : 0.991019 Centerline is valid? [True, True] Translation: X:116.50, Y:189.19, Z:4.72 [[ 4.25257493e-03 5.39589416e-01 8.41917560e-01 1.16502064e+02] [ 8.18325717e-01 4.82013821e-01 -3.13058618e-01 1.89189232e+02] [-5.74739017e-01 6.90294096e-01 -4.39510095e-01 4.71888175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.500714057 meters Centerline goodness : 0.991018 Centerline is valid? [True, True] Translation: X:116.28, Y:188.63, Z:4.00 [[-9.73701517e-02 -9.94776154e-01 -3.06505738e-02 1.16284603e+02] [ 7.91520333e-01 -9.60712993e-02 6.03544422e-01 1.88633423e+02] [-6.03336239e-01 3.45066595e-02 7.96740029e-01 3.99542358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.530714057 meters Centerline goodness : 0.991229 Centerline is valid? [True, True] Translation: X:116.28, Y:188.64, Z:3.99 [[-9.39214349e-02 -9.95160132e-01 -2.88976754e-02 1.16282700e+02] [ 7.92131176e-01 -9.22796861e-02 6.03334617e-01 1.88637974e+02] [-6.03081225e-01 3.37753034e-02 7.96964406e-01 3.99258424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.5607140569999 meters Centerline goodness : 0.991095 Centerline is valid? [True, True] Translation: X:116.28, Y:188.64, Z:3.99 [[-8.81361875e-02 -9.95701856e-01 -2.84574406e-02 1.16281399e+02] [ 7.92494314e-01 -8.73995493e-02 6.03584361e-01 1.88640867e+02] [-6.03477236e-01 3.06452646e-02 7.96791123e-01 3.99039021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.5907140569999 meters Centerline goodness : 0.990771 Centerline is valid? [True, True] Translation: X:116.28, Y:188.64, Z:3.99 [[-8.56115509e-02 -9.95934806e-01 -2.80093564e-02 1.16281113e+02] [ 7.92685537e-01 -8.51171681e-02 6.03659430e-01 1.88642936e+02] [-6.03589515e-01 2.94776083e-02 7.96750129e-01 3.98912913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.620714057 meters Centerline goodness : 0.982957 Centerline is valid? [True, True] Translation: X:116.24, Y:189.44, Z:3.36 [[-8.98642512e-02 -9.95590903e-01 -2.68918303e-02 1.16240893e+02] [ 7.81615973e-01 -8.72331554e-02 6.17630024e-01 1.89439218e+02] [-6.17252693e-01 3.44837755e-02 7.86008895e-01 3.35740776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.650714057 meters Centerline goodness : 0.991418 Centerline is valid? [True, True] Translation: X:116.28, Y:188.66, Z:3.97 [[-7.97789900e-02 -9.96073107e-01 -3.83885302e-02 1.16283054e+02] [ 7.92230852e-01 -8.67316490e-02 6.04026405e-01 1.88655699e+02] [-6.04983958e-01 1.77760386e-02 7.96039209e-01 3.97491072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.6807140569999 meters Centerline goodness : 0.991606 Centerline is valid? [True, True] Translation: X:116.28, Y:188.67, Z:3.97 [[-8.03716757e-02 -9.96456535e-01 -2.47944986e-02 1.16278231e+02] [ 7.91953614e-01 -7.89423589e-02 6.05456504e-01 1.88665116e+02] [-6.05268426e-01 2.90254610e-02 7.95492083e-01 3.97446880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.7107140569999 meters Centerline goodness : 0.991680 Centerline is valid? [True, True] Translation: X:116.28, Y:188.67, Z:3.97 [[-8.34136161e-02 -9.96216987e-01 -2.43697256e-02 1.16279894e+02] [ 7.91234241e-01 -8.10772709e-02 6.06114554e-01 1.88671561e+02] [-6.05797446e-01 3.12760454e-02 7.95003940e-01 3.96948687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.740714057 meters Centerline goodness : 0.991319 Centerline is valid? [True, True] Translation: X:116.28, Y:188.68, Z:3.97 [[-8.49485987e-02 -9.96098183e-01 -2.39195685e-02 1.16280936e+02] [ 7.91103072e-01 -8.20221860e-02 6.06158635e-01 1.88676072e+02] [-6.05755450e-01 3.25694825e-02 7.94984002e-01 3.96591255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.770714057 meters Centerline goodness : 0.991027 Centerline is valid? [True, True] Translation: X:116.28, Y:188.68, Z:3.96 [[-8.65463032e-02 -9.95971603e-01 -2.34585386e-02 1.16281678e+02] [ 7.91176056e-01 -8.30219754e-02 6.05927224e-01 1.88682266e+02] [-6.05433883e-01 3.38809272e-02 7.95174130e-01 3.96134878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.8007140569999 meters Centerline goodness : 0.991952 Centerline is valid? [True, True] Translation: X:116.28, Y:188.69, Z:3.96 [[-8.91516162e-02 -9.95752517e-01 -2.29981442e-02 1.16283617e+02] [ 7.91152967e-01 -8.48230071e-02 6.05707884e-01 1.88687581e+02] [-6.05085922e-01 3.58047868e-02 7.95354666e-01 3.95708553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.8307140569999 meters Centerline goodness : 0.991952 Centerline is valid? [True, True] Translation: X:116.28, Y:188.69, Z:3.95 [[-8.85613494e-02 -9.95815518e-01 -2.25464288e-02 1.16283225e+02] [ 7.91219334e-01 -8.40802142e-02 6.05724759e-01 1.88692468e+02] [-6.05085823e-01 3.58046316e-02 7.95354748e-01 3.95348526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.860714057 meters Centerline goodness : 0.991458 Centerline is valid? [True, True] Translation: X:116.28, Y:188.70, Z:3.95 [[-8.88704297e-02 -9.95798286e-01 -2.20866372e-02 1.16283406e+02] [ 7.91367573e-01 -8.40565755e-02 6.05534357e-01 1.88700672e+02] [-6.04846602e-01 3.63354500e-02 7.95512617e-01 3.94771378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.890714057 meters Centerline goodness : 0.991676 Centerline is valid? [True, True] Translation: X:116.28, Y:188.71, Z:3.94 [[-8.82545170e-02 -9.95862780e-01 -2.16440304e-02 1.16283508e+02] [ 7.92078616e-01 -8.33375223e-02 6.04703501e-01 1.88707334e+02] [-6.04005469e-01 3.62240418e-02 7.96156525e-01 3.94342660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.9207140569999 meters Centerline goodness : 0.991204 Centerline is valid? [True, True] Translation: X:116.28, Y:188.71, Z:3.94 [[-8.61724325e-02 -9.96055799e-01 -2.11461098e-02 1.16284245e+02] [ 7.93261207e-01 -8.14382455e-02 6.03410698e-01 1.88709443e+02] [-6.02752827e-01 3.52229790e-02 7.97150156e-01 3.94211404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.9507140569999 meters Centerline goodness : 0.991128 Centerline is valid? [True, True] Translation: X:116.28, Y:188.71, Z:3.94 [[-8.44793697e-02 -9.96210656e-01 -2.06776456e-02 1.16284665e+02] [ 7.93792824e-01 -7.98287157e-02 6.02926471e-01 1.88714947e+02] [-6.02292445e-01 3.45210815e-02 7.97528749e-01 3.93779938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.980714057 meters Centerline goodness : 0.991168 Centerline is valid? [True, True] Translation: X:116.29, Y:188.72, Z:3.94 [[-8.26142786e-02 -9.96376635e-01 -2.02109483e-02 1.16285039e+02] [ 7.94317096e-01 -7.80812328e-02 6.02464664e-01 1.88717423e+02] [-6.01859811e-01 3.37182819e-02 7.97889620e-01 3.93609156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.010714057 meters Centerline goodness : 0.991206 Centerline is valid? [True, True] Translation: X:116.29, Y:188.72, Z:3.93 [[-7.88778908e-02 -9.96688670e-01 -1.97477357e-02 1.16285911e+02] [ 7.94926659e-01 -7.48395146e-02 6.02071967e-01 1.88721566e+02] [-6.01556219e-01 3.17921653e-02 7.98197578e-01 3.93356748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.040714057 meters Centerline goodness : 0.991020 Centerline is valid? [True, True] Translation: X:116.29, Y:188.72, Z:3.93 [[-7.69264855e-02 -9.96849939e-01 -1.93006667e-02 1.16285835e+02] [ 7.95034123e-01 -7.30111550e-02 6.02154561e-01 1.88724704e+02] [-6.01666901e-01 3.09769455e-02 7.98146208e-01 3.93158537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.0707140569999 meters Centerline goodness : 0.991709 Centerline is valid? [True, True] Translation: X:116.29, Y:188.73, Z:3.93 [[-7.34606166e-02 -9.97119726e-01 -1.88623776e-02 1.16285728e+02] [ 7.95041043e-01 -6.99704411e-02 6.02506330e-01 1.88728101e+02] [-6.02090756e-01 2.92641222e-02 7.97891178e-01 3.93011805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.1007140569999 meters Centerline goodness : 0.990559 Centerline is valid? [True, True] Translation: X:116.29, Y:188.72, Z:3.93 [[-5.06639419e-02 -9.98672014e-01 9.34740678e-03 1.16285651e+02] [ 7.84095642e-01 -3.39778238e-02 6.19709232e-01 1.88722205e+02] [-6.18568662e-01 3.87261734e-02 7.84775824e-01 3.93413795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.130714057 meters Centerline goodness : 0.990446 Centerline is valid? [True, True] Translation: X:116.30, Y:188.73, Z:3.93 [[-5.34516848e-02 -9.98303272e-01 -2.30975066e-02 1.16296352e+02] [ 7.89104169e-01 -5.64025701e-02 6.11664418e-01 1.88726777e+02] [-6.11929349e-01 1.44681549e-02 7.90780086e-01 3.92604438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.160714057 meters Centerline goodness : 0.990664 Centerline is valid? [True, True] Translation: X:116.28, Y:189.03, Z:3.70 [[-6.54749670e-02 -9.97558142e-01 -2.43059941e-02 1.16282324e+02] [ 7.95444490e-01 -6.68851142e-02 6.02324202e-01 1.89032417e+02] [-6.02479122e-01 2.01030882e-02 7.97881428e-01 3.69730686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.1907140569999 meters Centerline goodness : 0.990972 Centerline is valid? [True, True] Translation: X:116.26, Y:189.35, Z:4.46 [[-3.54702129e-02 6.48569804e-02 9.97263975e-01 1.16261135e+02] [ 7.60866940e-01 6.48731563e-01 -1.51280487e-02 1.89345019e+02] [-6.47937777e-01 7.58248594e-01 -7.23581789e-02 4.45933177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.2207140569999 meters Centerline goodness : 0.990896 Centerline is valid? [True, True] Translation: X:116.31, Y:188.86, Z:3.86 [[-5.91657731e-02 -9.96104134e-01 -6.53908730e-02 1.16311453e+02] [ 7.45632041e-01 -8.76524877e-02 6.60567863e-01 1.88858377e+02] [-6.63726051e-01 -9.67452181e-03 7.47913185e-01 3.85896389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.250714057 meters Centerline goodness : 0.990689 Centerline is valid? [True, True] Translation: X:116.29, Y:188.87, Z:3.87 [[-6.02166122e-02 -9.98097666e-01 -1.32290769e-02 1.16292702e+02] [ 7.43766282e-01 -5.37035033e-02 6.66278959e-01 1.88868916e+02] [-6.65721922e-01 3.02817203e-02 7.45585233e-01 3.87172437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.280714057 meters Centerline goodness : 0.991446 Centerline is valid? [True, True] Translation: X:116.30, Y:188.87, Z:3.87 [[-6.34313854e-02 -9.97781972e-01 -2.01889889e-02 1.16296075e+02] [ 7.46125849e-01 -6.08484353e-02 6.63018616e-01 1.88873096e+02] [-6.62776491e-01 2.69926629e-02 7.48330622e-01 3.86780128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.3107140569999 meters Centerline goodness : 0.990980 Centerline is valid? [True, True] Translation: X:116.30, Y:188.88, Z:3.86 [[-6.80461946e-02 -9.97401564e-01 -2.36608401e-02 1.16299237e+02] [ 7.48988530e-01 -6.67367747e-02 6.59213459e-01 1.88881164e+02] [-6.59079583e-01 2.71352694e-02 7.51583515e-01 3.86177681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.3407140569999 meters Centerline goodness : 0.992298 Centerline is valid? [True, True] Translation: X:116.30, Y:188.88, Z:3.87 [[-6.83940197e-02 -9.97594755e-01 -1.12678018e-02 1.16295690e+02] [ 7.46995066e-01 -5.86930848e-02 6.62233715e-01 1.88877675e+02] [-6.61302223e-01 3.68758334e-02 7.49212615e-01 3.86766048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.370714057 meters Centerline goodness : 0.992351 Centerline is valid? [True, True] Translation: X:116.29, Y:188.88, Z:3.86 [[-6.97250796e-02 -9.97548006e-01 -6.03233015e-03 1.16294070e+02] [ 7.49553166e-01 -5.63794519e-02 6.59538785e-01 1.88883052e+02] [-6.58261699e-01 4.14648421e-02 7.51646328e-01 3.86499158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.400714057 meters Centerline goodness : 0.992264 Centerline is valid? [True, True] Translation: X:116.30, Y:188.88, Z:3.86 [[-7.15815419e-02 -9.97411477e-01 -6.81380800e-03 1.16295721e+02] [ 7.49521094e-01 -5.82958594e-02 6.59408616e-01 1.88883629e+02] [-6.58098939e-01 4.20943927e-02 7.51753849e-01 3.86248858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.4307140569999 meters Centerline goodness : 0.991449 Centerline is valid? [True, True] Translation: X:116.30, Y:188.88, Z:3.86 [[-7.31773723e-02 -9.97185330e-01 -1.63245343e-02 1.16299697e+02] [ 7.49264575e-01 -6.57721535e-02 6.58996677e-01 1.88883751e+02] [-6.58215519e-01 3.59922499e-02 7.51968676e-01 3.85878295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.4607140569999 meters Centerline goodness : 0.991814 Centerline is valid? [True, True] Translation: X:116.30, Y:188.90, Z:3.85 [[-7.77180974e-02 -9.96776294e-01 -1.99227792e-02 1.16300234e+02] [ 7.52568832e-01 -7.17608432e-02 6.54591885e-01 1.88898725e+02] [-6.53911348e-01 3.58803732e-02 7.55719887e-01 3.84707718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.490714057 meters Centerline goodness : 0.991701 Centerline is valid? [True, True] Translation: X:116.30, Y:188.90, Z:3.85 [[-7.62333210e-02 -9.97031759e-01 -1.07773592e-02 1.16297576e+02] [ 7.51718112e-01 -6.45709818e-02 6.56315830e-01 1.88896251e+02] [-6.55063631e-01 4.19315992e-02 7.54409292e-01 3.85126567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.520714057 meters Centerline goodness : 0.992141 Centerline is valid? [True, True] Translation: X:116.29, Y:188.91, Z:3.84 [[-7.33081395e-02 -9.97263634e-01 9.54784166e-03 1.16289799e+02] [ 7.48332418e-01 -4.86758156e-02 6.61535530e-01 1.88909060e+02] [-6.59260578e-01 5.56408983e-02 7.49853040e-01 3.84292151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.5507140569999 meters Centerline goodness : 0.991274 Centerline is valid? [True, True] Translation: X:116.30, Y:188.91, Z:3.84 [[-7.45387908e-02 -9.97071741e-01 -1.70854126e-02 1.16298738e+02] [ 7.47789371e-01 -6.72214873e-02 6.60524283e-01 1.88906345e+02] [-6.59738604e-01 3.64583915e-02 7.50610258e-01 3.83770063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.5807140569999 meters Centerline goodness : 0.990695 Centerline is valid? [True, True] Translation: X:116.30, Y:188.91, Z:3.84 [[-7.23056245e-02 -9.97291407e-01 -1.34813008e-02 1.16295591e+02] [ 7.47956199e-01 -6.31600985e-02 6.60736200e-01 1.88910800e+02] [-6.59798015e-01 3.76915211e-02 7.50497121e-01 3.83696545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.610714057 meters Centerline goodness : 0.990888 Centerline is valid? [True, True] Translation: X:116.29, Y:188.92, Z:3.83 [[-6.86723745e-02 -9.97632955e-01 -3.54842171e-03 1.16291208e+02] [ 7.43538103e-01 -5.35524735e-02 6.66545739e-01 1.88917202e+02] [-6.65158022e-01 4.31348919e-02 7.45455691e-01 3.83081667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.640714057 meters Centerline goodness : 0.990830 Centerline is valid? [True, True] Translation: X:116.30, Y:188.92, Z:3.83 [[-6.85857390e-02 -9.97393824e-01 -2.23954752e-02 1.16298633e+02] [ 7.45971409e-01 -6.61765445e-02 6.62681916e-01 1.88918355e+02] [-6.62436906e-01 2.87441448e-02 7.48566043e-01 3.82514013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.6707140569999 meters Centerline goodness : 0.990345 Centerline is valid? [True, True] Translation: X:116.29, Y:188.93, Z:3.82 [[-6.53130244e-02 -9.97864182e-01 -1.13322265e-03 1.16290276e+02] [ 7.40804544e-01 -4.92485316e-02 6.69912837e-01 1.88926030e+02] [-6.68537834e-01 4.29145369e-02 7.42438891e-01 3.82273341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.7007140569999 meters Centerline goodness : 0.990402 Centerline is valid? [True, True] Translation: X:116.30, Y:188.93, Z:3.82 [[-6.43560708e-02 -9.97699950e-01 -2.12862896e-02 1.16296765e+02] [ 7.43830790e-01 -6.21784161e-02 6.65469458e-01 1.88925485e+02] [-6.65262393e-01 2.69936019e-02 7.46121501e-01 3.81749542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.730714057 meters Centerline goodness : 0.989528 Centerline is valid? [True, True] Translation: X:116.29, Y:188.93, Z:3.81 [[-6.35202585e-02 -9.97886369e-01 -1.37102562e-02 1.16293283e+02] [ 7.43975238e-01 -5.65054084e-02 6.65813776e-01 1.88933218e+02] [-6.65181195e-01 3.20925721e-02 7.45991987e-01 3.81405140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.760714057 meters Centerline goodness : 0.990183 Centerline is valid? [True, True] Translation: X:116.29, Y:188.94, Z:3.81 [[-5.91364711e-02 -9.98159690e-01 -1.34205609e-02 1.16293016e+02] [ 7.43363520e-01 -5.30060595e-02 6.66784099e-01 1.88938149e+02] [-6.66268380e-01 2.94549032e-02 7.45130092e-01 3.80827321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.790714057 meters Centerline goodness : 0.988514 Centerline is valid? [True, True] Translation: X:116.29, Y:188.95, Z:3.80 [[-5.80026717e-02 -9.98174590e-01 -1.68278883e-02 1.16294659e+02] [ 7.44018226e-01 -5.44607566e-02 6.65936112e-01 1.88950278e+02] [-6.65636965e-01 2.61058181e-02 7.45818957e-01 3.79571902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.8207140569999 meters Centerline goodness : 0.990184 Centerline is valid? [True, True] Translation: X:116.29, Y:188.95, Z:3.80 [[-5.37586764e-02 -9.98496930e-01 -1.06717280e-02 1.16292574e+02] [ 7.44158617e-01 -4.71868454e-02 6.66334267e-01 1.88949964e+02] [-6.65836285e-01 2.78797899e-02 7.45576796e-01 3.79878257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.8507140569999 meters Centerline goodness : 0.989782 Centerline is valid? [True, True] Translation: X:116.29, Y:188.95, Z:3.80 [[-5.08765931e-02 -9.98583211e-01 -1.55930585e-02 1.16294814e+02] [ 7.43222694e-01 -4.82862883e-02 6.67299380e-01 1.88945747e+02] [-6.67106888e-01 2.23608041e-02 7.44626346e-01 3.79962760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.880714057 meters Centerline goodness : 0.989385 Centerline is valid? [True, True] Translation: X:116.29, Y:188.94, Z:3.81 [[-4.70410755e-02 -9.98891434e-01 -1.74381344e-03 1.16291156e+02] [ 7.42842792e-01 -3.61499188e-02 6.68489170e-01 1.88944116e+02] [-6.67811144e-01 3.01510702e-02 7.43719832e-01 3.80581757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.910714057 meters Centerline goodness : 0.990468 Centerline is valid? [True, True] Translation: X:116.30, Y:188.94, Z:3.80 [[-4.57691126e-02 -9.98753174e-01 -1.99320120e-02 1.16300030e+02] [ 7.45171082e-01 -4.74234232e-02 6.65184995e-01 1.88941271e+02] [-6.65300870e-01 1.55921680e-02 7.46412511e-01 3.80174838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.9407140569999 meters Centerline goodness : 0.989939 Centerline is valid? [True, True] Translation: X:116.30, Y:188.94, Z:3.81 [[-4.41318371e-02 -9.99006023e-01 -6.27269611e-03 1.16296159e+02] [ 7.44178868e-01 -3.70624033e-02 6.66951416e-01 1.88941265e+02] [-6.66520963e-01 2.47657833e-02 7.45074803e-01 3.80633689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.9707140569999 meters Centerline goodness : 0.990518 Centerline is valid? [True, True] Translation: X:116.30, Y:188.95, Z:3.80 [[-4.63388378e-02 -9.98832773e-01 -1.36309665e-02 1.16300407e+02] [ 7.49009132e-01 -4.37709024e-02 6.61112267e-01 1.88951740e+02] [-6.60937238e-01 2.04254557e-02 7.50163161e-01 3.79872830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.000714057 meters Centerline goodness : 0.991186 Centerline is valid? [True, True] Translation: X:116.31, Y:188.94, Z:3.81 [[-4.95380551e-02 -9.98320304e-01 -3.00425009e-02 1.16305717e+02] [ 7.57648411e-01 -5.71607238e-02 6.50155010e-01 1.88942271e+02] [-6.50780198e-01 9.44576158e-03 7.59207423e-01 3.81234546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.030714057 meters Centerline goodness : 0.991162 Centerline is valid? [True, True] Translation: X:116.30, Y:188.96, Z:3.81 [[-4.88301842e-02 -9.98806744e-01 8.37798771e-04 1.16295569e+02] [ 7.54425564e-01 -3.63330180e-02 6.55379264e-01 1.88959853e+02] [-6.54566789e-01 3.26343470e-02 7.55299489e-01 3.80539060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.0607140569999 meters Centerline goodness : 0.990999 Centerline is valid? [True, True] Translation: X:116.31, Y:188.96, Z:3.81 [[-5.16694136e-02 -9.98422199e-01 -2.19860149e-02 1.16305582e+02] [ 7.61976905e-01 -5.36448424e-02 6.45378514e-01 1.88959017e+02] [-6.45539671e-01 1.65934938e-02 7.63546455e-01 3.80539788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.0907140569999 meters Centerline goodness : 0.991320 Centerline is valid? [True, True] Translation: X:116.31, Y:188.98, Z:3.80 [[-5.33760014e-02 -9.98454773e-01 -1.54618535e-02 1.16305573e+02] [ 7.61925955e-01 -5.07302718e-02 6.45674282e-01 1.88975010e+02] [-6.45460953e-01 2.26827239e-02 7.63456386e-01 3.79530598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.120714057 meters Centerline goodness : 0.991773 Centerline is valid? [True, True] Translation: X:116.28, Y:189.00, Z:3.77 [[-6.33307819e-02 -9.97570278e-01 2.90301983e-02 1.16283595e+02] [ 7.46153699e-01 -2.80121305e-02 6.65184169e-01 1.89004013e+02] [-6.62754758e-01 6.37876234e-02 7.46114783e-01 3.77220518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.150714057 meters Centerline goodness : 0.990720 Centerline is valid? [True, True] Translation: X:116.31, Y:188.99, Z:3.76 [[-6.30231155e-02 -9.97797158e-01 -2.07103561e-02 1.16305808e+02] [ 7.44921038e-01 -6.08406618e-02 6.64372683e-01 1.88994637e+02] [-6.64169206e-01 2.64432564e-02 7.47114462e-01 3.75703804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.1807140569999 meters Centerline goodness : 0.991699 Centerline is valid? [True, True] Translation: X:116.31, Y:189.00, Z:3.75 [[-6.24118027e-02 -9.97896740e-01 -1.75174871e-02 1.16305760e+02] [ 7.45395880e-01 -5.82769073e-02 6.64069864e-01 1.88998652e+02] [-6.63694018e-01 2.83883346e-02 7.47465286e-01 3.75402060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.2107140569999 meters Centerline goodness : 0.990742 Centerline is valid? [True, True] Translation: X:116.31, Y:189.00, Z:3.75 [[-6.46795435e-02 -9.97722541e-01 -1.91386586e-02 1.16308696e+02] [ 7.43617974e-01 -6.09786152e-02 6.65818231e-01 1.89004302e+02] [-6.65468906e-01 2.88329687e-02 7.45868484e-01 3.74681982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.240714057 meters Centerline goodness : 0.990977 Centerline is valid? [True, True] Translation: X:116.31, Y:189.01, Z:3.74 [[-6.56984071e-02 -9.97704609e-01 -1.64082850e-02 1.16309102e+02] [ 7.43483105e-01 -5.99121720e-02 6.66065616e-01 1.89008424e+02] [-6.65519791e-01 3.15601673e-02 7.45712655e-01 3.74384520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.270714057 meters Centerline goodness : 0.991728 Centerline is valid? [True, True] Translation: X:116.31, Y:189.02, Z:3.74 [[-7.09488235e-02 -9.97367109e-01 -1.50037969e-02 1.16310915e+02] [ 7.41575333e-01 -6.28006366e-02 6.67923727e-01 1.89015736e+02] [-6.67107405e-01 3.62619569e-02 7.44078478e-01 3.73717688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.3007140569999 meters Centerline goodness : 0.990429 Centerline is valid? [True, True] Translation: X:116.31, Y:189.02, Z:3.73 [[-7.38525064e-02 -9.97177848e-01 -1.34961949e-02 1.16310989e+02] [ 7.40835157e-01 -6.39169966e-02 6.68638833e-01 1.89023523e+02] [-6.67614468e-01 3.93821980e-02 7.43464837e-01 3.73014556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.3307140569999 meters Centerline goodness : 0.991456 Centerline is valid? [True, True] Translation: X:116.31, Y:189.03, Z:3.72 [[-7.91995172e-02 -9.96757198e-01 -1.42311365e-02 1.16312528e+02] [ 7.40498677e-01 -6.83833980e-02 6.68569682e-01 1.89029471e+02] [-6.67374816e-01 4.24122583e-02 7.43513318e-01 3.72330389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.360714057 meters Centerline goodness : 0.991507 Centerline is valid? [True, True] Translation: X:116.31, Y:189.04, Z:3.71 [[-8.14252881e-02 -9.96598183e-01 -1.27273192e-02 1.16312010e+02] [ 7.40310486e-01 -6.90257195e-02 6.68712071e-01 1.89039635e+02] [-6.67315747e-01 4.50279052e-02 7.43412524e-01 3.71433749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.390714057 meters Centerline goodness : 0.989089 Centerline is valid? [True, True] Translation: X:116.31, Y:189.05, Z:3.70 [[-6.72869500e-02 -9.97550071e-01 1.91395475e-02 1.16311753e+02] [ 7.27830603e-01 -3.59545620e-02 6.84813758e-01 1.89054982e+02] [-6.82447859e-01 6.00093775e-02 7.28466743e-01 3.69841711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.4207140569999 meters Centerline goodness : 0.992119 Centerline is valid? [True, True] Translation: X:116.32, Y:189.04, Z:3.71 [[-8.63133043e-02 -9.95894951e-01 -2.72628011e-02 1.16319091e+02] [ 7.39930337e-01 -8.24052197e-02 6.67617013e-01 1.89037229e+02] [-6.67123009e-01 3.74516568e-02 7.44005554e-01 3.70954699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.4507140569999 meters Centerline goodness : 0.991060 Centerline is valid? [True, True] Translation: X:116.31, Y:189.04, Z:3.71 [[-8.91274942e-02 -9.95977456e-01 -9.23017294e-03 1.16312851e+02] [ 7.40906874e-01 -7.24896068e-02 6.67684252e-01 1.89043819e+02] [-6.65667555e-01 5.26703257e-02 7.44387361e-01 3.70854302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.480714057 meters Centerline goodness : 0.990705 Centerline is valid? [True, True] Translation: X:116.32, Y:189.05, Z:3.70 [[-8.13759402e-02 -9.96540558e-01 -1.68781642e-02 1.16320713e+02] [ 7.43368115e-01 -7.19652160e-02 6.64999890e-01 1.89053518e+02] [-6.63914002e-01 4.15683022e-02 7.46652713e-01 3.69881823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.510714057 meters Centerline goodness : 0.991175 Centerline is valid? [True, True] Translation: X:116.31, Y:189.04, Z:3.71 [[-7.89701725e-02 -9.96827283e-01 9.95389438e-03 1.16309889e+02] [ 7.40941830e-01 -5.20126756e-02 6.69552004e-01 1.89043343e+02] [-6.66909977e-01 6.02498940e-02 7.42698481e-01 3.71447402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.540714057 meters Centerline goodness : 0.990807 Centerline is valid? [True, True] Translation: X:116.31, Y:189.06, Z:3.70 [[-8.17465203e-02 -9.96642301e-01 -4.65094381e-03 1.16312757e+02] [ 7.43066182e-01 -6.40563607e-02 6.66145203e-01 1.89060625e+02] [-6.64206410e-01 5.09990933e-02 7.45807574e-01 3.69713447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.5707140569999 meters Centerline goodness : 0.990768 Centerline is valid? [True, True] Translation: X:116.31, Y:189.06, Z:3.70 [[-7.95877942e-02 -9.96827095e-01 1.23515862e-03 1.16309488e+02] [ 7.43180021e-01 -5.85104384e-02 6.66528308e-01 1.89058013e+02] [-6.64341207e-01 5.39654630e-02 7.45478698e-01 3.70184725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.6007140569999 meters Centerline goodness : 0.990230 Centerline is valid? [True, True] Translation: X:116.31, Y:189.07, Z:3.70 [[-7.76770885e-02 -9.96977430e-01 1.50800754e-03 1.16306040e+02] [ 7.43676670e-01 -5.69342262e-02 6.66110730e-01 1.89067284e+02] [-6.64011506e-01 5.28630122e-02 7.45851340e-01 3.69593390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.630714057 meters Centerline goodness : 0.989945 Centerline is valid? [True, True] Translation: X:116.29, Y:189.09, Z:3.68 [[-7.57365572e-02 -9.96654354e-01 3.07257760e-02 1.16294078e+02] [ 7.43005393e-01 -3.58578594e-02 6.68324172e-01 1.89093280e+02] [-6.64986436e-01 7.34459892e-02 7.43235311e-01 3.67783714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.660714057 meters Centerline goodness : 0.990236 Centerline is valid? [True, True] Translation: X:116.30, Y:189.11, Z:3.66 [[-7.61266410e-02 -9.97077008e-01 6.49415509e-03 1.16298668e+02] [ 7.43898493e-01 -5.24572204e-02 6.66230645e-01 1.89110955e+02] [-6.63942593e-01 5.55488933e-02 7.45717476e-01 3.65942056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.6907140569999 meters Centerline goodness : 0.989822 Centerline is valid? [True, True] Translation: X:116.29, Y:189.14, Z:3.64 [[-7.51042154e-02 -9.96756275e-01 2.89186073e-02 1.16289921e+02] [ 7.42786577e-01 -3.65721149e-02 6.68528670e-01 1.89135038e+02] [-6.65302532e-01 7.16896745e-02 7.43123901e-01 3.64058351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.7207140569999 meters Centerline goodness : 0.989822 Centerline is valid? [True, True] Translation: X:116.29, Y:189.15, Z:3.62 [[-7.56842981e-02 -9.96942022e-01 1.94548512e-02 1.16293304e+02] [ 7.42287989e-01 -4.33028881e-02 6.68680343e-01 1.89154082e+02] [-6.65793082e-01 6.50497048e-02 7.43295437e-01 3.61942982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.750714057 meters Centerline goodness : 0.991479 Centerline is valid? [True, True] Translation: X:116.30, Y:189.16, Z:3.61 [[-7.67525410e-02 -9.97050140e-01 -2.55582531e-04 1.16296989e+02] [ 7.45739204e-01 -5.75768643e-02 6.63745391e-01 1.89160291e+02] [-6.61802151e-01 5.07535475e-02 7.47958549e-01 3.60909048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.780714057 meters Centerline goodness : 0.989725 Centerline is valid? [True, True] Translation: X:116.29, Y:189.16, Z:3.61 [[-7.66992543e-02 -9.97038479e-01 5.61203762e-03 1.16292605e+02] [ 7.46398626e-01 -5.36845715e-02 6.63330279e-01 1.89164127e+02] [-6.61064532e-01 5.50657549e-02 7.48305717e-01 3.60785052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.8107140569999 meters Centerline goodness : 0.990872 Centerline is valid? [True, True] Translation: X:116.30, Y:189.21, Z:3.56 [[-7.53690977e-02 -9.97122849e-01 -8.09468245e-03 1.16295171e+02] [ 7.46213504e-01 -6.17846277e-02 6.62833363e-01 1.89213924e+02] [-6.61426418e-01 4.39167911e-02 7.48723186e-01 3.55744346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.8407140569999 meters Centerline goodness : 0.991398 Centerline is valid? [True, True] Translation: X:116.29, Y:189.17, Z:3.60 [[-7.38229409e-02 -9.97267593e-01 2.74254627e-03 1.16289204e+02] [ 7.47359497e-01 -5.35021808e-02 6.62262258e-01 1.89169816e+02] [-6.60305956e-01 5.09398156e-02 7.49267095e-01 3.60183370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.870714057 meters Centerline goodness : 0.989504 Centerline is valid? [True, True] Translation: X:116.28, Y:189.17, Z:3.59 [[-7.12741889e-02 -9.97394949e-01 1.11042944e-02 1.16284283e+02] [ 7.41060593e-01 -4.54983085e-02 6.69894844e-01 1.89171611e+02] [-6.67644507e-01 5.59751666e-02 7.42372948e-01 3.59372425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.900714057 meters Centerline goodness : 0.989224 Centerline is valid? [True, True] Translation: X:116.29, Y:189.17, Z:3.59 [[-7.04088441e-02 -9.97510932e-01 -3.81251016e-03 1.16286974e+02] [ 7.42465916e-01 -5.49582912e-02 6.67625607e-01 1.89173884e+02] [-6.66173370e-01 4.41760884e-02 7.44487417e-01 3.58793358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.9307140569999 meters Centerline goodness : 0.989632 Centerline is valid? [True, True] Translation: X:116.29, Y:189.19, Z:3.58 [[-6.94296275e-02 -9.97488315e-01 -1.40210291e-02 1.16286548e+02] [ 7.49434441e-01 -6.14302258e-02 6.59222531e-01 1.89185347e+02] [-6.58428086e-01 3.52617327e-02 7.51817176e-01 3.58066114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.9607140569999 meters Centerline goodness : 0.987528 Centerline is valid? [True, True] Translation: X:116.28, Y:189.20, Z:3.58 [[-6.79628771e-02 -9.97685340e-01 -2.23824043e-03 1.16278942e+02] [ 7.50688672e-01 -5.26147576e-02 6.58557671e-01 1.89195076e+02] [-6.57151098e-01 4.30772523e-02 7.52526933e-01 3.57719467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.990714057 meters Centerline goodness : 0.988519 Centerline is valid? [True, True] Translation: X:116.28, Y:189.20, Z:3.57 [[-6.69027146e-02 -9.97753705e-01 -3.40167620e-03 1.16276322e+02] [ 7.51036315e-01 -5.26033853e-02 6.58162091e-01 1.89201144e+02] [-6.56862604e-01 4.14780482e-02 7.52868575e-01 3.57293275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.020714057 meters Centerline goodness : 0.990105 Centerline is valid? [True, True] Translation: X:116.27, Y:189.23, Z:3.56 [[-6.65615580e-02 -9.97685404e-01 1.39065925e-02 1.16265876e+02] [ 7.50590089e-01 -4.08836476e-02 6.59502119e-01 1.89226381e+02] [-6.57407086e-01 5.43356391e-02 7.51574056e-01 3.55947345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.0507140569999 meters Centerline goodness : 0.989464 Centerline is valid? [True, True] Translation: X:116.26, Y:189.25, Z:3.54 [[-6.64032257e-02 -9.97599978e-01 1.96187352e-02 1.16263154e+02] [ 7.49168360e-01 -3.68607490e-02 6.61353199e-01 1.89247342e+02] [-6.59042776e-01 5.86137214e-02 7.49818012e-01 3.54015264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.0807140569999 meters Centerline goodness : 0.990299 Centerline is valid? [True, True] Translation: X:116.26, Y:189.27, Z:3.52 [[-6.80117567e-02 -9.97543598e-01 1.67681448e-02 1.16263136e+02] [ 7.47993764e-01 -3.98612607e-02 6.62507667e-01 1.89267581e+02] [-6.60211882e-01 5.76007780e-02 7.48867425e-01 3.51849422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.110714057 meters Centerline goodness : 0.988085 Centerline is valid? [True, True] Translation: X:116.27, Y:189.26, Z:3.52 [[-6.83287299e-02 -9.97658335e-01 -3.00523737e-03 1.16270151e+02] [ 7.44403899e-01 -5.29886120e-02 6.65623799e-01 1.89258639e+02] [-6.64224374e-01 4.32441183e-02 7.46281399e-01 3.51591991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.140714057 meters Centerline goodness : 0.987957 Centerline is valid? [True, True] Translation: X:116.26, Y:189.26, Z:3.51 [[-7.13984015e-02 -9.97439936e-01 3.98033619e-03 1.16264912e+02] [ 7.46213452e-01 -5.07663922e-02 6.63768226e-01 1.89264513e+02] [-6.61866869e-01 5.03621707e-02 7.47927737e-01 3.51431353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.1707140569999 meters Centerline goodness : 0.989259 Centerline is valid? [True, True] Translation: X:116.27, Y:189.27, Z:3.50 [[-7.35633750e-02 -9.97285818e-01 -3.07031587e-03 1.16266133e+02] [ 7.47092945e-01 -5.71471290e-02 6.62258512e-01 1.89274661e+02] [-6.60636482e-01 4.64241600e-02 7.49269135e-01 3.50294052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.2007140569999 meters Centerline goodness : 0.989087 Centerline is valid? [True, True] Translation: X:116.26, Y:189.28, Z:3.50 [[-7.65624429e-02 -9.97064524e-01 -7.25536294e-04 1.16262581e+02] [ 7.48142267e-01 -5.79292324e-02 6.61004806e-01 1.89282133e+02] [-6.59106472e-01 5.00653383e-02 7.50381317e-01 3.49643909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.230714057 meters Centerline goodness : 0.987912 Centerline is valid? [True, True] Translation: X:116.26, Y:189.29, Z:3.50 [[-7.87388361e-02 -9.96880465e-01 5.43451918e-03 1.16258536e+02] [ 7.50159842e-01 -5.56594862e-02 6.58909882e-01 1.89289347e+02] [-6.56551907e-01 5.59585553e-02 7.52202256e-01 3.49707889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.260714057 meters Centerline goodness : 0.990404 Centerline is valid? [True, True] Translation: X:116.26, Y:189.29, Z:3.49 [[-7.80901216e-02 -9.96916278e-01 -7.73736629e-03 1.16262383e+02] [ 7.46165648e-01 -6.35919448e-02 6.62716297e-01 1.89285986e+02] [-6.61164698e-01 4.59782393e-02 7.48830584e-01 3.48993103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.290714057 meters Centerline goodness : 0.990420 Centerline is valid? [True, True] Translation: X:116.25, Y:189.32, Z:3.48 [[-8.08604769e-02 -9.96222588e-01 3.16565845e-02 1.16246889e+02] [ 7.53660203e-01 -4.03261095e-02 6.56025993e-01 1.89319048e+02] [-6.52271325e-01 7.69048826e-02 7.54074106e-01 3.47748287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.3207140569999 meters Centerline goodness : 0.989563 Centerline is valid? [True, True] Translation: X:116.25, Y:189.33, Z:3.46 [[-7.96279593e-02 -9.96771574e-01 1.02867305e-02 1.16252378e+02] [ 7.46595374e-01 -5.27983679e-02 6.63179976e-01 1.89332040e+02] [-6.60495826e-01 6.04876935e-02 7.48389272e-01 3.45668314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.3507140569999 meters Centerline goodness : 0.991133 Centerline is valid? [True, True] Translation: X:116.25, Y:189.35, Z:3.44 [[-8.01217746e-02 -9.96703757e-01 1.27326866e-02 1.16249488e+02] [ 7.45071922e-01 -5.13986608e-02 6.65000759e-01 1.89354310e+02] [-6.62154312e-01 6.27678082e-02 7.46734136e-01 3.43701717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.380714057 meters Centerline goodness : 0.988480 Centerline is valid? [True, True] Translation: X:116.25, Y:189.37, Z:3.42 [[-8.04199770e-02 -9.96750649e-01 4.55751882e-03 1.16250036e+02] [ 7.46895968e-01 -5.72320891e-02 6.62473321e-01 1.89369375e+02] [-6.60059876e-01 5.66800816e-02 7.49071645e-01 3.42217915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.410714057 meters Centerline goodness : 0.988090 Centerline is valid? [True, True] Translation: X:116.25, Y:189.37, Z:3.41 [[-7.70521777e-02 -9.97026953e-01 -4.65905316e-04 1.16249476e+02] [ 7.46854686e-01 -5.80279390e-02 6.62450630e-01 1.89372247e+02] [-6.60508169e-01 5.06953001e-02 7.49105430e-01 3.41482955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.4407140569999 meters Centerline goodness : 0.988382 Centerline is valid? [True, True] Translation: X:116.25, Y:189.36, Z:3.42 [[-7.42137308e-02 -9.97242100e-01 7.18890157e-04 1.16247628e+02] [ 7.47320236e-01 -5.51374572e-02 6.62172429e-01 1.89364735e+02] [-6.60306586e-01 4.96795276e-02 7.49351158e-01 3.42154984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.4707140569999 meters Centerline goodness : 0.988667 Centerline is valid? [True, True] Translation: X:116.24, Y:189.39, Z:3.41 [[-7.22856829e-02 -9.97209516e-01 1.86537343e-02 1.16238471e+02] [ 7.48715476e-01 -4.18976457e-02 6.61566115e-01 1.89388340e+02] [-6.58938477e-01 6.17880979e-02 7.49654797e-01 3.40705224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.500714057 meters Centerline goodness : 0.988738 Centerline is valid? [True, True] Translation: X:116.24, Y:189.41, Z:3.38 [[-7.16694840e-02 -9.97340116e-01 1.32731814e-02 1.16239297e+02] [ 7.48186630e-01 -4.49553630e-02 6.61963581e-01 1.89409054e+02] [-6.59606134e-01 5.73734051e-02 7.49418468e-01 3.38462128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.530714057 meters Centerline goodness : 0.989556 Centerline is valid? [True, True] Translation: X:116.23, Y:189.43, Z:3.37 [[-7.06297203e-02 -9.97255250e-01 2.22128015e-02 1.16234586e+02] [ 7.48600926e-01 -3.82755414e-02 6.61915128e-01 1.89431873e+02] [-6.59248130e-01 6.33794041e-02 7.49249594e-01 3.36788925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.5607140569999 meters Centerline goodness : 0.988514 Centerline is valid? [True, True] Translation: X:116.24, Y:189.43, Z:3.36 [[-6.85968290e-02 -9.97573979e-01 1.18587892e-02 1.16238203e+02] [ 7.47062145e-01 -4.34852953e-02 6.63330371e-01 1.89432998e+02] [-6.61205435e-01 5.43616125e-02 7.48232710e-01 3.36105717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.5907140569999 meters Centerline goodness : 0.987235 Centerline is valid? [True, True] Translation: X:116.23, Y:189.45, Z:3.35 [[-6.69388687e-02 -9.97639464e-01 1.53195127e-02 1.16232829e+02] [ 7.48179000e-01 -4.00308168e-02 6.62288244e-01 1.89453520e+02] [-6.60111636e-01 5.57945635e-02 7.49092514e-01 3.34625354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.620714057 meters Centerline goodness : 0.987030 Centerline is valid? [True, True] Translation: X:116.23, Y:189.47, Z:3.33 [[-6.57085047e-02 -9.97762961e-01 1.23071417e-02 1.16232550e+02] [ 7.47431092e-01 -4.10438966e-02 6.63070254e-01 1.89472350e+02] [-6.61081807e-01 5.27680953e-02 7.48455992e-01 3.32759631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.650714057 meters Centerline goodness : 0.987539 Centerline is valid? [True, True] Translation: X:116.23, Y:189.49, Z:3.31 [[-6.57967534e-02 -9.97756532e-01 1.23567768e-02 1.16230058e+02] [ 7.48343588e-01 -4.11502961e-02 6.62033630e-01 1.89494070e+02] [-6.60039893e-01 5.28067781e-02 7.49372260e-01 3.30744350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.6807140569999 meters Centerline goodness : 0.987517 Centerline is valid? [True, True] Translation: X:116.23, Y:189.49, Z:3.31 [[-6.46845268e-02 -9.97864507e-01 9.07402716e-03 1.16228632e+02] [ 7.48120617e-01 -4.24736912e-02 6.62202029e-01 1.89494024e+02] [-6.60402494e-01 4.96226917e-02 7.49270402e-01 3.30555607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.7107140569999 meters Centerline goodness : 0.985380 Centerline is valid? [True, True] Translation: X:116.22, Y:189.52, Z:3.29 [[-6.56559781e-02 -9.97734230e-01 1.46866946e-02 1.16224424e+02] [ 7.48400942e-01 -3.95028930e-02 6.62069144e-01 1.89515279e+02] [-6.59988880e-01 5.44603333e-02 7.49298839e-01 3.29066331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.740714057 meters Centerline goodness : 0.985064 Centerline is valid? [True, True] Translation: X:116.23, Y:189.53, Z:3.27 [[-6.75652331e-02 -9.97695374e-01 6.23531036e-03 1.16225707e+02] [ 7.44931248e-01 -4.62883228e-02 6.65533490e-01 1.89533914e+02] [-6.63711062e-01 4.96118029e-02 7.46341942e-01 3.26832169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.770714057 meters Centerline goodness : 0.985572 Centerline is valid? [True, True] Translation: X:116.22, Y:189.54, Z:3.27 [[-6.68581815e-02 -9.97707236e-01 1.05002021e-02 1.16223594e+02] [ 7.44269276e-01 -4.28603429e-02 6.66502990e-01 1.89536276e+02] [-6.64524814e-01 5.23761557e-02 7.45428407e-01 3.26775917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.8007140569999 meters Centerline goodness : 0.985395 Centerline is valid? [True, True] Translation: X:116.22, Y:189.56, Z:3.25 [[-6.81761935e-02 -9.97661870e-01 4.77500624e-03 1.16221906e+02] [ 7.45865162e-01 -4.77895653e-02 6.64380401e-01 1.89555823e+02] [-6.62598798e-01 4.88564376e-02 7.47379343e-01 3.24889982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.8307140569999 meters Centerline goodness : 0.986139 Centerline is valid? [True, True] Translation: X:116.22, Y:189.58, Z:3.23 [[-6.94615572e-02 -9.97563051e-01 6.56140337e-03 1.16219497e+02] [ 7.46109681e-01 -4.75843382e-02 6.64120528e-01 1.89577797e+02] [-6.62189879e-01 5.10263726e-02 7.47596731e-01 3.23322839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.860714057 meters Centerline goodness : 0.987178 Centerline is valid? [True, True] Translation: X:116.22, Y:189.58, Z:3.22 [[-7.35697459e-02 -9.97273941e-01 -5.67270609e-03 1.16219811e+02] [ 7.49040720e-01 -5.90109687e-02 6.59890677e-01 1.89584403e+02] [-6.58426528e-01 4.42989016e-02 7.51340212e-01 3.22471572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.890714057 meters Centerline goodness : 0.988183 Centerline is valid? [True, True] Translation: X:116.21, Y:189.59, Z:3.23 [[-7.21136854e-02 -9.97324815e-01 1.19511393e-02 1.16213807e+02] [ 7.46107755e-01 -4.59892439e-02 6.64235055e-01 1.89588206e+02] [-6.61908479e-01 5.68172754e-02 7.47428232e-01 3.22725484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.9207140569999 meters Centerline goodness : 0.987756 Centerline is valid? [True, True] Translation: X:116.21, Y:189.61, Z:3.21 [[-7.55874602e-02 -9.97095151e-01 9.36999206e-03 1.16213719e+02] [ 7.46106991e-01 -5.03215675e-02 6.63921756e-01 1.89608225e+02] [-6.61521650e-01 5.71751758e-02 7.47743342e-01 3.20772382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.9507140569999 meters Centerline goodness : 0.987959 Centerline is valid? [True, True] Translation: X:116.21, Y:189.63, Z:3.19 [[-7.99688677e-02 -9.96793583e-01 2.74466134e-03 1.16214169e+02] [ 7.47134048e-01 -5.81164931e-02 6.62127773e-01 1.89627445e+02] [-6.59845205e-01 5.50002382e-02 7.49385935e-01 3.19167777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.980714057 meters Centerline goodness : 0.988262 Centerline is valid? [True, True] Translation: X:116.22, Y:189.65, Z:3.17 [[-8.18246489e-02 -9.96646106e-01 -1.12494514e-03 1.16215019e+02] [ 7.46139962e-01 -6.20063241e-02 6.62895446e-01 1.89647482e+02] [-6.60741919e-01 5.34018206e-02 7.48711134e-01 3.17117312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.010714057 meters Centerline goodness : 0.988530 Centerline is valid? [True, True] Translation: X:116.21, Y:189.67, Z:3.16 [[-8.26111325e-02 -9.96489121e-01 1.35952959e-02 1.16208235e+02] [ 7.46230249e-01 -5.28106377e-02 6.63589823e-01 1.89672015e+02] [-6.60542063e-01 6.49651278e-02 7.47973071e-01 3.15506043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.040714057 meters Centerline goodness : 0.988064 Centerline is valid? [True, True] Translation: X:116.21, Y:189.69, Z:3.14 [[-8.25112058e-02 -9.96534886e-01 1.04938912e-02 1.16208790e+02] [ 7.46127563e-01 -5.47905739e-02 6.63544763e-01 1.89691887e+02] [-6.60670538e-01 6.25796599e-02 7.48062983e-01 3.13527664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.0707140569999 meters Centerline goodness : 0.988035 Centerline is valid? [True, True] Translation: X:116.21, Y:189.71, Z:3.12 [[-8.32713833e-02 -9.96508538e-01 6.05071373e-03 1.16208423e+02] [ 7.47636873e-01 -5.84581332e-02 6.61529857e-01 1.89710616e+02] [-6.58866437e-01 5.96102430e-02 7.49894417e-01 3.11533470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.1007140569999 meters Centerline goodness : 0.988685 Centerline is valid? [True, True] Translation: X:116.21, Y:189.71, Z:3.12 [[-8.12555155e-02 -9.96678668e-01 5.40132351e-03 1.16207951e+02] [ 7.45511547e-01 -5.71801696e-02 6.64035361e-01 1.89707576e+02] [-6.61521031e-01 5.79832846e-02 7.47681660e-01 3.11744777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.130714057 meters Centerline goodness : 0.987295 Centerline is valid? [True, True] Translation: X:116.20, Y:189.73, Z:3.10 [[-7.94698796e-02 -9.96721021e-01 1.52231828e-02 1.16201123e+02] [ 7.47482593e-01 -4.94802116e-02 6.62436021e-01 1.89731001e+02] [-6.59510661e-01 6.40227750e-02 7.48963800e-01 3.10194747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.160714057 meters Centerline goodness : 0.986842 Centerline is valid? [True, True] Translation: X:116.20, Y:189.75, Z:3.08 [[-7.86306338e-02 -9.96879790e-01 6.92150785e-03 1.16201733e+02] [ 7.46972398e-01 -5.43179806e-02 6.62632473e-01 1.89749109e+02] [-6.60188959e-01 5.72733866e-02 7.48912744e-01 3.08232207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.1907140569999 meters Centerline goodness : 0.986613 Centerline is valid? [True, True] Translation: X:116.20, Y:189.77, Z:3.07 [[-7.69237634e-02 -9.96909215e-01 1.59609513e-02 1.16197826e+02] [ 7.48285685e-01 -4.71453180e-02 6.61699216e-01 1.89771435e+02] [-6.58901562e-01 6.28437453e-02 7.49599490e-01 3.06683417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.2207140569999 meters Centerline goodness : 0.987687 Centerline is valid? [True, True] Translation: X:116.20, Y:189.79, Z:3.04 [[-7.71487965e-02 -9.97002585e-01 5.82305817e-03 1.16198812e+02] [ 7.49475847e-01 -5.41413076e-02 6.59814120e-01 1.89791577e+02] [-6.57521116e-01 5.52681068e-02 7.51406294e-01 3.04187474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.250714057 meters Centerline goodness : 0.985945 Centerline is valid? [True, True] Translation: X:116.19, Y:189.81, Z:3.03 [[-7.59691728e-02 -9.97010592e-01 1.40912587e-02 1.16194512e+02] [ 7.49353918e-01 -4.77640855e-02 6.60444773e-01 1.89813439e+02] [-6.57797378e-01 6.07327830e-02 7.50742391e-01 3.02792595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.280714057 meters Centerline goodness : 0.986418 Centerline is valid? [True, True] Translation: X:116.19, Y:189.83, Z:3.01 [[-7.54744592e-02 -9.97090530e-01 1.06808666e-02 1.16193430e+02] [ 7.50935942e-01 -4.97880381e-02 6.58495529e-01 1.89833941e+02] [-6.56047877e-01 5.77202405e-02 7.52508842e-01 3.00924849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.3107140569999 meters Centerline goodness : 0.985664 Centerline is valid? [True, True] Translation: X:116.19, Y:189.85, Z:2.99 [[-7.62184982e-02 -9.97070580e-01 6.40307582e-03 1.16194563e+02] [ 7.49514754e-01 -5.30571950e-02 6.59857991e-01 1.89854555e+02] [-6.57585260e-01 5.50925849e-02 7.51363050e-01 2.98786440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.3407140569999 meters Centerline goodness : 0.985784 Centerline is valid? [True, True] Translation: X:116.20, Y:189.86, Z:2.98 [[-7.40849082e-02 -9.97249373e-01 2.26136586e-03 1.16195535e+02] [ 7.49978771e-01 -5.42204751e-02 6.59235909e-01 1.89857753e+02] [-6.57299985e-01 5.05354082e-02 7.51932778e-01 2.98383624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.370714057 meters Centerline goodness : 0.984649 Centerline is valid? [True, True] Translation: X:116.19, Y:189.86, Z:2.99 [[-7.07210747e-02 -9.97390969e-01 1.44839391e-02 1.16189933e+02] [ 7.48249075e-01 -4.34420389e-02 6.61994042e-01 1.89864234e+02] [-6.59637667e-01 5.76545241e-02 7.49369137e-01 2.98580652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.400714057 meters Centerline goodness : 0.985164 Centerline is valid? [True, True] Translation: X:116.19, Y:189.88, Z:2.97 [[-7.00800547e-02 -9.97513379e-01 7.47296090e-03 1.16192273e+02] [ 7.47105034e-01 -4.75207160e-02 6.63005166e-01 1.89884126e+02] [-6.61001403e-01 5.20465250e-02 7.48577521e-01 2.96512592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.4307140569999 meters Centerline goodness : 0.984702 Centerline is valid? [True, True] Translation: X:116.19, Y:189.91, Z:2.95 [[-6.71701718e-02 -9.97593360e-01 1.71946741e-02 1.16188442e+02] [ 7.47413215e-01 -3.88936252e-02 6.63220003e-01 1.89907520e+02] [-6.60955108e-01 5.74001282e-02 7.48226952e-01 2.94711577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.4607140569999 meters Centerline goodness : 0.981031 Centerline is valid? [True, True] Translation: X:116.19, Y:189.91, Z:2.95 [[-7.01442399e-02 -9.97368840e-01 1.83080164e-02 1.16189340e+02] [ 7.44683291e-01 -4.01438917e-02 6.66209625e-01 1.89911988e+02] [-6.63721766e-01 6.03644416e-02 7.45539772e-01 2.94691144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.490714057 meters Centerline goodness : 0.983294 Centerline is valid? [True, True] Translation: X:116.20, Y:189.91, Z:2.93 [[-6.14917476e-02 -9.98013355e-01 -1.37152494e-02 1.16199905e+02] [ 7.46190068e-01 -5.50933562e-02 6.63449398e-01 1.89905804e+02] [-6.62886979e-01 3.05624800e-02 7.48095440e-01 2.93099619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.520714057 meters Centerline goodness : 0.983671 Centerline is valid? [True, True] Translation: X:116.19, Y:189.94, Z:2.92 [[-6.04326450e-02 -9.98008643e-01 1.80733144e-02 1.16187407e+02] [ 7.47338269e-01 -3.32361453e-02 6.63611987e-01 1.89936700e+02] [-6.61689812e-01 5.36107071e-02 7.47858600e-01 2.92130389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.5507140569999 meters Centerline goodness : 0.984182 Centerline is valid? [True, True] Translation: X:116.19, Y:189.96, Z:2.90 [[-5.90630505e-02 -9.97940801e-01 2.50142736e-02 1.16186298e+02] [ 7.47280019e-01 -2.75855536e-02 6.63936451e-01 1.89959257e+02] [-6.61879241e-01 5.79067790e-02 7.47370507e-01 2.90317894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.5807140569999 meters Centerline goodness : 0.983583 Centerline is valid? [True, True] Translation: X:116.19, Y:189.98, Z:2.88 [[-5.97077137e-02 -9.97951754e-01 2.29627141e-02 1.16187764e+02] [ 7.45929592e-01 -2.93188910e-02 6.65379176e-01 1.89979369e+02] [-6.63343074e-01 5.68568372e-02 7.46152308e-01 2.88049901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.610714057 meters Centerline goodness : 0.983793 Centerline is valid? [True, True] Translation: X:116.19, Y:189.98, Z:2.88 [[-5.92012080e-02 -9.98128494e-01 1.53207870e-02 1.16191544e+02] [ 7.44873469e-01 -3.39520770e-02 6.66341333e-01 1.89975955e+02] [-6.64574098e-01 5.08602596e-02 7.45489438e-01 2.87879601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.640714057 meters Centerline goodness : 0.983793 Centerline is valid? [True, True] Translation: X:116.19, Y:189.98, Z:2.87 [[-5.86713885e-02 -9.98222527e-01 1.04620640e-02 1.16193354e+02] [ 7.44719866e-01 -3.67876103e-02 6.66362509e-01 1.89979753e+02] [-6.64793194e-01 4.68877206e-02 7.45554526e-01 2.87263610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.6707140569999 meters Centerline goodness : 0.982499 Centerline is valid? [True, True] Translation: X:116.19, Y:190.00, Z:2.86 [[-5.81297960e-02 -9.97943959e-01 2.69959513e-02 1.16187861e+02] [ 7.45184542e-01 -2.53801769e-02 6.66375153e-01 1.90003726e+02] [-6.64319897e-01 5.88532173e-02 7.45127757e-01 2.85972599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.7007140569999 meters Centerline goodness : 0.983330 Centerline is valid? [True, True] Translation: X:116.19, Y:190.02, Z:2.84 [[-5.97049704e-02 -9.97997763e-01 2.08753885e-02 1.16190755e+02] [ 7.43506192e-01 -3.05066514e-02 6.68032849e-01 1.90023786e+02] [-6.66058451e-01 5.54058620e-02 7.43838915e-01 2.83776876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.730714057 meters Centerline goodness : 0.982484 Centerline is valid? [True, True] Translation: X:116.19, Y:190.02, Z:2.83 [[-5.69336987e-02 -9.98285958e-01 1.35535995e-02 1.16193453e+02] [ 7.41354032e-01 -3.31800102e-02 6.70293433e-01 1.90021614e+02] [-6.68694813e-01 4.82103000e-02 7.41972381e-01 2.83135626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.760714057 meters Centerline goodness : 0.981986 Centerline is valid? [True, True] Translation: X:116.19, Y:190.05, Z:2.82 [[-5.65812066e-02 -9.97984537e-01 2.87303294e-02 1.16187686e+02] [ 7.41848899e-01 -2.27660832e-02 6.70180511e-01 1.90045899e+02] [-6.68175709e-01 5.92331851e-02 7.41641862e-01 2.81763007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.790714057 meters Centerline goodness : 0.982611 Centerline is valid? [True, True] Translation: X:116.18, Y:190.07, Z:2.80 [[-5.66720094e-02 -9.97788240e-01 3.47406427e-02 1.16184894e+02] [ 7.40317666e-01 -1.86508834e-02 6.71998436e-01 1.90067860e+02] [-6.69864193e-01 6.38026132e-02 7.39737244e-01 2.80028337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.8207140569999 meters Centerline goodness : 0.982268 Centerline is valid? [True, True] Translation: X:116.19, Y:190.09, Z:2.78 [[-5.89681962e-02 -9.97936676e-01 2.53996583e-02 1.16189407e+02] [ 7.40621112e-01 -2.66749726e-02 6.71393189e-01 1.90086511e+02] [-6.69330352e-01 5.84023685e-02 7.40665946e-01 2.77699178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.8507140569999 meters Centerline goodness : 0.980980 Centerline is valid? [True, True] Translation: X:116.20, Y:190.09, Z:2.77 [[-6.04641552e-02 -9.98095261e-01 1.22448636e-02 1.16196443e+02] [ 7.40492215e-01 -3.66258851e-02 6.71066185e-01 1.90087634e+02] [-6.69339500e-01 4.96426761e-02 7.41296323e-01 2.76673945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.880714057 meters Centerline goodness : 0.982629 Centerline is valid? [True, True] Translation: X:116.20, Y:190.09, Z:2.76 [[-6.13355002e-02 -9.98095145e-01 6.63618911e-03 1.16196753e+02] [ 7.42227544e-01 -4.11644795e-02 6.68882471e-01 1.90094763e+02] [-6.67335171e-01 4.59518033e-02 7.43338551e-01 2.76179193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.910714057 meters Centerline goodness : 0.982948 Centerline is valid? [True, True] Translation: X:116.20, Y:190.10, Z:2.75 [[-6.12830461e-02 -9.98067936e-01 1.02364112e-02 1.16195859e+02] [ 7.41464259e-01 -3.86567300e-02 6.69877906e-01 1.90100728e+02] [-6.68187953e-01 4.86420917e-02 7.42400705e-01 2.75418730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.9407140569999 meters Centerline goodness : 0.984381 Centerline is valid? [True, True] Translation: X:116.20, Y:190.11, Z:2.75 [[-6.45187066e-02 -9.97856637e-01 1.09301449e-02 1.16195898e+02] [ 7.42369182e-01 -4.06742873e-02 6.68755262e-01 1.90114147e+02] [-6.66877301e-01 5.12614272e-02 7.43402268e-01 2.74626774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.9707140569999 meters Centerline goodness : 0.982980 Centerline is valid? [True, True] Translation: X:116.19, Y:190.11, Z:2.75 [[-6.43046351e-02 -9.97801849e-01 1.60119848e-02 1.16194714e+02] [ 7.42085327e-01 -3.70845618e-02 6.69278793e-01 1.90114500e+02] [-6.67213820e-01 5.49199876e-02 7.42838821e-01 2.74776525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.000714057 meters Centerline goodness : 0.981595 Centerline is valid? [True, True] Translation: X:116.19, Y:190.13, Z:2.74 [[-6.44562474e-02 -9.97661563e-01 2.27331768e-02 1.16192967e+02] [ 7.44784055e-01 -3.29315021e-02 6.66492481e-01 1.90132987e+02] [-6.64185293e-01 5.98909119e-02 7.45165066e-01 2.73638838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.030714057 meters Centerline goodness : 0.984671 Centerline is valid? [True, True] Translation: X:116.20, Y:190.15, Z:2.71 [[-6.78999401e-02 -9.97657834e-01 8.27312111e-03 1.16201589e+02] [ 7.42462559e-01 -4.49889864e-02 6.68375149e-01 1.90154974e+02] [-6.66437504e-01 5.15251152e-02 7.43778338e-01 2.70817192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.0607140569999 meters Centerline goodness : 0.984922 Centerline is valid? [True, True] Translation: X:116.20, Y:190.16, Z:2.70 [[-6.84969393e-02 -9.97611142e-01 8.95428935e-03 1.16202168e+02] [ 7.43604270e-01 -4.50688794e-02 6.67099308e-01 1.90159847e+02] [-6.65102142e-01 5.23527086e-02 7.44914985e-01 2.70375011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.0907140569999 meters Centerline goodness : 0.984509 Centerline is valid? [True, True] Translation: X:116.20, Y:190.17, Z:2.70 [[-6.80185408e-02 -9.97650104e-01 8.23093529e-03 1.16204837e+02] [ 7.43912945e-01 -4.52181964e-02 6.66744962e-01 1.90168939e+02] [-6.64805993e-01 5.14741187e-02 7.45240503e-01 2.69717727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.120714057 meters Centerline goodness : 0.984970 Centerline is valid? [True, True] Translation: X:116.20, Y:190.17, Z:2.69 [[-6.51069521e-02 -9.97769291e-01 1.47488154e-02 1.16203977e+02] [ 7.41905920e-01 -3.85163419e-02 6.69396816e-01 1.90173944e+02] [-6.67335516e-01 5.45246199e-02 7.42758625e-01 2.69308344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.150714057 meters Centerline goodness : 0.985741 Centerline is valid? [True, True] Translation: X:116.20, Y:190.20, Z:2.68 [[-6.36757661e-02 -9.97604475e-01 2.70316005e-02 1.16199922e+02] [ 7.43990108e-01 -2.93997978e-02 6.67543536e-01 1.90197465e+02] [-6.65149695e-01 6.26175894e-02 7.44079916e-01 2.68105910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.1807140569999 meters Centerline goodness : 0.985365 Centerline is valid? [True, True] Translation: X:116.20, Y:190.22, Z:2.66 [[-6.22481909e-02 -9.97711918e-01 2.63835422e-02 1.16202140e+02] [ 7.44226516e-01 -2.87867063e-02 6.67306690e-01 1.90217719e+02] [-6.65020342e-01 6.11739660e-02 7.44315585e-01 2.66295124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.2107140569999 meters Centerline goodness : 0.985854 Centerline is valid? [True, True] Translation: X:116.21, Y:190.24, Z:2.64 [[-6.25599623e-02 -9.97849732e-01 1.95489798e-02 1.16205981e+02] [ 7.43603137e-01 -3.35374886e-02 6.67779613e-01 1.90237879e+02] [-6.65688085e-01 5.63129502e-02 7.44102295e-01 2.64249537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.240714057 meters Centerline goodness : 0.985358 Centerline is valid? [True, True] Translation: X:116.21, Y:190.26, Z:2.63 [[-6.15661266e-02 -9.97925356e-01 1.88307154e-02 1.16208345e+02] [ 7.43784920e-01 -3.32898326e-02 6.67589530e-01 1.90258603e+02] [-6.65577648e-01 5.51069036e-02 7.44291357e-01 2.62589089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.270714057 meters Centerline goodness : 0.984612 Centerline is valid? [True, True] Translation: X:116.21, Y:190.28, Z:2.61 [[-6.05090479e-02 -9.97742758e-01 2.91211888e-02 1.16205574e+02] [ 7.44317512e-01 -2.56623496e-02 6.67332664e-01 1.90281744e+02] [-6.65079015e-01 6.20550750e-02 7.44190212e-01 2.60922786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.3007140569999 meters Centerline goodness : 0.985116 Centerline is valid? [True, True] Translation: X:116.22, Y:190.28, Z:2.60 [[-5.76018199e-02 -9.98255068e-01 1.29942493e-02 1.16215645e+02] [ 7.41221648e-01 -3.40438206e-02 6.70396514e-01 1.90282968e+02] [-6.68784344e-01 4.82476782e-02 7.41889253e-01 2.59840651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.3307140569999 meters Centerline goodness : 0.985720 Centerline is valid? [True, True] Translation: X:116.22, Y:190.31, Z:2.58 [[-5.93603699e-02 -9.98145066e-01 1.35193790e-02 1.16216189e+02] [ 7.41962838e-01 -3.50566698e-02 6.69523844e-01 1.90307061e+02] [-6.67807977e-01 4.97740598e-02 7.42667523e-01 2.58136158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.360714057 meters Centerline goodness : 0.986278 Centerline is valid? [True, True] Translation: X:116.22, Y:190.31, Z:2.58 [[-5.64506938e-02 -9.98332054e-01 1.21008052e-02 1.16219483e+02] [ 7.40670813e-01 -3.37477885e-02 6.71019995e-01 1.90309393e+02] [-6.69492395e-01 4.68422575e-02 7.41340500e-01 2.57660183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.390714057 meters Centerline goodness : 0.984850 Centerline is valid? [True, True] Translation: X:116.22, Y:190.31, Z:2.58 [[-5.50062711e-02 -9.98379407e-01 1.45900921e-02 1.16220030e+02] [ 7.39816214e-01 -3.09387090e-02 6.72097289e-01 1.90307006e+02] [-6.70556694e-01 4.77635524e-02 7.40319096e-01 2.57949871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.4207140569999 meters Centerline goodness : 0.985140 Centerline is valid? [True, True] Translation: X:116.22, Y:190.33, Z:2.56 [[-5.57069909e-02 -9.98222804e-01 2.11651615e-02 1.16218837e+02] [ 7.40892514e-01 -2.71176552e-02 6.71075939e-01 1.90330689e+02] [-6.69309356e-01 5.30647309e-02 7.41086446e-01 2.56444554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.4507140569999 meters Centerline goodness : 0.983020 Centerline is valid? [True, True] Translation: X:116.22, Y:190.35, Z:2.55 [[-5.56485403e-02 -9.98136562e-01 2.50328376e-02 1.16219797e+02] [ 7.41475022e-01 -2.45223747e-02 6.70532210e-01 1.90349333e+02] [-6.68668850e-01 5.58753626e-02 7.41457964e-01 2.54927672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.480714057 meters Centerline goodness : 0.983980 Centerline is valid? [True, True] Translation: X:116.22, Y:190.37, Z:2.53 [[-5.73969739e-02 -9.98205523e-01 1.70681333e-02 1.16224279e+02] [ 7.41642363e-01 -3.11871458e-02 6.70070121e-01 1.90367468e+02] [-6.68335389e-01 5.11184479e-02 7.42101551e-01 2.52998817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.510714057 meters Centerline goodness : 0.983383 Centerline is valid? [True, True] Translation: X:116.22, Y:190.39, Z:2.51 [[-5.99375474e-02 -9.97823647e-01 2.74856196e-02 1.16223753e+02] [ 7.39435302e-01 -2.58858805e-02 6.72729779e-01 1.90390637e+02] [-6.70554192e-01 6.06456104e-02 7.39377566e-01 2.50796968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.540714057 meters Centerline goodness : 0.984790 Centerline is valid? [True, True] Translation: X:116.23, Y:190.41, Z:2.49 [[-6.31892588e-02 -9.97886076e-01 1.51821243e-02 1.16229570e+02] [ 7.39529887e-01 -3.66033949e-02 6.72127769e-01 1.90411481e+02] [-6.70151225e-01 5.36988902e-02 7.40279518e-01 2.48574348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.5707140569999 meters Centerline goodness : 0.981844 Centerline is valid? [True, True] Translation: X:116.23, Y:190.43, Z:2.47 [[-6.81552784e-02 -9.97626516e-01 9.80780343e-03 1.16234967e+02] [ 7.40749184e-01 -4.40158930e-02 6.70338159e-01 1.90426160e+02] [-6.68315423e-01 5.29522063e-02 7.41990943e-01 2.47416111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.6007140569999 meters Centerline goodness : 0.982755 Centerline is valid? [True, True] Translation: X:116.24, Y:190.43, Z:2.46 [[-6.60134767e-02 -9.97818602e-01 -5.09222066e-04 1.16240251e+02] [ 7.40006784e-01 -4.92995437e-02 6.70790216e-01 1.90427840e+02] [-6.69352060e-01 4.39043665e-02 7.41646969e-01 2.46396948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.630714057 meters Centerline goodness : 0.981726 Centerline is valid? [True, True] Translation: X:116.23, Y:190.42, Z:2.48 [[-6.43163726e-02 -9.97621000e-01 2.48141969e-02 1.16232911e+02] [ 7.39242391e-01 -3.09257319e-02 6.72728985e-01 1.90424830e+02] [-6.70361166e-01 6.16111943e-02 7.39472764e-01 2.47603001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.660714057 meters Centerline goodness : 0.980411 Centerline is valid? [True, True] Translation: X:116.25, Y:190.42, Z:2.46 [[-6.33602438e-02 -9.97990708e-01 1.61939699e-04 1.16246183e+02] [ 7.38130094e-01 -4.67530520e-02 6.73036489e-01 1.90423326e+02] [-6.71676591e-01 4.27632886e-02 7.39609260e-01 2.46327178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.6907140569999 meters Centerline goodness : 0.981605 Centerline is valid? [True, True] Translation: X:116.24, Y:190.80, Z:2.13 [[-8.23513097e-02 -9.96591398e-01 -4.88333720e-03 1.16236978e+02] [ 7.41509930e-01 -6.45455631e-02 6.67829989e-01 1.90799155e+02] [-6.65868820e-01 5.13756312e-02 7.44297830e-01 2.13045883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.7207140569999 meters Centerline goodness : 0.980572 Centerline is valid? [True, True] Translation: X:116.25, Y:190.45, Z:2.44 [[-6.26717475e-02 -9.98025868e-01 -4.07662252e-03 1.16247802e+02] [ 7.40761480e-01 -4.92532233e-02 6.69960111e-01 1.90446196e+02] [-6.68838308e-01 3.89677660e-02 7.42385904e-01 2.44089401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.750714057 meters Centerline goodness : 0.981557 Centerline is valid? [True, True] Translation: X:116.24, Y:190.47, Z:2.43 [[-6.46688298e-02 -9.97605999e-01 2.44992485e-02 1.16237537e+02] [ 7.41101188e-01 -3.15712916e-02 6.70650641e-01 1.90474726e+02] [-6.68271630e-01 6.15266143e-02 7.41368670e-01 2.42746036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.780714057 meters Centerline goodness : 0.981235 Centerline is valid? [True, True] Translation: X:116.24, Y:190.49, Z:2.41 [[-6.64406141e-02 -9.97667949e-01 1.56303637e-02 1.16240576e+02] [ 7.42054816e-01 -3.89334139e-02 6.69207621e-01 1.90494991e+02] [-6.67038451e-01 5.60611519e-02 7.42911066e-01 2.40837574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.8107140569999 meters Centerline goodness : 0.981542 Centerline is valid? [True, True] Translation: X:116.24, Y:190.52, Z:2.39 [[-6.64603332e-02 -9.97356275e-01 2.93851220e-02 1.16235435e+02] [ 7.42866817e-01 -2.97978973e-02 6.68775730e-01 1.90517640e+02] [-6.66132056e-01 6.62762899e-02 7.42883260e-01 2.39181881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.8407140569999 meters Centerline goodness : 0.982551 Centerline is valid? [True, True] Translation: X:116.23, Y:190.53, Z:2.38 [[-7.02885571e-02 -9.97371298e-01 1.76071577e-02 1.16234441e+02] [ 7.42421307e-01 -4.05161979e-02 6.68706992e-01 1.90530998e+02] [-6.66235786e-01 6.00743786e-02 7.43317528e-01 2.37710502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.870714057 meters Centerline goodness : 0.981725 Centerline is valid? [True, True] Translation: X:116.24, Y:190.56, Z:2.35 [[-6.71056467e-02 -9.97682618e-01 1.12349932e-02 1.16242385e+02] [ 7.46182428e-01 -4.27078295e-02 6.64370248e-01 1.90555599e+02] [-6.62350826e-01 5.29663496e-02 7.47319175e-01 2.35318250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.900714057 meters Centerline goodness : 0.982796 Centerline is valid? [True, True] Translation: X:116.24, Y:190.57, Z:2.34 [[-7.18567220e-02 -9.97410921e-01 2.84004274e-03 1.16241371e+02] [ 7.44544489e-01 -5.17442648e-02 6.65564449e-01 1.90570264e+02] [-6.63694294e-01 4.99398177e-02 7.46334978e-01 2.33745522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.9307140569999 meters Centerline goodness : 0.982479 Centerline is valid? [True, True] Translation: X:116.24, Y:190.59, Z:2.31 [[-7.21029342e-02 -9.97396062e-01 1.50408131e-03 1.16244566e+02] [ 7.43692394e-01 -5.27574053e-02 6.66437003e-01 1.90594239e+02] [-6.64622291e-01 4.91706372e-02 7.45559829e-01 2.31317723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.9607140569999 meters Centerline goodness : 0.982393 Centerline is valid? [True, True] Translation: X:116.23, Y:190.98, Z:1.97 [[-9.04014275e-02 -9.95903139e-01 2.12618262e-03 1.16232959e+02] [ 7.42170132e-01 -6.59453310e-02 6.66959301e-01 1.90976464e+02] [-6.64086649e-01 6.18720621e-02 7.45091115e-01 1.97348545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.990714057 meters Centerline goodness : 0.982976 Centerline is valid? [True, True] Translation: X:116.25, Y:190.61, Z:2.29 [[-7.23219703e-02 -9.97283513e-01 -1.39688085e-02 1.16248808e+02] [ 7.42621882e-01 -6.31928646e-02 6.66722883e-01 1.90609306e+02] [-6.65794468e-01 3.78451697e-02 7.45174791e-01 2.29192052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.020714057 meters Centerline goodness : 0.983624 Centerline is valid? [True, True] Translation: X:116.23, Y:190.64, Z:2.29 [[-7.83241007e-02 -9.96615899e-01 2.49416197e-02 1.16228022e+02] [ 7.44737866e-01 -4.18603932e-02 6.66042956e-01 1.90635533e+02] [-6.62744934e-01 7.07421842e-02 7.45496275e-01 2.28777378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.0507140569999 meters Centerline goodness : 0.982529 Centerline is valid? [True, True] Translation: X:116.24, Y:190.65, Z:2.26 [[-7.38801861e-02 -9.97236323e-01 7.83799487e-03 1.16240082e+02] [ 7.44774963e-01 -4.99464025e-02 6.65443920e-01 1.90654549e+02] [-6.63213369e-01 5.50006630e-02 7.46406695e-01 2.26220279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.0807140569999 meters Centerline goodness : 0.983234 Centerline is valid? [True, True] Translation: X:116.23, Y:190.67, Z:2.25 [[-8.02810259e-02 -9.96699457e-01 1.20478202e-02 1.16230928e+02] [ 7.44694264e-01 -5.19398511e-02 6.65381624e-01 1.90672623e+02] [-6.62559741e-01 6.23894620e-02 7.46406153e-01 2.24724475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.110714057 meters Centerline goodness : 0.982480 Centerline is valid? [True, True] Translation: X:116.24, Y:190.69, Z:2.23 [[-8.00584026e-02 -9.96790129e-01 -3.03170410e-04 1.16235848e+02] [ 7.43850777e-01 -5.99457290e-02 6.65651960e-01 1.90690721e+02] [-6.63533477e-01 5.30655191e-02 7.46262270e-01 2.22517539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.140714057 meters Centerline goodness : 0.982742 Centerline is valid? [True, True] Translation: X:116.24, Y:190.71, Z:2.21 [[-7.77643013e-02 -9.96971636e-01 5.19580381e-04 1.16237207e+02] [ 7.43987135e-01 -5.76844449e-02 6.65699368e-01 1.90713444e+02] [-6.63653416e-01 5.21542073e-02 7.46219862e-01 2.20597100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.1707140569999 meters Centerline goodness : 0.982668 Centerline is valid? [True, True] Translation: X:116.23, Y:190.74, Z:2.18 [[-7.56968559e-02 -9.96989827e-01 1.67711155e-02 1.16232593e+02] [ 7.43733544e-01 -4.52491209e-02 6.66942976e-01 1.90742192e+02] [-6.64176484e-01 6.29587275e-02 7.44919994e-01 2.18395202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.2007140569999 meters Centerline goodness : 0.982748 Centerline is valid? [True, True] Translation: X:116.23, Y:190.77, Z:2.17 [[-7.43822605e-02 -9.96886204e-01 2.61758419e-02 1.16225726e+02] [ 7.45117658e-01 -3.81132083e-02 6.65843119e-01 1.90766481e+02] [-6.62772174e-01 6.90309983e-02 7.45632461e-01 2.16781295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.230714057 meters Centerline goodness : 0.982545 Centerline is valid? [True, True] Translation: X:116.22, Y:190.79, Z:2.15 [[-7.05783237e-02 -9.97042708e-01 3.04062180e-02 1.16221367e+02] [ 7.44219340e-01 -3.23358068e-02 6.67152133e-01 1.90785547e+02] [-6.64195960e-01 6.97153747e-02 7.44300674e-01 2.15100547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.260714057 meters Centerline goodness : 0.982263 Centerline is valid? [True, True] Translation: X:116.22, Y:190.80, Z:2.13 [[-7.03979691e-02 -9.97363191e-01 1.76292532e-02 1.16224061e+02] [ 7.43715881e-01 -4.07001864e-02 6.67255710e-01 1.90803832e+02] [-6.64778771e-01 6.00846025e-02 7.44620055e-01 2.12960103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.290714057 meters Centerline goodness : 0.981975 Centerline is valid? [True, True] Translation: X:116.22, Y:190.83, Z:2.11 [[-7.25585085e-02 -9.97296983e-01 1.15754130e-02 1.16223517e+02] [ 7.42826150e-01 -4.62924773e-02 6.67881964e-01 1.90827285e+02] [-6.65540813e-01 5.70590386e-02 7.44177192e-01 2.10656865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.3207140569999 meters Centerline goodness : 0.982425 Centerline is valid? [True, True] Translation: X:116.22, Y:190.83, Z:2.10 [[-7.21707380e-02 -9.97315344e-01 1.23890508e-02 1.16221966e+02] [ 7.43066166e-01 -4.54779174e-02 6.67670901e-01 1.90832135e+02] [-6.65315006e-01 5.73921861e-02 7.44353464e-01 2.10270644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.3507140569999 meters Centerline goodness : 0.983058 Centerline is valid? [True, True] Translation: X:116.22, Y:190.83, Z:2.10 [[-7.04803959e-02 -9.97428952e-01 1.29614280e-02 1.16219134e+02] [ 7.42431197e-01 -4.37747990e-02 6.68490601e-01 1.90831435e+02] [-6.66204496e-01 5.67384508e-02 7.43607637e-01 2.10406157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.380714057 meters Centerline goodness : 0.983238 Centerline is valid? [True, True] Translation: X:116.22, Y:190.84, Z:2.09 [[-7.30646320e-02 -9.97266045e-01 1.10451371e-02 1.16217771e+02] [ 7.44037627e-01 -4.71303982e-02 6.66473357e-01 1.90844700e+02] [-6.64130687e-01 5.69136281e-02 7.45447026e-01 2.09440675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.410714057 meters Centerline goodness : 0.982963 Centerline is valid? [True, True] Translation: X:116.21, Y:190.85, Z:2.09 [[-7.54122069e-02 -9.96957752e-01 1.97037868e-02 1.16214467e+02] [ 7.43291676e-01 -4.30302787e-02 6.67582115e-01 1.90852976e+02] [-6.64703305e-01 6.49895013e-02 7.44275406e-01 2.09143828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.4407140569999 meters Centerline goodness : 0.984040 Centerline is valid? [True, True] Translation: X:116.22, Y:190.87, Z:2.07 [[-8.04013785e-02 -9.96632410e-01 1.61076872e-02 1.16215012e+02] [ 7.42826226e-01 -4.91349580e-02 6.67678780e-01 1.90873261e+02] [-6.64638861e-01 6.56475069e-02 7.44275211e-01 2.07211498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.4707140569999 meters Centerline goodness : 0.983848 Centerline is valid? [True, True] Translation: X:116.22, Y:190.88, Z:2.06 [[-8.12992677e-02 -9.96652390e-01 8.62806222e-03 1.16217109e+02] [ 7.42641750e-01 -5.48009434e-02 6.67442947e-01 1.90881092e+02] [-6.64735782e-01 6.06701820e-02 7.44610952e-01 2.06083480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.500714057 meters Centerline goodness : 0.984044 Centerline is valid? [True, True] Translation: X:116.21, Y:190.89, Z:2.06 [[-8.37817829e-02 -9.96359781e-01 1.57416298e-02 1.16214721e+02] [ 7.42846055e-01 -5.19192770e-02 6.67445973e-01 1.90886331e+02] [-6.64199030e-01 6.76134212e-02 7.44491823e-01 2.06053458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.530714057 meters Centerline goodness : 0.984044 Centerline is valid? [True, True] Translation: X:116.22, Y:190.89, Z:2.06 [[-8.32741129e-02 -9.96430436e-01 1.38495192e-02 1.16215382e+02] [ 7.42786043e-01 -5.27995457e-02 6.67443708e-01 1.90890400e+02] [-6.64329976e-01 6.58680122e-02 7.44531455e-01 2.05597354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.5607140569999 meters Centerline goodness : 0.984708 Centerline is valid? [True, True] Translation: X:116.20, Y:190.92, Z:2.04 [[-8.42600943e-02 -9.95649201e-01 3.97857325e-02 1.16203949e+02] [ 7.45932974e-01 -3.65532225e-02 6.65017188e-01 1.90917356e+02] [-6.60669535e-01 8.57119008e-02 7.45767548e-01 2.04339046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.5907140569999 meters Centerline goodness : 0.985724 Centerline is valid? [True, True] Translation: X:116.21, Y:190.93, Z:2.02 [[-8.73231599e-02 -9.96078184e-01 1.42448755e-02 1.16213707e+02] [ 7.43241960e-01 -5.56232307e-02 6.66706416e-01 1.90933728e+02] [-6.63299371e-01 6.88063001e-02 7.45184298e-01 2.01651195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.620714057 meters Centerline goodness : 0.985688 Centerline is valid? [True, True] Translation: X:116.21, Y:190.94, Z:2.01 [[-8.69697572e-02 -9.96096256e-01 1.51165504e-02 1.16212993e+02] [ 7.44323949e-01 -5.48869761e-02 6.65559373e-01 1.90937773e+02] [-6.62131497e-01 6.91351475e-02 7.46191806e-01 2.01365009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.650714057 meters Centerline goodness : 0.984696 Centerline is valid? [True, True] Translation: X:116.21, Y:190.93, Z:2.02 [[-8.42166131e-02 -9.96291254e-01 1.76436567e-02 1.16211511e+02] [ 7.44386127e-01 -5.11323657e-02 6.65788837e-01 1.90933109e+02] [-6.62417434e-01 6.92041742e-02 7.45931582e-01 2.01780840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.6807140569999 meters Centerline goodness : 0.985150 Centerline is valid? [True, True] Translation: X:116.21, Y:190.94, Z:2.01 [[-8.25182171e-02 -9.96542930e-01 9.64015599e-03 1.16213798e+02] [ 7.44369729e-01 -5.51995382e-02 6.65482319e-01 1.90936634e+02] [-6.62649568e-01 6.20902548e-02 7.46351358e-01 2.01151388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.7107140569999 meters Centerline goodness : 0.984140 Centerline is valid? [True, True] Translation: X:116.20, Y:190.96, Z:2.00 [[-7.82510441e-02 -9.96154904e-01 3.93977334e-02 1.16199492e+02] [ 7.46657694e-01 -3.23745784e-02 6.64420179e-01 1.90962906e+02] [-6.60589935e-01 8.14081935e-02 7.46320068e-01 2.00406235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.740714057 meters Centerline goodness : 0.984277 Centerline is valid? [True, True] Translation: X:116.21, Y:190.98, Z:1.98 [[-7.65583471e-02 -9.96996493e-01 1.16966838e-02 1.16209251e+02] [ 7.43210436e-01 -4.92423299e-02 6.67243164e-01 1.90978859e+02] [-6.64663123e-01 5.97761313e-02 7.44748110e-01 1.97696165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.770714057 meters Centerline goodness : 0.984345 Centerline is valid? [True, True] Translation: X:116.21, Y:190.98, Z:1.97 [[-7.36082974e-02 -9.97126745e-01 1.78905936e-02 1.16206302e+02] [ 7.42426505e-01 -4.28108538e-02 6.68558237e-01 1.90984181e+02] [-6.65871387e-01 6.24938844e-02 7.43444558e-01 1.97400070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.8007140569999 meters Centerline goodness : 0.983842 Centerline is valid? [True, True] Translation: X:116.20, Y:191.01, Z:1.96 [[-7.16480467e-02 -9.96892329e-01 3.27451059e-02 1.16199303e+02] [ 7.43327577e-01 -3.14759438e-02 6.68186634e-01 1.91007028e+02] [-6.65079447e-01 7.22146074e-02 7.43272750e-01 1.96153092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.8307140569999 meters Centerline goodness : 0.985408 Centerline is valid? [True, True] Translation: X:116.20, Y:191.03, Z:1.94 [[-7.28005605e-02 -9.97033320e-01 2.49927546e-02 1.16203142e+02] [ 7.41523172e-01 -3.73517987e-02 6.69886728e-01 1.91027755e+02] [-6.66965864e-01 6.73008359e-02 7.42042542e-01 1.93668255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.860714057 meters Centerline goodness : 0.984444 Centerline is valid? [True, True] Translation: X:116.21, Y:191.03, Z:1.93 [[-7.41319930e-02 -9.97167115e-01 1.27354917e-02 1.16206574e+02] [ 7.43182814e-01 -4.67256254e-02 6.67454883e-01 1.91032827e+02] [-6.64968987e-01 5.89445594e-02 7.44541326e-01 1.92649529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.890714057 meters Centerline goodness : 0.983690 Centerline is valid? [True, True] Translation: X:116.21, Y:191.03, Z:1.93 [[-7.55681339e-02 -9.97030273e-01 1.48355078e-02 1.16205581e+02] [ 7.44322090e-01 -4.65017159e-02 6.66199833e-01 1.91033059e+02] [-6.63531525e-01 6.13858744e-02 7.45625704e-01 1.92712898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.9207140569999 meters Centerline goodness : 0.985485 Centerline is valid? [True, True] Translation: X:116.21, Y:191.04, Z:1.92 [[-7.64322707e-02 -9.97041376e-01 8.16104973e-03 1.16208250e+02] [ 7.45521924e-01 -5.17121420e-02 6.64471907e-01 1.91039996e+02] [-6.62083959e-01 5.68713382e-02 7.47268681e-01 1.91692831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.9507140569999 meters Centerline goodness : 0.985766 Centerline is valid? [True, True] Translation: X:116.20, Y:191.05, Z:1.92 [[-7.68767371e-02 -9.96855091e-01 1.92326612e-02 1.16204534e+02] [ 7.45884802e-01 -4.47002538e-02 6.64573359e-01 1.91047406e+02] [-6.61623631e-01 6.54355811e-02 7.46975472e-01 1.91601776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.980714057 meters Centerline goodness : 0.983537 Centerline is valid? [True, True] Translation: X:116.20, Y:191.07, Z:1.90 [[-7.76666697e-02 -9.96543694e-01 2.94712580e-02 1.16200232e+02] [ 7.47659681e-01 -3.86637359e-02 6.62955592e-01 1.91069632e+02] [-6.59524745e-01 7.35240244e-02 7.48078424e-01 1.90355250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.010714057 meters Centerline goodness : 0.984661 Centerline is valid? [True, True] Translation: X:116.20, Y:191.09, Z:1.88 [[-7.96240413e-02 -9.96654673e-01 1.84248588e-02 1.16203617e+02] [ 7.46924707e-01 -4.74121100e-02 6.63216084e-01 1.91089293e+02] [-6.60123848e-01 6.65699271e-02 7.48201143e-01 1.88142162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.040714057 meters Centerline goodness : 0.986074 Centerline is valid? [True, True] Translation: X:116.21, Y:191.09, Z:1.88 [[-7.93425477e-02 -9.96786538e-01 1.10162874e-02 1.16206244e+02] [ 7.47487815e-01 -5.21800280e-02 6.62222932e-01 1.91089154e+02] [-6.59520073e-01 6.07769951e-02 7.49225887e-01 1.87918385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.0707140569999 meters Centerline goodness : 0.984755 Centerline is valid? [True, True] Translation: X:116.21, Y:191.10, Z:1.87 [[-7.80503081e-02 -9.96896821e-01 1.02410270e-02 1.16206743e+02] [ 7.47693304e-01 -5.17384246e-02 6.62025572e-01 1.91097493e+02] [-6.59441333e-01 5.93284472e-02 7.49411278e-01 1.87236181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.1007140569999 meters Centerline goodness : 0.985384 Centerline is valid? [True, True] Translation: X:116.20, Y:191.12, Z:1.86 [[-7.60728604e-02 -9.96859176e-01 2.20159560e-02 1.16202044e+02] [ 7.48961613e-01 -4.25513421e-02 6.61245708e-01 1.91120645e+02] [-6.58232043e-01 6.67919583e-02 7.49846259e-01 1.85905700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.130714057 meters Centerline goodness : 0.985337 Centerline is valid? [True, True] Translation: X:116.20, Y:191.14, Z:1.84 [[-7.60367561e-02 -9.96890175e-01 2.06976216e-02 1.16201643e+02] [ 7.48578026e-01 -4.33601735e-02 6.61627413e-01 1.91141165e+02] [-6.58672415e-01 6.58017870e-02 7.49547046e-01 1.84028400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.160714057 meters Centerline goodness : 0.985297 Centerline is valid? [True, True] Translation: X:116.20, Y:191.16, Z:1.82 [[-7.42714749e-02 -9.97088565e-01 1.72667587e-02 1.16201761e+02] [ 7.48704241e-01 -4.43157897e-02 6.61421250e-01 1.91163294e+02] [-6.58730375e-01 6.20524272e-02 7.49815837e-01 1.82156539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.1907140569999 meters Centerline goodness : 0.985185 Centerline is valid? [True, True] Translation: X:116.20, Y:191.19, Z:1.80 [[-7.45670657e-02 -9.97144439e-01 1.19466024e-02 1.16202899e+02] [ 7.47696404e-01 -4.79782348e-02 6.62305199e-01 1.91185145e+02] [-6.59840769e-01 5.83185870e-02 7.49138907e-01 1.80039906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.2207140569999 meters Centerline goodness : 0.985115 Centerline is valid? [True, True] Translation: X:116.20, Y:191.18, Z:1.80 [[-6.91366129e-02 -9.97411951e-01 1.97364840e-02 1.16199791e+02] [ 7.45198247e-01 -3.84808686e-02 6.65731774e-01 1.91182858e+02] [-6.63249351e-01 6.07340332e-02 7.45930074e-01 1.80287153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.250714057 meters Centerline goodness : 0.983727 Centerline is valid? [True, True] Translation: X:116.20, Y:191.21, Z:1.79 [[-6.95219367e-02 -9.97297625e-01 2.37517754e-02 1.16197328e+02] [ 7.46662841e-01 -3.62310650e-02 6.64215260e-01 1.91205374e+02] [-6.61559749e-01 6.39120994e-02 7.47163932e-01 1.78755229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.280714057 meters Centerline goodness : 0.984218 Centerline is valid? [True, True] Translation: X:116.20, Y:191.20, Z:1.78 [[-6.79404999e-02 -9.97607086e-01 1.28136924e-02 1.16201075e+02] [ 7.46716668e-01 -4.23279378e-02 6.63794067e-01 1.91203779e+02] [-6.61663288e-01 5.46666984e-02 7.47805620e-01 1.78042104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.3107140569999 meters Centerline goodness : 0.985529 Centerline is valid? [True, True] Translation: X:116.20, Y:191.23, Z:1.76 [[-6.97934218e-02 -9.97253069e-01 2.48031010e-02 1.16195696e+02] [ 7.47380657e-01 -3.58054732e-02 6.63430570e-01 1.91228305e+02] [-6.60720086e-01 6.48404476e-02 7.47826641e-01 1.76329361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.3407140569999 meters Centerline goodness : 0.984988 Centerline is valid? [True, True] Translation: X:116.20, Y:191.21, Z:1.77 [[-6.82637161e-02 -9.97569092e-01 1.39989671e-02 1.16199682e+02] [ 7.46416306e-01 -4.17569931e-02 6.64167939e-01 1.91209435e+02] [-6.61968854e-01 5.57876289e-02 7.47452324e-01 1.77368060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.370714057 meters Centerline goodness : 0.984762 Centerline is valid? [True, True] Translation: X:116.19, Y:191.23, Z:1.76 [[-7.01025424e-02 -9.97237366e-01 2.45615399e-02 1.16192902e+02] [ 7.47207519e-01 -3.61819400e-02 6.63605147e-01 1.91233614e+02] [-6.60883164e-01 6.48729753e-02 7.47679704e-01 1.75854961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.400714057 meters Centerline goodness : 0.985034 Centerline is valid? [True, True] Translation: X:116.20, Y:191.24, Z:1.74 [[-7.03171655e-02 -9.97456144e-01 1.16934912e-02 1.16196562e+02] [ 7.46962610e-01 -4.48815948e-02 6.63349456e-01 1.91244459e+02] [-6.61137168e-01 5.53794543e-02 7.48218391e-01 1.74228960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.4307140569999 meters Centerline goodness : 0.984108 Centerline is valid? [True, True] Translation: X:116.19, Y:191.27, Z:1.72 [[-7.34916383e-02 -9.97026031e-01 2.31964060e-02 1.16190313e+02] [ 7.46046526e-01 -3.95266253e-02 6.64719661e-01 1.91268859e+02] [-6.61825929e-01 6.61569350e-02 7.46732683e-01 1.72472890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.4607140569999 meters Centerline goodness : 0.984890 Centerline is valid? [True, True] Translation: X:116.19, Y:191.25, Z:1.74 [[-7.30990332e-02 -9.97264554e-01 1.09517220e-02 1.16194373e+02] [ 7.45930135e-01 -4.73807479e-02 6.64336736e-01 1.91247033e+02] [-6.62000578e-01 5.67315926e-02 7.47353170e-01 1.73839249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.490714057 meters Centerline goodness : 0.984168 Centerline is valid? [True, True] Translation: X:116.19, Y:191.26, Z:1.73 [[-7.61927983e-02 -9.97000392e-01 1.35968932e-02 1.16191971e+02] [ 7.46006155e-01 -4.79529399e-02 6.64210308e-01 1.91258187e+02] [-6.61565926e-01 6.07514080e-02 7.47422097e-01 1.73118276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.520714057 meters Centerline goodness : 0.984653 Centerline is valid? [True, True] Translation: X:116.19, Y:191.28, Z:1.72 [[-7.93519356e-02 -9.96742367e-01 1.44195732e-02 1.16190383e+02] [ 7.46454756e-01 -4.98265777e-02 6.63568089e-01 1.91279923e+02] [-6.60687950e-01 6.34189713e-02 7.47976916e-01 1.71516568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.5507140569999 meters Centerline goodness : 0.985632 Centerline is valid? [True, True] Translation: X:116.19, Y:191.29, Z:1.70 [[-8.07115973e-02 -9.96726038e-01 4.77952988e-03 1.16194311e+02] [ 7.45701643e-01 -5.72012978e-02 6.63820060e-01 1.91292195e+02] [-6.61373343e-01 5.71420806e-02 7.47877052e-01 1.69853602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.5807140569999 meters Centerline goodness : 0.985444 Centerline is valid? [True, True] Translation: X:116.19, Y:191.32, Z:1.68 [[-8.35730208e-02 -9.96486196e-01 5.55089303e-03 1.16192472e+02] [ 7.47080430e-01 -5.89676505e-02 6.62113018e-01 1.91316229e+02] [-6.59459159e-01 5.94817485e-02 7.49383440e-01 1.67913565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.610714057 meters Centerline goodness : 0.985962 Centerline is valid? [True, True] Translation: X:116.19, Y:191.31, Z:1.69 [[-8.45547748e-02 -9.96390065e-01 7.57150684e-03 1.16190547e+02] [ 7.47804266e-01 -5.84340030e-02 6.61342761e-01 1.91308970e+02] [-6.58512924e-01 6.15816933e-02 7.50045615e-01 1.68664789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.640714057 meters Centerline goodness : 0.986523 Centerline is valid? [True, True] Translation: X:116.19, Y:191.33, Z:1.67 [[-8.72736136e-02 -9.96151501e-01 8.09339439e-03 1.16189020e+02] [ 7.49145075e-01 -6.02736883e-02 6.59658047e-01 1.91330948e+02] [-6.56631535e-01 6.36338681e-02 7.51522293e-01 1.67085813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.6707140569999 meters Centerline goodness : 0.985402 Centerline is valid? [True, True] Translation: X:116.19, Y:191.31, Z:1.69 [[-8.70916716e-02 -9.96123767e-01 1.23483201e-02 1.16187822e+02] [ 7.48043815e-01 -5.72056761e-02 6.61179221e-01 1.91311569e+02] [-6.57909942e-01 6.68202880e-02 7.50126361e-01 1.68943037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.7007140569999 meters Centerline goodness : 0.986453 Centerline is valid? [True, True] Translation: X:116.19, Y:191.33, Z:1.67 [[-8.86407193e-02 -9.95988545e-01 1.22327540e-02 1.16187481e+02] [ 7.48549474e-01 -5.85070173e-02 6.60492706e-01 1.91332215e+02] [-6.57127467e-01 6.77033701e-02 7.50732806e-01 1.67056771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.730714057 meters Centerline goodness : 0.987068 Centerline is valid? [True, True] Translation: X:116.19, Y:191.35, Z:1.65 [[-9.06224244e-02 -9.95778288e-01 1.46005820e-02 1.16186371e+02] [ 7.48562100e-01 -5.84397723e-02 6.60484349e-01 1.91353800e+02] [-6.56842720e-01 7.07841353e-02 7.50697841e-01 1.65347774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.760714057 meters Centerline goodness : 0.985898 Centerline is valid? [True, True] Translation: X:116.18, Y:191.36, Z:1.65 [[-8.85320476e-02 -9.95923741e-01 1.72620564e-02 1.16184169e+02] [ 7.47380423e-01 -5.49616195e-02 6.62119116e-01 1.91357407e+02] [-6.58471396e-01 7.15200841e-02 7.49199772e-01 1.64991341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.790714057 meters Centerline goodness : 0.985247 Centerline is valid? [True, True] Translation: X:116.18, Y:191.38, Z:1.63 [[-8.72844150e-02 -9.96000409e-01 1.90949069e-02 1.16183215e+02] [ 7.47441847e-01 -5.28060988e-02 6.62225189e-01 1.91378638e+02] [-6.58568232e-01 7.20742707e-02 7.49061535e-01 1.63221756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.8207140569999 meters Centerline goodness : 0.984758 Centerline is valid? [True, True] Translation: X:116.18, Y:191.40, Z:1.61 [[-8.65865806e-02 -9.96195063e-01 9.90761841e-03 1.16184816e+02] [ 7.46000513e-01 -5.82425926e-02 6.63393575e-01 1.91396579e+02] [-6.60292359e-01 6.48320697e-02 7.48205055e-01 1.60621129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.8507140569999 meters Centerline goodness : 0.985891 Centerline is valid? [True, True] Translation: X:116.18, Y:191.40, Z:1.60 [[-8.45447387e-02 -9.96347845e-01 1.19649427e-02 1.16183856e+02] [ 7.44798475e-01 -5.52137396e-02 6.65001260e-01 1.91404276e+02] [-6.61911942e-01 6.51338288e-02 7.46746386e-01 1.59981318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.880714057 meters Centerline goodness : 0.986295 Centerline is valid? [True, True] Translation: X:116.18, Y:191.43, Z:1.58 [[-8.29483118e-02 -9.96279521e-01 2.33814742e-02 1.16179013e+02] [ 7.43577719e-01 -4.62540432e-02 6.67047779e-01 1.91429027e+02] [-6.63484554e-01 7.27164304e-02 7.44647948e-01 1.58282090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.910714057 meters Centerline goodness : 0.985781 Centerline is valid? [True, True] Translation: X:116.18, Y:191.42, Z:1.59 [[-7.97134847e-02 -9.96668620e-01 1.72459446e-02 1.16181108e+02] [ 7.41254351e-01 -4.77002459e-02 6.69527202e-01 1.91420428e+02] [-6.66474117e-01 6.61539778e-02 7.42587303e-01 1.58533408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.9407140569999 meters Centerline goodness : 0.985453 Centerline is valid? [True, True] Translation: X:116.17, Y:191.44, Z:1.57 [[-7.73887189e-02 -9.96420735e-01 3.40103596e-02 1.16173182e+02] [ 7.40774568e-01 -3.46353668e-02 6.70860217e-01 1.91444169e+02] [-6.67281069e-01 7.71110222e-02 7.40803527e-01 1.57096823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.9707140569999 meters Centerline goodness : 0.986308 Centerline is valid? [True, True] Translation: X:116.18, Y:191.46, Z:1.55 [[-7.77082170e-02 -9.96722595e-01 2.24833805e-02 1.16177074e+02] [ 7.40514675e-01 -4.26043651e-02 6.70688366e-01 1.91462512e+02] [-6.67532359e-01 6.87672703e-02 7.41398417e-01 1.54931448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.000714057 meters Centerline goodness : 0.985591 Centerline is valid? [True, True] Translation: X:116.18, Y:191.48, Z:1.53 [[-7.99045346e-02 -9.96572611e-01 2.14078428e-02 1.16178216e+02] [ 7.39695836e-01 -4.48847471e-02 6.71442797e-01 1.91484428e+02] [-6.68180616e-01 6.94866164e-02 7.40747105e-01 1.52763331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.030714057 meters Centerline goodness : 0.986735 Centerline is valid? [True, True] Translation: X:116.18, Y:191.49, Z:1.52 [[-7.91413396e-02 -9.96734384e-01 1.60379324e-02 1.16181021e+02] [ 7.39552736e-01 -4.79179554e-02 6.71390811e-01 1.91490260e+02] [-6.68429801e-01 6.49956649e-02 7.40929932e-01 1.51605285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.0607140569999 meters Centerline goodness : 0.985768 Centerline is valid? [True, True] Translation: X:116.18, Y:191.49, Z:1.52 [[-8.07796815e-02 -9.96567128e-01 1.81274114e-02 1.16181281e+02] [ 7.39550670e-01 -4.77336746e-02 6.71406213e-01 1.91492416e+02] [-6.68236073e-01 6.76421193e-02 7.40867798e-01 1.51606455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.0907140569999 meters Centerline goodness : 0.985674 Centerline is valid? [True, True] Translation: X:116.18, Y:191.49, Z:1.51 [[-7.97743162e-02 -9.96738700e-01 1.21664228e-02 1.16184111e+02] [ 7.38898663e-01 -5.09367757e-02 6.71888540e-01 1.91490255e+02] [-6.69077592e-01 6.25892024e-02 7.40552340e-01 1.51321761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.120714057 meters Centerline goodness : 0.986878 Centerline is valid? [True, True] Translation: X:116.18, Y:191.52, Z:1.50 [[-8.34760963e-02 -9.96339163e-01 1.84394364e-02 1.16180895e+02] [ 7.40956376e-01 -4.96849100e-02 6.69712669e-01 1.91515768e+02] [-6.66344799e-01 6.95678172e-02 7.42391358e-01 1.49627024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.150714057 meters Centerline goodness : 0.984922 Centerline is valid? [True, True] Translation: X:116.18, Y:191.51, Z:1.50 [[-8.27027668e-02 -9.96423451e-01 1.73366236e-02 1.16181904e+02] [ 7.40610783e-01 -4.98116962e-02 6.70085415e-01 1.91513596e+02] [-6.66825255e-01 6.82576082e-02 7.42081517e-01 1.49636942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.1807140569999 meters Centerline goodness : 0.986741 Centerline is valid? [True, True] Translation: X:116.18, Y:191.51, Z:1.49 [[-7.93291442e-02 -9.96807439e-01 9.04529273e-03 1.16184819e+02] [ 7.40642854e-01 -5.28646555e-02 6.69816013e-01 1.91513462e+02] [-6.67199408e-01 5.98352625e-02 7.42472014e-01 1.49052035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.2107140569999 meters Centerline goodness : 0.985323 Centerline is valid? [True, True] Translation: X:116.18, Y:191.54, Z:1.48 [[-7.77147178e-02 -9.96669601e-01 2.47007905e-02 1.16177034e+02] [ 7.42063250e-01 -4.12804651e-02 6.69057588e-01 1.91539392e+02] [-6.65809699e-01 7.03251705e-02 7.42799983e-01 1.48183333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.240714057 meters Centerline goodness : 0.984127 Centerline is valid? [True, True] Translation: X:116.17, Y:191.56, Z:1.47 [[-7.46664800e-02 -9.96644956e-01 3.35223499e-02 1.16172347e+02] [ 7.43316266e-01 -3.32154634e-02 6.68115007e-01 1.91561062e+02] [-6.64759991e-01 7.48035037e-02 7.43302489e-01 1.46727269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.270714057 meters Centerline goodness : 0.985470 Centerline is valid? [True, True] Translation: X:116.18, Y:191.58, Z:1.44 [[-7.38430620e-02 -9.97266294e-01 2.67243506e-03 1.16181533e+02] [ 7.42077353e-01 -5.31568495e-02 6.68203226e-01 1.91576534e+02] [-6.66234496e-01 5.13253258e-02 7.43973996e-01 1.44242313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.3007140569999 meters Centerline goodness : 0.984115 Centerline is valid? [True, True] Translation: X:116.18, Y:191.59, Z:1.43 [[-7.09929908e-02 -9.97438991e-01 8.68650174e-03 1.16178236e+02] [ 7.41212982e-01 -4.69243769e-02 6.69627821e-01 1.91587550e+02] [-6.67505289e-01 5.39774296e-02 7.42646030e-01 1.43427487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.3307140569999 meters Centerline goodness : 0.985692 Centerline is valid? [True, True] Translation: X:116.17, Y:191.61, Z:1.42 [[-7.06022991e-02 -9.97282552e-01 2.10434518e-02 1.16172166e+02] [ 7.42119738e-01 -3.84182093e-02 6.69165403e-01 1.91611885e+02] [-6.66538529e-01 6.28613768e-02 7.42815480e-01 1.42055050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.360714057 meters Centerline goodness : 0.985429 Centerline is valid? [True, True] Translation: X:116.17, Y:191.63, Z:1.40 [[-7.05011151e-02 -9.97413703e-01 1.39820900e-02 1.16172892e+02] [ 7.43196108e-01 -4.31722580e-02 6.67679340e-01 1.91630306e+02] [-6.65348884e-01 5.74635728e-02 7.44317674e-01 1.40196489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.390714057 meters Centerline goodness : 0.984128 Centerline is valid? [True, True] Translation: X:116.17, Y:191.65, Z:1.38 [[-7.09723464e-02 -9.97274176e-01 2.01777979e-02 1.16169624e+02] [ 7.42628452e-01 -3.93234427e-02 6.68548166e-01 1.91653758e+02] [-6.65932361e-01 6.24330388e-02 7.43395054e-01 1.38428144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.4207140569999 meters Centerline goodness : 0.984356 Centerline is valid? [True, True] Translation: X:116.17, Y:191.65, Z:1.38 [[-6.91818942e-02 -9.97558066e-01 9.57966861e-03 1.16171573e+02] [ 7.41939329e-01 -4.50303800e-02 6.68953135e-01 1.91651268e+02] [-6.66888219e-01 5.33869779e-02 7.43242850e-01 1.38024915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.4507140569999 meters Centerline goodness : 0.984356 Centerline is valid? [True, True] Translation: X:116.17, Y:191.68, Z:1.37 [[-6.96916370e-02 -9.97340879e-01 2.13130690e-02 1.16166649e+02] [ 7.42296793e-01 -3.75729843e-02 6.69016997e-01 1.91675371e+02] [-6.66437204e-01 6.24455125e-02 7.42941459e-01 1.36513737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.480714057 meters Centerline goodness : 0.984153 Centerline is valid? [True, True] Translation: X:116.17, Y:191.70, Z:1.35 [[-7.00171288e-02 -9.97377059e-01 1.83467739e-02 1.16166388e+02] [ 7.42338727e-01 -3.98097688e-02 6.68841085e-01 1.91695620e+02] [-6.66356373e-01 6.04498532e-02 7.43178982e-01 1.34577766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.510714057 meters Centerline goodness : 0.984114 Centerline is valid? [True, True] Translation: X:116.17, Y:191.69, Z:1.35 [[-6.62037840e-02 -9.97707890e-01 1.40008748e-02 1.16166944e+02] [ 7.41512726e-01 -3.98050019e-02 6.69757000e-01 1.91687637e+02] [-6.67664538e-01 5.47222746e-02 7.42448340e-01 1.34942858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.540714057 meters Centerline goodness : 0.983903 Centerline is valid? [True, True] Translation: X:116.17, Y:191.70, Z:1.34 [[-6.32120942e-02 -9.97938627e-01 1.10782403e-02 1.16166892e+02] [ 7.41187967e-01 -3.95095836e-02 6.70133860e-01 1.91697852e+02] [-6.68314768e-01 5.05716231e-02 7.42157586e-01 1.33736725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.5707140569999 meters Centerline goodness : 0.983402 Centerline is valid? [True, True] Translation: X:116.16, Y:191.72, Z:1.32 [[-5.95489828e-02 -9.97957675e-01 2.31170319e-02 1.16159526e+02] [ 7.42568939e-01 -2.88093068e-02 6.69149755e-01 1.91720968e+02] [-6.67117148e-01 5.70131771e-02 7.42767937e-01 1.32423732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.6007140569999 meters Centerline goodness : 0.983122 Centerline is valid? [True, True] Translation: X:116.16, Y:191.74, Z:1.31 [[-5.71707652e-02 -9.98152564e-01 2.05660360e-02 1.16159737e+02] [ 7.42662361e-01 -2.87520167e-02 6.69048533e-01 1.91740840e+02] [-6.67221194e-01 5.35236374e-02 7.42934115e-01 1.30536589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.630714057 meters Centerline goodness : 0.982249 Centerline is valid? [True, True] Translation: X:116.16, Y:191.76, Z:1.29 [[-5.29124650e-02 -9.98293836e-01 2.46918787e-02 1.16156068e+02] [ 7.43262942e-01 -2.28576660e-02 6.68608800e-01 1.91761670e+02] [-6.66903644e-01 5.37302981e-02 7.43204268e-01 1.28838734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.660714057 meters Centerline goodness : 0.982590 Centerline is valid? [True, True] Translation: X:116.16, Y:191.78, Z:1.26 [[-5.14904411e-02 -9.98466736e-01 2.03202389e-02 1.16158095e+02] [ 7.41043394e-01 -2.45592673e-02 6.71007847e-01 1.91781599e+02] [-6.69479965e-01 4.96086688e-02 7.41171746e-01 1.26471242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.6907140569999 meters Centerline goodness : 0.983880 Centerline is valid? [True, True] Translation: X:116.16, Y:191.79, Z:1.25 [[-4.85495895e-02 -9.98788502e-01 8.02903527e-03 1.16161910e+02] [ 7.39813557e-01 -3.05582096e-02 6.72117622e-01 1.91786531e+02] [-6.71058000e-01 3.85710238e-02 7.40400863e-01 1.25445245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.7207140569999 meters Centerline goodness : 0.982826 Centerline is valid? [True, True] Translation: X:116.16, Y:191.79, Z:1.25 [[-4.76497637e-02 -9.98632795e-01 2.14951508e-02 1.16156695e+02] [ 7.38834147e-01 -2.07552118e-02 6.73567610e-01 1.91794106e+02] [-6.72200568e-01 4.79766888e-02 7.38812990e-01 1.25481173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.750714057 meters Centerline goodness : 0.983896 Centerline is valid? [True, True] Translation: X:116.15, Y:191.82, Z:1.24 [[-4.75397466e-02 -9.98508513e-01 2.68462594e-02 1.16154310e+02] [ 7.37920991e-01 -1.69934726e-02 6.74673130e-01 1.91816934e+02] [-6.73210653e-01 5.18842080e-02 7.37628257e-01 1.23686053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.780714057 meters Centerline goodness : 0.983270 Centerline is valid? [True, True] Translation: X:116.15, Y:191.84, Z:1.22 [[-4.71144157e-02 -9.98568291e-01 2.53298361e-02 1.16154543e+02] [ 7.38490797e-01 -1.77459002e-02 6.74029989e-01 1.91836393e+02] [-6.72615473e-01 5.04623800e-02 7.38269581e-01 1.21878411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.8107140569999 meters Centerline goodness : 0.982705 Centerline is valid? [True, True] Translation: X:116.16, Y:191.86, Z:1.20 [[-4.65902009e-02 -9.98693858e-01 2.09745409e-02 1.16156529e+02] [ 7.39878360e-01 -2.03937768e-02 6.72431488e-01 1.91855285e+02] [-6.71125447e-01 4.68473271e-02 7.39862124e-01 1.19897374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.8407140569999 meters Centerline goodness : 0.982686 Centerline is valid? [True, True] Translation: X:116.16, Y:191.85, Z:1.20 [[-4.34811749e-02 -9.98961847e-01 1.35873701e-02 1.16161946e+02] [ 7.39414657e-01 -2.30321826e-02 6.72856213e-01 1.91851279e+02] [-6.71844738e-01 3.93032793e-02 7.39648497e-01 1.19577024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.870714057 meters Centerline goodness : 0.982493 Centerline is valid? [True, True] Translation: X:116.16, Y:191.88, Z:1.18 [[-4.34076825e-02 -9.98763949e-01 2.42145898e-02 1.16158625e+02] [ 7.38965620e-01 -1.57863630e-02 6.73558167e-01 1.91875314e+02] [-6.72343354e-01 4.71313484e-02 7.38737470e-01 1.17741200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.900714057 meters Centerline goodness : 0.983208 Centerline is valid? [True, True] Translation: X:116.16, Y:191.87, Z:1.18 [[-4.01054087e-02 -9.99118697e-01 1.23848908e-02 1.16164448e+02] [ 7.38055451e-01 -2.12663272e-02 6.74404844e-01 1.91865004e+02] [-6.73547108e-01 3.61880180e-02 7.38257896e-01 1.17902595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.9307140569999 meters Centerline goodness : 0.983207 Centerline is valid? [True, True] Translation: X:116.16, Y:191.89, Z:1.17 [[-3.98894635e-02 -9.98721079e-01 3.10650438e-02 1.16156443e+02] [ 7.39214873e-01 -8.57818849e-03 6.73415017e-01 1.91890140e+02] [-6.72287291e-01 4.98259061e-02 7.38611655e-01 1.16754887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.9607140569999 meters Centerline goodness : 0.980626 Centerline is valid? [True, True] Translation: X:116.16, Y:191.91, Z:1.15 [[-3.70142679e-02 -9.98980504e-01 2.58437115e-02 1.16158795e+02] [ 7.40182155e-01 -1.00319850e-02 6.72331568e-01 1.91906784e+02] [-6.71386865e-01 4.40149148e-02 7.39798868e-01 1.14946559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.990714057 meters Centerline goodness : 0.983058 Centerline is valid? [True, True] Translation: X:116.16, Y:191.93, Z:1.13 [[-3.69897280e-02 -9.99100813e-01 2.07201602e-02 1.16159384e+02] [ 7.39768461e-01 -1.34368982e-02 6.72727340e-01 1.91928899e+02] [-6.71844018e-01 4.02121223e-02 7.39600298e-01 1.12701136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.020714057 meters Centerline goodness : 0.983989 Centerline is valid? [True, True] Translation: X:116.16, Y:191.95, Z:1.11 [[-3.67351601e-02 -9.99122233e-01 2.01318365e-02 1.16158905e+02] [ 7.40586288e-01 -1.36925691e-02 6.71821750e-01 1.91951542e+02] [-6.70956391e-01 3.95888416e-02 7.40439225e-01 1.10943507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.0507140569999 meters Centerline goodness : 0.983488 Centerline is valid? [True, True] Translation: X:116.16, Y:191.95, Z:1.10 [[-3.53458984e-02 -9.99246984e-01 1.60041423e-02 1.16161078e+02] [ 7.37893263e-01 -1.52943163e-02 6.74744112e-01 1.91953394e+02] [-6.73991247e-01 3.56587856e-02 7.37878208e-01 1.10325266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.0807140569999 meters Centerline goodness : 0.983971 Centerline is valid? [True, True] Translation: X:116.16, Y:191.98, Z:1.09 [[-3.87259149e-02 -9.98896523e-01 2.65714208e-02 1.16156542e+02] [ 7.37341967e-01 -1.06186600e-02 6.75436206e-01 1.91977459e+02] [-6.74408725e-01 4.57491087e-02 7.36939544e-01 1.08888975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.110714057 meters Centerline goodness : 0.984010 Centerline is valid? [True, True] Translation: X:116.16, Y:191.98, Z:1.08 [[-3.86039357e-02 -9.99143104e-01 1.49262575e-02 1.16162032e+02] [ 7.34670832e-01 -1.82541663e-02 6.78178114e-01 1.91982143e+02] [-6.77324519e-01 3.71462303e-02 7.34745979e-01 1.07624753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.140714057 meters Centerline goodness : 0.982990 Centerline is valid? [True, True] Translation: X:116.16, Y:192.01, Z:1.06 [[-4.47166593e-02 -9.98453919e-01 3.30180652e-02 1.16156683e+02] [ 7.33983999e-01 -1.04152799e-02 6.79086895e-01 1.92006072e+02] [-6.77693079e-01 5.46012289e-02 7.33314937e-01 1.06208492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.1707140569999 meters Centerline goodness : 0.984498 Centerline is valid? [True, True] Translation: X:116.16, Y:192.03, Z:1.04 [[-4.87234068e-02 -9.98425685e-01 2.77881384e-02 1.16158872e+02] [ 7.34053775e-01 -1.69274289e-02 6.78880342e-01 1.92025898e+02] [-6.77341189e-01 5.34753509e-02 7.33722905e-01 1.04128472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.2007140569999 meters Centerline goodness : 0.984035 Centerline is valid? [True, True] Translation: X:116.17, Y:192.04, Z:1.02 [[-5.44281187e-02 -9.98494481e-01 6.80823280e-03 1.16168643e+02] [ 7.34751488e-01 -3.54325181e-02 6.77410354e-01 1.92036084e+02] [-6.76149267e-01 4.18725304e-02 7.35573830e-01 1.02150100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.230714057 meters Centerline goodness : 0.983649 Centerline is valid? [True, True] Translation: X:116.17, Y:192.05, Z:1.01 [[-5.73928001e-02 -9.98295771e-01 1.05650646e-02 1.16166475e+02] [ 7.35555163e-01 -3.51276043e-02 6.76553511e-01 1.92054593e+02] [-6.75029384e-01 4.66004882e-02 7.36317680e-01 1.00698523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.260714057 meters Centerline goodness : 0.983339 Centerline is valid? [True, True] Translation: X:116.17, Y:192.04, Z:1.01 [[-5.98507843e-02 -9.98179948e-01 7.39428517e-03 1.16169616e+02] [ 7.36667375e-01 -3.91693811e-02 6.75119944e-01 1.92043549e+02] [-6.73601561e-01 4.58535868e-02 7.37670920e-01 1.01480723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.290714057 meters Centerline goodness : 0.983872 Centerline is valid? [True, True] Translation: X:116.17, Y:192.07, Z:1.00 [[-6.20830094e-02 -9.97947282e-01 1.57137661e-02 1.16165164e+02] [ 7.38721360e-01 -3.53579580e-02 6.73082883e-01 1.92067530e+02] [-6.71145627e-01 5.33951056e-02 7.39400101e-01 9.99501192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.3207140569999 meters Centerline goodness : 0.983742 Centerline is valid? [True, True] Translation: X:116.17, Y:192.07, Z:0.99 [[-6.06461051e-02 -9.98101358e-01 1.07577461e-02 1.16169050e+02] [ 7.38616157e-01 -3.76248546e-02 6.73075436e-01 1.92070138e+02] [-6.71392748e-01 4.87652487e-02 7.39495591e-01 9.91677538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.3507140569999 meters Centerline goodness : 0.983250 Centerline is valid? [True, True] Translation: X:116.16, Y:192.09, Z:0.98 [[-5.92225019e-02 -9.98066032e-01 1.88915561e-02 1.16164532e+02] [ 7.39791746e-01 -3.11753443e-02 6.72113287e-01 1.92092113e+02] [-6.70224491e-01 5.37800477e-02 7.40207294e-01 9.76212204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.380714057 meters Centerline goodness : 0.983540 Centerline is valid? [True, True] Translation: X:116.16, Y:192.11, Z:0.96 [[-5.80849940e-02 -9.98151990e-01 1.78532356e-02 1.16163744e+02] [ 7.39771461e-01 -3.10270411e-02 6.72142477e-01 1.92112084e+02] [-6.70346418e-01 5.22487059e-02 7.40206561e-01 9.58198513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.410714057 meters Centerline goodness : 0.982590 Centerline is valid? [True, True] Translation: X:116.17, Y:192.12, Z:0.94 [[-5.34541231e-02 -9.98563241e-01 3.75639635e-03 1.16167868e+02] [ 7.39809017e-01 -3.70755841e-02 6.71794626e-01 1.92121483e+02] [-6.70690149e-01 3.86892085e-02 7.40727932e-01 9.41131778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.4407140569999 meters Centerline goodness : 0.983084 Centerline is valid? [True, True] Translation: X:116.16, Y:192.15, Z:0.92 [[-5.28569104e-02 -9.98520292e-01 1.27818007e-02 1.16163744e+02] [ 7.38955199e-01 -3.05010539e-02 6.73063815e-01 1.92147289e+02] [-6.71678018e-01 4.50212519e-02 7.39473953e-01 9.24110097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.4707140569999 meters Centerline goodness : 0.982724 Centerline is valid? [True, True] Translation: X:116.17, Y:192.14, Z:0.93 [[-5.02587109e-02 -9.98713305e-01 6.76731122e-03 1.16165124e+02] [ 7.38911949e-01 -3.26242596e-02 6.73011731e-01 1.92143782e+02] [-6.71924991e-01 3.88251491e-02 7.39600848e-01 9.25261994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.500714057 meters Centerline goodness : 0.983250 Centerline is valid? [True, True] Translation: X:116.16, Y:192.14, Z:0.93 [[-4.86372801e-02 -9.98816421e-01 4.14985130e-04 1.16164616e+02] [ 7.41313984e-01 -3.58197676e-02 6.70201851e-01 1.92137098e+02] [-6.69393750e-01 3.29044294e-02 7.42178756e-01 9.30611068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.530714057 meters Centerline goodness : 0.983164 Centerline is valid? [True, True] Translation: X:116.16, Y:192.15, Z:0.93 [[-4.90883421e-02 -9.98738451e-01 1.05754646e-02 1.16159798e+02] [ 7.41695428e-01 -2.93590817e-02 6.70093976e-01 1.92148849e+02] [-6.68938134e-01 4.07375761e-02 7.42200931e-01 9.26927347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.5607140569999 meters Centerline goodness : 0.983057 Centerline is valid? [True, True] Translation: X:116.16, Y:192.15, Z:0.92 [[-4.89367588e-02 -9.98756882e-01 9.48076977e-03 1.16160409e+02] [ 7.40141057e-01 -2.98882001e-02 6.71787103e-01 1.92154678e+02] [-6.70668629e-01 3.98921904e-02 7.40683605e-01 9.17886407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.5907140569999 meters Centerline goodness : 0.983318 Centerline is valid? [True, True] Translation: X:116.15, Y:192.18, Z:0.90 [[-4.97482544e-02 -9.98413922e-01 2.63581307e-02 1.16153426e+02] [ 7.40436029e-01 -1.91569747e-02 6.71853777e-01 1.92179030e+02] [-6.70283223e-01 5.29400623e-02 7.40214666e-01 9.04638513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.620714057 meters Centerline goodness : 0.983434 Centerline is valid? [True, True] Translation: X:116.16, Y:192.20, Z:0.88 [[-5.43333169e-02 -9.98399280e-01 1.57088801e-02 1.16156734e+02] [ 7.39888009e-01 -2.96905574e-02 6.72074553e-01 1.92198799e+02] [-6.70532345e-01 4.81388517e-02 7.40316842e-01 8.83209834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.650714057 meters Centerline goodness : 0.981794 Centerline is valid? [True, True] Translation: X:116.15, Y:192.22, Z:0.87 [[-5.45755936e-02 -9.98179353e-01 2.56804326e-02 1.16153128e+02] [ 7.40230247e-01 -2.31846568e-02 6.71953610e-01 1.92220426e+02] [-6.70134827e-01 5.56817001e-02 7.40147865e-01 8.69367200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.6807140569999 meters Centerline goodness : 0.982320 Centerline is valid? [True, True] Translation: X:116.16, Y:192.24, Z:0.85 [[-5.59039511e-02 -9.98294814e-01 1.67991916e-02 1.16155908e+02] [ 7.39056202e-01 -3.00620264e-02 6.72972663e-01 1.92237862e+02] [-6.71320101e-01 5.00373776e-02 7.39476560e-01 8.48488047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.7107140569999 meters Centerline goodness : 0.984968 Centerline is valid? [True, True] Translation: X:116.16, Y:192.26, Z:0.82 [[-5.91665528e-02 -9.98220420e-01 7.43715772e-03 1.16159046e+02] [ 7.38321280e-01 -3.87451739e-02 6.73335354e-01 1.92260323e+02] [-6.71848946e-01 4.53299435e-02 7.39299797e-01 8.23968494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.740714057 meters Centerline goodness : 0.983794 Centerline is valid? [True, True] Translation: X:116.15, Y:192.27, Z:0.82 [[-5.72503298e-02 -9.98183506e-01 1.87640392e-02 1.16153758e+02] [ 7.37904236e-01 -2.96473879e-02 6.74253937e-01 1.92268324e+02] [-6.72472854e-01 5.24473242e-02 7.38261159e-01 8.20620712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.770714057 meters Centerline goodness : 0.982632 Centerline is valid? [True, True] Translation: X:116.15, Y:192.27, Z:0.82 [[-5.71092742e-02 -9.98247396e-01 1.55134466e-02 1.16154138e+02] [ 7.37530713e-01 -3.17105347e-02 6.74568669e-01 1.92269863e+02] [-6.72894478e-01 4.99657704e-02 7.38049079e-01 8.16680408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.8007140569999 meters Centerline goodness : 0.982111 Centerline is valid? [True, True] Translation: X:116.15, Y:192.29, Z:0.80 [[-5.80866544e-02 -9.98055276e-01 2.26187099e-02 1.16150378e+02] [ 7.37889899e-01 -2.76623341e-02 6.74353981e-01 1.92292904e+02] [-6.72416863e-01 5.58610842e-02 7.38061720e-01 8.01476607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.8307140569999 meters Centerline goodness : 0.982869 Centerline is valid? [True, True] Translation: X:116.16, Y:192.30, Z:0.79 [[-5.61911273e-02 -9.98375312e-01 9.44956950e-03 1.16155568e+02] [ 7.37089086e-01 -3.50975299e-02 6.74883578e-01 1.92295386e+02] [-6.73455445e-01 4.48876435e-02 7.37863715e-01 7.91090221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.860714057 meters Centerline goodness : 0.983705 Centerline is valid? [True, True] Translation: X:116.15, Y:192.32, Z:0.77 [[-5.79169885e-02 -9.98117081e-01 2.01968985e-02 1.16150113e+02] [ 7.37896963e-01 -2.91732841e-02 6.74282576e-01 1.92320971e+02] [-6.72423747e-01 5.39556462e-02 7.38197191e-01 7.74983354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.890714057 meters Centerline goodness : 0.981613 Centerline is valid? [True, True] Translation: X:116.15, Y:192.33, Z:0.76 [[-5.69528703e-02 -9.98311037e-01 1.14649296e-02 1.16151763e+02] [ 7.37796293e-01 -3.43485598e-02 6.74148950e-01 1.92333135e+02] [-6.72616533e-01 4.68535002e-02 7.38506431e-01 7.59319282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.9207140569999 meters Centerline goodness : 0.982780 Centerline is valid? [True, True] Translation: X:116.15, Y:192.32, Z:0.77 [[-5.43300996e-02 -9.98426755e-01 1.38655885e-02 1.16149407e+02] [ 7.37793229e-01 -3.07829022e-02 6.74324525e-01 1.92321635e+02] [-6.72836824e-01 4.68660559e-02 7.38304937e-01 7.70537449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.9507140569999 meters Centerline goodness : 0.981603 Centerline is valid? [True, True] Translation: X:116.15, Y:192.33, Z:0.76 [[-5.47333725e-02 -9.98453871e-01 9.70184777e-03 1.16148171e+02] [ 7.40662648e-01 -3.40816016e-02 6.71012136e-01 1.92334123e+02] [-6.69644010e-01 4.39125535e-02 7.41382889e-01 7.60770631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.980714057 meters Centerline goodness : 0.982839 Centerline is valid? [True, True] Translation: X:116.15, Y:192.34, Z:0.76 [[-5.26787447e-02 -9.98502676e-01 1.47429784e-02 1.16145506e+02] [ 7.38852525e-01 -2.90397257e-02 6.73241146e-01 1.92337355e+02] [-6.71804954e-01 4.63583853e-02 7.39275999e-01 7.58907672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.010714057 meters Centerline goodness : 0.981964 Centerline is valid? [True, True] Translation: X:116.14, Y:192.36, Z:0.75 [[-5.11383915e-02 -9.98224828e-01 3.05296152e-02 1.16138134e+02] [ 7.38944522e-01 -1.72559888e-02 6.73545266e-01 1.92360350e+02] [-6.71822788e-01 5.70037134e-02 7.38515212e-01 7.48421911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.040714057 meters Centerline goodness : 0.980904 Centerline is valid? [True, True] Translation: X:116.14, Y:192.38, Z:0.72 [[-5.45290598e-02 -9.98409884e-01 1.42928279e-02 1.16143878e+02] [ 7.39026521e-01 -3.07285653e-02 6.72975153e-01 1.92376957e+02] [-6.71465846e-01 4.72594813e-02 7.39526983e-01 7.24629179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.0707140569999 meters Centerline goodness : 0.982160 Centerline is valid? [True, True] Translation: X:116.14, Y:192.40, Z:0.71 [[-5.60579715e-02 -9.98246536e-01 1.90093940e-02 1.16139901e+02] [ 7.39703293e-01 -2.87362713e-02 6.72319318e-01 1.92400039e+02] [-6.70594171e-01 5.17501685e-02 7.40017147e-01 7.07514285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.1007140569999 meters Centerline goodness : 0.983176 Centerline is valid? [True, True] Translation: X:116.14, Y:192.42, Z:0.69 [[-6.09617707e-02 -9.98056210e-01 1.29408062e-02 1.16141688e+02] [ 7.39113854e-01 -3.64245701e-02 6.72594946e-01 1.92421725e+02] [-6.70816199e-01 5.05673080e-02 7.39897678e-01 6.86800965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.130714057 meters Centerline goodness : 0.982474 Centerline is valid? [True, True] Translation: X:116.14, Y:192.44, Z:0.67 [[-6.38109087e-02 -9.97940011e-01 6.62595334e-03 1.16142340e+02] [ 7.42389515e-01 -4.30311792e-02 6.68585167e-01 1.92435924e+02] [-6.66922766e-01 4.75820653e-02 7.43606059e-01 6.73391500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.160714057 meters Centerline goodness : 0.981757 Centerline is valid? [True, True] Translation: X:116.14, Y:192.43, Z:0.68 [[-6.12947795e-02 -9.97898471e-01 2.10140651e-02 1.16139354e+02] [ 7.37286284e-01 -3.10754415e-02 6.74865358e-01 1.92427483e+02] [-6.72794088e-01 5.68591053e-02 7.37641618e-01 6.83281315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.1907140569999 meters Centerline goodness : 0.982889 Centerline is valid? [True, True] Translation: X:116.15, Y:192.43, Z:0.67 [[-6.03321830e-02 -9.98177988e-01 -8.55047735e-04 1.16146395e+02] [ 7.38176873e-01 -4.51936911e-02 6.73091698e-01 1.92427322e+02] [-6.71903960e-01 3.99779150e-02 7.39558540e-01 6.71066011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.2207140569999 meters Centerline goodness : 0.981952 Centerline is valid? [True, True] Translation: X:116.14, Y:192.46, Z:0.66 [[-6.13363747e-02 -9.97865314e-01 2.24201690e-02 1.16136782e+02] [ 7.38270188e-01 -3.02400573e-02 6.73826883e-01 1.92455729e+02] [-6.71710487e-01 5.78822406e-02 7.38549029e-01 6.60207199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.250714057 meters Centerline goodness : 0.982868 Centerline is valid? [True, True] Translation: X:116.14, Y:192.48, Z:0.64 [[-6.26395291e-02 -9.97908351e-01 1.59753584e-02 1.16137797e+02] [ 7.38194535e-01 -3.55527156e-02 6.73650378e-01 1.92475571e+02] [-6.71673371e-01 5.39900647e-02 7.38877497e-01 6.40107800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.280714057 meters Centerline goodness : 0.982956 Centerline is valid? [True, True] Translation: X:116.14, Y:192.48, Z:0.64 [[-5.81254966e-02 -9.98114337e-01 1.97280936e-02 1.16135183e+02] [ 7.35715312e-01 -2.94703854e-02 6.76649448e-01 1.92480191e+02] [-6.74792121e-01 5.38448458e-02 7.36040981e-01 6.37119939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.3107140569999 meters Centerline goodness : 0.982000 Centerline is valid? [True, True] Translation: X:116.13, Y:192.50, Z:0.62 [[-5.71482590e-02 -9.98075610e-01 2.40656239e-02 1.16132227e+02] [ 7.36473823e-01 -2.58703132e-02 6.75971180e-01 1.92501781e+02] [-6.74047762e-01 5.63542781e-02 7.36535003e-01 6.21939170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.3407140569999 meters Centerline goodness : 0.982000 Centerline is valid? [True, True] Translation: X:116.14, Y:192.50, Z:0.61 [[-5.65682396e-02 -9.98348184e-01 1.00468137e-02 1.16137798e+02] [ 7.35975898e-01 -3.48977775e-02 6.76107701e-01 1.92502710e+02] [-6.74640284e-01 4.56404351e-02 7.36734307e-01 6.12637410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.370714057 meters Centerline goodness : 0.985004 Centerline is valid? [True, True] Translation: X:116.13, Y:192.53, Z:0.59 [[-5.52167494e-02 -9.98371216e-01 1.43535628e-02 1.16133890e+02] [ 7.37341837e-01 -3.10783902e-02 6.74804527e-01 1.92525941e+02] [-6.73259331e-01 4.78439948e-02 7.37856914e-01 5.92434641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.400714057 meters Centerline goodness : 0.983236 Centerline is valid? [True, True] Translation: X:116.13, Y:192.52, Z:0.60 [[-5.44552534e-02 -9.98406191e-01 1.48224222e-02 1.16132863e+02] [ 7.37622651e-01 -3.02173215e-02 6.74536684e-01 1.92522527e+02] [-6.73013707e-01 4.76654205e-02 7.38092513e-01 5.96949230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.4307140569999 meters Centerline goodness : 0.983633 Centerline is valid? [True, True] Translation: X:116.14, Y:192.54, Z:0.58 [[-5.73824299e-02 -9.98352198e-01 3.82030773e-04 1.16136337e+02] [ 7.43384010e-01 -4.24721552e-02 6.67515041e-01 1.92539123e+02] [-6.66398882e-01 3.85876306e-02 7.44596216e-01 5.80425868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.4607140569999 meters Centerline goodness : 0.983636 Centerline is valid? [True, True] Translation: X:116.13, Y:192.54, Z:0.58 [[-5.66264368e-02 -9.98361487e-01 8.23337803e-03 1.16132267e+02] [ 7.43839740e-01 -3.66865575e-02 6.67350386e-01 1.92543561e+02] [-6.65954869e-01 4.39139882e-02 7.44698378e-01 5.80907099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.490714057 meters Centerline goodness : 0.982807 Centerline is valid? [True, True] Translation: X:116.13, Y:192.56, Z:0.56 [[-5.74738693e-02 -9.98316673e-01 7.78296405e-03 1.16131092e+02] [ 7.43635373e-01 -3.76075706e-02 6.67526855e-01 1.92560979e+02] [-6.66110491e-01 4.41530386e-02 7.44545044e-01 5.64939205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.520714057 meters Centerline goodness : 0.982178 Centerline is valid? [True, True] Translation: X:116.13, Y:192.56, Z:0.57 [[-5.40132512e-02 -9.98468325e-01 1.19822240e-02 1.16130415e+02] [ 7.39971958e-01 -3.19666647e-02 6.71877693e-01 1.92557453e+02] [-6.70465563e-01 4.51568083e-02 7.40565184e-01 5.69044880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.5507140569999 meters Centerline goodness : 0.982329 Centerline is valid? [True, True] Translation: X:116.13, Y:192.57, Z:0.56 [[-5.36284785e-02 -9.98554318e-01 3.64145386e-03 1.16132893e+02] [ 7.37982158e-01 -3.71770116e-02 6.73795373e-01 1.92565479e+02] [-6.72685901e-01 3.88219486e-02 7.38909017e-01 5.58513081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.5807140569999 meters Centerline goodness : 0.981995 Centerline is valid? [True, True] Translation: X:116.13, Y:192.59, Z:0.55 [[-5.30635153e-02 -9.98423954e-01 1.82721351e-02 1.16125213e+02] [ 7.39444649e-01 -2.69888385e-02 6.72676158e-01 1.92589503e+02] [-6.71122846e-01 4.92057942e-02 7.39711374e-01 5.45756456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.610714057 meters Centerline goodness : 0.982493 Centerline is valid? [True, True] Translation: X:116.12, Y:192.61, Z:0.53 [[-5.36913841e-02 -9.98225838e-01 2.57373718e-02 1.16124069e+02] [ 7.38385997e-01 -2.23373946e-02 6.74008279e-01 1.92610784e+02] [-6.72237573e-01 5.51925523e-02 7.38275306e-01 5.25756436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.640714057 meters Centerline goodness : 0.982829 Centerline is valid? [True, True] Translation: X:116.13, Y:192.63, Z:0.50 [[-5.67821585e-02 -9.98369593e-01 5.82602151e-03 1.16131891e+02] [ 7.37149934e-01 -3.79883139e-02 6.74660554e-01 1.92626283e+02] [-6.73339262e-01 4.26033339e-02 7.38105138e-01 4.99977842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.6707140569999 meters Centerline goodness : 0.983736 Centerline is valid? [True, True] Translation: X:116.13, Y:192.64, Z:0.48 [[-5.70484022e-02 -9.98272058e-01 1.40846869e-02 1.16128548e+02] [ 7.37567356e-01 -3.26335240e-02 6.74484580e-01 1.92644449e+02] [-6.72859476e-01 4.88666728e-02 7.38154573e-01 4.83172622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.7007140569999 meters Centerline goodness : 0.983467 Centerline is valid? [True, True] Translation: X:116.13, Y:192.67, Z:0.47 [[-5.94455229e-02 -9.98011199e-01 2.09732198e-02 1.16125623e+02] [ 7.38333501e-01 -2.98186661e-02 6.73776290e-01 1.92666642e+02] [-6.71810890e-01 5.55382147e-02 7.38637688e-01 4.68179081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.7307140569999 meters Centerline goodness : 0.984028 Centerline is valid? [True, True] Translation: X:116.13, Y:192.69, Z:0.45 [[-6.29363725e-02 -9.97820963e-01 1.98075435e-02 1.16126403e+02] [ 7.38045652e-01 -3.31732083e-02 6.73934829e-01 1.92687560e+02] [-6.71809220e-01 5.70338847e-02 7.38525225e-01 4.47122342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.760714057 meters Centerline goodness : 0.983409 Centerline is valid? [True, True] Translation: X:116.13, Y:192.71, Z:0.42 [[-6.70515036e-02 -9.97691807e-01 1.07309533e-02 1.16128978e+02] [ 7.37870790e-01 -4.23445824e-02 6.73612377e-01 1.92711465e+02] [-6.71603152e-01 5.30847797e-02 7.39006910e-01 4.20602304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.790714057 meters Centerline goodness : 0.983252 Centerline is valid? [True, True] Translation: X:116.13, Y:192.72, Z:0.41 [[-6.76933208e-02 -9.97661035e-01 9.49069129e-03 1.16129692e+02] [ 7.37650670e-01 -4.36415501e-02 6.73770662e-01 1.92724832e+02] [-6.71780548e-01 5.26105883e-02 7.38879572e-01 4.07956563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.8207140569999 meters Centerline goodness : 0.982501 Centerline is valid? [True, True] Translation: X:116.13, Y:192.71, Z:0.43 [[-6.62319463e-02 -9.97736522e-01 1.16259326e-02 1.16129474e+02] [ 7.36487079e-01 -4.10219181e-02 6.75206624e-01 1.92705261e+02] [-6.73201391e-01 5.32825980e-02 7.37537018e-01 4.25444253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.8507140569999 meters Centerline goodness : 0.983689 Centerline is valid? [True, True] Translation: X:116.13, Y:192.73, Z:0.41 [[-6.66131971e-02 -9.97622841e-01 1.76451148e-02 1.16126169e+02] [ 7.36261594e-01 -3.72108644e-02 6.75673158e-01 1.92727543e+02] [-6.73410386e-01 5.80001696e-02 7.36990117e-01 4.07904731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.880714057 meters Centerline goodness : 0.983679 Centerline is valid? [True, True] Translation: X:116.12, Y:192.75, Z:0.39 [[-6.73174122e-02 -9.97615055e-01 1.52501978e-02 1.16124156e+02] [ 7.36163641e-01 -3.93465388e-02 6.75658896e-01 1.92748826e+02] [-6.73447444e-01 5.67102496e-02 7.37056638e-01 3.88124371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.910714057 meters Centerline goodness : 0.983812 Centerline is valid? [True, True] Translation: X:116.12, Y:192.77, Z:0.36 [[-6.68806737e-02 -9.97676395e-01 1.29918082e-02 1.16124159e+02] [ 7.35846274e-01 -4.05264467e-02 6.75934810e-01 1.92773983e+02] [-6.73837693e-01 5.47669492e-02 7.36846894e-01 3.64017896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.9407140569999 meters Centerline goodness : 0.983433 Centerline is valid? [True, True] Translation: X:116.12, Y:192.79, Z:0.34 [[-6.58979393e-02 -9.97738269e-01 1.32592458e-02 1.16123656e+02] [ 7.33612962e-01 -3.94374122e-02 6.78422223e-01 1.92794098e+02] [-6.76364904e-01 5.44337811e-02 7.34552571e-01 3.43505865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.9707140569999 meters Centerline goodness : 0.983986 Centerline is valid? [True, True] Translation: X:116.13, Y:192.80, Z:0.33 [[-6.24632485e-02 -9.98011794e-01 8.41440334e-03 1.16125078e+02] [ 7.33079035e-01 -4.01573215e-02 6.78956934e-01 1.92797956e+02] [-6.77269128e-01 4.85782784e-02 7.34129879e-01 3.34827110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.000714057 meters Centerline goodness : 0.984942 Centerline is valid? [True, True] Translation: X:116.12, Y:192.81, Z:0.32 [[-6.04247330e-02 -9.98108431e-01 1.13318771e-02 1.16123447e+02] [ 7.32133861e-01 -3.66005462e-02 6.80176749e-01 1.92814420e+02] [-6.78475395e-01 4.93959494e-02 7.32960557e-01 3.21194403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.030714057 meters Centerline goodness : 0.984819 Centerline is valid? [True, True] Translation: X:116.12, Y:192.84, Z:0.30 [[-5.98827046e-02 -9.97977188e-01 2.13446501e-02 1.16117806e+02] [ 7.31815973e-01 -2.93495559e-02 6.80870021e-01 1.92839385e+02] [-6.78866293e-01 5.63926942e-02 7.32093177e-01 3.03573334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.0607140569999 meters Centerline goodness : 0.984847 Centerline is valid? [True, True] Translation: X:116.12, Y:192.85, Z:0.29 [[-5.97828497e-02 -9.98181244e-01 7.75984991e-03 1.16122287e+02] [ 7.33012481e-01 -3.86219664e-02 6.79117844e-01 1.92846983e+02] [-6.77582994e-01 4.62876669e-02 7.33988242e-01 2.90519957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.0907140569999 meters Centerline goodness : 0.985179 Centerline is valid? [True, True] Translation: X:116.12, Y:192.85, Z:0.29 [[-5.60339415e-02 -9.98294867e-01 1.63571115e-02 1.16118603e+02] [ 7.30775333e-01 -2.98441272e-02 6.81965351e-01 1.92846382e+02] [-6.80314346e-01 5.01665801e-02 7.31201548e-01 2.93286615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.120714057 meters Centerline goodness : 0.985156 Centerline is valid? [True, True] Translation: X:116.12, Y:192.87, Z:0.28 [[-5.71345851e-02 -9.98170837e-01 1.97640828e-02 1.16116494e+02] [ 7.31467996e-01 -2.83790580e-02 6.81284963e-01 1.92868118e+02] [-6.79477895e-01 5.33817277e-02 7.31751447e-01 2.76843358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.150714057 meters Centerline goodness : 0.985556 Centerline is valid? [True, True] Translation: X:116.12, Y:192.88, Z:0.26 [[-5.65061525e-02 -9.98348033e-01 1.04048405e-02 1.16120110e+02] [ 7.30051836e-01 -3.42072607e-02 6.82535112e-01 1.92876914e+02] [-6.81051665e-01 4.61635061e-02 7.30778735e-01 2.61064592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.1807140569999 meters Centerline goodness : 0.984127 Centerline is valid? [True, True] Translation: X:116.12, Y:192.90, Z:0.25 [[-5.71899628e-02 -9.98177696e-01 1.92508786e-02 1.16115311e+02] [ 7.31564246e-01 -2.87775508e-02 6.81164890e-01 1.92900265e+02] [-6.79369607e-01 5.30390492e-02 7.31876900e-01 2.47610068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.2107140569999 meters Centerline goodness : 0.983888 Centerline is valid? [True, True] Translation: X:116.12, Y:192.92, Z:0.23 [[-5.80382979e-02 -9.98102469e-01 2.05674048e-02 1.16115023e+02] [ 7.31899530e-01 -2.85297403e-02 6.80815050e-01 1.92918338e+02] [-6.78936399e-01 5.45666206e-02 7.32166545e-01 2.29002682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.240714057 meters Centerline goodness : 0.986254 Centerline is valid? [True, True] Translation: X:116.12, Y:192.94, Z:0.21 [[-5.98369272e-02 -9.98123341e-01 1.30129816e-02 1.16117005e+02] [ 7.32328407e-01 -3.50365595e-02 6.80049663e-01 1.92937824e+02] [-6.78317512e-01 5.02218583e-02 7.33050557e-01 2.07290229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.270714057 meters Centerline goodness : 0.985944 Centerline is valid? [True, True] Translation: X:116.12, Y:192.93, Z:0.21 [[-5.85658068e-02 -9.98249488e-01 8.24658949e-03 1.16118933e+02] [ 7.32119235e-01 -3.73335669e-02 6.80152652e-01 1.92934344e+02] [-6.78654162e-01 4.58711756e-02 7.33024122e-01 2.06902307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.3007140569999 meters Centerline goodness : 0.986687 Centerline is valid? [True, True] Translation: X:116.11, Y:192.96, Z:0.19 [[-5.81561156e-02 -9.97911667e-01 2.81099882e-02 1.16110501e+02] [ 7.32874959e-01 -2.35568166e-02 6.79955418e-01 1.92959677e+02] [-6.77873263e-01 6.01446723e-02 7.32714445e-01 1.93832788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.3307140569999 meters Centerline goodness : 0.985378 Centerline is valid? [True, True] Translation: X:116.11, Y:192.98, Z:0.18 [[-5.71221925e-02 -9.97932511e-01 2.94577387e-02 1.16108947e+02] [ 7.32601423e-01 -2.18526739e-02 6.80307001e-01 1.92979173e+02] [-6.78256744e-01 6.04414088e-02 7.32335050e-01 1.75200642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.360714057 meters Centerline goodness : 0.985063 Centerline is valid? [True, True] Translation: X:116.11, Y:193.00, Z:0.15 [[-5.68830915e-02 -9.98050087e-01 2.56970516e-02 1.16110129e+02] [ 7.31710210e-01 -2.41645505e-02 6.81187377e-01 1.93000295e+02] [-6.79238163e-01 5.75508390e-02 7.31657993e-01 1.51134491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.390714057 meters Centerline goodness : 0.985025 Centerline is valid? [True, True] Translation: X:116.11, Y:193.01, Z:0.14 [[-5.55113953e-02 -9.98360381e-01 1.39654545e-02 1.16113854e+02] [ 7.31919835e-01 -3.11750398e-02 6.80677216e-01 1.93008072e+02] [-6.79125791e-01 4.80069352e-02 7.32450335e-01 1.36935833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.4207140569999 meters Centerline goodness : 0.983969 Centerline is valid? [True, True] Translation: X:116.11, Y:193.03, Z:0.12 [[-5.41122496e-02 -9.98447357e-01 1.32189399e-02 1.16113820e+02] [ 7.31550804e-01 -3.06300165e-02 6.81098542e-01 1.93028575e+02] [-6.79636142e-01 4.65261004e-02 7.32072425e-01 1.17080024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.4507140569999 meters Centerline goodness : 0.983850 Centerline is valid? [True, True] Translation: X:116.11, Y:193.05, Z:0.10 [[-5.14692672e-02 -9.98304462e-01 2.71866933e-02 1.16107918e+02] [ 7.31257426e-01 -1.91329345e-02 6.81833197e-01 1.93054037e+02] [-6.80156961e-01 5.49739263e-02 7.31002309e-01 1.00505831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.4807140569999 meters Centerline goodness : 0.983696 Centerline is valid? [True, True] Translation: X:116.11, Y:193.06, Z:0.09 [[-4.60997779e-02 -9.98821363e-01 1.51886795e-02 1.16111665e+02] [ 7.29260359e-01 -2.32595154e-02 6.83840861e-01 1.93057395e+02] [-6.82681579e-01 4.26014137e-02 7.29473084e-01 8.84502131e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.510714057 meters Centerline goodness : 0.982479 Centerline is valid? [True, True] Translation: X:116.11, Y:193.08, Z:0.08 [[-4.44335981e-02 -9.98621257e-01 2.79506707e-02 1.16105291e+02] [ 7.30060559e-01 -1.33602905e-02 6.83251845e-01 1.93082854e+02] [-6.81936387e-01 5.07650201e-02 7.29647639e-01 7.70333477e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.540714057 meters Centerline goodness : 0.983676 Centerline is valid? [True, True] Translation: X:116.11, Y:193.11, Z:0.05 [[-4.38538869e-02 -9.98819466e-01 2.08928498e-02 1.16105823e+02] [ 7.30333932e-01 -1.77821076e-02 6.82858803e-01 1.93106719e+02] [-6.81681146e-01 4.52047698e-02 7.30251562e-01 5.28990115e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.5707140569999 meters Centerline goodness : 0.982537 Centerline is valid? [True, True] Translation: X:116.11, Y:193.11, Z:0.05 [[-4.27425998e-02 -9.98987156e-01 1.40617577e-02 1.16108045e+02] [ 7.31583997e-01 -2.17100311e-02 6.81405555e-01 1.93108796e+02] [-6.80410116e-01 3.94124018e-02 7.31770959e-01 4.85017561e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.6007140569999 meters Centerline goodness : 0.983281 Centerline is valid? [True, True] Translation: X:116.11, Y:193.12, Z:0.03 [[-4.48369648e-02 -9.98988559e-01 -3.39191417e-03 1.16113794e+02] [ 7.36609782e-01 -3.53539815e-02 6.75393312e-01 1.93122908e+02] [-6.74830109e-01 2.77840690e-02 7.37449910e-01 2.87529767e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.630714057 meters Centerline goodness : 0.982419 Centerline is valid? [True, True] Translation: X:116.11, Y:193.15, Z:0.01 [[-4.39592353e-02 -9.99015614e-01 5.94884621e-03 1.16109646e+02] [ 7.36574602e-01 -2.83872059e-02 6.75760330e-01 1.93146819e+02] [-6.74926249e-01 3.40876763e-02 7.37097408e-01 1.47271671e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.660714057 meters Centerline goodness : 0.982839 Centerline is valid? [True, True] Translation: X:116.11, Y:193.14, Z:0.03 [[-4.23945189e-02 -9.99026198e-01 1.22213447e-02 1.16106114e+02] [ 7.37822072e-01 -2.30575300e-02 6.74601319e-01 1.93139804e+02] [-6.73662597e-01 3.76165763e-02 7.38081092e-01 2.64411848e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.6907140569999 meters Centerline goodness : 0.982835 Centerline is valid? [True, True] Translation: X:116.11, Y:193.14, Z:0.03 [[-4.32892387e-02 -9.98995672e-01 1.15624422e-02 1.16107178e+02] [ 7.38814411e-01 -2.42200390e-02 6.73473575e-01 1.93138802e+02] [-6.72517144e-01 3.76966573e-02 7.39120865e-01 2.60337728e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.7207140569999 meters Centerline goodness : 0.982474 Centerline is valid? [True, True] Translation: X:116.11, Y:193.14, Z:0.02 [[-4.38251186e-02 -9.99012274e-01 7.33726980e-03 1.16109234e+02] [ 7.39278958e-01 -2.74893461e-02 6.72837988e-01 1.93139281e+02] [-6.71971711e-01 3.49114938e-02 7.39753477e-01 2.22275212e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.750714057 meters Centerline goodness : 0.983046 Centerline is valid? [True, True] Translation: X:116.11, Y:193.15, Z:0.01 [[-4.68962565e-02 -9.98891923e-01 3.95819489e-03 1.16111104e+02] [ 7.40736618e-01 -3.21173057e-02 6.71027378e-01 1.93153791e+02] [-6.70156701e-01 3.44006519e-02 7.41422006e-01 7.47926476e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.780714057 meters Centerline goodness : 0.982777 Centerline is valid? [True, True] Translation: X:116.10, Y:193.18, Z:-0.00 [[-4.73607145e-02 -9.98479811e-01 2.81962804e-02 1.16101724e+02] [ 7.42523332e-01 -1.63103924e-02 6.69621589e-01 1.93180826e+02] [-6.68143745e-01 5.26501530e-02 7.42167028e-01 -2.33887085e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.8107140569999 meters Centerline goodness : 0.982441 Centerline is valid? [True, True] Translation: X:116.11, Y:193.20, Z:-0.03 [[-5.04036226e-02 -9.98561013e-01 1.83133230e-02 1.16107283e+02] [ 7.41650664e-01 -2.51423652e-02 6.70314966e-01 1.93199243e+02] [-6.68889952e-01 4.73683907e-02 7.41850705e-01 -2.75019547e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.8407140569999 meters Centerline goodness : 0.982769 Centerline is valid? [True, True] Translation: X:116.11, Y:193.21, Z:-0.05 [[-5.15411280e-02 -9.98617346e-01 1.03397000e-02 1.16111006e+02] [ 7.41166163e-01 -3.13101206e-02 6.70591079e-01 1.93214131e+02] [-6.69340146e-01 4.22264564e-02 7.41755146e-01 -4.57168740e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.870714057 meters Centerline goodness : 0.983129 Centerline is valid? [True, True] Translation: X:116.11, Y:193.24, Z:-0.06 [[-5.25124846e-02 -9.98184701e-01 2.94913939e-02 1.16106242e+02] [ 7.39547901e-01 -1.90271973e-02 6.72834949e-01 1.93240033e+02] [-6.71052413e-01 5.71425334e-02 7.39204565e-01 -6.24174454e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.900714057 meters Centerline goodness : 0.983386 Centerline is valid? [True, True] Translation: X:116.12, Y:193.25, Z:-0.08 [[-5.51058860e-02 -9.98444661e-01 8.46173368e-03 1.16116143e+02] [ 7.39120083e-01 -3.50925873e-02 6.72658913e-01 1.93252547e+02] [-6.71315756e-01 4.33217027e-02 7.39904308e-01 -8.40520809e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.9307140569999 meters Centerline goodness : 0.981363 Centerline is valid? [True, True] Translation: X:116.11, Y:193.25, Z:-0.08 [[-5.35475895e-02 -9.98375591e-01 1.94637055e-02 1.16112956e+02] [ 7.37257701e-01 -2.63813499e-02 6.75096369e-01 1.93250191e+02] [-6.73486257e-01 5.04995500e-02 7.37472750e-01 -7.63053570e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.9607140569999 meters Centerline goodness : 0.982652 Centerline is valid? [True, True] Translation: X:116.11, Y:193.27, Z:-0.10 [[-5.57848867e-02 -9.98188987e-01 2.25120684e-02 1.16113270e+02] [ 7.34779785e-01 -2.57772552e-02 6.77815758e-01 1.93274520e+02] [-6.76007925e-01 5.43532880e-02 7.34887070e-01 -9.77714771e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.990714057 meters Centerline goodness : 0.981148 Centerline is valid? [True, True] Translation: X:116.12, Y:193.27, Z:-0.09 [[-5.68902879e-02 -9.98124194e-01 2.26183142e-02 1.16115439e+02] [ 7.33130880e-01 -2.63866709e-02 6.79575497e-01 1.93271363e+02] [-6.77703923e-01 5.52434303e-02 7.33256814e-01 -9.39474328e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.020714057 meters Centerline goodness : 0.982166 Centerline is valid? [True, True] Translation: X:116.12, Y:193.27, Z:-0.11 [[-5.44883737e-02 -9.98484341e-01 7.74837046e-03 1.16123343e+02] [ 7.31643178e-01 -3.46434101e-02 6.80806944e-01 1.93272017e+02] [-6.79506643e-01 4.27651056e-02 7.32421919e-01 -1.05958070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.0507140569999 meters Centerline goodness : 0.981040 Centerline is valid? [True, True] Translation: X:116.12, Y:193.28, Z:-0.11 [[-5.32731569e-02 -9.98337797e-01 2.19912244e-02 1.16119525e+02] [ 7.31596755e-01 -2.40314864e-02 6.81313933e-01 1.93282476e+02] [-6.79652969e-01 5.23844525e-02 7.31660926e-01 -1.07869999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.0807140569999 meters Centerline goodness : 0.981295 Centerline is valid? [True, True] Translation: X:116.11, Y:193.31, Z:-0.12 [[-5.30839932e-02 -9.97775130e-01 4.03346033e-02 1.16114580e+02] [ 7.31666327e-01 -1.13742996e-02 6.81568054e-01 1.93307425e+02] [-6.79592875e-01 6.56918250e-02 7.30642257e-01 -1.22774050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.110714057 meters Centerline goodness : 0.980531 Centerline is valid? [True, True] Translation: X:116.13, Y:193.30, Z:-0.13 [[-5.11373411e-02 -9.98609406e-01 1.28150829e-02 1.16127659e+02] [ 7.32282969e-01 -2.87677208e-02 6.80392587e-01 1.93302503e+02] [-6.79077776e-01 4.41777347e-02 7.32735765e-01 -1.33361300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.140714057 meters Centerline goodness : 0.981587 Centerline is valid? [True, True] Translation: X:116.13, Y:193.33, Z:-0.15 [[-5.26435768e-02 -9.98422459e-01 1.95255693e-02 1.16125764e+02] [ 7.32313854e-01 -2.53044490e-02 6.80496954e-01 1.93328463e+02] [-6.78929358e-01 5.01226385e-02 7.32490716e-01 -1.52731845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.1707140569999 meters Centerline goodness : 0.981854 Centerline is valid? [True, True] Translation: X:116.13, Y:193.36, Z:-0.18 [[-4.77946442e-02 -9.98741548e-01 1.51984586e-02 1.16129691e+02] [ 7.32172096e-01 -2.46797917e-02 6.80672410e-01 1.93357609e+02] [-6.79440721e-01 4.36603830e-02 7.32430254e-01 -1.82973706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.2007140569999 meters Centerline goodness : 0.982507 Centerline is valid? [True, True] Translation: X:116.13, Y:193.36, Z:-0.19 [[-4.61174526e-02 -9.98887162e-01 9.88023718e-03 1.16132245e+02] [ 7.32678060e-01 -2.71004911e-02 6.80035605e-01 1.93357987e+02] [-6.79011076e-01 3.86005428e-02 7.33112513e-01 -1.85664251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.2307140569999 meters Centerline goodness : 0.981118 Centerline is valid? [True, True] Translation: X:116.14, Y:193.35, Z:-0.18 [[-4.09213415e-02 -9.99143128e-01 6.20108697e-03 1.16135432e+02] [ 7.34676878e-01 -2.58822799e-02 6.77923294e-01 1.93347364e+02] [-6.77181903e-01 3.22973259e-02 7.35106491e-01 -1.75881431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.260714057 meters Centerline goodness : 0.981118 Centerline is valid? [True, True] Translation: X:116.13, Y:193.35, Z:-0.18 [[-4.02234451e-02 -9.99098231e-01 1.35941233e-02 1.16132146e+02] [ 7.34851028e-01 -2.03608338e-02 6.77922859e-01 1.93354730e+02] [-6.77034741e-01 3.72580483e-02 7.35007345e-01 -1.78208091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.290714057 meters Centerline goodness : 0.981352 Centerline is valid? [True, True] Translation: X:116.13, Y:193.35, Z:-0.18 [[-3.66796864e-02 -9.99188085e-01 1.66664783e-02 1.16132446e+02] [ 7.33933274e-01 -1.56158816e-02 6.79042041e-01 1.93354171e+02] [-6.78230455e-01 3.71391321e-02 7.33910169e-01 -1.77090888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.3207140569999 meters Centerline goodness : 0.981581 Centerline is valid? [True, True] Translation: X:116.14, Y:193.37, Z:-0.19 [[-3.31875483e-02 -9.99401523e-01 9.75619734e-03 1.16137876e+02] [ 7.36075610e-01 -1.78375502e-02 6.76664259e-01 1.93368179e+02] [-6.76085264e-01 2.96381267e-02 7.36227070e-01 -1.91556463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.3507140569999 meters Centerline goodness : 0.980675 Centerline is valid? [True, True] Translation: X:116.14, Y:193.36, Z:-0.19 [[-3.10677813e-02 -9.99485355e-01 7.98859042e-03 1.16141889e+02] [ 7.37230691e-01 -1.75175315e-02 6.75413980e-01 1.93359204e+02] [-6.74926441e-01 2.68730478e-02 7.37395510e-01 -1.88868372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.380714057 meters Centerline goodness : 0.982058 Centerline is valid? [True, True] Translation: X:116.14, Y:193.37, Z:-0.19 [[-2.68102993e-02 -9.99539532e-01 1.42102965e-02 1.16141976e+02] [ 7.36539859e-01 -1.01408426e-02 6.76318121e-01 1.93367738e+02] [-6.75862593e-01 2.85987410e-02 7.36472584e-01 -1.89285732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.410714057 meters Centerline goodness : 0.982459 Centerline is valid? [True, True] Translation: X:116.15, Y:193.37, Z:-0.19 [[-2.68851793e-02 -9.99513190e-01 1.58294288e-02 1.16146037e+02] [ 7.36961045e-01 -9.11907444e-03 6.75873702e-01 1.93373628e+02] [-6.75400330e-01 2.98366581e-02 7.36847453e-01 -1.89959845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.4407140569999 meters Centerline goodness : 0.982249 Centerline is valid? [True, True] Translation: X:116.14, Y:193.39, Z:-0.20 [[-2.80040788e-02 -9.99086546e-01 3.22776149e-02 1.16142779e+02] [ 7.38016399e-01 1.11389697e-03 6.74781857e-01 1.93394986e+02] [-6.74201429e-01 4.27180534e-02 7.37311062e-01 -2.04867007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.4707140569999 meters Centerline goodness : 0.983183 Centerline is valid? [True, True] Translation: X:116.15, Y:193.41, Z:-0.23 [[-3.04951293e-02 -9.99284284e-01 2.23822881e-02 1.16153182e+02] [ 7.34942368e-01 -7.24011809e-03 6.78090921e-01 1.93414657e+02] [-6.77443550e-01 3.71281621e-02 7.34637146e-01 -2.27642295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.500714057 meters Centerline goodness : 0.982888 Centerline is valid? [True, True] Translation: X:116.16, Y:193.42, Z:-0.24 [[-3.13878040e-02 -9.99423344e-01 1.29531831e-02 1.16160106e+02] [ 7.34137384e-01 -1.42578978e-02 6.78851245e-01 1.93416883e+02] [-6.78275097e-01 3.08170658e-02 7.34161564e-01 -2.36345171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.530714057 meters Centerline goodness : 0.984777 Centerline is valid? [True, True] Translation: X:116.16, Y:193.44, Z:-0.25 [[-3.66236933e-02 -9.98981541e-01 2.63550151e-02 1.16161371e+02] [ 7.35865735e-01 -9.11531670e-03 6.77066121e-01 1.93443900e+02] [-6.76136322e-01 4.41904145e-02 7.35450122e-01 -2.54984291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.5607140569999 meters Centerline goodness : 0.984131 Centerline is valid? [True, True] Translation: X:116.17, Y:193.45, Z:-0.27 [[-3.91812124e-02 -9.99123511e-01 1.47323830e-02 1.16168209e+02] [ 7.38031209e-01 -1.89966285e-02 6.74499120e-01 1.93451993e+02] [-6.73628063e-01 3.73006518e-02 7.38128644e-01 -2.67235519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.5907140569999 meters Centerline goodness : 0.985444 Centerline is valid? [True, True] Translation: X:116.17, Y:193.46, Z:-0.28 [[-4.20801985e-02 -9.98998109e-01 1.52326689e-02 1.16173675e+02] [ 7.39589806e-01 -2.08954949e-02 6.72733452e-01 1.93462402e+02] [-6.71741152e-01 3.95746838e-02 7.39728105e-01 -2.78654619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.620714057 meters Centerline goodness : 0.984339 Centerline is valid? [True, True] Translation: X:116.17, Y:193.49, Z:-0.29 [[-4.55220733e-02 -9.98707141e-01 2.26227341e-02 1.16172343e+02] [ 7.39784521e-01 -1.84846005e-02 6.72589906e-01 1.93485908e+02] [-6.71302170e-01 4.73536355e-02 7.39669541e-01 -2.92473434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.650714057 meters Centerline goodness : 0.984228 Centerline is valid? [True, True] Translation: X:116.18, Y:193.49, Z:-0.30 [[-4.86891854e-02 -9.98665149e-01 1.72419280e-02 1.16179184e+02] [ 7.39667063e-01 -2.44507342e-02 6.72528659e-01 1.93490034e+02] [-6.71209356e-01 4.54981588e-02 7.39870204e-01 -2.97493353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.6807140569999 meters Centerline goodness : 0.984449 Centerline is valid? [True, True] Translation: X:116.19, Y:193.50, Z:-0.31 [[-5.17869706e-02 -9.98652512e-01 3.35706504e-03 1.16187743e+02] [ 7.40937381e-01 -3.61683928e-02 6.70599466e-01 1.93500821e+02] [-6.69574422e-01 3.72156898e-02 7.41812029e-01 -3.12794792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.7107140569999 meters Centerline goodness : 0.984884 Centerline is valid? [True, True] Translation: X:116.19, Y:193.50, Z:-0.31 [[-5.25204767e-02 -9.98535386e-01 1.29877876e-02 1.16185221e+02] [ 7.42381159e-01 -3.03420508e-02 6.69290352e-01 1.93502073e+02] [-6.67916023e-01 4.47933371e-02 7.42887436e-01 -3.07668339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.740714057 meters Centerline goodness : 0.985060 Centerline is valid? [True, True] Translation: X:116.19, Y:193.52, Z:-0.33 [[-5.34013430e-02 -9.98541145e-01 7.99234975e-03 1.16190681e+02] [ 7.39748993e-01 -3.41824850e-02 6.72014126e-01 1.93516978e+02] [-6.70760557e-01 4.17987895e-02 7.40495197e-01 -3.25007881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.770714057 meters Centerline goodness : 0.985250 Centerline is valid? [True, True] Translation: X:116.19, Y:193.52, Z:-0.33 [[-5.44514219e-02 -9.98419163e-01 1.39362115e-02 1.16188513e+02] [ 7.40231162e-01 -3.09955542e-02 6.71637628e-01 1.93522107e+02] [-6.70143917e-01 4.68876418e-02 7.40748729e-01 -3.26507968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.8007140569999 meters Centerline goodness : 0.985768 Centerline is valid? [True, True] Translation: X:116.19, Y:193.54, Z:-0.34 [[-5.70767814e-02 -9.98192037e-01 1.88387716e-02 1.16188605e+02] [ 7.39918390e-01 -2.96252384e-02 6.72043988e-01 1.93544398e+02] [-6.70270854e-01 5.22972614e-02 7.40271558e-01 -3.44138253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.8307140569999 meters Centerline goodness : 0.986264 Centerline is valid? [True, True] Translation: X:116.19, Y:193.55, Z:-0.35 [[-5.73067320e-02 -9.98279122e-01 1.24391853e-02 1.16192388e+02] [ 7.39281624e-01 -3.40586430e-02 6.72534526e-01 1.93552409e+02] [-6.70953514e-01 4.77368169e-02 7.39961200e-01 -3.54881111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.860714057 meters Centerline goodness : 0.985288 Centerline is valid? [True, True] Translation: X:116.19, Y:193.56, Z:-0.36 [[-5.95131282e-02 -9.98143298e-01 1.29670777e-02 1.16193288e+02] [ 7.40756464e-01 -3.54517550e-02 6.70837562e-01 1.93557932e+02] [-6.69132310e-01 4.95290884e-02 7.41490945e-01 -3.58194945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.890714057 meters Centerline goodness : 0.986419 Centerline is valid? [True, True] Translation: X:116.19, Y:193.58, Z:-0.38 [[-6.12864940e-02 -9.97935494e-01 1.92019762e-02 1.16193253e+02] [ 7.38507486e-01 -3.23955263e-02 6.73466572e-01 1.93579722e+02] [-6.71454138e-01 5.54552082e-02 7.38968241e-01 -3.79477959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.9207140569999 meters Centerline goodness : 0.986964 Centerline is valid? [True, True] Translation: X:116.20, Y:193.58, Z:-0.39 [[-6.06865525e-02 -9.98075573e-01 1.27393988e-02 1.16196279e+02] [ 7.37732378e-01 -3.62523262e-02 6.74119209e-01 1.93582505e+02] [-6.72360083e-01 5.03082378e-02 7.38512695e-01 -3.85684947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.9507140569999 meters Centerline goodness : 0.986358 Centerline is valid? [True, True] Translation: X:116.20, Y:193.59, Z:-0.40 [[-6.27842918e-02 -9.97992899e-01 8.26477600e-03 1.16196796e+02] [ 7.38905482e-01 -4.09151733e-02 6.72565713e-01 1.93593020e+02] [-6.70877651e-01 4.83334502e-02 7.39991254e-01 -3.95612640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.9807140569999 meters Centerline goodness : 0.985943 Centerline is valid? [True, True] Translation: X:116.20, Y:193.60, Z:-0.40 [[-6.21056266e-02 -9.98024422e-01 9.49442545e-03 1.16196576e+02] [ 7.38934653e-01 -3.95841242e-02 6.72613319e-01 1.93601669e+02] [-6.70908690e-01 4.87888316e-02 7.39933227e-01 -4.03572860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.010714057 meters Centerline goodness : 0.986097 Centerline is valid? [True, True] Translation: X:116.19, Y:193.60, Z:-0.40 [[-6.26980288e-02 -9.97890146e-01 1.68586615e-02 1.16194782e+02] [ 7.39749804e-01 -3.51265435e-02 6.71964548e-01 1.93596583e+02] [-6.69954614e-01 5.46020441e-02 7.40391405e-01 -3.98485241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.040714057 meters Centerline goodness : 0.986292 Centerline is valid? [True, True] Translation: X:116.19, Y:193.62, Z:-0.42 [[-6.49906933e-02 -9.97718418e-01 1.82802869e-02 1.16193842e+02] [ 7.40518347e-01 -3.59413721e-02 6.71074360e-01 1.93618211e+02] [-6.68886230e-01 5.71504757e-02 7.41164648e-01 -4.17650416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.0707140569999 meters Centerline goodness : 0.987028 Centerline is valid? [True, True] Translation: X:116.20, Y:193.62, Z:-0.42 [[-6.57674835e-02 -9.97768959e-01 1.14779199e-02 1.16195680e+02] [ 7.41742428e-01 -4.11908965e-02 6.69418764e-01 1.93621747e+02] [-6.67452477e-01 5.25396476e-02 7.42796592e-01 -4.23652006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.1007140569999 meters Centerline goodness : 0.987031 Centerline is valid? [True, True] Translation: X:116.19, Y:193.63, Z:-0.43 [[-6.61610413e-02 -9.97731609e-01 1.24239138e-02 1.16194277e+02] [ 7.41639650e-01 -4.08418154e-02 6.69554012e-01 1.93633174e+02] [-6.67527787e-01 5.35124577e-02 7.42659458e-01 -4.33785057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.130714057 meters Centerline goodness : 0.986593 Centerline is valid? [True, True] Translation: X:116.19, Y:193.64, Z:-0.44 [[-6.62130335e-02 -9.97766937e-01 8.77348205e-03 1.16194093e+02] [ 7.42226417e-01 -4.33747073e-02 6.68744033e-01 1.93636016e+02] [-6.66870138e-01 5.07914812e-02 7.43440949e-01 -4.35529406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.160714057 meters Centerline goodness : 0.986398 Centerline is valid? [True, True] Translation: X:116.19, Y:193.66, Z:-0.45 [[-6.60841880e-02 -9.97685836e-01 1.59953992e-02 1.16188876e+02] [ 7.42325988e-01 -3.84450952e-02 6.68935051e-01 1.93659567e+02] [-6.66772081e-01 5.60798302e-02 7.43148737e-01 -4.51067365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.1907140569999 meters Centerline goodness : 0.986662 Centerline is valid? [True, True] Translation: X:116.19, Y:193.67, Z:-0.46 [[-6.62312866e-02 -9.97782223e-01 6.63724819e-03 1.16191588e+02] [ 7.42082516e-01 -4.48094049e-02 6.68809133e-01 1.93671365e+02] [-6.67028452e-01 4.92214752e-02 7.43404527e-01 -4.64894610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.2207140569999 meters Centerline goodness : 0.986331 Centerline is valid? [True, True] Translation: X:116.19, Y:193.68, Z:-0.47 [[-6.44271174e-02 -9.97904506e-01 5.97857886e-03 1.16190635e+02] [ 7.41675267e-01 -4.38743395e-02 6.69322674e-01 1.93679778e+02] [-6.67657806e-01 4.75566945e-02 7.42947788e-01 -4.71887426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.250714057 meters Centerline goodness : 0.985468 Centerline is valid? [True, True] Translation: X:116.19, Y:193.68, Z:-0.47 [[-6.04413017e-02 -9.98071401e-01 1.41536870e-02 1.16185586e+02] [ 7.38945849e-01 -3.52075225e-02 6.72844308e-01 1.93679870e+02] [-6.71048345e-01 5.11263940e-02 7.39648708e-01 -4.69691400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.280714057 meters Centerline goodness : 0.983625 Centerline is valid? [True, True] Translation: X:116.18, Y:193.70, Z:-0.48 [[-5.92263068e-02 -9.98023482e-01 2.10089097e-02 1.16181059e+02] [ 7.39972980e-01 -2.97671853e-02 6.71977606e-01 1.93699048e+02] [-6.70024054e-01 5.53447775e-02 7.40273410e-01 -4.82906297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.3107140569999 meters Centerline goodness : 0.985365 Centerline is valid? [True, True] Translation: X:116.19, Y:193.72, Z:-0.51 [[-5.73003038e-02 -9.98348960e-01 4.00362818e-03 1.16187452e+02] [ 7.35967360e-01 -3.95305198e-02 6.75861956e-01 1.93718745e+02] [-6.74587816e-01 4.16736351e-02 7.37017359e-01 -5.14828010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.3407140569999 meters Centerline goodness : 0.984454 Centerline is valid? [True, True] Translation: X:116.18, Y:193.74, Z:-0.53 [[-5.71856912e-02 -9.98074103e-01 2.40391709e-02 1.16177243e+02] [ 7.36108732e-01 -2.58854096e-02 6.76368155e-01 1.93741521e+02] [-6.74443276e-01 5.63740240e-02 7.36171337e-01 -5.26587020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.370714057 meters Centerline goodness : 0.986231 Centerline is valid? [True, True] Translation: X:116.18, Y:193.76, Z:-0.55 [[-6.00763679e-02 -9.98135145e-01 1.08195148e-02 1.16181531e+02] [ 7.35672918e-01 -3.69479134e-02 6.76328477e-01 1.93760376e+02] [-6.74667464e-01 4.85909824e-02 7.36520692e-01 -5.49956191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.400714057 meters Centerline goodness : 0.985922 Centerline is valid? [True, True] Translation: X:116.18, Y:193.77, Z:-0.56 [[-6.34572473e-02 -9.97982072e-01 2.22740161e-03 1.16183939e+02] [ 7.36987925e-01 -4.53566311e-02 6.74382365e-01 1.93771446e+02] [-6.72920483e-01 4.44360166e-02 7.38378944e-01 -5.63511013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.4307140569999 meters Centerline goodness : 0.984886 Centerline is valid? [True, True] Translation: X:116.18, Y:193.79, Z:-0.58 [[-6.52745012e-02 -9.97729185e-01 1.66045783e-02 1.16177235e+02] [ 7.39016111e-01 -3.71540016e-02 6.72662447e-01 1.93794916e+02] [-6.70518029e-01 5.61787566e-02 7.39763152e-01 -5.76187228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.4607140569999 meters Centerline goodness : 0.986883 Centerline is valid? [True, True] Translation: X:116.18, Y:193.81, Z:-0.60 [[-6.90815428e-02 -9.97568264e-01 9.23570668e-03 1.16179347e+02] [ 7.39734484e-01 -4.50106759e-02 6.71391787e-01 1.93814438e+02] [-6.69343435e-01 5.32127512e-02 7.41045052e-01 -5.98401557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.490714057 meters Centerline goodness : 0.986648 Centerline is valid? [True, True] Translation: X:116.18, Y:193.82, Z:-0.60 [[-6.99188169e-02 -9.97504343e-01 9.82059846e-03 1.16178344e+02] [ 7.41427712e-01 -4.53781388e-02 6.69496656e-01 1.93815960e+02] [-6.67380182e-01 5.40916779e-02 7.42750149e-01 -5.98746079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.520714057 meters Centerline goodness : 0.985671 Centerline is valid? [True, True] Translation: X:116.18, Y:193.82, Z:-0.60 [[-7.01364077e-02 -9.97535442e-01 1.98134125e-03 1.16179383e+02] [ 7.44726103e-01 -5.10397887e-02 6.65415638e-01 1.93819140e+02] [-6.63674555e-01 4.81454190e-02 7.46470430e-01 -6.03462326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.5507140569999 meters Centerline goodness : 0.985751 Centerline is valid? [True, True] Translation: X:116.18, Y:193.83, Z:-0.61 [[-6.73403219e-02 -9.97730060e-01 -9.06614611e-05 1.16177676e+02] [ 7.46407684e-01 -5.04379856e-02 6.63574848e-01 1.93827384e+02] [-6.62073146e-01 4.46176735e-02 7.48109894e-01 -6.08120021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.5807140569999 meters Centerline goodness : 0.985779 Centerline is valid? [True, True] Translation: X:116.18, Y:193.84, Z:-0.62 [[-6.58553147e-02 -9.97826857e-01 -2.15438003e-03 1.16176146e+02] [ 7.47861617e-01 -5.07870334e-02 6.61909117e-01 1.93844587e+02] [-6.60580109e-01 4.19790551e-02 7.49581002e-01 -6.24302028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.610714057 meters Centerline goodness : 0.986050 Centerline is valid? [True, True] Translation: X:116.17, Y:193.87, Z:-0.64 [[-6.30330740e-02 -9.97927289e-01 1.29598071e-02 1.16167834e+02] [ 7.47369615e-01 -3.85929285e-02 6.63286698e-01 1.93871864e+02] [-6.61411740e-01 5.14947656e-02 7.48253165e-01 -6.40212300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.640714057 meters Centerline goodness : 0.985752 Centerline is valid? [True, True] Translation: X:116.17, Y:193.87, Z:-0.65 [[-6.19077264e-02 -9.98081739e-01 -5.24337824e-04 1.16171670e+02] [ 7.48246052e-01 -4.67588994e-02 6.61771449e-01 1.93873679e+02] [-6.60526517e-01 4.05764321e-02 7.49705458e-01 -6.47076753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.6707140569999 meters Centerline goodness : 0.986154 Centerline is valid? [True, True] Translation: X:116.17, Y:193.89, Z:-0.65 [[-5.88780983e-02 -9.98258544e-01 3.63978980e-03 1.16167309e+02] [ 7.49104507e-01 -4.17722062e-02 6.61133512e-01 1.93887009e+02] [-6.59830135e-01 4.16528668e-02 7.50259443e-01 -6.54645734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.7007140569999 meters Centerline goodness : 0.985835 Centerline is valid? [True, True] Translation: X:116.16, Y:193.91, Z:-0.67 [[-5.67978595e-02 -9.98096115e-01 2.40447136e-02 1.16158907e+02] [ 7.49185004e-01 -2.66895774e-02 6.61822858e-01 1.93911581e+02] [-6.59921080e-01 5.56040606e-02 7.49274553e-01 -6.68376547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.7307140569999 meters Centerline goodness : 0.985444 Centerline is valid? [True, True] Translation: X:116.16, Y:193.93, Z:-0.69 [[-6.03946983e-02 -9.98127588e-01 9.68496008e-03 1.16162577e+02] [ 7.49560201e-01 -3.89426574e-02 6.60789660e-01 1.93929274e+02] [-6.59175232e-01 4.71676528e-02 7.50508645e-01 -6.90134756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.760714057 meters Centerline goodness : 0.985370 Centerline is valid? [True, True] Translation: X:116.16, Y:193.95, Z:-0.71 [[-6.10260504e-02 -9.97946073e-01 1.94796393e-02 1.16159437e+02] [ 7.49362403e-01 -3.29155404e-02 6.61341482e-01 1.93952492e+02] [-6.59341952e-01 5.49563680e-02 7.49831973e-01 -7.08742044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.790714057 meters Centerline goodness : 0.985796 Centerline is valid? [True, True] Translation: X:116.16, Y:193.96, Z:-0.72 [[-6.33587286e-02 -9.97931858e-01 1.08480047e-02 1.16161671e+02] [ 7.47954214e-01 -4.02856523e-02 6.62526649e-01 1.93963290e+02] [-6.60719430e-01 5.00906569e-02 7.48959786e-01 -7.22912273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.8207140569999 meters Centerline goodness : 0.985830 Centerline is valid? [True, True] Translation: X:116.15, Y:193.99, Z:-0.74 [[-6.67662279e-02 -9.97311884e-01 3.01873659e-02 1.16153135e+02] [ 7.47994628e-01 -3.00064281e-02 6.63026132e-01 1.93989083e+02] [-6.60338026e-01 6.68477413e-02 7.47987347e-01 -7.39732805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.8507140569999 meters Centerline goodness : 0.987206 Centerline is valid? [True, True] Translation: X:116.16, Y:194.01, Z:-0.76 [[-7.02235715e-02 -9.97313723e-01 2.08323699e-02 1.16157399e+02] [ 7.47208258e-01 -3.87543129e-02 6.63459058e-01 1.94007891e+02] [-6.60869479e-01 6.21565834e-02 7.47922516e-01 -7.61908770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.880714057 meters Centerline goodness : 0.985258 Centerline is valid? [True, True] Translation: X:116.16, Y:194.02, Z:-0.78 [[-7.42400375e-02 -9.97123764e-01 1.52517808e-02 1.16160585e+02] [ 7.46799814e-01 -4.54537201e-02 6.63493781e-01 1.94018484e+02] [-6.60892166e-01 6.06478302e-02 7.48026327e-01 -7.75137058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.910714057 meters Centerline goodness : 0.986885 Centerline is valid? [True, True] Translation: X:116.16, Y:194.03, Z:-0.79 [[-7.48676916e-02 -9.97112524e-01 1.27059982e-02 1.16161231e+02] [ 7.46341901e-01 -4.75792764e-02 6.63859910e-01 1.94031574e+02] [-6.61338488e-01 5.91846779e-02 7.47749007e-01 -7.89146704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.9407140569999 meters Centerline goodness : 0.987067 Centerline is valid? [True, True] Translation: X:116.16, Y:194.03, Z:-0.79 [[-7.43223788e-02 -9.97120132e-01 1.50872988e-02 1.16159964e+02] [ 7.45391454e-01 -4.54961385e-02 6.65072689e-01 1.94029619e+02] [-6.62470954e-01 6.06757279e-02 7.46626206e-01 -7.86150318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.9707140569999 meters Centerline goodness : 0.984954 Centerline is valid? [True, True] Translation: X:116.16, Y:194.03, Z:-0.78 [[-7.46976160e-02 -9.97069742e-01 1.64983648e-02 1.16160006e+02] [ 7.44896033e-01 -4.47906510e-02 6.65675369e-01 1.94030069e+02] [-6.62985796e-01 6.20139296e-02 7.46059050e-01 -7.84706839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.000714057 meters Centerline goodness : 0.984995 Centerline is valid? [True, True] Translation: X:116.16, Y:194.05, Z:-0.80 [[-7.32306195e-02 -9.97244841e-01 1.18323372e-02 1.16161790e+02] [ 7.42240107e-01 -4.65729390e-02 6.68513714e-01 1.94046273e+02] [-6.66120785e-01 5.77381086e-02 7.43605682e-01 -8.03654536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.030714057 meters Centerline goodness : 0.984846 Centerline is valid? [True, True] Translation: X:116.15, Y:194.07, Z:-0.82 [[-7.24147519e-02 -9.96798681e-01 3.38894366e-02 1.16154298e+02] [ 7.42545645e-01 -3.11967732e-02 6.69068552e-01 1.94070678e+02] [-6.65869409e-01 7.36148867e-02 7.42427626e-01 -8.15549886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.0607140569999 meters Centerline goodness : 0.985288 Centerline is valid? [True, True] Translation: X:116.16, Y:194.09, Z:-0.84 [[-7.29549790e-02 -9.96994081e-01 2.60839708e-02 1.16157655e+02] [ 7.41442391e-01 -3.67257680e-02 6.70010745e-01 1.94089264e+02] [-6.67038793e-01 6.82203815e-02 7.41893003e-01 -8.37501977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.0907140569999 meters Centerline goodness : 0.985167 Centerline is valid? [True, True] Translation: X:116.16, Y:194.11, Z:-0.86 [[-7.26565509e-02 -9.97109521e-01 2.22177798e-02 1.16158442e+02] [ 7.40844828e-01 -3.90421579e-02 6.70540566e-01 1.94108775e+02] [-6.67734952e-01 6.51790920e-02 7.41540100e-01 -8.55413086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.120714057 meters Centerline goodness : 0.985944 Centerline is valid? [True, True] Translation: X:116.16, Y:194.13, Z:-0.87 [[-7.25294955e-02 -9.97040172e-01 2.55023218e-02 1.16156795e+02] [ 7.40561434e-01 -3.67095200e-02 6.70985226e-01 1.94130521e+02] [-6.68063047e-01 6.75522560e-02 7.41032022e-01 -8.74990235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.150714057 meters Centerline goodness : 0.985944 Centerline is valid? [True, True] Translation: X:116.16, Y:194.15, Z:-0.89 [[-7.31333989e-02 -9.97023723e-01 2.43967427e-02 1.16156954e+02] [ 7.40602039e-01 -3.79084364e-02 6.70873736e-01 1.94150555e+02] [-6.67952188e-01 6.71315539e-02 7.41170175e-01 -8.93573249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.1807140569999 meters Centerline goodness : 0.985821 Centerline is valid? [True, True] Translation: X:116.16, Y:194.14, Z:-0.89 [[-7.09995122e-02 -9.97436536e-01 8.91207129e-03 1.16163193e+02] [ 7.39419169e-01 -4.66323404e-02 6.71628407e-01 1.94135115e+02] [-6.69491121e-01 5.42750456e-02 7.40834569e-01 -8.88083651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.2107140569999 meters Centerline goodness : 0.985833 Centerline is valid? [True, True] Translation: X:116.16, Y:194.16, Z:-0.90 [[-7.04608863e-02 -9.97479018e-01 8.41859137e-03 1.16162478e+02] [ 7.40524027e-01 -4.66516907e-02 6.70408671e-01 1.94155128e+02] [-6.68325841e-01 5.34717583e-02 7.41944298e-01 -9.04916540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.240714057 meters Centerline goodness : 0.988698 Centerline is valid? [True, True] Translation: X:116.16, Y:194.18, Z:-0.92 [[-7.04850660e-02 -9.97321437e-01 1.95398671e-02 1.16157041e+02] [ 7.41713672e-01 -3.93018143e-02 6.69564184e-01 1.94180236e+02] [-6.67002762e-01 6.16872622e-02 7.42497136e-01 -9.22032611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.270714057 meters Centerline goodness : 0.987631 Centerline is valid? [True, True] Translation: X:116.16, Y:194.17, Z:-0.92 [[-6.93176109e-02 -9.97522446e-01 1.20015901e-02 1.16159863e+02] [ 7.41777851e-01 -4.34941578e-02 6.69233800e-01 1.94172384e+02] [-6.67053738e-01 5.52922019e-02 7.42954967e-01 -9.18745725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.3007140569999 meters Centerline goodness : 0.988597 Centerline is valid? [True, True] Translation: X:116.16, Y:194.18, Z:-0.92 [[-6.86840073e-02 -9.97599736e-01 8.79060765e-03 1.16161135e+02] [ 7.43710434e-01 -4.53267950e-02 6.66963471e-01 1.94175497e+02] [-6.64964133e-01 5.23473906e-02 7.45038558e-01 -9.23416952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.3307140569999 meters Centerline goodness : 0.988700 Centerline is valid? [True, True] Translation: X:116.16, Y:194.18, Z:-0.93 [[-6.95712077e-02 -9.97562973e-01 5.28784561e-03 1.16160585e+02] [ 7.47963716e-01 -4.86550025e-02 6.61953904e-01 1.94181578e+02] [-6.60083425e-01 5.00080492e-02 7.49525895e-01 -9.26382096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.360714057 meters Centerline goodness : 0.988548 Centerline is valid? [True, True] Translation: X:116.16, Y:194.19, Z:-0.93 [[-6.74758005e-02 -9.97649109e-01 1.19695941e-02 1.16156967e+02] [ 7.47328910e-01 -4.25898471e-02 6.63087932e-01 1.94186637e+02] [-6.61019302e-01 5.36876128e-02 7.48445805e-01 -9.28247314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.390714057 meters Centerline goodness : 0.988130 Centerline is valid? [True, True] Translation: X:116.16, Y:194.20, Z:-0.94 [[-6.67868609e-02 -9.97719516e-01 9.76131879e-03 1.16156669e+02] [ 7.48014324e-01 -4.35925131e-02 6.62249397e-01 1.94197623e+02] [-6.60313628e-01 5.15311646e-02 7.49219896e-01 -9.38646130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.4207140569999 meters Centerline goodness : 0.989088 Centerline is valid? [True, True] Translation: X:116.15, Y:194.22, Z:-0.95 [[-6.53154013e-02 -9.97527518e-01 2.59374096e-02 1.16148545e+02] [ 7.47383941e-01 -3.16809979e-02 6.63636617e-01 1.94223515e+02] [-6.61174065e-01 6.27308954e-02 7.47605304e-01 -9.52904197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.4507140569999 meters Centerline goodness : 0.988027 Centerline is valid? [True, True] Translation: X:116.15, Y:194.22, Z:-0.96 [[-6.23949106e-02 -9.97909919e-01 1.68127565e-02 1.16151713e+02] [ 7.44634510e-01 -3.53289230e-02 6.66536806e-01 1.94223252e+02] [-6.64549713e-01 5.41078630e-02 7.45282509e-01 -9.59538698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.4807140569999 meters Centerline goodness : 0.988484 Centerline is valid? [True, True] Translation: X:116.15, Y:194.25, Z:-0.98 [[-6.07229751e-02 -9.98007995e-01 1.71102975e-02 1.16149882e+02] [ 7.42411842e-01 -3.37001615e-02 6.69095625e-01 1.94245804e+02] [-6.67186164e-01 5.33323645e-02 7.42979328e-01 -9.79802138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.510714057 meters Centerline goodness : 0.987528 Centerline is valid? [True, True] Translation: X:116.15, Y:194.24, Z:-0.98 [[-5.74346163e-02 -9.98223864e-01 1.58234804e-02 1.16149237e+02] [ 7.39808808e-01 -3.19129905e-02 6.72059884e-01 1.94243416e+02] [-6.70361240e-01 5.03058517e-02 7.40327718e-01 -9.79927806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.540714057 meters Centerline goodness : 0.987761 Centerline is valid? [True, True] Translation: X:116.14, Y:194.27, Z:-1.00 [[-5.74857757e-02 -9.97830680e-01 3.20830119e-02 1.16142128e+02] [ 7.39184092e-01 -2.09404254e-02 6.73177819e-01 1.94271432e+02] [-6.71045649e-01 6.24134011e-02 7.38784342e-01 -9.99336534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.5707140569999 meters Centerline goodness : 0.987219 Centerline is valid? [True, True] Translation: X:116.15, Y:194.27, Z:-1.01 [[-5.80795736e-02 -9.98234323e-01 1.24499009e-02 1.16148764e+02] [ 7.41462074e-01 -3.47826288e-02 6.70092652e-01 1.94268928e+02] [-6.68476445e-01 4.81498249e-02 7.42173051e-01 -1.00689529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.6007140569999 meters Centerline goodness : 0.986970 Centerline is valid? [True, True] Translation: X:116.15, Y:194.27, Z:-1.01 [[-5.77843717e-02 -9.98202969e-01 1.58681505e-02 1.16147063e+02] [ 7.43014812e-01 -3.23851256e-02 6.68490982e-01 1.94271901e+02] [-6.66775792e-01 5.04186022e-02 7.43550945e-01 -1.00786575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.630714057 meters Centerline goodness : 0.986696 Centerline is valid? [True, True] Translation: X:116.14, Y:194.29, Z:-1.02 [[-6.15644646e-02 -9.97935467e-01 1.82926362e-02 1.16144190e+02] [ 7.45434690e-01 -3.37842263e-02 6.65721976e-01 1.94294255e+02] [-6.63729569e-01 5.46207826e-02 7.45975623e-01 -1.02366210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.660714057 meters Centerline goodness : 0.987166 Centerline is valid? [True, True] Translation: X:116.15, Y:194.30, Z:-1.03 [[-6.22307295e-02 -9.98000445e-01 1.10656146e-02 1.16146072e+02] [ 7.45933453e-01 -3.91410595e-02 6.64869357e-01 1.94295188e+02] [-6.63106794e-01 4.96295172e-02 7.46877695e-01 -1.02830996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.6907140569999 meters Centerline goodness : 0.985824 Centerline is valid? [True, True] Translation: X:116.14, Y:194.30, Z:-1.03 [[-6.21424344e-02 -9.97904586e-01 1.80209913e-02 1.16143370e+02] [ 7.45002444e-01 -3.43631176e-02 6.66176054e-01 1.94298421e+02] [-6.64160882e-01 5.48234843e-02 7.45576763e-01 -1.03000046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.7207140569999 meters Centerline goodness : 0.985268 Centerline is valid? [True, True] Translation: X:116.14, Y:194.32, Z:-1.04 [[-6.36433068e-02 -9.97801197e-01 1.85013771e-02 1.16141321e+02] [ 7.46530419e-01 -3.52966938e-02 6.64414387e-01 1.94318868e+02] [-6.62300433e-01 5.60973695e-02 7.47135344e-01 -1.04392207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.750714057 meters Centerline goodness : 0.986111 Centerline is valid? [True, True] Translation: X:116.14, Y:194.34, Z:-1.06 [[-6.54546883e-02 -9.97702960e-01 1.74495454e-02 1.16140749e+02] [ 7.46098344e-01 -3.73210970e-02 6.64788987e-01 1.94340175e+02] [-6.62610704e-01 5.65326329e-02 7.46827367e-01 -1.06377451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.780714057 meters Centerline goodness : 0.985672 Centerline is valid? [True, True] Translation: X:116.14, Y:194.36, Z:-1.08 [[-6.62927535e-02 -9.97554931e-01 2.21230846e-02 1.16137996e+02] [ 7.46218792e-01 -3.48469384e-02 6.64788090e-01 1.94361915e+02] [-6.62391716e-01 6.05792944e-02 7.46704335e-01 -1.08073351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.8107140569999 meters Centerline goodness : 0.985050 Centerline is valid? [True, True] Translation: X:116.15, Y:194.37, Z:-1.09 [[-6.88679502e-02 -9.97620799e-01 -3.15399549e-03 1.16146350e+02] [ 7.47766942e-01 -5.37122361e-02 6.61785159e-01 1.94367695e+02] [-6.60380047e-01 4.32173338e-02 7.49686905e-01 -1.09443799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.8407140569999 meters Centerline goodness : 0.984355 Centerline is valid? [True, True] Translation: X:116.14, Y:194.38, Z:-1.10 [[-6.71377402e-02 -9.97603804e-01 1.67085324e-02 1.16138890e+02] [ 7.46638664e-01 -3.91256127e-02 6.64078227e-01 1.94380532e+02] [-6.61833233e-01 5.70599477e-02 7.47476377e-01 -1.09613617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.870714057 meters Centerline goodness : 0.983447 Centerline is valid? [True, True] Translation: X:116.14, Y:194.38, Z:-1.11 [[-6.87537034e-02 -9.97633036e-01 -1.11951566e-03 1.16144645e+02] [ 7.47881997e-01 -5.22842733e-02 6.61769501e-01 1.94384523e+02] [-6.60261650e-01 4.46618384e-02 7.49706525e-01 -1.10597663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.900714057 meters Centerline goodness : 0.982879 Centerline is valid? [True, True] Translation: X:116.14, Y:194.39, Z:-1.11 [[-6.70876017e-02 -9.97716582e-01 7.80223622e-03 1.16140450e+02] [ 7.47100050e-01 -4.50497054e-02 6.63183262e-01 1.94388574e+02] [-6.61317449e-01 5.03204256e-02 7.48416385e-01 -1.10615042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.9307140569999 meters Centerline goodness : 0.982524 Centerline is valid? [True, True] Translation: X:116.14, Y:194.41, Z:-1.12 [[-6.63874102e-02 -9.97736563e-01 1.06987395e-02 1.16137432e+02] [ 7.47954706e-01 -4.26647443e-02 6.62377141e-01 1.94410610e+02] [-6.60421433e-01 5.19756755e-02 7.49094160e-01 -1.12276439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.9607140569999 meters Centerline goodness : 0.983486 Centerline is valid? [True, True] Translation: X:116.14, Y:194.43, Z:-1.14 [[-6.58073037e-02 -9.97780833e-01 1.01393993e-02 1.16136820e+02] [ 7.47837375e-01 -4.25901779e-02 6.62514406e-01 1.94430977e+02] [-6.60612337e-01 5.11809085e-02 7.48980544e-01 -1.14342333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.990714057 meters Centerline goodness : 0.982123 Centerline is valid? [True, True] Translation: X:116.14, Y:194.43, Z:-1.14 [[-6.47916116e-02 -9.97826641e-01 1.20016959e-02 1.16135839e+02] [ 7.49543318e-01 -4.07230871e-02 6.60701479e-01 1.94433160e+02] [-6.58776792e-01 5.18037046e-02 7.50552806e-01 -1.14229714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.020714057 meters Centerline goodness : 0.985036 Centerline is valid? [True, True] Translation: X:116.14, Y:194.43, Z:-1.14 [[-6.13415788e-02 -9.98114692e-01 2.06683135e-03 1.16138606e+02] [ 7.48990123e-01 -4.46621096e-02 6.61074195e-01 1.94427459e+02] [-6.59735558e-01 4.20993711e-02 7.50317690e-01 -1.14477430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.0507140569999 meters Centerline goodness : 0.983605 Centerline is valid? [True, True] Translation: X:116.13, Y:194.44, Z:-1.15 [[-5.97118787e-02 -9.98156939e-01 1.08267139e-02 1.16134624e+02] [ 7.49070124e-01 -3.76367379e-02 6.61420763e-01 1.94438428e+02] [-6.59794242e-01 4.76046443e-02 7.49936902e-01 -1.15072051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.0807140569999 meters Centerline goodness : 0.984305 Centerline is valid? [True, True] Translation: X:116.14, Y:194.46, Z:-1.17 [[-5.86514337e-02 -9.98251388e-01 7.36041532e-03 1.16135044e+02] [ 7.47394990e-01 -3.90223525e-02 6.63232980e-01 1.94458677e+02] [-6.61786022e-01 4.44007027e-02 7.48376803e-01 -1.17108488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.110714057 meters Centerline goodness : 0.984260 Centerline is valid? [True, True] Translation: X:116.14, Y:194.47, Z:-1.18 [[-5.73404176e-02 -9.98353149e-01 1.75119026e-03 1.16136111e+02] [ 7.47590102e-01 -4.17751579e-02 6.62845288e-01 1.94470314e+02] [-6.61680524e-01 3.93169981e-02 7.48754338e-01 -1.18361285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.140714057 meters Centerline goodness : 0.983452 Centerline is valid? [True, True] Translation: X:116.13, Y:194.47, Z:-1.18 [[-5.52275070e-02 -9.98434119e-01 8.90128103e-03 1.16131903e+02] [ 7.47601200e-01 -3.54403016e-02 6.63201652e-01 1.94473466e+02] [-6.61847693e-01 4.32815822e-02 7.48387825e-01 -1.17825990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.1707140569999 meters Centerline goodness : 0.983717 Centerline is valid? [True, True] Translation: X:116.13, Y:194.49, Z:-1.19 [[-5.39053160e-02 -9.98545967e-01 -4.10090699e-04 1.16134617e+02] [ 7.47627579e-01 -4.06320197e-02 6.62874077e-01 1.94486327e+02] [-6.61926900e-01 3.54258415e-02 7.48730786e-01 -1.19366777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.2007140569999 meters Centerline goodness : 0.983957 Centerline is valid? [True, True] Translation: X:116.13, Y:194.48, Z:-1.19 [[-5.08367657e-02 -9.98696972e-01 4.46997138e-03 1.16131577e+02] [ 7.46626168e-01 -3.50322126e-02 6.64320788e-01 1.94484793e+02] [-6.63298567e-01 3.71093178e-02 7.47434218e-01 -1.18805296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.2307140569999 meters Centerline goodness : 0.983259 Centerline is valid? [True, True] Translation: X:116.13, Y:194.49, Z:-1.19 [[-4.86076377e-02 -9.98641162e-01 1.87916862e-02 1.16125763e+02] [ 7.40017431e-01 -2.33708320e-02 6.72181528e-01 1.94488765e+02] [-6.70828965e-01 4.65793316e-02 7.40147868e-01 -1.18711468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.260714057 meters Centerline goodness : 0.983377 Centerline is valid? [True, True] Translation: X:116.14, Y:194.49, Z:-1.20 [[-4.61557397e-02 -9.98847937e-01 -1.31319232e-02 1.16136829e+02] [ 7.43720448e-01 -4.31369373e-02 6.67097519e-01 1.94487123e+02] [-6.66895451e-01 2.10238996e-02 7.44854652e-01 -1.20153046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.290714057 meters Centerline goodness : 0.982265 Centerline is valid? [True, True] Translation: X:116.12, Y:194.52, Z:-1.21 [[-4.54754040e-02 -9.98658515e-01 2.47620115e-02 1.16121310e+02] [ 7.46207105e-01 -1.74787854e-02 6.65484372e-01 1.94516099e+02] [-6.64158825e-01 4.87407595e-02 7.46000934e-01 -1.20660855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.3207140569999 meters Centerline goodness : 0.983769 Centerline is valid? [True, True] Translation: X:116.14, Y:194.53, Z:-1.24 [[-4.76243286e-02 -9.98616243e-01 -2.23051990e-02 1.16140078e+02] [ 7.44220416e-01 -5.03686777e-02 6.66032259e-01 1.94525533e+02] [-6.66234115e-01 1.51193547e-02 7.45589370e-01 -1.24029124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.3507140569999 meters Centerline goodness : 0.983543 Centerline is valid? [True, True] Translation: X:116.13, Y:194.55, Z:-1.25 [[-5.14183193e-02 -9.98675871e-01 1.63141060e-03 1.16130112e+02] [ 7.48834473e-01 -3.74739312e-02 6.61696786e-01 1.94551684e+02] [-6.60759479e-01 3.52449931e-02 7.49769766e-01 -1.24678049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.380714057 meters Centerline goodness : 0.983684 Centerline is valid? [True, True] Translation: X:116.13, Y:194.57, Z:-1.27 [[-5.55036726e-02 -9.98453155e-01 3.26183820e-03 1.16130133e+02] [ 7.49312846e-01 -3.94945097e-02 6.61037399e-01 1.94572706e+02] [-6.59886052e-01 3.91341406e-02 7.50345865e-01 -1.26843407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.410714057 meters Centerline goodness : 0.983863 Centerline is valid? [True, True] Translation: X:116.13, Y:194.59, Z:-1.29 [[-5.80518921e-02 -9.98292087e-01 -6.54876864e-03 1.16131696e+02] [ 7.50546879e-01 -4.79687152e-02 6.59073884e-01 1.94590583e+02] [-6.58262379e-01 3.33453281e-02 7.52049685e-01 -1.28599232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.4407140569999 meters Centerline goodness : 0.984305 Centerline is valid? [True, True] Translation: X:116.13, Y:194.61, Z:-1.31 [[-5.88250665e-02 -9.98267806e-01 -9.99864647e-04 1.16129048e+02] [ 7.50269414e-01 -4.48718934e-02 6.59607702e-01 1.94612550e+02] [-6.58509999e-01 3.80512991e-02 7.51609393e-01 -1.30527488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.4707140569999 meters Centerline goodness : 0.984857 Centerline is valid? [True, True] Translation: X:116.13, Y:194.63, Z:-1.33 [[-5.93429685e-02 -9.98237495e-01 5.62168305e-04 1.16128240e+02] [ 7.48681746e-01 -4.41349342e-02 6.61458805e-01 1.94633756e+02] [-6.60268169e-01 3.96738142e-02 7.49981289e-01 -1.32650733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.500714057 meters Centerline goodness : 0.984381 Centerline is valid? [True, True] Translation: X:116.13, Y:194.65, Z:-1.34 [[-5.87012170e-02 -9.98273210e-01 -2.18279578e-03 1.16126328e+02] [ 7.47751262e-01 -4.54182726e-02 6.62423755e-01 1.94652882e+02] [-6.61379028e-01 3.72528923e-02 7.49126160e-01 -1.34432239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.530714057 meters Centerline goodness : 0.984617 Centerline is valid? [True, True] Translation: X:116.12, Y:194.66, Z:-1.35 [[-5.60487750e-02 -9.98427964e-01 3.67642626e-04 1.16124619e+02] [ 7.47069110e-01 -4.16939449e-02 6.63437533e-01 1.94656829e+02] [-6.62379257e-01 3.74595154e-02 7.48231585e-01 -1.34593754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.5607140569999 meters Centerline goodness : 0.984545 Centerline is valid? [True, True] Translation: X:116.12, Y:194.68, Z:-1.36 [[-5.46041866e-02 -9.98473809e-01 -8.27254970e-03 1.16124343e+02] [ 7.48049892e-01 -4.63940458e-02 6.62018846e-01 1.94675499e+02] [-6.61392276e-01 2.99607207e-02 7.49441534e-01 -1.36332074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.5907140569999 meters Centerline goodness : 0.984148 Centerline is valid? [True, True] Translation: X:116.12, Y:194.70, Z:-1.38 [[-5.26599445e-02 -9.98610977e-01 -1.74527259e-03 1.16121270e+02] [ 7.47304219e-01 -4.05668861e-02 6.63242590e-01 1.94698944e+02] [-6.62392131e-01 3.36220684e-02 7.48402446e-01 -1.38225842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.620714057 meters Centerline goodness : 0.985249 Centerline is valid? [True, True] Translation: X:116.12, Y:194.72, Z:-1.40 [[-5.18117498e-02 -9.98654987e-01 1.93915180e-03 1.16118617e+02] [ 7.45275048e-01 -3.73733614e-02 6.65708897e-01 1.94721483e+02] [-6.64741037e-01 3.59367442e-02 7.46209022e-01 -1.40206795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.650714057 meters Centerline goodness : 0.984385 Centerline is valid? [True, True] Translation: X:116.12, Y:194.74, Z:-1.42 [[-5.28486151e-02 -9.98598757e-01 2.74696820e-03 1.16116214e+02] [ 7.44508782e-01 -3.75678949e-02 6.66554820e-01 1.94742830e+02] [-6.65517617e-01 3.72716410e-02 7.45450955e-01 -1.41977718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.6807140569999 meters Centerline goodness : 0.984603 Centerline is valid? [True, True] Translation: X:116.11, Y:194.76, Z:-1.44 [[-5.28969895e-02 -9.98534934e-01 1.13970954e-02 1.16112350e+02] [ 7.44234447e-01 -3.18106742e-02 6.67160528e-01 1.94764990e+02] [-6.65820544e-01 4.37728944e-02 7.44826783e-01 -1.43764411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.7107140569999 meters Centerline goodness : 0.986042 Centerline is valid? [True, True] Translation: X:116.09, Y:194.81, Z:-1.47 [[-4.54739525e-02 -9.94550430e-01 9.38166427e-02 1.16092331e+02] [ 7.33252016e-01 3.05494780e-02 6.79270351e-01 1.94808986e+02] [-6.78434669e-01 9.96803501e-02 7.27866903e-01 -1.47050660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.740714057 meters Centerline goodness : 0.981455 Centerline is valid? [True, True] Translation: X:116.14, Y:194.77, Z:-1.49 [[-6.89807340e-02 -9.97034046e-01 -3.41287062e-02 1.16138836e+02] [ 7.53588288e-01 -7.44938880e-02 6.53112052e-01 1.94772599e+02] [-6.53717332e-01 1.93331555e-02 7.56491824e-01 -1.49079701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.770714057 meters Centerline goodness : 0.987921 Centerline is valid? [True, True] Translation: X:116.13, Y:194.79, Z:-1.51 [[-6.40853146e-02 -9.97708686e-01 -2.16898704e-02 1.16129407e+02] [ 7.56103721e-01 -6.27284952e-02 6.51438638e-01 1.94795000e+02] [-6.51306561e-01 2.53478584e-02 7.58391225e-01 -1.50974787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.8007140569999 meters Centerline goodness : 0.991076 Centerline is valid? [True, True] Translation: X:116.12, Y:194.79, Z:-1.50 [[-6.17581403e-02 -9.98076129e-01 -5.47481582e-03 1.16119340e+02] [ 7.61017060e-01 -5.06372692e-02 6.46752581e-01 1.94791076e+02] [-6.45785542e-01 3.57758084e-02 7.62680225e-01 -1.49805868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.8307140569999 meters Centerline goodness : 0.987335 Centerline is valid? [True, True] Translation: X:116.11, Y:194.81, Z:-1.49 [[-6.18819921e-02 -9.97435378e-01 3.59622825e-02 1.16105351e+02] [ 7.56496166e-01 -2.33691774e-02 6.53580471e-01 1.94811488e+02] [-6.51063875e-01 6.76501904e-02 7.56002171e-01 -1.49285416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.860714057 meters Centerline goodness : 0.988205 Centerline is valid? [True, True] Translation: X:116.11, Y:194.81, Z:-1.50 [[-5.38920230e-02 -9.98371611e-01 1.87022822e-02 1.16113966e+02] [ 7.54288470e-01 -2.84290867e-02 6.55927352e-01 1.94806880e+02] [-6.54327559e-01 4.94561677e-02 7.54592296e-01 -1.50340666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.890714057 meters Centerline goodness : 0.992794 Centerline is valid? [True, True] Translation: X:116.10, Y:194.84, Z:-1.51 [[-5.19720495e-02 -9.97481194e-01 4.82718765e-02 1.16096541e+02] [ 7.57656554e-01 -7.89434556e-03 6.52605720e-01 1.94837593e+02] [-6.50580857e-01 7.04907604e-02 7.56158450e-01 -1.50615453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.9207140569999 meters Centerline goodness : 0.988597 Centerline is valid? [True, True] Translation: X:116.10, Y:194.85, Z:-1.53 [[-4.73219674e-02 -9.98401030e-01 3.09195030e-02 1.16103535e+02] [ 7.53252720e-01 -1.53387357e-02 6.57552327e-01 1.94851382e+02] [-6.56026654e-01 5.44068695e-02 7.52774151e-01 -1.53009635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.9507140569999 meters Centerline goodness : 0.987312 Centerline is valid? [True, True] Translation: X:116.12, Y:194.80, Z:-1.51 [[-3.86225304e-02 -9.99250927e-01 2.42609695e-03 1.16115303e+02] [ 7.50074059e-01 -2.73871409e-02 6.60786540e-01 1.94799122e+02] [-6.60225118e-01 2.73410006e-02 7.50569959e-01 -1.50787412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.9807140569999 meters Centerline goodness : 0.985511 Centerline is valid? [True, True] Translation: X:116.10, Y:194.83, Z:-1.51 [[-3.32888831e-02 -9.98624077e-01 4.05191671e-02 1.16100066e+02] [ 7.50086963e-01 1.82977173e-03 6.61336677e-01 1.94827536e+02] [-6.60500870e-01 5.24080583e-02 7.48993990e-01 -1.51148097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.010714057 meters Centerline goodness : 0.984645 Centerline is valid? [True, True] Translation: X:116.11, Y:194.84, Z:-1.54 [[-2.79047283e-02 -9.99523649e-01 1.31833801e-02 1.16109949e+02] [ 7.45872058e-01 -1.20392189e-02 6.65980428e-01 1.94840295e+02] [-6.65504470e-01 2.84171177e-02 7.45852712e-01 -1.53867737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.040714057 meters Centerline goodness : 0.986316 Centerline is valid? [True, True] Translation: X:116.09, Y:194.89, Z:-1.55 [[-3.09968745e-02 -9.97896700e-01 5.69330315e-02 1.16091081e+02] [ 7.54252092e-01 1.40228815e-02 6.56435176e-01 1.94885536e+02] [-6.55852862e-01 6.32892968e-02 7.52231008e-01 -1.55131731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.0707140569999 meters Centerline goodness : 0.986316 Centerline is valid? [True, True] Translation: X:116.11, Y:194.88, Z:-1.57 [[-2.99381538e-02 -9.99380462e-01 1.85040314e-02 1.16106399e+02] [ 7.53968317e-01 -1.04249110e-02 6.56828059e-01 1.94879697e+02] [-6.56228226e-01 3.36156729e-02 7.53813307e-01 -1.56951394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.1007140569999 meters Centerline goodness : 0.985356 Centerline is valid? [True, True] Translation: X:116.10, Y:194.90, Z:-1.58 [[-2.54315174e-02 -9.99295331e-01 2.76057991e-02 1.16100861e+02] [ 7.50675726e-01 -8.53092798e-04 6.60670286e-01 1.94899456e+02] [-6.60181181e-01 3.75248512e-02 7.50168443e-01 -1.57587645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.130714057 meters Centerline goodness : 0.986812 Centerline is valid? [True, True] Translation: X:116.10, Y:194.90, Z:-1.58 [[-2.16552344e-02 -9.99496866e-01 2.31746731e-02 1.16102116e+02] [ 7.51079806e-01 -9.65127265e-04 6.60210719e-01 1.94904732e+02] [-6.59856178e-01 3.17030469e-02 7.50722813e-01 -1.58440512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.160714057 meters Centerline goodness : 0.984429 Centerline is valid? [True, True] Translation: X:116.10, Y:194.92, Z:-1.59 [[-1.75768068e-02 -9.99367756e-01 3.09053992e-02 1.16099978e+02] [ 7.47593310e-01 7.38912890e-03 6.64115686e-01 1.94922959e+02] [-6.63924167e-01 3.47777028e-02 7.46990771e-01 -1.59155401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.1907140569999 meters Centerline goodness : 0.985685 Centerline is valid? [True, True] Translation: X:116.10, Y:194.94, Z:-1.61 [[-1.90079623e-02 -9.99562098e-01 2.26783822e-02 1.16103951e+02] [ 7.49061074e-01 7.86659004e-04 6.62500482e-01 1.94939356e+02] [-6.62228212e-01 2.95802775e-02 7.48718107e-01 -1.60901354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.2207140569999 meters Centerline goodness : 0.985070 Centerline is valid? [True, True] Translation: X:116.10, Y:194.96, Z:-1.63 [[-2.03530265e-02 -9.99323604e-01 3.06282242e-02 1.16101801e+02] [ 7.49001738e-01 5.05165700e-03 6.62548773e-01 1.94962024e+02] [-6.62255352e-01 3.64254659e-02 7.48392300e-01 -1.62733775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.250714057 meters Centerline goodness : 0.983381 Centerline is valid? [True, True] Translation: X:116.11, Y:194.98, Z:-1.66 [[-2.36683529e-02 -9.99467152e-01 2.24771305e-02 1.16109642e+02] [ 7.47863668e-01 -2.78081816e-03 6.63846519e-01 1.94984039e+02] [-6.63430285e-01 3.25219830e-02 7.47530988e-01 -1.65534148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.280714057 meters Centerline goodness : 0.983739 Centerline is valid? [True, True] Translation: X:116.11, Y:195.01, Z:-1.66 [[-2.84882210e-02 -9.99366644e-01 2.13244389e-02 1.16107521e+02] [ 7.50596582e-01 -7.29829096e-03 6.60720445e-01 1.95005819e+02] [-6.60146342e-01 3.48288010e-02 7.50329102e-01 -1.66423958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.3107140569999 meters Centerline goodness : 0.979302 Centerline is valid? [True, True] Translation: X:116.10, Y:195.02, Z:-1.67 [[-2.89197783e-02 -9.98990659e-01 3.43701980e-02 1.16104427e+02] [ 7.49015752e-01 1.11177055e-03 6.62551257e-01 1.95021368e+02] [-6.61920728e-01 4.49046551e-02 7.48227587e-01 -1.67351440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.3407140569999 meters Centerline goodness : 0.985308 Centerline is valid? [True, True] Translation: X:116.11, Y:195.06, Z:-1.71 [[-3.77797322e-02 -9.99084042e-01 2.00940225e-02 1.16112275e+02] [ 7.54439938e-01 -1.53310845e-02 6.56190017e-01 1.95055365e+02] [-6.55280911e-01 3.99504162e-02 7.54328107e-01 -1.71023262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.370714057 meters Centerline goodness : 0.983687 Centerline is valid? [True, True] Translation: X:116.12, Y:195.06, Z:-1.72 [[-4.49752723e-02 -9.98982540e-01 -3.33301499e-03 1.16122680e+02] [ 7.56081829e-01 -3.62198773e-02 6.53474092e-01 1.95055908e+02] [-6.52929930e-01 2.68701431e-02 7.56941545e-01 -1.72167713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.400714057 meters Centerline goodness : 0.982938 Centerline is valid? [True, True] Translation: X:116.12, Y:195.06, Z:-1.72 [[-5.01355482e-02 -9.98708857e-01 8.18812352e-03 1.16120079e+02] [ 7.58104767e-01 -3.27172212e-02 6.51311558e-01 1.95064990e+02] [-6.50202729e-01 3.88613175e-02 7.58766242e-01 -1.71924522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.4307140569999 meters Centerline goodness : 0.984830 Centerline is valid? [True, True] Translation: X:116.13, Y:195.08, Z:-1.74 [[-5.41511169e-02 -9.98472227e-01 -1.09939961e-02 1.16127647e+02] [ 7.60787022e-01 -4.83866540e-02 6.47195364e-01 1.95078446e+02] [-6.46738560e-01 2.66822623e-02 7.62244903e-01 -1.73865121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.4607140569999 meters Centerline goodness : 0.988243 Centerline is valid? [True, True] Translation: X:116.12, Y:195.11, Z:-1.75 [[-5.91617826e-02 -9.98219981e-01 7.53350011e-03 1.16122617e+02] [ 7.64005719e-01 -4.04207521e-02 6.43942097e-01 1.95107998e+02] [-6.42491358e-01 4.38523995e-02 7.65037138e-01 -1.75292232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.490714057 meters Centerline goodness : 0.985376 Centerline is valid? [True, True] Translation: X:116.13, Y:195.10, Z:-1.75 [[-6.71261077e-02 -9.97726831e-01 5.93770054e-03 1.16125243e+02] [ 7.65620683e-01 -4.76923840e-02 6.41521945e-01 1.95104198e+02] [-6.39780475e-01 4.76088975e-02 7.67081702e-01 -1.74874680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.520714057 meters Centerline goodness : 0.985901 Centerline is valid? [True, True] Translation: X:116.13, Y:195.11, Z:-1.76 [[-6.59940816e-02 -9.97814656e-01 -3.27008298e-03 1.16129997e+02] [ 7.62367046e-01 -5.25357544e-02 6.45008900e-01 1.95105032e+02] [-6.43771130e-01 4.00737665e-02 7.64168061e-01 -1.75752737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.5507140569999 meters Centerline goodness : 0.988144 Centerline is valid? [True, True] Translation: X:116.13, Y:195.12, Z:-1.76 [[-6.88983136e-02 -9.97617574e-01 3.49271410e-03 1.16126808e+02] [ 7.66523949e-01 -5.06969131e-02 6.40211574e-01 1.95120676e+02] [-6.38509247e-01 4.67867468e-02 7.68190694e-01 -1.76113453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.5807140569999 meters Centerline goodness : 0.984548 Centerline is valid? [True, True] Translation: X:116.12, Y:195.14, Z:-1.76 [[-6.36054832e-02 -9.97737872e-01 2.17596254e-02 1.16118722e+02] [ 7.64517090e-01 -3.46999826e-02 6.43668805e-01 1.95137484e+02] [-6.41457685e-01 5.75764708e-02 7.64994764e-01 -1.76459081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.610714057 meters Centerline goodness : 0.987680 Centerline is valid? [True, True] Translation: X:116.12, Y:195.17, Z:-1.79 [[-7.28023597e-02 -9.97173132e-01 1.85892908e-02 1.16122239e+02] [ 7.67421556e-01 -4.41046205e-02 6.39624060e-01 1.95167162e+02] [-6.36996054e-01 6.08319634e-02 7.68463076e-01 -1.79272645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.640714057 meters Centerline goodness : 0.985822 Centerline is valid? [True, True] Translation: X:116.12, Y:195.18, Z:-1.81 [[-6.84902178e-02 -9.97567911e-01 1.29364810e-02 1.16124347e+02] [ 7.62807216e-01 -4.40061885e-02 6.45126814e-01 1.95179926e+02] [-6.42988524e-01 5.40529171e-02 7.63965995e-01 -1.80565388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.6707140569999 meters Centerline goodness : 0.986228 Centerline is valid? [True, True] Translation: X:116.13, Y:195.20, Z:-1.82 [[-7.04767199e-02 -9.97455945e-01 1.07083979e-02 1.16126210e+02] [ 7.62426840e-01 -4.69418923e-02 6.45369485e-01 1.95199110e+02] [-6.43224958e-01 5.36478944e-02 7.63795495e-01 -1.82307316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.7007140569999 meters Centerline goodness : 0.986550 Centerline is valid? [True, True] Translation: X:116.13, Y:195.22, Z:-1.85 [[-7.40713199e-02 -9.97247288e-01 -3.35943342e-03 1.16131985e+02] [ 7.60316102e-01 -5.86522868e-02 6.46899787e-01 1.95219341e+02] [-6.45316096e-01 4.53624897e-02 7.62567624e-01 -1.84786468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.7307140569999 meters Centerline goodness : 0.986243 Centerline is valid? [True, True] Translation: X:116.13, Y:195.22, Z:-1.84 [[-7.35238364e-02 -9.97206408e-01 1.31766928e-02 1.16127972e+02] [ 7.57150283e-01 -4.72154551e-02 6.51532156e-01 1.95218362e+02] [-6.49089898e-01 5.78798803e-02 7.58506575e-01 -1.84183007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.760714057 meters Centerline goodness : 0.988175 Centerline is valid? [True, True] Translation: X:116.13, Y:195.24, Z:-1.86 [[-7.73106075e-02 -9.97004241e-01 2.36942770e-03 1.16132277e+02] [ 7.56818676e-01 -5.71384968e-02 6.51122634e-01 1.95239305e+02] [-6.49036641e-01 5.21319135e-02 7.58968841e-01 -1.86108754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.790714057 meters Centerline goodness : 0.986164 Centerline is valid? [True, True] Translation: X:116.13, Y:195.25, Z:-1.86 [[-7.79298469e-02 -9.96864051e-01 1.37478355e-02 1.16128281e+02] [ 7.55921027e-01 -5.00920847e-02 6.52743582e-01 1.95250833e+02] [-6.50007954e-01 6.12604853e-02 7.57454166e-01 -1.86296609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.8207140569999 meters Centerline goodness : 0.987164 Centerline is valid? [True, True] Translation: X:116.13, Y:195.25, Z:-1.87 [[-8.00457087e-02 -9.96777201e-01 5.28163550e-03 1.16132278e+02] [ 7.55548678e-01 -5.72160876e-02 6.52589086e-01 1.95252762e+02] [-6.50183728e-01 5.62274885e-02 7.57693599e-01 -1.86877762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.8507140569999 meters Centerline goodness : 0.986905 Centerline is valid? [True, True] Translation: X:116.13, Y:195.27, Z:-1.89 [[-8.32763905e-02 -9.96512889e-01 5.20622537e-03 1.16133812e+02] [ 7.54360149e-01 -5.96247522e-02 6.53747393e-01 1.95274113e+02] [-6.51157284e-01 5.83690922e-02 7.56694946e-01 -1.89020277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.880714057 meters Centerline goodness : 0.987377 Centerline is valid? [True, True] Translation: X:116.13, Y:195.28, Z:-1.89 [[-8.42904839e-02 -9.96393164e-01 9.78661101e-03 1.16133364e+02] [ 7.57504807e-01 -5.76945514e-02 6.50275177e-01 1.95280263e+02] [-6.47365107e-01 6.22254142e-02 7.59635713e-01 -1.89334966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.910714057 meters Centerline goodness : 0.990015 Centerline is valid? [True, True] Translation: X:116.13, Y:195.30, Z:-1.90 [[-8.36116262e-02 -9.96306893e-01 1.95364132e-02 1.16130862e+02] [ 7.59368643e-01 -5.10079705e-02 6.48658193e-01 1.95299215e+02] [-6.45266116e-01 6.90707060e-02 7.60829072e-01 -1.90479741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.9407140569999 meters Centerline goodness : 0.987203 Centerline is valid? [True, True] Translation: X:116.13, Y:195.31, Z:-1.92 [[-8.01314700e-02 -9.96623657e-01 1.78950761e-02 1.16131306e+02] [ 7.53068176e-01 -4.87675724e-02 6.56132643e-01 1.95313202e+02] [-6.53044615e-01 6.60530855e-02 7.54433377e-01 -1.91778057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.9707140569999 meters Centerline goodness : 0.986200 Centerline is valid? [True, True] Translation: X:116.13, Y:195.34, Z:-1.93 [[-7.82697352e-02 -9.96343583e-01 3.42536509e-02 1.16125209e+02] [ 7.56270126e-01 -3.69531769e-02 6.53215094e-01 1.95336669e+02] [-6.49560886e-01 7.70319853e-02 7.56397203e-01 -1.92970588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.000714057 meters Centerline goodness : 0.986387 Centerline is valid? [True, True] Translation: X:116.13, Y:195.35, Z:-1.95 [[-7.80275350e-02 -9.96897391e-01 1.03583686e-02 1.16134262e+02] [ 7.53800406e-01 -5.21941115e-02 6.55027269e-01 1.95350608e+02] [-6.52454330e-01 5.89183056e-02 7.55534235e-01 -1.95490179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.030714057 meters Centerline goodness : 0.986200 Centerline is valid? [True, True] Translation: X:116.13, Y:195.37, Z:-1.97 [[-7.69393579e-02 -9.96934035e-01 1.42430676e-02 1.16133034e+02] [ 7.53240725e-01 -4.87608295e-02 6.55935051e-01 1.95371777e+02] [-6.53229473e-01 6.11956802e-02 7.54682943e-01 -1.97248248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.0607140569999 meters Centerline goodness : 0.983891 Centerline is valid? [True, True] Translation: X:116.13, Y:195.40, Z:-2.00 [[-7.13030371e-02 -9.96520840e-01 4.31519668e-02 1.16126296e+02] [ 7.48648332e-01 -2.48792662e-02 6.62500337e-01 1.95396231e+02] [-6.59121803e-01 7.95439341e-02 7.47817632e-01 -1.99782652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.0907140569999 meters Centerline goodness : 0.983751 Centerline is valid? [True, True] Translation: X:116.13, Y:195.41, Z:-2.02 [[-6.97298088e-02 -9.97268886e-01 2.43417850e-02 1.16134252e+02] [ 7.47192931e-01 -3.60461528e-02 6.63628962e-01 1.95412218e+02] [-6.60939088e-01 6.44627303e-02 7.47665753e-01 -2.02154680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.120714057 meters Centerline goodness : 0.983312 Centerline is valid? [True, True] Translation: X:116.14, Y:195.43, Z:-2.04 [[-7.15954976e-02 -9.97402019e-01 7.95595753e-03 1.16139408e+02] [ 7.46030702e-01 -4.82537654e-02 6.64160949e-01 1.95428311e+02] [-6.62051566e-01 5.34863222e-02 7.47547281e-01 -2.04372557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.150714057 meters Centerline goodness : 0.982661 Centerline is valid? [True, True] Translation: X:116.13, Y:195.46, Z:-2.06 [[-6.72821524e-02 -9.97146145e-01 3.42443912e-02 1.16128144e+02] [ 7.46536302e-01 -2.75423775e-02 6.64774373e-01 1.95457169e+02] [-6.61934032e-01 7.02921319e-02 7.46258906e-01 -2.05548696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.1807140569999 meters Centerline goodness : 0.982543 Centerline is valid? [True, True] Translation: X:116.13, Y:195.47, Z:-2.08 [[-6.73864856e-02 -9.97597003e-01 1.61022001e-02 1.16133687e+02] [ 7.47251288e-01 -3.97687991e-02 6.63350552e-01 1.95473191e+02] [-6.61116158e-01 5.67332522e-02 7.48135525e-01 -2.07595169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.2107140569999 meters Centerline goodness : 0.983467 Centerline is valid? [True, True] Translation: X:116.14, Y:195.49, Z:-2.10 [[-7.04768950e-02 -9.97509319e-01 2.85772690e-03 1.16141192e+02] [ 7.42734636e-01 -5.05635386e-02 6.67674014e-01 1.95493555e+02] [-6.65866554e-01 4.91781242e-02 7.44448282e-01 -2.10251982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.240714057 meters Centerline goodness : 0.983606 Centerline is valid? [True, True] Translation: X:116.13, Y:195.51, Z:-2.11 [[-7.14103888e-02 -9.97169100e-01 2.35444985e-02 1.16133418e+02] [ 7.44305818e-01 -3.75584446e-02 6.66781983e-01 1.95514112e+02] [-6.64010095e-01 6.51394678e-02 7.44880825e-01 -2.10972127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.270714057 meters Centerline goodness : 0.982023 Centerline is valid? [True, True] Translation: X:116.14, Y:195.50, Z:-2.11 [[-6.99482135e-02 -9.97546862e-01 2.73969684e-03 1.16143248e+02] [ 7.42855805e-01 -5.02558022e-02 6.67562437e-01 1.95501953e+02] [-6.65787129e-01 4.87299996e-02 7.44548781e-01 -2.11267398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.3007140569999 meters Centerline goodness : 0.980749 Centerline is valid? [True, True] Translation: X:116.14, Y:195.52, Z:-2.12 [[-7.03593931e-02 -9.97469221e-01 1.02327655e-02 1.16140076e+02] [ 7.42052529e-01 -4.54818270e-02 6.68797015e-01 1.95516881e+02] [-6.66639033e-01 5.46494016e-02 7.43374632e-01 -2.12313261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.3307140569999 meters Centerline goodness : 0.980212 Centerline is valid? [True, True] Translation: X:116.13, Y:195.54, Z:-2.14 [[-6.81773056e-02 -9.96702260e-01 4.40052289e-02 1.16127970e+02] [ 7.43508338e-01 -2.13483256e-02 6.68385817e-01 1.95543083e+02] [-6.65242216e-01 7.82869987e-02 7.42511912e-01 -2.13504343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.360714057 meters Centerline goodness : 0.982838 Centerline is valid? [True, True] Translation: X:116.14, Y:195.56, Z:-2.17 [[-7.15572107e-02 -9.97343095e-01 1.36498080e-02 1.16139847e+02] [ 7.39900568e-01 -4.38989807e-02 6.71282376e-01 1.95558986e+02] [-6.68899630e-01 5.81345952e-02 7.41076011e-01 -2.16711922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.390714057 meters Centerline goodness : 0.981100 Centerline is valid? [True, True] Translation: X:116.14, Y:195.55, Z:-2.16 [[-7.08025979e-02 -9.97109055e-01 2.75776048e-02 1.16136048e+02] [ 7.39193914e-01 -3.38850174e-02 6.72639698e-01 1.95554312e+02] [-6.69760666e-01 6.80098357e-02 7.39456093e-01 -2.15609653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.4207140569999 meters Centerline goodness : 0.981748 Centerline is valid? [True, True] Translation: X:116.15, Y:195.56, Z:-2.17 [[-7.10825245e-02 -9.97458879e-01 -4.80197102e-03 1.16148871e+02] [ 7.40313276e-01 -5.59825651e-02 6.69927016e-01 1.95555065e+02] [-6.68493477e-01 4.40651406e-02 7.42411432e-01 -2.17133182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.4507140569999 meters Centerline goodness : 0.983177 Centerline is valid? [True, True] Translation: X:116.14, Y:195.56, Z:-2.17 [[-6.85823237e-02 -9.97603437e-01 9.15678687e-03 1.16142382e+02] [ 7.40389196e-01 -4.47434987e-02 6.70687601e-01 1.95560419e+02] [-6.68670549e-01 5.27769002e-02 7.41683420e-01 -2.16780078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.4807140569999 meters Centerline goodness : 0.982601 Centerline is valid? [True, True] Translation: X:116.14, Y:195.57, Z:-2.17 [[-6.75975747e-02 -9.97618502e-01 1.37073588e-02 1.16140333e+02] [ 7.41259209e-01 -4.10215780e-02 6.69964190e-01 1.95567657e+02] [-6.67806374e-01 5.54486603e-02 7.42266861e-01 -2.17055143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.510714057 meters Centerline goodness : 0.982382 Centerline is valid? [True, True] Translation: X:116.14, Y:195.57, Z:-2.17 [[-6.69322919e-02 -9.97723817e-01 8.20078261e-03 1.16141974e+02] [ 7.41816373e-01 -4.42647484e-02 6.69140569e-01 1.95569572e+02] [-6.67254477e-01 5.08705867e-02 7.43090604e-01 -2.17457911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.540714057 meters Centerline goodness : 0.980377 Centerline is valid? [True, True] Translation: X:116.15, Y:195.58, Z:-2.18 [[-6.56945342e-02 -9.97839776e-01 -9.94448118e-05 1.16147288e+02] [ 7.42810043e-01 -4.89707477e-02 6.67708849e-01 1.95575794e+02] [-6.66271318e-01 4.37909532e-02 7.44422517e-01 -2.18479062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.5707140569999 meters Centerline goodness : 0.982875 Centerline is valid? [True, True] Translation: X:116.14, Y:195.58, Z:-2.18 [[-6.07731437e-02 -9.97911999e-01 2.18693364e-02 1.16139077e+02] [ 7.40254808e-01 -3.03626777e-02 6.71640474e-01 1.95576894e+02] [-6.69574077e-01 5.70065844e-02 7.40554391e-01 -2.17699220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.6007140569999 meters Centerline goodness : 0.985016 Centerline is valid? [True, True] Translation: X:116.13, Y:195.60, Z:-2.19 [[-6.13189456e-02 -9.97617791e-01 3.16027033e-02 1.16134523e+02] [ 7.40706333e-01 -2.42593578e-02 6.71390805e-01 1.95601838e+02] [-6.69024750e-01 6.45772987e-02 7.40429373e-01 -2.19470228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.630714057 meters Centerline goodness : 0.984530 Centerline is valid? [True, True] Translation: X:116.13, Y:195.62, Z:-2.21 [[-6.07413653e-02 -9.97366885e-01 3.96204960e-02 1.16131012e+02] [ 7.41695793e-01 -1.85356611e-02 6.70480261e-01 1.95623706e+02] [-6.67980417e-01 7.01122416e-02 7.40868704e-01 -2.20988634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.660714057 meters Centerline goodness : 0.981173 Centerline is valid? [True, True] Translation: X:116.14, Y:195.62, Z:-2.22 [[-5.99343693e-02 -9.98114230e-01 1.32610222e-02 1.16143467e+02] [ 7.43469129e-01 -3.57709272e-02 6.67812919e-01 1.95616804e+02] [-6.66079219e-01 4.98841068e-02 7.44211026e-01 -2.21842522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.6907140569999 meters Centerline goodness : 0.983149 Centerline is valid? [True, True] Translation: X:116.14, Y:195.62, Z:-2.22 [[-5.69205357e-02 -9.98319234e-01 1.08977096e-02 1.16142248e+02] [ 7.44504485e-01 -3.51713108e-02 6.66690372e-01 1.95621630e+02] [-6.65186534e-01 4.60617668e-02 7.45255116e-01 -2.22437854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.7207140569999 meters Centerline goodness : 0.982945 Centerline is valid? [True, True] Translation: X:116.14, Y:195.63, Z:-2.23 [[-5.32927882e-02 -9.98541730e-01 8.61924144e-03 1.16143093e+02] [ 7.46830565e-01 -3.41260808e-02 6.64138177e-01 1.95625374e+02] [-6.62875544e-01 4.18308882e-02 7.47560158e-01 -2.22520139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.750714057 meters Centerline goodness : 0.983490 Centerline is valid? [True, True] Translation: X:116.14, Y:195.62, Z:-2.22 [[-4.64507352e-02 -9.98711242e-01 2.04495655e-02 1.16141708e+02] [ 7.40936077e-01 -2.07168321e-02 6.71255944e-01 1.95622754e+02] [-6.69967207e-01 4.63321530e-02 7.40943502e-01 -2.22347136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.780714057 meters Centerline goodness : 0.984303 Centerline is valid? [True, True] Translation: X:116.13, Y:195.65, Z:-2.24 [[-4.21558155e-02 -9.98529883e-01 3.40728624e-02 1.16134159e+02] [ 7.41527827e-01 -8.41364006e-03 6.70869356e-01 1.95650392e+02] [-6.69596423e-01 5.35470204e-02 7.40792378e-01 -2.23827894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.8107140569999 meters Centerline goodness : 0.985206 Centerline is valid? [True, True] Translation: X:116.14, Y:195.65, Z:-2.25 [[-4.29860939e-02 -9.99046469e-01 7.63859258e-03 1.16142739e+02] [ 7.45542787e-01 -2.69870813e-02 6.65911143e-01 1.95654653e+02] [-6.65070033e-01 3.43198165e-02 7.45991958e-01 -2.24973838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.8407140569999 meters Centerline goodness : 0.982716 Centerline is valid? [True, True] Translation: X:116.14, Y:195.66, Z:-2.25 [[-4.01863313e-02 -9.99066935e-01 1.58214203e-02 1.16140480e+02] [ 7.45128719e-01 -1.94149446e-02 6.66638022e-01 1.95655022e+02] [-6.65708834e-01 3.85787311e-02 7.45213681e-01 -2.24516542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.870714057 meters Centerline goodness : 0.983811 Centerline is valid? [True, True] Translation: X:116.15, Y:195.66, Z:-2.25 [[-4.01000207e-02 -9.99167255e-01 -7.53560272e-03 1.16148802e+02] [ 7.52580347e-01 -3.51628873e-02 6.57560942e-01 1.95663710e+02] [-6.57278335e-01 2.06970609e-02 7.53363672e-01 -2.25465777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.900714057 meters Centerline goodness : 0.983625 Centerline is valid? [True, True] Translation: X:116.14, Y:195.65, Z:-2.24 [[-3.07597373e-02 -9.99310811e-01 2.07783732e-02 1.16141631e+02] [ 7.44227455e-01 -9.02130316e-03 6.67865339e-01 1.95653678e+02] [-6.67217606e-01 3.60071982e-02 7.43992035e-01 -2.24228511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.9307140569999 meters Centerline goodness : 0.981517 Centerline is valid? [True, True] Translation: X:116.14, Y:195.68, Z:-2.26 [[-3.01317451e-02 -9.99214222e-01 2.57491189e-02 1.16139625e+02] [ 7.45465311e-01 -5.30395017e-03 6.66523322e-01 1.95675494e+02] [-6.65863010e-01 3.92785858e-02 7.45039358e-01 -2.25511041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.9607140569999 meters Centerline goodness : 0.981517 Centerline is valid? [True, True] Translation: X:116.14, Y:195.70, Z:-2.28 [[-3.06778784e-02 -9.99290371e-01 2.18545619e-02 1.16140898e+02] [ 7.45205676e-01 -8.29496308e-03 6.66783094e-01 1.95695446e+02] [-6.66128642e-01 3.67416342e-02 7.44931329e-01 -2.27504092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.990714057 meters Centerline goodness : 0.982338 Centerline is valid? [True, True] Translation: X:116.14, Y:195.72, Z:-2.30 [[-3.13093699e-02 -9.99040105e-01 3.06364391e-02 1.16140613e+02] [ 7.40896813e-01 -2.62367711e-03 6.71613749e-01 1.95718931e+02] [-6.70888691e-01 4.37262434e-02 7.40267776e-01 -2.30120398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.020714057 meters Centerline goodness : 0.981795 Centerline is valid? [True, True] Translation: X:116.15, Y:195.73, Z:-2.31 [[-3.51531042e-02 -9.99288233e-01 1.36852550e-02 1.16149667e+02] [ 7.43129011e-01 -1.69808638e-02 6.68932674e-01 1.95726337e+02] [-6.68224163e-01 3.36849700e-02 7.43197007e-01 -2.31430811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.0507140569999 meters Centerline goodness : 0.981177 Centerline is valid? [True, True] Translation: X:116.15, Y:195.73, Z:-2.32 [[-3.49951541e-02 -9.99266672e-01 1.55389055e-02 1.16151139e+02] [ 7.39822255e-01 -1.54496678e-02 6.72624961e-01 1.95733455e+02] [-6.71891635e-01 3.50346423e-02 7.39820386e-01 -2.32311273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.0807140569999 meters Centerline goodness : 0.980574 Centerline is valid? [True, True] Translation: X:116.15, Y:195.74, Z:-2.33 [[-3.39488467e-02 -9.99231774e-01 1.95790347e-02 1.16151510e+02] [ 7.36671276e-01 -1.17798568e-02 6.76148405e-01 1.95736377e+02] [-6.75398332e-01 3.73777710e-02 7.36505259e-01 -2.32866395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.110714057 meters Centerline goodness : 0.980637 Centerline is valid? [True, True] Translation: X:116.15, Y:195.75, Z:-2.34 [[-3.92956359e-02 -9.98991384e-01 2.17271252e-02 1.16153965e+02] [ 7.35834859e-01 -1.42199230e-02 6.77011709e-01 1.95745252e+02] [-6.76019906e-01 4.25911817e-02 7.35651465e-01 -2.33794020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.140714057 meters Centerline goodness : 0.980215 Centerline is valid? [True, True] Translation: X:116.15, Y:195.77, Z:-2.35 [[-4.74710550e-02 -9.98421284e-01 3.00239734e-02 1.16151932e+02] [ 7.37470675e-01 -1.47590879e-02 6.75217871e-01 1.95769490e+02] [-6.73708767e-01 5.41951046e-02 7.37007047e-01 -2.35060764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.1707140569999 meters Centerline goodness : 0.979530 Centerline is valid? [True, True] Translation: X:116.16, Y:195.77, Z:-2.36 [[-5.08825290e-02 -9.98648586e-01 1.05815549e-02 1.16161356e+02] [ 7.38548858e-01 -3.04936601e-02 6.73510001e-01 1.95773022e+02] [-6.72277140e-01 4.20848875e-02 7.39102367e-01 -2.36207041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.2007140569999 meters Centerline goodness : 0.980826 Centerline is valid? [True, True] Translation: X:116.16, Y:195.77, Z:-2.36 [[-5.22959760e-02 -9.98543930e-01 1.32344909e-02 1.16162092e+02] [ 7.38007670e-01 -2.97162312e-02 6.74137690e-01 1.95773788e+02] [-6.72762819e-01 4.50218442e-02 7.38487118e-01 -2.36307582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.2307140569999 meters Centerline goodness : 0.978693 Centerline is valid? [True, True] Translation: X:116.17, Y:195.79, Z:-2.38 [[-5.87048891e-02 -9.98239351e-01 8.48139171e-03 1.16166250e+02] [ 7.39053758e-01 -3.77480476e-02 6.72588008e-01 1.95786626e+02] [-6.71083660e-01 4.57524088e-02 7.39968539e-01 -2.37559294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.260714057 meters Centerline goodness : 0.977617 Centerline is valid? [True, True] Translation: X:116.16, Y:196.06, Z:-2.61 [[-7.67817687e-02 -9.97043222e-01 3.06174461e-03 1.16161168e+02] [ 7.40715491e-01 -5.49859903e-02 6.69564861e-01 1.96059851e+02] [-6.67416753e-01 5.36782559e-02 7.42747281e-01 -2.61480874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.290714057 meters Centerline goodness : 0.978293 Centerline is valid? [True, True] Translation: X:116.14, Y:196.54, Z:-3.07 [[-1.12684797e-01 -9.93542792e-01 -1.32233656e-02 1.16137303e+02] [ 7.34028747e-01 -9.22063487e-02 6.72829687e-01 1.96544843e+02] [-6.69704364e-01 6.61113461e-02 7.39679224e-01 -3.07057584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.3207140569999 meters Centerline goodness : 0.980106 Centerline is valid? [True, True] Translation: X:116.18, Y:196.08, Z:-2.65 [[-7.26895843e-02 -9.96624124e-01 -3.81651528e-02 1.16175776e+02] [ 7.52574397e-01 -7.99203702e-02 6.53639436e-01 1.96076106e+02] [-6.54483003e-01 1.87906620e-02 7.55843178e-01 -2.64856824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.3507140569999 meters Centerline goodness : 0.980165 Centerline is valid? [True, True] Translation: X:116.16, Y:196.21, Z:-2.75 [[-8.34687563e-02 -9.96510394e-01 2.96669848e-05 1.16156061e+02] [ 7.51995313e-01 -6.29683822e-02 6.56153969e-01 1.96212062e+02] [-6.53862383e-01 5.47906652e-02 7.54627039e-01 -2.74851280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.380714057 meters Centerline goodness : 0.978711 Centerline is valid? [True, True] Translation: X:116.13, Y:196.60, Z:-3.12 [[-1.14433470e-01 -9.93416750e-01 5.30486351e-03 1.16133314e+02] [ 7.29644970e-01 -8.04228194e-02 6.79080546e-01 1.96603502e+02] [-6.74183358e-01 8.15802101e-02 7.34044597e-01 -3.11634890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.410714057 meters Centerline goodness : 0.981885 Centerline is valid? [True, True] Translation: X:116.18, Y:196.10, Z:-2.67 [[-7.72452147e-02 -9.96199236e-01 -4.02524419e-02 1.16179179e+02] [ 7.53330441e-01 -8.47642374e-02 6.52156631e-01 1.96102690e+02] [-6.53089905e-01 2.00525891e-02 7.57014841e-01 -2.67099084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.4407140569999 meters Centerline goodness : 0.978874 Centerline is valid? [True, True] Translation: X:116.16, Y:196.24, Z:-2.77 [[-8.01612478e-02 -9.96778306e-01 -2.68022149e-03 1.16162323e+02] [ 7.54180132e-01 -6.24091316e-02 6.53695211e-01 1.96241160e+02] [-6.51756475e-01 5.03796540e-02 7.56753188e-01 -2.77365590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.4707140569999 meters Centerline goodness : 0.979429 Centerline is valid? [True, True] Translation: X:116.06, Y:196.82, Z:-2.31 [[ 6.36601364e-03 -1.66724116e-01 9.85983034e-01 1.16063541e+02] [ 7.61870931e-01 6.39453367e-01 1.03208892e-01 1.96824671e+02] [-6.47697582e-01 7.50534783e-01 1.31093026e-01 -2.30768731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.500714057 meters Centerline goodness : 0.975825 Centerline is valid? [True, True] Translation: X:116.15, Y:196.33, Z:-2.82 [[-5.62202073e-02 -9.97841694e-01 3.39299522e-02 1.16150489e+02] [ 7.04234890e-01 -1.55424015e-02 7.09796910e-01 1.96334233e+02] [-7.07737598e-01 6.37995856e-02 7.03588733e-01 -2.81881220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.530714057 meters Centerline goodness : 0.978203 Centerline is valid? [True, True] Translation: X:116.13, Y:196.34, Z:-2.83 [[-6.89128865e-02 -9.96158470e-01 5.40307067e-02 1.16128749e+02] [ 7.00942681e-01 -9.80966122e-03 7.13150144e-01 1.96344569e+02] [-7.09880534e-01 8.70176633e-02 6.98926001e-01 -2.82992890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.5607140569999 meters Centerline goodness : 0.979327 Centerline is valid? [True, True] Translation: X:116.18, Y:196.34, Z:-2.88 [[-6.12976922e-02 -9.96816603e-01 -5.09828775e-02 1.16183453e+02] [ 6.96548511e-01 -7.93058525e-02 7.13113423e-01 1.96344496e+02] [-7.14886540e-01 8.20015967e-03 6.99192386e-01 -2.87852220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.5907140569999 meters Centerline goodness : 0.979968 Centerline is valid? [True, True] Translation: X:116.16, Y:196.39, Z:-2.88 [[-5.88755876e-02 -9.98097997e-01 1.82771382e-02 1.16158432e+02] [ 7.02160387e-01 -2.83907879e-02 7.11452566e-01 1.96385033e+02] [-7.09580479e-01 5.47206703e-02 7.02496401e-01 -2.88046836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.620714057 meters Centerline goodness : 0.978488 Centerline is valid? [True, True] Translation: X:116.16, Y:196.40, Z:-2.90 [[-5.83393118e-02 -9.98236946e-01 1.09326865e-02 1.16163105e+02] [ 7.01719187e-01 -3.32158131e-02 7.11678925e-01 1.96404636e+02] [-7.10061059e-01 4.91905346e-02 7.02419806e-01 -2.90288367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.650714057 meters Centerline goodness : 0.979407 Centerline is valid? [True, True] Translation: X:116.16, Y:196.43, Z:-2.92 [[-5.93128063e-02 -9.97990645e-01 2.22859322e-02 1.16157181e+02] [ 7.02106229e-01 -2.58370632e-02 7.11603324e-01 1.96426720e+02] [-7.09597657e-01 5.78542819e-02 7.02227917e-01 -2.92012549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.6807140569999 meters Centerline goodness : 0.978771 Centerline is valid? [True, True] Translation: X:116.16, Y:196.45, Z:-2.94 [[-6.03251606e-02 -9.97912614e-01 2.30497298e-02 1.16157028e+02] [ 7.01728634e-01 -2.59753821e-02 7.11970648e-01 1.96445933e+02] [-7.09885765e-01 5.91243991e-02 7.01830824e-01 -2.94108085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.7107140569999 meters Centerline goodness : 0.980678 Centerline is valid? [True, True] Translation: X:116.16, Y:196.47, Z:-2.96 [[-5.98387816e-02 -9.97985934e-01 2.10569708e-02 1.16158400e+02] [ 7.01930259e-01 -2.70702725e-02 7.11731067e-01 1.96465403e+02] [-7.09727576e-01 5.73696449e-02 7.02136377e-01 -2.96044866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.740714057 meters Centerline goodness : 0.980598 Centerline is valid? [True, True] Translation: X:116.15, Y:196.49, Z:-2.98 [[-6.02996621e-02 -9.97666849e-01 3.20126344e-02 1.16152354e+02] [ 7.03292377e-01 -1.97052075e-02 7.10627566e-01 1.96487163e+02] [-7.08338749e-01 6.53648438e-02 7.02839707e-01 -2.97686042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.770714057 meters Centerline goodness : 0.981353 Centerline is valid? [True, True] Translation: X:116.15, Y:196.50, Z:-3.00 [[-6.08234363e-02 -9.97906575e-01 2.19767283e-02 1.16153946e+02] [ 7.02003402e-01 -2.71151254e-02 7.11657217e-01 1.96500911e+02] [-7.09571514e-01 5.87131754e-02 7.02183046e-01 -2.99689715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.8007140569999 meters Centerline goodness : 0.979668 Centerline is valid? [True, True] Translation: X:116.16, Y:196.52, Z:-3.02 [[-5.69985140e-02 -9.98232065e-01 1.68497712e-02 1.16157319e+02] [ 7.02977076e-01 -2.81440241e-02 7.10655433e-01 1.96521009e+02] [-7.08924820e-01 5.23513066e-02 7.03338425e-01 -3.01745354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.8307140569999 meters Centerline goodness : 0.980741 Centerline is valid? [True, True] Translation: X:116.16, Y:196.54, Z:-3.04 [[-5.81553949e-02 -9.98286302e-01 6.51224234e-03 1.16159206e+02] [ 6.99200576e-01 -3.60742683e-02 7.14014847e-01 1.96537100e+02] [-7.12556317e-01 4.60771790e-02 7.00100270e-01 -3.04201872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.860714057 meters Centerline goodness : 0.981442 Centerline is valid? [True, True] Translation: X:116.14, Y:196.56, Z:-3.05 [[-5.80347360e-02 -9.97774370e-01 3.28371186e-02 1.16143617e+02] [ 6.99321700e-01 -1.71576949e-02 7.14601129e-01 1.96562600e+02] [-7.12447281e-01 6.44353974e-02 6.98761011e-01 -3.05414064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.890714057 meters Centerline goodness : 0.982710 Centerline is valid? [True, True] Translation: X:116.16, Y:196.58, Z:-3.09 [[-5.40029314e-02 -9.98533508e-01 -3.81014046e-03 1.16162253e+02] [ 6.98217800e-01 -4.04884419e-02 7.14739526e-01 1.96575088e+02] [-7.13845633e-01 3.59377217e-02 6.99380363e-01 -3.08523111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.9207140569999 meters Centerline goodness : 0.983141 Centerline is valid? [True, True] Translation: X:116.14, Y:196.60, Z:-3.09 [[-5.06779986e-02 -9.97897811e-01 4.03943008e-02 1.16141968e+02] [ 7.01066039e-01 -6.73904825e-03 7.13064509e-01 1.96604896e+02] [-7.11293293e-01 6.44557547e-02 6.99933787e-01 -3.09154415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.9507140569999 meters Centerline goodness : 0.982639 Centerline is valid? [True, True] Translation: X:116.15, Y:196.62, Z:-3.12 [[-5.17158999e-02 -9.98600667e-01 1.10532629e-02 1.16151414e+02] [ 6.99139742e-01 -2.82995165e-02 7.14424775e-01 1.96616361e+02] [-7.13112254e-01 4.46748955e-02 6.99624947e-01 -3.11885592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.9807140569999 meters Centerline goodness : 0.982787 Centerline is valid? [True, True] Translation: X:116.15, Y:196.63, Z:-3.14 [[-5.25688498e-02 -9.98616700e-01 -1.09633247e-03 1.16154219e+02] [ 6.93688558e-01 -3.73066169e-02 7.19308279e-01 1.96629732e+02] [-7.18354161e-01 3.70526956e-02 6.94690145e-01 -3.14478621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.010714057 meters Centerline goodness : 0.983613 Centerline is valid? [True, True] Translation: X:116.15, Y:196.66, Z:-3.16 [[-5.02254243e-02 -9.98583143e-01 1.75816332e-02 1.16148883e+02] [ 6.96070004e-01 -2.23750908e-02 7.17625184e-01 1.96655461e+02] [-7.16215021e-01 4.82810768e-02 6.96207570e-01 -3.15827408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.040714057 meters Centerline goodness : 0.983445 Centerline is valid? [True, True] Translation: X:116.14, Y:196.67, Z:-3.18 [[-5.39672030e-02 -9.98391113e-01 1.73990507e-02 1.16144609e+02] [ 6.94910635e-01 -2.50386650e-02 7.18660055e-01 1.96671321e+02] [-7.17068163e-01 5.08748584e-02 6.95143869e-01 -3.17677333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.0707140569999 meters Centerline goodness : 0.980562 Centerline is valid? [True, True] Translation: X:116.13, Y:196.68, Z:-3.19 [[-6.11015474e-02 -9.97716998e-01 2.87644264e-02 1.16132284e+02] [ 6.94440891e-01 -2.17932263e-02 7.19219650e-01 1.96682595e+02] [-7.16950800e-01 6.39206274e-02 6.94187081e-01 -3.19191792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.1007140569999 meters Centerline goodness : 0.983949 Centerline is valid? [True, True] Translation: X:116.17, Y:196.69, Z:-3.23 [[-5.69833767e-02 -9.97440516e-01 -4.31892478e-02 1.16171584e+02] [ 6.91168610e-01 -7.06290689e-02 7.19233959e-01 1.96689989e+02] [-7.20443508e-01 1.11333273e-02 6.93424258e-01 -3.23202064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.130714057 meters Centerline goodness : 0.979646 Centerline is valid? [True, True] Translation: X:116.13, Y:196.72, Z:-3.23 [[-6.58010792e-02 -9.96791206e-01 4.55797160e-02 1.16127014e+02] [ 6.92428481e-01 -1.27233310e-02 7.21374325e-01 1.96724808e+02] [-7.18479657e-01 7.90279025e-02 6.91043829e-01 -3.22881765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.160714057 meters Centerline goodness : 0.979454 Centerline is valid? [True, True] Translation: X:116.15, Y:196.73, Z:-3.26 [[-6.40508796e-02 -9.97910594e-01 -8.48121531e-03 1.16151319e+02] [ 6.90642631e-01 -5.04603342e-02 7.21433650e-01 1.96725938e+02] [-7.20354247e-01 4.03509710e-02 6.92431627e-01 -3.26047233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.1907140569999 meters Centerline goodness : 0.982872 Centerline is valid? [True, True] Translation: X:116.19, Y:196.74, Z:-3.30 [[-6.47927521e-02 -9.94788026e-01 -7.87317153e-02 1.16187320e+02] [ 6.87917304e-01 -1.01681078e-01 7.18631158e-01 1.96735853e+02] [-7.22891197e-01 -7.59881886e-03 6.90920094e-01 -3.29925560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.2207140569999 meters Centerline goodness : 0.982638 Centerline is valid? [True, True] Translation: X:116.15, Y:196.78, Z:-3.30 [[-6.43249865e-02 -9.97919515e-01 4.35164204e-03 1.16153529e+02] [ 6.94823150e-01 -4.16567937e-02 7.17973190e-01 1.96777359e+02] [-7.16298182e-01 4.92072374e-02 6.96057154e-01 -3.29549570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.250714057 meters Centerline goodness : 0.979498 Centerline is valid? [True, True] Translation: X:116.13, Y:196.80, Z:-3.30 [[-7.15785964e-02 -9.96497651e-01 4.32311885e-02 1.16132337e+02] [ 6.94111281e-01 -1.86384857e-02 7.19626387e-01 1.96796670e+02] [-7.16300241e-01 8.15171023e-02 6.93014378e-01 -3.30431002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.280714057 meters Centerline goodness : 0.986117 Centerline is valid? [True, True] Translation: X:116.19, Y:196.79, Z:-3.36 [[-6.43178044e-02 -9.95369895e-01 -7.14282307e-02 1.16190280e+02] [ 6.86965763e-01 -9.60794703e-02 7.20310194e-01 1.96792063e+02] [-7.23837869e-01 -2.73997887e-03 6.89964660e-01 -3.35867265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.3107140569999 meters Centerline goodness : 0.978207 Centerline is valid? [True, True] Translation: X:116.12, Y:196.85, Z:-3.33 [[-7.13189899e-02 -9.94117578e-01 8.15097669e-02 1.16120289e+02] [ 6.94925040e-01 9.09970446e-03 7.19024606e-01 1.96847876e+02] [-7.15536715e-01 1.07923287e-01 6.90188216e-01 -3.33416226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.3407140569999 meters Centerline goodness : 0.977852 Centerline is valid? [True, True] Translation: X:116.16, Y:196.84, Z:-3.38 [[-6.75593943e-02 -9.97673590e-01 -9.11784977e-03 1.16160727e+02] [ 6.90813351e-01 -5.33696146e-02 7.21060746e-01 1.96842621e+02] [-7.19869879e-01 4.24156948e-02 6.92811855e-01 -3.37870197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.370714057 meters Centerline goodness : 0.984592 Centerline is valid? [True, True] Translation: X:116.19, Y:196.86, Z:-3.41 [[-6.23926311e-02 -9.95451347e-01 -7.19984337e-02 1.16193513e+02] [ 6.91383278e-01 -9.51350376e-02 7.16197241e-01 1.96855124e+02] [-7.19789082e-01 -5.09308289e-03 6.94174141e-01 -3.41197158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.400714057 meters Centerline goodness : 0.980127 Centerline is valid? [True, True] Translation: X:116.14, Y:196.90, Z:-3.40 [[-6.76231562e-02 -9.96659597e-01 4.57903566e-02 1.16136882e+02] [ 6.95116498e-01 -1.41410223e-02 7.18758016e-01 1.96897583e+02] [-7.15709552e-01 8.04343179e-02 6.93750789e-01 -3.39967407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.4307140569999 meters Centerline goodness : 0.984872 Centerline is valid? [True, True] Translation: X:116.18, Y:196.90, Z:-3.45 [[-6.13011453e-02 -9.97122324e-01 -4.46008949e-02 1.16182055e+02] [ 6.90061440e-01 -7.46241886e-02 7.19893353e-01 1.96900628e+02] [-7.21150039e-01 1.33529292e-02 6.92650215e-01 -3.44928045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.4607140569999 meters Centerline goodness : 0.979472 Centerline is valid? [True, True] Translation: X:116.13, Y:196.94, Z:-3.43 [[-6.74993785e-02 -9.95389896e-01 6.81380144e-02 1.16128965e+02] [ 6.94847303e-01 2.10970460e-03 7.19154208e-01 1.96939668e+02] [-7.15982583e-01 9.58879776e-02 6.91501581e-01 -3.43168351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.490714057 meters Centerline goodness : 0.980110 Centerline is valid? [True, True] Translation: X:116.18, Y:196.96, Z:-3.47 [[-5.48275890e-02 -9.98324622e-01 -1.84901043e-02 1.16179638e+02] [ 7.04945564e-01 -5.18165508e-02 7.07366098e-01 1.96957468e+02] [-7.07139087e-01 2.57486607e-02 7.06605490e-01 -3.46579762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.520714057 meters Centerline goodness : 0.979777 Centerline is valid? [True, True] Translation: X:116.14, Y:196.97, Z:-3.48 [[-6.85937110e-02 -9.97166196e-01 3.08946623e-02 1.16144068e+02] [ 6.94768446e-01 -2.55225913e-02 7.18780498e-01 1.96966329e+02] [-7.15955103e-01 7.07684582e-02 6.94550298e-01 -3.47897453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.5507140569999 meters Centerline goodness : 0.983901 Centerline is valid? [True, True] Translation: X:116.18, Y:196.97, Z:-3.51 [[-6.51997613e-02 -9.97037613e-01 -4.08042908e-02 1.16179815e+02] [ 6.95813722e-01 -7.47357421e-02 7.14323339e-01 1.96974690e+02] [-7.15256776e-01 1.81815257e-02 6.98625205e-01 -3.51441772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.5807140569999 meters Centerline goodness : 0.983237 Centerline is valid? [True, True] Translation: X:116.18, Y:197.00, Z:-3.53 [[-5.99687052e-02 -9.97960260e-01 -2.18877386e-02 1.16178406e+02] [ 6.97974282e-01 -5.75976269e-02 7.13802785e-01 1.97004345e+02] [-7.13607495e-01 2.75287502e-02 7.00004651e-01 -3.52987697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.610714057 meters Centerline goodness : 0.985907 Centerline is valid? [True, True] Translation: X:116.16, Y:197.03, Z:-3.54 [[-6.22715044e-02 -9.98057335e-01 1.95360756e-03 1.16164459e+02] [ 6.95100983e-01 -4.19644294e-02 7.17686289e-01 1.97028083e+02] [-7.16210083e-01 4.60493595e-02 6.96363823e-01 -3.54353221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.640714057 meters Centerline goodness : 0.986712 Centerline is valid? [True, True] Translation: X:116.16, Y:197.05, Z:-3.56 [[-5.81977945e-02 -9.98167565e-01 1.65689421e-02 1.16163973e+02] [ 6.99294638e-01 -2.89160510e-02 7.14248466e-01 1.97054533e+02] [-7.12460544e-01 5.31542578e-02 6.99696076e-01 -3.55951416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.6707140569999 meters Centerline goodness : 0.985920 Centerline is valid? [True, True] Translation: X:116.16, Y:197.07, Z:-3.58 [[-6.08020806e-02 -9.97933946e-01 2.07592679e-02 1.16160507e+02] [ 6.97192667e-01 -2.75767719e-02 7.16353200e-01 1.97074144e+02] [-7.14300702e-01 5.80289743e-02 6.97428954e-01 -3.57859110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.7007140569999 meters Centerline goodness : 0.987471 Centerline is valid? [True, True] Translation: X:116.17, Y:197.09, Z:-3.60 [[-5.95165631e-02 -9.98171785e-01 1.05292860e-02 1.16167609e+02] [ 6.96053964e-01 -3.39373177e-02 7.17186961e-01 1.97091078e+02] [-7.15518454e-01 5.00134543e-02 6.96801261e-01 -3.60230050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.7307140569999 meters Centerline goodness : 0.986749 Centerline is valid? [True, True] Translation: X:116.16, Y:197.11, Z:-3.62 [[-6.34547222e-02 -9.97547520e-01 2.95371428e-02 1.16156452e+02] [ 6.96412098e-01 -2.30610427e-02 7.17271482e-01 1.97112312e+02] [-7.14831231e-01 6.60842862e-02 6.96167494e-01 -3.61659179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.760714057 meters Centerline goodness : 0.986281 Centerline is valid? [True, True] Translation: X:116.17, Y:197.12, Z:-3.64 [[-6.27414328e-02 -9.98027656e-01 2.07598384e-03 1.16169351e+02] [ 6.94001770e-01 -4.21336761e-02 7.18739381e-01 1.97120605e+02] [-7.17234311e-01 4.65354750e-02 6.95276487e-01 -3.64175522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.790714057 meters Centerline goodness : 0.980370 Centerline is valid? [True, True] Translation: X:116.14, Y:197.15, Z:-3.65 [[-6.95843656e-02 -9.96247567e-01 5.14665110e-02 1.16142209e+02] [ 6.95910014e-01 -1.15128141e-02 7.18036703e-01 1.97147507e+02] [-7.14749794e-01 8.57801889e-02 6.94099770e-01 -3.64662740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.8207140569999 meters Centerline goodness : 0.981863 Centerline is valid? [True, True] Translation: X:116.18, Y:197.14, Z:-3.69 [[-6.92646735e-02 -9.96975995e-01 -3.52316783e-02 1.16183046e+02] [ 6.93065005e-01 -7.34924712e-02 7.17119067e-01 1.97141579e+02] [-7.17539758e-01 2.52531746e-02 6.96059605e-01 -3.68821795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.8507140569999 meters Centerline goodness : 0.980749 Centerline is valid? [True, True] Translation: X:116.18, Y:197.16, Z:-3.71 [[-7.15244667e-02 -9.97285391e-01 -1.74957311e-02 1.16176229e+02] [ 6.89941855e-01 -6.21341950e-02 7.21193163e-01 1.97164665e+02] [-7.20322489e-01 3.95119192e-02 6.92513047e-01 -3.70678720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.880714057 meters Centerline goodness : 0.980749 Centerline is valid? [True, True] Translation: X:116.18, Y:197.18, Z:-3.73 [[-7.11186637e-02 -9.97318580e-01 -1.72564744e-02 1.16177351e+02] [ 6.89958280e-01 -6.16799538e-02 7.21216441e-01 1.97183523e+02] [-7.20346935e-01 3.93857021e-02 6.92494808e-01 -3.72580505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.910714057 meters Centerline goodness : 0.990919 Centerline is valid? [True, True] Translation: X:116.18, Y:197.22, Z:-3.74 [[-7.43152537e-02 -9.97117763e-01 -1.52777396e-02 1.16178815e+02] [ 7.07264743e-01 -6.35005027e-02 7.04091094e-01 1.97223177e+02] [-7.03031881e-01 4.15193017e-02 7.09945295e-01 -3.74043956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.9407140569999 meters Centerline goodness : 0.990503 Centerline is valid? [True, True] Translation: X:116.16, Y:197.26, Z:-3.75 [[-7.53602929e-02 -9.96802630e-01 2.65583032e-02 1.16162578e+02] [ 7.10925335e-01 -3.50331528e-02 7.02394367e-01 1.97255578e+02] [-6.99218131e-01 7.18136158e-02 7.11292352e-01 -3.74881498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.9707140569999 meters Centerline goodness : 0.988578 Centerline is valid? [True, True] Translation: X:116.17, Y:197.26, Z:-3.78 [[-7.72312874e-02 -9.96963386e-01 -9.96668958e-03 1.16174916e+02] [ 7.00712912e-01 -6.13876682e-02 7.10797417e-01 1.97259302e+02] [-7.09250832e-01 4.79120115e-02 7.03326167e-01 -3.77619981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.000714057 meters Centerline goodness : 0.981729 Centerline is valid? [True, True] Translation: X:116.15, Y:197.29, Z:-3.78 [[-7.87587744e-02 -9.95604949e-01 5.06738760e-02 1.16147269e+02] [ 7.01544786e-01 -1.92390371e-02 7.12365617e-01 1.97289275e+02] [-7.08259817e-01 9.16550364e-02 6.99976704e-01 -3.77782960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.030714057 meters Centerline goodness : 0.988284 Centerline is valid? [True, True] Translation: X:116.19, Y:197.30, Z:-3.82 [[-7.19084675e-02 -9.97048092e-01 -2.69123509e-02 1.16187561e+02] [ 6.96170332e-01 -6.94946922e-02 7.14504974e-01 1.97296072e+02] [-7.14266086e-01 3.26433774e-02 6.99112558e-01 -3.82391633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.0607140569999 meters Centerline goodness : 0.986846 Centerline is valid? [True, True] Translation: X:116.15, Y:197.33, Z:-3.81 [[-7.98726545e-02 -9.95759710e-01 4.56394461e-02 1.16146522e+02] [ 7.04875766e-01 -2.40474117e-02 7.08923040e-01 1.97333119e+02] [-7.04819490e-01 8.87937045e-02 7.03807619e-01 -3.80948494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.0907140569999 meters Centerline goodness : 0.981523 Centerline is valid? [True, True] Translation: X:116.14, Y:197.34, Z:-3.83 [[-8.32966075e-02 -9.95726811e-01 3.98722088e-02 1.16143441e+02] [ 7.01857450e-01 -3.02153545e-02 7.11676297e-01 1.97340857e+02] [-7.07430417e-01 8.72648280e-02 7.01375117e-01 -3.82932055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.120714057 meters Centerline goodness : 0.980632 Centerline is valid? [True, True] Translation: X:116.17, Y:197.35, Z:-3.86 [[-8.12853985e-02 -9.96612019e-01 -1.25366830e-02 1.16166430e+02] [ 6.98572019e-01 -6.59394305e-02 7.12495000e-01 1.97346410e+02] [-7.10907742e-01 4.91576640e-02 7.01565183e-01 -3.86339177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.150714057 meters Centerline goodness : 0.983002 Centerline is valid? [True, True] Translation: X:116.19, Y:197.35, Z:-3.89 [[-8.13283152e-02 -9.95166165e-01 -5.50455211e-02 1.16185381e+02] [ 6.96944860e-01 -9.62639110e-02 7.10634309e-01 1.97353882e+02] [-7.12498117e-01 1.94309980e-02 7.01404925e-01 -3.89382078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.1807140569999 meters Centerline goodness : 0.980534 Centerline is valid? [True, True] Translation: X:116.16, Y:197.39, Z:-3.90 [[-8.08627178e-02 -9.96709791e-01 5.55092668e-03 1.16161089e+02] [ 6.99413949e-01 -5.27736383e-02 7.12765790e-01 1.97389911e+02] [-7.10127700e-01 6.15185745e-02 7.01380150e-01 -3.89751329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.2107140569999 meters Centerline goodness : 0.987583 Centerline is valid? [True, True] Translation: X:116.20, Y:197.40, Z:-3.94 [[-7.44185060e-02 -9.95236441e-01 -6.29786611e-02 1.16199390e+02] [ 6.95105140e-01 -9.70523981e-02 7.12326945e-01 1.97398239e+02] [-7.15045964e-01 9.23351598e-03 6.99016460e-01 -3.93692608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.240714057 meters Centerline goodness : 0.989975 Centerline is valid? [True, True] Translation: X:116.15, Y:197.45, Z:-3.92 [[-7.97966462e-02 -9.95304852e-01 5.47790673e-02 1.16146622e+02] [ 7.12211517e-01 -1.84791955e-02 7.01721650e-01 1.97451640e+02] [-6.97414690e-01 9.50093169e-02 7.10342157e-01 -3.92416793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.270714057 meters Centerline goodness : 0.990262 Centerline is valid? [True, True] Translation: X:116.16, Y:197.46, Z:-3.95 [[-8.14436266e-02 -9.96494237e-01 1.91356224e-02 1.16161354e+02] [ 7.09702462e-01 -4.45026062e-02 7.03094541e-01 1.97460600e+02] [-6.99778073e-01 7.08431677e-02 7.10838866e-01 -3.95381014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.3007140569999 meters Centerline goodness : 0.990339 Centerline is valid? [True, True] Translation: X:116.16, Y:197.48, Z:-3.97 [[-8.22287833e-02 -9.96435117e-01 1.88543130e-02 1.16162084e+02] [ 7.09701141e-01 -4.52637478e-02 7.03047284e-01 1.97480516e+02] [-6.99687585e-01 7.11916502e-02 7.10893123e-01 -3.97301188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.3307140569999 meters Centerline goodness : 0.981714 Centerline is valid? [True, True] Translation: X:116.15, Y:197.48, Z:-3.99 [[-8.59210756e-02 -9.95894811e-01 2.84797236e-02 1.16154985e+02] [ 6.96758748e-01 -3.96314964e-02 7.16209880e-01 1.97482542e+02] [-7.12141009e-01 8.13810198e-02 6.97303602e-01 -3.99114037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.360714057 meters Centerline goodness : 0.987758 Centerline is valid? [True, True] Translation: X:116.20, Y:197.49, Z:-4.04 [[-7.86732534e-02 -9.95511147e-01 -5.26124996e-02 1.16199360e+02] [ 6.91958942e-01 -9.25236613e-02 7.15983376e-01 1.97487296e+02] [-7.17637333e-01 1.99230520e-02 6.96131977e-01 -4.03526512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.390714057 meters Centerline goodness : 0.986553 Centerline is valid? [True, True] Translation: X:116.17, Y:197.53, Z:-4.03 [[-7.89312497e-02 -9.96223289e-01 3.61803358e-02 1.16165223e+02] [ 6.97849382e-01 -2.93005081e-02 7.15644969e-01 1.97532698e+02] [-7.11882082e-01 8.17351767e-02 6.97526532e-01 -4.03473895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.4207140569999 meters Centerline goodness : 0.987750 Centerline is valid? [True, True] Translation: X:116.16, Y:197.55, Z:-4.05 [[-7.86160452e-02 -9.95746895e-01 4.80378821e-02 1.16159362e+02] [ 6.98699720e-01 -2.06642109e-02 7.15116558e-01 1.97554263e+02] [-7.11082428e-01 8.97836904e-02 6.97352615e-01 -4.05153066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.4507140569999 meters Centerline goodness : 0.986859 Centerline is valid? [True, True] Translation: X:116.16, Y:197.57, Z:-4.07 [[-7.68292364e-02 -9.96230125e-01 4.02840745e-02 1.16163449e+02] [ 6.98515338e-01 -2.49509045e-02 7.15159965e-01 1.97572241e+02] [-7.11458777e-01 8.30842379e-02 6.97798981e-01 -4.07309592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.4807140569999 meters Centerline goodness : 0.985506 Centerline is valid? [True, True] Translation: X:116.16, Y:197.59, Z:-4.09 [[-7.47851464e-02 -9.96411064e-01 3.96506532e-02 1.16164442e+02] [ 6.96734613e-01 -2.37637353e-02 7.16935258e-01 1.97589638e+02] [-7.13419975e-01 8.12420907e-02 6.96011251e-01 -4.09391963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.510714057 meters Centerline goodness : 0.985353 Centerline is valid? [True, True] Translation: X:116.16, Y:197.61, Z:-4.11 [[-7.12877518e-02 -9.96680057e-01 3.93309139e-02 1.16164449e+02] [ 6.95642019e-01 -2.14195491e-02 7.18069206e-01 1.97606173e+02] [-7.14842806e-01 7.85497757e-02 6.94859479e-01 -4.11471330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.540714057 meters Centerline goodness : 0.986455 Centerline is valid? [True, True] Translation: X:116.17, Y:197.62, Z:-4.14 [[-7.04186961e-02 -9.97458634e-01 1.08388159e-02 1.16174112e+02] [ 6.91648141e-01 -4.09935917e-02 7.21070298e-01 1.97621723e+02] [-7.18793473e-01 5.82734770e-02 6.92777126e-01 -4.14222458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.5707140569999 meters Centerline goodness : 0.985425 Centerline is valid? [True, True] Translation: X:116.16, Y:197.65, Z:-4.15 [[-6.70549112e-02 -9.96793528e-01 4.36612209e-02 1.16158864e+02] [ 6.96859482e-01 -1.54705795e-02 7.17040810e-01 1.97650103e+02] [-7.14066174e-01 7.85068436e-02 6.95662400e-01 -4.14855086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.6007140569999 meters Centerline goodness : 0.984857 Centerline is valid? [True, True] Translation: X:116.16, Y:197.67, Z:-4.17 [[-6.12597584e-02 -9.97796293e-01 2.54911549e-02 1.16161686e+02] [ 6.97629314e-01 -2.45380279e-02 7.16038565e-01 1.97665095e+02] [-7.13835123e-01 6.16477263e-02 6.97595137e-01 -4.16965218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.630714057 meters Centerline goodness : 0.984965 Centerline is valid? [True, True] Translation: X:116.16, Y:197.68, Z:-4.20 [[-5.90704486e-02 -9.97805506e-01 2.99141274e-02 1.16158771e+02] [ 6.93490586e-01 -1.94632755e-02 7.20202741e-01 1.97684701e+02] [-7.18040033e-01 6.32878647e-02 6.93118429e-01 -4.19541788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.660714057 meters Centerline goodness : 0.983307 Centerline is valid? [True, True] Translation: X:116.16, Y:197.70, Z:-4.21 [[-5.17824934e-02 -9.98048870e-01 3.48859035e-02 1.16155856e+02] [ 6.95713749e-01 -1.09909590e-02 7.18235044e-01 1.97703933e+02] [-7.16450244e-01 6.14626041e-02 6.94925460e-01 -4.21445681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.6907140569999 meters Centerline goodness : 0.980716 Centerline is valid? [True, True] Translation: X:116.13, Y:197.72, Z:-4.22 [[-5.86641872e-02 -9.96525734e-01 5.91183040e-02 1.16134503e+02] [ 6.91725798e-01 2.12054051e-03 7.22157132e-01 1.97718490e+02] [-7.19773529e-01 8.32584172e-02 6.89198159e-01 -4.22382847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.7207140569999 meters Centerline goodness : 0.982384 Centerline is valid? [True, True] Translation: X:116.20, Y:197.71, Z:-4.28 [[-4.72763827e-02 -9.96633525e-01 -6.69817966e-02 1.16197357e+02] [ 6.90840908e-01 -8.10563262e-02 7.18448824e-01 1.97712633e+02] [-7.21459482e-01 -1.23081036e-02 6.92347259e-01 -4.27743972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.750714057 meters Centerline goodness : 0.982330 Centerline is valid? [True, True] Translation: X:116.16, Y:197.76, Z:-4.28 [[-4.29595305e-02 -9.98702556e-01 2.73437892e-02 1.16159399e+02] [ 6.94850946e-01 -1.02012951e-02 7.19081425e-01 1.97758092e+02] [-7.17869515e-01 4.98912582e-02 6.94387659e-01 -4.28008228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.780714057 meters Centerline goodness : 0.983289 Centerline is valid? [True, True] Translation: X:116.15, Y:197.77, Z:-4.29 [[-4.86067045e-02 -9.98550344e-01 2.31214050e-02 1.16148868e+02] [ 6.94456180e-01 -1.71481504e-02 7.19330630e-01 1.97773537e+02] [-7.17891358e-01 5.10210940e-02 6.94282973e-01 -4.29158788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.8107140569999 meters Centerline goodness : 0.980369 Centerline is valid? [True, True] Translation: X:116.14, Y:197.79, Z:-4.31 [[-5.15044798e-02 -9.97854995e-01 4.04066530e-02 1.16135209e+02] [ 6.88823564e-01 -6.19991363e-03 7.24902517e-01 1.97786015e+02] [-7.23097080e-01 6.51687818e-02 6.87665357e-01 -4.30746701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.8407140569999 meters Centerline goodness : 0.984535 Centerline is valid? [True, True] Translation: X:116.18, Y:197.79, Z:-4.36 [[-4.51281637e-02 -9.97452301e-01 -5.52481246e-02 1.16179587e+02] [ 6.87360618e-01 -7.11352479e-02 7.22824430e-01 1.97788405e+02] [-7.24912981e-01 -5.35564589e-03 6.88819634e-01 -4.35595397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.870714057 meters Centerline goodness : 0.982256 Centerline is valid? [True, True] Translation: X:116.14, Y:197.84, Z:-4.34 [[-4.38543751e-02 -9.98106965e-01 4.31193816e-02 1.16136165e+02] [ 6.95078397e-01 5.18732462e-04 7.18933761e-01 1.97836191e+02] [-7.17595162e-01 6.14997415e-02 6.93739840e-01 -4.34285453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.900714057 meters Centerline goodness : 0.984766 Centerline is valid? [True, True] Translation: X:116.15, Y:197.84, Z:-4.37 [[-4.88040570e-02 -9.98749966e-01 -1.08013346e-02 1.16153428e+02] [ 6.94651323e-01 -4.17107731e-02 7.18136304e-01 1.97844858e+02] [-7.17689141e-01 2.75448037e-02 6.95818640e-01 -4.37073837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.9307140569999 meters Centerline goodness : 0.983607 Centerline is valid? [True, True] Translation: X:116.13, Y:197.88, Z:-4.38 [[-4.72496241e-02 -9.98235447e-01 3.59647891e-02 1.16134170e+02] [ 6.99763326e-01 -7.38562226e-03 7.14336574e-01 1.97877627e+02] [-7.12810466e-01 5.89189750e-02 6.98877524e-01 -4.37583152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.9607140569999 meters Centerline goodness : 0.983292 Centerline is valid? [True, True] Translation: X:116.15, Y:197.88, Z:-4.41 [[-5.07259023e-02 -9.98640254e-01 -1.20218602e-02 1.16150982e+02] [ 6.99129665e-01 -4.41031531e-02 7.13633395e-01 1.97883614e+02] [-7.13193238e-01 2.77948588e-02 7.00416199e-01 -4.40864624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.990714057 meters Centerline goodness : 0.983300 Centerline is valid? [True, True] Translation: X:116.14, Y:197.89, Z:-4.41 [[-4.89150018e-02 -9.98724390e-01 1.25265664e-02 1.16141295e+02] [ 6.94577350e-01 -2.50007490e-02 7.18983496e-01 1.97894026e+02] [-7.17753180e-01 4.38697482e-02 6.94914252e-01 -4.40661553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.020714057 meters Centerline goodness : 0.983523 Centerline is valid? [True, True] Translation: X:116.14, Y:197.92, Z:-4.43 [[-4.71106943e-02 -9.98434430e-01 3.01541394e-02 1.16135938e+02] [ 6.94581878e-01 -1.10487909e-02 7.19328812e-01 1.97915760e+02] [-7.17869485e-01 5.48325985e-02 6.94014977e-01 -4.42802747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.0507140569999 meters Centerline goodness : 0.984967 Centerline is valid? [True, True] Translation: X:116.14, Y:197.93, Z:-4.45 [[-4.78412540e-02 -9.98815514e-01 8.87595583e-03 1.16143844e+02] [ 6.89780854e-01 -2.66094876e-02 7.23529066e-01 1.97931054e+02] [-7.22435871e-01 4.07370022e-02 6.90236850e-01 -4.45469244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.0807140569999 meters Centerline goodness : 0.985138 Centerline is valid? [True, True] Translation: X:116.13, Y:197.96, Z:-4.47 [[-4.55962084e-02 -9.98396910e-01 3.35349964e-02 1.16134085e+02] [ 6.91354298e-01 -7.30651829e-03 7.22478962e-01 1.97955511e+02] [-7.21075739e-01 5.61268651e-02 6.90579144e-01 -4.47110303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.110714057 meters Centerline goodness : 0.984712 Centerline is valid? [True, True] Translation: X:116.14, Y:197.97, Z:-4.50 [[-4.46591551e-02 -9.98783013e-01 2.09296982e-02 1.16138489e+02] [ 6.90074880e-01 -1.56932035e-02 7.23567815e-01 1.97972305e+02] [-7.22358789e-01 4.67569862e-02 6.89935913e-01 -4.49551012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.140714057 meters Centerline goodness : 0.983409 Centerline is valid? [True, True] Translation: X:116.14, Y:197.97, Z:-4.49 [[-3.52011226e-02 -9.99080595e-01 2.44713436e-02 1.16138145e+02] [ 6.81945215e-01 -6.11306231e-03 7.31377710e-01 1.97965110e+02] [-7.30555682e-01 4.24334321e-02 6.81533418e-01 -4.49459382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.1707140569999 meters Centerline goodness : 0.983474 Centerline is valid? [True, True] Translation: X:116.13, Y:197.99, Z:-4.51 [[-3.06089677e-02 -9.98922844e-01 3.48746643e-02 1.16134412e+02] [ 6.80574752e-01 4.72478942e-03 7.32663417e-01 1.97986753e+02] [-7.32039000e-01 4.61608869e-02 6.79697047e-01 -4.51384791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.2007140569999 meters Centerline goodness : 0.982639 Centerline is valid? [True, True] Translation: X:116.14, Y:198.00, Z:-4.53 [[-2.82863773e-02 -9.99142077e-01 3.02488140e-02 1.16136420e+02] [ 6.79571465e-01 2.97056331e-03 7.33603298e-01 1.98004646e+02] [-7.33063779e-01 4.13072105e-02 6.78904419e-01 -4.53275074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.2307140569999 meters Centerline goodness : 0.982538 Centerline is valid? [True, True] Translation: X:116.14, Y:198.03, Z:-4.55 [[-2.54390271e-02 -9.98978450e-01 3.73485292e-02 1.16135057e+02] [ 6.78742508e-01 1.01690856e-02 7.34305929e-01 1.98025380e+02] [-7.33935599e-01 4.40300628e-02 6.77790447e-01 -4.55397479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.260714057 meters Centerline goodness : 0.983075 Centerline is valid? [True, True] Translation: X:116.14, Y:198.04, Z:-4.57 [[-2.13807235e-02 -9.99434077e-01 2.59690316e-02 1.16137628e+02] [ 6.79006309e-01 4.54927076e-03 7.34118340e-01 1.98041489e+02] [-7.33821025e-01 3.33291175e-02 6.78524777e-01 -4.57493150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.290714057 meters Centerline goodness : 0.983124 Centerline is valid? [True, True] Translation: X:116.14, Y:198.04, Z:-4.58 [[-1.68564814e-02 -9.99830013e-01 7.47020914e-03 1.16144726e+02] [ 6.81412720e-01 -6.01998763e-03 7.31874624e-01 1.98039571e+02] [-7.31705244e-01 1.74271265e-02 6.81398364e-01 -4.58113941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.3207140569999 meters Centerline goodness : 0.983018 Centerline is valid? [True, True] Translation: X:116.15, Y:198.05, Z:-4.59 [[-1.69284259e-02 -9.99852433e-01 2.92256273e-03 1.16146140e+02] [ 6.84428344e-01 -9.45708688e-03 7.29018796e-01 1.98048698e+02] [-7.28883578e-01 1.43414254e-02 6.84487439e-01 -4.58978354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.3507140569999 meters Centerline goodness : 0.983026 Centerline is valid? [True, True] Translation: X:116.14, Y:198.06, Z:-4.59 [[-1.47459347e-02 -9.99618992e-01 2.33329671e-02 1.16139300e+02] [ 6.83534217e-01 6.95368926e-03 7.29885347e-01 1.98057632e+02] [-7.29769506e-01 2.67117231e-02 6.83171247e-01 -4.58876836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.380714057 meters Centerline goodness : 0.981858 Centerline is valid? [True, True] Translation: X:116.14, Y:198.07, Z:-4.61 [[-1.38557347e-02 -9.99669621e-01 2.16487426e-02 1.16143138e+02] [ 6.82921315e-01 6.35335635e-03 7.30464313e-01 1.98073370e+02] [-7.30360525e-01 2.49055075e-02 6.82607661e-01 -4.60805862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.410714057 meters Centerline goodness : 0.981744 Centerline is valid? [True, True] Translation: X:116.13, Y:198.08, Z:-4.63 [[-2.53115509e-02 -9.99310139e-01 2.71766664e-02 1.16132023e+02] [ 6.76075241e-01 2.91399430e-03 7.36826830e-01 1.98077346e+02] [-7.36397715e-01 3.70237011e-02 6.75535085e-01 -4.62690155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.4407140569999 meters Centerline goodness : 0.983813 Centerline is valid? [True, True] Translation: X:116.18, Y:198.08, Z:-4.67 [[-2.16010375e-02 -9.97890153e-01 -6.12261197e-02 1.16180654e+02] [ 6.78519207e-01 -5.96098060e-02 7.32160063e-01 1.98082186e+02] [-7.34264994e-01 -2.57276812e-02 6.78375269e-01 -4.67120876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.4707140569999 meters Centerline goodness : 0.983390 Centerline is valid? [True, True] Translation: X:116.16, Y:198.12, Z:-4.67 [[-2.76500172e-02 -9.99597439e-01 6.35902043e-03 1.16156097e+02] [ 6.79260481e-01 -1.41212449e-02 7.33761398e-01 1.98120575e+02] [-7.33376217e-01 2.46079466e-02 6.79377490e-01 -4.67462969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.500714057 meters Centerline goodness : 0.989306 Centerline is valid? [True, True] Translation: X:116.14, Y:198.15, Z:-4.68 [[-3.79651087e-02 -9.98704916e-01 3.38694658e-02 1.16140417e+02] [ 6.92151093e-01 -1.83467032e-03 7.21750303e-01 1.98148464e+02] [-7.20753436e-01 5.08441165e-02 6.91324352e-01 -4.68361216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.530714057 meters Centerline goodness : 0.982928 Centerline is valid? [True, True] Translation: X:116.18, Y:198.15, Z:-4.73 [[-3.09555848e-02 -9.99024806e-01 -3.14831622e-02 1.16179101e+02] [ 6.78149108e-01 -4.41315275e-02 7.33598116e-01 1.98149383e+02] [-7.34272115e-01 1.35868033e-03 6.78853898e-01 -4.72534799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.5607140569999 meters Centerline goodness : 0.983777 Centerline is valid? [True, True] Translation: X:116.16, Y:198.18, Z:-4.73 [[-3.59251961e-02 -9.99071897e-01 2.37639508e-02 1.16161582e+02] [ 6.79433881e-01 -6.97957830e-03 7.33703541e-01 1.98183164e+02] [-7.32856726e-01 4.25044769e-02 6.79054039e-01 -4.73038816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.5907140569999 meters Centerline goodness : 0.985184 Centerline is valid? [True, True] Translation: X:116.17, Y:198.20, Z:-4.76 [[-3.98192227e-02 -9.99206298e-01 1.09676557e-03 1.16171711e+02] [ 6.77202787e-01 -2.61799825e-02 7.35330534e-01 1.98196869e+02] [-7.34718188e-01 3.00230230e-02 6.77707756e-01 -4.75673955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.620714057 meters Centerline goodness : 0.985354 Centerline is valid? [True, True] Translation: X:116.17, Y:198.22, Z:-4.78 [[-4.64094157e-02 -9.98916818e-01 3.37006579e-03 1.16173500e+02] [ 6.77917720e-01 -2.90176648e-02 7.34564865e-01 1.98215856e+02] [-7.33671406e-01 3.63753535e-02 6.78530104e-01 -4.77629131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.650714057 meters Centerline goodness : 0.981593 Centerline is valid? [True, True] Translation: X:116.17, Y:198.24, Z:-4.79 [[-4.98667168e-02 -9.98655340e-01 1.41711979e-02 1.16170448e+02] [ 6.77482642e-01 -2.33971056e-02 7.35166543e-01 1.98239525e+02] [-7.33846429e-01 4.62610823e-02 6.77738395e-01 -4.79240992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.6807140569999 meters Centerline goodness : 0.983554 Centerline is valid? [True, True] Translation: X:116.18, Y:198.25, Z:-4.82 [[-5.52547795e-02 -9.98470261e-01 -2.01176896e-03 1.16181560e+02] [ 6.75239252e-01 -3.88514470e-02 7.36574855e-01 1.98253451e+02] [-7.35526248e-01 3.93408558e-02 6.76353041e-01 -4.81766263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.7107140569999 meters Centerline goodness : 0.981972 Centerline is valid? [True, True] Translation: X:116.16, Y:198.27, Z:-4.82 [[-6.51829336e-02 -9.97167947e-01 3.75135981e-02 1.16157940e+02] [ 6.74348263e-01 -1.63083956e-02 7.38233335e-01 1.98271095e+02] [-7.35530833e-01 7.34174441e-02 6.73501502e-01 -4.82426676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.740714057 meters Centerline goodness : 0.983524 Centerline is valid? [True, True] Translation: X:116.22, Y:198.27, Z:-4.87 [[-6.21852200e-02 -9.94783010e-01 -8.08687972e-02 1.16219304e+02] [ 6.71993954e-01 -1.01639536e-01 7.33548588e-01 1.98269161e+02] [-7.37941139e-01 -8.72746243e-03 6.74808644e-01 -4.87437499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.770714057 meters Centerline goodness : 0.983524 Centerline is valid? [True, True] Translation: X:116.19, Y:198.31, Z:-4.88 [[-6.33273342e-02 -9.97986565e-01 -3.53045609e-03 1.16186750e+02] [ 6.75116948e-01 -4.54443647e-02 7.36309661e-01 1.98307910e+02] [-7.34987589e-01 4.42450572e-02 6.76635514e-01 -4.87667171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.8007140569999 meters Centerline goodness : 0.984811 Centerline is valid? [True, True] Translation: X:116.19, Y:198.33, Z:-4.89 [[-6.59615540e-02 -9.97821509e-01 1.14400130e-03 1.16185398e+02] [ 6.75918556e-01 -4.38385312e-02 7.35671318e-01 1.98327458e+02] [-7.34018514e-01 4.92992751e-02 6.77337732e-01 -4.89440306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.8307140569999 meters Centerline goodness : 0.985255 Centerline is valid? [True, True] Translation: X:116.19, Y:198.34, Z:-4.92 [[-6.99801259e-02 -9.97506774e-01 -9.11142705e-03 1.16190483e+02] [ 6.75947912e-01 -5.41344094e-02 7.34958425e-01 1.98343554e+02] [-7.33619249e-01 4.52736331e-02 6.78050953e-01 -4.91764012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.860714057 meters Centerline goodness : 0.982872 Centerline is valid? [True, True] Translation: X:116.17, Y:198.36, Z:-4.93 [[-7.78581702e-02 -9.96853750e-01 1.48561948e-02 1.16171968e+02] [ 6.76017451e-01 -4.18354473e-02 7.35697086e-01 1.98357708e+02] [-7.32760883e-01 6.73230758e-02 6.77147762e-01 -4.92876102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.890714057 meters Centerline goodness : 0.987851 Centerline is valid? [True, True] Translation: X:116.18, Y:197.91, Z:-4.45 [[-4.78353342e-02 -9.98806556e-01 -9.86127400e-03 1.16182756e+02] [ 6.99696234e-01 -4.05525350e-02 7.13288631e-01 1.97908996e+02] [-7.12837261e-01 2.72205038e-02 7.00801030e-01 -4.44722006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.9207140569999 meters Centerline goodness : 0.986531 Centerline is valid? [True, True] Translation: X:116.17, Y:197.94, Z:-4.46 [[-4.82344653e-02 -9.98404652e-01 2.93528191e-02 1.16168035e+02] [ 7.02446366e-01 -1.30149033e-02 7.11617674e-01 1.97940205e+02] [-7.10100372e-01 5.49432792e-02 7.01953487e-01 -4.45847663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.9507140569999 meters Centerline goodness : 0.986559 Centerline is valid? [True, True] Translation: X:116.17, Y:197.96, Z:-4.48 [[-4.82301387e-02 -9.98447655e-01 2.78591648e-02 1.16166728e+02] [ 7.01079753e-01 -1.39727854e-02 7.12945959e-01 1.97955539e+02] [-7.11449952e-01 5.39169789e-02 7.00665345e-01 -4.47915301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.9807140569999 meters Centerline goodness : 0.986053 Centerline is valid? [True, True] Translation: X:116.17, Y:197.98, Z:-4.50 [[-4.41275776e-02 -9.98829513e-01 1.98081148e-02 1.16172121e+02] [ 7.00875122e-01 -1.68227308e-02 7.13085591e-01 1.97976252e+02] [-7.11917707e-01 4.53497546e-02 7.00797103e-01 -4.49994462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.010714057 meters Centerline goodness : 0.985584 Centerline is valid? [True, True] Translation: X:116.17, Y:198.00, Z:-4.52 [[-4.38841009e-02 -9.98664759e-01 2.72559256e-02 1.16165029e+02] [ 7.00235699e-01 -1.12883943e-02 7.13822483e-01 1.97995469e+02] [-7.12561682e-01 5.04110300e-02 6.99796097e-01 -4.51823219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.040714057 meters Centerline goodness : 0.984924 Centerline is valid? [True, True] Translation: X:116.17, Y:198.01, Z:-4.54 [[-4.39348707e-02 -9.98968080e-01 1.15109412e-02 1.16170745e+02] [ 6.95309543e-01 -2.23023000e-02 7.18364286e-01 1.98009382e+02] [-7.17366271e-01 3.95649093e-02 6.95571888e-01 -4.54490974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.0707140569999 meters Centerline goodness : 0.984868 Centerline is valid? [True, True] Translation: X:116.17, Y:198.03, Z:-4.56 [[-4.24872054e-02 -9.99025577e-01 1.19471047e-02 1.16171541e+02] [ 6.94810290e-01 -2.09523362e-02 7.18887794e-01 1.98031134e+02] [-7.17936974e-01 3.88445047e-02 6.95023457e-01 -4.56343009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.1007140569999 meters Centerline goodness : 0.985680 Centerline is valid? [True, True] Translation: X:116.16, Y:198.05, Z:-4.58 [[-4.47570531e-02 -9.98623343e-01 2.73536860e-02 1.16163022e+02] [ 6.95495777e-01 -1.14922274e-02 7.18438273e-01 1.98053712e+02] [-7.17134876e-01 5.11795530e-02 6.95052677e-01 -4.57925990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.130714057 meters Centerline goodness : 0.985121 Centerline is valid? [True, True] Translation: X:116.17, Y:198.07, Z:-4.60 [[-4.60236889e-02 -9.98700763e-01 2.18770841e-02 1.16166052e+02] [ 6.94192768e-01 -1.62275103e-02 7.19606190e-01 1.98071811e+02] [-7.18316240e-01 4.83058450e-02 6.94037697e-01 -4.60012865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.160714057 meters Centerline goodness : 0.983508 Centerline is valid? [True, True] Translation: X:116.17, Y:198.08, Z:-4.62 [[-5.05692320e-02 -9.98682506e-01 8.71812411e-03 1.16167849e+02] [ 6.94095369e-01 -2.88669197e-02 7.19304052e-01 1.98083498e+02] [-7.18104708e-01 4.24258630e-02 6.94640680e-01 -4.62284255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.1907140569999 meters Centerline goodness : 0.983758 Centerline is valid? [True, True] Translation: X:116.17, Y:198.11, Z:-4.64 [[-5.05018445e-02 -9.98634268e-01 1.33851711e-02 1.16169429e+02] [ 6.93872502e-01 -2.54439764e-02 7.19648216e-01 1.98107052e+02] [-7.18324797e-01 4.56311644e-02 6.94209826e-01 -4.64287134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.2207140569999 meters Centerline goodness : 0.984354 Centerline is valid? [True, True] Translation: X:116.16, Y:198.13, Z:-4.66 [[-5.58170712e-02 -9.98165508e-01 2.34536439e-02 1.16164835e+02] [ 6.94397250e-01 -2.19302395e-02 7.19257620e-01 1.98127619e+02] [-7.17423803e-01 5.64329996e-02 6.94347466e-01 -4.66179428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.250714057 meters Centerline goodness : 0.984708 Centerline is valid? [True, True] Translation: X:116.17, Y:198.14, Z:-4.69 [[-5.76111566e-02 -9.98287035e-01 1.01956584e-02 1.16171433e+02] [ 6.93700987e-01 -3.26849128e-02 7.19521117e-01 1.98143007e+02] [-7.17955358e-01 4.85251820e-02 6.94395717e-01 -4.68619786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.280714057 meters Centerline goodness : 0.985409 Centerline is valid? [True, True] Translation: X:116.17, Y:198.16, Z:-4.71 [[-6.38715263e-02 -9.97945797e-01 4.96119637e-03 1.16172081e+02] [ 6.96150330e-01 -4.09925791e-02 7.16724722e-01 1.98161695e+02] [-7.15049052e-01 4.92320404e-02 6.97338554e-01 -4.70954826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.3107140569999 meters Centerline goodness : 0.985876 Centerline is valid? [True, True] Translation: X:116.16, Y:198.19, Z:-4.72 [[-6.31475141e-02 -9.97673721e-01 2.56814776e-02 1.16164572e+02] [ 6.97586008e-01 -2.57217131e-02 7.16039214e-01 1.98185112e+02] [-7.13712935e-01 6.31311358e-02 6.97587490e-01 -4.72380885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.3407140569999 meters Centerline goodness : 0.984280 Centerline is valid? [True, True] Translation: X:116.16, Y:198.20, Z:-4.74 [[-6.75977871e-02 -9.97263526e-01 2.99332564e-02 1.16157993e+02] [ 6.95546379e-01 -2.55946034e-02 7.18025174e-01 1.98204768e+02] [-7.15294187e-01 6.93568809e-02 6.95373173e-01 -4.74100813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.370714057 meters Centerline goodness : 0.983766 Centerline is valid? [True, True] Translation: X:116.17, Y:198.22, Z:-4.77 [[-6.45798826e-02 -9.97912483e-01 3.39061923e-04 1.16173501e+02] [ 6.91935103e-01 -4.45337297e-02 7.20584874e-01 1.98221008e+02] [-7.19065541e-01 4.67698954e-02 6.93366660e-01 -4.77167752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.400714057 meters Centerline goodness : 0.984995 Centerline is valid? [True, True] Translation: X:116.16, Y:198.24, Z:-4.78 [[-6.54033641e-02 -9.97580667e-01 2.35629719e-02 1.16161941e+02] [ 6.91680513e-01 -2.83025145e-02 7.21648832e-01 1.98244829e+02] [-7.19236031e-01 6.34963098e-02 6.91858186e-01 -4.78447018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.4307140569999 meters Centerline goodness : 0.985507 Centerline is valid? [True, True] Translation: X:116.16, Y:198.26, Z:-4.80 [[-6.32654383e-02 -9.97763774e-01 2.15623576e-02 1.16163600e+02] [ 6.95571363e-01 -2.85902051e-02 7.17887930e-01 1.98263141e+02] [-7.15666098e-01 6.04156530e-02 6.95824680e-01 -4.80481621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.4607140569999 meters Centerline goodness : 0.983859 Centerline is valid? [True, True] Translation: X:116.17, Y:198.28, Z:-4.83 [[-6.03438597e-02 -9.98125093e-01 1.02429377e-02 1.16168400e+02] [ 6.91663034e-01 -3.44128825e-02 7.21400029e-01 1.98280913e+02] [-7.19694981e-01 5.06167235e-02 6.92442836e-01 -4.82790114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.490714057 meters Centerline goodness : 0.985017 Centerline is valid? [True, True] Translation: X:116.17, Y:198.30, Z:-4.85 [[-6.07659533e-02 -9.98063175e-01 1.33190533e-02 1.16165057e+02] [ 6.90536150e-01 -3.23998674e-02 7.22571847e-01 1.98300318e+02] [-7.20740816e-01 5.31050549e-02 6.91167511e-01 -4.84908637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.520714057 meters Centerline goodness : 0.984672 Centerline is valid? [True, True] Translation: X:116.15, Y:198.33, Z:-4.86 [[-5.73823686e-02 -9.97526762e-01 4.05909154e-02 1.16151620e+02] [ 6.94006108e-01 -1.06289819e-02 7.19890649e-01 1.98326815e+02] [-7.17678748e-01 6.94793738e-02 6.92899582e-01 -4.85951205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.5507140569999 meters Centerline goodness : 0.989127 Centerline is valid? [True, True] Translation: X:116.14, Y:198.35, Z:-4.88 [[-6.08412557e-02 -9.96940975e-01 4.90615399e-02 1.16140647e+02] [ 7.04172682e-01 -8.03445400e-03 7.09983296e-01 1.98349808e+02] [-7.07417257e-01 7.77440714e-02 7.02507427e-01 -4.87668135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.5807140569999 meters Centerline goodness : 0.983329 Centerline is valid? [True, True] Translation: X:116.17, Y:198.35, Z:-4.91 [[-5.40676171e-02 -9.98411387e-01 -1.58554162e-02 1.16169999e+02] [ 6.89825362e-01 -4.88275828e-02 7.22327376e-01 1.98346791e+02] [-7.21954059e-01 2.81170517e-02 6.91369487e-01 -4.91284545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.610714057 meters Centerline goodness : 0.985050 Centerline is valid? [True, True] Translation: X:116.16, Y:198.37, Z:-4.93 [[-5.14854162e-02 -9.98646236e-01 7.41259721e-03 1.16158942e+02] [ 6.89530406e-01 -3.01776523e-02 7.23627756e-01 1.98373600e+02] [-7.22424440e-01 4.23674874e-02 6.90150653e-01 -4.92734946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.640714057 meters Centerline goodness : 0.985257 Centerline is valid? [True, True] Translation: X:116.16, Y:198.39, Z:-4.95 [[-5.24378003e-02 -9.98605662e-01 6.08346973e-03 1.16158181e+02] [ 6.86186624e-01 -3.16050929e-02 7.26738630e-01 1.98391731e+02] [-7.25533042e-01 4.22829707e-02 6.86887149e-01 -4.95026000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.6707140569999 meters Centerline goodness : 0.984534 Centerline is valid? [True, True] Translation: X:116.14, Y:198.42, Z:-4.96 [[-5.22232109e-02 -9.98078129e-01 3.33584188e-02 1.16144161e+02] [ 6.93101754e-01 -1.21767578e-02 7.20736904e-01 1.98417291e+02] [-7.18945543e-01 6.07599739e-02 6.92405612e-01 -4.96049143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.7007140569999 meters Centerline goodness : 0.982763 Centerline is valid? [True, True] Translation: X:116.16, Y:198.43, Z:-4.99 [[-5.08509515e-02 -9.98703645e-01 2.28241117e-03 1.16158864e+02] [ 6.91187926e-01 -3.35433839e-02 7.21896178e-01 1.98428103e+02] [-7.20883785e-01 3.82866826e-02 6.91997614e-01 -4.98931260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.7307140569999 meters Centerline goodness : 0.983933 Centerline is valid? [True, True] Translation: X:116.15, Y:198.45, Z:-5.01 [[-5.49490453e-02 -9.98453019e-01 8.49531384e-03 1.16154275e+02] [ 6.87039368e-01 -3.16340808e-02 7.25931258e-01 1.98448474e+02] [-7.24539515e-01 4.57258447e-02 6.87714794e-01 -5.00978444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.760714057 meters Centerline goodness : 0.983995 Centerline is valid? [True, True] Translation: X:116.15, Y:198.47, Z:-5.03 [[-5.55189750e-02 -9.98264758e-01 1.96243620e-02 1.16150116e+02] [ 6.88202575e-01 -2.40199478e-02 7.25120858e-01 1.98470818e+02] [-7.23391222e-01 5.37635033e-02 6.88341940e-01 -5.02641924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.790714057 meters Centerline goodness : 0.984531 Centerline is valid? [True, True] Translation: X:116.16, Y:198.49, Z:-5.05 [[-6.00715731e-02 -9.98186119e-01 3.98462991e-03 1.16155864e+02] [ 6.85525632e-01 -3.83531956e-02 7.27037578e-01 1.98485815e+02] [-7.25565995e-01 4.64058570e-02 6.86586107e-01 -5.05262283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.8207140569999 meters Centerline goodness : 0.984234 Centerline is valid? [True, True] Translation: X:116.15, Y:198.51, Z:-5.07 [[-6.10704302e-02 -9.98066314e-01 1.15773607e-02 1.16153702e+02] [ 6.84995944e-01 -3.34719779e-02 7.27777564e-01 1.98507064e+02] [-7.25982754e-01 5.23761341e-02 6.85715525e-01 -5.07128987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.8507140569999 meters Centerline goodness : 0.983433 Centerline is valid? [True, True] Translation: X:116.15, Y:198.53, Z:-5.08 [[-5.96016380e-02 -9.97862758e-01 2.67873260e-02 1.16150932e+02] [ 6.89451393e-01 -2.17447351e-02 7.24005486e-01 1.98532939e+02] [-7.21875628e-01 6.16204721e-02 6.89273890e-01 -5.08438708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.880714057 meters Centerline goodness : 0.984322 Centerline is valid? [True, True] Translation: X:116.15, Y:198.55, Z:-5.11 [[-6.58409731e-02 -9.97676282e-01 1.75214658e-02 1.16149692e+02] [ 6.86062834e-01 -3.25117196e-02 7.26815504e-01 1.98545733e+02] [-7.24556937e-01 5.98750665e-02 6.86609221e-01 -5.10897363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.910714057 meters Centerline goodness : 0.985440 Centerline is valid? [True, True] Translation: X:116.16, Y:198.56, Z:-5.14 [[-6.37093094e-02 -9.97961694e-01 -3.68526130e-03 1.16163010e+02] [ 6.84353834e-01 -4.63759064e-02 7.27673763e-01 1.98560242e+02] [-7.26361448e-01 4.38375702e-02 6.85913489e-01 -5.13510319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.9407140569999 meters Centerline goodness : 0.985113 Centerline is valid? [True, True] Translation: X:116.15, Y:198.58, Z:-5.15 [[-6.70431317e-02 -9.97526517e-01 2.11202972e-02 1.16151420e+02] [ 6.84531237e-01 -3.05859808e-02 7.28341598e-01 1.98584219e+02] [-7.25894072e-01 6.32878048e-02 6.84888640e-01 -5.15016719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.9707140569999 meters Centerline goodness : 0.985661 Centerline is valid? [True, True] Translation: X:116.16, Y:198.60, Z:-5.17 [[-6.66962256e-02 -9.97737103e-01 8.50220949e-03 1.16158105e+02] [ 6.83968580e-01 -3.95141852e-02 7.28440533e-01 1.98600864e+02] [-7.26456189e-01 5.43994783e-02 6.85056276e-01 -5.17391138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.000714057 meters Centerline goodness : 0.984842 Centerline is valid? [True, True] Translation: X:116.15, Y:198.62, Z:-5.19 [[-6.84048131e-02 -9.97141720e-01 3.20806962e-02 1.16146272e+02] [ 6.85182467e-01 -2.35827720e-02 7.27989587e-01 1.98623784e+02] [-7.25152238e-01 7.17791222e-02 6.84837199e-01 -5.18747842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.030714057 meters Centerline goodness : 0.985656 Centerline is valid? [True, True] Translation: X:116.15, Y:198.64, Z:-5.21 [[-6.81725881e-02 -9.97580141e-01 1.36513838e-02 1.16154492e+02] [ 6.83367081e-01 -3.67218464e-02 7.29150834e-01 1.98636024e+02] [-7.26885087e-01 5.90370057e-02 6.84216853e-01 -5.21388045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.0607140569999 meters Centerline goodness : 0.984523 Centerline is valid? [True, True] Translation: X:116.15, Y:198.66, Z:-5.23 [[-6.73683865e-02 -9.97385800e-01 2.61355534e-02 1.16148304e+02] [ 6.85659803e-01 -2.72517252e-02 7.27411835e-01 1.98658440e+02] [-7.24797996e-01 6.69246601e-02 6.85703256e-01 -5.22897691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.0907140569999 meters Centerline goodness : 0.984998 Centerline is valid? [True, True] Translation: X:116.16, Y:198.67, Z:-5.26 [[-6.76078401e-02 -9.97711065e-01 -1.34583834e-03 1.16158622e+02] [ 6.81007948e-01 -4.71328421e-02 7.30757600e-01 1.98668015e+02] [-7.29148376e-01 4.84884163e-02 6.82635715e-01 -5.25808834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.120714057 meters Centerline goodness : 0.984222 Centerline is valid? [True, True] Translation: X:116.15, Y:198.69, Z:-5.27 [[-6.65861426e-02 -9.97682006e-01 1.40321568e-02 1.16151695e+02] [ 6.80343024e-01 -3.51105305e-02 7.32052334e-01 1.98691839e+02] [-7.29862765e-01 5.82912211e-02 6.81103868e-01 -5.27375396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.150714057 meters Centerline goodness : 0.985787 Centerline is valid? [True, True] Translation: X:116.16, Y:198.71, Z:-5.30 [[-6.31376321e-02 -9.97989878e-01 5.46285235e-03 1.16156404e+02] [ 6.80417350e-01 -3.90407883e-02 7.31784153e-01 1.98708299e+02] [-7.30099904e-01 4.99201382e-02 6.81514571e-01 -5.29742443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.1807140569999 meters Centerline goodness : 0.984946 Centerline is valid? [True, True] Translation: X:116.16, Y:198.73, Z:-5.32 [[-6.01306100e-02 -9.98123900e-01 1.15321071e-02 1.16156088e+02] [ 6.82326971e-01 -3.26679331e-02 7.30316856e-01 1.98730911e+02] [-7.28569979e-01 5.17830658e-02 6.83011200e-01 -5.31558128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.2107140569999 meters Centerline goodness : 0.982677 Centerline is valid? [True, True] Translation: X:116.15, Y:198.76, Z:-5.33 [[-5.37899809e-02 -9.98148641e-01 2.83888920e-02 1.16154457e+02] [ 6.82610577e-01 -1.60061194e-02 7.30607011e-01 1.98756668e+02] [-7.28799999e-01 5.86778951e-02 6.82207788e-01 -5.33408393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.240714057 meters Centerline goodness : 0.983717 Centerline is valid? [True, True] Translation: X:116.15, Y:198.78, Z:-5.36 [[-5.51266704e-02 -9.98014166e-01 3.04757995e-02 1.16152659e+02] [ 6.82213131e-01 -1.53610778e-02 7.30991985e-01 1.98777113e+02] [-7.29072215e-01 6.10881448e-02 6.81705174e-01 -5.35505524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.270714057 meters Centerline goodness : 0.985367 Centerline is valid? [True, True] Translation: X:116.15, Y:198.79, Z:-5.37 [[-6.12705308e-02 -9.97649840e-01 3.06711498e-02 1.16145649e+02] [ 6.81448073e-01 -1.93588498e-02 7.31610387e-01 1.98793284e+02] [-7.29297227e-01 6.57269527e-02 6.81032688e-01 -5.37299585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.3007140569999 meters Centerline goodness : 0.984473 Centerline is valid? [True, True] Translation: X:116.15, Y:198.81, Z:-5.39 [[-5.56029526e-02 -9.98009341e-01 2.97601600e-02 1.16152266e+02] [ 6.83909740e-01 -1.63533905e-02 7.29383324e-01 1.98813755e+02] [-7.27444691e-01 6.09091297e-02 6.83457606e-01 -5.39405471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.3307140569999 meters Centerline goodness : 0.982827 Centerline is valid? [True, True] Translation: X:116.15, Y:198.83, Z:-5.41 [[-5.64655667e-02 -9.97819656e-01 3.41697676e-02 1.16150050e+02] [ 6.83671280e-01 -1.37013974e-02 7.29661464e-01 1.98833012e+02] [-7.27602378e-01 6.45616369e-02 6.82954299e-01 -5.41238027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.360714057 meters Centerline goodness : 0.984691 Centerline is valid? [True, True] Translation: X:116.15, Y:198.84, Z:-5.44 [[-6.70419347e-02 -9.97686705e-01 1.12524515e-02 1.16148031e+02] [ 6.78870292e-01 -3.73476639e-02 7.33307766e-01 1.98841493e+02] [-7.31191156e-01 5.68013264e-02 6.79803724e-01 -5.43894294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.390714057 meters Centerline goodness : 0.984607 Centerline is valid? [True, True] Translation: X:116.15, Y:198.86, Z:-5.46 [[-6.30642284e-02 -9.97916059e-01 1.36543746e-02 1.16152516e+02] [ 6.80061701e-01 -3.29555912e-02 7.32413826e-01 1.98863803e+02] [-7.30437531e-01 5.54749300e-02 6.80722812e-01 -5.45940382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.4207140569999 meters Centerline goodness : 0.985300 Centerline is valid? [True, True] Translation: X:116.14, Y:198.89, Z:-5.47 [[-6.32976034e-02 -9.96676936e-01 5.12688780e-02 1.16137388e+02] [ 6.83604337e-01 -5.87250793e-03 7.29829175e-01 1.98893529e+02] [-7.27102829e-01 8.12440650e-02 6.81704392e-01 -5.47003248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.4507140569999 meters Centerline goodness : 0.984239 Centerline is valid? [True, True] Translation: X:116.15, Y:198.90, Z:-5.50 [[-6.37687530e-02 -9.97553398e-01 2.86489939e-02 1.16145579e+02] [ 6.80638605e-01 -2.24795496e-02 7.32274374e-01 1.98903881e+02] [-7.29838773e-01 6.61958349e-02 6.80406846e-01 -5.49647490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.4807140569999 meters Centerline goodness : 0.985228 Centerline is valid? [True, True] Translation: X:116.15, Y:198.92, Z:-5.52 [[-6.87195423e-02 -9.97550807e-01 1.30388383e-02 1.16150106e+02] [ 6.80354663e-01 -3.73014615e-02 7.31933148e-01 1.98919855e+02] [-7.29654135e-01 5.91691453e-02 6.81251683e-01 -5.52226547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.510714057 meters Centerline goodness : 0.986323 Centerline is valid? [True, True] Translation: X:116.14, Y:198.95, Z:-5.54 [[-7.06156127e-02 -9.96819805e-01 3.69284760e-02 1.16140528e+02] [ 6.79397505e-01 -2.09567480e-02 7.33471094e-01 1.98945943e+02] [-7.30364612e-01 7.68836251e-02 6.78716762e-01 -5.53851074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.540714057 meters Centerline goodness : 0.985864 Centerline is valid? [True, True] Translation: X:116.13, Y:198.97, Z:-5.55 [[-7.22465610e-02 -9.96216793e-01 4.82963286e-02 1.16134257e+02] [ 6.83563359e-01 -1.41944046e-02 7.29753145e-01 1.98967888e+02] [-7.26306801e-01 8.57357557e-02 6.82002795e-01 -5.55224941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.5707140569999 meters Centerline goodness : 0.985947 Centerline is valid? [True, True] Translation: X:116.15, Y:198.98, Z:-5.58 [[-7.42743295e-02 -9.97159052e-01 1.25359401e-02 1.16147127e+02] [ 6.78492065e-01 -4.13175030e-02 7.33444873e-01 1.98975906e+02] [-7.30843241e-01 6.29816621e-02 6.79633333e-01 -5.58472068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.6007140569999 meters Centerline goodness : 0.985709 Centerline is valid? [True, True] Translation: X:116.14, Y:199.00, Z:-5.60 [[-7.37097920e-02 -9.96693978e-01 3.41757450e-02 1.16137645e+02] [ 6.79490167e-01 -2.51085576e-02 7.33254849e-01 1.99000333e+02] [-7.29972588e-01 7.72701451e-02 6.79094504e-01 -5.59858579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.630714057 meters Centerline goodness : 0.980911 Centerline is valid? [True, True] Translation: X:116.12, Y:199.02, Z:-5.61 [[-7.02770196e-02 -9.95206087e-01 6.80145990e-02 1.16124806e+02] [ 6.82461834e-01 1.76022500e-03 7.30919111e-01 1.99023768e+02] [-7.27534869e-01 9.77841846e-02 6.79066467e-01 -5.60608754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.660714057 meters Centerline goodness : 0.985366 Centerline is valid? [True, True] Translation: X:116.16, Y:199.02, Z:-5.66 [[-6.85541402e-02 -9.97194081e-01 -3.00714993e-02 1.16158480e+02] [ 6.74808771e-01 -6.85498796e-02 7.34802039e-01 1.99018280e+02] [-7.34801642e-01 3.00812105e-02 6.77614690e-01 -5.65667883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.6907140569999 meters Centerline goodness : 0.985366 Centerline is valid? [True, True] Translation: X:116.14, Y:199.06, Z:-5.66 [[-6.88986522e-02 -9.97267632e-01 2.66504498e-02 1.16136006e+02] [ 6.77638524e-01 -2.71774162e-02 7.34892794e-01 1.99055340e+02] [-7.32160506e-01 6.86924945e-02 6.77659454e-01 -5.66238092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.7207140569999 meters Centerline goodness : 0.986890 Centerline is valid? [True, True] Translation: X:116.13, Y:199.08, Z:-5.68 [[-6.34252770e-02 -9.97703769e-01 2.37576198e-02 1.16132511e+02] [ 6.76547873e-01 -2.54841538e-02 7.35957563e-01 1.99075862e+02] [-7.33662191e-01 6.27514794e-02 6.76610702e-01 -5.68352650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.750714057 meters Centerline goodness : 0.985714 Centerline is valid? [True, True] Translation: X:116.13, Y:199.10, Z:-5.70 [[-6.02595481e-02 -9.97624675e-01 3.33735613e-02 1.16127434e+02] [ 6.76043608e-01 -1.61907815e-02 7.36683717e-01 1.99097256e+02] [-7.34393510e-01 6.69542107e-02 6.75413434e-01 -5.70152158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.780714057 meters Centerline goodness : 0.984920 Centerline is valid? [True, True] Translation: X:116.13, Y:199.11, Z:-5.73 [[-5.21708561e-02 -9.98100542e-01 3.27644470e-02 1.16125059e+02] [ 6.74583812e-01 -1.10306095e-02 7.38115849e-01 1.99113853e+02] [-7.36352417e-01 6.06105012e-02 6.73877945e-01 -5.72522804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.8107140569999 meters Centerline goodness : 0.984530 Centerline is valid? [True, True] Translation: X:116.13, Y:199.12, Z:-5.75 [[-4.76023187e-02 -9.98808207e-01 1.07789569e-02 1.16134050e+02] [ 6.72799537e-01 -2.40852096e-02 7.39432679e-01 1.99123512e+02] [-7.38291814e-01 4.24507872e-02 6.73144210e-01 -5.75258499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.8407140569999 meters Centerline goodness : 0.985379 Centerline is valid? [True, True] Translation: X:116.12, Y:199.16, Z:-5.76 [[-4.69359696e-02 -9.97924904e-01 4.40783563e-02 1.16118263e+02] [ 6.75303345e-01 8.15209547e-04 7.37539645e-01 1.99155811e+02] [-7.36045112e-01 6.43833998e-02 6.73863763e-01 -5.76350150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.870714057 meters Centerline goodness : 0.984009 Centerline is valid? [True, True] Translation: X:116.12, Y:199.17, Z:-5.79 [[-4.25537921e-02 -9.98637272e-01 3.02121520e-02 1.16121687e+02] [ 6.75760077e-01 -6.49583944e-03 7.37093022e-01 1.99168971e+02] [-7.35892311e-01 5.17822694e-02 6.75115622e-01 -5.78703385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.900714057 meters Centerline goodness : 0.986745 Centerline is valid? [True, True] Translation: X:116.12, Y:199.18, Z:-5.82 [[-4.01202220e-02 -9.98897388e-01 2.43798151e-02 1.16124682e+02] [ 6.73499963e-01 -9.01099410e-03 7.39132330e-01 1.99184306e+02] [-7.38097668e-01 4.60739578e-02 6.73118877e-01 -5.81618251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.9307140569999 meters Centerline goodness : 0.983889 Centerline is valid? [True, True] Translation: X:116.12, Y:199.21, Z:-5.83 [[-3.90596661e-02 -9.98529540e-01 3.75912323e-02 1.16118496e+02] [ 6.73492388e-01 1.48295619e-03 7.39192670e-01 1.99208631e+02] [-7.38161463e-01 5.41900277e-02 6.72444121e-01 -5.82880145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.9607140569999 meters Centerline goodness : 0.985897 Centerline is valid? [True, True] Translation: X:116.12, Y:199.23, Z:-5.85 [[-3.57972868e-02 -9.98690909e-01 3.65379668e-02 1.16118422e+02] [ 6.71828595e-01 3.01800027e-03 7.40700500e-01 1.99226234e+02] [-7.39841128e-01 5.10623192e-02 6.70841073e-01 -5.85377251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.990714057 meters Centerline goodness : 0.985502 Centerline is valid? [True, True] Translation: X:116.12, Y:199.24, Z:-5.87 [[-3.50032385e-02 -9.98674299e-01 3.77414652e-02 1.16117391e+02] [ 6.71889892e-01 4.44031775e-03 7.40637736e-01 1.99244780e+02] [-7.39823456e-01 5.12828283e-02 6.70843742e-01 -5.87388516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.020714057 meters Centerline goodness : 0.984661 Centerline is valid? [True, True] Translation: X:116.12, Y:199.26, Z:-5.90 [[-3.66346229e-02 -9.99032243e-01 2.43409561e-02 1.16121755e+02] [ 6.72353914e-01 -6.62065797e-03 7.40200230e-01 1.99260680e+02] [-7.39322743e-01 4.34826934e-02 6.71945784e-01 -5.89642710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.0507140569999 meters Centerline goodness : 0.985828 Centerline is valid? [True, True] Translation: X:116.12, Y:199.28, Z:-5.92 [[-4.02648398e-02 -9.98883558e-01 2.47058642e-02 1.16121189e+02] [ 6.72260122e-01 -8.78942575e-03 7.40262841e-01 1.99279850e+02] [-7.39219231e-01 4.64153320e-02 6.71863488e-01 -5.91653184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.0807140569999 meters Centerline goodness : 0.985134 Centerline is valid? [True, True] Translation: X:116.12, Y:199.30, Z:-5.93 [[-4.14746594e-02 -9.98544783e-01 3.44698263e-02 1.16117786e+02] [ 6.73522659e-01 -2.45889856e-03 7.39162487e-01 1.99300848e+02] [-7.38002087e-01 5.38727215e-02 6.72644519e-01 -5.93331212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.110714057 meters Centerline goodness : 0.986320 Centerline is valid? [True, True] Translation: X:116.12, Y:199.32, Z:-5.96 [[-4.71998660e-02 -9.98624168e-01 2.28460839e-02 1.16123986e+02] [ 6.71200580e-01 -1.47690101e-02 7.41128638e-01 1.99316100e+02] [-7.39771555e-01 5.03154771e-02 6.70974216e-01 -5.95945286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.140714057 meters Centerline goodness : 0.985005 Centerline is valid? [True, True] Translation: X:116.12, Y:199.34, Z:-5.98 [[-5.12928867e-02 -9.98255867e-01 2.92278082e-02 1.16122666e+02] [ 6.72937950e-01 -1.29229905e-02 7.39586041e-01 1.99336393e+02] [-7.37918394e-01 5.76040043e-02 6.72427114e-01 -5.97559265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.1707140569999 meters Centerline goodness : 0.986437 Centerline is valid? [True, True] Translation: X:116.13, Y:199.35, Z:-6.00 [[-5.55689323e-02 -9.98322710e-01 1.62438150e-02 1.16128033e+02] [ 6.71865843e-01 -2.53530896e-02 7.40238820e-01 1.99351878e+02] [-7.38585393e-01 5.20479453e-02 6.72147773e-01 -6.00042871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.2007140569999 meters Centerline goodness : 0.984818 Centerline is valid? [True, True] Translation: X:116.13, Y:199.35, Z:-6.01 [[-5.88521040e-02 -9.98216206e-01 1.00416702e-02 1.16130879e+02] [ 6.71756435e-01 -3.21600709e-02 7.40073660e-01 1.99354821e+02] [-7.38430581e-01 5.03004486e-02 6.72450848e-01 -6.00649645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.2307140569999 meters Centerline goodness : 0.985509 Centerline is valid? [True, True] Translation: X:116.13, Y:199.36, Z:-6.01 [[-6.52007124e-02 -9.97836451e-01 8.44304188e-03 1.16132705e+02] [ 6.72050058e-01 -3.76555802e-02 7.39547684e-01 1.99361792e+02] [-7.37629708e-01 5.38931826e-02 6.73051215e-01 -6.01228001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.260714057 meters Centerline goodness : 0.986042 Centerline is valid? [True, True] Translation: X:116.13, Y:199.37, Z:-6.02 [[-6.64292830e-02 -9.97775925e-01 5.50939119e-03 1.16134540e+02] [ 6.71151305e-01 -4.05962938e-02 7.40207989e-01 1.99370393e+02] [-7.38338050e-01 5.28691211e-02 6.72355397e-01 -6.02432269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.290714057 meters Centerline goodness : 0.985584 Centerline is valid? [True, True] Translation: X:116.13, Y:199.39, Z:-6.04 [[-7.17932226e-02 -9.97198361e-01 2.10038582e-02 1.16130483e+02] [ 6.70786111e-01 -3.26870814e-02 7.40930191e-01 1.99393041e+02] [-7.38167817e-01 6.72828625e-02 6.71253521e-01 -6.04392743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.3207140569999 meters Centerline goodness : 0.986317 Centerline is valid? [True, True] Translation: X:116.13, Y:199.41, Z:-6.07 [[-7.59493679e-02 -9.97059393e-01 1.02107858e-02 1.16134327e+02] [ 6.71601934e-01 -4.35837099e-02 7.39629166e-01 1.99410387e+02] [-7.37009183e-01 6.30319511e-02 6.72937172e-01 -6.06572914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.3507140569999 meters Centerline goodness : 0.984266 Centerline is valid? [True, True] Translation: X:116.13, Y:199.43, Z:-6.08 [[-7.95119369e-02 -9.96693211e-01 1.67479915e-02 1.16132701e+02] [ 6.72145122e-01 -4.11984680e-02 7.39272359e-01 1.99429934e+02] [-7.36137750e-01 7.00380579e-02 6.73198250e-01 -6.08325435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.380714057 meters Centerline goodness : 0.986220 Centerline is valid? [True, True] Translation: X:116.14, Y:199.43, Z:-6.09 [[-7.96434186e-02 -9.96809651e-01 5.23889543e-03 1.16136557e+02] [ 6.71609344e-01 -4.97753078e-02 7.39231566e-01 1.99425792e+02] [-7.36612392e-01 6.23934201e-02 6.73430951e-01 -6.08682236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.410714057 meters Centerline goodness : 0.984720 Centerline is valid? [True, True] Translation: X:116.13, Y:199.45, Z:-6.10 [[-7.81138253e-02 -9.96658310e-01 2.38839679e-02 1.16128742e+02] [ 6.73826212e-01 -3.51248488e-02 7.38054524e-01 1.99449396e+02] [-7.34749254e-01 7.37459058e-02 6.74318230e-01 -6.09906901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.4407140569999 meters Centerline goodness : 0.983644 Centerline is valid? [True, True] Translation: X:116.13, Y:199.46, Z:-6.12 [[-7.78937916e-02 -9.96892059e-01 1.17805298e-02 1.16133293e+02] [ 6.72764978e-01 -4.38398827e-02 7.38556260e-01 1.99463100e+02] [-7.35744413e-01 6.54544752e-02 6.74088919e-01 -6.12491534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.4707140569999 meters Centerline goodness : 0.984378 Centerline is valid? [True, True] Translation: X:116.13, Y:199.48, Z:-6.15 [[-7.49283539e-02 -9.97086559e-01 1.42875976e-02 1.16132500e+02] [ 6.70310499e-01 -3.97537560e-02 7.41015165e-01 1.99480611e+02] [-7.38288275e-01 6.51001732e-02 6.71336272e-01 -6.14570874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.500714057 meters Centerline goodness : 0.983121 Centerline is valid? [True, True] Translation: X:116.14, Y:199.50, Z:-6.17 [[-7.56179362e-02 -9.97130023e-01 3.69380311e-03 1.16135527e+02] [ 6.69040821e-01 -4.79896148e-02 7.41674711e-01 1.99497970e+02] [-7.39368858e-01 5.85552160e-02 6.70749565e-01 -6.17110842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.530714057 meters Centerline goodness : 0.983219 Centerline is valid? [True, True] Translation: X:116.13, Y:199.50, Z:-6.17 [[-7.19115144e-02 -9.97388527e-01 6.69774630e-03 1.16133181e+02] [ 6.68022568e-01 -4.31755950e-02 7.42887418e-01 1.99501828e+02] [-7.40658209e-01 5.78964050e-02 6.69382868e-01 -6.17332263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.5607140569999 meters Centerline goodness : 0.983445 Centerline is valid? [True, True] Translation: X:116.13, Y:199.51, Z:-6.18 [[-7.00084339e-02 -9.97541199e-01 3.22123097e-03 1.16133467e+02] [ 6.67283370e-01 -4.44297947e-02 7.43477571e-01 1.99507703e+02] [-7.41506388e-01 5.41991742e-02 6.68753113e-01 -6.18231882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.5907140569999 meters Centerline goodness : 0.985007 Centerline is valid? [True, True] Translation: X:116.13, Y:199.53, Z:-6.20 [[-6.88997347e-02 -9.97542046e-01 1.27551447e-02 1.16128024e+02] [ 6.65019610e-01 -3.63945764e-02 7.45938572e-01 1.99530807e+02] [-7.43640871e-01 5.98773911e-02 6.65892599e-01 -6.20393636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.620714057 meters Centerline goodness : 0.985688 Centerline is valid? [True, True] Translation: X:116.13, Y:199.54, Z:-6.21 [[-6.80513893e-02 -9.97666501e-01 5.52820762e-03 1.16129760e+02] [ 6.66051207e-01 -4.13048987e-02 7.44761502e-01 1.99537110e+02] [-7.42795260e-01 5.43641242e-02 6.67307833e-01 -6.21363158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.650714057 meters Centerline goodness : 0.982556 Centerline is valid? [True, True] Translation: X:116.12, Y:199.57, Z:-6.22 [[-6.53739139e-02 -9.97107877e-01 3.87573704e-02 1.16115840e+02] [ 6.71646667e-01 -1.52441024e-02 7.40714771e-01 1.99565772e+02] [-7.37981712e-01 7.44546823e-02 6.70700748e-01 -6.22293508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.6807140569999 meters Centerline goodness : 0.984510 Centerline is valid? [True, True] Translation: X:116.13, Y:199.57, Z:-6.25 [[-6.60632723e-02 -9.97812886e-01 2.25585519e-03 1.16128641e+02] [ 6.68817446e-01 -4.26031400e-02 7.42204956e-01 1.99573066e+02] [-7.40485563e-01 5.05412434e-02 6.70169168e-01 -6.25336859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.7107140569999 meters Centerline goodness : 0.984496 Centerline is valid? [True, True] Translation: X:116.12, Y:199.60, Z:-6.27 [[-6.70231876e-02 -9.97648406e-01 1.43370366e-02 1.16123726e+02] [ 6.67637000e-01 -3.41650104e-02 7.43702621e-01 1.99595215e+02] [-7.41463909e-01 5.94172564e-02 6.68356837e-01 -6.27329843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.740714057 meters Centerline goodness : 0.984571 Centerline is valid? [True, True] Translation: X:116.12, Y:199.61, Z:-6.29 [[-6.75447568e-02 -9.97621998e-01 1.37133036e-02 1.16122679e+02] [ 6.68635697e-01 -3.50604731e-02 7.42763130e-01 1.99612730e+02] [-7.40516043e-01 5.93389593e-02 6.69413832e-01 -6.29164215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.770714057 meters Centerline goodness : 0.984727 Centerline is valid? [True, True] Translation: X:116.13, Y:199.60, Z:-6.28 [[-6.62855397e-02 -9.97800662e-01 2.57624762e-04 1.16125362e+02] [ 6.71056849e-01 -4.43883285e-02 7.40075930e-01 1.99601010e+02] [-7.38436817e-01 4.92292133e-02 6.72523272e-01 -6.28336492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.8007140569999 meters Centerline goodness : 0.984727 Centerline is valid? [True, True] Translation: X:116.12, Y:199.61, Z:-6.29 [[-6.56684197e-02 -9.97839357e-01 2.06802907e-03 1.16124587e+02] [ 6.71060495e-01 -4.26288824e-02 7.40176054e-01 1.99606183e+02] [-7.38488640e-01 4.99939643e-02 6.72409944e-01 -6.28801032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.8307140569999 meters Centerline goodness : 0.985427 Centerline is valid? [True, True] Translation: X:116.12, Y:199.61, Z:-6.30 [[-6.10217846e-02 -9.98132828e-01 -2.68303403e-03 1.16124468e+02] [ 6.70324942e-01 -4.29723126e-02 7.40822417e-01 1.99609685e+02] [-7.39554470e-01 4.34078013e-02 6.71695577e-01 -6.29644436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.860714057 meters Centerline goodness : 0.985320 Centerline is valid? [True, True] Translation: X:116.12, Y:199.63, Z:-6.30 [[-6.01893127e-02 -9.98085755e-01 1.42152340e-02 1.16116438e+02] [ 6.71185400e-01 -2.99264611e-02 7.40685200e-01 1.99626123e+02] [-7.38841935e-01 5.41223907e-02 6.71701840e-01 -6.30247384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.890714057 meters Centerline goodness : 0.985532 Centerline is valid? [True, True] Translation: X:116.12, Y:199.62, Z:-6.30 [[-5.68525194e-02 -9.98362835e-01 6.28019387e-03 1.16118981e+02] [ 6.69301639e-01 -3.34448427e-02 7.42237670e-01 1.99615157e+02] [-7.40812464e-01 4.64014256e-02 6.70107306e-01 -6.29666920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.9207140569999 meters Centerline goodness : 0.986917 Centerline is valid? [True, True] Translation: X:116.11, Y:199.64, Z:-6.32 [[-5.44156364e-02 -9.98402935e-01 1.51828255e-02 1.16113760e+02] [ 6.68825006e-01 -2.51539595e-02 7.42994205e-01 1.99636271e+02] [-7.41425687e-01 5.05851559e-02 6.69125618e-01 -6.31580243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.9507140569999 meters Centerline goodness : 0.986133 Centerline is valid? [True, True] Translation: X:116.12, Y:199.65, Z:-6.34 [[-5.46643151e-02 -9.98489484e-01 5.52847142e-03 1.16116779e+02] [ 6.65806311e-01 -3.23236153e-02 7.45424135e-01 1.99651144e+02] [-7.44119459e-01 4.44289909e-02 6.66567548e-01 -6.34038237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.9807140569999 meters Centerline goodness : 0.986209 Centerline is valid? [True, True] Translation: X:116.10, Y:200.03, Z:-6.76 [[-6.91020962e-02 -9.97560650e-01 9.88179646e-03 1.16102471e+02] [ 6.58226404e-01 -3.81482243e-02 7.51852854e-01 2.00025392e+02] [-7.49641849e-01 5.84590676e-02 6.59256882e-01 -6.76320603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.010714057 meters Centerline goodness : 0.986075 Centerline is valid? [True, True] Translation: X:116.12, Y:199.66, Z:-6.37 [[-5.15581064e-02 -9.98363288e-01 -2.47488842e-02 1.16124591e+02] [ 6.67659341e-01 -5.28879870e-02 7.42585931e-01 1.99663597e+02] [-7.42679451e-01 2.17625007e-02 6.69293379e-01 -6.37065474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.040714057 meters Centerline goodness : 0.987158 Centerline is valid? [True, True] Translation: X:116.12, Y:199.68, Z:-6.37 [[-4.78169618e-02 -9.98856099e-01 -1.75786103e-04 1.16115000e+02] [ 6.67128426e-01 -3.20675658e-02 7.44252198e-01 1.99679702e+02] [-7.43406484e-01 3.54706070e-02 6.67898671e-01 -6.37446927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.0707140569999 meters Centerline goodness : 0.987121 Centerline is valid? [True, True] Translation: X:116.11, Y:199.70, Z:-6.39 [[-4.69325234e-02 -9.98766215e-01 1.62291737e-02 1.16108283e+02] [ 6.67554718e-01 -1.92742515e-02 7.44311227e-01 1.99702949e+02] [-7.43080101e-01 4.57662656e-02 6.67635688e-01 -6.39116340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.1007140569999 meters Centerline goodness : 0.985714 Centerline is valid? [True, True] Translation: X:116.11, Y:199.72, Z:-6.41 [[-4.59052756e-02 -9.98819459e-01 1.58868968e-02 1.16108628e+02] [ 6.66963465e-01 -1.88059392e-02 7.44853054e-01 1.99720890e+02] [-7.43674957e-01 4.47886645e-02 6.67039380e-01 -6.41218875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.130714057 meters Centerline goodness : 0.985523 Centerline is valid? [True, True] Translation: X:116.11, Y:199.74, Z:-6.43 [[-4.43031687e-02 -9.98895384e-01 1.56601689e-02 1.16109433e+02] [ 6.64884220e-01 -1.77821280e-02 7.46734738e-01 1.99737069e+02] [-7.45631412e-01 4.34949142e-02 6.64937583e-01 -6.43491363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.160714057 meters Centerline goodness : 0.988849 Centerline is valid? [True, True] Translation: X:116.12, Y:199.75, Z:-6.46 [[-4.55786153e-02 -9.98889075e-01 -1.19668822e-02 1.16119937e+02] [ 6.63463851e-01 -3.92247479e-02 7.47179455e-01 1.99750583e+02] [-7.46818792e-01 2.61158112e-02 6.64514602e-01 -6.46434382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.1907140569999 meters Centerline goodness : 0.986192 Centerline is valid? [True, True] Translation: X:116.11, Y:199.78, Z:-6.47 [[-4.65546301e-02 -9.98537757e-01 2.74775300e-02 1.16106001e+02] [ 6.63595453e-01 -1.03548414e-02 7.48019954e-01 1.99779467e+02] [-7.46641642e-01 5.30577562e-02 6.63107181e-01 -6.47273248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.2207140569999 meters Centerline goodness : 0.985651 Centerline is valid? [True, True] Translation: X:116.11, Y:199.79, Z:-6.50 [[-4.52005379e-02 -9.98773555e-01 2.02063521e-02 1.16109854e+02] [ 6.63249724e-01 -1.48780833e-02 7.48250257e-01 1.99793931e+02] [-7.47031937e-01 4.72231715e-02 6.63108782e-01 -6.49754813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.250714057 meters Centerline goodness : 0.987227 Centerline is valid? [True, True] Translation: X:116.12, Y:199.81, Z:-6.52 [[-4.83606712e-02 -9.98802210e-01 -7.44248829e-03 1.16120224e+02] [ 6.62065154e-01 -3.76337009e-02 7.48500792e-01 1.99806062e+02] [-7.47884334e-01 3.12705886e-02 6.63092130e-01 -6.52399477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.280714057 meters Centerline goodness : 0.986280 Centerline is valid? [True, True] Translation: X:116.11, Y:199.82, Z:-6.52 [[-4.80857167e-02 -9.98792932e-01 1.00220722e-02 1.16114191e+02] [ 6.62674630e-01 -2.43930067e-02 7.48510064e-01 1.99818247e+02] [-7.47362093e-01 4.26340159e-02 6.63047693e-01 -6.52488846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.3107140569999 meters Centerline goodness : 0.986831 Centerline is valid? [True, True] Translation: X:116.12, Y:199.82, Z:-6.53 [[-4.69658745e-02 -9.98888817e-01 -3.91643398e-03 1.16120234e+02] [ 6.64575911e-01 -3.41737407e-02 7.46438888e-01 1.99816787e+02] [-7.45743297e-01 3.24543874e-02 6.65442445e-01 -6.53388113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.3407140569999 meters Centerline goodness : 0.987371 Centerline is valid? [True, True] Translation: X:116.12, Y:199.84, Z:-6.55 [[-4.65432288e-02 -9.98882133e-01 8.25906593e-03 1.16117218e+02] [ 6.64370171e-01 -2.47801712e-02 7.46992784e-01 1.99838864e+02] [-7.45953084e-01 4.02545331e-02 6.64780843e-01 -6.55196911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.370714057 meters Centerline goodness : 0.985890 Centerline is valid? [True, True] Translation: X:116.11, Y:199.86, Z:-6.57 [[-4.51424669e-02 -9.98704886e-01 2.34671814e-02 1.16114444e+02] [ 6.65124638e-01 -1.25203419e-02 7.46627388e-01 1.99860202e+02] [-7.45366604e-01 4.93132027e-02 6.64828425e-01 -6.57242764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.400714057 meters Centerline goodness : 0.987163 Centerline is valid? [True, True] Translation: X:116.12, Y:199.88, Z:-6.60 [[-4.56873078e-02 -9.98796268e-01 1.78517786e-02 1.16117729e+02] [ 6.63416176e-01 -1.69759675e-02 7.48058015e-01 1.99876678e+02] [-7.46854502e-01 4.60199155e-02 6.63393187e-01 -6.59771247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.4307140569999 meters Centerline goodness : 0.986884 Centerline is valid? [True, True] Translation: X:116.11, Y:199.90, Z:-6.62 [[-4.51567014e-02 -9.98399291e-01 3.40547947e-02 1.16112080e+02] [ 6.64451704e-01 -4.56201302e-03 7.47317283e-01 1.99900191e+02] [-7.45965687e-01 5.63741497e-02 6.63594115e-01 -6.61741521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.4607140569999 meters Centerline goodness : 0.986804 Centerline is valid? [True, True] Translation: X:116.11, Y:199.92, Z:-6.64 [[-4.60358311e-02 -9.98343236e-01 3.45179038e-02 1.16112275e+02] [ 6.63635645e-01 -4.73806234e-03 7.48040962e-01 1.99918524e+02] [-7.46638087e-01 5.73439988e-02 6.62754278e-01 -6.63951587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.490714057 meters Centerline goodness : 0.986884 Centerline is valid? [True, True] Translation: X:116.12, Y:199.92, Z:-6.65 [[-4.75555753e-02 -9.98732166e-01 1.65084035e-02 1.16120067e+02] [ 6.62512198e-01 -1.91688632e-02 7.48805811e-01 1.99918863e+02] [-7.47540002e-01 4.65469098e-02 6.62583829e-01 -6.65180055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.520714057 meters Centerline goodness : 0.986840 Centerline is valid? [True, True] Translation: X:116.12, Y:199.93, Z:-6.66 [[-4.94191825e-02 -9.98571695e-01 2.03055465e-02 1.16120437e+02] [ 6.60889707e-01 -1.74507060e-02 7.50280126e-01 1.99932176e+02] [-7.48854151e-01 5.04979572e-02 6.60808154e-01 -6.66347484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.5507140569999 meters Centerline goodness : 0.985784 Centerline is valid? [True, True] Translation: X:116.12, Y:199.93, Z:-6.66 [[-4.94089661e-02 -9.98672969e-01 1.45277202e-02 1.16123908e+02] [ 6.58332927e-01 -2.16253551e-02 7.52416176e-01 1.99928043e+02] [-7.51103529e-01 4.67401819e-02 6.58527785e-01 -6.66487342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.5807140569999 meters Centerline goodness : 0.985784 Centerline is valid? [True, True] Translation: X:116.12, Y:199.95, Z:-6.68 [[-5.01747744e-02 -9.98111936e-01 3.54267574e-02 1.16115374e+02] [ 6.58915323e-01 -6.42541812e-03 7.52189677e-01 1.99953396e+02] [-7.50541863e-01 6.10841806e-02 6.57993643e-01 -6.67978327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.610714057 meters Centerline goodness : 0.985321 Centerline is valid? [True, True] Translation: X:116.12, Y:199.96, Z:-6.69 [[-5.24882558e-02 -9.98540540e-01 1.27190247e-02 1.16123779e+02] [ 6.59740443e-01 -2.51123489e-02 7.51073843e-01 1.99955901e+02] [-7.49658276e-01 4.78138110e-02 6.60095682e-01 -6.69451406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.640714057 meters Centerline goodness : 0.987064 Centerline is valid? [True, True] Translation: X:116.12, Y:199.96, Z:-6.70 [[-5.33505551e-02 -9.98451564e-01 1.57541287e-02 1.16122710e+02] [ 6.57461432e-01 -2.32470299e-02 7.53129498e-01 1.99961779e+02] [-7.51597089e-01 5.05376088e-02 6.57683637e-01 -6.70272714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.6707140569999 meters Centerline goodness : 0.985861 Centerline is valid? [True, True] Translation: X:116.11, Y:199.99, Z:-6.71 [[-5.38540296e-02 -9.97327382e-01 4.93744570e-02 1.16109761e+02] [ 6.59551471e-01 1.59745595e-03 7.51657705e-01 1.99989663e+02] [-7.49727684e-01 7.30447920e-02 6.57702712e-01 -6.71275628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.7007140569999 meters Centerline goodness : 0.985215 Centerline is valid? [True, True] Translation: X:116.12, Y:200.00, Z:-6.74 [[-5.61683207e-02 -9.97821370e-01 3.46068405e-02 1.16117078e+02] [ 6.57874325e-01 -1.09148417e-02 7.53048630e-01 2.00001718e+02] [-7.51030287e-01 6.50644288e-02 6.57054129e-01 -6.73861884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.7307140569999 meters Centerline goodness : 0.984282 Centerline is valid? [True, True] Translation: X:116.11, Y:200.02, Z:-6.76 [[-5.56038606e-02 -9.97630087e-01 4.05267788e-02 1.16114766e+02] [ 6.60350395e-01 -6.30013948e-03 7.50931198e-01 2.00021762e+02] [-7.48896233e-01 6.85165481e-02 6.59135734e-01 -6.75654619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.760714057 meters Centerline goodness : 0.984401 Centerline is valid? [True, True] Translation: X:116.12, Y:200.04, Z:-6.78 [[-5.49248378e-02 -9.97764407e-01 3.80716590e-02 1.16116654e+02] [ 6.59706177e-01 -7.64106483e-03 7.51484780e-01 2.00036929e+02] [-7.49513857e-01 6.63912883e-02 6.58651026e-01 -6.78117631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.790714057 meters Centerline goodness : 0.984226 Centerline is valid? [True, True] Translation: X:116.12, Y:200.05, Z:-6.80 [[-5.62264304e-02 -9.98268880e-01 1.72578281e-02 1.16123630e+02] [ 6.60756811e-01 -2.42470052e-02 7.50208317e-01 2.00052218e+02] [-7.48491166e-01 5.35847632e-02 6.60976284e-01 -6.80416000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.8207140569999 meters Centerline goodness : 0.983786 Centerline is valid? [True, True] Translation: X:116.12, Y:200.04, Z:-6.79 [[-5.02334986e-02 -9.98532072e-01 2.02558046e-02 1.16121945e+02] [ 6.56985823e-01 -1.77620984e-02 7.53693662e-01 2.00041330e+02] [-7.52227508e-01 5.11684460e-02 6.56913668e-01 -6.79439429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.8507140569999 meters Centerline goodness : 0.985250 Centerline is valid? [True, True] Translation: X:116.12, Y:200.06, Z:-6.81 [[-4.79650598e-02 -9.98574099e-01 2.34333479e-02 1.16116986e+02] [ 6.57283161e-01 -1.38890344e-02 7.53515721e-01 2.00063674e+02] [-7.52115815e-01 5.15447716e-02 6.57012128e-01 -6.81192441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.880714057 meters Centerline goodness : 0.985051 Centerline is valid? [True, True] Translation: X:116.11, Y:200.09, Z:-6.83 [[-4.43088197e-02 -9.98009739e-01 4.48696955e-02 1.16109044e+02] [ 6.55366948e-01 4.86099532e-03 7.55294999e-01 2.00086479e+02] [-7.54009876e-01 6.28723453e-02 6.53847211e-01 -6.83101813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.910714057 meters Centerline goodness : 0.984881 Centerline is valid? [True, True] Translation: X:116.11, Y:200.10, Z:-6.85 [[-4.25793275e-02 -9.98442367e-01 3.60533074e-02 1.16111710e+02] [ 6.54618939e-01 -6.19385026e-04 7.55958769e-01 2.00101229e+02] [-7.54758932e-01 5.57893939e-02 6.53625656e-01 -6.85468447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.9407140569999 meters Centerline goodness : 0.983524 Centerline is valid? [True, True] Translation: X:116.12, Y:200.11, Z:-6.88 [[-3.84071683e-02 -9.99091596e-01 1.84627140e-02 1.16117302e+02] [ 6.51206166e-01 -1.10110925e-02 7.58820984e-01 2.00107254e+02] [-7.57928374e-01 4.11671984e-02 6.51037512e-01 -6.87559377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.9707140569999 meters Centerline goodness : 0.984955 Centerline is valid? [True, True] Translation: X:116.12, Y:200.11, Z:-6.89 [[-3.41977867e-02 -9.99282394e-01 1.62852098e-02 1.16116960e+02] [ 6.47782962e-01 -9.75428127e-03 7.61762488e-01 2.00112247e+02] [-7.61056993e-01 3.65998725e-02 6.47651684e-01 -6.88540684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.000714057 meters Centerline goodness : 0.982953 Centerline is valid? [True, True] Translation: X:116.10, Y:200.14, Z:-6.89 [[-3.14256071e-02 -9.98020032e-01 5.44834494e-02 1.16101273e+02] [ 6.48662571e-01 2.11072794e-02 7.60783380e-01 2.00138960e+02] [-7.60427051e-01 5.92494540e-02 6.46714931e-01 -6.89254559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.030714057 meters Centerline goodness : 0.983199 Centerline is valid? [True, True] Translation: X:116.11, Y:200.15, Z:-6.92 [[-3.32222264e-02 -9.99031616e-01 2.88463823e-02 1.16111077e+02] [ 6.47179238e-01 4.90424895e-04 7.62337716e-01 2.00149312e+02] [-7.61613627e-01 4.39953359e-02 6.46536227e-01 -6.92061051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.0607140569999 meters Centerline goodness : 0.984456 Centerline is valid? [True, True] Translation: X:116.11, Y:200.17, Z:-6.94 [[-3.68955116e-02 -9.98597799e-01 3.79625733e-02 1.16107365e+02] [ 6.48745852e-01 4.96024478e-03 7.60988972e-01 2.00169099e+02] [-7.60110216e-01 5.27051394e-02 6.47653169e-01 -6.94281185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.0907140569999 meters Centerline goodness : 0.984166 Centerline is valid? [True, True] Translation: X:116.11, Y:200.19, Z:-6.97 [[-4.20408507e-02 -9.98556215e-01 3.34372943e-02 1.16108967e+02] [ 6.47823155e-01 -1.76543208e-03 7.61788713e-01 2.00188093e+02] [-7.60629822e-01 5.36876990e-02 6.46962058e-01 -6.96529767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.120714057 meters Centerline goodness : 0.985073 Centerline is valid? [True, True] Translation: X:116.12, Y:200.20, Z:-7.00 [[-4.48418720e-02 -9.98884613e-01 1.47897428e-02 1.16116677e+02] [ 6.50331366e-01 -1.79501965e-02 7.59438546e-01 2.00201605e+02] [-7.58325999e-01 4.36728797e-02 6.50410916e-01 -6.99570907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.150714057 meters Centerline goodness : 0.984511 Centerline is valid? [True, True] Translation: X:116.12, Y:200.21, Z:-7.00 [[-5.17489391e-02 -9.98578297e-01 1.27840758e-02 1.16117560e+02] [ 6.49302523e-01 -2.39168521e-02 7.60154075e-01 2.00207585e+02] [-7.58767607e-01 4.76378996e-02 6.49617079e-01 -7.00201761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.1807140569999 meters Centerline goodness : 0.984773 Centerline is valid? [True, True] Translation: X:116.12, Y:200.21, Z:-7.00 [[-5.66807523e-02 -9.98347287e-01 9.48617767e-03 1.16118594e+02] [ 6.52775969e-01 -2.98685214e-02 7.56961958e-01 2.00206827e+02] [-7.55427579e-01 4.90975220e-02 6.53390087e-01 -6.99990399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.2107140569999 meters Centerline goodness : 0.986141 Centerline is valid? [True, True] Translation: X:116.12, Y:200.20, Z:-7.00 [[-6.28964074e-02 -9.97928946e-01 1.34855717e-02 1.16117874e+02] [ 6.56929812e-01 -3.12244455e-02 7.53304889e-01 2.00200709e+02] [-7.51323674e-01 5.62392453e-02 6.57533181e-01 -6.99588431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.240714057 meters Centerline goodness : 0.981366 Centerline is valid? [True, True] Translation: X:116.12, Y:200.23, Z:-7.02 [[-7.33788724e-02 -9.97292494e-01 4.81895783e-03 1.16121214e+02] [ 6.54420462e-01 -4.45036837e-02 7.54820032e-01 2.00225994e+02] [-7.52561891e-01 5.85414674e-02 6.55914245e-01 -7.02087605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.270714057 meters Centerline goodness : 0.988032 Centerline is valid? [True, True] Translation: X:116.13, Y:200.23, Z:-7.05 [[-7.84230486e-02 -9.96397729e-01 -3.22705894e-02 1.16132435e+02] [ 6.63026625e-01 -7.63032429e-02 7.44696925e-01 2.00225345e+02] [-7.44476675e-01 3.70051431e-02 6.66622156e-01 -7.05076524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.3007140569999 meters Centerline goodness : 0.984855 Centerline is valid? [True, True] Translation: X:116.11, Y:200.24, Z:-7.03 [[-7.30393641e-02 -9.97241566e-01 1.32102677e-02 1.16114856e+02] [ 6.59479871e-01 -3.83562773e-02 7.50743029e-01 2.00242326e+02] [-7.48165457e-01 6.35456991e-02 6.60462257e-01 -7.03406610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.3307140569999 meters Centerline goodness : 0.986193 Centerline is valid? [True, True] Translation: X:116.12, Y:200.25, Z:-7.06 [[-7.32902539e-02 -9.97307874e-01 -2.35440186e-03 1.16120310e+02] [ 6.63131892e-01 -5.04953056e-02 7.46797374e-01 2.00252717e+02] [-7.44905788e-01 5.31716902e-02 6.65047471e-01 -7.05575098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.360714057 meters Centerline goodness : 0.983515 Centerline is valid? [True, True] Translation: X:116.11, Y:200.28, Z:-7.06 [[-7.10917320e-02 -9.97058669e-01 2.86352271e-02 1.16105611e+02] [ 6.63719739e-01 -2.58552185e-02 7.47534357e-01 2.00280961e+02] [-7.44595241e-01 7.21492777e-02 6.63605612e-01 -7.06296291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.390714057 meters Centerline goodness : 0.983134 Centerline is valid? [True, True] Translation: X:116.11, Y:200.29, Z:-7.09 [[-6.92138001e-02 -9.97537665e-01 1.13161967e-02 1.16113068e+02] [ 6.61176465e-01 -3.73753532e-02 7.49298849e-01 2.00293632e+02] [-7.47030878e-01 5.93438237e-02 6.62135317e-01 -7.09068809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.4207140569999 meters Centerline goodness : 0.983862 Centerline is valid? [True, True] Translation: X:116.11, Y:200.31, Z:-7.11 [[-6.57273987e-02 -9.97833481e-01 2.87282676e-03 1.16113813e+02] [ 6.60320229e-01 -4.13365106e-02 7.49845643e-01 2.00311698e+02] [-7.48102335e-01 5.11823891e-02 6.61606574e-01 -7.11065596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.4507140569999 meters Centerline goodness : 0.984105 Centerline is valid? [True, True] Translation: X:116.11, Y:200.33, Z:-7.13 [[-6.38232787e-02 -9.97937786e-01 6.83852159e-03 1.16110776e+02] [ 6.60632339e-01 -3.71127898e-02 7.49791674e-01 2.00331553e+02] [-7.47991646e-01 5.23719115e-02 6.61638633e-01 -7.12899089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.4807140569999 meters Centerline goodness : 0.982975 Centerline is valid? [True, True] Translation: X:116.11, Y:200.33, Z:-7.14 [[-5.91628176e-02 -9.98236778e-01 4.80587423e-03 1.16111874e+02] [ 6.58801242e-01 -3.54274743e-02 7.51482413e-01 2.00334977e+02] [-7.49987123e-01 4.76259328e-02 6.59735619e-01 -7.13729711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.510714057 meters Centerline goodness : 0.982705 Centerline is valid? [True, True] Translation: X:116.11, Y:200.35, Z:-7.16 [[-5.66360145e-02 -9.98360339e-01 -8.30637809e-03 1.16114349e+02] [ 6.58425223e-01 -4.36033385e-02 7.51382043e-01 2.00351951e+02] [-7.50512217e-01 3.70861554e-02 6.59815148e-01 -7.15850162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.540714057 meters Centerline goodness : 0.983404 Centerline is valid? [True, True] Translation: X:116.10, Y:200.38, Z:-7.17 [[-5.32868328e-02 -9.98481400e-01 1.39788033e-02 1.16104694e+02] [ 6.61717483e-01 -2.48236185e-02 7.49342218e-01 2.00377448e+02] [-7.47857263e-01 4.91800921e-02 6.62035371e-01 -7.17411028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.5707140569999 meters Centerline goodness : 0.983488 Centerline is valid? [True, True] Translation: X:116.11, Y:200.39, Z:-7.20 [[-5.35054630e-02 -9.98564708e-01 -2.38505576e-03 1.16111223e+02] [ 6.60217940e-01 -3.71677719e-02 7.50153870e-01 2.00391568e+02] [-7.49165828e-01 3.85626735e-02 6.61259014e-01 -7.20194638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.6007140569999 meters Centerline goodness : 0.984630 Centerline is valid? [True, True] Translation: X:116.11, Y:200.76, Z:-7.65 [[-6.58806535e-02 -9.97720894e-01 -1.45861871e-02 1.16106555e+02] [ 6.50115355e-01 -5.40081855e-02 7.57913677e-01 2.00764854e+02] [-7.56974085e-01 4.04491442e-02 6.52191767e-01 -7.65225386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.630714057 meters Centerline goodness : 0.983772 Centerline is valid? [True, True] Translation: X:116.07, Y:201.47, Z:-7.22 [[-9.84469690e-05 -1.47300793e-01 9.89091738e-01 1.16071558e+02] [ 6.39392519e-01 7.60484069e-01 1.13318966e-01 2.01472621e+02] [-7.68880483e-01 6.32429014e-01 9.41081577e-02 -7.21968149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.660714057 meters Centerline goodness : 0.983676 Centerline is valid? [True, True] Translation: X:116.08, Y:200.85, Z:-7.70 [[-4.28825035e-02 -9.98358753e-01 3.79590844e-02 1.16083922e+02] [ 5.87452222e-01 5.53566971e-03 8.09239917e-01 2.00853425e+02] [-8.08121883e-01 5.70013820e-02 5.86250684e-01 -7.69854636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.6907140569999 meters Centerline goodness : 0.983256 Centerline is valid? [True, True] Translation: X:116.09, Y:200.86, Z:-7.73 [[-4.18454619e-02 -9.99033108e-01 1.34835976e-02 1.16094414e+02] [ 5.87087462e-01 -1.36664263e-02 8.09408142e-01 2.00860564e+02] [-8.08441259e-01 4.17861087e-02 5.87091689e-01 -7.72590929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.7207140569999 meters Centerline goodness : 0.984242 Centerline is valid? [True, True] Translation: X:116.10, Y:200.87, Z:-7.75 [[-4.26776574e-02 -9.99088022e-01 1.31978239e-03 1.16099763e+02] [ 5.83724209e-01 -2.38626069e-02 8.11601271e-01 2.00872056e+02] [-8.10829616e-01 3.54076299e-02 5.84210266e-01 -7.75278317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.750714057 meters Centerline goodness : 0.983413 Centerline is valid? [True, True] Translation: X:116.10, Y:200.89, Z:-7.77 [[-4.11453680e-02 -9.99114925e-01 8.74212980e-03 1.16098818e+02] [ 5.84110914e-01 -1.69542543e-02 8.11496761e-01 2.00890808e+02] [-8.10630310e-01 3.84957063e-02 5.84291521e-01 -7.77275977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.780714057 meters Centerline goodness : 0.983651 Centerline is valid? [True, True] Translation: X:116.10, Y:200.90, Z:-7.80 [[-4.19326285e-02 -9.99118258e-01 -2.08838553e-03 1.16104334e+02] [ 5.81212841e-01 -2.60933429e-02 8.13333124e-01 2.00903617e+02] [-8.12670467e-01 3.28913993e-02 5.81794524e-01 -7.79991906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.8107140569999 meters Centerline goodness : 0.984468 Centerline is valid? [True, True] Translation: X:116.10, Y:200.92, Z:-7.82 [[-4.60426920e-02 -9.98935322e-01 2.87979885e-03 1.16100965e+02] [ 5.80019647e-01 -2.43867902e-02 8.14237369e-01 2.00921804e+02] [-8.13300239e-01 3.91600203e-02 5.80524947e-01 -7.82223056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.8407140569999 meters Centerline goodness : 0.984301 Centerline is valid? [True, True] Translation: X:116.10, Y:200.94, Z:-7.84 [[-4.56149339e-02 -9.98880317e-01 1.25455130e-02 1.16098065e+02] [ 5.83681560e-01 -1.64583777e-02 8.11815841e-01 2.00941776e+02] [-8.10700385e-01 4.43535105e-02 5.83778769e-01 -7.84099109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.870714057 meters Centerline goodness : 0.983539 Centerline is valid? [True, True] Translation: X:116.10, Y:200.96, Z:-7.86 [[-4.69821476e-02 -9.98852231e-01 9.32196515e-03 1.16101195e+02] [ 5.83685888e-01 -1.98786563e-02 8.11736179e-01 2.00955942e+02] [-8.10619185e-01 4.35782085e-02 5.83949893e-01 -7.86290398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.900714057 meters Centerline goodness : 0.983840 Centerline is valid? [True, True] Translation: X:116.10, Y:200.97, Z:-7.88 [[-5.06961825e-02 -9.98661367e-01 1.02650086e-02 1.16100863e+02] [ 5.83147146e-01 -2.12556931e-02 8.12088420e-01 2.00970634e+02] [-8.10783142e-01 4.71557932e-02 5.83444109e-01 -7.88491068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.9307140569999 meters Centerline goodness : 0.985881 Centerline is valid? [True, True] Translation: X:116.11, Y:200.98, Z:-7.92 [[-5.33725670e-02 -9.98466301e-01 -1.47110802e-02 1.16111225e+02] [ 5.79800159e-01 -4.29806340e-02 8.13624263e-01 2.00979255e+02] [-8.13008699e-01 3.48957288e-02 5.81204906e-01 -7.91567834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.9607140569999 meters Centerline goodness : 0.984350 Centerline is valid? [True, True] Translation: X:116.09, Y:201.01, Z:-7.92 [[-5.50158883e-02 -9.98196828e-01 2.40071829e-02 1.16093861e+02] [ 5.83084660e-01 -1.26002779e-02 8.12313679e-01 2.01007031e+02] [-8.10546440e-01 5.86883786e-02 5.82726473e-01 -7.92405265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.990714057 meters Centerline goodness : 0.984883 Centerline is valid? [True, True] Translation: X:116.12, Y:201.01, Z:-7.96 [[-5.41300352e-02 -9.98332203e-01 -2.00687009e-02 1.16118129e+02] [ 5.79139976e-01 -4.77609907e-02 8.13827854e-01 2.01010907e+02] [-8.13429055e-01 3.24299434e-02 5.80759392e-01 -7.96122522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.020714057 meters Centerline goodness : 0.985037 Centerline is valid? [True, True] Translation: X:116.10, Y:201.04, Z:-7.98 [[-5.85317023e-02 -9.98248311e-01 8.62265169e-03 1.16104510e+02] [ 5.79725490e-01 -2.69575484e-02 8.14365794e-01 2.01036325e+02] [-8.12706833e-01 5.26649872e-02 5.80287862e-01 -7.97679869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.0507140569999 meters Centerline goodness : 0.985313 Centerline is valid? [True, True] Translation: X:116.12, Y:201.05, Z:-8.01 [[-5.42951582e-02 -9.98376125e-01 -1.72379966e-02 1.16124552e+02] [ 5.76202017e-01 -4.54257083e-02 8.16043958e-01 2.01048634e+02] [-8.15501853e-01 3.43746674e-02 5.77732733e-01 -8.00892126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.0807140569999 meters Centerline goodness : 0.984598 Centerline is valid? [True, True] Translation: X:116.09, Y:201.09, Z:-8.01 [[-5.41758214e-02 -9.96555023e-01 6.27938386e-02 1.16093393e+02] [ 5.79861464e-01 1.97977127e-02 8.14474514e-01 2.01092484e+02] [-8.12911842e-01 8.05365529e-02 5.76791297e-01 -8.01250654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.110714057 meters Centerline goodness : 0.984534 Centerline is valid? [True, True] Translation: X:116.08, Y:201.11, Z:-8.03 [[-5.88730952e-02 -9.95786641e-01 7.03059297e-02 1.16083623e+02] [ 5.79922736e-01 2.32089294e-02 8.14340817e-01 2.01106347e+02] [-8.12541433e-01 8.87147715e-02 5.76112931e-01 -8.02729321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.140714057 meters Centerline goodness : 0.986833 Centerline is valid? [True, True] Translation: X:116.11, Y:201.09, Z:-8.07 [[-6.16340004e-02 -9.98054985e-01 -9.35400889e-03 1.16112664e+02] [ 5.75660134e-01 -4.32022537e-02 8.16546983e-01 2.01091051e+02] [-8.15362901e-01 4.49423271e-02 5.77203194e-01 -8.07128470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.1707140569999 meters Centerline goodness : 0.984097 Centerline is valid? [True, True] Translation: X:116.12, Y:201.12, Z:-8.09 [[-5.51006724e-02 -9.98478151e-01 -2.30166979e-03 1.16119982e+02] [ 5.75893664e-01 -3.36634345e-02 8.16831232e-01 2.01115171e+02] [-8.15665620e-01 4.36824331e-02 5.76872118e-01 -8.09497135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.2007140569999 meters Centerline goodness : 0.985275 Centerline is valid? [True, True] Translation: X:116.09, Y:201.14, Z:-8.10 [[-6.02453056e-02 -9.96990702e-01 4.87856916e-02 1.16093419e+02] [ 5.80474684e-01 4.76792215e-03 8.14264336e-01 2.01144625e+02] [-8.12046578e-01 7.73744627e-02 5.78440617e-01 -8.10192834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.2307140569999 meters Centerline goodness : 0.985209 Centerline is valid? [True, True] Translation: X:116.11, Y:201.15, Z:-8.13 [[-6.01351091e-02 -9.98010283e-01 1.89537082e-02 1.16106549e+02] [ 5.76488148e-01 -1.92225318e-02 8.16879373e-01 2.01149400e+02] [-8.14889676e-01 6.00497184e-02 5.76497049e-01 -8.13363883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.260714057 meters Centerline goodness : 0.984513 Centerline is valid? [True, True] Translation: X:116.11, Y:201.16, Z:-8.16 [[-5.83326291e-02 -9.98121058e-01 1.87525292e-02 1.16106636e+02] [ 5.79374054e-01 -1.85507571e-02 8.14850646e-01 2.01164881e+02] [-8.12971715e-01 5.83971094e-02 5.79367558e-01 -8.15505634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.290714057 meters Centerline goodness : 0.984017 Centerline is valid? [True, True] Translation: X:116.11, Y:201.18, Z:-8.18 [[-5.84515893e-02 -9.98258158e-01 8.00388223e-03 1.16109551e+02] [ 5.78893702e-01 -2.73622034e-02 8.14943797e-01 2.01176698e+02] [-8.13305289e-01 5.22681571e-02 5.79484725e-01 -8.17994669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.3207140569999 meters Centerline goodness : 0.984392 Centerline is valid? [True, True] Translation: X:116.11, Y:201.19, Z:-8.20 [[-5.47774137e-02 -9.98485400e-01 5.13228124e-03 1.16111485e+02] [ 5.79819159e-01 -2.76237354e-02 8.14276779e-01 2.01192553e+02] [-8.12901703e-01 4.75797709e-02 5.80454122e-01 -8.20332089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.3507140569999 meters Centerline goodness : 0.983985 Centerline is valid? [True, True] Translation: X:116.10, Y:201.22, Z:-8.22 [[-5.39805843e-02 -9.98278842e-01 2.29226996e-02 1.16103781e+02] [ 5.84282907e-01 -1.29616967e-02 8.11446535e-01 2.01219390e+02] [-8.09752791e-01 5.71956996e-02 5.83976943e-01 -8.22353430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.380714057 meters Centerline goodness : 0.984317 Centerline is valid? [True, True] Translation: X:116.11, Y:201.22, Z:-8.25 [[-5.17655385e-02 -9.98655292e-01 2.81737363e-03 1.16106861e+02] [ 5.78916540e-01 -2.77092649e-02 8.14915847e-01 2.01219217e+02] [-8.13741955e-01 4.38155818e-02 5.79572451e-01 -8.24664449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.410714057 meters Centerline goodness : 0.983135 Centerline is valid? [True, True] Translation: X:116.11, Y:201.23, Z:-8.27 [[-4.96292714e-02 -9.98691242e-01 -1.23587271e-02 1.16113802e+02] [ 5.78362992e-01 -3.88251186e-02 8.14855116e-01 2.01229930e+02] [-8.14268497e-01 3.32928353e-02 5.79532917e-01 -8.27247193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.4407140569999 meters Centerline goodness : 0.982938 Centerline is valid? [True, True] Translation: X:116.12, Y:201.25, Z:-8.30 [[-4.21623711e-02 -9.98927898e-01 -1.91151484e-02 1.16120808e+02] [ 5.77787412e-01 -3.99865635e-02 8.15207201e-01 2.01246024e+02] [-8.15097565e-01 2.33265764e-02 5.78853894e-01 -8.29615544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.4707140569999 meters Centerline goodness : 0.983751 Centerline is valid? [True, True] Translation: X:116.13, Y:201.26, Z:-8.32 [[-3.82515359e-02 -9.98885961e-01 -2.76343521e-02 1.16128652e+02] [ 5.75456321e-01 -4.46284031e-02 8.16613941e-01 2.01260598e+02] [-8.16937478e-01 1.53343749e-02 5.76522345e-01 -8.32444861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.500714057 meters Centerline goodness : 0.983751 Centerline is valid? [True, True] Translation: X:116.11, Y:201.29, Z:-8.34 [[-3.85875537e-02 -9.99231159e-01 6.93477569e-03 1.16114680e+02] [ 5.76530997e-01 -1.65946144e-02 8.16906744e-01 2.01289677e+02] [-8.16163593e-01 3.55205460e-02 5.76728082e-01 -8.33970437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.530714057 meters Centerline goodness : 0.982672 Centerline is valid? [True, True] Translation: X:116.11, Y:201.31, Z:-8.36 [[-3.47999964e-02 -9.99209269e-01 1.92301009e-02 1.16109474e+02] [ 5.77179759e-01 -4.38591845e-03 8.16605345e-01 2.01310924e+02] [-8.15875289e-01 3.95170881e-02 5.76875995e-01 -8.35918316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.5607140569999 meters Centerline goodness : 0.983320 Centerline is valid? [True, True] Translation: X:116.11, Y:201.32, Z:-8.38 [[-3.65118348e-02 -9.99312151e-01 6.48925644e-03 1.16112381e+02] [ 5.73788644e-01 -1.56470859e-02 8.18853931e-01 2.01320475e+02] [-8.18189146e-01 3.36213211e-02 5.73965268e-01 -8.38478048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.5907140569999 meters Centerline goodness : 0.983263 Centerline is valid? [True, True] Translation: X:116.11, Y:201.35, Z:-8.40 [[-3.43113567e-02 -9.99088657e-01 2.53886886e-02 1.16107717e+02] [ 5.77383070e-01 9.19216699e-04 8.16472869e-01 2.01348455e+02] [-8.15752120e-01 4.26732908e-02 5.76825336e-01 -8.40433738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.620714057 meters Centerline goodness : 0.985329 Centerline is valid? [True, True] Translation: X:116.12, Y:201.35, Z:-8.43 [[-3.62665402e-02 -9.99294010e-01 -9.80917892e-03 1.16120407e+02] [ 5.73342281e-01 -2.88453398e-02 8.18808021e-01 2.01350798e+02] [-8.18512900e-01 2.40713170e-02 5.73983628e-01 -8.43420466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.650714057 meters Centerline goodness : 0.986292 Centerline is valid? [True, True] Translation: X:116.12, Y:201.36, Z:-8.46 [[-4.02386039e-02 -9.99160801e-01 -7.65167899e-03 1.16118065e+02] [ 5.72807373e-01 -2.93415776e-02 8.19164688e-01 2.01360799e+02] [-8.18701758e-01 2.85791052e-02 5.73507338e-01 -8.45872903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.6807140569999 meters Centerline goodness : 0.979590 Centerline is valid? [True, True] Translation: X:116.09, Y:201.40, Z:-8.46 [[-4.81920794e-02 -9.97897371e-01 4.33400650e-02 1.16091589e+02] [ 5.75178554e-01 7.74903400e-03 8.17991188e-01 2.01395446e+02] [-8.16607099e-01 6.43489722e-02 5.73595725e-01 -8.46030202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.7107140569999 meters Centerline goodness : 0.983274 Centerline is valid? [True, True] Translation: X:116.14, Y:201.39, Z:-8.51 [[-4.28402212e-02 -9.97674803e-01 -5.30066245e-02 1.16143013e+02] [ 5.75375255e-01 -6.80107599e-02 8.15056963e-01 2.01386914e+02] [-8.16766816e-01 4.41852050e-03 5.76950990e-01 -8.50978185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.740714057 meters Centerline goodness : 0.984388 Centerline is valid? [True, True] Translation: X:116.12, Y:201.42, Z:-8.52 [[-4.91602808e-02 -9.98787505e-01 2.60500699e-03 1.16121386e+02] [ 5.75606732e-01 -2.61996655e-02 8.17306838e-01 2.01422235e+02] [-8.16247607e-01 4.16784932e-02 5.76196795e-01 -8.52046066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.770714057 meters Centerline goodness : 0.979907 Centerline is valid? [True, True] Translation: X:116.09, Y:201.45, Z:-8.53 [[-5.97544255e-02 -9.97112818e-01 4.68554969e-02 1.16094581e+02] [ 5.77130870e-01 3.78902423e-03 8.16642886e-01 2.01447217e+02] [-8.14462625e-01 7.58397801e-02 5.75238177e-01 -8.52536796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.8007140569999 meters Centerline goodness : 0.984476 Centerline is valid? [True, True] Translation: X:116.15, Y:201.43, Z:-8.58 [[-5.31394722e-02 -9.96819365e-01 -5.93914921e-02 1.16151580e+02] [ 5.70825186e-01 -7.91227297e-02 8.17250391e-01 2.01429937e+02] [-8.19350233e-01 9.52609488e-03 5.73214139e-01 -8.57980705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.8307140569999 meters Centerline goodness : 0.982715 Centerline is valid? [True, True] Translation: X:116.11, Y:201.48, Z:-8.57 [[-5.21096694e-02 -9.97872625e-01 3.91765977e-02 1.16113369e+02] [ 5.79947008e-01 1.69807617e-03 8.14652432e-01 2.01481663e+02] [-8.12985886e-01 6.51716195e-02 5.78624757e-01 -8.57410798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.860714057 meters Centerline goodness : 0.981952 Centerline is valid? [True, True] Translation: X:116.13, Y:201.48, Z:-8.61 [[-5.25131040e-02 -9.98618125e-01 2.05303280e-03 1.16128875e+02] [ 5.78098056e-01 -2.87232459e-02 8.15461595e-01 2.01484793e+02] [-8.14275759e-01 4.40092738e-02 5.78807543e-01 -8.60637958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.890714057 meters Centerline goodness : 0.982639 Centerline is valid? [True, True] Translation: X:116.13, Y:201.50, Z:-8.63 [[-5.13546385e-02 -9.98648871e-01 -7.94563639e-03 1.16133791e+02] [ 5.77007835e-01 -3.61640343e-02 8.15937572e-01 2.01496953e+02] [-8.15122481e-01 3.73174846e-02 5.78085414e-01 -8.63011078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.9207140569999 meters Centerline goodness : 0.985323 Centerline is valid? [True, True] Translation: X:116.14, Y:201.51, Z:-8.66 [[-5.65834588e-02 -9.98090653e-01 -2.47661278e-02 1.16138401e+02] [ 5.72904073e-01 -5.27744102e-02 8.17921625e-01 2.01510012e+02] [-8.17666946e-01 3.20922191e-02 5.74796359e-01 -8.66162705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.9507140569999 meters Centerline goodness : 0.983227 Centerline is valid? [True, True] Translation: X:116.12, Y:201.54, Z:-8.67 [[-5.23642490e-02 -9.98505774e-01 1.56270222e-02 1.16124966e+02] [ 5.75888477e-01 -1.74093458e-02 8.17342876e-01 2.01540537e+02] [-8.15849525e-01 5.17989679e-02 5.75939597e-01 -8.67247999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.9807140569999 meters Centerline goodness : 0.984565 Centerline is valid? [True, True] Translation: X:116.12, Y:201.55, Z:-8.70 [[-5.23665141e-02 -9.98394811e-01 2.15765881e-02 1.16122049e+02] [ 5.73062801e-01 -1.23488700e-02 8.19418411e-01 2.01554725e+02] [-8.17836643e-01 5.52748258e-02 5.72789594e-01 -8.69603754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.010714057 meters Centerline goodness : 0.984528 Centerline is valid? [True, True] Translation: X:116.12, Y:201.57, Z:-8.72 [[-5.38148054e-02 -9.98433712e-01 1.52999889e-02 1.16122809e+02] [ 5.73302104e-01 -1.83480681e-02 8.19138600e-01 2.01568242e+02] [-8.17574867e-01 5.28533002e-02 5.73391546e-01 -8.71864967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.040714057 meters Centerline goodness : 0.984651 Centerline is valid? [True, True] Translation: X:116.13, Y:201.58, Z:-8.75 [[-5.39682204e-02 -9.98515792e-01 -7.32423875e-03 1.16134447e+02] [ 5.71626490e-01 -3.69080008e-02 8.19683449e-01 2.01577997e+02] [-8.18737191e-01 4.00501282e-02 5.72769936e-01 -8.74857542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.0707140569999 meters Centerline goodness : 0.983625 Centerline is valid? [True, True] Translation: X:116.13, Y:201.60, Z:-8.77 [[-5.74509987e-02 -9.98291142e-01 1.06854714e-02 1.16127418e+02] [ 5.72569759e-01 -2.41792863e-02 8.19499380e-01 2.01599030e+02] [-8.17840604e-01 5.31992356e-02 5.72980442e-01 -8.76717110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.1007140569999 meters Centerline goodness : 0.985244 Centerline is valid? [True, True] Translation: X:116.13, Y:201.61, Z:-8.80 [[-6.16122899e-02 -9.98093020e-01 3.77488865e-03 1.16130640e+02] [ 5.70758652e-01 -3.21297636e-02 8.20489025e-01 2.01614394e+02] [-8.18803082e-01 5.27067580e-02 5.71649815e-01 -8.79648506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.130714057 meters Centerline goodness : 0.980175 Centerline is valid? [True, True] Translation: X:116.10, Y:201.64, Z:-8.80 [[-6.93495626e-02 -9.96001822e-01 5.63117035e-02 1.16101555e+02] [ 5.74670803e-01 6.25512912e-03 8.18360765e-01 2.01644234e+02] [-8.15441051e-01 8.91136530e-02 5.71939376e-01 -8.79971008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.160714057 meters Centerline goodness : 0.988654 Centerline is valid? [True, True] Translation: X:116.13, Y:201.66, Z:-8.83 [[-6.79573040e-02 -9.97684160e-01 -2.84980774e-03 1.16129848e+02] [ 5.93696013e-01 -4.27349216e-02 8.03553838e-01 2.01656514e+02] [-8.01814723e-01 5.29154330e-02 5.95225258e-01 -8.83245038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.1907140569999 meters Centerline goodness : 0.985500 Centerline is valid? [True, True] Translation: X:116.14, Y:201.67, Z:-8.87 [[-6.61285542e-02 -9.97599454e-01 -2.05510262e-02 1.16143108e+02] [ 5.76290906e-01 -5.49984512e-02 8.15391907e-01 2.01665619e+02] [-8.14564795e-01 4.20773184e-02 5.78544461e-01 -8.86677166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.2207140569999 meters Centerline goodness : 0.984693 Centerline is valid? [True, True] Translation: X:116.12, Y:201.71, Z:-8.87 [[-6.74587340e-02 -9.96513679e-01 4.90897887e-02 1.16115900e+02] [ 5.81579586e-01 7.03844479e-04 8.13489207e-01 2.01707977e+02] [-8.10687674e-01 8.34265710e-02 5.79504532e-01 -8.87102923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.250714057 meters Centerline goodness : 0.984052 Centerline is valid? [True, True] Translation: X:116.12, Y:201.73, Z:-8.89 [[-6.14913101e-02 -9.96578531e-01 5.52272620e-02 1.16119439e+02] [ 5.81966493e-01 9.15410728e-03 8.13161241e-01 2.01725104e+02] [-8.10884591e-01 8.21427660e-02 5.79412414e-01 -8.89369114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.280714057 meters Centerline goodness : 0.983876 Centerline is valid? [True, True] Translation: X:116.12, Y:201.74, Z:-8.92 [[-6.40701357e-02 -9.97059676e-01 4.20359303e-02 1.16124765e+02] [ 5.79635504e-01 -2.89197923e-03 8.14870738e-01 2.01738038e+02] [-8.12353187e-01 7.65743964e-02 5.78116478e-01 -8.92017140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.3107140569999 meters Centerline goodness : 0.984991 Centerline is valid? [True, True] Translation: X:116.12, Y:201.76, Z:-8.94 [[-6.60409594e-02 -9.96651452e-01 4.82128100e-02 1.16123435e+02] [ 5.78225189e-01 1.15300858e-03 8.15876401e-01 2.01757858e+02] [-8.13199990e-01 8.17591214e-02 5.76212828e-01 -8.94379104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.3407140569999 meters Centerline goodness : 0.984908 Centerline is valid? [True, True] Translation: X:116.12, Y:201.78, Z:-8.96 [[-6.68035550e-02 -9.96248401e-01 5.50128026e-02 1.16120346e+02] [ 5.78992966e-01 6.19689224e-03 8.15308987e-01 2.01777239e+02] [-8.12591183e-01 8.63175645e-02 5.76406842e-01 -8.96235424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.370714057 meters Centerline goodness : 0.985880 Centerline is valid? [True, True] Translation: X:116.12, Y:201.79, Z:-8.99 [[-6.85494408e-02 -9.96776618e-01 4.16814985e-02 1.16124944e+02] [ 5.78768746e-01 -5.70256986e-03 8.15471777e-01 2.01789787e+02] [-8.12605509e-01 8.00240829e-02 5.77294062e-01 -8.98870947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.400714057 meters Centerline goodness : 0.986037 Centerline is valid? [True, True] Translation: X:116.12, Y:201.81, Z:-9.01 [[-6.91094340e-02 -9.96463248e-01 4.78004445e-02 1.16121735e+02] [ 5.79747173e-01 -1.12237418e-03 8.14795653e-01 2.01809321e+02] [-8.11860272e-01 8.40222389e-02 5.77774318e-01 -9.01017072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.4307140569999 meters Centerline goodness : 0.987631 Centerline is valid? [True, True] Translation: X:116.12, Y:201.83, Z:-9.03 [[-6.76967587e-02 -9.96561982e-01 4.77636401e-02 1.16120472e+02] [ 5.84989716e-01 -8.66652771e-04 8.11040246e-01 2.01826587e+02] [-8.08210481e-01 8.28460341e-02 5.83037180e-01 -9.03124378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.4607140569999 meters Centerline goodness : 0.987115 Centerline is valid? [True, True] Translation: X:116.12, Y:201.84, Z:-9.05 [[-6.75874954e-02 -9.96880502e-01 4.07577515e-02 1.16122011e+02] [ 5.83826266e-01 -6.38996650e-03 8.11853472e-01 2.01841030e+02] [-8.09060456e-01 7.86665887e-02 5.82436903e-01 -9.05221186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.490714057 meters Centerline goodness : 0.984945 Centerline is valid? [True, True] Translation: X:116.12, Y:201.86, Z:-9.07 [[-6.55514724e-02 -9.96838953e-01 4.48899335e-02 1.16120725e+02] [ 5.84346847e-01 -1.88248371e-03 8.11501829e-01 2.01860970e+02] [-8.08852129e-01 7.94264309e-02 5.82623099e-01 -9.06795578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.520714057 meters Centerline goodness : 0.986911 Centerline is valid? [True, True] Translation: X:116.13, Y:201.87, Z:-9.10 [[-6.66441638e-02 -9.97605379e-01 1.84949466e-02 1.16129259e+02] [ 5.83967117e-01 -2.39681623e-02 8.11423400e-01 2.01867087e+02] [-8.09037059e-01 6.48770746e-02 5.84166075e-01 -9.09799384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.5507140569999 meters Centerline goodness : 0.986677 Centerline is valid? [True, True] Translation: X:116.12, Y:201.89, Z:-9.11 [[-6.30127218e-02 -9.97077824e-01 4.31880806e-02 1.16119792e+02] [ 5.83760838e-01 -1.72396503e-03 8.11923834e-01 2.01891859e+02] [-8.09476795e-01 7.63730408e-02 5.82163618e-01 -9.11299224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.5807140569999 meters Centerline goodness : 0.986917 Centerline is valid? [True, True] Translation: X:116.13, Y:201.90, Z:-9.14 [[-6.28842655e-02 -9.97786125e-01 2.16429544e-02 1.16127751e+02] [ 5.81102943e-01 -1.89753422e-02 8.13608816e-01 2.01901270e+02] [-8.11396906e-01 6.37399773e-02 5.81009704e-01 -9.14123009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.610714057 meters Centerline goodness : 0.986378 Centerline is valid? [True, True] Translation: X:116.13, Y:201.92, Z:-9.16 [[-6.28464448e-02 -9.97596336e-01 2.91868925e-02 1.16125156e+02] [ 5.80925244e-01 -1.27858774e-02 8.13856487e-01 2.01920078e+02] [-8.11527070e-01 6.81033894e-02 5.80332442e-01 -9.16329602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.640714057 meters Centerline goodness : 0.985912 Centerline is valid? [True, True] Translation: X:116.12, Y:201.94, Z:-9.19 [[-6.07728938e-02 -9.97192971e-01 4.37359644e-02 1.16121625e+02] [ 5.79515761e-01 4.25446276e-04 8.14960921e-01 2.01937688e+02] [-8.12691909e-01 7.48732142e-02 5.77863187e-01 -9.18567279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.6707140569999 meters Centerline goodness : 0.986935 Centerline is valid? [True, True] Translation: X:116.13, Y:201.93, Z:-9.19 [[-5.81010942e-02 -9.98048226e-01 2.28911010e-02 1.16131044e+02] [ 5.75730632e-01 -1.47657846e-02 8.17506093e-01 2.01925376e+02] [-8.15572500e-01 6.06771065e-02 5.75464844e-01 -9.18747057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.7007140569999 meters Centerline goodness : 0.985740 Centerline is valid? [True, True] Translation: X:116.12, Y:201.95, Z:-9.20 [[-5.76749828e-02 -9.96769827e-01 5.58883546e-02 1.16119942e+02] [ 5.74625021e-01 1.26338403e-02 8.18319297e-01 2.01951218e+02] [-8.16382069e-01 7.93113983e-02 5.72040226e-01 -9.20473155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.7307140569999 meters Centerline goodness : 0.987549 Centerline is valid? [True, True] Translation: X:116.12, Y:201.96, Z:-9.23 [[-5.88309609e-02 -9.96863737e-01 5.29302254e-02 1.16123116e+02] [ 5.75770548e-01 9.42991329e-03 8.17556942e-01 2.01963567e+02] [-8.15491995e-01 7.85733253e-02 5.73410009e-01 -9.23337424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.760714057 meters Centerline goodness : 0.986670 Centerline is valid? [True, True] Translation: X:116.12, Y:201.98, Z:-9.25 [[-6.02507660e-02 -9.96611676e-01 5.59911858e-02 1.16123086e+02] [ 5.74763656e-01 1.12224428e-02 8.18242505e-01 2.01980374e+02] [-8.16098392e-01 8.14814363e-02 5.72140010e-01 -9.25394636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.790714057 meters Centerline goodness : 0.987153 Centerline is valid? [True, True] Translation: X:116.13, Y:201.99, Z:-9.28 [[-6.28635280e-02 -9.96469135e-01 5.56546452e-02 1.16126325e+02] [ 5.76669852e-01 9.24681634e-03 8.16924953e-01 2.01993606e+02] [-8.14555130e-01 8.34491407e-02 5.74052421e-01 -9.27831766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.8207140569999 meters Centerline goodness : 0.984817 Centerline is valid? [True, True] Translation: X:116.13, Y:202.01, Z:-9.30 [[-6.22522661e-02 -9.96394094e-01 5.76494950e-02 1.16126909e+02] [ 5.76027517e-01 1.13016744e-02 8.17352171e-01 2.02008032e+02] [-8.15056412e-01 8.40897203e-02 5.73246861e-01 -9.29759467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.8507140569999 meters Centerline goodness : 0.986046 Centerline is valid? [True, True] Translation: X:116.14, Y:202.02, Z:-9.32 [[-6.44207487e-02 -9.97313177e-01 3.48768356e-02 1.16136433e+02] [ 5.78298068e-01 -8.82636072e-03 8.15777813e-01 2.02015963e+02] [-8.13278127e-01 7.27222241e-02 5.77312884e-01 -9.32454323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.880714057 meters Centerline goodness : 0.986584 Centerline is valid? [True, True] Translation: X:116.14, Y:202.03, Z:-9.35 [[-6.64046099e-02 -9.97300691e-01 3.13330324e-02 1.16139280e+02] [ 5.75654108e-01 -1.26424638e-02 8.17595570e-01 2.02032589e+02] [-8.14992501e-01 7.23291037e-02 5.74939758e-01 -9.35101663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.910714057 meters Centerline goodness : 0.984979 Centerline is valid? [True, True] Translation: X:116.14, Y:202.04, Z:-9.36 [[-6.86251019e-02 -9.97281812e-01 2.68250368e-02 1.16142581e+02] [ 5.73588788e-01 -1.74414280e-02 8.18957690e-01 2.02037680e+02] [-8.16263743e-01 7.15875953e-02 5.73226586e-01 -9.35639710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.9407140569999 meters Centerline goodness : 0.984825 Centerline is valid? [True, True] Translation: X:116.15, Y:202.03, Z:-9.36 [[-6.61287759e-02 -9.97757779e-01 1.03150185e-02 1.16150588e+02] [ 5.70509776e-01 -2.93266426e-02 8.20767046e-01 2.02029271e+02] [-8.18624200e-01 6.01611389e-02 5.71169902e-01 -9.36177375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.9707140569999 meters Centerline goodness : 0.986584 Centerline is valid? [True, True] Translation: X:116.14, Y:202.06, Z:-9.38 [[-6.88108823e-02 -9.96949848e-01 3.68247491e-02 1.16141060e+02] [ 5.73104882e-01 -9.28890372e-03 8.19429381e-01 2.02055581e+02] [-8.16587936e-01 7.74901022e-02 5.71996003e-01 -9.37735278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.000714057 meters Centerline goodness : 0.985368 Centerline is valid? [True, True] Translation: X:116.15, Y:202.06, Z:-9.39 [[-7.10129178e-02 -9.97323810e-01 1.73892036e-02 1.16149387e+02] [ 5.73619547e-01 -2.65691199e-02 8.18690844e-01 2.02056184e+02] [-8.16037855e-01 6.81124127e-02 5.73971182e-01 -9.38916911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.030714057 meters Centerline goodness : 0.984199 Centerline is valid? [True, True] Translation: X:116.15, Y:202.06, Z:-9.40 [[-7.00030997e-02 -9.97452378e-01 1.37229896e-02 1.16153578e+02] [ 5.70805839e-01 -2.87706522e-02 8.20580858e-01 2.02059819e+02] [-8.18095508e-01 6.52763661e-02 5.71365676e-01 -9.39505984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.0607140569999 meters Centerline goodness : 0.984477 Centerline is valid? [True, True] Translation: X:116.15, Y:202.06, Z:-9.40 [[-6.77103506e-02 -9.97448910e-01 2.26048558e-02 1.16150480e+02] [ 5.70742088e-01 -2.01406003e-02 8.20882345e-01 2.02064210e+02] [-8.18332926e-01 6.84837740e-02 5.70649801e-01 -9.39879393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.0907140569999 meters Centerline goodness : 0.984643 Centerline is valid? [True, True] Translation: X:116.14, Y:202.09, Z:-9.41 [[-6.88078764e-02 -9.96108589e-01 5.50740874e-02 1.16139733e+02] [ 5.70077230e-01 6.04487540e-03 8.21568872e-01 2.02090572e+02] [-8.18704726e-01 8.79268926e-02 5.67442890e-01 -9.41372861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.120714057 meters Centerline goodness : 0.983440 Centerline is valid? [True, True] Translation: X:116.15, Y:202.10, Z:-9.44 [[-6.90732882e-02 -9.96794623e-01 4.03653451e-02 1.16145251e+02] [ 5.69484271e-01 -6.17648211e-03 8.21979024e-01 2.02101527e+02] [-8.19094956e-01 7.97642232e-02 5.68085489e-01 -9.43927624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.150714057 meters Centerline goodness : 0.983575 Centerline is valid? [True, True] Translation: X:116.15, Y:202.12, Z:-9.46 [[-6.87525291e-02 -9.96603165e-01 4.53345598e-02 1.16145110e+02] [ 5.72512304e-01 -2.19964425e-03 8.19893178e-01 2.02117274e+02] [-8.17008416e-01 8.23243228e-02 5.70718804e-01 -9.46094412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.1807140569999 meters Centerline goodness : 0.981633 Centerline is valid? [True, True] Translation: X:116.14, Y:202.14, Z:-9.48 [[-6.81351172e-02 -9.96115943e-01 5.57730589e-02 1.16142592e+02] [ 5.72762842e-01 6.71764794e-03 8.19693602e-01 2.02135443e+02] [-8.16884529e-01 8.77946553e-02 5.70080490e-01 -9.48089599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.2107140569999 meters Centerline goodness : 0.981911 Centerline is valid? [True, True] Translation: X:116.15, Y:202.14, Z:-9.51 [[-6.67282912e-02 -9.97311496e-01 3.02839225e-02 1.16153217e+02] [ 5.70134061e-01 -1.32029737e-02 8.21445576e-01 2.02141196e+02] [-8.18837278e-01 7.20795553e-02 5.69482265e-01 -9.50841847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.240714057 meters Centerline goodness : 0.981224 Centerline is valid? [True, True] Translation: X:116.16, Y:202.16, Z:-9.53 [[-6.73418593e-02 -9.97542945e-01 1.93169886e-02 1.16156593e+02] [ 5.70472560e-01 -2.26128939e-02 8.21005308e-01 2.02155100e+02] [-8.18551240e-01 6.63078359e-02 5.70593672e-01 -9.52823440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.270714057 meters Centerline goodness : 0.982083 Centerline is valid? [True, True] Translation: X:116.16, Y:202.17, Z:-9.55 [[-6.93593794e-02 -9.97501861e-01 1.33907794e-02 1.16158695e+02] [ 5.69958768e-01 -2.86072761e-02 8.21175150e-01 2.02172002e+02] [-8.18740667e-01 6.45883909e-02 5.70519115e-01 -9.55195091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.3007140569999 meters Centerline goodness : 0.981303 Centerline is valid? [True, True] Translation: X:116.16, Y:202.17, Z:-9.55 [[-6.66761366e-02 -9.97497614e-01 2.35117495e-02 1.16156206e+02] [ 5.65305716e-01 -1.83487088e-02 8.24677375e-01 2.02171766e+02] [-8.22182304e-01 6.82776277e-02 5.65114524e-01 -9.55066554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.3307140569999 meters Centerline goodness : 0.981981 Centerline is valid? [True, True] Translation: X:116.16, Y:202.18, Z:-9.57 [[-6.76193962e-02 -9.97698760e-01 4.98013273e-03 1.16162534e+02] [ 5.68519677e-01 -3.44287714e-02 8.21948926e-01 2.02176926e+02] [-8.19885964e-01 5.84109935e-02 5.69539429e-01 -9.56529287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.360714057 meters Centerline goodness : 0.981946 Centerline is valid? [True, True] Translation: X:116.16, Y:202.20, Z:-9.58 [[-6.71634862e-02 -9.97577580e-01 1.81118010e-02 1.16156497e+02] [ 5.68896445e-01 -2.33764033e-02 8.22076869e-01 2.02198068e+02] [-8.19662065e-01 6.55172876e-02 5.69088380e-01 -9.58390283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.390714057 meters Centerline goodness : 0.981946 Centerline is valid? [True, True] Translation: X:116.16, Y:202.20, Z:-9.59 [[-6.66285164e-02 -9.97731620e-01 9.60492041e-03 1.16159809e+02] [ 5.68446528e-01 -3.00460139e-02 8.22171382e-01 2.02198744e+02] [-8.20017796e-01 6.02399431e-02 5.69158997e-01 -9.59082831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.4207140569999 meters Centerline goodness : 0.983282 Centerline is valid? [True, True] Translation: X:116.16, Y:202.21, Z:-9.60 [[-6.32769929e-02 -9.97869043e-01 1.59183731e-02 1.16157521e+02] [ 5.66359089e-01 -2.27717706e-02 8.23843935e-01 2.02206303e+02] [-8.21725870e-01 6.11458821e-02 5.66593131e-01 -9.60262825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.4507140569999 meters Centerline goodness : 0.982886 Centerline is valid? [True, True] Translation: X:116.15, Y:202.23, Z:-9.62 [[-6.38334821e-02 -9.97643167e-01 2.51673942e-02 1.16150764e+02] [ 5.69460946e-01 -1.57033999e-02 8.21868380e-01 2.02229061e+02] [-8.19536160e-01 6.67945687e-02 5.69121225e-01 -9.61660707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.4807140569999 meters Centerline goodness : 0.983598 Centerline is valid? [True, True] Translation: X:116.15, Y:202.24, Z:-9.64 [[-6.39592987e-02 -9.97763329e-01 1.94305749e-02 1.16152249e+02] [ 5.70810379e-01 -2.06056506e-02 8.20823318e-01 2.02244187e+02] [-8.18587026e-01 6.35904576e-02 5.70851587e-01 -9.63987990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.510714057 meters Centerline goodness : 0.983055 Centerline is valid? [True, True] Translation: X:116.15, Y:202.25, Z:-9.66 [[-6.76573925e-02 -9.97592843e-01 1.51985629e-02 1.16148218e+02] [ 5.67874062e-01 -2.59794757e-02 8.22705365e-01 2.02252343e+02] [-8.20330133e-01 6.42929693e-02 5.68264804e-01 -9.66067394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.540714057 meters Centerline goodness : 0.982433 Centerline is valid? [True, True] Translation: X:116.16, Y:202.26, Z:-9.69 [[-6.79089135e-02 -9.97467487e-01 -2.11421952e-02 1.16163799e+02] [ 5.65179196e-01 -5.59238496e-02 8.23070471e-01 2.02255697e+02] [-8.22168387e-01 4.39446925e-02 5.67545600e-01 -9.69197752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.5707140569999 meters Centerline goodness : 0.982381 Centerline is valid? [True, True] Translation: X:116.16, Y:202.27, Z:-9.72 [[-7.12279362e-02 -9.97329198e-01 -1.61571336e-02 1.16161660e+02] [ 5.64486286e-01 -5.36590805e-02 8.23696508e-01 2.02273445e+02] [-8.22363554e-01 4.95497219e-02 5.66800680e-01 -9.71541547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.6007140569999 meters Centerline goodness : 0.984857 Centerline is valid? [True, True] Translation: X:116.16, Y:202.29, Z:-9.74 [[-7.51665857e-02 -9.97038277e-01 -1.62683329e-02 1.16160053e+02] [ 5.62803152e-01 -5.58859972e-02 8.24699562e-01 2.02289634e+02] [-8.23166202e-01 5.28339812e-02 5.65337045e-01 -9.73888451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.630714057 meters Centerline goodness : 0.983830 Centerline is valid? [True, True] Translation: X:116.15, Y:202.32, Z:-9.75 [[-7.59517467e-02 -9.96970187e-01 1.67862300e-02 1.16149987e+02] [ 5.69478868e-01 -2.95529940e-02 8.21474552e-01 2.02318769e+02] [-8.18489555e-01 7.19518303e-02 5.69998055e-01 -9.75380706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.660714057 meters Centerline goodness : 0.984084 Centerline is valid? [True, True] Translation: X:116.16, Y:202.33, Z:-9.79 [[-7.94735414e-02 -9.96806694e-01 -7.76982133e-03 1.16159188e+02] [ 5.65989905e-01 -5.15388072e-02 8.22799598e-01 2.02327279e+02] [-8.20572595e-01 6.09931575e-02 5.68278498e-01 -9.78592996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.6907140569999 meters Centerline goodness : 0.984619 Centerline is valid? [True, True] Translation: X:116.16, Y:202.34, Z:-9.81 [[-8.06735039e-02 -9.96735147e-01 -3.29127989e-03 1.16156249e+02] [ 5.62648215e-01 -4.82646282e-02 8.25286321e-01 2.02341911e+02] [-8.22750735e-01 6.47269065e-02 5.64704928e-01 -9.80533922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.7207140569999 meters Centerline goodness : 0.985132 Centerline is valid? [True, True] Translation: X:116.16, Y:202.35, Z:-9.83 [[-8.16513524e-02 -9.96547559e-01 -1.50339174e-02 1.16157819e+02] [ 5.61968506e-01 -5.84917317e-02 8.25087944e-01 2.02352913e+02] [-8.23118737e-01 5.89209584e-02 5.64804272e-01 -9.83161119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.750714057 meters Centerline goodness : 0.985997 Centerline is valid? [True, True] Translation: X:116.15, Y:202.38, Z:-9.85 [[-8.46776220e-02 -9.96397403e-01 4.68135948e-03 1.16147056e+02] [ 5.68144190e-01 -4.44223251e-02 8.21729174e-01 2.02377480e+02] [-8.18560859e-01 7.22417596e-02 5.69858973e-01 -9.85203895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.780714057 meters Centerline goodness : 0.985061 Centerline is valid? [True, True] Translation: X:116.15, Y:202.39, Z:-9.87 [[-8.16918057e-02 -9.96623617e-01 8.23501457e-03 1.16146195e+02] [ 5.59937473e-01 -3.90587697e-02 8.27613701e-01 2.02390221e+02] [-8.24497711e-01 7.22203509e-02 5.61237691e-01 -9.87099792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.8107140569999 meters Centerline goodness : 0.985758 Centerline is valid? [True, True] Translation: X:116.16, Y:202.39, Z:-9.90 [[-8.15012401e-02 -9.96259127e-01 -2.87280301e-02 1.16158071e+02] [ 5.56305786e-01 -6.93881637e-02 8.28075574e-01 2.02393247e+02] [-8.26971233e-01 5.15076168e-02 5.59879938e-01 -9.90378751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.8407140569999 meters Centerline goodness : 0.986755 Centerline is valid? [True, True] Translation: X:116.15, Y:202.42, Z:-9.92 [[-8.08139781e-02 -9.96726580e-01 -2.28579509e-03 1.16147003e+02] [ 5.60907076e-01 -4.73734658e-02 8.26522236e-01 2.02417283e+02] [-8.23924968e-01 6.55124312e-02 5.62899430e-01 -9.91883202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.870714057 meters Centerline goodness : 0.985713 Centerline is valid? [True, True] Translation: X:116.14, Y:202.48, Z:-10.00 [[-7.52792772e-02 -9.97142735e-01 6.27665588e-03 1.16142176e+02] [ 5.57132120e-01 -3.68386073e-02 8.29606364e-01 2.02476794e+02] [-8.27004735e-01 6.59490940e-02 5.58313429e-01 -1.00036885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.900714057 meters Centerline goodness : 0.990572 Centerline is valid? [True, True] Translation: X:116.14, Y:202.50, Z:-10.03 [[-8.13570199e-02 -9.96642472e-01 9.20966306e-03 1.16138448e+02] [ 5.68821414e-01 -3.88418902e-02 8.21543369e-01 2.02499367e+02] [-8.18427294e-01 7.20769738e-02 5.70071640e-01 -1.00301363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.9307140569999 meters Centerline goodness : 0.987343 Centerline is valid? [True, True] Translation: X:116.16, Y:202.50, Z:-10.06 [[-7.62864201e-02 -9.96513362e-01 -3.37861186e-02 1.16156750e+02] [ 5.59809406e-01 -7.08462581e-02 8.25587207e-01 2.02499024e+02] [-8.25102303e-01 4.40673055e-02 5.63262161e-01 -1.00588733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.9607140569999 meters Centerline goodness : 0.989727 Centerline is valid? [True, True] Translation: X:116.13, Y:202.54, Z:-10.07 [[-8.06005653e-02 -9.96482295e-01 2.29474415e-02 1.16130557e+02] [ 5.72443446e-01 -2.74306688e-02 8.19485240e-01 2.02535205e+02] [-8.15973069e-01 7.91870861e-02 5.72640686e-01 -1.00723734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.990714057 meters Centerline goodness : 0.986534 Centerline is valid? [True, True] Translation: X:116.15, Y:202.53, Z:-10.10 [[-7.28679913e-02 -9.97102597e-01 -2.18327188e-02 1.16150484e+02] [ 5.61428791e-01 -5.91024151e-02 8.25411787e-01 2.02533426e+02] [-8.24310602e-01 4.78885820e-02 5.64108779e-01 -1.00996813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.020714057 meters Centerline goodness : 0.991349 Centerline is valid? [True, True] Translation: X:116.13, Y:202.56, Z:-10.12 [[-7.66210311e-02 -9.97023618e-01 8.55117466e-03 1.16134600e+02] [ 5.70480803e-01 -3.68042526e-02 8.20485893e-01 2.02560032e+02] [-8.17729094e-01 6.77447561e-02 5.71602814e-01 -1.01208869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.0507140569999 meters Centerline goodness : 0.988296 Centerline is valid? [True, True] Translation: X:116.16, Y:202.56, Z:-10.16 [[-7.02115521e-02 -9.95966426e-01 -5.58678537e-02 1.16161593e+02] [ 5.61028129e-01 -8.57349909e-02 8.23344976e-01 2.02557130e+02] [-8.24813783e-01 2.64648912e-02 5.64784768e-01 -1.01569608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.0807140569999 meters Centerline goodness : 0.986665 Centerline is valid? [True, True] Translation: X:116.13, Y:202.59, Z:-10.16 [[-6.90798229e-02 -9.97531684e-01 1.25903546e-02 1.16129422e+02] [ 5.63027770e-01 -2.85654373e-02 8.25944154e-01 2.02593106e+02] [-8.23545814e-01 6.41447952e-02 5.63611335e-01 -1.01626375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.110714057 meters Centerline goodness : 0.990350 Centerline is valid? [True, True] Translation: X:116.12, Y:202.62, Z:-10.18 [[-6.39384696e-02 -9.97316923e-01 3.56486589e-02 1.16118283e+02] [ 5.71060288e-01 -7.26909800e-03 8.20875939e-01 2.02619626e+02] [-8.18414333e-01 7.28430847e-02 5.69992864e-01 -1.01828057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.140714057 meters Centerline goodness : 0.984524 Centerline is valid? [True, True] Translation: X:116.15, Y:202.61, Z:-10.22 [[-5.56379747e-02 -9.97656136e-01 -3.98327708e-02 1.16151217e+02] [ 5.56293168e-01 -6.41031202e-02 8.28509928e-01 2.02609266e+02] [-8.29121419e-01 2.39379162e-02 5.58555860e-01 -1.02193363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.1707140569999 meters Centerline goodness : 0.986839 Centerline is valid? [True, True] Translation: X:116.14, Y:202.63, Z:-10.24 [[-5.51274066e-02 -9.98276517e-01 -2.01237530e-02 1.16140485e+02] [ 5.52858067e-01 -4.73007445e-02 8.31931847e-01 2.02629614e+02] [-8.31449895e-01 3.47366660e-02 5.54512793e-01 -1.02397179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.2007140569999 meters Centerline goodness : 0.985203 Centerline is valid? [True, True] Translation: X:116.13, Y:202.65, Z:-10.26 [[-4.96726451e-02 -9.98765231e-01 -8.01054544e-04 1.16132142e+02] [ 5.54306910e-01 -2.82350981e-02 8.31833294e-01 2.02652275e+02] [-8.30828790e-01 4.08753300e-02 5.55024981e-01 -1.02578376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.2307140569999 meters Centerline goodness : 0.987108 Centerline is valid? [True, True] Translation: X:116.13, Y:202.66, Z:-10.29 [[-4.99831556e-02 -9.98699030e-01 -1.00960959e-02 1.16134422e+02] [ 5.49517636e-01 -3.59406824e-02 8.34708713e-01 2.02661557e+02] [-8.33985642e-01 3.61733927e-02 5.50599159e-01 -1.02857187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.260714057 meters Centerline goodness : 0.984561 Centerline is valid? [True, True] Translation: X:116.12, Y:202.69, Z:-10.30 [[-5.07395760e-02 -9.98218032e-01 3.14047166e-02 1.16117228e+02] [ 5.55710730e-01 -2.09121710e-03 8.31373088e-01 2.02689917e+02] [-8.29825934e-01 5.96354560e-02 5.54826579e-01 -1.02954057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.290714057 meters Centerline goodness : 0.990140 Centerline is valid? [True, True] Translation: X:116.13, Y:202.35, Z:-9.81 [[-4.72146239e-02 -9.98884176e-01 -1.08745641e-03 1.16125719e+02] [ 5.62791810e-01 -2.75010824e-02 8.26141071e-01 2.02345801e+02] [-8.25249149e-01 3.83939284e-02 5.63462287e-01 -9.81032549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.3207140569999 meters Centerline goodness : 0.984769 Centerline is valid? [True, True] Translation: X:116.14, Y:202.35, Z:-9.84 [[-4.40394458e-02 -9.98704185e-01 -2.55044647e-02 1.16139739e+02] [ 5.49460847e-01 -4.55347632e-02 8.34277749e-01 2.02350280e+02] [-8.34358020e-01 2.27274249e-02 5.50754173e-01 -9.83914526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.3507140569999 meters Centerline goodness : 0.989245 Centerline is valid? [True, True] Translation: X:116.11, Y:202.39, Z:-9.85 [[-4.94491576e-02 -9.97738265e-01 4.55316897e-02 1.16108789e+02] [ 5.67366367e-01 9.45690254e-03 8.23411181e-01 2.02393376e+02] [-8.21979432e-01 6.65501386e-02 5.65615499e-01 -9.84647775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.380714057 meters Centerline goodness : 0.989264 Centerline is valid? [True, True] Translation: X:116.12, Y:202.40, Z:-9.88 [[-5.19361969e-02 -9.98548142e-01 1.42912732e-02 1.16122358e+02] [ 5.67719219e-01 -1.77487863e-02 8.23030904e-01 2.02397014e+02] [-8.21582327e-01 5.08585255e-02 5.67816775e-01 -9.87753629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.410714057 meters Centerline goodness : 0.989167 Centerline is valid? [True, True] Translation: X:116.12, Y:202.41, Z:-9.90 [[-5.29697626e-02 -9.98499461e-01 1.38935713e-02 1.16122881e+02] [ 5.67993428e-01 -1.86825885e-02 8.22821018e-01 2.02412176e+02] [-8.21326774e-01 5.14760911e-02 5.68130744e-01 -9.90036731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.4407140569999 meters Centerline goodness : 0.988803 Centerline is valid? [True, True] Translation: X:116.12, Y:202.43, Z:-9.92 [[-5.54982115e-02 -9.98364419e-01 1.37272068e-02 1.16122993e+02] [ 5.67736503e-01 -2.02445111e-02 8.22961374e-01 2.02428361e+02] [-8.21337453e-01 5.34663208e-02 5.67931458e-01 -9.92343279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.4707140569999 meters Centerline goodness : 0.984131 Centerline is valid? [True, True] Translation: X:116.15, Y:202.43, Z:-9.96 [[-5.05840101e-02 -9.98255348e-01 -3.04551801e-02 1.16147184e+02] [ 5.51077380e-01 -5.33302436e-02 8.32748225e-01 2.02427810e+02] [-8.32919552e-01 2.53405838e-02 5.52813599e-01 -9.95872002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.500714057 meters Centerline goodness : 0.985407 Centerline is valid? [True, True] Translation: X:116.13, Y:202.46, Z:-9.97 [[-5.30816829e-02 -9.98394992e-01 1.97427048e-02 1.16128115e+02] [ 5.51279721e-01 -1.28136210e-02 8.34222081e-01 2.02460880e+02] [-8.32630173e-01 5.51656647e-02 5.51075081e-01 -9.97229639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.530714057 meters Centerline goodness : 0.985669 Centerline is valid? [True, True] Translation: X:116.13, Y:202.48, Z:-9.99 [[-5.58632551e-02 -9.98213187e-01 2.12068474e-02 1.16125599e+02] [ 5.49771024e-01 -1.30230154e-02 8.35213878e-01 2.02475758e+02] [-8.33445330e-01 5.83166761e-02 5.49516194e-01 -9.99450032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.5607140569999 meters Centerline goodness : 0.984056 Centerline is valid? [True, True] Translation: X:116.12, Y:202.50, Z:-10.02 [[-5.32031546e-02 -9.97677866e-01 4.25241064e-02 1.16124045e+02] [ 5.51561107e-01 6.13932845e-03 8.34111895e-01 2.02499385e+02] [-8.32436045e-01 6.78320274e-02 5.49953677e-01 -1.00164791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.5907140569999 meters Centerline goodness : 0.984228 Centerline is valid? [True, True] Translation: X:116.13, Y:202.50, Z:-10.04 [[-6.11038529e-02 -9.98122127e-01 4.30561466e-03 1.16134074e+02] [ 5.48627857e-01 -2.99821130e-02 8.35528903e-01 2.02500819e+02] [-8.33830794e-01 5.34162153e-02 5.49429627e-01 -1.00442594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.620714057 meters Centerline goodness : 0.985180 Centerline is valid? [True, True] Translation: X:116.13, Y:202.52, Z:-10.06 [[-6.37142945e-02 -9.97628687e-01 2.60286522e-02 1.16127595e+02] [ 5.49147058e-01 -1.32699123e-02 8.35620379e-01 2.02523975e+02] [-8.33293464e-01 6.75345207e-02 5.48690342e-01 -1.00643481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.650714057 meters Centerline goodness : 0.985157 Centerline is valid? [True, True] Translation: X:116.12, Y:202.54, Z:-10.08 [[-6.85866318e-02 -9.97331248e-01 2.50251011e-02 1.16124486e+02] [ 5.50240557e-01 -1.68923903e-02 8.34835299e-01 2.02539255e+02] [-8.32184597e-01 7.10283668e-02 5.49930693e-01 -1.00841540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.6807140569999 meters Centerline goodness : 0.984729 Centerline is valid? [True, True] Translation: X:116.13, Y:202.55, Z:-10.11 [[-7.10504386e-02 -9.97403988e-01 1.17098254e-02 1.16128932e+02] [ 5.49541841e-01 -2.93442399e-02 8.34950705e-01 2.02548278e+02] [-8.32439547e-01 6.57586529e-02 5.50200145e-01 -1.01100175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.7107140569999 meters Centerline goodness : 0.984368 Centerline is valid? [True, True] Translation: X:116.13, Y:202.56, Z:-10.14 [[-7.19242174e-02 -9.97409846e-01 -7.11235372e-04 1.16134697e+02] [ 5.50465295e-01 -4.02892296e-02 8.33885326e-01 2.02560363e+02] [-8.31754090e-01 5.95850391e-02 5.51937276e-01 -1.01355926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.740714057 meters Centerline goodness : 0.986101 Centerline is valid? [True, True] Translation: X:116.13, Y:202.58, Z:-10.16 [[-7.09520077e-02 -9.97443710e-01 8.47696424e-03 1.16133211e+02] [ 5.50569348e-01 -3.20747382e-02 8.34173007e-01 2.02578377e+02] [-8.31768722e-01 6.38534062e-02 5.51437699e-01 -1.01583375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.770714057 meters Centerline goodness : 0.984226 Centerline is valid? [True, True] Translation: X:116.12, Y:202.60, Z:-10.18 [[-7.37590401e-02 -9.96993378e-01 2.37446499e-02 1.16123460e+02] [ 5.51883339e-01 -2.09745420e-02 8.33657513e-01 2.02598122e+02] [-8.30652987e-01 7.45940546e-02 5.51771096e-01 -1.01776039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.8007140569999 meters Centerline goodness : 0.984462 Centerline is valid? [True, True] Translation: X:116.13, Y:202.61, Z:-10.21 [[-7.17971291e-02 -9.97308218e-01 1.48825795e-02 1.16128289e+02] [ 5.48477415e-01 -2.70140180e-02 8.35728885e-01 2.02609694e+02] [-8.33077246e-01 6.81656933e-02 5.48940562e-01 -1.02077248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.8307140569999 meters Centerline goodness : 0.983277 Centerline is valid? [True, True] Translation: X:116.12, Y:202.63, Z:-10.22 [[-7.28393810e-02 -9.96687000e-01 3.61862987e-02 1.16115765e+02] [ 5.53281124e-01 -1.01936921e-02 8.32932222e-01 2.02632305e+02] [-8.29803846e-01 8.06914634e-02 5.52190606e-01 -1.02194282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.860714057 meters Centerline goodness : 0.983869 Centerline is valid? [True, True] Translation: X:116.13, Y:202.64, Z:-10.26 [[-6.96367399e-02 -9.97562859e-01 4.36648552e-03 1.16129708e+02] [ 5.47250644e-01 -3.45414346e-02 8.36255716e-01 2.02635497e+02] [-8.34066819e-01 6.06236838e-02 5.48322270e-01 -1.02571013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.890714057 meters Centerline goodness : 0.984177 Centerline is valid? [True, True] Translation: X:116.12, Y:202.94, Z:-10.73 [[-8.59065409e-02 -9.96283395e-01 -6.28201694e-03 1.16122499e+02] [ 5.47992381e-01 -5.25157464e-02 8.34833185e-01 2.02939996e+02] [-8.32060345e-01 6.82751338e-02 5.50467155e-01 -1.07267468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.9207140569999 meters Centerline goodness : 0.984117 Centerline is valid? [True, True] Translation: X:116.09, Y:203.68, Z:-10.41 [[-2.96276487e-03 -1.13330829e-01 9.93552890e-01 1.16091901e+02] [ 5.48159524e-01 8.30799630e-01 9.64007848e-02 2.03684274e+02] [-8.36368554e-01 5.44911092e-01 5.96619092e-02 -1.04124164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.9507140569999 meters Centerline goodness : 0.983637 Centerline is valid? [True, True] Translation: X:116.09, Y:203.03, Z:-10.79 [[-6.38264991e-02 -9.96649454e-01 5.11472732e-02 1.16094691e+02] [ 4.81397177e-01 1.41463788e-02 8.76388406e-01 2.03028478e+02] [-8.74175575e-01 8.05589567e-02 4.78881320e-01 -1.07946845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.9807140569999 meters Centerline goodness : 0.985505 Centerline is valid? [True, True] Translation: X:116.11, Y:203.03, Z:-10.83 [[-6.28388686e-02 -9.97945267e-01 1.25108428e-02 1.16107615e+02] [ 4.78550867e-01 -1.91282369e-02 8.77851456e-01 2.03025782e+02] [-8.75808395e-01 6.11502670e-02 4.78769570e-01 -1.08279829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.010714057 meters Centerline goodness : 0.985080 Centerline is valid? [True, True] Translation: X:116.11, Y:203.04, Z:-10.85 [[-6.26808915e-02 -9.97946817e-01 1.31626989e-02 1.16105383e+02] [ 4.78985639e-01 -1.85093023e-02 8.77627577e-01 2.03038802e+02] [-8.75582014e-01 6.13152226e-02 4.79162373e-01 -1.08507857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.040714057 meters Centerline goodness : 0.985944 Centerline is valid? [True, True] Translation: X:116.11, Y:203.05, Z:-10.88 [[-6.22090496e-02 -9.98047694e-01 5.55287078e-03 1.16106018e+02] [ 4.79678760e-01 -2.50188511e-02 8.77087421e-01 2.03049346e+02] [-8.75236152e-01 5.72263691e-02 4.80298679e-01 -1.08753351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.0707140569999 meters Centerline goodness : 0.984341 Centerline is valid? [True, True] Translation: X:116.11, Y:203.07, Z:-10.90 [[-5.76916526e-02 -9.98235357e-01 1.40657721e-02 1.16108554e+02] [ 4.80044844e-01 -1.53845127e-02 8.77109038e-01 2.03067413e+02] [-8.75344858e-01 5.73540713e-02 4.80085294e-01 -1.09021352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.1007140569999 meters Centerline goodness : 0.984745 Centerline is valid? [True, True] Translation: X:116.10, Y:203.09, Z:-10.92 [[-5.94156995e-02 -9.97642559e-01 3.43380233e-02 1.16098762e+02] [ 4.82403860e-01 1.41929825e-03 8.75947774e-01 2.03090561e+02] [-8.73931514e-01 6.86098446e-02 4.81182292e-01 -1.09177309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.130714057 meters Centerline goodness : 0.985655 Centerline is valid? [True, True] Translation: X:116.11, Y:203.10, Z:-10.94 [[-6.29290477e-02 -9.97950244e-01 1.16295475e-02 1.16105534e+02] [ 4.81933590e-01 -2.01817934e-02 8.75975291e-01 2.03098766e+02] [-8.73945050e-01 6.07289604e-02 4.82215764e-01 -1.09448911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.160714057 meters Centerline goodness : 0.985397 Centerline is valid? [True, True] Translation: X:116.09, Y:203.12, Z:-10.97 [[-6.15155658e-02 -9.97116164e-01 4.44431177e-02 1.16093350e+02] [ 4.82152245e-01 9.30081720e-03 8.76038074e-01 2.03121393e+02] [-8.73925082e-01 7.53183267e-02 4.80189652e-01 -1.09654079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.1907140569999 meters Centerline goodness : 0.986454 Centerline is valid? [True, True] Translation: X:116.10, Y:203.13, Z:-10.99 [[-6.29443499e-02 -9.97883624e-01 1.63181254e-02 1.16102398e+02] [ 4.79823670e-01 -1.59212907e-02 8.77220473e-01 2.03125263e+02] [-8.75104139e-01 6.30458952e-02 4.79810338e-01 -1.09943072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.2207140569999 meters Centerline goodness : 0.986966 Centerline is valid? [True, True] Translation: X:116.10, Y:203.14, Z:-11.02 [[-6.17649341e-02 -9.97742145e-01 2.63762137e-02 1.16096426e+02] [ 4.79129025e-01 -6.45700202e-03 8.77720733e-01 2.03141547e+02] [-8.75568656e-01 6.68499728e-02 4.78446037e-01 -1.10186949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.250714057 meters Centerline goodness : 0.987887 Centerline is valid? [True, True] Translation: X:116.10, Y:203.15, Z:-11.05 [[-6.15139647e-02 -9.97654557e-01 3.00236106e-02 1.16095023e+02] [ 4.76167750e-01 -2.89650690e-03 8.79349694e-01 2.03154809e+02] [-8.77200266e-01 6.83885611e-02 4.75229101e-01 -1.10456513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.280714057 meters Centerline goodness : 0.987417 Centerline is valid? [True, True] Translation: X:116.09, Y:203.17, Z:-11.07 [[-6.04755085e-02 -9.97634802e-01 3.26728588e-02 1.16090942e+02] [ 4.77467374e-01 -1.67488523e-04 8.78649463e-01 2.03170178e+02] [-8.76565811e-01 6.87369972e-02 4.76348197e-01 -1.10650698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.3107140569999 meters Centerline goodness : 0.987417 Centerline is valid? [True, True] Translation: X:116.09, Y:203.18, Z:-11.09 [[-6.09167012e-02 -9.97749717e-01 2.80117449e-02 1.16092688e+02] [ 4.76806492e-01 -4.43321188e-03 8.78997108e-01 2.03181069e+02] [-8.76894934e-01 6.69017860e-02 4.76003599e-01 -1.10900016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.3407140569999 meters Centerline goodness : 0.986331 Centerline is valid? [True, True] Translation: X:116.09, Y:203.19, Z:-11.11 [[-6.13747040e-02 -9.97818801e-01 2.43060868e-02 1.16091728e+02] [ 4.78095740e-01 -8.01312745e-03 8.78271173e-01 2.03194599e+02] [-8.76160721e-01 6.55242698e-02 4.77544722e-01 -1.11141748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.370714057 meters Centerline goodness : 0.987507 Centerline is valid? [True, True] Translation: X:116.09, Y:203.21, Z:-11.14 [[-6.02856562e-02 -9.98055421e-01 1.58434797e-02 1.16092516e+02] [ 4.79208812e-01 -1.50148133e-02 8.77572487e-01 2.03205695e+02] [-8.75628091e-01 6.04973683e-02 4.79182131e-01 -1.11379809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.400714057 meters Centerline goodness : 0.986449 Centerline is valid? [True, True] Translation: X:116.09, Y:203.22, Z:-11.16 [[-6.05373298e-02 -9.98011589e-01 1.75527829e-02 1.16091999e+02] [ 4.78337878e-01 -1.35716943e-02 8.78071002e-01 2.03218361e+02] [-8.76086814e-01 6.15522347e-02 4.78208340e-01 -1.11632441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.4307140569999 meters Centerline goodness : 0.986652 Centerline is valid? [True, True] Translation: X:116.09, Y:203.23, Z:-11.19 [[-6.27100957e-02 -9.98008385e-01 6.83428873e-03 1.16093781e+02] [ 4.79877309e-01 -2.41475513e-02 8.77003229e-01 2.03229032e+02] [-8.75091545e-01 5.82765765e-02 4.80435873e-01 -1.11887495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.4607140569999 meters Centerline goodness : 0.986067 Centerline is valid? [True, True] Translation: X:116.09, Y:203.24, Z:-11.21 [[-6.31440346e-02 -9.97967979e-01 8.52902996e-03 1.16092685e+02] [ 4.79115352e-01 -2.28157955e-02 8.77455366e-01 2.03242154e+02] [-8.75477761e-01 5.94924611e-02 4.79582461e-01 -1.12136856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.490714057 meters Centerline goodness : 0.987619 Centerline is valid? [True, True] Translation: X:116.09, Y:203.26, Z:-11.24 [[-6.57591985e-02 -9.97790889e-01 9.43764767e-03 1.16090319e+02] [ 4.81538807e-01 -2.34489803e-02 8.76111022e-01 2.03256896e+02] [-8.73954292e-01 6.21569522e-02 4.82017021e-01 -1.12358436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.520714057 meters Centerline goodness : 0.986291 Centerline is valid? [True, True] Translation: X:116.09, Y:203.27, Z:-11.26 [[-6.62807379e-02 -9.97743675e-01 1.06968178e-02 1.16090064e+02] [ 4.80108999e-01 -2.24924710e-02 8.76920429e-01 2.03270638e+02] [-8.74701214e-01 6.32585716e-02 4.80516535e-01 -1.12600364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.5507140569999 meters Centerline goodness : 0.985560 Centerline is valid? [True, True] Translation: X:116.09, Y:203.28, Z:-11.29 [[-6.71836279e-02 -9.97676517e-01 1.13105320e-02 1.16088944e+02] [ 4.79434102e-01 -2.23393712e-02 8.77293505e-01 2.03283276e+02] [-8.75002458e-01 6.43624152e-02 4.79820985e-01 -1.12858369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.5807140569999 meters Centerline goodness : 0.987670 Centerline is valid? [True, True] Translation: X:116.09, Y:203.29, Z:-11.31 [[-6.93411001e-02 -9.97585401e-01 -3.89611724e-03 1.16092469e+02] [ 4.79799572e-01 -3.67739887e-02 8.76607121e-01 2.03291999e+02] [-8.74633742e-01 5.89155468e-02 4.81190997e-01 -1.13112148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.610714057 meters Centerline goodness : 0.989375 Centerline is valid? [True, True] Translation: X:116.09, Y:203.30, Z:-11.34 [[-6.92409128e-02 -9.97597222e-01 2.34052792e-03 1.16090607e+02] [ 4.76787832e-01 -3.10317022e-02 8.78470487e-01 2.03304786e+02] [-8.76287088e-01 6.19420336e-02 4.77790880e-01 -1.13380716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.640714057 meters Centerline goodness : 0.988456 Centerline is valid? [True, True] Translation: X:116.09, Y:203.32, Z:-11.36 [[-6.99096142e-02 -9.97433741e-01 1.54459548e-02 1.16085749e+02] [ 4.75661327e-01 -1.97206210e-02 8.79407414e-01 2.03324141e+02] [-8.76846023e-01 6.88260764e-02 4.75819318e-01 -1.13598963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.6707140569999 meters Centerline goodness : 0.989666 Centerline is valid? [True, True] Translation: X:116.09, Y:203.33, Z:-11.39 [[-7.18074869e-02 -9.97399481e-01 6.16116399e-03 1.16088113e+02] [ 4.74834717e-01 -2.87520661e-02 8.79605201e-01 2.03334321e+02] [-8.77140625e-01 6.60877735e-02 4.75664514e-01 -1.13872065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.7007140569999 meters Centerline goodness : 0.987954 Centerline is valid? [True, True] Translation: X:116.08, Y:203.35, Z:-11.41 [[-7.12688376e-02 -9.97211808e-01 2.21215680e-02 1.16081938e+02] [ 4.76164371e-01 -1.45260970e-02 8.79236308e-01 2.03353117e+02] [-8.76463488e-01 7.31956522e-02 4.75871991e-01 -1.14076943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.7307140569999 meters Centerline goodness : 0.988656 Centerline is valid? [True, True] Translation: X:116.09, Y:203.36, Z:-11.43 [[-7.18232702e-02 -9.97376408e-01 9.03986789e-03 1.16086035e+02] [ 4.75111473e-01 -2.62420350e-02 8.79534220e-01 2.03361648e+02] [-8.76989456e-01 6.74659689e-02 4.75749763e-01 -1.14343371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.760714057 meters Centerline goodness : 0.989379 Centerline is valid? [True, True] Translation: X:116.09, Y:203.37, Z:-11.46 [[-7.19472029e-02 -9.97383526e-01 7.05002157e-03 1.16086756e+02] [ 4.72931300e-01 -2.78904025e-02 8.80657772e-01 2.03374260e+02] [-8.78156925e-01 6.66950392e-02 4.73700524e-01 -1.14616092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.790714057 meters Centerline goodness : 0.988055 Centerline is valid? [True, True] Translation: X:116.08, Y:203.39, Z:-11.49 [[-7.11678499e-02 -9.97340613e-01 1.57110965e-02 1.16081862e+02] [ 4.75285493e-01 -2.00588641e-02 8.79602946e-01 2.03390484e+02] [-8.76948595e-01 7.00667067e-02 4.75449071e-01 -1.14858810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.8207140569999 meters Centerline goodness : 0.989079 Centerline is valid? [True, True] Translation: X:116.08, Y:203.40, Z:-11.51 [[-7.07476646e-02 -9.97351320e-01 1.68852993e-02 1.16081134e+02] [ 4.74121163e-01 -1.87291123e-02 8.80260384e-01 2.03403921e+02] [-8.77612609e-01 7.02820441e-02 4.74190408e-01 -1.15114041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.8507140569999 meters Centerline goodness : 0.989385 Centerline is valid? [True, True] Translation: X:116.08, Y:203.42, Z:-11.54 [[-7.02257469e-02 -9.97230614e-01 2.44836043e-02 1.16077861e+02] [ 4.75480320e-01 -1.18869745e-02 8.79646045e-01 2.03419481e+02] [-8.76918930e-01 7.34152725e-02 4.74998303e-01 -1.15351549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.880714057 meters Centerline goodness : 0.986934 Centerline is valid? [True, True] Translation: X:116.08, Y:203.41, Z:-11.53 [[-6.55981878e-02 -9.97625780e-01 2.09685648e-02 1.16080240e+02] [ 4.66847067e-01 -1.21115160e-02 8.84255126e-01 2.03411917e+02] [-8.81901748e-01 6.77946468e-02 4.66533163e-01 -1.15303942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.910714057 meters Centerline goodness : 0.987290 Centerline is valid? [True, True] Translation: X:116.07, Y:203.43, Z:-11.55 [[-6.55057034e-02 -9.97157931e-01 3.72164376e-02 1.16074236e+02] [ 4.66804098e-01 2.34096378e-03 8.84357651e-01 2.03430909e+02] [-8.81931368e-01 7.53032555e-02 4.65324062e-01 -1.15531126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.9407140569999 meters Centerline goodness : 0.988563 Centerline is valid? [True, True] Translation: X:116.08, Y:203.44, Z:-11.58 [[-6.82190858e-02 -9.97445398e-01 2.11856895e-02 1.16080581e+02] [ 4.64188067e-01 -1.29365930e-02 8.85642187e-01 2.03437958e+02] [-8.83105653e-01 7.02518446e-02 4.63884774e-01 -1.15820183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.9707140569999 meters Centerline goodness : 0.986720 Centerline is valid? [True, True] Translation: X:116.08, Y:203.43, Z:-11.56 [[-6.63075873e-02 -9.97264882e-01 3.26505566e-02 1.16078201e+02] [ 4.60502035e-01 -1.55653180e-03 8.87657284e-01 2.03431317e+02] [-8.85178615e-01 7.38940606e-02 4.59345717e-01 -1.15636829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.000714057 meters Centerline goodness : 0.986644 Centerline is valid? [True, True] Translation: X:116.07, Y:203.45, Z:-11.59 [[-6.85757251e-02 -9.96582748e-01 4.60455819e-02 1.16073830e+02] [ 4.60979918e-01 9.27877800e-03 8.87362057e-01 2.03448264e+02] [-8.84756964e-01 8.20775850e-02 4.58768335e-01 -1.15873716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.030714057 meters Centerline goodness : 0.986498 Centerline is valid? [True, True] Translation: X:116.08, Y:203.46, Z:-11.61 [[-6.85594110e-02 -9.96731903e-01 4.27214386e-02 1.16075833e+02] [ 4.60993386e-01 6.32543115e-03 8.87381027e-01 2.03459087e+02] [-8.84751211e-01 8.05326211e-02 4.59053147e-01 -1.16131734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.0607140569999 meters Centerline goodness : 0.987179 Centerline is valid? [True, True] Translation: X:116.09, Y:203.45, Z:-11.63 [[-6.59188993e-02 -9.97651434e-01 1.86095584e-02 1.16085268e+02] [ 4.59231499e-01 -1.37751944e-02 8.88209814e-01 2.03451707e+02] [-8.85867445e-01 6.70959087e-02 4.59061009e-01 -1.16310146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.0907140569999 meters Centerline goodness : 0.987057 Centerline is valid? [True, True] Translation: X:116.07, Y:203.48, Z:-11.65 [[-6.61035367e-02 -9.96607002e-01 4.90388259e-02 1.16073854e+02] [ 4.57068197e-01 1.34434909e-02 8.89330049e-01 2.03477386e+02] [-8.86971807e-01 8.12019493e-02 4.54628703e-01 -1.16538989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.120714057 meters Centerline goodness : 0.986725 Centerline is valid? [True, True] Translation: X:116.08, Y:203.47, Z:-11.66 [[-6.43939957e-02 -9.97547425e-01 2.74326125e-02 1.16081531e+02] [ 4.56226128e-01 -4.97952731e-03 8.89849945e-01 2.03472513e+02] [-8.87530920e-01 6.98164681e-02 4.55427851e-01 -1.16593046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.150714057 meters Centerline goodness : 0.988103 Centerline is valid? [True, True] Translation: X:116.08, Y:203.48, Z:-11.67 [[-6.13643264e-02 -9.97559101e-01 3.33205441e-02 1.16077781e+02] [ 4.54477460e-01 1.79616991e-03 8.90756427e-01 2.03479912e+02] [-8.88642030e-01 6.98041043e-02 4.53257906e-01 -1.16711352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.1807140569999 meters Centerline goodness : 0.988415 Centerline is valid? [True, True] Translation: X:116.06, Y:203.51, Z:-11.69 [[-6.00873718e-02 -9.96031995e-01 6.56488620e-02 1.16064767e+02] [ 4.55181259e-01 3.11909122e-02 8.89852318e-01 2.03506145e+02] [-8.88369028e-01 8.33510188e-02 4.51500917e-01 -1.16896871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.2107140569999 meters Centerline goodness : 0.988037 Centerline is valid? [True, True] Translation: X:116.08, Y:203.50, Z:-11.71 [[-5.84335298e-02 -9.97782373e-01 3.18725333e-02 1.16076609e+02] [ 4.55344943e-01 1.77306125e-03 8.90313338e-01 2.03497349e+02] [-8.88395467e-01 6.65371478e-02 4.54231551e-01 -1.17051688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.240714057 meters Centerline goodness : 0.987397 Centerline is valid? [True, True] Translation: X:116.08, Y:203.50, Z:-11.71 [[-5.66402710e-02 -9.97770432e-01 3.52993514e-02 1.16075412e+02] [ 4.55454812e-01 5.64042283e-03 8.90241035e-01 2.03502487e+02] [-8.88455285e-01 6.65007529e-02 4.54119870e-01 -1.17111300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.270714057 meters Centerline goodness : 0.985656 Centerline is valid? [True, True] Translation: X:116.08, Y:203.50, Z:-11.71 [[-5.67666981e-02 -9.97926988e-01 3.03194569e-02 1.16077135e+02] [ 4.57400146e-01 9.98867919e-04 8.89260428e-01 2.03501104e+02] [-8.87447265e-01 6.43485023e-02 4.56395247e-01 -1.17076423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.3007140569999 meters Centerline goodness : 0.982459 Centerline is valid? [True, True] Translation: X:116.08, Y:203.51, Z:-11.73 [[-6.18931638e-02 -9.97770628e-01 2.49601806e-02 1.16079892e+02] [ 4.59734855e-01 -6.30301092e-03 8.88033859e-01 2.03507566e+02] [-8.85896777e-01 6.64382901e-02 4.59100048e-01 -1.17263204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.3307140569999 meters Centerline goodness : 0.983684 Centerline is valid? [True, True] Translation: X:116.10, Y:203.50, Z:-11.76 [[-5.46964698e-02 -9.98102835e-01 -2.82670502e-02 1.16099841e+02] [ 4.54198250e-01 -5.00813650e-02 8.89491881e-01 2.03497097e+02] [-8.89220021e-01 3.58132211e-02 4.56075835e-01 -1.17567838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.360714057 meters Centerline goodness : 0.984442 Centerline is valid? [True, True] Translation: X:116.08, Y:203.50, Z:-11.74 [[-5.28535092e-02 -9.98579625e-01 6.72596142e-03 1.16084848e+02] [ 4.55283851e-01 -1.81018633e-02 8.90162310e-01 2.03503299e+02] [-8.88776193e-01 5.01104234e-02 4.55593924e-01 -1.17391991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.390714057 meters Centerline goodness : 0.986659 Centerline is valid? [True, True] Translation: X:116.08, Y:203.50, Z:-11.74 [[-4.99852526e-02 -9.98707250e-01 9.23599641e-03 1.16083201e+02] [ 4.56825849e-01 -1.46386547e-02 8.89435694e-01 2.03504317e+02] [-8.88150673e-01 4.86779098e-02 4.56967004e-01 -1.17407207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.4207140569999 meters Centerline goodness : 0.986955 Centerline is valid? [True, True] Translation: X:116.08, Y:203.52, Z:-11.76 [[-5.05789187e-02 -9.98540045e-01 1.89618446e-02 1.16078316e+02] [ 4.54586226e-01 -6.11243452e-03 8.90681762e-01 2.03517951e+02] [-8.89265504e-01 5.36695138e-02 4.54231711e-01 -1.17582826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.4507140569999 meters Centerline goodness : 0.986830 Centerline is valid? [True, True] Translation: X:116.06, Y:203.55, Z:-11.77 [[-4.99723638e-02 -9.96516679e-01 6.67627988e-02 1.16060591e+02] [ 4.57735010e-01 3.65610925e-02 8.88336618e-01 2.03549668e+02] [-8.87683177e-01 7.49519510e-02 4.54313528e-01 -1.17723961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.4807140569999 meters Centerline goodness : 0.986962 Centerline is valid? [True, True] Translation: X:116.07, Y:203.55, Z:-11.80 [[-5.44296561e-02 -9.97665924e-01 4.12324748e-02 1.16065363e+02] [ 4.57964869e-01 1.17518015e-02 8.88892611e-01 2.03552142e+02] [-8.87302424e-01 6.72651441e-02 4.56256297e-01 -1.17987412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.510714057 meters Centerline goodness : 0.985290 Centerline is valid? [True, True] Translation: X:116.07, Y:203.56, Z:-11.82 [[-4.93673070e-02 -9.98164737e-01 3.50717348e-02 1.16073117e+02] [ 4.59895827e-01 8.45303319e-03 8.87932641e-01 2.03562388e+02] [-8.86599514e-01 5.99641878e-02 4.58634493e-01 -1.18244589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.540714057 meters Centerline goodness : 0.986943 Centerline is valid? [True, True] Translation: X:116.07, Y:203.57, Z:-11.85 [[-5.65187100e-02 -9.98128749e-01 2.33374177e-02 1.16071468e+02] [ 4.56393070e-01 -5.03938349e-03 8.89763997e-01 2.03569834e+02] [-8.87981419e-01 6.09393490e-02 4.55823864e-01 -1.18511617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.5707140569999 meters Centerline goodness : 0.987705 Centerline is valid? [True, True] Translation: X:116.07, Y:203.58, Z:-11.88 [[-5.85643548e-02 -9.98180026e-01 1.43823202e-02 1.16074190e+02] [ 4.53353775e-01 -1.37575337e-02 8.91224486e-01 2.03579163e+02] [-8.89404616e-01 5.87142662e-02 4.53334384e-01 -1.18783672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.6007140569999 meters Centerline goodness : 0.987463 Centerline is valid? [True, True] Translation: X:116.07, Y:203.60, Z:-11.90 [[-5.96356871e-02 -9.97674210e-01 3.30114359e-02 1.16066898e+02] [ 4.53222961e-01 2.40352165e-03 8.91393948e-01 2.03599480e+02] [-8.89400097e-01 6.81204313e-02 4.52025524e-01 -1.18985998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.630714057 meters Centerline goodness : 0.989000 Centerline is valid? [True, True] Translation: X:116.08, Y:203.60, Z:-11.93 [[-6.12136001e-02 -9.98086977e-01 8.67645674e-03 1.16077727e+02] [ 4.48982079e-01 -1.97707616e-02 8.93322008e-01 2.03602842e+02] [-8.91441522e-01 5.85790297e-02 4.49333406e-01 -1.19301487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.660714057 meters Centerline goodness : 0.985957 Centerline is valid? [True, True] Translation: X:116.06, Y:203.63, Z:-11.94 [[-6.28174021e-02 -9.96175448e-01 6.07326199e-02 1.16057246e+02] [ 4.54063497e-01 2.56635119e-02 8.90599644e-01 2.03633607e+02] [-8.88752111e-01 8.35216217e-02 4.50714792e-01 -1.19388233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.6907140569999 meters Centerline goodness : 0.985850 Centerline is valid? [True, True] Translation: X:116.09, Y:203.62, Z:-11.98 [[-6.00140093e-02 -9.98176584e-01 -6.46728714e-03 1.16088115e+02] [ 4.54855058e-01 -3.31136155e-02 8.89949642e-01 2.03621192e+02] [-8.88541049e-01 5.04677679e-02 4.56012949e-01 -1.19771338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.7207140569999 meters Centerline goodness : 0.987683 Centerline is valid? [True, True] Translation: X:116.10, Y:203.62, Z:-12.01 [[-6.82698620e-02 -9.96919291e-01 -3.86154529e-02 1.16101364e+02] [ 4.48323200e-01 -6.52331422e-02 8.91488051e-01 2.03621485e+02] [-8.91260644e-01 4.35495628e-02 4.51395504e-01 -1.20140993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.750714057 meters Centerline goodness : 0.988149 Centerline is valid? [True, True] Translation: X:116.08, Y:203.65, Z:-12.03 [[-7.28913490e-02 -9.97263424e-01 1.23497076e-02 1.16080920e+02] [ 4.49643916e-01 -2.18072606e-02 8.92941651e-01 2.03654035e+02] [-8.90228735e-01 7.06406924e-02 4.50002992e-01 -1.20308787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.780714057 meters Centerline goodness : 0.986140 Centerline is valid? [True, True] Translation: X:116.07, Y:203.68, Z:-12.04 [[-7.04834592e-02 -9.96079895e-01 5.34501999e-02 1.16068943e+02] [ 4.55937309e-01 1.54887882e-02 8.89877108e-01 2.03682502e+02] [-8.87216576e-01 8.70915571e-02 4.53058284e-01 -1.20442783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.8107140569999 meters Centerline goodness : 0.987949 Centerline is valid? [True, True] Translation: X:116.09, Y:203.67, Z:-12.08 [[-7.95008246e-02 -9.96830855e-01 -2.80461820e-03 1.16088698e+02] [ 4.49453412e-01 -3.83565397e-02 8.92479920e-01 2.03669367e+02] [-8.89759097e-01 6.96923444e-02 4.51078405e-01 -1.20830243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.8407140569999 meters Centerline goodness : 0.986738 Centerline is valid? [True, True] Translation: X:116.08, Y:203.69, Z:-12.10 [[-8.00202242e-02 -9.96674636e-01 1.53764164e-02 1.16082929e+02] [ 4.50647960e-01 -2.24132562e-02 8.92420340e-01 2.03689318e+02] [-8.89108081e-01 7.83410263e-02 4.50942905e-01 -1.21033856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.870714057 meters Centerline goodness : 0.986406 Centerline is valid? [True, True] Translation: X:116.09, Y:203.70, Z:-12.13 [[-7.90554863e-02 -9.96868720e-01 1.72767841e-03 1.16092556e+02] [ 4.54290445e-01 -3.44841766e-02 8.90185954e-01 2.03697252e+02] [-8.87338956e-01 7.11589513e-02 4.55594098e-01 -1.21302939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.900714057 meters Centerline goodness : 0.985985 Centerline is valid? [True, True] Translation: X:116.08, Y:203.72, Z:-12.15 [[-8.02095096e-02 -9.96537648e-01 2.18894955e-02 1.16083989e+02] [ 4.52763245e-01 -1.68604364e-02 8.91471351e-01 2.03717035e+02] [-8.88015698e-01 8.14152390e-02 4.52547986e-01 -1.21504299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.9307140569999 meters Centerline goodness : 0.985347 Centerline is valid? [True, True] Translation: X:116.18, Y:204.55, Z:-11.84 [[-2.31536330e-04 9.13876300e-02 9.95815368e-01 1.16181825e+02] [ 4.59981358e-01 8.84222669e-01 -8.10396327e-02 2.04551817e+02] [-8.87928543e-01 4.58037742e-01 -4.22413358e-02 -1.18351032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.9607140569999 meters Centerline goodness : 0.986445 Centerline is valid? [True, True] Translation: X:116.85, Y:204.65, Z:-11.95 [[ 1.01621023e-03 9.51788486e-01 3.06753396e-01 1.16853486e+02] [ 3.89481674e-01 2.82153780e-01 -8.76751544e-01 2.04647565e+02] [-9.21033655e-01 1.20365790e-01 -3.70417445e-01 -1.19518331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.990714057 meters Centerline goodness : 0.983687 Centerline is valid? [True, True] Translation: X:116.99, Y:203.82, Z:-12.41 [[-6.21868486e-02 8.88745130e-02 -9.94099651e-01 1.16987563e+02] [ 3.61243468e-01 -9.26492336e-01 -1.05428211e-01 2.03817615e+02] [-9.30395589e-01 -3.65668254e-01 2.55103013e-02 -1.24075659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.020714057 meters Centerline goodness : 0.983982 Centerline is valid? [True, True] Translation: X:116.97, Y:203.86, Z:-12.55 [[-6.80113032e-02 7.02015643e-02 -9.95211637e-01 1.16971996e+02] [ 4.22676702e-01 -9.01549715e-01 -9.24798205e-02 2.03859005e+02] [-9.03724996e-01 -4.26942446e-01 3.16430053e-02 -1.25491686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.0507140569999 meters Centerline goodness : 0.988003 Centerline is valid? [True, True] Translation: X:116.96, Y:203.92, Z:-12.69 [[-8.20430534e-02 6.72259531e-02 -9.94358893e-01 1.16961022e+02] [ 4.89805282e-01 -8.66195636e-01 -9.89742725e-02 2.03921273e+02] [-8.67962974e-01 -4.95162389e-01 3.81377079e-02 -1.26898085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.0807140569999 meters Centerline goodness : 0.985522 Centerline is valid? [True, True] Translation: X:116.14, Y:203.88, Z:-12.71 [[-1.57476000e-01 -9.78303444e-01 -1.34624220e-01 1.16140401e+02] [ 5.24013042e-01 -1.98331348e-01 8.28296450e-01 2.03884269e+02] [-8.37025473e-01 5.98919650e-02 5.43876191e-01 -1.27074713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.110714057 meters Centerline goodness : 0.986139 Centerline is valid? [True, True] Translation: X:116.14, Y:203.86, Z:-12.66 [[-1.53000022e-01 -9.80286389e-01 -1.25018358e-01 1.16143846e+02] [ 5.27009503e-01 -1.87954799e-01 8.28814803e-01 2.03859610e+02] [-8.35973670e-01 6.09228206e-02 5.45377331e-01 -1.26624690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.140714057 meters Centerline goodness : 0.979997 Centerline is valid? [True, True] Translation: X:116.08, Y:204.17, Z:-13.16 [[-1.75344590e-01 -9.77552750e-01 -1.16811372e-01 1.16076498e+02] [ 5.09470599e-01 -1.91625085e-01 8.38879929e-01 2.04171912e+02] [-8.42433370e-01 8.75810973e-02 5.31634807e-01 -1.31601040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.1707140569999 meters Centerline goodness : 0.991245 Centerline is valid? [True, True] Translation: X:116.20, Y:203.60, Z:-12.27 [[-1.61722009e-01 -9.72970483e-01 -1.64846688e-01 1.16195543e+02] [ 5.39726131e-01 -2.27054568e-01 8.10642910e-01 2.03595012e+02] [-8.26160817e-01 4.21267352e-02 5.61857315e-01 -1.22715164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.2007140569999 meters Centerline goodness : 0.991245 Centerline is valid? [True, True] Translation: X:116.17, Y:203.61, Z:-12.27 [[-1.61068620e-01 -9.79505613e-01 -1.20936569e-01 1.16174790e+02] [ 5.42884485e-01 -1.90263570e-01 8.17970788e-01 2.03611902e+02] [-8.24216801e-01 6.60948386e-02 5.62403891e-01 -1.22658238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.2307140569999 meters Centerline goodness : 0.982781 Centerline is valid? [True, True] Translation: X:116.09, Y:204.11, Z:-13.05 [[-1.70924607e-01 -9.77441114e-01 -1.24071140e-01 1.16094897e+02] [ 5.20844683e-01 -1.96527147e-01 8.30721311e-01 2.04105780e+02] [-8.36364511e-01 7.73689204e-02 5.42686333e-01 -1.30515016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.260714057 meters Centerline goodness : 0.982683 Centerline is valid? [True, True] Translation: X:116.09, Y:204.13, Z:-13.08 [[-1.66138812e-01 -9.79029980e-01 -1.17890603e-01 1.16089655e+02] [ 5.19329583e-01 -1.88498466e-01 8.33525712e-01 2.04125319e+02] [-8.38268859e-01 7.72568943e-02 5.39756142e-01 -1.30780432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.290714057 meters Centerline goodness : 0.985917 Centerline is valid? [True, True] Translation: X:116.14, Y:203.90, Z:-12.72 [[-1.43828086e-01 -9.81508680e-01 -1.26309906e-01 1.16136310e+02] [ 5.29014639e-01 -1.84126602e-01 8.28396587e-01 2.03897873e+02] [-8.36335455e-01 5.23269060e-02 5.45715037e-01 -1.27199537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.3207140569999 meters Centerline goodness : 0.986614 Centerline is valid? [True, True] Translation: X:116.12, Y:203.91, Z:-12.71 [[-1.42750961e-01 -9.84429385e-01 -1.02571678e-01 1.16124485e+02] [ 5.31497554e-01 -1.63667272e-01 8.31097692e-01 2.03906539e+02] [-8.34944617e-01 6.41233985e-02 5.46585471e-01 -1.27143663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.3507140569999 meters Centerline goodness : 0.986467 Centerline is valid? [True, True] Translation: X:116.12, Y:203.94, Z:-12.76 [[-1.41318524e-01 -9.84922249e-01 -9.97859622e-02 1.16117875e+02] [ 5.30979520e-01 -1.60483797e-01 8.32049098e-01 2.03940361e+02] [-8.35517699e-01 6.45996482e-02 5.45652876e-01 -1.27648728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.380714057 meters Centerline goodness : 0.985637 Centerline is valid? [True, True] Translation: X:116.12, Y:203.95, Z:-12.77 [[-1.38187733e-01 -9.85623038e-01 -9.72181925e-02 1.16115113e+02] [ 5.30511154e-01 -1.56552985e-01 8.33096080e-01 2.03949073e+02] [-8.36338488e-01 6.35483230e-02 5.44517718e-01 -1.27722077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.410714057 meters Centerline goodness : 0.987924 Centerline is valid? [True, True] Translation: X:116.12, Y:203.94, Z:-12.76 [[-1.32441202e-01 -9.84884176e-01 -1.11635513e-01 1.16121992e+02] [ 5.43311361e-01 -1.66334679e-01 8.22888534e-01 2.03935195e+02] [-8.29018753e-01 4.83315042e-02 5.57128327e-01 -1.27643711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.4407140569999 meters Centerline goodness : 0.986106 Centerline is valid? [True, True] Translation: X:116.23, Y:204.84, Z:-12.33 [[-6.64546039e-02 2.36380296e-01 9.69385445e-01 1.16234228e+02] [ 5.51534864e-01 8.18322185e-01 -1.61734644e-01 2.04838524e+02] [-8.31500499e-01 5.23901858e-01 -1.84753251e-01 -1.23329298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.4707140569999 meters Centerline goodness : 0.984864 Centerline is valid? [True, True] Translation: X:116.20, Y:204.92, Z:-12.47 [[-8.25224489e-02 1.92609504e-01 9.77799378e-01 1.16203941e+02] [ 4.91900936e-01 8.61172653e-01 -1.28121546e-01 2.04918064e+02] [-8.66731513e-01 4.70407525e-01 -1.65810872e-01 -1.24668800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.500714057 meters Centerline goodness : 0.987774 Centerline is valid? [True, True] Translation: X:116.83, Y:204.05, Z:-13.05 [[-8.74095844e-02 -1.41983499e-01 -9.86002156e-01 1.16830594e+02] [ 4.35085813e-01 -8.95836429e-01 9.04291330e-02 2.04050821e+02] [-8.96136094e-01 -4.21091177e-01 1.40079696e-01 -1.30456693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.530714057 meters Centerline goodness : 0.986951 Centerline is valid? [True, True] Translation: X:116.12, Y:204.07, Z:-12.99 [[-1.35030235e-01 -9.80026577e-01 -1.45995700e-01 1.16115472e+02] [ 4.69273120e-01 -1.93025679e-01 8.61698222e-01 2.04067368e+02] [-8.72668078e-01 4.78434559e-02 4.85964432e-01 -1.29868856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.5607140569999 meters Centerline goodness : 0.986874 Centerline is valid? [True, True] Translation: X:116.08, Y:204.13, Z:-13.09 [[-6.64043464e-02 -9.89186359e-01 -1.30770064e-01 1.16081947e+02] [ 4.81784350e-01 -1.46555842e-01 8.63947467e-01 2.04127454e+02] [-8.73770166e-01 -5.63310334e-03 4.86306452e-01 -1.30856211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.5907140569999 meters Centerline goodness : 0.987442 Centerline is valid? [True, True] Translation: X:116.03, Y:204.18, Z:-13.08 [[-5.97090003e-02 -9.98130126e-01 -1.30800113e-02 1.16031034e+02] [ 4.89681968e-01 -4.07065776e-02 8.70950369e-01 2.04180506e+02] [-8.69854244e-01 4.55985301e-02 4.91196873e-01 -1.30782102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.620714057 meters Centerline goodness : 0.986681 Centerline is valid? [True, True] Translation: X:116.03, Y:204.21, Z:-13.13 [[-4.50093420e-02 -9.98808012e-01 -1.88868705e-02 1.16031818e+02] [ 4.99381081e-01 -3.88699228e-02 8.65510060e-01 2.04207713e+02] [-8.65212514e-01 2.95242925e-02 5.00535335e-01 -1.31284127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.650714057 meters Centerline goodness : 0.986828 Centerline is valid? [True, True] Translation: X:116.02, Y:204.23, Z:-13.15 [[-3.84484036e-02 -9.99173911e-01 1.31611815e-02 1.16023268e+02] [ 4.99072607e-01 -7.79048585e-03 8.66525154e-01 2.04234828e+02] [-8.65706794e-01 3.98848939e-02 4.98959860e-01 -1.31512966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.6807140569999 meters Centerline goodness : 0.988821 Centerline is valid? [True, True] Translation: X:116.02, Y:204.26, Z:-13.17 [[-3.66426472e-02 -9.99047041e-01 2.37134403e-02 1.16016567e+02] [ 5.03010445e-01 2.06533545e-03 8.64277864e-01 2.04255725e+02] [-8.63503219e-01 4.35975370e-02 5.02455417e-01 -1.31729090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.7107140569999 meters Centerline goodness : 0.988694 Centerline is valid? [True, True] Translation: X:116.01, Y:204.28, Z:-13.20 [[-3.44500769e-02 -9.98350002e-01 4.59398090e-02 1.16009070e+02] [ 4.96630019e-01 2.27889373e-02 8.67663119e-01 2.04277645e+02] [-8.67278396e-01 5.27061494e-02 4.95025500e-01 -1.31974869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.740714057 meters Centerline goodness : 0.987450 Centerline is valid? [True, True] Translation: X:116.01, Y:204.28, Z:-13.20 [[-3.48999596e-02 -9.98935112e-01 3.01767308e-02 1.16014186e+02] [ 5.00614678e-01 8.65957984e-03 8.65626915e-01 2.04276392e+02] [-8.64966437e-01 4.53172587e-02 4.99779360e-01 -1.32004959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.770714057 meters Centerline goodness : 0.988218 Centerline is valid? [True, True] Translation: X:116.02, Y:204.27, Z:-13.21 [[-3.02979454e-02 -9.99379936e-01 1.79382012e-02 1.16019102e+02] [ 4.98869144e-01 4.32188089e-04 8.66677212e-01 2.04271040e+02] [-8.66147569e-01 3.52073539e-02 4.98546719e-01 -1.32078798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.8007140569999 meters Centerline goodness : 0.987567 Centerline is valid? [True, True] Translation: X:116.02, Y:204.27, Z:-13.21 [[-2.89290234e-02 -9.99490812e-01 1.34621439e-02 1.16021322e+02] [ 4.99919502e-01 -2.80448790e-03 8.66067334e-01 2.04272005e+02] [-8.65588588e-01 3.17844704e-02 4.99746079e-01 -1.32052748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.8307140569999 meters Centerline goodness : 0.987064 Centerline is valid? [True, True] Translation: X:116.02, Y:204.28, Z:-13.22 [[-2.64041748e-02 -9.99550476e-01 1.42008775e-02 1.16022658e+02] [ 4.98377497e-01 -8.48039028e-04 8.66959717e-01 2.04277601e+02] [-8.66557955e-01 2.99687537e-02 4.98175856e-01 -1.32155554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.860714057 meters Centerline goodness : 0.987131 Centerline is valid? [True, True] Translation: X:116.02, Y:204.27, Z:-13.21 [[-2.26162751e-02 -9.99522030e-01 2.10764432e-02 1.16021686e+02] [ 4.96601158e-01 7.06540954e-03 8.67950096e-01 2.04274321e+02] [-8.67684156e-01 3.00963843e-02 4.96204004e-01 -1.32107238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.890714057 meters Centerline goodness : 0.987332 Centerline is valid? [True, True] Translation: X:116.01, Y:204.30, Z:-13.23 [[-1.99897642e-02 -9.98428908e-01 5.23461977e-02 1.16013307e+02] [ 4.95615097e-01 3.55753942e-02 8.67813383e-01 2.04297454e+02] [-8.68312205e-01 4.32909507e-02 4.94125296e-01 -1.32315727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.9207140569999 meters Centerline goodness : 0.986033 Centerline is valid? [True, True] Translation: X:116.02, Y:204.31, Z:-13.25 [[-2.04801972e-02 -9.98750621e-01 4.55824430e-02 1.16016304e+02] [ 4.95489390e-01 2.94598553e-02 8.68114268e-01 2.04310566e+02] [-8.68372516e-01 4.03647682e-02 4.94266992e-01 -1.32543935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.9507140569999 meters Centerline goodness : 0.986236 Centerline is valid? [True, True] Translation: X:116.03, Y:204.30, Z:-13.25 [[-1.79388410e-02 -9.99668580e-01 1.84642666e-02 1.16031199e+02] [ 4.95162564e-01 7.16094709e-03 8.68770831e-01 2.04295373e+02] [-8.68615124e-01 2.47275554e-02 4.94869997e-01 -1.32538485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.9807140569999 meters Centerline goodness : 0.986053 Centerline is valid? [True, True] Translation: X:116.02, Y:204.31, Z:-13.27 [[-2.50134375e-02 -9.99154185e-01 3.26380567e-02 1.16019447e+02] [ 4.94726384e-01 1.59979813e-02 8.68901530e-01 2.04310795e+02] [-8.68688743e-01 3.78811219e-02 4.93907773e-01 -1.32688303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.010714057 meters Centerline goodness : 0.983000 Centerline is valid? [True, True] Translation: X:116.03, Y:204.30, Z:-13.30 [[-3.09594007e-02 -9.99432559e-01 -1.32693474e-02 1.16030862e+02] [ 4.92541323e-01 -2.68066837e-02 8.69876110e-01 2.04298054e+02] [-8.69738214e-01 2.03951411e-02 4.93091754e-01 -1.32974360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.040714057 meters Centerline goodness : 0.985746 Centerline is valid? [True, True] Translation: X:116.06, Y:204.30, Z:-13.33 [[-2.20236177e-02 -9.98135959e-01 -5.69172069e-02 1.16062905e+02] [ 4.92730446e-01 -6.03732257e-02 8.68085123e-01 2.04304300e+02] [-8.69903252e-01 -8.92646580e-03 4.93141613e-01 -1.33336814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.0707140569999 meters Centerline goodness : 0.986809 Centerline is valid? [True, True] Translation: X:116.04, Y:204.33, Z:-13.35 [[-2.55214745e-02 -9.99638292e-01 -8.48177226e-03 1.16041877e+02] [ 4.92030729e-01 -1.99466691e-02 8.70349293e-01 2.04333669e+02] [-8.70203664e-01 1.80393047e-02 4.92361826e-01 -1.33470662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.1007140569999 meters Centerline goodness : 0.981011 Centerline is valid? [True, True] Translation: X:116.03, Y:204.35, Z:-13.36 [[-3.28211269e-02 -9.99362846e-01 1.40240977e-02 1.16031289e+02] [ 4.87285349e-01 -3.74931372e-03 8.73234752e-01 2.04346489e+02] [-8.72625786e-01 3.54942860e-02 4.87097930e-01 -1.33626743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.130714057 meters Centerline goodness : 0.981307 Centerline is valid? [True, True] Translation: X:116.07, Y:204.33, Z:-13.41 [[-3.22853550e-02 -9.96197128e-01 -8.09255119e-02 1.16073982e+02] [ 4.85421461e-01 -8.64057918e-02 8.70000026e-01 2.04326390e+02] [-8.73683960e-01 -1.11947206e-02 4.86365107e-01 -1.34057755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.160714057 meters Centerline goodness : 0.983795 Centerline is valid? [True, True] Translation: X:116.09, Y:204.34, Z:-13.44 [[-3.24801524e-02 -9.94792376e-01 -9.66083248e-02 1.16091189e+02] [ 4.85510469e-01 -1.00192700e-01 8.68470499e-01 2.04342245e+02] [-8.73627280e-01 -1.86962989e-02 4.86236387e-01 -1.34360668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.1907140569999 meters Centerline goodness : 0.985675 Centerline is valid? [True, True] Translation: X:116.09, Y:204.37, Z:-13.46 [[-3.66737155e-02 -9.97246503e-01 -6.44550290e-02 1.16086428e+02] [ 4.91276603e-01 -7.41578453e-02 8.67840950e-01 2.04372739e+02] [-8.70231198e-01 1.61704391e-04 4.92643518e-01 -1.34552624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.2207140569999 meters Centerline goodness : 0.984590 Centerline is valid? [True, True] Translation: X:116.07, Y:204.41, Z:-13.47 [[-3.70534636e-02 -9.99300889e-01 -4.97727907e-03 1.16067692e+02] [ 4.92179739e-01 -2.25839839e-02 8.70200591e-01 2.04408291e+02] [-8.69704631e-01 2.97942300e-02 4.92672466e-01 -1.34669435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.250714057 meters Centerline goodness : 0.989753 Centerline is valid? [True, True] Translation: X:116.07, Y:204.43, Z:-13.49 [[-4.88193967e-02 -9.98790627e-01 5.82672809e-03 1.16065797e+02] [ 5.04307685e-01 -1.96134952e-02 8.63301262e-01 2.04429618e+02] [-8.62142926e-01 4.50843105e-02 5.04655308e-01 -1.34936923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.280714057 meters Centerline goodness : 0.989492 Centerline is valid? [True, True] Translation: X:116.07, Y:204.45, Z:-13.52 [[-5.24862100e-02 -9.98542862e-01 1.25439281e-02 1.16068341e+02] [ 5.04806302e-01 -1.56916955e-02 8.63090012e-01 2.04445658e+02] [-8.61635535e-01 5.16325776e-02 5.04894327e-01 -1.35164560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.3107140569999 meters Centerline goodness : 0.986171 Centerline is valid? [True, True] Translation: X:116.09, Y:204.44, Z:-13.55 [[-4.97764784e-02 -9.98298922e-01 -3.03572763e-02 1.16091333e+02] [ 4.91406764e-01 -5.09409568e-02 8.69439136e-01 2.04439852e+02] [-8.69506581e-01 2.83598475e-02 4.93106504e-01 -1.35465029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.3407140569999 meters Centerline goodness : 0.984103 Centerline is valid? [True, True] Translation: X:116.09, Y:204.47, Z:-13.57 [[-4.89870632e-02 -9.98799411e-01 -7.27931017e-05 1.16086387e+02] [ 4.92028996e-01 -2.41954520e-02 8.70242522e-01 2.04465941e+02] [-8.69199479e-01 4.25948091e-02 4.92623535e-01 -1.35659682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.370714057 meters Centerline goodness : 0.987317 Centerline is valid? [True, True] Translation: X:116.09, Y:204.48, Z:-13.60 [[-5.90248612e-02 -9.98255776e-01 -1.21271641e-03 1.16092134e+02] [ 5.01913936e-01 -3.07272332e-02 8.64371586e-01 2.04484284e+02] [-8.62901192e-01 5.04107336e-02 5.02852156e-01 -1.35983427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.400714057 meters Centerline goodness : 0.983427 Centerline is valid? [True, True] Translation: X:116.09, Y:204.50, Z:-13.61 [[-4.89601004e-02 -9.98455233e-01 2.62689303e-02 1.16086628e+02] [ 4.95475961e-01 -1.44305185e-03 8.68620452e-01 2.04499306e+02] [-8.67240728e-01 5.55433680e-02 4.94781218e-01 -1.36072385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.4307140569999 meters Centerline goodness : 0.984954 Centerline is valid? [True, True] Translation: X:116.11, Y:204.50, Z:-13.64 [[-4.79932629e-02 -9.98624685e-01 -2.11041572e-02 1.16108978e+02] [ 4.90487180e-01 -4.19676439e-02 8.70437271e-01 2.04497758e+02] [-8.70125838e-01 3.14238063e-02 4.91826770e-01 -1.36436263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.4607140569999 meters Centerline goodness : 0.984954 Centerline is valid? [True, True] Translation: X:116.10, Y:204.52, Z:-13.66 [[-4.82284648e-02 -9.98835248e-01 -1.47083587e-03 1.16101229e+02] [ 4.90878912e-01 -2.49843430e-02 8.70869494e-01 2.04517818e+02] [-8.69891895e-01 4.12786964e-02 4.91512116e-01 -1.36645492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.490714057 meters Centerline goodness : 0.984954 Centerline is valid? [True, True] Translation: X:116.10, Y:204.53, Z:-13.69 [[-4.83955335e-02 -9.98828185e-01 -3.60510525e-04 1.16100886e+02] [ 4.90410265e-01 -2.40759410e-02 8.71159068e-01 2.04531347e+02] [-8.70146910e-01 4.19834098e-02 4.91000763e-01 -1.36881422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.520714057 meters Centerline goodness : 0.989702 Centerline is valid? [True, True] Translation: X:116.08, Y:204.56, Z:-13.71 [[-5.57066994e-02 -9.97788925e-01 3.62494700e-02 1.16083278e+02] [ 5.02581091e-01 3.34879254e-03 8.64523587e-01 2.04560536e+02] [-8.62733453e-01 6.63780538e-02 5.01283296e-01 -1.37057307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.5507140569999 meters Centerline goodness : 0.985323 Centerline is valid? [True, True] Translation: X:116.11, Y:204.55, Z:-13.74 [[-5.21576360e-02 -9.98306849e-01 -2.57490847e-02 1.16109534e+02] [ 4.88265365e-01 -4.79851214e-02 8.71374983e-01 2.04547241e+02] [-8.71135187e-01 3.28764730e-02 4.89941449e-01 -1.37381099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.5807140569999 meters Centerline goodness : 0.989610 Centerline is valid? [True, True] Translation: X:116.10, Y:204.58, Z:-13.76 [[-5.71296566e-02 -9.98302847e-01 1.12972613e-02 1.16098574e+02] [ 5.01537615e-01 -1.89134409e-02 8.64929074e-01 2.04579035e+02] [-8.63247487e-01 5.50791025e-02 5.01766947e-01 -1.37581459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.610714057 meters Centerline goodness : 0.983515 Centerline is valid? [True, True] Translation: X:116.12, Y:204.58, Z:-13.79 [[-4.99800570e-02 -9.98400474e-01 -2.64289039e-02 1.16121703e+02] [ 4.87332320e-01 -4.74768589e-02 8.71924972e-01 2.04577768e+02] [-8.71785067e-01 3.06992008e-02 4.88925716e-01 -1.37873018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.640714057 meters Centerline goodness : 0.985771 Centerline is valid? [True, True] Translation: X:116.12, Y:204.59, Z:-13.81 [[-5.47559216e-02 -9.98377429e-01 -1.56300713e-02 1.16116071e+02] [ 4.91467294e-01 -4.05739651e-02 8.69950374e-01 2.04593502e+02] [-8.69172991e-01 3.99532657e-02 4.92891518e-01 -1.38077740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.6707140569999 meters Centerline goodness : 0.984938 Centerline is valid? [True, True] Translation: X:116.12, Y:204.60, Z:-13.83 [[-5.74123579e-02 -9.98035773e-01 -2.50682589e-02 1.16124206e+02] [ 4.89463603e-01 -5.00236363e-02 8.70587742e-01 2.04604383e+02] [-8.70131716e-01 3.77124948e-02 4.91374160e-01 -1.38338443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.7007140569999 meters Centerline goodness : 0.984971 Centerline is valid? [True, True] Translation: X:116.12, Y:204.62, Z:-13.86 [[-5.77031295e-02 -9.98224432e-01 -1.47761029e-02 1.16123248e+02] [ 4.90865507e-01 -4.12567514e-02 8.70257970e-01 2.04621583e+02] [-8.69322382e-01 4.29635292e-02 4.92374585e-01 -1.38565621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.7307140569999 meters Centerline goodness : 0.984993 Centerline is valid? [True, True] Translation: X:116.13, Y:204.63, Z:-13.88 [[-6.22557097e-02 -9.97883104e-01 -1.88025854e-02 1.16126759e+02] [ 4.90184643e-01 -4.69811060e-02 8.70351533e-01 2.04632874e+02] [-8.69392456e-01 4.49676138e-02 4.92071815e-01 -1.38805038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.760714057 meters Centerline goodness : 0.987879 Centerline is valid? [True, True] Translation: X:116.12, Y:204.66, Z:-13.91 [[-7.24821508e-02 -9.97358852e-01 -4.65393781e-03 1.16119984e+02] [ 4.98466022e-01 -4.02664262e-02 8.65973579e-01 2.04657562e+02] [-8.63873812e-01 6.04477977e-02 5.00068096e-01 -1.39113883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.790714057 meters Centerline goodness : 0.987839 Centerline is valid? [True, True] Translation: X:116.11, Y:204.68, Z:-13.93 [[-7.36539856e-02 -9.96665633e-01 3.51099185e-02 1.16106251e+02] [ 5.01250618e-01 -6.56116842e-03 8.65277279e-01 2.04684328e+02] [-8.62161764e-01 8.13299886e-02 5.00062521e-01 -1.39272920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.8207140569999 meters Centerline goodness : 0.985326 Centerline is valid? [True, True] Translation: X:116.11, Y:204.68, Z:-13.95 [[-6.77331061e-02 -9.97552809e-01 1.73383979e-02 1.16114391e+02] [ 4.92210837e-01 -1.82944129e-02 8.70283750e-01 2.04683829e+02] [-8.67836804e-01 6.74811690e-02 4.92245441e-01 -1.39461724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.8507140569999 meters Centerline goodness : 0.985901 Centerline is valid? [True, True] Translation: X:116.13, Y:204.68, Z:-13.98 [[-6.66244077e-02 -9.97456701e-01 -2.53242383e-02 1.16133422e+02] [ 4.87555051e-01 -5.46891349e-02 8.71377743e-01 2.04684879e+02] [-8.70546530e-01 4.57080657e-02 4.89958684e-01 -1.39774219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.880714057 meters Centerline goodness : 0.984754 Centerline is valid? [True, True] Translation: X:116.13, Y:204.71, Z:-14.00 [[-6.70893499e-02 -9.97721928e-01 -7.06914073e-03 1.16126169e+02] [ 4.91639878e-01 -3.92227022e-02 8.69914829e-01 2.04705354e+02] [-8.68210372e-01 5.48865489e-02 4.93151312e-01 -1.39975469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.910714057 meters Centerline goodness : 0.986061 Centerline is valid? [True, True] Translation: X:116.13, Y:204.71, Z:-14.03 [[-7.03010978e-02 -9.97066915e-01 -3.02543039e-02 1.16133802e+02] [ 4.90309152e-01 -6.09515830e-02 8.69414654e-01 2.04710578e+02] [-8.68708635e-01 4.62868425e-02 4.93155996e-01 -1.40276437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.9407140569999 meters Centerline goodness : 0.990566 Centerline is valid? [True, True] Translation: X:116.12, Y:204.74, Z:-14.05 [[-7.44625318e-02 -9.97187260e-01 8.53813073e-03 1.16117652e+02] [ 4.96218536e-01 -2.96245462e-02 8.67692083e-01 2.04738597e+02] [-8.64998553e-01 6.88473280e-02 4.97028721e-01 -1.40498964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.9707140569999 meters Centerline goodness : 0.990187 Centerline is valid? [True, True] Translation: X:116.12, Y:204.75, Z:-14.07 [[-7.70303110e-02 -9.97002437e-01 7.24370871e-03 1.16116878e+02] [ 4.96373638e-01 -3.20478390e-02 8.67517232e-01 2.04752246e+02] [-8.64684649e-01 7.04207082e-02 4.97354382e-01 -1.40740497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.000714057 meters Centerline goodness : 0.990458 Centerline is valid? [True, True] Translation: X:116.12, Y:204.77, Z:-14.10 [[-7.88920736e-02 -9.96860286e-01 6.75358527e-03 1.16116317e+02] [ 4.96569390e-01 -3.34225817e-02 8.67353314e-01 2.04765910e+02] [-8.64404351e-01 7.17809252e-02 4.97647081e-01 -1.40986216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.030714057 meters Centerline goodness : 0.986665 Centerline is valid? [True, True] Translation: X:116.13, Y:204.76, Z:-14.12 [[-7.92311050e-02 -9.96207019e-01 -3.59723241e-02 1.16132466e+02] [ 4.87206136e-01 -7.01806314e-02 8.70462440e-01 2.04762235e+02] [-8.69685353e-01 5.14417640e-02 4.90918661e-01 -1.41224314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.0607140569999 meters Centerline goodness : 0.989878 Centerline is valid? [True, True] Translation: X:116.11, Y:204.79, Z:-14.15 [[-8.41125618e-02 -9.96415010e-01 9.06667560e-03 1.16114048e+02] [ 4.96390039e-01 -3.40098278e-02 8.67433145e-01 2.04792989e+02] [-8.64015050e-01 7.74626315e-02 4.97471139e-01 -1.41453555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.0907140569999 meters Centerline goodness : 0.989952 Centerline is valid? [True, True] Translation: X:116.13, Y:204.81, Z:-14.19 [[-8.07115113e-02 -9.96667507e-01 -1.18124202e-02 1.16133478e+02] [ 4.96714699e-01 -5.04936623e-02 8.66443823e-01 2.04813180e+02] [-8.64152857e-01 6.40645876e-02 4.99134821e-01 -1.41861930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.120714057 meters Centerline goodness : 0.989952 Centerline is valid? [True, True] Translation: X:116.09, Y:204.86, Z:-14.19 [[-8.05729105e-02 -9.92702954e-01 8.97153878e-02 1.16094746e+02] [ 5.04005398e-01 3.70771665e-02 8.62904307e-01 2.04859653e+02] [-8.59934047e-01 1.14743751e-01 4.97340232e-01 -1.41922670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.150714057 meters Centerline goodness : 0.991105 Centerline is valid? [True, True] Translation: X:116.07, Y:204.87, Z:-14.20 [[-9.03652520e-02 -9.90282091e-01 1.05714243e-01 1.16074061e+02] [ 5.04949133e-01 4.59343841e-02 8.61925986e-01 2.04867432e+02] [-8.58405787e-01 1.31268474e-01 4.95891211e-01 -1.41997214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.1807140569999 meters Centerline goodness : 0.991113 Centerline is valid? [True, True] Translation: X:116.11, Y:204.85, Z:-14.24 [[-9.49349159e-02 -9.95478746e-01 3.07058481e-03 1.16111289e+02] [ 4.97303118e-01 -4.47533493e-02 8.66421807e-01 2.04845140e+02] [-8.62367074e-01 8.37806927e-02 4.99303339e-01 -1.42429582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.2107140569999 meters Centerline goodness : 0.991010 Centerline is valid? [True, True] Translation: X:116.11, Y:204.86, Z:-14.27 [[-9.63252396e-02 -9.95345828e-01 2.85157876e-03 1.16110464e+02] [ 4.97626907e-01 -4.56766154e-02 8.66187687e-01 2.04859127e+02] [-8.62026050e-01 8.48547588e-02 4.99710676e-01 -1.42675193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.240714057 meters Centerline goodness : 0.989557 Centerline is valid? [True, True] Translation: X:116.11, Y:204.87, Z:-14.29 [[-9.63425889e-02 -9.95331415e-01 -5.78616490e-03 1.16109093e+02] [ 4.97666336e-01 -5.32041382e-02 8.65735259e-01 2.04872290e+02] [-8.62001348e-01 8.05275967e-02 5.00468762e-01 -1.42918077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.270714057 meters Centerline goodness : 0.988876 Centerline is valid? [True, True] Translation: X:116.12, Y:204.88, Z:-14.32 [[-9.08457645e-02 -9.95585924e-01 -2.35736037e-02 1.16121418e+02] [ 4.84116821e-01 -6.48364333e-02 8.72597926e-01 2.04875365e+02] [-8.70274641e-01 6.78594476e-02 4.87870008e-01 -1.43161573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.3007140569999 meters Centerline goodness : 0.987055 Centerline is valid? [True, True] Translation: X:116.12, Y:204.89, Z:-14.34 [[-8.71026652e-02 -9.95982658e-01 -2.07766799e-02 1.16117531e+02] [ 4.82265421e-01 -6.04068494e-02 8.73939973e-01 2.04889730e+02] [-8.71684111e-01 6.61026266e-02 4.85589593e-01 -1.43416946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.3307140569999 meters Centerline goodness : 0.985880 Centerline is valid? [True, True] Translation: X:116.10, Y:204.92, Z:-14.37 [[-7.58298995e-02 -9.96454575e-01 3.64432020e-02 1.16102891e+02] [ 4.83582276e-01 -4.78875593e-03 8.75285811e-01 2.04917717e+02] [-8.72008033e-01 8.39961216e-02 4.82230902e-01 -1.43713579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.360714057 meters Centerline goodness : 0.985962 Centerline is valid? [True, True] Translation: X:116.10, Y:205.21, Z:-14.90 [[-1.08263859e-01 -9.93704777e-01 -2.88054465e-02 1.16101016e+02] [ 4.97138212e-01 -7.92100416e-02 8.64048244e-01 2.05210222e+02] [-8.60890548e-01 7.92249090e-02 5.02584201e-01 -1.49022673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.390714057 meters Centerline goodness : 0.985356 Centerline is valid? [True, True] Translation: X:116.10, Y:205.21, Z:-14.90 [[-9.01086280e-02 -9.95078879e-01 -4.12123753e-02 1.16104788e+02] [ 4.98878930e-01 -8.09130758e-02 8.62886370e-01 2.05205374e+02] [-8.61974622e-01 5.71935213e-02 5.03714852e-01 -1.49008836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.4207140569999 meters Centerline goodness : 0.990154 Centerline is valid? [True, True] Translation: X:115.97, Y:205.62, Z:-14.21 [[-1.06503425e-02 -2.85464030e-01 9.58330245e-01 1.15974231e+02] [ 5.08813597e-01 8.23487526e-01 2.50952225e-01 2.05624230e+02] [-8.60810835e-01 4.90284186e-01 1.36477556e-01 -1.42130245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.4507140569999 meters Centerline goodness : 0.985763 Centerline is valid? [True, True] Translation: X:116.08, Y:205.05, Z:-14.53 [[-5.51049399e-02 -9.98465293e-01 -5.52315932e-03 1.16082508e+02] [ 4.34966908e-01 -2.89840394e-02 8.99979841e-01 2.05047106e+02] [-8.98758719e-01 4.71909435e-02 4.35896525e-01 -1.45277321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.4807140569999 meters Centerline goodness : 0.986611 Centerline is valid? [True, True] Translation: X:116.08, Y:205.06, Z:-14.55 [[-5.10656911e-02 -9.98675720e-01 -6.25313410e-03 1.16081482e+02] [ 4.34847211e-01 -2.78709584e-02 9.00072838e-01 2.05059314e+02] [-8.99055170e-01 4.32436835e-02 4.35694601e-01 -1.45535224e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.510714057 meters Centerline goodness : 0.987049 Centerline is valid? [True, True] Translation: X:116.07, Y:205.08, Z:-14.58 [[-4.82121537e-02 -9.98757004e-01 1.26504898e-02 1.16072978e+02] [ 4.26885284e-01 -9.15311109e-03 9.04259462e-01 2.05076208e+02] [-9.03019680e-01 4.89966041e-02 4.26795959e-01 -1.45794361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.540714057 meters Centerline goodness : 0.990149 Centerline is valid? [True, True] Translation: X:116.04, Y:205.11, Z:-14.59 [[-4.60896338e-02 -9.96350931e-01 7.18370960e-02 1.16040065e+02] [ 4.44963227e-01 4.39082882e-02 8.94471793e-01 2.05111699e+02] [-8.94362048e-01 7.31907435e-02 4.41315809e-01 -1.45898811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.5707140569999 meters Centerline goodness : 0.989997 Centerline is valid? [True, True] Translation: X:116.06, Y:205.10, Z:-14.63 [[-3.91270691e-02 -9.99148826e-01 1.30650679e-02 1.16060986e+02] [ 4.41143952e-01 -5.54054235e-03 8.97419253e-01 2.05101309e+02] [-8.96583006e-01 4.08769609e-02 4.40985247e-01 -1.46255932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.6007140569999 meters Centerline goodness : 0.989853 Centerline is valid? [True, True] Translation: X:116.06, Y:205.11, Z:-14.65 [[-3.59450400e-02 -9.99275884e-01 1.24764358e-02 1.16061354e+02] [ 4.41043821e-01 -4.65944163e-03 8.97473475e-01 2.05113232e+02] [-8.96765467e-01 3.77623749e-02 4.40891938e-01 -1.46493930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.630714057 meters Centerline goodness : 0.990236 Centerline is valid? [True, True] Translation: X:116.06, Y:205.13, Z:-14.67 [[-3.40998723e-02 -9.99343688e-01 1.22226312e-02 1.16060992e+02] [ 4.40973153e-01 -4.06985257e-03 8.97511067e-01 2.05125104e+02] [-8.96872275e-01 3.59948649e-02 4.40822518e-01 -1.46742715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.660714057 meters Centerline goodness : 0.990193 Centerline is valid? [True, True] Translation: X:116.06, Y:205.14, Z:-14.70 [[-3.01281656e-02 -9.99478384e-01 1.16298890e-02 1.16062037e+02] [ 4.41425702e-01 -2.86542067e-03 8.97293229e-01 2.05135908e+02] [-8.96791862e-01 3.21675310e-02 4.41281777e-01 -1.46988054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.6907140569999 meters Centerline goodness : 0.990057 Centerline is valid? [True, True] Translation: X:116.06, Y:205.15, Z:-14.72 [[-2.87671865e-02 -9.99521420e-01 1.13745704e-02 1.16063020e+02] [ 4.41556003e-01 -2.49791105e-03 8.97230214e-01 2.05147672e+02] [-8.96772405e-01 3.08332987e-02 4.41416541e-01 -1.47239441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.7207140569999 meters Centerline goodness : 0.989952 Centerline is valid? [True, True] Translation: X:116.06, Y:205.16, Z:-14.75 [[-2.75171388e-02 -9.99562966e-01 1.08020336e-02 1.16064928e+02] [ 4.41579598e-01 -2.46029570e-03 8.97218706e-01 2.05158568e+02] [-8.96800014e-01 2.94588494e-02 4.41454313e-01 -1.47499202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.750714057 meters Centerline goodness : 0.989751 Centerline is valid? [True, True] Translation: X:116.07, Y:205.17, Z:-14.77 [[-2.73007411e-02 -9.99575073e-01 1.02148191e-02 1.16066726e+02] [ 4.41826654e-01 -2.89975642e-03 8.97095758e-01 2.05169975e+02] [-8.96684938e-01 2.90045584e-02 4.41718075e-01 -1.47741093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.780714057 meters Centerline goodness : 0.990096 Centerline is valid? [True, True] Translation: X:116.07, Y:205.18, Z:-14.80 [[-2.75089128e-02 -9.99571920e-01 9.96175983e-03 1.16068385e+02] [ 4.41733286e-01 -3.21587930e-03 8.97140659e-01 2.05181244e+02] [-8.96724575e-01 2.90798051e-02 4.41632654e-01 -1.47981352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.8107140569999 meters Centerline goodness : 0.981768 Centerline is valid? [True, True] Translation: X:116.07, Y:205.18, Z:-14.82 [[-2.83307837e-02 -9.99416113e-01 1.90997451e-02 1.16066705e+02] [ 4.27998401e-01 5.13914946e-03 9.03764880e-01 2.05183865e+02] [-9.03335340e-01 3.37790277e-02 4.27602902e-01 -1.48176661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.8407140569999 meters Centerline goodness : 0.990483 Centerline is valid? [True, True] Translation: X:116.11, Y:205.18, Z:-14.86 [[-2.89727735e-02 -9.97247063e-01 -6.82559410e-02 1.16107112e+02] [ 4.40413334e-01 -7.40349489e-02 8.94737348e-01 2.05179687e+02] [-8.97327518e-01 -4.13780401e-03 4.41345902e-01 -1.48608500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.870714057 meters Centerline goodness : 0.988377 Centerline is valid? [True, True] Translation: X:116.11, Y:205.20, Z:-14.88 [[-2.20972021e-02 -9.98783388e-01 -4.40846647e-02 1.16107220e+02] [ 4.32388888e-01 -4.93056764e-02 9.00338158e-01 2.05203130e+02] [-9.01416420e-01 8.33235036e-04 4.32952356e-01 -1.48826307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.900714057 meters Centerline goodness : 0.989342 Centerline is valid? [True, True] Translation: X:116.06, Y:205.25, Z:-14.89 [[-2.75976732e-02 -9.97122462e-01 7.06056939e-02 1.16058559e+02] [ 4.43555165e-01 5.10831793e-02 8.94790101e-01 2.05252293e+02] [-8.95822072e-01 5.60116450e-02 4.40869042e-01 -1.48883775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.9307140569999 meters Centerline goodness : 0.985338 Centerline is valid? [True, True] Translation: X:116.11, Y:205.23, Z:-14.93 [[-1.73149891e-02 -9.99579202e-01 -2.32725099e-02 1.16109383e+02] [ 4.28366664e-01 -2.84478671e-02 9.03157085e-01 2.05234715e+02] [-9.03439092e-01 5.66898770e-03 4.28678983e-01 -1.49340651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.9607140569999 meters Centerline goodness : 0.982884 Centerline is valid? [True, True] Translation: X:116.08, Y:205.27, Z:-14.94 [[-1.55163038e-02 -9.97532310e-01 6.84728769e-02 1.16077913e+02] [ 4.29200670e-01 5.52063201e-02 9.01520409e-01 2.05272330e+02] [-9.03075871e-01 4.33768692e-02 4.27284937e-01 -1.49416171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.990714057 meters Centerline goodness : 0.983476 Centerline is valid? [True, True] Translation: X:116.09, Y:205.25, Z:-14.97 [[-2.44918650e-02 -9.99555803e-01 1.69807454e-02 1.16087487e+02] [ 4.22711747e-01 5.03804254e-03 9.06250185e-01 2.05254344e+02] [-9.05933181e-01 2.93737178e-02 4.22400588e-01 -1.49716029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.020714057 meters Centerline goodness : 0.983264 Centerline is valid? [True, True] Translation: X:116.14, Y:205.23, Z:-15.01 [[-2.35290041e-02 -9.95699358e-01 -8.96056612e-02 1.16138466e+02] [ 4.25031668e-01 -9.10897014e-02 9.00583560e-01 2.05232842e+02] [-9.04872625e-01 -1.68954093e-02 4.25347009e-01 -1.50120928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.0507140569999 meters Centerline goodness : 0.983952 Centerline is valid? [True, True] Translation: X:116.15, Y:205.25, Z:-15.04 [[-1.97415982e-02 -9.95528690e-01 -9.23736790e-02 1.16154379e+02] [ 4.27898043e-01 -9.19153505e-02 8.99141164e-01 2.05252488e+02] [-9.03611385e-01 -2.17760328e-02 4.27799334e-01 -1.50407268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.0807140569999 meters Centerline goodness : 0.989989 Centerline is valid? [True, True] Translation: X:116.06, Y:205.89, Z:-14.49 [[ 3.23983834e-03 1.65251154e-03 9.99993386e-01 1.16064535e+02] [ 3.85598960e-01 9.22662315e-01 -2.77400676e-03 2.05894281e+02] [-9.22660797e-01 3.85605397e-01 2.35207001e-03 -1.44878973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.110714057 meters Centerline goodness : 0.983732 Centerline is valid? [True, True] Translation: X:116.11, Y:205.54, Z:-15.69 [[-4.38209673e-02 -9.99009512e-01 -7.72772918e-03 1.16109599e+02] [ 3.49161842e-01 -2.25622227e-02 9.36790774e-01 2.05538563e+02] [-9.36037249e-01 3.83528497e-02 3.49804700e-01 -1.56943890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.140714057 meters Centerline goodness : 0.985524 Centerline is valid? [True, True] Translation: X:116.14, Y:205.33, Z:-15.14 [[-1.87200019e-02 -9.99157030e-01 -3.65348039e-02 1.16139449e+02] [ 3.72021166e-01 -4.08782852e-02 9.27323686e-01 2.05328822e+02] [-9.28035459e-01 3.76778081e-03 3.72472805e-01 -1.51425683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.1707140569999 meters Centerline goodness : 0.985434 Centerline is valid? [True, True] Translation: X:116.10, Y:205.36, Z:-15.15 [[-2.73083755e-02 -9.98836217e-01 3.97550616e-02 1.16103790e+02] [ 3.71407727e-01 2.67846444e-02 9.28083446e-01 2.05356410e+02] [-9.28068183e-01 4.01097883e-02 3.70244044e-01 -1.51525469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.2007140569999 meters Centerline goodness : 0.990037 Centerline is valid? [True, True] Translation: X:116.14, Y:205.36, Z:-15.19 [[-3.28404142e-02 -9.99149246e-01 -2.49457854e-02 1.16139502e+02] [ 3.81022433e-01 -3.55901386e-02 9.23880538e-01 2.05358739e+02] [-9.23982366e-01 2.08357157e-02 3.81867071e-01 -1.51902536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.2307140569999 meters Centerline goodness : 0.987506 Centerline is valid? [True, True] Translation: X:116.15, Y:205.38, Z:-15.22 [[-2.98039965e-02 -9.99449958e-01 -1.45431634e-02 1.16146432e+02] [ 3.73211399e-01 -2.46243487e-02 9.27419481e-01 2.05378619e+02] [-9.27267477e-01 2.22131326e-02 3.73740021e-01 -1.52170506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.260714057 meters Centerline goodness : 0.984060 Centerline is valid? [True, True] Translation: X:116.10, Y:205.42, Z:-15.22 [[-4.65109103e-02 -9.94148353e-01 9.74976252e-02 1.16100665e+02] [ 3.77167800e-01 7.29009326e-02 9.23271306e-01 2.05417415e+02] [-9.24976317e-01 7.97151536e-02 3.71570058e-01 -1.52229020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.290714057 meters Centerline goodness : 0.985105 Centerline is valid? [True, True] Translation: X:116.17, Y:205.38, Z:-15.27 [[-4.77900350e-02 -9.96338695e-01 -7.08894737e-02 1.16172052e+02] [ 3.71071910e-01 -8.36005707e-02 9.24833273e-01 2.05376698e+02] [-9.27373577e-01 1.78927221e-02 3.73708576e-01 -1.52694329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.3207140569999 meters Centerline goodness : 0.986184 Centerline is valid? [True, True] Translation: X:116.19, Y:205.39, Z:-15.30 [[-5.00232223e-02 -9.95464197e-01 -8.09241029e-02 1.16187038e+02] [ 3.71792260e-01 -9.37625021e-02 9.23568681e-01 2.05392512e+02] [-9.26967202e-01 1.61129264e-02 3.74796186e-01 -1.52999237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.3507140569999 meters Centerline goodness : 0.982877 Centerline is valid? [True, True] Translation: X:116.11, Y:205.45, Z:-15.30 [[-5.85813855e-02 -9.93482166e-01 9.77824451e-02 1.16111232e+02] [ 3.78266010e-01 6.85558295e-02 9.23154876e-01 2.05449327e+02] [-9.23841462e-01 9.10674669e-02 3.71784439e-01 -1.52999893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.380714057 meters Centerline goodness : 0.988889 Centerline is valid? [True, True] Translation: X:116.19, Y:205.42, Z:-15.35 [[-6.40186095e-02 -9.93690911e-01 -9.20868684e-02 1.16191164e+02] [ 3.83019504e-01 -1.09674984e-01 9.17206333e-01 2.05417403e+02] [-9.21519222e-01 2.34472074e-02 3.87624240e-01 -1.53532584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.410714057 meters Centerline goodness : 0.989386 Centerline is valid? [True, True] Translation: X:116.14, Y:205.46, Z:-15.37 [[-6.60098145e-02 -9.97460110e-01 2.67588149e-02 1.16143669e+02] [ 3.91687877e-01 -1.23767387e-03 9.20097318e-01 2.05460874e+02] [-9.17727253e-01 7.12165567e-02 3.90774731e-01 -1.53659173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.4407140569999 meters Centerline goodness : 0.983038 Centerline is valid? [True, True] Translation: X:116.14, Y:205.45, Z:-15.39 [[-6.83875824e-02 -9.97399815e-01 2.27320788e-02 1.16143022e+02] [ 3.71076929e-01 -4.27934851e-03 9.28592268e-01 2.05453395e+02] [-9.26080478e-01 7.19395303e-02 3.70404715e-01 -1.53871044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.4707140569999 meters Centerline goodness : 0.983515 Centerline is valid? [True, True] Translation: X:116.17, Y:205.44, Z:-15.42 [[-6.56127366e-02 -9.96588681e-01 -5.00596547e-02 1.16174322e+02] [ 3.65571354e-01 -7.06874042e-02 9.28095295e-01 2.05442311e+02] [-9.28467853e-01 4.25944963e-02 3.68962267e-01 -1.54206874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.500714057 meters Centerline goodness : 0.989880 Centerline is valid? [True, True] Translation: X:116.17, Y:205.47, Z:-15.45 [[-6.63855667e-02 -9.96765366e-01 -4.52963863e-02 1.16173297e+02] [ 3.87436558e-01 -6.75850157e-02 9.19415673e-01 2.05471343e+02] [-9.19503056e-01 4.34864545e-02 3.90670012e-01 -1.54474455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.530714057 meters Centerline goodness : 0.985141 Centerline is valid? [True, True] Translation: X:116.17, Y:205.49, Z:-15.46 [[-5.96288619e-02 -9.97896289e-01 -2.54439508e-02 1.16166632e+02] [ 3.78880638e-01 -4.62070494e-02 9.24291280e-01 2.05491863e+02] [-9.23522529e-01 4.54742168e-02 3.80838857e-01 -1.54636180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.5607140569999 meters Centerline goodness : 0.987642 Centerline is valid? [True, True] Translation: X:116.16, Y:205.51, Z:-15.49 [[-5.84676621e-02 -9.98249492e-01 -8.91534941e-03 1.16158676e+02] [ 3.80065813e-01 -3.05168268e-02 9.24455895e-01 2.05507392e+02] [-9.23109696e-01 5.06623554e-02 3.81184752e-01 -1.54886366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.5907140569999 meters Centerline goodness : 0.983822 Centerline is valid? [True, True] Translation: X:116.12, Y:205.53, Z:-15.50 [[-6.36939993e-02 -9.95905292e-01 6.41539078e-02 1.16121353e+02] [ 3.78321514e-01 3.53903064e-02 9.24997491e-01 2.05529178e+02] [-9.23480323e-01 8.31875930e-02 3.74518248e-01 -1.55047012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.620714057 meters Centerline goodness : 0.987917 Centerline is valid? [True, True] Translation: X:116.20, Y:205.50, Z:-15.55 [[-5.22991923e-02 -9.93846722e-01 -9.76395856e-02 1.16195251e+02] [ 3.68750619e-01 -1.10082785e-01 9.22986870e-01 2.05499499e+02] [-9.28055912e-01 1.22668102e-02 3.72238834e-01 -1.55495247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.650714057 meters Centerline goodness : 0.988494 Centerline is valid? [True, True] Translation: X:116.14, Y:205.55, Z:-15.56 [[-5.08040305e-02 -9.98237199e-01 3.06829693e-02 1.16140006e+02] [ 3.78828894e-01 9.16479584e-03 9.25421350e-01 2.05545879e+02] [-9.24071220e-01 5.86387298e-02 3.77695486e-01 -1.55644420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.6807140569999 meters Centerline goodness : 0.983247 Centerline is valid? [True, True] Translation: X:116.10, Y:205.58, Z:-15.57 [[-5.64442118e-02 -9.91072883e-01 1.20783241e-01 1.16096469e+02] [ 3.85595345e-01 8.99503517e-02 9.18272925e-01 2.05582187e+02] [-9.20939890e-01 9.84046468e-02 3.77075914e-01 -1.55731325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.7107140569999 meters Centerline goodness : 0.990214 Centerline is valid? [True, True] Translation: X:116.17, Y:205.55, Z:-15.63 [[-5.38337996e-02 -9.96023047e-01 -7.09930439e-02 1.16172495e+02] [ 3.90823188e-01 -8.64411480e-02 9.16397929e-01 2.05548430e+02] [-9.18890177e-01 2.15874546e-02 3.93922358e-01 -1.56279085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.740714057 meters Centerline goodness : 0.989693 Centerline is valid? [True, True] Translation: X:116.13, Y:205.59, Z:-15.64 [[-5.43242757e-02 -9.97986772e-01 3.27303610e-02 1.16128599e+02] [ 3.97102582e-01 8.48256605e-03 9.17735030e-01 2.05590551e+02] [-9.16165058e-01 6.28526017e-02 3.95842314e-01 -1.56408325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.770714057 meters Centerline goodness : 0.984382 Centerline is valid? [True, True] Translation: X:116.13, Y:205.58, Z:-15.66 [[-5.40367382e-02 -9.98361946e-01 1.88004410e-02 1.16128752e+02] [ 3.80258620e-01 -3.16506621e-03 9.24874783e-01 2.05582165e+02] [-9.23300283e-01 5.71262463e-02 3.79806765e-01 -1.56618681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.8007140569999 meters Centerline goodness : 0.983531 Centerline is valid? [True, True] Translation: X:116.14, Y:205.59, Z:-15.69 [[-5.24179177e-02 -9.98620931e-01 2.93229207e-03 1.16135027e+02] [ 3.77494427e-01 -1.70961742e-02 9.25854027e-01 2.05588340e+02] [-9.24527079e-01 4.96382641e-02 3.77869982e-01 -1.56898114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.8307140569999 meters Centerline goodness : 0.983962 Centerline is valid? [True, True] Translation: X:116.16, Y:205.57, Z:-15.72 [[-5.14068744e-02 -9.96283044e-01 -6.91189554e-02 1.16163545e+02] [ 3.69327179e-01 -8.32692922e-02 9.25561268e-01 2.05574982e+02] [-9.27876483e-01 2.20527031e-02 3.72235020e-01 -1.57238853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.860714057 meters Centerline goodness : 0.989920 Centerline is valid? [True, True] Translation: X:116.16, Y:205.60, Z:-15.75 [[-5.39550941e-02 -9.96803189e-01 -5.89258085e-02 1.16156134e+02] [ 3.91465732e-01 -7.54033674e-02 9.17098093e-01 2.05604556e+02] [-9.18609508e-01 2.64146791e-02 3.94282686e-01 -1.57501241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.890714057 meters Centerline goodness : 0.983060 Centerline is valid? [True, True] Translation: X:116.11, Y:205.63, Z:-15.76 [[-5.44915533e-02 -9.97352429e-01 4.81539561e-02 1.16108485e+02] [ 3.78727544e-01 2.39779534e-02 9.25197549e-01 2.05633294e+02] [-9.23902656e-01 6.86526811e-02 3.76418240e-01 -1.57607024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.9207140569999 meters Centerline goodness : 0.984347 Centerline is valid? [True, True] Translation: X:116.16, Y:205.60, Z:-15.80 [[-5.03810689e-02 -9.95373744e-01 -8.18098910e-02 1.16158703e+02] [ 3.74590221e-01 -9.47667780e-02 9.22334768e-01 2.05603055e+02] [-9.25820671e-01 1.58230263e-02 3.77631723e-01 -1.58016542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.9507140569999 meters Centerline goodness : 0.983584 Centerline is valid? [True, True] Translation: X:116.13, Y:205.63, Z:-15.82 [[-4.82749156e-02 -9.98576222e-01 -2.26949668e-02 1.16132390e+02] [ 3.74305853e-01 -3.91517239e-02 9.26478425e-01 2.05630935e+02] [-9.26047872e-01 3.62308089e-02 3.75662971e-01 -1.58203073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.9807140569999 meters Centerline goodness : 0.986253 Centerline is valid? [True, True] Translation: X:116.16, Y:205.64, Z:-15.85 [[-3.67091137e-02 -9.96188935e-01 -7.91204556e-02 1.16160888e+02] [ 3.78671708e-01 -8.71359643e-02 9.21420133e-01 2.05636740e+02] [-9.24802778e-01 3.86383837e-03 3.80427249e-01 -1.58528412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.010714057 meters Centerline goodness : 0.986253 Centerline is valid? [True, True] Translation: X:116.12, Y:205.68, Z:-15.87 [[-3.75847186e-02 -9.98935043e-01 2.67613170e-02 1.16118471e+02] [ 3.83026911e-01 1.03339232e-02 9.23679379e-01 2.05680955e+02] [-9.22972250e-01 4.49665341e-02 3.82230607e-01 -1.58674855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.040714057 meters Centerline goodness : 0.984214 Centerline is valid? [True, True] Translation: X:116.10, Y:205.68, Z:-15.89 [[-4.42163762e-02 -9.98136274e-01 4.20581864e-02 1.16101509e+02] [ 3.76330667e-01 2.23566383e-02 9.26215639e-01 2.05684097e+02] [-9.25429706e-01 5.67816845e-02 3.74640761e-01 -1.58895857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.0707140569999 meters Centerline goodness : 0.983045 Centerline is valid? [True, True] Translation: X:116.12, Y:205.67, Z:-15.92 [[-3.89896461e-02 -9.99152774e-01 -1.31735274e-02 1.16124829e+02] [ 3.67487245e-01 -2.65974772e-02 9.29648159e-01 2.05673168e+02] [-9.29210919e-01 3.14055494e-02 3.68212926e-01 -1.59219391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.1007140569999 meters Centerline goodness : 0.986229 Centerline is valid? [True, True] Translation: X:116.16, Y:205.67, Z:-15.96 [[-2.80180183e-02 -9.96388490e-01 -8.01558938e-02 1.16158899e+02] [ 3.72172439e-01 -8.48203388e-02 9.24279820e-01 2.05674170e+02] [-9.27740625e-01 -3.93532554e-03 3.73204832e-01 -1.59575413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.130714057 meters Centerline goodness : 0.984437 Centerline is valid? [True, True] Translation: X:116.08, Y:205.73, Z:-15.96 [[-3.54193366e-02 -9.96295112e-01 7.83678522e-02 1.16083072e+02] [ 3.73521413e-01 5.95365218e-02 9.25709002e-01 2.05726820e+02] [-9.26945104e-01 6.20600696e-02 3.70028814e-01 -1.59584774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.160714057 meters Centerline goodness : 0.986281 Centerline is valid? [True, True] Translation: X:116.16, Y:205.69, Z:-16.01 [[-2.50668038e-02 -9.96369395e-01 -8.13614431e-02 1.16156193e+02] [ 3.73579339e-01 -8.48269109e-02 9.23711466e-01 2.05692822e+02] [-9.27259474e-01 -7.24046000e-03 3.74349360e-01 -1.60104411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.1907140569999 meters Centerline goodness : 0.985556 Centerline is valid? [True, True] Translation: X:116.10, Y:205.74, Z:-16.02 [[-2.84672441e-02 -9.98802127e-01 3.97985787e-02 1.16104024e+02] [ 3.76478201e-01 2.61697551e-02 9.26055780e-01 2.05742509e+02] [-9.25988002e-01 4.13455532e-02 3.75282247e-01 -1.60205910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.2207140569999 meters Centerline goodness : 0.985237 Centerline is valid? [True, True] Translation: X:116.09, Y:205.75, Z:-16.03 [[-3.24834435e-02 -9.98048485e-01 5.33296074e-02 1.16090666e+02] [ 3.74815633e-01 3.72993028e-02 9.26348748e-01 2.05749692e+02] [-9.26530122e-01 5.00797678e-02 3.72872565e-01 -1.60349053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.250714057 meters Centerline goodness : 0.983514 Centerline is valid? [True, True] Translation: X:116.12, Y:205.73, Z:-16.07 [[-2.78279446e-02 -9.99381270e-01 -2.15100578e-02 1.16122298e+02] [ 3.69329235e-01 -3.02750619e-02 9.28805328e-01 2.05733176e+02] [-9.28881866e-01 1.79024500e-02 3.69943213e-01 -1.60720039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.280714057 meters Centerline goodness : 0.984485 Centerline is valid? [True, True] Translation: X:116.13, Y:205.74, Z:-16.10 [[-2.29188994e-02 -9.98887519e-01 -4.12122376e-02 1.16132485e+02] [ 3.71899688e-01 -4.67831656e-02 9.27093284e-01 2.05739784e+02] [-9.27989949e-01 5.92113937e-03 3.72558176e-01 -1.61003812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.3107140569999 meters Centerline goodness : 0.983870 Centerline is valid? [True, True] Translation: X:116.13, Y:205.75, Z:-16.12 [[-1.95082264e-02 -9.98997296e-01 -4.02968002e-02 1.16132544e+02] [ 3.70658940e-01 -4.46588079e-02 9.27694746e-01 2.05748410e+02] [-9.28564149e-01 3.16130991e-03 3.71158493e-01 -1.61234936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.3407140569999 meters Centerline goodness : 0.990233 Centerline is valid? [True, True] Translation: X:116.15, Y:205.76, Z:-16.16 [[-1.76026863e-02 -9.97010423e-01 -7.52353775e-02 1.16148477e+02] [ 3.92170441e-01 -7.61019887e-02 9.16739239e-01 2.05764876e+02] [-9.19724139e-01 -1.33680179e-02 3.92337616e-01 -1.61565179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.370714057 meters Centerline goodness : 0.991051 Centerline is valid? [True, True] Translation: X:116.11, Y:205.81, Z:-16.17 [[-1.62937646e-02 -9.99505765e-01 2.68838022e-02 1.16107510e+02] [ 3.94957280e-01 1.82669398e-02 9.18517864e-01 2.05808414e+02] [-9.18554985e-01 2.55840672e-02 3.94464441e-01 -1.61692137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.400714057 meters Centerline goodness : 0.983449 Centerline is valid? [True, True] Translation: X:116.10, Y:205.81, Z:-16.19 [[-1.48512533e-02 -9.98837630e-01 4.58566110e-02 1.16102716e+02] [ 3.75886530e-01 3.69205367e-02 9.25929906e-01 2.05809131e+02] [-9.26546684e-01 3.09881020e-02 3.74901295e-01 -1.61865214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.4307140569999 meters Centerline goodness : 0.985079 Centerline is valid? [True, True] Translation: X:116.17, Y:205.77, Z:-16.23 [[-1.35859033e-02 -9.94760156e-01 -1.01329443e-01 1.16168322e+02] [ 3.76003333e-01 -9.89834727e-02 9.21316322e-01 2.05774728e+02] [-9.26518708e-01 -2.55832938e-02 3.75377914e-01 -1.62323706e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.4607140569999 meters Centerline goodness : 0.986963 Centerline is valid? [True, True] Translation: X:116.17, Y:205.80, Z:-16.26 [[-1.19644138e-02 -9.96164338e-01 -8.66802466e-02 1.16173705e+02] [ 3.75771324e-01 -8.48117458e-02 9.22823320e-01 2.05795430e+02] [-9.26635185e-01 -2.15309109e-02 3.75344715e-01 -1.62601666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.490714057 meters Centerline goodness : 0.990723 Centerline is valid? [True, True] Translation: X:116.10, Y:205.85, Z:-16.27 [[-2.26246304e-02 -9.96691240e-01 7.80685468e-02 1.16103128e+02] [ 3.85270266e-01 6.33649736e-02 9.20625712e-01 2.05854981e+02] [-9.22526394e-01 5.09063063e-02 3.82561890e-01 -1.62691771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.520714057 meters Centerline goodness : 0.990870 Centerline is valid? [True, True] Translation: X:116.13, Y:205.85, Z:-16.30 [[-2.96503338e-02 -9.99016757e-01 3.29602265e-02 1.16125522e+02] [ 3.83565559e-01 1.90786350e-02 9.23316559e-01 2.05850642e+02] [-9.23037551e-01 4.00190519e-02 3.82622733e-01 -1.63007688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.5507140569999 meters Centerline goodness : 0.991516 Centerline is valid? [True, True] Translation: X:116.13, Y:205.86, Z:-16.33 [[-3.75150858e-02 -9.98775005e-01 3.22661945e-02 1.16130945e+02] [ 3.84431428e-01 1.53793799e-02 9.23025434e-01 2.05860522e+02] [-9.22390967e-01 4.70315176e-02 3.83383543e-01 -1.63263961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.5807140569999 meters Centerline goodness : 0.990510 Centerline is valid? [True, True] Translation: X:116.15, Y:205.87, Z:-16.36 [[-4.17342553e-02 -9.99073707e-01 -1.04871707e-02 1.16154144e+02] [ 3.87190968e-01 -2.58484359e-02 9.21637137e-01 2.05868776e+02] [-9.21054508e-01 3.44033018e-02 3.87911081e-01 -1.63607213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.610714057 meters Centerline goodness : 0.987086 Centerline is valid? [True, True] Translation: X:116.13, Y:205.90, Z:-16.37 [[-3.85198274e-02 -9.96883527e-01 6.88437151e-02 1.16127352e+02] [ 3.79503935e-01 4.91383394e-02 9.23884293e-01 2.05899321e+02] [-9.24387898e-01 6.17143243e-02 3.76428420e-01 -1.63707999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.640714057 meters Centerline goodness : 0.988296 Centerline is valid? [True, True] Translation: X:116.14, Y:205.90, Z:-16.40 [[-4.14344690e-02 -9.98439130e-01 3.74498267e-02 1.16143100e+02] [ 3.89426436e-01 1.83795887e-02 9.20874173e-01 2.05900177e+02] [-9.20125120e-01 5.27398849e-02 3.88057043e-01 -1.64002517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.6707140569999 meters Centerline goodness : 0.991267 Centerline is valid? [True, True] Translation: X:116.15, Y:205.91, Z:-16.43 [[-4.82366267e-02 -9.98392605e-01 2.97562437e-02 1.16146188e+02] [ 3.89926244e-01 8.60482909e-03 9.20805887e-01 2.05911503e+02] [-9.19581836e-01 5.60193102e-02 3.88884410e-01 -1.64348177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.7007140569999 meters Centerline goodness : 0.989266 Centerline is valid? [True, True] Translation: X:116.12, Y:205.94, Z:-16.45 [[-4.64250031e-02 -9.94400400e-01 9.49345238e-02 1.16123288e+02] [ 3.93327129e-01 6.91624235e-02 9.16793504e-01 2.05943144e+02] [-9.18225729e-01 7.99024649e-02 3.87913788e-01 -1.64535426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.7307140569999 meters Centerline goodness : 0.991104 Centerline is valid? [True, True] Translation: X:116.11, Y:205.96, Z:-16.47 [[-4.39185485e-02 -9.91315515e-01 1.23954470e-01 1.16108522e+02] [ 3.93111312e-01 9.69169158e-02 9.14368967e-01 2.05955785e+02] [-9.18441428e-01 8.88856621e-02 3.85440893e-01 -1.64696912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.760714057 meters Centerline goodness : 0.990699 Centerline is valid? [True, True] Translation: X:116.14, Y:205.94, Z:-16.51 [[-3.87357521e-02 -9.98741560e-01 3.18565195e-02 1.16142951e+02] [ 3.87068990e-01 1.43944544e-02 9.21938391e-01 2.05935827e+02] [-9.21236744e-01 4.80426477e-02 3.86024307e-01 -1.65072371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.790714057 meters Centerline goodness : 0.991119 Centerline is valid? [True, True] Translation: X:116.14, Y:205.95, Z:-16.53 [[-3.53446396e-02 -9.98888784e-01 3.11761719e-02 1.16142409e+02] [ 3.87033911e-01 1.50798102e-02 9.21942162e-01 2.05946138e+02] [-9.21387816e-01 4.46519492e-02 3.86070843e-01 -1.65326512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.8207140569999 meters Centerline goodness : 0.984932 Centerline is valid? [True, True] Translation: X:116.14, Y:205.94, Z:-16.55 [[-3.13448781e-02 -9.98798845e-01 3.76611930e-02 1.16136871e+02] [ 3.68112761e-01 2.34952574e-02 9.29484248e-01 2.05943567e+02] [-9.29252653e-01 4.29981362e-02 3.66934145e-01 -1.65527271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.8507140569999 meters Centerline goodness : 0.991279 Centerline is valid? [True, True] Translation: X:116.17, Y:205.94, Z:-16.59 [[-2.62613479e-02 -9.98294213e-01 -5.21440888e-02 1.16173682e+02] [ 3.83111942e-01 -5.82301580e-02 9.21864680e-01 2.05942030e+02] [-9.23328534e-01 4.23238594e-03 3.83987638e-01 -1.65930009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.880714057 meters Centerline goodness : 0.985888 Centerline is valid? [True, True] Translation: X:116.15, Y:205.95, Z:-16.61 [[-2.25643760e-02 -9.99725966e-01 6.23239965e-03 1.16148257e+02] [ 3.68034769e-01 -2.51022378e-03 9.29808640e-01 2.05954468e+02] [-9.29538196e-01 2.32742916e-02 3.67990557e-01 -1.66055533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.910714057 meters Centerline goodness : 0.987027 Centerline is valid? [True, True] Translation: X:116.20, Y:205.94, Z:-16.64 [[-1.38688951e-02 -9.95658253e-01 -9.20450766e-02 1.16198646e+02] [ 3.66127566e-01 -9.07175706e-02 9.26132241e-01 2.05941883e+02] [-9.30461315e-01 -2.08558089e-02 3.65796085e-01 -1.66434153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.9407140569999 meters Centerline goodness : 0.990552 Centerline is valid? [True, True] Translation: X:116.13, Y:206.00, Z:-16.66 [[-2.09333480e-02 -9.97174907e-01 7.21387557e-02 1.16129179e+02] [ 3.75202720e-01 5.90452590e-02 9.25060310e-01 2.05996075e+02] [-9.26706380e-01 4.64312667e-02 3.72906722e-01 -1.66561450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.9707140569999 meters Centerline goodness : 0.990703 Centerline is valid? [True, True] Translation: X:116.15, Y:205.99, Z:-16.69 [[-2.22230900e-02 -9.99173158e-01 3.40460740e-02 1.16146154e+02] [ 3.73652230e-01 2.32856723e-02 9.27276544e-01 2.05993661e+02] [-9.27302618e-01 3.33283415e-02 3.72825799e-01 -1.66860047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.000714057 meters Centerline goodness : 0.991028 Centerline is valid? [True, True] Translation: X:116.15, Y:206.00, Z:-16.71 [[-2.40253162e-02 -9.99141602e-01 3.37467423e-02 1.16147775e+02] [ 3.73772175e-01 2.23308979e-02 9.27251688e-01 2.06003411e+02] [-9.27209332e-01 3.48911083e-02 3.72914823e-01 -1.67118802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.030714057 meters Centerline goodness : 0.988554 Centerline is valid? [True, True] Translation: X:116.19, Y:206.00, Z:-16.74 [[-2.41710802e-02 -9.98281825e-01 -5.33774982e-02 1.16186943e+02] [ 3.71918732e-01 -5.85401118e-02 9.26417569e-01 2.05999438e+02] [-9.27950546e-01 2.54042184e-03 3.72694689e-01 -1.67373388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.0607140569999 meters Centerline goodness : 0.990397 Centerline is valid? [True, True] Translation: X:116.14, Y:206.04, Z:-16.76 [[-3.04296899e-02 -9.96668347e-01 7.56719245e-02 1.16137055e+02] [ 3.75727868e-01 5.87488394e-02 9.24866014e-01 2.06036509e+02] [-9.26230319e-01 5.65754369e-02 3.72688364e-01 -1.67599702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.0907140569999 meters Centerline goodness : 0.984641 Centerline is valid? [True, True] Translation: X:116.15, Y:206.02, Z:-16.79 [[-3.74511623e-02 -9.98591702e-01 3.75769016e-02 1.16152062e+02] [ 3.55578235e-01 2.18254619e-02 9.34391657e-01 2.06019108e+02] [-9.33895888e-01 4.83555820e-02 3.54260086e-01 -1.67903062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.120714057 meters Centerline goodness : 0.990170 Centerline is valid? [True, True] Translation: X:116.18, Y:206.03, Z:-16.82 [[-3.82815564e-02 -9.99089556e-01 -1.88303569e-02 1.16179308e+02] [ 3.72930467e-01 -3.17669594e-02 9.27315333e-01 2.06026407e+02] [-9.27069247e-01 2.84766604e-02 3.73807023e-01 -1.68222926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.150714057 meters Centerline goodness : 0.988500 Centerline is valid? [True, True] Translation: X:116.16, Y:206.05, Z:-16.84 [[-3.96197223e-02 -9.98767311e-01 2.99021056e-02 1.16160895e+02] [ 3.75874435e-01 1.28305214e-02 9.26581776e-01 2.06051589e+02] [-9.25823248e-01 4.79503497e-02 3.74902757e-01 -1.68420152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.1807140569999 meters Centerline goodness : 0.990399 Centerline is valid? [True, True] Translation: X:116.16, Y:206.06, Z:-16.87 [[-4.03859271e-02 -9.98745258e-01 2.96122854e-02 1.16163193e+02] [ 3.74831195e-01 1.23284811e-02 9.27011102e-01 2.06062190e+02] [-9.26213017e-01 4.85378111e-02 3.73862981e-01 -1.68674647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.2107140569999 meters Centerline goodness : 0.986136 Centerline is valid? [True, True] Translation: X:116.19, Y:206.06, Z:-16.89 [[-3.56321112e-02 -9.98674732e-01 -3.71366685e-02 1.16194208e+02] [ 3.68955498e-01 -4.76809718e-02 9.28223230e-01 2.06063754e+02] [-9.28763798e-01 1.93727754e-02 3.70165507e-01 -1.68918142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.240714057 meters Centerline goodness : 0.989983 Centerline is valid? [True, True] Translation: X:116.15, Y:206.09, Z:-16.92 [[-4.05955039e-02 -9.97266532e-01 6.17370931e-02 1.16154029e+02] [ 3.75628764e-01 4.20232792e-02 9.25816977e-01 2.06093468e+02] [-9.25880682e-01 6.07742347e-02 3.72896039e-01 -1.69152840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.270714057 meters Centerline goodness : 0.986223 Centerline is valid? [True, True] Translation: X:116.19, Y:206.09, Z:-16.94 [[-3.43139267e-02 -9.99126968e-01 -2.38297186e-02 1.16193773e+02] [ 3.66860124e-01 -3.47714952e-02 9.29626050e-01 2.06086330e+02] [-9.29643052e-01 2.31569466e-02 3.67732990e-01 -1.69441027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.3007140569999 meters Centerline goodness : 0.989912 Centerline is valid? [True, True] Translation: X:116.16, Y:206.11, Z:-16.97 [[-4.09492493e-02 -9.97763004e-01 5.28407689e-02 1.16160619e+02] [ 3.74254278e-01 3.37182185e-02 9.26712910e-01 2.06110944e+02] [-9.26421553e-01 5.77240818e-02 3.72036337e-01 -1.69678760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.3307140569999 meters Centerline goodness : 0.985616 Centerline is valid? [True, True] Translation: X:116.20, Y:206.10, Z:-17.00 [[-3.39304978e-02 -9.99269360e-01 -1.75916823e-02 1.16198224e+02] [ 3.65927775e-01 -2.88008934e-02 9.30197491e-01 2.06104790e+02] [-9.30024508e-01 2.51247788e-02 3.66637642e-01 -1.69960427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.360714057 meters Centerline goodness : 0.986242 Centerline is valid? [True, True] Translation: X:116.20, Y:206.12, Z:-17.02 [[-3.87149708e-02 -9.99199746e-01 -1.00508415e-02 1.16198142e+02] [ 3.57157342e-01 -2.32309533e-02 9.33755298e-01 2.06115494e+02] [-9.33241547e-01 3.25605773e-02 3.57770911e-01 -1.70238159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.390714057 meters Centerline goodness : 0.985576 Centerline is valid? [True, True] Translation: X:116.18, Y:206.14, Z:-17.04 [[-3.92939845e-02 -9.98157174e-01 4.62410920e-02 1.16177954e+02] [ 3.64385152e-01 2.87762612e-02 9.30803625e-01 2.06143238e+02] [-9.30418961e-01 5.34245506e-02 3.62582920e-01 -1.70422121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.4207140569999 meters Centerline goodness : 0.986137 Centerline is valid? [True, True] Translation: X:116.19, Y:206.15, Z:-17.07 [[-4.03562607e-02 -9.98924883e-01 2.28134024e-02 1.16189361e+02] [ 3.63200699e-01 6.60464095e-03 9.31687518e-01 2.06146248e+02] [-9.30836519e-01 4.58852681e-02 3.62543676e-01 -1.70708420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.4507140569999 meters Centerline goodness : 0.989689 Centerline is valid? [True, True] Translation: X:116.17, Y:206.16, Z:-17.10 [[-5.09391755e-02 -9.96185973e-01 7.08428377e-02 1.16165674e+02] [ 3.71735638e-01 4.69251385e-02 9.27151901e-01 2.06163594e+02] [-9.26940028e-01 7.35631609e-02 3.67927500e-01 -1.70957793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.4807140569999 meters Centerline goodness : 0.983788 Centerline is valid? [True, True] Translation: X:116.19, Y:206.14, Z:-17.12 [[-5.03055121e-02 -9.98668682e-01 1.14113944e-02 1.16188482e+02] [ 3.53295004e-01 -7.10695974e-03 9.35484971e-01 2.06142180e+02] [-9.34158443e-01 5.10916392e-02 3.53182175e-01 -1.71213361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.510714057 meters Centerline goodness : 0.984947 Centerline is valid? [True, True] Translation: X:116.22, Y:206.13, Z:-17.15 [[-5.07360147e-02 -9.96845007e-01 -6.10400616e-02 1.16218728e+02] [ 3.49782711e-01 -7.49839011e-02 9.33825182e-01 2.06131582e+02] [-9.35455992e-01 2.60278099e-02 3.52483533e-01 -1.71535044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.540714057 meters Centerline goodness : 0.984818 Centerline is valid? [True, True] Translation: X:116.23, Y:206.14, Z:-17.18 [[-4.97808925e-02 -9.95734933e-01 -7.76775776e-02 1.16225515e+02] [ 3.50646640e-01 -9.02475141e-02 9.32149302e-01 2.06138926e+02] [-9.35183831e-01 1.91658426e-02 3.53643710e-01 -1.71799718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.5707140569999 meters Centerline goodness : 0.984862 Centerline is valid? [True, True] Translation: X:116.22, Y:206.15, Z:-17.20 [[-4.46081206e-02 -9.96746699e-01 -6.71277401e-02 1.16220608e+02] [ 3.48547814e-01 -7.85006173e-02 9.33997898e-01 2.06151620e+02] [-9.36228891e-01 1.82666638e-02 3.50915648e-01 -1.72027334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.6007140569999 meters Centerline goodness : 0.985296 Centerline is valid? [True, True] Translation: X:116.23, Y:206.16, Z:-17.23 [[-4.16784566e-02 -9.94823653e-01 -9.26758068e-02 1.16231989e+02] [ 3.49985269e-01 -1.01416082e-01 9.31249209e-01 2.06156309e+02] [-9.35827558e-01 6.37786264e-03 3.52400489e-01 -1.72306080e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.630714057 meters Centerline goodness : 0.984898 Centerline is valid? [True, True] Translation: X:116.23, Y:206.17, Z:-17.25 [[-3.47823379e-02 -9.96398976e-01 -7.73257407e-02 1.16226546e+02] [ 3.50364217e-01 -8.46193541e-02 9.32783191e-01 2.06170022e+02] [-9.35967470e-01 5.35220750e-03 3.52045806e-01 -1.72547532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.660714057 meters Centerline goodness : 0.989421 Centerline is valid? [True, True] Translation: X:116.22, Y:206.20, Z:-17.28 [[-3.65482470e-02 -9.97822696e-01 -5.49007555e-02 1.16216195e+02] [ 3.63994711e-01 -6.44557375e-02 9.29168073e-01 2.06197926e+02] [-9.30683661e-01 1.39758796e-02 3.65557928e-01 -1.72841297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.6907140569999 meters Centerline goodness : 0.985785 Centerline is valid? [True, True] Translation: X:116.19, Y:206.21, Z:-17.30 [[-2.80155742e-02 -9.99516823e-01 1.34628777e-02 1.16186947e+02] [ 3.52869023e-01 2.71227681e-03 9.35668796e-01 2.06214174e+02] [-9.35253217e-01 3.09639311e-02 3.52622539e-01 -1.72954573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.7207140569999 meters Centerline goodness : 0.987869 Centerline is valid? [True, True] Translation: X:116.24, Y:206.20, Z:-17.33 [[-1.94904059e-02 -9.94595888e-01 -1.01976195e-01 1.16242302e+02] [ 3.50897389e-01 -1.02312281e-01 9.30807832e-01 2.06199771e+02] [-9.36211059e-01 -1.76413583e-02 3.50995208e-01 -1.73339832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.750714057 meters Centerline goodness : 0.986690 Centerline is valid? [True, True] Translation: X:116.18, Y:206.24, Z:-17.34 [[-2.54114364e-02 -9.99213604e-01 3.04373702e-02 1.16180061e+02] [ 3.54041743e-01 1.94783641e-02 9.35026758e-01 2.06238534e+02] [-9.34884326e-01 3.45364726e-02 3.53268352e-01 -1.73438228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.780714057 meters Centerline goodness : 0.986907 Centerline is valid? [True, True] Translation: X:116.22, Y:206.22, Z:-17.38 [[-2.34705255e-02 -9.97875166e-01 -6.07806573e-02 1.16220979e+02] [ 3.51349708e-01 -6.51523902e-02 9.33974597e-01 2.06222412e+02] [-9.35950061e-01 5.65608364e-04 3.52132309e-01 -1.73787485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.8107140569999 meters Centerline goodness : 0.986657 Centerline is valid? [True, True] Translation: X:116.23, Y:206.23, Z:-17.41 [[-2.55363005e-02 -9.97143221e-01 -7.10865245e-02 1.16227455e+02] [ 3.51573525e-01 -7.55251066e-02 9.33108791e-01 2.06229342e+02] [-9.35811923e-01 -1.16399347e-03 3.52497789e-01 -1.74065962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.8407140569999 meters Centerline goodness : 0.985325 Centerline is valid? [True, True] Translation: X:116.23, Y:206.24, Z:-17.43 [[-3.06306169e-02 -9.97388520e-01 -6.54056965e-02 1.16228585e+02] [ 3.51070137e-01 -7.20027597e-02 9.33576650e-01 2.06240279e+02] [-9.35848024e-01 5.63404183e-03 3.52358814e-01 -1.74321132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.870714057 meters Centerline goodness : 0.984489 Centerline is valid? [True, True] Translation: X:116.23, Y:206.25, Z:-17.46 [[-3.19324816e-02 -9.97595621e-01 -6.15084801e-02 1.16230105e+02] [ 3.50116724e-01 -6.88052532e-02 9.34175635e-01 2.06251608e+02] [-9.36161630e-01 8.29539874e-03 3.51472033e-01 -1.74590545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.900714057 meters Centerline goodness : 0.984944 Centerline is valid? [True, True] Translation: X:116.22, Y:206.27, Z:-17.48 [[-3.79830782e-02 -9.98168646e-01 -4.70812013e-02 1.16223787e+02] [ 3.49293187e-01 -5.74052130e-02 9.35253394e-01 2.06265852e+02] [-9.36243321e-01 1.90786600e-02 3.50833934e-01 -1.74810815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.9307140569999 meters Centerline goodness : 0.984944 Centerline is valid? [True, True] Translation: X:116.23, Y:206.27, Z:-17.51 [[-3.70844993e-02 -9.97185750e-01 -6.51561196e-02 1.16232554e+02] [ 3.48234461e-01 -7.40095590e-02 9.34481324e-01 2.06271078e+02] [-9.36673636e-01 1.19651658e-02 3.49999050e-01 -1.75084972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.9607140569999 meters Centerline goodness : 0.984357 Centerline is valid? [True, True] Translation: X:116.23, Y:206.28, Z:-17.53 [[-3.90036618e-02 -9.97144934e-01 -6.46582888e-02 1.16233190e+02] [ 3.48222978e-01 -7.42150464e-02 9.34469306e-01 2.06282202e+02] [-9.36599953e-01 1.39322229e-02 3.50123437e-01 -1.75324502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.990714057 meters Centerline goodness : 0.989871 Centerline is valid? [True, True] Translation: X:116.23, Y:206.31, Z:-17.56 [[-4.44436695e-02 -9.97786044e-01 -4.94749429e-02 1.16228304e+02] [ 3.58780125e-01 -6.21616147e-02 9.31349964e-01 2.06308502e+02] [-9.32363439e-01 2.36419838e-02 3.60748492e-01 -1.75623134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.020714057 meters Centerline goodness : 0.985357 Centerline is valid? [True, True] Translation: X:116.20, Y:206.33, Z:-17.57 [[-4.35871280e-02 -9.98776141e-01 2.33748179e-02 1.16198593e+02] [ 3.50983805e-01 6.59690211e-03 9.36358291e-01 2.06325337e+02] [-9.35366522e-01 4.90173512e-02 3.50266711e-01 -1.75742945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.0507140569999 meters Centerline goodness : 0.984319 Centerline is valid? [True, True] Translation: X:116.23, Y:206.32, Z:-17.61 [[-4.17049551e-02 -9.98095370e-01 -4.54568904e-02 1.16228971e+02] [ 3.46938344e-01 -5.71321587e-02 9.36146197e-01 2.06317037e+02] [-9.36960235e-01 2.32711968e-02 3.48660249e-01 -1.76076418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.0807140569999 meters Centerline goodness : 0.989306 Centerline is valid? [True, True] Translation: X:116.23, Y:206.34, Z:-17.64 [[-4.36172962e-02 -9.97426500e-01 -5.69026193e-02 1.16233601e+02] [ 3.59848399e-01 -6.88188592e-02 9.30469287e-01 2.06336013e+02] [-9.31990698e-01 2.01082380e-02 3.61924022e-01 -1.76388279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.110714057 meters Centerline goodness : 0.984402 Centerline is valid? [True, True] Translation: X:116.20, Y:206.36, Z:-17.65 [[-4.57283778e-02 -9.98621837e-01 2.57554194e-02 1.16198319e+02] [ 3.51550874e-01 8.04576626e-03 9.36134204e-01 2.06355137e+02] [-9.35051281e-01 5.18622387e-02 3.50698460e-01 -1.76501146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.140714057 meters Centerline goodness : 0.989400 Centerline is valid? [True, True] Translation: X:116.23, Y:206.36, Z:-17.69 [[-4.70516427e-02 -9.97598735e-01 -5.08223144e-02 1.16231156e+02] [ 3.60680752e-01 -6.44135489e-02 9.30462407e-01 2.06356798e+02] [-9.31501765e-01 2.54491541e-02 3.62845425e-01 -1.76891595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.1707140569999 meters Centerline goodness : 0.985029 Centerline is valid? [True, True] Translation: X:116.20, Y:206.37, Z:-17.70 [[-4.58999360e-02 -9.98585175e-01 2.68485377e-02 1.16199175e+02] [ 3.52162947e-01 8.97587254e-03 9.35895663e-01 2.06374915e+02] [-9.34812524e-01 5.24126112e-02 3.51252706e-01 -1.77006184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.2007140569999 meters Centerline goodness : 0.986065 Centerline is valid? [True, True] Translation: X:116.26, Y:206.36, Z:-17.74 [[-3.93362137e-02 -9.93637006e-01 -1.05537493e-01 1.16263723e+02] [ 3.47434931e-01 -1.12629915e-01 9.30915394e-01 2.06359324e+02] [-9.36878664e-01 -4.87247137e-05 3.49654639e-01 -1.77401394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.2307140569999 meters Centerline goodness : 0.984950 Centerline is valid? [True, True] Translation: X:116.18, Y:206.41, Z:-17.75 [[-5.07412569e-02 -9.95488373e-01 8.01762116e-02 1.16179350e+02] [ 3.51766188e-01 5.73206912e-02 9.34331251e-01 2.06408872e+02] [-9.34711653e-01 7.56124224e-02 3.47270626e-01 -1.77476676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.260714057 meters Centerline goodness : 0.989550 Centerline is valid? [True, True] Translation: X:116.24, Y:206.39, Z:-17.79 [[-5.19262666e-02 -9.96750755e-01 -6.15759248e-02 1.16238721e+02] [ 3.60055577e-01 -7.61980771e-02 9.29813871e-01 2.06393556e+02] [-9.31484645e-01 2.61110078e-02 3.62842350e-01 -1.77930392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.290714057 meters Centerline goodness : 0.984902 Centerline is valid? [True, True] Translation: X:116.20, Y:206.42, Z:-17.80 [[-5.23647378e-02 -9.97817662e-01 4.02224779e-02 1.16195659e+02] [ 3.51220588e-01 1.93025610e-02 9.36093751e-01 2.06416189e+02] [-9.34827275e-01 6.31452661e-02 3.49443332e-01 -1.78022098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.3207140569999 meters Centerline goodness : 0.989602 Centerline is valid? [True, True] Translation: X:116.24, Y:206.41, Z:-17.84 [[-5.62046294e-02 -9.96315755e-01 -6.47762048e-02 1.16240214e+02] [ 3.60908647e-01 -8.07656964e-02 9.29097331e-01 2.06411599e+02] [-9.30906004e-01 2.88412787e-02 3.64118377e-01 -1.78435218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.3507140569999 meters Centerline goodness : 0.990433 Centerline is valid? [True, True] Translation: X:116.20, Y:206.45, Z:-17.86 [[-5.80878008e-02 -9.97718620e-01 3.44000448e-02 1.16199324e+02] [ 3.67974606e-01 1.06337268e-02 9.29775034e-01 2.06448717e+02] [-9.28019664e-01 6.66669298e-02 3.66517426e-01 -1.78599468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.380714057 meters Centerline goodness : 0.985999 Centerline is valid? [True, True] Translation: X:116.23, Y:206.45, Z:-17.89 [[-5.30486855e-02 -9.98515642e-01 -1.23430344e-02 1.16225031e+02] [ 3.59106677e-01 -3.06090860e-02 9.32794446e-01 2.06453639e+02] [-9.31787654e-01 4.50510531e-02 3.60197406e-01 -1.78913925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.410714057 meters Centerline goodness : 0.989311 Centerline is valid? [True, True] Translation: X:116.17, Y:206.49, Z:-17.91 [[-6.17905189e-02 -9.93418134e-01 9.64486531e-02 1.16174236e+02] [ 3.72458380e-01 6.67022016e-02 9.25648730e-01 2.06488982e+02] [-9.25989572e-01 9.31194245e-02 3.65885346e-01 -1.79064658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.4407140569999 meters Centerline goodness : 0.984928 Centerline is valid? [True, True] Translation: X:116.19, Y:206.47, Z:-17.93 [[-6.24533891e-02 -9.97069940e-01 4.41713675e-02 1.16192119e+02] [ 3.53764564e-01 1.92688991e-02 9.35136002e-01 2.06470069e+02] [-9.33247131e-01 7.40286772e-02 3.51524605e-01 -1.79306021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.4707140569999 meters Centerline goodness : 0.989648 Centerline is valid? [True, True] Translation: X:116.24, Y:206.46, Z:-17.97 [[-6.45227233e-02 -9.94806050e-01 -7.87257392e-02 1.16243544e+02] [ 3.60032187e-01 -9.67830429e-02 9.27906174e-01 2.06461089e+02] [-9.30705992e-01 3.15272332e-02 3.64406903e-01 -1.79744228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.500714057 meters Centerline goodness : 0.990143 Centerline is valid? [True, True] Translation: X:116.20, Y:206.50, Z:-17.99 [[-6.57113805e-02 -9.97226096e-01 3.49589404e-02 1.16196424e+02] [ 3.68630981e-01 8.29545170e-03 9.29538803e-01 2.06501933e+02] [-9.27250352e-01 7.39682264e-02 3.67063329e-01 -1.79877330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.530714057 meters Centerline goodness : 0.983933 Centerline is valid? [True, True] Translation: X:116.19, Y:206.50, Z:-18.01 [[-7.02020892e-02 -9.97127750e-01 2.84238703e-02 1.16192945e+02] [ 3.61754687e-01 1.10603933e-03 9.32272666e-01 2.06502574e+02] [-9.29626384e-01 7.57299571e-02 3.60637991e-01 -1.80097584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.5607140569999 meters Centerline goodness : 0.984293 Centerline is valid? [True, True] Translation: X:116.20, Y:206.50, Z:-18.03 [[-6.51379439e-02 -9.97874884e-01 1.66229929e-03 1.16204410e+02] [ 3.54144323e-01 -2.15598965e-02 9.34942228e-01 2.06500995e+02] [-9.32919529e-01 6.14889082e-02 3.54796093e-01 -1.80346697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.5907140569999 meters Centerline goodness : 0.986367 Centerline is valid? [True, True] Translation: X:116.25, Y:206.49, Z:-18.08 [[-5.91688761e-02 -9.93244044e-01 -9.98264199e-02 1.16251643e+02] [ 3.48669931e-01 -1.14266312e-01 9.30253992e-01 2.06493374e+02] [-9.35376033e-01 2.02356122e-02 3.53075341e-01 -1.80781749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.620714057 meters Centerline goodness : 0.985601 Centerline is valid? [True, True] Translation: X:116.18, Y:206.55, Z:-18.08 [[-5.98563972e-02 -9.95790828e-01 6.94106520e-02 1.16180910e+02] [ 3.61776567e-01 4.31667595e-02 9.31264918e-01 2.06551562e+02] [-9.30341296e-01 8.08533101e-02 3.57669980e-01 -1.80843592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.650714057 meters Centerline goodness : 0.990500 Centerline is valid? [True, True] Translation: X:116.15, Y:206.56, Z:-18.10 [[-6.89684561e-02 -9.92019753e-01 1.05546963e-01 1.16149540e+02] [ 3.66917830e-01 7.31593821e-02 9.27372099e-01 2.06564397e+02] [-9.27693192e-01 1.02686485e-01 3.58944046e-01 -1.81021067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.6807140569999 meters Centerline goodness : 0.990536 Centerline is valid? [True, True] Translation: X:116.18, Y:206.55, Z:-18.14 [[-6.79599283e-02 -9.97547079e-01 1.67711980e-02 1.16181271e+02] [ 3.60669376e-01 -8.89119380e-03 9.32651354e-01 2.06546391e+02] [-9.30214518e-01 6.94317766e-02 3.60388928e-01 -1.81382706e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.7107140569999 meters Centerline goodness : 0.990794 Centerline is valid? [True, True] Translation: X:116.18, Y:206.56, Z:-18.16 [[-6.42067557e-02 -9.97807659e-01 1.60427311e-02 1.16177600e+02] [ 3.61094411e-01 -8.24304044e-03 9.32492830e-01 2.06555782e+02] [-9.30316247e-01 6.56652799e-02 3.60832027e-01 -1.81633157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.740714057 meters Centerline goodness : 0.984309 Centerline is valid? [True, True] Translation: X:116.17, Y:206.56, Z:-18.18 [[-6.25194665e-02 -9.97706261e-01 2.59524984e-02 1.16169078e+02] [ 3.45770507e-01 2.74051982e-03 9.38315110e-01 2.06555675e+02] [-9.36233984e-01 6.76365687e-02 3.44806064e-01 -1.81830886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.770714057 meters Centerline goodness : 0.990548 Centerline is valid? [True, True] Translation: X:116.21, Y:206.54, Z:-18.22 [[-6.04650875e-02 -9.94142884e-01 -8.95762185e-02 1.16213513e+02] [ 3.56105606e-01 -1.05319589e-01 9.28491563e-01 2.06544585e+02] [-9.32487411e-01 2.42427300e-02 3.60388012e-01 -1.82249984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.8007140569999 meters Centerline goodness : 0.990953 Centerline is valid? [True, True] Translation: X:116.17, Y:206.59, Z:-18.24 [[-5.96701270e-02 -9.98126147e-01 1.35524864e-02 1.16168629e+02] [ 3.63147048e-01 -9.05932013e-03 9.31687797e-01 2.06585060e+02] [-9.29819175e-01 6.05154746e-02 3.63007134e-01 -1.82397867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.8307140569999 meters Centerline goodness : 0.985229 Centerline is valid? [True, True] Translation: X:116.17, Y:206.58, Z:-18.26 [[-5.95188219e-02 -9.98222090e-01 3.18875528e-03 1.16167885e+02] [ 3.55171660e-01 -1.81914541e-02 9.34624076e-01 2.06582214e+02] [-9.32904391e-01 5.67602794e-02 3.55622931e-01 -1.82607532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.860714057 meters Centerline goodness : 0.991144 Centerline is valid? [True, True] Translation: X:116.19, Y:206.58, Z:-18.30 [[-5.79467133e-02 -9.96837441e-01 -5.43810182e-02 1.16188702e+02] [ 3.59793123e-01 -7.16648183e-02 9.30275799e-01 2.06583781e+02] [-9.31230953e-01 3.43405087e-02 3.62807997e-01 -1.82978228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.890714057 meters Centerline goodness : 0.984351 Centerline is valid? [True, True] Translation: X:116.15, Y:206.60, Z:-18.31 [[-5.24791028e-02 -9.98490111e-01 1.62308889e-02 1.16154947e+02] [ 3.45505171e-01 -2.90492093e-03 9.38412350e-01 2.06599160e+02] [-9.36948302e-01 5.48548942e-02 3.45135944e-01 -1.83072408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.9207140569999 meters Centerline goodness : 0.989970 Centerline is valid? [True, True] Translation: X:116.20, Y:206.59, Z:-18.35 [[-5.15580355e-02 -9.94250259e-01 -9.38519639e-02 1.16200213e+02] [ 3.57728484e-01 -1.06127531e-01 9.27775446e-01 2.06590086e+02] [-9.32401255e-01 1.42607587e-02 3.61143365e-01 -1.83517389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.9507140569999 meters Centerline goodness : 0.983784 Centerline is valid? [True, True] Translation: X:116.15, Y:206.62, Z:-18.36 [[-4.89004948e-02 -9.98492599e-01 2.49253003e-02 1.16147238e+02] [ 3.43452799e-01 6.62348306e-03 9.39146583e-01 2.06621741e+02] [-9.37896005e-01 5.44853967e-02 3.42611187e-01 -1.83596347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.9807140569999 meters Centerline goodness : 0.986006 Centerline is valid? [True, True] Translation: X:116.20, Y:206.59, Z:-18.40 [[-4.11167007e-02 -9.92746854e-01 -1.12973898e-01 1.16200963e+02] [ 3.43769392e-01 -1.20222248e-01 9.31326590e-01 2.06591530e+02] [-9.38153518e-01 -5.43891728e-04 3.46219124e-01 -1.83983943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.010714057 meters Centerline goodness : 0.984862 Centerline is valid? [True, True] Translation: X:116.18, Y:206.61, Z:-18.42 [[-4.22517662e-02 -9.95715278e-01 -8.22549258e-02 1.16184159e+02] [ 3.49896418e-01 -9.18614341e-02 9.32273551e-01 2.06614063e+02] [-9.35835074e-01 1.06095003e-02 3.52278517e-01 -1.84241528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.040714057 meters Centerline goodness : 0.985739 Centerline is valid? [True, True] Translation: X:116.17, Y:206.64, Z:-18.45 [[-2.63458451e-02 -9.99143775e-01 -3.19000387e-02 1.16171757e+02] [ 3.37370547e-01 -3.89257586e-02 9.40566797e-01 2.06638465e+02] [-9.41003194e-01 1.40178936e-02 3.38107214e-01 -1.84516602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.0707140569999 meters Centerline goodness : 0.985796 Centerline is valid? [True, True] Translation: X:116.13, Y:206.67, Z:-18.45 [[-3.40580092e-02 -9.97698714e-01 5.86287318e-02 1.16125226e+02] [ 3.45990310e-01 4.32650174e-02 9.37240014e-01 2.06673025e+02] [-9.37619730e-01 5.22055022e-02 3.43720567e-01 -1.84518931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.1007140569999 meters Centerline goodness : 0.984836 Centerline is valid? [True, True] Translation: X:116.14, Y:206.47, Z:-17.95 [[ 3.88720285e-03 -9.99668248e-01 2.54614041e-02 1.16141724e+02] [ 3.31423608e-01 2.53104399e-02 9.43142499e-01 2.06467922e+02] [-9.43474050e-01 4.77232420e-03 3.31412044e-01 -1.79499099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.130714057 meters Centerline goodness : 0.990509 Centerline is valid? [True, True] Translation: X:116.11, Y:206.51, Z:-17.97 [[-3.64750068e-03 -9.96489024e-01 8.36440187e-02 1.16111338e+02] [ 3.53421475e-01 7.69618347e-02 9.32292946e-01 2.06505615e+02] [-9.35457084e-01 3.29621316e-02 3.51899902e-01 -1.79653505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.160714057 meters Centerline goodness : 0.985753 Centerline is valid? [True, True] Translation: X:116.12, Y:206.51, Z:-18.00 [[ 6.23656024e-03 -9.96175485e-01 8.71522089e-02 1.16123371e+02] [ 3.34496112e-01 8.42115952e-02 9.38627060e-01 2.06508622e+02] [-9.42376494e-01 2.32982708e-02 3.33742017e-01 -1.79995169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.1907140569999 meters Centerline goodness : 0.984697 Centerline is valid? [True, True] Translation: X:116.11, Y:206.53, Z:-18.02 [[ 1.80549933e-03 -9.92918477e-01 1.18783999e-01 1.16111335e+02] [ 3.37783593e-01 1.12408037e-01 9.34487388e-01 2.06526963e+02] [-9.41222070e-01 3.84360694e-02 3.35594523e-01 -1.80180204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.2207140569999 meters Centerline goodness : 0.985348 Centerline is valid? [True, True] Translation: X:116.13, Y:206.52, Z:-18.06 [[ 9.17728563e-04 -9.97050377e-01 7.67443994e-02 1.16130305e+02] [ 3.37543889e-01 7.25491413e-02 9.38509854e-01 2.06524134e+02] [-9.41309344e-01 2.50433057e-02 3.36614842e-01 -1.80559503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.250714057 meters Centerline goodness : 0.984427 Centerline is valid? [True, True] Translation: X:116.11, Y:206.56, Z:-18.07 [[-1.56829552e-03 -9.89930056e-01 1.41548669e-01 1.16108180e+02] [ 3.43328524e-01 1.32411808e-01 9.29834737e-01 2.06555958e+02] [-9.39214068e-01 5.00559512e-02 3.39663564e-01 -1.80738115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.280714057 meters Centerline goodness : 0.984785 Centerline is valid? [True, True] Translation: X:116.11, Y:206.56, Z:-18.10 [[-2.66312007e-03 -9.92030861e-01 1.25966976e-01 1.16114583e+02] [ 3.45071170e-01 1.17318360e-01 9.31215491e-01 2.06561490e+02] [-9.38572744e-01 4.59475105e-02 3.42008817e-01 -1.81002752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.3107140569999 meters Centerline goodness : 0.985619 Centerline is valid? [True, True] Translation: X:116.11, Y:206.56, Z:-18.12 [[-9.94956696e-03 -9.93377527e-01 1.14464388e-01 1.16109909e+02] [ 3.47183515e-01 1.03917179e-01 9.32021902e-01 2.06562982e+02] [-9.37744428e-01 4.90133628e-02 3.43850371e-01 -1.81167492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.3407140569999 meters Centerline goodness : 0.990506 Centerline is valid? [True, True] Translation: X:116.15, Y:206.56, Z:-18.16 [[-7.37473088e-03 -9.99526877e-01 2.98602792e-02 1.16148421e+02] [ 3.60109829e-01 2.52029943e-02 9.32569418e-01 2.06556541e+02] [-9.32880767e-01 1.76304285e-02 3.59753587e-01 -1.81557506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.370714057 meters Centerline goodness : 0.986314 Centerline is valid? [True, True] Translation: X:116.13, Y:206.57, Z:-18.17 [[-7.57344184e-03 -9.97933009e-01 6.38149912e-02 1.16134562e+02] [ 3.48147383e-01 5.71928175e-02 9.35693530e-01 2.06567881e+02] [-9.37409219e-01 2.93034427e-02 3.46994619e-01 -1.81740834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.400714057 meters Centerline goodness : 0.991438 Centerline is valid? [True, True] Translation: X:116.15, Y:206.58, Z:-18.21 [[-4.03595121e-03 -9.99051811e-01 4.33496304e-02 1.16148612e+02] [ 3.58472753e-01 3.90234729e-02 9.32724211e-01 2.06581245e+02] [-9.33531465e-01 1.93040908e-02 3.57975356e-01 -1.82058799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.4307140569999 meters Centerline goodness : 0.985427 Centerline is valid? [True, True] Translation: X:116.14, Y:206.59, Z:-18.23 [[-4.77588052e-03 -9.97429674e-01 7.14929059e-02 1.16137117e+02] [ 3.37828956e-01 6.56810089e-02 9.38912989e-01 2.06586393e+02] [-9.41195404e-01 2.86365100e-02 3.36646941e-01 -1.82250303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.4607140569999 meters Centerline goodness : 0.990234 Centerline is valid? [True, True] Translation: X:116.17, Y:206.59, Z:-18.26 [[-2.43022572e-03 -9.99842769e-01 1.75650786e-02 1.16165289e+02] [ 3.56644194e-01 1.55434508e-02 9.34110979e-01 2.06592504e+02] [-9.34237129e-01 8.53458384e-03 3.56550344e-01 -1.82600292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.490714057 meters Centerline goodness : 0.988154 Centerline is valid? [True, True] Translation: X:116.17, Y:206.61, Z:-18.28 [[ 3.33181908e-03 -9.99186516e-01 4.01896263e-02 1.16167232e+02] [ 3.49406245e-01 3.88199319e-02 9.36166806e-01 2.06613336e+02] [-9.36965407e-01 1.09233680e-02 3.49251350e-01 -1.82805244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.520714057 meters Centerline goodness : 0.990892 Centerline is valid? [True, True] Translation: X:116.14, Y:206.64, Z:-18.30 [[-3.67870264e-03 -9.93217582e-01 1.16212313e-01 1.16135774e+02] [ 3.58850354e-01 1.07161462e-01 9.27223190e-01 2.06644394e+02] [-9.33387856e-01 4.51138081e-02 3.56022266e-01 -1.83012450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.5507140569999 meters Centerline goodness : 0.986020 Centerline is valid? [True, True] Translation: X:116.16, Y:206.62, Z:-18.33 [[-5.14701775e-03 -9.98122453e-01 6.10334056e-02 1.16157433e+02] [ 3.40134382e-01 5.56476249e-02 9.38728898e-01 2.06621698e+02] [-9.40362755e-01 2.55912140e-02 3.39209345e-01 -1.83267410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.5807140569999 meters Centerline goodness : 0.991507 Centerline is valid? [True, True] Translation: X:116.18, Y:206.63, Z:-18.36 [[-9.96152617e-03 -9.99867707e-01 1.28583008e-02 1.16182702e+02] [ 3.56365810e-01 8.46478793e-03 9.34308170e-01 2.06629474e+02] [-9.34293411e-01 1.38893941e-02 3.56234343e-01 -1.83620557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.610714057 meters Centerline goodness : 0.991382 Centerline is valid? [True, True] Translation: X:116.16, Y:206.66, Z:-18.38 [[-1.08976336e-02 -9.96893165e-01 7.80080755e-02 1.16160253e+02] [ 3.59063018e-01 6.89084156e-02 9.30766017e-01 2.06660216e+02] [-9.33249694e-01 3.81529621e-02 3.57196530e-01 -1.83809070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.640714057 meters Centerline goodness : 0.991021 Centerline is valid? [True, True] Translation: X:116.16, Y:206.67, Z:-18.41 [[-1.24753859e-02 -9.96932929e-01 7.72599449e-02 1.16164953e+02] [ 3.60421795e-01 6.75887236e-02 9.30337516e-01 2.06669441e+02] [-9.32706007e-01 3.94524875e-02 3.58473160e-01 -1.84067527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.6707140569999 meters Centerline goodness : 0.990383 Centerline is valid? [True, True] Translation: X:116.17, Y:206.68, Z:-18.43 [[-1.29274671e-02 -9.96984430e-01 7.65174996e-02 1.16167827e+02] [ 3.61217289e-01 6.66999127e-02 9.30093109e-01 2.06678802e+02] [-9.32392058e-01 3.96631918e-02 3.59265752e-01 -1.84330688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.7007140569999 meters Centerline goodness : 0.985501 Centerline is valid? [True, True] Translation: X:116.16, Y:206.68, Z:-18.45 [[-1.30805233e-02 -9.95268255e-01 9.62808433e-02 1.16163560e+02] [ 3.43424844e-01 8.59600743e-02 9.35238067e-01 2.06681029e+02] [-9.39089067e-01 4.52986369e-02 3.40675442e-01 -1.84499835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.7307140569999 meters Centerline goodness : 0.986464 Centerline is valid? [True, True] Translation: X:116.23, Y:206.64, Z:-18.49 [[-1.01035559e-02 -9.98223863e-01 -5.87114745e-02 1.16230156e+02] [ 3.37705770e-01 -5.86710511e-02 9.39421375e-01 2.06644524e+02] [-9.41197498e-01 -1.03357073e-02 3.37698745e-01 -1.84920902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.760714057 meters Centerline goodness : 0.986160 Centerline is valid? [True, True] Translation: X:116.21, Y:206.67, Z:-18.51 [[-1.09287860e-02 -9.99939568e-01 -1.19269326e-03 1.16209067e+02] [ 3.35388805e-01 -4.78927963e-03 9.42067626e-01 2.06669730e+02] [-9.42016407e-01 9.89563955e-03 3.35420878e-01 -1.85125486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.790714057 meters Centerline goodness : 0.990303 Centerline is valid? [True, True] Translation: X:116.22, Y:206.69, Z:-18.55 [[-1.50099828e-02 -9.99473425e-01 -2.87675573e-02 1.16223476e+02] [ 3.53377553e-01 -3.22166892e-02 9.34925874e-01 2.06686217e+02] [-9.35360361e-01 3.86741230e-03 3.53675045e-01 -1.85456322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.8207140569999 meters Centerline goodness : 0.990303 Centerline is valid? [True, True] Translation: X:116.18, Y:206.73, Z:-18.56 [[-1.51992995e-02 -9.97071936e-01 7.49435568e-02 1.16183107e+02] [ 3.57620241e-01 6.45733081e-02 9.31631929e-01 2.06726548e+02] [-9.33743404e-01 4.09614855e-02 3.55591637e-01 -1.85619518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.8507140569999 meters Centerline goodness : 0.985584 Centerline is valid? [True, True] Translation: X:116.18, Y:206.72, Z:-18.58 [[-1.29273651e-02 -9.96567939e-01 8.17632313e-02 1.16182004e+02] [ 3.36493612e-01 7.26651114e-02 9.38877964e-01 2.06722395e+02] [-9.41597012e-01 3.96500233e-02 3.34399377e-01 -1.85792095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.880714057 meters Centerline goodness : 0.984968 Centerline is valid? [True, True] Translation: X:116.24, Y:206.69, Z:-18.62 [[-9.21414644e-03 -9.98417811e-01 -5.54704808e-02 1.16243434e+02] [ 3.35262518e-01 -5.53465826e-02 9.40497634e-01 2.06692595e+02] [-9.42079691e-01 -9.93129014e-03 3.35242041e-01 -1.86169955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.910714057 meters Centerline goodness : 0.985332 Centerline is valid? [True, True] Translation: X:116.23, Y:206.71, Z:-18.64 [[-8.90393382e-03 -9.99546554e-01 -2.87646721e-02 1.16234790e+02] [ 3.36603739e-01 -3.00830621e-02 9.41165731e-01 2.06708696e+02] [-9.41604292e-01 -1.30221882e-03 3.36718965e-01 -1.86406874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.9407140569999 meters Centerline goodness : 0.985262 Centerline is valid? [True, True] Translation: X:116.22, Y:206.74, Z:-18.66 [[-4.78778939e-03 -9.99423604e-01 3.36085793e-02 1.16215134e+02] [ 3.36508603e-01 3.00386160e-02 9.41201170e-01 2.06735297e+02] [-9.41668220e-01 1.58158490e-02 3.36170822e-01 -1.86602500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.9707140569999 meters Centerline goodness : 0.985223 Centerline is valid? [True, True] Translation: X:116.24, Y:206.73, Z:-18.69 [[-2.70809672e-03 -9.99626386e-01 -2.71984278e-02 1.16242509e+02] [ 3.34028826e-01 -2.65405611e-02 9.42189122e-01 2.06727534e+02] [-9.42558969e-01 -6.53351964e-03 3.33975903e-01 -1.86908936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.000714057 meters Centerline goodness : 0.985099 Centerline is valid? [True, True] Translation: X:116.25, Y:206.73, Z:-18.72 [[-7.43924798e-04 -9.99207453e-01 -3.97983979e-02 1.16250541e+02] [ 3.38157765e-01 -3.77052256e-02 9.40333793e-01 2.06734303e+02] [-9.41089142e-01 -1.27585996e-02 3.37917808e-01 -1.87173371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.030714057 meters Centerline goodness : 0.990259 Centerline is valid? [True, True] Translation: X:116.24, Y:206.77, Z:-18.75 [[-4.61432839e-04 -9.99986331e-01 5.20823268e-03 1.16237317e+02] [ 3.53765137e-01 4.70820239e-03 9.35322437e-01 2.06766972e+02] [-9.35334173e-01 2.27407964e-03 3.53758129e-01 -1.87453354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.0607140569999 meters Centerline goodness : 0.986021 Centerline is valid? [True, True] Translation: X:116.22, Y:206.78, Z:-18.76 [[ 3.15017527e-03 -9.98202355e-01 5.98509429e-02 1.16218398e+02] [ 3.43388650e-01 5.72916525e-02 9.37444346e-01 2.06781521e+02] [-9.39188113e-01 1.75990205e-02 3.42951838e-01 -1.87628947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.0907140569999 meters Centerline goodness : 0.986738 Centerline is valid? [True, True] Translation: X:116.24, Y:206.78, Z:-18.79 [[ 8.65536766e-03 -9.99779432e-01 1.91356318e-02 1.16238883e+02] [ 3.37318925e-01 2.09338829e-02 9.41157646e-01 2.06776352e+02] [-9.41350640e-01 -1.69125470e-03 3.37425714e-01 -1.87902909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.120714057 meters Centerline goodness : 0.989917 Centerline is valid? [True, True] Translation: X:116.25, Y:206.79, Z:-18.82 [[ 7.74543221e-03 -9.99965464e-01 3.01303150e-03 1.16248736e+02] [ 3.50325933e-01 5.53565689e-03 9.36611497e-01 2.06793343e+02] [-9.36595830e-01 -6.19891779e-03 3.50356710e-01 -1.88232588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.150714057 meters Centerline goodness : 0.989817 Centerline is valid? [True, True] Translation: X:116.22, Y:206.82, Z:-18.84 [[ 1.02623597e-02 -9.96750978e-01 7.98884913e-02 1.16223821e+02] [ 3.51423498e-01 7.83914111e-02 9.32928889e-01 2.06821747e+02] [-9.36160354e-01 1.85006412e-02 3.51086196e-01 -1.88422885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.1807140569999 meters Centerline goodness : 0.987496 Centerline is valid? [True, True] Translation: X:116.22, Y:206.83, Z:-18.86 [[ 1.34174407e-02 -9.94676232e-01 1.02172238e-01 1.16219114e+02] [ 3.35770012e-01 1.00730086e-01 9.36542551e-01 2.06825022e+02] [-9.41848433e-01 2.17403693e-02 3.35333990e-01 -1.88604111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.2107140569999 meters Centerline goodness : 0.990260 Centerline is valid? [True, True] Translation: X:116.28, Y:206.81, Z:-18.90 [[ 1.03598021e-02 -9.99215701e-01 -3.82185532e-02 1.16282885e+02] [ 3.48518819e-01 -3.22158332e-02 9.36747977e-01 2.06808930e+02] [-9.37244529e-01 -2.30244087e-02 3.47911727e-01 -1.89024175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.240714057 meters Centerline goodness : 0.989900 Centerline is valid? [True, True] Translation: X:116.24, Y:206.85, Z:-18.92 [[ 9.05643804e-03 -9.96914432e-01 7.79717658e-02 1.16239895e+02] [ 3.49670604e-01 7.62094557e-02 9.33767952e-01 2.06847500e+02] [-9.36828933e-01 1.88078228e-02 3.49281858e-01 -1.89187454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.270714057 meters Centerline goodness : 0.988973 Centerline is valid? [True, True] Translation: X:116.24, Y:206.86, Z:-18.94 [[ 8.43136600e-03 -9.96972505e-01 7.72964137e-02 1.16244705e+02] [ 3.48755943e-01 7.53772621e-02 9.34177478e-01 2.06857393e+02] [-9.37175653e-01 1.90811914e-02 3.48335619e-01 -1.89443766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.3007140569999 meters Centerline goodness : 0.986010 Centerline is valid? [True, True] Translation: X:116.28, Y:206.88, Z:-18.99 [[ 1.88767501e-02 -9.98262391e-01 5.58199593e-02 1.16278569e+02] [ 3.50448470e-01 5.88941694e-02 9.34728488e-01 2.06875374e+02] [-9.36391766e-01 1.91738326e-03 3.50951258e-01 -1.89858860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.3307140569999 meters Centerline goodness : 0.988119 Centerline is valid? [True, True] Translation: X:116.21, Y:206.92, Z:-18.98 [[ 6.18410997e-03 -9.74998406e-01 2.22125787e-01 1.16207490e+02] [ 3.48819603e-01 2.10280758e-01 9.13294524e-01 2.06916952e+02] [-9.37169484e-01 7.18339151e-02 3.41398957e-01 -1.89848101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.360714057 meters Centerline goodness : 0.988163 Centerline is valid? [True, True] Translation: X:116.27, Y:206.88, Z:-19.02 [[ 6.22007990e-03 -9.97200590e-01 7.45137105e-02 1.16267601e+02] [ 3.45121762e-01 7.20773614e-02 9.35786206e-01 2.06884344e+02] [-9.38537309e-01 1.98956381e-02 3.44603952e-01 -1.90246762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.390714057 meters Centerline goodness : 0.988629 Centerline is valid? [True, True] Translation: X:116.27, Y:206.89, Z:-19.05 [[ 6.62753941e-03 -9.97253891e-01 7.37614625e-02 1.16272907e+02] [ 3.44758448e-01 7.15192944e-02 9.35962928e-01 2.06893094e+02] [-9.38668039e-01 1.92267562e-02 3.44285701e-01 -1.90515446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.4207140569999 meters Centerline goodness : 0.987429 Centerline is valid? [True, True] Translation: X:116.28, Y:206.90, Z:-19.08 [[ 8.27780301e-03 -9.97298996e-01 7.29807518e-02 1.16283020e+02] [ 3.45549471e-01 7.13400648e-02 9.35684861e-01 2.06901160e+02] [-9.38364024e-01 1.74730452e-02 3.45206680e-01 -1.90780064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.4507140569999 meters Centerline goodness : 0.987581 Centerline is valid? [True, True] Translation: X:116.29, Y:206.91, Z:-19.10 [[ 9.74831730e-03 -9.97341577e-01 7.22132151e-02 1.16288667e+02] [ 3.45923897e-01 7.11212699e-02 9.35563158e-01 2.06909902e+02] [-9.38211931e-01 1.58601102e-02 3.45697597e-01 -1.91034540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.4807140569999 meters Centerline goodness : 0.987862 Centerline is valid? [True, True] Translation: X:116.30, Y:206.92, Z:-19.13 [[ 1.29330367e-02 -9.97343190e-01 7.16889010e-02 1.16298819e+02] [ 3.46123978e-01 7.17278705e-02 9.35442839e-01 2.06918778e+02] [-9.38099637e-01 1.27151311e-02 3.46132052e-01 -1.91294975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.510714057 meters Centerline goodness : 0.984248 Centerline is valid? [True, True] Translation: X:116.34, Y:206.93, Z:-19.16 [[ 3.10299774e-02 -9.99067995e-01 3.00046973e-02 1.16336503e+02] [ 3.45713319e-01 3.88941426e-02 9.37533758e-01 2.06933343e+02] [-9.37826978e-01 -1.87186278e-02 3.46597997e-01 -1.91622433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.540714057 meters Centerline goodness : 0.985687 Centerline is valid? [True, True] Translation: X:116.31, Y:206.97, Z:-19.18 [[ 2.77842049e-02 -9.93995890e-01 1.05831036e-01 1.16314154e+02] [ 3.60407146e-01 1.08712295e-01 9.26438517e-01 2.06971531e+02] [-9.32381213e-01 1.24019043e-02 3.61263707e-01 -1.91828326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.5707140569999 meters Centerline goodness : 0.984550 Centerline is valid? [True, True] Translation: X:116.31, Y:206.99, Z:-19.21 [[ 2.95109681e-02 -9.88928257e-01 1.45430414e-01 1.16305029e+02] [ 3.60123576e-01 1.46242096e-01 9.21370859e-01 2.06988652e+02] [-9.32437726e-01 2.51823748e-02 3.60452126e-01 -1.92069165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.6007140569999 meters Centerline goodness : 0.985884 Centerline is valid? [True, True] Translation: X:116.32, Y:207.00, Z:-19.23 [[ 3.05666616e-02 -9.90676817e-01 1.32759648e-01 1.16316227e+02] [ 3.58905995e-01 1.34842164e-01 9.23582199e-01 2.06995818e+02] [-9.32873071e-01 1.94174090e-02 3.59681523e-01 -1.92342322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.630714057 meters Centerline goodness : 0.985160 Centerline is valid? [True, True] Translation: X:116.32, Y:207.00, Z:-19.26 [[ 3.43840826e-02 -9.87099909e-01 1.56369769e-01 1.16319736e+02] [ 3.54504624e-01 1.58334597e-01 9.21551207e-01 2.07004369e+02] [-9.34421857e-01 2.37471135e-02 3.55375672e-01 -1.92602532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.660714057 meters Centerline goodness : 0.985252 Centerline is valid? [True, True] Translation: X:116.33, Y:207.01, Z:-19.29 [[ 3.59527222e-02 -9.86936308e-01 1.57048165e-01 1.16332882e+02] [ 3.48773116e-01 1.59660238e-01 9.23507402e-01 2.07006832e+02] [-9.36517333e-01 2.15715726e-02 3.49957072e-01 -1.92904358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.6907140569999 meters Centerline goodness : 0.986594 Centerline is valid? [True, True] Translation: X:116.35, Y:207.02, Z:-19.31 [[ 3.46357943e-02 -9.91897778e-01 1.22225858e-01 1.16351133e+02] [ 3.55189481e-01 1.26531971e-01 9.26191175e-01 2.07017759e+02] [-9.34152447e-01 1.13339721e-02 3.56694192e-01 -1.93109484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.7207140569999 meters Centerline goodness : 0.988404 Centerline is valid? [True, True] Translation: X:116.33, Y:207.01, Z:-19.34 [[ 2.78781161e-02 -9.84469411e-01 1.73328557e-01 1.16328254e+02] [ 3.41918414e-01 1.72328227e-01 9.23793689e-01 2.07012192e+02] [-9.39316032e-01 3.35105976e-02 3.41412407e-01 -1.93357601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.750714057 meters Centerline goodness : 0.987970 Centerline is valid? [True, True] Translation: X:116.41, Y:207.01, Z:-19.37 [[ 3.50615889e-02 -9.98793433e-01 3.43855170e-02 1.16408297e+02] [ 3.51042578e-01 4.45226180e-02 9.35300404e-01 2.07013468e+02] [-9.35702834e-01 -2.07223378e-02 3.52180055e-01 -1.93729991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.780714057 meters Centerline goodness : 0.989709 Centerline is valid? [True, True] Translation: X:116.36, Y:207.03, Z:-19.39 [[ 2.82598419e-02 -9.88884657e-01 1.45974367e-01 1.16362873e+02] [ 3.44257518e-01 1.46727330e-01 9.27339125e-01 2.07025862e+02] [-9.38449862e-01 2.40463164e-02 3.44577469e-01 -1.93913081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.8107140569999 meters Centerline goodness : 0.989838 Centerline is valid? [True, True] Translation: X:116.41, Y:207.03, Z:-19.44 [[ 4.00597084e-02 -9.92115403e-01 1.18752879e-01 1.16405526e+02] [ 3.34777751e-01 1.25305775e-01 9.33928434e-01 2.07027033e+02] [-9.41445207e-01 2.34292096e-03 3.37157876e-01 -1.94427566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.8407140569999 meters Centerline goodness : 0.991429 Centerline is valid? [True, True] Translation: X:116.39, Y:207.06, Z:-19.44 [[ 3.16849872e-02 -9.87652628e-01 1.53422126e-01 1.16393504e+02] [ 3.51476481e-01 1.54705340e-01 9.23325804e-01 2.07058414e+02] [-9.35660379e-01 2.46687026e-02 3.52038507e-01 -1.94445096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.870714057 meters Centerline goodness : 0.993468 Centerline is valid? [True, True] Translation: X:116.42, Y:207.06, Z:-19.47 [[ 2.88216299e-02 -9.92414884e-01 1.19507371e-01 1.16423730e+02] [ 3.50802406e-01 1.21994947e-01 9.28469119e-01 2.07063634e+02] [-9.36005868e-01 1.51634801e-02 3.51657622e-01 -1.94730731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.900714057 meters Centerline goodness : 0.995283 Centerline is valid? [True, True] Translation: X:116.42, Y:207.07, Z:-19.49 [[ 1.98286031e-02 -9.91255770e-01 1.30456221e-01 1.16418740e+02] [ 3.46457405e-01 1.29209662e-01 9.29124389e-01 2.07066235e+02] [-9.37856115e-01 2.67742851e-02 3.45989949e-01 -1.94925581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.9307140569999 meters Centerline goodness : 0.996505 Centerline is valid? [True, True] Translation: X:116.46, Y:207.07, Z:-19.52 [[ 1.81920419e-02 -9.98422951e-01 5.31098893e-02 1.16457059e+02] [ 3.46509796e-01 5.61225215e-02 9.36365967e-01 2.07069593e+02] [-9.37869933e-01 1.36868801e-03 3.46984316e-01 -1.95201305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.9607140569999 meters Centerline goodness : 0.996865 Centerline is valid? [True, True] Translation: X:116.47, Y:207.08, Z:-19.54 [[ 1.50053445e-02 -9.98514941e-01 5.23712952e-02 1.16471097e+02] [ 3.47038177e-01 5.43221100e-02 9.36276461e-01 2.07080078e+02] [-9.37730955e-01 4.12568794e-03 3.47337927e-01 -1.95448470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.990714057 meters Centerline goodness : 0.997727 Centerline is valid? [True, True] Translation: X:116.49, Y:207.09, Z:-19.57 [[ 1.29459836e-02 -9.98562055e-01 5.20213867e-02 1.16485042e+02] [ 3.48676376e-01 5.32684342e-02 9.35728197e-01 2.07089527e+02] [-9.37153769e-01 6.02470669e-03 3.48864610e-01 -1.95713264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.020714057 meters Centerline goodness : 0.998059 Centerline is valid? [True, True] Translation: X:116.49, Y:207.10, Z:-19.60 [[ 1.20467510e-02 -9.98613155e-01 5.12507760e-02 1.16492336e+02] [ 3.49605536e-01 5.22260775e-02 9.35440220e-01 2.07098867e+02] [-9.36819537e-01 6.64853965e-03 3.49749842e-01 -1.95974220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.0507140569999 meters Centerline goodness : 0.998841 Centerline is valid? [True, True] Translation: X:116.50, Y:207.11, Z:-19.62 [[ 1.21892341e-02 -9.98650796e-01 5.04778148e-02 1.16499276e+02] [ 3.50666478e-01 5.15447372e-02 9.35080832e-01 2.07108409e+02] [-9.36421083e-01 6.30295836e-03 3.50821648e-01 -1.96223768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.0807140569999 meters Centerline goodness : 0.998755 Centerline is valid? [True, True] Translation: X:116.51, Y:207.12, Z:-19.65 [[ 1.27810308e-02 -9.98659830e-01 5.01516646e-02 1.16511113e+02] [ 3.50731651e-01 5.14465647e-02 9.35061795e-01 2.07118891e+02] [-9.36388784e-01 5.63872257e-03 3.50919151e-01 -1.96477770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.110714057 meters Centerline goodness : 0.999051 Centerline is valid? [True, True] Translation: X:116.52, Y:207.13, Z:-19.67 [[ 1.34357444e-02 -9.98688952e-01 4.93949262e-02 1.16516907e+02] [ 3.50703379e-01 5.09679093e-02 9.35098611e-01 2.07129600e+02] [-9.36390208e-01 4.75922156e-03 3.50928381e-01 -1.96736452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.140714057 meters Centerline goodness : 0.999371 Centerline is valid? [True, True] Translation: X:116.53, Y:207.14, Z:-19.70 [[ 1.45284063e-02 -9.98709761e-01 4.86594190e-02 1.16526997e+02] [ 3.49583898e-01 5.06668129e-02 9.35534057e-01 2.07140128e+02] [-9.36792412e-01 3.41873053e-03 3.49868959e-01 -1.96984227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.1707140569999 meters Centerline goodness : 0.999121 Centerline is valid? [True, True] Translation: X:116.53, Y:207.15, Z:-19.72 [[ 1.45955960e-02 -9.98724045e-01 4.83451148e-02 1.16531910e+02] [ 3.48881241e-01 5.03983171e-02 9.35810819e-01 2.07149528e+02] [-9.37053279e-01 3.20798700e-03 3.49171678e-01 -1.97232558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.2007140569999 meters Centerline goodness : 0.999373 Centerline is valid? [True, True] Translation: X:116.54, Y:207.16, Z:-19.75 [[ 1.23000771e-02 -9.98769144e-01 4.80510601e-02 1.16540725e+02] [ 3.47731045e-01 4.93278414e-02 9.36295832e-01 2.07159507e+02] [-9.37513642e-01 5.19233439e-03 3.47909774e-01 -1.97494453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.2307140569999 meters Centerline goodness : 0.998976 Centerline is valid? [True, True] Translation: X:116.55, Y:207.17, Z:-19.77 [[ 1.03406376e-02 -9.98826845e-01 4.73075540e-02 1.16545463e+02] [ 3.47236970e-01 4.79528255e-02 9.36550593e-01 2.07168214e+02] [-9.37720405e-01 6.74240146e-03 3.47325470e-01 -1.97747215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.260714057 meters Centerline goodness : 0.998914 Centerline is valid? [True, True] Translation: X:116.55, Y:207.18, Z:-19.80 [[ 8.07894271e-03 -9.98863137e-01 4.69804619e-02 1.16550250e+02] [ 3.47312811e-01 4.68600507e-02 9.36577785e-01 2.07177956e+02] [-9.37714531e-01 8.75035800e-03 3.47296543e-01 -1.98012539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.290714057 meters Centerline goodness : 0.998892 Centerline is valid? [True, True] Translation: X:116.56, Y:207.19, Z:-19.83 [[ 4.43843339e-03 -9.98920725e-01 4.62351059e-02 1.16559372e+02] [ 3.47496469e-01 4.48948679e-02 9.36605923e-01 2.07186176e+02] [-9.37670787e-01 1.19094731e-02 3.47320688e-01 -1.98283623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.3207140569999 meters Centerline goodness : 0.998808 Centerline is valid? [True, True] Translation: X:116.56, Y:207.20, Z:-19.85 [[ 2.77151240e-03 -9.98961698e-01 4.54735519e-02 1.16563857e+02] [ 3.48065929e-01 4.35939093e-02 9.36455915e-01 2.07195081e+02] [-9.37465961e-01 1.32323949e-02 3.47825353e-01 -1.98533493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.3507140569999 meters Centerline goodness : 0.998599 Centerline is valid? [True, True] Translation: X:116.57, Y:207.20, Z:-19.88 [[-2.59680035e-04 -9.98988782e-01 4.49593734e-02 1.16570663e+02] [ 3.48245294e-01 4.20547318e-02 9.36459617e-01 2.07203850e+02] [-9.37403407e-01 1.59000701e-02 3.47882221e-01 -1.98795474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.380714057 meters Centerline goodness : 0.998516 Centerline is valid? [True, True] Translation: X:116.57, Y:207.21, Z:-19.91 [[-2.26073694e-03 -9.99019694e-01 4.42101732e-02 1.16573618e+02] [ 3.48235575e-01 4.06565182e-02 9.36524977e-01 2.07213859e+02] [-9.37404328e-01 1.75127917e-02 3.47802284e-01 -1.99059052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.410714057 meters Centerline goodness : 0.998720 Centerline is valid? [True, True] Translation: X:116.61, Y:207.26, Z:-19.92 [[-2.30788607e-03 -9.99324864e-01 -3.66672741e-02 1.16613609e+02] [ 3.67211184e-01 -3.49526007e-02 9.29480641e-01 2.07257295e+02] [-9.30134732e-01 -1.13194977e-02 3.67043933e-01 -1.99227221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.4407140569999 meters Centerline goodness : 0.998662 Centerline is valid? [True, True] Translation: X:116.59, Y:207.27, Z:-19.95 [[ 1.61993008e-03 -9.99057945e-01 4.33658779e-02 1.16591454e+02] [ 3.78450364e-01 4.07529238e-02 9.24724024e-01 2.07273500e+02] [-9.25620169e-01 1.49138440e-02 3.78159860e-01 -1.99533051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.4707140569999 meters Centerline goodness : 0.999247 Centerline is valid? [True, True] Translation: X:116.53, Y:207.24, Z:-19.99 [[-1.13993732e-02 -9.82146462e-01 1.87772155e-01 1.16529160e+02] [ 3.55295579e-01 1.71552177e-01 9.18876979e-01 2.07243363e+02] [-9.34684495e-01 7.71892382e-02 3.46996708e-01 -1.99897695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.500714057 meters Centerline goodness : 0.998572 Centerline is valid? [True, True] Translation: X:116.59, Y:207.25, Z:-20.01 [[-1.39367711e-02 -9.98884000e-01 4.51278264e-02 1.16587385e+02] [ 3.51454134e-01 3.73588066e-02 9.35459412e-01 2.07254540e+02] [-9.36101361e-01 2.88976448e-02 3.50541250e-01 -2.00147747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.530714057 meters Centerline goodness : 0.998631 Centerline is valid? [True, True] Translation: X:116.59, Y:207.26, Z:-20.04 [[-2.01470567e-02 -9.98811775e-01 4.43749258e-02 1.16590075e+02] [ 3.52718391e-01 3.44294839e-02 9.35095903e-01 2.07263708e+02] [-9.35512604e-01 3.44912826e-02 3.51605629e-01 -2.00402271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.5607140569999 meters Centerline goodness : 0.999135 Centerline is valid? [True, True] Translation: X:116.59, Y:207.27, Z:-20.07 [[-2.35319476e-02 -9.98752334e-01 4.40456860e-02 1.16591112e+02] [ 3.53427962e-01 3.29017635e-02 9.34882960e-01 2.07273442e+02] [-9.35165720e-01 3.75665939e-02 3.52212760e-01 -2.00669512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.5907140569999 meters Centerline goodness : 0.998735 Centerline is valid? [True, True] Translation: X:116.59, Y:207.28, Z:-20.09 [[-2.91907521e-02 -9.98636716e-01 4.32736522e-02 1.16591276e+02] [ 3.55498199e-01 3.00896826e-02 9.34192508e-01 2.07283192e+02] [-9.34221029e-01 4.26534873e-02 3.54135214e-01 -2.00925478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.620714057 meters Centerline goodness : 0.999072 Centerline is valid? [True, True] Translation: X:116.59, Y:207.29, Z:-20.12 [[-3.14629219e-02 -9.98581571e-01 4.29526598e-02 1.16590960e+02] [ 3.55608342e-01 2.89783877e-02 9.34185721e-01 2.07293347e+02] [-9.34105343e-01 4.46665365e-02 3.54192192e-01 -2.01191066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.650714057 meters Centerline goodness : 0.999178 Centerline is valid? [True, True] Translation: X:116.59, Y:207.30, Z:-20.14 [[-3.32633976e-02 -9.98543387e-01 4.24811786e-02 1.16590137e+02] [ 3.55677257e-01 2.78951951e-02 9.34192457e-01 2.07303637e+02] [-9.34016721e-01 4.61840042e-02 3.54231284e-01 -2.01440129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.6807140569999 meters Centerline goodness : 0.999094 Centerline is valid? [True, True] Translation: X:116.59, Y:207.32, Z:-20.17 [[-3.42880454e-02 -9.98530860e-01 4.19577416e-02 1.16587172e+02] [ 3.56066092e-01 2.70223562e-02 9.34069982e-01 2.07315382e+02] [-9.33831499e-01 4.69671630e-02 3.54616437e-01 -2.01692090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.7107140569999 meters Centerline goodness : 0.999093 Centerline is valid? [True, True] Translation: X:116.59, Y:207.33, Z:-20.19 [[-3.38298743e-02 -9.98575294e-01 4.12664827e-02 1.16585654e+02] [ 3.55989863e-01 2.65422724e-02 9.34112801e-01 2.07325544e+02] [-9.33877271e-01 4.62913682e-02 3.54584760e-01 -2.01940386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.740714057 meters Centerline goodness : 0.999093 Centerline is valid? [True, True] Translation: X:116.59, Y:207.34, Z:-20.22 [[-3.40694411e-02 -9.98580424e-01 4.09439971e-02 1.16586131e+02] [ 3.55981239e-01 2.61559411e-02 9.34126985e-01 2.07335695e+02] [-9.33871849e-01 4.64004791e-02 3.54584779e-01 -2.02206637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.770714057 meters Centerline goodness : 0.999179 Centerline is valid? [True, True] Translation: X:116.58, Y:207.35, Z:-20.25 [[-3.16828627e-02 -9.98684239e-01 4.03235398e-02 1.16581557e+02] [ 3.55349910e-01 2.64529644e-02 9.34358969e-01 2.07346711e+02] [-9.34196252e-01 4.39321332e-02 3.54044249e-01 -2.02462825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.8007140569999 meters Centerline goodness : 0.999115 Centerline is valid? [True, True] Translation: X:116.60, Y:207.38, Z:-20.26 [[-3.06551371e-02 -9.99479921e-01 -1.00075511e-02 1.16597631e+02] [ 3.65672931e-01 -2.05326280e-02 9.30516910e-01 2.07376465e+02] [-9.30238448e-01 2.48656329e-02 3.66112182e-01 -2.02641145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.8307140569999 meters Centerline goodness : 0.999558 Centerline is valid? [True, True] Translation: X:116.55, Y:207.37, Z:-20.30 [[-2.59808387e-02 -9.96194303e-01 8.31979929e-02 1.16554736e+02] [ 3.56519913e-01 6.85196188e-02 9.31771760e-01 2.07367412e+02] [-9.33926414e-01 5.38699530e-02 3.53382910e-01 -2.02993335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.860714057 meters Centerline goodness : 0.999495 Centerline is valid? [True, True] Translation: X:116.57, Y:207.38, Z:-20.33 [[-2.36828367e-02 -9.98962115e-01 3.89077836e-02 1.16568634e+02] [ 3.55118468e-01 2.79743575e-02 9.34402648e-01 2.07378440e+02] [-9.34521266e-01 3.59461779e-02 3.54087384e-01 -2.03253481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.890714057 meters Centerline goodness : 0.999495 Centerline is valid? [True, True] Translation: X:116.56, Y:207.39, Z:-20.35 [[-1.94601491e-02 -9.99081666e-01 3.81723335e-02 1.16562717e+02] [ 3.54658588e-01 2.87987782e-02 9.34552254e-01 2.07388849e+02] [-9.34793340e-01 3.17246721e-02 3.53772465e-01 -2.03512551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.9207140569999 meters Centerline goodness : 0.999558 Centerline is valid? [True, True] Translation: X:116.56, Y:207.40, Z:-20.38 [[-1.74830048e-02 -9.99146238e-01 3.74318059e-02 1.16560535e+02] [ 3.54533499e-01 2.88100282e-02 9.34599369e-01 2.07398388e+02] [-9.34879855e-01 2.96104344e-02 3.53727126e-01 -2.03762562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.9507140569999 meters Centerline goodness : 0.999136 Centerline is valid? [True, True] Translation: X:116.56, Y:207.41, Z:-20.40 [[-1.57858947e-02 -9.99186551e-01 3.71085258e-02 1.16555876e+02] [ 3.54600814e-01 2.91063018e-02 9.34564651e-01 2.07407756e+02] [-9.34884521e-01 2.79116526e-02 3.53852895e-01 -2.04029880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.9807140569999 meters Centerline goodness : 0.999326 Centerline is valid? [True, True] Translation: X:116.55, Y:207.42, Z:-20.43 [[-1.60515057e-02 -9.99210001e-01 3.63555203e-02 1.16553801e+02] [ 3.55117981e-01 2.82925257e-02 9.34393254e-01 2.07417310e+02] [-9.34683673e-01 2.79089176e-02 3.54383300e-01 -2.04293240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.010714057 meters Centerline goodness : 0.999221 Centerline is valid? [True, True] Translation: X:116.55, Y:207.43, Z:-20.46 [[-1.64733476e-02 -9.99230318e-01 3.56005639e-02 1.16548832e+02] [ 3.55873390e-01 2.74143001e-02 9.34131996e-01 2.07426501e+02] [-9.34388977e-01 2.80575745e-02 3.55147875e-01 -2.04550272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.040714057 meters Centerline goodness : 0.999137 Centerline is valid? [True, True] Translation: X:116.55, Y:207.44, Z:-20.48 [[-1.66372741e-02 -9.99239458e-01 3.52662158e-02 1.16546686e+02] [ 3.56776699e-01 2.70163111e-02 9.33798964e-01 2.07436451e+02] [-9.34041535e-01 2.81180334e-02 3.56055878e-01 -2.04812660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.0707140569999 meters Centerline goodness : 0.998608 Centerline is valid? [True, True] Translation: X:116.54, Y:207.45, Z:-20.51 [[-1.49812265e-02 -9.99292220e-01 3.45053899e-02 1.16543251e+02] [ 3.57850299e-01 2.68650480e-02 9.33392433e-01 2.07445974e+02] [-9.33658785e-01 2.63311275e-02 3.57194548e-01 -2.05071907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.1007140569999 meters Centerline goodness : 0.998651 Centerline is valid? [True, True] Translation: X:116.54, Y:207.46, Z:-20.53 [[-1.31034738e-02 -9.99344262e-01 3.37541811e-02 1.16541890e+02] [ 3.58017410e-01 2.68300897e-02 9.33329352e-01 2.07455680e+02] [-9.33622961e-01 2.43144412e-02 3.57431078e-01 -2.05324762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.130714057 meters Centerline goodness : 0.998944 Centerline is valid? [True, True] Translation: X:116.54, Y:207.47, Z:-20.56 [[-1.10890648e-02 -9.99385555e-01 3.32497449e-02 1.16540575e+02] [ 3.57547601e-01 2.70904776e-02 9.33501912e-01 2.07465644e+02] [-9.33829077e-01 2.22400297e-02 3.57027500e-01 -2.05591074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.160714057 meters Centerline goodness : 0.999262 Centerline is valid? [True, True] Translation: X:116.54, Y:207.48, Z:-20.59 [[-6.37911422e-03 -9.99450980e-01 3.25122320e-02 1.16537545e+02] [ 3.57434672e-01 2.80859834e-02 9.33515738e-01 2.07476061e+02] [-9.33916357e-01 1.75760025e-02 3.57059270e-01 -2.05853441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.1907140569999 meters Centerline goodness : 0.998924 Centerline is valid? [True, True] Translation: X:116.54, Y:207.49, Z:-20.61 [[-4.36595431e-03 -9.99484289e-01 3.18134275e-02 1.16536527e+02] [ 3.57912586e-01 2.81443377e-02 9.33330851e-01 2.07485927e+02] [-9.33744890e-01 1.54613060e-02 3.57605130e-01 -2.06115133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.2207140569999 meters Centerline goodness : 0.999135 Centerline is valid? [True, True] Translation: X:116.54, Y:207.50, Z:-20.64 [[-2.20460455e-03 -9.99515418e-01 3.10494595e-02 1.16535040e+02] [ 3.59223055e-01 2.81854570e-02 9.32826016e-01 2.07496081e+02] [-9.33249129e-01 1.32101942e-02 3.58986844e-01 -2.06375722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.250714057 meters Centerline goodness : 0.999072 Centerline is valid? [True, True] Translation: X:116.54, Y:207.51, Z:-20.66 [[-1.83317379e-03 -9.99539563e-01 3.02869944e-02 1.16535365e+02] [ 3.59572595e-01 2.76024955e-02 9.32708771e-01 2.07505522e+02] [-9.33115313e-01 1.26001904e-02 3.59356435e-01 -2.06633622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.280714057 meters Centerline goodness : 0.999282 Centerline is valid? [True, True] Translation: X:116.55, Y:207.53, Z:-20.69 [[-2.69719583e-03 -9.99996152e-01 6.48380497e-04 1.16548024e+02] [ 3.67267182e-01 -3.87524313e-04 9.30115405e-01 2.07525453e+02] [-9.30111575e-01 2.74683227e-03 3.67266814e-01 -2.06874231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.3107140569999 meters Centerline goodness : 0.998902 Centerline is valid? [True, True] Translation: X:116.53, Y:207.54, Z:-20.71 [[-2.71206284e-03 -9.99279548e-01 3.78553721e-02 1.16534817e+02] [ 3.68838712e-01 3.41868276e-02 9.28864503e-01 2.07536113e+02] [-9.29489456e-01 1.64816656e-02 3.68480265e-01 -2.07138155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.3407140569999 meters Centerline goodness : 0.998923 Centerline is valid? [True, True] Translation: X:116.52, Y:207.54, Z:-20.74 [[-5.77642500e-03 -9.97665701e-01 6.80424975e-02 1.16522395e+02] [ 3.62092288e-01 6.13393991e-02 9.30121849e-01 2.07537102e+02] [-9.32124352e-01 3.00104427e-02 3.60892734e-01 -2.07437035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.370714057 meters Centerline goodness : 0.998987 Centerline is valid? [True, True] Translation: X:116.54, Y:207.55, Z:-20.77 [[-6.64839768e-03 -9.99550321e-01 2.92396176e-02 1.16537773e+02] [ 3.60763039e-01 2.48735379e-02 9.32325767e-01 2.07547004e+02] [-9.32633813e-01 1.67470458e-02 3.60435443e-01 -2.07695965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.400714057 meters Centerline goodness : 0.999241 Centerline is valid? [True, True] Translation: X:116.54, Y:207.56, Z:-20.80 [[-6.78649464e-03 -9.99570340e-01 2.85145532e-02 1.16538735e+02] [ 3.59817394e-01 2.41642862e-02 9.32709778e-01 2.07557598e+02] [-9.32998063e-01 1.65898621e-02 3.59498804e-01 -2.07950403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.4307140569999 meters Centerline goodness : 0.999178 Centerline is valid? [True, True] Translation: X:116.54, Y:207.57, Z:-20.82 [[-6.06864153e-03 -9.99594934e-01 2.78054027e-02 1.16540874e+02] [ 3.57863077e-01 2.37934290e-02 9.33470884e-01 2.07568637e+02] [-9.33754352e-01 1.56154271e-02 3.57573725e-01 -2.08207706e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.4607140569999 meters Centerline goodness : 0.999137 Centerline is valid? [True, True] Translation: X:116.54, Y:207.58, Z:-20.85 [[-5.85262330e-03 -9.99616126e-01 2.70804010e-02 1.16542008e+02] [ 3.56926033e-01 2.32088334e-02 9.33844289e-01 2.07578903e+02] [-9.34114315e-01 1.51311389e-02 3.56653186e-01 -2.08472351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.490714057 meters Centerline goodness : 0.999266 Centerline is valid? [True, True] Translation: X:116.54, Y:207.59, Z:-20.87 [[-5.80100386e-03 -9.99635999e-01 2.63480303e-02 1.16543961e+02] [ 3.56905870e-01 2.25433836e-02 9.33868297e-01 2.07589447e+02] [-9.34122341e-01 1.48211402e-02 3.56645181e-01 -2.08734250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.520714057 meters Centerline goodness : 0.999579 Centerline is valid? [True, True] Translation: X:116.55, Y:207.60, Z:-20.90 [[-6.22978308e-03 -9.99652581e-01 2.56106966e-02 1.16545173e+02] [ 3.57225151e-01 2.16965073e-02 9.33766273e-01 2.07599193e+02] [-9.33997527e-01 1.49659463e-02 3.56965880e-01 -2.09000322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.5507140569999 meters Centerline goodness : 0.999348 Centerline is valid? [True, True] Translation: X:116.55, Y:207.61, Z:-20.93 [[-6.99892887e-03 -9.99666560e-01 2.48552660e-02 1.16548446e+02] [ 3.57470103e-01 2.07122330e-02 9.33694880e-01 2.07607818e+02] [-9.33898357e-01 1.54198785e-02 3.57205944e-01 -2.09256625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.5807140569999 meters Centerline goodness : 0.999200 Centerline is valid? [True, True] Translation: X:116.55, Y:207.62, Z:-20.95 [[-8.32729891e-03 -9.99664517e-01 2.45256893e-02 1.16550307e+02] [ 3.57826564e-01 1.99235377e-02 9.33575494e-01 2.07617843e+02] [-9.33750934e-01 1.65501053e-02 3.57540610e-01 -2.09512531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.610714057 meters Centerline goodness : 0.999368 Centerline is valid? [True, True] Translation: X:116.55, Y:207.63, Z:-20.98 [[-9.29882337e-03 -9.99673119e-01 2.38156929e-02 1.16552257e+02] [ 3.57861721e-01 1.89124164e-02 9.33583049e-01 2.07627423e+02] [-9.33728291e-01 1.72039487e-02 3.57568880e-01 -2.09771666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.640714057 meters Centerline goodness : 0.999347 Centerline is valid? [True, True] Translation: X:116.56, Y:207.64, Z:-21.00 [[-1.07683685e-02 -9.99676008e-01 2.30634087e-02 1.16555081e+02] [ 3.57838459e-01 1.76847613e-02 9.33616027e-01 2.07637141e+02] [-9.33721414e-01 1.83064960e-02 3.57532086e-01 -2.10038499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.6707140569999 meters Centerline goodness : 0.999347 Centerline is valid? [True, True] Translation: X:116.56, Y:207.65, Z:-21.03 [[-1.00911876e-02 -9.99700177e-01 2.23097394e-02 1.16557879e+02] [ 3.58371935e-01 1.72131239e-02 9.33420197e-01 2.07646931e+02] [-9.33524357e-01 1.74145028e-02 3.58090786e-01 -2.10297452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.7007140569999 meters Centerline goodness : 0.999284 Centerline is valid? [True, True] Translation: X:116.56, Y:207.66, Z:-21.06 [[-8.92796874e-03 -9.99727548e-01 2.15666779e-02 1.16559505e+02] [ 3.58150180e-01 1.69397778e-02 9.33510307e-01 2.07656699e+02] [-9.33621305e-01 1.60584604e-02 3.57901363e-01 -2.10555265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.7307140569999 meters Centerline goodness : 0.999325 Centerline is valid? [True, True] Translation: X:116.56, Y:207.67, Z:-21.08 [[-4.48224629e-03 -9.99773167e-01 2.08212304e-02 1.16562700e+02] [ 3.57527406e-01 1.78429743e-02 9.33732179e-01 2.07666036e+02] [-9.33891891e-01 1.16293781e-02 3.57366331e-01 -2.10815752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.760714057 meters Centerline goodness : 0.999389 Centerline is valid? [True, True] Translation: X:116.57, Y:207.68, Z:-21.11 [[-1.51452199e-03 -9.99797209e-01 2.00810357e-02 1.16565025e+02] [ 3.57273241e-01 1.82147142e-02 9.33822283e-01 2.07675910e+02] [-9.33998682e-01 8.58871108e-03 3.57173202e-01 -2.11075277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.790714057 meters Centerline goodness : 0.999350 Centerline is valid? [True, True] Translation: X:116.57, Y:207.69, Z:-21.13 [[ 5.14970002e-03 -9.99799687e-01 1.93407754e-02 1.16568367e+02] [ 3.56916312e-01 1.99048187e-02 9.33924271e-01 2.07685612e+02] [-9.34122169e-01 2.09360837e-03 3.56947321e-01 -2.11335999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.8207140569999 meters Centerline goodness : 0.999353 Centerline is valid? [True, True] Translation: X:116.57, Y:207.70, Z:-21.16 [[ 8.26600063e-03 -9.99792797e-01 1.86020666e-02 1.16570107e+02] [ 3.56444471e-01 2.03266863e-02 9.34095373e-01 2.07695100e+02] [-9.34279943e-01 -1.09062917e-03 3.56538635e-01 -2.11597965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.8507140569999 meters Centerline goodness : 0.999145 Centerline is valid? [True, True] Translation: X:116.60, Y:207.73, Z:-21.18 [[ 1.55663230e-02 -9.98946790e-01 -4.31624999e-02 1.16599733e+02] [ 3.69373926e-01 -3.43690468e-02 9.28645073e-01 2.07727092e+02] [-9.29150468e-01 -3.03986912e-02 3.68449898e-01 -2.11806078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.880714057 meters Centerline goodness : 0.999665 Centerline is valid? [True, True] Translation: X:116.55, Y:207.71, Z:-21.21 [[ 1.61277169e-02 -9.95888038e-01 8.91454542e-02 1.16548805e+02] [ 3.53632065e-01 8.90758854e-02 9.31133637e-01 2.07713985e+02] [-9.35245561e-01 1.65076314e-02 3.53614535e-01 -2.12133729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.910714057 meters Centerline goodness : 0.999603 Centerline is valid? [True, True] Translation: X:116.61, Y:207.75, Z:-21.24 [[ 1.82405542e-02 -9.98653738e-01 -4.85591809e-02 1.16610689e+02] [ 3.66854416e-01 -3.84950597e-02 9.29481559e-01 2.07745710e+02] [-9.30099522e-01 -3.47684087e-02 3.65658362e-01 -2.12351051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.9407140569999 meters Centerline goodness : 0.999646 Centerline is valid? [True, True] Translation: X:116.56, Y:207.73, Z:-21.27 [[ 1.58249514e-02 -9.96290217e-01 8.45894490e-02 1.16560618e+02] [ 3.53201458e-01 8.47159831e-02 9.31703779e-01 2.07732498e+02] [-9.35413438e-01 1.51329497e-02 3.53231784e-01 -2.12683968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.9707140569999 meters Centerline goodness : 0.999581 Centerline is valid? [True, True] Translation: X:116.62, Y:207.77, Z:-21.29 [[ 1.36971747e-02 -9.98843928e-01 -4.60781359e-02 1.16621621e+02] [ 3.71520765e-01 -3.76995922e-02 9.27658915e-01 2.07768687e+02] [-9.28323601e-01 -2.98252906e-02 3.70574883e-01 -2.12859231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.000714057 meters Centerline goodness : 0.999351 Centerline is valid? [True, True] Translation: X:116.58, Y:207.75, Z:-21.32 [[ 7.53803825e-03 -9.97537436e-01 6.97297718e-02 1.16578329e+02] [ 3.53322112e-01 6.78908590e-02 9.33035003e-01 2.07750324e+02] [-9.35471359e-01 1.76038167e-02 3.52963798e-01 -2.13244198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.030714057 meters Centerline goodness : 0.999331 Centerline is valid? [True, True] Translation: X:116.60, Y:207.76, Z:-21.35 [[ 4.26635545e-03 -9.99868226e-01 1.56629993e-02 1.16603635e+02] [ 3.53323830e-01 1.61601010e-02 9.35361493e-01 2.07760936e+02] [-9.35491352e-01 1.54352631e-03 3.53346215e-01 -2.13504993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.0607140569999 meters Centerline goodness : 0.998973 Centerline is valid? [True, True] Translation: X:116.61, Y:207.77, Z:-21.38 [[-3.87551223e-03 -9.99881068e-01 1.49274922e-02 1.16612002e+02] [ 3.53425246e-01 1.25946416e-02 9.35377983e-01 2.07769461e+02] [-9.35454743e-01 8.90082140e-03 3.53334402e-01 -2.13757781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.0907140569999 meters Centerline goodness : 0.999352 Centerline is valid? [True, True] Translation: X:116.62, Y:207.78, Z:-21.40 [[-1.17655087e-02 -9.99781223e-01 1.72938825e-02 1.16618231e+02] [ 3.53976329e-01 1.20107617e-02 9.35177256e-01 2.07778703e+02] [-9.35180374e-01 1.71244612e-02 3.53757575e-01 -2.13995137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.120714057 meters Centerline goodness : 0.998874 Centerline is valid? [True, True] Translation: X:116.63, Y:207.79, Z:-21.43 [[-1.78529749e-02 -9.99830244e-01 -4.55571810e-03 1.16630737e+02] [ 3.52248923e-01 -1.05539372e-02 9.35846841e-01 2.07790405e+02] [-9.35736057e-01 1.51029034e-02 3.52377546e-01 -2.14266571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.150714057 meters Centerline goodness : 0.998998 Centerline is valid? [True, True] Translation: X:116.63, Y:207.80, Z:-21.45 [[-2.25446204e-02 -9.99648006e-01 1.39858578e-02 1.16626957e+02] [ 3.52079571e-01 5.15445994e-03 9.35955879e-01 2.07798909e+02] [-9.35698518e-01 2.60249048e-02 3.51839435e-01 -2.14539321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.1807140569999 meters Centerline goodness : 0.998618 Centerline is valid? [True, True] Translation: X:116.63, Y:207.81, Z:-21.48 [[-3.14066302e-02 -9.99418332e-01 1.32899251e-02 1.16632498e+02] [ 3.51266363e-01 1.41174649e-03 9.36274505e-01 2.07808993e+02] [-9.35748666e-01 3.40735308e-02 3.51017704e-01 -2.14794500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.2107140569999 meters Centerline goodness : 0.998968 Centerline is valid? [True, True] Translation: X:116.64, Y:207.82, Z:-21.51 [[-3.82988802e-02 -9.99184113e-01 1.28181208e-02 1.16636208e+02] [ 3.50272757e-01 -1.41015456e-03 9.36646682e-01 2.07817758e+02] [-9.35864409e-01 4.03623575e-02 3.50040981e-01 -2.15062430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.240714057 meters Centerline goodness : 0.998737 Centerline is valid? [True, True] Translation: X:116.64, Y:207.83, Z:-21.53 [[-4.01942201e-02 -9.99112366e-01 1.26057170e-02 1.16637329e+02] [ 3.50965696e-01 -2.30502812e-03 9.36385480e-01 2.07827264e+02] [-9.35525256e-01 4.20614583e-02 3.50746816e-01 -2.15317726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.270714057 meters Centerline goodness : 0.998100 Centerline is valid? [True, True] Translation: X:116.64, Y:207.84, Z:-21.56 [[-4.59620682e-02 -9.98925003e-01 6.02716000e-03 1.16640125e+02] [ 3.51960295e-01 -1.05470075e-02 9.35955507e-01 2.07837490e+02] [-9.34885789e-01 4.51397718e-02 3.52066701e-01 -2.15573962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.3007140569999 meters Centerline goodness : 0.998436 Centerline is valid? [True, True] Translation: X:116.64, Y:207.85, Z:-21.58 [[-4.73304873e-02 -9.98870586e-01 -4.16872710e-03 1.16644496e+02] [ 3.50668647e-01 -2.05235712e-02 9.36274684e-01 2.07848197e+02] [-9.35302799e-01 4.28524951e-02 3.51243987e-01 -2.15844468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.3307140569999 meters Centerline goodness : 0.998351 Centerline is valid? [True, True] Translation: X:116.64, Y:207.86, Z:-21.61 [[-4.90452982e-02 -9.98796133e-01 9.18639177e-04 1.16642951e+02] [ 3.50841333e-01 -1.63667067e-02 9.36291883e-01 2.07857927e+02] [-9.35149677e-01 4.62430112e-02 3.51221677e-01 -2.16102304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.360714057 meters Centerline goodness : 0.998650 Centerline is valid? [True, True] Translation: X:116.64, Y:207.87, Z:-21.64 [[-5.06423294e-02 -9.98677517e-01 8.86410875e-03 1.16639162e+02] [ 3.51976391e-01 -9.54106881e-03 9.35960249e-01 2.07867778e+02] [-9.34637884e-01 5.05191643e-02 3.51994090e-01 -2.16361024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.390714057 meters Centerline goodness : 0.998669 Centerline is valid? [True, True] Translation: X:116.64, Y:207.88, Z:-21.66 [[-5.07257173e-02 -9.98679154e-01 8.17614386e-03 1.16637454e+02] [ 3.51214164e-01 -1.01741971e-02 9.36239871e-01 2.07877544e+02] [-9.34920057e-01 5.03630165e-02 3.51266358e-01 -2.16615747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.4207140569999 meters Centerline goodness : 0.999028 Centerline is valid? [True, True] Translation: X:116.64, Y:207.89, Z:-21.69 [[-5.04920098e-02 -9.98693579e-01 7.85443617e-03 1.16636139e+02] [ 3.50884034e-01 -1.03758041e-02 9.36361435e-01 2.07887800e+02] [-9.35056657e-01 5.00347670e-02 3.50949527e-01 -2.16874973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.4507140569999 meters Centerline goodness : 0.998923 Centerline is valid? [True, True] Translation: X:116.63, Y:207.90, Z:-21.71 [[-4.96230389e-02 -9.98742665e-01 7.11637864e-03 1.16634775e+02] [ 3.49970214e-01 -1.07141481e-02 9.36699555e-01 2.07897711e+02] [-9.35445564e-01 4.89723990e-02 3.50061853e-01 -2.17130408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.4807140569999 meters Centerline goodness : 0.998926 Centerline is valid? [True, True] Translation: X:116.63, Y:207.91, Z:-21.74 [[-4.78528514e-02 -9.98833973e-01 6.38733921e-03 1.16630482e+02] [ 3.48899859e-01 -1.07227891e-02 9.37098666e-01 2.07907557e+02] [-9.35937494e-01 4.70713849e-02 3.49006148e-01 -2.17397075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.510714057 meters Centerline goodness : 0.998964 Centerline is valid? [True, True] Translation: X:116.63, Y:207.93, Z:-21.76 [[-4.87612329e-02 -9.98769002e-01 -9.10068428e-03 1.16631276e+02] [ 3.53217266e-01 -2.57658636e-02 9.35186443e-01 2.07925016e+02] [-9.34269718e-01 4.23863252e-02 3.54038831e-01 -2.17600021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.540714057 meters Centerline goodness : 0.999641 Centerline is valid? [True, True] Translation: X:116.62, Y:207.93, Z:-21.79 [[-4.50186024e-02 -9.98984826e-01 1.62577300e-03 1.16624568e+02] [ 3.48903314e-01 -1.41981206e-02 9.37051168e-01 2.07926839e+02] [-9.36076815e-01 4.27519715e-02 3.49188296e-01 -2.17925156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.5707140569999 meters Centerline goodness : 0.999430 Centerline is valid? [True, True] Translation: X:116.62, Y:207.94, Z:-21.82 [[-4.44615402e-02 -9.98998395e-01 5.03776414e-03 1.16620285e+02] [ 3.49193777e-01 -1.08162016e-02 9.36988109e-01 2.07936080e+02] [-9.35995127e-01 4.34190904e-02 3.49324927e-01 -2.18183490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.6007140569999 meters Centerline goodness : 0.999429 Centerline is valid? [True, True] Translation: X:116.61, Y:207.95, Z:-21.84 [[-4.23431740e-02 -9.99092012e-01 4.71235301e-03 1.16614761e+02] [ 3.49302651e-01 -1.03847617e-02 9.36952408e-01 2.07945862e+02] [-9.36052730e-01 4.13195762e-02 3.49425212e-01 -2.18437533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.630714057 meters Centerline goodness : 0.999429 Centerline is valid? [True, True] Translation: X:116.61, Y:207.96, Z:-21.87 [[-4.25999899e-02 -9.99082549e-01 4.39324074e-03 1.16614865e+02] [ 3.49286744e-01 -1.07732314e-02 9.36953952e-01 2.07956004e+02] [-9.36047013e-01 4.14487296e-02 3.49425230e-01 -2.18703881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.660714057 meters Centerline goodness : 0.999578 Centerline is valid? [True, True] Translation: X:116.61, Y:207.97, Z:-21.90 [[-4.20736983e-02 -9.99107621e-01 3.71029808e-03 1.16611970e+02] [ 3.49057490e-01 -1.12194756e-02 9.37034147e-01 2.07966188e+02] [-9.36156329e-01 4.07195993e-02 3.49218043e-01 -2.18963171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.6907140569999 meters Centerline goodness : 0.999704 Centerline is valid? [True, True] Translation: X:116.61, Y:207.98, Z:-21.92 [[-4.16472410e-02 -9.99127974e-01 2.96642482e-03 1.16609002e+02] [ 3.48381547e-01 -1.17389983e-02 9.37279304e-01 2.07976141e+02] [-9.36427149e-01 4.00685447e-02 3.48566646e-01 -2.19218807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.7207140569999 meters Centerline goodness : 0.999578 Centerline is valid? [True, True] Translation: X:116.60, Y:207.99, Z:-21.95 [[-4.21374381e-02 -9.99108331e-01 2.64175252e-03 1.16603160e+02] [ 3.48182428e-01 -1.22061597e-02 9.37347325e-01 2.07987387e+02] [-9.36479276e-01 4.04172267e-02 3.48386301e-01 -2.19472689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.750714057 meters Centerline goodness : 0.999557 Centerline is valid? [True, True] Translation: X:116.60, Y:208.00, Z:-21.97 [[-4.38302937e-02 -9.99037206e-01 1.88845367e-03 1.16598575e+02] [ 3.47306823e-01 -1.34648061e-02 9.37654878e-01 2.07997651e+02] [-9.36726682e-01 4.17535615e-02 3.47562605e-01 -2.19724733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.780714057 meters Centerline goodness : 0.999535 Centerline is valid? [True, True] Translation: X:116.60, Y:208.01, Z:-22.00 [[-4.51307319e-02 -9.98979866e-01 1.56344280e-03 1.16596342e+02] [ 3.47613891e-01 -1.42368187e-02 9.37529677e-01 2.08007672e+02] [-9.36551013e-01 4.28548749e-02 3.47901796e-01 -2.19989905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.8107140569999 meters Centerline goodness : 0.999409 Centerline is valid? [True, True] Translation: X:116.59, Y:208.02, Z:-22.03 [[-4.65331703e-02 -9.98916407e-01 8.22264412e-04 1.16594271e+02] [ 3.48257248e-01 -1.54515719e-02 9.37271646e-01 2.08017354e+02] [-9.36243319e-01 4.39005806e-02 3.48598890e-01 -2.20251874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.8407140569999 meters Centerline goodness : 0.999536 Centerline is valid? [True, True] Translation: X:116.59, Y:208.03, Z:-22.05 [[-4.85343375e-02 -9.98821511e-01 8.08235712e-05 1.16588727e+02] [ 3.48695074e-01 -1.68678244e-02 9.37084426e-01 2.08025979e+02] [-9.35978720e-01 4.55089546e-02 3.49102809e-01 -2.20519835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.870714057 meters Centerline goodness : 0.999472 Centerline is valid? [True, True] Translation: X:116.58, Y:208.03, Z:-22.06 [[-4.85938622e-02 -9.98818407e-01 -6.53111504e-04 1.16582655e+02] [ 3.49710506e-01 -1.76263756e-02 9.36691984e-01 2.08029563e+02] [-9.35596707e-01 4.52890812e-02 3.50153824e-01 -2.20631882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.900714057 meters Centerline goodness : 0.999138 Centerline is valid? [True, True] Translation: X:116.58, Y:208.04, Z:-22.09 [[-4.86508157e-02 -9.98815754e-01 4.32765841e-04 1.16579335e+02] [ 3.50604724e-01 -1.66717181e-02 9.36375128e-01 2.08039394e+02] [-9.35259015e-01 4.57071436e-02 3.51000615e-01 -2.20894159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.9307140569999 meters Centerline goodness : 0.999092 Centerline is valid? [True, True] Translation: X:116.58, Y:208.04, Z:-22.10 [[-4.79421909e-02 -9.98850068e-01 -2.95879855e-04 1.16576564e+02] [ 3.50838272e-01 -1.71166647e-02 9.36279620e-01 2.08042963e+02] [-9.35208027e-01 4.47834903e-02 3.51255442e-01 -2.20983788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.9607140569999 meters Centerline goodness : 0.999175 Centerline is valid? [True, True] Translation: X:116.57, Y:208.05, Z:-22.12 [[-4.77026062e-02 -9.98861274e-01 7.84900607e-04 1.16569663e+02] [ 3.51557176e-01 -1.60537848e-02 9.36028754e-01 2.08051928e+02] [-9.34950273e-01 4.49269485e-02 3.51922656e-01 -2.21235700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.990714057 meters Centerline goodness : 0.999409 Centerline is valid? [True, True] Translation: X:116.57, Y:208.06, Z:-22.15 [[-4.80895733e-02 -9.98843025e-01 6.02647529e-05 1.16566717e+02] [ 3.51661098e-01 -1.68743490e-02 9.35975282e-01 2.08061812e+02] [-9.34891365e-01 4.50318447e-02 3.52065715e-01 -2.21486990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.020714057 meters Centerline goodness : 0.998859 Centerline is valid? [True, True] Translation: X:116.56, Y:208.06, Z:-22.15 [[-4.84384308e-02 -9.98826139e-01 -2.49544183e-04 1.16560521e+02] [ 3.50824945e-01 -1.72472995e-02 9.36282216e-01 2.08062457e+02] [-9.35187455e-01 4.52644950e-02 3.51248558e-01 -2.21497060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.0507140569999 meters Centerline goodness : 0.998906 Centerline is valid? [True, True] Translation: X:116.56, Y:208.07, Z:-22.18 [[-4.93595022e-02 -9.98780725e-01 8.38986742e-04 1.16557045e+02] [ 3.49970172e-01 -1.65086743e-02 9.36615365e-01 2.08072369e+02] [-9.35459522e-01 4.65244885e-02 3.50358322e-01 -2.21755668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.0807140569999 meters Centerline goodness : 0.998721 Centerline is valid? [True, True] Translation: X:116.55, Y:208.08, Z:-22.20 [[-5.15495003e-02 -9.98670428e-01 1.62079806e-04 1.16551240e+02] [ 3.48752525e-01 -1.78498751e-02 9.37044854e-01 2.08082194e+02] [-9.35796092e-01 4.83607197e-02 3.49208986e-01 -2.22016559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.110714057 meters Centerline goodness : 0.998639 Centerline is valid? [True, True] Translation: X:116.55, Y:208.08, Z:-22.19 [[-5.24065290e-02 -9.98625719e-01 -4.78475699e-04 1.16548343e+02] [ 3.48615753e-01 -1.87438701e-02 9.37078291e-01 2.08076814e+02] [-9.35799451e-01 4.89422165e-02 3.49118958e-01 -2.21885273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.140714057 meters Centerline goodness : 0.998031 Centerline is valid? [True, True] Translation: X:116.54, Y:208.08, Z:-22.21 [[-5.45778394e-02 -9.98509177e-01 8.26774603e-04 1.16542116e+02] [ 3.49076277e-01 -1.83044998e-02 9.36915524e-01 2.08084970e+02] [-9.35503614e-01 5.14234324e-02 3.49554886e-01 -2.22139438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.1707140569999 meters Centerline goodness : 0.998281 Centerline is valid? [True, True] Translation: X:116.54, Y:208.09, Z:-22.24 [[-5.55630861e-02 -9.98455054e-01 4.97919820e-04 1.16539507e+02] [ 3.49396161e-01 -1.89764037e-02 9.36782909e-01 2.08093867e+02] [-9.35326182e-01 5.22245208e-02 3.49910750e-01 -2.22402428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.2007140569999 meters Centerline goodness : 0.998225 Centerline is valid? [True, True] Translation: X:116.54, Y:208.09, Z:-22.24 [[-5.59376522e-02 -9.98434231e-01 -2.55162042e-04 1.16537416e+02] [ 3.49950133e-01 -1.98454363e-02 9.36558094e-01 2.08093714e+02] [-9.35096724e-01 5.22995669e-02 3.50512299e-01 -2.22419173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.2307140569999 meters Centerline goodness : 0.998355 Centerline is valid? [True, True] Translation: X:116.53, Y:208.10, Z:-22.27 [[-5.73163071e-02 -9.98355523e-01 1.04450918e-03 1.16532643e+02] [ 3.50796310e-01 -1.91599294e-02 9.36255759e-01 2.08103155e+02] [-9.34696095e-01 5.40291326e-02 3.51317610e-01 -2.22680146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.260714057 meters Centerline goodness : 0.998121 Centerline is valid? [True, True] Translation: X:116.53, Y:208.11, Z:-22.29 [[-5.77765837e-02 -9.98329499e-01 2.78618253e-04 1.16530369e+02] [ 3.50507350e-01 -2.00236837e-02 9.36345903e-01 2.08113313e+02] [-9.34776157e-01 5.41965252e-02 3.51078727e-01 -2.22940694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.290714057 meters Centerline goodness : 0.997882 Centerline is valid? [True, True] Translation: X:116.52, Y:208.11, Z:-22.29 [[-5.54639373e-02 -9.98460567e-01 -4.98024831e-04 1.16524293e+02] [ 3.48948049e-01 -1.98512076e-02 9.36931795e-01 2.08113649e+02] [-9.35499338e-01 5.17921416e-02 3.49511893e-01 -2.22943865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.3207140569999 meters Centerline goodness : 0.997769 Centerline is valid? [True, True] Translation: X:116.52, Y:208.12, Z:-22.32 [[-5.34796365e-02 -9.98568620e-01 8.00105885e-04 1.16520282e+02] [ 3.48336762e-01 -1.79046939e-02 9.37198443e-01 2.08123532e+02] [-9.35842630e-01 5.03997384e-02 3.48795696e-01 -2.23193196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.3507140569999 meters Centerline goodness : 0.996667 Centerline is valid? [True, True] Translation: X:116.52, Y:208.14, Z:-22.35 [[-4.65144058e-02 -9.98892490e-01 -7.08543788e-03 1.16519580e+02] [ 3.49019199e-01 -2.28976718e-02 9.36835789e-01 2.08137252e+02] [-9.35960474e-01 4.11034062e-02 3.49697729e-01 -2.23480547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.380714057 meters Centerline goodness : 0.996478 Centerline is valid? [True, True] Translation: X:116.50, Y:208.14, Z:-22.36 [[-4.88227522e-02 -9.98603538e-01 2.01820039e-02 1.16502797e+02] [ 3.45936571e-01 2.04916556e-03 9.38255663e-01 2.08140059e+02] [-9.36986781e-01 5.27899170e-02 3.45353438e-01 -2.23583671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.410714057 meters Centerline goodness : 0.996286 Centerline is valid? [True, True] Translation: X:116.51, Y:208.14, Z:-22.36 [[-4.50471481e-02 -9.98963639e-01 -6.51169446e-03 1.16509618e+02] [ 3.43325954e-01 -2.16025148e-02 9.38967849e-01 2.08139145e+02] [-9.38135408e-01 4.00621900e-02 3.43943276e-01 -2.23603815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.4407140569999 meters Centerline goodness : 0.996722 Centerline is valid? [True, True] Translation: X:116.50, Y:208.14, Z:-22.36 [[-3.65504041e-02 -9.99318223e-01 -5.21118536e-03 1.16502485e+02] [ 3.42622728e-01 -1.74298081e-02 9.39311380e-01 2.08137574e+02] [-9.38761809e-01 3.25467400e-02 3.43026202e-01 -2.23583217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.4707140569999 meters Centerline goodness : 0.995005 Centerline is valid? [True, True] Translation: X:116.51, Y:208.14, Z:-22.34 [[-2.53656668e-02 -9.98921921e-01 -3.88790197e-02 1.16510165e+02] [ 3.64691933e-01 -4.54578472e-02 9.30017945e-01 2.08141604e+02] [-9.30782669e-01 9.41166043e-03 3.65451835e-01 -2.23404016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.500714057 meters Centerline goodness : 0.995100 Centerline is valid? [True, True] Translation: X:116.47, Y:208.12, Z:-22.31 [[-2.30232991e-02 -9.98894796e-01 4.09770033e-02 1.16474376e+02] [ 3.46297405e-01 3.04820245e-02 9.37629433e-01 2.08118917e+02] [-9.37842223e-01 3.57775528e-02 3.45212878e-01 -2.23080596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.530714057 meters Centerline goodness : 0.995301 Centerline is valid? [True, True] Translation: X:116.49, Y:208.12, Z:-22.32 [[-1.82952265e-02 -9.99831430e-01 -1.54810458e-03 1.16488933e+02] [ 3.45493459e-01 -7.77491594e-03 9.38388950e-01 2.08120475e+02] [-9.38242802e-01 1.66331784e-02 3.45577463e-01 -2.23221457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.5607140569999 meters Centerline goodness : 0.994876 Centerline is valid? [True, True] Translation: X:116.50, Y:208.13, Z:-22.33 [[-3.82802386e-03 -9.99798778e-01 -1.96913494e-02 1.16497204e+02] [ 3.55599132e-01 -1.97653980e-02 9.34429551e-01 2.08131880e+02] [-9.34630731e-01 -3.42520815e-03 3.55603240e-01 -2.23305584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.5907140569999 meters Centerline goodness : 0.993799 Centerline is valid? [True, True] Translation: X:116.46, Y:208.14, Z:-22.36 [[-1.74335218e-04 -9.96743983e-01 8.06312781e-02 1.16459362e+02] [ 3.46397571e-01 7.55790268e-02 9.35038253e-01 2.08138675e+02] [-9.38087785e-01 2.80934890e-02 3.45256518e-01 -2.23619665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.620714057 meters Centerline goodness : 0.994022 Centerline is valid? [True, True] Translation: X:116.46, Y:208.15, Z:-22.38 [[-1.88972448e-03 -9.98366803e-01 5.70977650e-02 1.16460646e+02] [ 3.47768883e-01 5.28777053e-02 9.36088005e-01 2.08146914e+02] [-9.37578388e-01 2.16257744e-02 3.47100984e-01 -2.23804423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.650714057 meters Centerline goodness : 0.993906 Centerline is valid? [True, True] Translation: X:116.48, Y:208.15, Z:-22.41 [[ 1.48239974e-03 -9.99953402e-01 9.53921678e-03 1.16480369e+02] [ 3.47991526e-01 9.45884171e-03 9.37449960e-01 2.08153260e+02] [-9.37496507e-01 1.92989102e-03 3.47989332e-01 -2.24077899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.6807140569999 meters Centerline goodness : 0.993992 Centerline is valid? [True, True] Translation: X:116.48, Y:208.16, Z:-22.43 [[ 4.17916826e-03 -9.99952661e-01 8.78699161e-03 1.16481473e+02] [ 3.48160078e-01 9.69227242e-03 9.37384990e-01 2.08162156e+02] [-9.37425781e-01 -8.58209912e-04 3.48184102e-01 -2.24339364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.7107140569999 meters Centerline goodness : 0.993180 Centerline is valid? [True, True] Translation: X:116.50, Y:208.18, Z:-22.46 [[ 1.36883974e-02 -9.99873837e-01 -8.05840668e-03 1.16495668e+02] [ 3.54870405e-01 -2.67662901e-03 9.34911670e-01 2.08178402e+02] [-9.34815288e-01 -1.56571325e-02 3.54788995e-01 -2.24628876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.740714057 meters Centerline goodness : 0.995028 Centerline is valid? [True, True] Translation: X:116.47, Y:208.18, Z:-22.49 [[ 1.40686915e-02 -9.98204773e-01 5.82177245e-02 1.16470037e+02] [ 3.50478912e-01 5.94525537e-02 9.34681725e-01 2.08183251e+02] [-9.36464951e-01 7.25433587e-03 3.50686142e-01 -2.24856558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.770714057 meters Centerline goodness : 0.994712 Centerline is valid? [True, True] Translation: X:116.49, Y:208.19, Z:-22.51 [[ 1.66364952e-02 -9.99826892e-01 8.33148657e-03 1.16493993e+02] [ 3.52105104e-01 1.36572709e-02 9.35860820e-01 2.08189804e+02] [-9.35812600e-01 -1.26358851e-02 3.52271361e-01 -2.25131303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.8007140569999 meters Centerline goodness : 0.995280 Centerline is valid? [True, True] Translation: X:116.50, Y:208.20, Z:-22.54 [[ 1.71573800e-02 -9.99852799e-01 7.16322518e-05 1.16501772e+02] [ 3.52096092e-01 6.10898948e-03 9.35943921e-01 2.08200351e+02] [-9.35806586e-01 -1.60331241e-02 3.52149077e-01 -2.25398514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.8307140569999 meters Centerline goodness : 0.995666 Centerline is valid? [True, True] Translation: X:116.51, Y:208.21, Z:-22.57 [[ 1.95689444e-02 -9.99794902e-01 5.21634717e-03 1.16508783e+02] [ 3.52696944e-01 1.17850690e-02 9.35663389e-01 2.08211995e+02] [-9.35532962e-01 -1.64701551e-02 3.52855228e-01 -2.25654016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.860714057 meters Centerline goodness : 0.996043 Centerline is valid? [True, True] Translation: X:116.51, Y:208.22, Z:-22.59 [[ 2.04443808e-02 -9.99780971e-01 4.47628277e-03 1.16513595e+02] [ 3.52893352e-01 1.14051676e-02 9.35594038e-01 2.08222194e+02] [-9.35440169e-01 -1.75479903e-02 3.53049230e-01 -2.25900588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.890714057 meters Centerline goodness : 0.996552 Centerline is valid? [True, True] Translation: X:116.52, Y:208.23, Z:-22.61 [[ 2.37177104e-02 -9.99710788e-01 3.97637539e-03 1.16524336e+02] [ 3.52699933e-01 1.20892602e-02 9.35658382e-01 2.08233341e+02] [-9.35435849e-01 -2.07892072e-02 3.52884657e-01 -2.26148292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.9207140569999 meters Centerline goodness : 0.997234 Centerline is valid? [True, True] Translation: X:116.53, Y:208.24, Z:-22.64 [[ 2.51712998e-02 -9.99676450e-01 3.66061099e-03 1.16530271e+02] [ 3.52767600e-01 1.23085790e-02 9.35630012e-01 2.08244385e+02] [-9.35372346e-01 -2.22596786e-02 3.52963285e-01 -2.26396716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.9507140569999 meters Centerline goodness : 0.998041 Centerline is valid? [True, True] Translation: X:116.54, Y:208.26, Z:-22.67 [[ 2.74473293e-02 -9.99618915e-01 2.94415160e-03 1.16543008e+02] [ 3.51891452e-01 1.24188167e-02 9.35958428e-01 2.08255237e+02] [-9.35638312e-01 -2.46535374e-02 3.52098215e-01 -2.26651588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.9807140569999 meters Centerline goodness : 0.998123 Centerline is valid? [True, True] Translation: X:116.55, Y:208.27, Z:-22.69 [[ 2.90132684e-02 -9.99562199e-01 5.79998125e-03 1.16549073e+02] [ 3.53181009e-01 1.56792392e-02 9.35423614e-01 2.08265169e+02] [-9.35105024e-01 -2.50912532e-02 3.53481292e-01 -2.26897993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.010714057 meters Centerline goodness : 0.997755 Centerline is valid? [True, True] Translation: X:116.56, Y:208.27, Z:-22.71 [[ 2.99443690e-02 -9.99528108e-01 -6.84800566e-03 1.16561613e+02] [ 3.52797501e-01 4.15864747e-03 9.35690456e-01 2.08274535e+02] [-9.35220433e-01 -3.04346196e-02 3.52755547e-01 -2.27143115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.040714057 meters Centerline goodness : 0.999121 Centerline is valid? [True, True] Translation: X:116.58, Y:208.29, Z:-22.74 [[ 2.75711135e-02 -9.99467862e-01 -1.74306164e-02 1.16579758e+02] [ 3.53522919e-01 -6.56111924e-03 9.35402853e-01 2.08285451e+02] [-9.35019454e-01 -3.19522206e-02 3.53153899e-01 -2.27412879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.0707140569999 meters Centerline goodness : 0.999665 Centerline is valid? [True, True] Translation: X:116.59, Y:208.29, Z:-22.75 [[ 2.60333124e-02 -9.99660972e-01 -4.55901326e-04 1.16587140e+02] [ 3.53132810e-01 8.76967960e-03 9.35532101e-01 2.08290072e+02] [-9.35210931e-01 -2.45159931e-02 3.53241392e-01 -2.27512757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.1007140569999 meters Centerline goodness : 0.999812 Centerline is valid? [True, True] Translation: X:116.60, Y:208.31, Z:-22.77 [[ 2.41179596e-02 -9.99315393e-01 -2.80547452e-02 1.16603557e+02] [ 3.60195961e-01 -1.74917994e-02 9.32712660e-01 2.08310527e+02] [-9.32564847e-01 -3.26003322e-02 3.59527502e-01 -2.27716565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.130714057 meters Centerline goodness : 0.999812 Centerline is valid? [True, True] Translation: X:116.59, Y:208.31, Z:-22.80 [[ 2.32568724e-02 -9.99592116e-01 1.65746666e-02 1.16594774e+02] [ 3.52310680e-01 2.37102871e-02 9.35582710e-01 2.08309517e+02] [-9.35594091e-01 -1.59192957e-02 3.52718406e-01 -2.28046008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.160714057 meters Centerline goodness : 0.999728 Centerline is valid? [True, True] Translation: X:116.62, Y:208.32, Z:-22.83 [[ 2.08239571e-02 -9.99783158e-01 1.92625217e-05 1.16615479e+02] [ 3.52962568e-01 7.36969760e-03 9.35608419e-01 2.08319994e+02] [-9.35405681e-01 -1.94762706e-02 3.53039497e-01 -2.28309262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.1907140569999 meters Centerline goodness : 0.999498 Centerline is valid? [True, True] Translation: X:116.62, Y:208.31, Z:-22.82 [[ 2.02313904e-02 -9.99795065e-01 -7.20162727e-04 1.16623096e+02] [ 3.52444613e-01 6.45783221e-03 9.35810393e-01 2.08314649e+02] [-9.35613962e-01 -1.91865629e-02 3.52503035e-01 -2.28190768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.2207140569999 meters Centerline goodness : 0.999099 Centerline is valid? [True, True] Translation: X:116.64, Y:208.34, Z:-22.84 [[ 1.56755152e-02 -9.99507187e-01 -2.71967104e-02 1.16644584e+02] [ 3.59589540e-01 -1.97448355e-02 9.32901658e-01 2.08336369e+02] [-9.32978907e-01 -2.44033667e-02 3.59102819e-01 -2.28377599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.250714057 meters Centerline goodness : 0.998931 Centerline is valid? [True, True] Translation: X:116.64, Y:208.33, Z:-22.87 [[ 1.55231675e-02 -9.99860204e-01 6.21325434e-03 1.16641275e+02] [ 3.51955339e-01 1.12803267e-02 9.35948820e-01 2.08334383e+02] [-9.35888065e-01 -1.23421023e-02 3.52081244e-01 -2.28726039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.280714057 meters Centerline goodness : 0.998744 Centerline is valid? [True, True] Translation: X:116.66, Y:208.34, Z:-22.87 [[ 1.21438637e-02 -9.99926200e-01 -3.48416630e-04 1.16656540e+02] [ 3.51498302e-01 3.94265768e-03 9.36180217e-01 2.08335503e+02] [-9.36109754e-01 -1.14913128e-02 3.51520240e-01 -2.28733923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.3107140569999 meters Centerline goodness : 0.998389 Centerline is valid? [True, True] Translation: X:116.66, Y:208.34, Z:-22.90 [[ 9.27621166e-03 -9.99956680e-01 7.68469644e-04 1.16661891e+02] [ 3.50820069e-01 3.97407482e-03 9.36434454e-01 2.08344924e+02] [-9.36396941e-01 -8.41696963e-03 3.50841735e-01 -2.28996533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.3407140569999 meters Centerline goodness : 0.998295 Centerline is valid? [True, True] Translation: X:116.67, Y:208.35, Z:-22.93 [[ 6.46345538e-03 -9.99979111e-01 3.58189287e-05 1.16668388e+02] [ 3.50836864e-01 2.30120854e-03 9.36433767e-01 2.08354962e+02] [-9.36414288e-01 -6.04003126e-03 3.50844409e-01 -2.29257206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.370714057 meters Centerline goodness : 0.997212 Centerline is valid? [True, True] Translation: X:116.68, Y:208.35, Z:-22.92 [[-5.76843590e-05 -9.99999757e-01 -6.95072426e-04 1.16680167e+02] [ 3.51226715e-01 -6.71049953e-04 9.36290203e-01 2.08352357e+02] [-9.36290442e-01 -1.90118705e-04 3.51226668e-01 -2.29233157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.400714057 meters Centerline goodness : 0.995869 Centerline is valid? [True, True] Translation: X:116.69, Y:208.36, Z:-22.95 [[-8.44693766e-03 -9.99964239e-01 4.13319617e-04 1.16690617e+02] [ 3.52175770e-01 -2.58806097e-03 9.35930301e-01 2.08361666e+02] [-9.35895762e-01 8.05130607e-03 3.52185037e-01 -2.29496853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.4307140569999 meters Centerline goodness : 0.996372 Centerline is valid? [True, True] Translation: X:116.69, Y:208.36, Z:-22.95 [[-1.25723741e-02 -9.99915655e-01 3.25854751e-03 1.16694486e+02] [ 3.52310696e-01 -1.37988204e-03 9.35882081e-01 2.08360764e+02] [-9.35798648e-01 1.29142808e-02 3.52298329e-01 -2.29488556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.4607140569999 meters Centerline goodness : 0.995014 Centerline is valid? [True, True] Translation: X:116.71, Y:208.36, Z:-22.95 [[-1.58252951e-02 -9.99785716e-01 -1.33447624e-02 1.16705478e+02] [ 3.51677735e-01 -1.80592630e-02 9.35946918e-01 2.08362290e+02] [-9.35987356e-01 1.01185804e-02 3.51888170e-01 -2.29466062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.490714057 meters Centerline goodness : 0.994718 Centerline is valid? [True, True] Translation: X:116.71, Y:208.37, Z:-22.97 [[-2.20695828e-02 -9.99755161e-01 1.59746282e-03 1.16707950e+02] [ 3.52441076e-01 -6.28483996e-03 9.35812903e-01 2.08370192e+02] [-9.35573739e-01 2.12160119e-02 3.52493488e-01 -2.29726652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.520714057 meters Centerline goodness : 0.994924 Centerline is valid? [True, True] Translation: X:116.71, Y:208.38, Z:-23.00 [[-2.69599274e-02 -9.99635702e-01 1.27491448e-03 1.16713607e+02] [ 3.53301069e-01 -8.33536025e-03 9.35472542e-01 2.08380260e+02] [-9.35121124e-01 2.56707005e-02 3.53397083e-01 -2.29992395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.5507140569999 meters Centerline goodness : 0.994924 Centerline is valid? [True, True] Translation: X:116.71, Y:208.39, Z:-23.03 [[-2.72206708e-02 -9.99629305e-01 5.36210640e-04 1.16713846e+02] [ 3.53279934e-01 -9.11828618e-03 9.35473220e-01 2.08390588e+02] [-9.35121556e-01 2.56536410e-02 3.53397181e-01 -2.30258323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.5807140569999 meters Centerline goodness : 0.994778 Centerline is valid? [True, True] Translation: X:116.72, Y:208.39, Z:-23.03 [[-2.82645706e-02 -9.99600466e-01 -1.51709173e-04 1.16716366e+02] [ 3.53472210e-01 -1.01366975e-02 9.35390103e-01 2.08390664e+02] [-9.35017920e-01 2.63847747e-02 3.53617495e-01 -2.30273828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.610714057 meters Centerline goodness : 0.994402 Centerline is valid? [True, True] Translation: X:116.72, Y:208.40, Z:-23.05 [[-2.94368768e-02 -9.99566309e-01 8.15584072e-04 1.16717733e+02] [ 3.54034867e-01 -9.66315178e-03 9.35182301e-01 2.08400283e+02] [-9.34768840e-01 2.78175913e-02 3.54165778e-01 -2.30527717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.640714057 meters Centerline goodness : 0.993725 Centerline is valid? [True, True] Translation: X:116.72, Y:208.41, Z:-23.08 [[-3.02720815e-02 -9.99541571e-01 4.98374961e-04 1.16720138e+02] [ 3.55005542e-01 -1.02855872e-02 9.34807612e-01 2.08410225e+02] [-9.34373944e-01 2.84754981e-02 3.55154164e-01 -2.30791712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.6707140569999 meters Centerline goodness : 0.995046 Centerline is valid? [True, True] Translation: X:116.72, Y:208.41, Z:-23.09 [[-2.92168741e-02 -9.99571335e-01 1.87643480e-03 1.16720222e+02] [ 3.55677664e-01 -8.64183670e-03 9.34568734e-01 2.08414439e+02] [-9.34151901e-01 2.79725830e-02 3.55777685e-01 -2.30916874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.7007140569999 meters Centerline goodness : 0.993429 Centerline is valid? [True, True] Translation: X:116.70, Y:208.41, Z:-23.11 [[-3.55161499e-02 -9.99054201e-01 2.50859915e-02 1.16699868e+02] [ 3.51742706e-01 1.09991496e-02 9.36032098e-01 2.08409892e+02] [-9.35422724e-01 4.20680708e-02 3.51019380e-01 -2.31108234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.7307140569999 meters Centerline goodness : 0.994648 Centerline is valid? [True, True] Translation: X:116.77, Y:208.46, Z:-23.14 [[-2.20675737e-02 -9.92178752e-01 -1.22859051e-01 1.16769904e+02] [ 3.54605195e-01 -1.22667004e-01 9.26934713e-01 2.08458119e+02] [-9.34755678e-01 -2.31112575e-02 3.54538703e-01 -2.31352724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.760714057 meters Centerline goodness : 0.993394 Centerline is valid? [True, True] Translation: X:116.72, Y:208.46, Z:-23.16 [[-2.04369568e-02 -9.99539149e-01 -2.24459286e-02 1.16723948e+02] [ 3.62074571e-01 -2.83260467e-02 9.31718648e-01 2.08456930e+02] [-9.31925070e-01 1.09143938e-02 3.62486607e-01 -2.31600493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.790714057 meters Centerline goodness : 0.994207 Centerline is valid? [True, True] Translation: X:116.71, Y:208.45, Z:-23.19 [[-2.17192627e-02 -9.99761314e-01 2.36392415e-03 1.16708459e+02] [ 3.51372374e-01 -5.41968917e-03 9.36220103e-01 2.08447751e+02] [-9.35983829e-01 2.11646280e-02 3.51406218e-01 -2.31886806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.8207140569999 meters Centerline goodness : 0.994581 Centerline is valid? [True, True] Translation: X:116.76, Y:208.49, Z:-23.22 [[-8.86016274e-03 -9.94003660e-01 -1.08987254e-01 1.16761641e+02] [ 3.55167384e-01 -1.05013220e-01 9.28885544e-01 2.08487663e+02] [-9.34760733e-01 -3.04786407e-02 3.53968113e-01 -2.32167069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.8507140569999 meters Centerline goodness : 0.994239 Centerline is valid? [True, True] Translation: X:116.72, Y:208.48, Z:-23.25 [[-5.44820765e-03 -9.99981456e-01 2.72121576e-03 1.16716832e+02] [ 3.56026608e-01 6.03214095e-04 9.34475624e-01 2.08478813e+02] [-9.34459936e-01 6.06004245e-03 3.56016719e-01 -2.32503292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.880714057 meters Centerline goodness : 0.994747 Centerline is valid? [True, True] Translation: X:116.69, Y:208.47, Z:-23.27 [[-1.57561745e-02 -9.98776352e-01 4.68779408e-02 1.16686122e+02] [ 3.46096155e-01 3.85377253e-02 9.37407220e-01 2.08466936e+02] [-9.38066733e-01 3.09942268e-02 3.45065448e-01 -2.32697051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.910714057 meters Centerline goodness : 0.995131 Centerline is valid? [True, True] Translation: X:116.78, Y:208.53, Z:-23.29 [[-2.71910426e-03 -9.85955352e-01 -1.66986979e-01 1.16781625e+02] [ 3.54360123e-01 -1.57101543e-01 9.21817774e-01 2.08532698e+02] [-9.35105080e-01 -5.66670076e-02 3.49810435e-01 -2.32922242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.9407140569999 meters Centerline goodness : 0.994039 Centerline is valid? [True, True] Translation: X:116.68, Y:208.49, Z:-23.32 [[-1.63263496e-02 -9.98598728e-01 5.03391558e-02 1.16682924e+02] [ 3.44591276e-01 4.16419426e-02 9.37828770e-01 2.08485292e+02] [-9.38610837e-01 3.26577543e-02 3.43428549e-01 -2.33245748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.9707140569999 meters Centerline goodness : 0.994649 Centerline is valid? [True, True] Translation: X:116.77, Y:208.55, Z:-23.34 [[-7.31065710e-03 -9.87694243e-01 -1.56226238e-01 1.16770291e+02] [ 3.55284855e-01 -1.48602618e-01 9.22870486e-01 2.08548942e+02] [-9.34729494e-01 -4.87580268e-02 3.51999188e-01 -2.33407614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.000714057 meters Centerline goodness : 0.994378 Centerline is valid? [True, True] Translation: X:116.74, Y:208.54, Z:-23.38 [[-2.88914703e-03 -9.98543668e-01 -5.38720283e-02 1.16739740e+02] [ 3.56967378e-01 -5.13527867e-02 9.32704231e-01 2.08542899e+02] [-9.34112383e-01 -1.65358370e-02 3.56595881e-01 -2.33820358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.030714057 meters Centerline goodness : 0.994691 Centerline is valid? [True, True] Translation: X:116.72, Y:208.54, Z:-23.41 [[-5.31079151e-03 -9.99929421e-01 1.06277196e-02 1.16715051e+02] [ 3.58110670e-01 8.02122896e-03 9.33644691e-01 2.08542440e+02] [-9.33664042e-01 8.76429207e-03 3.58042796e-01 -2.34126854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.0607140569999 meters Centerline goodness : 0.994648 Centerline is valid? [True, True] Translation: X:116.72, Y:208.55, Z:-23.44 [[-6.33445558e-03 -9.99930951e-01 9.89790505e-03 1.16715657e+02] [ 3.58408573e-01 6.97023661e-03 9.33538810e-01 2.08552892e+02] [-9.33543341e-01 9.46095415e-03 3.58339673e-01 -2.34391925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.0907140569999 meters Centerline goodness : 0.993586 Centerline is valid? [True, True] Translation: X:116.68, Y:208.53, Z:-23.47 [[-2.01801431e-02 -9.97506563e-01 6.76270551e-02 1.16679053e+02] [ 3.48318274e-01 5.63886864e-02 9.35678735e-01 2.08533975e+02] [-9.37159080e-01 4.24378699e-02 3.46311833e-01 -2.34653058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.120714057 meters Centerline goodness : 0.993542 Centerline is valid? [True, True] Translation: X:116.76, Y:208.58, Z:-23.48 [[-1.52984189e-02 -9.93304625e-01 -1.14507123e-01 1.16756370e+02] [ 3.49872600e-01 -1.12598671e-01 9.30005755e-01 2.08579757e+02] [-9.36672367e-01 -2.58352871e-02 3.49252653e-01 -2.34840996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.150714057 meters Centerline goodness : 0.994424 Centerline is valid? [True, True] Translation: X:116.76, Y:208.60, Z:-23.52 [[-8.33395287e-03 -9.95565231e-01 -9.37038708e-02 1.16757850e+02] [ 3.61858032e-01 -9.03589796e-02 9.27843747e-01 2.08604047e+02] [-9.32195961e-01 -2.61748922e-02 3.61006323e-01 -2.35160324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.1807140569999 meters Centerline goodness : 0.993429 Centerline is valid? [True, True] Translation: X:116.68, Y:208.57, Z:-23.55 [[-1.86765508e-02 -9.97680348e-01 6.54607556e-02 1.16683982e+02] [ 3.52510453e-01 5.46971610e-02 9.34208007e-01 2.08569807e+02] [-9.35621487e-01 4.05233840e-02 3.50671197e-01 -2.35484397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.2107140569999 meters Centerline goodness : 0.994289 Centerline is valid? [True, True] Translation: X:116.77, Y:208.63, Z:-23.57 [[-1.17970610e-02 -9.91441932e-01 -1.30014328e-01 1.16772083e+02] [ 3.60528163e-01 -1.25495186e-01 9.24267495e-01 2.08634376e+02] [-9.32673723e-01 -3.59701868e-02 3.58923213e-01 -2.35670010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.240714057 meters Centerline goodness : 0.994006 Centerline is valid? [True, True] Translation: X:116.72, Y:208.62, Z:-23.60 [[-1.36945898e-02 -9.99833582e-01 1.20526507e-02 1.16717066e+02] [ 3.62081766e-01 6.27706285e-03 9.32125203e-01 2.08619513e+02] [-9.32045736e-01 1.71291174e-02 3.61935547e-01 -2.36018461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.270714057 meters Centerline goodness : 0.993668 Centerline is valid? [True, True] Translation: X:116.72, Y:208.63, Z:-23.63 [[-1.53454920e-02 -9.99813262e-01 1.17455255e-02 1.16717186e+02] [ 3.61957818e-01 5.39551731e-03 9.32178860e-01 2.08629980e+02] [-9.32068160e-01 1.85561280e-02 3.61807429e-01 -2.36278817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.3007140569999 meters Centerline goodness : 0.993608 Centerline is valid? [True, True] Translation: X:116.72, Y:208.64, Z:-23.65 [[-1.85865060e-02 -9.99766408e-01 1.10304882e-02 1.16716774e+02] [ 3.62764340e-01 3.53733203e-03 9.31874198e-01 2.08640935e+02] [-9.31695538e-01 2.13217531e-02 3.62613854e-01 -2.36541045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.3307140569999 meters Centerline goodness : 0.993923 Centerline is valid? [True, True] Translation: X:116.66, Y:208.61, Z:-23.68 [[-3.89126554e-02 -9.94536134e-01 9.68694150e-02 1.16662249e+02] [ 3.46640314e-01 7.74874456e-02 9.34792056e-01 2.08612384e+02] [-9.37190641e-01 6.99540856e-02 3.41731075e-01 -2.36791822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.360714057 meters Centerline goodness : 0.993256 Centerline is valid? [True, True] Translation: X:116.81, Y:208.72, Z:-23.69 [[-2.16013000e-02 -9.69075520e-01 -2.45817048e-01 1.16810962e+02] [ 3.58361856e-01 -2.37041421e-01 9.02988452e-01 2.08717229e+02] [-9.33332826e-01 -6.85857292e-02 3.52400105e-01 -2.36925977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.390714057 meters Centerline goodness : 0.993530 Centerline is valid? [True, True] Translation: X:116.71, Y:208.68, Z:-23.74 [[-2.53545025e-02 -9.99594492e-01 1.29615150e-02 1.16713129e+02] [ 3.64472344e-01 2.83002391e-03 9.31209913e-01 2.08677641e+02] [-9.30868981e-01 2.83344778e-02 3.64252793e-01 -2.37378410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.4207140569999 meters Centerline goodness : 0.994415 Centerline is valid? [True, True] Translation: X:116.71, Y:208.69, Z:-23.76 [[-2.94751867e-02 -9.99485383e-01 1.26563561e-02 1.16710999e+02] [ 3.63564158e-01 1.07469486e-03 9.31568542e-01 2.08688888e+02] [-9.31102742e-01 3.20595542e-02 3.63345385e-01 -2.37631858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.4507140569999 meters Centerline goodness : 0.994515 Centerline is valid? [True, True] Translation: X:116.71, Y:208.70, Z:-23.79 [[-3.15062731e-02 -9.99432174e-01 1.19450552e-02 1.16709762e+02] [ 3.63020789e-01 -3.07431295e-04 9.31780990e-01 2.08699545e+02] [-9.31248228e-01 3.36932497e-02 3.62824342e-01 -2.37889300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.4807140569999 meters Centerline goodness : 0.993716 Centerline is valid? [True, True] Translation: X:116.71, Y:208.71, Z:-23.81 [[-3.30241697e-02 -9.99391515e-01 1.12251382e-02 1.16707112e+02] [ 3.61816553e-01 -1.48498075e-03 9.32248130e-01 2.08710122e+02] [-9.31664202e-01 3.48481613e-02 3.61645434e-01 -2.38141127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.510714057 meters Centerline goodness : 0.993404 Centerline is valid? [True, True] Translation: X:116.71, Y:208.73, Z:-23.83 [[-3.61752795e-02 -9.99320489e-01 -7.06469873e-03 1.16707201e+02] [ 3.67375855e-01 -1.98726103e-02 9.29860237e-01 2.08729920e+02] [-9.29368781e-01 3.10425543e-02 3.67845116e-01 -2.38308087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.540714057 meters Centerline goodness : 0.994705 Centerline is valid? [True, True] Translation: X:116.71, Y:208.73, Z:-23.87 [[-3.12372384e-02 -9.99478046e-01 -8.23830620e-03 1.16710988e+02] [ 3.62072707e-01 -1.89978083e-02 9.31956243e-01 2.08733645e+02] [-9.31626315e-01 2.61288735e-02 3.62477160e-01 -2.38653881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.5707140569999 meters Centerline goodness : 0.994828 Centerline is valid? [True, True] Translation: X:116.70, Y:208.74, Z:-23.89 [[-2.57198051e-02 -9.99575326e-01 1.36988658e-02 1.16697692e+02] [ 3.64955949e-01 3.36873483e-03 9.31018693e-01 2.08739758e+02] [-9.30669462e-01 2.89451019e-02 3.64714318e-01 -2.38931538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.6007140569999 meters Centerline goodness : 0.995524 Centerline is valid? [True, True] Translation: X:116.70, Y:208.75, Z:-23.92 [[-2.17138846e-02 -9.99737662e-01 7.28790323e-03 1.16697700e+02] [ 3.64561141e-01 -1.12999425e-03 9.31178768e-01 2.08750563e+02] [-9.30926249e-01 2.28763947e-02 3.64490040e-01 -2.39194044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.630714057 meters Centerline goodness : 0.995420 Centerline is valid? [True, True] Translation: X:116.69, Y:208.76, Z:-23.95 [[-1.24552867e-02 -9.99881149e-01 9.08589230e-03 1.16691653e+02] [ 3.64743466e-01 3.91735374e-03 9.31099811e-01 2.08761292e+02] [-9.31024742e-01 1.49111350e-02 3.64651324e-01 -2.39457586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.660714057 meters Centerline goodness : 0.996668 Centerline is valid? [True, True] Translation: X:116.69, Y:208.77, Z:-23.97 [[-7.56070592e-03 -9.99936312e-01 8.37900389e-03 1.16689829e+02] [ 3.64503629e-01 5.04684699e-03 9.31188291e-01 2.08772304e+02] [-9.31171273e-01 1.00946182e-02 3.64442257e-01 -2.39713357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.6907140569999 meters Centerline goodness : 0.996787 Centerline is valid? [True, True] Translation: X:116.69, Y:208.78, Z:-24.00 [[ 1.58208397e-03 -9.99969370e-01 7.66521153e-03 1.16686725e+02] [ 3.63738225e-01 7.71560962e-03 9.31469255e-01 2.08783337e+02] [-9.31499866e-01 1.31446785e-03 3.63739290e-01 -2.39968409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.7207140569999 meters Centerline goodness : 0.996839 Centerline is valid? [True, True] Translation: X:116.69, Y:208.79, Z:-24.02 [[ 5.53120186e-03 -9.99960532e-01 6.95266837e-03 1.16685671e+02] [ 3.63027237e-01 8.48639027e-03 9.31739881e-01 2.08793459e+02] [-9.31762111e-01 -2.62963338e-03 3.63059849e-01 -2.40217856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.750714057 meters Centerline goodness : 0.997508 Centerline is valid? [True, True] Translation: X:116.68, Y:208.80, Z:-24.05 [[ 1.16564771e-02 -9.99909997e-01 6.64265738e-03 1.16683602e+02] [ 3.62372137e-01 1.04157125e-02 9.31975293e-01 2.08803732e+02] [-9.31960600e-01 -8.45643473e-03 3.62460933e-01 -2.40481994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.780714057 meters Centerline goodness : 0.997518 Centerline is valid? [True, True] Translation: X:116.68, Y:208.81, Z:-24.07 [[ 1.44472944e-02 -9.99878048e-01 5.92998772e-03 1.16683525e+02] [ 3.61312752e-01 1.07503208e-02 9.32382714e-01 2.08813380e+02] [-9.32332758e-01 -1.13278274e-02 3.61424002e-01 -2.40749184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.8107140569999 meters Centerline goodness : 0.997446 Centerline is valid? [True, True] Translation: X:116.69, Y:208.82, Z:-24.10 [[ 1.97054059e-02 -9.99792325e-01 5.19647908e-03 1.16685726e+02] [ 3.60896065e-01 1.19599565e-02 9.32529351e-01 2.08823308e+02] [-9.32397837e-01 -1.65004805e-02 3.61056792e-01 -2.41002247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.8407140569999 meters Centerline goodness : 0.997324 Centerline is valid? [True, True] Translation: X:116.69, Y:208.83, Z:-24.13 [[ 2.15299577e-02 -9.99757176e-01 4.69565862e-03 1.16687537e+02] [ 3.61218723e-01 1.21582169e-02 9.32401851e-01 2.08834093e+02] [-9.32232533e-01 -1.83784126e-02 3.61392776e-01 -2.41262752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.870714057 meters Centerline goodness : 0.996926 Centerline is valid? [True, True] Translation: X:116.69, Y:208.84, Z:-24.15 [[ 2.38328716e-02 -9.99708069e-01 3.97136261e-03 1.16691918e+02] [ 3.61137347e-01 1.23135577e-02 9.32431334e-01 2.08843508e+02] [-9.32208030e-01 -2.07883089e-02 3.61325387e-01 -2.41522575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.900714057 meters Centerline goodness : 0.996252 Centerline is valid? [True, True] Translation: X:116.70, Y:208.85, Z:-24.18 [[ 2.20869713e-02 -9.99750771e-01 3.24987206e-03 1.16697601e+02] [ 3.61178115e-01 1.10103589e-02 9.32431843e-01 2.08853340e+02] [-9.32235236e-01 -1.94208126e-02 3.61331285e-01 -2.41787121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.9307140569999 meters Centerline goodness : 0.995373 Centerline is valid? [True, True] Translation: X:116.70, Y:208.86, Z:-24.20 [[ 1.92911824e-02 -9.99813900e-01 -1.23162079e-04 1.16702572e+02] [ 3.60513575e-01 6.84112942e-03 9.32728879e-01 2.08863495e+02] [-9.32554456e-01 -1.80378445e-02 3.60578457e-01 -2.42047821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.9607140569999 meters Centerline goodness : 0.995890 Centerline is valid? [True, True] Translation: X:116.71, Y:208.87, Z:-24.23 [[ 1.60375832e-02 -9.99862611e-01 4.18998248e-03 1.16705023e+02] [ 3.61903255e-01 9.71114310e-03 9.32165075e-01 2.08873753e+02] [-9.32077695e-01 -1.34333066e-02 3.62009277e-01 -2.42302470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.990714057 meters Centerline goodness : 0.994952 Centerline is valid? [True, True] Translation: X:116.71, Y:208.88, Z:-24.26 [[ 6.82659923e-03 -9.99975453e-01 1.57816245e-03 1.16714441e+02] [ 3.61772079e-01 3.94102468e-03 9.32258243e-01 2.08883850e+02] [-9.32241579e-01 -5.79321829e-03 3.61790102e-01 -2.42558631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.020714057 meters Centerline goodness : 0.995200 Centerline is valid? [True, True] Translation: X:116.72, Y:208.89, Z:-24.28 [[ 2.04196162e-03 -9.99997535e-01 8.72243643e-04 1.16718719e+02] [ 3.61790961e-01 1.55192316e-03 9.32257954e-01 2.08894597e+02] [-9.32257009e-01 -1.58806510e-03 3.61793238e-01 -2.42814873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.0507140569999 meters Centerline goodness : 0.993759 Centerline is valid? [True, True] Translation: X:116.74, Y:208.93, Z:-24.29 [[-8.79625217e-03 -9.98744651e-01 -4.93127510e-02 1.16741290e+02] [ 3.73141559e-01 -4.90309733e-02 9.26477922e-01 2.08929772e+02] [-9.27732722e-01 -1.02511034e-02 3.73104425e-01 -2.42933843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.0807140569999 meters Centerline goodness : 0.993613 Centerline is valid? [True, True] Translation: X:116.72, Y:208.91, Z:-24.34 [[-9.70500877e-03 -9.99734805e-01 2.08838040e-02 1.16721479e+02] [ 3.59800454e-01 1.59947124e-02 9.32892171e-01 2.08911020e+02] [-9.32978803e-01 1.65677289e-02 3.59549808e-01 -2.43366939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.110714057 meters Centerline goodness : 0.994030 Centerline is valid? [True, True] Translation: X:116.74, Y:208.91, Z:-24.33 [[-1.44115940e-02 -9.99896131e-01 -1.83340013e-04 1.16735942e+02] [ 3.60059254e-01 -5.36062504e-03 9.32914035e-01 2.08913258e+02] [-9.32818117e-01 1.33787650e-02 3.60099110e-01 -2.43319633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.140714057 meters Centerline goodness : 0.993771 Centerline is valid? [True, True] Translation: X:116.74, Y:208.92, Z:-24.36 [[-1.67355069e-02 -9.99859654e-01 7.70945146e-04 1.16738316e+02] [ 3.60422584e-01 -5.31348275e-03 9.32773996e-01 2.08923233e+02] [-9.32638989e-01 1.58883116e-02 3.60460924e-01 -2.43577456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.1707140569999 meters Centerline goodness : 0.992488 Centerline is valid? [True, True] Translation: X:116.73, Y:208.93, Z:-24.37 [[-2.70305640e-02 -9.99629559e-01 -3.17713443e-03 1.16731825e+02] [ 3.62647720e-01 -1.27678794e-02 9.31838834e-01 2.08933079e+02] [-9.31534208e-01 2.40359487e-02 3.62858503e-01 -2.43719052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.2007140569999 meters Centerline goodness : 0.993202 Centerline is valid? [True, True] Translation: X:116.77, Y:208.96, Z:-24.41 [[-2.16820557e-02 -9.97663500e-01 -6.47875691e-02 1.16769554e+02] [ 3.62840215e-01 -6.82368597e-02 9.29349616e-01 2.08956180e+02] [-9.31599091e-01 -3.35732535e-03 3.63471954e-01 -2.44074771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.2307140569999 meters Centerline goodness : 0.993229 Centerline is valid? [True, True] Translation: X:116.74, Y:208.95, Z:-24.44 [[-2.22947560e-02 -9.99658351e-01 1.36427731e-02 1.16740286e+02] [ 3.64281374e-01 4.58521184e-03 9.31277647e-01 2.08951957e+02] [-9.31022032e-01 2.57324160e-02 3.64054692e-01 -2.44391683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.260714057 meters Centerline goodness : 0.993367 Centerline is valid? [True, True] Translation: X:116.75, Y:208.95, Z:-24.43 [[-2.21316030e-02 -9.99753436e-01 1.80514347e-03 1.16745048e+02] [ 3.63824744e-01 -6.37220296e-03 9.31445624e-01 2.08952653e+02] [-9.31204461e-01 2.12711406e-02 3.63876066e-01 -2.44349238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.290714057 meters Centerline goodness : 0.993974 Centerline is valid? [True, True] Translation: X:116.75, Y:208.96, Z:-24.44 [[-2.10918285e-02 -9.99775430e-01 -2.05514072e-03 1.16746839e+02] [ 3.63644496e-01 -9.58642006e-03 9.31488476e-01 2.08956224e+02] [-9.31298994e-01 1.88994546e-02 3.63765027e-01 -2.44410540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.3207140569999 meters Centerline goodness : 0.993379 Centerline is valid? [True, True] Translation: X:116.75, Y:208.96, Z:-24.44 [[-1.77371120e-02 -9.99842274e-01 9.06746858e-04 1.16745750e+02] [ 3.62537645e-01 -5.58620703e-03 9.31952386e-01 2.08957410e+02] [-9.31800328e-01 1.68588738e-02 3.62579547e-01 -2.44431982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.3507140569999 meters Centerline goodness : 0.993418 Centerline is valid? [True, True] Translation: X:116.74, Y:208.97, Z:-24.47 [[-1.55186965e-02 -9.99861595e-01 5.99670541e-03 1.16743021e+02] [ 3.61449733e-01 -1.79534590e-05 9.32391597e-01 2.08966590e+02] [-9.32262442e-01 1.66370098e-02 3.61399985e-01 -2.44689543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.380714057 meters Centerline goodness : 0.993652 Centerline is valid? [True, True] Translation: X:116.74, Y:208.98, Z:-24.50 [[-1.09711259e-02 -9.99936046e-01 2.74574310e-03 1.16742824e+02] [ 3.60905832e-01 -1.39894945e-03 9.32601213e-01 2.08977504e+02] [-9.32537728e-01 1.12226400e-02 3.60898099e-01 -2.44961281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.410714057 meters Centerline goodness : 0.993198 Centerline is valid? [True, True] Translation: X:116.74, Y:208.99, Z:-24.52 [[-8.65142175e-03 -9.99959383e-01 2.52703305e-03 1.16742226e+02] [ 3.60683526e-01 -7.63523040e-04 9.32687950e-01 2.08988530e+02] [-9.32648137e-01 8.98053601e-03 3.60675482e-01 -2.45233411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.4407140569999 meters Centerline goodness : 0.993198 Centerline is valid? [True, True] Translation: X:116.74, Y:209.00, Z:-24.55 [[-9.01760584e-03 -9.99907088e-01 1.02224143e-02 1.16739116e+02] [ 3.60762743e-01 6.28116378e-03 9.32636473e-01 2.08997684e+02] [-9.32614029e-01 1.20980143e-02 3.60672583e-01 -2.45504197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.4707140569999 meters Centerline goodness : 0.993863 Centerline is valid? [True, True] Translation: X:116.74, Y:209.00, Z:-24.55 [[-3.13213326e-03 -9.99989134e-01 3.45289235e-03 1.16739991e+02] [ 3.61295125e-01 2.08804485e-03 9.32449180e-01 2.08997184e+02] [-9.32446257e-01 4.16806826e-03 3.61284659e-01 -2.45468766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.500714057 meters Centerline goodness : 0.992324 Centerline is valid? [True, True] Translation: X:116.73, Y:208.99, Z:-24.51 [[-1.55590554e-02 -9.99878489e-01 -9.60984540e-04 1.16732776e+02] [ 3.60422651e-01 -6.50500055e-03 9.32766422e-01 2.08985938e+02] [-9.32659331e-01 1.41666039e-02 3.60480067e-01 -2.45142202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.530714057 meters Centerline goodness : 0.991824 Centerline is valid? [True, True] Translation: X:116.73, Y:208.96, Z:-24.49 [[-2.46519792e-02 -9.99586502e-01 -1.48021866e-02 1.16733232e+02] [ 3.35293484e-01 -2.22162997e-02 9.41851748e-01 2.08962239e+02] [-9.41791144e-01 1.82554330e-02 3.35702517e-01 -2.44884815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.5607140569999 meters Centerline goodness : 0.991970 Centerline is valid? [True, True] Translation: X:116.79, Y:209.01, Z:-24.51 [[-9.52151765e-03 -9.87187537e-01 -1.59279967e-01 1.16792071e+02] [ 3.49997606e-01 -1.52501532e-01 9.24253730e-01 2.09011873e+02] [-9.36702203e-01 -4.69473089e-02 3.46965321e-01 -2.45063191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.5907140569999 meters Centerline goodness : 0.992883 Centerline is valid? [True, True] Translation: X:116.78, Y:209.02, Z:-24.56 [[ 1.05696061e-02 -9.95892092e-01 -8.99289921e-02 1.16776881e+02] [ 3.63502574e-01 -7.99544808e-02 9.28155784e-01 2.09021271e+02] [-9.31533232e-01 -4.24996611e-02 3.61164252e-01 -2.45593922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.620714057 meters Centerline goodness : 0.992438 Centerline is valid? [True, True] Translation: X:116.75, Y:209.03, Z:-24.58 [[ 9.93524248e-03 -9.99655640e-01 -2.42877138e-02 1.16750520e+02] [ 3.68296521e-01 -1.89232144e-02 9.29515780e-01 2.09025917e+02] [-9.29655293e-01 -1.81800452e-02 3.67981688e-01 -2.45848557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.650714057 meters Centerline goodness : 0.992128 Centerline is valid? [True, True] Translation: X:116.73, Y:209.02, Z:-24.61 [[ 5.37674356e-03 -9.99933699e-01 1.01827922e-02 1.16731897e+02] [ 3.61966349e-01 1.14385529e-02 9.32120980e-01 2.09018627e+02] [-9.32175656e-01 -1.32594736e-03 3.62003852e-01 -2.46081427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.6807140569999 meters Centerline goodness : 0.992009 Centerline is valid? [True, True] Translation: X:116.78, Y:209.06, Z:-24.62 [[ 9.00137526e-03 -9.93600235e-01 -1.12594618e-01 1.16784852e+02] [ 3.72410155e-01 -1.01168022e-01 9.22537646e-01 2.09062991e+02] [-9.28024596e-01 -5.02354869e-02 3.69116167e-01 -2.46238963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.7107140569999 meters Centerline goodness : 0.991826 Centerline is valid? [True, True] Translation: X:116.77, Y:209.06, Z:-24.65 [[ 8.18641486e-03 -9.97955221e-01 -6.33905324e-02 1.16768687e+02] [ 3.71641386e-01 -5.58155353e-02 9.26696987e-01 2.09061304e+02] [-9.28340273e-01 -3.11448713e-02 3.70424532e-01 -2.46537448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.740714057 meters Centerline goodness : 0.992535 Centerline is valid? [True, True] Translation: X:116.78, Y:209.08, Z:-24.68 [[ 8.64899029e-03 -9.97123050e-01 -7.53048411e-02 1.16780069e+02] [ 3.74990472e-01 -6.65777301e-02 9.24634821e-01 2.09077534e+02] [-9.26988318e-01 -3.62357555e-02 3.73335813e-01 -2.46769458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.770714057 meters Centerline goodness : 0.991823 Centerline is valid? [True, True] Translation: X:116.78, Y:209.09, Z:-24.70 [[ 7.51551539e-03 -9.97756259e-01 -6.65279191e-02 1.16780467e+02] [ 3.75678516e-01 -5.88389657e-02 9.24880332e-01 2.09086441e+02] [-9.26719574e-01 -3.19440623e-02 3.74393386e-01 -2.47035894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.8007140569999 meters Centerline goodness : 0.992437 Centerline is valid? [True, True] Translation: X:116.78, Y:209.08, Z:-24.75 [[ 1.22605958e-02 -9.99445273e-01 -3.09648729e-02 1.16783296e+02] [ 3.65696528e-01 -2.43400526e-02 9.30415827e-01 2.09080673e+02] [-9.30653388e-01 -2.27311988e-02 3.65195242e-01 -2.47486973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.8307140569999 meters Centerline goodness : 0.990975 Centerline is valid? [True, True] Translation: X:116.76, Y:209.09, Z:-24.76 [[ 1.72986913e-03 -9.99997076e-01 1.68986743e-03 1.16762819e+02] [ 3.67937527e-01 2.20780989e-03 9.29847892e-01 2.09086815e+02] [-9.29848904e-01 -9.86749521e-04 3.67940270e-01 -2.47635384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.860714057 meters Centerline goodness : 0.992050 Centerline is valid? [True, True] Translation: X:116.80, Y:209.12, Z:-24.78 [[ 7.59118364e-04 -9.97654609e-01 -6.84449033e-02 1.16795973e+02] [ 3.69442742e-01 -6.33228880e-02 9.27093454e-01 2.09115700e+02] [-9.29253186e-01 -2.59902464e-02 3.68528185e-01 -2.47802740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.890714057 meters Centerline goodness : 0.991799 Centerline is valid? [True, True] Translation: X:116.80, Y:209.12, Z:-24.81 [[ 1.00089278e-03 -9.97882151e-01 -6.50400749e-02 1.16798558e+02] [ 3.67138011e-01 -6.01314352e-02 9.28220820e-01 2.09124395e+02] [-9.30165942e-01 -2.48077332e-02 3.66300283e-01 -2.48060941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.9207140569999 meters Centerline goodness : 0.991650 Centerline is valid? [True, True] Translation: X:116.80, Y:209.13, Z:-24.83 [[-6.93983062e-04 -9.97936561e-01 -6.42038793e-02 1.16801674e+02] [ 3.64438917e-01 -6.00408097e-02 9.29289717e-01 2.09133180e+02] [-9.31227037e-01 -2.27534809e-02 3.63728586e-01 -2.48345763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.9507140569999 meters Centerline goodness : 0.992330 Centerline is valid? [True, True] Translation: X:116.81, Y:209.15, Z:-24.86 [[ 7.46528798e-04 -9.96933281e-01 -7.82526359e-02 1.16814241e+02] [ 3.69268807e-01 -7.24471378e-02 9.26494447e-01 2.09153575e+02] [-9.29322329e-01 -2.95879123e-02 3.68082280e-01 -2.48586012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.9807140569999 meters Centerline goodness : 0.991701 Centerline is valid? [True, True] Translation: X:116.81, Y:209.16, Z:-24.88 [[ 3.80031148e-03 -9.98222826e-01 -5.94705520e-02 1.16810508e+02] [ 3.68905283e-01 -5.38767677e-02 9.27904190e-01 2.09159716e+02] [-9.29459224e-01 -2.54653257e-02 3.68044926e-01 -2.48839935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.010714057 meters Centerline goodness : 0.993304 Centerline is valid? [True, True] Translation: X:116.81, Y:209.15, Z:-24.93 [[ 1.24864661e-02 -9.99857225e-01 -1.13850191e-02 1.16807647e+02] [ 3.59348633e-01 -6.13819038e-03 9.33183199e-01 2.09146682e+02] [-9.33119847e-01 -1.57433514e-02 3.59220682e-01 -2.49326161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.040714057 meters Centerline goodness : 0.992240 Centerline is valid? [True, True] Translation: X:116.80, Y:209.16, Z:-24.94 [[ 5.13210498e-03 -9.99941931e-01 -9.47612759e-03 1.16799943e+02] [ 3.68049921e-01 -6.92224755e-03 9.29780263e-01 2.09164046e+02] [-9.29791868e-01 -8.25941793e-03 3.67993023e-01 -2.49423748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.0707140569999 meters Centerline goodness : 0.992411 Centerline is valid? [True, True] Translation: X:116.82, Y:209.17, Z:-24.98 [[ 1.33823754e-02 -9.99595963e-01 -2.50763540e-02 1.16821647e+02] [ 3.57397374e-01 -1.86401619e-02 9.33766385e-01 2.09168918e+02] [-9.33856536e-01 -2.14582354e-02 3.57003522e-01 -2.49840483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.1007140569999 meters Centerline goodness : 0.992041 Centerline is valid? [True, True] Translation: X:116.81, Y:209.17, Z:-25.01 [[ 1.21968297e-02 -9.99632396e-01 2.42138623e-02 1.16805158e+02] [ 3.57270086e-01 2.69738193e-02 9.33611535e-01 2.09168372e+02] [-9.33921476e-01 -2.73621227e-03 3.57467747e-01 -2.50140970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.130714057 meters Centerline goodness : 0.991978 Centerline is valid? [True, True] Translation: X:116.81, Y:209.18, Z:-25.04 [[ 9.62219562e-03 -9.99677944e-01 2.34823881e-02 1.16810591e+02] [ 3.57164776e-01 2.53703101e-02 9.33696776e-01 2.09178505e+02] [-9.33991829e-01 -5.97131136e-04 3.57293867e-01 -2.50404355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.160714057 meters Centerline goodness : 0.992334 Centerline is valid? [True, True] Translation: X:116.81, Y:209.19, Z:-25.07 [[ 8.03507733e-03 -9.99708787e-01 2.27547412e-02 1.16813455e+02] [ 3.56954860e-01 2.41237918e-02 9.33810083e-01 2.09187794e+02] [-9.34087076e-01 6.19179242e-04 3.57044747e-01 -2.50652606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.1907140569999 meters Centerline goodness : 0.992082 Centerline is valid? [True, True] Translation: X:116.82, Y:209.20, Z:-25.09 [[ 6.15141084e-03 -9.99729318e-01 2.24377173e-02 1.16815912e+02] [ 3.56956872e-01 2.31551556e-02 9.33833834e-01 2.09198085e+02] [-9.34100611e-01 2.26490179e-03 3.57002687e-01 -2.50912625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.2207140569999 meters Centerline goodness : 0.992505 Centerline is valid? [True, True] Translation: X:116.82, Y:209.21, Z:-25.12 [[ 3.20164978e-03 -9.99759342e-01 2.17027109e-02 1.16820194e+02] [ 3.56379836e-01 2.14185655e-02 9.34095636e-01 2.09207284e+02] [-9.34335679e-01 4.74376146e-03 3.56362645e-01 -2.51172195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.250714057 meters Centerline goodness : 0.991295 Centerline is valid? [True, True] Translation: X:116.81, Y:209.21, Z:-25.13 [[-8.52690750e-03 -9.99652583e-01 2.49400309e-02 1.16808482e+02] [ 3.56566615e-01 2.02618687e-02 9.34050162e-01 2.09213414e+02] [-9.34230989e-01 1.68573417e-02 3.56269966e-01 -2.51292240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.280714057 meters Centerline goodness : 0.988339 Centerline is valid? [True, True] Translation: X:116.85, Y:209.25, Z:-25.16 [[-9.44900406e-03 -9.97120879e-01 -7.52374149e-02 1.16849924e+02] [ 3.55141790e-01 -7.36819320e-02 9.31904116e-01 2.09248451e+02] [-9.34764690e-01 -1.79143844e-02 3.54815514e-01 -2.51574547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.3107140569999 meters Centerline goodness : 0.992013 Centerline is valid? [True, True] Translation: X:116.62, Y:209.68, Z:-24.01 [[-5.09830242e-02 8.02185209e-01 -5.94894631e-01 1.16624810e+02] [ 4.01585678e-01 -5.28923236e-01 -7.47642397e-01 2.09681537e+02] [-9.14401266e-01 -2.77018234e-01 -2.95179984e-01 -2.40075012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.3407140569999 meters Centerline goodness : 0.992493 Centerline is valid? [True, True] Translation: X:116.92, Y:208.93, Z:-24.36 [[-7.01534843e-02 -9.87827747e-01 -1.38833827e-01 1.16920194e+02] [ 3.93107525e-01 -1.55291017e-01 9.06284268e-01 2.08926687e+02] [-9.16812392e-01 9.00237705e-03 3.99216727e-01 -2.43596350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.370714057 meters Centerline goodness : 0.992235 Centerline is valid? [True, True] Translation: X:116.92, Y:208.93, Z:-24.37 [[-7.03815289e-02 -9.87960406e-01 -1.37770379e-01 1.16919486e+02] [ 3.93269302e-01 -1.54408146e-01 9.06364927e-01 2.08929317e+02] [-9.16725530e-01 9.61048844e-03 3.99401981e-01 -2.43673474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.400714057 meters Centerline goodness : 0.991606 Centerline is valid? [True, True] Translation: X:116.92, Y:208.93, Z:-24.36 [[-7.10169641e-02 -9.88043700e-01 -1.36843843e-01 1.16919013e+02] [ 3.94561357e-01 -1.53826876e-01 9.05902107e-01 2.08927344e+02] [-9.16121131e-01 1.03411251e-02 4.00768181e-01 -2.43637500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.4307140569999 meters Centerline goodness : 0.991834 Centerline is valid? [True, True] Translation: X:116.92, Y:208.93, Z:-24.37 [[-7.15842356e-02 -9.88130062e-01 -1.35921590e-01 1.16916894e+02] [ 3.95811862e-01 -1.53224029e-01 9.05458650e-01 2.08926580e+02] [-9.15537365e-01 1.10171877e-02 4.02082025e-01 -2.43661903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.4607140569999 meters Centerline goodness : 0.991621 Centerline is valid? [True, True] Translation: X:116.92, Y:208.93, Z:-24.37 [[-7.19355628e-02 -9.88225541e-01 -1.35039090e-01 1.16915283e+02] [ 3.96515090e-01 -1.52565687e-01 9.05262114e-01 2.08927191e+02] [-9.15205473e-01 1.15755026e-02 4.02821238e-01 -2.43693558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.490714057 meters Centerline goodness : 0.991854 Centerline is valid? [True, True] Translation: X:116.91, Y:208.93, Z:-24.37 [[-7.18952922e-02 -9.88622839e-01 -1.32120962e-01 1.16913029e+02] [ 3.96375555e-01 -1.49874236e-01 9.05772672e-01 2.08927467e+02] [-9.15269079e-01 1.27512715e-02 4.02641178e-01 -2.43718648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.520714057 meters Centerline goodness : 0.992111 Centerline is valid? [True, True] Translation: X:116.91, Y:208.92, Z:-24.37 [[-7.39226686e-02 -9.88866926e-01 -1.29141942e-01 1.16910103e+02] [ 3.95845599e-01 -1.47953076e-01 9.06320114e-01 2.08924988e+02] [-9.15336933e-01 1.58773319e-02 4.02375707e-01 -2.43701758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.5507140569999 meters Centerline goodness : 0.993193 Centerline is valid? [True, True] Translation: X:116.91, Y:208.92, Z:-24.37 [[-7.75804426e-02 -9.88044436e-01 -1.33227130e-01 1.16908969e+02] [ 3.94457817e-01 -1.53145278e-01 9.06062666e-01 2.08924823e+02] [-9.15633281e-01 1.77402599e-02 4.01622930e-01 -2.43694362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.5807140569999 meters Centerline goodness : 0.992974 Centerline is valid? [True, True] Translation: X:116.91, Y:208.92, Z:-24.37 [[-7.93858854e-02 -9.88014988e-01 -1.32379246e-01 1.16907349e+02] [ 3.94437703e-01 -1.53093821e-01 9.06080118e-01 2.08924978e+02] [-9.15487182e-01 1.97146067e-02 4.01863851e-01 -2.43706795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.610714057 meters Centerline goodness : 0.992768 Centerline is valid? [True, True] Translation: X:116.91, Y:208.93, Z:-24.37 [[-8.10019344e-02 -9.87994635e-01 -1.31549561e-01 1.16905746e+02] [ 3.94179850e-01 -1.52977666e-01 9.06211940e-01 2.08925590e+02] [-9.15456680e-01 2.15507340e-02 4.01839064e-01 -2.43725212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.640714057 meters Centerline goodness : 0.992870 Centerline is valid? [True, True] Translation: X:116.90, Y:208.92, Z:-24.37 [[-8.25047881e-02 -9.88045772e-01 -1.30224856e-01 1.16902383e+02] [ 3.93372543e-01 -1.52347131e-01 9.06668845e-01 2.08923654e+02] [-9.15669702e-01 2.35776381e-02 4.01239446e-01 -2.43715827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.6707140569999 meters Centerline goodness : 0.993559 Centerline is valid? [True, True] Translation: X:116.90, Y:208.92, Z:-24.37 [[-8.26714809e-02 -9.88344023e-01 -1.27833950e-01 1.16899394e+02] [ 3.93188632e-01 -1.50215110e-01 9.07104250e-01 2.08923657e+02] [-9.15733655e-01 2.47287957e-02 4.01024139e-01 -2.43734285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.7007140569999 meters Centerline goodness : 0.992945 Centerline is valid? [True, True] Translation: X:116.90, Y:208.93, Z:-24.38 [[-8.16294828e-02 -9.88386998e-01 -1.28170858e-01 1.16895043e+02] [ 3.92740606e-01 -1.50094027e-01 9.07318356e-01 2.08925770e+02] [-9.16019347e-01 2.37260277e-02 4.00431806e-01 -2.43797691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.7307140569999 meters Centerline goodness : 0.992563 Centerline is valid? [True, True] Translation: X:116.89, Y:208.93, Z:-24.38 [[-8.14816260e-02 -9.88165515e-01 -1.29960220e-01 1.16893915e+02] [ 3.92649772e-01 -1.51674968e-01 9.07094737e-01 2.08925025e+02] [-9.16071450e-01 2.28827034e-02 4.00361687e-01 -2.43775789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.760714057 meters Centerline goodness : 0.993685 Centerline is valid? [True, True] Translation: X:116.89, Y:208.93, Z:-24.38 [[-8.28344593e-02 -9.88289339e-01 -1.28150832e-01 1.16889376e+02] [ 3.91792306e-01 -1.50533554e-01 9.07655462e-01 2.08925699e+02] [-9.16317217e-01 2.49766396e-02 3.99673525e-01 -2.43800736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.790714057 meters Centerline goodness : 0.991112 Centerline is valid? [True, True] Translation: X:116.83, Y:209.33, Z:-25.32 [[-8.23403177e-02 -9.89248265e-01 -1.20863321e-01 1.16827936e+02] [ 3.89522753e-01 -1.43573403e-01 9.09757497e-01 2.09334785e+02] [-9.17328784e-01 2.78307077e-02 3.97156587e-01 -2.53191669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.8207140569999 meters Centerline goodness : 0.994951 Centerline is valid? [True, True] Translation: X:116.83, Y:209.63, Z:-24.17 [[-7.02810291e-02 5.44129544e-01 -8.36052401e-01 1.16829215e+02] [ 4.32677564e-01 -7.38549767e-01 -5.17043874e-01 2.09634056e+02] [-8.98805153e-01 -3.98079492e-01 -1.83526608e-01 -2.41690478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.8507140569999 meters Centerline goodness : 0.994746 Centerline is valid? [True, True] Translation: X:116.92, Y:208.96, Z:-24.52 [[-1.24825066e-01 -9.75498731e-01 -1.81165471e-01 1.16921897e+02] [ 4.38770289e-01 -2.18041826e-01 8.71744455e-01 2.08958682e+02] [-8.89887261e-01 2.93255330e-02 4.55236945e-01 -2.45244479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.880714057 meters Centerline goodness : 0.994553 Centerline is valid? [True, True] Translation: X:116.92, Y:208.96, Z:-24.53 [[-1.24785257e-01 -9.75642200e-01 -1.80418784e-01 1.16918486e+02] [ 4.39267574e-01 -2.17372873e-01 8.71661077e-01 2.08959488e+02] [-8.89647480e-01 2.95183298e-02 4.55692912e-01 -2.45288083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.910714057 meters Centerline goodness : 0.994488 Centerline is valid? [True, True] Translation: X:116.91, Y:208.96, Z:-24.53 [[-1.23110926e-01 -9.76018366e-01 -1.79532310e-01 1.16911622e+02] [ 4.41537768e-01 -2.15887081e-01 8.70882981e-01 2.08960122e+02] [-8.88756490e-01 2.79449145e-02 4.57527029e-01 -2.45342129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.9407140569999 meters Centerline goodness : 0.994683 Centerline is valid? [True, True] Translation: X:116.90, Y:208.96, Z:-24.54 [[-1.18024000e-01 -9.77744304e-01 -1.73454352e-01 1.16901747e+02] [ 4.44159929e-01 -2.08206817e-01 8.71419462e-01 2.08960441e+02] [-8.88139794e-01 2.58069381e-02 4.58848242e-01 -2.45418567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.9707140569999 meters Centerline goodness : 0.994565 Centerline is valid? [True, True] Translation: X:116.90, Y:208.96, Z:-24.54 [[-1.14585013e-01 -9.77607455e-01 -1.76504786e-01 1.16899374e+02] [ 4.44701403e-01 -2.09356456e-01 8.70867692e-01 2.08960315e+02] [-8.88319164e-01 2.12964598e-02 4.58732519e-01 -2.45417574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.000714057 meters Centerline goodness : 0.995523 Centerline is valid? [True, True] Translation: X:116.89, Y:208.96, Z:-24.55 [[-1.07881118e-01 -9.76686400e-01 -1.85594559e-01 1.16894926e+02] [ 4.46182238e-01 -2.14392807e-01 8.68882693e-01 2.08964467e+02] [-8.88416048e-01 1.09270401e-02 4.58909060e-01 -2.45476619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.030714057 meters Centerline goodness : 0.994134 Centerline is valid? [True, True] Translation: X:116.89, Y:208.97, Z:-24.55 [[-1.04556791e-01 -9.78618001e-01 -1.77129007e-01 1.16888310e+02] [ 4.46887428e-01 -2.05342742e-01 8.70704304e-01 2.08965149e+02] [-8.88459062e-01 1.18813220e-02 4.58802059e-01 -2.45547242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.0607140569999 meters Centerline goodness : 0.995001 Centerline is valid? [True, True] Translation: X:116.89, Y:208.97, Z:-24.56 [[-1.01382166e-01 -9.79075346e-01 -1.76445811e-01 1.16885328e+02] [ 4.47349487e-01 -2.03282433e-01 8.70950452e-01 2.08966005e+02] [-8.88594448e-01 9.36590017e-03 4.58598066e-01 -2.45588877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.0907140569999 meters Centerline goodness : 0.994387 Centerline is valid? [True, True] Translation: X:116.88, Y:208.97, Z:-24.57 [[-9.57403875e-02 -9.79773784e-01 -1.75718838e-01 1.16879847e+02] [ 4.48727470e-01 -2.00056818e-01 8.70988477e-01 2.08968426e+02] [-8.88525428e-01 4.53890449e-03 4.58804929e-01 -2.45651399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.120714057 meters Centerline goodness : 0.994476 Centerline is valid? [True, True] Translation: X:116.87, Y:208.97, Z:-24.57 [[-9.08430176e-02 -9.80356707e-01 -1.75066483e-01 1.16874094e+02] [ 4.49162945e-01 -1.97231966e-01 8.71408171e-01 2.08970846e+02] [-8.88819552e-01 5.27970758e-04 4.58257053e-01 -2.45722254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.150714057 meters Centerline goodness : 0.994016 Centerline is valid? [True, True] Translation: X:116.87, Y:208.97, Z:-24.57 [[-8.75314211e-02 -9.80773225e-01 -1.74419411e-01 1.16871844e+02] [ 4.49180218e-01 -1.95140361e-01 8.71870043e-01 2.08971370e+02] [-8.89143061e-01 -2.02972507e-03 4.57624844e-01 -2.45744580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.1807140569999 meters Centerline goodness : 0.994860 Centerline is valid? [True, True] Translation: X:116.87, Y:208.97, Z:-24.58 [[-8.45002940e-02 -9.81155909e-01 -1.73760707e-01 1.16869335e+02] [ 4.49231216e-01 -1.93168722e-01 8.72282729e-01 2.08973544e+02] [-8.89410487e-01 -4.35058655e-03 4.57088676e-01 -2.45796090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.2107140569999 meters Centerline goodness : 0.994547 Centerline is valid? [True, True] Translation: X:116.87, Y:208.98, Z:-24.58 [[-7.86405166e-02 -9.81741160e-01 -1.73204978e-01 1.16867229e+02] [ 4.48749720e-01 -1.90006066e-01 8.73224704e-01 2.08976087e+02] [-8.90190630e-01 -9.05484373e-03 4.55498246e-01 -2.45836357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.240714057 meters Centerline goodness : 0.994561 Centerline is valid? [True, True] Translation: X:116.87, Y:208.98, Z:-24.59 [[-7.61034419e-02 -9.82048363e-01 -1.72595710e-01 1.16865917e+02] [ 4.48130491e-01 -1.88317687e-01 8.73908183e-01 2.08978605e+02] [-8.90722925e-01 -1.08379797e-02 4.54417439e-01 -2.45887781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.270714057 meters Centerline goodness : 0.994597 Centerline is valid? [True, True] Translation: X:116.87, Y:208.98, Z:-24.59 [[-7.43762065e-02 -9.82278620e-01 -1.72037473e-01 1.16865114e+02] [ 4.46789977e-01 -1.87055017e-01 8.74865211e-01 2.08980584e+02] [-8.91541865e-01 -1.17954631e-02 4.52784684e-01 -2.45945040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.3007140569999 meters Centerline goodness : 0.994278 Centerline is valid? [True, True] Translation: X:116.87, Y:208.98, Z:-24.59 [[-7.52218489e-02 -9.82361665e-01 -1.71193554e-01 1.16865352e+02] [ 4.47911680e-01 -1.86672396e-01 8.74373229e-01 2.08979737e+02] [-8.90907852e-01 -1.09076214e-02 4.54053106e-01 -2.45933241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.3307140569999 meters Centerline goodness : 0.994023 Centerline is valid? [True, True] Translation: X:116.87, Y:208.98, Z:-24.59 [[-7.87637452e-02 -9.82234313e-01 -1.70329170e-01 1.16867734e+02] [ 4.48740265e-01 -1.87504157e-01 8.73770202e-01 2.08978439e+02] [-8.90184502e-01 -7.61214336e-03 4.55536616e-01 -2.45946467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.360714057 meters Centerline goodness : 0.994023 Centerline is valid? [True, True] Translation: X:116.87, Y:208.98, Z:-24.60 [[-7.83952672e-02 -9.82388031e-01 -1.69611141e-01 1.16867181e+02] [ 4.48804906e-01 -1.86697123e-01 8.73909801e-01 2.08979360e+02] [-8.90184441e-01 -7.61191965e-03 4.55536739e-01 -2.45968808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.390714057 meters Centerline goodness : 0.993827 Centerline is valid? [True, True] Translation: X:116.87, Y:208.98, Z:-24.60 [[-8.09777091e-02 -9.82311907e-01 -1.68836989e-01 1.16868138e+02] [ 4.48903208e-01 -1.87184265e-01 8.73755092e-01 2.08978278e+02] [-8.89903658e-01 -5.03678030e-03 4.56120719e-01 -2.45967625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.4207140569999 meters Centerline goodness : 0.993874 Centerline is valid? [True, True] Translation: X:116.87, Y:208.98, Z:-24.60 [[-8.57521795e-02 -9.82046438e-01 -1.68021894e-01 1.16871215e+02] [ 4.49025276e-01 -1.88638513e-01 8.73379535e-01 2.08977423e+02] [-8.89394662e-01 -5.51878731e-04 4.57139837e-01 -2.45957232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.4507140569999 meters Centerline goodness : 0.994138 Centerline is valid? [True, True] Translation: X:116.87, Y:208.98, Z:-24.60 [[-8.71570274e-02 -9.82039526e-01 -1.67338046e-01 1.16872603e+02] [ 4.48429898e-01 -1.88672048e-01 8.73678136e-01 2.08978257e+02] [-8.89558475e-01 1.10780639e-03 4.56819979e-01 -2.45979490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.4807140569999 meters Centerline goodness : 0.993576 Centerline is valid? [True, True] Translation: X:116.88, Y:208.98, Z:-24.60 [[-8.89242240e-02 -9.82001126e-01 -1.66632145e-01 1.16875966e+02] [ 4.48010059e-01 -1.88850371e-01 8.73854979e-01 2.08977887e+02] [-8.89595115e-01 3.05399869e-03 4.56739755e-01 -2.45959995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.510714057 meters Centerline goodness : 0.993222 Centerline is valid? [True, True] Translation: X:116.88, Y:208.98, Z:-24.60 [[-8.90114862e-02 -9.82108210e-01 -1.65953065e-01 1.16878563e+02] [ 4.47639260e-01 -1.88284485e-01 8.74167059e-01 2.08978360e+02] [-8.89773032e-01 3.52380210e-03 4.56389674e-01 -2.45970281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.540714057 meters Centerline goodness : 0.993411 Centerline is valid? [True, True] Translation: X:116.88, Y:208.98, Z:-24.60 [[-8.80749819e-02 -9.82314273e-01 -1.65231556e-01 1.16879559e+02] [ 4.47932608e-01 -1.87215783e-01 8.74246321e-01 2.08980107e+02] [-8.89718594e-01 2.98662724e-03 4.56499620e-01 -2.46004312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.5707140569999 meters Centerline goodness : 0.993206 Centerline is valid? [True, True] Translation: X:116.88, Y:208.98, Z:-24.60 [[-8.60676389e-02 -9.82615282e-01 -1.64497933e-01 1.16880700e+02] [ 4.48557264e-01 -1.85647732e-01 8.74260431e-01 2.08982243e+02] [-8.89600327e-01 1.45878814e-03 4.56737484e-01 -2.46040495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.6007140569999 meters Centerline goodness : 0.994355 Centerline is valid? [True, True] Translation: X:116.88, Y:208.99, Z:-24.61 [[-8.03543081e-02 -9.83204423e-01 -1.63866556e-01 1.16882834e+02] [ 4.48754201e-01 -1.82478950e-01 8.74826326e-01 2.08987132e+02] [-8.90035310e-01 -3.23974141e-03 4.55880085e-01 -2.46120170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.630714057 meters Centerline goodness : 0.993792 Centerline is valid? [True, True] Translation: X:116.89, Y:208.97, Z:-24.57 [[-9.10448573e-02 -9.80041984e-01 -1.76715999e-01 1.16885598e+02] [ 4.55578889e-01 -1.98784908e-01 8.67716795e-01 2.08974961e+02] [-8.85527362e-01 -1.50692675e-03 4.64584782e-01 -2.45662109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.660714057 meters Centerline goodness : 0.992918 Centerline is valid? [True, True] Translation: X:116.90, Y:209.00, Z:-24.57 [[-8.22092128e-02 -9.71264789e-01 -2.23352537e-01 1.16903564e+02] [ 4.68802483e-01 -2.35455375e-01 8.51343056e-01 2.09002588e+02] [-8.79469088e-01 -3.47199816e-02 4.74687945e-01 -2.45694571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.6907140569999 meters Centerline goodness : 0.993036 Centerline is valid? [True, True] Translation: X:116.89, Y:208.99, Z:-24.58 [[-7.78461257e-02 -9.80755324e-01 -1.79050205e-01 1.16888242e+02] [ 4.67372954e-01 -1.94538198e-01 8.62390521e-01 2.08990642e+02] [-8.80626199e-01 -1.65494625e-02 4.73522558e-01 -2.45757231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.7207140569999 meters Centerline goodness : 0.993598 Centerline is valid? [True, True] Translation: X:116.89, Y:209.00, Z:-24.64 [[-5.54596065e-02 -9.86391622e-01 -1.54776611e-01 1.16886463e+02] [ 4.50909668e-01 -1.63050430e-01 8.77550585e-01 2.08999460e+02] [-8.90844938e-01 -2.11216600e-02 4.53816231e-01 -2.46355519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.750714057 meters Centerline goodness : 0.994472 Centerline is valid? [True, True] Translation: X:116.89, Y:209.01, Z:-24.64 [[-5.15229036e-02 -9.85500464e-01 -1.61660833e-01 1.16891010e+02] [ 4.51556725e-01 -1.67372447e-01 8.76403439e-01 2.09005762e+02] [-8.90753565e-01 -2.78441866e-02 4.53632877e-01 -2.46418697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.780714057 meters Centerline goodness : 0.993768 Centerline is valid? [True, True] Translation: X:116.90, Y:209.01, Z:-24.64 [[-4.56944934e-02 -9.85914703e-01 -1.60885711e-01 1.16897343e+02] [ 4.53018813e-01 -1.63992543e-01 8.76287853e-01 2.09008958e+02] [-8.90329135e-01 -3.28427246e-02 4.54131465e-01 -2.46448041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.8107140569999 meters Centerline goodness : 0.994029 Centerline is valid? [True, True] Translation: X:116.91, Y:209.03, Z:-24.60 [[-5.98023400e-02 -9.75071878e-01 -2.13678525e-01 1.16914440e+02] [ 4.90104485e-01 -2.15165215e-01 8.44690194e-01 2.09033762e+02] [-8.69609840e-01 -5.42103534e-02 4.90754484e-01 -2.45981563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.8407140569999 meters Centerline goodness : 0.993405 Centerline is valid? [True, True] Translation: X:116.91, Y:209.03, Z:-24.60 [[-5.63458701e-02 -9.80569320e-01 -1.87906761e-01 1.16912482e+02] [ 4.94507167e-01 -1.90908177e-01 8.47948542e-01 2.09029023e+02] [-8.67345263e-01 -4.51428420e-02 4.95655444e-01 -2.45982626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.870714057 meters Centerline goodness : 0.992420 Centerline is valid? [True, True] Translation: X:116.91, Y:209.03, Z:-24.61 [[-5.45906654e-02 -9.83128746e-01 -1.74578716e-01 1.16911239e+02] [ 4.91211284e-01 -1.78661758e-01 8.52520645e-01 2.09025359e+02] [-8.69328093e-01 -3.92153659e-02 4.92677198e-01 -2.46052815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.900714057 meters Centerline goodness : 0.993200 Centerline is valid? [True, True] Translation: X:116.91, Y:209.01, Z:-24.60 [[-5.39658176e-02 -9.85654973e-01 -1.59912364e-01 1.16914788e+02] [ 4.80498649e-01 -1.66018676e-01 8.61138112e-01 2.09013035e+02] [-8.75333502e-01 -3.03656526e-02 4.82565217e-01 -2.46027223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.9307140569999 meters Centerline goodness : 0.992822 Centerline is valid? [True, True] Translation: X:116.93, Y:209.01, Z:-24.59 [[-5.63525490e-02 -9.81557997e-01 -1.82669888e-01 1.16927620e+02] [ 4.78497124e-01 -1.87131296e-01 8.57917467e-01 2.09014973e+02] [-8.76279004e-01 -3.90611801e-02 4.80218004e-01 -2.45916626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.9607140569999 meters Centerline goodness : 0.992854 Centerline is valid? [True, True] Translation: X:116.93, Y:209.02, Z:-24.66 [[-3.92555767e-02 -9.85391224e-01 -1.65720052e-01 1.16934029e+02] [ 4.58992734e-01 -1.65097754e-01 8.72965292e-01 2.09024808e+02] [-8.87572346e-01 -4.17955437e-02 4.58768420e-01 -2.46573824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.990714057 meters Centerline goodness : 0.993850 Centerline is valid? [True, True] Translation: X:116.94, Y:209.02, Z:-24.66 [[-3.98217637e-02 -9.86732945e-01 -1.57392257e-01 1.16935259e+02] [ 4.59277766e-01 -1.57966942e-01 8.74134074e-01 2.09023989e+02] [-8.87399662e-01 -3.74772038e-02 4.59475025e-01 -2.46584555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.020714057 meters Centerline goodness : 0.993678 Centerline is valid? [True, True] Translation: X:116.94, Y:209.03, Z:-24.66 [[-4.08121947e-02 -9.86831783e-01 -1.56516444e-01 1.16943764e+02] [ 4.60697333e-01 -1.57587334e-01 8.73455322e-01 2.09026988e+02] [-8.86618482e-01 -3.64590794e-02 4.61062255e-01 -2.46603118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.0507140569999 meters Centerline goodness : 0.993200 Centerline is valid? [True, True] Translation: X:116.95, Y:209.03, Z:-24.66 [[-4.11521071e-02 -9.86942386e-01 -1.55728067e-01 1.16948058e+02] [ 4.61263949e-01 -1.57023092e-01 8.73257876e-01 2.09028244e+02] [-8.86308114e-01 -3.58953416e-02 4.61702774e-01 -2.46611760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.0807140569999 meters Centerline goodness : 0.993204 Centerline is valid? [True, True] Translation: X:116.96, Y:209.03, Z:-24.66 [[-4.23413369e-02 -9.87016677e-01 -1.54936407e-01 1.16956920e+02] [ 4.61739498e-01 -1.56852381e-01 8.73037208e-01 2.09031678e+02] [-8.86004428e-01 -3.45746964e-02 4.62385925e-01 -2.46616612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.110714057 meters Centerline goodness : 0.993486 Centerline is valid? [True, True] Translation: X:116.96, Y:209.03, Z:-24.66 [[-4.36335229e-02 -9.87078911e-01 -1.54179565e-01 1.16960979e+02] [ 4.61823850e-01 -1.56776445e-01 8.73006230e-01 2.09033286e+02] [-8.85897763e-01 -3.31114631e-02 4.62697292e-01 -2.46622336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.140714057 meters Centerline goodness : 0.992970 Centerline is valid? [True, True] Translation: X:116.97, Y:209.03, Z:-24.66 [[-4.73717758e-02 -9.87030498e-01 -1.53384196e-01 1.16969241e+02] [ 4.61959749e-01 -1.57796531e-01 8.72750506e-01 2.09034832e+02] [-8.85634860e-01 -2.95135833e-02 4.63443463e-01 -2.46609048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.1707140569999 meters Centerline goodness : 0.993027 Centerline is valid? [True, True] Translation: X:116.97, Y:209.04, Z:-24.66 [[-5.02094457e-02 -9.87008868e-01 -1.52618823e-01 1.16973144e+02] [ 4.61920891e-01 -1.58434686e-01 8.72655454e-01 2.09036034e+02] [-8.85498787e-01 -2.66822762e-02 4.63874934e-01 -2.46610446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.2007140569999 meters Centerline goodness : 0.992744 Centerline is valid? [True, True] Translation: X:116.98, Y:209.03, Z:-24.66 [[-5.86617809e-02 -9.86660391e-01 -1.51855417e-01 1.16981477e+02] [ 4.60967895e-01 -1.61701223e-01 8.72560207e-01 2.09034672e+02] [-8.85475802e-01 -1.88145362e-02 4.64304445e-01 -2.46555665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.2307140569999 meters Centerline goodness : 0.992589 Centerline is valid? [True, True] Translation: X:116.99, Y:209.04, Z:-24.66 [[-6.33324678e-02 -9.86490180e-01 -1.51083170e-01 1.16985056e+02] [ 4.60757499e-01 -1.63189655e-01 8.72394214e-01 2.09036811e+02] [-8.85263535e-01 -1.43618248e-02 4.64867951e-01 -2.46571427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.260714057 meters Centerline goodness : 0.993765 Centerline is valid? [True, True] Translation: X:116.99, Y:209.04, Z:-24.65 [[-7.56555143e-02 -9.85740972e-01 -1.50302956e-01 1.16992738e+02] [ 4.59370319e-01 -1.68241994e-01 8.72166006e-01 2.09037355e+02] [-8.85017035e-01 -3.06054919e-03 4.65548580e-01 -2.46516219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.290714057 meters Centerline goodness : 0.993336 Centerline is valid? [True, True] Translation: X:117.00, Y:209.04, Z:-24.65 [[-8.17192520e-02 -9.85367695e-01 -1.49574296e-01 1.16996564e+02] [ 4.58457026e-01 -1.70420639e-01 8.72223573e-01 2.09036587e+02] [-8.84951479e-01 2.70407132e-03 4.65675390e-01 -2.46475645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.3207140569999 meters Centerline goodness : 0.993670 Centerline is valid? [True, True] Translation: X:117.00, Y:209.03, Z:-24.64 [[-9.45424529e-02 -9.84331471e-01 -1.48839777e-01 1.17002605e+02] [ 4.56450820e-01 -1.75728790e-01 8.72222472e-01 2.09034823e+02] [-8.84711464e-01 1.45240139e-02 4.65912738e-01 -2.46381610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.3507140569999 meters Centerline goodness : 0.994113 Centerline is valid? [True, True] Translation: X:117.00, Y:209.03, Z:-24.64 [[-1.00266360e-01 -9.83874557e-01 -1.48113176e-01 1.17004450e+02] [ 4.55638478e-01 -1.77741517e-01 8.72239377e-01 2.09034098e+02] [-8.84499991e-01 1.99702057e-02 4.66112600e-01 -2.46356021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.380714057 meters Centerline goodness : 0.993950 Centerline is valid? [True, True] Translation: X:117.01, Y:209.03, Z:-24.63 [[-1.09963933e-01 -9.82931317e-01 -1.47492239e-01 1.17006202e+02] [ 4.52908723e-01 -1.81643669e-01 8.72856956e-01 2.09031866e+02] [-8.84749469e-01 2.91822619e-02 4.65152420e-01 -2.46298561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.410714057 meters Centerline goodness : 0.995265 Centerline is valid? [True, True] Translation: X:117.01, Y:209.03, Z:-24.63 [[-1.13720604e-01 -9.82605965e-01 -1.46809881e-01 1.17005963e+02] [ 4.52006896e-01 -1.82759874e-01 8.73091401e-01 2.09031784e+02] [-8.84735775e-01 3.29294025e-02 4.64928235e-01 -2.46281348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.4407140569999 meters Centerline goodness : 0.993885 Centerline is valid? [True, True] Translation: X:117.00, Y:209.03, Z:-24.63 [[-1.19976992e-01 -9.81960195e-01 -1.46149573e-01 1.17004925e+02] [ 4.50408717e-01 -1.85029350e-01 8.73439252e-01 2.09031788e+02] [-8.84724539e-01 3.89655723e-02 4.64482696e-01 -2.46282312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.4707140569999 meters Centerline goodness : 0.994371 Centerline is valid? [True, True] Translation: X:117.00, Y:209.03, Z:-24.63 [[-1.22371060e-01 -9.81772221e-01 -1.45425688e-01 1.17004069e+02] [ 4.50298114e-01 -1.85499003e-01 8.73396662e-01 2.09028427e+02] [-8.84452900e-01 4.13935622e-02 4.64789889e-01 -2.46252385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.500714057 meters Centerline goodness : 0.995535 Centerline is valid? [True, True] Translation: X:117.00, Y:209.03, Z:-24.63 [[-1.26432868e-01 -9.81369827e-01 -1.44665105e-01 1.16997948e+02] [ 4.50335431e-01 -1.86725352e-01 8.73116053e-01 2.09027118e+02] [-8.83862393e-01 4.52427443e-02 4.65553826e-01 -2.46267563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.530714057 meters Centerline goodness : 0.994987 Centerline is valid? [True, True] Translation: X:116.99, Y:209.03, Z:-24.63 [[-1.27602021e-01 -9.81324212e-01 -1.43946222e-01 1.16993663e+02] [ 4.50449952e-01 -1.86639855e-01 8.73075257e-01 2.09026314e+02] [-8.83635991e-01 4.65655987e-02 4.65853067e-01 -2.46274105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.5607140569999 meters Centerline goodness : 0.994930 Centerline is valid? [True, True] Translation: X:116.99, Y:209.02, Z:-24.63 [[-1.28578464e-01 -9.81281841e-01 -1.43365014e-01 1.16986265e+02] [ 4.48961412e-01 -1.86500302e-01 8.73871437e-01 2.09023692e+02] [-8.84251791e-01 4.79956881e-02 4.64537603e-01 -2.46282906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.5907140569999 meters Centerline goodness : 0.994174 Centerline is valid? [True, True] Translation: X:116.98, Y:209.02, Z:-24.63 [[-1.29424864e-01 -9.81274246e-01 -1.42653635e-01 1.16981385e+02] [ 4.49069210e-01 -1.86268824e-01 8.73865419e-01 2.09024390e+02] [-8.84073554e-01 4.90385584e-02 4.64767867e-01 -2.46304273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.620714057 meters Centerline goodness : 0.995147 Centerline is valid? [True, True] Translation: X:116.97, Y:209.02, Z:-24.63 [[-1.30340759e-01 -9.81249087e-01 -1.41991252e-01 1.16972226e+02] [ 4.48576775e-01 -1.86079870e-01 8.74158543e-01 2.09023212e+02] [-8.84188987e-01 5.02445106e-02 4.64419342e-01 -2.46331466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.650714057 meters Centerline goodness : 0.995614 Centerline is valid? [True, True] Translation: X:116.97, Y:209.02, Z:-24.64 [[-1.31239173e-01 -9.81225337e-01 -1.41326280e-01 1.16966308e+02] [ 4.48112735e-01 -1.85880982e-01 8.74438813e-01 2.09022902e+02] [-8.84291387e-01 5.14305203e-02 4.64094436e-01 -2.46361113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.6807140569999 meters Centerline goodness : 0.993501 Centerline is valid? [True, True] Translation: X:116.96, Y:209.01, Z:-24.64 [[-1.31164523e-01 -9.81310240e-01 -1.40805116e-01 1.16956217e+02] [ 4.46058901e-01 -1.85261313e-01 8.75619611e-01 2.09013328e+02] [-8.85340231e-01 5.20428535e-02 4.62021879e-01 -2.46358220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.7107140569999 meters Centerline goodness : 0.991657 Centerline is valid? [True, True] Translation: X:116.95, Y:209.01, Z:-24.64 [[-1.30913503e-01 -9.81440841e-01 -1.40126835e-01 1.16950022e+02] [ 4.45973712e-01 -1.84534177e-01 8.75816525e-01 2.09012538e+02] [-8.85420297e-01 5.21633244e-02 4.61854831e-01 -2.46408920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.740714057 meters Centerline goodness : 0.992160 Centerline is valid? [True, True] Translation: X:116.94, Y:209.01, Z:-24.64 [[-1.30897751e-01 -9.81531566e-01 -1.39504712e-01 1.16936896e+02] [ 4.45155562e-01 -1.83923140e-01 8.76361115e-01 2.09009226e+02] [-8.85834242e-01 5.26124008e-02 4.61009361e-01 -2.46413286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.770714057 meters Centerline goodness : 0.991511 Centerline is valid? [True, True] Translation: X:116.93, Y:209.01, Z:-24.64 [[-1.29952203e-01 -9.81750643e-01 -1.38845595e-01 1.16931140e+02] [ 4.44964779e-01 -1.82884187e-01 8.76675379e-01 2.09007231e+02] [-8.86069281e-01 5.21444968e-02 4.60610661e-01 -2.46412780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.8007140569999 meters Centerline goodness : 0.991664 Centerline is valid? [True, True] Translation: X:116.92, Y:209.01, Z:-24.65 [[-1.28626927e-01 -9.81958885e-01 -1.38606865e-01 1.16918110e+02] [ 4.45705876e-01 -1.82098745e-01 8.76462389e-01 2.09008087e+02] [-8.85890166e-01 5.09587694e-02 4.61087647e-01 -2.46462292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.8307140569999 meters Centerline goodness : 0.991246 Centerline is valid? [True, True] Translation: X:116.90, Y:209.01, Z:-24.65 [[-1.25405021e-01 -9.82766579e-01 -1.35806596e-01 1.16902293e+02] [ 4.46367901e-01 -1.78140816e-01 8.76938736e-01 2.09008547e+02] [-8.86018779e-01 4.93528156e-02 4.61015208e-01 -2.46533819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.860714057 meters Centerline goodness : 0.991469 Centerline is valid? [True, True] Translation: X:116.90, Y:209.01, Z:-24.65 [[-1.22442920e-01 -9.82939297e-01 -1.37251850e-01 1.16895202e+02] [ 4.47005703e-01 -1.78089314e-01 8.76624263e-01 2.09008428e+02] [-8.86111524e-01 4.59840747e-02 4.61185247e-01 -2.46527753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.890714057 meters Centerline goodness : 0.990498 Centerline is valid? [True, True] Translation: X:116.87, Y:209.02, Z:-24.65 [[-1.28222651e-01 -9.81410320e-01 -1.42803136e-01 1.16873735e+02] [ 4.53361644e-01 -1.86070091e-01 8.71688672e-01 2.09017896e+02] [-8.82055651e-01 4.70287677e-02 4.68792197e-01 -2.46489911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.9207140569999 meters Centerline goodness : 0.992359 Centerline is valid? [True, True] Translation: X:116.88, Y:209.02, Z:-24.66 [[-1.12571822e-01 -9.80263309e-01 -1.62515938e-01 1.16880392e+02] [ 4.46338627e-01 -1.96011802e-01 8.73132982e-01 2.09017409e+02] [-8.87755268e-01 2.57530298e-02 4.59594785e-01 -2.46581053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.9507140569999 meters Centerline goodness : 0.991837 Centerline is valid? [True, True] Translation: X:116.86, Y:209.01, Z:-24.67 [[-1.09090488e-01 -9.84717467e-01 -1.35759996e-01 1.16863142e+02] [ 4.46778099e-01 -1.70574991e-01 8.78233171e-01 2.09013426e+02] [-8.87968803e-01 3.51522926e-02 4.58558307e-01 -2.46675080e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.9807140569999 meters Centerline goodness : 0.993153 Centerline is valid? [True, True] Translation: X:116.84, Y:209.01, Z:-24.65 [[-1.16258465e-01 -9.83486377e-01 -1.38702977e-01 1.16843836e+02] [ 4.49558400e-01 -1.76631954e-01 8.75613155e-01 2.09012376e+02] [-8.85652987e-01 3.94423530e-02 4.62669522e-01 -2.46515768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.010714057 meters Centerline goodness : 0.993451 Centerline is valid? [True, True] Translation: X:116.85, Y:209.02, Z:-24.65 [[-1.14443776e-01 -9.79941389e-01 -1.63148695e-01 1.16845818e+02] [ 4.47410095e-01 -1.97471608e-01 8.72255221e-01 2.09018709e+02] [-8.86976228e-01 2.68298086e-02 4.61035067e-01 -2.46541460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.040714057 meters Centerline goodness : 0.993500 Centerline is valid? [True, True] Translation: X:116.83, Y:209.00, Z:-24.65 [[-1.14476638e-01 -9.81693618e-01 -1.52225952e-01 1.16829394e+02] [ 4.36663664e-01 -1.87361019e-01 8.79898115e-01 2.09002777e+02] [-8.92311574e-01 3.42562355e-02 4.50118391e-01 -2.46520866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.0707140569999 meters Centerline goodness : 0.994424 Centerline is valid? [True, True] Translation: X:116.84, Y:209.03, Z:-24.67 [[-1.00313327e-01 -9.75600792e-01 -1.95295498e-01 1.16840130e+02] [ 4.46049069e-01 -2.19552020e-01 8.67661880e-01 2.09025878e+02] [-8.89369139e-01 -7.33249323e-05 4.57189818e-01 -2.46725280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.1007140569999 meters Centerline goodness : 0.995706 Centerline is valid? [True, True] Translation: X:116.81, Y:209.01, Z:-24.68 [[-1.01159864e-01 -9.86027713e-01 -1.32348143e-01 1.16811793e+02] [ 4.48423678e-01 -1.63941830e-01 8.78657659e-01 2.09012415e+02] [-8.88078199e-01 2.95368483e-02 4.58742507e-01 -2.46779512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.130714057 meters Centerline goodness : 0.995727 Centerline is valid? [True, True] Translation: X:116.80, Y:209.03, Z:-24.70 [[-1.01389811e-01 -9.86099981e-01 -1.31631811e-01 1.16804548e+02] [ 4.48606906e-01 -1.63415541e-01 8.78662168e-01 2.09025336e+02] [-8.87959431e-01 3.00364517e-02 4.58939932e-01 -2.47045922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.160714057 meters Centerline goodness : 0.996525 Centerline is valid? [True, True] Translation: X:116.80, Y:209.02, Z:-24.69 [[-1.02756860e-01 -9.86051990e-01 -1.30929372e-01 1.16796454e+02] [ 4.48331415e-01 -1.63409606e-01 8.78803871e-01 2.09017422e+02] [-8.87941423e-01 3.16033757e-02 4.58869542e-01 -2.46905023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.1907140569999 meters Centerline goodness : 0.997201 Centerline is valid? [True, True] Translation: X:116.79, Y:209.02, Z:-24.69 [[-1.03428800e-01 -9.86071132e-01 -1.30254388e-01 1.16791636e+02] [ 4.47737182e-01 -1.63095764e-01 8.79165052e-01 2.09017071e+02] [-8.88163217e-01 3.26112538e-02 4.58369509e-01 -2.46904313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.2207140569999 meters Centerline goodness : 0.997386 Centerline is valid? [True, True] Translation: X:116.76, Y:208.99, Z:-24.68 [[-1.23004443e-01 -9.88798063e-01 -8.45476008e-02 1.16756224e+02] [ 4.21601973e-01 -1.29190178e-01 8.97530876e-01 2.08986444e+02] [-8.98399512e-01 7.47548505e-02 4.32770181e-01 -2.46797527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.250714057 meters Centerline goodness : 0.997386 Centerline is valid? [True, True] Translation: X:116.80, Y:209.01, Z:-24.68 [[-1.18020844e-01 -9.73250536e-01 -1.97115383e-01 1.16799760e+02] [ 4.16559502e-01 -2.28716189e-01 8.79867653e-01 2.09007080e+02] [-9.01415144e-01 2.17324373e-02 4.32410037e-01 -2.46764874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.280714057 meters Centerline goodness : 0.997462 Centerline is valid? [True, True] Translation: X:116.80, Y:209.02, Z:-24.67 [[-1.12849568e-01 -9.68119326e-01 -2.23629038e-01 1.16803539e+02] [ 4.32387003e-01 -2.50487239e-01 8.66197219e-01 2.09017392e+02] [-8.94598488e-01 1.05569298e-03 4.46869590e-01 -2.46653959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.3107140569999 meters Centerline goodness : 0.997737 Centerline is valid? [True, True] Translation: X:116.79, Y:209.02, Z:-24.69 [[-1.02534532e-01 -9.79299990e-01 -1.74522775e-01 1.16786349e+02] [ 4.46197131e-01 -2.02086164e-01 8.71819535e-01 2.09024734e+02] [-8.89041501e-01 1.15200461e-02 4.57681657e-01 -2.46903403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.3407140569999 meters Centerline goodness : 0.998660 Centerline is valid? [True, True] Translation: X:116.76, Y:209.02, Z:-24.70 [[-9.95364650e-02 -9.86819141e-01 -1.27594966e-01 1.16759488e+02] [ 4.49822763e-01 -1.59006382e-01 8.78849505e-01 2.09022628e+02] [-8.87553928e-01 3.00824526e-02 4.59720645e-01 -2.47047025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.370714057 meters Centerline goodness : 0.998872 Centerline is valid? [True, True] Translation: X:116.76, Y:209.02, Z:-24.70 [[-9.75307328e-02 -9.87115630e-01 -1.26848289e-01 1.16755484e+02] [ 4.50750607e-01 -1.57446511e-01 8.78654930e-01 2.09019752e+02] [-8.87305836e-01 2.85189159e-02 4.60298843e-01 -2.47005564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.400714057 meters Centerline goodness : 0.998827 Centerline is valid? [True, True] Translation: X:116.75, Y:209.03, Z:-24.71 [[-9.41696599e-02 -9.87546382e-01 -1.26032610e-01 1.16746643e+02] [ 4.52795161e-01 -1.55229109e-01 8.77997988e-01 2.09025041e+02] [-8.86627666e-01 2.56138159e-02 4.61774095e-01 -2.47137083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.4307140569999 meters Centerline goodness : 0.999098 Centerline is valid? [True, True] Translation: X:116.74, Y:209.02, Z:-24.70 [[-9.30502562e-02 -9.87744853e-01 -1.25306643e-01 1.16743710e+02] [ 4.53268972e-01 -1.54078787e-01 8.77956130e-01 2.09019985e+02] [-8.86503744e-01 2.48964296e-02 4.62051165e-01 -2.47043201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.4607140569999 meters Centerline goodness : 0.998975 Centerline is valid? [True, True] Translation: X:116.74, Y:209.02, Z:-24.71 [[-9.26401917e-02 -9.87869212e-01 -1.24628305e-01 1.16737989e+02] [ 4.52941970e-01 -1.53276706e-01 8.78265235e-01 2.09021915e+02] [-8.86713802e-01 2.49132698e-02 4.61647011e-01 -2.47087627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.490714057 meters Centerline goodness : 0.999102 Centerline is valid? [True, True] Translation: X:116.74, Y:209.02, Z:-24.71 [[-9.28679580e-02 -9.87927974e-01 -1.23991374e-01 1.16735910e+02] [ 4.51964571e-01 -1.52787770e-01 8.78853756e-01 2.09021756e+02] [-8.87188576e-01 2.55776454e-02 4.60697531e-01 -2.47083758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.520714057 meters Centerline goodness : 0.998973 Centerline is valid? [True, True] Translation: X:116.73, Y:209.02, Z:-24.71 [[-9.50507585e-02 -9.87799652e-01 -1.23358019e-01 1.16730765e+02] [ 4.50620269e-01 -1.53190909e-01 8.79473660e-01 2.09022891e+02] [-8.87641103e-01 2.80070149e-02 4.59683457e-01 -2.47102067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.5507140569999 meters Centerline goodness : 0.999122 Centerline is valid? [True, True] Translation: X:116.73, Y:209.03, Z:-24.72 [[-9.60768151e-02 -9.87786565e-01 -1.22666000e-01 1.16727823e+02] [ 4.50286225e-01 -1.53036962e-01 8.79671532e-01 2.09026513e+02] [-8.87700153e-01 2.92812290e-02 4.59489987e-01 -2.47174826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.5807140569999 meters Centerline goodness : 0.998723 Centerline is valid? [True, True] Translation: X:116.66, Y:209.42, Z:-25.48 [[-1.01065275e-01 -9.89038113e-01 -1.07654175e-01 1.16664150e+02] [ 4.47351123e-01 -1.41829431e-01 8.83040987e-01 2.09415683e+02] [-8.88629722e-01 4.10855639e-02 4.56781341e-01 -2.54762883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.610714057 meters Centerline goodness : 0.998662 Centerline is valid? [True, True] Translation: X:116.71, Y:209.08, Z:-24.81 [[-7.26386898e-02 -9.84937355e-01 -1.56914080e-01 1.16710695e+02] [ 4.53909863e-01 -1.72738770e-01 8.74143669e-01 2.09076926e+02] [-8.88081898e-01 -7.72819769e-03 4.59620297e-01 -2.48144291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.640714057 meters Centerline goodness : 0.999074 Centerline is valid? [True, True] Translation: X:116.67, Y:209.07, Z:-24.82 [[-7.60062848e-02 -9.94928881e-01 -6.58753857e-02 1.16672878e+02] [ 4.55815434e-01 -9.34287014e-02 8.85157256e-01 2.09066281e+02] [-8.86823170e-01 3.72504969e-02 4.60605108e-01 -2.48181608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.6707140569999 meters Centerline goodness : 0.998847 Centerline is valid? [True, True] Translation: X:116.67, Y:209.06, Z:-24.80 [[-7.63978321e-02 -9.94945144e-01 -6.51730876e-02 1.16670079e+02] [ 4.55543715e-01 -9.29731907e-02 8.85345079e-01 2.09057319e+02] [-8.86929137e-01 3.79492542e-02 4.60343958e-01 -2.48028108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.7007140569999 meters Centerline goodness : 0.999516 Centerline is valid? [True, True] Translation: X:116.67, Y:209.06, Z:-24.80 [[-7.57503999e-02 -9.95041348e-01 -6.44561307e-02 1.16667832e+02] [ 4.55914064e-01 -9.20519611e-02 8.85250701e-01 2.09057495e+02] [-8.86794364e-01 3.76716381e-02 4.60626317e-01 -2.48031098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.7307140569999 meters Centerline goodness : 0.999136 Centerline is valid? [True, True] Translation: X:116.66, Y:209.07, Z:-24.82 [[-7.32041102e-02 -9.95278666e-01 -6.37301765e-02 1.16662885e+02] [ 4.56858708e-01 -9.02679713e-02 8.84947351e-01 2.09067036e+02] [-8.86522013e-01 3.56660973e-02 4.61309712e-01 -2.48240637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.760714057 meters Centerline goodness : 0.999366 Centerline is valid? [True, True] Translation: X:116.66, Y:209.09, Z:-24.86 [[-7.12230022e-02 -9.95467655e-01 -6.30193019e-02 1.16659173e+02] [ 4.57284558e-01 -8.87360285e-02 8.84882337e-01 2.09087363e+02] [-8.86463827e-01 3.42062230e-02 4.61532033e-01 -2.48635521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.790714057 meters Centerline goodness : 0.999474 Centerline is valid? [True, True] Translation: X:116.66, Y:209.06, Z:-24.82 [[-6.60436916e-02 -9.95871444e-01 -6.22759848e-02 1.16656491e+02] [ 4.58441342e-01 -8.57192154e-02 8.84581117e-01 2.09062411e+02] [-8.86267323e-01 2.98711165e-02 4.62209854e-01 -2.48174267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.8207140569999 meters Centerline goodness : 0.999456 Centerline is valid? [True, True] Translation: X:116.65, Y:209.07, Z:-24.84 [[-6.24874174e-02 -9.96151780e-01 -6.14569275e-02 1.16653237e+02] [ 4.59130873e-01 -8.33661933e-02 8.84448370e-01 2.09072479e+02] [-8.86168249e-01 2.70501217e-02 4.62573374e-01 -2.48361263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.8507140569999 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:116.65, Y:209.07, Z:-24.84 [[-5.48598289e-02 -9.96645009e-01 -6.07381649e-02 1.16648799e+02] [ 4.60081432e-01 -7.92186888e-02 8.84335613e-01 2.09072618e+02] [-8.86180273e-01 2.05699985e-02 4.62883786e-01 -2.48371564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.880714057 meters Centerline goodness : 0.999603 Centerline is valid? [True, True] Translation: X:116.65, Y:209.08, Z:-24.84 [[-5.11215382e-02 -9.96888065e-01 -6.00064447e-02 1.16646426e+02] [ 4.60948039e-01 -7.68548112e-02 8.84092893e-01 2.09076493e+02] [-8.85953438e-01 1.75363356e-02 4.63442535e-01 -2.48439239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.910714057 meters Centerline goodness : 0.999601 Centerline is valid? [True, True] Translation: X:116.64, Y:209.08, Z:-24.84 [[-4.50625913e-02 -9.97224710e-01 -5.92641578e-02 1.16643393e+02] [ 4.62262864e-01 -7.34061849e-02 8.83699370e-01 2.09076707e+02] [-8.85597204e-01 1.24261642e-02 4.64287824e-01 -2.48445911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.9407140569999 meters Centerline goodness : 0.998867 Centerline is valid? [True, True] Translation: X:116.61, Y:209.46, Z:-25.59 [[-4.24890485e-02 -9.98005214e-01 -4.66934026e-02 1.16611261e+02] [ 4.61529131e-01 -6.10563912e-02 8.85021457e-01 2.09463963e+02] [-8.86106959e-01 1.60533541e-02 4.63202707e-01 -2.55855177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.9707140569999 meters Centerline goodness : 0.999393 Centerline is valid? [True, True] Translation: X:116.64, Y:209.11, Z:-24.91 [[-2.70908534e-02 -9.96046779e-01 -8.45984625e-02 1.16641686e+02] [ 4.64765339e-01 -8.74765925e-02 8.81102165e-01 2.09109938e+02] [-8.85019359e-01 -1.54486235e-02 4.65297834e-01 -2.49063713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.000714057 meters Centerline goodness : 0.999415 Centerline is valid? [True, True] Translation: X:116.62, Y:209.11, Z:-24.91 [[-2.54811839e-02 -9.99125447e-01 -3.31519421e-02 1.16621062e+02] [ 4.64667773e-01 -4.12000746e-02 8.84526096e-01 2.09108659e+02] [-8.85118393e-01 7.13413306e-03 4.65311223e-01 -2.49105135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.030714057 meters Centerline goodness : 0.999454 Centerline is valid? [True, True] Translation: X:116.62, Y:209.11, Z:-24.91 [[-2.45191496e-02 -9.99172619e-01 -3.24482592e-02 1.16620518e+02] [ 4.64155638e-01 -4.01255588e-02 8.84844327e-01 2.09111053e+02] [-8.85414228e-01 6.63458803e-03 4.64755448e-01 -2.49144065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.0607140569999 meters Centerline goodness : 0.999476 Centerline is valid? [True, True] Translation: X:116.62, Y:209.11, Z:-24.92 [[-2.32897796e-02 -9.99224848e-01 -3.17378083e-02 1.16620341e+02] [ 4.63949102e-01 -3.89236049e-02 8.85006319e-01 2.09113557e+02] [-8.85555655e-01 5.88687449e-03 4.64495993e-01 -2.49182537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.0907140569999 meters Centerline goodness : 0.999475 Centerline is valid? [True, True] Translation: X:116.62, Y:209.11, Z:-24.92 [[-2.01189935e-02 -9.99315377e-01 -3.10484167e-02 1.16620293e+02] [ 4.62550288e-01 -3.68348067e-02 8.85827539e-01 2.09113856e+02] [-8.86364743e-01 3.46050442e-03 4.62974695e-01 -2.49184436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.120714057 meters Centerline goodness : 0.999414 Centerline is valid? [True, True] Translation: X:116.62, Y:209.12, Z:-24.92 [[-1.78584158e-02 -9.99380282e-01 -3.03336434e-02 1.16620224e+02] [ 4.62501993e-01 -3.51545513e-02 8.85921026e-01 2.09116689e+02] [-8.86438370e-01 1.79177548e-03 4.62843177e-01 -2.49229088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.150714057 meters Centerline goodness : 0.999643 Centerline is valid? [True, True] Translation: X:116.62, Y:209.12, Z:-24.93 [[-1.48864574e-02 -9.99450413e-01 -2.96186820e-02 1.16620459e+02] [ 4.62461734e-01 -3.31453626e-02 8.86019486e-01 2.09119312e+02] [-8.86514263e-01 -5.07815665e-04 4.62700988e-01 -2.49282523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.1807140569999 meters Centerline goodness : 0.999727 Centerline is valid? [True, True] Translation: X:116.62, Y:209.12, Z:-24.94 [[-9.18169023e-03 -9.99540505e-01 -2.88872809e-02 1.16622320e+02] [ 4.63387022e-01 -2.98525012e-02 8.85653034e-01 2.09123054e+02] [-8.86108439e-01 -5.25419927e-03 4.63448194e-01 -2.49351560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.2107140569999 meters Centerline goodness : 0.999622 Centerline is valid? [True, True] Translation: X:116.62, Y:209.13, Z:-24.94 [[-6.27779258e-03 -9.99583624e-01 -2.81632553e-02 1.16623251e+02] [ 4.63649209e-01 -2.78631286e-02 8.85580633e-01 2.09126491e+02] [-8.85996614e-01 -7.49837951e-03 4.63631075e-01 -2.49438388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.240714057 meters Centerline goodness : 0.999643 Centerline is valid? [True, True] Translation: X:116.63, Y:209.13, Z:-24.95 [[-3.34417136e-04 -9.99623945e-01 -2.74200072e-02 1.16626153e+02] [ 4.65009242e-01 -2.44305417e-02 8.84968674e-01 2.09130910e+02] [-8.85305763e-01 -1.24546081e-02 4.64842543e-01 -2.49545647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.270714057 meters Centerline goodness : 0.999811 Centerline is valid? [True, True] Translation: X:116.63, Y:209.13, Z:-24.95 [[ 2.43092132e-03 -9.99640827e-01 -2.66891004e-02 1.16628065e+02] [ 4.65265107e-01 -2.24938551e-02 8.84885533e-01 2.09129941e+02] [-8.85168047e-01 -1.45685943e-02 4.65043316e-01 -2.49530938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.3007140569999 meters Centerline goodness : 0.999666 Centerline is valid? [True, True] Translation: X:116.63, Y:209.13, Z:-24.96 [[ 6.07589265e-03 -9.99645131e-01 -2.59363858e-02 1.16632036e+02] [ 4.66906389e-01 -2.01000553e-02 8.84078284e-01 2.09131170e+02] [-8.84285874e-01 -1.74814290e-02 4.66618573e-01 -2.49569810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.3307140569999 meters Centerline goodness : 0.999621 Centerline is valid? [True, True] Translation: X:116.63, Y:209.13, Z:-24.96 [[ 7.84409891e-03 -9.99651468e-01 -2.52074078e-02 1.16634201e+02] [ 4.67015987e-01 -1.86278483e-02 8.84052640e-01 2.09132108e+02] [-8.84214079e-01 -1.87068588e-02 4.66707098e-01 -2.49604994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.360714057 meters Centerline goodness : 0.999579 Centerline is valid? [True, True] Translation: X:116.64, Y:209.14, Z:-24.97 [[ 9.74633169e-03 -9.99653501e-01 -2.44517477e-02 1.16639528e+02] [ 4.68971656e-01 -1.70272396e-02 8.83049069e-01 2.09135358e+02] [-8.83159439e-01 -2.00736657e-02 4.68643204e-01 -2.49672935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.390714057 meters Centerline goodness : 0.999559 Centerline is valid? [True, True] Translation: X:116.65, Y:209.14, Z:-24.97 [[ 1.02996090e-02 -9.99665654e-01 -2.37170362e-02 1.16646043e+02] [ 4.69386558e-01 -1.61093744e-02 8.82845823e-01 2.09136050e+02] [-8.82932714e-01 -2.02254248e-02 4.69063700e-01 -2.49666163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.4207140569999 meters Centerline goodness : 0.999219 Centerline is valid? [True, True] Translation: X:116.65, Y:209.14, Z:-24.97 [[ 1.10122669e-02 -9.99674836e-01 -2.29989665e-02 1.16649525e+02] [ 4.68540040e-01 -1.51605087e-02 8.83312170e-01 2.09137762e+02] [-8.83373625e-01 -2.05032060e-02 4.68220736e-01 -2.49699343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.4507140569999 meters Centerline goodness : 0.999097 Centerline is valid? [True, True] Translation: X:116.66, Y:209.14, Z:-24.98 [[ 1.08222512e-02 -9.99693048e-01 -2.22865047e-02 1.16655777e+02] [ 4.67202827e-01 -1.46502222e-02 8.84028783e-01 2.09142465e+02] [-8.84083931e-01 -1.99794996e-02 4.66900869e-01 -2.49757577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.4807140569999 meters Centerline goodness : 0.999160 Centerline is valid? [True, True] Translation: X:116.66, Y:209.14, Z:-24.97 [[ 1.12004304e-02 -9.99704805e-01 -2.15604549e-02 1.16659197e+02] [ 4.66741913e-01 -1.38419678e-02 8.84285241e-01 2.09141003e+02] [-8.84322643e-01 -1.99675433e-02 4.66449097e-01 -2.49710272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.510714057 meters Centerline goodness : 0.999160 Centerline is valid? [True, True] Translation: X:116.67, Y:209.14, Z:-24.98 [[ 1.18779061e-02 -9.99712056e-01 -2.08499382e-02 1.16666733e+02] [ 4.65021531e-01 -1.29367093e-02 8.85204845e-01 2.09143659e+02] [-8.85219685e-01 -2.02100502e-02 4.64733970e-01 -2.49760812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.540714057 meters Centerline goodness : 0.999053 Centerline is valid? [True, True] Translation: X:116.67, Y:209.14, Z:-24.98 [[ 1.43563280e-02 -9.99694319e-01 -2.01286834e-02 1.16674757e+02] [ 4.64215065e-01 -1.11660008e-02 8.85652129e-01 2.09144599e+02] [-8.85606159e-01 -2.20587506e-02 4.63912861e-01 -2.49779112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.5707140569999 meters Centerline goodness : 0.999031 Centerline is valid? [True, True] Translation: X:116.68, Y:209.15, Z:-24.98 [[ 1.61098962e-02 -9.99681995e-01 -1.94005114e-02 1.16678338e+02] [ 4.63901095e-01 -9.71531828e-03 8.85833724e-01 2.09147070e+02] [-8.85740507e-01 -2.32706078e-02 4.63597059e-01 -2.49816876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.6007140569999 meters Centerline goodness : 0.998547 Centerline is valid? [True, True] Translation: X:116.69, Y:209.15, Z:-24.98 [[ 1.99199653e-02 -9.99627128e-01 -1.86762151e-02 1.16686423e+02] [ 4.63403638e-01 -7.32105859e-03 8.86117075e-01 2.09148405e+02] [-8.85923396e-01 -2.63060474e-02 4.63085012e-01 -2.49847470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.630714057 meters Centerline goodness : 0.998654 Centerline is valid? [True, True] Translation: X:116.70, Y:209.15, Z:-24.99 [[ 2.38667609e-02 -9.99554082e-01 -1.79447688e-02 1.16695793e+02] [ 4.63471111e-01 -4.84144286e-03 8.86098804e-01 2.09149494e+02] [-8.85790555e-01 -2.94651902e-02 4.63148891e-01 -2.49884353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.660714057 meters Centerline goodness : 0.998316 Centerline is valid? [True, True] Translation: X:116.70, Y:209.15, Z:-25.00 [[ 2.62838169e-02 -9.99506336e-01 -1.72117696e-02 1.16700752e+02] [ 4.63635632e-01 -3.06538263e-03 8.86020657e-01 2.09152855e+02] [-8.85636021e-01 -3.12679944e-02 4.63326182e-01 -2.49959644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.6907140569999 meters Centerline goodness : 0.997982 Centerline is valid? [True, True] Translation: X:116.71, Y:209.15, Z:-25.00 [[ 2.97694387e-02 -9.99421152e-01 -1.64663667e-02 1.16711616e+02] [ 4.64932659e-01 -7.38070589e-04 8.85345739e-01 2.09153443e+02] [-8.84845412e-01 -3.40119974e-02 4.64641562e-01 -2.49986312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.7207140569999 meters Centerline goodness : 0.997642 Centerline is valid? [True, True] Translation: X:116.72, Y:209.16, Z:-25.00 [[ 3.14716108e-02 -9.99380940e-01 -1.57249831e-02 1.16717166e+02] [ 4.65741423e-01 7.42731975e-04 8.84920547e-01 2.09155497e+02] [-8.84361049e-01 -3.51736511e-02 4.65476476e-01 -2.50038430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.750714057 meters Centerline goodness : 0.997173 Centerline is valid? [True, True] Translation: X:116.73, Y:209.16, Z:-25.01 [[ 3.30277685e-02 -9.99342167e-01 -1.49799703e-02 1.16728653e+02] [ 4.66939639e-01 2.17682065e-03 8.84286512e-01 2.09155750e+02] [-8.83672190e-01 -3.62007521e-02 4.66704366e-01 -2.50063798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.780714057 meters Centerline goodness : 0.996114 Centerline is valid? [True, True] Translation: X:116.74, Y:209.16, Z:-24.98 [[ 2.67187793e-02 -9.99174942e-01 -3.05866492e-02 1.16736520e+02] [ 4.80565106e-01 -1.39912555e-02 8.76847435e-01 2.09159084e+02] [-8.76551930e-01 -3.81271694e-02 4.79794783e-01 -2.49834847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.8107140569999 meters Centerline goodness : 0.996153 Centerline is valid? [True, True] Translation: X:116.75, Y:209.15, Z:-24.98 [[ 2.48867453e-02 -9.99205018e-01 -3.11445214e-02 1.16749543e+02] [ 4.76940153e-01 -1.55126143e-02 8.78798867e-01 2.09154099e+02] [-8.78583371e-01 -3.67245164e-02 4.76174936e-01 -2.49802738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.8407140569999 meters Centerline goodness : 0.995711 Centerline is valid? [True, True] Translation: X:116.76, Y:209.16, Z:-24.99 [[ 2.66751824e-02 -9.98863024e-01 -3.95106791e-02 1.16759028e+02] [ 4.77599376e-01 -2.19872794e-02 8.78302565e-01 2.09160551e+02] [-8.78172688e-01 -4.22991568e-02 4.76469843e-01 -2.49851117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.870714057 meters Centerline goodness : 0.994749 Centerline is valid? [True, True] Translation: X:116.77, Y:209.16, Z:-25.01 [[ 3.66142089e-02 -9.99154705e-01 -1.86888979e-02 1.16770062e+02] [ 4.66710771e-01 5.60074109e-04 8.84409828e-01 2.09160082e+02] [-8.83651773e-01 -4.11042761e-02 4.66336769e-01 -2.50129181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.900714057 meters Centerline goodness : 0.994170 Centerline is valid? [True, True] Translation: X:116.78, Y:209.16, Z:-25.01 [[ 3.82918021e-02 -9.99195474e-01 -1.19223474e-02 1.16780144e+02] [ 4.66020300e-01 7.30240803e-03 8.84743893e-01 2.09158895e+02] [-8.83945031e-01 -3.94344939e-02 4.65924997e-01 -2.50128850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.9307140569999 meters Centerline goodness : 0.988957 Centerline is valid? [True, True] Translation: X:116.78, Y:209.66, Z:-25.97 [[ 4.31842541e-02 -9.98970968e-01 -1.38609464e-02 1.16784040e+02] [ 4.62492800e-01 7.69134926e-03 8.86589676e-01 2.09660528e+02] [-8.85570737e-01 -4.46973018e-02 4.62349026e-01 -2.59693280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.9607140569999 meters Centerline goodness : 0.995019 Centerline is valid? [True, True] Translation: X:116.23, Y:209.79, Z:-24.78 [[-1.08635622e-01 9.00717515e-01 4.20602259e-01 1.16229894e+02] [ 4.22500379e-01 4.24825319e-01 -8.00635297e-01 2.09794958e+02] [-8.99828723e-01 9.07271004e-02 -4.26704654e-01 -2.47773236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.990714057 meters Centerline goodness : 0.994625 Centerline is valid? [True, True] Translation: X:116.90, Y:209.27, Z:-25.09 [[-2.40354616e-02 -9.90223153e-01 -1.37405980e-01 1.16900181e+02] [ 4.44349531e-01 -1.33704285e-01 8.85819767e-01 2.09267340e+02] [-8.95531011e-01 -3.97651957e-02 4.43218837e-01 -2.50946825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.020714057 meters Centerline goodness : 0.989235 Centerline is valid? [True, True] Translation: X:116.84, Y:209.73, Z:-26.03 [[-1.95013609e-02 -9.90604489e-01 -1.35360417e-01 1.16844499e+02] [ 4.42796344e-01 -1.29941864e-01 8.87156418e-01 2.09726514e+02] [-8.96410115e-01 -4.26363405e-02 4.41170090e-01 -2.60333341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.0507140569999 meters Centerline goodness : 0.995166 Centerline is valid? [True, True] Translation: X:116.42, Y:209.98, Z:-24.81 [[-1.77497356e-01 9.82075730e-01 -6.34188444e-02 1.16421769e+02] [ 4.39077334e-01 2.13553278e-02 -8.98195438e-01 2.09975436e+02] [-8.80741610e-01 -1.87273093e-01 -4.34997707e-01 -2.48089051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.0807140569999 meters Centerline goodness : 0.995343 Centerline is valid? [True, True] Translation: X:117.01, Y:209.37, Z:-25.20 [[-9.63317798e-02 -9.60429547e-01 -2.61333644e-01 1.17014576e+02] [ 4.53120531e-01 -2.76086162e-01 8.47619146e-01 2.09370117e+02] [-8.86229075e-01 -3.67629786e-02 4.61786218e-01 -2.52005914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.110714057 meters Centerline goodness : 0.995155 Centerline is valid? [True, True] Translation: X:117.02, Y:209.37, Z:-25.20 [[-9.64827664e-02 -9.60598950e-01 -2.60654434e-01 1.17019460e+02] [ 4.52834052e-01 -2.75567885e-01 8.47940836e-01 2.09372220e+02] [-8.86359068e-01 -3.62215261e-02 4.61579467e-01 -2.52020872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.140714057 meters Centerline goodness : 0.995670 Centerline is valid? [True, True] Translation: X:117.03, Y:209.38, Z:-25.20 [[-9.72596113e-02 -9.60734266e-01 -2.59865808e-01 1.17029064e+02] [ 4.53117110e-01 -2.75217709e-01 8.47903354e-01 2.09375761e+02] [-8.86129479e-01 -3.52828932e-02 4.62092702e-01 -2.52016474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.1707140569999 meters Centerline goodness : 0.995670 Centerline is valid? [True, True] Translation: X:117.03, Y:209.38, Z:-25.20 [[-9.68807941e-02 -9.60964148e-01 -2.59156357e-01 1.17028446e+02] [ 4.53198367e-01 -2.74413993e-01 8.48120393e-01 2.09376534e+02] [-8.86129422e-01 -3.52826606e-02 4.62092828e-01 -2.52038833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.2007140569999 meters Centerline goodness : 0.995638 Centerline is valid? [True, True] Translation: X:117.03, Y:209.38, Z:-25.21 [[-9.68301260e-02 -9.61183893e-01 -2.58359150e-01 1.17032890e+02] [ 4.53789390e-01 -2.73663693e-01 8.48046798e-01 2.09379166e+02] [-8.85832442e-01 -3.51241630e-02 4.62673943e-01 -2.52059824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.2307140569999 meters Centerline goodness : 0.996241 Centerline is valid? [True, True] Translation: X:117.04, Y:209.38, Z:-25.21 [[-9.66706407e-02 -9.61442526e-01 -2.57454961e-01 1.17041777e+02] [ 4.55145003e-01 -2.72738784e-01 8.47618182e-01 2.09384846e+02] [-8.85154119e-01 -3.52395464e-02 4.63961594e-01 -2.52098316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.260714057 meters Centerline goodness : 0.995958 Centerline is valid? [True, True] Translation: X:117.05, Y:209.39, Z:-25.21 [[-9.60304695e-02 -9.61740132e-01 -2.56581505e-01 1.17049609e+02] [ 4.56423901e-01 -2.71621540e-01 8.47289184e-01 2.09389363e+02] [-8.84565075e-01 -3.57443530e-02 4.65045126e-01 -2.52131025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.290714057 meters Centerline goodness : 0.995072 Centerline is valid? [True, True] Translation: X:117.05, Y:209.36, Z:-25.18 [[-1.08610564e-01 -9.63771974e-01 -2.43613070e-01 1.17045202e+02] [ 4.42679635e-01 -2.66313945e-01 8.56219378e-01 2.09362796e+02] [-8.90077798e-01 -1.48480756e-02 4.55566734e-01 -2.51833604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.3207140569999 meters Centerline goodness : 0.996050 Centerline is valid? [True, True] Translation: X:117.06, Y:209.35, Z:-25.16 [[-1.12281851e-01 -9.56863150e-01 -2.67965851e-01 1.17060976e+02] [ 4.29370583e-01 -2.89915857e-01 8.55330169e-01 2.09353937e+02] [-8.96121470e-01 -1.90185992e-02 4.43401178e-01 -2.51574002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.3507140569999 meters Centerline goodness : 0.995890 Centerline is valid? [True, True] Translation: X:117.10, Y:209.45, Z:-25.20 [[-9.42323244e-02 -9.22607273e-01 -3.74053591e-01 1.17097465e+02] [ 4.62811140e-01 -3.73254536e-01 8.04044091e-01 2.09449360e+02] [-8.81434126e-01 -9.73492253e-02 4.62165566e-01 -2.51983453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.380714057 meters Centerline goodness : 0.995591 Centerline is valid? [True, True] Translation: X:117.07, Y:209.40, Z:-25.22 [[-8.95627483e-02 -9.63176809e-01 -2.53513214e-01 1.17071117e+02] [ 4.59701721e-01 -2.65778485e-01 8.47370123e-01 2.09402828e+02] [-8.83545608e-01 -4.06476638e-02 4.66577888e-01 -2.52233018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.410714057 meters Centerline goodness : 0.995114 Centerline is valid? [True, True] Translation: X:117.07, Y:209.40, Z:-25.22 [[-8.80988949e-02 -9.63519374e-01 -2.52723171e-01 1.17074755e+02] [ 4.60619892e-01 -2.64360302e-01 8.47315140e-01 2.09404125e+02] [-8.83214526e-01 -4.17617923e-02 4.67106041e-01 -2.52228120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.4407140569999 meters Centerline goodness : 0.993940 Centerline is valid? [True, True] Translation: X:117.02, Y:209.62, Z:-25.62 [[-9.13861502e-02 -9.60453832e-01 -2.63015225e-01 1.17022276e+02] [ 4.67163776e-01 -2.74602195e-01 8.40447286e-01 2.09616034e+02] [-8.79435375e-01 -4.60659435e-02 4.73784076e-01 -2.56235149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.4707140569999 meters Centerline goodness : 0.995384 Centerline is valid? [True, True] Translation: X:117.08, Y:209.42, Z:-25.24 [[-8.38426384e-02 -9.63006588e-01 -2.56102957e-01 1.17083622e+02] [ 4.63227209e-01 -2.65216389e-01 8.45624515e-01 2.09416290e+02] [-8.82264680e-01 -4.77344675e-02 4.68327295e-01 -2.52366881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.500714057 meters Centerline goodness : 0.994740 Centerline is valid? [True, True] Translation: X:117.09, Y:209.42, Z:-25.24 [[-8.08802028e-02 -9.65178710e-01 -2.48773895e-01 1.17087702e+02] [ 4.64456036e-01 -2.57333080e-01 8.47384374e-01 2.09417210e+02] [-8.81895109e-01 -4.70079171e-02 4.69096229e-01 -2.52407471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.530714057 meters Centerline goodness : 0.994530 Centerline is valid? [True, True] Translation: X:117.09, Y:209.42, Z:-25.24 [[-7.80700213e-02 -9.65600116e-01 -2.48035257e-01 1.17093788e+02] [ 4.65341648e-01 -2.55323782e-01 8.47506293e-01 2.09421072e+02] [-8.81681475e-01 -4.92563006e-02 4.69267082e-01 -2.52445611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.5607140569999 meters Centerline goodness : 0.994886 Centerline is valid? [True, True] Translation: X:117.10, Y:209.42, Z:-25.24 [[-7.73508439e-02 -9.65854398e-01 -2.47269343e-01 1.17097268e+02] [ 4.65853946e-01 -2.54286795e-01 8.47536622e-01 2.09421091e+02] [-8.81474303e-01 -4.96337263e-02 4.69616381e-01 -2.52426531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.5907140569999 meters Centerline goodness : 0.992272 Centerline is valid? [True, True] Translation: X:117.09, Y:209.34, Z:-25.19 [[-1.02079141e-01 -9.76676535e-01 -1.88898901e-01 1.17085863e+02] [ 4.20407669e-01 -2.14455086e-01 8.81627137e-01 2.09338161e+02] [-9.01574867e-01 1.05811942e-02 4.32493696e-01 -2.51901474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.620714057 meters Centerline goodness : 0.993738 Centerline is valid? [True, True] Translation: X:117.15, Y:209.51, Z:-25.21 [[-8.39542893e-02 -9.01896950e-01 -4.23714017e-01 1.17151306e+02] [ 4.75087662e-01 -4.10003991e-01 7.78581044e-01 2.09512603e+02] [-8.75924307e-01 -1.35936083e-01 4.62901707e-01 -2.52098447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.650714057 meters Centerline goodness : 0.993061 Centerline is valid? [True, True] Translation: X:117.11, Y:209.43, Z:-25.25 [[-8.19570896e-02 -9.66061445e-01 -2.44965957e-01 1.17114158e+02] [ 4.67315633e-01 -2.54347937e-01 8.46713190e-01 2.09430377e+02] [-8.80283554e-01 -4.50822722e-02 4.72301232e-01 -2.52501660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.6807140569999 meters Centerline goodness : 0.992041 Centerline is valid? [True, True] Translation: X:117.10, Y:209.36, Z:-25.20 [[-1.05991724e-01 -9.74311843e-01 -1.98701253e-01 1.17102952e+02] [ 4.27105056e-01 -2.25062538e-01 8.75744326e-01 2.09356584e+02] [-8.97968277e-01 7.95534075e-03 4.39988281e-01 -2.52028237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.7107140569999 meters Centerline goodness : 0.992888 Centerline is valid? [True, True] Translation: X:117.16, Y:209.51, Z:-25.22 [[-9.42695211e-02 -9.16775033e-01 -3.88119565e-01 1.17161575e+02] [ 4.70408540e-01 -3.84608206e-01 7.94224360e-01 2.09505994e+02] [-8.77399033e-01 -1.07703608e-01 4.67515636e-01 -2.52200024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.740714057 meters Centerline goodness : 0.992923 Centerline is valid? [True, True] Translation: X:117.13, Y:209.44, Z:-25.25 [[-9.41223972e-02 -9.65365862e-01 -2.43330489e-01 1.17129370e+02] [ 4.64907807e-01 -2.58748976e-01 8.46705202e-01 2.09435656e+02] [-8.80341812e-01 -3.34323206e-02 4.73160199e-01 -2.52492713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.770714057 meters Centerline goodness : 0.988809 Centerline is valid? [True, True] Translation: X:117.05, Y:209.74, Z:-25.85 [[-1.02287824e-01 -9.63771298e-01 -2.46337343e-01 1.17052038e+02] [ 4.63009369e-01 -2.65303379e-01 8.45716525e-01 2.09739373e+02] [-8.80431443e-01 -2.75499942e-02 4.73372446e-01 -2.58480100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.8007140569999 meters Centerline goodness : 0.984079 Centerline is valid? [True, True] Translation: X:117.02, Y:209.89, Z:-26.16 [[-9.74347760e-02 -9.64822172e-01 -2.44181575e-01 1.17017455e+02] [ 4.61072409e-01 -2.61191184e-01 8.48051531e-01 2.09894420e+02] [-8.81996994e-01 -2.99556760e-02 4.70301988e-01 -2.61598901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.8307140569999 meters Centerline goodness : 0.992921 Centerline is valid? [True, True] Translation: X:116.11, Y:209.69, Z:-25.05 [[-1.79856937e-01 7.41587280e-01 6.46296982e-01 1.16106781e+02] [ 3.82748855e-01 6.57994814e-01 -6.48495288e-01 2.09691729e+02] [-9.06175919e-01 1.30733054e-01 -4.02186613e-01 -2.50472535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.860714057 meters Centerline goodness : 0.992990 Centerline is valid? [True, True] Translation: X:116.18, Y:209.87, Z:-24.96 [[-2.53493788e-01 8.98601514e-01 3.58128774e-01 1.16175681e+02] [ 3.56051188e-01 4.30905029e-01 -8.29185388e-01 2.09873994e+02] [-8.99426735e-01 -8.26811696e-02 -4.29179885e-01 -2.49573264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.890714057 meters Centerline goodness : 0.992038 Centerline is valid? [True, True] Translation: X:117.24, Y:209.69, Z:-25.33 [[-2.36368764e-01 -8.38510892e-01 -4.90947340e-01 1.17244827e+02] [ 3.84264088e-01 -5.44742171e-01 7.45383846e-01 2.09692774e+02] [-8.92452194e-01 -1.24679738e-02 4.50969657e-01 -2.53261818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.9207140569999 meters Centerline goodness : 0.990161 Centerline is valid? [True, True] Translation: X:117.11, Y:209.89, Z:-25.81 [[-2.38146581e-01 -8.36598036e-01 -4.93345652e-01 1.17113535e+02] [ 3.80692894e-01 -5.47718782e-01 7.45034936e-01 2.09894473e+02] [-8.93509444e-01 -1.03856609e-02 4.48924283e-01 -2.58142472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.9507140569999 meters Centerline goodness : 0.992601 Centerline is valid? [True, True] Translation: X:117.25, Y:209.71, Z:-25.33 [[-2.33712236e-01 -8.29866590e-01 -5.06655736e-01 1.17245906e+02] [ 3.84037003e-01 -5.57505547e-01 7.36004854e-01 2.09707065e+02] [-8.93249221e-01 -2.25612100e-02 4.48995346e-01 -2.53318702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.9807140569999 meters Centerline goodness : 0.990853 Centerline is valid? [True, True] Translation: X:117.25, Y:209.59, Z:-25.30 [[-2.42636683e-01 -8.69427424e-01 -4.30375875e-01 1.17248814e+02] [ 3.21784278e-01 -4.90645506e-01 8.09766551e-01 2.09590413e+02] [-9.15195235e-01 5.79908798e-02 3.98816674e-01 -2.52968442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.010714057 meters Centerline goodness : 0.992369 Centerline is valid? [True, True] Translation: X:117.25, Y:209.83, Z:-25.29 [[-2.29980925e-01 -6.92241845e-01 -6.84039474e-01 1.17253050e+02] [ 3.95660270e-01 -7.08676542e-01 5.84149390e-01 2.09834876e+02] [-8.89135380e-01 -1.36304026e-01 4.36874682e-01 -2.52932301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.040714057 meters Centerline goodness : 0.983974 Centerline is valid? [True, True] Translation: X:117.00, Y:210.08, Z:-26.26 [[-2.16510291e-01 -8.45295571e-01 -4.88465650e-01 1.17000468e+02] [ 3.96838368e-01 -5.33333887e-01 7.47043690e-01 2.10078019e+02] [-8.91988007e-01 -3.20992643e-02 4.50917990e-01 -2.62628877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.0707140569999 meters Centerline goodness : 0.993563 Centerline is valid? [True, True] Translation: X:116.14, Y:209.75, Z:-25.14 [[-3.06645481e-01 6.69209474e-01 6.76850965e-01 1.16140648e+02] [ 2.89764103e-01 7.42990595e-01 -6.03325567e-01 2.09752102e+02] [-9.06645087e-01 1.11200547e-02 -4.21747591e-01 -2.51433638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.1007140569999 meters Centerline goodness : 0.991070 Centerline is valid? [True, True] Translation: X:117.28, Y:209.74, Z:-25.38 [[-2.71834474e-01 -7.88687033e-01 -5.51433390e-01 1.17284964e+02] [ 2.83377409e-01 -6.13206026e-01 7.37343620e-01 2.09744920e+02] [-9.19675629e-01 4.41716498e-02 3.90186626e-01 -2.53751502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.130714057 meters Centerline goodness : 0.990384 Centerline is valid? [True, True] Translation: X:117.30, Y:209.87, Z:-25.34 [[-2.53771057e-01 -6.37513391e-01 -7.27445481e-01 1.17297681e+02] [ 2.78954288e-01 -7.68347045e-01 5.76044551e-01 2.09873245e+02] [-9.26166700e-01 -5.67406017e-02 3.72821335e-01 -2.53402435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.160714057 meters Centerline goodness : 0.992614 Centerline is valid? [True, True] Translation: X:117.23, Y:210.05, Z:-25.41 [[-2.74969794e-01 -5.30151928e-01 -8.02078890e-01 1.17227376e+02] [ 3.71442138e-01 -8.28041362e-01 4.19974096e-01 2.10045497e+02] [-8.86804573e-01 -1.82445707e-01 4.24607128e-01 -2.54076665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.1907140569999 meters Centerline goodness : 0.992928 Centerline is valid? [True, True] Translation: X:117.25, Y:209.87, Z:-25.47 [[-2.58942882e-01 -7.61011988e-01 -5.94818744e-01 1.17249224e+02] [ 3.66144673e-01 -6.47199331e-01 6.68633760e-01 2.09871759e+02] [-8.93804600e-01 -4.46517618e-02 4.46228145e-01 -2.54749591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.2207140569999 meters Centerline goodness : 0.989796 Centerline is valid? [True, True] Translation: X:117.28, Y:209.74, Z:-25.41 [[-2.63363820e-01 -7.98013851e-01 -5.42045563e-01 1.17278679e+02] [ 2.75153384e-01 -6.00680431e-01 7.50648810e-01 2.09742129e+02] [-9.24624309e-01 4.85480674e-02 3.77773704e-01 -2.54077419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.250714057 meters Centerline goodness : 0.991248 Centerline is valid? [True, True] Translation: X:117.29, Y:209.92, Z:-25.35 [[-2.52859233e-01 -6.08508659e-01 -7.52183103e-01 1.17287428e+02] [ 2.94633788e-01 -7.88952105e-01 5.39208222e-01 2.09920136e+02] [-9.21549315e-01 -8.52747794e-02 3.78781036e-01 -2.53546487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.280714057 meters Centerline goodness : 0.989694 Centerline is valid? [True, True] Translation: X:117.29, Y:209.92, Z:-25.36 [[-2.54955838e-01 -6.09002410e-01 -7.51074953e-01 1.17288182e+02] [ 2.96331793e-01 -7.88580025e-01 5.38821875e-01 2.09921779e+02] [-9.20426526e-01 -8.51916050e-02 3.81519857e-01 -2.53551793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.3107140569999 meters Centerline goodness : 0.991184 Centerline is valid? [True, True] Translation: X:117.29, Y:209.88, Z:-25.37 [[-2.59896758e-01 -6.69964873e-01 -6.95414081e-01 1.17291634e+02] [ 2.94527934e-01 -7.40843967e-01 6.03658440e-01 2.09877687e+02] [-9.19623277e-01 -4.79300014e-02 3.89866315e-01 -2.53727028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.3407140569999 meters Centerline goodness : 0.992967 Centerline is valid? [True, True] Translation: X:117.28, Y:209.96, Z:-25.36 [[-2.68383042e-01 -5.91650774e-01 -7.60210434e-01 1.17276038e+02] [ 3.25006275e-01 -7.98505306e-01 5.06715105e-01 2.09962555e+02] [-9.06830449e-01 -1.11079421e-01 4.06595498e-01 -2.53575982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.370714057 meters Centerline goodness : 0.992347 Centerline is valid? [True, True] Translation: X:117.30, Y:209.86, Z:-25.36 [[-2.64376161e-01 -6.89587077e-01 -6.74221706e-01 1.17299832e+02] [ 2.97997518e-01 -7.23296021e-01 6.22928845e-01 2.09863535e+02] [-9.17225558e-01 -3.62288585e-02 3.96717462e-01 -2.53605261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.400714057 meters Centerline goodness : 0.991917 Centerline is valid? [True, True] Translation: X:117.29, Y:209.93, Z:-25.35 [[-2.62329353e-01 -6.17486166e-01 -7.41548478e-01 1.17293521e+02] [ 3.04030880e-01 -7.82211512e-01 5.43792584e-01 2.09927073e+02] [-9.15832154e-01 -8.28008792e-02 3.92931902e-01 -2.53501350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.4307140569999 meters Centerline goodness : 0.992412 Centerline is valid? [True, True] Translation: X:117.30, Y:209.90, Z:-25.38 [[-2.58205840e-01 -6.49049605e-01 -7.15586720e-01 1.17296931e+02] [ 2.87751710e-01 -7.58753652e-01 5.84373039e-01 2.09901565e+02] [-9.22241128e-01 -5.50227705e-02 3.82679758e-01 -2.53804323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.4607140569999 meters Centerline goodness : 0.993187 Centerline is valid? [True, True] Translation: X:117.24, Y:210.06, Z:-25.43 [[-2.73960690e-01 -5.44787755e-01 -7.92560308e-01 1.17237711e+02] [ 3.72109421e-01 -8.19950340e-01 4.34989676e-01 2.10061992e+02] [-8.86837144e-01 -1.75749086e-01 4.27354817e-01 -2.54256543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.490714057 meters Centerline goodness : 0.990809 Centerline is valid? [True, True] Translation: X:117.29, Y:209.77, Z:-25.42 [[-2.72041474e-01 -7.93613202e-01 -5.44216429e-01 1.17293903e+02] [ 2.84971360e-01 -6.06619030e-01 7.42162163e-01 2.09769716e+02] [-9.19121733e-01 4.68127927e-02 3.91182569e-01 -2.54167225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.520714057 meters Centerline goodness : 0.991172 Centerline is valid? [True, True] Translation: X:117.29, Y:209.93, Z:-25.40 [[-2.59194632e-01 -6.32423653e-01 -7.29971552e-01 1.17291498e+02] [ 2.96640211e-01 -7.71397196e-01 5.62983970e-01 2.09932937e+02] [-9.19142387e-01 -7.06164929e-02 3.87544298e-01 -2.53984738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.5507140569999 meters Centerline goodness : 0.992113 Centerline is valid? [True, True] Translation: X:117.30, Y:209.91, Z:-25.38 [[-2.60127777e-01 -6.55329302e-01 -7.09138241e-01 1.17302391e+02] [ 2.89692108e-01 -7.53556270e-01 5.90111371e-01 2.09905733e+02] [-9.21092841e-01 -5.19273928e-02 3.85864645e-01 -2.53822409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.5807140569999 meters Centerline goodness : 0.989597 Centerline is valid? [True, True] Translation: X:117.04, Y:210.25, Z:-26.12 [[-2.73055400e-01 -6.59680456e-01 -7.00187435e-01 1.17042628e+02] [ 4.07307910e-01 -7.38667493e-01 5.37094592e-01 2.10250978e+02] [-8.71516503e-01 -1.38535302e-01 4.70390216e-01 -2.61191109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.610714057 meters Centerline goodness : 0.991075 Centerline is valid? [True, True] Translation: X:116.34, Y:209.38, Z:-25.42 [[-3.57230671e-01 -1.33946800e-01 9.24361673e-01 1.16343482e+02] [ 3.13823019e-01 9.14915775e-01 2.53858695e-01 2.09377686e+02] [-8.79716636e-01 3.80772083e-01 -2.84800388e-01 -2.54168510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.640714057 meters Centerline goodness : 0.992346 Centerline is valid? [True, True] Translation: X:116.58, Y:209.34, Z:-25.58 [[-3.09775038e-01 -5.93987735e-01 7.42440568e-01 1.16575100e+02] [ 2.40689661e-01 7.06429299e-01 6.65602083e-01 2.09341445e+02] [-9.19841243e-01 3.84884679e-01 -7.58674566e-02 -2.55806342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.6707140569999 meters Centerline goodness : 0.993207 Centerline is valid? [True, True] Translation: X:117.22, Y:209.97, Z:-25.61 [[-2.32463825e-01 -7.44987458e-01 -6.25263350e-01 1.17215202e+02] [ 2.54625773e-01 -6.67069041e-01 7.00131852e-01 2.09966084e+02] [-9.38683272e-01 3.54716451e-03 3.44762428e-01 -2.56069580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.7007140569999 meters Centerline goodness : 0.991689 Centerline is valid? [True, True] Translation: X:117.22, Y:210.04, Z:-25.58 [[-2.21835917e-01 -6.38463544e-01 -7.36989233e-01 1.17220536e+02] [ 2.28907188e-01 -7.68798400e-01 5.97118513e-01 2.10040414e+02] [-9.47834545e-01 -3.62398002e-02 3.16695992e-01 -2.55770223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.7307140569999 meters Centerline goodness : 0.992107 Centerline is valid? [True, True] Translation: X:117.21, Y:210.10, Z:-25.58 [[-2.13918620e-01 -5.66177597e-01 -7.96041301e-01 1.17211495e+02] [ 2.24241822e-01 -8.21605230e-01 5.24099658e-01 2.10096992e+02] [-9.50765181e-01 -6.63910760e-02 3.02717353e-01 -2.55756003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.760714057 meters Centerline goodness : 0.992495 Centerline is valid? [True, True] Translation: X:117.21, Y:210.12, Z:-25.53 [[-2.16560008e-01 -5.27980458e-01 -8.21181100e-01 1.17214319e+02] [ 2.24776359e-01 -8.45509171e-01 4.84344744e-01 2.10118073e+02] [-9.50040710e-01 -7.96923958e-02 3.01780998e-01 -2.55330895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.790714057 meters Centerline goodness : 0.992825 Centerline is valid? [True, True] Translation: X:117.22, Y:210.10, Z:-25.53 [[-2.19465517e-01 -5.51081608e-01 -8.05073877e-01 1.17224001e+02] [ 2.13084219e-01 -8.32344717e-01 5.11661400e-01 2.10097167e+02] [-9.52066176e-01 -5.92565046e-02 3.00097758e-01 -2.55260220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.8207140569999 meters Centerline goodness : 0.992592 Centerline is valid? [True, True] Translation: X:117.14, Y:210.25, Z:-25.64 [[-2.45198763e-01 -4.62451339e-01 -8.52065916e-01 1.17141877e+02] [ 3.02156416e-01 -8.71572399e-01 3.86086848e-01 2.10249908e+02] [-9.21183514e-01 -1.62789166e-01 3.53441113e-01 -2.56397354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.8507140569999 meters Centerline goodness : 0.993438 Centerline is valid? [True, True] Translation: X:117.20, Y:210.02, Z:-25.68 [[-2.41605326e-01 -7.48599344e-01 -6.17434926e-01 1.17200565e+02] [ 2.95262014e-01 -6.62828181e-01 6.88098209e-01 2.10020164e+02] [-9.24363137e-01 -1.60568881e-02 3.81175769e-01 -2.56818611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.880714057 meters Centerline goodness : 0.992007 Centerline is valid? [True, True] Translation: X:117.20, Y:210.02, Z:-25.68 [[-2.43682082e-01 -7.48495892e-01 -6.16743823e-01 1.17201250e+02] [ 2.93296190e-01 -6.63011018e-01 6.88762467e-01 2.10020363e+02] [-9.24443826e-01 -1.30495418e-02 3.81094899e-01 -2.56820352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.910714057 meters Centerline goodness : 0.993907 Centerline is valid? [True, True] Translation: X:117.24, Y:209.89, Z:-25.57 [[-2.60341437e-01 -7.85773359e-01 -5.61054867e-01 1.17237035e+02] [ 2.11051875e-01 -6.13354070e-01 7.61087309e-01 2.09894198e+02] [-9.42167417e-01 7.97308822e-02 3.25520421e-01 -2.55728634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.9407140569999 meters Centerline goodness : 0.992013 Centerline is valid? [True, True] Translation: X:117.16, Y:210.24, Z:-25.60 [[-2.51527217e-01 -4.64744274e-01 -8.48968091e-01 1.17156150e+02] [ 2.87383681e-01 -8.73470773e-01 3.93013267e-01 2.10239426e+02] [-9.24199480e-01 -1.45126042e-01 3.53261593e-01 -2.56036168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.9707140569999 meters Centerline goodness : 0.992097 Centerline is valid? [True, True] Translation: X:117.21, Y:209.99, Z:-25.64 [[-2.60276279e-01 -7.51065775e-01 -6.06758980e-01 1.17211692e+02] [ 2.60684485e-01 -6.59743328e-01 7.04827881e-01 2.09986981e+02] [-9.29677287e-01 2.52773257e-02 3.67506733e-01 -2.56411023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.000714057 meters Centerline goodness : 0.991357 Centerline is valid? [True, True] Translation: X:117.21, Y:210.04, Z:-25.61 [[-2.55582091e-01 -6.82471338e-01 -6.84770522e-01 1.17214579e+02] [ 2.54693667e-01 -7.30804618e-01 6.33289623e-01 2.10042153e+02] [-9.32635476e-01 -1.25492293e-02 3.60601699e-01 -2.56073874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.030714057 meters Centerline goodness : 0.991921 Centerline is valid? [True, True] Translation: X:117.21, Y:210.04, Z:-25.62 [[-2.52853251e-01 -6.92964241e-01 -6.75178343e-01 1.17212392e+02] [ 2.56475037e-01 -7.20897377e-01 6.43838122e-01 2.10036932e+02] [-9.32891092e-01 -1.03698279e-02 3.60009274e-01 -2.56212433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.0607140569999 meters Centerline goodness : 0.991921 Centerline is valid? [True, True] Translation: X:117.21, Y:210.06, Z:-25.62 [[-2.51825531e-01 -6.70393335e-01 -6.97966101e-01 1.17210122e+02] [ 2.56791532e-01 -7.41643863e-01 6.19695481e-01 2.10057073e+02] [-9.33081996e-01 -2.31766410e-02 3.58916191e-01 -2.56171100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.0907140569999 meters Centerline goodness : 0.991690 Centerline is valid? [True, True] Translation: X:117.20, Y:210.06, Z:-25.64 [[-2.49248206e-01 -6.72010743e-01 -6.97335567e-01 1.17204384e+02] [ 2.64857592e-01 -7.39910293e-01 6.18371421e-01 2.10063575e+02] [-9.31518002e-01 -3.05666518e-02 3.62408461e-01 -2.56354163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.120714057 meters Centerline goodness : 0.991907 Centerline is valid? [True, True] Translation: X:117.21, Y:210.04, Z:-25.64 [[-2.47392371e-01 -6.89403615e-01 -6.80822790e-01 1.17208340e+02] [ 2.63012904e-01 -7.24063510e-01 6.37617632e-01 2.10043432e+02] [-9.32534840e-01 -2.13234416e-02 3.60449835e-01 -2.56354287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.150714057 meters Centerline goodness : 0.991777 Centerline is valid? [True, True] Translation: X:117.21, Y:210.05, Z:-25.64 [[-2.46213018e-01 -6.81030345e-01 -6.89620779e-01 1.17206072e+02] [ 2.70377957e-01 -7.31540049e-01 6.25895293e-01 2.10051342e+02] [-9.30738906e-01 -3.23546883e-02 3.64250276e-01 -2.56362913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.1807140569999 meters Centerline goodness : 0.992942 Centerline is valid? [True, True] Translation: X:117.20, Y:210.05, Z:-25.65 [[-2.44997792e-01 -6.85940610e-01 -6.85172651e-01 1.17204562e+02] [ 2.70713192e-01 -7.27001683e-01 6.31017370e-01 2.10047408e+02] [-9.30962110e-01 -3.08874126e-02 3.63806979e-01 -2.56469077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.2107140569999 meters Centerline goodness : 0.992739 Centerline is valid? [True, True] Translation: X:117.20, Y:210.05, Z:-25.64 [[-2.43261640e-01 -6.79622239e-01 -6.92053023e-01 1.17204115e+02] [ 2.74626401e-01 -7.32549240e-01 6.22857890e-01 2.10051143e+02] [-9.30270990e-01 -3.85385996e-02 3.64843339e-01 -2.56423949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.240714057 meters Centerline goodness : 0.992101 Centerline is valid? [True, True] Translation: X:117.20, Y:210.06, Z:-25.64 [[-2.42487675e-01 -6.75377959e-01 -6.96465606e-01 1.17202428e+02] [ 2.78034407e-01 -7.36157366e-01 6.17064990e-01 2.10055781e+02] [-9.29460379e-01 -4.40107469e-02 3.66287399e-01 -2.56415414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.270714057 meters Centerline goodness : 0.992035 Centerline is valid? [True, True] Translation: X:117.20, Y:210.05, Z:-25.64 [[-2.39720360e-01 -6.78835332e-01 -6.94058168e-01 1.17201582e+02] [ 2.81058766e-01 -7.32815182e-01 6.19667556e-01 2.10053916e+02] [-9.29268594e-01 -4.65242027e-02 3.66463340e-01 -2.56426413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.3007140569999 meters Centerline goodness : 0.990662 Centerline is valid? [True, True] Translation: X:117.20, Y:210.05, Z:-25.66 [[-2.37092271e-01 -6.85398646e-01 -6.88488163e-01 1.17196906e+02] [ 2.81901102e-01 -7.26740690e-01 6.26402217e-01 2.10051308e+02] [-9.29687595e-01 -4.55704477e-02 3.65519235e-01 -2.56581417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.3307140569999 meters Centerline goodness : 0.991369 Centerline is valid? [True, True] Translation: X:117.20, Y:210.05, Z:-25.65 [[-2.37454596e-01 -6.89030540e-01 -6.84727851e-01 1.17198242e+02] [ 2.83032787e-01 -7.23379675e-01 6.29773203e-01 2.10046608e+02] [-9.29251180e-01 -4.42578903e-02 3.66788063e-01 -2.56535110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.360714057 meters Centerline goodness : 0.991163 Centerline is valid? [True, True] Translation: X:117.20, Y:210.04, Z:-25.66 [[-2.34430401e-01 -6.91479899e-01 -6.83299303e-01 1.17197276e+02] [ 2.79057576e-01 -7.21171647e-01 6.34064921e-01 2.10043909e+02] [-9.31219231e-01 -4.20357533e-02 3.62027262e-01 -2.56623146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.390714057 meters Centerline goodness : 0.992934 Centerline is valid? [True, True] Translation: X:117.19, Y:210.05, Z:-25.68 [[-2.34685584e-01 -6.94228525e-01 -6.80418571e-01 1.17192735e+02] [ 2.83432337e-01 -7.18422539e-01 6.35244178e-01 2.10049715e+02] [-9.29832666e-01 -4.37699749e-02 3.65370226e-01 -2.56770139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.4207140569999 meters Centerline goodness : 0.992204 Centerline is valid? [True, True] Translation: X:117.20, Y:210.05, Z:-25.65 [[-2.30221514e-01 -6.78448758e-01 -6.97642700e-01 1.17200165e+02] [ 2.72549111e-01 -7.33161757e-01 6.23049613e-01 2.10049257e+02] [-9.34192184e-01 -4.67024725e-02 3.53700215e-01 -2.56525765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.4507140569999 meters Centerline goodness : 0.991880 Centerline is valid? [True, True] Translation: X:117.20, Y:210.05, Z:-25.67 [[-2.31058330e-01 -6.89065778e-01 -6.86877283e-01 1.17195904e+02] [ 2.75577633e-01 -7.23420636e-01 6.33024132e-01 2.10046624e+02] [-9.33096467e-01 -4.30225174e-02 3.57043480e-01 -2.56696743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.4807140569999 meters Centerline goodness : 0.991698 Centerline is valid? [True, True] Translation: X:117.20, Y:210.05, Z:-25.65 [[-2.29214395e-01 -6.72950395e-01 -7.03276991e-01 1.17198611e+02] [ 2.73763713e-01 -7.37917941e-01 6.16871576e-01 2.10054008e+02] [-9.34084681e-01 -5.11358754e-02 3.53370813e-01 -2.56519042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.510714057 meters Centerline goodness : 0.991251 Centerline is valid? [True, True] Translation: X:117.20, Y:210.05, Z:-25.66 [[-2.26728859e-01 -6.72390196e-01 -7.04617236e-01 1.17197521e+02] [ 2.70375005e-01 -7.38474878e-01 6.17699127e-01 2.10054060e+02] [-9.35676964e-01 -5.04606705e-02 3.49231069e-01 -2.56618717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.540714057 meters Centerline goodness : 0.991806 Centerline is valid? [True, True] Translation: X:117.20, Y:210.04, Z:-25.66 [[-2.26973579e-01 -6.88453297e-01 -6.88850529e-01 1.17198752e+02] [ 2.72202541e-01 -7.23966730e-01 6.33859566e-01 2.10040362e+02] [-9.35087574e-01 -4.36374903e-02 3.51720057e-01 -2.56629910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.5707140569999 meters Centerline goodness : 0.991183 Centerline is valid? [True, True] Translation: X:117.19, Y:210.07, Z:-25.68 [[-2.26653281e-01 -6.64960413e-01 -7.11657178e-01 1.17190161e+02] [ 2.78984968e-01 -7.44380547e-01 6.06683599e-01 2.10067664e+02] [-9.33164336e-01 -6.10348268e-02 3.54230253e-01 -2.56763099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.6007140569999 meters Centerline goodness : 0.991950 Centerline is valid? [True, True] Translation: X:117.19, Y:210.06, Z:-25.66 [[-2.28283335e-01 -6.74263699e-01 -7.02321283e-01 1.17193906e+02] [ 2.81257053e-01 -7.36284854e-01 6.15450310e-01 2.10055926e+02] [-9.32084325e-01 -5.70357652e-02 3.57722982e-01 -2.56641584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.630714057 meters Centerline goodness : 0.992271 Centerline is valid? [True, True] Translation: X:117.19, Y:210.06, Z:-25.68 [[-2.27967003e-01 -6.80874786e-01 -6.96017652e-01 1.17190674e+02] [ 2.82881469e-01 -7.30320833e-01 6.21779346e-01 2.10055613e+02] [-9.31670071e-01 -5.51453215e-02 3.59095911e-01 -2.56811383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.660714057 meters Centerline goodness : 0.992282 Centerline is valid? [True, True] Translation: X:117.20, Y:210.05, Z:-25.67 [[-2.27299102e-01 -6.82060045e-01 -6.95074969e-01 1.17195013e+02] [ 2.79734667e-01 -7.29406348e-01 6.24271492e-01 2.10049528e+02] [-9.32782737e-01 -5.25402157e-02 3.56589248e-01 -2.56685771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.6907140569999 meters Centerline goodness : 0.992842 Centerline is valid? [True, True] Translation: X:117.18, Y:210.08, Z:-25.73 [[-2.28771237e-01 -6.74316313e-01 -7.02111979e-01 1.17176262e+02] [ 2.87345607e-01 -7.35878481e-01 6.13119371e-01 2.10081241e+02] [-9.30105491e-01 -6.14847159e-02 3.62109661e-01 -2.57302530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.7207140569999 meters Centerline goodness : 0.992783 Centerline is valid? [True, True] Translation: X:117.19, Y:210.05, Z:-25.68 [[-2.30348326e-01 -6.89634412e-01 -6.86544992e-01 1.17192090e+02] [ 2.83691026e-01 -7.22462202e-01 6.30529752e-01 2.10051037e+02] [-9.30837822e-01 -4.95251805e-02 3.62061053e-01 -2.56791295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.750714057 meters Centerline goodness : 0.988783 Centerline is valid? [True, True] Translation: X:117.00, Y:210.29, Z:-26.41 [[-2.30286296e-01 -7.16862351e-01 -6.58085550e-01 1.16996129e+02] [ 3.36395568e-01 -6.93213322e-01 6.37411415e-01 2.10289539e+02] [-9.13129916e-01 -7.45899483e-02 4.00786846e-01 -2.64118980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.780714057 meters Centerline goodness : 0.991822 Centerline is valid? [True, True] Translation: X:117.19, Y:209.97, Z:-25.72 [[-2.35617979e-01 -7.80293388e-01 -5.79332717e-01 1.17188422e+02] [ 2.84735569e-01 -6.25382685e-01 7.26513698e-01 2.09972601e+02] [-9.29198485e-01 6.22305859e-03 3.69528686e-01 -2.57210700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.8107140569999 meters Centerline goodness : 0.991069 Centerline is valid? [True, True] Translation: X:117.21, Y:210.01, Z:-25.67 [[-2.29352284e-01 -6.96590213e-01 -6.79823216e-01 1.17208609e+02] [ 2.42311432e-01 -7.17314421e-01 6.53257369e-01 2.10012080e+02] [-9.42699687e-01 -1.49028671e-02 3.33309473e-01 -2.56661205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.8407140569999 meters Centerline goodness : 0.992540 Centerline is valid? [True, True] Translation: X:117.21, Y:210.07, Z:-25.63 [[-2.25493059e-01 -6.23585858e-01 -7.48527594e-01 1.17209684e+02] [ 2.41820444e-01 -7.80096627e-01 5.77037368e-01 2.10069372e+02] [-9.43756194e-01 -5.08913537e-02 3.26702184e-01 -2.56298953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.870714057 meters Centerline goodness : 0.992351 Centerline is valid? [True, True] Translation: X:117.16, Y:210.19, Z:-25.67 [[-2.35805815e-01 -5.29442508e-01 -8.14914872e-01 1.17162202e+02] [ 2.88918931e-01 -8.38839118e-01 4.61383556e-01 2.10187835e+02] [-9.27858539e-01 -1.26647408e-01 3.50769105e-01 -2.56709339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.900714057 meters Centerline goodness : 0.992568 Centerline is valid? [True, True] Translation: X:117.17, Y:210.12, Z:-25.76 [[-2.38096351e-01 -6.83122185e-01 -6.90401483e-01 1.17166740e+02] [ 3.22132996e-01 -7.26150247e-01 6.07401146e-01 2.10116519e+02] [-9.16264406e-01 -7.77811020e-02 3.92949920e-01 -2.57587380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.9307140569999 meters Centerline goodness : 0.992117 Centerline is valid? [True, True] Translation: X:117.18, Y:209.98, Z:-25.75 [[-2.39870564e-01 -7.88504799e-01 -5.66323489e-01 1.17182078e+02] [ 2.81600531e-01 -6.14786996e-01 7.36707602e-01 2.09976967e+02] [-9.29065796e-01 1.72374730e-02 3.69512674e-01 -2.57525247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.9607140569999 meters Centerline goodness : 0.990732 Centerline is valid? [True, True] Translation: X:117.18, Y:210.08, Z:-25.72 [[-2.38564061e-01 -6.80404864e-01 -6.92918762e-01 1.17181825e+02] [ 2.84750750e-01 -7.31168383e-01 6.19927259e-01 2.10079038e+02] [-9.28441813e-01 -4.94167729e-02 3.68176293e-01 -2.57185034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.990714057 meters Centerline goodness : 0.991560 Centerline is valid? [True, True] Translation: X:117.18, Y:210.05, Z:-25.72 [[-2.38957858e-01 -7.07183842e-01 -6.65424793e-01 1.17184288e+02] [ 2.83022633e-01 -7.06246844e-01 6.48932651e-01 2.10054043e+02] [-9.28868845e-01 -3.32627211e-02 3.68912266e-01 -2.57233995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.020714057 meters Centerline goodness : 0.987741 Centerline is valid? [True, True] Translation: X:116.99, Y:210.29, Z:-26.43 [[-2.40383161e-01 -7.29118390e-01 -6.40782575e-01 1.16993957e+02] [ 3.27639158e-01 -6.82343513e-01 6.53498212e-01 2.10287091e+02] [-9.13711398e-01 -5.28554974e-02 4.02911625e-01 -2.64289088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.0507140569999 meters Centerline goodness : 0.987691 Centerline is valid? [True, True] Translation: X:116.99, Y:210.24, Z:-26.46 [[-2.41490876e-01 -7.79967908e-01 -5.77349305e-01 1.16991588e+02] [ 3.28319469e-01 -6.25541828e-01 7.07745539e-01 2.10242520e+02] [-9.13174947e-01 -1.86409274e-02 4.07141293e-01 -2.64554064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.0807140569999 meters Centerline goodness : 0.987666 Centerline is valid? [True, True] Translation: X:117.00, Y:210.23, Z:-26.44 [[-2.40928537e-01 -7.82551554e-01 -5.74078833e-01 1.16998315e+02] [ 3.27489708e-01 -6.22361173e-01 7.10926903e-01 2.10232838e+02] [-9.13621328e-01 -1.67223311e-02 4.06222147e-01 -2.64355528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.110714057 meters Centerline goodness : 0.991234 Centerline is valid? [True, True] Translation: X:117.17, Y:210.03, Z:-25.79 [[-2.43398522e-01 -7.75423909e-01 -5.82644765e-01 1.17168616e+02] [ 3.28643663e-01 -6.31109380e-01 7.02633826e-01 2.10027072e+02] [-9.12551644e-01 -2.04624750e-02 4.08449244e-01 -2.57922412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.140714057 meters Centerline goodness : 0.991344 Centerline is valid? [True, True] Translation: X:117.17, Y:210.01, Z:-25.79 [[-2.45457288e-01 -7.89911226e-01 -5.61952823e-01 1.17169353e+02] [ 3.27049609e-01 -6.13177912e-01 7.19062863e-01 2.10010132e+02] [-9.12572886e-01 -7.28723043e-03 4.08849145e-01 -2.57922647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.1707140569999 meters Centerline goodness : 0.990853 Centerline is valid? [True, True] Translation: X:117.19, Y:209.91, Z:-25.71 [[-2.61307094e-01 -8.10385019e-01 -5.24399394e-01 1.17191345e+02] [ 2.69397063e-01 -5.82915491e-01 7.66573384e-01 2.09912769e+02] [-9.26900116e-01 5.90394068e-02 3.70635297e-01 -2.57147748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.2007140569999 meters Centerline goodness : 0.991277 Centerline is valid? [True, True] Translation: X:117.16, Y:210.15, Z:-25.75 [[-2.54876730e-01 -6.36667265e-01 -7.27799866e-01 1.17158532e+02] [ 3.20053674e-01 -7.65778608e-01 5.57807108e-01 2.10145470e+02] [-9.12471095e-01 -9.07629691e-02 3.98946845e-01 -2.57458232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.2307140569999 meters Centerline goodness : 0.987593 Centerline is valid? [True, True] Translation: X:116.99, Y:210.24, Z:-26.47 [[-2.52384972e-01 -7.89080406e-01 -5.60048157e-01 1.16989791e+02] [ 3.20208518e-01 -6.14284051e-01 7.21194571e-01 2.10239174e+02] [-9.13109156e-01 2.68648128e-03 4.07706331e-01 -2.64749371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.260714057 meters Centerline goodness : 0.985141 Centerline is valid? [True, True] Translation: X:116.98, Y:210.25, Z:-26.50 [[-2.52138735e-01 -7.86848423e-01 -5.63289994e-01 1.16981179e+02] [ 3.19661566e-01 -6.17145090e-01 7.18991252e-01 2.10249724e+02] [-9.13368788e-01 1.22338307e-03 4.07131381e-01 -2.65019171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.290714057 meters Centerline goodness : 0.985179 Centerline is valid? [True, True] Translation: X:116.99, Y:210.24, Z:-26.46 [[-2.49141019e-01 -7.83330766e-01 -5.69492461e-01 1.16990447e+02] [ 3.30137078e-01 -6.21507620e-01 7.10449004e-01 2.10240629e+02] [-9.10460467e-01 -1.10085879e-02 4.13449572e-01 -2.64619423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.3207140569999 meters Centerline goodness : 0.985156 Centerline is valid? [True, True] Translation: X:116.03, Y:209.75, Z:-26.43 [[-2.25785462e-01 -4.93168288e-02 9.72927940e-01 1.16025178e+02] [ 2.57968516e-01 9.60038305e-01 1.08529708e-01 2.09754363e+02] [-9.39400431e-01 2.75489207e-01 -2.04040503e-01 -2.64309150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.3507140569999 meters Centerline goodness : 0.989347 Centerline is valid? [True, True] Translation: X:115.93, Y:209.88, Z:-26.21 [[-2.40460432e-01 2.63185484e-01 9.34297694e-01 1.15928006e+02] [ 1.91413915e-01 9.56495691e-01 -2.20174266e-01 2.09877044e+02] [-9.51598389e-01 1.25894380e-01 -2.80376731e-01 -2.62123274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.380714057 meters Centerline goodness : 0.988526 Centerline is valid? [True, True] Translation: X:115.83, Y:210.16, Z:-26.19 [[-2.84474576e-01 6.38986864e-01 7.14681749e-01 1.15825739e+02] [ 1.32156644e-01 7.64503236e-01 -6.30927431e-01 2.10156869e+02] [-9.49530851e-01 -8.50328719e-02 -3.01928094e-01 -2.61879136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.410714057 meters Centerline goodness : 0.986318 Centerline is valid? [True, True] Translation: X:115.78, Y:210.46, Z:-26.37 [[-3.52906875e-01 8.59079812e-01 3.70727142e-01 1.15784231e+02] [ 9.42063042e-02 4.26831283e-01 -8.99411045e-01 2.10457418e+02] [-9.30903813e-01 -2.82483508e-01 -2.31562429e-01 -2.63673535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.4407140569999 meters Centerline goodness : 0.990142 Centerline is valid? [True, True] Translation: X:116.06, Y:210.76, Z:-26.31 [[-4.23572784e-01 8.79110823e-01 -2.18518323e-01 1.16057269e+02] [ 1.03502989e-01 -1.92679305e-01 -9.75787793e-01 2.10764119e+02] [-8.99929568e-01 -4.35934452e-01 -9.37688835e-03 -2.63073745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.4707140569999 meters Centerline goodness : 0.990749 Centerline is valid? [True, True] Translation: X:117.04, Y:210.61, Z:-26.23 [[-4.26849745e-01 -2.54330948e-01 -8.67822023e-01 1.17039816e+02] [ 1.29893219e-01 -9.66929876e-01 2.19486599e-01 2.10605546e+02] [-8.94945276e-01 -1.90363976e-02 4.45769637e-01 -2.62281674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.500714057 meters Centerline goodness : 0.986978 Centerline is valid? [True, True] Translation: X:116.75, Y:210.68, Z:-26.87 [[-4.27000966e-01 -2.78449582e-01 -8.60311575e-01 1.16748363e+02] [ 1.38380578e-01 -9.60323207e-01 2.42136642e-01 2.10677824e+02] [-8.93600017e-01 -1.56578330e-02 4.48590951e-01 -2.68738329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.530714057 meters Centerline goodness : 0.987187 Centerline is valid? [True, True] Translation: X:116.74, Y:210.67, Z:-26.89 [[-4.24969916e-01 -2.85678747e-01 -8.58945996e-01 1.16742592e+02] [ 1.44634815e-01 -9.58132689e-01 2.47108319e-01 2.10674609e+02] [-8.93577832e-01 -1.92198937e-02 4.48496661e-01 -2.68901483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.5607140569999 meters Centerline goodness : 0.992008 Centerline is valid? [True, True] Translation: X:117.01, Y:210.57, Z:-26.31 [[-4.17476357e-01 -3.03365786e-01 -8.56552796e-01 1.17013277e+02] [ 1.58578845e-01 -9.52484007e-01 2.60051852e-01 2.10574547e+02] [-8.94743674e-01 -2.72656530e-02 4.45746949e-01 -2.63123161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.5907140569999 meters Centerline goodness : 0.990920 Centerline is valid? [True, True] Translation: X:116.78, Y:210.65, Z:-26.81 [[-4.23376135e-01 -3.12720522e-01 -8.50269677e-01 1.16783126e+02] [ 1.64284508e-01 -9.49476196e-01 2.67405223e-01 2.10645807e+02] [-8.90933919e-01 -2.64731456e-02 4.53360700e-01 -2.68099410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.620714057 meters Centerline goodness : 0.990027 Centerline is valid? [True, True] Translation: X:116.77, Y:210.65, Z:-26.86 [[-4.18786150e-01 -3.28812052e-01 -8.46463700e-01 1.16766085e+02] [ 1.74804869e-01 -9.43898470e-01 2.80176616e-01 2.10645196e+02] [-8.91101239e-01 -3.06318895e-02 4.52769553e-01 -2.68577541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.650714057 meters Centerline goodness : 0.988385 Centerline is valid? [True, True] Translation: X:116.71, Y:210.65, Z:-27.00 [[-4.05522264e-01 -3.56620141e-01 -8.41649433e-01 1.16709675e+02] [ 1.90653938e-01 -9.33503977e-01 3.03679766e-01 2.10653548e+02] [-8.93981415e-01 -3.73148721e-02 4.46547680e-01 -2.70030505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.6807140569999 meters Centerline goodness : 0.992477 Centerline is valid? [True, True] Translation: X:116.40, Y:209.71, Z:-26.38 [[-3.41502317e-01 -5.68564580e-01 7.48405295e-01 1.16396145e+02] [ 9.70662732e-02 7.70683713e-01 6.29781512e-01 2.09711664e+02] [-9.34855233e-01 2.87716759e-01 -2.08001829e-01 -2.63763059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.7107140569999 meters Centerline goodness : 0.991730 Centerline is valid? [True, True] Translation: X:116.90, Y:210.62, Z:-26.47 [[-3.67956228e-01 -2.91426539e-01 -8.82994217e-01 1.16895811e+02] [ 1.33387498e-01 -9.56338034e-01 2.60048728e-01 2.10617371e+02] [-9.20226054e-01 -2.20938405e-02 3.90763193e-01 -2.64723174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.740714057 meters Centerline goodness : 0.991966 Centerline is valid? [True, True] Translation: X:116.90, Y:210.61, Z:-26.47 [[-3.67524138e-01 -2.92481430e-01 -8.82825363e-01 1.16896284e+02] [ 1.33062695e-01 -9.56031221e-01 2.61340053e-01 2.10614917e+02] [-9.20445722e-01 -2.14223445e-02 3.90282917e-01 -2.64727796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.770714057 meters Centerline goodness : 0.992588 Centerline is valid? [True, True] Translation: X:116.89, Y:210.61, Z:-26.48 [[-3.68074546e-01 -2.93240364e-01 -8.82344160e-01 1.16892228e+02] [ 1.33026781e-01 -9.55810718e-01 2.62163589e-01 2.10614613e+02] [-9.20230952e-01 -2.08796593e-02 3.90818418e-01 -2.64830905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.8007140569999 meters Centerline goodness : 0.993109 Centerline is valid? [True, True] Translation: X:116.89, Y:210.61, Z:-26.48 [[-3.68239001e-01 -2.93804678e-01 -8.82087779e-01 1.16892643e+02] [ 1.31774738e-01 -9.55671045e-01 2.63302623e-01 2.10612318e+02] [-9.20345292e-01 -1.92785909e-02 3.90631386e-01 -2.64808559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.8307140569999 meters Centerline goodness : 0.992743 Centerline is valid? [True, True] Translation: X:116.89, Y:210.61, Z:-26.49 [[-3.68735400e-01 -2.94712767e-01 -8.81577331e-01 1.16890692e+02] [ 1.31855930e-01 -9.55400812e-01 2.64240992e-01 2.10611309e+02] [-9.20134892e-01 -1.88061911e-02 3.91149726e-01 -2.64859353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.860714057 meters Centerline goodness : 0.991963 Centerline is valid? [True, True] Translation: X:116.89, Y:210.61, Z:-26.49 [[-3.69943755e-01 -2.95172645e-01 -8.80916981e-01 1.16889540e+02] [ 1.31155286e-01 -9.55283702e-01 2.65011962e-01 2.10609255e+02] [-9.19749917e-01 -1.74973984e-02 3.92114692e-01 -2.64867856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.890714057 meters Centerline goodness : 0.992616 Centerline is valid? [True, True] Translation: X:116.89, Y:210.61, Z:-26.49 [[-3.69119994e-01 -2.95610808e-01 -8.81115588e-01 1.16889188e+02] [ 1.29892691e-01 -9.55170248e-01 2.66040759e-01 2.10607652e+02] [-9.20259919e-01 -1.62495116e-02 3.90970120e-01 -2.64875549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.9207140569999 meters Centerline goodness : 0.992727 Centerline is valid? [True, True] Translation: X:116.89, Y:210.61, Z:-26.50 [[-3.68565512e-01 -2.96725166e-01 -8.80973121e-01 1.16885638e+02] [ 1.29705960e-01 -9.54833264e-01 2.67338367e-01 2.10607890e+02] [-9.20508462e-01 -1.57357620e-02 3.90405633e-01 -2.64959966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.9507140569999 meters Centerline goodness : 0.983294 Centerline is valid? [True, True] Translation: X:115.61, Y:210.08, Z:-27.08 [[-3.83997738e-01 2.56069283e-01 8.87115697e-01 1.15605472e+02] [ 1.39617304e-02 9.62274854e-01 -2.71720768e-01 2.10077725e+02] [-9.23228470e-01 -9.19544903e-02 -3.73086538e-01 -2.70776875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.9807140569999 meters Centerline goodness : 0.983294 Centerline is valid? [True, True] Translation: X:116.45, Y:210.79, Z:-27.41 [[-3.89162816e-01 -1.02145381e-01 -9.15488189e-01 1.16454035e+02] [ 6.22216962e-02 -9.94478101e-01 8.45089806e-02 2.10789560e+02] [-9.19065157e-01 -2.40754750e-02 3.93369557e-01 -2.74101505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.010714057 meters Centerline goodness : 0.983154 Centerline is valid? [True, True] Translation: X:115.77, Y:209.88, Z:-27.25 [[-3.57672639e-01 -2.44259773e-01 9.01336478e-01 1.15769672e+02] [-4.79644989e-02 9.68717602e-01 2.43486376e-01 2.09884241e+02] [-9.32614438e-01 4.38562622e-02 -3.58199578e-01 -2.72523039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.040714057 meters Centerline goodness : 0.992349 Centerline is valid? [True, True] Translation: X:116.71, Y:210.89, Z:-26.55 [[-3.82772471e-01 8.50764082e-02 -9.19916974e-01 1.16708573e+02] [-1.06947638e-02 -9.96092051e-01 -8.76712518e-02 2.10886536e+02] [-9.23780741e-01 -2.37198469e-02 3.82186488e-01 -2.65480875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.0707140569999 meters Centerline goodness : 0.991510 Centerline is valid? [True, True] Translation: X:116.80, Y:210.16, Z:-26.68 [[-2.97304686e-01 -9.23846412e-01 -2.41076194e-01 1.16804560e+02] [ 7.48759652e-03 -2.54741483e-01 9.66980203e-01 2.10155160e+02] [-9.54753298e-01 2.85682664e-01 8.26532258e-02 -2.66819102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.1007140569999 meters Centerline goodness : 0.984102 Centerline is valid? [True, True] Translation: X:115.65, Y:209.96, Z:-27.36 [[-2.98891369e-01 -4.28101984e-02 9.53326406e-01 1.15646049e+02] [-1.09903301e-01 9.93890209e-01 1.01743631e-02 2.09955739e+02] [-9.47937347e-01 -1.01732690e-01 -3.01770187e-01 -2.73597976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.130714057 meters Centerline goodness : 0.991260 Centerline is valid? [True, True] Translation: X:116.53, Y:210.99, Z:-26.67 [[-3.24961464e-01 2.78996585e-01 -9.03637622e-01 1.16534534e+02] [-6.69933753e-02 -9.59885549e-01 -2.72271227e-01 2.10985453e+02] [-9.43351438e-01 -2.79399223e-02 3.30616736e-01 -2.66723207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.160714057 meters Centerline goodness : 0.992176 Centerline is valid? [True, True] Translation: X:116.55, Y:210.98, Z:-26.68 [[-3.25209075e-01 2.52404736e-01 -9.11334684e-01 1.16548999e+02] [-6.49380580e-02 -9.67406296e-01 -2.44761326e-01 2.10977498e+02] [-9.43409829e-01 -2.04182998e-02 3.30999980e-01 -2.66759715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.1907140569999 meters Centerline goodness : 0.991216 Centerline is valid? [True, True] Translation: X:116.55, Y:210.98, Z:-26.68 [[-3.26488524e-01 2.50059978e-01 -9.11523588e-01 1.16548112e+02] [-6.24073312e-02 -9.67968568e-01 -2.43191645e-01 2.10975995e+02] [-9.43138680e-01 -2.25135269e-02 3.31636205e-01 -2.66826805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.2207140569999 meters Centerline goodness : 0.991733 Centerline is valid? [True, True] Translation: X:116.54, Y:210.97, Z:-26.70 [[-3.27194917e-01 2.47876465e-01 -9.11866627e-01 1.16544161e+02] [-6.01805880e-02 -9.68489398e-01 -2.41674538e-01 2.10973975e+02] [-9.43038591e-01 -2.41980105e-02 3.31802159e-01 -2.66965093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.250714057 meters Centerline goodness : 0.989861 Centerline is valid? [True, True] Translation: X:116.63, Y:210.95, Z:-26.62 [[-2.76585228e-01 1.94316360e-01 -9.41138547e-01 1.16634789e+02] [-8.72555186e-02 -9.80376034e-01 -1.76774732e-01 2.10949247e+02] [-9.57019899e-01 3.32262524e-02 2.88112704e-01 -2.66186331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.280714057 meters Centerline goodness : 0.991791 Centerline is valid? [True, True] Translation: X:116.39, Y:211.03, Z:-26.66 [[-3.36470570e-01 5.03947972e-01 -7.95502355e-01 1.16386549e+02] [-6.08273700e-02 -8.54623485e-01 -5.15673084e-01 2.11028904e+02] [-9.39727400e-01 -1.25120500e-01 3.18209481e-01 -2.66624230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.3107140569999 meters Centerline goodness : 0.989635 Centerline is valid? [True, True] Translation: X:116.61, Y:210.95, Z:-26.66 [[-2.93121892e-01 1.98040265e-01 -9.35339302e-01 1.16607381e+02] [-7.28338254e-02 -9.80094081e-01 -1.84691163e-01 2.10949071e+02] [-9.53296801e-01 1.39873163e-02 3.01711061e-01 -2.66628938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.3407140569999 meters Centerline goodness : 0.991108 Centerline is valid? [True, True] Translation: X:116.42, Y:211.02, Z:-26.70 [[-3.39863592e-01 4.40539947e-01 -8.30913530e-01 1.16418488e+02] [-4.93212171e-02 -8.90637491e-01 -4.52031280e-01 2.11016959e+02] [-9.39180577e-01 -1.12647308e-01 3.24423223e-01 -2.66979822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.370714057 meters Centerline goodness : 0.988946 Centerline is valid? [True, True] Translation: X:116.59, Y:210.95, Z:-26.69 [[-3.03403041e-01 2.08550250e-01 -9.29759855e-01 1.16589338e+02] [-6.26287715e-02 -9.78009338e-01 -1.98935598e-01 2.10951305e+02] [-9.50801889e-01 -2.12794791e-03 3.09792253e-01 -2.66855916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.400714057 meters Centerline goodness : 0.990786 Centerline is valid? [True, True] Translation: X:116.53, Y:210.99, Z:-26.66 [[-2.99613468e-01 3.33867358e-01 -8.93736179e-01 1.16528020e+02] [-5.97360287e-02 -9.41497549e-01 -3.31683541e-01 2.10990167e+02] [-9.52188730e-01 -4.59886058e-02 3.02029256e-01 -2.66594129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.4307140569999 meters Centerline goodness : 0.982278 Centerline is valid? [True, True] Translation: X:116.17, Y:210.92, Z:-27.71 [[-3.61424387e-01 2.83156762e-01 -8.88366287e-01 1.16166002e+02] [-1.71055786e-02 -9.54625608e-01 -2.97316914e-01 2.10917503e+02] [-9.32244502e-01 -9.22615641e-02 3.49868536e-01 -2.77084227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.4607140569999 meters Centerline goodness : 0.992003 Centerline is valid? [True, True] Translation: X:116.23, Y:209.93, Z:-26.64 [[-2.57717840e-01 -6.46867114e-01 7.17735642e-01 1.16230443e+02] [-1.42636039e-01 7.60160051e-01 6.33886155e-01 2.09929045e+02] [-9.55634070e-01 6.09888013e-02 -2.88173369e-01 -2.66445893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.490714057 meters Centerline goodness : 0.989943 Centerline is valid? [True, True] Translation: X:116.50, Y:211.01, Z:-26.77 [[-2.68336769e-01 3.01403242e-01 -9.14959816e-01 1.16502927e+02] [-1.00053381e-01 -9.53376476e-01 -2.84714973e-01 2.11007687e+02] [-9.58115181e-01 1.51453269e-02 2.85982376e-01 -2.67687782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.520714057 meters Centerline goodness : 0.990382 Centerline is valid? [True, True] Translation: X:116.32, Y:211.07, Z:-26.74 [[-2.90223096e-01 5.76303307e-01 -7.63966657e-01 1.16316580e+02] [-9.29587660e-02 -8.11529977e-01 -5.76868931e-01 2.11066130e+02] [-9.52433317e-01 -9.64032893e-02 2.89097186e-01 -2.67416977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.5507140569999 meters Centerline goodness : 0.988040 Centerline is valid? [True, True] Translation: X:116.13, Y:210.96, Z:-27.49 [[-3.52576283e-01 4.56201931e-01 -8.17049425e-01 1.16126201e+02] [-7.93717276e-02 -8.84550980e-01 -4.59640830e-01 2.10964930e+02] [-9.32410904e-01 -9.72078310e-02 3.48081232e-01 -2.74939482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.5807140569999 meters Centerline goodness : 0.991605 Centerline is valid? [True, True] Translation: X:116.42, Y:211.01, Z:-26.88 [[-3.44380095e-01 3.23221083e-01 -8.81436601e-01 1.16423746e+02] [-6.67472834e-02 -9.44920363e-01 -3.20422078e-01 2.11013454e+02] [-9.36454564e-01 -5.15134869e-02 3.46985893e-01 -2.68771282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.610714057 meters Centerline goodness : 0.989957 Centerline is valid? [True, True] Translation: X:115.86, Y:209.93, Z:-27.07 [[-2.63910696e-01 -3.29887875e-01 9.06380237e-01 1.15864525e+02] [-2.15351380e-01 9.36127032e-01 2.78010723e-01 2.09928391e+02] [-9.40199409e-01 -1.21820232e-01 -3.18095746e-01 -2.70676699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.640714057 meters Centerline goodness : 0.988251 Centerline is valid? [True, True] Translation: X:115.50, Y:210.21, Z:-27.25 [[-3.24952831e-01 3.70353535e-01 8.70197631e-01 1.15498274e+02] [-2.88919587e-01 8.37267912e-01 -4.64228302e-01 2.10209785e+02] [-9.00517146e-01 -4.02269441e-01 -1.65070188e-01 -2.72528052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.6707140569999 meters Centerline goodness : 0.986722 Centerline is valid? [True, True] Translation: X:115.98, Y:210.94, Z:-27.71 [[-3.63992886e-01 5.95797123e-01 -7.15915475e-01 1.15977621e+02] [-2.19107602e-01 -8.01845968e-01 -5.55909078e-01 2.10940048e+02] [-9.05262966e-01 -4.54844270e-02 4.22409907e-01 -2.77075419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.7007140569999 meters Centerline goodness : 0.992298 Centerline is valid? [True, True] Translation: X:116.22, Y:211.11, Z:-27.05 [[-3.64335264e-01 5.86807721e-01 -7.23129667e-01 1.16219851e+02] [-2.13367762e-01 -8.08443619e-01 -5.48537248e-01 2.11114354e+02] [-9.06495457e-01 -4.55589045e-02 4.19750369e-01 -2.70513627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.7307140569999 meters Centerline goodness : 0.991296 Centerline is valid? [True, True] Translation: X:116.23, Y:211.11, Z:-27.06 [[-3.63120133e-01 5.72759219e-01 -7.34908597e-01 1.16225267e+02] [-2.13845717e-01 -8.18922555e-01 -5.32574744e-01 2.11113367e+02] [-9.06870321e-01 -3.62315555e-02 4.19849373e-01 -2.70625177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.760714057 meters Centerline goodness : 0.990207 Centerline is valid? [True, True] Translation: X:116.33, Y:211.14, Z:-26.97 [[-3.01107723e-01 5.41715521e-01 -7.84779226e-01 1.16328292e+02] [-2.28515849e-01 -8.39984657e-01 -4.92144575e-01 2.11136571e+02] [-9.25804864e-01 3.11459593e-02 3.76716449e-01 -2.69728332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.790714057 meters Centerline goodness : 0.991769 Centerline is valid? [True, True] Translation: X:116.09, Y:211.12, Z:-27.02 [[-3.67913107e-01 7.32805742e-01 -5.72394698e-01 1.16087139e+02] [-2.22428339e-01 -6.67056739e-01 -7.11028087e-01 2.11115484e+02] [-9.02865206e-01 -1.34279751e-01 4.08415682e-01 -2.70191574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.8207140569999 meters Centerline goodness : 0.991504 Centerline is valid? [True, True] Translation: X:116.22, Y:211.11, Z:-27.08 [[-3.63479941e-01 5.68149626e-01 -7.38300978e-01 1.16218289e+02] [-2.13868144e-01 -8.22230165e-01 -5.27444758e-01 2.11112313e+02] [-9.06720877e-01 -3.38165293e-02 4.20373278e-01 -2.70821225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.8507140569999 meters Centerline goodness : 0.991267 Centerline is valid? [True, True] Translation: X:116.34, Y:211.14, Z:-26.99 [[-2.95119988e-01 5.26976946e-01 -7.96994035e-01 1.16335408e+02] [-2.31146534e-01 -8.48746975e-01 -4.75604722e-01 2.11135433e+02] [-9.27079000e-01 4.38619491e-02 3.72291092e-01 -2.69882093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.880714057 meters Centerline goodness : 0.991671 Centerline is valid? [True, True] Translation: X:116.05, Y:211.11, Z:-27.03 [[-3.66846588e-01 7.57343436e-01 -5.40235598e-01 1.16052500e+02] [-2.26350806e-01 -6.35936472e-01 -7.37800865e-01 2.11112658e+02] [-9.02324162e-01 -1.48376967e-01 4.04716422e-01 -2.70279722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.910714057 meters Centerline goodness : 0.991254 Centerline is valid? [True, True] Translation: X:116.21, Y:211.11, Z:-27.10 [[-3.62959801e-01 5.64750444e-01 -7.41159308e-01 1.16212069e+02] [-2.18572982e-01 -8.24811098e-01 -5.21452303e-01 2.11114702e+02] [-9.05806842e-01 -2.72688243e-02 4.22812460e-01 -2.70989140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.9407140569999 meters Centerline goodness : 0.991139 Centerline is valid? [True, True] Translation: X:116.21, Y:211.11, Z:-27.11 [[-3.60890658e-01 5.64777082e-01 -7.42148759e-01 1.16206503e+02] [-2.20640753e-01 -8.24892170e-01 -5.20452270e-01 2.11114226e+02] [-9.06132215e-01 -2.40781014e-02 4.22308718e-01 -2.71094692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.9707140569999 meters Centerline goodness : 0.990991 Centerline is valid? [True, True] Translation: X:116.36, Y:211.12, Z:-27.04 [[-2.60524457e-01 4.80511423e-01 -8.37398220e-01 1.16363148e+02] [-2.42470349e-01 -8.72115481e-01 -4.24997315e-01 2.11123587e+02] [-9.34524016e-01 9.23220442e-02 3.43717185e-01 -2.70426226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.000714057 meters Centerline goodness : 0.990394 Centerline is valid? [True, True] Translation: X:116.08, Y:211.14, Z:-26.99 [[-2.84065274e-01 7.96990066e-01 -5.33023221e-01 1.16075071e+02] [-2.14534214e-01 -5.94662978e-01 -7.74823215e-01 2.11138846e+02] [-9.34495581e-01 -1.05748651e-01 3.39904739e-01 -2.69878910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.030714057 meters Centerline goodness : 0.992891 Centerline is valid? [True, True] Translation: X:116.05, Y:211.11, Z:-27.07 [[-3.55635961e-01 7.40988263e-01 -5.69613428e-01 1.16046058e+02] [-2.34023630e-01 -6.60641839e-01 -7.13291876e-01 2.11113807e+02] [-9.04851371e-01 -1.20369240e-01 4.08356759e-01 -2.70738189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.0607140569999 meters Centerline goodness : 0.991948 Centerline is valid? [True, True] Translation: X:116.19, Y:211.11, Z:-27.15 [[-3.55263795e-01 5.61314296e-01 -7.47471670e-01 1.16188824e+02] [-2.30075015e-01 -8.27542865e-01 -5.12092075e-01 2.11111311e+02] [-9.06009450e-01 -9.95321802e-03 4.23140414e-01 -2.71498134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.0907140569999 meters Centerline goodness : 0.992502 Centerline is valid? [True, True] Translation: X:116.19, Y:211.11, Z:-27.15 [[-3.53304915e-01 5.59509937e-01 -7.49749470e-01 1.16189922e+02] [-2.32686468e-01 -8.28806533e-01 -5.08858270e-01 2.11112332e+02] [-9.06108517e-01 -5.32557152e-03 4.23011813e-01 -2.71515049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.120714057 meters Centerline goodness : 0.982784 Centerline is valid? [True, True] Translation: X:115.80, Y:209.69, Z:-27.75 [[-2.86261584e-01 -5.80292060e-01 7.62440444e-01 1.15800600e+02] [-3.01547672e-01 8.09868446e-01 5.03172041e-01 2.09694387e+02] [-9.09463197e-01 -8.58733152e-02 -4.06819944e-01 -2.77538528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.150714057 meters Centerline goodness : 0.987932 Centerline is valid? [True, True] Translation: X:115.82, Y:210.94, Z:-27.82 [[-3.14715415e-01 7.06685718e-01 -6.33679339e-01 1.15822906e+02] [-3.00429093e-01 -7.07442696e-01 -6.39739941e-01 2.10942611e+02] [-9.00386899e-01 -1.09603120e-02 4.34952070e-01 -2.78207315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.1807140569999 meters Centerline goodness : 0.987135 Centerline is valid? [True, True] Translation: X:115.82, Y:210.93, Z:-27.85 [[-3.23884864e-01 6.99928950e-01 -6.36551695e-01 1.15818104e+02] [-2.98726459e-01 -7.14056736e-01 -6.33155179e-01 2.10934101e+02] [-8.97697665e-01 -1.49145448e-02 4.40359466e-01 -2.78491197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.2107140569999 meters Centerline goodness : 0.988289 Centerline is valid? [True, True] Translation: X:116.45, Y:210.20, Z:-27.87 [[-2.56524227e-01 -8.39153139e-01 -4.79601220e-01 1.16451270e+02] [-2.50104213e-01 -4.21674434e-01 8.71572461e-01 2.10197046e+02] [-9.33618339e-01 3.43529738e-01 -1.01706027e-01 -2.78721392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.240714057 meters Centerline goodness : 0.992055 Centerline is valid? [True, True] Translation: X:116.34, Y:210.02, Z:-27.11 [[-1.85200282e-01 -9.53587448e-01 2.37427537e-01 1.16338464e+02] [-2.71193862e-01 2.81819956e-01 9.20343089e-01 2.10017056e+02] [-9.44539435e-01 1.06058909e-01 -3.10800198e-01 -2.71143871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.270714057 meters Centerline goodness : 0.992442 Centerline is valid? [True, True] Translation: X:115.79, Y:211.06, Z:-27.32 [[-1.95034872e-01 8.30362393e-01 -5.21976718e-01 1.15789599e+02] [-2.88215581e-01 -5.57221880e-01 -7.78739723e-01 2.11057520e+02] [-9.37493028e-01 -1.43957947e-03 3.48001078e-01 -2.73165239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.3007140569999 meters Centerline goodness : 0.992538 Centerline is valid? [True, True] Translation: X:115.79, Y:211.05, Z:-27.33 [[-1.96348447e-01 8.28558719e-01 -5.24345054e-01 1.15789728e+02] [-2.86414692e-01 -5.59896695e-01 -7.77484608e-01 2.11054077e+02] [-9.37770714e-01 -2.47776809e-03 3.47246236e-01 -2.73278900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.3307140569999 meters Centerline goodness : 0.992126 Centerline is valid? [True, True] Translation: X:115.79, Y:211.05, Z:-27.33 [[-1.97689364e-01 8.26891846e-01 -5.26468223e-01 1.15790705e+02] [-2.85299262e-01 -5.62351706e-01 -7.76121698e-01 2.11052501e+02] [-9.37829007e-01 -3.23000923e-03 3.47082585e-01 -2.73330868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.360714057 meters Centerline goodness : 0.992194 Centerline is valid? [True, True] Translation: X:115.79, Y:211.05, Z:-27.35 [[-2.00937530e-01 8.24833504e-01 -5.28463622e-01 1.15790242e+02] [-2.83596338e-01 -5.65346268e-01 -7.74568728e-01 2.11047840e+02] [-9.37655175e-01 -5.76957923e-03 3.47519043e-01 -2.73467793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.390714057 meters Centerline goodness : 0.992067 Centerline is valid? [True, True] Translation: X:115.79, Y:211.05, Z:-27.35 [[-2.02764450e-01 8.22984857e-01 -5.30643480e-01 1.15791982e+02] [-2.81785404e-01 -5.68016852e-01 -7.73274752e-01 2.11047647e+02] [-9.37807850e-01 -7.26504294e-03 3.47078745e-01 -2.73500198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.4207140569999 meters Centerline goodness : 0.992246 Centerline is valid? [True, True] Translation: X:115.79, Y:211.04, Z:-27.36 [[-2.07151686e-01 8.20591368e-01 -5.32651843e-01 1.15792058e+02] [-2.79158708e-01 -5.71406183e-01 -7.71728832e-01 2.11043511e+02] [-9.37634574e-01 -1.11705285e-02 3.47442980e-01 -2.73633578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.4507140569999 meters Centerline goodness : 0.991927 Centerline is valid? [True, True] Translation: X:115.79, Y:211.04, Z:-27.38 [[-2.09687254e-01 8.18576688e-01 -5.34755515e-01 1.15792167e+02] [-2.77231791e-01 -5.74243852e-01 -7.70315865e-01 2.11040480e+02] [-9.37642677e-01 -1.32741898e-02 3.47347098e-01 -2.73750562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.4807140569999 meters Centerline goodness : 0.987950 Centerline is valid? [True, True] Translation: X:115.66, Y:210.85, Z:-28.04 [[-2.14468883e-01 8.16876425e-01 -5.35458687e-01 1.15656823e+02] [-2.71764171e-01 -5.76474467e-01 -7.70598095e-01 2.10847532e+02] [-9.38161678e-01 -1.97508262e-02 3.45633580e-01 -2.80409357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.510714057 meters Centerline goodness : 0.992294 Centerline is valid? [True, True] Translation: X:115.79, Y:211.03, Z:-27.40 [[-2.19036989e-01 8.20248550e-01 -5.28408093e-01 1.15786059e+02] [-2.71209014e-01 -5.71400081e-01 -7.74562856e-01 2.11031230e+02] [-9.37266487e-01 -2.63488777e-02 3.47616554e-01 -2.73951081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.540714057 meters Centerline goodness : 0.992622 Centerline is valid? [True, True] Translation: X:115.80, Y:211.03, Z:-27.40 [[-2.23578142e-01 8.07999489e-01 -5.45114336e-01 1.15797416e+02] [-2.67772628e-01 -5.88670900e-01 -7.62734810e-01 2.11032206e+02] [-9.37182284e-01 -2.45641335e-02 3.47974093e-01 -2.74026077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.5707140569999 meters Centerline goodness : 0.992728 Centerline is valid? [True, True] Translation: X:115.80, Y:211.03, Z:-27.41 [[-2.27938191e-01 8.05851364e-01 -5.46486743e-01 1.15797908e+02] [-2.64852074e-01 -5.91413801e-01 -7.61631863e-01 2.11029243e+02] [-9.36961878e-01 -2.88668421e-02 3.48237197e-01 -2.74123037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.6007140569999 meters Centerline goodness : 0.988625 Centerline is valid? [True, True] Translation: X:115.98, Y:209.71, Z:-27.83 [[-1.00485273e-01 -8.26357504e-01 5.54108280e-01 1.15981876e+02] [-3.31438123e-01 5.52919381e-01 7.64479515e-01 2.09705728e+02] [-9.38110591e-01 -1.06833676e-01 -3.29446635e-01 -2.78302182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.630714057 meters Centerline goodness : 0.991050 Centerline is valid? [True, True] Translation: X:115.79, Y:209.98, Z:-27.09 [[-1.59078190e-01 -5.49483335e-01 8.20220820e-01 1.15794950e+02] [-3.76655605e-01 8.01739689e-01 4.64051750e-01 2.09982310e+02] [-9.12592289e-01 -2.35120257e-01 -3.34505276e-01 -2.70943767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.660714057 meters Centerline goodness : 0.993807 Centerline is valid? [True, True] Translation: X:116.18, Y:209.98, Z:-27.39 [[-1.09543605e-02 -9.59984995e-01 2.79837117e-01 1.16179299e+02] [-3.88148253e-01 2.61992028e-01 8.83572924e-01 2.09975969e+02] [-9.21531842e-01 -9.89393116e-02 -3.75486453e-01 -2.73883894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.6907140569999 meters Centerline goodness : 0.989894 Centerline is valid? [True, True] Translation: X:115.49, Y:210.92, Z:-27.65 [[-4.61685593e-02 9.85005300e-01 -1.66231835e-01 1.15486017e+02] [-3.61489970e-01 -1.71605443e-01 -9.16447802e-01 2.10917765e+02] [-9.31232230e-01 1.77800663e-02 3.63992313e-01 -2.76474818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.7207140569999 meters Centerline goodness : 0.993277 Centerline is valid? [True, True] Translation: X:115.37, Y:210.77, Z:-27.70 [[-9.38292467e-02 9.94177659e-01 5.29797546e-02 1.15366873e+02] [-3.98466229e-01 1.12662744e-02 -9.17113807e-01 2.10768083e+02] [-9.12370943e-01 -1.07162741e-01 3.95089117e-01 -2.77030066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.750714057 meters Centerline goodness : 0.993509 Centerline is valid? [True, True] Translation: X:115.44, Y:210.84, Z:-27.75 [[-9.74258441e-02 9.87388097e-01 -1.24791626e-01 1.15435760e+02] [-3.91596341e-01 -1.53305524e-01 -9.07275990e-01 2.10835897e+02] [-9.14964759e-01 -3.95241850e-02 4.01593487e-01 -2.77458077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.780714057 meters Centerline goodness : 0.990075 Centerline is valid? [True, True] Translation: X:115.49, Y:210.92, Z:-27.67 [[-4.68221673e-02 9.82670759e-01 -1.79348445e-01 1.15488622e+02] [-3.56129824e-01 -1.84168776e-01 -9.16107751e-01 2.10916540e+02] [-9.33262682e-01 2.09771799e-02 3.58581545e-01 -2.76670664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.8107140569999 meters Centerline goodness : 0.991616 Centerline is valid? [True, True] Translation: X:115.41, Y:210.85, Z:-27.65 [[-5.05690521e-02 9.98715936e-01 -3.04152491e-03 1.15408274e+02] [-3.50321150e-01 -2.05899413e-02 -9.36403303e-01 2.10850821e+02] [-9.35263526e-01 -4.62875169e-02 3.50912529e-01 -2.76482330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.8407140569999 meters Centerline goodness : 0.992049 Centerline is valid? [True, True] Translation: X:115.39, Y:210.82, Z:-27.67 [[-5.36382572e-02 9.97778428e-01 3.95113456e-02 1.15386918e+02] [-3.48404804e-01 1.83816170e-02 -9.37163918e-01 2.10823863e+02] [-9.35808223e-01 -6.40337819e-02 3.46644840e-01 -2.76656402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.870714057 meters Centerline goodness : 0.992049 Centerline is valid? [True, True] Translation: X:115.37, Y:210.80, Z:-27.67 [[-5.76878088e-02 9.94433707e-01 8.81687025e-02 1.15367532e+02] [-3.49228034e-01 6.26350722e-02 -9.34942045e-01 2.10798182e+02] [-9.35260337e-01 -8.47257405e-02 3.43670848e-01 -2.76668940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.900714057 meters Centerline goodness : 0.991869 Centerline is valid? [True, True] Translation: X:115.37, Y:210.80, Z:-27.68 [[-5.64466110e-02 9.95681252e-01 7.37063448e-02 1.15371822e+02] [-3.47092545e-01 4.96493762e-02 -9.36515726e-01 2.10801963e+02] [-9.36130624e-01 -7.84460617e-02 3.42791001e-01 -2.76815013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.9307140569999 meters Centerline goodness : 0.991808 Centerline is valid? [True, True] Translation: X:115.36, Y:210.80, Z:-27.66 [[-5.75088631e-02 9.93619483e-01 9.70208917e-02 1.15361356e+02] [-3.50151030e-01 7.09336651e-02 -9.34003571e-01 2.10797528e+02] [-9.34926193e-01 -8.76854487e-02 3.43837571e-01 -2.76595705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.9607140569999 meters Centerline goodness : 0.991221 Centerline is valid? [True, True] Translation: X:115.38, Y:210.81, Z:-27.69 [[-5.37155190e-02 9.97626822e-01 4.30739690e-02 1.15377953e+02] [-3.44023254e-01 2.20065106e-02 -9.38703209e-01 2.10813760e+02] [-9.37423407e-01 -6.52413770e-02 3.42024735e-01 -2.76872479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.990714057 meters Centerline goodness : 0.989129 Centerline is valid? [True, True] Translation: X:115.30, Y:210.45, Z:-28.46 [[-1.33418196e-01 9.90500272e-01 3.32985869e-02 1.15298042e+02] [-4.32553031e-01 -2.79682957e-02 -9.01174595e-01 2.10445627e+02] [-8.91682377e-01 -1.34636494e-01 4.32175374e-01 -2.84616318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.020714057 meters Centerline goodness : 0.989441 Centerline is valid? [True, True] Translation: X:115.39, Y:210.54, Z:-28.50 [[-1.36453164e-01 9.73533586e-01 -1.83338187e-01 1.15386258e+02] [-4.23632107e-01 -2.24637607e-01 -8.77538480e-01 2.10536741e+02] [-8.95497835e-01 -4.20749594e-02 4.43072596e-01 -2.84997090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.0507140569999 meters Centerline goodness : 0.988466 Centerline is valid? [True, True] Translation: X:115.38, Y:210.53, Z:-28.52 [[-1.39874694e-01 9.72173061e-01 -1.87921816e-01 1.15381226e+02] [-4.22391293e-01 -2.30236876e-01 -8.76684993e-01 2.10530142e+02] [-8.95556065e-01 -4.32495061e-02 4.42841749e-01 -2.85180756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.0807140569999 meters Centerline goodness : 0.991453 Centerline is valid? [True, True] Translation: X:115.52, Y:210.93, Z:-27.79 [[-2.19155541e-02 9.61573333e-01 -2.73672127e-01 1.15516065e+02] [-3.51547725e-01 -2.63668360e-01 -8.98272338e-01 2.10926252e+02] [-9.35913407e-01 7.65226774e-02 3.43817356e-01 -2.77853366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.110714057 meters Centerline goodness : 0.992242 Centerline is valid? [True, True] Translation: X:115.33, Y:210.76, Z:-27.74 [[-4.91120761e-02 9.91166327e-01 1.23196254e-01 1.15328366e+02] [-3.43403236e-01 9.90688385e-02 -9.33948384e-01 2.10755536e+02] [-9.37903098e-01 -8.81741364e-02 3.35504247e-01 -2.77359091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.140714057 meters Centerline goodness : 0.988845 Centerline is valid? [True, True] Translation: X:115.27, Y:210.41, Z:-28.51 [[-1.26244474e-01 9.91037845e-01 4.36614584e-02 1.15270640e+02] [-4.41215940e-01 -1.66754522e-02 -8.97246022e-01 2.10410665e+02] [-8.88476689e-01 -1.32536483e-01 4.39366878e-01 -2.85095606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.1707140569999 meters Centerline goodness : 0.988367 Centerline is valid? [True, True] Translation: X:115.36, Y:210.50, Z:-28.57 [[-1.28901536e-01 9.75325475e-01 -1.79233399e-01 1.15361531e+02] [-4.33356018e-01 -2.17972121e-01 -8.74465961e-01 2.10499032e+02] [-8.91956813e-01 -3.50481334e-02 4.50760105e-01 -2.85694769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.2007140569999 meters Centerline goodness : 0.989025 Centerline is valid? [True, True] Translation: X:115.36, Y:210.50, Z:-28.58 [[-1.31612539e-01 9.73716386e-01 -1.85888514e-01 1.15360873e+02] [-4.31883949e-01 -2.25110321e-01 -8.73385137e-01 2.10498444e+02] [-8.92274842e-01 -3.46661700e-02 4.50159819e-01 -2.85793127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.2307140569999 meters Centerline goodness : 0.988213 Centerline is valid? [True, True] Translation: X:115.36, Y:210.49, Z:-28.60 [[-1.35052014e-01 9.73729972e-01 -1.83332744e-01 1.15358279e+02] [-4.38669128e-01 -2.24665137e-01 -8.70112046e-01 2.10487096e+02] [-8.88442654e-01 -3.70879690e-02 4.57486757e-01 -2.86009001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.260714057 meters Centerline goodness : 0.987949 Centerline is valid? [True, True] Translation: X:115.37, Y:210.49, Z:-28.62 [[-1.44299188e-01 9.66061891e-01 -2.14247913e-01 1.15367023e+02] [-4.26482027e-01 -2.56089189e-01 -8.67485681e-01 2.10492741e+02] [-8.92911432e-01 -3.38045948e-02 4.48961496e-01 -2.86245987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.290714057 meters Centerline goodness : 0.987000 Centerline is valid? [True, True] Translation: X:115.36, Y:210.48, Z:-28.65 [[-1.55441362e-01 9.65189353e-01 -2.10350889e-01 1.15360821e+02] [-4.31617727e-01 -2.57897078e-01 -8.64404555e-01 2.10482712e+02] [-8.88562953e-01 -4.35730487e-02 4.56680708e-01 -2.86469980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.3207140569999 meters Centerline goodness : 0.990242 Centerline is valid? [True, True] Translation: X:116.46, Y:210.30, Z:-27.88 [[-6.56940671e-02 -7.59540750e-01 -6.47133788e-01 1.16455179e+02] [-4.56542714e-01 -5.53793971e-01 6.96333963e-01 2.10297358e+02] [-8.87272810e-01 3.41189226e-01 -3.10381817e-01 -2.78771261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.3507140569999 meters Centerline goodness : 0.987884 Centerline is valid? [True, True] Translation: X:115.36, Y:210.45, Z:-28.74 [[-1.03570984e-01 9.66715962e-01 -2.33951492e-01 1.15356195e+02] [-3.89778435e-01 -2.55851636e-01 -8.84654007e-01 2.10451719e+02] [-9.15066021e-01 -4.35239388e-04 4.03303840e-01 -2.87378547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.380714057 meters Centerline goodness : 0.988610 Centerline is valid? [True, True] Translation: X:116.38, Y:209.93, Z:-28.70 [[-9.69015610e-04 -8.03590488e-01 -5.95181812e-01 1.16382288e+02] [-3.30089027e-01 -5.61564949e-01 7.58739773e-01 2.09926616e+02] [-9.43949308e-01 1.97198216e-01 -2.64712237e-01 -2.86953415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.410714057 meters Centerline goodness : 0.987111 Centerline is valid? [True, True] Translation: X:116.27, Y:210.24, Z:-28.86 [[ 5.72778326e-03 -3.29074937e-01 -9.44286439e-01 1.16268986e+02] [-2.58133842e-01 -9.12784245e-01 3.16530949e-01 2.10237233e+02] [-9.66092186e-01 2.41939266e-01 -9.01736082e-02 -2.88558769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.4407140569999 meters Centerline goodness : 0.987839 Centerline is valid? [True, True] Translation: X:116.17, Y:209.42, Z:-28.61 [[ 1.02873387e-01 -9.64218323e-01 2.44336023e-01 1.16168831e+02] [-2.86103512e-01 2.06576141e-01 9.35666115e-01 2.09416820e+02] [-9.52660405e-01 -1.66160537e-01 -2.54615061e-01 -2.86080374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.4707140569999 meters Centerline goodness : 0.987925 Centerline is valid? [True, True] Translation: X:116.38, Y:209.66, Z:-28.65 [[ 1.73071470e-01 -9.58818650e-01 -2.25195609e-01 1.16375292e+02] [-2.55364063e-01 -2.64511745e-01 9.29958457e-01 2.09661671e+02] [-9.51228396e-01 -1.03442412e-01 -2.90627263e-01 -2.86512259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.500714057 meters Centerline goodness : 0.989779 Centerline is valid? [True, True] Translation: X:116.44, Y:209.83, Z:-28.67 [[ 2.33725427e-01 -8.50117325e-01 -4.71882357e-01 1.16436915e+02] [-2.24007503e-01 -5.19349568e-01 8.24679735e-01 2.09833272e+02] [-9.46146428e-01 -8.70434349e-02 -3.11817859e-01 -2.86654236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.530714057 meters Centerline goodness : 0.991821 Centerline is valid? [True, True] Translation: X:116.43, Y:209.89, Z:-28.67 [[ 2.94831977e-01 -7.72910108e-01 -5.61857696e-01 1.16429236e+02] [-1.63930097e-01 -6.20189717e-01 7.67132087e-01 2.09894616e+02] [-9.41382509e-01 -1.34069683e-01 -3.09554989e-01 -2.86670477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.5607140569999 meters Centerline goodness : 0.988699 Centerline is valid? [True, True] Translation: X:116.43, Y:210.07, Z:-28.69 [[ 3.38345578e-01 -5.87527609e-01 -7.35073859e-01 1.16427329e+02] [-9.44910355e-02 -7.98408113e-01 5.94656143e-01 2.10068117e+02] [-9.36265835e-01 -1.31741386e-01 -3.25653947e-01 -2.86933877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.5907140569999 meters Centerline goodness : 0.989003 Centerline is valid? [True, True] Translation: X:116.37, Y:210.25, Z:-28.72 [[ 3.58106290e-01 -3.33195339e-01 -8.72204535e-01 1.16369866e+02] [-1.86945887e-02 -9.36528552e-01 3.50092537e-01 2.10254393e+02] [-9.33493652e-01 -1.09064834e-01 -3.41605715e-01 -2.87243183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.620714057 meters Centerline goodness : 0.991991 Centerline is valid? [True, True] Translation: X:116.30, Y:210.37, Z:-28.75 [[ 3.59931916e-01 -1.31804967e-01 -9.23621387e-01 1.16297025e+02] [ 5.67072755e-02 -9.85049674e-01 1.62669682e-01 2.10373562e+02] [-9.31253618e-01 -1.10926063e-01 -3.47076516e-01 -2.87460243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.650714057 meters Centerline goodness : 0.989027 Centerline is valid? [True, True] Translation: X:116.19, Y:210.50, Z:-28.77 [[ 3.48288572e-01 1.11676848e-01 -9.30711208e-01 1.16189262e+02] [ 1.36815066e-01 -9.88301785e-01 -6.73885770e-02 2.10495053e+02] [-9.27349291e-01 -1.03864644e-01 -3.59493293e-01 -2.87699966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.6807140569999 meters Centerline goodness : 0.988434 Centerline is valid? [True, True] Translation: X:115.69, Y:209.40, Z:-29.12 [[ 3.86081983e-01 -2.53740482e-01 8.86880190e-01 1.15690896e+02] [ 7.74712699e-02 9.66947125e-01 2.42922743e-01 2.09401179e+02] [-9.19205584e-01 -2.50803597e-02 3.92978461e-01 -2.91167369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.7107140569999 meters Centerline goodness : 0.988609 Centerline is valid? [True, True] Translation: X:115.72, Y:209.40, Z:-29.14 [[ 3.87383217e-01 -2.85297650e-01 8.76663843e-01 1.15720168e+02] [ 7.71510654e-02 9.57608834e-01 2.77548257e-01 2.09396082e+02] [-9.18684906e-01 -3.98819873e-02 3.92972608e-01 -2.91353835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.740714057 meters Centerline goodness : 0.991559 Centerline is valid? [True, True] Translation: X:115.73, Y:209.40, Z:-29.16 [[ 3.88811523e-01 -2.85674067e-01 8.75908630e-01 1.15733047e+02] [ 8.05453364e-02 9.57612984e-01 2.76567934e-01 2.09403173e+02] [-9.17789763e-01 -3.69824445e-02 3.95340676e-01 -2.91621266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.770714057 meters Centerline goodness : 0.986744 Centerline is valid? [True, True] Translation: X:115.74, Y:209.40, Z:-29.19 [[ 3.78994058e-01 -2.90977121e-01 8.78462190e-01 1.15743161e+02] [ 7.67395887e-02 9.55891858e-01 2.83516827e-01 2.09403899e+02] [-9.22211765e-01 -4.00383657e-02 3.84606799e-01 -2.91897156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.8007140569999 meters Centerline goodness : 0.987344 Centerline is valid? [True, True] Translation: X:115.73, Y:209.42, Z:-29.22 [[ 3.77313642e-01 -2.54369286e-01 8.90466553e-01 1.15730785e+02] [ 7.69668653e-02 9.66824867e-01 2.43568837e-01 2.09418007e+02] [-9.22881638e-01 -2.33654256e-02 3.84374218e-01 -2.92239457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.8307140569999 meters Centerline goodness : 0.990705 Centerline is valid? [True, True] Translation: X:115.74, Y:209.42, Z:-29.25 [[ 3.84728176e-01 -2.38104291e-01 8.91790658e-01 1.15735367e+02] [ 7.41687586e-02 9.71006237e-01 2.27257304e-01 2.09424155e+02] [-9.20045231e-01 -2.12892820e-02 3.91233358e-01 -2.92466835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.860714057 meters Centerline goodness : 0.988067 Centerline is valid? [True, True] Translation: X:115.78, Y:209.41, Z:-29.27 [[ 3.76746523e-01 -2.94675465e-01 8.78196121e-01 1.15776207e+02] [ 7.65207522e-02 9.54712142e-01 2.87522697e-01 2.09414203e+02] [-9.23150384e-01 -4.11229485e-02 3.82233268e-01 -2.92669392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.890714057 meters Centerline goodness : 0.988204 Centerline is valid? [True, True] Translation: X:115.76, Y:209.43, Z:-29.30 [[ 3.75096374e-01 -2.50221217e-01 8.92576077e-01 1.15758488e+02] [ 7.72579419e-02 9.67968493e-01 2.38889531e-01 2.09430582e+02] [-9.23760749e-01 -2.06480060e-02 3.82413048e-01 -2.93017547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.9207140569999 meters Centerline goodness : 0.987821 Centerline is valid? [True, True] Translation: X:115.77, Y:209.43, Z:-29.33 [[ 3.74810160e-01 -2.58627085e-01 8.90297352e-01 1.15773014e+02] [ 7.75480795e-02 9.65682357e-01 2.47878761e-01 2.09432512e+02] [-9.23852607e-01 -2.38666282e-02 3.82003593e-01 -2.93262774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.9507140569999 meters Centerline goodness : 0.988463 Centerline is valid? [True, True] Translation: X:115.77, Y:209.44, Z:-29.35 [[ 3.81934121e-01 -2.40445203e-01 8.92363397e-01 1.15773338e+02] [ 7.48927223e-02 9.70439937e-01 2.29428440e-01 2.09441062e+02] [-9.21150046e-01 -2.07950254e-02 3.88651720e-01 -2.93507419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.9807140569999 meters Centerline goodness : 0.988352 Centerline is valid? [True, True] Translation: X:115.82, Y:209.43, Z:-29.37 [[ 3.84160195e-01 -2.92848933e-01 8.75591484e-01 1.15815379e+02] [ 7.49303079e-02 9.55123479e-01 2.86573882e-01 2.09430222e+02] [-9.20220840e-01 -4.44819387e-02 3.88863682e-01 -2.93666130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.010714057 meters Centerline goodness : 0.988540 Centerline is valid? [True, True] Translation: X:115.82, Y:209.43, Z:-29.39 [[ 3.85688832e-01 -2.92284039e-01 8.75108088e-01 1.15824534e+02] [ 7.33641615e-02 9.55206399e-01 2.86702694e-01 2.09434169e+02] [-9.19707467e-01 -4.63764564e-02 3.89855614e-01 -2.93939454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.040714057 meters Centerline goodness : 0.991589 Centerline is valid? [True, True] Translation: X:115.77, Y:209.46, Z:-29.42 [[ 3.81692427e-01 -2.07972133e-01 9.00587854e-01 1.15773576e+02] [ 7.34383954e-02 9.78100415e-01 1.94746964e-01 2.09462189e+02] [-9.21367295e-01 -8.19571432e-03 3.88606661e-01 -2.94228226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.0707140569999 meters Centerline goodness : 0.988655 Centerline is valid? [True, True] Translation: X:116.01, Y:209.40, Z:-29.39 [[ 3.99065804e-01 -5.23792356e-01 7.52587571e-01 1.16008434e+02] [ 7.88910814e-02 8.37346131e-01 5.40950695e-01 2.09402037e+02] [-9.13522130e-01 -1.56502477e-01 3.75478752e-01 -2.93913903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.1007140569999 meters Centerline goodness : 0.986789 Centerline is valid? [True, True] Translation: X:115.85, Y:209.45, Z:-29.48 [[ 3.90128534e-01 -2.81498936e-01 8.76674441e-01 1.15853637e+02] [ 7.05920537e-02 9.58461941e-01 2.76346647e-01 2.09447775e+02] [-9.18050374e-01 -4.59244629e-02 3.93794940e-01 -2.94782752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.130714057 meters Centerline goodness : 0.987220 Centerline is valid? [True, True] Translation: X:115.87, Y:209.45, Z:-29.50 [[ 3.89740282e-01 -2.84815942e-01 8.75775309e-01 1.15866776e+02] [ 7.12820549e-02 9.57450510e-01 2.79655841e-01 2.09449861e+02] [-9.18161958e-01 -4.65660827e-02 3.93459298e-01 -2.95036178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.160714057 meters Centerline goodness : 0.989262 Centerline is valid? [True, True] Translation: X:115.81, Y:209.48, Z:-29.54 [[ 3.72817820e-01 -2.03674260e-01 9.05275466e-01 1.15810355e+02] [ 7.98889129e-02 9.79035602e-01 1.87368760e-01 2.09479764e+02] [-9.24459104e-01 2.46706011e-03 3.81273234e-01 -2.95354518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.1907140569999 meters Centerline goodness : 0.987159 Centerline is valid? [True, True] Translation: X:116.05, Y:209.41, Z:-29.50 [[ 4.00309833e-01 -5.14371081e-01 7.58402550e-01 1.16048988e+02] [ 7.94828210e-02 8.43977475e-01 5.30456882e-01 2.09414026e+02] [-9.12926349e-01 -1.52067132e-01 3.78736147e-01 -2.94991859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.2207140569999 meters Centerline goodness : 0.987732 Centerline is valid? [True, True] Translation: X:115.91, Y:209.46, Z:-29.59 [[ 3.91600948e-01 -2.90529004e-01 8.73064485e-01 1.15906674e+02] [ 7.64101494e-02 9.55834348e-01 2.83799557e-01 2.09455734e+02] [-9.16957026e-01 -4.44251878e-02 3.96505001e-01 -2.95852670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.250714057 meters Centerline goodness : 0.987153 Centerline is valid? [True, True] Translation: X:115.89, Y:209.47, Z:-29.62 [[ 3.92864946e-01 -2.53409451e-01 8.83991394e-01 1.15893210e+02] [ 7.76584021e-02 9.66990713e-01 2.42689378e-01 2.09467694e+02] [-9.16311250e-01 -2.66947902e-02 3.99576127e-01 -2.96170030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.280714057 meters Centerline goodness : 0.991189 Centerline is valid? [True, True] Translation: X:115.92, Y:209.47, Z:-29.64 [[ 3.94423159e-01 -2.78773534e-01 8.75623029e-01 1.15920644e+02] [ 8.36524366e-02 9.59809627e-01 2.67895036e-01 2.09466043e+02] [-9.15113458e-01 -3.24160066e-02 4.01891231e-01 -2.96395549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.3107140569999 meters Centerline goodness : 0.985356 Centerline is valid? [True, True] Translation: X:115.92, Y:209.47, Z:-29.67 [[ 3.92252882e-01 -2.58228593e-01 8.82867867e-01 1.15916895e+02] [ 8.19389277e-02 9.65781140e-01 2.46074790e-01 2.09471315e+02] [-9.16200682e-01 -2.41822991e-02 3.99989409e-01 -2.96680858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.3407140569999 meters Centerline goodness : 0.991008 Centerline is valid? [True, True] Translation: X:115.94, Y:209.47, Z:-29.69 [[ 3.92507175e-01 -2.81285553e-01 8.75680624e-01 1.15943413e+02] [ 8.73070647e-02 9.59182149e-01 2.68974128e-01 2.09469784e+02] [-9.15595759e-01 -2.91211700e-02 4.01044091e-01 -2.96913919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.370714057 meters Centerline goodness : 0.991197 Centerline is valid? [True, True] Translation: X:115.94, Y:209.48, Z:-29.72 [[ 3.89643924e-01 -2.60827295e-01 8.83259155e-01 1.15942013e+02] [ 8.87912202e-02 9.65229135e-01 2.45863452e-01 2.09477515e+02] [-9.16675369e-01 -1.73735420e-02 3.99254842e-01 -2.97207071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.400714057 meters Centerline goodness : 0.981796 Centerline is valid? [True, True] Translation: X:115.96, Y:209.47, Z:-29.75 [[ 3.83087255e-01 -2.74353169e-01 8.82028624e-01 1.15958456e+02] [ 8.36731438e-02 9.61254987e-01 2.62655010e-01 2.09471705e+02] [-9.19914648e-01 -2.68176789e-02 3.91200527e-01 -2.97475386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.4307140569999 meters Centerline goodness : 0.991705 Centerline is valid? [True, True] Translation: X:115.95, Y:209.49, Z:-29.78 [[ 3.86297532e-01 -2.37885525e-01 8.91170407e-01 1.15950781e+02] [ 8.92517693e-02 9.71276642e-01 2.20580614e-01 2.09490297e+02] [-9.18045935e-01 -5.67121115e-03 3.96433474e-01 -2.97785248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.4607140569999 meters Centerline goodness : 0.991667 Centerline is valid? [True, True] Translation: X:115.98, Y:209.49, Z:-29.80 [[ 3.86574854e-01 -2.63504333e-01 8.83812960e-01 1.15976513e+02] [ 8.96844766e-02 9.64513013e-01 2.48337154e-01 2.09486117e+02] [-9.17887018e-01 -1.67365962e-02 3.96488726e-01 -2.97980732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.490714057 meters Centerline goodness : 0.982489 Centerline is valid? [True, True] Translation: X:115.99, Y:209.48, Z:-29.83 [[ 3.84742975e-01 -2.62759841e-01 8.84833379e-01 1.15985838e+02] [ 8.47713213e-02 9.64632230e-01 2.49596643e-01 2.09484284e+02] [-9.19122770e-01 -2.10220602e-02 3.93409973e-01 -2.98261244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.520714057 meters Centerline goodness : 0.988498 Centerline is valid? [True, True] Translation: X:116.00, Y:209.49, Z:-29.85 [[ 3.83420474e-01 -2.67269567e-01 8.84056400e-01 1.15997130e+02] [ 8.83608710e-02 9.63437055e-01 2.52945443e-01 2.09490041e+02] [-9.19337314e-01 -1.88684679e-02 3.93017664e-01 -2.98503085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.5507140569999 meters Centerline goodness : 0.991119 Centerline is valid? [True, True] Translation: X:116.01, Y:209.49, Z:-29.87 [[ 3.84469002e-01 -2.75059592e-01 8.81207018e-01 1.16013369e+02] [ 8.76400230e-02 9.61142015e-01 2.61773288e-01 2.09489845e+02] [-9.18968342e-01 -2.34147112e-02 3.93635540e-01 -2.98710111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.5807140569999 meters Centerline goodness : 0.992461 Centerline is valid? [True, True] Translation: X:116.01, Y:209.50, Z:-29.90 [[ 3.81265740e-01 -2.60762937e-01 8.86926787e-01 1.16012177e+02] [ 9.09153573e-02 9.65319700e-01 2.44728982e-01 2.09496987e+02] [-9.19984149e-01 -1.26715105e-02 3.91750685e-01 -2.99034737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.610714057 meters Centerline goodness : 0.988805 Centerline is valid? [True, True] Translation: X:116.04, Y:209.49, Z:-29.92 [[ 3.77715956e-01 -2.86103931e-01 8.80610696e-01 1.16035865e+02] [ 8.97388980e-02 9.57898313e-01 2.72722850e-01 2.09492657e+02] [-9.21562579e-01 -2.39867387e-02 3.87488128e-01 -2.99235848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.640714057 meters Centerline goodness : 0.988087 Centerline is valid? [True, True] Translation: X:116.04, Y:209.50, Z:-29.95 [[ 3.79780839e-01 -2.67035405e-01 8.85696679e-01 1.16035023e+02] [ 9.07218225e-02 9.63566753e-01 2.51612131e-01 2.09499886e+02] [-9.20617220e-01 -1.52054493e-02 3.90170128e-01 -2.99520503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.6707140569999 meters Centerline goodness : 0.988065 Centerline is valid? [True, True] Translation: X:116.06, Y:209.50, Z:-29.98 [[ 3.78919171e-01 -2.84321533e-01 8.80671067e-01 1.16056017e+02] [ 9.34562503e-02 9.58526189e-01 2.69246123e-01 2.09499522e+02] [-9.20698752e-01 -1.97183021e-02 3.89775573e-01 -2.99780479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.7007140569999 meters Centerline goodness : 0.983335 Centerline is valid? [True, True] Translation: X:116.05, Y:209.50, Z:-30.01 [[ 3.75726025e-01 -2.61445041e-01 8.89087423e-01 1.16050902e+02] [ 8.97792140e-02 9.65136677e-01 2.45867623e-01 2.09504582e+02] [-9.22371751e-01 -1.25572946e-02 3.86099297e-01 -3.00119404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.7307140569999 meters Centerline goodness : 0.992878 Centerline is valid? [True, True] Translation: X:116.05, Y:209.52, Z:-30.04 [[ 3.81384793e-01 -2.38570106e-01 8.93101307e-01 1.16050440e+02] [ 9.58735338e-02 9.71122545e-01 2.18470290e-01 2.09520262e+02] [-9.19431295e-01 2.30353214e-03 3.93243930e-01 -3.00380609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.760714057 meters Centerline goodness : 0.992982 Centerline is valid? [True, True] Translation: X:116.03, Y:209.54, Z:-30.05 [[ 3.65411267e-01 -2.34988995e-01 9.00696829e-01 1.16026168e+02] [ 1.08157344e-01 9.71775302e-01 2.09653885e-01 2.09538252e+02] [-9.24541289e-01 2.08070850e-02 3.80513429e-01 -3.00491801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.790714057 meters Centerline goodness : 0.992982 Centerline is valid? [True, True] Translation: X:116.16, Y:209.49, Z:-30.04 [[ 3.66138377e-01 -4.27870215e-01 8.26359346e-01 1.16159028e+02] [ 1.05461473e-01 9.01381302e-01 4.19987649e-01 2.09491551e+02] [-9.24565069e-01 -6.66245218e-02 3.75154110e-01 -3.00390620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.8207140569999 meters Centerline goodness : 0.987499 Centerline is valid? [True, True] Translation: X:116.22, Y:209.49, Z:-30.07 [[ 3.72140248e-01 -4.75621621e-01 7.97054396e-01 1.16217839e+02] [ 1.06644944e-01 8.74954686e-01 4.72314677e-01 2.09491818e+02] [-9.22029551e-01 -9.07654798e-02 3.76328494e-01 -3.00666447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.8507140569999 meters Centerline goodness : 0.992062 Centerline is valid? [True, True] Translation: X:116.12, Y:209.53, Z:-30.14 [[ 3.69398417e-01 -3.09718374e-01 8.76138881e-01 1.16116408e+02] [ 1.07556736e-01 9.50737199e-01 2.90740997e-01 2.09527294e+02] [-9.23025654e-01 -1.31646253e-02 3.84513113e-01 -3.01354989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.880714057 meters Centerline goodness : 0.990333 Centerline is valid? [True, True] Translation: X:116.06, Y:209.56, Z:-30.16 [[ 3.52174275e-01 -2.56813582e-01 9.00011147e-01 1.16058621e+02] [ 1.19223341e-01 9.66093504e-01 2.29017763e-01 2.09558338e+02] [-9.28309795e-01 2.66481707e-02 3.70851453e-01 -3.01561117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.910714057 meters Centerline goodness : 0.990245 Centerline is valid? [True, True] Translation: X:116.20, Y:209.51, Z:-30.14 [[ 3.55892136e-01 -4.54899401e-01 8.16337750e-01 1.16200614e+02] [ 1.15882436e-01 8.88270176e-01 4.44462997e-01 2.09513501e+02] [-9.27314428e-01 -6.35816780e-02 3.68843221e-01 -3.01424730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.9407140569999 meters Centerline goodness : 0.990833 Centerline is valid? [True, True] Translation: X:116.19, Y:209.52, Z:-30.18 [[ 3.61382620e-01 -4.17624775e-01 8.33661892e-01 1.16187811e+02] [ 1.14624111e-01 9.07202769e-01 4.04777038e-01 2.09523976e+02] [-9.25345295e-01 -5.07216334e-02 3.75717181e-01 -3.01777342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.9707140569999 meters Centerline goodness : 0.991182 Centerline is valid? [True, True] Translation: X:116.26, Y:209.51, Z:-30.21 [[ 3.76841233e-01 -4.63738241e-01 8.01833854e-01 1.16260715e+02] [ 1.07766023e-01 8.81722768e-01 4.59294507e-01 2.09511744e+02] [-9.19987592e-01 -8.66706627e-02 3.82244721e-01 -3.02071875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.000714057 meters Centerline goodness : 0.991159 Centerline is valid? [True, True] Translation: X:116.15, Y:209.55, Z:-30.27 [[ 3.77323913e-01 -2.83774324e-01 8.81532074e-01 1.16154269e+02] [ 1.04750245e-01 9.58863994e-01 2.63831817e-01 2.09552385e+02] [-9.20138061e-01 -7.20935289e-03 3.91527744e-01 -3.02749243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.030714057 meters Centerline goodness : 0.990739 Centerline is valid? [True, True] Translation: X:116.16, Y:209.56, Z:-30.30 [[ 3.76336157e-01 -2.84746298e-01 8.81640881e-01 1.16164515e+02] [ 1.05512174e-01 9.58580614e-01 2.64556964e-01 2.09556676e+02] [-9.20455473e-01 -6.53850480e-03 3.90792746e-01 -3.03009769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.0607140569999 meters Centerline goodness : 0.990801 Centerline is valid? [True, True] Translation: X:116.18, Y:209.56, Z:-30.33 [[ 3.75843954e-01 -2.85586042e-01 8.81579228e-01 1.16175326e+02] [ 1.06068311e-01 9.58333163e-01 2.65230208e-01 2.09560265e+02] [-9.20592655e-01 -6.17755066e-03 3.90475354e-01 -3.03267366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.0907140569999 meters Centerline goodness : 0.991457 Centerline is valid? [True, True] Translation: X:116.19, Y:209.56, Z:-30.35 [[ 3.73919262e-01 -2.86700963e-01 8.82035681e-01 1.16185634e+02] [ 1.06913746e-01 9.58006080e-01 2.66071047e-01 2.09564396e+02] [-9.21278371e-01 -5.18735082e-03 3.88869200e-01 -3.03528787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.120714057 meters Centerline goodness : 0.991379 Centerline is valid? [True, True] Translation: X:116.20, Y:209.57, Z:-30.38 [[ 3.73217606e-01 -2.87534380e-01 8.82061562e-01 1.16195059e+02] [ 1.07343147e-01 9.57757845e-01 2.66790852e-01 2.09567750e+02] [-9.21512923e-01 -4.88777900e-03 3.88316935e-01 -3.03778425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.150714057 meters Centerline goodness : 0.990546 Centerline is valid? [True, True] Translation: X:116.20, Y:209.57, Z:-30.40 [[ 3.73496763e-01 -2.88178816e-01 8.81733031e-01 1.16204581e+02] [ 1.08514818e-01 9.57568083e-01 2.66997941e-01 2.09571732e+02] [-9.21262559e-01 -4.04176686e-03 3.88920251e-01 -3.04023687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.1807140569999 meters Centerline goodness : 0.988849 Centerline is valid? [True, True] Translation: X:116.23, Y:209.57, Z:-30.42 [[ 3.75601377e-01 -3.02299971e-01 8.76092651e-01 1.16226471e+02] [ 1.07032902e-01 9.53130586e-01 2.82994776e-01 2.09570413e+02] [-9.20580015e-01 -1.25224887e-02 3.90353204e-01 -3.04240799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.2107140569999 meters Centerline goodness : 0.981695 Centerline is valid? [True, True] Translation: X:116.22, Y:209.58, Z:-30.46 [[ 3.72566837e-01 -2.86405280e-01 8.82703782e-01 1.16224786e+02] [ 1.08492326e-01 9.58103888e-01 2.65078018e-01 2.09577725e+02] [-9.21641670e-01 -2.99269209e-03 3.88030510e-01 -3.04588448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.240714057 meters Centerline goodness : 0.991580 Centerline is valid? [True, True] Translation: X:116.22, Y:209.59, Z:-30.49 [[ 3.75204047e-01 -2.66201784e-01 8.87895564e-01 1.16224994e+02] [ 1.12304301e-01 9.63874429e-01 2.41523973e-01 2.09590309e+02] [-9.20113942e-01 9.09371838e-03 3.91545192e-01 -3.04851028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.270714057 meters Centerline goodness : 0.987700 Centerline is valid? [True, True] Translation: X:116.26, Y:209.58, Z:-30.50 [[ 3.75011491e-01 -3.01676573e-01 8.76560110e-01 1.16258531e+02] [ 1.09463078e-01 9.53362677e-01 2.81278226e-01 2.09582180e+02] [-9.20534745e-01 -9.53159890e-03 3.90544406e-01 -3.05031984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.3007140569999 meters Centerline goodness : 0.988170 Centerline is valid? [True, True] Translation: X:116.26, Y:209.59, Z:-30.53 [[ 3.74547858e-01 -2.95346793e-01 8.78910788e-01 1.16263969e+02] [ 1.10742316e-01 9.55375762e-01 2.73849034e-01 2.09589062e+02] [-9.20570498e-01 -5.23695319e-03 3.90541333e-01 -3.05298402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.3307140569999 meters Centerline goodness : 0.981670 Centerline is valid? [True, True] Translation: X:116.27, Y:209.59, Z:-30.56 [[ 3.69859493e-01 -3.00812357e-01 8.79042594e-01 1.16273817e+02] [ 1.13987359e-01 9.53679334e-01 2.78392905e-01 2.09593579e+02] [-9.22068782e-01 -2.76651522e-03 3.87016161e-01 -3.05617794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.360714057 meters Centerline goodness : 0.987164 Centerline is valid? [True, True] Translation: X:116.26, Y:209.61, Z:-30.59 [[ 3.73269918e-01 -2.56474142e-01 8.91566365e-01 1.16259861e+02] [ 1.11327992e-01 9.66465302e-01 2.31410669e-01 2.09607589e+02] [-9.21018809e-01 1.28776516e-02 3.89305175e-01 -3.05915927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.390714057 meters Centerline goodness : 0.991299 Centerline is valid? [True, True] Translation: X:116.28, Y:209.61, Z:-30.61 [[ 3.72070855e-01 -2.81564338e-01 8.84468656e-01 1.16280596e+02] [ 1.16069200e-01 9.59515519e-01 2.56627958e-01 2.09608972e+02] [-9.20918683e-01 7.17578590e-03 3.89688707e-01 -3.06122830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.4207140569999 meters Centerline goodness : 0.991690 Centerline is valid? [True, True] Translation: X:116.30, Y:209.61, Z:-30.63 [[ 3.73305809e-01 -2.96446926e-01 8.79068822e-01 1.16300184e+02] [ 1.15007482e-01 9.55048905e-01 2.73230429e-01 2.09609507e+02] [-9.20552037e-01 -8.99014642e-04 3.90618919e-01 -3.06343796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.4507140569999 meters Centerline goodness : 0.992214 Centerline is valid? [True, True] Translation: X:116.31, Y:209.61, Z:-30.66 [[ 3.74108740e-01 -2.96514738e-01 8.78704536e-01 1.16309985e+02] [ 1.13795235e-01 9.55025144e-01 2.73820412e-01 2.09613112e+02] [-9.20376714e-01 -2.44622024e-03 3.91025217e-01 -3.06601896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.4807140569999 meters Centerline goodness : 0.992107 Centerline is valid? [True, True] Translation: X:116.32, Y:209.62, Z:-30.69 [[ 3.76050858e-01 -2.95682436e-01 8.78155823e-01 1.16319482e+02] [ 1.10450286e-01 9.55266324e-01 2.74348291e-01 2.09618380e+02] [-9.19992656e-01 -6.17634801e-03 3.91886931e-01 -3.06866871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.510714057 meters Centerline goodness : 0.992321 Centerline is valid? [True, True] Translation: X:116.33, Y:209.62, Z:-30.71 [[ 3.77160052e-01 -2.95438669e-01 8.77762091e-01 1.16329341e+02] [ 1.08499483e-01 9.55324305e-01 2.74924233e-01 2.09622599e+02] [-9.19770709e-01 -8.45370469e-03 3.92365107e-01 -3.07128074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.540714057 meters Centerline goodness : 0.992498 Centerline is valid? [True, True] Translation: X:116.34, Y:209.63, Z:-30.74 [[ 3.78635725e-01 -2.94401523e-01 8.77475203e-01 1.16338674e+02] [ 1.04443763e-01 9.55597644e-01 2.75544267e-01 2.09627387e+02] [-9.19633888e-01 -1.26840910e-02 3.92571810e-01 -3.07380876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.5707140569999 meters Centerline goodness : 0.992261 Centerline is valid? [True, True] Translation: X:116.35, Y:209.63, Z:-30.76 [[ 3.79079801e-01 -2.93787723e-01 8.77489190e-01 1.16348690e+02] [ 1.02168346e-01 9.55754255e-01 2.75854007e-01 2.09631005e+02] [-9.19706548e-01 -1.49190629e-02 3.92322939e-01 -3.07637932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.6007140569999 meters Centerline goodness : 0.992190 Centerline is valid? [True, True] Translation: X:116.26, Y:209.67, Z:-30.79 [[ 3.50895599e-01 -2.15610447e-01 9.11254308e-01 1.16262830e+02] [ 1.12363036e-01 9.75794863e-01 1.87613787e-01 2.09672103e+02] [-9.29648765e-01 3.65584486e-02 3.66628768e-01 -3.07864888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.630714057 meters Centerline goodness : 0.992538 Centerline is valid? [True, True] Translation: X:116.58, Y:209.59, Z:-30.75 [[ 3.89515462e-01 -5.92432496e-01 7.05196032e-01 1.16579132e+02] [ 1.02424665e-01 7.88782420e-01 6.06078775e-01 2.09590642e+02] [-9.15306994e-01 -1.63847586e-01 3.67922649e-01 -3.07493681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.660714057 meters Centerline goodness : 0.987429 Centerline is valid? [True, True] Translation: X:116.39, Y:209.64, Z:-30.85 [[ 3.86619013e-01 -2.96157278e-01 8.73393729e-01 1.16391147e+02] [ 8.77951547e-02 9.54553813e-01 2.84814025e-01 2.09637558e+02] [-9.18051061e-01 -3.34347795e-02 3.95049827e-01 -3.08477877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.6907140569999 meters Centerline goodness : 0.993615 Centerline is valid? [True, True] Translation: X:116.39, Y:209.65, Z:-30.88 [[ 3.87799020e-01 -2.83648771e-01 8.77014991e-01 1.16392647e+02] [ 8.84914324e-02 9.58535539e-01 2.70885377e-01 2.09646566e+02] [-9.17486341e-01 -2.74407709e-02 3.96819629e-01 -3.08776056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.7207140569999 meters Centerline goodness : 0.991966 Centerline is valid? [True, True] Translation: X:116.34, Y:209.67, Z:-30.90 [[ 3.68514039e-01 -2.34541389e-01 8.99548631e-01 1.16335739e+02] [ 9.68394844e-02 9.72070431e-01 2.13778369e-01 2.09674886e+02] [-9.24564502e-01 8.33149551e-03 3.80934468e-01 -3.08962656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.750714057 meters Centerline goodness : 0.990907 Centerline is valid? [True, True] Translation: X:116.36, Y:209.65, Z:-30.90 [[ 3.46394894e-01 -3.33127275e-01 8.76947431e-01 1.16364620e+02] [ 9.88160348e-02 9.42580109e-01 3.19026846e-01 2.09650378e+02] [-9.32869749e-01 -2.38528026e-02 3.59423253e-01 -3.09040820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.780714057 meters Centerline goodness : 0.990460 Centerline is valid? [True, True] Translation: X:116.57, Y:209.59, Z:-30.88 [[ 3.54770600e-01 -5.99800387e-01 7.17201030e-01 1.16569305e+02] [ 8.63308643e-02 7.84836521e-01 6.13660018e-01 2.09593321e+02] [-9.30959077e-01 -1.55791948e-01 3.30218209e-01 -3.08792253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.8107140569999 meters Centerline goodness : 0.991225 Centerline is valid? [True, True] Translation: X:116.54, Y:209.61, Z:-30.92 [[ 3.62464708e-01 -5.30907785e-01 7.66000169e-01 1.16535842e+02] [ 8.91836534e-02 8.37877117e-01 5.38524107e-01 2.09605436e+02] [-9.27720654e-01 -1.26881290e-01 3.51049181e-01 -3.09220215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.8407140569999 meters Centerline goodness : 0.989427 Centerline is valid? [True, True] Translation: X:116.60, Y:209.60, Z:-30.94 [[ 3.59143861e-01 -5.80408874e-01 7.30849660e-01 1.16595955e+02] [ 8.91713458e-02 8.00853815e-01 5.92183787e-01 2.09601445e+02] [-9.29012464e-01 -1.47508324e-01 3.39377572e-01 -3.09411845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.870714057 meters Centerline goodness : 0.990925 Centerline is valid? [True, True] Translation: X:116.47, Y:209.64, Z:-31.00 [[ 3.60897679e-01 -4.06904119e-01 8.39155470e-01 1.16473754e+02] [ 9.51418659e-02 9.11166267e-01 4.00904053e-01 2.09635159e+02] [-9.27739668e-01 -6.48465249e-02 3.67551408e-01 -3.10037614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.900714057 meters Centerline goodness : 0.989146 Centerline is valid? [True, True] Translation: X:116.72, Y:209.62, Z:-30.97 [[ 3.79114730e-01 -6.80532892e-01 6.27014357e-01 1.16718087e+02] [ 1.03877167e-01 7.04613073e-01 7.01947257e-01 2.09622878e+02] [-9.19500710e-01 -2.00986070e-01 3.37821024e-01 -3.09715174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.9307140569999 meters Centerline goodness : 0.988147 Centerline is valid? [True, True] Translation: X:116.48, Y:209.65, Z:-31.09 [[ 3.68263837e-01 -3.36372899e-01 8.66738149e-01 1.16475434e+02] [ 9.32371024e-02 9.40917868e-01 3.25546324e-01 2.09652440e+02] [-9.25034372e-01 -3.90747846e-02 3.77868458e-01 -3.10895264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.9607140569999 meters Centerline goodness : 0.992405 Centerline is valid? [True, True] Translation: X:116.47, Y:209.66, Z:-31.12 [[ 3.67033738e-01 -3.14580891e-01 8.75399964e-01 1.16469964e+02] [ 9.96158609e-02 9.48960859e-01 2.99249008e-01 2.09663871e+02] [-9.24858322e-01 -2.26307611e-02 3.79637898e-01 -3.11210184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.990714057 meters Centerline goodness : 0.991758 Centerline is valid? [True, True] Translation: X:116.39, Y:209.70, Z:-31.14 [[ 3.39620624e-01 -2.50219554e-01 9.06668631e-01 1.16390106e+02] [ 1.15265039e-01 9.67770621e-01 2.23906223e-01 2.09696126e+02] [-9.33472979e-01 2.84640241e-02 3.57516429e-01 -3.11397663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.020714057 meters Centerline goodness : 0.992102 Centerline is valid? [True, True] Translation: X:116.70, Y:209.63, Z:-31.11 [[ 3.73547181e-01 -6.01861071e-01 7.05851086e-01 1.16696657e+02] [ 1.11603397e-01 7.84566801e-01 6.09917713e-01 2.09626282e+02] [-9.20873056e-01 -1.49057664e-01 3.60242457e-01 -3.11078608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.0507140569999 meters Centerline goodness : 0.992264 Centerline is valid? [True, True] Translation: X:116.51, Y:209.67, Z:-31.21 [[ 3.69677299e-01 -3.15218484e-01 8.74057207e-01 1.16506048e+02] [ 1.08362885e-01 9.48902948e-01 2.96379285e-01 2.09665252e+02] [-9.22819690e-01 -1.48493330e-02 3.84945863e-01 -3.12056284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.0807140569999 meters Centerline goodness : 0.990834 Centerline is valid? [True, True] Translation: X:116.39, Y:209.71, Z:-31.23 [[ 3.33656330e-01 -2.14452745e-01 9.17977927e-01 1.16392181e+02] [ 1.26845374e-01 9.75138286e-01 1.81701886e-01 2.09713837e+02] [-9.34121890e-01 5.58152689e-02 3.52563400e-01 -3.12302140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.110714057 meters Centerline goodness : 0.993061 Centerline is valid? [True, True] Translation: X:116.80, Y:209.63, Z:-31.17 [[ 3.73981429e-01 -6.78815299e-01 6.31939618e-01 1.16804215e+02] [ 1.20540646e-01 7.11180495e-01 6.92598193e-01 2.09633714e+02] [-9.19569379e-01 -1.82844452e-01 3.47793133e-01 -3.11702712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.140714057 meters Centerline goodness : 0.991525 Centerline is valid? [True, True] Translation: X:116.44, Y:209.71, Z:-31.29 [[ 3.43948289e-01 -2.32822835e-01 9.09666479e-01 1.16442393e+02] [ 1.27947088e-01 9.71357555e-01 2.00234967e-01 2.09708525e+02] [-9.30230680e-01 4.75187025e-02 3.63885773e-01 -3.12949325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.1707140569999 meters Centerline goodness : 0.988630 Centerline is valid? [True, True] Translation: X:116.65, Y:209.63, Z:-31.27 [[ 3.30644737e-01 -5.40199012e-01 7.73859862e-01 1.16654596e+02] [ 1.20156309e-01 8.37402307e-01 5.33216501e-01 2.09634060e+02] [-9.36075061e-01 -8.33210851e-02 3.41790986e-01 -3.12690165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.2007140569999 meters Centerline goodness : 0.991210 Centerline is valid? [True, True] Translation: X:116.61, Y:209.65, Z:-31.31 [[ 3.39069439e-01 -4.53363654e-01 8.24313844e-01 1.16609280e+02] [ 1.22488837e-01 8.90036283e-01 4.39126291e-01 2.09649445e+02] [-9.32753129e-01 -4.79250608e-02 3.57316090e-01 -3.13125543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.2307140569999 meters Centerline goodness : 0.988272 Centerline is valid? [True, True] Translation: X:116.74, Y:209.64, Z:-31.32 [[ 3.50146928e-01 -5.81931126e-01 7.33998156e-01 1.16738591e+02] [ 1.19304780e-01 8.04928992e-01 5.81253549e-01 2.09641946e+02] [-9.29065928e-01 -1.15954656e-01 3.51270578e-01 -3.13197931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.260714057 meters Centerline goodness : 0.989330 Centerline is valid? [True, True] Translation: X:116.56, Y:209.68, Z:-31.41 [[ 3.58150066e-01 -3.04605163e-01 8.82578169e-01 1.16555675e+02] [ 1.14630115e-01 9.52478706e-01 2.82213131e-01 2.09682258e+02] [-9.26600489e-01 9.53858805e-05 3.76047236e-01 -3.14088026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.290714057 meters Centerline goodness : 0.990057 Centerline is valid? [True, True] Translation: X:116.61, Y:209.67, Z:-31.43 [[ 3.50318217e-01 -3.80662673e-01 8.55787986e-01 1.16612450e+02] [ 1.17393544e-01 9.24327426e-01 3.63094431e-01 2.09670612e+02] [-9.29244803e-01 -2.67346094e-02 3.68496076e-01 -3.14262751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.3207140569999 meters Centerline goodness : 0.993708 Centerline is valid? [True, True] Translation: X:116.56, Y:209.70, Z:-31.47 [[ 3.60877198e-01 -2.80943864e-01 8.89290837e-01 1.16562274e+02] [ 1.16589135e-01 9.59657121e-01 2.55861649e-01 2.09696508e+02] [-9.25297045e-01 1.13470149e-02 3.79073375e-01 -3.14691041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.3507140569999 meters Centerline goodness : 0.993437 Centerline is valid? [True, True] Translation: X:116.60, Y:209.69, Z:-31.48 [[ 3.61289375e-01 -3.32175102e-01 8.71280488e-01 1.16604138e+02] [ 1.16780626e-01 9.43157411e-01 3.11153312e-01 2.09686921e+02] [-9.25112033e-01 -1.06677053e-02 3.79544368e-01 -3.14833926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.380714057 meters Centerline goodness : 0.989934 Centerline is valid? [True, True] Translation: X:116.61, Y:209.69, Z:-31.50 [[ 3.59370272e-01 -3.30190382e-01 8.72827199e-01 1.16609517e+02] [ 1.12989103e-01 9.43825182e-01 3.10527757e-01 2.09689238e+02] [-9.26329569e-01 -1.29744817e-02 3.76490627e-01 -3.15048214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.410714057 meters Centerline goodness : 0.989011 Centerline is valid? [True, True] Translation: X:116.67, Y:209.68, Z:-31.52 [[ 3.53487456e-01 -4.04230443e-01 8.43590166e-01 1.16669458e+02] [ 1.15797380e-01 9.13784622e-01 3.89343848e-01 2.09678671e+02] [-9.28244357e-01 -3.99426356e-02 3.69820227e-01 -3.15239011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.4407140569999 meters Centerline goodness : 0.989009 Centerline is valid? [True, True] Translation: X:116.62, Y:209.70, Z:-31.57 [[ 3.50966379e-01 -3.22049559e-01 8.79264854e-01 1.16624511e+02] [ 1.13391098e-01 9.46703083e-01 3.01489189e-01 2.09697196e+02] [-9.29497208e-01 -6.11176170e-03 3.68778506e-01 -3.15694497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.4707140569999 meters Centerline goodness : 0.993676 Centerline is valid? [True, True] Translation: X:116.61, Y:209.71, Z:-31.60 [[ 3.60383706e-01 -2.83683630e-01 8.88620944e-01 1.16614010e+02] [ 1.14269075e-01 9.58885190e-01 2.59772538e-01 2.09708777e+02] [-9.25778679e-01 7.92410312e-03 3.77982865e-01 -3.15989903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.500714057 meters Centerline goodness : 0.989650 Centerline is valid? [True, True] Translation: X:116.67, Y:209.69, Z:-31.62 [[ 3.51440205e-01 -3.56204320e-01 8.65799206e-01 1.16667726e+02] [ 1.13938111e-01 9.34190335e-01 3.38092479e-01 2.09693709e+02] [-9.29251252e-01 -2.01717642e-02 3.68897290e-01 -3.16163315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.530714057 meters Centerline goodness : 0.988950 Centerline is valid? [True, True] Translation: X:116.64, Y:209.71, Z:-31.65 [[ 3.56551461e-01 -2.89148237e-01 8.88405511e-01 1.16636811e+02] [ 1.12848805e-01 9.57269572e-01 2.66270752e-01 2.09710440e+02] [-9.27435282e-01 5.31627458e-03 3.73945898e-01 -3.16493642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.5607140569999 meters Centerline goodness : 0.989092 Centerline is valid? [True, True] Translation: X:116.70, Y:209.70, Z:-31.66 [[ 3.47377009e-01 -3.75128697e-01 8.59422873e-01 1.16698454e+02] [ 1.17332824e-01 9.26682466e-01 3.57061081e-01 2.09697747e+02] [-9.30355965e-01 -2.31962975e-02 3.65923092e-01 -3.16641254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.5907140569999 meters Centerline goodness : 0.989539 Centerline is valid? [True, True] Translation: X:116.59, Y:209.74, Z:-31.71 [[ 3.37329570e-01 -2.14710122e-01 9.16574233e-01 1.16588132e+02] [ 1.21888231e-01 9.75408657e-01 1.83633362e-01 2.09740662e+02] [-9.33462383e-01 4.97746485e-02 3.55204820e-01 -3.17061511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.620714057 meters Centerline goodness : 0.988207 Centerline is valid? [True, True] Translation: X:116.94, Y:209.68, Z:-31.65 [[ 3.52155912e-01 -6.53010260e-01 6.70495200e-01 1.16936916e+02] [ 1.19460920e-01 7.41887083e-01 6.59797427e-01 2.09681956e+02] [-9.28286218e-01 -1.52253591e-01 3.39269129e-01 -3.16455845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.650714057 meters Centerline goodness : 0.987964 Centerline is valid? [True, True] Translation: X:116.70, Y:209.72, Z:-31.76 [[ 3.58768743e-01 -3.15860764e-01 8.78360386e-01 1.16700827e+02] [ 1.15286981e-01 9.48796033e-01 2.94100324e-01 2.09716792e+02] [-9.26279602e-01 -4.25048605e-03 3.76812994e-01 -3.17563132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.6807140569999 meters Centerline goodness : 0.987964 Centerline is valid? [True, True] Translation: X:116.74, Y:209.71, Z:-31.77 [[ 3.59155704e-01 -3.57387874e-01 8.62137511e-01 1.16737587e+02] [ 1.15708974e-01 9.33698252e-01 3.38849535e-01 2.09711055e+02] [-9.26077002e-01 -2.19426969e-02 3.76696037e-01 -3.17728236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.7107140569999 meters Centerline goodness : 0.986930 Centerline is valid? [True, True] Translation: X:116.74, Y:209.72, Z:-31.80 [[ 3.60659645e-01 -3.53754118e-01 8.63007905e-01 1.16743201e+02] [ 1.15711787e-01 9.35103966e-01 3.34949779e-01 2.09715212e+02] [-9.25491979e-01 -2.09426815e-02 3.78187786e-01 -3.18004922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.740714057 meters Centerline goodness : 0.987249 Centerline is valid? [True, True] Translation: X:116.76, Y:209.72, Z:-31.83 [[ 3.62199624e-01 -3.65332603e-01 8.57521732e-01 1.16761073e+02] [ 1.15263724e-01 9.30482296e-01 3.47731177e-01 2.09716049e+02] [-9.24946326e-01 -2.71069538e-02 3.79129934e-01 -3.18259610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.770714057 meters Centerline goodness : 0.987259 Centerline is valid? [True, True] Translation: X:116.76, Y:209.72, Z:-31.86 [[ 3.64441676e-01 -3.50579318e-01 8.62714557e-01 1.16759811e+02] [ 1.13992670e-01 9.36256335e-01 3.32309714e-01 2.09722519e+02] [-9.24222882e-01 -2.27643736e-02 3.81174301e-01 -3.18553513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.8007140569999 meters Centerline goodness : 0.986622 Centerline is valid? [True, True] Translation: X:116.77, Y:209.73, Z:-31.88 [[ 3.65311507e-01 -3.55525873e-01 8.60319044e-01 1.16772832e+02] [ 1.14584867e-01 9.34340060e-01 3.37459570e-01 2.09725619e+02] [-9.23806155e-01 -2.46983206e-02 3.82063060e-01 -3.18800371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.8307140569999 meters Centerline goodness : 0.987511 Centerline is valid? [True, True] Translation: X:116.78, Y:209.73, Z:-31.91 [[ 3.66209055e-01 -3.55563737e-01 8.59921715e-01 1.16784176e+02] [ 1.13688023e-01 9.34290926e-01 3.37898654e-01 2.09728971e+02] [-9.23561564e-01 -2.59787474e-02 3.82569135e-01 -3.19069464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.860714057 meters Centerline goodness : 0.991489 Centerline is valid? [True, True] Translation: X:116.72, Y:209.75, Z:-31.94 [[ 3.58540043e-01 -2.70955935e-01 8.93326323e-01 1.16722637e+02] [ 1.13315622e-01 9.62505814e-01 2.46459182e-01 2.09748627e+02] [-9.26611357e-01 1.28623428e-02 3.75800416e-01 -3.19351069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.890714057 meters Centerline goodness : 0.991065 Centerline is valid? [True, True] Translation: X:116.88, Y:209.70, Z:-31.92 [[ 3.55470096e-01 -4.90019392e-01 7.95940956e-01 1.16879985e+02] [ 1.04295852e-01 8.67034870e-01 4.87209309e-01 2.09697004e+02] [-9.28850572e-01 -9.01749995e-02 3.59311959e-01 -3.19170407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.9207140569999 meters Centerline goodness : 0.991125 Centerline is valid? [True, True] Translation: X:116.91, Y:209.70, Z:-31.94 [[ 3.57353905e-01 -5.14503524e-01 7.79476946e-01 1.16912385e+02] [ 1.01752554e-01 8.51064684e-01 5.15107097e-01 2.09696743e+02] [-9.28409718e-01 -1.04761763e-01 3.56483336e-01 -3.19402229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.9507140569999 meters Centerline goodness : 0.990282 Centerline is valid? [True, True] Translation: X:116.93, Y:209.70, Z:-31.97 [[ 3.56132244e-01 -5.14291464e-01 7.80175695e-01 1.16926517e+02] [ 9.84721434e-02 8.50923087e-01 5.15977846e-01 2.09698944e+02] [-9.29232512e-01 -1.06930775e-01 3.53684531e-01 -3.19690905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.9807140569999 meters Centerline goodness : 0.987149 Centerline is valid? [True, True] Translation: X:117.02, Y:209.70, Z:-31.99 [[ 3.58410574e-01 -6.07753452e-01 7.08644906e-01 1.17022987e+02] [ 9.76128799e-02 7.79310467e-01 6.18988628e-01 2.09703981e+02] [-9.28446868e-01 -1.52679199e-01 3.38637676e-01 -3.19866175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.010714057 meters Centerline goodness : 0.990197 Centerline is valid? [True, True] Translation: X:116.72, Y:209.78, Z:-32.10 [[ 3.56621364e-01 -1.64252341e-01 9.19696891e-01 1.16722342e+02] [ 9.28115106e-02 9.85782661e-01 1.40066302e-01 2.09781400e+02] [-9.29627466e-01 3.54078220e-02 3.66795665e-01 -3.20973320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.040714057 meters Centerline goodness : 0.987683 Centerline is valid? [True, True] Translation: X:117.04, Y:209.71, Z:-32.04 [[ 3.77635919e-01 -5.85253347e-01 7.17544168e-01 1.17038808e+02] [ 9.12626337e-02 7.94676086e-01 6.00134193e-01 2.09705805e+02] [-9.21445736e-01 -1.61147257e-01 3.53509996e-01 -3.20410514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.0707140569999 meters Centerline goodness : 0.986974 Centerline is valid? [True, True] Translation: X:116.85, Y:209.75, Z:-32.15 [[ 3.70256918e-01 -3.05980517e-01 8.77089356e-01 1.16845587e+02] [ 8.64138305e-02 9.51444797e-01 2.95441109e-01 2.09746398e+02] [-9.24901327e-01 -3.35964638e-02 3.78719967e-01 -3.21452864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.1007140569999 meters Centerline goodness : 0.988408 Centerline is valid? [True, True] Translation: X:116.83, Y:209.76, Z:-32.18 [[ 3.70583430e-01 -2.64325012e-01 8.90393289e-01 1.16828655e+02] [ 8.49136443e-02 9.64277061e-01 2.50917161e-01 2.09759043e+02] [-9.24909506e-01 -1.73792034e-02 3.79789901e-01 -3.21790753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.130714057 meters Centerline goodness : 0.991569 Centerline is valid? [True, True] Translation: X:116.84, Y:209.76, Z:-32.20 [[ 3.75002801e-01 -2.67288423e-01 8.87654098e-01 1.16842825e+02] [ 9.02464252e-02 9.63509054e-01 2.52003741e-01 2.09763005e+02] [-9.22620443e-01 -1.43944996e-02 3.85440419e-01 -3.22041103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.160714057 meters Centerline goodness : 0.987554 Centerline is valid? [True, True] Translation: X:116.86, Y:209.76, Z:-32.23 [[ 3.68510879e-01 -2.87218767e-01 8.84140889e-01 1.16860817e+02] [ 8.93298647e-02 9.57613754e-01 2.73854109e-01 2.09759223e+02] [-9.25321516e-01 -2.19380323e-02 3.78548300e-01 -3.22261674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.1907140569999 meters Centerline goodness : 0.988232 Centerline is valid? [True, True] Translation: X:116.86, Y:209.77, Z:-32.26 [[ 3.68874799e-01 -2.61881375e-01 8.91823709e-01 1.16855599e+02] [ 9.18556488e-02 9.65061746e-01 2.45394309e-01 2.09767366e+02] [-9.24929145e-01 -8.60073121e-03 3.80042241e-01 -3.22551099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.2207140569999 meters Centerline goodness : 0.988545 Centerline is valid? [True, True] Translation: X:116.89, Y:209.76, Z:-32.28 [[ 3.65090889e-01 -2.98963836e-01 8.81662786e-01 1.16889274e+02] [ 9.97927710e-02 9.54145726e-01 2.82218597e-01 2.09764331e+02] [-9.25607933e-01 -1.50518663e-02 3.78184341e-01 -3.22765830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.250714057 meters Centerline goodness : 0.987256 Centerline is valid? [True, True] Translation: X:116.87, Y:209.77, Z:-32.31 [[ 3.59288798e-01 -2.64887043e-01 8.94844352e-01 1.16874742e+02] [ 9.69257813e-02 9.64277693e-01 2.46523677e-01 2.09773253e+02] [-9.28179375e-01 -1.83970740e-03 3.72128557e-01 -3.23075090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.280714057 meters Centerline goodness : 0.983402 Centerline is valid? [True, True] Translation: X:116.89, Y:209.78, Z:-32.34 [[ 3.58784437e-01 -2.71445536e-01 8.93079531e-01 1.16890390e+02] [ 1.02423539e-01 9.62452951e-01 2.51383642e-01 2.09775579e+02] [-9.27783998e-01 1.27982746e-03 3.73115553e-01 -3.23367259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.3107140569999 meters Centerline goodness : 0.987330 Centerline is valid? [True, True] Translation: X:116.88, Y:209.79, Z:-32.36 [[ 3.61058949e-01 -2.35291698e-01 9.02371460e-01 1.16878033e+02] [ 1.03095426e-01 9.71785832e-01 2.12140588e-01 2.09788759e+02] [-9.26826720e-01 1.64351124e-02 3.75129469e-01 -3.23648793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.3407140569999 meters Centerline goodness : 0.986669 Centerline is valid? [True, True] Translation: X:116.93, Y:209.78, Z:-32.38 [[ 3.61395982e-01 -2.98362422e-01 8.83387123e-01 1.16927221e+02] [ 1.04451988e-01 9.54412251e-01 2.79619451e-01 2.09775901e+02] [-9.26543430e-01 -8.78180497e-03 3.76085301e-01 -3.23779812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.370714057 meters Centerline goodness : 0.982994 Centerline is valid? [True, True] Translation: X:116.94, Y:209.78, Z:-32.41 [[ 3.58351573e-01 -3.03422204e-01 8.82903798e-01 1.16937691e+02] [ 1.06420351e-01 9.52823423e-01 2.84257337e-01 2.09779890e+02] [-9.27501407e-01 -7.90513159e-03 3.73736070e-01 -3.24095105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.400714057 meters Centerline goodness : 0.986943 Centerline is valid? [True, True] Translation: X:116.91, Y:209.80, Z:-32.44 [[ 3.60400271e-01 -2.50148502e-01 8.98630832e-01 1.16912610e+02] [ 1.07159754e-01 9.68096438e-01 2.26508442e-01 2.09799228e+02] [-9.26622055e-01 1.46633547e-02 3.75708070e-01 -3.24415812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.4307140569999 meters Centerline goodness : 0.991819 Centerline is valid? [True, True] Translation: X:116.96, Y:209.79, Z:-32.46 [[ 3.62642503e-01 -3.08358962e-01 8.79434571e-01 1.16960133e+02] [ 1.12315498e-01 9.51254821e-01 2.87227253e-01 2.09790828e+02] [-9.25135473e-01 -5.38667844e-03 3.79598920e-01 -3.24573449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.4607140569999 meters Centerline goodness : 0.991558 Centerline is valid? [True, True] Translation: X:116.95, Y:209.80, Z:-32.49 [[ 3.62917228e-01 -2.82659578e-01 8.87915902e-01 1.16953562e+02] [ 1.13367341e-01 9.59197170e-01 2.59014739e-01 2.09801512e+02] [-9.24899417e-01 6.65975366e-03 3.80153542e-01 -3.24887421e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.490714057 meters Centerline goodness : 0.982556 Centerline is valid? [True, True] Translation: X:116.97, Y:209.80, Z:-32.52 [[ 3.58824992e-01 -2.91359279e-01 8.86766258e-01 1.16965945e+02] [ 1.11188460e-01 9.56611690e-01 2.69316172e-01 2.09799451e+02] [-9.26758734e-01 1.96080139e-03 3.75651971e-01 -3.25169499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.520714057 meters Centerline goodness : 0.985569 Centerline is valid? [True, True] Translation: X:116.96, Y:209.81, Z:-32.55 [[ 3.57640179e-01 -2.71087522e-01 8.93647054e-01 1.16961187e+02] [ 1.13999854e-01 9.62456126e-01 2.46337653e-01 2.09811079e+02] [-9.26875146e-01 1.37753919e-02 3.75116919e-01 -3.25451157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.5507140569999 meters Centerline goodness : 0.986708 Centerline is valid? [True, True] Translation: X:116.99, Y:209.81, Z:-32.57 [[ 3.52112771e-01 -2.93888943e-01 8.88620215e-01 1.16986279e+02] [ 1.14726896e-01 9.55816450e-01 2.70652273e-01 2.09808531e+02] [-9.28899529e-01 6.64851708e-03 3.70272145e-01 -3.25715274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.5807140569999 meters Centerline goodness : 0.986786 Centerline is valid? [True, True] Translation: X:116.96, Y:209.83, Z:-32.60 [[ 3.59066620e-01 -2.32104572e-01 9.03990393e-01 1.16959379e+02] [ 1.13663058e-01 9.72248620e-01 2.04483080e-01 2.09829644e+02] [-9.26364870e-01 2.93272638e-02 3.75483741e-01 -3.26033991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.610714057 meters Centerline goodness : 0.988289 Centerline is valid? [True, True] Translation: X:117.01, Y:209.81, Z:-32.62 [[ 3.58755760e-01 -3.02905216e-01 8.82917173e-01 1.17013531e+02] [ 1.15011168e-01 9.53020148e-01 2.80223177e-01 2.09814561e+02] [-9.26318917e-01 1.01365660e-03 3.76738950e-01 -3.26153066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.640714057 meters Centerline goodness : 0.986840 Centerline is valid? [True, True] Translation: X:117.01, Y:209.82, Z:-32.65 [[ 3.55913583e-01 -2.86646539e-01 8.89471351e-01 1.17010643e+02] [ 1.17328062e-01 9.57971045e-01 2.61773955e-01 2.09823480e+02] [-9.27124397e-01 1.11910434e-02 3.74586590e-01 -3.26462634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.6707140569999 meters Centerline goodness : 0.987957 Centerline is valid? [True, True] Translation: X:117.04, Y:209.82, Z:-32.67 [[ 3.46294029e-01 -3.23039179e-01 8.80753163e-01 1.17041087e+02] [ 1.21788068e-01 9.46378571e-01 2.99224444e-01 2.09820894e+02] [-9.30187138e-01 3.64558797e-03 3.67067566e-01 -3.26709283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.7007140569999 meters Centerline goodness : 0.992494 Centerline is valid? [True, True] Translation: X:116.99, Y:209.85, Z:-32.71 [[ 3.50745594e-01 -2.30299301e-01 9.07711276e-01 1.16992915e+02] [ 1.28816266e-01 9.71940515e-01 1.96819725e-01 2.09851293e+02] [-9.27568810e-01 4.78943253e-02 3.70570150e-01 -3.27124101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.7307140569999 meters Centerline goodness : 0.992525 Centerline is valid? [True, True] Translation: X:117.04, Y:209.84, Z:-32.72 [[ 3.46830269e-01 -2.98435643e-01 8.89182170e-01 1.17042306e+02] [ 1.34141025e-01 9.54065583e-01 2.67889995e-01 2.09837896e+02] [-9.28286028e-01 2.63634490e-02 3.70931286e-01 -3.27240076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.760714057 meters Centerline goodness : 0.988149 Centerline is valid? [True, True] Translation: X:117.07, Y:209.84, Z:-32.74 [[ 3.49414221e-01 -3.22132892e-01 8.79852318e-01 1.17072027e+02] [ 1.33156298e-01 9.46582789e-01 2.93684226e-01 2.09835400e+02] [-9.27458410e-01 1.45404329e-02 3.73643511e-01 -3.27425625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.790714057 meters Centerline goodness : 0.989806 Centerline is valid? [True, True] Translation: X:117.07, Y:209.85, Z:-32.77 [[ 3.48061757e-01 -3.07303207e-01 8.85673615e-01 1.17069638e+02] [ 1.35715496e-01 9.51312081e-01 2.76742894e-01 2.09845277e+02] [-9.27595988e-01 2.38760154e-02 3.72821161e-01 -3.27713293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.8207140569999 meters Centerline goodness : 0.983584 Centerline is valid? [True, True] Translation: X:117.07, Y:209.85, Z:-32.81 [[ 3.36070586e-01 -3.09715825e-01 8.89456389e-01 1.17072958e+02] [ 1.39499975e-01 9.50337226e-01 2.78206602e-01 2.09854347e+02] [-9.31448505e-01 3.05820879e-02 3.62585738e-01 -3.28121305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.8507140569999 meters Centerline goodness : 0.989771 Centerline is valid? [True, True] Translation: X:117.04, Y:209.88, Z:-32.84 [[ 3.39991387e-01 -2.46133649e-01 9.07647555e-01 1.17043703e+02] [ 1.42865611e-01 9.67458641e-01 2.08837723e-01 2.09884843e+02] [-9.29513461e-01 5.86685958e-02 3.64091639e-01 -3.28402725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.880714057 meters Centerline goodness : 0.989342 Centerline is valid? [True, True] Translation: X:117.09, Y:209.87, Z:-32.86 [[ 3.38339782e-01 -3.05804235e-01 8.89949415e-01 1.17087672e+02] [ 1.40695931e-01 9.51533235e-01 2.73476063e-01 2.09872781e+02] [-9.30446585e-01 3.26844298e-02 3.64966959e-01 -3.28561637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.910714057 meters Centerline goodness : 0.989574 Centerline is valid? [True, True] Translation: X:117.09, Y:209.89, Z:-32.88 [[ 3.33719451e-01 -2.93198939e-01 8.95916129e-01 1.17085005e+02] [ 1.36109976e-01 9.55428161e-01 2.61975389e-01 2.09885083e+02] [-9.32794405e-01 3.45168396e-02 3.58752262e-01 -3.28814413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.9407140569999 meters Centerline goodness : 0.989227 Centerline is valid? [True, True] Translation: X:117.12, Y:209.88, Z:-32.90 [[ 3.34103331e-01 -3.26764167e-01 8.84081525e-01 1.17115486e+02] [ 1.32344835e-01 9.44952575e-01 2.99248184e-01 2.09880778e+02] [-9.33198697e-01 1.70238089e-02 3.58957353e-01 -3.29024841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.9707140569999 meters Centerline goodness : 0.987268 Centerline is valid? [True, True] Translation: X:117.14, Y:209.88, Z:-32.93 [[ 3.41618165e-01 -3.34667867e-01 8.78233709e-01 1.17138401e+02] [ 1.23854161e-01 9.42332677e-01 3.10916825e-01 2.09884732e+02] [-9.31642193e-01 2.55806363e-03 3.63367968e-01 -3.29301841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.000714057 meters Centerline goodness : 0.983226 Centerline is valid? [True, True] Translation: X:117.09, Y:209.91, Z:-32.98 [[ 3.45585101e-01 -2.43989701e-01 9.06112556e-01 1.17094865e+02] [ 1.15419964e-01 9.69326148e-01 2.16990898e-01 2.09913860e+02] [-9.31262138e-01 2.95946575e-02 3.63145957e-01 -3.29780238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.030714057 meters Centerline goodness : 0.987170 Centerline is valid? [True, True] Translation: X:117.11, Y:209.92, Z:-33.00 [[ 3.47300161e-01 -2.57785086e-01 9.01626002e-01 1.17113453e+02] [ 1.13027762e-01 9.65971618e-01 2.32644706e-01 2.09917786e+02] [-9.30917463e-01 2.11112255e-02 3.64618969e-01 -3.29992374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.0607140569999 meters Centerline goodness : 0.987452 Centerline is valid? [True, True] Translation: X:117.11, Y:209.93, Z:-33.02 [[ 3.52184476e-01 -2.41430591e-01 9.04255143e-01 1.17110226e+02] [ 1.04165522e-01 9.70264847e-01 2.18484945e-01 2.09927867e+02] [-9.30115928e-01 1.72452034e-02 3.66860961e-01 -3.30233527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.0907140569999 meters Centerline goodness : 0.989769 Centerline is valid? [True, True] Translation: X:117.09, Y:209.95, Z:-33.04 [[ 3.37474545e-01 -2.29946441e-01 9.12817378e-01 1.17090262e+02] [ 1.09231734e-01 9.72720726e-01 2.04652917e-01 2.09945447e+02] [-9.34975593e-01 3.06434752e-02 3.53385933e-01 -3.30439263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.120714057 meters Centerline goodness : 0.988053 Centerline is valid? [True, True] Translation: X:117.28, Y:209.88, Z:-33.03 [[ 3.56671245e-01 -4.89537449e-01 7.95700137e-01 1.17276797e+02] [ 1.01905489e-01 8.67022012e-01 4.87737740e-01 2.09884409e+02] [-9.28655423e-01 -9.28758157e-02 3.59128374e-01 -3.30298233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.150714057 meters Centerline goodness : 0.987955 Centerline is valid? [True, True] Translation: X:117.18, Y:209.92, Z:-33.09 [[ 3.54743702e-01 -3.20172084e-01 8.78434256e-01 1.17180039e+02] [ 9.53941011e-02 9.47029882e-01 3.06650239e-01 2.09921576e+02] [-9.30084336e-01 -2.49847946e-02 3.66495414e-01 -3.30918937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.1807140569999 meters Centerline goodness : 0.987446 Centerline is valid? [True, True] Translation: X:117.19, Y:209.93, Z:-33.12 [[ 3.53188364e-01 -3.15354094e-01 8.80800644e-01 1.17186406e+02] [ 9.74369675e-02 9.48755842e-01 3.00613355e-01 2.09928526e+02] [-9.30464409e-01 -2.03505950e-02 3.65816670e-01 -3.31217356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.2107140569999 meters Centerline goodness : 0.991352 Centerline is valid? [True, True] Translation: X:117.17, Y:209.94, Z:-33.16 [[ 3.52326907e-01 -2.72118122e-01 8.95442616e-01 1.17170201e+02] [ 9.73133945e-02 9.62260863e-01 2.54134087e-01 2.09942903e+02] [-9.30803875e-01 -2.39971623e-03 3.65511132e-01 -3.31573025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.240714057 meters Centerline goodness : 0.987782 Centerline is valid? [True, True] Translation: X:117.21, Y:209.94, Z:-33.18 [[ 3.52695842e-01 -3.14757879e-01 8.81211167e-01 1.17205664e+02] [ 9.74861701e-02 9.48963745e-01 2.99940422e-01 2.09935280e+02] [-9.30646060e-01 -1.98818379e-02 3.65380108e-01 -3.31754493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.270714057 meters Centerline goodness : 0.989338 Centerline is valid? [True, True] Translation: X:117.21, Y:209.94, Z:-33.20 [[ 3.50361088e-01 -2.99779100e-01 8.87344127e-01 1.17206299e+02] [ 9.45450890e-02 9.53875588e-01 2.84925585e-01 2.09939299e+02] [-9.31830636e-01 -1.59328087e-02 3.62543531e-01 -3.32022776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.3007140569999 meters Centerline goodness : 0.992361 Centerline is valid? [True, True] Translation: X:117.22, Y:209.94, Z:-33.23 [[ 3.48717997e-01 -3.04193499e-01 8.86488620e-01 1.17217324e+02] [ 9.76590517e-02 9.52507272e-01 2.88431284e-01 2.09941832e+02] [-9.32125779e-01 -1.40075416e-02 3.61863677e-01 -3.32309443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.3307140569999 meters Centerline goodness : 0.989098 Centerline is valid? [True, True] Translation: X:117.23, Y:209.94, Z:-33.25 [[ 3.49948254e-01 -3.16385621e-01 8.81723516e-01 1.17234777e+02] [ 9.51659130e-02 9.48376442e-01 3.02531939e-01 2.09940920e+02] [-9.31922566e-01 -2.19605003e-02 3.61991806e-01 -3.32498547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.360714057 meters Centerline goodness : 0.989151 Centerline is valid? [True, True] Translation: X:117.25, Y:209.94, Z:-33.27 [[ 3.51759470e-01 -3.29174023e-01 8.76304592e-01 1.17253379e+02] [ 9.16867989e-02 9.43746731e-01 3.17703697e-01 2.09937158e+02] [-9.31589398e-01 -3.14097212e-02 3.62152763e-01 -3.32749632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.390714057 meters Centerline goodness : 0.992270 Centerline is valid? [True, True] Translation: X:117.25, Y:209.95, Z:-33.31 [[ 3.51610243e-01 -3.08246200e-01 8.83942598e-01 1.17250343e+02] [ 9.25733542e-02 9.51056011e-01 2.94826454e-01 2.09945346e+02] [-9.31558056e-01 -2.18344701e-02 3.62936420e-01 -3.33086508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.4207140569999 meters Centerline goodness : 0.990124 Centerline is valid? [True, True] Translation: X:117.26, Y:209.95, Z:-33.33 [[ 3.56908209e-01 -3.13764468e-01 8.79868393e-01 1.17263947e+02] [ 8.75650841e-02 9.48992700e-01 3.02894722e-01 2.09945484e+02] [-9.30026283e-01 -3.10598626e-02 3.66178096e-01 -3.33285993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.4507140569999 meters Centerline goodness : 0.988673 Centerline is valid? [True, True] Translation: X:117.29, Y:209.94, Z:-33.35 [[ 3.60039702e-01 -3.30241028e-01 8.72532106e-01 1.17285818e+02] [ 8.40068156e-02 9.42929689e-01 3.22221130e-01 2.09940600e+02] [-9.29147065e-01 -4.27137559e-02 3.67234622e-01 -3.33542790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.4807140569999 meters Centerline goodness : 0.989934 Centerline is valid? [True, True] Translation: X:117.29, Y:209.94, Z:-33.38 [[ 3.62583767e-01 -3.15202614e-01 8.77029261e-01 1.17288116e+02] [ 8.01107667e-02 9.48126017e-01 3.07635044e-01 2.09944811e+02] [-9.28501630e-01 -4.12839865e-02 3.69026226e-01 -3.33821700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.510714057 meters Centerline goodness : 0.992396 Centerline is valid? [True, True] Translation: X:117.28, Y:209.95, Z:-33.42 [[ 3.59471365e-01 -2.85818787e-01 8.88306230e-01 1.17279347e+02] [ 7.99088221e-02 9.57869200e-01 2.75864417e-01 2.09953307e+02] [-9.29728411e-01 -2.81818537e-02 3.67165991e-01 -3.34173530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.540714057 meters Centerline goodness : 0.990715 Centerline is valid? [True, True] Translation: X:117.32, Y:209.94, Z:-33.43 [[ 3.63845229e-01 -3.20603259e-01 8.74545710e-01 1.17315597e+02] [ 7.65780999e-02 9.46015799e-01 3.14944284e-01 2.09944254e+02] [-9.28306223e-01 -4.76199263e-02 3.68754523e-01 -3.34333598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.5707140569999 meters Centerline goodness : 0.988387 Centerline is valid? [True, True] Translation: X:117.31, Y:209.95, Z:-33.47 [[ 3.60804618e-01 -2.99416112e-01 8.83272336e-01 1.17314655e+02] [ 7.28686658e-02 9.53220396e-01 2.93361609e-01 2.09947212e+02] [-9.29790399e-01 -4.14833468e-02 3.65744374e-01 -3.34662488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.6007140569999 meters Centerline goodness : 0.988387 Centerline is valid? [True, True] Translation: X:117.33, Y:209.95, Z:-33.49 [[ 3.60634122e-01 -3.02666426e-01 8.82233566e-01 1.17325614e+02] [ 7.29416013e-02 9.52139725e-01 2.96832389e-01 2.09949471e+02] [-9.29850823e-01 -4.26963590e-02 3.65451048e-01 -3.34913516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.630714057 meters Centerline goodness : 0.992329 Centerline is valid? [True, True] Translation: X:117.33, Y:209.96, Z:-33.52 [[ 3.57263957e-01 -2.89755230e-01 8.87921377e-01 1.17328967e+02] [ 7.64234914e-02 9.56542845e-01 2.81398713e-01 2.09955777e+02] [-9.30871589e-01 -3.26755660e-02 3.63882388e-01 -3.35204361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.660714057 meters Centerline goodness : 0.992934 Centerline is valid? [True, True] Translation: X:117.34, Y:209.96, Z:-33.54 [[ 3.56095346e-01 -2.97706768e-01 8.85757746e-01 1.17343914e+02] [ 7.57475244e-02 9.53969331e-01 2.90180681e-01 2.09955012e+02] [-9.31374478e-01 -3.62380333e-02 3.62254590e-01 -3.35441903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.6907140569999 meters Centerline goodness : 0.987941 Centerline is valid? [True, True] Translation: X:117.37, Y:209.95, Z:-33.56 [[ 3.54678814e-01 -3.12935143e-01 8.81064433e-01 1.17365079e+02] [ 6.99577914e-02 9.48567407e-01 3.08748736e-01 2.09949442e+02] [-9.32367335e-01 -4.78693136e-02 3.58329014e-01 -3.35640005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.7207140569999 meters Centerline goodness : 0.987661 Centerline is valid? [True, True] Translation: X:117.39, Y:209.95, Z:-33.59 [[ 3.49576226e-01 -3.33173964e-01 8.75666359e-01 1.17385912e+02] [ 7.06192835e-02 9.41345659e-01 3.29971614e-01 2.09947751e+02] [-9.34242677e-01 -5.35113009e-02 3.52600570e-01 -3.35905246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.750714057 meters Centerline goodness : 0.989203 Centerline is valid? [True, True] Translation: X:117.36, Y:209.96, Z:-33.63 [[ 3.53253596e-01 -2.74120087e-01 8.94466363e-01 1.17363354e+02] [ 6.56745860e-02 9.61016452e-01 2.68578160e-01 2.09958305e+02] [-9.33219559e-01 -3.61324925e-02 3.57485241e-01 -3.36271506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.780714057 meters Centerline goodness : 0.992693 Centerline is valid? [True, True] Translation: X:117.37, Y:209.96, Z:-33.64 [[ 3.51775673e-01 -2.82007678e-01 8.92594838e-01 1.17367792e+02] [ 6.95995910e-02 9.58781306e-01 2.75489210e-01 2.09961459e+02] [-9.33493317e-01 -3.47861665e-02 3.56903558e-01 -3.36379096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.8107140569999 meters Centerline goodness : 0.992771 Centerline is valid? [True, True] Translation: X:117.47, Y:209.92, Z:-33.66 [[ 3.67560845e-01 -3.98368401e-01 8.40358044e-01 1.17469219e+02] [ 6.26459253e-02 9.12164647e-01 4.05007586e-01 2.09921985e+02] [-9.27887123e-01 -9.62199233e-02 3.60232165e-01 -3.36575752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.8407140569999 meters Centerline goodness : 0.989842 Centerline is valid? [True, True] Translation: X:117.40, Y:209.94, Z:-33.71 [[ 3.64269433e-01 -2.77032678e-01 8.89134790e-01 1.17402370e+02] [ 5.59853450e-02 9.59518305e-01 2.76025838e-01 2.09944509e+02] [-9.29609284e-01 -5.07692576e-02 3.65032959e-01 -3.37061514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.870714057 meters Centerline goodness : 0.992161 Centerline is valid? [True, True] Translation: X:117.41, Y:209.95, Z:-33.74 [[ 3.65340972e-01 -2.76618242e-01 8.88824124e-01 1.17411685e+02] [ 6.16268795e-02 9.59920360e-01 2.73413662e-01 2.09948696e+02] [-9.28831579e-01 -4.51137559e-02 3.67745356e-01 -3.37362081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.900714057 meters Centerline goodness : 0.989282 Centerline is valid? [True, True] Translation: X:117.42, Y:209.95, Z:-33.76 [[ 3.65212404e-01 -2.73545816e-01 8.89827279e-01 1.17419551e+02] [ 6.06179241e-02 9.60812938e-01 2.70488382e-01 2.09946698e+02] [-9.28948528e-01 -4.48462300e-02 3.67482583e-01 -3.37610783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.9307140569999 meters Centerline goodness : 0.992735 Centerline is valid? [True, True] Translation: X:117.43, Y:209.95, Z:-33.79 [[ 3.65920159e-01 -2.79988835e-01 8.87529543e-01 1.17433273e+02] [ 6.70815368e-02 9.59124723e-01 2.74917865e-01 2.09949060e+02] [-9.28225460e-01 -4.10611432e-02 3.69745153e-01 -3.37890206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.9607140569999 meters Centerline goodness : 0.992477 Centerline is valid? [True, True] Translation: X:117.44, Y:209.95, Z:-33.82 [[ 3.64457450e-01 -2.70947375e-01 8.90931135e-01 1.17438844e+02] [ 7.09544662e-02 9.62033965e-01 2.63545278e-01 2.09950668e+02] [-9.28512914e-01 -3.28354969e-02 3.69845372e-01 -3.38173064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.990714057 meters Centerline goodness : 0.989377 Centerline is valid? [True, True] Translation: X:117.46, Y:209.94, Z:-33.84 [[ 3.62147756e-01 -2.83383843e-01 8.87999212e-01 1.17457727e+02] [ 7.17594408e-02 9.58314285e-01 2.76557976e-01 2.09944558e+02] [-9.29354392e-01 -3.64325234e-02 3.67386833e-01 -3.38400722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.020714057 meters Centerline goodness : 0.988730 Centerline is valid? [True, True] Translation: X:117.47, Y:209.95, Z:-33.86 [[ 3.59074394e-01 -2.90101332e-01 8.87077673e-01 1.17470410e+02] [ 7.47302445e-02 9.56350226e-01 2.82505991e-01 2.09945379e+02] [-9.30312297e-01 -3.51491361e-02 3.65080221e-01 -3.38646140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.0507140569999 meters Centerline goodness : 0.989055 Centerline is valid? [True, True] Translation: X:117.48, Y:209.94, Z:-33.89 [[ 3.56649371e-01 -2.86969886e-01 8.89072275e-01 1.17478365e+02] [ 7.77189975e-02 9.57469594e-01 2.77869995e-01 2.09944909e+02] [-9.30999991e-01 -3.00043532e-02 3.63783940e-01 -3.38920269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.0807140569999 meters Centerline goodness : 0.988683 Centerline is valid? [True, True] Translation: X:117.49, Y:209.95, Z:-33.92 [[ 3.55464022e-01 -2.87549942e-01 8.89359523e-01 1.17488096e+02] [ 7.95582270e-02 9.57357161e-01 2.77736846e-01 2.09946803e+02] [-9.31297921e-01 -2.79695895e-02 3.63182990e-01 -3.39175632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.110714057 meters Centerline goodness : 0.988644 Centerline is valid? [True, True] Translation: X:117.50, Y:209.95, Z:-33.94 [[ 3.53816596e-01 -2.91608485e-01 8.88694722e-01 1.17500544e+02] [ 8.27620637e-02 9.56189664e-01 2.80805569e-01 2.09947632e+02] [-9.31645994e-01 -2.58034613e-02 3.62449892e-01 -3.39424910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.140714057 meters Centerline goodness : 0.992138 Centerline is valid? [True, True] Translation: X:117.50, Y:209.95, Z:-33.97 [[ 3.53517734e-01 -2.85268753e-01 8.90868649e-01 1.17504945e+02] [ 8.89517073e-02 9.58301050e-01 2.71563422e-01 2.09953977e+02] [-9.31188920e-01 -1.67581983e-02 3.64151558e-01 -3.39723762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.1707140569999 meters Centerline goodness : 0.988962 Centerline is valid? [True, True] Translation: X:117.52, Y:209.95, Z:-33.99 [[ 3.50437383e-01 -3.02705546e-01 8.86319916e-01 1.17524696e+02] [ 8.52759666e-02 9.52712075e-01 2.91663696e-01 2.09949291e+02] [-9.32695905e-01 -2.66280746e-02 3.59679434e-01 -3.39948465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.2007140569999 meters Centerline goodness : 0.988728 Centerline is valid? [True, True] Translation: X:117.52, Y:209.96, Z:-34.03 [[ 3.51313435e-01 -2.75301349e-01 8.94867609e-01 1.17516049e+02] [ 8.51968270e-02 9.61226506e-01 2.62269146e-01 2.09958644e+02] [-9.32373515e-01 -1.58987938e-02 3.61146587e-01 -3.40254288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.2307140569999 meters Centerline goodness : 0.990622 Centerline is valid? [True, True] Translation: X:117.52, Y:209.96, Z:-34.04 [[ 3.51267367e-01 -2.79957111e-01 8.93440123e-01 1.17521272e+02] [ 8.98159104e-02 9.59924370e-01 2.65477505e-01 2.09963215e+02] [-9.31957262e-01 -1.30084462e-02 3.62334709e-01 -3.40417132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.260714057 meters Centerline goodness : 0.988840 Centerline is valid? [True, True] Translation: X:117.59, Y:209.94, Z:-34.06 [[ 3.54905196e-01 -3.58619338e-01 8.63385471e-01 1.17589676e+02] [ 8.77769033e-02 9.32205874e-01 3.51123090e-01 2.09944844e+02] [-9.30772538e-01 -4.88301060e-02 3.62323203e-01 -3.40616220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.290714057 meters Centerline goodness : 0.992297 Centerline is valid? [True, True] Translation: X:117.54, Y:209.97, Z:-34.10 [[ 3.49893668e-01 -2.78486795e-01 8.94438107e-01 1.17538871e+02] [ 9.05874781e-02 9.60374753e-01 2.63579671e-01 2.09968864e+02] [-9.32399233e-01 -1.11999654e-02 3.61256461e-01 -3.40955717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.3207140569999 meters Centerline goodness : 0.991808 Centerline is valid? [True, True] Translation: X:117.61, Y:209.95, Z:-34.10 [[ 3.53873561e-01 -3.62765771e-01 8.62075692e-01 1.17607216e+02] [ 8.94881022e-02 9.30620750e-01 3.54875892e-01 2.09951872e+02] [-9.31002354e-01 -4.84356783e-02 3.61785300e-01 -3.41033629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.3507140569999 meters Centerline goodness : 0.991820 Centerline is valid? [True, True] Translation: X:117.60, Y:209.96, Z:-34.14 [[ 3.50556296e-01 -3.36043210e-01 8.74176895e-01 1.17596822e+02] [ 8.69412727e-02 9.41055651e-01 3.26887559e-01 2.09960235e+02] [-9.32497452e-01 -3.85904403e-02 3.59109008e-01 -3.41383980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.380714057 meters Centerline goodness : 0.992603 Centerline is valid? [True, True] Translation: X:117.63, Y:209.95, Z:-34.17 [[ 3.55985082e-01 -3.47022633e-01 8.67669242e-01 1.17626222e+02] [ 8.10087741e-02 9.36457688e-01 3.41298369e-01 2.09951620e+02] [-9.30973791e-01 -5.12083064e-02 3.61476845e-01 -3.41736474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.410714057 meters Centerline goodness : 0.991385 Centerline is valid? [True, True] Translation: X:117.57, Y:209.99, Z:-34.21 [[ 3.50362946e-01 -2.54620265e-01 9.01340294e-01 1.17566342e+02] [ 8.63611222e-02 9.67021827e-01 2.39604973e-01 2.09985462e+02] [-9.32624020e-01 -6.10794502e-03 3.60797908e-01 -3.42103256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.4407140569999 meters Centerline goodness : 0.991577 Centerline is valid? [True, True] Translation: X:117.63, Y:209.97, Z:-34.22 [[ 3.49772634e-01 -3.42743190e-01 8.71886581e-01 1.17628456e+02] [ 8.95323584e-02 9.38642522e-01 3.33067820e-01 2.09965556e+02] [-9.32546547e-01 -3.84359468e-02 3.58998073e-01 -3.42186500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.4707140569999 meters Centerline goodness : 0.988536 Centerline is valid? [True, True] Translation: X:117.66, Y:209.96, Z:-34.25 [[ 3.53005169e-01 -3.62445424e-01 8.62566325e-01 1.17661284e+02] [ 8.80829151e-02 9.30697603e-01 3.55025874e-01 2.09959989e+02] [-9.31465915e-01 -4.93486123e-02 3.60466314e-01 -3.42488917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.500714057 meters Centerline goodness : 0.988488 Centerline is valid? [True, True] Translation: X:117.62, Y:209.98, Z:-34.29 [[ 3.51500711e-01 -2.78516623e-01 8.93798490e-01 1.17616819e+02] [ 8.73100996e-02 9.60313055e-01 2.64907123e-01 2.09980887e+02] [-9.32107396e-01 -1.50774069e-02 3.61868035e-01 -3.42925384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.530714057 meters Centerline goodness : 0.988565 Centerline is valid? [True, True] Translation: X:117.63, Y:209.98, Z:-34.32 [[ 3.50954688e-01 -2.80993282e-01 8.93237697e-01 1.17627792e+02] [ 8.77858155e-02 9.59585808e-01 2.67373761e-01 2.09983326e+02] [-9.32268447e-01 -1.54224750e-02 3.61438362e-01 -3.43185143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.5607140569999 meters Centerline goodness : 0.990103 Centerline is valid? [True, True] Translation: X:117.61, Y:210.00, Z:-34.34 [[ 3.47026180e-01 -2.53317907e-01 9.02996605e-01 1.17609560e+02] [ 9.02234813e-02 9.67382854e-01 2.36706859e-01 2.09996749e+02] [-9.33505519e-01 -6.71979790e-04 3.58562400e-01 -3.43410137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.5907140569999 meters Centerline goodness : 0.991466 Centerline is valid? [True, True] Translation: X:117.67, Y:209.98, Z:-34.35 [[ 3.47987183e-01 -3.41032337e-01 8.73270786e-01 1.17672194e+02] [ 8.85456519e-02 9.39281479e-01 3.31526727e-01 2.09978173e+02] [-9.33308410e-01 -3.80427210e-02 3.57054847e-01 -3.43513980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.620714057 meters Centerline goodness : 0.987784 Centerline is valid? [True, True] Translation: X:117.72, Y:209.97, Z:-34.38 [[ 3.52595412e-01 -3.81249830e-01 8.54590570e-01 1.17718411e+02] [ 8.53998131e-02 9.22541749e-01 3.76329103e-01 2.09969931e+02] [-9.31870886e-01 -5.97100403e-02 3.57842652e-01 -3.43792905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.650714057 meters Centerline goodness : 0.990117 Centerline is valid? [True, True] Translation: X:117.64, Y:210.00, Z:-34.42 [[ 3.45393037e-01 -2.61160792e-01 9.01387093e-01 1.17639066e+02] [ 8.94388003e-02 9.65286428e-01 2.45403368e-01 2.10003461e+02] [-9.34186465e-01 -4.14163459e-03 3.56761119e-01 -3.44219182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.6807140569999 meters Centerline goodness : 0.991579 Centerline is valid? [True, True] Translation: X:117.69, Y:209.99, Z:-34.43 [[ 3.46555522e-01 -3.30323953e-01 8.77943823e-01 1.17690577e+02] [ 8.90492672e-02 9.43303232e-01 3.19764351e-01 2.09987428e+02] [-9.33793070e-01 -3.26358476e-02 3.56322050e-01 -3.44341502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.7107140569999 meters Centerline goodness : 0.990507 Centerline is valid? [True, True] Translation: X:117.73, Y:209.98, Z:-34.46 [[ 3.40029440e-01 -3.72716088e-01 8.63401817e-01 1.17727881e+02] [ 9.07244246e-02 9.26826138e-01 3.64365735e-01 2.09979871e+02] [-9.36028343e-01 -4.55634436e-02 3.48962625e-01 -3.44570064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.740714057 meters Centerline goodness : 0.991018 Centerline is valid? [True, True] Translation: X:117.72, Y:209.99, Z:-34.49 [[ 3.44663898e-01 -3.36781494e-01 8.76233430e-01 1.17715340e+02] [ 9.12690633e-02 9.41028200e-01 3.25785027e-01 2.09990591e+02] [-9.34278736e-01 -3.23133329e-02 3.55076179e-01 -3.44917384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.770714057 meters Centerline goodness : 0.991484 Centerline is valid? [True, True] Translation: X:117.72, Y:209.99, Z:-34.52 [[ 3.41648143e-01 -3.41249872e-01 8.75685487e-01 1.17724097e+02] [ 9.25529876e-02 9.39438230e-01 3.29984480e-01 2.09992684e+02] [-9.35259585e-01 -3.16912767e-02 3.52541022e-01 -3.45190058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.8007140569999 meters Centerline goodness : 0.990418 Centerline is valid? [True, True] Translation: X:117.76, Y:209.99, Z:-34.54 [[ 3.40783360e-01 -3.76628768e-01 8.61404361e-01 1.17757282e+02] [ 9.44597295e-02 9.25329615e-01 3.67209018e-01 2.09987878e+02] [-9.35384446e-01 -4.37706997e-02 3.50913187e-01 -3.45406911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.8307140569999 meters Centerline goodness : 0.990850 Centerline is valid? [True, True] Translation: X:117.76, Y:209.99, Z:-34.57 [[ 3.40298604e-01 -3.69323302e-01 8.64752657e-01 1.17763496e+02] [ 9.46938278e-02 9.28423857e-01 3.59252307e-01 2.09992098e+02] [-9.35537246e-01 -4.03663195e-02 3.50913980e-01 -3.45731575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.860714057 meters Centerline goodness : 0.990611 Centerline is valid? [True, True] Translation: X:117.77, Y:210.00, Z:-34.60 [[ 3.39603393e-01 -3.69342081e-01 8.65017897e-01 1.17772290e+02] [ 9.72434344e-02 9.28534261e-01 3.58284582e-01 2.09996073e+02] [-9.35528327e-01 -3.75573485e-02 3.51249478e-01 -3.46026406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.890714057 meters Centerline goodness : 0.991022 Centerline is valid? [True, True] Translation: X:117.78, Y:210.00, Z:-34.63 [[ 3.41818058e-01 -3.64002470e-01 8.66407881e-01 1.17781087e+02] [ 9.70718456e-02 9.30684137e-01 3.52709644e-01 2.09999891e+02] [-9.34739253e-01 -3.64587137e-02 3.53459036e-01 -3.46333721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.9207140569999 meters Centerline goodness : 0.990479 Centerline is valid? [True, True] Translation: X:117.77, Y:210.01, Z:-34.67 [[ 3.37205550e-01 -3.36790662e-01 8.79127105e-01 1.17765533e+02] [ 1.01020952e-01 9.41372768e-01 3.21888303e-01 2.10011186e+02] [-9.35995291e-01 -1.97322654e-02 3.51459036e-01 -3.46670645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.9507140569999 meters Centerline goodness : 0.989642 Centerline is valid? [True, True] Translation: X:117.83, Y:210.00, Z:-34.68 [[ 3.34145266e-01 -4.10754557e-01 8.48308691e-01 1.17827534e+02] [ 9.97896763e-02 9.10400644e-01 4.01512998e-01 2.09997422e+02] [-9.37224073e-01 -4.95112177e-02 3.45195129e-01 -3.46835195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.9807140569999 meters Centerline goodness : 0.991199 Centerline is valid? [True, True] Translation: X:117.80, Y:210.02, Z:-34.72 [[ 3.39431642e-01 -3.44460007e-01 8.75290503e-01 1.17795455e+02] [ 1.00681875e-01 9.38494556e-01 3.30289460e-01 2.10016163e+02] [-9.35226882e-01 -2.39848053e-02 3.53235628e-01 -3.47244505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.010714057 meters Centerline goodness : 0.990614 Centerline is valid? [True, True] Translation: X:117.84, Y:210.01, Z:-34.74 [[ 3.38348826e-01 -3.88639911e-01 8.57017556e-01 1.17837052e+02] [ 9.78565785e-02 9.20325442e-01 3.78715158e-01 2.10010689e+02] [-9.35918887e-01 -4.42730235e-02 3.49422005e-01 -3.47447357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.040714057 meters Centerline goodness : 0.990565 Centerline is valid? [True, True] Translation: X:117.85, Y:210.02, Z:-34.78 [[ 3.43205758e-01 -3.77085590e-01 8.60241981e-01 1.17846142e+02] [ 9.58502092e-02 9.25151405e-01 3.67297721e-01 2.10017021e+02] [-9.34356755e-01 -4.36043187e-02 3.53661021e-01 -3.47763275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.0707140569999 meters Centerline goodness : 0.991258 Centerline is valid? [True, True] Translation: X:117.84, Y:210.03, Z:-34.81 [[ 3.46806258e-01 -3.46837759e-01 8.71452229e-01 1.17837323e+02] [ 9.14806368e-02 9.37194540e-01 3.36597219e-01 2.10029469e+02] [-9.33464896e-01 -3.70130171e-02 3.56753871e-01 -3.48123152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.1007140569999 meters Centerline goodness : 0.991607 Centerline is valid? [True, True] Translation: X:117.84, Y:210.04, Z:-34.84 [[ 3.51844781e-01 -3.36261863e-01 8.73574959e-01 1.17840954e+02] [ 8.53187938e-02 9.40884111e-01 3.27807555e-01 2.10037098e+02] [-9.32161978e-01 -4.08050157e-02 3.59734621e-01 -3.48423810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.130714057 meters Centerline goodness : 0.992065 Centerline is valid? [True, True] Translation: X:117.87, Y:210.04, Z:-34.87 [[ 3.52230551e-01 -3.56348643e-01 8.65418560e-01 1.17865560e+02] [ 8.20141216e-02 9.32873220e-01 3.50743837e-01 2.10035170e+02] [-9.32312889e-01 -5.25661522e-02 3.57812070e-01 -3.48689843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.160714057 meters Centerline goodness : 0.991332 Centerline is valid? [True, True] Translation: X:117.87, Y:210.04, Z:-34.90 [[ 3.55536739e-01 -3.52095972e-01 8.65807169e-01 1.17874876e+02] [ 7.64203745e-02 9.34180811e-01 3.48519926e-01 2.10041032e+02] [-9.31532905e-01 -5.77463296e-02 3.59042905e-01 -3.48992057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.1907140569999 meters Centerline goodness : 0.991566 Centerline is valid? [True, True] Translation: X:117.87, Y:210.05, Z:-34.93 [[ 3.56937624e-01 -3.30511014e-01 8.73703612e-01 1.17871149e+02] [ 7.40717017e-02 9.42383546e-01 3.26230955e-01 2.10050271e+02] [-9.31186832e-01 -5.17273886e-02 3.60853657e-01 -3.49316510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.2207140569999 meters Centerline goodness : 0.993221 Centerline is valid? [True, True] Translation: X:117.97, Y:210.03, Z:-34.95 [[ 3.81193393e-01 -4.02697292e-01 8.32181764e-01 1.17968124e+02] [ 6.57385199e-02 9.09675367e-01 4.10084350e-01 2.10029156e+02] [-9.22155108e-01 -1.01615047e-01 3.73234964e-01 -3.49509353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.250714057 meters Centerline goodness : 0.991801 Centerline is valid? [True, True] Translation: X:117.78, Y:210.12, Z:-35.02 [[ 3.57797482e-01 -1.33033376e-01 9.24274355e-01 1.17782773e+02] [ 7.49277417e-02 9.90698476e-01 1.13588573e-01 2.10120590e+02] [-9.30788266e-01 2.86120846e-02 3.64437310e-01 -3.50244259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.280714057 meters Centerline goodness : 0.991648 Centerline is valid? [True, True] Translation: X:117.93, Y:210.05, Z:-35.01 [[ 3.59659451e-01 -3.70767560e-01 8.56257260e-01 1.17933274e+02] [ 7.12470321e-02 9.25897310e-01 3.70995999e-01 2.10047673e+02] [-9.30359575e-01 -7.24264290e-02 3.59423807e-01 -3.50108434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.3107140569999 meters Centerline goodness : 0.991179 Centerline is valid? [True, True] Translation: X:117.91, Y:210.06, Z:-35.05 [[ 3.56192967e-01 -3.28218540e-01 8.74870939e-01 1.17913658e+02] [ 7.34428979e-02 9.43216544e-01 3.23957855e-01 2.10061187e+02] [-9.31521718e-01 -5.11384524e-02 3.60072420e-01 -3.50483670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.3407140569999 meters Centerline goodness : 0.991556 Centerline is valid? [True, True] Translation: X:117.92, Y:210.06, Z:-35.08 [[ 3.51597427e-01 -3.38913198e-01 8.72649468e-01 1.17924418e+02] [ 7.55051949e-02 9.39396628e-01 3.34414325e-01 2.10061637e+02] [-9.33101396e-01 -5.16896482e-02 3.55879145e-01 -3.50750367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.370714057 meters Centerline goodness : 0.991149 Centerline is valid? [True, True] Translation: X:117.99, Y:210.04, Z:-35.09 [[ 3.55364892e-01 -4.15906944e-01 8.37100476e-01 1.17994285e+02] [ 7.29307090e-02 9.05162438e-01 4.18762550e-01 2.10044476e+02] [-9.31878160e-01 -8.77631771e-02 3.51995340e-01 -3.50887928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.400714057 meters Centerline goodness : 0.992131 Centerline is valid? [True, True] Translation: X:117.94, Y:210.07, Z:-35.14 [[ 3.58315074e-01 -3.09760188e-01 8.80715013e-01 1.17938657e+02] [ 7.47953059e-02 9.49845201e-01 3.03644128e-01 2.10072543e+02] [-9.30599790e-01 -4.29269194e-02 3.63512462e-01 -3.51375506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.4307140569999 meters Centerline goodness : 0.990354 Centerline is valid? [True, True] Translation: X:117.98, Y:210.06, Z:-35.16 [[ 3.57021620e-01 -3.53738056e-01 8.64525853e-01 1.17977788e+02] [ 7.30239059e-02 9.33258398e-01 3.51704807e-01 2.10062119e+02] [-9.31237388e-01 -6.24351655e-02 3.59024760e-01 -3.51591614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.4607140569999 meters Centerline goodness : 0.990683 Centerline is valid? [True, True] Translation: X:118.00, Y:210.06, Z:-35.19 [[ 3.63650251e-01 -3.58508794e-01 8.59784822e-01 1.18001054e+02] [ 7.16527010e-02 9.31006479e-01 3.57900581e-01 2.10062831e+02] [-9.28775745e-01 -6.85447315e-02 3.64248864e-01 -3.51852593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.490714057 meters Centerline goodness : 0.990683 Centerline is valid? [True, True] Translation: X:117.99, Y:210.07, Z:-35.22 [[ 3.65306222e-01 -3.20759257e-01 8.73879204e-01 1.17991213e+02] [ 7.16119087e-02 9.45660760e-01 3.17171029e-01 2.10074463e+02] [-9.28128816e-01 -5.32843928e-02 3.68425943e-01 -3.52227132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.520714057 meters Centerline goodness : 0.992407 Centerline is valid? [True, True] Translation: X:118.00, Y:210.08, Z:-35.25 [[ 3.66698869e-01 -3.14150557e-01 8.75694791e-01 1.17998656e+02] [ 6.90710049e-02 9.47858855e-01 3.11115392e-01 2.10078274e+02] [-9.27772136e-01 -5.36005432e-02 3.69277465e-01 -3.52539473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.5507140569999 meters Centerline goodness : 0.991843 Centerline is valid? [True, True] Translation: X:118.02, Y:210.08, Z:-35.28 [[ 3.69245658e-01 -3.20967832e-01 8.72145226e-01 1.18016690e+02] [ 6.70151967e-02 9.45217826e-01 3.19487440e-01 2.10078520e+02] [-9.26912406e-01 -5.95223661e-02 3.70527301e-01 -3.52818323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.5807140569999 meters Centerline goodness : 0.990436 Centerline is valid? [True, True] Translation: X:118.04, Y:210.08, Z:-35.31 [[ 3.67970485e-01 -3.30334169e-01 8.69181833e-01 1.18039722e+02] [ 6.41789845e-02 9.41561091e-01 3.30671694e-01 2.10078091e+02] [-9.27619955e-01 -6.58942162e-02 3.67667203e-01 -3.53120132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.610714057 meters Centerline goodness : 0.991600 Centerline is valid? [True, True] Translation: X:118.00, Y:210.11, Z:-35.36 [[ 3.74520642e-01 -2.40861438e-01 8.95388216e-01 1.17998279e+02] [ 6.18361053e-02 9.70009462e-01 2.35070076e-01 2.10105499e+02] [-9.25154358e-01 -3.26712757e-02 3.78182499e-01 -3.53555439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.640714057 meters Centerline goodness : 0.991447 Centerline is valid? [True, True] Translation: X:118.06, Y:210.09, Z:-35.37 [[ 3.76352695e-01 -3.13482937e-01 8.71829741e-01 1.18056626e+02] [ 5.85895595e-02 9.47186118e-01 3.15286730e-01 2.10085937e+02] [-9.24622038e-01 -6.75788899e-02 3.74842875e-01 -3.53706418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.6707140569999 meters Centerline goodness : 0.991745 Centerline is valid? [True, True] Translation: X:118.05, Y:210.10, Z:-35.41 [[ 3.79873994e-01 -2.72791940e-01 8.83900620e-01 1.18046096e+02] [ 5.69291914e-02 9.60611739e-01 2.72000285e-01 2.10098994e+02] [-9.23284797e-01 -5.30060868e-02 3.80441242e-01 -3.54073470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.7007140569999 meters Centerline goodness : 0.993813 Centerline is valid? [True, True] Translation: X:118.14, Y:210.07, Z:-35.42 [[ 4.02113642e-01 -3.40481427e-01 8.49927654e-01 1.18136307e+02] [ 5.02729229e-02 9.35094569e-01 3.50814454e-01 2.10072437e+02] [-9.14208539e-01 -9.83389302e-02 3.93131279e-01 -3.54243885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.7307140569999 meters Centerline goodness : 0.992338 Centerline is valid? [True, True] Translation: X:118.04, Y:210.13, Z:-35.49 [[ 4.00746564e-01 -1.54083292e-01 9.03139264e-01 1.18039598e+02] [ 4.74390631e-02 9.87923973e-01 1.47498334e-01 2.10125894e+02] [-9.14959959e-01 -1.62653699e-02 4.03216705e-01 -3.54909877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.760714057 meters Centerline goodness : 0.991388 Centerline is valid? [True, True] Translation: X:117.99, Y:210.16, Z:-35.52 [[ 3.82596047e-01 -9.91683491e-02 9.18578197e-01 1.17990806e+02] [ 5.76261694e-02 9.94848516e-01 8.34005647e-02 2.10162521e+02] [-9.22116852e-01 2.10254164e-02 3.86339802e-01 -3.55225332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.790714057 meters Centerline goodness : 0.991184 Centerline is valid? [True, True] Translation: X:118.11, Y:210.10, Z:-35.52 [[ 3.85706411e-01 -2.87968678e-01 8.76529866e-01 1.18107069e+02] [ 5.51647806e-02 9.55541033e-01 2.89651829e-01 2.10099370e+02] [-9.20970907e-01 -6.33669895e-02 3.84444031e-01 -3.55162988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.8207140569999 meters Centerline goodness : 0.987438 Centerline is valid? [True, True] Translation: X:118.15, Y:210.09, Z:-35.54 [[ 3.92238455e-01 -3.16151929e-01 8.63826923e-01 1.18146099e+02] [ 5.26041602e-02 9.45254122e-01 3.22067456e-01 2.10091925e+02] [-9.18358207e-01 -8.08863517e-02 3.87395923e-01 -3.55400062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.8507140569999 meters Centerline goodness : 0.992049 Centerline is valid? [True, True] Translation: X:118.10, Y:210.12, Z:-35.59 [[ 3.91870824e-01 -2.12717054e-01 8.95091455e-01 1.18099957e+02] [ 5.20651886e-02 9.76472339e-01 2.09262964e-01 2.10122096e+02] [-9.18545847e-01 -3.54009446e-02 3.93726173e-01 -3.55908180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.880714057 meters Centerline goodness : 0.987653 Centerline is valid? [True, True] Translation: X:118.08, Y:210.14, Z:-35.62 [[ 3.87979439e-01 -1.68605271e-01 9.06114903e-01 1.18082206e+02] [ 4.93515028e-02 9.85515042e-01 1.62248366e-01 2.10138901e+02] [-9.20345796e-01 -1.82308977e-02 3.90680497e-01 -3.56231604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.910714057 meters Centerline goodness : 0.982574 Centerline is valid? [True, True] Translation: X:118.12, Y:210.12, Z:-35.65 [[ 3.83850841e-01 -2.21699305e-01 8.96386050e-01 1.18122077e+02] [ 5.13438877e-02 9.74372822e-01 2.19000935e-01 2.10124265e+02] [-9.21966560e-01 -3.80397482e-02 3.85396731e-01 -3.56480543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.9407140569999 meters Centerline goodness : 0.991920 Centerline is valid? [True, True] Translation: X:118.07, Y:210.16, Z:-35.68 [[ 3.85484410e-01 -1.03824730e-01 9.16854511e-01 1.18069718e+02] [ 4.72197056e-02 9.94567092e-01 9.27717524e-02 2.10163200e+02] [-9.21505328e-01 7.53153581e-03 3.88292682e-01 -3.56825738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.9707140569999 meters Centerline goodness : 0.991446 Centerline is valid? [True, True] Translation: X:118.21, Y:210.09, Z:-35.68 [[ 4.04630709e-01 -2.92094849e-01 8.66576361e-01 1.18213998e+02] [ 3.70741987e-02 9.52076970e-01 3.03603273e-01 2.10091740e+02] [-9.13728348e-01 -9.07195833e-02 3.96068761e-01 -3.56807910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.000714057 meters Centerline goodness : 0.987645 Centerline is valid? [True, True] Translation: X:118.13, Y:210.14, Z:-35.74 [[ 3.99552945e-01 -1.36706380e-01 9.06459492e-01 1.18134438e+02] [ 3.10115484e-02 9.90267740e-01 1.35676402e-01 2.10138361e+02] [-9.16185423e-01 -2.60991935e-02 3.99903868e-01 -3.57383068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.030714057 meters Centerline goodness : 0.991144 Centerline is valid? [True, True] Translation: X:118.16, Y:210.13, Z:-35.76 [[ 4.02266755e-01 -1.55459751e-01 9.02227091e-01 1.18158012e+02] [ 3.28839536e-02 9.87295343e-01 1.55455947e-01 2.10134956e+02] [-9.14931748e-01 -3.28659654e-02 4.02268225e-01 -3.57620667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.0607140569999 meters Centerline goodness : 0.991680 Centerline is valid? [True, True] Translation: X:118.16, Y:210.14, Z:-35.79 [[ 4.02404451e-01 -1.35716756e-01 9.05346133e-01 1.18158300e+02] [ 3.21031008e-02 9.90433738e-01 1.34202841e-01 2.10142315e+02] [-9.14898928e-01 -2.49394025e-02 4.02911873e-01 -3.57908743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.0907140569999 meters Centerline goodness : 0.991062 Centerline is valid? [True, True] Translation: X:118.13, Y:210.17, Z:-35.82 [[ 3.90004869e-01 -1.04504571e-01 9.14863376e-01 1.18129278e+02] [ 4.21606371e-02 9.94523590e-01 9.56311173e-02 2.10168639e+02] [-9.19847098e-01 1.27462143e-03 3.92275021e-01 -3.58163937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.120714057 meters Centerline goodness : 0.991778 Centerline is valid? [True, True] Translation: X:118.27, Y:210.10, Z:-35.82 [[ 4.08014124e-01 -2.86569569e-01 8.66834677e-01 1.18268404e+02] [ 3.38673465e-02 9.53558252e-01 2.99298618e-01 2.10098811e+02] [-9.12347235e-01 -9.27606732e-02 3.98770585e-01 -3.58165228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.150714057 meters Centerline goodness : 0.991142 Centerline is valid? [True, True] Translation: X:118.14, Y:210.17, Z:-35.88 [[ 3.88450287e-01 -9.23105183e-02 9.16834305e-01 1.18144275e+02] [ 4.12807699e-02 9.95713962e-01 8.27623319e-02 2.10174930e+02] [-9.20544552e-01 5.69857438e-03 3.90596024e-01 -3.58779494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.1807140569999 meters Centerline goodness : 0.992208 Centerline is valid? [True, True] Translation: X:118.25, Y:210.12, Z:-35.88 [[ 3.92562048e-01 -2.55452384e-01 8.83537842e-01 1.18247276e+02] [ 3.94997910e-02 9.64450167e-01 2.61296081e-01 2.10117544e+02] [-9.18876926e-01 -6.76753647e-02 3.88696849e-01 -3.58754338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.2107140569999 meters Centerline goodness : 0.992323 Centerline is valid? [True, True] Translation: X:118.30, Y:210.10, Z:-35.90 [[ 4.09376246e-01 -2.79045895e-01 8.68645197e-01 1.18304495e+02] [ 3.21186419e-02 9.55897731e-01 2.91938215e-01 2.10099924e+02] [-9.11800133e-01 -9.16128665e-02 4.00284399e-01 -3.59041477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.240714057 meters Centerline goodness : 0.991159 Centerline is valid? [True, True] Translation: X:118.16, Y:210.19, Z:-35.97 [[ 3.83273427e-01 -6.10089060e-02 9.21617813e-01 1.18156899e+02] [ 4.45079253e-02 9.97876884e-01 4.75475531e-02 2.10188872e+02] [-9.22561936e-01 2.27955832e-02 3.85175073e-01 -3.59678434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.270714057 meters Centerline goodness : 0.991259 Centerline is valid? [True, True] Translation: X:118.33, Y:210.10, Z:-35.95 [[ 3.95346280e-01 -3.18337642e-01 8.61604587e-01 1.18325723e+02] [ 3.69798323e-02 9.42779047e-01 3.31361073e-01 2.10097534e+02] [-9.17787454e-01 -9.91403742e-02 3.84496262e-01 -3.59480931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.3007140569999 meters Centerline goodness : 0.992701 Centerline is valid? [True, True] Translation: X:118.34, Y:210.10, Z:-35.99 [[ 4.12871651e-01 -2.71242568e-01 8.69462172e-01 1.18341938e+02] [ 2.91234953e-02 9.58068556e-01 2.85055196e-01 2.10098800e+02] [-9.10323471e-01 -9.23694318e-02 4.03458878e-01 -3.59920729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.3307140569999 meters Centerline goodness : 0.991856 Centerline is valid? [True, True] Translation: X:118.17, Y:210.21, Z:-36.06 [[ 3.81047935e-01 -3.33165878e-02 9.23954802e-01 1.18171540e+02] [ 4.53712466e-02 9.98820305e-01 1.73045960e-02 2.10205020e+02] [-9.23441347e-01 3.53271005e-02 3.82110030e-01 -3.60581961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.360714057 meters Centerline goodness : 0.991004 Centerline is valid? [True, True] Translation: X:118.40, Y:210.08, Z:-36.02 [[ 4.05224064e-01 -3.73018497e-01 8.34656013e-01 1.18404036e+02] [ 3.28152524e-02 9.18319648e-01 3.94477101e-01 2.10080865e+02] [-9.13628271e-01 -1.32462166e-01 3.84365915e-01 -3.60208620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.390714057 meters Centerline goodness : 0.992135 Centerline is valid? [True, True] Translation: X:118.31, Y:210.13, Z:-36.09 [[ 4.05294576e-01 -1.99961937e-01 8.92049063e-01 1.18313101e+02] [ 3.02019385e-02 9.78181038e-01 2.05547319e-01 2.10128142e+02] [-9.13687118e-01 -5.63656024e-02 4.02490707e-01 -3.60886034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.4207140569999 meters Centerline goodness : 0.992163 Centerline is valid? [True, True] Translation: X:118.34, Y:210.12, Z:-36.11 [[ 4.05501967e-01 -2.15477850e-01 8.88334088e-01 1.18335355e+02] [ 2.91736586e-02 9.74374671e-01 2.23031161e-01 2.10121756e+02] [-9.13628509e-01 -6.45236191e-02 4.01397123e-01 -3.61140357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.4507140569999 meters Centerline goodness : 0.992107 Centerline is valid? [True, True] Translation: X:118.36, Y:210.12, Z:-36.14 [[ 4.07344816e-01 -2.28941662e-01 8.84113068e-01 1.18361842e+02] [ 2.66438616e-02 9.70636448e-01 2.39071099e-01 2.10115815e+02] [-9.12885702e-01 -7.38281867e-02 4.01483616e-01 -3.61394740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.4807140569999 meters Centerline goodness : 0.991341 Centerline is valid? [True, True] Translation: X:118.35, Y:210.13, Z:-36.18 [[ 4.00658706e-01 -2.00151614e-01 8.94098391e-01 1.18353088e+02] [ 2.91591832e-02 9.78138895e-01 2.05898143e-01 2.10126879e+02] [-9.15763257e-01 -5.64237046e-02 3.97736121e-01 -3.61786122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.510714057 meters Centerline goodness : 0.992906 Centerline is valid? [True, True] Translation: X:118.37, Y:210.13, Z:-36.20 [[ 4.10543664e-01 -1.89824040e-01 8.91863630e-01 1.18370501e+02] [ 2.11131605e-02 9.79807915e-01 1.98823247e-01 2.10126657e+02] [-9.11596476e-01 -6.27955643e-02 4.06261717e-01 -3.62025617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.540714057 meters Centerline goodness : 0.992871 Centerline is valid? [True, True] Translation: X:118.34, Y:210.15, Z:-36.24 [[ 3.99312217e-01 -1.49543821e-01 9.04536566e-01 1.18341944e+02] [ 2.63491399e-02 9.88071870e-01 1.51722456e-01 2.10145207e+02] [-9.16436292e-01 -3.67508696e-02 3.98489520e-01 -3.62379052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.5707140569999 meters Centerline goodness : 0.991719 Centerline is valid? [True, True] Translation: X:118.45, Y:210.10, Z:-36.24 [[ 4.13629615e-01 -2.83669090e-01 8.65125649e-01 1.18450396e+02] [ 2.19105368e-02 9.53048878e-01 3.02022789e-01 2.10098412e+02] [-9.10181559e-01 -1.05970203e-01 4.00424583e-01 -3.62369353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.6007140569999 meters Centerline goodness : 0.989893 Centerline is valid? [True, True] Translation: X:118.40, Y:210.13, Z:-36.30 [[ 4.06961614e-01 -1.87783712e-01 8.93934854e-01 1.18404025e+02] [ 2.73455061e-02 9.80706793e-01 1.93562416e-01 2.10129794e+02] [-9.13035853e-01 -5.43273723e-02 4.04245060e-01 -3.62955733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.630714057 meters Centerline goodness : 0.991268 Centerline is valid? [True, True] Translation: X:118.40, Y:210.14, Z:-36.33 [[ 4.11398494e-01 -1.51567967e-01 8.98764947e-01 1.18395265e+02] [ 2.55107577e-02 9.87604999e-01 1.54872745e-01 2.10142985e+02] [-9.11098502e-01 -4.07862394e-02 4.10165823e-01 -3.63254179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.660714057 meters Centerline goodness : 0.991478 Centerline is valid? [True, True] Translation: X:118.40, Y:210.15, Z:-36.35 [[ 4.00046900e-01 -1.59505062e-01 9.02507957e-01 1.18395541e+02] [ 3.05776841e-02 9.86513575e-01 1.60797919e-01 2.10145332e+02] [-9.15984434e-01 -3.67301059e-02 3.99528993e-01 -3.63521786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.6907140569999 meters Centerline goodness : 0.990852 Centerline is valid? [True, True] Translation: X:118.47, Y:210.11, Z:-36.36 [[ 4.05909044e-01 -2.62131522e-01 8.75514085e-01 1.18473831e+02] [ 2.63457508e-02 9.60941627e-01 2.75494268e-01 2.10110857e+02] [-9.13533661e-01 -8.87595391e-02 3.96960949e-01 -3.63577667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.7207140569999 meters Centerline goodness : 0.989931 Centerline is valid? [True, True] Translation: X:118.49, Y:210.12, Z:-36.39 [[ 4.12164095e-01 -2.48261960e-01 8.76633765e-01 1.18485849e+02] [ 2.54721126e-02 9.64924300e-01 2.61289624e-01 2.10118463e+02] [-9.10753496e-01 -8.53644877e-02 4.04030908e-01 -3.63940806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.750714057 meters Centerline goodness : 0.990553 Centerline is valid? [True, True] Translation: X:118.44, Y:210.15, Z:-36.44 [[ 4.10202814e-01 -1.54856837e-01 8.98750806e-01 1.18438299e+02] [ 2.39089133e-02 9.86965812e-01 1.59144114e-01 2.10153837e+02] [-9.11680874e-01 -4.37932083e-02 4.08558613e-01 -3.64411060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.780714057 meters Centerline goodness : 0.990757 Centerline is valid? [True, True] Translation: X:118.48, Y:210.14, Z:-36.46 [[ 4.13830337e-01 -1.97626385e-01 8.88644059e-01 1.18476169e+02] [ 2.18221221e-02 9.78025172e-01 2.07341647e-01 2.10140128e+02] [-9.10092439e-01 -6.64121646e-02 4.09049114e-01 -3.64594611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.8107140569999 meters Centerline goodness : 0.990888 Centerline is valid? [True, True] Translation: X:118.49, Y:210.14, Z:-36.49 [[ 4.13628754e-01 -1.96522559e-01 8.88982642e-01 1.18489021e+02] [ 2.14867705e-02 9.78260984e-01 2.06261402e-01 2.10141348e+02] [-9.10192053e-01 -6.62142807e-02 4.08859507e-01 -3.64882003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.8407140569999 meters Centerline goodness : 0.990584 Centerline is valid? [True, True] Translation: X:118.50, Y:210.14, Z:-36.52 [[ 4.07836750e-01 -1.97528956e-01 8.91432273e-01 1.18498578e+02] [ 2.42647969e-02 9.78318354e-01 2.05680378e-01 2.10143801e+02] [-9.12732384e-01 -6.22535940e-02 4.03787178e-01 -3.65154784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.870714057 meters Centerline goodness : 0.990359 Centerline is valid? [True, True] Translation: X:118.53, Y:210.13, Z:-36.54 [[ 4.08934821e-01 -2.29975920e-01 8.83110066e-01 1.18530828e+02] [ 2.24771025e-02 9.69969165e-01 2.42187117e-01 2.10134719e+02] [-9.12286738e-01 -7.91889900e-02 4.01823359e-01 -3.65364796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.900714057 meters Centerline goodness : 0.987855 Centerline is valid? [True, True] Translation: X:118.59, Y:210.13, Z:-36.55 [[ 4.16470166e-01 -2.87139634e-01 8.62614301e-01 1.18588577e+02] [ 2.17699267e-02 9.51692305e-01 3.06280635e-01 2.10125382e+02] [-9.08888701e-01 -1.08777697e-01 4.02602461e-01 -3.65531324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.9307140569999 meters Centerline goodness : 0.990187 Centerline is valid? [True, True] Translation: X:118.48, Y:210.19, Z:-36.62 [[ 4.06394158e-01 -8.69266404e-02 9.09553488e-01 1.18478214e+02] [ 1.83445303e-02 9.96039768e-01 8.69957422e-02 2.10191590e+02] [-9.13513693e-01 -1.86692299e-02 4.06379371e-01 -3.66214862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.9607140569999 meters Centerline goodness : 0.990574 Centerline is valid? [True, True] Translation: X:118.55, Y:210.15, Z:-36.63 [[ 4.07413697e-01 -2.06857390e-01 8.89507785e-01 1.18553701e+02] [ 1.47543467e-02 9.75373000e-01 2.20067765e-01 2.10147083e+02] [-9.13124520e-01 -7.65345152e-02 4.00432365e-01 -3.66264867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.990714057 meters Centerline goodness : 0.990715 Centerline is valid? [True, True] Translation: X:118.58, Y:210.14, Z:-36.65 [[ 4.12092158e-01 -2.17996014e-01 8.84679485e-01 1.18578971e+02] [ 1.10741923e-02 9.72083208e-01 2.34374913e-01 2.10142388e+02] [-9.11074869e-01 -8.67869527e-02 4.03001996e-01 -3.66496546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.020714057 meters Centerline goodness : 0.990489 Centerline is valid? [True, True] Translation: X:118.59, Y:210.15, Z:-36.68 [[ 4.14935501e-01 -2.05815560e-01 8.86266600e-01 1.18588968e+02] [ 8.10458696e-03 9.74876454e-01 2.22598778e-01 2.10146602e+02] [-9.09814732e-01 -8.51813108e-02 4.06178900e-01 -3.66811249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.0507140569999 meters Centerline goodness : 0.990895 Centerline is valid? [True, True] Translation: X:118.60, Y:210.15, Z:-36.71 [[ 4.17355923e-01 -1.90741320e-01 8.88499737e-01 1.18596191e+02] [ 4.86822871e-03 9.78179030e-01 2.07706730e-01 2.10153577e+02] [-9.08730067e-01 -8.23622142e-02 4.09177385e-01 -3.67129659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.0807140569999 meters Centerline goodness : 0.990082 Centerline is valid? [True, True] Translation: X:118.59, Y:210.16, Z:-36.75 [[ 4.15926565e-01 -1.65541572e-01 8.94204161e-01 1.18592170e+02] [ 3.84112815e-03 9.83603226e-01 1.80305129e-01 2.10164034e+02] [-9.09390092e-01 -7.15589402e-02 4.09742577e-01 -3.67474401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.110714057 meters Centerline goodness : 0.990265 Centerline is valid? [True, True] Translation: X:118.64, Y:210.15, Z:-36.77 [[ 4.21353628e-01 -2.09584860e-01 8.82346477e-01 1.18640031e+02] [ 6.21902739e-04 9.72996261e-01 2.30820035e-01 2.10147604e+02] [-9.06896209e-01 -9.67081255e-02 4.10105847e-01 -3.67658642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.140714057 meters Centerline goodness : 0.990711 Centerline is valid? [True, True] Translation: X:118.61, Y:210.18, Z:-36.81 [[ 4.24687375e-01 -1.24214561e-01 8.96778332e-01 1.18609698e+02] [-2.37326964e-03 9.90386927e-01 1.38304385e-01 2.10177249e+02] [-9.05336954e-01 -6.08644229e-02 4.20310030e-01 -3.68089268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.1707140569999 meters Centerline goodness : 0.991041 Centerline is valid? [True, True] Translation: X:118.64, Y:210.17, Z:-36.83 [[ 4.26169868e-01 -1.49641705e-01 8.92180814e-01 1.18638911e+02] [-4.92106933e-03 9.85825952e-01 1.67699064e-01 2.10168025e+02] [-9.04629773e-01 -7.58587717e-02 4.19392918e-01 -3.68333258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.2007140569999 meters Centerline goodness : 0.990836 Centerline is valid? [True, True] Translation: X:118.65, Y:210.17, Z:-36.86 [[ 4.26455325e-01 -1.45753092e-01 8.92688015e-01 1.18651086e+02] [-6.46089922e-03 9.86415415e-01 1.64142880e-01 2.10170443e+02] [-9.04485551e-01 -7.57671727e-02 4.19720411e-01 -3.68634654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.2307140569999 meters Centerline goodness : 0.991192 Centerline is valid? [True, True] Translation: X:118.66, Y:210.18, Z:-36.89 [[ 4.28181379e-01 -1.34401232e-01 8.93642555e-01 1.18660722e+02] [-7.57418273e-03 9.88310207e-01 1.52268076e-01 2.10175323e+02] [-9.03661075e-01 -7.19669669e-02 4.22158047e-01 -3.68939311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.260714057 meters Centerline goodness : 0.990975 Centerline is valid? [True, True] Translation: X:118.66, Y:210.18, Z:-36.93 [[ 4.25273703e-01 -1.18855933e-01 8.97226585e-01 1.18661443e+02] [-6.03615275e-03 9.90945101e-01 1.34131916e-01 2.10182720e+02] [-9.05044663e-01 -6.24585735e-02 4.20705460e-01 -3.69256280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.290714057 meters Centerline goodness : 0.990676 Centerline is valid? [True, True] Translation: X:118.71, Y:210.16, Z:-36.94 [[ 4.31528449e-01 -1.63525731e-01 8.87154176e-01 1.18707573e+02] [-9.02326281e-03 9.82601284e-01 1.85508215e-01 2.10164921e+02] [-9.02054199e-01 -8.80570977e-02 4.22544873e-01 -3.69432125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.3207140569999 meters Centerline goodness : 0.990933 Centerline is valid? [True, True] Translation: X:118.70, Y:210.18, Z:-36.98 [[ 4.31222963e-01 -1.22979417e-01 8.93824826e-01 1.18699839e+02] [-8.75628265e-03 9.90050006e-01 1.40443272e-01 2.10182367e+02] [-9.02202906e-01 -6.83889467e-02 4.25855455e-01 -3.69816378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.3507140569999 meters Centerline goodness : 0.991493 Centerline is valid? [True, True] Translation: X:118.71, Y:210.18, Z:-37.01 [[ 4.29506770e-01 -1.25194423e-01 8.94343497e-01 1.18713724e+02] [-6.76782585e-03 9.89869774e-01 1.41816878e-01 2.10184045e+02] [-9.03038278e-01 -6.69640702e-02 4.24308475e-01 -3.70106672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.380714057 meters Centerline goodness : 0.992546 Centerline is valid? [True, True] Translation: X:118.78, Y:210.16, Z:-37.03 [[ 4.44951240e-01 -1.62129386e-01 8.80756752e-01 1.18776031e+02] [-1.43231572e-02 9.82061988e-01 1.88013561e-01 2.10158125e+02] [-8.95440250e-01 -9.62720844e-02 4.34647494e-01 -3.70330730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.410714057 meters Centerline goodness : 0.992546 Centerline is valid? [True, True] Translation: X:118.72, Y:210.21, Z:-37.09 [[ 4.40339080e-01 -2.84878155e-02 8.97379484e-01 1.18720460e+02] [-1.59161303e-02 9.99091747e-01 3.95266842e-02 2.10207792e+02] [-8.97690465e-01 -3.16879526e-02 4.39485725e-01 -3.70903457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.4407140569999 meters Centerline goodness : 0.992270 Centerline is valid? [True, True] Translation: X:118.73, Y:210.21, Z:-37.11 [[ 4.40592159e-01 -2.88264609e-02 8.97244440e-01 1.18732558e+02] [-1.54683628e-02 9.99092132e-01 3.96943442e-02 2.10208491e+02] [-8.97574108e-01 -3.13679193e-02 4.39746261e-01 -3.71147890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.4707140569999 meters Centerline goodness : 0.988008 Centerline is valid? [True, True] Translation: X:118.74, Y:210.21, Z:-37.14 [[ 4.39834622e-01 -2.93995276e-02 8.97597445e-01 1.18741391e+02] [-1.62047156e-02 9.99041516e-01 4.06627089e-02 2.10210039e+02] [-8.97932577e-01 -3.24301785e-02 4.38936637e-01 -3.71380296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.500714057 meters Centerline goodness : 0.991390 Centerline is valid? [True, True] Translation: X:118.74, Y:210.22, Z:-37.16 [[ 4.38923270e-01 -1.64239994e-02 8.98374430e-01 1.18739381e+02] [-1.31686496e-02 9.99607959e-01 2.47086142e-02 2.10220574e+02] [-8.98428044e-01 -2.26755638e-02 4.38534912e-01 -3.71626490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.530714057 meters Centerline goodness : 0.982861 Centerline is valid? [True, True] Translation: X:118.82, Y:210.18, Z:-37.17 [[ 4.41077534e-01 -1.41253635e-01 8.86283261e-01 1.18815561e+02] [-8.99582181e-03 9.86790887e-01 1.61749252e-01 2.10175859e+02] [-8.97423916e-01 -7.93168076e-02 4.33980599e-01 -3.71739785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.5607140569999 meters Centerline goodness : 0.991725 Centerline is valid? [True, True] Translation: X:118.76, Y:210.23, Z:-37.23 [[ 4.40125617e-01 5.50603057e-03 8.97919331e-01 1.18757411e+02] [-1.06257901e-02 9.99943118e-01 -9.23284454e-04 2.10233871e+02] [-8.97873340e-01 -9.13474119e-03 4.40159088e-01 -3.72264486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.5907140569999 meters Centerline goodness : 0.991357 Centerline is valid? [True, True] Translation: X:118.73, Y:210.26, Z:-37.25 [[ 4.21210198e-01 1.76488254e-02 9.06791315e-01 1.18727454e+02] [ 6.35624005e-03 9.99728654e-01 -2.24101723e-02 2.10262848e+02] [-9.06940774e-01 1.52031764e-02 4.20983724e-01 -3.72462263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.620714057 meters Centerline goodness : 0.991377 Centerline is valid? [True, True] Translation: X:118.92, Y:210.14, Z:-37.22 [[ 4.47930657e-01 -2.51566422e-01 8.57946654e-01 1.18922473e+02] [-7.13442427e-03 9.58562279e-01 2.84793710e-01 2.10142352e+02] [-8.94039835e-01 -1.33688789e-01 4.27574650e-01 -3.72229815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.650714057 meters Centerline goodness : 0.988153 Centerline is valid? [True, True] Translation: X:118.82, Y:210.22, Z:-37.30 [[ 4.36938748e-01 -3.54477811e-02 8.98792515e-01 1.18818218e+02] [-1.15532891e-02 9.98919581e-01 4.50132390e-02 2.10217344e+02] [-8.99417062e-01 -3.00520381e-02 4.36057133e-01 -3.72994102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.6807140569999 meters Centerline goodness : 0.992644 Centerline is valid? [True, True] Translation: X:118.84, Y:210.21, Z:-37.32 [[ 4.38511344e-01 -5.19158474e-02 8.97224914e-01 1.18840175e+02] [-8.25281580e-03 9.98055444e-01 6.17836694e-02 2.10213467e+02] [-8.98687762e-01 -3.44974718e-02 4.37230182e-01 -3.73219052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.7107140569999 meters Centerline goodness : 0.991444 Centerline is valid? [True, True] Translation: X:118.76, Y:210.28, Z:-37.36 [[ 4.11106472e-01 3.89312690e-02 9.10755634e-01 1.18763066e+02] [ 1.35168665e-02 9.98717462e-01 -4.87926814e-02 2.10280990e+02] [-9.11487117e-01 3.23695494e-02 4.10052983e-01 -3.73566978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.740714057 meters Centerline goodness : 0.993102 Centerline is valid? [True, True] Translation: X:119.01, Y:210.13, Z:-37.32 [[ 4.48077261e-01 -3.07742372e-01 8.39357731e-01 1.19010000e+02] [-7.02275750e-03 9.37643695e-01 3.47526950e-01 2.10131033e+02] [-8.93967253e-01 -1.61613530e-01 4.17975618e-01 -3.73169859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.770714057 meters Centerline goodness : 0.992338 Centerline is valid? [True, True] Translation: X:118.87, Y:210.22, Z:-37.42 [[ 4.41348687e-01 -2.99188831e-02 8.96836773e-01 1.18874628e+02] [-9.39376080e-03 9.99235190e-01 3.79577710e-02 2.10223573e+02] [-8.97286517e-01 -2.51772825e-02 4.40730089e-01 -3.74168924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.8007140569999 meters Centerline goodness : 0.991024 Centerline is valid? [True, True] Translation: X:118.79, Y:210.30, Z:-37.45 [[ 4.13306895e-01 6.39953142e-02 9.08340250e-01 1.18791688e+02] [ 1.55592923e-02 9.96885433e-01 -7.73132747e-02 2.10298127e+02] [-9.10458851e-01 4.60872410e-02 4.11023901e-01 -3.74524382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.8307140569999 meters Centerline goodness : 0.988549 Centerline is valid? [True, True] Translation: X:119.02, Y:210.15, Z:-37.41 [[ 4.37581976e-01 -3.16824564e-01 8.41513048e-01 1.19021920e+02] [ 1.03694824e-02 9.37584530e-01 3.47602823e-01 2.10154615e+02] [-8.99118729e-01 -1.43378675e-01 4.13555398e-01 -3.74054115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.860714057 meters Centerline goodness : 0.994345 Centerline is valid? [True, True] Translation: X:118.91, Y:210.23, Z:-37.49 [[ 4.32772223e-01 -8.45766305e-02 8.97527157e-01 1.18908516e+02] [ 1.16425766e-02 9.96030752e-01 8.82450637e-02 2.10230693e+02] [-9.01428119e-01 -2.77404837e-02 4.32039132e-01 -3.74890165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.890714057 meters Centerline goodness : 0.990028 Centerline is valid? [True, True] Translation: X:118.91, Y:210.24, Z:-37.52 [[ 4.30808778e-01 -7.16044054e-02 8.99598025e-01 1.18911774e+02] [ 1.33181767e-02 9.97243114e-01 7.29986182e-02 2.10235669e+02] [-9.02344958e-01 -1.94674401e-02 4.30574727e-01 -3.75161697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.9207140569999 meters Centerline goodness : 0.992791 Centerline is valid? [True, True] Translation: X:118.93, Y:210.23, Z:-37.54 [[ 4.30360188e-01 -8.33843399e-02 8.98797620e-01 1.18930791e+02] [ 1.97482892e-02 9.96355582e-01 8.29792752e-02 2.10233059e+02] [-9.02441197e-01 -1.79612611e-02 4.30438473e-01 -3.75400365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.9507140569999 meters Centerline goodness : 0.992605 Centerline is valid? [True, True] Translation: X:118.94, Y:210.24, Z:-37.57 [[ 4.29177079e-01 -7.38567133e-02 9.00195657e-01 1.18939236e+02] [ 2.11338738e-02 9.97199471e-01 7.17396276e-02 2.10238025e+02] [-9.02973086e-01 -1.17643824e-02 4.29536034e-01 -3.75720417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.9807140569999 meters Centerline goodness : 0.991258 Centerline is valid? [True, True] Translation: X:118.95, Y:210.24, Z:-37.60 [[ 4.25648136e-01 -7.29401518e-02 9.01944233e-01 1.18945389e+02] [ 2.35070501e-02 9.97300901e-01 6.95581220e-02 2.10239522e+02] [-9.04583376e-01 -8.40523667e-03 4.26213877e-01 -3.75980447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.010714057 meters Centerline goodness : 0.992764 Centerline is valid? [True, True] Translation: X:118.97, Y:210.23, Z:-37.62 [[ 4.27402708e-01 -9.60896908e-02 8.98940319e-01 1.18972094e+02] [ 2.67582810e-02 9.95244444e-01 9.36615784e-02 2.10231661e+02] [-9.03665270e-01 -1.59771146e-02 4.27941365e-01 -3.76185871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.040714057 meters Centerline goodness : 0.992513 Centerline is valid? [True, True] Translation: X:118.98, Y:210.24, Z:-37.65 [[ 4.26976652e-01 -7.74595583e-02 9.00938930e-01 1.18976085e+02] [ 2.85597329e-02 9.96982505e-01 7.21819017e-02 2.10239815e+02] [-9.03811529e-01 -5.08941154e-03 4.27900477e-01 -3.76529127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.0707140569999 meters Centerline goodness : 0.990051 Centerline is valid? [True, True] Translation: X:118.91, Y:210.29, Z:-37.68 [[ 4.05458334e-01 -1.37720136e-02 9.14009776e-01 1.18914067e+02] [ 4.97987538e-02 9.98734444e-01 -7.04230474e-03 2.10293592e+02] [-9.12756059e-01 4.83719090e-02 4.05631033e-01 -3.76810187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.1007140569999 meters Centerline goodness : 0.992167 Centerline is valid? [True, True] Translation: X:119.14, Y:210.16, Z:-37.65 [[ 4.30194282e-01 -3.28126995e-01 8.40990817e-01 1.19142353e+02] [ 2.80403447e-02 9.36009310e-01 3.50856538e-01 2.10160604e+02] [-9.02300736e-01 -1.27354804e-01 4.11866647e-01 -3.76512740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.130714057 meters Centerline goodness : 0.992594 Centerline is valid? [True, True] Translation: X:119.02, Y:210.24, Z:-37.74 [[ 4.28769823e-01 -7.16071276e-02 9.00571406e-01 1.19017743e+02] [ 2.63233069e-02 9.97420755e-01 6.67751555e-02 2.10244542e+02] [-9.03030189e-01 -4.92515411e-03 4.29548857e-01 -3.77434266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.160714057 meters Centerline goodness : 0.991321 Centerline is valid? [True, True] Translation: X:119.03, Y:210.25, Z:-37.77 [[ 4.28991339e-01 -7.07879373e-02 9.00530676e-01 1.19031087e+02] [ 2.56873254e-02 9.97477546e-01 6.61718023e-02 2.10245880e+02] [-9.02943294e-01 -5.25490553e-03 4.29727581e-01 -3.77723318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.1907140569999 meters Centerline goodness : 0.991612 Centerline is valid? [True, True] Translation: X:119.05, Y:210.25, Z:-37.80 [[ 4.29001511e-01 -7.02210983e-02 9.00570209e-01 1.19045071e+02] [ 2.55329542e-02 9.97518128e-01 6.56174743e-02 2.10247463e+02] [-9.02942840e-01 -5.15577768e-03 4.29729736e-01 -3.78023722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.2207140569999 meters Centerline goodness : 0.990265 Centerline is valid? [True, True] Translation: X:119.06, Y:210.24, Z:-37.82 [[ 4.29061730e-01 -8.21534628e-02 8.99531456e-01 1.19062492e+02] [ 2.35593885e-02 9.96534429e-01 7.97752227e-02 2.10244290e+02] [-9.02967877e-01 -1.30360840e-02 4.29510272e-01 -3.78229597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.250714057 meters Centerline goodness : 0.991133 Centerline is valid? [True, True] Translation: X:119.08, Y:210.24, Z:-37.85 [[ 4.29426471e-01 -8.92730126e-02 8.98678605e-01 1.19077132e+02] [ 2.52490733e-02 9.95900010e-01 8.68657306e-02 2.10244585e+02] [-9.02748797e-01 -1.46116422e-02 4.29919888e-01 -3.78452945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.280714057 meters Centerline goodness : 0.991502 Centerline is valid? [True, True] Translation: X:119.10, Y:210.24, Z:-37.86 [[ 4.33080602e-01 -1.11716106e-01 8.94405224e-01 1.19103693e+02] [ 2.69857239e-02 9.93451639e-01 1.11020768e-01 2.10238434e+02] [-9.00951144e-01 -2.39447686e-02 4.33259374e-01 -3.78648790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.3107140569999 meters Centerline goodness : 0.987847 Centerline is valid? [True, True] Translation: X:119.10, Y:210.25, Z:-37.90 [[ 4.32101294e-01 -7.80021280e-02 8.98445402e-01 1.19097759e+02] [ 2.63110380e-02 9.96918707e-01 7.38973642e-02 2.10250103e+02] [-9.01441180e-01 -8.29211556e-03 4.32822180e-01 -3.79013035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.3407140569999 meters Centerline goodness : 0.990824 Centerline is valid? [True, True] Translation: X:119.12, Y:210.25, Z:-37.92 [[ 4.33530857e-01 -9.70480037e-02 8.95897696e-01 1.19120007e+02] [ 3.08963251e-02 9.95200257e-01 9.28540037e-02 2.10245501e+02] [-9.00608913e-01 -1.25751293e-02 4.34448447e-01 -3.79198963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.370714057 meters Centerline goodness : 0.989680 Centerline is valid? [True, True] Translation: X:119.04, Y:210.31, Z:-37.96 [[ 4.18908773e-01 3.63549695e-02 9.07300257e-01 1.19040875e+02] [ 4.59573795e-02 9.97068725e-01 -6.11708771e-02 2.10314339e+02] [-9.06864576e-01 6.73221593e-02 4.16010057e-01 -3.79618436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.400714057 meters Centerline goodness : 0.986443 Centerline is valid? [True, True] Translation: X:119.29, Y:210.17, Z:-37.91 [[ 4.28247376e-01 -3.71279393e-01 8.23866371e-01 1.19290111e+02] [ 4.09522180e-02 9.18734999e-01 3.92745359e-01 2.10169239e+02] [-9.02733128e-01 -1.34453014e-01 4.08650568e-01 -3.79089157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.4307140569999 meters Centerline goodness : 0.991273 Centerline is valid? [True, True] Translation: X:119.15, Y:210.26, Z:-38.01 [[ 4.27249797e-01 -9.36309231e-02 8.99272407e-01 1.19146450e+02] [ 4.55005938e-02 9.95589700e-01 8.20417291e-02 2.10256954e+02] [-9.02987988e-01 5.86511641e-03 4.29625760e-01 -3.80100337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.4607140569999 meters Centerline goodness : 0.987315 Centerline is valid? [True, True] Translation: X:119.17, Y:210.25, Z:-38.03 [[ 4.28149608e-01 -1.08614308e-01 8.97157091e-01 1.19168635e+02] [ 4.34684207e-02 9.94077276e-01 9.96035462e-02 2.10251979e+02] [-9.02661847e-01 -3.64721730e-03 4.30335088e-01 -3.80277036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.490714057 meters Centerline goodness : 0.991765 Centerline is valid? [True, True] Translation: X:119.17, Y:210.27, Z:-38.06 [[ 4.24494967e-01 -8.65617781e-02 9.01283020e-01 1.19165341e+02] [ 4.81294310e-02 9.96169470e-01 7.30064785e-02 2.10266993e+02] [-9.04150198e-01 1.23873562e-02 4.27035095e-01 -3.80631412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.520714057 meters Centerline goodness : 0.991166 Centerline is valid? [True, True] Translation: X:119.17, Y:210.28, Z:-38.09 [[ 4.25815301e-01 -7.66196132e-02 9.01560183e-01 1.19173219e+02] [ 4.64245400e-02 9.96945843e-01 6.27992745e-02 2.10276039e+02] [-9.03618333e-01 1.51136248e-02 4.28071825e-01 -3.80938270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.5507140569999 meters Centerline goodness : 0.991598 Centerline is valid? [True, True] Translation: X:119.19, Y:210.28, Z:-38.12 [[ 4.25531696e-01 -8.75407322e-02 9.00699393e-01 1.19192306e+02] [ 4.59963689e-02 9.96115847e-01 7.50836497e-02 2.10275453e+02] [-9.03773816e-01 9.47842873e-03 4.27905421e-01 -3.81218065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.5807140569999 meters Centerline goodness : 0.992696 Centerline is valid? [True, True] Translation: X:119.21, Y:210.28, Z:-38.15 [[ 4.24858952e-01 -8.69814054e-02 9.01071088e-01 1.19206234e+02] [ 4.51062234e-02 9.96170849e-01 7.48937110e-02 2.10279266e+02] [-9.04135112e-01 8.82465029e-03 4.27155505e-01 -3.81511309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.610714057 meters Centerline goodness : 0.993241 Centerline is valid? [True, True] Translation: X:119.22, Y:210.29, Z:-38.18 [[ 4.24749869e-01 -8.61190699e-02 9.01205334e-01 1.19220244e+02] [ 4.33756394e-02 9.96257838e-01 7.47587688e-02 2.10285455e+02] [-9.04271034e-01 7.33658038e-03 4.26895856e-01 -3.81803092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.640714057 meters Centerline goodness : 0.989260 Centerline is valid? [True, True] Translation: X:119.25, Y:210.28, Z:-38.19 [[ 4.28759661e-01 -1.13823385e-01 8.96219499e-01 1.19251664e+02] [ 3.82153599e-02 9.93428428e-01 1.07886719e-01 2.10278847e+02] [-9.02609960e-01 -1.20081224e-02 4.30291838e-01 -3.81946612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.6707140569999 meters Centerline goodness : 0.991068 Centerline is valid? [True, True] Translation: X:119.25, Y:210.29, Z:-38.22 [[ 4.27387178e-01 -9.50697968e-02 8.99056135e-01 1.19252078e+02] [ 3.74862911e-02 9.95463843e-01 8.74443564e-02 2.10290217e+02] [-9.03291193e-01 -3.67031668e-03 4.29012296e-01 -3.82220895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.7007140569999 meters Centerline goodness : 0.992309 Centerline is valid? [True, True] Translation: X:119.25, Y:210.30, Z:-38.26 [[ 4.24582054e-01 -7.46824827e-02 9.02304054e-01 1.19248873e+02] [ 3.59958847e-02 9.97196628e-01 6.55986339e-02 2.10303017e+02] [-9.04673630e-01 4.62722998e-03 4.26080055e-01 -3.82587589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.7307140569999 meters Centerline goodness : 0.992664 Centerline is valid? [True, True] Translation: X:119.27, Y:210.30, Z:-38.29 [[ 4.25072756e-01 -8.15510960e-02 9.01477993e-01 1.19265076e+02] [ 3.42515773e-02 9.96668991e-01 7.40118303e-02 2.10303558e+02] [-9.04510908e-01 -5.83369470e-04 4.26450088e-01 -3.82874884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.760714057 meters Centerline goodness : 0.993088 Centerline is valid? [True, True] Translation: X:119.28, Y:210.31, Z:-38.32 [[ 4.25986139e-01 -7.92507568e-02 9.01251977e-01 1.19277779e+02] [ 3.02016442e-02 9.96846525e-01 7.33816528e-02 2.10309086e+02] [-9.04225453e-01 -4.04027539e-03 4.27036306e-01 -3.83167893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.790714057 meters Centerline goodness : 0.990635 Centerline is valid? [True, True] Translation: X:119.31, Y:210.30, Z:-38.33 [[ 4.31129152e-01 -1.04743031e-01 8.96190020e-01 1.19307118e+02] [ 2.47639384e-02 9.94238638e-01 1.04289393e-01 2.10303247e+02] [-9.01950332e-01 -2.27690030e-02 4.31239111e-01 -3.83312014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.8207140569999 meters Centerline goodness : 0.993723 Centerline is valid? [True, True] Translation: X:119.30, Y:210.32, Z:-38.37 [[ 4.27641046e-01 -6.76486286e-02 9.01413778e-01 1.19296885e+02] [ 2.43175550e-02 9.97695835e-01 6.33378053e-02 2.10319717e+02] [-9.03621487e-01 -5.16566619e-03 4.28300740e-01 -3.83699365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.8507140569999 meters Centerline goodness : 0.993786 Centerline is valid? [True, True] Translation: X:119.31, Y:210.32, Z:-38.40 [[ 4.28377142e-01 -7.52573582e-02 9.00460635e-01 1.19313773e+02] [ 2.02928901e-02 9.97075589e-01 7.36781397e-02 2.10319666e+02] [-9.03372140e-01 -1.32890823e-02 4.28651581e-01 -3.83977154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.880714057 meters Centerline goodness : 0.994636 Centerline is valid? [True, True] Translation: X:119.33, Y:210.32, Z:-38.43 [[ 4.28924919e-01 -7.37642555e-02 9.00323413e-01 1.19327380e+02] [ 1.80556196e-02 9.97161430e-01 7.30963611e-02 2.10321667e+02] [-9.03159681e-01 -1.50969537e-02 4.29039245e-01 -3.84269368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.910714057 meters Centerline goodness : 0.993460 Centerline is valid? [True, True] Translation: X:119.34, Y:210.32, Z:-38.46 [[ 4.29575948e-01 -7.18194877e-02 9.00170243e-01 1.19340820e+02] [ 1.43655926e-02 9.97249704e-01 7.27094128e-02 2.10323655e+02] [-9.02916461e-01 -1.83027360e-02 4.29426216e-01 -3.84567612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.9407140569999 meters Centerline goodness : 0.994338 Centerline is valid? [True, True] Translation: X:119.35, Y:210.32, Z:-38.49 [[ 4.30087363e-01 -7.04544963e-02 9.00033902e-01 1.19354593e+02] [ 1.24875917e-02 9.97319038e-01 7.21026786e-02 2.10324986e+02] [-9.02700903e-01 -1.97711951e-02 4.29814123e-01 -3.84867570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.9707140569999 meters Centerline goodness : 0.991499 Centerline is valid? [True, True] Translation: X:119.38, Y:210.32, Z:-38.51 [[ 4.32407601e-01 -8.52634072e-02 8.97637910e-01 1.19377287e+02] [ 6.46638646e-03 9.95786723e-01 9.14712416e-02 2.10317211e+02] [-9.01655063e-01 -3.37483865e-02 4.31137094e-01 -3.85050188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.000714057 meters Centerline goodness : 0.994436 Centerline is valid? [True, True] Translation: X:119.38, Y:210.33, Z:-38.54 [[ 4.30813083e-01 -6.48915499e-02 9.00105091e-01 1.19378716e+02] [ 7.12119189e-03 9.97624761e-01 6.85136825e-02 2.10326315e+02] [-9.02413085e-01 -2.31067697e-02 4.30251904e-01 -3.85383419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.030714057 meters Centerline goodness : 0.993872 Centerline is valid? [True, True] Translation: X:119.39, Y:210.32, Z:-38.57 [[ 4.30662072e-01 -6.67129569e-02 9.00044200e-01 1.19394338e+02] [ 2.39633108e-03 9.97345252e-01 7.27784724e-02 2.10323489e+02] [-9.02510076e-01 -2.91861238e-02 4.29678639e-01 -3.85667496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.0607140569999 meters Centerline goodness : 0.993838 Centerline is valid? [True, True] Translation: X:119.41, Y:210.32, Z:-38.60 [[ 4.29652802e-01 -6.47149277e-02 9.00672220e-01 1.19407744e+02] [-1.23933792e-03 9.97385410e-01 7.22551538e-02 2.10322190e+02] [-9.02993319e-01 -3.21608666e-02 4.28449233e-01 -3.85957835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.0907140569999 meters Centerline goodness : 0.992133 Centerline is valid? [True, True] Translation: X:119.35, Y:210.37, Z:-38.63 [[ 4.08085719e-01 4.78223703e-03 9.12931091e-01 1.19354029e+02] [ 1.26481469e-02 9.99860691e-01 -1.08914014e-02 2.10372588e+02] [-9.12855997e-01 1.59915119e-02 4.07968382e-01 -3.86251820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.120714057 meters Centerline goodness : 0.993620 Centerline is valid? [True, True] Translation: X:119.56, Y:210.24, Z:-38.60 [[ 4.41157540e-01 -2.97905692e-01 8.46541330e-01 1.19557317e+02] [-1.94889824e-03 9.42975200e-01 3.32857287e-01 2.10238595e+02] [-8.97427561e-01 -1.48492325e-01 4.15420032e-01 -3.86038086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.150714057 meters Centerline goodness : 0.993706 Centerline is valid? [True, True] Translation: X:119.45, Y:210.32, Z:-38.69 [[ 4.32862503e-01 -5.78255989e-02 8.99603387e-01 1.19452280e+02] [-6.59181005e-03 9.97710765e-01 6.73036260e-02 2.10317140e+02] [-9.01435856e-01 -3.50632307e-02 4.31490404e-01 -3.86866383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.1807140569999 meters Centerline goodness : 0.990596 Centerline is valid? [True, True] Translation: X:119.41, Y:210.35, Z:-38.72 [[ 4.12218852e-01 -1.41714039e-02 9.10974637e-01 1.19413424e+02] [ 1.09664039e-02 9.99883765e-01 1.05921700e-02 2.10352896e+02] [-9.11018856e-01 5.62382368e-03 4.12326348e-01 -3.87184858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.2107140569999 meters Centerline goodness : 0.992794 Centerline is valid? [True, True] Translation: X:119.46, Y:210.31, Z:-38.72 [[ 4.16632277e-01 -1.17408830e-01 9.01461432e-01 1.19463747e+02] [ 6.73685451e-03 9.91996344e-01 1.26086746e-01 2.10308244e+02] [-9.09050142e-01 -4.64587936e-02 4.14088662e-01 -3.87226609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.240714057 meters Centerline goodness : 0.993770 Centerline is valid? [True, True] Translation: X:119.62, Y:210.23, Z:-38.72 [[ 4.49018640e-01 -2.98202554e-01 8.42293000e-01 1.19619537e+02] [-4.04850666e-03 9.41977141e-01 3.35652611e-01 2.10226954e+02] [-8.93513218e-01 -1.54124308e-01 4.21758020e-01 -3.87182902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.270714057 meters Centerline goodness : 0.991983 Centerline is valid? [True, True] Translation: X:119.43, Y:210.37, Z:-38.81 [[ 4.16397826e-01 3.27175346e-02 9.08593646e-01 1.19426698e+02] [ 1.08854384e-02 9.99101272e-01 -4.09652913e-02 2.10366686e+02] [-9.09117351e-01 2.69482984e-02 4.15667453e-01 -3.88088290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.3007140569999 meters Centerline goodness : 0.991983 Centerline is valid? [True, True] Translation: X:119.56, Y:210.26, Z:-38.79 [[ 4.22920103e-01 -2.18937280e-01 8.79320791e-01 1.19559580e+02] [ 4.47548444e-03 9.70866739e-01 2.39578266e-01 2.10260771e+02] [-9.06155923e-01 -9.73870787e-02 4.11578912e-01 -3.87929356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.3307140569999 meters Centerline goodness : 0.992208 Centerline is valid? [True, True] Translation: X:119.56, Y:210.27, Z:-38.83 [[ 4.21835473e-01 -1.99845383e-01 8.84373596e-01 1.19561443e+02] [ 4.94558849e-03 9.75898550e-01 2.18168651e-01 2.10266416e+02] [-9.06658908e-01 -8.76575284e-02 4.12656980e-01 -3.88250999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.360714057 meters Centerline goodness : 0.994393 Centerline is valid? [True, True] Translation: X:119.69, Y:210.22, Z:-38.83 [[ 4.53868552e-01 -3.00364408e-01 8.38918685e-01 1.19685266e+02] [-3.69828011e-03 9.40831724e-01 3.38853935e-01 2.10215514e+02] [-8.91060974e-01 -1.56897701e-01 4.25903101e-01 -3.88317984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.390714057 meters Centerline goodness : 0.993102 Centerline is valid? [True, True] Translation: X:119.56, Y:210.30, Z:-38.93 [[ 4.46466351e-01 -3.75318401e-02 8.94012952e-01 1.19563515e+02] [-7.46089950e-03 9.98929071e-01 4.56622990e-02 2.10301358e+02] [-8.94769318e-01 -2.70568208e-02 4.45708196e-01 -3.89253161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.4207140569999 meters Centerline goodness : 0.992902 Centerline is valid? [True, True] Translation: X:119.58, Y:210.30, Z:-38.95 [[ 4.47623446e-01 -3.87500161e-02 8.93382162e-01 1.19577956e+02] [-3.42821284e-03 9.98978945e-01 4.50479094e-02 2.10296453e+02] [-8.94215577e-01 -2.32272047e-02 4.47033555e-01 -3.89540849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.4507140569999 meters Centerline goodness : 0.993541 Centerline is valid? [True, True] Translation: X:119.53, Y:210.34, Z:-38.98 [[ 4.28864240e-01 2.08546314e-02 9.03128201e-01 1.19530083e+02] [ 1.40315227e-02 9.99459114e-01 -2.97421448e-02 2.10340649e+02] [-9.03259974e-01 2.54276062e-02 4.28339652e-01 -3.89846866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.4807140569999 meters Centerline goodness : 0.993857 Centerline is valid? [True, True] Translation: X:119.72, Y:210.21, Z:-38.96 [[ 4.53015522e-01 -2.52277286e-01 8.55063219e-01 1.19721448e+02] [ 3.32821382e-03 9.59597752e-01 2.81355786e-01 2.10214106e+02] [-8.91496416e-01 -1.24612705e-01 4.35552309e-01 -3.89599200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.510714057 meters Centerline goodness : 0.994555 Centerline is valid? [True, True] Translation: X:119.62, Y:210.29, Z:-39.04 [[ 4.48267330e-01 -3.61838434e-02 8.93166911e-01 1.19623703e+02] [ 4.05564638e-04 9.99188533e-01 4.02754286e-02 2.10286848e+02] [-8.93899455e-01 -1.76919219e-02 4.47918251e-01 -3.90419974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.540714057 meters Centerline goodness : 0.992504 Centerline is valid? [True, True] Translation: X:119.59, Y:210.32, Z:-39.07 [[ 4.33519948e-01 6.11981582e-03 9.01123190e-01 1.19591912e+02] [ 1.20114692e-02 9.99848863e-01 -1.25688724e-02 2.10317306e+02] [-9.01063915e-01 1.62726703e-02 4.33380919e-01 -3.90710729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.5707140569999 meters Centerline goodness : 0.988017 Centerline is valid? [True, True] Translation: X:119.72, Y:210.24, Z:-39.06 [[ 4.41356125e-01 -1.95448520e-01 8.75788015e-01 1.19719577e+02] [ 9.73602075e-03 9.76976614e-01 2.13124155e-01 2.10237171e+02] [-8.97279210e-01 -8.55369611e-02 4.33097504e-01 -3.90590468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.6007140569999 meters Centerline goodness : 0.991993 Centerline is valid? [True, True] Translation: X:119.62, Y:210.31, Z:-39.12 [[ 4.31878032e-01 -3.48561058e-03 9.01925283e-01 1.19621052e+02] [ 8.44876538e-03 9.99964292e-01 -1.81112621e-04 2.10307544e+02] [-9.01892446e-01 7.69837367e-03 4.31892060e-01 -3.91214532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.630714057 meters Centerline goodness : 0.993320 Centerline is valid? [True, True] Translation: X:119.80, Y:210.20, Z:-39.10 [[ 4.58026388e-01 -2.38290847e-01 8.56404869e-01 1.19800737e+02] [-7.45862995e-03 9.62337511e-01 2.71755192e-01 2.10199814e+02] [-8.88907305e-01 -1.30858656e-01 4.38998651e-01 -3.91009034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.660714057 meters Centerline goodness : 0.992727 Centerline is valid? [True, True] Translation: X:119.70, Y:210.27, Z:-39.19 [[ 4.55113687e-01 -1.48568612e-02 8.90309388e-01 1.19698460e+02] [-1.24218176e-02 9.99657567e-01 2.30314464e-02 2.10274700e+02] [-8.90346691e-01 -2.15411873e-02 4.54773292e-01 -3.91878737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.6907140569999 meters Centerline goodness : 0.991491 Centerline is valid? [True, True] Translation: X:119.66, Y:210.31, Z:-39.22 [[ 4.41665346e-01 3.52460103e-02 8.96487279e-01 1.19658754e+02] [ 2.08301700e-04 9.99223978e-01 -3.93877962e-02 2.10314082e+02] [-8.97179848e-01 1.75829645e-02 4.41315262e-01 -3.92182061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.7207140569999 meters Centerline goodness : 0.990127 Centerline is valid? [True, True] Translation: X:119.72, Y:210.26, Z:-39.22 [[ 4.32400079e-01 -1.04002404e-01 8.95663816e-01 1.19720965e+02] [ 6.09066526e-03 9.93639988e-01 1.12438776e-01 2.10257939e+02] [-9.01661287e-01 -4.31633472e-02 4.30283453e-01 -3.92184894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.750714057 meters Centerline goodness : 0.990922 Centerline is valid? [True, True] Translation: X:119.81, Y:210.21, Z:-39.22 [[ 4.51993461e-01 -2.02890802e-01 8.68641027e-01 1.19811802e+02] [-1.07940736e-03 9.73664496e-01 2.27983078e-01 2.10209502e+02] [-8.92020597e-01 -1.03984478e-01 4.39870984e-01 -3.92195175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.780714057 meters Centerline goodness : 0.991548 Centerline is valid? [True, True] Translation: X:119.83, Y:210.21, Z:-39.26 [[ 4.67405972e-01 -1.54292223e-01 8.70474334e-01 1.19830766e+02] [-9.08711366e-03 9.83761262e-01 1.79251791e-01 2.10210354e+02] [-8.83996087e-01 -9.16934568e-02 4.58413818e-01 -3.92628505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.8107140569999 meters Centerline goodness : 0.990878 Centerline is valid? [True, True] Translation: X:119.72, Y:210.30, Z:-39.33 [[ 4.51546301e-01 3.71744271e-02 8.91472939e-01 1.19719587e+02] [ 2.81515702e-03 9.99067356e-01 -4.30870402e-02 2.10301334e+02] [-8.92243248e-01 2.19654299e-02 4.51020517e-01 -3.93328273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.8407140569999 meters Centerline goodness : 0.987416 Centerline is valid? [True, True] Translation: X:119.85, Y:210.21, Z:-39.32 [[ 4.57094406e-01 -1.65776559e-01 8.73832270e-01 1.19848588e+02] [ 9.04406741e-03 9.83291813e-01 1.81811482e-01 2.10214030e+02] [-8.89372200e-01 -7.52020135e-02 4.50956481e-01 -3.93172637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.870714057 meters Centerline goodness : 0.988043 Centerline is valid? [True, True] Translation: X:119.79, Y:210.26, Z:-39.37 [[ 4.54429210e-01 -4.24800171e-02 8.89769375e-01 1.19794400e+02] [ 1.02192049e-02 9.99045141e-01 4.24779168e-02 2.10256932e+02] [-8.90724234e-01 -1.02104707e-02 4.54429407e-01 -3.93743349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.900714057 meters Centerline goodness : 0.987507 Centerline is valid? [True, True] Translation: X:119.81, Y:210.26, Z:-39.40 [[ 4.52611677e-01 -3.91145286e-02 8.90849440e-01 1.19805093e+02] [ 1.76579628e-02 9.99234732e-01 3.49019643e-02 2.10256705e+02] [-8.91532875e-01 -6.64503637e-05 4.52955990e-01 -3.93997652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.9307140569999 meters Centerline goodness : 0.990816 Centerline is valid? [True, True] Translation: X:119.78, Y:210.28, Z:-39.43 [[ 4.46774073e-01 8.20570728e-03 8.94609185e-01 1.19778300e+02] [ 2.66941901e-02 9.99390443e-01 -2.24980671e-02 2.10278835e+02] [-8.94248482e-01 3.39324208e-02 4.46282694e-01 -3.94251345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.9607140569999 meters Centerline goodness : 0.987088 Centerline is valid? [True, True] Translation: X:119.93, Y:210.19, Z:-39.41 [[ 4.51776705e-01 -2.11898613e-01 8.66600708e-01 1.19931122e+02] [ 2.34718801e-02 9.73869692e-01 2.25891332e-01 2.10190539e+02] [-8.91822224e-01 -8.17116936e-02 4.44945300e-01 -3.94067198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.990714057 meters Centerline goodness : 0.987300 Centerline is valid? [True, True] Translation: X:119.85, Y:210.25, Z:-39.48 [[ 4.52294843e-01 -4.07234952e-02 8.90938254e-01 1.19848604e+02] [ 2.40189865e-02 9.99150855e-01 3.34762271e-02 2.10251219e+02] [-8.91544987e-01 6.25830903e-03 4.52888916e-01 -3.94783304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.020714057 meters Centerline goodness : 0.991578 Centerline is valid? [True, True] Translation: X:119.86, Y:210.25, Z:-39.50 [[ 4.52802471e-01 -4.27248159e-02 8.90586611e-01 1.19860901e+02] [ 2.70654430e-02 9.99049578e-01 3.41672662e-02 2.10254180e+02] [-8.91199969e-01 8.63309861e-03 4.53528484e-01 -3.95023344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.0507140569999 meters Centerline goodness : 0.990846 Centerline is valid? [True, True] Translation: X:119.87, Y:210.25, Z:-39.53 [[ 4.53197226e-01 -4.27269929e-02 8.90385691e-01 1.19872637e+02] [ 2.64820547e-02 9.99055068e-01 3.44626216e-02 2.10254776e+02] [-8.91016821e-01 7.96087806e-03 4.53900484e-01 -3.95276512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.0807140569999 meters Centerline goodness : 0.991480 Centerline is valid? [True, True] Translation: X:119.89, Y:210.26, Z:-39.56 [[ 4.55395805e-01 -4.17627832e-02 8.89309019e-01 1.19886246e+02] [ 2.33488935e-02 9.99115820e-01 3.49629527e-02 2.10255158e+02] [-8.89982859e-01 4.84239957e-03 4.55968268e-01 -3.95573051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.110714057 meters Centerline goodness : 0.991531 Centerline is valid? [True, True] Translation: X:119.90, Y:210.26, Z:-39.59 [[ 4.56446020e-01 -4.09441848e-02 8.88808531e-01 1.19900335e+02] [ 2.19840817e-02 9.99154644e-01 3.47375444e-02 2.10256063e+02] [-8.89479472e-01 3.68382545e-03 4.56960281e-01 -3.95854533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.140714057 meters Centerline goodness : 0.991357 Centerline is valid? [True, True] Translation: X:119.91, Y:210.26, Z:-39.61 [[ 4.58485607e-01 -3.87889503e-02 8.87854924e-01 1.19913471e+02] [ 1.80056334e-02 9.99247398e-01 3.43574531e-02 2.10256399e+02] [-8.88519412e-01 2.33992508e-04 4.58838969e-01 -3.96139903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.1707140569999 meters Centerline goodness : 0.991375 Centerline is valid? [True, True] Translation: X:119.93, Y:210.26, Z:-39.64 [[ 4.59254837e-01 -3.80142589e-02 8.87490795e-01 1.19925495e+02] [ 1.64823683e-02 9.99276578e-01 3.42732019e-02 2.10257158e+02] [-8.88151635e-01 -1.11218358e-03 4.59549167e-01 -3.96385530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.2007140569999 meters Centerline goodness : 0.987794 Centerline is valid? [True, True] Translation: X:119.94, Y:210.26, Z:-39.66 [[ 4.58361398e-01 -3.63242412e-02 8.88023298e-01 1.19935243e+02] [ 1.23316202e-02 9.99328199e-01 3.45120448e-02 2.10255992e+02] [-8.88680348e-01 -4.86822306e-03 4.58501407e-01 -3.96643607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.2307140569999 meters Centerline goodness : 0.987852 Centerline is valid? [True, True] Translation: X:119.95, Y:210.25, Z:-39.69 [[ 4.60229447e-01 -4.46187229e-02 8.86678085e-01 1.19952536e+02] [ 1.01228740e-02 9.98935095e-01 4.50133642e-02 2.10253309e+02] [-8.87742296e-01 -1.17407452e-02 4.60191016e-01 -3.96870296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.260714057 meters Centerline goodness : 0.991249 Centerline is valid? [True, True] Translation: X:119.92, Y:210.28, Z:-39.71 [[ 4.54874247e-01 6.94579102e-03 8.90528593e-01 1.19924843e+02] [ 1.06509061e-02 9.99855635e-01 -1.32388912e-02 2.10278571e+02] [-8.90491986e-01 1.55069671e-02 4.54734600e-01 -3.97148089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.290714057 meters Centerline goodness : 0.987096 Centerline is valid? [True, True] Translation: X:120.06, Y:210.20, Z:-39.70 [[ 4.60613676e-01 -1.86990427e-01 8.67680599e-01 1.20058280e+02] [ 9.38085554e-03 9.78528306e-01 2.05898894e-01 2.10201729e+02] [-8.87551149e-01 -8.67002599e-02 4.52477650e-01 -3.97016372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.3207140569999 meters Centerline goodness : 0.991669 Centerline is valid? [True, True] Translation: X:120.00, Y:210.25, Z:-39.76 [[ 4.60202190e-01 -4.97395581e-02 8.86419720e-01 1.19998182e+02] [ 8.11210122e-03 9.98623282e-01 5.18240659e-02 2.10251636e+02] [-8.87777077e-01 -1.66588221e-02 4.59972114e-01 -3.97644418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.3507140569999 meters Centerline goodness : 0.990167 Centerline is valid? [True, True] Translation: X:119.94, Y:210.30, Z:-39.80 [[ 4.43161788e-01 1.67436963e-02 8.96285266e-01 1.19941729e+02] [ 2.10601120e-02 9.99355141e-01 -2.90821872e-02 2.10301233e+02] [-8.96194232e-01 3.17639822e-02 4.42523387e-01 -3.97966839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.380714057 meters Centerline goodness : 0.987898 Centerline is valid? [True, True] Translation: X:120.10, Y:210.21, Z:-39.78 [[ 4.51494573e-01 -2.15183622e-01 8.65938023e-01 1.20097495e+02] [ 1.83507414e-02 9.72518644e-01 2.32100704e-01 2.10211729e+02] [-8.92085142e-01 -8.89016034e-02 4.43035669e-01 -3.97761665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.410714057 meters Centerline goodness : 0.991504 Centerline is valid? [True, True] Translation: X:120.02, Y:210.27, Z:-39.84 [[ 4.47471344e-01 -6.39438280e-02 8.92009295e-01 1.20019423e+02] [ 1.45508278e-02 9.97829021e-01 6.42301926e-02 2.10266966e+02] [-8.94179887e-01 -1.57616970e-02 4.47430329e-01 -3.98352371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.4407140569999 meters Centerline goodness : 0.991198 Centerline is valid? [True, True] Translation: X:120.05, Y:210.25, Z:-39.85 [[ 4.44317550e-01 -1.01714516e-01 8.90076442e-01 1.20045981e+02] [ 1.45023355e-02 9.94220186e-01 1.06376238e-01 2.10254649e+02] [-8.95751973e-01 -3.43566421e-02 4.43224575e-01 -3.98521683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.4707140569999 meters Centerline goodness : 0.990812 Centerline is valid? [True, True] Translation: X:120.10, Y:210.23, Z:-39.87 [[ 4.50248040e-01 -1.55959404e-01 8.79177665e-01 1.20098363e+02] [ 1.03070807e-02 9.85470034e-01 1.69536354e-01 2.10232882e+02] [-8.92844033e-01 -6.72716560e-02 4.45313437e-01 -3.98673878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.500714057 meters Centerline goodness : 0.990840 Centerline is valid? [True, True] Translation: X:120.08, Y:210.25, Z:-39.91 [[ 4.49458523e-01 -1.03208739e-01 8.87318991e-01 1.20079960e+02] [ 8.36392576e-03 9.93745922e-01 1.11351190e-01 2.10254279e+02] [-8.93262045e-01 -4.26262714e-02 4.47510804e-01 -3.99092868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.530714057 meters Centerline goodness : 0.991639 Centerline is valid? [True, True] Translation: X:120.10, Y:210.25, Z:-39.93 [[ 4.50572566e-01 -1.06289450e-01 8.86389822e-01 1.20095220e+02] [ 6.07279085e-03 9.93229026e-01 1.16013893e-01 2.10254161e+02] [-8.92719152e-01 -4.68898176e-02 4.48167224e-01 -3.99349305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.5607140569999 meters Centerline goodness : 0.991145 Centerline is valid? [True, True] Translation: X:120.14, Y:210.24, Z:-39.96 [[ 4.53319543e-01 -1.37481131e-01 8.80681742e-01 1.20136042e+02] [ 5.37779923e-03 9.88437348e-01 1.51534449e-01 2.10241614e+02] [-8.91331853e-01 -6.39573975e-02 4.48817312e-01 -3.99609012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.5907140569999 meters Centerline goodness : 0.992484 Centerline is valid? [True, True] Translation: X:120.10, Y:210.27, Z:-40.00 [[ 4.53696386e-01 -5.43411725e-02 8.89497963e-01 1.20103988e+02] [ 3.90233801e-04 9.98151113e-01 6.07799640e-02 2.10273384e+02] [-8.91156236e-01 -2.72285379e-02 4.52878759e-01 -4.00044205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.620714057 meters Centerline goodness : 0.993305 Centerline is valid? [True, True] Translation: X:120.14, Y:210.26, Z:-40.02 [[ 4.54411005e-01 -9.18889963e-02 8.86040096e-01 1.20139367e+02] [-7.65568902e-04 9.94624719e-01 1.03542662e-01 2.10258242e+02] [-8.90791812e-01 -4.77292497e-02 4.51898070e-01 -4.00235127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.650714057 meters Centerline goodness : 0.992471 Centerline is valid? [True, True] Translation: X:120.14, Y:210.27, Z:-40.06 [[ 4.50702146e-01 -7.34530351e-02 8.89647249e-01 1.20137616e+02] [ 2.39650933e-04 9.96618822e-01 8.21636510e-02 2.10267777e+02] [-8.92674363e-01 -3.68181291e-02 4.49195845e-01 -4.00556094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.6807140569999 meters Centerline goodness : 0.992478 Centerline is valid? [True, True] Translation: X:120.17, Y:210.26, Z:-40.08 [[ 4.53707008e-01 -1.03026587e-01 8.85175391e-01 1.20172318e+02] [-3.01668909e-03 9.93111347e-01 1.17135617e-01 2.10255074e+02] [-8.91145808e-01 -5.58155495e-02 4.50270778e-01 -4.00753349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.7107140569999 meters Centerline goodness : 0.991981 Centerline is valid? [True, True] Translation: X:120.18, Y:210.26, Z:-40.11 [[ 4.52915288e-01 -8.27188926e-02 8.87707906e-01 1.20175022e+02] [-3.49032851e-03 9.95514435e-01 9.45453726e-02 2.10262519e+02] [-8.91546723e-01 -4.59194369e-02 4.50594991e-01 -4.01096422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.740714057 meters Centerline goodness : 0.993152 Centerline is valid? [True, True] Translation: X:120.18, Y:210.27, Z:-40.14 [[ 4.50825249e-01 -7.34066351e-02 8.89588703e-01 1.20178479e+02] [-1.86639435e-03 9.96533020e-01 8.31772629e-02 2.10268004e+02] [-8.92610280e-01 -3.91587336e-02 4.49125241e-01 -4.01377441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.770714057 meters Centerline goodness : 0.991681 Centerline is valid? [True, True] Translation: X:120.22, Y:210.25, Z:-40.16 [[ 4.56159511e-01 -1.15760113e-01 8.82336725e-01 1.20223935e+02] [-1.99172971e-03 9.91367889e-01 1.31094402e-01 2.10248822e+02] [-8.89895799e-01 -6.15573346e-02 4.51991328e-01 -4.01608810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.8007140569999 meters Centerline goodness : 0.992940 Centerline is valid? [True, True] Translation: X:120.20, Y:210.27, Z:-40.20 [[ 4.55348142e-01 -5.45570980e-02 8.88640305e-01 1.20202590e+02] [-4.57190801e-03 9.97964258e-01 6.36116135e-02 2.10272726e+02] [-8.90301728e-01 -3.30282118e-02 4.54171741e-01 -4.01995247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.8307140569999 meters Centerline goodness : 0.993459 Centerline is valid? [True, True] Translation: X:120.21, Y:210.27, Z:-40.22 [[ 4.51588488e-01 -6.64353489e-02 8.89749505e-01 1.20214342e+02] [-8.04002169e-04 9.97193281e-01 7.48659722e-02 2.10270204e+02] [-8.92225975e-01 -3.45239717e-02 4.50267592e-01 -4.02245868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.860714057 meters Centerline goodness : 0.991123 Centerline is valid? [True, True] Translation: X:120.27, Y:210.25, Z:-40.25 [[ 4.57168245e-01 -1.19217591e-01 8.81353710e-01 1.20267322e+02] [-4.09502805e-03 9.90682486e-01 1.36130245e-01 2.10245150e+02] [-8.89370804e-01 -6.58435935e-02 4.52420374e-01 -4.02462279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.890714057 meters Centerline goodness : 0.992659 Centerline is valid? [True, True] Translation: X:120.19, Y:210.31, Z:-40.30 [[ 4.47441672e-01 1.81586601e-02 8.94128745e-01 1.20190831e+02] [ 2.02902085e-03 9.99770655e-01 -2.13194846e-02 2.10306311e+02] [-8.94310815e-01 1.13534317e-02 4.47302210e-01 -4.02950594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.9207140569999 meters Centerline goodness : 0.993399 Centerline is valid? [True, True] Translation: X:120.38, Y:210.19, Z:-40.27 [[ 4.69650733e-01 -2.19257068e-01 8.55192684e-01 1.20377972e+02] [-9.89521645e-03 9.67302009e-01 2.53434229e-01 2.10192090e+02] [-8.82796847e-01 -1.27487888e-01 4.52124502e-01 -4.02701384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.9507140569999 meters Centerline goodness : 0.993031 Centerline is valid? [True, True] Translation: X:120.27, Y:210.27, Z:-40.36 [[ 4.65400286e-01 4.67705611e-04 8.85100195e-01 1.20271688e+02] [-1.12190475e-02 9.99922641e-01 5.37078006e-03 2.10270839e+02] [-8.85029213e-01 -1.24295437e-02 4.65369530e-01 -4.03598887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.9807140569999 meters Centerline goodness : 0.992851 Centerline is valid? [True, True] Translation: X:120.29, Y:210.27, Z:-40.39 [[ 4.64098179e-01 -2.07336722e-03 8.85781339e-01 1.20286727e+02] [-4.80702995e-03 9.99976640e-01 4.85927220e-03 2.10270740e+02] [-8.85770722e-01 -6.51315681e-03 4.64077371e-01 -4.03888452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.010714057 meters Centerline goodness : 0.992586 Centerline is valid? [True, True] Translation: X:120.30, Y:210.27, Z:-40.42 [[ 4.63045785e-01 -2.89577636e-03 8.86329632e-01 1.20300926e+02] [-2.01081100e-03 9.99988657e-01 4.31762737e-03 2.10270360e+02] [-8.86332081e-01 -3.78150053e-03 4.63034710e-01 -4.04169236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.040714057 meters Centerline goodness : 0.992681 Centerline is valid? [True, True] Translation: X:120.32, Y:210.27, Z:-40.45 [[ 4.60358261e-01 -5.29850783e-03 8.87717409e-01 1.20316422e+02] [ 4.14299108e-03 9.99984121e-01 3.82009353e-03 2.10269617e+02] [-8.87723554e-01 1.91919369e-03 4.60372902e-01 -4.04457110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.0707140569999 meters Centerline goodness : 0.992419 Centerline is valid? [True, True] Translation: X:120.33, Y:210.27, Z:-40.47 [[ 4.59493757e-01 -6.04961809e-03 8.88160396e-01 1.20331295e+02] [ 6.81240858e-03 9.99971394e-01 3.28677774e-03 2.10269647e+02] [-8.88154873e-01 4.54025765e-03 4.59521825e-01 -4.04736905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.1007140569999 meters Centerline goodness : 0.992415 Centerline is valid? [True, True] Translation: X:120.35, Y:210.27, Z:-40.50 [[ 4.58565688e-01 -6.71519169e-03 8.88635142e-01 1.20346339e+02] [ 9.23661706e-03 9.99953449e-01 2.78999031e-03 2.10269767e+02] [-8.88612511e-01 6.92858868e-03 4.58606367e-01 -4.05028965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.130714057 meters Centerline goodness : 0.988566 Centerline is valid? [True, True] Translation: X:120.36, Y:210.27, Z:-40.53 [[ 4.57108052e-01 -1.34705818e-02 8.89309155e-01 1.20360045e+02] [ 1.25996970e-02 9.99883040e-01 8.66918251e-03 2.10268287e+02] [-8.89321920e-01 7.24227276e-03 4.57224314e-01 -4.05258778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.160714057 meters Centerline goodness : 0.992986 Centerline is valid? [True, True] Translation: X:120.37, Y:210.27, Z:-40.55 [[ 4.58154883e-01 -1.41072930e-02 8.88760422e-01 1.20372566e+02] [ 1.70617610e-02 9.99829406e-01 7.07497444e-03 2.10270911e+02] [-8.88708613e-01 1.19223838e-02 4.58317420e-01 -4.05525804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.1907140569999 meters Centerline goodness : 0.992534 Centerline is valid? [True, True] Translation: X:120.38, Y:210.27, Z:-40.58 [[ 4.58359149e-01 -1.19624187e-02 8.88686554e-01 1.20384149e+02] [ 1.99563414e-02 9.99795842e-01 3.16512594e-03 2.10274160e+02] [-8.88542985e-01 1.62841678e-02 4.58504297e-01 -4.05831902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.2207140569999 meters Centerline goodness : 0.992534 Centerline is valid? [True, True] Translation: X:120.40, Y:210.27, Z:-40.61 [[ 4.58369436e-01 -1.14287373e-02 8.88688272e-01 1.20399140e+02] [ 1.98338029e-02 9.99799838e-01 2.62773883e-03 2.10274325e+02] [-8.88540421e-01 1.64215928e-02 4.58504363e-01 -4.06130910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.250714057 meters Centerline goodness : 0.992192 Centerline is valid? [True, True] Translation: X:120.41, Y:210.27, Z:-40.64 [[ 4.59771120e-01 -1.14596486e-02 8.87963510e-01 1.20414365e+02] [ 2.03011565e-02 9.99791051e-01 2.39127925e-03 2.10274838e+02] [-8.87805373e-01 1.69272450e-02 4.59907695e-01 -4.06420706e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.280714057 meters Centerline goodness : 0.992347 Centerline is valid? [True, True] Translation: X:120.43, Y:210.28, Z:-40.67 [[ 4.60934664e-01 -1.10178562e-02 8.87365676e-01 1.20428052e+02] [ 2.03345329e-02 9.99791518e-01 1.85117379e-03 2.10275535e+02] [-8.87201072e-01 1.71908964e-02 4.61062610e-01 -4.06709421e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.3107140569999 meters Centerline goodness : 0.992366 Centerline is valid? [True, True] Translation: X:120.44, Y:210.28, Z:-40.70 [[ 4.62763788e-01 -1.11820510e-02 8.86411100e-01 1.20440821e+02] [ 2.15794580e-02 9.99766230e-01 1.34615336e-03 2.10278526e+02] [-8.86218936e-01 1.85053201e-02 4.62896911e-01 -4.07004913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.3407140569999 meters Centerline goodness : 0.992215 Centerline is valid? [True, True] Translation: X:120.46, Y:210.28, Z:-40.73 [[ 4.63322979e-01 -1.13544171e-02 8.86116750e-01 1.20455318e+02] [ 2.22368066e-02 9.99752031e-01 1.18356649e-03 2.10280203e+02] [-8.85910459e-01 1.91560333e-02 4.63460575e-01 -4.07296658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.370714057 meters Centerline goodness : 0.991868 Centerline is valid? [True, True] Translation: X:120.47, Y:210.28, Z:-40.76 [[ 4.61880755e-01 -1.15742016e-02 8.86866510e-01 1.20470620e+02] [ 2.30291979e-02 9.99734238e-01 1.05357712e-03 2.10282797e+02] [-8.86643009e-01 1.99371974e-02 4.62024549e-01 -4.07586949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.400714057 meters Centerline goodness : 0.993433 Centerline is valid? [True, True] Translation: X:120.49, Y:210.28, Z:-40.79 [[ 4.60229166e-01 -1.09327805e-02 8.87732836e-01 1.20486144e+02] [ 2.27522912e-02 9.99741000e-01 5.16688003e-04 2.10284343e+02] [-8.87508562e-01 1.99601611e-02 4.60358712e-01 -4.07878931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.4307140569999 meters Centerline goodness : 0.993439 Centerline is valid? [True, True] Translation: X:120.50, Y:210.29, Z:-40.82 [[ 4.58618449e-01 -1.02141985e-02 8.88574582e-01 1.20500881e+02] [ 2.23132097e-02 9.99751029e-01 -2.43020231e-05 2.10286201e+02] [-8.88353105e-01 1.98380963e-02 4.58732178e-01 -4.08159504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.4607140569999 meters Centerline goodness : 0.993077 Centerline is valid? [True, True] Translation: X:120.52, Y:210.29, Z:-40.85 [[ 4.56901233e-01 -8.93791081e-03 8.89472527e-01 1.20515904e+02] [ 2.05847944e-02 9.99787972e-01 -5.27506152e-04 2.10290051e+02] [-8.89279219e-01 1.85506273e-02 4.56988342e-01 -4.08451648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.490714057 meters Centerline goodness : 0.992057 Centerline is valid? [True, True] Translation: X:120.49, Y:210.33, Z:-40.87 [[ 4.46052954e-01 1.96864112e-02 8.94790036e-01 1.20491320e+02] [ 3.06687246e-02 9.98834737e-01 -3.72638778e-02 2.10326577e+02] [-8.94480962e-01 4.40637320e-02 4.44929428e-01 -4.08709679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.520714057 meters Centerline goodness : 0.993956 Centerline is valid? [True, True] Translation: X:120.61, Y:210.25, Z:-40.87 [[ 4.55048041e-01 -1.29191048e-01 8.81045375e-01 1.20605516e+02] [ 1.42902761e-02 9.90351649e-01 1.37838309e-01 2.10247699e+02] [-8.90352216e-01 -5.01326710e-02 4.52503754e-01 -4.08701461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.5507140569999 meters Centerline goodness : 0.992449 Centerline is valid? [True, True] Translation: X:120.49, Y:210.36, Z:-40.93 [[ 4.41087149e-01 6.08926866e-02 8.95396118e-01 1.20488299e+02] [ 3.33772436e-02 9.95892311e-01 -8.41692633e-02 2.10356501e+02] [-8.96843402e-01 6.70118347e-02 4.37242870e-01 -4.09302398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.5807140569999 meters Centerline goodness : 0.993043 Centerline is valid? [True, True] Translation: X:120.70, Y:210.21, Z:-40.90 [[ 4.57621205e-01 -2.37892695e-01 8.56732104e-01 1.20697502e+02] [ 7.02674646e-03 9.64481064e-01 2.64058520e-01 2.10214640e+02] [-8.89119484e-01 -1.14818739e-01 4.43038599e-01 -4.08968832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.610714057 meters Centerline goodness : 0.992632 Centerline is valid? [True, True] Translation: X:120.59, Y:210.31, Z:-40.99 [[ 4.61249551e-01 5.96417674e-03 8.87250405e-01 1.20586914e+02] [ 5.47385964e-03 9.99939250e-01 -9.56734387e-03 2.10305702e+02] [-8.87253565e-01 9.26961725e-03 4.61188883e-01 -4.09903522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.640714057 meters Centerline goodness : 0.993148 Centerline is valid? [True, True] Translation: X:120.60, Y:210.31, Z:-41.02 [[ 4.61791992e-01 6.99864326e-03 8.86960639e-01 1.20601745e+02] [ 4.18821288e-03 9.99940518e-01 -1.00706951e-02 2.10307873e+02] [-8.86978363e-01 8.36534631e-03 4.61735212e-01 -4.10201682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.6707140569999 meters Centerline goodness : 0.983548 Centerline is valid? [True, True] Translation: X:120.61, Y:210.31, Z:-41.05 [[ 4.59447111e-01 7.88967760e-03 8.88170088e-01 1.20611334e+02] [ 2.42205977e-03 9.99945701e-01 -1.01355108e-02 2.10311599e+02] [-8.88201827e-01 6.80793222e-03 4.59403054e-01 -4.10503430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.7007140569999 meters Centerline goodness : 0.990775 Centerline is valid? [True, True] Translation: X:120.59, Y:210.34, Z:-41.07 [[ 4.61582134e-01 7.31379620e-02 8.84077356e-01 1.20591985e+02] [-1.02004060e-03 9.96638603e-01 -8.19173608e-02 2.10337248e+02] [-8.87096891e-01 3.69097954e-02 4.60105177e-01 -4.10727365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.7307140569999 meters Centerline goodness : 0.992611 Centerline is valid? [True, True] Translation: X:120.75, Y:210.22, Z:-41.05 [[ 4.78740651e-01 -1.45993733e-01 8.65732765e-01 1.20751532e+02] [-2.06809171e-02 9.83928346e-01 1.77362084e-01 2.10215269e+02] [-8.77712760e-01 -1.02814587e-01 4.68027212e-01 -4.10546275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.760714057 meters Centerline goodness : 0.993125 Centerline is valid? [True, True] Translation: X:120.67, Y:210.30, Z:-41.14 [[ 4.80857860e-01 5.94044142e-02 8.74783879e-01 1.20671330e+02] [-2.05486245e-02 9.98191715e-01 -5.64894114e-02 2.10303352e+02] [-8.76557741e-01 9.18777199e-03 4.81209011e-01 -4.11382802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.790714057 meters Centerline goodness : 0.992906 Centerline is valid? [True, True] Translation: X:120.69, Y:210.30, Z:-41.17 [[ 4.80814550e-01 5.95570156e-02 8.74797308e-01 1.20687436e+02] [-1.99293373e-02 9.98175078e-01 -5.70029342e-02 2.10304966e+02] [-8.76595796e-01 9.97370959e-03 4.81124033e-01 -4.11674815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.8207140569999 meters Centerline goodness : 0.992235 Centerline is valid? [True, True] Translation: X:120.71, Y:210.30, Z:-41.18 [[ 4.81408109e-01 4.70950703e-02 8.75230420e-01 1.20707327e+02] [-1.81309452e-02 9.98876849e-01 -4.37756624e-02 2.10304244e+02] [-8.76309022e-01 5.20520402e-03 4.81721293e-01 -4.11849569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.8507140569999 meters Centerline goodness : 0.993516 Centerline is valid? [True, True] Translation: X:120.72, Y:210.31, Z:-41.22 [[ 4.80689060e-01 5.10318808e-02 8.75404921e-01 1.20718741e+02] [-1.99160660e-02 9.98682996e-01 -4.72823896e-02 2.10306621e+02] [-8.76664918e-01 5.29350520e-03 4.81072344e-01 -4.12157740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.880714057 meters Centerline goodness : 0.984389 Centerline is valid? [True, True] Translation: X:120.73, Y:210.31, Z:-41.25 [[ 4.77706413e-01 5.91596587e-02 8.76525366e-01 1.20727149e+02] [-2.16520907e-02 9.98219839e-01 -5.55728383e-02 2.10310612e+02] [-8.78252680e-01 7.56889452e-03 4.78136949e-01 -4.12461941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.910714057 meters Centerline goodness : 0.992306 Centerline is valid? [True, True] Translation: X:120.74, Y:210.31, Z:-41.26 [[ 4.80170821e-01 5.27512624e-02 8.75587396e-01 1.20744447e+02] [-2.23032754e-02 9.98601596e-01 -4.79313806e-02 2.10310599e+02] [-8.76891411e-01 3.48678359e-03 4.80675874e-01 -4.12615569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.9407140569999 meters Centerline goodness : 0.992478 Centerline is valid? [True, True] Translation: X:120.75, Y:210.32, Z:-41.30 [[ 4.76999773e-01 6.85004697e-02 8.76229937e-01 1.20748417e+02] [-2.39400422e-02 9.97600893e-01 -6.49563918e-02 2.10318483e+02] [-8.78577311e-01 1.00072025e-02 4.77495303e-01 -4.12962041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.9707140569999 meters Centerline goodness : 0.992692 Centerline is valid? [True, True] Translation: X:120.77, Y:210.32, Z:-41.32 [[ 4.76745393e-01 6.32708489e-02 8.76761444e-01 1.20766150e+02] [-2.50410896e-02 9.97979024e-01 -5.84021529e-02 2.10316620e+02] [-8.78684684e-01 5.88789546e-03 4.77366273e-01 -4.13233444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.000714057 meters Centerline goodness : 0.993306 Centerline is valid? [True, True] Translation: X:120.78, Y:210.32, Z:-41.35 [[ 4.76803271e-01 6.41768465e-02 8.76664117e-01 1.20782476e+02] [-2.60605938e-02 9.97924848e-01 -5.88798976e-02 2.10317752e+02] [-8.78623632e-01 5.22774033e-03 4.77486318e-01 -4.13524873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.030714057 meters Centerline goodness : 0.993934 Centerline is valid? [True, True] Translation: X:120.80, Y:210.32, Z:-41.38 [[ 4.76529098e-01 6.55980055e-02 8.76708002e-01 1.20798542e+02] [-2.80869930e-02 9.97839348e-01 -5.93949200e-02 2.10320705e+02] [-8.78709929e-01 3.67931619e-03 4.77341935e-01 -4.13817895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.0607140569999 meters Centerline goodness : 0.992886 Centerline is valid? [True, True] Translation: X:120.81, Y:210.32, Z:-41.41 [[ 4.76619121e-01 6.66241536e-02 8.76581677e-01 1.20814237e+02] [-2.93005701e-02 9.97774024e-01 -5.99038735e-02 2.10321178e+02] [-8.78621471e-01 2.86698866e-03 4.77510304e-01 -4.14106063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.0907140569999 meters Centerline goodness : 0.993616 Centerline is valid? [True, True] Translation: X:120.83, Y:210.32, Z:-41.44 [[ 4.76294662e-01 6.76729993e-02 8.76677683e-01 1.20829853e+02] [-3.05225639e-02 9.97705499e-01 -6.04326885e-02 2.10322845e+02] [-8.78755807e-01 2.02531633e-03 4.77267357e-01 -4.14382041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.120714057 meters Centerline goodness : 0.993224 Centerline is valid? [True, True] Translation: X:120.85, Y:210.32, Z:-41.47 [[ 4.76078556e-01 6.83997500e-02 8.76738663e-01 1.20845499e+02] [-3.11423226e-02 9.97656546e-01 -6.09226770e-02 2.10322707e+02] [-8.78851162e-01 1.70030183e-03 4.77093015e-01 -4.14673817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.150714057 meters Centerline goodness : 0.992289 Centerline is valid? [True, True] Translation: X:120.86, Y:210.32, Z:-41.50 [[ 4.76232051e-01 6.88454522e-02 8.76620407e-01 1.20860451e+02] [-3.11305442e-02 9.97625395e-01 -6.14366356e-02 2.10322953e+02] [-8.78768413e-01 1.96842466e-03 4.77244384e-01 -4.14953479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.1807140569999 meters Centerline goodness : 0.992394 Centerline is valid? [True, True] Translation: X:120.88, Y:210.32, Z:-41.52 [[ 4.75837078e-01 6.91425129e-02 8.76811490e-01 1.20875931e+02] [-3.08316317e-02 9.97603814e-01 -6.19357772e-02 2.10323077e+02] [-8.78992882e-01 2.43781036e-03 4.76828660e-01 -4.15244682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.2107140569999 meters Centerline goodness : 0.992675 Centerline is valid? [True, True] Translation: X:120.89, Y:210.32, Z:-41.55 [[ 4.74834095e-01 6.83253309e-02 8.77419074e-01 1.20891878e+02] [-2.80575405e-02 9.97650258e-01 -6.25038921e-02 2.10323688e+02] [-8.79627965e-01 5.06075780e-03 4.75635398e-01 -4.15531600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.240714057 meters Centerline goodness : 0.993547 Centerline is valid? [True, True] Translation: X:120.91, Y:210.32, Z:-41.58 [[ 4.74354518e-01 6.80204193e-02 8.77702121e-01 1.20907580e+02] [-2.64046403e-02 9.97661223e-01 -6.30466452e-02 2.10323152e+02] [-8.79937831e-01 6.73105224e-03 4.75041164e-01 -4.15825082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.270714057 meters Centerline goodness : 0.992615 Centerline is valid? [True, True] Translation: X:120.92, Y:210.32, Z:-41.61 [[ 4.74680536e-01 6.76269559e-02 8.77556257e-01 1.20922683e+02] [-2.46357523e-02 9.97674038e-01 -6.35578011e-02 2.10322337e+02] [-8.79813315e-01 8.55039247e-03 4.75242488e-01 -4.16109239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.3007140569999 meters Centerline goodness : 0.992205 Centerline is valid? [True, True] Translation: X:120.94, Y:210.32, Z:-41.64 [[ 4.74925267e-01 6.60330874e-02 8.77545225e-01 1.20939055e+02] [-2.03895112e-02 9.97738850e-01 -6.40426054e-02 2.10321353e+02] [-8.79789895e-01 1.25227333e-02 4.75197772e-01 -4.16397904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.3307140569999 meters Centerline goodness : 0.992455 Centerline is valid? [True, True] Translation: X:120.95, Y:210.32, Z:-41.67 [[ 4.75696082e-01 6.53534973e-02 8.77178521e-01 1.20954307e+02] [-1.80699083e-02 9.97751677e-01 -6.45373497e-02 2.10320696e+02] [-8.79424082e-01 1.48496289e-02 4.75807495e-01 -4.16680053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.360714057 meters Centerline goodness : 0.992562 Centerline is valid? [True, True] Translation: X:120.97, Y:210.32, Z:-41.70 [[ 4.77014440e-01 6.29549951e-02 8.76637834e-01 1.20968747e+02] [-1.22669415e-02 9.97811035e-01 -6.49820010e-02 2.10321594e+02] [-8.78809846e-01 2.02436878e-02 4.76742538e-01 -4.16976017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.390714057 meters Centerline goodness : 0.991894 Centerline is valid? [True, True] Translation: X:120.98, Y:210.32, Z:-41.73 [[ 4.77587535e-01 6.20759943e-02 8.76388451e-01 1.20983198e+02] [-9.52159523e-03 9.97807958e-01 -6.54875425e-02 2.10322011e+02] [-8.78532575e-01 2.29314179e-02 4.77131706e-01 -4.17261989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.4207140569999 meters Centerline goodness : 0.992846 Centerline is valid? [True, True] Translation: X:121.00, Y:210.32, Z:-41.76 [[ 4.78559734e-01 6.08383954e-02 8.75944788e-01 1.20998237e+02] [-6.15226177e-03 9.97804563e-01 -6.59409184e-02 2.10323131e+02] [-8.78033445e-01 2.61676267e-02 4.77883380e-01 -4.17556137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.4507140569999 meters Centerline goodness : 0.992698 Centerline is valid? [True, True] Translation: X:121.01, Y:210.32, Z:-41.78 [[ 4.79370638e-01 5.88127197e-02 8.75639684e-01 1.21013629e+02] [-1.05670745e-03 9.97789962e-01 -6.64384997e-02 2.10324551e+02] [-8.77611916e-01 3.09233710e-02 4.78373359e-01 -4.17842010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.4807140569999 meters Centerline goodness : 0.992615 Centerline is valid? [True, True] Translation: X:121.03, Y:210.33, Z:-41.81 [[ 4.79097967e-01 5.80365558e-02 8.75840680e-01 1.21029695e+02] [ 1.50446775e-03 9.97755996e-01 -6.69380977e-02 2.10325205e+02] [-8.77760146e-01 3.33875806e-02 4.77935555e-01 -4.18135348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.510714057 meters Centerline goodness : 0.990960 Centerline is valid? [True, True] Translation: X:120.98, Y:210.39, Z:-41.85 [[ 4.66623247e-01 1.40486914e-01 8.73227446e-01 1.20984615e+02] [ 1.84429055e-02 9.85544150e-01 -1.68411959e-01 2.10390974e+02] [-8.84263877e-01 9.46897863e-02 4.57286824e-01 -4.18536607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.540714057 meters Centerline goodness : 0.994486 Centerline is valid? [True, True] Translation: X:121.15, Y:210.24, Z:-41.82 [[ 4.68216497e-01 -1.63381469e-01 8.68377687e-01 1.21153166e+02] [ 6.45823683e-03 9.83363577e-01 1.81533376e-01 2.10237129e+02] [-8.83590178e-01 -7.93887324e-02 4.61482205e-01 -4.18197168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.5707140569999 meters Centerline goodness : 0.993334 Centerline is valid? [True, True] Translation: X:121.08, Y:210.33, Z:-41.90 [[ 4.76881306e-01 5.49257150e-02 8.77249899e-01 1.21077828e+02] [ 1.13458894e-02 9.97577847e-01 -6.86273308e-02 2.10333464e+02] [-8.78894471e-01 4.26802715e-02 4.75103046e-01 -4.19003992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.6007140569999 meters Centerline goodness : 0.993858 Centerline is valid? [True, True] Translation: X:121.09, Y:210.34, Z:-41.93 [[ 4.76620055e-01 5.42474495e-02 8.77434064e-01 1.21093417e+02] [ 1.37071082e-02 9.97514382e-01 -6.91170952e-02 2.10336532e+02] [-8.79002525e-01 4.49696774e-02 4.74691784e-01 -4.19294493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.630714057 meters Centerline goodness : 0.993300 Centerline is valid? [True, True] Translation: X:121.07, Y:210.38, Z:-41.97 [[ 4.68829824e-01 1.01515397e-01 8.77435593e-01 1.21073594e+02] [ 2.32280738e-02 9.91613224e-01 -1.27136425e-01 2.10375223e+02] [-8.82983042e-01 7.99864863e-02 4.62539846e-01 -4.19650836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.660714057 meters Centerline goodness : 0.995653 Centerline is valid? [True, True] Translation: X:121.17, Y:210.30, Z:-41.96 [[ 4.68088770e-01 -6.57876852e-02 8.81229190e-01 1.21166765e+02] [ 1.76495463e-02 9.97722038e-01 6.51093604e-02 2.10296121e+02] [-8.83505177e-01 -1.49236651e-02 4.68183604e-01 -4.19591756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.6907140569999 meters Centerline goodness : 0.995362 Centerline is valid? [True, True] Translation: X:121.14, Y:210.35, Z:-42.01 [[ 4.73515635e-01 5.29468271e-02 8.79192571e-01 1.21138705e+02] [ 1.87700668e-02 9.97358284e-01 -7.01721998e-02 2.10353376e+02] [-8.80585390e-01 4.97301371e-02 4.71270926e-01 -4.20139965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.7207140569999 meters Centerline goodness : 0.995031 Centerline is valid? [True, True] Translation: X:121.17, Y:210.35, Z:-42.03 [[ 4.76602614e-01 3.03117023e-02 8.78596124e-01 1.21167591e+02] [ 1.90214047e-02 9.98815874e-01 -4.47776396e-02 2.10349447e+02] [-8.78913042e-01 3.80532725e-02 4.75461685e-01 -4.20307185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.750714057 meters Centerline goodness : 0.995437 Centerline is valid? [True, True] Translation: X:121.17, Y:210.37, Z:-42.07 [[ 4.73850435e-01 5.93763504e-02 8.78601283e-01 1.21166278e+02] [ 1.87461367e-02 9.96817984e-01 -7.74757336e-02 2.10371664e+02] [-8.80405786e-01 5.31822899e-02 4.71229558e-01 -4.20718486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.780714057 meters Centerline goodness : 0.996184 Centerline is valid? [True, True] Translation: X:121.18, Y:210.37, Z:-42.10 [[ 4.73663408e-01 5.38688952e-02 8.79056948e-01 1.21182559e+02] [ 1.89914296e-02 9.97270795e-01 -7.13462550e-02 2.10373845e+02] [-8.80501165e-01 5.04886584e-02 4.71347636e-01 -4.20994651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.8107140569999 meters Centerline goodness : 0.996016 Centerline is valid? [True, True] Translation: X:121.20, Y:210.38, Z:-42.13 [[ 4.74180543e-01 5.35581079e-02 8.78797099e-01 1.21197271e+02] [ 2.04601436e-02 9.97208132e-01 -7.18145097e-02 2.10384445e+02] [-8.80189863e-01 5.20333580e-02 4.71760887e-01 -4.21297694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.8407140569999 meters Centerline goodness : 0.996281 Centerline is valid? [True, True] Translation: X:121.21, Y:210.39, Z:-42.16 [[ 4.73763045e-01 5.34217541e-02 8.79030542e-01 1.21211928e+02] [ 2.18107661e-02 9.97140444e-01 -7.23548541e-02 2.10389333e+02] [-8.80382228e-01 5.34513856e-02 4.71243124e-01 -4.21584490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.870714057 meters Centerline goodness : 0.995393 Centerline is valid? [True, True] Translation: X:121.23, Y:210.39, Z:-42.19 [[ 4.73500523e-01 5.34109797e-02 8.79172635e-01 1.21226872e+02] [ 2.27952968e-02 9.97082287e-01 -7.28511378e-02 2.10393682e+02] [-8.80498512e-01 5.45360531e-02 4.70901465e-01 -4.21876801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.900714057 meters Centerline goodness : 0.996183 Centerline is valid? [True, True] Translation: X:121.24, Y:210.40, Z:-42.22 [[ 4.73602973e-01 5.32695805e-02 8.79126029e-01 1.21242393e+02] [ 2.40397664e-02 9.97015478e-01 -7.33636577e-02 2.10398065e+02] [-8.80410310e-01 5.58792307e-02 4.70908907e-01 -4.22169048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.9307140569999 meters Centerline goodness : 0.995977 Centerline is valid? [True, True] Translation: X:121.26, Y:210.41, Z:-42.25 [[ 4.73530826e-01 5.24828385e-02 8.79212209e-01 1.21257011e+02] [ 2.66952922e-02 9.96909317e-01 -7.38862289e-02 2.10408206e+02] [-8.80372602e-01 5.84582338e-02 4.70666247e-01 -4.22453670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.9607140569999 meters Centerline goodness : 0.995635 Centerline is valid? [True, True] Translation: X:121.26, Y:210.43, Z:-42.26 [[ 4.73745205e-01 5.85411887e-02 8.78714066e-01 1.21264362e+02] [ 3.66398366e-02 9.95613998e-01 -8.60830352e-02 2.10429754e+02] [-8.79899428e-01 7.29773649e-02 4.69522418e-01 -4.22641905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.990714057 meters Centerline goodness : 0.995533 Centerline is valid? [True, True] Translation: X:121.30, Y:210.40, Z:-42.28 [[ 4.70278105e-01 -1.75004166e-02 8.82344740e-01 1.21303248e+02] [ 3.42116373e-02 9.99413349e-01 1.58800297e-03 2.10396573e+02] [-8.81854902e-01 2.94396551e-02 4.70600934e-01 -4.22802307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.020714057 meters Centerline goodness : 0.995017 Centerline is valid? [True, True] Translation: X:121.31, Y:210.41, Z:-42.32 [[ 4.70407463e-01 6.76019867e-03 8.82423435e-01 1.21313616e+02] [ 2.43493984e-02 9.99490473e-01 -2.06373632e-02 2.10405814e+02] [-8.82113329e-01 3.11944494e-02 4.70003171e-01 -4.23223603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.0507140569999 meters Centerline goodness : 0.994152 Centerline is valid? [True, True] Translation: X:121.34, Y:210.43, Z:-42.34 [[ 4.81423879e-01 3.02885918e-02 8.75964411e-01 1.21335814e+02] [ 2.58149983e-02 9.98479179e-01 -4.87125782e-02 2.10427163e+02] [-8.76107662e-01 4.60644182e-02 4.79909820e-01 -4.23428076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.0807140569999 meters Centerline goodness : 0.994525 Centerline is valid? [True, True] Translation: X:121.34, Y:210.44, Z:-42.37 [[ 4.78976841e-01 4.58027401e-02 8.76631790e-01 1.21339734e+02] [ 2.53189097e-02 9.97501533e-01 -6.59518346e-02 2.10441055e+02] [-8.77462329e-01 5.37847625e-02 4.76620458e-01 -4.23725307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.110714057 meters Centerline goodness : 0.994525 Centerline is valid? [True, True] Translation: X:121.36, Y:210.43, Z:-42.39 [[ 4.77595987e-01 2.76020298e-02 8.78145888e-01 1.21357215e+02] [ 2.53722940e-02 9.98656192e-01 -4.51891244e-02 2.10431472e+02] [-8.78213140e-01 4.38627201e-02 4.76253863e-01 -4.23949267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.140714057 meters Centerline goodness : 0.993853 Centerline is valid? [True, True] Translation: X:121.38, Y:210.44, Z:-42.42 [[ 4.78518949e-01 1.93191302e-02 8.77864675e-01 1.21377607e+02] [ 2.11125854e-02 9.99215762e-01 -3.34980463e-02 2.10437059e+02] [-8.77823373e-01 3.45634428e-02 4.77735800e-01 -4.24169828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.1707140569999 meters Centerline goodness : 0.994997 Centerline is valid? [True, True] Translation: X:121.40, Y:210.44, Z:-42.44 [[ 4.80442482e-01 2.35729380e-02 8.76709381e-01 1.21395340e+02] [ 1.80837407e-02 9.99159922e-01 -3.67753931e-02 2.10441761e+02] [-8.76839780e-01 3.35226463e-02 4.79612585e-01 -4.24410042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.2007140569999 meters Centerline goodness : 0.995563 Centerline is valid? [True, True] Translation: X:121.40, Y:210.46, Z:-42.47 [[ 4.76918350e-01 4.51824768e-02 8.77785527e-01 1.21401310e+02] [ 1.54810345e-02 9.98091155e-01 -5.97861531e-02 2.10456179e+02] [-8.78811257e-01 4.21021415e-02 4.75308516e-01 -4.24702744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.2307140569999 meters Centerline goodness : 0.995147 Centerline is valid? [True, True] Translation: X:121.41, Y:210.46, Z:-42.50 [[ 4.77205742e-01 4.97597541e-02 8.77381700e-01 1.21414352e+02] [ 1.36628667e-02 9.97854861e-01 -6.40234586e-02 2.10462514e+02] [-8.78685385e-01 4.25399113e-02 4.75502208e-01 -4.25004139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.260714057 meters Centerline goodness : 0.995552 Centerline is valid? [True, True] Translation: X:121.42, Y:210.48, Z:-42.54 [[ 4.66970445e-01 7.12281090e-02 8.81399546e-01 1.21416302e+02] [ 6.91416799e-03 9.96425998e-01 -8.41868503e-02 2.10475949e+02] [-8.84245892e-01 4.54069154e-02 4.64809008e-01 -4.25408610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.290714057 meters Centerline goodness : 0.995485 Centerline is valid? [True, True] Translation: X:121.43, Y:210.48, Z:-42.57 [[ 4.67732394e-01 7.27166821e-02 8.80873823e-01 1.21430973e+02] [ 4.97677314e-03 9.96377543e-01 -8.48941871e-02 2.10480417e+02] [-8.83856119e-01 4.40916705e-02 4.65676159e-01 -4.25680096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.3207140569999 meters Centerline goodness : 0.996366 Centerline is valid? [True, True] Translation: X:121.45, Y:210.48, Z:-42.60 [[ 4.65597857e-01 6.41478007e-02 8.82668508e-01 1.21449262e+02] [ 2.74936505e-03 9.97259942e-01 -7.39259754e-02 2.10484794e+02] [-8.84992134e-01 3.68465537e-02 4.64145726e-01 -4.25954489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.3507140569999 meters Centerline goodness : 0.996596 Centerline is valid? [True, True] Translation: X:121.46, Y:210.49, Z:-42.63 [[ 4.65646891e-01 7.15937100e-02 8.82069903e-01 1.21464016e+02] [ 1.85244724e-03 9.96641224e-01 -8.18708685e-02 2.10491847e+02] [-8.84968667e-01 3.97569034e-02 4.63950264e-01 -4.26257016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.380714057 meters Centerline goodness : 0.997254 Centerline is valid? [True, True] Translation: X:121.48, Y:210.50, Z:-42.65 [[ 4.65770359e-01 7.28370312e-02 8.81902908e-01 1.21480852e+02] [ 1.17211960e-04 9.96601646e-01 -8.23719917e-02 2.10495292e+02] [-8.84905621e-01 3.84698017e-02 4.64178969e-01 -4.26548185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.410714057 meters Centerline goodness : 0.997145 Centerline is valid? [True, True] Translation: X:121.50, Y:210.50, Z:-42.68 [[ 4.65888775e-01 7.40022171e-02 8.81743342e-01 1.21496322e+02] [-1.40087282e-03 9.96557051e-01 -8.28980235e-02 2.10499058e+02] [-8.84842182e-01 3.73860483e-02 4.64388411e-01 -4.26827463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.4407140569999 meters Centerline goodness : 0.997986 Centerline is valid? [True, True] Translation: X:121.51, Y:210.51, Z:-42.71 [[ 4.66274469e-01 7.57400517e-02 8.81391833e-01 1.21512326e+02] [-4.28175421e-03 9.96509692e-01 -8.33672609e-02 2.10507289e+02] [-8.84629745e-01 3.50981221e-02 4.64971328e-01 -4.27111044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.4707140569999 meters Centerline goodness : 0.998254 Centerline is valid? [True, True] Translation: X:121.53, Y:210.51, Z:-42.74 [[ 4.66458020e-01 7.69348038e-02 8.81191212e-01 1.21528101e+02] [-6.30295040e-03 9.96474136e-01 -8.36634312e-02 2.10509563e+02] [-8.84520881e-01 3.34713740e-02 4.65298269e-01 -4.27398094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.500714057 meters Centerline goodness : 0.998214 Centerline is valid? [True, True] Translation: X:121.55, Y:210.52, Z:-42.77 [[ 4.66692562e-01 7.86641159e-02 8.80914303e-01 1.21545017e+02] [-9.07772206e-03 9.96410187e-01 -8.41684836e-02 2.10515308e+02] [-8.84373025e-01 3.12841101e-02 4.65731314e-01 -4.27690519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.530714057 meters Centerline goodness : 0.999096 Centerline is valid? [True, True] Translation: X:121.56, Y:210.52, Z:-42.80 [[ 4.66892508e-01 7.96396742e-02 8.80720676e-01 1.21560271e+02] [-1.02123597e-02 9.96355676e-01 -8.46822031e-02 2.10517966e+02] [-8.84255107e-01 3.05432498e-02 4.66004309e-01 -4.27974436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.5607140569999 meters Centerline goodness : 0.998676 Centerline is valid? [True, True] Translation: X:121.58, Y:210.52, Z:-42.83 [[ 4.67776590e-01 8.11304371e-02 8.80115285e-01 1.21575756e+02] [-1.26428789e-02 9.96290489e-01 -8.51200307e-02 2.10524182e+02] [-8.83756312e-01 2.86899667e-02 4.67067090e-01 -4.28257088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.5907140569999 meters Centerline goodness : 0.998991 Centerline is valid? [True, True] Translation: X:121.59, Y:210.53, Z:-42.85 [[ 4.68288867e-01 8.19830543e-02 8.79763784e-01 1.21591617e+02] [-1.36394571e-02 9.96238205e-01 -8.55768859e-02 2.10526553e+02] [-8.83470148e-01 2.80752025e-02 4.67645465e-01 -4.28543516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.620714057 meters Centerline goodness : 0.999369 Centerline is valid? [True, True] Translation: X:121.61, Y:210.53, Z:-42.88 [[ 4.68924350e-01 8.30073187e-02 8.79329141e-01 1.21607541e+02] [-1.49542865e-02 9.96177470e-01 -8.60628724e-02 2.10528060e+02] [-8.83111727e-01 2.72072366e-02 4.68373188e-01 -4.28830855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.650714057 meters Centerline goodness : 0.999015 Centerline is valid? [True, True] Translation: X:121.62, Y:210.53, Z:-42.91 [[ 4.69297596e-01 8.40092063e-02 8.79034823e-01 1.21623843e+02] [-1.61801659e-02 9.96115211e-01 -8.65603197e-02 2.10529406e+02] [-8.82891822e-01 2.63996207e-02 4.68833757e-01 -4.29122579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.6807140569999 meters Centerline goodness : 0.999048 Centerline is valid? [True, True] Translation: X:121.64, Y:210.53, Z:-42.94 [[ 4.69143670e-01 8.83214017e-02 8.78694228e-01 1.21639669e+02] [-1.67719268e-02 9.95698009e-01 -9.11272634e-02 2.10534947e+02] [-8.82962581e-01 2.80143835e-02 4.68606738e-01 -4.29407212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.7107140569999 meters Centerline goodness : 0.999159 Centerline is valid? [True, True] Translation: X:121.66, Y:210.54, Z:-42.97 [[ 4.70646680e-01 8.97369093e-02 8.77746541e-01 1.21655439e+02] [-1.57348534e-02 9.95509995e-01 -9.33395118e-02 2.10536693e+02] [-8.82181454e-01 3.01187182e-02 4.69945471e-01 -4.29688176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.740714057 meters Centerline goodness : 0.998845 Centerline is valid? [True, True] Translation: X:121.67, Y:210.53, Z:-43.00 [[ 4.68548499e-01 7.99881928e-02 8.79809180e-01 1.21671634e+02] [-1.45490846e-02 9.96456237e-01 -8.28449890e-02 2.10533205e+02] [-8.83317966e-01 2.60164770e-02 4.68051829e-01 -4.29952204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.770714057 meters Centerline goodness : 0.998592 Centerline is valid? [True, True] Translation: X:121.69, Y:210.54, Z:-43.02 [[ 4.67867006e-01 7.61288691e-02 8.80513975e-01 1.21687242e+02] [-7.75830006e-03 9.96598587e-01 -8.20430712e-02 2.10535232e+02] [-8.83764829e-01 3.15539544e-02 4.66866227e-01 -4.30227753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.8007140569999 meters Centerline goodness : 0.998571 Centerline is valid? [True, True] Translation: X:121.70, Y:210.54, Z:-43.05 [[ 4.68126848e-01 7.98500466e-02 8.80046149e-01 1.21702684e+02] [-3.41282624e-03 9.96064866e-01 -8.85614811e-02 2.10538399e+02] [-8.83654687e-01 3.84545624e-02 4.66557221e-01 -4.30519892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.8307140569999 meters Centerline goodness : 0.998867 Centerline is valid? [True, True] Translation: X:121.72, Y:210.54, Z:-43.08 [[ 4.68769446e-01 7.82051437e-02 8.79851784e-01 1.21718185e+02] [ 9.63326828e-04 9.96027176e-01 -8.90445733e-02 2.10539014e+02] [-8.83320032e-01 4.25889601e-02 4.66831770e-01 -4.30794925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.860714057 meters Centerline goodness : 0.998825 Centerline is valid? [True, True] Translation: X:121.73, Y:210.54, Z:-43.11 [[ 4.69805910e-01 7.36404458e-02 8.79692839e-01 1.21734306e+02] [ 1.11762246e-02 9.95938455e-01 -8.93402841e-02 2.10542218e+02] [-8.82698985e-01 5.18042383e-02 4.67074750e-01 -4.31087930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.890714057 meters Centerline goodness : 0.998501 Centerline is valid? [True, True] Translation: X:121.75, Y:210.54, Z:-43.14 [[ 4.70845734e-01 7.16525754e-02 8.79300974e-01 1.21750545e+02] [ 1.61512796e-02 9.95829130e-01 -8.97968787e-02 2.10543711e+02] [-8.82067702e-01 5.64823131e-02 4.67724617e-01 -4.31373034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.9207140569999 meters Centerline goodness : 0.998952 Centerline is valid? [True, True] Translation: X:121.77, Y:210.55, Z:-43.17 [[ 4.72867970e-01 6.75562065e-02 8.78539722e-01 1.21766925e+02] [ 2.54163911e-02 9.95595897e-01 -9.02375582e-02 2.10549117e+02] [-8.80766649e-01 6.49997601e-02 4.69068375e-01 -4.31659046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.9507140569999 meters Centerline goodness : 0.999158 Centerline is valid? [True, True] Translation: X:121.78, Y:210.55, Z:-43.19 [[ 4.73355952e-01 6.65473209e-02 8.78353913e-01 1.21783108e+02] [ 2.84361202e-02 9.95468106e-01 -9.07449048e-02 2.10551690e+02] [-8.80412136e-01 6.79316182e-02 4.69318405e-01 -4.31947161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.9807140569999 meters Centerline goodness : 0.999199 Centerline is valid? [True, True] Translation: X:121.80, Y:210.55, Z:-43.22 [[ 4.73273013e-01 6.59871126e-02 8.78440867e-01 1.21799124e+02] [ 3.06503462e-02 9.95353215e-01 -9.12827140e-02 2.10554489e+02] [-8.80382424e-01 7.01261617e-02 4.69051287e-01 -4.32232393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.010714057 meters Centerline goodness : 0.999684 Centerline is valid? [True, True] Translation: X:121.82, Y:210.56, Z:-43.25 [[ 4.73340578e-01 6.59311380e-02 8.78408665e-01 1.21816318e+02] [ 3.17556360e-02 9.95269667e-01 -9.18143185e-02 2.10562082e+02] [-8.80306922e-01 7.13538684e-02 4.69007834e-01 -4.32512700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.040714057 meters Centerline goodness : 0.999768 Centerline is valid? [True, True] Translation: X:121.83, Y:210.57, Z:-43.28 [[ 4.73339975e-01 6.68984184e-02 8.78335853e-01 1.21831689e+02] [ 3.06229196e-02 9.95259613e-01 -9.23067706e-02 2.10565605e+02] [-8.80347378e-01 7.05896926e-02 4.69047535e-01 -4.32794971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.0707140569999 meters Centerline goodness : 0.999747 Centerline is valid? [True, True] Translation: X:121.85, Y:210.57, Z:-43.31 [[ 4.74084865e-01 6.79968198e-02 8.77849631e-01 1.21847993e+02] [ 2.89923246e-02 9.95267318e-01 -9.27491815e-02 2.10569042e+02] [-8.80001697e-01 6.94218846e-02 4.69869786e-01 -4.33078952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.1007140569999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.86, Y:210.57, Z:-43.34 [[ 4.74062505e-01 6.93464652e-02 8.77756122e-01 1.21863839e+02] [ 2.71034817e-02 9.95271981e-01 -9.32688889e-02 2.10572809e+02] [-8.80073941e-01 6.80055302e-02 4.69941598e-01 -4.33364524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.130714057 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:121.88, Y:210.58, Z:-43.37 [[ 4.74338549e-01 7.13638052e-02 8.77445240e-01 1.21880140e+02] [ 2.36321935e-02 9.95317529e-01 -9.37258564e-02 2.10582582e+02] [-8.80025261e-01 6.51937424e-02 4.70430989e-01 -4.33655133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.160714057 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.90, Y:210.59, Z:-43.39 [[ 4.74439591e-01 7.27300371e-02 8.77278414e-01 1.21895648e+02] [ 2.16555194e-02 9.95315157e-01 -9.42272632e-02 2.10586222e+02] [-8.80021655e-01 6.37030639e-02 4.70641909e-01 -4.33939123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.1907140569999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.91, Y:210.59, Z:-43.42 [[ 4.74698909e-01 7.38571444e-02 8.77043937e-01 1.21912292e+02] [ 2.00839527e-02 9.95304531e-01 -9.46864546e-02 2.10590250e+02] [-8.79919076e-01 6.25620656e-02 4.70986632e-01 -4.34229933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.2207140569999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:121.93, Y:210.60, Z:-43.45 [[ 4.73829579e-01 7.56349574e-02 8.77362458e-01 1.21928942e+02] [ 1.75046697e-02 9.95298936e-01 -9.52555265e-02 2.10599771e+02] [-8.80442569e-01 6.04928260e-02 4.70278111e-01 -4.34514561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.250714057 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:121.94, Y:210.60, Z:-43.48 [[ 4.73358710e-01 7.71435889e-02 8.77485270e-01 1.21944899e+02] [ 1.53249156e-02 9.95285806e-01 -9.57669652e-02 2.10604003e+02] [-8.80736441e-01 5.87795148e-02 4.69944986e-01 -4.34797959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.280714057 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:121.96, Y:210.61, Z:-43.51 [[ 4.73435214e-01 7.99404406e-02 8.77193607e-01 1.21962220e+02] [ 1.03040119e-02 9.95302388e-01 -9.62651722e-02 2.10614849e+02] [-8.80768372e-01 5.46139358e-02 4.70387492e-01 -4.35083561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.3107140569999 meters Centerline goodness : 0.999768 Centerline is valid? [True, True] Translation: X:121.98, Y:210.62, Z:-43.54 [[ 4.73271610e-01 8.19023905e-02 8.77100896e-01 1.21977863e+02] [ 7.13787999e-03 9.95279306e-01 -9.67892186e-02 2.10619810e+02] [-8.80887640e-01 5.20682303e-02 4.70452830e-01 -4.35369087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.3407140569999 meters Centerline goodness : 0.999432 Centerline is valid? [True, True] Translation: X:121.99, Y:210.62, Z:-43.57 [[ 4.73321053e-01 8.38645136e-02 8.76888775e-01 1.21993819e+02] [ 3.84552049e-03 9.95251551e-01 -9.72602859e-02 2.10624336e+02] [-8.80881600e-01 4.94074347e-02 4.70751009e-01 -4.35660672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.370714057 meters Centerline goodness : 0.999221 Centerline is valid? [True, True] Translation: X:122.01, Y:210.63, Z:-43.59 [[ 4.73262006e-01 8.55129686e-02 8.76761431e-01 1.22009216e+02] [ 7.63271999e-04 9.95237168e-01 -9.74802374e-02 2.10628673e+02] [-8.80921388e-01 4.68029001e-02 4.70942669e-01 -4.35943497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.400714057 meters Centerline goodness : 0.998593 Centerline is valid? [True, True] Translation: X:122.03, Y:210.64, Z:-43.62 [[ 4.72419753e-01 8.85181921e-02 8.76917389e-01 1.22025318e+02] [-4.56108323e-03 9.95176126e-01 -9.79983370e-02 2.10637984e+02] [-8.81361886e-01 4.22966570e-02 4.70544599e-01 -4.36232771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.4307140569999 meters Centerline goodness : 0.998128 Centerline is valid? [True, True] Translation: X:122.04, Y:210.64, Z:-43.65 [[ 4.72005829e-01 8.98774780e-02 8.77002016e-01 1.22040484e+02] [-6.38103135e-03 9.95111900e-01 -9.85473948e-02 2.10641894e+02] [-8.81572334e-01 4.09187674e-02 4.70272128e-01 -4.36515840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.4607140569999 meters Centerline goodness : 0.997657 Centerline is valid? [True, True] Translation: X:122.06, Y:210.65, Z:-43.68 [[ 4.71463330e-01 9.15160572e-02 8.77124358e-01 1.22055777e+02] [-8.84820117e-03 9.95041809e-01 -9.90631487e-02 2.10650029e+02] [-8.81841277e-01 3.89436692e-02 4.69935477e-01 -4.36806600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.490714057 meters Centerline goodness : 0.997488 Centerline is valid? [True, True] Translation: X:122.07, Y:210.65, Z:-43.71 [[ 4.71429469e-01 9.24338142e-02 8.77046319e-01 1.22070745e+02] [-9.89152742e-03 9.94983734e-01 -9.95466057e-02 2.10652511e+02] [-8.81848294e-01 3.82538758e-02 4.69978965e-01 -4.37097533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.520714057 meters Centerline goodness : 0.997345 Centerline is valid? [True, True] Translation: X:122.09, Y:210.65, Z:-43.74 [[ 4.71756335e-01 9.30468934e-02 8.76805700e-01 1.22085847e+02] [-1.02645499e-02 9.94928519e-01 -1.00059388e-01 2.10654696e+02] [-8.81669212e-01 3.82036341e-02 4.70318916e-01 -4.37376480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.5507140569999 meters Centerline goodness : 0.997359 Centerline is valid? [True, True] Translation: X:122.10, Y:210.66, Z:-43.77 [[ 4.72047673e-01 9.34176499e-02 8.76609455e-01 1.22101567e+02] [-1.01789557e-02 9.94880927e-01 -1.00540195e-01 2.10656221e+02] [-8.81514256e-01 3.85367963e-02 4.70582120e-01 -4.37667612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.5807140569999 meters Centerline goodness : 0.996590 Centerline is valid? [True, True] Translation: X:122.12, Y:210.66, Z:-43.79 [[ 4.71909141e-01 9.34429236e-02 8.76681346e-01 1.22116182e+02] [-9.24409300e-03 9.94837302e-01 -1.01060818e-01 2.10660403e+02] [-8.81598723e-01 3.95874000e-02 4.70336612e-01 -4.37944945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.610714057 meters Centerline goodness : 0.996319 Centerline is valid? [True, True] Translation: X:122.13, Y:210.66, Z:-43.82 [[ 4.71920481e-01 9.34614241e-02 8.76673270e-01 1.22131571e+02] [-9.16541781e-03 9.94831573e-01 -1.01124364e-01 2.10661182e+02] [-8.81593475e-01 3.96875819e-02 4.70338007e-01 -4.38235170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.640714057 meters Centerline goodness : 0.996861 Centerline is valid? [True, True] Translation: X:122.15, Y:210.66, Z:-43.85 [[ 4.71466187e-01 9.41414602e-02 8.76844924e-01 1.22146892e+02] [-9.54585612e-03 9.94772385e-01 -1.01669947e-01 2.10664807e+02] [-8.81832474e-01 3.95637065e-02 4.69900204e-01 -4.38515019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.6707140569999 meters Centerline goodness : 0.996281 Centerline is valid? [True, True] Translation: X:122.16, Y:210.66, Z:-43.88 [[ 4.69961893e-01 9.22639903e-02 8.77851454e-01 1.22161309e+02] [-1.12481420e-02 9.95067352e-01 -9.85618764e-02 2.10664020e+02] [-8.82615034e-01 3.64461283e-02 4.68681535e-01 -4.38788790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.7007140569999 meters Centerline goodness : 0.996311 Centerline is valid? [True, True] Translation: X:122.18, Y:210.66, Z:-43.91 [[ 4.69988911e-01 9.26649970e-02 8.77794749e-01 1.22177451e+02] [-1.13982426e-02 9.95028318e-01 -9.89379904e-02 2.10664441e+02] [-8.82598722e-01 3.64944409e-02 4.68708494e-01 -4.39090883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.7307140569999 meters Centerline goodness : 0.996271 Centerline is valid? [True, True] Translation: X:122.19, Y:210.67, Z:-43.94 [[ 4.69538629e-01 9.70701382e-02 8.77559607e-01 1.22192927e+02] [-1.26588989e-02 9.94575856e-01 -1.03240592e-01 2.10666311e+02] [-8.82821175e-01 3.73665079e-02 4.68220585e-01 -4.39371274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.760714057 meters Centerline goodness : 0.995637 Centerline is valid? [True, True] Translation: X:122.21, Y:210.67, Z:-43.96 [[ 4.68173734e-01 9.86510583e-02 8.78112364e-01 1.22207454e+02] [-1.60677110e-02 9.94534594e-01 -1.03163802e-01 2.10668426e+02] [-8.83490342e-01 3.41893266e-02 4.67200071e-01 -4.39649599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.790714057 meters Centerline goodness : 0.995659 Centerline is valid? [True, True] Translation: X:122.22, Y:210.67, Z:-43.99 [[ 4.67908243e-01 9.37820215e-02 8.78787124e-01 1.22222314e+02] [-1.71034953e-02 9.95128541e-01 -9.70909763e-02 2.10665410e+02] [-8.83611536e-01 3.03993367e-02 4.67232848e-01 -4.39947216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.8207140569999 meters Centerline goodness : 0.996016 Centerline is valid? [True, True] Translation: X:122.24, Y:210.67, Z:-44.02 [[ 4.67940928e-01 1.01332655e-01 8.77931080e-01 1.22237734e+02] [-1.93509582e-02 9.94341354e-01 -1.04454833e-01 2.10667204e+02] [-8.83547864e-01 3.18898838e-02 4.67253900e-01 -4.40235385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.8507140569999 meters Centerline goodness : 0.995755 Centerline is valid? [True, True] Translation: X:122.25, Y:210.67, Z:-44.05 [[ 4.67739662e-01 1.04087389e-01 8.77716027e-01 1.22252736e+02] [-2.43046773e-02 9.94180802e-01 -1.04946725e-01 2.10666626e+02] [-8.83532054e-01 2.77551409e-02 4.67547603e-01 -4.40527468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.880714057 meters Centerline goodness : 0.995605 Centerline is valid? [True, True] Translation: X:122.27, Y:210.66, Z:-44.08 [[ 4.67229205e-01 1.05797525e-01 8.77783432e-01 1.22268027e+02] [-2.69105960e-02 9.94056427e-01 -1.05487629e-01 2.10664946e+02] [-8.83726592e-01 2.56652259e-02 4.67299268e-01 -4.40811815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.910714057 meters Centerline goodness : 0.995858 Centerline is valid? [True, True] Translation: X:122.28, Y:210.66, Z:-44.11 [[ 4.66431133e-01 1.07167432e-01 8.78041650e-01 1.22283450e+02] [-2.88022919e-02 9.93947437e-01 -1.06013774e-01 2.10663399e+02] [-8.84088472e-01 2.41585129e-02 4.66694697e-01 -4.41101471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.9407140569999 meters Centerline goodness : 0.995728 Centerline is valid? [True, True] Translation: X:122.30, Y:210.66, Z:-44.14 [[ 4.65373422e-01 1.09131371e-01 8.78360930e-01 1.22299294e+02] [-3.18778929e-02 9.93792608e-01 -1.06583549e-01 2.10660571e+02] [-8.84540207e-01 2.16008554e-02 4.65963544e-01 -4.41391522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.9707140569999 meters Centerline goodness : 0.995594 Centerline is valid? [True, True] Translation: X:122.31, Y:210.66, Z:-44.17 [[ 4.65128905e-01 1.09784220e-01 8.78409089e-01 1.22314547e+02] [-3.22467871e-02 9.93722902e-01 -1.07121137e-01 2.10658286e+02] [-8.84655439e-01 2.14992664e-02 4.65749434e-01 -4.41685596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.000714057 meters Centerline goodness : 0.995665 Centerline is valid? [True, True] Translation: X:122.33, Y:210.65, Z:-44.20 [[ 4.65628681e-01 1.10098028e-01 8.78104980e-01 1.22328715e+02] [-3.20109516e-02 9.93677238e-01 -1.07614339e-01 2.10654417e+02] [-8.84401058e-01 2.19993466e-02 4.66208964e-01 -4.41973987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.030714057 meters Centerline goodness : 0.995665 Centerline is valid? [True, True] Translation: X:122.34, Y:210.65, Z:-44.23 [[ 4.65622628e-01 1.10441608e-01 8.78065043e-01 1.22344358e+02] [-3.21311505e-02 9.93638078e-01 -1.07939608e-01 2.10652531e+02] [-8.84399886e-01 2.20458838e-02 4.66208989e-01 -4.42269763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.0607140569999 meters Centerline goodness : 0.995831 Centerline is valid? [True, True] Translation: X:122.36, Y:210.65, Z:-44.26 [[ 4.65841791e-01 1.10438927e-01 8.77949127e-01 1.22359226e+02] [-3.17263933e-02 9.93627527e-01 -1.08156242e-01 2.10649455e+02] [-8.84299080e-01 2.25295383e-02 4.66377055e-01 -4.42567018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.0907140569999 meters Centerline goodness : 0.995655 Centerline is valid? [True, True] Translation: X:122.37, Y:210.65, Z:-44.29 [[ 4.66441178e-01 1.10761803e-01 8.77590138e-01 1.22374208e+02] [-3.15451338e-02 9.93581085e-01 -1.08634861e-01 2.10646243e+02] [-8.83989554e-01 2.29880742e-02 4.66941127e-01 -4.42859070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.120714057 meters Centerline goodness : 0.995806 Centerline is valid? [True, True] Translation: X:122.39, Y:210.64, Z:-44.31 [[ 4.67007632e-01 1.10665137e-01 8.77301031e-01 1.22389719e+02] [-3.04510336e-02 9.93561967e-01 -1.09120818e-01 2.10641304e+02] [-8.83728808e-01 2.42455317e-02 4.67370889e-01 -4.43148215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.150714057 meters Centerline goodness : 0.996282 Centerline is valid? [True, True] Translation: X:122.41, Y:210.64, Z:-44.34 [[ 4.67077458e-01 1.10850817e-01 8.77240415e-01 1.22405110e+02] [-2.98549775e-02 9.93521956e-01 -1.09648543e-01 2.10637987e+02] [-8.83712243e-01 2.50243699e-02 4.67361158e-01 -4.43440966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.1807140569999 meters Centerline goodness : 0.996223 Centerline is valid? [True, True] Translation: X:122.42, Y:210.63, Z:-44.37 [[ 4.66856814e-01 1.11140814e-01 8.77321170e-01 1.22420152e+02] [-2.94359520e-02 9.93474407e-01 -1.10191322e-01 2.10634543e+02] [-8.83842882e-01 2.56187856e-02 4.67081832e-01 -4.43723780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.2107140569999 meters Centerline goodness : 0.996372 Centerline is valid? [True, True] Translation: X:122.44, Y:210.63, Z:-44.40 [[ 4.66922085e-01 1.11271189e-01 8.77269907e-01 1.22436180e+02] [-2.87929572e-02 9.93438824e-01 -1.10680932e-01 2.10629074e+02] [-8.83829583e-01 2.64201767e-02 4.67062353e-01 -4.44008822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.240714057 meters Centerline goodness : 0.997043 Centerline is valid? [True, True] Translation: X:122.45, Y:210.63, Z:-44.43 [[ 4.67027968e-01 1.11877988e-01 8.77136359e-01 1.22451738e+02] [-2.91122706e-02 9.93371222e-01 -1.11202925e-01 2.10625449e+02] [-8.83763177e-01 2.63994453e-02 4.67189166e-01 -4.44295975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.270714057 meters Centerline goodness : 0.997170 Centerline is valid? [True, True] Translation: X:122.47, Y:210.62, Z:-44.46 [[ 4.67503147e-01 1.12513645e-01 8.76801852e-01 1.22467686e+02] [-2.95555595e-02 9.93301856e-01 -1.11704481e-01 2.10621874e+02] [-8.83497185e-01 2.63078272e-02 4.67697148e-01 -4.44587000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.3007140569999 meters Centerline goodness : 0.997254 Centerline is valid? [True, True] Translation: X:122.48, Y:210.62, Z:-44.49 [[ 4.67781623e-01 1.13391308e-01 8.76540224e-01 1.22483305e+02] [-3.04645742e-02 9.93215521e-01 -1.12226725e-01 2.10618058e+02] [-8.83318891e-01 2.57941750e-02 4.68062387e-01 -4.44863114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.3307140569999 meters Centerline goodness : 0.997071 Centerline is valid? [True, True] Translation: X:122.50, Y:210.61, Z:-44.51 [[ 4.67059732e-01 1.14515199e-01 8.76779035e-01 1.22498688e+02] [-3.17898510e-02 9.93111893e-01 -1.12774876e-01 2.10613205e+02] [-8.83654125e-01 2.47999284e-02 4.67482996e-01 -4.45148015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.360714057 meters Centerline goodness : 0.997685 Centerline is valid? [True, True] Translation: X:122.51, Y:210.61, Z:-44.54 [[ 4.66788758e-01 1.15451633e-01 8.76800534e-01 1.22513797e+02] [-3.27407738e-02 9.93018481e-01 -1.13324041e-01 2.10609840e+02] [-8.83762579e-01 2.41912607e-02 4.67309840e-01 -4.45428355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.390714057 meters Centerline goodness : 0.997702 Centerline is valid? [True, True] Translation: X:122.53, Y:210.61, Z:-44.57 [[ 4.67028290e-01 1.16560486e-01 8.76526229e-01 1.22529764e+02] [-3.42524694e-02 9.92914485e-01 -1.13787494e-01 2.10605770e+02] [-8.83578714e-01 2.31187911e-02 4.67711639e-01 -4.45718156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.4207140569999 meters Centerline goodness : 0.997831 Centerline is valid? [True, True] Translation: X:122.54, Y:210.60, Z:-44.60 [[ 4.66331694e-01 1.18424423e-01 8.76647253e-01 1.22544873e+02] [-3.71630482e-02 9.92746424e-01 -1.14339165e-01 2.10600526e+02] [-8.83828976e-01 2.07410925e-02 4.67350135e-01 -4.46001107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.4507140569999 meters Centerline goodness : 0.997850 Centerline is valid? [True, True] Translation: X:122.56, Y:210.60, Z:-44.63 [[ 4.65933770e-01 1.19884624e-01 8.76660367e-01 1.22560701e+02] [-3.93236120e-02 9.92605342e-01 -1.14840277e-01 2.10597308e+02] [-8.83945347e-01 1.90345108e-02 4.67202645e-01 -4.46283099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.4807140569999 meters Centerline goodness : 0.998310 Centerline is valid? [True, True] Translation: X:122.58, Y:210.59, Z:-44.66 [[ 4.65064625e-01 1.22598065e-01 8.76746605e-01 1.22576899e+02] [-4.40960150e-02 9.92343129e-01 -1.15371819e-01 2.10592966e+02] [-8.84177831e-01 1.49943202e-02 4.66909771e-01 -4.46568133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.510714057 meters Centerline goodness : 0.998252 Centerline is valid? [True, True] Translation: X:122.59, Y:210.59, Z:-44.68 [[ 4.64193358e-01 1.24353972e-01 8.76961012e-01 1.22591795e+02] [-4.67519604e-02 9.92155100e-01 -1.15941845e-01 2.10589660e+02] [-8.84499170e-01 1.28197880e-02 4.66365599e-01 -4.46847960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.540714057 meters Centerline goodness : 0.998357 Centerline is valid? [True, True] Translation: X:122.61, Y:210.59, Z:-44.71 [[ 4.63986167e-01 1.26067885e-01 8.76825938e-01 1.22607584e+02] [-4.95026817e-02 9.91964819e-01 -1.16427153e-01 2.10586282e+02] [-8.84458208e-01 1.06153532e-02 4.66498653e-01 -4.47140527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.5707140569999 meters Centerline goodness : 0.998821 Centerline is valid? [True, True] Translation: X:122.62, Y:210.58, Z:-44.74 [[ 4.63582248e-01 1.28115262e-01 8.76742824e-01 1.22622232e+02] [-5.28863785e-02 9.91728218e-01 -1.16953719e-01 2.10582906e+02] [-8.84474155e-01 7.84991530e-03 4.66523149e-01 -4.47422368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.6007140569999 meters Centerline goodness : 0.998736 Centerline is valid? [True, True] Translation: X:122.64, Y:210.58, Z:-44.77 [[ 4.63634721e-01 1.31024240e-01 8.76285053e-01 1.22636834e+02] [-5.82892601e-02 9.91373508e-01 -1.17392206e-01 2.10577765e+02] [-8.84107012e-01 3.34909509e-03 4.67272486e-01 -4.47716281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.630714057 meters Centerline goodness : 0.998841 Centerline is valid? [True, True] Translation: X:122.65, Y:210.57, Z:-44.80 [[ 4.63990869e-01 1.32585330e-01 8.75861635e-01 1.22651585e+02] [-6.07368476e-02 9.91170473e-01 -1.17864874e-01 2.10573739e+02] [-8.83755344e-01 1.49115074e-03 4.67946864e-01 -4.48003714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.660714057 meters Centerline goodness : 0.998967 Centerline is valid? [True, True] Translation: X:122.67, Y:210.57, Z:-44.83 [[ 4.64441495e-01 1.33897250e-01 8.75423112e-01 1.22666303e+02] [-6.30294664e-02 9.90995171e-01 -1.18134908e-01 2.10569395e+02] [-8.83358016e-01 -3.10698157e-04 4.68698751e-01 -4.48293203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.6907140569999 meters Centerline goodness : 0.999371 Centerline is valid? [True, True] Translation: X:122.68, Y:210.56, Z:-44.86 [[ 4.65282160e-01 1.36176526e-01 8.74624757e-01 1.22680968e+02] [-6.71043257e-02 9.90678289e-01 -1.18547619e-01 2.10562129e+02] [-8.82615160e-01 -3.53301228e-03 4.70082968e-01 -4.48580907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.7207140569999 meters Centerline goodness : 0.999330 Centerline is valid? [True, True] Translation: X:122.70, Y:210.56, Z:-44.89 [[ 4.65062613e-01 1.37505743e-01 8.74533554e-01 1.22695059e+02] [-6.89514000e-02 9.90488725e-01 -1.19070525e-01 2.10557315e+02] [-8.82588506e-01 -4.92506332e-03 4.70120488e-01 -4.48860927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.750714057 meters Centerline goodness : 0.999374 Centerline is valid? [True, True] Translation: X:122.71, Y:210.55, Z:-44.91 [[ 4.65025838e-01 1.38796555e-01 8.74349179e-01 1.22710058e+02] [-7.08064789e-02 9.90300760e-01 -1.19544335e-01 2.10552084e+02] [-8.82460998e-01 -6.31838195e-03 4.70343136e-01 -4.49147554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.780714057 meters Centerline goodness : 0.999438 Centerline is valid? [True, True] Translation: X:122.72, Y:210.54, Z:-44.94 [[ 4.64818376e-01 1.40796729e-01 8.74139668e-01 1.22724751e+02] [-7.41217474e-02 9.89997671e-01 -1.20044070e-01 2.10543402e+02] [-8.82298047e-01 -8.99406994e-03 4.70605209e-01 -4.49434814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.8107140569999 meters Centerline goodness : 0.999540 Centerline is valid? [True, True] Translation: X:122.74, Y:210.54, Z:-44.97 [[ 4.64878537e-01 1.42023456e-01 8.73909197e-01 1.22739441e+02] [-7.57776904e-02 9.89810922e-01 -1.20549076e-01 2.10537953e+02] [-8.82125664e-01 -1.01821425e-02 4.70904063e-01 -4.49715064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.8407140569999 meters Centerline goodness : 0.999728 Centerline is valid? [True, True] Translation: X:122.75, Y:210.53, Z:-45.00 [[ 4.64951493e-01 1.43098416e-01 8.73695000e-01 1.22754217e+02] [-7.71788784e-02 9.89645501e-01 -1.21017367e-01 2.10532161e+02] [-8.81965720e-01 -1.11635948e-02 4.71181328e-01 -4.50003978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.870714057 meters Centerline goodness : 0.999811 Centerline is valid? [True, True] Translation: X:122.77, Y:210.52, Z:-45.03 [[ 4.64799318e-01 1.44622638e-01 8.73524978e-01 1.22768057e+02] [-7.94485086e-02 9.89402639e-01 -1.21533339e-01 2.10522036e+02] [-8.81844390e-01 -1.29116437e-02 4.71363724e-01 -4.50295093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.900714057 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.78, Y:210.52, Z:-45.06 [[ 4.64412924e-01 1.45914535e-01 8.73515646e-01 1.22783376e+02] [-8.11925053e-02 9.89194831e-01 -1.22071145e-01 2.10515462e+02] [-8.81889116e-01 -1.42315063e-02 4.71242031e-01 -4.50586357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.9307140569999 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:122.80, Y:210.51, Z:-45.09 [[ 4.64067350e-01 1.46984615e-01 8.73519901e-01 1.22798258e+02] [-8.24565851e-02 9.89023113e-01 -1.22614004e-01 2.10509342e+02] [-8.81953744e-01 -1.51263124e-02 4.71093185e-01 -4.50874344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.9607140569999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.81, Y:210.50, Z:-45.11 [[ 4.61095136e-01 1.41512845e-01 8.75993944e-01 1.22809650e+02] [-8.65762969e-02 9.89666053e-01 -1.14305070e-01 2.10495742e+02] [-8.83117104e-01 -2.31347998e-02 4.68581862e-01 -4.51123727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.990714057 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:122.83, Y:210.49, Z:-45.14 [[ 4.62347422e-01 1.43514180e-01 8.75007738e-01 1.22825002e+02] [-8.69136188e-02 9.89397989e-01 -1.16351375e-01 2.10489436e+02] [-8.82428969e-01 -2.22553306e-02 4.69918946e-01 -4.51429093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.020714057 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:122.86, Y:210.46, Z:-45.17 [[ 4.73889218e-01 1.06680805e-01 8.74098516e-01 1.22857063e+02] [-9.39941903e-02 9.93091509e-01 -7.02449060e-02 2.10457435e+02] [-8.75553597e-01 -4.88718787e-02 4.80642735e-01 -4.51659618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.0507140569999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:122.85, Y:210.51, Z:-45.20 [[ 4.60048612e-01 2.17532195e-01 8.60833909e-01 1.22854079e+02] [-8.90205557e-02 9.75938826e-01 -1.99044590e-01 2.10506869e+02] [-8.83419841e-01 1.49382742e-02 4.68344139e-01 -4.52022989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.0807140569999 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:122.87, Y:210.46, Z:-45.23 [[ 4.61398426e-01 1.52342640e-01 8.74015568e-01 1.22866565e+02] [-9.01645013e-02 9.88098155e-01 -1.24629042e-01 2.10463685e+02] [-8.82599487e-01 -2.13015340e-02 4.69642832e-01 -4.52297800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.110714057 meters Centerline goodness : 0.999854 Centerline is valid? [True, True] Translation: X:122.88, Y:210.46, Z:-45.26 [[ 4.61491773e-01 1.52696236e-01 8.73904573e-01 1.22880452e+02] [-8.98965318e-02 9.88054332e-01 -1.25168892e-01 2.10455679e+02] [-8.82578018e-01 -2.07965763e-02 4.69705807e-01 -4.52583874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.140714057 meters Centerline goodness : 0.999770 Centerline is valid? [True, True] Translation: X:122.89, Y:210.44, Z:-45.29 [[ 4.62187684e-01 1.51889511e-01 8.73677355e-01 1.22893794e+02] [-8.72406697e-02 9.88230915e-01 -1.25653191e-01 2.10441410e+02] [-8.82480374e-01 -1.81448402e-02 4.69999101e-01 -4.52870289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.1707140569999 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:122.91, Y:210.43, Z:-45.32 [[ 4.62509606e-01 1.51465544e-01 8.73580593e-01 1.22908351e+02] [-8.54086094e-02 9.88328639e-01 -1.26142262e-01 2.10433164e+02] [-8.82490926e-01 -1.62692956e-02 4.70047951e-01 -4.53164248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.2007140569999 meters Centerline goodness : 0.999622 Centerline is valid? [True, True] Translation: X:122.92, Y:210.43, Z:-45.35 [[ 4.62710862e-01 1.51015053e-01 8.73552009e-01 1.22922344e+02] [-8.34569544e-02 9.88428123e-01 -1.26668000e-01 2.10425003e+02] [-8.82572147e-01 -1.42933307e-02 4.69959685e-01 -4.53459892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.2307140569999 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:122.94, Y:210.41, Z:-45.37 [[ 4.63181947e-01 1.49553537e-01 8.73553790e-01 1.22936017e+02] [-7.93226189e-02 9.88699224e-01 -1.27207577e-01 2.10410792e+02] [-8.82706297e-01 -1.03723213e-02 4.69810609e-01 -4.53745583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.260714057 meters Centerline goodness : 0.999453 Centerline is valid? [True, True] Translation: X:122.95, Y:210.40, Z:-45.40 [[ 4.62995584e-01 1.49155414e-01 8.73720637e-01 1.22950289e+02] [-7.73927085e-02 9.88777614e-01 -1.27785756e-01 2.10403072e+02] [-8.82975344e-01 -8.45536581e-03 4.69343210e-01 -4.54025370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.290714057 meters Centerline goodness : 0.999390 Centerline is valid? [True, True] Translation: X:122.96, Y:210.40, Z:-45.43 [[ 4.62768279e-01 1.48997488e-01 8.73867993e-01 1.22964589e+02] [-7.60512026e-02 9.88812261e-01 -1.28321966e-01 2.10395651e+02] [-8.83211036e-01 -7.07537635e-03 4.68922387e-01 -4.54320635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.3207140569999 meters Centerline goodness : 0.999116 Centerline is valid? [True, True] Translation: X:122.98, Y:210.38, Z:-45.46 [[ 4.63646903e-01 1.48303299e-01 8.73520281e-01 1.22977234e+02] [-7.36062401e-02 9.88931387e-01 -1.28828699e-01 2.10383400e+02] [-8.82957344e-01 -4.56551598e-03 4.69431023e-01 -4.54604829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.3507140569999 meters Centerline goodness : 0.999053 Centerline is valid? [True, True] Translation: X:122.99, Y:210.38, Z:-45.49 [[ 4.64371296e-01 1.48175019e-01 8.73157181e-01 1.22991165e+02] [-7.24516223e-02 9.88955908e-01 -1.29294139e-01 2.10376330e+02] [-8.82672115e-01 -3.22116724e-03 4.69978257e-01 -4.54885394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.380714057 meters Centerline goodness : 0.998779 Centerline is valid? [True, True] Translation: X:123.01, Y:210.37, Z:-45.52 [[ 4.64967678e-01 1.48265101e-01 8.72824449e-01 1.23005468e+02] [-7.17873272e-02 9.88944910e-01 -1.29748004e-01 2.10369064e+02] [-8.82412397e-01 -2.32910633e-03 4.70470973e-01 -4.55180209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.410714057 meters Centerline goodness : 0.998532 Centerline is valid? [True, True] Translation: X:123.02, Y:210.36, Z:-45.55 [[ 4.65357134e-01 1.47498332e-01 8.72746802e-01 1.23018971e+02] [-6.91570664e-02 9.89062267e-01 -1.30280971e-01 2.10358706e+02] [-8.82417157e-01 2.70570831e-04 4.70467734e-01 -4.55471837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.4407140569999 meters Centerline goodness : 0.998400 Centerline is valid? [True, True] Translation: X:123.03, Y:210.35, Z:-45.58 [[ 4.65706828e-01 1.47427531e-01 8.72572217e-01 1.23033406e+02] [-6.80403879e-02 9.89071657e-01 -1.30796646e-01 2.10352813e+02] [-8.82319475e-01 1.54273899e-03 4.70648451e-01 -4.55755842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.4707140569999 meters Centerline goodness : 0.998149 Centerline is valid? [True, True] Translation: X:123.05, Y:210.35, Z:-45.60 [[ 4.65882341e-01 1.46954255e-01 8.72558360e-01 1.23048035e+02] [-6.64093317e-02 9.89138288e-01 -1.31130651e-01 2.10347000e+02] [-8.82351090e-01 3.14543693e-03 4.70581195e-01 -4.56044739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.500714057 meters Centerline goodness : 0.998588 Centerline is valid? [True, True] Translation: X:123.06, Y:210.34, Z:-45.63 [[ 4.66288766e-01 1.46686211e-01 8.72386349e-01 1.23062465e+02] [-6.48918511e-02 9.89171570e-01 -1.31638338e-01 2.10341198e+02] [-8.82249304e-01 4.77071307e-03 4.70758331e-01 -4.56327791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.530714057 meters Centerline goodness : 0.997832 Centerline is valid? [True, True] Translation: X:123.08, Y:210.33, Z:-45.66 [[ 4.66824459e-01 1.45282753e-01 8.72334710e-01 1.23076542e+02] [-6.13107458e-02 9.89356858e-01 -1.31962113e-01 2.10331996e+02] [-8.82222147e-01 8.11965057e-03 4.70763374e-01 -4.56620579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.5607140569999 meters Centerline goodness : 0.997872 Centerline is valid? [True, True] Translation: X:123.09, Y:210.33, Z:-45.69 [[ 4.67048785e-01 1.44762748e-01 8.72301083e-01 1.23091948e+02] [-5.92125242e-02 9.89413508e-01 -1.32494483e-01 2.10326704e+02] [-8.82246740e-01 1.02302382e-02 4.70676144e-01 -4.56912717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.5907140569999 meters Centerline goodness : 0.998189 Centerline is valid? [True, True] Translation: X:123.11, Y:210.32, Z:-45.72 [[ 4.66821968e-01 1.43544879e-01 8.72623698e-01 1.23106377e+02] [-5.48448420e-02 9.89538565e-01 -1.33437147e-01 2.10319768e+02] [-8.82649020e-01 1.44324828e-02 4.69811037e-01 -4.57197696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.620714057 meters Centerline goodness : 0.998167 Centerline is valid? [True, True] Translation: X:123.12, Y:210.31, Z:-45.75 [[ 4.64751270e-01 1.34896458e-01 8.75105253e-01 1.23122030e+02] [-5.30901493e-02 9.90793910e-01 -1.24534591e-01 2.10312087e+02] [-8.83848230e-01 1.14181406e-02 4.67634401e-01 -4.57475045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.650714057 meters Centerline goodness : 0.997871 Centerline is valid? [True, True] Translation: X:123.13, Y:210.32, Z:-45.78 [[ 4.66676969e-01 1.50431887e-01 8.71540506e-01 1.23134937e+02] [-5.22819638e-02 9.88397620e-01 -1.42606947e-01 2.10316200e+02] [-8.82881194e-01 2.09855284e-02 4.69127280e-01 -4.57782608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.6807140569999 meters Centerline goodness : 0.997894 Centerline is valid? [True, True] Translation: X:123.15, Y:210.31, Z:-45.81 [[ 4.68405078e-01 1.50682685e-01 8.70569590e-01 1.23149748e+02] [-5.33794464e-02 9.88375616e-01 -1.42352649e-01 2.10311528e+02] [-8.81899834e-01 2.02081811e-02 4.71003516e-01 -4.58061283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.7107140569999 meters Centerline goodness : 0.997979 Centerline is valid? [True, True] Translation: X:123.17, Y:210.30, Z:-45.83 [[ 4.67153028e-01 1.42530020e-01 8.72612882e-01 1.23165946e+02] [-5.45928033e-02 9.89688254e-01 -1.32426527e-01 2.10304238e+02] [-8.82489476e-01 1.42250699e-02 4.70116978e-01 -4.58333239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.740714057 meters Centerline goodness : 0.998147 Centerline is valid? [True, True] Translation: X:123.18, Y:210.30, Z:-45.86 [[ 4.66720518e-01 1.45440278e-01 8.72364078e-01 1.23180569e+02] [-5.64727444e-02 9.89273405e-01 -1.34718076e-01 2.10302428e+02] [-8.82600016e-01 1.36108966e-02 4.69927607e-01 -4.58613245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.770714057 meters Centerline goodness : 0.997828 Centerline is valid? [True, True] Translation: X:123.20, Y:210.30, Z:-45.89 [[ 4.66116564e-01 1.47833853e-01 8.72284644e-01 1.23195340e+02] [-6.06219199e-02 9.88960168e-01 -1.35213788e-01 2.10300315e+02] [-8.82643944e-01 1.01458166e-02 4.69932687e-01 -4.58891129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.8007140569999 meters Centerline goodness : 0.997872 Centerline is valid? [True, True] Translation: X:123.21, Y:210.30, Z:-45.92 [[ 4.66041881e-01 1.49182586e-01 8.72094904e-01 1.23210188e+02] [-6.26025219e-02 9.88771913e-01 -1.35687243e-01 2.10298324e+02] [-8.82545120e-01 8.64059797e-03 4.70148329e-01 -4.59168799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.8307140569999 meters Centerline goodness : 0.997809 Centerline is valid? [True, True] Translation: X:123.25, Y:210.27, Z:-45.92 [[ 4.80728012e-01 9.52046591e-02 8.71686097e-01 1.23250851e+02] [-6.35591275e-02 9.95256814e-01 -7.36485679e-02 2.10272085e+02] [-8.74563214e-01 -1.99986781e-02 4.84498955e-01 -4.59249887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.860714057 meters Centerline goodness : 0.998125 Centerline is valid? [True, True] Translation: X:123.23, Y:210.31, Z:-45.98 [[ 4.65685112e-01 1.87763649e-01 8.64801820e-01 1.23233796e+02] [-6.32646850e-02 9.81795089e-01 -1.79097689e-01 2.10311861e+02] [-8.82686216e-01 2.86917125e-02 4.69086165e-01 -4.59761991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.890714057 meters Centerline goodness : 0.998017 Centerline is valid? [True, True] Translation: X:123.25, Y:210.29, Z:-46.00 [[ 4.65737884e-01 1.50460838e-01 8.72037705e-01 1.23252744e+02] [-6.24172441e-02 9.88570481e-01 -1.37231530e-01 2.10292309e+02] [-8.82718704e-01 9.48373192e-03 4.69806075e-01 -4.60012662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.9207140569999 meters Centerline goodness : 0.998017 Centerline is valid? [True, True] Translation: X:123.27, Y:210.29, Z:-46.03 [[ 4.65701884e-01 1.48227370e-01 8.72439340e-01 1.23268530e+02] [-6.25590389e-02 9.88920009e-01 -1.34623858e-01 2.10288709e+02] [-8.82727660e-01 8.11561780e-03 4.69814873e-01 -4.60306004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.9507140569999 meters Centerline goodness : 0.997765 Centerline is valid? [True, True] Translation: X:123.28, Y:210.29, Z:-46.06 [[ 4.66393537e-01 1.47075160e-01 8.72264848e-01 1.23283749e+02] [-6.08499078e-02 9.89079415e-01 -1.34235616e-01 2.10285829e+02] [-8.82481930e-01 9.52938805e-03 4.70249757e-01 -4.60595683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.9807140569999 meters Centerline goodness : 0.998141 Centerline is valid? [True, True] Translation: X:123.30, Y:210.28, Z:-46.09 [[ 4.67670546e-01 1.48278005e-01 8.71377010e-01 1.23298115e+02] [-5.73698710e-02 9.88842286e-01 -1.37475928e-01 2.10284980e+02] [-8.82039091e-01 1.43026556e-02 4.70959102e-01 -4.60893000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.010714057 meters Centerline goodness : 0.997846 Centerline is valid? [True, True] Translation: X:123.31, Y:210.28, Z:-46.12 [[ 4.68750505e-01 1.47309642e-01 8.70960868e-01 1.23313544e+02] [-5.44694997e-02 9.88940468e-01 -1.37948632e-01 2.10282497e+02] [-8.81649612e-01 1.72226884e-02 4.71590226e-01 -4.61181630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.040714057 meters Centerline goodness : 0.997995 Centerline is valid? [True, True] Translation: X:123.33, Y:210.28, Z:-46.15 [[ 4.69089424e-01 1.45325885e-01 8.71111646e-01 1.23329381e+02] [-4.92091316e-02 9.89136759e-01 -1.38516908e-01 2.10279818e+02] [-8.81778642e-01 2.21101690e-02 4.71144953e-01 -4.61472367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.0707140569999 meters Centerline goodness : 0.997784 Centerline is valid? [True, True] Translation: X:123.34, Y:210.28, Z:-46.18 [[ 4.68426752e-01 1.44520590e-01 8.71602075e-01 1.23344535e+02] [-4.62930532e-02 9.89190282e-01 -1.39138562e-01 2.10277517e+02] [-8.82288689e-01 2.48271033e-02 4.70053490e-01 -4.61764118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.1007140569999 meters Centerline goodness : 0.997890 Centerline is valid? [True, True] Translation: X:123.36, Y:210.27, Z:-46.21 [[ 4.68499131e-01 1.44014215e-01 8.71646987e-01 1.23360654e+02] [-4.41865108e-02 9.89209152e-01 -1.39688245e-01 2.10274629e+02] [-8.82358270e-01 2.69287825e-02 4.69807114e-01 -4.62053917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.130714057 meters Centerline goodness : 0.998207 Centerline is valid? [True, True] Translation: X:123.38, Y:210.27, Z:-46.23 [[ 4.68751629e-01 1.43565555e-01 8.71585247e-01 1.23375962e+02] [-4.22384142e-02 9.89218261e-01 -1.40225347e-01 2.10272319e+02] [-8.82319572e-01 2.89164810e-02 4.69761653e-01 -4.62335080e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.160714057 meters Centerline goodness : 0.998354 Centerline is valid? [True, True] Translation: X:123.39, Y:210.27, Z:-46.26 [[ 4.69262113e-01 1.43335272e-01 8.71348420e-01 1.23390931e+02] [-4.08998781e-02 9.89207625e-01 -1.40696394e-01 2.10270766e+02] [-8.82111257e-01 3.03854429e-02 4.70060056e-01 -4.62624401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.1907140569999 meters Centerline goodness : 0.998015 Centerline is valid? [True, True] Translation: X:123.41, Y:210.27, Z:-46.29 [[ 4.69736266e-01 1.44198159e-01 8.70950476e-01 1.23405855e+02] [-4.18809772e-02 9.89098904e-01 -1.41171319e-01 2.10269450e+02] [-8.81812806e-01 2.98370310e-02 4.70654785e-01 -4.62916146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.2207140569999 meters Centerline goodness : 0.998249 Centerline is valid? [True, True] Translation: X:123.42, Y:210.27, Z:-46.32 [[ 4.70134552e-01 1.45545657e-01 8.70511324e-01 1.23420883e+02] [-4.38836260e-02 9.88944063e-01 -1.41646985e-01 2.10268448e+02] [-8.81503109e-01 2.83919485e-02 4.71323845e-01 -4.63204061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.250714057 meters Centerline goodness : 0.998270 Centerline is valid? [True, True] Translation: X:123.44, Y:210.27, Z:-46.35 [[ 4.70498894e-01 1.49155622e-01 8.69703048e-01 1.23436511e+02] [-5.08608100e-02 9.88555698e-01 -1.42023976e-01 2.10269296e+02] [-8.80933578e-01 2.25883223e-02 4.72700539e-01 -4.63481572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.280714057 meters Centerline goodness : 0.997997 Centerline is valid? [True, True] Translation: X:123.45, Y:210.27, Z:-46.38 [[ 4.70279506e-01 1.51551421e-01 8.69407472e-01 1.23452162e+02] [-5.50748711e-02 9.88264387e-01 -1.42478980e-01 2.10268625e+02] [-8.80797335e-01 1.91224396e-02 4.73107163e-01 -4.63767022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.3107140569999 meters Centerline goodness : 0.997894 Centerline is valid? [True, True] Translation: X:123.47, Y:210.27, Z:-46.41 [[ 4.69545007e-01 1.54091734e-01 8.69357938e-01 1.23468246e+02] [-5.94351469e-02 9.87935301e-01 -1.43008055e-01 2.10267499e+02] [-8.80905755e-01 1.54783013e-02 4.73038553e-01 -4.64059663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.3407140569999 meters Centerline goodness : 0.998610 Centerline is valid? [True, True] Translation: X:123.48, Y:210.27, Z:-46.43 [[ 4.67780595e-01 1.58705922e-01 8.69479008e-01 1.23484836e+02] [-6.81199061e-02 9.87294078e-01 -1.43562117e-01 2.10267115e+02] [-8.81215634e-01 7.92674405e-03 4.72648044e-01 -4.64329635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.370714057 meters Centerline goodness : 0.998106 Centerline is valid? [True, True] Translation: X:123.50, Y:210.27, Z:-46.46 [[ 4.67171089e-01 1.60916533e-01 8.69400393e-01 1.23500831e+02] [-7.18866622e-02 9.86956365e-01 -1.44046664e-01 2.10265340e+02] [-8.81239741e-01 4.79614475e-03 4.72645232e-01 -4.64621622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.400714057 meters Centerline goodness : 0.998550 Centerline is valid? [True, True] Translation: X:123.52, Y:210.26, Z:-46.49 [[ 4.66208113e-01 1.62694546e-01 8.69586384e-01 1.23515856e+02] [-7.45815619e-02 9.86673148e-01 -1.44615662e-01 2.10263736e+02] [-8.81525715e-01 2.56588401e-03 4.72129040e-01 -4.64905185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.4307140569999 meters Centerline goodness : 0.998485 Centerline is valid? [True, True] Translation: X:123.53, Y:210.26, Z:-46.52 [[ 4.64987559e-01 1.64913674e-01 8.69821850e-01 1.23531076e+02] [-7.82730367e-02 9.86307829e-01 -1.45155769e-01 2.10261166e+02] [-8.81850272e-01 -5.87970751e-04 4.71529164e-01 -4.65192707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.4607140569999 meters Centerline goodness : 0.998088 Centerline is valid? [True, True] Translation: X:123.54, Y:210.26, Z:-46.55 [[ 4.63975459e-01 1.65914996e-01 8.70171815e-01 1.23544993e+02] [-7.92745604e-02 9.86139128e-01 -1.45757213e-01 2.10257919e+02] [-8.82293782e-01 -1.35471846e-03 4.70697192e-01 -4.65490054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.490714057 meters Centerline goodness : 0.998467 Centerline is valid? [True, True] Translation: X:123.56, Y:210.25, Z:-46.58 [[ 4.64231167e-01 1.67106482e-01 8.69807362e-01 1.23559431e+02] [-8.09017024e-02 9.85935734e-01 -1.46238312e-01 2.10253406e+02] [-8.82011529e-01 -2.48051427e-03 4.71221295e-01 -4.65780706e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.520714057 meters Centerline goodness : 0.998235 Centerline is valid? [True, True] Translation: X:123.57, Y:210.25, Z:-46.61 [[ 4.64609276e-01 1.68026062e-01 8.69428239e-01 1.23574607e+02] [-8.19522054e-02 9.85777726e-01 -1.46717796e-01 2.10249819e+02] [-8.81715406e-01 -3.08511293e-03 4.71771582e-01 -4.66075770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.5507140569999 meters Centerline goodness : 0.998170 Centerline is valid? [True, True] Translation: X:123.59, Y:210.25, Z:-46.64 [[ 4.64578423e-01 1.69070704e-01 8.69242191e-01 1.23589193e+02] [-8.32161567e-02 9.85596062e-01 -1.47225930e-01 2.10246257e+02] [-8.81613271e-01 -3.93700417e-03 4.71956078e-01 -4.66370360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.5807140569999 meters Centerline goodness : 0.998108 Centerline is valid? [True, True] Translation: X:123.60, Y:210.24, Z:-46.67 [[ 4.64417438e-01 1.70064174e-01 8.69134409e-01 1.23603545e+02] [-8.43506057e-02 9.85421799e-01 -1.47745907e-01 2.10242819e+02] [-8.81590278e-01 -4.69623798e-03 4.71992084e-01 -4.66658712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.610714057 meters Centerline goodness : 0.998044 Centerline is valid? [True, True] Translation: X:123.62, Y:210.24, Z:-46.70 [[ 4.63936038e-01 1.71468555e-01 8.69115578e-01 1.23618237e+02] [-8.64014647e-02 9.85169339e-01 -1.48243585e-01 2.10236885e+02] [-8.81645133e-01 -6.31731728e-03 4.71870694e-01 -4.66953933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.640714057 meters Centerline goodness : 0.998025 Centerline is valid? [True, True] Translation: X:123.63, Y:210.23, Z:-46.72 [[ 4.63962018e-01 1.72346047e-01 8.68928125e-01 1.23632848e+02] [-8.73079217e-02 9.85012658e-01 -1.48752785e-01 2.10231985e+02] [-8.81542156e-01 -6.84866635e-03 4.72055635e-01 -4.67229541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.6707140569999 meters Centerline goodness : 0.998148 Centerline is valid? [True, True] Translation: X:123.65, Y:210.22, Z:-46.75 [[ 4.62544792e-01 1.72907738e-01 8.69571866e-01 1.23646884e+02] [-8.76869949e-02 9.84911425e-01 -1.49199449e-01 2.10223851e+02] [-8.82249005e-01 -7.23871560e-03 4.70727410e-01 -4.67522125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.7007140569999 meters Centerline goodness : 0.997748 Centerline is valid? [True, True] Translation: X:123.66, Y:210.22, Z:-46.78 [[ 4.62569966e-01 1.73449094e-01 8.69450653e-01 1.23661640e+02] [-8.78803594e-02 9.84816833e-01 -1.49709213e-01 2.10217924e+02] [-8.82216566e-01 -7.15665045e-03 4.70789458e-01 -4.67808284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.7307140569999 meters Centerline goodness : 0.998192 Centerline is valid? [True, True] Translation: X:123.68, Y:210.21, Z:-46.81 [[ 4.61876261e-01 1.73743683e-01 8.69760572e-01 1.23675786e+02] [-8.74270072e-02 9.84768624e-01 -1.50290635e-01 2.10212413e+02] [-8.82624970e-01 -6.62488723e-03 4.70031141e-01 -4.68107013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.760714057 meters Centerline goodness : 0.997601 Centerline is valid? [True, True] Translation: X:123.69, Y:210.20, Z:-46.84 [[ 4.61761088e-01 1.73174523e-01 8.69935217e-01 1.23688647e+02] [-8.51704355e-02 9.84881159e-01 -1.50847936e-01 2.10204028e+02] [-8.82905824e-01 -4.43705416e-03 4.69529145e-01 -4.68394555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.790714057 meters Centerline goodness : 0.997479 Centerline is valid? [True, True] Translation: X:123.70, Y:210.20, Z:-46.87 [[ 4.61434736e-01 1.73190213e-01 8.70105243e-01 1.23702055e+02] [-8.45359301e-02 9.84881125e-01 -1.51204648e-01 2.10197985e+02] [-8.83137396e-01 -3.78407925e-03 4.69099158e-01 -4.68687003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.8207140569999 meters Centerline goodness : 0.997286 Centerline is valid? [True, True] Translation: X:123.72, Y:210.19, Z:-46.90 [[ 4.62028652e-01 1.73157095e-01 8.69796612e-01 1.23716611e+02] [-8.35466156e-02 9.84890830e-01 -1.51690525e-01 2.10192131e+02] [-8.82920998e-01 -2.58319424e-03 4.69514472e-01 -4.68981480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.8507140569999 meters Centerline goodness : 0.997644 Centerline is valid? [True, True] Translation: X:123.73, Y:210.19, Z:-46.93 [[ 4.61928440e-01 1.73126592e-01 8.69855907e-01 1.23730076e+02] [-8.24501733e-02 9.84898591e-01 -1.52239073e-01 2.10186385e+02] [-8.83076489e-01 -1.39621293e-03 4.69226987e-01 -4.69271664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.880714057 meters Centerline goodness : 0.997017 Centerline is valid? [True, True] Translation: X:123.74, Y:210.18, Z:-46.96 [[ 4.61897423e-01 1.72902640e-01 8.69916920e-01 1.23744645e+02] [-8.13234284e-02 9.84938885e-01 -1.52584055e-01 2.10176499e+02] [-8.83197187e-01 -2.66444544e-04 4.69001768e-01 -4.69564948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.910714057 meters Centerline goodness : 0.997164 Centerline is valid? [True, True] Translation: X:123.76, Y:210.17, Z:-46.99 [[ 4.61420730e-01 1.73123108e-01 8.70126025e-01 1.23759232e+02] [-8.06948726e-02 9.84900085e-01 -1.53167096e-01 2.10170469e+02] [-8.83503960e-01 4.59764509e-04 4.68423463e-01 -4.69852213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.9407140569999 meters Centerline goodness : 0.996408 Centerline is valid? [True, True] Translation: X:123.77, Y:210.16, Z:-47.01 [[ 4.61488972e-01 1.73014783e-01 8.70111380e-01 1.23773333e+02] [-7.94363105e-02 9.84917550e-01 -1.53711717e-01 2.10161650e+02] [-8.83582368e-01 1.81782459e-03 4.68272244e-01 -4.70136407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.9707140569999 meters Centerline goodness : 0.996574 Centerline is valid? [True, True] Translation: X:123.79, Y:210.16, Z:-47.04 [[ 4.61256685e-01 1.73234176e-01 8.70190893e-01 1.23788032e+02] [-7.89153947e-02 9.84877564e-01 -1.54235353e-01 2.10156511e+02] [-8.83750322e-01 2.47063007e-03 4.67952204e-01 -4.70427286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.000714057 meters Centerline goodness : 0.996571 Centerline is valid? [True, True] Translation: X:123.80, Y:210.15, Z:-47.07 [[ 4.61265447e-01 1.73370814e-01 8.70159036e-01 1.23802912e+02] [-7.82070187e-02 9.84850972e-01 -1.54765065e-01 2.10151772e+02] [-8.83808718e-01 3.33523287e-03 4.67836539e-01 -4.70721782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.030714057 meters Centerline goodness : 0.996593 Centerline is valid? [True, True] Translation: X:123.82, Y:210.15, Z:-47.10 [[ 4.61052336e-01 1.74292635e-01 8.70087824e-01 1.23816625e+02] [-7.74436707e-02 9.84682974e-01 -1.56211134e-01 2.10145098e+02] [-8.83987116e-01 4.63871319e-03 4.67488247e-01 -4.71017596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.0607140569999 meters Centerline goodness : 0.996912 Centerline is valid? [True, True] Translation: X:123.83, Y:210.14, Z:-47.13 [[ 4.61450696e-01 1.77250401e-01 8.69278753e-01 1.23829955e+02] [-7.83752308e-02 9.84151664e-01 -1.59068621e-01 2.10141594e+02] [-8.83697108e-01 5.27240297e-03 4.68029511e-01 -4.71292209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.0907140569999 meters Centerline goodness : 0.996615 Centerline is valid? [True, True] Translation: X:123.84, Y:210.14, Z:-47.16 [[ 4.61901039e-01 1.74854602e-01 8.69524754e-01 1.23844860e+02] [-7.94306640e-02 9.84590005e-01 -1.55798885e-01 2.10135225e+02] [-8.83367534e-01 2.89673810e-03 4.68671964e-01 -4.71583117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.120714057 meters Centerline goodness : 0.996535 Centerline is valid? [True, True] Translation: X:123.86, Y:210.13, Z:-47.19 [[ 4.63641945e-01 1.75968085e-01 8.68372835e-01 1.23857960e+02] [-8.11693814e-02 9.84394023e-01 -1.56140768e-01 2.10129612e+02] [-8.82296820e-01 1.90812369e-03 4.70689580e-01 -4.71866438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.150714057 meters Centerline goodness : 0.997031 Centerline is valid? [True, True] Translation: X:123.87, Y:210.14, Z:-47.21 [[ 4.64975237e-01 1.82180567e-01 8.66376517e-01 1.23867787e+02] [-7.51635738e-02 9.83188733e-01 -1.66404187e-01 2.10138538e+02] [-8.82127239e-01 1.22538709e-02 4.70851757e-01 -4.72075344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.1807140569999 meters Centerline goodness : 0.996821 Centerline is valid? [True, True] Translation: X:123.90, Y:210.09, Z:-47.24 [[ 4.64325400e-01 1.18569271e-01 8.77692003e-01 1.23897566e+02] [-8.25676127e-02 9.92477360e-01 -9.03951239e-02 2.10093285e+02] [-8.81807526e-01 -3.04961814e-02 4.70622429e-01 -4.72351272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.2107140569999 meters Centerline goodness : 0.997220 Centerline is valid? [True, True] Translation: X:123.90, Y:210.12, Z:-47.27 [[ 4.64196275e-01 1.77915068e-01 8.67679692e-01 1.23900533e+02] [-8.10133958e-02 9.84040478e-01 -1.58433479e-01 2.10115158e+02] [-8.82019642e-01 3.25055233e-03 4.71201428e-01 -4.72719516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.240714057 meters Centerline goodness : 0.991142 Centerline is valid? [True, True] Translation: X:123.91, Y:210.11, Z:-47.30 [[ 4.61461384e-01 1.75554578e-01 8.69617146e-01 1.23912574e+02] [-7.94316272e-02 9.84464549e-01 -1.56589173e-01 2.10109509e+02] [-8.83597198e-01 3.18475159e-03 4.68236959e-01 -4.72978653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.270714057 meters Centerline goodness : 0.996459 Centerline is valid? [True, True] Translation: X:123.93, Y:210.11, Z:-47.32 [[ 4.65179044e-01 1.84949168e-01 8.65680231e-01 1.23927635e+02] [-7.36785072e-02 9.82626512e-01 -1.70342643e-01 2.10110504e+02] [-8.82145076e-01 1.54578004e-02 4.70724040e-01 -4.73227129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.3007140569999 meters Centerline goodness : 0.996819 Centerline is valid? [True, True] Translation: X:123.96, Y:210.08, Z:-47.34 [[ 4.70978454e-01 1.38044808e-01 8.71276607e-01 1.23963456e+02] [-7.34991235e-02 9.90386479e-01 -1.17185756e-01 2.10081227e+02] [-8.79077457e-01 -8.84610074e-03 4.76596865e-01 -4.73385148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.3307140569999 meters Centerline goodness : 0.991642 Centerline is valid? [True, True] Translation: X:123.96, Y:210.11, Z:-47.38 [[ 4.70258049e-01 2.12994049e-01 8.56440835e-01 1.23961468e+02] [-7.20538338e-02 9.76465764e-01 -2.03280243e-01 2.10113796e+02] [-8.79582636e-01 3.38843249e-02 4.74537922e-01 -4.73793075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.360714057 meters Centerline goodness : 0.996781 Centerline is valid? [True, True] Translation: X:123.98, Y:210.09, Z:-47.40 [[ 4.66825501e-01 1.69924894e-01 8.67870660e-01 1.23980174e+02] [-6.74638686e-02 9.85349261e-01 -1.56637989e-01 2.10091840e+02] [-8.81772407e-01 1.45726956e-02 4.71449954e-01 -4.73958784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.390714057 meters Centerline goodness : 0.997086 Centerline is valid? [True, True] Translation: X:124.01, Y:210.08, Z:-47.41 [[ 4.74865599e-01 1.55437401e-01 8.66222764e-01 1.24006704e+02] [-6.91604113e-02 9.87825900e-01 -1.39344284e-01 2.10079467e+02] [-8.77336595e-01 6.26148418e-03 4.79834652e-01 -4.74139078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.4207140569999 meters Centerline goodness : 0.997013 Centerline is valid? [True, True] Translation: X:124.00, Y:210.10, Z:-47.45 [[ 4.67350980e-01 1.99108506e-01 8.61358731e-01 1.24002819e+02] [-6.83230327e-02 9.79528983e-01 -1.89353994e-01 2.10099715e+02] [-8.81427833e-01 2.96441339e-02 4.71387527e-01 -4.74524824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.4507140569999 meters Centerline goodness : 0.995897 Centerline is valid? [True, True] Translation: X:124.00, Y:210.12, Z:-47.48 [[ 4.60885120e-01 2.10410670e-01 8.62155587e-01 1.24000758e+02] [-5.80405369e-02 9.76553555e-01 -2.07302800e-01 2.10121015e+02] [-8.85559824e-01 4.55028028e-02 4.62291350e-01 -4.74793098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.4807140569999 meters Centerline goodness : 0.996747 Centerline is valid? [True, True] Translation: X:124.06, Y:210.03, Z:-47.49 [[ 4.67500476e-01 7.38867121e-02 8.80899574e-01 1.24060825e+02] [-7.50835371e-02 9.96218720e-01 -4.37118346e-02 2.10033937e+02] [-8.80798369e-01 -4.57057523e-02 4.71280402e-01 -4.74893377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.510714057 meters Centerline goodness : 0.996322 Centerline is valid? [True, True] Translation: X:124.05, Y:210.08, Z:-47.53 [[ 4.69287270e-01 1.76972006e-01 8.65130260e-01 1.24054780e+02] [-7.79407613e-02 9.84189473e-01 -1.59048163e-01 2.10078653e+02] [-8.79599168e-01 7.21036725e-03 4.75660925e-01 -4.75344841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.540714057 meters Centerline goodness : 0.991291 Centerline is valid? [True, True] Translation: X:124.07, Y:210.08, Z:-47.56 [[ 4.71545104e-01 1.94470795e-01 8.60131574e-01 1.24067105e+02] [-8.32092639e-02 9.80841018e-01 -1.76145157e-01 2.10084178e+02] [-8.77907418e-01 1.14894713e-02 4.78692551e-01 -4.75631096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.5707140569999 meters Centerline goodness : 0.997041 Centerline is valid? [True, True] Translation: X:124.08, Y:210.08, Z:-47.58 [[ 4.73546555e-01 2.10966390e-01 8.55129723e-01 1.24079712e+02] [-9.12319026e-02 9.77416562e-01 -1.90613759e-01 2.10081619e+02] [-8.76031050e-01 1.22493772e-02 4.82099110e-01 -4.75809390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.6007140569999 meters Centerline goodness : 0.996722 Centerline is valid? [True, True] Translation: X:124.11, Y:210.03, Z:-47.60 [[ 4.73887785e-01 1.26268866e-01 8.71485250e-01 1.24114715e+02] [-9.84282238e-02 9.91059534e-01 -9.00715540e-02 2.10033671e+02] [-8.75066999e-01 -4.30949360e-02 4.82079427e-01 -4.75988549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.630714057 meters Centerline goodness : 0.996681 Centerline is valid? [True, True] Translation: X:124.15, Y:210.01, Z:-47.63 [[ 4.81981619e-01 1.20289508e-01 8.67884873e-01 1.24147651e+02] [-1.13412651e-01 9.90763162e-01 -7.43365879e-02 2.10009117e+02] [-8.68810272e-01 -6.26002555e-02 4.91171985e-01 -4.76298048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.660714057 meters Centerline goodness : 0.996411 Centerline is valid? [True, True] Translation: X:124.14, Y:210.06, Z:-47.67 [[ 4.81086660e-01 2.27756409e-01 8.46571110e-01 1.24140928e+02] [-1.16397560e-01 9.73708491e-01 -1.95814663e-01 2.10056057e+02] [-8.68911522e-01 -4.33498999e-03 4.94948456e-01 -4.76734117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.6907140569999 meters Centerline goodness : 0.996347 Centerline is valid? [True, True] Translation: X:124.16, Y:210.05, Z:-47.70 [[ 4.81613538e-01 2.22512052e-01 8.47665493e-01 1.24157446e+02] [-1.17557627e-01 9.74892287e-01 -1.89116981e-01 2.10048735e+02] [-8.68463358e-01 -8.56824546e-03 4.95679312e-01 -4.77014983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.7207140569999 meters Centerline goodness : 0.996345 Centerline is valid? [True, True] Translation: X:124.15, Y:210.08, Z:-47.73 [[ 4.75851281e-01 2.57928890e-01 8.40855663e-01 1.24151379e+02] [-1.05663279e-01 9.65873611e-01 -2.36481373e-01 2.10079563e+02] [-8.73155674e-01 2.36823979e-02 4.86865807e-01 -4.77299358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.750714057 meters Centerline goodness : 0.996471 Centerline is valid? [True, True] Translation: X:124.21, Y:209.99, Z:-47.74 [[ 4.84379890e-01 1.22298688e-01 8.66267368e-01 1.24208824e+02] [-1.18674881e-01 9.90213582e-01 -7.34393315e-02 2.09988883e+02] [-8.66771247e-01 -6.72316414e-02 4.94153328e-01 -4.77393532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.780714057 meters Centerline goodness : 0.996534 Centerline is valid? [True, True] Translation: X:124.20, Y:210.03, Z:-47.79 [[ 4.83589093e-01 2.25086332e-01 8.45859168e-01 1.24204227e+02] [-1.18259796e-01 9.74311117e-01 -1.91657163e-01 2.10031055e+02] [-8.67269399e-01 -7.34781851e-03 4.97784893e-01 -4.77853958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.8107140569999 meters Centerline goodness : 0.996345 Centerline is valid? [True, True] Translation: X:124.22, Y:210.03, Z:-47.81 [[ 4.83409917e-01 2.25260347e-01 8.45915261e-01 1.24219377e+02] [-1.17680399e-01 9.74275979e-01 -1.92191678e-01 2.10025837e+02] [-8.67448082e-01 -6.64028247e-03 4.97483398e-01 -4.78133456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.8407140569999 meters Centerline goodness : 0.996345 Centerline is valid? [True, True] Translation: X:124.24, Y:210.02, Z:-47.84 [[ 4.83362474e-01 2.25756123e-01 8.45810198e-01 1.24235403e+02] [-1.17871730e-01 9.74161657e-01 -1.92653374e-01 2.10022292e+02] [-8.67448543e-01 -6.57569961e-03 4.97483453e-01 -4.78424994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.870714057 meters Centerline goodness : 0.996389 Centerline is valid? [True, True] Translation: X:124.25, Y:210.02, Z:-47.87 [[ 4.83247332e-01 2.25773355e-01 8.45871390e-01 1.24251561e+02] [-1.17270888e-01 9.74161866e-01 -1.93018645e-01 2.10016758e+02] [-8.67594119e-01 -5.92034386e-03 4.97237765e-01 -4.78711063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.900714057 meters Centerline goodness : 0.996343 Centerline is valid? [True, True] Translation: X:124.25, Y:210.05, Z:-47.90 [[ 4.76981739e-01 2.61365295e-01 8.39152312e-01 1.24246092e+02] [-1.03917599e-01 9.64834882e-01 -2.41443126e-01 2.10048046e+02] [-8.72748276e-01 2.79612686e-02 4.87369074e-01 -4.78990330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.9307140569999 meters Centerline goodness : 0.996471 Centerline is valid? [True, True] Translation: X:124.31, Y:209.95, Z:-47.91 [[ 4.84042376e-01 1.12981008e-01 8.67720157e-01 1.24307119e+02] [-1.13031285e-01 9.91394861e-01 -6.60314952e-02 2.09950768e+02] [-8.67713609e-01 -6.61174822e-02 4.92647512e-01 -4.79071889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.9607140569999 meters Centerline goodness : 0.996535 Centerline is valid? [True, True] Translation: X:124.30, Y:210.00, Z:-47.95 [[ 4.84131191e-01 2.28231686e-01 8.44705444e-01 1.24297379e+02] [-1.11925633e-01 9.73605268e-01 -1.98910618e-01 2.10000349e+02] [-8.67807377e-01 1.75464252e-03 4.96897654e-01 -4.79545568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.990714057 meters Centerline goodness : 0.996338 Centerline is valid? [True, True] Translation: X:124.31, Y:209.99, Z:-47.98 [[ 4.85030318e-01 2.22912719e-01 8.45609550e-01 1.24313110e+02] [-1.05770531e-01 9.74821309e-01 -1.96305912e-01 2.09991082e+02] [-8.68077292e-01 5.77374752e-03 4.96395486e-01 -4.79826154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.020714057 meters Centerline goodness : 0.996358 Centerline is valid? [True, True] Translation: X:124.33, Y:209.99, Z:-48.01 [[ 4.85665573e-01 2.21902042e-01 8.45510754e-01 1.24328514e+02] [-1.02878352e-01 9.75031086e-01 -1.96800472e-01 2.09985454e+02] [-8.68069695e-01 8.59446136e-03 4.96367948e-01 -4.80103118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.0507140569999 meters Centerline goodness : 0.996822 Centerline is valid? [True, True] Translation: X:124.34, Y:209.98, Z:-48.04 [[ 4.86977152e-01 2.20898398e-01 8.45019024e-01 1.24344270e+02] [-1.00246707e-01 9.75231303e-01 -1.97166184e-01 2.09980033e+02] [-8.67642698e-01 1.13050521e-02 4.97059699e-01 -4.80390755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.0807140569999 meters Centerline goodness : 0.996628 Centerline is valid? [True, True] Translation: X:124.36, Y:209.98, Z:-48.07 [[ 4.89886642e-01 2.21884105e-01 8.43076818e-01 1.24358837e+02] [-9.53632164e-02 9.74904107e-01 -2.01166200e-01 2.09975832e+02] [-8.66554635e-01 1.81501170e-02 4.98752081e-01 -4.80691400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.110714057 meters Centerline goodness : 0.996161 Centerline is valid? [True, True] Translation: X:124.37, Y:209.97, Z:-48.10 [[ 4.91018059e-01 2.18788254e-01 8.43227707e-01 1.24373830e+02] [-9.53836217e-02 9.75631236e-01 -1.97599738e-01 2.09969869e+02] [-8.65911791e-01 1.65949273e-02 4.99921372e-01 -4.80951004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.140714057 meters Centerline goodness : 0.996734 Centerline is valid? [True, True] Translation: X:124.39, Y:209.96, Z:-48.12 [[ 4.90443229e-01 2.17838235e-01 8.43808001e-01 1.24390291e+02] [-9.28097881e-02 9.75804191e-01 -1.97971020e-01 2.09964149e+02] [-8.66517041e-01 1.87799046e-02 4.98794079e-01 -4.81234511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.1707140569999 meters Centerline goodness : 0.996966 Centerline is valid? [True, True] Translation: X:124.41, Y:209.96, Z:-48.15 [[ 4.90440779e-01 2.18316351e-01 8.43685850e-01 1.24406364e+02] [-9.29722172e-02 9.75695421e-01 -1.98430372e-01 2.09959714e+02] [-8.66501015e-01 1.88790020e-02 4.98818177e-01 -4.81513021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.2007140569999 meters Centerline goodness : 0.996730 Centerline is valid? [True, True] Translation: X:124.42, Y:209.96, Z:-48.18 [[ 4.90489747e-01 2.18900800e-01 8.43505927e-01 1.24422496e+02] [-9.33427383e-02 9.75565596e-01 -1.98894196e-01 2.09955644e+02] [-8.66433461e-01 1.88204108e-02 4.98937722e-01 -4.81788889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.2307140569999 meters Centerline goodness : 0.996731 Centerline is valid? [True, True] Translation: X:124.44, Y:209.95, Z:-48.21 [[ 4.89836307e-01 2.19839948e-01 8.43641387e-01 1.24438049e+02] [-9.43274551e-02 9.75368147e-01 -1.99397366e-01 2.09952114e+02] [-8.66696443e-01 1.80935245e-02 4.98507674e-01 -4.82071891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.260714057 meters Centerline goodness : 0.996649 Centerline is valid? [True, True] Translation: X:124.45, Y:209.95, Z:-48.24 [[ 4.89070248e-01 2.22096315e-01 8.43494825e-01 1.24453625e+02] [-9.80103027e-02 9.74908117e-01 -1.99870316e-01 2.09949817e+02] [-8.66720412e-01 1.50794419e-02 4.98566282e-01 -4.82355138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.290714057 meters Centerline goodness : 0.996441 Centerline is valid? [True, True] Translation: X:124.47, Y:209.95, Z:-48.26 [[ 4.88688963e-01 2.23544645e-01 8.43333202e-01 1.24469388e+02] [-1.00152648e-01 9.74601239e-01 -2.00304451e-01 2.09947324e+02] [-8.66690570e-01 1.34245207e-02 4.98665457e-01 -4.82642773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.3207140569999 meters Centerline goodness : 0.996545 Centerline is valid? [True, True] Translation: X:124.49, Y:209.95, Z:-48.29 [[ 4.88562769e-01 2.25737920e-01 8.42821934e-01 1.24486096e+02] [-1.03906573e-01 9.74131827e-01 -2.00675377e-01 2.09945245e+02] [-8.66319713e-01 1.04677789e-02 4.99380197e-01 -4.82925038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.3507140569999 meters Centerline goodness : 0.996459 Centerline is valid? [True, True] Translation: X:124.50, Y:209.94, Z:-48.32 [[ 4.88145970e-01 2.26768305e-01 8.42786834e-01 1.24501334e+02] [-1.05076997e-01 9.73900920e-01 -2.01186042e-01 2.09942440e+02] [-8.66413491e-01 9.65064576e-03 4.99233941e-01 -4.83199950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.380714057 meters Centerline goodness : 0.996693 Centerline is valid? [True, True] Translation: X:124.52, Y:209.94, Z:-48.35 [[ 4.87939463e-01 2.27647972e-01 8.42669260e-01 1.24517120e+02] [-1.06046864e-01 9.73701663e-01 -2.01641103e-01 2.09939437e+02] [-8.66411648e-01 9.02621975e-03 4.99248820e-01 -4.83483216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.410714057 meters Centerline goodness : 0.996590 Centerline is valid? [True, True] Translation: X:124.53, Y:209.94, Z:-48.38 [[ 4.87542313e-01 2.28513035e-01 8.42664990e-01 1.24532924e+02] [-1.06895348e-01 9.73503935e-01 -2.02147159e-01 2.09937763e+02] [-8.66530944e-01 8.47832645e-03 4.99051341e-01 -4.83758203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.4407140569999 meters Centerline goodness : 0.996499 Centerline is valid? [True, True] Translation: X:124.55, Y:209.94, Z:-48.40 [[ 4.87397645e-01 2.29055268e-01 8.42601460e-01 1.24549091e+02] [-1.07461217e-01 9.73379511e-01 -2.02446078e-01 2.09935053e+02] [-8.66542337e-01 8.12476394e-03 4.99037439e-01 -4.84049304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.4707140569999 meters Centerline goodness : 0.996356 Centerline is valid? [True, True] Translation: X:124.56, Y:209.93, Z:-48.43 [[ 4.86906498e-01 2.29706744e-01 8.42708060e-01 1.24564491e+02] [-1.07843028e-01 9.73227428e-01 -2.02973533e-01 2.09932529e+02] [-8.66770987e-01 7.94894273e-03 4.98643029e-01 -4.84337192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.500714057 meters Centerline goodness : 0.996801 Centerline is valid? [True, True] Translation: X:124.58, Y:209.93, Z:-48.46 [[ 4.86383186e-01 2.30130020e-01 8.42894756e-01 1.24580101e+02] [-1.07705872e-01 9.73125246e-01 -2.03535501e-01 2.09931271e+02] [-8.67081796e-01 8.21153032e-03 4.98098112e-01 -4.84621220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.530714057 meters Centerline goodness : 0.996167 Centerline is valid? [True, True] Translation: X:124.59, Y:209.95, Z:-48.48 [[ 4.86553408e-01 2.41020503e-01 8.39746925e-01 1.24587194e+02] [-9.83626889e-02 9.70193927e-01 -2.21469018e-01 2.09949216e+02] [-8.68095941e-01 2.51567400e-02 4.95758586e-01 -4.84814795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.5607140569999 meters Centerline goodness : 0.996296 Centerline is valid? [True, True] Translation: X:124.63, Y:209.89, Z:-48.50 [[ 4.86046612e-01 1.54789333e-01 8.60115663e-01 1.24625202e+02] [-1.05752339e-01 9.87374634e-01 -1.17931227e-01 2.09889209e+02] [-8.67510884e-01 -3.36391695e-02 4.96279430e-01 -4.85049088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.5907140569999 meters Centerline goodness : 0.991422 Centerline is valid? [True, True] Translation: X:124.62, Y:209.93, Z:-48.55 [[ 4.86646041e-01 2.34603131e-01 8.41508765e-01 1.24622488e+02] [-1.04996649e-01 9.71990895e-01 -2.10260322e-01 2.09925055e+02] [-8.67266588e-01 1.39667527e-02 4.97648064e-01 -4.85461522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.620714057 meters Centerline goodness : 0.996442 Centerline is valid? [True, True] Translation: X:124.64, Y:209.92, Z:-48.57 [[ 4.88497594e-01 2.36847727e-01 8.39805487e-01 1.24636319e+02] [-1.02693917e-01 9.71372490e-01 -2.14218218e-01 2.09924887e+02] [-8.66501045e-01 1.84021688e-02 4.98835945e-01 -4.85698973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.650714057 meters Centerline goodness : 0.996400 Centerline is valid? [True, True] Translation: X:124.65, Y:209.94, Z:-48.59 [[ 4.90029325e-01 2.36774517e-01 8.38933304e-01 1.24646760e+02] [-9.26326814e-02 9.71098926e-01 -2.19968320e-01 2.09936890e+02] [-8.66770124e-01 3.00782858e-02 4.97800010e-01 -4.85856571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.6807140569999 meters Centerline goodness : 0.996336 Centerline is valid? [True, True] Translation: X:124.68, Y:209.90, Z:-48.60 [[ 4.90067356e-01 1.70875078e-01 8.54772306e-01 1.24676958e+02] [-9.28075092e-02 9.85252664e-01 -1.43749621e-01 2.09899536e+02] [-8.66729919e-01 -8.88229181e-03 4.98698658e-01 -4.86007873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.7107140569999 meters Centerline goodness : 0.996583 Centerline is valid? [True, True] Translation: X:124.70, Y:209.89, Z:-48.63 [[ 4.91411247e-01 1.60106617e-01 8.56084609e-01 1.24697791e+02] [-9.43758825e-02 9.86958293e-01 -1.30409053e-01 2.09889622e+02] [-8.65799156e-01 -1.67092652e-02 5.00112609e-01 -4.86274606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.740714057 meters Centerline goodness : 0.996965 Centerline is valid? [True, True] Translation: X:124.71, Y:209.90, Z:-48.66 [[ 4.92700041e-01 1.79665181e-01 8.51449994e-01 1.24709924e+02] [-9.61060392e-02 9.83703204e-01 -1.51959323e-01 2.09897020e+02] [-8.64875887e-01 -6.95912196e-03 5.01937518e-01 -4.86568534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.770714057 meters Centerline goodness : 0.992372 Centerline is valid? [True, True] Translation: X:124.73, Y:209.89, Z:-48.69 [[ 4.85381603e-01 1.60396828e-01 8.59463529e-01 1.24725449e+02] [-9.52659634e-02 9.86877413e-01 -1.30373956e-01 2.09887127e+02] [-8.69096713e-01 -1.85965013e-02 4.94292499e-01 -4.86920380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.8007140569999 meters Centerline goodness : 0.996695 Centerline is valid? [True, True] Translation: X:124.73, Y:209.93, Z:-48.73 [[ 4.90513780e-01 2.40411529e-01 8.37614785e-01 1.24727886e+02] [-9.99332137e-02 9.70369240e-01 -2.19992934e-01 2.09926721e+02] [-8.65684460e-01 2.42040283e-02 5.00004580e-01 -4.87284092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.8307140569999 meters Centerline goodness : 0.996809 Centerline is valid? [True, True] Translation: X:124.75, Y:209.91, Z:-48.75 [[ 4.90084148e-01 2.20663505e-01 8.43282364e-01 1.24748147e+02] [-1.02823144e-01 9.75307732e-01 -1.95453904e-01 2.09914057e+02] [-8.65589354e-01 9.07991554e-03 5.00672174e-01 -4.87526996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.860714057 meters Centerline goodness : 0.996346 Centerline is valid? [True, True] Translation: X:124.76, Y:209.91, Z:-48.78 [[ 4.89364794e-01 2.22450082e-01 8.43230727e-01 1.24764209e+02] [-1.05843873e-01 9.74922080e-01 -1.95765199e-01 2.09912198e+02] [-8.65632239e-01 6.54979007e-03 5.00637521e-01 -4.87811219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.890714057 meters Centerline goodness : 0.996010 Centerline is valid? [True, True] Translation: X:124.78, Y:209.91, Z:-48.81 [[ 4.88294518e-01 2.25506045e-01 8.43039434e-01 1.24780901e+02] [-1.11118756e-01 9.74239406e-01 -1.96240163e-01 2.09911529e+02] [-8.65575581e-01 2.14550268e-03 5.00773713e-01 -4.88088729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.9207140569999 meters Centerline goodness : 0.996244 Centerline is valid? [True, True] Translation: X:124.80, Y:209.91, Z:-48.84 [[ 4.87566389e-01 2.26788271e-01 8.43116894e-01 1.24796825e+02] [-1.13089229e-01 9.73943957e-01 -1.96580760e-01 2.09908911e+02] [-8.65730814e-01 4.98732284e-04 5.00509649e-01 -4.88377589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.9507140569999 meters Centerline goodness : 0.995840 Centerline is valid? [True, True] Translation: X:124.81, Y:209.91, Z:-48.85 [[ 4.84230998e-01 2.10920957e-01 8.49136438e-01 1.24812227e+02] [-1.04787236e-01 9.77503061e-01 -1.83050269e-01 2.09911076e+02] [-8.68642605e-01 -3.40046190e-04 4.95439107e-01 -4.88530458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.9807140569999 meters Centerline goodness : 0.996369 Centerline is valid? [True, True] Translation: X:124.83, Y:209.89, Z:-48.89 [[ 4.84423934e-01 2.00332751e-01 8.51586896e-01 1.24831420e+02] [-1.16453369e-01 9.79531158e-01 -1.64186853e-01 2.09888716e+02] [-8.67047902e-01 -1.96341223e-02 4.97837761e-01 -4.88853457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.010714057 meters Centerline goodness : 0.996117 Centerline is valid? [True, True] Translation: X:124.84, Y:209.90, Z:-48.92 [[ 4.85751305e-01 2.38124811e-01 8.41036411e-01 1.24839761e+02] [-1.16007688e-01 9.71228391e-01 -2.07984683e-01 2.09904863e+02] [-8.66364754e-01 3.46214131e-03 4.99399767e-01 -4.89186905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.040714057 meters Centerline goodness : 0.991005 Centerline is valid? [True, True] Translation: X:124.85, Y:209.90, Z:-48.94 [[ 4.83468908e-01 2.29556006e-01 8.44725905e-01 1.24853132e+02] [-1.13078121e-01 9.73294870e-01 -1.99775959e-01 2.09897571e+02] [-8.68027162e-01 1.06544640e-03 4.96515571e-01 -4.89434695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.0707140569999 meters Centerline goodness : 0.996155 Centerline is valid? [True, True] Translation: X:124.87, Y:209.90, Z:-48.97 [[ 4.86423794e-01 2.34233044e-01 8.41740324e-01 1.24867666e+02] [-1.08725038e-01 9.72134000e-01 -2.07688114e-01 2.09899329e+02] [-8.66931807e-01 9.50619156e-03 4.98336105e-01 -4.89680357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.1007140569999 meters Centerline goodness : 0.996148 Centerline is valid? [True, True] Translation: X:124.88, Y:209.89, Z:-49.00 [[ 4.86632356e-01 2.26260045e-01 8.43798165e-01 1.24884315e+02] [-1.05540236e-01 9.74030500e-01 -2.00314362e-01 2.09892582e+02] [-8.67208285e-01 8.42479275e-03 4.97874295e-01 -4.89958751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.130714057 meters Centerline goodness : 0.996193 Centerline is valid? [True, True] Translation: X:124.90, Y:209.89, Z:-49.02 [[ 4.86942897e-01 2.25001847e-01 8.43955440e-01 1.24899312e+02] [-1.02044970e-01 9.74288190e-01 -2.00871469e-01 2.09889301e+02] [-8.67452269e-01 1.16915277e-02 4.97383020e-01 -4.90236033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.160714057 meters Centerline goodness : 0.995766 Centerline is valid? [True, True] Translation: X:124.91, Y:209.89, Z:-49.05 [[ 4.89208426e-01 2.21858730e-01 8.43477220e-01 1.24914713e+02] [-9.51550133e-02 9.74909189e-01 -2.01240147e-01 2.09886420e+02] [-8.66960576e-01 1.81872895e-02 4.98044760e-01 -4.90529860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.1907140569999 meters Centerline goodness : 0.996040 Centerline is valid? [True, True] Translation: X:124.91, Y:209.92, Z:-49.08 [[ 4.85738072e-01 2.55516006e-01 8.35924695e-01 1.24908845e+02] [-7.83517796e-02 9.65199174e-01 -2.49502613e-01 2.09922769e+02] [-8.70585736e-01 5.56967308e-02 4.88854119e-01 -4.90779938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.2207140569999 meters Centerline goodness : 0.995855 Centerline is valid? [True, True] Translation: X:124.97, Y:209.82, Z:-49.09 [[ 4.89211357e-01 1.00373750e-01 8.66370220e-01 1.24968672e+02] [-9.00085582e-02 9.93861897e-01 -6.43194274e-02 2.09822780e+02] [-8.67508333e-01 -4.65149401e-02 4.95243024e-01 -4.90876688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.250714057 meters Centerline goodness : 0.996023 Centerline is valid? [True, True] Translation: X:124.96, Y:209.88, Z:-49.14 [[ 4.95117110e-01 2.22562934e-01 8.39836167e-01 1.24961486e+02] [-8.67641552e-02 9.74466858e-01 -2.07090135e-01 2.09880589e+02] [-8.64483099e-01 2.96661935e-02 5.01785700e-01 -4.91372622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.280714057 meters Centerline goodness : 0.996072 Centerline is valid? [True, True] Translation: X:124.98, Y:209.88, Z:-49.16 [[ 4.95947604e-01 2.19393250e-01 8.40180086e-01 1.24978375e+02] [-8.50595050e-02 9.75177506e-01 -2.04435105e-01 2.09877158e+02] [-8.64176403e-01 2.99237984e-02 5.02298429e-01 -4.91648035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.3107140569999 meters Centerline goodness : 0.995950 Centerline is valid? [True, True] Translation: X:125.00, Y:209.86, Z:-49.18 [[ 4.99470799e-01 2.00794417e-01 8.42739891e-01 1.25003672e+02] [-8.54031398e-02 9.79443159e-01 -1.82749560e-01 2.09864741e+02] [-8.62110912e-01 1.93054359e-02 5.06351731e-01 -4.91839004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.3407140569999 meters Centerline goodness : 0.996046 Centerline is valid? [True, True] Translation: X:125.01, Y:209.88, Z:-49.22 [[ 4.97046475e-01 2.33256184e-01 8.35784873e-01 1.25007063e+02] [-8.30092331e-02 9.71556568e-01 -2.21782107e-01 2.09880806e+02] [-8.63744331e-01 4.08581533e-02 5.02271184e-01 -4.92214075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.370714057 meters Centerline goodness : 0.996088 Centerline is valid? [True, True] Translation: X:125.03, Y:209.87, Z:-49.25 [[ 4.97164100e-01 2.16884947e-01 8.40112360e-01 1.25026109e+02] [-7.99758269e-02 9.75587457e-01 -2.04531122e-01 2.09873249e+02] [-8.63962803e-01 3.44968507e-02 5.02372613e-01 -4.92478972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.400714057 meters Centerline goodness : 0.995861 Centerline is valid? [True, True] Translation: X:125.05, Y:209.87, Z:-49.26 [[ 5.03648150e-01 1.91533771e-01 8.42409257e-01 1.25052773e+02] [-7.13942196e-02 9.81005910e-01 -1.80361497e-01 2.09869678e+02] [-8.60953777e-01 3.06955828e-02 5.07756216e-01 -4.92598799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.4307140569999 meters Centerline goodness : 0.995820 Centerline is valid? [True, True] Translation: X:125.06, Y:209.87, Z:-49.30 [[ 4.94828869e-01 2.03543148e-01 8.44816298e-01 1.25059303e+02] [-7.44149057e-02 9.78535466e-01 -1.92173785e-01 2.09866362e+02] [-8.65798367e-01 3.22262117e-02 4.99354242e-01 -4.93009922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.4607140569999 meters Centerline goodness : 0.995863 Centerline is valid? [True, True] Translation: X:125.07, Y:209.87, Z:-49.33 [[ 4.95516906e-01 2.15132450e-01 8.41534922e-01 1.25074452e+02] [-7.25487182e-02 9.75707885e-01 -2.06714311e-01 2.09871092e+02] [-8.65563215e-01 4.13781561e-02 4.99087336e-01 -4.93310683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.490714057 meters Centerline goodness : 0.996066 Centerline is valid? [True, True] Translation: X:125.12, Y:209.85, Z:-49.34 [[ 5.08537576e-01 1.62674929e-01 8.45533205e-01 1.25116228e+02] [-6.92094150e-02 9.86536086e-01 -1.48177622e-01 2.09847413e+02] [-8.58253803e-01 1.68350304e-02 5.12949307e-01 -4.93358212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.520714057 meters Centerline goodness : 0.995679 Centerline is valid? [True, True] Translation: X:125.10, Y:209.89, Z:-49.39 [[ 4.96754432e-01 2.41350978e-01 8.33657448e-01 1.25102930e+02] [-6.70891021e-02 9.68359669e-01 -2.40371803e-01 2.09887063e+02] [-8.65294220e-01 6.34764289e-02 4.97228977e-01 -4.93908313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.5507140569999 meters Centerline goodness : 0.996068 Centerline is valid? [True, True] Translation: X:125.12, Y:209.87, Z:-49.42 [[ 4.95225057e-01 2.12684205e-01 8.42328660e-01 1.25123181e+02] [-6.51491597e-02 9.75932083e-01 -2.08115728e-01 2.09872765e+02] [-8.66318492e-01 4.81871189e-02 4.97162219e-01 -4.94158311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.5807140569999 meters Centerline goodness : 0.995390 Centerline is valid? [True, True] Translation: X:125.14, Y:209.87, Z:-49.44 [[ 4.95287054e-01 2.12577144e-01 8.42319234e-01 1.25139850e+02] [-6.40641513e-02 9.75896617e-01 -2.08618257e-01 2.09872375e+02] [-8.66363964e-01 4.93634553e-02 4.96967535e-01 -4.94438249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.610714057 meters Centerline goodness : 0.995664 Centerline is valid? [True, True] Translation: X:125.16, Y:209.88, Z:-49.47 [[ 4.94301249e-01 2.11867696e-01 8.43076719e-01 1.25158284e+02] [-6.16363783e-02 9.75945536e-01 -2.09120225e-01 2.09875982e+02] [-8.67102781e-01 5.14041928e-02 4.95469855e-01 -4.94720840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.640714057 meters Centerline goodness : 0.996109 Centerline is valid? [True, True] Translation: X:125.18, Y:209.88, Z:-49.50 [[ 4.93894387e-01 2.12179032e-01 8.43236854e-01 1.25175048e+02] [-6.12545911e-02 9.75851495e-01 -2.09670541e-01 2.09876685e+02] [-8.67361637e-01 5.19029745e-02 4.94964516e-01 -4.94999579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.6707140569999 meters Centerline goodness : 0.996738 Centerline is valid? [True, True] Translation: X:125.19, Y:209.88, Z:-49.53 [[ 4.93079634e-01 2.13082298e-01 8.43485868e-01 1.25193224e+02] [-6.20483170e-02 9.75685924e-01 -2.10207004e-01 2.09883081e+02] [-8.67768680e-01 5.13119140e-02 4.94312256e-01 -4.95279911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.7007140569999 meters Centerline goodness : 0.997256 Centerline is valid? [True, True] Translation: X:125.21, Y:209.88, Z:-49.56 [[ 4.92564326e-01 2.14332558e-01 8.43470177e-01 1.25210062e+02] [-6.37127120e-02 9.75478681e-01 -2.10670439e-01 2.09884602e+02] [-8.67940710e-01 5.00289701e-02 4.94141707e-01 -4.95565203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.7307140569999 meters Centerline goodness : 0.997256 Centerline is valid? [True, True] Translation: X:125.23, Y:209.88, Z:-49.59 [[ 4.92562113e-01 2.14791086e-01 8.43354821e-01 1.25226126e+02] [-6.38338408e-02 9.75371046e-01 -2.11131626e-01 2.09880676e+02] [-8.67933065e-01 5.01608624e-02 4.94141763e-01 -4.95856351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.760714057 meters Centerline goodness : 0.997171 Centerline is valid? [True, True] Translation: X:125.24, Y:209.88, Z:-49.61 [[ 4.91874059e-01 2.15962644e-01 8.43457199e-01 1.25242401e+02] [-6.57100538e-02 9.75194069e-01 -2.11373404e-01 2.09882398e+02] [-8.68183217e-01 4.85454763e-02 4.93863582e-01 -4.96133283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.790714057 meters Centerline goodness : 0.997986 Centerline is valid? [True, True] Translation: X:125.26, Y:209.89, Z:-49.64 [[ 4.91225677e-01 2.18225702e-01 8.43252559e-01 1.25261023e+02] [-6.95236902e-02 9.74841465e-01 -2.11779543e-01 2.09889232e+02] [-8.68253299e-01 4.54055195e-02 4.94039014e-01 -4.96424248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.8207140569999 meters Centerline goodness : 0.997966 Centerline is valid? [True, True] Translation: X:125.28, Y:209.89, Z:-49.67 [[ 4.90995278e-01 2.19492527e-01 8.43057927e-01 1.25277577e+02] [-7.12717644e-02 9.74616037e-01 -2.12235519e-01 2.09890995e+02] [-8.68241886e-01 4.41204119e-02 4.94175492e-01 -4.96703780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.8507140569999 meters Centerline goodness : 0.998531 Centerline is valid? [True, True] Translation: X:125.30, Y:209.90, Z:-49.70 [[ 4.90947376e-01 2.21539046e-01 8.42550370e-01 1.25296040e+02] [-7.48210699e-02 9.74275531e-01 -2.12577040e-01 2.09897886e+02] [-8.67970323e-01 4.13236197e-02 4.94893804e-01 -4.96994969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.880714057 meters Centerline goodness : 0.998888 Centerline is valid? [True, True] Translation: X:125.31, Y:209.90, Z:-49.73 [[ 4.91137949e-01 2.22741690e-01 8.42122114e-01 1.25313351e+02] [-7.65941886e-02 9.74052662e-01 -2.12966528e-01 2.09899462e+02] [-8.67707811e-01 4.00942841e-02 4.95454946e-01 -4.97282760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.910714057 meters Centerline goodness : 0.998427 Centerline is valid? [True, True] Translation: X:125.33, Y:209.90, Z:-49.76 [[ 4.90663508e-01 2.24101901e-01 8.42037802e-01 1.25330577e+02] [-7.84753032e-02 9.73799073e-01 -2.13440840e-01 2.09900937e+02] [-8.67808129e-01 3.86484594e-02 4.95394133e-01 -4.97574509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.9407140569999 meters Centerline goodness : 0.998972 Centerline is valid? [True, True] Translation: X:125.35, Y:209.91, Z:-49.78 [[ 4.89913587e-01 2.26538803e-01 8.41822338e-01 1.25349644e+02] [-8.25812294e-02 9.73363603e-01 -2.13877621e-01 2.09907932e+02] [-8.67850804e-01 3.52628291e-02 4.95571907e-01 -4.97842794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.9707140569999 meters Centerline goodness : 0.999308 Centerline is valid? [True, True] Translation: X:125.37, Y:209.91, Z:-49.81 [[ 4.88204536e-01 2.28454376e-01 8.42297411e-01 1.25366904e+02] [-8.53110414e-02 9.73000520e-01 -2.14457490e-01 2.09909263e+02] [-8.68549571e-01 3.28418503e-02 4.94512948e-01 -4.98134426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.000714057 meters Centerline goodness : 0.999224 Centerline is valid? [True, True] Translation: X:125.38, Y:209.91, Z:-49.84 [[ 4.87332531e-01 2.30500175e-01 8.42245020e-01 1.25384701e+02] [-8.85712691e-02 9.72605309e-01 -2.14927994e-01 2.09910606e+02] [-8.68712919e-01 3.01426931e-02 4.94397900e-01 -4.98416771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.030714057 meters Centerline goodness : 0.999433 Centerline is valid? [True, True] Translation: X:125.40, Y:209.92, Z:-49.87 [[ 4.85190386e-01 2.34754421e-01 8.42306744e-01 1.25403265e+02] [-9.61913876e-02 9.71770586e-01 -2.15427819e-01 2.09917111e+02] [-8.69101552e-01 2.35008521e-02 4.94075099e-01 -4.98708703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.0607140569999 meters Centerline goodness : 0.999518 Centerline is valid? [True, True] Translation: X:125.42, Y:209.92, Z:-49.90 [[ 4.84207419e-01 2.37114218e-01 8.42211389e-01 1.25419689e+02] [-1.00125911e-01 9.71271627e-01 -2.15884760e-01 2.09918193e+02] [-8.69205372e-01 2.02058201e-02 4.94038204e-01 -4.98991867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.0907140569999 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:125.44, Y:209.92, Z:-49.93 [[ 4.82796058e-01 2.41324392e-01 8.41825697e-01 1.25436871e+02] [-1.07991265e-01 9.70350778e-01 -2.16234258e-01 2.09922638e+02] [-8.69048821e-01 1.34872253e-02 4.94542457e-01 -4.99272650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.120714057 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:125.45, Y:209.92, Z:-49.96 [[ 4.81681684e-01 2.43473370e-01 8.41845279e-01 1.25452735e+02] [-1.11525072e-01 9.69850905e-01 -2.16682671e-01 2.09922008e+02] [-8.69220866e-01 1.04852184e-02 4.94312803e-01 -4.99559521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.150714057 meters Centerline goodness : 0.999791 Centerline is valid? [True, True] Translation: X:125.47, Y:209.92, Z:-49.98 [[ 4.81368708e-01 2.45513111e-01 8.41431803e-01 1.25469769e+02] [-1.14950614e-01 9.69362113e-01 -2.17079363e-01 2.09920884e+02] [-8.68947941e-01 7.77211039e-03 4.94842471e-01 -4.99845859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.1807140569999 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:125.49, Y:209.92, Z:-50.01 [[ 4.80211683e-01 2.47549228e-01 8.41496357e-01 1.25485469e+02] [-1.18136375e-01 9.68861982e-01 -2.17601141e-01 2.09918864e+02] [-8.69160823e-01 5.08328081e-03 4.94503412e-01 -5.00129274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.2107140569999 meters Centerline goodness : 0.999812 Centerline is valid? [True, True] Translation: X:125.50, Y:209.92, Z:-50.04 [[ 4.79257425e-01 2.50805966e-01 8.41075911e-01 1.25502578e+02] [-1.24355927e-01 9.68037357e-01 -2.17805599e-01 2.09917964e+02] [-8.68819846e-01 -2.07823989e-04 4.95128299e-01 -5.00416645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.240714057 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:125.52, Y:209.92, Z:-50.07 [[ 4.78569294e-01 2.52797727e-01 8.40871417e-01 1.25518830e+02] [-1.27591839e-01 9.67514988e-01 -2.18254599e-01 2.09915121e+02] [-8.68729966e-01 -2.83838106e-03 4.95277892e-01 -5.00700509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.270714057 meters Centerline goodness : 0.999854 Centerline is valid? [True, True] Translation: X:125.53, Y:209.91, Z:-50.10 [[ 4.77032018e-01 2.55952191e-01 8.40790658e-01 1.25534494e+02] [-1.33124942e-01 9.66659686e-01 -2.18739115e-01 2.09913210e+02] [-8.68745189e-01 -7.58464572e-03 4.95201241e-01 -5.00995195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.3007140569999 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:125.55, Y:209.91, Z:-50.13 [[ 4.76039647e-01 2.57364090e-01 8.40922101e-01 1.25550695e+02] [-1.35041839e-01 9.66270965e-01 -2.19280927e-01 2.09909872e+02] [-8.68993645e-01 -9.17325206e-03 4.94738209e-01 -5.01284715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.3307140569999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.57, Y:209.91, Z:-50.16 [[ 4.74857289e-01 2.58711598e-01 8.41177071e-01 1.25565739e+02] [-1.36782982e-01 9.65895794e-01 -2.19853886e-01 2.09905728e+02] [-8.69368145e-01 -1.06594878e-02 4.94050002e-01 -5.01561469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.360714057 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:125.58, Y:209.90, Z:-50.18 [[ 4.72847229e-01 2.60484642e-01 8.41761991e-01 1.25581105e+02] [-1.39599856e-01 9.65385950e-01 -2.20322147e-01 2.09899205e+02] [-8.70015735e-01 -1.33311359e-02 4.92843690e-01 -5.01848631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.390714057 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:125.59, Y:209.90, Z:-50.21 [[ 4.73896445e-01 2.69121429e-01 8.38448457e-01 1.25594777e+02] [-1.42135658e-01 9.63046188e-01 -2.28778265e-01 2.09896923e+02] [-8.69033724e-01 -1.07562166e-02 4.94635916e-01 -5.02115068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.4207140569999 meters Centerline goodness : 0.999726 Centerline is valid? [True, True] Translation: X:125.61, Y:209.88, Z:-50.24 [[ 4.74229537e-01 2.45892517e-01 8.45365730e-01 1.25610851e+02] [-1.42006127e-01 9.68995903e-01 -2.02190999e-01 2.09879191e+02] [-8.68873182e-01 -2.41621698e-02 4.94444722e-01 -5.02369966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.4507140569999 meters Centerline goodness : 0.999622 Centerline is valid? [True, True] Translation: X:125.63, Y:209.88, Z:-50.27 [[ 4.74961721e-01 2.54362186e-01 8.42443614e-01 1.25626573e+02] [-1.41885249e-01 9.66925108e-01 -2.11953796e-01 2.09876790e+02] [-8.68492913e-01 -1.88603822e-02 4.95342655e-01 -5.02654389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.4807140569999 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:125.64, Y:209.87, Z:-50.30 [[ 4.72595284e-01 2.61032130e-01 8.41733880e-01 1.25638776e+02] [-1.42497193e-01 9.65192510e-01 -2.19312493e-01 2.09871934e+02] [-8.69682843e-01 -1.62986654e-02 4.93341774e-01 -5.02967856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.510714057 meters Centerline goodness : 0.999540 Centerline is valid? [True, True] Translation: X:125.65, Y:209.86, Z:-50.32 [[ 4.73099283e-01 2.63408722e-01 8.40709768e-01 1.25652108e+02] [-1.41462989e-01 9.64588311e-01 -2.22615393e-01 2.09863133e+02] [-8.69577651e-01 -1.36101336e-02 4.93608623e-01 -5.03245396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.540714057 meters Centerline goodness : 0.999621 Centerline is valid? [True, True] Translation: X:125.67, Y:209.86, Z:-50.35 [[ 4.73599802e-01 2.63350483e-01 8.40446162e-01 1.25667056e+02] [-1.40606192e-01 9.64618632e-01 -2.23026443e-01 2.09855881e+02] [-8.69444148e-01 -1.25466548e-02 4.93871902e-01 -5.03533226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.5707140569999 meters Centerline goodness : 0.999496 Centerline is valid? [True, True] Translation: X:125.68, Y:209.85, Z:-50.38 [[ 4.74132116e-01 2.63001851e-01 8.40255177e-01 1.25680618e+02] [-1.39070722e-01 9.64733856e-01 -2.23490315e-01 2.09845255e+02] [-8.69400984e-01 -1.08909582e-02 4.93987162e-01 -5.03818685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.6007140569999 meters Centerline goodness : 0.999351 Centerline is valid? [True, True] Translation: X:125.70, Y:209.83, Z:-50.40 [[ 4.83078484e-01 2.49883838e-01 8.39162229e-01 1.25703668e+02] [-1.40224043e-01 9.68119434e-01 -2.07561990e-01 2.09830514e+02] [-8.64275648e-01 -1.74019889e-02 5.02717390e-01 -5.04008344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.630714057 meters Centerline goodness : 0.999432 Centerline is valid? [True, True] Translation: X:125.71, Y:209.83, Z:-50.44 [[ 4.74753388e-01 2.68016616e-01 8.38317550e-01 1.25709534e+02] [-1.36127348e-01 9.63403829e-01 -2.30916452e-01 2.09833561e+02] [-8.69527783e-01 -4.48957725e-03 4.93863623e-01 -5.04376296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.660714057 meters Centerline goodness : 0.999474 Centerline is valid? [True, True] Translation: X:125.72, Y:209.82, Z:-50.47 [[ 4.75215205e-01 2.61971200e-01 8.39965237e-01 1.25723891e+02] [-1.34395248e-01 9.65057118e-01 -2.24950388e-01 2.09823548e+02] [-8.69544954e-01 -5.98749124e-03 4.93817500e-01 -5.04657195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.6907140569999 meters Centerline goodness : 0.999266 Centerline is valid? [True, True] Translation: X:125.74, Y:209.81, Z:-50.49 [[ 4.77236814e-01 2.59623247e-01 8.39547969e-01 1.25736777e+02] [-1.28914942e-01 9.65709741e-01 -2.25356680e-01 2.09813005e+02] [-8.69267485e-01 -6.81773670e-04 4.94341556e-01 -5.04939287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.7207140569999 meters Centerline goodness : 0.998869 Centerline is valid? [True, True] Translation: X:125.75, Y:209.81, Z:-50.52 [[ 4.78148118e-01 2.58306499e-01 8.39435602e-01 1.25751470e+02] [-1.25739862e-01 9.66060176e-01 -2.25648451e-01 2.09805071e+02] [-8.69231767e-01 2.34286585e-03 4.94399279e-01 -5.05229906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.750714057 meters Centerline goodness : 0.998800 Centerline is valid? [True, True] Translation: X:125.77, Y:209.80, Z:-50.55 [[ 4.78808571e-01 2.57176843e-01 8.39405995e-01 1.25765990e+02] [-1.22577767e-01 9.66349326e-01 -2.26149664e-01 2.09797309e+02] [-8.69319874e-01 5.38988468e-03 4.94220503e-01 -5.05516574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.780714057 meters Centerline goodness : 0.998636 Centerline is valid? [True, True] Translation: X:125.78, Y:209.79, Z:-50.58 [[ 4.80637199e-01 2.54676490e-01 8.39123214e-01 1.25780946e+02] [-1.16779932e-01 9.66964727e-01 -2.26586990e-01 2.09786756e+02] [-8.69108929e-01 1.09133850e-02 4.94500321e-01 -5.05803656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.8107140569999 meters Centerline goodness : 0.998756 Centerline is valid? [True, True] Translation: X:125.80, Y:209.78, Z:-50.61 [[ 4.80854437e-01 2.54351630e-01 8.39097288e-01 1.25795867e+02] [-1.15225877e-01 9.67030811e-01 -2.27099994e-01 2.09780243e+02] [-8.69196185e-01 1.25163188e-02 4.94308946e-01 -5.06092540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.8407140569999 meters Centerline goodness : 0.998567 Centerline is valid? [True, True] Translation: X:125.81, Y:209.77, Z:-50.64 [[ 4.81720737e-01 2.53659862e-01 8.38809756e-01 1.25810687e+02] [-1.13078660e-01 9.67180873e-01 -2.27539833e-01 2.09773554e+02] [-8.68998474e-01 1.47591728e-02 4.94594600e-01 -5.06372347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.870714057 meters Centerline goodness : 0.998651 Centerline is valid? [True, True] Translation: X:125.83, Y:209.77, Z:-50.67 [[ 4.81704967e-01 2.54237848e-01 8.38643811e-01 1.25825656e+02] [-1.13483031e-01 9.67030834e-01 -2.27975806e-01 2.09768045e+02] [-8.68954502e-01 1.46452361e-02 4.94675237e-01 -5.06656300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.900714057 meters Centerline goodness : 0.998364 Centerline is valid? [True, True] Translation: X:125.84, Y:209.76, Z:-50.69 [[ 4.81451945e-01 2.54801230e-01 8.38618124e-01 1.25841281e+02] [-1.13733628e-01 9.66882893e-01 -2.28477860e-01 2.09762215e+02] [-8.69061958e-01 1.46220282e-02 4.94487118e-01 -5.06942946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.9307140569999 meters Centerline goodness : 0.998218 Centerline is valid? [True, True] Translation: X:125.86, Y:209.76, Z:-50.72 [[ 4.81022836e-01 2.55515437e-01 8.38647061e-01 1.25856550e+02] [-1.14255882e-01 9.66698742e-01 -2.28995929e-01 2.09756508e+02] [-8.69231054e-01 1.43319114e-02 4.94198312e-01 -5.07229217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.9607140569999 meters Centerline goodness : 0.998655 Centerline is valid? [True, True] Translation: X:125.87, Y:209.75, Z:-50.75 [[ 4.80198569e-01 2.55853975e-01 8.39016137e-01 1.25871765e+02] [-1.13827559e-01 9.66602803e-01 -2.29613389e-01 2.09750240e+02] [-8.69742848e-01 1.47568623e-02 4.93284516e-01 -5.07504796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.990714057 meters Centerline goodness : 0.998568 Centerline is valid? [True, True] Translation: X:125.89, Y:209.75, Z:-50.78 [[ 4.80466033e-01 2.55991700e-01 8.38820983e-01 1.25887609e+02] [-1.13363757e-01 9.66555750e-01 -2.30040520e-01 2.09745644e+02] [-8.69655708e-01 1.54347581e-02 4.93417388e-01 -5.07789669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.020714057 meters Centerline goodness : 0.998905 Centerline is valid? [True, True] Translation: X:125.90, Y:209.74, Z:-50.81 [[ 4.81457908e-01 2.55082214e-01 8.38529276e-01 1.25902333e+02] [-1.10765831e-01 9.66750125e-01 -2.30488884e-01 2.09741107e+02] [-8.69441898e-01 1.80903043e-02 4.93703886e-01 -5.08071099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.0507140569999 meters Centerline goodness : 0.998631 Centerline is valid? [True, True] Translation: X:125.92, Y:209.74, Z:-50.84 [[ 4.82121287e-01 2.54925390e-01 8.38195747e-01 1.25918141e+02] [-1.09773357e-01 9.66768006e-01 -2.30888357e-01 2.09736508e+02] [-8.69200135e-01 1.93046304e-02 4.94083451e-01 -5.08361161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.0807140569999 meters Centerline goodness : 0.998681 Centerline is valid? [True, True] Translation: X:125.93, Y:209.73, Z:-50.86 [[ 4.82973109e-01 2.54578883e-01 8.37810580e-01 1.25933941e+02] [-1.08401470e-01 9.66826403e-01 -2.31291649e-01 2.09732247e+02] [-8.68899360e-01 2.08877488e-02 4.94547879e-01 -5.08647920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.110714057 meters Centerline goodness : 0.998484 Centerline is valid? [True, True] Translation: X:125.95, Y:209.73, Z:-50.89 [[ 4.83392494e-01 2.54416906e-01 8.37617893e-01 1.25949262e+02] [-1.07293837e-01 9.66840863e-01 -2.31747229e-01 2.09728252e+02] [-8.68803620e-01 2.21536338e-02 4.94660982e-01 -5.08924242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.140714057 meters Centerline goodness : 0.998651 Centerline is valid? [True, True] Translation: X:125.97, Y:209.72, Z:-50.92 [[ 4.83800426e-01 2.55005347e-01 8.37203333e-01 1.25965456e+02] [-1.08153260e-01 9.66696776e-01 -2.31948734e-01 2.09724226e+02] [-8.68469931e-01 2.16706266e-02 4.95267971e-01 -5.09206765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.1707140569999 meters Centerline goodness : 0.998358 Centerline is valid? [True, True] Translation: X:125.98, Y:209.72, Z:-50.95 [[ 4.83313860e-01 2.56956949e-01 8.36887590e-01 1.25981417e+02] [-1.11350357e-01 9.66233745e-01 -2.32364904e-01 2.09721606e+02] [-8.68336807e-01 1.91174466e-02 4.95606409e-01 -5.09497348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.2007140569999 meters Centerline goodness : 0.998840 Centerline is valid? [True, True] Translation: X:126.00, Y:209.72, Z:-50.98 [[ 4.82950264e-01 2.58478635e-01 8.36628853e-01 1.25997489e+02] [-1.13640019e-01 9.65860994e-01 -2.32805685e-01 2.09718858e+02] [-8.68242471e-01 1.73590485e-02 4.95836339e-01 -5.09776447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.2307140569999 meters Centerline goodness : 0.998911 Centerline is valid? [True, True] Translation: X:126.01, Y:209.72, Z:-51.01 [[ 4.81354634e-01 2.61461034e-01 8.36621685e-01 1.26013735e+02] [-1.18779778e-01 9.65127594e-01 -2.33281141e-01 2.09716944e+02] [-8.68440603e-01 1.29172201e-02 4.95624924e-01 -5.10060826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.260714057 meters Centerline goodness : 0.998738 Centerline is valid? [True, True] Translation: X:126.03, Y:209.71, Z:-51.04 [[ 4.80038578e-01 2.63292485e-01 8.36803460e-01 1.26030017e+02] [-1.21464542e-01 9.64657697e-01 -2.33841596e-01 2.09713866e+02] [-8.68797634e-01 1.06110377e-02 4.95053611e-01 -5.10352005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.290714057 meters Centerline goodness : 0.998864 Centerline is valid? [True, True] Translation: X:126.05, Y:209.71, Z:-51.06 [[ 4.79525964e-01 2.65079950e-01 8.36533006e-01 1.26046246e+02] [-1.24292422e-01 9.64190104e-01 -2.34283668e-01 2.09710759e+02] [-8.68680749e-01 8.37038821e-03 4.95301618e-01 -5.10631570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.3207140569999 meters Centerline goodness : 0.998822 Centerline is valid? [True, True] Translation: X:126.06, Y:209.71, Z:-51.09 [[ 4.77874745e-01 2.68149019e-01 8.36499750e-01 1.26062612e+02] [-1.29642646e-01 9.63370193e-01 -2.34756586e-01 2.09708163e+02] [-8.68808675e-01 3.73820275e-03 4.95133833e-01 -5.10912408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.3507140569999 meters Centerline goodness : 0.999096 Centerline is valid? [True, True] Translation: X:126.08, Y:209.70, Z:-51.12 [[ 4.78061863e-01 2.69861729e-01 8.35841793e-01 1.26078269e+02] [-1.32520037e-01 9.62897720e-01 -2.35088111e-01 2.09704835e+02] [-8.68271441e-01 1.62087447e-03 4.96086764e-01 -5.11184614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.380714057 meters Centerline goodness : 0.999222 Centerline is valid? [True, True] Translation: X:126.09, Y:209.70, Z:-51.15 [[ 4.76910190e-01 2.71609115e-01 8.35933705e-01 1.26094065e+02] [-1.35154456e-01 9.62407451e-01 -2.35595356e-01 2.09701651e+02] [-8.68498673e-01 -6.22339170e-04 4.95691102e-01 -5.11477355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.410714057 meters Centerline goodness : 0.998928 Centerline is valid? [True, True] Translation: X:126.11, Y:209.70, Z:-51.18 [[ 4.75310610e-01 2.74051896e-01 8.36047476e-01 1.26109281e+02] [-1.39100901e-01 9.61706396e-01 -2.36160425e-01 2.09699609e+02] [-8.68752418e-01 -4.04540113e-03 4.95230119e-01 -5.11755684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.4407140569999 meters Centerline goodness : 0.999098 Centerline is valid? [True, True] Translation: X:126.13, Y:209.70, Z:-51.20 [[ 4.74194275e-01 2.75355396e-01 8.36253069e-01 1.26125022e+02] [-1.40771890e-01 9.61326927e-01 -2.36714626e-01 2.09695875e+02] [-8.69093243e-01 -5.47220422e-03 4.94618025e-01 -5.12038977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.4707140569999 meters Centerline goodness : 0.999012 Centerline is valid? [True, True] Translation: X:126.14, Y:209.69, Z:-51.23 [[ 4.72861538e-01 2.76692829e-01 8.36566222e-01 1.26140465e+02] [-1.42420897e-01 9.60933481e-01 -2.37324953e-01 2.09691736e+02] [-8.69550605e-01 -6.92266950e-03 4.93795324e-01 -5.12321661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.500714057 meters Centerline goodness : 0.998804 Centerline is valid? [True, True] Translation: X:126.16, Y:209.69, Z:-51.26 [[ 4.72459718e-01 2.77347175e-01 8.36576571e-01 1.26155584e+02] [-1.42832872e-01 9.60743400e-01 -2.37846357e-01 2.09686964e+02] [-8.69701435e-01 -7.11781135e-03 4.93526849e-01 -5.12612344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.530714057 meters Centerline goodness : 0.998782 Centerline is valid? [True, True] Translation: X:126.17, Y:209.68, Z:-51.29 [[ 4.72691351e-01 2.77721341e-01 8.36321555e-01 1.26170596e+02] [-1.42783831e-01 9.60637822e-01 -2.38301812e-01 2.09681964e+02] [-8.69583616e-01 -6.76999053e-03 4.93739307e-01 -5.12895722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.5607140569999 meters Centerline goodness : 0.998843 Centerline is valid? [True, True] Translation: X:126.19, Y:209.68, Z:-51.32 [[ 4.73531297e-01 2.77454684e-01 8.35934812e-01 1.26185186e+02] [-1.41563093e-01 9.60724029e-01 -2.38682281e-01 2.09675967e+02] [-8.69326177e-01 -5.31398727e-03 4.94210238e-01 -5.13188801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.5907140569999 meters Centerline goodness : 0.998823 Centerline is valid? [True, True] Translation: X:126.20, Y:209.67, Z:-51.35 [[ 4.73999913e-01 2.77566367e-01 8.35632093e-01 1.26200209e+02] [-1.41026568e-01 9.60695893e-01 -2.39112751e-01 2.09670333e+02] [-8.69157978e-01 -4.50690306e-03 4.94514002e-01 -5.13475420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.620714057 meters Centerline goodness : 0.998632 Centerline is valid? [True, True] Translation: X:126.21, Y:209.66, Z:-51.38 [[ 4.74817343e-01 2.77135848e-01 8.35310848e-01 1.26214432e+02] [-1.39390947e-01 9.60826967e-01 -2.39544785e-01 2.09662311e+02] [-8.68975635e-01 -2.69475188e-03 4.94847536e-01 -5.13768518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.650714057 meters Centerline goodness : 0.998632 Centerline is valid? [True, True] Translation: X:126.23, Y:209.66, Z:-51.41 [[ 4.74781591e-01 2.77612822e-01 8.35172774e-01 1.26230370e+02] [-1.39510274e-01 9.60689643e-01 -2.40025608e-01 2.09657842e+02] [-8.68976021e-01 -2.55544200e-03 4.94847598e-01 -5.14059618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.6807140569999 meters Centerline goodness : 0.998487 Centerline is valid? [True, True] Translation: X:126.24, Y:209.65, Z:-51.43 [[ 4.74979590e-01 2.77295346e-01 8.35165660e-01 1.26244217e+02] [-1.38469676e-01 9.60783508e-01 -2.40252366e-01 2.09651670e+02] [-8.69034256e-01 -1.53014853e-03 4.94749554e-01 -5.14338223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.7107140569999 meters Centerline goodness : 0.998695 Centerline is valid? [True, True] Translation: X:126.26, Y:209.65, Z:-51.46 [[ 4.75454679e-01 2.77090376e-01 8.34963336e-01 1.26259493e+02] [-1.37306076e-01 9.60843836e-01 -2.40678548e-01 2.09645188e+02] [-8.68959084e-01 -2.13797285e-04 4.94883890e-01 -5.14629277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.740714057 meters Centerline goodness : 0.998510 Centerline is valid? [True, True] Translation: X:126.27, Y:209.64, Z:-51.49 [[ 4.75670986e-01 2.76884207e-01 8.34908527e-01 1.26273475e+02] [-1.35993812e-01 9.60902562e-01 -2.41188618e-01 2.09638914e+02] [-8.69047062e-01 1.18403416e-03 4.94728008e-01 -5.14914587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.770714057 meters Centerline goodness : 0.998651 Centerline is valid? [True, True] Translation: X:126.29, Y:209.63, Z:-51.52 [[ 4.76366888e-01 2.76778495e-01 8.34546735e-01 1.26287754e+02] [-1.32610204e-01 9.60920289e-01 -2.42995332e-01 2.09630762e+02] [-8.69188772e-01 5.08551699e-03 4.94454260e-01 -5.15204268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.8007140569999 meters Centerline goodness : 0.998695 Centerline is valid? [True, True] Translation: X:126.30, Y:209.63, Z:-51.55 [[ 4.76986993e-01 2.77639311e-01 8.33906362e-01 1.26302702e+02] [-1.30965903e-01 9.60655214e-01 -2.44927523e-01 2.09625271e+02] [-8.69098004e-01 7.61394263e-03 4.94581325e-01 -5.15477587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.8307140569999 meters Centerline goodness : 0.998421 Centerline is valid? [True, True] Translation: X:126.32, Y:209.62, Z:-51.58 [[ 4.75682752e-01 2.75554302e-01 8.35341694e-01 1.26317757e+02] [-1.27964024e-01 9.61240755e-01 -2.44215927e-01 2.09616947e+02] [-8.70259230e-01 9.27561926e-03 4.92506685e-01 -5.15755317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.860714057 meters Centerline goodness : 0.998358 Centerline is valid? [True, True] Translation: X:126.33, Y:209.61, Z:-51.60 [[ 4.75261393e-01 2.71683772e-01 8.36847977e-01 1.26333761e+02] [-1.25585501e-01 9.62339781e-01 -2.41102526e-01 2.09608956e+02] [-8.70835743e-01 9.49075023e-03 4.91482487e-01 -5.16039562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.890714057 meters Centerline goodness : 0.998230 Centerline is valid? [True, True] Translation: X:126.35, Y:209.61, Z:-51.63 [[ 4.75848271e-01 2.79974155e-01 8.33776286e-01 1.26348032e+02] [-1.24654335e-01 9.59880971e-01 -2.51176866e-01 2.09607386e+02] [-8.70649022e-01 1.55882487e-02 4.91657693e-01 -5.16320486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.9207140569999 meters Centerline goodness : 0.998503 Centerline is valid? [True, True] Translation: X:126.36, Y:209.60, Z:-51.66 [[ 4.75886010e-01 2.71572984e-01 8.36528912e-01 1.26363314e+02] [-1.21063324e-01 9.62306766e-01 -2.43535130e-01 2.09597174e+02] [-8.71134994e-01 1.46219903e-02 4.90825855e-01 -5.16603972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.9507140569999 meters Centerline goodness : 0.998313 Centerline is valid? [True, True] Translation: X:126.38, Y:209.59, Z:-51.69 [[ 4.77113618e-01 2.70942078e-01 8.36034082e-01 1.26378784e+02] [-1.19142216e-01 9.62449568e-01 -2.43917941e-01 2.09592023e+02] [-8.70728274e-01 1.67696179e-02 4.91478435e-01 -5.16891366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.9807140569999 meters Centerline goodness : 0.998399 Centerline is valid? [True, True] Translation: X:126.39, Y:209.59, Z:-51.72 [[ 4.77793504e-01 2.70297356e-01 8.35854477e-01 1.26393606e+02] [-1.17009966e-01 9.62590040e-01 -2.44395343e-01 2.09587386e+02] [-8.70644609e-01 1.89672038e-02 4.91546752e-01 -5.17170077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.010714057 meters Centerline goodness : 0.998040 Centerline is valid? [True, True] Translation: X:126.41, Y:209.58, Z:-51.75 [[ 4.78109412e-01 2.68512041e-01 8.36249170e-01 1.26409157e+02] [-1.12590924e-01 9.63003938e-01 -2.44840150e-01 2.09582168e+02] [-8.71053772e-01 2.29063136e-02 4.90653266e-01 -5.17457837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.040714057 meters Centerline goodness : 0.998586 Centerline is valid? [True, True] Translation: X:126.43, Y:209.58, Z:-51.77 [[ 4.78269478e-01 2.68223616e-01 8.36250201e-01 1.26425107e+02] [-1.11086417e-01 9.63046302e-01 -2.45360203e-01 2.09577506e+02] [-8.71159064e-01 2.44522580e-02 4.90391652e-01 -5.17748002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.0707140569999 meters Centerline goodness : 0.998101 Centerline is valid? [True, True] Translation: X:126.44, Y:209.57, Z:-51.80 [[ 4.78550137e-01 2.68076672e-01 8.36136750e-01 1.26440884e+02] [-1.09920711e-01 9.63053502e-01 -2.45856442e-01 2.09573110e+02] [-8.71152802e-01 2.57458881e-02 4.90336564e-01 -5.18028346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.1007140569999 meters Centerline goodness : 0.998274 Centerline is valid? [True, True] Translation: X:126.46, Y:209.57, Z:-51.83 [[ 4.78751767e-01 2.67622888e-01 8.36166691e-01 1.26455961e+02] [-1.08113124e-01 9.63129968e-01 -2.46357905e-01 2.09569662e+02] [-8.71268213e-01 2.75436893e-02 4.90033720e-01 -5.18310660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.130714057 meters Centerline goodness : 0.998237 Centerline is valid? [True, True] Translation: X:126.47, Y:209.57, Z:-51.86 [[ 4.78750518e-01 2.66681213e-01 8.36468214e-01 1.26472019e+02] [-1.05167404e-01 9.63310020e-01 -2.46928374e-01 2.09567487e+02] [-8.71629370e-01 3.02478965e-02 4.89231342e-01 -5.18601326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.160714057 meters Centerline goodness : 0.998565 Centerline is valid? [True, True] Translation: X:126.49, Y:209.57, Z:-51.89 [[ 4.79631478e-01 2.66147196e-01 8.36133551e-01 1.26488115e+02] [-1.03382393e-01 9.63394554e-01 -2.47352003e-01 2.09565599e+02] [-8.71358552e-01 3.21963192e-02 4.89589288e-01 -5.18884724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.1907140569999 meters Centerline goodness : 0.998175 Centerline is valid? [True, True] Translation: X:126.50, Y:209.57, Z:-51.92 [[ 4.81672991e-01 2.71261895e-01 8.33311535e-01 1.26502477e+02] [-1.03158130e-01 9.61827362e-01 -2.53468984e-01 2.09565299e+02] [-8.70258313e-01 3.61263040e-02 4.91269132e-01 -5.19158980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.2207140569999 meters Centerline goodness : 0.998093 Centerline is valid? [True, True] Translation: X:126.52, Y:209.56, Z:-51.94 [[ 4.80730752e-01 2.58662964e-01 8.37849279e-01 1.26518653e+02] [-1.01866567e-01 9.65506420e-01 -2.39625868e-01 2.09555772e+02] [-8.70931195e-01 2.98466943e-02 4.90497736e-01 -5.19418868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.250714057 meters Centerline goodness : 0.997988 Centerline is valid? [True, True] Translation: X:126.53, Y:209.56, Z:-51.97 [[ 4.81365368e-01 2.65649159e-01 8.35295102e-01 1.26534172e+02] [-1.00806153e-01 9.63422467e-01 -2.48304793e-01 2.09556178e+02] [-8.70704027e-01 3.53224417e-02 4.90537280e-01 -5.19713840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.280714057 meters Centerline goodness : 0.998551 Centerline is valid? [True, True] Translation: X:126.55, Y:209.56, Z:-52.00 [[ 4.82394264e-01 2.65218859e-01 8.34838146e-01 1.26550172e+02] [-9.93295066e-02 9.63476411e-01 -2.48690277e-01 2.09555750e+02] [-8.70304213e-01 3.70427022e-02 4.91119553e-01 -5.19989027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.3107140569999 meters Centerline goodness : 0.998197 Centerline is valid? [True, True] Translation: X:126.57, Y:209.55, Z:-52.03 [[ 4.82911931e-01 2.65286669e-01 8.34517256e-01 1.26566672e+02] [-9.88252139e-02 9.63427863e-01 -2.49078964e-01 2.09553827e+02] [-8.70074505e-01 3.78118572e-02 4.91467822e-01 -5.20276397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.3407140569999 meters Centerline goodness : 0.998220 Centerline is valid? [True, True] Translation: X:126.58, Y:209.56, Z:-52.05 [[ 4.83563602e-01 2.65821473e-01 8.33969536e-01 1.26582763e+02] [-9.90255301e-02 9.63268256e-01 -2.49616127e-01 2.09555210e+02] [-8.69689708e-01 3.81209978e-02 4.92124580e-01 -5.20543637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.370714057 meters Centerline goodness : 0.998304 Centerline is valid? [True, True] Translation: X:126.60, Y:209.55, Z:-52.08 [[ 4.83460796e-01 2.64139609e-01 8.34563315e-01 1.26599542e+02] [-9.93519382e-02 9.63784693e-01 -2.47483853e-01 2.09552155e+02] [-8.69709636e-01 3.67332577e-02 4.92194897e-01 -5.20831003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.400714057 meters Centerline goodness : 0.998282 Centerline is valid? [True, True] Translation: X:126.62, Y:209.55, Z:-52.11 [[ 4.83140064e-01 2.66750812e-01 8.33918271e-01 1.26616143e+02] [-1.00024846e-01 9.63038725e-01 -2.50102868e-01 2.09551276e+02] [-8.69810732e-01 3.74221687e-02 4.91964300e-01 -5.21120764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.4307140569999 meters Centerline goodness : 0.998280 Centerline is valid? [True, True] Translation: X:126.63, Y:209.55, Z:-52.14 [[ 4.82899310e-01 2.67933737e-01 8.33678456e-01 1.26634034e+02] [-1.01638056e-01 9.62754972e-01 -2.50544546e-01 2.09551545e+02] [-8.69757415e-01 3.62543309e-02 4.92145976e-01 -5.21407442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.4607140569999 meters Centerline goodness : 0.998742 Centerline is valid? [True, True] Translation: X:126.65, Y:209.55, Z:-52.17 [[ 4.82420270e-01 2.68881671e-01 8.33650604e-01 1.26650481e+02] [-1.02644857e-01 9.62517297e-01 -2.51046780e-01 2.09549692e+02] [-8.69905004e-01 3.55401088e-02 4.91937175e-01 -5.21691180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.490714057 meters Centerline goodness : 0.998848 Centerline is valid? [True, True] Translation: X:126.67, Y:209.55, Z:-52.20 [[ 4.84184360e-01 2.74614122e-01 8.30754229e-01 1.26666920e+02] [-1.05306164e-01 9.60858202e-01 -2.56246224e-01 2.09553507e+02] [-8.68605847e-01 3.65868733e-02 4.94151073e-01 -5.21976432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.520714057 meters Centerline goodness : 0.998553 Centerline is valid? [True, True] Translation: X:126.68, Y:209.55, Z:-52.23 [[ 4.83329376e-01 2.64384848e-01 8.34561781e-01 1.26683480e+02] [-1.06136305e-01 9.63971675e-01 -2.43913292e-01 2.09546360e+02] [-8.68980897e-01 2.93131552e-02 4.93976659e-01 -5.22254805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.5507140569999 meters Centerline goodness : 0.998637 Centerline is valid? [True, True] Translation: X:126.70, Y:209.55, Z:-52.25 [[ 4.83875970e-01 2.72138802e-01 8.31747869e-01 1.26699400e+02] [-1.07636346e-01 9.61711330e-01 -2.52043120e-01 2.09547657e+02] [-8.68492062e-01 3.24313073e-02 4.94641030e-01 -5.22538707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.5807140569999 meters Centerline goodness : 0.999371 Centerline is valid? [True, True] Translation: X:126.72, Y:209.55, Z:-52.28 [[ 4.83753533e-01 2.73588222e-01 8.31343494e-01 1.26717148e+02] [-1.09940373e-01 9.61356799e-01 -2.52400910e-01 2.09547728e+02] [-8.68271636e-01 3.07016179e-02 4.95138139e-01 -5.22825023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.610714057 meters Centerline goodness : 0.999371 Centerline is valid? [True, True] Translation: X:126.73, Y:209.55, Z:-52.31 [[ 4.83336480e-01 2.74642847e-01 8.31238325e-01 1.26734040e+02] [-1.11207584e-01 9.61084837e-01 -2.52881018e-01 2.09545381e+02] [-8.68342513e-01 2.97866156e-02 4.95069730e-01 -5.23109775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.640714057 meters Centerline goodness : 0.999517 Centerline is valid? [True, True] Translation: X:126.75, Y:209.54, Z:-52.34 [[ 4.82196101e-01 2.75817633e-01 8.31511608e-01 1.26751271e+02] [-1.12461252e-01 9.60780991e-01 -2.53480480e-01 2.09542883e+02] [-8.68814933e-01 2.87144623e-02 4.94303644e-01 -5.23392430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.6707140569999 meters Centerline goodness : 0.999560 Centerline is valid? [True, True] Translation: X:126.77, Y:209.54, Z:-52.37 [[ 4.80188839e-01 2.77656579e-01 8.32060997e-01 1.26768700e+02] [-1.14859889e-01 9.60315429e-01 -2.54168217e-01 2.09543007e+02] [-8.69612491e-01 2.64783076e-02 4.93024355e-01 -5.23673731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.7007140569999 meters Centerline goodness : 0.999582 Centerline is valid? [True, True] Translation: X:126.78, Y:209.54, Z:-52.39 [[ 4.79347545e-01 2.79110045e-01 8.32059802e-01 1.26784295e+02] [-1.16851129e-01 9.59937347e-01 -2.54688249e-01 2.09540646e+02] [-8.69811327e-01 2.48570596e-02 4.92757934e-01 -5.23947772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.7307140569999 meters Centerline goodness : 0.999601 Centerline is valid? [True, True] Translation: X:126.80, Y:209.54, Z:-52.42 [[ 4.79259105e-01 2.80231382e-01 8.31733782e-01 1.26800694e+02] [-1.18447531e-01 9.59639133e-01 -2.55074336e-01 2.09538230e+02] [-8.69644119e-01 2.37298851e-02 4.93108507e-01 -5.24232167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.760714057 meters Centerline goodness : 0.999455 Centerline is valid? [True, True] Translation: X:126.82, Y:209.54, Z:-52.45 [[ 4.80420557e-01 2.88062171e-01 8.28381720e-01 1.26816100e+02] [-1.23000186e-01 9.57316661e-01 -2.61564074e-01 2.09540389e+02] [-8.68370337e-01 2.37696521e-02 4.95346304e-01 -5.24519408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.790714057 meters Centerline goodness : 0.999728 Centerline is valid? [True, True] Translation: X:126.83, Y:209.53, Z:-52.48 [[ 4.78589957e-01 2.73833864e-01 8.34246168e-01 1.26831778e+02] [-1.22922042e-01 9.61663528e-01 -2.45139616e-01 2.09530777e+02] [-8.69391641e-01 1.47741158e-02 4.93902724e-01 -5.24788458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.8207140569999 meters Centerline goodness : 0.999517 Centerline is valid? [True, True] Translation: X:126.85, Y:209.53, Z:-52.51 [[ 4.78200976e-01 2.83807947e-01 8.31129879e-01 1.26848628e+02] [-1.23973642e-01 9.58684918e-01 -2.56034692e-01 2.09532064e+02] [-8.69456360e-01 1.93978415e-02 4.93628769e-01 -5.25082967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.8507140569999 meters Centerline goodness : 0.999664 Centerline is valid? [True, True] Translation: X:126.87, Y:209.53, Z:-52.54 [[ 4.77250977e-01 2.84865355e-01 8.31314161e-01 1.26865790e+02] [-1.25083499e-01 9.58389404e-01 -2.56600603e-01 2.09530628e+02] [-8.69819305e-01 1.84792040e-02 4.93024235e-01 -5.25358811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.880714057 meters Centerline goodness : 0.999727 Centerline is valid? [True, True] Translation: X:126.88, Y:209.53, Z:-52.56 [[ 4.76579880e-01 2.85705812e-01 8.31410733e-01 1.26882114e+02] [-1.25871236e-01 9.58150535e-01 -2.57106951e-01 2.09527265e+02] [-8.70073589e-01 1.78813033e-02 4.92597411e-01 -5.25639011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.910714057 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:126.90, Y:209.53, Z:-52.59 [[ 4.75846932e-01 2.86857754e-01 8.31433898e-01 1.26898730e+02] [-1.27285129e-01 9.57826615e-01 -2.57617297e-01 2.09525042e+02] [-8.70269035e-01 1.67572298e-02 4.92291582e-01 -5.25912502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.9407140569999 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:126.91, Y:209.52, Z:-52.62 [[ 4.75182719e-01 2.87721826e-01 8.31515204e-01 1.26914477e+02] [-1.28147179e-01 9.57578797e-01 -2.58110729e-01 2.09520946e+02] [-8.70505419e-01 1.60934305e-02 4.91895637e-01 -5.26199505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.9707140569999 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:126.93, Y:209.52, Z:-52.65 [[ 4.74764190e-01 2.88555207e-01 8.31465487e-01 1.26930842e+02] [-1.28986595e-01 9.57337463e-01 -2.58587394e-01 2.09516197e+02] [-8.70609799e-01 1.55201326e-02 4.91729299e-01 -5.26486576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.000714057 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.95, Y:209.51, Z:-52.68 [[ 4.74255445e-01 2.89312165e-01 8.31492780e-01 1.26946211e+02] [-1.29628434e-01 9.57115889e-01 -2.59086170e-01 2.09511646e+02] [-8.70791733e-01 1.50879196e-02 4.91420505e-01 -5.26769527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.030714057 meters Centerline goodness : 0.999854 Centerline is valid? [True, True] Translation: X:126.96, Y:209.51, Z:-52.70 [[ 4.74762390e-01 2.90289038e-01 8.30862773e-01 1.26961400e+02] [-1.31082835e-01 9.56833041e-01 -2.59398964e-01 2.09507101e+02] [-8.70297630e-01 1.42410239e-02 4.92320251e-01 -5.27045078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.0607140569999 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:126.98, Y:209.50, Z:-52.73 [[ 4.74961477e-01 2.90986646e-01 8.30504887e-01 1.26976747e+02] [-1.32146766e-01 9.56631110e-01 -2.59603837e-01 2.09502159e+02] [-8.70028062e-01 1.35532874e-02 4.92815869e-01 -5.27338536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.0907140569999 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:126.99, Y:209.50, Z:-52.76 [[ 4.75023130e-01 2.91836878e-01 8.30171225e-01 1.26991871e+02] [-1.33191501e-01 9.56380696e-01 -2.59992284e-01 2.09496929e+02] [-8.69835071e-01 1.29305970e-02 4.93173144e-01 -5.27629120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.120714057 meters Centerline goodness : 0.999769 Centerline is valid? [True, True] Translation: X:127.01, Y:209.49, Z:-52.79 [[ 4.75061350e-01 2.93291134e-01 8.29636683e-01 1.27007089e+02] [-1.35531163e-01 9.55957143e-01 -2.60340631e-01 2.09490713e+02] [-8.69452712e-01 1.12361471e-02 4.93888379e-01 -5.27907840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.150714057 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:127.02, Y:209.49, Z:-52.81 [[ 4.74811314e-01 2.93845972e-01 8.29583487e-01 1.27020184e+02] [-1.35836190e-01 9.55787811e-01 -2.60802971e-01 2.09486298e+02] [-8.69541687e-01 1.11447410e-02 4.93733783e-01 -5.28142683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.1807140569999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.04, Y:209.48, Z:-52.84 [[ 4.73764133e-01 2.94362572e-01 8.29998929e-01 1.27036217e+02] [-1.36990566e-01 9.55643348e-01 -2.60728550e-01 2.09479313e+02] [-8.69931682e-01 9.82181236e-03 4.93074437e-01 -5.28422750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.2107140569999 meters Centerline goodness : 0.999791 Centerline is valid? [True, True] Translation: X:127.05, Y:209.47, Z:-52.87 [[ 4.73341443e-01 2.94966698e-01 8.30025618e-01 1.27051606e+02] [-1.37321940e-01 9.55458594e-01 -2.61230854e-01 2.09473578e+02] [-8.70109512e-01 9.67066121e-03 4.92763549e-01 -5.28706440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.240714057 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:127.07, Y:209.47, Z:-52.90 [[ 4.72665416e-01 2.95546342e-01 8.30204652e-01 1.27066838e+02] [-1.37490771e-01 9.55280214e-01 -2.61793812e-01 2.09467965e+02] [-8.70450282e-01 9.59540362e-03 4.92162814e-01 -5.28988525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.270714057 meters Centerline goodness : 0.999791 Centerline is valid? [True, True] Translation: X:127.08, Y:209.46, Z:-52.93 [[ 4.72648523e-01 2.96343302e-01 8.29930131e-01 1.27081357e+02] [-1.38372843e-01 9.55038189e-01 -2.62211772e-01 2.09461634e+02] [-8.70319671e-01 9.09421474e-03 4.92403255e-01 -5.29275117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.3007140569999 meters Centerline goodness : 0.999811 Centerline is valid? [True, True] Translation: X:127.10, Y:209.46, Z:-52.96 [[ 4.73060107e-01 2.96828095e-01 8.29522282e-01 1.27096111e+02] [-1.38673625e-01 9.54886662e-01 -2.62604434e-01 2.09456327e+02] [-8.70048137e-01 9.19482010e-03 4.92881014e-01 -5.29558221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.3307140569999 meters Centerline goodness : 0.999728 Centerline is valid? [True, True] Translation: X:127.11, Y:209.45, Z:-52.98 [[ 4.73513992e-01 2.96893267e-01 8.29239946e-01 1.27111041e+02] [-1.38399369e-01 9.54861480e-01 -2.62840578e-01 2.09450919e+02] [-8.69844879e-01 9.69240616e-03 4.93230112e-01 -5.29842419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.360714057 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:127.13, Y:209.44, Z:-53.01 [[ 4.74302221e-01 2.96266954e-01 8.29013447e-01 1.27125061e+02] [-1.36335007e-01 9.55031525e-01 -2.63301258e-01 2.09443103e+02] [-8.69741438e-01 1.18608175e-02 4.93365131e-01 -5.30129086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.390714057 meters Centerline goodness : 0.999539 Centerline is valid? [True, True] Translation: X:127.14, Y:209.44, Z:-53.04 [[ 4.74278289e-01 2.96066288e-01 8.29098823e-01 1.27139204e+02] [-1.34947058e-01 9.55075393e-01 -2.63856564e-01 2.09436411e+02] [-8.69970917e-01 1.32569925e-02 4.92924798e-01 -5.30410034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.4207140569999 meters Centerline goodness : 0.999580 Centerline is valid? [True, True] Translation: X:127.15, Y:209.43, Z:-53.07 [[ 4.75361510e-01 2.94255409e-01 8.29123145e-01 1.27153286e+02] [-1.30422329e-01 9.55566076e-01 -2.64354859e-01 2.09428057e+02] [-8.70069797e-01 1.75279532e-02 4.92616808e-01 -5.30699640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.4507140569999 meters Centerline goodness : 0.999434 Centerline is valid? [True, True] Translation: X:127.17, Y:209.42, Z:-53.10 [[ 4.76151597e-01 2.93364975e-01 8.28985313e-01 1.27168139e+02] [-1.27804186e-01 9.55788105e-01 -2.64830489e-01 2.09421896e+02] [-8.70026291e-01 2.01516670e-02 4.92593305e-01 -5.30985547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.4807140569999 meters Centerline goodness : 0.999266 Centerline is valid? [True, True] Translation: X:127.18, Y:209.42, Z:-53.13 [[ 4.77008744e-01 2.92766056e-01 8.28704226e-01 1.27182382e+02] [-1.25860427e-01 9.55925599e-01 -2.65264779e-01 2.09415718e+02] [-8.69840107e-01 2.22325515e-02 4.92832530e-01 -5.31262080e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.510714057 meters Centerline goodness : 0.999435 Centerline is valid? [True, True] Translation: X:127.20, Y:209.41, Z:-53.15 [[ 4.78846539e-01 2.90160209e-01 8.28560828e-01 1.27196352e+02] [-1.19882302e-01 9.56571217e-01 -2.65706115e-01 2.09409057e+02] [-8.69674782e-01 2.79026745e-02 4.92835890e-01 -5.31540302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.540714057 meters Centerline goodness : 0.999435 Centerline is valid? [True, True] Translation: X:127.21, Y:209.40, Z:-53.18 [[ 4.78824441e-01 2.90592217e-01 8.28422186e-01 1.27212166e+02] [-1.19998922e-01 9.56436533e-01 -2.66137967e-01 2.09404067e+02] [-8.69670865e-01 2.80235937e-02 4.92835941e-01 -5.31831291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.5707140569999 meters Centerline goodness : 0.999476 Centerline is valid? [True, True] Translation: X:127.23, Y:209.40, Z:-53.21 [[ 4.79827017e-01 2.89226068e-01 8.28320177e-01 1.27227457e+02] [-1.16952222e-01 9.56761433e-01 -2.66326377e-01 2.09398210e+02] [-8.69533330e-01 3.09167059e-02 4.92905616e-01 -5.32118985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.6007140569999 meters Centerline goodness : 0.999392 Centerline is valid? [True, True] Translation: X:127.24, Y:209.39, Z:-53.24 [[ 4.80566238e-01 2.88022200e-01 8.28311115e-01 1.27242035e+02] [-1.13653564e-01 9.57016681e-01 -2.66836918e-01 2.09392915e+02] [-8.69562510e-01 3.40923035e-02 4.92644655e-01 -5.32393198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.630714057 meters Centerline goodness : 0.999372 Centerline is valid? [True, True] Translation: X:127.26, Y:209.39, Z:-53.27 [[ 4.82065327e-01 2.85660844e-01 8.28257751e-01 1.27257155e+02] [-1.08151382e-01 9.57525528e-01 -2.67297853e-01 2.09387665e+02] [-8.69434471e-01 3.92778062e-02 4.92484472e-01 -5.32680220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.660714057 meters Centerline goodness : 0.999118 Centerline is valid? [True, True] Translation: X:127.27, Y:209.38, Z:-53.30 [[ 4.83373188e-01 2.86445216e-01 8.27223971e-01 1.27271719e+02] [-1.07378524e-01 9.57216271e-01 -2.68713347e-01 2.09383771e+02] [-8.68803898e-01 4.10627386e-02 4.93450745e-01 -5.32951858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.6907140569999 meters Centerline goodness : 0.999455 Centerline is valid? [True, True] Translation: X:127.29, Y:209.38, Z:-53.32 [[ 4.84714415e-01 2.80878451e-01 8.28347289e-01 1.27287684e+02] [-1.07100615e-01 9.58969991e-01 -2.62499554e-01 2.09377697e+02] [-8.68090660e-01 3.85208137e-02 4.94908833e-01 -5.33244372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.7207140569999 meters Centerline goodness : 0.999414 Centerline is valid? [True, True] Translation: X:127.31, Y:209.37, Z:-53.35 [[ 4.88769061e-01 2.74466116e-01 8.28114217e-01 1.27306983e+02] [-1.06924438e-01 9.60912431e-01 -2.55371229e-01 2.09374641e+02] [-8.65835995e-01 3.62719089e-02 4.99011401e-01 -5.33453158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.750714057 meters Centerline goodness : 0.999160 Centerline is valid? [True, True] Translation: X:127.32, Y:209.37, Z:-53.38 [[ 4.85394666e-01 2.83014846e-01 8.27221020e-01 1.27319352e+02] [-1.11474595e-01 9.58469174e-01 -2.62507633e-01 2.09370140e+02] [-8.67159405e-01 3.52056766e-02 4.96784789e-01 -5.33802120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.780714057 meters Centerline goodness : 0.999622 Centerline is valid? [True, True] Translation: X:127.34, Y:209.37, Z:-53.41 [[ 4.84294519e-01 2.89143541e-01 8.25745016e-01 1.27335896e+02] [-1.14831266e-01 9.56653273e-01 -2.67634631e-01 2.09368680e+02] [-8.67336497e-01 3.47926394e-02 4.96504656e-01 -5.34089701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.8107140569999 meters Centerline goodness : 0.999475 Centerline is valid? [True, True] Translation: X:127.35, Y:209.38, Z:-53.43 [[ 4.79480427e-01 3.06739653e-01 8.22197850e-01 1.27347828e+02] [-1.14547549e-01 9.50782049e-01 -2.87910323e-01 2.09384462e+02] [-8.70044470e-01 4.38666161e-02 4.91017659e-01 -5.34340359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.8407140569999 meters Centerline goodness : 0.999790 Centerline is valid? [True, True] Translation: X:127.37, Y:209.34, Z:-53.46 [[ 4.78850616e-01 2.49861738e-01 8.41588498e-01 1.27369193e+02] [-1.23760398e-01 9.68281501e-01 -2.17058285e-01 2.09343123e+02] [-8.69129134e-01 -2.16834591e-04 4.94585181e-01 -5.34593680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.870714057 meters Centerline goodness : 0.999728 Centerline is valid? [True, True] Translation: X:127.39, Y:209.36, Z:-53.49 [[ 4.78844563e-01 2.96824324e-01 8.26198042e-01 1.27385623e+02] [-1.27191975e-01 9.54634398e-01 -2.69249639e-01 2.09360701e+02] [-8.68636913e-01 2.38429654e-02 4.94875163e-01 -5.34909217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.900714057 meters Centerline goodness : 0.999581 Centerline is valid? [True, True] Translation: X:127.40, Y:209.36, Z:-53.52 [[ 4.77667577e-01 2.98632150e-01 8.26227890e-01 1.27401270e+02] [-1.29931852e-01 9.54126227e-01 -2.69742206e-01 2.09357166e+02] [-8.68879393e-01 2.14937859e-02 4.94556991e-01 -5.35186782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.9307140569999 meters Centerline goodness : 0.999518 Centerline is valid? [True, True] Translation: X:127.42, Y:209.35, Z:-53.55 [[ 4.75638724e-01 3.01736403e-01 8.26270505e-01 1.27417605e+02] [-1.35326610e-01 9.53245057e-01 -2.70204681e-01 2.09354238e+02] [-8.69168864e-01 1.67034233e-02 4.94233227e-01 -5.35475404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.9607140569999 meters Centerline goodness : 0.999811 Centerline is valid? [True, True] Translation: X:127.43, Y:209.35, Z:-53.58 [[ 4.74633486e-01 3.03315765e-01 8.26270296e-01 1.27432620e+02] [-1.37567129e-01 9.52774683e-01 -2.70731765e-01 2.09350553e+02] [-8.69366631e-01 1.48307287e-02 4.93945048e-01 -5.35758808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.990714057 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:127.45, Y:209.35, Z:-53.60 [[ 4.73486224e-01 3.06165063e-01 8.25877564e-01 1.27448418e+02] [-1.42675394e-01 9.51920242e-01 -2.71093315e-01 2.09346847e+02] [-8.69168872e-01 1.05265431e-02 4.94403342e-01 -5.36047943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.020714057 meters Centerline goodness : 0.999644 Centerline is valid? [True, True] Translation: X:127.46, Y:209.34, Z:-53.63 [[ 4.73024801e-01 3.07768753e-01 8.25545839e-01 1.27463008e+02] [-1.45186945e-01 9.51422585e-01 -2.71506568e-01 2.09342769e+02] [-8.69004194e-01 8.57086165e-03 4.94730484e-01 -5.36326444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.0507140569999 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:127.48, Y:209.34, Z:-53.66 [[ 4.72365373e-01 3.09073121e-01 8.25436103e-01 1.27478798e+02] [-1.47023985e-01 9.51011744e-01 -2.71957003e-01 2.09338079e+02] [-8.69054027e-01 7.10416533e-03 4.94666179e-01 -5.36613984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.0807140569999 meters Centerline goodness : 0.999665 Centerline is valid? [True, True] Translation: X:127.49, Y:209.33, Z:-53.69 [[ 4.71006880e-01 3.10931696e-01 8.25514385e-01 1.27494038e+02] [-1.49809987e-01 9.50420737e-01 -2.72502092e-01 2.09332661e+02] [-8.69315528e-01 4.68006125e-03 4.94235379e-01 -5.36900554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.110714057 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:127.51, Y:209.33, Z:-53.72 [[ 4.70469351e-01 3.11804899e-01 8.25491547e-01 1.27509834e+02] [-1.50673913e-01 9.50137457e-01 -2.73013160e-01 2.09326993e+02] [-8.69457280e-01 4.06428238e-03 4.93991417e-01 -5.37184014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.140714057 meters Centerline goodness : 0.999518 Centerline is valid? [True, True] Translation: X:127.52, Y:209.32, Z:-53.75 [[ 4.69490392e-01 3.12524855e-01 8.25776596e-01 1.27524241e+02] [-1.51030552e-01 9.49902176e-01 -2.73634114e-01 2.09320085e+02] [-8.69924447e-01 3.75109213e-03 4.93170747e-01 -5.37468749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.1707140569999 meters Centerline goodness : 0.999435 Centerline is valid? [True, True] Translation: X:127.54, Y:209.31, Z:-53.77 [[ 4.69908762e-01 3.12990378e-01 8.25362211e-01 1.27539073e+02] [-1.51300378e-01 9.49748346e-01 -2.74018749e-01 2.09314031e+02] [-8.69651626e-01 3.88619636e-03 4.93650632e-01 -5.37747446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.2007140569999 meters Centerline goodness : 0.999456 Centerline is valid? [True, True] Translation: X:127.55, Y:209.31, Z:-53.80 [[ 4.70294994e-01 3.13566167e-01 8.24923559e-01 1.27553807e+02] [-1.51871801e-01 9.49558961e-01 -2.74358773e-01 2.09307980e+02] [-8.69343186e-01 3.74693127e-03 4.94194684e-01 -5.38036035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.2307140569999 meters Centerline goodness : 0.999270 Centerline is valid? [True, True] Translation: X:127.57, Y:209.30, Z:-53.83 [[ 4.70947569e-01 3.14292486e-01 8.24274603e-01 1.27568070e+02] [-1.52797694e-01 9.49320081e-01 -2.74671165e-01 2.09302098e+02] [-8.68827516e-01 3.40845871e-03 4.95103152e-01 -5.38319725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.260714057 meters Centerline goodness : 0.999560 Centerline is valid? [True, True] Translation: X:127.58, Y:209.29, Z:-53.86 [[ 4.71574663e-01 3.15414554e-01 8.23487096e-01 1.27581284e+02] [-1.54666470e-01 9.48951267e-01 -2.74899574e-01 2.09294576e+02] [-8.68156449e-01 2.26983220e-03 4.96285429e-01 -5.38610882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.290714057 meters Centerline goodness : 0.999561 Centerline is valid? [True, True] Translation: X:127.60, Y:209.29, Z:-53.89 [[ 4.71852821e-01 3.16244424e-01 8.23009343e-01 1.27595274e+02] [-1.55711429e-01 9.48676168e-01 -2.75258931e-01 2.09288330e+02] [-8.67818452e-01 1.72974189e-03 4.96878397e-01 -5.38889605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.3207140569999 meters Centerline goodness : 0.999790 Centerline is valid? [True, True] Translation: X:127.61, Y:209.28, Z:-53.92 [[ 4.71943109e-01 3.16945059e-01 8.22687991e-01 1.27610467e+02] [-1.56464710e-01 9.48442920e-01 -2.75635306e-01 2.09281198e+02] [-8.67633849e-01 1.36254483e-03 4.97201817e-01 -5.39178351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.3507140569999 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:127.63, Y:209.27, Z:-53.95 [[ 4.71836620e-01 3.18097808e-01 8.22304073e-01 1.27625364e+02] [-1.58098578e-01 9.48057873e-01 -2.76027372e-01 2.09272372e+02] [-8.67395552e-01 2.34717924e-04 4.97619233e-01 -5.39456227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.380714057 meters Centerline goodness : 0.999790 Centerline is valid? [True, True] Translation: X:127.64, Y:209.27, Z:-53.97 [[ 4.71038376e-01 3.18928064e-01 8.22440112e-01 1.27640482e+02] [-1.58782215e-01 9.47778876e-01 -2.76592498e-01 2.09265448e+02] [-8.67704475e-01 -3.03181620e-04 4.97080327e-01 -5.39743650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.410714057 meters Centerline goodness : 0.999727 Centerline is valid? [True, True] Translation: X:127.65, Y:209.26, Z:-54.00 [[ 4.69772138e-01 3.20020114e-01 8.22740096e-01 1.27654876e+02] [-1.59874474e-01 9.47409855e-01 -2.77226839e-01 2.09256592e+02] [-8.68190239e-01 -1.30169574e-03 4.96229800e-01 -5.40016300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.4407140569999 meters Centerline goodness : 0.999769 Centerline is valid? [True, True] Translation: X:127.67, Y:209.25, Z:-54.03 [[ 4.69101624e-01 3.20600555e-01 8.22896683e-01 1.27669996e+02] [-1.60084869e-01 9.47213410e-01 -2.77776151e-01 2.09249693e+02] [-8.68513962e-01 -1.42806438e-03 4.95662647e-01 -5.40297492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.4707140569999 meters Centerline goodness : 0.999707 Centerline is valid? [True, True] Translation: X:127.68, Y:209.25, Z:-54.06 [[ 4.70503852e-01 3.29567544e-01 8.18542216e-01 1.27683901e+02] [-1.62349443e-01 9.44129760e-01 -2.86812926e-01 2.09246971e+02] [-8.67334297e-01 2.05671401e-03 4.97721796e-01 -5.40561905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.500714057 meters Centerline goodness : 0.999663 Centerline is valid? [True, True] Translation: X:127.70, Y:209.23, Z:-54.08 [[ 4.67919431e-01 3.09282363e-01 8.27886361e-01 1.27698780e+02] [-1.62171588e-01 9.50907499e-01 -2.63581683e-01 2.09227143e+02] [-8.68764515e-01 -1.09246548e-02 4.95104908e-01 -5.40839597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.530714057 meters Centerline goodness : 0.999685 Centerline is valid? [True, True] Translation: X:127.71, Y:209.23, Z:-54.11 [[ 4.66686478e-01 3.22132714e-01 8.23671200e-01 1.27713602e+02] [-1.62478335e-01 9.46686053e-01 -2.78183947e-01 2.09226022e+02] [-8.69370187e-01 -4.00403875e-03 4.94145166e-01 -5.41130953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.5607140569999 meters Centerline goodness : 0.999727 Centerline is valid? [True, True] Translation: X:127.73, Y:209.22, Z:-54.14 [[ 4.65218161e-01 3.25003285e-01 8.23374112e-01 1.27727980e+02] [-1.64584340e-01 9.45699048e-01 -2.80295033e-01 2.09218613e+02] [-8.69760920e-01 -5.11614516e-03 4.93446823e-01 -5.41418766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.5907140569999 meters Centerline goodness : 0.999538 Centerline is valid? [True, True] Translation: X:127.74, Y:209.21, Z:-54.17 [[ 4.64435778e-01 3.26151010e-01 8.23361966e-01 1.27742529e+02] [-1.65997681e-01 9.45296990e-01 -2.80817326e-01 2.09211991e+02] [-8.69910443e-01 -6.25456384e-03 4.93170054e-01 -5.41704477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.620714057 meters Centerline goodness : 0.999390 Centerline is valid? [True, True] Translation: X:127.76, Y:209.21, Z:-54.20 [[ 4.64222367e-01 3.27273467e-01 8.23036860e-01 1.27757160e+02] [-1.67540669e-01 9.44901179e-01 -2.81232797e-01 2.09205063e+02] [-8.69728531e-01 -7.33759163e-03 4.93475877e-01 -5.41991120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.650714057 meters Centerline goodness : 0.999286 Centerline is valid? [True, True] Translation: X:127.77, Y:209.20, Z:-54.23 [[ 4.63508505e-01 3.28718458e-01 8.22863319e-01 1.27770284e+02] [-1.69656272e-01 9.44384752e-01 -2.81698758e-01 2.09195313e+02] [-8.69699153e-01 -9.03415280e-03 4.93499512e-01 -5.42268002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.6807140569999 meters Centerline goodness : 0.999369 Centerline is valid? [True, True] Translation: X:127.79, Y:209.19, Z:-54.26 [[ 4.62475828e-01 3.29597372e-01 8.23092754e-01 1.27785485e+02] [-1.70741323e-01 9.44067891e-01 -2.82104975e-01 2.09186789e+02] [-8.70036499e-01 -1.00692139e-02 4.92884471e-01 -5.42554151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.7107140569999 meters Centerline goodness : 0.998866 Centerline is valid? [True, True] Translation: X:127.80, Y:209.18, Z:-54.28 [[ 4.61184572e-01 3.30696111e-01 8.23376507e-01 1.27798481e+02] [-1.71889957e-01 9.43671565e-01 -2.82732770e-01 2.09176413e+02] [-8.70495625e-01 -1.11381609e-02 4.92050107e-01 -5.42836510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.740714057 meters Centerline goodness : 0.998594 Centerline is valid? [True, True] Translation: X:127.81, Y:209.17, Z:-54.31 [[ 4.60782568e-01 3.31398849e-01 8.23319032e-01 1.27812688e+02] [-1.72779509e-01 9.43416559e-01 -2.83041405e-01 2.09168682e+02] [-8.70532404e-01 -1.18321128e-02 4.91968835e-01 -5.43125760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.770714057 meters Centerline goodness : 0.998572 Centerline is valid? [True, True] Translation: X:127.83, Y:209.16, Z:-54.34 [[ 4.60627535e-01 3.32338970e-01 8.23026782e-01 1.27826911e+02] [-1.73950837e-01 9.43075882e-01 -2.83458968e-01 2.09160805e+02] [-8.70381170e-01 -1.25971921e-02 4.92217361e-01 -5.43415619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.8007140569999 meters Centerline goodness : 0.998697 Centerline is valid? [True, True] Translation: X:127.84, Y:209.15, Z:-54.37 [[ 4.60394625e-01 3.33295736e-01 8.22770163e-01 1.27840663e+02] [-1.75095475e-01 9.42727787e-01 -2.83911773e-01 2.09152754e+02] [-8.70274878e-01 -1.33518780e-02 4.92385381e-01 -5.43697809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.8307140569999 meters Centerline goodness : 0.999012 Centerline is valid? [True, True] Translation: X:127.85, Y:209.14, Z:-54.40 [[ 4.60025085e-01 3.34278919e-01 8.22577975e-01 1.27852578e+02] [-1.76326872e-01 9.42366680e-01 -2.84348157e-01 2.09140998e+02] [-8.70221670e-01 -1.42353161e-02 4.92454668e-01 -5.43979247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.860714057 meters Centerline goodness : 0.998593 Centerline is valid? [True, True] Translation: X:127.87, Y:209.14, Z:-54.43 [[ 4.62087918e-01 3.41143874e-01 8.18593680e-01 1.27867205e+02] [-1.76413343e-01 9.39963931e-01 -2.92140617e-01 2.09135091e+02] [-8.69110516e-01 -9.41619775e-03 4.94528308e-01 -5.44288039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.890714057 meters Centerline goodness : 0.998468 Centerline is valid? [True, True] Translation: X:127.88, Y:209.12, Z:-54.45 [[ 4.60145836e-01 3.34073463e-01 8.22593904e-01 1.27881269e+02] [-1.77026713e-01 9.42426539e-01 -2.83714226e-01 2.09122184e+02] [-8.70015720e-01 -1.50711757e-02 4.92793574e-01 -5.44549517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.9207140569999 meters Centerline goodness : 0.998572 Centerline is valid? [True, True] Translation: X:127.89, Y:209.11, Z:-54.48 [[ 4.60179067e-01 3.34941593e-01 8.22222206e-01 1.27894027e+02] [-1.77015588e-01 9.42126908e-01 -2.84714542e-01 2.09110050e+02] [-8.70000407e-01 -1.45264747e-02 4.92836964e-01 -5.44840790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.9507140569999 meters Centerline goodness : 0.998550 Centerline is valid? [True, True] Translation: X:127.91, Y:209.10, Z:-54.51 [[ 4.60776903e-01 3.35164648e-01 8.21796389e-01 1.27908271e+02] [-1.76785950e-01 9.42056742e-01 -2.85089150e-01 2.09101537e+02] [-8.69730633e-01 -1.39195593e-02 4.93330388e-01 -5.45129703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.9807140569999 meters Centerline goodness : 0.998345 Centerline is valid? [True, True] Translation: X:127.92, Y:209.09, Z:-54.54 [[ 4.61156017e-01 3.35370156e-01 8.21499839e-01 1.27922334e+02] [-1.76422820e-01 9.41993113e-01 -2.85524015e-01 2.09093124e+02] [-8.69603425e-01 -1.32602006e-02 4.93572741e-01 -5.45423103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.010714057 meters Centerline goodness : 0.998318 Centerline is valid? [True, True] Translation: X:127.93, Y:209.08, Z:-54.57 [[ 4.62189457e-01 3.34759605e-01 8.21168017e-01 1.27934688e+02] [-1.74423024e-01 9.42238527e-01 -2.85942596e-01 2.09081628e+02] [-8.69458173e-01 -1.10709554e-02 4.93882495e-01 -5.45703019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.040714057 meters Centerline goodness : 0.998970 Centerline is valid? [True, True] Translation: X:127.95, Y:209.07, Z:-54.60 [[ 4.63003821e-01 3.34494290e-01 8.20817295e-01 1.27949232e+02] [-1.73208230e-01 9.42348815e-01 -2.86317342e-01 2.09073024e+02] [-8.69267721e-01 -9.60628750e-03 4.94248266e-01 -5.45989093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.0707140569999 meters Centerline goodness : 0.998338 Centerline is valid? [True, True] Translation: X:127.96, Y:209.06, Z:-54.63 [[ 4.65051216e-01 3.33278403e-01 8.20154176e-01 1.27961905e+02] [-1.70210410e-01 9.42807328e-01 -2.86605579e-01 2.09060871e+02] [-8.68766817e-01 -6.31250594e-03 4.95181148e-01 -5.46280615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.1007140569999 meters Centerline goodness : 0.997941 Centerline is valid? [True, True] Translation: X:127.98, Y:209.05, Z:-54.66 [[ 4.65932630e-01 3.32859037e-01 8.19824155e-01 1.27975364e+02] [-1.68632108e-01 9.42965773e-01 -2.87017009e-01 2.09052990e+02] [-8.68602323e-01 -4.51808560e-03 4.95489244e-01 -5.46559628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.130714057 meters Centerline goodness : 0.997957 Centerline is valid? [True, True] Translation: X:127.99, Y:209.04, Z:-54.68 [[ 4.67245853e-01 3.32340231e-01 8.19287058e-01 1.27989990e+02] [-1.67047791e-01 9.43155952e-01 -2.87318440e-01 2.09044801e+02] [-8.68202942e-01 -2.61174396e-03 4.96202409e-01 -5.46844793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.160714057 meters Centerline goodness : 0.997307 Centerline is valid? [True, True] Translation: X:128.00, Y:209.03, Z:-54.71 [[ 4.69405433e-01 3.30814723e-01 8.18669749e-01 1.28003244e+02] [-1.63425976e-01 9.43694930e-01 -2.87631413e-01 2.09034752e+02] [-8.67727198e-01 1.22384544e-03 4.97039246e-01 -5.47137781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.1907140569999 meters Centerline goodness : 0.997222 Centerline is valid? [True, True] Translation: X:128.02, Y:209.03, Z:-54.74 [[ 4.70423570e-01 3.30182570e-01 8.18340476e-01 1.28017299e+02] [-1.61429851e-01 9.43910963e-01 -2.88049470e-01 2.09027325e+02] [-8.67549461e-01 3.40067886e-03 4.97339288e-01 -5.47416083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.2207140569999 meters Centerline goodness : 0.997153 Centerline is valid? [True, True] Translation: X:128.03, Y:209.02, Z:-54.77 [[ 4.72512277e-01 3.28013162e-01 8.18009483e-01 1.28030881e+02] [-1.56431122e-01 9.44636478e-01 -2.88428896e-01 2.09017524e+02] [-8.67330071e-01 8.32405297e-03 4.97663800e-01 -5.47694964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.250714057 meters Centerline goodness : 0.997028 Centerline is valid? [True, True] Translation: X:128.05, Y:209.01, Z:-54.80 [[ 4.73378957e-01 3.27075489e-01 8.17883847e-01 1.28045731e+02] [-1.53795653e-01 9.44934684e-01 -2.88869072e-01 2.09010388e+02] [-8.67328807e-01 1.09575600e-02 4.97614984e-01 -5.47982491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.280714057 meters Centerline goodness : 0.997377 Centerline is valid? [True, True] Translation: X:128.06, Y:209.00, Z:-54.83 [[ 4.74078482e-01 3.25870812e-01 8.17959539e-01 1.28061159e+02] [-1.50452390e-01 9.45308604e-01 -2.89405808e-01 2.09003389e+02] [-8.67533096e-01 1.41370990e-02 4.97178510e-01 -5.48268892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.3107140569999 meters Centerline goodness : 0.996543 Centerline is valid? [True, True] Translation: X:128.08, Y:209.00, Z:-54.86 [[ 4.75856880e-01 3.24887702e-01 8.17317693e-01 1.28075661e+02] [-1.43096566e-01 9.45490973e-01 -2.92523833e-01 2.08997807e+02] [-8.67803896e-01 2.22441237e-02 4.96408699e-01 -5.48557966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.3407140569999 meters Centerline goodness : 0.997027 Centerline is valid? [True, True] Translation: X:128.09, Y:208.99, Z:-54.88 [[ 4.75823253e-01 3.21036366e-01 8.18857670e-01 1.28091042e+02] [-1.40248915e-01 9.46787542e-01 -2.89695689e-01 2.08990297e+02] [-8.68287092e-01 2.30000458e-02 4.95528530e-01 -5.48830041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.370714057 meters Centerline goodness : 0.996908 Centerline is valid? [True, True] Translation: X:128.11, Y:208.99, Z:-54.91 [[ 4.77441099e-01 3.22826190e-01 8.17210651e-01 1.28105734e+02] [-1.36989628e-01 9.46036064e-01 -2.93682834e-01 2.08986548e+02] [-8.67919258e-01 2.82668719e-02 4.95900338e-01 -5.49109887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.400714057 meters Centerline goodness : 0.996461 Centerline is valid? [True, True] Translation: X:128.12, Y:208.98, Z:-54.94 [[ 4.77983201e-01 3.17340471e-01 8.19040344e-01 1.28121188e+02] [-1.31970312e-01 9.47816850e-01 -2.90218980e-01 2.08979627e+02] [-8.68398466e-01 3.06307872e-02 4.94920053e-01 -5.49378014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.4307140569999 meters Centerline goodness : 0.996350 Centerline is valid? [True, True] Translation: X:128.14, Y:208.98, Z:-54.97 [[ 4.78187076e-01 3.17137969e-01 8.18999773e-01 1.28135585e+02] [-1.29496483e-01 9.47795060e-01 -2.91402103e-01 2.08975672e+02] [-8.68658610e-01 3.32871294e-02 4.94291600e-01 -5.49657529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.4607140569999 meters Centerline goodness : 0.996350 Centerline is valid? [True, True] Translation: X:128.15, Y:208.97, Z:-54.99 [[ 4.78159000e-01 3.17450163e-01 8.18895210e-01 1.28151253e+02] [-1.29613125e-01 9.47688774e-01 -2.91695776e-01 2.08970127e+02] [-8.68656669e-01 3.33373933e-02 4.94291624e-01 -5.49948139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.490714057 meters Centerline goodness : 0.996227 Centerline is valid? [True, True] Translation: X:128.17, Y:208.97, Z:-55.02 [[ 4.79280672e-01 3.16483385e-01 8.18613648e-01 1.28167242e+02] [-1.27519765e-01 9.47934516e-01 -2.91819915e-01 2.08965792e+02] [-8.68348287e-01 3.54742253e-02 4.94684579e-01 -5.50236616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.520714057 meters Centerline goodness : 0.996065 Centerline is valid? [True, True] Translation: X:128.18, Y:208.96, Z:-55.05 [[ 4.80218420e-01 3.15153988e-01 8.18576956e-01 1.28183241e+02] [-1.23979722e-01 9.48242920e-01 -2.92342937e-01 2.08963397e+02] [-8.68342846e-01 3.89015194e-02 4.94436421e-01 -5.50516280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.5507140569999 meters Centerline goodness : 0.996136 Centerline is valid? [True, True] Translation: X:128.20, Y:208.96, Z:-55.08 [[ 4.80450985e-01 3.14810812e-01 8.18572540e-01 1.28199203e+02] [-1.22430605e-01 9.48290984e-01 -2.92839472e-01 2.08960015e+02] [-8.68433992e-01 4.04766819e-02 4.94149816e-01 -5.50796263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.5807140569999 meters Centerline goodness : 0.996426 Centerline is valid? [True, True] Translation: X:128.22, Y:208.96, Z:-55.11 [[ 4.80683633e-01 3.15044619e-01 8.18345974e-01 1.28215657e+02] [-1.22222998e-01 9.48193636e-01 -2.93241142e-01 2.08956724e+02] [-8.68334488e-01 4.09355193e-02 4.94286860e-01 -5.51078840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.610714057 meters Centerline goodness : 0.996596 Centerline is valid? [True, True] Translation: X:128.23, Y:208.96, Z:-55.14 [[ 4.80965079e-01 3.15059967e-01 8.18174682e-01 1.28233297e+02] [-1.21483910e-01 9.48148081e-01 -2.93695210e-01 2.08957048e+02] [-8.68282358e-01 4.18620806e-02 4.94300833e-01 -5.51367770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.640714057 meters Centerline goodness : 0.996990 Centerline is valid? [True, True] Translation: X:128.25, Y:208.96, Z:-55.16 [[ 4.83024413e-01 3.21616163e-01 8.14401904e-01 1.28248705e+02] [-1.22262970e-01 9.45761424e-01 -3.00976901e-01 2.08958406e+02] [-8.67028940e-01 4.58079948e-02 4.96147604e-01 -5.51644514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.6707140569999 meters Centerline goodness : 0.996944 Centerline is valid? [True, True] Translation: X:128.27, Y:208.95, Z:-55.19 [[ 4.81104187e-01 3.08915659e-01 8.20432738e-01 1.28265928e+02] [-1.21951413e-01 9.50342127e-01 -2.86317473e-01 2.08949491e+02] [-8.68139744e-01 3.76956038e-02 4.94886277e-01 -5.51918304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.7007140569999 meters Centerline goodness : 0.996956 Centerline is valid? [True, True] Translation: X:128.28, Y:208.95, Z:-55.22 [[ 4.81366696e-01 3.16301487e-01 8.17459157e-01 1.28282603e+02] [-1.22343217e-01 9.47735946e-01 -2.94667124e-01 2.08950998e+02] [-8.67939077e-01 4.18323567e-02 4.94905862e-01 -5.52216127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.7307140569999 meters Centerline goodness : 0.997715 Centerline is valid? [True, True] Translation: X:128.30, Y:208.95, Z:-55.25 [[ 4.80925030e-01 3.17145672e-01 8.17392034e-01 1.28300865e+02] [-1.23146544e-01 9.47477472e-01 -2.95163292e-01 2.08952716e+02] [-8.68070299e-01 4.12924112e-02 4.94721025e-01 -5.52491466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.760714057 meters Centerline goodness : 0.997526 Centerline is valid? [True, True] Translation: X:128.32, Y:208.95, Z:-55.28 [[ 4.80444593e-01 3.17976577e-01 8.17351754e-01 1.28318516e+02] [-1.23965638e-01 9.47224069e-01 -2.95633361e-01 2.08951130e+02] [-8.68219738e-01 4.07119184e-02 4.94506851e-01 -5.52776721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.790714057 meters Centerline goodness : 0.998261 Centerline is valid? [True, True] Translation: X:128.34, Y:208.95, Z:-55.31 [[ 4.79842174e-01 3.19336441e-01 8.17175456e-01 1.28337971e+02] [-1.25874668e-01 9.46829683e-01 -2.96089714e-01 2.08954588e+02] [-8.68278213e-01 3.92146428e-02 4.94525183e-01 -5.53052528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.8207140569999 meters Centerline goodness : 0.998657 Centerline is valid? [True, True] Translation: X:128.36, Y:208.95, Z:-55.33 [[ 4.79501536e-01 3.20269852e-01 8.17010097e-01 1.28355388e+02] [-1.26997547e-01 9.46546923e-01 -2.96513990e-01 2.08953584e+02] [-8.68302885e-01 3.84206357e-02 4.94544189e-01 -5.53337458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.8507140569999 meters Centerline goodness : 0.998447 Centerline is valid? [True, True] Translation: X:128.37, Y:208.97, Z:-55.36 [[ 4.79262858e-01 3.31924321e-01 8.12485913e-01 1.28367667e+02] [-1.21560009e-01 9.41910701e-01 -3.13093271e-01 2.08968917e+02] [-8.69212447e-01 5.12881807e-02 4.91771538e-01 -5.53593074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.880714057 meters Centerline goodness : 0.998470 Centerline is valid? [True, True] Translation: X:128.39, Y:208.94, Z:-55.39 [[ 4.79260265e-01 2.86785630e-01 8.29495992e-01 1.28389917e+02] [-1.27931974e-01 9.57840948e-01 -2.57243326e-01 2.08939448e+02] [-8.68298917e-01 1.71674449e-02 4.95744158e-01 -5.53859901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.910714057 meters Centerline goodness : 0.999018 Centerline is valid? [True, True] Translation: X:128.41, Y:208.95, Z:-55.42 [[ 4.78847397e-01 3.16237188e-01 8.18962277e-01 1.28405499e+02] [-1.27939708e-01 9.48045379e-01 -2.91275453e-01 2.08952656e+02] [-8.68525533e-01 3.46986980e-02 4.94428356e-01 -5.54166209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.9407140569999 meters Centerline goodness : 0.998719 Centerline is valid? [True, True] Translation: X:128.42, Y:208.95, Z:-55.45 [[ 4.79074867e-01 3.22054533e-01 8.16558724e-01 1.28422541e+02] [-1.27832421e-01 9.45941133e-01 -2.98084292e-01 2.08953738e+02] [-8.68415882e-01 3.84220138e-02 4.94345633e-01 -5.54460843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.9707140569999 meters Centerline goodness : 0.998637 Centerline is valid? [True, True] Translation: X:128.44, Y:208.95, Z:-55.47 [[ 4.79552007e-01 3.22207396e-01 8.16218271e-01 1.28439500e+02] [-1.27488144e-01 9.45862137e-01 -2.98482145e-01 2.08952430e+02] [-8.68203113e-01 3.90795590e-02 4.94667709e-01 -5.54744260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.000714057 meters Centerline goodness : 0.998760 Centerline is valid? [True, True] Translation: X:128.46, Y:208.96, Z:-55.50 [[ 4.79920348e-01 3.21714219e-01 8.16196313e-01 1.28457949e+02] [-1.25616134e-01 9.45950135e-01 -2.98996535e-01 2.08955696e+02] [-8.68272450e-01 4.09670956e-02 4.94393214e-01 -5.55027016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.030714057 meters Centerline goodness : 0.998888 Centerline is valid? [True, True] Translation: X:128.47, Y:208.95, Z:-55.53 [[ 4.80636522e-01 3.21335677e-01 8.15923965e-01 1.28474052e+02] [-1.24170664e-01 9.46006724e-01 -2.99420981e-01 2.08954898e+02] [-8.68084201e-01 4.25988380e-02 4.94585846e-01 -5.55308603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.0607140569999 meters Centerline goodness : 0.999057 Centerline is valid? [True, True] Translation: X:128.49, Y:208.96, Z:-55.56 [[ 4.82580188e-01 3.19133372e-01 8.15641008e-01 1.28491972e+02] [-1.19503656e-01 9.46537195e-01 -2.99643480e-01 2.08957696e+02] [-8.67660786e-01 4.71299246e-02 4.94917702e-01 -5.55592858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.0907140569999 meters Centerline goodness : 0.998662 Centerline is valid? [True, True] Translation: X:128.51, Y:208.96, Z:-55.59 [[ 4.83546270e-01 3.18120171e-01 8.15464629e-01 1.28508246e+02] [-1.16734982e-01 9.46735015e-01 -3.00109571e-01 2.08955921e+02] [-8.67499826e-01 4.99236154e-02 4.94925938e-01 -5.55872776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.120714057 meters Centerline goodness : 0.998423 Centerline is valid? [True, True] Translation: X:128.52, Y:208.95, Z:-55.62 [[ 4.83913318e-01 3.17067396e-01 8.15656893e-01 1.28524781e+02] [-1.13644944e-01 9.46931838e-01 -3.00674110e-01 2.08954227e+02] [-8.67705439e-01 5.28049240e-02 4.94266034e-01 -5.56161746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.150714057 meters Centerline goodness : 0.998703 Centerline is valid? [True, True] Translation: X:128.54, Y:208.95, Z:-55.64 [[ 4.85062703e-01 3.16108470e-01 8.15346313e-01 1.28541181e+02] [-1.11117203e-01 9.47101474e-01 -3.01084316e-01 2.08952792e+02] [-8.67390997e-01 5.54457707e-02 4.94528690e-01 -5.56436468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.1807140569999 meters Centerline goodness : 0.999223 Centerline is valid? [True, True] Translation: X:128.56, Y:208.96, Z:-55.67 [[ 4.86405561e-01 3.14196425e-01 8.15285372e-01 1.28560721e+02] [-1.06587373e-01 9.47474247e-01 -3.01548807e-01 2.08955993e+02] [-8.67207451e-01 5.97758906e-02 4.94346114e-01 -5.56723505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.2107140569999 meters Centerline goodness : 0.999265 Centerline is valid? [True, True] Translation: X:128.58, Y:208.96, Z:-55.70 [[ 4.86266328e-01 3.13891960e-01 8.15485681e-01 1.28578037e+02] [-1.05188647e-01 9.47493079e-01 -3.01980487e-01 2.08955197e+02] [-8.67456285e-01 6.10631071e-02 4.93751851e-01 -5.57010781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.240714057 meters Centerline goodness : 0.999219 Centerline is valid? [True, True] Translation: X:128.60, Y:208.96, Z:-55.73 [[ 4.86339196e-01 3.13581452e-01 8.15561684e-01 1.28595411e+02] [-1.03607359e-01 9.47493504e-01 -3.02525331e-01 2.08955056e+02] [-8.67605729e-01 6.26317337e-02 4.93292575e-01 -5.57294236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.270714057 meters Centerline goodness : 0.999557 Centerline is valid? [True, True] Translation: X:128.62, Y:208.96, Z:-55.76 [[ 4.86823801e-01 3.12533320e-01 8.15674880e-01 1.28615372e+02] [-1.01059764e-01 9.47681873e-01 -3.02796947e-01 2.08959135e+02] [-8.67634434e-01 6.49768501e-02 4.92938636e-01 -5.57565609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.3007140569999 meters Centerline goodness : 0.999432 Centerline is valid? [True, True] Translation: X:128.63, Y:208.96, Z:-55.79 [[ 4.87006789e-01 3.12481745e-01 8.15585402e-01 1.28632832e+02] [-1.00182393e-01 9.47629692e-01 -3.03251472e-01 2.08958061e+02] [-8.67633492e-01 6.59782280e-02 4.92807262e-01 -5.57853129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.3307140569999 meters Centerline goodness : 0.999769 Centerline is valid? [True, True] Translation: X:128.65, Y:208.96, Z:-55.81 [[ 4.87213119e-01 3.12415206e-01 8.15487655e-01 1.28650010e+02] [-9.97182788e-02 9.47613140e-01 -3.03456097e-01 2.08957176e+02] [-8.67571116e-01 6.65287659e-02 4.92843060e-01 -5.58132907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.360714057 meters Centerline goodness : 0.999789 Centerline is valid? [True, True] Translation: X:128.67, Y:208.96, Z:-55.84 [[ 4.87180789e-01 3.12835325e-01 8.15345901e-01 1.28667628e+02] [-9.97626815e-02 9.47461009e-01 -3.03916179e-01 2.08956719e+02] [-8.67584167e-01 6.67210303e-02 4.92794093e-01 -5.58418128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.390714057 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:128.69, Y:208.96, Z:-55.87 [[ 4.87080896e-01 3.13781260e-01 8.15042037e-01 1.28687411e+02] [-1.00956617e-01 9.47202253e-01 -3.04328201e-01 2.08962972e+02] [-8.67502140e-01 6.59485662e-02 4.93042417e-01 -5.58694994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.4207140569999 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:128.71, Y:208.96, Z:-55.90 [[ 4.86531184e-01 3.14567162e-01 8.15067425e-01 1.28705468e+02] [-1.01891356e-01 9.46994806e-01 -3.04662092e-01 2.08963749e+02] [-8.67701307e-01 6.51792833e-02 4.92794179e-01 -5.58982291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.4507140569999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.72, Y:208.96, Z:-55.93 [[ 4.85283056e-01 3.15854734e-01 8.15313524e-01 1.28722551e+02] [-1.03241871e-01 9.46648328e-01 -3.05283572e-01 2.08964382e+02] [-8.68240446e-01 6.39744514e-02 4.92001827e-01 -5.59261426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.4807140569999 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:128.74, Y:208.97, Z:-55.95 [[ 4.83673514e-01 3.17704612e-01 8.15551171e-01 1.28742193e+02] [-1.05707557e-01 9.46177177e-01 -3.05899760e-01 2.08970544e+02] [-8.68841668e-01 6.17456898e-02 4.91224618e-01 -5.59543643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.510714057 meters Centerline goodness : 0.999768 Centerline is valid? [True, True] Translation: X:128.76, Y:208.97, Z:-55.98 [[ 4.83126813e-01 3.18787617e-01 8.15452597e-01 1.28759078e+02] [-1.06966047e-01 9.45873823e-01 -3.06400025e-01 2.08970911e+02] [-8.68991799e-01 6.08043268e-02 4.91076457e-01 -5.59819331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.540714057 meters Centerline goodness : 0.999663 Centerline is valid? [True, True] Translation: X:128.78, Y:208.98, Z:-56.01 [[ 4.83121063e-01 3.20060557e-01 8.14957225e-01 1.28778782e+02] [-1.09318558e-01 9.45557619e-01 -3.06545661e-01 2.08976491e+02] [-8.68702188e-01 5.90087171e-02 4.91807361e-01 -5.60108153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.5707140569999 meters Centerline goodness : 0.999349 Centerline is valid? [True, True] Translation: X:128.80, Y:208.98, Z:-56.04 [[ 4.83634931e-01 3.20703801e-01 8.14399365e-01 1.28795935e+02] [-1.10153930e-01 9.45358956e-01 -3.06859181e-01 2.08976887e+02] [-8.68310639e-01 5.86985284e-02 4.92535397e-01 -5.60396570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.6007140569999 meters Centerline goodness : 0.999139 Centerline is valid? [True, True] Translation: X:128.81, Y:208.98, Z:-56.07 [[ 4.83658664e-01 3.22439630e-01 8.13699565e-01 1.28812281e+02] [-1.12308409e-01 9.44847256e-01 -3.07653187e-01 2.08977968e+02] [-8.68021381e-01 5.74138261e-02 4.93196244e-01 -5.60661533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.630714057 meters Centerline goodness : 0.998767 Centerline is valid? [True, True] Translation: X:128.83, Y:208.98, Z:-56.09 [[ 4.84431575e-01 3.12890633e-01 8.16961138e-01 1.28829279e+02] [-1.10563330e-01 9.48261414e-01 -2.97617273e-01 2.08979677e+02] [-8.67814381e-01 5.38492603e-02 4.93962001e-01 -5.60944545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.660714057 meters Centerline goodness : 0.998876 Centerline is valid? [True, True] Translation: X:128.85, Y:208.98, Z:-56.12 [[ 4.85363459e-01 3.21122390e-01 8.13205216e-01 1.28846993e+02] [-1.10286425e-01 9.45165570e-01 -3.07406815e-01 2.08982844e+02] [-8.67328783e-01 5.95185393e-02 4.94164271e-01 -5.61225284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.6907140569999 meters Centerline goodness : 0.998365 Centerline is valid? [True, True] Translation: X:128.86, Y:208.98, Z:-56.15 [[ 4.85509926e-01 3.20910836e-01 8.13201296e-01 1.28863992e+02] [-1.09014993e-01 9.45153550e-01 -3.07896896e-01 2.08982144e+02] [-8.67407542e-01 6.08358655e-02 4.93865523e-01 -5.61513004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.7207140569999 meters Centerline goodness : 0.998050 Centerline is valid? [True, True] Translation: X:128.88, Y:208.98, Z:-56.18 [[ 4.85800949e-01 3.20733552e-01 8.13097427e-01 1.28881071e+02] [-1.07838606e-01 9.45129529e-01 -3.08384513e-01 2.08981106e+02] [-8.67391649e-01 6.21301962e-02 4.93732282e-01 -5.61801176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.750714057 meters Centerline goodness : 0.997571 Centerline is valid? [True, True] Translation: X:128.90, Y:208.98, Z:-56.21 [[ 4.86751880e-01 3.20386487e-01 8.12665433e-01 1.28897429e+02] [-1.06627070e-01 9.45147250e-01 -3.08751265e-01 2.08980053e+02] [-8.67008233e-01 6.36331244e-02 4.94214073e-01 -5.62082258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.780714057 meters Centerline goodness : 0.997238 Centerline is valid? [True, True] Translation: X:128.92, Y:208.98, Z:-56.24 [[ 4.88333666e-01 3.19154615e-01 8.12201061e-01 1.28915353e+02] [-1.03800769e-01 9.45358078e-01 -3.09068771e-01 2.08982810e+02] [-8.66461558e-01 6.66215914e-02 4.94778670e-01 -5.62377807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.8107140569999 meters Centerline goodness : 0.996843 Centerline is valid? [True, True] Translation: X:128.93, Y:208.98, Z:-56.27 [[ 4.89160501e-01 3.18732427e-01 8.11869229e-01 1.28931561e+02] [-1.02363871e-01 9.45382481e-01 -3.09473104e-01 2.08981212e+02] [-8.66166060e-01 6.82759414e-02 4.95070453e-01 -5.62658771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.8407140569999 meters Centerline goodness : 0.996568 Centerline is valid? [True, True] Translation: X:128.95, Y:208.98, Z:-56.29 [[ 4.89583786e-01 3.18413125e-01 8.11739366e-01 1.28948396e+02] [-1.01003817e-01 9.45383063e-01 -3.09917881e-01 2.08979556e+02] [-8.66086569e-01 6.97419951e-02 4.95005160e-01 -5.62946715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.870714057 meters Centerline goodness : 0.995996 Centerline is valid? [True, True] Translation: X:128.97, Y:208.98, Z:-56.32 [[ 4.89908608e-01 3.17608210e-01 8.11858720e-01 1.28966426e+02] [-9.83970125e-02 9.45466822e-01 -3.10500430e-01 2.08982112e+02] [-8.66202969e-01 7.22323608e-02 4.94444034e-01 -5.63235342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.900714057 meters Centerline goodness : 0.996046 Centerline is valid? [True, True] Translation: X:128.98, Y:208.98, Z:-56.35 [[ 4.90545858e-01 3.17509549e-01 8.11512444e-01 1.28982896e+02] [-9.75688732e-02 9.45414488e-01 -3.10920828e-01 2.08980677e+02] [-8.65935954e-01 7.33425695e-02 4.94748210e-01 -5.63511966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.9307140569999 meters Centerline goodness : 0.995451 Centerline is valid? [True, True] Translation: X:129.00, Y:208.98, Z:-56.38 [[ 4.91004360e-01 3.17521793e-01 8.11230318e-01 1.28999312e+02] [-9.69641120e-02 9.45343285e-01 -3.11326251e-01 2.08979357e+02] [-8.65744003e-01 7.42023191e-02 4.94955894e-01 -5.63787814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.9607140569999 meters Centerline goodness : 0.994951 Centerline is valid? [True, True] Translation: X:129.02, Y:208.98, Z:-56.40 [[ 4.91937437e-01 3.16615960e-01 8.11019045e-01 1.29015484e+02] [-9.53126752e-02 9.45516774e-01 -3.11309370e-01 2.08983874e+02] [-8.65397627e-01 7.58443387e-02 4.95312613e-01 -5.64033757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.990714057 meters Centerline goodness : 0.994846 Centerline is valid? [True, True] Translation: X:129.03, Y:208.98, Z:-56.43 [[ 4.91951474e-01 3.16085615e-01 8.11217376e-01 1.29029170e+02] [-9.43824482e-02 9.45637923e-01 -3.11224793e-01 2.08983795e+02] [-8.65491595e-01 7.65428139e-02 4.95040905e-01 -5.64271005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.020714057 meters Centerline goodness : 0.994720 Centerline is valid? [True, True] Translation: X:129.04, Y:208.98, Z:-56.45 [[ 4.92489983e-01 3.15570630e-01 8.11091113e-01 1.29043494e+02] [-9.38947752e-02 9.45773848e-01 -3.10959162e-01 2.08983636e+02] [-8.65238341e-01 7.69870546e-02 4.95414580e-01 -5.64513219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.0507140569999 meters Centerline goodness : 0.994293 Centerline is valid? [True, True] Translation: X:129.06, Y:208.98, Z:-56.48 [[ 4.92512395e-01 3.15197388e-01 8.11222625e-01 1.29060515e+02] [-9.33771716e-02 9.45869976e-01 -3.10822607e-01 2.08982310e+02] [-8.65281598e-01 7.73343126e-02 4.95284928e-01 -5.64805409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.0807140569999 meters Centerline goodness : 0.992054 Centerline is valid? [True, True] Translation: X:129.08, Y:208.97, Z:-56.50 [[ 4.98356159e-01 2.78621858e-01 8.20981729e-01 1.29084468e+02] [-9.39234873e-02 9.58729978e-01 -2.68356495e-01 2.08965556e+02] [-8.61869780e-01 5.66276449e-02 5.03958125e-01 -5.65041753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.110714057 meters Centerline goodness : 0.992614 Centerline is valid? [True, True] Translation: X:129.11, Y:209.00, Z:-56.53 [[ 4.97075898e-01 3.56787347e-01 7.90960391e-01 1.29106819e+02] [-9.25649569e-02 9.28154508e-01 -3.60500953e-01 2.09004565e+02] [-8.62755632e-01 1.05981121e-01 4.94389241e-01 -5.65339557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.140714057 meters Centerline goodness : 0.989539 Centerline is valid? [True, True] Translation: X:129.12, Y:208.97, Z:-56.57 [[ 4.97401361e-01 2.90930704e-01 8.17282822e-01 1.29117349e+02] [-9.42974034e-02 9.54640067e-01 -2.82436439e-01 2.08974751e+02] [-8.62380360e-01 6.34166214e-02 5.02273279e-01 -5.65651668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.1707140569999 meters Centerline goodness : 0.989702 Centerline is valid? [True, True] Translation: X:129.15, Y:208.99, Z:-56.59 [[ 5.00556595e-01 3.35803319e-01 7.97921817e-01 1.29146695e+02] [-9.54850775e-02 9.37495175e-01 -3.34642192e-01 2.08991878e+02] [-8.60421813e-01 9.13177297e-02 5.01333598e-01 -5.65921863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.2007140569999 meters Centerline goodness : 0.988238 Centerline is valid? [True, True] Translation: X:129.16, Y:208.99, Z:-56.62 [[ 5.02459969e-01 3.33371085e-01 7.97745385e-01 1.29164734e+02] [-9.54811666e-02 9.38426791e-01 -3.32021844e-01 2.08990391e+02] [-8.59312124e-01 9.06580251e-02 5.03352556e-01 -5.66179653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.2307140569999 meters Centerline goodness : 0.987089 Centerline is valid? [True, True] Translation: X:129.18, Y:208.99, Z:-56.65 [[ 5.01090308e-01 3.45009056e-01 7.93648067e-01 1.29182827e+02] [-9.53870855e-02 9.33524888e-01 -3.45590202e-01 2.08994197e+02] [-8.60121973e-01 9.74681248e-02 5.00689681e-01 -5.66484340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.260714057 meters Centerline goodness : 0.984752 Centerline is valid? [True, True] Translation: X:129.20, Y:209.00, Z:-56.68 [[ 5.02414884e-01 3.46838381e-01 7.92011630e-01 1.29202073e+02] [-9.41736063e-02 9.32517453e-01 -3.48629505e-01 2.09000494e+02] [-8.59482761e-01 1.00570061e-01 5.01173669e-01 -5.66760898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.290714057 meters Centerline goodness : 0.982262 Centerline is valid? [True, True] Translation: X:129.21, Y:208.99, Z:-56.70 [[ 4.96047248e-01 3.32548386e-01 8.02090206e-01 1.29212216e+02] [-9.24695983e-02 9.38731467e-01 -3.32012961e-01 2.08994817e+02] [-8.63357690e-01 9.05251566e-02 4.96405776e-01 -5.67036078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.3207140569999 meters Centerline goodness : 0.982349 Centerline is valid? [True, True] Translation: X:129.23, Y:209.00, Z:-56.74 [[ 5.00539899e-01 3.51899381e-01 7.90965635e-01 1.29234353e+02] [-9.17032686e-02 9.30069424e-01 -3.55754659e-01 2.09001685e+02] [-8.60842796e-01 1.05535267e-01 4.97807179e-01 -5.67364608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.3507140569999 meters Centerline goodness : 0.982349 Centerline is valid? [True, True] Translation: X:129.25, Y:209.00, Z:-56.76 [[ 5.00740025e-01 3.55318201e-01 7.89308814e-01 1.29250506e+02] [-9.12446983e-02 9.28452574e-01 -3.60069748e-01 2.08997632e+02] [-8.60775135e-01 1.08281090e-01 4.97334267e-01 -5.67643819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.380714057 meters Centerline goodness : 0.981969 Centerline is valid? [True, True] Translation: X:129.27, Y:208.99, Z:-56.79 [[ 5.01830907e-01 3.47394216e-01 7.92138245e-01 1.29266376e+02] [-9.02020354e-02 9.31828012e-01 -3.51511235e-01 2.08994429e+02] [-8.60249576e-01 1.04946720e-01 4.98955762e-01 -5.67915942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.410714057 meters Centerline goodness : 0.979503 Centerline is valid? [True, True] Translation: X:129.28, Y:209.01, Z:-56.82 [[ 4.91144989e-01 3.63046568e-01 7.91816765e-01 1.29280972e+02] [-8.99154916e-02 9.25281986e-01 -3.68467706e-01 2.09005139e+02] [-8.66424725e-01 1.09774474e-01 4.87091122e-01 -5.68204443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.4407140569999 meters Centerline goodness : 0.980884 Centerline is valid? [True, True] Translation: X:129.30, Y:209.01, Z:-56.85 [[ 4.95728300e-01 3.64967235e-01 7.88068760e-01 1.29299291e+02] [-8.96261143e-02 9.24067857e-01 -3.71572006e-01 2.09005756e+02] [-8.63840617e-01 1.13567218e-01 4.90797183e-01 -5.68546361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.4707140569999 meters Centerline goodness : 0.978691 Centerline is valid? [True, True] Translation: X:129.31, Y:209.01, Z:-56.88 [[ 4.88689047e-01 3.64009627e-01 7.92893440e-01 1.29314226e+02] [-9.08037069e-02 9.25089226e-01 -3.68733795e-01 2.09011094e+02] [-8.67719830e-01 1.08198503e-01 4.85134395e-01 -5.68786131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.500714057 meters Centerline goodness : 0.979710 Centerline is valid? [True, True] Translation: X:129.34, Y:209.01, Z:-56.91 [[ 4.95385213e-01 3.65494477e-01 7.88040150e-01 1.29335547e+02] [-9.14026765e-02 9.24072264e-01 -3.71128013e-01 2.09010781e+02] [-8.63851284e-01 1.11822351e-01 4.91178909e-01 -5.69103595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.530714057 meters Centerline goodness : 0.978447 Centerline is valid? [True, True] Translation: X:129.35, Y:209.01, Z:-56.93 [[ 4.89181674e-01 3.56555129e-01 7.95970936e-01 1.29347841e+02] [-9.32609640e-02 9.28771708e-01 -3.58727623e-01 2.09007500e+02] [-8.67181459e-01 1.01249962e-01 4.87590773e-01 -5.69309429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.5607140569999 meters Centerline goodness : 0.978345 Centerline is valid? [True, True] Translation: X:129.36, Y:209.01, Z:-56.96 [[ 4.88594417e-01 3.45081992e-01 8.01370024e-01 1.29364507e+02] [-9.89210394e-02 9.34450790e-01 -3.42076525e-01 2.09007487e+02] [-8.66885300e-01 8.78643244e-02 4.90703308e-01 -5.69551538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.5907140569999 meters Centerline goodness : 0.977341 Centerline is valid? [True, True] Translation: X:129.38, Y:209.01, Z:-56.98 [[ 4.90905876e-01 3.59119116e-01 7.93753666e-01 1.29384017e+02] [-1.05075412e-01 9.28845456e-01 -3.55253820e-01 2.09012545e+02] [-8.64852923e-01 9.09921941e-02 4.93710281e-01 -5.69806756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.620714057 meters Centerline goodness : 0.978230 Centerline is valid? [True, True] Translation: X:129.39, Y:209.01, Z:-57.02 [[ 4.82234148e-01 3.50507463e-01 8.02866580e-01 1.29392389e+02] [-1.05939659e-01 9.33076741e-01 -3.43721667e-01 2.09008129e+02] [-8.69613141e-01 8.06989135e-02 4.87094108e-01 -5.70172119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.650714057 meters Centerline goodness : 0.982150 Centerline is valid? [True, True] Translation: X:129.42, Y:209.02, Z:-57.05 [[ 4.83382980e-01 3.72442589e-01 7.92229394e-01 1.29419129e+02] [-1.10921704e-01 9.23746118e-01 -3.66591715e-01 2.09018286e+02] [-8.68353194e-01 8.93287615e-02 4.87835118e-01 -5.70520669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.6807140569999 meters Centerline goodness : 0.980858 Centerline is valid? [True, True] Translation: X:129.43, Y:209.02, Z:-57.07 [[ 4.73179113e-01 3.83280134e-01 7.93219936e-01 1.29433267e+02] [-1.14482568e-01 9.19515031e-01 -3.76013097e-01 2.09022080e+02] [-8.73496004e-01 8.71116882e-02 4.78974201e-01 -5.70723296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.7107140569999 meters Centerline goodness : 0.981886 Centerline is valid? [True, True] Translation: X:129.45, Y:209.02, Z:-57.11 [[ 4.79153293e-01 3.87378466e-01 7.87623036e-01 1.29452287e+02] [-1.14679663e-01 9.17277112e-01 -3.81380748e-01 2.09021867e+02] [-8.70207272e-01 9.24154967e-02 4.83940781e-01 -5.71089978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.740714057 meters Centerline goodness : 0.980088 Centerline is valid? [True, True] Translation: X:129.45, Y:209.03, Z:-57.12 [[ 4.68333039e-01 3.83884021e-01 7.95799738e-01 1.29450243e+02] [-1.13285271e-01 9.19337822e-01 -3.76808197e-01 2.09026321e+02] [-8.76259443e-01 8.63193391e-02 4.74044682e-01 -5.71203356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.770714057 meters Centerline goodness : 0.985255 Centerline is valid? [True, True] Translation: X:129.44, Y:208.99, Z:-57.16 [[ 4.75372074e-01 2.99875039e-01 8.27101174e-01 1.29439554e+02] [-1.13712469e-01 9.53174362e-01 -2.80228675e-01 2.08993094e+02] [-8.72405219e-01 3.91611699e-02 4.87212004e-01 -5.71604661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.8007140569999 meters Centerline goodness : 0.986792 Centerline is valid? [True, True] Translation: X:129.47, Y:209.00, Z:-57.18 [[ 4.78624260e-01 3.40213176e-01 8.09428078e-01 1.29472915e+02] [-1.14036168e-01 9.38157451e-01 -3.26888894e-01 2.09004411e+02] [-8.70582891e-01 6.41528785e-02 4.87821523e-01 -5.71823205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.8307140569999 meters Centerline goodness : 0.983169 Centerline is valid? [True, True] Translation: X:129.47, Y:208.98, Z:-57.21 [[ 4.68123119e-01 3.07153766e-01 8.28563401e-01 1.29474267e+02] [-1.15198005e-01 9.50856674e-01 -2.87403907e-01 2.08983595e+02] [-8.76122232e-01 3.90915625e-02 4.80501493e-01 -5.72117818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.860714057 meters Centerline goodness : 0.986883 Centerline is valid? [True, True] Translation: X:129.52, Y:209.02, Z:-57.23 [[ 4.83126010e-01 3.80678911e-01 7.88462317e-01 1.29522303e+02] [-1.12161317e-01 9.20022321e-01 -3.75471394e-01 2.09017231e+02] [-8.68336972e-01 9.29650251e-02 4.87184161e-01 -5.72264677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.890714057 meters Centerline goodness : 0.986193 Centerline is valid? [True, True] Translation: X:129.52, Y:209.00, Z:-57.26 [[ 4.80331642e-01 3.38354365e-01 8.09195797e-01 1.29517847e+02] [-1.10776995e-01 9.38609864e-01 -3.26710853e-01 2.09001182e+02] [-8.70063199e-01 6.72892814e-02 4.88325897e-01 -5.72606122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.9207140569999 meters Centerline goodness : 0.981785 Centerline is valid? [True, True] Translation: X:129.53, Y:209.01, Z:-57.28 [[ 4.75317615e-01 3.34795790e-01 8.13624572e-01 1.29525044e+02] [-1.09598926e-01 9.40096699e-01 -3.22809962e-01 2.09006320e+02] [-8.72961191e-01 6.42648821e-02 4.83537780e-01 -5.72824160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.9507140569999 meters Centerline goodness : 0.981183 Centerline is valid? [True, True] Translation: X:129.51, Y:208.99, Z:-57.32 [[ 4.61369301e-01 2.98632397e-01 8.35438244e-01 1.29514852e+02] [-1.11432562e-01 9.53696672e-01 -2.79366144e-01 2.08988601e+02] [-8.80182454e-01 3.57959387e-02 4.73283740e-01 -5.73160007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.9807140569999 meters Centerline goodness : 0.981285 Centerline is valid? [True, True] Translation: X:129.55, Y:209.00, Z:-57.33 [[ 4.63206272e-01 3.33753891e-01 8.21004440e-01 1.29545609e+02] [-1.17005107e-01 9.41300717e-01 -3.16642962e-01 2.09002114e+02] [-8.78492888e-01 5.06092938e-02 4.75067305e-01 -5.73335798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.010714057 meters Centerline goodness : 0.987160 Centerline is valid? [True, True] Translation: X:129.55, Y:208.98, Z:-57.37 [[ 4.72683551e-01 2.91626705e-01 8.31579296e-01 1.29552530e+02] [-1.20524121e-01 9.56181660e-01 -2.66815611e-01 2.08981662e+02] [-8.72951429e-01 2.58939864e-02 4.87119395e-01 -5.73686956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.040714057 meters Centerline goodness : 0.985043 Centerline is valid? [True, True] Translation: X:129.57, Y:208.98, Z:-57.38 [[ 4.69513138e-01 2.97085162e-01 8.31443215e-01 1.29574229e+02] [-1.25382771e-01 9.54582265e-01 -2.70281078e-01 2.08977819e+02] [-8.73977445e-01 2.26518632e-02 4.85438275e-01 -5.73817737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.0707140569999 meters Centerline goodness : 0.982206 Centerline is valid? [True, True] Translation: X:129.61, Y:209.00, Z:-57.40 [[ 4.67146175e-01 3.51620859e-01 8.11256570e-01 1.29607769e+02] [-1.25650718e-01 9.34612494e-01 -3.32733201e-01 2.08999724e+02] [-8.75206460e-01 5.35000720e-02 4.80782065e-01 -5.74022321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.1007140569999 meters Centerline goodness : 0.982716 Centerline is valid? [True, True] Translation: X:129.60, Y:208.99, Z:-57.43 [[ 4.62433422e-01 3.17489430e-01 8.27862182e-01 1.29604428e+02] [-1.32678353e-01 9.47957929e-01 -2.89434308e-01 2.08986094e+02] [-8.76670853e-01 2.40047063e-02 4.80491404e-01 -5.74323507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.130714057 meters Centerline goodness : 0.987220 Centerline is valid? [True, True] Translation: X:129.61, Y:208.96, Z:-57.46 [[ 4.66721779e-01 2.81130776e-01 8.38532210e-01 1.29607796e+02] [-1.39359943e-01 9.59665099e-01 -2.44175562e-01 2.08963631e+02] [-8.73355361e-01 -2.89574813e-03 4.87074971e-01 -5.74613578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.160714057 meters Centerline goodness : 0.988125 Centerline is valid? [True, True] Translation: X:129.66, Y:209.00, Z:-57.48 [[ 4.68743010e-01 3.74970441e-01 7.99798199e-01 1.29658665e+02] [-1.40059051e-01 9.25526261e-01 -3.51830361e-01 2.08995432e+02] [-8.72160222e-01 5.28990458e-02 4.86351969e-01 -5.74819851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.1907140569999 meters Centerline goodness : 0.987722 Centerline is valid? [True, True] Translation: X:129.65, Y:208.97, Z:-57.51 [[ 4.64523304e-01 3.11945327e-01 8.28799260e-01 1.29646356e+02] [-1.45734956e-01 9.50071383e-01 -2.75908843e-01 2.08965524e+02] [-8.73486933e-01 7.38106349e-03 4.86791636e-01 -5.75085359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.2207140569999 meters Centerline goodness : 0.989818 Centerline is valid? [True, True] Translation: X:129.67, Y:208.97, Z:-57.53 [[ 4.66067384e-01 3.37821996e-01 8.17714799e-01 1.29673831e+02] [-1.46934048e-01 9.40952985e-01 -3.04988303e-01 2.08972810e+02] [-8.72462939e-01 2.19949547e-02 4.88185049e-01 -5.75317319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.250714057 meters Centerline goodness : 0.988904 Centerline is valid? [True, True] Translation: X:129.71, Y:208.99, Z:-57.55 [[ 4.59801655e-01 4.08335646e-01 7.88571137e-01 1.29708762e+02] [-1.49512647e-01 9.10929622e-01 -3.84516829e-01 2.08994833e+02] [-8.75344736e-01 5.89001160e-02 4.79898291e-01 -5.75495863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.280714057 meters Centerline goodness : 0.989670 Centerline is valid? [True, True] Translation: X:129.70, Y:208.98, Z:-57.58 [[ 4.56081655e-01 3.61777387e-01 8.13084649e-01 1.29696849e+02] [-1.52952181e-01 9.31912376e-01 -3.28854001e-01 2.08975443e+02] [-8.76695588e-01 2.56212068e-02 4.80362779e-01 -5.75827656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.3107140569999 meters Centerline goodness : 0.990214 Centerline is valid? [True, True] Translation: X:129.70, Y:208.95, Z:-57.61 [[ 4.63590535e-01 3.10655938e-01 8.29805220e-01 1.29698676e+02] [-1.53008836e-01 9.50521035e-01 -2.70366527e-01 2.08950813e+02] [-8.72738284e-01 -1.62816783e-03 4.88185659e-01 -5.76092102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.3407140569999 meters Centerline goodness : 0.989500 Centerline is valid? [True, True] Translation: X:129.74, Y:208.96, Z:-57.63 [[ 4.64478460e-01 3.67594675e-01 8.05688473e-01 1.29737796e+02] [-1.55021721e-01 9.29483704e-01 -3.34706303e-01 2.08963443e+02] [-8.71910561e-01 3.05646544e-02 4.88710319e-01 -5.76258157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.370714057 meters Centerline goodness : 0.988945 Centerline is valid? [True, True] Translation: X:129.76, Y:208.97, Z:-57.65 [[ 4.56177260e-01 4.09460540e-01 7.90091371e-01 1.29756431e+02] [-1.54636122e-01 9.10820456e-01 -3.82745040e-01 2.08972213e+02] [-8.76350374e-01 5.24229181e-02 4.78812970e-01 -5.76495971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.400714057 meters Centerline goodness : 0.989236 Centerline is valid? [True, True] Translation: X:129.74, Y:208.95, Z:-57.68 [[ 4.54963909e-01 3.61259695e-01 8.13940584e-01 1.29744810e+02] [-1.53152662e-01 9.32140084e-01 -3.28114501e-01 2.08949840e+02] [-8.77241189e-01 2.46230881e-02 4.79417980e-01 -5.76846406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.4307140569999 meters Centerline goodness : 0.988916 Centerline is valid? [True, True] Translation: X:129.75, Y:208.92, Z:-57.71 [[ 4.61823472e-01 3.17722305e-01 8.28113288e-01 1.29747826e+02] [-1.52986230e-01 9.48181877e-01 -2.78471439e-01 2.08923382e+02] [-8.73678599e-01 1.91471672e-03 4.86499784e-01 -5.77141617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.4607140569999 meters Centerline goodness : 0.988882 Centerline is valid? [True, True] Translation: X:129.79, Y:208.95, Z:-57.73 [[ 4.59548247e-01 4.14525687e-01 7.85483204e-01 1.29794984e+02] [-1.50617587e-01 9.07964201e-01 -3.91043926e-01 2.08950833e+02] [-8.75288382e-01 6.13959656e-02 4.79688215e-01 -5.77253534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.490714057 meters Centerline goodness : 0.985634 Centerline is valid? [True, True] Translation: X:129.76, Y:208.90, Z:-57.76 [[ 4.53197771e-01 3.14351732e-01 8.34143135e-01 1.29763393e+02] [-1.53964039e-01 9.49297259e-01 -2.74098136e-01 2.08903459e+02] [-8.78013015e-01 -4.20738226e-03 4.78618264e-01 -5.77617137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.520714057 meters Centerline goodness : 0.987847 Centerline is valid? [True, True] Translation: X:129.81, Y:208.93, Z:-57.78 [[ 4.60375966e-01 3.94122415e-01 7.95437925e-01 1.29808437e+02] [-1.48609544e-01 9.17613534e-01 -3.68646994e-01 2.08928664e+02] [-8.75196648e-01 5.15065488e-02 4.81017570e-01 -5.77806345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.5507140569999 meters Centerline goodness : 0.987401 Centerline is valid? [True, True] Translation: X:129.80, Y:208.91, Z:-57.81 [[ 4.59115114e-01 3.57105899e-01 8.13442493e-01 1.29802789e+02] [-1.47802030e-01 9.33593469e-01 -3.26431914e-01 2.08909508e+02] [-8.75995361e-01 2.96413741e-02 4.81407849e-01 -5.78132570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.5807140569999 meters Centerline goodness : 0.987372 Centerline is valid? [True, True] Translation: X:129.82, Y:208.90, Z:-57.84 [[ 4.58627921e-01 3.57116248e-01 8.13712735e-01 1.29816657e+02] [-1.47654758e-01 9.33590947e-01 -3.26505768e-01 2.08901484e+02] [-8.76275358e-01 2.95961046e-02 4.80900788e-01 -5.78424770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.610714057 meters Centerline goodness : 0.985330 Centerline is valid? [True, True] Translation: X:129.81, Y:208.87, Z:-57.87 [[ 4.54680730e-01 3.11182888e-01 8.34524202e-01 1.29812253e+02] [-1.50605193e-01 9.50348213e-01 -2.72316635e-01 2.08868339e+02] [-8.77828861e-01 -1.86655196e-03 4.78970778e-01 -5.78712612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.640714057 meters Centerline goodness : 0.987516 Centerline is valid? [True, True] Translation: X:129.86, Y:208.90, Z:-57.89 [[ 4.60299371e-01 4.03150741e-01 7.90944985e-01 1.29862085e+02] [-1.46137655e-01 9.13196041e-01 -3.80416584e-01 2.08900346e+02] [-8.75653056e-01 5.95186694e-02 4.79259067e-01 -5.78850962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.6707140569999 meters Centerline goodness : 0.986835 Centerline is valid? [True, True] Translation: X:129.85, Y:208.88, Z:-57.92 [[ 4.58854329e-01 3.55446701e-01 8.14315877e-01 1.29851103e+02] [-1.43839071e-01 9.34121821e-01 -3.26690595e-01 2.08878369e+02] [-8.76791324e-01 3.27729547e-02 4.79752965e-01 -5.79184886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.7007140569999 meters Centerline goodness : 0.987520 Centerline is valid? [True, True] Translation: X:129.86, Y:208.87, Z:-57.94 [[ 4.58841363e-01 3.54679103e-01 8.14657804e-01 1.29862084e+02] [-1.42349798e-01 9.34373253e-01 -3.26623880e-01 2.08871665e+02] [-8.77041127e-01 3.39021726e-02 4.79217595e-01 -5.79430364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.7307140569999 meters Centerline goodness : 0.986973 Centerline is valid? [True, True] Translation: X:129.87, Y:208.86, Z:-57.97 [[ 4.59300347e-01 3.53326020e-01 8.14987064e-01 1.29874962e+02] [-1.39674714e-01 9.34801409e-01 -3.26553670e-01 2.08861409e+02] [-8.77230965e-01 3.61531285e-02 4.78705322e-01 -5.79720599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.760714057 meters Centerline goodness : 0.985678 Centerline is valid? [True, True] Translation: X:129.89, Y:208.85, Z:-58.00 [[ 4.60026712e-01 3.53084087e-01 8.14682178e-01 1.29888728e+02] [-1.38434379e-01 9.34834001e-01 -3.26988247e-01 2.08853693e+02] [-8.77046947e-01 3.76433065e-02 4.78927588e-01 -5.80002709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.790714057 meters Centerline goodness : 0.986731 Centerline is valid? [True, True] Translation: X:129.90, Y:208.85, Z:-58.03 [[ 4.60298534e-01 3.52681257e-01 8.14703130e-01 1.29902405e+02] [-1.36646161e-01 9.34912450e-01 -3.27515706e-01 2.08846095e+02] [-8.77184751e-01 3.94289439e-02 4.78531370e-01 -5.80290337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.8207140569999 meters Centerline goodness : 0.986567 Centerline is valid? [True, True] Translation: X:129.92, Y:208.84, Z:-58.06 [[ 4.62037303e-01 3.51145565e-01 8.14382173e-01 1.29915140e+02] [-1.32806498e-01 9.35316067e-01 -3.27942508e-01 2.08836103e+02] [-8.76860288e-01 4.33664270e-02 4.78785326e-01 -5.80570133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.8507140569999 meters Centerline goodness : 0.986569 Centerline is valid? [True, True] Translation: X:129.93, Y:208.83, Z:-58.09 [[ 4.62919273e-01 3.50304809e-01 8.14243384e-01 1.29929521e+02] [-1.30350145e-01 9.35511794e-01 -3.28369491e-01 2.08828194e+02] [-8.76763700e-01 4.58718227e-02 4.78728723e-01 -5.80856524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.880714057 meters Centerline goodness : 0.983234 Centerline is valid? [True, True] Translation: X:129.93, Y:208.83, Z:-58.11 [[ 4.49905247e-01 3.51759598e-01 8.20883947e-01 1.29928569e+02] [-1.23255508e-01 9.34825090e-01 -3.33031726e-01 2.08828873e+02] [-8.84530016e-01 4.86542527e-02 4.63939021e-01 -5.81056015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.910714057 meters Centerline goodness : 0.986885 Centerline is valid? [True, True] Translation: X:129.92, Y:208.79, Z:-58.14 [[ 4.62991615e-01 2.79302499e-01 8.41206799e-01 1.29924192e+02] [-1.21249371e-01 9.60090681e-01 -2.52040622e-01 2.08788979e+02] [-8.78030384e-01 1.46968993e-02 4.78379187e-01 -5.81443984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.9407140569999 meters Centerline goodness : 0.985972 Centerline is valid? [True, True] Translation: X:129.96, Y:208.81, Z:-58.16 [[ 4.67704588e-01 3.44906116e-01 8.13813363e-01 1.29963778e+02] [-1.21077039e-01 9.37044191e-01 -3.27549286e-01 2.08805947e+02] [-8.75552836e-01 5.46621912e-02 4.80020078e-01 -5.81603072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.9707140569999 meters Centerline goodness : 0.983471 Centerline is valid? [True, True] Translation: X:129.96, Y:208.81, Z:-58.18 [[ 4.53751185e-01 3.48074174e-01 8.20337877e-01 1.29962918e+02] [-1.16891885e-01 9.35855100e-01 -3.32432729e-01 2.08806774e+02] [-8.83428633e-01 5.49509034e-02 4.65332407e-01 -5.81794824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.000714057 meters Centerline goodness : 0.986882 Centerline is valid? [True, True] Translation: X:129.96, Y:208.77, Z:-58.22 [[ 4.64096420e-01 2.74261644e-01 8.42255937e-01 1.29958991e+02] [-1.18820352e-01 9.61540476e-01 -2.47632059e-01 2.08768011e+02] [-8.77779151e-01 1.48480049e-02 4.78835358e-01 -5.82193156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.030714057 meters Centerline goodness : 0.986750 Centerline is valid? [True, True] Translation: X:130.00, Y:208.79, Z:-58.24 [[ 4.68097653e-01 3.44445981e-01 8.13782252e-01 1.30001979e+02] [-1.22523009e-01 9.37308248e-01 -3.26253523e-01 2.08786925e+02] [-8.75141531e-01 5.30114581e-02 4.80954349e-01 -5.82382020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.0607140569999 meters Centerline goodness : 0.986980 Centerline is valid? [True, True] Translation: X:130.02, Y:208.78, Z:-58.27 [[ 4.67070079e-01 3.46111799e-01 8.13665880e-01 1.30016939e+02] [-1.25341265e-01 9.36831150e-01 -3.26553155e-01 2.08781025e+02] [-8.75291442e-01 5.05372970e-02 4.80947890e-01 -5.82674440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.0907140569999 meters Centerline goodness : 0.987111 Centerline is valid? [True, True] Translation: X:130.03, Y:208.78, Z:-58.30 [[ 4.64738836e-01 3.50137526e-01 8.13278260e-01 1.30032283e+02] [-1.32776995e-01 9.35666013e-01 -3.26954709e-01 2.08775975e+02] [-8.75435939e-01 4.39639073e-02 4.81330542e-01 -5.82962084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.120714057 meters Centerline goodness : 0.987082 Centerline is valid? [True, True] Translation: X:130.05, Y:208.77, Z:-58.33 [[ 4.62756332e-01 3.52616830e-01 8.13337537e-01 1.30047569e+02] [-1.36713425e-01 9.34896418e-01 -3.27533400e-01 2.08770570e+02] [-8.75880139e-01 4.03739945e-02 4.80836691e-01 -5.83253506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.150714057 meters Centerline goodness : 0.986497 Centerline is valid? [True, True] Translation: X:130.06, Y:208.77, Z:-58.35 [[ 4.60957860e-01 3.54992237e-01 8.13325496e-01 1.30062402e+02] [-1.40503947e-01 9.34138315e-01 -3.28091831e-01 2.08765251e+02] [-8.76228562e-01 3.69610653e-02 4.80476209e-01 -5.83540956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.1807140569999 meters Centerline goodness : 0.987572 Centerline is valid? [True, True] Translation: X:130.08, Y:208.76, Z:-58.38 [[ 4.58642079e-01 3.57586640e-01 8.13498149e-01 1.30076611e+02] [-1.44576836e-01 9.33291147e-01 -3.28732677e-01 2.08759728e+02] [-8.76781034e-01 3.31576502e-02 4.79745337e-01 -5.83819539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.2107140569999 meters Centerline goodness : 0.987464 Centerline is valid? [True, True] Translation: X:130.09, Y:208.75, Z:-58.41 [[ 4.57931101e-01 3.58435950e-01 8.13524908e-01 1.30091109e+02] [-1.45634697e-01 9.32997915e-01 -3.29097898e-01 2.08753302e+02] [-8.76977561e-01 3.22267092e-02 4.79449473e-01 -5.84106557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.240714057 meters Centerline goodness : 0.986762 Centerline is valid? [True, True] Translation: X:130.11, Y:208.75, Z:-58.44 [[ 4.57331987e-01 3.58802441e-01 8.13700351e-01 1.30105031e+02] [-1.45194645e-01 9.32842227e-01 -3.29733067e-01 2.08746614e+02] [-8.77363077e-01 3.26525456e-02 4.78714782e-01 -5.84393308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.270714057 meters Centerline goodness : 0.986762 Centerline is valid? [True, True] Translation: X:130.12, Y:208.74, Z:-58.47 [[ 4.57276973e-01 3.59286541e-01 8.13517641e-01 1.30120120e+02] [-1.45381939e-01 9.32653709e-01 -3.30183512e-01 2.08740611e+02] [-8.77360736e-01 3.27145449e-02 4.78714839e-01 -5.84687010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.3007140569999 meters Centerline goodness : 0.986991 Centerline is valid? [True, True] Translation: X:130.13, Y:208.73, Z:-58.50 [[ 4.57395959e-01 3.58514353e-01 8.13791371e-01 1.30133410e+02] [-1.42855497e-01 9.32867965e-01 -3.30680610e-01 2.08732199e+02] [-8.77713645e-01 3.49974039e-02 4.77905784e-01 -5.84976359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.3307140569999 meters Centerline goodness : 0.986622 Centerline is valid? [True, True] Translation: X:130.15, Y:208.72, Z:-58.53 [[ 4.57907594e-01 3.58488435e-01 8.13515014e-01 1.30147377e+02] [-1.42014338e-01 9.32836009e-01 -3.31132766e-01 2.08724548e+02] [-8.77583365e-01 3.60974117e-02 4.78063190e-01 -5.85252173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.360714057 meters Centerline goodness : 0.986918 Centerline is valid? [True, True] Translation: X:130.16, Y:208.72, Z:-58.55 [[ 4.58363216e-01 3.57723196e-01 8.13595279e-01 1.30161171e+02] [-1.39417020e-01 9.33029304e-01 -3.31691442e-01 2.08716513e+02] [-8.77761959e-01 3.86061268e-02 4.77539014e-01 -5.85540117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.390714057 meters Centerline goodness : 0.986247 Centerline is valid? [True, True] Translation: X:130.18, Y:208.71, Z:-58.58 [[ 4.57974091e-01 3.58091502e-01 8.13652388e-01 1.30175957e+02] [-1.39062358e-01 9.32870360e-01 -3.32286853e-01 2.08709315e+02] [-8.78021294e-01 3.90303494e-02 4.77027503e-01 -5.85829172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.4207140569999 meters Centerline goodness : 0.986442 Centerline is valid? [True, True] Translation: X:130.19, Y:208.70, Z:-58.61 [[ 4.57604031e-01 3.58326232e-01 8.13757250e-01 1.30190674e+02] [-1.38389506e-01 9.32751028e-01 -3.32902184e-01 2.08702553e+02] [-8.78320497e-01 3.97219169e-02 4.76419221e-01 -5.86120883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.4507140569999 meters Centerline goodness : 0.986046 Centerline is valid? [True, True] Translation: X:130.21, Y:208.70, Z:-58.64 [[ 4.57104846e-01 3.58867078e-01 8.13799472e-01 1.30205081e+02] [-1.38404810e-01 9.32539528e-01 -3.33487837e-01 2.08695546e+02] [-8.78577981e-01 3.98051452e-02 4.75937267e-01 -5.86399760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.4807140569999 meters Centerline goodness : 0.986308 Centerline is valid? [True, True] Translation: X:130.22, Y:208.69, Z:-58.67 [[ 4.56322423e-01 3.59512459e-01 8.13953707e-01 1.30219304e+02] [-1.38601270e-01 9.32298230e-01 -3.34080378e-01 2.08687659e+02] [-8.78953659e-01 3.96333499e-02 4.75257471e-01 -5.86693960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.510714057 meters Centerline goodness : 0.985740 Centerline is valid? [True, True] Translation: X:130.23, Y:208.68, Z:-58.70 [[ 4.56320525e-01 3.59806814e-01 8.13824695e-01 1.30233128e+02] [-1.38291473e-01 9.32163292e-01 -3.34584916e-01 2.08680787e+02] [-8.79003440e-01 4.01329490e-02 4.75123457e-01 -5.86982739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.540714057 meters Centerline goodness : 0.984871 Centerline is valid? [True, True] Translation: X:130.25, Y:208.67, Z:-58.74 [[ 4.49295594e-01 3.81170468e-01 8.07986722e-01 1.30249512e+02] [-1.42100361e-01 9.23389305e-01 -3.56594557e-01 2.08669566e+02] [-8.82009612e-01 4.54011585e-02 4.69039208e-01 -5.87379555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.5707140569999 meters Centerline goodness : 0.985190 Centerline is valid? [True, True] Translation: X:130.28, Y:208.69, Z:-58.74 [[ 4.59885750e-01 4.15805715e-01 7.84608631e-01 1.30280967e+02] [-1.37474073e-01 9.06276097e-01 -3.99705536e-01 2.08688352e+02] [-8.77271894e-01 7.59555358e-02 4.73945968e-01 -5.87377751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.6007140569999 meters Centerline goodness : 0.985682 Centerline is valid? [True, True] Translation: X:130.27, Y:208.66, Z:-58.78 [[ 4.58690182e-01 3.57819894e-01 8.13368453e-01 1.30268706e+02] [-1.34659184e-01 9.32760000e-01 -3.34403478e-01 2.08660570e+02] [-8.78333776e-01 4.38600600e-02 4.76031589e-01 -5.87754393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.630714057 meters Centerline goodness : 0.983796 Centerline is valid? [True, True] Translation: X:130.28, Y:208.64, Z:-58.81 [[ 4.59106305e-01 3.44971730e-01 8.18667152e-01 1.30279205e+02] [-1.36312766e-01 9.37968915e-01 -3.18799537e-01 2.08640302e+02] [-8.77861168e-01 3.47680932e-02 4.77651494e-01 -5.88083967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.660714057 meters Centerline goodness : 0.985025 Centerline is valid? [True, True] Translation: X:130.32, Y:208.67, Z:-58.82 [[ 4.65991698e-01 4.13447287e-01 7.82248732e-01 1.30317059e+02] [-1.31940642e-01 9.06693450e-01 -4.00622833e-01 2.08667819e+02] [-8.74896225e-01 8.34765139e-02 4.77062121e-01 -5.88159808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.6907140569999 meters Centerline goodness : 0.984723 Centerline is valid? [True, True] Translation: X:130.31, Y:208.64, Z:-58.85 [[ 4.63401347e-01 3.54315736e-01 8.12231218e-01 1.30305111e+02] [-1.29233232e-01 9.33807791e-01 -3.33619215e-01 2.08641157e+02] [-8.76674377e-01 4.96323284e-02 4.78517156e-01 -5.88528223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.7207140569999 meters Centerline goodness : 0.984650 Centerline is valid? [True, True] Translation: X:130.32, Y:208.63, Z:-58.88 [[ 4.65199461e-01 3.52973346e-01 8.11787705e-01 1.30319974e+02] [-1.26315402e-01 9.34145894e-01 -3.33790156e-01 2.08633986e+02] [-8.76147180e-01 5.27377102e-02 4.79150136e-01 -5.88818899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.750714057 meters Centerline goodness : 0.984369 Centerline is valid? [True, True] Translation: X:130.33, Y:208.63, Z:-58.91 [[ 4.66132067e-01 3.52719036e-01 8.11363160e-01 1.30334507e+02] [-1.25159711e-01 9.34156557e-01 -3.34195412e-01 2.08627607e+02] [-8.75817300e-01 5.42292198e-02 4.79586540e-01 -5.89092943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.780714057 meters Centerline goodness : 0.983662 Centerline is valid? [True, True] Translation: X:130.35, Y:208.61, Z:-58.94 [[ 4.66089917e-01 3.37839526e-01 8.17694713e-01 1.30345934e+02] [-1.23401048e-01 9.40012956e-01 -3.18037457e-01 2.08611172e+02] [-8.76089248e-01 4.73296673e-02 4.79820312e-01 -5.89406605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.8107140569999 meters Centerline goodness : 0.983904 Centerline is valid? [True, True] Translation: X:130.38, Y:208.62, Z:-58.96 [[ 4.69796007e-01 3.80747515e-01 7.96443998e-01 1.30377605e+02] [-1.19676983e-01 9.21345615e-01 -3.69864404e-01 2.08623702e+02] [-8.74625138e-01 7.84448047e-02 4.78411205e-01 -5.89590976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.8407140569999 meters Centerline goodness : 0.981047 Centerline is valid? [True, True] Translation: X:130.38, Y:208.62, Z:-58.98 [[ 4.62804125e-01 3.75599693e-01 8.02955299e-01 1.30382764e+02] [-1.18461633e-01 9.23879669e-01 -3.63886244e-01 2.08618642e+02] [-8.78509638e-01 7.32886583e-02 4.72069475e-01 -5.89786466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.870714057 meters Centerline goodness : 0.979618 Centerline is valid? [True, True] Translation: X:130.40, Y:208.61, Z:-59.00 [[ 4.64201110e-01 3.70983926e-01 8.04293638e-01 1.30399232e+02] [-1.16074439e-01 9.25706042e-01 -3.59993123e-01 2.08612976e+02] [-8.78091142e-01 7.37512746e-02 4.72775523e-01 -5.90010961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.900714057 meters Centerline goodness : 0.983129 Centerline is valid? [True, True] Translation: X:130.39, Y:208.59, Z:-59.04 [[ 4.70083148e-01 3.13962206e-01 8.24893670e-01 1.30393713e+02] [-1.09917259e-01 9.48142956e-01 -2.98233350e-01 2.08591228e+02] [-8.75751124e-01 4.95244206e-02 4.80215890e-01 -5.90354422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.9307140569999 meters Centerline goodness : 0.980594 Centerline is valid? [True, True] Translation: X:130.43, Y:208.62, Z:-59.05 [[ 4.64094021e-01 3.88709711e-01 7.95940638e-01 1.30428718e+02] [-1.07293405e-01 9.16622435e-01 -3.85086273e-01 2.08618337e+02] [-8.79263820e-01 9.33170555e-02 4.67104980e-01 -5.90482522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.9607140569999 meters Centerline goodness : 0.983887 Centerline is valid? [True, True] Translation: X:130.41, Y:208.57, Z:-59.09 [[ 4.69312233e-01 2.94513117e-01 8.32471052e-01 1.30413053e+02] [-1.10374533e-01 9.54912895e-01 -2.75606286e-01 2.08573984e+02] [-8.76107009e-01 3.74617982e-02 4.80659050e-01 -5.90882258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.990714057 meters Centerline goodness : 0.983848 Centerline is valid? [True, True] Translation: X:130.45, Y:208.59, Z:-59.11 [[ 4.73617035e-01 3.43205561e-01 8.11108407e-01 1.30448692e+02] [-1.12159680e-01 9.36954336e-01 -3.30963409e-01 2.08589297e+02] [-8.73560021e-01 6.57762491e-02 4.82251361e-01 -5.91101372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.020714057 meters Centerline goodness : 0.984346 Centerline is valid? [True, True] Translation: X:130.46, Y:208.58, Z:-59.14 [[ 4.73830503e-01 3.44180886e-01 8.10570276e-01 1.30464469e+02] [-1.13686670e-01 9.36663691e-01 -3.31264957e-01 2.08584659e+02] [-8.73246813e-01 6.48124058e-02 4.82948606e-01 -5.91388052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.0507140569999 meters Centerline goodness : 0.985346 Centerline is valid? [True, True] Translation: X:130.48, Y:208.58, Z:-59.17 [[ 4.73505024e-01 3.45079268e-01 8.10378486e-01 1.30479199e+02] [-1.14647118e-01 9.36376994e-01 -3.31744124e-01 2.08581054e+02] [-8.73297790e-01 6.41749515e-02 4.82941555e-01 -5.91667996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.0807140569999 meters Centerline goodness : 0.981186 Centerline is valid? [True, True] Translation: X:130.48, Y:208.58, Z:-59.19 [[ 4.62033540e-01 3.45312234e-01 8.16874819e-01 1.30481212e+02] [-1.14970388e-01 9.36633060e-01 -3.30908326e-01 2.08583489e+02] [-8.79378655e-01 5.89743304e-02 4.72456570e-01 -5.91879934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.110714057 meters Centerline goodness : 0.983298 Centerline is valid? [True, True] Translation: X:130.47, Y:208.54, Z:-59.23 [[ 4.52791063e-01 2.70862342e-01 8.49478572e-01 1.30466047e+02] [-1.18388915e-01 9.62567904e-01 -2.43817750e-01 2.08544963e+02] [-8.83721856e-01 9.82965192e-03 4.67909243e-01 -5.92250735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.140714057 meters Centerline goodness : 0.980566 Centerline is valid? [True, True] Translation: X:130.53, Y:208.58, Z:-59.24 [[ 4.55041586e-01 3.96115807e-01 7.97514528e-01 1.30525940e+02] [-1.23237111e-01 9.15006215e-01 -3.84156532e-01 2.08583900e+02] [-8.81901225e-01 7.65238112e-02 4.65182046e-01 -5.92371653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.1707140569999 meters Centerline goodness : 0.985691 Centerline is valid? [True, True] Translation: X:130.52, Y:208.58, Z:-59.27 [[ 4.60615452e-01 3.53956562e-01 8.13970612e-01 1.30520205e+02] [-1.19842692e-01 9.33450291e-01 -3.38095081e-01 2.08576507e+02] [-8.79472077e-01 5.81833897e-02 4.72380735e-01 -5.92686268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.2007140569999 meters Centerline goodness : 0.983600 Centerline is valid? [True, True] Translation: X:130.52, Y:208.55, Z:-59.30 [[ 4.49062132e-01 3.22022489e-01 8.33453489e-01 1.30521367e+02] [-1.28009046e-01 9.46360053e-01 -2.96675469e-01 2.08553224e+02] [-8.84283261e-01 2.65361328e-02 4.66196255e-01 -5.92998594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.2307140569999 meters Centerline goodness : 0.985426 Centerline is valid? [True, True] Translation: X:130.57, Y:208.58, Z:-59.32 [[ 4.60374182e-01 3.93671447e-01 7.95662243e-01 1.30568274e+02] [-1.30707419e-01 9.16584886e-01 -3.77872621e-01 2.08576570e+02] [-8.78049647e-01 6.99638406e-02 4.73427796e-01 -5.93199129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.260714057 meters Centerline goodness : 0.984737 Centerline is valid? [True, True] Translation: X:130.58, Y:208.58, Z:-59.34 [[ 4.47226477e-01 3.96377622e-01 8.01793776e-01 1.30578208e+02] [-1.34211103e-01 9.16029561e-01 -3.77991036e-01 2.08576348e+02] [-8.84293989e-01 6.14379727e-02 4.62870951e-01 -5.93412047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.290714057 meters Centerline goodness : 0.986154 Centerline is valid? [True, True] Translation: X:130.60, Y:208.59, Z:-59.36 [[ 4.55515452e-01 4.11095484e-01 7.89624073e-01 1.30598533e+02] [-1.33769619e-01 9.08528197e-01 -3.95831030e-01 2.08587144e+02] [-8.80120084e-01 7.46794389e-02 4.68840718e-01 -5.93614302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.3207140569999 meters Centerline goodness : 0.986369 Centerline is valid? [True, True] Translation: X:130.59, Y:208.56, Z:-59.40 [[ 4.50695436e-01 3.60409103e-01 8.16687764e-01 1.30589408e+02] [-1.36081371e-01 9.31920276e-01 -3.36164333e-01 2.08564912e+02] [-8.82244572e-01 4.03717397e-02 4.69057180e-01 -5.93987472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.3507140569999 meters Centerline goodness : 0.986990 Centerline is valid? [True, True] Translation: X:130.61, Y:208.56, Z:-59.43 [[ 4.49298152e-01 3.62658980e-01 8.16461655e-01 1.30605158e+02] [-1.39860263e-01 9.31184478e-01 -3.36652008e-01 2.08562334e+02] [-8.82366294e-01 3.70665833e-02 4.69101046e-01 -5.94266449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.380714057 meters Centerline goodness : 0.985786 Centerline is valid? [True, True] Translation: X:130.62, Y:208.54, Z:-59.46 [[ 4.48127402e-01 3.49550802e-01 8.22797708e-01 1.30615325e+02] [-1.43120072e-01 9.36567254e-01 -3.19935030e-01 2.08544882e+02] [-8.82438937e-01 2.56127863e-02 4.69729186e-01 -5.94588961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.410714057 meters Centerline goodness : 0.986953 Centerline is valid? [True, True] Translation: X:130.66, Y:208.57, Z:-59.47 [[ 4.50853097e-01 4.15582976e-01 7.89950806e-01 1.30655867e+02] [-1.39995050e-01 9.06971403e-01 -3.97245843e-01 2.08571235e+02] [-8.81551400e-01 6.85103160e-02 4.67090425e-01 -5.94666804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.4407140569999 meters Centerline goodness : 0.983023 Centerline is valid? [True, True] Translation: X:130.63, Y:208.55, Z:-59.50 [[ 4.40883010e-01 3.49007402e-01 8.26931681e-01 1.30632142e+02] [-1.33331486e-01 9.36550255e-01 -3.24185649e-01 2.08549908e+02] [-8.87606268e-01 3.26719150e-02 4.59442771e-01 -5.95022197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.4707140569999 meters Centerline goodness : 0.986727 Centerline is valid? [True, True] Translation: X:130.66, Y:208.54, Z:-59.52 [[ 4.47663484e-01 3.63597763e-01 8.16941902e-01 1.30655443e+02] [-1.39082280e-01 9.30792345e-01 -3.38055810e-01 2.08544946e+02] [-8.83319605e-01 3.77130992e-02 4.67251750e-01 -5.95243803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.500714057 meters Centerline goodness : 0.984841 Centerline is valid? [True, True] Translation: X:130.65, Y:208.52, Z:-59.55 [[ 4.42072203e-01 3.23382928e-01 8.36657427e-01 1.30654515e+02] [-1.42274131e-01 9.46221375e-01 -2.90556675e-01 2.08519444e+02] [-8.85624209e-01 9.41232159e-03 4.64307193e-01 -5.95489233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.530714057 meters Centerline goodness : 0.986036 Centerline is valid? [True, True] Translation: X:130.69, Y:208.53, Z:-59.57 [[ 4.52173785e-01 3.66033300e-01 8.13362460e-01 1.30688401e+02] [-1.46171041e-01 9.29994623e-01 -3.37259587e-01 2.08526798e+02] [-8.79870953e-01 3.36099061e-02 4.74022657e-01 -5.95741362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.5607140569999 meters Centerline goodness : 0.983086 Centerline is valid? [True, True] Translation: X:130.71, Y:208.54, Z:-59.59 [[ 4.47371067e-01 4.08995159e-01 7.95350293e-01 1.30713749e+02] [-1.45938661e-01 9.10771505e-01 -3.86260500e-01 2.08540706e+02] [-8.82361058e-01 5.67294156e-02 4.67141025e-01 -5.95902972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.5907140569999 meters Centerline goodness : 0.986657 Centerline is valid? [True, True] Translation: X:130.70, Y:208.50, Z:-59.63 [[ 4.48926106e-01 3.29363559e-01 8.30653356e-01 1.30695011e+02] [-1.47448946e-01 9.44152219e-01 -2.94678462e-01 2.08503682e+02] [-8.81319556e-01 9.80989244e-03 4.72418889e-01 -5.96286545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.620714057 meters Centerline goodness : 0.987763 Centerline is valid? [True, True] Translation: X:130.74, Y:208.53, Z:-59.64 [[ 4.46366099e-01 4.11598637e-01 7.94571499e-01 1.30736043e+02] [-1.45294056e-01 9.09491133e-01 -3.89506760e-01 2.08532822e+02] [-8.82976185e-01 5.84160967e-02 4.65768845e-01 -5.96429665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.650714057 meters Centerline goodness : 0.986363 Centerline is valid? [True, True] Translation: X:130.72, Y:208.49, Z:-59.68 [[ 4.48874477e-01 3.29682318e-01 8.30554798e-01 1.30719787e+02] [-1.48373819e-01 9.44049212e-01 -2.94544217e-01 2.08490704e+02] [-8.81190623e-01 8.98079448e-03 4.72675821e-01 -5.96811662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.6807140569999 meters Centerline goodness : 0.987484 Centerline is valid? [True, True] Translation: X:130.76, Y:208.52, Z:-59.69 [[ 4.46221847e-01 4.15762007e-01 7.92482187e-01 1.30760222e+02] [-1.44136020e-01 9.07359369e-01 -3.94871856e-01 2.08520690e+02] [-8.83238853e-01 6.19752206e-02 4.64809855e-01 -5.96928155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.7107140569999 meters Centerline goodness : 0.987428 Centerline is valid? [True, True] Translation: X:130.75, Y:208.50, Z:-59.73 [[ 4.47253207e-01 3.59607651e-01 8.18930343e-01 1.30746713e+02] [-1.41864026e-01 9.32543703e-01 -3.32019337e-01 2.08495539e+02] [-8.83085028e-01 3.23199578e-02 4.68098551e-01 -5.97287142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.740714057 meters Centerline goodness : 0.982225 Centerline is valid? [True, True] Translation: X:130.75, Y:208.49, Z:-59.75 [[ 4.43085285e-01 3.51721067e-01 8.24601553e-01 1.30750222e+02] [-1.37489486e-01 9.35600904e-01 -3.25188545e-01 2.08490029e+02] [-8.85873621e-01 3.07122153e-02 4.62908941e-01 -5.97524038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.770714057 meters Centerline goodness : 0.987607 Centerline is valid? [True, True] Translation: X:130.77, Y:208.48, Z:-59.78 [[ 4.48772136e-01 3.48260188e-01 8.22993567e-01 1.30766519e+02] [-1.37326982e-01 9.36875497e-01 -3.21567416e-01 2.08479738e+02] [-8.83031636e-01 3.12912734e-02 4.68269139e-01 -5.97798972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.8007140569999 meters Centerline goodness : 0.987515 Centerline is valid? [True, True] Translation: X:130.78, Y:208.47, Z:-59.81 [[ 4.51398619e-01 3.57390180e-01 8.17625554e-01 1.30784926e+02] [-1.33204349e-01 9.33011000e-01 -3.34285919e-01 2.08474447e+02] [-8.82324140e-01 4.19849221e-02 4.68765803e-01 -5.98068165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.8307140569999 meters Centerline goodness : 0.987035 Centerline is valid? [True, True] Translation: X:130.80, Y:208.47, Z:-59.83 [[ 4.52763695e-01 3.56483234e-01 8.17266628e-01 1.30798199e+02] [-1.30606702e-01 9.33226864e-01 -3.34708097e-01 2.08467386e+02] [-8.82012997e-01 4.48031757e-02 4.69090342e-01 -5.98343336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.860714057 meters Centerline goodness : 0.986455 Centerline is valid? [True, True] Translation: X:130.81, Y:208.46, Z:-59.86 [[ 4.54546903e-01 3.55254231e-01 8.16811817e-01 1.30810879e+02] [-1.28386922e-01 9.33576297e-01 -3.34592432e-01 2.08460791e+02] [-8.81421529e-01 4.72199982e-02 4.69964212e-01 -5.98599994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.890714057 meters Centerline goodness : 0.984638 Centerline is valid? [True, True] Translation: X:130.83, Y:208.45, Z:-59.90 [[ 4.47347327e-01 3.86432054e-01 8.06567193e-01 1.30828204e+02] [-1.28119480e-01 9.20224613e-01 -3.69827068e-01 2.08452220e+02] [-8.85136017e-01 6.21041807e-02 4.61169495e-01 -5.99007396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.9207140569999 meters Centerline goodness : 0.984347 Centerline is valid? [True, True] Translation: X:130.86, Y:208.46, Z:-59.92 [[ 4.52354290e-01 4.31387194e-01 7.80564338e-01 1.30864553e+02] [-1.26397245e-01 8.97406721e-01 -4.22711383e-01 2.08461211e+02] [-8.82835960e-01 9.25541260e-02 4.60471933e-01 -5.99216528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.9507140569999 meters Centerline goodness : 0.983784 Centerline is valid? [True, True] Translation: X:130.87, Y:208.45, Z:-59.95 [[ 4.52419096e-01 4.23213231e-01 7.84988868e-01 1.30873174e+02] [-1.24134413e-01 9.01540335e-01 -4.14506539e-01 2.08453258e+02] [-8.83123779e-01 9.00865413e-02 4.60409390e-01 -5.99459919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.9807140569999 meters Centerline goodness : 0.984577 Centerline is valid? [True, True] Translation: X:130.88, Y:208.44, Z:-59.97 [[ 4.61325292e-01 3.88599237e-01 7.97602412e-01 1.30883137e+02] [-1.21571631e-01 9.18186471e-01 -3.77033080e-01 2.08435133e+02] [-8.78862511e-01 7.69690693e-02 4.70825285e-01 -5.99716008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.010714057 meters Centerline goodness : 0.984898 Centerline is valid? [True, True] Translation: X:130.90, Y:208.44, Z:-60.00 [[ 4.60265953e-01 4.07473693e-01 7.88746120e-01 1.30902806e+02] [-1.21983657e-01 9.09046685e-01 -3.98439596e-01 2.08436497e+02] [-8.79360700e-01 8.71740446e-02 4.68108370e-01 -5.99975489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.040714057 meters Centerline goodness : 0.983993 Centerline is valid? [True, True] Translation: X:130.91, Y:208.42, Z:-60.02 [[ 4.55272876e-01 3.82365603e-01 8.04066636e-01 1.30905688e+02] [-1.20807247e-01 9.21265764e-01 -3.69695823e-01 2.08423564e+02] [-8.82118029e-01 7.11754034e-02 4.65619850e-01 -6.00230915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.0707140569999 meters Centerline goodness : 0.984557 Centerline is valid? [True, True] Translation: X:130.92, Y:208.42, Z:-60.05 [[ 4.62519803e-01 3.80229994e-01 8.00937315e-01 1.30921718e+02] [-1.20374360e-01 9.21937393e-01 -3.68159553e-01 2.08417603e+02] [-8.78399365e-01 7.38687673e-02 4.72184244e-01 -6.00537396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.1007140569999 meters Centerline goodness : 0.984727 Centerline is valid? [True, True] Translation: X:130.94, Y:208.41, Z:-60.08 [[ 4.65504758e-01 3.79119443e-01 7.99733561e-01 1.30938834e+02] [-1.19732293e-01 9.22276625e-01 -3.67518713e-01 2.08411852e+02] [-8.76909060e-01 7.53277769e-02 4.74716997e-01 -6.00805640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.130714057 meters Centerline goodness : 0.983266 Centerline is valid? [True, True] Translation: X:130.95, Y:208.41, Z:-60.10 [[ 4.66091817e-01 3.85521132e-01 7.96323976e-01 1.30953860e+02] [-1.23798956e-01 9.19633138e-01 -3.72758245e-01 2.08410424e+02] [-8.76032098e-01 7.51554906e-02 4.76360594e-01 -6.01005227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.160714057 meters Centerline goodness : 0.983266 Centerline is valid? [True, True] Translation: X:130.96, Y:208.40, Z:-60.13 [[ 4.65234468e-01 3.65596322e-01 8.06161410e-01 1.30958521e+02] [-1.23075183e-01 9.28594157e-01 -3.50093403e-01 2.08398716e+02] [-8.76589636e-01 6.36570550e-02 4.77009843e-01 -6.01292155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.1907140569999 meters Centerline goodness : 0.986364 Centerline is valid? [True, True] Translation: X:130.97, Y:208.38, Z:-60.16 [[ 4.68633615e-01 3.37357384e-01 8.16438932e-01 1.30968875e+02] [-1.20491013e-01 9.39981363e-01 -3.19244348e-01 2.08384124e+02] [-8.75136818e-01 5.12350783e-02 4.81155397e-01 -6.01626611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.2207140569999 meters Centerline goodness : 0.983663 Centerline is valid? [True, True] Translation: X:131.00, Y:208.40, Z:-60.18 [[ 4.64501696e-01 3.93989346e-01 7.93101866e-01 1.30997896e+02] [-1.24494160e-01 9.15739223e-01 -3.81998533e-01 2.08399839e+02] [-8.76777839e-01 7.87024155e-02 4.74411795e-01 -6.01824991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.250714057 meters Centerline goodness : 0.985002 Centerline is valid? [True, True] Translation: X:131.00, Y:208.38, Z:-60.22 [[ 4.58725391e-01 3.58358835e-01 8.13111285e-01 1.30996409e+02] [-1.24526674e-01 9.31966161e-01 -3.40488154e-01 2.08381044e+02] [-8.79809140e-01 5.49365180e-02 4.72141775e-01 -6.02174850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.280714057 meters Centerline goodness : 0.983915 Centerline is valid? [True, True] Translation: X:131.02, Y:208.38, Z:-60.24 [[ 4.60630016e-01 3.70424692e-01 8.06601225e-01 1.31017128e+02] [-1.25966498e-01 9.26836070e-01 -3.53705161e-01 2.08380657e+02] [-8.78608234e-01 6.13224824e-02 4.73589615e-01 -6.02422523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.3107140569999 meters Centerline goodness : 0.985661 Centerline is valid? [True, True] Translation: X:131.04, Y:208.38, Z:-60.28 [[ 4.61006486e-01 3.85318081e-01 7.99376630e-01 1.31038178e+02] [-1.28268618e-01 9.20284934e-01 -3.69625217e-01 2.08380006e+02] [-8.78077549e-01 6.78646871e-02 4.73681541e-01 -6.02759651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.3407140569999 meters Centerline goodness : 0.984853 Centerline is valid? [True, True] Translation: X:131.06, Y:208.38, Z:-60.30 [[ 4.58546147e-01 3.96651666e-01 7.95237630e-01 1.31055411e+02] [-1.31703744e-01 9.15312623e-01 -3.80600743e-01 2.08379573e+02] [-8.78856960e-01 6.97872309e-02 4.71953586e-01 -6.02969453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.370714057 meters Centerline goodness : 0.986314 Centerline is valid? [True, True] Translation: X:131.06, Y:208.37, Z:-60.32 [[ 4.59350078e-01 3.77146746e-01 8.04212558e-01 1.31063723e+02] [-1.33035834e-01 9.24383270e-01 -3.57515086e-01 2.08368026e+02] [-8.78236286e-01 5.72354942e-02 4.74789559e-01 -6.03243157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.400714057 meters Centerline goodness : 0.986325 Centerline is valid? [True, True] Translation: X:131.08, Y:208.38, Z:-60.34 [[ 4.65562459e-01 3.90267372e-01 7.94319190e-01 1.31084706e+02] [-1.25407793e-01 9.17555421e-01 -3.77312780e-01 2.08384469e+02] [-8.76084746e-01 7.60488494e-02 4.76121928e-01 -6.03375290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.4307140569999 meters Centerline goodness : 0.986752 Centerline is valid? [True, True] Translation: X:131.07, Y:208.36, Z:-60.38 [[ 4.63016231e-01 3.31900546e-01 8.21862517e-01 1.31073568e+02] [-1.24592932e-01 9.42409105e-01 -3.10389562e-01 2.08359997e+02] [-8.77549184e-01 4.13171446e-02 4.77703174e-01 -6.03757204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.4607140569999 meters Centerline goodness : 0.982996 Centerline is valid? [True, True] Translation: X:131.07, Y:208.36, Z:-60.40 [[ 4.55178727e-01 3.23801224e-01 8.29436612e-01 1.31073934e+02] [-1.21993556e-01 9.45427004e-01 -3.02134661e-01 2.08356860e+02] [-8.82003344e-01 3.63393483e-02 4.69839923e-01 -6.03971942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.490714057 meters Centerline goodness : 0.982924 Centerline is valid? [True, True] Translation: X:131.08, Y:208.33, Z:-60.43 [[ 4.53020391e-01 2.97602002e-01 8.40360383e-01 1.31076999e+02] [-1.26913722e-01 9.54564286e-01 -2.69629249e-01 2.08331277e+02] [-8.82420213e-01 1.54942833e-02 4.70206864e-01 -6.04324516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.520714057 meters Centerline goodness : 0.982595 Centerline is valid? [True, True] Translation: X:131.10, Y:208.35, Z:-60.45 [[ 4.55738296e-01 3.20634013e-01 8.30359220e-01 1.31098918e+02] [-1.12648702e-01 9.46143817e-01 -3.03516304e-01 2.08351326e+02] [-8.82956893e-01 4.47851150e-02 4.67312977e-01 -6.04464187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.5507140569999 meters Centerline goodness : 0.983687 Centerline is valid? [True, True] Translation: X:131.11, Y:208.34, Z:-60.47 [[ 4.55158768e-01 3.04739382e-01 8.36638755e-01 1.31105757e+02] [-1.10585143e-01 9.51682416e-01 -2.86481247e-01 2.08340844e+02] [-8.83516509e-01 3.78746353e-02 4.66866244e-01 -6.04727501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.5807140569999 meters Centerline goodness : 0.986457 Centerline is valid? [True, True] Translation: X:131.11, Y:208.31, Z:-60.51 [[ 4.64174712e-01 2.55482181e-01 8.48098280e-01 1.31110921e+02] [-1.08624585e-01 9.66690298e-01 -2.31755405e-01 2.08314862e+02] [-8.79057755e-01 1.54506746e-02 4.76464836e-01 -6.05085653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.610714057 meters Centerline goodness : 0.986486 Centerline is valid? [True, True] Translation: X:131.15, Y:208.34, Z:-60.53 [[ 4.70968533e-01 3.21670326e-01 8.21411494e-01 1.31154633e+02] [-1.03042140e-01 9.44833120e-01 -3.10922326e-01 2.08337184e+02] [-8.76111271e-01 6.17946335e-02 4.78132267e-01 -6.05267676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.640714057 meters Centerline goodness : 0.982730 Centerline is valid? [True, True] Translation: X:131.16, Y:208.32, Z:-60.56 [[ 4.59168136e-01 3.30995264e-01 8.24382653e-01 1.31161414e+02] [-1.10902795e-01 9.42092146e-01 -3.16485321e-01 2.08320550e+02] [-8.81399565e-01 5.38936349e-02 4.69286994e-01 -6.05603062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.6707140569999 meters Centerline goodness : 0.982258 Centerline is valid? [True, True] Translation: X:131.18, Y:208.34, Z:-60.57 [[ 4.61569229e-01 3.58279398e-01 8.11535409e-01 1.31183928e+02] [-9.62006973e-02 9.29634718e-01 -3.55703131e-01 2.08341805e+02] [-8.81872594e-01 8.61113479e-02 4.63557508e-01 -6.05708300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.7007140569999 meters Centerline goodness : 0.986897 Centerline is valid? [True, True] Translation: X:131.16, Y:208.29, Z:-60.62 [[ 4.65367868e-01 2.41080891e-01 8.51652953e-01 1.31161415e+02] [-8.58935144e-02 9.69951215e-01 -2.27633358e-01 2.08294453e+02] [-8.80939868e-01 3.27817853e-02 4.72091414e-01 -6.06196616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.7307140569999 meters Centerline goodness : 0.987334 Centerline is valid? [True, True] Translation: X:131.22, Y:208.34, Z:-60.62 [[ 4.76757762e-01 3.60512492e-01 8.01706168e-01 1.31221661e+02] [-8.60777009e-02 9.26793753e-01 -3.65573479e-01 2.08340332e+02] [-8.74810074e-01 1.05280970e-01 4.72888202e-01 -6.06230875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.760714057 meters Centerline goodness : 0.986903 Centerline is valid? [True, True] Translation: X:131.21, Y:208.32, Z:-60.66 [[ 4.74859954e-01 3.10061023e-01 8.23632312e-01 1.31214369e+02] [-8.06898524e-02 9.47277831e-01 -3.10086856e-01 2.08321025e+02] [-8.76354478e-01 8.07890603e-02 4.74843086e-01 -6.06602041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.790714057 meters Centerline goodness : 0.986896 Centerline is valid? [True, True] Translation: X:131.23, Y:208.32, Z:-60.69 [[ 4.76217253e-01 3.09787958e-01 8.22951122e-01 1.31229625e+02] [-7.98008486e-02 9.47250492e-01 -3.10400275e-01 2.08317303e+02] [-8.75699122e-01 8.21457682e-02 4.75818369e-01 -6.06879116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.8207140569999 meters Centerline goodness : 0.986434 Centerline is valid? [True, True] Translation: X:131.24, Y:208.32, Z:-60.71 [[ 4.77159472e-01 3.09377301e-01 8.22559739e-01 1.31242385e+02] [-7.84143169e-02 9.47240410e-01 -3.10784171e-01 2.08315194e+02] [-8.75311392e-01 8.37931511e-02 4.76244343e-01 -6.07117623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.8507140569999 meters Centerline goodness : 0.981810 Centerline is valid? [True, True] Translation: X:131.25, Y:208.31, Z:-60.74 [[ 4.75562394e-01 2.91565739e-01 8.29957728e-01 1.31252066e+02] [-7.33655011e-02 9.53333524e-01 -2.92869759e-01 2.08305552e+02] [-8.76617313e-01 7.83875790e-02 4.74760439e-01 -6.07444047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.880714057 meters Centerline goodness : 0.987413 Centerline is valid? [True, True] Translation: X:131.29, Y:208.33, Z:-60.75 [[ 4.82904375e-01 3.55672438e-01 8.00187779e-01 1.31292838e+02] [-7.98705676e-02 9.27878497e-01 -3.64228208e-01 2.08328582e+02] [-8.72022968e-01 1.11975943e-01 4.76484345e-01 -6.07531005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.910714057 meters Centerline goodness : 0.981584 Centerline is valid? [True, True] Translation: X:131.28, Y:208.32, Z:-60.78 [[ 4.67596794e-01 3.28047808e-01 8.20815372e-01 1.31279753e+02] [-7.61079183e-02 9.40078277e-01 -3.32355861e-01 2.08322797e+02] [-8.80659312e-01 9.29379858e-02 4.64544624e-01 -6.07774467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.9407140569999 meters Centerline goodness : 0.986876 Centerline is valid? [True, True] Translation: X:131.27, Y:208.28, Z:-60.82 [[ 4.71374489e-01 2.38504482e-01 8.49071083e-01 1.31267025e+02] [-7.95047090e-02 9.70310360e-01 -2.28422428e-01 2.08281672e+02] [-8.78342241e-01 4.01673560e-02 4.76341780e-01 -6.08214108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.9707140569999 meters Centerline goodness : 0.980922 Centerline is valid? [True, True] Translation: X:131.31, Y:208.32, Z:-60.83 [[ 4.64481812e-01 3.24655836e-01 8.23926717e-01 1.31306356e+02] [-7.87758567e-02 9.41836873e-01 -3.26707315e-01 2.08316927e+02] [-8.82071999e-01 8.68440725e-02 4.63041139e-01 -6.08298061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.000714057 meters Centerline goodness : 0.982180 Centerline is valid? [True, True] Translation: X:131.29, Y:208.30, Z:-60.87 [[ 4.56601920e-01 2.67060800e-01 8.48641983e-01 1.31293951e+02] [-8.14974286e-02 9.62427693e-01 -2.59019506e-01 2.08298718e+02] [-8.85930503e-01 4.91066644e-02 4.61211101e-01 -6.08650040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.030714057 meters Centerline goodness : 0.988072 Centerline is valid? [True, True] Translation: X:131.32, Y:208.29, Z:-60.89 [[ 4.69686811e-01 2.59434129e-01 8.43853206e-01 1.31316753e+02] [-8.79047302e-02 9.64839950e-01 -2.47702703e-01 2.08288888e+02] [-8.78445820e-01 4.21640041e-02 4.75978086e-01 -6.08914957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.0607140569999 meters Centerline goodness : 0.989198 Centerline is valid? [True, True] Translation: X:131.36, Y:208.31, Z:-60.91 [[ 4.73494665e-01 3.15224135e-01 8.22457626e-01 1.31358115e+02] [-9.15005817e-02 9.46317201e-01 -3.10018384e-01 2.08305793e+02] [-8.76031076e-01 7.15366994e-02 4.76919338e-01 -6.09117162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.0907140569999 meters Centerline goodness : 0.985379 Centerline is valid? [True, True] Translation: X:131.36, Y:208.29, Z:-60.94 [[ 4.66705878e-01 2.69781706e-01 8.42260918e-01 1.31355252e+02] [-9.45197514e-02 9.62099897e-01 -2.55792503e-01 2.08286962e+02] [-8.79347281e-01 3.97695720e-02 4.74517377e-01 -6.09395584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.120714057 meters Centerline goodness : 0.990127 Centerline is valid? [True, True] Translation: X:131.40, Y:208.32, Z:-60.96 [[ 4.75618345e-01 3.50949367e-01 8.06611264e-01 1.31404850e+02] [-9.60355959e-02 9.32201887e-01 -3.48965337e-01 2.08315732e+02] [-8.74393707e-01 8.85109222e-02 4.77075950e-01 -6.09558508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.150714057 meters Centerline goodness : 0.990402 Centerline is valid? [True, True] Translation: X:131.40, Y:208.30, Z:-60.99 [[ 4.73101684e-01 3.16980026e-01 8.22008795e-01 1.31403688e+02] [-9.56373506e-02 9.45996560e-01 -3.09748295e-01 2.08301851e+02] [-8.75801515e-01 6.79276966e-02 4.77867695e-01 -6.09909518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.1807140569999 meters Centerline goodness : 0.983823 Centerline is valid? [True, True] Translation: X:131.41, Y:208.30, Z:-61.02 [[ 4.66665938e-01 3.07076646e-01 8.29413550e-01 1.31405655e+02] [-9.12230748e-02 9.49500856e-01 -3.00210717e-01 2.08301967e+02] [-8.79716576e-01 6.44364615e-02 4.71112183e-01 -6.10159757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.2107140569999 meters Centerline goodness : 0.991578 Centerline is valid? [True, True] Translation: X:131.42, Y:208.29, Z:-61.04 [[ 4.71071692e-01 2.88790102e-01 8.33481696e-01 1.31420043e+02] [-9.04654956e-02 9.55723468e-01 -2.80015440e-01 2.08292471e+02] [-8.77443705e-01 5.65060123e-02 4.76339811e-01 -6.10448235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.240714057 meters Centerline goodness : 0.984482 Centerline is valid? [True, True] Translation: X:131.47, Y:208.32, Z:-61.06 [[ 4.73382132e-01 3.65865926e-01 8.01281150e-01 1.31466487e+02] [-9.11042982e-02 9.25118064e-01 -3.68587269e-01 2.08318595e+02] [-8.76133189e-01 1.01482470e-01 4.71266320e-01 -6.10550609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.270714057 meters Centerline goodness : 0.991725 Centerline is valid? [True, True] Translation: X:131.45, Y:208.29, Z:-61.10 [[ 4.73052465e-01 2.93422920e-01 8.30737236e-01 1.31451970e+02] [-8.83223033e-02 9.53955268e-01 -2.86650516e-01 2.08290325e+02] [-8.76595994e-01 6.22281070e-02 4.77186679e-01 -6.10953474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.3007140569999 meters Centerline goodness : 0.990311 Centerline is valid? [True, True] Translation: X:131.50, Y:208.31, Z:-61.11 [[ 4.75997339e-01 3.57032369e-01 8.03712897e-01 1.31495125e+02] [-9.09203184e-02 9.28965794e-01 -3.58825931e-01 2.08308552e+02] [-8.74734262e-01 9.77263559e-02 4.74646743e-01 -6.11095198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.3307140569999 meters Centerline goodness : 0.991924 Centerline is valid? [True, True] Translation: X:131.51, Y:208.32, Z:-61.13 [[ 4.80359400e-01 3.49913446e-01 8.04248362e-01 1.31505434e+02] [-8.17849059e-02 9.30844795e-01 -3.56144911e-01 2.08320205e+02] [-8.73250294e-01 1.05302179e-01 4.75757685e-01 -6.11290884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.360714057 meters Centerline goodness : 0.992444 Centerline is valid? [True, True] Translation: X:131.49, Y:208.30, Z:-61.16 [[ 4.76556831e-01 2.94469009e-01 8.28360785e-01 1.31490370e+02] [-7.81461220e-02 9.52694852e-01 -2.93710235e-01 2.08300774e+02] [-8.75663618e-01 7.52364357e-02 4.77024850e-01 -6.11642833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.390714057 meters Centerline goodness : 0.992000 Centerline is valid? [True, True] Translation: X:131.50, Y:208.30, Z:-61.19 [[ 4.77315860e-01 2.93585173e-01 8.28237476e-01 1.31503344e+02] [-7.69370140e-02 9.52880155e-01 -2.93428196e-01 2.08298312e+02] [-8.75357222e-01 7.63358135e-02 4.77412377e-01 -6.11890593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.4207140569999 meters Centerline goodness : 0.993245 Centerline is valid? [True, True] Translation: X:131.52, Y:208.30, Z:-61.22 [[ 4.78051642e-01 2.92562396e-01 8.28175025e-01 1.31518744e+02] [-7.53324886e-02 9.53078171e-01 -2.93201323e-01 2.08296817e+02] [-8.75095220e-01 7.77768883e-02 4.77660038e-01 -6.12183753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.4507140569999 meters Centerline goodness : 0.991744 Centerline is valid? [True, True] Translation: X:131.53, Y:208.28, Z:-61.25 [[ 4.78291890e-01 2.67836577e-01 8.36361427e-01 1.31526742e+02] [-7.22966855e-02 9.61133709e-01 -2.66449213e-01 2.08282843e+02] [-8.75220005e-01 6.69743390e-02 4.79066155e-01 -6.12501117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.4807140569999 meters Centerline goodness : 0.992701 Centerline is valid? [True, True] Translation: X:131.57, Y:208.31, Z:-61.26 [[ 4.83495933e-01 3.39077501e-01 8.07005658e-01 1.31571078e+02] [-7.46839356e-02 9.34544669e-01 -3.47920351e-01 2.08307191e+02] [-8.72154799e-01 1.07947716e-01 4.77172189e-01 -6.12590574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.510714057 meters Centerline goodness : 0.992708 Centerline is valid? [True, True] Translation: X:131.56, Y:208.29, Z:-61.29 [[ 4.80688541e-01 2.90021955e-01 8.27542019e-01 1.31561539e+02] [-7.10698095e-02 9.53502853e-01 -2.92884606e-01 2.08291433e+02] [-8.74006641e-01 8.19730203e-02 4.78949700e-01 -6.12946763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.540714057 meters Centerline goodness : 0.993143 Centerline is valid? [True, True] Translation: X:131.58, Y:208.29, Z:-61.32 [[ 4.80672999e-01 2.89729133e-01 8.27653610e-01 1.31575349e+02] [-7.05044553e-02 9.53553828e-01 -2.92855287e-01 2.08289268e+02] [-8.74060976e-01 8.24143624e-02 4.78774773e-01 -6.13198188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.5707140569999 meters Centerline goodness : 0.982924 Centerline is valid? [True, True] Translation: X:131.57, Y:208.29, Z:-61.35 [[ 4.62292926e-01 2.91548839e-01 8.37427325e-01 1.31574050e+02] [-6.31987730e-02 9.52833878e-01 -2.96839209e-01 2.08293849e+02] [-8.84472253e-01 8.43022873e-02 4.58913891e-01 -6.13450128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.6007140569999 meters Centerline goodness : 0.992424 Centerline is valid? [True, True] Translation: X:131.58, Y:208.27, Z:-61.38 [[ 4.75905016e-01 2.43890627e-01 8.45004011e-01 1.31579528e+02] [-6.73855686e-02 9.68068589e-01 -2.41458883e-01 2.08269572e+02] [-8.76911399e-01 5.79704177e-02 4.77143405e-01 -6.13781114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.630714057 meters Centerline goodness : 0.988752 Centerline is valid? [True, True] Translation: X:131.60, Y:208.27, Z:-61.40 [[ 4.62220542e-01 2.59739224e-01 8.47872459e-01 1.31597227e+02] [-6.81022887e-02 9.63714811e-01 -2.58100447e-01 2.08270526e+02] [-8.84146056e-01 6.15572736e-02 4.63137618e-01 -6.14003448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.660714057 meters Centerline goodness : 0.989320 Centerline is valid? [True, True] Translation: X:131.63, Y:208.28, Z:-61.42 [[ 4.63641583e-01 2.88731710e-01 8.37657736e-01 1.31625946e+02] [-6.76448576e-02 9.54189017e-01 -2.91457533e-01 2.08278575e+02] [-8.83436843e-01 7.84685939e-02 4.61932922e-01 -6.14209244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.6907140569999 meters Centerline goodness : 0.990696 Centerline is valid? [True, True] Translation: X:131.66, Y:208.29, Z:-61.45 [[ 4.62733180e-01 3.25060826e-01 8.24750546e-01 1.31656061e+02] [-6.94315258e-02 9.40778459e-01 -3.31836036e-01 2.08285827e+02] [-8.83774444e-01 9.62878553e-02 4.57898877e-01 -6.14489206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.7207140569999 meters Centerline goodness : 0.983163 Centerline is valid? [True, True] Translation: X:131.66, Y:208.29, Z:-61.47 [[ 4.60027094e-01 3.26116564e-01 8.25846874e-01 1.31660269e+02] [-6.52243369e-02 9.40006216e-01 -3.34864300e-01 2.08290571e+02] [-8.85505990e-01 1.00181336e-01 4.53699065e-01 -6.14669394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.750714057 meters Centerline goodness : 0.983084 Centerline is valid? [True, True] Translation: X:131.63, Y:208.26, Z:-61.51 [[ 4.53528330e-01 2.55085387e-01 8.53957551e-01 1.31634996e+02] [-6.69096497e-02 9.65206998e-01 -2.52781626e-01 2.08263977e+02] [-8.88726703e-01 5.75056282e-02 4.54816392e-01 -6.15063230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.780714057 meters Centerline goodness : 0.991467 Centerline is valid? [True, True] Translation: X:131.64, Y:208.25, Z:-61.54 [[ 4.54379952e-01 2.39740191e-01 8.57941432e-01 1.31643672e+02] [-7.05156865e-02 9.69762598e-01 -2.33640839e-01 2.08249594e+02] [-8.88012611e-01 4.56633844e-02 4.57546127e-01 -6.15373347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.8107140569999 meters Centerline goodness : 0.993040 Centerline is valid? [True, True] Translation: X:131.71, Y:208.29, Z:-61.54 [[ 4.74712406e-01 3.42114623e-01 8.10928922e-01 1.31711066e+02] [-7.02679902e-02 9.33153255e-01 -3.52544199e-01 2.08290478e+02] [-8.77331489e-01 1.10374760e-01 4.67019134e-01 -6.15389733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.8407140569999 meters Centerline goodness : 0.983979 Centerline is valid? [True, True] Translation: X:131.67, Y:208.28, Z:-61.58 [[ 4.52389249e-01 2.74550403e-01 8.48508128e-01 1.31673959e+02] [-6.13665892e-02 9.58761742e-01 -2.77506873e-01 2.08275696e+02] [-8.89706755e-01 7.34710760e-02 4.50581726e-01 -6.15792965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.870714057 meters Centerline goodness : 0.992830 Centerline is valid? [True, True] Translation: X:131.69, Y:208.26, Z:-61.61 [[ 4.69619474e-01 2.65292699e-01 8.42067298e-01 1.31694468e+02] [-6.91424663e-02 9.61907295e-01 -2.64487571e-01 2.08263394e+02] [-8.80157298e-01 6.59859041e-02 4.70073389e-01 -6.16051379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.900714057 meters Centerline goodness : 0.993010 Centerline is valid? [True, True] Translation: X:131.72, Y:208.27, Z:-61.63 [[ 4.71827176e-01 2.87949263e-01 8.33345269e-01 1.31719663e+02] [-7.05550413e-02 9.54466769e-01 -2.89853709e-01 2.08267674e+02] [-8.78863529e-01 7.79641471e-02 4.70659633e-01 -6.16261131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.9307140569999 meters Centerline goodness : 0.990736 Centerline is valid? [True, True] Translation: X:131.73, Y:208.26, Z:-61.67 [[ 4.48883548e-01 3.13042976e-01 8.36963354e-01 1.31730291e+02] [-7.79849870e-02 9.46779958e-01 -3.12291616e-01 2.08256967e+02] [-8.90180826e-01 7.49119922e-02 4.49406599e-01 -6.16734341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.9607140569999 meters Centerline goodness : 0.992471 Centerline is valid? [True, True] Translation: X:131.78, Y:208.28, Z:-61.67 [[ 4.76631152e-01 3.42588829e-01 8.09602149e-01 1.31778154e+02] [-7.44904130e-02 9.33367637e-01 -3.51106867e-01 2.08277061e+02] [-8.75941735e-01 1.07040872e-01 4.70391676e-01 -6.16680276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.990714057 meters Centerline goodness : 0.989716 Centerline is valid? [True, True] Translation: X:131.76, Y:208.25, Z:-61.72 [[ 4.50681885e-01 3.04726627e-01 8.39063479e-01 1.31757739e+02] [-7.99154077e-02 9.49931256e-01 -3.02066444e-01 2.08249629e+02] [-8.89100313e-01 6.90817743e-02 4.52469162e-01 -6.17240128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.020714057 meters Centerline goodness : 0.989702 Centerline is valid? [True, True] Translation: X:131.80, Y:208.26, Z:-61.74 [[ 4.51595116e-01 3.56317952e-01 8.17984944e-01 1.31796618e+02] [-8.37587025e-02 9.29676115e-01 -3.58729425e-01 2.08262506e+02] [-8.88282799e-01 9.34870987e-02 4.49681922e-01 -6.17399441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.0507140569999 meters Centerline goodness : 0.989770 Centerline is valid? [True, True] Translation: X:131.81, Y:208.26, Z:-61.77 [[ 4.52056922e-01 3.47453027e-01 8.21535717e-01 1.31805969e+02] [-8.48022010e-02 9.33584535e-01 -3.48178837e-01 2.08256946e+02] [-8.87948831e-01 8.77286163e-02 4.51498133e-01 -6.17652610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.0807140569999 meters Centerline goodness : 0.989770 Centerline is valid? [True, True] Translation: X:131.82, Y:208.25, Z:-61.79 [[ 4.52339087e-01 3.46685121e-01 8.21704800e-01 1.31818265e+02] [-8.43167251e-02 9.33849829e-01 -3.47584790e-01 2.08252758e+02] [-8.87851362e-01 8.79427288e-02 4.51648133e-01 -6.17902616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.110714057 meters Centerline goodness : 0.992155 Centerline is valid? [True, True] Translation: X:131.83, Y:208.25, Z:-61.82 [[ 4.52389630e-01 3.38347476e-01 8.25145204e-01 1.31830992e+02] [-8.40755436e-02 9.37296671e-01 -3.38239934e-01 2.08247268e+02] [-8.87848481e-01 8.36417068e-02 4.52470042e-01 -6.18207135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.140714057 meters Centerline goodness : 0.989816 Centerline is valid? [True, True] Translation: X:131.85, Y:208.25, Z:-61.84 [[ 4.52549700e-01 3.56253774e-01 8.17485179e-01 1.31853199e+02] [-8.71599965e-02 9.30013037e-01 -3.57041854e-01 2.08249377e+02] [-8.87469382e-01 9.03271784e-02 4.51928198e-01 -6.18429621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.1707140569999 meters Centerline goodness : 0.989244 Centerline is valid? [True, True] Translation: X:131.86, Y:208.24, Z:-61.87 [[ 4.66199984e-01 3.16433531e-01 8.26152162e-01 1.31857178e+02] [-8.51099848e-02 9.45554250e-01 -3.14139221e-01 2.08238788e+02] [-8.80575871e-01 7.61379022e-02 4.67749030e-01 -6.18718556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.2007140569999 meters Centerline goodness : 0.992821 Centerline is valid? [True, True] Translation: X:131.88, Y:208.25, Z:-61.89 [[ 4.65803671e-01 3.46471304e-01 8.14238648e-01 1.31884550e+02] [-8.64180223e-02 9.33572911e-01 -3.47812515e-01 2.08246014e+02] [-8.80658200e-01 9.16474525e-02 4.64803054e-01 -6.18924801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.2307140569999 meters Centerline goodness : 0.992476 Centerline is valid? [True, True] Translation: X:131.90, Y:208.25, Z:-61.90 [[ 4.71790823e-01 3.44309236e-01 8.11704730e-01 1.31900643e+02] [-8.14375611e-02 9.33683618e-01 -3.48715966e-01 2.08254383e+02] [-8.77941538e-01 9.84177391e-02 4.68543067e-01 -6.19011691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.260714057 meters Centerline goodness : 0.987997 Centerline is valid? [True, True] Translation: X:131.86, Y:208.22, Z:-61.95 [[ 4.53411916e-01 2.57632608e-01 8.53254402e-01 1.31859804e+02] [-7.67405836e-02 9.65042552e-01 -2.50606775e-01 2.08223530e+02] [-8.87991282e-01 4.81488574e-02 4.57332669e-01 -6.19470406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.290714057 meters Centerline goodness : 0.990705 Centerline is valid? [True, True] Translation: X:131.90, Y:208.23, Z:-61.97 [[ 4.67568261e-01 2.88389987e-01 8.35590293e-01 1.31896281e+02] [-7.69581369e-02 9.54975241e-01 -2.86530513e-01 2.08232862e+02] [-8.80600572e-01 6.96671014e-02 4.68710068e-01 -6.19659316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.3207140569999 meters Centerline goodness : 0.989686 Centerline is valid? [True, True] Translation: X:131.91, Y:208.23, Z:-61.99 [[ 4.67708949e-01 2.95134249e-01 8.33153116e-01 1.31912136e+02] [-7.71623738e-02 9.52641035e-01 -2.94144568e-01 2.08230883e+02] [-8.80507983e-01 7.32859744e-02 4.68331996e-01 -6.19889789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.3507140569999 meters Centerline goodness : 0.989531 Centerline is valid? [True, True] Translation: X:131.91, Y:208.22, Z:-62.02 [[ 4.54914384e-01 2.69650769e-01 8.48729266e-01 1.31905274e+02] [-7.27712764e-02 9.61124053e-01 -2.66354830e-01 2.08222831e+02] [-8.87556897e-01 5.94055313e-02 4.56851987e-01 -6.20156793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.380714057 meters Centerline goodness : 0.982469 Centerline is valid? [True, True] Translation: X:131.92, Y:208.22, Z:-62.04 [[ 4.58124005e-01 2.69119957e-01 8.47169903e-01 1.31917451e+02] [-7.05902659e-02 9.61071593e-01 -2.67129946e-01 2.08222965e+02] [-8.86080928e-01 6.25766923e-02 4.59287217e-01 -6.20394079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.410714057 meters Centerline goodness : 0.991942 Centerline is valid? [True, True] Translation: X:131.94, Y:208.21, Z:-62.06 [[ 4.71183132e-01 2.70739420e-01 8.39456147e-01 1.31942400e+02] [-7.57683096e-02 9.60632061e-01 -2.67292363e-01 2.08214748e+02] [-8.78775068e-01 6.23394797e-02 4.73147091e-01 -6.20646897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.4407140569999 meters Centerline goodness : 0.990844 Centerline is valid? [True, True] Translation: X:131.95, Y:208.21, Z:-62.09 [[ 4.71979313e-01 2.56749000e-01 8.43395209e-01 1.31950548e+02] [-7.19243549e-02 9.64678716e-01 -2.53420325e-01 2.08208612e+02] [-8.78670823e-01 5.89484948e-02 4.73774904e-01 -6.20926289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.4707140569999 meters Centerline goodness : 0.988665 Centerline is valid? [True, True] Translation: X:131.96, Y:208.21, Z:-62.11 [[ 4.60738152e-01 2.67791472e-01 8.46172608e-01 1.31961046e+02] [-7.09996900e-02 9.61460424e-01 -2.65617954e-01 2.08212047e+02] [-8.84691697e-01 6.23023322e-02 4.61994610e-01 -6.21120336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.500714057 meters Centerline goodness : 0.992367 Centerline is valid? [True, True] Translation: X:131.98, Y:208.21, Z:-62.14 [[ 4.72655128e-01 2.74551989e-01 8.37387805e-01 1.31982133e+02] [-7.63902836e-02 9.59417906e-01 -2.71443928e-01 2.08206458e+02] [-8.77930325e-01 6.43310724e-02 4.74446897e-01 -6.21381158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.530714057 meters Centerline goodness : 0.990089 Centerline is valid? [True, True] Translation: X:131.99, Y:208.20, Z:-62.17 [[ 4.72982635e-01 2.58027416e-01 8.42442449e-01 1.31988049e+02] [-7.33922980e-02 9.64371671e-01 -2.54166973e-01 2.08199687e+02] [-8.78009680e-01 5.83877775e-02 4.75068279e-01 -6.21671367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.5607140569999 meters Centerline goodness : 0.992281 Centerline is valid? [True, True] Translation: X:132.02, Y:208.21, Z:-62.18 [[ 4.74140717e-01 2.92603213e-01 8.30405889e-01 1.32016351e+02] [-7.74925978e-02 9.53370260e-01 -2.91684837e-01 2.08205926e+02] [-8.77032199e-01 7.39493480e-02 4.74706242e-01 -6.21829796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.5907140569999 meters Centerline goodness : 0.992385 Centerline is valid? [True, True] Translation: X:132.02, Y:208.20, Z:-62.21 [[ 4.72909071e-01 2.72561183e-01 8.37894631e-01 1.32017105e+02] [-7.80251763e-02 9.60170626e-01 -2.68299163e-01 2.08196815e+02] [-8.77649749e-01 6.15042318e-02 4.75340033e-01 -6.22117514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.620714057 meters Centerline goodness : 0.992600 Centerline is valid? [True, True] Translation: X:132.03, Y:208.19, Z:-62.24 [[ 4.72774215e-01 2.72430990e-01 8.38013065e-01 1.32029549e+02] [-7.80927868e-02 9.60220046e-01 -2.68102553e-01 2.08193451e+02] [-8.77716388e-01 6.13091986e-02 4.75242174e-01 -6.22362523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.650714057 meters Centerline goodness : 0.992408 Centerline is valid? [True, True] Translation: X:132.04, Y:208.19, Z:-62.26 [[ 4.72435492e-01 2.72021355e-01 8.38337097e-01 1.32041679e+02] [-7.79728111e-02 9.60350152e-01 -2.67671116e-01 2.08190056e+02] [-8.77909418e-01 6.10898355e-02 4.74913766e-01 -6.22609503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.6807140569999 meters Centerline goodness : 0.984496 Centerline is valid? [True, True] Translation: X:132.04, Y:208.19, Z:-62.29 [[ 4.58947099e-01 2.59443151e-01 8.49739261e-01 1.32035610e+02] [-7.77350348e-02 9.64472282e-01 -2.52488579e-01 2.08185150e+02] [-8.85056397e-01 4.98243898e-02 4.62809578e-01 -6.22854758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.7107140569999 meters Centerline goodness : 0.990544 Centerline is valid? [True, True] Translation: X:132.05, Y:208.18, Z:-62.32 [[ 4.66550568e-01 2.45643961e-01 8.49699719e-01 1.32049999e+02] [-7.67150236e-02 9.68279339e-01 -2.37802285e-01 2.08175491e+02] [-8.81161377e-01 4.57620571e-02 4.70595858e-01 -6.23175911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.740714057 meters Centerline goodness : 0.992652 Centerline is valid? [True, True] Translation: X:132.09, Y:208.19, Z:-62.33 [[ 4.69016696e-01 2.94382781e-01 8.32683684e-01 1.32088491e+02] [-7.96913897e-02 9.53074626e-01 -2.92058283e-01 2.08187461e+02] [-8.79586620e-01 7.06224910e-02 4.70467685e-01 -6.23294329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.770714057 meters Centerline goodness : 0.983602 Centerline is valid? [True, True] Translation: X:132.07, Y:208.18, Z:-62.36 [[ 4.56905059e-01 2.69273812e-01 8.47779087e-01 1.32073735e+02] [-8.17363065e-02 9.61756937e-01 -2.61424501e-01 2.08177131e+02] [-8.85752191e-01 5.01518457e-02 4.61441057e-01 -6.23564469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.8007140569999 meters Centerline goodness : 0.993012 Centerline is valid? [True, True] Translation: X:132.08, Y:208.16, Z:-62.39 [[ 4.64031840e-01 2.38176077e-01 8.53197871e-01 1.32082422e+02] [-7.80156796e-02 9.70420289e-01 -2.28468852e-01 2.08163487e+02] [-8.82376340e-01 3.94540102e-02 4.68887381e-01 -6.23922143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.8307140569999 meters Centerline goodness : 0.993184 Centerline is valid? [True, True] Translation: X:132.12, Y:208.17, Z:-62.41 [[ 4.65694658e-01 2.73895664e-01 8.41492514e-01 1.32116728e+02] [-7.90477674e-02 9.59971279e-01 -2.68712846e-01 2.08171144e+02] [-8.81407928e-01 5.86200324e-02 4.68704337e-01 -6.24131292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.860714057 meters Centerline goodness : 0.982785 Centerline is valid? [True, True] Translation: X:132.11, Y:208.17, Z:-62.44 [[ 4.53607909e-01 2.66038163e-01 8.50566612e-01 1.32112371e+02] [-7.80673492e-02 9.62597289e-01 -2.59445462e-01 2.08167407e+02] [-8.87775509e-01 5.12850325e-02 4.57410637e-01 -6.24365736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.890714057 meters Centerline goodness : 0.991198 Centerline is valid? [True, True] Translation: X:132.12, Y:208.16, Z:-62.47 [[ 4.61646326e-01 2.37113057e-01 8.54786563e-01 1.32119813e+02] [-7.54162062e-02 9.70615343e-01 -2.28513134e-01 2.08155185e+02] [-8.83852401e-01 4.10274890e-02 4.65963174e-01 -6.24714696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.9207140569999 meters Centerline goodness : 0.992206 Centerline is valid? [True, True] Translation: X:132.15, Y:208.16, Z:-62.49 [[ 4.63872400e-01 2.70859032e-01 8.43479568e-01 1.32152102e+02] [-7.64101096e-02 9.60798373e-01 -2.66510755e-01 2.08162667e+02] [-8.82600641e-01 5.91766172e-02 4.66384215e-01 -6.24881867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.9507140569999 meters Centerline goodness : 0.992290 Centerline is valid? [True, True] Translation: X:132.17, Y:208.16, Z:-62.51 [[ 4.64200739e-01 2.90994277e-01 8.36564406e-01 1.32174421e+02] [-7.99596007e-02 9.54402509e-01 -2.87614870e-01 2.08164362e+02] [-8.82113449e-01 6.66196792e-02 4.66302136e-01 -6.25071893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.9807140569999 meters Centerline goodness : 0.993141 Centerline is valid? [True, True] Translation: X:132.18, Y:208.15, Z:-62.54 [[ 4.62491026e-01 2.72289044e-01 8.43777653e-01 1.32178531e+02] [-8.10034307e-02 9.60671164e-01 -2.65611293e-01 2.08153552e+02] [-8.82915905e-01 5.44939546e-02 4.66358139e-01 -6.25410492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.010714057 meters Centerline goodness : 0.983084 Centerline is valid? [True, True] Translation: X:132.17, Y:208.15, Z:-62.57 [[ 4.50989480e-01 2.63804324e-01 8.52652196e-01 1.32173658e+02] [-8.09309445e-02 9.63472768e-01 -2.55284955e-01 2.08150420e+02] [-8.88852446e-01 4.61248816e-02 4.55866015e-01 -6.25665204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.040714057 meters Centerline goodness : 0.990448 Centerline is valid? [True, True] Translation: X:132.16, Y:208.13, Z:-62.60 [[ 4.47267516e-01 2.21738262e-01 8.66477878e-01 1.32162598e+02] [-8.51654701e-02 9.74937590e-01 -2.05532331e-01 2.08125918e+02] [-8.90336236e-01 1.81339394e-02 4.54942357e-01 -6.26043905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.0707140569999 meters Centerline goodness : 0.993173 Centerline is valid? [True, True] Translation: X:132.22, Y:208.15, Z:-62.62 [[ 4.57724861e-01 2.92832629e-01 8.39486154e-01 1.32217060e+02] [-8.48948616e-02 9.54284945e-01 -2.86588742e-01 2.08148208e+02] [-8.85031533e-01 5.99107309e-02 4.61659929e-01 -6.26162218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.1007140569999 meters Centerline goodness : 0.990897 Centerline is valid? [True, True] Translation: X:132.22, Y:208.13, Z:-62.65 [[ 4.56002983e-01 2.65803447e-01 8.49358468e-01 1.32215653e+02] [-8.41004282e-02 9.62957732e-01 -2.56202118e-01 2.08133347e+02] [-8.85995710e-01 4.53975192e-02 4.61465782e-01 -6.26513254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.130714057 meters Centerline goodness : 0.993481 Centerline is valid? [True, True] Translation: X:132.25, Y:208.15, Z:-62.66 [[ 4.58993942e-01 3.15570142e-01 8.30505898e-01 1.32254028e+02] [-8.79982225e-02 9.46343229e-01 -3.10951454e-01 2.08147128e+02] [-8.84070627e-01 6.96417909e-02 4.62135421e-01 -6.26604736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.160714057 meters Centerline goodness : 0.993548 Centerline is valid? [True, True] Translation: X:132.25, Y:208.13, Z:-62.69 [[ 4.56818995e-01 2.79258926e-01 8.44589165e-01 1.32245147e+02] [-8.80326930e-02 9.58977740e-01 -2.69466027e-01 2.08132336e+02] [-8.85193002e-01 4.87457411e-02 4.62663163e-01 -6.26940570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.1907140569999 meters Centerline goodness : 0.993801 Centerline is valid? [True, True] Translation: X:132.26, Y:208.13, Z:-62.72 [[ 4.56929246e-01 2.79455860e-01 8.44464379e-01 1.32257173e+02] [-8.89484080e-02 9.58963006e-01 -2.69217635e-01 2.08128947e+02] [-8.85044544e-01 4.78996487e-02 4.63035397e-01 -6.27176420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.2207140569999 meters Centerline goodness : 0.993275 Centerline is valid? [True, True] Translation: X:132.27, Y:208.13, Z:-62.74 [[ 4.55850389e-01 2.80400143e-01 8.44734386e-01 1.32269177e+02] [-9.11736815e-02 9.58797829e-01 -2.69061487e-01 2.08125065e+02] [-8.85374375e-01 4.56342393e-02 4.62633476e-01 -6.27421084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.250714057 meters Centerline goodness : 0.993373 Centerline is valid? [True, True] Translation: X:132.28, Y:208.12, Z:-62.77 [[ 4.55834281e-01 2.80578392e-01 8.44683890e-01 1.32281062e+02] [-9.26201744e-02 9.58814727e-01 -2.68506652e-01 2.08120781e+02] [-8.85232519e-01 4.41597675e-02 4.63047841e-01 -6.27667294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.280714057 meters Centerline goodness : 0.984106 Centerline is valid? [True, True] Translation: X:132.28, Y:208.12, Z:-62.79 [[ 4.50461428e-01 2.76496526e-01 8.48901745e-01 1.32284273e+02] [-8.97913861e-02 9.60044767e-01 -2.65050093e-01 2.08120767e+02] [-8.88269108e-01 4.31707790e-02 4.57290143e-01 -6.27907609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.3107140569999 meters Centerline goodness : 0.992411 Centerline is valid? [True, True] Translation: X:132.29, Y:208.10, Z:-62.82 [[ 4.54294736e-01 2.51522240e-01 8.54606843e-01 1.32289238e+02] [-9.31721638e-02 9.67468416e-01 -2.35210145e-01 2.08103337e+02] [-8.85965711e-01 2.72291621e-02 4.62950680e-01 -6.28234904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.3407140569999 meters Centerline goodness : 0.992417 Centerline is valid? [True, True] Translation: X:132.32, Y:208.11, Z:-62.85 [[ 4.55230214e-01 2.80338216e-01 8.45089307e-01 1.32319221e+02] [-9.45353865e-02 9.58993085e-01 -2.67199034e-01 2.08107172e+02] [-8.85340902e-01 4.17462292e-02 4.63064508e-01 -6.28461687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.370714057 meters Centerline goodness : 0.989341 Centerline is valid? [True, True] Translation: X:132.31, Y:208.09, Z:-62.88 [[ 4.47270932e-01 2.52637349e-01 8.57976155e-01 1.32314650e+02] [-9.53426792e-02 9.67279001e-01 -2.35119347e-01 2.08089883e+02] [-8.89302247e-01 2.33603044e-02 4.56722902e-01 -6.28766874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.400714057 meters Centerline goodness : 0.992566 Centerline is valid? [True, True] Translation: X:132.36, Y:208.11, Z:-62.89 [[ 4.56329484e-01 3.02617729e-01 8.36771123e-01 1.32357506e+02] [-9.30590880e-02 9.51465807e-01 -2.93347618e-01 2.08105229e+02] [-8.84931301e-01 5.59940097e-02 4.62343231e-01 -6.28912411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.4307140569999 meters Centerline goodness : 0.988600 Centerline is valid? [True, True] Translation: X:132.34, Y:208.08, Z:-62.93 [[ 4.43119552e-01 2.48693541e-01 8.61276138e-01 1.32337720e+02] [-9.05785391e-02 9.68253685e-01 -2.32981395e-01 2.08078955e+02] [-8.91874762e-01 2.52254770e-02 4.51578437e-01 -6.29278151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.4607140569999 meters Centerline goodness : 0.991140 Centerline is valid? [True, True] Translation: X:132.38, Y:208.09, Z:-62.95 [[ 4.52253876e-01 3.05704018e-01 8.37861256e-01 1.32384893e+02] [-8.95580312e-02 9.50240518e-01 -2.98366079e-01 2.08088938e+02] [-8.87381424e-01 5.99000111e-02 4.57128207e-01 -6.29541108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.490714057 meters Centerline goodness : 0.983267 Centerline is valid? [True, True] Translation: X:132.41, Y:208.10, Z:-62.96 [[ 4.40081869e-01 3.53328874e-01 8.25522050e-01 1.32406496e+02] [-8.77799971e-02 9.31857431e-01 -3.52046020e-01 2.08103099e+02] [-8.93656881e-01 8.24647473e-02 4.41108768e-01 -6.29585340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.520714057 meters Centerline goodness : 0.988606 Centerline is valid? [True, True] Translation: X:132.34, Y:208.04, Z:-63.02 [[ 4.36047132e-01 2.10428189e-01 8.74975929e-01 1.32344751e+02] [-9.47712212e-02 9.77608809e-01 -1.87881433e-01 2.08038038e+02] [-8.94919725e-01 -9.97377146e-04 4.46226053e-01 -6.30171880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.5507140569999 meters Centerline goodness : 0.991174 Centerline is valid? [True, True] Translation: X:132.41, Y:208.07, Z:-63.03 [[ 4.51223697e-01 3.08274322e-01 8.37474846e-01 1.32411358e+02] [-9.27394395e-02 9.49557924e-01 -2.99564928e-01 2.08070987e+02] [-8.87579051e-01 5.75038468e-02 4.57052225e-01 -6.30253126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.5807140569999 meters Centerline goodness : 0.983413 Centerline is valid? [True, True] Translation: X:132.41, Y:208.07, Z:-63.05 [[ 4.39320188e-01 2.98817437e-01 8.47175254e-01 1.32408547e+02] [-8.79499013e-02 9.52831667e-01 -2.90476556e-01 2.08069011e+02] [-8.94014870e-01 5.31032351e-02 4.44879152e-01 -6.30505113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.610714057 meters Centerline goodness : 0.992010 Centerline is valid? [True, True] Translation: X:132.39, Y:208.04, Z:-63.09 [[ 4.41599157e-01 2.35740345e-01 8.65688555e-01 1.32390444e+02] [-9.04633584e-02 9.71646514e-01 -2.18447778e-01 2.08037882e+02] [-8.92640222e-01 1.81532608e-02 4.50404145e-01 -6.30917767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.640714057 meters Centerline goodness : 0.992175 Centerline is valid? [True, True] Translation: X:132.44, Y:208.05, Z:-63.10 [[ 4.49677549e-01 2.97405482e-01 8.42223297e-01 1.32436153e+02] [-9.12927599e-02 9.53303015e-01 -2.87887119e-01 2.08053307e+02] [-8.88513216e-01 5.25674846e-02 4.55829930e-01 -6.31043165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.6707140569999 meters Centerline goodness : 0.991391 Centerline is valid? [True, True] Translation: X:132.44, Y:208.05, Z:-63.13 [[ 4.50505735e-01 2.90590579e-01 8.44157390e-01 1.32443136e+02] [-9.08808054e-02 9.55559950e-01 -2.80438693e-01 2.08045347e+02] [-8.88135836e-01 4.96215360e-02 4.56894343e-01 -6.31301203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.7007140569999 meters Centerline goodness : 0.991955 Centerline is valid? [True, True] Translation: X:132.45, Y:208.04, Z:-63.16 [[ 4.50559211e-01 2.90508255e-01 8.44157184e-01 1.32454742e+02] [-9.11572790e-02 9.55601696e-01 -2.80206619e-01 2.08039612e+02] [-8.88080372e-01 4.92986011e-02 4.57037089e-01 -6.31554024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.7307140569999 meters Centerline goodness : 0.991942 Centerline is valid? [True, True] Translation: X:132.47, Y:208.03, Z:-63.18 [[ 4.51257871e-01 2.89882939e-01 8.43998943e-01 1.32465907e+02] [-9.09898328e-02 9.55786885e-01 -2.79628826e-01 2.08034442e+02] [-8.87742747e-01 4.93893861e-02 4.57682755e-01 -6.31799513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.760714057 meters Centerline goodness : 0.991912 Centerline is valid? [True, True] Translation: X:132.48, Y:208.03, Z:-63.21 [[ 4.51057673e-01 2.90088036e-01 8.44035489e-01 1.32479093e+02] [-9.24086130e-02 9.55800375e-01 -2.79116984e-01 2.08027148e+02] [-8.87697935e-01 4.79017082e-02 4.57927726e-01 -6.32097618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.790714057 meters Centerline goodness : 0.991395 Centerline is valid? [True, True] Translation: X:132.49, Y:208.02, Z:-63.24 [[ 4.50830340e-01 2.91291755e-01 8.43742329e-01 1.32493781e+02] [-9.40826651e-02 9.55495085e-01 -2.79602566e-01 2.08021343e+02] [-8.87637570e-01 4.66717930e-02 4.58171679e-01 -6.32394097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.8207140569999 meters Centerline goodness : 0.982578 Centerline is valid? [True, True] Translation: X:132.48, Y:208.02, Z:-63.27 [[ 4.34163266e-01 2.61693558e-01 8.61985348e-01 1.32476294e+02] [-8.69348482e-02 9.64580056e-01 -2.49053502e-01 2.08015005e+02] [-8.96629573e-01 3.31933166e-02 4.41535518e-01 -6.32694975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.8507140569999 meters Centerline goodness : 0.990879 Centerline is valid? [True, True] Translation: X:132.51, Y:208.01, Z:-63.30 [[ 4.49583979e-01 2.74238201e-01 8.50098615e-01 1.32511083e+02] [-9.03281913e-02 9.60783920e-01 -2.62173755e-01 2.08009781e+02] [-8.88659138e-01 4.10812498e-02 4.56724499e-01 -6.32972536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.880714057 meters Centerline goodness : 0.990864 Centerline is valid? [True, True] Translation: X:132.56, Y:208.04, Z:-63.29 [[ 4.58331545e-01 3.43034290e-01 8.19914429e-01 1.32561606e+02] [-8.69207350e-02 9.35393339e-01 -3.42759519e-01 2.08041956e+02] [-8.84520763e-01 8.58299353e-02 4.58537067e-01 -6.32900300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.910714057 meters Centerline goodness : 0.991136 Centerline is valid? [True, True] Translation: X:132.53, Y:208.01, Z:-63.34 [[ 4.54333414e-01 2.65466523e-01 8.50357968e-01 1.32531663e+02] [-8.95083665e-02 9.63339300e-01 -2.52914303e-01 2.08011000e+02] [-8.86323531e-01 3.87932662e-02 4.61438708e-01 -6.33379231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.9407140569999 meters Centerline goodness : 0.990959 Centerline is valid? [True, True] Translation: X:132.55, Y:208.01, Z:-63.37 [[ 4.54287792e-01 2.66923536e-01 8.49926131e-01 1.32546496e+02] [-9.18258631e-02 9.63005215e-01 -2.53355416e-01 2.08006008e+02] [-8.86109820e-01 3.70510721e-02 4.61991997e-01 -6.33673563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.9707140569999 meters Centerline goodness : 0.990959 Centerline is valid? [True, True] Translation: X:132.56, Y:208.00, Z:-63.40 [[ 4.54282960e-01 2.67425588e-01 8.49770879e-01 1.32561025e+02] [-9.19189073e-02 9.62859350e-01 -2.53875533e-01 2.08001833e+02] [-8.86102650e-01 3.72213182e-02 4.61992064e-01 -6.33963598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.000714057 meters Centerline goodness : 0.990339 Centerline is valid? [True, True] Translation: X:132.57, Y:208.00, Z:-63.42 [[ 4.53640598e-01 2.68530066e-01 8.49765740e-01 1.32573824e+02] [-9.39238211e-02 9.62619325e-01 -2.54051866e-01 2.07997158e+02] [-8.86221487e-01 3.54349952e-02 4.61904576e-01 -6.34215819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.030714057 meters Centerline goodness : 0.991369 Centerline is valid? [True, True] Translation: X:132.59, Y:207.99, Z:-63.45 [[ 4.52788147e-01 2.69072781e-01 8.50048665e-01 1.32585908e+02] [-9.51381507e-02 9.62514770e-01 -2.53996162e-01 2.07992683e+02] [-8.86527849e-01 3.41343936e-02 4.61414366e-01 -6.34469725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.0607140569999 meters Centerline goodness : 0.990708 Centerline is valid? [True, True] Translation: X:132.60, Y:207.99, Z:-63.47 [[ 4.51675206e-01 2.70142323e-01 8.50301496e-01 1.32598190e+02] [-9.74988057e-02 9.62295395e-01 -2.53932189e-01 2.07986432e+02] [-8.86839045e-01 3.17914933e-02 4.60983524e-01 -6.34719236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.0907140569999 meters Centerline goodness : 0.991177 Centerline is valid? [True, True] Translation: X:132.61, Y:207.98, Z:-63.50 [[ 4.51027393e-01 2.70404151e-01 8.50562100e-01 1.32609804e+02] [-9.82699327e-02 9.62251314e-01 -2.53801948e-01 2.07981061e+02] [-8.87083599e-01 3.08869508e-02 4.60574299e-01 -6.34969537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.120714057 meters Centerline goodness : 0.991113 Centerline is valid? [True, True] Translation: X:132.62, Y:207.98, Z:-63.52 [[ 4.50550452e-01 2.70503201e-01 8.50783350e-01 1.32620489e+02] [-9.87205892e-02 9.62242216e-01 -2.53661515e-01 2.07976123e+02] [-8.87275907e-01 3.02974766e-02 4.60242901e-01 -6.35210262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.150714057 meters Centerline goodness : 0.991216 Centerline is valid? [True, True] Translation: X:132.63, Y:207.97, Z:-63.55 [[ 4.50839228e-01 2.70159479e-01 8.50739588e-01 1.32632126e+02] [-9.84772681e-02 9.62333368e-01 -2.53410173e-01 2.07968682e+02] [-8.87156254e-01 3.04687364e-02 4.60462200e-01 -6.35460741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.1807140569999 meters Centerline goodness : 0.991212 Centerline is valid? [True, True] Translation: X:132.64, Y:207.96, Z:-63.57 [[ 4.51250162e-01 2.69508773e-01 8.50728107e-01 1.32643436e+02] [-9.81376162e-02 9.62511083e-01 -2.52866414e-01 2.07963249e+02] [-8.86984949e-01 3.06175819e-02 4.60782231e-01 -6.35705441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.2107140569999 meters Centerline goodness : 0.990663 Centerline is valid? [True, True] Translation: X:132.65, Y:207.96, Z:-63.59 [[ 4.50944804e-01 2.68878759e-01 8.51089300e-01 1.32654335e+02] [-9.75721618e-02 9.62681713e-01 -2.52435325e-01 2.07957795e+02] [-8.87202602e-01 3.07917755e-02 4.60351398e-01 -6.35941626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.240714057 meters Centerline goodness : 0.991260 Centerline is valid? [True, True] Translation: X:132.67, Y:207.95, Z:-63.62 [[ 4.51118944e-01 2.68502575e-01 8.51115777e-01 1.32668141e+02] [-9.72027563e-02 9.62778565e-01 -2.52208365e-01 2.07951737e+02] [-8.87154622e-01 3.10451720e-02 4.60426840e-01 -6.36235165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.270714057 meters Centerline goodness : 0.982843 Centerline is valid? [True, True] Translation: X:132.66, Y:207.94, Z:-63.66 [[ 4.31452142e-01 2.49712144e-01 8.66886898e-01 1.32660135e+02] [-8.73563125e-02 9.67975921e-01 -2.35353971e-01 2.07943390e+02] [-8.97896388e-01 2.58159323e-02 4.39449216e-01 -6.36553061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.3007140569999 meters Centerline goodness : 0.989114 Centerline is valid? [True, True] Translation: X:132.67, Y:207.93, Z:-63.68 [[ 4.31911208e-01 2.35579251e-01 8.70606183e-01 1.32666621e+02] [-9.05681280e-02 9.71734497e-01 -2.18012574e-01 2.07927083e+02] [-8.97357300e-01 1.53129020e-02 4.41038992e-01 -6.36841016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.3307140569999 meters Centerline goodness : 0.991550 Centerline is valid? [True, True] Translation: X:132.72, Y:207.96, Z:-63.69 [[ 4.48477962e-01 3.22270218e-01 8.33672253e-01 1.32721864e+02] [-9.20963599e-02 9.44431681e-01 -3.15542487e-01 2.07956208e+02] [-8.89036433e-01 6.47356714e-02 4.53236709e-01 -6.36900456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.360714057 meters Centerline goodness : 0.991781 Centerline is valid? [True, True] Translation: X:132.70, Y:207.93, Z:-63.73 [[ 4.45670647e-01 2.62841217e-01 8.55740714e-01 1.32704264e+02] [-9.12823165e-02 9.64284888e-01 -2.48640693e-01 2.07930136e+02] [-8.90530860e-01 3.26978638e-02 4.53746225e-01 -6.37321288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.390714057 meters Centerline goodness : 0.990571 Centerline is valid? [True, True] Translation: X:132.73, Y:207.92, Z:-63.78 [[ 4.34141802e-01 3.02495229e-01 8.48538468e-01 1.32725673e+02] [-9.90198287e-02 9.52253075e-01 -2.88806430e-01 2.07920319e+02] [-8.95385933e-01 4.13608101e-02 4.43365892e-01 -6.37789028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.4207140569999 meters Centerline goodness : 0.991499 Centerline is valid? [True, True] Translation: X:132.76, Y:207.94, Z:-63.77 [[ 4.48771482e-01 3.23704251e-01 8.32958411e-01 1.32760233e+02] [-9.16916729e-02 9.43849102e-01 -3.17398030e-01 2.07936937e+02] [-8.88930140e-01 6.60638341e-02 4.53253545e-01 -6.37735094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.4507140569999 meters Centerline goodness : 0.992137 Centerline is valid? [True, True] Translation: X:132.74, Y:207.91, Z:-63.82 [[ 4.46747090e-01 2.61494559e-01 8.55591978e-01 1.32742555e+02] [-8.99071570e-02 9.64612566e-01 -2.47869525e-01 2.07910551e+02] [-8.90131306e-01 3.38111465e-02 4.54448089e-01 -6.38158130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.4807140569999 meters Centerline goodness : 0.992273 Centerline is valid? [True, True] Translation: X:132.76, Y:207.90, Z:-63.84 [[ 4.47137658e-01 2.61814581e-01 8.55290033e-01 1.32755920e+02] [-8.96588178e-02 9.64505891e-01 -2.48374076e-01 2.07904104e+02] [-8.89960230e-01 3.43731097e-02 4.54740891e-01 -6.38445861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.510714057 meters Centerline goodness : 0.992958 Centerline is valid? [True, True] Translation: X:132.77, Y:207.90, Z:-63.87 [[ 4.48486140e-01 2.61266053e-01 8.54751562e-01 1.32769279e+02] [-8.77983319e-02 9.64575614e-01 -2.48767640e-01 2.07895678e+02] [-8.89467051e-01 3.65230772e-02 4.55537517e-01 -6.38743429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.540714057 meters Centerline goodness : 0.992834 Centerline is valid? [True, True] Translation: X:132.78, Y:207.89, Z:-63.90 [[ 4.48648716e-01 2.61320687e-01 8.54649535e-01 1.32782324e+02] [-8.68437331e-02 9.64517923e-01 -2.49325774e-01 2.07889336e+02] [-8.89478778e-01 3.76387322e-02 4.55423792e-01 -6.39028998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.5707140569999 meters Centerline goodness : 0.992089 Centerline is valid? [True, True] Translation: X:132.80, Y:207.88, Z:-63.93 [[ 4.49353094e-01 2.61097183e-01 8.54347739e-01 1.32795661e+02] [-8.55233020e-02 9.64517292e-01 -2.49784224e-01 2.07883152e+02] [-8.89251124e-01 3.91746743e-02 4.55738722e-01 -6.39324834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.6007140569999 meters Centerline goodness : 0.992256 Centerline is valid? [True, True] Translation: X:132.81, Y:207.88, Z:-63.96 [[ 4.50545319e-01 2.60337065e-01 8.53951713e-01 1.32808674e+02] [-8.30570699e-02 9.64611547e-01 -2.50252047e-01 2.07875003e+02] [-8.88881566e-01 4.18231615e-02 4.56224051e-01 -6.39615216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.630714057 meters Centerline goodness : 0.991356 Centerline is valid? [True, True] Translation: X:132.81, Y:207.85, Z:-64.00 [[ 4.36992534e-01 2.32660194e-01 8.68853704e-01 1.32805631e+02] [-8.26157570e-02 9.72266026e-01 -2.18799934e-01 2.07852039e+02] [-8.95662973e-01 2.38329312e-02 4.44094393e-01 -6.39958791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.660714057 meters Centerline goodness : 0.992643 Centerline is valid? [True, True] Translation: X:132.86, Y:207.88, Z:-64.00 [[ 4.53660570e-01 3.08350913e-01 8.36129058e-01 1.32856042e+02] [-8.05365507e-02 9.48579004e-01 -3.06123728e-01 2.07881026e+02] [-8.87528001e-01 7.15373144e-02 4.55166410e-01 -6.40041004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.6907140569999 meters Centerline goodness : 0.991007 Centerline is valid? [True, True] Translation: X:132.83, Y:207.84, Z:-64.05 [[ 4.37491616e-01 2.31411616e-01 8.68935987e-01 1.32828667e+02] [-7.92830173e-02 9.72482588e-01 -2.19070351e-01 2.07841807e+02] [-8.95720542e-01 2.69495752e-02 4.43799990e-01 -6.40464303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.7207140569999 meters Centerline goodness : 0.991871 Centerline is valid? [True, True] Translation: X:132.87, Y:207.86, Z:-64.05 [[ 4.50949869e-01 2.96917739e-01 8.41714959e-01 1.32871237e+02] [-7.72541542e-02 9.52491181e-01 -2.94605406e-01 2.07864709e+02] [-8.89199646e-01 6.78262919e-02 4.52463903e-01 -6.40547470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.750714057 meters Centerline goodness : 0.992716 Centerline is valid? [True, True] Translation: X:132.86, Y:207.84, Z:-64.09 [[ 4.51075694e-01 2.52121343e-01 8.56134071e-01 1.32864886e+02] [-7.48102715e-02 9.66574433e-01 -2.45229055e-01 2.07843399e+02] [-8.89344782e-01 4.65692438e-02 4.54859499e-01 -6.40941992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.780714057 meters Centerline goodness : 0.992235 Centerline is valid? [True, True] Translation: X:132.88, Y:207.84, Z:-64.12 [[ 4.51801688e-01 2.56588454e-01 8.54422378e-01 1.32880232e+02] [-7.34608755e-02 9.65193240e-01 -2.51008984e-01 2.07838157e+02] [-8.89088710e-01 5.06396668e-02 4.54925147e-01 -6.41231391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.8107140569999 meters Centerline goodness : 0.991945 Centerline is valid? [True, True] Translation: X:132.89, Y:207.83, Z:-64.15 [[ 4.51830489e-01 2.56773900e-01 8.54351435e-01 1.32894210e+02] [-7.27691586e-02 9.65098478e-01 -2.51574197e-01 2.07832700e+02] [-8.89130957e-01 5.14984573e-02 4.54746138e-01 -6.41531902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.8407140569999 meters Centerline goodness : 0.992079 Centerline is valid? [True, True] Translation: X:132.91, Y:207.83, Z:-64.18 [[ 4.52087021e-01 2.56829485e-01 8.54199006e-01 1.32908459e+02] [-7.18640327e-02 9.65024681e-01 -2.52116888e-01 2.07827440e+02] [-8.89074174e-01 5.25925877e-02 4.54731936e-01 -6.41825074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.870714057 meters Centerline goodness : 0.985220 Centerline is valid? [True, True] Translation: X:132.92, Y:207.83, Z:-64.20 [[ 4.40437390e-01 2.69101680e-01 8.56504052e-01 1.32915685e+02] [-6.75965551e-02 9.61252780e-01 -2.67252311e-01 2.07830981e+02] [-8.95234948e-01 5.98111869e-02 4.41562012e-01 -6.42026466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.900714057 meters Centerline goodness : 0.991344 Centerline is valid? [True, True] Translation: X:132.90, Y:207.80, Z:-64.25 [[ 4.41684253e-01 1.95188232e-01 8.75680635e-01 1.32900396e+02] [-6.68326763e-02 9.80493316e-01 -1.84841151e-01 2.07795536e+02] [-8.94677827e-01 2.31173452e-02 4.46113410e-01 -6.42451692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.9307140569999 meters Centerline goodness : 0.985176 Centerline is valid? [True, True] Translation: X:132.94, Y:207.82, Z:-64.26 [[ 4.43709587e-01 2.58994380e-01 8.57929900e-01 1.32938498e+02] [-6.20584179e-02 9.63910525e-01 -2.58892357e-01 2.07820636e+02] [-8.94019326e-01 6.16312482e-02 4.43769122e-01 -6.42569549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.9607140569999 meters Centerline goodness : 0.984987 Centerline is valid? [True, True] Translation: X:132.94, Y:207.81, Z:-64.29 [[ 4.43103497e-01 2.39812623e-01 8.63799280e-01 1.32941985e+02] [-6.19141756e-02 9.69441434e-01 -2.37381427e-01 2.07808706e+02] [-8.94329875e-01 5.17031200e-02 4.44410690e-01 -6.42853098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.990714057 meters Centerline goodness : 0.992157 Centerline is valid? [True, True] Translation: X:132.96, Y:207.80, Z:-64.31 [[ 4.51009472e-01 2.52509354e-01 8.56054603e-01 1.32964847e+02] [-6.70812501e-02 9.66021548e-01 -2.49604636e-01 2.07804635e+02] [-8.89994698e-01 5.51488422e-02 4.52623511e-01 -6.43081591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.020714057 meters Centerline goodness : 0.990893 Centerline is valid? [True, True] Translation: X:132.96, Y:207.79, Z:-64.34 [[ 4.41220677e-01 2.25171805e-01 8.68689802e-01 1.32962667e+02] [-6.88085697e-02 9.73647808e-01 -2.17428903e-01 2.07786787e+02] [-8.94756780e-01 3.61608249e-02 4.45087295e-01 -6.43359571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.0507140569999 meters Centerline goodness : 0.990078 Centerline is valid? [True, True] Translation: X:132.98, Y:207.79, Z:-64.36 [[ 4.42847210e-01 2.43233870e-01 8.62973715e-01 1.32982518e+02] [-6.97740800e-02 9.68929238e-01 -2.37292455e-01 2.07790736e+02] [-8.93878027e-01 4.48711048e-02 4.46059029e-01 -6.43559059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.0807140569999 meters Centerline goodness : 0.991212 Centerline is valid? [True, True] Translation: X:133.00, Y:207.79, Z:-64.38 [[ 4.48910720e-01 2.42666887e-01 8.59995318e-01 1.32998160e+02] [-6.97056352e-02 9.68996399e-01 -2.37038189e-01 2.07787641e+02] [-8.90853686e-01 4.64624641e-02 4.51908121e-01 -6.43824004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.110714057 meters Centerline goodness : 0.991555 Centerline is valid? [True, True] Translation: X:133.03, Y:207.80, Z:-64.40 [[ 4.52656362e-01 2.84726279e-01 8.45004831e-01 1.33025403e+02] [-7.22510356e-02 9.56245066e-01 -2.83505134e-01 2.07800208e+02] [-8.88753063e-01 6.72779285e-02 4.53422181e-01 -6.44040443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.140714057 meters Centerline goodness : 0.985367 Centerline is valid? [True, True] Translation: X:133.02, Y:207.79, Z:-64.43 [[ 4.37496530e-01 2.70328612e-01 8.57624176e-01 1.33016196e+02] [-7.34290705e-02 9.61297026e-01 -2.65548865e-01 2.07792498e+02] [-8.96217026e-01 5.32021610e-02 4.40414092e-01 -6.44262726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.1707140569999 meters Centerline goodness : 0.990875 Centerline is valid? [True, True] Translation: X:133.00, Y:207.75, Z:-64.47 [[ 4.44532180e-01 1.73983175e-01 8.78704157e-01 1.33000617e+02] [-6.93578508e-02 9.84696546e-01 -1.59881837e-01 2.07752393e+02] [-8.93073698e-01 1.01275896e-02 4.49796401e-01 -6.44728068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.2007140569999 meters Centerline goodness : 0.992268 Centerline is valid? [True, True] Translation: X:133.06, Y:207.80, Z:-64.48 [[ 4.49392200e-01 2.92511919e-01 8.44087334e-01 1.33059029e+02] [-7.30142364e-02 9.53738090e-01 -2.91637749e-01 2.07796087e+02] [-8.90345760e-01 6.94293378e-02 4.49959993e-01 -6.44772867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.2307140569999 meters Centerline goodness : 0.991363 Centerline is valid? [True, True] Translation: X:133.05, Y:207.78, Z:-64.51 [[ 4.47338572e-01 2.54100239e-01 8.57508759e-01 1.33053368e+02] [-7.19062051e-02 9.65905379e-01 -2.48709260e-01 2.07778835e+02] [-8.91469405e-01 4.95970442e-02 4.50358117e-01 -6.45082813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.260714057 meters Centerline goodness : 0.990356 Centerline is valid? [True, True] Translation: X:133.06, Y:207.77, Z:-64.54 [[ 4.46189056e-01 2.43925498e-01 8.61054980e-01 1.33064363e+02] [-7.06618102e-02 9.68736964e-01 -2.37814221e-01 2.07767361e+02] [-8.92144739e-01 4.52663994e-02 4.49476048e-01 -6.45403798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.290714057 meters Centerline goodness : 0.991119 Centerline is valid? [True, True] Translation: X:133.09, Y:207.78, Z:-64.55 [[ 4.48560340e-01 2.87566064e-01 8.46226554e-01 1.33093107e+02] [-6.99567412e-02 9.55216064e-01 -2.87520999e-01 2.07783564e+02] [-8.91010480e-01 6.97712650e-02 4.48589227e-01 -6.45545668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.3207140569999 meters Centerline goodness : 0.990930 Centerline is valid? [True, True] Translation: X:133.09, Y:207.76, Z:-64.59 [[ 4.46501506e-01 2.33082877e-01 8.63891647e-01 1.33085654e+02] [-6.86235236e-02 9.71552845e-01 -2.26662482e-01 2.07755866e+02] [-8.92147531e-01 4.19218508e-02 4.49794777e-01 -6.45922542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.3507140569999 meters Centerline goodness : 0.990183 Centerline is valid? [True, True] Translation: X:133.12, Y:207.78, Z:-64.60 [[ 4.49193857e-01 2.96485864e-01 8.42805441e-01 1.33121234e+02] [-6.83246166e-02 9.51969407e-01 -2.98472770e-01 2.07779851e+02] [-8.90817953e-01 7.64877761e-02 4.47876093e-01 -6.46031862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.380714057 meters Centerline goodness : 0.990526 Centerline is valid? [True, True] Translation: X:133.11, Y:207.76, Z:-64.64 [[ 4.46312751e-01 2.49123671e-01 8.59501207e-01 1.33113668e+02] [-6.70520379e-02 9.67078290e-01 -2.45486467e-01 2.07758198e+02] [-8.92361447e-01 5.19324329e-02 4.48323622e-01 -6.46409198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.410714057 meters Centerline goodness : 0.990286 Centerline is valid? [True, True] Translation: X:133.13, Y:207.75, Z:-64.67 [[ 4.45903993e-01 2.49265687e-01 8.59672174e-01 1.33126923e+02] [-6.59964302e-02 9.66982482e-01 -2.46149041e-01 2.07753337e+02] [-8.92644443e-01 5.30235455e-02 4.47631995e-01 -6.46698082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.4407140569999 meters Centerline goodness : 0.990169 Centerline is valid? [True, True] Translation: X:133.14, Y:207.75, Z:-64.70 [[ 4.45568814e-01 2.49906017e-01 8.59660058e-01 1.33140827e+02] [-6.62571870e-02 9.66820109e-01 -2.46716157e-01 2.07748311e+02] [-8.92792483e-01 5.29703684e-02 4.47342959e-01 -6.46988895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.4707140569999 meters Centerline goodness : 0.990508 Centerline is valid? [True, True] Translation: X:133.15, Y:207.74, Z:-64.73 [[ 4.44303857e-01 2.50644875e-01 8.60099546e-01 1.33154205e+02] [-6.63131406e-02 9.66632667e-01 -2.47434545e-01 2.07743586e+02] [-8.93418519e-01 5.29002206e-02 4.46099671e-01 -6.47277282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.500714057 meters Centerline goodness : 0.989557 Centerline is valid? [True, True] Translation: X:133.17, Y:207.74, Z:-64.76 [[ 4.43535993e-01 2.51268879e-01 8.60313764e-01 1.33167929e+02] [-6.63877701e-02 9.66470463e-01 -2.48047391e-01 2.07738938e+02] [-8.93794432e-01 5.29036335e-02 4.45345618e-01 -6.47571693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.530714057 meters Centerline goodness : 0.990252 Centerline is valid? [True, True] Translation: X:133.18, Y:207.73, Z:-64.79 [[ 4.42013212e-01 2.52314263e-01 8.60791399e-01 1.33181096e+02] [-6.70893749e-02 9.66235777e-01 -2.48771860e-01 2.07734119e+02] [-8.94496135e-01 5.22104920e-02 4.44016586e-01 -6.47857469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.5607140569999 meters Centerline goodness : 0.990063 Centerline is valid? [True, True] Translation: X:133.19, Y:207.73, Z:-64.82 [[ 4.41255681e-01 2.53341792e-01 8.60878249e-01 1.33194940e+02] [-6.81628606e-02 9.66013304e-01 -2.49343380e-01 2.07729130e+02] [-8.94788941e-01 5.13442587e-02 4.43527360e-01 -6.48152569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.5907140569999 meters Centerline goodness : 0.990454 Centerline is valid? [True, True] Translation: X:133.21, Y:207.72, Z:-64.84 [[ 4.40563823e-01 2.54134520e-01 8.60998934e-01 1.33207860e+02] [-6.85892957e-02 9.65819306e-01 -2.49977154e-01 2.07724795e+02] [-8.95097216e-01 5.10755802e-02 4.42935953e-01 -6.48440519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.620714057 meters Centerline goodness : 0.989703 Centerline is valid? [True, True] Translation: X:133.22, Y:207.72, Z:-64.87 [[ 4.39929634e-01 2.55173940e-01 8.61015782e-01 1.33219891e+02] [-6.97283030e-02 9.65592032e-01 -2.50539399e-01 2.07719474e+02] [-8.95321105e-01 5.01825369e-02 4.42585395e-01 -6.48744362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.650714057 meters Centerline goodness : 0.990796 Centerline is valid? [True, True] Translation: X:133.23, Y:207.71, Z:-64.90 [[ 4.39070475e-01 2.56200629e-01 8.61149439e-01 1.33232571e+02] [-7.06890209e-02 9.65360275e-01 -2.51162502e-01 2.07714728e+02] [-8.95667450e-01 4.94042284e-02 4.41971766e-01 -6.49034753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.6807140569999 meters Centerline goodness : 0.990059 Centerline is valid? [True, True] Translation: X:133.24, Y:207.70, Z:-64.94 [[ 4.39978903e-01 2.32797671e-01 8.67308370e-01 1.33241584e+02] [-7.20666956e-02 9.71851855e-01 -2.24299718e-01 2.07695940e+02] [-8.95111700e-01 3.61830957e-02 4.44371272e-01 -6.49351027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.7107140569999 meters Centerline goodness : 0.990164 Centerline is valid? [True, True] Translation: X:133.28, Y:207.71, Z:-64.95 [[ 4.43002486e-01 2.81853186e-01 8.51062618e-01 1.33275536e+02] [-7.19636454e-02 9.57411601e-01 -2.79614485e-01 2.07711360e+02] [-8.93627457e-01 6.26243435e-02 4.44418902e-01 -6.49519319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.740714057 meters Centerline goodness : 0.990107 Centerline is valid? [True, True] Translation: X:133.29, Y:207.71, Z:-64.98 [[ 4.42736172e-01 2.79639900e-01 8.51930871e-01 1.33286207e+02] [-7.30390823e-02 9.58214339e-01 -2.76569293e-01 2.07707522e+02] [-8.93672185e-01 6.02229810e-02 4.44660790e-01 -6.49755165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.770714057 meters Centerline goodness : 0.990243 Centerline is valid? [True, True] Translation: X:133.30, Y:207.70, Z:-65.00 [[ 4.42912614e-01 2.76814037e-01 8.52761635e-01 1.33296839e+02] [-7.34812490e-02 9.59151220e-01 -2.73183901e-01 2.07703915e+02] [-8.93548501e-01 5.83346055e-02 4.45160815e-01 -6.50006551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.8007140569999 meters Centerline goodness : 0.990118 Centerline is valid? [True, True] Translation: X:133.31, Y:207.70, Z:-65.03 [[ 4.41334550e-01 2.75484984e-01 8.54009273e-01 1.33306812e+02] [-7.32859539e-02 9.59595449e-01 -2.71672125e-01 2.07699848e+02] [-8.94345003e-01 5.73114107e-02 4.43691805e-01 -6.50276474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.8307140569999 meters Centerline goodness : 0.990505 Centerline is valid? [True, True] Translation: X:133.32, Y:207.71, Z:-65.05 [[ 4.38850846e-01 3.09903097e-01 8.43427534e-01 1.33323944e+02] [-7.40759089e-02 9.47926066e-01 -3.09756248e-01 2.07712744e+02] [-8.95501365e-01 7.34591301e-02 4.38954509e-01 -6.50481466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.860714057 meters Centerline goodness : 0.990154 Centerline is valid? [True, True] Translation: X:133.31, Y:207.69, Z:-65.09 [[ 4.35507937e-01 2.54604462e-01 8.63428865e-01 1.33312265e+02] [-7.41543463e-02 9.66055336e-01 -2.47463574e-01 2.07687631e+02] [-8.97125392e-01 4.37453477e-02 4.39604794e-01 -6.50869683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.890714057 meters Centerline goodness : 0.990154 Centerline is valid? [True, True] Translation: X:133.33, Y:207.68, Z:-65.12 [[ 4.35501150e-01 2.55158828e-01 8.63268626e-01 1.33326824e+02] [-7.42800949e-02 9.65902495e-01 -2.48021850e-01 2.07683612e+02] [-8.97118284e-01 4.38901252e-02 4.39604869e-01 -6.51169215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.9207140569999 meters Centerline goodness : 0.990787 Centerline is valid? [True, True] Translation: X:133.34, Y:207.68, Z:-65.15 [[ 4.34933340e-01 2.55585469e-01 8.63428664e-01 1.33340810e+02] [-7.45522321e-02 9.65801088e-01 -2.48334902e-01 2.07679324e+02] [-8.97371136e-01 4.36385940e-02 4.39113560e-01 -6.51459614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.9507140569999 meters Centerline goodness : 0.990592 Centerline is valid? [True, True] Translation: X:133.35, Y:207.67, Z:-65.17 [[ 4.34730490e-01 2.56266769e-01 8.63328873e-01 1.33354830e+02] [-7.49955440e-02 9.65629257e-01 -2.48869055e-01 2.07674722e+02] [-8.97432487e-01 4.34451476e-02 4.39007346e-01 -6.51743103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.9807140569999 meters Centerline goodness : 0.989925 Centerline is valid? [True, True] Translation: X:133.37, Y:207.67, Z:-65.20 [[ 4.33541381e-01 2.56869947e-01 8.63747475e-01 1.33368598e+02] [-7.52422082e-02 9.65483683e-01 -2.49358913e-01 2.07670257e+02] [-8.97986905e-01 4.31171401e-02 4.37904591e-01 -6.52035877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.010714057 meters Centerline goodness : 0.989863 Centerline is valid? [True, True] Translation: X:133.38, Y:207.67, Z:-65.23 [[ 4.33544058e-01 2.57700217e-01 8.63498783e-01 1.33382090e+02] [-7.61032954e-02 9.65284779e-01 -2.49867134e-01 2.07665998e+02] [-8.97913046e-01 4.26133082e-02 4.38105316e-01 -6.52309667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.040714057 meters Centerline goodness : 0.990132 Centerline is valid? [True, True] Translation: X:133.40, Y:207.65, Z:-65.27 [[ 4.32132131e-01 2.55997331e-01 8.64712199e-01 1.33399609e+02] [-8.52760906e-02 9.66165791e-01 -2.43416624e-01 2.07645498e+02] [-8.97769352e-01 3.14488689e-02 4.39341734e-01 -6.52747965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.0707140569999 meters Centerline goodness : 0.990206 Centerline is valid? [True, True] Translation: X:133.45, Y:207.69, Z:-65.27 [[ 4.38871561e-01 3.47862661e-01 8.28482542e-01 1.33448356e+02] [-7.84202810e-02 9.33331928e-01 -3.50345218e-01 2.07690875e+02] [-8.95121228e-01 8.87867192e-02 4.36892328e-01 -6.52722942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.1007140569999 meters Centerline goodness : 0.989734 Centerline is valid? [True, True] Translation: X:133.42, Y:207.65, Z:-65.32 [[ 4.34617753e-01 2.57852440e-01 8.62913396e-01 1.33420983e+02] [-7.84816631e-02 9.65336515e-01 -2.48929791e-01 2.07653747e+02] [-8.97188964e-01 4.04664281e-02 4.39789075e-01 -6.53175576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.130714057 meters Centerline goodness : 0.988090 Centerline is valid? [True, True] Translation: X:133.42, Y:207.63, Z:-65.34 [[ 4.31218435e-01 2.16459009e-01 8.75897345e-01 1.33423655e+02] [-8.30896723e-02 9.76196809e-01 -2.00339454e-01 2.07626226e+02] [-8.98413473e-01 1.36120423e-02 4.38939568e-01 -6.53443469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.160714057 meters Centerline goodness : 0.989313 Centerline is valid? [True, True] Translation: X:133.46, Y:207.64, Z:-65.37 [[ 4.38533856e-01 2.64476812e-01 8.58917967e-01 1.33459900e+02] [-8.21239720e-02 9.63512425e-01 -2.54753726e-01 2.07640677e+02] [-8.94954586e-01 4.11803786e-02 4.44252705e-01 -6.53719861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.1907140569999 meters Centerline goodness : 0.989539 Centerline is valid? [True, True] Translation: X:133.49, Y:207.65, Z:-65.39 [[ 4.39970910e-01 2.99822390e-01 8.46482211e-01 1.33488687e+02] [-8.31004911e-02 9.52166623e-01 -2.94062971e-01 2.07649679e+02] [-8.94158770e-01 5.90360656e-02 4.43841004e-01 -6.53940756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.2207140569999 meters Centerline goodness : 0.989387 Centerline is valid? [True, True] Translation: X:133.50, Y:207.67, Z:-65.41 [[ 4.36681866e-01 3.32239109e-01 8.36018015e-01 1.33504936e+02] [-8.15672250e-02 9.40100036e-01 -3.30996540e-01 2.07665518e+02] [-8.95910562e-01 7.63485174e-02 4.37624461e-01 -6.54127138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.250714057 meters Centerline goodness : 0.989110 Centerline is valid? [True, True] Translation: X:133.48, Y:207.62, Z:-65.46 [[ 4.35455192e-01 2.36029186e-01 8.68716870e-01 1.33483770e+02] [-8.45441348e-02 9.71472826e-01 -2.21569034e-01 2.07617307e+02] [-8.96231591e-01 2.30384702e-02 4.42987769e-01 -6.54614800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.280714057 meters Centerline goodness : 0.987596 Centerline is valid? [True, True] Translation: X:133.53, Y:207.64, Z:-65.47 [[ 4.39180825e-01 3.09058574e-01 8.43565647e-01 1.33526983e+02] [-8.80036820e-02 9.49249557e-01 -3.01961306e-01 2.07641186e+02] [-8.94078048e-01 5.83787325e-02 4.44090496e-01 -6.54738576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.3107140569999 meters Centerline goodness : 0.988275 Centerline is valid? [True, True] Translation: X:133.52, Y:207.62, Z:-65.50 [[ 4.38342290e-01 2.78047897e-01 8.54719488e-01 1.33523760e+02] [-8.96893383e-02 9.59732634e-01 -2.66212499e-01 2.07624744e+02] [-8.94322011e-01 4.00329710e-02 4.45629333e-01 -6.55028095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.3407140569999 meters Centerline goodness : 0.989404 Centerline is valid? [True, True] Translation: X:133.53, Y:207.62, Z:-65.53 [[ 4.38654917e-01 2.71038998e-01 8.56807869e-01 1.33534708e+02] [-8.61251750e-02 9.61723678e-01 -2.60134621e-01 2.07619212e+02] [-8.94519043e-01 4.03166030e-02 4.45208102e-01 -6.55326228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.370714057 meters Centerline goodness : 0.989591 Centerline is valid? [True, True] Translation: X:133.56, Y:207.64, Z:-65.55 [[ 4.37173296e-01 3.18587325e-01 8.41059823e-01 1.33559879e+02] [-8.50536436e-02 9.45611881e-01 -3.13980969e-01 2.07639488e+02] [-8.95346518e-01 6.57288927e-02 4.40493276e-01 -6.55482161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.400714057 meters Centerline goodness : 0.988485 Centerline is valid? [True, True] Translation: X:133.55, Y:207.60, Z:-65.59 [[ 4.36134002e-01 2.39364505e-01 8.67462833e-01 1.33545310e+02] [-8.75637430e-02 9.70688173e-01 -2.23823731e-01 2.07596402e+02] [-8.95611369e-01 2.16588471e-02 4.44309769e-01 -6.55899559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.4307140569999 meters Centerline goodness : 0.986873 Centerline is valid? [True, True] Translation: X:133.58, Y:207.62, Z:-65.60 [[ 4.37118295e-01 3.07012939e-01 8.45381956e-01 1.33582608e+02] [-9.21104063e-02 9.50274623e-01 -2.97479097e-01 2.07616625e+02] [-8.94674952e-01 5.21650801e-02 4.43661510e-01 -6.56018513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.4607140569999 meters Centerline goodness : 0.984755 Centerline is valid? [True, True] Translation: X:133.58, Y:207.61, Z:-65.62 [[ 4.33795927e-01 2.90734427e-01 8.52815681e-01 1.33581741e+02] [-8.96678101e-02 9.55740999e-01 -2.80212110e-01 2.07612679e+02] [-8.96538219e-01 4.50847574e-02 4.40666072e-01 -6.56248687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.490714057 meters Centerline goodness : 0.984791 Centerline is valid? [True, True] Translation: X:133.56, Y:207.58, Z:-65.66 [[ 4.23524163e-01 2.17014080e-01 8.79506778e-01 1.33557926e+02] [-8.92109353e-02 9.76153787e-01 -1.97901977e-01 2.07580214e+02] [-9.01481388e-01 5.35464676e-03 4.32784745e-01 -6.56614638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.520714057 meters Centerline goodness : 0.989197 Centerline is valid? [True, True] Translation: X:133.59, Y:207.58, Z:-65.69 [[ 4.35534805e-01 2.30232329e-01 8.70231296e-01 1.33585783e+02] [-9.18551318e-02 9.73059649e-01 -2.11465254e-01 2.07575062e+02] [-8.95473098e-01 1.21652678e-02 4.44949366e-01 -6.56885505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.5507140569999 meters Centerline goodness : 0.988176 Centerline is valid? [True, True] Translation: X:133.61, Y:207.58, Z:-65.71 [[ 4.35345048e-01 2.68337288e-01 8.59342649e-01 1.33613192e+02] [-9.38487573e-02 9.62871791e-01 -2.53121166e-01 2.07584885e+02] [-8.95358643e-01 2.95468066e-02 4.44364587e-01 -6.57084221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.5807140569999 meters Centerline goodness : 0.989261 Centerline is valid? [True, True] Translation: X:133.62, Y:207.58, Z:-65.74 [[ 4.36191557e-01 2.60576211e-01 8.61299578e-01 1.33624668e+02] [-9.30296312e-02 9.65084557e-01 -2.44861768e-01 2.07575361e+02] [-8.95032074e-01 2.66802540e-02 4.45203045e-01 -6.57420121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.610714057 meters Centerline goodness : 0.988604 Centerline is valid? [True, True] Translation: X:133.64, Y:207.57, Z:-65.77 [[ 4.36751067e-01 2.72445102e-01 8.57334341e-01 1.33643170e+02] [-9.33029345e-02 9.61615067e-01 -2.58052371e-01 2.07572140e+02] [-8.94730724e-01 3.27128385e-02 4.45406334e-01 -6.57702426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.640714057 meters Centerline goodness : 0.988519 Centerline is valid? [True, True] Translation: X:133.66, Y:207.57, Z:-65.80 [[ 4.37002849e-01 2.73066356e-01 8.57008329e-01 1.33656593e+02] [-9.37127881e-02 9.61440061e-01 -2.58555455e-01 2.07566648e+02] [-8.94564935e-01 3.26768306e-02 4.45741855e-01 -6.57987117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.6707140569999 meters Centerline goodness : 0.987181 Centerline is valid? [True, True] Translation: X:133.67, Y:207.54, Z:-65.83 [[ 4.43058007e-01 2.28667204e-01 8.66839612e-01 1.33665555e+02] [-9.69594602e-02 9.73473641e-01 -2.07238834e-01 2.07535699e+02] [-8.91234237e-01 7.77052412e-03 4.53476740e-01 -6.58325278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.7007140569999 meters Centerline goodness : 0.988112 Centerline is valid? [True, True] Translation: X:133.71, Y:207.58, Z:-65.84 [[ 4.39104469e-01 3.45954774e-01 8.29157741e-01 1.33714617e+02] [-9.54788717e-02 9.35632723e-01 -3.39816411e-01 2.07582689e+02] [-8.93348225e-01 7.00478594e-02 4.43871882e-01 -6.58445753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.7307140569999 meters Centerline goodness : 0.982847 Centerline is valid? [True, True] Translation: X:133.68, Y:207.55, Z:-65.88 [[ 4.29623546e-01 2.61760226e-01 8.64236769e-01 1.33683274e+02] [-9.42274456e-02 9.64834747e-01 -2.45387652e-01 2.07547523e+02] [-8.98078392e-01 2.39894901e-02 4.39180722e-01 -6.58811256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.760714057 meters Centerline goodness : 0.988004 Centerline is valid? [True, True] Translation: X:133.70, Y:207.54, Z:-65.91 [[ 4.35478443e-01 2.61998945e-01 8.61228819e-01 1.33700776e+02] [-9.64915379e-02 9.64782849e-01 -2.44710928e-01 2.07539380e+02] [-8.95012798e-01 2.34650408e-02 4.45422814e-01 -6.59089698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.790714057 meters Centerline goodness : 0.986594 Centerline is valid? [True, True] Translation: X:133.72, Y:207.52, Z:-65.94 [[ 4.36710196e-01 2.64339873e-01 8.59888735e-01 1.33718807e+02] [-1.00581257e-01 9.64208529e-01 -2.45326972e-01 2.07524507e+02] [-8.93961753e-01 2.06481000e-02 4.47667332e-01 -6.59416556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.8207140569999 meters Centerline goodness : 0.983680 Centerline is valid? [True, True] Translation: X:133.75, Y:207.55, Z:-65.95 [[ 4.35367624e-01 3.34148758e-01 8.35942366e-01 1.33751216e+02] [-9.95973093e-02 9.40741784e-01 -3.24168586e-01 2.07551474e+02] [-8.94726443e-01 5.78748964e-02 4.42848832e-01 -6.59494601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.8507140569999 meters Centerline goodness : 0.987444 Centerline is valid? [True, True] Translation: X:133.73, Y:207.51, Z:-65.99 [[ 4.35357986e-01 2.53698071e-01 8.63771215e-01 1.33733039e+02] [-9.88884831e-02 9.67141842e-01 -2.34217262e-01 2.07510047e+02] [-8.94809752e-01 1.65513302e-02 4.46140742e-01 -6.59885966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.880714057 meters Centerline goodness : 0.987082 Centerline is valid? [True, True] Translation: X:133.76, Y:207.51, Z:-66.02 [[ 4.38465623e-01 2.79147870e-01 8.54297585e-01 1.33758491e+02] [-9.62499197e-02 9.59659892e-01 -2.64175783e-01 2.07513894e+02] [-8.93579236e-01 3.36059254e-02 4.47645833e-01 -6.60161972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.910714057 meters Centerline goodness : 0.987661 Centerline is valid? [True, True] Translation: X:133.77, Y:207.51, Z:-66.04 [[ 4.38801127e-01 2.83982795e-01 8.52529966e-01 1.33774384e+02] [-9.44830377e-02 9.58070134e-01 -2.70507994e-01 2.07510049e+02] [-8.93603115e-01 3.81495917e-02 4.47233811e-01 -6.60435861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.9407140569999 meters Centerline goodness : 0.983724 Centerline is valid? [True, True] Translation: X:133.78, Y:207.50, Z:-66.07 [[ 4.33844108e-01 2.77283377e-01 8.57259131e-01 1.33777264e+02] [-9.07202818e-02 9.60074086e-01 -2.64627248e-01 2.07503767e+02] [-8.96409014e-01 3.70361827e-02 4.41677712e-01 -6.60655198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.9707140569999 meters Centerline goodness : 0.988125 Centerline is valid? [True, True] Translation: X:133.79, Y:207.49, Z:-66.10 [[ 4.37816706e-01 2.54326738e-01 8.62342416e-01 1.33786587e+02] [-9.00959740e-02 9.66738362e-01 -2.39373464e-01 2.07487129e+02] [-8.94538567e-01 2.71081219e-02 4.46168021e-01 -6.60972160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.000714057 meters Centerline goodness : 0.986677 Centerline is valid? [True, True] Translation: X:133.81, Y:207.48, Z:-66.13 [[ 4.39823035e-01 2.67102446e-01 8.57445031e-01 1.33811447e+02] [-9.43299893e-02 9.63207144e-01 -2.51662176e-01 2.07475946e+02] [-8.93116762e-01 2.98040414e-02 4.48836460e-01 -6.61318427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.030714057 meters Centerline goodness : 0.986910 Centerline is valid? [True, True] Translation: X:133.85, Y:207.49, Z:-66.15 [[ 4.43850218e-01 3.32521914e-01 8.32121482e-01 1.33852913e+02] [-9.41202552e-02 9.40765189e-01 -3.25733383e-01 2.07494327e+02] [-8.91144411e-01 6.62573470e-02 4.48855882e-01 -6.61518008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.0607140569999 meters Centerline goodness : 0.983427 Centerline is valid? [True, True] Translation: X:133.87, Y:207.50, Z:-66.17 [[ 4.42429937e-01 3.50678370e-01 8.25397136e-01 1.33867659e+02] [-9.29940148e-02 9.33355279e-01 -3.46698770e-01 2.07501359e+02] [-8.91968533e-01 7.66329217e-02 4.45555307e-01 -6.61699109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.0907140569999 meters Centerline goodness : 0.987647 Centerline is valid? [True, True] Translation: X:133.85, Y:207.46, Z:-66.21 [[ 4.41801928e-01 2.76630454e-01 8.53397122e-01 1.33852287e+02] [-9.54315330e-02 9.60365232e-01 -2.61899682e-01 2.07464989e+02] [-8.92022353e-01 3.42667887e-02 4.50690480e-01 -6.62071011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.120714057 meters Centerline goodness : 0.985540 Centerline is valid? [True, True] Translation: X:133.88, Y:207.46, Z:-66.25 [[ 4.35290289e-01 3.14209925e-01 8.43679138e-01 1.33876711e+02] [-1.04470001e-01 9.48417342e-01 -2.99316830e-01 2.07456899e+02] [-8.94208244e-01 4.21505490e-02 4.45662370e-01 -6.62500606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.150714057 meters Centerline goodness : 0.987564 Centerline is valid? [True, True] Translation: X:133.91, Y:207.49, Z:-66.25 [[ 4.45736052e-01 3.60024335e-01 8.19574188e-01 1.33913751e+02] [-9.85544613e-02 9.29728335e-01 -3.54812967e-01 2.07486720e+02] [-8.89722648e-01 7.73802385e-02 4.49895442e-01 -6.62495945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.1807140569999 meters Centerline goodness : 0.984980 Centerline is valid? [True, True] Translation: X:133.90, Y:207.45, Z:-66.30 [[ 4.26947504e-01 3.17272592e-01 8.46790370e-01 1.33897222e+02] [-1.03684092e-01 9.47428564e-01 -3.02702370e-01 2.07454192e+02] [-8.98312550e-01 4.14393310e-02 4.37398381e-01 -6.62962316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.2107140569999 meters Centerline goodness : 0.984597 Centerline is valid? [True, True] Translation: X:133.93, Y:207.46, Z:-66.31 [[ 4.37444647e-01 3.46215568e-01 8.29925877e-01 1.33926953e+02] [-1.06085756e-01 9.36337703e-01 -3.34690183e-01 2.07460399e+02] [-8.92965841e-01 5.83651148e-02 4.46324457e-01 -6.63146476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.240714057 meters Centerline goodness : 0.986095 Centerline is valid? [True, True] Translation: X:133.95, Y:207.46, Z:-66.35 [[ 4.39513279e-01 3.58599351e-01 8.23549989e-01 1.33946832e+02] [-1.05574124e-01 9.31120835e-01 -3.49096110e-01 2.07459937e+02] [-8.92010192e-01 6.64868073e-02 4.47098783e-01 -6.63458920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.270714057 meters Centerline goodness : 0.986891 Centerline is valid? [True, True] Translation: X:133.96, Y:207.47, Z:-66.35 [[ 4.49804288e-01 3.43753812e-01 8.24323613e-01 1.33959518e+02] [-1.00047893e-01 9.36547521e-01 -3.35960058e-01 2.07466654e+02] [-8.87505787e-01 6.86444339e-02 4.55654935e-01 -6.63514746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.3007140569999 meters Centerline goodness : 0.985536 Centerline is valid? [True, True] Translation: X:133.96, Y:207.43, Z:-66.41 [[ 4.38941343e-01 3.13872982e-01 8.41911069e-01 1.33955131e+02] [-1.09890093e-01 9.48720797e-01 -2.96400095e-01 2.07432448e+02] [-8.91770522e-01 3.75845703e-02 4.50924312e-01 -6.64055185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.3307140569999 meters Centerline goodness : 0.984542 Centerline is valid? [True, True] Translation: X:133.99, Y:207.45, Z:-66.42 [[ 4.37532655e-01 3.67209498e-01 8.20805921e-01 1.33989279e+02] [-1.11305593e-01 9.27912289e-01 -3.55794672e-01 2.07448908e+02] [-8.92287084e-01 6.43114973e-02 4.46864399e-01 -6.64205352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.360714057 meters Centerline goodness : 0.984746 Centerline is valid? [True, True] Translation: X:133.99, Y:207.43, Z:-66.45 [[ 4.39002052e-01 3.29239568e-01 8.35989536e-01 1.33994355e+02] [-1.11842486e-01 9.43230225e-01 -3.12742708e-01 2.07429562e+02] [-8.91497872e-01 4.37955427e-02 4.50902976e-01 -6.64485588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.390714057 meters Centerline goodness : 0.986212 Centerline is valid? [True, True] Translation: X:134.02, Y:207.43, Z:-66.47 [[ 4.49207710e-01 3.37250763e-01 8.27329654e-01 1.34016933e+02] [-1.12494386e-01 9.39998600e-01 -3.22098813e-01 2.07428945e+02] [-8.86316787e-01 5.16193284e-02 4.60193436e-01 -6.64749709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.4207140569999 meters Centerline goodness : 0.984912 Centerline is valid? [True, True] Translation: X:134.03, Y:207.42, Z:-66.50 [[ 4.44018061e-01 3.33648439e-01 8.31580833e-01 1.34029597e+02] [-1.12501808e-01 9.41500035e-01 -3.17680701e-01 2.07423546e+02] [-8.88927053e-01 4.75016215e-02 4.55579072e-01 -6.64975270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.4507140569999 meters Centerline goodness : 0.986533 Centerline is valid? [True, True] Translation: X:134.04, Y:207.41, Z:-66.53 [[ 4.52198322e-01 3.19717848e-01 8.32644687e-01 1.34043263e+02] [-1.12247751e-01 9.46521976e-01 -3.02484035e-01 2.07413433e+02] [-8.84826039e-01 4.33202798e-02 4.63903259e-01 -6.65279516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.4807140569999 meters Centerline goodness : 0.982463 Centerline is valid? [True, True] Translation: X:134.06, Y:207.42, Z:-66.55 [[ 4.48509633e-01 3.51951953e-01 8.21564929e-01 1.34061305e+02] [-1.17303476e-01 9.34433236e-01 -3.36265404e-01 2.07420591e+02] [-8.86046841e-01 5.44458511e-02 4.60387495e-01 -6.65450503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.510714057 meters Centerline goodness : 0.984482 Centerline is valid? [True, True] Translation: X:134.05, Y:207.39, Z:-66.59 [[ 4.43199558e-01 2.72192176e-01 8.54099275e-01 1.34048781e+02] [-1.11740072e-01 9.62129718e-01 -2.48637409e-01 2.07385861e+02] [-8.89431452e-01 1.47588757e-02 4.56830239e-01 -6.65861299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.540714057 meters Centerline goodness : 0.986563 Centerline is valid? [True, True] Translation: X:134.08, Y:207.40, Z:-66.61 [[ 4.49449876e-01 3.14765091e-01 8.36013006e-01 1.34079802e+02] [-1.10157195e-01 9.48250776e-01 -2.97801711e-01 2.07396998e+02] [-8.86487564e-01 4.17540941e-02 4.60864833e-01 -6.66145291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.5707140569999 meters Centerline goodness : 0.985391 Centerline is valid? [True, True] Translation: X:134.09, Y:207.39, Z:-66.63 [[ 4.48252217e-01 3.06203565e-01 8.39826962e-01 1.34092577e+02] [-1.06653722e-01 9.51110276e-01 -2.89852077e-01 2.07392746e+02] [-8.87521793e-01 4.03561645e-02 4.58995040e-01 -6.66281175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.6007140569999 meters Centerline goodness : 0.984666 Centerline is valid? [True, True] Translation: X:134.09, Y:207.38, Z:-66.66 [[ 4.41522003e-01 2.94416720e-01 8.47571304e-01 1.34093733e+02] [-1.07751108e-01 9.55193891e-01 -2.75670691e-01 2.07379724e+02] [-8.90756992e-01 3.03879282e-02 4.53462848e-01 -6.66625194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.630714057 meters Centerline goodness : 0.984207 Centerline is valid? [True, True] Translation: X:134.12, Y:207.39, Z:-66.69 [[ 4.44210688e-01 3.24444852e-01 8.35112210e-01 1.34117532e+02] [-1.08467080e-01 9.44744627e-01 -3.09342016e-01 2.07386259e+02] [-8.89332197e-01 4.68308471e-02 4.54857246e-01 -6.66852115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.660714057 meters Centerline goodness : 0.984716 Centerline is valid? [True, True] Translation: X:134.12, Y:207.37, Z:-66.71 [[ 4.45563901e-01 2.80750964e-01 8.50089234e-01 1.34117831e+02] [-1.01580328e-01 9.59277145e-01 -2.63569337e-01 2.07371128e+02] [-8.89468519e-01 3.10846383e-02 4.55938042e-01 -6.67086053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.6907140569999 meters Centerline goodness : 0.986968 Centerline is valid? [True, True] Translation: X:134.14, Y:207.39, Z:-66.74 [[ 4.47539241e-01 3.23246215e-01 8.33798844e-01 1.34136866e+02] [-9.63297063e-02 9.44385823e-01 -3.14413748e-01 2.07388727e+02] [-8.89060862e-01 6.03928922e-02 4.53787927e-01 -6.67367807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.7207140569999 meters Centerline goodness : 0.986627 Centerline is valid? [True, True] Translation: X:134.13, Y:207.37, Z:-66.77 [[ 4.45659252e-01 2.81288036e-01 8.49861678e-01 1.34134661e+02] [-9.52860362e-02 9.58863218e-01 -2.67398394e-01 2.07367525e+02] [-8.90117073e-01 3.81886175e-02 4.54129086e-01 -6.67712982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.750714057 meters Centerline goodness : 0.982713 Centerline is valid? [True, True] Translation: X:134.14, Y:207.37, Z:-66.79 [[ 4.34438755e-01 2.79732773e-01 8.56161517e-01 1.34135720e+02] [-9.39874938e-02 9.59439762e-01 -2.65785054e-01 2.07365599e+02] [-8.95784192e-01 3.49988525e-02 4.43109198e-01 -6.67929993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.780714057 meters Centerline goodness : 0.982713 Centerline is valid? [True, True] Translation: X:134.13, Y:207.35, Z:-66.82 [[ 4.32631709e-01 2.40962730e-01 8.68773139e-01 1.34133381e+02] [-9.41774765e-02 9.70428461e-01 -2.22259321e-01 2.07345917e+02] [-8.96638393e-01 1.43375681e-02 4.42531385e-01 -6.68231006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.8107140569999 meters Centerline goodness : 0.987269 Centerline is valid? [True, True] Translation: X:134.16, Y:207.34, Z:-66.85 [[ 4.43775065e-01 2.43958522e-01 8.62292254e-01 1.34157059e+02] [-9.53192064e-02 9.69622745e-01 -2.25268688e-01 2.07339437e+02] [-8.91054398e-01 1.77756135e-02 4.53548329e-01 -6.68508979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.8407140569999 meters Centerline goodness : 0.986661 Centerline is valid? [True, True] Translation: X:134.19, Y:207.35, Z:-66.88 [[ 4.45354373e-01 2.83102744e-01 8.49418813e-01 1.34185293e+02] [-9.56874685e-02 9.58311615e-01 -2.69226220e-01 2.07349889e+02] [-8.90226596e-01 3.86223382e-02 4.53877653e-01 -6.68758018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.870714057 meters Centerline goodness : 0.986197 Centerline is valid? [True, True] Translation: X:134.20, Y:207.34, Z:-66.90 [[ 4.45804756e-01 2.83883109e-01 8.48921963e-01 1.34199157e+02] [-9.66176449e-02 9.58097978e-01 -2.69654028e-01 2.07344758e+02] [-8.89900641e-01 3.81922073e-02 4.54552753e-01 -6.69038387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.900714057 meters Centerline goodness : 0.986281 Centerline is valid? [True, True] Translation: X:134.21, Y:207.34, Z:-66.93 [[ 4.45693692e-01 2.84537346e-01 8.48761234e-01 1.34213176e+02] [-9.70861776e-02 9.57911524e-01 -2.70147712e-01 2.07339677e+02] [-8.89905280e-01 3.80001473e-02 4.54559767e-01 -6.69338162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.9307140569999 meters Centerline goodness : 0.986278 Centerline is valid? [True, True] Translation: X:134.23, Y:207.33, Z:-66.96 [[ 4.45506135e-01 2.85520638e-01 8.48529462e-01 1.34226291e+02] [-9.82521734e-02 9.57650018e-01 -2.70652828e-01 2.07333967e+02] [-8.89871223e-01 3.72076316e-02 4.54691982e-01 -6.69627423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.9607140569999 meters Centerline goodness : 0.984865 Centerline is valid? [True, True] Translation: X:134.24, Y:207.31, Z:-67.00 [[ 4.46115914e-01 2.68533395e-01 8.53739075e-01 1.34239602e+02] [-1.03639595e-01 9.63007830e-01 -2.48746363e-01 2.07311012e+02] [-8.88954119e-01 2.24885392e-02 4.57443810e-01 -6.70000907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.990714057 meters Centerline goodness : 0.986319 Centerline is valid? [True, True] Translation: X:134.28, Y:207.35, Z:-67.01 [[ 4.48263716e-01 3.56197022e-01 8.19867869e-01 1.34280505e+02] [-1.00351147e-01 9.31433963e-01 -3.49800542e-01 2.07350944e+02] [-8.88250690e-01 7.45282096e-02 4.53272830e-01 -6.70093557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.020714057 meters Centerline goodness : 0.986261 Centerline is valid? [True, True] Translation: X:134.27, Y:207.32, Z:-67.04 [[ 4.45525885e-01 2.87006219e-01 8.48017757e-01 1.34265125e+02] [-9.91618299e-02 9.57212646e-01 -2.71865558e-01 2.07320649e+02] [-8.89760427e-01 3.70321509e-02 4.54923073e-01 -6.70444381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.0507140569999 meters Centerline goodness : 0.985277 Centerline is valid? [True, True] Translation: X:134.28, Y:207.30, Z:-67.09 [[ 4.41481846e-01 2.93026447e-01 8.48073865e-01 1.34281408e+02] [-1.08312639e-01 9.55663582e-01 -2.73816527e-01 2.07299103e+02] [-8.90708792e-01 2.90279071e-02 4.53646590e-01 -6.70889396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.0807140569999 meters Centerline goodness : 0.985858 Centerline is valid? [True, True] Translation: X:134.32, Y:207.34, Z:-67.09 [[ 4.49622420e-01 3.67033982e-01 8.14325325e-01 1.34323282e+02] [-9.89769875e-02 9.26533374e-01 -3.62959314e-01 2.07341341e+02] [-8.87717993e-01 8.25951776e-02 4.52918096e-01 -6.70884067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.110714057 meters Centerline goodness : 0.982037 Centerline is valid? [True, True] Translation: X:134.29, Y:207.31, Z:-67.13 [[ 4.40975061e-01 2.76274410e-01 8.53939955e-01 1.34294818e+02] [-9.20744009e-02 9.60350103e-01 -2.63153916e-01 2.07306977e+02] [-8.92784017e-01 3.74183046e-02 4.48928246e-01 -6.71250830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.140714057 meters Centerline goodness : 0.985622 Centerline is valid? [True, True] Translation: X:134.31, Y:207.30, Z:-67.15 [[ 4.45623044e-01 2.79567380e-01 8.50448224e-01 1.34311933e+02] [-9.49258647e-02 9.59387775e-01 -2.65639186e-01 2.07299838e+02] [-8.90173681e-01 3.76454096e-02 4.54063476e-01 -6.71502833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.1707140569999 meters Centerline goodness : 0.985391 Centerline is valid? [True, True] Translation: X:134.33, Y:207.30, Z:-67.18 [[ 4.45774500e-01 2.84000556e-01 8.48898568e-01 1.34327303e+02] [-9.48469700e-02 9.57983091e-01 -2.70688842e-01 2.07296310e+02] [-8.90106256e-01 4.01507260e-02 4.53981026e-01 -6.71784291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.2007140569999 meters Centerline goodness : 0.986409 Centerline is valid? [True, True] Translation: X:134.34, Y:207.29, Z:-67.21 [[ 4.45527131e-01 2.83963864e-01 8.49040694e-01 1.34340860e+02] [-9.39261242e-02 9.57956408e-01 -2.71104046e-01 2.07291684e+02] [-8.90327726e-01 4.10371060e-02 4.53467195e-01 -6.72079793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.2307140569999 meters Centerline goodness : 0.982738 Centerline is valid? [True, True] Translation: X:134.34, Y:207.29, Z:-67.23 [[ 4.36168444e-01 2.77949735e-01 8.55862742e-01 1.34339206e+02] [-9.34340160e-02 9.59948954e-01 -2.64136499e-01 2.07287308e+02] [-8.95001214e-01 3.52413124e-02 4.44669401e-01 -6.72259065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.260714057 meters Centerline goodness : 0.982790 Centerline is valid? [True, True] Translation: X:134.33, Y:207.25, Z:-67.26 [[ 4.32684666e-01 2.13977777e-01 8.75783929e-01 1.34332155e+02] [-9.69756123e-02 9.76835599e-01 -1.90756240e-01 2.07248764e+02] [-8.96314515e-01 -2.39238280e-03 4.43412411e-01 -6.72644873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.290714057 meters Centerline goodness : 0.983455 Centerline is valid? [True, True] Translation: X:134.38, Y:207.29, Z:-67.29 [[ 4.30969044e-01 3.22459575e-01 8.42784377e-01 1.34375322e+02] [-9.53597061e-02 9.45016212e-01 -3.12811263e-01 2.07287658e+02] [-8.97313886e-01 5.44443003e-02 4.38022384e-01 -6.72867036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.3207140569999 meters Centerline goodness : 0.985020 Centerline is valid? [True, True] Translation: X:134.39, Y:207.28, Z:-67.32 [[ 4.37911937e-01 3.12777357e-01 8.42854353e-01 1.34392373e+02] [-9.07828700e-02 9.48120407e-01 -3.04673865e-01 2.07279576e+02] [-8.94422499e-01 5.69035852e-02 4.43588070e-01 -6.73219933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.3507140569999 meters Centerline goodness : 0.983865 Centerline is valid? [True, True] Translation: X:134.42, Y:207.29, Z:-67.34 [[ 4.39808121e-01 3.50523886e-01 8.26862638e-01 1.34419917e+02] [-8.80799441e-02 9.33084921e-01 -3.48703962e-01 2.07290874e+02] [-8.93762127e-01 8.05328195e-02 4.41252450e-01 -6.73432262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.380714057 meters Centerline goodness : 0.984016 Centerline is valid? [True, True] Translation: X:134.42, Y:207.27, Z:-67.37 [[ 4.43721649e-01 3.10755361e-01 8.40560648e-01 1.34424544e+02] [-8.39351335e-02 9.48241411e-01 -3.06256624e-01 2.07273189e+02] [-8.92225303e-01 6.53401240e-02 4.46838536e-01 -6.73715416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.410714057 meters Centerline goodness : 0.984653 Centerline is valid? [True, True] Translation: X:134.44, Y:207.29, Z:-67.39 [[ 4.44467185e-01 3.39679872e-01 8.28894750e-01 1.34444396e+02] [-7.86696531e-02 9.36543422e-01 -3.41610164e-01 2.07289544e+02] [-8.92334022e-01 8.66256452e-02 4.42985316e-01 -6.73892291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.4407140569999 meters Centerline goodness : 0.984086 Centerline is valid? [True, True] Translation: X:134.43, Y:207.26, Z:-67.43 [[ 4.40934845e-01 2.75393612e-01 8.54245176e-01 1.34434368e+02] [-7.45670851e-02 9.59713472e-01 -2.70905520e-01 2.07261449e+02] [-8.94436254e-01 5.57531105e-02 4.43706410e-01 -6.74271522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.4707140569999 meters Centerline goodness : 0.984630 Centerline is valid? [True, True] Translation: X:134.45, Y:207.26, Z:-67.46 [[ 4.41198838e-01 2.75532662e-01 8.54064012e-01 1.34448405e+02] [-7.38041034e-02 9.59616076e-01 -2.71458912e-01 2.07257503e+02] [-8.94369353e-01 5.67339279e-02 4.43716939e-01 -6.74562386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.500714057 meters Centerline goodness : 0.983977 Centerline is valid? [True, True] Translation: X:134.46, Y:207.25, Z:-67.49 [[ 4.41580920e-01 2.75663615e-01 8.53824257e-01 1.34462323e+02] [-7.31635267e-02 9.59525682e-01 -2.71951399e-01 2.07253897e+02] [-8.94233409e-01 5.76197550e-02 4.43876756e-01 -6.74855441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.530714057 meters Centerline goodness : 0.984582 Centerline is valid? [True, True] Translation: X:134.48, Y:207.25, Z:-67.51 [[ 4.41979544e-01 2.76015303e-01 8.53504327e-01 1.34476314e+02] [-7.30094263e-02 9.59395345e-01 -2.72452191e-01 2.07249934e+02] [-8.94049052e-01 5.81044338e-02 4.44184835e-01 -6.75149822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.5607140569999 meters Centerline goodness : 0.985023 Centerline is valid? [True, True] Translation: X:134.49, Y:207.25, Z:-67.54 [[ 4.42359878e-01 2.76300660e-01 8.53214911e-01 1.34489855e+02] [-7.26798779e-02 9.59274674e-01 -2.72964713e-01 2.07246368e+02] [-8.93887786e-01 5.87370815e-02 4.44426126e-01 -6.75435877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.5907140569999 meters Centerline goodness : 0.983809 Centerline is valid? [True, True] Translation: X:134.50, Y:207.24, Z:-67.57 [[ 4.42449068e-01 2.76847142e-01 8.52991490e-01 1.34503847e+02] [-7.29400417e-02 9.59114884e-01 -2.73456376e-01 2.07242432e+02] [-8.93822451e-01 5.87732835e-02 4.44552728e-01 -6.75730701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.620714057 meters Centerline goodness : 0.979701 Centerline is valid? [True, True] Translation: X:134.51, Y:207.24, Z:-67.60 [[ 4.30476746e-01 2.80748317e-01 8.57828744e-01 1.34506939e+02] [-6.95315439e-02 9.57886221e-01 -2.78602499e-01 2.07244627e+02] [-8.99919516e-01 6.02857401e-02 4.31868607e-01 -6.75962132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.650714057 meters Centerline goodness : 0.984293 Centerline is valid? [True, True] Translation: X:134.51, Y:207.22, Z:-67.63 [[ 4.40251604e-01 2.33753809e-01 8.66912731e-01 1.34512153e+02] [-7.15681309e-02 9.71580425e-01 -2.25631293e-01 2.07219132e+02] [-8.95017613e-01 3.72912149e-02 4.44469164e-01 -6.76285941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.6807140569999 meters Centerline goodness : 0.984261 Centerline is valid? [True, True] Translation: X:134.54, Y:207.23, Z:-67.65 [[ 4.43321049e-01 2.76946908e-01 8.52506222e-01 1.34543276e+02] [-7.31025786e-02 9.59075170e-01 -2.73552245e-01 2.07232469e+02] [-8.93376998e-01 5.89510652e-02 4.45423743e-01 -6.76533655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.7107140569999 meters Centerline goodness : 0.984349 Centerline is valid? [True, True] Translation: X:134.56, Y:207.23, Z:-67.68 [[ 4.43376579e-01 2.77547231e-01 8.52282080e-01 1.34557513e+02] [-7.33792090e-02 9.58899405e-01 -2.74093822e-01 2.07229110e+02] [-8.93326761e-01 5.89869961e-02 4.45519734e-01 -6.76821204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.740714057 meters Centerline goodness : 0.984379 Centerline is valid? [True, True] Translation: X:134.57, Y:207.23, Z:-67.71 [[ 4.43340945e-01 2.78080731e-01 8.52126700e-01 1.34571519e+02] [-7.35341176e-02 9.58738648e-01 -2.74614162e-01 2.07225772e+02] [-8.93331708e-01 5.90873168e-02 4.45496519e-01 -6.77109299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.770714057 meters Centerline goodness : 0.981573 Centerline is valid? [True, True] Translation: X:134.58, Y:207.23, Z:-67.73 [[ 4.32405697e-01 2.87866008e-01 8.54493110e-01 1.34576952e+02] [-6.92089039e-02 9.55468953e-01 -2.86860954e-01 2.07231704e+02] [-8.99019155e-01 6.49017794e-02 4.33073110e-01 -6.77329743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.8007140569999 meters Centerline goodness : 0.985076 Centerline is valid? [True, True] Translation: X:134.57, Y:207.20, Z:-67.77 [[ 4.40804296e-01 2.18701655e-01 8.70552215e-01 1.34574779e+02] [-7.12603319e-02 9.75328460e-01 -2.08941044e-01 2.07196418e+02] [-8.94770104e-01 3.00662698e-02 4.45513728e-01 -6.77678081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.8307140569999 meters Centerline goodness : 0.980514 Centerline is valid? [True, True] Translation: X:134.60, Y:207.22, Z:-67.79 [[ 4.32639974e-01 2.78537476e-01 8.57461094e-01 1.34599803e+02] [-6.77793663e-02 9.58436060e-01 -2.77139452e-01 2.07220719e+02] [-8.99015356e-01 6.17834357e-02 4.33536846e-01 -6.77852346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.860714057 meters Centerline goodness : 0.985509 Centerline is valid? [True, True] Translation: X:134.61, Y:207.20, Z:-67.82 [[ 4.41666529e-01 2.37081497e-01 8.65287837e-01 1.34607334e+02] [-7.01153043e-02 9.70624995e-01 -2.30154215e-01 2.07198125e+02] [-8.94435309e-01 4.09814934e-02 4.45315614e-01 -6.78164014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.890714057 meters Centerline goodness : 0.986322 Centerline is valid? [True, True] Translation: X:134.64, Y:207.21, Z:-67.84 [[ 4.44411655e-01 2.75582315e-01 8.52380589e-01 1.34636503e+02] [-7.13154324e-02 9.59369702e-01 -2.72990630e-01 2.07209134e+02] [-8.92979501e-01 6.05323273e-02 4.46008349e-01 -6.78412057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.9207140569999 meters Centerline goodness : 0.981616 Centerline is valid? [True, True] Translation: X:134.64, Y:207.21, Z:-67.86 [[ 4.33273074e-01 2.82453005e-01 8.55859067e-01 1.34642107e+02] [-6.80830427e-02 9.57166347e-01 -2.81420120e-01 2.07212374e+02] [-8.98687455e-01 6.36622713e-02 4.33944666e-01 -6.78646869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.9507140569999 meters Centerline goodness : 0.982292 Centerline is valid? [True, True] Translation: X:134.64, Y:207.19, Z:-67.89 [[ 4.36844189e-01 2.29991365e-01 8.69638503e-01 1.34638496e+02] [-6.83712933e-02 9.72454898e-01 -2.22838141e-01 2.07188411e+02] [-8.96935071e-01 3.78872378e-02 4.40536078e-01 -6.78943395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.9807140569999 meters Centerline goodness : 0.983290 Centerline is valid? [True, True] Translation: X:134.66, Y:207.20, Z:-67.92 [[ 4.29622104e-01 2.61639317e-01 8.64274097e-01 1.34655882e+02] [-6.64919882e-02 9.63672560e-01 -2.58677431e-01 2.07200631e+02] [-9.00557418e-01 5.36662390e-02 4.31411951e-01 -6.79156698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.010714057 meters Centerline goodness : 0.982643 Centerline is valid? [True, True] Translation: X:134.66, Y:207.18, Z:-67.94 [[ 4.27487300e-01 2.30160729e-01 8.74231461e-01 1.34655830e+02] [-6.68136822e-02 9.72446424e-01 -2.23347003e-01 2.07184604e+02] [-9.01548967e-01 3.70673844e-02 4.31086382e-01 -6.79440501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.040714057 meters Centerline goodness : 0.985887 Centerline is valid? [True, True] Translation: X:134.67, Y:207.16, Z:-67.97 [[ 4.33780786e-01 2.02775214e-01 8.77904575e-01 1.34665364e+02] [-7.37197967e-02 9.79067563e-01 -1.89715839e-01 2.07162038e+02] [-8.97997562e-01 1.75761390e-02 4.39649244e-01 -6.79700365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.0707140569999 meters Centerline goodness : 0.986578 Centerline is valid? [True, True] Translation: X:134.71, Y:207.20, Z:-67.99 [[ 4.40566641e-01 3.06895934e-01 8.43632575e-01 1.34709465e+02] [-7.12138289e-02 9.48736535e-01 -3.07940868e-01 2.07204546e+02] [-8.94890846e-01 7.55901680e-02 4.39836902e-01 -6.79908466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.1007140569999 meters Centerline goodness : 0.984460 Centerline is valid? [True, True] Translation: X:134.70, Y:207.17, Z:-68.02 [[ 4.35964379e-01 2.40397409e-01 8.67262443e-01 1.34703844e+02] [-7.19386826e-02 9.69888700e-01 -2.32681617e-01 2.07169415e+02] [-8.97084102e-01 3.90511790e-02 4.40130798e-01 -6.80192624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.130714057 meters Centerline goodness : 0.987462 Centerline is valid? [True, True] Translation: X:134.74, Y:207.20, Z:-68.04 [[ 4.43429516e-01 3.17846838e-01 8.38059456e-01 1.34738668e+02] [-6.86132774e-02 9.44305337e-01 -3.21837922e-01 2.07203330e+02] [-8.93679183e-01 8.52104279e-02 4.40541372e-01 -6.80400154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.160714057 meters Centerline goodness : 0.985164 Centerline is valid? [True, True] Translation: X:134.73, Y:207.16, Z:-68.08 [[ 4.35509115e-01 2.47580294e-01 8.65468549e-01 1.34732673e+02] [-7.22557819e-02 9.67947012e-01 -2.40536244e-01 2.07159755e+02] [-8.97279730e-01 4.22206203e-02 4.39438854e-01 -6.80788836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.1907140569999 meters Centerline goodness : 0.986696 Centerline is valid? [True, True] Translation: X:134.77, Y:207.20, Z:-68.09 [[ 4.46040619e-01 3.37231538e-01 8.29049248e-01 1.34774853e+02] [-6.57674563e-02 9.36144294e-01 -3.45410630e-01 2.07203995e+02] [-8.92593081e-01 9.95427109e-02 4.39737240e-01 -6.80943223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.2207140569999 meters Centerline goodness : 0.984802 Centerline is valid? [True, True] Translation: X:134.76, Y:207.15, Z:-68.13 [[ 4.36720647e-01 2.50009984e-01 8.64158599e-01 1.34761021e+02] [-7.02005884e-02 9.67148091e-01 -2.44328567e-01 2.07154947e+02] [-8.96853920e-01 4.60388875e-02 4.39924387e-01 -6.81337621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.250714057 meters Centerline goodness : 0.986906 Centerline is valid? [True, True] Translation: X:134.80, Y:207.17, Z:-68.16 [[ 4.41992670e-01 3.06525410e-01 8.43021146e-01 1.34795096e+02] [-6.93788519e-02 9.48669844e-01 -3.08564583e-01 2.07172068e+02] [-8.94331624e-01 7.78954450e-02 4.40571499e-01 -6.81645512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.280714057 meters Centerline goodness : 0.984862 Centerline is valid? [True, True] Translation: X:134.82, Y:207.18, Z:-68.18 [[ 4.38108929e-01 3.29294290e-01 8.36436392e-01 1.34816728e+02] [-7.02615807e-02 9.40185849e-01 -3.33337487e-01 2.07177881e+02] [-8.96171790e-01 8.72687864e-02 4.35040552e-01 -6.81843642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.3107140569999 meters Centerline goodness : 0.985581 Centerline is valid? [True, True] Translation: X:134.82, Y:207.17, Z:-68.22 [[ 4.36978241e-01 3.10383485e-01 8.44222784e-01 1.34821163e+02] [-6.96830470e-02 9.47436884e-01 -3.12262108e-01 2.07169706e+02] [-8.96768805e-01 7.76237308e-02 4.35637770e-01 -6.82166000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.3407140569999 meters Centerline goodness : 0.985804 Centerline is valid? [True, True] Translation: X:134.83, Y:207.17, Z:-68.25 [[ 4.33166460e-01 3.13709614e-01 8.44957452e-01 1.34834874e+02] [-6.90123114e-02 9.46264863e-01 -3.15943206e-01 2.07167466e+02] [-8.98667969e-01 7.85435334e-02 4.31540027e-01 -6.82479628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.370714057 meters Centerline goodness : 0.986298 Centerline is valid? [True, True] Translation: X:134.85, Y:207.17, Z:-68.28 [[ 4.33948085e-01 3.33283153e-01 8.37025328e-01 1.34852406e+02] [-7.09283630e-02 9.38814447e-01 -3.37040950e-01 2.07171452e+02] [-8.98141541e-01 8.68894383e-02 4.31035960e-01 -6.82761320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.400714057 meters Centerline goodness : 0.987016 Centerline is valid? [True, True] Translation: X:134.87, Y:207.17, Z:-68.31 [[ 4.38024950e-01 3.37926355e-01 8.33030565e-01 1.34868551e+02] [-7.00378109e-02 9.36669108e-01 -3.43140913e-01 2.07170254e+02] [-8.96230355e-01 9.19606442e-02 4.33952061e-01 -6.83091255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.4307140569999 meters Centerline goodness : 0.987435 Centerline is valid? [True, True] Translation: X:134.88, Y:207.17, Z:-68.33 [[ 4.41037060e-01 3.29737042e-01 8.34721388e-01 1.34882604e+02] [-6.98493049e-02 9.39853086e-01 -3.34360959e-01 2.07165019e+02] [-8.94766666e-01 8.91608656e-02 4.37541945e-01 -6.83336618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.4607140569999 meters Centerline goodness : 0.988511 Centerline is valid? [True, True] Translation: X:134.90, Y:207.16, Z:-68.36 [[ 4.41873955e-01 3.27827133e-01 8.35031005e-01 1.34897986e+02] [-7.01907070e-02 9.40616172e-01 -3.32136239e-01 2.07163160e+02] [-8.94326938e-01 8.81509372e-02 4.38644206e-01 -6.83608602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.490714057 meters Centerline goodness : 0.987884 Centerline is valid? [True, True] Translation: X:134.91, Y:207.17, Z:-68.39 [[ 4.37943377e-01 3.42959634e-01 8.31014012e-01 1.34913237e+02] [-7.10048702e-02 9.34681208e-01 -3.48323624e-01 2.07165406e+02] [-8.96194124e-01 9.35399823e-02 4.33689249e-01 -6.83943050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.520714057 meters Centerline goodness : 0.988524 Centerline is valid? [True, True] Translation: X:134.93, Y:207.16, Z:-68.42 [[ 4.40401452e-01 3.31547455e-01 8.34339767e-01 1.34925146e+02] [-7.12023402e-02 9.39285883e-01 -3.35666884e-01 2.07159473e+02] [-8.94973066e-01 8.84212391e-02 4.37269821e-01 -6.84178782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.5507140569999 meters Centerline goodness : 0.987889 Centerline is valid? [True, True] Translation: X:134.94, Y:207.15, Z:-68.45 [[ 4.43410448e-01 3.11261174e-01 8.40537719e-01 1.34936410e+02] [-6.93200477e-02 9.46866591e-01 -3.14067492e-01 2.07149376e+02] [-8.93634101e-01 8.09946927e-02 4.41427179e-01 -6.84452632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.5807140569999 meters Centerline goodness : 0.988469 Centerline is valid? [True, True] Translation: X:134.95, Y:207.15, Z:-68.47 [[ 4.43743873e-01 3.19078250e-01 8.37424890e-01 1.34953686e+02] [-6.98067784e-02 9.43933641e-01 -3.22670568e-01 2.07149016e+02] [-8.93430685e-01 8.47251535e-02 4.41138594e-01 -6.84742884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.610714057 meters Centerline goodness : 0.989074 Centerline is valid? [True, True] Translation: X:134.97, Y:207.15, Z:-68.51 [[ 4.38626549e-01 3.35609625e-01 8.33650365e-01 1.34968317e+02] [-7.04978016e-02 9.37640939e-01 -3.40381446e-01 2.07153118e+02] [-8.95900001e-01 9.05298210e-02 4.34933950e-01 -6.85085068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.640714057 meters Centerline goodness : 0.988214 Centerline is valid? [True, True] Translation: X:134.98, Y:207.15, Z:-68.53 [[ 4.40723134e-01 3.31805322e-01 8.34067352e-01 1.34981840e+02] [-7.09079527e-02 9.39140027e-01 -3.36136983e-01 2.07149956e+02] [-8.94838076e-01 8.90013364e-02 4.37428372e-01 -6.85326546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.6707140569999 meters Centerline goodness : 0.987578 Centerline is valid? [True, True] Translation: X:134.99, Y:207.15, Z:-68.56 [[ 4.33578959e-01 3.32406783e-01 8.37564933e-01 1.34992486e+02] [-7.24721638e-02 9.39327887e-01 -3.35277356e-01 2.07149047e+02] [-8.98196567e-01 8.46690639e-02 4.31363046e-01 -6.85616675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.7007140569999 meters Centerline goodness : 0.987578 Centerline is valid? [True, True] Translation: X:135.00, Y:207.14, Z:-68.59 [[ 4.33441782e-01 3.28299232e-01 8.39254333e-01 1.35004331e+02] [-7.19530700e-02 9.40916405e-01 -3.30906443e-01 2.07143660e+02] [-8.98304501e-01 8.30417525e-02 4.31454621e-01 -6.85915604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.7307140569999 meters Centerline goodness : 0.987971 Centerline is valid? [True, True] Translation: X:135.01, Y:207.13, Z:-68.62 [[ 4.36787417e-01 2.87587551e-01 8.52355649e-01 1.35008820e+02] [-6.87176027e-02 9.55418454e-01 -2.87147120e-01 2.07127873e+02] [-8.96936254e-01 6.68504119e-02 4.37077086e-01 -6.86161301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.760714057 meters Centerline goodness : 0.987301 Centerline is valid? [True, True] Translation: X:135.03, Y:207.13, Z:-68.64 [[ 4.38992898e-01 3.04142457e-01 8.45448166e-01 1.35028459e+02] [-7.07704901e-02 9.49746258e-01 -3.04915698e-01 2.07131749e+02] [-8.95699042e-01 7.40230449e-02 4.38456173e-01 -6.86417128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.790714057 meters Centerline goodness : 0.986277 Centerline is valid? [True, True] Translation: X:135.04, Y:207.13, Z:-68.67 [[ 4.38927263e-01 2.97912407e-01 8.47697503e-01 1.35038803e+02] [-7.18155187e-02 9.52048217e-01 -2.97399941e-01 2.07127286e+02] [-8.95648028e-01 6.96591060e-02 4.39274652e-01 -6.86689197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.8207140569999 meters Centerline goodness : 0.988416 Centerline is valid? [True, True] Translation: X:135.05, Y:207.12, Z:-68.70 [[ 4.37184107e-01 2.92394555e-01 8.50514833e-01 1.35047748e+02] [-7.03672443e-02 9.53897893e-01 -2.91765763e-01 2.07124968e+02] [-8.96615028e-01 6.77069694e-02 4.37603998e-01 -6.87034409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.8507140569999 meters Centerline goodness : 0.987530 Centerline is valid? [True, True] Translation: X:135.06, Y:207.12, Z:-68.72 [[ 4.35493817e-01 2.82619042e-01 8.54676320e-01 1.35062475e+02] [-6.91539740e-02 9.57135806e-01 -2.81262825e-01 2.07120378e+02] [-8.97531539e-01 6.33839575e-02 4.36370956e-01 -6.87247394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.880714057 meters Centerline goodness : 0.988597 Centerline is valid? [True, True] Translation: X:135.08, Y:207.12, Z:-68.76 [[ 4.37999365e-01 3.03484210e-01 8.46199675e-01 1.35083043e+02] [-6.88420299e-02 9.49852714e-01 -3.05025567e-01 2.07124985e+02] [-8.96335501e-01 7.53469014e-02 4.36927355e-01 -6.87590665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.910714057 meters Centerline goodness : 0.987370 Centerline is valid? [True, True] Translation: X:135.10, Y:207.13, Z:-68.78 [[ 4.32968333e-01 3.23132936e-01 8.41500759e-01 1.35100639e+02] [-7.29141919e-02 9.43034767e-01 -3.24605836e-01 2.07130262e+02] [-8.98455310e-01 7.91866997e-02 4.31865168e-01 -6.87784789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.9407140569999 meters Centerline goodness : 0.988492 Centerline is valid? [True, True] Translation: X:135.10, Y:207.11, Z:-68.81 [[ 4.37172206e-01 2.74034316e-01 8.56612898e-01 1.35100770e+02] [-6.99406573e-02 9.59924857e-01 -2.71390077e-01 2.07112370e+02] [-8.96654207e-01 5.87321293e-02 4.38818607e-01 -6.88124512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.9707140569999 meters Centerline goodness : 0.988939 Centerline is valid? [True, True] Translation: X:135.12, Y:207.12, Z:-68.84 [[ 4.37981319e-01 2.96216901e-01 8.48780249e-01 1.35123742e+02] [-6.78728331e-02 9.52355924e-01 -2.97340669e-01 2.07117291e+02] [-8.96418230e-01 7.26205384e-02 4.37219184e-01 -6.88425462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.000714057 meters Centerline goodness : 0.990098 Centerline is valid? [True, True] Translation: X:135.15, Y:207.12, Z:-68.87 [[ 4.39085144e-01 3.19396135e-01 8.39756122e-01 1.35147344e+02] [-6.82284900e-02 9.43831659e-01 -3.23305851e-01 2.07121984e+02] [-8.95851053e-01 8.46635039e-02 4.36214376e-01 -6.88701699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.030714057 meters Centerline goodness : 0.988667 Centerline is valid? [True, True] Translation: X:135.16, Y:207.13, Z:-68.90 [[ 4.36672978e-01 3.34416636e-01 8.35154012e-01 1.35163207e+02] [-6.63805365e-02 9.37787398e-01 -3.40805547e-01 2.07125408e+02] [-8.97167952e-01 9.33826017e-02 4.31705171e-01 -6.89023610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.0607140569999 meters Centerline goodness : 0.988087 Centerline is valid? [True, True] Translation: X:135.17, Y:207.12, Z:-68.93 [[ 4.35698922e-01 3.23122904e-01 8.40094065e-01 1.35170810e+02] [-6.66720754e-02 9.42363682e-01 -3.27880352e-01 2.07119785e+02] [-8.97619788e-01 8.68463011e-02 4.32130115e-01 -6.89260918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.0907140569999 meters Centerline goodness : 0.988101 Centerline is valid? [True, True] Translation: X:135.17, Y:207.11, Z:-68.96 [[ 4.31131699e-01 2.98113426e-01 8.51618367e-01 1.35174161e+02] [-6.35374596e-02 9.51529760e-01 -3.00922096e-01 2.07108010e+02] [-9.00049137e-01 7.56273869e-02 4.29176012e-01 -6.89578679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.120714057 meters Centerline goodness : 0.988951 Centerline is valid? [True, True] Translation: X:135.19, Y:207.11, Z:-68.98 [[ 4.33251633e-01 2.98496926e-01 8.50407319e-01 1.35190500e+02] [-6.09737883e-02 9.51108190e-01 -3.02779471e-01 2.07105316e+02] [-8.99208107e-01 7.93271442e-02 4.30269664e-01 -6.89844092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.150714057 meters Centerline goodness : 0.989021 Centerline is valid? [True, True] Translation: X:135.21, Y:207.11, Z:-69.02 [[ 4.28992852e-01 3.18688888e-01 8.45223358e-01 1.35207723e+02] [-5.93449917e-02 9.43619761e-01 -3.25668420e-01 2.07110837e+02] [-9.01356370e-01 8.95496510e-02 4.23718722e-01 -6.90165741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.1807140569999 meters Centerline goodness : 0.987360 Centerline is valid? [True, True] Translation: X:135.22, Y:207.10, Z:-69.04 [[ 4.33731917e-01 3.01205823e-01 8.49206498e-01 1.35220509e+02] [-5.82041886e-02 9.49869139e-01 -3.07182178e-01 2.07102412e+02] [-8.99160107e-01 8.38073397e-02 4.29520003e-01 -6.90399016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.2107140569999 meters Centerline goodness : 0.987226 Centerline is valid? [True, True] Translation: X:135.23, Y:207.10, Z:-69.07 [[ 4.33834039e-01 2.98196030e-01 8.50215946e-01 1.35233303e+02] [-5.75820351e-02 9.50890693e-01 -3.04123657e-01 2.07098729e+02] [-8.99150897e-01 8.29820301e-02 4.29699485e-01 -6.90679973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.240714057 meters Centerline goodness : 0.988391 Centerline is valid? [True, True] Translation: X:135.24, Y:207.10, Z:-69.10 [[ 4.32993981e-01 2.92986809e-01 8.52452311e-01 1.35243545e+02] [-5.80437386e-02 9.52801404e-01 -2.97993976e-01 2.07095131e+02] [-8.99526062e-01 7.95500789e-02 4.29563323e-01 -6.90979982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.270714057 meters Centerline goodness : 0.988625 Centerline is valid? [True, True] Translation: X:135.26, Y:207.10, Z:-69.13 [[ 4.27499141e-01 3.19661575e-01 8.45612773e-01 1.35263996e+02] [-6.10007964e-02 9.43464306e-01 -3.25812839e-01 2.07102213e+02] [-9.01955314e-01 8.77016559e-02 4.22829791e-01 -6.91308828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.3007140569999 meters Centerline goodness : 0.990141 Centerline is valid? [True, True] Translation: X:135.28, Y:207.10, Z:-69.16 [[ 4.41823481e-01 3.05851126e-01 8.43354671e-01 1.35283785e+02] [-6.06481561e-02 9.48120485e-01 -3.12072664e-01 2.07095349e+02] [-8.95049615e-01 8.67331248e-02 4.37451200e-01 -6.91575097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.3307140569999 meters Centerline goodness : 0.990737 Centerline is valid? [True, True] Translation: X:135.31, Y:207.12, Z:-69.17 [[ 4.43925804e-01 3.34188175e-01 8.31413341e-01 1.35305279e+02] [-5.67461861e-02 9.36473248e-01 -3.46118080e-01 2.07117661e+02] [-8.94264922e-01 1.06471211e-01 4.34688544e-01 -6.91684785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.360714057 meters Centerline goodness : 0.988379 Centerline is valid? [True, True] Translation: X:135.27, Y:207.06, Z:-69.22 [[ 4.31657845e-01 2.21245409e-01 8.74483833e-01 1.35272652e+02] [-6.68710713e-02 9.74635239e-01 -2.13575303e-01 2.07064040e+02] [-8.99555315e-01 3.37137842e-02 4.35503865e-01 -6.92152463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.390714057 meters Centerline goodness : 0.988592 Centerline is valid? [True, True] Translation: X:135.31, Y:207.08, Z:-69.24 [[ 4.25803707e-01 2.83031596e-01 8.59409285e-01 1.35309020e+02] [-6.74944731e-02 9.57106397e-01 -2.81765579e-01 2.07081798e+02] [-9.02294685e-01 6.19714512e-02 4.26642521e-01 -6.92411825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.4207140569999 meters Centerline goodness : 0.991479 Centerline is valid? [True, True] Translation: X:135.34, Y:207.11, Z:-69.26 [[ 4.37742767e-01 3.16587792e-01 8.41518532e-01 1.35336321e+02] [-6.26716966e-02 9.44423771e-01 -3.22701098e-01 2.07105186e+02] [-8.96913334e-01 8.85206775e-02 4.33255769e-01 -6.92563137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.4507140569999 meters Centerline goodness : 0.989946 Centerline is valid? [True, True] Translation: X:135.31, Y:207.05, Z:-69.30 [[ 4.25770626e-01 2.15097083e-01 8.78892837e-01 1.35311138e+02] [-7.09125856e-02 9.76278270e-01 -2.04577970e-01 2.07054953e+02] [-9.02048103e-01 2.47787267e-02 4.30923700e-01 -6.93023034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.4807140569999 meters Centerline goodness : 0.992176 Centerline is valid? [True, True] Translation: X:135.36, Y:207.10, Z:-69.31 [[ 4.36412286e-01 3.19234713e-01 8.41209555e-01 1.35362830e+02] [-6.71447401e-02 9.43888519e-01 -3.23366739e-01 2.07101087e+02] [-8.97237928e-01 8.46384210e-02 4.33359478e-01 -6.93135261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.510714057 meters Centerline goodness : 0.991650 Centerline is valid? [True, True] Translation: X:135.34, Y:207.08, Z:-69.35 [[ 4.32689581e-01 2.53725638e-01 8.65102900e-01 1.35343784e+02] [-6.63735225e-02 9.65941486e-01 -2.50103183e-01 2.07076684e+02] [-8.99096370e-01 5.07971144e-02 4.34793481e-01 -6.93495680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.540714057 meters Centerline goodness : 0.990515 Centerline is valid? [True, True] Translation: X:135.36, Y:207.06, Z:-69.39 [[ 4.29378411e-01 2.57214937e-01 8.65722043e-01 1.35361385e+02] [-7.31912708e-02 9.65342805e-01 -2.50512089e-01 2.07060365e+02] [-9.00153997e-01 4.42011863e-02 4.33323248e-01 -6.93939195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.5707140569999 meters Centerline goodness : 0.991044 Centerline is valid? [True, True] Translation: X:135.41, Y:207.10, Z:-69.39 [[ 4.36922565e-01 3.36173178e-01 8.34317845e-01 1.35408823e+02] [-7.02277698e-02 9.37453730e-01 -3.40952436e-01 2.07098126e+02] [-8.96753440e-01 9.03775315e-02 4.33203381e-01 -6.93926280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.6007140569999 meters Centerline goodness : 0.985208 Centerline is valid? [True, True] Translation: X:135.36, Y:207.07, Z:-69.43 [[ 4.18996619e-01 2.35877479e-01 8.76814489e-01 1.35362536e+02] [-6.49323550e-02 9.70979235e-01 -2.30180613e-01 2.07067530e+02] [-9.05663084e-01 3.95112692e-02 4.22153097e-01 -6.94325970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.630714057 meters Centerline goodness : 0.991385 Centerline is valid? [True, True] Translation: X:135.38, Y:207.06, Z:-69.46 [[ 4.30821834e-01 2.25595119e-01 8.73784521e-01 1.35380533e+02] [-6.89637777e-02 9.73648761e-01 -2.17375454e-01 2.07056719e+02] [-8.99798058e-01 3.33906101e-02 4.35027036e-01 -6.94616451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.660714057 meters Centerline goodness : 0.991550 Centerline is valid? [True, True] Translation: X:135.40, Y:207.05, Z:-69.49 [[ 4.35756445e-01 2.09251635e-01 8.75402807e-01 1.35397453e+02] [-6.82240355e-02 9.77480859e-01 -1.99691391e-01 2.07045234e+02] [-8.97475238e-01 2.72932985e-02 4.40219575e-01 -6.94864080e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.6907140569999 meters Centerline goodness : 0.991728 Centerline is valid? [True, True] Translation: X:135.44, Y:207.08, Z:-69.50 [[ 4.34468458e-01 3.09492150e-01 8.45843820e-01 1.35443295e+02] [-7.26054330e-02 9.48087879e-01 -3.09609149e-01 2.07079426e+02] [-8.97755874e-01 7.31025529e-02 4.34385091e-01 -6.94998711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.7207140569999 meters Centerline goodness : 0.992105 Centerline is valid? [True, True] Translation: X:135.43, Y:207.06, Z:-69.54 [[ 4.31821775e-01 2.53376589e-01 8.65638642e-01 1.35430781e+02] [-7.11319975e-02 9.66309266e-01 -2.47359336e-01 2.07056943e+02] [-8.99149706e-01 4.52405419e-02 4.35296565e-01 -6.95396187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.750714057 meters Centerline goodness : 0.991774 Centerline is valid? [True, True] Translation: X:135.44, Y:207.05, Z:-69.57 [[ 4.31495840e-01 2.53869017e-01 8.65656897e-01 1.35443641e+02] [-7.09350818e-02 9.66163140e-01 -2.47985888e-01 2.07053154e+02] [-8.99321719e-01 4.55994361e-02 4.34903595e-01 -6.95684579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.780714057 meters Centerline goodness : 0.991323 Centerline is valid? [True, True] Translation: X:135.45, Y:207.03, Z:-69.60 [[ 4.36724672e-01 2.06913072e-01 8.75476180e-01 1.35448761e+02] [-6.69311261e-02 9.77965288e-01 -1.97747617e-01 2.07029948e+02] [-8.97101881e-01 2.77646565e-02 4.40950495e-01 -6.95974413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.8107140569999 meters Centerline goodness : 0.991669 Centerline is valid? [True, True] Translation: X:135.49, Y:207.06, Z:-69.61 [[ 4.35762744e-01 3.10572817e-01 8.44781247e-01 1.35494995e+02] [-6.90117156e-02 9.47347615e-01 -3.12681755e-01 2.07064742e+02] [-8.97411953e-01 7.79552564e-02 4.34251959e-01 -6.96099987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.8407140569999 meters Centerline goodness : 0.992449 Centerline is valid? [True, True] Translation: X:135.48, Y:207.04, Z:-69.65 [[ 4.33372625e-01 2.51527680e-01 8.65402793e-01 1.35480885e+02] [-6.61333439e-02 9.66549372e-01 -2.47807774e-01 2.07041002e+02] [-8.98785040e-01 5.01611252e-02 4.35510405e-01 -6.96492825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.870714057 meters Centerline goodness : 0.992357 Centerline is valid? [True, True] Translation: X:135.49, Y:207.04, Z:-69.67 [[ 4.33691714e-01 2.51115073e-01 8.65362766e-01 1.35492661e+02] [-6.44336673e-02 9.66565939e-01 -2.48190628e-01 2.07037145e+02] [-8.98754583e-01 5.18797224e-02 4.35371904e-01 -6.96749907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.900714057 meters Centerline goodness : 0.991792 Centerline is valid? [True, True] Translation: X:135.51, Y:207.02, Z:-69.71 [[ 4.36296806e-01 2.39007015e-01 8.67479535e-01 1.35509934e+02] [-6.66223729e-02 9.70011781e-01 -2.33749020e-01 2.07016427e+02] [-8.97333025e-01 4.41904057e-02 4.39136256e-01 -6.97143027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.9307140569999 meters Centerline goodness : 0.992151 Centerline is valid? [True, True] Translation: X:135.56, Y:207.03, Z:-69.73 [[ 4.43746177e-01 2.97865807e-01 8.45201332e-01 1.35555179e+02] [-6.64279751e-02 9.51482913e-01 -3.00445653e-01 2.07032325e+02] [-8.93687112e-01 7.71765967e-02 4.42003527e-01 -6.97282212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.9607140569999 meters Centerline goodness : 0.991230 Centerline is valid? [True, True] Translation: X:135.57, Y:207.03, Z:-69.75 [[ 4.46526610e-01 2.88733984e-01 8.46904170e-01 1.35568689e+02] [-6.36574053e-02 9.54357237e-01 -2.91804728e-01 2.07025892e+02] [-8.92503065e-01 7.63868541e-02 4.44525958e-01 -6.97525141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.990714057 meters Centerline goodness : 0.991428 Centerline is valid? [True, True] Translation: X:135.58, Y:207.03, Z:-69.78 [[ 4.41490495e-01 3.08001883e-01 8.42746096e-01 1.35580820e+02] [-6.34001197e-02 9.47598559e-01 -3.13109240e-01 2.07028435e+02] [-8.95023222e-01 8.48045501e-02 4.37883113e-01 -6.97841551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.020714057 meters Centerline goodness : 0.990962 Centerline is valid? [True, True] Translation: X:135.59, Y:207.02, Z:-69.81 [[ 4.44578360e-01 2.89237211e-01 8.47756992e-01 1.35589853e+02] [-6.04762888e-02 9.53964719e-01 -2.93758292e-01 2.07018942e+02] [-8.93696089e-01 7.93293830e-02 4.41604064e-01 -6.98073226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.0507140569999 meters Centerline goodness : 0.991714 Centerline is valid? [True, True] Translation: X:135.60, Y:207.02, Z:-69.83 [[ 4.43857644e-01 2.86796544e-01 8.48962976e-01 1.35599702e+02] [-5.94493793e-02 9.54737634e-01 -2.91447802e-01 2.07015277e+02] [-8.94123126e-01 7.88910125e-02 4.40817473e-01 -6.98337173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.0807140569999 meters Centerline goodness : 0.991905 Centerline is valid? [True, True] Translation: X:135.61, Y:207.01, Z:-69.86 [[ 4.42330165e-01 2.95344320e-01 8.46826876e-01 1.35611734e+02] [-5.91758874e-02 9.51774718e-01 -3.01036711e-01 2.07014888e+02] [-8.94897893e-01 8.30458863e-02 4.38475931e-01 -6.98601771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.110714057 meters Centerline goodness : 0.991559 Centerline is valid? [True, True] Translation: X:135.62, Y:207.01, Z:-69.89 [[ 4.40621111e-01 3.02343484e-01 8.45246386e-01 1.35623183e+02] [-5.86103142e-02 9.49256151e-01 -3.08994483e-01 2.07014404e+02] [-8.95777800e-01 8.66093364e-02 4.35982747e-01 -6.98867737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.140714057 meters Centerline goodness : 0.990204 Centerline is valid? [True, True] Translation: X:135.62, Y:207.00, Z:-69.91 [[ 4.33531801e-01 2.61044160e-01 8.62499927e-01 1.35622324e+02] [-5.55872439e-02 9.63046911e-01 -2.63535018e-01 2.06998030e+02] [-8.99422168e-01 6.63068174e-02 4.32022187e-01 -6.99100134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.1707140569999 meters Centerline goodness : 0.991067 Centerline is valid? [True, True] Translation: X:135.63, Y:207.00, Z:-69.94 [[ 4.28008910e-01 2.62047057e-01 8.64950700e-01 1.35630293e+02] [-5.46246433e-02 9.62793598e-01 -2.64659472e-01 2.06995481e+02] [-9.02122232e-01 6.60289885e-02 4.26398465e-01 -6.99447039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.2007140569999 meters Centerline goodness : 0.984889 Centerline is valid? [True, True] Translation: X:135.66, Y:207.01, Z:-69.96 [[ 4.29491300e-01 3.00507268e-01 8.51605898e-01 1.35655318e+02] [-5.08704498e-02 9.49564335e-01 -3.09418440e-01 2.07011310e+02] [-9.01637078e-01 8.95709530e-02 4.23116560e-01 -6.99632566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.2307140569999 meters Centerline goodness : 0.992175 Centerline is valid? [True, True] Translation: X:135.64, Y:206.97, Z:-70.00 [[ 4.41808387e-01 2.12503979e-01 8.71577540e-01 1.35640851e+02] [-5.41732755e-02 9.76086507e-01 -2.10524079e-01 2.06973211e+02] [-8.95472281e-01 4.57950937e-02 4.42755242e-01 -7.00025214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.260714057 meters Centerline goodness : 0.992205 Centerline is valid? [True, True] Translation: X:135.67, Y:206.98, Z:-70.02 [[ 4.44327153e-01 2.45016909e-01 8.61707663e-01 1.35667066e+02] [-5.48830505e-02 9.67510740e-01 -2.46801173e-01 2.06981968e+02] [-8.94181879e-01 6.23673171e-02 4.43338568e-01 -7.00235913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.290714057 meters Centerline goodness : 0.990146 Centerline is valid? [True, True] Translation: X:135.68, Y:206.97, Z:-70.05 [[ 4.44912804e-01 2.39371982e-01 8.62991107e-01 1.35681050e+02] [-6.35357161e-02 9.69626464e-01 -2.36194270e-01 2.06965632e+02] [-8.93317306e-01 5.02550971e-02 4.46607899e-01 -7.00538273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.3207140569999 meters Centerline goodness : 0.992487 Centerline is valid? [True, True] Translation: X:135.71, Y:206.99, Z:-70.07 [[ 4.48332945e-01 2.83404651e-01 8.47749594e-01 1.35709042e+02] [-5.50739943e-02 9.55363440e-01 -2.90254290e-01 2.06990242e+02] [-8.92168384e-01 8.34416044e-02 4.43929131e-01 -7.00670606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.3507140569999 meters Centerline goodness : 0.992494 Centerline is valid? [True, True] Translation: X:135.71, Y:206.97, Z:-70.10 [[ 4.45462019e-01 2.44150572e-01 8.61367569e-01 1.35705815e+02] [-5.24964175e-02 9.67566096e-01 -2.47103169e-01 2.06974805e+02] [-8.93760436e-01 6.48563648e-02 4.43830977e-01 -7.01036818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.380714057 meters Centerline goodness : 0.992403 Centerline is valid? [True, True] Translation: X:135.72, Y:206.97, Z:-70.13 [[ 4.45367547e-01 2.44835872e-01 8.61221890e-01 1.35719965e+02] [-5.28857993e-02 9.67399461e-01 -2.47671912e-01 2.06971611e+02] [-8.93784560e-01 6.47586240e-02 4.43796666e-01 -7.01324256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.410714057 meters Centerline goodness : 0.992890 Centerline is valid? [True, True] Translation: X:135.73, Y:206.97, Z:-70.16 [[ 4.45846500e-01 2.44961431e-01 8.60938323e-01 1.35732985e+02] [-5.22624480e-02 9.67307770e-01 -2.48161872e-01 2.06970571e+02] [-8.93582416e-01 6.56473578e-02 4.44073068e-01 -7.01587475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.4407140569999 meters Centerline goodness : 0.991980 Centerline is valid? [True, True] Translation: X:135.75, Y:206.97, Z:-70.19 [[ 4.45898495e-01 2.44967169e-01 8.60909762e-01 1.35747343e+02] [-5.24601367e-02 9.67319519e-01 -2.48074348e-01 2.06967276e+02] [-8.93544888e-01 6.54525348e-02 4.44177329e-01 -7.01885352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.4707140569999 meters Centerline goodness : 0.991633 Centerline is valid? [True, True] Translation: X:135.76, Y:206.96, Z:-70.22 [[ 4.45256759e-01 2.45843377e-01 8.60992133e-01 1.35761238e+02] [-5.30541706e-02 9.67123620e-01 -2.48710993e-01 2.06964352e+02] [-8.93829779e-01 6.50610274e-02 4.43661346e-01 -7.02169110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.500714057 meters Centerline goodness : 0.992081 Centerline is valid? [True, True] Translation: X:135.77, Y:206.96, Z:-70.24 [[ 4.45217069e-01 2.46271237e-01 8.60890376e-01 1.35774344e+02] [-5.29185943e-02 9.66990826e-01 -2.49255621e-01 2.06962321e+02] [-8.93857586e-01 6.54157483e-02 4.43553149e-01 -7.02429526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.530714057 meters Centerline goodness : 0.991673 Centerline is valid? [True, True] Translation: X:135.79, Y:206.96, Z:-70.27 [[ 4.44696714e-01 2.46644894e-01 8.61052338e-01 1.35788826e+02] [-5.38954862e-02 9.66964532e-01 -2.49148291e-01 2.06959793e+02] [-8.94058225e-01 6.43885918e-02 4.43298996e-01 -7.02721755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.5607140569999 meters Centerline goodness : 0.991445 Centerline is valid? [True, True] Translation: X:135.80, Y:206.96, Z:-70.30 [[ 4.44346978e-01 2.47418933e-01 8.61010822e-01 1.35801098e+02] [-5.43777885e-02 9.66782237e-01 -2.49750199e-01 2.06957213e+02] [-8.94202896e-01 6.41558816e-02 4.43040860e-01 -7.02980477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.5907140569999 meters Centerline goodness : 0.991445 Centerline is valid? [True, True] Translation: X:135.81, Y:206.95, Z:-70.32 [[ 4.44383021e-01 2.47249814e-01 8.61040800e-01 1.35812917e+02] [-5.42090389e-02 9.66818414e-01 -2.49646819e-01 2.06953837e+02] [-8.94195231e-01 6.42626135e-02 4.43040862e-01 -7.03236860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.620714057 meters Centerline goodness : 0.991994 Centerline is valid? [True, True] Translation: X:135.82, Y:206.95, Z:-70.35 [[ 4.44495356e-01 2.47063806e-01 8.61036210e-01 1.35824856e+02] [-5.45507016e-02 9.66894447e-01 -2.49277656e-01 2.06951492e+02] [-8.94118616e-01 6.38326312e-02 4.43257595e-01 -7.03487714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.650714057 meters Centerline goodness : 0.992146 Centerline is valid? [True, True] Translation: X:135.84, Y:206.95, Z:-70.37 [[ 4.44669316e-01 2.46633523e-01 8.61069745e-01 1.35836540e+02] [-5.47741402e-02 9.67031192e-01 -2.48697544e-01 2.06948902e+02] [-8.94018453e-01 6.34238116e-02 4.43518237e-01 -7.03734350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.6807140569999 meters Centerline goodness : 0.992154 Centerline is valid? [True, True] Translation: X:135.85, Y:206.95, Z:-70.40 [[ 4.44849903e-01 2.46754049e-01 8.60941928e-01 1.35848151e+02] [-5.56630853e-02 9.67055374e-01 -2.48405966e-01 2.06947020e+02] [-8.93873696e-01 6.25806860e-02 4.43929581e-01 -7.03975242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.7107140569999 meters Centerline goodness : 0.992200 Centerline is valid? [True, True] Translation: X:135.86, Y:206.94, Z:-70.42 [[ 4.44920855e-01 2.46622662e-01 8.60942911e-01 1.35859699e+02] [-5.58809700e-02 9.67107055e-01 -2.48155720e-01 2.06944444e+02] [-8.93824787e-01 6.22993301e-02 4.44067612e-01 -7.04224473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.740714057 meters Centerline goodness : 0.992340 Centerline is valid? [True, True] Translation: X:135.87, Y:206.94, Z:-70.45 [[ 4.44443911e-01 2.46830938e-01 8.61129548e-01 1.35873803e+02] [-5.73393218e-02 9.67156856e-01 -2.47628387e-01 2.06940742e+02] [-8.93969693e-01 6.06803447e-02 4.44000094e-01 -7.04526896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.770714057 meters Centerline goodness : 0.991968 Centerline is valid? [True, True] Translation: X:135.89, Y:206.94, Z:-70.48 [[ 4.43607509e-01 2.48720017e-01 8.61017265e-01 1.35888569e+02] [-6.03198173e-02 9.66827063e-01 -2.48207473e-01 2.06938767e+02] [-8.94188961e-01 5.81702948e-02 4.43894492e-01 -7.04824477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.8007140569999 meters Centerline goodness : 0.991793 Centerline is valid? [True, True] Translation: X:135.90, Y:206.94, Z:-70.51 [[ 4.42593510e-01 2.50454693e-01 8.61036254e-01 1.35902489e+02] [-6.28517423e-02 9.66506694e-01 -2.48826183e-01 2.06935608e+02] [-8.94516989e-01 5.60112249e-02 4.43511104e-01 -7.05111769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.8307140569999 meters Centerline goodness : 0.984728 Centerline is valid? [True, True] Translation: X:135.90, Y:206.94, Z:-70.54 [[ 4.24894862e-01 2.42038825e-01 8.72285253e-01 1.35895833e+02] [-5.91719439e-02 9.68957873e-01 -2.40040249e-01 2.06936364e+02] [-9.03306724e-01 5.03770547e-02 4.26027130e-01 -7.05369008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.860714057 meters Centerline goodness : 0.991412 Centerline is valid? [True, True] Translation: X:135.91, Y:206.92, Z:-70.57 [[ 4.38649691e-01 2.11813103e-01 8.73339371e-01 1.35908228e+02] [-6.56832828e-02 9.76783482e-01 -2.03911097e-01 2.06917526e+02] [-8.96254515e-01 3.20817427e-02 4.42378353e-01 -7.05676515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.890714057 meters Centerline goodness : 0.992350 Centerline is valid? [True, True] Translation: X:135.94, Y:206.93, Z:-70.59 [[ 4.38170906e-01 2.54237335e-01 8.62188863e-01 1.35940116e+02] [-7.12550492e-02 9.65974382e-01 -2.48628662e-01 2.06928977e+02] [-8.96063042e-01 4.75065363e-02 4.41377564e-01 -7.05877325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.9207140569999 meters Centerline goodness : 0.991921 Centerline is valid? [True, True] Translation: X:135.95, Y:206.93, Z:-70.61 [[ 4.36995758e-01 2.55128824e-01 8.62521878e-01 1.35952590e+02] [-7.28714312e-02 9.65819121e-01 -2.48763302e-01 2.06926425e+02] [-8.96506811e-01 4.58553039e-02 4.40650462e-01 -7.06137964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.9507140569999 meters Centerline goodness : 0.990445 Centerline is valid? [True, True] Translation: X:135.98, Y:206.93, Z:-70.66 [[ 4.19221890e-01 3.35655738e-01 8.43556894e-01 1.35983867e+02] [-8.36970392e-02 9.39478088e-01 -3.32228427e-01 2.06930964e+02] [-9.04017596e-01 6.86742146e-02 4.21943171e-01 -7.06639811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.9807140569999 meters Centerline goodness : 0.990969 Centerline is valid? [True, True] Translation: X:136.01, Y:206.93, Z:-70.67 [[ 4.29820749e-01 3.37251756e-01 8.37565148e-01 1.36006436e+02] [-8.24159658e-02 9.38405990e-01 -3.35561927e-01 2.06931918e+02] [-8.99145001e-01 7.52027382e-02 4.31141294e-01 -7.06736682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.010714057 meters Centerline goodness : 0.991231 Centerline is valid? [True, True] Translation: X:136.01, Y:206.93, Z:-70.70 [[ 4.29466313e-01 3.26516648e-01 8.41989053e-01 1.36012783e+02] [-8.41063436e-02 9.42758776e-01 -3.22694924e-01 2.06925207e+02] [-8.99157833e-01 6.77699788e-02 4.32345257e-01 -7.06988889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.040714057 meters Centerline goodness : 0.992638 Centerline is valid? [True, True] Translation: X:136.02, Y:206.93, Z:-70.71 [[ 4.33815636e-01 3.21413707e-01 8.41722771e-01 1.36023042e+02] [-8.06291070e-02 9.44308370e-01 -3.19030797e-01 2.06929817e+02] [-8.97386729e-01 7.05331929e-02 4.35571037e-01 -7.07122603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.0707140569999 meters Centerline goodness : 0.990406 Centerline is valid? [True, True] Translation: X:136.01, Y:206.90, Z:-70.76 [[ 4.28266071e-01 2.70021807e-01 8.62366741e-01 1.36007085e+02] [-7.92749067e-02 9.61859363e-01 -2.61805377e-01 2.06901997e+02] [-9.00168685e-01 4.37583173e-02 4.33337684e-01 -7.07594501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.1007140569999 meters Centerline goodness : 0.991953 Centerline is valid? [True, True] Translation: X:136.04, Y:206.91, Z:-70.78 [[ 4.32058672e-01 3.16163559e-01 8.44609915e-01 1.36042217e+02] [-7.76267449e-02 9.46096929e-01 -3.14443460e-01 2.06913709e+02] [-8.98498410e-01 7.02937052e-02 4.33312131e-01 -7.07764670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.130714057 meters Centerline goodness : 0.992474 Centerline is valid? [True, True] Translation: X:136.05, Y:206.91, Z:-70.80 [[ 4.33151124e-01 3.14172690e-01 8.44793244e-01 1.36052933e+02] [-7.68557728e-02 9.46743751e-01 -3.12681084e-01 2.06909738e+02] [-8.98038582e-01 7.05109252e-02 4.34229104e-01 -7.08006802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.160714057 meters Centerline goodness : 0.992034 Centerline is valid? [True, True] Translation: X:136.06, Y:206.91, Z:-70.82 [[ 4.37532147e-01 3.11962381e-01 8.43353481e-01 1.36063751e+02] [-7.37355209e-02 9.47178893e-01 -3.12114111e-01 2.06913787e+02] [-8.96174477e-01 7.43748485e-02 4.37423923e-01 -7.08150250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.1907140569999 meters Centerline goodness : 0.991161 Centerline is valid? [True, True] Translation: X:136.04, Y:206.88, Z:-70.86 [[ 4.35509910e-01 2.35400433e-01 8.68860031e-01 1.36043597e+02] [-7.01298565e-02 9.71141725e-01 -2.27959543e-01 2.06881154e+02] [-8.97448005e-01 3.83456106e-02 4.39450444e-01 -7.08585867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.2207140569999 meters Centerline goodness : 0.991608 Centerline is valid? [True, True] Translation: X:136.08, Y:206.90, Z:-70.87 [[ 4.38867378e-01 3.06744162e-01 8.44572936e-01 1.36084828e+02] [-7.20939618e-02 9.48917026e-01 -3.07179000e-01 2.06904703e+02] [-8.95655004e-01 7.39222333e-02 4.38563129e-01 -7.08670684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.250714057 meters Centerline goodness : 0.991600 Centerline is valid? [True, True] Translation: X:136.07, Y:206.88, Z:-70.91 [[ 4.36256945e-01 2.53029079e-01 8.63513847e-01 1.36072129e+02] [-7.03632116e-02 9.66303772e-01 -2.47600562e-01 2.06882819e+02] [-8.97066830e-01 4.72578573e-02 4.39360670e-01 -7.09062879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.280714057 meters Centerline goodness : 0.991567 Centerline is valid? [True, True] Translation: X:136.09, Y:206.88, Z:-70.94 [[ 4.35853537e-01 2.53762997e-01 8.63502192e-01 1.36085267e+02] [-7.07346848e-02 9.66118696e-01 -2.48216177e-01 2.06878321e+02] [-8.97233693e-01 4.71063433e-02 4.39036096e-01 -7.09351181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.3107140569999 meters Centerline goodness : 0.991588 Centerline is valid? [True, True] Translation: X:136.10, Y:206.87, Z:-70.96 [[ 4.35310034e-01 2.54143295e-01 8.63664495e-01 1.36098933e+02] [-7.02616453e-02 9.65992536e-01 -2.48840757e-01 2.06874173e+02] [-8.97534666e-01 4.76403900e-02 4.38362769e-01 -7.09634320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.3407140569999 meters Centerline goodness : 0.990832 Centerline is valid? [True, True] Translation: X:136.11, Y:206.87, Z:-70.99 [[ 4.34714428e-01 2.54256409e-01 8.63931157e-01 1.36111273e+02] [-7.01330201e-02 9.65962223e-01 -2.48994667e-01 2.06870249e+02] [-8.97833351e-01 4.76514730e-02 4.37749485e-01 -7.09896229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.370714057 meters Centerline goodness : 0.991701 Centerline is valid? [True, True] Translation: X:136.12, Y:206.87, Z:-71.01 [[ 4.34241263e-01 2.54104748e-01 8.64213690e-01 1.36122813e+02] [-6.98702364e-02 9.65999205e-01 -2.48925060e-01 2.06866497e+02] [-8.98082778e-01 4.77107177e-02 4.37231074e-01 -7.10140464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.400714057 meters Centerline goodness : 0.991869 Centerline is valid? [True, True] Translation: X:136.14, Y:206.86, Z:-71.04 [[ 4.33020113e-01 2.54113928e-01 8.64823504e-01 1.36135191e+02] [-6.99283225e-02 9.66018218e-01 -2.48834950e-01 2.06860723e+02] [-8.98667687e-01 4.72748814e-02 4.36075078e-01 -7.10438022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.4307140569999 meters Centerline goodness : 0.992291 Centerline is valid? [True, True] Translation: X:136.15, Y:206.86, Z:-71.07 [[ 4.32081872e-01 2.54844501e-01 8.65077763e-01 1.36147688e+02] [-7.00677896e-02 9.65829283e-01 -2.49528157e-01 2.06855915e+02] [-8.99108314e-01 4.72025064e-02 4.35173716e-01 -7.10734095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.4607140569999 meters Centerline goodness : 0.991273 Centerline is valid? [True, True] Translation: X:136.16, Y:206.85, Z:-71.10 [[ 4.32346361e-01 2.55367997e-01 8.64791195e-01 1.36160838e+02] [-7.02870243e-02 9.65685617e-01 -2.50022045e-01 2.06850929e+02] [-8.98964048e-01 4.73125214e-02 4.35459719e-01 -7.11028900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.490714057 meters Centerline goodness : 0.991998 Centerline is valid? [True, True] Translation: X:136.17, Y:206.83, Z:-71.14 [[ 4.35589809e-01 2.20664425e-01 8.72679053e-01 1.36165865e+02] [-6.97659081e-02 9.74846780e-01 -2.11675397e-01 2.06830252e+02] [-8.97437595e-01 3.13203992e-02 4.40028176e-01 -7.11351438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.520714057 meters Centerline goodness : 0.991246 Centerline is valid? [True, True] Translation: X:136.21, Y:206.86, Z:-71.14 [[ 4.36127457e-01 3.19477787e-01 8.41264991e-01 1.36213271e+02] [-7.09950887e-02 9.44159946e-01 -3.21747874e-01 2.06862206e+02] [-8.97080007e-01 8.05973995e-02 4.34455430e-01 -7.11433019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.5507140569999 meters Centerline goodness : 0.991165 Centerline is valid? [True, True] Translation: X:136.19, Y:206.84, Z:-71.18 [[ 4.33019383e-01 2.54789603e-01 8.64625047e-01 1.36194396e+02] [-6.87140144e-02 9.65758283e-01 -2.50178584e-01 2.06837353e+02] [-8.98761703e-01 4.89203180e-02 4.35699672e-01 -7.11808262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.5807140569999 meters Centerline goodness : 0.991651 Centerline is valid? [True, True] Translation: X:136.21, Y:206.83, Z:-71.21 [[ 4.32918266e-01 2.54685556e-01 8.64706333e-01 1.36205883e+02] [-6.87253847e-02 9.65790588e-01 -2.50050717e-01 2.06832714e+02] [-8.98809544e-01 4.88242474e-02 4.35611750e-01 -7.12063972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.610714057 meters Centerline goodness : 0.983908 Centerline is valid? [True, True] Translation: X:136.20, Y:206.83, Z:-71.23 [[ 4.15876062e-01 2.43823501e-01 8.76126248e-01 1.36199287e+02] [-6.30228787e-02 9.68799571e-01 -2.39698784e-01 2.06829506e+02] [-9.07234930e-01 4.44689881e-02 4.18267009e-01 -7.12312417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.640714057 meters Centerline goodness : 0.990278 Centerline is valid? [True, True] Translation: X:136.21, Y:206.81, Z:-71.26 [[ 4.30617185e-01 2.14530524e-01 8.76667265e-01 1.36210414e+02] [-6.66908057e-02 9.76247122e-01 -2.06140468e-01 2.06810068e+02] [-9.00067318e-01 3.03019817e-02 4.34696001e-01 -7.12629772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.6707140569999 meters Centerline goodness : 0.991187 Centerline is valid? [True, True] Translation: X:136.24, Y:206.82, Z:-71.28 [[ 4.32452678e-01 2.53192782e-01 8.65377430e-01 1.36240105e+02] [-6.75626998e-02 9.66165059e-01 -2.48918381e-01 2.06819117e+02] [-8.99121773e-01 4.91781852e-02 4.34927055e-01 -7.12847660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.7007140569999 meters Centerline goodness : 0.989840 Centerline is valid? [True, True] Translation: X:136.25, Y:206.81, Z:-71.31 [[ 4.32393865e-01 2.53709257e-01 8.65255545e-01 1.36253628e+02] [-6.77974535e-02 9.66030116e-01 -2.49377865e-01 2.06814606e+02] [-8.99132388e-01 4.91673362e-02 4.34906337e-01 -7.13142253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.7307140569999 meters Centerline goodness : 0.990779 Centerline is valid? [True, True] Translation: X:136.26, Y:206.81, Z:-71.34 [[ 4.32183186e-01 2.54484654e-01 8.65133085e-01 1.36264708e+02] [-6.83639181e-02 9.65840562e-01 -2.49956762e-01 2.06810556e+02] [-8.99190786e-01 4.88832225e-02 4.34817619e-01 -7.13405108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.760714057 meters Centerline goodness : 0.987862 Centerline is valid? [True, True] Translation: X:136.26, Y:206.79, Z:-71.37 [[ 4.21387585e-01 2.17365649e-01 8.80445727e-01 1.36260461e+02] [-7.17775185e-02 9.75799003e-01 -2.06553366e-01 2.06787205e+02] [-9.04035669e-01 2.38428148e-02 4.26791553e-01 -7.13689121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.790714057 meters Centerline goodness : 0.986366 Centerline is valid? [True, True] Translation: X:136.29, Y:206.80, Z:-71.39 [[ 4.23210081e-01 2.61623847e-01 8.67436563e-01 1.36290793e+02] [-7.16579523e-02 9.64068256e-01 -2.55807614e-01 2.06797879e+02] [-9.03193426e-01 4.61016334e-02 4.26750834e-01 -7.13897921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.8207140569999 meters Centerline goodness : 0.990969 Centerline is valid? [True, True] Translation: X:136.31, Y:206.81, Z:-71.41 [[ 4.33758006e-01 2.89324413e-01 8.53314348e-01 1.36313920e+02] [-6.97197029e-02 9.54981755e-01 -2.88355700e-01 2.06809782e+02] [-8.98327977e-01 6.55837710e-02 4.34402595e-01 -7.14113569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.8507140569999 meters Centerline goodness : 0.990809 Centerline is valid? [True, True] Translation: X:136.31, Y:206.79, Z:-71.44 [[ 4.31453735e-01 2.53499577e-01 8.65786140e-01 1.36307720e+02] [-6.82870121e-02 9.66131635e-01 -2.48850454e-01 2.06793377e+02] [-8.99546863e-01 4.82455093e-02 4.34151831e-01 -7.14418203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.880714057 meters Centerline goodness : 0.990731 Centerline is valid? [True, True] Translation: X:136.32, Y:206.79, Z:-71.47 [[ 4.31447572e-01 2.52985687e-01 8.65939510e-01 1.36318513e+02] [-6.75442435e-02 9.66239301e-01 -2.48635050e-01 2.06789366e+02] [-8.99605896e-01 4.87837598e-02 4.33969328e-01 -7.14661386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.910714057 meters Centerline goodness : 0.990930 Centerline is valid? [True, True] Translation: X:136.33, Y:206.78, Z:-71.50 [[ 4.31715258e-01 2.52698458e-01 8.65889961e-01 1.36332257e+02] [-6.74736708e-02 9.66313735e-01 -2.48364790e-01 2.06784109e+02] [-8.99482762e-01 4.87980950e-02 4.34222876e-01 -7.14958347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.9407140569999 meters Centerline goodness : 0.984990 Centerline is valid? [True, True] Translation: X:136.32, Y:206.78, Z:-71.52 [[ 4.13955429e-01 2.39729004e-01 8.78163372e-01 1.36324490e+02] [-6.05115519e-02 9.69812683e-01 -2.36223861e-01 2.06780800e+02] [-9.08283686e-01 4.46471216e-02 4.15965599e-01 -7.15221263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.9707140569999 meters Centerline goodness : 0.991720 Centerline is valid? [True, True] Translation: X:136.34, Y:206.76, Z:-71.55 [[ 4.29374257e-01 2.13558134e-01 8.77513915e-01 1.36338557e+02] [-6.49450728e-02 9.76425693e-01 -2.05851900e-01 2.06762320e+02] [-9.00788480e-01 3.13973013e-02 4.33121604e-01 -7.15521975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.000714057 meters Centerline goodness : 0.991415 Centerline is valid? [True, True] Translation: X:136.37, Y:206.77, Z:-71.57 [[ 4.31357425e-01 2.51568380e-01 8.66397208e-01 1.36367464e+02] [-6.54940603e-02 9.66534241e-01 -2.48036469e-01 2.06771499e+02] [-8.99800700e-01 5.02485016e-02 4.33397956e-01 -7.15729144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.030714057 meters Centerline goodness : 0.989994 Centerline is valid? [True, True] Translation: X:136.37, Y:206.75, Z:-71.60 [[ 4.29623131e-01 2.25030194e-01 8.74520084e-01 1.36372657e+02] [-6.66235879e-02 9.73711462e-01 -2.17823979e-01 2.06753800e+02] [-9.00547202e-01 3.53185542e-02 4.33321286e-01 -7.16019516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.0607140569999 meters Centerline goodness : 0.991609 Centerline is valid? [True, True] Translation: X:136.41, Y:206.78, Z:-71.62 [[ 4.32528894e-01 2.89765988e-01 8.53788281e-01 1.36408594e+02] [-6.72771174e-02 9.54681628e-01 -2.89925470e-01 2.06775741e+02] [-8.99106526e-01 6.79607283e-02 4.32422009e-01 -7.16179476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.0907140569999 meters Centerline goodness : 0.991552 Centerline is valid? [True, True] Translation: X:136.40, Y:206.76, Z:-71.65 [[ 4.29647540e-01 2.52110890e-01 8.67088860e-01 1.36404978e+02] [-6.77517446e-02 9.66528404e-01 -2.47452107e-01 2.06758487e+02] [-9.00451383e-01 4.75704061e-02 4.32347504e-01 -7.16542940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.120714057 meters Centerline goodness : 0.991989 Centerline is valid? [True, True] Translation: X:136.41, Y:206.74, Z:-71.69 [[ 4.31040198e-01 2.28229222e-01 8.72992423e-01 1.36413275e+02] [-7.02460408e-02 9.73035211e-01 -2.19699733e-01 2.06740855e+02] [-8.99594265e-01 3.33751550e-02 4.35449489e-01 -7.16861211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.150714057 meters Centerline goodness : 0.992281 Centerline is valid? [True, True] Translation: X:136.46, Y:206.77, Z:-71.70 [[ 4.30665083e-01 3.14251289e-01 8.46034109e-01 1.36456203e+02] [-7.23535488e-02 9.46426174e-01 -3.14710123e-01 2.06771016e+02] [-8.99606887e-01 7.43210909e-02 4.30329903e-01 -7.16957072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.1807140569999 meters Centerline goodness : 0.991488 Centerline is valid? [True, True] Translation: X:136.44, Y:206.75, Z:-71.74 [[ 4.27091869e-01 2.54705875e-01 8.67592907e-01 1.36442243e+02] [-7.27430652e-02 9.66074242e-01 -2.47808404e-01 2.06746718e+02] [-9.01277417e-01 4.27255871e-02 4.31130540e-01 -7.17353261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.2107140569999 meters Centerline goodness : 0.992377 Centerline is valid? [True, True] Translation: X:136.46, Y:206.74, Z:-71.77 [[ 4.26078796e-01 2.55833623e-01 8.67759193e-01 1.36456453e+02] [-7.38374557e-02 9.65816608e-01 -2.48488048e-01 2.06742491e+02] [-9.01667838e-01 4.18023571e-02 4.30404081e-01 -7.17652340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.240714057 meters Centerline goodness : 0.989761 Centerline is valid? [True, True] Translation: X:136.47, Y:206.72, Z:-71.81 [[ 4.14734751e-01 2.55585361e-01 8.73310489e-01 1.36466156e+02] [-8.48781173e-02 9.66424341e-01 -2.42527729e-01 2.06721689e+02] [-9.05975050e-01 2.64597272e-02 4.22503363e-01 -7.18068074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.270714057 meters Centerline goodness : 0.990923 Centerline is valid? [True, True] Translation: X:136.51, Y:206.74, Z:-71.82 [[ 4.32421985e-01 2.98123212e-01 8.50960503e-01 1.36507736e+02] [-8.08132953e-02 9.52775030e-01 -2.92726755e-01 2.06737739e+02] [-8.98042559e-01 5.78125620e-02 4.36093189e-01 -7.18186026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.3007140569999 meters Centerline goodness : 0.991417 Centerline is valid? [True, True] Translation: X:136.52, Y:206.75, Z:-71.84 [[ 4.31827488e-01 3.23007078e-01 8.42135053e-01 1.36522943e+02] [-7.94530345e-02 9.43669236e-01 -3.21209570e-01 2.06748079e+02] [-8.98449907e-01 7.17969364e-02 4.33166208e-01 -7.18365973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.3307140569999 meters Centerline goodness : 0.991349 Centerline is valid? [True, True] Translation: X:136.51, Y:206.72, Z:-71.88 [[ 4.29791772e-01 2.62741566e-01 8.63855256e-01 1.36508794e+02] [-7.71378369e-02 9.63913248e-01 -2.54796005e-01 2.06723416e+02] [-8.99627027e-01 4.28733008e-02 4.34549299e-01 -7.18768782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.360714057 meters Centerline goodness : 0.991109 Centerline is valid? [True, True] Translation: X:136.52, Y:206.72, Z:-71.91 [[ 4.30374801e-01 2.62625745e-01 8.63600167e-01 1.36522608e+02] [-7.58329237e-02 9.63875799e-01 -2.55328830e-01 2.06718493e+02] [-8.99459226e-01 4.43977690e-02 4.34743533e-01 -7.19063107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.390714057 meters Centerline goodness : 0.991492 Centerline is valid? [True, True] Translation: X:136.53, Y:206.70, Z:-71.94 [[ 4.32732207e-01 2.36782145e-01 8.69871860e-01 1.36531060e+02] [-7.43902044e-02 9.70979898e-01 -2.27297461e-01 2.06700778e+02] [-8.98448070e-01 3.36489868e-02 4.37788547e-01 -7.19378673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.4207140569999 meters Centerline goodness : 0.989341 Centerline is valid? [True, True] Translation: X:136.56, Y:206.71, Z:-71.95 [[ 4.26599638e-01 2.90380662e-01 8.56558124e-01 1.36560684e+02] [-7.59491458e-02 9.55214868e-01 -2.86000495e-01 2.06714031e+02] [-9.01246069e-01 5.69528497e-02 4.29548480e-01 -7.19498484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.4507140569999 meters Centerline goodness : 0.991311 Centerline is valid? [True, True] Translation: X:136.57, Y:206.71, Z:-71.98 [[ 4.33851318e-01 2.87270406e-01 8.53960624e-01 1.36570037e+02] [-7.00432120e-02 9.55693754e-01 -2.85908022e-01 2.06713527e+02] [-8.98257748e-01 6.42274272e-02 4.34750336e-01 -7.19788775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.4807140569999 meters Centerline goodness : 0.984488 Centerline is valid? [True, True] Translation: X:136.55, Y:206.70, Z:-72.01 [[ 4.16700148e-01 2.45669703e-01 8.75218478e-01 1.36550843e+02] [-6.51620767e-02 9.68385626e-01 -2.40796975e-01 2.06699488e+02] [-9.06705515e-01 4.33090819e-02 4.19534782e-01 -7.20077262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.510714057 meters Centerline goodness : 0.984488 Centerline is valid? [True, True] Translation: X:136.55, Y:206.68, Z:-72.04 [[ 4.13907355e-01 2.04904402e-01 8.86958222e-01 1.36545039e+02] [-6.56383275e-02 9.78519425e-01 -1.95426060e-01 2.06680437e+02] [-9.07949510e-01 2.26698292e-02 4.18465969e-01 -7.20394043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.540714057 meters Centerline goodness : 0.990566 Centerline is valid? [True, True] Translation: X:136.57, Y:206.68, Z:-72.07 [[ 4.30452196e-01 2.14983436e-01 8.76637342e-01 1.36574182e+02] [-6.77008716e-02 9.76175399e-01 -2.06150873e-01 2.06676118e+02] [-9.00070830e-01 2.93889837e-02 4.34751410e-01 -7.20662422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.5707140569999 meters Centerline goodness : 0.984493 Centerline is valid? [True, True] Translation: X:136.59, Y:206.69, Z:-72.08 [[ 4.17717909e-01 2.46290975e-01 8.74558462e-01 1.36585683e+02] [-6.49199599e-02 9.68189107e-01 -2.41651094e-01 2.06686482e+02] [-9.06254461e-01 4.41656896e-02 4.20419130e-01 -7.20829218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.6007140569999 meters Centerline goodness : 0.984759 Centerline is valid? [True, True] Translation: X:136.58, Y:206.67, Z:-72.11 [[ 4.15426640e-01 2.08121384e-01 8.85497711e-01 1.36581802e+02] [-6.46506054e-02 9.77767402e-01 -1.99477333e-01 2.06667667e+02] [-9.07326295e-01 2.56202350e-02 4.19645800e-01 -7.21136297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.630714057 meters Centerline goodness : 0.984215 Centerline is valid? [True, True] Translation: X:136.59, Y:206.66, Z:-72.14 [[ 4.14700657e-01 1.98491003e-01 8.88045431e-01 1.36589565e+02] [-6.39549288e-02 9.79863674e-01 -1.89147950e-01 2.06659439e+02] [-9.07707625e-01 2.16448967e-02 4.19044588e-01 -7.21414087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.660714057 meters Centerline goodness : 0.987135 Centerline is valid? [True, True] Translation: X:136.60, Y:206.64, Z:-72.17 [[ 4.15552283e-01 1.81913687e-01 8.91192297e-01 1.36599698e+02] [-6.62165591e-02 9.83246540e-01 -1.69828175e-01 2.06641346e+02] [-9.07155812e-01 1.15607984e-02 4.20636043e-01 -7.21720659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.6907140569999 meters Centerline goodness : 0.990738 Centerline is valid? [True, True] Translation: X:136.66, Y:206.68, Z:-72.18 [[ 4.30615216e-01 2.88435217e-01 8.55205041e-01 1.36656393e+02] [-6.20662368e-02 9.54778772e-01 -2.90766710e-01 2.06681612e+02] [-9.00398977e-01 7.21292111e-02 4.29044356e-01 -7.21844613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.7207140569999 meters Centerline goodness : 0.989343 Centerline is valid? [True, True] Translation: X:136.65, Y:206.67, Z:-72.21 [[ 4.28902825e-01 2.56606994e-01 8.66138106e-01 1.36654133e+02] [-5.98961488e-02 9.64774379e-01 -2.56169570e-01 2.06667412e+02] [-9.01362756e-01 5.79935152e-02 4.29164227e-01 -7.22132949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.750714057 meters Centerline goodness : 0.990141 Centerline is valid? [True, True] Translation: X:136.67, Y:206.66, Z:-72.24 [[ 4.29296430e-01 2.55713604e-01 8.66207324e-01 1.36665518e+02] [-5.86259395e-02 9.64948396e-01 -2.55807726e-01 2.06664031e+02] [-9.01258883e-01 5.90351252e-02 4.29240352e-01 -7.22388413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.780714057 meters Centerline goodness : 0.990265 Centerline is valid? [True, True] Translation: X:136.68, Y:206.66, Z:-72.26 [[ 4.29361359e-01 2.55270761e-01 8.66305756e-01 1.36676726e+02] [-5.80182417e-02 9.65037899e-01 -2.55608561e-01 2.06660265e+02] [-9.01267279e-01 5.94869024e-02 4.29160344e-01 -7.22639647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.8107140569999 meters Centerline goodness : 0.983835 Centerline is valid? [True, True] Translation: X:136.67, Y:206.66, Z:-72.29 [[ 4.16477596e-01 2.44331605e-01 8.75698852e-01 1.36672610e+02] [-5.28392325e-02 9.68087400e-01 -2.44979185e-01 2.06658071e+02] [-9.07609182e-01 5.57570870e-02 4.16097008e-01 -7.22885602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.8407140569999 meters Centerline goodness : 0.990794 Centerline is valid? [True, True] Translation: X:136.68, Y:206.64, Z:-72.32 [[ 4.28987478e-01 2.14052650e-01 8.77582593e-01 1.36682286e+02] [-5.47320099e-02 9.75892626e-01 -2.11277044e-01 2.06640408e+02] [-9.01650792e-01 4.26033470e-02 4.30361248e-01 -7.23210302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.870714057 meters Centerline goodness : 0.990491 Centerline is valid? [True, True] Translation: X:136.71, Y:206.65, Z:-72.34 [[ 4.32809154e-01 2.52571360e-01 8.65380809e-01 1.36709772e+02] [-5.53287789e-02 9.65582398e-01 -2.54144366e-01 2.06651819e+02] [-8.99786065e-01 6.21155447e-02 4.31887366e-01 -7.23393996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.900714057 meters Centerline goodness : 0.990944 Centerline is valid? [True, True] Translation: X:136.72, Y:206.65, Z:-72.36 [[ 4.32711366e-01 2.52186177e-01 8.65542030e-01 1.36721029e+02] [-5.51692752e-02 9.65686401e-01 -2.53783620e-01 2.06649419e+02] [-8.99842889e-01 6.20637303e-02 4.31776410e-01 -7.23647027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.9307140569999 meters Centerline goodness : 0.984306 Centerline is valid? [True, True] Translation: X:136.72, Y:206.65, Z:-72.39 [[ 4.19492196e-01 2.45807612e-01 8.73844904e-01 1.36719517e+02] [-5.21077466e-02 9.67573024e-01 -2.47158301e-01 2.06648796e+02] [-9.06262148e-01 5.81468895e-02 4.18697813e-01 -7.23877247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.9607140569999 meters Centerline goodness : 0.990778 Centerline is valid? [True, True] Translation: X:136.73, Y:206.63, Z:-72.42 [[ 4.29656557e-01 2.14937466e-01 8.77038841e-01 1.36729529e+02] [-5.52419960e-02 9.75695634e-01 -2.12052708e-01 2.06630890e+02] [-9.01301040e-01 4.26604603e-02 4.31087601e-01 -7.24209911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.990714057 meters Centerline goodness : 0.990618 Centerline is valid? [True, True] Translation: X:136.76, Y:206.64, Z:-72.45 [[ 4.31753769e-01 2.52649887e-01 8.65884933e-01 1.36759232e+02] [-5.65976118e-02 9.65666851e-01 -2.53543375e-01 2.06641250e+02] [-9.00214082e-01 6.04612884e-02 4.31229682e-01 -7.24450443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.020714057 meters Centerline goodness : 0.991455 Centerline is valid? [True, True] Translation: X:136.77, Y:206.64, Z:-72.47 [[ 4.29841431e-01 2.54015798e-01 8.66436563e-01 1.36773774e+02] [-5.78338927e-02 9.65385786e-01 -2.54333493e-01 2.06639304e+02] [-9.01050268e-01 5.92136735e-02 4.29653530e-01 -7.24736172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.0507140569999 meters Centerline goodness : 0.991877 Centerline is valid? [True, True] Translation: X:136.79, Y:206.64, Z:-72.50 [[ 4.28985982e-01 2.54908210e-01 8.66598426e-01 1.36787477e+02] [-5.84626140e-02 9.65181108e-01 -2.54965783e-01 2.06636041e+02] [-9.01417301e-01 5.87131377e-02 4.28951766e-01 -7.25030857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.0807140569999 meters Centerline goodness : 0.985424 Centerline is valid? [True, True] Translation: X:136.79, Y:206.64, Z:-72.53 [[ 4.15918103e-01 2.46528815e-01 8.75348888e-01 1.36785706e+02] [-5.41267880e-02 9.67558689e-01 -2.46780214e-01 2.06635160e+02] [-9.07789856e-01 5.52605349e-02 4.15768987e-01 -7.25288747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.110714057 meters Centerline goodness : 0.991398 Centerline is valid? [True, True] Translation: X:136.80, Y:206.62, Z:-72.56 [[ 4.26879192e-01 2.29465256e-01 8.74711296e-01 1.36799786e+02] [-5.86866684e-02 9.72261264e-01 -2.26415347e-01 2.06622292e+02] [-9.02402366e-01 4.53181088e-02 4.28504655e-01 -7.25576252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.140714057 meters Centerline goodness : 0.989634 Centerline is valid? [True, True] Translation: X:136.82, Y:206.61, Z:-72.59 [[ 4.20742102e-01 2.43359451e-01 8.73929208e-01 1.36818170e+02] [-6.75320932e-02 9.69075924e-01 -2.37342096e-01 2.06613791e+02] [-9.04663197e-01 4.08415437e-02 4.24165614e-01 -7.25853689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.1707140569999 meters Centerline goodness : 0.992804 Centerline is valid? [True, True] Translation: X:136.86, Y:206.63, Z:-72.61 [[ 4.26988776e-01 3.03905665e-01 8.51658343e-01 1.36855825e+02] [-6.75716981e-02 9.49922476e-01 -3.05092373e-01 2.06630903e+02] [-9.01728702e-01 7.27230184e-02 4.26141657e-01 -7.26149289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.2007140569999 meters Centerline goodness : 0.990835 Centerline is valid? [True, True] Translation: X:136.88, Y:206.64, Z:-72.64 [[ 4.28906546e-01 3.24657292e-01 8.42992774e-01 1.36878536e+02] [-6.79788028e-02 9.42140078e-01 -3.28254406e-01 2.06635566e+02] [-9.00787465e-01 8.34848241e-02 4.26159861e-01 -7.26390977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.2307140569999 meters Centerline goodness : 0.989727 Centerline is valid? [True, True] Translation: X:136.88, Y:206.63, Z:-72.66 [[ 4.23166197e-01 3.12428235e-01 8.50481610e-01 1.36883457e+02] [-6.96241309e-02 9.47104806e-01 -3.13280970e-01 2.06628816e+02] [-9.03373041e-01 7.33558738e-02 4.22535283e-01 -7.26647663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.260714057 meters Centerline goodness : 0.991722 Centerline is valid? [True, True] Translation: X:136.90, Y:206.62, Z:-72.70 [[ 4.26332087e-01 3.08991227e-01 8.50156087e-01 1.36896277e+02] [-6.90096194e-02 9.48220127e-01 -3.10026229e-01 2.06623946e+02] [-9.01930498e-01 7.35051812e-02 4.25580033e-01 -7.27004720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.290714057 meters Centerline goodness : 0.989920 Centerline is valid? [True, True] Translation: X:136.91, Y:206.62, Z:-72.72 [[ 4.24037586e-01 3.01405870e-01 8.54017931e-01 1.36908021e+02] [-7.35842614e-02 9.51343098e-01 -2.99218427e-01 2.06620647e+02] [-9.02650255e-01 6.40375807e-02 4.25583959e-01 -7.27153496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.3207140569999 meters Centerline goodness : 0.990753 Centerline is valid? [True, True] Translation: X:136.91, Y:206.61, Z:-72.75 [[ 4.18668682e-01 2.76654596e-01 8.64973277e-01 1.36909887e+02] [-7.30785989e-02 9.59642464e-01 -2.71561890e-01 2.06609905e+02] [-9.05193932e-01 5.04834233e-02 4.21989775e-01 -7.27530528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.3507140569999 meters Centerline goodness : 0.991053 Centerline is valid? [True, True] Translation: X:136.94, Y:206.62, Z:-72.78 [[ 4.15802071e-01 3.25257868e-01 8.49303219e-01 1.36938168e+02] [-7.96334770e-02 9.43293625e-01 -3.22266421e-01 2.06624027e+02] [-9.05962001e-01 6.63660769e-02 4.18124857e-01 -7.27838584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.380714057 meters Centerline goodness : 0.991602 Centerline is valid? [True, True] Translation: X:136.95, Y:206.62, Z:-72.82 [[ 4.20574458e-01 3.20217392e-01 8.48868628e-01 1.36952183e+02] [-8.08719306e-02 9.45149265e-01 -3.16468951e-01 2.06619335e+02] [-9.03646422e-01 6.44491130e-02 4.23402239e-01 -7.28156089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.410714057 meters Centerline goodness : 0.991576 Centerline is valid? [True, True] Translation: X:136.97, Y:206.62, Z:-72.84 [[ 4.18369915e-01 3.35954442e-01 8.43860905e-01 1.36969257e+02] [-8.36731716e-02 9.39384066e-01 -3.32500191e-01 2.06620992e+02] [-9.04414404e-01 6.84995582e-02 4.21120405e-01 -7.28428425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.4407140569999 meters Centerline goodness : 0.991910 Centerline is valid? [True, True] Translation: X:136.98, Y:206.62, Z:-72.87 [[ 4.18917071e-01 3.31360629e-01 8.45404413e-01 1.36980200e+02] [-8.54683561e-02 9.41292796e-01 -3.26593067e-01 2.06616592e+02] [-9.03993168e-01 6.45600855e-02 4.22644469e-01 -7.28702296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.4707140569999 meters Centerline goodness : 0.992883 Centerline is valid? [True, True] Translation: X:136.99, Y:206.62, Z:-72.88 [[ 4.25912683e-01 3.08212872e-01 8.50648701e-01 1.36987574e+02] [-8.08189185e-02 9.49390012e-01 -3.03524146e-01 2.06618234e+02] [-9.01147429e-01 6.05262754e-02 4.29266679e-01 -7.28830367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.500714057 meters Centerline goodness : 0.991427 Centerline is valid? [True, True] Translation: X:136.98, Y:206.59, Z:-72.93 [[ 4.15983402e-01 2.80821365e-01 8.64926107e-01 1.36983008e+02] [-8.84447365e-02 9.59109030e-01 -2.68863158e-01 2.06592756e+02] [-9.05060958e-01 3.53444492e-02 4.23810608e-01 -7.29340594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.530714057 meters Centerline goodness : 0.992541 Centerline is valid? [True, True] Translation: X:137.02, Y:206.61, Z:-72.94 [[ 4.24954495e-01 3.13335619e-01 8.49255243e-01 1.37015690e+02] [-8.19470978e-02 9.47645029e-01 -3.08631776e-01 2.06613613e+02] [-9.01497837e-01 6.15604582e-02 4.28382959e-01 -7.29387108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.5607140569999 meters Centerline goodness : 0.990854 Centerline is valid? [True, True] Translation: X:137.01, Y:206.59, Z:-72.99 [[ 4.10986972e-01 2.95594227e-01 8.62388405e-01 1.37009039e+02] [-8.89017586e-02 9.54460005e-01 -2.84785140e-01 2.06590513e+02] [-9.07296085e-01 4.03751367e-02 4.18549474e-01 -7.29915433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.5907140569999 meters Centerline goodness : 0.990060 Centerline is valid? [True, True] Translation: X:137.03, Y:206.59, Z:-73.01 [[ 4.11053158e-01 3.12467734e-01 8.56387305e-01 1.37032382e+02] [-8.41141590e-02 9.48414232e-01 -3.05671807e-01 2.06592294e+02] [-9.07722485e-01 5.36130636e-02 4.16131626e-01 -7.30116073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.620714057 meters Centerline goodness : 0.990803 Centerline is valid? [True, True] Translation: X:137.05, Y:206.59, Z:-73.04 [[ 4.21877840e-01 3.11404552e-01 8.51496502e-01 1.37049854e+02] [-8.19225949e-02 9.48416139e-01 -3.06260537e-01 2.06588729e+02] [-9.02943950e-01 5.94477309e-02 4.25626821e-01 -7.30408788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.650714057 meters Centerline goodness : 0.992799 Centerline is valid? [True, True] Translation: X:137.06, Y:206.59, Z:-73.06 [[ 4.29381827e-01 3.00434957e-01 8.51686611e-01 1.37061791e+02] [-7.40113808e-02 9.51579742e-01 -2.98359366e-01 2.06592836e+02] [-9.00085308e-01 6.50755875e-02 4.30826654e-01 -7.30553350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.6807140569999 meters Centerline goodness : 0.990443 Centerline is valid? [True, True] Translation: X:137.05, Y:206.56, Z:-73.10 [[ 4.18852482e-01 2.60295627e-01 8.69947576e-01 1.37052246e+02] [-7.68911062e-02 9.64760662e-01 -2.51643842e-01 2.06563412e+02] [-9.04792991e-01 3.85104165e-02 4.24106817e-01 -7.31009679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.7107140569999 meters Centerline goodness : 0.990992 Centerline is valid? [True, True] Translation: X:137.08, Y:206.57, Z:-73.12 [[ 4.24196550e-01 2.82564681e-01 8.60357186e-01 1.37078518e+02] [-7.48389676e-02 9.57761171e-01 -2.77655667e-01 2.06568051e+02] [-9.02472391e-01 5.33923324e-02 4.27425834e-01 -7.31207133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.740714057 meters Centerline goodness : 0.991509 Centerline is valid? [True, True] Translation: X:137.09, Y:206.56, Z:-73.15 [[ 4.29408973e-01 2.69846361e-01 8.61853164e-01 1.37091261e+02] [-6.77184741e-02 9.61251001e-01 -2.67227846e-01 2.06559772e+02] [-9.00567678e-01 5.63866535e-02 4.31043388e-01 -7.31549017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.770714057 meters Centerline goodness : 0.990168 Centerline is valid? [True, True] Translation: X:137.11, Y:206.56, Z:-73.18 [[ 4.25665242e-01 2.91924827e-01 8.56498101e-01 1.37114245e+02] [-6.65373947e-02 9.54066829e-01 -2.92111726e-01 2.06563677e+02] [-9.02431093e-01 6.73526563e-02 4.25537005e-01 -7.31750168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.8007140569999 meters Centerline goodness : 0.989901 Centerline is valid? [True, True] Translation: X:137.12, Y:206.55, Z:-73.21 [[ 4.24596427e-01 2.71116849e-01 8.63836517e-01 1.37118336e+02] [-6.52071050e-02 9.60791452e-01 -2.69495492e-01 2.06553491e+02] [-9.03031510e-01 5.80985444e-02 4.25627362e-01 -7.32051925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.8307140569999 meters Centerline goodness : 0.990751 Centerline is valid? [True, True] Translation: X:137.13, Y:206.55, Z:-73.24 [[ 4.27735606e-01 2.72039810e-01 8.61995704e-01 1.37131928e+02] [-6.32714510e-02 9.60308271e-01 -2.71670295e-01 2.06550039e+02] [-9.01686739e-01 6.16633393e-02 4.27970393e-01 -7.32381929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.860714057 meters Centerline goodness : 0.991443 Centerline is valid? [True, True] Translation: X:137.15, Y:206.55, Z:-73.27 [[ 4.27891418e-01 2.77885356e-01 8.60051547e-01 1.37149685e+02] [-6.17834018e-02 9.58330297e-01 -2.78901153e-01 2.06549021e+02] [-9.01716000e-01 6.62024998e-02 4.27230013e-01 -7.32651758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.890714057 meters Centerline goodness : 0.989481 Centerline is valid? [True, True] Translation: X:137.16, Y:206.55, Z:-73.29 [[ 4.24460952e-01 2.81988050e-01 8.60415969e-01 1.37163288e+02] [-6.24341553e-02 9.57120706e-01 -2.82881477e-01 2.06547162e+02] [-9.03291136e-01 6.63527967e-02 4.23866052e-01 -7.32867992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.9207140569999 meters Centerline goodness : 0.990240 Centerline is valid? [True, True] Translation: X:137.16, Y:206.53, Z:-73.32 [[ 4.18955924e-01 2.54126324e-01 8.71719992e-01 1.37164391e+02] [-6.05078937e-02 9.65716748e-01 -2.52447929e-01 2.06534638e+02] [-9.05988261e-01 5.30186148e-02 4.19969401e-01 -7.33226365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.9507140569999 meters Centerline goodness : 0.989859 Centerline is valid? [True, True] Translation: X:137.19, Y:206.54, Z:-73.35 [[ 4.18912216e-01 2.82133220e-01 8.63083658e-01 1.37188995e+02] [-6.09382909e-02 9.57096945e-01 -2.83287774e-01 2.06540957e+02] [-9.05979625e-01 6.60778662e-02 4.18132318e-01 -7.33481020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.9807140569999 meters Centerline goodness : 0.990110 Centerline is valid? [True, True] Translation: X:137.20, Y:206.54, Z:-73.37 [[ 4.20212782e-01 2.79802228e-01 8.63210247e-01 1.37201783e+02] [-6.06612825e-02 9.57807734e-01 -2.80935140e-01 2.06538224e+02] [-9.05395729e-01 6.56890962e-02 4.19456215e-01 -7.33740856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.010714057 meters Centerline goodness : 0.990561 Centerline is valid? [True, True] Translation: X:137.21, Y:206.53, Z:-73.41 [[ 4.20049851e-01 2.62109156e-01 8.68825019e-01 1.37207550e+02] [-5.90377937e-02 9.63246368e-01 -2.62051473e-01 2.06529181e+02] [-9.05578633e-01 5.87811700e-02 4.20085840e-01 -7.34069342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.040714057 meters Centerline goodness : 0.989374 Centerline is valid? [True, True] Translation: X:137.22, Y:206.53, Z:-73.43 [[ 4.21536181e-01 2.62512917e-01 8.67982844e-01 1.37223435e+02] [-5.81368159e-02 9.63035403e-01 -2.63026468e-01 2.06526712e+02] [-9.04946053e-01 6.04134139e-02 4.21215931e-01 -7.34301377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.0707140569999 meters Centerline goodness : 0.989827 Centerline is valid? [True, True] Translation: X:137.23, Y:206.52, Z:-73.46 [[ 4.20290897e-01 2.58992732e-01 8.69642643e-01 1.37233738e+02] [-5.78317574e-02 9.64097855e-01 -2.59173327e-01 2.06521377e+02] [-9.05544615e-01 5.86352276e-02 4.20179558e-01 -7.34603989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.1007140569999 meters Centerline goodness : 0.989503 Centerline is valid? [True, True] Translation: X:137.25, Y:206.52, Z:-73.49 [[ 4.26204256e-01 2.68914806e-01 8.63733037e-01 1.37249740e+02] [-5.79015676e-02 9.60946227e-01 -2.70609973e-01 2.06522590e+02] [-9.02772031e-01 6.53236256e-02 4.25129961e-01 -7.34876500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.130714057 meters Centerline goodness : 0.988546 Centerline is valid? [True, True] Translation: X:137.26, Y:206.51, Z:-73.52 [[ 4.23541246e-01 2.54279259e-01 8.69456653e-01 1.37256549e+02] [-5.67956278e-02 9.65361283e-01 -2.54660264e-01 2.06514103e+02] [-9.04094613e-01 5.84777892e-02 4.23312271e-01 -7.35179301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.160714057 meters Centerline goodness : 0.989149 Centerline is valid? [True, True] Translation: X:137.27, Y:206.51, Z:-73.55 [[ 4.23177524e-01 2.59273729e-01 8.68157772e-01 1.37271303e+02] [-5.65406572e-02 9.63871395e-01 -2.60298074e-01 2.06512829e+02] [-9.04280895e-01 6.10660834e-02 4.22548218e-01 -7.35472783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.1907140569999 meters Centerline goodness : 0.988542 Centerline is valid? [True, True] Translation: X:137.29, Y:206.51, Z:-73.57 [[ 4.26597671e-01 2.70627554e-01 8.63003566e-01 1.37288893e+02] [-5.83415442e-02 9.60430652e-01 -2.72340279e-01 2.06513560e+02] [-9.02557861e-01 6.58307679e-02 4.25506309e-01 -7.35731529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.2207140569999 meters Centerline goodness : 0.988971 Centerline is valid? [True, True] Translation: X:137.30, Y:206.51, Z:-73.61 [[ 4.24372436e-01 2.66564796e-01 8.65361915e-01 1.37297637e+02] [-5.71553358e-02 9.61665932e-01 -2.68201235e-01 2.06509385e+02] [-9.03682081e-01 6.43571606e-02 4.23340115e-01 -7.36058595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.250714057 meters Centerline goodness : 0.988222 Centerline is valid? [True, True] Translation: X:137.31, Y:206.51, Z:-73.63 [[ 4.22401811e-01 2.66834191e-01 8.66242590e-01 1.37309488e+02] [-5.78650454e-02 9.61675538e-01 -2.68014546e-01 2.06506249e+02] [-9.04559753e-01 6.30846629e-02 4.21653861e-01 -7.36300871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.280714057 meters Centerline goodness : 0.989789 Centerline is valid? [True, True] Translation: X:137.32, Y:206.51, Z:-73.66 [[ 4.23195295e-01 2.76970677e-01 8.62666208e-01 1.37323281e+02] [-5.78599325e-02 9.58447822e-01 -2.79338507e-01 2.06507425e+02] [-9.04189123e-01 6.83009332e-02 4.21636113e-01 -7.36604516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.3107140569999 meters Centerline goodness : 0.990510 Centerline is valid? [True, True] Translation: X:137.32, Y:206.50, Z:-73.68 [[ 4.16005174e-01 2.45862242e-01 8.75494976e-01 1.37324121e+02] [-5.24308772e-02 9.67640447e-01 -2.46825784e-01 2.06498891e+02] [-9.07849491e-01 5.67778336e-02 4.15434206e-01 -7.36834906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.3407140569999 meters Centerline goodness : 0.989781 Centerline is valid? [True, True] Translation: X:137.34, Y:206.50, Z:-73.71 [[ 4.19068336e-01 2.55582004e-01 8.71240248e-01 1.37339959e+02] [-5.39904726e-02 9.64880198e-01 -2.57082152e-01 2.06499571e+02] [-9.06348034e-01 6.06963166e-02 4.18149732e-01 -7.37057674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.370714057 meters Centerline goodness : 0.984692 Centerline is valid? [True, True] Translation: X:137.34, Y:206.50, Z:-73.73 [[ 4.13881971e-01 2.48678747e-01 8.75705769e-01 1.37341550e+02] [-4.84300964e-02 9.66617269e-01 -2.51606002e-01 2.06502939e+02] [-9.09041385e-01 6.17246735e-02 4.12108997e-01 -7.37295201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.400714057 meters Centerline goodness : 0.984692 Centerline is valid? [True, True] Translation: X:137.32, Y:206.47, Z:-73.77 [[ 4.08764232e-01 1.68710178e-01 8.96910630e-01 1.37319324e+02] [-4.97790225e-02 9.85423544e-01 -1.62672949e-01 2.06469056e+02] [-9.11281434e-01 2.18475486e-02 4.11204126e-01 -7.37684589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.4307140569999 meters Centerline goodness : 0.992315 Centerline is valid? [True, True] Translation: X:137.34, Y:206.46, Z:-73.80 [[ 4.24607689e-01 1.67423691e-01 8.89762675e-01 1.37344943e+02] [-4.99187277e-02 9.85587619e-01 -1.61632810e-01 2.06462343e+02] [-9.04000239e-01 2.42147133e-02 4.26845659e-01 -7.37990655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.4607140569999 meters Centerline goodness : 0.985411 Centerline is valid? [True, True] Translation: X:137.38, Y:206.49, Z:-73.81 [[ 4.15493498e-01 2.52796240e-01 8.73761532e-01 1.37379243e+02] [-4.86591676e-02 9.65405678e-01 -2.56172136e-01 2.06493487e+02] [-9.08293697e-01 6.39213480e-02 4.13420636e-01 -7.38060733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.490714057 meters Centerline goodness : 0.992644 Centerline is valid? [True, True] Translation: X:137.37, Y:206.45, Z:-73.85 [[ 4.25117977e-01 1.60942824e-01 8.90714384e-01 1.37366126e+02] [-4.88220281e-02 9.86709481e-01 -1.54986482e-01 2.06453563e+02] [-9.03820289e-01 2.24010569e-02 4.27325493e-01 -7.38509671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.520714057 meters Centerline goodness : 0.989710 Centerline is valid? [True, True] Translation: X:137.40, Y:206.46, Z:-73.86 [[ 4.22066800e-01 2.14459187e-01 8.80833057e-01 1.37401569e+02] [-5.36987928e-02 9.75824444e-01 -2.11856307e-01 2.06464247e+02] [-9.04972959e-01 4.21178419e-02 4.23379300e-01 -7.38629977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.5507140569999 meters Centerline goodness : 0.991569 Centerline is valid? [True, True] Translation: X:137.43, Y:206.48, Z:-73.89 [[ 4.32576765e-01 2.44673009e-01 8.67762906e-01 1.37426386e+02] [-4.64180423e-02 9.67240427e-01 -2.49582296e-01 2.06478957e+02] [-9.00401415e-01 6.76836471e-02 4.29762977e-01 -7.38888239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.5807140569999 meters Centerline goodness : 0.992081 Centerline is valid? [True, True] Translation: X:137.44, Y:206.47, Z:-73.92 [[ 4.32449978e-01 2.36636690e-01 8.70051777e-01 1.37436391e+02] [-4.61522318e-02 9.69491062e-01 -2.40742712e-01 2.06472634e+02] [-9.00475979e-01 6.39543491e-02 4.30177699e-01 -7.39201422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.610714057 meters Centerline goodness : 0.991824 Centerline is valid? [True, True] Translation: X:137.45, Y:206.47, Z:-73.95 [[ 4.32868496e-01 2.36984756e-01 8.69748866e-01 1.37450758e+02] [-4.59179205e-02 9.69369642e-01 -2.41275862e-01 2.06469301e+02] [-9.00286849e-01 6.45036601e-02 4.30491426e-01 -7.39502169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.640714057 meters Centerline goodness : 0.991779 Centerline is valid? [True, True] Translation: X:137.46, Y:206.45, Z:-73.98 [[ 4.33634839e-01 2.07355454e-01 8.76906233e-01 1.37458902e+02] [-4.53816049e-02 9.76953659e-01 -2.08571472e-01 2.06450956e+02] [-8.99945185e-01 5.06484447e-02 4.33051266e-01 -7.39826137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.6707140569999 meters Centerline goodness : 0.992185 Centerline is valid? [True, True] Translation: X:137.50, Y:206.48, Z:-73.99 [[ 4.37124342e-01 2.98318790e-01 8.48485833e-01 1.37503654e+02] [-4.77648304e-02 9.49758457e-01 -3.09317626e-01 2.06483723e+02] [-8.98131856e-01 9.46824818e-02 4.29411687e-01 -7.39915715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.7007140569999 meters Centerline goodness : 0.992552 Centerline is valid? [True, True] Translation: X:137.49, Y:206.46, Z:-74.03 [[ 4.32067560e-01 2.37890266e-01 8.69899905e-01 1.37488699e+02] [-4.74833514e-02 9.69244962e-01 -2.41473674e-01 2.06460255e+02] [-9.00590337e-01 6.30271782e-02 4.30075133e-01 -7.40324677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.7307140569999 meters Centerline goodness : 0.992619 Centerline is valid? [True, True] Translation: X:137.50, Y:206.46, Z:-74.06 [[ 4.31793256e-01 2.39522339e-01 8.69588197e-01 1.37500877e+02] [-5.01464574e-02 9.68979801e-01 -2.41998922e-01 2.06458768e+02] [-9.00577546e-01 6.08867352e-02 4.30410140e-01 -7.40587549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.760714057 meters Centerline goodness : 0.991770 Centerline is valid? [True, True] Translation: X:137.51, Y:206.44, Z:-74.09 [[ 4.32132614e-01 2.16202711e-01 8.75510018e-01 1.37509181e+02] [-5.23021058e-02 9.75210746e-01 -2.15008118e-01 2.06442530e+02] [-9.00292116e-01 4.71210024e-02 4.32728226e-01 -7.40907439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.790714057 meters Centerline goodness : 0.992111 Centerline is valid? [True, True] Translation: X:137.55, Y:206.47, Z:-74.10 [[ 4.35656881e-01 2.99501289e-01 8.48823928e-01 1.37552348e+02] [-5.48322454e-02 9.50098644e-01 -3.07092808e-01 2.06474490e+02] [-8.98441154e-01 8.72441727e-02 4.30339340e-01 -7.40996172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.8207140569999 meters Centerline goodness : 0.992009 Centerline is valid? [True, True] Translation: X:137.54, Y:206.45, Z:-74.14 [[ 4.30861483e-01 2.42061046e-01 8.69347360e-01 1.37538396e+02] [-5.77304190e-02 9.68773444e-01 -2.41133186e-01 2.06452639e+02] [-9.00569587e-01 5.37072149e-02 4.31381448e-01 -7.41386914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.8507140569999 meters Centerline goodness : 0.992187 Centerline is valid? [True, True] Translation: X:137.55, Y:206.45, Z:-74.17 [[ 4.30052333e-01 2.43361084e-01 8.69385055e-01 1.37552152e+02] [-5.94074580e-02 9.68524332e-01 -2.41725821e-01 2.06449633e+02] [-9.00847237e-01 5.23067971e-02 4.30973612e-01 -7.41682136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.880714057 meters Centerline goodness : 0.990417 Centerline is valid? [True, True] Translation: X:137.55, Y:206.43, Z:-74.20 [[ 4.21914186e-01 2.09513073e-01 8.82095625e-01 1.37549808e+02] [-6.33833402e-02 9.77368474e-01 -2.01825218e-01 2.06429832e+02] [-9.04417476e-01 2.92427555e-02 4.25645263e-01 -7.41959547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.910714057 meters Centerline goodness : 0.992353 Centerline is valid? [True, True] Translation: X:137.59, Y:206.45, Z:-74.21 [[ 4.31378077e-01 2.69783184e-01 8.60889069e-01 1.37588723e+02] [-6.14713529e-02 9.60813191e-01 -2.70294811e-01 2.06453252e+02] [-9.00074568e-01 6.36792398e-02 4.31057684e-01 -7.42149440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.9407140569999 meters Centerline goodness : 0.992168 Centerline is valid? [True, True] Translation: X:137.59, Y:206.44, Z:-74.25 [[ 4.29039346e-01 2.44537135e-01 8.69555536e-01 1.37590667e+02] [-6.23528554e-02 9.68379653e-01 -2.41563591e-01 2.06441872e+02] [-9.01131157e-01 4.94210145e-02 4.30720561e-01 -7.42491091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.9707140569999 meters Centerline goodness : 0.992745 Centerline is valid? [True, True] Translation: X:137.61, Y:206.44, Z:-74.28 [[ 4.28409454e-01 2.45588106e-01 8.69569907e-01 1.37605044e+02] [-6.33987050e-02 9.68153735e-01 -2.42196097e-01 2.06438537e+02] [-9.01357834e-01 4.86294915e-02 4.30336181e-01 -7.42790555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.000714057 meters Centerline goodness : 0.992001 Centerline is valid? [True, True] Translation: X:137.62, Y:206.44, Z:-74.31 [[ 4.27816234e-01 2.46719372e-01 8.69541731e-01 1.37618915e+02] [-6.46672906e-02 9.67914823e-01 -2.42814822e-01 2.06435441e+02] [-9.01549451e-01 4.76492148e-02 4.30044347e-01 -7.43090602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.030714057 meters Centerline goodness : 0.992530 Centerline is valid? [True, True] Translation: X:137.63, Y:206.42, Z:-74.34 [[ 4.26535238e-01 2.36636020e-01 8.72966829e-01 1.37627984e+02] [-6.71767379e-02 9.70790994e-01 -2.30330483e-01 2.06422958e+02] [-9.01972825e-01 3.96010032e-02 4.29973004e-01 -7.43429744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.0607140569999 meters Centerline goodness : 0.992827 Centerline is valid? [True, True] Translation: X:137.67, Y:206.45, Z:-74.35 [[ 4.31516267e-01 3.04846143e-01 8.49036242e-01 1.37669118e+02] [-6.79919421e-02 9.49485675e-01 -3.06356082e-01 2.06449307e+02] [-8.99539219e-01 7.44700100e-02 4.30445595e-01 -7.43502158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.0907140569999 meters Centerline goodness : 0.992436 Centerline is valid? [True, True] Translation: X:137.65, Y:206.43, Z:-74.39 [[ 4.28544641e-01 2.47974453e-01 8.68825737e-01 1.37654686e+02] [-6.80548616e-02 9.67727737e-01 -2.42634629e-01 2.06426844e+02] [-9.00953954e-01 4.48519547e-02 4.31590402e-01 -7.43892668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.120714057 meters Centerline goodness : 0.992083 Centerline is valid? [True, True] Translation: X:137.67, Y:206.42, Z:-74.42 [[ 4.28815962e-01 2.48874820e-01 8.68434336e-01 1.37668283e+02] [-6.91741566e-02 9.67527549e-01 -2.43115977e-01 2.06423903e+02] [-9.00739589e-01 4.41787988e-02 4.32106962e-01 -7.44189244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.150714057 meters Centerline goodness : 0.992549 Centerline is valid? [True, True] Translation: X:137.68, Y:206.42, Z:-74.45 [[ 4.28703208e-01 2.49475615e-01 8.68317613e-01 1.37682458e+02] [-6.93463580e-02 9.67369151e-01 -2.43696551e-01 2.06420579e+02] [-9.00780019e-01 4.42588294e-02 4.32014484e-01 -7.44490645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.1807140569999 meters Centerline goodness : 0.992160 Centerline is valid? [True, True] Translation: X:137.69, Y:206.41, Z:-74.48 [[ 4.28613608e-01 2.32713232e-01 8.73003394e-01 1.37691377e+02] [-6.87187392e-02 9.71856993e-01 -2.25325808e-01 2.06407604e+02] [-9.00870751e-01 3.65860151e-02 4.32542892e-01 -7.44816242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.2107140569999 meters Centerline goodness : 0.992258 Centerline is valid? [True, True] Translation: X:137.72, Y:206.42, Z:-74.50 [[ 4.31377284e-01 2.77827272e-01 8.58327237e-01 1.37724822e+02] [-6.87850840e-02 9.58760507e-01 -2.75766028e-01 2.06420726e+02] [-8.99545580e-01 5.99190892e-02 4.32697876e-01 -7.44979174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.240714057 meters Centerline goodness : 0.992192 Centerline is valid? [True, True] Translation: X:137.74, Y:206.43, Z:-74.52 [[ 4.30535366e-01 2.96092181e-01 8.52624607e-01 1.37740187e+02] [-6.94640108e-02 9.52727428e-01 -2.95778971e-01 2.06427194e+02] [-8.99896689e-01 6.81165823e-02 4.30750602e-01 -7.45175054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.270714057 meters Centerline goodness : 0.992311 Centerline is valid? [True, True] Translation: X:137.73, Y:206.41, Z:-74.56 [[ 4.27886789e-01 2.48004292e-01 8.69141397e-01 1.37730966e+02] [-6.95887029e-02 9.67803155e-01 -2.41897636e-01 2.06407000e+02] [-9.01149437e-01 4.30223804e-02 4.31368481e-01 -7.45561322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.3007140569999 meters Centerline goodness : 0.993177 Centerline is valid? [True, True] Translation: X:137.74, Y:206.40, Z:-74.59 [[ 4.27514156e-01 2.49016100e-01 8.69035459e-01 1.37744736e+02] [-7.06834761e-02 9.67577893e-01 -2.42480654e-01 2.06402987e+02] [-9.01241085e-01 4.22374651e-02 4.31254569e-01 -7.45859582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.3307140569999 meters Centerline goodness : 0.992923 Centerline is valid? [True, True] Translation: X:137.76, Y:206.40, Z:-74.61 [[ 4.27277958e-01 2.49761984e-01 8.68937569e-01 1.37756077e+02] [-7.11798002e-02 9.67395793e-01 -2.43061343e-01 2.06399838e+02] [-9.01314031e-01 4.20039519e-02 4.31124907e-01 -7.46115753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.360714057 meters Centerline goodness : 0.992672 Centerline is valid? [True, True] Translation: X:137.77, Y:206.40, Z:-74.64 [[ 4.28135116e-01 2.49785495e-01 8.68508796e-01 1.37766948e+02] [-7.19696254e-02 9.67414687e-01 -2.42753365e-01 2.06396034e+02] [-9.00844435e-01 4.14249875e-02 4.32161168e-01 -7.46367030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.390714057 meters Centerline goodness : 0.992216 Centerline is valid? [True, True] Translation: X:137.78, Y:206.39, Z:-74.66 [[ 4.28541809e-01 2.49536930e-01 8.68379663e-01 1.37777450e+02] [-7.19771279e-02 9.67479251e-01 -2.42493695e-01 2.06392591e+02] [-9.00650438e-01 4.14152128e-02 4.32566260e-01 -7.46611187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.4207140569999 meters Centerline goodness : 0.992223 Centerline is valid? [True, True] Translation: X:137.79, Y:206.39, Z:-74.69 [[ 4.29084687e-01 2.49178148e-01 8.68214595e-01 1.37788306e+02] [-7.18365348e-02 9.67565931e-01 -2.42189351e-01 2.06388777e+02] [-9.00403156e-01 4.15502140e-02 4.33067819e-01 -7.46860158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.4507140569999 meters Centerline goodness : 0.992362 Centerline is valid? [True, True] Translation: X:137.80, Y:206.38, Z:-74.71 [[ 4.29124571e-01 2.48681491e-01 8.68337272e-01 1.37799563e+02] [-7.18355040e-02 9.67703747e-01 -2.41638403e-01 2.06384303e+02] [-9.00384231e-01 4.13155302e-02 4.33129616e-01 -7.47115049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.4807140569999 meters Centerline goodness : 0.993004 Centerline is valid? [True, True] Translation: X:137.81, Y:206.38, Z:-74.74 [[ 4.29020444e-01 2.48384071e-01 8.68473841e-01 1.37809985e+02] [-7.22720302e-02 9.67807603e-01 -2.41091676e-01 2.06379191e+02] [-9.00398918e-01 4.06668904e-02 4.33160469e-01 -7.47357374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.510714057 meters Centerline goodness : 0.993829 Centerline is valid? [True, True] Translation: X:137.82, Y:206.38, Z:-74.76 [[ 4.28676711e-01 2.48190337e-01 8.68698932e-01 1.37821652e+02] [-7.21835026e-02 9.67861665e-01 -2.40901098e-01 2.06375330e+02] [-9.00569720e-01 4.05629588e-02 4.32815003e-01 -7.47613351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.540714057 meters Centerline goodness : 0.992776 Centerline is valid? [True, True] Translation: X:137.84, Y:206.37, Z:-74.79 [[ 4.28393094e-01 2.48061482e-01 8.68875629e-01 1.37835411e+02] [-7.29492292e-02 9.67934927e-01 -2.40375514e-01 2.06370388e+02] [-9.00642974e-01 3.95914029e-02 4.32752532e-01 -7.47914353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.5707140569999 meters Centerline goodness : 0.992758 Centerline is valid? [True, True] Translation: X:137.85, Y:206.37, Z:-74.82 [[ 4.27623620e-01 2.49031079e-01 8.68977308e-01 1.37849011e+02] [-7.37969724e-02 9.67712588e-01 -2.41011106e-01 2.06366188e+02] [-9.00939536e-01 3.89341470e-02 4.32194499e-01 -7.48209870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.6007140569999 meters Centerline goodness : 0.992033 Centerline is valid? [True, True] Translation: X:137.86, Y:206.35, Z:-74.85 [[ 4.27875739e-01 2.29538076e-01 8.74205138e-01 1.37857559e+02] [-7.58200426e-02 9.72921118e-01 -2.18347933e-01 2.06349302e+02] [-9.00651805e-01 2.71435124e-02 4.33692929e-01 -7.48527121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.630714057 meters Centerline goodness : 0.993453 Centerline is valid? [True, True] Translation: X:137.90, Y:206.38, Z:-74.86 [[ 4.28850113e-01 3.03593959e-01 8.50833879e-01 1.37897904e+02] [-7.56066693e-02 9.50596069e-01 -3.01082622e-01 2.06375654e+02] [-9.00206205e-01 6.47906008e-02 4.30616960e-01 -7.48623045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.660714057 meters Centerline goodness : 0.992438 Centerline is valid? [True, True] Translation: X:137.89, Y:206.35, Z:-74.90 [[ 4.26154174e-01 2.49581431e-01 8.69541103e-01 1.37885953e+02] [-7.53950294e-02 9.67644608e-01 -2.40789330e-01 2.06352053e+02] [-9.01503305e-01 3.70543010e-02 4.31182988e-01 -7.49014951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.6907140569999 meters Centerline goodness : 0.992397 Centerline is valid? [True, True] Translation: X:137.90, Y:206.35, Z:-74.93 [[ 4.25799794e-01 2.49932206e-01 8.69613953e-01 1.37898760e+02] [-7.48389789e-02 9.67528365e-01 -2.41429058e-01 2.06347296e+02] [-9.01717064e-01 3.77194227e-02 4.30678050e-01 -7.49308015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.7207140569999 meters Centerline goodness : 0.992379 Centerline is valid? [True, True] Translation: X:137.91, Y:206.34, Z:-74.96 [[ 4.26021675e-01 2.50117649e-01 8.69451951e-01 1.37911829e+02] [-7.41803988e-02 9.67446345e-01 -2.41960406e-01 2.06342158e+02] [-9.01666680e-01 3.85840851e-02 4.30706939e-01 -7.49607434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.750714057 meters Centerline goodness : 0.992340 Centerline is valid? [True, True] Translation: X:137.92, Y:206.34, Z:-74.99 [[ 4.27416762e-01 2.49484111e-01 8.68949130e-01 1.37924617e+02] [-7.18582550e-02 9.67502939e-01 -2.42434431e-01 2.06335226e+02] [-9.01194376e-01 4.11793714e-02 4.31454466e-01 -7.49903433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.780714057 meters Centerline goodness : 0.986011 Centerline is valid? [True, True] Translation: X:137.92, Y:206.33, Z:-75.02 [[ 4.21405656e-01 2.34420583e-01 8.76050377e-01 1.37923229e+02] [-6.60398366e-02 9.71380716e-01 -2.28162761e-01 2.06329820e+02] [-9.04464490e-01 3.82948541e-02 4.24826424e-01 -7.50172924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.8107140569999 meters Centerline goodness : 0.992812 Centerline is valid? [True, True] Translation: X:137.94, Y:206.32, Z:-75.04 [[ 4.28425025e-01 2.43309687e-01 8.70202502e-01 1.37944650e+02] [-6.77277557e-02 9.69001577e-01 -2.37589762e-01 2.06324262e+02] [-9.01035487e-01 4.28525372e-02 4.31623344e-01 -7.50424177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.8407140569999 meters Centerline goodness : 0.993024 Centerline is valid? [True, True] Translation: X:137.96, Y:206.32, Z:-75.07 [[ 4.29004462e-01 2.46655364e-01 8.68974282e-01 1.37959726e+02] [-6.62859726e-02 9.67999726e-01 -2.42038632e-01 2.06320293e+02] [-9.00866994e-01 4.62348477e-02 4.31625992e-01 -7.50711405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.870714057 meters Centerline goodness : 0.992599 Centerline is valid? [True, True] Translation: X:137.97, Y:206.31, Z:-75.10 [[ 4.30435332e-01 2.45732282e-01 8.68528106e-01 1.37972998e+02] [-6.32873194e-02 9.68076717e-01 -2.42532856e-01 2.06313721e+02] [-9.00399989e-01 4.94278947e-02 4.32246160e-01 -7.50992188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.900714057 meters Centerline goodness : 0.991229 Centerline is valid? [True, True] Translation: X:137.98, Y:206.29, Z:-75.13 [[ 4.34077337e-01 2.06911615e-01 8.76792136e-01 1.37979059e+02] [-6.12754018e-02 9.77793855e-01 -2.00410833e-01 2.06291178e+02] [-8.98789291e-01 3.32680104e-02 4.37116746e-01 -7.51278065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.9307140569999 meters Centerline goodness : 0.991714 Centerline is valid? [True, True] Translation: X:138.02, Y:206.32, Z:-75.14 [[ 4.34070330e-01 2.99199463e-01 8.49742685e-01 1.38020490e+02] [-6.17834656e-02 9.50903403e-01 -3.03258178e-01 2.06322880e+02] [-8.98757894e-01 7.91353295e-02 4.31244534e-01 -7.51422416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.9607140569999 meters Centerline goodness : 0.991708 Centerline is valid? [True, True] Translation: X:138.01, Y:206.30, Z:-75.18 [[ 4.31427138e-01 2.44293502e-01 8.68441886e-01 1.38006612e+02] [-6.00576846e-02 9.68280044e-01 -2.42542433e-01 2.06297652e+02] [-9.00146488e-01 5.24827788e-02 4.32413990e-01 -7.51757959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.990714057 meters Centerline goodness : 0.991950 Centerline is valid? [True, True] Translation: X:138.02, Y:206.29, Z:-75.21 [[ 4.31442237e-01 2.44187684e-01 8.68464145e-01 1.38020037e+02] [-6.03471462e-02 9.68326155e-01 -2.42286357e-01 2.06292904e+02] [-9.00119891e-01 5.21232350e-02 4.32512832e-01 -7.52056952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.020714057 meters Centerline goodness : 0.992241 Centerline is valid? [True, True] Translation: X:138.03, Y:206.29, Z:-75.23 [[ 4.31268016e-01 2.45204864e-01 8.68264057e-01 1.38033887e+02] [-6.15244639e-02 9.68112461e-01 -2.42843579e-01 2.06288263e+02] [-9.00123680e-01 5.13111878e-02 4.32602038e-01 -7.52348667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.0507140569999 meters Centerline goodness : 0.992272 Centerline is valid? [True, True] Translation: X:138.05, Y:206.28, Z:-75.26 [[ 4.30735322e-01 2.46650852e-01 8.68118909e-01 1.38047374e+02] [-6.36207601e-02 9.67833406e-01 -2.43415070e-01 2.06283474e+02] [-9.00233015e-01 4.96170840e-02 4.32572149e-01 -7.52637384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.0807140569999 meters Centerline goodness : 0.991631 Centerline is valid? [True, True] Translation: X:138.06, Y:206.28, Z:-75.29 [[ 4.30641427e-01 2.47573897e-01 8.67902717e-01 1.38061930e+02] [-6.50858596e-02 9.67655646e-01 -2.43734243e-01 2.06279079e+02] [-9.00173201e-01 4.84738678e-02 4.32826168e-01 -7.52936664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.110714057 meters Centerline goodness : 0.989854 Centerline is valid? [True, True] Translation: X:138.07, Y:206.26, Z:-75.33 [[ 4.31271192e-01 2.25450448e-01 8.73600168e-01 1.38069751e+02] [-6.79090913e-02 9.73640720e-01 -2.17743206e-01 2.06261180e+02] [-8.99663000e-01 3.45809787e-02 4.35213329e-01 -7.53255648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.140714057 meters Centerline goodness : 0.992212 Centerline is valid? [True, True] Translation: X:138.11, Y:206.29, Z:-75.34 [[ 4.32533113e-01 3.07882317e-01 8.47421728e-01 1.38111137e+02] [-6.77210622e-02 9.48328802e-01 -3.09977970e-01 2.06291812e+02] [-8.99071167e-01 7.66874368e-02 4.31033726e-01 -7.53352227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.1707140569999 meters Centerline goodness : 0.991970 Centerline is valid? [True, True] Translation: X:138.10, Y:206.27, Z:-75.37 [[ 4.29442020e-01 2.49003044e-01 8.68088150e-01 1.38098385e+02] [-6.81499688e-02 9.67431845e-01 -2.43785167e-01 2.06266169e+02] [-9.00519369e-01 4.55314142e-02 4.32425435e-01 -7.53743058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.2007140569999 meters Centerline goodness : 0.992143 Centerline is valid? [True, True] Translation: X:138.11, Y:206.26, Z:-75.40 [[ 4.29269926e-01 2.49831213e-01 8.67935306e-01 1.38112534e+02] [-6.88596427e-02 9.67237136e-01 -2.44357674e-01 2.06262017e+02] [-9.00547434e-01 4.51296858e-02 4.32409102e-01 -7.54039547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.2307140569999 meters Centerline goodness : 0.990676 Centerline is valid? [True, True] Translation: X:138.12, Y:206.25, Z:-75.44 [[ 4.27839382e-01 2.47361697e-01 8.69347833e-01 1.38124755e+02] [-7.23298830e-02 9.68107728e-01 -2.39866243e-01 2.06249744e+02] [-9.00956076e-01 3.97443981e-02 4.32086255e-01 -7.54378236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.260714057 meters Centerline goodness : 0.992587 Centerline is valid? [True, True] Translation: X:138.16, Y:206.27, Z:-75.45 [[ 4.32319761e-01 3.04560417e-01 8.48729979e-01 1.38160666e+02] [-7.03181601e-02 9.49754643e-01 -3.04994222e-01 2.06273965e+02] [-8.98974405e-01 7.21738984e-02 4.32013828e-01 -7.54459400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.290714057 meters Centerline goodness : 0.992015 Centerline is valid? [True, True] Translation: X:138.15, Y:206.24, Z:-75.49 [[ 4.29605986e-01 2.34759094e-01 8.71967239e-01 1.38146242e+02] [-7.18193255e-02 9.71439956e-01 -2.26155689e-01 2.06239195e+02] [-9.00155921e-01 3.45337388e-02 4.34196660e-01 -7.54859654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.3207140569999 meters Centerline goodness : 0.992015 Centerline is valid? [True, True] Translation: X:138.18, Y:206.25, Z:-75.50 [[ 4.31895805e-01 2.86202465e-01 8.55309396e-01 1.38180204e+02] [-7.21230389e-02 9.56239522e-01 -2.83556421e-01 2.06254234e+02] [-8.99035195e-01 6.07793158e-02 4.33637630e-01 -7.55045420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.3507140569999 meters Centerline goodness : 0.992479 Centerline is valid? [True, True] Translation: X:138.19, Y:206.26, Z:-75.52 [[ 4.31384825e-01 3.01201099e-01 8.50402864e-01 1.38194529e+02] [-6.94247110e-02 9.50909317e-01 -3.01581962e-01 2.06262971e+02] [-8.99492825e-01 7.10589090e-02 4.31118649e-01 -7.55231303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.380714057 meters Centerline goodness : 0.990298 Centerline is valid? [True, True] Translation: X:138.18, Y:206.23, Z:-75.56 [[ 4.29172777e-01 2.32415446e-01 8.72807990e-01 1.38180191e+02] [-7.08117828e-02 9.72010378e-01 -2.24012313e-01 2.06229730e+02] [-9.00442346e-01 3.43348966e-02 4.33618146e-01 -7.55626029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.410714057 meters Centerline goodness : 0.991104 Centerline is valid? [True, True] Translation: X:138.21, Y:206.25, Z:-75.58 [[ 4.30966048e-01 2.84269777e-01 8.56422185e-01 1.38213576e+02] [-7.20265940e-02 9.56891455e-01 -2.81373262e-01 2.06245776e+02] [-8.99488986e-01 5.95771499e-02 4.32862713e-01 -7.55793222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.4407140569999 meters Centerline goodness : 0.991160 Centerline is valid? [True, True] Translation: X:138.22, Y:206.24, Z:-75.61 [[ 4.30557539e-01 2.81204859e-01 8.57638638e-01 1.38224255e+02] [-7.35314451e-02 9.57995723e-01 -2.77195457e-01 2.06240497e+02] [-8.99562856e-01 5.62851854e-02 4.33149681e-01 -7.56050132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.4707140569999 meters Centerline goodness : 0.991361 Centerline is valid? [True, True] Translation: X:138.24, Y:206.25, Z:-75.62 [[ 4.29134153e-01 3.01053943e-01 8.51592862e-01 1.38239545e+02] [-7.21424191e-02 9.51231331e-01 -2.99924034e-01 2.06251414e+02] [-9.00355125e-01 6.72716773e-02 4.29924611e-01 -7.56232778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.500714057 meters Centerline goodness : 0.990225 Centerline is valid? [True, True] Translation: X:138.23, Y:206.22, Z:-75.67 [[ 4.24696495e-01 2.44657596e-01 8.71651047e-01 1.38228015e+02] [-7.48887852e-02 9.68987177e-01 -2.35489958e-01 2.06220841e+02] [-9.02233095e-01 3.47348720e-02 4.29847568e-01 -7.56657291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.530714057 meters Centerline goodness : 0.991738 Centerline is valid? [True, True] Translation: X:138.26, Y:206.25, Z:-75.67 [[ 4.27543433e-01 3.03773261e-01 8.51427283e-01 1.38263147e+02] [-7.40620601e-02 9.50453990e-01 -3.01913934e-01 2.06245277e+02] [-9.00955839e-01 6.60228613e-02 4.28858436e-01 -7.56732371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.5607140569999 meters Centerline goodness : 0.991785 Centerline is valid? [True, True] Translation: X:138.25, Y:206.22, Z:-75.71 [[ 4.25363071e-01 2.47882947e-01 8.70413869e-01 1.38252409e+02] [-7.42365207e-02 9.68074648e-01 -2.39416822e-01 2.06221605e+02] [-9.01972947e-01 3.72225775e-02 4.30185173e-01 -7.57121620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.5907140569999 meters Centerline goodness : 0.991315 Centerline is valid? [True, True] Translation: X:138.26, Y:206.22, Z:-75.74 [[ 4.25075987e-01 2.48501964e-01 8.70377607e-01 1.38264944e+02] [-7.43945396e-02 9.67913954e-01 -2.40016729e-01 2.06217265e+02] [-9.02095260e-01 3.72740065e-02 4.29924168e-01 -7.57389438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.620714057 meters Centerline goodness : 0.991031 Centerline is valid? [True, True] Translation: X:138.27, Y:206.21, Z:-75.77 [[ 4.23862442e-01 2.41295820e-01 8.72993103e-01 1.38274683e+02] [-7.43717182e-02 9.69876840e-01 -2.31965004e-01 2.06206848e+02] [-9.02667978e-01 3.33952562e-02 4.29039951e-01 -7.57701048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.650714057 meters Centerline goodness : 0.991129 Centerline is valid? [True, True] Translation: X:138.30, Y:206.21, Z:-75.79 [[ 4.25011472e-01 2.67530121e-01 8.64750185e-01 1.38297849e+02] [-7.40831872e-02 9.62402292e-01 -2.61330268e-01 2.06210076e+02] [-9.02151279e-01 4.70049120e-02 4.28851499e-01 -7.57927680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.6807140569999 meters Centerline goodness : 0.991037 Centerline is valid? [True, True] Translation: X:138.32, Y:206.22, Z:-75.81 [[ 4.26687343e-01 2.95562610e-01 8.54740110e-01 1.38319602e+02] [-7.15981594e-02 9.53164646e-01 -2.93855172e-01 2.06222242e+02] [-9.01560655e-01 6.41864639e-02 4.27865029e-01 -7.58080619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.7107140569999 meters Centerline goodness : 0.990356 Centerline is valid? [True, True] Translation: X:138.31, Y:206.19, Z:-75.85 [[ 4.23463437e-01 2.32851516e-01 8.75476379e-01 1.38306998e+02] [-7.35967972e-02 9.72050264e-01 -2.22938996e-01 2.06188858e+02] [-9.02918728e-01 2.99742559e-02 4.28764871e-01 -7.58500300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.740714057 meters Centerline goodness : 0.990286 Centerline is valid? [True, True] Translation: X:138.34, Y:206.21, Z:-75.87 [[ 4.25989448e-01 2.89392516e-01 8.57195988e-01 1.38342198e+02] [-7.35497498e-02 9.55403731e-01 -2.85996757e-01 2.06205557e+02] [-9.01733567e-01 5.87850500e-02 4.28276655e-01 -7.58663649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.770714057 meters Centerline goodness : 0.985808 Centerline is valid? [True, True] Translation: X:138.36, Y:206.21, Z:-75.88 [[ 4.26032492e-01 3.02556780e-01 8.52616978e-01 1.38355339e+02] [-7.20067426e-02 9.50772494e-01 -3.01407853e-01 2.06209032e+02] [-9.01837760e-01 6.70153672e-02 4.26846103e-01 -7.58831930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.8007140569999 meters Centerline goodness : 0.991243 Centerline is valid? [True, True] Translation: X:138.33, Y:206.17, Z:-75.93 [[ 4.23699720e-01 2.08320844e-01 8.81521964e-01 1.38330285e+02] [-7.12024923e-02 9.77842672e-01 -1.96860137e-01 2.06168192e+02] [-9.02999863e-01 2.06430241e-02 4.29144630e-01 -7.59254739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.8307140569999 meters Centerline goodness : 0.988249 Centerline is valid? [True, True] Translation: X:138.36, Y:206.17, Z:-75.95 [[ 4.23681297e-01 2.53272380e-01 8.69682276e-01 1.38361416e+02] [-7.47090653e-02 9.66613658e-01 -2.45105268e-01 2.06172991e+02] [-9.02725160e-01 3.88733679e-02 4.28457870e-01 -7.59478636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.860714057 meters Centerline goodness : 0.985122 Centerline is valid? [True, True] Translation: X:138.36, Y:206.18, Z:-75.97 [[ 4.14765872e-01 2.49905624e-01 8.74937970e-01 1.38360644e+02] [-6.50482291e-02 9.67229394e-01 -2.45430291e-01 2.06178058e+02] [-9.07600132e-01 4.48829429e-02 4.17429661e-01 -7.59703433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.890714057 meters Centerline goodness : 0.985676 Centerline is valid? [True, True] Translation: X:138.35, Y:206.16, Z:-76.00 [[ 4.14245452e-01 2.03127353e-01 8.87209098e-01 1.38354094e+02] [-6.25942579e-02 9.78828171e-01 -1.94877836e-01 2.06155836e+02] [-9.08010278e-01 2.51930620e-02 4.18189724e-01 -7.60006281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.9207140569999 meters Centerline goodness : 0.988602 Centerline is valid? [True, True] Translation: X:138.36, Y:206.13, Z:-76.03 [[ 4.15079586e-01 1.75567641e-01 8.92684122e-01 1.38359759e+02] [-6.70819007e-02 9.84438534e-01 -1.62421645e-01 2.06132304e+02] [-9.07308633e-01 7.53496131e-03 4.20397750e-01 -7.60314164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.9507140569999 meters Centerline goodness : 0.990757 Centerline is valid? [True, True] Translation: X:138.40, Y:206.16, Z:-76.05 [[ 4.23885581e-01 2.48118054e-01 8.71067418e-01 1.38399945e+02] [-6.02290908e-02 9.67337980e-01 -2.46230969e-01 2.06162009e+02] [-9.03710945e-01 5.19101586e-02 4.24984546e-01 -7.60498507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.9807140569999 meters Centerline goodness : 0.988632 Centerline is valid? [True, True] Translation: X:138.40, Y:206.14, Z:-76.08 [[ 4.17480834e-01 2.14024242e-01 8.83121383e-01 1.38398817e+02] [-6.28841752e-02 9.76341467e-01 -2.06888665e-01 2.06138810e+02] [-9.06507217e-01 3.08376928e-02 4.21062588e-01 -7.60773344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.010714057 meters Centerline goodness : 0.985420 Centerline is valid? [True, True] Translation: X:138.42, Y:206.16, Z:-76.09 [[ 4.19199472e-01 2.63098316e-01 8.68936752e-01 1.38423682e+02] [-5.72010900e-02 9.62842603e-01 -2.63935897e-01 2.06158286e+02] [-9.06090414e-01 6.09376592e-02 4.18672621e-01 -7.60911252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.040714057 meters Centerline goodness : 0.985062 Centerline is valid? [True, True] Translation: X:138.40, Y:206.11, Z:-76.13 [[ 4.20918560e-01 1.65551175e-01 8.91863428e-01 1.38401526e+02] [-5.69740337e-02 9.86088418e-01 -1.56152460e-01 2.06114902e+02] [-9.05307421e-01 1.49144115e-02 4.24495035e-01 -7.61316644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.0707140569999 meters Centerline goodness : 0.985121 Centerline is valid? [True, True] Translation: X:138.42, Y:206.12, Z:-76.16 [[ 4.23429358e-01 1.86705256e-01 8.86481092e-01 1.38422470e+02] [-5.11005950e-02 9.81896926e-01 -1.82392863e-01 2.06122550e+02] [-9.04486765e-01 3.19307818e-02 4.25304735e-01 -7.61551826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.1007140569999 meters Centerline goodness : 0.989505 Centerline is valid? [True, True] Translation: X:138.45, Y:206.12, Z:-76.18 [[ 4.31234079e-01 2.04485116e-01 8.78762202e-01 1.38447530e+02] [-5.07601127e-02 9.77934205e-01 -2.02652661e-01 2.06122185e+02] [-9.00811068e-01 4.27846652e-02 4.32098244e-01 -7.61815821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.130714057 meters Centerline goodness : 0.989254 Centerline is valid? [True, True] Translation: X:138.47, Y:206.13, Z:-76.21 [[ 4.35629672e-01 2.30626385e-01 8.70079456e-01 1.38471399e+02] [-4.70263350e-02 9.71130808e-01 -2.33866367e-01 2.06127040e+02] [-8.98896720e-01 6.09624808e-02 4.33898909e-01 -7.62068313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.160714057 meters Centerline goodness : 0.989624 Centerline is valid? [True, True] Translation: X:138.49, Y:206.12, Z:-76.24 [[ 4.36049741e-01 2.30356788e-01 8.69940443e-01 1.38485396e+02] [-4.53738280e-02 9.71081872e-01 -2.34395420e-01 2.06122666e+02] [-8.98777970e-01 6.27355341e-02 4.33892168e-01 -7.62369811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.1907140569999 meters Centerline goodness : 0.987799 Centerline is valid? [True, True] Translation: X:138.49, Y:206.10, Z:-76.27 [[ 4.28780571e-01 2.13613384e-01 8.77790718e-01 1.38491889e+02] [-4.83040740e-02 9.75674093e-01 -2.13838210e-01 2.06104648e+02] [-9.02116367e-01 4.92888020e-02 4.28668491e-01 -7.62652315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.2207140569999 meters Centerline goodness : 0.983536 Centerline is valid? [True, True] Translation: X:138.52, Y:206.13, Z:-76.28 [[ 4.31341236e-01 2.67290998e-01 8.61684548e-01 1.38520843e+02] [-4.20793227e-02 9.60025409e-01 -2.76731901e-01 2.06130819e+02] [-9.01207007e-01 8.31067779e-02 4.25345971e-01 -7.62788185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.250714057 meters Centerline goodness : 0.988535 Centerline is valid? [True, True] Translation: X:138.51, Y:206.09, Z:-76.32 [[ 4.34644283e-01 1.80060331e-01 8.82418622e-01 1.38508621e+02] [-4.23545675e-02 9.82812203e-01 -1.79683788e-01 2.06093044e+02] [-8.99605712e-01 4.07240720e-02 4.34800083e-01 -7.63188262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.280714057 meters Centerline goodness : 0.989461 Centerline is valid? [True, True] Translation: X:138.54, Y:206.11, Z:-76.34 [[ 4.37750674e-01 2.29980902e-01 8.69185327e-01 1.38542030e+02] [-4.40296025e-02 9.71055596e-01 -2.34760352e-01 2.06108805e+02] [-8.98017673e-01 6.44966181e-02 4.35206209e-01 -7.63418634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.3107140569999 meters Centerline goodness : 0.984170 Centerline is valid? [True, True] Translation: X:138.55, Y:206.11, Z:-76.36 [[ 4.33565533e-01 2.29251462e-01 8.71472717e-01 1.38547434e+02] [-4.36202829e-02 9.71302959e-01 -2.33811533e-01 2.06109267e+02] [-9.00065664e-01 6.33587356e-02 4.31123498e-01 -7.63626037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.3407140569999 meters Centerline goodness : 0.984417 Centerline is valid? [True, True] Translation: X:138.55, Y:206.10, Z:-76.39 [[ 4.29203195e-01 2.15782241e-01 8.77053386e-01 1.38553224e+02] [-4.21227414e-02 9.74768111e-01 -2.19209497e-01 2.06103768e+02] [-9.02225189e-01 5.71415238e-02 4.27462928e-01 -7.63908634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.370714057 meters Centerline goodness : 0.984448 Centerline is valid? [True, True] Translation: X:138.55, Y:206.08, Z:-76.42 [[ 4.27356050e-01 1.67280848e-01 8.88472805e-01 1.38546839e+02] [-4.42360878e-02 9.85425132e-01 -1.64257354e-01 2.06081690e+02] [-9.03000540e-01 3.08938130e-02 4.28527242e-01 -7.64219181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.400714057 meters Centerline goodness : 0.988057 Centerline is valid? [True, True] Translation: X:138.56, Y:206.07, Z:-76.45 [[ 4.28650912e-01 1.49820968e-01 8.90961320e-01 1.38557220e+02] [-4.65775771e-02 9.88507840e-01 -1.43815088e-01 2.06066674e+02] [-9.02268765e-01 2.01476490e-02 4.30703085e-01 -7.64497188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.4307140569999 meters Centerline goodness : 0.984129 Centerline is valid? [True, True] Translation: X:138.61, Y:206.12, Z:-76.46 [[ 4.33880174e-01 2.72650733e-01 8.58725551e-01 1.38613679e+02] [-4.19716374e-02 9.58193493e-01 -2.83025813e-01 2.06117261e+02] [-8.99992431e-01 8.67571715e-02 4.27184757e-01 -7.64598048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.4607140569999 meters Centerline goodness : 0.988312 Centerline is valid? [True, True] Translation: X:138.58, Y:206.05, Z:-76.51 [[ 4.27840805e-01 1.26649567e-01 8.94936944e-01 1.38575048e+02] [-4.06651161e-02 9.91828869e-01 -1.20920811e-01 2.06054409e+02] [-9.02938865e-01 1.53421421e-02 4.29495081e-01 -7.65068049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.490714057 meters Centerline goodness : 0.990145 Centerline is valid? [True, True] Translation: X:138.63, Y:206.11, Z:-76.52 [[ 4.35860399e-01 2.60277358e-01 8.61557548e-01 1.38633081e+02] [-3.62781657e-02 9.61573762e-01 -2.72139293e-01 2.06108093e+02] [-8.99282829e-01 8.73590136e-02 4.28554309e-01 -7.65213265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.520714057 meters Centerline goodness : 0.983689 Centerline is valid? [True, True] Translation: X:138.63, Y:206.10, Z:-76.55 [[ 4.23845241e-01 2.40138781e-01 8.73320432e-01 1.38627334e+02] [-3.09735496e-02 9.67491197e-01 -2.51000843e-01 2.06103071e+02] [-9.05204867e-01 7.93356792e-02 4.17504490e-01 -7.65466745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.5507140569999 meters Centerline goodness : 0.984411 Centerline is valid? [True, True] Translation: X:138.62, Y:206.08, Z:-76.58 [[ 4.21724936e-01 1.92297048e-01 8.86098146e-01 1.38621807e+02] [-3.01426526e-02 9.79685652e-01 -1.98261052e-01 2.06082846e+02] [-9.06222654e-01 5.69022810e-02 4.18954212e-01 -7.65774854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.5807140569999 meters Centerline goodness : 0.983597 Centerline is valid? [True, True] Translation: X:138.63, Y:206.08, Z:-76.61 [[ 4.19766935e-01 1.74512216e-01 8.90697034e-01 1.38627696e+02] [-2.96800379e-02 9.83456084e-01 -1.78698700e-01 2.06075697e+02] [-9.07146524e-01 4.85758839e-02 4.18001876e-01 -7.66060701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.610714057 meters Centerline goodness : 0.983570 Centerline is valid? [True, True] Translation: X:138.65, Y:206.08, Z:-76.63 [[ 4.23818995e-01 1.87537619e-01 8.86119124e-01 1.38646286e+02] [-3.15127811e-02 9.80790525e-01 -1.92501663e-01 2.06078137e+02] [-9.05198544e-01 5.36617832e-02 4.21587486e-01 -7.66285547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.640714057 meters Centerline goodness : 0.988871 Centerline is valid? [True, True] Translation: X:138.64, Y:206.05, Z:-76.66 [[ 4.18335495e-01 1.46496404e-01 8.96400701e-01 1.38644414e+02] [-3.55232344e-02 9.88791204e-01 -1.45017430e-01 2.06054014e+02] [-9.07597661e-01 2.88228862e-02 4.18850484e-01 -7.66611225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.6707140569999 meters Centerline goodness : 0.990754 Centerline is valid? [True, True] Translation: X:138.71, Y:206.11, Z:-76.67 [[ 4.31602827e-01 2.84673877e-01 8.55967163e-01 1.38705382e+02] [-3.19514726e-02 9.53127775e-01 -3.00876300e-01 2.06114122e+02] [-9.01497700e-01 1.02509650e-01 4.20468392e-01 -7.66701463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.7007140569999 meters Centerline goodness : 0.989392 Centerline is valid? [True, True] Translation: X:138.70, Y:206.08, Z:-76.72 [[ 4.22213798e-01 2.30756510e-01 8.76633870e-01 1.38695833e+02] [-3.81898281e-02 9.70726705e-01 -2.37131191e-01 2.06082046e+02] [-9.05691474e-01 6.66415641e-02 4.18666760e-01 -7.67155579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.7307140569999 meters Centerline goodness : 0.989223 Centerline is valid? [True, True] Translation: X:138.73, Y:206.10, Z:-76.74 [[ 4.27013544e-01 2.72824783e-01 8.62105604e-01 1.38729384e+02] [-3.91579827e-02 9.58082862e-01 -2.83802540e-01 2.06095217e+02] [-9.03396970e-01 8.74292119e-02 4.19797626e-01 -7.67353765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.760714057 meters Centerline goodness : 0.988987 Centerline is valid? [True, True] Translation: X:138.74, Y:206.09, Z:-76.76 [[ 4.24881809e-01 2.60686961e-01 8.66901238e-01 1.38739160e+02] [-3.77915970e-02 9.61911703e-01 -2.70735426e-01 2.06088963e+02] [-9.04459642e-01 8.22689754e-02 4.18550561e-01 -7.67635812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.790714057 meters Centerline goodness : 0.989642 Centerline is valid? [True, True] Translation: X:138.76, Y:206.09, Z:-76.79 [[ 4.32030979e-01 2.80767507e-01 8.57040746e-01 1.38759432e+02] [-3.97800183e-02 9.55312593e-01 -2.92908518e-01 2.06094447e+02] [-9.00981012e-01 9.24524569e-02 4.23893571e-01 -7.67916395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.8207140569999 meters Centerline goodness : 0.985105 Centerline is valid? [True, True] Translation: X:138.76, Y:206.10, Z:-76.81 [[ 4.27812156e-01 2.72600075e-01 8.61780690e-01 1.38761250e+02] [-3.62997054e-02 9.57849307e-01 -2.84968485e-01 2.06095432e+02] [-9.03138467e-01 9.06305967e-02 4.19674880e-01 -7.68134552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.8507140569999 meters Centerline goodness : 0.990331 Centerline is valid? [True, True] Translation: X:138.73, Y:206.06, Z:-76.85 [[ 4.13504247e-01 1.82586667e-01 8.92006921e-01 1.38734190e+02] [-3.58513394e-02 9.82192052e-01 -1.84427371e-01 2.06055398e+02] [-9.09796087e-01 4.42818583e-02 4.12686561e-01 -7.68543591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.880714057 meters Centerline goodness : 0.991152 Centerline is valid? [True, True] Translation: X:138.78, Y:206.09, Z:-76.87 [[ 4.28001037e-01 2.75232823e-01 8.60849583e-01 1.38781764e+02] [-3.57521654e-02 9.56911454e-01 -2.88170526e-01 2.06090730e+02] [-9.03070814e-01 9.25600473e-02 4.19399264e-01 -7.68701680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.910714057 meters Centerline goodness : 0.991771 Centerline is valid? [True, True] Translation: X:138.78, Y:206.08, Z:-76.91 [[ 4.25749679e-01 2.39074808e-01 8.72685767e-01 1.38779583e+02] [-3.47021159e-02 9.68067770e-01 -2.48275163e-01 2.06075356e+02] [-9.04175301e-01 7.54190284e-02 4.20450944e-01 -7.69053074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.9407140569999 meters Centerline goodness : 0.985013 Centerline is valid? [True, True] Translation: X:138.78, Y:206.08, Z:-76.93 [[ 4.19085777e-01 2.41860725e-01 8.75140275e-01 1.38783658e+02] [-3.30269269e-02 9.67290461e-01 -2.51512201e-01 2.06078073e+02] [-9.07345763e-01 7.65019922e-02 4.13365590e-01 -7.69256872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.9707140569999 meters Centerline goodness : 0.991883 Centerline is valid? [True, True] Translation: X:138.78, Y:206.05, Z:-76.96 [[ 4.23160772e-01 1.87389665e-01 8.86464931e-01 1.38781281e+02] [-3.30799014e-02 9.80922109e-01 -1.91566009e-01 2.06054107e+02] [-9.05450541e-01 5.17390478e-02 4.21286589e-01 -7.69631073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.000714057 meters Centerline goodness : 0.985079 Centerline is valid? [True, True] Translation: X:138.81, Y:206.07, Z:-76.98 [[ 4.23594638e-01 2.36074489e-01 8.74549266e-01 1.38808789e+02] [-3.23533291e-02 9.68770856e-01 -2.45837937e-01 2.06073541e+02] [-9.05273906e-01 7.58410518e-02 4.18003935e-01 -7.69796792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.030714057 meters Centerline goodness : 0.984893 Centerline is valid? [True, True] Translation: X:138.82, Y:206.07, Z:-77.00 [[ 4.18172531e-01 2.36072085e-01 8.77155462e-01 1.38817953e+02] [-3.41738335e-02 9.69044248e-01 -2.44510519e-01 2.06070312e+02] [-9.07724564e-01 7.22718179e-02 4.13295174e-01 -7.70042862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.0607140569999 meters Centerline goodness : 0.991286 Centerline is valid? [True, True] Translation: X:138.80, Y:206.03, Z:-77.04 [[ 4.15378455e-01 1.45079522e-01 8.98004828e-01 1.38796732e+02] [-3.90297436e-02 9.89132977e-01 -1.41748486e-01 2.06032197e+02] [-9.08810992e-01 2.38303688e-02 4.16526944e-01 -7.70444217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.0907140569999 meters Centerline goodness : 0.991476 Centerline is valid? [True, True] Translation: X:138.86, Y:206.06, Z:-77.06 [[ 4.24011769e-01 2.40406406e-01 8.73165952e-01 1.38855250e+02] [-4.07638863e-02 9.68213641e-01 -2.46780573e-01 2.06062944e+02] [-9.04738816e-01 6.90442297e-02 4.20333878e-01 -7.70604348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.120714057 meters Centerline goodness : 0.992424 Centerline is valid? [True, True] Translation: X:138.88, Y:206.07, Z:-77.09 [[ 4.22866845e-01 2.60562191e-01 8.67923370e-01 1.38876611e+02] [-4.30935678e-02 9.62468564e-01 -2.67950011e-01 2.06067909e+02] [-9.05166601e-01 7.59052612e-02 4.18224599e-01 -7.70864202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.150714057 meters Centerline goodness : 0.991219 Centerline is valid? [True, True] Translation: X:138.90, Y:206.08, Z:-77.11 [[ 4.24975681e-01 2.93029665e-01 8.56463243e-01 1.38903256e+02] [-5.30069569e-02 9.52586469e-01 -2.99615224e-01 2.06078298e+02] [-9.03651445e-01 8.19306737e-02 4.20358694e-01 -7.71102129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.1807140569999 meters Centerline goodness : 0.992021 Centerline is valid? [True, True] Translation: X:138.89, Y:206.06, Z:-77.15 [[ 4.13681851e-01 2.50858310e-01 8.75178516e-01 1.38891586e+02] [-5.13139336e-02 9.66185841e-01 -2.52689138e-01 2.06063131e+02] [-9.08974261e-01 5.96240578e-02 4.12566073e-01 -7.71462108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.2107140569999 meters Centerline goodness : 0.992021 Centerline is valid? [True, True] Translation: X:138.91, Y:206.06, Z:-77.17 [[ 4.13751045e-01 2.65239526e-01 8.70894980e-01 1.38910390e+02] [-5.15160976e-02 9.61905867e-01 -2.68483138e-01 2.06064341e+02] [-9.08931331e-01 6.62200681e-02 4.11653662e-01 -7.71746901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.240714057 meters Centerline goodness : 0.991542 Centerline is valid? [True, True] Translation: X:138.92, Y:206.06, Z:-77.20 [[ 4.14584910e-01 2.56178357e-01 8.73207880e-01 1.38922242e+02] [-5.40656247e-02 9.64796874e-01 -2.57378902e-01 2.06059177e+02] [-9.08403138e-01 5.94948796e-02 4.13840669e-01 -7.71994310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.270714057 meters Centerline goodness : 0.990234 Centerline is valid? [True, True] Translation: X:138.94, Y:206.07, Z:-77.23 [[ 4.07258429e-01 3.01606218e-01 8.62075554e-01 1.38941581e+02] [-6.18929795e-02 9.50843572e-01 -3.03423401e-01 2.06071470e+02] [-9.11213384e-01 7.02153128e-02 4.05906367e-01 -7.72272542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.3007140569999 meters Centerline goodness : 0.990939 Centerline is valid? [True, True] Translation: X:138.94, Y:206.06, Z:-77.26 [[ 4.04233338e-01 2.60373781e-01 8.76812923e-01 1.38936379e+02] [-6.07193757e-02 9.64150437e-01 -2.58315877e-01 2.06056462e+02] [-9.12638245e-01 5.11803558e-02 4.05551483e-01 -7.72583627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.3307140569999 meters Centerline goodness : 0.991051 Centerline is valid? [True, True] Translation: X:138.95, Y:206.06, Z:-77.28 [[ 4.05457014e-01 2.79566346e-01 8.70314465e-01 1.38952302e+02] [-6.41195744e-02 9.58438045e-01 -2.78002148e-01 2.06060308e+02] [-9.11862539e-01 5.69137277e-02 4.06531103e-01 -7.72846219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.360714057 meters Centerline goodness : 0.991578 Centerline is valid? [True, True] Translation: X:138.96, Y:206.06, Z:-77.32 [[ 4.06294114e-01 2.71113993e-01 8.72595150e-01 1.38963021e+02] [-6.25214496e-02 9.60978866e-01 -2.69463703e-01 2.06055270e+02] [-9.11600878e-01 5.49256029e-02 4.07390497e-01 -7.73175928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.390714057 meters Centerline goodness : 0.991442 Centerline is valid? [True, True] Translation: X:138.98, Y:206.06, Z:-77.34 [[ 4.09485350e-01 2.78118722e-01 8.68891089e-01 1.38981566e+02] [-6.34123086e-02 9.58773953e-01 -2.77004308e-01 2.06055025e+02] [-9.10110228e-01 5.83308160e-02 4.10240038e-01 -7.73423833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.4207140569999 meters Centerline goodness : 0.992810 Centerline is valid? [True, True] Translation: X:139.00, Y:206.07, Z:-77.36 [[ 4.04751431e-01 3.12022946e-01 8.59545205e-01 1.38995890e+02] [-6.11559716e-02 9.47114716e-01 -3.15013748e-01 2.06074020e+02] [-9.12379431e-01 7.49359434e-02 4.02428103e-01 -7.73629000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.4507140569999 meters Centerline goodness : 0.992693 Centerline is valid? [True, True] Translation: X:138.97, Y:206.05, Z:-77.41 [[ 4.01814137e-01 2.38049800e-01 8.84238481e-01 1.38973735e+02] [-6.11007397e-02 9.70437466e-01 -2.33490521e-01 2.06046534e+02] [-9.13680523e-01 3.97921670e-02 4.04480512e-01 -7.74057139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.4807140569999 meters Centerline goodness : 0.992469 Centerline is valid? [True, True] Translation: X:138.99, Y:206.04, Z:-77.44 [[ 4.02236927e-01 2.39202670e-01 8.83734993e-01 1.38986643e+02] [-6.27814877e-02 9.70199966e-01 -2.34031006e-01 2.06043155e+02] [-9.13380501e-01 3.86537150e-02 4.05267752e-01 -7.74360053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.510714057 meters Centerline goodness : 0.992669 Centerline is valid? [True, True] Translation: X:139.00, Y:206.04, Z:-77.47 [[ 4.01115335e-01 2.40889039e-01 8.83786716e-01 1.38999528e+02] [-6.52888274e-02 9.69868028e-01 -2.34719784e-01 2.06039930e+02] [-9.13697903e-01 3.64483064e-02 4.04756301e-01 -7.74665854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.540714057 meters Centerline goodness : 0.993149 Centerline is valid? [True, True] Translation: X:139.01, Y:206.04, Z:-77.49 [[ 4.00714630e-01 2.41818855e-01 8.83714562e-01 1.39010747e+02] [-6.60799649e-02 9.69656280e-01 -2.35372338e-01 2.06037585e+02] [-9.13816844e-01 3.59213121e-02 4.04534838e-01 -7.74928935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.5707140569999 meters Centerline goodness : 0.992395 Centerline is valid? [True, True] Translation: X:139.02, Y:206.03, Z:-77.52 [[ 4.00355730e-01 2.42278904e-01 8.83751222e-01 1.39023874e+02] [-6.74492267e-02 9.69590283e-01 -2.35255785e-01 2.06033880e+02] [-9.13874111e-01 3.45776650e-02 4.04522551e-01 -7.75231646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.6007140569999 meters Centerline goodness : 0.993027 Centerline is valid? [True, True] Translation: X:139.04, Y:206.03, Z:-77.55 [[ 3.99804537e-01 2.43375449e-01 8.83699453e-01 1.39036714e+02] [-6.86357434e-02 9.69347750e-01 -2.35911159e-01 2.06030130e+02] [-9.14027060e-01 3.36649830e-02 4.04253883e-01 -7.75533619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.630714057 meters Centerline goodness : 0.992840 Centerline is valid? [True, True] Translation: X:139.05, Y:206.03, Z:-77.58 [[ 3.99028635e-01 2.44518006e-01 8.83734742e-01 1.39049558e+02] [-6.98463803e-02 9.69093758e-01 -2.36598334e-01 2.06026337e+02] [-9.14274375e-01 3.26838375e-02 4.03774857e-01 -7.75836811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.660714057 meters Centerline goodness : 0.986494 Centerline is valid? [True, True] Translation: X:139.05, Y:206.02, Z:-77.61 [[ 3.91993099e-01 2.32729286e-01 8.90044094e-01 1.39049560e+02] [-6.55190543e-02 9.72078417e-01 -2.25323778e-01 2.06023375e+02] [-9.17632096e-01 3.00105190e-02 3.96296234e-01 -7.76104503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.6907140569999 meters Centerline goodness : 0.992734 Centerline is valid? [True, True] Translation: X:139.07, Y:206.02, Z:-77.64 [[ 3.96792031e-01 2.37499607e-01 8.86651014e-01 1.39067101e+02] [-6.92695204e-02 9.70940243e-01 -2.29078103e-01 2.06017741e+02] [-9.15291111e-01 2.94784754e-02 4.01712835e-01 -7.76359435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.7207140569999 meters Centerline goodness : 0.986813 Centerline is valid? [True, True] Translation: X:139.07, Y:206.02, Z:-77.66 [[ 3.89952131e-01 2.29571012e-01 8.91759209e-01 1.39069358e+02] [-6.37999011e-02 9.72832928e-01 -2.22543631e-01 2.06016423e+02] [-9.18622288e-01 2.98872136e-02 3.94004881e-01 -7.76623741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.750714057 meters Centerline goodness : 0.990817 Centerline is valid? [True, True] Translation: X:139.10, Y:206.02, Z:-77.69 [[ 3.92987096e-01 2.63985951e-01 8.80836285e-01 1.39104076e+02] [-6.42199118e-02 9.63445845e-01 -2.60092113e-01 2.06019731e+02] [-9.17298722e-01 4.56456155e-02 3.95574939e-01 -7.76918232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.780714057 meters Centerline goodness : 0.992337 Centerline is valid? [True, True] Translation: X:139.13, Y:206.04, Z:-77.69 [[ 4.09237266e-01 2.78173814e-01 8.68990327e-01 1.39133452e+02] [-5.61009117e-02 9.58262588e-01 -2.80331055e-01 2.06036667e+02] [-9.10701679e-01 6.59707652e-02 4.07762567e-01 -7.76915642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.8107140569999 meters Centerline goodness : 0.991497 Centerline is valid? [True, True] Translation: X:139.12, Y:206.00, Z:-77.74 [[ 3.98192666e-01 2.29949646e-01 8.88012253e-01 1.39117320e+02] [-6.20353508e-02 9.72604162e-01 -2.24037405e-01 2.06002647e+02] [-9.15201735e-01 3.41218999e-02 4.01548851e-01 -7.77431620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.8407140569999 meters Centerline goodness : 0.991186 Centerline is valid? [True, True] Translation: X:139.15, Y:206.01, Z:-77.76 [[ 4.05322892e-01 2.53055076e-01 8.78451184e-01 1.39148626e+02] [-6.08871753e-02 9.66262936e-01 -2.50257247e-01 2.06007783e+02] [-9.12143687e-01 4.79485799e-02 4.07056296e-01 -7.77550519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.870714057 meters Centerline goodness : 0.991113 Centerline is valid? [True, True] Translation: X:139.16, Y:206.01, Z:-77.79 [[ 4.02610120e-01 2.69624339e-01 8.74761572e-01 1.39160315e+02] [-5.92559768e-02 9.61307917e-01 -2.69027542e-01 2.06007536e+02] [-9.13451597e-01 5.64783596e-02 4.03009149e-01 -7.77902635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.900714057 meters Centerline goodness : 0.990601 Centerline is valid? [True, True] Translation: X:139.17, Y:206.00, Z:-77.82 [[ 4.00678355e-01 2.72856097e-01 8.74646446e-01 1.39171965e+02] [-5.91752965e-02 9.60339800e-01 -2.72480738e-01 2.06004742e+02] [-9.14305824e-01 5.74196710e-02 4.00933712e-01 -7.78181581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.9307140569999 meters Centerline goodness : 0.990591 Centerline is valid? [True, True] Translation: X:139.18, Y:206.00, Z:-77.85 [[ 4.00243960e-01 2.73031410e-01 8.74790616e-01 1.39180342e+02] [-5.82391587e-02 9.60234452e-01 -2.73053105e-01 2.06001586e+02] [-9.14556162e-01 5.83407868e-02 4.00229159e-01 -7.78509199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.9607140569999 meters Centerline goodness : 0.990758 Centerline is valid? [True, True] Translation: X:139.20, Y:206.00, Z:-77.88 [[ 3.97476972e-01 2.91031330e-01 8.70237222e-01 1.39195201e+02] [-5.75876899e-02 9.54413622e-01 -2.92879320e-01 2.06003695e+02] [-9.15803317e-01 6.62978338e-02 3.96117258e-01 -7.78836069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.990714057 meters Centerline goodness : 0.992639 Centerline is valid? [True, True] Translation: X:139.19, Y:205.99, Z:-77.90 [[ 4.07527276e-01 2.32506350e-01 8.83098136e-01 1.39194587e+02] [-4.72853973e-02 9.71119738e-01 -2.33860098e-01 2.05993534e+02] [-9.11967988e-01 5.35467224e-02 4.06751936e-01 -7.78961136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.020714057 meters Centerline goodness : 0.992665 Centerline is valid? [True, True] Translation: X:139.19, Y:205.98, Z:-77.92 [[ 4.05131492e-01 1.97364766e-01 8.92701307e-01 1.39189125e+02] [-4.75451492e-02 9.79648114e-01 -1.95010338e-01 2.05978063e+02] [-9.13021322e-01 3.65612123e-02 4.06270039e-01 -7.79244164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.0507140569999 meters Centerline goodness : 0.990364 Centerline is valid? [True, True] Translation: X:139.20, Y:205.97, Z:-77.97 [[ 3.90556973e-01 2.42624107e-01 8.88030852e-01 1.39203460e+02] [-5.70486683e-02 9.69168866e-01 -2.39702229e-01 2.05974255e+02] [-9.18809393e-01 4.29563995e-02 3.92357041e-01 -7.79747884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.0807140569999 meters Centerline goodness : 0.991301 Centerline is valid? [True, True] Translation: X:139.23, Y:205.99, Z:-77.97 [[ 4.08908212e-01 2.48784897e-01 8.78009197e-01 1.39234586e+02] [-4.62334741e-02 9.66534364e-01 -2.52336657e-01 2.05990201e+02] [-9.11403610e-01 6.25891156e-02 4.06726028e-01 -7.79718696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.110714057 meters Centerline goodness : 0.986589 Centerline is valid? [True, True] Translation: X:139.21, Y:205.97, Z:-78.00 [[ 4.00767782e-01 1.84564905e-01 8.97396780e-01 1.39213127e+02] [-4.19974484e-02 9.82169909e-01 -1.83244330e-01 2.05966838e+02] [-9.15216586e-01 3.57500489e-02 4.01373311e-01 -7.80018565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.140714057 meters Centerline goodness : 0.985549 Centerline is valid? [True, True] Translation: X:139.21, Y:205.95, Z:-78.04 [[ 3.99865589e-01 1.42259801e-01 9.05466543e-01 1.39210192e+02] [-3.94582602e-02 9.89637712e-01 -1.38058843e-01 2.05948421e+02] [-9.15724061e-01 1.94768462e-02 4.01335391e-01 -7.80354359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.1707140569999 meters Centerline goodness : 0.992335 Centerline is valid? [True, True] Translation: X:139.24, Y:205.95, Z:-78.06 [[ 4.06131849e-01 1.61885094e-01 8.99360961e-01 1.39235852e+02] [-3.88258319e-02 9.86351457e-01 -1.60010494e-01 2.05951672e+02] [-9.12989308e-01 3.00669204e-02 4.06874065e-01 -7.80615186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.2007140569999 meters Centerline goodness : 0.991784 Centerline is valid? [True, True] Translation: X:139.26, Y:205.96, Z:-78.09 [[ 4.06910240e-01 1.94343204e-01 8.92555195e-01 1.39261269e+02] [-3.68617065e-02 9.79803563e-01 -1.96535473e-01 2.05961003e+02] [-9.12724094e-01 4.70711888e-02 4.05855925e-01 -7.80865838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.2307140569999 meters Centerline goodness : 0.986080 Centerline is valid? [True, True] Translation: X:139.26, Y:205.96, Z:-78.11 [[ 4.01062863e-01 1.89056955e-01 8.96329207e-01 1.39263288e+02] [-3.38458891e-02 9.80861503e-01 -1.91742452e-01 2.05959462e+02] [-9.15425057e-01 4.65637178e-02 3.99785923e-01 -7.81101387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.260714057 meters Centerline goodness : 0.985193 Centerline is valid? [True, True] Translation: X:139.26, Y:205.94, Z:-78.14 [[ 3.99626147e-01 1.53379694e-01 9.03755283e-01 1.39260773e+02] [-3.18672035e-02 9.87631029e-01 -1.53523393e-01 2.05942800e+02] [-9.16124132e-01 3.25518084e-02 3.99570964e-01 -7.81419293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.290714057 meters Centerline goodness : 0.990336 Centerline is valid? [True, True] Translation: X:139.29, Y:205.95, Z:-78.17 [[ 4.01682485e-01 1.89096194e-01 8.96043420e-01 1.39288596e+02] [-3.33065304e-02 9.80818642e-01 -1.92055897e-01 2.05945997e+02] [-9.15173129e-01 4.73013926e-02 4.00275808e-01 -7.81738306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.3207140569999 meters Centerline goodness : 0.990359 Centerline is valid? [True, True] Translation: X:139.32, Y:205.96, Z:-78.18 [[ 4.05413400e-01 2.26579417e-01 8.85608120e-01 1.39319413e+02] [-2.96441024e-02 9.71544333e-01 -2.34995397e-01 2.05962088e+02] [-9.13652671e-01 6.90172253e-02 4.00593835e-01 -7.81809925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.3507140569999 meters Centerline goodness : 0.990767 Centerline is valid? [True, True] Translation: X:139.32, Y:205.94, Z:-78.21 [[ 4.05093416e-01 1.82414385e-01 8.95893027e-01 1.39316051e+02] [-2.64865632e-02 9.81824336e-01 -1.87934659e-01 2.05944828e+02] [-9.13891561e-01 5.24019657e-02 4.02562105e-01 -7.82109788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.380714057 meters Centerline goodness : 0.985888 Centerline is valid? [True, True] Translation: X:139.33, Y:205.95, Z:-78.24 [[ 4.08943079e-01 1.87356326e-01 8.93119906e-01 1.39328388e+02] [-1.95344904e-02 9.80270302e-01 -1.96694023e-01 2.05953225e+02] [-9.12350789e-01 6.29900171e-02 4.04534666e-01 -7.82352084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.410714057 meters Centerline goodness : 0.992049 Centerline is valid? [True, True] Translation: X:139.33, Y:205.93, Z:-78.27 [[ 4.09848421e-01 1.48532001e-01 8.99979175e-01 1.39328183e+02] [-2.05641713e-02 9.87906871e-01 -1.53678657e-01 2.05933205e+02] [-9.11921809e-01 4.44776290e-02 4.07946509e-01 -7.82654433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.4407140569999 meters Centerline goodness : 0.991140 Centerline is valid? [True, True] Translation: X:139.36, Y:205.95, Z:-78.28 [[ 4.09162877e-01 2.03413151e-01 8.89499202e-01 1.39359586e+02] [-2.15942449e-02 9.76720553e-01 -2.13425983e-01 2.05951985e+02] [-9.12205804e-01 6.81179258e-02 4.04030345e-01 -7.82822939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.4707140569999 meters Centerline goodness : 0.986274 Centerline is valid? [True, True] Translation: X:139.36, Y:205.95, Z:-78.31 [[ 4.10981675e-01 1.93865765e-01 8.90791854e-01 1.39363804e+02] [-1.87009623e-02 9.78714513e-01 -2.04372643e-01 2.05951720e+02] [-9.11451774e-01 6.73347461e-02 4.05859206e-01 -7.83121208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.500714057 meters Centerline goodness : 0.991571 Centerline is valid? [True, True] Translation: X:139.36, Y:205.93, Z:-78.34 [[ 4.10280284e-01 1.54253108e-01 8.98819263e-01 1.39360638e+02] [-2.48685297e-02 9.87117113e-01 -1.58054930e-01 2.05929631e+02] [-9.11620340e-01 4.24945080e-02 4.08830737e-01 -7.83396604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.530714057 meters Centerline goodness : 0.992319 Centerline is valid? [True, True] Translation: X:139.38, Y:205.94, Z:-78.36 [[ 4.09400118e-01 1.96882586e-01 8.90858457e-01 1.39383063e+02] [-2.60181000e-02 9.78560772e-01 -2.04308283e-01 2.05944786e+02] [-9.11983883e-01 6.04653907e-02 4.05745406e-01 -7.83634858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.5607140569999 meters Centerline goodness : 0.985769 Centerline is valid? [True, True] Translation: X:139.39, Y:205.94, Z:-78.39 [[ 4.07106234e-01 1.84756240e-01 8.94499663e-01 1.39385776e+02] [-2.58700645e-02 9.81267771e-01 -1.90903906e-01 2.05940810e+02] [-9.13014378e-01 5.45774063e-02 4.04259882e-01 -7.83883053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.5907140569999 meters Centerline goodness : 0.993320 Centerline is valid? [True, True] Translation: X:139.38, Y:205.92, Z:-78.42 [[ 4.05699659e-01 1.37699840e-01 9.03574314e-01 1.39382712e+02] [-2.72959822e-02 9.89970743e-01 -1.38610450e-01 2.05918388e+02] [-9.13598772e-01 3.15702639e-02 4.05389446e-01 -7.84223875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.620714057 meters Centerline goodness : 0.992836 Centerline is valid? [True, True] Translation: X:139.41, Y:205.93, Z:-78.45 [[ 4.07446464e-01 1.77610514e-01 8.95791206e-01 1.39411450e+02] [-2.87993062e-02 9.82916340e-01 -1.81785778e-01 2.05931015e+02] [-9.12774879e-01 4.82698072e-02 4.05600847e-01 -7.84473934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.650714057 meters Centerline goodness : 0.992522 Centerline is valid? [True, True] Translation: X:139.42, Y:205.93, Z:-78.48 [[ 4.07446028e-01 1.78761236e-01 8.95562480e-01 1.39424599e+02] [-3.02723582e-02 9.82759446e-01 -1.82393685e-01 2.05928699e+02] [-9.12727407e-01 4.72047943e-02 4.05832956e-01 -7.84772790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.6807140569999 meters Centerline goodness : 0.993327 Centerline is valid? [True, True] Translation: X:139.44, Y:205.93, Z:-78.51 [[ 4.07528064e-01 1.79715155e-01 8.95334206e-01 1.39437437e+02] [-3.12646246e-02 9.82614942e-01 -1.83003825e-01 2.05925878e+02] [-9.12657329e-01 4.65869066e-02 4.06061891e-01 -7.85060328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.7107140569999 meters Centerline goodness : 0.992835 Centerline is valid? [True, True] Translation: X:139.44, Y:205.91, Z:-78.53 [[ 4.12242492e-01 1.38555476e-01 9.00476823e-01 1.39444490e+02] [-2.87783759e-02 9.89855423e-01 -1.39133198e-01 2.05907942e+02] [-9.10619533e-01 3.14423558e-02 4.12047867e-01 -7.85331362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.740714057 meters Centerline goodness : 0.992395 Centerline is valid? [True, True] Translation: X:139.48, Y:205.94, Z:-78.55 [[ 4.11377790e-01 2.24407156e-01 8.83408027e-01 1.39479275e+02] [-3.07453030e-02 9.72082696e-01 -2.32615475e-01 2.05938856e+02] [-9.10946234e-01 6.85321926e-02 4.06792697e-01 -7.85509837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.770714057 meters Centerline goodness : 0.992186 Centerline is valid? [True, True] Translation: X:139.47, Y:205.92, Z:-78.59 [[ 4.09450734e-01 1.78790688e-01 8.94641820e-01 1.39473164e+02] [-3.02517278e-02 9.82731116e-01 -1.82549682e-01 2.05918859e+02] [-9.11830538e-01 4.76806405e-02 4.07788704e-01 -7.85867887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.8007140569999 meters Centerline goodness : 0.990686 Centerline is valid? [True, True] Translation: X:139.49, Y:205.92, Z:-78.62 [[ 4.10241341e-01 1.78792946e-01 8.94279109e-01 1.39485873e+02] [-2.91916592e-02 9.82665879e-01 -1.83072713e-01 2.05916522e+02] [-9.11509676e-01 4.89985042e-02 4.08349431e-01 -7.86156067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.8307140569999 meters Centerline goodness : 0.991006 Centerline is valid? [True, True] Translation: X:139.50, Y:205.91, Z:-78.64 [[ 4.10914638e-01 1.77862686e-01 8.94155482e-01 1.39497098e+02] [-2.59197892e-02 9.82667179e-01 -1.83557565e-01 2.05913135e+02] [-9.11305286e-01 5.22501688e-02 4.08402492e-01 -7.86408099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.860714057 meters Centerline goodness : 0.990880 Centerline is valid? [True, True] Translation: X:139.51, Y:205.91, Z:-78.67 [[ 4.11206147e-01 1.76918052e-01 8.94208873e-01 1.39508453e+02] [-2.40552885e-02 9.82748925e-01 -1.83373647e-01 2.05910215e+02] [-9.11224916e-01 5.38939186e-02 4.08368213e-01 -7.86668481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.890714057 meters Centerline goodness : 0.984644 Centerline is valid? [True, True] Translation: X:139.51, Y:205.91, Z:-78.69 [[ 3.93946853e-01 1.76335948e-01 9.02059594e-01 1.39505860e+02] [-2.10454548e-02 9.82897440e-01 -1.82947294e-01 2.05909492e+02] [-9.18892249e-01 5.30872562e-02 3.90920423e-01 -7.86892158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.9207140569999 meters Centerline goodness : 0.990641 Centerline is valid? [True, True] Translation: X:139.51, Y:205.88, Z:-78.73 [[ 4.08288091e-01 1.13658972e-01 9.05749674e-01 1.39508363e+02] [-1.97043685e-02 9.93084538e-01 -1.15736071e-01 2.05880553e+02] [-9.12640440e-01 2.94064342e-02 4.07704169e-01 -7.87273523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.9507140569999 meters Centerline goodness : 0.991214 Centerline is valid? [True, True] Translation: X:139.55, Y:205.90, Z:-78.75 [[ 4.12634244e-01 1.73935410e-01 8.94136150e-01 1.39545293e+02] [-1.93459020e-02 9.83051844e-01 -1.82304164e-01 2.05901280e+02] [-9.10691340e-01 5.79270706e-02 4.09005792e-01 -7.87496951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.9807140569999 meters Centerline goodness : 0.990146 Centerline is valid? [True, True] Translation: X:139.56, Y:205.90, Z:-78.78 [[ 4.14270358e-01 1.73694171e-01 8.93426217e-01 1.39558081e+02] [-1.78959453e-02 9.82985808e-01 -1.82807648e-01 2.05898156e+02] [-9.09977915e-01 5.97430831e-02 4.10330304e-01 -7.87785764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.010714057 meters Centerline goodness : 0.987206 Centerline is valid? [True, True] Translation: X:139.55, Y:205.87, Z:-78.80 [[ 4.05537043e-01 1.14921361e-01 9.06825666e-01 1.39552886e+02] [-1.88640782e-02 9.92906216e-01 -1.17394175e-01 2.05870001e+02] [-9.13883939e-01 3.05012563e-02 4.04828136e-01 -7.88040643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.040714057 meters Centerline goodness : 0.984950 Centerline is valid? [True, True] Translation: X:139.58, Y:205.90, Z:-78.82 [[ 4.06179883e-01 1.81387008e-01 8.95609656e-01 1.39583961e+02] [-1.32924780e-02 9.81170223e-01 -1.92687063e-01 2.05900307e+02] [-9.13696455e-01 6.63607371e-02 4.00942689e-01 -7.88211640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.0707140569999 meters Centerline goodness : 0.990774 Centerline is valid? [True, True] Translation: X:139.59, Y:205.87, Z:-78.86 [[ 4.20852240e-01 1.13069415e-01 9.00054831e-01 1.39585162e+02] [-1.39193601e-02 9.92889474e-01 -1.18223284e-01 2.05868806e+02] [-9.07022405e-01 3.72263466e-02 4.19433613e-01 -7.88591491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.1007140569999 meters Centerline goodness : 0.990595 Centerline is valid? [True, True] Translation: X:139.62, Y:205.89, Z:-78.88 [[ 4.24020888e-01 1.65211201e-01 8.90455808e-01 1.39618589e+02] [-1.41988678e-02 9.84312137e-01 -1.75863611e-01 2.05886546e+02] [-9.05541097e-01 6.19263805e-02 4.19714719e-01 -7.88811193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.130714057 meters Centerline goodness : 0.990595 Centerline is valid? [True, True] Translation: X:139.63, Y:205.88, Z:-78.91 [[ 4.24058476e-01 1.65518868e-01 8.90380769e-01 1.39630430e+02] [-1.41201170e-02 9.84245400e-01 -1.76243057e-01 2.05884459e+02] [-9.05524727e-01 6.21650817e-02 4.19714750e-01 -7.89069268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.160714057 meters Centerline goodness : 0.990637 Centerline is valid? [True, True] Translation: X:139.64, Y:205.88, Z:-78.93 [[ 4.23699801e-01 1.65383259e-01 8.90576699e-01 1.39642070e+02] [-1.40612923e-02 9.84273060e-01 -1.76093221e-01 2.05882006e+02] [-9.05693524e-01 6.20880035e-02 4.19361802e-01 -7.89323023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.1907140569999 meters Centerline goodness : 0.990900 Centerline is valid? [True, True] Translation: X:139.66, Y:205.88, Z:-78.96 [[ 4.23298893e-01 1.66073437e-01 8.90638906e-01 1.39656748e+02] [-1.61086834e-02 9.84280122e-01 -1.75878230e-01 2.05879501e+02] [-9.05846873e-01 6.01020400e-02 4.19319910e-01 -7.89617110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.2207140569999 meters Centerline goodness : 0.989590 Centerline is valid? [True, True] Translation: X:139.67, Y:205.88, Z:-78.99 [[ 4.23281752e-01 1.67530359e-01 8.90374156e-01 1.39670803e+02] [-1.83413837e-02 9.84138117e-01 -1.76453279e-01 2.05877433e+02] [-9.05812426e-01 5.83587591e-02 4.19640446e-01 -7.89912746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.250714057 meters Centerline goodness : 0.990312 Centerline is valid? [True, True] Translation: X:139.68, Y:205.88, Z:-79.02 [[ 4.22876718e-01 1.69215786e-01 8.90247887e-01 1.39684549e+02] [-2.09938966e-02 9.83976286e-01 -1.77059101e-01 2.05875342e+02] [-9.05944004e-01 5.61843992e-02 4.19653161e-01 -7.90197569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.280714057 meters Centerline goodness : 0.990256 Centerline is valid? [True, True] Translation: X:139.70, Y:205.87, Z:-79.05 [[ 4.22620631e-01 1.70808683e-01 8.90065276e-01 1.39697982e+02] [-2.39900032e-02 9.83843795e-01 -1.77414395e-01 2.05873407e+02] [-9.05989118e-01 5.36263149e-02 4.19890386e-01 -7.90497213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.3107140569999 meters Centerline goodness : 0.990895 Centerline is valid? [True, True] Translation: X:139.71, Y:205.87, Z:-79.08 [[ 4.22579940e-01 1.73930610e-01 8.89479813e-01 1.39712508e+02] [-3.03332588e-02 9.83577384e-01 -1.77919707e-01 2.05871877e+02] [-9.05817911e-01 4.82044779e-02 4.20915955e-01 -7.90794352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.3407140569999 meters Centerline goodness : 0.991065 Centerline is valid? [True, True] Translation: X:139.73, Y:205.87, Z:-79.11 [[ 4.22213302e-01 1.76057201e-01 8.89235509e-01 1.39726467e+02] [-3.41027600e-02 9.83349049e-01 -1.78498317e-01 2.05869929e+02] [-9.05854806e-01 4.50389787e-02 4.21187085e-01 -7.91097356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.370714057 meters Centerline goodness : 0.991335 Centerline is valid? [True, True] Translation: X:139.74, Y:205.87, Z:-79.14 [[ 4.21664366e-01 1.78188816e-01 8.89071374e-01 1.39740678e+02] [-3.78430187e-02 9.83105126e-01 -1.79087180e-01 2.05867870e+02] [-9.05961958e-01 4.18695377e-02 4.21283602e-01 -7.91394697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.400714057 meters Centerline goodness : 0.991506 Centerline is valid? [True, True] Translation: X:139.75, Y:205.87, Z:-79.17 [[ 4.20097469e-01 1.82445721e-01 8.88949760e-01 1.39754297e+02] [-4.64902863e-02 9.82622188e-01 -1.79700551e-01 2.05865598e+02] [-9.06287355e-01 3.41642180e-02 4.21279048e-01 -7.91682297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.4307140569999 meters Centerline goodness : 0.991553 Centerline is valid? [True, True] Translation: X:139.77, Y:205.86, Z:-79.20 [[ 4.18662163e-01 1.85013045e-01 8.89096264e-01 1.39767568e+02] [-5.15622602e-02 9.82291146e-01 -1.80126174e-01 2.05862890e+02] [-9.06677080e-01 2.95682009e-02 4.20787827e-01 -7.91982850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.4607140569999 meters Centerline goodness : 0.991860 Centerline is valid? [True, True] Translation: X:139.78, Y:205.86, Z:-79.23 [[ 4.17853570e-01 1.87756171e-01 8.88901578e-01 1.39781201e+02] [-5.67593075e-02 9.81895931e-01 -1.80717354e-01 2.05860221e+02] [-9.06739640e-01 2.50599535e-02 4.20945630e-01 -7.92278180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.490714057 meters Centerline goodness : 0.992607 Centerline is valid? [True, True] Translation: X:139.79, Y:205.86, Z:-79.26 [[ 4.16830303e-01 1.90461580e-01 8.88806438e-01 1.39794887e+02] [-6.18284728e-02 9.81477907e-01 -1.81323902e-01 2.05857303e+02] [-9.06879120e-01 2.06277524e-02 4.20885683e-01 -7.92568230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.520714057 meters Centerline goodness : 0.991187 Centerline is valid? [True, True] Translation: X:139.81, Y:205.85, Z:-79.29 [[ 4.14595410e-01 1.94717044e-01 8.88929648e-01 1.39807535e+02] [-7.05506674e-02 9.80777062e-01 -1.81931188e-01 2.05853241e+02] [-9.07266912e-01 1.27132557e-02 4.20363086e-01 -7.92873008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.5507140569999 meters Centerline goodness : 0.991289 Centerline is valid? [True, True] Translation: X:139.82, Y:205.85, Z:-79.32 [[ 4.13881714e-01 1.96963863e-01 8.88767216e-01 1.39820798e+02] [-7.46041750e-02 9.80367237e-01 -1.82522050e-01 2.05848932e+02] [-9.07268507e-01 9.23679390e-03 4.20450399e-01 -7.93176609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.5807140569999 meters Centerline goodness : 0.991696 Centerline is valid? [True, True] Translation: X:139.83, Y:205.84, Z:-79.35 [[ 4.04407115e-01 1.84030681e-01 8.95872532e-01 1.39827406e+02] [-8.01657448e-02 9.82908783e-01 -1.65721986e-01 2.05836654e+02] [-9.11058911e-01 -4.79913835e-03 4.12248262e-01 -7.93458683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.610714057 meters Centerline goodness : 0.992078 Centerline is valid? [True, True] Translation: X:139.85, Y:205.84, Z:-79.38 [[ 4.10712287e-01 2.03762515e-01 8.88704819e-01 1.39845264e+02] [-8.25878801e-02 9.79015375e-01 -1.86301204e-01 2.05837498e+02] [-9.08016883e-01 3.11994661e-03 4.18921958e-01 -7.93760406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.640714057 meters Centerline goodness : 0.991904 Centerline is valid? [True, True] Translation: X:139.86, Y:205.83, Z:-79.41 [[ 4.09956863e-01 2.02635286e-01 8.89311144e-01 1.39857371e+02] [-8.45548525e-02 9.79254232e-01 -1.84151094e-01 2.05830681e+02] [-9.08177211e-01 2.98432045e-04 4.18585790e-01 -7.94064937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.6707140569999 meters Centerline goodness : 0.992290 Centerline is valid? [True, True] Translation: X:139.87, Y:205.82, Z:-79.44 [[ 4.09154024e-01 2.03744755e-01 8.89427377e-01 1.39869629e+02] [-8.57835145e-02 9.79023803e-01 -1.84806876e-01 2.05824759e+02] [-9.08424005e-01 -6.83729430e-04 4.18049470e-01 -7.94359744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.7007140569999 meters Centerline goodness : 0.991093 Centerline is valid? [True, True] Translation: X:139.88, Y:205.81, Z:-79.46 [[ 4.08654405e-01 2.04694364e-01 8.89439034e-01 1.39878849e+02] [-8.71998098e-02 9.78824141e-01 -1.85201225e-01 2.05814885e+02] [-9.08514045e-01 -1.87561815e-03 4.17850106e-01 -7.94605945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.7307140569999 meters Centerline goodness : 0.991910 Centerline is valid? [True, True] Translation: X:139.89, Y:205.81, Z:-79.49 [[ 4.08171526e-01 2.04587204e-01 8.89685383e-01 1.39888922e+02] [-8.73949096e-02 9.78845769e-01 -1.84994840e-01 2.05807816e+02] [-9.08712350e-01 -2.24434751e-03 4.17416852e-01 -7.94860803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.760714057 meters Centerline goodness : 0.991327 Centerline is valid? [True, True] Translation: X:139.90, Y:205.80, Z:-79.51 [[ 4.08242384e-01 2.04241587e-01 8.89732280e-01 1.39899219e+02] [-8.78129648e-02 9.78916392e-01 -1.84422289e-01 2.05800517e+02] [-9.08640214e-01 -2.84103458e-03 4.17570221e-01 -7.95118822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.790714057 meters Centerline goodness : 0.990734 Centerline is valid? [True, True] Translation: X:139.91, Y:205.79, Z:-79.54 [[ 4.08107970e-01 2.03923219e-01 8.89866959e-01 1.39909007e+02] [-8.82488200e-02 9.78980664e-01 -1.83872252e-01 2.05793147e+02] [-9.08658368e-01 -3.48997746e-03 4.17525795e-01 -7.95370545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.8207140569999 meters Centerline goodness : 0.990597 Centerline is valid? [True, True] Translation: X:139.92, Y:205.78, Z:-79.57 [[ 4.07342282e-01 2.03693851e-01 8.90270229e-01 1.39921059e+02] [-8.87774459e-02 9.79025027e-01 -1.83380917e-01 2.05784991e+02] [-9.08950401e-01 -4.33711587e-03 4.16881708e-01 -7.95678313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.8507140569999 meters Centerline goodness : 0.989693 Centerline is valid? [True, True] Translation: X:139.93, Y:205.75, Z:-79.59 [[ 4.17171621e-01 1.49837933e-01 8.96390781e-01 1.39930450e+02] [-9.07582667e-02 9.88253463e-01 -1.22955396e-01 2.05745649e+02] [-9.04284676e-01 -3.00613719e-02 4.25870331e-01 -7.95927703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.880714057 meters Centerline goodness : 0.990569 Centerline is valid? [True, True] Translation: X:139.96, Y:205.78, Z:-79.61 [[ 4.04653339e-01 2.62828668e-01 8.75886275e-01 1.39962669e+02] [-8.94637661e-02 9.64590749e-01 -2.48114734e-01 2.05784703e+02] [-9.10083463e-01 2.20403707e-02 4.13838509e-01 -7.96137057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.910714057 meters Centerline goodness : 0.989175 Centerline is valid? [True, True] Translation: X:139.95, Y:205.75, Z:-79.65 [[ 4.03376168e-01 2.04940218e-01 8.91788750e-01 1.39952667e+02] [-9.06869512e-02 9.78751625e-01 -1.83905232e-01 2.05746294e+02] [-9.10529266e-01 -6.69061516e-03 4.13390483e-01 -7.96503392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.9407140569999 meters Centerline goodness : 0.989404 Centerline is valid? [True, True] Translation: X:139.96, Y:205.74, Z:-79.68 [[ 4.03056440e-01 2.05558775e-01 8.91790949e-01 1.39964647e+02] [-9.09040397e-02 9.78621780e-01 -1.84488120e-01 2.05737359e+02] [-9.10649198e-01 -6.70827488e-03 4.13125934e-01 -7.96802891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.9707140569999 meters Centerline goodness : 0.986256 Centerline is valid? [True, True] Translation: X:139.98, Y:205.71, Z:-79.72 [[ 4.03785072e-01 2.02565259e-01 8.92146250e-01 1.39982747e+02] [-1.01737846e-01 9.79072688e-01 -1.76255730e-01 2.05709699e+02] [-9.09179315e-01 -1.95956050e-02 4.15943489e-01 -7.97231909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.000714057 meters Centerline goodness : 0.986102 Centerline is valid? [True, True] Translation: X:140.02, Y:205.73, Z:-79.74 [[ 4.09344859e-01 2.66269191e-01 8.72661163e-01 1.40021663e+02] [-1.00847116e-01 9.63810888e-01 -2.46776076e-01 2.05726658e+02] [-9.06789196e-01 1.30111566e-02 4.21383512e-01 -7.97371691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.030714057 meters Centerline goodness : 0.985724 Centerline is valid? [True, True] Translation: X:140.03, Y:205.72, Z:-79.77 [[ 4.03880870e-01 2.86062061e-01 8.68935406e-01 1.40029435e+02] [-1.01685938e-01 9.58003800e-01 -2.68120662e-01 2.05718537e+02] [-9.09142570e-01 1.99302943e-02 4.16007897e-01 -7.97695838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.0607140569999 meters Centerline goodness : 0.983869 Centerline is valid? [True, True] Translation: X:140.03, Y:205.71, Z:-79.79 [[ 4.00828154e-01 2.77821325e-01 8.73013232e-01 1.40033280e+02] [-1.05128261e-01 9.60565109e-01 -2.57415462e-01 2.05705811e+02] [-9.10101555e-01 1.14010018e-02 4.14228412e-01 -7.97944265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.0907140569999 meters Centerline goodness : 0.984105 Centerline is valid? [True, True] Translation: X:140.04, Y:205.68, Z:-79.83 [[ 4.00952814e-01 2.45477591e-01 8.82597073e-01 1.40036930e+02] [-1.05231330e-01 9.69394258e-01 -2.21813300e-01 2.05683288e+02] [-9.10034729e-01 -3.94019735e-03 4.14513289e-01 -7.98260344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.120714057 meters Centerline goodness : 0.983416 Centerline is valid? [True, True] Translation: X:140.05, Y:205.68, Z:-79.86 [[ 4.04688295e-01 2.57664954e-01 8.77403075e-01 1.40053746e+02] [-1.04144595e-01 9.66225988e-01 -2.35714328e-01 2.05678016e+02] [-9.08504974e-01 4.01404181e-03 4.17854760e-01 -7.98568971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.150714057 meters Centerline goodness : 0.985631 Centerline is valid? [True, True] Translation: X:140.06, Y:205.67, Z:-79.89 [[ 3.94893982e-01 2.95677218e-01 8.69846955e-01 1.40062495e+02] [-1.05983112e-01 9.55136264e-01 -2.76554328e-01 2.05674071e+02] [-9.12593186e-01 1.70205529e-02 4.08514355e-01 -7.98913246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.1807140569999 meters Centerline goodness : 0.986407 Centerline is valid? [True, True] Translation: X:140.07, Y:205.65, Z:-79.91 [[ 4.02651915e-01 2.55668062e-01 8.78922794e-01 1.40071842e+02] [-1.07325785e-01 9.66764212e-01 -2.32052009e-01 2.05649239e+02] [-9.09039389e-01 -8.94892655e-04 4.16709237e-01 -7.99106627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.2107140569999 meters Centerline goodness : 0.988139 Centerline is valid? [True, True] Translation: X:140.08, Y:205.64, Z:-79.94 [[ 4.02381253e-01 2.49791896e-01 8.80734544e-01 1.40081783e+02] [-1.06055591e-01 9.68296573e-01 -2.26172411e-01 2.05635766e+02] [-9.09308275e-01 -2.39928412e-03 4.16116215e-01 -7.99424413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.240714057 meters Centerline goodness : 0.989909 Centerline is valid? [True, True] Translation: X:140.09, Y:205.64, Z:-79.99 [[ 3.86355290e-01 3.08125901e-01 8.69360696e-01 1.40087214e+02] [-1.05089994e-01 9.51117385e-01 -2.90399402e-01 2.05638124e+02] [-9.16343649e-01 2.08362350e-02 3.99850183e-01 -7.99850295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.270714057 meters Centerline goodness : 0.991780 Centerline is valid? [True, True] Translation: X:140.10, Y:205.61, Z:-79.99 [[ 4.01944998e-01 2.43276458e-01 8.82755223e-01 1.40095578e+02] [-9.67086507e-02 9.69947135e-01 -2.23271117e-01 2.05614200e+02] [-9.10542506e-01 4.37264231e-03 4.13392338e-01 -7.99905262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.3007140569999 meters Centerline goodness : 0.991557 Centerline is valid? [True, True] Translation: X:140.09, Y:205.60, Z:-80.04 [[ 3.86059472e-01 2.62181701e-01 8.84431365e-01 1.40094453e+02] [-1.04722172e-01 9.65018511e-01 -2.40359192e-01 2.05595373e+02] [-9.16510421e-01 1.73369057e-04 4.00010774e-01 -8.00443097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.3307140569999 meters Centerline goodness : 0.994213 Centerline is valid? [True, True] Translation: X:140.12, Y:205.59, Z:-80.04 [[ 4.03156516e-01 2.41030305e-01 8.82818903e-01 1.40117431e+02] [-9.29545010e-02 9.70487463e-01 -2.22516391e-01 2.05591226e+02] [-9.10397872e-01 7.64694242e-03 4.13663196e-01 -8.00427628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.360714057 meters Centerline goodness : 0.995853 Centerline is valid? [True, True] Translation: X:140.12, Y:205.56, Z:-80.07 [[ 4.04686441e-01 1.98987253e-01 8.92542973e-01 1.40120944e+02] [-8.87387918e-02 9.79976577e-01 -1.78245155e-01 2.05555465e+02] [-9.10139721e-01 -7.06978746e-03 4.14241122e-01 -8.00745871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.390714057 meters Centerline goodness : 0.996898 Centerline is valid? [True, True] Translation: X:140.13, Y:205.55, Z:-80.10 [[ 4.06066842e-01 2.00480444e-01 8.91581355e-01 1.40133315e+02] [-8.73366300e-02 9.79687061e-01 -1.80514752e-01 2.05546111e+02] [-9.09660394e-01 -4.56665556e-03 4.15327717e-01 -8.01020476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.4207140569999 meters Centerline goodness : 0.997834 Centerline is valid? [True, True] Translation: X:140.15, Y:205.53, Z:-80.13 [[ 4.06865995e-01 1.93403224e-01 8.92779511e-01 1.40145024e+02] [-8.52237506e-02 9.81104418e-01 -1.73698107e-01 2.05533295e+02] [-9.09503697e-01 -5.41416509e-03 4.15660574e-01 -8.01322427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.4507140569999 meters Centerline goodness : 0.998168 Centerline is valid? [True, True] Translation: X:140.16, Y:205.53, Z:-80.16 [[ 4.07441725e-01 1.98407560e-01 8.91417793e-01 1.40158377e+02] [-8.34836352e-02 9.80119007e-01 -1.79992262e-01 2.05525836e+02] [-9.09407348e-01 -1.08244030e-03 4.15905163e-01 -8.01611722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.4807140569999 meters Centerline goodness : 0.998422 Centerline is valid? [True, True] Translation: X:140.17, Y:205.51, Z:-80.19 [[ 4.07546459e-01 1.97222848e-01 8.91632790e-01 1.40170496e+02] [-7.92336675e-02 9.80354190e-01 -1.80631361e-01 2.05509387e+02] [-9.09740573e-01 2.96833557e-03 4.15166568e-01 -8.01906429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.510714057 meters Centerline goodness : 0.998569 Centerline is valid? [True, True] Translation: X:140.18, Y:205.50, Z:-80.22 [[ 4.07470915e-01 1.96826781e-01 8.91754827e-01 1.40183424e+02] [-7.68463956e-02 9.80423737e-01 -1.81284107e-01 2.05500233e+02] [-9.09979168e-01 5.33985643e-03 4.14619586e-01 -8.02199330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.540714057 meters Centerline goodness : 0.999033 Centerline is valid? [True, True] Translation: X:140.20, Y:205.49, Z:-80.25 [[ 4.07332594e-01 1.96490151e-01 8.91892246e-01 1.40196166e+02] [-7.45836837e-02 9.80476416e-01 -1.81943048e-01 2.05491082e+02] [-9.10229329e-01 7.59072435e-03 4.14034961e-01 -8.02499630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.5707140569999 meters Centerline goodness : 0.999243 Centerline is valid? [True, True] Translation: X:140.21, Y:205.48, Z:-80.28 [[ 4.08494102e-01 1.94840853e-01 8.91722833e-01 1.40207949e+02] [-6.93106267e-02 9.80751844e-01 -1.82542757e-01 2.05477407e+02] [-9.10125599e-01 1.27617712e-02 4.14135885e-01 -8.02797933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.6007140569999 meters Centerline goodness : 0.999074 Centerline is valid? [True, True] Translation: X:140.22, Y:205.47, Z:-80.31 [[ 4.09402175e-01 1.94296456e-01 8.91425121e-01 1.40220363e+02] [-6.67611949e-02 9.80821066e-01 -1.83120124e-01 2.05470343e+02] [-9.09908129e-01 1.54571708e-02 4.14521741e-01 -8.03096688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.630714057 meters Centerline goodness : 0.999074 Centerline is valid? [True, True] Translation: X:140.23, Y:205.46, Z:-80.34 [[ 4.10363940e-01 1.93706059e-01 8.91111328e-01 1.40232378e+02] [-6.41226365e-02 9.80890028e-01 -1.83692788e-01 2.05463697e+02] [-9.09664622e-01 1.82404883e-02 4.14942840e-01 -8.03393386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.660714057 meters Centerline goodness : 0.999285 Centerline is valid? [True, True] Translation: X:140.25, Y:205.44, Z:-80.37 [[ 4.13636966e-01 1.81733928e-01 8.92119521e-01 1.40247103e+02] [-6.12859230e-02 9.83210652e-01 -1.71874515e-01 2.05443316e+02] [-9.08376847e-01 1.64192847e-02 4.17830002e-01 -8.03711442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.6907140569999 meters Centerline goodness : 0.999369 Centerline is valid? [True, True] Translation: X:140.26, Y:205.46, Z:-80.40 [[ 4.13616391e-01 2.25516639e-01 8.82079207e-01 1.40258031e+02] [-5.55379738e-02 9.73282762e-01 -2.22791830e-01 2.05461896e+02] [-9.08755751e-01 4.31614609e-02 4.15090440e-01 -8.03969469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.7207140569999 meters Centerline goodness : 0.999390 Centerline is valid? [True, True] Translation: X:140.27, Y:205.44, Z:-80.43 [[ 4.13390418e-01 1.89843196e-01 8.90543611e-01 1.40267842e+02] [-5.31516730e-02 9.81387472e-01 -1.84535985e-01 2.05440844e+02] [-9.09001245e-01 2.89515248e-02 4.15786660e-01 -8.04272057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.750714057 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:140.28, Y:205.43, Z:-80.46 [[ 4.13895056e-01 1.88685777e-01 8.90555198e-01 1.40280441e+02] [-4.90060379e-02 9.81482883e-01 -1.85174939e-01 2.05433703e+02] [-9.09004560e-01 3.30004099e-02 4.15477656e-01 -8.04558468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.780714057 meters Centerline goodness : 0.999538 Centerline is valid? [True, True] Translation: X:140.29, Y:205.43, Z:-80.48 [[ 4.13326004e-01 1.88730401e-01 8.90809997e-01 1.40293557e+02] [-4.76534846e-02 9.81427879e-01 -1.85818361e-01 2.05429618e+02] [-9.09335340e-01 3.43533600e-02 4.14643325e-01 -8.04849550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.8107140569999 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:140.31, Y:205.43, Z:-80.51 [[ 4.13016187e-01 1.89041916e-01 8.90887638e-01 1.40307726e+02] [-4.69836102e-02 9.81339666e-01 -1.86453748e-01 2.05426093e+02] [-9.09510951e-01 3.51512986e-02 4.14191039e-01 -8.05143886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.8407140569999 meters Centerline goodness : 0.999580 Centerline is valid? [True, True] Translation: X:140.32, Y:205.42, Z:-80.54 [[ 4.12647987e-01 1.89498019e-01 8.90961357e-01 1.40321594e+02] [-4.66469666e-02 9.81233952e-01 -1.87093539e-01 2.05423052e+02] [-9.09695388e-01 3.56431275e-02 4.13743723e-01 -8.05447093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.870714057 meters Centerline goodness : 0.999769 Centerline is valid? [True, True] Translation: X:140.34, Y:205.42, Z:-80.57 [[ 4.11943559e-01 1.90389116e-01 8.91097351e-01 1.40335482e+02] [-4.73110533e-02 9.81078134e-01 -1.87742803e-01 2.05420873e+02] [-9.09980312e-01 3.51806844e-02 4.13156328e-01 -8.05745092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.900714057 meters Centerline goodness : 0.999684 Centerline is valid? [True, True] Translation: X:140.35, Y:205.42, Z:-80.60 [[ 4.11803099e-01 1.91321001e-01 8.90962672e-01 1.40348625e+02] [-4.82333040e-02 9.80917958e-01 -1.88344121e-01 2.05418887e+02] [-9.09995470e-01 3.45866193e-02 4.13173099e-01 -8.06037321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.9307140569999 meters Centerline goodness : 0.999432 Centerline is valid? [True, True] Translation: X:140.36, Y:205.42, Z:-80.63 [[ 4.09315825e-01 1.84759890e-01 8.93489977e-01 1.40359693e+02] [-4.71024545e-02 9.82255377e-01 -1.81537140e-01 2.05415134e+02] [-9.11176116e-01 3.22204533e-02 4.10755314e-01 -8.06320066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.9607140569999 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:140.37, Y:205.42, Z:-80.66 [[ 4.11717143e-01 2.12029390e-01 8.86302732e-01 1.40373293e+02] [-4.98564720e-02 9.76341275e-01 -2.10409237e-01 2.05424337e+02] [-9.09946881e-01 4.24411623e-02 4.12547478e-01 -8.06556711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.990714057 meters Centerline goodness : 0.999789 Centerline is valid? [True, True] Translation: X:140.38, Y:205.42, Z:-80.68 [[ 4.10146315e-01 1.92625391e-01 8.91445713e-01 1.40383392e+02] [-5.11060084e-02 9.80759621e-01 -1.88411096e-01 2.05415974e+02] [-9.10586721e-01 3.17178848e-02 4.12099260e-01 -8.06826766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.020714057 meters Centerline goodness : 0.999789 Centerline is valid? [True, True] Translation: X:140.40, Y:205.41, Z:-80.71 [[ 4.10121314e-01 1.92608282e-01 8.91460912e-01 1.40397012e+02] [-5.12212417e-02 9.80767425e-01 -1.88339168e-01 2.05412977e+02] [-9.10591507e-01 3.15801721e-02 4.12099261e-01 -8.07131426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.0507140569999 meters Centerline goodness : 0.999790 Centerline is valid? [True, True] Translation: X:140.41, Y:205.41, Z:-80.74 [[ 4.09952703e-01 1.93429419e-01 8.91360669e-01 1.40410291e+02] [-5.26668601e-02 9.80644205e-01 -1.88581933e-01 2.05411567e+02] [-9.10584968e-01 3.03645053e-02 4.12205062e-01 -8.07433932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.0807140569999 meters Centerline goodness : 0.999768 Centerline is valid? [True, True] Translation: X:140.42, Y:205.41, Z:-80.77 [[ 4.10348267e-01 1.94527767e-01 8.90939531e-01 1.40424314e+02] [-5.41911242e-02 9.80458664e-01 -1.89114069e-01 2.05410091e+02] [-9.10317319e-01 2.93216158e-02 4.12871192e-01 -8.07733816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.110714057 meters Centerline goodness : 0.999769 Centerline is valid? [True, True] Translation: X:140.44, Y:205.41, Z:-80.80 [[ 4.10573334e-01 1.96020362e-01 8.90508594e-01 1.40437687e+02] [-5.66538852e-02 9.80216580e-01 -1.89646496e-01 2.05409997e+02] [-9.10065863e-01 2.74130226e-02 4.13556104e-01 -8.08037134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.140714057 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:140.45, Y:205.41, Z:-80.83 [[ 4.10756007e-01 1.97006755e-01 8.90206628e-01 1.40450972e+02] [-5.78030659e-02 9.80039157e-01 -1.90215813e-01 2.05408634e+02] [-9.09911154e-01 2.66756154e-02 4.13944566e-01 -8.08337277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.1707140569999 meters Centerline goodness : 0.999642 Centerline is valid? [True, True] Translation: X:140.46, Y:205.41, Z:-80.86 [[ 4.11206676e-01 1.97820529e-01 8.89818019e-01 1.40464048e+02] [-5.85741245e-02 9.79884630e-01 -1.90775217e-01 2.05407381e+02] [-9.09658255e-01 2.63277312e-02 4.14522266e-01 -8.08626018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.2007140569999 meters Centerline goodness : 0.999515 Centerline is valid? [True, True] Translation: X:140.48, Y:205.41, Z:-80.89 [[ 4.11486876e-01 1.98324112e-01 8.89576359e-01 1.40475448e+02] [-5.86086366e-02 9.79775747e-01 -1.91323059e-01 2.05406432e+02] [-9.09529317e-01 2.65900704e-02 4.14788367e-01 -8.08880631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.2307140569999 meters Centerline goodness : 0.999265 Centerline is valid? [True, True] Translation: X:140.49, Y:205.40, Z:-80.92 [[ 4.11840897e-01 1.97579569e-01 8.89578209e-01 1.40488700e+02] [-5.81164480e-02 9.79918938e-01 -1.90738970e-01 2.05404837e+02] [-9.09400657e-01 2.68549826e-02 4.15053317e-01 -8.09181246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.260714057 meters Centerline goodness : 0.999305 Centerline is valid? [True, True] Translation: X:140.50, Y:205.40, Z:-80.95 [[ 4.12172550e-01 1.97676381e-01 8.89403079e-01 1.40502763e+02] [-5.71070765e-02 9.79865515e-01 -1.91317417e-01 2.05402495e+02] [-9.09314341e-01 2.80645780e-02 4.15162389e-01 -8.09481858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.290714057 meters Centerline goodness : 0.999053 Centerline is valid? [True, True] Translation: X:140.52, Y:205.40, Z:-80.98 [[ 4.13132691e-01 1.96990990e-01 8.89109628e-01 1.40515682e+02] [-5.43266330e-02 9.79916208e-01 -1.91866729e-01 2.05401575e+02] [-9.09048952e-01 3.09640857e-02 4.15537277e-01 -8.09775023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.3207140569999 meters Centerline goodness : 0.999198 Centerline is valid? [True, True] Translation: X:140.53, Y:205.40, Z:-81.01 [[ 4.14320848e-01 1.97015413e-01 8.88551159e-01 1.40529302e+02] [-5.35055562e-02 9.79873510e-01 -1.92315001e-01 2.05399520e+02] [-9.08556763e-01 3.21376901e-02 4.16523442e-01 -8.10072689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.3507140569999 meters Centerline goodness : 0.998886 Centerline is valid? [True, True] Translation: X:140.54, Y:205.40, Z:-81.04 [[ 4.14670512e-01 1.97197509e-01 8.88347629e-01 1.40542734e+02] [-5.27069284e-02 9.79802607e-01 -1.92895910e-01 2.05397381e+02] [-9.08443915e-01 3.31661707e-02 4.16688923e-01 -8.10367762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.380714057 meters Centerline goodness : 0.999075 Centerline is valid? [True, True] Translation: X:140.56, Y:205.40, Z:-81.07 [[ 4.14989409e-01 1.97526532e-01 8.88125588e-01 1.40556760e+02] [-5.22603534e-02 9.79712007e-01 -1.93476715e-01 2.05395099e+02] [-9.08324087e-01 3.38770306e-02 4.16892913e-01 -8.10661087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.410714057 meters Centerline goodness : 0.998863 Centerline is valid? [True, True] Translation: X:140.57, Y:205.39, Z:-81.10 [[ 4.14359690e-01 1.97619700e-01 8.88398842e-01 1.40571220e+02] [-5.09082230e-02 9.79645477e-01 -1.94172843e-01 2.05393957e+02] [-9.08688286e-01 3.52305929e-02 4.15986064e-01 -8.10954950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.4407140569999 meters Centerline goodness : 0.998735 Centerline is valid? [True, True] Translation: X:140.59, Y:205.39, Z:-81.12 [[ 4.14507691e-01 1.98078137e-01 8.88227688e-01 1.40585157e+02] [-5.06947510e-02 9.79535513e-01 -1.94782495e-01 2.05391888e+02] [-9.08632718e-01 3.57103609e-02 4.16066526e-01 -8.11243775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.4707140569999 meters Centerline goodness : 0.999121 Centerline is valid? [True, True] Translation: X:140.60, Y:205.39, Z:-81.15 [[ 4.15215071e-01 1.98151629e-01 8.87880835e-01 1.40599505e+02] [-4.97916368e-02 9.79477081e-01 -1.95308576e-01 2.05390451e+02] [-9.08359641e-01 3.68860243e-02 4.16559940e-01 -8.11529739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.500714057 meters Centerline goodness : 0.999016 Centerline is valid? [True, True] Translation: X:140.61, Y:205.39, Z:-81.18 [[ 4.15669586e-01 1.98185415e-01 8.87660598e-01 1.40611077e+02] [-4.87300957e-02 9.79421651e-01 -1.95853537e-01 2.05388743e+02] [-9.08209322e-01 3.81545729e-02 4.16773386e-01 -8.11772767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.530714057 meters Centerline goodness : 0.999038 Centerline is valid? [True, True] Translation: X:140.62, Y:205.39, Z:-81.20 [[ 4.15825638e-01 1.97459707e-01 8.87749234e-01 1.40623219e+02] [-4.75404602e-02 9.79529579e-01 -1.95606005e-01 2.05386344e+02] [-9.08200938e-01 3.91339848e-02 4.16700838e-01 -8.12027016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.5607140569999 meters Centerline goodness : 0.998850 Centerline is valid? [True, True] Translation: X:140.63, Y:205.38, Z:-81.23 [[ 4.15806651e-01 1.96502583e-01 8.87970475e-01 1.40634456e+02] [-4.56332508e-02 9.79656671e-01 -1.95423679e-01 2.05384816e+02] [-9.08307456e-01 4.07374860e-02 4.16314811e-01 -8.12266902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.5907140569999 meters Centerline goodness : 0.998681 Centerline is valid? [True, True] Translation: X:140.65, Y:205.38, Z:-81.26 [[ 4.15706548e-01 1.95115918e-01 8.88323052e-01 1.40648474e+02] [-4.29468247e-02 9.79838800e-01 -1.95119186e-01 2.05383628e+02] [-9.08484252e-01 4.29616689e-02 4.15705014e-01 -8.12562123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.620714057 meters Centerline goodness : 0.998936 Centerline is valid? [True, True] Translation: X:140.66, Y:205.38, Z:-81.29 [[ 4.16138460e-01 1.95238542e-01 8.88093854e-01 1.40661800e+02] [-4.20033990e-02 9.79762037e-01 -1.95709137e-01 2.05382011e+02] [-9.08330610e-01 4.41391383e-02 4.15917348e-01 -8.12853100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.650714057 meters Centerline goodness : 0.998643 Centerline is valid? [True, True] Translation: X:140.68, Y:205.38, Z:-81.31 [[ 4.17145471e-01 1.95340714e-01 8.87598818e-01 1.40675105e+02] [-4.13082835e-02 9.79694374e-01 -1.96195209e-01 2.05380217e+02] [-9.07900480e-01 4.51767591e-02 4.16744260e-01 -8.13147733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.6807140569999 meters Centerline goodness : 0.999121 Centerline is valid? [True, True] Translation: X:140.69, Y:205.38, Z:-81.34 [[ 4.18287199e-01 1.95353096e-01 8.87058615e-01 1.40688227e+02] [-4.04602946e-02 9.79636122e-01 -1.96662231e-01 2.05378646e+02] [-9.07413237e-01 4.63706410e-02 4.17673294e-01 -8.13449659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.7107140569999 meters Centerline goodness : 0.999033 Centerline is valid? [True, True] Translation: X:140.70, Y:205.38, Z:-81.38 [[ 4.14093536e-01 2.21972155e-01 8.82754159e-01 1.40699016e+02] [-4.20671040e-02 9.73440473e-01 -2.25042229e-01 2.05383942e+02] [-9.09261735e-01 5.60536216e-02 4.12433134e-01 -8.13842210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.740714057 meters Centerline goodness : 0.998909 Centerline is valid? [True, True] Translation: X:140.72, Y:205.38, Z:-81.40 [[ 4.21989571e-01 2.07315741e-01 8.82578600e-01 1.40717260e+02] [-3.83431241e-02 9.76713287e-01 -2.11094673e-01 2.05382127e+02] [-9.05789494e-01 5.52389295e-02 4.20111954e-01 -8.14017305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.770714057 meters Centerline goodness : 0.999056 Centerline is valid? [True, True] Translation: X:140.73, Y:205.38, Z:-81.43 [[ 4.21464930e-01 1.94782035e-01 8.85678989e-01 1.40729568e+02] [-3.82387772e-02 9.79608621e-01 -1.97242860e-01 2.05375512e+02] [-9.06038139e-01 4.92636667e-02 4.20318906e-01 -8.14309374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.8007140569999 meters Centerline goodness : 0.998740 Centerline is valid? [True, True] Translation: X:140.74, Y:205.38, Z:-81.46 [[ 4.21428787e-01 1.96091331e-01 8.85407233e-01 1.40744945e+02] [-4.01941125e-02 9.79421727e-01 -1.97781481e-01 2.05377495e+02] [-9.05970315e-01 4.77626516e-02 4.20638227e-01 -8.14603794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.8307140569999 meters Centerline goodness : 0.999223 Centerline is valid? [True, True] Translation: X:140.76, Y:205.38, Z:-81.49 [[ 4.20745180e-01 1.97547262e-01 8.85408704e-01 1.40759047e+02] [-4.22031370e-02 9.79207980e-01 -1.98420332e-01 2.05377600e+02] [-9.06196661e-01 4.61173734e-02 4.20334152e-01 -8.14891263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.860714057 meters Centerline goodness : 0.998460 Centerline is valid? [True, True] Translation: X:140.77, Y:205.38, Z:-81.52 [[ 4.19298690e-01 2.00043553e-01 8.85534407e-01 1.40773070e+02] [-4.66472264e-02 9.78879915e-01 -1.99043080e-01 2.05380604e+02] [-9.06649130e-01 4.21507785e-02 4.19774543e-01 -8.15171316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.890714057 meters Centerline goodness : 0.998102 Centerline is valid? [True, True] Translation: X:140.79, Y:205.38, Z:-81.54 [[ 4.18263759e-01 2.01240922e-01 8.85752516e-01 1.40785905e+02] [-4.92899313e-02 9.78740411e-01 -1.99092216e-01 2.05380648e+02] [-9.06987283e-01 3.96143778e-02 4.19290794e-01 -8.15441233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.9207140569999 meters Centerline goodness : 0.998179 Centerline is valid? [True, True] Translation: X:140.80, Y:205.38, Z:-81.57 [[ 4.17479988e-01 2.02687995e-01 8.85792321e-01 1.40799106e+02] [-5.28190119e-02 9.78570265e-01 -1.99023586e-01 2.05380422e+02] [-9.07149719e-01 3.63016892e-02 4.19239282e-01 -8.15731103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.9507140569999 meters Centerline goodness : 0.998158 Centerline is valid? [True, True] Translation: X:140.81, Y:205.38, Z:-81.60 [[ 4.16239459e-01 2.05485965e-01 8.85731467e-01 1.40810713e+02] [-5.92585001e-02 9.78188382e-01 -1.99087720e-01 2.05384147e+02] [-9.07321962e-01 3.03810465e-02 4.19337393e-01 -8.15993985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.9807140569999 meters Centerline goodness : 0.997903 Centerline is valid? [True, True] Translation: X:140.82, Y:205.38, Z:-81.63 [[ 4.15457945e-01 2.06762558e-01 8.85801298e-01 1.40824152e+02] [-6.24674418e-02 9.78009167e-01 -1.98987157e-01 2.05384035e+02] [-9.07464883e-01 2.73370544e-02 4.19237607e-01 -8.16298373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.010714057 meters Centerline goodness : 0.997428 Centerline is valid? [True, True] Translation: X:140.84, Y:205.38, Z:-81.66 [[ 4.14874267e-01 2.08777846e-01 8.85602142e-01 1.40837492e+02] [-6.59538682e-02 9.77658836e-01 -1.99582786e-01 2.05383826e+02] [-9.07485223e-01 2.43928753e-02 4.19375199e-01 -8.16599107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.040714057 meters Centerline goodness : 0.997075 Centerline is valid? [True, True] Translation: X:140.85, Y:205.38, Z:-81.69 [[ 4.14337382e-01 2.10445202e-01 8.85458837e-01 1.40850714e+02] [-6.85940445e-02 9.77353372e-01 -2.00188019e-01 2.05383529e+02] [-9.07534788e-01 2.22081770e-02 4.19389325e-01 -8.16889280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.0707140569999 meters Centerline goodness : 0.996638 Centerline is valid? [True, True] Translation: X:140.86, Y:205.38, Z:-81.72 [[ 4.13487695e-01 2.12053316e-01 8.85472369e-01 1.40863743e+02] [-7.15278736e-02 9.77061452e-01 -2.00585847e-01 2.05384424e+02] [-9.07695813e-01 1.96038240e-02 4.19170611e-01 -8.17181470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.1007140569999 meters Centerline goodness : 0.997024 Centerline is valid? [True, True] Translation: X:140.88, Y:205.38, Z:-81.74 [[ 4.13439087e-01 2.12462062e-01 8.85397082e-01 1.40875236e+02] [-7.12824495e-02 9.76963605e-01 -2.01149015e-01 2.05383389e+02] [-9.07737260e-01 2.00495925e-02 4.19059757e-01 -8.17437791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.130714057 meters Centerline goodness : 0.997301 Centerline is valid? [True, True] Translation: X:140.89, Y:205.38, Z:-81.77 [[ 4.13233306e-01 2.11939333e-01 8.85618402e-01 1.40889127e+02] [-7.11953539e-02 9.77081299e-01 -2.00607470e-01 2.05380973e+02] [-9.07837792e-01 1.98457727e-02 4.18851631e-01 -8.17734698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.160714057 meters Centerline goodness : 0.997105 Centerline is valid? [True, True] Translation: X:140.90, Y:205.38, Z:-81.80 [[ 4.13344792e-01 2.12154479e-01 8.85514856e-01 1.40902815e+02] [-7.04205904e-02 9.77014575e-01 -2.01205019e-01 2.05379505e+02] [-9.07847467e-01 2.08085680e-02 4.18783931e-01 -8.18030693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.1907140569999 meters Centerline goodness : 0.997579 Centerline is valid? [True, True] Translation: X:140.92, Y:205.38, Z:-81.83 [[ 4.13660528e-01 2.12116008e-01 8.85376624e-01 1.40916065e+02] [-6.90409161e-02 9.76988825e-01 -2.01807301e-01 2.05378464e+02] [-9.07809627e-01 2.23525016e-02 4.18786397e-01 -8.18338348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.2207140569999 meters Centerline goodness : 0.997682 Centerline is valid? [True, True] Translation: X:140.93, Y:205.38, Z:-81.86 [[ 4.14065489e-01 2.12405622e-01 8.85117858e-01 1.40929797e+02] [-6.85018742e-02 9.76906874e-01 -2.02386889e-01 2.05376096e+02] [-9.07665833e-01 2.31691940e-02 4.19053605e-01 -8.18638858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.250714057 meters Centerline goodness : 0.997512 Centerline is valid? [True, True] Translation: X:140.94, Y:205.37, Z:-81.89 [[ 4.13777178e-01 2.12971020e-01 8.85116824e-01 1.40942177e+02] [-6.84394856e-02 9.76777480e-01 -2.03031503e-01 2.05373800e+02] [-9.07802007e-01 2.34328619e-02 4.18743856e-01 -8.18931583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.280714057 meters Centerline goodness : 0.996574 Centerline is valid? [True, True] Translation: X:140.96, Y:205.37, Z:-81.92 [[ 4.13121460e-01 2.13716579e-01 8.85243404e-01 1.40956160e+02] [-6.88189852e-02 9.76619827e-01 -2.03660652e-01 2.05371954e+02] [-9.08071917e-01 2.32150330e-02 4.18170366e-01 -8.19230802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.3107140569999 meters Centerline goodness : 0.996753 Centerline is valid? [True, True] Translation: X:140.97, Y:205.37, Z:-81.95 [[ 4.11885409e-01 2.14535654e-01 8.85621174e-01 1.40969960e+02] [-6.91344828e-02 9.76446352e-01 -2.04384309e-01 2.05369252e+02] [-9.08609285e-01 2.29559531e-02 4.17015817e-01 -8.19527911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.3407140569999 meters Centerline goodness : 0.996998 Centerline is valid? [True, True] Translation: X:140.98, Y:205.37, Z:-81.98 [[ 4.11359194e-01 2.15280018e-01 8.85685118e-01 1.40983641e+02] [-6.94482560e-02 9.76285266e-01 -2.05046384e-01 2.05366408e+02] [-9.08823720e-01 2.28384285e-02 4.16554741e-01 -8.19819114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.370714057 meters Centerline goodness : 0.996878 Centerline is valid? [True, True] Translation: X:141.00, Y:205.36, Z:-82.01 [[ 4.10621775e-01 2.15937680e-01 8.85867189e-01 1.40997567e+02] [-6.95798311e-02 9.76140385e-01 -2.05690536e-01 2.05363543e+02] [-9.09147076e-01 2.28225236e-02 4.15849405e-01 -8.20117872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.400714057 meters Centerline goodness : 0.997210 Centerline is valid? [True, True] Translation: X:141.01, Y:205.36, Z:-82.04 [[ 4.10974617e-01 2.16306651e-01 8.85613514e-01 1.41011086e+02] [-6.92284715e-02 9.76043547e-01 -2.06267818e-01 2.05360779e+02] [-9.09014457e-01 2.34611675e-02 4.16103702e-01 -8.20422316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.4307140569999 meters Centerline goodness : 0.997138 Centerline is valid? [True, True] Translation: X:141.02, Y:205.36, Z:-82.07 [[ 4.11094599e-01 2.16599120e-01 8.85486336e-01 1.41024127e+02] [-6.86112804e-02 9.75958377e-01 -2.06876144e-01 2.05357753e+02] [-9.09006998e-01 2.42913141e-02 4.16072360e-01 -8.20709994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.4607140569999 meters Centerline goodness : 0.996768 Centerline is valid? [True, True] Translation: X:141.04, Y:205.36, Z:-82.10 [[ 4.12315689e-01 2.21102573e-01 8.83803952e-01 1.41037435e+02] [-6.91889967e-02 9.74901185e-01 -2.11614184e-01 2.05356495e+02] [-9.08409960e-01 2.61023393e-02 4.17264919e-01 -8.20979775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.490714057 meters Centerline goodness : 0.997714 Centerline is valid? [True, True] Translation: X:141.05, Y:205.34, Z:-82.13 [[ 4.10871709e-01 2.00299644e-01 8.89418063e-01 1.41048484e+02] [-6.33385646e-02 9.79481442e-01 -1.91322582e-01 2.05344349e+02] [-9.09490333e-01 2.22745726e-02 4.15127906e-01 -8.21302838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.520714057 meters Centerline goodness : 0.997337 Centerline is valid? [True, True] Translation: X:141.06, Y:205.35, Z:-82.16 [[ 4.11728629e-01 2.15155918e-01 8.85543600e-01 1.41064407e+02] [-6.09467535e-02 9.76055221e-01 -2.08810197e-01 2.05347031e+02] [-9.09266204e-01 3.20021286e-02 4.14982933e-01 -8.21601837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.5507140569999 meters Centerline goodness : 0.996971 Centerline is valid? [True, True] Translation: X:141.08, Y:205.34, Z:-82.19 [[ 4.12276366e-01 2.14574606e-01 8.85429803e-01 1.41077805e+02] [-5.82226662e-02 9.76087696e-01 -2.09434788e-01 2.05343152e+02] [-9.09196524e-01 3.47929296e-02 4.14910994e-01 -8.21901961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.5807140569999 meters Centerline goodness : 0.996863 Centerline is valid? [True, True] Translation: X:141.09, Y:205.34, Z:-82.22 [[ 4.14374435e-01 2.11779676e-01 8.85123266e-01 1.41090407e+02] [-5.04173059e-02 9.76397283e-01 -2.10015333e-01 2.05339607e+02] [-9.08708932e-01 4.23994546e-02 4.15271434e-01 -8.22199503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.610714057 meters Centerline goodness : 0.996552 Centerline is valid? [True, True] Translation: X:141.10, Y:205.34, Z:-82.25 [[ 4.15422455e-01 2.10458872e-01 8.84947031e-01 1.41102802e+02] [-4.61137316e-02 9.76487974e-01 -2.10581958e-01 2.05336234e+02] [-9.08458974e-01 4.66722640e-02 4.15360075e-01 -8.22488605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.640714057 meters Centerline goodness : 0.997215 Centerline is valid? [True, True] Translation: X:141.12, Y:205.33, Z:-82.28 [[ 4.18076102e-01 2.07095937e-01 8.84490614e-01 1.41116100e+02] [-3.72805494e-02 9.76758024e-01 -2.11078002e-01 2.05332395e+02] [-9.07646701e-01 5.52723720e-02 4.16079837e-01 -8.22785613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.6707140569999 meters Centerline goodness : 0.997281 Centerline is valid? [True, True] Translation: X:141.13, Y:205.33, Z:-82.31 [[ 4.19123947e-01 2.05960262e-01 8.84259853e-01 1.41129459e+02] [-3.33763895e-02 9.76767412e-01 -2.11687127e-01 2.05329608e+02] [-9.07315344e-01 5.92097431e-02 4.16260823e-01 -8.23080099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.7007140569999 meters Centerline goodness : 0.997361 Centerline is valid? [True, True] Translation: X:141.14, Y:205.33, Z:-82.34 [[ 4.19643002e-01 2.05186832e-01 8.84193483e-01 1.41142848e+02] [-3.02835770e-02 9.76737374e-01 -2.12289912e-01 2.05327159e+02] [-9.07183915e-01 6.23094343e-02 4.16094795e-01 -8.23377330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.7307140569999 meters Centerline goodness : 0.997126 Centerline is valid? [True, True] Translation: X:141.16, Y:205.33, Z:-82.37 [[ 4.20008988e-01 2.04509219e-01 8.84176696e-01 1.41156710e+02] [-2.75213151e-02 9.76700180e-01 -2.12836407e-01 2.05325027e+02] [-9.07102545e-01 6.50594985e-02 4.15851216e-01 -8.23672489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.760714057 meters Centerline goodness : 0.996987 Centerline is valid? [True, True] Translation: X:141.17, Y:205.32, Z:-82.40 [[ 4.19408436e-01 2.04062250e-01 8.84564957e-01 1.41170949e+02] [-2.47319340e-02 9.76614453e-01 -2.13570930e-01 2.05324921e+02] [-9.07460686e-01 6.76964477e-02 4.14647194e-01 -8.23973831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.790714057 meters Centerline goodness : 0.996673 Centerline is valid? [True, True] Translation: X:141.18, Y:205.32, Z:-82.43 [[ 4.19108246e-01 2.04639006e-01 8.84573997e-01 1.41184970e+02] [-2.46386271e-02 9.76473438e-01 -2.14225495e-01 2.05323847e+02] [-9.07601904e-01 6.79889824e-02 4.14290094e-01 -8.24279117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.8207140569999 meters Centerline goodness : 0.996016 Centerline is valid? [True, True] Translation: X:141.20, Y:205.33, Z:-82.46 [[ 4.18449706e-01 2.05739535e-01 8.84630480e-01 1.41199876e+02] [-2.57248700e-02 9.76299264e-01 -2.14890620e-01 2.05326163e+02] [-9.07875583e-01 6.71639128e-02 4.13824763e-01 -8.24580145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.8507140569999 meters Centerline goodness : 0.995826 Centerline is valid? [True, True] Translation: X:141.21, Y:205.33, Z:-82.49 [[ 4.18523577e-01 2.06825759e-01 8.84342197e-01 1.41214054e+02] [-2.70931348e-02 9.76134199e-01 -2.15471546e-01 2.05326425e+02] [-9.07801728e-01 6.62203200e-02 4.14138735e-01 -8.24881711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.880714057 meters Centerline goodness : 0.995722 Centerline is valid? [True, True] Translation: X:141.23, Y:205.33, Z:-82.52 [[ 4.17747438e-01 2.08124546e-01 8.84404461e-01 1.41227790e+02] [-2.86456588e-02 9.75943102e-01 -2.16135346e-01 2.05326962e+02] [-9.08111504e-01 6.49556386e-02 4.13659596e-01 -8.25186196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.910714057 meters Centerline goodness : 0.995015 Centerline is valid? [True, True] Translation: X:141.24, Y:205.33, Z:-82.55 [[ 4.17038035e-01 2.09530839e-01 8.84407205e-01 1.41241277e+02] [-3.05067775e-02 9.75742718e-01 -2.16784421e-01 2.05327402e+02] [-9.08376912e-01 6.34269350e-02 4.13313937e-01 -8.25475713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.9407140569999 meters Centerline goodness : 0.995015 Centerline is valid? [True, True] Translation: X:141.25, Y:205.32, Z:-82.58 [[ 4.17070929e-01 2.10052881e-01 8.84267848e-01 1.41253918e+02] [-3.05307224e-02 9.75615688e-01 -2.17352028e-01 2.05324529e+02] [-9.08361005e-01 6.36538759e-02 4.13314008e-01 -8.25757342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.9707140569999 meters Centerline goodness : 0.994881 Centerline is valid? [True, True] Translation: X:141.27, Y:205.33, Z:-82.61 [[ 4.14774864e-01 2.12504728e-01 8.84761862e-01 1.41268417e+02] [-3.57522560e-02 9.75402109e-01 -2.17514374e-01 2.05328369e+02] [-9.09221419e-01 5.85872624e-02 4.12169801e-01 -8.26059193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.000714057 meters Centerline goodness : 0.993176 Centerline is valid? [True, True] Translation: X:141.28, Y:205.34, Z:-82.65 [[ 4.04117342e-01 2.68735211e-01 8.74340072e-01 1.41281927e+02] [-4.49407272e-02 9.60547689e-01 -2.74460323e-01 2.05340507e+02] [-9.13602488e-01 7.16206975e-02 4.00251134e-01 -8.26521655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.030714057 meters Centerline goodness : 0.992845 Centerline is valid? [True, True] Translation: X:141.30, Y:205.34, Z:-82.66 [[ 4.15437712e-01 2.40896917e-01 8.77143194e-01 1.41300639e+02] [-4.12304215e-02 9.68290399e-01 -2.46401615e-01 2.05340925e+02] [-9.08686723e-01 6.61995397e-02 4.12196629e-01 -8.26597343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.0607140569999 meters Centerline goodness : 0.991060 Centerline is valid? [True, True] Translation: X:141.31, Y:205.33, Z:-82.69 [[ 4.12058758e-01 2.16485213e-01 8.85065948e-01 1.41309597e+02] [-4.64440136e-02 9.75092251e-01 -2.16882586e-01 2.05333846e+02] [-9.09972820e-01 4.82623540e-02 4.11849744e-01 -8.26918450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.0907140569999 meters Centerline goodness : 0.990732 Centerline is valid? [True, True] Translation: X:141.32, Y:205.33, Z:-82.72 [[ 4.11908514e-01 2.18044598e-01 8.84753033e-01 1.41324154e+02] [-4.89536333e-02 9.74841817e-01 -2.17455682e-01 2.05334251e+02] [-9.09909291e-01 4.62599714e-02 4.12219720e-01 -8.27219774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.120714057 meters Centerline goodness : 0.990274 Centerline is valid? [True, True] Translation: X:141.34, Y:205.34, Z:-82.75 [[ 4.11544493e-01 2.19369832e-01 8.84594827e-01 1.41337350e+02] [-5.07647937e-02 9.74610757e-01 -2.18075237e-01 2.05335055e+02] [-9.09974761e-01 4.48413888e-02 4.12231954e-01 -8.27511587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.150714057 meters Centerline goodness : 0.989045 Centerline is valid? [True, True] Translation: X:141.35, Y:205.34, Z:-82.78 [[ 4.11092118e-01 2.20750622e-01 8.84461663e-01 1.41351185e+02] [-5.32381994e-02 9.74394399e-01 -2.18451939e-01 2.05338286e+02] [-9.10037892e-01 4.27167241e-02 4.12318223e-01 -8.27819638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.1807140569999 meters Centerline goodness : 0.986987 Centerline is valid? [True, True] Translation: X:141.37, Y:205.33, Z:-82.82 [[ 4.09215969e-01 2.33560658e-01 8.82038383e-01 1.41367983e+02] [-5.89845742e-02 9.71433061e-01 -2.29866544e-01 2.05333029e+02] [-9.10529028e-01 4.20384022e-02 4.11302397e-01 -8.28208590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.2107140569999 meters Centerline goodness : 0.986701 Centerline is valid? [True, True] Translation: X:141.39, Y:205.34, Z:-82.84 [[ 4.13183326e-01 2.63887606e-01 8.71574937e-01 1.41390831e+02] [-5.92780469e-02 9.62857271e-01 -2.63423591e-01 2.05344882e+02] [-9.08716486e-01 5.71769755e-02 4.13479311e-01 -8.28447841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.240714057 meters Centerline goodness : 0.985693 Centerline is valid? [True, True] Translation: X:141.40, Y:205.35, Z:-82.88 [[ 4.13571123e-01 2.62525152e-01 8.71802427e-01 1.41403484e+02] [-6.06635121e-02 9.63345806e-01 -2.61313597e-01 2.05345268e+02] [-9.08448603e-01 5.51851605e-02 4.14337705e-01 -8.28763541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.270714057 meters Centerline goodness : 0.985493 Centerline is valid? [True, True] Translation: X:141.42, Y:205.34, Z:-82.90 [[ 4.16511922e-01 2.57728771e-01 8.71833527e-01 1.41418461e+02] [-6.08530260e-02 9.64728206e-01 -2.56117937e-01 2.05343762e+02] [-9.07091356e-01 5.36224657e-02 4.17504375e-01 -8.29001624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.3007140569999 meters Centerline goodness : 0.984217 Centerline is valid? [True, True] Translation: X:141.43, Y:205.34, Z:-82.93 [[ 4.17004554e-01 2.51809365e-01 8.73326540e-01 1.41431792e+02] [-6.18462532e-02 9.66490531e-01 -2.49140714e-01 2.05340432e+02] [-9.06797796e-01 4.98808381e-02 4.18604419e-01 -8.29291324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.3307140569999 meters Centerline goodness : 0.984469 Centerline is valid? [True, True] Translation: X:141.45, Y:205.35, Z:-82.96 [[ 4.12618781e-01 2.67229515e-01 8.70823822e-01 1.41445631e+02] [-6.43306313e-02 9.62161537e-01 -2.64776788e-01 2.05346521e+02] [-9.08629359e-01 5.32312291e-02 4.14196964e-01 -8.29627019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.360714057 meters Centerline goodness : 0.984300 Centerline is valid? [True, True] Translation: X:141.46, Y:205.35, Z:-82.99 [[ 4.10705496e-01 2.72508165e-01 8.70092119e-01 1.41458677e+02] [-6.68312178e-02 9.60721550e-01 -2.69346789e-01 2.05345795e+02] [-9.09315448e-01 5.24728905e-02 4.12785673e-01 -8.29926292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.390714057 meters Centerline goodness : 0.984541 Centerline is valid? [True, True] Translation: X:141.47, Y:205.34, Z:-83.02 [[ 4.13923160e-01 2.57672224e-01 8.73082265e-01 1.41472083e+02] [-6.75426554e-02 9.65152034e-01 -2.52823142e-01 2.05338576e+02] [-9.07802626e-01 4.56790595e-02 4.16902646e-01 -8.30198531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.4207140569999 meters Centerline goodness : 0.983294 Centerline is valid? [True, True] Translation: X:141.49, Y:205.34, Z:-83.05 [[ 4.11756825e-01 2.73449479e-01 8.69299545e-01 1.41487334e+02] [-7.02125039e-02 9.60601996e-01 -2.68912643e-01 2.05341692e+02] [-9.08584901e-01 4.96909183e-02 4.14734000e-01 -8.30492769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.4507140569999 meters Centerline goodness : 0.984255 Centerline is valid? [True, True] Translation: X:141.50, Y:205.34, Z:-83.08 [[ 4.11939317e-01 2.67722168e-01 8.70994168e-01 1.41500479e+02] [-7.12470656e-02 9.62401143e-01 -2.62121908e-01 2.05337751e+02] [-9.08421628e-01 4.59225412e-02 4.15525288e-01 -8.30785871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.4807140569999 meters Centerline goodness : 0.983944 Centerline is valid? [True, True] Translation: X:141.51, Y:205.34, Z:-83.11 [[ 4.12459134e-01 2.68014350e-01 8.70658240e-01 1.41514176e+02] [-7.16441440e-02 9.62325314e-01 -2.62292024e-01 2.05335173e+02] [-9.08154491e-01 4.58071769e-02 4.16121525e-01 -8.31081163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.510714057 meters Centerline goodness : 0.983257 Centerline is valid? [True, True] Translation: X:141.53, Y:205.34, Z:-83.14 [[ 4.09465000e-01 2.80617201e-01 8.68096999e-01 1.41526659e+02] [-7.14603890e-02 9.58462396e-01 -2.76121801e-01 2.05336652e+02] [-9.09522856e-01 5.10276640e-02 4.12509820e-01 -8.31404270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.540714057 meters Centerline goodness : 0.984278 Centerline is valid? [True, True] Translation: X:141.54, Y:205.34, Z:-83.17 [[ 4.06680991e-01 2.93805679e-01 8.65036875e-01 1.41537607e+02] [-7.09734065e-02 9.54174099e-01 -2.90713889e-01 2.05337970e+02] [-9.10809172e-01 5.68331985e-02 4.08896858e-01 -8.31723718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.5707140569999 meters Centerline goodness : 0.985808 Centerline is valid? [True, True] Translation: X:141.55, Y:205.33, Z:-83.19 [[ 4.14970740e-01 2.59837055e-01 8.71942653e-01 1.41546449e+02] [-6.23476278e-02 9.64221045e-01 -2.57663637e-01 2.05334535e+02] [-9.07696017e-01 5.25593142e-02 4.16323744e-01 -8.31853559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.6007140569999 meters Centerline goodness : 0.984293 Centerline is valid? [True, True] Translation: X:141.55, Y:205.31, Z:-83.23 [[ 4.12897300e-01 2.26732544e-01 8.82104400e-01 1.41551785e+02] [-6.62084410e-02 9.73427589e-01 -2.19214900e-01 2.05306998e+02] [-9.08367911e-01 3.21104830e-02 4.16937231e-01 -8.32275003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.630714057 meters Centerline goodness : 0.983508 Centerline is valid? [True, True] Translation: X:141.57, Y:205.33, Z:-83.24 [[ 4.18009635e-01 2.66524815e-01 8.68465582e-01 1.41574421e+02] [-5.87938945e-02 9.61926752e-01 -2.66908603e-01 2.05330579e+02] [-9.06538043e-01 6.05098940e-02 4.17764683e-01 -8.32422294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.660714057 meters Centerline goodness : 0.983750 Centerline is valid? [True, True] Translation: X:141.58, Y:205.30, Z:-83.29 [[ 4.11486765e-01 2.38075203e-01 8.79772039e-01 1.41577407e+02] [-6.35836543e-02 9.70427504e-01 -2.32868157e-01 2.05304508e+02] [-9.09195117e-01 3.98830434e-02 4.14455766e-01 -8.32867298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.6907140569999 meters Centerline goodness : 0.983527 Centerline is valid? [True, True] Translation: X:141.60, Y:205.31, Z:-83.31 [[ 4.17743882e-01 2.66677673e-01 8.68546526e-01 1.41603174e+02] [-6.12682222e-02 9.62046745e-01 -2.65917779e-01 2.05313952e+02] [-9.06496693e-01 5.78712237e-02 4.18228009e-01 -8.33063454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.7207140569999 meters Centerline goodness : 0.983324 Centerline is valid? [True, True] Translation: X:141.62, Y:205.31, Z:-83.34 [[ 4.18183052e-01 2.61752939e-01 8.69832360e-01 1.41617227e+02] [-5.72714250e-02 9.63275003e-01 -2.62338049e-01 2.05308110e+02] [-9.06555524e-01 5.98887874e-02 4.17816245e-01 -8.33358261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.750714057 meters Centerline goodness : 0.983694 Centerline is valid? [True, True] Translation: X:141.63, Y:205.31, Z:-83.37 [[ 4.17613687e-01 2.66862347e-01 8.68552414e-01 1.41631068e+02] [-5.59357047e-02 9.61635481e-01 -2.68567309e-01 2.05306900e+02] [-9.06901321e-01 6.35742930e-02 4.16519272e-01 -8.33651046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.780714057 meters Centerline goodness : 0.984529 Centerline is valid? [True, True] Translation: X:141.64, Y:205.30, Z:-83.40 [[ 4.16336206e-01 2.61941224e-01 8.70661220e-01 1.41642785e+02] [-5.36945295e-02 9.63013297e-01 -2.64049782e-01 2.05300810e+02] [-9.07623855e-01 6.31837397e-02 4.15002113e-01 -8.33962034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.8107140569999 meters Centerline goodness : 0.983996 Centerline is valid? [True, True] Translation: X:141.66, Y:205.30, Z:-83.42 [[ 4.17350177e-01 2.59141470e-01 8.71013507e-01 1.41656482e+02] [-5.23718604e-02 9.63744580e-01 -2.61636336e-01 2.05296261e+02] [-9.07235371e-01 6.35773732e-02 4.15790692e-01 -8.34235659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.8407140569999 meters Centerline goodness : 0.985208 Centerline is valid? [True, True] Translation: X:141.67, Y:205.29, Z:-83.45 [[ 4.17618423e-01 2.57117167e-01 8.71484719e-01 1.41669207e+02] [-5.13337528e-02 9.64271939e-01 -2.59893195e-01 2.05291939e+02] [-9.07171262e-01 6.37996051e-02 4.15896515e-01 -8.34539432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.870714057 meters Centerline goodness : 0.985040 Centerline is valid? [True, True] Translation: X:141.68, Y:205.29, Z:-83.48 [[ 4.19204637e-01 2.57751790e-01 8.70535173e-01 1.41682585e+02] [-4.86909947e-02 9.63856269e-01 -2.61935641e-01 2.05288877e+02] [-9.06585164e-01 6.74174118e-02 4.16603209e-01 -8.34835129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.900714057 meters Centerline goodness : 0.984101 Centerline is valid? [True, True] Translation: X:141.70, Y:205.29, Z:-83.51 [[ 4.18255897e-01 2.69380893e-01 8.67465238e-01 1.41695081e+02] [-4.84436640e-02 9.60268180e-01 -2.74842197e-01 2.05290222e+02] [-9.07036502e-01 7.29311751e-02 4.14687626e-01 -8.35127801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.9307140569999 meters Centerline goodness : 0.984999 Centerline is valid? [True, True] Translation: X:141.71, Y:205.28, Z:-83.54 [[ 4.20026127e-01 2.53264791e-01 8.71455678e-01 1.41705748e+02] [-4.58936100e-02 9.64968212e-01 -2.58321751e-01 2.05280987e+02] [-9.06350831e-01 6.85076378e-02 4.16935096e-01 -8.35433581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.9607140569999 meters Centerline goodness : 0.984632 Centerline is valid? [True, True] Translation: X:141.72, Y:205.28, Z:-83.57 [[ 4.21198708e-01 2.59775250e-01 8.68969774e-01 1.41719980e+02] [-4.23874122e-02 9.62694961e-01 -2.67248422e-01 2.05280239e+02] [-9.05977348e-01 7.57313104e-02 4.16497075e-01 -8.35715413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.990714057 meters Centerline goodness : 0.985185 Centerline is valid? [True, True] Translation: X:141.73, Y:205.28, Z:-83.60 [[ 4.21110056e-01 2.63298406e-01 8.67951767e-01 1.41732996e+02] [-3.97141687e-02 9.61372700e-01 -2.72369817e-01 2.05279136e+02] [-9.06139672e-01 8.02276862e-02 4.15300389e-01 -8.35998449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.020714057 meters Centerline goodness : 0.984859 Centerline is valid? [True, True] Translation: X:141.74, Y:205.28, Z:-83.63 [[ 4.19389030e-01 2.66391771e-01 8.67841153e-01 1.41743530e+02] [-3.74457481e-02 9.60238560e-01 -2.76658135e-01 2.05276774e+02] [-9.07033989e-01 8.35304256e-02 4.12688757e-01 -8.36338690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.0507140569999 meters Centerline goodness : 0.985501 Centerline is valid? [True, True] Translation: X:141.76, Y:205.27, Z:-83.66 [[ 4.24218892e-01 2.39793156e-01 8.73233974e-01 1.41757113e+02] [-2.95304579e-02 9.67453417e-01 -2.51320192e-01 2.05266029e+02] [-9.05078054e-01 8.08277742e-02 4.17493218e-01 -8.36564952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.0807140569999 meters Centerline goodness : 0.985504 Centerline is valid? [True, True] Translation: X:141.77, Y:205.27, Z:-83.69 [[ 4.23741820e-01 2.51620559e-01 8.70132153e-01 1.41770415e+02] [-2.68510499e-02 9.63708131e-01 -2.65604328e-01 2.05267848e+02] [-9.05384941e-01 8.91836996e-02 4.15119714e-01 -8.36882756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.110714057 meters Centerline goodness : 0.985823 Centerline is valid? [True, True] Translation: X:141.78, Y:205.27, Z:-83.70 [[ 4.29472673e-01 2.41276750e-01 8.70252121e-01 1.41783769e+02] [-1.85980079e-02 9.65807774e-01 -2.58591297e-01 2.05272591e+02] [-9.02888331e-01 9.48729395e-02 4.19275313e-01 -8.37034842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.140714057 meters Centerline goodness : 0.986689 Centerline is valid? [True, True] Translation: X:141.78, Y:205.25, Z:-83.73 [[ 4.27927587e-01 1.83011019e-01 8.85090361e-01 1.41784401e+02] [-1.26395833e-02 9.80400819e-01 -1.96607414e-01 2.05246319e+02] [-9.03724638e-01 7.29465628e-02 4.21853739e-01 -8.37339856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.1707140569999 meters Centerline goodness : 0.986235 Centerline is valid? [True, True] Translation: X:141.80, Y:205.26, Z:-83.76 [[ 4.30387052e-01 2.15716681e-01 8.76489189e-01 1.41801411e+02] [-1.10261795e-02 9.72207720e-01 -2.33860155e-01 2.05260519e+02] [-9.02577093e-01 9.09860556e-02 4.20804145e-01 -8.37568805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.2007140569999 meters Centerline goodness : 0.986340 Centerline is valid? [True, True] Translation: X:141.81, Y:205.25, Z:-83.79 [[ 4.28526045e-01 1.90100050e-01 8.83304817e-01 1.41808720e+02] [-8.98178679e-03 9.78463953e-01 -2.06222261e-01 2.05248820e+02] [-9.03484785e-01 8.04379544e-02 4.21004726e-01 -8.37879614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.2307140569999 meters Centerline goodness : 0.985475 Centerline is valid? [True, True] Translation: X:141.82, Y:205.25, Z:-83.82 [[ 4.29276443e-01 1.89350194e-01 8.83101489e-01 1.41821924e+02] [-6.19106579e-03 9.78370454e-01 -2.06767805e-01 2.05248602e+02] [-9.03151929e-01 8.32932085e-02 4.21163668e-01 -8.38168568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.260714057 meters Centerline goodness : 0.985151 Centerline is valid? [True, True] Translation: X:141.84, Y:205.25, Z:-83.85 [[ 4.29561502e-01 1.89310039e-01 8.82971475e-01 1.41835803e+02] [-4.96277873e-03 9.78259426e-01 -2.07325510e-01 2.05246925e+02] [-9.03023968e-01 8.46770656e-02 4.21162092e-01 -8.38472195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.290714057 meters Centerline goodness : 0.984457 Centerline is valid? [True, True] Translation: X:141.85, Y:205.23, Z:-83.89 [[ 4.28784213e-01 1.82740175e-01 8.84731670e-01 1.41851127e+02] [-1.00978684e-02 9.80236247e-01 -1.97572601e-01 2.05231875e+02] [-9.03350503e-01 7.57821082e-02 4.22155114e-01 -8.38850867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.3207140569999 meters Centerline goodness : 0.984106 Centerline is valid? [True, True] Translation: X:141.88, Y:205.27, Z:-83.90 [[ 4.36481839e-01 2.50238619e-01 8.64213075e-01 1.41880112e+02] [-2.27163587e-03 9.60846436e-01 -2.77072130e-01 2.05271944e+02] [-8.99710200e-01 1.18973775e-01 4.19960470e-01 -8.38994690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.3507140569999 meters Centerline goodness : 0.982913 Centerline is valid? [True, True] Translation: X:141.88, Y:205.23, Z:-83.94 [[ 4.25910848e-01 1.72400284e-01 8.88188095e-01 1.41875970e+02] [-6.39154367e-03 9.82226890e-01 -1.87588607e-01 2.05228920e+02] [-9.04742559e-01 7.42191295e-02 4.19442992e-01 -8.39405534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.380714057 meters Centerline goodness : 0.982501 Centerline is valid? [True, True] Translation: X:141.91, Y:205.26, Z:-83.96 [[ 4.35161325e-01 2.31754841e-01 8.70013974e-01 1.41906297e+02] [-2.80890282e-03 9.66648478e-01 -2.56091448e-01 2.05257674e+02] [-9.00348117e-01 1.08997309e-01 4.21299009e-01 -8.39614432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.410714057 meters Centerline goodness : 0.984068 Centerline is valid? [True, True] Translation: X:141.91, Y:205.26, Z:-83.98 [[ 4.33573116e-01 2.24074338e-01 8.72814439e-01 1.41914996e+02] [-4.35074718e-03 9.69099448e-01 -2.46631976e-01 2.05258768e+02] [-9.01107887e-01 1.03135600e-01 4.21150358e-01 -8.39849407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.4407140569999 meters Centerline goodness : 0.980457 Centerline is valid? [True, True] Translation: X:141.91, Y:205.25, Z:-84.01 [[ 4.25373740e-01 1.87535309e-01 8.85374322e-01 1.41911854e+02] [-2.66453476e-03 9.78550222e-01 -2.05991173e-01 2.05247984e+02] [-9.05013857e-01 8.52641249e-02 4.16749262e-01 -8.40125111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.4707140569999 meters Centerline goodness : 0.984086 Centerline is valid? [True, True] Translation: X:141.93, Y:205.24, Z:-84.04 [[ 4.28847324e-01 1.73719039e-01 8.86516592e-01 1.41925791e+02] [-5.62910030e-03 9.81831079e-01 -1.89673525e-01 2.05240990e+02] [-9.03359445e-01 7.63506926e-02 4.22033512e-01 -8.40414932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.500714057 meters Centerline goodness : 0.983703 Centerline is valid? [True, True] Translation: X:141.94, Y:205.24, Z:-84.07 [[ 4.30562603e-01 1.81971814e-01 8.84026077e-01 1.41943968e+02] [-1.10323658e-02 9.80452311e-01 -1.96447329e-01 2.05243252e+02] [-9.02493287e-01 7.48299744e-02 4.24153678e-01 -8.40723463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.530714057 meters Centerline goodness : 0.982895 Centerline is valid? [True, True] Translation: X:141.97, Y:205.28, Z:-84.09 [[ 4.36045662e-01 2.50556769e-01 8.64341071e-01 1.41972253e+02] [-1.26624317e-02 9.62072631e-01 -2.72499387e-01 2.05276099e+02] [-8.99835454e-01 1.07877516e-01 4.22680255e-01 -8.40860386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.5607140569999 meters Centerline goodness : 0.983790 Centerline is valid? [True, True] Translation: X:141.97, Y:205.26, Z:-84.12 [[ 4.31377576e-01 1.96036716e-01 8.80615122e-01 1.41969499e+02] [-1.27821633e-02 9.77336231e-01 -2.11306667e-01 2.05255334e+02] [-9.02080929e-01 7.98967915e-02 4.24106708e-01 -8.41210595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.5907140569999 meters Centerline goodness : 0.982230 Centerline is valid? [True, True] Translation: X:141.98, Y:205.24, Z:-84.15 [[ 4.20870631e-01 1.90971652e-01 8.86790697e-01 1.41977545e+02] [-1.89219278e-02 9.79223970e-01 -2.01896948e-01 2.05244931e+02] [-9.06923300e-01 6.81927065e-02 4.15740162e-01 -8.41536972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.620714057 meters Centerline goodness : 0.980647 Centerline is valid? [True, True] Translation: X:142.00, Y:205.26, Z:-84.18 [[ 4.22984397e-01 2.25127529e-01 8.77725353e-01 1.42002817e+02] [-2.12409447e-02 9.70842601e-01 -2.38774928e-01 2.05262137e+02] [-9.05887974e-01 8.23543532e-02 4.15433194e-01 -8.41760030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.650714057 meters Centerline goodness : 0.983738 Centerline is valid? [True, True] Translation: X:142.02, Y:205.27, Z:-84.20 [[ 4.30624711e-01 2.40428565e-01 8.69917504e-01 1.42023161e+02] [-2.11157039e-02 9.66284378e-01 -2.56609876e-01 2.05269267e+02] [-9.02284038e-01 9.21336332e-02 4.21182749e-01 -8.42049500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.6807140569999 meters Centerline goodness : 0.982995 Centerline is valid? [True, True] Translation: X:142.04, Y:205.28, Z:-84.23 [[ 4.31529673e-01 2.50743374e-01 8.66550577e-01 1.42042579e+02] [-2.49850077e-02 9.63547515e-01 -2.66368045e-01 2.05276913e+02] [-9.01752677e-01 9.32949423e-02 4.22064169e-01 -8.42250957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.7107140569999 meters Centerline goodness : 0.984777 Centerline is valid? [True, True] Translation: X:142.06, Y:205.29, Z:-84.24 [[ 4.31577652e-01 2.65035525e-01 8.62262663e-01 1.42056814e+02] [-2.24270708e-02 9.58721991e-01 -2.83459292e-01 2.05292430e+02] [-9.01796960e-01 1.02996670e-01 4.19706956e-01 -8.42418438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.740714057 meters Centerline goodness : 0.984865 Centerline is valid? [True, True] Translation: X:142.05, Y:205.27, Z:-84.28 [[ 4.24453391e-01 1.99186949e-01 8.83268860e-01 1.42048470e+02] [-2.34602222e-02 9.77594690e-01 -2.09184702e-01 2.05267199e+02] [-9.05145810e-01 6.80674722e-02 4.19616351e-01 -8.42794943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.770714057 meters Centerline goodness : 0.984772 Centerline is valid? [True, True] Translation: X:142.06, Y:205.26, Z:-84.31 [[ 4.22495372e-01 1.74304510e-01 8.89446794e-01 1.42057525e+02] [-2.94253544e-02 9.83454445e-01 -1.78749837e-01 2.05255610e+02] [-9.05887305e-01 4.93486916e-02 4.20633923e-01 -8.43068371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.8007140569999 meters Centerline goodness : 0.987049 Centerline is valid? [True, True] Translation: X:142.09, Y:205.28, Z:-84.33 [[ 4.25740151e-01 2.38089879e-01 8.72959640e-01 1.42085307e+02] [-2.96096028e-02 9.67910146e-01 -2.49546031e-01 2.05284216e+02] [-9.04360877e-01 8.03937764e-02 4.19127958e-01 -8.43277573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.8307140569999 meters Centerline goodness : 0.987049 Centerline is valid? [True, True] Translation: X:142.09, Y:205.27, Z:-84.36 [[ 4.23156165e-01 2.01625542e-01 8.83337988e-01 1.42086721e+02] [-2.91646574e-02 9.77451511e-01 -2.09136240e-01 2.05267144e+02] [-9.05587259e-01 6.27350396e-02 4.19494972e-01 -8.43622722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.860714057 meters Centerline goodness : 0.984782 Centerline is valid? [True, True] Translation: X:142.09, Y:205.25, Z:-84.39 [[ 4.16830618e-01 1.78557994e-01 8.91273964e-01 1.42092791e+02] [-3.51534629e-02 9.82949567e-01 -1.80483746e-01 2.05250269e+02] [-9.08304173e-01 4.38997851e-02 4.16000407e-01 -8.43906645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.890714057 meters Centerline goodness : 0.983376 Centerline is valid? [True, True] Translation: X:142.12, Y:205.28, Z:-84.41 [[ 4.24725494e-01 2.26431826e-01 8.76548277e-01 1.42122137e+02] [-3.29922306e-02 9.71445056e-01 -2.34959605e-01 2.05278138e+02] [-9.04720823e-01 7.08740514e-02 4.20067973e-01 -8.44107856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.9207140569999 meters Centerline goodness : 0.986809 Centerline is valid? [True, True] Translation: X:142.11, Y:205.25, Z:-84.44 [[ 4.13728469e-01 1.64743950e-01 8.95370418e-01 1.42110241e+02] [-3.78487034e-02 9.85753105e-01 -1.63884992e-01 2.05247444e+02] [-9.09613231e-01 3.39152777e-02 4.14069468e-01 -8.44402582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.9507140569999 meters Centerline goodness : 0.988217 Centerline is valid? [True, True] Translation: X:142.14, Y:205.26, Z:-84.47 [[ 4.22222227e-01 2.01157264e-01 8.83891479e-01 1.42136878e+02] [-3.77716806e-02 9.78124981e-01 -2.04560069e-01 2.05261427e+02] [-9.05705080e-01 5.29837414e-02 4.20584156e-01 -8.44681311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.9807140569999 meters Centerline goodness : 0.988765 Centerline is valid? [True, True] Translation: X:142.16, Y:205.29, Z:-84.49 [[ 4.21018659e-01 2.65534336e-01 8.67314710e-01 1.42162213e+02] [-3.74029772e-02 9.60459798e-01 -2.75894898e-01 2.05288345e+02] [-9.06280479e-01 8.37167475e-02 4.14303270e-01 -8.44875965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.010714057 meters Centerline goodness : 0.988848 Centerline is valid? [True, True] Translation: X:142.15, Y:205.25, Z:-84.52 [[ 4.20533128e-01 1.81312341e-01 8.88975660e-01 1.42152341e+02] [-3.61554095e-02 9.82398801e-01 -1.83263149e-01 2.05251660e+02] [-9.06556493e-01 4.49269464e-02 4.19686663e-01 -8.45230410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.040714057 meters Centerline goodness : 0.988637 Centerline is valid? [True, True] Translation: X:142.18, Y:205.28, Z:-84.54 [[ 4.21698443e-01 2.59028639e-01 8.68950279e-01 1.42184122e+02] [-3.51221113e-02 9.62274675e-01 -2.69803424e-01 2.05282891e+02] [-9.06055661e-01 8.32563152e-02 4.14887365e-01 -8.45395471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.0707140569999 meters Centerline goodness : 0.988503 Centerline is valid? [True, True] Translation: X:142.18, Y:205.26, Z:-84.57 [[ 4.19152733e-01 2.07179944e-01 8.83961231e-01 1.42179462e+02] [-3.18731041e-02 9.76373589e-01 -2.13725807e-01 2.05263119e+02] [-9.07356100e-01 6.14091677e-02 4.15853126e-01 -8.45745285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.1007140569999 meters Centerline goodness : 0.989446 Centerline is valid? [True, True] Translation: X:142.19, Y:205.26, Z:-84.60 [[ 4.19647734e-01 2.07076122e-01 8.83750677e-01 1.42191251e+02] [-3.05078968e-02 9.76296941e-01 -2.14274478e-01 2.05261591e+02] [-9.07174210e-01 6.29584245e-02 4.16018256e-01 -8.45997386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.130714057 meters Centerline goodness : 0.988066 Centerline is valid? [True, True] Translation: X:142.20, Y:205.24, Z:-84.63 [[ 4.21951585e-01 1.76556051e-01 8.89260829e-01 1.42201414e+02] [-2.97995083e-02 9.83025536e-01 -1.81032552e-01 2.05244836e+02] [-9.06128495e-01 4.98874368e-02 4.20050466e-01 -8.46288902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.160714057 meters Centerline goodness : 0.988626 Centerline is valid? [True, True] Translation: X:142.23, Y:205.28, Z:-84.65 [[ 4.22795696e-01 2.52848377e-01 8.70236461e-01 1.42232292e+02] [-2.97851152e-02 9.63645764e-01 -2.65517775e-01 2.05275566e+02] [-9.05735418e-01 8.63396790e-02 4.14956399e-01 -8.46464570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.1907140569999 meters Centerline goodness : 0.988717 Centerline is valid? [True, True] Translation: X:142.22, Y:205.24, Z:-84.68 [[ 4.21098139e-01 1.77766389e-01 8.89424234e-01 1.42224349e+02] [-2.90740333e-02 9.82747377e-01 -1.82653480e-01 2.05242884e+02] [-9.06548983e-01 5.10558905e-02 4.19001477e-01 -8.46811877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.2207140569999 meters Centerline goodness : 0.989168 Centerline is valid? [True, True] Translation: X:142.26, Y:205.27, Z:-84.70 [[ 4.22040510e-01 2.49923668e-01 8.71447054e-01 1.42256261e+02] [-3.06480708e-02 9.64633768e-01 -2.61806017e-01 2.05271841e+02] [-9.06058775e-01 8.37845739e-02 4.14774206e-01 -8.46983996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.250714057 meters Centerline goodness : 0.987071 Centerline is valid? [True, True] Translation: X:142.24, Y:205.24, Z:-84.73 [[ 4.11058247e-01 1.71641440e-01 8.95304604e-01 1.42241791e+02] [-3.39485721e-02 9.84315601e-01 -1.73119300e-01 2.05236045e+02] [-9.10976735e-01 4.07678031e-02 4.10438027e-01 -8.47279957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.280714057 meters Centerline goodness : 0.984272 Centerline is valid? [True, True] Translation: X:142.27, Y:205.26, Z:-84.75 [[ 4.20993879e-01 2.17935251e-01 8.80493259e-01 1.42274665e+02] [-3.08269732e-02 9.73584308e-01 -2.26237250e-01 2.05259762e+02] [-9.06539492e-01 6.81015553e-02 4.16591319e-01 -8.47485073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.3107140569999 meters Centerline goodness : 0.989793 Centerline is valid? [True, True] Translation: X:142.27, Y:205.24, Z:-84.78 [[ 4.19304067e-01 1.72155774e-01 8.91373373e-01 1.42274528e+02] [-3.16849306e-02 9.84032342e-01 -1.75146840e-01 2.05238657e+02] [-9.07292767e-01 4.51966786e-02 4.18063507e-01 -8.47821951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.3407140569999 meters Centerline goodness : 0.988013 Centerline is valid? [True, True] Translation: X:142.29, Y:205.23, Z:-84.80 [[ 4.16767410e-01 1.72595701e-01 8.92477255e-01 1.42290382e+02] [-3.62759709e-02 9.84184767e-01 -1.73390881e-01 2.05231857e+02] [-9.08289040e-01 3.98881896e-02 4.16437213e-01 -8.48028934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.370714057 meters Centerline goodness : 0.989959 Centerline is valid? [True, True] Translation: X:142.32, Y:205.25, Z:-84.83 [[ 4.21618519e-01 2.25904212e-01 8.78182846e-01 1.42316920e+02] [-3.30979344e-02 9.71658710e-01 -2.34059563e-01 2.05254823e+02] [-9.06169052e-01 6.96178079e-02 4.17146269e-01 -8.48273097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.400714057 meters Centerline goodness : 0.989062 Centerline is valid? [True, True] Translation: X:142.31, Y:205.23, Z:-84.85 [[ 4.14654609e-01 1.65363907e-01 8.94827544e-01 1.42312859e+02] [-3.62521556e-02 9.85571065e-01 -1.65334381e-01 2.05225470e+02] [-9.09256475e-01 3.61172358e-02 4.14666382e-01 -8.48546035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.4307140569999 meters Centerline goodness : 0.985382 Centerline is valid? [True, True] Translation: X:142.34, Y:205.25, Z:-84.87 [[ 4.15078696e-01 2.23467515e-01 8.81913797e-01 1.42339781e+02] [-3.14706453e-02 9.72311131e-01 -2.31561360e-01 2.05252144e+02] [-9.09241043e-01 6.83617910e-02 4.10618304e-01 -8.48741629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.4607140569999 meters Centerline goodness : 0.990434 Centerline is valid? [True, True] Translation: X:142.34, Y:205.22, Z:-84.91 [[ 4.23121518e-01 1.60581562e-01 8.91729636e-01 1.42338294e+02] [-3.25477714e-02 9.86228369e-01 -1.62155011e-01 2.05224162e+02] [-9.05488169e-01 3.95874622e-02 4.22521017e-01 -8.49100950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.490714057 meters Centerline goodness : 0.989916 Centerline is valid? [True, True] Translation: X:142.36, Y:205.23, Z:-84.94 [[ 4.26288648e-01 1.87299536e-01 8.84984108e-01 1.42362080e+02] [-3.56363528e-02 9.81047007e-01 -1.90464749e-01 2.05226215e+02] [-9.03884970e-01 4.96553546e-02 4.24883875e-01 -8.49380355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.520714057 meters Centerline goodness : 0.989129 Centerline is valid? [True, True] Translation: X:142.39, Y:205.24, Z:-84.96 [[ 4.29642366e-01 2.42370812e-01 8.69864258e-01 1.42392895e+02] [-3.75179897e-02 9.67265224e-01 -2.50978859e-01 2.05243469e+02] [-9.02219395e-01 7.51955929e-02 4.24671385e-01 -8.49558413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.5507140569999 meters Centerline goodness : 0.990279 Centerline is valid? [True, True] Translation: X:142.40, Y:205.25, Z:-84.98 [[ 4.29846572e-01 2.46355972e-01 8.68642999e-01 1.42404400e+02] [-3.55658022e-02 9.65930037e-01 -2.56347885e-01 2.05250036e+02] [-9.02201196e-01 7.92962746e-02 4.23963563e-01 -8.49752799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.5807140569999 meters Centerline goodness : 0.990752 Centerline is valid? [True, True] Translation: X:142.40, Y:205.23, Z:-85.01 [[ 4.26944027e-01 1.99891270e-01 8.81908316e-01 1.42400818e+02] [-3.63115469e-02 9.78265434e-01 -2.04152425e-01 2.05230323e+02] [-9.03548709e-01 5.51382032e-02 4.24922945e-01 -8.50105580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.610714057 meters Centerline goodness : 0.990844 Centerline is valid? [True, True] Translation: X:142.41, Y:205.23, Z:-85.04 [[ 4.27237328e-01 2.00900842e-01 8.81536793e-01 1.42414817e+02] [-3.76803234e-02 9.78110120e-01 -2.04647959e-01 2.05227959e+02] [-9.03354005e-01 5.42166557e-02 4.25455163e-01 -8.50406087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.640714057 meters Centerline goodness : 0.986310 Centerline is valid? [True, True] Translation: X:142.42, Y:205.22, Z:-85.07 [[ 4.20449184e-01 1.91507403e-01 8.86875075e-01 1.42417638e+02] [-3.80429504e-02 9.80332272e-01 -1.93652708e-01 2.05223817e+02] [-9.06518184e-01 4.76817787e-02 4.19465410e-01 -8.50655017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.6707140569999 meters Centerline goodness : 0.986258 Centerline is valid? [True, True] Translation: X:142.42, Y:205.22, Z:-85.09 [[ 4.18966626e-01 1.73395218e-01 8.91291795e-01 1.42423863e+02] [-4.05687736e-02 9.84191555e-01 -1.72398251e-01 2.05216080e+02] [-9.07094891e-01 3.60704986e-02 4.19377847e-01 -8.50937332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.7007140569999 meters Centerline goodness : 0.991132 Centerline is valid? [True, True] Translation: X:142.45, Y:205.22, Z:-85.12 [[ 4.24610456e-01 1.92825091e-01 8.84604118e-01 1.42447382e+02] [-4.43545560e-02 9.80314142e-01 -1.92397652e-01 2.05219209e+02] [-9.04289022e-01 4.24578319e-02 4.24804306e-01 -8.51176070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.7307140569999 meters Centerline goodness : 0.987795 Centerline is valid? [True, True] Translation: X:142.46, Y:205.21, Z:-85.15 [[ 4.18921098e-01 1.93228540e-01 8.87224800e-01 1.42458844e+02] [-5.13843148e-02 9.80574472e-01 -1.89297008e-01 2.05206966e+02] [-9.06567574e-01 3.37110721e-02 4.20712250e-01 -8.51496479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.760714057 meters Centerline goodness : 0.989424 Centerline is valid? [True, True] Translation: X:142.49, Y:205.22, Z:-85.17 [[ 4.24338937e-01 2.36355480e-01 8.74112438e-01 1.42490206e+02] [-5.05759240e-02 9.70012629e-01 -2.37734252e-01 2.05223383e+02] [-9.04089897e-01 5.66708558e-02 4.23568025e-01 -8.51680954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.790714057 meters Centerline goodness : 0.989468 Centerline is valid? [True, True] Translation: X:142.49, Y:205.21, Z:-85.19 [[ 4.16744207e-01 2.11780097e-01 8.84009873e-01 1.42490357e+02] [-5.06035335e-02 9.76379524e-01 -2.10053107e-01 2.05212727e+02] [-9.07614207e-01 4.28043925e-02 4.17617332e-01 -8.51892835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.8207140569999 meters Centerline goodness : 0.990876 Centerline is valid? [True, True] Translation: X:142.51, Y:205.22, Z:-85.22 [[ 4.21157140e-01 2.34826111e-01 8.76061277e-01 1.42507229e+02] [-4.73443978e-02 9.70277109e-01 -2.37320122e-01 2.05223821e+02] [-9.05751164e-01 5.84724702e-02 4.19756833e-01 -8.52153285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.8507140569999 meters Centerline goodness : 0.989782 Centerline is valid? [True, True] Translation: X:142.51, Y:205.21, Z:-85.24 [[ 4.20725722e-01 2.00048501e-01 8.84856183e-01 1.42505225e+02] [-4.88593424e-02 9.78964673e-01 -1.98093246e-01 2.05207144e+02] [-9.05871200e-01 4.01094327e-02 4.21649857e-01 -8.52444973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.880714057 meters Centerline goodness : 0.990786 Centerline is valid? [True, True] Translation: X:142.52, Y:205.20, Z:-85.27 [[ 4.20398632e-01 1.98445807e-01 8.85372380e-01 1.42515951e+02] [-4.53126897e-02 9.79163738e-01 -1.97952352e-01 2.05204342e+02] [-9.06207344e-01 4.31002943e-02 4.20631210e-01 -8.52701352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.910714057 meters Centerline goodness : 0.989974 Centerline is valid? [True, True] Translation: X:142.53, Y:205.20, Z:-85.29 [[ 4.21336345e-01 1.96850183e-01 8.85282830e-01 1.42527033e+02] [-4.29166410e-02 9.79393069e-01 -1.97350901e-01 2.05200316e+02] [-9.05888429e-01 4.51577419e-02 4.21102045e-01 -8.52945122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.9407140569999 meters Centerline goodness : 0.989737 Centerline is valid? [True, True] Translation: X:142.54, Y:205.18, Z:-85.33 [[ 4.23107579e-01 1.75802329e-01 8.88860798e-01 1.42537989e+02] [-4.30963610e-02 9.83790911e-01 -1.74063629e-01 2.05182357e+02] [-9.05053966e-01 3.53409750e-02 4.23825831e-01 -8.53258556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.9707140569999 meters Centerline goodness : 0.990088 Centerline is valid? [True, True] Translation: X:142.57, Y:205.21, Z:-85.34 [[ 4.24973369e-01 2.47734213e-01 8.70646539e-01 1.42569811e+02] [-3.96406795e-02 9.65992137e-01 -2.55514791e-01 2.05212976e+02] [-9.04337466e-01 7.40739612e-02 4.20341285e-01 -8.53395983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.000714057 meters Centerline goodness : 0.989750 Centerline is valid? [True, True] Translation: X:142.56, Y:205.17, Z:-85.38 [[ 4.25787702e-01 1.60608304e-01 8.90454831e-01 1.42559150e+02] [-3.67498861e-02 9.86377969e-01 -1.60336985e-01 2.05172552e+02] [-9.04076478e-01 3.55454028e-02 4.25889945e-01 -8.53762541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.030714057 meters Centerline goodness : 0.989464 Centerline is valid? [True, True] Translation: X:142.59, Y:205.19, Z:-85.40 [[ 4.28809265e-01 2.18580896e-01 8.76552911e-01 1.42589986e+02] [-3.64585716e-02 9.73684176e-01 -2.24966438e-01 2.05189545e+02] [-9.02659064e-01 6.45098261e-02 4.25493943e-01 -8.53964889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.0607140569999 meters Centerline goodness : 0.989195 Centerline is valid? [True, True] Translation: X:142.60, Y:205.19, Z:-85.42 [[ 4.28275424e-01 2.17843749e-01 8.76997299e-01 1.42600287e+02] [-3.15184868e-02 9.73517962e-01 -2.26427389e-01 2.05187209e+02] [-9.03098415e-01 6.93316584e-02 4.23799923e-01 -8.54222709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.0907140569999 meters Centerline goodness : 0.989955 Centerline is valid? [True, True] Translation: X:142.62, Y:205.20, Z:-85.44 [[ 4.27766888e-01 2.42804840e-01 8.70667158e-01 1.42615851e+02] [-2.79934420e-02 9.66342202e-01 -2.55732508e-01 2.05199102e+02] [-9.03455509e-01 8.50209287e-02 4.20166140e-01 -8.54415951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.120714057 meters Centerline goodness : 0.990502 Centerline is valid? [True, True] Translation: X:142.61, Y:205.18, Z:-85.48 [[ 4.23714554e-01 1.86072876e-01 8.86477784e-01 1.42608809e+02] [-2.58826318e-02 9.80760451e-01 -1.93491673e-01 2.05175351e+02] [-9.05425903e-01 5.90408599e-02 4.20378532e-01 -8.54785456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.150714057 meters Centerline goodness : 0.988507 Centerline is valid? [True, True] Translation: X:142.62, Y:205.16, Z:-85.51 [[ 4.22198318e-01 1.77064861e-01 8.89042527e-01 1.42621486e+02] [-2.66820082e-02 9.82740517e-01 -1.83055039e-01 2.05161469e+02] [-9.06110728e-01 5.35640894e-02 4.19635839e-01 -8.55117122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.1807140569999 meters Centerline goodness : 0.987690 Centerline is valid? [True, True] Translation: X:142.65, Y:205.18, Z:-85.53 [[ 4.19870880e-01 2.26153021e-01 8.78955776e-01 1.42646506e+02] [-2.84153050e-02 9.71257698e-01 -2.36328276e-01 2.05178426e+02] [-9.07138917e-01 7.42515648e-02 4.14229031e-01 -8.55275079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.2107140569999 meters Centerline goodness : 0.988564 Centerline is valid? [True, True] Translation: X:142.65, Y:205.16, Z:-85.55 [[ 4.18254394e-01 1.87878261e-01 8.88687246e-01 1.42647465e+02] [-2.77678191e-02 9.80562346e-01 -1.94232939e-01 2.05162570e+02] [-9.07905397e-01 5.65618734e-02 4.15341479e-01 -8.55541960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.240714057 meters Centerline goodness : 0.985678 Centerline is valid? [True, True] Translation: X:142.67, Y:205.18, Z:-85.57 [[ 4.21125046e-01 2.24719957e-01 8.78723299e-01 1.42669940e+02] [-2.47819227e-02 9.71310286e-01 -2.36521005e-01 2.05179779e+02] [-9.06663969e-01 7.78284659e-02 4.14612081e-01 -8.55711368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.270714057 meters Centerline goodness : 0.988982 Centerline is valid? [True, True] Translation: X:142.65, Y:205.13, Z:-85.62 [[ 4.18551639e-01 1.07307875e-01 9.01831218e-01 1.42647811e+02] [-2.61656188e-02 9.94007721e-01 -1.06132048e-01 2.05128470e+02] [-9.07815998e-01 2.08247707e-02 4.18851338e-01 -8.56153595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.3007140569999 meters Centerline goodness : 0.988919 Centerline is valid? [True, True] Translation: X:142.69, Y:205.16, Z:-85.63 [[ 4.21300250e-01 1.91277269e-01 8.86520787e-01 1.42686800e+02] [-2.69747024e-02 9.79716215e-01 -1.98566120e-01 2.05158072e+02] [-9.06519975e-01 5.97423214e-02 4.17914334e-01 -8.56322434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.3307140569999 meters Centerline goodness : 0.984797 Centerline is valid? [True, True] Translation: X:142.70, Y:205.17, Z:-85.65 [[ 4.16895605e-01 2.24637186e-01 8.80758871e-01 1.42704202e+02] [-2.44919096e-02 9.71404643e-01 -2.36163430e-01 2.05172601e+02] [-9.08624346e-01 7.68840295e-02 4.10476120e-01 -8.56512830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.360714057 meters Centerline goodness : 0.988493 Centerline is valid? [True, True] Translation: X:142.68, Y:205.12, Z:-85.69 [[ 4.13342494e-01 1.15211328e-01 9.03257622e-01 1.42684227e+02] [-2.87624374e-02 9.93120286e-01 -1.13511325e-01 2.05122097e+02] [-9.10121258e-01 2.09391632e-02 4.13812575e-01 -8.56905406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.390714057 meters Centerline goodness : 0.989936 Centerline is valid? [True, True] Translation: X:142.72, Y:205.15, Z:-85.71 [[ 4.18877238e-01 1.94864666e-01 8.86887604e-01 1.42717050e+02] [-2.58443893e-02 9.78865098e-01 -2.02867413e-01 2.05153819e+02] [-9.07675012e-01 6.20554731e-02 4.15060467e-01 -8.57098298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.4207140569999 meters Centerline goodness : 0.987076 Centerline is valid? [True, True] Translation: X:142.72, Y:205.13, Z:-85.75 [[ 4.12309399e-01 1.82931982e-01 8.92489131e-01 1.42724401e+02] [-3.32030498e-02 9.81999969e-01 -1.85939823e-01 2.05133516e+02] [-9.10438640e-01 4.70313755e-02 4.10961717e-01 -8.57482296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.4507140569999 meters Centerline goodness : 0.987823 Centerline is valid? [True, True] Translation: X:142.76, Y:205.15, Z:-85.77 [[ 4.22831108e-01 2.34022149e-01 8.75469867e-01 1.42756316e+02] [-3.33263684e-02 9.69442092e-01 -2.43046054e-01 2.05149471e+02] [-9.05595499e-01 7.35912010e-02 4.17709382e-01 -8.57720104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.4807140569999 meters Centerline goodness : 0.986559 Centerline is valid? [True, True] Translation: X:142.77, Y:205.14, Z:-85.80 [[ 4.17938765e-01 2.27407028e-01 8.79552859e-01 1.42766064e+02] [-3.24982031e-02 9.71286604e-01 -2.35682414e-01 2.05143628e+02] [-9.07893747e-01 6.99169298e-02 4.13328644e-01 -8.58003407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.510714057 meters Centerline goodness : 0.989003 Centerline is valid? [True, True] Translation: X:142.77, Y:205.14, Z:-85.82 [[ 4.24345587e-01 2.01078622e-01 8.82891959e-01 1.42773841e+02] [-2.42518593e-02 9.77206216e-01 -2.10902487e-01 2.05139055e+02] [-9.05175492e-01 6.80837681e-02 4.19549675e-01 -8.58239637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.540714057 meters Centerline goodness : 0.988776 Centerline is valid? [True, True] Translation: X:142.78, Y:205.14, Z:-85.85 [[ 4.22623526e-01 1.98478423e-01 8.84305191e-01 1.42783586e+02] [-2.19614465e-02 9.77681697e-01 -2.08940646e-01 2.05135859e+02] [-9.06039210e-01 6.88826115e-02 4.17550160e-01 -8.58513515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.5707140569999 meters Centerline goodness : 0.985021 Centerline is valid? [True, True] Translation: X:142.80, Y:205.14, Z:-85.87 [[ 4.23621245e-01 2.07030434e-01 8.81863618e-01 1.42796584e+02] [-1.63207681e-02 9.75118347e-01 -2.21083336e-01 2.05140995e+02] [-9.05692372e-01 7.92629064e-02 4.16459744e-01 -8.58728064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.6007140569999 meters Centerline goodness : 0.989158 Centerline is valid? [True, True] Translation: X:142.80, Y:205.12, Z:-85.91 [[ 4.24975173e-01 1.58611485e-01 8.91200594e-01 1.42796692e+02] [-1.46467836e-02 9.85605015e-01 -1.68428698e-01 2.05118590e+02] [-9.05086501e-01 5.85247928e-02 4.21180810e-01 -8.59062290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.630714057 meters Centerline goodness : 0.989449 Centerline is valid? [True, True] Translation: X:142.82, Y:205.12, Z:-85.93 [[ 4.26780178e-01 1.80495435e-01 8.86160300e-01 1.42817454e+02] [-1.30190285e-02 9.81005278e-01 -1.93543663e-01 2.05124565e+02] [-9.04261679e-01 7.10636529e-02 4.21023483e-01 -8.59322872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.660714057 meters Centerline goodness : 0.983573 Centerline is valid? [True, True] Translation: X:142.82, Y:205.12, Z:-85.95 [[ 4.23634408e-01 1.76505264e-01 8.88470473e-01 1.42822783e+02] [-1.07067649e-02 9.81739421e-01 -1.89929128e-01 2.05123261e+02] [-9.05769979e-01 7.09478691e-02 4.17788398e-01 -8.59538055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.6907140569999 meters Centerline goodness : 0.990273 Centerline is valid? [True, True] Translation: X:142.83, Y:205.11, Z:-85.99 [[ 4.23962398e-01 1.40743170e-01 8.94677174e-01 1.42829467e+02] [-7.25162096e-03 9.88347392e-01 -1.52042250e-01 2.05107777e+02] [-9.05650760e-01 5.79723373e-02 4.20042747e-01 -8.59862197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.7207140569999 meters Centerline goodness : 0.987256 Centerline is valid? [True, True] Translation: X:142.85, Y:205.11, Z:-86.02 [[ 4.24279031e-01 1.71201803e-01 8.89200341e-01 1.42854095e+02] [-1.50006668e-02 9.83159176e-01 -1.82134608e-01 2.05105480e+02] [-9.05407248e-01 6.39372968e-02 4.19701964e-01 -8.60177912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.750714057 meters Centerline goodness : 0.987256 Centerline is valid? [True, True] Translation: X:142.88, Y:205.12, Z:-86.04 [[ 4.27939196e-01 2.20413694e-01 8.76519166e-01 1.42884876e+02] [-1.55942278e-02 9.71463630e-01 -2.36675380e-01 2.05120771e+02] [-9.03672985e-01 8.76140322e-02 4.19164546e-01 -8.60422182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.780714057 meters Centerline goodness : 0.988768 Centerline is valid? [True, True] Translation: X:142.90, Y:205.12, Z:-86.07 [[ 4.26973381e-01 2.11459852e-01 8.79191938e-01 1.42896934e+02] [-1.28357297e-02 9.73592640e-01 -2.27931163e-01 2.05117417e+02] [-9.04173090e-01 8.60354692e-02 4.18412382e-01 -8.60722663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.8107140569999 meters Centerline goodness : 0.983967 Centerline is valid? [True, True] Translation: X:142.91, Y:205.13, Z:-86.09 [[ 4.30511106e-01 2.28508349e-01 8.73180464e-01 1.42914144e+02] [-1.04593388e-02 9.68619638e-01 -2.48327604e-01 2.05126940e+02] [-9.02524676e-01 9.77749012e-02 4.19391558e-01 -8.60894155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.8407140569999 meters Centerline goodness : 0.990755 Centerline is valid? [True, True] Translation: X:142.91, Y:205.10, Z:-86.13 [[ 4.28950907e-01 1.57841056e-01 8.89430897e-01 1.42905344e+02] [-8.63265699e-03 9.85287193e-01 -1.70688679e-01 2.05098762e+02] [-9.03286553e-01 6.55389118e-02 4.24002422e-01 -8.61265960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.870714057 meters Centerline goodness : 0.989295 Centerline is valid? [True, True] Translation: X:142.92, Y:205.09, Z:-86.16 [[ 4.26787977e-01 1.59954807e-01 8.90093525e-01 1.42924592e+02] [-1.57345091e-02 9.85398192e-01 -1.69537103e-01 2.05086444e+02] [-9.04214824e-01 5.83512128e-02 4.23072911e-01 -8.61600656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.900714057 meters Centerline goodness : 0.984085 Centerline is valid? [True, True] Translation: X:142.97, Y:205.12, Z:-86.17 [[ 4.43450279e-01 2.47899693e-01 8.61334774e-01 1.42974709e+02] [-1.23856196e-02 9.62593571e-01 -2.70666240e-01 2.05124441e+02] [-8.96213394e-01 1.09358855e-01 4.29932779e-01 -8.61684039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.9307140569999 meters Centerline goodness : 0.989725 Centerline is valid? [True, True] Translation: X:142.94, Y:205.08, Z:-86.21 [[ 4.21989863e-01 1.33488350e-01 8.96719251e-01 1.42939210e+02] [-1.27515873e-02 9.89876805e-01 -1.41355258e-01 2.05076673e+02] [-9.06510867e-01 4.82158920e-02 4.19420166e-01 -8.62134918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.9607140569999 meters Centerline goodness : 0.990321 Centerline is valid? [True, True] Translation: X:142.99, Y:205.12, Z:-86.23 [[ 4.34087195e-01 2.46079485e-01 8.66610174e-01 1.42991683e+02] [-1.51798160e-02 9.63830788e-01 -2.66082291e-01 2.05118346e+02] [-9.00742960e-01 1.02347932e-01 4.22122044e-01 -8.62346430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.990714057 meters Centerline goodness : 0.991087 Centerline is valid? [True, True] Translation: X:143.01, Y:205.12, Z:-86.27 [[ 4.32797292e-01 2.58228246e-01 8.63715623e-01 1.43009408e+02] [-1.53401729e-02 9.60067349e-01 -2.79348105e-01 2.05121096e+02] [-9.01360740e-01 1.07651556e-01 4.19475815e-01 -8.62653347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.020714057 meters Centerline goodness : 0.990705 Centerline is valid? [True, True] Translation: X:143.02, Y:205.12, Z:-86.29 [[ 4.35856202e-01 2.51535220e-01 8.64152420e-01 1.43022201e+02] [-1.64960218e-02 9.62223308e-01 -2.71761269e-01 2.05119678e+02] [-8.99865130e-01 1.04193757e-01 4.23540326e-01 -8.62853897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.0507140569999 meters Centerline goodness : 0.990373 Centerline is valid? [True, True] Translation: X:143.03, Y:205.12, Z:-86.32 [[ 4.33820203e-01 2.30837742e-01 8.70927074e-01 1.43028751e+02] [-1.71282330e-02 9.68561526e-01 -2.48183791e-01 2.05115028e+02] [-9.00836642e-01 9.27497004e-02 4.24135400e-01 -8.63165686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.0807140569999 meters Centerline goodness : 0.990081 Centerline is valid? [True, True] Translation: X:143.04, Y:205.11, Z:-86.35 [[ 4.29739161e-01 2.27865953e-01 8.73728425e-01 1.43039772e+02] [-1.77933638e-02 9.69583511e-01 -2.44113113e-01 2.05112896e+02] [-9.02777741e-01 8.93583966e-02 4.20722507e-01 -8.63464790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.110714057 meters Centerline goodness : 0.991232 Centerline is valid? [True, True] Translation: X:143.06, Y:205.12, Z:-86.38 [[ 4.31930265e-01 2.47217382e-01 8.67363714e-01 1.43059556e+02] [-1.79660824e-02 9.63867322e-01 -2.65776234e-01 2.05118547e+02] [-9.01728045e-01 9.92136711e-02 4.20764995e-01 -8.63788405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.140714057 meters Centerline goodness : 0.991885 Centerline is valid? [True, True] Translation: X:143.08, Y:205.12, Z:-86.40 [[ 4.35755207e-01 2.48159803e-01 8.65178659e-01 1.43077774e+02] [-2.02995228e-02 9.63705104e-01 -2.66196170e-01 2.05121637e+02] [-8.99836279e-01 9.84336535e-02 4.24977043e-01 -8.64048455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.1707140569999 meters Centerline goodness : 0.990702 Centerline is valid? [True, True] Translation: X:143.09, Y:205.12, Z:-86.43 [[ 4.35571484e-01 2.54460906e-01 8.63439129e-01 1.43092804e+02] [-2.31794542e-02 9.62065112e-01 -2.71833466e-01 2.05123156e+02] [-8.99855653e-01 9.83888584e-02 4.24946393e-01 -8.64311500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.2007140569999 meters Centerline goodness : 0.991367 Centerline is valid? [True, True] Translation: X:143.10, Y:205.12, Z:-86.46 [[ 4.32758415e-01 2.36274987e-01 8.69996715e-01 1.43100343e+02] [-2.17398031e-02 9.67498451e-01 -2.51940723e-01 2.05118050e+02] [-9.01247766e-01 9.01159108e-02 4.23829668e-01 -8.64635016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.2307140569999 meters Centerline goodness : 0.990276 Centerline is valid? [True, True] Translation: X:143.11, Y:205.12, Z:-86.49 [[ 4.27947680e-01 2.43740662e-01 8.70316766e-01 1.43114517e+02] [-2.48040909e-02 9.65753718e-01 -2.58272168e-01 2.05119597e+02] [-9.03463082e-01 8.89395590e-02 4.19337829e-01 -8.64870073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.260714057 meters Centerline goodness : 0.991515 Centerline is valid? [True, True] Translation: X:143.12, Y:205.11, Z:-86.52 [[ 4.31049357e-01 2.15627283e-01 8.76185669e-01 1.43120096e+02] [-2.32448623e-02 9.73358833e-01 -2.28105806e-01 2.05109185e+02] [-9.02028895e-01 7.79580458e-02 4.24577926e-01 -8.65226891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.290714057 meters Centerline goodness : 0.991486 Centerline is valid? [True, True] Translation: X:143.14, Y:205.12, Z:-86.55 [[ 4.30897587e-01 2.45814016e-01 8.68275727e-01 1.43144929e+02] [-2.78436506e-02 9.65347626e-01 -2.59477730e-01 2.05119250e+02] [-9.01971175e-01 8.76323619e-02 4.22810323e-01 -8.65491821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.3207140569999 meters Centerline goodness : 0.991698 Centerline is valid? [True, True] Translation: X:143.16, Y:205.12, Z:-86.58 [[ 4.28539068e-01 2.48041322e-01 8.68809398e-01 1.43156740e+02] [-3.09616178e-02 9.65046146e-01 -2.60244721e-01 2.05119162e+02] [-9.02992605e-01 8.46252855e-02 4.21239737e-01 -8.65757603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.3507140569999 meters Centerline goodness : 0.992164 Centerline is valid? [True, True] Translation: X:143.17, Y:205.11, Z:-86.61 [[ 4.28418896e-01 2.37165632e-01 8.71900059e-01 1.43166961e+02] [-3.04893033e-02 9.68184112e-01 -2.48374571e-01 2.05114865e+02] [-9.03065696e-01 7.98247344e-02 4.22019383e-01 -8.66091309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.380714057 meters Centerline goodness : 0.992309 Centerline is valid? [True, True] Translation: X:143.18, Y:205.12, Z:-86.64 [[ 4.28971428e-01 2.41965928e-01 8.70307993e-01 1.43182967e+02] [-3.17667536e-02 9.66901800e-01 -2.53163551e-01 2.05117232e+02] [-9.02759319e-01 8.09530704e-02 4.22459718e-01 -8.66372040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.410714057 meters Centerline goodness : 0.991490 Centerline is valid? [True, True] Translation: X:143.20, Y:205.12, Z:-86.66 [[ 4.26600915e-01 2.44839705e-01 8.70669385e-01 1.43195404e+02] [-3.33699166e-02 9.66266756e-01 -2.55372286e-01 2.05116454e+02] [-9.03824158e-01 7.98878859e-02 4.20380563e-01 -8.66642011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.4407140569999 meters Centerline goodness : 0.991223 Centerline is valid? [True, True] Translation: X:143.21, Y:205.11, Z:-86.70 [[ 4.24900190e-01 2.39461392e-01 8.72993740e-01 1.43205777e+02] [-3.29938777e-02 9.67833877e-01 -2.49417302e-01 2.05112804e+02] [-9.04638731e-01 7.71740100e-02 4.19133558e-01 -8.66953604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.4707140569999 meters Centerline goodness : 0.991701 Centerline is valid? [True, True] Translation: X:143.22, Y:205.11, Z:-86.72 [[ 4.25605183e-01 2.40079169e-01 8.72480499e-01 1.43220479e+02] [-3.26270441e-02 9.67608191e-01 -2.50339499e-01 2.05114419e+02] [-9.04320576e-01 7.80793288e-02 4.19652135e-01 -8.67223439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.500714057 meters Centerline goodness : 0.991849 Centerline is valid? [True, True] Translation: X:143.23, Y:205.11, Z:-86.75 [[ 4.25483377e-01 2.33108936e-01 8.74427882e-01 1.43231306e+02] [-3.17138165e-02 9.69502021e-01 -2.43022766e-01 2.05111034e+02] [-9.04410377e-01 7.56707019e-02 4.19899767e-01 -8.67540374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.530714057 meters Centerline goodness : 0.991841 Centerline is valid? [True, True] Translation: X:143.25, Y:205.11, Z:-86.78 [[ 4.25966726e-01 2.35244886e-01 8.73620165e-01 1.43248192e+02] [-3.18900336e-02 9.68908738e-01 -2.45354608e-01 2.05109971e+02] [-9.04176628e-01 7.66531225e-02 4.20224850e-01 -8.67819195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.5607140569999 meters Centerline goodness : 0.991895 Centerline is valid? [True, True] Translation: X:143.27, Y:205.11, Z:-86.81 [[ 4.24501605e-01 2.46718537e-01 8.71164939e-01 1.43266088e+02] [-3.39519450e-02 9.65819826e-01 -2.56981186e-01 2.05114387e+02] [-9.04790392e-01 7.95111820e-02 4.18368640e-01 -8.68127201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.5907140569999 meters Centerline goodness : 0.992431 Centerline is valid? [True, True] Translation: X:143.28, Y:205.13, Z:-86.83 [[ 4.24657956e-01 2.61462833e-01 8.66777254e-01 1.43279942e+02] [-2.94165780e-02 9.60869854e-01 -2.75433820e-01 2.05128729e+02] [-9.04875840e-01 9.14675422e-02 4.15732370e-01 -8.68280199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.620714057 meters Centerline goodness : 0.992823 Centerline is valid? [True, True] Translation: X:143.26, Y:205.10, Z:-86.87 [[ 4.20355150e-01 1.89769206e-01 8.87293185e-01 1.43261853e+02] [-2.93366975e-02 9.80215973e-01 -1.95744741e-01 2.05103046e+02] [-9.06885277e-01 5.62520584e-02 4.17606034e-01 -8.68702604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.650714057 meters Centerline goodness : 0.993098 Centerline is valid? [True, True] Translation: X:143.28, Y:205.10, Z:-86.90 [[ 4.21076316e-01 1.91196224e-01 8.86644653e-01 1.43275537e+02] [-3.17683795e-02 9.80039383e-01 -1.96248764e-01 2.05102085e+02] [-9.06468701e-01 5.44684429e-02 4.18745367e-01 -8.69003697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.6807140569999 meters Centerline goodness : 0.992611 Centerline is valid? [True, True] Translation: X:143.29, Y:205.10, Z:-86.93 [[ 4.21076872e-01 1.92366762e-01 8.86391165e-01 1.43288507e+02] [-3.32995483e-02 9.79870944e-01 -1.96835142e-01 2.05099872e+02] [-9.06413486e-01 5.33663004e-02 4.19006718e-01 -8.69303975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.7107140569999 meters Centerline goodness : 0.985337 Centerline is valid? [True, True] Translation: X:143.29, Y:205.10, Z:-86.95 [[ 4.16742337e-01 1.87799371e-01 8.89413976e-01 1.43292856e+02] [-3.02366629e-02 9.80749070e-01 -1.92917095e-01 2.05101185e+02] [-9.08521639e-01 5.35038106e-02 4.14398086e-01 -8.69546542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.740714057 meters Centerline goodness : 0.993006 Centerline is valid? [True, True] Translation: X:143.30, Y:205.09, Z:-86.98 [[ 4.20688911e-01 1.71321183e-01 8.90881526e-01 1.43302732e+02] [-3.36138962e-02 9.84276192e-01 -1.73408431e-01 2.05090978e+02] [-9.06582013e-01 4.30050049e-02 4.19832852e-01 -8.69836498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.770714057 meters Centerline goodness : 0.992893 Centerline is valid? [True, True] Translation: X:143.32, Y:205.10, Z:-87.01 [[ 4.21788689e-01 1.91652698e-01 8.86207394e-01 1.43322585e+02] [-3.37967528e-02 9.80048997e-01 -1.95861541e-01 2.05096011e+02] [-9.06064060e-01 5.26612506e-02 4.19850821e-01 -8.70059990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.8007140569999 meters Centerline goodness : 0.993210 Centerline is valid? [True, True] Translation: X:143.33, Y:205.09, Z:-87.03 [[ 4.21839674e-01 1.90865240e-01 8.86353062e-01 1.43333190e+02] [-3.31841268e-02 9.80186396e-01 -1.95277861e-01 2.05093900e+02] [-9.06062969e-01 5.29630969e-02 4.19815206e-01 -8.70311747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.8307140569999 meters Centerline goodness : 0.993141 Centerline is valid? [True, True] Translation: X:143.34, Y:205.09, Z:-87.06 [[ 4.22020351e-01 1.90110137e-01 8.86429331e-01 1.43344210e+02] [-3.19438924e-02 9.80277095e-01 -1.95029242e-01 2.05091507e+02] [-9.06023405e-01 5.39903059e-02 4.19769741e-01 -8.70569451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.860714057 meters Centerline goodness : 0.993061 Centerline is valid? [True, True] Translation: X:143.36, Y:205.07, Z:-87.09 [[ 4.27913452e-01 1.51906232e-01 8.90962723e-01 1.43357747e+02] [-3.52070496e-02 9.87828188e-01 -1.51512161e-01 2.05065110e+02] [-9.03133734e-01 3.34659230e-02 4.28053141e-01 -8.70929848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.890714057 meters Centerline goodness : 0.992851 Centerline is valid? [True, True] Translation: X:143.41, Y:205.10, Z:-87.11 [[ 4.25917094e-01 2.61768280e-01 8.66066970e-01 1.43409060e+02] [-3.68902112e-02 9.61459994e-01 -2.72458789e-01 2.05098045e+02] [-9.04009813e-01 8.40954620e-02 4.19158934e-01 -8.71134438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.9207140569999 meters Centerline goodness : 0.993212 Centerline is valid? [True, True] Translation: X:143.41, Y:205.11, Z:-87.13 [[ 4.24840770e-01 2.55953660e-01 8.68330608e-01 1.43412576e+02] [-3.07464937e-02 9.62723490e-01 -2.68734321e-01 2.05105740e+02] [-9.04745806e-01 8.74711746e-02 4.16873866e-01 -8.71333322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.9507140569999 meters Centerline goodness : 0.993474 Centerline is valid? [True, True] Translation: X:143.40, Y:205.08, Z:-87.17 [[ 4.20699726e-01 1.87472271e-01 8.87618098e-01 1.43395711e+02] [-2.88766794e-02 9.80686551e-01 -1.93442568e-01 2.05080931e+02] [-9.06740248e-01 5.57497720e-02 4.17988140e-01 -8.71746701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.9807140569999 meters Centerline goodness : 0.993843 Centerline is valid? [True, True] Translation: X:143.41, Y:205.08, Z:-87.20 [[ 4.21199765e-01 1.87817279e-01 8.87307967e-01 1.43409404e+02] [-2.85322298e-02 9.80583181e-01 -1.94016850e-01 2.05078552e+02] [-9.06518985e-01 5.64029766e-02 4.18380251e-01 -8.72043596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.010714057 meters Centerline goodness : 0.993106 Centerline is valid? [True, True] Translation: X:143.43, Y:205.07, Z:-87.25 [[ 4.19132229e-01 1.96132119e-01 8.86487658e-01 1.43426179e+02] [-3.29042204e-02 9.79028349e-01 -2.01049257e-01 2.05068037e+02] [-9.07328765e-01 5.50970381e-02 4.16795908e-01 -8.72451855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.040714057 meters Centerline goodness : 0.992920 Centerline is valid? [True, True] Translation: X:143.46, Y:205.08, Z:-87.26 [[ 4.27462006e-01 2.35650254e-01 8.72780151e-01 1.43463821e+02] [-3.09335672e-02 9.68676498e-01 -2.46391875e-01 2.05079766e+02] [-9.03503928e-01 7.83249618e-02 4.21361902e-01 -8.72619583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.0707140569999 meters Centerline goodness : 0.993246 Centerline is valid? [True, True] Translation: X:143.48, Y:205.08, Z:-87.29 [[ 4.29539794e-01 2.33372753e-01 8.72371895e-01 1.43479349e+02] [-2.94354057e-02 9.69135507e-01 -2.44765041e-01 2.05077154e+02] [-9.02568071e-01 7.94577046e-02 4.23151688e-01 -8.72893657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.1007140569999 meters Centerline goodness : 0.993762 Centerline is valid? [True, True] Translation: X:143.50, Y:205.09, Z:-87.31 [[ 4.27663156e-01 2.61779635e-01 8.65202663e-01 1.43496368e+02] [-2.34288392e-02 9.60036547e-01 -2.78892305e-01 2.05094874e+02] [-9.03634503e-01 9.90012694e-02 4.16705453e-01 -8.73060023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.130714057 meters Centerline goodness : 0.993390 Centerline is valid? [True, True] Translation: X:143.47, Y:205.07, Z:-87.35 [[ 4.22415232e-01 1.82008920e-01 8.87940384e-01 1.43473949e+02] [-2.14496104e-02 9.81364455e-01 -1.90954760e-01 2.05066787e+02] [-9.06148600e-01 6.16162240e-02 4.18447314e-01 -8.73494181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.160714057 meters Centerline goodness : 0.994280 Centerline is valid? [True, True] Translation: X:143.48, Y:205.04, Z:-87.38 [[ 4.29370944e-01 1.29277755e-01 8.93827643e-01 1.43483876e+02] [-2.48335442e-02 9.91017623e-01 -1.31405347e-01 2.05037645e+02] [-9.02786735e-01 3.42247294e-02 4.28724597e-01 -8.73842475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.1907140569999 meters Centerline goodness : 0.993581 Centerline is valid? [True, True] Translation: X:143.54, Y:205.09, Z:-87.39 [[ 4.27460394e-01 2.68120212e-01 8.63359232e-01 1.43538358e+02] [-2.66831395e-02 9.58333225e-01 -2.84403656e-01 2.05090646e+02] [-9.03640206e-01 9.85341640e-02 4.16803787e-01 -8.73916752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.2207140569999 meters Centerline goodness : 0.994317 Centerline is valid? [True, True] Translation: X:143.51, Y:205.03, Z:-87.44 [[ 4.32339343e-01 1.11353560e-01 8.94808961e-01 1.43507545e+02] [-2.97702343e-02 9.93567353e-01 -1.09259543e-01 2.05026452e+02] [-9.01219410e-01 2.05985267e-02 4.32873278e-01 -8.74444456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.250714057 meters Centerline goodness : 0.993636 Centerline is valid? [True, True] Translation: X:143.57, Y:205.06, Z:-87.45 [[ 4.40032224e-01 2.27973358e-01 8.68561909e-01 1.43570284e+02] [-3.80326671e-02 9.71101059e-01 -2.35618864e-01 2.05062937e+02] [-8.97176214e-01 7.06461668e-02 4.35986194e-01 -8.74538525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.280714057 meters Centerline goodness : 0.993113 Centerline is valid? [True, True] Translation: X:143.58, Y:205.06, Z:-87.48 [[ 4.40296623e-01 2.25047153e-01 8.69190809e-01 1.43581674e+02] [-4.05002534e-02 9.72070392e-01 -2.31168516e-01 2.05059970e+02] [-8.96938467e-01 6.65802690e-02 4.37113777e-01 -8.74832474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.3107140569999 meters Centerline goodness : 0.992774 Centerline is valid? [True, True] Translation: X:143.60, Y:205.06, Z:-87.51 [[ 4.41012274e-01 2.34660013e-01 8.66281047e-01 1.43596848e+02] [-4.37708638e-02 9.69689419e-01 -2.40388317e-01 2.05060587e+02] [-8.96433091e-01 6.80963286e-02 4.37916207e-01 -8.75111503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.3407140569999 meters Centerline goodness : 0.992789 Centerline is valid? [True, True] Translation: X:143.59, Y:205.05, Z:-87.54 [[ 4.30984098e-01 2.13421388e-01 8.76757674e-01 1.43593778e+02] [-4.46402954e-02 9.75480948e-01 -2.15509080e-01 2.05052176e+02] [-9.01254654e-01 5.37422651e-02 4.29943970e-01 -8.75431105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.370714057 meters Centerline goodness : 0.991901 Centerline is valid? [True, True] Translation: X:143.61, Y:205.06, Z:-87.57 [[ 4.30180116e-01 2.31831919e-01 8.72467208e-01 1.43613500e+02] [-4.63590326e-02 9.70860370e-01 -2.35119081e-01 2.05055610e+02] [-9.01551944e-01 6.06968180e-02 4.28392330e-01 -8.75693962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.400714057 meters Centerline goodness : 0.991468 Centerline is valid? [True, True] Translation: X:143.63, Y:205.06, Z:-87.60 [[ 4.23527219e-01 2.61633874e-01 8.67278739e-01 1.43629599e+02] [-4.94979536e-02 9.62638007e-01 -2.66229264e-01 2.05061936e+02] [-9.04530070e-01 6.98268170e-02 4.20653739e-01 -8.75986070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.4307140569999 meters Centerline goodness : 0.990500 Centerline is valid? [True, True] Translation: X:143.65, Y:205.08, Z:-87.64 [[ 4.08020687e-01 3.16545609e-01 8.56339884e-01 1.43645139e+02] [-5.13469473e-02 9.44440587e-01 -3.24646684e-01 2.05075181e+02] [-9.11527625e-01 8.84921242e-02 4.01604947e-01 -8.76381942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.4607140569999 meters Centerline goodness : 0.990651 Centerline is valid? [True, True] Translation: X:143.64, Y:205.05, Z:-87.66 [[ 4.18544049e-01 2.41948177e-01 8.75375325e-01 1.43638302e+02] [-4.84881214e-02 9.68439508e-01 -2.44486853e-01 2.05051439e+02] [-9.06901197e-01 5.98832126e-02 4.17066206e-01 -8.76612870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.490714057 meters Centerline goodness : 0.990920 Centerline is valid? [True, True] Translation: X:143.66, Y:205.06, Z:-87.69 [[ 4.11787434e-01 2.85968740e-01 8.65247357e-01 1.43658921e+02] [-4.90835024e-02 9.55067743e-01 -2.92295085e-01 2.05062217e+02] [-9.09957098e-01 7.78940721e-02 4.07321242e-01 -8.76913451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.520714057 meters Centerline goodness : 0.990356 Centerline is valid? [True, True] Translation: X:143.67, Y:205.06, Z:-87.73 [[ 4.06900044e-01 2.84055516e-01 8.68184784e-01 1.43665212e+02] [-4.83206116e-02 9.55784790e-01 -2.90069910e-01 2.05057252e+02] [-9.12193770e-01 7.60782394e-02 4.02634609e-01 -8.77274827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.5507140569999 meters Centerline goodness : 0.991505 Centerline is valid? [True, True] Translation: X:143.68, Y:205.05, Z:-87.76 [[ 4.09999643e-01 2.68798893e-01 8.71577563e-01 1.43675113e+02] [-4.59879246e-02 9.60464267e-01 -2.74578775e-01 2.05049949e+02] [-9.10925575e-01 7.24951564e-02 4.06151510e-01 -8.77589248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.5807140569999 meters Centerline goodness : 0.990664 Centerline is valid? [True, True] Translation: X:143.69, Y:205.05, Z:-87.79 [[ 4.08489381e-01 2.80201977e-01 8.68690554e-01 1.43691263e+02] [-4.60198310e-02 9.56827259e-01 -2.86990892e-01 2.05050207e+02] [-9.11602216e-01 7.72557394e-02 4.03748622e-01 -8.77859210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.610714057 meters Centerline goodness : 0.990771 Centerline is valid? [True, True] Translation: X:143.71, Y:205.05, Z:-87.82 [[ 4.06267147e-01 2.91681755e-01 8.65949629e-01 1.43705184e+02] [-4.36235178e-02 9.52793901e-01 -3.00467587e-01 2.05048975e+02] [-9.12712438e-01 8.42943400e-02 3.99813044e-01 -8.78210853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.640714057 meters Centerline goodness : 0.990771 Centerline is valid? [True, True] Translation: X:143.72, Y:205.05, Z:-87.85 [[ 4.07692990e-01 2.96330614e-01 8.63698207e-01 1.43721382e+02] [-4.30483574e-02 9.51062658e-01 -3.05984736e-01 2.05048252e+02] [-9.12103758e-01 8.75670428e-02 4.00498125e-01 -8.78498116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.6707140569999 meters Centerline goodness : 0.989979 Centerline is valid? [True, True] Translation: X:143.73, Y:205.04, Z:-87.88 [[ 3.97706682e-01 2.85925419e-01 8.71823405e-01 1.43727044e+02] [-4.14442010e-02 9.54831606e-01 -2.94243066e-01 2.05041978e+02] [-9.16576114e-01 8.08904090e-02 3.91592861e-01 -8.78753543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.7007140569999 meters Centerline goodness : 0.990355 Centerline is valid? [True, True] Translation: X:143.74, Y:205.04, Z:-87.91 [[ 4.02069078e-01 2.88737196e-01 8.68890838e-01 1.43737377e+02] [-3.97518366e-02 9.53585499e-01 -2.98486999e-01 2.05038056e+02] [-9.14746002e-01 8.54723856e-02 3.94885076e-01 -8.79092138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.7307140569999 meters Centerline goodness : 0.991047 Centerline is valid? [True, True] Translation: X:143.76, Y:205.04, Z:-87.94 [[ 4.09316828e-01 2.97479801e-01 8.62534349e-01 1.43756772e+02] [-3.71578051e-02 9.50005440e-01 -3.10014453e-01 2.05037734e+02] [-9.11635361e-01 9.48442493e-02 3.99906910e-01 -8.79405626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.760714057 meters Centerline goodness : 0.990408 Centerline is valid? [True, True] Translation: X:143.77, Y:205.03, Z:-87.96 [[ 4.12489130e-01 2.88690716e-01 8.64008327e-01 1.43768318e+02] [-3.51580840e-02 9.52794957e-01 -3.01572014e-01 2.05032245e+02] [-9.10283817e-01 9.40183001e-02 4.03167375e-01 -8.79634678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.790714057 meters Centerline goodness : 0.990934 Centerline is valid? [True, True] Translation: X:143.78, Y:205.02, Z:-87.99 [[ 4.17129138e-01 2.74608270e-01 8.66368040e-01 1.43777729e+02] [-3.12358669e-02 9.57028877e-01 -2.88305481e-01 2.05023976e+02] [-9.08310301e-01 9.31988598e-02 4.07782258e-01 -8.79925437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.8207140569999 meters Centerline goodness : 0.990905 Centerline is valid? [True, True] Translation: X:143.79, Y:205.02, Z:-88.02 [[ 4.19649474e-01 2.73375458e-01 8.65540396e-01 1.43791567e+02] [-2.93393706e-02 9.57154867e-01 -2.88086379e-01 2.05020771e+02] [-9.07211949e-01 9.55008871e-02 4.09690200e-01 -8.80206362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.8507140569999 meters Centerline goodness : 0.990757 Centerline is valid? [True, True] Translation: X:143.80, Y:205.01, Z:-88.05 [[ 4.23499895e-01 2.55491000e-01 8.69121504e-01 1.43800965e+02] [-2.61322623e-02 9.62451438e-01 -2.70193142e-01 2.05012547e+02] [-9.05519157e-01 9.17146563e-02 4.14274641e-01 -8.80503480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.880714057 meters Centerline goodness : 0.990581 Centerline is valid? [True, True] Translation: X:143.82, Y:205.01, Z:-88.08 [[ 4.24666961e-01 2.62323147e-01 8.66512861e-01 1.43815700e+02] [-2.33206788e-02 9.59954947e-01 -2.79182101e-01 2.05011256e+02] [-9.05049235e-01 9.83517464e-02 4.13778704e-01 -8.80767744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.910714057 meters Centerline goodness : 0.990884 Centerline is valid? [True, True] Translation: X:143.82, Y:205.00, Z:-88.11 [[ 4.27573441e-01 2.40181508e-01 8.71489412e-01 1.43823677e+02] [-2.06389879e-02 9.66400040e-01 -2.56212792e-01 2.05001725e+02] [-9.03744978e-01 9.15631258e-02 4.18164094e-01 -8.81092338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.9407140569999 meters Centerline goodness : 0.991650 Centerline is valid? [True, True] Translation: X:143.84, Y:205.01, Z:-88.11 [[ 4.39054828e-01 2.19610487e-01 8.71207261e-01 1.43836396e+02] [-9.93501562e-03 9.70794404e-01 -2.39707156e-01 2.05007753e+02] [-8.98405339e-01 9.65891264e-02 4.28413803e-01 -8.81138121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.9707140569999 meters Centerline goodness : 0.991132 Centerline is valid? [True, True] Translation: X:143.82, Y:204.98, Z:-88.15 [[ 4.34601971e-01 1.47498576e-01 8.88462322e-01 1.43817293e+02] [-7.29014489e-03 9.87041707e-01 -1.60298228e-01 2.04981436e+02] [-9.00593127e-01 6.31889065e-02 4.30045557e-01 -8.81516049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.000714057 meters Centerline goodness : 0.988349 Centerline is valid? [True, True] Translation: X:143.85, Y:204.99, Z:-88.21 [[ 4.16423997e-01 2.42523741e-01 8.76226734e-01 1.43845513e+02] [-1.87951689e-02 9.65855423e-01 -2.58399000e-01 2.04992020e+02] [-9.08976235e-01 9.11347149e-02 4.06763651e-01 -8.82063898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.030714057 meters Centerline goodness : 0.991099 Centerline is valid? [True, True] Translation: X:143.87, Y:205.00, Z:-88.19 [[ 4.40152212e-01 2.14476468e-01 8.71932265e-01 1.43869351e+02] [-7.38701233e-03 9.71886469e-01 -2.35334069e-01 2.05000685e+02] [-8.97892790e-01 9.71418364e-02 4.29362319e-01 -8.81906227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.0607140569999 meters Centerline goodness : 0.991513 Centerline is valid? [True, True] Translation: X:143.85, Y:204.97, Z:-88.23 [[ 4.34654452e-01 1.43841475e-01 8.89036072e-01 1.43853148e+02] [-5.24008785e-03 9.87549924e-01 -1.57218604e-01 2.04974386e+02] [-9.00582061e-01 6.36771391e-02 4.29996713e-01 -8.82307010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.0907140569999 meters Centerline goodness : 0.991610 Centerline is valid? [True, True] Translation: X:143.87, Y:204.97, Z:-88.26 [[ 4.33998631e-01 1.44121407e-01 8.89311087e-01 1.43866959e+02] [-5.52639359e-03 9.87528781e-01 -1.57341556e-01 2.04972308e+02] [-9.00896580e-01 6.33713369e-02 4.29382610e-01 -8.82601873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.120714057 meters Centerline goodness : 0.990198 Centerline is valid? [True, True] Translation: X:143.88, Y:204.98, Z:-88.30 [[ 4.26663103e-01 1.74843560e-01 8.87349044e-01 1.43884874e+02] [-9.26841252e-03 9.81928902e-01 -1.89023087e-01 2.04975087e+02] [-9.04363142e-01 7.24248599e-02 4.20573355e-01 -8.82968826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.150714057 meters Centerline goodness : 0.988069 Centerline is valid? [True, True] Translation: X:143.90, Y:204.98, Z:-88.31 [[ 4.17701364e-01 1.98350975e-01 8.86669308e-01 1.43897766e+02] [-1.35255419e-02 9.77129300e-01 -2.12215435e-01 2.04980103e+02] [-9.08483698e-01 7.66499937e-02 4.10831046e-01 -8.83086943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.1807140569999 meters Centerline goodness : 0.983742 Centerline is valid? [True, True] Translation: X:143.88, Y:204.96, Z:-88.34 [[ 4.13619017e-01 1.17166001e-01 9.02879525e-01 1.43878866e+02] [-3.79327316e-03 9.91898009e-01 -1.26980123e-01 2.04962998e+02] [-9.10442156e-01 4.90965248e-02 4.10712322e-01 -8.83411763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.2107140569999 meters Centerline goodness : 0.989276 Centerline is valid? [True, True] Translation: X:143.90, Y:204.96, Z:-88.37 [[ 4.16081298e-01 1.39065024e-01 8.98630777e-01 1.43900425e+02] [-1.23876386e-02 9.89011901e-01 -1.47316009e-01 2.04962820e+02] [-9.09243037e-01 5.01635227e-02 4.13232042e-01 -8.83704698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.240714057 meters Centerline goodness : 0.990303 Centerline is valid? [True, True] Translation: X:143.93, Y:204.98, Z:-88.39 [[ 4.27821812e-01 1.79649429e-01 8.85829882e-01 1.43934642e+02] [-9.83611600e-03 9.80916052e-01 -1.94182774e-01 2.04978503e+02] [-9.03809575e-01 7.43625007e-02 4.21424336e-01 -8.83946617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.270714057 meters Centerline goodness : 0.991479 Centerline is valid? [True, True] Translation: X:143.95, Y:204.99, Z:-88.41 [[ 4.33813192e-01 1.87709485e-01 8.81232809e-01 1.43952793e+02] [-8.56238908e-03 9.78872463e-01 -2.04292403e-01 2.04987564e+02] [-9.00962153e-01 8.10792812e-02 4.26255029e-01 -8.84051518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.3007140569999 meters Centerline goodness : 0.984569 Centerline is valid? [True, True] Translation: X:143.93, Y:204.97, Z:-88.44 [[ 4.25335055e-01 1.24629807e-01 8.96413689e-01 1.43931181e+02] [-5.96490758e-03 9.90837527e-01 -1.34927442e-01 2.04967977e+02] [-9.05016304e-01 5.20423460e-02 4.22181340e-01 -8.84390569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.3307140569999 meters Centerline goodness : 0.984344 Centerline is valid? [True, True] Translation: X:143.92, Y:204.95, Z:-88.47 [[ 4.15035430e-01 9.32663830e-02 9.05012140e-01 1.43923434e+02] [-6.31716015e-03 9.95003157e-01 -9.96434151e-02 2.04953389e+02] [-9.09783318e-01 3.56384410e-02 4.13550742e-01 -8.84695533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.360714057 meters Centerline goodness : 0.984428 Centerline is valid? [True, True] Translation: X:143.93, Y:204.95, Z:-88.50 [[ 4.13632088e-01 8.43288372e-02 9.06530277e-01 1.43930151e+02] [-6.09294687e-03 9.95935270e-01 -8.98655312e-02 2.04948406e+02] [-9.10423732e-01 3.16478265e-02 4.12464596e-01 -8.84973103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.390714057 meters Centerline goodness : 0.989468 Centerline is valid? [True, True] Translation: X:143.96, Y:204.95, Z:-88.53 [[ 4.28109868e-01 9.82155336e-02 8.98373892e-01 1.43960387e+02] [-2.18277062e-03 9.94186441e-01 -1.07650152e-01 2.04954385e+02] [-9.03724060e-01 4.41251483e-02 4.25835408e-01 -8.85280491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.4207140569999 meters Centerline goodness : 0.989349 Centerline is valid? [True, True] Translation: X:143.99, Y:204.97, Z:-88.54 [[ 4.21217401e-01 1.55342788e-01 8.93557228e-01 1.43989929e+02] [-8.08955821e-03 9.85826941e-01 -1.67570289e-01 2.04970793e+02] [-9.06923624e-01 6.33550383e-02 4.16504117e-01 -8.85391085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.4507140569999 meters Centerline goodness : 0.989151 Centerline is valid? [True, True] Translation: X:144.00, Y:204.97, Z:-88.57 [[ 4.28037708e-01 1.54964947e-01 8.90376092e-01 1.44004504e+02] [-6.15853819e-03 9.85667166e-01 -1.68589179e-01 2.04971483e+02] [-9.03739893e-01 6.66791103e-02 4.22857072e-01 -8.85743818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.4807140569999 meters Centerline goodness : 0.983630 Centerline is valid? [True, True] Translation: X:144.02, Y:204.98, Z:-88.59 [[ 4.25827460e-01 1.72548313e-01 8.88199332e-01 1.44018983e+02] [-6.44520314e-03 9.82201462e-01 -1.87719867e-01 2.04980193e+02] [-9.04781429e-01 7.42116491e-02 4.19360463e-01 -8.85894887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.510714057 meters Centerline goodness : 0.989963 Centerline is valid? [True, True] Translation: X:144.00, Y:204.95, Z:-88.63 [[ 4.11512038e-01 1.20155296e-01 9.03449250e-01 1.44003027e+02] [-1.24281118e-02 9.91919254e-01 -1.26260588e-01 2.04952772e+02] [-9.11319584e-01 4.07295836e-02 4.09680017e-01 -8.86293743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.540714057 meters Centerline goodness : 0.991377 Centerline is valid? [True, True] Translation: X:144.04, Y:204.98, Z:-88.64 [[ 4.24787555e-01 1.72455664e-01 8.88715127e-01 1.44042674e+02] [-1.18074397e-02 9.82659688e-01 -1.85041945e-01 2.04979527e+02] [-9.05216062e-01 6.81100650e-02 4.19457866e-01 -8.86403977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.5707140569999 meters Centerline goodness : 0.988601 Centerline is valid? [True, True] Translation: X:144.03, Y:204.96, Z:-88.68 [[ 4.05192588e-01 1.42813786e-01 9.03007857e-01 1.44032487e+02] [-1.44872488e-02 9.88602561e-01 -1.49850245e-01 2.04963366e+02] [-9.14116561e-01 4.76361090e-02 4.02643409e-01 -8.86773504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.6007140569999 meters Centerline goodness : 0.990869 Centerline is valid? [True, True] Translation: X:144.06, Y:204.97, Z:-88.69 [[ 4.22372574e-01 1.54968339e-01 8.93076829e-01 1.44058077e+02] [-1.30156876e-02 9.86212084e-01 -1.64973689e-01 2.04972557e+02] [-9.06328859e-01 5.80563526e-02 4.18565956e-01 -8.86940950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.630714057 meters Centerline goodness : 0.988310 Centerline is valid? [True, True] Translation: X:144.07, Y:204.96, Z:-88.73 [[ 4.16271649e-01 1.54978349e-01 8.95935057e-01 1.44066638e+02] [-1.59133939e-02 9.86457519e-01 -1.63243152e-01 2.04963785e+02] [-9.09101028e-01 5.36961287e-02 4.13100529e-01 -8.87333332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.660714057 meters Centerline goodness : 0.987207 Centerline is valid? [True, True] Translation: X:144.09, Y:204.98, Z:-88.75 [[ 4.07146482e-01 1.96867114e-01 8.91894098e-01 1.44091662e+02] [-1.44907544e-02 9.77764181e-01 -2.09206175e-01 2.04978024e+02] [-9.13247918e-01 7.22533398e-02 4.00946000e-01 -8.87466293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.6907140569999 meters Centerline goodness : 0.988306 Centerline is valid? [True, True] Translation: X:144.10, Y:204.97, Z:-88.78 [[ 4.20027962e-01 1.63126930e-01 8.92729587e-01 1.44096578e+02] [-8.98764974e-03 9.84411451e-01 -1.75651123e-01 2.04967931e+02] [-9.07466657e-01 6.57548422e-02 4.14946464e-01 -8.87814380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.7207140569999 meters Centerline goodness : 0.990869 Centerline is valid? [True, True] Translation: X:144.12, Y:204.98, Z:-88.79 [[ 4.25789761e-01 1.92313782e-01 8.84148454e-01 1.44121601e+02] [-5.12631487e-03 9.77648715e-01 -2.10182565e-01 2.04983698e+02] [-9.04807604e-01 8.49611605e-02 4.17258674e-01 -8.87897676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.750714057 meters Centerline goodness : 0.987762 Centerline is valid? [True, True] Translation: X:144.10, Y:204.95, Z:-88.83 [[ 4.18543382e-01 1.30812312e-01 8.98726642e-01 1.44102302e+02] [-7.27283895e-03 9.90023596e-01 -1.40713840e-01 2.04953388e+02] [-9.08167684e-01 5.23585524e-02 4.15319201e-01 -8.88308132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.780714057 meters Centerline goodness : 0.991126 Centerline is valid? [True, True] Translation: X:144.13, Y:204.97, Z:-88.85 [[ 4.24069140e-01 1.53517142e-01 8.92523306e-01 1.44127236e+02] [-1.02612603e-03 9.85608557e-01 -1.69040584e-01 2.04967652e+02] [-9.05629235e-01 7.07690536e-02 4.18123701e-01 -8.88462639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.8107140569999 meters Centerline goodness : 0.990815 Centerline is valid? [True, True] Translation: X:144.13, Y:204.96, Z:-88.88 [[ 4.21623456e-01 1.25580730e-01 8.98032929e-01 1.44127979e+02] [ 1.32029268e-03 9.90277452e-01 -1.39100057e-01 2.04955882e+02] [-9.06770047e-01 5.98335128e-02 4.17358398e-01 -8.88801644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.8407140569999 meters Centerline goodness : 0.991491 Centerline is valid? [True, True] Translation: X:144.14, Y:204.95, Z:-88.91 [[ 4.21654999e-01 1.25972898e-01 8.97963190e-01 1.44141730e+02] [ 1.53517744e-03 9.90202035e-01 -1.39633714e-01 2.04954234e+02] [-9.06755041e-01 6.02557866e-02 4.17330248e-01 -8.89105550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.870714057 meters Centerline goodness : 0.992051 Centerline is valid? [True, True] Translation: X:144.16, Y:204.95, Z:-88.94 [[ 4.22278680e-01 1.26804102e-01 8.97553027e-01 1.44155294e+02] [ 6.92544086e-04 9.90121854e-01 -1.40207827e-01 2.04953506e+02] [-9.06465795e-01 5.98283710e-02 4.18019532e-01 -8.89398336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.900714057 meters Centerline goodness : 0.991655 Centerline is valid? [True, True] Translation: X:144.17, Y:204.95, Z:-88.97 [[ 4.22387411e-01 1.27688672e-01 8.97376442e-01 1.44169483e+02] [-2.13554200e-04 9.90041790e-01 -1.40773607e-01 2.04952327e+02] [-9.06415374e-01 5.92693611e-02 4.18208457e-01 -8.89701678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.9307140569999 meters Centerline goodness : 0.983386 Centerline is valid? [True, True] Translation: X:144.17, Y:204.96, Z:-89.00 [[ 4.05719404e-01 1.30944907e-01 9.04569067e-01 1.44169283e+02] [ 1.82050610e-03 9.89566462e-01 -1.44065619e-01 2.04956886e+02] [-9.13995871e-01 6.00969906e-02 4.01247929e-01 -8.89956925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.9607140569999 meters Centerline goodness : 0.984041 Centerline is valid? [True, True] Translation: X:144.17, Y:204.94, Z:-89.02 [[ 4.02957468e-01 1.00310401e-01 9.09704954e-01 1.44166255e+02] [-2.32642591e-03 9.94084535e-01 -1.08584182e-01 2.04941337e+02] [-9.15215749e-01 4.16384457e-02 4.00807152e-01 -8.90238644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.990714057 meters Centerline goodness : 0.990305 Centerline is valid? [True, True] Translation: X:144.18, Y:204.93, Z:-89.06 [[ 4.15134853e-01 8.08409684e-02 9.06161019e-01 1.44183698e+02] [-7.86611952e-04 9.96075678e-01 -8.85021212e-02 2.04933185e+02] [-9.09759548e-01 3.60275180e-02 4.13569321e-01 -8.90598449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.020714057 meters Centerline goodness : 0.991146 Centerline is valid? [True, True] Translation: X:144.23, Y:204.97, Z:-89.06 [[ 4.23581120e-01 1.69356517e-01 8.89886175e-01 1.44234424e+02] [-2.05893920e-03 9.82545558e-01 -1.86010717e-01 2.04969264e+02] [-9.05855836e-01 7.69584065e-02 4.16536443e-01 -8.90601824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.0507140569999 meters Centerline goodness : 0.991058 Centerline is valid? [True, True] Translation: X:144.22, Y:204.95, Z:-89.09 [[ 4.20277867e-01 1.20676260e-01 8.99335174e-01 1.44224051e+02] [-2.73322352e-03 9.91280987e-01 -1.31736612e-01 2.04951590e+02] [-9.07391340e-01 5.29078981e-02 4.16943294e-01 -8.90936838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.0807140569999 meters Centerline goodness : 0.989738 Centerline is valid? [True, True] Translation: X:144.24, Y:204.95, Z:-89.13 [[ 4.16774931e-01 1.28229102e-01 8.99919971e-01 1.44236902e+02] [-4.13689942e-03 9.90257702e-01 -1.39185376e-01 2.04948527e+02] [-9.09000299e-01 5.42860972e-02 4.13245056e-01 -8.91282298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.110714057 meters Centerline goodness : 0.991993 Centerline is valid? [True, True] Translation: X:144.27, Y:204.97, Z:-89.14 [[ 4.23989113e-01 1.71874838e-01 8.89208790e-01 1.44268589e+02] [-4.87361177e-03 9.82245993e-01 -1.87534147e-01 2.04967251e+02] [-9.05654172e-01 7.51787784e-02 4.17299259e-01 -8.91353927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.140714057 meters Centerline goodness : 0.991779 Centerline is valid? [True, True] Translation: X:144.26, Y:204.95, Z:-89.17 [[ 4.21378661e-01 1.20193172e-01 8.98884657e-01 1.44256634e+02] [-4.14328693e-03 9.91423249e-01 -1.30624559e-01 2.04947378e+02] [-9.06875326e-01 5.13180648e-02 4.18262595e-01 -8.91689329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.1707140569999 meters Centerline goodness : 0.987345 Centerline is valid? [True, True] Translation: X:144.26, Y:204.94, Z:-89.20 [[ 4.09069809e-01 1.21149331e-01 9.04425083e-01 1.44260196e+02] [-7.95006445e-03 9.91582975e-01 -1.29228484e-01 2.04941808e+02] [-9.12468459e-01 4.56732337e-02 4.06589803e-01 -8.91961116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.2007140569999 meters Centerline goodness : 0.988938 Centerline is valid? [True, True] Translation: X:144.28, Y:204.94, Z:-89.23 [[ 4.16525115e-01 1.14679470e-01 9.01862211e-01 1.44276359e+02] [-2.42110795e-03 9.92148501e-01 -1.25041953e-01 2.04940250e+02] [-9.09120986e-01 4.98996080e-02 4.13532420e-01 -8.92274502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.2307140569999 meters Centerline goodness : 0.988312 Centerline is valid? [True, True] Translation: X:144.30, Y:204.95, Z:-89.24 [[ 4.17974181e-01 1.54550336e-01 8.95216051e-01 1.44304728e+02] [-3.33158627e-03 9.85676870e-01 -1.68612007e-01 2.04952365e+02] [-9.08452797e-01 6.74929759e-02 4.12502380e-01 -8.92447611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.260714057 meters Centerline goodness : 0.990486 Centerline is valid? [True, True] Translation: X:144.32, Y:204.95, Z:-89.26 [[ 4.19603059e-01 1.57098100e-01 8.94009765e-01 1.44316838e+02] [-5.19447463e-03 9.85308765e-01 -1.70703412e-01 2.04953143e+02] [-9.07692840e-01 6.69837628e-02 4.14254614e-01 -8.92631657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.290714057 meters Centerline goodness : 0.982967 Centerline is valid? [True, True] Translation: X:144.30, Y:204.94, Z:-89.29 [[ 4.01996302e-01 1.16815100e-01 9.08159240e-01 1.44297475e+02] [-4.51619968e-03 9.92069513e-01 -1.25609253e-01 2.04938951e+02] [-9.15630153e-01 4.63930268e-02 3.99335836e-01 -8.92940447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.3207140569999 meters Centerline goodness : 0.989576 Centerline is valid? [True, True] Translation: X:144.30, Y:204.92, Z:-89.33 [[ 4.12467332e-01 6.66766255e-02 9.08528991e-01 1.44300907e+02] [-3.33139068e-03 9.97421543e-01 -7.16879852e-02 2.04917654e+02] [-9.10966301e-01 2.65422870e-02 4.11625929e-01 -8.93346119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.3507140569999 meters Centerline goodness : 0.991165 Centerline is valid? [True, True] Translation: X:144.35, Y:204.95, Z:-89.34 [[ 4.19401726e-01 1.53465980e-01 8.94734813e-01 1.44348026e+02] [-6.30945601e-03 9.86076023e-01 -1.66175412e-01 2.04951061e+02] [-9.07778818e-01 6.40489647e-02 4.14530273e-01 -8.93388996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.380714057 meters Centerline goodness : 0.989861 Centerline is valid? [True, True] Translation: X:144.34, Y:204.93, Z:-89.38 [[ 4.15186235e-01 1.13807699e-01 9.02589717e-01 1.44342549e+02] [-7.81570799e-03 9.92553791e-01 -1.21556103e-01 2.04929272e+02] [-9.09702866e-01 4.34140431e-02 4.12984159e-01 -8.93799264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.410714057 meters Centerline goodness : 0.991597 Centerline is valid? [True, True] Translation: X:144.38, Y:204.95, Z:-89.39 [[ 4.20734231e-01 1.67607919e-01 8.91566202e-01 1.44376427e+02] [-7.92234742e-03 9.83425733e-01 -1.81138246e-01 2.04952697e+02] [-9.07149350e-01 6.91477632e-02 4.15088717e-01 -8.93865336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.4407140569999 meters Centerline goodness : 0.990425 Centerline is valid? [True, True] Translation: X:144.36, Y:204.92, Z:-89.43 [[ 4.17472828e-01 1.02221289e-01 9.02921506e-01 1.44362562e+02] [-8.12440579e-03 9.94032675e-01 -1.08779758e-01 2.04923615e+02] [-9.08653087e-01 3.80768923e-02 4.15812119e-01 -8.94294040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.4707140569999 meters Centerline goodness : 0.988071 Centerline is valid? [True, True] Translation: X:144.38, Y:204.93, Z:-89.44 [[ 4.10621326e-01 1.36758877e-01 9.01491618e-01 1.44383702e+02] [-1.14852555e-02 9.89385329e-01 -1.44861176e-01 2.04933259e+02] [-9.11733632e-01 4.91292266e-02 4.07833426e-01 -8.94438927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.500714057 meters Centerline goodness : 0.989632 Centerline is valid? [True, True] Translation: X:144.40, Y:204.93, Z:-89.48 [[ 4.19049957e-01 1.24830193e-01 8.99341179e-01 1.44395086e+02] [-8.25458963e-03 9.90986861e-01 -1.33704537e-01 2.04928592e+02] [-9.07925655e-01 4.86051881e-02 4.16303424e-01 -8.94755890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.530714057 meters Centerline goodness : 0.989119 Centerline is valid? [True, True] Translation: X:144.42, Y:204.94, Z:-89.50 [[ 4.19253855e-01 1.50735629e-01 8.95268102e-01 1.44416791e+02] [-8.75862487e-03 9.86745971e-01 -1.62036028e-01 2.04936466e+02] [-9.07826796e-01 6.00929120e-02 4.15017289e-01 -8.94960093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.5607140569999 meters Centerline goodness : 0.989119 Centerline is valid? [True, True] Translation: X:144.43, Y:204.93, Z:-89.52 [[ 4.18820986e-01 1.43768334e-01 8.96615664e-01 1.44425395e+02] [-8.19144782e-03 9.87945329e-01 -1.54586307e-01 2.04932880e+02] [-9.08031873e-01 5.73994090e-02 4.14949908e-01 -8.95229364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.5907140569999 meters Centerline goodness : 0.991599 Centerline is valid? [True, True] Translation: X:144.44, Y:204.94, Z:-89.54 [[ 4.19631938e-01 1.54735395e-01 8.94408181e-01 1.44438786e+02] [-9.63589225e-03 9.86066602e-01 -1.66071689e-01 2.04937520e+02] [-9.07643204e-01 6.10705638e-02 4.15276053e-01 -8.95419481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.620714057 meters Centerline goodness : 0.989027 Centerline is valid? [True, True] Translation: X:144.42, Y:204.90, Z:-89.58 [[ 4.08967398e-01 8.46462380e-02 9.08614705e-01 1.44420148e+02] [-1.38882201e-02 9.96150701e-01 -8.65499751e-02 2.04904680e+02] [-9.12443305e-01 2.27770771e-02 4.08568746e-01 -8.95786566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.650714057 meters Centerline goodness : 0.988698 Centerline is valid? [True, True] Translation: X:144.44, Y:204.91, Z:-89.60 [[ 4.06638831e-01 1.09837680e-01 9.06962262e-01 1.44440062e+02] [-1.37869969e-02 9.93371210e-01 -1.14120802e-01 2.04912151e+02] [-9.13484964e-01 3.39016638e-02 4.05457639e-01 -8.96017336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.6807140569999 meters Centerline goodness : 0.987910 Centerline is valid? [True, True] Translation: X:144.46, Y:204.91, Z:-89.62 [[ 4.08336901e-01 1.18290481e-01 9.05134431e-01 1.44455527e+02] [-1.34868885e-02 9.92241714e-01 -1.23589991e-01 2.04914635e+02] [-9.12731658e-01 3.82589066e-02 4.06764277e-01 -8.96240679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.7107140569999 meters Centerline goodness : 0.984031 Centerline is valid? [True, True] Translation: X:144.47, Y:204.92, Z:-89.65 [[ 4.05007930e-01 1.21325078e-01 9.06227787e-01 1.44465270e+02] [-9.64534646e-03 9.91668669e-01 -1.28453176e-01 2.04919094e+02] [-9.14262295e-01 4.32836739e-02 4.02803897e-01 -8.96459587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.740714057 meters Centerline goodness : 0.988872 Centerline is valid? [True, True] Translation: X:144.46, Y:204.89, Z:-89.69 [[ 4.13501853e-01 5.44983119e-02 9.08870811e-01 1.44462308e+02] [-7.15648130e-03 9.98370774e-01 -5.66090394e-02 2.04890934e+02] [-9.10475152e-01 1.69036257e-02 4.13218181e-01 -8.96869420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.770714057 meters Centerline goodness : 0.989375 Centerline is valid? [True, True] Translation: X:144.51, Y:204.92, Z:-89.70 [[ 4.16062351e-01 1.31568985e-01 8.99767594e-01 1.44505017e+02] [-7.25325168e-03 9.89926188e-01 -1.41398489e-01 2.04917189e+02] [-9.09307160e-01 5.23043471e-02 4.12825320e-01 -8.97009199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.8007140569999 meters Centerline goodness : 0.991767 Centerline is valid? [True, True] Translation: X:144.52, Y:204.93, Z:-89.72 [[ 4.16252284e-01 1.52647724e-01 8.96344079e-01 1.44521721e+02] [-6.53830855e-03 9.86283905e-01 -1.64928192e-01 2.04925164e+02] [-9.09225652e-01 6.27911624e-02 4.11540987e-01 -8.97177836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.8307140569999 meters Centerline goodness : 0.988158 Centerline is valid? [True, True] Translation: X:144.50, Y:204.89, Z:-89.75 [[ 4.04993695e-01 7.56659820e-02 9.11183168e-01 1.44499388e+02] [-9.24087229e-03 9.96857628e-01 -7.86732227e-02 2.04890164e+02] [-9.14272778e-01 2.34420319e-02 4.04420274e-01 -8.97546077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.860714057 meters Centerline goodness : 0.990767 Centerline is valid? [True, True] Translation: X:144.53, Y:204.91, Z:-89.77 [[ 4.18283535e-01 1.25729121e-01 8.99572717e-01 1.44533273e+02] [-9.98479791e-03 9.90950247e-01 -1.33857803e-01 2.04908485e+02] [-9.08261630e-01 4.70084632e-02 4.15753552e-01 -8.97727905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.890714057 meters Centerline goodness : 0.991758 Centerline is valid? [True, True] Translation: X:144.54, Y:204.90, Z:-89.81 [[ 4.17136688e-01 1.01053777e-01 9.03208236e-01 1.44536492e+02] [-4.57862525e-03 9.94020286e-01 -1.09099528e-01 2.04898716e+02] [-9.08832229e-01 4.13739636e-02 4.15105017e-01 -8.98075610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.9207140569999 meters Centerline goodness : 0.991282 Centerline is valid? [True, True] Translation: X:144.55, Y:204.89, Z:-89.84 [[ 4.18684935e-01 8.29276743e-02 9.04337286e-01 1.44545779e+02] [-4.93693587e-03 9.96015025e-01 -8.90488429e-02 2.04885083e+02] [-9.08118138e-01 3.28187538e-02 4.17425894e-01 -8.98415273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.9507140569999 meters Centerline goodness : 0.989588 Centerline is valid? [True, True] Translation: X:144.57, Y:204.90, Z:-89.85 [[ 4.14479219e-01 1.38859495e-01 8.99402590e-01 1.44574489e+02] [-6.08626129e-03 9.88691510e-01 -1.49840101e-01 2.04903910e+02] [-9.10038425e-01 5.66316086e-02 4.10637220e-01 -8.98544752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.9807140569999 meters Centerline goodness : 0.992136 Centerline is valid? [True, True] Translation: X:144.58, Y:204.90, Z:-89.88 [[ 4.23823600e-01 1.31508206e-01 8.96146834e-01 1.44584001e+02] [-5.00309285e-04 9.89437126e-01 -1.44961801e-01 2.04903278e+02] [-9.05744614e-01 6.09898818e-02 4.19412599e-01 -8.98804063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.010714057 meters Centerline goodness : 0.991281 Centerline is valid? [True, True] Translation: X:144.58, Y:204.89, Z:-89.91 [[ 4.22317467e-01 9.88099803e-02 9.01046361e-01 1.44582540e+02] [ 7.62682423e-04 9.94001798e-01 -1.09361068e-01 2.04888942e+02] [-9.06447669e-01 4.68723013e-02 4.19708961e-01 -8.99120899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.040714057 meters Centerline goodness : 0.991438 Centerline is valid? [True, True] Translation: X:144.59, Y:204.89, Z:-89.94 [[ 4.21812242e-01 9.82036274e-02 9.01349256e-01 1.44594466e+02] [ 2.17634873e-03 9.94004548e-01 -1.09317074e-01 2.04887116e+02] [-9.06680592e-01 4.80729301e-02 4.19069561e-01 -8.99365327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.0707140569999 meters Centerline goodness : 0.991036 Centerline is valid? [True, True] Translation: X:144.61, Y:204.89, Z:-89.97 [[ 4.21769299e-01 9.80413119e-02 9.01387020e-01 1.44609142e+02] [ 2.01679998e-03 9.94032922e-01 -1.09061828e-01 2.04885252e+02] [-9.06700938e-01 4.78168481e-02 4.19054839e-01 -8.99666214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.1007140569999 meters Centerline goodness : 0.991059 Centerline is valid? [True, True] Translation: X:144.62, Y:204.88, Z:-90.00 [[ 4.21332793e-01 9.87912141e-02 9.01509275e-01 1.44623305e+02] [ 1.68158047e-03 9.93962379e-01 -1.09708528e-01 2.04883739e+02] [-9.06904543e-01 4.77397608e-02 4.18622820e-01 -8.99968923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.130714057 meters Centerline goodness : 0.991497 Centerline is valid? [True, True] Translation: X:144.64, Y:204.88, Z:-90.03 [[ 4.20608087e-01 9.96508975e-02 9.01753035e-01 1.44637154e+02] [ 1.15280647e-03 9.93889850e-01 -1.10370458e-01 2.04881636e+02] [-9.07241703e-01 4.74622538e-02 4.17923230e-01 -9.00262529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.160714057 meters Centerline goodness : 0.991247 Centerline is valid? [True, True] Translation: X:144.65, Y:204.88, Z:-90.06 [[ 4.20661515e-01 1.00180643e-01 9.01669412e-01 1.44651073e+02] [ 1.13415599e-03 9.93825472e-01 -1.10948835e-01 2.04879651e+02] [-9.07216955e-01 4.76945389e-02 4.17950509e-01 -9.00564220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.1907140569999 meters Centerline goodness : 0.991454 Centerline is valid? [True, True] Translation: X:144.67, Y:204.88, Z:-90.09 [[ 4.21272858e-01 1.00597836e-01 9.01337481e-01 1.44665337e+02] [ 1.30840897e-03 9.93760802e-01 -1.11524691e-01 2.04877625e+02] [-9.06933001e-01 4.81616432e-02 4.18512830e-01 -9.00862793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.2207140569999 meters Centerline goodness : 0.991684 Centerline is valid? [True, True] Translation: X:144.68, Y:204.88, Z:-90.12 [[ 4.21740507e-01 1.00549057e-01 9.01124205e-01 1.44679379e+02] [ 2.67190593e-03 9.93690154e-01 -1.12128226e-01 2.04875693e+02] [-9.06712637e-01 4.96967341e-02 4.18810732e-01 -9.01160727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.250714057 meters Centerline goodness : 0.991548 Centerline is valid? [True, True] Translation: X:144.69, Y:204.87, Z:-90.14 [[ 4.22147462e-01 1.00784345e-01 9.00907340e-01 1.44692548e+02] [ 3.36498616e-03 9.93619640e-01 -1.12732820e-01 2.04874316e+02] [-9.06520930e-01 5.06214148e-02 4.19114871e-01 -9.01449721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.280714057 meters Centerline goodness : 0.992074 Centerline is valid? [True, True] Translation: X:144.70, Y:204.87, Z:-90.17 [[ 4.23217817e-01 1.00669647e-01 9.00417849e-01 1.44704304e+02] [ 4.20937793e-03 9.93578807e-01 -1.13063854e-01 2.04872702e+02] [-9.06018190e-01 5.16408364e-02 4.20076497e-01 -9.01687438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.3107140569999 meters Centerline goodness : 0.992631 Centerline is valid? [True, True] Translation: X:144.72, Y:204.87, Z:-90.19 [[ 4.23299943e-01 1.00402614e-01 9.00409059e-01 1.44715794e+02] [ 4.26958627e-03 9.93608283e-01 -1.12802268e-01 2.04870969e+02] [-9.05979541e-01 5.15935678e-02 4.20165652e-01 -9.01941494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.3407140569999 meters Centerline goodness : 0.992042 Centerline is valid? [True, True] Translation: X:144.73, Y:204.87, Z:-90.22 [[ 4.23424593e-01 1.00241683e-01 9.00368380e-01 1.44728941e+02] [ 3.34583848e-03 9.93679574e-01 -1.12203877e-01 2.04868822e+02] [-9.05925173e-01 5.05223680e-02 4.20412976e-01 -9.02243778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.370714057 meters Centerline goodness : 0.992617 Centerline is valid? [True, True] Translation: X:144.74, Y:204.87, Z:-90.25 [[ 4.24023415e-01 1.01155133e-01 8.99984323e-01 1.44742597e+02] [ 2.34207893e-03 9.93616931e-01 -1.12782575e-01 2.04867100e+02] [-9.05648198e-01 4.99302869e-02 4.21079931e-01 -9.02540099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.400714057 meters Centerline goodness : 0.992364 Centerline is valid? [True, True] Translation: X:144.76, Y:204.87, Z:-90.28 [[ 4.24602009e-01 1.02891572e-01 8.99514568e-01 1.44755947e+02] [-6.27558926e-04 9.93554673e-01 -1.13352183e-01 2.04865856e+02] [-9.05379887e-01 4.75650661e-02 4.21929880e-01 -9.02837328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.4307140569999 meters Centerline goodness : 0.991884 Centerline is valid? [True, True] Translation: X:144.77, Y:204.86, Z:-90.32 [[ 4.22475849e-01 9.96342095e-02 9.00881336e-01 1.44767848e+02] [-3.75939050e-03 9.94123835e-01 -1.08183494e-01 2.04857216e+02] [-9.06366385e-01 4.23181488e-02 4.20367875e-01 -9.03177439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.4607140569999 meters Centerline goodness : 0.992111 Centerline is valid? [True, True] Translation: X:144.80, Y:204.89, Z:-90.32 [[ 4.27768921e-01 1.62973236e-01 8.89074504e-01 1.44803259e+02] [-6.84179307e-03 9.84166843e-01 -1.77112434e-01 2.04885198e+02] [-9.03862235e-01 6.96803309e-02 4.22111018e-01 -9.03246081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.490714057 meters Centerline goodness : 0.990217 Centerline is valid? [True, True] Translation: X:144.79, Y:204.85, Z:-90.38 [[ 4.10026089e-01 1.17379280e-01 9.04489199e-01 1.44790713e+02] [-1.91175111e-02 9.92572411e-01 -1.20143786e-01 2.04850081e+02] [-9.11873416e-01 3.19705042e-02 4.09224584e-01 -9.03778012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.520714057 meters Centerline goodness : 0.991468 Centerline is valid? [True, True] Translation: X:144.83, Y:204.87, Z:-90.39 [[ 4.23325139e-01 1.70548672e-01 8.89780297e-01 1.44830738e+02] [-1.52172355e-02 9.83321458e-01 -1.81238369e-01 2.04873465e+02] [-9.05850022e-01 6.31827616e-02 4.18859972e-01 -9.03934800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.5507140569999 meters Centerline goodness : 0.992513 Centerline is valid? [True, True] Translation: X:144.84, Y:204.88, Z:-90.41 [[ 4.26805399e-01 1.67310585e-01 8.88731861e-01 1.44841108e+02] [-1.38412941e-02 9.83830490e-01 -1.78566475e-01 2.04877430e+02] [-9.04237563e-01 6.39119365e-02 4.22219959e-01 -9.04083003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.5807140569999 meters Centerline goodness : 0.992702 Centerline is valid? [True, True] Translation: X:144.83, Y:204.86, Z:-90.45 [[ 4.24930563e-01 1.12036127e-01 8.98266064e-01 1.44831575e+02] [-1.39232383e-02 9.93002971e-01 -1.17265699e-01 2.04855395e+02] [-9.05118865e-01 3.73230070e-02 4.23517217e-01 -9.04462123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.610714057 meters Centerline goodness : 0.991848 Centerline is valid? [True, True] Translation: X:144.85, Y:204.85, Z:-90.48 [[ 4.24682697e-01 1.12666903e-01 8.98304389e-01 1.44845252e+02] [-1.47455065e-02 9.92955459e-01 -1.17567114e-01 2.04853301e+02] [-9.05222170e-01 3.66827660e-02 4.23352333e-01 -9.04757537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.640714057 meters Centerline goodness : 0.992683 Centerline is valid? [True, True] Translation: X:144.86, Y:204.85, Z:-90.51 [[ 4.23472666e-01 1.13412351e-01 8.98781698e-01 1.44858620e+02] [-1.49098236e-02 9.92870725e-01 -1.18259974e-01 2.04850749e+02] [-9.05786177e-01 3.66791901e-02 4.22144570e-01 -9.05053663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.6707140569999 meters Centerline goodness : 0.992112 Centerline is valid? [True, True] Translation: X:144.87, Y:204.85, Z:-90.54 [[ 4.23155797e-01 1.13676003e-01 8.98897624e-01 1.44872338e+02] [-1.42133299e-02 9.92809135e-01 -1.18861279e-01 2.04848311e+02] [-9.05945447e-01 3.75205105e-02 4.21728655e-01 -9.05353610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.7007140569999 meters Centerline goodness : 0.992558 Centerline is valid? [True, True] Translation: X:144.89, Y:204.84, Z:-90.57 [[ 4.22658521e-01 1.13152717e-01 8.99197552e-01 1.44885335e+02] [-1.15177316e-02 9.92765788e-01 -1.19513313e-01 2.04844117e+02] [-9.06215823e-01 4.01566042e-02 4.20904182e-01 -9.05654645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.7307140569999 meters Centerline goodness : 0.990571 Centerline is valid? [True, True] Translation: X:144.90, Y:204.84, Z:-90.60 [[ 4.17433182e-01 1.30577077e-01 8.99277024e-01 1.44899668e+02] [-1.25167783e-02 9.90354308e-01 -1.37991574e-01 2.04840718e+02] [-9.08621411e-01 4.63462106e-02 4.15041154e-01 -9.06004685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.760714057 meters Centerline goodness : 0.991063 Centerline is valid? [True, True] Translation: X:144.94, Y:204.86, Z:-90.62 [[ 4.17396776e-01 1.99562432e-01 8.86540900e-01 1.44937205e+02] [-1.24783964e-02 9.76755086e-01 -2.13994840e-01 2.04861103e+02] [-9.08638664e-01 7.82581474e-02 4.10184643e-01 -9.06193796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.790714057 meters Centerline goodness : 0.992611 Centerline is valid? [True, True] Translation: X:144.94, Y:204.86, Z:-90.63 [[ 4.29830004e-01 1.53244292e-01 8.89810291e-01 1.44943919e+02] [ 1.16961030e-03 9.85396533e-01 -1.70271269e-01 2.04858413e+02] [-9.02909076e-01 7.42284315e-02 4.23373760e-01 -9.06261590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.8207140569999 meters Centerline goodness : 0.992724 Centerline is valid? [True, True] Translation: X:144.93, Y:204.83, Z:-90.67 [[ 4.25864354e-01 9.51480119e-02 8.99770197e-01 1.44934474e+02] [ 2.29933050e-03 9.94338223e-01 -1.06236579e-01 2.04833910e+02] [-9.04784099e-01 4.73112413e-02 4.23234428e-01 -9.06653922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.8507140569999 meters Centerline goodness : 0.985847 Centerline is valid? [True, True] Translation: X:144.94, Y:204.83, Z:-90.69 [[ 4.21844874e-01 9.22319122e-02 9.01964621e-01 1.44942199e+02] [ 5.83238928e-03 9.94515802e-01 -1.04423672e-01 2.04833489e+02] [-9.06649263e-01 4.93111995e-02 4.18993461e-01 -9.06902304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.880714057 meters Centerline goodness : 0.992891 Centerline is valid? [True, True] Translation: X:144.95, Y:204.82, Z:-90.72 [[ 4.24079873e-01 8.07286128e-02 9.02019486e-01 1.44951443e+02] [ 3.74168861e-03 9.95854297e-01 -9.08857427e-02 2.04822870e+02] [-9.05617061e-01 4.19178903e-02 4.22019703e-01 -9.07181005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.910714057 meters Centerline goodness : 0.985622 Centerline is valid? [True, True] Translation: X:144.96, Y:204.83, Z:-90.74 [[ 4.20433075e-01 8.61000812e-02 9.03229099e-01 1.44959051e+02] [ 4.96364826e-03 9.95254170e-01 -9.71828153e-02 2.04825659e+02] [-9.07309975e-01 4.53421815e-02 4.18010401e-01 -9.07395539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.9407140569999 meters Centerline goodness : 0.993487 Centerline is valid? [True, True] Translation: X:144.97, Y:204.81, Z:-90.77 [[ 4.24197542e-01 6.74284484e-02 9.03055840e-01 1.44968392e+02] [ 2.97776263e-03 9.97114770e-01 -7.58503056e-02 2.04812887e+02] [-9.05564784e-01 3.48645991e-02 4.22772848e-01 -9.07724714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.9707140569999 meters Centerline goodness : 0.992734 Centerline is valid? [True, True] Translation: X:144.99, Y:204.82, Z:-90.80 [[ 4.25405026e-01 9.40064797e-02 9.00107408e-01 1.44990880e+02] [ 2.21576714e-03 9.94479272e-01 -1.04909807e-01 2.04820870e+02] [-9.05000361e-01 4.66235874e-02 4.22848184e-01 -9.07988283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.000714057 meters Centerline goodness : 0.986219 Centerline is valid? [True, True] Translation: X:144.99, Y:204.82, Z:-90.83 [[ 4.19452716e-01 8.24016565e-02 9.04029527e-01 1.44992776e+02] [ 5.79961765e-03 9.95608031e-01 -9.34398865e-02 2.04817107e+02] [-9.07758659e-01 4.44366398e-02 4.17132595e-01 -9.08264387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.030714057 meters Centerline goodness : 0.985765 Centerline is valid? [True, True] Translation: X:145.01, Y:204.82, Z:-90.85 [[ 4.22297189e-01 8.85682038e-02 9.02120146e-01 1.45007282e+02] [ 4.12519047e-03 9.95017035e-01 -9.96196884e-02 2.04815839e+02] [-9.06448050e-01 4.57905318e-02 4.19827536e-01 -9.08508444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.0607140569999 meters Centerline goodness : 0.992273 Centerline is valid? [True, True] Translation: X:145.02, Y:204.81, Z:-90.88 [[ 4.24430350e-01 7.36698760e-02 9.02458657e-01 1.45016460e+02] [ 2.08811315e-03 9.96602349e-01 -8.23371015e-02 2.04805101e+02] [-9.05458181e-01 3.68308006e-02 4.22834452e-01 -9.08797066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.0907140569999 meters Centerline goodness : 0.993506 Centerline is valid? [True, True] Translation: X:145.04, Y:204.81, Z:-90.91 [[ 4.25881666e-01 9.44135085e-02 8.99839372e-01 1.45038365e+02] [ 1.50750017e-03 9.94465230e-01 -1.05055381e-01 2.04811128e+02] [-9.04777616e-01 4.60976687e-02 4.23382181e-01 -9.09067554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.120714057 meters Centerline goodness : 0.985584 Centerline is valid? [True, True] Translation: X:145.05, Y:204.81, Z:-90.93 [[ 4.22840371e-01 9.39242128e-02 9.01323617e-01 1.45046668e+02] [ 4.75924968e-03 9.94370394e-01 -1.05853056e-01 2.04813024e+02] [-9.06191685e-01 4.90485696e-02 4.20012938e-01 -9.09330504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.150714057 meters Centerline goodness : 0.992839 Centerline is valid? [True, True] Translation: X:145.06, Y:204.81, Z:-90.96 [[ 4.25302287e-01 9.50257929e-02 9.00048923e-01 1.45060494e+02] [-2.71693544e-04 9.94486119e-01 -1.04867944e-01 2.04807190e+02] [-9.05051320e-01 4.43560389e-02 4.22983038e-01 -9.09563277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.1807140569999 meters Centerline goodness : 0.991504 Centerline is valid? [True, True] Translation: X:145.08, Y:204.79, Z:-90.99 [[ 4.24431539e-01 8.37717302e-02 9.01576489e-01 1.45075590e+02] [-9.36596172e-03 9.96063884e-01 -8.81420337e-02 2.04788116e+02] [-9.05411590e-01 2.89661281e-02 4.23545530e-01 -9.09920861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.2107140569999 meters Centerline goodness : 0.992551 Centerline is valid? [True, True] Translation: X:145.10, Y:204.80, Z:-91.02 [[ 4.19276814e-01 1.11738456e-01 9.00955865e-01 1.45100624e+02] [-8.76796862e-03 9.92848959e-01 -1.19054893e-01 2.04797262e+02] [-9.07816103e-01 4.20174035e-02 4.17258268e-01 -9.10185253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.240714057 meters Centerline goodness : 0.990751 Centerline is valid? [True, True] Translation: X:145.13, Y:204.82, Z:-91.04 [[ 4.24698767e-01 1.77227468e-01 8.87818327e-01 1.45132705e+02] [-1.29503711e-02 9.81740947e-01 -1.89781457e-01 2.04818935e+02] [-9.05242092e-01 6.91023741e-02 4.19239331e-01 -9.10357806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.270714057 meters Centerline goodness : 0.992388 Centerline is valid? [True, True] Translation: X:145.12, Y:204.81, Z:-91.06 [[ 4.19155877e-01 1.28656210e-01 8.98752430e-01 1.45124226e+02] [-7.50528251e-03 9.90366077e-01 -1.38270405e-01 2.04808532e+02] [-9.07883265e-01 5.12114620e-02 4.16083362e-01 -9.10639841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.3007140569999 meters Centerline goodness : 0.992075 Centerline is valid? [True, True] Translation: X:145.12, Y:204.79, Z:-91.10 [[ 4.16989361e-01 9.48184996e-02 9.03952059e-01 1.45124220e+02] [-8.55202390e-03 9.94908961e-01 -1.00414254e-01 2.04792711e+02] [-9.08871133e-01 3.41410561e-02 4.15677342e-01 -9.10991354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.3307140569999 meters Centerline goodness : 0.991386 Centerline is valid? [True, True] Translation: X:145.14, Y:204.78, Z:-91.14 [[ 4.18298017e-01 1.03594110e-01 9.02382973e-01 1.45143765e+02] [-1.56672807e-02 9.94149935e-01 -1.06866473e-01 2.04780960e+02] [-9.08174711e-01 3.05641464e-02 4.17473984e-01 -9.11383604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.360714057 meters Centerline goodness : 0.991295 Centerline is valid? [True, True] Translation: X:145.17, Y:204.80, Z:-91.16 [[ 4.18699258e-01 1.53165495e-01 8.95115223e-01 1.45173625e+02] [-1.74086479e-02 9.86846693e-01 -1.60718834e-01 2.04796901e+02] [-9.07958077e-01 5.17101107e-02 4.15858383e-01 -9.11555180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.390714057 meters Centerline goodness : 0.991218 Centerline is valid? [True, True] Translation: X:145.18, Y:204.79, Z:-91.19 [[ 4.20000971e-01 1.46506376e-01 8.95619934e-01 1.45184451e+02] [-1.68861287e-02 9.87974041e-01 -1.53695000e-01 2.04791432e+02] [-9.07366543e-01 4.94284959e-02 4.17423982e-01 -9.11884275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.4207140569999 meters Centerline goodness : 0.990417 Centerline is valid? [True, True] Translation: X:145.20, Y:204.79, Z:-91.21 [[ 4.22729475e-01 1.43412933e-01 8.94836590e-01 1.45197014e+02] [-1.95244590e-02 9.88611479e-01 -1.49218426e-01 2.04786627e+02] [-9.06045577e-01 4.56078264e-02 4.20715271e-01 -9.12116119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.4507140569999 meters Centerline goodness : 0.990417 Centerline is valid? [True, True] Translation: X:145.21, Y:204.78, Z:-91.24 [[ 4.22244669e-01 1.33832863e-01 8.96547938e-01 1.45205342e+02] [-1.90307211e-02 9.90131976e-01 -1.38839844e-01 2.04781926e+02] [-9.06282115e-01 4.15624303e-02 4.20624884e-01 -9.12386506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.4807140569999 meters Centerline goodness : 0.989974 Centerline is valid? [True, True] Translation: X:145.21, Y:204.78, Z:-91.27 [[ 4.21505601e-01 1.25016975e-01 8.98166902e-01 1.45214945e+02] [-1.84134280e-02 9.91427155e-01 -1.29356649e-01 2.04775564e+02] [-9.06638833e-01 3.79862204e-02 4.20194090e-01 -9.12698222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.510714057 meters Centerline goodness : 0.990736 Centerline is valid? [True, True] Translation: X:145.23, Y:204.78, Z:-91.30 [[ 4.22875328e-01 1.36701685e-01 8.95817563e-01 1.45232727e+02] [-1.84733336e-02 9.89651138e-01 -1.42300247e-01 2.04777112e+02] [-9.05999555e-01 4.36265272e-02 4.21024386e-01 -9.12973172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.540714057 meters Centerline goodness : 0.990472 Centerline is valid? [True, True] Translation: X:145.25, Y:204.77, Z:-91.33 [[ 4.21860323e-01 1.36617489e-01 8.96308836e-01 1.45245032e+02] [-1.91618833e-02 9.89704928e-01 -1.41834330e-01 2.04774313e+02] [-9.06458322e-01 4.26593111e-02 4.20135089e-01 -9.13250996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.5707140569999 meters Centerline goodness : 0.990216 Centerline is valid? [True, True] Translation: X:145.26, Y:204.77, Z:-91.36 [[ 4.20597427e-01 1.35602967e-01 8.97056096e-01 1.45256372e+02] [-2.18698091e-02 9.89994898e-01 -1.39398038e-01 2.04768370e+02] [-9.06983746e-01 3.90120106e-02 4.19354918e-01 -9.13551790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.6007140569999 meters Centerline goodness : 0.989963 Centerline is valid? [True, True] Translation: X:145.27, Y:204.77, Z:-91.39 [[ 4.16316246e-01 1.56765166e-01 8.95603409e-01 1.45272201e+02] [-2.62131188e-02 9.86684000e-01 -1.60522763e-01 2.04771474e+02] [-9.08841931e-01 4.33516754e-02 4.14881883e-01 -9.13865371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.630714057 meters Centerline goodness : 0.989372 Centerline is valid? [True, True] Translation: X:145.28, Y:204.76, Z:-91.41 [[ 4.17187946e-01 1.32920506e-01 8.99047472e-01 1.45280458e+02] [-2.72559885e-02 9.90631690e-01 -1.33813174e-01 2.04758630e+02] [-9.08411432e-01 3.13208156e-02 4.16902479e-01 -9.14127371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.660714057 meters Centerline goodness : 0.989889 Centerline is valid? [True, True] Translation: X:145.30, Y:204.76, Z:-91.44 [[ 4.21303805e-01 1.31713935e-01 8.97304042e-01 1.45295774e+02] [-2.89789916e-02 9.90847494e-01 -1.31838772e-01 2.04755992e+02] [-9.06456465e-01 2.95412099e-02 4.21264756e-01 -9.14386538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.6907140569999 meters Centerline goodness : 0.989287 Centerline is valid? [True, True] Translation: X:145.31, Y:204.75, Z:-91.47 [[ 4.21903099e-01 1.29280107e-01 8.97376414e-01 1.45308017e+02] [-3.15095865e-02 9.91274377e-01 -1.27993185e-01 2.04751822e+02] [-9.06093219e-01 2.57247618e-02 4.22295294e-01 -9.14661722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.7207140569999 meters Centerline goodness : 0.989564 Centerline is valid? [True, True] Translation: X:145.32, Y:204.74, Z:-91.49 [[ 4.22641258e-01 1.08073909e-01 8.99830205e-01 1.45315965e+02] [-3.10676442e-02 9.94008663e-01 -1.04793030e-01 2.04741117e+02] [-9.05764411e-01 1.63342532e-02 4.23466674e-01 -9.14925568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.750714057 meters Centerline goodness : 0.986465 Centerline is valid? [True, True] Translation: X:145.33, Y:204.76, Z:-91.52 [[ 4.18147697e-01 1.48587488e-01 8.96144108e-01 1.45334530e+02] [-2.92862375e-02 9.88223334e-01 -1.50189740e-01 2.04757384e+02] [-9.07906835e-01 3.65568046e-02 4.17574880e-01 -9.15167762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.780714057 meters Centerline goodness : 0.986173 Centerline is valid? [True, True] Translation: X:145.32, Y:204.73, Z:-91.55 [[ 4.18234775e-01 9.00077598e-02 9.03868506e-01 1.45324115e+02] [-3.12041184e-02 9.95914786e-01 -8.47351256e-02 2.04726505e+02] [-9.07802829e-01 7.23475629e-03 4.19334809e-01 -9.15480628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.8107140569999 meters Centerline goodness : 0.988710 Centerline is valid? [True, True] Translation: X:145.32, Y:204.69, Z:-91.58 [[ 4.18510764e-01 2.51068324e-02 9.07864741e-01 1.45320897e+02] [-3.06036243e-02 9.99440001e-01 -1.35315602e-02 2.04692964e+02] [-9.07696072e-01 -2.21208478e-02 4.19044758e-01 -9.15812194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.8407140569999 meters Centerline goodness : 0.989251 Centerline is valid? [True, True] Translation: X:145.36, Y:204.74, Z:-91.60 [[ 4.12199487e-01 1.50475896e-01 8.98581431e-01 1.45358572e+02] [-2.52834974e-02 9.87776243e-01 -1.53814296e-01 2.04743904e+02] [-9.10742734e-01 4.06828928e-02 4.10965417e-01 -9.15997540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.870714057 meters Centerline goodness : 0.990638 Centerline is valid? [True, True] Translation: X:145.36, Y:204.72, Z:-91.63 [[ 4.11012185e-01 1.02065193e-01 9.05898272e-01 1.45355685e+02] [-2.31979018e-02 9.94562007e-01 -1.01529660e-01 2.04720033e+02] [-9.11334648e-01 2.07149881e-02 4.11144802e-01 -9.16347265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.900714057 meters Centerline goodness : 0.987404 Centerline is valid? [True, True] Translation: X:145.37, Y:204.68, Z:-91.67 [[ 4.14786984e-01 4.89006800e-02 9.08603589e-01 1.45369685e+02] [-2.54085688e-02 9.98787942e-01 -4.21550899e-02 2.04681381e+02] [-9.09563721e-01 -5.60093422e-03 4.15526735e-01 -9.16661793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.9307140569999 meters Centerline goodness : 0.987443 Centerline is valid? [True, True] Translation: X:145.41, Y:204.71, Z:-91.68 [[ 4.28700332e-01 1.34948858e-01 8.93311161e-01 1.45412655e+02] [-2.07574863e-02 9.89991455e-01 -1.39592429e-01 2.04713038e+02] [-9.03208255e-01 4.13004266e-02 4.27210864e-01 -9.16842460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.9607140569999 meters Centerline goodness : 0.987245 Centerline is valid? [True, True] Translation: X:145.41, Y:204.69, Z:-91.72 [[ 4.16799847e-01 9.56658521e-02 9.03950183e-01 1.45409589e+02] [-1.22973064e-02 9.94948942e-01 -9.96262014e-02 2.04692551e+02] [-9.08915103e-01 3.04080331e-02 4.15870999e-01 -9.17164118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.990714057 meters Centerline goodness : 0.984868 Centerline is valid? [True, True] Translation: X:145.44, Y:204.72, Z:-91.73 [[ 4.19710829e-01 1.56569310e-01 8.94051940e-01 1.45436427e+02] [-4.59970535e-04 9.85046404e-01 -1.72288627e-01 2.04723501e+02] [-9.07657760e-01 7.19001649e-02 4.13506660e-01 -9.17338596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.020714057 meters Centerline goodness : 0.984809 Centerline is valid? [True, True] Translation: X:145.41, Y:204.66, Z:-91.78 [[ 4.19281574e-01 1.97117621e-02 9.07642225e-01 1.45411901e+02] [ 3.19037763e-03 9.99726092e-01 -2.31853795e-02 2.04663411e+02] [-9.07850639e-01 1.26169239e-02 4.19103842e-01 -9.17774193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.0507140569999 meters Centerline goodness : 0.988234 Centerline is valid? [True, True] Translation: X:145.44, Y:204.67, Z:-91.80 [[ 4.26270374e-01 5.80271109e-02 9.02732753e-01 1.45441828e+02] [ 9.43655056e-03 9.97600913e-01 -6.85811172e-02 2.04674205e+02] [-9.04546582e-01 3.77527818e-02 4.24700139e-01 -9.17999580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.0807140569999 meters Centerline goodness : 0.984364 Centerline is valid? [True, True] Translation: X:145.45, Y:204.69, Z:-91.82 [[ 4.18469578e-01 9.48168531e-02 9.03267943e-01 1.45454629e+02] [ 1.28864819e-02 9.93815702e-01 -1.10291834e-01 2.04689219e+02] [-9.08139389e-01 5.77937233e-02 4.14659782e-01 -9.18173397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.110714057 meters Centerline goodness : 0.988402 Centerline is valid? [True, True] Translation: X:145.46, Y:204.65, Z:-91.86 [[ 4.22841945e-01 1.46399249e-02 9.06085185e-01 1.45455688e+02] [ 1.61309499e-02 9.99589476e-01 -2.36785210e-02 2.04651968e+02] [-9.06059867e-01 2.46282866e-02 4.22432202e-01 -9.18554349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.140714057 meters Centerline goodness : 0.987512 Centerline is valid? [True, True] Translation: X:145.49, Y:204.68, Z:-91.88 [[ 4.28147791e-01 7.99929827e-02 9.00161425e-01 1.45488541e+02] [ 2.19056598e-02 9.94863414e-01 -9.88277760e-02 2.04678078e+02] [-9.03443197e-01 6.20315239e-02 4.24196274e-01 -9.18772706e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.1707140569999 meters Centerline goodness : 0.987853 Centerline is valid? [True, True] Translation: X:145.50, Y:204.68, Z:-91.91 [[ 4.29222859e-01 7.93897245e-02 8.99702734e-01 1.45502343e+02] [ 2.43251782e-02 9.94752008e-01 -9.93817258e-02 2.04676765e+02] [-9.02870989e-01 6.45423378e-02 4.25039132e-01 -9.19064193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.2007140569999 meters Centerline goodness : 0.987178 Centerline is valid? [True, True] Translation: X:145.52, Y:204.66, Z:-91.94 [[ 4.33117647e-01 5.35644820e-02 8.99744381e-01 1.45518099e+02] [ 2.66745416e-02 9.97033635e-01 -7.21969553e-02 2.04659506e+02] [-9.00942602e-01 5.52700443e-02 4.30404054e-01 -9.19424982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.2307140569999 meters Centerline goodness : 0.987820 Centerline is valid? [True, True] Translation: X:145.55, Y:204.70, Z:-91.96 [[ 4.38530023e-01 1.44160050e-01 8.87079083e-01 1.45551551e+02] [ 3.09596531e-02 9.84041946e-01 -1.75222567e-01 2.04702577e+02] [-8.98183121e-01 1.04304017e-01 4.27068792e-01 -9.19550067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.260714057 meters Centerline goodness : 0.986204 Centerline is valid? [True, True] Translation: X:145.54, Y:204.66, Z:-91.99 [[ 4.25661628e-01 4.73558430e-02 9.03642409e-01 1.45538437e+02] [ 2.75996116e-02 9.97485585e-01 -6.52745663e-02 2.04655720e+02] [-9.04461409e-01 5.27250577e-02 4.23284335e-01 -9.19897776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.290714057 meters Centerline goodness : 0.988336 Centerline is valid? [True, True] Translation: X:145.57, Y:204.69, Z:-92.01 [[ 4.37245519e-01 1.09629222e-01 8.92635306e-01 1.45566210e+02] [ 3.51962515e-02 9.89696169e-01 -1.38790190e-01 2.04688880e+02] [-8.98653203e-01 9.21028055e-02 4.28881678e-01 -9.20099972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.3207140569999 meters Centerline goodness : 0.987863 Centerline is valid? [True, True] Translation: X:145.57, Y:204.68, Z:-92.04 [[ 4.34473649e-01 7.40498255e-02 8.97635378e-01 1.45570767e+02] [ 3.64047226e-02 9.94356423e-01 -9.96493838e-02 2.04675839e+02] [-8.99948523e-01 7.59731983e-02 4.29325900e-01 -9.20443289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.3507140569999 meters Centerline goodness : 0.988938 Centerline is valid? [True, True] Translation: X:145.59, Y:204.66, Z:-92.08 [[ 4.35657115e-01 4.98122958e-02 8.98733338e-01 1.45586846e+02] [ 3.50236623e-02 9.96773332e-01 -7.22237319e-02 2.04660953e+02] [-8.99431054e-01 6.29417156e-02 4.32506785e-01 -9.20800447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.380714057 meters Centerline goodness : 0.989713 Centerline is valid? [True, True] Translation: X:145.62, Y:204.71, Z:-92.09 [[ 4.41229012e-01 1.39880673e-01 8.86425607e-01 1.45622136e+02] [ 3.47755168e-02 9.84369774e-01 -1.72646494e-01 2.04705967e+02] [-8.96720482e-01 1.07002551e-01 4.29468080e-01 -9.20930076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.410714057 meters Centerline goodness : 0.989880 Centerline is valid? [True, True] Translation: X:145.62, Y:204.68, Z:-92.13 [[ 4.35911690e-01 7.59531005e-02 8.96778749e-01 1.45615983e+02] [ 3.48464100e-02 9.94260961e-01 -1.01147758e-01 2.04681597e+02] [-8.99314587e-01 7.53410103e-02 4.30763283e-01 -9.21315397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.4407140569999 meters Centerline goodness : 0.989629 Centerline is valid? [True, True] Translation: X:145.63, Y:204.69, Z:-92.16 [[ 4.36891357e-01 7.69336904e-02 8.96218249e-01 1.45631306e+02] [ 3.35178640e-02 9.94251477e-01 -1.01688512e-01 2.04685802e+02] [-8.98889590e-01 7.44661535e-02 4.31801224e-01 -9.21604780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.4707140569999 meters Centerline goodness : 0.989646 Centerline is valid? [True, True] Translation: X:145.64, Y:204.67, Z:-92.19 [[ 4.37983847e-01 5.60160886e-02 8.97235949e-01 1.45644930e+02] [ 3.16118987e-02 9.96479903e-01 -7.76433531e-02 2.04674248e+02] [-8.98426868e-01 6.23698665e-02 4.34671327e-01 -9.21942363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.500714057 meters Centerline goodness : 0.988706 Centerline is valid? [True, True] Translation: X:145.67, Y:204.69, Z:-92.21 [[ 4.36165058e-01 1.01756168e-01 8.94094919e-01 1.45668147e+02] [ 2.66701815e-02 9.91687722e-01 -1.25873598e-01 2.04692907e+02] [-8.99471369e-01 7.87473389e-02 4.29825678e-01 -9.22080301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.530714057 meters Centerline goodness : 0.990261 Centerline is valid? [True, True] Translation: X:145.68, Y:204.70, Z:-92.23 [[ 4.40740200e-01 1.09371592e-01 8.90946649e-01 1.45681032e+02] [ 3.13721552e-02 9.90065997e-01 -1.37058784e-01 2.04703227e+02] [-8.97086319e-01 8.83582324e-02 4.32930663e-01 -9.22347323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.5607140569999 meters Centerline goodness : 0.990890 Centerline is valid? [True, True] Translation: X:145.69, Y:204.70, Z:-92.27 [[ 4.38026181e-01 7.77787472e-02 8.95591163e-01 1.45686194e+02] [ 3.19765269e-02 9.94271545e-01 -1.01988223e-01 2.04695456e+02] [-8.98393325e-01 7.33114066e-02 4.33029873e-01 -9.22684797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.5907140569999 meters Centerline goodness : 0.990522 Centerline is valid? [True, True] Translation: X:145.70, Y:204.70, Z:-92.30 [[ 4.38264438e-01 7.83339828e-02 8.95426195e-01 1.45701484e+02] [ 3.18225657e-02 9.94218488e-01 -1.02552051e-01 2.04697165e+02] [-8.98282588e-01 7.34396758e-02 4.33237818e-01 -9.22984617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.620714057 meters Centerline goodness : 0.990780 Centerline is valid? [True, True] Translation: X:145.72, Y:204.70, Z:-92.33 [[ 4.39162341e-01 7.83815753e-02 8.94981992e-01 1.45717255e+02] [ 3.26747055e-02 9.94134327e-01 -1.03098515e-01 2.04701735e+02] [-8.97813345e-01 7.45202584e-02 4.34025264e-01 -9.23269272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.650714057 meters Centerline goodness : 0.991915 Centerline is valid? [True, True] Translation: X:145.73, Y:204.70, Z:-92.36 [[ 4.39924410e-01 7.86369214e-02 8.94585238e-01 1.45732121e+02] [ 3.29959723e-02 9.94070722e-01 -1.03608232e-01 2.04703373e+02] [-8.97428426e-01 7.50975000e-02 4.34721274e-01 -9.23565040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.6807140569999 meters Centerline goodness : 0.992136 Centerline is valid? [True, True] Translation: X:145.75, Y:204.70, Z:-92.39 [[ 4.40667101e-01 7.90496898e-02 8.94183232e-01 1.45747416e+02] [ 3.30134303e-02 9.94014083e-01 -1.04144692e-01 2.04704739e+02] [-8.97063331e-01 7.54131953e-02 4.35419602e-01 -9.23863451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.7107140569999 meters Centerline goodness : 0.989335 Centerline is valid? [True, True] Translation: X:145.75, Y:204.69, Z:-92.41 [[ 4.31422130e-01 4.39141183e-02 9.01080738e-01 1.45748160e+02] [ 2.86223104e-02 9.97645465e-01 -6.23240702e-02 2.04687183e+02] [-9.01696018e-01 5.26789956e-02 4.29149408e-01 -9.24116696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.740714057 meters Centerline goodness : 0.991198 Centerline is valid? [True, True] Translation: X:145.78, Y:204.72, Z:-92.43 [[ 4.42921764e-01 1.02987195e-01 8.90625594e-01 1.45781511e+02] [ 3.27342881e-02 9.90860678e-01 -1.30857109e-01 2.04721773e+02] [-8.95962487e-01 8.71134562e-02 4.35502547e-01 -9.24323854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.770714057 meters Centerline goodness : 0.992118 Centerline is valid? [True, True] Translation: X:145.79, Y:204.71, Z:-92.46 [[ 4.41088965e-01 7.97250888e-02 8.93915228e-01 1.45787259e+02] [ 3.21960748e-02 9.93999616e-01 -1.04537923e-01 2.04714451e+02] [-8.96885688e-01 7.48910856e-02 4.35875427e-01 -9.24647703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.8007140569999 meters Centerline goodness : 0.992075 Centerline is valid? [True, True] Translation: X:145.80, Y:204.72, Z:-92.49 [[ 4.41856345e-01 8.08769455e-02 8.93432645e-01 1.45803181e+02] [ 3.04663536e-02 9.94000344e-01 -1.05048169e-01 2.04719915e+02] [-8.96568331e-01 7.36358347e-02 4.36741333e-01 -9.24928443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.8307140569999 meters Centerline goodness : 0.992523 Centerline is valid? [True, True] Translation: X:145.82, Y:204.72, Z:-92.52 [[ 4.42017141e-01 8.18345810e-02 8.93265889e-01 1.45818123e+02] [ 2.93626936e-02 9.93976091e-01 -1.05590544e-01 2.04721549e+02] [-8.96525895e-01 7.29015228e-02 4.36951586e-01 -9.25228628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.860714057 meters Centerline goodness : 0.993059 Centerline is valid? [True, True] Translation: X:145.83, Y:204.73, Z:-92.55 [[ 4.42542858e-01 8.25133936e-02 8.92943088e-01 1.45833729e+02] [ 2.88710468e-02 9.93930503e-01 -1.06153747e-01 2.04725900e+02] [-8.96282479e-01 7.27577842e-02 4.37474597e-01 -9.25519615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.890714057 meters Centerline goodness : 0.992635 Centerline is valid? [True, True] Translation: X:145.85, Y:204.73, Z:-92.58 [[ 4.42876753e-01 8.29259897e-02 8.92739303e-01 1.45848759e+02] [ 2.90500149e-02 9.93863499e-01 -1.06730700e-01 2.04727089e+02] [-8.96111756e-01 7.32026358e-02 4.37750038e-01 -9.25813811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.9207140569999 meters Centerline goodness : 0.992207 Centerline is valid? [True, True] Translation: X:145.86, Y:204.73, Z:-92.61 [[ 4.43265584e-01 8.31232029e-02 8.92527958e-01 1.45863793e+02] [ 2.97036407e-02 9.93782305e-01 -1.07305288e-01 2.04728436e+02] [-8.95898050e-01 7.40760710e-02 4.38040432e-01 -9.26111739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.9507140569999 meters Centerline goodness : 0.992594 Centerline is valid? [True, True] Translation: X:145.88, Y:204.73, Z:-92.64 [[ 4.44329280e-01 8.25888809e-02 8.92048523e-01 1.45879651e+02] [ 3.18151475e-02 9.93658691e-01 -1.07843417e-01 2.04733107e+02] [-8.95298435e-01 7.62986432e-02 4.38884074e-01 -9.26399911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.9807140569999 meters Centerline goodness : 0.991504 Centerline is valid? [True, True] Translation: X:145.90, Y:204.72, Z:-92.68 [[ 4.40785412e-01 9.12605959e-02 8.92961211e-01 1.45897453e+02] [ 2.64589163e-02 9.93064847e-01 -1.14551890e-01 2.04724220e+02] [-8.97222462e-01 7.41195877e-02 4.35313841e-01 -9.26827794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.010714057 meters Centerline goodness : 0.991221 Centerline is valid? [True, True] Translation: X:145.93, Y:204.75, Z:-92.70 [[ 4.47601395e-01 1.38995333e-01 8.83364754e-01 1.45933622e+02] [ 3.15796957e-02 9.84772946e-01 -1.70953118e-01 2.04750034e+02] [-8.93675396e-01 1.04415244e-01 4.36396314e-01 -9.26962355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.040714057 meters Centerline goodness : 0.991212 Centerline is valid? [True, True] Translation: X:145.94, Y:204.75, Z:-92.72 [[ 4.46512930e-01 1.30176710e-01 8.85257153e-01 1.45942256e+02] [ 3.38692574e-02 9.86192510e-01 -1.62102455e-01 2.04749123e+02] [-8.94135939e-01 1.02363844e-01 4.35938719e-01 -9.27223036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.0707140569999 meters Centerline goodness : 0.991816 Centerline is valid? [True, True] Translation: X:145.95, Y:204.75, Z:-92.75 [[ 4.45920096e-01 1.24729240e-01 8.86339599e-01 1.45953138e+02] [ 3.49441092e-02 9.87062170e-01 -1.56483807e-01 2.04748012e+02] [-8.94390394e-01 1.00751622e-01 4.35792305e-01 -9.27483550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.1007140569999 meters Centerline goodness : 0.991322 Centerline is valid? [True, True] Translation: X:145.97, Y:204.76, Z:-92.76 [[ 4.49700003e-01 1.32934866e-01 8.83231696e-01 1.45969301e+02] [ 3.66344587e-02 9.85284974e-01 -1.66947408e-01 2.04761052e+02] [-8.92428050e-01 1.07432965e-01 4.38212659e-01 -9.27633678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.130714057 meters Centerline goodness : 0.992292 Centerline is valid? [True, True] Translation: X:145.96, Y:204.74, Z:-92.80 [[ 4.45242404e-01 8.21958315e-02 8.91629434e-01 1.45961504e+02] [ 3.82425219e-02 9.93123524e-01 -1.10648889e-01 2.04743781e+02] [-8.94593042e-01 8.33637355e-02 4.39037329e-01 -9.27998334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.160714057 meters Centerline goodness : 0.992238 Centerline is valid? [True, True] Translation: X:145.97, Y:204.75, Z:-92.82 [[ 4.45549389e-01 8.18839861e-02 8.91504770e-01 1.45973138e+02] [ 3.88551075e-02 9.93101375e-01 -1.10634258e-01 2.04745438e+02] [-8.94413787e-01 8.39325398e-02 4.39294100e-01 -9.28243289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.1907140569999 meters Centerline goodness : 0.990726 Centerline is valid? [True, True] Translation: X:145.98, Y:204.74, Z:-92.86 [[ 4.44280075e-01 7.08097335e-02 8.93085213e-01 1.45983681e+02] [ 3.97145594e-02 9.94334927e-01 -9.85941513e-02 2.04739127e+02] [-8.95007245e-01 7.92719026e-02 4.38951018e-01 -9.28574450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.2207140569999 meters Centerline goodness : 0.991197 Centerline is valid? [True, True] Translation: X:146.02, Y:204.76, Z:-92.87 [[ 4.49318696e-01 1.16464844e-01 8.85747509e-01 1.46016156e+02] [ 4.01786592e-02 9.87828393e-01 -1.50268898e-01 2.04760962e+02] [-8.92467582e-01 1.03106773e-01 4.39170364e-01 -9.28733787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.250714057 meters Centerline goodness : 0.991279 Centerline is valid? [True, True] Translation: X:146.03, Y:204.77, Z:-92.89 [[ 4.51016167e-01 1.23262135e-01 8.83963157e-01 1.46029163e+02] [ 3.87560922e-02 9.86778428e-01 -1.57373120e-01 2.04766536e+02] [-8.91673922e-01 1.05236779e-01 4.40275866e-01 -9.28915886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.280714057 meters Centerline goodness : 0.988773 Centerline is valid? [True, True] Translation: X:146.02, Y:204.75, Z:-92.93 [[ 4.44780741e-01 6.88913352e-02 8.92986045e-01 1.46020745e+02] [ 4.23091480e-02 9.94308159e-01 -9.77814954e-02 2.04750044e+02] [-8.94639608e-01 8.12728047e-02 4.39334386e-01 -9.29304173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.3107140569999 meters Centerline goodness : 0.992144 Centerline is valid? [True, True] Translation: X:146.05, Y:204.77, Z:-92.94 [[ 4.50322572e-01 1.19645524e-01 8.84813274e-01 1.46053630e+02] [ 3.89856503e-02 9.87401173e-01 -1.53359193e-01 2.04770787e+02] [-8.92014406e-01 1.03556127e-01 4.39984577e-01 -9.29415791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.3407140569999 meters Centerline goodness : 0.989991 Centerline is valid? [True, True] Translation: X:146.04, Y:204.75, Z:-92.98 [[ 4.44686225e-01 6.63599055e-02 8.93224790e-01 1.46044661e+02] [ 4.18145085e-02 9.94626309e-01 -9.47103627e-02 2.04752524e+02] [-8.94709846e-01 7.94661492e-02 4.39521811e-01 -9.29815720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.370714057 meters Centerline goodness : 0.989991 Centerline is valid? [True, True] Translation: X:146.08, Y:204.77, Z:-93.00 [[ 4.48878935e-01 1.12102857e-01 8.86532939e-01 1.46077159e+02] [ 4.14489773e-02 9.88419819e-01 -1.45973436e-01 2.04768807e+02] [-8.92630766e-01 1.02270284e-01 4.39034287e-01 -9.29981289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.400714057 meters Centerline goodness : 0.991153 Centerline is valid? [True, True] Translation: X:146.09, Y:204.77, Z:-93.02 [[ 4.50923406e-01 1.24396825e-01 8.83851521e-01 1.46092366e+02] [ 3.96573965e-02 9.86470135e-01 -1.59072195e-01 2.04774802e+02] [-8.91681206e-01 1.06780626e-01 4.39889220e-01 -9.30157125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.4307140569999 meters Centerline goodness : 0.991112 Centerline is valid? [True, True] Translation: X:146.08, Y:204.75, Z:-93.06 [[ 4.44581277e-01 6.20355597e-02 8.93587756e-01 1.46079419e+02] [ 4.39101244e-02 9.94890162e-01 -9.09146155e-02 2.04751648e+02] [-8.94661606e-01 7.96564854e-02 4.39585550e-01 -9.30571375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.4607140569999 meters Centerline goodness : 0.991078 Centerline is valid? [True, True] Translation: X:146.11, Y:204.76, Z:-93.08 [[ 4.48241650e-01 1.00191359e-01 8.88279863e-01 1.46108773e+02] [ 4.24447633e-02 9.90192693e-01 -1.33104743e-01 2.04763996e+02] [-8.92904175e-01 9.73659182e-02 4.39593008e-01 -9.30757181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.490714057 meters Centerline goodness : 0.991593 Centerline is valid? [True, True] Translation: X:146.13, Y:204.77, Z:-93.10 [[ 4.50877033e-01 1.16533209e-01 8.84946277e-01 1.46131129e+02] [ 4.37136429e-02 9.87368277e-01 -1.52292490e-01 2.04773150e+02] [-8.91515013e-01 1.07349411e-01 4.40087588e-01 -9.31009430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.520714057 meters Centerline goodness : 0.991565 Centerline is valid? [True, True] Translation: X:146.14, Y:204.77, Z:-93.13 [[ 4.50525631e-01 1.09667101e-01 8.86002135e-01 1.46142317e+02] [ 4.52117329e-02 9.88350365e-01 -1.45325343e-01 2.04771403e+02] [-8.91617943e-01 1.05530484e-01 4.40318932e-01 -9.31312819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.5507140569999 meters Centerline goodness : 0.992210 Centerline is valid? [True, True] Translation: X:146.16, Y:204.77, Z:-93.16 [[ 4.51825620e-01 1.10161991e-01 8.85278456e-01 1.46156482e+02] [ 4.70465515e-02 9.88023148e-01 -1.46958772e-01 2.04774996e+02] [-8.90864878e-01 1.08049037e-01 4.41231430e-01 -9.31586581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.5807140569999 meters Centerline goodness : 0.991690 Centerline is valid? [True, True] Translation: X:146.17, Y:204.78, Z:-93.19 [[ 4.49751015e-01 1.14609564e-01 8.85770101e-01 1.46169335e+02] [ 4.63303540e-02 9.87403958e-01 -1.51284245e-01 2.04775938e+02] [-8.91951525e-01 1.09078285e-01 4.38776030e-01 -9.31909628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.610714057 meters Centerline goodness : 0.992332 Centerline is valid? [True, True] Translation: X:146.18, Y:204.77, Z:-93.22 [[ 4.50902604e-01 1.04679684e-01 8.86413564e-01 1.46181330e+02] [ 4.85873080e-02 9.88748009e-01 -1.41480206e-01 2.04773953e+02] [-8.91249749e-01 1.06862242e-01 4.40742947e-01 -9.32177098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.640714057 meters Centerline goodness : 0.992324 Centerline is valid? [True, True] Translation: X:146.19, Y:204.77, Z:-93.25 [[ 4.50397495e-01 1.01119702e-01 8.87083368e-01 1.46194179e+02] [ 4.84480811e-02 9.89333725e-01 -1.37373814e-01 2.04774621e+02] [-8.91512692e-01 1.04850309e-01 4.40694376e-01 -9.32467854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.6707140569999 meters Centerline goodness : 0.992348 Centerline is valid? [True, True] Translation: X:146.21, Y:204.77, Z:-93.28 [[ 4.50025999e-01 1.00413860e-01 8.87352048e-01 1.46207436e+02] [ 4.79423392e-02 9.89508485e-01 -1.36288259e-01 2.04774603e+02] [-8.91727611e-01 1.03874993e-01 4.40490469e-01 -9.32754907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.7007140569999 meters Centerline goodness : 0.990838 Centerline is valid? [True, True] Translation: X:146.21, Y:204.77, Z:-93.30 [[ 4.38719586e-01 8.97444104e-02 8.94131459e-01 1.46212426e+02] [ 4.57582800e-02 9.91478782e-01 -1.21967224e-01 2.04770122e+02] [-8.97458247e-01 9.44233279e-02 4.30874611e-01 -9.33041849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.7307140569999 meters Centerline goodness : 0.991351 Centerline is valid? [True, True] Translation: X:146.24, Y:204.78, Z:-93.34 [[ 4.47028211e-01 1.09157637e-01 8.87834663e-01 1.46235378e+02] [ 4.38027420e-02 9.88664593e-01 -1.43609343e-01 2.04779155e+02] [-8.93446752e-01 1.03087020e-01 4.37179561e-01 -9.33350128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.760714057 meters Centerline goodness : 0.991650 Centerline is valid? [True, True] Translation: X:146.25, Y:204.78, Z:-93.36 [[ 4.46469749e-01 1.16854420e-01 8.87135733e-01 1.46251784e+02] [ 4.26450300e-02 9.87530689e-01 -1.51540555e-01 2.04781856e+02] [-8.93781945e-01 1.05490204e-01 4.35919318e-01 -9.33631411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.790714057 meters Centerline goodness : 0.991154 Centerline is valid? [True, True] Translation: X:146.25, Y:204.78, Z:-93.39 [[ 4.35156999e-01 9.60779331e-02 8.95213615e-01 1.46252852e+02] [ 4.07102166e-02 9.91173496e-01 -1.26165682e-01 2.04775242e+02] [-8.99433747e-01 9.13462198e-02 4.27404730e-01 -9.33934123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.8207140569999 meters Centerline goodness : 0.992414 Centerline is valid? [True, True] Translation: X:146.28, Y:204.79, Z:-93.42 [[ 4.43653117e-01 1.31089636e-01 8.86559315e-01 1.46281226e+02] [ 3.98752835e-02 9.85377176e-01 -1.65655616e-01 2.04787125e+02] [-8.95311049e-01 1.08845434e-01 4.31938419e-01 -9.34243493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.8507140569999 meters Centerline goodness : 0.992410 Centerline is valid? [True, True] Translation: X:146.29, Y:204.79, Z:-93.45 [[ 4.44175940e-01 1.25539238e-01 8.87100690e-01 1.46293740e+02] [ 4.09033125e-02 9.86260674e-01 -1.60052497e-01 2.04785770e+02] [-8.95005393e-01 1.07376825e-01 4.32938291e-01 -9.34516541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.880714057 meters Centerline goodness : 0.992104 Centerline is valid? [True, True] Translation: X:146.31, Y:204.79, Z:-93.48 [[ 4.43551840e-01 1.29394326e-01 8.86858993e-01 1.46307918e+02] [ 4.02959100e-02 9.85643513e-01 -1.63960680e-01 2.04787313e+02] [-8.95342395e-01 1.08461851e-01 4.31969932e-01 -9.34832873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.910714057 meters Centerline goodness : 0.991781 Centerline is valid? [True, True] Translation: X:146.31, Y:204.78, Z:-93.51 [[ 4.34040563e-01 1.18120280e-01 8.93116112e-01 1.46312517e+02] [ 3.96095830e-02 9.87906427e-01 -1.49906544e-01 2.04782152e+02] [-9.00022150e-01 1.00441478e-01 4.24112767e-01 -9.35124484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.9407140569999 meters Centerline goodness : 0.991929 Centerline is valid? [True, True] Translation: X:146.33, Y:204.78, Z:-93.54 [[ 4.33950309e-01 1.19041180e-01 8.93037696e-01 1.46325673e+02] [ 3.95660065e-02 9.87757913e-01 -1.50893460e-01 2.04781553e+02] [-9.00067587e-01 1.00814199e-01 4.23927868e-01 -9.35442391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.9707140569999 meters Centerline goodness : 0.991671 Centerline is valid? [True, True] Translation: X:146.34, Y:204.78, Z:-93.57 [[ 4.32830477e-01 1.29823369e-01 8.92078287e-01 1.46343239e+02] [ 4.01184173e-02 9.85821498e-01 -1.62930927e-01 2.04784669e+02] [-9.00582196e-01 1.06310240e-01 4.21485281e-01 -9.35725701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.000714057 meters Centerline goodness : 0.992913 Centerline is valid? [True, True] Translation: X:146.36, Y:204.79, Z:-93.60 [[ 4.43750136e-01 1.35980973e-01 8.85773669e-01 1.46363687e+02] [ 4.23018934e-02 9.84140334e-01 -1.72274065e-01 2.04788395e+02] [-8.95151589e-01 1.13916543e-01 4.30960154e-01 -9.36025566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.030714057 meters Centerline goodness : 0.992576 Centerline is valid? [True, True] Translation: X:146.38, Y:204.79, Z:-93.63 [[ 4.44914315e-01 1.30414621e-01 8.86026681e-01 1.46376626e+02] [ 4.39299011e-02 9.84971383e-01 -1.67037534e-01 2.04786870e+02] [-8.94495062e-01 1.13240454e-01 4.32498767e-01 -9.36294673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.0607140569999 meters Centerline goodness : 0.992109 Centerline is valid? [True, True] Translation: X:146.38, Y:204.78, Z:-93.66 [[ 4.37078013e-01 1.09554768e-01 8.92726477e-01 1.46378963e+02] [ 4.05229608e-02 9.89147455e-01 -1.41227485e-01 2.04778647e+02] [-8.98510267e-01 9.79033485e-02 4.27895121e-01 -9.36580620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.0907140569999 meters Centerline goodness : 0.992134 Centerline is valid? [True, True] Translation: X:146.39, Y:204.78, Z:-93.69 [[ 4.36275866e-01 1.05643689e-01 8.93589828e-01 1.46389077e+02] [ 3.68315650e-02 9.90155056e-01 -1.35042222e-01 2.04776000e+02] [-8.99058844e-01 9.18279739e-02 4.28089732e-01 -9.36887397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.120714057 meters Centerline goodness : 0.992339 Centerline is valid? [True, True] Translation: X:146.41, Y:204.78, Z:-93.71 [[ 4.34313453e-01 1.15974343e-01 8.93264673e-01 1.46409988e+02] [ 3.35181771e-02 9.88909322e-01 -1.44688924e-01 2.04781061e+02] [-9.00137965e-01 9.27809494e-02 4.25609374e-01 -9.37140370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.150714057 meters Centerline goodness : 0.991164 Centerline is valid? [True, True] Translation: X:146.42, Y:204.78, Z:-93.74 [[ 4.33199435e-01 1.13834119e-01 8.94080557e-01 1.46420010e+02] [ 2.96079920e-02 9.89659321e-01 -1.40348833e-01 2.04778951e+02] [-9.00811643e-01 8.72709651e-02 4.25349459e-01 -9.37401770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.1807140569999 meters Centerline goodness : 0.992237 Centerline is valid? [True, True] Translation: X:146.42, Y:204.77, Z:-93.78 [[ 4.32911349e-01 8.86429847e-02 8.97067548e-01 1.46424591e+02] [ 3.06932598e-02 9.93126817e-01 -1.12947109e-01 2.04769278e+02] [-9.00913807e-01 7.64300125e-02 4.27215128e-01 -9.37757786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.2107140569999 meters Centerline goodness : 0.992552 Centerline is valid? [True, True] Translation: X:146.45, Y:204.78, Z:-93.80 [[ 4.43140899e-01 1.17424281e-01 8.88728126e-01 1.46453436e+02] [ 3.02124269e-02 9.88864511e-01 -1.45719554e-01 2.04779626e+02] [-8.95942718e-01 9.14249277e-02 4.34658636e-01 -9.37999860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.240714057 meters Centerline goodness : 0.993044 Centerline is valid? [True, True] Translation: X:146.47, Y:204.78, Z:-93.83 [[ 4.42912506e-01 1.23291460e-01 8.88047143e-01 1.46468051e+02] [ 2.87453883e-02 9.88037616e-01 -1.51510304e-01 2.04779671e+02] [-8.96103909e-01 9.26330682e-02 4.34070155e-01 -9.38306915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.270714057 meters Centerline goodness : 0.992491 Centerline is valid? [True, True] Translation: X:146.48, Y:204.78, Z:-93.86 [[ 4.39808493e-01 1.25601049e-01 8.89265352e-01 1.46479251e+02] [ 2.59747100e-02 9.87979057e-01 -1.52389951e-01 2.04778823e+02] [-8.97715882e-01 9.01208044e-02 4.31259129e-01 -9.38565047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.3007140569999 meters Centerline goodness : 0.993267 Centerline is valid? [True, True] Translation: X:146.50, Y:204.78, Z:-93.89 [[ 4.40967254e-01 1.28759584e-01 8.88239186e-01 1.46495232e+02] [ 2.82410777e-02 9.87175366e-01 -1.57121733e-01 2.04779778e+02] [-8.97078772e-01 9.43703710e-02 4.31675701e-01 -9.38895912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.3307140569999 meters Centerline goodness : 0.991945 Centerline is valid? [True, True] Translation: X:146.50, Y:204.78, Z:-93.91 [[ 4.32089616e-01 1.22347367e-01 8.93492969e-01 1.46504224e+02] [ 2.78433488e-02 9.88472535e-01 -1.48817997e-01 2.04777094e+02] [-9.01400750e-01 8.91805475e-02 4.23702157e-01 -9.39117319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.360714057 meters Centerline goodness : 0.993820 Centerline is valid? [True, True] Translation: X:146.52, Y:204.78, Z:-93.95 [[ 4.40879429e-01 1.23643878e-01 8.89009292e-01 1.46520853e+02] [ 3.22754355e-02 9.87641937e-01 -1.53367862e-01 2.04776999e+02] [-8.96985856e-01 9.63098975e-02 4.31440353e-01 -9.39484342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.390714057 meters Centerline goodness : 0.992534 Centerline is valid? [True, True] Translation: X:146.53, Y:204.77, Z:-93.97 [[ 4.35672028e-01 1.13980214e-01 8.92859673e-01 1.46531690e+02] [ 3.68075361e-02 9.88864328e-01 -1.44196210e-01 2.04771343e+02] [-8.99352595e-01 9.56862200e-02 4.26625196e-01 -9.39729259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.4207140569999 meters Centerline goodness : 0.992183 Centerline is valid? [True, True] Translation: X:146.54, Y:204.77, Z:-94.00 [[ 4.36306151e-01 1.10249783e-01 8.93018437e-01 1.46544230e+02] [ 3.92533681e-02 9.89188173e-01 -1.41300854e-01 2.04769011e+02] [-8.98941664e-01 9.67044131e-02 4.27261209e-01 -9.40010216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.4507140569999 meters Centerline goodness : 0.993239 Centerline is valid? [True, True] Translation: X:146.57, Y:204.77, Z:-94.03 [[ 4.45761688e-01 1.24439541e-01 8.86459992e-01 1.46566785e+02] [ 4.26714773e-02 9.86210503e-01 -1.59899932e-01 2.04773462e+02] [-8.94134029e-01 1.09103821e-01 4.34304840e-01 -9.40309403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.4807140569999 meters Centerline goodness : 0.992450 Centerline is valid? [True, True] Translation: X:146.57, Y:204.77, Z:-94.06 [[ 4.37430076e-01 1.07341987e-01 8.92822842e-01 1.46571754e+02] [ 4.56660370e-02 9.88917450e-01 -1.41268857e-01 2.04766156e+02] [-8.98092168e-01 1.02566928e-01 4.27680352e-01 -9.40602434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.510714057 meters Centerline goodness : 0.991824 Centerline is valid? [True, True] Translation: X:146.58, Y:204.76, Z:-94.08 [[ 4.40835122e-01 9.71489753e-02 8.92315231e-01 1.46583969e+02] [ 4.96295931e-02 9.89966561e-01 -1.32299327e-01 2.04762787e+02] [-8.96214985e-01 1.02607432e-01 4.31590565e-01 -9.40846524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.540714057 meters Centerline goodness : 0.992097 Centerline is valid? [True, True] Translation: X:146.60, Y:204.76, Z:-94.11 [[ 4.41598885e-01 8.92259792e-02 8.92764890e-01 1.46595325e+02] [ 5.08880501e-02 9.90950153e-01 -1.24210310e-01 2.04759464e+02] [-8.95768291e-01 1.00282199e-01 4.33061946e-01 -9.41129694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.5707140569999 meters Centerline goodness : 0.991176 Centerline is valid? [True, True] Translation: X:146.61, Y:204.75, Z:-94.14 [[ 4.42001175e-01 7.90455666e-02 8.93524907e-01 1.46606262e+02] [ 5.14884457e-02 9.92231797e-01 -1.13247518e-01 2.04754716e+02] [-8.95535539e-01 9.60617447e-02 4.34497687e-01 -9.41423892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.6007140569999 meters Centerline goodness : 0.991040 Centerline is valid? [True, True] Translation: X:146.63, Y:204.76, Z:-94.17 [[ 4.44822182e-01 1.09665634e-01 8.88879449e-01 1.46628143e+02] [ 4.73228200e-02 9.88210750e-01 -1.45602419e-01 2.04763618e+02] [-8.94367809e-01 1.06831468e-01 4.34388375e-01 -9.41718818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.630714057 meters Centerline goodness : 0.992565 Centerline is valid? [True, True] Translation: X:146.64, Y:204.76, Z:-94.21 [[ 4.48250789e-01 9.24942538e-02 8.89109691e-01 1.46639162e+02] [ 5.00607251e-02 9.90474010e-01 -1.28277664e-01 2.04757409e+02] [-8.92504988e-01 1.02010040e-01 4.39350427e-01 -9.42056839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.660714057 meters Centerline goodness : 0.991424 Centerline is valid? [True, True] Translation: X:146.65, Y:204.76, Z:-94.23 [[ 4.44848911e-01 9.80493125e-02 8.90222320e-01 1.46653586e+02] [ 4.39999837e-02 9.90396274e-01 -1.31069527e-01 2.04759218e+02] [-8.94524146e-01 9.74759041e-02 4.36262536e-01 -9.42251539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.6907140569999 meters Centerline goodness : 0.992766 Centerline is valid? [True, True] Translation: X:146.67, Y:204.76, Z:-94.26 [[ 4.45450347e-01 9.37687790e-02 8.90382729e-01 1.46666401e+02] [ 4.39706562e-02 9.91008924e-01 -1.26364132e-01 2.04756938e+02] [-8.94226241e-01 9.54396593e-02 4.37322194e-01 -9.42621067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.7207140569999 meters Centerline goodness : 0.992327 Centerline is valid? [True, True] Translation: X:146.68, Y:204.76, Z:-94.28 [[ 4.42943265e-01 9.88394988e-02 8.91084742e-01 1.46679610e+02] [ 3.69759693e-02 9.91044916e-01 -1.28307257e-01 2.04758574e+02] [-8.95786828e-01 8.97815576e-02 4.35321985e-01 -9.42821456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.750714057 meters Centerline goodness : 0.992599 Centerline is valid? [True, True] Translation: X:146.69, Y:204.76, Z:-94.32 [[ 4.45477922e-01 9.78389457e-02 8.89930875e-01 1.46693465e+02] [ 3.57523195e-02 9.91273884e-01 -1.26877338e-01 2.04757051e+02] [-8.94578780e-01 8.83381460e-02 4.38092661e-01 -9.43175130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.780714057 meters Centerline goodness : 0.992100 Centerline is valid? [True, True] Translation: X:146.71, Y:204.76, Z:-94.34 [[ 4.47663966e-01 1.03305896e-01 8.88214426e-01 1.46710772e+02] [ 3.41108315e-02 9.90608308e-01 -1.32407069e-01 2.04759052e+02] [-8.93551020e-01 8.95716062e-02 4.39935794e-01 -9.43421358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.8107140569999 meters Centerline goodness : 0.991508 Centerline is valid? [True, True] Translation: X:146.71, Y:204.75, Z:-94.37 [[ 4.42542327e-01 7.38861539e-02 8.93698565e-01 1.46709913e+02] [ 2.96540218e-02 9.94849067e-01 -9.69328299e-02 2.04748449e+02] [-8.96257177e-01 6.93986368e-02 4.38071799e-01 -9.43680083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.8407140569999 meters Centerline goodness : 0.991524 Centerline is valid? [True, True] Translation: X:146.72, Y:204.75, Z:-94.40 [[ 4.43371356e-01 6.95736283e-02 8.93633790e-01 1.46723212e+02] [ 2.79609516e-02 9.95424279e-01 -9.13711687e-02 2.04745936e+02] [-8.95901795e-01 6.54982102e-02 4.39397268e-01 -9.43981589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.870714057 meters Centerline goodness : 0.991765 Centerline is valid? [True, True] Translation: X:146.75, Y:204.75, Z:-94.43 [[ 4.50466233e-01 8.90923254e-02 8.88337059e-01 1.46747812e+02] [ 2.78397761e-02 9.93122859e-01 -1.13718664e-01 2.04753922e+02] [-8.92359300e-01 7.59575233e-02 4.44888003e-01 -9.44267493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.900714057 meters Centerline goodness : 0.992513 Centerline is valid? [True, True] Translation: X:146.76, Y:204.75, Z:-94.46 [[ 4.50419062e-01 8.61050608e-02 8.88655494e-01 1.46761344e+02] [ 2.58529524e-02 9.93663378e-01 -1.09383342e-01 2.04753100e+02] [-8.92442880e-01 7.22427106e-02 4.45338857e-01 -9.44557680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.9307140569999 meters Centerline goodness : 0.992490 Centerline is valid? [True, True] Translation: X:146.78, Y:204.75, Z:-94.49 [[ 4.50540080e-01 8.50531924e-02 8.88695444e-01 1.46775420e+02] [ 2.48852779e-02 9.93868162e-01 -1.07734855e-01 2.04752239e+02] [-8.92409301e-01 7.06543034e-02 4.45660868e-01 -9.44855677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.9607140569999 meters Centerline goodness : 0.991810 Centerline is valid? [True, True] Translation: X:146.78, Y:204.75, Z:-94.51 [[ 4.48605578e-01 8.18348883e-02 8.89975329e-01 1.46783913e+02] [ 2.05456050e-02 9.94591587e-01 -1.01810872e-01 2.04750424e+02] [-8.93493656e-01 6.39580067e-02 4.44497986e-01 -9.45082366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.990714057 meters Centerline goodness : 0.991026 Centerline is valid? [True, True] Translation: X:146.79, Y:204.74, Z:-94.54 [[ 4.47325176e-01 5.27687363e-02 8.92813333e-01 1.46786013e+02] [ 2.13194556e-02 9.97345143e-01 -6.96286332e-02 2.04739072e+02] [-8.94117256e-01 5.01809348e-02 4.45012591e-01 -9.45448159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.020714057 meters Centerline goodness : 0.991872 Centerline is valid? [True, True] Translation: X:146.81, Y:204.75, Z:-94.57 [[ 4.50655532e-01 7.49846440e-02 8.89543082e-01 1.46812513e+02] [ 2.33089286e-02 9.95137811e-01 -9.56944681e-02 2.04746903e+02] [-8.92393571e-01 6.38595377e-02 4.46716548e-01 -9.45739321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.0507140569999 meters Centerline goodness : 0.990554 Centerline is valid? [True, True] Translation: X:146.83, Y:204.75, Z:-94.60 [[ 4.47245863e-01 8.22918908e-02 8.90617305e-01 1.46826993e+02] [ 2.13375531e-02 9.94493291e-01 -1.02605086e-01 2.04749342e+02] [-8.94156500e-01 6.48932944e-02 4.43027102e-01 -9.45961849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.0807140569999 meters Centerline goodness : 0.992972 Centerline is valid? [True, True] Translation: X:146.84, Y:204.75, Z:-94.63 [[ 4.50896472e-01 7.48035432e-02 8.89436227e-01 1.46841680e+02] [ 2.44764647e-02 9.95071091e-01 -9.60959228e-02 2.04746032e+02] [-8.92240592e-01 6.50995670e-02 4.46843118e-01 -9.46292820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.110714057 meters Centerline goodness : 0.991693 Centerline is valid? [True, True] Translation: X:146.85, Y:204.75, Z:-94.65 [[ 4.46497382e-01 7.81336905e-02 8.91367048e-01 1.46854854e+02] [ 2.28361812e-02 9.94860682e-01 -9.86444720e-02 2.04745917e+02] [-8.94493486e-01 6.43999180e-02 4.42418415e-01 -9.46536364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.140714057 meters Centerline goodness : 0.992068 Centerline is valid? [True, True] Translation: X:146.87, Y:204.75, Z:-94.69 [[ 4.47520690e-01 9.15677442e-02 8.89573257e-01 1.46874715e+02] [ 2.35244018e-02 9.93194340e-01 -1.14068427e-01 2.04749991e+02] [-8.93964113e-01 7.19746597e-02 4.42320940e-01 -9.46863016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.1707140569999 meters Centerline goodness : 0.992866 Centerline is valid? [True, True] Translation: X:146.89, Y:204.75, Z:-94.71 [[ 4.49099296e-01 9.01254126e-02 8.88924762e-01 1.46890337e+02] [ 2.36041487e-02 9.93355627e-01 -1.12638546e-01 2.04749783e+02] [-8.93170010e-01 7.15682038e-02 4.43987979e-01 -9.47108941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.2007140569999 meters Centerline goodness : 0.992190 Centerline is valid? [True, True] Translation: X:146.90, Y:204.75, Z:-94.74 [[ 4.45830770e-01 8.37818761e-02 8.91187703e-01 1.46900686e+02] [ 2.31072810e-02 9.94200973e-01 -1.05026090e-01 2.04746846e+02] [-8.94818964e-01 6.74167870e-02 4.41309414e-01 -9.47393120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.2307140569999 meters Centerline goodness : 0.992199 Centerline is valid? [True, True] Translation: X:146.92, Y:204.75, Z:-94.77 [[ 4.48712625e-01 9.24350726e-02 8.88882860e-01 1.46919883e+02] [ 2.44498726e-02 9.92994412e-01 -1.15604071e-01 2.04749722e+02] [-8.93341583e-01 7.36060787e-02 4.43309103e-01 -9.47691414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.260714057 meters Centerline goodness : 0.992199 Centerline is valid? [True, True] Translation: X:146.93, Y:204.75, Z:-94.80 [[ 4.49008907e-01 9.21263754e-02 8.88765285e-01 1.46934419e+02] [ 2.49390843e-02 9.92990936e-01 -1.15529407e-01 2.04749140e+02] [-8.93179178e-01 7.40387253e-02 4.43564227e-01 -9.47982689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.290714057 meters Centerline goodness : 0.992596 Centerline is valid? [True, True] Translation: X:146.95, Y:204.75, Z:-94.83 [[ 4.48456715e-01 9.71881358e-02 8.88504947e-01 1.46948883e+02] [ 2.53900916e-02 9.92284374e-01 -1.21355121e-01 2.04750088e+02] [-8.93443853e-01 7.69817410e-02 4.42528975e-01 -9.48277077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.3207140569999 meters Centerline goodness : 0.992771 Centerline is valid? [True, True] Translation: X:146.96, Y:204.75, Z:-94.86 [[ 4.50015916e-01 8.90581800e-02 8.88568690e-01 1.46961052e+02] [ 2.71987554e-02 9.93186363e-01 -1.13318468e-01 2.04747343e+02] [-8.92606242e-01 7.51630766e-02 4.44527399e-01 -9.48576164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.3507140569999 meters Centerline goodness : 0.992407 Centerline is valid? [True, True] Translation: X:146.97, Y:204.75, Z:-94.88 [[ 4.53372409e-01 8.40339394e-02 8.87350977e-01 1.46974352e+02] [ 3.01328245e-02 9.93531586e-01 -1.09485161e-01 2.04745860e+02] [-8.90811693e-01 7.63759422e-02 4.47907628e-01 -9.48847774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.380714057 meters Centerline goodness : 0.992191 Centerline is valid? [True, True] Translation: X:146.99, Y:204.74, Z:-94.91 [[ 4.54163493e-01 7.87628755e-02 8.87429959e-01 1.46986839e+02] [ 3.16304089e-02 9.94031037e-01 -1.04411755e-01 2.04743377e+02] [-8.90356692e-01 7.54897800e-02 4.48961306e-01 -9.49144194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.410714057 meters Centerline goodness : 0.993405 Centerline is valid? [True, True] Translation: X:147.00, Y:204.74, Z:-94.94 [[ 4.54300872e-01 7.91664741e-02 8.87323722e-01 1.47001536e+02] [ 3.36552942e-02 9.93807288e-01 -1.05898046e-01 2.04743530e+02] [-8.90212356e-01 7.79727155e-02 4.48823146e-01 -9.49434463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.4407140569999 meters Centerline goodness : 0.992090 Centerline is valid? [True, True] Translation: X:147.01, Y:204.74, Z:-94.97 [[ 4.54160630e-01 7.22705702e-02 8.87983720e-01 1.47013188e+02] [ 3.45192576e-02 9.94528569e-01 -9.85968915e-02 2.04740751e+02] [-8.90250832e-01 7.54313651e-02 4.49180995e-01 -9.49712219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.4707140569999 meters Centerline goodness : 0.992462 Centerline is valid? [True, True] Translation: X:147.03, Y:204.74, Z:-95.00 [[ 4.53619547e-01 7.25953544e-02 8.88233765e-01 1.47027684e+02] [ 3.55842414e-02 9.94406517e-01 -9.94456690e-02 2.04740307e+02] [-8.90484738e-01 7.67176240e-02 4.48498984e-01 -9.50001030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.500714057 meters Centerline goodness : 0.991328 Centerline is valid? [True, True] Translation: X:147.03, Y:204.73, Z:-95.03 [[ 4.43488087e-01 4.52243551e-02 8.95138578e-01 1.47028591e+02] [ 3.54425449e-02 9.97060123e-01 -6.79333334e-02 2.04728599e+02] [-8.95579222e-01 6.18536133e-02 4.40581420e-01 -9.50286201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.530714057 meters Centerline goodness : 0.993308 Centerline is valid? [True, True] Translation: X:147.06, Y:204.74, Z:-95.06 [[ 4.53139656e-01 7.03879822e-02 8.88656280e-01 1.47055124e+02] [ 3.87503354e-02 9.94380174e-01 -9.85214752e-02 2.04737584e+02] [-8.90596914e-01 7.90797163e-02 4.47865532e-01 -9.50562073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.5607140569999 meters Centerline goodness : 0.992762 Centerline is valid? [True, True] Translation: X:147.07, Y:204.73, Z:-95.09 [[ 4.51968947e-01 6.78088008e-02 8.89452662e-01 1.47067135e+02] [ 3.88194312e-02 9.94666851e-01 -9.55557812e-02 2.04734526e+02] [-8.91188601e-01 7.77162922e-02 4.46926231e-01 -9.50874936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.5907140569999 meters Centerline goodness : 0.992028 Centerline is valid? [True, True] Translation: X:147.08, Y:204.73, Z:-95.11 [[ 4.51288594e-01 5.72465831e-02 8.90539967e-01 1.47075611e+02] [ 3.95393522e-02 9.95677446e-01 -8.40420341e-02 2.04729386e+02] [-8.91501680e-01 7.31385849e-02 4.47074382e-01 -9.51088614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.620714057 meters Centerline goodness : 0.991584 Centerline is valid? [True, True] Translation: X:147.08, Y:204.72, Z:-95.14 [[ 4.50343346e-01 3.87832493e-02 8.92012741e-01 1.47080717e+02] [ 4.00732675e-02 9.97171423e-01 -6.35868465e-02 2.04720688e+02] [-8.91955719e-01 6.43817784e-02 4.47515343e-01 -9.51413698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.650714057 meters Centerline goodness : 0.993394 Centerline is valid? [True, True] Translation: X:147.10, Y:204.72, Z:-95.18 [[ 4.51764922e-01 4.12937250e-02 8.91180837e-01 1.47098523e+02] [ 4.32667976e-02 9.96738642e-01 -6.81180185e-02 2.04720260e+02] [-8.91087224e-01 6.93318722e-02 4.48504907e-01 -9.51760712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.6807140569999 meters Centerline goodness : 0.992916 Centerline is valid? [True, True] Translation: X:147.12, Y:204.73, Z:-95.20 [[ 4.52650179e-01 6.80572568e-02 8.89087186e-01 1.47124746e+02] [ 4.42713567e-02 9.94138119e-01 -9.86379650e-02 2.04728149e+02] [-8.90588492e-01 8.40095885e-02 4.46983811e-01 -9.52002334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.7107140569999 meters Centerline goodness : 0.993039 Centerline is valid? [True, True] Translation: X:147.14, Y:204.73, Z:-95.23 [[ 4.51747285e-01 6.61061932e-02 8.89693409e-01 1.47137188e+02] [ 4.49689314e-02 9.94296058e-01 -9.67116528e-02 2.04726338e+02] [-8.91011889e-01 8.36977884e-02 4.46197820e-01 -9.52286115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.740714057 meters Centerline goodness : 0.993050 Centerline is valid? [True, True] Translation: X:147.15, Y:204.72, Z:-95.26 [[ 4.52384474e-01 6.46765353e-02 8.89474695e-01 1.47151027e+02] [ 4.57812409e-02 9.94367658e-01 -9.55878543e-02 2.04723750e+02] [-8.90647161e-01 8.39637166e-02 4.46875518e-01 -9.52593822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.770714057 meters Centerline goodness : 0.992762 Centerline is valid? [True, True] Translation: X:147.17, Y:204.72, Z:-95.29 [[ 4.53705434e-01 6.83201306e-02 8.88528975e-01 1.47166485e+02] [ 4.79134729e-02 9.93744588e-01 -1.00876129e-01 2.04722127e+02] [-8.89862730e-01 8.83405567e-02 4.47593865e-01 -9.52889490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.8007140569999 meters Centerline goodness : 0.992773 Centerline is valid? [True, True] Translation: X:147.18, Y:204.72, Z:-95.32 [[ 4.53575535e-01 7.06895089e-02 8.88409943e-01 1.47181114e+02] [ 4.80266112e-02 9.93462161e-01 -1.03568233e-01 2.04721253e+02] [-8.89922850e-01 8.96433358e-02 4.47215154e-01 -9.53167140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.8307140569999 meters Centerline goodness : 0.992774 Centerline is valid? [True, True] Translation: X:147.19, Y:204.72, Z:-95.34 [[ 4.55181821e-01 6.86068491e-02 8.87751435e-01 1.47194929e+02] [ 4.87611301e-02 9.93610225e-01 -1.01789356e-01 2.04719695e+02] [-8.89062350e-01 8.96204276e-02 4.48927964e-01 -9.53432080e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.8607140569999 meters Centerline goodness : 0.992535 Centerline is valid? [True, True] Translation: X:147.21, Y:204.72, Z:-95.37 [[ 4.56215354e-01 6.50393604e-02 8.87489398e-01 1.47208245e+02] [ 4.90623240e-02 9.93970056e-01 -9.80633260e-02 2.04716312e+02] [-8.88515863e-01 8.82802875e-02 4.50273419e-01 -9.53722994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.890714057 meters Centerline goodness : 0.993233 Centerline is valid? [True, True] Translation: X:147.22, Y:204.71, Z:-95.40 [[ 4.56128275e-01 6.55140302e-02 8.87499244e-01 1.47222857e+02] [ 4.85740618e-02 9.93966913e-01 -9.83378657e-02 2.04714762e+02] [-8.88587394e-01 8.79641242e-02 4.50194131e-01 -9.54017444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.9207140569999 meters Centerline goodness : 0.993759 Centerline is valid? [True, True] Translation: X:147.24, Y:204.71, Z:-95.43 [[ 4.56893483e-01 5.86636729e-02 8.87584880e-01 1.47235251e+02] [ 4.79790402e-02 9.94745142e-01 -9.04439859e-02 2.04710480e+02] [-8.88226524e-01 8.39087383e-02 4.51677945e-01 -9.54295042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.9507140569999 meters Centerline goodness : 0.993309 Centerline is valid? [True, True] Translation: X:147.25, Y:204.71, Z:-95.46 [[ 4.57023372e-01 6.14182318e-02 8.87331639e-01 1.47251009e+02] [ 4.71273016e-02 9.94539687e-01 -9.31119141e-02 2.04710110e+02] [-8.88205300e-01 8.43718667e-02 4.51633406e-01 -9.54572980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.9807140569999 meters Centerline goodness : 0.993714 Centerline is valid? [True, True] Translation: X:147.27, Y:204.71, Z:-95.49 [[ 4.56425685e-01 6.33938723e-02 8.87500316e-01 1.47265314e+02] [ 4.57321931e-02 9.94468771e-01 -9.45538523e-02 2.04708939e+02] [-8.88585483e-01 8.37441427e-02 4.51001949e-01 -9.54859135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.010714057 meters Centerline goodness : 0.993002 Centerline is valid? [True, True] Translation: X:147.28, Y:204.70, Z:-95.51 [[ 4.58394899e-01 4.80564748e-02 8.87448416e-01 1.47277278e+02] [ 4.63526558e-02 9.95885299e-01 -7.78710700e-02 2.04702122e+02] [-8.87539040e-01 7.68312922e-02 4.54281196e-01 -9.55137523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.040714057 meters Centerline goodness : 0.992954 Centerline is valid? [True, True] Translation: X:147.30, Y:204.71, Z:-95.54 [[ 4.56889601e-01 6.32025755e-02 8.87275226e-01 1.47295113e+02] [ 4.48076806e-02 9.94571051e-01 -9.39185641e-02 2.04705276e+02] [-8.88394150e-01 8.26671602e-02 4.51577209e-01 -9.55426325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.0707140569999 meters Centerline goodness : 0.993191 Centerline is valid? [True, True] Translation: X:147.31, Y:204.70, Z:-95.57 [[ 4.56079526e-01 5.98827813e-02 8.87922023e-01 1.47307750e+02] [ 4.45963185e-02 9.94942146e-01 -9.00071950e-02 2.04702256e+02] [-8.88820924e-01 8.06484922e-02 4.51102191e-01 -9.55733293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.1007140569999 meters Centerline goodness : 0.992377 Centerline is valid? [True, True] Translation: X:147.32, Y:204.70, Z:-95.60 [[ 4.56188573e-01 6.38480229e-02 8.87589666e-01 1.47323414e+02] [ 4.31514871e-02 9.94662215e-01 -9.37284810e-02 2.04700571e+02] [-8.88836281e-01 8.10586761e-02 4.50998399e-01 -9.56009419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.130714057 meters Centerline goodness : 0.993148 Centerline is valid? [True, True] Translation: X:147.34, Y:204.70, Z:-95.63 [[ 4.56518567e-01 5.80269876e-02 8.87819614e-01 1.47336429e+02] [ 4.35701336e-02 9.95215614e-01 -8.74501281e-02 2.04696534e+02] [-8.88646410e-01 7.86050263e-02 4.51806162e-01 -9.56305710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.160714057 meters Centerline goodness : 0.993024 Centerline is valid? [True, True] Translation: X:147.35, Y:204.69, Z:-95.66 [[ 4.57578898e-01 5.55534508e-02 8.87431894e-01 1.47351274e+02] [ 4.35843733e-02 9.95445313e-01 -8.47881536e-02 2.04692869e+02] [-8.88100194e-01 7.74754328e-02 4.53073507e-01 -9.56580591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.1907140569999 meters Centerline goodness : 0.992671 Centerline is valid? [True, True] Translation: X:147.37, Y:204.70, Z:-95.69 [[ 4.57322256e-01 6.63987179e-02 8.86818789e-01 1.47368716e+02] [ 4.28444497e-02 9.94405726e-01 -9.65484570e-02 2.04695159e+02] [-8.88268376e-01 8.21490211e-02 4.51919054e-01 -9.56854945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.2207140569999 meters Centerline goodness : 0.992742 Centerline is valid? [True, True] Translation: X:147.38, Y:204.69, Z:-95.71 [[ 4.57946812e-01 5.59927906e-02 8.87214475e-01 1.47379431e+02] [ 4.38955675e-02 9.95372812e-01 -8.54759911e-02 2.04690979e+02] [-8.87895206e-01 7.80882404e-02 4.53369970e-01 -9.57142061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.250714057 meters Centerline goodness : 0.992605 Centerline is valid? [True, True] Translation: X:147.39, Y:204.69, Z:-95.74 [[ 4.57799057e-01 5.13619668e-02 8.87570826e-01 1.47392292e+02] [ 4.38092503e-02 9.95813821e-01 -8.02220935e-02 2.04687866e+02] [-8.87975660e-01 7.56094112e-02 4.53632499e-01 -9.57443685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.280714057 meters Centerline goodness : 0.991489 Centerline is valid? [True, True] Translation: X:147.40, Y:204.68, Z:-95.77 [[ 4.51127676e-01 3.76938848e-02 8.91663048e-01 1.47399033e+02] [ 4.13454162e-02 9.97152211e-01 -6.30715855e-02 2.04680879e+02] [-8.91501193e-01 6.53195176e-02 4.48284491e-01 -9.57697046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.3107140569999 meters Centerline goodness : 0.992764 Centerline is valid? [True, True] Translation: X:147.42, Y:204.68, Z:-95.80 [[ 4.59779488e-01 3.94642154e-02 8.87155792e-01 1.47415720e+02] [ 4.48061175e-02 9.96708688e-01 -6.75588895e-02 2.04681505e+02] [-8.86902043e-01 7.08121983e-02 4.56497972e-01 -9.58019633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.3407140569999 meters Centerline goodness : 0.992310 Centerline is valid? [True, True] Translation: X:147.43, Y:204.68, Z:-95.83 [[ 4.59750912e-01 4.64421223e-02 8.86832694e-01 1.47433185e+02] [ 4.53464863e-02 9.96101059e-01 -7.56728254e-02 2.04682713e+02] [-8.86889393e-01 7.50053972e-02 4.55852384e-01 -9.58298491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.370714057 meters Centerline goodness : 0.992258 Centerline is valid? [True, True] Translation: X:147.45, Y:204.68, Z:-95.86 [[ 4.60128210e-01 3.97477765e-02 8.86962313e-01 1.47446331e+02] [ 4.71585908e-02 9.96493055e-01 -6.91206157e-02 2.04680285e+02] [-8.86599176e-01 7.36322380e-02 4.56640116e-01 -9.58585702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.400714057 meters Centerline goodness : 0.991893 Centerline is valid? [True, True] Translation: X:147.46, Y:204.68, Z:-95.89 [[ 4.60535055e-01 4.23683882e-02 8.86629789e-01 1.47461957e+02] [ 4.84533069e-02 9.96171026e-01 -7.27706287e-02 2.04680314e+02] [-8.86318081e-01 7.64735708e-02 4.56718790e-01 -9.58871893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.4307140569999 meters Centerline goodness : 0.991510 Centerline is valid? [True, True] Translation: X:147.48, Y:204.68, Z:-95.91 [[ 4.60761723e-01 4.40518044e-02 8.86429959e-01 1.47476715e+02] [ 4.96435565e-02 9.95924583e-01 -7.52976869e-02 2.04681009e+02] [-8.86134387e-01 7.86998278e-02 4.56697039e-01 -9.59136419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.4607140569999 meters Centerline goodness : 0.991702 Centerline is valid? [True, True] Translation: X:147.49, Y:204.69, Z:-95.95 [[ 4.53695612e-01 7.64411614e-02 8.87872198e-01 1.47494295e+02] [ 4.75715679e-02 9.92816298e-01 -1.09784992e-01 2.04689586e+02] [-8.89886081e-01 9.20464418e-02 4.46799972e-01 -9.59498456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.490714057 meters Centerline goodness : 0.991436 Centerline is valid? [True, True] Translation: X:147.50, Y:204.68, Z:-95.97 [[ 4.57959131e-01 3.68898294e-02 8.88207507e-01 1.47501668e+02] [ 5.33311980e-02 9.96198953e-01 -6.88725529e-02 2.04677999e+02] [-8.87372085e-01 7.89099849e-02 4.54251028e-01 -9.59721677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.520714057 meters Centerline goodness : 0.991589 Centerline is valid? [True, True] Translation: X:147.52, Y:204.68, Z:-96.00 [[ 4.57259762e-01 3.58754557e-02 8.88609285e-01 1.47516440e+02] [ 5.36655882e-02 9.96252086e-01 -6.78364639e-02 2.04677574e+02] [-8.87712518e-01 7.87066253e-02 4.53620714e-01 -9.60017755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.5507140569999 meters Centerline goodness : 0.989167 Centerline is valid? [True, True] Translation: X:147.52, Y:204.67, Z:-96.02 [[ 4.50200144e-01 2.75210297e-02 8.92503459e-01 1.47523372e+02] [ 5.02988255e-02 9.97156243e-01 -5.61200123e-02 2.04674272e+02] [-8.91509876e-01 7.01571133e-02 4.47535608e-01 -9.60249219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.5807140569999 meters Centerline goodness : 0.989154 Centerline is valid? [True, True] Translation: X:147.53, Y:204.67, Z:-96.06 [[ 4.43464436e-01 2.31798298e-02 8.95992182e-01 1.47531774e+02] [ 4.83882555e-02 9.97588472e-01 -4.97575786e-02 2.04670890e+02] [-8.94984844e-01 6.54212151e-02 4.41273377e-01 -9.60605928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.6107140569999 meters Centerline goodness : 0.990785 Centerline is valid? [True, True] Translation: X:147.56, Y:204.68, Z:-96.09 [[ 4.52535105e-01 4.30291772e-02 8.90707847e-01 1.47556576e+02] [ 5.10285225e-02 9.95948957e-01 -7.40389367e-02 2.04680301e+02] [-8.90285386e-01 7.89567234e-02 4.48506151e-01 -9.60910963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.640714057 meters Centerline goodness : 0.990704 Centerline is valid? [True, True] Translation: X:147.57, Y:204.68, Z:-96.12 [[ 4.53640653e-01 4.41316615e-02 8.90091318e-01 1.47572535e+02] [ 5.10352002e-02 9.95847590e-01 -7.53855800e-02 2.04681859e+02] [-8.89722185e-01 7.96239523e-02 4.49504683e-01 -9.61157421e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.6707140569999 meters Centerline goodness : 0.989603 Centerline is valid? [True, True] Translation: X:147.57, Y:204.67, Z:-96.14 [[ 4.46071686e-01 1.11949467e-02 8.94927217e-01 1.47574197e+02] [ 4.87387166e-02 9.98134160e-01 -3.67795499e-02 2.04669459e+02] [-8.93669172e-01 6.00239198e-02 4.44693760e-01 -9.61440895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.7007140569999 meters Centerline goodness : 0.990921 Centerline is valid? [True, True] Translation: X:147.60, Y:204.68, Z:-96.17 [[ 4.53913325e-01 4.04800890e-02 8.90125865e-01 1.47599689e+02] [ 4.91070774e-02 9.96312823e-01 -7.03509368e-02 2.04681134e+02] [-8.89691625e-01 7.56447074e-02 4.50251807e-01 -9.61735541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.7307140569999 meters Centerline goodness : 0.988669 Centerline is valid? [True, True] Translation: X:147.60, Y:204.67, Z:-96.20 [[ 4.46122354e-01 2.39085792e-02 8.94652572e-01 1.47604438e+02] [ 4.69076830e-02 9.97644477e-01 -5.00516394e-02 2.04674103e+02] [-8.93741861e-01 6.42952345e-02 4.43950006e-01 -9.62017936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.760714057 meters Centerline goodness : 0.990786 Centerline is valid? [True, True] Translation: X:147.63, Y:204.68, Z:-96.23 [[ 4.55841199e-01 2.87463564e-02 8.89596790e-01 1.47626084e+02] [ 4.89132043e-02 9.97158877e-01 -5.72858836e-02 2.04678158e+02] [-8.88716097e-01 6.96262954e-02 4.53140021e-01 -9.62317410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.790714057 meters Centerline goodness : 0.991518 Centerline is valid? [True, True] Translation: X:147.65, Y:204.68, Z:-96.26 [[ 4.55223093e-01 4.59164738e-02 8.89192675e-01 1.47645554e+02] [ 4.76261414e-02 9.95983986e-01 -7.58132561e-02 2.04684961e+02] [-8.89102742e-01 7.68607610e-02 4.51208087e-01 -9.62579659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.8207140569999 meters Centerline goodness : 0.991434 Centerline is valid? [True, True] Translation: X:147.66, Y:204.68, Z:-96.29 [[ 4.54718167e-01 4.16765050e-02 8.89659743e-01 1.47658481e+02] [ 4.68160181e-02 9.96405108e-01 -7.06053936e-02 2.04684330e+02] [-8.89404098e-01 7.37558817e-02 4.51132376e-01 -9.62886415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.8507140569999 meters Centerline goodness : 0.989921 Centerline is valid? [True, True] Translation: X:147.67, Y:204.68, Z:-96.31 [[ 4.47580686e-01 3.40709353e-02 8.93594260e-01 1.47665649e+02] [ 4.32348578e-02 9.97280847e-01 -5.96796343e-02 2.04681283e+02] [-8.93197781e-01 6.53458724e-02 4.44890594e-01 -9.63129262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.880714057 meters Centerline goodness : 0.992161 Centerline is valid? [True, True] Translation: X:147.68, Y:204.68, Z:-96.35 [[ 4.53495938e-01 3.19056393e-02 8.90687074e-01 1.47683056e+02] [ 4.65298478e-02 9.97148645e-01 -5.94100481e-02 2.04681434e+02] [-8.90042925e-01 6.83857495e-02 4.50718295e-01 -9.63467776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.910714057 meters Centerline goodness : 0.992188 Centerline is valid? [True, True] Translation: X:147.70, Y:204.69, Z:-96.37 [[ 4.55229913e-01 3.72716748e-02 8.89593474e-01 1.47701995e+02] [ 4.74031435e-02 9.96691921e-01 -6.60163409e-02 2.04685069e+02] [-8.89111168e-01 7.22221402e-02 4.51957181e-01 -9.63725675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.9407140569999 meters Centerline goodness : 0.992606 Centerline is valid? [True, True] Translation: X:147.72, Y:204.69, Z:-96.40 [[ 4.54088309e-01 4.35317947e-02 8.89892573e-01 1.47717458e+02] [ 4.62819381e-02 9.96304635e-01 -7.23536951e-02 2.04686752e+02] [-8.89753781e-01 7.40409200e-02 4.50395551e-01 -9.64021005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.9707140569999 meters Centerline goodness : 0.992289 Centerline is valid? [True, True] Translation: X:147.74, Y:204.69, Z:-96.43 [[ 4.52641206e-01 6.10831295e-02 8.89598106e-01 1.47736281e+02] [ 4.56767195e-02 9.94752858e-01 -9.15444654e-02 2.04692552e+02] [-8.90522081e-01 8.20707203e-02 4.47476056e-01 -9.64290437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.000714057 meters Centerline goodness : 0.992256 Centerline is valid? [True, True] Translation: X:147.74, Y:204.68, Z:-96.46 [[ 4.54822371e-01 3.39154385e-02 8.89936152e-01 1.47743539e+02] [ 4.88941628e-02 9.96816554e-01 -6.29771354e-02 2.04683916e+02] [-8.89238985e-01 7.21560931e-02 4.51716201e-01 -9.64594544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.030714057 meters Centerline goodness : 0.992965 Centerline is valid? [True, True] Translation: X:147.76, Y:204.69, Z:-96.48 [[ 4.56997076e-01 3.88628059e-02 8.88618791e-01 1.47761749e+02] [ 4.98217413e-02 9.96358160e-01 -6.91968981e-02 2.04687109e+02] [-8.88071769e-01 7.58953156e-02 4.53396553e-01 -9.64835814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.0607140569999 meters Centerline goodness : 0.993354 Centerline is valid? [True, True] Translation: X:147.77, Y:204.69, Z:-96.51 [[ 4.56994150e-01 3.41760476e-02 8.88812885e-01 1.47773895e+02] [ 4.94958354e-02 9.96736146e-01 -6.37747383e-02 2.04685249e+02] [-8.88091498e-01 7.31372186e-02 4.53811016e-01 -9.65137900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.0907140569999 meters Centerline goodness : 0.993201 Centerline is valid? [True, True] Translation: X:147.79, Y:204.68, Z:-96.54 [[ 4.55277759e-01 3.41692882e-02 8.89693555e-01 1.47787108e+02] [ 5.02214542e-02 9.96686824e-01 -6.39779732e-02 2.04684678e+02] [-8.88931925e-01 7.38094524e-02 4.52053312e-01 -9.65421130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.120714057 meters Centerline goodness : 0.992654 Centerline is valid? [True, True] Translation: X:147.80, Y:204.68, Z:-96.57 [[ 4.55490027e-01 3.00082575e-02 8.89734983e-01 1.47799776e+02] [ 5.01477388e-02 9.96979921e-01 -5.92979102e-02 2.04682809e+02] [-8.88827340e-01 7.16278043e-02 4.52609564e-01 -9.65692451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.150714057 meters Centerline goodness : 0.992505 Centerline is valid? [True, True] Translation: X:147.81, Y:204.68, Z:-96.60 [[ 4.54132473e-01 2.57738469e-02 8.90561287e-01 1.47812296e+02] [ 4.93026922e-02 9.97322766e-01 -5.40050398e-02 2.04679875e+02] [-8.89568964e-01 6.84325113e-02 4.51645934e-01 -9.65998150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.1807140569999 meters Centerline goodness : 0.992505 Centerline is valid? [True, True] Translation: X:147.83, Y:204.68, Z:-96.63 [[ 4.53907476e-01 2.91752126e-02 8.90571058e-01 1.47828233e+02] [ 4.93781524e-02 9.97104415e-01 -5.78323822e-02 2.04681140e+02] [-8.89679606e-01 7.02253041e-02 4.51152530e-01 -9.66291031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.2107140569999 meters Centerline goodness : 0.992778 Centerline is valid? [True, True] Translation: X:147.85, Y:204.69, Z:-96.66 [[ 4.50473440e-01 4.89708458e-02 8.91445756e-01 1.47845316e+02] [ 4.75017902e-02 9.95765539e-01 -7.87056027e-02 2.04687178e+02] [-8.91525243e-01 7.78000529e-02 4.46239725e-01 -9.66593816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.240714057 meters Centerline goodness : 0.992784 Centerline is valid? [True, True] Translation: X:147.86, Y:204.69, Z:-96.69 [[ 4.46990524e-01 5.68906554e-02 8.92727800e-01 1.47859246e+02] [ 4.61903470e-02 9.95176403e-01 -8.65469691e-02 2.04688337e+02] [-8.93345355e-01 7.99210820e-02 4.42206623e-01 -9.66920210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.270714057 meters Centerline goodness : 0.992997 Centerline is valid? [True, True] Translation: X:147.87, Y:204.69, Z:-96.72 [[ 4.47666764e-01 5.05542237e-02 8.92770261e-01 1.47871492e+02] [ 4.63057823e-02 9.95750382e-01 -7.96049671e-02 2.04686689e+02] [-8.93000696e-01 7.69769234e-02 4.43423398e-01 -9.67181375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.3007140569999 meters Centerline goodness : 0.992596 Centerline is valid? [True, True] Translation: X:147.88, Y:204.68, Z:-96.75 [[ 4.49581322e-01 3.69080193e-02 8.92476573e-01 1.47882209e+02] [ 4.52549185e-02 9.96921704e-01 -6.40242818e-02 2.04681561e+02] [-8.92092275e-01 6.91730759e-02 4.46527108e-01 -9.67455708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.3307140569999 meters Centerline goodness : 0.992948 Centerline is valid? [True, True] Translation: X:147.90, Y:204.68, Z:-96.77 [[ 4.50166927e-01 4.11657201e-02 8.91995023e-01 1.47897519e+02] [ 4.40133830e-02 9.96699644e-01 -6.82102774e-02 2.04683322e+02] [-8.91859047e-01 6.99657296e-02 4.46869373e-01 -9.67720039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.3607140569999 meters Centerline goodness : 0.993052 Centerline is valid? [True, True] Translation: X:147.91, Y:204.68, Z:-96.80 [[ 4.51059539e-01 3.56456947e-02 8.91781743e-01 1.47908573e+02] [ 4.13216661e-02 9.97296499e-01 -6.07635878e-02 2.04680241e+02] [-8.91536770e-01 6.42579033e-02 4.48367160e-01 -9.68024869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.390714057 meters Centerline goodness : 0.993634 Centerline is valid? [True, True] Translation: X:147.92, Y:204.68, Z:-96.83 [[ 4.52935147e-01 3.39381854e-02 8.90897274e-01 1.47923436e+02] [ 4.11899717e-02 9.97411564e-01 -5.89369011e-02 2.04680784e+02] [-8.90591455e-01 6.33906275e-02 4.50364840e-01 -9.68277274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.4207140569999 meters Centerline goodness : 0.992601 Centerline is valid? [True, True] Translation: X:147.94, Y:204.68, Z:-96.86 [[ 4.52904502e-01 3.10108304e-02 8.91019551e-01 1.47936384e+02] [ 4.02881895e-02 9.97662131e-01 -5.52008466e-02 2.04679614e+02] [-8.90648289e-01 6.08982764e-02 4.50596300e-01 -9.68584841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.4507140569999 meters Centerline goodness : 0.993178 Centerline is valid? [True, True] Translation: X:147.95, Y:204.68, Z:-96.89 [[ 4.53526018e-01 2.66719296e-02 8.90843847e-01 1.47949365e+02] [ 3.88663667e-02 9.98009305e-01 -4.96672257e-02 2.04677285e+02] [-8.90395169e-01 5.71492428e-02 4.51586545e-01 -9.68873151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.4807140569999 meters Centerline goodness : 0.993087 Centerline is valid? [True, True] Translation: X:147.97, Y:204.68, Z:-96.92 [[ 4.52071994e-01 3.66905257e-02 8.91226524e-01 1.47965200e+02] [ 3.73382070e-02 9.97499483e-01 -6.00053260e-02 2.04679925e+02] [-8.91199624e-01 6.04035279e-02 4.49571622e-01 -9.69162074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.510714057 meters Centerline goodness : 0.992917 Centerline is valid? [True, True] Translation: X:147.98, Y:204.67, Z:-96.94 [[ 4.54325824e-01 2.10920778e-02 8.90585858e-01 1.47976233e+02] [ 3.81158349e-02 9.98343904e-01 -4.30886647e-02 2.04674704e+02] [-8.90019791e-01 5.35217166e-02 4.52769475e-01 -9.69437562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.540714057 meters Centerline goodness : 0.991984 Centerline is valid? [True, True] Translation: X:147.99, Y:204.67, Z:-96.97 [[ 4.55568459e-01 1.81901722e-02 8.90014886e-01 1.47990997e+02] [ 3.74770830e-02 9.98512908e-01 -3.95909094e-02 2.04673857e+02] [-8.89411518e-01 5.13915313e-02 4.54209272e-01 -9.69709840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.5707140569999 meters Centerline goodness : 0.992877 Centerline is valid? [True, True] Translation: X:148.01, Y:204.68, Z:-97.00 [[ 4.50757905e-01 3.73266261e-02 8.91865480e-01 1.48006554e+02] [ 3.25061385e-02 9.97776271e-01 -5.81881706e-02 2.04678139e+02] [-8.92054181e-01 5.52198807e-02 4.48542197e-01 -9.70022633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.6007140569999 meters Centerline goodness : 0.992737 Centerline is valid? [True, True] Translation: X:148.02, Y:204.68, Z:-97.03 [[ 4.48896192e-01 4.77166905e-02 8.92308986e-01 1.48022347e+02] [ 3.04402594e-02 9.97177108e-01 -6.86382284e-02 2.04680698e+02] [-8.93065283e-01 5.79735564e-02 4.46176498e-01 -9.70331101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.630714057 meters Centerline goodness : 0.992974 Centerline is valid? [True, True] Translation: X:148.03, Y:204.67, Z:-97.06 [[ 4.53094056e-01 2.55357345e-02 8.91096910e-01 1.48033543e+02] [ 3.19384779e-02 9.98482932e-01 -4.48527306e-02 2.04673471e+02] [-8.90890403e-01 4.87827846e-02 4.51591110e-01 -9.70586569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.660714057 meters Centerline goodness : 0.993057 Centerline is valid? [True, True] Translation: X:148.05, Y:204.67, Z:-97.09 [[ 4.51139332e-01 3.26203215e-02 8.91857174e-01 1.48048780e+02] [ 3.08697007e-02 9.98163401e-01 -5.21237577e-02 2.04674698e+02] [-8.91919484e-01 5.10464413e-02 4.49303790e-01 -9.70882357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.6907140569999 meters Centerline goodness : 0.992636 Centerline is valid? [True, True] Translation: X:148.07, Y:204.68, Z:-97.12 [[ 4.47518252e-01 5.00888264e-02 8.92870945e-01 1.48065454e+02] [ 2.90599172e-02 9.97088363e-01 -7.05004789e-02 2.04678512e+02] [-8.93802515e-01 5.74970068e-02 4.44759664e-01 -9.71204161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.7207140569999 meters Centerline goodness : 0.992770 Centerline is valid? [True, True] Translation: X:148.07, Y:204.68, Z:-97.14 [[ 4.50322716e-01 3.91414509e-02 8.92007510e-01 1.48072575e+02] [ 3.65599140e-02 9.97392452e-01 -6.22227357e-02 2.04682682e+02] [-8.92117046e-01 6.06320292e-02 4.47717470e-01 -9.71358648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.750714057 meters Centerline goodness : 0.991158 Centerline is valid? [True, True] Translation: X:148.07, Y:204.65, Z:-97.19 [[ 4.46727636e-01 -3.26864099e-03 8.94664035e-01 1.48071477e+02] [ 3.31587042e-02 9.99366770e-01 -1.29057813e-02 2.04654132e+02] [-8.94055323e-01 3.54312692e-02 4.46553138e-01 -9.71863933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.780714057 meters Centerline goodness : 0.991782 Centerline is valid? [True, True] Translation: X:148.11, Y:204.67, Z:-97.20 [[ 4.52506966e-01 3.33796661e-02 8.91135929e-01 1.48105275e+02] [ 3.76988005e-02 9.97689824e-01 -5.65138509e-02 2.04670795e+02] [-8.90963662e-01 5.91676668e-02 4.50203222e-01 -9.72017057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.8107140569999 meters Centerline goodness : 0.990667 Centerline is valid? [True, True] Translation: X:148.11, Y:204.66, Z:-97.23 [[ 4.45950788e-01 1.40023709e-02 8.94947947e-01 1.48110931e+02] [ 4.05342252e-02 9.98535836e-01 -3.58212329e-02 2.04661123e+02] [-8.94139179e-01 5.22505286e-02 4.44730268e-01 -9.72291462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.8407140569999 meters Centerline goodness : 0.991866 Centerline is valid? [True, True] Translation: X:148.13, Y:204.66, Z:-97.26 [[ 4.52774721e-01 1.59840527e-02 8.91481667e-01 1.48128418e+02] [ 4.59812884e-02 9.98090299e-01 -4.12489615e-02 2.04661572e+02] [-8.90438529e-01 5.96679626e-02 4.51175089e-01 -9.72595733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.870714057 meters Centerline goodness : 0.990726 Centerline is valid? [True, True] Translation: X:148.15, Y:204.66, Z:-97.29 [[ 4.53068300e-01 2.15804922e-02 8.91214563e-01 1.48145967e+02] [ 4.81122689e-02 9.97658061e-01 -4.86169074e-02 2.04662805e+02] [-8.90176570e-01 6.49051343e-02 4.50968955e-01 -9.72870931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.900714057 meters Centerline goodness : 0.991226 Centerline is valid? [True, True] Translation: X:148.16, Y:204.66, Z:-97.31 [[ 4.53737030e-01 1.10731042e-02 8.91066829e-01 1.48158730e+02] [ 5.27612167e-02 9.97834864e-01 -3.92662436e-02 2.04657945e+02] [-8.89572348e-01 6.48303188e-02 4.52170397e-01 -9.73143833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.9307140569999 meters Centerline goodness : 0.991186 Centerline is valid? [True, True] Translation: X:148.18, Y:204.66, Z:-97.34 [[ 4.52008622e-01 2.55921170e-02 8.91646370e-01 1.48175386e+02] [ 5.21700535e-02 9.97118842e-01 -5.50663331e-02 2.04661959e+02] [-8.90486660e-01 7.14076961e-02 4.49371171e-01 -9.73426228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.9607140569999 meters Centerline goodness : 0.991486 Centerline is valid? [True, True] Translation: X:148.18, Y:204.67, Z:-97.36 [[ 4.50829746e-01 3.17013630e-02 8.92046840e-01 1.48183741e+02] [ 5.49432768e-02 9.96488555e-01 -6.31806609e-02 2.04670178e+02] [-8.90917379e-01 7.74956978e-02 4.47504905e-01 -9.73630631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.990714057 meters Centerline goodness : 0.990542 Centerline is valid? [True, True] Translation: X:148.17, Y:204.63, Z:-97.41 [[ 4.40403073e-01 -4.56769682e-02 8.96637468e-01 1.48172059e+02] [ 4.75211114e-02 9.98490931e-01 2.75246082e-02 2.04628732e+02] [-8.96541621e-01 3.04872869e-02 4.41909094e-01 -9.74102947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.020714057 meters Centerline goodness : 0.991550 Centerline is valid? [True, True] Translation: X:148.21, Y:204.65, Z:-97.43 [[ 4.49800340e-01 1.61887604e-02 8.92982406e-01 1.48213102e+02] [ 4.89928327e-02 9.97883040e-01 -4.27684599e-02 2.04653992e+02] [-8.91784366e-01 6.29870054e-02 4.48054998e-01 -9.74319542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.0507140569999 meters Centerline goodness : 0.989854 Centerline is valid? [True, True] Translation: X:148.22, Y:204.65, Z:-97.46 [[ 4.42726496e-01 1.90595884e-02 8.96454116e-01 1.48224474e+02] [ 4.23454927e-02 9.98214112e-01 -4.21360347e-02 2.04652517e+02] [-8.95656245e-01 5.66155303e-02 4.41128749e-01 -9.74562353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.0807140569999 meters Centerline goodness : 0.990949 Centerline is valid? [True, True] Translation: X:148.24, Y:204.65, Z:-97.49 [[ 4.37657455e-01 2.72651211e-02 8.98728305e-01 1.48235923e+02] [ 3.90606155e-02 9.98019984e-01 -4.92988871e-02 2.04653269e+02] [-8.98292948e-01 5.66809062e-02 4.35725893e-01 -9.74902625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.1107140569999 meters Centerline goodness : 0.990244 Centerline is valid? [True, True] Translation: X:148.25, Y:204.65, Z:-97.52 [[ 4.39300299e-01 1.84581566e-02 8.98150624e-01 1.48248251e+02] [ 3.83260057e-02 9.98493506e-01 -3.92662147e-02 2.04649938e+02] [-8.97522348e-01 5.16721858e-02 4.37931068e-01 -9.75175816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.140714057 meters Centerline goodness : 0.991140 Centerline is valid? [True, True] Translation: X:148.27, Y:204.65, Z:-97.55 [[ 4.45543924e-01 3.09417868e-02 8.94725219e-01 1.48268066e+02] [ 3.96438739e-02 9.97740333e-01 -5.42456553e-02 2.04654234e+02] [-8.94381896e-01 5.96391958e-02 4.43310490e-01 -9.75498958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.1707140569999 meters Centerline goodness : 0.991058 Centerline is valid? [True, True] Translation: X:148.29, Y:204.66, Z:-97.58 [[ 4.44122706e-01 4.76607647e-02 8.94697420e-01 1.48285685e+02] [ 3.67632158e-02 9.96773799e-01 -7.13474511e-02 2.04657289e+02] [-8.95211421e-01 6.45789773e-02 4.40937714e-01 -9.75797922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.2007140569999 meters Centerline goodness : 0.991696 Centerline is valid? [True, True] Translation: X:148.30, Y:204.66, Z:-97.61 [[ 4.45575861e-01 4.97074226e-02 8.93863146e-01 1.48300933e+02] [ 3.63750554e-02 9.96627611e-01 -7.35544773e-02 2.04657659e+02] [-8.94504895e-01 6.52884211e-02 4.42265096e-01 -9.76060003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.2307140569999 meters Centerline goodness : 0.991693 Centerline is valid? [True, True] Translation: X:148.31, Y:204.65, Z:-97.64 [[ 4.45081077e-01 4.43646544e-02 8.94390638e-01 1.48311800e+02] [ 3.56209867e-02 9.97104409e-01 -6.71858774e-02 2.04651830e+02] [-8.94781527e-01 6.17622397e-02 4.42211992e-01 -9.76385748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.260714057 meters Centerline goodness : 0.991163 Centerline is valid? [True, True] Translation: X:148.33, Y:204.65, Z:-97.66 [[ 4.49815878e-01 3.67752798e-02 8.92363858e-01 1.48328111e+02] [ 3.79722280e-02 9.97460970e-01 -6.02471927e-02 2.04650463e+02] [-8.92313726e-01 6.09851878e-02 4.47277342e-01 -9.76579756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.290714057 meters Centerline goodness : 0.991150 Centerline is valid? [True, True] Translation: X:148.34, Y:204.65, Z:-97.69 [[ 4.49160514e-01 3.16762796e-02 8.92889381e-01 1.48339525e+02] [ 3.73852562e-02 9.97829698e-01 -5.42054978e-02 2.04647167e+02] [-8.92668570e-01 5.77278675e-02 4.47001474e-01 -9.76889424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.3207140569999 meters Centerline goodness : 0.991898 Centerline is valid? [True, True] Translation: X:148.35, Y:204.64, Z:-97.72 [[ 4.49259836e-01 2.56179091e-02 8.93033775e-01 1.48352199e+02] [ 3.71024887e-02 9.98191436e-01 -4.72997065e-02 2.04642934e+02] [-8.92630386e-01 5.43836339e-02 4.47496832e-01 -9.77188392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.3507140569999 meters Centerline goodness : 0.991494 Centerline is valid? [True, True] Translation: X:148.37, Y:204.64, Z:-97.75 [[ 4.48492765e-01 2.61184354e-02 8.93404761e-01 1.48366491e+02] [ 3.69282078e-02 9.98177916e-01 -4.77195570e-02 2.04642076e+02] [-8.93023263e-01 5.43937127e-02 4.46711066e-01 -9.77479749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.380714057 meters Centerline goodness : 0.991155 Centerline is valid? [True, True] Translation: X:148.38, Y:204.64, Z:-97.78 [[ 4.48327852e-01 3.17240828e-02 8.93306062e-01 1.48382174e+02] [ 3.59112334e-02 9.97923926e-01 -5.34623344e-02 2.04643154e+02] [-8.93147536e-01 5.60483760e-02 4.46257839e-01 -9.77755281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.410714057 meters Centerline goodness : 0.989831 Centerline is valid? [True, True] Translation: X:148.39, Y:204.63, Z:-97.80 [[ 4.38686727e-01 8.59071276e-03 8.98598996e-01 1.48387212e+02] [ 3.43434071e-02 9.99063528e-01 -2.63172614e-02 2.04631108e+02] [-8.97983567e-01 4.24059844e-02 4.37980875e-01 -9.78040433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.4407140569999 meters Centerline goodness : 0.990188 Centerline is valid? [True, True] Translation: X:148.40, Y:204.63, Z:-97.83 [[ 4.39104914e-01 1.01919346e-02 8.98377982e-01 1.48401039e+02] [ 3.38787764e-02 9.99036641e-01 -2.78929958e-02 2.04630720e+02] [-8.97796805e-01 4.26838983e-02 4.38336608e-01 -9.78321119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.4707140569999 meters Centerline goodness : 0.991517 Centerline is valid? [True, True] Translation: X:148.42, Y:204.63, Z:-97.86 [[ 4.45949177e-01 2.13537432e-02 8.94803526e-01 1.48420527e+02] [ 3.61005691e-02 9.98472777e-01 -4.18194042e-02 2.04632580e+02] [-8.94329962e-01 5.09522454e-02 4.44497231e-01 -9.78615912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.500714057 meters Centerline goodness : 0.991839 Centerline is valid? [True, True] Translation: X:148.43, Y:204.63, Z:-97.89 [[ 4.45817620e-01 2.37997943e-02 8.94807364e-01 1.48434709e+02] [ 3.63060458e-02 9.98343097e-01 -4.46422738e-02 2.04632304e+02] [-8.94387232e-01 5.23892294e-02 4.44214867e-01 -9.78898716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.530714057 meters Centerline goodness : 0.991431 Centerline is valid? [True, True] Translation: X:148.45, Y:204.63, Z:-97.92 [[ 4.45334611e-01 2.62371489e-02 8.94979719e-01 1.48447672e+02] [ 3.62954208e-02 9.98219955e-01 -4.73240363e-02 2.04631399e+02] [-8.94628262e-01 5.35586968e-02 4.43589606e-01 -9.79190620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.5607140569999 meters Centerline goodness : 0.990866 Centerline is valid? [True, True] Translation: X:148.45, Y:204.62, Z:-97.95 [[ 4.41688787e-01 1.22427973e-02 8.97084795e-01 1.48454723e+02] [ 3.48503974e-02 9.98918082e-01 -3.07914943e-02 2.04623764e+02] [-8.96491196e-01 4.48640194e-02 4.40784250e-01 -9.79458133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.5907140569999 meters Centerline goodness : 0.990963 Centerline is valid? [True, True] Translation: X:148.46, Y:204.61, Z:-97.98 [[ 4.36530136e-01 -2.86164165e-03 8.99685084e-01 1.48462809e+02] [ 3.47789115e-02 9.99301175e-01 -1.36963493e-02 2.04613893e+02] [-8.99017168e-01 3.72689372e-02 4.36324603e-01 -9.79772125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.620714057 meters Centerline goodness : 0.991613 Centerline is valid? [True, True] Translation: X:148.48, Y:204.62, Z:-98.01 [[ 4.44121479e-01 1.44670037e-02 8.95849774e-01 1.48483566e+02] [ 3.65276753e-02 9.98745978e-01 -3.42374222e-02 2.04620069e+02] [-8.95221671e-01 4.79288843e-02 4.43036095e-01 -9.80076386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.650714057 meters Centerline goodness : 0.990456 Centerline is valid? [True, True] Translation: X:148.50, Y:204.62, Z:-98.03 [[ 4.38859474e-01 2.93293112e-02 8.98076920e-01 1.48496738e+02] [ 3.24559447e-02 9.98297554e-01 -4.84624173e-02 2.04622726e+02] [-8.97969361e-01 5.04161258e-02 4.37160429e-01 -9.80333093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.6807140569999 meters Centerline goodness : 0.991493 Centerline is valid? [True, True] Translation: X:148.50, Y:204.61, Z:-98.07 [[ 4.33080713e-01 -7.55251868e-03 9.01323502e-01 1.48499949e+02] [ 3.27108553e-02 9.99437884e-01 -7.34272123e-03 2.04606233e+02] [-9.00761398e-01 3.26630536e-02 4.33084320e-01 -9.80669001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.7107140569999 meters Centerline goodness : 0.990685 Centerline is valid? [True, True] Translation: X:148.52, Y:204.61, Z:-98.09 [[ 4.32733844e-01 1.45234350e-02 9.01404732e-01 1.48519157e+02] [ 3.19056679e-02 9.98997133e-01 -3.14126732e-02 2.04613763e+02] [-9.00956963e-01 4.23532468e-02 4.31836490e-01 -9.80913666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.740714057 meters Centerline goodness : 0.991974 Centerline is valid? [True, True] Translation: X:148.54, Y:204.61, Z:-98.12 [[ 4.39377727e-01 1.92340566e-02 8.98096467e-01 1.48535227e+02] [ 3.39751013e-02 9.98699608e-01 -3.80103350e-02 2.04613336e+02] [-8.97659683e-01 4.72138130e-02 4.38152885e-01 -9.81241967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.770714057 meters Centerline goodness : 0.991396 Centerline is valid? [True, True] Translation: X:148.55, Y:204.61, Z:-98.15 [[ 4.39992058e-01 1.91123425e-02 8.97798255e-01 1.48548347e+02] [ 3.18385235e-02 9.98812894e-01 -3.68661349e-02 2.04612217e+02] [-8.97437072e-01 4.48053775e-02 4.38861232e-01 -9.81471683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.8007140569999 meters Centerline goodness : 0.992595 Centerline is valid? [True, True] Translation: X:148.56, Y:204.61, Z:-98.18 [[ 4.38802754e-01 1.61219687e-02 8.98438771e-01 1.48559818e+02] [ 3.43695516e-02 9.98806287e-01 -3.47092965e-02 2.04607776e+02] [-8.97925875e-01 4.61094726e-02 4.37724845e-01 -9.81826147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.8307140569999 meters Centerline goodness : 0.990712 Centerline is valid? [True, True] Translation: X:148.57, Y:204.60, Z:-98.21 [[ 4.27637261e-01 1.34881016e-02 9.03849791e-01 1.48571143e+02] [ 3.32300826e-02 9.98978266e-01 -3.06298039e-02 2.04604322e+02] [-9.03339435e-01 4.31334487e-02 4.26752119e-01 -9.82112861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.8607140569999 meters Centerline goodness : 0.990452 Centerline is valid? [True, True] Translation: X:148.59, Y:204.61, Z:-98.24 [[ 4.31479646e-01 1.79234553e-02 9.01944602e-01 1.48587814e+02] [ 3.33961502e-02 9.98799932e-01 -3.58244896e-02 2.04606018e+02] [-9.01504305e-01 4.55790154e-02 4.30363267e-01 -9.82354248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.890714057 meters Centerline goodness : 0.991351 Centerline is valid? [True, True] Translation: X:148.59, Y:204.59, Z:-98.27 [[ 4.31212320e-01 -1.25289908e-02 9.02163488e-01 1.48593717e+02] [ 3.46138193e-02 9.99397208e-01 -2.66522303e-03 2.04592182e+02] [-9.01586279e-01 3.23766009e-02 4.31386065e-01 -9.82660895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.9207140569999 meters Centerline goodness : 0.989903 Centerline is valid? [True, True] Translation: X:148.61, Y:204.60, Z:-98.29 [[ 4.26330549e-01 2.55715806e-02 9.04205927e-01 1.48610305e+02] [ 3.13385834e-02 9.98582725e-01 -4.30166767e-02 2.04603453e+02] [-9.04024423e-01 4.66758562e-02 4.24924944e-01 -9.82949805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.9507140569999 meters Centerline goodness : 0.990128 Centerline is valid? [True, True] Translation: X:148.62, Y:204.59, Z:-98.33 [[ 4.28187508e-01 -3.38886585e-03 9.03683558e-01 1.48618266e+02] [ 3.32998501e-02 9.99372996e-01 -1.20305816e-02 2.04590133e+02] [-9.03076175e-01 3.52438718e-02 4.28031882e-01 -9.83257718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.9807140569999 meters Centerline goodness : 0.990533 Centerline is valid? [True, True] Translation: X:148.64, Y:204.60, Z:-98.35 [[ 4.33293803e-01 2.26242389e-02 9.00968714e-01 1.48636627e+02] [ 3.25400753e-02 9.98640342e-01 -4.07260430e-02 2.04598921e+02] [-9.00665101e-01 4.69639319e-02 4.31968477e-01 -9.83525272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.010714057 meters Centerline goodness : 0.991102 Centerline is valid? [True, True] Translation: X:148.65, Y:204.59, Z:-98.38 [[ 4.39697622e-01 -5.21687057e-04 8.98145717e-01 1.48650012e+02] [ 3.81754813e-02 9.99106951e-01 -1.81089181e-02 2.04590994e+02] [-8.97334182e-01 4.22495932e-02 4.39324866e-01 -9.83839598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.040714057 meters Centerline goodness : 0.991808 Centerline is valid? [True, True] Translation: X:148.66, Y:204.61, Z:-98.40 [[ 4.38358437e-01 3.36004394e-02 8.98171972e-01 1.48664777e+02] [ 4.31860358e-02 9.97359404e-01 -5.83882363e-02 2.04613216e+02] [-8.97762133e-01 6.43834629e-02 4.35749839e-01 -9.83999688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.0707140569999 meters Centerline goodness : 0.991808 Centerline is valid? [True, True] Translation: X:148.66, Y:204.59, Z:-98.44 [[ 4.35951329e-01 -3.35235511e-02 8.99345657e-01 1.48656983e+02] [ 4.36705185e-02 9.98916796e-01 1.60661449e-02 2.04585206e+02] [-8.98910076e-01 3.22708339e-02 4.36943095e-01 -9.84410848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.1007140569999 meters Centerline goodness : 0.990748 Centerline is valid? [True, True] Translation: X:148.67, Y:204.57, Z:-98.48 [[ 4.29281825e-01 -4.14534099e-02 9.02218781e-01 1.48670909e+02] [ 3.64180410e-02 9.98928198e-01 2.85688766e-02 2.04566696e+02] [-9.02436059e-01 2.05929411e-02 4.30331372e-01 -9.84808491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.130714057 meters Centerline goodness : 0.989595 Centerline is valid? [True, True] Translation: X:148.70, Y:204.59, Z:-98.50 [[ 4.24690103e-01 2.10590491e-02 9.05093826e-01 1.48701727e+02] [ 3.45832322e-02 9.98622410e-01 -3.94624223e-02 2.04591171e+02] [-9.04678018e-01 4.80603702e-02 4.23376764e-01 -9.84997077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.160714057 meters Centerline goodness : 0.991447 Centerline is valid? [True, True] Translation: X:148.72, Y:204.59, Z:-98.54 [[ 4.31352959e-01 1.99819215e-02 9.01961943e-01 1.48716119e+02] [ 3.69687902e-02 9.98523503e-01 -3.98010310e-02 2.04588292e+02] [-9.01425501e-01 5.05127344e-02 4.29977361e-01 -9.85353408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.1907140569999 meters Centerline goodness : 0.990603 Centerline is valid? [True, True] Translation: X:148.73, Y:204.60, Z:-98.56 [[ 4.29663173e-01 4.25502367e-02 9.01986161e-01 1.48733178e+02] [ 3.49419473e-02 9.97357579e-01 -6.36939583e-02 2.04595834e+02] [-9.02312927e-01 5.88841011e-02 4.27041034e-01 -9.85615113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.2207140569999 meters Centerline goodness : 0.989907 Centerline is valid? [True, True] Translation: X:148.74, Y:204.58, Z:-98.59 [[ 4.20148772e-01 1.63310642e-02 9.07308275e-01 1.48737662e+02] [ 3.08555770e-02 9.99002798e-01 -3.22698606e-02 2.04583099e+02] [-9.06930506e-01 4.15536627e-02 4.19225895e-01 -9.85878552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.250714057 meters Centerline goodness : 0.991995 Centerline is valid? [True, True] Translation: X:148.75, Y:204.59, Z:-98.61 [[ 4.33987840e-01 1.36672971e-02 9.00815053e-01 1.48752128e+02] [ 3.91198044e-02 9.98655965e-01 -3.39985962e-02 2.04594103e+02] [-9.00068995e-01 4.99946860e-02 4.32869883e-01 -9.86056363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.280714057 meters Centerline goodness : 0.991924 Centerline is valid? [True, True] Translation: X:148.75, Y:204.57, Z:-98.64 [[ 4.32815191e-01 -3.31868518e-02 9.00871602e-01 1.48750469e+02] [ 3.79967276e-02 9.99105664e-01 1.85504912e-02 2.04572623e+02] [-9.00681553e-01 2.62012385e-02 4.33689100e-01 -9.86412662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.3107140569999 meters Centerline goodness : 0.991433 Centerline is valid? [True, True] Translation: X:148.76, Y:204.57, Z:-98.67 [[ 4.32940922e-01 -3.24118461e-02 9.00839403e-01 1.48761574e+02] [ 3.63531177e-02 9.99168153e-01 1.84784680e-02 2.04568864e+02] [-9.00688963e-01 2.47482358e-02 4.33759053e-01 -9.86659197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.3407140569999 meters Centerline goodness : 0.992226 Centerline is valid? [True, True] Translation: X:148.77, Y:204.57, Z:-98.69 [[ 4.32879863e-01 -3.27295943e-02 9.00857257e-01 1.48773670e+02] [ 3.65797762e-02 9.99155317e-01 1.87236097e-02 2.04567055e+02] [-9.00709134e-01 2.48480832e-02 4.33711458e-01 -9.86914307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.370714057 meters Centerline goodness : 0.991859 Centerline is valid? [True, True] Translation: X:148.79, Y:204.56, Z:-98.72 [[ 4.31348473e-01 -3.32754287e-02 9.01571540e-01 1.48785206e+02] [ 3.67484943e-02 9.99138265e-01 1.92944724e-02 2.04562032e+02] [-9.01436655e-01 2.48087554e-02 4.32199587e-01 -9.87172724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.400714057 meters Centerline goodness : 0.991059 Centerline is valid? [True, True] Translation: X:148.80, Y:204.56, Z:-98.74 [[ 4.30492658e-01 -3.41656450e-02 9.01947216e-01 1.48796709e+02] [ 3.76893183e-02 9.99092202e-01 1.98566550e-02 2.04559937e+02] [-9.01806846e-01 2.54456315e-02 4.31389538e-01 -9.87426133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.4307140569999 meters Centerline goodness : 0.992479 Centerline is valid? [True, True] Translation: X:148.81, Y:204.56, Z:-98.77 [[ 4.29610171e-01 -3.48578557e-02 9.02341416e-01 1.48807928e+02] [ 3.81780105e-02 9.99062344e-01 2.04174486e-02 2.04557203e+02] [-9.02207039e-01 2.56780564e-02 4.30538148e-01 -9.87672562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.4607140569999 meters Centerline goodness : 0.991233 Centerline is valid? [True, True] Translation: X:148.82, Y:204.55, Z:-98.80 [[ 4.29583527e-01 -3.55562549e-02 9.02326851e-01 1.48821826e+02] [ 3.90131778e-02 9.99022334e-01 2.07929911e-02 2.04554989e+02] [-9.02183997e-01 2.62703114e-02 4.30550700e-01 -9.87975495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.490714057 meters Centerline goodness : 0.991263 Centerline is valid? [True, True] Translation: X:148.84, Y:204.55, Z:-98.83 [[ 4.28506696e-01 -3.58500125e-02 9.02827109e-01 1.48835235e+02] [ 4.09657569e-02 9.98955860e-01 2.02236716e-02 2.04550298e+02] [-9.02609450e-01 2.83190171e-02 4.29527898e-01 -9.88275196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.520714057 meters Centerline goodness : 0.991621 Centerline is valid? [True, True] Translation: X:148.85, Y:204.54, Z:-98.86 [[ 4.28229266e-01 -3.63725768e-02 9.02937833e-01 1.48848734e+02] [ 4.34459600e-02 9.98862872e-01 1.96318997e-02 2.04544807e+02] [-9.02625140e-01 3.08220470e-02 4.29322556e-01 -9.88581224e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.5507140569999 meters Centerline goodness : 0.990402 Centerline is valid? [True, True] Translation: X:148.86, Y:204.53, Z:-98.89 [[ 4.30211259e-01 -6.51676764e-02 9.00372949e-01 1.48862149e+02] [ 4.42962639e-02 9.97713376e-01 5.10476365e-02 2.04526731e+02] [-9.01640790e-01 1.79218897e-02 4.32114212e-01 -9.88877427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.5807140569999 meters Centerline goodness : 0.991760 Centerline is valid? [True, True] Translation: X:148.89, Y:204.56, Z:-98.90 [[ 4.29469054e-01 1.62812185e-02 9.02934800e-01 1.48887847e+02] [ 4.49902212e-02 9.98210230e-01 -3.93981787e-02 2.04562112e+02] [-9.01960205e-01 5.75435349e-02 4.27967908e-01 -9.89026522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.6107140569999 meters Centerline goodness : 0.991282 Centerline is valid? [True, True] Translation: X:148.89, Y:204.54, Z:-98.94 [[ 4.27347124e-01 -3.71747687e-02 9.03323017e-01 1.48886837e+02] [ 4.53478867e-02 9.98777982e-01 1.96497279e-02 2.04537161e+02] [-9.02949614e-01 3.25665351e-02 4.28510695e-01 -9.89397867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.640714057 meters Centerline goodness : 0.989984 Centerline is valid? [True, True] Translation: X:148.90, Y:204.52, Z:-98.97 [[ 4.29748655e-01 -5.88969364e-02 9.01025663e-01 1.48904206e+02] [ 4.23395277e-02 9.98087216e-01 4.50474674e-02 2.04516758e+02] [-9.01955353e-01 1.87899125e-02 4.31420307e-01 -9.89723924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.6707140569999 meters Centerline goodness : 0.990419 Centerline is valid? [True, True] Translation: X:148.93, Y:204.56, Z:-98.98 [[ 4.29428181e-01 3.07849837e-02 9.02576159e-01 1.48930641e+02] [ 4.51401415e-02 9.97437925e-01 -5.54973213e-02 2.04560158e+02] [-9.01972176e-01 6.45745292e-02 4.26938315e-01 -9.89814907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.7007140569999 meters Centerline goodness : 0.990163 Centerline is valid? [True, True] Translation: X:148.93, Y:204.53, Z:-99.02 [[ 4.26349456e-01 -3.63296064e-02 9.03828690e-01 1.48926521e+02] [ 4.36755080e-02 9.98854530e-01 1.95468047e-02 2.04527675e+02] [-9.03503509e-01 3.11414076e-02 4.27447800e-01 -9.90204911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.7307140569999 meters Centerline goodness : 0.990397 Centerline is valid? [True, True] Translation: X:148.94, Y:204.53, Z:-99.05 [[ 4.26399024e-01 -3.54307325e-02 9.03840990e-01 1.48940371e+02] [ 4.28375306e-02 9.98902358e-01 1.89479800e-02 2.04526110e+02] [-9.03520237e-01 3.06389159e-02 4.27448755e-01 -9.90499078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.760714057 meters Centerline goodness : 0.991312 Centerline is valid? [True, True] Translation: X:148.95, Y:204.52, Z:-99.08 [[ 4.26366211e-01 -3.44598195e-02 9.03894007e-01 1.48954570e+02] [ 4.17475691e-02 9.98958900e-01 1.83917478e-02 2.04524486e+02] [-9.03586739e-01 2.98937577e-02 4.27360934e-01 -9.90797144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.790714057 meters Centerline goodness : 0.990594 Centerline is valid? [True, True] Translation: X:148.97, Y:204.52, Z:-99.11 [[ 4.26641982e-01 -3.33671473e-02 9.03804875e-01 1.48967742e+02] [ 4.04492516e-02 9.99023239e-01 1.77883602e-02 2.04521812e+02] [-9.03515621e-01 2.89689695e-02 4.27574931e-01 -9.91093069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.8207140569999 meters Centerline goodness : 0.990261 Centerline is valid? [True, True] Translation: X:148.98, Y:204.52, Z:-99.14 [[ 4.26960700e-01 -3.25511657e-02 9.03684117e-01 1.48981842e+02] [ 3.97072480e-02 9.99062854e-01 1.72264022e-02 2.04520776e+02] [-9.03397972e-01 2.85278126e-02 4.27853092e-01 -9.91394336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.8507140569999 meters Centerline goodness : 0.989993 Centerline is valid? [True, True] Translation: X:149.00, Y:204.52, Z:-99.17 [[ 4.27444529e-01 -3.17509231e-02 9.03483843e-01 1.48995885e+02] [ 3.90574527e-02 9.99098528e-01 1.66327336e-02 2.04519682e+02] [-9.03197481e-01 2.81782064e-02 4.28299309e-01 -9.91685033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.880714057 meters Centerline goodness : 0.990058 Centerline is valid? [True, True] Translation: X:149.01, Y:204.52, Z:-99.20 [[ 4.27538574e-01 -3.13294891e-02 9.03454056e-01 1.49009408e+02] [ 3.92262374e-02 9.99100910e-01 1.60833761e-02 2.04518697e+02] [-9.03145653e-01 2.85628396e-02 4.28383117e-01 -9.91983214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.910714057 meters Centerline goodness : 0.990240 Centerline is valid? [True, True] Translation: X:149.02, Y:204.52, Z:-99.23 [[ 4.28099945e-01 -3.10398681e-02 9.03198186e-01 1.49022866e+02] [ 3.97899791e-02 9.99088217e-01 1.54755388e-02 2.04515705e+02] [-9.02855024e-01 2.93131596e-02 4.28944686e-01 -9.92270108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.9407140569999 meters Centerline goodness : 0.989813 Centerline is valid? [True, True] Translation: X:149.04, Y:204.51, Z:-99.26 [[ 4.28463382e-01 -3.10032483e-02 9.03027092e-01 1.49037347e+02] [ 4.04720066e-02 9.99066604e-01 1.50975949e-02 2.04514190e+02] [-9.02652285e-01 3.00785518e-02 4.29318219e-01 -9.92569196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.9707140569999 meters Centerline goodness : 0.987886 Centerline is valid? [True, True] Translation: X:149.06, Y:204.50, Z:-99.30 [[ 4.26043702e-01 -2.93528532e-02 9.04226285e-01 1.49056136e+02] [ 3.41696481e-02 9.99282481e-01 1.63388621e-02 2.04496818e+02] [-9.04057077e-01 2.39360246e-02 4.26740985e-01 -9.92998822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.000714057 meters Centerline goodness : 0.989560 Centerline is valid? [True, True] Translation: X:149.08, Y:204.54, Z:-99.30 [[ 4.31056409e-01 4.24234145e-02 9.01327147e-01 1.49084025e+02] [ 4.44731934e-02 9.96681260e-01 -6.81806571e-02 2.04543192e+02] [-9.01228333e-01 6.94746057e-02 4.27739140e-01 -9.93036161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.030714057 meters Centerline goodness : 0.987937 Centerline is valid? [True, True] Translation: X:149.08, Y:204.51, Z:-99.34 [[ 4.27763662e-01 -3.32281097e-02 9.03279659e-01 1.49078955e+02] [ 4.56026083e-02 9.98844808e-01 1.51476744e-02 2.04509696e+02] [-9.02739526e-01 3.47122838e-02 4.28784801e-01 -9.93415253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.0607140569999 meters Centerline goodness : 0.988550 Centerline is valid? [True, True] Translation: X:149.09, Y:204.51, Z:-99.37 [[ 4.26740189e-01 -3.37979084e-02 9.03742504e-01 1.49093242e+02] [ 4.81567404e-02 9.98732919e-01 1.46110946e-02 2.04506656e+02] [-9.03091214e-01 3.72861519e-02 4.27827071e-01 -9.93718342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.0907140569999 meters Centerline goodness : 0.989071 Centerline is valid? [True, True] Translation: X:149.11, Y:204.51, Z:-99.40 [[ 4.26233906e-01 -3.36507021e-02 9.03986885e-01 1.49107357e+02] [ 4.90751821e-02 9.98696444e-01 1.40370731e-02 2.04505018e+02] [-9.03280844e-01 3.83802444e-02 4.27329701e-01 -9.94014704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.120714057 meters Centerline goodness : 0.986840 Centerline is valid? [True, True] Translation: X:149.13, Y:204.50, Z:-99.45 [[ 4.20733890e-01 -9.38248770e-03 9.07135581e-01 1.49126258e+02] [ 4.14229185e-02 9.99102255e-01 -8.87845345e-03 2.04495651e+02] [-9.06237902e-01 4.13116695e-02 4.20744828e-01 -9.94485727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.150714057 meters Centerline goodness : 0.986879 Centerline is valid? [True, True] Translation: X:149.16, Y:204.53, Z:-99.47 [[ 4.21376148e-01 7.17205103e-02 9.04045525e-01 1.49155134e+02] [ 4.32573931e-02 9.94143726e-01 -9.90305538e-02 2.04529376e+02] [-9.05853708e-01 8.08357659e-02 4.15806011e-01 -9.94710354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.1807140569999 meters Centerline goodness : 0.986808 Centerline is valid? [True, True] Translation: X:149.17, Y:204.52, Z:-99.50 [[ 4.21218238e-01 5.93290421e-02 9.05016719e-01 1.49165751e+02] [ 4.46094936e-02 9.95295092e-01 -8.60097224e-02 2.04524249e+02] [-9.05861573e-01 7.66012012e-02 4.16589806e-01 -9.95007993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.2107140569999 meters Centerline goodness : 0.986847 Centerline is valid? [True, True] Translation: X:149.18, Y:204.52, Z:-99.53 [[ 4.23243845e-01 4.85181518e-02 9.04715777e-01 1.49179306e+02] [ 4.96120376e-02 9.95825782e-01 -7.66136922e-02 2.04519086e+02] [-9.04656450e-01 7.73110668e-02 4.19070049e-01 -9.95338166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.240714057 meters Centerline goodness : 0.986740 Centerline is valid? [True, True] Translation: X:149.19, Y:204.52, Z:-99.56 [[ 4.24383825e-01 5.39468951e-02 9.03873941e-01 1.49194780e+02] [ 5.17067623e-02 9.95150958e-01 -8.36718645e-02 2.04522104e+02] [-9.04004856e-01 8.22453809e-02 4.19536551e-01 -9.95598261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.270714057 meters Centerline goodness : 0.985909 Centerline is valid? [True, True] Translation: X:149.21, Y:204.52, Z:-99.59 [[ 4.23445010e-01 5.20331669e-02 9.04426268e-01 1.49208025e+02] [ 5.48209849e-02 9.95047742e-01 -8.29135115e-02 2.04520500e+02] [-9.04261568e-01 8.46908515e-02 4.18495491e-01 -9.95865415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.3007140569999 meters Centerline goodness : 0.983674 Centerline is valid? [True, True] Translation: X:149.22, Y:204.51, Z:-99.61 [[ 4.18404791e-01 3.69574460e-02 9.07508445e-01 1.49216856e+02] [ 5.22605252e-02 9.96536823e-01 -6.46776460e-02 2.04514921e+02] [-9.06755903e-01 7.44883049e-02 4.15024366e-01 -9.96069942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.3307140569999 meters Centerline goodness : 0.985525 Centerline is valid? [True, True] Translation: X:149.23, Y:204.50, Z:-99.64 [[ 4.19755498e-01 -8.48075067e-03 9.07597598e-01 1.49225505e+02] [ 5.49349303e-02 9.98360481e-01 -1.60780424e-02 2.04497574e+02] [-9.05973220e-01 5.66076574e-02 4.19533190e-01 -9.96395493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.3607140569999 meters Centerline goodness : 0.985257 Centerline is valid? [True, True] Translation: X:149.24, Y:204.51, Z:-99.67 [[ 4.20262296e-01 1.67921575e-02 9.07247280e-01 1.49243882e+02] [ 5.54072329e-02 9.97488198e-01 -4.41285973e-02 2.04508397e+02] [-9.05709469e-01 6.88136469e-02 4.18276273e-01 -9.96669874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.390714057 meters Centerline goodness : 0.985295 Centerline is valid? [True, True] Translation: X:149.26, Y:204.50, Z:-99.69 [[ 4.24939765e-01 -3.61903653e-03 9.05214394e-01 1.49256188e+02] [ 5.61362325e-02 9.98172670e-01 -2.23616574e-02 2.04502145e+02] [-9.03479341e-01 6.03176831e-02 4.24366419e-01 -9.96909290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.4207140569999 meters Centerline goodness : 0.985289 Centerline is valid? [True, True] Translation: X:149.27, Y:204.50, Z:-99.72 [[ 4.32027813e-01 -3.11406651e-03 9.01854906e-01 1.49273224e+02] [ 6.01795754e-02 9.97864780e-01 -2.53830554e-02 2.04503929e+02] [-8.99850203e-01 6.52394313e-02 4.31292742e-01 -9.97235185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.4507140569999 meters Centerline goodness : 0.985019 Centerline is valid? [True, True] Translation: X:149.29, Y:204.51, Z:-99.75 [[ 4.27946372e-01 4.12554306e-03 9.03794713e-01 1.49286769e+02] [ 5.76600676e-02 9.97827872e-01 -3.18567902e-02 2.04507285e+02] [-9.01962981e-01 6.57458620e-02 4.26778938e-01 -9.97466714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.4807140569999 meters Centerline goodness : 0.985729 Centerline is valid? [True, True] Translation: X:149.30, Y:204.50, Z:-99.78 [[ 4.35794819e-01 -1.56858356e-02 8.99909346e-01 1.49301458e+02] [ 6.12443667e-02 9.98047478e-01 -1.22620896e-02 2.04501636e+02] [-8.97959912e-01 6.04581331e-02 4.35904589e-01 -9.97772798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.510714057 meters Centerline goodness : 0.984706 Centerline is valid? [True, True] Translation: X:149.31, Y:204.51, Z:-99.80 [[ 4.31223427e-01 -6.19113019e-04 9.02244963e-01 1.49314897e+02] [ 5.66229096e-02 9.98047123e-01 -2.63777823e-02 2.04508241e+02] [-9.00466658e-01 6.24624526e-02 4.30416357e-01 -9.98000138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.540714057 meters Centerline goodness : 0.984360 Centerline is valid? [True, True] Translation: X:149.32, Y:204.50, Z:-99.83 [[ 4.31110751e-01 -2.05503809e-02 9.02064966e-01 1.49324999e+02] [ 5.56226584e-02 9.98444489e-01 -3.83687605e-03 2.04501338e+02] [-9.00582945e-01 5.18293700e-02 4.31583220e-01 -9.98281496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.5707140569999 meters Centerline goodness : 0.985889 Centerline is valid? [True, True] Translation: X:149.34, Y:204.50, Z:-99.86 [[ 4.34320340e-01 -1.98879065e-02 9.00538902e-01 1.49340496e+02] [ 5.80393656e-02 9.98296594e-01 -5.94493769e-03 2.04501758e+02] [-8.98886686e-01 5.48487139e-02 4.34734798e-01 -9.98627592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.6007140569999 meters Centerline goodness : 0.986272 Centerline is valid? [True, True] Translation: X:149.36, Y:204.51, Z:-99.89 [[ 4.35788279e-01 7.08844805e-03 9.00021294e-01 1.49360071e+02] [ 5.72924035e-02 9.97722560e-01 -3.55987827e-02 2.04513885e+02] [-8.98223890e-01 6.70779154e-02 4.34389683e-01 -9.98877389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.630714057 meters Centerline goodness : 0.985829 Centerline is valid? [True, True] Translation: X:149.37, Y:204.50, Z:-99.92 [[ 4.27506504e-01 -1.76944025e-02 9.03839088e-01 1.49368020e+02] [ 5.56154415e-02 9.98429384e-01 -6.75933543e-03 2.04503549e+02] [-9.02299901e-01 5.31570698e-02 4.27819137e-01 -9.99158055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.660714057 meters Centerline goodness : 0.986025 Centerline is valid? [True, True] Translation: X:149.38, Y:204.51, Z:-99.94 [[ 4.27420366e-01 -1.47994731e-02 9.03931859e-01 1.49380913e+02] [ 5.46823306e-02 9.98458521e-01 -9.50921426e-03 2.04506039e+02] [-9.02397736e-01 5.34935326e-02 4.27570776e-01 -9.99435930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.6907140569999 meters Centerline goodness : 0.986140 Centerline is valid? [True, True] Translation: X:149.40, Y:204.51, Z:-99.98 [[ 4.32789936e-01 -7.91939960e-03 9.01460013e-01 1.49397480e+02] [ 5.80007785e-02 9.98134240e-01 -1.90774178e-02 2.04509934e+02] [-8.99627024e-01 6.05418970e-02 4.32441785e-01 -9.99765967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.7207140569999 meters Centerline goodness : 0.985660 Centerline is valid? [True, True] Translation: X:149.42, Y:204.51, Z:-100.00 [[ 4.35815154e-01 -8.00587050e-03 9.00000588e-01 1.49415334e+02] [ 6.04497715e-02 9.97962863e-01 -2.03948367e-02 2.04512121e+02] [-8.98003885e-01 6.32932087e-02 4.35411292e-01 -1.00001801e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.750714057 meters Centerline goodness : 0.985283 Centerline is valid? [True, True] Translation: X:149.43, Y:204.51, Z:-100.02 [[ 4.33266295e-01 -7.88075797e-03 9.01231497e-01 1.49427044e+02] [ 5.78065290e-02 9.98145799e-01 -1.90622224e-02 2.04512408e+02] [-8.99410208e-01 6.03560831e-02 4.32918492e-01 -1.00024894e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.780714057 meters Centerline goodness : 0.986170 Centerline is valid? [True, True] Translation: X:149.44, Y:204.51, Z:-100.06 [[ 4.35050799e-01 -2.65489447e-02 9.00014420e-01 1.49438415e+02] [ 6.30277374e-02 9.98011247e-01 -1.02678583e-03 2.04506065e+02] [-8.98197254e-01 5.71725765e-02 4.35858910e-01 -1.00060720e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.8107140569999 meters Centerline goodness : 0.983695 Centerline is valid? [True, True] Translation: X:149.45, Y:204.52, Z:-100.09 [[ 4.25034560e-01 -2.80925916e-03 9.05172763e-01 1.49451276e+02] [ 6.02798247e-02 9.97863162e-01 -2.52081741e-02 2.04515845e+02] [-9.03167739e-01 6.52780006e-02 4.24295672e-01 -1.00085610e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.8407140569999 meters Centerline goodness : 0.986287 Centerline is valid? [True, True] Translation: X:149.46, Y:204.51, Z:-100.12 [[ 4.31095063e-01 -2.15855269e-02 9.02048287e-01 1.49461565e+02] [ 6.40402141e-02 9.97924656e-01 -6.72546103e-03 2.04509641e+02] [-9.00031054e-01 6.06666784e-02 4.31582734e-01 -1.00121222e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.870714057 meters Centerline goodness : 0.986130 Centerline is valid? [True, True] Translation: X:149.48, Y:204.52, Z:-100.15 [[ 4.31793456e-01 -2.32479563e-03 9.01969515e-01 1.49478830e+02] [ 6.44386983e-02 9.97520954e-01 -2.82772039e-02 2.04518997e+02] [-8.99667753e-01 7.03316531e-02 4.30872827e-01 -1.00147474e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.900714057 meters Centerline goodness : 0.987186 Centerline is valid? [True, True] Translation: X:149.49, Y:204.52, Z:-100.18 [[ 4.30167944e-01 -1.51335101e-02 9.02622023e-01 1.49490285e+02] [ 6.65651634e-02 9.97669380e-01 -1.49962658e-02 2.04515144e+02] [-9.00291408e-01 6.65340953e-02 4.30172750e-01 -1.00176985e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.9307140569999 meters Centerline goodness : 0.985128 Centerline is valid? [True, True] Translation: X:149.50, Y:204.52, Z:-100.20 [[ 4.23944058e-01 -1.68555765e-02 9.05531515e-01 1.49502617e+02] [ 6.48681606e-02 9.97824122e-01 -1.17959125e-02 2.04515540e+02] [-9.03362362e-01 6.37409708e-02 4.24114998e-01 -1.00201364e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.9607140569999 meters Centerline goodness : 0.986337 Centerline is valid? [True, True] Translation: X:149.52, Y:204.52, Z:-100.23 [[ 4.29297848e-01 -1.70040347e-02 9.03002891e-01 1.49516440e+02] [ 6.75305662e-02 9.97628302e-01 -1.33189170e-02 2.04516965e+02] [-9.00634765e-01 6.66980789e-02 4.29427976e-01 -1.00233603e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.990714057 meters Centerline goodness : 0.986337 Centerline is valid? [True, True] Translation: X:149.53, Y:204.52, Z:-100.26 [[ 4.29361837e-01 -8.61372451e-03 9.03091478e-01 1.49532339e+02] [ 6.78124055e-02 9.97439206e-01 -2.27268145e-02 2.04521320e+02] [-9.00583084e-01 7.09988323e-02 4.28846447e-01 -1.00262849e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.020714057 meters Centerline goodness : 0.985543 Centerline is valid? [True, True] Translation: X:149.54, Y:204.53, Z:-100.29 [[ 4.22280070e-01 1.18278962e-02 9.06388241e-01 1.49540293e+02] [ 6.41821827e-02 9.97015125e-01 -4.29125691e-02 2.04528492e+02] [-9.04190350e-01 7.62950984e-02 4.20260477e-01 -1.00294711e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.0507140569999 meters Centerline goodness : 0.985688 Centerline is valid? [True, True] Translation: X:149.55, Y:204.52, Z:-100.33 [[ 4.22261406e-01 -1.12067300e-03 9.06473413e-01 1.49550077e+02] [ 6.53554562e-02 9.97434390e-01 -2.92113245e-02 2.04524266e+02] [-9.04115020e-01 7.15777984e-02 4.21251290e-01 -1.00329250e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.0807140569999 meters Centerline goodness : 0.985729 Centerline is valid? [True, True] Translation: X:149.56, Y:204.52, Z:-100.35 [[ 4.18617376e-01 -9.40544181e-04 9.08162215e-01 1.49561922e+02] [ 6.21548221e-02 9.97684358e-01 -2.76170071e-02 2.04524958e+02] [-9.06033261e-01 6.80076200e-02 4.17706468e-01 -1.00354152e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.1107140569999 meters Centerline goodness : 0.987144 Centerline is valid? [True, True] Translation: X:149.58, Y:204.52, Z:-100.39 [[ 4.22532181e-01 -1.06909403e-02 9.06284867e-01 1.49576083e+02] [ 6.42611722e-02 9.97767320e-01 -1.81900228e-02 2.04522272e+02] [-9.04066954e-01 6.59247978e-02 4.22275815e-01 -1.00388405e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.140714057 meters Centerline goodness : 0.986103 Centerline is valid? [True, True] Translation: X:149.59, Y:204.53, Z:-100.42 [[ 4.22334596e-01 1.51266324e-02 9.06313783e-01 1.49593707e+02] [ 6.33566645e-02 9.96922739e-01 -4.61625939e-02 2.04534415e+02] [-9.04223104e-01 7.69170787e-02 4.20076590e-01 -1.00416774e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.1707140569999 meters Centerline goodness : 0.987373 Centerline is valid? [True, True] Translation: X:149.61, Y:204.54, Z:-100.45 [[ 4.20168990e-01 2.36248405e-02 9.07138296e-01 1.49606265e+02] [ 5.97002868e-02 9.96775653e-01 -5.36113130e-02 2.04538546e+02] [-9.05479926e-01 7.66822276e-02 4.17403809e-01 -1.00449414e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.2007140569999 meters Centerline goodness : 0.986973 Centerline is valid? [True, True] Translation: X:149.62, Y:204.54, Z:-100.48 [[ 4.19849785e-01 2.11349822e-02 9.07347492e-01 1.49618721e+02] [ 5.77654290e-02 9.97079589e-01 -4.99544692e-02 2.04538552e+02] [-9.05753451e-01 7.33866902e-02 4.17402780e-01 -1.00475714e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.2307140569999 meters Centerline goodness : 0.986936 Centerline is valid? [True, True] Translation: X:149.63, Y:204.54, Z:-100.51 [[ 4.20652992e-01 1.84451713e-02 9.07034088e-01 1.49632356e+02] [ 5.77835424e-02 9.97218528e-01 -4.70772677e-02 2.04538725e+02] [-9.05379546e-01 7.22148361e-02 4.18417130e-01 -1.00507312e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.260714057 meters Centerline goodness : 0.986186 Centerline is valid? [True, True] Translation: X:149.64, Y:204.54, Z:-100.53 [[ 4.14587852e-01 2.00386855e-02 9.09788637e-01 1.49641996e+02] [ 5.05729668e-02 9.97705107e-01 -4.50210466e-02 2.04538234e+02] [-9.08602932e-01 6.46758896e-02 4.12623002e-01 -1.00531137e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.290714057 meters Centerline goodness : 0.985829 Centerline is valid? [True, True] Translation: X:149.65, Y:204.52, Z:-100.56 [[ 4.22547761e-01 -3.86043126e-02 9.05518137e-01 1.49653246e+02] [ 5.25945504e-02 9.98453282e-01 1.80238169e-02 2.04517945e+02] [-9.04813352e-01 4.00093958e-02 4.23924575e-01 -1.00555126e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.3207140569999 meters Centerline goodness : 0.986590 Centerline is valid? [True, True] Translation: X:149.67, Y:204.54, Z:-100.59 [[ 4.15881236e-01 1.94181787e-02 9.09211599e-01 1.49669945e+02] [ 4.87116208e-02 9.97861144e-01 -4.35925973e-02 2.04540616e+02] [-9.08113416e-01 6.24185139e-02 4.14045835e-01 -1.00586292e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.3507140569999 meters Centerline goodness : 0.986764 Centerline is valid? [True, True] Translation: X:149.68, Y:204.52, Z:-100.61 [[ 4.27056304e-01 -3.25667270e-02 9.03638380e-01 1.49683955e+02] [ 5.16054818e-02 9.98600171e-01 1.16005396e-02 2.04523082e+02] [-9.02751232e-01 4.16786104e-02 4.28139120e-01 -1.00613207e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.380714057 meters Centerline goodness : 0.986089 Centerline is valid? [True, True] Translation: X:149.70, Y:204.54, Z:-100.64 [[ 4.23569435e-01 1.82799004e-02 9.05679181e-01 1.49702214e+02] [ 4.59899860e-02 9.98073101e-01 -4.16534133e-02 2.04542323e+02] [-9.04695449e-01 5.92952856e-02 4.21912567e-01 -1.00642992e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.410714057 meters Centerline goodness : 0.986040 Centerline is valid? [True, True] Translation: X:149.71, Y:204.54, Z:-100.67 [[ 4.23207605e-01 1.41807620e-02 9.05921756e-01 1.49714124e+02] [ 4.41381768e-02 9.98367645e-01 -3.62473092e-02 2.04540798e+02] [-9.04956985e-01 5.53258715e-02 4.21890867e-01 -1.00674236e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.4407140569999 meters Centerline goodness : 0.987266 Centerline is valid? [True, True] Translation: X:149.73, Y:204.53, Z:-100.70 [[ 4.29408233e-01 -1.15942936e-02 9.03036069e-01 1.49729084e+02] [ 4.09353155e-02 9.99139754e-01 -6.63721204e-03 2.04530307e+02] [-9.02182282e-01 3.98161399e-02 4.29513452e-01 -1.00695922e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.4707140569999 meters Centerline goodness : 0.986975 Centerline is valid? [True, True] Translation: X:149.74, Y:204.53, Z:-100.73 [[ 4.25397729e-01 -5.24237620e-03 9.04991320e-01 1.49741295e+02] [ 3.87736647e-02 9.99170607e-01 -1.24379101e-02 2.04530748e+02] [-9.04175522e-01 4.03808887e-02 4.25248173e-01 -1.00728625e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.500714057 meters Centerline goodness : 0.984142 Centerline is valid? [True, True] Translation: X:149.75, Y:204.54, Z:-100.75 [[ 4.18524850e-01 1.22941024e-02 9.08122131e-01 1.49751993e+02] [ 3.20682927e-02 9.99084812e-01 -2.83048144e-02 2.04536568e+02] [-9.07639011e-01 4.09681945e-02 4.17747570e-01 -1.00749430e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.530714057 meters Centerline goodness : 0.985212 Centerline is valid? [True, True] Translation: X:149.76, Y:204.52, Z:-100.79 [[ 4.22626398e-01 -1.96856193e-02 9.06090175e-01 1.49761028e+02] [ 3.36279057e-02 9.99416242e-01 6.02819363e-03 2.04521444e+02] [-9.05679906e-01 2.79222412e-02 4.23041672e-01 -1.00787166e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.5607140569999 meters Centerline goodness : 0.984925 Centerline is valid? [True, True] Translation: X:149.78, Y:204.54, Z:-100.82 [[ 4.18023797e-01 2.96859781e-02 9.07950906e-01 1.49779398e+02] [ 2.93821136e-02 9.98501194e-01 -4.61742007e-02 2.04537359e+02] [-9.07960790e-01 4.59794314e-02 4.16525024e-01 -1.00817521e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.5907140569999 meters Centerline goodness : 0.982897 Centerline is valid? [True, True] Translation: X:149.79, Y:204.53, Z:-100.84 [[ 4.11009083e-01 1.94297504e-02 9.11424170e-01 1.49786920e+02] [ 2.38934214e-02 9.99199805e-01 -3.20757525e-02 2.04530516e+02] [-9.11318077e-01 3.49604674e-02 4.10215952e-01 -1.00842263e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.620714057 meters Centerline goodness : 0.984670 Centerline is valid? [True, True] Translation: X:149.80, Y:204.52, Z:-100.88 [[ 4.15834984e-01 3.36840484e-03 9.09433846e-01 1.49798494e+02] [ 2.61985368e-02 9.99533758e-01 -1.56812973e-02 2.04517501e+02] [-9.09062651e-01 3.03466681e-02 4.15552857e-01 -1.00883747e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.650714057 meters Centerline goodness : 0.985349 Centerline is valid? [True, True] Translation: X:149.82, Y:204.53, Z:-100.91 [[ 4.18678719e-01 2.76373647e-02 9.07713780e-01 1.49819096e+02] [ 2.75728165e-02 9.98689122e-01 -4.31251434e-02 2.04527296e+02] [-9.07715743e-01 4.30838053e-02 4.17367842e-01 -1.00906080e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.6807140569999 meters Centerline goodness : 0.983852 Centerline is valid? [True, True] Translation: X:149.83, Y:204.52, Z:-100.93 [[ 4.11427068e-01 1.63729173e-02 9.11295614e-01 1.49828894e+02] [ 2.52302010e-02 9.99250903e-01 -2.93439796e-02 2.04520048e+02] [-9.11093412e-01 3.50650790e-02 4.10705777e-01 -1.00931584e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.7107140569999 meters Centerline goodness : 0.983950 Centerline is valid? [True, True] Translation: X:149.84, Y:204.51, Z:-100.97 [[ 4.19409523e-01 7.35097864e-03 9.07767380e-01 1.49841801e+02] [ 2.84292388e-02 9.99370383e-01 -2.12277333e-02 2.04513782e+02] [-9.07351878e-01 3.47102491e-02 4.18936472e-01 -1.00965052e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.740714057 meters Centerline goodness : 0.982007 Centerline is valid? [True, True] Translation: X:149.86, Y:204.51, Z:-100.99 [[ 4.13280711e-01 2.22039924e-02 9.10332926e-01 1.49855249e+02] [ 2.59381986e-02 9.99009972e-01 -3.61425650e-02 2.04514601e+02] [-9.10234181e-01 3.85494212e-02 4.12295620e-01 -1.00985115e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.770714057 meters Centerline goodness : 0.983352 Centerline is valid? [True, True] Translation: X:149.87, Y:204.50, Z:-101.02 [[ 4.18587923e-01 -3.67983442e-03 9.08168822e-01 1.49865143e+02] [ 2.98769495e-02 9.99506315e-01 -9.72078348e-03 2.04500115e+02] [-9.07684702e-01 3.12023166e-02 4.18491214e-01 -1.01024076e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.8007140569999 meters Centerline goodness : 0.982215 Centerline is valid? [True, True] Translation: X:149.88, Y:204.51, Z:-101.05 [[ 4.18334777e-01 2.34957027e-02 9.07988968e-01 1.49883376e+02] [ 3.11933637e-02 9.98704035e-01 -4.02147199e-02 2.04505125e+02] [-9.07757120e-01 4.51464460e-02 4.17059720e-01 -1.01052424e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.8307140569999 meters Centerline goodness : 0.984494 Centerline is valid? [True, True] Translation: X:149.90, Y:204.49, Z:-101.07 [[ 4.23090837e-01 1.30783398e-03 9.06086328e-01 1.49898182e+02] [ 3.27065347e-02 9.99325226e-01 -1.67145074e-02 2.04494915e+02] [-9.05496784e-01 3.67066989e-02 4.22762572e-01 -1.01073932e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.8607140569999 meters Centerline goodness : 0.984438 Centerline is valid? [True, True] Translation: X:149.91, Y:204.49, Z:-101.11 [[ 4.18556586e-01 1.50458837e-02 9.08066080e-01 1.49909847e+02] [ 2.92323377e-02 9.99121488e-01 -3.00287102e-02 2.04494760e+02] [-9.07720141e-01 3.91136087e-02 4.17749053e-01 -1.01109075e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.890714057 meters Centerline goodness : 0.984339 Centerline is valid? [True, True] Translation: X:149.92, Y:204.49, Z:-101.14 [[ 4.16812221e-01 3.04903520e-02 9.08481101e-01 1.49924496e+02] [ 2.57803694e-02 9.98638708e-01 -4.53442771e-02 2.04493319e+02] [-9.08626956e-01 4.23210272e-02 4.15458766e-01 -1.01138046e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.9207140569999 meters Centerline goodness : 0.984408 Centerline is valid? [True, True] Translation: X:149.94, Y:204.48, Z:-101.17 [[ 4.17752937e-01 1.79077125e-02 9.08384169e-01 1.49937182e+02] [ 2.32219623e-02 9.99268666e-01 -3.03788417e-02 2.04484372e+02] [-9.08263852e-01 3.37853133e-02 4.17031568e-01 -1.01168827e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.9507140569999 meters Centerline goodness : 0.985401 Centerline is valid? [True, True] Translation: X:149.95, Y:204.48, Z:-101.19 [[ 4.20769022e-01 9.76630858e-03 9.07115235e-01 1.49950926e+02] [ 2.12761935e-02 9.99560753e-01 -2.06306555e-02 2.04478726e+02] [-9.06918273e-01 2.79807000e-02 4.20376411e-01 -1.01192118e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.9807140569999 meters Centerline goodness : 0.985961 Centerline is valid? [True, True] Translation: X:149.96, Y:204.47, Z:-101.22 [[ 4.22227240e-01 5.61626896e-03 9.06472623e-01 1.49964324e+02] [ 1.63880468e-02 9.99770087e-01 -1.38277287e-02 2.04467543e+02] [-9.06341873e-01 2.06937595e-02 4.22038124e-01 -1.01220845e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.010714057 meters Centerline goodness : 0.986009 Centerline is valid? [True, True] Translation: X:149.98, Y:204.46, Z:-101.25 [[ 4.24628871e-01 1.19051606e-03 9.05366724e-01 1.49979216e+02] [ 1.54178021e-02 9.99844617e-01 -8.54590165e-03 2.04462423e+02] [-9.05236220e-01 1.75876016e-02 4.24544536e-01 -1.01248410e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.040714057 meters Centerline goodness : 0.988573 Centerline is valid? [True, True] Translation: X:149.99, Y:204.45, Z:-101.26 [[ 4.34310233e-01 -3.84215753e-02 8.99943556e-01 1.49993290e+02] [ 2.19859789e-02 9.99244400e-01 3.20506860e-02 2.04447383e+02] [-9.00494997e-01 5.86619917e-03 4.34826803e-01 -1.01258880e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.0707140569999 meters Centerline goodness : 0.989870 Centerline is valid? [True, True] Translation: X:150.00, Y:204.42, Z:-101.29 [[ 4.35060510e-01 -7.69919378e-02 8.97103447e-01 1.50004752e+02] [ 2.15698001e-02 9.96942701e-01 7.50999034e-02 2.04424434e+02] [-9.00142820e-01 -1.33226602e-02 4.35391100e-01 -1.01289421e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.1007140569999 meters Centerline goodness : 0.991117 Centerline is valid? [True, True] Translation: X:150.02, Y:204.42, Z:-101.32 [[ 4.34333161e-01 -7.68307188e-02 8.97469635e-01 1.50020584e+02] [ 2.18630077e-02 9.96961309e-01 7.47673482e-02 2.04418954e+02] [-9.00486932e-01 -1.28525531e-02 4.34693108e-01 -1.01319059e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.130714057 meters Centerline goodness : 0.991437 Centerline is valid? [True, True] Translation: X:150.04, Y:204.41, Z:-101.35 [[ 4.34351242e-01 -7.65702925e-02 8.97483142e-01 1.50036727e+02] [ 2.24504349e-02 9.96991033e-01 7.41947316e-02 2.04413285e+02] [-9.00463757e-01 -1.20776869e-02 4.34763329e-01 -1.01347742e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.160714057 meters Centerline goodness : 0.992815 Centerline is valid? [True, True] Translation: X:150.05, Y:204.40, Z:-101.38 [[ 4.34361702e-01 -7.66397472e-02 8.97472151e-01 1.50054356e+02] [ 2.38079360e-02 9.97002404e-01 7.36164978e-02 2.04400918e+02] [-9.00423842e-01 -1.06092277e-02 4.34884295e-01 -1.01376724e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.1907140569999 meters Centerline goodness : 0.993898 Centerline is valid? [True, True] Translation: X:150.07, Y:204.40, Z:-101.41 [[ 4.34631124e-01 -7.62412360e-02 8.97375651e-01 1.50069512e+02] [ 2.41511449e-02 9.97038647e-01 7.30113630e-02 2.04395981e+02] [-9.00284682e-01 -1.00603614e-02 4.35185341e-01 -1.01405608e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.2207140569999 meters Centerline goodness : 0.995670 Centerline is valid? [True, True] Translation: X:150.09, Y:204.39, Z:-101.44 [[ 4.35285894e-01 -7.57660916e-02 8.97098484e-01 1.50086012e+02] [ 2.42665352e-02 9.97077845e-01 7.24355375e-02 2.04385107e+02] [-8.99965181e-01 -9.76069577e-03 4.35852501e-01 -1.01435214e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.250714057 meters Centerline goodness : 0.995925 Centerline is valid? [True, True] Translation: X:150.10, Y:204.38, Z:-101.46 [[ 4.35717921e-01 -7.49323994e-02 8.96958767e-01 1.50101227e+02] [ 2.35712788e-02 9.97136812e-01 7.18510456e-02 2.04380221e+02] [-8.99774576e-01 -1.01643231e-02 4.36236631e-01 -1.01464874e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.280714057 meters Centerline goodness : 0.997625 Centerline is valid? [True, True] Translation: X:150.12, Y:204.37, Z:-101.49 [[ 4.35077350e-01 -7.35481074e-02 8.97384185e-01 1.50117518e+02] [ 2.15037051e-02 9.97222730e-01 7.13051004e-02 2.04369061e+02] [-9.00136262e-01 -1.17261492e-02 4.35450579e-01 -1.01492914e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.3107140569999 meters Centerline goodness : 0.998010 Centerline is valid? [True, True] Translation: X:150.13, Y:204.36, Z:-101.52 [[ 4.34829889e-01 -7.25517906e-02 8.97585208e-01 1.50133627e+02] [ 2.02901466e-02 9.97285487e-01 7.07811193e-02 2.04364236e+02] [-9.00283998e-01 -1.25656108e-02 4.35121625e-01 -1.01522353e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.3407140569999 meters Centerline goodness : 0.998130 Centerline is valid? [True, True] Translation: X:150.15, Y:204.36, Z:-101.55 [[ 4.34742608e-01 -7.15122081e-02 8.97710905e-01 1.50149292e+02] [ 1.90650347e-02 9.97349558e-01 7.02166877e-02 2.04359584e+02] [-9.00352925e-01 -1.34112964e-02 4.34953730e-01 -1.01551251e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.370714057 meters Centerline goodness : 0.998509 Centerline is valid? [True, True] Translation: X:150.17, Y:204.35, Z:-101.58 [[ 4.34797186e-01 -7.03090372e-02 8.97779509e-01 1.50165095e+02] [ 1.75158150e-02 9.97419149e-01 6.96292935e-02 2.04349334e+02] [-9.00358042e-01 -1.45492811e-02 4.34906559e-01 -1.01579605e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.400714057 meters Centerline goodness : 0.998593 Centerline is valid? [True, True] Translation: X:150.18, Y:204.34, Z:-101.61 [[ 4.34513235e-01 -6.96090166e-02 8.97971510e-01 1.50180657e+02] [ 1.70045364e-02 9.97465263e-01 6.90933724e-02 2.04344786e+02] [-9.00504911e-01 -1.47523955e-02 4.34595528e-01 -1.01609458e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.4307140569999 meters Centerline goodness : 0.998677 Centerline is valid? [True, True] Translation: X:150.20, Y:204.34, Z:-101.64 [[ 4.34349247e-01 -6.90345627e-02 8.98095185e-01 1.50196066e+02] [ 1.68778837e-02 9.97507416e-01 6.85134418e-02 2.04340302e+02] [-9.00586403e-01 -1.46008158e-02 4.34431752e-01 -1.01639427e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.4607140569999 meters Centerline goodness : 0.998846 Centerline is valid? [True, True] Translation: X:150.21, Y:204.34, Z:-101.67 [[ 4.34061417e-01 -6.86558675e-02 8.98263357e-01 1.50210814e+02] [ 1.71998134e-02 9.97541646e-01 6.79325404e-02 2.04335728e+02] [-9.00719075e-01 -1.40369327e-02 4.34175209e-01 -1.01669146e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.490714057 meters Centerline goodness : 0.999376 Centerline is valid? [True, True] Translation: X:150.23, Y:204.33, Z:-101.70 [[ 4.34883000e-01 -6.87181197e-02 8.97861123e-01 1.50226606e+02] [ 1.86692598e-02 9.97557705e-01 6.73058946e-02 2.04325320e+02] [-9.00293416e-01 -1.25077868e-02 4.35103804e-01 -1.01697248e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.520714057 meters Centerline goodness : 0.999520 Centerline is valid? [True, True] Translation: X:150.24, Y:204.32, Z:-101.73 [[ 4.34877556e-01 -6.86507572e-02 8.97868913e-01 1.50241707e+02] [ 1.96661856e-02 9.97575960e-01 6.67491228e-02 2.04320954e+02] [-9.00274821e-01 -1.13700387e-02 4.35173494e-01 -1.01726915e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.5507140569999 meters Centerline goodness : 0.999875 Centerline is valid? [True, True] Translation: X:150.26, Y:204.31, Z:-101.76 [[ 4.35243548e-01 -6.93234360e-02 8.97639858e-01 1.50256925e+02] [ 2.24707852e-02 9.97557010e-01 6.61443615e-02 2.04311580e+02] [-9.00032287e-01 -8.61823415e-03 4.35738004e-01 -1.01756446e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.5807140569999 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:150.27, Y:204.31, Z:-101.79 [[ 4.35213193e-01 -6.97336057e-02 8.97622805e-01 1.50271676e+02] [ 2.46366025e-02 9.97545027e-01 6.55511833e-02 2.04307850e+02] [-8.99990286e-01 -6.41436353e-03 4.35862756e-01 -1.01785472e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.6107140569999 meters Centerline goodness : 0.999833 Centerline is valid? [True, True] Translation: X:150.29, Y:204.30, Z:-101.81 [[ 4.35420075e-01 -7.02499409e-02 8.97482203e-01 1.50286268e+02] [ 2.69788460e-02 9.97521055e-01 6.49914436e-02 2.04303817e+02] [-8.99823039e-01 -4.08554509e-03 4.36235954e-01 -1.01814997e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.640714057 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.30, Y:204.29, Z:-101.84 [[ 4.34575276e-01 -7.21514369e-02 8.97740775e-01 1.50301313e+02] [ 3.18278683e-02 9.97393595e-01 6.47534098e-02 2.04294856e+02] [-9.00072951e-01 4.32944238e-04 4.35739023e-01 -1.01843577e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.6707140569999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.32, Y:204.29, Z:-101.87 [[ 4.33876750e-01 -7.27331492e-02 8.98031656e-01 1.50316925e+02] [ 3.42561536e-02 9.97347230e-01 6.42263064e-02 2.04291654e+02] [-9.00320766e-01 2.89680922e-03 4.35217333e-01 -1.01873317e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.7007140569999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.33, Y:204.29, Z:-101.90 [[ 4.33096357e-01 -7.33532719e-02 8.98357859e-01 1.50332003e+02] [ 3.68552289e-02 9.97290651e-01 6.36635683e-02 2.04288930e+02] [-9.00593825e-01 5.53672502e-03 4.34626399e-01 -1.01903056e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.7307140569999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.35, Y:204.28, Z:-101.93 [[ 4.31732051e-01 -7.44759296e-02 8.98922006e-01 1.50347312e+02] [ 4.05974349e-02 9.97179970e-01 6.31185921e-02 2.04283048e+02] [-9.01087834e-01 9.24360842e-03 4.33538085e-01 -1.01932624e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.760714057 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.36, Y:204.28, Z:-101.96 [[ 4.31218188e-01 -7.45882108e-02 8.99159315e-01 1.50361814e+02] [ 4.20535105e-02 9.97155497e-01 6.25493223e-02 2.04281151e+02] [-9.01267095e-01 1.08404003e-02 4.33128282e-01 -1.01961923e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.790714057 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.38, Y:204.28, Z:-101.99 [[ 4.30990175e-01 -7.45383949e-02 8.99272760e-01 1.50375738e+02] [ 4.31536286e-02 9.97144745e-01 6.19687166e-02 2.04279482e+02] [-9.01324156e-01 1.20989747e-02 4.32976190e-01 -1.01990466e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.8207140569999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.39, Y:204.28, Z:-102.02 [[ 4.31229801e-01 -7.45309739e-02 8.99158492e-01 1.50389538e+02] [ 4.42844228e-02 9.97129530e-01 6.14132799e-02 2.04278127e+02] [-9.01154676e-01 1.33354783e-02 4.33292529e-01 -1.02019250e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.8507140569999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.40, Y:204.28, Z:-102.05 [[ 4.30572961e-01 -7.52117681e-02 8.99416542e-01 1.50404189e+02] [ 4.69610425e-02 9.97038918e-01 6.08938154e-02 2.04275745e+02] [-9.01333227e-01 1.60183080e-02 4.32830022e-01 -1.02049006e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.880714057 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.42, Y:204.28, Z:-102.08 [[ 4.30591824e-01 -7.46240875e-02 8.99456462e-01 1.50418805e+02] [ 4.68386893e-02 9.97080718e-01 6.03007310e-02 2.04276873e+02] [-9.01330582e-01 1.61643600e-02 4.32830099e-01 -1.02079128e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.910714057 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.43, Y:204.28, Z:-102.11 [[ 4.30330555e-01 -7.49540225e-02 8.99554060e-01 1.50432575e+02] [ 4.81458142e-02 9.97033933e-01 6.00442945e-02 2.04276307e+02] [-9.01386484e-01 1.74708681e-02 4.32662889e-01 -1.02107606e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.9407140569999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.45, Y:204.27, Z:-102.14 [[ 4.30228513e-01 -7.58439886e-02 8.99528274e-01 1.50446410e+02] [ 5.13655057e-02 9.96906641e-01 5.94872583e-02 2.04273689e+02] [-9.01257461e-01 2.06116100e-02 4.32793427e-01 -1.02137180e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.9707140569999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.46, Y:204.27, Z:-102.17 [[ 4.30239509e-01 -7.60506422e-02 8.99505567e-01 1.50460563e+02] [ 5.30537425e-02 9.96852792e-01 5.89051150e-02 2.04272840e+02] [-9.01154407e-01 2.23788290e-02 4.32920226e-01 -1.02166876e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.000714057 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.48, Y:204.27, Z:-102.20 [[ 4.30164456e-01 -7.63958659e-02 8.99512208e-01 1.50475244e+02] [ 5.50645516e-02 9.96777928e-01 5.83237222e-02 2.04272320e+02] [-9.01069607e-01 2.44424442e-02 4.32985140e-01 -1.02196916e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.030714057 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.49, Y:204.27, Z:-102.23 [[ 4.29725280e-01 -7.80751640e-02 8.99577930e-01 1.50488653e+02] [ 6.01695660e-02 9.96516458e-01 5.77457501e-02 2.04270838e+02] [-9.00952722e-01 2.93124050e-02 4.32926062e-01 -1.02225552e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.0607140569999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.50, Y:204.27, Z:-102.26 [[ 4.29364594e-01 -7.86616561e-02 8.99699055e-01 1.50502872e+02] [ 6.26631089e-02 9.96393617e-01 5.72109656e-02 2.04271164e+02] [-9.00954705e-01 3.18135769e-02 4.32745325e-01 -1.02255543e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.0907140569999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.52, Y:204.27, Z:-102.29 [[ 4.29707481e-01 -7.93124291e-02 8.99478193e-01 1.50517520e+02] [ 6.53572467e-02 9.96254137e-01 5.66226488e-02 2.04271663e+02] [-9.00599751e-01 3.44562424e-02 4.33281498e-01 -1.02285522e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.120714057 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.53, Y:204.27, Z:-102.31 [[ 4.30036181e-01 -7.98108701e-02 8.99276992e-01 1.50531575e+02] [ 6.77018089e-02 9.96130983e-01 5.60315160e-02 2.04272083e+02] [-9.00269598e-01 3.67870999e-02 4.33775704e-01 -1.02314509e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.150714057 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.55, Y:204.27, Z:-102.34 [[ 4.29217307e-01 -8.13120902e-02 8.99533684e-01 1.50545883e+02] [ 7.23146292e-02 9.95835843e-01 5.55118773e-02 2.04272830e+02] [-9.00301671e-01 4.12227863e-02 4.33310032e-01 -1.02343785e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.1807140569999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.56, Y:204.27, Z:-102.37 [[ 4.28655550e-01 -8.12093091e-02 8.99810795e-01 1.50559716e+02] [ 7.33070475e-02 9.95794462e-01 5.49496714e-02 2.04274461e+02] [-9.00489032e-01 4.24079910e-02 4.32806038e-01 -1.02372328e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.2107140569999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.57, Y:204.28, Z:-102.40 [[ 4.28476990e-01 -8.08557587e-02 8.99927672e-01 1.50574055e+02] [ 7.36207242e-02 9.95800568e-01 5.44170667e-02 2.04276801e+02] [-9.00548421e-01 4.29368660e-02 4.32630290e-01 -1.02401471e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.240714057 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.59, Y:204.28, Z:-102.43 [[ 4.29077391e-01 -7.93118564e-02 8.99778985e-01 1.50588653e+02] [ 7.12241047e-02 9.96006793e-01 5.38293242e-02 2.04281894e+02] [-9.00455285e-01 4.09890067e-02 4.33012912e-01 -1.02431393e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.270714057 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.60, Y:204.28, Z:-102.46 [[ 4.29765379e-01 -7.76192388e-02 8.99598229e-01 1.50603400e+02] [ 6.84764541e-02 9.96230943e-01 5.32436332e-02 2.04284931e+02] [-9.00340322e-01 3.87190266e-02 4.33460658e-01 -1.02461337e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.3007140569999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.62, Y:204.29, Z:-102.49 [[ 4.30613425e-01 -7.46737168e-02 8.99442002e-01 1.50617259e+02] [ 6.28454217e-02 9.96633278e-01 5.26551227e-02 2.04291149e+02] [-9.00345784e-01 3.38518092e-02 4.33856570e-01 -1.02489634e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.3307140569999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.63, Y:204.29, Z:-102.52 [[ 4.31011279e-01 -7.29745081e-02 8.99390904e-01 1.50632070e+02] [ 6.00252201e-02 9.96835477e-01 5.21153054e-02 2.04294805e+02] [-9.00347850e-01 3.15238526e-02 4.34027644e-01 -1.02519315e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.3607140569999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.65, Y:204.30, Z:-102.55 [[ 4.30949864e-01 -7.11872288e-02 8.99563557e-01 1.50646121e+02] [ 5.70709270e-02 9.97037842e-01 5.15601731e-02 2.04298485e+02] [-9.00569333e-01 2.91190765e-02 4.33736044e-01 -1.02548943e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.390714057 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.66, Y:204.30, Z:-102.58 [[ 4.31493639e-01 -6.84899039e-02 8.99512297e-01 1.50660706e+02] [ 5.19988643e-02 9.97344276e-01 5.09952277e-02 2.04304147e+02] [-9.00616099e-01 2.47695015e-02 4.33909108e-01 -1.02578446e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.4207140569999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.67, Y:204.31, Z:-102.61 [[ 4.31716161e-01 -6.71918464e-02 8.99503425e-01 1.50674918e+02] [ 5.01855201e-02 9.97466255e-01 5.04230423e-02 2.04307386e+02] [-9.00612330e-01 2.33736050e-02 4.33994361e-01 -1.02608293e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.4507140569999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.69, Y:204.31, Z:-102.64 [[ 4.31887558e-01 -6.59503091e-02 8.99513032e-01 1.50689288e+02] [ 4.85244266e-02 9.97577648e-01 4.98419217e-02 2.04310194e+02] [-9.00621184e-01 2.21222482e-02 4.34041575e-01 -1.02638181e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.4807140569999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.70, Y:204.31, Z:-102.67 [[ 4.31360088e-01 -6.47389628e-02 8.99854067e-01 1.50703430e+02] [ 4.69244015e-02 9.97681953e-01 4.92830810e-02 2.04314519e+02] [-9.00958698e-01 2.09663594e-02 4.33398012e-01 -1.02667701e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.510714057 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.72, Y:204.32, Z:-102.70 [[ 4.30985697e-01 -6.46091058e-02 9.00042773e-01 1.50717770e+02] [ 4.71564387e-02 9.97683123e-01 4.90372960e-02 2.04316905e+02] [-9.01125740e-01 2.13084387e-02 4.33033891e-01 -1.02697471e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.540714057 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.73, Y:204.32, Z:-102.73 [[ 4.31007532e-01 -6.48915303e-02 9.00011998e-01 1.50731371e+02] [ 4.90510224e-02 9.97620994e-01 4.84391241e-02 2.04320392e+02] [-9.01014153e-01 2.32688813e-02 4.33165159e-01 -1.02726275e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.5707140569999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.75, Y:204.32, Z:-102.76 [[ 4.31591685e-01 -6.48774858e-02 8.99733032e-01 1.50745466e+02] [ 5.01383664e-02 9.97593778e-01 4.78831749e-02 2.04322444e+02] [-9.00674615e-01 2.44451643e-02 4.33806031e-01 -1.02755896e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.6007140569999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.76, Y:204.32, Z:-102.79 [[ 4.32371133e-01 -6.48434276e-02 8.99361181e-01 1.50760147e+02] [ 5.12371810e-02 9.97566171e-01 4.72914917e-02 2.04324404e+02] [-9.00238832e-01 2.56332558e-02 4.34641210e-01 -1.02785033e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.630714057 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.77, Y:204.33, Z:-102.81 [[ 4.32199630e-01 -6.50119274e-02 8.99431448e-01 1.50773616e+02] [ 5.28273635e-02 9.97510330e-01 4.67162920e-02 2.04327319e+02] [-9.00229276e-01 2.73238280e-02 4.34558004e-01 -1.02813735e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.660714057 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.79, Y:204.33, Z:-102.84 [[ 4.32506347e-01 -6.48155858e-02 8.99298171e-01 1.50788461e+02] [ 5.31152069e-02 9.97512173e-01 4.63491121e-02 2.04329187e+02] [-9.00065017e-01 2.77201233e-02 4.34873039e-01 -1.02842732e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.6907140569999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.80, Y:204.33, Z:-102.87 [[ 4.32130572e-01 -6.43509951e-02 8.99512156e-01 1.50803179e+02] [ 5.32508952e-02 9.97531163e-01 4.57812414e-02 2.04331222e+02] [-9.00237475e-01 2.81163535e-02 4.34490460e-01 -1.02872223e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.7207140569999 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:150.82, Y:204.33, Z:-102.90 [[ 4.32341116e-01 -6.39141959e-02 8.99442125e-01 1.50817605e+02] [ 5.34467076e-02 9.97547426e-01 4.51949395e-02 2.04333090e+02] [-9.00124774e-01 2.85325896e-02 4.34696770e-01 -1.02901175e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.750714057 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.83, Y:204.34, Z:-102.93 [[ 4.32514433e-01 -6.36555657e-02 8.99377137e-01 1.50832365e+02] [ 5.39666140e-02 9.97543940e-01 4.46507730e-02 2.04335813e+02] [-9.00010483e-01 2.92242351e-02 4.34887427e-01 -1.02930765e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.780714057 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.85, Y:204.34, Z:-102.96 [[ 4.32644744e-01 -6.31260068e-02 8.99351785e-01 1.50846768e+02] [ 5.39417568e-02 9.97571080e-01 4.40706983e-02 2.04337354e+02] [-8.99949339e-01 2.94456592e-02 4.34999012e-01 -1.02960413e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.8107140569999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.86, Y:204.34, Z:-102.99 [[ 4.32504585e-01 -6.31269374e-02 8.99419131e-01 1.50861534e+02] [ 5.51547018e-02 9.97530209e-01 4.34906978e-02 2.04339810e+02] [-8.99943189e-01 3.07972678e-02 4.34918136e-01 -1.02989661e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.8407140569999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.88, Y:204.34, Z:-103.02 [[ 4.32618993e-01 -6.28597001e-02 8.99382824e-01 1.50876029e+02] [ 5.57502882e-02 9.97522592e-01 4.29020172e-02 2.04341474e+02] [-8.99851494e-01 3.15806242e-02 4.35051666e-01 -1.03019047e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.870714057 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.89, Y:204.34, Z:-103.05 [[ 4.32999481e-01 -6.28374085e-02 8.99201262e-01 1.50890593e+02] [ 5.68940286e-02 9.97483348e-01 4.23088638e-02 2.04343298e+02] [-8.99596865e-01 3.28394662e-02 4.35484846e-01 -1.03047481e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.900714057 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.91, Y:204.35, Z:-103.08 [[ 4.32690018e-01 -6.34461292e-02 8.99307476e-01 1.50905027e+02] [ 5.95022912e-02 9.97355351e-01 4.17346570e-02 2.04345382e+02] [-8.99577026e-01 3.54526858e-02 4.35320895e-01 -1.03077297e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.9307140569999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.92, Y:204.35, Z:-103.11 [[ 4.32486895e-01 -6.40337399e-02 8.99363534e-01 1.50919611e+02] [ 6.13904199e-02 9.97251462e-01 4.14817671e-02 2.04346802e+02] [-8.99547832e-01 3.72719843e-02 4.35229247e-01 -1.03106535e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.9607140569999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:150.93, Y:204.35, Z:-103.14 [[ 4.32153446e-01 -6.41918482e-02 8.99512538e-01 1.50933932e+02] [ 6.29835260e-02 9.97176056e-01 4.09021827e-02 2.04348003e+02] [-8.99597952e-01 3.89784521e-02 4.34976098e-01 -1.03136070e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.990714057 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:150.95, Y:204.35, Z:-103.17 [[ 4.31811658e-01 -6.44805009e-02 8.99656021e-01 1.50948275e+02] [ 6.49108323e-02 9.97076678e-01 4.03073493e-02 2.04349589e+02] [-8.99625075e-01 4.09922377e-02 4.34734817e-01 -1.03165926e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.020714057 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.96, Y:204.35, Z:-103.19 [[ 4.30989722e-01 -6.55914061e-02 8.99969792e-01 1.50961615e+02] [ 6.87438210e-02 9.96842895e-01 3.97307189e-02 2.04352679e+02] [-8.99734487e-01 4.47438308e-02 4.34138046e-01 -1.03194683e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.0507140569999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.98, Y:204.35, Z:-103.22 [[ 4.31123088e-01 -6.57753716e-02 8.99892485e-01 1.50976512e+02] [ 6.99173076e-02 9.96775958e-01 3.93606393e-02 2.04354902e+02] [-8.99580154e-01 4.59487793e-02 4.34331966e-01 -1.03224561e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.0807140569999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.99, Y:204.36, Z:-103.25 [[ 4.30672882e-01 -6.61646234e-02 9.00079503e-01 1.50990277e+02] [ 7.20478467e-02 9.96646616e-01 3.87895671e-02 2.04359411e+02] [-8.99627688e-01 4.81431754e-02 4.33995690e-01 -1.03254248e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.1107140569999 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:151.00, Y:204.36, Z:-103.28 [[ 4.30355819e-01 -6.59036022e-02 9.00250290e-01 1.51004408e+02] [ 7.26815893e-02 9.96622839e-01 3.82139175e-02 2.04362230e+02] [-8.99728434e-01 4.89860401e-02 4.33692417e-01 -1.03284493e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.140714057 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:151.02, Y:204.36, Z:-103.31 [[ 4.30656590e-01 -6.56190407e-02 9.00127237e-01 1.51018212e+02] [ 7.25402014e-02 9.96643265e-01 3.79489230e-02 2.04364921e+02] [-8.99595921e-01 4.89524573e-02 4.33971009e-01 -1.03313168e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.1707140569999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.03, Y:204.37, Z:-103.34 [[ 4.31881642e-01 -6.49046075e-02 8.99591929e-01 1.51032640e+02] [ 7.19400370e-02 9.96708489e-01 3.73740480e-02 2.04370627e+02] [-8.99056660e-01 4.85755114e-02 4.35129339e-01 -1.03343212e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.2007140569999 meters Centerline goodness : 0.999812 Centerline is valid? [True, True] Translation: X:151.05, Y:204.37, Z:-103.37 [[ 4.31826722e-01 -6.43232896e-02 8.99660045e-01 1.51045954e+02] [ 7.11454135e-02 9.96775101e-01 3.71177568e-02 2.04374139e+02] [-8.99146269e-01 4.79782467e-02 4.35010431e-01 -1.03372985e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.2307140569999 meters Centerline goodness : 0.999770 Centerline is valid? [True, True] Translation: X:151.06, Y:204.38, Z:-103.40 [[ 4.32109509e-01 -6.34024158e-02 8.99589632e-01 1.51060317e+02] [ 7.02330127e-02 9.96861798e-01 3.65223124e-02 2.04377736e+02] [-8.99082141e-01 4.73992516e-02 4.35206405e-01 -1.03403120e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.260714057 meters Centerline goodness : 0.999707 Centerline is valid? [True, True] Translation: X:151.07, Y:204.38, Z:-103.43 [[ 4.31729984e-01 -6.22069382e-02 8.99855276e-01 1.51074456e+02] [ 6.87358421e-02 9.96987176e-01 3.59437751e-02 2.04384174e+02] [-8.99380123e-01 4.63343047e-02 4.34705104e-01 -1.03433248e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.290714057 meters Centerline goodness : 0.999728 Centerline is valid? [True, True] Translation: X:151.09, Y:204.39, Z:-103.46 [[ 4.31345833e-01 -6.13259662e-02 9.00099938e-01 1.51087870e+02] [ 6.79808732e-02 9.97060016e-01 3.53542991e-02 2.04387520e+02] [-8.99621795e-01 4.59396502e-02 4.34246676e-01 -1.03461727e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.3207140569999 meters Centerline goodness : 0.999686 Centerline is valid? [True, True] Translation: X:151.10, Y:204.39, Z:-103.49 [[ 4.31309441e-01 -6.05192286e-02 9.00171978e-01 1.51102129e+02] [ 6.68989779e-02 9.97146222e-01 3.49848254e-02 2.04390586e+02] [-8.99720342e-01 4.51312998e-02 4.34127254e-01 -1.03491390e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.3507140569999 meters Centerline goodness : 0.999418 Centerline is valid? [True, True] Translation: X:151.11, Y:204.40, Z:-103.52 [[ 4.30322663e-01 -5.93945472e-02 9.00718987e-01 1.51114661e+02] [ 6.56135857e-02 9.97251530e-01 3.44128309e-02 2.04396857e+02] [-9.00287322e-01 4.42907814e-02 4.33037024e-01 -1.03520276e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.380714057 meters Centerline goodness : 0.999416 Centerline is valid? [True, True] Translation: X:151.13, Y:204.40, Z:-103.55 [[ 4.30498269e-01 -5.85401299e-02 9.00691009e-01 1.51129146e+02] [ 6.47826110e-02 9.97324879e-01 3.38570340e-02 2.04400265e+02] [-9.00263547e-01 4.37737207e-02 4.33139017e-01 -1.03549436e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.410714057 meters Centerline goodness : 0.999147 Centerline is valid? [True, True] Translation: X:151.14, Y:204.40, Z:-103.58 [[ 4.30713213e-01 -5.75301920e-02 9.00653321e-01 1.51142099e+02] [ 6.36968645e-02 9.97415245e-01 3.32496518e-02 2.04403680e+02] [-9.00238212e-01 4.30477282e-02 4.33264418e-01 -1.03578351e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.4407140569999 meters Centerline goodness : 0.999231 Centerline is valid? [True, True] Translation: X:151.16, Y:204.41, Z:-103.61 [[ 4.31929511e-01 -5.57912683e-02 9.00180111e-01 1.51155976e+02] [ 6.07807414e-02 9.97616476e-01 3.26660101e-02 2.04409733e+02] [-8.99856988e-01 4.06042007e-02 4.34291031e-01 -1.03608692e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.4707140569999 meters Centerline goodness : 0.999229 Centerline is valid? [True, True] Translation: X:151.17, Y:204.41, Z:-103.64 [[ 4.32452739e-01 -5.44117876e-02 9.00013326e-01 1.51169969e+02] [ 5.88091323e-02 9.97754193e-01 3.20633241e-02 2.04413316e+02] [-8.99736692e-01 3.90631304e-02 4.34681443e-01 -1.03638784e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.500714057 meters Centerline goodness : 0.999145 Centerline is valid? [True, True] Translation: X:151.18, Y:204.42, Z:-103.67 [[ 4.32945766e-01 -5.29255149e-02 8.99864908e-01 1.51183614e+02] [ 5.65853616e-02 9.97901760e-01 3.14670252e-02 2.04416826e+02] [-8.99642185e-01 3.72956659e-02 4.35032152e-01 -1.03667939e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.530714057 meters Centerline goodness : 0.998746 Centerline is valid? [True, True] Translation: X:151.20, Y:204.42, Z:-103.69 [[ 4.32455262e-01 -4.99915347e-02 9.00268456e-01 1.51195519e+02] [ 5.09985912e-02 9.98219565e-01 3.09329053e-02 2.04423246e+02] [-9.00211969e-01 3.25353253e-02 4.34234802e-01 -1.03693620e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.5607140569999 meters Centerline goodness : 0.998556 Centerline is valid? [True, True] Translation: X:151.21, Y:204.43, Z:-103.72 [[ 4.32573243e-01 -4.85381980e-02 9.00291305e-01 1.51210157e+02] [ 4.74298880e-02 9.98392231e-01 3.10380199e-02 2.04426530e+02] [-9.00350374e-01 2.92744988e-02 4.34179926e-01 -1.03722729e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.5907140569999 meters Centerline goodness : 0.998451 Centerline is valid? [True, True] Translation: X:151.22, Y:204.43, Z:-103.75 [[ 4.31926708e-01 -4.63039988e-02 9.00719301e-01 1.51223742e+02] [ 4.35528633e-02 9.98586974e-01 3.04500250e-02 2.04430127e+02] [-9.00856519e-01 2.60767255e-02 4.33333056e-01 -1.03752556e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.620714057 meters Centerline goodness : 0.998376 Centerline is valid? [True, True] Translation: X:151.24, Y:204.44, Z:-103.78 [[ 4.31959461e-01 -4.27217296e-02 9.00880613e-01 1.51237128e+02] [ 3.65252972e-02 9.98886640e-01 2.98560285e-02 2.04436016e+02] [-9.01153110e-01 2.00083382e-02 4.33038959e-01 -1.03782051e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.650714057 meters Centerline goodness : 0.998300 Centerline is valid? [True, True] Translation: X:151.25, Y:204.44, Z:-103.81 [[ 4.32288510e-01 -4.07986111e-02 9.00811921e-01 1.51251511e+02] [ 3.28524921e-02 9.99025309e-01 2.94812819e-02 2.04438641e+02] [-9.01136703e-01 1.68494971e-02 4.33207498e-01 -1.03812300e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.6807140569999 meters Centerline goodness : 0.997987 Centerline is valid? [True, True] Translation: X:151.26, Y:204.44, Z:-103.84 [[ 4.32588755e-01 -3.87613962e-02 9.00757749e-01 1.51264855e+02] [ 2.93882544e-02 9.99150727e-01 2.88817375e-02 2.04441208e+02] [-9.01112257e-01 1.39777830e-02 4.33360499e-01 -1.03841229e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.7107140569999 meters Centerline goodness : 0.998244 Centerline is valid? [True, True] Translation: X:151.28, Y:204.44, Z:-103.87 [[ 4.33126646e-01 -3.55532370e-02 9.00631598e-01 1.51278671e+02] [ 2.31329602e-02 9.99331070e-01 2.83245147e-02 2.04444396e+02] [-9.01036167e-01 8.56617287e-03 4.33659367e-01 -1.03871203e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.740714057 meters Centerline goodness : 0.998278 Centerline is valid? [True, True] Translation: X:151.29, Y:204.45, Z:-103.90 [[ 4.33018515e-01 -3.38944718e-02 9.00747540e-01 1.51292440e+02] [ 2.05249884e-02 9.99404436e-01 2.77398321e-02 2.04445639e+02] [-9.01151314e-01 6.47597187e-03 4.33456308e-01 -1.03900011e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.770714057 meters Centerline goodness : 0.998212 Centerline is valid? [True, True] Translation: X:151.31, Y:204.45, Z:-103.93 [[ 4.33273112e-01 -3.25379746e-02 9.00675131e-01 1.51307071e+02] [ 1.85302212e-02 9.99458450e-01 2.71926094e-02 2.04446201e+02] [-9.01072162e-01 4.90788290e-03 4.33641408e-01 -1.03929968e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.8007140569999 meters Centerline goodness : 0.998212 Centerline is valid? [True, True] Translation: X:151.32, Y:204.45, Z:-103.96 [[ 4.33280034e-01 -3.19590706e-02 9.00692528e-01 1.51321788e+02] [ 1.84081628e-02 9.99476416e-01 2.66089117e-02 2.04446779e+02] [-9.01071336e-01 5.05098453e-03 4.33641483e-01 -1.03960072e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.8307140569999 meters Centerline goodness : 0.998191 Centerline is valid? [True, True] Translation: X:151.34, Y:204.45, Z:-103.99 [[ 4.32672207e-01 -3.10124777e-02 9.01017751e-01 1.51336147e+02] [ 1.67490563e-02 9.99512200e-01 2.63596346e-02 2.04446180e+02] [-9.01395713e-01 3.68611575e-03 4.32980579e-01 -1.03988879e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.8607140569999 meters Centerline goodness : 0.998129 Centerline is valid? [True, True] Translation: X:151.35, Y:204.45, Z:-104.02 [[ 4.32508012e-01 -3.04614690e-02 9.01115375e-01 1.51350614e+02] [ 1.66107496e-02 9.99528708e-01 2.58155960e-02 2.04445778e+02] [-9.01477067e-01 3.80274977e-03 4.32810162e-01 -1.04018489e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.890714057 meters Centerline goodness : 0.998655 Centerline is valid? [True, True] Translation: X:151.37, Y:204.44, Z:-104.05 [[ 4.32845957e-01 -3.03247738e-02 9.00957705e-01 1.51365658e+02] [ 1.74939474e-02 9.99528394e-01 2.52379085e-02 2.04443217e+02] [-9.01298141e-01 4.83718007e-03 4.33172324e-01 -1.04047575e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.9207140569999 meters Centerline goodness : 0.998806 Centerline is valid? [True, True] Translation: X:151.38, Y:204.44, Z:-104.08 [[ 4.33267283e-01 -3.00533678e-02 9.00764263e-01 1.51379363e+02] [ 1.80865048e-02 9.99532541e-01 2.46490998e-02 2.04441704e+02] [-9.01083981e-01 5.61202869e-03 4.33608309e-01 -1.04076143e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.9507140569999 meters Centerline goodness : 0.998421 Centerline is valid? [True, True] Translation: X:151.39, Y:204.44, Z:-104.11 [[ 4.33803402e-01 -3.00265639e-02 9.00507087e-01 1.51393580e+02] [ 1.91577149e-02 9.99525989e-01 2.40993651e-02 2.04440244e+02] [-9.00803858e-01 6.79727146e-03 4.34173014e-01 -1.04106242e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.9807140569999 meters Centerline goodness : 0.998948 Centerline is valid? [True, True] Translation: X:151.41, Y:204.44, Z:-104.14 [[ 4.34404337e-01 -3.06028432e-02 9.00197944e-01 1.51408039e+02] [ 2.16780063e-02 9.99488371e-01 2.35172343e-02 2.04435604e+02] [-9.00457071e-01 9.29850815e-03 4.34845492e-01 -1.04135864e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.010714057 meters Centerline goodness : 0.999055 Centerline is valid? [True, True] Translation: X:151.42, Y:204.43, Z:-104.17 [[ 4.34580775e-01 -3.06092954e-02 9.00112560e-01 1.51422997e+02] [ 2.29143673e-02 9.99474550e-01 2.29249864e-02 2.04433348e+02] [-9.00341314e-01 1.06627515e-02 4.35053817e-01 -1.04165819e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.040714057 meters Centerline goodness : 0.999036 Centerline is valid? [True, True] Translation: X:151.44, Y:204.43, Z:-104.19 [[ 4.34822758e-01 -3.07066743e-02 8.99992372e-01 1.51437539e+02] [ 2.43784772e-02 9.99453561e-01 2.23219429e-02 2.04431260e+02] [-9.00186014e-01 1.22343547e-02 4.35333736e-01 -1.04194049e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.0707140569999 meters Centerline goodness : 0.999182 Centerline is valid? [True, True] Translation: X:151.45, Y:204.43, Z:-104.22 [[ 4.34429892e-01 -3.07394239e-02 9.00180958e-01 1.51452476e+02] [ 2.56120513e-02 9.99434922e-01 2.17683043e-02 2.04429563e+02] [-9.00341431e-01 1.35986788e-02 4.34971705e-01 -1.04223623e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.1007140569999 meters Centerline goodness : 0.999391 Centerline is valid? [True, True] Translation: X:151.47, Y:204.43, Z:-104.25 [[ 4.34825501e-01 -3.12107250e-02 8.99973707e-01 1.51467671e+02] [ 2.78942041e-02 9.99386448e-01 2.11811347e-02 2.04425560e+02] [-9.00082606e-01 1.58939527e-02 4.35429312e-01 -1.04251557e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.130714057 meters Centerline goodness : 0.999097 Centerline is valid? [True, True] Translation: X:151.48, Y:204.42, Z:-104.28 [[ 4.35215339e-01 -3.12032496e-02 8.99785511e-01 1.51482260e+02] [ 2.89977384e-02 9.99366552e-01 2.06307206e-02 2.04423664e+02] [-8.99859289e-01 1.71129388e-02 4.35844476e-01 -1.04281142e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.160714057 meters Centerline goodness : 0.999433 Centerline is valid? [True, True] Translation: X:151.50, Y:204.42, Z:-104.31 [[ 4.35472532e-01 -3.09675945e-02 8.99669207e-01 1.51497207e+02] [ 2.96581193e-02 9.99359123e-01 2.00434245e-02 2.04421287e+02] [-8.99713327e-01 1.79541358e-02 4.36111888e-01 -1.04310423e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.1907140569999 meters Centerline goodness : 0.999622 Centerline is valid? [True, True] Translation: X:151.51, Y:204.42, Z:-104.34 [[ 4.35157430e-01 -3.09843040e-02 8.99821084e-01 1.51512607e+02] [ 3.09007460e-02 9.99332865e-01 1.94671411e-02 2.04416349e+02] [-8.99823958e-01 1.93338716e-02 4.35824559e-01 -1.04340135e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.2207140569999 meters Centerline goodness : 0.999454 Centerline is valid? [True, True] Translation: X:151.53, Y:204.41, Z:-104.37 [[ 4.35152622e-01 -3.04403179e-02 8.99841976e-01 1.51527881e+02] [ 3.08561312e-02 9.99345419e-01 1.88847223e-02 2.04414211e+02] [-8.99827814e-01 1.95479057e-02 4.35807050e-01 -1.04369974e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.250714057 meters Centerline goodness : 0.999432 Centerline is valid? [True, True] Translation: X:151.54, Y:204.41, Z:-104.40 [[ 4.36023693e-01 -2.99145649e-02 8.99437857e-01 1.51541960e+02] [ 3.08379028e-02 9.99357073e-01 1.82883961e-02 2.04409536e+02] [-8.99406673e-01 1.97626032e-02 4.36665863e-01 -1.04398294e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.280714057 meters Centerline goodness : 0.999474 Centerline is valid? [True, True] Translation: X:151.56, Y:204.41, Z:-104.43 [[ 4.35818237e-01 -2.93118052e-02 8.99557270e-01 1.51555986e+02] [ 3.05913474e-02 9.99374475e-01 1.77433982e-02 2.04407501e+02] [-8.99514666e-01 1.97857724e-02 4.36442310e-01 -1.04427780e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.3107140569999 meters Centerline goodness : 0.999642 Centerline is valid? [True, True] Translation: X:151.57, Y:204.41, Z:-104.46 [[ 4.35904031e-01 -2.85576601e-02 8.99539958e-01 1.51570881e+02] [ 3.00620257e-02 9.99400720e-01 1.71603137e-02 2.04405130e+02] [-8.99490940e-01 1.95617434e-02 4.36501303e-01 -1.04457455e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.3407140569999 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:151.59, Y:204.40, Z:-104.49 [[ 4.35873164e-01 -2.76698334e-02 8.99582662e-01 1.51585965e+02] [ 2.92324849e-02 9.99435170e-01 1.65771858e-02 2.04402644e+02] [-8.99533238e-01 1.90714861e-02 4.36435828e-01 -1.04486921e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.370714057 meters Centerline goodness : 0.999600 Centerline is valid? [True, True] Translation: X:151.60, Y:204.40, Z:-104.52 [[ 4.35853926e-01 -2.63367869e-02 8.99631996e-01 1.51600893e+02] [ 2.73816377e-02 9.99497085e-01 1.59944816e-02 2.04398419e+02] [-8.99600801e-01 1.76621398e-02 4.36355873e-01 -1.04516576e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.400714057 meters Centerline goodness : 0.999769 Centerline is valid? [True, True] Translation: X:151.61, Y:204.40, Z:-104.55 [[ 4.36099497e-01 -2.52233698e-02 8.99544891e-01 1.51614941e+02] [ 2.60354452e-02 9.99542311e-01 1.54053244e-02 2.04396660e+02] [-8.99521753e-01 1.67017975e-02 4.36556601e-01 -1.04545798e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.4307140569999 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:151.63, Y:204.39, Z:-104.58 [[ 4.37306236e-01 -2.34424797e-02 8.99007067e-01 1.51628187e+02] [ 2.30599445e-02 9.99623802e-01 1.48490525e-02 2.04392721e+02] [-8.99016960e-01 1.42374698e-02 4.37682304e-01 -1.04575286e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.4607140569999 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:151.64, Y:204.39, Z:-104.60 [[ 4.37393244e-01 -2.21275913e-02 8.98998064e-01 1.51642551e+02] [ 2.11533430e-02 9.99673773e-01 1.43137609e-02 2.04390419e+02] [-8.99021516e-01 1.27560721e-02 4.37718627e-01 -1.04604553e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.490714057 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:151.66, Y:204.39, Z:-104.63 [[ 4.37320330e-01 -2.06997454e-02 8.99067544e-01 1.51657061e+02] [ 1.90447525e-02 9.99724031e-01 1.37535556e-02 2.04388054e+02] [-8.99104124e-01 1.11078094e-02 4.37593865e-01 -1.04634386e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.520714057 meters Centerline goodness : 0.999728 Centerline is valid? [True, True] Translation: X:151.67, Y:204.39, Z:-104.66 [[ 4.37222248e-01 -1.90164681e-02 8.99152423e-01 1.51670988e+02] [ 1.63857603e-02 9.99778914e-01 1.31769037e-02 2.04385534e+02] [-8.99204211e-01 8.97206065e-03 4.37437184e-01 -1.04663319e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.5507140569999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.69, Y:204.38, Z:-104.69 [[ 4.37155981e-01 -1.60789690e-02 8.99241967e-01 1.51686105e+02] [ 1.07773303e-02 9.99862045e-01 1.26388412e-02 2.04381609e+02] [-8.99321132e-01 4.16628263e-03 4.37268961e-01 -1.04692486e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.5807140569999 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:151.70, Y:204.38, Z:-104.72 [[ 4.36887017e-01 -1.41078581e-02 8.99405750e-01 1.51700747e+02] [ 7.42909173e-03 9.99899491e-01 1.20754914e-02 2.04380138e+02] [-8.99485711e-01 1.40614242e-03 4.36947914e-01 -1.04721843e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.6107140569999 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:151.71, Y:204.38, Z:-104.75 [[ 4.36337747e-01 -1.00717400e-02 8.99726587e-01 1.51714859e+02] [ 5.62189862e-04 9.99940207e-01 1.09209100e-02 2.04376199e+02] [-8.99782782e-01 -4.25938810e-03 4.36317319e-01 -1.04749957e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.640714057 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:151.73, Y:204.37, Z:-104.78 [[ 4.35528046e-01 -1.43012179e-02 9.00061552e-01 1.51730519e+02] [-2.23374069e-03 9.99853543e-01 1.69677064e-02 2.04371003e+02] [-9.00172390e-01 -9.40041610e-03 4.35432314e-01 -1.04779974e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.6707140569999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:151.74, Y:204.37, Z:-104.81 [[ 4.35309502e-01 -7.31837280e-03 9.00251120e-01 1.51744982e+02] [-5.25676795e-03 9.99929250e-01 1.06705516e-02 2.04370113e+02] [-9.00265519e-01 -9.37740375e-03 4.35240233e-01 -1.04809905e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.7007140569999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.76, Y:204.36, Z:-104.84 [[ 4.34971595e-01 -4.98579275e-03 9.00430371e-01 1.51760009e+02] [-9.40700477e-03 9.99904938e-01 1.00808446e-02 2.04362996e+02] [-9.00395035e-01 -1.28552339e-02 4.34883345e-01 -1.04839884e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.7307140569999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.77, Y:204.36, Z:-104.87 [[ 4.34997093e-01 -3.69975203e-03 9.00424256e-01 1.51774044e+02] [-1.11408593e-02 9.99892899e-01 9.49063417e-03 2.04359370e+02] [-9.00362932e-01 -1.41598983e-02 4.34909286e-01 -1.04868685e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.760714057 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.79, Y:204.36, Z:-104.90 [[ 4.34711347e-01 -2.70047056e-03 9.00565796e-01 1.51788462e+02] [-1.23136810e-02 9.99884198e-01 8.94221694e-03 2.04355514e+02] [-9.00485657e-01 -1.49765631e-02 4.34627754e-01 -1.04898902e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.790714057 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.80, Y:204.35, Z:-104.93 [[ 4.35236646e-01 -1.50764991e-03 9.00314828e-01 1.51802466e+02] [-1.38107596e-02 9.99869755e-01 8.35085906e-03 2.04347046e+02] [-9.00210156e-01 -1.60686315e-02 4.35159137e-01 -1.04928894e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.8207140569999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.82, Y:204.34, Z:-104.96 [[ 4.36166294e-01 -7.30252530e-04 8.99865785e-01 1.51816757e+02] [-1.43379186e-02 9.99867087e-01 7.76101546e-03 2.04342401e+02] [-8.99751848e-01 -1.62872957e-02 4.36097851e-01 -1.04958810e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.8507140569999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.83, Y:204.33, Z:-104.99 [[ 4.37927825e-01 3.33780152e-04 8.99010071e-01 1.51830755e+02] [-1.54680305e-02 9.99854701e-01 7.16360084e-03 2.04333075e+02] [-8.98877055e-01 -1.70430553e-02 4.37869358e-01 -1.04988259e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.880714057 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.85, Y:204.33, Z:-105.02 [[ 4.38288940e-01 1.40653624e-03 8.98833036e-01 1.51845581e+02] [-1.66806749e-02 9.99839287e-01 6.56923466e-03 2.04328206e+02] [-8.98679343e-01 -1.78723646e-02 4.38241963e-01 -1.05018276e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.910714057 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.86, Y:204.32, Z:-105.05 [[ 4.38690365e-01 2.54090010e-03 8.98634691e-01 1.51860037e+02] [-1.80264238e-02 9.99819669e-01 5.97303509e-03 2.04323305e+02] [-8.98457462e-01 -1.88194827e-02 4.38657059e-01 -1.05047160e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.9407140569999 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:151.87, Y:204.32, Z:-105.08 [[ 4.38857201e-01 3.58287024e-03 8.98549676e-01 1.51874698e+02] [-1.92575314e-02 9.99799872e-01 5.41890253e-03 2.04318389e+02] [-8.98350435e-01 -1.96819730e-02 4.38838371e-01 -1.05076933e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.9707140569999 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:151.89, Y:204.31, Z:-105.11 [[ 4.37237967e-01 4.82919152e-03 8.99332886e-01 1.51889574e+02] [-2.09845969e-02 9.99768114e-01 4.83379498e-03 2.04307861e+02] [-8.99100999e-01 -2.09856568e-02 4.37237916e-01 -1.05106055e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.000714057 meters Centerline goodness : 0.999790 Centerline is valid? [True, True] Translation: X:151.90, Y:204.30, Z:-105.14 [[ 4.36476872e-01 5.33443878e-03 8.99699663e-01 1.51903949e+02] [-2.09659878e-02 9.99771184e-01 4.24358345e-03 2.04302996e+02] [-8.99471160e-01 -2.07153182e-02 4.36488841e-01 -1.05135020e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.030714057 meters Centerline goodness : 0.999707 Centerline is valid? [True, True] Translation: X:151.92, Y:204.29, Z:-105.16 [[ 4.35882112e-01 5.65732286e-03 8.99985988e-01 1.51918304e+02] [-2.06028201e-02 9.99780916e-01 3.69374340e-03 2.04292730e+02] [-8.99767919e-01 -2.01522861e-02 4.35903174e-01 -1.05164235e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.0607140569999 meters Centerline goodness : 0.999519 Centerline is valid? [True, True] Translation: X:151.93, Y:204.29, Z:-105.19 [[ 4.35923534e-01 6.02416620e-03 8.99963545e-01 1.51932236e+02] [-2.02436588e-02 9.99790229e-01 3.11322029e-03 2.04287835e+02] [-8.99756004e-01 -1.95756809e-02 4.35954041e-01 -1.05194115e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.0907140569999 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:151.95, Y:204.28, Z:-105.22 [[ 4.35499575e-01 6.23884285e-03 9.00167316e-01 1.51946134e+02] [-1.95660278e-02 9.99805349e-01 2.53660437e-03 2.04283306e+02] [-8.99976272e-01 -1.87173889e-02 4.35536874e-01 -1.05223773e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.120714057 meters Centerline goodness : 0.999600 Centerline is valid? [True, True] Translation: X:151.96, Y:204.28, Z:-105.25 [[ 4.35616238e-01 6.32797114e-03 9.00110243e-01 1.51960043e+02] [-1.85547861e-02 9.99825942e-01 1.95075706e-03 2.04279053e+02] [-8.99941228e-01 -1.75511345e-02 4.35657830e-01 -1.05253002e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.150714057 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:151.97, Y:204.27, Z:-105.28 [[ 4.34917062e-01 5.38641734e-03 9.00454405e-01 1.51974041e+02] [-1.52948212e-02 9.99882039e-01 1.40617532e-03 2.04270029e+02] [-9.00340612e-01 -1.43838588e-02 4.34948143e-01 -1.05282385e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.1807140569999 meters Centerline goodness : 0.999477 Centerline is valid? [True, True] Translation: X:151.99, Y:204.27, Z:-105.31 [[ 4.34403805e-01 5.23660314e-03 9.00703010e-01 1.51988175e+02] [-1.37428504e-02 9.99905231e-01 8.14740976e-04 2.04265358e+02] [-9.00613384e-01 -1.27321533e-02 4.34434603e-01 -1.05311783e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.2107140569999 meters Centerline goodness : 0.999433 Centerline is valid? [True, True] Translation: X:152.00, Y:204.26, Z:-105.34 [[ 4.33562934e-01 4.94449521e-03 9.01109724e-01 1.52002565e+02] [-1.18785374e-02 9.99929422e-01 2.28548511e-04 2.04261246e+02] [-9.01044995e-01 -1.08029557e-02 4.33591067e-01 -1.05341993e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.240714057 meters Centerline goodness : 0.999454 Centerline is valid? [True, True] Translation: X:152.02, Y:204.25, Z:-105.37 [[ 4.32200873e-01 3.22479935e-03 9.01771593e-01 1.52017229e+02] [-6.71134600e-03 9.99977414e-01 -3.59378045e-04 2.04253695e+02] [-9.01752385e-01 -5.89677767e-03 4.32212754e-01 -1.05372071e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.270714057 meters Centerline goodness : 0.999601 Centerline is valid? [True, True] Translation: X:152.03, Y:204.25, Z:-105.40 [[ 4.31979402e-01 2.70190101e-03 9.01879424e-01 1.52031416e+02] [-4.28504778e-03 9.99990374e-01 -9.43388444e-04 2.04249838e+02] [-9.01873292e-01 -3.45707205e-03 4.31986822e-01 -1.05400362e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.3007140569999 meters Centerline goodness : 0.999580 Centerline is valid? [True, True] Translation: X:152.05, Y:204.24, Z:-105.43 [[ 4.31907084e-01 5.74080368e-04 9.01917924e-01 1.52045496e+02] [ 1.40040554e-03 9.99998165e-01 -1.30713045e-03 2.04243439e+02] [-9.01917019e-01 1.82760976e-03 4.31905487e-01 -1.05430429e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.3307140569999 meters Centerline goodness : 0.999180 Centerline is valid? [True, True] Translation: X:152.06, Y:204.24, Z:-105.46 [[ 4.32475579e-01 -1.49463813e-04 9.01645635e-01 1.52059107e+02] [ 4.29796935e-03 9.99988967e-01 -1.89576098e-03 2.04240974e+02] [-9.01635404e-01 4.69511563e-03 4.32471449e-01 -1.05459462e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.3607140569999 meters Centerline goodness : 0.999056 Centerline is valid? [True, True] Translation: X:152.07, Y:204.24, Z:-105.49 [[ 4.32551142e-01 -9.25935737e-04 9.01608924e-01 1.52072509e+02] [ 7.23272841e-03 9.99970859e-01 -2.44298400e-03 2.04238632e+02] [-9.01580389e-01 7.57780800e-03 4.32545234e-01 -1.05489424e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.390714057 meters Centerline goodness : 0.999370 Centerline is valid? [True, True] Translation: X:152.09, Y:204.24, Z:-105.52 [[ 4.33026841e-01 -1.54488749e-03 9.01379703e-01 1.52086436e+02] [ 9.86338791e-03 9.99946781e-01 -3.02459266e-03 2.04236573e+02] [-9.01327060e-01 1.02003875e-02 4.33019034e-01 -1.05518533e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.4207140569999 meters Centerline goodness : 0.999180 Centerline is valid? [True, True] Translation: X:152.10, Y:204.23, Z:-105.55 [[ 4.33666749e-01 -3.22281858e-03 9.01067569e-01 1.52100623e+02] [ 1.48377662e-02 9.99883559e-01 -3.56488530e-03 2.04233181e+02] [-9.00951160e-01 1.49158022e-02 4.33664072e-01 -1.05547828e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.4507140569999 meters Centerline goodness : 0.999349 Centerline is valid? [True, True] Translation: X:152.11, Y:204.23, Z:-105.58 [[ 4.33980079e-01 -3.45636712e-03 9.00915837e-01 1.52114674e+02] [ 1.65898121e-02 9.99853744e-01 -4.15553394e-03 2.04231907e+02] [-9.00769709e-01 1.67494434e-02 4.33973947e-01 -1.05575999e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.4807140569999 meters Centerline goodness : 0.998887 Centerline is valid? [True, True] Translation: X:152.13, Y:204.23, Z:-105.61 [[ 4.33703431e-01 -3.52496868e-03 9.01048783e-01 1.52128761e+02] [ 1.79027804e-02 9.99828658e-01 -4.70577471e-03 2.04231054e+02] [-9.00877808e-01 1.81721891e-02 4.33692226e-01 -1.05605645e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.510714057 meters Centerline goodness : 0.998843 Centerline is valid? [True, True] Translation: X:152.14, Y:204.23, Z:-105.64 [[ 4.33024495e-01 -3.78315094e-03 9.01374215e-01 1.52143415e+02] [ 1.97121443e-02 9.99791789e-01 -5.27359004e-03 2.04230296e+02] [-9.01166587e-01 2.00516122e-02 4.33008908e-01 -1.05635002e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.540714057 meters Centerline goodness : 0.999202 Centerline is valid? [True, True] Translation: X:152.16, Y:204.23, Z:-105.66 [[ 4.32972652e-01 -3.69325209e-03 9.01399491e-01 1.52157704e+02] [ 2.07562979e-02 9.99767311e-01 -5.87366277e-03 2.04230890e+02] [-9.01168052e-01 2.12528517e-02 4.32948563e-01 -1.05663526e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.5707140569999 meters Centerline goodness : 0.999305 Centerline is valid? [True, True] Translation: X:152.17, Y:204.23, Z:-105.69 [[ 4.32051567e-01 -3.72410693e-03 9.01841214e-01 1.52171974e+02] [ 2.20507635e-02 9.99736138e-01 -6.43565912e-03 2.04231748e+02] [-9.01579285e-01 2.26668239e-02 4.32019685e-01 -1.05693260e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.6007140569999 meters Centerline goodness : 0.999348 Centerline is valid? [True, True] Translation: X:152.19, Y:204.23, Z:-105.72 [[ 4.31778597e-01 -3.69343876e-03 9.01972062e-01 1.52186194e+02] [ 2.32271477e-02 9.99705529e-01 -7.02531084e-03 2.04232269e+02] [-9.01680510e-01 2.39836172e-02 4.31737239e-01 -1.05722251e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.630714057 meters Centerline goodness : 0.999286 Centerline is valid? [True, True] Translation: X:152.20, Y:204.23, Z:-105.75 [[ 4.32427968e-01 -3.67116888e-03 9.01661009e-01 1.52201155e+02] [ 2.42716968e-02 9.99676736e-01 -7.57022688e-03 2.04232895e+02] [-9.01341743e-01 2.51584205e-02 4.32377285e-01 -1.05751983e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.660714057 meters Centerline goodness : 0.999225 Centerline is valid? [True, True] Translation: X:152.22, Y:204.23, Z:-105.78 [[ 4.33245834e-01 -4.88076075e-03 9.01262573e-01 1.52215218e+02] [ 2.82182043e-02 9.99568549e-01 -8.15163610e-03 2.04234678e+02] [-9.00833936e-01 2.89636738e-02 4.33196636e-01 -1.05780570e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.6907140569999 meters Centerline goodness : 0.999225 Centerline is valid? [True, True] Translation: X:152.23, Y:204.23, Z:-105.81 [[ 4.33262242e-01 -4.33861985e-03 9.01257458e-01 1.52229820e+02] [ 2.80977074e-02 9.99567360e-01 -8.69555401e-03 2.04234665e+02] [-9.00829811e-01 2.90907236e-02 4.33196700e-01 -1.05810704e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.7207140569999 meters Centerline goodness : 0.999495 Centerline is valid? [True, True] Translation: X:152.24, Y:204.24, Z:-105.84 [[ 4.33567819e-01 -4.66657000e-03 9.01108856e-01 1.52244358e+02] [ 2.93575427e-02 9.99528913e-01 -8.94910097e-03 2.04235704e+02] [-9.00642594e-01 3.03343839e-02 4.33500570e-01 -1.05839853e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.750714057 meters Centerline goodness : 0.999413 Centerline is valid? [True, True] Translation: X:152.26, Y:204.24, Z:-105.87 [[ 4.33453632e-01 -4.71605347e-03 9.01163530e-01 1.52258278e+02] [ 3.06850382e-02 9.99483683e-01 -9.52870647e-03 2.04237571e+02] [-9.00653306e-01 3.17824898e-02 4.33374544e-01 -1.05868724e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.780714057 meters Centerline goodness : 0.999201 Centerline is valid? [True, True] Translation: X:152.27, Y:204.24, Z:-105.90 [[ 4.34039545e-01 -4.50602852e-03 9.00882550e-01 1.52272659e+02] [ 3.12646111e-02 9.99460475e-01 -1.00639980e-02 2.04239572e+02] [-9.00351152e-01 3.25339157e-02 4.33946249e-01 -1.05897810e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.8107140569999 meters Centerline goodness : 0.999311 Centerline is valid? [True, True] Translation: X:152.29, Y:204.24, Z:-105.93 [[ 4.35113859e-01 -4.36758550e-03 9.00364845e-01 1.52287438e+02] [ 3.19433839e-02 9.99433587e-01 -1.05889268e-02 2.04243838e+02] [-8.99808618e-01 3.33680886e-02 4.35006921e-01 -1.05927308e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.8407140569999 meters Centerline goodness : 0.999539 Centerline is valid? [True, True] Translation: X:152.30, Y:204.25, Z:-105.96 [[ 4.35566679e-01 -3.53007136e-03 9.00149547e-01 1.52302070e+02] [ 3.11634309e-02 9.99451998e-01 -1.11599403e-02 2.04245815e+02] [-8.99616868e-01 3.29126463e-02 4.35437997e-01 -1.05956793e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.870714057 meters Centerline goodness : 0.999707 Centerline is valid? [True, True] Translation: X:152.32, Y:204.25, Z:-105.99 [[ 4.36188374e-01 -2.27003565e-03 8.99852515e-01 1.52316694e+02] [ 2.94088681e-02 9.99498590e-01 -1.17340439e-02 2.04250139e+02] [-8.99374683e-01 3.15818975e-02 4.36036424e-01 -1.05986256e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.900714057 meters Centerline goodness : 0.999581 Centerline is valid? [True, True] Translation: X:152.33, Y:204.25, Z:-106.02 [[ 4.36566633e-01 -1.03338277e-03 8.99671333e-01 1.52330931e+02] [ 2.77258868e-02 9.99539814e-01 -1.23059270e-02 2.04252812e+02] [-8.99244600e-01 3.03165426e-02 4.36394382e-01 -1.06015624e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.9307140569999 meters Centerline goodness : 0.999498 Centerline is valid? [True, True] Translation: X:152.35, Y:204.26, Z:-106.05 [[ 4.37508090e-01 1.55110581e-03 8.99213137e-01 1.52345473e+02] [ 2.29156450e-02 9.99654509e-01 -1.28738666e-02 2.04258965e+02] [-8.98922435e-01 2.62384698e-02 4.37321390e-01 -1.06045813e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.9607140569999 meters Centerline goodness : 0.999306 Centerline is valid? [True, True] Translation: X:152.36, Y:204.26, Z:-106.08 [[ 4.37782027e-01 3.45106871e-03 8.99074517e-01 1.52359520e+02] [ 1.97315758e-02 9.99714906e-01 -1.34451748e-02 2.04262531e+02] [-8.98864596e-01 2.36262128e-02 4.37589122e-01 -1.06075466e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.990714057 meters Centerline goodness : 0.999665 Centerline is valid? [True, True] Translation: X:152.37, Y:204.27, Z:-106.10 [[ 4.38133765e-01 5.39913747e-03 8.98893572e-01 1.52373541e+02] [ 1.64575926e-02 9.99766173e-01 -1.40266906e-02 2.04265698e+02] [-8.98759118e-01 2.09391909e-02 4.37942461e-01 -1.06104865e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.020714057 meters Centerline goodness : 0.999707 Centerline is valid? [True, True] Translation: X:152.39, Y:204.27, Z:-106.13 [[ 4.38781884e-01 7.18452789e-03 8.98564879e-01 1.52388031e+02] [ 1.35440711e-02 9.99801567e-01 -1.46077324e-02 2.04268847e+02] [-8.98491523e-01 1.85798349e-02 4.38597507e-01 -1.06134240e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.0507140569999 meters Centerline goodness : 0.999728 Centerline is valid? [True, True] Translation: X:152.40, Y:204.27, Z:-106.16 [[ 4.39729779e-01 9.88891917e-03 8.98075682e-01 1.52402820e+02] [ 8.52801232e-03 9.99848330e-01 -1.51851793e-02 2.04274089e+02] [-8.98089636e-01 1.43361760e-02 4.39578752e-01 -1.06163644e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.0807140569999 meters Centerline goodness : 0.999539 Centerline is valid? [True, True] Translation: X:152.42, Y:204.28, Z:-106.19 [[ 4.39458331e-01 1.12207978e-02 8.98192891e-01 1.52417024e+02] [ 6.70802581e-03 9.99853099e-01 -1.57728339e-02 2.04276547e+02] [-8.98237930e-01 1.29566043e-02 4.39318504e-01 -1.06192757e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.1107140569999 meters Centerline goodness : 0.999812 Centerline is valid? [True, True] Translation: X:152.43, Y:204.28, Z:-106.22 [[ 4.38861338e-01 1.16769179e-02 8.98478923e-01 1.52432625e+02] [ 6.44519456e-03 9.99848928e-01 -1.61425050e-02 2.04281818e+02] [-8.98531683e-01 1.28751928e-02 4.38719779e-01 -1.06222226e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.140714057 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:152.45, Y:204.28, Z:-106.25 [[ 4.38419409e-01 1.18972622e-02 8.98691759e-01 1.52447831e+02] [ 7.14868421e-03 9.99834594e-01 -1.67236609e-02 2.04284382e+02] [-8.98742076e-01 1.37564411e-02 4.38261842e-01 -1.06251438e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.1707140569999 meters Centerline goodness : 0.999811 Centerline is valid? [True, True] Translation: X:152.46, Y:204.29, Z:-106.28 [[ 4.37501575e-01 1.19180397e-02 8.99138661e-01 1.52462244e+02] [ 8.33140018e-03 9.99815521e-01 -1.73063871e-02 2.04286917e+02] [-8.99179048e-01 1.50626556e-02 4.37321571e-01 -1.06281620e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.2007140569999 meters Centerline goodness : 0.999833 Centerline is valid? [True, True] Translation: X:152.48, Y:204.29, Z:-106.31 [[ 4.37122250e-01 1.06667857e-02 8.99338845e-01 1.52476553e+02] [ 1.23939142e-02 9.99763286e-01 -1.78819324e-02 2.04291724e+02] [-8.99316701e-01 1.89629190e-02 4.36886574e-01 -1.06310360e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.2307140569999 meters Centerline goodness : 0.999854 Centerline is valid? [True, True] Translation: X:152.49, Y:204.29, Z:-106.34 [[ 4.36770850e-01 1.02424892e-02 8.99514489e-01 1.52490390e+02] [ 1.41225107e-02 9.99733875e-01 -1.82410229e-02 2.04293217e+02] [-8.99461939e-01 2.06705501e-02 4.36509964e-01 -1.06338937e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.260714057 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:152.50, Y:204.29, Z:-106.37 [[ 4.36400953e-01 9.93679701e-03 8.99697431e-01 1.52504393e+02] [ 1.59311001e-02 9.99696922e-01 -1.87686794e-02 2.04294885e+02] [-8.99611254e-01 2.25238394e-02 4.36110386e-01 -1.06368417e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.290714057 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:152.52, Y:204.30, Z:-106.40 [[ 4.36876089e-01 9.64170552e-03 8.99470022e-01 1.52518704e+02] [ 1.77102754e-02 9.99656530e-01 -1.93175862e-02 2.04296937e+02] [-8.99347335e-01 2.43692533e-02 4.36555278e-01 -1.06398009e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.3207140569999 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:152.53, Y:204.30, Z:-106.43 [[ 4.37483211e-01 8.20054294e-03 8.99189186e-01 1.52532800e+02] [ 2.20874838e-02 9.99558722e-01 -1.98621468e-02 2.04302435e+02] [-8.98955273e-01 2.85501823e-02 4.37109030e-01 -1.06427308e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.3507140569999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.54, Y:204.31, Z:-106.45 [[ 4.37451448e-01 7.59005766e-03 8.99209999e-01 1.52544693e+02] [ 2.45379295e-02 9.99491269e-01 -2.03738272e-02 2.04305344e+02] [-8.98907182e-01 3.09773118e-02 4.37042659e-01 -1.06452361e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.380714057 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.56, Y:204.31, Z:-106.48 [[ 4.37258703e-01 6.04884154e-03 8.99315428e-01 1.52556813e+02] [ 2.69724079e-02 9.99439342e-01 -1.98366110e-02 2.04307658e+02] [-8.98931208e-01 3.29304333e-02 4.36850399e-01 -1.06476854e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.410714057 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:152.57, Y:204.31, Z:-106.50 [[ 4.36869487e-01 3.92189030e-03 8.99516353e-01 1.52569363e+02] [ 3.13982326e-02 9.99314638e-01 -1.96062385e-02 2.04312240e+02] [-8.98976753e-01 3.68085911e-02 4.36446933e-01 -1.06501753e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.4407140569999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.58, Y:204.31, Z:-106.53 [[ 4.37382956e-01 2.49098277e-03 8.99271897e-01 1.52582172e+02] [ 3.35170254e-02 9.99256200e-01 -1.90697671e-02 2.04314957e+02] [-8.98650521e-01 3.84817101e-02 4.36974141e-01 -1.06527154e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.4707140569999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.59, Y:204.32, Z:-106.55 [[ 4.38086066e-01 6.61210361e-04 8.98932790e-01 1.52593419e+02] [ 3.65238391e-02 9.99160889e-01 -1.85344674e-02 2.04321072e+02] [-8.98190741e-01 4.09521685e-02 4.37694313e-01 -1.06551523e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.500714057 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.61, Y:204.32, Z:-106.58 [[ 4.38444228e-01 -4.14109506e-04 8.98758303e-01 1.52605828e+02] [ 3.84614575e-02 9.99092457e-01 -1.83024405e-02 2.04324214e+02] [-8.97935062e-01 4.25921537e-02 4.38062248e-01 -1.06576626e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.530714057 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.62, Y:204.33, Z:-106.60 [[ 4.38196342e-01 -1.39597151e-03 8.98878199e-01 1.52618342e+02] [ 3.96655693e-02 9.99054719e-01 -1.77851187e-02 2.04327327e+02] [-8.98003679e-01 4.34478895e-02 4.37837496e-01 -1.06601846e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.5607140569999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.63, Y:204.33, Z:-106.63 [[ 4.37148601e-01 -2.07969766e-03 8.99386889e-01 1.52633327e+02] [ 4.02879672e-02 9.99038819e-01 -1.72719105e-02 2.04333924e+02] [-8.98486494e-01 4.37848610e-02 4.36812209e-01 -1.06631260e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.5907140569999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.65, Y:204.34, Z:-106.66 [[ 4.37423038e-01 -1.61890540e-03 8.99254394e-01 1.52647356e+02] [ 4.00298962e-02 9.99042175e-01 -1.76731347e-02 2.04337546e+02] [-8.98364455e-01 4.37276963e-02 4.37068868e-01 -1.06659895e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.620714057 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.66, Y:204.34, Z:-106.69 [[ 4.38019725e-01 -8.73576261e-04 8.98964937e-01 1.52662200e+02] [ 3.90037987e-02 9.99076318e-01 -1.80336998e-02 2.04340984e+02] [-8.98118825e-01 4.29621637e-02 4.37649207e-01 -1.06689784e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.650714057 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.68, Y:204.34, Z:-106.72 [[ 4.38499288e-01 3.04793296e-04 8.98731485e-01 1.52676251e+02] [ 3.74323140e-02 9.99126004e-01 -1.86024082e-02 2.04344547e+02] [-8.97951667e-01 4.17987419e-02 4.38104632e-01 -1.06718314e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.6807140569999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.69, Y:204.35, Z:-106.74 [[ 4.38129616e-01 2.43666741e-03 8.98908506e-01 1.52688444e+02] [ 3.37089548e-02 9.99248430e-01 -1.91384633e-02 2.04351981e+02] [-8.98279548e-01 3.86863938e-02 4.37718193e-01 -1.06742681e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.7107140569999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.70, Y:204.36, Z:-106.77 [[ 4.37432356e-01 3.35742611e-03 8.99245051e-01 1.52703197e+02] [ 3.06589282e-02 9.99355989e-01 -1.86450524e-02 2.04355313e+02] [-8.98728527e-01 3.57258386e-02 4.37047709e-01 -1.06771982e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.740714057 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.72, Y:204.36, Z:-106.80 [[ 4.37279972e-01 6.91275671e-03 8.99298860e-01 1.52717844e+02] [ 2.37675781e-02 9.99532351e-01 -1.92401109e-02 2.04362849e+02] [-8.99011306e-01 2.97874711e-02 4.36911179e-01 -1.06800525e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.770714057 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.73, Y:204.37, Z:-106.83 [[ 4.36689837e-01 8.92406076e-03 8.99567867e-01 1.52731291e+02] [ 2.04258826e-02 9.99594656e-01 -1.98319876e-02 2.04366582e+02] [-8.99380214e-01 2.70348950e-02 4.36330545e-01 -1.06829398e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.8007140569999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.75, Y:204.37, Z:-106.86 [[ 4.36314356e-01 1.12810985e-02 8.99723580e-01 1.52745217e+02] [ 1.58124067e-02 9.99670862e-01 -2.02023887e-02 2.04373541e+02] [-8.99655351e-01 2.30413874e-02 4.35992366e-01 -1.06859119e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.8307140569999 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:152.76, Y:204.38, Z:-106.89 [[ 4.35736908e-01 1.23268246e-02 8.99989665e-01 1.52759587e+02] [ 1.46455941e-02 9.99676735e-01 -2.07829783e-02 2.04376280e+02] [-8.99954918e-01 2.22367941e-02 4.35415516e-01 -1.06889267e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.8607140569999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.77, Y:204.38, Z:-106.92 [[ 4.35870656e-01 1.32596620e-02 8.99911636e-01 1.52773879e+02] [ 1.37141747e-02 9.99677526e-01 -2.13720899e-02 2.04378796e+02] [-8.99904824e-01 2.16570123e-02 4.35548254e-01 -1.06919055e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.890714057 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:152.79, Y:204.38, Z:-106.95 [[ 4.35901839e-01 1.40121730e-02 8.99885129e-01 1.52788068e+02] [ 1.32052688e-02 9.99671580e-01 -2.19625499e-02 2.04380929e+02] [-8.99897332e-01 2.14567409e-02 4.35573645e-01 -1.06948308e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.9207140569999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.80, Y:204.39, Z:-106.98 [[ 4.35665150e-01 1.48643899e-02 8.99986071e-01 1.52802099e+02] [ 1.20254098e-02 9.99678280e-01 -2.23321897e-02 2.04385391e+02] [-9.00028481e-01 2.05520581e-02 4.35346237e-01 -1.06978138e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.9507140569999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.82, Y:204.39, Z:-107.01 [[ 4.35811887e-01 1.58438446e-02 8.99898312e-01 1.52816711e+02] [ 1.09631762e-02 9.99677420e-01 -2.29099399e-02 2.04387204e+02] [-8.99971004e-01 1.98501679e-02 4.35497604e-01 -1.07007966e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.9807140569999 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:152.83, Y:204.39, Z:-107.04 [[ 4.35464248e-01 1.72675341e-02 9.00040399e-01 1.52830867e+02] [ 8.91238149e-03 9.99684315e-01 -2.34912861e-02 2.04390492e+02] [-9.00161907e-01 1.82511186e-02 4.35172884e-01 -1.07038103e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.010714057 meters Centerline goodness : 0.999789 Centerline is valid? [True, True] Translation: X:152.84, Y:204.39, Z:-107.07 [[ 4.34723873e-01 1.85156923e-02 9.00373436e-01 1.52844644e+02] [ 7.31036358e-03 9.99683123e-01 -2.40875772e-02 2.04391470e+02] [-9.00534127e-01 1.70535020e-02 4.34450763e-01 -1.07067089e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.040714057 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:152.86, Y:204.39, Z:-107.10 [[ 4.35223806e-01 1.97599338e-02 9.00105429e-01 1.52859386e+02] [ 5.54972064e-03 9.99681247e-01 -2.46293435e-02 2.04392376e+02] [-9.00305192e-01 1.57146103e-02 4.34975415e-01 -1.07097138e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.0707140569999 meters Centerline goodness : 0.999747 Centerline is valid? [True, True] Translation: X:152.87, Y:204.39, Z:-107.13 [[ 4.35903925e-01 2.18425891e-02 8.99728109e-01 1.52873270e+02] [ 1.89917643e-03 9.99680897e-01 -2.51892514e-02 2.04393634e+02] [-8.99991201e-01 1.26888360e-02 4.35723344e-01 -1.07127159e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.1007140569999 meters Centerline goodness : 0.999789 Centerline is valid? [True, True] Translation: X:152.89, Y:204.39, Z:-107.16 [[ 4.36440753e-01 2.31521424e-02 8.99435071e-01 1.52886919e+02] [ 8.05672955e-05 9.99667862e-01 -2.57713050e-02 2.04393822e+02] [-8.99732995e-01 1.13201128e-02 4.36293929e-01 -1.07156212e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.130714057 meters Centerline goodness : 0.999559 Centerline is valid? [True, True] Translation: X:152.90, Y:204.39, Z:-107.19 [[ 4.36887627e-01 2.45584433e-02 8.99180785e-01 1.52900910e+02] [-2.03870503e-03 9.99651702e-01 -2.63119553e-02 2.04393896e+02] [-8.99513783e-01 9.66220334e-03 4.36785528e-01 -1.07185699e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.160714057 meters Centerline goodness : 0.999726 Centerline is valid? [True, True] Translation: X:152.92, Y:204.39, Z:-107.22 [[ 4.37045259e-01 2.62187601e-02 8.99057294e-01 1.52915358e+02] [-4.67147157e-03 9.99627731e-01 -2.68807731e-02 2.04393539e+02] [-8.99427384e-01 7.54819387e-03 4.37005041e-01 -1.07215643e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.1907140569999 meters Centerline goodness : 0.999789 Centerline is valid? [True, True] Translation: X:152.93, Y:204.39, Z:-107.25 [[ 4.36600089e-01 2.71125530e-02 8.99247058e-01 1.52929579e+02] [-5.48570269e-03 9.99607438e-01 -2.74750427e-02 2.04392885e+02] [-8.99638966e-01 7.06260408e-03 4.36577427e-01 -1.07245311e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.2207140569999 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:152.94, Y:204.39, Z:-107.27 [[ 4.36923617e-01 2.77621111e-02 8.99070085e-01 1.52944377e+02] [-5.76895935e-03 9.99589524e-01 -2.80624628e-02 2.04392155e+02] [-8.99480112e-01 7.07445397e-03 4.36904429e-01 -1.07274528e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.250714057 meters Centerline goodness : 0.999811 Centerline is valid? [True, True] Translation: X:152.96, Y:204.39, Z:-107.30 [[ 4.37225788e-01 2.76552273e-02 8.98926470e-01 1.52958660e+02] [-4.32873615e-03 9.99580236e-01 -2.86463736e-02 2.04390557e+02] [-8.99341355e-01 8.63371778e-03 4.37161969e-01 -1.07303250e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.280714057 meters Centerline goodness : 0.999727 Centerline is valid? [True, True] Translation: X:152.97, Y:204.39, Z:-107.33 [[ 4.37116953e-01 2.76316931e-02 8.98980121e-01 1.52973295e+02] [-3.13971462e-03 9.99568751e-01 -2.91968130e-02 2.04389275e+02] [-8.99399195e-01 9.93988091e-03 4.37015203e-01 -1.07332751e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.3107140569999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:152.99, Y:204.39, Z:-107.36 [[ 4.36356571e-01 2.67799644e-02 8.99375215e-01 1.52988366e+02] [ 5.63592323e-05 9.99556169e-01 -2.97903154e-02 2.04386981e+02] [-8.99773827e-01 1.30498880e-02 4.36161393e-01 -1.07361834e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.3407140569999 meters Centerline goodness : 0.999369 Centerline is valid? [True, True] Translation: X:153.00, Y:204.39, Z:-107.39 [[ 4.35910987e-01 2.65306470e-02 8.99598653e-01 1.53000258e+02] [ 1.86595938e-03 9.99536614e-01 -3.03821545e-02 2.04386022e+02] [-8.99987850e-01 1.49225295e-02 4.35659486e-01 -1.07386346e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.370714057 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:153.01, Y:204.39, Z:-107.41 [[ 4.39289045e-01 3.03834326e-02 8.97831823e-01 1.53014776e+02] [ 2.66991490e-03 9.99379318e-01 -3.51262204e-02 2.04386213e+02] [-8.98341809e-01 1.78276984e-02 4.38935265e-01 -1.07410624e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.400714057 meters Centerline goodness : 0.999769 Centerline is valid? [True, True] Translation: X:153.03, Y:204.38, Z:-107.44 [[ 4.37035223e-01 1.36644999e-02 8.99340589e-01 1.53029544e+02] [ 6.46306984e-03 9.99811070e-01 -1.83317728e-02 2.04377687e+02] [-8.99421171e-01 1.38241315e-02 4.36864339e-01 -1.07440422e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.4307140569999 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:153.04, Y:204.38, Z:-107.47 [[ 4.37373307e-01 2.40095187e-02 8.98959473e-01 1.53044111e+02] [ 7.66597251e-03 9.99507664e-01 -3.04247193e-02 2.04381207e+02] [-8.99247365e-01 2.01983587e-02 4.36973916e-01 -1.07470530e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.4607140569999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:153.06, Y:204.38, Z:-107.50 [[ 4.37750553e-01 2.41323909e-02 8.98772541e-01 1.53058865e+02] [ 8.53813199e-03 9.99483070e-01 -3.09950370e-02 2.04379967e+02] [-8.99055924e-01 2.12419332e-02 4.37318221e-01 -1.07499987e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.490714057 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:153.07, Y:204.38, Z:-107.53 [[ 4.37737083e-01 2.39642904e-02 8.98783600e-01 1.53072945e+02] [ 1.01192521e-02 9.99450103e-01 -3.15767716e-02 2.04378900e+02] [-8.99046076e-01 2.29173417e-02 4.37253872e-01 -1.07529841e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.520714057 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.09, Y:204.38, Z:-107.56 [[ 4.38983283e-01 2.35590613e-02 8.98186310e-01 1.53086138e+02] [ 1.32635475e-02 9.99377340e-01 -3.26957418e-02 2.04377289e+02] [-8.98397326e-01 2.62660208e-02 4.38397469e-01 -1.07557574e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.5507140569999 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:153.10, Y:204.37, Z:-107.59 [[ 4.38333572e-01 1.81890785e-02 8.98628309e-01 1.53101248e+02] [ 1.78303989e-02 9.99422498e-01 -2.89265722e-02 2.04374115e+02] [-8.98635497e-01 2.87023890e-02 4.37756115e-01 -1.07587280e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.5807140569999 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:153.12, Y:204.38, Z:-107.62 [[ 4.38445632e-01 2.13188516e-02 8.98504833e-01 1.53116099e+02] [ 1.95122247e-02 9.99257217e-01 -3.32308351e-02 2.04375021e+02] [-8.98545882e-01 3.21017426e-02 4.37703983e-01 -1.07617169e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.6107140569999 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:153.13, Y:204.37, Z:-107.65 [[ 4.38461811e-01 2.18981239e-02 8.98483007e-01 1.53130819e+02] [ 1.93872950e-02 9.99240056e-01 -3.38148533e-02 2.04374611e+02] [-8.98540691e-01 3.22456769e-02 4.37704058e-01 -1.07647264e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.640714057 meters Centerline goodness : 0.999600 Centerline is valid? [True, True] Translation: X:153.14, Y:204.38, Z:-107.67 [[ 4.40160718e-01 2.57736703e-02 8.97549029e-01 1.53143204e+02] [ 2.12654846e-02 9.99008375e-01 -3.91157946e-02 2.04376473e+02] [-8.97667155e-01 3.63040513e-02 4.39176154e-01 -1.07671132e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.6707140569999 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:153.16, Y:204.37, Z:-107.70 [[ 4.38236930e-01 1.08413921e-02 8.98794113e-01 1.53155597e+02] [ 2.44800050e-02 9.99412406e-01 -2.39911051e-02 2.04371358e+02] [-8.98526083e-01 3.25162726e-02 4.37714027e-01 -1.07697657e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.7007140569999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:153.17, Y:204.38, Z:-107.73 [[ 4.39267320e-01 1.72551890e-02 8.98190670e-01 1.53169681e+02] [ 2.76579134e-02 9.99081808e-01 -3.27197374e-02 2.04375883e+02] [-8.97930544e-01 3.92147911e-02 4.38386745e-01 -1.07727218e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.7307140569999 meters Centerline goodness : 0.999811 Centerline is valid? [True, True] Translation: X:153.18, Y:204.38, Z:-107.76 [[ 4.38895378e-01 1.73288455e-02 8.98371058e-01 1.53183493e+02] [ 2.87314518e-02 9.99032101e-01 -3.33071442e-02 2.04376462e+02] [-8.98078700e-01 4.04298564e-02 4.37972688e-01 -1.07756045e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.760714057 meters Centerline goodness : 0.999790 Centerline is valid? [True, True] Translation: X:153.20, Y:204.38, Z:-107.78 [[ 4.38649056e-01 1.73564546e-02 8.98490823e-01 1.53197462e+02] [ 2.98017891e-02 9.98982596e-01 -3.38471155e-02 2.04376998e+02] [-8.98164161e-01 4.16236393e-02 4.37685519e-01 -1.07784696e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.790714057 meters Centerline goodness : 0.999393 Centerline is valid? [True, True] Translation: X:153.21, Y:204.38, Z:-107.81 [[ 4.39112307e-01 1.79590516e-02 8.98252667e-01 1.53209757e+02] [ 3.22801469e-02 9.98839280e-01 -3.57503151e-02 2.04380376e+02] [-8.97852089e-01 4.46941314e-02 4.38022900e-01 -1.07808697e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.8207140569999 meters Centerline goodness : 0.999289 Centerline is valid? [True, True] Translation: X:153.22, Y:204.38, Z:-107.83 [[ 4.37429857e-01 4.62107619e-03 8.99240661e-01 1.53221086e+02] [ 3.36893035e-02 9.99200583e-01 -2.15227025e-02 2.04376721e+02] [-8.98621250e-01 3.97094642e-02 4.36924487e-01 -1.07833999e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.8507140569999 meters Centerline goodness : 0.999038 Centerline is valid? [True, True] Translation: X:153.23, Y:204.38, Z:-107.86 [[ 4.40612898e-01 1.53429708e-02 8.97566080e-01 1.53234776e+02] [ 3.45545696e-02 9.98823053e-01 -3.40366048e-02 2.04382983e+02] [-8.97031915e-01 4.60119767e-02 4.39564151e-01 -1.07858474e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.880714057 meters Centerline goodness : 0.999684 Centerline is valid? [True, True] Translation: X:153.25, Y:204.38, Z:-107.88 [[ 4.37832689e-01 -4.16294820e-03 8.99046832e-01 1.53246511e+02] [ 3.84660746e-02 9.99160334e-01 -1.41063309e-02 2.04379802e+02] [-8.98233209e-01 4.07590153e-02 4.37625188e-01 -1.07884292e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.910714057 meters Centerline goodness : 0.999290 Centerline is valid? [True, True] Translation: X:153.26, Y:204.39, Z:-107.91 [[ 4.39289263e-01 1.39084388e-02 8.98237997e-01 1.53258851e+02] [ 3.85296932e-02 9.98668369e-01 -3.43067189e-02 2.04389313e+02] [-8.97519028e-01 4.96794077e-02 4.38168404e-01 -1.07908948e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.9407140569999 meters Centerline goodness : 0.999124 Centerline is valid? [True, True] Translation: X:153.27, Y:204.39, Z:-107.93 [[ 4.37856337e-01 -1.64718072e-04 8.99044938e-01 1.53269972e+02] [ 3.87985718e-02 9.99071821e-01 -1.87127858e-02 2.04385743e+02] [-8.98207381e-01 4.30751715e-02 4.37456319e-01 -1.07934110e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.9707140569999 meters Centerline goodness : 0.999269 Centerline is valid? [True, True] Translation: X:153.28, Y:204.40, Z:-107.96 [[ 4.40102879e-01 5.65120070e-03 8.97929574e-01 1.53282643e+02] [ 4.01112567e-02 9.98858290e-01 -2.59461643e-02 2.04395025e+02] [-8.97051026e-01 4.74360653e-02 4.39373733e-01 -1.07960102e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.000714057 meters Centerline goodness : 0.999374 Centerline is valid? [True, True] Translation: X:153.30, Y:204.40, Z:-107.99 [[ 4.40378956e-01 1.04053844e-02 8.97751693e-01 1.53295268e+02] [ 3.97695460e-02 9.98725269e-01 -3.10840868e-02 2.04400276e+02] [-8.96930743e-01 4.93919550e-02 4.39403774e-01 -1.07985555e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.030714057 meters Centerline goodness : 0.999540 Centerline is valid? [True, True] Translation: X:153.31, Y:204.40, Z:-108.01 [[ 4.40277118e-01 1.04400297e-02 8.97801240e-01 1.53307856e+02] [ 3.85875727e-02 9.98788496e-01 -3.05375017e-02 2.04403068e+02] [-8.97032362e-01 4.80889338e-02 4.39340865e-01 -1.08010388e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.0607140569999 meters Centerline goodness : 0.999375 Centerline is valid? [True, True] Translation: X:153.32, Y:204.41, Z:-108.03 [[ 4.38777329e-01 1.10952385e-02 8.98527324e-01 1.53319309e+02] [ 3.62092634e-02 9.98893333e-01 -3.00166316e-02 2.04410384e+02] [-8.97865995e-01 4.57056300e-02 4.37889998e-01 -1.08034815e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.0907140569999 meters Centerline goodness : 0.999582 Centerline is valid? [True, True] Translation: X:153.33, Y:204.41, Z:-108.06 [[ 4.38036269e-01 1.14290266e-02 8.98884645e-01 1.53331364e+02] [ 3.47973738e-02 9.98954211e-01 -2.96585176e-02 2.04413608e+02] [-8.98283569e-01 4.42703314e-02 4.37180475e-01 -1.08059147e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.120714057 meters Centerline goodness : 0.998790 Centerline is valid? [True, True] Translation: X:153.34, Y:204.42, Z:-108.09 [[ 4.40161835e-01 1.97397606e-02 8.97701454e-01 1.53344999e+02] [ 3.06381313e-02 9.98845991e-01 -3.69863686e-02 2.04423639e+02] [-8.97395601e-01 4.37838829e-02 4.39049095e-01 -1.08087012e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.150714057 meters Centerline goodness : 0.998453 Centerline is valid? [True, True] Translation: X:153.36, Y:204.43, Z:-108.11 [[ 4.42474053e-01 1.73477904e-02 8.96613499e-01 1.53357815e+02] [ 2.85913276e-02 9.99031714e-01 -3.34390608e-02 2.04425786e+02] [-8.96325414e-01 4.04312871e-02 4.41549615e-01 -1.08114939e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.1807140569999 meters Centerline goodness : 0.998455 Centerline is valid? [True, True] Translation: X:153.37, Y:204.42, Z:-108.14 [[ 4.42267142e-01 4.06535502e-03 8.96874154e-01 1.53369787e+02] [ 2.72574333e-02 9.99466885e-01 -1.79715903e-02 2.04423410e+02] [-8.96469078e-01 3.23947313e-02 4.41920552e-01 -1.08140907e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.2107140569999 meters Centerline goodness : 0.997956 Centerline is valid? [True, True] Translation: X:153.38, Y:204.42, Z:-108.17 [[ 4.38961063e-01 -7.41543720e-03 8.98475485e-01 1.53383255e+02] [ 2.30119969e-02 9.99730713e-01 -2.99165679e-03 2.04424717e+02] [-8.98211352e-01 2.19889359e-02 4.39013500e-01 -1.08171735e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.240714057 meters Centerline goodness : 0.997891 Centerline is valid? [True, True] Translation: X:153.40, Y:204.44, Z:-108.20 [[ 4.39157953e-01 1.81048354e-02 8.98227425e-01 1.53398894e+02] [ 2.03554409e-02 9.99339756e-01 -3.00949791e-02 2.04438223e+02] [-8.98179241e-01 3.15002647e-02 4.38499470e-01 -1.08200990e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.270714057 meters Centerline goodness : 0.997663 Centerline is valid? [True, True] Translation: X:153.41, Y:204.44, Z:-108.23 [[ 4.38957237e-01 1.96773492e-02 8.98292461e-01 1.53413260e+02] [ 1.79818511e-02 9.99367545e-01 -3.06783916e-02 2.04441462e+02] [-8.98328001e-01 2.96194633e-02 4.38325781e-01 -1.08229589e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.3007140569999 meters Centerline goodness : 0.997801 Centerline is valid? [True, True] Translation: X:153.43, Y:204.45, Z:-108.26 [[ 4.38002498e-01 2.16542438e-02 8.98712916e-01 1.53428272e+02] [ 1.46777031e-02 9.99404330e-01 -3.12337958e-02 2.04448378e+02] [-8.98853924e-01 2.68715219e-02 4.37423759e-01 -1.08259274e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.3307140569999 meters Centerline goodness : 0.997678 Centerline is valid? [True, True] Translation: X:153.44, Y:204.45, Z:-108.29 [[ 4.37421276e-01 2.26736119e-02 8.98970820e-01 1.53442160e+02] [ 1.36234513e-02 9.99400271e-01 -3.18355175e-02 2.04451288e+02] [-8.99153507e-01 2.61726179e-02 4.36850049e-01 -1.08288677e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.3607140569999 meters Centerline goodness : 0.997295 Centerline is valid? [True, True] Translation: X:153.46, Y:204.45, Z:-108.32 [[ 4.37230051e-01 2.35880717e-02 8.99040314e-01 1.53456625e+02] [ 1.26832761e-02 9.99394850e-01 -3.23893227e-02 2.04453540e+02] [-8.99260261e-01 2.55643617e-02 4.36666287e-01 -1.08317891e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.390714057 meters Centerline goodness : 0.996625 Centerline is valid? [True, True] Translation: X:153.47, Y:204.46, Z:-108.35 [[ 4.36887484e-01 2.41127776e-02 8.99192916e-01 1.53470911e+02] [ 1.27172104e-02 9.99375163e-01 -3.29781302e-02 2.04455572e+02] [-8.99426261e-01 2.58429578e-02 4.36307853e-01 -1.08346092e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.4207140569999 meters Centerline goodness : 0.997155 Centerline is valid? [True, True] Translation: X:153.49, Y:204.46, Z:-108.38 [[ 4.36391789e-01 2.40483219e-02 8.99435315e-01 1.53485251e+02] [ 1.40372264e-02 9.99339126e-01 -3.35301036e-02 2.04459147e+02] [-8.99647244e-01 2.72578391e-02 4.35765817e-01 -1.08375889e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.4507140569999 meters Centerline goodness : 0.996412 Centerline is valid? [True, True] Translation: X:153.50, Y:204.46, Z:-108.41 [[ 4.36688421e-01 2.41410075e-02 8.99288849e-01 1.53499128e+02] [ 1.49997404e-02 9.99305528e-01 -3.41096804e-02 2.04460379e+02] [-8.99487760e-01 2.83844018e-02 4.36023045e-01 -1.08405041e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.4807140569999 meters Centerline goodness : 0.996022 Centerline is valid? [True, True] Translation: X:153.51, Y:204.46, Z:-108.43 [[ 4.37681894e-01 2.32638610e-02 8.98828879e-01 1.53512734e+02] [ 1.80182706e-02 9.99237533e-01 -3.46366195e-02 2.04463013e+02] [-8.98949332e-01 3.13551631e-02 4.36929001e-01 -1.08434967e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.510714057 meters Centerline goodness : 0.995987 Centerline is valid? [True, True] Translation: X:153.53, Y:204.46, Z:-108.47 [[ 4.38652784e-01 2.31424524e-02 8.98358594e-01 1.53527382e+02] [ 1.93740196e-02 9.99192477e-01 -3.52000106e-02 2.04464235e+02] [-8.98447763e-01 3.28453996e-02 4.37850199e-01 -1.08465007e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.540714057 meters Centerline goodness : 0.995374 Centerline is valid? [True, True] Translation: X:153.54, Y:204.47, Z:-108.49 [[ 4.39157631e-01 2.31594145e-02 8.98111472e-01 1.53541961e+02] [ 2.04781692e-02 9.99149919e-01 -3.57782662e-02 2.04465193e+02] [-8.98176608e-01 3.41039773e-02 4.38310049e-01 -1.08494658e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.5707140569999 meters Centerline goodness : 0.995325 Centerline is valid? [True, True] Translation: X:153.56, Y:204.47, Z:-108.52 [[ 4.39969212e-01 2.29363576e-02 8.97719898e-01 1.53556913e+02] [ 2.20977620e-02 9.99094538e-01 -3.63564677e-02 2.04466858e+02] [-8.97740932e-01 3.58333271e-02 4.39063995e-01 -1.08523447e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.6007140569999 meters Centerline goodness : 0.995960 Centerline is valid? [True, True] Translation: X:153.57, Y:204.47, Z:-108.55 [[ 4.39320935e-01 2.32319458e-02 8.98029728e-01 1.53572028e+02] [ 2.26420516e-02 9.99061602e-01 -3.69222435e-02 2.04467671e+02] [-8.98044795e-01 3.65539500e-02 4.38382659e-01 -1.08553170e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.630714057 meters Centerline goodness : 0.994933 Centerline is valid? [True, True] Translation: X:153.59, Y:204.47, Z:-108.58 [[ 4.39003227e-01 2.35917133e-02 8.98175706e-01 1.53587301e+02] [ 2.30861867e-02 9.99028993e-01 -3.75246356e-02 2.04468801e+02] [-8.98188841e-01 3.72088881e-02 4.38032309e-01 -1.08582947e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.660714057 meters Centerline goodness : 0.995252 Centerline is valid? [True, True] Translation: X:153.60, Y:204.47, Z:-108.61 [[ 4.38366797e-01 2.37112506e-02 8.98483349e-01 1.53602452e+02] [ 2.41260486e-02 9.98981331e-01 -3.81344355e-02 2.04471097e+02] [-8.98472306e-01 3.83937233e-02 4.37348187e-01 -1.08610937e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.6907140569999 meters Centerline goodness : 0.994622 Centerline is valid? [True, True] Translation: X:153.62, Y:204.47, Z:-108.64 [[ 4.38282603e-01 2.40329350e-02 8.98515875e-01 1.53617260e+02] [ 2.45426918e-02 9.98949786e-01 -3.86908357e-02 2.04472004e+02] [-8.98502096e-01 3.90095184e-02 4.37232480e-01 -1.08639927e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.7207140569999 meters Centerline goodness : 0.995004 Centerline is valid? [True, True] Translation: X:153.63, Y:204.47, Z:-108.67 [[ 4.38417001e-01 2.40777519e-02 8.98449106e-01 1.53631916e+02] [ 2.55413952e-02 9.98903591e-01 -3.92333126e-02 2.04474574e+02] [-8.98408688e-01 4.01481949e-02 4.37321337e-01 -1.08670129e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.750714057 meters Centerline goodness : 0.994750 Centerline is valid? [True, True] Translation: X:153.65, Y:204.48, Z:-108.70 [[ 4.40286287e-01 2.98419746e-02 8.97361378e-01 1.53646782e+02] [ 2.52347755e-02 9.98641393e-01 -4.55913946e-02 2.04478094e+02] [-8.97502753e-01 4.27179787e-02 4.38935055e-01 -1.08699127e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.780714057 meters Centerline goodness : 0.994472 Centerline is valid? [True, True] Translation: X:153.66, Y:204.47, Z:-108.73 [[ 4.38667137e-01 1.55051243e-02 8.98515851e-01 1.53659589e+02] [ 2.55215519e-02 9.99232894e-01 -2.97030891e-02 2.04473020e+02] [-8.98287144e-01 3.59612880e-02 4.37934919e-01 -1.08729524e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.8107140569999 meters Centerline goodness : 0.993675 Centerline is valid? [True, True] Translation: X:153.68, Y:204.48, Z:-108.76 [[ 4.40079095e-01 2.58365465e-02 8.97587245e-01 1.53675171e+02] [ 2.44534090e-02 9.98870454e-01 -4.07412174e-02 2.04480821e+02] [-8.97625992e-01 3.98784261e-02 4.38950214e-01 -1.08759120e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.8407140569999 meters Centerline goodness : 0.993424 Centerline is valid? [True, True] Translation: X:153.69, Y:204.48, Z:-108.79 [[ 4.40756286e-01 2.66998710e-02 8.97229632e-01 1.53689346e+02] [ 2.35989920e-02 9.98867346e-01 -4.13172191e-02 2.04482340e+02] [-8.97316546e-01 3.93845389e-02 4.39626972e-01 -1.08787816e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.870714057 meters Centerline goodness : 0.993066 Centerline is valid? [True, True] Translation: X:153.70, Y:204.49, Z:-108.82 [[ 4.41325229e-01 2.78421754e-02 8.96915189e-01 1.53704049e+02] [ 2.20428293e-02 9.98880571e-01 -4.18535278e-02 2.04485026e+02] [-8.97076449e-01 3.82415661e-02 4.40217477e-01 -1.08817946e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.900714057 meters Centerline goodness : 0.992241 Centerline is valid? [True, True] Translation: X:153.72, Y:204.49, Z:-108.85 [[ 4.41360725e-01 2.86885441e-02 8.96871049e-01 1.53718671e+02] [ 2.12987116e-02 9.98872282e-01 -4.24326400e-02 2.04486211e+02] [-8.97076962e-01 3.78302985e-02 4.40251966e-01 -1.08847886e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.9307140569999 meters Centerline goodness : 0.992331 Centerline is valid? [True, True] Translation: X:153.73, Y:204.49, Z:-108.88 [[ 4.41099693e-01 2.97060995e-02 8.96966336e-01 1.53733296e+02] [ 2.02374652e-02 9.98868659e-01 -4.30330882e-02 2.04487931e+02] [-8.97229907e-01 3.71342070e-02 4.39999483e-01 -1.08876861e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.9607140569999 meters Centerline goodness : 0.990700 Centerline is valid? [True, True] Translation: X:153.75, Y:204.49, Z:-108.91 [[ 4.40264810e-01 3.14669449e-02 8.97316404e-01 1.53748711e+02] [ 1.74798396e-02 9.98895897e-01 -4.36055333e-02 2.04491920e+02] [-8.97697807e-01 3.48829286e-02 4.39228675e-01 -1.08906566e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.990714057 meters Centerline goodness : 0.990690 Centerline is valid? [True, True] Translation: X:153.76, Y:204.49, Z:-108.94 [[ 4.39840372e-01 3.29031879e-02 8.97473023e-01 1.53763364e+02] [ 1.54453758e-02 9.98903678e-01 -4.41914289e-02 2.04493464e+02] [-8.97943143e-01 3.32989826e-02 4.38849964e-01 -1.08935489e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.020714057 meters Centerline goodness : 0.991187 Centerline is valid? [True, True] Translation: X:153.78, Y:204.50, Z:-108.97 [[ 4.39350548e-01 3.42420529e-02 8.97662842e-01 1.53778391e+02] [ 1.35548497e-02 9.98906776e-01 -4.47383443e-02 2.04495053e+02] [-8.98213428e-01 3.18235010e-02 4.38406094e-01 -1.08965291e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.0507140569999 meters Centerline goodness : 0.990501 Centerline is valid? [True, True] Translation: X:153.79, Y:204.50, Z:-109.00 [[ 4.39255656e-01 3.63991701e-02 8.97624403e-01 1.53792510e+02] [ 9.82718549e-03 9.98924369e-01 -4.53159079e-02 2.04498411e+02] [-8.98308352e-01 2.87263904e-02 4.38425478e-01 -1.08995297e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.0807140569999 meters Centerline goodness : 0.990710 Centerline is valid? [True, True] Translation: X:153.81, Y:204.50, Z:-109.02 [[ 4.39380142e-01 3.79088386e-02 8.97500981e-01 1.53806254e+02] [ 7.56993529e-03 9.98917430e-01 -4.58984220e-02 2.04499493e+02] [-8.98269329e-01 2.69608795e-02 4.38617514e-01 -1.09024557e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.1107140569999 meters Centerline goodness : 0.990158 Centerline is valid? [True, True] Translation: X:153.82, Y:204.50, Z:-109.05 [[ 4.40017632e-01 3.88849769e-02 8.97146834e-01 1.53820525e+02] [ 6.01479275e-03 9.98911982e-01 -4.62458124e-02 2.04500875e+02] [-8.97968990e-01 2.57451251e-02 4.39304999e-01 -1.09054087e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.140714057 meters Centerline goodness : 0.989358 Centerline is valid? [True, True] Translation: X:153.84, Y:204.50, Z:-109.08 [[ 4.39356455e-01 4.07087794e-02 8.97389938e-01 1.53835109e+02] [ 3.11761696e-03 9.98897545e-01 -4.68398888e-02 2.04503765e+02] [-8.98307401e-01 2.33771256e-02 4.38745170e-01 -1.09084055e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.1707140569999 meters Centerline goodness : 0.989786 Centerline is valid? [True, True] Translation: X:153.85, Y:204.50, Z:-109.11 [[ 4.39678727e-01 4.18465530e-02 8.97179739e-01 1.53849594e+02] [ 1.69336887e-03 9.98873620e-01 -4.74196578e-02 2.04504981e+02] [-8.98153523e-01 2.23686710e-02 4.39112620e-01 -1.09112144e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.2007140569999 meters Centerline goodness : 0.987590 Centerline is valid? [True, True] Translation: X:153.86, Y:204.51, Z:-109.14 [[ 4.38971944e-01 4.35075557e-02 8.97446781e-01 1.53863981e+02] [-8.99320605e-04 9.98847723e-01 -4.79835098e-02 2.04507261e+02] [-8.98500320e-01 2.02563222e-02 4.38505254e-01 -1.09141773e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.2307140569999 meters Centerline goodness : 0.987788 Centerline is valid? [True, True] Translation: X:153.88, Y:204.51, Z:-109.17 [[ 4.38905927e-01 4.46983263e-02 8.97420552e-01 1.53878773e+02] [-2.42347094e-03 9.98817163e-01 -4.85633850e-02 2.04507329e+02] [-8.98529752e-01 1.91398848e-02 4.38495097e-01 -1.09171612e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.260714057 meters Centerline goodness : 0.987888 Centerline is valid? [True, True] Translation: X:153.89, Y:204.51, Z:-109.20 [[ 4.38634484e-01 4.58240539e-02 8.97496488e-01 1.53892786e+02] [-3.78228095e-03 9.98784392e-01 -4.91470569e-02 2.04507392e+02] [-8.98657601e-01 1.81630101e-02 4.38274596e-01 -1.09201082e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.290714057 meters Centerline goodness : 0.988394 Centerline is valid? [True, True] Translation: X:153.91, Y:204.51, Z:-109.23 [[ 4.38781225e-01 4.73824785e-02 8.97343824e-01 1.53907151e+02] [-6.18098068e-03 9.98744350e-01 -4.97143717e-02 2.04507373e+02] [-8.98572664e-01 1.62672681e-02 4.38523139e-01 -1.09230184e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.3207140569999 meters Centerline goodness : 0.986919 Centerline is valid? [True, True] Translation: X:153.93, Y:204.49, Z:-109.26 [[ 4.42817614e-01 3.31064198e-02 8.96000294e-01 1.53928816e+02] [-1.11259054e-02 9.99444031e-01 -3.14299750e-02 2.04493349e+02] [-8.96542679e-01 3.94893199e-03 4.42939760e-01 -1.09261997e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.3507140569999 meters Centerline goodness : 0.987358 Centerline is valid? [True, True] Translation: X:153.94, Y:204.53, Z:-109.28 [[ 4.39120774e-01 9.49153185e-02 8.93400262e-01 1.53942350e+02] [-7.35393379e-03 9.94750220e-01 -1.02068214e-01 2.04526666e+02] [-8.98397944e-01 3.82502666e-02 4.37513487e-01 -1.09283366e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.380714057 meters Centerline goodness : 0.987550 Centerline is valid? [True, True] Translation: X:153.95, Y:204.51, Z:-109.32 [[ 4.38612340e-01 4.89177661e-02 8.97344007e-01 1.53948126e+02] [-7.94536127e-03 9.98689476e-01 -5.05588986e-02 2.04506371e+02] [-8.98641245e-01 1.50460345e-02 4.38426197e-01 -1.09315632e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.410714057 meters Centerline goodness : 0.987677 Centerline is valid? [True, True] Translation: X:153.96, Y:204.51, Z:-109.34 [[ 4.39028752e-01 4.93743726e-02 8.97115336e-01 1.53962097e+02] [-7.95892744e-03 9.98663447e-01 -5.10683313e-02 2.04505494e+02] [-8.98437761e-01 1.52803899e-02 4.38834934e-01 -1.09344304e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.4407140569999 meters Centerline goodness : 0.988241 Centerline is valid? [True, True] Translation: X:153.98, Y:204.51, Z:-109.39 [[ 4.31057186e-01 9.42881757e-02 8.97384780e-01 1.53978288e+02] [-1.65696539e-02 9.95184885e-01 -9.66048243e-02 2.04509034e+02] [-9.02172461e-01 2.67728485e-02 4.30543918e-01 -1.09387774e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.4707140569999 meters Centerline goodness : 0.989024 Centerline is valid? [True, True] Translation: X:153.99, Y:204.51, Z:-109.40 [[ 4.40668629e-01 8.02420332e-02 8.94076270e-01 1.53994883e+02] [-7.01930615e-03 9.96274335e-01 -8.59545129e-02 2.04514357e+02] [-8.97642406e-01 3.16016623e-02 4.39590088e-01 -1.09396579e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.500714057 meters Centerline goodness : 0.989024 Centerline is valid? [True, True] Translation: X:154.00, Y:204.50, Z:-109.42 [[ 4.40103967e-01 4.85184320e-02 8.96635076e-01 1.54002194e+02] [-6.97423708e-03 9.98693748e-01 -5.06177669e-02 2.04500189e+02] [-8.97919739e-01 1.60237345e-02 4.39867460e-01 -1.09424343e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.530714057 meters Centerline goodness : 0.988910 Centerline is valid? [True, True] Translation: X:154.01, Y:204.50, Z:-109.45 [[ 4.39656497e-01 4.83228978e-02 8.96865130e-01 1.54014888e+02] [-6.83023443e-03 9.98702646e-01 -5.04615994e-02 2.04498141e+02] [-8.98140030e-01 1.60599709e-02 4.39416164e-01 -1.09449464e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.5607140569999 meters Centerline goodness : 0.989325 Centerline is valid? [True, True] Translation: X:154.03, Y:204.49, Z:-109.48 [[ 4.41219982e-01 4.08777641e-02 8.96467476e-01 1.54033538e+02] [-1.09541869e-02 9.99132902e-01 -4.01677850e-02 2.04486396e+02] [-8.97332120e-01 7.90275710e-03 4.41285184e-01 -1.09481628e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.5907140569999 meters Centerline goodness : 0.989752 Centerline is valid? [True, True] Translation: X:154.05, Y:204.51, Z:-109.50 [[ 4.39270013e-01 8.39757295e-02 8.94421563e-01 1.54049191e+02] [-6.91569973e-03 9.95908018e-01 -9.01076698e-02 2.04508375e+02] [-8.98328464e-01 3.33960463e-02 4.38053280e-01 -1.09503074e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.620714057 meters Centerline goodness : 0.990760 Centerline is valid? [True, True] Translation: X:154.06, Y:204.49, Z:-109.53 [[ 4.38362671e-01 4.85208540e-02 8.97487546e-01 1.54057569e+02] [-7.28290942e-03 9.98700764e-01 -5.04355281e-02 2.04491050e+02] [-8.98768673e-01 1.55727323e-02 4.38146507e-01 -1.09533664e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.650714057 meters Centerline goodness : 0.991460 Centerline is valid? [True, True] Translation: X:154.07, Y:204.49, Z:-109.56 [[ 4.38316737e-01 5.00730797e-02 8.97424718e-01 1.54072272e+02] [-9.76462956e-03 9.98653363e-01 -5.09520720e-02 2.04486257e+02] [-8.98767540e-01 1.35701260e-02 4.38215428e-01 -1.09562724e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.6807140569999 meters Centerline goodness : 0.990965 Centerline is valid? [True, True] Translation: X:154.09, Y:204.48, Z:-109.59 [[ 4.38482646e-01 5.13062823e-02 8.97274002e-01 1.54086318e+02] [-1.14247784e-02 9.98606745e-01 -5.15174098e-02 2.04483922e+02] [-8.98667037e-01 1.23383336e-02 4.38457891e-01 -1.09591609e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.7107140569999 meters Centerline goodness : 0.990511 Centerline is valid? [True, True] Translation: X:154.10, Y:204.48, Z:-109.62 [[ 4.38431321e-01 5.28628925e-02 8.97208722e-01 1.54101162e+02] [-1.38853915e-02 9.98548022e-01 -5.20484755e-02 2.04481206e+02] [-8.98657428e-01 1.03615875e-02 4.38528750e-01 -1.09621575e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.740714057 meters Centerline goodness : 0.990831 Centerline is valid? [True, True] Translation: X:154.12, Y:204.48, Z:-109.65 [[ 4.38474268e-01 5.50950676e-02 8.97053426e-01 1.54115673e+02] [-1.78315287e-02 9.98456075e-01 -5.26070545e-02 2.04477573e+02] [-8.98566833e-01 7.07100577e-03 4.38779726e-01 -1.09649530e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.770714057 meters Centerline goodness : 0.991079 Centerline is valid? [True, True] Translation: X:154.13, Y:204.48, Z:-109.68 [[ 4.38485165e-01 5.63739612e-02 8.96968638e-01 1.54130296e+02] [-1.96763113e-02 9.98393751e-01 -5.31296614e-02 2.04475185e+02] [-8.98523012e-01 5.64753417e-03 4.38890080e-01 -1.09678775e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.8007140569999 meters Centerline goodness : 0.991427 Centerline is valid? [True, True] Translation: X:154.14, Y:204.47, Z:-109.71 [[ 4.38563566e-01 5.76315746e-02 8.96850378e-01 1.54144424e+02] [-2.13766008e-02 9.98328316e-01 -5.36992967e-02 2.04472190e+02] [-8.98445902e-01 4.37894255e-03 4.39062394e-01 -1.09707946e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.8307140569999 meters Centerline goodness : 0.992923 Centerline is valid? [True, True] Translation: X:154.16, Y:204.47, Z:-109.74 [[ 4.39125986e-01 5.90940235e-02 8.96479930e-01 1.54158949e+02] [-2.36594513e-02 9.98249045e-01 -5.42132300e-02 2.04465448e+02] [-8.98113912e-01 2.59621478e-03 4.39755228e-01 -1.09736900e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.8607140569999 meters Centerline goodness : 0.992791 Centerline is valid? [True, True] Translation: X:154.17, Y:204.46, Z:-109.77 [[ 4.39513134e-01 5.98916108e-02 8.96237246e-01 1.54173293e+02] [-2.43247409e-02 9.98202295e-01 -5.47766794e-02 2.04461737e+02] [-8.97906739e-01 2.27433127e-03 4.40179867e-01 -1.09765510e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.890714057 meters Centerline goodness : 0.993271 Centerline is valid? [True, True] Translation: X:154.19, Y:204.45, Z:-109.80 [[ 4.35927554e-01 7.81759731e-02 8.96579993e-01 1.54187822e+02] [-3.00871355e-02 9.96929235e-01 -7.22970646e-02 2.04454676e+02] [-8.99478700e-01 4.54075878e-03 4.36941014e-01 -1.09802692e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.9207140569999 meters Centerline goodness : 0.993951 Centerline is valid? [True, True] Translation: X:154.21, Y:204.45, Z:-109.82 [[ 4.40619625e-01 8.01850945e-02 8.94105529e-01 1.54207241e+02] [-2.82453831e-02 9.96747891e-01 -7.54707935e-02 2.04454636e+02] [-8.97249433e-01 7.99955956e-03 4.41451541e-01 -1.09824431e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.9507140569999 meters Centerline goodness : 0.994142 Centerline is valid? [True, True] Translation: X:154.22, Y:204.46, Z:-109.85 [[ 4.40096359e-01 8.25107576e-02 8.94151648e-01 1.54219206e+02] [-2.62557688e-02 9.96526037e-01 -7.90347478e-02 2.04455488e+02] [-8.97566616e-01 1.13062659e-02 4.40733864e-01 -1.09849084e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.9807140569999 meters Centerline goodness : 0.994752 Centerline is valid? [True, True] Translation: X:154.23, Y:204.44, Z:-109.88 [[ 4.39784450e-01 6.22854648e-02 8.95940935e-01 1.54232037e+02] [-2.86477561e-02 9.98057480e-01 -5.53224376e-02 2.04437874e+02] [-8.97646336e-01 -1.33674957e-03 4.40714499e-01 -1.09879419e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.010714057 meters Centerline goodness : 0.994640 Centerline is valid? [True, True] Translation: X:154.25, Y:204.43, Z:-109.91 [[ 4.39748136e-01 6.36013214e-02 8.95866312e-01 1.54246799e+02] [-3.05047909e-02 9.97971579e-01 -5.58765137e-02 2.04432755e+02] [-8.97602938e-01 -2.75662178e-03 4.40796287e-01 -1.09908804e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.040714057 meters Centerline goodness : 0.995980 Centerline is valid? [True, True] Translation: X:154.26, Y:204.43, Z:-109.94 [[ 4.39256514e-01 6.49391656e-02 8.96011507e-01 1.54261779e+02] [-3.23922581e-02 9.97880254e-01 -5.64423563e-02 2.04427794e+02] [-8.97777510e-01 -4.23116332e-03 4.40428928e-01 -1.09938507e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.0707140569999 meters Centerline goodness : 0.996225 Centerline is valid? [True, True] Translation: X:154.28, Y:204.42, Z:-109.97 [[ 4.38788829e-01 6.70076505e-02 8.96088354e-01 1.54276816e+02] [-3.59054816e-02 9.97726828e-01 -5.70260802e-02 2.04418257e+02] [-8.97872574e-01 -7.15207693e-03 4.40197329e-01 -1.09968024e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.1007140569999 meters Centerline goodness : 0.996825 Centerline is valid? [True, True] Translation: X:154.29, Y:204.41, Z:-110.00 [[ 4.38238792e-01 6.82936413e-02 8.96260420e-01 1.54291838e+02] [-3.76409125e-02 9.97629156e-01 -5.76127413e-02 2.04412643e+02] [-8.98070110e-01 -8.48792183e-03 4.39770431e-01 -1.09997631e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.130714057 meters Centerline goodness : 0.997185 Centerline is valid? [True, True] Translation: X:154.31, Y:204.40, Z:-110.02 [[ 4.39081875e-01 7.28186750e-02 8.95491232e-01 1.54306394e+02] [-3.98972732e-02 9.97307175e-01 -6.15354071e-02 2.04403536e+02] [-8.97560758e-01 -8.70857641e-03 4.40804771e-01 -1.10024946e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.160714057 meters Centerline goodness : 0.998087 Centerline is valid? [True, True] Translation: X:154.32, Y:204.39, Z:-110.05 [[ 4.38394164e-01 6.67473134e-02 8.96300928e-01 1.54320908e+02] [-4.05313644e-02 9.97692265e-01 -5.44734064e-02 2.04394660e+02] [-8.97868457e-01 -1.24474761e-02 4.40087826e-01 -1.10053972e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.1907140569999 meters Centerline goodness : 0.997438 Centerline is valid? [True, True] Translation: X:154.33, Y:204.39, Z:-110.08 [[ 4.39266199e-01 7.47374701e-02 8.95242714e-01 1.54333270e+02] [-4.09233441e-02 9.97163621e-01 -6.31663834e-02 2.04391640e+02] [-8.97424362e-01 -8.88946844e-03 4.41078781e-01 -1.10078134e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.2207140569999 meters Centerline goodness : 0.998114 Centerline is valid? [True, True] Translation: X:154.34, Y:204.38, Z:-110.10 [[ 4.38579911e-01 6.61598843e-02 8.96253609e-01 1.54344810e+02] [-4.07005745e-02 9.97725494e-01 -5.37336178e-02 2.04381696e+02] [-8.97770085e-01 -1.29115514e-02 4.40275104e-01 -1.10103786e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.250714057 meters Centerline goodness : 0.998385 Centerline is valid? [True, True] Translation: X:154.36, Y:204.37, Z:-110.13 [[ 4.39089757e-01 7.01604678e-02 8.95699556e-01 1.54358796e+02] [-4.09277182e-02 9.97473273e-01 -5.80688572e-02 2.04371039e+02] [-8.97510506e-01 -1.11614986e-02 4.40851805e-01 -1.10132772e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.280714057 meters Centerline goodness : 0.998780 Centerline is valid? [True, True] Translation: X:154.37, Y:204.36, Z:-110.16 [[ 4.40035934e-01 7.09095107e-02 8.95176082e-01 1.54373166e+02] [-4.15703094e-02 9.97417170e-01 -5.85738767e-02 2.04364200e+02] [-8.97017439e-01 -1.14381362e-02 4.41847126e-01 -1.10161800e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.3107140569999 meters Centerline goodness : 0.999223 Centerline is valid? [True, True] Translation: X:154.39, Y:204.35, Z:-110.19 [[ 4.41274847e-01 7.17700416e-02 8.94497384e-01 1.54387164e+02] [-4.24016477e-02 9.97350850e-01 -5.91048474e-02 2.04350740e+02] [-8.96369684e-01 -1.18466805e-02 4.43149012e-01 -1.10191460e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.3407140569999 meters Centerline goodness : 0.998874 Centerline is valid? [True, True] Translation: X:154.40, Y:204.35, Z:-110.22 [[ 4.42845898e-01 7.64355184e-02 8.93333712e-01 1.54400245e+02] [-4.34958998e-02 9.97017891e-01 -6.37450460e-02 2.04345161e+02] [-8.95542080e-01 -1.06271215e-02 4.44849916e-01 -1.10215965e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.370714057 meters Centerline goodness : 0.999833 Centerline is valid? [True, True] Translation: X:154.41, Y:204.33, Z:-110.24 [[ 4.41846329e-01 6.52690220e-02 8.94713237e-01 1.54412374e+02] [-4.31502983e-02 9.97741612e-01 -5.14755079e-02 2.04334218e+02] [-8.96052383e-01 -1.58628789e-02 4.43664846e-01 -1.10241795e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.400714057 meters Centerline goodness : 0.999708 Centerline is valid? [True, True] Translation: X:154.43, Y:204.32, Z:-110.27 [[ 4.40587708e-01 7.21077866e-02 8.94808884e-01 1.54426987e+02] [-4.43527554e-02 9.97299979e-01 -5.85284927e-02 2.04324713e+02] [-8.96613241e-01 -1.39003050e-02 4.42596291e-01 -1.10270777e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.4307140569999 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:154.44, Y:204.32, Z:-110.30 [[ 4.39941618e-01 7.28103069e-02 8.95069848e-01 1.54441945e+02] [-4.47773488e-02 9.97246521e-01 -5.91131588e-02 2.04318464e+02] [-8.96909339e-01 -1.40725160e-02 4.41990500e-01 -1.10300246e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.4607140569999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.46, Y:204.31, Z:-110.33 [[ 4.39691664e-01 7.34084401e-02 8.95143811e-01 1.54455761e+02] [-4.49659762e-02 9.97203615e-01 -5.96909640e-02 2.04306444e+02] [-8.97022465e-01 -1.40053960e-02 4.41762999e-01 -1.10329497e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.490714057 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.47, Y:204.30, Z:-110.36 [[ 4.39499156e-01 7.36245361e-02 8.95220599e-01 1.54468939e+02] [-4.42638492e-02 9.97199560e-01 -6.02805953e-02 2.04300161e+02] [-8.97151717e-01 -1.31326388e-02 4.41527270e-01 -1.10357980e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.520714057 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.48, Y:204.29, Z:-110.39 [[ 4.39381963e-01 7.35398488e-02 8.95285084e-01 1.54482980e+02] [-4.29610677e-02 9.97223232e-01 -6.08290348e-02 2.04293703e+02] [-8.97272443e-01 -1.17352224e-02 4.41321251e-01 -1.10387437e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.5507140569999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.50, Y:204.29, Z:-110.42 [[ 4.40801413e-01 8.22734522e-02 8.93826154e-01 1.54495243e+02] [-3.93390810e-02 9.96604403e-01 -7.23332629e-02 2.04286095e+02] [-8.96742188e-01 -3.27769499e-03 4.42541191e-01 -1.10416024e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.5807140569999 meters Centerline goodness : 0.998870 Centerline is valid? [True, True] Translation: X:154.51, Y:204.28, Z:-110.44 [[ 4.39373862e-01 6.98217581e-02 8.95586697e-01 1.54506105e+02] [-3.61674228e-02 9.97541337e-01 -6.00266506e-02 2.04275997e+02] [-8.97575917e-01 -6.01692142e-03 4.40818863e-01 -1.10440499e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.6107140569999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.52, Y:204.26, Z:-110.47 [[ 4.37218215e-01 5.23270865e-02 8.97831893e-01 1.54517824e+02] [-2.88969187e-02 9.98607853e-01 -4.41285061e-02 2.04259726e+02] [-8.98891095e-01 -6.65078858e-03 4.38121634e-01 -1.10466143e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.640714057 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.53, Y:204.26, Z:-110.50 [[ 4.37398745e-01 6.55509845e-02 8.96875357e-01 1.54531164e+02] [-2.56579342e-02 9.97843379e-01 -6.04173894e-02 2.04260242e+02] [-8.98901556e-01 3.41452147e-03 4.38137345e-01 -1.10495796e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.6707140569999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.55, Y:204.25, Z:-110.53 [[ 4.37836857e-01 6.47606603e-02 8.96718988e-01 1.54545781e+02] [-2.27574649e-02 9.97881057e-01 -6.09548588e-02 2.04254621e+02] [-8.98766368e-01 6.28123287e-03 4.38382894e-01 -1.10525650e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.7007140569999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.56, Y:204.25, Z:-110.56 [[ 4.38337404e-01 6.21583771e-02 8.96658606e-01 1.54559388e+02] [-1.56521909e-02 9.97982456e-01 -6.15306971e-02 2.04245152e+02] [-8.98674206e-01 1.29365344e-02 4.38425954e-01 -1.10555741e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.7307140569999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.57, Y:204.24, Z:-110.59 [[ 4.38856945e-01 6.09869628e-02 8.96484898e-01 1.54573968e+02] [-1.18324054e-02 9.97999755e-01 -6.21005895e-02 2.04240601e+02] [-8.98479035e-01 1.66457022e-02 4.38700746e-01 -1.10585658e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.760714057 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.59, Y:204.23, Z:-110.62 [[ 4.40125816e-01 5.82771212e-02 8.96042992e-01 1.54587891e+02] [-4.60397090e-03 9.98025038e-01 -6.26484445e-02 2.04232835e+02] [-8.97924312e-01 2.34478419e-02 4.39524890e-01 -1.10615828e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.790714057 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.60, Y:204.23, Z:-110.65 [[ 4.41298107e-01 5.75131642e-02 8.95515615e-01 1.54602524e+02] [-1.84742330e-03 9.98000141e-01 -6.31846957e-02 2.04229242e+02] [-8.97358662e-01 2.62288902e-02 4.40521824e-01 -1.10645328e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.8207140569999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.62, Y:204.23, Z:-110.67 [[ 4.41759312e-01 5.67013757e-02 8.95339972e-01 1.54617020e+02] [ 1.10485902e-03 9.97965561e-01 -6.37457321e-02 2.04226510e+02] [-8.97132928e-01 2.91494952e-02 4.40797932e-01 -1.10674840e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.8507140569999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.63, Y:204.22, Z:-110.70 [[ 4.42339737e-01 5.51096152e-02 8.95152773e-01 1.54632745e+02] [ 5.80374133e-03 9.97913483e-01 -6.43039436e-02 2.04223314e+02] [-8.96828787e-01 3.36394247e-02 4.41096946e-01 -1.10703337e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.880714057 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.65, Y:204.22, Z:-110.73 [[ 4.42530173e-01 5.48366587e-02 8.95075409e-01 1.54647762e+02] [ 7.55235788e-03 9.97865274e-01 -6.48679912e-02 2.04221729e+02] [-8.96721812e-01 3.54659732e-02 4.41171346e-01 -1.10732378e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.910714057 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.66, Y:204.22, Z:-110.76 [[ 4.41983964e-01 5.38405642e-02 8.95405701e-01 1.54663016e+02] [ 1.10796548e-02 9.97793276e-01 -6.54661710e-02 2.04221142e+02] [-8.96954523e-01 3.88557838e-02 4.40412093e-01 -1.10759975e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.9407140569999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.68, Y:204.22, Z:-110.79 [[ 4.41564292e-01 5.36699871e-02 8.95622972e-01 1.54678091e+02] [ 1.22683778e-02 9.97754847e-01 -6.58388285e-02 2.04220914e+02] [-8.97145731e-01 4.00599167e-02 4.39914469e-01 -1.10789821e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.9707140569999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.69, Y:204.22, Z:-110.82 [[ 4.43494988e-01 6.08968151e-02 8.94205666e-01 1.54691552e+02] [ 1.25266144e-02 9.97170530e-01 -7.41216507e-02 2.04224299e+02] [-8.96189310e-01 4.40739502e-02 4.41477302e-01 -1.10818650e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.000714057 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.70, Y:204.22, Z:-110.85 [[ 4.39881033e-01 5.04642755e-02 8.96637069e-01 1.54704907e+02] [ 1.49818066e-02 9.97868634e-01 -6.35116840e-02 2.04222743e+02] [-8.97931079e-01 4.13708283e-02 4.38187440e-01 -1.10848323e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.030714057 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.72, Y:204.22, Z:-110.88 [[ 4.39670964e-01 3.59528569e-02 8.97439043e-01 1.54724605e+02] [ 1.67519113e-02 9.98696424e-01 -4.82164431e-02 2.04217748e+02] [-8.98002682e-01 3.62331893e-02 4.38495541e-01 -1.10875909e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.0607140569999 meters Centerline goodness : 0.999727 Centerline is valid? [True, True] Translation: X:154.74, Y:204.23, Z:-110.90 [[ 4.41672938e-01 5.61884665e-02 8.95414916e-01 1.54736224e+02] [ 1.73235053e-02 9.97316756e-01 -7.11279446e-02 2.04230801e+02] [-8.97008870e-01 4.69270133e-02 4.39514440e-01 -1.10900563e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.0907140569999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.75, Y:204.23, Z:-110.93 [[ 4.40081627e-01 4.17424669e-02 8.96987028e-01 1.54750249e+02] [ 1.84667254e-02 9.98286967e-01 -5.55167753e-02 2.04227520e+02] [-8.97767866e-01 4.09963259e-02 4.38556906e-01 -1.10927041e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.120714057 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.76, Y:204.23, Z:-110.96 [[ 4.40409256e-01 5.25519542e-02 8.96257764e-01 1.54764612e+02] [ 1.80005353e-02 9.97567864e-01 -6.73374842e-02 2.04234032e+02] [-8.97616660e-01 4.57891709e-02 4.38392157e-01 -1.10957220e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.150714057 meters Centerline goodness : 0.999431 Centerline is valid? [True, True] Translation: X:154.78, Y:204.24, Z:-110.98 [[ 4.40561521e-01 5.29430898e-02 8.96159905e-01 1.54775290e+02] [ 1.51888978e-02 9.97676972e-01 -6.64075074e-02 2.04235548e+02] [-8.97593919e-01 4.28682737e-02 4.38733937e-01 -1.10979291e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.1807140569999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.79, Y:204.24, Z:-111.01 [[ 4.40432126e-01 3.55472924e-02 8.97081898e-01 1.54790866e+02] [ 1.52144648e-02 9.98776816e-01 -4.70467085e-02 2.04236120e+02] [-8.97656985e-01 3.43695029e-02 4.39352563e-01 -1.11007452e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.2107140569999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.80, Y:204.25, Z:-111.04 [[ 4.40085894e-01 6.35975275e-02 8.95700709e-01 1.54800773e+02] [ 1.45134997e-02 9.96854693e-01 -7.79107123e-02 2.04251983e+02] [-8.97838385e-01 4.72871574e-02 4.37778666e-01 -1.11037867e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.240714057 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.82, Y:204.24, Z:-111.07 [[ 4.41608413e-01 3.37328621e-02 8.96573535e-01 1.54819378e+02] [ 1.09056705e-02 9.99017320e-01 -4.29588293e-02 2.04240512e+02] [-8.97141614e-01 2.87487160e-02 4.40806574e-01 -1.11065252e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.270714057 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.83, Y:204.26, Z:-111.09 [[ 4.43960144e-01 5.71023483e-02 8.94225202e-01 1.54832368e+02] [ 6.46900082e-03 9.97737106e-01 -6.69239808e-02 2.04256052e+02] [-8.96023182e-01 3.54963237e-02 4.42586114e-01 -1.11094879e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.3007140569999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.85, Y:204.26, Z:-111.13 [[ 4.44202222e-01 5.83106066e-02 8.94026990e-01 1.54846799e+02] [ 4.77725624e-03 9.97711437e-01 -6.74467635e-02 2.04259003e+02] [-8.95913815e-01 3.42309982e-02 4.42907073e-01 -1.11125190e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.3307140569999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.86, Y:204.27, Z:-111.15 [[ 4.44664167e-01 6.04641961e-02 8.93654217e-01 1.54861735e+02] [ 9.70804253e-04 9.97685805e-01 -6.79859736e-02 2.04265208e+02] [-8.95696844e-01 3.10984896e-02 4.43576428e-01 -1.11154547e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.3607140569999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.88, Y:204.27, Z:-111.18 [[ 4.44801380e-01 6.19473259e-02 8.93484337e-01 1.54876404e+02] [-1.22758571e-03 9.97646378e-01 -6.85579935e-02 2.04267941e+02] [-8.95628397e-01 2.93978615e-02 4.43830531e-01 -1.11183801e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.390714057 meters Centerline goodness : 0.999811 Centerline is valid? [True, True] Translation: X:154.89, Y:204.27, Z:-111.21 [[ 4.44826346e-01 6.35446015e-02 8.93359729e-01 1.54891199e+02] [-4.02868361e-03 9.97611702e-01 -6.89540523e-02 2.04270444e+02] [-8.95607778e-01 2.70735154e-02 4.44019969e-01 -1.11212757e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.4207140569999 meters Centerline goodness : 0.999811 Centerline is valid? [True, True] Translation: X:154.91, Y:204.27, Z:-111.24 [[ 4.44828337e-01 6.39277730e-02 8.93331400e-01 1.54905927e+02] [-4.15393310e-03 9.97585833e-01 -6.93199115e-02 2.04269353e+02] [-8.95606217e-01 2.71246221e-02 4.44019999e-01 -1.11242828e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.4507140569999 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:154.92, Y:204.28, Z:-111.27 [[ 4.44374545e-01 6.67396661e-02 8.93351600e-01 1.54921252e+02] [-9.95024253e-03 9.97527250e-01 -6.95728324e-02 2.04275663e+02] [-8.95785832e-01 2.20273307e-02 4.43939794e-01 -1.11271793e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.4807140569999 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:154.94, Y:204.28, Z:-111.30 [[ 4.43947800e-01 6.87266992e-02 8.93413114e-01 1.54936265e+02] [-1.32154222e-02 9.97448012e-01 -7.01627846e-02 2.04277873e+02] [-8.95955191e-01 1.93417824e-02 4.43723103e-01 -1.11300408e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.510714057 meters Centerline goodness : 0.999687 Centerline is valid? [True, True] Translation: X:154.95, Y:204.28, Z:-111.33 [[ 4.42822340e-01 7.07006191e-02 8.93817541e-01 1.54951222e+02] [-1.64598004e-02 9.97359254e-01 -7.07360804e-02 2.04279986e+02] [-8.96458281e-01 1.66114583e-02 4.42816677e-01 -1.11329899e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.540714057 meters Centerline goodness : 0.999665 Centerline is valid? [True, True] Translation: X:154.97, Y:204.28, Z:-111.36 [[ 4.39966686e-01 7.38711401e-02 8.94970597e-01 1.54966242e+02] [-2.21688157e-02 9.97200583e-01 -7.14110651e-02 2.04284658e+02] [-8.97740419e-01 1.15780515e-02 4.40372672e-01 -1.11358534e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.5707140569999 meters Centerline goodness : 0.999584 Centerline is valid? [True, True] Translation: X:154.98, Y:204.29, Z:-111.39 [[ 4.38967526e-01 7.56121258e-02 8.95315764e-01 1.54980914e+02] [-2.49309426e-02 9.97094144e-01 -7.19841382e-02 2.04286370e+02] [-8.98156979e-01 9.27763306e-03 4.39577031e-01 -1.11388405e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.6007140569999 meters Centerline goodness : 0.999372 Centerline is valid? [True, True] Translation: X:155.00, Y:204.29, Z:-111.42 [[ 4.37848716e-01 7.77161365e-02 8.95683373e-01 1.54995091e+02] [-2.84586936e-02 9.96955659e-01 -7.25914331e-02 2.04290214e+02] [-8.98598133e-01 6.29408708e-03 4.38727455e-01 -1.11417999e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.630714057 meters Centerline goodness : 0.999288 Centerline is valid? [True, True] Translation: X:155.01, Y:204.29, Z:-111.45 [[ 4.38692952e-01 8.30242175e-02 8.94793537e-01 1.55008440e+02] [-3.07945169e-02 9.96527074e-01 -7.73659399e-02 2.04292772e+02] [-8.98109231e-01 6.38515792e-03 4.39726095e-01 -1.11445299e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.660714057 meters Centerline goodness : 0.999054 Centerline is valid? [True, True] Translation: X:155.02, Y:204.29, Z:-111.48 [[ 4.37072847e-01 7.03033666e-02 8.96674279e-01 1.55022951e+02] [-3.16768547e-02 9.97525187e-01 -6.27700460e-02 2.04287375e+02] [-8.98868123e-01 -9.68738143e-04 4.38218163e-01 -1.11475751e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.6907140569999 meters Centerline goodness : 0.998906 Centerline is valid? [True, True] Translation: X:155.03, Y:204.29, Z:-111.50 [[ 4.37800756e-01 8.45915113e-02 8.95083669e-01 1.55034851e+02] [-3.35449645e-02 9.96407614e-01 -7.77598984e-02 2.04293331e+02] [-8.98446010e-01 4.01779236e-03 4.39065626e-01 -1.11498724e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.7207140569999 meters Centerline goodness : 0.999348 Centerline is valid? [True, True] Translation: X:155.05, Y:204.29, Z:-111.53 [[ 4.36841059e-01 7.11527847e-02 8.96720230e-01 1.55047176e+02] [-3.50773765e-02 9.97455964e-01 -6.20578519e-02 2.04289681e+02] [-8.98854530e-01 -4.34517539e-03 4.38225573e-01 -1.11526352e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.750714057 meters Centerline goodness : 0.999075 Centerline is valid? [True, True] Translation: X:155.06, Y:204.29, Z:-111.56 [[ 4.37518076e-01 8.23499348e-02 8.95430858e-01 1.55060324e+02] [-3.75893442e-02 9.96602201e-01 -7.32877454e-02 2.04294754e+02] [-8.98423606e-01 -1.59394546e-03 4.39126957e-01 -1.11555358e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.780714057 meters Centerline goodness : 0.999078 Centerline is valid? [True, True] Translation: X:155.07, Y:204.29, Z:-111.59 [[ 4.38257930e-01 8.33428398e-02 8.94977071e-01 1.55074715e+02] [-3.87976997e-02 9.96518092e-01 -7.37999333e-02 2.04293926e+02] [-8.98011540e-01 -2.37964562e-03 4.39965467e-01 -1.11585476e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.8107140569999 meters Centerline goodness : 0.998802 Centerline is valid? [True, True] Translation: X:155.09, Y:204.29, Z:-111.61 [[ 4.38832794e-01 8.45239113e-02 8.94584533e-01 1.55086553e+02] [-3.97805426e-02 9.96417414e-01 -7.46313936e-02 2.04292731e+02] [-8.97687745e-01 -2.83635513e-03 4.40623045e-01 -1.11610472e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.8407140569999 meters Centerline goodness : 0.999076 Centerline is valid? [True, True] Translation: X:155.10, Y:204.29, Z:-111.64 [[ 4.39829118e-01 7.99205252e-02 8.94518338e-01 1.55099196e+02] [-4.06122919e-02 9.96783533e-01 -6.90885724e-02 2.04288877e+02] [-8.97162744e-01 -5.94127395e-03 4.41660178e-01 -1.11636926e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.870714057 meters Centerline goodness : 0.999077 Centerline is valid? [True, True] Translation: X:155.11, Y:204.29, Z:-111.67 [[ 4.39675837e-01 7.83907039e-02 8.94729041e-01 1.55113682e+02] [-4.02215012e-02 9.96902964e-01 -6.75774453e-02 2.04285297e+02] [-8.97255476e-01 -6.27517532e-03 4.41467137e-01 -1.11666223e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.900714057 meters Centerline goodness : 0.998915 Centerline is valid? [True, True] Translation: X:155.13, Y:204.29, Z:-111.70 [[ 4.39557968e-01 8.51397947e-02 8.94170011e-01 1.55127294e+02] [-3.99185470e-02 9.96365575e-01 -7.52472621e-02 2.04286411e+02] [-8.97326753e-01 -2.61843394e-03 4.41359085e-01 -1.11695193e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.9307140569999 meters Centerline goodness : 0.999097 Centerline is valid? [True, True] Translation: X:155.14, Y:204.28, Z:-111.72 [[ 4.40071410e-01 8.45905341e-02 8.93969572e-01 1.55141736e+02] [-3.76260042e-02 9.96415754e-01 -7.57623237e-02 2.04282693e+02] [-8.97174140e-01 -2.95670269e-04 4.41676890e-01 -1.11724291e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.9607140569999 meters Centerline goodness : 0.999497 Centerline is valid? [True, True] Translation: X:155.16, Y:204.28, Z:-111.75 [[ 4.40343260e-01 8.42355749e-02 8.93869219e-01 1.55155854e+02] [-3.56389631e-02 9.96444311e-01 -7.63452648e-02 2.04279507e+02] [-8.97121886e-01 1.76155070e-03 4.41779605e-01 -1.11752828e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.990714057 meters Centerline goodness : 0.999516 Centerline is valid? [True, True] Translation: X:155.17, Y:204.28, Z:-111.78 [[ 4.40128186e-01 8.37674848e-02 8.94019121e-01 1.55170540e+02] [-3.34304647e-02 9.96477449e-01 -7.69096747e-02 2.04275680e+02] [-8.97312423e-01 3.96264093e-03 4.41378197e-01 -1.11782293e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.020714057 meters Centerline goodness : 0.999623 Centerline is valid? [True, True] Translation: X:155.18, Y:204.27, Z:-111.81 [[ 4.39404845e-01 8.20240857e-02 8.94536434e-01 1.55184842e+02] [-2.81916938e-02 9.96591051e-01 -7.75339050e-02 2.04269392e+02] [-8.97846652e-01 8.85027629e-03 4.40219334e-01 -1.11811619e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.0507140569999 meters Centerline goodness : 0.999833 Centerline is valid? [True, True] Translation: X:155.20, Y:204.27, Z:-111.84 [[ 4.39513642e-01 8.16590062e-02 8.94516386e-01 1.55198964e+02] [-2.61630824e-02 9.96600361e-01 -7.81230668e-02 2.04266228e+02] [-8.97854805e-01 1.09328477e-02 4.40155906e-01 -1.11839741e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.0807140569999 meters Centerline goodness : 0.999349 Centerline is valid? [True, True] Translation: X:155.21, Y:204.26, Z:-111.86 [[ 4.40874670e-01 8.76084576e-02 8.93282869e-01 1.55211682e+02] [-2.30056897e-02 9.96001095e-01 -8.63281908e-02 2.04264918e+02] [-8.97273795e-01 1.75093241e-02 4.41127147e-01 -1.11864347e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.1107140569999 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:155.22, Y:204.26, Z:-111.89 [[ 4.38608361e-01 6.89817479e-02 8.96026910e-01 1.55223499e+02] [-2.06877425e-02 9.97560474e-01 -6.66717123e-02 2.04255241e+02] [-8.98440161e-01 1.07059965e-02 4.38965442e-01 -1.11890444e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.140714057 meters Centerline goodness : 0.999390 Centerline is valid? [True, True] Translation: X:155.24, Y:204.26, Z:-111.91 [[ 4.39108995e-01 8.41977710e-02 8.94479752e-01 1.55235782e+02] [-2.04151589e-02 9.96276980e-01 -8.37579845e-02 2.04256327e+02] [-8.98201822e-01 1.85179381e-02 4.39193094e-01 -1.11913672e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.1707140569999 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:155.25, Y:204.24, Z:-111.94 [[ 4.36621837e-01 6.24208835e-02 8.97477022e-01 1.55248217e+02] [-1.85512779e-02 9.98002611e-01 -6.03874086e-02 2.04244900e+02] [-8.99453846e-01 9.71711561e-03 4.36907720e-01 -1.11939131e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.2007140569999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.26, Y:204.25, Z:-111.97 [[ 4.35940755e-01 7.69095573e-02 8.96683098e-01 1.55262699e+02] [-1.82290250e-02 9.96892010e-01 -7.66421810e-02 2.04248099e+02] [-8.99790732e-01 1.70657917e-02 4.35987842e-01 -1.11969475e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.2307140569999 meters Centerline goodness : 0.999433 Centerline is valid? [True, True] Translation: X:155.28, Y:204.25, Z:-111.99 [[ 4.38244886e-01 8.76119980e-02 8.94575630e-01 1.55275051e+02] [-1.76255640e-02 9.95884661e-01 -8.88992824e-02 2.04248878e+02] [-8.98682791e-01 2.31922559e-02 4.37985571e-01 -1.11993050e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.260714057 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.29, Y:204.24, Z:-112.02 [[ 4.34699615e-01 5.82088882e-02 8.98692367e-01 1.55286941e+02] [-1.54460947e-02 9.98244071e-01 -5.71856043e-02 2.04235522e+02] [-9.00443037e-01 1.09772728e-02 4.34835413e-01 -1.12020028e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.290714057 meters Centerline goodness : 0.999474 Centerline is valid? [True, True] Translation: X:155.30, Y:204.24, Z:-112.04 [[ 4.39601306e-01 8.44971857e-02 8.94209661e-01 1.55297629e+02] [-1.51080873e-02 9.96119918e-01 -8.66997956e-02 2.04242467e+02] [-8.98065943e-01 2.46035458e-02 4.39172208e-01 -1.12042324e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.3207140569999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.31, Y:204.21, Z:-112.07 [[ 4.37689940e-01 1.96890914e-02 8.98910371e-01 1.55312677e+02] [-1.24244667e-02 9.99797197e-01 -1.58492268e-02 2.04214041e+02] [-8.99040126e-01 -4.23143485e-03 4.37845802e-01 -1.12066454e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.3507140569999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:155.31, Y:204.25, Z:-112.10 [[ 4.31365348e-01 1.14171050e-01 8.94923968e-01 1.55310548e+02] [-7.21752763e-03 9.92365137e-01 -1.23123284e-01 2.04254676e+02] [-9.02148460e-01 4.66519799e-02 4.28895965e-01 -1.12102164e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.380714057 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.32, Y:204.24, Z:-112.13 [[ 4.32626953e-01 7.74213012e-02 8.98242652e-01 1.55322195e+02] [-6.97586486e-03 9.96563673e-01 -8.25359484e-02 2.04238136e+02] [-9.01546037e-01 2.94412565e-02 4.31680386e-01 -1.12125971e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.410714057 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.34, Y:204.23, Z:-112.15 [[ 4.29472274e-01 5.31916392e-02 9.01512183e-01 1.55335702e+02] [-3.71422102e-03 9.98359469e-01 -5.71364677e-02 2.04227116e+02] [-9.03072406e-01 2.11901132e-02 4.28965276e-01 -1.12153058e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.4407140569999 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:155.35, Y:204.23, Z:-112.18 [[ 4.29371259e-01 6.86517460e-02 9.00514997e-01 1.55349851e+02] [-3.85868317e-04 9.97120489e-01 -7.58325869e-02 2.04232648e+02] [-9.03127994e-01 3.22128531e-02 4.28161370e-01 -1.12183307e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.4707140569999 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:155.36, Y:204.23, Z:-112.21 [[ 4.29419665e-01 6.84754082e-02 9.00505342e-01 1.55363748e+02] [ 1.26333099e-03 9.97074832e-01 -7.64210961e-02 2.04231769e+02] [-9.03104178e-01 3.39543578e-02 4.28077033e-01 -1.12211823e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.500714057 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:155.38, Y:204.23, Z:-112.24 [[ 4.29720112e-01 6.81721504e-02 9.00385019e-01 1.55378169e+02] [ 3.07846100e-03 9.97029524e-01 -7.69587696e-02 2.04231113e+02] [-9.02956892e-01 3.58425313e-02 4.28233773e-01 -1.12241824e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.530714057 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:155.39, Y:204.23, Z:-112.27 [[ 4.29656339e-01 6.71159279e-02 9.00494799e-01 1.55392541e+02] [ 6.75024339e-03 9.96967400e-01 -7.75270185e-02 2.04232180e+02] [-9.02967256e-01 3.93885340e-02 4.27900314e-01 -1.12271516e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.5607140569999 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:155.41, Y:204.23, Z:-112.30 [[ 4.29662195e-01 6.67390996e-02 9.00520012e-01 1.55406866e+02] [ 8.87229217e-03 9.96904831e-01 -7.81155537e-02 2.04232729e+02] [-9.02946112e-01 4.15529769e-02 4.27740189e-01 -1.12301545e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.5907140569999 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:155.42, Y:204.23, Z:-112.33 [[ 4.29608887e-01 6.66430041e-02 9.00552561e-01 1.55421027e+02] [ 1.03387222e-02 9.96844659e-01 -7.87009362e-02 2.04233034e+02] [-9.02955877e-01 4.31211843e-02 4.27564321e-01 -1.12330693e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.620714057 meters Centerline goodness : 0.999116 Centerline is valid? [True, True] Translation: X:155.43, Y:204.24, Z:-112.36 [[ 4.29663450e-01 6.50677667e-02 9.00641719e-01 1.55433645e+02] [ 1.38619952e-02 9.96807612e-01 -7.86284229e-02 2.04235745e+02] [-9.02882697e-01 4.62684507e-02 4.27389829e-01 -1.12356165e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.650714057 meters Centerline goodness : 0.999326 Centerline is valid? [True, True] Translation: X:155.45, Y:204.24, Z:-112.38 [[ 4.30825420e-01 6.85115164e-02 8.99830889e-01 1.55446511e+02] [ 1.51366422e-02 9.96425147e-01 -8.31132260e-02 2.04238474e+02] [-9.02308339e-01 4.94277088e-02 4.28248249e-01 -1.12381988e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.6807140569999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.46, Y:204.24, Z:-112.41 [[ 4.29150528e-01 6.33688943e-02 9.01007329e-01 1.55458173e+02] [ 1.63807610e-02 9.96825807e-01 -7.79100892e-02 2.04239803e+02] [-9.03084434e-01 4.81943417e-02 4.26750291e-01 -1.12407152e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.7107140569999 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:155.47, Y:204.24, Z:-112.44 [[ 4.28539659e-01 6.39459081e-02 9.01257278e-01 1.55472561e+02] [ 1.55413052e-02 9.96823115e-01 -7.81162345e-02 2.04241164e+02] [-9.03389301e-01 4.74826189e-02 4.26184435e-01 -1.12437433e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.740714057 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.49, Y:204.24, Z:-112.47 [[ 4.28255513e-01 6.49893188e-02 9.01317704e-01 1.55487355e+02] [ 1.44087416e-02 9.96792652e-01 -7.87197435e-02 2.04242934e+02] [-9.03542807e-01 4.66990180e-02 4.25945534e-01 -1.12467068e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.770714057 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:155.50, Y:204.25, Z:-112.50 [[ 4.27704353e-01 6.65583799e-02 9.01464902e-01 1.55501376e+02] [ 1.17115931e-02 9.96793644e-01 -7.91534637e-02 2.04248019e+02] [-9.03842810e-01 4.44118711e-02 4.25553476e-01 -1.12496440e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.8007140569999 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:155.52, Y:204.25, Z:-112.53 [[ 4.28255367e-01 6.78562614e-02 9.01106469e-01 1.55515846e+02] [ 9.34788466e-03 9.96790698e-01 -7.95042256e-02 2.04250098e+02] [-9.03609406e-01 4.24715506e-02 4.26246653e-01 -1.12525912e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.8307140569999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.53, Y:204.26, Z:-112.56 [[ 4.28964130e-01 7.07487819e-02 9.00546715e-01 1.55530385e+02] [ 3.64171633e-03 9.96784669e-01 -8.00441173e-02 2.04255108e+02] [-9.03314183e-01 3.76155908e-02 4.27327222e-01 -1.12555371e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.8607140569999 meters Centerline goodness : 0.999138 Centerline is valid? [True, True] Translation: X:155.54, Y:204.26, Z:-112.58 [[ 4.33847735e-01 8.66076739e-02 8.96813946e-01 1.55543985e+02] [-7.74156500e-04 9.95404696e-01 -9.57543308e-02 2.04263037e+02] [-9.00985873e-01 4.08485252e-02 4.31921120e-01 -1.12579721e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.890714057 meters Centerline goodness : 0.999811 Centerline is valid? [True, True] Translation: X:155.55, Y:204.25, Z:-112.61 [[ 4.29135463e-01 5.26446008e-02 9.01704664e-01 1.55554051e+02] [-6.85181857e-03 9.98461044e-01 -5.50326806e-02 2.04253092e+02] [-9.03214154e-01 1.74381581e-02 4.28835753e-01 -1.12607666e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.9207140569999 meters Centerline goodness : 0.999495 Centerline is valid? [True, True] Translation: X:155.57, Y:204.26, Z:-112.64 [[ 4.29682227e-01 7.65628286e-02 8.99728469e-01 1.55569374e+02] [-1.06636282e-02 9.96759686e-01 -7.97271310e-02 2.04263864e+02] [-9.02917201e-01 2.46629614e-02 4.29106359e-01 -1.12637022e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.9507140569999 meters Centerline goodness : 0.999579 Centerline is valid? [True, True] Translation: X:155.58, Y:204.27, Z:-112.67 [[ 4.28360499e-01 7.85984954e-02 9.00183070e-01 1.55582993e+02] [-1.39652917e-02 9.96666671e-01 -8.03773408e-02 2.04265675e+02] [-9.03500002e-01 2.18591586e-02 4.28030283e-01 -1.12666643e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.9807140569999 meters Centerline goodness : 0.999391 Centerline is valid? [True, True] Translation: X:155.60, Y:204.27, Z:-112.70 [[ 4.27684613e-01 8.11482473e-02 9.00278198e-01 1.55598109e+02] [-1.86840625e-02 9.96543088e-01 -8.09492433e-02 2.04269293e+02] [-9.03734905e-01 1.77998916e-02 4.27722323e-01 -1.12696524e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.010714057 meters Centerline goodness : 0.999287 Centerline is valid? [True, True] Translation: X:155.61, Y:204.27, Z:-112.73 [[ 4.26998086e-01 8.24304840e-02 9.00487562e-01 1.55612063e+02] [-2.03639760e-02 9.96460412e-01 -8.15595222e-02 2.04270260e+02] [-9.04023198e-01 1.64882528e-02 4.27165301e-01 -1.12725216e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.040714057 meters Centerline goodness : 0.998845 Centerline is valid? [True, True] Translation: X:155.63, Y:204.27, Z:-112.76 [[ 4.26447480e-01 8.37464871e-02 9.00627044e-01 1.55626849e+02] [-2.22288965e-02 9.96374163e-01 -8.21243150e-02 2.04272701e+02] [-9.04239141e-01 1.50017618e-02 4.26762843e-01 -1.12755008e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.0707140569999 meters Centerline goodness : 0.998888 Centerline is valid? [True, True] Translation: X:155.64, Y:204.27, Z:-112.78 [[ 4.25894284e-01 8.44479805e-02 9.00823289e-01 1.55640983e+02] [-2.29330607e-02 9.96322347e-01 -8.25582016e-02 2.04272542e+02] [-9.04482246e-01 1.45024310e-02 4.26264643e-01 -1.12783574e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.1007140569999 meters Centerline goodness : 0.998599 Centerline is valid? [True, True] Translation: X:155.65, Y:204.27, Z:-112.81 [[ 4.25635322e-01 8.50388908e-02 9.00890093e-01 1.55654631e+02] [-2.34948993e-02 9.96277338e-01 -8.29424824e-02 2.04272430e+02] [-9.04589720e-01 1.41369282e-02 4.26048806e-01 -1.12812065e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.130714057 meters Centerline goodness : 0.998572 Centerline is valid? [True, True] Translation: X:155.67, Y:204.27, Z:-112.84 [[ 4.25591036e-01 8.59526875e-02 9.00824292e-01 1.55669101e+02] [-2.44718535e-02 9.96207906e-01 -8.34921371e-02 2.04272597e+02] [-9.04584655e-01 1.34886650e-02 4.26080576e-01 -1.12842082e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.160714057 meters Centerline goodness : 0.997944 Centerline is valid? [True, True] Translation: X:155.68, Y:204.27, Z:-112.87 [[ 4.25937503e-01 8.66657954e-02 9.00592185e-01 1.55682749e+02] [-2.49584943e-02 9.96148315e-01 -8.40571667e-02 2.04271928e+02] [-9.04408269e-01 1.33256748e-02 4.26459974e-01 -1.12871691e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.1907140569999 meters Centerline goodness : 0.998155 Centerline is valid? [True, True] Translation: X:155.70, Y:204.27, Z:-112.90 [[ 4.25960831e-01 8.73570746e-02 9.00514360e-01 1.55696680e+02] [-2.53226355e-02 9.96088883e-01 -8.46504658e-02 2.04271176e+02] [-9.04387160e-01 1.32543859e-02 4.26506960e-01 -1.12901087e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.2207140569999 meters Centerline goodness : 0.997966 Centerline is valid? [True, True] Translation: X:155.71, Y:204.27, Z:-112.93 [[ 4.26181490e-01 8.84181717e-02 9.00306373e-01 1.55709727e+02] [-2.65925498e-02 9.96006490e-01 -8.52285652e-02 2.04269687e+02] [-9.04246744e-01 1.23813948e-02 4.26830794e-01 -1.12929983e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.250714057 meters Centerline goodness : 0.997732 Centerline is valid? [True, True] Translation: X:155.72, Y:204.27, Z:-112.96 [[ 4.26887885e-01 8.90662107e-02 8.99907742e-01 1.55723790e+02] [-2.70346597e-02 9.95950056e-01 -8.57473775e-02 2.04268067e+02] [-9.03900360e-01 1.22758170e-02 4.27566888e-01 -1.12959465e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.280714057 meters Centerline goodness : 0.998358 Centerline is valid? [True, True] Translation: X:155.74, Y:204.26, Z:-112.99 [[ 4.27434365e-01 8.96742686e-02 8.99587900e-01 1.55738229e+02] [-2.73021387e-02 9.95894850e-01 -8.63020389e-02 2.04264160e+02] [-9.03634028e-01 1.23277837e-02 4.28127982e-01 -1.12989483e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.3107140569999 meters Centerline goodness : 0.998358 Centerline is valid? [True, True] Translation: X:155.75, Y:204.26, Z:-113.02 [[ 4.27430844e-01 9.02504933e-02 8.99531946e-01 1.55752736e+02] [-2.74223567e-02 9.95841036e-01 -8.68829439e-02 2.04262893e+02] [-9.03632053e-01 1.24691642e-02 4.28128056e-01 -1.13019663e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.3407140569999 meters Centerline goodness : 0.997516 Centerline is valid? [True, True] Translation: X:155.77, Y:204.26, Z:-113.05 [[ 4.27517818e-01 9.02288014e-02 8.99492790e-01 1.55766558e+02] [-2.68332578e-02 9.95834675e-01 -8.71394125e-02 2.04260382e+02] [-9.03608595e-01 1.31173295e-02 4.28158199e-01 -1.13049736e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.370714057 meters Centerline goodness : 0.997922 Centerline is valid? [True, True] Translation: X:155.78, Y:204.26, Z:-113.08 [[ 4.27951912e-01 8.97102102e-02 8.99338223e-01 1.55780098e+02] [-2.44321929e-02 9.95846305e-01 -8.77109141e-02 2.04256379e+02] [-9.03471211e-01 1.55632484e-02 4.28366147e-01 -1.13078618e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.400714057 meters Centerline goodness : 0.998175 Centerline is valid? [True, True] Translation: X:155.79, Y:204.25, Z:-113.11 [[ 4.28315757e-01 8.96594503e-02 8.99170059e-01 1.55794426e+02] [-2.32203658e-02 9.95828849e-01 -8.82367220e-02 2.04253427e+02] [-9.03330741e-01 1.69141207e-02 4.28611112e-01 -1.13108612e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.4307140569999 meters Centerline goodness : 0.998090 Centerline is valid? [True, True] Translation: X:155.81, Y:204.25, Z:-113.14 [[ 4.28841185e-01 8.95444263e-02 8.98931051e-01 1.55807979e+02] [-2.18232852e-02 9.95811804e-01 -8.87839764e-02 2.04250689e+02] [-9.03116262e-01 1.84565970e-02 4.28999268e-01 -1.13137526e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.4607140569999 meters Centerline goodness : 0.998699 Centerline is valid? [True, True] Translation: X:155.82, Y:204.25, Z:-113.16 [[ 4.30147637e-01 8.85760168e-02 8.98402638e-01 1.55820418e+02] [-1.85573641e-02 9.95832171e-01 -8.92967556e-02 2.04247115e+02] [-9.02567801e-01 2.17388035e-02 4.29998593e-01 -1.13162905e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.490714057 meters Centerline goodness : 0.998724 Centerline is valid? [True, True] Translation: X:155.83, Y:204.24, Z:-113.19 [[ 4.30562531e-01 8.78838003e-02 8.98271866e-01 1.55834915e+02] [-1.72914499e-02 9.95868630e-01 -8.91441360e-02 2.04243917e+02] [-9.02395098e-01 2.28497018e-02 4.30303356e-01 -1.13192429e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.520714057 meters Centerline goodness : 0.998787 Centerline is valid? [True, True] Translation: X:155.85, Y:204.24, Z:-113.22 [[ 4.30216344e-01 8.66912356e-02 8.98553575e-01 1.55849424e+02] [-1.32116264e-02 9.95876223e-01 -8.97552299e-02 2.04239653e+02] [-9.02629132e-01 2.67428127e-02 4.29587560e-01 -1.13222291e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.5507140569999 meters Centerline goodness : 0.999182 Centerline is valid? [True, True] Translation: X:155.86, Y:204.24, Z:-113.25 [[ 4.29800815e-01 8.64479624e-02 8.98775839e-01 1.55863497e+02] [-1.13149849e-02 9.95843669e-01 -9.03734421e-02 2.04236777e+02] [-9.02852829e-01 2.86729441e-02 4.28992578e-01 -1.13251091e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.5807140569999 meters Centerline goodness : 0.999202 Centerline is valid? [True, True] Translation: X:155.88, Y:204.23, Z:-113.28 [[ 4.29639914e-01 8.59291955e-02 8.98902507e-01 1.55878090e+02] [-8.90465676e-03 9.95816790e-01 -9.09374922e-02 2.04233955e+02] [-9.02956395e-01 3.10659580e-02 4.28607810e-01 -1.13281045e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.6107140569999 meters Centerline goodness : 0.999349 Centerline is valid? [True, True] Translation: X:155.89, Y:204.23, Z:-113.31 [[ 4.29272537e-01 8.55015756e-02 8.99118774e-01 1.55892064e+02] [-6.58905569e-03 9.95778902e-01 -9.15475984e-02 2.04230963e+02] [-9.03150970e-01 3.33745261e-02 4.28023910e-01 -1.13309472e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.640714057 meters Centerline goodness : 0.999517 Centerline is valid? [True, True] Translation: X:155.91, Y:204.23, Z:-113.34 [[ 4.28918717e-01 8.36812588e-02 8.99458827e-01 1.55905742e+02] [-1.06322554e-03 9.95746202e-01 -9.21323531e-02 2.04227314e+02] [-9.03342462e-01 3.85609631e-02 4.27183155e-01 -1.13338850e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.6707140569999 meters Centerline goodness : 0.999664 Centerline is valid? [True, True] Translation: X:155.92, Y:204.23, Z:-113.37 [[ 4.29516604e-01 8.30290798e-02 8.99233929e-01 1.55919333e+02] [ 1.61350272e-03 9.95692213e-01 -9.27060598e-02 2.04225127e+02] [-9.03057520e-01 4.12697083e-02 4.27532370e-01 -1.13367973e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.7007140569999 meters Centerline goodness : 0.999601 Centerline is valid? [True, True] Translation: X:155.93, Y:204.22, Z:-113.40 [[ 4.31068513e-01 8.08037083e-02 8.98693885e-01 1.55933145e+02] [ 7.77341163e-03 9.95612707e-01 -9.32465138e-02 2.04222187e+02] [-9.02285715e-01 4.71815535e-02 4.28549168e-01 -1.13398334e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.7307140569999 meters Centerline goodness : 0.999647 Centerline is valid? [True, True] Translation: X:155.95, Y:204.22, Z:-113.43 [[ 4.32097631e-01 8.02066170e-02 8.98253047e-01 1.55946642e+02] [ 1.02080715e-02 9.95538358e-01 -9.38039093e-02 2.04220138e+02] [-9.01769057e-01 4.97018783e-02 4.29351011e-01 -1.13427641e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.760714057 meters Centerline goodness : 0.999603 Centerline is valid? [True, True] Translation: X:155.96, Y:204.22, Z:-113.46 [[ 4.32343350e-01 7.94492985e-02 8.98202114e-01 1.55960459e+02] [ 1.27183425e-02 9.95474390e-01 -9.41752768e-02 2.04218304e+02] [-9.01619361e-01 5.21396967e-02 4.29376269e-01 -1.13457846e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.790714057 meters Centerline goodness : 0.999251 Centerline is valid? [True, True] Translation: X:155.97, Y:204.22, Z:-113.49 [[ 4.32742612e-01 7.82929686e-02 8.98111376e-01 1.55974054e+02] [ 1.65909218e-02 9.95361423e-01 -9.47648608e-02 2.04216691e+02] [-9.01364839e-01 5.59092890e-02 4.29436349e-01 -1.13487256e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.8207140569999 meters Centerline goodness : 0.999377 Centerline is valid? [True, True] Translation: X:155.99, Y:204.22, Z:-113.52 [[ 4.33309074e-01 7.82621872e-02 8.97840897e-01 1.55988417e+02] [ 1.76911325e-02 9.95291892e-01 -9.52946662e-02 2.04215473e+02] [-9.01071734e-01 5.71758659e-02 4.29884462e-01 -1.13516353e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.8507140569999 meters Centerline goodness : 0.999208 Centerline is valid? [True, True] Translation: X:156.00, Y:204.22, Z:-113.55 [[ 4.32903105e-01 7.79554324e-02 8.98063390e-01 1.56002495e+02] [ 1.96723943e-02 9.95199436e-01 -9.58701178e-02 2.04215971e+02] [-9.01225776e-01 5.91695288e-02 4.29291356e-01 -1.13545760e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.880714057 meters Centerline goodness : 0.999128 Centerline is valid? [True, True] Translation: X:156.02, Y:204.22, Z:-113.57 [[ 4.32851972e-01 7.82976937e-02 8.98058262e-01 1.56016311e+02] [ 2.01242097e-02 9.95133320e-01 -9.64608327e-02 2.04215888e+02] [-9.01240360e-01 5.98259745e-02 4.29169741e-01 -1.13574419e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.910714057 meters Centerline goodness : 0.999272 Centerline is valid? [True, True] Translation: X:156.03, Y:204.22, Z:-113.60 [[ 4.32767431e-01 7.85478579e-02 8.98077160e-01 1.56030769e+02] [ 2.07175218e-02 9.95067345e-01 -9.70142444e-02 2.04215609e+02] [-9.01267516e-01 6.05905384e-02 4.29005421e-01 -1.13603948e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.9407140569999 meters Centerline goodness : 0.998907 Centerline is valid? [True, True] Translation: X:156.04, Y:204.22, Z:-113.63 [[ 4.32465974e-01 7.84200804e-02 8.98233529e-01 1.56043156e+02] [ 2.23290293e-02 9.94973580e-01 -9.76165448e-02 2.04217112e+02] [-9.01373727e-01 6.22725169e-02 4.28541174e-01 -1.13629857e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.9707140569999 meters Centerline goodness : 0.999020 Centerline is valid? [True, True] Translation: X:156.06, Y:204.22, Z:-113.66 [[ 4.32744463e-01 7.82140423e-02 8.98117361e-01 1.56057085e+02] [ 2.25781903e-02 9.94976625e-01 -9.75281567e-02 2.04217267e+02] [-9.01233851e-01 6.24826345e-02 4.28804694e-01 -1.13659660e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.000714057 meters Centerline goodness : 0.999249 Centerline is valid? [True, True] Translation: X:156.07, Y:204.22, Z:-113.69 [[ 4.32966086e-01 7.86951499e-02 8.97968508e-01 1.56071121e+02] [ 2.26441370e-02 9.94917958e-01 -9.81096334e-02 2.04217982e+02] [-9.01125747e-01 6.28118659e-02 4.28983750e-01 -1.13688363e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.030714057 meters Centerline goodness : 0.998916 Centerline is valid? [True, True] Translation: X:156.09, Y:204.22, Z:-113.72 [[ 4.33530218e-01 7.87429746e-02 8.97692093e-01 1.56085327e+02] [ 2.35446434e-02 9.94845050e-01 -9.86355717e-02 2.04221727e+02] [-9.00831394e-01 6.38973411e-02 4.29441416e-01 -1.13718242e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.0607140569999 meters Centerline goodness : 0.998746 Centerline is valid? [True, True] Translation: X:156.10, Y:204.22, Z:-113.75 [[ 4.33495829e-01 7.91994764e-02 8.97668541e-01 1.56099134e+02] [ 2.37266176e-02 9.94782061e-01 -9.92254982e-02 2.04223039e+02] [-9.00843168e-01 6.43124778e-02 4.29354738e-01 -1.13747110e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.0907140569999 meters Centerline goodness : 0.998553 Centerline is valid? [True, True] Translation: X:156.11, Y:204.23, Z:-113.78 [[ 4.33542783e-01 7.94848805e-02 8.97620638e-01 1.56114545e+02] [ 2.38180331e-02 9.94743544e-01 -9.95890740e-02 2.04226473e+02] [-9.00818160e-01 6.45556824e-02 4.29370711e-01 -1.13776842e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.120714057 meters Centerline goodness : 0.998634 Centerline is valid? [True, True] Translation: X:156.13, Y:204.23, Z:-113.81 [[ 4.32912963e-01 8.01968924e-02 8.97861251e-01 1.56129063e+02] [ 2.35925586e-02 9.94685487e-01 -1.00220618e-01 2.04228258e+02] [-9.01126938e-01 6.45696488e-02 4.28720191e-01 -1.13807073e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.150714057 meters Centerline goodness : 0.998044 Centerline is valid? [True, True] Translation: X:156.14, Y:204.23, Z:-113.84 [[ 4.32644394e-01 8.08874256e-02 8.97928757e-01 1.56143622e+02] [ 2.33103550e-02 9.94630549e-01 -1.00830047e-01 2.04230208e+02] [-9.01263256e-01 6.45545927e-02 4.28435816e-01 -1.13837032e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.1807140569999 meters Centerline goodness : 0.998152 Centerline is valid? [True, True] Translation: X:156.16, Y:204.24, Z:-113.87 [[ 4.32181015e-01 8.15919376e-02 8.98088150e-01 1.56158901e+02] [ 2.30742178e-02 9.94571850e-01 -1.01461402e-01 2.04235690e+02] [-9.01491625e-01 6.45723735e-02 4.27952402e-01 -1.13865464e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.2107140569999 meters Centerline goodness : 0.997201 Centerline is valid? [True, True] Translation: X:156.17, Y:204.24, Z:-113.90 [[ 4.32070504e-01 8.24451859e-02 8.98063400e-01 1.56172395e+02] [ 2.22984861e-02 9.94531440e-01 -1.02029375e-01 2.04243026e+02] [-9.01564117e-01 6.41093377e-02 4.27869297e-01 -1.13895356e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.240714057 meters Centerline goodness : 0.997260 Centerline is valid? [True, True] Translation: X:156.19, Y:204.25, Z:-113.92 [[ 4.31781396e-01 8.32464074e-02 8.98128533e-01 1.56186795e+02] [ 2.16748535e-02 9.94486721e-01 -1.02598060e-01 2.04245535e+02] [-9.01717820e-01 6.37667380e-02 4.27596511e-01 -1.13924900e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.270714057 meters Centerline goodness : 0.997260 Centerline is valid? [True, True] Translation: X:156.20, Y:204.24, Z:-113.96 [[ 4.31809290e-01 8.38367041e-02 8.98060212e-01 1.56201291e+02] [ 2.15486963e-02 9.94427796e-01 -1.03194056e-01 2.04244010e+02] [-9.01707486e-01 6.39121789e-02 4.27596589e-01 -1.13955077e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.3007140569999 meters Centerline goodness : 0.996440 Centerline is valid? [True, True] Translation: X:156.22, Y:204.25, Z:-113.98 [[ 4.31800722e-01 8.46409971e-02 8.97988885e-01 1.56215611e+02] [ 2.02175996e-02 9.94428869e-01 -1.03452756e-01 2.04250701e+02] [-9.01742416e-01 6.28261545e-02 4.27683866e-01 -1.13984547e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.3307140569999 meters Centerline goodness : 0.996173 Centerline is valid? [True, True] Translation: X:156.23, Y:204.26, Z:-114.01 [[ 4.32326210e-01 8.58297908e-02 8.97623137e-01 1.56228599e+02] [ 1.84514155e-02 9.94409138e-01 -1.03971205e-01 2.04259009e+02] [-9.01528477e-01 6.15118943e-02 4.28325452e-01 -1.14010216e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.3607140569999 meters Centerline goodness : 0.995598 Centerline is valid? [True, True] Translation: X:156.24, Y:204.26, Z:-114.04 [[ 4.32746376e-01 8.59750515e-02 8.97406744e-01 1.56240620e+02] [ 1.75372507e-02 9.94450968e-01 -1.03729056e-01 2.04262951e+02] [-9.01345116e-01 6.06264203e-02 4.28837287e-01 -1.14035583e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.390714057 meters Centerline goodness : 0.995269 Centerline is valid? [True, True] Translation: X:156.25, Y:204.27, Z:-114.07 [[ 4.32406898e-01 8.64625983e-02 8.97523534e-01 1.56254536e+02] [ 1.60337113e-02 9.94497172e-01 -1.03529204e-01 2.04266359e+02] [-9.01536020e-01 5.91573751e-02 4.28641121e-01 -1.14065237e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.4207140569999 meters Centerline goodness : 0.994612 Centerline is valid? [True, True] Translation: X:156.27, Y:204.27, Z:-114.10 [[ 4.32787207e-01 8.75771589e-02 8.97232119e-01 1.56269351e+02] [ 1.45489517e-02 9.94461945e-01 -1.04085387e-01 2.04270141e+02] [-9.01378700e-01 5.81006106e-02 4.29116252e-01 -1.14095398e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.4507140569999 meters Centerline goodness : 0.993436 Centerline is valid? [True, True] Translation: X:156.28, Y:204.28, Z:-114.13 [[ 4.32199130e-01 8.90686921e-02 8.97368754e-01 1.56284654e+02] [ 1.24287531e-02 9.94427412e-01 -1.04688340e-01 2.04279155e+02] [-9.01692541e-01 5.63993842e-02 4.28683650e-01 -1.14125458e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.4807140569999 meters Centerline goodness : 0.993296 Centerline is valid? [True, True] Translation: X:156.30, Y:204.28, Z:-114.16 [[ 4.31474693e-01 8.99262910e-02 8.97631802e-01 1.56299829e+02] [ 1.18305057e-02 9.94369665e-01 -1.05304357e-01 2.04282547e+02] [-9.02047465e-01 5.60556033e-02 4.27981473e-01 -1.14155373e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.510714057 meters Centerline goodness : 0.992551 Centerline is valid? [True, True] Translation: X:156.31, Y:204.29, Z:-114.19 [[ 4.31240188e-01 9.05735773e-02 8.97679412e-01 1.56314357e+02] [ 1.16091652e-02 9.94308990e-01 -1.05900235e-01 2.04286303e+02] [-9.02162473e-01 5.60897459e-02 4.27734512e-01 -1.14185199e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.540714057 meters Centerline goodness : 0.991590 Centerline is valid? [True, True] Translation: X:156.33, Y:204.30, Z:-114.21 [[ 4.31524970e-01 9.10504471e-02 8.97494299e-01 1.56329163e+02] [ 1.16462232e-02 9.94248166e-01 -1.06465719e-01 2.04295166e+02] [-9.02025812e-01 5.63950352e-02 4.27982516e-01 -1.14214181e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.5707140569999 meters Centerline goodness : 0.990794 Centerline is valid? [True, True] Translation: X:156.34, Y:204.30, Z:-114.24 [[ 4.30801293e-01 9.15137740e-02 8.97794785e-01 1.56342443e+02] [ 1.19012915e-02 9.94182460e-01 -1.07049498e-01 2.04299213e+02] [-9.02368332e-01 5.68019794e-02 4.27205957e-01 -1.14244276e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.6007140569999 meters Centerline goodness : 0.989609 Centerline is valid? [True, True] Translation: X:156.36, Y:204.31, Z:-114.28 [[ 4.30745184e-01 9.18527561e-02 8.97787089e-01 1.56355901e+02] [ 1.23469134e-02 9.94114146e-01 -1.07631864e-01 2.04307794e+02] [-9.02389129e-01 5.74468064e-02 4.27075782e-01 -1.14275067e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.630714057 meters Centerline goodness : 0.990002 Centerline is valid? [True, True] Translation: X:156.37, Y:204.31, Z:-114.30 [[ 4.31610691e-01 9.24327036e-02 8.97311767e-01 1.56371115e+02] [ 1.19882535e-02 9.94060640e-01 -1.08165272e-01 2.04310852e+02] [-9.01980318e-01 5.74424885e-02 4.27939093e-01 -1.14304726e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.660714057 meters Centerline goodness : 0.989369 Centerline is valid? [True, True] Translation: X:156.39, Y:204.30, Z:-114.33 [[ 4.37847627e-01 6.42350257e-02 8.96751536e-01 1.56392510e+02] [ 1.13722541e-02 9.96968838e-01 -7.69662840e-02 2.04300095e+02] [-8.98977267e-01 4.38975912e-02 4.35789943e-01 -1.14330518e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.6907140569999 meters Centerline goodness : 0.987861 Centerline is valid? [True, True] Translation: X:156.41, Y:204.32, Z:-114.36 [[ 4.38272498e-01 1.04218070e-01 8.92779822e-01 1.56413052e+02] [ 9.08273434e-03 9.92691192e-01 -1.20339943e-01 2.04322544e+02] [-8.98796263e-01 6.08505694e-02 4.34122663e-01 -1.14360534e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.7207140569999 meters Centerline goodness : 0.988257 Centerline is valid? [True, True] Translation: X:156.43, Y:204.32, Z:-114.39 [[ 4.40001657e-01 9.52066110e-02 8.92935744e-01 1.56429603e+02] [ 9.89889823e-03 9.93789235e-01 -1.10837580e-01 2.04323665e+02] [-8.97942400e-01 5.76077988e-02 4.36326469e-01 -1.14386279e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.750714057 meters Centerline goodness : 0.988164 Centerline is valid? [True, True] Translation: X:156.44, Y:204.33, Z:-114.42 [[ 4.37203269e-01 1.16104991e-01 8.91836831e-01 1.56444076e+02] [ 7.78691129e-03 9.91106120e-01 -1.32845859e-01 2.04334346e+02] [-8.99329009e-01 6.50252983e-02 4.32410737e-01 -1.14415921e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.780714057 meters Centerline goodness : 0.986740 Centerline is valid? [True, True] Translation: X:156.46, Y:204.33, Z:-114.44 [[ 4.39600087e-01 9.33837160e-02 8.93325946e-01 1.56458384e+02] [ 6.01555443e-03 9.94252198e-01 -1.06894246e-01 2.04332225e+02] [-8.98173467e-01 5.23645705e-02 4.36511597e-01 -1.14443008e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.8107140569999 meters Centerline goodness : 0.986045 Centerline is valid? [True, True] Translation: X:156.48, Y:204.35, Z:-114.47 [[ 4.41148647e-01 1.21976242e-01 8.89106106e-01 1.56475122e+02] [ 2.94924504e-03 9.90517879e-01 -1.37352227e-01 2.04345218e+02] [-8.97429203e-01 6.32149409e-02 4.36605884e-01 -1.14470123e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.8407140569999 meters Centerline goodness : 0.987421 Centerline is valid? [True, True] Translation: X:156.48, Y:204.36, Z:-114.50 [[ 4.31630654e-01 1.36059153e-01 8.91730276e-01 1.56477338e+02] [ 3.55435486e-03 9.88295022e-01 -1.52513329e-01 2.04361040e+02] [-9.02043428e-01 6.89989535e-02 4.26094824e-01 -1.14503255e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.870714057 meters Centerline goodness : 0.985286 Centerline is valid? [True, True] Translation: X:156.49, Y:204.33, Z:-114.54 [[ 4.32466152e-01 7.49966198e-02 8.98525756e-01 1.56488435e+02] [ 1.78516011e-03 9.96461612e-01 -8.40301722e-02 2.04331202e+02] [-9.01648402e-01 3.79442175e-02 4.30802038e-01 -1.14539515e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.900714057 meters Centerline goodness : 0.984904 Centerline is valid? [True, True] Translation: X:156.52, Y:204.36, Z:-114.56 [[ 4.37667082e-01 1.40845317e-01 8.88037230e-01 1.56515353e+02] [ 2.93857677e-04 9.87632516e-01 -1.56786249e-01 2.04359780e+02] [-8.99137052e-01 6.88811366e-02 4.32212853e-01 -1.14560099e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.9307140569999 meters Centerline goodness : 0.985713 Centerline is valid? [True, True] Translation: X:156.52, Y:204.35, Z:-114.60 [[ 4.34739346e-01 1.08472770e-01 8.93999642e-01 1.56521911e+02] [ 3.71828050e-03 9.92494624e-01 -1.22231731e-01 2.04349199e+02] [-9.00548653e-01 5.64630841e-02 4.31073131e-01 -1.14595685e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.9607140569999 meters Centerline goodness : 0.983816 Centerline is valid? [True, True] Translation: X:156.54, Y:204.37, Z:-114.62 [[ 4.38017075e-01 1.48080437e-01 8.86686656e-01 1.56542486e+02] [ 2.27956719e-03 9.86153746e-01 -1.65817953e-01 2.04365961e+02] [-8.98963762e-01 7.46523567e-02 4.31614620e-01 -1.14619087e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.990714057 meters Centerline goodness : 0.985536 Centerline is valid? [True, True] Translation: X:156.55, Y:204.35, Z:-114.65 [[ 4.35153641e-01 1.11601474e-01 8.93412794e-01 1.56549463e+02] [ 6.39997219e-03 9.91879665e-01 -1.27018780e-01 2.04351949e+02] [-9.00333466e-01 6.09905018e-02 4.30905801e-01 -1.14653341e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.020714057 meters Centerline goodness : 0.985024 Centerline is valid? [True, True] Translation: X:156.57, Y:204.37, Z:-114.67 [[ 4.37623108e-01 1.43687194e-01 8.87603518e-01 1.56568999e+02] [ 6.40783511e-03 9.86625668e-01 -1.62876428e-01 2.04368875e+02] [-8.99135671e-01 7.69661057e-02 4.30849468e-01 -1.14674319e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.0507140569999 meters Centerline goodness : 0.985516 Centerline is valid? [True, True] Translation: X:156.58, Y:204.36, Z:-114.70 [[ 4.39459244e-01 1.15508759e-01 8.90804860e-01 1.56578062e+02] [ 7.50228564e-03 9.91191107e-01 -1.32226719e-01 2.04359107e+02] [-8.98231200e-01 6.47913263e-02 4.34721515e-01 -1.14703658e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.0807140569999 meters Centerline goodness : 0.982992 Centerline is valid? [True, True] Translation: X:156.59, Y:204.36, Z:-114.73 [[ 4.39022443e-01 1.06445571e-01 8.92148326e-01 1.56591701e+02] [ 9.19130072e-03 9.92373180e-01 -1.22926776e-01 2.04359968e+02] [-8.98429082e-01 6.21676170e-02 4.34695725e-01 -1.14732760e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.1107140569999 meters Centerline goodness : 0.985624 Centerline is valid? [True, True] Translation: X:156.60, Y:204.36, Z:-114.76 [[ 4.33751110e-01 1.01577495e-01 8.95288773e-01 1.56603534e+02] [ 9.16711278e-03 9.93076222e-01 -1.17113543e-01 2.04358292e+02] [-9.00986093e-01 5.90053423e-02 4.29816741e-01 -1.14759930e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.140714057 meters Centerline goodness : 0.984334 Centerline is valid? [True, True] Translation: X:156.62, Y:204.37, Z:-114.79 [[ 4.37566057e-01 1.29401483e-01 8.89826501e-01 1.56622479e+02] [ 6.20595705e-03 9.89132675e-01 -1.46894649e-01 2.04369841e+02] [-8.99164853e-01 6.97983373e-02 4.32007824e-01 -1.14785938e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.1707140569999 meters Centerline goodness : 0.983372 Centerline is valid? [True, True] Translation: X:156.63, Y:204.37, Z:-114.81 [[ 4.31643540e-01 1.13277209e-01 8.94903419e-01 1.56626362e+02] [ 2.04111131e-03 9.91958515e-01 -1.26546980e-01 2.04366256e+02] [-9.02041955e-01 5.64497838e-02 4.27941273e-01 -1.14813295e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.2007140569999 meters Centerline goodness : 0.984711 Centerline is valid? [True, True] Translation: X:156.64, Y:204.36, Z:-114.85 [[ 4.26799584e-01 9.14918624e-02 8.99706260e-01 1.56635339e+02] [ 1.68777597e-03 9.94786931e-01 -1.01961335e-01 2.04358621e+02] [-9.04344661e-01 4.50355579e-02 4.24420231e-01 -1.14845478e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.2307140569999 meters Centerline goodness : 0.984711 Centerline is valid? [True, True] Translation: X:156.66, Y:204.37, Z:-114.87 [[ 4.27555637e-01 1.18256785e-01 8.96220682e-01 1.56655749e+02] [ 1.68563861e-03 9.91300566e-01 -1.31606784e-01 2.04367745e+02] [-9.03987465e-01 5.77799266e-02 4.23636807e-01 -1.14872143e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.260714057 meters Centerline goodness : 0.983927 Centerline is valid? [True, True] Translation: X:156.67, Y:204.37, Z:-114.90 [[ 4.27426239e-01 1.31017414e-01 8.94506147e-01 1.56672253e+02] [-5.18178354e-03 9.89781770e-01 -1.42496302e-01 2.04374884e+02] [-9.04035375e-01 5.62715211e-02 4.23737603e-01 -1.14899366e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.290714057 meters Centerline goodness : 0.986109 Centerline is valid? [True, True] Translation: X:156.68, Y:204.37, Z:-114.94 [[ 4.26889923e-01 1.23149625e-01 8.95878989e-01 1.56684333e+02] [-7.95404560e-03 9.91156889e-01 -1.32456613e-01 2.04373424e+02] [-9.04268614e-01 4.94185312e-02 4.24094426e-01 -1.14935449e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.3207140569999 meters Centerline goodness : 0.984559 Centerline is valid? [True, True] Translation: X:156.70, Y:204.38, Z:-114.96 [[ 4.22767011e-01 1.48174067e-01 8.94042784e-01 1.56702086e+02] [-1.26371716e-02 9.87410578e-01 -1.57672613e-01 2.04382725e+02] [-9.06150295e-01 5.53606074e-02 4.19317120e-01 -1.14959302e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.3507140569999 meters Centerline goodness : 0.984559 Centerline is valid? [True, True] Translation: X:156.71, Y:204.38, Z:-114.99 [[ 4.21658827e-01 1.34228155e-01 8.96764538e-01 1.56711489e+02] [-1.23720043e-02 9.89742257e-01 -1.42327787e-01 2.04375724e+02] [-9.06670154e-01 4.89189929e-02 4.18994230e-01 -1.14990263e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.380714057 meters Centerline goodness : 0.984902 Centerline is valid? [True, True] Translation: X:156.73, Y:204.38, Z:-115.01 [[ 4.23891676e-01 1.41787136e-01 8.94545837e-01 1.56727224e+02] [-1.69446108e-02 9.88739047e-01 -1.48687516e-01 2.04380821e+02] [-9.05554376e-01 4.78696694e-02 4.21520780e-01 -1.15014951e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.410714057 meters Centerline goodness : 0.985467 Centerline is valid? [True, True] Translation: X:156.73, Y:204.37, Z:-115.05 [[ 4.18169417e-01 1.18522282e-01 9.00603580e-01 1.56731981e+02] [-1.75949114e-02 9.92322035e-01 -1.22423030e-01 2.04371649e+02] [-9.08198634e-01 3.53475267e-02 4.17044116e-01 -1.15048262e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.4407140569999 meters Centerline goodness : 0.985925 Centerline is valid? [True, True] Translation: X:156.75, Y:204.38, Z:-115.08 [[ 4.18792093e-01 1.32735426e-01 8.98328721e-01 1.56748487e+02] [-1.93446525e-02 9.90338877e-01 -1.37312392e-01 2.04377589e+02] [-9.07876075e-01 4.01274869e-02 4.17313811e-01 -1.15076247e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.4707140569999 meters Centerline goodness : 0.985060 Centerline is valid? [True, True] Translation: X:156.76, Y:204.37, Z:-115.10 [[ 4.22252213e-01 1.26552155e-01 8.97601036e-01 1.56762184e+02] [-2.08315895e-02 9.91299981e-01 -1.29963045e-01 2.04373912e+02] [-9.06238993e-01 3.61787270e-02 4.21214894e-01 -1.15101950e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.500714057 meters Centerline goodness : 0.985727 Centerline is valid? [True, True] Translation: X:156.77, Y:204.37, Z:-115.14 [[ 4.15620194e-01 1.27383004e-01 9.00573942e-01 1.56769970e+02] [-2.08985340e-02 9.91220153e-01 -1.30559794e-01 2.04372021e+02] [-9.09298139e-01 3.54426117e-02 4.14633231e-01 -1.15136555e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.530714057 meters Centerline goodness : 0.988551 Centerline is valid? [True, True] Translation: X:156.79, Y:204.37, Z:-115.17 [[ 4.19567581e-01 1.32915579e-01 8.97940139e-01 1.56787762e+02] [-2.07268499e-02 9.90366344e-01 -1.36912024e-01 2.04372929e+02] [-9.07487434e-01 3.88323763e-02 4.18280532e-01 -1.15165820e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.5607140569999 meters Centerline goodness : 0.986750 Centerline is valid? [True, True] Translation: X:156.80, Y:204.38, Z:-115.19 [[ 4.14121558e-01 1.69296473e-01 8.94338884e-01 1.56803708e+02] [-2.57590806e-02 9.84336976e-01 -1.74405240e-01 2.04384641e+02] [-9.09857025e-01 4.91876223e-02 4.11996083e-01 -1.15190627e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.5907140569999 meters Centerline goodness : 0.987888 Centerline is valid? [True, True] Translation: X:156.81, Y:204.37, Z:-115.23 [[ 4.19155272e-01 1.25010580e-01 8.99267042e-01 1.56809736e+02] [-2.34533094e-02 9.91635731e-01 -1.26919340e-01 2.04366287e+02] [-9.07611591e-01 3.21081224e-02 4.18581257e-01 -1.15225180e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.620714057 meters Centerline goodness : 0.988766 Centerline is valid? [True, True] Translation: X:156.83, Y:204.38, Z:-115.25 [[ 4.18767322e-01 1.54712962e-01 8.94817204e-01 1.56830935e+02] [-2.31659611e-02 9.86879343e-01 -1.59788924e-01 2.04376434e+02] [-9.07798033e-01 4.61850795e-02 4.16856894e-01 -1.15252661e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.650714057 meters Centerline goodness : 0.986979 Centerline is valid? [True, True] Translation: X:156.85, Y:204.37, Z:-115.27 [[ 4.22163626e-01 1.51133068e-01 8.93832573e-01 1.56845058e+02] [-2.52022427e-02 9.87580221e-01 -1.55081122e-01 2.04374448e+02] [-9.06169256e-01 4.29430233e-02 4.20729339e-01 -1.15273030e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.6807140569999 meters Centerline goodness : 0.986452 Centerline is valid? [True, True] Translation: X:156.85, Y:204.36, Z:-115.31 [[ 4.16131839e-01 1.33095529e-01 8.99510907e-01 1.56847033e+02] [-2.47391073e-02 9.90520768e-01 -1.35116934e-01 2.04363688e+02] [-9.08967694e-01 3.39733612e-02 4.15479893e-01 -1.15310287e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.7107140569999 meters Centerline goodness : 0.987650 Centerline is valid? [True, True] Translation: X:156.86, Y:204.37, Z:-115.34 [[ 4.16340406e-01 1.44406342e-01 8.97667798e-01 1.56862550e+02] [-2.51322058e-02 9.88757110e-01 -1.47403354e-01 2.04366129e+02] [-9.08861397e-01 3.88096006e-02 4.15288787e-01 -1.15337437e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.740714057 meters Centerline goodness : 0.986947 Centerline is valid? [True, True] Translation: X:156.87, Y:204.36, Z:-115.37 [[ 4.15507857e-01 1.37976770e-01 8.99063753e-01 1.56871269e+02] [-2.42878173e-02 9.89758488e-01 -1.40670670e-01 2.04360160e+02] [-9.09265266e-01 3.66134725e-02 4.14603582e-01 -1.15368270e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.770714057 meters Centerline goodness : 0.988903 Centerline is valid? [True, True] Translation: X:156.88, Y:204.38, Z:-115.39 [[ 4.11578382e-01 1.56457566e-01 8.97844232e-01 1.56879258e+02] [-1.54653744e-02 9.86211283e-01 -1.64766892e-01 2.04377225e+02] [-9.11243139e-01 5.39289934e-02 4.08322919e-01 -1.15392233e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.8007140569999 meters Centerline goodness : 0.990154 Centerline is valid? [True, True] Translation: X:156.88, Y:204.35, Z:-115.43 [[ 4.09409533e-01 9.89213519e-02 9.06972106e-01 1.56876561e+02] [-1.44057431e-02 9.94681641e-01 -1.01984839e-01 2.04350261e+02] [-9.12236981e-01 2.86879580e-02 4.08657181e-01 -1.15429770e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.8307140569999 meters Centerline goodness : 0.989086 Centerline is valid? [True, True] Translation: X:156.89, Y:204.35, Z:-115.46 [[ 4.07525693e-01 1.02306311e-01 9.07444890e-01 1.56890514e+02] [-1.36287893e-02 9.94275381e-01 -1.05975101e-01 2.04349504e+02] [-9.13092036e-01 3.08202013e-02 4.06587075e-01 -1.15457648e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.8607140569999 meters Centerline goodness : 0.986206 Centerline is valid? [True, True] Translation: X:156.90, Y:204.36, Z:-115.48 [[ 4.03532473e-01 1.22276106e-01 9.06758015e-01 1.56901999e+02] [-9.07214017e-03 9.91515920e-01 -1.29668335e-01 2.04357423e+02] [-9.14920346e-01 4.40991482e-02 4.01218177e-01 -1.15475807e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.890714057 meters Centerline goodness : 0.989279 Centerline is valid? [True, True] Translation: X:156.90, Y:204.31, Z:-115.52 [[ 4.07275987e-01 2.84513956e-02 9.12861867e-01 1.56897454e+02] [-7.22010140e-03 9.99583722e-01 -2.79330082e-02 2.04314036e+02] [-9.13276596e-01 4.78548822e-03 4.07311869e-01 -1.15515822e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.9207140569999 meters Centerline goodness : 0.989313 Centerline is valid? [True, True] Translation: X:156.93, Y:204.34, Z:-115.54 [[ 4.10778336e-01 1.00632909e-01 9.06164541e-01 1.56929516e+02] [-4.58345054e-03 9.94105369e-01 -1.08321313e-01 2.04342387e+02] [-9.11723725e-01 4.03426885e-02 4.08818196e-01 -1.15538431e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.9507140569999 meters Centerline goodness : 0.986233 Centerline is valid? [True, True] Translation: X:156.94, Y:204.34, Z:-115.56 [[ 4.11574160e-01 1.08054344e-01 9.04948048e-01 1.56937645e+02] [-3.98569916e-03 9.93150591e-01 -1.16773361e-01 2.04340798e+02] [-9.11367558e-01 4.44540473e-02 4.09185792e-01 -1.15555706e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.9807140569999 meters Centerline goodness : 0.989073 Centerline is valid? [True, True] Translation: X:156.94, Y:204.31, Z:-115.59 [[ 4.10694939e-01 5.22762530e-02 9.10272959e-01 1.56940768e+02] [-1.16687348e-03 9.98384329e-01 -5.68099516e-02 2.04314228e+02] [-9.11772069e-01 2.22693862e-02 4.10092391e-01 -1.15593982e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.010714057 meters Centerline goodness : 0.985766 Centerline is valid? [True, True] Translation: X:156.96, Y:204.34, Z:-115.61 [[ 4.10138967e-01 9.88836712e-02 9.06646594e-01 1.56959360e+02] [ 6.98147162e-03 9.93735395e-01 -1.11540239e-01 2.04337096e+02] [-9.11996319e-01 5.20767258e-02 4.06879255e-01 -1.15613197e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.040714057 meters Centerline goodness : 0.988983 Centerline is valid? [True, True] Translation: X:156.97, Y:204.33, Z:-115.64 [[ 4.14000673e-01 8.21786046e-02 9.06559496e-01 1.56972415e+02] [ 6.55971225e-03 9.95621341e-01 -9.32476007e-02 2.04325314e+02] [-9.10252939e-01 4.45513389e-02 4.11648838e-01 -1.15642208e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.0707140569999 meters Centerline goodness : 0.989154 Centerline is valid? [True, True] Translation: X:156.99, Y:204.32, Z:-115.67 [[ 4.20645778e-01 6.88022627e-02 9.04612281e-01 1.56993472e+02] [ 6.64475348e-03 9.96859744e-01 -7.89081632e-02 2.04315354e+02] [-9.07200627e-01 3.92033113e-02 4.18867668e-01 -1.15665599e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.1007140569999 meters Centerline goodness : 0.989609 Centerline is valid? [True, True] Translation: X:157.02, Y:204.32, Z:-115.69 [[ 4.21990307e-01 9.26378293e-02 9.01854985e-01 1.57015907e+02] [ 1.03634122e-02 9.94207868e-01 -1.06973427e-01 2.04324752e+02] [-9.06541108e-01 5.44880443e-02 4.18586040e-01 -1.15690826e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.130714057 meters Centerline goodness : 0.990127 Centerline is valid? [True, True] Translation: X:157.04, Y:204.36, Z:-115.71 [[ 4.19320510e-01 1.63619699e-01 8.92971950e-01 1.57035600e+02] [ 1.40567234e-02 9.82336406e-01 -1.86594730e-01 2.04357707e+02] [-9.07729430e-01 9.07952569e-02 4.09613846e-01 -1.15711973e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.160714057 meters Centerline goodness : 0.989438 Centerline is valid? [True, True] Translation: X:157.03, Y:204.33, Z:-115.75 [[ 4.14800646e-01 9.76549126e-02 9.04656809e-01 1.57030613e+02] [ 1.42968182e-02 9.93401950e-01 -1.13790013e-01 2.04328860e+02] [-9.09799992e-01 6.01338849e-02 4.10667616e-01 -1.15749633e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.1907140569999 meters Centerline goodness : 0.987963 Centerline is valid? [True, True] Translation: X:157.04, Y:204.31, Z:-115.78 [[ 4.14023278e-01 5.19814850e-02 9.08780860e-01 1.57039905e+02] [ 1.38421548e-02 9.97893158e-01 -6.33848545e-02 2.04308646e+02] [-9.10161041e-01 3.88222906e-02 4.12431460e-01 -1.15776036e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.2207140569999 meters Centerline goodness : 0.988603 Centerline is valid? [True, True] Translation: X:157.07, Y:204.33, Z:-115.80 [[ 4.21870344e-01 9.37701308e-02 9.01794087e-01 1.57065971e+02] [ 1.59197988e-02 9.93717886e-01 -1.10776006e-01 2.04326603e+02] [-9.06516394e-01 6.10894922e-02 4.17727305e-01 -1.15802212e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.250714057 meters Centerline goodness : 0.990294 Centerline is valid? [True, True] Translation: X:157.08, Y:204.35, Z:-115.82 [[ 4.19973087e-01 1.48485765e-01 8.95306978e-01 1.57084891e+02] [ 1.60083974e-02 9.85158865e-01 -1.70896874e-01 2.04352712e+02] [-9.07395359e-01 8.61045177e-02 4.11363190e-01 -1.15824420e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.280714057 meters Centerline goodness : 0.990857 Centerline is valid? [True, True] Translation: X:157.08, Y:204.33, Z:-115.86 [[ 4.15733801e-01 9.75074173e-02 9.04244276e-01 1.57084147e+02] [ 1.63375102e-02 9.93275151e-01 -1.14619194e-01 2.04331368e+02] [-9.09339592e-01 6.24241731e-02 4.11345025e-01 -1.15860340e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.3107140569999 meters Centerline goodness : 0.990141 Centerline is valid? [True, True] Translation: X:157.10, Y:204.33, Z:-115.89 [[ 4.15921613e-01 9.79869874e-02 9.04106057e-01 1.57098204e+02] [ 1.64776785e-02 9.93202900e-01 -1.15223631e-01 2.04331316e+02] [-9.09251175e-01 6.28215674e-02 4.11479954e-01 -1.15889323e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.3407140569999 meters Centerline goodness : 0.990513 Centerline is valid? [True, True] Translation: X:157.11, Y:204.33, Z:-115.92 [[ 4.16682564e-01 9.82724391e-02 9.03724609e-01 1.57112486e+02] [ 1.68268556e-02 9.93135429e-01 -1.15753513e-01 2.04332810e+02] [-9.08896308e-01 6.34393140e-02 4.12168601e-01 -1.15919062e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.370714057 meters Centerline goodness : 0.988668 Centerline is valid? [True, True] Translation: X:157.13, Y:204.31, Z:-115.95 [[ 4.13699492e-01 6.77164845e-02 9.07891628e-01 1.57127448e+02] [ 9.77516535e-03 9.96842104e-01 -7.88052467e-02 2.04309870e+02] [-9.10361015e-01 4.14764813e-02 4.11731132e-01 -1.15952723e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.400714057 meters Centerline goodness : 0.989629 Centerline is valid? [True, True] Translation: X:157.16, Y:204.34, Z:-115.98 [[ 4.24223897e-01 1.40901341e-01 8.94528310e-01 1.57163330e+02] [ 1.16286167e-02 9.86891654e-01 -1.60964715e-01 2.04340366e+02] [-9.05482667e-01 7.86872053e-02 4.17024536e-01 -1.15977215e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.4307140569999 meters Centerline goodness : 0.989583 Centerline is valid? [True, True] Translation: X:157.18, Y:204.34, Z:-116.01 [[ 4.24076638e-01 1.49369732e-01 8.93223202e-01 1.57178334e+02] [ 1.12128963e-02 9.85362771e-01 -1.70101381e-01 2.04343690e+02] [-9.05556888e-01 8.21516409e-02 4.16194464e-01 -1.16006600e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.4607140569999 meters Centerline goodness : 0.985503 Centerline is valid? [True, True] Translation: X:157.19, Y:204.36, Z:-116.03 [[ 4.15323279e-01 1.73139790e-01 8.93044896e-01 1.57188980e+02] [ 1.09629690e-02 9.80695878e-01 -1.95231679e-01 2.04356249e+02] [-9.09607821e-01 9.08746847e-02 4.05407701e-01 -1.16026461e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.490714057 meters Centerline goodness : 0.989093 Centerline is valid? [True, True] Translation: X:157.17, Y:204.31, Z:-116.07 [[ 4.08663378e-01 6.13222929e-02 9.10622765e-01 1.57169571e+02] [ 5.64809683e-03 9.97551249e-01 -6.97108645e-02 2.04305326e+02] [-9.12667707e-01 3.36315629e-02 4.07316309e-01 -1.16065111e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.520714057 meters Centerline goodness : 0.990129 Centerline is valid? [True, True] Translation: X:157.21, Y:204.34, Z:-116.09 [[ 4.14892943e-01 1.47797024e-01 8.97786102e-01 1.57207997e+02] [ 3.27941140e-03 9.86469523e-01 -1.63911943e-01 2.04342123e+02] [-9.09864326e-01 7.09501185e-02 4.08794556e-01 -1.16086328e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.5507140569999 meters Centerline goodness : 0.989217 Centerline is valid? [True, True] Translation: X:157.22, Y:204.34, Z:-116.12 [[ 4.14074910e-01 1.42300920e-01 8.99050842e-01 1.57219514e+02] [ 2.89822396e-03 9.87493299e-01 -1.57634341e-01 2.04339846e+02] [-9.10238194e-01 6.78780762e-02 4.08483779e-01 -1.16116269e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.5807140569999 meters Centerline goodness : 0.989526 Centerline is valid? [True, True] Translation: X:157.23, Y:204.34, Z:-116.14 [[ 4.14078757e-01 1.48499089e-01 8.98046103e-01 1.57233573e+02] [ 1.59267378e-03 9.86482789e-01 -1.63857164e-01 2.04342786e+02] [-9.10239664e-01 6.92800652e-02 4.08245056e-01 -1.16144417e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.6107140569999 meters Centerline goodness : 0.990022 Centerline is valid? [True, True] Translation: X:157.25, Y:204.36, Z:-116.18 [[ 4.17929549e-01 1.77531759e-01 8.90964290e-01 1.57251730e+02] [-1.69751670e-03 9.80871259e-01 -1.94650178e-01 2.04355313e+02] [-9.08477854e-01 7.98376342e-02 4.10236446e-01 -1.16177315e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.640714057 meters Centerline goodness : 0.991254 Centerline is valid? [True, True] Translation: X:157.26, Y:204.37, Z:-116.19 [[ 4.19146183e-01 1.86655347e-01 8.88524766e-01 1.57262746e+02] [ 3.96584453e-03 9.78253328e-01 -2.07375743e-01 2.04371571e+02] [-9.07910100e-01 9.04445020e-02 4.09290902e-01 -1.16192584e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.6707140569999 meters Centerline goodness : 0.989407 Centerline is valid? [True, True] Translation: X:157.25, Y:204.32, Z:-116.24 [[ 4.08351407e-01 7.73592797e-02 9.09540912e-01 1.57248938e+02] [-4.35365531e-03 9.96556212e-01 -8.28055655e-02 2.04316069e+02] [-9.12814425e-01 2.98539416e-02 4.07281927e-01 -1.16237569e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.7007140569999 meters Centerline goodness : 0.989924 Centerline is valid? [True, True] Translation: X:157.28, Y:204.34, Z:-116.26 [[ 4.10162940e-01 1.39093431e-01 9.01343098e-01 1.57282766e+02] [-5.05400822e-03 9.88632994e-01 -1.50263966e-01 2.04340509e+02] [-9.11998256e-01 5.70773146e-02 4.06203595e-01 -1.16259712e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.7307140569999 meters Centerline goodness : 0.990540 Centerline is valid? [True, True] Translation: X:157.31, Y:204.35, Z:-116.29 [[ 4.16996979e-01 1.72054631e-01 8.92474494e-01 1.57305494e+02] [-7.12763942e-03 9.82508473e-01 -1.86081428e-01 2.04354040e+02] [-9.08879924e-01 7.12341570e-02 4.10929409e-01 -1.16289594e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.760714057 meters Centerline goodness : 0.989513 Centerline is valid? [True, True] Translation: X:157.31, Y:204.35, Z:-116.32 [[ 4.10396195e-01 1.55480713e-01 8.98554790e-01 1.57312098e+02] [-8.50003978e-03 9.85967000e-01 -1.66723799e-01 2.04347218e+02] [-9.11867706e-01 6.07850612e-02 4.05958697e-01 -1.16316225e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.790714057 meters Centerline goodness : 0.990180 Centerline is valid? [True, True] Translation: X:157.33, Y:204.35, Z:-116.35 [[ 4.15410680e-01 1.73022317e-01 8.93027012e-01 1.57330711e+02] [-1.07482291e-02 9.82608360e-01 -1.85378766e-01 2.04354322e+02] [-9.09570471e-01 6.74098605e-02 4.10045691e-01 -1.16346659e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.8207140569999 meters Centerline goodness : 0.990499 Centerline is valid? [True, True] Translation: X:157.35, Y:204.36, Z:-116.38 [[ 4.14871267e-01 1.80341727e-01 8.91828848e-01 1.57345321e+02] [-1.18649823e-02 9.81149765e-01 -1.92884322e-01 2.04357020e+02] [-9.09802756e-01 6.94406293e-02 4.09190597e-01 -1.16376319e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.8507140569999 meters Centerline goodness : 0.990922 Centerline is valid? [True, True] Translation: X:157.35, Y:204.36, Z:-116.39 [[ 4.08124038e-01 1.61298728e-01 8.98564127e-01 1.57348051e+02] [-4.03555131e-03 9.84576917e-01 -1.74905713e-01 2.04363776e+02] [-9.12917567e-01 6.77570241e-02 4.02480437e-01 -1.16390923e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.880714057 meters Centerline goodness : 0.991173 Centerline is valid? [True, True] Translation: X:157.34, Y:204.34, Z:-116.43 [[ 4.04216265e-01 9.75019957e-02 9.09451797e-01 1.57338455e+02] [-6.38911409e-03 9.94578846e-01 -1.03788721e-01 2.04339333e+02] [-9.14641126e-01 3.61424978e-02 4.02647898e-01 -1.16426616e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.910714057 meters Centerline goodness : 0.989514 Centerline is valid? [True, True] Translation: X:157.35, Y:204.32, Z:-116.47 [[ 4.00872418e-01 8.74423811e-02 9.11951279e-01 1.57349154e+02] [-1.84664301e-02 9.96003501e-01 -8.73843121e-02 2.04318912e+02] [-9.15947758e-01 1.81894759e-02 4.00885080e-01 -1.16467882e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.9407140569999 meters Centerline goodness : 0.987720 Centerline is valid? [True, True] Translation: X:157.39, Y:204.35, Z:-116.49 [[ 4.01463851e-01 1.68940359e-01 9.00158837e-01 1.57386180e+02] [-2.01677588e-02 9.84232768e-01 -1.75724555e-01 2.04350085e+02] [-9.15652794e-01 5.23928702e-02 3.98541025e-01 -1.16488481e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.9707140569999 meters Centerline goodness : 0.990295 Centerline is valid? [True, True] Translation: X:157.39, Y:204.36, Z:-116.51 [[ 4.03339311e-01 1.48385297e-01 9.02939203e-01 1.57393125e+02] [-1.04048059e-02 9.87444270e-01 -1.57624725e-01 2.04357406e+02] [-9.14991334e-01 5.41813408e-02 3.99819012e-01 -1.16506550e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.000714057 meters Centerline goodness : 0.989347 Centerline is valid? [True, True] Translation: X:157.39, Y:204.32, Z:-116.56 [[ 3.99323360e-01 9.13853347e-02 9.12244252e-01 1.57387510e+02] [-2.53366355e-02 9.95739759e-01 -8.86588220e-02 2.04318322e+02] [-9.16459988e-01 1.22903386e-02 3.99937543e-01 -1.16555081e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.030714057 meters Centerline goodness : 0.989247 Centerline is valid? [True, True] Translation: X:157.42, Y:204.34, Z:-116.57 [[ 4.04924871e-01 1.54112440e-01 9.01268664e-01 1.57423081e+02] [-2.71335450e-02 9.87284553e-01 -1.56630081e-01 2.04343024e+02] [-9.13947274e-01 3.89688014e-02 4.03957687e-01 -1.16574085e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.0607140569999 meters Centerline goodness : 0.989663 Centerline is valid? [True, True] Translation: X:157.43, Y:204.34, Z:-116.60 [[ 4.01834604e-01 1.40429082e-01 9.04880447e-01 1.57429295e+02] [-2.60237989e-02 9.89523313e-01 -1.42008359e-01 2.04339485e+02] [-9.15342402e-01 3.35154461e-02 4.01279207e-01 -1.16601348e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.0907140569999 meters Centerline goodness : 0.988264 Centerline is valid? [True, True] Translation: X:157.44, Y:204.33, Z:-116.63 [[ 4.02080825e-01 1.39545263e-01 9.04907802e-01 1.57439852e+02] [-3.21276494e-02 9.89859335e-01 -1.38370195e-01 2.04334568e+02] [-9.15040341e-01 2.65634416e-02 4.02486719e-01 -1.16627300e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.120714057 meters Centerline goodness : 0.988264 Centerline is valid? [True, True] Translation: X:157.45, Y:204.34, Z:-116.65 [[ 4.01776600e-01 1.46298132e-01 9.03975896e-01 1.57453689e+02] [-3.17387521e-02 9.88787511e-01 -1.45917473e-01 2.04335969e+02] [-9.15187530e-01 2.99351592e-02 4.01915004e-01 -1.16653075e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.150714057 meters Centerline goodness : 0.991236 Centerline is valid? [True, True] Translation: X:157.47, Y:204.36, Z:-116.68 [[ 4.07585649e-01 1.72000600e-01 8.96822018e-01 1.57470081e+02] [-2.27905425e-02 9.83710910e-01 -1.78307139e-01 2.04357778e+02] [-9.12882539e-01 5.22363707e-02 4.04866437e-01 -1.16676011e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.1807140569999 meters Centerline goodness : 0.989827 Centerline is valid? [True, True] Translation: X:157.46, Y:204.33, Z:-116.71 [[ 4.06398427e-01 1.15349853e-01 9.06385530e-01 1.57461419e+02] [-2.50393478e-02 9.93032493e-01 -1.15149898e-01 2.04332124e+02] [-9.13352807e-01 2.41014348e-02 4.06455128e-01 -1.16713514e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.2107140569999 meters Centerline goodness : 0.989478 Centerline is valid? [True, True] Translation: X:157.46, Y:204.31, Z:-116.74 [[ 3.98471416e-01 8.69257719e-02 9.13052266e-01 1.57463777e+02] [-3.19271036e-02 9.96210003e-01 -8.09091527e-02 2.04310349e+02] [-9.16624891e-01 3.08887028e-03 3.99736498e-01 -1.16743143e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.240714057 meters Centerline goodness : 0.989588 Centerline is valid? [True, True] Translation: X:157.49, Y:204.33, Z:-116.76 [[ 4.01137021e-01 1.28505272e-01 9.06959473e-01 1.57488627e+02] [-3.18200623e-02 9.91468168e-01 -1.26405517e-01 2.04325631e+02] [-9.15465223e-01 2.18464257e-02 4.01803633e-01 -1.16764660e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.270714057 meters Centerline goodness : 0.987092 Centerline is valid? [True, True] Translation: X:157.50, Y:204.33, Z:-116.78 [[ 3.98282083e-01 1.42734711e-01 9.06089501e-01 1.57500927e+02] [-2.88198388e-02 9.89278235e-01 -1.43171196e-01 2.04334875e+02] [-9.16810122e-01 3.09091690e-02 3.98125388e-01 -1.16783666e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.3007140569999 meters Centerline goodness : 0.987059 Centerline is valid? [True, True] Translation: X:157.48, Y:204.29, Z:-116.82 [[ 3.96875236e-01 5.69182016e-02 9.16106089e-01 1.57483769e+02] [-3.21424241e-02 9.98325139e-01 -4.81017864e-02 2.04292737e+02] [-9.17309605e-01 -1.03554626e-02 3.98040014e-01 -1.16819643e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.3307140569999 meters Centerline goodness : 0.990143 Centerline is valid? [True, True] Translation: X:157.51, Y:204.30, Z:-116.85 [[ 4.08604406e-01 6.98735716e-02 9.10033034e-01 1.57511293e+02] [-2.84339753e-02 9.97555834e-01 -6.38268494e-02 2.04295184e+02] [-9.12268573e-01 2.04075069e-04 4.09592492e-01 -1.16850363e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.3607140569999 meters Centerline goodness : 0.991393 Centerline is valid? [True, True] Translation: X:157.55, Y:204.35, Z:-116.86 [[ 4.08505394e-01 1.83083475e-01 8.94205672e-01 1.57551122e+02] [-2.36449515e-02 9.81470545e-01 -1.90148590e-01 2.04350174e+02] [-9.12449593e-01 5.65332749e-02 4.05265011e-01 -1.16855696e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.390714057 meters Centerline goodness : 0.991204 Centerline is valid? [True, True] Translation: X:157.53, Y:204.32, Z:-116.89 [[ 4.06443080e-01 1.02820287e-01 9.07872244e-01 1.57534493e+02] [-2.37004008e-02 9.94499893e-01 -1.02020853e-01 2.04315471e+02] [-9.13368663e-01 1.99487336e-02 4.06644481e-01 -1.16891757e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.4207140569999 meters Centerline goodness : 0.990033 Centerline is valid? [True, True] Translation: X:157.54, Y:204.29, Z:-116.92 [[ 4.02426475e-01 6.02413626e-02 9.13468068e-01 1.57538508e+02] [-2.93417850e-02 9.98168609e-01 -5.29007282e-02 2.04289320e+02] [-9.14981963e-01 -5.51413013e-03 4.03457064e-01 -1.16915841e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.4507140569999 meters Centerline goodness : 0.990886 Centerline is valid? [True, True] Translation: X:157.57, Y:204.31, Z:-116.95 [[ 4.04144790e-01 1.15023436e-01 9.07434073e-01 1.57565950e+02] [-2.76141700e-02 9.93143973e-01 -1.13589199e-01 2.04306585e+02] [-9.14278101e-01 2.08484443e-02 4.04550239e-01 -1.16946427e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.4807140569999 meters Centerline goodness : 0.988514 Centerline is valid? [True, True] Translation: X:157.59, Y:204.33, Z:-116.96 [[ 3.97196305e-01 1.71050886e-01 9.01652200e-01 1.57586140e+02] [-2.89345966e-02 9.84322616e-01 -1.73987865e-01 2.04326485e+02] [-9.17277431e-01 4.30183943e-02 3.95918594e-01 -1.16959448e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.510714057 meters Centerline goodness : 0.992314 Centerline is valid? [True, True] Translation: X:157.58, Y:204.28, Z:-117.00 [[ 4.03144998e-01 7.78380993e-02 9.11819796e-01 1.57575221e+02] [-2.86265157e-02 9.96961176e-01 -7.24495417e-02 2.04283672e+02] [-9.14688271e-01 3.10544664e-03 4.04148145e-01 -1.17001736e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.540714057 meters Centerline goodness : 0.988151 Centerline is valid? [True, True] Translation: X:157.58, Y:204.29, Z:-117.02 [[ 3.93889624e-01 1.01137813e-01 9.13576547e-01 1.57584178e+02] [-2.86296302e-02 9.94795627e-01 -9.77855005e-02 2.04291855e+02] [-9.18711766e-01 1.23613353e-02 3.94735213e-01 -1.17019218e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.5707140569999 meters Centerline goodness : 0.987877 Centerline is valid? [True, True] Translation: X:157.58, Y:204.26, Z:-117.06 [[ 3.92709212e-01 5.33894829e-02 9.18111670e-01 1.57584632e+02] [-3.38464080e-02 9.98476203e-01 -4.35854736e-02 2.04258806e+02] [-9.19039660e-01 -1.39583652e-02 3.93917845e-01 -1.17055222e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.6007140569999 meters Centerline goodness : 0.989869 Centerline is valid? [True, True] Translation: X:157.62, Y:204.31, Z:-117.07 [[ 3.96508482e-01 1.57195031e-01 9.04472634e-01 1.57623197e+02] [-2.01501306e-02 9.86483852e-01 -1.62614828e-01 2.04313142e+02] [-9.17809891e-01 4.62529171e-02 3.94316715e-01 -1.17070499e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.630714057 meters Centerline goodness : 0.990474 Centerline is valid? [True, True] Translation: X:157.61, Y:204.28, Z:-117.10 [[ 3.91406679e-01 9.32633369e-02 9.15479526e-01 1.57613038e+02] [-1.90609327e-02 9.95459149e-01 -9.32617969e-02 2.04282926e+02] [-9.20020376e-01 1.90533966e-02 3.91407046e-01 -1.17101471e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.660714057 meters Centerline goodness : 0.990727 Centerline is valid? [True, True] Translation: X:157.62, Y:204.28, Z:-117.14 [[ 3.95926440e-01 8.52319530e-02 9.14318199e-01 1.57624502e+02] [-1.59654923e-02 9.96171631e-01 -8.59487356e-02 2.04275220e+02] [-9.18143430e-01 1.94318368e-02 3.95771457e-01 -1.17136824e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.6907140569999 meters Centerline goodness : 0.990344 Centerline is valid? [True, True] Translation: X:157.64, Y:204.28, Z:-117.17 [[ 3.96882788e-01 1.02661389e-01 9.12110022e-01 1.57643072e+02] [-1.42412314e-02 9.94294505e-01 -1.05714829e-01 2.04279253e+02] [-9.17758814e-01 2.89668264e-02 3.96080400e-01 -1.17165482e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.7207140569999 meters Centerline goodness : 0.987769 Centerline is valid? [True, True] Translation: X:157.65, Y:204.26, Z:-117.19 [[ 3.96525402e-01 6.80311475e-02 9.15499519e-01 1.57648999e+02] [-1.26963865e-02 9.97561384e-01 -6.86300807e-02 2.04256867e+02] [-9.17935950e-01 1.55900346e-02 3.96422178e-01 -1.17187259e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.750714057 meters Centerline goodness : 0.989365 Centerline is valid? [True, True] Translation: X:157.67, Y:204.28, Z:-117.21 [[ 3.97190791e-01 1.14103571e-01 9.10615095e-01 1.57669008e+02] [-4.88750538e-03 9.92489652e-01 -1.22230942e-01 2.04276610e+02] [-9.17723045e-01 4.40983686e-02 3.94765432e-01 -1.17214820e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.780714057 meters Centerline goodness : 0.988709 Centerline is valid? [True, True] Translation: X:157.68, Y:204.27, Z:-117.25 [[ 3.96361825e-01 9.72645183e-02 9.12927663e-01 1.57676879e+02] [-1.60675231e-03 9.94444304e-01 -1.05251812e-01 2.04266724e+02] [-9.18092981e-01 4.02509518e-02 3.94316039e-01 -1.17247084e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.8107140569999 meters Centerline goodness : 0.987787 Centerline is valid? [True, True] Translation: X:157.69, Y:204.26, Z:-117.28 [[ 3.96409426e-01 9.54189378e-02 9.13101743e-01 1.57690166e+02] [ 4.62590463e-03 9.94363991e-01 -1.05919093e-01 2.04261175e+02] [-9.18062181e-01 4.62112482e-02 3.93733860e-01 -1.17277384e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.8407140569999 meters Centerline goodness : 0.986928 Centerline is valid? [True, True] Translation: X:157.71, Y:204.24, Z:-117.32 [[ 3.97701428e-01 8.19382933e-02 9.13848834e-01 1.57706597e+02] [ 1.54816489e-03 9.95943016e-01 -8.99728437e-02 2.04240374e+02] [-9.17513584e-01 3.71971171e-02 3.95961105e-01 -1.17318144e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.870714057 meters Centerline goodness : 0.987199 Centerline is valid? [True, True] Translation: X:157.74, Y:204.29, Z:-117.33 [[ 4.02803086e-01 1.76773637e-01 8.98053871e-01 1.57740210e+02] [ 1.47036675e-02 9.79795888e-01 -1.99458819e-01 2.04289515e+02] [-9.15168551e-01 9.35473136e-02 3.92065587e-01 -1.17326208e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.900714057 meters Centerline goodness : 0.987911 Centerline is valid? [True, True] Translation: X:157.73, Y:204.25, Z:-117.37 [[ 3.98152543e-01 9.07875164e-02 9.12815523e-01 1.57727217e+02] [ 1.68184019e-02 9.94200639e-01 -1.06217843e-01 2.04252478e+02] [-9.17165031e-01 5.76430028e-02 3.94316612e-01 -1.17365357e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.9307140569999 meters Centerline goodness : 0.986961 Centerline is valid? [True, True] Translation: X:157.74, Y:204.25, Z:-117.39 [[ 3.98542123e-01 9.06016685e-02 9.12663966e-01 1.57738353e+02] [ 1.86133213e-02 9.94104727e-01 -1.06814494e-01 2.04251488e+02] [-9.16961134e-01 5.95577828e-02 3.94506210e-01 -1.17391458e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.9607140569999 meters Centerline goodness : 0.987266 Centerline is valid? [True, True] Translation: X:157.75, Y:204.25, Z:-117.42 [[ 3.98417033e-01 8.96539608e-02 9.12812158e-01 1.57750906e+02] [ 1.96395545e-02 9.94149238e-01 -1.06214788e-01 2.04249984e+02] [-9.16994087e-01 6.02450049e-02 3.94325226e-01 -1.17422201e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.990714057 meters Centerline goodness : 0.988043 Centerline is valid? [True, True] Translation: X:157.76, Y:204.25, Z:-117.45 [[ 3.98558660e-01 9.02751210e-02 9.12689102e-01 1.57764090e+02] [ 1.95398904e-02 9.94082206e-01 -1.06858605e-01 2.04250030e+02] [-9.16934669e-01 6.04232672e-02 3.94436105e-01 -1.17451519e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.020714057 meters Centerline goodness : 0.988732 Centerline is valid? [True, True] Translation: X:157.78, Y:204.25, Z:-117.48 [[ 3.98261868e-01 9.10143640e-02 9.12745238e-01 1.57777411e+02] [ 1.91586899e-02 9.94022790e-01 -1.07478542e-01 2.04250367e+02] [-9.17071660e-01 6.02916080e-02 3.94137657e-01 -1.17481890e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.0507140569999 meters Centerline goodness : 0.983620 Centerline is valid? [True, True] Translation: X:157.79, Y:204.26, Z:-117.50 [[ 3.97753187e-01 9.90200675e-02 9.12133449e-01 1.57787314e+02] [ 1.91420189e-02 9.93047070e-01 -1.16151192e-01 2.04257351e+02] [-9.17292748e-01 6.36595823e-02 3.93092193e-01 -1.17502039e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.0807140569999 meters Centerline goodness : 0.989261 Centerline is valid? [True, True] Translation: X:157.79, Y:204.23, Z:-117.54 [[ 3.95490019e-01 4.30975201e-02 9.17458581e-01 1.57786618e+02] [ 1.87670950e-02 9.98310769e-01 -5.49854983e-02 2.04231977e+02] [-9.18278520e-01 3.89642481e-02 3.94013130e-01 -1.17538349e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.1107140569999 meters Centerline goodness : 0.983969 Centerline is valid? [True, True] Translation: X:157.81, Y:204.25, Z:-117.56 [[ 3.95007478e-01 8.92908197e-02 9.14328301e-01 1.57805933e+02] [ 2.03365416e-02 9.94171588e-01 -1.05873877e-01 2.04254758e+02] [-9.18452785e-01 6.04152486e-02 3.90889345e-01 -1.17557391e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.140714057 meters Centerline goodness : 0.988845 Centerline is valid? [True, True] Translation: X:157.81, Y:204.24, Z:-117.59 [[ 3.97376677e-01 6.21640165e-02 9.15547602e-01 1.57814026e+02] [ 1.86074487e-02 9.96951883e-01 -7.57674416e-02 2.04241029e+02] [-9.17466915e-01 4.71442192e-02 3.95008713e-01 -1.17588004e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.1707140569999 meters Centerline goodness : 0.989248 Centerline is valid? [True, True] Translation: X:157.83, Y:204.26, Z:-117.61 [[ 3.99921580e-01 9.03486934e-02 9.12085437e-01 1.57833361e+02] [ 1.67666982e-02 9.94241959e-01 -1.05838579e-01 2.04255261e+02] [-9.16395989e-01 5.76197929e-02 3.96103966e-01 -1.17609588e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.2007140569999 meters Centerline goodness : 0.989647 Centerline is valid? [True, True] Translation: X:157.84, Y:204.24, Z:-117.64 [[ 4.00619499e-01 6.60670851e-02 9.13859485e-01 1.57844971e+02] [ 1.56510781e-02 9.96757977e-01 -7.89213466e-02 2.04243052e+02] [-9.16110834e-01 4.59203165e-02 3.98286660e-01 -1.17640621e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.2307140569999 meters Centerline goodness : 0.989153 Centerline is valid? [True, True] Translation: X:157.87, Y:204.27, Z:-117.66 [[ 4.00841576e-01 1.35969072e-01 9.06001348e-01 1.57874622e+02] [ 9.94163644e-03 9.88221529e-01 -1.52706821e-01 2.04270589e+02] [-9.16093442e-01 7.02183786e-02 3.94768520e-01 -1.17664542e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.260714057 meters Centerline goodness : 0.989385 Centerline is valid? [True, True] Translation: X:157.89, Y:204.29, Z:-117.68 [[ 4.02252698e-01 1.63015246e-01 9.00898883e-01 1.57890396e+02] [ 1.43059770e-02 9.82781058e-01 -1.84219247e-01 2.04294366e+02] [-9.15416903e-01 8.69909278e-02 3.92994239e-01 -1.17677675e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.290714057 meters Centerline goodness : 0.984825 Centerline is valid? [True, True] Translation: X:157.87, Y:204.26, Z:-117.71 [[ 3.93791637e-01 8.05999950e-02 9.15659209e-01 1.57870942e+02] [ 1.39012148e-02 9.95512137e-01 -9.36073754e-02 2.04263775e+02] [-9.19094611e-01 4.95905769e-02 3.90903916e-01 -1.17711426e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.3207140569999 meters Centerline goodness : 0.990162 Centerline is valid? [True, True] Translation: X:157.88, Y:204.25, Z:-117.74 [[ 3.95648173e-01 5.84388772e-02 9.16541009e-01 1.57879314e+02] [ 1.02815924e-02 9.97629111e-01 -6.80473843e-02 2.04252778e+02] [-9.18344604e-01 3.63463244e-02 3.94109290e-01 -1.17740990e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.3507140569999 meters Centerline goodness : 0.989653 Centerline is valid? [True, True] Translation: X:157.90, Y:204.26, Z:-117.77 [[ 3.93357093e-01 7.40131751e-02 9.16401794e-01 1.57895310e+02] [ 4.23292835e-03 9.96598020e-01 -8.23071677e-02 2.04261188e+02] [-9.19376027e-01 3.62551713e-02 3.91705608e-01 -1.17766710e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.380714057 meters Centerline goodness : 0.990262 Centerline is valid? [True, True] Translation: X:157.91, Y:204.26, Z:-117.80 [[ 3.95841762e-01 8.09575182e-02 9.14743232e-01 1.57911141e+02] [ 2.31625286e-03 9.96015280e-01 -8.91526626e-02 2.04264026e+02] [-9.18315814e-01 3.74091237e-02 3.94076925e-01 -1.17798788e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.410714057 meters Centerline goodness : 0.985040 Centerline is valid? [True, True] Translation: X:157.92, Y:204.27, Z:-117.82 [[ 3.91875617e-01 8.06556023e-02 9.16475954e-01 1.57918719e+02] [ 2.91756262e-03 9.96035847e-01 -8.89048888e-02 2.04268057e+02] [-9.20013581e-01 3.75135341e-02 3.90086844e-01 -1.17824050e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.4407140569999 meters Centerline goodness : 0.986257 Centerline is valid? [True, True] Translation: X:157.92, Y:204.27, Z:-117.85 [[ 3.88472534e-01 7.57966573e-02 9.18337605e-01 1.57924179e+02] [-5.36012185e-03 9.96780160e-01 -8.00036323e-02 2.04265470e+02] [-9.21444713e-01 2.61568123e-02 3.87627994e-01 -1.17847056e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.4707140569999 meters Centerline goodness : 0.990488 Centerline is valid? [True, True] Translation: X:157.94, Y:204.26, Z:-117.88 [[ 3.94474917e-01 6.94318768e-02 9.16279845e-01 1.57938340e+02] [-8.58642305e-03 9.97376297e-01 -7.18804195e-02 2.04261237e+02] [-9.18866592e-01 2.04874562e-02 3.94036104e-01 -1.17876517e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.500714057 meters Centerline goodness : 0.985878 Centerline is valid? [True, True] Translation: X:157.94, Y:204.27, Z:-117.90 [[ 3.87751410e-01 7.52376587e-02 9.18688271e-01 1.57944881e+02] [-1.16179204e-02 9.96982974e-01 -7.67461629e-02 2.04266669e+02] [-9.21690766e-01 1.90851857e-02 3.87455659e-01 -1.17901495e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.530714057 meters Centerline goodness : 0.988724 Centerline is valid? [True, True] Translation: X:157.96, Y:204.26, Z:-117.93 [[ 3.87671545e-01 8.58684224e-02 9.17789402e-01 1.57958475e+02] [-1.96107038e-02 9.96194722e-01 -8.49205244e-02 2.04264595e+02] [-9.21588950e-01 1.49227748e-02 3.87880288e-01 -1.17927635e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.5607140569999 meters Centerline goodness : 0.990962 Centerline is valid? [True, True] Translation: X:157.98, Y:204.30, Z:-117.94 [[ 3.88379684e-01 1.35471578e-01 9.11487067e-01 1.57982628e+02] [-1.40280853e-02 9.89889259e-01 -1.41146969e-01 2.04297254e+02] [-9.21392660e-01 4.20321969e-02 3.86353285e-01 -1.17942269e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.5907140569999 meters Centerline goodness : 0.989603 Centerline is valid? [True, True] Translation: X:157.98, Y:204.26, Z:-117.99 [[ 3.86024450e-01 9.38609267e-02 9.17701068e-01 1.57982617e+02] [-2.88543182e-02 9.95552030e-01 -8.96860281e-02 2.04264442e+02] [-9.22037175e-01 8.14136102e-03 3.87015718e-01 -1.17993069e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.620714057 meters Centerline goodness : 0.991184 Centerline is valid? [True, True] Translation: X:158.02, Y:204.31, Z:-118.00 [[ 3.89738572e-01 1.68009585e-01 9.05470389e-01 1.58017381e+02] [-2.25699853e-02 9.84665053e-01 -1.72989393e-01 2.04307842e+02] [-9.20648924e-01 4.69841855e-02 3.87553926e-01 -1.17995636e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.650714057 meters Centerline goodness : 0.988997 Centerline is valid? [True, True] Translation: X:158.00, Y:204.26, Z:-118.05 [[ 3.84793008e-01 9.05722979e-02 9.18548311e-01 1.58004250e+02] [-3.39475260e-02 9.95889240e-01 -8.39772991e-02 2.04259409e+02] [-9.22378397e-01 1.13143487e-03 3.86285922e-01 -1.18050647e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.6807140569999 meters Centerline goodness : 0.988478 Centerline is valid? [True, True] Translation: X:158.04, Y:204.29, Z:-118.07 [[ 3.83814658e-01 1.72046827e-01 9.07240981e-01 1.58040840e+02] [-3.77993352e-02 9.84593500e-01 -1.70724484e-01 2.04288480e+02] [-9.22636179e-01 3.12334537e-02 3.84404673e-01 -1.18071982e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.7107140569999 meters Centerline goodness : 0.989525 Centerline is valid? [True, True] Translation: X:158.05, Y:204.30, Z:-118.08 [[ 3.88212983e-01 1.63105258e-01 9.07021144e-01 1.58048961e+02] [-2.98940888e-02 9.85924134e-01 -1.64499072e-01 2.04297278e+02] [-9.21084699e-01 3.67461049e-02 3.87624432e-01 -1.18084313e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.740714057 meters Centerline goodness : 0.989917 Centerline is valid? [True, True] Translation: X:158.03, Y:204.26, Z:-118.13 [[ 3.87373295e-01 8.31070031e-02 9.18169459e-01 1.58034631e+02] [-3.16503792e-02 9.96540378e-01 -7.68474402e-02 2.04260892e+02] [-9.21379500e-01 7.08234591e-04 3.88663498e-01 -1.18125180e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.770714057 meters Centerline goodness : 0.990361 Centerline is valid? [True, True] Translation: X:158.05, Y:204.25, Z:-118.15 [[ 3.86865584e-01 8.43898356e-02 9.18266506e-01 1.58046761e+02] [-3.33700773e-02 9.96432600e-01 -7.75145869e-02 2.04254913e+02] [-9.21532125e-01 -6.54898335e-04 3.88301575e-01 -1.18154365e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.8007140569999 meters Centerline goodness : 0.989713 Centerline is valid? [True, True] Translation: X:158.06, Y:204.25, Z:-118.18 [[ 3.86411378e-01 8.52673872e-02 9.18376676e-01 1.58059683e+02] [-3.41531296e-02 9.96357415e-01 -7.81374761e-02 2.04251027e+02] [-9.21693990e-01 -1.17222785e-03 3.87915990e-01 -1.18184711e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.8307140569999 meters Centerline goodness : 0.989491 Centerline is valid? [True, True] Translation: X:158.07, Y:204.24, Z:-118.22 [[ 3.85537357e-01 8.56431774e-02 9.18708981e-01 1.58071056e+02] [-3.35052021e-02 9.96325796e-01 -7.88182126e-02 2.04243154e+02] [-9.22083699e-01 -3.94164746e-04 3.86990306e-01 -1.18215136e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.8607140569999 meters Centerline goodness : 0.989510 Centerline is valid? [True, True] Translation: X:158.08, Y:204.24, Z:-118.24 [[ 3.86099355e-01 8.62035811e-02 9.18420509e-01 1.58083606e+02] [-3.34549514e-02 9.96277542e-01 -7.94470028e-02 2.04237726e+02] [-9.21850343e-01 -5.12768715e-05 3.87546053e-01 -1.18244464e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.890714057 meters Centerline goodness : 0.989075 Centerline is valid? [True, True] Translation: X:158.10, Y:204.21, Z:-118.28 [[ 3.90961553e-01 5.34536078e-02 9.18853512e-01 1.58096215e+02] [-3.42711429e-02 9.98465312e-01 -4.35029887e-02 2.04214137e+02] [-9.19768750e-01 -1.44821640e-02 3.92193465e-01 -1.18277535e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.9207140569999 meters Centerline goodness : 0.987912 Centerline is valid? [True, True] Translation: X:158.12, Y:204.23, Z:-118.30 [[ 3.88793444e-01 1.12504554e-01 9.14430087e-01 1.58122800e+02] [-3.34044547e-02 9.93585129e-01 -1.08040428e-01 2.04228119e+02] [-9.20719176e-01 1.14593718e-02 3.90057537e-01 -1.18303467e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.9507140569999 meters Centerline goodness : 0.989080 Centerline is valid? [True, True] Translation: X:158.14, Y:204.25, Z:-118.33 [[ 3.83416021e-01 1.52570816e-01 9.10886547e-01 1.58136350e+02] [-2.94743207e-02 9.87779780e-01 -1.53043692e-01 2.04245621e+02] [-9.23105313e-01 3.18316411e-02 3.83227514e-01 -1.18326131e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.9807140569999 meters Centerline goodness : 0.988028 Centerline is valid? [True, True] Translation: X:158.13, Y:204.21, Z:-118.36 [[ 3.83402470e-01 8.52973067e-02 9.19634120e-01 1.58129751e+02] [-3.00860529e-02 9.96351164e-01 -7.98698115e-02 2.04211323e+02] [-9.23091206e-01 2.95412223e-03 3.84569757e-01 -1.18363725e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.010714057 meters Centerline goodness : 0.986064 Centerline is valid? [True, True] Translation: X:158.15, Y:204.18, Z:-118.40 [[ 3.89010250e-01 5.86712637e-02 9.19363208e-01 1.58145360e+02] [-3.74697706e-02 9.98151740e-01 -4.78447460e-02 2.04178009e+02] [-9.20471098e-01 -1.58362319e-02 3.90489657e-01 -1.18401851e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.040714057 meters Centerline goodness : 0.986064 Centerline is valid? [True, True] Translation: X:158.18, Y:204.21, Z:-118.43 [[ 3.88241784e-01 1.45368432e-01 9.10019965e-01 1.58180241e+02] [-3.72646047e-02 9.89149109e-01 -1.42110485e-01 2.04213354e+02] [-9.20803815e-01 2.12616938e-02 3.89446112e-01 -1.18425654e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.0707140569999 meters Centerline goodness : 0.985498 Centerline is valid? [True, True] Translation: X:158.19, Y:204.21, Z:-118.45 [[ 3.91816741e-01 1.39904395e-01 9.09343941e-01 1.58193683e+02] [-3.58021137e-02 9.89940715e-01 -1.36878010e-01 2.04206922e+02] [-9.19346426e-01 2.10746607e-02 3.92884217e-01 -1.18451043e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.1007140569999 meters Centerline goodness : 0.985082 Centerline is valid? [True, True] Translation: X:158.20, Y:204.20, Z:-118.48 [[ 3.90904278e-01 1.41685232e-01 9.09460907e-01 1.58203580e+02] [-3.56131296e-02 9.89669536e-01 -1.38873736e-01 2.04197238e+02] [-9.19742111e-01 2.18975881e-02 3.91911910e-01 -1.18480190e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.130714057 meters Centerline goodness : 0.986758 Centerline is valid? [True, True] Translation: X:158.21, Y:204.22, Z:-118.50 [[ 3.83288674e-01 1.73892071e-01 9.07111537e-01 1.58208736e+02] [-2.91645956e-02 9.83906063e-01 -1.76290343e-01 2.04215666e+02] [-9.23168034e-01 4.11145509e-02 3.82191542e-01 -1.18503024e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.160714057 meters Centerline goodness : 0.985144 Centerline is valid? [True, True] Translation: X:158.20, Y:204.16, Z:-118.55 [[ 3.84565672e-01 7.33073473e-02 9.20182198e-01 1.58202503e+02] [-3.67156943e-02 9.97267579e-01 -6.41040930e-02 2.04155254e+02] [-9.22367173e-01 -9.13289463e-03 3.86206407e-01 -1.18549358e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.1907140569999 meters Centerline goodness : 0.985012 Centerline is valid? [True, True] Translation: X:158.23, Y:204.18, Z:-118.57 [[ 3.89206149e-01 1.35217718e-01 9.11172180e-01 1.58234756e+02] [-3.52943989e-02 9.90630059e-01 -1.31933285e-01 2.04177214e+02] [-9.20474269e-01 1.91899714e-02 3.90331739e-01 -1.18568518e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.2207140569999 meters Centerline goodness : 0.985727 Centerline is valid? [True, True] Translation: X:158.24, Y:204.17, Z:-118.60 [[ 3.83435966e-01 1.45825342e-01 9.11982363e-01 1.58242742e+02] [-3.52464537e-02 9.89047281e-01 -1.43328868e-01 2.04170171e+02] [-9.22894657e-01 2.28132990e-02 3.84376126e-01 -1.18601447e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.250714057 meters Centerline goodness : 0.987614 Centerline is valid? [True, True] Translation: X:158.25, Y:204.18, Z:-118.62 [[ 3.80145803e-01 1.59008691e-01 9.11156082e-01 1.58248238e+02] [-2.87019985e-02 9.86665374e-01 -1.60211218e-01 2.04175473e+02] [-9.24481132e-01 3.47516215e-02 3.79640568e-01 -1.18621421e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.280714057 meters Centerline goodness : 0.986723 Centerline is valid? [True, True] Translation: X:158.25, Y:204.12, Z:-118.67 [[ 3.81913333e-01 7.31858497e-02 9.21295847e-01 1.58248793e+02] [-3.62826200e-02 9.97278470e-01 -6.41811815e-02 2.04121919e+02] [-9.23485667e-01 -8.91537813e-03 3.83529319e-01 -1.18665001e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.3107140569999 meters Centerline goodness : 0.985031 Centerline is valid? [True, True] Translation: X:158.27, Y:204.15, Z:-118.69 [[ 3.75150045e-01 1.67734218e-01 9.11662041e-01 1.58272734e+02] [-3.74556941e-02 9.85432031e-01 -1.65893894e-01 2.04154232e+02] [-9.26207059e-01 2.80881671e-02 3.75967472e-01 -1.18694162e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.3407140569999 meters Centerline goodness : 0.987841 Centerline is valid? [True, True] Translation: X:158.28, Y:204.15, Z:-118.71 [[ 3.79106030e-01 1.47654217e-01 9.13497044e-01 1.58280280e+02] [-2.89431052e-02 9.88596448e-01 -1.47781462e-01 2.04152642e+02] [-9.24900489e-01 2.95854024e-02 3.79056446e-01 -1.18708947e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.370714057 meters Centerline goodness : 0.988443 Centerline is valid? [True, True] Translation: X:158.28, Y:204.11, Z:-118.74 [[ 3.78042560e-01 8.58057106e-02 9.21803234e-01 1.58280192e+02] [-2.87953487e-02 9.96303650e-01 -8.09312362e-02 2.04114883e+02] [-9.25340289e-01 4.05180618e-03 3.79115988e-01 -1.18742872e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.400714057 meters Centerline goodness : 0.988846 Centerline is valid? [True, True] Translation: X:158.29, Y:204.11, Z:-118.77 [[ 3.77608306e-01 8.63845733e-02 9.21927152e-01 1.58292662e+02] [-2.87446601e-02 9.96252573e-01 -8.15754595e-02 2.04109632e+02] [-9.25519158e-01 4.30308843e-03 3.78676341e-01 -1.18772898e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.4307140569999 meters Centerline goodness : 0.989545 Centerline is valid? [True, True] Translation: X:158.31, Y:204.10, Z:-118.80 [[ 3.77404311e-01 8.71652559e-02 9.21937202e-01 1.58305882e+02] [-2.91717488e-02 9.96185245e-01 -8.22433435e-02 2.04103865e+02] [-9.25588999e-01 4.14447192e-03 3.78507368e-01 -1.18803473e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.4607140569999 meters Centerline goodness : 0.989939 Centerline is valid? [True, True] Translation: X:158.32, Y:204.09, Z:-118.83 [[ 3.77926956e-01 8.79097914e-02 9.21652366e-01 1.58318805e+02] [-2.95410097e-02 9.96119988e-01 -8.28993222e-02 2.04093488e+02] [-9.25364007e-01 4.10334707e-03 3.79057539e-01 -1.18833822e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.490714057 meters Centerline goodness : 0.990248 Centerline is valid? [True, True] Translation: X:158.33, Y:204.09, Z:-118.86 [[ 3.78328345e-01 8.86105280e-02 9.21420554e-01 1.58330780e+02] [-2.97892701e-02 9.96057649e-01 -8.35569258e-02 2.04088152e+02] [-9.25192014e-01 4.16350761e-03 3.79476484e-01 -1.18862879e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.520714057 meters Centerline goodness : 0.991329 Centerline is valid? [True, True] Translation: X:158.34, Y:204.08, Z:-118.89 [[ 3.78447947e-01 8.93933626e-02 9.21295815e-01 1.58343400e+02] [-3.08493100e-02 9.95990743e-01 -8.39687997e-02 2.04078285e+02] [-9.25108357e-01 3.35647963e-03 3.79688375e-01 -1.18893592e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.5507140569999 meters Centerline goodness : 0.991661 Centerline is valid? [True, True] Translation: X:158.36, Y:204.07, Z:-118.92 [[ 3.78362226e-01 9.04301707e-02 9.21229836e-01 1.58356088e+02] [-3.19183031e-02 9.95899340e-01 -8.46506096e-02 2.04073532e+02] [-9.25107155e-01 2.62449990e-03 3.79697068e-01 -1.18923533e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.5807140569999 meters Centerline goodness : 0.992304 Centerline is valid? [True, True] Translation: X:158.37, Y:204.07, Z:-118.95 [[ 3.77966194e-01 9.13615460e-02 9.21300507e-01 1.58368468e+02] [-3.26917592e-02 9.95815497e-01 -8.53389996e-02 2.04069245e+02] [-9.25242025e-01 2.13632258e-03 3.79371363e-01 -1.18953830e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.6107140569999 meters Centerline goodness : 0.993094 Centerline is valid? [True, True] Translation: X:158.38, Y:204.06, Z:-118.98 [[ 3.77747715e-01 9.25532748e-02 9.21271163e-01 1.58381095e+02] [-3.41805068e-02 9.95707229e-01 -8.60163214e-02 2.04062325e+02] [-9.25277449e-01 1.00295358e-03 3.79289648e-01 -1.18984232e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.640714057 meters Centerline goodness : 0.993311 Centerline is valid? [True, True] Translation: X:158.39, Y:204.06, Z:-119.01 [[ 3.77802925e-01 9.35601765e-02 9.21146809e-01 1.58393899e+02] [-3.52140436e-02 9.95613578e-01 -8.66808772e-02 2.04058537e+02] [-9.25216149e-01 3.10985051e-04 3.79440354e-01 -1.19014787e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.6707140569999 meters Centerline goodness : 0.993721 Centerline is valid? [True, True] Translation: X:158.41, Y:204.05, Z:-119.05 [[ 3.77242096e-01 9.45047649e-02 9.21280224e-01 1.58406352e+02] [-3.60168016e-02 9.95524385e-01 -8.73727039e-02 2.04054689e+02] [-9.25414065e-01 -2.20905050e-04 3.78957465e-01 -1.19045724e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.7007140569999 meters Centerline goodness : 0.993624 Centerline is valid? [True, True] Translation: X:158.42, Y:204.05, Z:-119.08 [[ 3.76785613e-01 9.58089373e-02 9.21332323e-01 1.58418248e+02] [-3.77956073e-02 9.95398384e-01 -8.80542430e-02 2.04047415e+02] [-9.25529089e-01 -1.64474270e-03 3.78672947e-01 -1.19075022e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.7307140569999 meters Centerline goodness : 0.994488 Centerline is valid? [True, True] Translation: X:158.43, Y:204.04, Z:-119.10 [[ 3.76743387e-01 9.69193235e-02 9.21233448e-01 1.58430769e+02] [-3.92125545e-02 9.95288534e-01 -8.86741803e-02 2.04043266e+02] [-9.25487329e-01 -2.71650576e-03 3.78768827e-01 -1.19104071e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.760714057 meters Centerline goodness : 0.994418 Centerline is valid? [True, True] Translation: X:158.44, Y:204.04, Z:-119.13 [[ 3.75780490e-01 9.84361517e-02 9.21465869e-01 1.58443636e+02] [-4.16449574e-02 9.95131750e-01 -8.93224375e-02 2.04036232e+02] [-9.25772500e-01 -4.80877751e-03 3.78050466e-01 -1.19134780e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.790714057 meters Centerline goodness : 0.995094 Centerline is valid? [True, True] Translation: X:158.46, Y:204.03, Z:-119.16 [[ 3.75359508e-01 9.95844458e-02 9.21514068e-01 1.58455797e+02] [-4.30354405e-02 9.95011762e-01 -8.99974682e-02 2.04032406e+02] [-9.25879685e-01 -5.87635851e-03 3.77772786e-01 -1.19164400e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.8207140569999 meters Centerline goodness : 0.996125 Centerline is valid? [True, True] Translation: X:158.47, Y:204.03, Z:-119.19 [[ 3.74696538e-01 1.00625136e-01 9.21670813e-01 1.58468433e+02] [-4.47375528e-02 9.94897271e-01 -9.04321437e-02 2.04028446e+02] [-9.26067522e-01 -7.34868546e-03 3.77286285e-01 -1.19194358e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.8507140569999 meters Centerline goodness : 0.996571 Centerline is valid? [True, True] Translation: X:158.48, Y:204.02, Z:-119.22 [[ 3.73553382e-01 1.02052153e-01 9.21977890e-01 1.58480238e+02] [-4.67430646e-02 9.94737971e-01 -9.11671776e-02 2.04021655e+02] [-9.26430222e-01 -9.04026451e-03 3.76357964e-01 -1.19224256e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.880714057 meters Centerline goodness : 0.996555 Centerline is valid? [True, True] Translation: X:158.49, Y:204.02, Z:-119.25 [[ 3.73688937e-01 1.02828486e-01 9.21836689e-01 1.58492867e+02] [-4.77543315e-02 9.94650877e-01 -9.15923388e-02 2.04017168e+02] [-9.26323973e-01 -9.79465110e-03 3.76600535e-01 -1.19254741e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.910714057 meters Centerline goodness : 0.997664 Centerline is valid? [True, True] Translation: X:158.50, Y:204.01, Z:-119.28 [[ 3.73527806e-01 1.03577504e-01 9.21818138e-01 1.58504885e+02] [-4.80453434e-02 9.94572923e-01 -9.22840474e-02 2.04008816e+02] [-9.26373911e-01 -9.81841119e-03 3.76477059e-01 -1.19283997e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.9407140569999 meters Centerline goodness : 0.997687 Centerline is valid? [True, True] Translation: X:158.52, Y:204.00, Z:-119.31 [[ 3.73678363e-01 1.04149156e-01 9.21692701e-01 1.58517200e+02] [-4.80071944e-02 9.94516051e-01 -9.29146531e-02 2.04003934e+02] [-9.26315168e-01 -9.52768518e-03 3.76629039e-01 -1.19314274e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.9707140569999 meters Centerline goodness : 0.997896 Centerline is valid? [True, True] Translation: X:158.53, Y:204.00, Z:-119.34 [[ 3.73567325e-01 1.04730640e-01 9.21671822e-01 1.58529652e+02] [-4.78817998e-02 9.94458370e-01 -9.35942530e-02 2.03999048e+02] [-9.26366443e-01 -9.16755096e-03 3.76511844e-01 -1.19344591e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.000714057 meters Centerline goodness : 0.998569 Centerline is valid? [True, True] Translation: X:158.54, Y:203.99, Z:-119.37 [[ 3.74232786e-01 1.04841381e-01 9.21389227e-01 1.58541456e+02] [-4.65410539e-02 9.94459840e-01 -9.42526269e-02 2.03990453e+02] [-9.26166158e-01 -7.61000249e-03 3.77038905e-01 -1.19374123e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.030714057 meters Centerline goodness : 0.998800 Centerline is valid? [True, True] Translation: X:158.55, Y:203.99, Z:-119.40 [[ 3.74468301e-01 1.05152804e-01 9.21258042e-01 1.58553750e+02] [-4.58255581e-02 9.94433585e-01 -9.48781522e-02 2.03985483e+02] [-9.26106641e-01 -6.68830357e-03 3.77202540e-01 -1.19404386e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.0607140569999 meters Centerline goodness : 0.998509 Centerline is valid? [True, True] Translation: X:158.57, Y:203.98, Z:-119.43 [[ 3.75418379e-01 1.05463333e-01 9.20835776e-01 1.58566288e+02] [-4.50704404e-02 9.94407172e-01 -9.55145592e-02 2.03980558e+02] [-9.25758984e-01 -5.64455296e-03 3.78072008e-01 -1.19434323e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.0907140569999 meters Centerline goodness : 0.998696 Centerline is valid? [True, True] Translation: X:158.58, Y:203.98, Z:-119.47 [[ 3.75497605e-01 1.05948859e-01 9.20747733e-01 1.58578387e+02] [-4.47067716e-02 9.94358778e-01 -9.61869237e-02 2.03975479e+02] [-9.25744486e-01 -5.04569920e-03 3.78115971e-01 -1.19465222e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.120714057 meters Centerline goodness : 0.999162 Centerline is valid? [True, True] Translation: X:158.59, Y:203.97, Z:-119.49 [[ 3.76572311e-01 1.06293235e-01 9.20269006e-01 1.58590897e+02] [-4.40708764e-02 9.94326375e-01 -9.68133169e-02 2.03966722e+02] [-9.25338345e-01 -4.09984714e-03 3.79120217e-01 -1.19494944e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.150714057 meters Centerline goodness : 0.999348 Centerline is valid? [True, True] Translation: X:158.60, Y:203.96, Z:-119.53 [[ 3.76570529e-01 1.06801618e-01 9.20210873e-01 1.58603377e+02] [-4.37671914e-02 9.94273961e-01 -9.74870389e-02 2.03961917e+02] [-9.25353484e-01 -3.56429962e-03 3.79088679e-01 -1.19525338e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.1807140569999 meters Centerline goodness : 0.999368 Centerline is valid? [True, True] Translation: X:158.62, Y:203.95, Z:-119.56 [[ 3.77127175e-01 1.07075831e-01 9.19951010e-01 1.58615307e+02] [-4.29003064e-02 9.94247823e-01 -9.81367914e-02 2.03953376e+02] [-9.25167368e-01 -2.45612938e-03 3.79551458e-01 -1.19556071e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.2107140569999 meters Centerline goodness : 0.999559 Centerline is valid? [True, True] Translation: X:158.63, Y:203.95, Z:-119.59 [[ 3.78314151e-01 1.07369313e-01 9.19429298e-01 1.58628790e+02] [-4.21495316e-02 9.94218233e-01 -9.87599209e-02 2.03948544e+02] [-9.24717157e-01 -1.39123858e-03 3.80652393e-01 -1.19586560e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.240714057 meters Centerline goodness : 0.999498 Centerline is valid? [True, True] Translation: X:158.64, Y:203.94, Z:-119.62 [[ 3.78852856e-01 1.07051832e-01 9.19244483e-01 1.58640795e+02] [-3.97251908e-02 9.94252780e-01 -9.94148799e-02 2.03939732e+02] [-9.24603928e-01 1.14644864e-03 3.80928159e-01 -1.19616799e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.270714057 meters Centerline goodness : 0.999496 Centerline is valid? [True, True] Translation: X:158.65, Y:203.93, Z:-119.65 [[ 3.78950598e-01 1.06956775e-01 9.19215259e-01 1.58653521e+02] [-3.78337555e-02 9.94258674e-01 -1.00091438e-01 2.03934906e+02] [-9.24643202e-01 3.15234482e-03 3.80821496e-01 -1.19647451e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.3007140569999 meters Centerline goodness : 0.999538 Centerline is valid? [True, True] Translation: X:158.67, Y:203.93, Z:-119.68 [[ 3.78964856e-01 1.06672753e-01 9.19242385e-01 1.58666192e+02] [-3.54348293e-02 9.94278324e-01 -1.00771954e-01 2.03930290e+02] [-9.24732400e-01 5.61583191e-03 3.80576473e-01 -1.19678256e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.3307140569999 meters Centerline goodness : 0.999415 Centerline is valid? [True, True] Translation: X:158.68, Y:203.93, Z:-119.71 [[ 3.79706426e-01 1.06136827e-01 9.18998370e-01 1.58679219e+02] [-3.24645655e-02 9.94313687e-01 -1.01421612e-01 2.03925807e+02] [-9.24537226e-01 8.67555484e-03 3.80992982e-01 -1.19708532e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.3607140569999 meters Centerline goodness : 0.999663 Centerline is valid? [True, True] Translation: X:158.69, Y:203.92, Z:-119.74 [[ 3.81115193e-01 1.03570263e-01 9.18708011e-01 1.58691972e+02] [-2.51279448e-02 9.94498685e-01 -1.01690469e-01 2.03918749e+02] [-9.24186018e-01 1.56705386e-02 3.81621067e-01 -1.19738430e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.390714057 meters Centerline goodness : 0.998716 Centerline is valid? [True, True] Translation: X:158.70, Y:203.91, Z:-119.77 [[ 3.81203353e-01 1.02909387e-01 9.18745701e-01 1.58703196e+02] [-2.16678263e-02 9.94506764e-01 -1.02405087e-01 2.03914648e+02] [-9.24237258e-01 1.91299402e-02 3.81339135e-01 -1.19768428e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.4207140569999 meters Centerline goodness : 0.998653 Centerline is valid? [True, True] Translation: X:158.72, Y:203.91, Z:-119.80 [[ 3.81513269e-01 1.01938150e-01 9.18725334e-01 1.58715263e+02] [-1.80781670e-02 9.94533378e-01 -1.02842306e-01 2.03910744e+02] [-9.24186564e-01 2.26268343e-02 3.81270535e-01 -1.19797685e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.4507140569999 meters Centerline goodness : 0.998336 Centerline is valid? [True, True] Translation: X:158.73, Y:203.90, Z:-119.83 [[ 3.82433835e-01 1.00125359e-01 9.18541928e-01 1.58727860e+02] [-1.17993870e-02 9.94559569e-01 -1.03498976e-01 2.03904924e+02] [-9.23907537e-01 2.87432787e-02 3.81534648e-01 -1.19828299e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.4807140569999 meters Centerline goodness : 0.998484 Centerline is valid? [True, True] Translation: X:158.74, Y:203.90, Z:-119.86 [[ 3.83282386e-01 9.97020264e-02 9.18234240e-01 1.58740861e+02] [-9.18384489e-03 9.94519031e-01 -1.04151591e-01 2.03902453e+02] [-9.23585551e-01 3.14865493e-02 3.82097275e-01 -1.19858951e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.510714057 meters Centerline goodness : 0.998586 Centerline is valid? [True, True] Translation: X:158.75, Y:203.90, Z:-119.89 [[ 3.83988831e-01 9.95549425e-02 9.17955005e-01 1.58753300e+02] [-7.31278270e-03 9.94467074e-01 -1.04793901e-01 2.03900250e+02] [-9.23308779e-01 3.35268818e-02 3.82592273e-01 -1.19888904e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.540714057 meters Centerline goodness : 0.998304 Centerline is valid? [True, True] Translation: X:158.77, Y:203.90, Z:-119.92 [[ 3.84472781e-01 9.87529165e-02 9.17839061e-01 1.58765969e+02] [-4.28225703e-03 9.94441756e-01 -1.05201028e-01 2.03897738e+02] [-9.23126396e-01 3.65165088e-02 3.82758673e-01 -1.19918868e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.5707140569999 meters Centerline goodness : 0.998695 Centerline is valid? [True, True] Translation: X:158.78, Y:203.90, Z:-119.95 [[ 3.84400376e-01 9.88611489e-02 9.17857737e-01 1.58779014e+02] [-2.97628997e-03 9.94376968e-01 -1.05856451e-01 2.03895895e+02] [-9.23161683e-01 3.79594487e-02 3.82533119e-01 -1.19949354e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.6007140569999 meters Centerline goodness : 0.998481 Centerline is valid? [True, True] Translation: X:158.79, Y:203.89, Z:-119.98 [[ 3.84521883e-01 9.91112683e-02 9.17779864e-01 1.58791159e+02] [-2.05170477e-03 9.94308866e-01 -1.06516052e-01 2.03894270e+02] [-9.23113597e-01 3.90747394e-02 3.82536864e-01 -1.19979527e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.630714057 meters Centerline goodness : 0.998357 Centerline is valid? [True, True] Translation: X:158.80, Y:203.89, Z:-120.01 [[ 3.85393089e-01 9.91827864e-02 9.17406639e-01 1.58803688e+02] [-7.81426512e-04 9.94241344e-01 -1.07161281e-01 2.03892759e+02] [-9.22752164e-01 4.05823311e-02 3.83251247e-01 -1.20009033e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.660714057 meters Centerline goodness : 0.998947 Centerline is valid? [True, True] Translation: X:158.82, Y:203.89, Z:-120.04 [[ 3.85732646e-01 9.94127174e-02 9.17239030e-01 1.58817150e+02] [ 7.18000197e-05 9.94174616e-01 -1.07781388e-01 2.03892401e+02] [-9.22610601e-01 4.16406578e-02 3.83478468e-01 -1.20039647e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.6907140569999 meters Centerline goodness : 0.998863 Centerline is valid? [True, True] Translation: X:158.83, Y:203.89, Z:-120.07 [[ 3.85650224e-01 9.95768050e-02 9.17255888e-01 1.58830292e+02] [ 3.70892726e-04 9.94142188e-01 -1.08079478e-01 2.03891999e+02] [-9.22644985e-01 4.20210784e-02 3.83354225e-01 -1.20069491e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.7207140569999 meters Centerline goodness : 0.998699 Centerline is valid? [True, True] Translation: X:158.84, Y:203.89, Z:-120.10 [[ 3.84969478e-01 9.95030006e-02 9.17549810e-01 1.58843408e+02] [ 2.39379867e-03 9.94060288e-01 -1.08804470e-01 2.03893683e+02] [-9.22926200e-01 4.40828296e-02 3.82444680e-01 -1.20098812e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.750714057 meters Centerline goodness : 0.998969 Centerline is valid? [True, True] Translation: X:158.86, Y:203.89, Z:-120.13 [[ 3.85068460e-01 9.95464439e-02 9.17503562e-01 1.58856581e+02] [ 3.79076461e-03 9.93986661e-01 -1.09435587e-01 2.03893897e+02] [-9.22880226e-01 4.56182332e-02 3.82375556e-01 -1.20128737e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.780714057 meters Centerline goodness : 0.999558 Centerline is valid? [True, True] Translation: X:158.87, Y:203.90, Z:-120.16 [[ 3.85620230e-01 9.86843188e-02 9.17364946e-01 1.58870229e+02] [ 6.65462076e-03 9.93940355e-01 -1.09719129e-01 2.03895715e+02] [-9.22633597e-01 4.84146318e-02 3.82626802e-01 -1.20158837e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.8107140569999 meters Centerline goodness : 0.999519 Centerline is valid? [True, True] Translation: X:158.88, Y:203.90, Z:-120.19 [[ 3.86360467e-01 9.87677168e-02 9.17044453e-01 1.58882854e+02] [ 7.90241841e-03 9.93859130e-01 -1.10370200e-01 2.03896300e+02] [-9.22314015e-01 4.98895508e-02 3.83207374e-01 -1.20187796e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.8407140569999 meters Centerline goodness : 0.999201 Centerline is valid? [True, True] Translation: X:158.90, Y:203.90, Z:-120.22 [[ 3.86975245e-01 9.87771867e-02 9.16784177e-01 1.58895807e+02] [ 9.38367043e-03 9.93772419e-01 -1.11032994e-01 2.03897118e+02] [-9.22042356e-01 5.15698206e-02 3.83638433e-01 -1.20218265e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.870714057 meters Centerline goodness : 0.999351 Centerline is valid? [True, True] Translation: X:158.91, Y:203.90, Z:-120.25 [[ 3.87795108e-01 9.81557919e-02 9.16504444e-01 1.58908747e+02] [ 1.24585552e-02 9.93664882e-01 -1.11691035e-01 2.03900705e+02] [-9.21661401e-01 5.47315582e-02 3.84115501e-01 -1.20247440e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.900714057 meters Centerline goodness : 0.999331 Centerline is valid? [True, True] Translation: X:158.92, Y:203.90, Z:-120.28 [[ 3.88198007e-01 9.82319119e-02 9.16325706e-01 1.58922210e+02] [ 1.37733354e-02 9.93573456e-01 -1.12348045e-01 2.03901936e+02] [-9.21473062e-01 5.62341483e-02 3.84350254e-01 -1.20277828e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.9307140569999 meters Centerline goodness : 0.999331 Centerline is valid? [True, True] Translation: X:158.94, Y:203.90, Z:-120.31 [[ 3.88202376e-01 9.85551770e-02 9.16289142e-01 1.58935083e+02] [ 1.36461491e-02 9.93541497e-01 -1.12645802e-01 2.03900380e+02] [-9.21473113e-01 5.62331864e-02 3.84350271e-01 -1.20308723e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.9607140569999 meters Centerline goodness : 0.999499 Centerline is valid? [True, True] Translation: X:158.95, Y:203.90, Z:-120.34 [[ 3.88772379e-01 9.82509407e-02 9.16080122e-01 1.58948915e+02] [ 1.50143705e-02 9.93490048e-01 -1.12925171e-01 2.03904410e+02] [-9.21211488e-01 5.76565537e-02 3.84766313e-01 -1.20339114e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.990714057 meters Centerline goodness : 0.999770 Centerline is valid? [True, True] Translation: X:158.96, Y:203.91, Z:-120.37 [[ 3.89409580e-01 9.87795008e-02 9.15752581e-01 1.58962713e+02] [ 1.51144785e-02 9.93413451e-01 -1.13583745e-01 2.03906274e+02] [-9.20940678e-01 5.80717211e-02 3.85351714e-01 -1.20369358e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.020714057 meters Centerline goodness : 0.999729 Centerline is valid? [True, True] Translation: X:158.98, Y:203.91, Z:-120.40 [[ 3.89377689e-01 9.95940354e-02 9.15677915e-01 1.58976031e+02] [ 1.46429304e-02 9.93342054e-01 -1.14267880e-01 2.03912502e+02] [-9.20961780e-01 5.79015710e-02 3.85326885e-01 -1.20398825e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.0507140569999 meters Centerline goodness : 0.999770 Centerline is valid? [True, True] Translation: X:158.99, Y:203.92, Z:-120.43 [[ 3.89577632e-01 1.00578566e-01 9.15485238e-01 1.58989460e+02] [ 1.35340658e-02 9.93286550e-01 -1.14885420e-01 2.03915273e+02] [-9.20894184e-01 5.71470273e-02 3.85600985e-01 -1.20428951e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.0807140569999 meters Centerline goodness : 0.999666 Centerline is valid? [True, True] Translation: X:159.00, Y:203.92, Z:-120.46 [[ 3.89563477e-01 1.01750254e-01 9.15361777e-01 1.59002737e+02] [ 1.20731315e-02 9.93228990e-01 -1.15543991e-01 2.03918254e+02] [-9.20920484e-01 5.60630020e-02 3.85697294e-01 -1.20459158e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.1107140569999 meters Centerline goodness : 0.999519 Centerline is valid? [True, True] Translation: X:159.02, Y:203.92, Z:-120.49 [[ 3.89842468e-01 1.03173267e-01 9.15083672e-01 1.59015668e+02] [ 9.86483328e-03 9.93179077e-01 -1.16180918e-01 2.03920967e+02] [-9.20828722e-01 5.43194038e-02 3.86165596e-01 -1.20488547e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.140714057 meters Centerline goodness : 0.999330 Centerline is valid? [True, True] Translation: X:159.03, Y:203.93, Z:-120.52 [[ 3.89096314e-01 1.05328491e-01 9.15155707e-01 1.59029326e+02] [ 5.81680127e-03 9.93141099e-01 -1.16777231e-01 2.03927256e+02] [-9.21178714e-01 5.07608692e-02 3.85814866e-01 -1.20518937e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.1707140569999 meters Centerline goodness : 0.999058 Centerline is valid? [True, True] Translation: X:159.04, Y:203.93, Z:-120.55 [[ 3.88462755e-01 1.06877734e-01 9.15245234e-01 1.59042382e+02] [ 3.53928604e-03 9.93070366e-01 -1.17467960e-01 2.03929860e+02] [-9.21457629e-01 4.88712422e-02 3.85392579e-01 -1.20549921e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.2007140569999 meters Centerline goodness : 0.998664 Centerline is valid? [True, True] Translation: X:159.06, Y:203.94, Z:-120.58 [[ 3.87440209e-01 1.09351852e-01 9.15386398e-01 1.59055199e+02] [-1.03031263e-03 9.92990895e-01 -1.18186385e-01 2.03936454e+02] [-9.21894258e-01 4.48470235e-02 3.84837266e-01 -1.20579633e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.2307140569999 meters Centerline goodness : 0.998728 Centerline is valid? [True, True] Translation: X:159.07, Y:203.94, Z:-120.61 [[ 3.86889968e-01 1.10898114e-01 9.15433100e-01 1.59068701e+02] [-3.40538603e-03 9.92907062e-01 -1.18844305e-01 2.03938906e+02] [-9.22119600e-01 4.28622662e-02 3.84523433e-01 -1.20609931e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.260714057 meters Centerline goodness : 0.998849 Centerline is valid? [True, True] Translation: X:159.08, Y:203.94, Z:-120.64 [[ 3.86541331e-01 1.12368992e-01 9.15401010e-01 1.59081958e+02] [-5.52891135e-03 9.92814338e-01 -1.19537113e-01 2.03941404e+02] [-9.22255513e-01 4.11448638e-02 3.84385054e-01 -1.20640067e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.290714057 meters Centerline goodness : 0.997954 Centerline is valid? [True, True] Translation: X:159.09, Y:203.95, Z:-120.67 [[ 3.85081155e-01 1.14579762e-01 9.15742312e-01 1.59094286e+02] [-9.34685995e-03 9.92696254e-01 -1.20277942e-01 2.03946729e+02] [-9.22835381e-01 3.77574535e-02 3.83339581e-01 -1.20670369e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.3207140569999 meters Centerline goodness : 0.997875 Centerline is valid? [True, True] Translation: X:159.11, Y:203.95, Z:-120.70 [[ 3.84736420e-01 1.15968389e-01 9.15712411e-01 1.59107235e+02] [-1.13839284e-02 9.92596700e-01 -1.20922276e-01 2.03947963e+02] [-9.22956279e-01 3.60987990e-02 3.83208277e-01 -1.20700652e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.3507140569999 meters Centerline goodness : 0.998033 Centerline is valid? [True, True] Translation: X:159.12, Y:203.95, Z:-120.73 [[ 3.84579205e-01 1.17392798e-01 9.15596945e-01 1.59119878e+02] [-1.34707624e-02 9.92488596e-01 -1.21593282e-01 2.03949388e+02] [-9.22993702e-01 3.44284589e-02 3.83271846e-01 -1.20730853e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.380714057 meters Centerline goodness : 0.997748 Centerline is valid? [True, True] Translation: X:159.13, Y:203.95, Z:-120.76 [[ 3.84874910e-01 1.18586142e-01 9.15318868e-01 1.59132795e+02] [-1.50302525e-02 9.92385435e-01 -1.22250723e-01 2.03951117e+02] [-9.22846355e-01 3.32937622e-02 3.83726635e-01 -1.20761279e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.410714057 meters Centerline goodness : 0.997371 Centerline is valid? [True, True] Translation: X:159.15, Y:203.96, Z:-120.79 [[ 3.84660284e-01 1.19821647e-01 9.15248184e-01 1.59145600e+02] [-1.66001348e-02 9.92276588e-01 -1.22929282e-01 2.03955320e+02] [-9.22908935e-01 3.20927695e-02 3.83678450e-01 -1.20792086e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.4407140569999 meters Centerline goodness : 0.997204 Centerline is valid? [True, True] Translation: X:159.16, Y:203.96, Z:-120.82 [[ 3.84591707e-01 1.20785021e-01 9.15150369e-01 1.59158184e+02] [-1.74600254e-02 9.92176800e-01 -1.23613691e-01 2.03956142e+02] [-9.22921647e-01 3.15622517e-02 3.83691879e-01 -1.20822283e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.4707140569999 meters Centerline goodness : 0.996404 Centerline is valid? [True, True] Translation: X:159.17, Y:203.96, Z:-120.85 [[ 3.84705393e-01 1.21809083e-01 9.14966834e-01 1.59170536e+02] [-1.85296933e-02 9.92073740e-01 -1.24283324e-01 2.03958732e+02] [-9.22853407e-01 3.08584103e-02 3.83913203e-01 -1.20852798e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.500714057 meters Centerline goodness : 0.996949 Centerline is valid? [True, True] Translation: X:159.18, Y:203.96, Z:-120.88 [[ 3.84916730e-01 1.22757977e-01 9.14751108e-01 1.59183646e+02] [-1.94263280e-02 9.91973259e-01 -1.24946677e-01 2.03958710e+02] [-9.22746839e-01 3.03238114e-02 3.84211839e-01 -1.20883235e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.530714057 meters Centerline goodness : 0.996883 Centerline is valid? [True, True] Translation: X:159.20, Y:203.96, Z:-120.91 [[ 3.85036066e-01 1.23530466e-01 9.14596879e-01 1.59196042e+02] [-1.98171882e-02 9.91879740e-01 -1.25625876e-01 2.03959075e+02] [-9.22688738e-01 3.02457547e-02 3.84357500e-01 -1.20912660e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.5607140569999 meters Centerline goodness : 0.996045 Centerline is valid? [True, True] Translation: X:159.21, Y:203.96, Z:-120.94 [[ 3.84545306e-01 1.24470791e-01 9.14675861e-01 1.59208706e+02] [-2.11522547e-02 9.91795483e-01 -1.26072605e-01 2.03960602e+02] [-9.22863744e-01 2.91331715e-02 3.84023135e-01 -1.20943702e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.5907140569999 meters Centerline goodness : 0.995478 Centerline is valid? [True, True] Translation: X:159.22, Y:203.96, Z:-120.97 [[ 3.84406636e-01 1.25468787e-01 9.14597792e-01 1.59221633e+02] [-2.20792434e-02 9.91687105e-01 -1.26764324e-01 2.03960613e+02] [-9.22899802e-01 2.85354200e-02 3.83981360e-01 -1.20974173e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.620714057 meters Centerline goodness : 0.995503 Centerline is valid? [True, True] Translation: X:159.23, Y:203.96, Z:-121.00 [[ 3.84085595e-01 1.26501375e-01 9.14590432e-01 1.59234099e+02] [-2.30720215e-02 9.91575284e-01 -1.27460338e-01 2.03960736e+02] [-9.23009175e-01 2.78542296e-02 3.83768425e-01 -1.21004596e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.650714057 meters Centerline goodness : 0.994644 Centerline is valid? [True, True] Translation: X:159.25, Y:203.96, Z:-121.03 [[ 3.83864151e-01 1.28348751e-01 9.14426001e-01 1.59246438e+02] [-2.62506041e-02 9.91409333e-01 -1.28134462e-01 2.03961600e+02] [-9.23016370e-01 2.51819915e-02 3.83935734e-01 -1.21033959e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.6807140569999 meters Centerline goodness : 0.994630 Centerline is valid? [True, True] Translation: X:159.26, Y:203.96, Z:-121.06 [[ 3.83748952e-01 1.29747761e-01 9.14276906e-01 1.59259136e+02] [-2.83796026e-02 9.91269331e-01 -1.28762230e-01 2.03960984e+02] [-9.23001268e-01 2.34655555e-02 3.84080757e-01 -1.21064108e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.7107140569999 meters Centerline goodness : 0.994415 Centerline is valid? [True, True] Translation: X:159.27, Y:203.96, Z:-121.09 [[ 3.83127817e-01 1.31221936e-01 9.14327009e-01 1.59272177e+02] [-3.05276155e-02 9.91115842e-01 -1.29450579e-01 2.03960520e+02] [-9.23190739e-01 2.16838945e-02 3.83729942e-01 -1.21094840e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.740714057 meters Centerline goodness : 0.993806 Centerline is valid? [True, True] Translation: X:159.29, Y:203.96, Z:-121.12 [[ 3.81506366e-01 1.33692352e-01 9.14647062e-01 1.59285097e+02] [-3.51432250e-02 9.90868025e-01 -1.30174925e-01 2.03960988e+02] [-9.23697920e-01 1.75189152e-02 3.82720839e-01 -1.21124366e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.770714057 meters Centerline goodness : 0.994431 Centerline is valid? [True, True] Translation: X:159.30, Y:203.96, Z:-121.16 [[ 3.80623343e-01 1.35413995e-01 9.14761674e-01 1.59298428e+02] [-3.80429057e-02 9.90675645e-01 -1.30822413e-01 2.03960488e+02] [-9.23947297e-01 1.49938719e-02 3.82225818e-01 -1.21155098e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.8007140569999 meters Centerline goodness : 0.994045 Centerline is valid? [True, True] Translation: X:159.31, Y:203.96, Z:-121.18 [[ 3.80056568e-01 1.37103333e-01 9.14745692e-01 1.59311100e+02] [-4.07984784e-02 9.90475867e-01 -1.31503011e-01 2.03960002e+02] [-9.24063033e-01 1.26583508e-02 3.82030466e-01 -1.21184203e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.8307140569999 meters Centerline goodness : 0.993021 Centerline is valid? [True, True] Translation: X:159.32, Y:203.96, Z:-121.21 [[ 3.78859966e-01 1.39692076e-01 9.14850398e-01 1.59323920e+02] [-4.64830051e-02 9.90166870e-01 -1.31942792e-01 2.03959383e+02] [-9.24285917e-01 7.46284607e-03 3.81627894e-01 -1.21214465e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.8607140569999 meters Centerline goodness : 0.993138 Centerline is valid? [True, True] Translation: X:159.34, Y:203.96, Z:-121.24 [[ 3.78519155e-01 1.41446261e-01 9.14721928e-01 1.59335948e+02] [-4.94476148e-02 9.89933478e-01 -1.32614640e-01 2.03957687e+02] [-9.24271704e-01 4.96636398e-03 3.81702963e-01 -1.21244128e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.890714057 meters Centerline goodness : 0.993073 Centerline is valid? [True, True] Translation: X:159.35, Y:203.96, Z:-121.27 [[ 3.78536465e-01 1.43501570e-01 9.14394578e-01 1.59348062e+02] [-5.33939245e-02 9.89648794e-01 -1.33207930e-01 2.03956030e+02] [-9.24045039e-01 1.60094374e-03 3.82280268e-01 -1.21274941e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.9207140569999 meters Centerline goodness : 0.993135 Centerline is valid? [True, True] Translation: X:159.36, Y:203.95, Z:-121.31 [[ 3.78843604e-01 1.44512218e-01 9.14108168e-01 1.59360900e+02] [-5.44982790e-02 9.89502617e-01 -1.33845094e-01 2.03953790e+02] [-9.23854675e-01 8.89035884e-04 3.82742405e-01 -1.21305645e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.9507140569999 meters Centerline goodness : 0.993617 Centerline is valid? [True, True] Translation: X:159.37, Y:203.95, Z:-121.34 [[ 3.78793755e-01 1.45347987e-01 9.13996310e-01 1.59373226e+02] [-5.50884350e-02 9.89380414e-01 -1.34505244e-01 2.03951290e+02] [-9.23840114e-01 5.99120203e-04 3.82778115e-01 -1.21335873e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.9807140569999 meters Centerline goodness : 0.993210 Centerline is valid? [True, True] Translation: X:159.39, Y:203.95, Z:-121.37 [[ 3.78650706e-01 1.45988992e-01 9.13953422e-01 1.59385798e+02] [-5.51386736e-02 9.89285898e-01 -1.35178173e-01 2.03948619e+02] [-9.23895757e-01 7.91131183e-04 3.82643443e-01 -1.21366652e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.010714057 meters Centerline goodness : 0.994144 Centerline is valid? [True, True] Translation: X:159.40, Y:203.94, Z:-121.40 [[ 3.79123516e-01 1.46356633e-01 9.13698580e-01 1.59397949e+02] [-5.45663469e-02 9.89230544e-01 -1.35814008e-01 2.03944700e+02] [-9.23735825e-01 1.63309039e-03 3.83026709e-01 -1.21396280e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.040714057 meters Centerline goodness : 0.994533 Centerline is valid? [True, True] Translation: X:159.41, Y:203.94, Z:-121.43 [[ 3.79985737e-01 1.46812906e-01 9.13267108e-01 1.59410390e+02] [-5.44060421e-02 9.89161977e-01 -1.36376557e-01 2.03941434e+02] [-9.23390937e-01 2.13389795e-03 3.83854952e-01 -1.21426288e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.0707140569999 meters Centerline goodness : 0.994906 Centerline is valid? [True, True] Translation: X:159.42, Y:203.94, Z:-121.46 [[ 3.80770554e-01 1.47337256e-01 9.12855694e-01 1.59422590e+02] [-5.43000957e-02 9.89082911e-01 -1.36990858e-01 2.03938106e+02] [-9.23073824e-01 2.59393334e-03 3.84614075e-01 -1.21456169e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.1007140569999 meters Centerline goodness : 0.994639 Centerline is valid? [True, True] Translation: X:159.43, Y:203.93, Z:-121.49 [[ 3.81043713e-01 1.47689386e-01 9.12684795e-01 1.59434901e+02] [-5.42700851e-02 9.89029778e-01 -1.37385795e-01 2.03932887e+02] [-9.22962863e-01 2.81851191e-03 3.84878694e-01 -1.21487049e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.130714057 meters Centerline goodness : 0.995495 Centerline is valid? [True, True] Translation: X:159.45, Y:203.93, Z:-121.52 [[ 3.80959563e-01 1.48546290e-01 9.12580852e-01 1.59447888e+02] [-5.48939833e-02 9.88902301e-01 -1.38053937e-01 2.03929397e+02] [-9.22960705e-01 2.49776952e-03 3.84886086e-01 -1.21517744e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.160714057 meters Centerline goodness : 0.996032 Centerline is valid? [True, True] Translation: X:159.46, Y:203.92, Z:-121.55 [[ 3.80306399e-01 1.49778894e-01 9.12651810e-01 1.59460731e+02] [-5.64252937e-02 9.88718700e-01 -1.38749840e-01 2.03923502e+02] [-9.23137709e-01 1.27080572e-03 3.84467367e-01 -1.21547285e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.1907140569999 meters Centerline goodness : 0.996329 Centerline is valid? [True, True] Translation: X:159.47, Y:203.92, Z:-121.58 [[ 3.79915368e-01 1.50737868e-01 9.12656786e-01 1.59473568e+02] [-5.73789356e-02 9.88573592e-01 -1.39391213e-01 2.03918920e+02] [-9.23239932e-01 5.89589047e-04 3.84223478e-01 -1.21577630e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.2207140569999 meters Centerline goodness : 0.996121 Centerline is valid? [True, True] Translation: X:159.49, Y:203.91, Z:-121.61 [[ 3.79153983e-01 1.51650507e-01 9.12822207e-01 1.59485814e+02] [-5.80203805e-02 9.88434165e-01 -1.40112590e-01 2.03914283e+02] [-9.23512801e-01 1.61954983e-04 3.83567570e-01 -1.21606735e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.250714057 meters Centerline goodness : 0.996077 Centerline is valid? [True, True] Translation: X:159.50, Y:203.91, Z:-121.63 [[ 3.81541510e-01 1.62442259e-01 9.09966257e-01 1.59499785e+02] [-5.79963345e-02 9.86704599e-01 -1.51823779e-01 2.03914828e+02] [-9.22530488e-01 5.15236632e-03 3.85889818e-01 -1.21633001e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.280714057 meters Centerline goodness : 0.996741 Centerline is valid? [True, True] Translation: X:159.51, Y:203.90, Z:-121.66 [[ 3.77191292e-01 1.48972227e-01 9.14075492e-01 1.59507682e+02] [-5.70939132e-02 9.88841339e-01 -1.37597574e-01 2.03902713e+02] [-9.24373850e-01 -2.87540182e-04 3.81487750e-01 -1.21658588e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.3107140569999 meters Centerline goodness : 0.996956 Centerline is valid? [True, True] Translation: X:159.52, Y:203.90, Z:-121.69 [[ 3.76928845e-01 1.50651040e-01 9.13908589e-01 1.59520289e+02] [-5.67725784e-02 9.88586746e-01 -1.39546122e-01 2.03899322e+02] [-9.24500687e-01 7.14011545e-04 3.81179709e-01 -1.21688793e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.3407140569999 meters Centerline goodness : 0.997643 Centerline is valid? [True, True] Translation: X:159.53, Y:203.89, Z:-121.72 [[ 3.76705979e-01 1.51074019e-01 9.13930657e-01 1.59532308e+02] [-5.62216388e-02 9.88521400e-01 -1.40230412e-01 2.03892576e+02] [-9.24625185e-01 1.44295551e-03 3.80875551e-01 -1.21719713e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.370714057 meters Centerline goodness : 0.997984 Centerline is valid? [True, True] Translation: X:159.54, Y:203.89, Z:-121.75 [[ 3.76977495e-01 1.51748822e-01 9.13706880e-01 1.59543962e+02] [-5.64097750e-02 9.88417845e-01 -1.40883286e-01 2.03888514e+02] [-9.24503059e-01 1.56782866e-03 3.81171401e-01 -1.21748862e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.400714057 meters Centerline goodness : 0.998044 Centerline is valid? [True, True] Translation: X:159.56, Y:203.88, Z:-121.78 [[ 3.77575870e-01 1.52403332e-01 9.13350802e-01 1.59556518e+02] [-5.67178345e-02 9.88317070e-01 -1.41465392e-01 2.03884090e+02] [-9.24239985e-01 1.61063876e-03 3.81808665e-01 -1.21779290e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.4307140569999 meters Centerline goodness : 0.998505 Centerline is valid? [True, True] Translation: X:159.57, Y:203.88, Z:-121.81 [[ 3.78193393e-01 1.53079191e-01 9.12982211e-01 1.59567824e+02] [-5.70336891e-02 9.88212534e-01 -1.42067402e-01 2.03877931e+02] [-9.23968027e-01 1.65820941e-03 3.82466122e-01 -1.21809941e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.4607140569999 meters Centerline goodness : 0.998272 Centerline is valid? [True, True] Translation: X:159.58, Y:203.87, Z:-121.84 [[ 3.78797153e-01 1.53683546e-01 9.12630311e-01 1.59580272e+02] [-5.71052581e-02 9.88118222e-01 -1.42693270e-01 2.03874261e+02] [-9.23716248e-01 1.93581491e-03 3.83072508e-01 -1.21840762e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.490714057 meters Centerline goodness : 0.998737 Centerline is valid? [True, True] Translation: X:159.59, Y:203.87, Z:-121.87 [[ 3.79377352e-01 1.54141808e-01 9.12311968e-01 1.59592562e+02] [-5.67367430e-02 9.88045262e-01 -1.43344001e-01 2.03869103e+02] [-9.23500821e-01 2.61985769e-03 3.83587500e-01 -1.21870252e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.520714057 meters Centerline goodness : 0.998380 Centerline is valid? [True, True] Translation: X:159.60, Y:203.87, Z:-121.90 [[ 3.79472872e-01 1.54555025e-01 9.12202326e-01 1.59604558e+02] [-5.68074962e-02 9.87980399e-01 -1.43762440e-01 2.03865014e+02] [-9.23457226e-01 2.73401575e-03 3.83691644e-01 -1.21900438e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.5507140569999 meters Centerline goodness : 0.998549 Centerline is valid? [True, True] Translation: X:159.62, Y:203.86, Z:-121.93 [[ 3.79379778e-01 1.55112290e-01 9.12146458e-01 1.59617041e+02] [-5.66447151e-02 9.87891897e-01 -1.44433291e-01 2.03860861e+02] [-9.23505474e-01 3.12679357e-03 3.83572500e-01 -1.21931036e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.5807140569999 meters Centerline goodness : 0.998781 Centerline is valid? [True, True] Translation: X:159.63, Y:203.86, Z:-121.96 [[ 3.79117481e-01 1.55675474e-01 9.12159571e-01 1.59629185e+02] [-5.64092948e-02 9.87801800e-01 -1.45139916e-01 2.03856580e+02] [-9.23627591e-01 3.57080121e-03 3.83274473e-01 -1.21960055e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.6107140569999 meters Centerline goodness : 0.998842 Centerline is valid? [True, True] Translation: X:159.64, Y:203.85, Z:-121.99 [[ 3.78473124e-01 1.55929233e-01 9.12383784e-01 1.59641551e+02] [-5.53976898e-02 9.87757288e-01 -1.45830846e-01 2.03850228e+02] [-9.23953024e-01 4.64910209e-03 3.82477706e-01 -1.21988994e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.640714057 meters Centerline goodness : 0.998822 Centerline is valid? [True, True] Translation: X:159.65, Y:203.85, Z:-122.02 [[ 3.78505150e-01 1.56323283e-01 9.12303065e-01 1.59653887e+02] [-5.48949504e-02 9.87691415e-01 -1.46465739e-01 2.03846090e+02] [-9.23969911e-01 5.35720526e-03 3.82427647e-01 -1.22018954e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.6707140569999 meters Centerline goodness : 0.998866 Centerline is valid? [True, True] Translation: X:159.67, Y:203.84, Z:-122.05 [[ 3.78692504e-01 1.56629430e-01 9.12172796e-01 1.59665880e+02] [-5.40468093e-02 9.87636547e-01 -1.47149563e-01 2.03839106e+02] [-9.23943142e-01 6.42440718e-03 3.82475878e-01 -1.22048508e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.7007140569999 meters Centerline goodness : 0.998804 Centerline is valid? [True, True] Translation: X:159.68, Y:203.84, Z:-122.08 [[ 3.78984815e-01 1.57094001e-01 9.11971482e-01 1.59678419e+02] [-5.37601297e-02 9.87559014e-01 -1.47773617e-01 2.03835280e+02] [-9.23840007e-01 6.97625169e-03 3.82715264e-01 -1.22078766e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.7307140569999 meters Centerline goodness : 0.999138 Centerline is valid? [True, True] Translation: X:159.69, Y:203.83, Z:-122.11 [[ 3.79044436e-01 1.57610864e-01 9.11857517e-01 1.59691198e+02] [-5.34877499e-02 9.87472858e-01 -1.48446675e-01 2.03831443e+02] [-9.23831357e-01 7.49467936e-03 3.82726343e-01 -1.22108367e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.760714057 meters Centerline goodness : 0.999097 Centerline is valid? [True, True] Translation: X:159.70, Y:203.83, Z:-122.14 [[ 3.78168224e-01 1.57784105e-01 9.12191301e-01 1.59703753e+02] [-5.22359707e-02 9.87434846e-01 -1.49143649e-01 2.03825544e+02] [-9.24261975e-01 8.75219072e-03 3.81658488e-01 -1.22138619e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.790714057 meters Centerline goodness : 0.998971 Centerline is valid? [True, True] Translation: X:159.72, Y:203.82, Z:-122.17 [[ 3.77766372e-01 1.58148540e-01 9.12294693e-01 1.59716238e+02] [-5.14581158e-02 9.87368029e-01 -1.49854721e-01 2.03821548e+02] [-9.24469919e-01 9.66510834e-03 3.81132464e-01 -1.22169213e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.8207140569999 meters Centerline goodness : 0.999455 Centerline is valid? [True, True] Translation: X:159.73, Y:203.82, Z:-122.20 [[ 3.77931058e-01 1.58362477e-01 9.12189367e-01 1.59728947e+02] [-5.03885352e-02 9.87320593e-01 -1.50529207e-01 2.03817649e+02] [-9.24461525e-01 1.09257765e-02 3.81118770e-01 -1.22199283e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.8507140569999 meters Centerline goodness : 0.999455 Centerline is valid? [True, True] Translation: X:159.74, Y:203.82, Z:-122.23 [[ 3.77919327e-01 1.59032486e-01 9.12077656e-01 1.59741787e+02] [-5.05095205e-02 9.87211236e-01 -1.51204376e-01 2.03815711e+02] [-9.24459718e-01 1.10744509e-02 3.81118860e-01 -1.22230173e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.880714057 meters Centerline goodness : 0.999265 Centerline is valid? [True, True] Translation: X:159.75, Y:203.81, Z:-122.26 [[ 3.77843130e-01 1.58108196e-01 9.12269899e-01 1.59753619e+02] [-4.72578972e-02 9.87320442e-01 -1.51542194e-01 2.03809466e+02] [-9.24662782e-01 1.41472196e-02 3.80524107e-01 -1.22260585e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.910714057 meters Centerline goodness : 0.999225 Centerline is valid? [True, True] Translation: X:159.77, Y:203.81, Z:-122.29 [[ 3.77943688e-01 1.58184620e-01 9.12214994e-01 1.59766162e+02] [-4.58110211e-02 9.87284063e-01 -1.52221975e-01 2.03805447e+02] [-9.24694501e-01 1.57418344e-02 3.80384379e-01 -1.22290825e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.9407140569999 meters Centerline goodness : 0.999474 Centerline is valid? [True, True] Translation: X:159.78, Y:203.80, Z:-122.32 [[ 3.78258659e-01 1.57631421e-01 9.12180203e-01 1.59777945e+02] [-4.27163607e-02 9.87317678e-01 -1.52902305e-01 2.03800048e+02] [-9.24713847e-01 1.88716022e-02 3.80194901e-01 -1.22321722e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.9707140569999 meters Centerline goodness : 0.999390 Centerline is valid? [True, True] Translation: X:159.79, Y:203.80, Z:-122.35 [[ 3.79808350e-01 1.57692152e-01 9.11525536e-01 1.59790240e+02] [-4.15399109e-02 9.87276931e-01 -1.53488425e-01 2.03797166e+02] [-9.24132054e-01 2.04314959e-02 3.81526541e-01 -1.22352534e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.000714057 meters Centerline goodness : 0.999497 Centerline is valid? [True, True] Translation: X:159.80, Y:203.79, Z:-122.38 [[ 3.81434780e-01 1.57842066e-01 9.10820175e-01 1.59801826e+02] [-4.06186769e-02 9.87224317e-01 -1.54072289e-01 2.03794503e+02] [-9.23502914e-01 2.17722193e-02 3.82973026e-01 -1.22382678e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.030714057 meters Centerline goodness : 0.999222 Centerline is valid? [True, True] Translation: X:159.81, Y:203.79, Z:-122.41 [[ 3.82655509e-01 1.57818667e-01 9.10312051e-01 1.59813405e+02] [-3.97870607e-02 9.87203175e-01 -1.54424355e-01 2.03791996e+02] [-9.23033992e-01 2.28726893e-02 3.84037874e-01 -1.22413297e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.0607140569999 meters Centerline goodness : 0.999537 Centerline is valid? [True, True] Translation: X:159.83, Y:203.79, Z:-122.44 [[ 3.83775066e-01 1.57334042e-01 9.09924556e-01 1.59825918e+02] [-3.71109619e-02 9.87210081e-01 -1.55045261e-01 2.03788321e+02] [-9.22680593e-01 2.57343297e-02 3.84705431e-01 -1.22443197e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.0907140569999 meters Centerline goodness : 0.999263 Centerline is valid? [True, True] Translation: X:159.84, Y:203.79, Z:-122.47 [[ 3.83080434e-01 1.57195367e-01 9.10241176e-01 1.59838040e+02] [-3.48713251e-02 9.87172079e-01 -1.55805251e-01 2.03785604e+02] [-9.23056538e-01 2.79446274e-02 3.83647919e-01 -1.22472754e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.120714057 meters Centerline goodness : 0.999306 Centerline is valid? [True, True] Translation: X:159.85, Y:203.78, Z:-122.50 [[ 3.82723913e-01 1.56031433e-01 9.10591346e-01 1.59851582e+02] [-3.05887747e-02 9.87234614e-01 -1.56307851e-01 2.03781876e+02] [-9.23356233e-01 3.19688788e-02 3.82611104e-01 -1.22502967e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.150714057 meters Centerline goodness : 0.999013 Centerline is valid? [True, True] Translation: X:159.86, Y:203.78, Z:-122.53 [[ 3.83295438e-01 1.55665394e-01 9.10413583e-01 1.59864229e+02] [-2.81300766e-02 9.87205471e-01 -1.56952402e-01 2.03779681e+02] [-9.23197328e-01 3.45491358e-02 3.82770233e-01 -1.22533280e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.1807140569999 meters Centerline goodness : 0.999263 Centerline is valid? [True, True] Translation: X:159.88, Y:203.78, Z:-122.56 [[ 3.84232793e-01 1.55089766e-01 9.10116655e-01 1.59877190e+02] [-2.61256972e-02 9.87221289e-01 -1.57199156e-01 2.03777225e+02] [-9.22866517e-01 3.66236385e-02 3.83374622e-01 -1.22563798e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.2107140569999 meters Centerline goodness : 0.998559 Centerline is valid? [True, True] Translation: X:159.89, Y:203.78, Z:-122.59 [[ 3.86227947e-01 1.55692527e-01 9.09168747e-01 1.59887351e+02] [-2.11418893e-02 9.86887302e-01 -1.60020227e-01 2.03777829e+02] [-9.22161045e-01 4.25827389e-02 3.84455091e-01 -1.22588220e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.240714057 meters Centerline goodness : 0.999687 Centerline is valid? [True, True] Translation: X:159.90, Y:203.77, Z:-122.62 [[ 3.85941197e-01 1.42076977e-01 9.11517156e-01 1.59898055e+02] [-1.70083643e-02 9.88997342e-01 -1.46952280e-01 2.03772212e+02] [-9.22366580e-01 4.12115228e-02 3.84111315e-01 -1.22615283e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.270714057 meters Centerline goodness : 0.999374 Centerline is valid? [True, True] Translation: X:159.91, Y:203.78, Z:-122.65 [[ 3.86853689e-01 1.49933429e-01 9.09870425e-01 1.59910615e+02] [-1.42816077e-02 9.87549082e-01 -1.56661568e-01 2.03775472e+02] [-9.22030509e-01 4.76106930e-02 3.84178296e-01 -1.22645454e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.3007140569999 meters Centerline goodness : 0.999561 Centerline is valid? [True, True] Translation: X:159.92, Y:203.78, Z:-122.67 [[ 3.87903115e-01 1.48276399e-01 9.09695159e-01 1.59923226e+02] [-8.65223358e-03 9.87517469e-01 -1.57271702e-01 2.03776585e+02] [-9.21659543e-01 5.31352880e-02 3.84344024e-01 -1.22673577e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.3307140569999 meters Centerline goodness : 0.999395 Centerline is valid? [True, True] Translation: X:159.94, Y:203.78, Z:-122.70 [[ 3.87749481e-01 1.47493582e-01 9.09887896e-01 1.59936155e+02] [-6.50722815e-03 9.87528451e-01 -1.57306120e-01 2.03775969e+02] [-9.21741827e-01 5.50745182e-02 3.83873419e-01 -1.22704036e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.3607140569999 meters Centerline goodness : 0.999413 Centerline is valid? [True, True] Translation: X:159.95, Y:203.78, Z:-122.73 [[ 3.87622073e-01 1.47471346e-01 9.09945785e-01 1.59948834e+02] [-4.73182602e-03 9.87425768e-01 -1.58012542e-01 2.03775716e+02] [-9.21806237e-01 5.69434439e-02 3.83445832e-01 -1.22734568e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.390714057 meters Centerline goodness : 0.999580 Centerline is valid? [True, True] Translation: X:159.96, Y:203.78, Z:-122.76 [[ 3.87861716e-01 1.47166314e-01 9.09893051e-01 1.59963327e+02] [-2.30857222e-03 9.87323218e-01 -1.58705808e-01 2.03778854e+02] [-9.21714684e-01 5.94553534e-02 3.83284622e-01 -1.22764873e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.4207140569999 meters Centerline goodness : 0.999352 Centerline is valid? [True, True] Translation: X:159.98, Y:203.78, Z:-122.79 [[ 3.87483807e-01 1.47644785e-01 9.09976547e-01 1.59975996e+02] [-1.77311546e-03 9.87209123e-01 -1.59420839e-01 2.03780352e+02] [-9.21874805e-01 6.01595003e-02 3.82789341e-01 -1.22794898e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.4507140569999 meters Centerline goodness : 0.999013 Centerline is valid? [True, True] Translation: X:159.99, Y:203.79, Z:-122.82 [[ 3.86945228e-01 1.48113633e-01 9.10129519e-01 1.59990065e+02] [-1.79064971e-03 9.87134186e-01 -1.59883999e-01 2.03785855e+02] [-9.22100962e-01 6.02366274e-02 3.82232082e-01 -1.22824964e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.4807140569999 meters Centerline goodness : 0.999305 Centerline is valid? [True, True] Translation: X:160.00, Y:203.79, Z:-122.86 [[ 3.86633963e-01 1.49274266e-01 9.10072180e-01 1.60003229e+02] [-3.11571652e-03 9.87019244e-01 -1.60571804e-01 2.03787625e+02] [-9.22227993e-01 5.92469860e-02 3.82080258e-01 -1.22855378e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.510714057 meters Centerline goodness : 0.999073 Centerline is valid? [True, True] Translation: X:160.02, Y:203.79, Z:-122.89 [[ 3.86268902e-01 1.50610039e-01 9.10007116e-01 1.60016255e+02] [-4.87121440e-03 9.86898591e-01 -1.61268230e-01 2.03789456e+02] [-9.22373355e-01 5.78600623e-02 3.81941889e-01 -1.22885837e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.540714057 meters Centerline goodness : 0.998978 Centerline is valid? [True, True] Translation: X:160.03, Y:203.79, Z:-122.92 [[ 3.86131382e-01 1.52876093e-01 9.09687560e-01 1.60029059e+02] [-9.20575526e-03 9.86760786e-01 -1.61920982e-01 2.03794793e+02] [-9.22397859e-01 5.41484116e-02 3.82426646e-01 -1.22915505e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.5707140569999 meters Centerline goodness : 0.998852 Centerline is valid? [True, True] Translation: X:160.04, Y:203.80, Z:-122.95 [[ 3.85930093e-01 1.54200612e-01 9.09549413e-01 1.60041612e+02] [-1.16358164e-02 9.86666680e-01 -1.62337519e-01 2.03796535e+02] [-9.22454644e-01 5.20675837e-02 3.82578614e-01 -1.22946373e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.6007140569999 meters Centerline goodness : 0.998379 Centerline is valid? [True, True] Translation: X:160.05, Y:203.80, Z:-122.98 [[ 3.85657894e-01 1.55687699e-01 9.09411529e-01 1.60054018e+02] [-1.38937301e-02 9.86528590e-01 -1.62997868e-01 2.03798559e+02] [-9.22537237e-01 5.02262960e-02 3.82625622e-01 -1.22976862e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.630714057 meters Centerline goodness : 0.997916 Centerline is valid? [True, True] Translation: X:160.07, Y:203.80, Z:-123.01 [[ 3.85857570e-01 1.58136820e-01 9.08904110e-01 1.60065994e+02] [-1.88689668e-02 9.86346250e-01 -1.63600234e-01 2.03803911e+02] [-9.22365382e-01 4.59763074e-02 3.83573046e-01 -1.23006777e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.660714057 meters Centerline goodness : 0.997836 Centerline is valid? [True, True] Translation: X:160.08, Y:203.80, Z:-123.04 [[ 3.85864730e-01 1.59726114e-01 9.08623122e-01 1.60078719e+02] [-2.15861497e-02 9.86191711e-01 -1.64194848e-01 2.03804963e+02] [-9.22302796e-01 4.37433262e-02 3.83984470e-01 -1.23037558e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.6907140569999 meters Centerline goodness : 0.997872 Centerline is valid? [True, True] Translation: X:160.09, Y:203.81, Z:-123.07 [[ 3.85781182e-01 1.61094330e-01 9.08417028e-01 1.60091785e+02] [-2.36058731e-02 9.86038703e-01 -1.64834583e-01 2.03805828e+02] [-9.22288265e-01 4.21461033e-02 3.84197948e-01 -1.23068129e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.7207140569999 meters Centerline goodness : 0.997558 Centerline is valid? [True, True] Translation: X:160.10, Y:203.81, Z:-123.10 [[ 3.85693189e-01 1.63031070e-01 9.08108823e-01 1.60104236e+02] [-2.70980461e-02 9.85841276e-01 -1.65477113e-01 2.03809061e+02] [-9.22229071e-01 3.92154208e-02 3.84650089e-01 -1.23098170e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.750714057 meters Centerline goodness : 0.997274 Centerline is valid? [True, True] Translation: X:160.12, Y:203.81, Z:-123.13 [[ 3.85231893e-01 1.64056348e-01 9.08119983e-01 1.60115921e+02] [-2.81562057e-02 9.85702167e-01 -1.66127860e-01 2.03809883e+02] [-9.22390165e-01 3.84285372e-02 3.84343116e-01 -1.23126198e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.780714057 meters Centerline goodness : 0.996920 Centerline is valid? [True, True] Translation: X:160.13, Y:203.81, Z:-123.16 [[ 3.84565561e-01 1.65461635e-01 9.08147442e-01 1.60129487e+02] [-3.17337555e-02 9.85592468e-01 -1.66133850e-01 2.03812432e+02] [-9.22552057e-01 3.50704284e-02 3.84275639e-01 -1.23156719e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.8107140569999 meters Centerline goodness : 0.996569 Centerline is valid? [True, True] Translation: X:160.14, Y:203.81, Z:-123.19 [[ 3.83996245e-01 1.66978901e-01 9.08110638e-01 1.60142177e+02] [-3.39837103e-02 9.85401426e-01 -1.66820676e-01 2.03812783e+02] [-9.22709050e-01 3.31975443e-02 3.84065010e-01 -1.23187865e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.8407140569999 meters Centerline goodness : 0.997010 Centerline is valid? [True, True] Translation: X:160.15, Y:203.81, Z:-123.22 [[ 3.84095215e-01 1.68579245e-01 9.07773047e-01 1.60154567e+02] [-3.66091013e-02 9.85197648e-01 -1.67467513e-01 2.03812911e+02] [-9.22567418e-01 3.10907151e-02 3.84581237e-01 -1.23217274e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.870714057 meters Centerline goodness : 0.996459 Centerline is valid? [True, True] Translation: X:160.17, Y:203.81, Z:-123.25 [[ 3.83767523e-01 1.70261759e-01 9.07597610e-01 1.60166921e+02] [-3.94568634e-02 9.84980883e-01 -1.68094664e-01 2.03812852e+02] [-9.22586388e-01 2.86983180e-02 3.84721669e-01 -1.23247237e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.900714057 meters Centerline goodness : 0.996313 Centerline is valid? [True, True] Translation: X:160.18, Y:203.81, Z:-123.28 [[ 3.82717149e-01 1.71848519e-01 9.07742073e-01 1.60179988e+02] [-4.18735238e-02 9.84764660e-01 -1.68775512e-01 2.03812486e+02] [-9.22916135e-01 2.65829233e-02 3.84082226e-01 -1.23278058e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.9307140569999 meters Centerline goodness : 0.995808 Centerline is valid? [True, True] Translation: X:160.19, Y:203.81, Z:-123.31 [[ 3.81269380e-01 1.74308583e-01 9.07882249e-01 1.60193010e+02] [-4.64090509e-02 9.84434041e-01 -1.69516424e-01 2.03813739e+02] [-9.23298359e-01 2.24974686e-02 3.83424053e-01 -1.23307450e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.9607140569999 meters Centerline goodness : 0.995353 Centerline is valid? [True, True] Translation: X:160.21, Y:203.81, Z:-123.34 [[ 3.80180917e-01 1.75846144e-01 9.08042182e-01 1.60205891e+02] [-4.86871266e-02 9.84204169e-01 -1.70210805e-01 2.03812811e+02] [-9.23629814e-01 2.05009355e-02 3.82737087e-01 -1.23338311e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.990714057 meters Centerline goodness : 0.996050 Centerline is valid? [True, True] Translation: X:160.22, Y:203.81, Z:-123.37 [[ 3.79177898e-01 1.77978795e-01 9.08046073e-01 1.60218683e+02] [-5.25504314e-02 9.83886026e-01 -1.70899794e-01 2.03812833e+02] [-9.23830382e-01 1.70832117e-02 3.82420697e-01 -1.23368503e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.020714057 meters Centerline goodness : 0.995576 Centerline is valid? [True, True] Translation: X:160.23, Y:203.81, Z:-123.40 [[ 3.78873537e-01 1.79286763e-01 9.07915800e-01 1.60231038e+02] [-5.43247797e-02 9.83671838e-01 -1.71576614e-01 2.03811325e+02] [-9.23852619e-01 1.56835126e-02 3.82426942e-01 -1.23399087e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.0507140569999 meters Centerline goodness : 0.995157 Centerline is valid? [True, True] Translation: X:160.24, Y:203.81, Z:-123.43 [[ 3.78141414e-01 1.80501020e-01 9.07980425e-01 1.60243716e+02] [-5.57512192e-02 9.83467489e-01 -1.72289000e-01 2.03809244e+02] [-9.24067569e-01 1.45285905e-02 3.81952939e-01 -1.23430066e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.0807140569999 meters Centerline goodness : 0.995190 Centerline is valid? [True, True] Translation: X:160.26, Y:203.81, Z:-123.46 [[ 3.77478463e-01 1.81768091e-01 9.08003509e-01 1.60255956e+02] [-5.73304102e-02 9.83252197e-01 -1.72998097e-01 2.03807024e+02] [-9.24241978e-01 1.32468423e-02 3.81577367e-01 -1.23459222e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.1107140569999 meters Centerline goodness : 0.995136 Centerline is valid? [True, True] Translation: X:160.27, Y:203.80, Z:-123.49 [[ 3.76365492e-01 1.83067390e-01 9.08204463e-01 1.60268863e+02] [-5.90158563e-02 9.83029862e-01 -1.73693464e-01 2.03804028e+02] [-9.24589717e-01 1.17737620e-02 3.80782397e-01 -1.23489211e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.140714057 meters Centerline goodness : 0.995267 Centerline is valid? [True, True] Translation: X:160.28, Y:203.80, Z:-123.52 [[ 3.76111675e-01 1.83947617e-01 9.08131754e-01 1.60281508e+02] [-5.96766886e-02 9.82870071e-01 -1.74370632e-01 2.03801140e+02] [-9.24650583e-01 1.13885346e-02 3.80646293e-01 -1.23519624e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.1707140569999 meters Centerline goodness : 0.995933 Centerline is valid? [True, True] Translation: X:160.29, Y:203.80, Z:-123.55 [[ 3.76908941e-01 1.84791002e-01 9.07629845e-01 1.60294261e+02] [-6.04708931e-02 9.82715591e-01 -1.74966677e-01 2.03798056e+02] [-9.24274267e-01 1.10613176e-02 3.81568770e-01 -1.23550283e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.2007140569999 meters Centerline goodness : 0.996497 Centerline is valid? [True, True] Translation: X:160.31, Y:203.79, Z:-123.58 [[ 3.77322931e-01 1.85524128e-01 9.07308219e-01 1.60306595e+02] [-6.08923949e-02 9.82578064e-01 -1.75591754e-01 2.03794741e+02] [-9.24077660e-01 1.10066251e-02 3.82046244e-01 -1.23581119e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.2307140569999 meters Centerline goodness : 0.996079 Centerline is valid? [True, True] Translation: X:160.32, Y:203.79, Z:-123.61 [[ 3.78293161e-01 1.86227841e-01 9.06759878e-01 1.60317590e+02] [-6.13638799e-02 9.82444983e-01 -1.76171306e-01 2.03789500e+02] [-9.23649695e-01 1.10020959e-02 3.83079881e-01 -1.23611369e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.260714057 meters Centerline goodness : 0.996196 Centerline is valid? [True, True] Translation: X:160.33, Y:203.79, Z:-123.64 [[ 3.78502021e-01 1.86919432e-01 9.06530389e-01 1.60330178e+02] [-6.22551643e-02 9.82320305e-01 -1.76553428e-01 2.03785024e+02] [-9.23504475e-01 1.03896309e-02 3.83446920e-01 -1.23641857e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.290714057 meters Centerline goodness : 0.996662 Centerline is valid? [True, True] Translation: X:160.34, Y:203.78, Z:-123.67 [[ 3.78336059e-01 1.87816482e-01 9.06414252e-01 1.60342358e+02] [-6.30275943e-02 9.82154112e-01 -1.77202772e-01 2.03781102e+02] [-9.23520086e-01 9.91308877e-03 3.83421937e-01 -1.23671396e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.3207140569999 meters Centerline goodness : 0.997430 Centerline is valid? [True, True] Translation: X:160.36, Y:203.77, Z:-123.70 [[ 3.77499779e-01 1.89154500e-01 9.06484689e-01 1.60355087e+02] [-6.49597095e-02 9.81912678e-01 -1.77841863e-01 2.03774947e+02] [-9.23728398e-01 8.25028204e-03 3.82959241e-01 -1.23701464e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.3507140569999 meters Centerline goodness : 0.997937 Centerline is valid? [True, True] Translation: X:160.37, Y:203.77, Z:-123.73 [[ 3.76744127e-01 1.90008703e-01 9.06620404e-01 1.60367694e+02] [-6.63976748e-02 9.81757983e-01 -1.78164562e-01 2.03770711e+02] [-9.23934636e-01 6.92496541e-03 3.82487690e-01 -1.23731880e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.380714057 meters Centerline goodness : 0.997014 Centerline is valid? [True, True] Translation: X:160.38, Y:203.77, Z:-123.76 [[ 3.76285966e-01 1.91352846e-01 9.06527970e-01 1.60380167e+02] [-6.82638297e-02 9.81506384e-01 -1.78844254e-01 2.03766667e+02] [-9.23985347e-01 5.41351179e-03 3.82389556e-01 -1.23762755e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.410714057 meters Centerline goodness : 0.997977 Centerline is valid? [True, True] Translation: X:160.39, Y:203.76, Z:-123.79 [[ 3.74878266e-01 1.93529233e-01 9.06649172e-01 1.60392572e+02] [-7.21718056e-02 9.81092697e-01 -1.79578255e-01 2.03760606e+02] [-9.24260524e-01 1.88547705e-03 3.81757684e-01 -1.23792013e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.4407140569999 meters Centerline goodness : 0.997184 Centerline is valid? [True, True] Translation: X:160.40, Y:203.76, Z:-123.82 [[ 3.74363841e-01 1.94932496e-01 9.06561105e-01 1.60404695e+02] [-7.48284248e-02 9.80816557e-01 -1.79998857e-01 2.03755899e+02] [-9.24257768e-01 -4.51476069e-04 3.81768745e-01 -1.23821053e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.4707140569999 meters Centerline goodness : 0.997178 Centerline is valid? [True, True] Translation: X:160.42, Y:203.75, Z:-123.85 [[ 3.73758996e-01 1.96243949e-01 9.06527730e-01 1.60416858e+02] [-7.67277072e-02 9.80552978e-01 -1.80634207e-01 2.03751344e+02] [-9.24346835e-01 -2.04213433e-03 3.81547845e-01 -1.23851006e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.500714057 meters Centerline goodness : 0.997872 Centerline is valid? [True, True] Translation: X:160.43, Y:203.75, Z:-123.88 [[ 3.73574907e-01 1.97727562e-01 9.06281193e-01 1.60428630e+02] [-7.90390156e-02 9.80249223e-01 -1.81285121e-01 2.03746328e+02] [-9.24226500e-01 -3.90800098e-03 3.81824704e-01 -1.23880292e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.530714057 meters Centerline goodness : 0.998488 Centerline is valid? [True, True] Translation: X:160.44, Y:203.74, Z:-123.91 [[ 3.74286887e-01 1.99974200e-01 9.05494145e-01 1.60440337e+02] [-8.37144767e-02 9.79770376e-01 -1.81774302e-01 2.03737760e+02] [-9.23526509e-01 -7.76723090e-03 3.83455939e-01 -1.23909111e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.5607140569999 meters Centerline goodness : 0.998229 Centerline is valid? [True, True] Translation: X:160.45, Y:203.73, Z:-123.94 [[ 3.74090138e-01 2.01114915e-01 9.05322793e-01 1.60452179e+02] [-8.57423256e-02 9.79521809e-01 -1.82168270e-01 2.03732346e+02] [-9.23420176e-01 -9.47712826e-03 3.83673510e-01 -1.23940068e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.5907140569999 meters Centerline goodness : 0.998167 Centerline is valid? [True, True] Translation: X:160.46, Y:203.73, Z:-123.97 [[ 3.74151226e-01 2.02387444e-01 9.05013913e-01 1.60464267e+02] [-8.75432501e-02 9.79245594e-01 -1.82795641e-01 2.03726298e+02] [-9.23226429e-01 -1.08346463e-02 3.84103594e-01 -1.23968816e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.620714057 meters Centerline goodness : 0.998004 Centerline is valid? [True, True] Translation: X:160.48, Y:203.72, Z:-124.00 [[ 3.73357344e-01 2.04018564e-01 9.04975535e-01 1.60476805e+02] [-9.02849613e-02 9.78877750e-01 -1.83431124e-01 2.03715266e+02] [-9.23283770e-01 -1.32203239e-02 3.83891005e-01 -1.23998907e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.650714057 meters Centerline goodness : 0.998337 Centerline is valid? [True, True] Translation: X:160.49, Y:203.71, Z:-124.03 [[ 3.72671485e-01 2.05021565e-01 9.05031559e-01 1.60488899e+02] [-9.12106768e-02 9.78658408e-01 -1.84142154e-01 2.03708548e+02] [-9.23469857e-01 -1.39240111e-02 3.83418238e-01 -1.24027697e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.6807140569999 meters Centerline goodness : 0.998275 Centerline is valid? [True, True] Translation: X:160.50, Y:203.70, Z:-124.06 [[ 3.72187772e-01 2.05989637e-01 9.05010791e-01 1.60501207e+02] [-9.21947289e-02 9.78444336e-01 -1.84788563e-01 2.03701649e+02] [-9.23567212e-01 -1.46611811e-02 3.83156177e-01 -1.24058235e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.7107140569999 meters Centerline goodness : 0.998719 Centerline is valid? [True, True] Translation: X:160.51, Y:203.69, Z:-124.09 [[ 3.71836540e-01 2.06830991e-01 9.04963275e-01 1.60513692e+02] [-9.27737016e-02 9.78261779e-01 -1.85464102e-01 2.03694590e+02] [-9.23650707e-01 -1.49944630e-02 3.82941951e-01 -1.24087858e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.740714057 meters Centerline goodness : 0.998719 Centerline is valid? [True, True] Translation: X:160.53, Y:203.69, Z:-124.12 [[ 3.71801686e-01 2.07487393e-01 9.04827325e-01 1.60526454e+02] [-9.28900361e-02 9.78125010e-01 -1.86126051e-01 2.03692154e+02] [-9.23653045e-01 -1.48474634e-02 3.82942039e-01 -1.24118746e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.770714057 meters Centerline goodness : 0.999250 Centerline is valid? [True, True] Translation: X:160.54, Y:203.68, Z:-124.15 [[ 3.72840405e-01 2.08050296e-01 9.04270483e-01 1.60537470e+02] [-9.38582270e-02 9.77996766e-01 -1.86314140e-01 2.03679202e+02] [-9.23136320e-01 -1.54077848e-02 3.84163943e-01 -1.24148379e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.8007140569999 meters Centerline goodness : 0.999269 Centerline is valid? [True, True] Translation: X:160.55, Y:203.67, Z:-124.18 [[ 3.73702322e-01 2.08644958e-01 9.03777548e-01 1.60549623e+02] [-9.39693080e-02 9.77875122e-01 -1.86895731e-01 2.03671781e+02] [-9.22776432e-01 -1.50839820e-02 3.85040427e-01 -1.24178986e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.8307140569999 meters Centerline goodness : 0.999478 Centerline is valid? [True, True] Translation: X:160.56, Y:203.66, Z:-124.21 [[ 3.74005674e-01 2.09206584e-01 9.03522198e-01 1.60561282e+02] [-9.39188785e-02 9.77760601e-01 -1.87519202e-01 2.03664514e+02] [-9.22658659e-01 -1.47245459e-02 3.85336460e-01 -1.24209711e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.8607140569999 meters Centerline goodness : 0.999833 Centerline is valid? [True, True] Translation: X:160.57, Y:203.65, Z:-124.24 [[ 3.75228935e-01 2.09648032e-01 9.02912481e-01 1.60572269e+02] [-9.36607779e-02 9.77676790e-01 -1.88084432e-01 2.03652337e+02] [-9.22188107e-01 -1.39927642e-02 3.86488418e-01 -1.24239522e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.890714057 meters Centerline goodness : 0.999875 Centerline is valid? [True, True] Translation: X:160.58, Y:203.64, Z:-124.27 [[ 3.75741808e-01 2.10303073e-01 9.02546792e-01 1.60583745e+02] [-9.38587989e-02 9.77538716e-01 -1.88702373e-01 2.03644845e+02] [-9.21959121e-01 -1.38085872e-02 3.87040958e-01 -1.24269109e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.9207140569999 meters Centerline goodness : 0.999854 Centerline is valid? [True, True] Translation: X:160.60, Y:203.64, Z:-124.30 [[ 3.75876454e-01 2.10779026e-01 9.02379684e-01 1.60595626e+02] [-9.36266658e-02 9.77442866e-01 -1.89313212e-01 2.03637593e+02] [-9.21927838e-01 -1.33284221e-02 3.87132296e-01 -1.24299362e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.9507140569999 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:160.61, Y:203.63, Z:-124.33 [[ 3.75793679e-01 2.11449229e-01 9.02257355e-01 1.60607747e+02] [-9.37809846e-02 9.77299533e-01 -1.89975655e-01 2.03629933e+02] [-9.21945898e-01 -1.32229330e-02 3.87092904e-01 -1.24329649e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.9807140569999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.62, Y:203.62, Z:-124.36 [[ 3.75401293e-01 2.11774992e-01 9.02344292e-01 1.60619132e+02] [-9.29252957e-02 9.77241498e-01 -1.90693326e-01 2.03617709e+02] [-9.22192365e-01 -1.22640892e-02 3.86536976e-01 -1.24360096e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.010714057 meters Centerline goodness : 0.999688 Centerline is valid? [True, True] Translation: X:160.63, Y:203.61, Z:-124.39 [[ 3.75282058e-01 2.12356946e-01 9.02257117e-01 1.60630515e+02] [-9.27972707e-02 9.77119633e-01 -1.91378917e-01 2.03610367e+02] [-9.22253785e-01 -1.19059239e-02 3.86401612e-01 -1.24389576e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.040714057 meters Centerline goodness : 0.999476 Centerline is valid? [True, True] Translation: X:160.64, Y:203.60, Z:-124.42 [[ 3.75141498e-01 2.12844997e-01 9.02200568e-01 1.60642361e+02] [-9.25276075e-02 9.77018970e-01 -1.92022329e-01 2.03603341e+02] [-9.22338061e-01 -1.14429159e-02 3.86214398e-01 -1.24419602e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.0707140569999 meters Centerline goodness : 0.998576 Centerline is valid? [True, True] Translation: X:160.65, Y:203.59, Z:-124.45 [[ 3.75220968e-01 2.12800647e-01 9.02177981e-01 1.60652082e+02] [-9.07546611e-02 9.77048809e-01 -1.92715374e-01 2.03590996e+02] [-9.22481879e-01 -9.56600768e-03 3.85921850e-01 -1.24449756e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.1007140569999 meters Centerline goodness : 0.997972 Centerline is valid? [True, True] Translation: X:160.66, Y:203.58, Z:-124.48 [[ 3.75517845e-01 2.13038232e-01 9.01998370e-01 1.60663280e+02] [-8.98998350e-02 9.77006962e-01 -1.93327227e-01 2.03583735e+02] [-9.22444778e-01 -8.49168091e-03 3.86035651e-01 -1.24480539e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.130714057 meters Centerline goodness : 0.997175 Centerline is valid? [True, True] Translation: X:160.67, Y:203.58, Z:-124.51 [[ 3.75894530e-01 2.13180391e-01 9.01807864e-01 1.60674827e+02] [-8.87202600e-02 9.76987088e-01 -1.93971505e-01 2.03576722e+02] [-9.22405561e-01 -7.09580046e-03 3.86157522e-01 -1.24511248e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.160714057 meters Centerline goodness : 0.996509 Centerline is valid? [True, True] Translation: X:160.68, Y:203.57, Z:-124.54 [[ 3.76821895e-01 2.12718881e-01 9.01529776e-01 1.60684403e+02] [-8.60166990e-02 9.77104338e-01 -1.94597638e-01 2.03565931e+02] [-9.22283246e-01 -4.21796447e-03 3.86491685e-01 -1.24541389e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.1907140569999 meters Centerline goodness : 0.996171 Centerline is valid? [True, True] Translation: X:160.70, Y:203.56, Z:-124.57 [[ 3.77711240e-01 2.12819929e-01 9.01133673e-01 1.60695364e+02] [-8.49566130e-02 9.77087288e-01 -1.95148162e-01 2.03559697e+02] [-9.22017675e-01 -2.84761060e-03 3.87137312e-01 -1.24570510e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.2207140569999 meters Centerline goodness : 0.995377 Centerline is valid? [True, True] Translation: X:160.71, Y:203.55, Z:-124.60 [[ 3.78277442e-01 2.12958017e-01 9.00863508e-01 1.60706789e+02] [-8.39639265e-02 9.77060031e-01 -1.95713452e-01 2.03553441e+02] [-9.21876476e-01 -1.60605337e-03 3.87480560e-01 -1.24601369e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.250714057 meters Centerline goodness : 0.995126 Centerline is valid? [True, True] Translation: X:160.72, Y:203.55, Z:-124.63 [[ 3.78791210e-01 2.13037642e-01 9.00628771e-01 1.60716994e+02] [-8.27185749e-02 9.77043983e-01 -1.96322928e-01 2.03547914e+02] [-9.21778095e-01 -1.33329005e-04 3.87717843e-01 -1.24627312e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.280714057 meters Centerline goodness : 0.994983 Centerline is valid? [True, True] Translation: X:160.73, Y:203.54, Z:-124.66 [[ 3.79156283e-01 2.12567519e-01 9.00586233e-01 1.60729304e+02] [-8.20151091e-02 9.77146256e-01 -1.96108940e-01 2.03541449e+02] [-9.21690856e-01 4.94258692e-04 3.87924891e-01 -1.24657619e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.3107140569999 meters Centerline goodness : 0.994668 Centerline is valid? [True, True] Translation: X:160.74, Y:203.53, Z:-124.69 [[ 3.79232237e-01 2.12593790e-01 9.00548050e-01 1.60740344e+02] [-8.05007995e-02 9.77138348e-01 -1.96774671e-01 2.03532449e+02] [-9.21793107e-01 2.12846073e-03 3.87676332e-01 -1.24686817e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.3407140569999 meters Centerline goodness : 0.994261 Centerline is valid? [True, True] Translation: X:160.75, Y:203.53, Z:-124.71 [[ 3.79451738e-01 2.12986254e-01 9.00362835e-01 1.60751809e+02] [-8.01232560e-02 9.77051330e-01 -1.97359983e-01 2.03527472e+02] [-9.21735668e-01 2.74858685e-03 3.87808977e-01 -1.24714369e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.370714057 meters Centerline goodness : 0.994891 Centerline is valid? [True, True] Translation: X:160.76, Y:203.52, Z:-124.75 [[ 3.79424870e-01 2.13035211e-01 9.00362575e-01 1.60764172e+02] [-8.02498078e-02 9.77040985e-01 -1.97359780e-01 2.03522439e+02] [-9.21735719e-01 2.62928533e-03 3.87809683e-01 -1.24745050e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.400714057 meters Centerline goodness : 0.994475 Centerline is valid? [True, True] Translation: X:160.78, Y:203.52, Z:-124.78 [[ 3.78962812e-01 2.13899065e-01 9.00352363e-01 1.60776136e+02] [-8.08379230e-02 9.76853129e-01 -1.98048466e-01 2.03517657e+02] [-9.21874405e-01 2.27038863e-03 3.87482164e-01 -1.24775792e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.4307140569999 meters Centerline goodness : 0.994582 Centerline is valid? [True, True] Translation: X:160.79, Y:203.51, Z:-124.81 [[ 3.78682630e-01 2.15251325e-01 9.00147950e-01 1.60787958e+02] [-8.27963829e-02 9.76558426e-01 -1.98691718e-01 2.03510648e+02] [-9.21815722e-01 7.12108232e-04 3.87627745e-01 -1.24805607e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.4607140569999 meters Centerline goodness : 0.994521 Centerline is valid? [True, True] Translation: X:160.80, Y:203.51, Z:-124.84 [[ 3.78565110e-01 2.16412149e-01 8.99919018e-01 1.60800428e+02] [-8.42728075e-02 9.76302022e-01 -1.99330018e-01 2.03505711e+02] [-9.21730195e-01 -3.79312171e-04 3.87831542e-01 -1.24835816e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.490714057 meters Centerline goodness : 0.993558 Centerline is valid? [True, True] Translation: X:160.80, Y:203.52, Z:-124.86 [[ 3.74095106e-01 2.40091122e-01 8.95772909e-01 1.60801622e+02] [-7.67704732e-02 9.70609136e-01 -2.28088142e-01 2.03524931e+02] [-9.24207307e-01 1.65577474e-02 3.81532037e-01 -1.24861966e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.520714057 meters Centerline goodness : 0.993316 Centerline is valid? [True, True] Translation: X:160.83, Y:203.45, Z:-124.88 [[ 3.83531064e-01 1.13759782e-01 9.16494754e-01 1.60833323e+02] [-8.57865939e-02 9.92482118e-01 -8.72920720e-02 2.03453809e+02] [-9.19534982e-01 -4.51437420e-02 3.90406787e-01 -1.24883234e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.5507140569999 meters Centerline goodness : 0.993714 Centerline is valid? [True, True] Translation: X:160.84, Y:203.48, Z:-124.92 [[ 3.82518651e-01 1.91020608e-01 9.03985956e-01 1.60841682e+02] [-8.77143140e-02 9.81483931e-01 -1.70280628e-01 2.03482378e+02] [-9.19774799e-01 -1.41569917e-02 3.92191151e-01 -1.24917539e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.5807140569999 meters Centerline goodness : 0.992966 Centerline is valid? [True, True] Translation: X:160.86, Y:203.48, Z:-124.95 [[ 3.83031570e-01 1.91798025e-01 9.03604081e-01 1.60855269e+02] [-8.93111050e-02 9.81313270e-01 -1.70434129e-01 2.03476796e+02] [-9.19407605e-01 -1.54202270e-02 3.93003656e-01 -1.24946417e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.6107140569999 meters Centerline goodness : 0.993154 Centerline is valid? [True, True] Translation: X:160.86, Y:203.48, Z:-124.98 [[ 3.79888692e-01 2.07231558e-01 9.01520750e-01 1.60864179e+02] [-8.91776802e-02 9.78248227e-01 -1.87290544e-01 2.03479869e+02] [-9.20723587e-01 -9.24596932e-03 3.90105869e-01 -1.24975935e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.640714057 meters Centerline goodness : 0.993483 Centerline is valid? [True, True] Translation: X:160.87, Y:203.48, Z:-125.01 [[ 3.75811867e-01 2.06926975e-01 9.03297663e-01 1.60871066e+02] [-8.73646655e-02 9.78320743e-01 -1.87765651e-01 2.03477422e+02] [-9.22568618e-01 -8.35173823e-03 3.85742651e-01 -1.25005701e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.6707140569999 meters Centerline goodness : 0.993497 Centerline is valid? [True, True] Translation: X:160.89, Y:203.45, Z:-125.03 [[ 3.78827472e-01 1.65607695e-01 9.10529427e-01 1.60890352e+02] [-9.23893695e-02 9.85711632e-01 -1.40843114e-01 2.03446439e+02] [-9.20844151e-01 -3.07679988e-02 3.88715037e-01 -1.25032378e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.7007140569999 meters Centerline goodness : 0.992721 Centerline is valid? [True, True] Translation: X:160.90, Y:203.46, Z:-125.06 [[ 3.77891177e-01 2.02675900e-01 9.03394010e-01 1.60899074e+02] [-9.34121056e-02 9.79112771e-01 -1.80588924e-01 2.03457442e+02] [-9.21125636e-01 -1.61449759e-02 3.88930460e-01 -1.25064595e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.7307140569999 meters Centerline goodness : 0.992898 Centerline is valid? [True, True] Translation: X:160.91, Y:203.45, Z:-125.10 [[ 3.73307069e-01 2.15468838e-01 9.02338635e-01 1.60905615e+02] [-9.73003888e-02 9.76383070e-01 -1.92895656e-01 2.03451749e+02] [-9.22591170e-01 -1.57885881e-02 3.85455904e-01 -1.25100729e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.760714057 meters Centerline goodness : 0.993048 Centerline is valid? [True, True] Translation: X:160.92, Y:203.45, Z:-125.12 [[ 3.80173416e-01 2.04346037e-01 9.02059239e-01 1.60924422e+02] [-9.57132097e-02 9.78744357e-01 -1.81379343e-01 2.03445344e+02] [-9.19949540e-01 -1.73833807e-02 3.91651200e-01 -1.25121931e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.790714057 meters Centerline goodness : 0.992766 Centerline is valid? [True, True] Translation: X:160.94, Y:203.44, Z:-125.15 [[ 3.80519730e-01 2.06491068e-01 9.01424525e-01 1.60935016e+02] [-9.57561112e-02 9.78310659e-01 -1.83681849e-01 2.03441006e+02] [-9.19801882e-01 -1.64223395e-02 3.92039289e-01 -1.25152767e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.8207140569999 meters Centerline goodness : 0.992809 Centerline is valid? [True, True] Translation: X:160.95, Y:203.43, Z:-125.18 [[ 3.81141775e-01 2.02260075e-01 9.02120729e-01 1.60946932e+02] [-9.60173807e-02 9.79158826e-01 -1.78965517e-01 2.03433079e+02] [-9.19517053e-01 -1.84080348e-02 3.92618815e-01 -1.25180915e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.8507140569999 meters Centerline goodness : 0.992066 Centerline is valid? [True, True] Translation: X:160.96, Y:203.43, Z:-125.21 [[ 3.84295006e-01 2.08438135e-01 8.99372499e-01 1.60958695e+02] [-9.33788410e-02 9.77959275e-01 -1.86751302e-01 2.03427710e+02] [-9.18475770e-01 -1.22147689e-02 3.95288577e-01 -1.25212048e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.880714057 meters Centerline goodness : 0.992159 Centerline is valid? [True, True] Translation: X:160.96, Y:203.43, Z:-125.25 [[ 3.75967764e-01 2.29045396e-01 8.97878860e-01 1.60959696e+02] [-9.38098770e-02 9.73399394e-01 -2.09029490e-01 2.03428558e+02] [-9.21871980e-01 -5.64155541e-03 3.87453514e-01 -1.25250177e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.910714057 meters Centerline goodness : 0.992488 Centerline is valid? [True, True] Translation: X:160.97, Y:203.42, Z:-125.28 [[ 3.76892800e-01 2.30428738e-01 8.97136787e-01 1.60971563e+02] [-9.22594537e-02 9.73084013e-01 -2.11176935e-01 2.03424416e+02] [-9.21650699e-01 -3.17828358e-03 3.88007587e-01 -1.25280582e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.9407140569999 meters Centerline goodness : 0.993032 Centerline is valid? [True, True] Translation: X:160.98, Y:203.42, Z:-125.31 [[ 3.77562062e-01 2.30319396e-01 8.96883418e-01 1.60983973e+02] [-9.04698769e-02 9.73114386e-01 -2.11810276e-01 2.03419462e+02] [-9.21554172e-01 -1.16940773e-03 3.88248041e-01 -1.25311106e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.9707140569999 meters Centerline goodness : 0.992876 Centerline is valid? [True, True] Translation: X:161.00, Y:203.41, Z:-125.34 [[ 3.77567832e-01 2.29162935e-01 8.97177174e-01 1.60995728e+02] [-8.56741788e-02 9.73382155e-01 -2.12572614e-01 2.03411982e+02] [-9.22010015e-01 3.39566344e-03 3.87151136e-01 -1.25340472e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.000714057 meters Centerline goodness : 0.993081 Centerline is valid? [True, True] Translation: X:161.01, Y:203.41, Z:-125.37 [[ 3.77332465e-01 2.28923833e-01 8.97337222e-01 1.61008336e+02] [-8.34272012e-02 9.73428198e-01 -2.13254413e-01 2.03406429e+02] [-9.22312373e-01 5.60548057e-03 3.86404537e-01 -1.25371025e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.030714057 meters Centerline goodness : 0.993554 Centerline is valid? [True, True] Translation: X:161.02, Y:203.40, Z:-125.40 [[ 3.77739528e-01 2.28715724e-01 8.97219018e-01 1.61020876e+02] [-8.13234201e-02 9.73461697e-01 -2.13913128e-01 2.03401091e+02] [-9.22333644e-01 7.83852462e-03 3.86314906e-01 -1.25400671e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.0607140569999 meters Centerline goodness : 0.993201 Centerline is valid? [True, True] Translation: X:161.03, Y:203.40, Z:-125.42 [[ 3.81524841e-01 2.16691425e-01 8.98600925e-01 1.61034883e+02] [-7.15241925e-02 9.76140483e-01 -2.05022064e-01 2.03398480e+02] [-9.21587264e-01 1.39493051e-02 3.87920522e-01 -1.25420654e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.0907140569999 meters Centerline goodness : 0.992486 Centerline is valid? [True, True] Translation: X:161.05, Y:203.37, Z:-125.46 [[ 3.77566304e-01 1.88724802e-01 9.06546543e-01 1.61045907e+02] [-7.54361581e-02 9.82025247e-01 -1.73019654e-01 2.03372892e+02] [-9.22904693e-01 -3.05999711e-03 3.85016317e-01 -1.25455764e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.120714057 meters Centerline goodness : 0.992304 Centerline is valid? [True, True] Translation: X:161.06, Y:203.39, Z:-125.48 [[ 3.81717483e-01 2.17311285e-01 8.98369394e-01 1.61056939e+02] [-6.84884379e-02 9.75945855e-01 -2.06975899e-01 2.03391251e+02] [-9.21738085e-01 1.74784029e-02 3.87418906e-01 -1.25478504e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.150714057 meters Centerline goodness : 0.991741 Centerline is valid? [True, True] Translation: X:161.07, Y:203.37, Z:-125.50 [[ 3.80270372e-01 1.84809752e-01 9.06222820e-01 1.61069825e+02] [-6.70883812e-02 9.82763024e-01 -1.72267199e-01 2.03373392e+02] [-9.22438937e-01 4.71109000e-03 3.86114248e-01 -1.25504737e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.1807140569999 meters Centerline goodness : 0.992282 Centerline is valid? [True, True] Translation: X:161.08, Y:203.36, Z:-125.54 [[ 3.77967240e-01 1.86131288e-01 9.06915602e-01 1.61080290e+02] [-7.08786772e-02 9.82524580e-01 -1.72109452e-01 2.03360045e+02] [-9.23101825e-01 7.70756202e-04 3.84554843e-01 -1.25542163e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.2107140569999 meters Centerline goodness : 0.992332 Centerline is valid? [True, True] Translation: X:161.09, Y:203.38, Z:-125.58 [[ 3.79425624e-01 2.31638120e-01 8.95756651e-01 1.61088340e+02] [-7.06526935e-02 9.72579966e-01 -2.21577091e-01 2.03377189e+02] [-9.22520674e-01 2.07844058e-02 3.85387617e-01 -1.25575183e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.240714057 meters Centerline goodness : 0.991816 Centerline is valid? [True, True] Translation: X:161.10, Y:203.38, Z:-125.60 [[ 3.82571640e-01 2.24662176e-01 8.96195206e-01 1.61101338e+02] [-6.47227682e-02 9.74119842e-01 -2.16567536e-01 2.03380263e+02] [-9.21656066e-01 2.48483629e-02 3.87211383e-01 -1.25596022e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.270714057 meters Centerline goodness : 0.991899 Centerline is valid? [True, True] Translation: X:161.12, Y:203.35, Z:-125.63 [[ 3.79630188e-01 1.88328486e-01 9.05766693e-01 1.61115635e+02] [-7.06634970e-02 9.82103465e-01 -1.74583658e-01 2.03351428e+02] [-9.22435684e-01 2.27258487e-03 3.86144073e-01 -1.25630576e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.3007140569999 meters Centerline goodness : 0.992280 Centerline is valid? [True, True] Translation: X:161.12, Y:203.37, Z:-125.66 [[ 3.80580202e-01 2.33893724e-01 8.94680075e-01 1.61124409e+02] [-7.16230793e-02 9.72034559e-01 -2.23649170e-01 2.03370091e+02] [-9.21970089e-01 2.10367044e-02 3.86689297e-01 -1.25664444e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.3307140569999 meters Centerline goodness : 0.991657 Centerline is valid? [True, True] Translation: X:161.14, Y:203.37, Z:-125.70 [[ 3.79758427e-01 2.34789857e-01 8.94794535e-01 1.61136882e+02] [-7.21804615e-02 9.71827437e-01 -2.24368923e-01 2.03368224e+02] [-9.22265427e-01 2.06193068e-02 3.86006899e-01 -1.25695327e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.3607140569999 meters Centerline goodness : 0.992312 Centerline is valid? [True, True] Translation: X:161.15, Y:203.37, Z:-125.72 [[ 3.79149584e-01 2.35811653e-01 8.94784028e-01 1.61149746e+02] [-7.31617518e-02 9.71595721e-01 -2.25053576e-01 2.03366954e+02] [-9.22438590e-01 1.98650028e-02 3.85632507e-01 -1.25724399e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.390714057 meters Centerline goodness : 0.992136 Centerline is valid? [True, True] Translation: X:161.16, Y:203.36, Z:-125.75 [[ 3.79081120e-01 2.36671871e-01 8.94585899e-01 1.61162022e+02] [-7.39818072e-02 9.71396855e-01 -2.25643177e-01 2.03364694e+02] [-9.22401321e-01 1.93539868e-02 3.85747620e-01 -1.25753487e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.4207140569999 meters Centerline goodness : 0.992577 Centerline is valid? [True, True] Translation: X:161.18, Y:203.36, Z:-125.78 [[ 3.78179763e-01 2.37477457e-01 8.94753890e-01 1.61175200e+02] [-7.44163904e-02 9.71207143e-01 -2.26315897e-01 2.03362727e+02] [-9.22736294e-01 1.90037377e-02 3.84963103e-01 -1.25784160e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.4507140569999 meters Centerline goodness : 0.991656 Centerline is valid? [True, True] Translation: X:161.18, Y:203.37, Z:-125.81 [[ 3.77668585e-01 2.44101220e-01 8.93185890e-01 1.61183830e+02] [-6.87416212e-02 9.69354791e-01 -2.35851392e-01 2.03374729e+02] [-9.23385634e-01 2.76746155e-02 3.82874766e-01 -1.25807401e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.4807140569999 meters Centerline goodness : 0.992258 Centerline is valid? [True, True] Translation: X:161.20, Y:203.33, Z:-125.84 [[ 3.75980591e-01 1.79503668e-01 9.09074820e-01 1.61203623e+02] [-7.49801519e-02 9.83733875e-01 -1.63234922e-01 2.03332371e+02] [-9.23588963e-01 -6.78940568e-03 3.83324056e-01 -1.25836295e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.510714057 meters Centerline goodness : 0.992159 Centerline is valid? [True, True] Translation: X:161.21, Y:203.36, Z:-125.87 [[ 3.76826084e-01 2.39165419e-01 8.94875413e-01 1.61210573e+02] [-7.62554955e-02 9.70822326e-01 -2.27352395e-01 2.03359031e+02] [-9.23139860e-01 1.74331447e-02 3.84068853e-01 -1.25865863e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.540714057 meters Centerline goodness : 0.992493 Centerline is valid? [True, True] Translation: X:161.22, Y:203.36, Z:-125.89 [[ 3.76317207e-01 2.38986435e-01 8.95137332e-01 1.61220875e+02] [-7.62929079e-02 9.70870893e-01 -2.27132343e-01 2.03357662e+02] [-9.23344330e-01 1.71811790e-02 3.83588393e-01 -1.25891371e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.5707140569999 meters Centerline goodness : 0.992944 Centerline is valid? [True, True] Translation: X:161.23, Y:203.36, Z:-125.92 [[ 3.75455103e-01 2.39515523e-01 8.95357906e-01 1.61233752e+02] [-7.80841021e-02 9.70772055e-01 -2.26946008e-01 2.03355696e+02] [-9.23545526e-01 1.52948186e-02 3.83183677e-01 -1.25921449e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.6007140569999 meters Centerline goodness : 0.992202 Centerline is valid? [True, True] Translation: X:161.25, Y:203.35, Z:-125.95 [[ 3.74926862e-01 2.40684910e-01 8.95265671e-01 1.61246061e+02] [-7.94408214e-02 9.70499009e-01 -2.27641889e-01 2.03353346e+02] [-9.23644414e-01 1.42284190e-02 3.82986355e-01 -1.25950467e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.630714057 meters Centerline goodness : 0.992324 Centerline is valid? [True, True] Translation: X:161.26, Y:203.35, Z:-125.98 [[ 3.75161905e-01 2.41436517e-01 8.94964778e-01 1.61256661e+02] [-8.05232865e-02 9.70323047e-01 -2.28011372e-01 2.03351816e+02] [-9.23455221e-01 1.34756755e-02 3.83469504e-01 -1.25976087e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.660714057 meters Centerline goodness : 0.992324 Centerline is valid? [True, True] Translation: X:161.27, Y:203.35, Z:-126.00 [[ 3.75192222e-01 2.40827380e-01 8.95116177e-01 1.61267358e+02] [-8.03673778e-02 9.70475642e-01 -2.27416168e-01 2.03348958e+02] [-9.23456486e-01 1.33866374e-02 3.83469577e-01 -1.26002365e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.6907140569999 meters Centerline goodness : 0.992266 Centerline is valid? [True, True] Translation: X:161.28, Y:203.35, Z:-126.03 [[ 3.74827380e-01 2.40862068e-01 8.95259683e-01 1.61278104e+02] [-8.13091251e-02 9.70481230e-01 -2.27057281e-01 2.03347333e+02] [-9.23522204e-01 1.23145043e-02 3.83347220e-01 -1.26027713e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.7207140569999 meters Centerline goodness : 0.992802 Centerline is valid? [True, True] Translation: X:161.29, Y:203.35, Z:-126.06 [[ 3.74073967e-01 2.41565619e-01 8.95385235e-01 1.61289584e+02] [-8.45750024e-02 9.70342902e-01 -2.26454680e-01 2.03345780e+02] [-9.23534372e-01 8.98359198e-03 3.83410432e-01 -1.26058164e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.750714057 meters Centerline goodness : 0.992678 Centerline is valid? [True, True] Translation: X:161.31, Y:203.33, Z:-126.08 [[ 3.80175983e-01 2.19499640e-01 8.98491029e-01 1.61310878e+02] [-8.54980303e-02 9.75612580e-01 -2.02163746e-01 2.03334115e+02] [-9.20954021e-01 3.85875424e-05 3.89671259e-01 -1.26079696e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.780714057 meters Centerline goodness : 0.992788 Centerline is valid? [True, True] Translation: X:161.31, Y:203.34, Z:-126.12 [[ 3.74438801e-01 2.48706718e-01 8.93275183e-01 1.61312480e+02] [-8.72254697e-02 9.68533570e-01 -2.33097492e-01 2.03342860e+02] [-9.23139915e-01 9.36439806e-03 3.84350109e-01 -1.26117553e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.8107140569999 meters Centerline goodness : 0.991771 Centerline is valid? [True, True] Translation: X:161.34, Y:203.33, Z:-126.14 [[ 3.83424631e-01 2.20718680e-01 8.96810357e-01 1.61337443e+02] [-8.88853316e-02 9.75334929e-01 -2.02042506e-01 2.03326497e+02] [-9.19285021e-01 -2.24521249e-03 3.93586088e-01 -1.26138404e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.8407140569999 meters Centerline goodness : 0.993134 Centerline is valid? [True, True] Translation: X:161.33, Y:203.34, Z:-126.18 [[ 3.73996925e-01 2.55848586e-01 8.91441418e-01 1.61334337e+02] [-8.92626416e-02 9.66663240e-01 -2.39988254e-01 2.03338717e+02] [-9.23124304e-01 1.01824534e-02 3.84366800e-01 -1.26177266e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.870714057 meters Centerline goodness : 0.992492 Centerline is valid? [True, True] Translation: X:161.35, Y:203.33, Z:-126.20 [[ 3.79110332e-01 2.30294087e-01 8.96236570e-01 1.61352228e+02] [-8.58268236e-02 9.73112395e-01 -2.13742890e-01 2.03328578e+02] [-9.21362639e-01 4.11100011e-03 3.88682373e-01 -1.26197778e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.900714057 meters Centerline goodness : 0.992990 Centerline is valid? [True, True] Translation: X:161.36, Y:203.32, Z:-126.23 [[ 3.73331141e-01 2.24897518e-01 9.00024981e-01 1.61358999e+02] [-8.88416124e-02 9.74378342e-01 -2.06625298e-01 2.03317351e+02] [-9.23434366e-01 -2.82001233e-03 3.83746036e-01 -1.26233922e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.9307140569999 meters Centerline goodness : 0.992986 Centerline is valid? [True, True] Translation: X:161.37, Y:203.32, Z:-126.26 [[ 3.73622893e-01 2.45469356e-01 8.94511447e-01 1.61368015e+02] [-8.57473944e-02 9.69359705e-01 -2.30193715e-01 2.03323236e+02] [-9.23608856e-01 9.30361588e-03 3.83223335e-01 -1.26261193e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.9607140569999 meters Centerline goodness : 0.993528 Centerline is valid? [True, True] Translation: X:161.38, Y:203.32, Z:-126.29 [[ 3.73831451e-01 2.44557827e-01 8.94673972e-01 1.61380475e+02] [-8.37706707e-02 9.69571808e-01 -2.30028222e-01 2.03319042e+02] [-9.23705863e-01 1.10443455e-02 3.82943209e-01 -1.26291674e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.990714057 meters Centerline goodness : 0.992583 Centerline is valid? [True, True] Translation: X:161.39, Y:203.32, Z:-126.32 [[ 3.73642144e-01 2.44314433e-01 8.94819538e-01 1.61392593e+02] [-8.13321400e-02 9.69602805e-01 -2.30771497e-01 2.03315483e+02] [-9.24000342e-01 1.34483690e-02 3.82155087e-01 -1.26322425e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.020714057 meters Centerline goodness : 0.992749 Centerline is valid? [True, True] Translation: X:161.40, Y:203.31, Z:-126.35 [[ 3.73959046e-01 2.44073066e-01 8.94753022e-01 1.61404556e+02] [-7.90445471e-02 9.69627608e-01 -2.31461145e-01 2.03311757e+02] [-9.24070664e-01 1.58316416e-02 3.81893660e-01 -1.26351670e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.0507140569999 meters Centerline goodness : 0.992708 Centerline is valid? [True, True] Translation: X:161.42, Y:203.31, Z:-126.38 [[ 3.71421766e-01 2.39439036e-01 8.97058984e-01 1.61415790e+02] [-7.45145901e-02 9.70745739e-01 -2.28254871e-01 2.03305630e+02] [-9.25469312e-01 1.79348449e-02 3.78397798e-01 -1.26379416e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.0807140569999 meters Centerline goodness : 0.993218 Centerline is valid? [True, True] Translation: X:161.43, Y:203.31, Z:-126.40 [[ 3.72902184e-01 2.38500553e-01 8.96694735e-01 1.61426403e+02] [-6.56254671e-02 9.70759679e-01 -2.30908951e-01 2.03309637e+02] [-9.25547006e-01 2.72604414e-02 3.77650115e-01 -1.26404600e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.1107140569999 meters Centerline goodness : 0.993046 Centerline is valid? [True, True] Translation: X:161.44, Y:203.28, Z:-126.44 [[ 3.71202146e-01 1.94822337e-01 9.07883926e-01 1.61442680e+02] [-6.83780215e-02 9.80822152e-01 -1.82516719e-01 2.03278463e+02] [-9.26031000e-01 5.67129109e-03 3.77404854e-01 -1.26436277e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.140714057 meters Centerline goodness : 0.993281 Centerline is valid? [True, True] Translation: X:161.45, Y:203.30, Z:-126.47 [[ 3.73316654e-01 2.42551514e-01 8.95434777e-01 1.61451196e+02] [-6.60865113e-02 9.69716919e-01 -2.35120544e-01 2.03297163e+02] [-9.25347097e-01 2.85982542e-02 3.78040858e-01 -1.26469449e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.1707140569999 meters Centerline goodness : 0.992625 Centerline is valid? [True, True] Translation: X:161.46, Y:203.29, Z:-126.50 [[ 3.74972913e-01 2.41463461e-01 8.95036710e-01 1.61462461e+02] [-6.20128854e-02 9.69853228e-01 -2.35667390e-01 2.03294811e+02] [-9.24959306e-01 3.28650787e-02 3.78642536e-01 -1.26500165e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.2007140569999 meters Centerline goodness : 0.993360 Centerline is valid? [True, True] Translation: X:161.47, Y:203.29, Z:-126.53 [[ 3.75971532e-01 2.41490089e-01 8.94610498e-01 1.61474146e+02] [-6.07383923e-02 9.69790205e-01 -2.36257921e-01 2.03292295e+02] [-9.24638445e-01 3.44890494e-02 3.79281229e-01 -1.26529994e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.2307140569999 meters Centerline goodness : 0.993222 Centerline is valid? [True, True] Translation: X:161.49, Y:203.29, Z:-126.56 [[ 3.76716361e-01 2.41456876e-01 8.94306078e-01 1.61486428e+02] [-5.98577620e-02 9.69758138e-01 -2.36614038e-01 2.03289349e+02] [-9.24392683e-01 3.56052189e-02 3.79776825e-01 -1.26560379e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.260714057 meters Centerline goodness : 0.992862 Centerline is valid? [True, True] Translation: X:161.50, Y:203.29, Z:-126.59 [[ 3.77317240e-01 2.41257413e-01 8.94106572e-01 1.61498698e+02] [-5.78497343e-02 9.69724940e-01 -2.37248707e-01 2.03287244e+02] [-9.24275451e-01 3.77941997e-02 3.79850615e-01 -1.26591108e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.290714057 meters Centerline goodness : 0.993374 Centerline is valid? [True, True] Translation: X:161.51, Y:203.30, Z:-126.62 [[ 3.77272237e-01 2.52233390e-01 8.91091452e-01 1.61505258e+02] [-5.07859254e-02 9.66382367e-01 -2.52043469e-01 2.03300344e+02] [-9.24708845e-01 4.98340994e-02 3.77399144e-01 -1.26616670e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.3207140569999 meters Centerline goodness : 0.992689 Centerline is valid? [True, True] Translation: X:161.53, Y:203.26, Z:-126.65 [[ 3.75541572e-01 1.82148442e-01 9.08730143e-01 1.61526539e+02] [-5.61067062e-02 9.83166848e-01 -1.73882104e-01 2.03256020e+02] [-9.25105705e-01 1.43141036e-02 3.79439773e-01 -1.26645360e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.3507140569999 meters Centerline goodness : 0.992787 Centerline is valid? [True, True] Translation: X:161.54, Y:203.29, Z:-126.67 [[ 3.80347852e-01 2.36517969e-01 8.94088789e-01 1.61535483e+02] [-5.16157542e-02 9.70667891e-01 -2.34818353e-01 2.03285507e+02] [-9.23402039e-01 4.31635891e-02 3.81399500e-01 -1.26672555e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.380714057 meters Centerline goodness : 0.993498 Centerline is valid? [True, True] Translation: X:161.55, Y:203.27, Z:-126.71 [[ 3.76284283e-01 2.12160311e-01 9.01885880e-01 1.61548429e+02] [-5.54871357e-02 9.76841837e-01 -2.06642697e-01 2.03266915e+02] [-9.24841239e-01 2.77133349e-02 3.79342398e-01 -1.26705656e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.410714057 meters Centerline goodness : 0.993199 Centerline is valid? [True, True] Translation: X:161.56, Y:203.28, Z:-126.74 [[ 3.77613111e-01 2.44111432e-01 8.93206553e-01 1.61559773e+02] [-5.67651540e-02 9.68912458e-01 -2.40803586e-01 2.03279514e+02] [-9.24221865e-01 4.02275838e-02 3.79731071e-01 -1.26738587e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.4407140569999 meters Centerline goodness : 0.993352 Centerline is valid? [True, True] Translation: X:161.57, Y:203.28, Z:-126.76 [[ 3.79740587e-01 2.38022860e-01 8.93947540e-01 1.61574210e+02] [-5.51836198e-02 9.70440134e-01 -2.34948324e-01 2.03280639e+02] [-9.23445643e-01 3.98881532e-02 3.81650469e-01 -1.26761830e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.4707140569999 meters Centerline goodness : 0.993290 Centerline is valid? [True, True] Translation: X:161.59, Y:203.27, Z:-126.80 [[ 3.74437594e-01 2.23289486e-01 8.99965718e-01 1.61585694e+02] [-6.32320217e-02 9.74462276e-01 -2.15464579e-01 2.03268415e+02] [-9.25093617e-01 2.37713868e-02 3.78994355e-01 -1.26795324e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.500714057 meters Centerline goodness : 0.994066 Centerline is valid? [True, True] Translation: X:161.60, Y:203.29, Z:-126.82 [[ 3.76417623e-01 2.44793352e-01 8.93524475e-01 1.61597248e+02] [-6.03857978e-02 9.68892330e-01 -2.40002517e-01 2.03285591e+02] [-9.24480031e-01 3.63849887e-02 3.79490190e-01 -1.26820079e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.530714057 meters Centerline goodness : 0.993210 Centerline is valid? [True, True] Translation: X:161.61, Y:203.26, Z:-126.85 [[ 3.72541320e-01 2.09939737e-01 9.03957008e-01 1.61611120e+02] [-6.90053078e-02 9.77645341e-01 -1.98614840e-01 2.03260900e+02] [-9.25446504e-01 1.16144033e-02 3.78700242e-01 -1.26853672e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.5607140569999 meters Centerline goodness : 0.993628 Centerline is valid? [True, True] Translation: X:161.62, Y:203.28, Z:-126.89 [[ 3.73032423e-01 2.52912459e-01 8.92682530e-01 1.61622761e+02] [-7.20219080e-02 9.67120893e-01 -2.43905766e-01 2.03279188e+02] [-9.25018733e-01 2.66920598e-02 3.78982688e-01 -1.26887125e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.5907140569999 meters Centerline goodness : 0.994197 Centerline is valid? [True, True] Translation: X:161.64, Y:203.28, Z:-126.92 [[ 3.71474618e-01 2.55103972e-01 8.92708559e-01 1.61635675e+02] [-7.59754862e-02 9.66638977e-01 -2.44615643e-01 2.03281030e+02] [-9.25329311e-01 2.30445358e-02 3.78463493e-01 -1.26916486e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.620714057 meters Centerline goodness : 0.993780 Centerline is valid? [True, True] Translation: X:161.65, Y:203.28, Z:-126.95 [[ 3.70328967e-01 2.56260680e-01 8.92853247e-01 1.61647797e+02] [-7.77920606e-02 9.66372796e-01 -2.45095930e-01 2.03279772e+02] [-9.25637538e-01 2.13092284e-02 3.77810885e-01 -1.26947279e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.650714057 meters Centerline goodness : 0.993384 Centerline is valid? [True, True] Translation: X:161.66, Y:203.29, Z:-126.97 [[ 3.71049790e-01 2.54605171e-01 8.93027581e-01 1.61657840e+02] [-7.28318319e-02 9.66695642e-01 -2.45346816e-01 2.03288384e+02] [-9.25752439e-01 2.59950500e-02 3.77235576e-01 -1.26968993e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.6807140569999 meters Centerline goodness : 0.994044 Centerline is valid? [True, True] Translation: X:161.67, Y:203.25, Z:-127.00 [[ 3.68900589e-01 2.07080044e-01 9.06107174e-01 1.61672965e+02] [-8.15619476e-02 9.78317105e-01 -1.90376706e-01 2.03254963e+02] [-9.25883364e-01 -3.67378680e-03 3.77791608e-01 -1.27002651e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.7107140569999 meters Centerline goodness : 0.993594 Centerline is valid? [True, True] Translation: X:161.68, Y:203.28, Z:-127.04 [[ 3.70397857e-01 2.60662847e-01 8.91549386e-01 1.61684408e+02] [-8.35893194e-02 9.65277622e-01 -2.47491291e-01 2.03279869e+02] [-9.25104455e-01 1.71462374e-02 3.79325392e-01 -1.27037069e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.740714057 meters Centerline goodness : 0.994425 Centerline is valid? [True, True] Translation: X:161.70, Y:203.28, Z:-127.07 [[ 3.70395320e-01 2.61331723e-01 8.91354608e-01 1.61696425e+02] [-8.37283114e-02 9.65094273e-01 -2.48158446e-01 2.03279054e+02] [-9.25092902e-01 1.72851108e-02 3.79347266e-01 -1.27067044e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.770714057 meters Centerline goodness : 0.993423 Centerline is valid? [True, True] Translation: X:161.72, Y:203.27, Z:-127.09 [[ 3.75936046e-01 2.40226256e-01 8.94965606e-01 1.61715244e+02] [-8.19146387e-02 9.70646408e-01 -2.26131692e-01 2.03271554e+02] [-9.23017921e-01 1.17002699e-02 3.84579019e-01 -1.27088947e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.8007140569999 meters Centerline goodness : 0.994254 Centerline is valid? [True, True] Translation: X:161.73, Y:203.26, Z:-127.12 [[ 3.78625617e-01 2.20282354e-01 8.98954018e-01 1.61733310e+02] [-8.21965417e-02 9.75429868e-01 -2.04402303e-01 2.03260122e+02] [-9.21892820e-01 3.50103665e-03 3.87429183e-01 -1.27116995e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.8307140569999 meters Centerline goodness : 0.994717 Centerline is valid? [True, True] Translation: X:161.73, Y:203.28, Z:-127.16 [[ 3.70350111e-01 2.76987325e-01 8.86633418e-01 1.61732667e+02] [-8.07020047e-02 9.60491617e-01 -2.66351349e-01 2.03283245e+02] [-9.25379912e-01 2.70901572e-02 3.78071609e-01 -1.27157058e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.8607140569999 meters Centerline goodness : 0.994449 Centerline is valid? [True, True] Translation: X:161.75, Y:203.27, Z:-127.19 [[ 3.70385362e-01 2.62335104e-01 8.91063958e-01 1.61745153e+02] [-7.96555617e-02 9.64727025e-01 -2.50911854e-01 2.03274616e+02] [-9.25456469e-01 2.19558779e-02 3.78217218e-01 -1.27185466e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.890714057 meters Centerline goodness : 0.995112 Centerline is valid? [True, True] Translation: X:161.76, Y:203.27, Z:-127.22 [[ 3.70323741e-01 2.62514333e-01 8.91036785e-01 1.61757731e+02] [-7.85536507e-02 9.64650056e-01 -2.51554355e-01 2.03272886e+02] [-9.25575308e-01 2.31623574e-02 3.77854276e-01 -1.27215599e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.9207140569999 meters Centerline goodness : 0.995356 Centerline is valid? [True, True] Translation: X:161.77, Y:203.27, Z:-127.25 [[ 3.70992102e-01 2.62133977e-01 8.90870719e-01 1.61771433e+02] [-7.59730271e-02 9.64684200e-01 -2.52215174e-01 2.03273808e+02] [-9.25523074e-01 2.58876920e-02 3.77805331e-01 -1.27246144e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.9507140569999 meters Centerline goodness : 0.995822 Centerline is valid? [True, True] Translation: X:161.78, Y:203.27, Z:-127.28 [[ 3.71169016e-01 2.62431612e-01 8.90709386e-01 1.61784373e+02] [-7.51690375e-02 9.64575459e-01 -2.52871114e-01 2.03272538e+02] [-9.25517789e-01 2.69041555e-02 3.77747256e-01 -1.27276464e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.9807140569999 meters Centerline goodness : 0.994860 Centerline is valid? [True, True] Translation: X:161.80, Y:203.27, Z:-127.30 [[ 3.74993224e-01 2.52304779e-01 8.92032724e-01 1.61799692e+02] [-7.08366096e-02 9.67235834e-01 -2.43797082e-01 2.03272550e+02] [-9.24317184e-01 2.82336799e-02 3.80579299e-01 -1.27298959e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.010714057 meters Centerline goodness : 0.995297 Centerline is valid? [True, True] Translation: X:161.81, Y:203.26, Z:-127.33 [[ 3.71330234e-01 2.40279928e-01 8.96872016e-01 1.61808338e+02] [-7.30479837e-02 9.70501624e-01 -2.29762030e-01 2.03260368e+02] [-9.25622952e-01 1.98028961e-02 3.77928559e-01 -1.27334092e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.040714057 meters Centerline goodness : 0.995320 Centerline is valid? [True, True] Translation: X:161.82, Y:203.27, Z:-127.37 [[ 3.72908080e-01 2.63195050e-01 8.89757231e-01 1.61821639e+02] [-7.17812370e-02 9.64235523e-01 -2.55141746e-01 2.03269308e+02] [-9.25087573e-01 3.12765439e-02 3.78463683e-01 -1.27365873e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.0707140569999 meters Centerline goodness : 0.995589 Centerline is valid? [True, True] Translation: X:161.83, Y:203.27, Z:-127.40 [[ 3.73779928e-01 2.63060041e-01 8.89431268e-01 1.61834671e+02] [-7.00103641e-02 9.64203707e-01 -2.55753318e-01 2.03268180e+02] [-9.24871404e-01 3.33260496e-02 3.78816921e-01 -1.27396659e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.1007140569999 meters Centerline goodness : 0.995587 Centerline is valid? [True, True] Translation: X:161.85, Y:203.27, Z:-127.42 [[ 3.79795517e-01 2.50837798e-01 8.90413255e-01 1.61851934e+02] [-6.18022111e-02 9.67265282e-01 -2.46126717e-01 2.03270831e+02] [-9.23003712e-01 3.84483159e-02 3.82865349e-01 -1.27418193e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.130714057 meters Centerline goodness : 0.996009 Centerline is valid? [True, True] Translation: X:161.86, Y:203.26, Z:-127.45 [[ 3.75783523e-01 2.37778325e-01 8.95683098e-01 1.61860020e+02] [-6.20728634e-02 9.70809713e-01 -2.31679652e-01 2.03259020e+02] [-9.24626251e-01 3.14637813e-02 3.79573876e-01 -1.27453501e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.160714057 meters Centerline goodness : 0.996862 Centerline is valid? [True, True] Translation: X:161.88, Y:203.26, Z:-127.47 [[ 3.83549515e-01 2.35908763e-01 8.92881193e-01 1.61881768e+02] [-5.58900198e-02 9.70980791e-01 -2.32535179e-01 2.03263402e+02] [-9.21827573e-01 3.92856076e-02 3.85604157e-01 -1.27471328e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.1907140569999 meters Centerline goodness : 0.997283 Centerline is valid? [True, True] Translation: X:161.88, Y:203.27, Z:-127.51 [[ 3.78655264e-01 2.58645636e-01 8.88663393e-01 1.61884830e+02] [-5.44259528e-02 9.64719936e-01 -2.57591265e-01 2.03271163e+02] [-9.23936149e-01 4.91719368e-02 3.79373318e-01 -1.27506872e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.2207140569999 meters Centerline goodness : 0.996886 Centerline is valid? [True, True] Translation: X:161.91, Y:203.26, Z:-127.53 [[ 3.86222802e-01 2.31955386e-01 8.92764608e-01 1.61906143e+02] [-5.20109939e-02 9.71802174e-01 -2.29989982e-01 2.03261209e+02] [-9.20938002e-01 4.23938008e-02 3.87396389e-01 -1.27528186e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.250714057 meters Centerline goodness : 0.996727 Centerline is valid? [True, True] Translation: X:161.91, Y:203.27, Z:-127.57 [[ 3.80303492e-01 2.57881818e-01 8.88181413e-01 1.61910227e+02] [-5.25231905e-02 9.64811897e-01 -2.57641840e-01 2.03270336e+02] [-9.23369140e-01 5.13319700e-02 3.80466110e-01 -1.27565811e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.280714057 meters Centerline goodness : 0.997536 Centerline is valid? [True, True] Translation: X:161.92, Y:203.27, Z:-127.59 [[ 3.80621764e-01 2.57012916e-01 8.88296929e-01 1.61923389e+02] [-5.20089958e-02 9.65029784e-01 -2.56929137e-01 2.03273985e+02] [-9.23267100e-01 5.15933901e-02 3.80678322e-01 -1.27592812e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.3107140569999 meters Centerline goodness : 0.997557 Centerline is valid? [True, True] Translation: X:161.94, Y:203.27, Z:-127.62 [[ 3.80468625e-01 2.57200009e-01 8.88308382e-01 1.61936669e+02] [-5.26762219e-02 9.65015182e-01 -2.56848037e-01 2.03273951e+02] [-9.23292392e-01 5.09298898e-02 3.80706324e-01 -1.27623112e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.3407140569999 meters Centerline goodness : 0.997998 Centerline is valid? [True, True] Translation: X:161.95, Y:203.27, Z:-127.65 [[ 3.79995650e-01 2.58392187e-01 8.88164840e-01 1.61950431e+02] [-5.42136093e-02 9.64761249e-01 -2.57481295e-01 2.03273854e+02] [-9.23398176e-01 4.96911505e-02 3.80613451e-01 -1.27653561e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.370714057 meters Centerline goodness : 0.998336 Centerline is valid? [True, True] Translation: X:161.97, Y:203.28, Z:-127.68 [[ 3.78224488e-01 2.61319872e-01 8.88064278e-01 1.61965044e+02] [-6.00549964e-02 9.64234771e-01 -2.58156354e-01 2.03277328e+02] [-9.23763841e-01 4.43083580e-02 3.80390767e-01 -1.27684266e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.400714057 meters Centerline goodness : 0.998653 Centerline is valid? [True, True] Translation: X:161.98, Y:203.28, Z:-127.71 [[ 3.77636771e-01 2.63542700e-01 8.87657431e-01 1.61978679e+02] [-6.43952618e-02 9.63794933e-01 -2.58751960e-01 2.03277574e+02] [-9.23711924e-01 4.05533221e-02 3.80935308e-01 -1.27714414e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.4307140569999 meters Centerline goodness : 0.998593 Centerline is valid? [True, True] Translation: X:161.99, Y:203.28, Z:-127.75 [[ 3.76193364e-01 2.65734006e-01 8.87617029e-01 1.61991862e+02] [-6.92731927e-02 9.63375233e-01 -2.59054792e-01 2.03278261e+02] [-9.23947930e-01 3.59666282e-02 3.80823613e-01 -1.27745076e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.4607140569999 meters Centerline goodness : 0.999052 Centerline is valid? [True, True] Translation: X:162.01, Y:203.28, Z:-127.78 [[ 3.74853295e-01 2.68246237e-01 8.87428287e-01 1.62005498e+02] [-7.41539281e-02 9.62833631e-01 -2.59716371e-01 2.03278960e+02] [-9.24113739e-01 3.15492439e-02 3.80812871e-01 -1.27775263e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.490714057 meters Centerline goodness : 0.999201 Centerline is valid? [True, True] Translation: X:162.02, Y:203.28, Z:-127.81 [[ 3.72572763e-01 2.72312098e-01 8.87150302e-01 1.62020212e+02] [-8.31195477e-02 9.61927736e-01 -2.60357776e-01 2.03283376e+02] [-9.24273053e-01 2.32626844e-02 3.81022533e-01 -1.27806092e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.520714057 meters Centerline goodness : 0.999474 Centerline is valid? [True, True] Translation: X:162.03, Y:203.28, Z:-127.84 [[ 3.71387048e-01 2.74569241e-01 8.86951742e-01 1.62033093e+02] [-8.73646255e-02 9.61370536e-01 -2.61025124e-01 2.03283040e+02] [-9.24358742e-01 1.94531434e-02 3.81028204e-01 -1.27836739e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.5507140569999 meters Centerline goodness : 0.999474 Centerline is valid? [True, True] Translation: X:162.05, Y:203.28, Z:-127.87 [[ 3.71365703e-01 2.75246696e-01 8.86750682e-01 1.62045443e+02] [-8.74901208e-02 9.61173666e-01 -2.61707208e-01 2.03279597e+02] [-9.24355448e-01 1.96071572e-02 3.81028301e-01 -1.27867693e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.5807140569999 meters Centerline goodness : 0.999579 Centerline is valid? [True, True] Translation: X:162.06, Y:203.28, Z:-127.90 [[ 3.70728156e-01 2.76824510e-01 8.86526269e-01 1.62058190e+02] [-9.09827109e-02 9.60779529e-01 -2.61963438e-01 2.03278716e+02] [-9.24274192e-01 1.64586590e-02 3.81374267e-01 -1.27898115e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.6107140569999 meters Centerline goodness : 0.999286 Centerline is valid? [True, True] Translation: X:162.07, Y:203.28, Z:-127.93 [[ 3.69552450e-01 2.79263656e-01 8.86252107e-01 1.62070390e+02] [-9.57518923e-02 9.60137069e-01 -2.62618322e-01 2.03278826e+02] [-9.24263254e-01 1.21909282e-02 3.81561030e-01 -1.27928435e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.640714057 meters Centerline goodness : 0.999414 Centerline is valid? [True, True] Translation: X:162.08, Y:203.28, Z:-127.96 [[ 3.69096064e-01 2.80314849e-01 8.86110423e-01 1.62082931e+02] [-9.74882225e-02 9.59848481e-01 -2.63034105e-01 2.03276927e+02] [-9.24264109e-01 1.06995229e-02 3.81603692e-01 -1.27958679e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.6707140569999 meters Centerline goodness : 0.999601 Centerline is valid? [True, True] Translation: X:162.10, Y:203.27, Z:-127.99 [[ 3.68736557e-01 2.81640763e-01 8.85839620e-01 1.62095408e+02] [-9.94044977e-02 9.59476102e-01 -2.63674715e-01 2.03274963e+02] [-9.24203493e-01 9.17006429e-03 3.81790273e-01 -1.27988721e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.7007140569999 meters Centerline goodness : 0.999811 Centerline is valid? [True, True] Translation: X:162.11, Y:203.27, Z:-128.02 [[ 3.67947142e-01 2.82975949e-01 8.85742351e-01 1.62107693e+02] [-1.01209281e-01 9.59096672e-01 -2.64367651e-01 2.03274176e+02] [-9.24322229e-01 7.62797561e-03 3.81536672e-01 -1.28018599e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.7307140569999 meters Centerline goodness : 0.999790 Centerline is valid? [True, True] Translation: X:162.12, Y:203.27, Z:-128.05 [[ 3.67851369e-01 2.84014557e-01 8.85449661e-01 1.62119914e+02] [-1.02505513e-01 9.58796552e-01 -2.64956208e-01 2.03271144e+02] [-9.24217502e-01 6.70103219e-03 3.81807682e-01 -1.28049194e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.760714057 meters Centerline goodness : 0.999686 Centerline is valid? [True, True] Translation: X:162.13, Y:203.27, Z:-128.08 [[ 3.67458064e-01 2.85145789e-01 8.85249372e-01 1.62131755e+02] [-1.03868032e-01 9.58467484e-01 -2.65615350e-01 2.03267434e+02] [-9.24221837e-01 5.65339233e-03 3.81814138e-01 -1.28079216e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.790714057 meters Centerline goodness : 0.999498 Centerline is valid? [True, True] Translation: X:162.14, Y:203.26, Z:-128.11 [[ 3.66888800e-01 2.86578228e-01 8.85022897e-01 1.62142890e+02] [-1.06163642e-01 9.58049647e-01 -2.66214490e-01 2.03262387e+02] [-9.24187151e-01 3.71386085e-03 3.81921874e-01 -1.28109083e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.8207140569999 meters Centerline goodness : 0.999438 Centerline is valid? [True, True] Translation: X:162.15, Y:203.26, Z:-128.14 [[ 3.66722592e-01 2.87544952e-01 8.84778187e-01 1.62154864e+02] [-1.07173787e-01 9.57762343e-01 -2.66842788e-01 2.03258213e+02] [-9.24136527e-01 3.03224932e-03 3.82050371e-01 -1.28139693e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.8507140569999 meters Centerline goodness : 0.999311 Centerline is valid? [True, True] Translation: X:162.17, Y:203.25, Z:-128.17 [[ 3.66188255e-01 2.88456942e-01 8.84702636e-01 1.62166225e+02] [-1.07862834e-01 9.57489487e-01 -2.67543440e-01 2.03254296e+02] [-9.24268235e-01 2.54473166e-03 3.81735188e-01 -1.28168853e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.880714057 meters Centerline goodness : 0.999559 Centerline is valid? [True, True] Translation: X:162.18, Y:203.25, Z:-128.20 [[ 3.65955122e-01 2.89113325e-01 8.84584837e-01 1.62178415e+02] [-1.08030789e-01 9.57291400e-01 -2.68183751e-01 2.03249901e+02] [-9.24340953e-01 2.58081898e-03 3.81558832e-01 -1.28198884e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.910714057 meters Centerline goodness : 0.999541 Centerline is valid? [True, True] Translation: X:162.19, Y:203.24, Z:-128.23 [[ 3.64976594e-01 2.89089352e-01 8.84996854e-01 1.62189067e+02] [-1.05928159e-01 9.57291823e-01 -2.69019684e-01 2.03243611e+02] [-9.24970979e-01 4.43980077e-03 3.80011812e-01 -1.28228178e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.9407140569999 meters Centerline goodness : 0.999790 Centerline is valid? [True, True] Translation: X:162.20, Y:203.24, Z:-128.26 [[ 3.64985488e-01 2.88915304e-01 8.85050022e-01 1.62200865e+02] [-1.03822491e-01 9.57332275e-01 -2.69695766e-01 2.03238350e+02] [-9.25206185e-01 6.54694262e-03 3.79408294e-01 -1.28257942e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.9707140569999 meters Centerline goodness : 0.999053 Centerline is valid? [True, True] Translation: X:162.21, Y:203.23, Z:-128.28 [[ 3.66176231e-01 2.87004723e-01 8.85179788e-01 1.62209246e+02] [-9.72371667e-02 9.57842040e-01 -2.70339714e-01 2.03231038e+02] [-9.25451188e-01 1.29196029e-02 3.78646514e-01 -1.28284258e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.000714057 meters Centerline goodness : 0.999014 Centerline is valid? [True, True] Translation: X:162.22, Y:203.23, Z:-128.31 [[ 3.67580528e-01 2.85303705e-01 8.85147644e-01 1.62218128e+02] [-9.33473339e-02 9.58292307e-01 -2.70115031e-01 2.03225345e+02] [-9.25294997e-01 1.66628533e-02 3.78881933e-01 -1.28309479e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.030714057 meters Centerline goodness : 0.999117 Centerline is valid? [True, True] Translation: X:162.23, Y:203.22, Z:-128.34 [[ 3.69363659e-01 2.83083814e-01 8.85118095e-01 1.62228036e+02] [-8.83197323e-02 9.58854503e-01 -2.69810426e-01 2.03220225e+02] [-9.25078436e-01 2.14847731e-02 3.79167895e-01 -1.28335024e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.0607140569999 meters Centerline goodness : 0.998864 Centerline is valid? [True, True] Translation: X:162.24, Y:203.22, Z:-128.36 [[ 3.70719732e-01 2.81042153e-01 8.85201779e-01 1.62237218e+02] [-8.35682072e-02 9.59344108e-01 -2.69583451e-01 2.03215108e+02] [-9.24977424e-01 2.59651789e-02 3.79133979e-01 -1.28360592e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.0907140569999 meters Centerline goodness : 0.998591 Centerline is valid? [True, True] Translation: X:162.25, Y:203.21, Z:-128.39 [[ 3.73637846e-01 2.76959009e-01 8.85261808e-01 1.62246119e+02] [-7.36015022e-02 9.60226405e-01 -2.69347491e-01 2.03208748e+02] [-9.24649977e-01 3.54818174e-02 3.79161524e-01 -1.28385030e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.120714057 meters Centerline goodness : 0.998463 Centerline is valid? [True, True] Translation: X:162.26, Y:203.20, Z:-128.41 [[ 3.75046072e-01 2.74971469e-01 8.85285906e-01 1.62255577e+02] [-6.91963655e-02 9.60634403e-01 -2.69060228e-01 2.03203768e+02] [-9.24419984e-01 3.96514146e-02 3.79309186e-01 -1.28411052e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.150714057 meters Centerline goodness : 0.998230 Centerline is valid? [True, True] Translation: X:162.27, Y:203.20, Z:-128.44 [[ 3.75936008e-01 2.73128897e-01 8.85478810e-01 1.62266771e+02] [-6.58779478e-02 9.61034083e-01 -2.68465246e-01 2.03197820e+02] [-9.24300933e-01 4.25922260e-02 3.79280488e-01 -1.28442166e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.1807140569999 meters Centerline goodness : 0.997829 Centerline is valid? [True, True] Translation: X:162.28, Y:203.19, Z:-128.47 [[ 3.77675200e-01 2.72611338e-01 8.84898018e-01 1.62277711e+02] [-6.33960027e-02 9.61047733e-01 -2.69013384e-01 2.03193133e+02] [-9.23765333e-01 4.55006867e-02 3.80246364e-01 -1.28471526e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.2107140569999 meters Centerline goodness : 0.998230 Centerline is valid? [True, True] Translation: X:162.29, Y:203.19, Z:-128.50 [[ 3.79758295e-01 2.71675278e-01 8.84294171e-01 1.62289893e+02] [-6.00348031e-02 9.61127674e-01 -2.69498455e-01 2.03188955e+02] [-9.23135667e-01 4.92558476e-02 3.81306179e-01 -1.28501604e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.240714057 meters Centerline goodness : 0.998250 Centerline is valid? [True, True] Translation: X:162.30, Y:203.19, Z:-128.53 [[ 3.79844509e-01 2.72062643e-01 8.84138036e-01 1.62302199e+02] [-5.94503590e-02 9.60976610e-01 -2.70165895e-01 2.03186099e+02] [-9.23138020e-01 5.00587081e-02 3.81195911e-01 -1.28531682e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.270714057 meters Centerline goodness : 0.998272 Centerline is valid? [True, True] Translation: X:162.31, Y:203.18, Z:-128.56 [[ 3.79441128e-01 2.72781724e-01 8.84089680e-01 1.62314708e+02] [-5.96087459e-02 9.60771875e-01 -2.70858268e-01 2.03183270e+02] [-9.23293685e-01 5.00752895e-02 3.80816541e-01 -1.28562250e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.3007140569999 meters Centerline goodness : 0.998212 Centerline is valid? [True, True] Translation: X:162.33, Y:203.18, Z:-128.59 [[ 3.77791780e-01 2.73935160e-01 8.84439313e-01 1.62327455e+02] [-6.13939398e-02 9.60540157e-01 -2.71281017e-01 2.03181504e+02] [-9.23852886e-01 4.81885245e-02 3.79702135e-01 -1.28592115e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.3307140569999 meters Centerline goodness : 0.998657 Centerline is valid? [True, True] Translation: X:162.34, Y:203.18, Z:-128.62 [[ 3.77022415e-01 2.75186059e-01 8.84379292e-01 1.62340528e+02] [-6.30015257e-02 9.60250787e-01 -2.71936085e-01 2.03178926e+02] [-9.24058930e-01 4.68087546e-02 3.79373212e-01 -1.28622622e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.3607140569999 meters Centerline goodness : 0.998674 Centerline is valid? [True, True] Translation: X:162.35, Y:203.18, Z:-128.65 [[ 3.76285431e-01 2.76575295e-01 8.84259793e-01 1.62353076e+02] [-6.49532777e-02 9.59931446e-01 -2.72603541e-01 2.03176717e+02] [-9.24224186e-01 4.51411688e-02 3.79172689e-01 -1.28653109e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.390714057 meters Centerline goodness : 0.999181 Centerline is valid? [True, True] Translation: X:162.37, Y:203.17, Z:-128.68 [[ 3.76098549e-01 2.77859175e-01 8.83936740e-01 1.62366216e+02] [-6.68613849e-02 9.59629568e-01 -2.73204404e-01 2.03174864e+02] [-9.24164183e-01 4.36505454e-02 3.79493337e-01 -1.28683816e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.4207140569999 meters Centerline goodness : 0.998865 Centerline is valid? [True, True] Translation: X:162.38, Y:203.18, Z:-128.71 [[ 3.74781330e-01 2.79721771e-01 8.83908754e-01 1.62379525e+02] [-7.04362742e-02 9.59234246e-01 -2.73693977e-01 2.03175032e+02] [-9.24433711e-01 4.03161531e-02 3.79205646e-01 -1.28714605e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.4507140569999 meters Centerline goodness : 0.999285 Centerline is valid? [True, True] Translation: X:162.39, Y:203.17, Z:-128.74 [[ 3.74632350e-01 2.80986767e-01 8.83570619e-01 1.62392519e+02] [-7.22434159e-02 9.58921477e-01 -2.74318226e-01 2.03173515e+02] [-9.24354635e-01 3.89363220e-02 3.79542450e-01 -1.28743849e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.4807140569999 meters Centerline goodness : 0.999118 Centerline is valid? [True, True] Translation: X:162.41, Y:203.17, Z:-128.77 [[ 3.74199861e-01 2.82060805e-01 8.83411663e-01 1.62405376e+02] [-7.35142512e-02 9.58646050e-01 -2.74942549e-01 2.03171837e+02] [-9.24429618e-01 3.79401167e-02 3.79460708e-01 -1.28774736e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.510714057 meters Centerline goodness : 0.999284 Centerline is valid? [True, True] Translation: X:162.42, Y:203.17, Z:-128.81 [[ 3.74505042e-01 2.82845390e-01 8.83031403e-01 1.62418993e+02] [-7.41605567e-02 9.58424101e-01 -2.75542110e-01 2.03171635e+02] [-9.24254395e-01 3.77058089e-02 3.79910629e-01 -1.28805588e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.540714057 meters Centerline goodness : 0.999074 Centerline is valid? [True, True] Translation: X:162.43, Y:203.17, Z:-128.83 [[ 3.75246091e-01 2.83233096e-01 8.82592423e-01 1.62431580e+02] [-7.38200706e-02 9.58279385e-01 -2.76136230e-01 2.03169675e+02] [-9.23981043e-01 3.84660058e-02 3.80498881e-01 -1.28834811e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.5707140569999 meters Centerline goodness : 0.999369 Centerline is valid? [True, True] Translation: X:162.44, Y:203.17, Z:-128.87 [[ 3.75595947e-01 2.83385979e-01 8.82394510e-01 1.62443877e+02] [-7.27544202e-02 9.58181749e-01 -2.76757170e-01 2.03167642e+02] [-9.23923416e-01 3.97507703e-02 3.80506764e-01 -1.28865061e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.6007140569999 meters Centerline goodness : 0.999453 Centerline is valid? [True, True] Translation: X:162.46, Y:203.17, Z:-128.89 [[ 3.76639219e-01 2.82852918e-01 8.82120811e-01 1.62456885e+02] [-6.99440927e-02 9.58208996e-01 -2.77386633e-01 2.03166716e+02] [-9.23715715e-01 4.27755450e-02 3.80682979e-01 -1.28894929e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.630714057 meters Centerline goodness : 0.999284 Centerline is valid? [True, True] Translation: X:162.47, Y:203.16, Z:-128.93 [[ 3.76919969e-01 2.83086947e-01 8.81925801e-01 1.62469325e+02] [-6.90232649e-02 9.58087947e-01 -2.78034666e-01 2.03164692e+02] [-9.23670464e-01 4.39234194e-02 3.80662064e-01 -1.28925196e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.660714057 meters Centerline goodness : 0.999348 Centerline is valid? [True, True] Translation: X:162.48, Y:203.16, Z:-128.95 [[ 3.77036116e-01 2.83245539e-01 8.81825228e-01 1.62480649e+02] [-6.87696546e-02 9.58024061e-01 -2.78317506e-01 2.03162780e+02] [-9.23641977e-01 4.42929350e-02 3.80688368e-01 -1.28952968e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.6907140569999 meters Centerline goodness : 0.999349 Centerline is valid? [True, True] Translation: X:162.49, Y:203.16, Z:-128.98 [[ 3.76878186e-01 2.84268346e-01 8.81563577e-01 1.62494096e+02] [-7.15342845e-02 9.57832424e-01 -2.78280244e-01 2.03162518e+02] [-9.23496442e-01 4.18157341e-02 3.81321079e-01 -1.28983272e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.7207140569999 meters Centerline goodness : 0.999516 Centerline is valid? [True, True] Translation: X:162.51, Y:203.16, Z:-129.01 [[ 3.76478270e-01 2.86009158e-01 8.81171308e-01 1.62506687e+02] [-7.45793370e-02 9.57421434e-01 -2.78894462e-01 2.03161038e+02] [-9.23418667e-01 3.92805327e-02 3.81778738e-01 -1.29012617e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.750714057 meters Centerline goodness : 0.999368 Centerline is valid? [True, True] Translation: X:162.52, Y:203.16, Z:-129.04 [[ 3.75546867e-01 2.87857462e-01 8.80966874e-01 1.62519348e+02] [-7.83839947e-02 9.57002689e-01 -2.79288028e-01 2.03159630e+02] [-9.23482810e-01 3.58320412e-02 3.81962779e-01 -1.29042478e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.780714057 meters Centerline goodness : 0.999434 Centerline is valid? [True, True] Translation: X:162.53, Y:203.16, Z:-129.07 [[ 3.73263977e-01 2.91852588e-01 8.80622547e-01 1.62533516e+02] [-8.73329417e-02 9.56066559e-01 -2.79838689e-01 2.03159657e+02] [-9.23605414e-01 2.75463445e-02 3.82353552e-01 -1.29073005e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.8107140569999 meters Centerline goodness : 0.999369 Centerline is valid? [True, True] Translation: X:162.55, Y:203.16, Z:-129.10 [[ 3.71711015e-01 2.93912721e-01 8.80594251e-01 1.62546482e+02] [-9.19011517e-02 9.55550599e-01 -2.80137879e-01 2.03157417e+02] [-9.23788450e-01 2.32027095e-02 3.82199600e-01 -1.29102380e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.8407140569999 meters Centerline goodness : 0.999288 Centerline is valid? [True, True] Translation: X:162.56, Y:203.16, Z:-129.13 [[ 3.70049877e-01 2.96068067e-01 8.80571853e-01 1.62559251e+02] [-9.58804263e-02 9.54968256e-01 -2.80789200e-01 2.03155491e+02] [-9.24050882e-01 1.94764042e-02 3.81773018e-01 -1.29132438e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.870714057 meters Centerline goodness : 0.999202 Centerline is valid? [True, True] Translation: X:162.57, Y:203.15, Z:-129.16 [[ 3.67128353e-01 2.99056963e-01 8.80784710e-01 1.62572821e+02] [-1.01675387e-01 9.54135143e-01 -2.81581683e-01 2.03153154e+02] [-9.24596609e-01 1.38224937e-02 3.80696796e-01 -1.29162073e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.900714057 meters Centerline goodness : 0.998930 Centerline is valid? [True, True] Translation: X:162.59, Y:203.15, Z:-129.19 [[ 3.66487137e-01 3.00312670e-01 8.80624482e-01 1.62585109e+02] [-1.03330893e-01 9.53759619e-01 -2.82250448e-01 2.03150029e+02] [-9.24667456e-01 1.24454448e-02 3.80572209e-01 -1.29191609e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.9307140569999 meters Centerline goodness : 0.998907 Centerline is valid? [True, True] Translation: X:162.60, Y:203.15, Z:-129.22 [[ 3.65902563e-01 3.01261629e-01 8.80543438e-01 1.62596803e+02] [-1.04241579e-01 9.53469457e-01 -2.82895187e-01 2.03146517e+02] [-9.24796739e-01 1.17228360e-02 3.80280906e-01 -1.29222654e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.9607140569999 meters Centerline goodness : 0.999307 Centerline is valid? [True, True] Translation: X:162.61, Y:203.14, Z:-129.25 [[ 3.66452453e-01 3.02030503e-01 8.80051234e-01 1.62608296e+02] [-1.04918347e-01 9.53228412e-01 -2.83456759e-01 2.03142648e+02] [-9.24502428e-01 1.15399039e-02 3.81001431e-01 -1.29251993e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.990714057 meters Centerline goodness : 0.999369 Centerline is valid? [True, True] Translation: X:162.62, Y:203.14, Z:-129.28 [[ 3.68312519e-01 3.02196579e-01 8.79217332e-01 1.62618784e+02] [-1.04980994e-01 9.53167991e-01 -2.83636688e-01 2.03137515e+02] [-9.23755855e-01 1.21658333e-02 3.82788601e-01 -1.29283196e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.020714057 meters Centerline goodness : 0.999159 Centerline is valid? [True, True] Translation: X:162.63, Y:203.13, Z:-129.31 [[ 3.69343705e-01 3.02486214e-01 8.78684994e-01 1.62629653e+02] [-1.04439027e-01 9.53062421e-01 -2.84190976e-01 2.03133203e+02] [-9.23405500e-01 1.31951421e-02 3.83598972e-01 -1.29312751e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.0507140569999 meters Centerline goodness : 0.999160 Centerline is valid? [True, True] Translation: X:162.64, Y:203.13, Z:-129.34 [[ 3.70467664e-01 3.02595542e-01 8.78174042e-01 1.62640974e+02] [-1.03546842e-01 9.53008152e-01 -2.84698988e-01 2.03128381e+02] [-9.23055665e-01 1.45396208e-02 3.84391517e-01 -1.29343560e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.0807140569999 meters Centerline goodness : 0.999223 Centerline is valid? [True, True] Translation: X:162.65, Y:203.12, Z:-129.37 [[ 3.71433895e-01 3.02669141e-01 8.77740424e-01 1.62652528e+02] [-1.02410818e-01 9.52960223e-01 -2.85269764e-01 2.03123225e+02] [-9.22794065e-01 1.60687448e-02 3.84958322e-01 -1.29373909e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.1107140569999 meters Centerline goodness : 0.999748 Centerline is valid? [True, True] Translation: X:162.66, Y:203.12, Z:-129.40 [[ 3.74043402e-01 3.01360156e-01 8.77082431e-01 1.62664682e+02] [-9.78970739e-02 9.53278347e-01 -2.85791105e-01 2.03116835e+02] [-9.22229742e-01 2.10344735e-02 3.86069754e-01 -1.29402615e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.140714057 meters Centerline goodness : 0.999790 Centerline is valid? [True, True] Translation: X:162.68, Y:203.11, Z:-129.43 [[ 3.74816091e-01 3.00964645e-01 8.76888351e-01 1.62677055e+02] [-9.54352430e-02 9.53341603e-01 -2.86412120e-01 2.03111366e+02] [-9.22174068e-01 2.36658186e-02 3.86050407e-01 -1.29432536e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.1707140569999 meters Centerline goodness : 0.999558 Centerline is valid? [True, True] Translation: X:162.69, Y:203.11, Z:-129.46 [[ 3.75007728e-01 3.00403176e-01 8.76998937e-01 1.62689511e+02] [-9.21683772e-02 9.53434023e-01 -2.87173386e-01 2.03106235e+02] [-9.22428422e-01 2.68606703e-02 3.85232800e-01 -1.29463109e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.2007140569999 meters Centerline goodness : 0.999769 Centerline is valid? [True, True] Translation: X:162.70, Y:203.10, Z:-129.49 [[ 3.74931650e-01 2.98763044e-01 8.77591534e-01 1.62702472e+02] [-8.56758972e-02 9.53762597e-01 -2.88091215e-01 2.03100343e+02] [-9.23084990e-01 3.28260727e-02 3.83192576e-01 -1.29491371e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.2307140569999 meters Centerline goodness : 0.999580 Centerline is valid? [True, True] Translation: X:162.71, Y:203.10, Z:-129.52 [[ 3.75440787e-01 2.98289496e-01 8.77534952e-01 1.62714728e+02] [-8.28978289e-02 9.53808969e-01 -2.88749719e-01 2.03096092e+02] [-9.23131716e-01 3.56626794e-02 3.82826342e-01 -1.29521251e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.260714057 meters Centerline goodness : 0.999642 Centerline is valid? [True, True] Translation: X:162.73, Y:203.09, Z:-129.55 [[ 3.75974911e-01 2.97933466e-01 8.77427214e-01 1.62727125e+02] [-8.03690886e-02 9.53817911e-01 -2.89434281e-01 2.03091930e+02] [-9.23137951e-01 3.83020025e-02 3.82556245e-01 -1.29551103e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.290714057 meters Centerline goodness : 0.999496 Centerline is valid? [True, True] Translation: X:162.74, Y:203.09, Z:-129.58 [[ 3.78017229e-01 2.96706431e-01 8.76965375e-01 1.62739518e+02] [-7.60347214e-02 9.54002694e-01 -2.89995828e-01 2.03088309e+02] [-9.22670957e-01 4.29436015e-02 3.83189446e-01 -1.29581858e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.3207140569999 meters Centerline goodness : 0.999516 Centerline is valid? [True, True] Translation: X:162.75, Y:203.09, Z:-129.61 [[ 3.79175160e-01 2.96446276e-01 8.76553366e-01 1.62751333e+02] [-7.41134505e-02 9.53978710e-01 -2.90571534e-01 2.03085120e+02] [-9.22352099e-01 4.52131136e-02 3.83695687e-01 -1.29612580e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.3507140569999 meters Centerline goodness : 0.999327 Centerline is valid? [True, True] Translation: X:162.76, Y:203.08, Z:-129.64 [[ 3.80358690e-01 2.96029085e-01 8.76181516e-01 1.62762919e+02] [-7.26993090e-02 9.54026850e-01 -2.90770665e-01 2.03081764e+02] [-9.21977265e-01 4.68993582e-02 3.84393512e-01 -1.29642439e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.380714057 meters Centerline goodness : 0.999104 Centerline is valid? [True, True] Translation: X:162.77, Y:203.08, Z:-129.67 [[ 3.82380369e-01 2.95353422e-01 8.75529331e-01 1.62774457e+02] [-7.00827346e-02 9.54078473e-01 -2.91243332e-01 2.03079281e+02] [-9.21343402e-01 5.00062432e-02 3.85520054e-01 -1.29671722e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.410714057 meters Centerline goodness : 0.999232 Centerline is valid? [True, True] Translation: X:162.79, Y:203.08, Z:-129.70 [[ 3.83805466e-01 2.95331757e-01 8.74912863e-01 1.62785062e+02] [-6.90002273e-02 9.53999795e-01 -2.91759079e-01 2.03076951e+02] [-9.20832413e-01 5.16095429e-02 3.86528294e-01 -1.29696950e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.4407140569999 meters Centerline goodness : 0.999351 Centerline is valid? [True, True] Translation: X:162.80, Y:203.07, Z:-129.72 [[ 3.84439934e-01 2.94510539e-01 8.74911127e-01 1.62795877e+02] [-6.76895679e-02 9.54187183e-01 -2.91453156e-01 2.03074584e+02] [-9.20665010e-01 5.28238757e-02 3.86762948e-01 -1.29722696e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.4707140569999 meters Centerline goodness : 0.999351 Centerline is valid? [True, True] Translation: X:162.81, Y:203.07, Z:-129.75 [[ 3.84453450e-01 2.94254007e-01 8.74991500e-01 1.62806238e+02] [-6.76002261e-02 9.54267217e-01 -2.91211757e-01 2.03071135e+02] [-9.20665930e-01 5.28077415e-02 3.86762961e-01 -1.29749017e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.500714057 meters Centerline goodness : 0.999624 Centerline is valid? [True, True] Translation: X:162.82, Y:203.07, Z:-129.77 [[ 3.85167826e-01 2.93679840e-01 8.74870218e-01 1.62816847e+02] [-6.68451377e-02 9.54400868e-01 -2.90947952e-01 2.03068813e+02] [-9.20422443e-01 5.35829698e-02 3.87235577e-01 -1.29773288e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.530714057 meters Centerline goodness : 0.999184 Centerline is valid? [True, True] Translation: X:162.83, Y:203.07, Z:-129.80 [[ 3.84403922e-01 2.93686099e-01 8.75204033e-01 1.62829494e+02] [-6.72234736e-02 9.54435364e-01 -2.90747554e-01 2.03067484e+02] [-9.20714195e-01 5.29302451e-02 3.86631297e-01 -1.29801190e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.5607140569999 meters Centerline goodness : 0.998956 Centerline is valid? [True, True] Translation: X:162.84, Y:203.07, Z:-129.83 [[ 3.83550343e-01 2.94203032e-01 8.75404884e-01 1.62841564e+02] [-6.82816653e-02 9.54339913e-01 -2.90814278e-01 2.03065409e+02] [-9.20992263e-01 5.17678129e-02 3.86126074e-01 -1.29829219e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.5907140569999 meters Centerline goodness : 0.998958 Centerline is valid? [True, True] Translation: X:162.85, Y:203.06, Z:-129.85 [[ 3.82068791e-01 2.94863040e-01 8.75830592e-01 1.62852539e+02] [-6.94480878e-02 9.54212571e-01 -2.90955893e-01 2.03064067e+02] [-9.21520701e-01 5.03404066e-02 3.85052518e-01 -1.29854941e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.620714057 meters Centerline goodness : 0.998934 Centerline is valid? [True, True] Translation: X:162.86, Y:203.07, Z:-129.88 [[ 3.79566034e-01 2.96515387e-01 8.76360800e-01 1.62864012e+02] [-7.35421907e-02 9.53921137e-01 -2.90905501e-01 2.03065292e+02] [-9.22237048e-01 4.59683541e-02 3.83882454e-01 -1.29881770e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.650714057 meters Centerline goodness : 0.999247 Centerline is valid? [True, True] Translation: X:162.87, Y:203.06, Z:-129.91 [[ 3.79165210e-01 2.97333021e-01 8.76257278e-01 1.62874800e+02] [-7.61440519e-02 9.53782468e-01 -2.90690706e-01 2.03064557e+02] [-9.22190776e-01 4.34980231e-02 3.84281271e-01 -1.29907325e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.6807140569999 meters Centerline goodness : 0.998185 Centerline is valid? [True, True] Translation: X:162.88, Y:203.06, Z:-129.93 [[ 3.78589709e-01 2.98256230e-01 8.76192361e-01 1.62884657e+02] [-7.91824388e-02 9.53623523e-01 -2.90400273e-01 2.03064025e+02] [-9.22171336e-01 4.05635068e-02 3.84648708e-01 -1.29932221e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.7107140569999 meters Centerline goodness : 0.998603 Centerline is valid? [True, True] Translation: X:162.90, Y:203.06, Z:-129.96 [[ 3.78149399e-01 2.99102091e-01 8.76094157e-01 1.62895374e+02] [-8.21625055e-02 9.53475982e-01 -2.90056674e-01 2.03063024e+02] [-9.22091294e-01 3.77026663e-02 3.85131347e-01 -1.29957999e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.740714057 meters Centerline goodness : 0.998534 Centerline is valid? [True, True] Translation: X:162.91, Y:203.06, Z:-129.99 [[ 3.76888987e-01 3.00878872e-01 8.76028878e-01 1.62908039e+02] [-8.73497042e-02 9.53101907e-01 -2.89770225e-01 2.03063723e+02] [-9.22130533e-01 3.26903432e-02 3.85495293e-01 -1.29988983e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.770714057 meters Centerline goodness : 0.998372 Centerline is valid? [True, True] Translation: X:162.92, Y:203.06, Z:-130.02 [[ 3.76193084e-01 3.02276235e-01 8.75846928e-01 1.62921079e+02] [-8.93052398e-02 9.52714648e-01 -2.90446852e-01 2.03061883e+02] [-9.22227379e-01 3.10463770e-02 3.85399513e-01 -1.30019665e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.8007140569999 meters Centerline goodness : 0.998829 Centerline is valid? [True, True] Translation: X:162.93, Y:203.06, Z:-130.05 [[ 3.75452048e-01 3.03474153e-01 8.75750648e-01 1.62934272e+02] [-9.06593778e-02 9.52369777e-01 -2.91157492e-01 2.03059823e+02] [-9.22397223e-01 2.99206678e-02 3.85081961e-01 -1.30049408e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.8307140569999 meters Centerline goodness : 0.998557 Centerline is valid? [True, True] Translation: X:162.95, Y:203.06, Z:-130.07 [[ 3.73934882e-01 3.04390480e-01 8.76081697e-01 1.62946249e+02] [-9.10076140e-02 9.52092217e-01 -2.91955518e-01 2.03059837e+02] [-9.22979045e-01 2.94422474e-02 3.83722342e-01 -1.30074726e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.8607140569999 meters Centerline goodness : 0.998592 Centerline is valid? [True, True] Translation: X:162.96, Y:203.06, Z:-130.10 [[ 3.73047759e-01 3.04382139e-01 8.76462711e-01 1.62958993e+02] [-9.11438274e-02 9.52108660e-01 -2.91859387e-01 2.03057086e+02] [-9.23324522e-01 2.89933243e-02 3.82924555e-01 -1.30104814e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.890714057 meters Centerline goodness : 0.998698 Centerline is valid? [True, True] Translation: X:162.97, Y:203.05, Z:-130.14 [[ 3.72718664e-01 3.05115453e-01 8.76347738e-01 1.62970975e+02] [-9.13333565e-02 9.51873555e-01 -2.92566151e-01 2.03054438e+02] [-9.23438691e-01 2.90050846e-02 3.82648258e-01 -1.30135088e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.9207140569999 meters Centerline goodness : 0.998604 Centerline is valid? [True, True] Translation: X:162.98, Y:203.05, Z:-130.16 [[ 3.73747109e-01 3.05645607e-01 8.75724764e-01 1.62982473e+02] [-9.15010508e-02 9.51690767e-01 -2.93107902e-01 2.03052113e+02] [-9.23006314e-01 2.94184950e-02 3.83658567e-01 -1.30164523e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.9507140569999 meters Centerline goodness : 0.998538 Centerline is valid? [True, True] Translation: X:162.99, Y:203.05, Z:-130.19 [[ 3.73874918e-01 3.06017434e-01 8.75540334e-01 1.62992333e+02] [-9.09630486e-02 9.51547415e-01 -2.93740090e-01 2.03049404e+02] [-9.23007730e-01 3.01802341e-02 3.83595990e-01 -1.30190612e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.9807140569999 meters Centerline goodness : 0.998976 Centerline is valid? [True, True] Translation: X:163.00, Y:203.05, Z:-130.22 [[ 3.74398459e-01 3.05604702e-01 8.75460770e-01 1.63004380e+02] [-9.05323709e-02 9.51665861e-01 -2.93489315e-01 2.03045707e+02] [-9.22837843e-01 3.06244083e-02 3.83969350e-01 -1.30220729e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.010714057 meters Centerline goodness : 0.998435 Centerline is valid? [True, True] Translation: X:163.02, Y:203.04, Z:-130.25 [[ 3.74748276e-01 3.05870572e-01 8.75218214e-01 1.63016204e+02] [-8.97017363e-02 9.51544596e-01 -2.94136839e-01 2.03043410e+02] [-9.22776965e-01 3.17186798e-02 3.84026819e-01 -1.30251524e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.040714057 meters Centerline goodness : 0.998562 Centerline is valid? [True, True] Translation: X:163.03, Y:203.04, Z:-130.28 [[ 3.74533823e-01 3.06562880e-01 8.75067778e-01 1.63028190e+02] [-8.98365153e-02 9.51318761e-01 -2.94825398e-01 2.03039814e+02] [-9.22850918e-01 3.18090435e-02 3.83841593e-01 -1.30281350e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.0707140569999 meters Centerline goodness : 0.998582 Centerline is valid? [True, True] Translation: X:163.04, Y:203.04, Z:-130.31 [[ 3.74860066e-01 3.07146125e-01 8.74723493e-01 1.63039458e+02] [-9.00227093e-02 9.51124660e-01 -2.95394301e-01 2.03036718e+02] [-9.22700299e-01 3.19865487e-02 3.84188779e-01 -1.30307242e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.1007140569999 meters Centerline goodness : 0.998068 Centerline is valid? [True, True] Translation: X:163.05, Y:203.03, Z:-130.33 [[ 3.74626362e-01 3.07009918e-01 8.74871419e-01 1.63049421e+02] [-8.97591333e-02 9.51164235e-01 -2.95347077e-01 2.03034173e+02] [-9.22820886e-01 3.21171007e-02 3.83888141e-01 -1.30332246e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.130714057 meters Centerline goodness : 0.998291 Centerline is valid? [True, True] Translation: X:163.06, Y:203.03, Z:-130.36 [[ 3.73140632e-01 3.07227284e-01 8.75429874e-01 1.63060703e+02] [-9.04976672e-02 9.51133238e-01 -2.95221504e-01 2.03031274e+02] [-9.23350552e-01 3.09347774e-02 3.82709810e-01 -1.30358324e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.160714057 meters Centerline goodness : 0.998602 Centerline is valid? [True, True] Translation: X:163.07, Y:203.03, Z:-130.38 [[ 3.72301784e-01 3.07419133e-01 8.75719623e-01 1.63071738e+02] [-9.11254106e-02 9.51098640e-01 -2.95139859e-01 2.03028250e+02] [-9.23627382e-01 3.00807858e-02 3.82109415e-01 -1.30384302e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.1907140569999 meters Centerline goodness : 0.998373 Centerline is valid? [True, True] Translation: X:163.08, Y:203.03, Z:-130.41 [[ 3.71695240e-01 3.07555027e-01 8.75929537e-01 1.63082148e+02] [-9.19141159e-02 9.51084682e-01 -2.94940203e-01 2.03025372e+02] [-9.23793507e-01 2.91175807e-02 3.81782297e-01 -1.30410473e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.2207140569999 meters Centerline goodness : 0.997986 Centerline is valid? [True, True] Translation: X:163.09, Y:203.02, Z:-130.44 [[ 3.70172969e-01 3.07818300e-01 8.76481527e-01 1.63092178e+02] [-9.26902823e-02 9.51035831e-01 -2.94854812e-01 2.03022973e+02] [-9.24327044e-01 2.79059609e-02 3.80579522e-01 -1.30437026e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.250714057 meters Centerline goodness : 0.998009 Centerline is valid? [True, True] Translation: X:163.10, Y:203.02, Z:-130.46 [[ 3.70118598e-01 3.07885059e-01 8.76481041e-01 1.63102168e+02] [-9.33004609e-02 9.51032144e-01 -2.94674202e-01 2.03019867e+02] [-9.24287427e-01 2.72883175e-02 3.80720501e-01 -1.30463366e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.280714057 meters Centerline goodness : 0.997928 Centerline is valid? [True, True] Translation: X:163.11, Y:203.02, Z:-130.49 [[ 3.69899474e-01 3.07746473e-01 8.76622204e-01 1.63111255e+02] [-9.34553283e-02 9.51085425e-01 -2.94453081e-01 2.03017410e+02] [-9.24359498e-01 2.69930238e-02 3.80566546e-01 -1.30488523e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.3107140569999 meters Centerline goodness : 0.998233 Centerline is valid? [True, True] Translation: X:163.12, Y:203.01, Z:-130.51 [[ 3.71008747e-01 3.07671913e-01 8.76179493e-01 1.63120796e+02] [-9.44566425e-02 9.51128595e-01 -2.93993772e-01 2.03014722e+02] [-9.23812997e-01 2.63132876e-02 3.81938684e-01 -1.30514217e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.3407140569999 meters Centerline goodness : 0.998213 Centerline is valid? [True, True] Translation: X:163.13, Y:203.01, Z:-130.54 [[ 3.71980157e-01 3.07310989e-01 8.75894240e-01 1.63130393e+02] [-9.44564213e-02 9.51240326e-01 -2.93632129e-01 2.03011654e+02] [-9.23422302e-01 2.64914900e-02 3.82870021e-01 -1.30540536e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.370714057 meters Centerline goodness : 0.997993 Centerline is valid? [True, True] Translation: X:163.14, Y:203.01, Z:-130.57 [[ 3.72945538e-01 3.06779457e-01 8.75670024e-01 1.63140730e+02] [-9.39554920e-02 9.51394504e-01 -2.93293136e-01 2.03007003e+02] [-9.23083957e-01 2.71083585e-02 3.83641950e-01 -1.30571119e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.400714057 meters Centerline goodness : 0.998333 Centerline is valid? [True, True] Translation: X:163.15, Y:203.00, Z:-130.60 [[ 3.73844755e-01 3.07090942e-01 8.75177269e-01 1.63152647e+02] [-9.35057327e-02 9.51267610e-01 -2.93847941e-01 2.03002567e+02] [-9.22765830e-01 2.80194196e-02 3.84341170e-01 -1.30601133e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.4307140569999 meters Centerline goodness : 0.998082 Centerline is valid? [True, True] Translation: X:163.16, Y:203.00, Z:-130.63 [[ 3.74342912e-01 3.07336796e-01 8.74877979e-01 1.63164474e+02] [-9.26711963e-02 9.51153913e-01 -2.94479684e-01 2.02998308e+02] [-9.22648055e-01 2.91603935e-02 3.84538994e-01 -1.30630489e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.4607140569999 meters Centerline goodness : 0.998352 Centerline is valid? [True, True] Translation: X:163.18, Y:202.99, Z:-130.66 [[ 3.74345914e-01 3.07532937e-01 8.74807767e-01 1.63176653e+02] [-9.16073028e-02 9.51053479e-01 -2.95136211e-01 2.02994140e+02] [-9.22753076e-01 3.03442546e-02 3.84195246e-01 -1.30661084e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.490714057 meters Centerline goodness : 0.998722 Centerline is valid? [True, True] Translation: X:163.19, Y:202.99, Z:-130.69 [[ 3.74445162e-01 3.07487353e-01 8.74781315e-01 1.63189599e+02] [-8.97752847e-02 9.51005610e-01 -2.95852544e-01 2.02989241e+02] [-9.22892854e-01 3.22468121e-02 3.83704214e-01 -1.30691482e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.520714057 meters Centerline goodness : 0.997705 Centerline is valid? [True, True] Translation: X:163.20, Y:202.99, Z:-130.72 [[ 3.76559533e-01 3.15590023e-01 8.70979825e-01 1.63201652e+02] [-9.02104422e-02 9.48208019e-01 -3.04571221e-01 2.02988664e+02] [-9.21989693e-01 3.61177215e-02 3.85526284e-01 -1.30716617e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.5507140569999 meters Centerline goodness : 0.997765 Centerline is valid? [True, True] Translation: X:163.21, Y:202.98, Z:-130.74 [[ 3.75746899e-01 3.00536240e-01 8.76636890e-01 1.63209232e+02] [-8.92438162e-02 9.53292387e-01 -2.88563972e-01 2.02979341e+02] [-9.22415205e-01 3.01925960e-02 3.85017659e-01 -1.30741451e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.5807140569999 meters Centerline goodness : 0.998603 Centerline is valid? [True, True] Translation: X:163.22, Y:202.97, Z:-130.77 [[ 3.72842070e-01 2.92711700e-01 8.80516128e-01 1.63218409e+02] [-8.73528553e-02 9.55797712e-01 -2.80749376e-01 2.02973025e+02] [-9.23773928e-01 2.77595807e-02 3.81930800e-01 -1.30768303e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.6107140569999 meters Centerline goodness : 0.998359 Centerline is valid? [True, True] Translation: X:163.23, Y:202.98, Z:-130.79 [[ 3.72850778e-01 3.05955198e-01 8.75998695e-01 1.63231297e+02] [-8.77854405e-02 9.51471286e-01 -2.94951028e-01 2.02975236e+02] [-9.23729405e-01 3.30727889e-02 3.81615221e-01 -1.30794325e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.640714057 meters Centerline goodness : 0.998395 Centerline is valid? [True, True] Translation: X:163.24, Y:202.97, Z:-130.82 [[ 3.72194959e-01 3.06078424e-01 8.76234507e-01 1.63241407e+02] [-8.85069815e-02 9.51463079e-01 -2.94761808e-01 2.02972434e+02] [-9.23925012e-01 3.21559878e-02 3.81219839e-01 -1.30819708e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.6707140569999 meters Centerline goodness : 0.998374 Centerline is valid? [True, True] Translation: X:163.25, Y:202.97, Z:-130.85 [[ 3.72046717e-01 3.06166585e-01 8.76266662e-01 1.63252250e+02] [-8.94521936e-02 9.51467539e-01 -2.94461929e-01 2.02969417e+02] [-9.23893687e-01 3.11696190e-02 3.81377647e-01 -1.30846794e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.7007140569999 meters Centerline goodness : 0.998171 Centerline is valid? [True, True] Translation: X:163.26, Y:202.97, Z:-130.87 [[ 3.71643208e-01 3.06908255e-01 8.76178434e-01 1.63262535e+02] [-9.16585507e-02 9.51294710e-01 -2.94341782e-01 2.02967487e+02] [-9.23839833e-01 2.90808787e-02 3.81672984e-01 -1.30871960e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.7307140569999 meters Centerline goodness : 0.998188 Centerline is valid? [True, True] Translation: X:163.27, Y:202.96, Z:-130.90 [[ 3.71000115e-01 3.07085367e-01 8.76388893e-01 1.63273209e+02] [-9.28640206e-02 9.51278924e-01 -2.94014766e-01 2.02964251e+02] [-9.23977916e-01 2.76945158e-02 3.81441772e-01 -1.30899416e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.760714057 meters Centerline goodness : 0.998793 Centerline is valid? [True, True] Translation: X:163.28, Y:202.96, Z:-130.93 [[ 3.70495535e-01 3.07638892e-01 8.76408221e-01 1.63284084e+02] [-9.44825514e-02 9.51145290e-01 -2.93931428e-01 2.02960944e+02] [-9.24016291e-01 2.60949969e-02 3.81461591e-01 -1.30926460e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.790714057 meters Centerline goodness : 0.998726 Centerline is valid? [True, True] Translation: X:163.29, Y:202.96, Z:-130.95 [[ 3.70087632e-01 3.08349073e-01 8.76330984e-01 1.63294850e+02] [-9.65991537e-02 9.50968333e-01 -2.93815986e-01 2.02957862e+02] [-9.23960902e-01 2.40848311e-02 3.81727878e-01 -1.30953014e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.8207140569999 meters Centerline goodness : 0.998954 Centerline is valid? [True, True] Translation: X:163.31, Y:202.95, Z:-130.98 [[ 3.68947101e-01 3.10437043e-01 8.76074699e-01 1.63306185e+02] [-1.02649819e-01 9.50416318e-01 -2.93550400e-01 2.02954421e+02] [-9.23764608e-01 1.83756597e-02 3.82519652e-01 -1.30983673e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.8507140569999 meters Centerline goodness : 0.998953 Centerline is valid? [True, True] Translation: X:163.32, Y:202.95, Z:-131.01 [[ 3.68208910e-01 3.12289527e-01 8.75726813e-01 1.63317977e+02] [-1.05986871e-01 9.49860553e-01 -2.94162733e-01 2.02950964e+02] [-9.23682295e-01 1.54977943e-02 3.82845708e-01 -1.31014349e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.880714057 meters Centerline goodness : 0.998135 Centerline is valid? [True, True] Translation: X:163.33, Y:202.95, Z:-131.04 [[ 3.66152761e-01 3.15608784e-01 8.75398910e-01 1.63329464e+02] [-1.13070555e-01 9.48847114e-01 -2.94795190e-01 2.02947279e+02] [-9.23659680e-01 8.95823204e-03 3.83109051e-01 -1.31044833e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.910714057 meters Centerline goodness : 0.997898 Centerline is valid? [True, True] Translation: X:163.34, Y:202.94, Z:-131.07 [[ 3.65062300e-01 3.17739894e-01 8.75083354e-01 1.63341039e+02] [-1.17083642e-01 9.48162581e-01 -2.95430433e-01 2.02943154e+02] [-9.23591326e-01 5.39256717e-03 3.83340557e-01 -1.31074903e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.9407140569999 meters Centerline goodness : 0.997457 Centerline is valid? [True, True] Translation: X:163.35, Y:202.94, Z:-131.10 [[ 3.65290983e-01 3.24928425e-01 8.72343978e-01 1.63352218e+02] [-1.20770202e-01 9.45726167e-01 -3.01689534e-01 2.02941146e+02] [-9.23026032e-01 4.85130822e-03 3.84706913e-01 -1.31100957e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.9707140569999 meters Centerline goodness : 0.998760 Centerline is valid? [True, True] Translation: X:163.36, Y:202.93, Z:-131.13 [[ 3.63123214e-01 3.12865293e-01 8.77642775e-01 1.63359795e+02] [-1.22811205e-01 9.49791819e-01 -2.87772319e-01 2.02931259e+02] [-9.23611899e-01 -3.28755745e-03 3.83314822e-01 -1.31128169e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.000714057 meters Centerline goodness : 0.998407 Centerline is valid? [True, True] Translation: X:163.37, Y:202.93, Z:-131.16 [[ 3.61811835e-01 3.20582050e-01 8.75396679e-01 1.63371844e+02] [-1.25202086e-01 9.47216559e-01 -2.95135950e-01 2.02928100e+02] [-9.23805518e-01 -2.81781046e-03 3.82851702e-01 -1.31158405e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.030714057 meters Centerline goodness : 0.998764 Centerline is valid? [True, True] Translation: X:163.38, Y:202.92, Z:-131.19 [[ 3.60366518e-01 3.22904261e-01 8.75139309e-01 1.63382098e+02] [-1.29707558e-01 9.46406337e-01 -2.95788768e-01 2.02919782e+02] [-9.23748842e-01 -6.91981420e-03 3.82936279e-01 -1.31187496e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.0607140569999 meters Centerline goodness : 0.998656 Centerline is valid? [True, True] Translation: X:163.39, Y:202.91, Z:-131.22 [[ 3.59000467e-01 3.24321485e-01 8.75176690e-01 1.63393464e+02] [-1.31744615e-01 9.45905428e-01 -2.96489929e-01 2.02913367e+02] [-9.23992436e-01 -8.85979261e-03 3.82308100e-01 -1.31218371e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.0907140569999 meters Centerline goodness : 0.998255 Centerline is valid? [True, True] Translation: X:163.40, Y:202.91, Z:-131.25 [[ 3.58439027e-01 3.25670103e-01 8.74905965e-01 1.63404360e+02] [-1.33745667e-01 9.45425011e-01 -2.97125639e-01 2.02906764e+02] [-9.23922919e-01 -1.05134572e-02 3.82434186e-01 -1.31247389e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.120714057 meters Centerline goodness : 0.998889 Centerline is valid? [True, True] Translation: X:163.41, Y:202.90, Z:-131.28 [[ 3.56482343e-01 3.27567097e-01 8.74997221e-01 1.63414493e+02] [-1.37061141e-01 9.44727770e-01 -2.97831639e-01 2.02896631e+02] [-9.24194018e-01 -1.37563967e-02 3.81675489e-01 -1.31277223e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.150714057 meters Centerline goodness : 0.998659 Centerline is valid? [True, True] Translation: X:163.43, Y:202.89, Z:-131.30 [[ 3.57323913e-01 3.33725281e-01 8.72322795e-01 1.63425521e+02] [-1.38917740e-01 9.42585344e-01 -3.03701714e-01 2.02891937e+02] [-9.23591621e-01 -1.26612268e-02 3.83168645e-01 -1.31304134e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.1807140569999 meters Centerline goodness : 0.998791 Centerline is valid? [True, True] Translation: X:163.43, Y:202.88, Z:-131.33 [[ 3.55482263e-01 3.25002251e-01 8.76359457e-01 1.63432339e+02] [-1.39217623e-01 9.45552701e-01 -2.94191337e-01 2.02881542e+02] [-9.24256899e-01 -1.74248779e-02 3.81373255e-01 -1.31330687e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.2107140569999 meters Centerline goodness : 0.999500 Centerline is valid? [True, True] Translation: X:163.44, Y:202.87, Z:-131.36 [[ 3.54967830e-01 3.28589512e-01 8.75229554e-01 1.63439887e+02] [-1.40458177e-01 9.44314216e-01 -2.97560350e-01 2.02870392e+02] [-9.24266920e-01 -1.73087961e-02 3.81354252e-01 -1.31356379e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.240714057 meters Centerline goodness : 0.999896 Centerline is valid? [True, True] Translation: X:163.45, Y:202.86, Z:-131.38 [[ 3.55082617e-01 3.28488765e-01 8.75220810e-01 1.63448264e+02] [-1.39811234e-01 9.44361079e-01 -2.97716259e-01 2.02862422e+02] [-9.24320915e-01 -1.66518329e-02 3.81252623e-01 -1.31380744e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.270714057 meters Centerline goodness : 0.999771 Centerline is valid? [True, True] Translation: X:163.46, Y:202.85, Z:-131.41 [[ 3.56436447e-01 3.25683480e-01 8.75718750e-01 1.63456276e+02] [-1.36116100e-01 9.45380652e-01 -2.96188841e-01 2.02847907e+02] [-9.24351376e-01 -1.36269223e-02 3.81298886e-01 -1.31411908e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.3007140569999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.47, Y:202.84, Z:-131.44 [[ 3.57405170e-01 3.25421531e-01 8.75421254e-01 1.63466027e+02] [-1.33515621e-01 9.45507990e-01 -2.96965013e-01 2.02838891e+02] [-9.24356600e-01 -1.07455810e-02 3.81378301e-01 -1.31440687e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.3307140569999 meters Centerline goodness : 0.999771 Centerline is valid? [True, True] Translation: X:163.48, Y:202.83, Z:-131.47 [[ 3.58572733e-01 3.24359468e-01 8.75337952e-01 1.63475508e+02] [-1.30402876e-01 9.45903217e-01 -2.97089539e-01 2.02829149e+02] [-9.24348790e-01 -7.61837903e-03 3.81472509e-01 -1.31471259e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.3607140569999 meters Centerline goodness : 0.999771 Centerline is valid? [True, True] Translation: X:163.49, Y:202.83, Z:-131.50 [[ 3.58528431e-01 3.24995544e-01 8.75120141e-01 1.63487701e+02] [-1.30516470e-01 9.45686023e-01 -2.97730410e-01 2.02825178e+02] [-9.24349942e-01 -7.47277485e-03 3.81472597e-01 -1.31502212e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.390714057 meters Centerline goodness : 0.999269 Centerline is valid? [True, True] Translation: X:163.50, Y:202.82, Z:-131.53 [[ 3.60568611e-01 3.26982621e-01 8.73540292e-01 1.63497283e+02] [-1.27657227e-01 9.45025700e-01 -3.01048267e-01 2.02816584e+02] [-9.23955578e-01 -2.96517624e-03 3.82488298e-01 -1.31533106e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.4207140569999 meters Centerline goodness : 0.998706 Centerline is valid? [True, True] Translation: X:163.50, Y:202.80, Z:-131.56 [[ 3.61954107e-01 3.20074873e-01 8.75523444e-01 1.63504006e+02] [-1.20894547e-01 9.47391177e-01 -2.96368801e-01 2.02800111e+02] [-9.24323392e-01 1.42589477e-03 3.81607434e-01 -1.31562493e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.4507140569999 meters Centerline goodness : 0.998455 Centerline is valid? [True, True] Translation: X:163.51, Y:202.79, Z:-131.59 [[ 3.62897608e-01 3.21159046e-01 8.74735499e-01 1.63513873e+02] [-1.18242864e-01 9.47012364e-01 -2.98640600e-01 2.02791802e+02] [-9.24296463e-01 4.94472840e-03 3.81643287e-01 -1.31592092e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.4807140569999 meters Centerline goodness : 0.998219 Centerline is valid? [True, True] Translation: X:163.52, Y:202.78, Z:-131.62 [[ 3.63285053e-01 3.20886439e-01 8.74674719e-01 1.63524050e+02] [-1.15955331e-01 9.47089503e-01 -2.99292221e-01 2.02782972e+02] [-9.24434060e-01 7.30519374e-03 3.81271954e-01 -1.31622646e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.510714057 meters Centerline goodness : 0.997705 Centerline is valid? [True, True] Translation: X:163.53, Y:202.77, Z:-131.65 [[ 3.63688923e-01 3.19893352e-01 8.74870625e-01 1.63532382e+02] [-1.11448510e-01 9.47382155e-01 -3.00077127e-01 2.02770215e+02] [-9.24829496e-01 1.16316994e-02 3.80204033e-01 -1.31652620e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.540714057 meters Centerline goodness : 0.996871 Centerline is valid? [True, True] Translation: X:163.54, Y:202.76, Z:-131.68 [[ 3.63784927e-01 3.19873906e-01 8.74837820e-01 1.63542637e+02] [-1.09803974e-01 9.47366185e-01 -3.00733102e-01 2.02762422e+02] [-9.24988440e-01 1.33415002e-02 3.79760964e-01 -1.31683098e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.5707140569999 meters Centerline goodness : 0.996955 Centerline is valid? [True, True] Translation: X:163.55, Y:202.76, Z:-131.71 [[ 3.63747959e-01 3.19738275e-01 8.74902771e-01 1.63552484e+02] [-1.07682354e-01 9.47380056e-01 -3.01455701e-01 2.02755055e+02] [-9.25252362e-01 1.54423057e-02 3.79037732e-01 -1.31711036e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.6007140569999 meters Centerline goodness : 0.997079 Centerline is valid? [True, True] Translation: X:163.56, Y:202.75, Z:-131.74 [[ 3.63968848e-01 3.18922102e-01 8.75108776e-01 1.63561280e+02] [-1.05361143e-01 9.47618547e-01 -3.01526316e-01 2.02748262e+02] [-9.25432714e-01 1.75437245e-02 3.78505628e-01 -1.31737347e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.630714057 meters Centerline goodness : 0.996334 Centerline is valid? [True, True] Translation: X:163.57, Y:202.74, Z:-131.76 [[ 3.70119153e-01 3.10834538e-01 8.75439149e-01 1.63574075e+02] [-9.96499026e-02 9.50208442e-01 -2.95252120e-01 2.02739598e+02] [-9.23624225e-01 2.20410384e-02 3.82664975e-01 -1.31759202e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.660714057 meters Centerline goodness : 0.997019 Centerline is valid? [True, True] Translation: X:163.58, Y:202.73, Z:-131.79 [[ 3.64392826e-01 3.02165962e-01 8.80859580e-01 1.63578318e+02] [-9.89755039e-02 9.53103124e-01 -2.86003995e-01 2.02726645e+02] [-9.25970690e-01 1.70342832e-02 3.77210969e-01 -1.31794571e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.6907140569999 meters Centerline goodness : 0.996962 Centerline is valid? [True, True] Translation: X:163.59, Y:202.73, Z:-131.83 [[ 3.66057645e-01 3.17817162e-01 8.74639384e-01 1.63590128e+02] [-9.71651001e-02 9.47789990e-01 -3.03731918e-01 2.02727594e+02] [-9.25505670e-01 2.61989671e-02 3.77826508e-01 -1.31825638e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.7207140569999 meters Centerline goodness : 0.996249 Centerline is valid? [True, True] Translation: X:163.60, Y:202.72, Z:-131.86 [[ 3.67070989e-01 3.17146814e-01 8.74457996e-01 1.63599381e+02] [-9.38548838e-02 9.47912525e-01 -3.04389728e-01 2.02719920e+02] [-9.25445919e-01 2.96604850e-02 3.77716966e-01 -1.31856524e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.750714057 meters Centerline goodness : 0.996838 Centerline is valid? [True, True] Translation: X:163.61, Y:202.71, Z:-131.89 [[ 3.67577396e-01 3.17458623e-01 8.74132073e-01 1.63610352e+02] [-9.32101027e-02 9.47777100e-01 -3.05008927e-01 2.02714607e+02] [-9.25310075e-01 3.06364470e-02 3.77971789e-01 -1.31886412e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.780714057 meters Centerline goodness : 0.996889 Centerline is valid? [True, True] Translation: X:163.62, Y:202.71, Z:-131.92 [[ 3.67983866e-01 3.17919626e-01 8.73793446e-01 1.63620776e+02] [-9.30882890e-02 9.47607261e-01 -3.05573313e-01 2.02709881e+02] [-9.25160767e-01 3.11061121e-02 3.78298777e-01 -1.31916260e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.8107140569999 meters Centerline goodness : 0.996825 Centerline is valid? [True, True] Translation: X:163.63, Y:202.70, Z:-131.95 [[ 3.67769704e-01 3.19097771e-01 8.73454096e-01 1.63632219e+02] [-9.47375439e-02 9.47251577e-01 -3.06168658e-01 2.02704654e+02] [-9.25078506e-01 2.98506609e-02 3.78600971e-01 -1.31946734e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.8407140569999 meters Centerline goodness : 0.996540 Centerline is valid? [True, True] Translation: X:163.64, Y:202.70, Z:-131.98 [[ 3.67032038e-01 3.20269162e-01 8.73335644e-01 1.63643315e+02] [-9.61253570e-02 9.46892575e-01 -3.06845836e-01 2.02700632e+02] [-9.25228296e-01 2.86725520e-02 3.78325899e-01 -1.31975940e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.870714057 meters Centerline goodness : 0.996597 Centerline is valid? [True, True] Translation: X:163.66, Y:202.70, Z:-132.01 [[ 3.66046711e-01 3.21566530e-01 8.73272450e-01 1.63655068e+02] [-9.79251371e-02 9.46500867e-01 -3.07484595e-01 2.02696495e+02] [-9.25429886e-01 2.70384002e-02 3.77952976e-01 -1.32005979e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.900714057 meters Centerline goodness : 0.995827 Centerline is valid? [True, True] Translation: X:163.67, Y:202.69, Z:-132.03 [[ 3.68466905e-01 3.14357279e-01 8.74878072e-01 1.63669771e+02] [-9.74014678e-02 9.48967291e-01 -2.99956721e-01 2.02693196e+02] [-9.24524253e-01 2.53097163e-02 3.80281901e-01 -1.32030401e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.9307140569999 meters Centerline goodness : 0.996015 Centerline is valid? [True, True] Translation: X:163.68, Y:202.67, Z:-132.06 [[ 3.68834535e-01 2.86228106e-01 8.84327178e-01 1.63684376e+02] [-1.04962191e-01 9.58146201e-01 -2.66343382e-01 2.02672049e+02] [-9.23549687e-01 5.41571894e-03 3.83440537e-01 -1.32058544e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.9607140569999 meters Centerline goodness : 0.996498 Centerline is valid? [True, True] Translation: X:163.69, Y:202.69, Z:-132.10 [[ 3.63240832e-01 3.27966050e-01 8.72063282e-01 1.63689589e+02] [-1.06663755e-01 9.44480572e-01 -3.10772093e-01 2.02685686e+02] [-9.25569523e-01 1.98675692e-02 3.78055999e-01 -1.32096100e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.990714057 meters Centerline goodness : 0.996502 Centerline is valid? [True, True] Translation: X:163.70, Y:202.68, Z:-132.13 [[ 3.62355327e-01 3.26980009e-01 8.72801633e-01 1.63700425e+02] [-1.08283310e-01 9.44869828e-01 -3.09023838e-01 2.02680954e+02] [-9.25728547e-01 1.74665837e-02 3.77785093e-01 -1.32126796e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.020714057 meters Centerline goodness : 0.996272 Centerline is valid? [True, True] Translation: X:163.72, Y:202.67, Z:-132.15 [[ 3.67711266e-01 3.10022600e-01 8.76740790e-01 1.63718469e+02] [-1.10611785e-01 9.50680956e-01 -2.89777076e-01 2.02668746e+02] [-9.23338214e-01 9.57643149e-03 3.83868251e-01 -1.32150747e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.0507140569999 meters Centerline goodness : 0.996896 Centerline is valid? [True, True] Translation: X:163.72, Y:202.68, Z:-132.19 [[ 3.62775143e-01 3.36823842e-01 8.68875075e-01 1.63723799e+02] [-1.11032162e-01 9.41374014e-01 -3.18569967e-01 2.02677075e+02] [-9.25238377e-01 1.90961876e-02 3.78905372e-01 -1.32185984e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.0807140569999 meters Centerline goodness : 0.996375 Centerline is valid? [True, True] Translation: X:163.74, Y:202.67, Z:-132.21 [[ 3.62586292e-01 3.29532557e-01 8.71745075e-01 1.63735271e+02] [-1.11431431e-01 9.44017874e-01 -3.10504896e-01 2.02670175e+02] [-9.25264404e-01 1.54450182e-02 3.79008224e-01 -1.32214969e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.1107140569999 meters Centerline goodness : 0.996460 Centerline is valid? [True, True] Translation: X:163.75, Y:202.66, Z:-132.24 [[ 3.67804313e-01 3.09645934e-01 8.76834867e-01 1.63754322e+02] [-1.13219461e-01 9.50827921e-01 -2.88283921e-01 2.02656188e+02] [-9.22985017e-01 6.75729848e-03 3.84776555e-01 -1.32238359e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.140714057 meters Centerline goodness : 0.996462 Centerline is valid? [True, True] Translation: X:163.76, Y:202.67, Z:-132.27 [[ 3.60942096e-01 3.43563328e-01 8.66997718e-01 1.63759607e+02] [-1.13428074e-01 9.38939108e-01 -3.24849849e-01 2.02668236e+02] [-9.25664559e-01 1.89101040e-02 3.77872376e-01 -1.32274226e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.1707140569999 meters Centerline goodness : 0.997006 Centerline is valid? [True, True] Translation: X:163.77, Y:202.66, Z:-132.30 [[ 3.60256559e-01 3.32170552e-01 8.71709777e-01 1.63771597e+02] [-1.14394983e-01 9.43133560e-01 -3.12110360e-01 2.02658152e+02] [-9.25812616e-01 1.27205789e-02 3.77768696e-01 -1.32303885e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.2007140569999 meters Centerline goodness : 0.997322 Centerline is valid? [True, True] Translation: X:163.78, Y:202.65, Z:-132.33 [[ 3.59156276e-01 3.33080232e-01 8.71816683e-01 1.63783575e+02] [-1.14901333e-01 9.42819596e-01 -3.12872007e-01 2.02653690e+02] [-9.26177333e-01 1.21970456e-02 3.76890938e-01 -1.32334428e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.2307140569999 meters Centerline goodness : 0.996106 Centerline is valid? [True, True] Translation: X:163.80, Y:202.65, Z:-132.36 [[ 3.65577137e-01 3.25900743e-01 8.71861264e-01 1.63800323e+02] [-1.17430031e-01 9.45363009e-01 -3.04136430e-01 2.02646274e+02] [-9.23343677e-01 8.80262982e-03 3.83873637e-01 -1.32356157e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.260714057 meters Centerline goodness : 0.997117 Centerline is valid? [True, True] Translation: X:163.81, Y:202.63, Z:-132.39 [[ 3.62181408e-01 3.00966687e-01 8.82181206e-01 1.63811156e+02] [-1.16853200e-01 9.53631033e-01 -2.77368317e-01 2.02629793e+02] [-9.24753998e-01 -2.62804914e-03 3.80556351e-01 -1.32386534e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.290714057 meters Centerline goodness : 0.996638 Centerline is valid? [True, True] Translation: X:163.82, Y:202.63, Z:-132.42 [[ 3.63847701e-01 3.21287911e-01 8.74293388e-01 1.63824510e+02] [-1.16811039e-01 9.46957140e-01 -2.99378283e-01 2.02634983e+02] [-9.24104990e-01 6.80098124e-03 3.82078152e-01 -1.32416138e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.3207140569999 meters Centerline goodness : 0.997240 Centerline is valid? [True, True] Translation: X:163.84, Y:202.63, Z:-132.45 [[ 3.65330683e-01 3.27257737e-01 8.71456175e-01 1.63836617e+02] [-1.17768942e-01 9.44892587e-01 -3.05464359e-01 2.02632964e+02] [-9.23398055e-01 8.96503080e-03 3.83739052e-01 -1.32446812e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.3507140569999 meters Centerline goodness : 0.997349 Centerline is valid? [True, True] Translation: X:163.85, Y:202.63, Z:-132.48 [[ 3.64181863e-01 3.35944968e-01 8.68626818e-01 1.63845891e+02] [-1.17798999e-01 9.41800754e-01 -3.14856690e-01 2.02632868e+02] [-9.23847913e-01 1.23417263e-02 3.82560734e-01 -1.32478456e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.380714057 meters Centerline goodness : 0.996864 Centerline is valid? [True, True] Translation: X:163.86, Y:202.63, Z:-132.51 [[ 3.64349078e-01 3.29979055e-01 8.70840728e-01 1.63856231e+02] [-1.15794459e-01 9.43914176e-01 -3.09221072e-01 2.02627254e+02] [-9.24035385e-01 1.18258811e-02 3.82124006e-01 -1.32506518e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.410714057 meters Centerline goodness : 0.996929 Centerline is valid? [True, True] Translation: X:163.87, Y:202.62, Z:-132.54 [[ 3.64742689e-01 3.32815860e-01 8.69595523e-01 1.63866547e+02] [-1.16080757e-01 9.42903276e-01 -3.12183711e-01 2.02623256e+02] [-9.23844158e-01 1.29234197e-02 3.82550593e-01 -1.32536524e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.4407140569999 meters Centerline goodness : 0.996802 Centerline is valid? [True, True] Translation: X:163.88, Y:202.62, Z:-132.57 [[ 3.61818793e-01 3.26146749e-01 8.73335823e-01 1.63875979e+02] [-1.13357430e-01 9.45246357e-01 -3.06038262e-01 2.02616706e+02] [-9.25330889e-01 1.17312896e-02 3.78979053e-01 -1.32567441e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.4707140569999 meters Centerline goodness : 0.996552 Centerline is valid? [True, True] Translation: X:163.88, Y:202.62, Z:-132.60 [[ 3.57510143e-01 3.42870496e-01 8.68692305e-01 1.63881369e+02] [-1.11363937e-01 9.39182336e-01 -3.24860915e-01 2.02619792e+02] [-9.27245691e-01 1.94000770e-02 3.73950619e-01 -1.32602520e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.500714057 meters Centerline goodness : 0.996803 Centerline is valid? [True, True] Translation: X:163.89, Y:202.61, Z:-132.63 [[ 3.58031239e-01 3.39254069e-01 8.69896723e-01 1.63892901e+02] [-1.11634851e-01 9.40527032e-01 -3.20852868e-01 2.02613534e+02] [-9.27012024e-01 1.77645587e-02 3.74610636e-01 -1.32632948e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.530714057 meters Centerline goodness : 0.996260 Centerline is valid? [True, True] Translation: X:163.90, Y:202.61, Z:-132.66 [[ 3.57481233e-01 3.39884139e-01 8.69876968e-01 1.63904204e+02] [-1.11503302e-01 9.40295751e-01 -3.21575676e-01 2.02609241e+02] [-9.27240089e-01 1.79631152e-02 3.74036288e-01 -1.32664184e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.5607140569999 meters Centerline goodness : 0.996515 Centerline is valid? [True, True] Translation: X:163.92, Y:202.60, Z:-132.69 [[ 3.56886069e-01 3.40712452e-01 8.69797309e-01 1.63915742e+02] [-1.11950626e-01 9.40002008e-01 -3.22278268e-01 2.02604949e+02] [-9.27415436e-01 1.76422709e-02 3.73616594e-01 -1.32694153e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.5907140569999 meters Centerline goodness : 0.996576 Centerline is valid? [True, True] Translation: X:163.93, Y:202.60, Z:-132.73 [[ 3.56446629e-01 3.41299873e-01 8.69747203e-01 1.63927788e+02] [-1.12419928e-01 9.39796096e-01 -3.22715133e-01 2.02600653e+02] [-9.27527660e-01 1.72538030e-02 3.73356057e-01 -1.32725032e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.620714057 meters Centerline goodness : 0.996254 Centerline is valid? [True, True] Translation: X:163.94, Y:202.60, Z:-132.75 [[ 3.58321381e-01 3.35889004e-01 8.71082295e-01 1.63940684e+02] [-1.11077631e-01 9.41748333e-01 -3.17445804e-01 2.02597445e+02] [-9.26966854e-01 1.69898610e-02 3.74758317e-01 -1.32750818e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.650714057 meters Centerline goodness : 0.996461 Centerline is valid? [True, True] Translation: X:163.95, Y:202.59, Z:-132.78 [[ 3.54852117e-01 3.27220193e-01 8.75789313e-01 1.63948866e+02] [-1.14224792e-01 9.44906967e-01 -3.06762970e-01 2.02585505e+02] [-9.27918462e-01 8.81863774e-03 3.72678896e-01 -1.32784480e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.6807140569999 meters Centerline goodness : 0.996568 Centerline is valid? [True, True] Translation: X:163.96, Y:202.59, Z:-132.82 [[ 3.54056274e-01 3.44808226e-01 8.69339659e-01 1.63961307e+02] [-1.16008331e-01 9.38565372e-01 -3.25018628e-01 2.02588800e+02] [-9.28001197e-01 1.42242411e-02 3.72305585e-01 -1.32815816e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.7107140569999 meters Centerline goodness : 0.996463 Centerline is valid? [True, True] Translation: X:163.97, Y:202.59, Z:-132.84 [[ 3.54673495e-01 3.46108121e-01 8.68571172e-01 1.63971499e+02] [-1.18481818e-01 9.38111169e-01 -3.25437388e-01 2.02585433e+02] [-9.27452840e-01 1.25141240e-02 3.73730686e-01 -1.32842942e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.740714057 meters Centerline goodness : 0.996263 Centerline is valid? [True, True] Translation: X:163.98, Y:202.58, Z:-132.87 [[ 3.53966915e-01 3.47321946e-01 8.68374855e-01 1.63983607e+02] [-1.22214078e-01 9.37702813e-01 -3.25233998e-01 2.02581427e+02] [-9.27238450e-01 8.99444242e-03 3.74363403e-01 -1.32873582e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.770714057 meters Centerline goodness : 0.996717 Centerline is valid? [True, True] Translation: X:164.00, Y:202.58, Z:-132.90 [[ 3.53503239e-01 3.48463354e-01 8.68106417e-01 1.63995438e+02] [-1.23747421e-01 9.37290278e-01 -3.25842770e-01 2.02577357e+02] [-9.27211969e-01 7.76054385e-03 3.74456590e-01 -1.32903764e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.8007140569999 meters Centerline goodness : 0.996797 Centerline is valid? [True, True] Translation: X:164.01, Y:202.57, Z:-132.93 [[ 3.53205060e-01 3.49382412e-01 8.67858350e-01 1.64007287e+02] [-1.24666109e-01 9.36953202e-01 -3.26461420e-01 2.02572994e+02] [-9.27202538e-01 7.11530164e-03 3.74492758e-01 -1.32934732e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.8307140569999 meters Centerline goodness : 0.996381 Centerline is valid? [True, True] Translation: X:164.02, Y:202.56, Z:-132.96 [[ 3.57475654e-01 3.31752902e-01 8.73012697e-01 1.64023478e+02] [-1.23547348e-01 9.43363736e-01 -3.07897571e-01 2.02562544e+02] [-9.25714432e-01 2.20748209e-03 3.78216760e-01 -1.32957012e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.8607140569999 meters Centerline goodness : 0.996505 Centerline is valid? [True, True] Translation: X:164.03, Y:202.56, Z:-132.99 [[ 3.51831483e-01 3.44289196e-01 8.70447906e-01 1.64029008e+02] [-1.24443112e-01 9.38852218e-01 -3.21045830e-01 2.02560778e+02] [-9.27754558e-01 4.63278379e-03 3.73162187e-01 -1.32992705e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.890714057 meters Centerline goodness : 0.996671 Centerline is valid? [True, True] Translation: X:164.04, Y:202.56, Z:-133.02 [[ 3.51991377e-01 3.49892884e-01 8.68145748e-01 1.64039161e+02] [-1.21593109e-01 9.36736594e-01 -3.28237216e-01 2.02558236e+02] [-9.28071757e-01 9.97612920e-03 3.72267767e-01 -1.33019229e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.9207140569999 meters Centerline goodness : 0.996037 Centerline is valid? [True, True] Translation: X:164.05, Y:202.55, Z:-133.04 [[ 3.52065830e-01 3.48982311e-01 8.68482008e-01 1.64048008e+02] [-1.19473811e-01 9.37055601e-01 -3.28104877e-01 2.02553701e+02] [-9.28318728e-01 1.17536608e-02 3.71599504e-01 -1.33043876e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.9507140569999 meters Centerline goodness : 0.996266 Centerline is valid? [True, True] Translation: X:164.06, Y:202.55, Z:-133.07 [[ 3.52541203e-01 3.47765785e-01 8.68777105e-01 1.64057677e+02] [-1.16686496e-01 9.37473467e-01 -3.27914257e-01 2.02549215e+02] [-9.28492844e-01 1.42287304e-02 3.71077595e-01 -1.33069825e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.9807140569999 meters Centerline goodness : 0.995823 Centerline is valid? [True, True] Translation: X:164.07, Y:202.54, Z:-133.10 [[ 3.53516945e-01 3.45956588e-01 8.69102876e-01 1.64068378e+02] [-1.13201383e-01 9.38090130e-01 -3.27371892e-01 2.02543286e+02] [-9.28553292e-01 1.73478641e-02 3.70793521e-01 -1.33100988e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.010714057 meters Centerline goodness : 0.996414 Centerline is valid? [True, True] Translation: X:164.08, Y:202.54, Z:-133.13 [[ 3.54331957e-01 3.45708360e-01 8.68869722e-01 1.64079674e+02] [-1.11019503e-01 9.38133997e-01 -3.27992794e-01 2.02538570e+02] [-9.28506077e-01 1.97568442e-02 3.70791226e-01 -1.33131857e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.040714057 meters Centerline goodness : 0.996452 Centerline is valid? [True, True] Translation: X:164.11, Y:202.49, Z:-133.15 [[ 3.69299636e-01 2.82686849e-01 8.85271667e-01 1.64111643e+02] [-1.17001198e-01 9.59174666e-01 -2.57477532e-01 2.02494927e+02] [-9.21915668e-01 -8.49148665e-03 3.87297555e-01 -1.33150267e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.0707140569999 meters Centerline goodness : 0.996894 Centerline is valid? [True, True] Translation: X:164.11, Y:202.56, Z:-133.19 [[ 3.56546296e-01 4.12484402e-01 8.38290735e-01 1.64105381e+02] [-1.07866415e-01 9.09434949e-01 -4.01612885e-01 2.02559967e+02] [-9.28029943e-01 5.27701701e-02 3.68748876e-01 -1.33194763e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.1007140569999 meters Centerline goodness : 0.996117 Centerline is valid? [True, True] Translation: X:164.14, Y:202.47, Z:-133.21 [[ 3.72461518e-01 2.63836418e-01 8.89754327e-01 1.64139888e+02] [-1.17368183e-01 9.64431189e-01 -2.36848456e-01 2.02473429e+02] [-9.20596072e-01 -1.62119136e-02 3.90179505e-01 -1.33206295e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.130714057 meters Centerline goodness : 0.996710 Centerline is valid? [True, True] Translation: X:164.13, Y:202.56, Z:-133.26 [[ 3.55534818e-01 4.30276051e-01 8.29733399e-01 1.64128896e+02] [-1.08705547e-01 9.00746591e-01 -4.20521917e-01 2.02559808e+02] [-9.28320040e-01 5.93135605e-02 3.67020169e-01 -1.33255722e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.160714057 meters Centerline goodness : 0.996650 Centerline is valid? [True, True] Translation: X:164.13, Y:202.52, Z:-133.28 [[ 3.52050206e-01 3.47701104e-01 8.69002068e-01 1.64134220e+02] [-1.13323374e-01 9.37443808e-01 -3.29176122e-01 2.02516411e+02] [-9.29095509e-01 1.74082752e-02 3.69429948e-01 -1.33282761e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.1907140569999 meters Centerline goodness : 0.996020 Centerline is valid? [True, True] Translation: X:164.15, Y:202.51, Z:-133.31 [[ 3.51194101e-01 3.49311799e-01 8.68702464e-01 1.64145652e+02] [-1.16105999e-01 9.36887131e-01 -3.29790693e-01 2.02512916e+02] [-9.29075939e-01 1.49589784e-02 3.69586429e-01 -1.33313433e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.2207140569999 meters Centerline goodness : 0.996670 Centerline is valid? [True, True] Translation: X:164.16, Y:202.51, Z:-133.34 [[ 3.50168139e-01 3.50920395e-01 8.68468279e-01 1.64156910e+02] [-1.18828194e-01 9.36321778e-01 -3.30426070e-01 2.02509038e+02] [-9.29119010e-01 1.25061647e-02 3.69569292e-01 -1.33343499e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.250714057 meters Centerline goodness : 0.996326 Centerline is valid? [True, True] Translation: X:164.17, Y:202.51, Z:-133.37 [[ 3.48593306e-01 3.52965674e-01 8.68272964e-01 1.64165912e+02] [-1.23382786e-01 9.35600473e-01 -3.30799703e-01 2.02506025e+02] [-9.29117536e-01 8.18462501e-03 3.69693950e-01 -1.33369208e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.280714057 meters Centerline goodness : 0.996326 Centerline is valid? [True, True] Translation: X:164.18, Y:202.50, Z:-133.40 [[ 3.48645913e-01 3.52675428e-01 8.68369777e-01 1.64176038e+02] [-1.23236989e-01 9.35709539e-01 -3.30545463e-01 2.02502165e+02] [-9.29117147e-01 8.22804818e-03 3.69693964e-01 -1.33395575e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.3107140569999 meters Centerline goodness : 0.996068 Centerline is valid? [True, True] Translation: X:164.19, Y:202.50, Z:-133.43 [[ 3.47696000e-01 3.53136033e-01 8.68563431e-01 1.64187101e+02] [-1.25306997e-01 9.35552902e-01 -3.30210424e-01 2.02497620e+02] [-9.29196238e-01 5.97576850e-03 3.69538418e-01 -1.33425886e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.3407140569999 meters Centerline goodness : 0.995606 Centerline is valid? [True, True] Translation: X:164.20, Y:202.49, Z:-133.46 [[ 3.47283434e-01 3.54337343e-01 8.68239174e-01 1.64198193e+02] [-1.27001586e-01 9.35106236e-01 -3.30827635e-01 2.02493666e+02] [-9.29120452e-01 4.62320534e-03 3.69748309e-01 -1.33456429e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.370714057 meters Centerline goodness : 0.995900 Centerline is valid? [True, True] Translation: X:164.21, Y:202.49, Z:-133.49 [[ 3.47449269e-01 3.55480322e-01 8.67705449e-01 1.64209235e+02] [-1.28747120e-01 9.34677517e-01 -3.31364027e-01 2.02489014e+02] [-9.28818166e-01 3.41761128e-03 3.70520087e-01 -1.33486925e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.400714057 meters Centerline goodness : 0.996005 Centerline is valid? [True, True] Translation: X:164.22, Y:202.48, Z:-133.52 [[ 3.48067453e-01 3.56269696e-01 8.67133757e-01 1.64219628e+02] [-1.29554295e-01 9.34377754e-01 -3.31894408e-01 2.02483840e+02] [-9.28474412e-01 3.18073909e-03 3.71382754e-01 -1.33517491e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.4307140569999 meters Centerline goodness : 0.995626 Centerline is valid? [True, True] Translation: X:164.23, Y:202.48, Z:-133.55 [[ 3.48760546e-01 3.56736682e-01 8.66663154e-01 1.64230888e+02] [-1.29405506e-01 9.34197257e-01 -3.32460072e-01 2.02478765e+02] [-9.28235044e-01 3.79797272e-03 3.71974836e-01 -1.33548067e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.4607140569999 meters Centerline goodness : 0.996194 Centerline is valid? [True, True] Translation: X:164.24, Y:202.47, Z:-133.58 [[ 3.49089331e-01 3.56989373e-01 8.66426700e-01 1.64242516e+02] [-1.28442134e-01 9.34095047e-01 -3.33120190e-01 2.02473830e+02] [-9.28245257e-01 5.00301039e-03 3.71935092e-01 -1.33578488e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.490714057 meters Centerline goodness : 0.996378 Centerline is valid? [True, True] Translation: X:164.25, Y:202.47, Z:-133.61 [[ 3.48961108e-01 3.57337121e-01 8.66334997e-01 1.64254070e+02] [-1.27607667e-01 9.33956569e-01 -3.33828414e-01 2.02468515e+02] [-9.28408546e-01 5.94214574e-03 3.71513475e-01 -1.33609053e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.520714057 meters Centerline goodness : 0.995905 Centerline is valid? [True, True] Translation: X:164.27, Y:202.46, Z:-133.64 [[ 3.48824037e-01 3.57265083e-01 8.66419905e-01 1.64265253e+02] [-1.25455967e-01 9.33968578e-01 -3.34609469e-01 2.02461871e+02] [-9.28753246e-01 8.02227870e-03 3.70611726e-01 -1.33639152e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.5507140569999 meters Centerline goodness : 0.995676 Centerline is valid? [True, True] Translation: X:164.28, Y:202.46, Z:-133.67 [[ 3.48968733e-01 3.57452004e-01 8.66284531e-01 1.64275908e+02] [-1.24238862e-01 9.33884381e-01 -3.35297879e-01 2.02456624e+02] [-9.28862492e-01 9.38227156e-03 3.70305879e-01 -1.33669280e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.5807140569999 meters Centerline goodness : 0.995978 Centerline is valid? [True, True] Translation: X:164.29, Y:202.45, Z:-133.70 [[ 3.49671853e-01 3.57403836e-01 8.66020839e-01 1.64286952e+02] [-1.23221982e-01 9.33889130e-01 -3.35659704e-01 2.02451333e+02] [-9.28733513e-01 1.06579459e-02 3.70594751e-01 -1.33699726e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.6107140569999 meters Centerline goodness : 0.995632 Centerline is valid? [True, True] Translation: X:164.30, Y:202.45, Z:-133.73 [[ 3.50283431e-01 3.57455884e-01 8.65752164e-01 1.64297586e+02] [-1.21759570e-01 9.33847843e-01 -3.36307616e-01 2.02446221e+02] [-9.28695927e-01 1.23893744e-02 3.70635101e-01 -1.33729798e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.640714057 meters Centerline goodness : 0.995565 Centerline is valid? [True, True] Translation: X:164.31, Y:202.44, Z:-133.76 [[ 3.51723112e-01 3.56668175e-01 8.65493308e-01 1.64307965e+02] [-1.18188693e-01 9.34090555e-01 -3.36906913e-01 2.02440453e+02] [-9.28613098e-01 1.62064246e-02 3.70695382e-01 -1.33759250e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.6707140569999 meters Centerline goodness : 0.995508 Centerline is valid? [True, True] Translation: X:164.31, Y:202.46, Z:-133.78 [[ 3.51454395e-01 3.68574925e-01 8.60599984e-01 1.64314299e+02] [-1.05697542e-01 9.28987102e-01 -3.54698456e-01 2.02456726e+02] [-9.30219242e-01 3.36970282e-02 3.65454064e-01 -1.33782891e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.7007140569999 meters Centerline goodness : 0.995597 Centerline is valid? [True, True] Translation: X:164.32, Y:202.42, Z:-133.81 [[ 3.48835229e-01 2.93032672e-01 8.90194269e-01 1.64320466e+02] [-1.03364578e-01 9.56095486e-01 -2.74221052e-01 2.02416986e+02] [-9.31466450e-01 3.64340808e-03 3.63808986e-01 -1.33808986e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.7307140569999 meters Centerline goodness : 0.995822 Centerline is valid? [True, True] Translation: X:164.34, Y:202.38, Z:-133.84 [[ 3.53019186e-01 2.60388766e-01 8.98651849e-01 1.64339406e+02] [-1.08240227e-01 9.65409048e-01 -2.37211769e-01 2.02380791e+02] [-9.29333906e-01 -1.35299744e-02 3.68992455e-01 -1.33842661e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.760714057 meters Centerline goodness : 0.995530 Centerline is valid? [True, True] Translation: X:164.35, Y:202.42, Z:-133.88 [[ 3.58286371e-01 3.56431279e-01 8.62894906e-01 1.64353445e+02] [-1.04551109e-01 9.33758840e-01 -3.42291533e-01 2.02421593e+02] [-9.27739156e-01 3.24217720e-02 3.71818352e-01 -1.33878339e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.790714057 meters Centerline goodness : 0.995234 Centerline is valid? [True, True] Translation: X:164.37, Y:202.42, Z:-133.91 [[ 3.60011482e-01 3.55635689e-01 8.62505066e-01 1.64365326e+02] [-1.01243152e-01 9.33927272e-01 -3.42826012e-01 2.02417186e+02] [-9.27438169e-01 3.60985692e-02 3.72230219e-01 -1.33908826e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.8207140569999 meters Centerline goodness : 0.995781 Centerline is valid? [True, True] Translation: X:164.37, Y:202.43, Z:-133.93 [[ 3.61807590e-01 3.64076430e-01 8.58221196e-01 1.64374549e+02] [-8.89085557e-02 9.29867940e-01 -3.56988631e-01 2.02431035e+02] [-9.28003522e-01 5.28579892e-02 3.68802788e-01 -1.33931519e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.8507140569999 meters Centerline goodness : 0.995832 Centerline is valid? [True, True] Translation: X:164.39, Y:202.37, Z:-133.96 [[ 3.59389082e-01 2.78839691e-01 8.90554835e-01 1.64388425e+02] [-9.31762893e-02 9.60268032e-01 -2.63065553e-01 2.02374700e+02] [-9.28524457e-01 1.15642926e-02 3.71091094e-01 -1.33962835e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.880714057 meters Centerline goodness : 0.996153 Centerline is valid? [True, True] Translation: X:164.40, Y:202.41, Z:-134.00 [[ 3.63588188e-01 3.54576270e-01 8.61440247e-01 1.64403623e+02] [-9.27627583e-02 9.33913489e-01 -3.45254496e-01 2.02406810e+02] [-9.26929717e-01 4.56208830e-02 3.72451386e-01 -1.33997780e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.910714057 meters Centerline goodness : 0.996969 Centerline is valid? [True, True] Translation: X:164.42, Y:202.41, Z:-134.02 [[ 3.66583608e-01 3.51091147e-01 8.61598204e-01 1.64417202e+02] [-8.63149374e-02 9.34906053e-01 -3.44238876e-01 2.02412403e+02] [-9.26372598e-01 5.18235338e-02 3.73025644e-01 -1.34019240e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.9407140569999 meters Centerline goodness : 0.996777 Centerline is valid? [True, True] Translation: X:164.43, Y:202.38, Z:-134.05 [[ 3.60893523e-01 3.08492360e-01 8.80106999e-01 1.64428027e+02] [-9.48164476e-02 9.50953182e-01 -2.94445051e-01 2.02381329e+02] [-9.27774599e-01 2.28146925e-02 3.72442993e-01 -1.34053449e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.9707140569999 meters Centerline goodness : 0.997085 Centerline is valid? [True, True] Translation: X:164.44, Y:202.41, Z:-134.08 [[ 3.64379621e-01 3.55896946e-01 8.60560780e-01 1.64442734e+02] [-9.05349080e-02 9.33252454e-01 -3.47625211e-01 2.02411837e+02] [-9.26839211e-01 4.87567516e-02 3.72279272e-01 -1.34078917e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.000714057 meters Centerline goodness : 0.997060 Centerline is valid? [True, True] Translation: X:164.45, Y:202.38, Z:-134.11 [[ 3.59687800e-01 3.11021674e-01 8.79710296e-01 1.64453075e+02] [-1.00033884e-01 9.50229952e-01 -2.95052979e-01 2.02378222e+02] [-9.27694944e-01 1.81261191e-02 3.72898827e-01 -1.34111992e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.030714057 meters Centerline goodness : 0.997515 Centerline is valid? [True, True] Translation: X:164.47, Y:202.40, Z:-134.14 [[ 3.60565256e-01 3.68436892e-01 8.56882111e-01 1.64469753e+02] [-1.07275725e-01 9.28962357e-01 -3.54289230e-01 2.02404698e+02] [-9.26544448e-01 3.58217376e-02 3.74475885e-01 -1.34144431e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.0607140569999 meters Centerline goodness : 0.997478 Centerline is valid? [True, True] Translation: X:164.48, Y:202.40, Z:-134.17 [[ 3.57884314e-01 3.58941112e-01 8.62020937e-01 1.64482161e+02] [-1.10162599e-01 9.32949126e-01 -3.42739159e-01 2.02397489e+02] [-9.27244854e-01 2.76985014e-02 3.73429744e-01 -1.34173106e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.0907140569999 meters Centerline goodness : 0.997575 Centerline is valid? [True, True] Translation: X:164.50, Y:202.40, Z:-134.20 [[ 3.56622631e-01 3.66915760e-01 8.59181660e-01 1.64495714e+02] [-1.13592737e-01 9.29856354e-01 -3.49948356e-01 2.02398252e+02] [-9.27317092e-01 2.72027069e-02 3.73286785e-01 -1.34203994e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.120714057 meters Centerline goodness : 0.997534 Centerline is valid? [True, True] Translation: X:164.51, Y:202.40, Z:-134.23 [[ 3.55307954e-01 3.68659934e-01 8.58979692e-01 1.64508834e+02] [-1.16598129e-01 9.29243761e-01 -3.50586521e-01 2.02396446e+02] [-9.27448723e-01 2.44107545e-02 3.73152758e-01 -1.34234897e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.150714057 meters Centerline goodness : 0.997333 Centerline is valid? [True, True] Translation: X:164.52, Y:202.39, Z:-134.27 [[ 3.54331983e-01 3.70352189e-01 8.58654821e-01 1.64521715e+02] [-1.19631976e-01 9.28637720e-01 -3.51169725e-01 2.02394429e+02] [-9.27435731e-01 2.17080920e-02 3.73352009e-01 -1.34265694e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.1807140569999 meters Centerline goodness : 0.997788 Centerline is valid? [True, True] Translation: X:164.53, Y:202.40, Z:-134.29 [[ 3.53161726e-01 3.72448722e-01 8.58230007e-01 1.64534751e+02] [-1.23858594e-01 9.27879933e-01 -3.51707093e-01 2.02395049e+02] [-9.27327258e-01 1.79103224e-02 3.73822654e-01 -1.34294962e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.2107140569999 meters Centerline goodness : 0.997788 Centerline is valid? [True, True] Translation: X:164.55, Y:202.39, Z:-134.32 [[ 3.53182214e-01 3.72500474e-01 8.58199115e-01 1.64545114e+02] [-1.23811486e-01 9.27857648e-01 -3.51782463e-01 2.02390903e+02] [-9.27325746e-01 1.79884018e-02 3.73822655e-01 -1.34322091e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.240714057 meters Centerline goodness : 0.997744 Centerline is valid? [True, True] Translation: X:164.56, Y:202.39, Z:-134.35 [[ 3.52515598e-01 3.73424445e-01 8.58071639e-01 1.64558129e+02] [-1.26710367e-01 9.27535773e-01 -3.51599024e-01 2.02390052e+02] [-9.27187811e-01 1.52175682e-02 3.74287576e-01 -1.34352287e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.270714057 meters Centerline goodness : 0.998535 Centerline is valid? [True, True] Translation: X:164.57, Y:202.39, Z:-134.38 [[ 3.52379440e-01 3.74247673e-01 8.57768856e-01 1.64570380e+02] [-1.27427190e-01 9.27210614e-01 -3.52197087e-01 2.02386957e+02] [-9.27141328e-01 1.48039374e-02 3.74419287e-01 -1.34382896e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.3007140569999 meters Centerline goodness : 0.998533 Centerline is valid? [True, True] Translation: X:164.58, Y:202.38, Z:-134.41 [[ 3.52517967e-01 3.75016678e-01 8.57375982e-01 1.64582521e+02] [-1.28023320e-01 9.26903076e-01 -3.52789905e-01 2.02383758e+02] [-9.27006533e-01 1.46006603e-02 3.74760868e-01 -1.34413887e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.3307140569999 meters Centerline goodness : 0.997842 Centerline is valid? [True, True] Translation: X:164.59, Y:202.38, Z:-134.44 [[ 3.52979364e-01 3.75636610e-01 8.56914643e-01 1.64594366e+02] [-1.28308984e-01 9.26649231e-01 -3.53352524e-01 2.02380679e+02] [-9.26791440e-01 1.47763020e-02 3.75285608e-01 -1.34444819e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.3607140569999 meters Centerline goodness : 0.998222 Centerline is valid? [True, True] Translation: X:164.61, Y:202.38, Z:-134.47 [[ 3.53839115e-01 3.75959557e-01 8.56418293e-01 1.64605985e+02] [-1.27862002e-01 9.26502727e-01 -3.53898299e-01 2.02378783e+02] [-9.26525331e-01 1.57197038e-02 3.75903846e-01 -1.34474518e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.390714057 meters Centerline goodness : 0.998457 Centerline is valid? [True, True] Translation: X:164.62, Y:202.37, Z:-134.51 [[ 3.55115983e-01 3.76217377e-01 8.55776328e-01 1.64618181e+02] [-1.28109985e-01 9.26391306e-01 -3.54100240e-01 2.02374818e+02] [-9.26002414e-01 1.61131623e-02 3.77173562e-01 -1.34505167e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.4207140569999 meters Centerline goodness : 0.997801 Centerline is valid? [True, True] Translation: X:164.63, Y:202.37, Z:-134.54 [[ 3.55911757e-01 3.76603011e-01 8.55275975e-01 1.64629612e+02] [-1.27872937e-01 9.26221486e-01 -3.54629766e-01 2.02371049e+02] [-9.25729622e-01 1.68502525e-02 3.77810450e-01 -1.34535184e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.4507140569999 meters Centerline goodness : 0.997882 Centerline is valid? [True, True] Translation: X:164.64, Y:202.37, Z:-134.57 [[ 3.56569042e-01 3.76862896e-01 8.54887639e-01 1.64641464e+02] [-1.27870295e-01 9.26108588e-01 -3.54925444e-01 2.02367028e+02] [-9.25477015e-01 1.72406908e-02 3.78411222e-01 -1.34566257e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.4807140569999 meters Centerline goodness : 0.998280 Centerline is valid? [True, True] Translation: X:164.65, Y:202.36, Z:-134.60 [[ 3.58379377e-01 3.77022056e-01 8.54060063e-01 1.64652970e+02] [-1.27388289e-01 9.26018564e-01 -3.55333425e-01 2.02363501e+02] [-9.24844012e-01 1.85469213e-02 3.79894151e-01 -1.34596043e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.510714057 meters Centerline goodness : 0.998164 Centerline is valid? [True, True] Translation: X:164.67, Y:202.36, Z:-134.63 [[ 3.59482642e-01 3.77332210e-01 8.53459216e-01 1.64665154e+02] [-1.27173828e-01 9.25875583e-01 -3.55782550e-01 2.02358740e+02] [-9.24445265e-01 1.93599757e-02 3.80822983e-01 -1.34626230e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.540714057 meters Centerline goodness : 0.998428 Centerline is valid? [True, True] Translation: X:164.68, Y:202.35, Z:-134.66 [[ 3.59742812e-01 3.77608955e-01 8.53227160e-01 1.64676293e+02] [-1.26351471e-01 9.25740068e-01 -3.56427597e-01 2.02354061e+02] [-9.24456822e-01 2.04157592e-02 3.80739782e-01 -1.34656302e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.5707140569999 meters Centerline goodness : 0.998559 Centerline is valid? [True, True] Translation: X:164.69, Y:202.35, Z:-134.69 [[ 3.60584316e-01 3.77672087e-01 8.52843916e-01 1.64687878e+02] [-1.25281064e-01 9.25681140e-01 -3.56958097e-01 2.02348444e+02] [-9.24274638e-01 2.18682985e-02 3.81101262e-01 -1.34685105e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.6007140569999 meters Centerline goodness : 0.998747 Centerline is valid? [True, True] Translation: X:164.70, Y:202.34, Z:-134.72 [[ 3.60515977e-01 3.77978589e-01 8.52737015e-01 1.64700063e+02] [-1.24531792e-01 9.25535346e-01 -3.57597757e-01 2.02343523e+02] [-9.24402544e-01 2.27268365e-02 3.80740631e-01 -1.34715669e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.630714057 meters Centerline goodness : 0.998381 Centerline is valid? [True, True] Translation: X:164.71, Y:202.34, Z:-134.75 [[ 3.60282163e-01 3.78503062e-01 8.52603188e-01 1.64711130e+02] [-1.24273017e-01 9.25311201e-01 -3.58267217e-01 2.02338787e+02] [-9.24528518e-01 2.31217174e-02 3.80410838e-01 -1.34745039e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.660714057 meters Centerline goodness : 0.998560 Centerline is valid? [True, True] Translation: X:164.72, Y:202.33, Z:-134.78 [[ 3.60453590e-01 3.78804978e-01 8.52396620e-01 1.64723464e+02] [-1.23650459e-01 9.25166530e-01 -3.58855758e-01 2.02333795e+02] [-9.24545171e-01 2.39516125e-02 3.80319007e-01 -1.34775286e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.6907140569999 meters Centerline goodness : 0.998121 Centerline is valid? [True, True] Translation: X:164.73, Y:202.33, Z:-134.80 [[ 3.60755775e-01 3.78318342e-01 8.52484899e-01 1.64733920e+02] [-1.20550232e-01 9.25282748e-01 -3.59610174e-01 2.02329482e+02] [-9.24836695e-01 2.69641945e-02 3.79407459e-01 -1.34802147e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.7207140569999 meters Centerline goodness : 0.998498 Centerline is valid? [True, True] Translation: X:164.74, Y:202.32, Z:-134.83 [[ 3.61600889e-01 3.77447032e-01 8.52513070e-01 1.64744140e+02] [-1.18391910e-01 9.25574060e-01 -3.59577551e-01 2.02324872e+02] [-9.24785463e-01 2.90929116e-02 3.79375078e-01 -1.34827911e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.750714057 meters Centerline goodness : 0.997802 Centerline is valid? [True, True] Translation: X:164.76, Y:202.32, Z:-134.86 [[ 3.62389360e-01 3.76242629e-01 8.52710640e-01 1.64755588e+02] [-1.15711950e-01 9.25983069e-01 -3.59396858e-01 2.02319351e+02] [-9.24816034e-01 3.15727862e-02 3.79102179e-01 -1.34858617e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.780714057 meters Centerline goodness : 0.998148 Centerline is valid? [True, True] Translation: X:164.77, Y:202.31, Z:-134.89 [[ 3.63585099e-01 3.75676361e-01 8.52451258e-01 1.64767103e+02] [-1.12790528e-01 9.26099128e-01 -3.60025975e-01 2.02314038e+02] [-9.24707615e-01 3.47516527e-02 3.79088578e-01 -1.34888885e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.8107140569999 meters Centerline goodness : 0.997935 Centerline is valid? [True, True] Translation: X:164.78, Y:202.31, Z:-134.92 [[ 3.67201603e-01 3.73061411e-01 8.52049392e-01 1.64779537e+02] [-1.05884262e-01 9.26853694e-01 -3.60181556e-01 2.02308836e+02] [-9.24094966e-01 4.20406235e-02 3.79843495e-01 -1.34918674e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.8407140569999 meters Centerline goodness : 0.997893 Centerline is valid? [True, True] Translation: X:164.79, Y:202.30, Z:-134.95 [[ 3.68527961e-01 3.72346347e-01 8.51789492e-01 1.64791533e+02] [-1.02557594e-01 9.26971864e-01 -3.60839444e-01 2.02304588e+02] [-9.23942142e-01 4.56219433e-02 3.79801997e-01 -1.34948171e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.870714057 meters Centerline goodness : 0.998086 Centerline is valid? [True, True] Translation: X:164.80, Y:202.30, Z:-134.98 [[ 3.69602483e-01 3.71556829e-01 8.51668672e-01 1.64804254e+02] [-9.89981654e-02 9.27100407e-01 -3.61502694e-01 2.02300503e+02] [-9.23901168e-01 4.92986573e-02 3.79442057e-01 -1.34978747e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.900714057 meters Centerline goodness : 0.997961 Centerline is valid? [True, True] Translation: X:164.82, Y:202.30, Z:-135.00 [[ 3.73643088e-01 3.65076784e-01 8.52707327e-01 1.64819594e+02] [-9.13033542e-02 9.29300216e-01 -3.57861434e-01 2.02298397e+02] [-9.23068004e-01 5.58574122e-02 3.80559337e-01 -1.35004321e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.9307140569999 meters Centerline goodness : 0.998423 Centerline is valid? [True, True] Translation: X:164.83, Y:202.29, Z:-135.04 [[ 3.71699635e-01 3.53127440e-01 8.58568805e-01 1.64828556e+02] [-8.94185666e-02 9.34148392e-01 -3.45501233e-01 2.02289132e+02] [-9.24036634e-01 5.16506904e-02 3.78798766e-01 -1.35035774e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.9607140569999 meters Centerline goodness : 0.998423 Centerline is valid? [True, True] Translation: X:164.84, Y:202.28, Z:-135.06 [[ 3.72127440e-01 3.55755976e-01 8.57297413e-01 1.64839782e+02] [-8.96741170e-02 9.33090247e-01 -3.48283136e-01 2.02284957e+02] [-9.23839662e-01 5.27283234e-02 3.79130588e-01 -1.35064136e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.990714057 meters Centerline goodness : 0.998863 Centerline is valid? [True, True] Translation: X:164.85, Y:202.29, Z:-135.09 [[ 3.73665871e-01 3.71081620e-01 8.50101316e-01 1.64850931e+02] [-8.75852772e-02 9.26509277e-01 -3.65936305e-01 2.02292556e+02] [-9.23418993e-01 6.22815487e-02 3.78706183e-01 -1.35089421e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.020714057 meters Centerline goodness : 0.998210 Centerline is valid? [True, True] Translation: X:164.86, Y:202.28, Z:-135.12 [[ 3.73064630e-01 3.52136030e-01 8.58383946e-01 1.64861959e+02] [-8.89716081e-02 9.34490948e-01 -3.44689312e-01 2.02277992e+02] [-9.23529553e-01 5.22195907e-02 3.79955629e-01 -1.35120649e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.0507140569999 meters Centerline goodness : 0.998283 Centerline is valid? [True, True] Translation: X:164.88, Y:202.28, Z:-135.15 [[ 3.75706795e-01 3.68911604e-01 8.50146242e-01 1.64877169e+02] [-8.98142857e-02 9.27529042e-01 -3.62799215e-01 2.02284218e+02] [-9.22376170e-01 5.99508526e-02 3.81612496e-01 -1.35151925e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.0807140569999 meters Centerline goodness : 0.998126 Centerline is valid? [True, True] Translation: X:164.89, Y:202.28, Z:-135.18 [[ 3.75784015e-01 3.69555005e-01 8.49832614e-01 1.64888929e+02] [-9.00538569e-02 9.27267627e-01 -3.63407556e-01 2.02281975e+02] [-9.22321353e-01 6.00320455e-02 3.81732205e-01 -1.35181222e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.1107140569999 meters Centerline goodness : 0.999095 Centerline is valid? [True, True] Translation: X:164.90, Y:202.28, Z:-135.21 [[ 3.76199843e-01 3.70191201e-01 8.49371623e-01 1.64902236e+02] [-9.06108028e-02 9.27019966e-01 -3.63900625e-01 2.02279503e+02] [-9.22097262e-01 5.99371134e-02 3.82288087e-01 -1.35211313e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.140714057 meters Centerline goodness : 0.998421 Centerline is valid? [True, True] Translation: X:164.91, Y:202.28, Z:-135.24 [[ 3.76235032e-01 3.71043060e-01 8.48984245e-01 1.64914582e+02] [-9.14347803e-02 9.26707013e-01 -3.64491143e-01 2.02277884e+02] [-9.22001563e-01 5.95076492e-02 3.82585883e-01 -1.35241114e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.1707140569999 meters Centerline goodness : 0.998421 Centerline is valid? [True, True] Translation: X:164.93, Y:202.27, Z:-135.27 [[ 3.76225631e-01 3.71688772e-01 8.48705916e-01 1.64926347e+02] [-9.15713343e-02 9.26438586e-01 -3.65138656e-01 2.02273020e+02] [-9.21991847e-01 5.96573880e-02 3.82585978e-01 -1.35272103e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.2007140569999 meters Centerline goodness : 0.999075 Centerline is valid? [True, True] Translation: X:164.94, Y:202.27, Z:-135.30 [[ 3.76038089e-01 3.72541523e-01 8.48415092e-01 1.64941119e+02] [-9.32695782e-02 9.26185297e-01 -3.65351312e-01 2.02274650e+02] [-9.21898119e-01 5.82546917e-02 3.83027740e-01 -1.35301238e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.2307140569999 meters Centerline goodness : 0.999115 Centerline is valid? [True, True] Translation: X:164.95, Y:202.27, Z:-135.33 [[ 3.75292829e-01 3.73554569e-01 8.48299639e-01 1.64954463e+02] [-9.42023685e-02 9.25827311e-01 -3.66018721e-01 2.02272769e+02] [-9.22106939e-01 5.74523658e-02 3.82646076e-01 -1.35332120e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.260714057 meters Centerline goodness : 0.999494 Centerline is valid? [True, True] Translation: X:164.97, Y:202.27, Z:-135.36 [[ 3.74608481e-01 3.74423834e-01 8.48218886e-01 1.64967571e+02] [-9.46878196e-02 9.25500359e-01 -3.66719650e-01 2.02271247e+02] [-9.22335461e-01 5.70602944e-02 3.82153660e-01 -1.35363145e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.290714057 meters Centerline goodness : 0.999177 Centerline is valid? [True, True] Translation: X:164.98, Y:202.27, Z:-135.39 [[ 3.73872656e-01 3.75179380e-01 8.48209685e-01 1.64980826e+02] [-9.47997257e-02 9.25199978e-01 -3.67447973e-01 2.02269793e+02] [-9.22622485e-01 5.69687039e-02 3.81473875e-01 -1.35392340e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.3207140569999 meters Centerline goodness : 0.999074 Centerline is valid? [True, True] Translation: X:165.00, Y:202.27, Z:-135.42 [[ 3.73107753e-01 3.75388300e-01 8.48454023e-01 1.64995993e+02] [-9.38688860e-02 9.25072197e-01 -3.68008238e-01 2.02271603e+02] [-9.23027214e-01 5.76632925e-02 3.80388890e-01 -1.35422818e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.3507140569999 meters Centerline goodness : 0.999100 Centerline is valid? [True, True] Translation: X:165.01, Y:202.27, Z:-135.45 [[ 3.73987113e-01 3.75218276e-01 8.48142019e-01 1.65009898e+02] [-9.30778140e-02 9.25072009e-01 -3.68209586e-01 2.02270387e+02] [-9.22751407e-01 5.87624348e-02 3.80889507e-01 -1.35452034e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.380714057 meters Centerline goodness : 0.999309 Centerline is valid? [True, True] Translation: X:165.02, Y:202.27, Z:-135.48 [[ 3.74718234e-01 3.75171822e-01 8.47839813e-01 1.65022801e+02] [-9.16547509e-02 9.24979704e-01 -3.68797985e-01 2.02269670e+02] [-9.22597232e-01 6.04867827e-02 3.80993041e-01 -1.35482508e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.410714057 meters Centerline goodness : 0.999416 Centerline is valid? [True, True] Translation: X:165.04, Y:202.27, Z:-135.51 [[ 3.77760739e-01 3.73627854e-01 8.47171205e-01 1.65036467e+02] [-8.69914291e-02 9.25241995e-01 -3.69269201e-01 2.02273685e+02] [-9.21807635e-01 6.57987724e-02 3.82022521e-01 -1.35509007e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.4407140569999 meters Centerline goodness : 0.999434 Centerline is valid? [True, True] Translation: X:165.05, Y:202.27, Z:-135.54 [[ 3.78689000e-01 3.72201767e-01 8.47384497e-01 1.65049547e+02] [-8.35290239e-02 9.25580658e-01 -3.69219917e-01 2.02272817e+02] [-9.21747006e-01 6.90383214e-02 3.81596864e-01 -1.35539840e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.4707140569999 meters Centerline goodness : 0.999558 Centerline is valid? [True, True] Translation: X:165.06, Y:202.27, Z:-135.57 [[ 3.80027816e-01 3.71469521e-01 8.47106401e-01 1.65063035e+02] [-8.03132494e-02 9.25608216e-01 -3.69863776e-01 2.02271973e+02] [-9.21481764e-01 7.25246554e-02 3.81590793e-01 -1.35570502e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.500714057 meters Centerline goodness : 0.999096 Centerline is valid? [True, True] Translation: X:165.08, Y:202.27, Z:-135.60 [[ 3.81461110e-01 3.70800616e-01 8.46755174e-01 1.65076722e+02] [-7.73753207e-02 9.25613647e-01 -3.70475959e-01 2.02271168e+02] [-9.21140859e-01 7.58042174e-02 3.81776426e-01 -1.35601294e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.530714057 meters Centerline goodness : 0.999077 Centerline is valid? [True, True] Translation: X:165.09, Y:202.28, Z:-135.63 [[ 3.82873097e-01 3.69250122e-01 8.46795453e-01 1.65092407e+02] [-7.16714601e-02 9.25753012e-01 -3.71274241e-01 2.02275009e+02] [-9.21016500e-01 8.14598521e-02 3.80910619e-01 -1.35630949e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.5607140569999 meters Centerline goodness : 0.998704 Centerline is valid? [True, True] Translation: X:165.11, Y:202.27, Z:-135.66 [[ 3.83581297e-01 3.69068516e-01 8.46554085e-01 1.65106715e+02] [-6.98598283e-02 9.25642614e-01 -3.71894280e-01 2.02274835e+02] [-9.20861006e-01 8.35115675e-02 3.80842258e-01 -1.35661154e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.5907140569999 meters Centerline goodness : 0.998928 Centerline is valid? [True, True] Translation: X:165.12, Y:202.28, Z:-135.69 [[ 3.83461931e-01 3.69168287e-01 8.46564660e-01 1.65120127e+02] [-6.82131257e-02 9.25452750e-01 -3.72671675e-01 2.02275131e+02] [-9.21034156e-01 8.51585784e-02 3.80058021e-01 -1.35691852e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.620714057 meters Centerline goodness : 0.998870 Centerline is valid? [True, True] Translation: X:165.13, Y:202.28, Z:-135.72 [[ 3.83581171e-01 3.69533511e-01 8.46351268e-01 1.65133582e+02] [-6.75251894e-02 9.25222972e-01 -3.73366845e-01 2.02275182e+02] [-9.21035197e-01 8.60664619e-02 3.79850932e-01 -1.35721443e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.650714057 meters Centerline goodness : 0.998600 Centerline is valid? [True, True] Translation: X:165.15, Y:202.28, Z:-135.75 [[ 3.83291502e-01 3.69820506e-01 8.46357146e-01 1.65146936e+02] [-6.64245454e-02 9.25004769e-01 -3.74104206e-01 2.02281410e+02] [-9.21235803e-01 8.71720742e-02 3.79111626e-01 -1.35747085e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.6807140569999 meters Centerline goodness : 0.998304 Centerline is valid? [True, True] Translation: X:165.16, Y:202.28, Z:-135.77 [[ 3.83001202e-01 3.69542288e-01 8.46610050e-01 1.65157964e+02] [-6.61520664e-02 9.25114044e-01 -3.73882214e-01 2.02282559e+02] [-9.21376136e-01 8.71923331e-02 3.78765777e-01 -1.35772978e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.7107140569999 meters Centerline goodness : 0.997816 Centerline is valid? [True, True] Translation: X:165.17, Y:202.28, Z:-135.80 [[ 3.83251576e-01 3.68977413e-01 8.46743112e-01 1.65169313e+02] [-6.63934977e-02 9.25375623e-01 -3.73191451e-01 2.02283808e+02] [-9.21254652e-01 8.68079750e-02 3.79149367e-01 -1.35798927e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.740714057 meters Centerline goodness : 0.996657 Centerline is valid? [True, True] Translation: X:165.18, Y:202.29, Z:-135.83 [[ 3.83282911e-01 3.69391633e-01 8.46548304e-01 1.65184072e+02] [-6.83993574e-02 9.25378891e-01 -3.72820917e-01 2.02290060e+02] [-9.21094858e-01 8.49925263e-02 3.79948065e-01 -1.35830073e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.770714057 meters Centerline goodness : 0.996428 Centerline is valid? [True, True] Translation: X:165.20, Y:202.29, Z:-135.86 [[ 3.82771885e-01 3.70577139e-01 8.46261347e-01 1.65196983e+02] [-6.98135136e-02 9.25006518e-01 -3.73482282e-01 2.02290893e+02] [-9.21201258e-01 8.38780389e-02 3.79937781e-01 -1.35860297e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.8007140569999 meters Centerline goodness : 0.996280 Centerline is valid? [True, True] Translation: X:165.21, Y:202.29, Z:-135.89 [[ 3.82273856e-01 3.71688075e-01 8.45999216e-01 1.65210683e+02] [-7.11422939e-02 9.24655872e-01 -3.74099309e-01 2.02291191e+02] [-9.21306395e-01 8.28220606e-02 3.79914508e-01 -1.35891056e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.8307140569999 meters Centerline goodness : 0.995054 Centerline is valid? [True, True] Translation: X:165.23, Y:202.30, Z:-135.92 [[ 3.81705694e-01 3.73103088e-01 8.45632810e-01 1.65225740e+02] [-7.32640791e-02 9.24240598e-01 -3.74715481e-01 2.02298011e+02] [-9.21375677e-01 8.10765238e-02 3.80122953e-01 -1.35918940e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.8607140569999 meters Centerline goodness : 0.994356 Centerline is valid? [True, True] Translation: X:165.24, Y:202.30, Z:-135.94 [[ 3.81006081e-01 3.73654272e-01 8.45704943e-01 1.65236818e+02] [-7.43691607e-02 9.24119953e-01 -3.74795333e-01 2.02299577e+02] [-9.21576689e-01 7.99049341e-02 3.79883676e-01 -1.35943812e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.890714057 meters Centerline goodness : 0.993107 Centerline is valid? [True, True] Translation: X:165.25, Y:202.30, Z:-135.97 [[ 3.80419922e-01 3.73821359e-01 8.45894955e-01 1.65248445e+02] [-7.57234357e-02 9.24184523e-01 -3.74364700e-01 2.02300604e+02] [-9.21708546e-01 7.83617179e-02 3.79885242e-01 -1.35971054e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.9207140569999 meters Centerline goodness : 0.991942 Centerline is valid? [True, True] Translation: X:165.26, Y:202.30, Z:-136.01 [[ 3.76756797e-01 3.82889223e-01 8.43475049e-01 1.65262350e+02] [-8.22605632e-02 9.20805225e-01 -3.81249180e-01 2.02295168e+02] [-9.22652435e-01 7.42534873e-02 3.78416310e-01 -1.36009579e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.9507140569999 meters Centerline goodness : 0.990427 Centerline is valid? [True, True] Translation: X:165.29, Y:202.32, Z:-136.03 [[ 3.78717473e-01 4.23295284e-01 8.23039597e-01 1.65290671e+02] [-8.80240244e-02 9.01722680e-01 -4.23258763e-01 2.02315145e+02] [-9.21316909e-01 8.78482314e-02 3.78758289e-01 -1.36034892e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.9807140569999 meters Centerline goodness : 0.990720 Centerline is valid? [True, True] Translation: X:165.30, Y:202.32, Z:-136.06 [[ 3.80691423e-01 4.21807728e-01 8.22892630e-01 1.65303658e+02] [-8.53934381e-02 9.02134029e-01 -4.22920978e-01 2.02324928e+02] [-9.20750781e-01 9.07327582e-02 3.79454300e-01 -1.36056976e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.010714057 meters Centerline goodness : 0.988283 Centerline is valid? [True, True] Translation: X:165.30, Y:202.31, Z:-136.10 [[ 3.70573011e-01 3.98039985e-01 8.39189975e-01 1.65302857e+02] [-9.17450430e-02 9.14785611e-01 -3.93382934e-01 2.02306704e+02] [-9.24261051e-01 6.87855778e-02 3.75513054e-01 -1.36102185e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.040714057 meters Centerline goodness : 0.987658 Centerline is valid? [True, True] Translation: X:165.33, Y:202.33, Z:-136.13 [[ 3.71523220e-01 4.53291425e-01 8.10245260e-01 1.65332414e+02] [-9.61881825e-02 8.86807190e-01 -4.52018629e-01 2.02326769e+02] [-9.23427491e-01 8.99993975e-02 3.73070741e-01 -1.36130356e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.0707140569999 meters Centerline goodness : 0.985349 Centerline is valid? [True, True] Translation: X:165.35, Y:202.33, Z:-136.16 [[ 3.74359792e-01 4.46515361e-01 8.12698455e-01 1.65349416e+02] [-9.93939248e-02 8.90702330e-01 -4.43587879e-01 2.02328349e+02] [-9.21941210e-01 8.52841769e-02 3.77824053e-01 -1.36156192e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.1007140569999 meters Centerline goodness : 0.983545 Centerline is valid? [True, True] Translation: X:165.36, Y:202.33, Z:-136.19 [[ 3.73355332e-01 4.50041417e-01 8.11214225e-01 1.65362754e+02] [-1.01682343e-01 8.89030741e-01 -4.46413534e-01 2.02328709e+02] [-9.22098963e-01 8.41847104e-02 3.77685633e-01 -1.36185991e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.130714057 meters Centerline goodness : 0.984948 Centerline is valid? [True, True] Translation: X:165.37, Y:202.32, Z:-136.21 [[ 3.77170257e-01 4.28808252e-01 8.20893465e-01 1.65374281e+02] [-1.01379569e-01 9.00145771e-01 -4.23626927e-01 2.02322210e+02] [-9.20578503e-01 7.65576513e-02 3.82980607e-01 -1.36210963e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.160714057 meters Centerline goodness : 0.982351 Centerline is valid? [True, True] Translation: X:165.39, Y:202.33, Z:-136.23 [[ 3.72900452e-01 4.36869593e-01 8.18590381e-01 1.65387072e+02] [-1.04803685e-01 8.96409347e-01 -4.30658182e-01 2.02330259e+02] [-9.21933534e-01 7.48013423e-02 3.80056994e-01 -1.36231226e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.1907140569999 meters Centerline goodness : 0.984740 Centerline is valid? [True, True] Translation: X:165.37, Y:202.30, Z:-136.27 [[ 3.68986015e-01 3.55155195e-01 8.58902851e-01 1.65373077e+02] [-1.04897164e-01 9.34121616e-01 -3.41194068e-01 2.02298016e+02] [-9.23496565e-01 3.57993664e-02 3.81932586e-01 -1.36268065e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.2207140569999 meters Centerline goodness : 0.984419 Centerline is valid? [True, True] Translation: X:165.40, Y:202.31, Z:-136.29 [[ 3.69102081e-01 3.92289685e-01 8.42539291e-01 1.65397402e+02] [-1.06849620e-01 9.18452309e-01 -3.80826096e-01 2.02309576e+02] [-9.23226306e-01 5.05387016e-02 3.80918662e-01 -1.36289652e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.250714057 meters Centerline goodness : 0.981884 Centerline is valid? [True, True] Translation: X:165.41, Y:202.31, Z:-136.31 [[ 3.67405069e-01 3.97089754e-01 8.41031059e-01 1.65408648e+02] [-1.05920116e-01 9.16256289e-01 -3.86335788e-01 2.02312641e+02] [-9.24009981e-01 5.28596197e-02 3.78696998e-01 -1.36314145e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.280714057 meters Centerline goodness : 0.981094 Centerline is valid? [True, True] Translation: X:165.41, Y:202.31, Z:-136.34 [[ 3.65817074e-01 3.72678449e-01 8.52812196e-01 1.65410672e+02] [-1.07769765e-01 9.27124016e-01 -3.58924417e-01 2.02305332e+02] [-9.24426063e-01 3.93933101e-02 3.79321263e-01 -1.36342747e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.3107140569999 meters Centerline goodness : 0.981432 Centerline is valid? [True, True] Translation: X:165.44, Y:202.31, Z:-136.38 [[ 3.68203739e-01 4.12619274e-01 8.33169455e-01 1.65443826e+02] [-1.13482858e-01 9.09371632e-01 -4.00206042e-01 2.02309623e+02] [-9.22793394e-01 5.28069098e-02 3.81659250e-01 -1.36382070e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.3407140569999 meters Centerline goodness : 0.981995 Centerline is valid? [True, True] Translation: X:165.48, Y:202.31, Z:-136.38 [[ 3.81256162e-01 4.21883072e-01 8.22592495e-01 1.65476611e+02] [-1.15724437e-01 9.04580066e-01 -4.10295941e-01 2.02314252e+02] [-9.17197685e-01 6.12338024e-02 3.93698905e-01 -1.36384896e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.370714057 meters Centerline goodness : 0.984332 Centerline is valid? [True, True] Translation: X:165.48, Y:202.31, Z:-136.41 [[ 3.83451827e-01 4.08054217e-01 8.28526676e-01 1.65483161e+02] [-1.12724336e-01 9.11071343e-01 -3.96537806e-01 2.02312227e+02] [-9.16655835e-01 5.86580269e-02 3.95349612e-01 -1.36413031e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.400714057 meters Centerline goodness : 0.985276 Centerline is valid? [True, True] Translation: X:165.49, Y:202.31, Z:-136.44 [[ 3.82707575e-01 3.97515745e-01 8.33976106e-01 1.65491172e+02] [-1.11076569e-01 9.15948970e-01 -3.85615716e-01 2.02307540e+02] [-9.17167873e-01 5.49428514e-02 3.94695294e-01 -1.36444108e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.4307140569999 meters Centerline goodness : 0.987232 Centerline is valid? [True, True] Translation: X:165.51, Y:202.32, Z:-136.46 [[ 3.85654887e-01 4.05030521e-01 8.28987687e-01 1.65508368e+02] [-1.12166900e-01 9.12409693e-01 -3.93607849e-01 2.02316011e+02] [-9.15799593e-01 5.88118112e-02 3.97306275e-01 -1.36459179e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.4607140569999 meters Centerline goodness : 0.985128 Centerline is valid? [True, True] Translation: X:165.50, Y:202.28, Z:-136.50 [[ 3.80796879e-01 3.56894732e-01 8.53006382e-01 1.65500025e+02] [-1.22672480e-01 9.33854198e-01 -3.35958033e-01 2.02281074e+02] [-9.16485243e-01 2.32913623e-02 3.99389926e-01 -1.36497609e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.490714057 meters Centerline goodness : 0.987179 Centerline is valid? [True, True] Translation: X:165.54, Y:202.31, Z:-136.51 [[ 3.84088985e-01 4.22969085e-01 8.20714813e-01 1.65536990e+02] [-1.14805393e-01 9.03876872e-01 -4.12099893e-01 2.02314522e+02] [-9.16130653e-01 6.40605427e-02 3.95728283e-01 -1.36511026e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.520714057 meters Centerline goodness : 0.986885 Centerline is valid? [True, True] Translation: X:165.52, Y:202.29, Z:-136.55 [[ 3.80332181e-01 3.62479336e-01 8.50856135e-01 1.65524491e+02] [-1.15001514e-01 9.31389175e-01 -3.45382188e-01 2.02289420e+02] [-9.17672101e-01 3.35102168e-02 3.95922949e-01 -1.36548052e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.5507140569999 meters Centerline goodness : 0.986905 Centerline is valid? [True, True] Translation: X:165.54, Y:202.28, Z:-136.58 [[ 3.79661615e-01 3.63408430e-01 8.50759291e-01 1.65537146e+02] [-1.15748448e-01 9.31048536e-01 -3.46050461e-01 2.02284819e+02] [-9.17855847e-01 3.29080095e-02 3.95547352e-01 -1.36578205e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.5807140569999 meters Centerline goodness : 0.987313 Centerline is valid? [True, True] Translation: X:165.55, Y:202.28, Z:-136.61 [[ 3.78613895e-01 3.64068423e-01 8.50944006e-01 1.65549318e+02] [-1.15511061e-01 9.30786600e-01 -3.46833534e-01 2.02280225e+02] [-9.18318416e-01 3.30225508e-02 3.94462670e-01 -1.36608153e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.6107140569999 meters Centerline goodness : 0.983589 Centerline is valid? [True, True] Translation: X:165.56, Y:202.28, Z:-136.63 [[ 3.76818885e-01 3.63351088e-01 8.52046663e-01 1.65555888e+02] [-1.12649068e-01 9.31000260e-01 -3.47201243e-01 2.02278581e+02] [-9.19411614e-01 3.48497227e-02 3.91749641e-01 -1.36632905e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.640714057 meters Centerline goodness : 0.985651 Centerline is valid? [True, True] Translation: X:165.56, Y:202.26, Z:-136.67 [[ 3.79068783e-01 3.30128582e-01 8.64477864e-01 1.65556076e+02] [-1.10269095e-01 9.43656955e-01 -3.12013265e-01 2.02258604e+02] [-9.18775045e-01 2.29492968e-02 3.94113874e-01 -1.36665167e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.6707140569999 meters Centerline goodness : 0.985939 Centerline is valid? [True, True] Translation: X:165.59, Y:202.29, Z:-136.68 [[ 3.82207954e-01 4.16508525e-01 8.24886494e-01 1.65593543e+02] [-1.06038438e-01 9.06532306e-01 -4.08601307e-01 2.02293081e+02] [-9.17972184e-01 6.87009945e-02 3.90649771e-01 -1.36677419e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.7007140569999 meters Centerline goodness : 0.983484 Centerline is valid? [True, True] Translation: X:165.57, Y:202.27, Z:-136.71 [[ 3.68458731e-01 3.57291360e-01 8.58243001e-01 1.65569691e+02] [-9.75383856e-02 9.32957555e-01 -3.46520512e-01 2.02273537e+02] [-9.24513076e-01 4.39668712e-02 3.78605979e-01 -1.36707950e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.7307140569999 meters Centerline goodness : 0.985502 Centerline is valid? [True, True] Translation: X:165.56, Y:202.24, Z:-136.74 [[ 3.79696491e-01 2.89085297e-01 8.78783401e-01 1.65564551e+02] [-9.75633816e-02 9.57137683e-01 -2.72706514e-01 2.02237748e+02] [-9.19952152e-01 1.78086261e-02 3.91625959e-01 -1.36741412e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.760714057 meters Centerline goodness : 0.984097 Centerline is valid? [True, True] Translation: X:165.60, Y:202.25, Z:-136.77 [[ 3.83980271e-01 3.45422396e-01 8.56295814e-01 1.65596648e+02] [-9.60764907e-02 9.37301022e-01 -3.35016571e-01 2.02252985e+02] [-9.18329167e-01 4.63698570e-02 3.93092072e-01 -1.36766874e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.790714057 meters Centerline goodness : 0.985325 Centerline is valid? [True, True] Translation: X:165.61, Y:202.25, Z:-136.80 [[ 3.85070008e-01 3.44966158e-01 8.55990327e-01 1.65608630e+02] [-9.36721181e-02 9.37332604e-01 -3.35608587e-01 2.02246931e+02] [-9.18121247e-01 4.90503742e-02 3.93252384e-01 -1.36796357e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.8207140569999 meters Centerline goodness : 0.982965 Centerline is valid? [True, True] Translation: X:165.62, Y:202.22, Z:-136.83 [[ 3.77287838e-01 3.32722164e-01 8.64262604e-01 1.65616905e+02] [-9.96258772e-02 9.42398375e-01 -3.19311739e-01 2.02220848e+02] [-9.20721767e-01 3.43695156e-02 3.88703183e-01 -1.36834811e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.8507140569999 meters Centerline goodness : 0.982982 Centerline is valid? [True, True] Translation: X:165.65, Y:202.25, Z:-136.85 [[ 3.88099280e-01 4.00631471e-01 8.29983960e-01 1.65653846e+02] [-8.96367711e-02 9.12712071e-01 -3.98650129e-01 2.02246374e+02] [-9.17248166e-01 8.03187459e-02 3.90134209e-01 -1.36851708e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.880714057 meters Centerline goodness : 0.982352 Centerline is valid? [True, True] Translation: X:165.65, Y:202.22, Z:-136.88 [[ 3.87458463e-01 3.51397148e-01 8.52288674e-01 1.65646034e+02] [-8.73358539e-02 9.34337690e-01 -3.45522113e-01 2.02222248e+02] [-9.17740916e-01 5.94401076e-02 3.92706615e-01 -1.36882869e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.910714057 meters Centerline goodness : 0.983594 Centerline is valid? [True, True] Translation: X:165.65, Y:202.22, Z:-136.91 [[ 3.82534035e-01 3.49963397e-01 8.55098435e-01 1.65652244e+02] [-8.44417922e-02 9.34858868e-01 -3.44831090e-01 2.02215811e+02] [-9.20074614e-01 5.97035839e-02 3.87166871e-01 -1.36908692e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.9407140569999 meters Centerline goodness : 0.985574 Centerline is valid? [True, True] Translation: X:165.66, Y:202.20, Z:-136.94 [[ 3.91002850e-01 3.29718116e-01 8.59303634e-01 1.65660485e+02] [-8.32172348e-02 9.42471082e-01 -3.23764037e-01 2.02200215e+02] [-9.16619694e-01 5.50837887e-02 3.95947109e-01 -1.36937880e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.9707140569999 meters Centerline goodness : 0.986271 Centerline is valid? [True, True] Translation: X:165.68, Y:202.21, Z:-136.97 [[ 3.94175442e-01 3.55369028e-01 8.47548568e-01 1.65681988e+02] [-8.21378280e-02 9.32147201e-01 -3.52640004e-01 2.02205581e+02] [-9.15357361e-01 6.93862307e-02 3.96618775e-01 -1.36966297e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.000714057 meters Centerline goodness : 0.985584 Centerline is valid? [True, True] Translation: X:165.69, Y:202.20, Z:-137.00 [[ 3.94740315e-01 3.55318753e-01 8.47306714e-01 1.65693117e+02] [-8.07047316e-02 9.32040140e-01 -3.53253343e-01 2.02202377e+02] [-9.15241405e-01 7.10616752e-02 3.96589723e-01 -1.36997073e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.030714057 meters Centerline goodness : 0.982311 Centerline is valid? [True, True] Translation: X:165.70, Y:202.21, Z:-137.02 [[ 3.84261555e-01 3.59151907e-01 8.50501596e-01 1.65695113e+02] [-6.92620749e-02 9.29848204e-01 -3.61365581e-01 2.02211971e+02] [-9.20622519e-01 7.99513946e-02 3.82180523e-01 -1.37024369e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.0607140569999 meters Centerline goodness : 0.982260 Centerline is valid? [True, True] Translation: X:165.71, Y:202.20, Z:-137.05 [[ 3.90384690e-01 3.50706276e-01 8.51237277e-01 1.65707476e+02] [-7.34496794e-02 9.33519752e-01 -3.50921668e-01 2.02203072e+02] [-9.17717243e-01 7.44713415e-02 3.90191082e-01 -1.37048264e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.0907140569999 meters Centerline goodness : 0.982260 Centerline is valid? [True, True] Translation: X:165.71, Y:202.19, Z:-137.08 [[ 3.88138701e-01 3.20623796e-01 8.64030514e-01 1.65707612e+02] [-7.32994304e-02 9.45301930e-01 -3.17854454e-01 2.02186762e+02] [-9.18681415e-01 6.00386706e-02 3.90409805e-01 -1.37077833e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.120714057 meters Centerline goodness : 0.983864 Centerline is valid? [True, True] Translation: X:165.71, Y:202.18, Z:-137.11 [[ 3.89783885e-01 3.02613210e-01 8.69766502e-01 1.65712266e+02] [-7.46133205e-02 9.51740428e-01 -2.97696170e-01 2.02175028e+02] [-9.17878737e-01 5.11410029e-02 3.93552058e-01 -1.37109770e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.150714057 meters Centerline goodness : 0.980091 Centerline is valid? [True, True] Translation: X:165.74, Y:202.16, Z:-137.13 [[ 3.90372475e-01 3.07903851e-01 8.67643100e-01 1.65736340e+02] [-8.40979875e-02 9.50403003e-01 -2.99435569e-01 2.02158009e+02] [-9.16807973e-01 4.39243653e-02 3.96905267e-01 -1.37132124e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.1807140569999 meters Centerline goodness : 0.991039 Centerline is valid? [True, True] Translation: X:165.79, Y:202.20, Z:-137.15 [[ 4.01840651e-01 4.16169465e-01 8.15675835e-01 1.65794234e+02] [-8.40048529e-02 9.03755852e-01 -4.19724369e-01 2.02198302e+02] [-9.11848275e-01 1.00141585e-01 3.98126095e-01 -1.37145551e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.2107140569999 meters Centerline goodness : 0.984037 Centerline is valid? [True, True] Translation: X:165.76, Y:202.17, Z:-137.19 [[ 4.15087305e-01 3.09753015e-01 8.55427145e-01 1.65762949e+02] [-8.27187686e-02 9.49210479e-01 -3.03573832e-01 2.02169376e+02] [-9.06013319e-01 5.52497638e-02 4.19627607e-01 -1.37193794e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.240714057 meters Centerline goodness : 0.989918 Centerline is valid? [True, True] Translation: X:165.83, Y:202.20, Z:-137.20 [[ 4.08201967e-01 4.29138827e-01 8.05736323e-01 1.65828927e+02] [-9.54685962e-02 8.97847766e-01 -4.29831520e-01 2.02198260e+02] [-9.07885952e-01 9.85355562e-02 4.07472505e-01 -1.37202884e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.270714057 meters Centerline goodness : 0.984604 Centerline is valid? [True, True] Translation: X:165.80, Y:202.15, Z:-137.26 [[ 3.96085425e-01 3.22917195e-01 8.59558504e-01 1.65801138e+02] [-9.92972412e-02 9.45694095e-01 -3.09520170e-01 2.02146625e+02] [-9.12828787e-01 3.72446400e-02 4.06640434e-01 -1.37259679e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.3007140569999 meters Centerline goodness : 0.984906 Centerline is valid? [True, True] Translation: X:165.90, Y:202.22, Z:-137.25 [[ 4.18761295e-01 5.06680329e-01 7.53600705e-01 1.65895463e+02] [-1.00298102e-01 8.50597900e-01 -5.16162284e-01 2.02217611e+02] [-9.02540453e-01 1.40564066e-01 4.07016553e-01 -1.37247739e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.3307140569999 meters Centerline goodness : 0.983766 Centerline is valid? [True, True] Translation: X:165.84, Y:202.17, Z:-137.30 [[ 3.99293476e-01 3.67565264e-01 8.39916958e-01 1.65839118e+02] [-9.51509438e-02 9.27783333e-01 -3.60783018e-01 2.02169208e+02] [-9.11872260e-01 6.41394137e-02 4.05432013e-01 -1.37298490e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.3607140569999 meters Centerline goodness : 0.983946 Centerline is valid? [True, True] Translation: X:165.86, Y:202.19, Z:-137.32 [[ 3.92271279e-01 4.15155921e-01 8.20834213e-01 1.65861836e+02] [-9.23425785e-02 9.05622293e-01 -4.13909545e-01 2.02189125e+02] [-9.15202760e-01 8.65668787e-02 3.93586183e-01 -1.37318815e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.390714057 meters Centerline goodness : 0.984196 Centerline is valid? [True, True] Translation: X:165.82, Y:202.13, Z:-137.36 [[ 3.91531837e-01 2.71364123e-01 8.79240771e-01 1.65821785e+02] [-9.60730364e-02 9.62358775e-01 -2.54235245e-01 2.02132042e+02] [-9.15135396e-01 1.50698619e-02 4.02864875e-01 -1.37363108e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.4207140569999 meters Centerline goodness : 0.978232 Centerline is valid? [True, True] Translation: X:165.88, Y:202.16, Z:-137.38 [[ 3.95906198e-01 3.71114404e-01 8.39959750e-01 1.65877249e+02] [-1.03732837e-01 9.26918183e-01 -3.60641347e-01 2.02159545e+02] [-9.12413164e-01 5.56487365e-02 4.05469403e-01 -1.37376146e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.4507140569999 meters Centerline goodness : 0.980062 Centerline is valid? [True, True] Translation: X:165.89, Y:202.16, Z:-137.40 [[ 3.97218913e-01 3.70851963e-01 8.39455751e-01 1.65891965e+02] [-1.04825014e-01 9.27062869e-01 -3.59952989e-01 2.02158391e+02] [-9.11717529e-01 5.49841741e-02 4.07121467e-01 -1.37399289e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.4807140569999 meters Centerline goodness : 0.983759 Centerline is valid? [True, True] Translation: X:165.91, Y:202.18, Z:-137.42 [[ 3.90565853e-01 4.18869080e-01 8.19760336e-01 1.65907931e+02] [-1.00517443e-01 9.04567194e-01 -4.14312003e-01 2.02184116e+02] [-9.15070794e-01 7.94159076e-02 3.95396706e-01 -1.37421153e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.510714057 meters Centerline goodness : 0.982834 Centerline is valid? [True, True] Translation: X:165.87, Y:202.14, Z:-137.46 [[ 3.79557275e-01 3.12206134e-01 8.70898160e-01 1.65874269e+02] [-1.05882868e-01 9.49814037e-01 -2.94350324e-01 2.02143139e+02] [-9.19089274e-01 1.95096117e-02 3.93566108e-01 -1.37458485e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.540714057 meters Centerline goodness : 0.981704 Centerline is valid? [True, True] Translation: X:165.86, Y:202.10, Z:-137.49 [[ 3.76589788e-01 2.29287946e-01 8.97556221e-01 1.65864338e+02] [-1.13616770e-01 9.73002614e-01 -2.00890876e-01 2.02099812e+02] [-9.19386405e-01 -2.63239859e-02 3.92473804e-01 -1.37486345e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.5707140569999 meters Centerline goodness : 0.983911 Centerline is valid? [True, True] Translation: X:165.94, Y:202.17, Z:-137.50 [[ 3.75184353e-01 4.08718144e-01 8.31977271e-01 1.65935586e+02] [-1.14437964e-01 9.11099657e-01 -3.95981523e-01 2.02172016e+02] [-9.19859040e-01 5.33562865e-02 3.88603208e-01 -1.37500940e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.6007140569999 meters Centerline goodness : 0.986445 Centerline is valid? [True, True] Translation: X:165.90, Y:202.11, Z:-137.54 [[ 3.79326244e-01 2.72994177e-01 8.84073402e-01 1.65902053e+02] [-1.19723599e-01 9.61932426e-01 -2.45666985e-01 2.02113893e+02] [-9.17484529e-01 -1.26565151e-02 3.97570059e-01 -1.37544947e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.630714057 meters Centerline goodness : 0.984794 Centerline is valid? [True, True] Translation: X:165.96, Y:202.17, Z:-137.55 [[ 3.75836679e-01 4.17095465e-01 8.27513241e-01 1.65961947e+02] [-1.22385770e-01 9.07500280e-01 -4.01827033e-01 2.02166910e+02] [-9.18568731e-01 4.97454923e-02 3.92118441e-01 -1.37552592e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.660714057 meters Centerline goodness : 0.984118 Centerline is valid? [True, True] Translation: X:165.93, Y:202.12, Z:-137.59 [[ 3.70733426e-01 3.18096583e-01 8.72565924e-01 1.65930943e+02] [-1.27668114e-01 9.48052297e-01 -2.91372092e-01 2.02124595e+02] [-9.19922594e-01 -3.37747190e-03 3.92085467e-01 -1.37592860e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.6907140569999 meters Centerline goodness : 0.986734 Centerline is valid? [True, True] Translation: X:165.93, Y:202.09, Z:-137.62 [[ 3.74068457e-01 2.61337312e-01 8.89817734e-01 1.65926946e+02] [-1.36801233e-01 9.64527553e-01 -2.25769845e-01 2.02091623e+02] [-9.17255805e-01 -3.72747854e-02 3.96550600e-01 -1.37619957e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.7207140569999 meters Centerline goodness : 0.986044 Centerline is valid? [True, True] Translation: X:165.98, Y:202.12, Z:-137.64 [[ 3.72654290e-01 3.63012070e-01 8.54020502e-01 1.65975943e+02] [-1.38556752e-01 9.31760124e-01 -3.35596631e-01 2.02120354e+02] [-9.17567876e-01 6.73121693e-03 3.97522181e-01 -1.37637862e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.750714057 meters Centerline goodness : 0.985945 Centerline is valid? [True, True] Translation: X:165.99, Y:202.12, Z:-137.66 [[ 3.74805077e-01 3.79152929e-01 8.46028493e-01 1.65993007e+02] [-1.38178772e-01 9.25203183e-01 -3.53420002e-01 2.02121208e+02] [-9.16748483e-01 1.55604331e-02 3.99161736e-01 -1.37662996e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.780714057 meters Centerline goodness : 0.988277 Centerline is valid? [True, True] Translation: X:166.01, Y:202.13, Z:-137.70 [[ 3.73469030e-01 4.22892345e-01 8.25640932e-01 1.66010439e+02] [-1.31109525e-01 9.05170875e-01 -4.04321629e-01 2.02134869e+02] [-9.18330646e-01 4.27522164e-02 3.93498503e-01 -1.37695953e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.8107140569999 meters Centerline goodness : 0.983951 Centerline is valid? [True, True] Translation: X:166.01, Y:202.10, Z:-137.71 [[ 3.74558646e-01 3.63119698e-01 8.53141199e-01 1.66006735e+02] [-1.35204345e-01 9.31678175e-01 -3.37187726e-01 2.02102155e+02] [-9.17292541e-01 1.09481811e-02 3.98063477e-01 -1.37714910e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.8407140569999 meters Centerline goodness : 0.984993 Centerline is valid? [True, True] Translation: X:166.04, Y:202.13, Z:-137.74 [[ 3.70326670e-01 4.38916383e-01 8.18663891e-01 1.66040068e+02] [-1.24140851e-01 8.96804087e-01 -4.24654540e-01 2.02133769e+02] [-9.20568958e-01 5.56312691e-02 3.86597925e-01 -1.37738456e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.870714057 meters Centerline goodness : 0.984199 Centerline is valid? [True, True] Translation: X:166.01, Y:202.09, Z:-137.77 [[ 3.67869303e-01 3.41076799e-01 8.65065774e-01 1.66007529e+02] [-1.27039523e-01 9.40012467e-01 -3.16603097e-01 2.02087832e+02] [-9.21158583e-01 6.57101768e-03 3.89131965e-01 -1.37774972e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.900714057 meters Centerline goodness : 0.985054 Centerline is valid? [True, True] Translation: X:166.01, Y:202.05, Z:-137.81 [[ 3.79026938e-01 2.70046745e-01 8.85106398e-01 1.66007241e+02] [-1.27316740e-01 9.62594979e-01 -2.39168045e-01 2.02049925e+02] [-9.16585527e-01 -2.20377297e-02 3.99230899e-01 -1.37810459e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.9307140569999 meters Centerline goodness : 0.985763 Centerline is valid? [True, True] Translation: X:166.07, Y:202.09, Z:-137.83 [[ 3.84001700e-01 3.91593725e-01 8.36180034e-01 1.66065971e+02] [-1.25824435e-01 9.19356122e-01 -3.72763375e-01 2.02090358e+02] [-9.14719031e-01 3.79298894e-02 4.02306372e-01 -1.37829909e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.9607140569999 meters Centerline goodness : 0.982382 Centerline is valid? [True, True] Translation: X:166.07, Y:202.06, Z:-137.84 [[ 3.86163339e-01 3.46314572e-01 8.54952685e-01 1.66070581e+02] [-1.31888617e-01 9.38054301e-01 -3.20405246e-01 2.02063005e+02] [-9.12953048e-01 1.09702321e-02 4.07917131e-01 -1.37844732e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.990714057 meters Centerline goodness : 0.984985 Centerline is valid? [True, True] Translation: X:166.09, Y:202.08, Z:-137.88 [[ 3.84610983e-01 4.02503535e-01 8.30701689e-01 1.66091824e+02] [-1.27052663e-01 9.14443118e-01 -3.84254350e-01 2.02080394e+02] [-9.14293177e-01 4.22455813e-02 4.02844012e-01 -1.37878760e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.020714057 meters Centerline goodness : 0.983885 Centerline is valid? [True, True] Translation: X:166.10, Y:202.09, Z:-137.90 [[ 3.69302778e-01 4.24677317e-01 8.26598230e-01 1.66095271e+02] [-1.24821820e-01 9.04083954e-01 -4.08719607e-01 2.02086010e+02] [-9.20888143e-01 4.77637906e-02 3.86889712e-01 -1.37899037e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.0507140569999 meters Centerline goodness : 0.983043 Centerline is valid? [True, True] Translation: X:166.07, Y:202.04, Z:-137.94 [[ 3.65914009e-01 3.28083503e-01 8.70900771e-01 1.66066103e+02] [-1.27817754e-01 9.44648427e-01 -3.02162160e-01 2.02043191e+02] [-9.21829464e-01 -7.51212984e-04 3.87594989e-01 -1.37935901e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.0807140569999 meters Centerline goodness : 0.982600 Centerline is valid? [True, True] Translation: X:166.08, Y:202.01, Z:-137.97 [[ 3.80972038e-01 2.83871453e-01 8.79930284e-01 1.66079368e+02] [-1.28915687e-01 9.58713916e-01 -2.53472627e-01 2.02013928e+02] [-9.15555051e-01 -1.68708341e-02 4.01838678e-01 -1.37966516e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.1107140569999 meters Centerline goodness : 0.980538 Centerline is valid? [True, True] Translation: X:166.12, Y:202.05, Z:-137.98 [[ 3.74428308e-01 3.97886652e-01 8.37549792e-01 1.66120301e+02] [-1.29631472e-01 9.16847580e-01 -3.77605874e-01 2.02053503e+02] [-9.18149837e-01 3.28135161e-02 3.94872320e-01 -1.37976474e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.140714057 meters Centerline goodness : 0.976858 Centerline is valid? [True, True] Translation: X:166.09, Y:201.99, Z:-138.01 [[ 3.74391537e-01 2.84148077e-01 8.82661230e-01 1.66094441e+02] [-1.37525565e-01 9.58379627e-01 -2.50190348e-01 2.01994315e+02] [-9.17015647e-01 -2.77193353e-02 3.97886846e-01 -1.38013143e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.1707140569999 meters Centerline goodness : 0.984596 Centerline is valid? [True, True] Translation: X:166.15, Y:202.06, Z:-138.04 [[ 3.75979041e-01 4.38185642e-01 8.16476028e-01 1.66149762e+02] [-1.26391567e-01 8.97141731e-01 -4.23275189e-01 2.02057971e+02] [-9.17967828e-01 5.59469154e-02 3.92689458e-01 -1.38037421e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.2007140569999 meters Centerline goodness : 0.978703 Centerline is valid? [True, True] Translation: X:166.14, Y:202.02, Z:-138.06 [[ 3.72035000e-01 3.59397088e-01 8.55817558e-01 1.66136684e+02] [-1.34833642e-01 9.33145189e-01 -3.33256577e-01 2.02016834e+02] [-9.18373479e-01 8.59011217e-03 3.95621489e-01 -1.38058618e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.2307140569999 meters Centerline goodness : 0.979562 Centerline is valid? [True, True] Translation: X:166.15, Y:202.01, Z:-138.08 [[ 3.69884540e-01 3.57043588e-01 8.57732652e-01 1.66147202e+02] [-1.37963702e-01 9.34081249e-01 -3.29329984e-01 2.02006421e+02] [-9.18777146e-01 3.47809711e-03 3.94761268e-01 -1.38083377e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.260714057 meters Centerline goodness : 0.983661 Centerline is valid? [True, True] Translation: X:166.18, Y:202.04, Z:-138.10 [[ 3.67218870e-01 4.41775139e-01 8.18526132e-01 1.66181493e+02] [-1.33902447e-01 8.95950301e-01 -4.23489306e-01 2.02038619e+02] [-9.20445781e-01 4.59106124e-02 3.88164629e-01 -1.38103603e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.290714057 meters Centerline goodness : 0.982789 Centerline is valid? [True, True] Translation: X:166.15, Y:201.99, Z:-138.14 [[ 3.65991686e-01 3.34431792e-01 8.68450035e-01 1.66149469e+02] [-1.39073887e-01 9.42372962e-01 -3.04288769e-01 2.01990616e+02] [-9.20167670e-01 -9.41156276e-03 3.91411398e-01 -1.38141412e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.3207140569999 meters Centerline goodness : 0.983160 Centerline is valid? [True, True] Translation: X:166.16, Y:201.97, Z:-138.17 [[ 3.68460241e-01 3.21342305e-01 8.72339483e-01 1.66155953e+02] [-1.43090496e-01 9.46780673e-01 -2.88325279e-01 2.01973676e+02] [-9.18565273e-01 -1.85870872e-02 3.94832065e-01 -1.38168791e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.3507140569999 meters Centerline goodness : 0.983472 Centerline is valid? [True, True] Translation: X:166.16, Y:201.96, Z:-138.19 [[ 3.66325287e-01 3.13665144e-01 8.76025092e-01 1.66160212e+02] [-1.42269710e-01 9.49280769e-01 -2.80402125e-01 2.01963878e+02] [-9.19546146e-01 -2.19134467e-02 3.92370599e-01 -1.38194258e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.380714057 meters Centerline goodness : 0.978647 Centerline is valid? [True, True] Translation: X:166.16, Y:201.92, Z:-138.22 [[ 3.72567176e-01 2.49230898e-01 8.93911438e-01 1.66162109e+02] [-1.50216454e-01 9.66754341e-01 -2.06932504e-01 2.01920363e+02] [-9.15766737e-01 -5.71839474e-02 3.97619517e-01 -1.38223675e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.410714057 meters Centerline goodness : 0.983459 Centerline is valid? [True, True] Translation: X:166.24, Y:202.00, Z:-138.24 [[ 3.73602508e-01 4.46357405e-01 8.13133589e-01 1.66235363e+02] [-1.42788776e-01 8.93835713e-01 -4.25051860e-01 2.01995679e+02] [-9.16532886e-01 4.26940911e-02 3.97674091e-01 -1.38235413e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.4407140569999 meters Centerline goodness : 0.976510 Centerline is valid? [True, True] Translation: X:166.18, Y:201.90, Z:-138.28 [[ 3.73911652e-01 2.48583685e-01 8.93530205e-01 1.66184793e+02] [-1.49364665e-01 9.66976072e-01 -2.06512645e-01 2.01900081e+02] [-9.15358003e-01 -5.62443552e-02 3.98693240e-01 -1.38277584e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.4707140569999 meters Centerline goodness : 0.975102 Centerline is valid? [True, True] Translation: X:166.25, Y:201.95, Z:-138.30 [[ 3.74385599e-01 4.12249010e-01 8.30593870e-01 1.66245792e+02] [-1.51643254e-01 9.10898907e-01 -3.83754485e-01 2.01948717e+02] [-9.14789455e-01 1.77181958e-02 4.03542214e-01 -1.38299541e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.500714057 meters Centerline goodness : 0.974228 Centerline is valid? [True, True] Translation: X:166.26, Y:201.95, Z:-138.32 [[ 3.75460340e-01 4.27157532e-01 8.22536307e-01 1.66259823e+02] [-1.52316919e-01 9.03835899e-01 -3.99850252e-01 2.01946240e+02] [-9.14236889e-01 2.48417156e-02 4.04417853e-01 -1.38323231e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.530714057 meters Centerline goodness : 0.975075 Centerline is valid? [True, True] Translation: X:166.26, Y:201.93, Z:-138.35 [[ 3.74181058e-01 4.06046397e-01 8.33735485e-01 1.66263180e+02] [-1.51434670e-01 9.13732194e-01 -3.77042462e-01 2.01927619e+02] [-9.14907688e-01 1.48256893e-02 4.03390781e-01 -1.38349425e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.5607140569999 meters Centerline goodness : 0.973111 Centerline is valid? [True, True] Translation: X:166.28, Y:201.93, Z:-138.37 [[ 3.73670181e-01 4.26409162e-01 8.23738929e-01 1.66277404e+02] [-1.53670924e-01 9.04256006e-01 -3.98379622e-01 2.01927252e+02] [-9.14743594e-01 2.22778635e-02 4.03420195e-01 -1.38373844e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.5907140569999 meters Centerline goodness : 0.975203 Centerline is valid? [True, True] Translation: X:166.28, Y:201.91, Z:-138.40 [[ 3.73650025e-01 4.11076396e-01 8.31505776e-01 1.66281864e+02] [-1.54290509e-01 9.11490697e-01 -3.81286177e-01 2.01914191e+02] [-9.14647527e-01 1.41741404e-02 4.04003708e-01 -1.38400085e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.620714057 meters Centerline goodness : 0.975333 Centerline is valid? [True, True] Translation: X:166.29, Y:201.90, Z:-138.43 [[ 3.73239779e-01 4.13428066e-01 8.30523511e-01 1.66291153e+02] [-1.56844425e-01 9.10449787e-01 -3.82728378e-01 2.01903360e+02] [-9.14380607e-01 1.25864729e-02 4.04659964e-01 -1.38427030e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.650714057 meters Centerline goodness : 0.981700 Centerline is valid? [True, True] Translation: X:166.30, Y:201.92, Z:-138.46 [[ 3.72053151e-01 4.49234478e-01 8.12259095e-01 1.66302379e+02] [-1.47041542e-01 8.92554933e-01 -4.26291540e-01 2.01923480e+02] [-9.16490719e-01 3.91672806e-02 3.98134005e-01 -1.38457417e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.6807140569999 meters Centerline goodness : 0.976095 Centerline is valid? [True, True] Translation: X:166.30, Y:201.87, Z:-138.48 [[ 3.72304294e-01 3.76635276e-01 8.48254314e-01 1.66296572e+02] [-1.59212658e-01 9.26327600e-01 -3.41421305e-01 2.01874730e+02] [-9.14352690e-01 -7.94020601e-03 4.04840847e-01 -1.38482916e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.7107140569999 meters Centerline goodness : 0.981709 Centerline is valid? [True, True] Translation: X:166.32, Y:201.91, Z:-138.51 [[ 3.70175490e-01 4.47077676e-01 8.14304402e-01 1.66319256e+02] [-1.48625447e-01 8.93785878e-01 -4.23151606e-01 2.01906794e+02] [-9.16995411e-01 3.56139974e-02 3.97304744e-01 -1.38509797e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.740714057 meters Centerline goodness : 0.983590 Centerline is valid? [True, True] Translation: X:166.31, Y:201.89, Z:-138.54 [[ 3.64057134e-01 4.12367438e-01 8.35114064e-01 1.66312050e+02] [-1.46853851e-01 9.10843849e-01 -3.85742699e-01 2.01887255e+02] [-9.19726236e-01 1.77926649e-02 3.92156948e-01 -1.38536917e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.770714057 meters Centerline goodness : 0.983135 Centerline is valid? [True, True] Translation: X:166.31, Y:201.86, Z:-138.57 [[ 3.68807664e-01 3.67300200e-01 8.53856821e-01 1.66311929e+02] [-1.46867801e-01 9.30101620e-01 -3.36661292e-01 2.01856613e+02] [-9.17829372e-01 -1.24080896e-03 3.96973179e-01 -1.38569732e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.8007140569999 meters Centerline goodness : 0.982779 Centerline is valid? [True, True] Translation: X:166.33, Y:201.86, Z:-138.60 [[ 3.71821427e-01 4.06962096e-01 8.34344460e-01 1.66334664e+02] [-1.44661798e-01 9.13204744e-01 -3.80959395e-01 2.01858393e+02] [-9.16963353e-01 2.09510966e-02 3.98420960e-01 -1.38595876e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.8307140569999 meters Centerline goodness : 0.983594 Centerline is valid? [True, True] Translation: X:166.34, Y:201.85, Z:-138.62 [[ 3.73432626e-01 4.06528118e-01 8.33836293e-01 1.66343888e+02] [-1.42777422e-01 9.13339734e-01 -3.81346480e-01 2.01850013e+02] [-9.16603885e-01 2.33542215e-02 3.99113892e-01 -1.38620823e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.8607140569999 meters Centerline goodness : 0.984640 Centerline is valid? [True, True] Translation: X:166.35, Y:201.84, Z:-138.65 [[ 3.74761919e-01 4.05080394e-01 8.33944470e-01 1.66352345e+02] [-1.39617288e-01 9.13899344e-01 -3.81175816e-01 2.01842364e+02] [-9.16548153e-01 2.64171150e-02 3.99050898e-01 -1.38646133e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.890714057 meters Centerline goodness : 0.982276 Centerline is valid? [True, True] Translation: X:166.36, Y:201.81, Z:-138.67 [[ 3.79640445e-01 3.83363425e-01 8.41965330e-01 1.66364857e+02] [-1.42987223e-01 9.23479567e-01 -3.56005819e-01 2.01812827e+02] [-9.14017389e-01 1.47639234e-02 4.05406266e-01 -1.38674528e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.9207140569999 meters Centerline goodness : 0.984880 Centerline is valid? [True, True] Translation: X:166.39, Y:201.85, Z:-138.69 [[ 3.80146414e-01 4.58306434e-01 8.03395243e-01 1.66389191e+02] [-1.34582091e-01 8.86768536e-01 -4.42186867e-01 2.01847568e+02] [-9.15082709e-01 5.99731397e-02 3.98781717e-01 -1.38694109e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.9507140569999 meters Centerline goodness : 0.985414 Centerline is valid? [True, True] Translation: X:166.38, Y:201.82, Z:-138.72 [[ 3.81556598e-01 3.98453490e-01 8.34055981e-01 1.66377675e+02] [-1.27776203e-01 9.16394146e-01 -3.79334960e-01 2.01816741e+02] [-9.15471356e-01 3.81652501e-02 4.00569107e-01 -1.38722104e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.9807140569999 meters Centerline goodness : 0.985414 Centerline is valid? [True, True] Translation: X:166.39, Y:201.81, Z:-138.75 [[ 3.81639026e-01 3.98021737e-01 8.34224401e-01 1.66387968e+02] [-1.27547584e-01 9.16579293e-01 -3.78964396e-01 2.01812009e+02] [-9.15468879e-01 3.82242958e-02 4.00569140e-01 -1.38748209e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.010714057 meters Centerline goodness : 0.986654 Centerline is valid? [True, True] Translation: X:166.40, Y:201.80, Z:-138.77 [[ 3.82815193e-01 3.96407818e-01 8.34453935e-01 1.66397092e+02] [-1.24776519e-01 9.17169282e-01 -3.78459150e-01 2.01804507e+02] [-9.15359683e-01 4.07596556e-02 4.00568723e-01 -1.38773368e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.040714057 meters Centerline goodness : 0.985674 Centerline is valid? [True, True] Translation: X:166.41, Y:201.81, Z:-138.83 [[ 3.68347429e-01 4.71811173e-01 8.01070776e-01 1.66406265e+02] [-1.27631918e-01 8.79160019e-01 -4.59116276e-01 2.01814226e+02] [-9.20885587e-01 6.68721001e-02 3.84054498e-01 -1.38832039e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.0707140569999 meters Centerline goodness : 0.988294 Centerline is valid? [True, True] Translation: X:166.43, Y:201.81, Z:-138.82 [[ 3.87848414e-01 4.40579344e-01 8.09606972e-01 1.66430554e+02] [-1.20562475e-01 8.95065241e-01 -4.29328433e-01 2.01808657e+02] [-9.13804300e-01 6.89061315e-02 4.00266970e-01 -1.38819901e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.1007140569999 meters Centerline goodness : 0.988268 Centerline is valid? [True, True] Translation: X:166.42, Y:201.78, Z:-138.85 [[ 3.86865306e-01 3.89340898e-01 8.35912017e-01 1.66424818e+02] [-1.15267333e-01 9.19802885e-01 -3.75068120e-01 2.01781755e+02] [-9.14903644e-01 4.87474945e-02 4.00718111e-01 -1.38847313e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.130714057 meters Centerline goodness : 0.988453 Centerline is valid? [True, True] Translation: X:166.43, Y:201.78, Z:-138.87 [[ 3.88183472e-01 3.88223309e-01 8.35820707e-01 1.66434387e+02] [-1.13364991e-01 9.20168582e-01 -3.74750797e-01 2.01776059e+02] [-9.14582949e-01 5.07192589e-02 4.01205167e-01 -1.38872448e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.160714057 meters Centerline goodness : 0.989216 Centerline is valid? [True, True] Translation: X:166.45, Y:201.77, Z:-138.90 [[ 3.89302460e-01 3.86961013e-01 8.35885619e-01 1.66445739e+02] [-1.11727193e-01 9.20613619e-01 -3.74149167e-01 2.01767907e+02] [-9.14308826e-01 5.22660374e-02 4.01631214e-01 -1.38902061e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.1907140569999 meters Centerline goodness : 0.988671 Centerline is valid? [True, True] Translation: X:166.46, Y:201.76, Z:-138.93 [[ 3.89086151e-01 3.87568399e-01 8.35704914e-01 1.66456327e+02] [-1.11773922e-01 9.20349711e-01 -3.74783938e-01 2.01762018e+02] [-9.14395187e-01 5.24132236e-02 4.01415367e-01 -1.38930173e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.2207140569999 meters Centerline goodness : 0.988542 Centerline is valid? [True, True] Translation: X:166.47, Y:201.76, Z:-138.95 [[ 3.90380266e-01 3.92681190e-01 8.32709271e-01 1.66467081e+02] [-1.13080441e-01 9.18078966e-01 -3.79926080e-01 2.01758862e+02] [-9.13682692e-01 5.41525127e-02 4.02804473e-01 -1.38954379e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.250714057 meters Centerline goodness : 0.989420 Centerline is valid? [True, True] Translation: X:166.48, Y:201.75, Z:-138.98 [[ 3.88473128e-01 3.78631281e-01 8.40075581e-01 1.66475413e+02] [-1.12363166e-01 9.24340049e-01 -3.64650507e-01 2.01747287e+02] [-9.14583593e-01 4.72633709e-02 4.01625480e-01 -1.38984704e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.280714057 meters Centerline goodness : 0.989239 Centerline is valid? [True, True] Translation: X:166.49, Y:201.74, Z:-139.01 [[ 3.87314141e-01 3.88002230e-01 8.36326507e-01 1.66488942e+02] [-1.16281037e-01 9.20444543e-01 -3.73176317e-01 2.01744851e+02] [-9.14585412e-01 4.72875510e-02 4.01618489e-01 -1.39011303e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.3107140569999 meters Centerline goodness : 0.988482 Centerline is valid? [True, True] Translation: X:166.50, Y:201.74, Z:-139.04 [[ 3.86644724e-01 3.87138520e-01 8.37036214e-01 1.66499537e+02] [-1.17791834e-01 9.20920225e-01 -3.71525266e-01 2.01739938e+02] [-9.14675320e-01 4.50522536e-02 4.01670703e-01 -1.39039210e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.3407140569999 meters Centerline goodness : 0.988053 Centerline is valid? [True, True] Translation: X:166.51, Y:201.74, Z:-139.06 [[ 3.85264358e-01 3.92220113e-01 8.35305188e-01 1.66511379e+02] [-1.20978130e-01 9.18834296e-01 -3.75643220e-01 2.01737548e+02] [-9.14841881e-01 4.36682843e-02 4.01444161e-01 -1.39064396e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.370714057 meters Centerline goodness : 0.988075 Centerline is valid? [True, True] Translation: X:166.52, Y:201.73, Z:-139.09 [[ 3.83504380e-01 3.93679671e-01 8.35428457e-01 1.66521618e+02] [-1.24910184e-01 9.18393152e-01 -3.75435034e-01 2.01734075e+02] [-9.15052915e-01 3.96274573e-02 4.01382396e-01 -1.39088997e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.400714057 meters Centerline goodness : 0.986755 Centerline is valid? [True, True] Translation: X:166.53, Y:201.72, Z:-139.12 [[ 3.77839852e-01 3.97700077e-01 8.36105074e-01 1.66531748e+02] [-1.37988720e-01 9.17149896e-01 -3.73891938e-01 2.01724535e+02] [-9.15530534e-01 2.58982056e-02 4.01413906e-01 -1.39119662e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.4307140569999 meters Centerline goodness : 0.985540 Centerline is valid? [True, True] Translation: X:166.55, Y:201.74, Z:-139.14 [[ 3.78839982e-01 4.32008207e-01 8.18443143e-01 1.66553342e+02] [-1.43202969e-01 9.01074217e-01 -4.09338693e-01 2.01735050e+02] [-9.14315688e-01 3.78703753e-02 4.03227797e-01 -1.39140291e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.4607140569999 meters Centerline goodness : 0.986351 Centerline is valid? [True, True] Translation: X:166.55, Y:201.72, Z:-139.17 [[ 3.74703829e-01 3.97814907e-01 8.37460650e-01 1.66553753e+02] [-1.46486836e-01 9.17325431e-01 -3.70210293e-01 2.01717737e+02] [-9.15499125e-01 1.60422536e-02 4.01999999e-01 -1.39168825e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.490714057 meters Centerline goodness : 0.986575 Centerline is valid? [True, True] Translation: X:166.57, Y:201.72, Z:-139.19 [[ 3.72182798e-01 4.07735396e-01 8.33805620e-01 1.66566390e+02] [-1.51273078e-01 9.12978582e-01 -3.78928180e-01 2.01716587e+02] [-9.15749104e-01 1.48982073e-02 4.01474311e-01 -1.39193252e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.520714057 meters Centerline goodness : 0.985513 Centerline is valid? [True, True] Translation: X:166.58, Y:201.71, Z:-139.22 [[ 3.69375491e-01 4.17141416e-01 8.30394356e-01 1.66580451e+02] [-1.59207056e-01 9.08783633e-01 -3.85701209e-01 2.01714751e+02] [-9.15540748e-01 1.02639329e-02 4.02094257e-01 -1.39217501e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.5507140569999 meters Centerline goodness : 0.985245 Centerline is valid? [True, True] Translation: X:166.59, Y:201.71, Z:-139.24 [[ 3.68163258e-01 4.11531758e-01 8.33725031e-01 1.66589100e+02] [-1.62910334e-01 9.11389385e-01 -3.77928052e-01 2.01706275e+02] [-9.15377539e-01 3.31679959e-03 4.02582862e-01 -1.39242312e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.5807140569999 meters Centerline goodness : 0.986477 Centerline is valid? [True, True] Translation: X:166.60, Y:201.70, Z:-139.27 [[ 3.66781822e-01 4.03575556e-01 8.38211111e-01 1.66597249e+02] [-1.64586908e-01 9.14942038e-01 -3.68499954e-01 2.01697587e+02] [-9.15632156e-01 -2.79949049e-03 4.02007361e-01 -1.39269883e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.6107140569999 meters Centerline goodness : 0.986133 Centerline is valid? [True, True] Translation: X:166.61, Y:201.70, Z:-139.30 [[ 3.66073749e-01 4.14774051e-01 8.33038113e-01 1.66609620e+02] [-1.66450119e-01 9.09924345e-01 -3.79910574e-01 2.01696179e+02] [-9.15578707e-01 4.15995291e-04 4.02138606e-01 -1.39295422e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.640714057 meters Centerline goodness : 0.987625 Centerline is valid? [True, True] Translation: X:166.62, Y:201.69, Z:-139.32 [[ 3.63800720e-01 4.11740929e-01 8.35534825e-01 1.66616279e+02] [-1.69748689e-01 9.11285252e-01 -3.75159397e-01 2.01687142e+02] [-9.15879042e-01 -5.34768244e-03 4.01418714e-01 -1.39321596e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.6707140569999 meters Centerline goodness : 0.987512 Centerline is valid? [True, True] Translation: X:166.63, Y:201.68, Z:-139.35 [[ 3.62965437e-01 4.13675549e-01 8.34942292e-01 1.66625498e+02] [-1.71435188e-01 9.10401391e-01 -3.76535900e-01 2.01680651e+02] [-9.15896319e-01 -6.46897154e-03 4.01362785e-01 -1.39348542e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.7007140569999 meters Centerline goodness : 0.987979 Centerline is valid? [True, True] Translation: X:166.63, Y:201.67, Z:-139.37 [[ 3.61069200e-01 4.14266395e-01 8.35471356e-01 1.66633986e+02] [-1.72499909e-01 9.10119694e-01 -3.76730571e-01 2.01673505e+02] [-9.16445751e-01 -8.09292747e-03 4.00077105e-01 -1.39374045e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.7307140569999 meters Centerline goodness : 0.988503 Centerline is valid? [True, True] Translation: X:166.64, Y:201.67, Z:-139.40 [[ 3.61118198e-01 4.14480447e-01 8.35344005e-01 1.66643531e+02] [-1.74471378e-01 9.10004078e-01 -3.76101470e-01 2.01665244e+02] [-9.16053157e-01 -9.92653449e-03 4.00934007e-01 -1.39399221e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.760714057 meters Centerline goodness : 0.988937 Centerline is valid? [True, True] Translation: X:166.66, Y:201.66, Z:-139.43 [[ 3.60909317e-01 4.14433493e-01 8.35457566e-01 1.66655178e+02] [-1.76339693e-01 9.10001814e-01 -3.75234608e-01 2.01655561e+02] [-9.15777690e-01 -1.18986646e-02 4.01509208e-01 -1.39428915e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.790714057 meters Centerline goodness : 0.990635 Centerline is valid? [True, True] Translation: X:166.67, Y:201.64, Z:-139.46 [[ 3.59515707e-01 4.22089081e-01 8.32219481e-01 1.66665526e+02] [-1.79361238e-01 9.06477084e-01 -3.82268025e-01 2.01644728e+02] [-9.15739047e-01 -1.18365569e-02 4.01599170e-01 -1.39459259e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.8207140569999 meters Centerline goodness : 0.991142 Centerline is valid? [True, True] Translation: X:166.67, Y:201.63, Z:-139.49 [[ 3.58254425e-01 4.14263185e-01 8.36683800e-01 1.66674174e+02] [-1.80755370e-01 9.09987950e-01 -3.73161396e-01 2.01631416e+02] [-9.15959204e-01 -1.75483690e-02 4.00887505e-01 -1.39487274e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.8507140569999 meters Centerline goodness : 0.992750 Centerline is valid? [True, True] Translation: X:166.68, Y:201.62, Z:-139.51 [[ 3.56897307e-01 4.17774796e-01 8.35516925e-01 1.66683430e+02] [-1.81071475e-01 9.08395563e-01 -3.76869504e-01 2.01623433e+02] [-9.16426447e-01 -1.67845710e-02 3.99851028e-01 -1.39511441e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.880714057 meters Centerline goodness : 0.993435 Centerline is valid? [True, True] Translation: X:166.69, Y:201.61, Z:-139.54 [[ 3.57559955e-01 4.18339224e-01 8.34951000e-01 1.66691500e+02] [-1.79472577e-01 9.08172986e-01 -3.78168510e-01 2.01610182e+02] [-9.16482664e-01 -1.46328923e-02 3.99806710e-01 -1.39536888e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.910714057 meters Centerline goodness : 0.995256 Centerline is valid? [True, True] Translation: X:166.70, Y:201.60, Z:-139.56 [[ 3.56714298e-01 4.22119573e-01 8.33408649e-01 1.66700190e+02] [-1.79147328e-01 9.06448622e-01 -3.82435786e-01 2.01602143e+02] [-9.16875752e-01 -1.28826201e-02 3.98964778e-01 -1.39561413e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.9407140569999 meters Centerline goodness : 0.995222 Centerline is valid? [True, True] Translation: X:166.71, Y:201.59, Z:-139.59 [[ 3.58177527e-01 4.18983914e-01 8.34362834e-01 1.66707563e+02] [-1.78043634e-01 9.07905803e-01 -3.79483224e-01 2.01591629e+02] [-9.16520225e-01 -1.26306279e-02 3.99788874e-01 -1.39589387e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.9707140569999 meters Centerline goodness : 0.995772 Centerline is valid? [True, True] Translation: X:166.71, Y:201.58, Z:-139.61 [[ 3.57783704e-01 4.18899594e-01 8.34574114e-01 1.66714796e+02] [-1.76482959e-01 9.07962211e-01 -3.80076819e-01 2.01582623e+02] [-9.16975783e-01 -1.13028171e-02 3.98782722e-01 -1.39614617e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.000714057 meters Centerline goodness : 0.996947 Centerline is valid? [True, True] Translation: X:166.72, Y:201.57, Z:-139.64 [[ 3.62603372e-01 4.28817243e-01 8.27426472e-01 1.66724793e+02] [-1.75968811e-01 9.03383274e-01 -3.91067306e-01 2.01571657e+02] [-9.15179639e-01 -3.79892834e-03 4.03028282e-01 -1.39637871e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.030714057 meters Centerline goodness : 0.997680 Centerline is valid? [True, True] Translation: X:166.73, Y:201.55, Z:-139.66 [[ 3.61947225e-01 4.09882435e-01 8.37251812e-01 1.66729087e+02] [-1.74482232e-01 9.12062352e-01 -3.71077104e-01 2.01554271e+02] [-9.15723843e-01 -1.17752368e-02 4.01635639e-01 -1.39663952e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.0607140569999 meters Centerline goodness : 0.997824 Centerline is valid? [True, True] Translation: X:166.74, Y:201.55, Z:-139.69 [[ 3.62888889e-01 4.11715599e-01 8.35943730e-01 1.66737835e+02] [-1.72666721e-01 9.11271142e-01 -3.73859745e-01 2.01545326e+02] [-9.15695287e-01 -8.67011485e-03 4.01779755e-01 -1.39689955e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.0907140569999 meters Centerline goodness : 0.998596 Centerline is valid? [True, True] Translation: X:166.75, Y:201.53, Z:-139.72 [[ 3.64548325e-01 4.10067788e-01 8.36031655e-01 1.66746181e+02] [-1.68658039e-01 9.12042770e-01 -3.73808042e-01 2.01528623e+02] [-9.15783263e-01 -4.73236349e-03 4.01644893e-01 -1.39719515e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.120714057 meters Centerline goodness : 0.999351 Centerline is valid? [True, True] Translation: X:166.76, Y:201.52, Z:-139.75 [[ 3.65310509e-01 4.09603041e-01 8.35926780e-01 1.66756620e+02] [-1.65994144e-01 9.12261748e-01 -3.74465549e-01 2.01518001e+02] [-9.15966253e-01 -1.96275009e-03 4.01250509e-01 -1.39748166e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.150714057 meters Centerline goodness : 0.999165 Centerline is valid? [True, True] Translation: X:166.76, Y:201.51, Z:-139.77 [[ 3.65471987e-01 4.08829792e-01 8.36234673e-01 1.66764697e+02] [-1.62749396e-01 9.12610136e-01 -3.75040497e-01 2.01508675e+02] [-9.16483967e-01 9.70107669e-04 4.00070241e-01 -1.39774319e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.1807140569999 meters Centerline goodness : 0.999518 Centerline is valid? [True, True] Translation: X:166.77, Y:201.50, Z:-139.80 [[ 3.65557687e-01 4.07199711e-01 8.36992218e-01 1.66774592e+02] [-1.59426269e-01 9.13332288e-01 -3.74709750e-01 2.01498174e+02] [-9.17033719e-01 3.53948304e-03 3.98793969e-01 -1.39804201e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.2107140569999 meters Centerline goodness : 0.999474 Centerline is valid? [True, True] Translation: X:166.78, Y:201.48, Z:-139.83 [[ 3.66712419e-01 4.05368440e-01 8.37375919e-01 1.66781733e+02] [-1.52795051e-01 9.14100979e-01 -3.75596955e-01 2.01482430e+02] [-9.17701299e-01 9.78917157e-03 3.97150473e-01 -1.39834067e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.240714057 meters Centerline goodness : 0.999143 Centerline is valid? [True, True] Translation: X:166.79, Y:201.47, Z:-139.86 [[ 3.67938047e-01 4.04639102e-01 8.37191012e-01 1.66791068e+02] [-1.49538698e-01 9.14380675e-01 -3.76226206e-01 2.01472131e+02] [-9.17747117e-01 1.32354815e-02 3.96944645e-01 -1.39863253e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.270714057 meters Centerline goodness : 0.998975 Centerline is valid? [True, True] Translation: X:166.80, Y:201.46, Z:-139.89 [[ 3.70543916e-01 4.08232473e-01 8.34292187e-01 1.66800637e+02] [-1.46359549e-01 9.12674253e-01 -3.81581695e-01 2.01464697e+02] [-9.17211038e-01 1.92861476e-02 3.97934613e-01 -1.39893414e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.3007140569999 meters Centerline goodness : 0.998995 Centerline is valid? [True, True] Translation: X:166.81, Y:201.45, Z:-139.92 [[ 3.70830365e-01 3.96581574e-01 8.39766572e-01 1.66809087e+02] [-1.42305209e-01 9.17824403e-01 -3.70604361e-01 2.01450948e+02] [-9.17733114e-01 1.79281931e-02 3.96792782e-01 -1.39923831e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.3307140569999 meters Centerline goodness : 0.999180 Centerline is valid? [True, True] Translation: X:166.82, Y:201.44, Z:-139.95 [[ 3.74570362e-01 4.00134096e-01 8.36414819e-01 1.66817182e+02] [-1.35612465e-01 9.16029736e-01 -3.77490108e-01 2.01442512e+02] [-9.17227509e-01 2.79683313e-02 3.97380761e-01 -1.39953533e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.3607140569999 meters Centerline goodness : 0.998886 Centerline is valid? [True, True] Translation: X:166.83, Y:201.43, Z:-139.98 [[ 3.76042910e-01 3.99404496e-01 8.36102732e-01 1.66827468e+02] [-1.33209466e-01 9.16261100e-01 -3.77784111e-01 2.01434354e+02] [-9.16977081e-01 3.06862381e-02 3.97757950e-01 -1.39983915e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.390714057 meters Centerline goodness : 0.998928 Centerline is valid? [True, True] Translation: X:166.84, Y:201.43, Z:-140.01 [[ 3.76928590e-01 3.98978810e-01 8.35907140e-01 1.66837844e+02] [-1.30788112e-01 9.16355159e-01 -3.78401496e-01 2.01426462e+02] [-9.16961999e-01 3.33036262e-02 3.97582144e-01 -1.40012840e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.4207140569999 meters Centerline goodness : 0.998886 Centerline is valid? [True, True] Translation: X:166.85, Y:201.42, Z:-140.04 [[ 3.77878414e-01 3.97915200e-01 8.35985286e-01 1.66848383e+02] [-1.26580656e-01 9.16658193e-01 -3.79097738e-01 2.01417157e+02] [-9.17161514e-01 3.74332865e-02 3.96753711e-01 -1.40042624e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.4507140569999 meters Centerline goodness : 0.999096 Centerline is valid? [True, True] Translation: X:166.86, Y:201.41, Z:-140.07 [[ 3.78016108e-01 3.97868920e-01 8.35945061e-01 1.66859488e+02] [-1.24888777e-01 9.16605947e-01 -3.79784586e-01 2.01410885e+02] [-9.17336697e-01 3.91645345e-02 3.96181176e-01 -1.40071682e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.4807140569999 meters Centerline goodness : 0.998904 Centerline is valid? [True, True] Translation: X:166.87, Y:201.41, Z:-140.10 [[ 3.77740822e-01 3.97934376e-01 8.36038339e-01 1.66869521e+02] [-1.23424537e-01 9.16518025e-01 -3.80474827e-01 2.01405380e+02] [-9.17648220e-01 4.05332286e-02 3.95321138e-01 -1.40097580e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.510714057 meters Centerline goodness : 0.999055 Centerline is valid? [True, True] Translation: X:166.88, Y:201.40, Z:-140.12 [[ 3.77807400e-01 3.97285078e-01 8.36317007e-01 1.66879245e+02] [-1.22068819e-01 9.16751388e-01 -3.80349964e-01 2.01399745e+02] [-9.17802142e-01 4.16108014e-02 3.94851579e-01 -1.40122746e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.540714057 meters Centerline goodness : 0.999077 Centerline is valid? [True, True] Translation: X:166.89, Y:201.39, Z:-140.15 [[ 3.77406284e-01 3.96273732e-01 8.36977674e-01 1.66888875e+02] [-1.19323866e-01 9.17092135e-01 -3.80399569e-01 2.01394929e+02] [-9.18327998e-01 4.36937762e-02 3.93401248e-01 -1.40148211e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.5707140569999 meters Centerline goodness : 0.998907 Centerline is valid? [True, True] Translation: X:166.90, Y:201.39, Z:-140.17 [[ 3.77377808e-01 3.95816925e-01 8.37206637e-01 1.66899227e+02] [-1.18493971e-01 9.17260546e-01 -3.80252903e-01 2.01390448e+02] [-9.18447151e-01 4.42950676e-02 3.93055693e-01 -1.40174124e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.6007140569999 meters Centerline goodness : 0.998358 Centerline is valid? [True, True] Translation: X:166.91, Y:201.39, Z:-140.20 [[ 3.77842084e-01 3.95512998e-01 8.37140865e-01 1.66911112e+02] [-1.18411839e-01 9.17384390e-01 -3.79979628e-01 2.01385671e+02] [-9.18266844e-01 4.44449049e-02 3.93459851e-01 -1.40204415e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.630714057 meters Centerline goodness : 0.998697 Centerline is valid? [True, True] Translation: X:166.92, Y:201.38, Z:-140.23 [[ 3.77871953e-01 3.96008065e-01 8.36893302e-01 1.66922887e+02] [-1.18277777e-01 9.17152291e-01 -3.80581191e-01 2.01381216e+02] [-9.18271830e-01 4.48250783e-02 3.93405081e-01 -1.40234263e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.660714057 meters Centerline goodness : 0.998487 Centerline is valid? [True, True] Translation: X:166.94, Y:201.38, Z:-140.27 [[ 3.77952794e-01 3.96473609e-01 8.36636339e-01 1.66935254e+02] [-1.18200184e-01 9.16934793e-01 -3.81128983e-01 2.01378263e+02] [-9.18248552e-01 4.51581951e-02 3.93421320e-01 -1.40265127e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.6907140569999 meters Centerline goodness : 0.998509 Centerline is valid? [True, True] Translation: X:166.95, Y:201.37, Z:-140.29 [[ 3.78091011e-01 3.96889606e-01 8.36376607e-01 1.66947578e+02] [-1.18829599e-01 9.16772953e-01 -3.81322540e-01 2.01374341e+02] [-9.18110404e-01 4.47883279e-02 3.93785845e-01 -1.40294819e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.7207140569999 meters Centerline goodness : 0.998570 Centerline is valid? [True, True] Translation: X:166.96, Y:201.37, Z:-140.32 [[ 3.78182746e-01 3.97213925e-01 8.36181146e-01 1.66957994e+02] [-1.18232595e-01 9.16593511e-01 -3.81938986e-01 2.01371813e+02] [-9.18149696e-01 4.55788674e-02 3.93603484e-01 -1.40320589e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.750714057 meters Centerline goodness : 0.998741 Centerline is valid? [True, True] Translation: X:166.97, Y:201.37, Z:-140.35 [[ 3.77650940e-01 3.97438596e-01 8.36314731e-01 1.66971636e+02] [-1.19092093e-01 9.16545040e-01 -3.81788244e-01 2.01369206e+02] [-9.18257502e-01 4.45842173e-02 3.93465890e-01 -1.40350609e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.780714057 meters Centerline goodness : 0.998759 Centerline is valid? [True, True] Translation: X:166.98, Y:201.37, Z:-140.38 [[ 3.76665508e-01 3.98296709e-01 8.36350899e-01 1.66984367e+02] [-1.19504281e-01 9.16194596e-01 -3.82499920e-01 2.01366155e+02] [-9.18608634e-01 4.41270141e-02 3.92697065e-01 -1.40380500e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.8107140569999 meters Centerline goodness : 0.998803 Centerline is valid? [True, True] Translation: X:167.00, Y:201.36, Z:-140.41 [[ 3.76810941e-01 3.99152806e-01 8.35877116e-01 1.66997945e+02] [-1.20580643e-01 9.15850886e-01 -3.82984938e-01 2.01363369e+02] [-9.18408310e-01 4.35223152e-02 3.93232736e-01 -1.40409747e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.8407140569999 meters Centerline goodness : 0.998549 Centerline is valid? [True, True] Translation: X:167.01, Y:201.36, Z:-140.44 [[ 3.76636786e-01 4.00013450e-01 8.35544117e-01 1.67011030e+02] [-1.21591821e-01 9.15507516e-01 -3.83485876e-01 2.01360812e+02] [-9.18346427e-01 4.28395575e-02 3.93452172e-01 -1.40439956e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.870714057 meters Centerline goodness : 0.999034 Centerline is valid? [True, True] Translation: X:167.02, Y:201.36, Z:-140.47 [[ 3.76305286e-01 4.01005843e-01 8.35217723e-01 1.67024390e+02] [-1.22804136e-01 9.15114620e-01 -3.84036947e-01 2.01361434e+02] [-9.18321009e-01 4.19469423e-02 3.93607645e-01 -1.40469191e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.900714057 meters Centerline goodness : 0.999034 Centerline is valid? [True, True] Translation: X:167.03, Y:201.36, Z:-140.50 [[ 3.76363699e-01 4.01465573e-01 8.34970514e-01 1.67034924e+02] [-1.22733083e-01 9.14898565e-01 -3.84574058e-01 2.01356935e+02] [-9.18306570e-01 4.22612095e-02 3.93607716e-01 -1.40495288e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.9307140569999 meters Centerline goodness : 0.999053 Centerline is valid? [True, True] Translation: X:167.05, Y:201.35, Z:-140.53 [[ 3.75976485e-01 4.01560285e-01 8.35099407e-01 1.67047751e+02] [-1.23271339e-01 9.14887667e-01 -3.84427800e-01 2.01353723e+02] [-9.18393086e-01 4.15919906e-02 3.93477123e-01 -1.40525773e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.9607140569999 meters Centerline goodness : 0.998844 Centerline is valid? [True, True] Translation: X:167.06, Y:201.35, Z:-140.55 [[ 3.75908395e-01 4.02404836e-01 8.34723444e-01 1.67060041e+02] [-1.24185461e-01 9.14541075e-01 -3.84957912e-01 2.01350939e+02] [-9.18297800e-01 4.10483949e-02 3.93756497e-01 -1.40554911e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.990714057 meters Centerline goodness : 0.999266 Centerline is valid? [True, True] Translation: X:167.07, Y:201.35, Z:-140.59 [[ 3.75651159e-01 4.03337546e-01 8.34389017e-01 1.67074243e+02] [-1.25376065e-01 9.14168477e-01 -3.85456662e-01 2.01351121e+02] [-9.18241280e-01 4.01848301e-02 3.93977322e-01 -1.40585008e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.020714057 meters Centerline goodness : 0.999391 Centerline is valid? [True, True] Translation: X:167.09, Y:201.35, Z:-140.61 [[ 3.74787259e-01 4.04448203e-01 8.34239871e-01 1.67087087e+02] [-1.26606855e-01 9.13725280e-01 -3.86104671e-01 2.01348409e+02] [-9.18425400e-01 3.90866250e-02 3.93658508e-01 -1.40614365e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.0507140569999 meters Centerline goodness : 0.999579 Centerline is valid? [True, True] Translation: X:167.10, Y:201.35, Z:-140.64 [[ 3.74012288e-01 4.05280545e-01 8.34183726e-01 1.67100185e+02] [-1.27154879e-01 9.13378065e-01 -3.86745585e-01 2.01346434e+02] [-9.18665579e-01 3.85770700e-02 3.93148018e-01 -1.40644879e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.0807140569999 meters Centerline goodness : 0.999348 Centerline is valid? [True, True] Translation: X:167.11, Y:201.34, Z:-140.68 [[ 3.73241257e-01 4.06659705e-01 8.33857811e-01 1.67114024e+02] [-1.29281095e-01 9.12839914e-01 -3.87310843e-01 2.01343692e+02] [-9.18682406e-01 3.67583348e-02 3.93282929e-01 -1.40675293e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.1107140569999 meters Centerline goodness : 0.999663 Centerline is valid? [True, True] Translation: X:167.13, Y:201.34, Z:-140.70 [[ 3.69345655e-01 4.09086082e-01 8.34405396e-01 1.67127757e+02] [-1.32864230e-01 9.11915232e-01 -3.88275298e-01 2.01344271e+02] [-9.19745010e-01 3.25451635e-02 3.91164836e-01 -1.40704681e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.140714057 meters Centerline goodness : 0.999284 Centerline is valid? [True, True] Translation: X:167.14, Y:201.34, Z:-140.74 [[ 3.67773330e-01 4.10795701e-01 8.34259953e-01 1.67141173e+02] [-1.35725271e-01 9.11240759e-01 -3.88868782e-01 2.01341389e+02] [-9.19957297e-01 2.97854089e-02 3.90885406e-01 -1.40735166e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.1707140569999 meters Centerline goodness : 0.999663 Centerline is valid? [True, True] Translation: X:167.15, Y:201.34, Z:-140.77 [[ 3.65734845e-01 4.12660656e-01 8.34235702e-01 1.67154246e+02] [-1.38745629e-01 9.10492637e-01 -3.89554628e-01 2.01338229e+02] [-9.20319332e-01 2.67271444e-02 3.90253746e-01 -1.40765372e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.2007140569999 meters Centerline goodness : 0.999393 Centerline is valid? [True, True] Translation: X:167.17, Y:201.34, Z:-140.79 [[ 3.63953851e-01 4.14386965e-01 8.34158880e-01 1.67167091e+02] [-1.41476339e-01 9.09783992e-01 -3.90227541e-01 2.01335347e+02] [-9.20609602e-01 2.40110721e-02 3.89745338e-01 -1.40794589e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.2307140569999 meters Centerline goodness : 0.999221 Centerline is valid? [True, True] Translation: X:167.18, Y:201.34, Z:-140.82 [[ 3.61352830e-01 4.16421464e-01 8.34276511e-01 1.67179471e+02] [-1.44874578e-01 9.08942750e-01 -3.90940447e-01 2.01335167e+02] [-9.21105580e-01 2.04019796e-02 3.88777919e-01 -1.40820957e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.260714057 meters Centerline goodness : 0.999286 Centerline is valid? [True, True] Translation: X:167.19, Y:201.33, Z:-140.85 [[ 3.60678783e-01 4.16862530e-01 8.34347917e-01 1.67191325e+02] [-1.46293426e-01 9.08773115e-01 -3.90806422e-01 2.01331399e+02] [-9.21145509e-01 1.88959699e-02 3.88759428e-01 -1.40852095e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.290714057 meters Centerline goodness : 0.999537 Centerline is valid? [True, True] Translation: X:167.20, Y:201.33, Z:-140.88 [[ 3.60653644e-01 4.17717829e-01 8.33930911e-01 1.67202973e+02] [-1.47236149e-01 9.08391422e-01 -3.91339420e-01 2.01327606e+02] [-9.21005139e-01 1.83532120e-02 3.89117841e-01 -1.40881238e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.3207140569999 meters Centerline goodness : 0.999475 Centerline is valid? [True, True] Translation: X:167.21, Y:201.33, Z:-140.91 [[ 3.62641912e-01 4.17543285e-01 8.33155717e-01 1.67213855e+02] [-1.46158214e-01 9.08431219e-01 -3.91650990e-01 2.01325148e+02] [-9.20395904e-01 2.02565127e-02 3.90462615e-01 -1.40910032e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.3507140569999 meters Centerline goodness : 0.999116 Centerline is valid? [True, True] Translation: X:167.23, Y:201.32, Z:-140.94 [[ 3.63979899e-01 4.17320628e-01 8.32683689e-01 1.67225918e+02] [-1.45376929e-01 9.08503894e-01 -3.91773179e-01 2.01320317e+02] [-9.19991403e-01 2.15445641e-02 3.91345947e-01 -1.40940185e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.380714057 meters Centerline goodness : 0.999182 Centerline is valid? [True, True] Translation: X:167.24, Y:201.32, Z:-140.97 [[ 3.65193523e-01 4.16983194e-01 8.32321276e-01 1.67238268e+02] [-1.43315583e-01 9.08597643e-01 -3.92314883e-01 2.01315514e+02] [-9.19833863e-01 2.39862458e-02 3.91574164e-01 -1.40969949e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.410714057 meters Centerline goodness : 0.999136 Centerline is valid? [True, True] Translation: X:167.25, Y:201.31, Z:-141.00 [[ 3.65972472e-01 4.16560057e-01 8.32191005e-01 1.67250430e+02] [-1.41265174e-01 9.08731289e-01 -3.92748769e-01 2.01310191e+02] [-9.19841454e-01 2.61756312e-02 3.91416065e-01 -1.41000277e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.4407140569999 meters Centerline goodness : 0.999262 Centerline is valid? [True, True] Translation: X:167.26, Y:201.31, Z:-141.03 [[ 3.67914138e-01 4.15488492e-01 8.31870483e-01 1.67262905e+02] [-1.37320535e-01 9.09087745e-01 -3.93322442e-01 2.01305034e+02] [-9.19664209e-01 3.04759876e-02 3.91521336e-01 -1.41030303e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.4707140569999 meters Centerline goodness : 0.999623 Centerline is valid? [True, True] Translation: X:167.27, Y:201.30, Z:-141.06 [[ 3.69082478e-01 4.15475095e-01 8.31359471e-01 1.67274463e+02] [-1.36249062e-01 9.09038833e-01 -3.93807812e-01 2.01299617e+02] [-9.19355382e-01 3.20756152e-02 3.92118397e-01 -1.41059255e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.500714057 meters Centerline goodness : 0.999220 Centerline is valid? [True, True] Translation: X:167.29, Y:201.29, Z:-141.09 [[ 3.69242853e-01 4.15526609e-01 8.31262506e-01 1.67286177e+02] [-1.34922839e-01 9.08964415e-01 -3.94435698e-01 2.01294973e+02] [-9.19486565e-01 3.34862652e-02 3.91692644e-01 -1.41089774e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.530714057 meters Centerline goodness : 0.999141 Centerline is valid? [True, True] Translation: X:167.30, Y:201.29, Z:-141.12 [[ 3.69974593e-01 4.15640748e-01 8.30879997e-01 1.67298356e+02] [-1.34967443e-01 9.08899148e-01 -3.94570815e-01 2.01289620e+02] [-9.19185830e-01 3.38394282e-02 3.92367561e-01 -1.41119286e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.5607140569999 meters Centerline goodness : 0.999179 Centerline is valid? [True, True] Translation: X:167.31, Y:201.28, Z:-141.15 [[ 3.69716627e-01 4.16255810e-01 8.30686894e-01 1.67310577e+02] [-1.35161230e-01 9.08618461e-01 -3.95150521e-01 2.01284623e+02] [-9.19261148e-01 3.38170555e-02 3.92193000e-01 -1.41149933e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.5907140569999 meters Centerline goodness : 0.999223 Centerline is valid? [True, True] Translation: X:167.32, Y:201.28, Z:-141.18 [[ 3.68553826e-01 4.17409346e-01 8.30624774e-01 1.67323816e+02] [-1.37336179e-01 9.08166680e-01 -3.95439067e-01 2.01280259e+02] [-9.19405705e-01 3.16657483e-02 3.92033709e-01 -1.41179576e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.620714057 meters Centerline goodness : 0.999306 Centerline is valid? [True, True] Translation: X:167.34, Y:201.28, Z:-141.21 [[ 3.67368947e-01 4.18831265e-01 8.30433880e-01 1.67336232e+02] [-1.39398011e-01 9.07576827e-01 -3.96071329e-01 2.01275601e+02] [-9.19569601e-01 2.97434760e-02 3.91799788e-01 -1.41209968e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.650714057 meters Centerline goodness : 0.998865 Centerline is valid? [True, True] Translation: X:167.35, Y:201.27, Z:-141.24 [[ 3.66254197e-01 4.20599168e-01 8.30032652e-01 1.67348919e+02] [-1.42593505e-01 9.06847675e-01 -3.96603563e-01 2.01270531e+02] [-9.19524310e-01 2.69004541e-02 3.92111476e-01 -1.41240395e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.6807140569999 meters Centerline goodness : 0.998675 Centerline is valid? [True, True] Translation: X:167.36, Y:201.27, Z:-141.27 [[ 3.64011385e-01 4.23882483e-01 8.29348752e-01 1.67361061e+02] [-1.49887860e-01 9.05491744e-01 -3.97011752e-01 2.01266713e+02] [-9.19254775e-01 2.02074882e-02 3.93144142e-01 -1.41270237e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.7107140569999 meters Centerline goodness : 0.998148 Centerline is valid? [True, True] Translation: X:167.37, Y:201.26, Z:-141.30 [[ 3.62679414e-01 4.25716764e-01 8.28992690e-01 1.67373156e+02] [-1.53317933e-01 9.04695413e-01 -3.97517070e-01 2.01261545e+02] [-9.19215565e-01 1.70718126e-02 3.93384416e-01 -1.41300970e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.740714057 meters Centerline goodness : 0.998525 Centerline is valid? [True, True] Translation: X:167.39, Y:201.26, Z:-141.33 [[ 3.61089511e-01 4.27089518e-01 8.28980644e-01 1.67385261e+02] [-1.56014188e-01 9.04095945e-01 -3.97831743e-01 2.01255799e+02] [-9.19387806e-01 1.43201280e-02 3.93091587e-01 -1.41331002e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.770714057 meters Centerline goodness : 0.998358 Centerline is valid? [True, True] Translation: X:167.40, Y:201.25, Z:-141.36 [[ 3.58547350e-01 4.29564519e-01 8.28805237e-01 1.67397131e+02] [-1.60733428e-01 9.02984543e-01 -3.98476701e-01 2.01248754e+02] [-9.19569771e-01 9.65605821e-03 3.92808093e-01 -1.41361169e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.8007140569999 meters Centerline goodness : 0.998634 Centerline is valid? [True, True] Translation: X:167.41, Y:201.24, Z:-141.39 [[ 3.57332877e-01 4.30812893e-01 8.28681764e-01 1.67408332e+02] [-1.62318453e-01 9.02404759e-01 -3.99147054e-01 2.01242462e+02] [-9.19764065e-01 8.11802349e-03 3.92387771e-01 -1.41390214e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.8307140569999 meters Centerline goodness : 0.998780 Centerline is valid? [True, True] Translation: X:167.42, Y:201.24, Z:-141.42 [[ 3.57099952e-01 4.31995210e-01 8.28166507e-01 1.67420290e+02] [-1.64309552e-01 9.01851639e-01 -3.99582272e-01 2.01235714e+02] [-9.19500949e-01 6.61514248e-03 3.93032117e-01 -1.41420725e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.8607140569999 meters Centerline goodness : 0.998906 Centerline is valid? [True, True] Translation: X:167.43, Y:201.23, Z:-141.45 [[ 3.57439085e-01 4.32858583e-01 8.27569180e-01 1.67431473e+02] [-1.65481127e-01 9.01441624e-01 -4.00023744e-01 2.01229420e+02] [-9.19159017e-01 6.03704042e-03 3.93840395e-01 -1.41449931e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.890714057 meters Centerline goodness : 0.998296 Centerline is valid? [True, True] Translation: X:167.44, Y:201.22, Z:-141.48 [[ 3.56808223e-01 4.33800548e-01 8.27348159e-01 1.67442129e+02] [-1.66523620e-01 9.00994128e-01 -4.00598885e-01 2.01222906e+02] [-9.19215848e-01 5.16396580e-03 3.93720151e-01 -1.41480283e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.9207140569999 meters Centerline goodness : 0.998507 Centerline is valid? [True, True] Translation: X:167.45, Y:201.21, Z:-141.51 [[ 3.56574495e-01 4.35093482e-01 8.26769794e-01 1.67452762e+02] [-1.68770806e-01 9.00378611e-01 -4.01042107e-01 2.01213740e+02] [-9.18896645e-01 3.46678260e-03 3.94483126e-01 -1.41510634e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.9507140569999 meters Centerline goodness : 0.998719 Centerline is valid? [True, True] Translation: X:167.46, Y:201.21, Z:-141.54 [[ 3.56612544e-01 4.36071701e-01 8.26237838e-01 1.67464165e+02] [-1.70129174e-01 8.99908106e-01 -4.01523927e-01 2.01206259e+02] [-9.18631350e-01 2.62130803e-03 3.95107037e-01 -1.41540136e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.9807140569999 meters Centerline goodness : 0.999014 Centerline is valid? [True, True] Translation: X:167.48, Y:201.20, Z:-141.57 [[ 3.56478611e-01 4.37206351e-01 8.25695832e-01 1.67475419e+02] [-1.72018544e-01 8.99360353e-01 -4.01945988e-01 2.01198529e+02] [-9.18331433e-01 1.25015273e-03 3.95810329e-01 -1.41570217e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.010714057 meters Centerline goodness : 0.999142 Centerline is valid? [True, True] Translation: X:167.49, Y:201.19, Z:-141.60 [[ 3.55621889e-01 4.39167327e-01 8.25024322e-01 1.67485333e+02] [-1.76034059e-01 8.98402718e-01 -4.02348811e-01 2.01188663e+02] [-9.17902545e-01 -2.14833584e-03 3.96800079e-01 -1.41599802e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.040714057 meters Centerline goodness : 0.999331 Centerline is valid? [True, True] Translation: X:167.50, Y:201.18, Z:-141.63 [[ 3.55030999e-01 4.40716505e-01 8.24452517e-01 1.67496359e+02] [-1.79011228e-01 8.97634571e-01 -4.02749496e-01 2.01180726e+02] [-9.17555432e-01 -4.59770167e-03 3.97581301e-01 -1.41628921e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.0707140569999 meters Centerline goodness : 0.999395 Centerline is valid? [True, True] Translation: X:167.51, Y:201.17, Z:-141.66 [[ 3.53780153e-01 4.42168041e-01 8.24212974e-01 1.67506419e+02] [-1.81403937e-01 8.96906182e-01 -4.03301267e-01 2.01173427e+02] [-9.17568643e-01 -6.83549380e-03 3.97518630e-01 -1.41657262e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.1007140569999 meters Centerline goodness : 0.999749 Centerline is valid? [True, True] Translation: X:167.52, Y:201.16, Z:-141.69 [[ 3.50926165e-01 4.44488190e-01 8.24185098e-01 1.67517108e+02] [-1.87129858e-01 8.95695045e-01 -4.03376750e-01 2.01162471e+02] [-9.17514710e-01 -1.26741843e-02 3.97499839e-01 -1.41686673e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.130714057 meters Centerline goodness : 0.999561 Centerline is valid? [True, True] Translation: X:167.53, Y:201.15, Z:-141.72 [[ 3.49154764e-01 4.46087593e-01 8.24073304e-01 1.67527731e+02] [-1.89668962e-01 8.94859761e-01 -4.04044172e-01 2.01154357e+02] [-9.17669132e-01 -1.52271810e-02 3.97053519e-01 -1.41716015e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.160714057 meters Centerline goodness : 0.999584 Centerline is valid? [True, True] Translation: X:167.54, Y:201.15, Z:-141.75 [[ 3.47975641e-01 4.47432085e-01 8.23843118e-01 1.67538486e+02] [-1.91800189e-01 8.94152098e-01 -4.04604392e-01 2.01145924e+02] [-9.17674039e-01 -1.72207929e-02 3.96960707e-01 -1.41746528e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.1907140569999 meters Centerline goodness : 0.999478 Centerline is valid? [True, True] Translation: X:167.55, Y:201.14, Z:-141.78 [[ 3.47339088e-01 4.48670114e-01 8.23438332e-01 1.67548871e+02] [-1.93740326e-01 8.93499295e-01 -4.05121828e-01 2.01136924e+02] [-9.17507626e-01 -1.88185652e-02 3.97272724e-01 -1.41776337e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.2207140569999 meters Centerline goodness : 0.999645 Centerline is valid? [True, True] Translation: X:167.56, Y:201.13, Z:-141.81 [[ 3.46981994e-01 4.49808631e-01 8.22967613e-01 1.67558793e+02] [-1.95478518e-01 8.92898026e-01 -4.05612210e-01 2.01127781e+02] [-9.17274029e-01 -2.01323561e-02 3.97747462e-01 -1.41805480e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.250714057 meters Centerline goodness : 0.999645 Centerline is valid? [True, True] Translation: X:167.57, Y:201.12, Z:-141.83 [[ 3.47869386e-01 4.53596822e-01 8.20510093e-01 1.67566253e+02] [-1.96486689e-01 8.91007667e-01 -4.09265584e-01 2.01116810e+02] [-9.16722352e-01 -1.88483443e-02 3.99080028e-01 -1.41832274e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.280714057 meters Centerline goodness : 0.999478 Centerline is valid? [True, True] Translation: X:167.57, Y:201.10, Z:-141.86 [[ 3.47406876e-01 4.46894167e-01 8.24374954e-01 1.67573578e+02] [-1.95363544e-01 8.94335003e-01 -4.02489736e-01 2.01104890e+02] [-9.17137693e-01 -2.12251103e-02 3.98004958e-01 -1.41858788e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.3107140569999 meters Centerline goodness : 0.999499 Centerline is valid? [True, True] Translation: X:167.58, Y:201.10, Z:-141.88 [[ 3.48048114e-01 4.49495203e-01 8.22688625e-01 1.67581527e+02] [-1.93828003e-01 8.93098029e-01 -4.05963810e-01 2.01097318e+02] [-9.17220375e-01 -1.81651548e-02 3.97965842e-01 -1.41883389e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.3407140569999 meters Centerline goodness : 0.999206 Centerline is valid? [True, True] Translation: X:167.59, Y:201.08, Z:-141.91 [[ 3.50284663e-01 4.47690792e-01 8.22723289e-01 1.67589401e+02] [-1.89871242e-01 8.94077124e-01 -4.05678454e-01 2.01081825e+02] [-9.17196580e-01 -1.41085524e-02 3.98185111e-01 -1.41913475e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.370714057 meters Centerline goodness : 0.999017 Centerline is valid? [True, True] Translation: X:167.60, Y:201.07, Z:-141.94 [[ 3.50970514e-01 4.47340567e-01 8.22621490e-01 1.67598412e+02] [-1.87385326e-01 8.94289437e-01 -4.06365775e-01 2.01071943e+02] [-9.17445605e-01 -1.15247907e-02 3.97694281e-01 -1.41943382e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.400714057 meters Centerline goodness : 0.999604 Centerline is valid? [True, True] Translation: X:167.61, Y:201.06, Z:-141.97 [[ 3.52216079e-01 4.46697767e-01 8.22438410e-01 1.67608478e+02] [-1.84888868e-01 8.94641626e-01 -4.06733903e-01 2.01062158e+02] [-9.17474763e-01 -8.80148647e-03 3.97696610e-01 -1.41974054e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.4307140569999 meters Centerline goodness : 0.999331 Centerline is valid? [True, True] Translation: X:167.62, Y:201.05, Z:-142.00 [[ 3.53508566e-01 4.46406145e-01 8.22042121e-01 1.67618107e+02] [-1.82911904e-01 8.94807641e-01 -4.07262226e-01 2.01052882e+02] [-9.17373931e-01 -6.39060388e-03 3.97975164e-01 -1.42003201e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.4607140569999 meters Centerline goodness : 0.998807 Centerline is valid? [True, True] Translation: X:167.63, Y:201.04, Z:-142.03 [[ 3.56225850e-01 4.45580491e-01 8.21316729e-01 1.67626414e+02] [-1.80094835e-01 8.95237728e-01 -4.07572401e-01 2.01040167e+02] [-9.16880033e-01 -2.72707580e-03 3.99153565e-01 -1.42033465e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.490714057 meters Centerline goodness : 0.998746 Centerline is valid? [True, True] Translation: X:167.64, Y:201.03, Z:-142.06 [[ 3.57389405e-01 4.45618265e-01 8.20790579e-01 1.67636114e+02] [-1.79121116e-01 8.95222284e-01 -4.08035156e-01 2.01030900e+02] [-9.16617935e-01 -1.19348308e-03 3.99762600e-01 -1.42063088e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.520714057 meters Centerline goodness : 0.998075 Centerline is valid? [True, True] Translation: X:167.65, Y:201.02, Z:-142.09 [[ 3.58744907e-01 4.45621335e-01 8.20197365e-01 1.67646224e+02] [-1.78265246e-01 8.95221500e-01 -4.08411518e-01 2.01021812e+02] [-9.16255201e-01 3.02867478e-04 4.00594951e-01 -1.42093728e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.5507140569999 meters Centerline goodness : 0.998539 Centerline is valid? [True, True] Translation: X:167.66, Y:201.01, Z:-142.12 [[ 3.60013876e-01 4.45489085e-01 8.19713050e-01 1.67657012e+02] [-1.76828730e-01 8.95284518e-01 -4.08897583e-01 2.01013023e+02] [-9.16035812e-01 2.25998627e-03 4.01090118e-01 -1.42124084e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.5807140569999 meters Centerline goodness : 0.998222 Centerline is valid? [True, True] Translation: X:167.67, Y:201.00, Z:-142.15 [[ 3.61564327e-01 4.44936152e-01 8.19330860e-01 1.67666445e+02] [-1.74235219e-01 8.95546721e-01 -4.09436393e-01 2.01001632e+02] [-9.15922118e-01 5.28130182e-03 4.01321295e-01 -1.42153243e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.6107140569999 meters Centerline goodness : 0.998474 Centerline is valid? [True, True] Translation: X:167.68, Y:200.99, Z:-142.18 [[ 3.62280847e-01 4.45002878e-01 8.18978038e-01 1.67677648e+02] [-1.73265686e-01 8.95504727e-01 -4.09939370e-01 2.00993101e+02] [-9.15822903e-01 6.61239050e-03 4.01527939e-01 -1.42182771e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.640714057 meters Centerline goodness : 0.998494 Centerline is valid? [True, True] Translation: X:167.69, Y:200.98, Z:-142.21 [[ 3.62463282e-01 4.45145401e-01 8.18819847e-01 1.67689293e+02] [-1.72213438e-01 8.95424327e-01 -4.10557920e-01 2.00984712e+02] [-9.15949180e-01 7.80039014e-03 4.01218461e-01 -1.42212886e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.6707140569999 meters Centerline goodness : 0.998620 Centerline is valid? [True, True] Translation: X:167.70, Y:200.98, Z:-142.24 [[ 3.62499035e-01 4.45338574e-01 8.18698970e-01 1.67700044e+02] [-1.71180899e-01 8.95317796e-01 -4.11221527e-01 2.00976522e+02] [-9.16128566e-01 8.92178107e-03 4.00785294e-01 -1.42242537e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.7007140569999 meters Centerline goodness : 0.998432 Centerline is valid? [True, True] Translation: X:167.71, Y:200.97, Z:-142.27 [[ 3.63028682e-01 4.45006189e-01 8.18645019e-01 1.67708587e+02] [-1.68889816e-01 8.95456723e-01 -4.11865862e-01 2.00967165e+02] [-9.16344044e-01 1.12583143e-02 4.00233487e-01 -1.42268219e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.7307140569999 meters Centerline goodness : 0.998514 Centerline is valid? [True, True] Translation: X:167.72, Y:200.96, Z:-142.29 [[ 3.63126457e-01 4.44700746e-01 8.18767625e-01 1.67718259e+02] [-1.68186106e-01 8.95600886e-01 -4.11840365e-01 2.00959497e+02] [-9.16434728e-01 1.18447935e-02 4.00008863e-01 -1.42293942e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.760714057 meters Centerline goodness : 0.998640 Centerline is valid? [True, True] Translation: X:167.73, Y:200.95, Z:-142.32 [[ 3.62818053e-01 4.44509345e-01 8.19008243e-01 1.67729139e+02] [-1.67808517e-01 8.95694251e-01 -4.11791344e-01 2.00951506e+02] [-9.16626075e-01 1.19687753e-02 3.99566498e-01 -1.42324347e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.790714057 meters Centerline goodness : 0.998640 Centerline is valid? [True, True] Translation: X:167.74, Y:200.95, Z:-142.36 [[ 3.62771344e-01 4.45072127e-01 8.18723246e-01 1.67741193e+02] [-1.67919903e-01 8.95412816e-01 -4.12357606e-01 2.00945610e+02] [-9.16624164e-01 1.21115951e-02 3.99566579e-01 -1.42355035e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.8207140569999 meters Centerline goodness : 0.998474 Centerline is valid? [True, True] Translation: X:167.75, Y:200.94, Z:-142.39 [[ 3.61227214e-01 4.45685562e-01 8.19072207e-01 1.67751329e+02] [-1.68286990e-01 8.95118351e-01 -4.12846977e-01 2.00936391e+02] [-9.17166500e-01 1.12923671e-02 3.98344190e-01 -1.42385730e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.8507140569999 meters Centerline goodness : 0.998956 Centerline is valid? [True, True] Translation: X:167.76, Y:200.93, Z:-142.42 [[ 3.60483853e-01 4.46598715e-01 8.18902302e-01 1.67763105e+02] [-1.69131484e-01 8.94672207e-01 -4.13468479e-01 2.00929548e+02] [-9.17303621e-01 1.05465493e-02 3.98048788e-01 -1.42416231e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.880714057 meters Centerline goodness : 0.998912 Centerline is valid? [True, True] Translation: X:167.77, Y:200.92, Z:-142.45 [[ 3.59055846e-01 4.47714992e-01 8.18920134e-01 1.67774435e+02] [-1.70258929e-01 8.94128098e-01 -4.14182136e-01 2.00923454e+02] [-9.17655053e-01 9.28605261e-03 3.97269396e-01 -1.42447137e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.910714057 meters Centerline goodness : 0.998621 Centerline is valid? [True, True] Translation: X:167.79, Y:200.92, Z:-142.48 [[ 3.58127111e-01 4.48826116e-01 8.18718566e-01 1.67786218e+02] [-1.71598128e-01 8.93582739e-01 -4.14805944e-01 2.00917628e+02] [-9.17768520e-01 8.06268134e-03 3.97033925e-01 -1.42476897e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.9407140569999 meters Centerline goodness : 0.998517 Centerline is valid? [True, True] Translation: X:167.80, Y:200.91, Z:-142.51 [[ 3.56337017e-01 4.51506528e-01 8.18025541e-01 1.67796372e+02] [-1.73759420e-01 8.92245043e-01 -4.16781055e-01 2.00912056e+02] [-9.18058601e-01 6.37487459e-03 3.96393449e-01 -1.42506721e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.9707140569999 meters Centerline goodness : 0.998682 Centerline is valid? [True, True] Translation: X:167.81, Y:200.90, Z:-142.54 [[ 3.55516556e-01 4.50901567e-01 8.18715919e-01 1.67807277e+02] [-1.74919572e-01 8.92562091e-01 -4.15615275e-01 2.00904678e+02] [-9.18156371e-01 4.54867264e-03 3.96192110e-01 -1.42536267e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.000714057 meters Centerline goodness : 0.998782 Centerline is valid? [True, True] Translation: X:167.82, Y:200.90, Z:-142.57 [[ 3.54749326e-01 4.51835779e-01 8.18533655e-01 1.67817903e+02] [-1.75849862e-01 8.92093385e-01 -4.16228566e-01 2.00898050e+02] [-9.18275417e-01 3.71777330e-03 3.95924786e-01 -1.42565608e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.030714057 meters Centerline goodness : 0.998579 Centerline is valid? [True, True] Translation: X:167.83, Y:200.89, Z:-142.60 [[ 3.53386402e-01 4.53760378e-01 8.18058415e-01 1.67828307e+02] [-1.77272713e-01 8.91119968e-01 -4.17707539e-01 2.00890823e+02] [-9.18527320e-01 2.59272985e-03 3.95349012e-01 -1.42596608e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.0607140569999 meters Centerline goodness : 0.998661 Centerline is valid? [True, True] Translation: X:167.84, Y:200.88, Z:-142.63 [[ 3.52325683e-01 4.53802086e-01 8.18492688e-01 1.67838748e+02] [-1.77871044e-01 8.91101226e-01 -4.17493110e-01 2.00884005e+02] [-9.18819082e-01 1.50739589e-03 3.94676099e-01 -1.42626407e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.0907140569999 meters Centerline goodness : 0.998950 Centerline is valid? [True, True] Translation: X:167.85, Y:200.88, Z:-142.66 [[ 3.51396440e-01 4.54236014e-01 8.18651443e-01 1.67849372e+02] [-1.78084449e-01 8.90880767e-01 -4.17872454e-01 2.00877855e+02] [-9.19133544e-01 1.04980136e-03 3.93944701e-01 -1.42656205e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.120714057 meters Centerline goodness : 0.999017 Centerline is valid? [True, True] Translation: X:167.86, Y:200.87, Z:-142.69 [[ 3.52389915e-01 4.54605841e-01 8.18018873e-01 1.67860557e+02] [-1.78186837e-01 8.90691250e-01 -4.18232649e-01 2.00871542e+02] [-9.18733258e-01 1.62077205e-03 3.94875391e-01 -1.42686171e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.150714057 meters Centerline goodness : 0.999205 Centerline is valid? [True, True] Translation: X:167.87, Y:200.86, Z:-142.72 [[ 3.52556498e-01 4.55144722e-01 8.17647355e-01 1.67871159e+02] [-1.78291308e-01 8.90415529e-01 -4.18774875e-01 2.00864640e+02] [-9.18649076e-01 1.86238713e-03 3.95070128e-01 -1.42715150e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.1807140569999 meters Centerline goodness : 0.999038 Centerline is valid? [True, True] Translation: X:167.88, Y:200.86, Z:-142.75 [[ 3.53467078e-01 4.55237420e-01 8.17202494e-01 1.67881064e+02] [-1.77479165e-01 8.90364526e-01 -4.19228049e-01 2.00856584e+02] [-9.18456407e-01 3.14689792e-03 3.95509705e-01 -1.42745202e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.2107140569999 meters Centerline goodness : 0.998557 Centerline is valid? [True, True] Translation: X:167.89, Y:200.85, Z:-142.78 [[ 3.53137359e-01 4.55740551e-01 8.17064597e-01 1.67892357e+02] [-1.77240572e-01 8.90105946e-01 -4.19877582e-01 2.00849214e+02] [-9.18629297e-01 3.45746409e-03 3.95105379e-01 -1.42775640e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.240714057 meters Centerline goodness : 0.998555 Centerline is valid? [True, True] Translation: X:167.90, Y:200.84, Z:-142.81 [[ 3.52750752e-01 4.56319545e-01 8.16908428e-01 1.67903637e+02] [-1.77225470e-01 8.89808858e-01 -4.20513174e-01 2.00842243e+02] [-9.18780735e-01 3.55935807e-03 3.94752190e-01 -1.42805637e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.270714057 meters Centerline goodness : 0.998632 Centerline is valid? [True, True] Translation: X:167.91, Y:200.83, Z:-142.84 [[ 3.51801775e-01 4.57233562e-01 8.16806575e-01 1.67914912e+02] [-1.77993483e-01 8.89342296e-01 -4.21175261e-01 2.00833928e+02] [-9.18996100e-01 2.78395758e-03 3.94256792e-01 -1.42835627e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.3007140569999 meters Centerline goodness : 0.999033 Centerline is valid? [True, True] Translation: X:167.93, Y:200.83, Z:-142.86 [[ 3.51799711e-01 4.57890446e-01 8.16439405e-01 1.67926360e+02] [-1.78380719e-01 8.89004450e-01 -4.21724327e-01 2.00827158e+02] [-9.18921804e-01 2.72544848e-03 3.94430335e-01 -1.42864924e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.3307140569999 meters Centerline goodness : 0.998659 Centerline is valid? [True, True] Translation: X:167.94, Y:200.82, Z:-142.90 [[ 3.53142613e-01 4.63516276e-01 8.12676416e-01 1.67938295e+02] [-1.78862568e-01 8.86070294e-01 -4.27653616e-01 2.00822795e+02] [-9.18312843e-01 5.66532455e-03 3.95814890e-01 -1.42896045e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.3607140569999 meters Centerline goodness : 0.998632 Centerline is valid? [True, True] Translation: X:167.95, Y:200.81, Z:-142.92 [[ 3.51238967e-01 4.56155354e-01 8.17651198e-01 1.67947556e+02] [-1.77420018e-01 8.89896537e-01 -4.20245512e-01 2.00811615e+02] [-9.19322210e-01 2.53890975e-03 3.93497431e-01 -1.42924758e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.390714057 meters Centerline goodness : 0.998505 Centerline is valid? [True, True] Translation: X:167.96, Y:200.81, Z:-142.96 [[ 3.50995137e-01 4.58820304e-01 8.16263648e-01 1.67958713e+02] [-1.76889540e-01 8.88519093e-01 -4.23372072e-01 2.00805602e+02] [-9.19517539e-01 4.21303686e-03 3.93026393e-01 -1.42955058e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.4207140569999 meters Centerline goodness : 0.998849 Centerline is valid? [True, True] Translation: X:167.97, Y:200.80, Z:-142.99 [[ 3.51532556e-01 4.59149602e-01 8.15847109e-01 1.67969875e+02] [-1.76563563e-01 8.88345135e-01 -4.23872893e-01 2.00797936e+02] [-9.19374880e-01 4.95624887e-03 3.93351325e-01 -1.42985276e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.4507140569999 meters Centerline goodness : 0.998612 Centerline is valid? [True, True] Translation: X:167.99, Y:200.79, Z:-143.00 [[ 3.58389953e-01 4.37401845e-01 8.24764371e-01 1.67985863e+02] [-1.73441533e-01 8.99265747e-01 -4.01545952e-01 2.00787274e+02] [-9.17319288e-01 8.61637803e-04 3.98151456e-01 -1.43000902e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.4807140569999 meters Centerline goodness : 0.998676 Centerline is valid? [True, True] Translation: X:167.99, Y:200.78, Z:-143.03 [[ 3.57177506e-01 4.27113978e-01 8.30661110e-01 1.67992281e+02] [-1.71008381e-01 9.04194985e-01 -3.91391828e-01 2.00778980e+02] [-9.18248530e-01 -2.25365494e-03 3.95998180e-01 -1.43029590e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.510714057 meters Centerline goodness : 0.998569 Centerline is valid? [True, True] Translation: X:168.00, Y:200.76, Z:-143.07 [[ 3.52500833e-01 4.19590832e-01 8.36472771e-01 1.67995364e+02] [-1.75331145e-01 9.07631142e-01 -3.81398347e-01 2.00756881e+02] [-9.19239986e-01 -1.22164941e-02 3.93508075e-01 -1.43069127e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.540714057 meters Centerline goodness : 0.998682 Centerline is valid? [True, True] Translation: X:168.01, Y:200.77, Z:-143.10 [[ 3.53866008e-01 4.60375573e-01 8.14145675e-01 1.68007872e+02] [-1.74005793e-01 8.87676616e-01 -4.26324066e-01 2.00770577e+02] [-9.18967264e-01 9.19553132e-03 3.94226597e-01 -1.43098941e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.5707140569999 meters Centerline goodness : 0.998744 Centerline is valid? [True, True] Translation: X:168.02, Y:200.76, Z:-143.13 [[ 3.53996889e-01 4.59997536e-01 8.14302443e-01 1.68017857e+02] [-1.73058584e-01 8.87863949e-01 -4.26319522e-01 2.00763448e+02] [-9.19095713e-01 9.99375708e-03 3.93907598e-01 -1.43125633e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.6007140569999 meters Centerline goodness : 0.998409 Centerline is valid? [True, True] Translation: X:168.03, Y:200.76, Z:-143.15 [[ 3.53006306e-01 4.59353303e-01 8.15095755e-01 1.68026421e+02] [-1.70819030e-01 8.88181192e-01 -4.26561870e-01 2.00756028e+02] [-9.19895324e-01 1.13451642e-02 3.91999848e-01 -1.43150422e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.630714057 meters Centerline goodness : 0.998927 Centerline is valid? [True, True] Translation: X:168.04, Y:200.75, Z:-143.18 [[ 3.52942761e-01 4.58866375e-01 8.15397485e-01 1.68036260e+02] [-1.69907307e-01 8.88424799e-01 -4.26418672e-01 2.00749726e+02] [-9.20088536e-01 1.19593926e-02 3.91527851e-01 -1.43175466e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.660714057 meters Centerline goodness : 0.998054 Centerline is valid? [True, True] Translation: X:168.04, Y:200.74, Z:-143.20 [[ 3.53338854e-01 4.58117215e-01 8.15647149e-01 1.68044818e+02] [-1.69280583e-01 8.88805230e-01 -4.25874803e-01 2.00744092e+02] [-9.20052031e-01 1.24048901e-02 3.91599770e-01 -1.43200120e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.6907140569999 meters Centerline goodness : 0.998549 Centerline is valid? [True, True] Translation: X:168.05, Y:200.74, Z:-143.23 [[ 3.54488042e-01 4.56960182e-01 8.15797537e-01 1.68054209e+02] [-1.67257680e-01 8.89370844e-01 -4.25493091e-01 2.00738170e+02] [-9.19979944e-01 1.43838091e-02 3.91701429e-01 -1.43225810e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.7207140569999 meters Centerline goodness : 0.998302 Centerline is valid? [True, True] Translation: X:168.07, Y:200.73, Z:-143.26 [[ 3.55631351e-01 4.56048743e-01 8.15809957e-01 1.68065737e+02] [-1.66500886e-01 8.89824061e-01 -4.24841848e-01 2.00731481e+02] [-9.19675920e-01 1.52540001e-02 3.92381853e-01 -1.43255883e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.750714057 meters Centerline goodness : 0.998681 Centerline is valid? [True, True] Translation: X:168.08, Y:200.73, Z:-143.29 [[ 3.56765143e-01 4.56013077e-01 8.15334720e-01 1.68077341e+02] [-1.65400505e-01 8.89813104e-01 -4.25294383e-01 2.00725468e+02] [-9.19435319e-01 1.68734368e-02 3.92879093e-01 -1.43286021e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.780714057 meters Centerline goodness : 0.998494 Centerline is valid? [True, True] Translation: X:168.10, Y:200.72, Z:-143.30 [[ 3.66040188e-01 4.39626423e-01 8.20209235e-01 1.68095205e+02] [-1.57643596e-01 8.97932443e-01 -4.10932872e-01 2.00721926e+02] [-9.17149430e-01 2.11172121e-02 3.97983651e-01 -1.43302333e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.8107140569999 meters Centerline goodness : 0.999120 Centerline is valid? [True, True] Translation: X:168.10, Y:200.69, Z:-143.34 [[ 3.58439913e-01 4.14757532e-01 8.36359384e-01 1.68097569e+02] [-1.61745686e-01 9.09930530e-01 -3.81922458e-01 2.00693514e+02] [-9.19434153e-01 1.61873065e-03 3.93240661e-01 -1.43340878e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.8407140569999 meters Centerline goodness : 0.998850 Centerline is valid? [True, True] Translation: X:168.11, Y:200.71, Z:-143.37 [[ 3.60547425e-01 4.55762690e-01 8.13809514e-01 1.68111425e+02] [-1.60398238e-01 8.89790758e-01 -4.27252633e-01 2.00708486e+02] [-9.18845993e-01 2.35112249e-02 3.93915299e-01 -1.43373008e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.870714057 meters Centerline goodness : 0.998675 Centerline is valid? [True, True] Translation: X:168.12, Y:200.70, Z:-143.40 [[ 3.60715292e-01 4.55746966e-01 8.13743929e-01 1.68123553e+02] [-1.58855529e-01 8.89755898e-01 -4.27901113e-01 2.00702937e+02] [-9.19048094e-01 2.50827523e-02 3.93346484e-01 -1.43403363e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.900714057 meters Centerline goodness : 0.998031 Centerline is valid? [True, True] Translation: X:168.14, Y:200.70, Z:-143.43 [[ 3.62052685e-01 4.55196943e-01 8.13457803e-01 1.68135945e+02] [-1.56188715e-01 8.89947878e-01 -4.28483209e-01 2.00698819e+02] [-9.18979292e-01 2.80805674e-02 3.93304644e-01 -1.43432118e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.9307140569999 meters Centerline goodness : 0.998076 Centerline is valid? [True, True] Translation: X:168.15, Y:200.69, Z:-143.46 [[ 3.62733938e-01 4.55331051e-01 8.13079162e-01 1.68148579e+02] [-1.55458932e-01 8.89843242e-01 -4.28965646e-01 2.00693441e+02] [-9.18834376e-01 2.91999801e-02 3.93561623e-01 -1.43462083e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.9607140569999 meters Centerline goodness : 0.998328 Centerline is valid? [True, True] Translation: X:168.16, Y:200.69, Z:-143.49 [[ 3.63037797e-01 4.55575990e-01 8.12806296e-01 1.68160904e+02] [-1.54795156e-01 8.89687305e-01 -4.29528763e-01 2.00688837e+02] [-9.18826435e-01 3.01166986e-02 3.93511076e-01 -1.43492326e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.990714057 meters Centerline goodness : 0.998096 Centerline is valid? [True, True] Translation: X:168.17, Y:200.68, Z:-143.52 [[ 3.62943977e-01 4.56019507e-01 8.12599458e-01 1.68173400e+02] [-1.54495150e-01 8.89444463e-01 -4.30139275e-01 2.00684345e+02] [-9.18913989e-01 3.05737837e-02 3.93271313e-01 -1.43522359e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.020714057 meters Centerline goodness : 0.998905 Centerline is valid? [True, True] Translation: X:168.19, Y:200.68, Z:-143.55 [[ 3.62099897e-01 4.56625654e-01 8.12635636e-01 1.68187875e+02] [-1.54241618e-01 8.89129791e-01 -4.30880191e-01 2.00681561e+02] [-9.19289502e-01 3.06794376e-02 3.92384486e-01 -1.43552450e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.0507140569999 meters Centerline goodness : 0.998513 Centerline is valid? [True, True] Translation: X:168.20, Y:200.68, Z:-143.58 [[ 3.61901840e-01 4.57385770e-01 8.12296323e-01 1.68200653e+02] [-1.54883614e-01 8.88751205e-01 -4.31430599e-01 2.00677241e+02] [-9.19259552e-01 3.03241378e-02 3.92482257e-01 -1.43582059e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.0807140569999 meters Centerline goodness : 0.998848 Centerline is valid? [True, True] Translation: X:168.21, Y:200.67, Z:-143.61 [[ 3.61054561e-01 4.58291447e-01 8.12162886e-01 1.68213734e+02] [-1.55704846e-01 8.88311193e-01 -4.32040768e-01 2.00672396e+02] [-9.19453971e-01 2.95325923e-02 3.92087007e-01 -1.43612423e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.1107140569999 meters Centerline goodness : 0.998889 Centerline is valid? [True, True] Translation: X:168.23, Y:200.67, Z:-143.64 [[ 3.60525363e-01 4.59090047e-01 8.11946914e-01 1.68227356e+02] [-1.56259698e-01 8.87912684e-01 -4.32659186e-01 2.00670109e+02] [-9.19567490e-01 2.91100304e-02 3.91852315e-01 -1.43642079e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.140714057 meters Centerline goodness : 0.998618 Centerline is valid? [True, True] Translation: X:168.24, Y:200.67, Z:-143.66 [[ 3.65842693e-01 4.54154558e-01 8.12343992e-01 1.68243868e+02] [-1.50805906e-01 8.90245751e-01 -4.29790742e-01 2.00674523e+02] [-9.18377212e-01 3.47295302e-02 3.94179092e-01 -1.43660983e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.1707140569999 meters Centerline goodness : 0.998680 Centerline is valid? [True, True] Translation: X:168.25, Y:200.64, Z:-143.70 [[ 3.59165018e-01 4.10111855e-01 8.38336899e-01 1.68247511e+02] [-1.56972859e-01 9.12024159e-01 -3.78908241e-01 2.00638035e+02] [-9.19978267e-01 4.49444530e-03 3.91943604e-01 -1.43696883e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.2007140569999 meters Centerline goodness : 0.999183 Centerline is valid? [True, True] Translation: X:168.26, Y:200.66, Z:-143.73 [[ 3.61763309e-01 4.61301517e-01 8.10140863e-01 1.68264749e+02] [-1.58303171e-01 8.86774353e-01 -4.34248032e-01 2.00658923e+02] [-9.18731416e-01 2.88471372e-02 3.93827917e-01 -1.43730482e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.2307140569999 meters Centerline goodness : 0.998994 Centerline is valid? [True, True] Translation: X:168.28, Y:200.66, Z:-143.76 [[ 3.62472986e-01 4.62120598e-01 8.09356465e-01 1.68278642e+02] [-1.59715472e-01 8.86367005e-01 -4.34562423e-01 2.00658915e+02] [-9.18207113e-01 2.82503894e-02 3.95091905e-01 -1.43759610e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.260714057 meters Centerline goodness : 0.999245 Centerline is valid? [True, True] Translation: X:168.29, Y:200.65, Z:-143.79 [[ 3.62992488e-01 4.62695748e-01 8.08794844e-01 1.68292335e+02] [-1.60858735e-01 8.86084366e-01 -4.34717108e-01 2.00654719e+02] [-9.17802223e-01 2.76973294e-02 3.96070621e-01 -1.43789704e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.290714057 meters Centerline goodness : 0.998952 Centerline is valid? [True, True] Translation: X:168.31, Y:200.65, Z:-143.82 [[ 3.62549723e-01 4.63528152e-01 8.08516759e-01 1.68305361e+02] [-1.61632009e-01 8.85666801e-01 -4.35280842e-01 2.00650444e+02] [-9.17841376e-01 2.71287604e-02 3.96019240e-01 -1.43820081e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.3207140569999 meters Centerline goodness : 0.999267 Centerline is valid? [True, True] Translation: X:168.32, Y:200.65, Z:-143.85 [[ 3.62119914e-01 4.64383002e-01 8.08218779e-01 1.68318448e+02] [-1.62445879e-01 8.85236753e-01 -4.35852300e-01 2.00646089e+02] [-9.17867367e-01 2.65389872e-02 3.95998962e-01 -1.43849363e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.3507140569999 meters Centerline goodness : 0.998766 Centerline is valid? [True, True] Translation: X:168.33, Y:200.66, Z:-143.87 [[ 3.62578358e-01 4.77978011e-01 8.00046220e-01 1.68332374e+02] [-1.55938911e-01 8.77474416e-01 -4.53565548e-01 2.00664311e+02] [-9.18814448e-01 3.96947156e-02 3.92688603e-01 -1.43873540e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.380714057 meters Centerline goodness : 0.999350 Centerline is valid? [True, True] Translation: X:168.34, Y:200.61, Z:-143.90 [[ 3.60926545e-01 4.04267692e-01 8.40416363e-01 1.68340560e+02] [-1.63886060e-01 9.14630417e-01 -3.69584306e-01 2.00611609e+02] [-9.18081363e-01 -4.33973950e-03 3.96368235e-01 -1.43903574e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.410714057 meters Centerline goodness : 0.998533 Centerline is valid? [True, True] Translation: X:168.36, Y:200.65, Z:-143.93 [[ 3.66311109e-01 4.70335376e-01 8.02870355e-01 1.68361545e+02] [-1.57546434e-01 8.81737024e-01 -4.44655981e-01 2.00651885e+02] [-9.17057955e-01 3.63930641e-02 3.97089728e-01 -1.43928887e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.4407140569999 meters Centerline goodness : 0.999245 Centerline is valid? [True, True] Translation: X:168.37, Y:200.61, Z:-143.96 [[ 3.63801350e-01 4.17350577e-01 8.32746705e-01 1.68368025e+02] [-1.61176438e-01 9.08726729e-01 -3.85016737e-01 2.00612007e+02] [-9.17426146e-01 5.85046063e-03 3.97863090e-01 -1.43961233e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.4707140569999 meters Centerline goodness : 0.999498 Centerline is valid? [True, True] Translation: X:168.39, Y:200.63, Z:-143.99 [[ 3.66809258e-01 4.65318404e-01 8.05561761e-01 1.68386702e+02] [-1.58835597e-01 8.84530473e-01 -4.38608134e-01 2.00631153e+02] [-9.16636363e-01 3.29336405e-02 3.98363093e-01 -1.43994535e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.500714057 meters Centerline goodness : 0.999058 Centerline is valid? [True, True] Translation: X:168.40, Y:200.63, Z:-144.02 [[ 3.68903886e-01 4.64552249e-01 8.05047285e-01 1.68399478e+02] [-1.56063539e-01 8.84800082e-01 -4.39059206e-01 2.00627037e+02] [-9.16271845e-01 3.63321186e-02 3.98905857e-01 -1.44023168e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.530714057 meters Centerline goodness : 0.999186 Centerline is valid? [True, True] Translation: X:168.41, Y:200.62, Z:-144.05 [[ 3.70463203e-01 4.63631663e-01 8.04861911e-01 1.68411194e+02] [-1.52585393e-01 8.85122072e-01 -4.39632364e-01 2.00623561e+02] [-9.16228527e-01 4.00574428e-02 3.98648578e-01 -1.44050181e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.5607140569999 meters Centerline goodness : 0.999349 Centerline is valid? [True, True] Translation: X:168.43, Y:200.62, Z:-144.08 [[ 3.73975667e-01 4.60754329e-01 8.04889836e-01 1.68426377e+02] [-1.45793044e-01 8.86279486e-01 -4.39605575e-01 2.00621791e+02] [-9.15907522e-01 4.70544485e-02 3.98621738e-01 -1.44080093e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.5907140569999 meters Centerline goodness : 0.999095 Centerline is valid? [True, True] Translation: X:168.45, Y:200.61, Z:-144.10 [[ 3.81799673e-01 4.46747479e-01 8.09101786e-01 1.68445361e+02] [-1.42905962e-01 8.93426137e-01 -4.25872778e-01 2.00614035e+02] [-9.13130273e-01 4.69726183e-02 4.04952686e-01 -1.44101276e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.620714057 meters Centerline goodness : 0.998908 Centerline is valid? [True, True] Translation: X:168.46, Y:200.61, Z:-144.13 [[ 3.82706718e-01 4.35686112e-01 8.14685939e-01 1.68457899e+02] [-1.41228111e-01 8.99044071e-01 -4.14456728e-01 2.00605409e+02] [-9.13011604e-01 4.35588175e-02 4.05601332e-01 -1.44130233e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.650714057 meters Centerline goodness : 0.999054 Centerline is valid? [True, True] Translation: X:168.47, Y:200.61, Z:-144.17 [[ 3.77207569e-01 4.52044600e-01 8.08313138e-01 1.68465716e+02] [-1.40268641e-01 8.90603984e-01 -4.32607504e-01 2.00608855e+02] [-9.15444787e-01 4.98018392e-02 3.99350245e-01 -1.44166280e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.6807140569999 meters Centerline goodness : 0.999035 Centerline is valid? [True, True] Translation: X:168.48, Y:200.61, Z:-144.19 [[ 3.77576755e-01 4.60554138e-01 8.03321654e-01 1.68481967e+02] [-1.40031644e-01 8.85960491e-01 -4.42114406e-01 2.00614864e+02] [-9.15328866e-01 5.44416709e-02 3.99010240e-01 -1.44190835e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.7107140569999 meters Centerline goodness : 0.999035 Centerline is valid? [True, True] Translation: X:168.49, Y:200.61, Z:-144.22 [[ 3.77638533e-01 4.60285323e-01 8.03446675e-01 1.68492015e+02] [-1.39882160e-01 8.86097469e-01 -4.41887155e-01 2.00609332e+02] [-9.15326237e-01 5.44857604e-02 3.99010254e-01 -1.44216926e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.740714057 meters Centerline goodness : 0.999055 Centerline is valid? [True, True] Translation: X:168.50, Y:200.61, Z:-144.24 [[ 3.77558000e-01 4.60127141e-01 8.03575119e-01 1.68504721e+02] [-1.40275200e-01 8.86210337e-01 -4.41536076e-01 2.00607544e+02] [-9.15299309e-01 5.39838175e-02 3.99140229e-01 -1.44242760e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.770714057 meters Centerline goodness : 0.999391 Centerline is valid? [True, True] Translation: X:168.52, Y:200.61, Z:-144.27 [[ 3.76289871e-01 4.60510682e-01 8.03950151e-01 1.68521389e+02] [-1.42154253e-01 8.86148390e-01 -4.41059179e-01 2.00608526e+02] [-9.15531595e-01 5.16811687e-02 3.98912215e-01 -1.44272967e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.8007140569999 meters Centerline goodness : 0.999180 Centerline is valid? [True, True] Translation: X:168.54, Y:200.61, Z:-144.30 [[ 3.75735951e-01 4.61480258e-01 8.03653201e-01 1.68535204e+02] [-1.43752798e-01 8.85722153e-01 -4.41397102e-01 2.00606127e+02] [-9.15509491e-01 5.03213636e-02 3.99136733e-01 -1.44302870e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.8307140569999 meters Centerline goodness : 0.999748 Centerline is valid? [True, True] Translation: X:168.55, Y:200.60, Z:-144.33 [[ 3.74809091e-01 4.62874352e-01 8.03284184e-01 1.68548651e+02] [-1.45879306e-01 8.85098020e-01 -4.41951043e-01 2.00603623e+02] [-9.15553043e-01 4.84647293e-02 3.99266573e-01 -1.44333590e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.8607140569999 meters Centerline goodness : 0.999621 Centerline is valid? [True, True] Translation: X:168.56, Y:200.60, Z:-144.36 [[ 3.74302482e-01 4.64347088e-01 8.02670190e-01 1.68561849e+02] [-1.48598728e-01 8.84442259e-01 -4.42357669e-01 2.00601521e+02] [-9.15322932e-01 4.62998042e-02 4.00050320e-01 -1.44363227e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.890714057 meters Centerline goodness : 0.999558 Centerline is valid? [True, True] Translation: X:168.58, Y:200.60, Z:-144.39 [[ 3.72478497e-01 4.66905349e-01 8.02034391e-01 1.68577044e+02] [-1.54032057e-01 8.83339634e-01 -4.42702177e-01 2.00603305e+02] [-9.15168780e-01 4.13580343e-02 4.00943410e-01 -1.44393222e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.9207140569999 meters Centerline goodness : 0.999537 Centerline is valid? [True, True] Translation: X:168.59, Y:200.60, Z:-144.42 [[ 3.71394403e-01 4.68344286e-01 8.01698090e-01 1.68589045e+02] [-1.56289711e-01 8.82670634e-01 -4.43244943e-01 2.00602111e+02] [-9.15226597e-01 3.93215278e-02 4.01016326e-01 -1.44418687e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.9507140569999 meters Centerline goodness : 0.999537 Centerline is valid? [True, True] Translation: X:168.60, Y:200.60, Z:-144.45 [[ 3.70114770e-01 4.69042482e-01 8.01881667e-01 1.68602792e+02] [-1.58284922e-01 8.82397495e-01 -4.43080742e-01 2.00599658e+02] [-9.15402065e-01 3.70649499e-02 4.00830699e-01 -1.44448405e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.9807140569999 meters Centerline goodness : 0.999558 Centerline is valid? [True, True] Translation: X:168.62, Y:200.60, Z:-144.48 [[ 3.68105217e-01 4.70911603e-01 8.01711177e-01 1.68618255e+02] [-1.61278765e-01 8.81523254e-01 -4.43740817e-01 2.00600967e+02] [-9.15689745e-01 3.40443209e-02 4.00441350e-01 -1.44477360e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.010714057 meters Centerline goodness : 0.999115 Centerline is valid? [True, True] Translation: X:168.63, Y:200.60, Z:-144.51 [[ 3.66619769e-01 4.72035062e-01 8.01731155e-01 1.68630980e+02] [-1.62334966e-01 8.80969501e-01 -4.44454831e-01 2.00597871e+02] [-9.16098960e-01 3.27969283e-02 3.99608631e-01 -1.44506747e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.040714057 meters Centerline goodness : 0.999325 Centerline is valid? [True, True] Translation: X:168.64, Y:200.59, Z:-144.54 [[ 3.65844354e-01 4.73009001e-01 8.01511318e-01 1.68644415e+02] [-1.63402276e-01 8.80481985e-01 -4.45029404e-01 2.00593902e+02] [-9.16219191e-01 3.18427216e-02 3.99410110e-01 -1.44537015e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.0707140569999 meters Centerline goodness : 0.999181 Centerline is valid? [True, True] Translation: X:168.66, Y:200.59, Z:-144.57 [[ 3.64610922e-01 4.74510236e-01 8.01185941e-01 1.68658817e+02] [-1.65786363e-01 8.79750735e-01 -4.45593454e-01 2.00593182e+02] [-9.16282575e-01 2.96425365e-02 3.99434053e-01 -1.44566767e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.1007140569999 meters Centerline goodness : 0.998946 Centerline is valid? [True, True] Translation: X:168.67, Y:200.59, Z:-144.60 [[ 3.63904307e-01 4.75554636e-01 8.00887910e-01 1.68671757e+02] [-1.67038381e-01 8.79221667e-01 -4.46169744e-01 2.00589809e+02] [-9.16336093e-01 2.85840715e-02 3.99388427e-01 -1.44596878e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.130714057 meters Centerline goodness : 0.999517 Centerline is valid? [True, True] Translation: X:168.68, Y:200.59, Z:-144.63 [[ 3.63109810e-01 4.76640669e-01 8.00602860e-01 1.68684457e+02] [-1.68317826e-01 8.78668808e-01 -4.46777613e-01 2.00586296e+02] [-9.16417140e-01 2.74736013e-02 3.99280385e-01 -1.44626561e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.160714057 meters Centerline goodness : 0.998862 Centerline is valid? [True, True] Translation: X:168.70, Y:200.59, Z:-144.65 [[ 3.62086594e-01 4.77505881e-01 8.00550706e-01 1.68695854e+02] [-1.68762555e-01 8.78215729e-01 -4.47500094e-01 2.00586843e+02] [-9.16740148e-01 2.69308022e-02 3.98575254e-01 -1.44652399e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.1907140569999 meters Centerline goodness : 0.998018 Centerline is valid? [True, True] Translation: X:168.71, Y:200.59, Z:-144.68 [[ 3.65046651e-01 4.87996807e-01 7.92843023e-01 1.68709131e+02] [-1.70812904e-01 8.72264160e-01 -4.58233768e-01 2.00587593e+02] [-9.15185170e-01 3.18488831e-02 4.01773262e-01 -1.44676815e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.2207140569999 meters Centerline goodness : 0.998250 Centerline is valid? [True, True] Translation: X:168.71, Y:200.57, Z:-144.70 [[ 3.63538220e-01 4.61673060e-01 8.09134073e-01 1.68713089e+02] [-1.68401783e-01 8.86820485e-01 -4.30337387e-01 2.00573422e+02] [-9.16231850e-01 2.01844673e-02 4.00139707e-01 -1.44702503e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.250714057 meters Centerline goodness : 0.998338 Centerline is valid? [True, True] Translation: X:168.72, Y:200.57, Z:-144.73 [[ 3.63820997e-01 4.60915956e-01 8.09438548e-01 1.68723724e+02] [-1.65327354e-01 8.87147458e-01 -4.30855260e-01 2.00569558e+02] [-9.16679414e-01 2.29318571e-02 3.98964888e-01 -1.44729532e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.280714057 meters Centerline goodness : 0.999071 Centerline is valid? [True, True] Translation: X:168.74, Y:200.57, Z:-144.76 [[ 3.65578592e-01 4.64483472e-01 8.06602379e-01 1.68735952e+02] [-1.59366177e-01 8.85026214e-01 -4.37414016e-01 2.00568887e+02] [-9.17035831e-01 3.13640628e-02 3.97569593e-01 -1.44756642e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.3107140569999 meters Centerline goodness : 0.998566 Centerline is valid? [True, True] Translation: X:168.75, Y:200.57, Z:-144.79 [[ 3.67654733e-01 4.71106471e-01 8.01803399e-01 1.68749926e+02] [-1.56779467e-01 8.81247530e-01 -4.45895717e-01 2.00566776e+02] [-9.16651622e-01 3.82293615e-02 3.97854647e-01 -1.44786453e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.3407140569999 meters Centerline goodness : 0.998565 Centerline is valid? [True, True] Translation: X:168.76, Y:200.56, Z:-144.82 [[ 3.68505297e-01 4.70708945e-01 8.01646391e-01 1.68761689e+02] [-1.54406316e-01 8.81346124e-01 -4.46528498e-01 2.00560895e+02] [-9.16712897e-01 4.07688506e-02 3.97461149e-01 -1.44816416e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.370714057 meters Centerline goodness : 0.998462 Centerline is valid? [True, True] Translation: X:168.77, Y:200.56, Z:-144.85 [[ 3.68890252e-01 4.70398487e-01 8.01651573e-01 1.68772705e+02] [-1.51928923e-01 8.81395921e-01 -4.47279368e-01 2.00555696e+02] [-9.16971965e-01 4.32029384e-02 3.96605499e-01 -1.44845848e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.400714057 meters Centerline goodness : 0.998735 Centerline is valid? [True, True] Translation: X:168.79, Y:200.55, Z:-144.88 [[ 3.70213005e-01 4.69385090e-01 8.01635808e-01 1.68785569e+02] [-1.47790289e-01 8.81720911e-01 -4.48024849e-01 2.00550921e+02] [-9.17115239e-01 4.73906377e-02 3.95795107e-01 -1.44876306e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.4307140569999 meters Centerline goodness : 0.998448 Centerline is valid? [True, True] Translation: X:168.80, Y:200.55, Z:-144.91 [[ 3.70769588e-01 4.69549457e-01 8.01282235e-01 1.68798149e+02] [-1.46974358e-01 8.81570001e-01 -4.48589869e-01 2.00545865e+02] [-9.17021511e-01 4.85555386e-02 3.95871076e-01 -1.44906612e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.4607140569999 meters Centerline goodness : 0.998238 Centerline is valid? [True, True] Translation: X:168.81, Y:200.54, Z:-144.94 [[ 3.70533995e-01 4.69893054e-01 8.01189788e-01 1.68810256e+02] [-1.46154870e-01 8.81340769e-01 -4.49307471e-01 2.00541597e+02] [-9.17247684e-01 4.93859029e-02 3.95243874e-01 -1.44936131e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.490714057 meters Centerline goodness : 0.998412 Centerline is valid? [True, True] Translation: X:168.82, Y:200.54, Z:-144.96 [[ 3.70456848e-01 4.70179032e-01 8.01057676e-01 1.68821585e+02] [-1.45939253e-01 8.81171000e-01 -4.49710355e-01 2.00537669e+02] [-9.17313173e-01 4.96925218e-02 3.95053408e-01 -1.44963458e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.520714057 meters Centerline goodness : 0.997910 Centerline is valid? [True, True] Translation: X:168.83, Y:200.54, Z:-144.99 [[ 3.69436934e-01 4.70768134e-01 8.01182698e-01 1.68834734e+02] [-1.47028794e-01 8.80929110e-01 -4.49829342e-01 2.00535220e+02] [-9.17550481e-01 4.83866467e-02 3.94664221e-01 -1.44994365e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.5507140569999 meters Centerline goodness : 0.997851 Centerline is valid? [True, True] Translation: X:168.85, Y:200.53, Z:-145.02 [[ 3.69030503e-01 4.71779408e-01 8.00775048e-01 1.68846826e+02] [-1.48310733e-01 8.80439705e-01 -4.50366354e-01 2.00531280e+02] [-9.17507719e-01 4.74353875e-02 3.94879057e-01 -1.45024027e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.5807140569999 meters Centerline goodness : 0.997347 Centerline is valid? [True, True] Translation: X:168.86, Y:200.53, Z:-145.05 [[ 3.67683862e-01 4.72876867e-01 8.00747180e-01 1.68857076e+02] [-1.49327559e-01 8.79912609e-01 -4.51059952e-01 2.00528505e+02] [-9.17883357e-01 4.62738433e-02 3.94143215e-01 -1.45049966e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.6107140569999 meters Centerline goodness : 0.997216 Centerline is valid? [True, True] Translation: X:168.87, Y:200.52, Z:-145.08 [[ 3.67110546e-01 4.73420218e-01 8.00689169e-01 1.68869798e+02] [-1.51356164e-01 8.79722641e-01 -4.50754243e-01 2.00523731e+02] [-9.17780561e-01 4.42873952e-02 3.94610527e-01 -1.45080671e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.640714057 meters Centerline goodness : 0.996950 Centerline is valid? [True, True] Translation: X:168.88, Y:200.52, Z:-145.11 [[ 3.64710984e-01 4.75773808e-01 8.00390644e-01 1.68883240e+02] [-1.55681276e-01 8.78657219e-01 -4.51358873e-01 2.00522567e+02] [-9.18013747e-01 4.00097017e-02 3.94525012e-01 -1.45110433e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.6707140569999 meters Centerline goodness : 0.996372 Centerline is valid? [True, True] Translation: X:168.89, Y:200.52, Z:-145.14 [[ 3.63411081e-01 4.77093154e-01 8.00196544e-01 1.68893389e+02] [-1.57499373e-01 8.78021329e-01 -4.51965146e-01 2.00520639e+02] [-9.18219110e-01 3.82186883e-02 3.94224553e-01 -1.45135642e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.7007140569999 meters Centerline goodness : 0.996554 Centerline is valid? [True, True] Translation: X:168.91, Y:200.52, Z:-145.17 [[ 3.61312712e-01 4.78081418e-01 8.00556857e-01 1.68905736e+02] [-1.60076679e-01 8.77613523e-01 -4.51851702e-01 2.00516102e+02] [-9.18601427e-01 3.51092806e-02 3.93622608e-01 -1.45166363e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.7307140569999 meters Centerline goodness : 0.996097 Centerline is valid? [True, True] Translation: X:168.92, Y:200.51, Z:-145.20 [[ 3.59460648e-01 4.79595592e-01 8.00484922e-01 1.68918103e+02] [-1.62111403e-01 8.76872225e-01 -4.52564907e-01 2.00511930e+02] [-9.18971129e-01 3.29115409e-02 3.92948973e-01 -1.45196919e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.760714057 meters Centerline goodness : 0.995930 Centerline is valid? [True, True] Translation: X:168.93, Y:200.51, Z:-145.23 [[ 3.57353681e-01 4.81765808e-01 8.00125023e-01 1.68929486e+02] [-1.66197387e-01 8.75821867e-01 -4.53116415e-01 2.00509427e+02] [-9.19062988e-01 2.89441310e-02 3.93046387e-01 -1.45226794e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.790714057 meters Centerline goodness : 0.995901 Centerline is valid? [True, True] Translation: X:168.94, Y:200.51, Z:-145.25 [[ 3.56763619e-01 4.82668953e-01 7.99843986e-01 1.68939536e+02] [-1.67199273e-01 8.75351496e-01 -4.53656436e-01 2.00505870e+02] [-9.19110507e-01 2.81147792e-02 3.92995465e-01 -1.45254105e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.8207140569999 meters Centerline goodness : 0.995904 Centerline is valid? [True, True] Translation: X:168.95, Y:200.50, Z:-145.28 [[ 3.56400271e-01 4.82980765e-01 7.99817746e-01 1.68950285e+02] [-1.68434476e-01 8.75217810e-01 -4.53457399e-01 2.00501043e+02] [-9.19025938e-01 2.68954568e-02 3.93278477e-01 -1.45282680e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.8507140569999 meters Centerline goodness : 0.995508 Centerline is valid? [True, True] Translation: X:168.96, Y:200.50, Z:-145.31 [[ 3.55844389e-01 4.83226325e-01 7.99916927e-01 1.68961165e+02] [-1.68889991e-01 8.75100885e-01 -4.53513629e-01 2.00497321e+02] [-9.19157735e-01 2.62823177e-02 3.93011830e-01 -1.45310526e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.880714057 meters Centerline goodness : 0.995702 Centerline is valid? [True, True] Translation: X:168.97, Y:200.49, Z:-145.34 [[ 3.55308543e-01 4.83058172e-01 8.00256610e-01 1.68972574e+02] [-1.67960191e-01 8.75178149e-01 -4.53709800e-01 2.00491933e+02] [-9.19535325e-01 2.67957149e-02 3.92092816e-01 -1.45341011e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.910714057 meters Centerline goodness : 0.995094 Centerline is valid? [True, True] Translation: X:168.98, Y:200.49, Z:-145.37 [[ 3.55730355e-01 4.83486485e-01 7.99810436e-01 1.68983979e+02] [-1.67921641e-01 8.74926943e-01 -4.54208286e-01 2.00486007e+02] [-9.19379267e-01 2.72701937e-02 3.92425916e-01 -1.45370042e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.9407140569999 meters Centerline goodness : 0.995169 Centerline is valid? [True, True] Translation: X:169.00, Y:200.48, Z:-145.40 [[ 3.55786162e-01 4.83575946e-01 7.99731525e-01 1.68995303e+02] [-1.67158341e-01 8.74852186e-01 -4.54633634e-01 2.00480069e+02] [-9.19496763e-01 2.80705609e-02 3.92094054e-01 -1.45400312e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.9707140569999 meters Centerline goodness : 0.995179 Centerline is valid? [True, True] Translation: X:169.01, Y:200.48, Z:-145.43 [[ 3.56265736e-01 4.83852647e-01 7.99350575e-01 1.69006985e+02] [-1.66645399e-01 8.74670389e-01 -4.55171421e-01 2.00475362e+02] [-9.19404175e-01 2.89538857e-02 3.92246907e-01 -1.45429680e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.000714057 meters Centerline goodness : 0.995252 Centerline is valid? [True, True] Translation: X:169.02, Y:200.47, Z:-145.46 [[ 3.56075422e-01 4.84420243e-01 7.99091560e-01 1.69018820e+02] [-1.66792383e-01 8.74354985e-01 -4.55723229e-01 2.00470325e+02] [-9.19451246e-01 2.89894553e-02 3.92133928e-01 -1.45458379e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.030714057 meters Centerline goodness : 0.994729 Centerline is valid? [True, True] Translation: X:169.03, Y:200.47, Z:-145.49 [[ 3.54963746e-01 4.84851797e-01 7.99324386e-01 1.69030225e+02] [-1.67273890e-01 8.74143494e-01 -4.55952407e-01 2.00465162e+02] [-9.19793556e-01 2.81404755e-02 3.91392295e-01 -1.45488695e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.0607140569999 meters Centerline goodness : 0.995500 Centerline is valid? [True, True] Translation: X:169.04, Y:200.46, Z:-145.52 [[ 3.54087116e-01 4.86082984e-01 7.98965361e-01 1.69042532e+02] [-1.69077550e-01 8.73509123e-01 -4.56502568e-01 2.00459330e+02] [-9.19801661e-01 2.65545715e-02 3.91484046e-01 -1.45518896e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.0907140569999 meters Centerline goodness : 0.994272 Centerline is valid? [True, True] Translation: X:169.05, Y:200.45, Z:-145.55 [[ 3.51736982e-01 4.88373349e-01 7.98606641e-01 1.69054172e+02] [-1.73502107e-01 8.72352281e-01 -4.57054172e-01 2.00453628e+02] [-9.19879402e-01 2.22029206e-02 3.91572364e-01 -1.45548058e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.120714057 meters Centerline goodness : 0.994462 Centerline is valid? [True, True] Translation: X:169.06, Y:200.45, Z:-145.58 [[ 3.49967061e-01 4.89847798e-01 7.98481177e-01 1.69064342e+02] [-1.75704574e-01 8.71581339e-01 -4.57683158e-01 2.00448369e+02] [-9.20136381e-01 1.98772345e-02 3.91093258e-01 -1.45575960e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.150714057 meters Centerline goodness : 0.994833 Centerline is valid? [True, True] Translation: X:169.07, Y:200.44, Z:-145.60 [[ 3.45944496e-01 4.90955388e-01 7.99553134e-01 1.69072206e+02] [-1.81472375e-01 8.71090972e-01 -4.56364213e-01 2.00443854e+02] [-9.20537986e-01 1.27798815e-02 3.90443967e-01 -1.45599506e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.1807140569999 meters Centerline goodness : 0.994876 Centerline is valid? [True, True] Translation: X:169.08, Y:200.43, Z:-145.63 [[ 3.45825355e-01 4.80394160e-01 8.05993967e-01 1.69079712e+02] [-1.82213658e-01 8.77025774e-01 -4.44549180e-01 2.00432903e+02] [-9.20436313e-01 6.87326860e-03 3.90832127e-01 -1.45628103e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.2107140569999 meters Centerline goodness : 0.994329 Centerline is valid? [True, True] Translation: X:169.09, Y:200.43, Z:-145.66 [[ 3.44719625e-01 4.92614798e-01 7.99061350e-01 1.69093680e+02] [-1.83639653e-01 8.70179473e-01 -4.57235346e-01 2.00430827e+02] [-9.20567682e-01 1.08786484e-02 3.90431553e-01 -1.45657504e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.240714057 meters Centerline goodness : 0.994504 Centerline is valid? [True, True] Translation: X:169.10, Y:200.42, Z:-145.69 [[ 3.43410241e-01 4.93773424e-01 7.98910015e-01 1.69104618e+02] [-1.85249732e-01 8.69541771e-01 -4.57798695e-01 2.00423480e+02] [-9.20734459e-01 9.21489406e-03 3.90080944e-01 -1.45688000e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.270714057 meters Centerline goodness : 0.994869 Centerline is valid? [True, True] Translation: X:169.11, Y:200.41, Z:-145.72 [[ 3.41959901e-01 4.95604248e-01 7.98398307e-01 1.69113639e+02] [-1.88844542e-01 8.68528209e-01 -4.58253738e-01 2.00414521e+02] [-9.20543951e-01 5.93124001e-03 3.90593978e-01 -1.45717856e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.3007140569999 meters Centerline goodness : 0.993948 Centerline is valid? [True, True] Translation: X:169.12, Y:200.39, Z:-145.75 [[ 3.40246655e-01 4.95443173e-01 7.99229802e-01 1.69124374e+02] [-1.99345908e-01 8.68626029e-01 -4.53596771e-01 2.00391884e+02] [-9.18963232e-01 -4.98840657e-03 3.94311670e-01 -1.45754391e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.3307140569999 meters Centerline goodness : 0.995105 Centerline is valid? [True, True] Translation: X:169.15, Y:200.42, Z:-145.77 [[ 3.40824048e-01 5.43856917e-01 7.66849804e-01 1.69149549e+02] [-1.90703493e-01 8.38723828e-01 -5.10073051e-01 2.00416985e+02] [-9.20581961e-01 2.76042254e-02 3.89572664e-01 -1.45774640e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.3607140569999 meters Centerline goodness : 0.995658 Centerline is valid? [True, True] Translation: X:169.14, Y:200.38, Z:-145.81 [[ 3.31909716e-01 4.95284639e-01 8.02825677e-01 1.69142582e+02] [-1.93358211e-01 8.68722080e-01 -4.55998410e-01 2.00384886e+02] [-9.23281400e-01 -3.88263366e-03 3.84104650e-01 -1.45809897e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.390714057 meters Centerline goodness : 0.995241 Centerline is valid? [True, True] Translation: X:169.16, Y:200.39, Z:-145.84 [[ 3.32340212e-01 5.23648890e-01 7.84437266e-01 1.69160301e+02] [-1.96479131e-01 8.51903691e-01 -4.85444181e-01 2.00388628e+02] [-9.22467308e-01 7.20706989e-03 3.86007932e-01 -1.45836462e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.4207140569999 meters Centerline goodness : 0.996335 Centerline is valid? [True, True] Translation: X:169.16, Y:200.37, Z:-145.86 [[ 3.34120046e-01 5.02901472e-01 7.97153626e-01 1.69164473e+02] [-1.99789102e-01 8.64328977e-01 -4.61540610e-01 2.00372172e+02] [-9.21112430e-01 -5.05263755e-03 3.89263871e-01 -1.45863644e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.4507140569999 meters Centerline goodness : 0.996905 Centerline is valid? [True, True] Translation: X:169.17, Y:200.36, Z:-145.89 [[ 3.32635107e-01 5.02068626e-01 7.98298804e-01 1.69174001e+02] [-2.01437691e-01 8.64792509e-01 -4.59953012e-01 2.00362771e+02] [-9.21290802e-01 -7.81094823e-03 3.88795893e-01 -1.45894436e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.4807140569999 meters Centerline goodness : 0.996572 Centerline is valid? [True, True] Translation: X:169.18, Y:200.35, Z:-145.92 [[ 3.31643207e-01 5.03141217e-01 7.98036151e-01 1.69183938e+02] [-2.02798639e-01 8.64156274e-01 -4.60550374e-01 2.00353969e+02] [-9.21349822e-01 -9.10224236e-03 3.88627912e-01 -1.45924983e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.510714057 meters Centerline goodness : 0.997662 Centerline is valid? [True, True] Translation: X:169.19, Y:200.34, Z:-145.96 [[ 3.30410132e-01 5.04053058e-01 7.97972218e-01 1.69191162e+02] [-2.03468442e-01 8.63615325e-01 -4.61269080e-01 2.00342395e+02] [-9.21645126e-01 -9.95418636e-03 3.87906144e-01 -1.45956262e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.540714057 meters Centerline goodness : 0.997392 Centerline is valid? [True, True] Translation: X:169.20, Y:200.33, Z:-145.99 [[ 3.31194070e-01 5.04464159e-01 7.97387234e-01 1.69200756e+02] [-2.03485028e-01 8.63382065e-01 -4.61698228e-01 2.00333225e+02] [-9.21360045e-01 -9.34464837e-03 3.88597923e-01 -1.45985090e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.5707140569999 meters Centerline goodness : 0.997413 Centerline is valid? [True, True] Translation: X:169.21, Y:200.32, Z:-146.02 [[ 3.31941347e-01 5.04757868e-01 7.96890480e-01 1.69210139e+02] [-2.03207510e-01 8.63218767e-01 -4.62125598e-01 2.00323393e+02] [-9.21152349e-01 -8.53553681e-03 3.89108589e-01 -1.46015333e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.6007140569999 meters Centerline goodness : 0.997413 Centerline is valid? [True, True] Translation: X:169.22, Y:200.32, Z:-146.05 [[ 3.31877581e-01 5.05318335e-01 7.96561769e-01 1.69221881e+02] [-2.03305678e-01 8.62892238e-01 -4.62691893e-01 2.00316778e+02] [-9.21153664e-01 -8.38846494e-03 3.89108675e-01 -1.46046015e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.630714057 meters Centerline goodness : 0.997938 Centerline is valid? [True, True] Translation: X:169.23, Y:200.30, Z:-146.08 [[ 3.33912878e-01 5.05049410e-01 7.95881450e-01 1.69228584e+02] [-2.02714995e-01 8.63063183e-01 -4.62632222e-01 2.00303298e+02] [-9.20548109e-01 -6.85824745e-03 3.90569000e-01 -1.46076292e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.660714057 meters Centerline goodness : 0.997538 Centerline is valid? [True, True] Translation: X:169.24, Y:200.29, Z:-146.11 [[ 3.35244835e-01 5.05320731e-01 7.95148955e-01 1.69237724e+02] [-2.02592057e-01 8.62911554e-01 -4.62968799e-01 2.00293220e+02] [-9.20090952e-01 -5.88296386e-03 3.91660607e-01 -1.46106331e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.6907140569999 meters Centerline goodness : 0.997667 Centerline is valid? [True, True] Translation: X:169.25, Y:200.28, Z:-146.13 [[ 3.35202889e-01 5.04628298e-01 7.95606249e-01 1.69245878e+02] [-2.02940876e-01 8.63311683e-01 -4.62069193e-01 2.00283381e+02] [-9.20029361e-01 -6.57410028e-03 3.91794279e-01 -1.46133979e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.7207140569999 meters Centerline goodness : 0.997771 Centerline is valid? [True, True] Translation: X:169.25, Y:200.27, Z:-146.16 [[ 3.36233027e-01 4.99238982e-01 7.98566084e-01 1.69254055e+02] [-2.01906550e-01 8.66430174e-01 -4.56653588e-01 2.00270667e+02] [-9.19881023e-01 -7.69370513e-03 3.92122060e-01 -1.46163580e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.750714057 meters Centerline goodness : 0.997814 Centerline is valid? [True, True] Translation: X:169.26, Y:200.26, Z:-146.19 [[ 3.35876682e-01 5.05950424e-01 7.94481607e-01 1.69264788e+02] [-2.01221137e-01 8.62553553e-01 -4.64232078e-01 2.00260142e+02] [-9.20161349e-01 -3.94176229e-03 3.91519545e-01 -1.46193073e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.780714057 meters Centerline goodness : 0.998444 Centerline is valid? [True, True] Translation: X:169.28, Y:200.25, Z:-146.22 [[ 3.35362435e-01 5.06423449e-01 7.94397462e-01 1.69275046e+02] [-2.00773008e-01 8.62277531e-01 -4.64938339e-01 2.00250371e+02] [-9.20446759e-01 -3.57071459e-03 3.90851652e-01 -1.46223575e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.8107140569999 meters Centerline goodness : 0.998847 Centerline is valid? [True, True] Translation: X:169.28, Y:200.24, Z:-146.25 [[ 3.35430772e-01 5.06971862e-01 7.94018720e-01 1.69284918e+02] [-2.00894932e-01 8.61955987e-01 -4.65481582e-01 2.00240374e+02] [-9.20395254e-01 -3.37748999e-03 3.90974640e-01 -1.46253038e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.8407140569999 meters Centerline goodness : 0.998549 Centerline is valid? [True, True] Translation: X:169.29, Y:200.23, Z:-146.28 [[ 3.35487624e-01 5.07414870e-01 7.93711663e-01 1.69294884e+02] [-2.00777523e-01 8.61696606e-01 -4.66012173e-01 2.00230690e+02] [-9.20400152e-01 -3.01814476e-03 3.90966048e-01 -1.46283355e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.870714057 meters Centerline goodness : 0.999228 Centerline is valid? [True, True] Translation: X:169.30, Y:200.22, Z:-146.31 [[ 3.35959986e-01 5.07234540e-01 7.93627122e-01 1.69301746e+02] [-1.99806964e-01 8.61805874e-01 -4.66227212e-01 2.00218161e+02] [-9.20439061e-01 -1.93853855e-03 3.90881283e-01 -1.46312120e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.900714057 meters Centerline goodness : 0.998886 Centerline is valid? [True, True] Translation: X:169.31, Y:200.21, Z:-146.34 [[ 3.35768491e-01 5.07208570e-01 7.93724755e-01 1.69310813e+02] [-1.98923875e-01 8.61822461e-01 -4.66574044e-01 2.00208894e+02] [-9.20700175e-01 -1.22994068e-03 3.90268721e-01 -1.46342803e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.9307140569999 meters Centerline goodness : 0.999096 Centerline is valid? [True, True] Translation: X:169.32, Y:200.20, Z:-146.37 [[ 3.35640294e-01 5.07152755e-01 7.93814636e-01 1.69319593e+02] [-1.98591076e-01 8.61855585e-01 -4.66654621e-01 2.00199530e+02] [-9.20818754e-01 -1.01640849e-03 3.89989473e-01 -1.46370995e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.9607140569999 meters Centerline goodness : 0.999457 Centerline is valid? [True, True] Translation: X:169.33, Y:200.19, Z:-146.40 [[ 3.36645937e-01 5.04256461e-01 7.95232630e-01 1.69329018e+02] [-1.97560538e-01 8.63553457e-01 -4.63945321e-01 2.00188958e+02] [-9.20673312e-01 -9.21279244e-04 3.90332940e-01 -1.46400791e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.990714057 meters Centerline goodness : 0.999330 Centerline is valid? [True, True] Translation: X:169.34, Y:200.18, Z:-146.43 [[ 3.36601577e-01 5.08153625e-01 7.92766846e-01 1.69339071e+02] [-1.97136103e-01 8.61265363e-01 -4.68358124e-01 2.00181690e+02] [-9.20780503e-01 1.36711635e-03 3.90078705e-01 -1.46430619e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.020714057 meters Centerline goodness : 0.998868 Centerline is valid? [True, True] Translation: X:169.35, Y:200.17, Z:-146.46 [[ 3.37987715e-01 5.07727811e-01 7.92449856e-01 1.69346636e+02] [-1.95371275e-01 8.61510121e-01 -4.68647390e-01 2.00169601e+02] [-9.20648885e-01 3.57512214e-03 3.90375267e-01 -1.46460925e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.0507140569999 meters Centerline goodness : 0.998829 Centerline is valid? [True, True] Translation: X:169.36, Y:200.16, Z:-146.49 [[ 3.38866124e-01 5.08721737e-01 7.91436633e-01 1.69355981e+02] [-1.94927977e-01 8.60916675e-01 -4.69920804e-01 2.00161366e+02] [-9.20419922e-01 4.96709938e-03 3.90899596e-01 -1.46490398e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.0807140569999 meters Centerline goodness : 0.998813 Centerline is valid? [True, True] Translation: X:169.37, Y:200.15, Z:-146.52 [[ 3.39692953e-01 5.05510415e-01 7.93138020e-01 1.69365034e+02] [-1.94090561e-01 8.62808113e-01 -4.66787976e-01 2.00151000e+02] [-9.20292102e-01 4.62398249e-03 3.91204635e-01 -1.46519162e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.1107140569999 meters Centerline goodness : 0.998601 Centerline is valid? [True, True] Translation: X:169.37, Y:200.14, Z:-146.55 [[ 3.40587802e-01 5.07647762e-01 7.91387199e-01 1.69373913e+02] [-1.92769155e-01 8.61532819e-01 -4.69682079e-01 2.00141016e+02] [-9.20239101e-01 7.41294511e-03 3.91286399e-01 -1.46549839e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.140714057 meters Centerline goodness : 0.998744 Centerline is valid? [True, True] Translation: X:169.38, Y:200.13, Z:-146.58 [[ 3.40250247e-01 5.08160983e-01 7.91202998e-01 1.69383234e+02] [-1.92560999e-01 8.61227919e-01 -4.70326199e-01 2.00132178e+02] [-9.20407535e-01 7.67376502e-03 3.90884999e-01 -1.46578862e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.1707140569999 meters Centerline goodness : 0.998666 Centerline is valid? [True, True] Translation: X:169.39, Y:200.12, Z:-146.61 [[ 3.40146415e-01 5.08848808e-01 7.90805480e-01 1.69392882e+02] [-1.93226483e-01 8.60824670e-01 -4.70791264e-01 2.00122934e+02] [-9.20306440e-01 7.33339884e-03 3.91129491e-01 -1.46608852e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.2007140569999 meters Centerline goodness : 0.999099 Centerline is valid? [True, True] Translation: X:169.40, Y:200.11, Z:-146.64 [[ 3.39445485e-01 5.09855382e-01 7.90458255e-01 1.69402014e+02] [-1.94554356e-01 8.60237792e-01 -4.71316819e-01 2.00114033e+02] [-9.20285480e-01 6.19926969e-03 3.91198420e-01 -1.46638938e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.2307140569999 meters Centerline goodness : 0.999392 Centerline is valid? [True, True] Translation: X:169.41, Y:200.10, Z:-146.67 [[ 3.38499548e-01 5.11521774e-01 7.89787016e-01 1.69410486e+02] [-1.97949899e-01 8.59263882e-01 -4.71679360e-01 2.00103192e+02] [-9.19909721e-01 3.32499053e-03 3.92116119e-01 -1.46668037e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.260714057 meters Centerline goodness : 0.999016 Centerline is valid? [True, True] Translation: X:169.42, Y:200.10, Z:-146.69 [[ 3.41969156e-01 5.02689194e-01 7.93952562e-01 1.69422461e+02] [-1.97240162e-01 8.64465883e-01 -4.62379774e-01 2.00095622e+02] [-9.18778219e-01 1.52028864e-03 3.94771166e-01 -1.46690100e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.290714057 meters Centerline goodness : 0.999311 Centerline is valid? [True, True] Translation: X:169.42, Y:200.08, Z:-146.73 [[ 3.35564996e-01 4.90560132e-01 8.04205751e-01 1.69424346e+02] [-2.01829652e-01 8.71321662e-01 -4.47284421e-01 2.00075223e+02] [-9.20141796e-01 -1.22195723e-02 3.91394631e-01 -1.46726082e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.3207140569999 meters Centerline goodness : 0.999499 Centerline is valid? [True, True] Translation: X:169.44, Y:200.08, Z:-146.76 [[ 3.34320172e-01 5.15235075e-01 7.89153243e-01 1.69438675e+02] [-2.03316196e-01 8.57046151e-01 -4.73428369e-01 2.00076951e+02] [-9.20267650e-01 -2.17098166e-03 3.91283452e-01 -1.46757120e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.3507140569999 meters Centerline goodness : 0.999039 Centerline is valid? [True, True] Translation: X:169.45, Y:200.06, Z:-146.79 [[ 3.32221597e-01 5.16891393e-01 7.88956335e-01 1.69446293e+02] [-2.06081803e-01 8.56035813e-01 -4.74060099e-01 2.00064043e+02] [-9.20412463e-01 -5.09654047e-03 3.90915495e-01 -1.46786723e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.380714057 meters Centerline goodness : 0.998873 Centerline is valid? [True, True] Translation: X:169.46, Y:200.05, Z:-146.82 [[ 3.31475474e-01 5.17740756e-01 7.88713205e-01 1.69456014e+02] [-2.06962381e-01 8.55517132e-01 -4.74612484e-01 2.00054794e+02] [-9.20483885e-01 -5.91156494e-03 3.90735807e-01 -1.46817124e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.410714057 meters Centerline goodness : 0.999269 Centerline is valid? [True, True] Translation: X:169.47, Y:200.05, Z:-146.85 [[ 3.31098991e-01 5.18533274e-01 7.88350621e-01 1.69465408e+02] [-2.07739045e-01 8.55033114e-01 -4.75145097e-01 2.00045789e+02] [-9.20444429e-01 -6.45114237e-03 3.90820209e-01 -1.46846273e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.4407140569999 meters Centerline goodness : 0.999183 Centerline is valid? [True, True] Translation: X:169.47, Y:200.03, Z:-146.88 [[ 3.29470418e-01 5.19564254e-01 7.88354127e-01 1.69472128e+02] [-2.09300520e-01 8.54391048e-01 -4.75614581e-01 2.00033291e+02] [-9.20675044e-01 -8.30199346e-03 3.90241644e-01 -1.46876706e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.4707140569999 meters Centerline goodness : 0.999139 Centerline is valid? [True, True] Translation: X:169.49, Y:200.01, Z:-146.89 [[ 3.37773665e-01 4.92730511e-01 8.01951118e-01 1.69487705e+02] [-2.11778964e-01 8.69965258e-01 -4.45320246e-01 2.00009898e+02] [-9.17092483e-01 -1.94189254e-02 3.98201311e-01 -1.46894878e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.500714057 meters Centerline goodness : 0.999124 Centerline is valid? [True, True] Translation: X:169.49, Y:200.02, Z:-146.93 [[ 3.27106650e-01 5.23238806e-01 7.86906851e-01 1.69489400e+02] [-2.10522755e-01 8.52139163e-01 -4.79102303e-01 2.00015440e+02] [-9.21239062e-01 -8.94424838e-03 3.88894061e-01 -1.46934933e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.530714057 meters Centerline goodness : 0.999039 Centerline is valid? [True, True] Translation: X:169.51, Y:199.99, Z:-146.95 [[ 3.36286532e-01 4.91155201e-01 8.03540875e-01 1.69505608e+02] [-2.13913781e-01 8.70768201e-01 -4.42722976e-01 1.99988461e+02] [-9.17143534e-01 -2.30066928e-02 3.97892485e-01 -1.46951508e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.5607140569999 meters Centerline goodness : 0.999056 Centerline is valid? [True, True] Translation: X:169.52, Y:199.96, Z:-146.98 [[ 3.38260644e-01 4.78624207e-01 8.10246015e-01 1.69515768e+02] [-2.17224428e-01 8.77459967e-01 -4.27641852e-01 1.99963342e+02] [-9.15638185e-01 -3.13508191e-02 4.00779043e-01 -1.46978223e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.5907140569999 meters Centerline goodness : 0.999332 Centerline is valid? [True, True] Translation: X:169.52, Y:200.00, Z:-147.02 [[ 3.23952806e-01 5.50913946e-01 7.69121839e-01 1.69515392e+02] [-2.09586245e-01 8.34553138e-01 -5.09504334e-01 1.99996214e+02] [-9.22566087e-01 3.85800048e-03 3.85819816e-01 -1.47023518e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.620714057 meters Centerline goodness : 0.999118 Centerline is valid? [True, True] Translation: X:169.52, Y:199.97, Z:-147.05 [[ 3.24145333e-01 5.23520273e-01 7.87944368e-01 1.69518985e+02] [-2.09974322e-01 8.51954939e-01 -4.79670268e-01 1.99972132e+02] [-9.22410206e-01 -9.96520590e-03 3.86083032e-01 -1.47051156e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.650714057 meters Centerline goodness : 0.999349 Centerline is valid? [True, True] Translation: X:169.53, Y:199.96, Z:-147.08 [[ 3.24624768e-01 5.24003837e-01 7.87425386e-01 1.69527953e+02] [-2.10240795e-01 8.51660616e-01 -4.80076040e-01 1.99962359e+02] [-9.22180876e-01 -9.70436672e-03 3.86637113e-01 -1.47082096e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.6807140569999 meters Centerline goodness : 0.998954 Centerline is valid? [True, True] Translation: X:169.53, Y:199.95, Z:-147.11 [[ 3.25855623e-01 5.24318735e-01 7.86707047e-01 1.69533926e+02] [-2.10246604e-01 8.51475980e-01 -4.80400896e-01 1.99949742e+02] [-9.21745344e-01 -8.86115231e-03 3.87694469e-01 -1.47112822e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.7107140569999 meters Centerline goodness : 0.998599 Centerline is valid? [True, True] Translation: X:169.55, Y:199.93, Z:-147.12 [[ 3.37670575e-01 4.91090776e-01 8.02999646e-01 1.69552091e+02] [-2.09521727e-01 8.70919429e-01 -4.44522209e-01 1.99925914e+02] [-9.17648750e-01 -1.81438029e-02 3.96978052e-01 -1.47124307e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.740714057 meters Centerline goodness : 0.999537 Centerline is valid? [True, True] Translation: X:169.54, Y:199.92, Z:-147.17 [[ 3.25882275e-01 5.08484222e-01 7.97022295e-01 1.69544665e+02] [-2.07612926e-01 8.60955241e-01 -4.64384480e-01 1.99918042e+02] [-9.22332704e-01 -1.41374601e-02 3.86137950e-01 -1.47170268e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.770714057 meters Centerline goodness : 0.999200 Centerline is valid? [True, True] Translation: X:169.56, Y:199.93, Z:-147.18 [[ 3.33652149e-01 5.16734842e-01 7.88455038e-01 1.69559143e+02] [-1.96979293e-01 8.56135732e-01 -4.77735038e-01 1.99927999e+02] [-9.21886870e-01 4.08800584e-03 3.87437590e-01 -1.47183945e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.8007140569999 meters Centerline goodness : 0.999432 Centerline is valid? [True, True] Translation: X:169.56, Y:199.87, Z:-147.22 [[ 3.27279197e-01 4.49936832e-01 8.30930307e-01 1.69555507e+02] [-2.06632402e-01 8.92153867e-01 -4.01702039e-01 1.99866897e+02] [-9.22058229e-01 -4.02284039e-02 3.84954930e-01 -1.47221755e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.8307140569999 meters Centerline goodness : 0.999159 Centerline is valid? [True, True] Translation: X:169.57, Y:199.90, Z:-147.26 [[ 3.28769951e-01 5.25616801e-01 7.84625578e-01 1.69571687e+02] [-2.04253681e-01 8.50720814e-01 -4.84308301e-01 1.99896864e+02] [-9.22057891e-01 -1.03664603e-03 3.87050607e-01 -1.47258479e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.8607140569999 meters Centerline goodness : 0.999285 Centerline is valid? [True, True] Translation: X:169.58, Y:199.89, Z:-147.29 [[ 3.30995732e-01 5.25135468e-01 7.84011840e-01 1.69577982e+02] [-2.02090573e-01 8.51016319e-01 -4.84696425e-01 1.99885181e+02] [-9.21738155e-01 1.99104629e-03 3.87807697e-01 -1.47288086e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.890714057 meters Centerline goodness : 0.999162 Centerline is valid? [True, True] Translation: X:169.59, Y:199.88, Z:-147.32 [[ 3.31935428e-01 5.25457808e-01 7.83398343e-01 1.69586898e+02] [-2.02136269e-01 8.50815546e-01 -4.85029726e-01 1.99875915e+02] [-9.21390146e-01 2.64533157e-03 3.88629904e-01 -1.47317627e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.9207140569999 meters Centerline goodness : 0.998862 Centerline is valid? [True, True] Translation: X:169.60, Y:199.87, Z:-147.35 [[ 3.31354042e-01 5.25889879e-01 7.83354540e-01 1.69595849e+02] [-2.01672560e-01 8.50547532e-01 -4.85692367e-01 1.99866687e+02] [-9.21700970e-01 2.95501381e-03 3.87889920e-01 -1.47348154e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.9507140569999 meters Centerline goodness : 0.998315 Centerline is valid? [True, True] Translation: X:169.61, Y:199.86, Z:-147.38 [[ 3.31400338e-01 5.26505137e-01 7.82921552e-01 1.69606002e+02] [-2.02069114e-01 8.50166932e-01 -4.86193646e-01 1.99857333e+02] [-9.21597466e-01 2.92047409e-03 3.88136035e-01 -1.47378148e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.9807140569999 meters Centerline goodness : 0.998632 Centerline is valid? [True, True] Translation: X:169.62, Y:199.85, Z:-147.41 [[ 3.31517970e-01 5.27176804e-01 7.82419615e-01 1.69615999e+02] [-2.02687568e-01 8.49751170e-01 -4.86662819e-01 1.99848405e+02] [-9.21419332e-01 2.75074129e-03 3.88559967e-01 -1.47408324e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.010714057 meters Centerline goodness : 0.998652 Centerline is valid? [True, True] Translation: X:169.62, Y:199.84, Z:-147.44 [[ 3.30564414e-01 5.28123321e-01 7.82184714e-01 1.69624668e+02] [-2.03597926e-01 8.49165705e-01 -4.87304310e-01 1.99838484e+02] [-9.21561204e-01 1.83427876e-03 3.88228776e-01 -1.47437707e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.040714057 meters Centerline goodness : 0.998297 Centerline is valid? [True, True] Translation: X:169.64, Y:199.83, Z:-147.45 [[ 3.39500421e-01 5.01736572e-01 7.95612894e-01 1.69642145e+02] [-1.99659797e-01 8.65016629e-01 -4.60306634e-01 1.99826190e+02] [-9.19171056e-01 -2.57761305e-03 3.93850132e-01 -1.47447634e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.0707140569999 meters Centerline goodness : 0.998252 Centerline is valid? [True, True] Translation: X:169.64, Y:199.80, Z:-147.49 [[ 3.28306172e-01 4.90620600e-01 8.07159516e-01 1.69638895e+02] [-2.05460891e-01 8.71156616e-01 -4.45950639e-01 1.99798043e+02] [-9.21954923e-01 -1.94313662e-02 3.86809440e-01 -1.47492217e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.1007140569999 meters Centerline goodness : 0.997940 Centerline is valid? [True, True] Translation: X:169.66, Y:199.81, Z:-147.51 [[ 3.37212006e-01 5.11482128e-01 7.90363268e-01 1.69658042e+02] [-1.99443898e-01 8.59293088e-01 -4.70996307e-01 1.99814027e+02] [-9.20059886e-01 1.19247905e-03 3.91775935e-01 -1.47505326e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.130714057 meters Centerline goodness : 0.998695 Centerline is valid? [True, True] Translation: X:169.66, Y:199.78, Z:-147.55 [[ 3.27924727e-01 4.80933981e-01 8.13122303e-01 1.69655867e+02] [-2.05890095e-01 8.76410017e-01 -4.35332919e-01 1.99775952e+02] [-9.21994925e-01 -2.46573999e-02 3.86416059e-01 -1.47548136e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.160714057 meters Centerline goodness : 0.998571 Centerline is valid? [True, True] Translation: X:169.67, Y:199.80, Z:-147.58 [[ 3.29003626e-01 5.32834577e-01 7.79643462e-01 1.69669632e+02] [-2.04728130e-01 8.46216473e-01 -4.91939096e-01 1.99797179e+02] [-9.21869301e-01 2.23479821e-03 3.87494514e-01 -1.47583176e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.1907140569999 meters Centerline goodness : 0.998424 Centerline is valid? [True, True] Translation: X:169.68, Y:199.79, Z:-147.61 [[ 3.30585117e-01 5.32534571e-01 7.79179319e-01 1.69678537e+02] [-2.02968507e-01 8.46395655e-01 -4.92359807e-01 1.99788875e+02] [-9.21692609e-01 4.61796128e-03 3.87893553e-01 -1.47613642e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.2207140569999 meters Centerline goodness : 0.998948 Centerline is valid? [True, True] Translation: X:169.69, Y:199.78, Z:-147.64 [[ 3.31222770e-01 5.32683948e-01 7.78806323e-01 1.69688548e+02] [-2.02095163e-01 8.46293931e-01 -4.92893627e-01 1.99781056e+02] [-9.21655587e-01 5.86460139e-03 3.87964670e-01 -1.47642664e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.250714057 meters Centerline goodness : 0.998274 Centerline is valid? [True, True] Translation: X:169.70, Y:199.77, Z:-147.67 [[ 3.31751760e-01 5.32644867e-01 7.78607870e-01 1.69698952e+02] [-2.00602263e-01 8.46305408e-01 -4.93483423e-01 1.99772937e+02] [-9.21791463e-01 7.52349375e-03 3.87613074e-01 -1.47673271e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.280714057 meters Centerline goodness : 0.998338 Centerline is valid? [True, True] Translation: X:169.71, Y:199.76, Z:-147.70 [[ 3.32551959e-01 5.32714479e-01 7.78218786e-01 1.69709412e+02] [-1.99518515e-01 8.46246972e-01 -4.94022696e-01 1.99764478e+02] [-9.21738334e-01 9.01915890e-03 3.87707490e-01 -1.47703097e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.3107140569999 meters Centerline goodness : 0.998213 Centerline is valid? [True, True] Translation: X:169.72, Y:199.75, Z:-147.73 [[ 3.34876890e-01 5.31996236e-01 7.77712977e-01 1.69719603e+02] [-1.96626120e-01 8.46651861e-01 -4.94488418e-01 1.99754749e+02] [-9.21518116e-01 1.26740585e-02 3.88128497e-01 -1.47733088e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.3407140569999 meters Centerline goodness : 0.998234 Centerline is valid? [True, True] Translation: X:169.73, Y:199.75, Z:-147.76 [[ 3.36179595e-01 5.31818539e-01 7.77272360e-01 1.69730584e+02] [-1.95026130e-01 8.46728701e-01 -4.94990218e-01 1.99747263e+02] [-9.21383790e-01 1.48171907e-02 3.88371423e-01 -1.47762402e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.370714057 meters Centerline goodness : 0.998528 Centerline is valid? [True, True] Translation: X:169.74, Y:199.74, Z:-147.79 [[ 3.36746078e-01 5.31573166e-01 7.77194987e-01 1.69741575e+02] [-1.92805532e-01 8.46840415e-01 -4.95668578e-01 1.99740694e+02] [-9.21644240e-01 1.70669570e-02 3.87660436e-01 -1.47792336e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.400714057 meters Centerline goodness : 0.998538 Centerline is valid? [True, True] Translation: X:169.75, Y:199.74, Z:-147.82 [[ 3.38886581e-01 5.30410682e-01 7.77058810e-01 1.69753779e+02] [-1.88267884e-01 8.47457549e-01 -4.96357640e-01 1.99735045e+02] [-9.21797748e-01 2.19137255e-02 3.87051288e-01 -1.47822276e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.4307140569999 meters Centerline goodness : 0.998949 Centerline is valid? [True, True] Translation: X:169.77, Y:199.73, Z:-147.85 [[ 3.39963299e-01 5.30219010e-01 7.76719227e-01 1.69765438e+02] [-1.86501391e-01 8.47518841e-01 -4.96919556e-01 1.99728299e+02] [-9.21760374e-01 2.40751956e-02 3.87011884e-01 -1.47852675e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.4607140569999 meters Centerline goodness : 0.998558 Centerline is valid? [True, True] Translation: X:169.78, Y:199.73, Z:-147.88 [[ 3.39368816e-01 5.31122243e-01 7.76362009e-01 1.69776891e+02] [-1.80438897e-01 8.46773107e-01 -5.00416936e-01 1.99725418e+02] [-9.23185036e-01 2.97399986e-02 3.83203498e-01 -1.47882496e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.490714057 meters Centerline goodness : 0.998698 Centerline is valid? [True, True] Translation: X:169.79, Y:199.71, Z:-147.91 [[ 3.42567047e-01 5.24664066e-01 7.79342952e-01 1.69786167e+02] [-1.82891611e-01 8.50907261e-01 -4.92450498e-01 1.99712868e+02] [-9.21519657e-01 2.61620248e-02 3.87449443e-01 -1.47911086e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.520714057 meters Centerline goodness : 0.998698 Centerline is valid? [True, True] Translation: X:169.80, Y:199.71, Z:-147.94 [[ 3.42711421e-01 5.30009752e-01 7.75653625e-01 1.69797805e+02] [-1.83034061e-01 8.47503042e-01 -4.98234008e-01 1.99708615e+02] [-9.21437689e-01 2.87794519e-02 3.87458809e-01 -1.47942339e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.5507140569999 meters Centerline goodness : 0.998466 Centerline is valid? [True, True] Translation: X:169.81, Y:199.70, Z:-147.97 [[ 3.45789076e-01 5.28523358e-01 7.75301860e-01 1.69809701e+02] [-1.79174749e-01 8.48261129e-01 -4.98346734e-01 1.99703118e+02] [-9.21046320e-01 3.34083401e-02 3.88017472e-01 -1.47972485e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.5807140569999 meters Centerline goodness : 0.999390 Centerline is valid? [True, True] Translation: X:169.82, Y:199.70, Z:-148.00 [[ 3.46913398e-01 5.28489209e-01 7.74822722e-01 1.69822326e+02] [-1.78075331e-01 8.48215332e-01 -4.98818531e-01 1.99697613e+02] [-9.20836723e-01 3.50700193e-02 3.88368154e-01 -1.48002423e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.6107140569999 meters Centerline goodness : 0.998993 Centerline is valid? [True, True] Translation: X:169.83, Y:199.69, Z:-148.03 [[ 3.47690546e-01 5.28369219e-01 7.74556165e-01 1.69833830e+02] [-1.76392208e-01 8.48207157e-01 -4.99430083e-01 1.99692561e+02] [-9.20867565e-01 3.70214458e-02 3.88113823e-01 -1.48032361e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.640714057 meters Centerline goodness : 0.999094 Centerline is valid? [True, True] Translation: X:169.85, Y:199.69, Z:-148.06 [[ 3.48332877e-01 5.28367676e-01 7.74268562e-01 1.69845469e+02] [-1.75170725e-01 8.48141044e-01 -4.99971985e-01 1.99687519e+02] [-9.20857983e-01 3.85274941e-02 3.87989959e-01 -1.48061256e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.6707140569999 meters Centerline goodness : 0.998905 Centerline is valid? [True, True] Translation: X:169.86, Y:199.68, Z:-148.09 [[ 3.49871085e-01 5.27879678e-01 7.73907791e-01 1.69858943e+02] [-1.73480390e-01 8.48340751e-01 -5.00222475e-01 1.99683666e+02] [-9.20594796e-01 4.07555549e-02 3.88386672e-01 -1.48091242e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.7007140569999 meters Centerline goodness : 0.998511 Centerline is valid? [True, True] Translation: X:169.87, Y:199.68, Z:-148.12 [[ 3.50057518e-01 5.28103827e-01 7.73670525e-01 1.69872001e+02] [-1.72653906e-01 8.48153328e-01 -5.00825879e-01 1.99678892e+02] [-9.20679294e-01 4.17406263e-02 3.88081638e-01 -1.48121453e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.7307140569999 meters Centerline goodness : 0.998924 Centerline is valid? [True, True] Translation: X:169.89, Y:199.68, Z:-148.15 [[ 3.50406536e-01 5.28318696e-01 7.73365770e-01 1.69887641e+02] [-1.71941870e-01 8.47971104e-01 -5.01379099e-01 1.99676599e+02] [-9.20679778e-01 4.27125568e-02 3.87974722e-01 -1.48150277e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.760714057 meters Centerline goodness : 0.999284 Centerline is valid? [True, True] Translation: X:169.90, Y:199.67, Z:-148.18 [[ 3.50081911e-01 5.28884794e-01 7.73125818e-01 1.69900753e+02] [-1.72084893e-01 8.47620239e-01 -5.01923022e-01 1.99672363e+02] [-9.20776545e-01 4.26708971e-02 3.87749596e-01 -1.48180786e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.790714057 meters Centerline goodness : 0.999035 Centerline is valid? [True, True] Translation: X:169.91, Y:199.67, Z:-148.21 [[ 3.50697860e-01 5.31217350e-01 7.71245187e-01 1.69913778e+02] [-1.72878938e-01 8.46119043e-01 -5.04177982e-01 1.99669303e+02] [-9.20393331e-01 4.34820903e-02 3.88568429e-01 -1.48210466e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.8207140569999 meters Centerline goodness : 0.998829 Centerline is valid? [True, True] Translation: X:169.93, Y:199.67, Z:-148.24 [[ 3.49713491e-01 5.32798457e-01 7.70601245e-01 1.69927748e+02] [-1.74751483e-01 8.45200926e-01 -5.05071593e-01 1.99665428e+02] [-9.20414251e-01 4.19666397e-02 3.88685487e-01 -1.48239729e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.8507140569999 meters Centerline goodness : 0.999079 Centerline is valid? [True, True] Translation: X:169.94, Y:199.66, Z:-148.27 [[ 3.47323117e-01 5.32226215e-01 7.72076362e-01 1.69943508e+02] [-1.77861276e-01 8.45776226e-01 -5.03018828e-01 1.99664525e+02] [-9.20723639e-01 3.73875806e-02 3.88420069e-01 -1.48268292e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.880714057 meters Centerline goodness : 0.999100 Centerline is valid? [True, True] Translation: X:169.96, Y:199.67, Z:-148.30 [[ 3.44308515e-01 5.43403129e-01 7.65613928e-01 1.69956209e+02] [-1.76528450e-01 8.38400469e-01 -5.15676604e-01 1.99670264e+02] [-9.22111356e-01 4.23992056e-02 3.84594532e-01 -1.48300152e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.910714057 meters Centerline goodness : 0.999308 Centerline is valid? [True, True] Translation: X:169.97, Y:199.65, Z:-148.33 [[ 3.44002582e-01 5.19528490e-01 7.82146004e-01 1.69968421e+02] [-1.82055484e-01 8.54080927e-01 -4.87238720e-01 1.99649111e+02] [-9.21150381e-01 2.52174090e-02 3.88389055e-01 -1.48325240e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.9407140569999 meters Centerline goodness : 0.999224 Centerline is valid? [True, True] Translation: X:169.98, Y:199.65, Z:-148.36 [[ 3.43448065e-01 5.35846135e-01 7.71305611e-01 1.69983117e+02] [-1.84127514e-01 8.43741160e-01 -5.04180438e-01 1.99653485e+02] [-9.20945430e-01 3.11412114e-02 3.88445286e-01 -1.48355485e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.9707140569999 meters Centerline goodness : 0.999477 Centerline is valid? [True, True] Translation: X:170.00, Y:199.65, Z:-148.39 [[ 3.41762996e-01 5.37760290e-01 7.70721692e-01 1.69998781e+02] [-1.88158838e-01 8.42652237e-01 -5.04513091e-01 1.99652131e+02] [-9.20757464e-01 2.74058079e-02 3.89171704e-01 -1.48385077e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.000714057 meters Centerline goodness : 0.999204 Centerline is valid? [True, True] Translation: X:170.01, Y:199.65, Z:-148.42 [[ 3.41265287e-01 5.38993285e-01 7.70080673e-01 1.70011944e+02] [-1.90478350e-01 8.41920677e-01 -5.04863914e-01 1.99647963e+02] [-9.20465101e-01 2.56088326e-02 3.89984853e-01 -1.48415641e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.030714057 meters Centerline goodness : 0.998910 Centerline is valid? [True, True] Translation: X:170.02, Y:199.64, Z:-148.45 [[ 3.40684579e-01 5.39978372e-01 7.69647566e-01 1.70024312e+02] [-1.91776914e-01 8.41320132e-01 -5.05373180e-01 1.99643954e+02] [-9.20410578e-01 2.45722138e-02 3.90180181e-01 -1.48445069e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.0607140569999 meters Centerline goodness : 0.998806 Centerline is valid? [True, True] Translation: X:170.04, Y:199.64, Z:-148.47 [[ 3.40074410e-01 5.40874265e-01 7.69288259e-01 1.70039249e+02] [-1.92862558e-01 8.40770390e-01 -5.05874672e-01 1.99641747e+02] [-9.20409381e-01 2.36681292e-02 3.90238889e-01 -1.48474801e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.0907140569999 meters Centerline goodness : 0.999059 Centerline is valid? [True, True] Translation: X:170.05, Y:199.64, Z:-148.51 [[ 3.40149969e-01 5.41341327e-01 7.68926243e-01 1.70052131e+02] [-1.92798146e-01 8.40460064e-01 -5.06414609e-01 1.99636315e+02] [-9.20394955e-01 2.40093598e-02 3.90252069e-01 -1.48505271e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.120714057 meters Centerline goodness : 0.998891 Centerline is valid? [True, True] Translation: X:170.06, Y:199.63, Z:-148.54 [[ 3.40077222e-01 5.41626886e-01 7.68757309e-01 1.70064384e+02] [-1.91958451e-01 8.40250826e-01 -5.07080371e-01 1.99631048e+02] [-9.20597326e-01 2.48770220e-02 3.89720025e-01 -1.48535173e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.150714057 meters Centerline goodness : 0.999059 Centerline is valid? [True, True] Translation: X:170.08, Y:199.63, Z:-148.57 [[ 3.40291283e-01 5.41752260e-01 7.68574220e-01 1.70076632e+02] [-1.90759820e-01 8.40130924e-01 -5.07730955e-01 1.99625561e+02] [-9.20767361e-01 2.61633382e-02 3.89233794e-01 -1.48565596e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.1807140569999 meters Centerline goodness : 0.999225 Centerline is valid? [True, True] Translation: X:170.09, Y:199.62, Z:-148.59 [[ 3.41501046e-01 5.41274951e-01 7.68373909e-01 1.70089861e+02] [-1.88112864e-01 8.40343112e-01 -5.08366998e-01 1.99622283e+02] [-9.20864043e-01 2.90668451e-02 3.88798833e-01 -1.48594706e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.2107140569999 meters Centerline goodness : 0.999165 Centerline is valid? [True, True] Translation: X:170.10, Y:199.62, Z:-148.62 [[ 3.42660386e-01 5.41103559e-01 7.67978384e-01 1.70101897e+02] [-1.86690392e-01 8.40385180e-01 -5.08821625e-01 1.99617426e+02] [-9.20722845e-01 3.09788291e-02 3.88985546e-01 -1.48624039e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.240714057 meters Centerline goodness : 0.999602 Centerline is valid? [True, True] Translation: X:170.11, Y:199.61, Z:-148.65 [[ 3.43769872e-01 5.40819394e-01 7.67682655e-01 1.70114164e+02] [-1.84836369e-01 8.40483330e-01 -5.09336126e-01 1.99612110e+02] [-9.20683329e-01 3.31987403e-02 3.88895939e-01 -1.48654560e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.270714057 meters Centerline goodness : 0.999456 Centerline is valid? [True, True] Translation: X:170.13, Y:199.61, Z:-148.68 [[ 3.47639245e-01 5.39248679e-01 7.67044861e-01 1.70126920e+02] [-1.80371480e-01 8.41250999e-01 -5.09669388e-01 1.99608998e+02] [-9.20115800e-01 3.88280639e-02 3.89716944e-01 -1.48684113e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.3007140569999 meters Centerline goodness : 0.999207 Centerline is valid? [True, True] Translation: X:170.14, Y:199.61, Z:-148.71 [[ 3.49970607e-01 5.38396025e-01 7.66583521e-01 1.70137723e+02] [-1.77504177e-01 8.41622835e-01 -5.10062026e-01 1.99605101e+02] [-9.19789564e-01 4.24349398e-02 3.90110798e-01 -1.48711211e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.3307140569999 meters Centerline goodness : 0.999353 Centerline is valid? [True, True] Translation: X:170.15, Y:199.60, Z:-148.74 [[ 3.52352322e-01 5.36948032e-01 7.66508090e-01 1.70148703e+02] [-1.74387216e-01 8.42360135e-01 -5.09920093e-01 1.99600503e+02] [-9.19476449e-01 4.60023170e-02 3.90444423e-01 -1.48738404e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.3607140569999 meters Centerline goodness : 0.999498 Centerline is valid? [True, True] Translation: X:170.16, Y:199.60, Z:-148.76 [[ 3.56952525e-01 5.33901171e-01 7.66507948e-01 1.70160628e+02] [-1.67360885e-01 8.43839883e-01 -5.09827997e-01 1.99598318e+02] [-9.19007742e-01 5.37009423e-02 3.90564949e-01 -1.48763846e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.390714057 meters Centerline goodness : 0.999012 Centerline is valid? [True, True] Translation: X:170.17, Y:199.59, Z:-148.79 [[ 3.58704257e-01 5.32288641e-01 7.66811619e-01 1.70171370e+02] [-1.63514188e-01 8.44609032e-01 -5.09802602e-01 1.99593932e+02] [-9.19018154e-01 5.74837839e-02 3.90001600e-01 -1.48789942e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.4207140569999 meters Centerline goodness : 0.999264 Centerline is valid? [True, True] Translation: X:170.18, Y:199.59, Z:-148.82 [[ 3.61266716e-01 5.30539602e-01 7.66820768e-01 1.70182962e+02] [-1.60027522e-01 8.45435890e-01 -5.09538368e-01 1.99589248e+02] [-9.18628082e-01 6.13668254e-02 3.90328785e-01 -1.48815668e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.4507140569999 meters Centerline goodness : 0.999242 Centerline is valid? [True, True] Translation: X:170.20, Y:199.59, Z:-148.85 [[ 3.64833563e-01 5.27931432e-01 7.66932119e-01 1.70196698e+02] [-1.54359007e-01 8.46604837e-01 -5.09346196e-01 1.99585731e+02] [-9.18188308e-01 6.74437067e-02 3.90360830e-01 -1.48846101e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.4807140569999 meters Centerline goodness : 0.999431 Centerline is valid? [True, True] Translation: X:170.21, Y:199.58, Z:-148.88 [[ 3.66745434e-01 5.27231423e-01 7.66501672e-01 1.70210232e+02] [-1.51744403e-01 8.46777827e-01 -5.09844043e-01 1.99581393e+02] [-9.17862420e-01 7.06706362e-02 3.90556320e-01 -1.48876034e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.510714057 meters Centerline goodness : 0.998799 Centerline is valid? [True, True] Translation: X:170.22, Y:199.58, Z:-148.91 [[ 3.67464906e-01 5.27014597e-01 7.66306177e-01 1.70223175e+02] [-1.49781891e-01 8.46731338e-01 -5.10501153e-01 1.99577107e+02] [-9.17897014e-01 7.28124700e-02 3.90081294e-01 -1.48905611e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.540714057 meters Centerline goodness : 0.999093 Centerline is valid? [True, True] Translation: X:170.24, Y:199.57, Z:-148.94 [[ 3.67769137e-01 5.27065325e-01 7.66125320e-01 1.70237082e+02] [-1.48379246e-01 8.46568853e-01 -5.11179790e-01 1.99572830e+02] [-9.18002975e-01 7.43190531e-02 3.89547451e-01 -1.48935288e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.5707140569999 meters Centerline goodness : 0.999137 Centerline is valid? [True, True] Translation: X:170.25, Y:199.57, Z:-148.97 [[ 3.67515669e-01 5.27245803e-01 7.66122768e-01 1.70253598e+02] [-1.46896710e-01 8.46341106e-01 -5.11984462e-01 1.99571789e+02] [-9.18342850e-01 7.56213987e-02 3.88494292e-01 -1.48965307e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.6007140569999 meters Centerline goodness : 0.999369 Centerline is valid? [True, True] Translation: X:170.27, Y:199.57, Z:-149.00 [[ 3.66939662e-01 5.27923862e-01 7.65931903e-01 1.70267133e+02] [-1.47006810e-01 8.45928381e-01 -5.12634540e-01 1.99568027e+02] [-9.18555541e-01 7.55087392e-02 3.88013077e-01 -1.48995885e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.630714057 meters Centerline goodness : 0.999537 Centerline is valid? [True, True] Translation: X:170.28, Y:199.56, Z:-149.03 [[ 3.66114850e-01 5.28461415e-01 7.65955906e-01 1.70280426e+02] [-1.47356765e-01 8.45642353e-01 -5.13005842e-01 1.99564618e+02] [-9.18828548e-01 7.49502727e-02 3.87474588e-01 -1.49026084e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.660714057 meters Centerline goodness : 0.999519 Centerline is valid? [True, True] Translation: X:170.30, Y:199.56, Z:-149.06 [[ 3.65247528e-01 5.29728489e-01 7.65494593e-01 1.70297388e+02] [-1.49294667e-01 8.44996244e-01 -5.13509932e-01 1.99564614e+02] [-9.18860896e-01 7.32739729e-02 3.87718427e-01 -1.49056125e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.6907140569999 meters Centerline goodness : 0.999811 Centerline is valid? [True, True] Translation: X:170.31, Y:199.56, Z:-149.09 [[ 3.64099259e-01 5.30666260e-01 7.65392089e-01 1.70310825e+02] [-1.50831047e-01 8.44548828e-01 -5.13796917e-01 1.99560966e+02] [-9.19065680e-01 7.16281872e-02 3.87540550e-01 -1.49085905e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.7207140569999 meters Centerline goodness : 0.999811 Centerline is valid? [True, True] Translation: X:170.32, Y:199.56, Z:-149.11 [[ 3.63120479e-01 5.31758375e-01 7.65099045e-01 1.70324436e+02] [-1.52019667e-01 8.43957845e-01 -5.14417318e-01 1.99558089e+02] [-9.19257058e-01 7.04853610e-02 3.87296108e-01 -1.49114747e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.750714057 meters Centerline goodness : 0.999708 Centerline is valid? [True, True] Translation: X:170.34, Y:199.56, Z:-149.14 [[ 3.61378332e-01 5.33210909e-01 7.64912954e-01 1.70340093e+02] [-1.53978697e-01 8.43216914e-01 -5.15049315e-01 1.99558958e+02] [-9.19617454e-01 6.83473619e-02 3.86823443e-01 -1.49140721e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.780714057 meters Centerline goodness : 0.999520 Centerline is valid? [True, True] Translation: X:170.35, Y:199.55, Z:-149.17 [[ 3.59804171e-01 5.33813623e-01 7.65234588e-01 1.70353474e+02] [-1.54968403e-01 8.42961654e-01 -5.15170306e-01 1.99554565e+02] [-9.20068341e-01 6.67732426e-02 3.86025364e-01 -1.49171313e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.8107140569999 meters Centerline goodness : 0.999541 Centerline is valid? [True, True] Translation: X:170.37, Y:199.55, Z:-149.20 [[ 3.58997515e-01 5.34715424e-01 7.64983791e-01 1.70366326e+02] [-1.55649952e-01 8.42442518e-01 -5.15813625e-01 1.99550700e+02] [-9.20268372e-01 6.61061191e-02 3.85663201e-01 -1.49200269e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.8407140569999 meters Centerline goodness : 0.999665 Centerline is valid? [True, True] Translation: X:170.38, Y:199.55, Z:-149.23 [[ 3.58210023e-01 5.35332816e-01 7.64921144e-01 1.70379445e+02] [-1.55659802e-01 8.42064773e-01 -5.16427095e-01 1.99546971e+02] [-9.20573520e-01 6.59218877e-02 3.84965842e-01 -1.49230424e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.870714057 meters Centerline goodness : 0.999417 Centerline is valid? [True, True] Translation: X:170.39, Y:199.55, Z:-149.26 [[ 3.58689462e-01 5.35892703e-01 7.64304181e-01 1.70394161e+02] [-1.56259069e-01 8.41706195e-01 -5.16830519e-01 1.99546822e+02] [-9.20285267e-01 6.59522013e-02 3.85649237e-01 -1.49259848e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.900714057 meters Centerline goodness : 0.999018 Centerline is valid? [True, True] Translation: X:170.41, Y:199.54, Z:-149.29 [[ 3.58676024e-01 5.36463970e-01 7.63909627e-01 1.70406822e+02] [-1.56562324e-01 8.41341997e-01 -5.17331503e-01 1.99543343e+02] [-9.20238963e-01 6.59549399e-02 3.85759248e-01 -1.49290229e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.9307140569999 meters Centerline goodness : 0.998867 Centerline is valid? [True, True] Translation: X:170.42, Y:199.54, Z:-149.32 [[ 3.58907530e-01 5.36994788e-01 7.63427785e-01 1.70419142e+02] [-1.56853160e-01 8.40991848e-01 -5.17812513e-01 1.99540072e+02] [-9.20099164e-01 6.61007499e-02 3.86067636e-01 -1.49318298e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.9607140569999 meters Centerline goodness : 0.998803 Centerline is valid? [True, True] Translation: X:170.43, Y:199.54, Z:-149.35 [[ 3.59193078e-01 5.37320188e-01 7.63064446e-01 1.70433162e+02] [-1.57794971e-01 8.40824629e-01 -5.17797925e-01 1.99541117e+02] [-9.19826658e-01 6.55816985e-02 3.86804810e-01 -1.49345145e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.990714057 meters Centerline goodness : 0.998997 Centerline is valid? [True, True] Translation: X:170.44, Y:199.54, Z:-149.37 [[ 3.59821315e-01 5.37192033e-01 7.62858664e-01 1.70444320e+02] [-1.58385636e-01 8.40923282e-01 -5.17457267e-01 1.99538846e+02] [-9.19479533e-01 6.53662991e-02 3.87665623e-01 -1.49369498e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.020714057 meters Centerline goodness : 0.998560 Centerline is valid? [True, True] Translation: X:170.46, Y:199.54, Z:-149.40 [[ 3.59927253e-01 5.37409356e-01 7.62655595e-01 1.70457856e+02] [-1.60483402e-01 8.40918077e-01 -5.16818987e-01 1.99540478e+02] [-9.19074236e-01 6.36236738e-02 3.88914615e-01 -1.49395760e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.0507140569999 meters Centerline goodness : 0.998122 Centerline is valid? [True, True] Translation: X:170.47, Y:199.54, Z:-149.42 [[ 3.59505739e-01 5.37629583e-01 7.62699191e-01 1.70469176e+02] [-1.61609005e-01 8.40865667e-01 -5.16553443e-01 1.99538478e+02] [-9.19041976e-01 6.24448700e-02 3.89181814e-01 -1.49420862e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.0807140569999 meters Centerline goodness : 0.998263 Centerline is valid? [True, True] Translation: X:170.48, Y:199.54, Z:-149.45 [[ 3.58428832e-01 5.38150479e-01 7.62838669e-01 1.70481137e+02] [-1.63358800e-01 8.40678717e-01 -5.16307269e-01 1.99535670e+02] [-9.19153238e-01 6.04430016e-02 3.89235107e-01 -1.49447180e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.1107140569999 meters Centerline goodness : 0.997342 Centerline is valid? [True, True] Translation: X:170.49, Y:199.54, Z:-149.47 [[ 3.56326383e-01 5.39518593e-01 7.62857258e-01 1.70494482e+02] [-1.67010096e-01 8.40075683e-01 -5.16120601e-01 1.99537007e+02] [-9.19314493e-01 5.65025235e-02 3.89446182e-01 -1.49474045e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.140714057 meters Centerline goodness : 0.997114 Centerline is valid? [True, True] Translation: X:170.51, Y:199.53, Z:-149.50 [[ 3.55563352e-01 5.39989580e-01 7.62880041e-01 1.70505058e+02] [-1.68548826e-01 8.39881557e-01 -5.15936298e-01 1.99534532e+02] [-9.19329101e-01 5.48655045e-02 3.89645711e-01 -1.49499279e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.1707140569999 meters Centerline goodness : 0.996778 Centerline is valid? [True, True] Translation: X:170.52, Y:199.53, Z:-149.52 [[ 3.55455420e-01 5.40018752e-01 7.62909688e-01 1.70516247e+02] [-1.69374671e-01 8.39915085e-01 -5.15611163e-01 1.99531569e+02] [-9.19219052e-01 5.40592048e-02 3.90017868e-01 -1.49524237e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.2007140569999 meters Centerline goodness : 0.996842 Centerline is valid? [True, True] Translation: X:170.53, Y:199.53, Z:-149.55 [[ 3.54981641e-01 5.39977600e-01 7.63159372e-01 1.70526839e+02] [-1.69588456e-01 8.39974136e-01 -5.15444669e-01 1.99529000e+02] [-9.19362709e-01 5.35503744e-02 3.89749364e-01 -1.49550192e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.2307140569999 meters Centerline goodness : 0.996483 Centerline is valid? [True, True] Translation: X:170.54, Y:199.53, Z:-149.57 [[ 3.54010719e-01 5.40091679e-01 7.63529560e-01 1.70539706e+02] [-1.70983732e-01 8.40014551e-01 -5.14917583e-01 1.99529434e+02] [-9.19478643e-01 5.17352100e-02 3.89721046e-01 -1.49574769e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.260714057 meters Centerline goodness : 0.995790 Centerline is valid? [True, True] Translation: X:170.55, Y:199.53, Z:-149.60 [[ 3.53336618e-01 5.40306540e-01 7.63689779e-01 1.70552113e+02] [-1.71973344e-01 8.39949997e-01 -5.14693279e-01 1.99525422e+02] [-9.19553372e-01 5.05256971e-02 3.89703413e-01 -1.49604808e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.290714057 meters Centerline goodness : 0.995532 Centerline is valid? [True, True] Translation: X:170.57, Y:199.52, Z:-149.63 [[ 3.52863605e-01 5.41539817e-01 7.63034667e-01 1.70566645e+02] [-1.74224257e-01 8.39256991e-01 -5.15066609e-01 1.99524018e+02] [-9.19311256e-01 4.88091120e-02 3.90492620e-01 -1.49634581e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.3207140569999 meters Centerline goodness : 0.995231 Centerline is valid? [True, True] Translation: X:170.58, Y:199.52, Z:-149.66 [[ 3.53238250e-01 5.42057152e-01 7.62493792e-01 1.70577701e+02] [-1.74700807e-01 8.38919396e-01 -5.15455018e-01 1.99521088e+02] [-9.19076910e-01 4.88701479e-02 3.91036241e-01 -1.49659072e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.3507140569999 meters Centerline goodness : 0.994859 Centerline is valid? [True, True] Translation: X:170.59, Y:199.52, Z:-149.69 [[ 3.53745246e-01 5.41636703e-01 7.62557528e-01 1.70589685e+02] [-1.74815448e-01 8.39191360e-01 -5.14973223e-01 1.99520808e+02] [-9.18860087e-01 4.88624940e-02 3.91546417e-01 -1.49685148e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.380714057 meters Centerline goodness : 0.994792 Centerline is valid? [True, True] Translation: X:170.60, Y:199.52, Z:-149.71 [[ 3.54447281e-01 5.41284513e-01 7.62481607e-01 1.70600729e+02] [-1.74815104e-01 8.39403843e-01 -5.14626921e-01 1.99516965e+02] [-9.18589574e-01 4.91148117e-02 3.92149118e-01 -1.49711427e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.410714057 meters Centerline goodness : 0.994792 Centerline is valid? [True, True] Translation: X:170.61, Y:199.51, Z:-149.74 [[ 3.54468864e-01 5.41141162e-01 7.62573319e-01 1.70610399e+02] [-1.74766781e-01 8.39497215e-01 -5.14491009e-01 1.99510438e+02] [-9.18590440e-01 4.90985593e-02 3.92149123e-01 -1.49738333e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.4407140569999 meters Centerline goodness : 0.994120 Centerline is valid? [True, True] Translation: X:170.62, Y:199.51, Z:-149.77 [[ 3.54661356e-01 5.41042084e-01 7.62554120e-01 1.70622636e+02] [-1.74909538e-01 8.39564741e-01 -5.14332285e-01 1.99505530e+02] [-9.18488963e-01 4.90357966e-02 3.92394591e-01 -1.49769238e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.4707140569999 meters Centerline goodness : 0.994408 Centerline is valid? [True, True] Translation: X:170.63, Y:199.50, Z:-149.80 [[ 3.55587026e-01 5.41307182e-01 7.61934644e-01 1.70634577e+02] [-1.74770753e-01 8.39344670e-01 -5.14738486e-01 1.99502938e+02] [-9.18157422e-01 4.98704357e-02 3.93064739e-01 -1.49799250e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.500714057 meters Centerline goodness : 0.994031 Centerline is valid? [True, True] Translation: X:170.65, Y:199.50, Z:-149.83 [[ 3.56527037e-01 5.41706465e-01 7.61211257e-01 1.70646502e+02] [-1.75281625e-01 8.39067932e-01 -5.15015881e-01 1.99497922e+02] [-9.17695388e-01 5.01907401e-02 3.94101593e-01 -1.49829961e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.530714057 meters Centerline goodness : 0.994099 Centerline is valid? [True, True] Translation: X:170.66, Y:199.49, Z:-149.86 [[ 3.57513029e-01 5.42059479e-01 7.60497177e-01 1.70658041e+02] [-1.75543389e-01 8.38806577e-01 -5.15352350e-01 1.99493255e+02] [-9.17261660e-01 5.07449283e-02 3.95039238e-01 -1.49859714e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.5607140569999 meters Centerline goodness : 0.993062 Centerline is valid? [True, True] Translation: X:170.67, Y:199.49, Z:-149.89 [[ 3.58031531e-01 5.42523682e-01 7.59922020e-01 1.70668780e+02] [-1.75937545e-01 8.38494133e-01 -5.15726254e-01 1.99488578e+02] [-9.16983862e-01 5.09474460e-02 3.95657623e-01 -1.49889689e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.5907140569999 meters Centerline goodness : 0.992226 Centerline is valid? [True, True] Translation: X:170.68, Y:199.49, Z:-149.92 [[ 3.60210990e-01 5.42719266e-01 7.58751502e-01 1.70679517e+02] [-1.76841660e-01 8.38329081e-01 -5.15685350e-01 1.99485645e+02] [-9.15955823e-01 5.15766550e-02 3.97950724e-01 -1.49915802e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.620714057 meters Centerline goodness : 0.992942 Centerline is valid? [True, True] Translation: X:170.69, Y:199.48, Z:-149.95 [[ 3.60814730e-01 5.42497345e-01 7.58623333e-01 1.70690915e+02] [-1.77239765e-01 8.38479184e-01 -5.15304496e-01 1.99479848e+02] [-9.15641194e-01 5.14712317e-02 3.98687743e-01 -1.49945789e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.650714057 meters Centerline goodness : 0.991596 Centerline is valid? [True, True] Translation: X:170.70, Y:199.48, Z:-149.97 [[ 3.62355263e-01 5.42751157e-01 7.57706965e-01 1.70702239e+02] [-1.77696627e-01 8.38273229e-01 -5.15482204e-01 1.99476595e+02] [-9.14944027e-01 5.21457184e-02 4.00197766e-01 -1.49973385e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.6807140569999 meters Centerline goodness : 0.990979 Centerline is valid? [True, True] Translation: X:170.71, Y:199.47, Z:-150.00 [[ 3.63251221e-01 5.42376334e-01 7.57546344e-01 1.70711959e+02] [-1.77239941e-01 8.38466987e-01 -5.15324282e-01 1.99471900e+02] [-9.14677295e-01 5.29247051e-02 4.00704906e-01 -1.49999274e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.7107140569999 meters Centerline goodness : 0.991001 Centerline is valid? [True, True] Translation: X:170.72, Y:199.47, Z:-150.02 [[ 3.63841985e-01 5.41546673e-01 7.57856327e-01 1.70721561e+02] [-1.76514414e-01 8.38965359e-01 -5.14761876e-01 1.99466462e+02] [-9.14582786e-01 5.35194172e-02 4.00841615e-01 -1.50023670e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.740714057 meters Centerline goodness : 0.991688 Centerline is valid? [True, True] Translation: X:170.73, Y:199.46, Z:-150.05 [[ 3.64425971e-01 5.40604405e-01 7.58248369e-01 1.70733341e+02] [-1.74812673e-01 8.39480640e-01 -5.14502464e-01 1.99461102e+02] [-9.14677124e-01 5.49466356e-02 4.00433048e-01 -1.50051800e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.770714057 meters Centerline goodness : 0.989879 Centerline is valid? [True, True] Translation: X:170.75, Y:199.45, Z:-150.08 [[ 3.65253622e-01 5.40294212e-01 7.58071208e-01 1.70745213e+02] [-1.74204297e-01 8.39620262e-01 -5.14480980e-01 1.99454900e+02] [-9.14463042e-01 5.58567795e-02 4.00795916e-01 -1.50081669e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.8007140569999 meters Centerline goodness : 0.989609 Centerline is valid? [True, True] Translation: X:170.76, Y:199.45, Z:-150.11 [[ 3.67116382e-01 5.39752998e-01 7.57556772e-01 1.70756701e+02] [-1.72091430e-01 8.39776277e-01 -5.14937223e-01 1.99450428e+02] [-9.14117116e-01 5.86728622e-02 4.01182494e-01 -1.50110017e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.8307140569999 meters Centerline goodness : 0.989103 Centerline is valid? [True, True] Translation: X:170.77, Y:199.45, Z:-150.14 [[ 3.68421516e-01 5.39270104e-01 7.57267021e-01 1.70766726e+02] [-1.71419807e-01 8.40003455e-01 -5.14790681e-01 1.99445418e+02] [-9.13718138e-01 5.98493962e-02 4.01916924e-01 -1.50135281e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.8607140569999 meters Centerline goodness : 0.988778 Centerline is valid? [True, True] Translation: X:170.78, Y:199.44, Z:-150.16 [[ 3.69241877e-01 5.38612596e-01 7.57335400e-01 1.70776305e+02] [-1.70457669e-01 8.40349883e-01 -5.14544708e-01 1.99440741e+02] [-9.13566976e-01 6.08978270e-02 4.02103016e-01 -1.50159818e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.890714057 meters Centerline goodness : 0.987829 Centerline is valid? [True, True] Translation: X:170.79, Y:199.42, Z:-150.19 [[ 3.72778886e-01 5.19593288e-01 7.68803432e-01 1.70787408e+02] [-1.74060494e-01 8.52971758e-01 -4.92079389e-01 1.99418196e+02] [-9.11448763e-01 4.96185010e-02 4.08410526e-01 -1.50191995e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.9207140569999 meters Centerline goodness : 0.987806 Centerline is valid? [True, True] Translation: X:170.82, Y:199.45, Z:-150.21 [[ 3.75644598e-01 5.84613495e-01 7.19109309e-01 1.70821632e+02] [-1.69329141e-01 8.06169625e-01 -5.66937544e-01 1.99448033e+02] [-9.11163420e-01 9.12008643e-02 4.01825365e-01 -1.50213761e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.9507140569999 meters Centerline goodness : 0.987866 Centerline is valid? [True, True] Translation: X:170.81, Y:199.41, Z:-150.25 [[ 3.75601031e-01 5.14823403e-01 7.70636574e-01 1.70811110e+02] [-1.70687681e-01 8.55721829e-01 -4.88472995e-01 1.99405958e+02] [-9.10927868e-01 5.19327909e-02 4.09284014e-01 -1.50249619e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.9807140569999 meters Centerline goodness : 0.986305 Centerline is valid? [True, True] Translation: X:170.85, Y:199.42, Z:-150.28 [[ 3.80086384e-01 5.63738500e-01 7.33302969e-01 1.70845291e+02] [-1.70413925e-01 8.21910383e-01 -5.43527751e-01 1.99419533e+02] [-9.09116843e-01 8.16224601e-02 4.08465836e-01 -1.50276010e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.010714057 meters Centerline goodness : 0.986573 Centerline is valid? [True, True] Translation: X:170.86, Y:199.41, Z:-150.31 [[ 3.80590241e-01 5.61107251e-01 7.35057631e-01 1.70856524e+02] [-1.68645905e-01 8.23661870e-01 -5.41423755e-01 1.99412941e+02] [-9.09235738e-01 8.20961377e-02 4.08106110e-01 -1.50305678e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.040714057 meters Centerline goodness : 0.985370 Centerline is valid? [True, True] Translation: X:170.87, Y:199.40, Z:-150.33 [[ 3.84594618e-01 5.47946759e-01 7.42860235e-01 1.70870377e+02] [-1.68151498e-01 8.32879946e-01 -5.27291256e-01 1.99403577e+02] [-9.07640927e-01 7.78803178e-02 4.12459214e-01 -1.50330320e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.0707140569999 meters Centerline goodness : 0.986280 Centerline is valid? [True, True] Translation: X:170.89, Y:199.43, Z:-150.36 [[ 3.78687104e-01 5.93360379e-01 7.10295388e-01 1.70889759e+02] [-1.62141703e-01 7.98114945e-01 -5.80278039e-01 1.99428243e+02] [-9.11211362e-01 1.04575306e-01 3.98444300e-01 -1.50357603e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.1007140569999 meters Centerline goodness : 0.985435 Centerline is valid? [True, True] Translation: X:170.87, Y:199.38, Z:-150.40 [[ 3.76289906e-01 5.06000329e-01 7.76124715e-01 1.70872197e+02] [-1.65188897e-01 8.60912042e-01 -4.81189240e-01 1.99381624e+02] [-9.11657027e-01 5.28594686e-02 4.07538147e-01 -1.50395351e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.130714057 meters Centerline goodness : 0.983882 Centerline is valid? [True, True] Translation: X:170.91, Y:199.40, Z:-150.42 [[ 3.76289025e-01 5.75635927e-01 7.25981989e-01 1.70913557e+02] [-1.73014409e-01 8.13446807e-01 -5.55310999e-01 1.99402292e+02] [-9.10204694e-01 8.33520893e-02 4.05684416e-01 -1.50420241e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.160714057 meters Centerline goodness : 0.983189 Centerline is valid? [True, True] Translation: X:170.92, Y:199.39, Z:-150.45 [[ 3.75753104e-01 5.64162920e-01 7.35207321e-01 1.70921293e+02] [-1.73269464e-01 8.22122781e-01 -5.42302338e-01 1.99394246e+02] [-9.10377558e-01 7.63828085e-02 4.06667393e-01 -1.50446056e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.1907140569999 meters Centerline goodness : 0.982214 Centerline is valid? [True, True] Translation: X:170.93, Y:199.39, Z:-150.47 [[ 3.73612253e-01 5.57126521e-01 7.41635978e-01 1.70933622e+02] [-1.75990139e-01 8.27586987e-01 -5.33035880e-01 1.99388378e+02] [-9.10736710e-01 6.86281168e-02 4.07245413e-01 -1.50472934e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.2207140569999 meters Centerline goodness : 0.982321 Centerline is valid? [True, True] Translation: X:170.95, Y:199.39, Z:-150.51 [[ 3.67876944e-01 5.75186349e-01 7.30634805e-01 1.70948208e+02] [-1.76388403e-01 8.14634084e-01 -5.52501982e-01 1.99390752e+02] [-9.12991613e-01 7.43772336e-02 4.01141299e-01 -1.50505480e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.250714057 meters Centerline goodness : 0.979897 Centerline is valid? [True, True] Translation: X:170.96, Y:199.39, Z:-150.53 [[ 3.61427815e-01 5.72807910e-01 7.35704447e-01 1.70958273e+02] [-1.76735593e-01 8.16826543e-01 -5.49143814e-01 1.99386506e+02] [-9.15496840e-01 6.84506876e-02 3.96459378e-01 -1.50530318e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.280714057 meters Centerline goodness : 0.981786 Centerline is valid? [True, True] Translation: X:170.97, Y:199.38, Z:-150.56 [[ 3.64678422e-01 5.66380570e-01 7.39068805e-01 1.70971515e+02] [-1.80779583e-01 8.21693912e-01 -5.40497786e-01 1.99381729e+02] [-9.13415782e-01 6.34993290e-02 4.02044082e-01 -1.50561881e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.3107140569999 meters Centerline goodness : 0.979965 Centerline is valid? [True, True] Translation: X:170.99, Y:199.38, Z:-150.58 [[ 3.62655693e-01 5.70858847e-01 7.36614570e-01 1.70986396e+02] [-1.83224559e-01 8.18672969e-01 -5.44245653e-01 1.99379909e+02] [-9.13733883e-01 6.24079042e-02 4.01491773e-01 -1.50579345e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.3407140569999 meters Centerline goodness : 0.981119 Centerline is valid? [True, True] Translation: X:170.99, Y:199.37, Z:-150.62 [[ 3.59093600e-01 5.57002108e-01 7.48866102e-01 1.70989749e+02] [-1.82683987e-01 8.28811429e-01 -5.28864989e-01 1.99374480e+02] [-9.15247698e-01 5.31061877e-02 3.99376245e-01 -1.50616120e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.370714057 meters Centerline goodness : 0.980276 Centerline is valid? [True, True] Translation: X:171.01, Y:199.38, Z:-150.64 [[ 3.51817603e-01 5.73684120e-01 7.39669456e-01 1.71007473e+02] [-1.82803664e-01 8.17080372e-01 -5.46774621e-01 1.99376357e+02] [-9.18045312e-01 5.71506496e-02 3.92334817e-01 -1.50640063e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.400714057 meters Centerline goodness : 0.978952 Centerline is valid? [True, True] Translation: X:171.02, Y:199.37, Z:-150.67 [[ 3.50939144e-01 5.71380799e-01 7.41866363e-01 1.71017653e+02] [-1.86158644e-01 8.19012906e-01 -5.42736418e-01 1.99371516e+02] [-9.17707294e-01 5.23626175e-02 3.93791162e-01 -1.50667905e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.4307140569999 meters Centerline goodness : 0.980550 Centerline is valid? [True, True] Translation: X:171.02, Y:199.37, Z:-150.70 [[ 3.51009216e-01 5.61441046e-01 7.49384069e-01 1.71020296e+02] [-1.91234860e-01 8.26420521e-01 -5.29583186e-01 1.99369113e+02] [-9.16636110e-01 4.25802214e-02 3.97448319e-01 -1.50699942e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.4607140569999 meters Centerline goodness : 0.981267 Centerline is valid? [True, True] Translation: X:171.03, Y:199.36, Z:-150.73 [[ 3.50862986e-01 5.56865139e-01 7.52858807e-01 1.71029117e+02] [-1.92203124e-01 8.29677894e-01 -5.24111201e-01 1.99364414e+02] [-9.16489566e-01 3.91894065e-02 3.98134482e-01 -1.50725684e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.490714057 meters Centerline goodness : 0.982802 Centerline is valid? [True, True] Translation: X:171.04, Y:199.36, Z:-150.75 [[ 3.47395476e-01 5.63318111e-01 7.49659316e-01 1.71040154e+02] [-1.93361689e-01 8.25302223e-01 -5.30553953e-01 1.99362185e+02] [-9.17566151e-01 3.93566514e-02 3.95630400e-01 -1.50751826e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.520714057 meters Centerline goodness : 0.981873 Centerline is valid? [True, True] Translation: X:171.05, Y:199.36, Z:-150.78 [[ 3.38395487e-01 5.70520542e-01 7.48328006e-01 1.71053005e+02] [-1.91812602e-01 8.20368345e-01 -5.38705582e-01 1.99361864e+02] [-9.21247209e-01 3.87567962e-02 3.87041975e-01 -1.50779301e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.5507140569999 meters Centerline goodness : 0.979706 Centerline is valid? [True, True] Translation: X:171.06, Y:199.36, Z:-150.80 [[ 3.35851048e-01 5.75856472e-01 7.45381377e-01 1.71063147e+02] [-1.91694967e-01 8.16572697e-01 -5.44483306e-01 1.99358508e+02] [-9.22202317e-01 3.99794300e-02 3.84635583e-01 -1.50803822e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.5807140569999 meters Centerline goodness : 0.983075 Centerline is valid? [True, True] Translation: X:171.06, Y:199.34, Z:-150.85 [[ 3.42085698e-01 5.43571844e-01 7.66490069e-01 1.71060036e+02] [-1.90991493e-01 8.38896781e-01 -5.09680723e-01 1.99342856e+02] [-9.20054143e-01 2.79614034e-02 3.90792189e-01 -1.50847307e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.6107140569999 meters Centerline goodness : 0.982041 Centerline is valid? [True, True] Translation: X:171.09, Y:199.35, Z:-150.87 [[ 3.39347028e-01 5.74889426e-01 7.44543983e-01 1.71088895e+02] [-1.88189886e-01 8.17000998e-01 -5.45063241e-01 1.99345767e+02] [-9.21644271e-01 4.48499437e-02 3.85435236e-01 -1.50866180e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.640714057 meters Centerline goodness : 0.983237 Centerline is valid? [True, True] Translation: X:171.10, Y:199.34, Z:-150.90 [[ 3.42112448e-01 5.69868009e-01 7.47134208e-01 1.71095279e+02] [-1.88361897e-01 8.20563791e-01 -5.39624741e-01 1.99338094e+02] [-9.20586155e-01 4.38807245e-02 3.88066506e-01 -1.50897020e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.6707140569999 meters Centerline goodness : 0.982677 Centerline is valid? [True, True] Translation: X:171.11, Y:199.33, Z:-150.93 [[ 3.49112997e-01 5.63562071e-01 7.48677439e-01 1.71107072e+02] [-1.82708698e-01 8.24549926e-01 -5.35476377e-01 1.99329431e+02] [-9.19096104e-01 5.01518830e-02 3.90828788e-01 -1.50930125e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.7007140569999 meters Centerline goodness : 0.980174 Centerline is valid? [True, True] Translation: X:171.13, Y:199.33, Z:-150.95 [[ 3.47768665e-01 5.86962041e-01 7.31117308e-01 1.71131151e+02] [-1.82505299e-01 8.07255282e-01 -5.61275980e-01 1.99329860e+02] [-9.19646003e-01 6.17614157e-02 3.87861774e-01 -1.50947056e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.7307140569999 meters Centerline goodness : 0.982735 Centerline is valid? [True, True] Translation: X:171.12, Y:199.32, Z:-150.98 [[ 3.53450450e-01 5.43242094e-01 7.61551578e-01 1.71120444e+02] [-1.75802445e-01 8.38168015e-01 -5.16302120e-01 1.99315019e+02] [-9.18785220e-01 4.86045870e-02 3.91754150e-01 -1.50977002e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.760714057 meters Centerline goodness : 0.984288 Centerline is valid? [True, True] Translation: X:171.14, Y:199.32, Z:-151.01 [[ 3.54245671e-01 5.58607720e-01 7.49978280e-01 1.71135668e+02] [-1.67262505e-01 8.26900736e-01 -5.36897036e-01 1.99321430e+02] [-9.20072420e-01 6.47502051e-02 3.86360133e-01 -1.51005005e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.790714057 meters Centerline goodness : 0.980228 Centerline is valid? [True, True] Translation: X:171.13, Y:199.30, Z:-151.03 [[ 3.47716505e-01 5.35436102e-01 7.69676174e-01 1.71134233e+02] [-1.69673417e-01 8.43281562e-01 -5.09987392e-01 1.99301841e+02] [-9.22119387e-01 4.67374476e-02 3.84072190e-01 -1.51031102e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.8207140569999 meters Centerline goodness : 0.984288 Centerline is valid? [True, True] Translation: X:171.14, Y:199.30, Z:-151.06 [[ 3.53703545e-01 5.32064987e-01 7.69285806e-01 1.71141634e+02] [-1.64268755e-01 8.45003214e-01 -5.08906027e-01 1.99303798e+02] [-9.20820058e-01 5.36322437e-02 3.86282286e-01 -1.51057775e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.8507140569999 meters Centerline goodness : 0.982919 Centerline is valid? [True, True] Translation: X:171.17, Y:199.32, Z:-151.08 [[ 3.47042028e-01 5.81635019e-01 7.35705468e-01 1.71165551e+02] [-1.66192624e-01 8.10184708e-01 -5.62121652e-01 1.99317816e+02] [-9.23006957e-01 7.28110159e-02 3.77831594e-01 -1.51075265e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.880714057 meters Centerline goodness : 0.982725 Centerline is valid? [True, True] Translation: X:171.13, Y:199.28, Z:-151.12 [[ 3.45732391e-01 4.68355836e-01 8.13087895e-01 1.71127961e+02] [-1.65125027e-01 8.83368853e-01 -4.38626487e-01 1.99275709e+02] [-9.23689796e-01 1.73862237e-02 3.82746495e-01 -1.51118242e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.910714057 meters Centerline goodness : 0.985415 Centerline is valid? [True, True] Translation: X:171.14, Y:199.27, Z:-151.14 [[ 3.50051196e-01 4.60335802e-01 8.15815610e-01 1.71138819e+02] [-1.66494500e-01 8.87626622e-01 -4.29416536e-01 1.99265017e+02] [-9.21815460e-01 1.44889600e-02 3.87358139e-01 -1.51143217e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.9407140569999 meters Centerline goodness : 0.981026 Centerline is valid? [True, True] Translation: X:171.17, Y:199.25, Z:-151.16 [[ 3.53740288e-01 4.83348354e-01 8.00775984e-01 1.71172672e+02] [-1.79858836e-01 8.75303656e-01 -4.48881175e-01 1.99250421e+02] [-9.17888124e-01 1.47607197e-02 3.96564640e-01 -1.51162967e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.9707140569999 meters Centerline goodness : 0.983986 Centerline is valid? [True, True] Translation: X:171.83, Y:198.87, Z:-150.88 [[ 3.54853569e-01 2.67896337e-01 -8.95717867e-01 1.71833266e+02] [-1.94499858e-01 -9.15951524e-01 -3.51002295e-01 1.98865162e+02] [-9.14466375e-01 2.98771414e-01 -2.72922868e-01 -1.50875462e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.000714057 meters Centerline goodness : 0.983857 Centerline is valid? [True, True] Translation: X:171.20, Y:199.30, Z:-151.21 [[ 3.38884261e-01 5.12124586e-01 7.89231187e-01 1.71195357e+02] [-1.19378240e-01 8.55494549e-01 -5.03862989e-01 1.99297261e+02] [-9.33223603e-01 7.65342065e-02 3.51050170e-01 -1.51207418e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.030714057 meters Centerline goodness : 0.985252 Centerline is valid? [True, True] Translation: X:171.12, Y:199.21, Z:-151.26 [[ 3.38121369e-01 2.67431606e-01 9.02304980e-01 1.71119048e+02] [-1.17113624e-01 9.63278504e-01 -2.41617306e-01 1.99206639e+02] [-9.33787095e-01 -2.39762315e-02 3.57024931e-01 -1.51262136e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.0607140569999 meters Centerline goodness : 0.985217 Centerline is valid? [True, True] Translation: X:171.19, Y:199.26, Z:-151.28 [[ 3.45952820e-01 4.26774247e-01 8.35571893e-01 1.71190079e+02] [-1.19492769e-01 9.03351469e-01 -4.11919411e-01 1.99258864e+02] [-9.30611694e-01 4.26598829e-02 3.63513425e-01 -1.51277239e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.0907140569999 meters Centerline goodness : 0.983778 Centerline is valid? [True, True] Translation: X:171.21, Y:199.27, Z:-151.29 [[ 3.35938642e-01 4.71524216e-01 8.15358904e-01 1.71205754e+02] [-1.20608190e-01 8.80076821e-01 -4.59258590e-01 1.99273045e+02] [-9.34130020e-01 5.59437453e-02 3.52521495e-01 -1.51294077e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.120714057 meters Centerline goodness : 0.984390 Centerline is valid? [True, True] Translation: X:171.16, Y:199.22, Z:-151.33 [[ 3.31056111e-01 3.45272857e-01 8.78173392e-01 1.71163106e+02] [-1.20997308e-01 9.38502006e-01 -3.23378473e-01 1.99222198e+02] [-9.35821299e-01 7.99803233e-04 3.52473910e-01 -1.51334039e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.150714057 meters Centerline goodness : 0.984411 Centerline is valid? [True, True] Translation: X:171.17, Y:199.22, Z:-151.36 [[ 3.30348758e-01 3.49034605e-01 8.76951847e-01 1.71171886e+02] [-1.18788132e-01 9.37100163e-01 -3.28226544e-01 1.99220701e+02] [-9.36354141e-01 4.25775911e-03 3.51031044e-01 -1.51359242e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.1807140569999 meters Centerline goodness : 0.978597 Centerline is valid? [True, True] Translation: X:171.16, Y:199.17, Z:-151.39 [[ 3.35553757e-01 2.59764398e-01 9.05497727e-01 1.71164682e+02] [-1.23632410e-01 9.65058263e-01 -2.31035874e-01 1.99173519e+02] [-9.33872959e-01 -3.44239108e-02 3.55944225e-01 -1.51387437e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.2107140569999 meters Centerline goodness : 0.984316 Centerline is valid? [True, True] Translation: X:171.26, Y:199.26, Z:-151.40 [[ 3.39652309e-01 4.98799723e-01 7.97392718e-01 1.71255818e+02] [-1.17052693e-01 8.63619139e-01 -4.90367872e-01 1.99262954e+02] [-9.33238971e-01 7.32176145e-02 3.51716085e-01 -1.51398235e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.240714057 meters Centerline goodness : 0.980041 Centerline is valid? [True, True] Translation: X:171.18, Y:199.16, Z:-151.45 [[ 3.39389651e-01 2.40959940e-01 9.09259574e-01 1.71182579e+02] [-1.19166882e-01 9.69858966e-01 -2.12539034e-01 1.99158607e+02] [-9.33066942e-01 -3.62200799e-02 3.57874541e-01 -1.51445882e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.270714057 meters Centerline goodness : 0.978618 Centerline is valid? [True, True] Translation: X:171.25, Y:199.21, Z:-151.46 [[ 3.41999881e-01 4.23903531e-01 8.38654803e-01 1.71254139e+02] [-1.22744082e-01 9.04976358e-01 -4.07371675e-01 1.99213468e+02] [-9.31649060e-01 3.63811510e-02 3.61533457e-01 -1.51463860e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.3007140569999 meters Centerline goodness : 0.985333 Centerline is valid? [True, True] Translation: X:171.27, Y:199.24, Z:-151.49 [[ 3.37328025e-01 4.69246116e-01 8.16099189e-01 1.71266306e+02] [-1.07200963e-01 8.80419718e-01 -4.61918905e-01 1.99241147e+02] [-9.35263469e-01 6.83315730e-02 3.47293880e-01 -1.51494625e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.3307140569999 meters Centerline goodness : 0.985333 Centerline is valid? [True, True] Translation: X:171.26, Y:199.22, Z:-151.53 [[ 3.34958766e-01 4.26294556e-01 8.40283034e-01 1.71256618e+02] [-1.06114671e-01 9.03193382e-01 -4.15910316e-01 1.99223024e+02] [-9.36238379e-01 5.01464489e-02 3.47768647e-01 -1.51526183e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.3607140569999 meters Centerline goodness : 0.983498 Centerline is valid? [True, True] Translation: X:171.27, Y:199.24, Z:-151.54 [[ 3.24919340e-01 4.73558435e-01 8.18639012e-01 1.71274198e+02] [-1.05744192e-01 8.78368649e-01 -4.66140196e-01 1.99237747e+02] [-9.39811464e-01 6.48916439e-02 3.35475016e-01 -1.51537676e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.390714057 meters Centerline goodness : 0.983840 Centerline is valid? [True, True] Translation: X:171.21, Y:199.16, Z:-151.58 [[ 3.14707585e-01 2.74683227e-01 9.08574851e-01 1.71205761e+02] [-1.06493447e-01 9.61386313e-01 -2.53762691e-01 1.99162534e+02] [-9.43195781e-01 -1.68962242e-02 3.31807529e-01 -1.51582951e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.4207140569999 meters Centerline goodness : 0.976331 Centerline is valid? [True, True] Translation: X:171.23, Y:199.15, Z:-151.61 [[ 3.20782557e-01 2.83079282e-01 9.03860980e-01 1.71231616e+02] [-1.14689747e-01 9.58879827e-01 -2.59606895e-01 1.99149805e+02] [-9.40183394e-01 -2.03862235e-02 3.40058214e-01 -1.51611055e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.4507140569999 meters Centerline goodness : 0.975092 Centerline is valid? [True, True] Translation: X:171.30, Y:199.20, Z:-151.63 [[ 3.24980065e-01 4.55821247e-01 8.28622319e-01 1.71299470e+02] [-1.22539220e-01 8.89089956e-01 -4.41025158e-01 1.99202276e+02] [-9.37748419e-01 4.17856514e-02 3.44792492e-01 -1.51627928e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.4807140569999 meters Centerline goodness : 0.972969 Centerline is valid? [True, True] Translation: X:171.30, Y:199.19, Z:-151.66 [[ 3.22049828e-01 4.32907458e-01 8.41947172e-01 1.71298528e+02] [-1.22603113e-01 9.00910217e-01 -4.16328306e-01 1.99190609e+02] [-9.38750438e-01 3.08531151e-02 3.43213782e-01 -1.51656455e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.510714057 meters Centerline goodness : 0.982550 Centerline is valid? [True, True] Translation: X:171.30, Y:199.20, Z:-151.68 [[ 3.19040732e-01 4.22552839e-01 8.48329010e-01 1.71297318e+02] [-1.13275052e-01 9.05691242e-01 -4.08524341e-01 1.99202934e+02] [-9.40947275e-01 3.42413925e-02 3.36817092e-01 -1.51679087e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.540714057 meters Centerline goodness : 0.973271 Centerline is valid? [True, True] Translation: X:171.30, Y:199.16, Z:-151.71 [[ 3.15284917e-01 3.85470809e-01 8.67183762e-01 1.71295229e+02] [-1.28060806e-01 9.22713072e-01 -3.63594578e-01 1.99164360e+02] [-9.40316889e-01 3.58363471e-03 3.40281216e-01 -1.51713542e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.5707140569999 meters Centerline goodness : 0.973507 Centerline is valid? [True, True] Translation: X:171.32, Y:199.18, Z:-151.74 [[ 3.14762832e-01 4.35878734e-01 8.43169075e-01 1.71322391e+02] [-1.31948416e-01 8.99790814e-01 -4.15891942e-01 1.99175879e+02] [-9.39954241e-01 1.96525014e-02 3.40734213e-01 -1.51735684e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.6007140569999 meters Centerline goodness : 0.978436 Centerline is valid? [True, True] Translation: X:171.33, Y:199.17, Z:-151.78 [[ 3.08092250e-01 4.36539284e-01 8.45288483e-01 1.71329759e+02] [-1.32519158e-01 8.99538827e-01 -4.16255417e-01 1.99170548e+02] [-9.42081652e-01 1.62281502e-02 3.34990759e-01 -1.51775410e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.630714057 meters Centerline goodness : 0.983969 Centerline is valid? [True, True] Translation: X:171.36, Y:199.19, Z:-151.79 [[ 3.13921847e-01 4.75225031e-01 8.21957568e-01 1.71358340e+02] [-1.28877405e-01 8.79036397e-01 -4.59005040e-01 1.99193212e+02] [-9.40661304e-01 3.81599518e-02 3.37194498e-01 -1.51785961e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.660714057 meters Centerline goodness : 0.982526 Centerline is valid? [True, True] Translation: X:171.33, Y:199.15, Z:-151.82 [[ 3.06438924e-01 3.88482680e-01 8.69008857e-01 1.71328258e+02] [-1.36044485e-01 9.21431688e-01 -3.63944422e-01 1.99152748e+02] [-9.42118402e-01 -6.69712543e-03 3.35213461e-01 -1.51823441e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.6907140569999 meters Centerline goodness : 0.982856 Centerline is valid? [True, True] Translation: X:171.34, Y:199.16, Z:-151.85 [[ 3.05708836e-01 4.12375793e-01 8.58188973e-01 1.71344321e+02] [-1.35504905e-01 9.11009590e-01 -3.89486775e-01 1.99159374e+02] [-9.42433302e-01 2.78073351e-03 3.34382624e-01 -1.51846486e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.7207140569999 meters Centerline goodness : 0.984195 Centerline is valid? [True, True] Translation: X:171.35, Y:199.15, Z:-151.87 [[ 3.04505971e-01 4.02445098e-01 8.63315734e-01 1.71346938e+02] [-1.39323482e-01 9.15428782e-01 -3.77596493e-01 1.99149364e+02] [-9.42265929e-01 -5.29976737e-03 3.34823583e-01 -1.51873360e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.750714057 meters Centerline goodness : 0.985022 Centerline is valid? [True, True] Translation: X:171.35, Y:199.14, Z:-151.90 [[ 3.05629508e-01 4.00277260e-01 8.63926339e-01 1.71350290e+02] [-1.42214313e-01 9.16354860e-01 -3.74257744e-01 1.99143503e+02] [-9.41469964e-01 -8.47848005e-03 3.36990241e-01 -1.51901387e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.780714057 meters Centerline goodness : 0.984289 Centerline is valid? [True, True] Translation: X:171.35, Y:199.13, Z:-151.93 [[ 3.02153473e-01 3.96516374e-01 8.66878333e-01 1.71354023e+02] [-1.46100673e-01 9.17902175e-01 -3.68931145e-01 1.99131848e+02] [-9.41996748e-01 -1.51776808e-02 3.35278639e-01 -1.51930387e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.8107140569999 meters Centerline goodness : 0.981472 Centerline is valid? [True, True] Translation: X:171.36, Y:199.10, Z:-151.96 [[ 3.04563837e-01 3.89953508e-01 8.69009281e-01 1.71364327e+02] [-1.58799885e-01 9.20372612e-01 -3.57346961e-01 1.99104956e+02] [-9.39161043e-01 -2.91636124e-02 3.42236787e-01 -1.51962260e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.8407140569999 meters Centerline goodness : 0.983073 Centerline is valid? [True, True] Translation: X:171.40, Y:199.12, Z:-151.99 [[ 3.07416558e-01 4.66138953e-01 8.29583954e-01 1.71399523e+02] [-1.59986911e-01 8.84709539e-01 -4.37827842e-01 1.99117478e+02] [-9.38029450e-01 1.87295448e-03 3.46550492e-01 -1.51993335e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.870714057 meters Centerline goodness : 0.986261 Centerline is valid? [True, True] Translation: X:171.42, Y:199.14, Z:-152.01 [[ 3.04630486e-01 5.20626150e-01 7.97589292e-01 1.71424761e+02] [-1.51502019e-01 8.53214644e-01 -4.99071046e-01 1.99141762e+02] [-9.40344302e-01 3.11958673e-02 3.38791105e-01 -1.52011393e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.900714057 meters Centerline goodness : 0.983299 Centerline is valid? [True, True] Translation: X:171.39, Y:199.08, Z:-152.05 [[ 2.97885477e-01 4.13165010e-01 8.60557330e-01 1.71393805e+02] [-1.60317349e-01 9.10331943e-01 -3.81567950e-01 1.99083268e+02] [-9.41043352e-01 -2.42987192e-02 3.37412184e-01 -1.52052488e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.9307140569999 meters Centerline goodness : 0.983470 Centerline is valid? [True, True] Translation: X:171.43, Y:199.09, Z:-152.07 [[ 2.99600738e-01 4.81835475e-01 8.23452471e-01 1.71429464e+02] [-1.60574800e-01 8.76253090e-01 -4.54308547e-01 1.99091585e+02] [-9.40454747e-01 3.88545943e-03 3.39896707e-01 -1.52073998e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.9607140569999 meters Centerline goodness : 0.985121 Centerline is valid? [True, True] Translation: X:171.43, Y:199.08, Z:-152.11 [[ 3.03453677e-01 4.79524073e-01 8.23390873e-01 1.71434685e+02] [-1.60782517e-01 8.77516082e-01 -4.51790337e-01 1.99081040e+02] [-9.39183075e-01 4.71058203e-03 3.43384569e-01 -1.52108101e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.990714057 meters Centerline goodness : 0.984793 Centerline is valid? [True, True] Translation: X:171.44, Y:199.09, Z:-152.15 [[ 2.83594259e-01 5.48257523e-01 7.86757895e-01 1.71444830e+02] [-1.55151094e-01 8.35865138e-01 -5.26552569e-01 1.99092585e+02] [-9.46309904e-01 2.72609372e-02 3.22109309e-01 -1.52151971e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.020714057 meters Centerline goodness : 0.987134 Centerline is valid? [True, True] Translation: X:171.45, Y:199.07, Z:-152.16 [[ 3.00309823e-01 4.94279729e-01 8.15782790e-01 1.71445747e+02] [-1.50450135e-01 8.69100215e-01 -4.71200141e-01 1.99072617e+02] [-9.41901676e-01 1.87714001e-02 3.35363784e-01 -1.52159993e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.0507140569999 meters Centerline goodness : 0.986480 Centerline is valid? [True, True] Translation: X:171.43, Y:199.05, Z:-152.21 [[ 2.88283671e-01 4.92222624e-01 8.21346099e-01 1.71431023e+02] [-1.49952614e-01 8.70386131e-01 -4.68979954e-01 1.99049152e+02] [-9.45730796e-01 1.20362678e-02 3.24728178e-01 -1.52208587e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.0807140569999 meters Centerline goodness : 0.988571 Centerline is valid? [True, True] Translation: X:171.45, Y:199.04, Z:-152.21 [[ 3.05417786e-01 4.82521996e-01 8.20909556e-01 1.71452361e+02] [-1.44726499e-01 8.75609075e-01 -4.60828589e-01 1.99042818e+02] [-9.41155788e-01 2.19378807e-02 3.37260304e-01 -1.52213000e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.1107140569999 meters Centerline goodness : 0.987768 Centerline is valid? [True, True] Translation: X:171.44, Y:199.02, Z:-152.24 [[ 3.06912703e-01 4.33657357e-01 8.47198849e-01 1.71442078e+02] [-1.42329041e-01 9.01063128e-01 -4.09667772e-01 1.99015652e+02] [-9.41035088e-01 5.15124354e-03 3.38269756e-01 -1.52241717e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.140714057 meters Centerline goodness : 0.989313 Centerline is valid? [True, True] Translation: X:171.45, Y:199.01, Z:-152.27 [[ 3.08235254e-01 4.32472200e-01 8.47324510e-01 1.71448705e+02] [-1.39564647e-01 9.01612323e-01 -4.09410464e-01 1.99005418e+02] [-9.41016864e-01 7.93819228e-03 3.38266533e-01 -1.52267752e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.1707140569999 meters Centerline goodness : 0.990064 Centerline is valid? [True, True] Translation: X:171.45, Y:198.99, Z:-152.29 [[ 3.09964399e-01 4.30920736e-01 8.47484153e-01 1.71454053e+02] [-1.35689052e-01 9.02312180e-01 -4.09171372e-01 1.98989634e+02] [-9.41015703e-01 1.18342366e-02 3.38155879e-01 -1.52294271e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.2007140569999 meters Centerline goodness : 0.991147 Centerline is valid? [True, True] Translation: X:171.46, Y:198.98, Z:-152.32 [[ 3.11688156e-01 4.36605061e-01 8.43935136e-01 1.71462002e+02] [-1.36165204e-01 8.99537045e-01 -4.15080887e-01 1.98982511e+02] [-9.40377334e-01 1.44611962e-02 3.39825460e-01 -1.52318827e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.2307140569999 meters Centerline goodness : 0.991956 Centerline is valid? [True, True] Translation: X:171.46, Y:198.96, Z:-152.35 [[ 3.09549228e-01 4.20732823e-01 8.52738628e-01 1.71463774e+02] [-1.36344025e-01 9.07157879e-01 -3.98089047e-01 1.98961737e+02] [-9.41057694e-01 6.96234017e-03 3.38174428e-01 -1.52345219e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.260714057 meters Centerline goodness : 0.993524 Centerline is valid? [True, True] Translation: X:171.47, Y:198.96, Z:-152.37 [[ 3.08827301e-01 4.30605769e-01 8.48059178e-01 1.71473170e+02] [-1.37675936e-01 9.02492435e-01 -4.08108738e-01 1.98956566e+02] [-9.41100970e-01 9.27777860e-03 3.37998355e-01 -1.52369605e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.290714057 meters Centerline goodness : 0.992786 Centerline is valid? [True, True] Translation: X:171.48, Y:198.95, Z:-152.40 [[ 3.07435261e-01 4.30963021e-01 8.48383425e-01 1.71479440e+02] [-1.39293906e-01 9.02340650e-01 -4.07895280e-01 1.98948143e+02] [-9.41318633e-01 7.22675087e-03 3.37441855e-01 -1.52395619e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.3207140569999 meters Centerline goodness : 0.994288 Centerline is valid? [True, True] Translation: X:171.48, Y:198.93, Z:-152.42 [[ 3.04360440e-01 4.32334404e-01 8.48794254e-01 1.71484856e+02] [-1.45130938e-01 9.01713025e-01 -4.07247629e-01 1.98934483e+02] [-9.41435995e-01 7.63761782e-04 3.37190871e-01 -1.52420927e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.3507140569999 meters Centerline goodness : 0.994431 Centerline is valid? [True, True] Translation: X:171.49, Y:198.93, Z:-152.45 [[ 3.02942029e-01 4.32963252e-01 8.48981124e-01 1.71493153e+02] [-1.49108781e-01 9.01404981e-01 -4.06491859e-01 1.98925142e+02] [-9.41271852e-01 -3.44707249e-03 3.37632076e-01 -1.52451997e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.380714057 meters Centerline goodness : 0.995157 Centerline is valid? [True, True] Translation: X:171.50, Y:198.92, Z:-152.48 [[ 3.01534920e-01 4.34958339e-01 8.48462100e-01 1.71501279e+02] [-1.53278925e-01 9.00421066e-01 -4.07120958e-01 1.98916084e+02] [-9.41053805e-01 -7.29017328e-03 3.38178341e-01 -1.52482195e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.410714057 meters Centerline goodness : 0.996083 Centerline is valid? [True, True] Translation: X:171.51, Y:198.90, Z:-152.51 [[ 2.99534193e-01 4.37574143e-01 8.47825535e-01 1.71506243e+02] [-1.59645446e-01 8.99084659e-01 -4.07627413e-01 1.98902738e+02] [-9.40634147e-01 -1.32531376e-02 3.39163317e-01 -1.52509112e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.4407140569999 meters Centerline goodness : 0.996880 Centerline is valid? [True, True] Translation: X:171.51, Y:198.89, Z:-152.54 [[ 2.98311050e-01 4.38145270e-01 8.47961815e-01 1.71513904e+02] [-1.61790775e-01 8.98768165e-01 -4.07479486e-01 1.98892971e+02] [-9.40656293e-01 -1.56367657e-02 3.39000338e-01 -1.52539957e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.4707140569999 meters Centerline goodness : 0.997588 Centerline is valid? [True, True] Translation: X:171.52, Y:198.88, Z:-152.56 [[ 2.97877537e-01 4.42115044e-01 8.46051571e-01 1.71518381e+02] [-1.64404436e-01 8.96802114e-01 -4.10751933e-01 1.98879050e+02] [-9.40340446e-01 -1.67408571e-02 3.39822880e-01 -1.52564440e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.500714057 meters Centerline goodness : 0.997990 Centerline is valid? [True, True] Translation: X:171.52, Y:198.87, Z:-152.59 [[ 2.97283748e-01 4.34608220e-01 8.50140029e-01 1.71523163e+02] [-1.64368218e-01 9.00397895e-01 -4.02823435e-01 1.98866241e+02] [-9.40534668e-01 -1.99831408e-02 3.39109439e-01 -1.52591512e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.530714057 meters Centerline goodness : 0.998355 Centerline is valid? [True, True] Translation: X:171.53, Y:198.86, Z:-152.62 [[ 2.98222653e-01 4.41454627e-01 8.46274814e-01 1.71530412e+02] [-1.64938848e-01 8.97115692e-01 -4.09851938e-01 1.98859025e+02] [-9.40137450e-01 -1.73564602e-02 3.40353240e-01 -1.52616440e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.5607140569999 meters Centerline goodness : 0.998837 Centerline is valid? [True, True] Translation: X:171.53, Y:198.84, Z:-152.64 [[ 2.98575656e-01 4.33671886e-01 8.50165439e-01 1.71532740e+02] [-1.63796984e-01 9.00865761e-01 -4.02009239e-01 1.98840100e+02] [-9.40225040e-01 -1.92243626e-02 3.40010733e-01 -1.52642891e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.5907140569999 meters Centerline goodness : 0.998939 Centerline is valid? [True, True] Translation: X:171.54, Y:198.83, Z:-152.67 [[ 2.99227748e-01 4.37290259e-01 8.48080176e-01 1.71539666e+02] [-1.62792400e-01 8.99168751e-01 -4.06194771e-01 1.98832588e+02] [-9.40192209e-01 -1.65162610e-02 3.40243771e-01 -1.52669215e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.620714057 meters Centerline goodness : 0.999624 Centerline is valid? [True, True] Translation: X:171.54, Y:198.82, Z:-152.70 [[ 3.00359647e-01 4.36195078e-01 8.48244032e-01 1.71543785e+02] [-1.60196436e-01 8.99743935e-01 -4.05953143e-01 1.98817974e+02] [-9.40277185e-01 -1.39537284e-02 3.40123667e-01 -1.52695806e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.650714057 meters Centerline goodness : 0.999667 Centerline is valid? [True, True] Translation: X:171.55, Y:198.81, Z:-152.72 [[ 3.01091984e-01 4.35376292e-01 8.48405034e-01 1.71549866e+02] [-1.58431712e-01 9.00165115e-01 -4.05711915e-01 1.98808410e+02] [-9.40341964e-01 -1.22576567e-02 3.40009912e-01 -1.52721165e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.6807140569999 meters Centerline goodness : 0.999688 Centerline is valid? [True, True] Translation: X:171.56, Y:198.80, Z:-152.75 [[ 3.01768644e-01 4.34403508e-01 8.48663230e-01 1.71555892e+02] [-1.56230679e-01 9.00660278e-01 -4.05466446e-01 1.98798861e+02] [-9.40493307e-01 -1.02301735e-02 3.39658186e-01 -1.52746985e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.7107140569999 meters Centerline goodness : 0.999584 Centerline is valid? [True, True] Translation: X:171.56, Y:198.79, Z:-152.77 [[ 3.02958793e-01 4.32935566e-01 8.48989261e-01 1.71561775e+02] [-1.53773915e-01 9.01390078e-01 -4.04783287e-01 1.98789431e+02] [-9.40515578e-01 -7.91974658e-03 3.39658247e-01 -1.52772554e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.740714057 meters Centerline goodness : 0.999313 Centerline is valid? [True, True] Translation: X:171.57, Y:198.78, Z:-152.80 [[ 3.05635906e-01 4.31034786e-01 8.48996882e-01 1.71565229e+02] [-1.49140600e-01 9.02330277e-01 -4.04421998e-01 1.98776425e+02] [-9.40395541e-01 -3.01402080e-03 3.40069319e-01 -1.52798818e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.770714057 meters Centerline goodness : 0.999169 Centerline is valid? [True, True] Translation: X:171.57, Y:198.76, Z:-152.83 [[ 3.08727875e-01 4.21324235e-01 8.52744386e-01 1.71574796e+02] [-1.47458418e-01 9.06901733e-01 -3.94696418e-01 1.98764365e+02] [-9.39650528e-01 -3.89055210e-03 3.42113650e-01 -1.52826207e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.8007140569999 meters Centerline goodness : 0.999147 Centerline is valid? [True, True] Translation: X:171.58, Y:198.75, Z:-152.85 [[ 3.11675803e-01 4.13241140e-01 8.55622553e-01 1.71580362e+02] [-1.44215026e-01 9.10617657e-01 -3.87269298e-01 1.98750051e+02] [-9.39180611e-01 -2.69115935e-03 3.43413071e-01 -1.52852731e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.8307140569999 meters Centerline goodness : 0.999064 Centerline is valid? [True, True] Translation: X:171.58, Y:198.75, Z:-152.88 [[ 3.09738823e-01 4.22298027e-01 8.51895673e-01 1.71583571e+02] [-1.42540728e-01 9.06455458e-01 -3.97518105e-01 1.98745432e+02] [-9.40076594e-01 1.69696006e-03 3.40959115e-01 -1.52884696e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.8607140569999 meters Centerline goodness : 0.998811 Centerline is valid? [True, True] Translation: X:171.59, Y:198.74, Z:-152.91 [[ 3.10942870e-01 4.29779406e-01 8.47705252e-01 1.71591080e+02] [-1.39605807e-01 9.02897853e-01 -4.06553423e-01 1.98741636e+02] [-9.40119541e-01 8.07031279e-03 3.40749350e-01 -1.52913209e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.890714057 meters Centerline goodness : 0.998661 Centerline is valid? [True, True] Translation: X:171.60, Y:198.73, Z:-152.94 [[ 3.12692812e-01 4.32448184e-01 8.45701941e-01 1.71597880e+02] [-1.34793701e-01 9.01541025e-01 -4.11162302e-01 1.98731821e+02] [-9.40241386e-01 1.45722015e-02 3.40196689e-01 -1.52942702e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.9207140569999 meters Centerline goodness : 0.998242 Centerline is valid? [True, True] Translation: X:171.61, Y:198.72, Z:-152.97 [[ 3.13665286e-01 4.25873185e-01 8.48673152e-01 1.71605005e+02] [-1.32136177e-01 9.04659590e-01 -4.05130913e-01 1.98721339e+02] [-9.40294698e-01 1.49350780e-02 3.40033563e-01 -1.52972273e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.9507140569999 meters Centerline goodness : 0.998743 Centerline is valid? [True, True] Translation: X:171.62, Y:198.70, Z:-152.99 [[ 3.22857923e-01 3.99862571e-01 8.57830220e-01 1.71618590e+02] [-1.24646380e-01 9.16438096e-01 -3.80268979e-01 1.98702771e+02] [-9.38203625e-01 1.58474215e-02 3.45720723e-01 -1.52994377e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.9807140569999 meters Centerline goodness : 0.998303 Centerline is valid? [True, True] Translation: X:171.63, Y:198.69, Z:-153.02 [[ 3.26568675e-01 3.86584461e-01 8.62499481e-01 1.71629281e+02] [-1.21855703e-01 9.22135125e-01 -3.67175705e-01 1.98689175e+02] [-9.37285489e-01 1.48076023e-02 3.48247967e-01 -1.53023282e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.010714057 meters Centerline goodness : 0.998532 Centerline is valid? [True, True] Translation: X:171.63, Y:198.70, Z:-153.06 [[ 3.20082719e-01 4.29758605e-01 8.44307169e-01 1.71629126e+02] [-1.17926615e-01 9.02335592e-01 -4.14588703e-01 1.98702222e+02] [-9.40021472e-01 3.31363929e-02 3.39502007e-01 -1.53063037e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.040714057 meters Centerline goodness : 0.998580 Centerline is valid? [True, True] Translation: X:171.65, Y:198.65, Z:-153.08 [[ 3.35858915e-01 3.57044206e-01 8.71618164e-01 1.71654246e+02] [-1.16679433e-01 9.34014200e-01 -3.37643871e-01 1.98654462e+02] [-9.34657530e-01 1.17007910e-02 3.55356711e-01 -1.53080205e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.0707140569999 meters Centerline goodness : 0.998581 Centerline is valid? [True, True] Translation: X:171.65, Y:198.71, Z:-153.12 [[ 3.25498025e-01 4.73556302e-01 8.18410328e-01 1.71652067e+02] [-1.08493048e-01 8.78534064e-01 -4.65195827e-01 1.98710734e+02] [-9.39297767e-01 6.26284920e-02 3.37338670e-01 -1.53124182e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.1007140569999 meters Centerline goodness : 0.998304 Centerline is valid? [True, True] Translation: X:171.65, Y:198.68, Z:-153.15 [[ 3.25496790e-01 4.17021825e-01 8.48613362e-01 1.71653403e+02] [-1.01333081e-01 9.07703786e-01 -4.07192146e-01 1.98680788e+02] [-9.40097573e-01 4.65471297e-02 3.37712775e-01 -1.53148328e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.130714057 meters Centerline goodness : 0.998286 Centerline is valid? [True, True] Translation: X:171.66, Y:198.68, Z:-153.18 [[ 3.26831721e-01 4.15604969e-01 8.48795344e-01 1.71664333e+02] [-9.93219422e-02 9.08248869e-01 -4.06471577e-01 1.98675919e+02] [-9.39849019e-01 4.85438032e-02 3.38123234e-01 -1.53179565e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.160714057 meters Centerline goodness : 0.998740 Centerline is valid? [True, True] Translation: X:171.67, Y:198.67, Z:-153.21 [[ 3.27052138e-01 4.15690386e-01 8.48668606e-01 1.71674595e+02] [-9.74420990e-02 9.08103315e-01 -4.07251037e-01 1.98672225e+02] [-9.39969115e-01 5.04962724e-02 3.37502875e-01 -1.53210472e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.1907140569999 meters Centerline goodness : 0.998026 Centerline is valid? [True, True] Translation: X:171.70, Y:198.65, Z:-153.23 [[ 3.39594178e-01 3.79469220e-01 8.60627042e-01 1.71699112e+02] [-9.72852033e-02 9.24267210e-01 -3.69141862e-01 1.98649912e+02] [-9.35527329e-01 4.16321506e-02 3.50792504e-01 -1.53228143e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.2207140569999 meters Centerline goodness : 0.998026 Centerline is valid? [True, True] Translation: X:171.71, Y:198.65, Z:-153.26 [[ 3.39655172e-01 3.93860371e-01 8.54112623e-01 1.71709862e+02] [-9.78758061e-02 9.17969848e-01 -3.84384813e-01 1.98651270e+02] [-9.35443580e-01 4.69613283e-02 3.50342608e-01 -1.53259353e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.250714057 meters Centerline goodness : 0.998440 Centerline is valid? [True, True] Translation: X:171.71, Y:198.67, Z:-153.30 [[ 3.27174853e-01 4.31719138e-01 8.40580277e-01 1.71705534e+02] [-9.33550274e-02 8.99952335e-01 -4.25876313e-01 1.98668442e+02] [-9.40341137e-01 6.08636252e-02 3.34744925e-01 -1.53299848e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.280714057 meters Centerline goodness : 0.998840 Centerline is valid? [True, True] Translation: X:171.72, Y:198.66, Z:-153.33 [[ 3.27312518e-01 4.16612482e-01 8.48115886e-01 1.71715099e+02] [-9.25009598e-02 9.07372886e-01 -4.10021972e-01 1.98659858e+02] [-9.40377631e-01 5.57537908e-02 3.35531559e-01 -1.53329568e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.3107140569999 meters Centerline goodness : 0.998461 Centerline is valid? [True, True] Translation: X:171.74, Y:198.64, Z:-153.35 [[ 3.37298954e-01 3.79541391e-01 8.61497387e-01 1.71739009e+02] [-9.58542578e-02 9.24216286e-01 -3.69643366e-01 1.98635745e+02] [-9.36504873e-01 4.21021282e-02 3.48117845e-01 -1.53350681e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.3407140569999 meters Centerline goodness : 0.998776 Centerline is valid? [True, True] Translation: X:171.74, Y:198.67, Z:-153.39 [[ 3.29807282e-01 4.43643470e-01 8.33311244e-01 1.71740108e+02] [-9.31158211e-02 8.93682774e-01 -4.38931137e-01 1.98667624e+02] [-9.39444837e-01 6.71682243e-02 3.36053312e-01 -1.53390132e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.370714057 meters Centerline goodness : 0.998692 Centerline is valid? [True, True] Translation: X:171.75, Y:198.66, Z:-153.42 [[ 3.28628899e-01 4.17312551e-01 8.47262227e-01 1.71748769e+02] [-9.14091964e-02 9.06929417e-01 -4.11246145e-01 1.98655297e+02] [-9.40025215e-01 5.76998084e-02 3.36189421e-01 -1.53420267e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.400714057 meters Centerline goodness : 0.998822 Centerline is valid? [True, True] Translation: X:171.76, Y:198.65, Z:-153.45 [[ 3.29764388e-01 4.17594281e-01 8.46682033e-01 1.71759850e+02] [-9.08132904e-02 9.06721325e-01 -4.11836601e-01 1.98652393e+02] [-9.39685264e-01 5.89190634e-02 3.36927514e-01 -1.53450656e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.4307140569999 meters Centerline goodness : 0.998796 Centerline is valid? [True, True] Translation: X:171.77, Y:198.65, Z:-153.48 [[ 3.30706367e-01 4.17516351e-01 8.46352997e-01 1.71771871e+02] [-8.89359192e-02 9.06610023e-01 -4.12490811e-01 1.98651479e+02] [-9.39533768e-01 6.11421559e-02 3.36953908e-01 -1.53481586e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.4607140569999 meters Centerline goodness : 0.998987 Centerline is valid? [True, True] Translation: X:171.79, Y:198.63, Z:-153.51 [[ 3.37365795e-01 3.88025573e-01 8.57683202e-01 1.71790987e+02] [-9.15486035e-02 9.20302420e-01 -3.80344987e-01 1.98631996e+02] [-9.36911508e-01 4.97956895e-02 3.46001757e-01 -1.53505440e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.490714057 meters Centerline goodness : 0.998905 Centerline is valid? [True, True] Translation: X:171.80, Y:198.66, Z:-153.54 [[ 3.31444510e-01 4.42204611e-01 8.33426433e-01 1.71796651e+02] [-8.93855758e-02 8.94102890e-01 -4.38851047e-01 1.98658798e+02] [-9.39230939e-01 7.09584683e-02 3.35872208e-01 -1.53541773e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.520714057 meters Centerline goodness : 0.999053 Centerline is valid? [True, True] Translation: X:171.81, Y:198.65, Z:-153.57 [[ 3.29210163e-01 4.19023971e-01 8.46191220e-01 1.71805303e+02] [-8.99390120e-02 9.05985941e-01 -4.13642900e-01 1.98646241e+02] [-9.39963639e-01 6.00698442e-02 3.35946381e-01 -1.53571340e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.5507140569999 meters Centerline goodness : 0.999600 Centerline is valid? [True, True] Translation: X:171.82, Y:198.64, Z:-153.60 [[ 3.29960495e-01 4.04128681e-01 8.53115514e-01 1.71824814e+02] [-9.42805086e-02 9.13318502e-01 -3.96182407e-01 1.98640640e+02] [-9.39274857e-01 5.02923787e-02 3.39460482e-01 -1.53596915e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.5807140569999 meters Centerline goodness : 0.999685 Centerline is valid? [True, True] Translation: X:171.84, Y:198.66, Z:-153.63 [[ 3.22304852e-01 4.31682376e-01 8.42478432e-01 1.71836926e+02] [-1.01953811e-01 9.00623771e-01 -4.22471589e-01 1.98655377e+02] [-9.41129642e-01 5.02707562e-02 3.34287075e-01 -1.53629632e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.6107140569999 meters Centerline goodness : 0.999264 Centerline is valid? [True, True] Translation: X:171.85, Y:198.65, Z:-153.65 [[ 3.20818498e-01 4.30742280e-01 8.43526277e-01 1.71847245e+02] [-1.07253123e-01 9.01396209e-01 -4.19501659e-01 1.98654418e+02] [-9.41048489e-01 4.41130648e-02 3.35383032e-01 -1.53654388e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.640714057 meters Centerline goodness : 0.999790 Centerline is valid? [True, True] Translation: X:171.85, Y:198.64, Z:-153.68 [[ 3.17447945e-01 4.06280905e-01 8.56832906e-01 1.71854421e+02] [-1.11080969e-01 9.13280668e-01 -3.91892128e-01 1.98643108e+02] [-9.41747217e-01 2.92275212e-02 3.35049148e-01 -1.53678218e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.6707140569999 meters Centerline goodness : 0.999600 Centerline is valid? [True, True] Translation: X:171.87, Y:198.67, Z:-153.71 [[ 3.09143825e-01 4.51284455e-01 8.37121518e-01 1.71866038e+02] [-1.18253143e-01 8.91649400e-01 -4.37009773e-01 1.98667257e+02] [-9.43634617e-01 3.61066222e-02 3.29013711e-01 -1.53712314e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.7007140569999 meters Centerline goodness : 0.999643 Centerline is valid? [True, True] Translation: X:171.87, Y:198.66, Z:-153.74 [[ 3.06759611e-01 4.32102601e-01 8.48048279e-01 1.71873177e+02] [-1.23115868e-01 9.01535120e-01 -4.14821541e-01 1.98657102e+02] [-9.43790774e-01 2.28422946e-02 3.29753249e-01 -1.53742046e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.7307140569999 meters Centerline goodness : 0.999495 Centerline is valid? [True, True] Translation: X:171.88, Y:198.66, Z:-153.77 [[ 3.04878117e-01 4.34115729e-01 8.47698571e-01 1.71884670e+02] [-1.27513849e-01 9.00666166e-01 -4.15380159e-01 1.98655679e+02] [-9.43816482e-01 1.85470133e-02 3.29949173e-01 -1.53773274e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.760714057 meters Centerline goodness : 0.998929 Centerline is valid? [True, True] Translation: X:171.90, Y:198.66, Z:-153.80 [[ 3.00494739e-01 4.40272092e-01 8.46087110e-01 1.71895369e+02] [-1.36480858e-01 8.97804793e-01 -4.18711750e-01 1.98657617e+02] [-9.43968160e-01 1.03459834e-02 3.29874330e-01 -1.53797636e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.790714057 meters Centerline goodness : 0.999663 Centerline is valid? [True, True] Translation: X:171.90, Y:198.65, Z:-153.83 [[ 2.97860667e-01 4.18925865e-01 8.57776278e-01 1.71901203e+02] [-1.37710242e-01 9.08020398e-01 -3.95644849e-01 1.98646661e+02] [-9.44624217e-01 -2.77540373e-04 3.28153944e-01 -1.53825336e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.8207140569999 meters Centerline goodness : 0.999326 Centerline is valid? [True, True] Translation: X:171.91, Y:198.65, Z:-153.85 [[ 2.94800172e-01 4.39189786e-01 8.48649039e-01 1.71913002e+02] [-1.42952416e-01 8.98393626e-01 -4.15275210e-01 1.98652823e+02] [-9.44805517e-01 1.10677318e-03 3.27629837e-01 -1.53850989e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.8507140569999 meters Centerline goodness : 0.999226 Centerline is valid? [True, True] Translation: X:171.92, Y:198.65, Z:-153.88 [[ 2.94002635e-01 4.39561860e-01 8.48733069e-01 1.71921155e+02] [-1.45072973e-01 8.98211600e-01 -4.14933433e-01 1.98649069e+02] [-9.44730799e-01 -1.13670691e-03 3.27845123e-01 -1.53877492e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.880714057 meters Centerline goodness : 0.999583 Centerline is valid? [True, True] Translation: X:171.93, Y:198.64, Z:-153.90 [[ 2.93769178e-01 4.39810861e-01 8.48684910e-01 1.71929062e+02] [-1.46846560e-01 8.98085947e-01 -4.14581379e-01 1.98643949e+02] [-9.44529384e-01 -2.83522832e-03 3.28414682e-01 -1.53903626e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.910714057 meters Centerline goodness : 0.998625 Centerline is valid? [True, True] Translation: X:171.94, Y:198.64, Z:-153.93 [[ 2.93362769e-01 4.43841547e-01 8.46724847e-01 1.71935573e+02] [-1.50659429e-01 8.96090872e-01 -4.17519922e-01 1.98639791e+02] [-9.44055095e-01 -5.08228154e-03 3.29748614e-01 -1.53926204e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.9407140569999 meters Centerline goodness : 0.999287 Centerline is valid? [True, True] Translation: X:171.94, Y:198.62, Z:-153.96 [[ 2.93797191e-01 4.10357653e-01 8.63301690e-01 1.71937394e+02] [-1.50788383e-01 9.11748485e-01 -3.82070103e-01 1.98619165e+02] [-9.43899398e-01 -1.79247426e-02 3.29746311e-01 -1.53956680e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.9707140569999 meters Centerline goodness : 0.999348 Centerline is valid? [True, True] Translation: X:171.95, Y:198.63, Z:-153.98 [[ 2.93534257e-01 4.40129693e-01 8.48600904e-01 1.71949995e+02] [-1.51572820e-01 8.97904414e-01 -4.13271513e-01 1.98626403e+02] [-9.43855561e-01 -7.31548516e-03 3.30277404e-01 -1.53983554e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.000714057 meters Centerline goodness : 0.999084 Centerline is valid? [True, True] Translation: X:171.96, Y:198.62, Z:-154.01 [[ 2.92408683e-01 4.40230511e-01 8.48937135e-01 1.71956752e+02] [-1.53916929e-01 8.97828800e-01 -4.12568811e-01 1.98619095e+02] [-9.43825588e-01 -1.00270946e-02 3.30291865e-01 -1.54009818e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.030714057 meters Centerline goodness : 0.999122 Centerline is valid? [True, True] Translation: X:171.97, Y:198.61, Z:-154.04 [[ 2.91258428e-01 4.39959532e-01 8.49472859e-01 1.71965426e+02] [-1.54855601e-01 8.97943238e-01 -4.11968063e-01 1.98611469e+02] [-9.44027686e-01 -1.15564595e-02 3.29663733e-01 -1.54041209e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.0607140569999 meters Centerline goodness : 0.999374 Centerline is valid? [True, True] Translation: X:171.97, Y:198.61, Z:-154.07 [[ 2.91554995e-01 4.45602873e-01 8.46424104e-01 1.71974794e+02] [-1.56870486e-01 8.95161494e-01 -4.17226019e-01 1.98605722e+02] [-9.43603378e-01 -1.11346306e-02 3.30890744e-01 -1.54071832e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.0907140569999 meters Centerline goodness : 0.999414 Centerline is valid? [True, True] Translation: X:171.98, Y:198.59, Z:-154.10 [[ 2.90255000e-01 4.31081724e-01 8.54353897e-01 1.71978761e+02] [-1.56224232e-01 9.02157379e-01 -4.02126912e-01 1.98587898e+02] [-9.44111235e-01 -1.67514344e-02 3.29201101e-01 -1.54101665e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.120714057 meters Centerline goodness : 0.999499 Centerline is valid? [True, True] Translation: X:171.99, Y:198.58, Z:-154.13 [[ 2.90345107e-01 4.41818964e-01 8.48820194e-01 1.71988046e+02] [-1.55699252e-01 8.97023177e-01 -4.13651015e-01 1.98584009e+02] [-9.44170251e-01 -1.20591213e-02 3.29237172e-01 -1.54133200e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.150714057 meters Centerline goodness : 0.999374 Centerline is valid? [True, True] Translation: X:172.00, Y:198.58, Z:-154.16 [[ 2.91117425e-01 4.41976279e-01 8.48473697e-01 1.71995031e+02] [-1.54076011e-01 8.96969898e-01 -4.14373725e-01 1.98576718e+02] [-9.44198723e-01 -1.00980310e-02 3.29221509e-01 -1.54159733e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.1807140569999 meters Centerline goodness : 0.999144 Centerline is valid? [True, True] Translation: X:172.00, Y:198.57, Z:-154.19 [[ 2.92358796e-01 4.40762853e-01 8.48678055e-01 1.72001740e+02] [-1.46804223e-01 8.97618295e-01 -4.15607889e-01 1.98570005e+02] [-9.44973468e-01 -3.08290077e-03 3.27132452e-01 -1.54185832e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.2107140569999 meters Centerline goodness : 0.999207 Centerline is valid? [True, True] Translation: X:172.00, Y:198.54, Z:-154.22 [[ 2.92864428e-01 4.04583192e-01 8.66338772e-01 1.72003727e+02] [-1.49649691e-01 9.14295060e-01 -3.76390107e-01 1.98540209e+02] [-9.44370371e-01 -1.94160559e-02 3.28310250e-01 -1.54219104e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.240714057 meters Centerline goodness : 0.998999 Centerline is valid? [True, True] Translation: X:172.01, Y:198.54, Z:-154.25 [[ 2.94076180e-01 4.39914841e-01 8.48524681e-01 1.72012272e+02] [-1.44197253e-01 8.98039484e-01 -4.15610680e-01 1.98544130e+02] [-9.44841973e-01 -1.33726941e-04 3.27526532e-01 -1.54245611e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.270714057 meters Centerline goodness : 0.998370 Centerline is valid? [True, True] Translation: X:172.02, Y:198.53, Z:-154.27 [[ 2.94771805e-01 4.38786722e-01 8.48867361e-01 1.72018643e+02] [-1.41964518e-01 8.98589277e-01 -4.15190785e-01 1.98534733e+02] [-9.44963311e-01 1.87749151e-03 3.27170928e-01 -1.54273970e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.3007140569999 meters Centerline goodness : 0.998287 Centerline is valid? [True, True] Translation: X:172.02, Y:198.53, Z:-154.30 [[ 2.95607185e-01 4.38000374e-01 8.48982959e-01 1.72024934e+02] [-1.39405498e-01 8.98964037e-01 -4.15246635e-01 1.98526029e+02] [-9.45083329e-01 4.39699687e-03 3.26799889e-01 -1.54300506e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.3307140569999 meters Centerline goodness : 0.998144 Centerline is valid? [True, True] Translation: X:172.03, Y:198.52, Z:-154.33 [[ 2.95606501e-01 4.37328037e-01 8.49329726e-01 1.72032269e+02] [-1.37635636e-01 8.99283212e-01 -4.15145923e-01 1.98516731e+02] [-9.45342916e-01 5.82179640e-03 3.26025886e-01 -1.54331485e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.3607140569999 meters Centerline goodness : 0.998475 Centerline is valid? [True, True] Translation: X:172.04, Y:198.50, Z:-154.36 [[ 2.95679723e-01 4.36978341e-01 8.49484215e-01 1.72038629e+02] [-1.33772799e-01 8.99422952e-01 -4.16104784e-01 1.98504698e+02] [-9.45874378e-01 9.39586644e-03 3.24396945e-01 -1.54362183e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.390714057 meters Centerline goodness : 0.998184 Centerline is valid? [True, True] Translation: X:172.05, Y:198.50, Z:-154.39 [[ 2.95664462e-01 4.37429391e-01 8.49257354e-01 1.72046892e+02] [-1.32910286e-01 8.99192841e-01 -4.16877789e-01 1.98496264e+02] [-9.46000731e-01 1.03809093e-02 3.23998233e-01 -1.54392822e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.4207140569999 meters Centerline goodness : 0.997726 Centerline is valid? [True, True] Translation: X:172.05, Y:198.48, Z:-154.42 [[ 2.95407655e-01 4.37776237e-01 8.49167995e-01 1.72053170e+02] [-1.31479915e-01 8.99007145e-01 -4.17730996e-01 1.98484847e+02] [-9.46280799e-01 1.17523985e-02 3.23132375e-01 -1.54423002e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.4507140569999 meters Centerline goodness : 0.998124 Centerline is valid? [True, True] Translation: X:172.06, Y:198.48, Z:-154.45 [[ 2.95640936e-01 4.38221025e-01 8.48857332e-01 1.72061418e+02] [-1.31684699e-01 8.98789316e-01 -4.18135032e-01 1.98476881e+02] [-9.46179464e-01 1.18363102e-02 3.23425918e-01 -1.54453949e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.4807140569999 meters Centerline goodness : 0.997854 Centerline is valid? [True, True] Translation: X:172.07, Y:198.47, Z:-154.48 [[ 2.95892673e-01 4.38873966e-01 8.48432182e-01 1.72067948e+02] [-1.31761090e-01 8.98466744e-01 -4.18803683e-01 1.98470251e+02] [-9.46090134e-01 1.21305921e-02 3.23676238e-01 -1.54481198e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.510714057 meters Centerline goodness : 0.998034 Centerline is valid? [True, True] Translation: X:172.07, Y:198.46, Z:-154.51 [[ 2.96244903e-01 4.38614243e-01 8.48443577e-01 1.72073682e+02] [-1.31435093e-01 8.98588416e-01 -4.18645047e-01 1.98461537e+02] [-9.46025250e-01 1.25062009e-02 3.23851542e-01 -1.54509102e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.540714057 meters Centerline goodness : 0.997804 Centerline is valid? [True, True] Translation: X:172.08, Y:198.46, Z:-154.54 [[ 2.96377918e-01 4.38467212e-01 8.48473119e-01 1.72081335e+02] [-1.31576306e-01 8.98661940e-01 -4.18442819e-01 1.98455317e+02] [-9.45963956e-01 1.23782524e-02 3.24035451e-01 -1.54536833e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.5707140569999 meters Centerline goodness : 0.997885 Centerline is valid? [True, True] Translation: X:172.09, Y:198.45, Z:-154.56 [[ 2.96360164e-01 4.38539083e-01 8.48442176e-01 1.72087392e+02] [-1.32162078e-01 8.98634111e-01 -4.18317964e-01 1.98448357e+02] [-9.45887857e-01 1.18408993e-02 3.24277589e-01 -1.54562357e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.6007140569999 meters Centerline goodness : 0.997530 Centerline is valid? [True, True] Translation: X:172.10, Y:198.44, Z:-154.59 [[ 2.96747098e-01 4.38275817e-01 8.48442967e-01 1.72096742e+02] [-1.32648824e-01 8.98767491e-01 -4.17877120e-01 1.98441562e+02] [-9.45698393e-01 1.14588606e-02 3.24843416e-01 -1.54593488e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.630714057 meters Centerline goodness : 0.997657 Centerline is valid? [True, True] Translation: X:172.10, Y:198.43, Z:-154.62 [[ 2.97222989e-01 4.38878894e-01 8.47964511e-01 1.72104283e+02] [-1.32603274e-01 8.98466674e-01 -4.18537939e-01 1.98433312e+02] [-9.45555322e-01 1.19562270e-02 3.25241729e-01 -1.54623818e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.660714057 meters Centerline goodness : 0.997782 Centerline is valid? [True, True] Translation: X:172.11, Y:198.43, Z:-154.65 [[ 3.00599811e-01 4.33501825e-01 8.49538652e-01 1.72114736e+02] [-1.28635456e-01 9.01023730e-01 -4.14257358e-01 1.98430753e+02] [-9.45035805e-01 1.52448913e-02 3.26611267e-01 -1.54647213e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.6907140569999 meters Centerline goodness : 0.998433 Centerline is valid? [True, True] Translation: X:172.12, Y:198.40, Z:-154.68 [[ 2.97573738e-01 4.04641570e-01 8.64705193e-01 1.72119416e+02] [-1.32165832e-01 9.14475244e-01 -3.82448979e-01 1.98404733e+02] [-9.45506247e-01 -4.77709259e-04 3.25603606e-01 -1.54681181e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.7207140569999 meters Centerline goodness : 0.998352 Centerline is valid? [True, True] Translation: X:172.13, Y:198.42, Z:-154.71 [[ 2.99321859e-01 4.40324405e-01 8.46475542e-01 1.72130219e+02] [-1.30863507e-01 8.97710879e-01 -4.20701701e-01 1.98415680e+02] [-9.45135529e-01 1.51524571e-02 3.26326885e-01 -1.54712644e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.750714057 meters Centerline goodness : 0.998785 Centerline is valid? [True, True] Translation: X:172.14, Y:198.41, Z:-154.74 [[ 3.00328300e-01 4.40336581e-01 8.46112645e-01 1.72138582e+02] [-1.29442907e-01 8.97672159e-01 -4.21223490e-01 1.98411476e+02] [-9.45011876e-01 1.69820548e-02 3.26594801e-01 -1.54738704e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.780714057 meters Centerline goodness : 0.998576 Centerline is valid? [True, True] Translation: X:172.15, Y:198.41, Z:-154.76 [[ 3.01228875e-01 4.39288907e-01 8.46337061e-01 1.72146440e+02] [-1.28334208e-01 8.98164358e-01 -4.20512922e-01 1.98406609e+02] [-9.44876445e-01 1.80566374e-02 3.26928833e-01 -1.54764087e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.8107140569999 meters Centerline goodness : 0.998556 Centerline is valid? [True, True] Translation: X:172.15, Y:198.40, Z:-154.79 [[ 3.02825399e-01 4.38249719e-01 8.46306069e-01 1.72153152e+02] [-1.26322922e-01 8.98623516e-01 -4.20140806e-01 1.98399511e+02] [-9.44637125e-01 2.03214517e-02 3.27487010e-01 -1.54789350e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.8407140569999 meters Centerline goodness : 0.998326 Centerline is valid? [True, True] Translation: X:172.16, Y:198.39, Z:-154.82 [[ 3.03834027e-01 4.37714487e-01 8.46221550e-01 1.72162501e+02] [-1.25882199e-01 8.98868521e-01 -4.19748798e-01 1.98393033e+02] [-9.44372043e-01 2.10097385e-02 3.28207304e-01 -1.54820715e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.870714057 meters Centerline goodness : 0.997924 Centerline is valid? [True, True] Translation: X:172.17, Y:198.39, Z:-154.85 [[ 3.07925139e-01 4.46041593e-01 8.40374325e-01 1.72171961e+02] [-1.25915359e-01 8.94628912e-01 -4.28700866e-01 1.98392716e+02] [-9.43041585e-01 2.61917388e-02 3.31642220e-01 -1.54851610e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.900714057 meters Centerline goodness : 0.997884 Centerline is valid? [True, True] Translation: X:172.19, Y:198.38, Z:-154.87 [[ 3.10176603e-01 4.21909864e-01 8.51928719e-01 1.72185109e+02] [-1.23923446e-01 9.06424403e-01 -4.03779372e-01 1.98380364e+02] [-9.42567480e-01 1.96689709e-02 3.33436166e-01 -1.54874747e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.9307140569999 meters Centerline goodness : 0.998094 Centerline is valid? [True, True] Translation: X:172.19, Y:198.37, Z:-154.91 [[ 3.05146774e-01 4.15842232e-01 8.56715054e-01 1.72190180e+02] [-1.26620416e-01 9.09351554e-01 -3.96291587e-01 1.98369089e+02] [-9.43849944e-01 1.24494831e-02 3.30139810e-01 -1.54909785e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.9607140569999 meters Centerline goodness : 0.997781 Centerline is valid? [True, True] Translation: X:172.20, Y:198.38, Z:-154.94 [[ 3.04681059e-01 4.39840673e-01 8.44813373e-01 1.72202003e+02] [-1.27800340e-01 8.97843808e-01 -4.21359193e-01 1.98375619e+02] [-9.43841367e-01 2.04127291e-02 3.29767790e-01 -1.54941756e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.990714057 meters Centerline goodness : 0.998600 Centerline is valid? [True, True] Translation: X:172.21, Y:198.37, Z:-154.97 [[ 3.03037072e-01 4.41557486e-01 8.44509041e-01 1.72213149e+02] [-1.30797949e-01 8.97063211e-01 -4.22101282e-01 1.98371102e+02] [-9.43959972e-01 1.74522862e-02 3.29598223e-01 -1.54971310e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.020714057 meters Centerline goodness : 0.998326 Centerline is valid? [True, True] Translation: X:172.22, Y:198.37, Z:-155.00 [[ 3.02325345e-01 4.42293582e-01 8.44378928e-01 1.72223357e+02] [-1.31587625e-01 8.96715747e-01 -4.22593854e-01 1.98366609e+02] [-9.44078431e-01 1.66510152e-02 3.29300259e-01 -1.55002169e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.0507140569999 meters Centerline goodness : 0.997782 Centerline is valid? [True, True] Translation: X:172.23, Y:198.36, Z:-155.03 [[ 3.01858921e-01 4.43118067e-01 8.44113482e-01 1.72233885e+02] [-1.31932064e-01 8.96312807e-01 -4.23340623e-01 1.98362239e+02] [-9.44179603e-01 1.64235097e-02 3.29021497e-01 -1.55033514e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.0807140569999 meters Centerline goodness : 0.997980 Centerline is valid? [True, True] Translation: X:172.24, Y:198.36, Z:-155.06 [[ 3.00959799e-01 4.43666996e-01 8.44146194e-01 1.72244937e+02] [-1.30950814e-01 8.96027802e-01 -4.24247642e-01 1.98357621e+02] [-9.44603136e-01 1.71398542e-02 3.27766902e-01 -1.55063902e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.1107140569999 meters Centerline goodness : 0.997741 Centerline is valid? [True, True] Translation: X:172.26, Y:198.35, Z:-155.10 [[ 3.00894050e-01 4.44073991e-01 8.43955604e-01 1.72255622e+02] [-1.29871688e-01 8.95803424e-01 -4.25052433e-01 1.98353349e+02] [-9.44773050e-01 1.82898088e-02 3.27214559e-01 -1.55095232e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.140714057 meters Centerline goodness : 0.997741 Centerline is valid? [True, True] Translation: X:172.27, Y:198.35, Z:-155.13 [[ 3.00854723e-01 4.44782364e-01 8.43596518e-01 1.72265621e+02] [-1.29984130e-01 8.95448853e-01 -4.25764581e-01 1.98348552e+02] [-9.44770111e-01 1.84391256e-02 3.27214665e-01 -1.55126835e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.1707140569999 meters Centerline goodness : 0.998579 Centerline is valid? [True, True] Translation: X:172.28, Y:198.35, Z:-155.16 [[ 3.01492773e-01 4.44742047e-01 8.43389957e-01 1.72277013e+02] [-1.29064338e-01 8.95444206e-01 -4.26054070e-01 1.98345050e+02] [-9.44692810e-01 1.96006565e-02 3.27370295e-01 -1.55157376e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.2007140569999 meters Centerline goodness : 0.998159 Centerline is valid? [True, True] Translation: X:172.29, Y:198.34, Z:-155.19 [[ 3.01622247e-01 4.45486097e-01 8.42950863e-01 1.72287022e+02] [-1.29414851e-01 8.95073858e-01 -4.26725421e-01 1.98341351e+02] [-9.44603524e-01 1.96195195e-02 3.27626705e-01 -1.55188304e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.2307140569999 meters Centerline goodness : 0.998451 Centerline is valid? [True, True] Translation: X:172.30, Y:198.34, Z:-155.22 [[ 3.02359657e-01 4.46190832e-01 8.42313706e-01 1.72297218e+02] [-1.29987799e-01 8.94720879e-01 -4.27291144e-01 1.98337716e+02] [-9.44289050e-01 1.97050991e-02 3.28526863e-01 -1.55219613e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.260714057 meters Centerline goodness : 0.998262 Centerline is valid? [True, True] Translation: X:172.31, Y:198.34, Z:-155.25 [[ 3.03584882e-01 4.46904495e-01 8.41494261e-01 1.72307526e+02] [-1.30882342e-01 8.94364161e-01 -4.27764609e-01 1.98335002e+02] [-9.43772235e-01 1.97261283e-02 3.30007346e-01 -1.55250719e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.290714057 meters Centerline goodness : 0.998240 Centerline is valid? [True, True] Translation: X:172.32, Y:198.33, Z:-155.28 [[ 3.03978948e-01 4.47755939e-01 8.40899173e-01 1.72317674e+02] [-1.31819082e-01 8.93946137e-01 -4.28350363e-01 1.98330525e+02] [-9.43514986e-01 1.93629356e-02 3.30763583e-01 -1.55280497e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.3207140569999 meters Centerline goodness : 0.998010 Centerline is valid? [True, True] Translation: X:172.33, Y:198.33, Z:-155.31 [[ 3.04042922e-01 4.48841989e-01 8.40296835e-01 1.72328426e+02] [-1.33628982e-01 8.93427669e-01 -4.28870954e-01 1.98325457e+02] [-9.43239735e-01 1.81071670e-02 3.31618657e-01 -1.55311768e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.3507140569999 meters Centerline goodness : 0.998274 Centerline is valid? [True, True] Translation: X:172.34, Y:198.32, Z:-155.34 [[ 3.03533270e-01 4.50121902e-01 8.39796301e-01 1.72338616e+02] [-1.35651459e-01 8.92815567e-01 -4.29510239e-01 1.98320350e+02] [-9.43115177e-01 1.64510538e-02 3.32058921e-01 -1.55342765e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.380714057 meters Centerline goodness : 0.998274 Centerline is valid? [True, True] Translation: X:172.35, Y:198.32, Z:-155.37 [[ 3.03576459e-01 4.51330017e-01 8.39132021e-01 1.72348999e+02] [-1.37669603e-01 8.92230354e-01 -4.30083802e-01 1.98315832e+02] [-9.42808790e-01 1.50403453e-02 3.32994556e-01 -1.55373085e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.410714057 meters Centerline goodness : 0.997697 Centerline is valid? [True, True] Translation: X:172.36, Y:198.31, Z:-155.40 [[ 3.02845836e-01 4.52954566e-01 8.38520460e-01 1.72359768e+02] [-1.41001784e-01 8.91450410e-01 -4.30621252e-01 1.98311061e+02] [-9.42551270e-01 1.21789724e-02 3.33839447e-01 -1.55404418e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.4407140569999 meters Centerline goodness : 0.997886 Centerline is valid? [True, True] Translation: X:172.37, Y:198.31, Z:-155.43 [[ 3.02523770e-01 4.53966879e-01 8.38089161e-01 1.72369461e+02] [-1.42117311e-01 8.90946000e-01 -4.31297918e-01 1.98306273e+02] [-9.42487156e-01 1.13708939e-02 3.34048895e-01 -1.55434910e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.4707140569999 meters Centerline goodness : 0.998115 Centerline is valid? [True, True] Translation: X:172.38, Y:198.30, Z:-155.47 [[ 3.02064468e-01 4.54776249e-01 8.37815983e-01 1.72379247e+02] [-1.42568077e-01 8.90537252e-01 -4.31992762e-01 1.98301149e+02] [-9.42566391e-01 1.10438505e-02 3.33836237e-01 -1.55465912e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.500714057 meters Centerline goodness : 0.997574 Centerline is valid? [True, True] Translation: X:172.39, Y:198.29, Z:-155.50 [[ 3.01546262e-01 4.55642908e-01 8.37531726e-01 1.72389039e+02] [-1.43032835e-01 8.90098368e-01 -4.32743000e-01 1.98294126e+02] [-9.42661901e-01 1.06974968e-02 3.33577732e-01 -1.55496572e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.530714057 meters Centerline goodness : 0.998391 Centerline is valid? [True, True] Translation: X:172.40, Y:198.29, Z:-155.53 [[ 3.01280363e-01 4.56467851e-01 8.37178144e-01 1.72398984e+02] [-1.43493881e-01 8.89678407e-01 -4.33453387e-01 1.98288118e+02] [-9.42676853e-01 1.04610530e-02 3.33542976e-01 -1.55527915e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.5607140569999 meters Centerline goodness : 0.998242 Centerline is valid? [True, True] Translation: X:172.41, Y:198.28, Z:-155.56 [[ 3.00202296e-01 4.57443542e-01 8.37032847e-01 1.72408765e+02] [-1.44086061e-01 8.89185064e-01 -4.34268500e-01 1.98282189e+02] [-9.42930426e-01 9.76363498e-03 3.32846636e-01 -1.55558892e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.5907140569999 meters Centerline goodness : 0.998327 Centerline is valid? [True, True] Translation: X:172.42, Y:198.28, Z:-155.59 [[ 3.00072715e-01 4.58244397e-01 8.36641165e-01 1.72418608e+02] [-1.44530436e-01 8.88774390e-01 -4.34960961e-01 1.98277117e+02] [-9.42903664e-01 9.59980419e-03 3.32927206e-01 -1.55590165e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.620714057 meters Centerline goodness : 0.997967 Centerline is valid? [True, True] Translation: X:172.43, Y:198.27, Z:-155.62 [[ 2.99642374e-01 4.58927646e-01 8.36420865e-01 1.72428173e+02] [-1.44314218e-01 8.88418883e-01 -4.35758298e-01 1.98272668e+02] [-9.43073621e-01 9.86422838e-03 3.32437728e-01 -1.55620645e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.650714057 meters Centerline goodness : 0.997875 Centerline is valid? [True, True] Translation: X:172.44, Y:198.27, Z:-155.65 [[ 2.99321788e-01 4.59585424e-01 8.36174447e-01 1.72437940e+02] [-1.44244350e-01 8.88076888e-01 -4.36477959e-01 1.98267395e+02] [-9.43186108e-01 1.00339238e-02 3.32113363e-01 -1.55651305e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.6807140569999 meters Centerline goodness : 0.998058 Centerline is valid? [True, True] Translation: X:172.45, Y:198.26, Z:-155.68 [[ 3.00692525e-01 4.59524034e-01 8.35716260e-01 1.72447488e+02] [-1.42228640e-01 8.88076210e-01 -4.37140320e-01 1.98260847e+02] [-9.43056212e-01 1.25820396e-02 3.32395356e-01 -1.55681156e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.7107140569999 meters Centerline goodness : 0.997699 Centerline is valid? [True, True] Translation: X:172.46, Y:198.25, Z:-155.71 [[ 3.01767644e-01 4.59599455e-01 8.35287154e-01 1.72455860e+02] [-1.40760025e-01 8.88007523e-01 -4.37754789e-01 1.98254654e+02] [-9.42933139e-01 1.45251903e-02 3.32665169e-01 -1.55708018e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.740714057 meters Centerline goodness : 0.998164 Centerline is valid? [True, True] Translation: X:172.46, Y:198.25, Z:-155.74 [[ 3.04068220e-01 4.57803436e-01 8.35439125e-01 1.72464327e+02] [-1.35863468e-01 8.88838254e-01 -4.37615900e-01 1.98246821e+02] [-9.42912316e-01 1.95594308e-02 3.32466229e-01 -1.55736101e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.770714057 meters Centerline goodness : 0.997645 Centerline is valid? [True, True] Translation: X:172.49, Y:198.22, Z:-155.75 [[ 3.15814634e-01 4.12768799e-01 8.54331924e-01 1.72486961e+02] [-1.36530632e-01 9.10813386e-01 -3.89587427e-01 1.98216532e+02] [-9.38946486e-01 6.39493327e-03 3.44003781e-01 -1.55754605e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.8007140569999 meters Centerline goodness : 0.998452 Centerline is valid? [True, True] Translation: X:172.48, Y:198.25, Z:-155.80 [[ 3.06961371e-01 4.83472597e-01 8.19773728e-01 1.72483745e+02] [-1.29634777e-01 8.74570566e-01 -4.67248487e-01 1.98249759e+02] [-9.42851813e-01 3.71560516e-02 3.31134242e-01 -1.55796422e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.8307140569999 meters Centerline goodness : 0.998660 Centerline is valid? [True, True] Translation: X:172.49, Y:198.23, Z:-155.83 [[ 3.09763572e-01 4.54051913e-01 8.35394152e-01 1.72489937e+02] [-1.23365558e-01 8.90375808e-01 -4.38191579e-01 1.98230665e+02] [-9.42776468e-01 3.26769236e-02 3.31820358e-01 -1.55825351e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.8607140569999 meters Centerline goodness : 0.998100 Centerline is valid? [True, True] Translation: X:172.50, Y:198.22, Z:-155.85 [[ 3.15628112e-01 4.44630286e-01 8.38261775e-01 1.72503052e+02] [-1.18976386e-01 8.94991959e-01 -4.29923264e-01 1.98224814e+02] [-9.41394452e-01 3.59625112e-02 3.35385127e-01 -1.55849204e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.890714057 meters Centerline goodness : 0.998723 Centerline is valid? [True, True] Translation: X:172.51, Y:198.21, Z:-155.88 [[ 3.12673561e-01 4.28844103e-01 8.47542317e-01 1.72506055e+02] [-1.16778276e-01 9.02866999e-01 -4.13755988e-01 1.98207948e+02] [-9.42654804e-01 3.03960280e-02 3.32382315e-01 -1.55883826e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.9207140569999 meters Centerline goodness : 0.998185 Centerline is valid? [True, True] Translation: X:172.52, Y:198.21, Z:-155.92 [[ 3.14012495e-01 4.52804803e-01 8.34484250e-01 1.72517788e+02] [-1.16328621e-01 8.90669272e-01 -4.39517803e-01 1.98214032e+02] [-9.42265252e-01 4.09396801e-02 3.32355438e-01 -1.55916308e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.9507140569999 meters Centerline goodness : 0.997865 Centerline is valid? [True, True] Translation: X:172.53, Y:198.21, Z:-155.95 [[ 3.13450500e-01 4.53564249e-01 8.34283079e-01 1.72528438e+02] [-1.16366974e-01 8.90283414e-01 -4.40288736e-01 1.98209352e+02] [-9.42447617e-01 4.09257277e-02 3.31839681e-01 -1.55947559e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.9807140569999 meters Centerline goodness : 0.998039 Centerline is valid? [True, True] Translation: X:172.54, Y:198.21, Z:-155.97 [[ 3.12233298e-01 4.54896407e-01 8.34014165e-01 1.72538782e+02] [-1.18146588e-01 8.89682604e-01 -4.41028625e-01 1.98207063e+02] [-9.42630231e-01 3.91678947e-02 3.31532992e-01 -1.55974878e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.010714057 meters Centerline goodness : 0.998347 Centerline is valid? [True, True] Translation: X:172.55, Y:198.20, Z:-156.01 [[ 3.10642029e-01 4.55624808e-01 8.34210743e-01 1.72549370e+02] [-1.20332722e-01 8.89419152e-01 -4.40968942e-01 1.98203263e+02] [-9.42879402e-01 3.66006372e-02 3.31117543e-01 -1.56005843e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.040714057 meters Centerline goodness : 0.998285 Centerline is valid? [True, True] Translation: X:172.56, Y:198.20, Z:-156.04 [[ 3.05798891e-01 4.58521664e-01 8.34412921e-01 1.72560765e+02] [-1.25768158e-01 8.88169558e-01 -4.41969690e-01 1.98201117e+02] [-9.43752833e-01 3.02112646e-02 3.29268691e-01 -1.56036437e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.0707140569999 meters Centerline goodness : 0.998368 Centerline is valid? [True, True] Translation: X:172.57, Y:198.20, Z:-156.07 [[ 3.03111050e-01 4.60512181e-01 8.34297443e-01 1.72571268e+02] [-1.29164253e-01 8.87258871e-01 -4.42818576e-01 1.98197600e+02] [-9.44161155e-01 2.64617977e-02 3.28419680e-01 -1.56066754e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.1007140569999 meters Centerline goodness : 0.997929 Centerline is valid? [True, True] Translation: X:172.58, Y:198.19, Z:-156.10 [[ 3.00299614e-01 4.62559368e-01 8.34181619e-01 1.72581719e+02] [-1.32940625e-01 8.86307361e-01 -4.43605740e-01 1.98193860e+02] [-9.44535300e-01 2.23180071e-02 3.27650689e-01 -1.56098151e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.130714057 meters Centerline goodness : 0.998095 Centerline is valid? [True, True] Translation: X:172.59, Y:198.19, Z:-156.13 [[ 2.97824441e-01 4.64472917e-01 8.34005703e-01 1.72591860e+02] [-1.36266408e-01 8.85389557e-01 -4.44428620e-01 1.98190630e+02] [-9.44844997e-01 1.87147439e-02 3.26982705e-01 -1.56128249e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.160714057 meters Centerline goodness : 0.998307 Centerline is valid? [True, True] Translation: X:172.60, Y:198.20, Z:-156.15 [[ 2.96785339e-01 4.62328772e-01 8.35566018e-01 1.72603661e+02] [-1.37351914e-01 8.86558005e-01 -4.41757122e-01 1.98195037e+02] [-9.45014769e-01 1.63404451e-02 3.26619160e-01 -1.56152192e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.1907140569999 meters Centerline goodness : 0.998162 Centerline is valid? [True, True] Translation: X:172.61, Y:198.16, Z:-156.19 [[ 2.91214515e-01 4.22566684e-01 8.58272395e-01 1.72607153e+02] [-1.45672270e-01 9.06282264e-01 -3.96777076e-01 1.98163619e+02] [-9.45501822e-01 -9.47924412e-03 3.25478798e-01 -1.56187401e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.2207140569999 meters Centerline goodness : 0.998411 Centerline is valid? [True, True] Translation: X:172.63, Y:198.16, Z:-156.21 [[ 3.01173918e-01 4.25606324e-01 8.53319124e-01 1.72632723e+02] [-1.53137619e-01 9.04841169e-01 -3.97254740e-01 1.98156745e+02] [-9.41192404e-01 -1.10324926e-02 3.37690900e-01 -1.56208204e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.250714057 meters Centerline goodness : 0.998159 Centerline is valid? [True, True] Translation: X:172.64, Y:198.16, Z:-156.24 [[ 2.99883029e-01 4.42891806e-01 8.44936103e-01 1.72643401e+02] [-1.54738644e-01 8.96553042e-01 -4.15028428e-01 1.98158552e+02] [-9.41342722e-01 -6.28428431e-03 3.37393519e-01 -1.56238276e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.280714057 meters Centerline goodness : 0.998328 Centerline is valid? [True, True] Translation: X:172.64, Y:198.19, Z:-156.28 [[ 2.85779634e-01 5.01457493e-01 8.16621322e-01 1.72638376e+02] [-1.50653394e-01 8.65073562e-01 -4.78488545e-01 1.98185291e+02] [-9.46379182e-01 1.37155074e-02 3.22766679e-01 -1.56280811e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.3107140569999 meters Centerline goodness : 0.998423 Centerline is valid? [True, True] Translation: X:172.65, Y:198.15, Z:-156.30 [[ 2.95065897e-01 4.37589953e-01 8.49382805e-01 1.72654186e+02] [-1.52733329e-01 8.99132511e-01 -4.10162478e-01 1.98148346e+02] [-9.43190674e-01 -8.70410407e-03 3.32137911e-01 -1.56297250e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.3407140569999 meters Centerline goodness : 0.998682 Centerline is valid? [True, True] Translation: X:172.65, Y:198.16, Z:-156.34 [[ 2.84270665e-01 4.74771752e-01 8.32935756e-01 1.72649675e+02] [-1.51432618e-01 8.80107158e-01 -4.49977281e-01 1.98160213e+02] [-9.46709222e-01 1.78169860e-03 3.22084576e-01 -1.56339985e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.370714057 meters Centerline goodness : 0.998829 Centerline is valid? [True, True] Translation: X:172.66, Y:198.16, Z:-156.37 [[ 2.84633484e-01 4.75733091e-01 8.32263063e-01 1.72657144e+02] [-1.51418597e-01 8.79586555e-01 -4.50998782e-01 1.98155069e+02] [-9.46602445e-01 2.34924938e-03 3.22394623e-01 -1.56367162e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.400714057 meters Centerline goodness : 0.998719 Centerline is valid? [True, True] Translation: X:172.66, Y:198.15, Z:-156.40 [[ 2.83809314e-01 4.76108254e-01 8.32329985e-01 1.72664103e+02] [-1.53125992e-01 8.79386540e-01 -4.50812315e-01 1.98146319e+02] [-9.46575250e-01 4.93379350e-04 3.22482640e-01 -1.56398942e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.4307140569999 meters Centerline goodness : 0.998705 Centerline is valid? [True, True] Translation: X:172.67, Y:198.14, Z:-156.43 [[ 2.84012482e-01 4.77098393e-01 8.31693473e-01 1.72672356e+02] [-1.54499901e-01 8.78849837e-01 -4.51389793e-01 1.98139762e+02] [-9.46291018e-01 -2.96223982e-04 3.23315978e-01 -1.56429661e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.4607140569999 meters Centerline goodness : 0.998490 Centerline is valid? [True, True] Translation: X:172.68, Y:198.13, Z:-156.45 [[ 2.88737957e-01 4.64193703e-01 8.37349747e-01 1.72683823e+02] [-1.50923020e-01 8.85733632e-01 -4.38974003e-01 1.98134120e+02] [-9.45437800e-01 3.73103947e-04 3.25802435e-01 -1.56446840e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.490714057 meters Centerline goodness : 0.998132 Centerline is valid? [True, True] Translation: X:172.68, Y:198.14, Z:-156.48 [[ 2.78570436e-01 4.57754551e-01 8.44309945e-01 1.72676090e+02] [-1.39377795e-01 8.89070536e-01 -4.36036023e-01 1.98141092e+02] [-9.50248569e-01 3.78868645e-03 3.11469586e-01 -1.56476679e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.520714057 meters Centerline goodness : 0.997941 Centerline is valid? [True, True] Translation: X:172.69, Y:198.05, Z:-156.50 [[ 2.87340751e-01 3.16262902e-01 9.04108992e-01 1.72694086e+02] [-1.55356926e-01 9.46805087e-01 -2.81823266e-01 1.98052513e+02] [-9.45145237e-01 -5.94802848e-02 3.21189317e-01 -1.56497276e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.5507140569999 meters Centerline goodness : 0.998412 Centerline is valid? [True, True] Translation: X:172.70, Y:198.07, Z:-156.54 [[ 2.81889641e-01 4.13891197e-01 8.65582063e-01 1.72697648e+02] [-1.61351065e-01 9.09769108e-01 -3.82473535e-01 1.98074960e+02] [-9.45782250e-01 -3.18472604e-02 3.23236273e-01 -1.56543919e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.5807140569999 meters Centerline goodness : 0.997605 Centerline is valid? [True, True] Translation: X:172.72, Y:198.11, Z:-156.57 [[ 2.88684977e-01 4.82098269e-01 8.27189364e-01 1.72715677e+02] [-1.53867566e-01 8.76104942e-01 -4.56907980e-01 1.98109179e+02] [-9.44979236e-01 4.62485585e-03 3.27097622e-01 -1.56566267e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.6107140569999 meters Centerline goodness : 0.997751 Centerline is valid? [True, True] Translation: X:172.71, Y:198.07, Z:-156.60 [[ 2.83857242e-01 4.32115396e-01 8.55979761e-01 1.72713173e+02] [-1.60685761e-01 9.01512457e-01 -4.01815103e-01 1.98067041e+02] [-9.45306909e-01 -2.34856321e-02 3.25335630e-01 -1.56604789e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.640714057 meters Centerline goodness : 0.998150 Centerline is valid? [True, True] Translation: X:172.72, Y:198.08, Z:-156.64 [[ 2.81532942e-01 4.84982652e-01 8.27968013e-01 1.72723391e+02] [-1.57732488e-01 8.74522517e-01 -4.58618392e-01 1.98084043e+02] [-9.46498635e-01 -1.48126933e-03 3.22704417e-01 -1.56637237e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.6707140569999 meters Centerline goodness : 0.997941 Centerline is valid? [True, True] Translation: X:172.73, Y:198.08, Z:-156.67 [[ 2.83601160e-01 4.90165552e-01 8.24201501e-01 1.72730391e+02] [-1.53855916e-01 8.71613927e-01 -4.65421872e-01 1.98076466e+02] [-9.46519276e-01 5.18590599e-03 3.22605591e-01 -1.56668704e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.7007140569999 meters Centerline goodness : 0.997710 Centerline is valid? [True, True] Translation: X:172.74, Y:198.07, Z:-156.70 [[ 2.85055232e-01 4.90104226e-01 8.23736222e-01 1.72737926e+02] [-1.51726325e-01 8.71628220e-01 -4.66093734e-01 1.98069878e+02] [-9.46426245e-01 7.87998788e-03 3.22823897e-01 -1.56699161e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.7307140569999 meters Centerline goodness : 0.997957 Centerline is valid? [True, True] Translation: X:172.74, Y:198.06, Z:-156.73 [[ 2.88453397e-01 4.88982434e-01 8.23219787e-01 1.72743876e+02] [-1.46679873e-01 8.72183468e-01 -4.66670133e-01 1.98060695e+02] [-9.46192186e-01 1.38628114e-02 3.23308165e-01 -1.56729840e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.760714057 meters Centerline goodness : 0.997033 Centerline is valid? [True, True] Translation: X:172.75, Y:198.05, Z:-156.76 [[ 2.88892237e-01 4.88813242e-01 8.23166381e-01 1.72751210e+02] [-1.43745767e-01 8.72228018e-01 -4.67499132e-01 1.98053002e+02] [-9.46508547e-01 1.67301872e-02 3.22244738e-01 -1.56761171e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.790714057 meters Centerline goodness : 0.997535 Centerline is valid? [True, True] Translation: X:172.76, Y:198.05, Z:-156.79 [[ 2.88073251e-01 4.88299078e-01 8.23758346e-01 1.72760527e+02] [-1.38594809e-01 8.72427338e-01 -4.68681148e-01 1.98045818e+02] [-9.47525874e-01 2.08458715e-02 3.18998697e-01 -1.56791633e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.8207140569999 meters Centerline goodness : 0.997308 Centerline is valid? [True, True] Translation: X:172.77, Y:198.04, Z:-156.82 [[ 2.90340993e-01 4.86722865e-01 8.23894994e-01 1.72767226e+02] [-1.36062978e-01 8.73233386e-01 -4.67921275e-01 1.98036574e+02] [-9.47200599e-01 2.37551208e-02 3.19760411e-01 -1.56822641e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.8507140569999 meters Centerline goodness : 0.996064 Centerline is valid? [True, True] Translation: X:172.79, Y:198.03, Z:-156.84 [[ 3.02238136e-01 4.74403635e-01 8.26797013e-01 1.72786197e+02] [-1.34428306e-01 8.79905593e-01 -4.55735864e-01 1.98028475e+02] [-9.43706066e-01 2.65958362e-02 3.29714304e-01 -1.56842401e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.880714057 meters Centerline goodness : 0.996966 Centerline is valid? [True, True] Translation: X:172.78, Y:198.01, Z:-156.88 [[ 2.91353280e-01 4.58615293e-01 8.39514907e-01 1.72782593e+02] [-1.36240890e-01 8.88535841e-01 -4.38112405e-01 1.98010734e+02] [-9.46864133e-01 1.32692285e-02 3.21359987e-01 -1.56880425e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.910714057 meters Centerline goodness : 0.997524 Centerline is valid? [True, True] Translation: X:172.79, Y:198.02, Z:-156.91 [[ 2.93354231e-01 4.88485172e-01 8.21781925e-01 1.72792270e+02] [-1.37904639e-01 8.72232994e-01 -4.69246113e-01 1.98019278e+02] [-9.46005077e-01 2.43277928e-02 3.23237610e-01 -1.56914406e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.9407140569999 meters Centerline goodness : 0.997077 Centerline is valid? [True, True] Translation: X:172.80, Y:198.01, Z:-156.95 [[ 2.93525408e-01 4.89228000e-01 8.21278758e-01 1.72801526e+02] [-1.38875376e-01 8.71830707e-01 -4.69707195e-01 1.98013239e+02] [-9.45809952e-01 2.38155999e-02 3.23846186e-01 -1.56945635e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.9707140569999 meters Centerline goodness : 0.997557 Centerline is valid? [True, True] Translation: X:172.81, Y:198.01, Z:-156.98 [[ 2.94288683e-01 4.93891447e-01 8.18208659e-01 1.72808037e+02] [-1.42626460e-01 8.69229428e-01 -4.73389792e-01 1.98008722e+02] [-9.45014214e-01 2.26150537e-02 3.26246372e-01 -1.56976442e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.000714057 meters Centerline goodness : 0.997852 Centerline is valid? [True, True] Translation: X:172.82, Y:198.00, Z:-157.00 [[ 2.93335393e-01 4.93033129e-01 8.19068179e-01 1.72815589e+02] [-1.44514664e-01 8.69779951e-01 -4.71803294e-01 1.98002387e+02] [-9.45023735e-01 2.00292420e-02 3.26387761e-01 -1.57002160e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.030714057 meters Centerline goodness : 0.997852 Centerline is valid? [True, True] Translation: X:172.82, Y:198.00, Z:-157.03 [[ 2.93370205e-01 4.92733300e-01 8.19236118e-01 1.72823819e+02] [-1.44439600e-01 8.69950574e-01 -4.71511612e-01 1.97997608e+02] [-9.45024404e-01 1.99973208e-02 3.26387780e-01 -1.57029037e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.0607140569999 meters Centerline goodness : 0.997873 Centerline is valid? [True, True] Translation: X:172.83, Y:197.99, Z:-157.06 [[ 2.92972147e-01 4.93092295e-01 8.19162566e-01 1.72831705e+02] [-1.46441773e-01 8.69788978e-01 -4.71192043e-01 1.97992583e+02] [-9.44839737e-01 1.80865262e-02 3.27033254e-01 -1.57055688e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.0907140569999 meters Centerline goodness : 0.997709 Centerline is valid? [True, True] Translation: X:172.84, Y:197.99, Z:-157.09 [[ 2.91441879e-01 4.94116740e-01 8.19091130e-01 1.72840592e+02] [-1.50568450e-01 8.69284632e-01 -4.70822015e-01 1.97986619e+02] [-9.44664371e-01 1.38879712e-02 3.27744338e-01 -1.57087155e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.120714057 meters Centerline goodness : 0.998379 Centerline is valid? [True, True] Translation: X:172.85, Y:197.98, Z:-157.12 [[ 2.90027781e-01 4.95313657e-01 8.18870116e-01 1.72849837e+02] [-1.51905812e-01 8.68625877e-01 -4.71607581e-01 1.97981502e+02] [-9.44885449e-01 1.23881701e-02 3.27166658e-01 -1.57117912e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.150714057 meters Centerline goodness : 0.997541 Centerline is valid? [True, True] Translation: X:172.86, Y:197.98, Z:-157.15 [[ 2.89139183e-01 4.96398409e-01 8.18527429e-01 1.72858826e+02] [-1.53131074e-01 8.68022247e-01 -4.72322191e-01 1.97975709e+02] [-9.44960003e-01 1.12248683e-02 3.26993265e-01 -1.57148515e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.1807140569999 meters Centerline goodness : 0.997773 Centerline is valid? [True, True] Translation: X:172.87, Y:197.97, Z:-157.18 [[ 2.86635256e-01 4.97383136e-01 8.18810263e-01 1.72867602e+02] [-1.53128485e-01 8.67469939e-01 -4.73336637e-01 1.97968589e+02] [-9.45722950e-01 1.02917929e-02 3.24810994e-01 -1.57179968e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.2107140569999 meters Centerline goodness : 0.998215 Centerline is valid? [True, True] Translation: X:172.88, Y:197.96, Z:-157.21 [[ 2.85822798e-01 4.98119644e-01 8.18646535e-01 1.72876888e+02] [-1.52892292e-01 8.67046309e-01 -4.74188407e-01 1.97961860e+02] [-9.46007017e-01 1.03691119e-02 3.23980256e-01 -1.57210737e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.240714057 meters Centerline goodness : 0.997018 Centerline is valid? [True, True] Translation: X:172.89, Y:197.96, Z:-157.24 [[ 2.80370116e-01 4.94171375e-01 8.22913878e-01 1.72886146e+02] [-1.47769439e-01 8.69299353e-01 -4.71680855e-01 1.97955216e+02] [-9.48449678e-01 1.06436940e-02 3.16748987e-01 -1.57240260e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.270714057 meters Centerline goodness : 0.997377 Centerline is valid? [True, True] Translation: X:172.89, Y:197.95, Z:-157.27 [[ 2.83836584e-01 5.02183517e-01 8.16852807e-01 1.72893855e+02] [-1.51997443e-01 8.64681467e-01 -4.78772114e-01 1.97950602e+02] [-9.46748948e-01 1.17335037e-02 3.21758844e-01 -1.57271385e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.3007140569999 meters Centerline goodness : 0.997626 Centerline is valid? [True, True] Translation: X:172.90, Y:197.94, Z:-157.30 [[ 2.83744436e-01 4.99822030e-01 8.18331860e-01 1.72902774e+02] [-1.52352667e-01 8.66065328e-01 -4.76150725e-01 1.97943244e+02] [-9.46719473e-01 1.04300776e-02 3.21890438e-01 -1.57302035e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.3307140569999 meters Centerline goodness : 0.997272 Centerline is valid? [True, True] Translation: X:172.91, Y:197.94, Z:-157.33 [[ 2.84493407e-01 5.00576711e-01 8.17610212e-01 1.72910985e+02] [-1.53115963e-01 8.65629370e-01 -4.76698328e-01 1.97938123e+02] [-9.46371493e-01 1.04283563e-02 3.22912134e-01 -1.57332089e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.3607140569999 meters Centerline goodness : 0.997104 Centerline is valid? [True, True] Translation: X:172.92, Y:197.93, Z:-157.36 [[ 2.83969196e-01 5.01501053e-01 8.17225911e-01 1.72919692e+02] [-1.53984470e-01 8.65102435e-01 -4.77374653e-01 1.97932656e+02] [-9.46388017e-01 9.71959776e-03 3.22885817e-01 -1.57363399e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.390714057 meters Centerline goodness : 0.997144 Centerline is valid? [True, True] Translation: X:172.93, Y:197.93, Z:-157.39 [[ 2.79621957e-01 5.01056902e-01 8.18995447e-01 1.72928115e+02] [-1.51185376e-01 8.65359028e-01 -4.77804077e-01 1.97927575e+02] [-9.48132134e-01 9.78437702e-03 3.17725861e-01 -1.57394502e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.4207140569999 meters Centerline goodness : 0.997438 Centerline is valid? [True, True] Translation: X:172.94, Y:197.92, Z:-157.42 [[ 2.84042710e-01 5.06322408e-01 8.14221934e-01 1.72937093e+02] [-1.56762163e-01 8.62295862e-01 -4.81530343e-01 1.97922938e+02] [-9.45909807e-01 9.13599221e-03 3.24301050e-01 -1.57423989e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.4507140569999 meters Centerline goodness : 0.997329 Centerline is valid? [True, True] Translation: X:172.94, Y:197.92, Z:-157.45 [[ 2.83811573e-01 5.04724869e-01 8.15293688e-01 1.72944931e+02] [-1.61102495e-01 8.63268977e-01 -4.78343663e-01 1.97915367e+02] [-9.45249690e-01 4.41362056e-03 3.26318162e-01 -1.57454641e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.4807140569999 meters Centerline goodness : 0.997312 Centerline is valid? [True, True] Translation: X:172.95, Y:197.91, Z:-157.49 [[ 2.83586595e-01 5.06034070e-01 8.14560104e-01 1.72953799e+02] [-1.63791274e-01 8.62510252e-01 -4.78799001e-01 1.97910011e+02] [-9.44855048e-01 2.36314150e-03 3.27480310e-01 -1.57485484e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.510714057 meters Centerline goodness : 0.997037 Centerline is valid? [True, True] Translation: X:172.96, Y:197.90, Z:-157.52 [[ 2.83521721e-01 5.07340829e-01 8.13769449e-01 1.72962116e+02] [-1.66421845e-01 8.61745367e-01 -4.79268915e-01 1.97904060e+02] [-9.44414741e-01 4.54134677e-04 3.28756126e-01 -1.57516845e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.540714057 meters Centerline goodness : 0.996867 Centerline is valid? [True, True] Translation: X:172.97, Y:197.90, Z:-157.55 [[ 2.83744639e-01 5.08000144e-01 8.13280292e-01 1.72970981e+02] [-1.66587205e-01 8.61356708e-01 -4.79909705e-01 1.97897582e+02] [-9.44318634e-01 6.89714791e-04 3.29031672e-01 -1.57547800e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.5707140569999 meters Centerline goodness : 0.997374 Centerline is valid? [True, True] Translation: X:172.98, Y:197.89, Z:-157.58 [[ 2.83779402e-01 5.08516075e-01 8.12945664e-01 1.72979565e+02] [-1.66063502e-01 8.61051367e-01 -4.80638593e-01 1.97890254e+02] [-9.44400426e-01 1.39472838e-03 3.28794603e-01 -1.57578468e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.6007140569999 meters Centerline goodness : 0.996927 Centerline is valid? [True, True] Translation: X:172.99, Y:197.88, Z:-157.61 [[ 2.84987577e-01 5.08244976e-01 8.12692516e-01 1.72987236e+02] [-1.62958840e-01 8.61199346e-01 -4.81435460e-01 1.97881012e+02] [-9.44577417e-01 4.76769540e-03 3.28254127e-01 -1.57609838e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.630714057 meters Centerline goodness : 0.997331 Centerline is valid? [True, True] Translation: X:173.00, Y:197.87, Z:-157.64 [[ 2.85843376e-01 5.08412091e-01 8.12287332e-01 1.72996174e+02] [-1.61446601e-01 8.61088015e-01 -4.82143573e-01 1.97874221e+02] [-9.44578509e-01 6.67651816e-03 3.28217710e-01 -1.57640952e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.660714057 meters Centerline goodness : 0.996028 Centerline is valid? [True, True] Translation: X:173.01, Y:197.88, Z:-157.66 [[ 2.92120761e-01 5.05450035e-01 8.11902533e-01 1.73009258e+02] [-1.52101628e-01 8.62680243e-01 -4.82335872e-01 1.97879764e+02] [-9.44208958e-01 1.74086253e-02 3.28886582e-01 -1.57657947e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.6907140569999 meters Centerline goodness : 0.996116 Centerline is valid? [True, True] Translation: X:173.01, Y:197.82, Z:-157.69 [[ 2.85878926e-01 4.22454707e-01 8.60119329e-01 1.73012183e+02] [-1.56585335e-01 9.06108877e-01 -3.92998392e-01 1.97816010e+02] [-9.45385780e-01 -2.23321150e-02 3.25187644e-01 -1.57692882e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.7207140569999 meters Centerline goodness : 0.996899 Centerline is valid? [True, True] Translation: X:173.02, Y:197.85, Z:-157.73 [[ 2.87473107e-01 5.09463231e-01 8.11052667e-01 1.73021106e+02] [-1.54974667e-01 8.60380460e-01 -4.85518606e-01 1.97854691e+02] [-9.45167745e-01 1.38809248e-02 3.26290138e-01 -1.57731803e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.750714057 meters Centerline goodness : 0.996726 Centerline is valid? [True, True] Translation: X:173.03, Y:197.85, Z:-157.76 [[ 2.88304637e-01 5.09200246e-01 8.10922651e-01 1.73029154e+02] [-1.51684076e-01 8.60475709e-01 -4.86388214e-01 1.97848162e+02] [-9.45448242e-01 1.72239244e-02 3.25316705e-01 -1.57761645e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.780714057 meters Centerline goodness : 0.996260 Centerline is valid? [True, True] Translation: X:173.04, Y:197.84, Z:-157.79 [[ 2.89057065e-01 5.09293410e-01 8.10596222e-01 1.73038454e+02] [-1.50020836e-01 8.60379055e-01 -4.87074563e-01 1.97842061e+02] [-9.45483877e-01 1.91860201e-02 3.25103267e-01 -1.57793037e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.8107140569999 meters Centerline goodness : 0.996807 Centerline is valid? [True, True] Translation: X:173.05, Y:197.84, Z:-157.82 [[ 2.89372702e-01 5.09514844e-01 8.10344411e-01 1.73047536e+02] [-1.48442356e-01 8.60208404e-01 -4.87858964e-01 1.97835976e+02] [-9.45636456e-01 2.08836333e-02 3.24554414e-01 -1.57823924e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.8407140569999 meters Centerline goodness : 0.996853 Centerline is valid? [True, True] Translation: X:173.06, Y:197.83, Z:-157.85 [[ 2.90660392e-01 5.09216308e-01 8.10071162e-01 1.73056453e+02] [-1.45332309e-01 8.60295475e-01 -4.88641193e-01 1.97830027e+02] [-9.45724620e-01 2.42991283e-02 3.24059402e-01 -1.57853796e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.870714057 meters Centerline goodness : 0.996433 Centerline is valid? [True, True] Translation: X:173.07, Y:197.82, Z:-157.89 [[ 2.91006083e-01 5.09272214e-01 8.09911891e-01 1.73065804e+02] [-1.44092488e-01 8.60223491e-01 -4.89134849e-01 1.97824853e+02] [-9.45808022e-01 2.56389969e-02 3.23712569e-01 -1.57885023e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.900714057 meters Centerline goodness : 0.996664 Centerline is valid? [True, True] Translation: X:173.08, Y:197.82, Z:-157.92 [[ 2.91467485e-01 5.09823801e-01 8.09398788e-01 1.73075109e+02] [-1.43966299e-01 8.59878935e-01 -4.89777422e-01 1.97819878e+02] [-9.45685154e-01 2.62280458e-02 3.24024196e-01 -1.57915468e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.9307140569999 meters Centerline goodness : 0.997456 Centerline is valid? [True, True] Translation: X:173.08, Y:197.82, Z:-157.94 [[ 2.92156524e-01 5.10402649e-01 8.08785324e-01 1.73083662e+02] [-1.44325461e-01 8.59526728e-01 -4.90289675e-01 1.97817140e+02] [-9.45417753e-01 2.65130124e-02 3.24780439e-01 -1.57943594e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.9607140569999 meters Centerline goodness : 0.996726 Centerline is valid? [True, True] Translation: X:173.09, Y:197.81, Z:-157.97 [[ 2.92807404e-01 5.10124160e-01 8.08725643e-01 1.73091874e+02] [-1.43956191e-01 8.59673873e-01 -4.90140232e-01 1.97813414e+02] [-9.45272680e-01 2.70956257e-02 3.25154406e-01 -1.57970487e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.990714057 meters Centerline goodness : 0.996616 Centerline is valid? [True, True] Translation: X:173.10, Y:197.81, Z:-158.00 [[ 2.94307305e-01 5.09307270e-01 8.08696059e-01 1.73100506e+02] [-1.42595458e-01 8.60101647e-01 -4.89787396e-01 1.97808441e+02] [-9.45013093e-01 2.88316239e-02 3.25759101e-01 -1.58001972e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.020714057 meters Centerline goodness : 0.997102 Centerline is valid? [True, True] Translation: X:173.11, Y:197.80, Z:-158.03 [[ 2.94899200e-01 5.09590358e-01 8.08302004e-01 1.73109656e+02] [-1.41511940e-01 8.59884937e-01 -4.90481668e-01 1.97803523e+02] [-9.44991446e-01 3.02582672e-02 3.25692500e-01 -1.58032779e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.0507140569999 meters Centerline goodness : 0.996847 Centerline is valid? [True, True] Translation: X:173.12, Y:197.80, Z:-158.06 [[ 2.95896179e-01 5.09664969e-01 8.07890507e-01 1.73119066e+02] [-1.39796001e-01 8.59762651e-01 -4.91187604e-01 1.97799033e+02] [-9.44935199e-01 3.24006732e-02 3.25649608e-01 -1.58063375e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.0807140569999 meters Centerline goodness : 0.996845 Centerline is valid? [True, True] Translation: X:173.13, Y:197.79, Z:-158.09 [[ 2.97131487e-01 5.09624421e-01 8.07462587e-01 1.73128878e+02] [-1.37985038e-01 8.59696308e-01 -4.91815399e-01 1.97794516e+02] [-9.44813743e-01 3.47160853e-02 3.25763387e-01 -1.58094690e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.1107140569999 meters Centerline goodness : 0.997394 Centerline is valid? [True, True] Translation: X:173.14, Y:197.79, Z:-158.12 [[ 3.00150980e-01 5.08615228e-01 8.06981994e-01 1.73138439e+02] [-1.33375113e-01 8.60055858e-01 -4.92458120e-01 1.97791121e+02] [-9.44521291e-01 4.01804729e-02 3.25983222e-01 -1.58124769e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.140714057 meters Centerline goodness : 0.996761 Centerline is valid? [True, True] Translation: X:173.15, Y:197.79, Z:-158.15 [[ 3.01714803e-01 5.08449786e-01 8.06502941e-01 1.73147837e+02] [-1.31404786e-01 8.60028419e-01 -4.93035395e-01 1.97786574e+02] [-9.44299190e-01 4.27777310e-02 3.26296041e-01 -1.58154979e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.1707140569999 meters Centerline goodness : 0.997134 Centerline is valid? [True, True] Translation: X:173.16, Y:197.78, Z:-158.19 [[ 3.02981640e-01 5.07859467e-01 8.06399955e-01 1.73159032e+02] [-1.27466829e-01 8.60166001e-01 -4.93828572e-01 1.97782579e+02] [-9.44433340e-01 4.68317453e-02 3.25349741e-01 -1.58186320e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.2007140569999 meters Centerline goodness : 0.996789 Centerline is valid? [True, True] Translation: X:173.17, Y:197.78, Z:-158.22 [[ 3.03230894e-01 5.08023539e-01 8.06202895e-01 1.73169336e+02] [-1.25712400e-01 8.59969047e-01 -4.94620694e-01 1.97778391e+02] [-9.44588491e-01 4.86345746e-02 3.24634041e-01 -1.58217260e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.2307140569999 meters Centerline goodness : 0.997301 Centerline is valid? [True, True] Translation: X:173.18, Y:197.77, Z:-158.25 [[ 3.03298947e-01 5.08360568e-01 8.05964814e-01 1.73179882e+02] [-1.24482175e-01 8.59695720e-01 -4.95406356e-01 1.97774583e+02] [-9.44729558e-01 4.99279728e-02 3.24026636e-01 -1.58247595e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.260714057 meters Centerline goodness : 0.997372 Centerline is valid? [True, True] Translation: X:173.19, Y:197.77, Z:-158.28 [[ 3.02985449e-01 5.08631333e-01 8.05911896e-01 1.73191734e+02] [-1.22834015e-01 8.59451140e-01 -4.96241415e-01 1.97774041e+02] [-9.45045831e-01 5.13605341e-02 3.22878418e-01 -1.58279135e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.290714057 meters Centerline goodness : 0.997739 Centerline is valid? [True, True] Translation: X:173.20, Y:197.77, Z:-158.31 [[ 3.03385213e-01 5.09250969e-01 8.05370016e-01 1.73202271e+02] [-1.23073394e-01 8.59068857e-01 -4.96843677e-01 1.97770999e+02] [-9.44886423e-01 5.16154035e-02 3.23304034e-01 -1.58310690e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.3207140569999 meters Centerline goodness : 0.997701 Centerline is valid? [True, True] Translation: X:173.21, Y:197.77, Z:-158.34 [[ 3.03779301e-01 5.09706573e-01 8.04933131e-01 1.73213201e+02] [-1.22595155e-01 8.58747783e-01 -4.97516506e-01 1.97769699e+02] [-9.44821975e-01 5.24543147e-02 3.23357358e-01 -1.58341559e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.3507140569999 meters Centerline goodness : 0.997681 Centerline is valid? [True, True] Translation: X:173.22, Y:197.77, Z:-158.37 [[ 3.04245235e-01 5.10184607e-01 8.04454166e-01 1.73223359e+02] [-1.22474269e-01 8.58429220e-01 -4.98095701e-01 1.97766191e+02] [-9.44687721e-01 5.30183073e-02 3.23657486e-01 -1.58372403e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.380714057 meters Centerline goodness : 0.997594 Centerline is valid? [True, True] Translation: X:173.23, Y:197.76, Z:-158.40 [[ 3.04267142e-01 5.10796022e-01 8.04057790e-01 1.73233887e+02] [-1.22409314e-01 8.58045878e-01 -4.98771723e-01 1.97763094e+02] [-9.44689084e-01 5.33356840e-02 3.23601358e-01 -1.58403574e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.410714057 meters Centerline goodness : 0.998029 Centerline is valid? [True, True] Translation: X:173.25, Y:197.76, Z:-158.43 [[ 3.06151488e-01 5.11143880e-01 8.03120913e-01 1.73246785e+02] [-1.22810930e-01 8.57786158e-01 -4.99119608e-01 1.97763766e+02] [-9.44027935e-01 5.41741842e-02 3.25386564e-01 -1.58434073e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.4407140569999 meters Centerline goodness : 0.998449 Centerline is valid? [True, True] Translation: X:173.26, Y:197.76, Z:-158.46 [[ 3.06872529e-01 5.11639417e-01 8.02529973e-01 1.73258304e+02] [-1.23030843e-01 8.57464757e-01 -4.99617455e-01 1.97761240e+02] [-9.43765152e-01 5.45829330e-02 3.26079808e-01 -1.58464662e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.4707140569999 meters Centerline goodness : 0.998028 Centerline is valid? [True, True] Translation: X:173.27, Y:197.76, Z:-158.49 [[ 3.07180399e-01 5.12293056e-01 8.01995030e-01 1.73272290e+02] [-1.23396182e-01 8.57067501e-01 -5.00208637e-01 1.97761417e+02] [-9.43617287e-01 5.46911644e-02 3.26489344e-01 -1.58494918e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.500714057 meters Centerline goodness : 0.998027 Centerline is valid? [True, True] Translation: X:173.28, Y:197.76, Z:-158.53 [[ 3.06559834e-01 5.13097275e-01 8.01718314e-01 1.73283866e+02] [-1.23778227e-01 8.56609913e-01 -5.00897601e-01 1.97758861e+02] [-9.43769050e-01 5.43198144e-02 3.26112464e-01 -1.58525849e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.530714057 meters Centerline goodness : 0.998257 Centerline is valid? [True, True] Translation: X:173.30, Y:197.76, Z:-158.56 [[ 3.05813553e-01 5.14037271e-01 8.01401120e-01 1.73295536e+02] [-1.24491510e-01 8.56089568e-01 -5.01609923e-01 1.97756385e+02] [-9.43917335e-01 5.36314770e-02 3.25797069e-01 -1.58556503e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.5607140569999 meters Centerline goodness : 0.998238 Centerline is valid? [True, True] Translation: X:173.31, Y:197.75, Z:-158.59 [[ 3.05291960e-01 5.15181939e-01 8.00864776e-01 1.73307511e+02] [-1.26272837e-01 8.55490618e-01 -5.02186193e-01 1.97754058e+02] [-9.43849559e-01 5.21859399e-02 3.26227893e-01 -1.58586926e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.5907140569999 meters Centerline goodness : 0.998638 Centerline is valid? [True, True] Translation: X:173.32, Y:197.76, Z:-158.62 [[ 3.03096762e-01 5.17485932e-01 8.00212886e-01 1.73322474e+02] [-1.31550233e-01 8.54394591e-01 -5.02697144e-01 1.97756560e+02] [-9.43836262e-01 4.70976853e-02 3.27039629e-01 -1.58617322e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.620714057 meters Centerline goodness : 0.998427 Centerline is valid? [True, True] Translation: X:173.34, Y:197.76, Z:-158.65 [[ 2.99085123e-01 5.20655571e-01 7.99666097e-01 1.73337575e+02] [-1.39262178e-01 8.52869210e-01 -5.03209854e-01 1.97759685e+02] [-9.44009605e-01 3.91393385e-02 3.27588121e-01 -1.58648684e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.650714057 meters Centerline goodness : 0.998343 Centerline is valid? [True, True] Translation: X:173.35, Y:197.76, Z:-158.68 [[ 2.96392980e-01 5.22678752e-01 7.99348562e-01 1.73349829e+02] [-1.43093285e-01 8.51811847e-01 -5.03925480e-01 1.97758242e+02] [-9.44285716e-01 3.49785633e-02 3.27262872e-01 -1.58680000e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.6807140569999 meters Centerline goodness : 0.998534 Centerline is valid? [True, True] Translation: X:173.36, Y:197.76, Z:-158.71 [[ 2.93921209e-01 5.24622528e-01 7.98987813e-01 1.73362411e+02] [-1.46751801e-01 8.50767787e-01 -5.04636584e-01 1.97756938e+02] [-9.44496814e-01 3.10704942e-02 3.27047997e-01 -1.58710948e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.7107140569999 meters Centerline goodness : 0.998617 Centerline is valid? [True, True] Translation: X:173.37, Y:197.76, Z:-158.74 [[ 2.91376419e-01 5.26568827e-01 7.98639501e-01 1.73374316e+02] [-1.50410023e-01 8.49699617e-01 -5.05358671e-01 1.97755717e+02] [-9.44709801e-01 2.71262141e-02 3.26783661e-01 -1.58740783e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.740714057 meters Centerline goodness : 0.998303 Centerline is valid? [True, True] Translation: X:173.39, Y:197.76, Z:-158.77 [[ 2.87517026e-01 5.29479850e-01 7.98113431e-01 1.73388575e+02] [-1.57484163e-01 8.48092217e-01 -5.05903479e-01 1.97757452e+02] [-9.44739487e-01 1.97656380e-02 3.27225643e-01 -1.58772215e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.770714057 meters Centerline goodness : 0.998660 Centerline is valid? [True, True] Translation: X:173.40, Y:197.75, Z:-158.80 [[ 2.86289194e-01 5.31054598e-01 7.97508314e-01 1.73400298e+02] [-1.60607969e-01 8.47168850e-01 -5.06468183e-01 1.97754262e+02] [-9.44586459e-01 1.69101774e-02 3.27826887e-01 -1.58802685e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.8007140569999 meters Centerline goodness : 0.998744 Centerline is valid? [True, True] Translation: X:173.41, Y:197.75, Z:-158.83 [[ 2.83060546e-01 5.33269388e-01 7.97182844e-01 1.73412744e+02] [-1.65086172e-01 8.45860815e-01 -5.07213996e-01 1.97753394e+02] [-9.44787427e-01 1.19684064e-02 3.27465226e-01 -1.58832455e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.8307140569999 meters Centerline goodness : 0.998306 Centerline is valid? [True, True] Translation: X:173.42, Y:197.75, Z:-158.86 [[ 2.81296667e-01 5.34439007e-01 7.97023922e-01 1.73421385e+02] [-1.66339477e-01 8.45144016e-01 -5.07998791e-01 1.97750837e+02] [-9.45094368e-01 1.03218241e-02 3.26634499e-01 -1.58857803e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.8607140569999 meters Centerline goodness : 0.998285 Centerline is valid? [True, True] Translation: X:173.43, Y:197.75, Z:-158.89 [[ 2.79838573e-01 5.34723236e-01 7.97346496e-01 1.73431758e+02] [-1.67734891e-01 8.44985900e-01 -5.07802949e-01 1.97746288e+02] [-9.45280583e-01 8.36002509e-03 3.26151392e-01 -1.58888701e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.890714057 meters Centerline goodness : 0.998226 Centerline is valid? [True, True] Translation: X:173.44, Y:197.76, Z:-158.91 [[ 2.77634387e-01 5.46601393e-01 7.90029154e-01 1.73442412e+02] [-1.62600834e-01 8.37230389e-01 -5.22117079e-01 1.97760589e+02] [-9.46826339e-01 1.64982559e-02 3.21321788e-01 -1.58913588e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.9207140569999 meters Centerline goodness : 0.998830 Centerline is valid? [True, True] Translation: X:173.44, Y:197.71, Z:-158.95 [[ 2.75048667e-01 4.69903248e-01 8.38772417e-01 1.73441857e+02] [-1.72236248e-01 8.82390670e-01 -4.37860001e-01 1.97708278e+02] [-9.45876792e-01 -2.40342040e-02 3.23634750e-01 -1.58946216e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.9507140569999 meters Centerline goodness : 0.998830 Centerline is valid? [True, True] Translation: X:173.46, Y:197.73, Z:-158.98 [[ 2.75584334e-01 5.38517155e-01 7.96274167e-01 1.73460722e+02] [-1.71949688e-01 8.42606322e-01 -5.10340955e-01 1.97733793e+02] [-9.45773007e-01 3.72287770e-03 3.24806959e-01 -1.58980981e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.9807140569999 meters Centerline goodness : 0.998789 Centerline is valid? [True, True] Translation: X:173.47, Y:197.73, Z:-159.01 [[ 2.74354914e-01 5.39506376e-01 7.96029052e-01 1.73469268e+02] [-1.74204183e-01 8.41980323e-01 -5.10609478e-01 1.97728993e+02] [-9.45717867e-01 1.41662858e-03 3.24985706e-01 -1.59011770e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.010714057 meters Centerline goodness : 0.998497 Centerline is valid? [True, True] Translation: X:173.48, Y:197.72, Z:-159.04 [[ 2.72117556e-01 5.41380975e-01 7.95524151e-01 1.73477968e+02] [-1.78299405e-01 8.40772940e-01 -5.11185079e-01 1.97723517e+02] [-9.45601057e-01 -2.73904846e-03 3.25316983e-01 -1.59042225e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.040714057 meters Centerline goodness : 0.998373 Centerline is valid? [True, True] Translation: X:173.49, Y:197.72, Z:-159.07 [[ 2.73600284e-01 5.38899378e-01 7.96699658e-01 1.73488280e+02] [-1.75369447e-01 8.42370091e-01 -5.09566665e-01 1.97724317e+02] [-9.45721123e-01 -2.99194168e-04 3.24979182e-01 -1.59065696e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.0707140569999 meters Centerline goodness : 0.998644 Centerline is valid? [True, True] Translation: X:173.49, Y:197.69, Z:-159.10 [[ 2.69607385e-01 4.99980222e-01 8.23001601e-01 1.73488836e+02] [-1.81213461e-01 8.65722028e-01 -4.66569450e-01 1.97692056e+02] [-9.45766113e-01 -2.33483992e-02 3.24008199e-01 -1.59100229e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.1007140569999 meters Centerline goodness : 0.998112 Centerline is valid? [True, True] Translation: X:173.50, Y:197.70, Z:-159.13 [[ 2.69017630e-01 5.44106950e-01 7.94718278e-01 1.73503082e+02] [-1.80285881e-01 8.38999978e-01 -5.13396571e-01 1.97704994e+02] [-9.46111260e-01 -5.16375637e-03 3.23800587e-01 -1.59133963e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.130714057 meters Centerline goodness : 0.998582 Centerline is valid? [True, True] Translation: X:173.51, Y:197.70, Z:-159.16 [[ 2.71001918e-01 5.47467480e-01 7.91730585e-01 1.73511198e+02] [-1.79666601e-01 8.36824327e-01 -5.17150808e-01 1.97699044e+02] [-9.45662663e-01 -2.09868244e-03 3.25142619e-01 -1.59164557e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.160714057 meters Centerline goodness : 0.998186 Centerline is valid? [True, True] Translation: X:173.52, Y:197.69, Z:-159.19 [[ 2.72446536e-01 5.44540118e-01 7.93252132e-01 1.73517284e+02] [-1.75141411e-01 8.38733375e-01 -5.15608196e-01 1.97687644e+02] [-9.46096386e-01 1.54436926e-03 3.23881527e-01 -1.59194378e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.1907140569999 meters Centerline goodness : 0.998476 Centerline is valid? [True, True] Translation: X:173.53, Y:197.68, Z:-159.23 [[ 2.73122443e-01 5.42931301e-01 7.94121989e-01 1.73525050e+02] [-1.72621034e-01 8.39769766e-01 -5.14770550e-01 1.97678785e+02] [-9.46364681e-01 3.51323098e-03 3.23081332e-01 -1.59225225e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.2207140569999 meters Centerline goodness : 0.998789 Centerline is valid? [True, True] Translation: X:173.53, Y:197.67, Z:-159.26 [[ 2.73615206e-01 5.42896539e-01 7.93976112e-01 1.73533085e+02] [-1.69965273e-01 8.39777150e-01 -5.15641489e-01 1.97671396e+02] [-9.46702976e-01 6.13898505e-03 3.22049356e-01 -1.59255991e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.250714057 meters Centerline goodness : 0.998601 Centerline is valid? [True, True] Translation: X:173.54, Y:197.66, Z:-159.29 [[ 2.74589118e-01 5.42981480e-01 7.93581709e-01 1.73541726e+02] [-1.68132434e-01 8.39703049e-01 -5.16362541e-01 1.97663947e+02] [-9.46748278e-01 8.36071106e-03 3.21866117e-01 -1.59287081e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.280714057 meters Centerline goodness : 0.998370 Centerline is valid? [True, True] Translation: X:173.55, Y:197.66, Z:-159.32 [[ 2.77221122e-01 5.42682137e-01 7.92871079e-01 1.73548130e+02] [-1.65779330e-01 8.39854592e-01 -5.16876657e-01 1.97655468e+02] [-9.46396145e-01 1.18474906e-02 3.22790914e-01 -1.59318100e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.3107140569999 meters Centerline goodness : 0.998034 Centerline is valid? [True, True] Translation: X:173.56, Y:197.65, Z:-159.35 [[ 2.78779205e-01 5.42893224e-01 7.92179969e-01 1.73555267e+02] [-1.64981627e-01 8.39692511e-01 -5.17394965e-01 1.97648764e+02] [-9.46077808e-01 1.35438170e-02 3.23656217e-01 -1.59348128e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.3407140569999 meters Centerline goodness : 0.998431 Centerline is valid? [True, True] Translation: X:173.56, Y:197.64, Z:-159.38 [[ 2.80497175e-01 5.42867951e-01 7.91590628e-01 1.73561996e+02] [-1.63482430e-01 8.39668275e-01 -5.17909917e-01 1.97640172e+02] [-9.45830233e-01 1.58611089e-02 3.24273951e-01 -1.59379286e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.370714057 meters Centerline goodness : 0.998117 Centerline is valid? [True, True] Translation: X:173.57, Y:197.63, Z:-159.41 [[ 2.80772768e-01 5.43374435e-01 7.91145294e-01 1.73570468e+02] [-1.63107124e-01 8.39327066e-01 -5.18580892e-01 1.97632975e+02] [-9.45813258e-01 1.65619597e-02 3.24288425e-01 -1.59409993e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.400714057 meters Centerline goodness : 0.997760 Centerline is valid? [True, True] Translation: X:173.59, Y:197.60, Z:-159.43 [[ 2.90174096e-01 5.08438133e-01 8.10734025e-01 1.73588816e+02] [-1.66731158e-01 8.61088240e-01 -4.80341299e-01 1.97604274e+02] [-9.42337368e-01 4.20797935e-03 3.34637980e-01 -1.59428589e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.4307140569999 meters Centerline goodness : 0.997723 Centerline is valid? [True, True] Translation: X:173.59, Y:197.62, Z:-159.47 [[ 2.79235396e-01 5.55720415e-01 7.83072419e-01 1.73587804e+02] [-1.62343185e-01 8.31093734e-01 -5.31909669e-01 1.97622493e+02] [-9.46399643e-01 2.14015362e-02 3.22288211e-01 -1.59469745e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.4607140569999 meters Centerline goodness : 0.997931 Centerline is valid? [True, True] Translation: X:173.59, Y:197.61, Z:-159.50 [[ 2.78033493e-01 5.45196671e-01 7.90859006e-01 1.73594367e+02] [-1.62621720e-01 8.38152759e-01 -5.20628590e-01 1.97610437e+02] [-9.46705632e-01 1.61413341e-02 3.21695360e-01 -1.59498960e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.490714057 meters Centerline goodness : 0.998058 Centerline is valid? [True, True] Translation: X:173.60, Y:197.60, Z:-159.52 [[ 2.77146493e-01 5.46389619e-01 7.90346889e-01 1.73601037e+02] [-1.64665087e-01 8.37409012e-01 -5.21182844e-01 1.97604842e+02] [-9.46612503e-01 1.43014586e-02 3.22056265e-01 -1.59524748e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.520714057 meters Centerline goodness : 0.997386 Centerline is valid? [True, True] Translation: X:173.61, Y:197.60, Z:-159.55 [[ 2.80696434e-01 5.38864651e-01 7.94250842e-01 1.73612745e+02] [-1.61757941e-01 8.42242781e-01 -5.14258171e-01 1.97602194e+02] [-9.46067588e-01 1.58740541e-02 3.23580181e-01 -1.59547128e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.5507140569999 meters Centerline goodness : 0.997180 Centerline is valid? [True, True] Translation: X:173.61, Y:197.57, Z:-159.58 [[ 2.74785841e-01 5.07067581e-01 8.16930358e-01 1.73612453e+02] [-1.66306517e-01 8.61895929e-01 -4.79038151e-01 1.97573152e+02] [-9.47013666e-01 -4.22794122e-03 3.21165441e-01 -1.59582752e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.5807140569999 meters Centerline goodness : 0.997431 Centerline is valid? [True, True] Translation: X:173.62, Y:197.58, Z:-159.62 [[ 2.75148143e-01 5.47738391e-01 7.90111483e-01 1.73623970e+02] [-1.65641587e-01 8.36551425e-01 -5.22249537e-01 1.97584768e+02] [-9.47025007e-01 1.28206709e-02 3.20903827e-01 -1.59615138e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.6107140569999 meters Centerline goodness : 0.997557 Centerline is valid? [True, True] Translation: X:173.63, Y:197.58, Z:-159.65 [[ 2.75790950e-01 5.48112466e-01 7.89627809e-01 1.73632679e+02] [-1.65156040e-01 8.36291166e-01 -5.22819824e-01 1.97577350e+02] [-9.46922824e-01 1.37771737e-02 3.21165619e-01 -1.59645952e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.640714057 meters Centerline goodness : 0.998217 Centerline is valid? [True, True] Translation: X:173.64, Y:197.57, Z:-159.68 [[ 2.76498551e-01 5.48148475e-01 7.89355307e-01 1.73640511e+02] [-1.63008873e-01 8.36226031e-01 -5.23597299e-01 1.97570377e+02] [-9.47088517e-01 1.61019754e-02 3.20568351e-01 -1.59676757e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.6707140569999 meters Centerline goodness : 0.998414 Centerline is valid? [True, True] Translation: X:173.65, Y:197.56, Z:-159.71 [[ 2.77469809e-01 5.48556060e-01 7.88731104e-01 1.73649044e+02] [-1.62693598e-01 8.35938581e-01 -5.24154064e-01 1.97564796e+02] [-9.46858648e-01 1.71154271e-02 3.21194277e-01 -1.59706988e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.7007140569999 meters Centerline goodness : 0.998496 Centerline is valid? [True, True] Translation: X:173.66, Y:197.56, Z:-159.74 [[ 2.77720221e-01 5.48828318e-01 7.88453522e-01 1.73657356e+02] [-1.62318140e-01 8.35747581e-01 -5.24574877e-01 1.97559235e+02] [-9.46849672e-01 1.77047421e-02 3.21188795e-01 -1.59736901e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.7307140569999 meters Centerline goodness : 0.997929 Centerline is valid? [True, True] Translation: X:173.67, Y:197.55, Z:-159.77 [[ 2.78122891e-01 5.49333937e-01 7.87959316e-01 1.73665665e+02] [-1.62245977e-01 8.35404440e-01 -5.25143470e-01 1.97552626e+02] [-9.46743841e-01 1.82111908e-02 3.21472320e-01 -1.59767961e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.760714057 meters Centerline goodness : 0.997634 Centerline is valid? [True, True] Translation: X:173.67, Y:197.55, Z:-159.80 [[ 2.77804217e-01 5.50052850e-01 7.87570111e-01 1.73674419e+02] [-1.62383264e-01 8.34931598e-01 -5.25852548e-01 1.97546373e+02] [-9.46813864e-01 1.81958502e-02 3.21266896e-01 -1.59799625e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.790714057 meters Centerline goodness : 0.997647 Centerline is valid? [True, True] Translation: X:173.68, Y:197.54, Z:-159.83 [[ 2.77489167e-01 5.50806730e-01 7.87154184e-01 1.73683382e+02] [-1.62659259e-01 8.34437092e-01 -5.26551712e-01 1.97539949e+02] [-9.46858874e-01 1.80744797e-02 3.21141068e-01 -1.59830161e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.8207140569999 meters Centerline goodness : 0.998118 Centerline is valid? [True, True] Translation: X:173.69, Y:197.53, Z:-159.86 [[ 2.77378471e-01 5.51485366e-01 7.86717913e-01 1.73692302e+02] [-1.62953728e-01 8.33989765e-01 -5.27169000e-01 1.97534473e+02] [-9.46840676e-01 1.80267143e-02 3.21197402e-01 -1.59861869e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.8507140569999 meters Centerline goodness : 0.998078 Centerline is valid? [True, True] Translation: X:173.70, Y:197.53, Z:-159.89 [[ 2.77068427e-01 5.52130782e-01 7.86374393e-01 1.73701461e+02] [-1.62783435e-01 8.33557606e-01 -5.27904604e-01 1.97529235e+02] [-9.46960739e-01 1.82569729e-02 3.20830240e-01 -1.59893604e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.880714057 meters Centerline goodness : 0.998012 Centerline is valid? [True, True] Translation: X:173.71, Y:197.52, Z:-159.93 [[ 2.77507930e-01 5.52611347e-01 7.85881701e-01 1.73710295e+02] [-1.62428143e-01 8.33221891e-01 -5.28543639e-01 1.97524144e+02] [-9.46893049e-01 1.90257457e-02 3.20985318e-01 -1.59925145e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.910714057 meters Centerline goodness : 0.997137 Centerline is valid? [True, True] Translation: X:173.72, Y:197.52, Z:-159.96 [[ 2.77961589e-01 5.53218468e-01 7.85294010e-01 1.73717861e+02] [-1.62634551e-01 8.32811188e-01 -5.29127137e-01 1.97518054e+02] [-9.46724542e-01 1.93610811e-02 3.21461958e-01 -1.59955119e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.9407140569999 meters Centerline goodness : 0.997418 Centerline is valid? [True, True] Translation: X:173.73, Y:197.51, Z:-159.99 [[ 2.80736111e-01 5.53283052e-01 7.84260862e-01 1.73726895e+02] [-1.62394571e-01 8.32722343e-01 -5.29340631e-01 1.97511670e+02] [-9.45946742e-01 2.12453236e-02 3.23625396e-01 -1.59985844e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.9707140569999 meters Centerline goodness : 0.997542 Centerline is valid? [True, True] Translation: X:173.74, Y:197.51, Z:-160.02 [[ 2.81525464e-01 5.53701099e-01 7.83682657e-01 1.73735430e+02] [-1.62058720e-01 8.32419970e-01 -5.29918829e-01 1.97506585e+02] [-9.45769731e-01 2.21830359e-02 3.24079509e-01 -1.60015839e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.000714057 meters Centerline goodness : 0.997665 Centerline is valid? [True, True] Translation: X:173.74, Y:197.50, Z:-160.05 [[ 2.82290187e-01 5.54103447e-01 7.83122992e-01 1.73744580e+02] [-1.61838180e-01 8.32130043e-01 -5.30441322e-01 1.97500910e+02] [-9.45579533e-01 2.29991808e-02 3.24577239e-01 -1.60047491e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.030714057 meters Centerline goodness : 0.997951 Centerline is valid? [True, True] Translation: X:173.75, Y:197.49, Z:-160.08 [[ 2.82791786e-01 5.54261881e-01 7.82829849e-01 1.73754178e+02] [-1.60149516e-01 8.31971306e-01 -5.31202296e-01 1.97494715e+02] [-9.45717156e-01 2.48498243e-02 3.24039424e-01 -1.60078125e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.0607140569999 meters Centerline goodness : 0.997948 Centerline is valid? [True, True] Translation: X:173.76, Y:197.49, Z:-160.11 [[ 2.82637837e-01 5.54619312e-01 7.82632271e-01 1.73763058e+02] [-1.58841083e-01 8.31696150e-01 -5.32025399e-01 1.97488971e+02] [-9.45983807e-01 2.60563506e-02 3.23165133e-01 -1.60108627e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.0907140569999 meters Centerline goodness : 0.998785 Centerline is valid? [True, True] Translation: X:173.77, Y:197.48, Z:-160.14 [[ 2.82784707e-01 5.54881071e-01 7.82393639e-01 1.73772105e+02] [-1.57536105e-01 8.31478369e-01 -5.32753318e-01 1.97482932e+02] [-9.46158119e-01 2.73992441e-02 3.22543169e-01 -1.60139697e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.120714057 meters Centerline goodness : 0.997834 Centerline is valid? [True, True] Translation: X:173.78, Y:197.48, Z:-160.17 [[ 2.83980375e-01 5.54733766e-01 7.82064956e-01 1.73780474e+02] [-1.54996663e-01 8.31476514e-01 -5.33500554e-01 1.97476627e+02] [-9.46219415e-01 3.02862284e-02 3.22104895e-01 -1.60170313e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.150714057 meters Centerline goodness : 0.998097 Centerline is valid? [True, True] Translation: X:173.79, Y:197.47, Z:-160.20 [[ 2.84919266e-01 5.54726371e-01 7.81728639e-01 1.73789142e+02] [-1.53966132e-01 8.31426767e-01 -5.33876354e-01 1.97470483e+02] [-9.46105408e-01 3.17519238e-02 3.22298578e-01 -1.60201534e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.1807140569999 meters Centerline goodness : 0.998391 Centerline is valid? [True, True] Translation: X:173.80, Y:197.46, Z:-160.23 [[ 2.85406036e-01 5.55101041e-01 7.81284985e-01 1.73797912e+02] [-1.53209930e-01 8.31133469e-01 -5.34550161e-01 1.97463874e+02] [-9.46081451e-01 3.28632249e-02 3.22257501e-01 -1.60231478e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.2107140569999 meters Centerline goodness : 0.998164 Centerline is valid? [True, True] Translation: X:173.81, Y:197.46, Z:-160.26 [[ 2.85626650e-01 5.55252833e-01 7.81096479e-01 1.73806951e+02] [-1.52295427e-01 8.30991981e-01 -5.35031242e-01 1.97456936e+02] [-9.46162523e-01 3.38617596e-02 3.21915923e-01 -1.60262840e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.240714057 meters Centerline goodness : 0.998011 Centerline is valid? [True, True] Translation: X:173.82, Y:197.45, Z:-160.29 [[ 2.85510828e-01 5.55937624e-01 7.80651603e-01 1.73816131e+02] [-1.52479066e-01 8.30531914e-01 -5.35692892e-01 1.97451281e+02] [-9.46167904e-01 3.39130934e-02 3.21894704e-01 -1.60294525e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.270714057 meters Centerline goodness : 0.997343 Centerline is valid? [True, True] Translation: X:173.82, Y:197.45, Z:-160.32 [[ 2.85444663e-01 5.56828231e-01 7.80040810e-01 1.73824852e+02] [-1.53600039e-01 8.29961614e-01 -5.36256233e-01 1.97446367e+02] [-9.46006539e-01 3.32571812e-02 3.22436951e-01 -1.60324579e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.3007140569999 meters Centerline goodness : 0.997677 Centerline is valid? [True, True] Translation: X:173.83, Y:197.44, Z:-160.36 [[ 2.85052096e-01 5.58136594e-01 7.79248898e-01 1.73834862e+02] [-1.56537666e-01 8.29170317e-01 -5.36630733e-01 1.97441918e+02] [-9.45643306e-01 3.09859116e-02 3.23726137e-01 -1.60355446e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.3307140569999 meters Centerline goodness : 0.997430 Centerline is valid? [True, True] Translation: X:173.84, Y:197.44, Z:-160.39 [[ 2.84235581e-01 5.59412297e-01 7.78632144e-01 1.73843477e+02] [-1.58852225e-01 8.28382275e-01 -5.37167365e-01 1.97436275e+02] [-9.45503096e-01 2.89946297e-02 3.24319605e-01 -1.60385451e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.3607140569999 meters Centerline goodness : 0.997717 Centerline is valid? [True, True] Translation: X:173.85, Y:197.43, Z:-160.41 [[ 2.82001284e-01 5.61216028e-01 7.78146417e-01 1.73852834e+02] [-1.62622645e-01 8.27288844e-01 -5.37723948e-01 1.97430875e+02] [-9.45531148e-01 2.50946151e-02 3.24562951e-01 -1.60414432e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.390714057 meters Centerline goodness : 0.998282 Centerline is valid? [True, True] Translation: X:173.86, Y:197.43, Z:-160.44 [[ 2.80129923e-01 5.61880413e-01 7.78342873e-01 1.73861422e+02] [-1.63795944e-01 8.26892682e-01 -5.37977119e-01 1.97425885e+02] [-9.45884832e-01 2.32140838e-02 3.23671116e-01 -1.60441055e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.4207140569999 meters Centerline goodness : 0.997675 Centerline is valid? [True, True] Translation: X:173.87, Y:197.42, Z:-160.47 [[ 2.78483522e-01 5.62233033e-01 7.78678974e-01 1.73871215e+02] [-1.64770804e-01 8.26698951e-01 -5.37977162e-01 1.97420339e+02] [-9.46201622e-01 2.15142147e-02 3.22861625e-01 -1.60471697e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.4507140569999 meters Centerline goodness : 0.997803 Centerline is valid? [True, True] Translation: X:173.88, Y:197.42, Z:-160.50 [[ 2.77641091e-01 5.63170581e-01 7.78302204e-01 1.73880575e+02] [-1.65477984e-01 8.26079435e-01 -5.38711243e-01 1.97415129e+02] [-9.46325769e-01 2.07764974e-02 3.22545928e-01 -1.60501738e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.4807140569999 meters Centerline goodness : 0.998264 Centerline is valid? [True, True] Translation: X:173.89, Y:197.41, Z:-160.53 [[ 2.77132680e-01 5.63855777e-01 7.77987237e-01 1.73890201e+02] [-1.66399675e-01 8.25632306e-01 -5.39112645e-01 1.97409356e+02] [-9.46313175e-01 1.99489090e-02 3.22635112e-01 -1.60533279e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.510714057 meters Centerline goodness : 0.997846 Centerline is valid? [True, True] Translation: X:173.90, Y:197.40, Z:-160.56 [[ 2.77480386e-01 5.64260205e-01 7.77569969e-01 1.73897950e+02] [-1.65718268e-01 8.25331882e-01 -5.39782122e-01 1.97404844e+02] [-9.46330857e-01 2.09214031e-02 3.22521633e-01 -1.60560006e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.540714057 meters Centerline goodness : 0.997491 Centerline is valid? [True, True] Translation: X:173.92, Y:197.37, Z:-160.58 [[ 2.90137908e-01 5.17660521e-01 8.04889793e-01 1.73916616e+02] [-1.67181018e-01 8.55552355e-01 -4.89980281e-01 1.97371169e+02] [-9.42268805e-01 7.59955881e-03 3.34771184e-01 -1.60576414e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.5707140569999 meters Centerline goodness : 0.998159 Centerline is valid? [True, True] Translation: X:173.92, Y:197.40, Z:-160.62 [[ 2.80150761e-01 5.79608700e-01 7.65225004e-01 1.73916104e+02] [-1.60779391e-01 8.14216265e-01 -5.57854696e-01 1.97401769e+02] [-9.46396079e-01 3.32510072e-02 3.21292440e-01 -1.60620130e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.6007140569999 meters Centerline goodness : 0.998348 Centerline is valid? [True, True] Translation: X:173.92, Y:197.39, Z:-160.65 [[ 2.83738418e-01 5.61447542e-01 7.77347521e-01 1.73922289e+02] [-1.54724125e-01 8.26848080e-01 -5.40724235e-01 1.97389585e+02] [-9.46336597e-01 3.31498239e-02 3.21478045e-01 -1.60646822e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.630714057 meters Centerline goodness : 0.997869 Centerline is valid? [True, True] Translation: X:173.95, Y:197.35, Z:-160.66 [[ 2.97499119e-01 5.09304450e-01 8.07529102e-01 1.73945024e+02] [-1.57694458e-01 8.60422111e-01 -4.84568106e-01 1.97350605e+02] [-9.41608588e-01 1.68157203e-02 3.36289309e-01 -1.60662624e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.660714057 meters Centerline goodness : 0.998137 Centerline is valid? [True, True] Translation: X:173.94, Y:197.40, Z:-160.71 [[ 2.88844096e-01 5.89915303e-01 7.54035160e-01 1.73944887e+02] [-1.49102256e-01 8.05714249e-01 -5.73230377e-01 1.97396279e+02] [-9.45694245e-01 5.31458667e-02 3.20683507e-01 -1.60709416e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.6907140569999 meters Centerline goodness : 0.997852 Centerline is valid? [True, True] Translation: X:173.95, Y:197.38, Z:-160.74 [[ 2.89387071e-01 5.58788877e-01 7.77180876e-01 1.73950030e+02] [-1.45567973e-01 8.28168469e-01 -5.41245741e-01 1.97375935e+02] [-9.46078796e-01 4.34968746e-02 3.21003012e-01 -1.60738770e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.7207140569999 meters Centerline goodness : 0.997581 Centerline is valid? [True, True] Translation: X:173.97, Y:197.36, Z:-160.76 [[ 2.99174558e-01 5.29054674e-01 7.94100583e-01 1.73969387e+02] [-1.42410050e-01 8.47653210e-01 -5.11080633e-01 1.97355711e+02] [-9.43511506e-01 3.98144184e-02 3.28938977e-01 -1.60759068e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.750714057 meters Centerline goodness : 0.997813 Centerline is valid? [True, True] Translation: X:173.97, Y:197.37, Z:-160.80 [[ 2.93651586e-01 5.64967057e-01 7.71090767e-01 1.73972259e+02] [-1.38418227e-01 8.23283638e-01 -5.50494728e-01 1.97373022e+02] [-9.45837798e-01 5.49206329e-02 3.19960284e-01 -1.60797920e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.780714057 meters Centerline goodness : 0.998011 Centerline is valid? [True, True] Translation: X:173.98, Y:197.37, Z:-160.82 [[ 2.94042679e-01 5.57247795e-01 7.76539631e-01 1.73980239e+02] [-1.36097088e-01 8.28588545e-01 -5.43064090e-01 1.97366431e+02] [-9.46053109e-01 5.39992370e-02 3.19480198e-01 -1.60822880e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.8107140569999 meters Centerline goodness : 0.998393 Centerline is valid? [True, True] Translation: X:173.99, Y:197.37, Z:-160.85 [[ 2.96965873e-01 5.55720138e-01 7.76521988e-01 1.73993141e+02] [-1.33076292e-01 8.29357151e-01 -5.42639306e-01 1.97365796e+02] [-9.45569654e-01 5.78086883e-02 3.20243946e-01 -1.60851789e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.8407140569999 meters Centerline goodness : 0.998393 Centerline is valid? [True, True] Translation: X:174.00, Y:197.36, Z:-160.88 [[ 2.96994208e-01 5.55704599e-01 7.76522273e-01 1.74001098e+02] [-1.33033954e-01 8.29364209e-01 -5.42638900e-01 1.97360310e+02] [-9.45566713e-01 5.78567817e-02 3.20243946e-01 -1.60879488e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.870714057 meters Centerline goodness : 0.998409 Centerline is valid? [True, True] Translation: X:174.01, Y:197.36, Z:-160.91 [[ 2.98234066e-01 5.55025488e-01 7.76532774e-01 1.74010499e+02] [-1.31644015e-01 8.29698604e-01 -5.42466663e-01 1.97358594e+02] [-9.45370983e-01 5.95561465e-02 3.20510171e-01 -1.60906163e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.900714057 meters Centerline goodness : 0.998552 Centerline is valid? [True, True] Translation: X:174.02, Y:197.36, Z:-160.94 [[ 3.01006058e-01 5.53839004e-01 7.76310318e-01 1.74022665e+02] [-1.29967551e-01 8.30294413e-01 -5.41959061e-01 1.97359318e+02] [-9.44724187e-01 6.22378097e-02 3.21904747e-01 -1.60937463e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.9307140569999 meters Centerline goodness : 0.998211 Centerline is valid? [True, True] Translation: X:174.03, Y:197.36, Z:-160.97 [[ 3.02634323e-01 5.53866032e-01 7.75657711e-01 1.74033722e+02] [-1.28938840e-01 8.30130579e-01 -5.42455525e-01 1.97356853e+02] [-9.44344875e-01 6.41532550e-02 3.22640850e-01 -1.60968315e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.9607140569999 meters Centerline goodness : 0.998632 Centerline is valid? [True, True] Translation: X:174.05, Y:197.35, Z:-161.00 [[ 3.03818997e-01 5.53976456e-01 7.75115542e-01 1.74045363e+02] [-1.27762353e-01 8.29915088e-01 -5.43063282e-01 1.97354358e+02] [-9.44124355e-01 6.59623563e-02 3.22921305e-01 -1.60999864e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.990714057 meters Centerline goodness : 0.999075 Centerline is valid? [True, True] Translation: X:174.06, Y:197.36, Z:-161.03 [[ 3.05517749e-01 5.53661252e-01 7.74672914e-01 1.74060942e+02] [-1.25188177e-01 8.29866683e-01 -5.43736342e-01 1.97356563e+02] [-9.43920985e-01 6.91412134e-02 3.22850843e-01 -1.61031178e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.020714057 meters Centerline goodness : 0.999163 Centerline is valid? [True, True] Translation: X:174.07, Y:197.36, Z:-161.06 [[ 3.06112736e-01 5.53993596e-01 7.74200290e-01 1.74072972e+02] [-1.24388566e-01 8.29543224e-01 -5.44413009e-01 1.97355174e+02] [-9.43833925e-01 7.03500923e-02 3.22844215e-01 -1.61061410e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.0507140569999 meters Centerline goodness : 0.999286 Centerline is valid? [True, True] Translation: X:174.09, Y:197.36, Z:-161.09 [[ 3.06526396e-01 5.54050918e-01 7.73995574e-01 1.74087932e+02] [-1.22357017e-01 8.29327228e-01 -5.45201898e-01 1.97357883e+02] [-9.43965216e-01 7.24149835e-02 3.22002704e-01 -1.61093159e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.0807140569999 meters Centerline goodness : 0.999539 Centerline is valid? [True, True] Translation: X:174.10, Y:197.36, Z:-161.12 [[ 3.07012155e-01 5.54116673e-01 7.73755937e-01 1.74098915e+02] [-1.21107126e-01 8.29157528e-01 -5.45738819e-01 1.97356879e+02] [-9.43968538e-01 7.38410929e-02 3.21668917e-01 -1.61120998e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.1107140569999 meters Centerline goodness : 0.999708 Centerline is valid? [True, True] Translation: X:174.11, Y:197.36, Z:-161.15 [[ 3.08249994e-01 5.53316548e-01 7.73836378e-01 1.74113564e+02] [-1.19100299e-01 8.29493162e-01 -5.45670426e-01 1.97359737e+02] [-9.43820460e-01 7.60387616e-02 3.21591428e-01 -1.61151484e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.140714057 meters Centerline goodness : 0.999646 Centerline is valid? [True, True] Translation: X:174.12, Y:197.36, Z:-161.18 [[ 3.09236696e-01 5.53422200e-01 7.73367011e-01 1.74123963e+02] [-1.18025099e-01 8.29274359e-01 -5.46236317e-01 1.97359870e+02] [-9.43632737e-01 7.76395960e-02 3.21759773e-01 -1.61176921e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.1707140569999 meters Centerline goodness : 0.999562 Centerline is valid? [True, True] Translation: X:174.13, Y:197.36, Z:-161.20 [[ 3.09973186e-01 5.52760076e-01 7.73545683e-01 1.74134195e+02] [-1.17079861e-01 8.29620483e-01 -5.45914059e-01 1.97359558e+02] [-9.43508840e-01 7.86520992e-02 3.21877177e-01 -1.61204120e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.2007140569999 meters Centerline goodness : 0.998995 Centerline is valid? [True, True] Translation: X:174.15, Y:197.36, Z:-161.23 [[ 3.10885598e-01 5.52237443e-01 7.73552811e-01 1.74146966e+02] [-1.16418394e-01 8.29879772e-01 -5.45661362e-01 1.97364550e+02] [-9.43290466e-01 7.95824835e-02 3.22288265e-01 -1.61230346e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.2307140569999 meters Centerline goodness : 0.999228 Centerline is valid? [True, True] Translation: X:174.16, Y:197.36, Z:-161.26 [[ 3.11790295e-01 5.51795409e-01 7.73504130e-01 1.74158352e+02] [-1.16679210e-01 8.30159604e-01 -5.45179781e-01 1.97363780e+02] [-9.42959582e-01 7.97299139e-02 3.23218760e-01 -1.61256263e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.260714057 meters Centerline goodness : 0.998506 Centerline is valid? [True, True] Translation: X:174.17, Y:197.37, Z:-161.29 [[ 3.09192732e-01 5.56922785e-01 7.70867606e-01 1.74171207e+02] [-1.16946595e-01 8.26701048e-01 -5.50353406e-01 1.97371337e+02] [-9.43781409e-01 8.00149313e-02 3.20740179e-01 -1.61285810e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.290714057 meters Centerline goodness : 0.998765 Centerline is valid? [True, True] Translation: X:174.19, Y:197.37, Z:-161.31 [[ 3.11842402e-01 5.59043558e-01 7.68260774e-01 1.74186113e+02] [-1.17811737e-01 8.25092658e-01 -5.52578049e-01 1.97372256e+02] [-9.42801523e-01 8.18071303e-02 3.23160769e-01 -1.61308860e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.3207140569999 meters Centerline goodness : 0.998507 Centerline is valid? [True, True] Translation: X:174.19, Y:197.37, Z:-161.34 [[ 3.10599067e-01 5.51457270e-01 7.74224192e-01 1.74194512e+02] [-1.17452526e-01 8.30532600e-01 -5.44445135e-01 1.97368881e+02] [-9.43256659e-01 7.81695636e-02 3.22732700e-01 -1.61335429e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.3507140569999 meters Centerline goodness : 0.998255 Centerline is valid? [True, True] Translation: X:174.21, Y:197.37, Z:-161.36 [[ 3.11163577e-01 5.54506978e-01 7.71815548e-01 1.74205435e+02] [-1.18782712e-01 8.28456444e-01 -5.47312149e-01 1.97370196e+02] [-9.42903970e-01 7.86252618e-02 3.23651313e-01 -1.61360501e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.380714057 meters Centerline goodness : 0.998088 Centerline is valid? [True, True] Translation: X:174.22, Y:197.37, Z:-161.39 [[ 3.08141141e-01 5.41056982e-01 7.82500083e-01 1.74215337e+02] [-1.17257215e-01 8.37852174e-01 -5.33155211e-01 1.97367891e+02] [-9.44086746e-01 7.25332746e-02 3.21619559e-01 -1.61388777e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.410714057 meters Centerline goodness : 0.997688 Centerline is valid? [True, True] Translation: X:174.23, Y:197.37, Z:-161.41 [[ 3.08569812e-01 5.50524459e-01 7.75698067e-01 1.74228194e+02] [-1.17601948e-01 8.31316073e-01 -5.43215767e-01 1.97371156e+02] [-9.43903837e-01 7.63963833e-02 3.21261793e-01 -1.61414447e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.4407140569999 meters Centerline goodness : 0.997532 Centerline is valid? [True, True] Translation: X:174.24, Y:197.37, Z:-161.44 [[ 3.07868925e-01 5.50371770e-01 7.76084815e-01 1.74241612e+02] [-1.17409046e-01 8.31447000e-01 -5.43057089e-01 1.97374833e+02] [-9.44156682e-01 7.60710246e-02 3.20595319e-01 -1.61441080e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.4707140569999 meters Centerline goodness : 0.997394 Centerline is valid? [True, True] Translation: X:174.25, Y:197.37, Z:-161.47 [[ 3.07778103e-01 5.49764243e-01 7.76551297e-01 1.74251922e+02] [-1.17385902e-01 8.31874973e-01 -5.42406286e-01 1.97373558e+02] [-9.44189170e-01 7.57846030e-02 3.20567473e-01 -1.61468022e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.500714057 meters Centerline goodness : 0.997145 Centerline is valid? [True, True] Translation: X:174.26, Y:197.37, Z:-161.49 [[ 3.07863537e-01 5.49145293e-01 7.76955269e-01 1.74261593e+02] [-1.17517332e-01 8.32312658e-01 -5.41705931e-01 1.97372745e+02] [-9.44144968e-01 7.54657936e-02 3.20772808e-01 -1.61494076e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.530714057 meters Centerline goodness : 0.996647 Centerline is valid? [True, True] Translation: X:174.27, Y:197.38, Z:-161.52 [[ 3.08503117e-01 5.48640502e-01 7.77058187e-01 1.74273451e+02] [-1.17134251e-01 8.32597984e-01 -5.41350315e-01 1.97375328e+02] [-9.43983789e-01 7.59881308e-02 3.21123668e-01 -1.61521264e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.5607140569999 meters Centerline goodness : 0.995837 Centerline is valid? [True, True] Translation: X:174.28, Y:197.37, Z:-161.55 [[ 3.09090579e-01 5.47802606e-01 7.77415795e-01 1.74282873e+02] [-1.16735181e-01 8.33115999e-01 -5.40639094e-01 1.97373607e+02] [-9.43841041e-01 7.63546773e-02 3.21456143e-01 -1.61547473e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.5907140569999 meters Centerline goodness : 0.995664 Centerline is valid? [True, True] Translation: X:174.29, Y:197.38, Z:-161.58 [[ 3.09004048e-01 5.47076439e-01 7.77961354e-01 1.74294530e+02] [-1.16223753e-01 8.33584004e-01 -5.40027543e-01 1.97375156e+02] [-9.43932486e-01 7.64531082e-02 3.21164109e-01 -1.61576240e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.620714057 meters Centerline goodness : 0.995703 Centerline is valid? [True, True] Translation: X:174.30, Y:197.37, Z:-161.60 [[ 3.09494667e-01 5.46831758e-01 7.77938352e-01 1.74303985e+02] [-1.16005626e-01 8.33708464e-01 -5.39882295e-01 1.97373496e+02] [-9.43798573e-01 7.68454653e-02 3.21463883e-01 -1.61601664e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.650714057 meters Centerline goodness : 0.994818 Centerline is valid? [True, True] Translation: X:174.31, Y:197.37, Z:-161.63 [[ 3.09828027e-01 5.46380579e-01 7.78122649e-01 1.74313023e+02] [-1.15608768e-01 8.33970183e-01 -5.39563108e-01 1.97371646e+02] [-9.43737891e-01 7.72139720e-02 3.21553722e-01 -1.61628044e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.6807140569999 meters Centerline goodness : 0.994464 Centerline is valid? [True, True] Translation: X:174.32, Y:197.37, Z:-161.65 [[ 3.09861057e-01 5.45763211e-01 7.78542640e-01 1.74323663e+02] [-1.15710119e-01 8.34404292e-01 -5.38869786e-01 1.97372164e+02] [-9.43714625e-01 7.68894993e-02 3.21699722e-01 -1.61654708e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.7107140569999 meters Centerline goodness : 0.993823 Centerline is valid? [True, True] Translation: X:174.33, Y:197.37, Z:-161.68 [[ 3.09499570e-01 5.45233631e-01 7.79057317e-01 1.74332582e+02] [-1.15783864e-01 8.34796795e-01 -5.38245675e-01 1.97370509e+02] [-9.43824196e-01 7.63845386e-02 3.21498506e-01 -1.61681064e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.740714057 meters Centerline goodness : 0.994101 Centerline is valid? [True, True] Translation: X:174.34, Y:197.37, Z:-161.71 [[ 3.09277422e-01 5.45152244e-01 7.79202481e-01 1.74341683e+02] [-1.16288139e-01 8.34906019e-01 -5.37967479e-01 1.97368618e+02] [-9.43835020e-01 7.57691881e-02 3.21612321e-01 -1.61707159e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.770714057 meters Centerline goodness : 0.993193 Centerline is valid? [True, True] Translation: X:174.35, Y:197.37, Z:-161.73 [[ 3.08691114e-01 5.45212018e-01 7.79393130e-01 1.74351785e+02] [-1.17226220e-01 8.34971726e-01 -5.37661818e-01 1.97368801e+02] [-9.43910912e-01 7.46061149e-02 3.21661497e-01 -1.61734060e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.8007140569999 meters Centerline goodness : 0.993192 Centerline is valid? [True, True] Translation: X:174.36, Y:197.37, Z:-161.76 [[ 3.08639461e-01 5.45030560e-01 7.79540488e-01 1.74359964e+02] [-1.17458220e-01 8.35117969e-01 -5.37383983e-01 1.97366247e+02] [-9.43898962e-01 7.42944650e-02 3.21768679e-01 -1.61760122e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.8307140569999 meters Centerline goodness : 0.992154 Centerline is valid? [True, True] Translation: X:174.37, Y:197.37, Z:-161.79 [[ 3.08790017e-01 5.44901980e-01 7.79570752e-01 1.74369379e+02] [-1.18314811e-01 8.35265545e-01 -5.36966549e-01 1.97365691e+02] [-9.43742725e-01 7.35751439e-02 3.22391637e-01 -1.61786719e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.8607140569999 meters Centerline goodness : 0.992236 Centerline is valid? [True, True] Translation: X:174.38, Y:197.36, Z:-161.81 [[ 3.08508875e-01 5.44972432e-01 7.79632813e-01 1.74377678e+02] [-1.19441263e-01 8.35319152e-01 -5.36633674e-01 1.97363222e+02] [-9.43692778e-01 7.24359230e-02 3.22795567e-01 -1.61812225e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.890714057 meters Centerline goodness : 0.991396 Centerline is valid? [True, True] Translation: X:174.39, Y:197.36, Z:-161.84 [[ 3.08632060e-01 5.44907386e-01 7.79629523e-01 1.74386495e+02] [-1.20545131e-01 8.35441637e-01 -5.36195993e-01 1.97360854e+02] [-9.43512121e-01 7.15067306e-02 3.23530006e-01 -1.61839156e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.9207140569999 meters Centerline goodness : 0.991214 Centerline is valid? [True, True] Translation: X:174.40, Y:197.36, Z:-161.87 [[ 3.08195118e-01 5.44684401e-01 7.79958122e-01 1.74395206e+02] [-1.21898820e-01 8.35718843e-01 -5.35457462e-01 1.97357972e+02] [-9.43481026e-01 6.99494011e-02 3.23960853e-01 -1.61865536e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.9507140569999 meters Centerline goodness : 0.989909 Centerline is valid? [True, True] Translation: X:174.41, Y:197.37, Z:-161.92 [[ 2.91835109e-01 6.07349836e-01 7.38890010e-01 1.74412706e+02] [-1.26369239e-01 7.90230286e-01 -5.99638983e-01 1.97372301e+02] [-9.48083902e-01 8.16227400e-02 3.07367278e-01 -1.61919581e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.9807140569999 meters Centerline goodness : 0.990700 Centerline is valid? [True, True] Translation: X:174.45, Y:197.38, Z:-161.92 [[ 3.13138414e-01 6.18064365e-01 7.21069189e-01 1.74448410e+02] [-1.26042375e-01 7.79583824e-01 -6.13483807e-01 1.97379219e+02] [-9.41306355e-01 1.01220073e-01 3.22019942e-01 -1.61915873e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.010714057 meters Centerline goodness : 0.988634 Centerline is valid? [True, True] Translation: X:174.43, Y:197.36, Z:-161.97 [[ 2.95987225e-01 5.88669532e-01 7.52236496e-01 1.74427600e+02] [-1.24488643e-01 8.04580555e-01 -5.80648524e-01 1.97360629e+02] [-9.47044952e-01 7.82196446e-02 3.11428237e-01 -1.61967470e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.040714057 meters Centerline goodness : 0.989929 Centerline is valid? [True, True] Translation: X:174.46, Y:197.37, Z:-161.97 [[ 3.13600716e-01 6.01459566e-01 7.34779546e-01 1.74459832e+02] [-1.22732648e-01 7.92998243e-01 -5.96733177e-01 1.97368200e+02] [-9.41589766e-01 9.69545123e-02 3.22503542e-01 -1.61968433e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.0707140569999 meters Centerline goodness : 0.988324 Centerline is valid? [True, True] Translation: X:174.45, Y:197.35, Z:-162.02 [[ 3.00346752e-01 5.83376231e-01 7.54628387e-01 1.74445953e+02] [-1.20227164e-01 8.08000305e-01 -5.76785000e-01 1.97352822e+02] [-9.46222626e-01 8.25086702e-02 3.12817937e-01 -1.62020847e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.1007140569999 meters Centerline goodness : 0.989450 Centerline is valid? [True, True] Translation: X:174.48, Y:197.36, Z:-162.02 [[ 3.18865594e-01 5.96050960e-01 7.36917896e-01 1.74477833e+02] [-1.17821142e-01 7.96400481e-01 -5.93181635e-01 1.97360510e+02] [-9.40448250e-01 1.02320707e-01 3.24172117e-01 -1.62024639e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.130714057 meters Centerline goodness : 0.988870 Centerline is valid? [True, True] Translation: X:174.46, Y:197.34, Z:-162.05 [[ 3.15303645e-01 5.34624017e-01 7.84066816e-01 1.74460351e+02] [-1.13042116e-01 8.41487523e-01 -5.28318302e-01 1.97337276e+02] [-9.42234096e-01 7.79481146e-02 3.25759113e-01 -1.62053472e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.160714057 meters Centerline goodness : 0.988244 Centerline is valid? [True, True] Translation: X:174.47, Y:197.34, Z:-162.08 [[ 3.17146726e-01 5.33212210e-01 7.84284829e-01 1.74470590e+02] [-1.09960337e-01 8.42073229e-01 -5.28035417e-01 1.97336330e+02] [-9.41980190e-01 8.12244796e-02 3.25692962e-01 -1.62080207e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.1907140569999 meters Centerline goodness : 0.988291 Centerline is valid? [True, True] Translation: X:174.48, Y:197.33, Z:-162.11 [[ 3.17406104e-01 5.32170192e-01 7.84887414e-01 1.74479004e+02] [-1.08360053e-01 8.42620047e-01 -5.27493654e-01 1.97332615e+02] [-9.42078269e-01 8.23792639e-02 3.25118737e-01 -1.62106771e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.2207140569999 meters Centerline goodness : 0.986597 Centerline is valid? [True, True] Translation: X:174.49, Y:197.33, Z:-162.15 [[ 3.07900018e-01 5.65695943e-01 7.64974299e-01 1.74492582e+02] [-1.11816060e-01 8.19978890e-01 -5.61366003e-01 1.97333355e+02] [-9.44825247e-01 8.73081901e-02 3.15725407e-01 -1.62152077e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.250714057 meters Centerline goodness : 0.987466 Centerline is valid? [True, True] Translation: X:174.53, Y:197.35, Z:-162.18 [[ 3.11902546e-01 6.12015124e-01 7.26742244e-01 1.74526523e+02] [-1.14490712e-01 7.83536480e-01 -6.10706526e-01 1.97345300e+02] [-9.43190691e-01 1.07275684e-01 3.14457070e-01 -1.62176944e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.280714057 meters Centerline goodness : 0.987591 Centerline is valid? [True, True] Translation: X:174.53, Y:197.34, Z:-162.20 [[ 3.12867024e-01 5.95431013e-01 7.39983874e-01 1.74531732e+02] [-1.13669490e-01 7.96970670e-01 -5.93225926e-01 1.97338559e+02] [-9.42970558e-01 1.01487240e-01 3.17028181e-01 -1.62199470e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.3107140569999 meters Centerline goodness : 0.985159 Centerline is valid? [True, True] Translation: X:174.54, Y:197.33, Z:-162.23 [[ 3.06747069e-01 5.87907395e-01 7.48512612e-01 1.74537180e+02] [-1.18606842e-01 8.03906430e-01 -5.82809462e-01 1.97333418e+02] [-9.44372094e-01 8.99963771e-02 3.16325781e-01 -1.62231179e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.3407140569999 meters Centerline goodness : 0.985468 Centerline is valid? [True, True] Translation: X:174.56, Y:197.34, Z:-162.26 [[ 3.04947306e-01 6.11364017e-01 7.30233647e-01 1.74556595e+02] [-1.22089589e-01 7.85523511e-01 -6.06668728e-01 1.97337731e+02] [-9.44511129e-01 9.58480687e-02 3.14184460e-01 -1.62262612e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.370714057 meters Centerline goodness : 0.985361 Centerline is valid? [True, True] Translation: X:174.57, Y:197.33, Z:-162.29 [[ 3.00562492e-01 6.02442187e-01 7.39408954e-01 1.74565890e+02] [-1.29858467e-01 7.93884484e-01 -5.94040575e-01 1.97331863e+02] [-9.44880398e-01 8.25278020e-02 3.16844118e-01 -1.62288453e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.400714057 meters Centerline goodness : 0.984973 Centerline is valid? [True, True] Translation: X:174.58, Y:197.33, Z:-162.32 [[ 2.98120858e-01 6.10579358e-01 7.33700758e-01 1.74577815e+02] [-1.34447758e-01 7.87850098e-01 -6.01012499e-01 1.97330239e+02] [-9.45012039e-01 8.05299396e-02 3.16965573e-01 -1.62316957e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.4307140569999 meters Centerline goodness : 0.985015 Centerline is valid? [True, True] Translation: X:174.59, Y:197.33, Z:-162.34 [[ 2.96132111e-01 6.09121348e-01 7.35715269e-01 1.74586195e+02] [-1.38173312e-01 7.89481157e-01 -5.98019765e-01 1.97326101e+02] [-9.45099947e-01 7.54366401e-02 3.17955035e-01 -1.62343900e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.4607140569999 meters Centerline goodness : 0.984547 Centerline is valid? [True, True] Translation: X:174.60, Y:197.32, Z:-162.37 [[ 2.86311948e-01 6.12213028e-01 7.37035058e-01 1.74596426e+02] [-1.45870654e-01 7.88122946e-01 -5.97983256e-01 1.97324073e+02] [-9.46967381e-01 6.36979654e-02 3.14952931e-01 -1.62371578e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.490714057 meters Centerline goodness : 0.984898 Centerline is valid? [True, True] Translation: X:174.60, Y:197.32, Z:-162.40 [[ 2.82443154e-01 6.00462242e-01 7.48111597e-01 1.74596430e+02] [-1.49859631e-01 7.97908479e-01 -5.83852850e-01 1.97315550e+02] [-9.47506177e-01 5.27935126e-02 3.15348837e-01 -1.62402905e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.520714057 meters Centerline goodness : 0.984623 Centerline is valid? [True, True] Translation: X:174.61, Y:197.31, Z:-162.43 [[ 2.80552033e-01 5.95514771e-01 7.52763386e-01 1.74606187e+02] [-1.55861956e-01 8.02116318e-01 -5.76468961e-01 1.97307890e+02] [-9.47099576e-01 4.44023651e-02 3.17853461e-01 -1.62433238e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.5507140569999 meters Centerline goodness : 0.984385 Centerline is valid? [True, True] Translation: X:174.62, Y:197.30, Z:-162.46 [[ 2.80053014e-01 6.00576954e-01 7.48917640e-01 1.74618623e+02] [-1.60114086e-01 7.98429562e-01 -5.80408230e-01 1.97303309e+02] [-9.46537791e-01 4.26328110e-02 3.19763435e-01 -1.62459751e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.5807140569999 meters Centerline goodness : 0.984435 Centerline is valid? [True, True] Translation: X:174.62, Y:197.29, Z:-162.50 [[ 2.75219195e-01 5.91015721e-01 7.58257748e-01 1.74620417e+02] [-1.60475993e-01 8.05893208e-01 -5.69897879e-01 1.97294409e+02] [-9.47893375e-01 3.51646707e-02 3.16641114e-01 -1.62495574e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.6107140569999 meters Centerline goodness : 0.984967 Centerline is valid? [True, True] Translation: X:174.64, Y:197.29, Z:-162.52 [[ 2.71950304e-01 6.11233472e-01 7.43260839e-01 1.74637064e+02] [-1.65554568e-01 7.90571733e-01 -5.89565960e-01 1.97292854e+02] [-9.47963458e-01 3.72824148e-02 3.16188717e-01 -1.62524724e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.640714057 meters Centerline goodness : 0.984496 Centerline is valid? [True, True] Translation: X:174.64, Y:197.28, Z:-162.55 [[ 2.72467242e-01 6.04761584e-01 7.48348200e-01 1.74642963e+02] [-1.68584837e-01 7.95750053e-01 -5.81688066e-01 1.97283844e+02] [-9.47280716e-01 3.23307839e-02 3.18769455e-01 -1.62554280e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.6707140569999 meters Centerline goodness : 0.985082 Centerline is valid? [True, True] Translation: X:174.65, Y:197.28, Z:-162.58 [[ 2.68468768e-01 6.17132322e-01 7.39643305e-01 1.74652971e+02] [-1.69714284e-01 7.86123343e-01 -5.94312335e-01 1.97282015e+02] [-9.48220218e-01 3.40262666e-02 3.15785736e-01 -1.62584783e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.7007140569999 meters Centerline goodness : 0.983682 Centerline is valid? [True, True] Translation: X:174.66, Y:197.27, Z:-162.61 [[ 2.68126347e-01 6.14991148e-01 7.41548481e-01 1.74658271e+02] [-1.71976343e-01 7.87924176e-01 -5.91269507e-01 1.97271929e+02] [-9.47909489e-01 3.10061375e-02 3.17027160e-01 -1.62614383e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.7307140569999 meters Centerline goodness : 0.986408 Centerline is valid? [True, True] Translation: X:174.67, Y:197.27, Z:-162.62 [[ 2.78737807e-01 5.99101838e-01 7.50587918e-01 1.74667312e+02] [-1.63533627e-01 7.99758293e-01 -5.77618754e-01 1.97274724e+02] [-9.46341370e-01 3.82578201e-02 3.20896170e-01 -1.62623052e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.760714057 meters Centerline goodness : 0.986408 Centerline is valid? [True, True] Translation: X:174.63, Y:197.24, Z:-162.66 [[ 2.76708337e-01 5.07572169e-01 8.15967517e-01 1.74633480e+02] [-1.64329090e-01 8.61608408e-01 -4.80236297e-01 1.97239278e+02] [-9.46799053e-01 -1.20181261e-03 3.21823102e-01 -1.62656562e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.790714057 meters Centerline goodness : 0.985244 Centerline is valid? [True, True] Translation: X:174.64, Y:197.21, Z:-162.70 [[ 2.74966499e-01 4.98863529e-01 8.21905472e-01 1.74636252e+02] [-1.75994533e-01 8.66528715e-01 -4.67069493e-01 1.97206257e+02] [-9.45208627e-01 -1.62224068e-02 3.26063621e-01 -1.62696683e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.8207140569999 meters Centerline goodness : 0.987189 Centerline is valid? [True, True] Translation: X:174.69, Y:197.25, Z:-162.71 [[ 2.81376269e-01 6.00932345e-01 7.48136158e-01 1.74689063e+02] [-1.63507263e-01 7.98258550e-01 -5.79697044e-01 1.97247790e+02] [-9.45564789e-01 4.07872961e-02 3.22867816e-01 -1.62709016e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.8507140569999 meters Centerline goodness : 0.987560 Centerline is valid? [True, True] Translation: X:174.66, Y:197.20, Z:-162.75 [[ 2.83893597e-01 5.02693317e-01 8.16519354e-01 1.74656456e+02] [-1.66154968e-01 8.64464269e-01 -4.74440780e-01 1.97199962e+02] [-9.44350016e-01 -9.78047751e-04 3.28940863e-01 -1.62747892e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.880714057 meters Centerline goodness : 0.988620 Centerline is valid? [True, True] Translation: X:174.68, Y:197.20, Z:-162.77 [[ 2.85488045e-01 5.39191651e-01 7.92318711e-01 1.74675724e+02] [-1.64119708e-01 8.42018080e-01 -5.13877684e-01 1.97199689e+02] [-9.44225237e-01 1.66708199e-02 3.28878072e-01 -1.62770719e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.910714057 meters Centerline goodness : 0.988675 Centerline is valid? [True, True] Translation: X:174.68, Y:197.19, Z:-162.79 [[ 2.82498639e-01 5.28096567e-01 8.00817417e-01 1.74676920e+02] [-1.62580236e-01 8.49102576e-01 -5.02585797e-01 1.97186889e+02] [-9.45389965e-01 1.17827190e-02 3.25728386e-01 -1.62793958e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.9407140569999 meters Centerline goodness : 0.989610 Centerline is valid? [True, True] Translation: X:174.68, Y:197.17, Z:-162.82 [[ 2.87558462e-01 5.35071212e-01 7.94360704e-01 1.74682750e+02] [-1.61535188e-01 8.44605161e-01 -5.10439521e-01 1.97174303e+02] [-9.44042644e-01 1.84639980e-02 3.29306190e-01 -1.62822301e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.9707140569999 meters Centerline goodness : 0.989500 Centerline is valid? [True, True] Translation: X:174.69, Y:197.16, Z:-162.85 [[ 2.89181210e-01 5.36785328e-01 7.92613235e-01 1.74688945e+02] [-1.61001695e-01 8.43467609e-01 -5.12484973e-01 1.97164823e+02] [-9.43638004e-01 2.05889503e-02 3.30338331e-01 -1.62848337e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.000714057 meters Centerline goodness : 0.991427 Centerline is valid? [True, True] Translation: X:174.69, Y:197.15, Z:-162.87 [[ 2.90105958e-01 5.35816870e-01 7.92930523e-01 1.74694540e+02] [-1.60185428e-01 8.44061733e-01 -5.11762074e-01 1.97154881e+02] [-9.43493064e-01 2.14493117e-02 3.30697392e-01 -1.62874519e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.030714057 meters Centerline goodness : 0.991988 Centerline is valid? [True, True] Translation: X:174.70, Y:197.14, Z:-162.90 [[ 2.91815654e-01 5.35209747e-01 7.92713158e-01 1.74699110e+02] [-1.59867905e-01 8.44420368e-01 -5.11269493e-01 1.97141261e+02] [-9.43019553e-01 2.24670491e-02 3.31977943e-01 -1.62900608e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.0607140569999 meters Centerline goodness : 0.992188 Centerline is valid? [True, True] Translation: X:174.70, Y:197.13, Z:-162.93 [[ 2.91829012e-01 5.34805095e-01 7.92981297e-01 1.74704913e+02] [-1.59146985e-01 8.44663697e-01 -5.11092434e-01 1.97132776e+02] [-9.43137352e-01 2.29510174e-02 3.31609991e-01 -1.62926724e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.0907140569999 meters Centerline goodness : 0.994164 Centerline is valid? [True, True] Translation: X:174.71, Y:197.12, Z:-162.96 [[ 2.91378653e-01 5.34926421e-01 7.93065070e-01 1.74710429e+02] [-1.60325473e-01 8.44620282e-01 -5.10795773e-01 1.97118642e+02] [-9.43076998e-01 2.16864516e-02 3.31866651e-01 -1.62957388e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.120714057 meters Centerline goodness : 0.994589 Centerline is valid? [True, True] Translation: X:174.72, Y:197.11, Z:-162.99 [[ 2.90778134e-01 5.35806257e-01 7.92691448e-01 1.74717624e+02] [-1.60851192e-01 8.44073831e-01 -5.11533247e-01 1.97108980e+02] [-9.43172822e-01 2.12373183e-02 3.31623288e-01 -1.62987262e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.150714057 meters Centerline goodness : 0.994804 Centerline is valid? [True, True] Translation: X:174.72, Y:197.10, Z:-163.01 [[ 2.90712662e-01 5.36540143e-01 7.92218924e-01 1.74724253e+02] [-1.61358055e-01 8.43612138e-01 -5.12134884e-01 1.97099678e+02] [-9.43106424e-01 2.10531907e-02 3.31823804e-01 -1.63013667e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.1807140569999 meters Centerline goodness : 0.995671 Centerline is valid? [True, True] Translation: X:174.73, Y:197.09, Z:-163.04 [[ 2.89883250e-01 5.36331641e-01 7.92663909e-01 1.74729846e+02] [-1.60850402e-01 8.43747509e-01 -5.12071566e-01 1.97086729e+02] [-9.43448382e-01 2.09406612e-02 3.30857430e-01 -1.63041235e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.2107140569999 meters Centerline goodness : 0.995595 Centerline is valid? [True, True] Translation: X:174.74, Y:197.08, Z:-163.07 [[ 2.89978065e-01 5.36152363e-01 7.92750507e-01 1.74736980e+02] [-1.60493057e-01 8.43853955e-01 -5.12008283e-01 1.97077771e+02] [-9.43480101e-01 2.12402185e-02 3.30747869e-01 -1.63067832e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.240714057 meters Centerline goodness : 0.995663 Centerline is valid? [True, True] Translation: X:174.74, Y:197.07, Z:-163.09 [[ 2.90724773e-01 5.38853132e-01 7.90643035e-01 1.74743449e+02] [-1.60400856e-01 8.42088832e-01 -5.14934913e-01 1.97071691e+02] [-9.43265960e-01 2.28845153e-02 3.31248588e-01 -1.63091821e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.270714057 meters Centerline goodness : 0.996458 Centerline is valid? [True, True] Translation: X:174.74, Y:197.05, Z:-163.12 [[ 2.91653157e-01 5.24229466e-01 8.00076186e-01 1.74743619e+02] [-1.56641293e-01 8.51325224e-01 -5.00708366e-01 1.97054047e+02] [-9.43611118e-01 2.07082072e-02 3.30407671e-01 -1.63119841e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.3007140569999 meters Centerline goodness : 0.997106 Centerline is valid? [True, True] Translation: X:174.75, Y:197.05, Z:-163.15 [[ 2.95100071e-01 5.33142684e-01 7.92890174e-01 1.74751124e+02] [-1.53544325e-01 8.45522444e-01 -5.11386289e-01 1.97045899e+02] [-9.43048296e-01 2.91663439e-02 3.31374767e-01 -1.63146376e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.3307140569999 meters Centerline goodness : 0.997512 Centerline is valid? [True, True] Translation: X:174.76, Y:197.04, Z:-163.17 [[ 2.97522908e-01 5.32025645e-01 7.92735033e-01 1.74757176e+02] [-1.51357605e-01 8.46120996e-01 -5.11048076e-01 1.97038369e+02] [-9.42640438e-01 3.20620338e-02 3.32266506e-01 -1.63171722e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.3607140569999 meters Centerline goodness : 0.997082 Centerline is valid? [True, True] Translation: X:174.76, Y:197.03, Z:-163.20 [[ 3.00016925e-01 5.30661663e-01 7.92709306e-01 1.74763555e+02] [-1.48723437e-01 8.46848375e-01 -5.10616459e-01 1.97031170e+02] [-9.42269168e-01 3.52991270e-02 3.32990672e-01 -1.63197626e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.390714057 meters Centerline goodness : 0.997455 Centerline is valid? [True, True] Translation: X:174.77, Y:197.02, Z:-163.22 [[ 3.02639826e-01 5.28829145e-01 7.92936865e-01 1.74769960e+02] [-1.45751441e-01 8.47844618e-01 -5.09819598e-01 1.97024152e+02] [-9.41894714e-01 3.87200236e-02 3.33669158e-01 -1.63223272e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.4207140569999 meters Centerline goodness : 0.997727 Centerline is valid? [True, True] Translation: X:174.78, Y:197.01, Z:-163.25 [[ 3.07920415e-01 5.25883275e-01 7.92863039e-01 1.74775493e+02] [-1.39516584e-01 8.49303505e-01 -5.09135228e-01 1.97014937e+02] [-9.41127059e-01 4.61555875e-02 3.34887326e-01 -1.63250040e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.4507140569999 meters Centerline goodness : 0.998104 Centerline is valid? [True, True] Translation: X:174.78, Y:197.01, Z:-163.27 [[ 3.13013454e-01 5.22560542e-01 7.93065607e-01 1.74781049e+02] [-1.32597554e-01 8.50893238e-01 -5.08329210e-01 1.97006337e+02] [-9.40446950e-01 5.39553225e-02 3.35631281e-01 -1.63274885e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.4807140569999 meters Centerline goodness : 0.997872 Centerline is valid? [True, True] Translation: X:174.79, Y:197.00, Z:-163.30 [[ 3.14805256e-01 5.20984664e-01 7.93393112e-01 1.74787880e+02] [-1.29371437e-01 8.51644077e-01 -5.07902941e-01 1.96999550e+02] [-9.40298188e-01 5.72481086e-02 3.35502567e-01 -1.63300645e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.510714057 meters Centerline goodness : 0.998273 Centerline is valid? [True, True] Translation: X:174.80, Y:196.99, Z:-163.33 [[ 3.16933763e-01 5.19416518e-01 7.93573860e-01 1.74795611e+02] [-1.25859847e-01 8.52341065e-01 -5.07616005e-01 1.96993146e+02] [-9.40059726e-01 6.10015657e-02 3.35509345e-01 -1.63326796e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.540714057 meters Centerline goodness : 0.998218 Centerline is valid? [True, True] Translation: X:174.80, Y:196.99, Z:-163.35 [[ 3.18894887e-01 5.17630512e-01 7.93955102e-01 1.74803141e+02] [-1.22810806e-01 8.53196019e-01 -5.06926088e-01 1.96986683e+02] [-9.39799743e-01 6.41498713e-02 3.35650468e-01 -1.63352905e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.5707140569999 meters Centerline goodness : 0.998339 Centerline is valid? [True, True] Translation: X:174.81, Y:196.98, Z:-163.38 [[ 3.22192175e-01 5.14998283e-01 7.94335553e-01 1.74810548e+02] [-1.17556752e-01 8.54350941e-01 -5.06226116e-01 1.96980782e+02] [-9.39346907e-01 6.97225856e-02 3.35806714e-01 -1.63378993e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.6007140569999 meters Centerline goodness : 0.998086 Centerline is valid? [True, True] Translation: X:174.82, Y:196.98, Z:-163.40 [[ 3.23901502e-01 5.13416417e-01 7.94664332e-01 1.74817822e+02] [-1.15236224e-01 8.55100640e-01 -5.05493332e-01 1.96975962e+02] [-9.39046554e-01 7.21559320e-02 3.36132551e-01 -1.63404852e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.630714057 meters Centerline goodness : 0.998201 Centerline is valid? [True, True] Translation: X:174.83, Y:196.97, Z:-163.43 [[ 3.26342321e-01 5.11559016e-01 7.94863549e-01 1.74825822e+02] [-1.11020287e-01 8.55824656e-01 -5.05211494e-01 1.96970710e+02] [-9.38709319e-01 7.66259120e-02 3.36085234e-01 -1.63430966e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.660714057 meters Centerline goodness : 0.997909 Centerline is valid? [True, True] Translation: X:174.83, Y:196.97, Z:-163.46 [[ 3.26971782e-01 5.10285713e-01 7.95423123e-01 1.74833841e+02] [-1.08982089e-01 8.56432018e-01 -5.04625706e-01 1.96966072e+02] [-9.38729119e-01 7.83114927e-02 3.35641106e-01 -1.63457260e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.6907140569999 meters Centerline goodness : 0.998096 Centerline is valid? [True, True] Translation: X:174.84, Y:196.96, Z:-163.48 [[ 3.27523758e-01 5.09473250e-01 7.95716781e-01 1.74842614e+02] [-1.07157325e-01 8.56763941e-01 -5.04453028e-01 1.96962041e+02] [-9.38746769e-01 7.99534698e-02 3.35204336e-01 -1.63482663e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.7207140569999 meters Centerline goodness : 0.998132 Centerline is valid? [True, True] Translation: X:174.85, Y:196.96, Z:-163.51 [[ 3.28202872e-01 5.08311726e-01 7.96179668e-01 1.74852490e+02] [-1.04171210e-01 8.57204246e-01 -5.04330487e-01 1.96960412e+02] [-9.38845692e-01 8.25837145e-02 3.34288343e-01 -1.63508744e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.750714057 meters Centerline goodness : 0.997960 Centerline is valid? [True, True] Translation: X:174.86, Y:196.96, Z:-163.53 [[ 3.28619278e-01 5.07325032e-01 7.96637108e-01 1.74861095e+02] [-1.03161470e-01 8.57716156e-01 -5.03667258e-01 1.96957196e+02] [-9.38811526e-01 8.33325157e-02 3.34198460e-01 -1.63534230e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.780714057 meters Centerline goodness : 0.997732 Centerline is valid? [True, True] Translation: X:174.87, Y:196.95, Z:-163.56 [[ 3.29064243e-01 5.06566048e-01 7.96936361e-01 1.74869975e+02] [-1.01615613e-01 8.58032329e-01 -5.03442936e-01 1.96954378e+02] [-9.38824260e-01 8.46838919e-02 3.33822778e-01 -1.63560291e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.8107140569999 meters Centerline goodness : 0.997779 Centerline is valid? [True, True] Translation: X:174.88, Y:196.95, Z:-163.59 [[ 3.28924590e-01 5.05515878e-01 7.97660524e-01 1.74880269e+02] [-9.97472644e-02 8.58533445e-01 -5.02962034e-01 1.96953733e+02] [-9.39073531e-01 8.58721258e-02 3.32816587e-01 -1.63586169e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.8407140569999 meters Centerline goodness : 0.997303 Centerline is valid? [True, True] Translation: X:174.89, Y:196.95, Z:-163.61 [[ 3.28970720e-01 5.05055416e-01 7.97933138e-01 1.74890131e+02] [-9.90257888e-02 8.58754841e-01 -5.02726581e-01 1.96951447e+02] [-9.39133728e-01 8.63663669e-02 3.32518709e-01 -1.63612906e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.870714057 meters Centerline goodness : 0.996771 Centerline is valid? [True, True] Translation: X:174.90, Y:196.95, Z:-163.64 [[ 3.28046472e-01 5.04690050e-01 7.98544592e-01 1.74901705e+02] [-9.91828648e-02 8.59052434e-01 -5.02186892e-01 1.96952975e+02] [-9.39440403e-01 8.55386981e-02 3.31865726e-01 -1.63638707e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.900714057 meters Centerline goodness : 0.996680 Centerline is valid? [True, True] Translation: X:174.91, Y:196.95, Z:-163.66 [[ 3.28017731e-01 5.04640185e-01 7.98587911e-01 1.74910485e+02] [-1.00080791e-01 8.59166770e-01 -5.01813010e-01 1.96951554e+02] [-9.39355206e-01 8.46802550e-02 3.32326723e-01 -1.63664145e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.9307140569999 meters Centerline goodness : 0.996977 Centerline is valid? [True, True] Translation: X:174.92, Y:196.95, Z:-163.69 [[ 3.28868521e-01 5.04213116e-01 7.98507752e-01 1.74919719e+02] [-1.00906842e-01 8.59461202e-01 -5.01142946e-01 1.96950340e+02] [-9.38969278e-01 8.42352444e-02 3.33528287e-01 -1.63690696e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.9607140569999 meters Centerline goodness : 0.996383 Centerline is valid? [True, True] Translation: X:174.93, Y:196.95, Z:-163.72 [[ 3.29259744e-01 5.04217696e-01 7.98343621e-01 1.74930278e+02] [-1.03829274e-01 8.59695061e-01 -5.00143863e-01 1.96953604e+02] [-9.38513454e-01 8.17858016e-02 3.35415533e-01 -1.63716324e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.990714057 meters Centerline goodness : 0.996140 Centerline is valid? [True, True] Translation: X:174.94, Y:196.95, Z:-163.74 [[ 3.28541204e-01 5.04341590e-01 7.98561356e-01 1.74940087e+02] [-1.05336245e-01 8.59786197e-01 -4.99671863e-01 1.96953310e+02] [-9.38597333e-01 8.00453410e-02 3.35600641e-01 -1.63741824e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.020714057 meters Centerline goodness : 0.994793 Centerline is valid? [True, True] Translation: X:174.95, Y:196.95, Z:-163.77 [[ 3.28402816e-01 5.04479860e-01 7.98530940e-01 1.74950982e+02] [-1.06845882e-01 8.59834654e-01 -4.99267789e-01 1.96952965e+02] [-9.38475119e-01 7.86412054e-02 3.36273717e-01 -1.63768412e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.0507140569999 meters Centerline goodness : 0.994589 Centerline is valid? [True, True] Translation: X:174.96, Y:196.96, Z:-163.80 [[ 3.25400513e-01 5.05308509e-01 7.99235770e-01 1.74963678e+02] [-1.09819239e-01 8.59712608e-01 -4.98832603e-01 1.96956358e+02] [-9.39177428e-01 7.45489212e-02 3.35243519e-01 -1.63795098e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.0807140569999 meters Centerline goodness : 0.993148 Centerline is valid? [True, True] Translation: X:174.97, Y:196.96, Z:-163.82 [[ 3.23802668e-01 5.05454741e-01 7.99792058e-01 1.74973854e+02] [-1.11349554e-01 8.59818915e-01 -4.98309854e-01 1.96955340e+02] [-9.39549418e-01 7.22975712e-02 3.34693819e-01 -1.63821711e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.1107140569999 meters Centerline goodness : 0.992009 Centerline is valid? [True, True] Translation: X:174.99, Y:196.96, Z:-163.85 [[ 3.21236522e-01 5.06361203e-01 8.00253353e-01 1.74986091e+02] [-1.15132987e-01 8.59655588e-01 -4.97731519e-01 1.96958620e+02] [-9.39974198e-01 6.77539826e-02 3.34451649e-01 -1.63848730e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.140714057 meters Centerline goodness : 0.992526 Centerline is valid? [True, True] Translation: X:175.00, Y:196.96, Z:-163.88 [[ 3.20373157e-01 5.06374978e-01 8.00590671e-01 1.74996353e+02] [-1.16832536e-01 8.59805773e-01 -4.97075640e-01 1.96957608e+02] [-9.40059146e-01 6.57146534e-02 3.34619763e-01 -1.63875002e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.1707140569999 meters Centerline goodness : 0.991081 Centerline is valid? [True, True] Translation: X:175.01, Y:196.96, Z:-163.90 [[ 3.19071895e-01 5.06396826e-01 8.01096362e-01 1.75006055e+02] [-1.18375843e-01 8.59953832e-01 -4.96453992e-01 1.96956965e+02] [-9.40308612e-01 6.35740589e-02 3.34332250e-01 -1.63900907e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.2007140569999 meters Centerline goodness : 0.990321 Centerline is valid? [True, True] Translation: X:175.02, Y:196.96, Z:-163.93 [[ 3.17657333e-01 5.06828824e-01 8.01385277e-01 1.75016552e+02] [-1.20031795e-01 8.59854529e-01 -4.96228332e-01 1.96955873e+02] [-9.40577582e-01 6.14388551e-02 3.33974670e-01 -1.63928195e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.2307140569999 meters Centerline goodness : 0.989002 Centerline is valid? [True, True] Translation: X:175.03, Y:196.96, Z:-163.95 [[ 3.14691191e-01 5.08102671e-01 8.01748795e-01 1.75028507e+02] [-1.23360422e-01 8.59391709e-01 -4.96213761e-01 1.96959085e+02] [-9.41143805e-01 5.72500292e-02 3.33122760e-01 -1.63954205e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.260714057 meters Centerline goodness : 0.988268 Centerline is valid? [True, True] Translation: X:175.04, Y:196.96, Z:-163.98 [[ 3.13499527e-01 5.08365210e-01 8.02049163e-01 1.75038544e+02] [-1.24589824e-01 8.59347142e-01 -4.95983734e-01 1.96957611e+02] [-9.41379532e-01 5.55635018e-02 3.32742054e-01 -1.63980837e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.290714057 meters Centerline goodness : 0.986626 Centerline is valid? [True, True] Translation: X:175.05, Y:196.94, Z:-164.02 [[ 3.11580790e-01 4.95801855e-01 8.10615774e-01 1.75050726e+02] [-1.34046174e-01 8.67485814e-01 -4.79061567e-01 1.96940465e+02] [-9.40717298e-01 4.06064383e-02 3.36752257e-01 -1.64017926e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.3207140569999 meters Centerline goodness : 0.985419 Centerline is valid? [True, True] Translation: X:175.09, Y:196.96, Z:-164.05 [[ 3.11925743e-01 5.66404010e-01 7.62816379e-01 1.75087524e+02] [-1.36572638e-01 8.21266482e-01 -5.53957832e-01 1.96961344e+02] [-9.40239462e-01 6.86138630e-02 3.33529448e-01 -1.64046550e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.3507140569999 meters Centerline goodness : 0.985487 Centerline is valid? [True, True] Translation: X:175.10, Y:196.96, Z:-164.08 [[ 3.10422233e-01 5.71387057e-01 7.59707094e-01 1.75098987e+02] [-1.37712817e-01 8.17788193e-01 -5.58800190e-01 1.96960091e+02] [-9.40570687e-01 6.88425985e-02 3.32546958e-01 -1.64077632e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.380714057 meters Centerline goodness : 0.983653 Centerline is valid? [True, True] Translation: X:175.58, Y:196.32, Z:-163.85 [[ 2.99539334e-01 -5.37097072e-01 -7.88544814e-01 1.75583527e+02] [-1.64156109e-01 -8.43181614e-01 5.11954625e-01 1.96317849e+02] [-9.39855819e-01 -2.39060989e-02 -3.40733824e-01 -1.63847570e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.410714057 meters Centerline goodness : 0.982561 Centerline is valid? [True, True] Translation: X:175.71, Y:196.48, Z:-163.87 [[ 3.38237558e-01 -1.87384493e-01 -9.22216030e-01 1.75711713e+02] [-9.66190329e-02 -9.81711124e-01 1.64036680e-01 1.96484677e+02] [-9.36087665e-01 3.36202548e-02 -3.50156482e-01 -1.63865253e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.4407140569999 meters Centerline goodness : 0.983150 Centerline is valid? [True, True] Translation: X:175.03, Y:196.85, Z:-164.18 [[ 3.47901125e-01 3.55310383e-02 9.36857702e-01 1.75033867e+02] [-4.28281439e-03 9.99331398e-01 -3.63099820e-02 1.96847616e+02] [-9.37521448e-01 8.61989592e-03 3.47820690e-01 -1.64184671e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.4707140569999 meters Centerline goodness : 0.983968 Centerline is valid? [True, True] Translation: X:175.07, Y:196.90, Z:-164.21 [[ 3.49376392e-01 1.62463833e-01 9.22790139e-01 1.75065025e+02] [-7.83615838e-03 9.85325346e-01 -1.70506767e-01 1.96898769e+02] [-9.36949695e-01 5.23399095e-02 3.45522506e-01 -1.64213499e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.500714057 meters Centerline goodness : 0.982645 Centerline is valid? [True, True] Translation: X:175.08, Y:196.91, Z:-164.24 [[ 3.44607988e-01 1.89814641e-01 9.19356154e-01 1.75079943e+02] [-1.08326808e-02 9.80083100e-01 -1.98292133e-01 1.96909169e+02] [-9.38684179e-01 5.83739613e-02 3.39800666e-01 -1.64238438e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.530714057 meters Centerline goodness : 0.983336 Centerline is valid? [True, True] Translation: X:175.09, Y:196.91, Z:-164.28 [[ 3.47271252e-01 1.87091125e-01 9.18912177e-01 1.75087759e+02] [-1.34917093e-02 9.80791658e-01 -1.94591101e-01 1.96905548e+02] [-9.37667666e-01 5.51781992e-02 3.43124926e-01 -1.64275330e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.5607140569999 meters Centerline goodness : 0.984185 Centerline is valid? [True, True] Translation: X:175.11, Y:196.90, Z:-164.30 [[ 3.51472324e-01 1.83900261e-01 9.17958550e-01 1.75105285e+02] [-1.42394891e-02 9.81453924e-01 -1.91168595e-01 1.96904453e+02] [-9.36089976e-01 5.41192095e-02 3.47572537e-01 -1.64299671e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.5907140569999 meters Centerline goodness : 0.983313 Centerline is valid? [True, True] Translation: X:175.12, Y:196.90, Z:-164.33 [[ 3.44996271e-01 1.86972004e-01 9.19792935e-01 1.75115686e+02] [-1.71748412e-02 9.81051866e-01 -1.92982540e-01 1.96904355e+02] [-9.38446907e-01 5.07809594e-02 3.41670450e-01 -1.64327160e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.620714057 meters Centerline goodness : 0.985153 Centerline is valid? [True, True] Translation: X:175.12, Y:196.90, Z:-164.36 [[ 3.48298238e-01 1.70334260e-01 9.21777944e-01 1.75122840e+02] [-1.81419325e-02 9.84392438e-01 -1.75049702e-01 1.96895642e+02] [-9.37208199e-01 4.42466696e-02 3.45952344e-01 -1.64359541e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.650714057 meters Centerline goodness : 0.985153 Centerline is valid? [True, True] Translation: X:175.14, Y:196.90, Z:-164.39 [[ 3.48287767e-01 1.83044407e-01 9.19342361e-01 1.75136836e+02] [-1.79546637e-02 9.81872116e-01 -1.88692284e-01 1.96899239e+02] [-9.37215696e-01 4.92127314e-02 3.45260548e-01 -1.64390129e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.6807140569999 meters Centerline goodness : 0.986360 Centerline is valid? [True, True] Translation: X:175.14, Y:196.92, Z:-164.41 [[ 3.43363067e-01 2.05980720e-01 9.16337136e-01 1.75141318e+02] [-1.24574636e-02 9.76567233e-01 -2.14851697e-01 1.96917444e+02] [-9.39120128e-01 6.23569013e-02 3.37883118e-01 -1.64413341e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.7107140569999 meters Centerline goodness : 0.984461 Centerline is valid? [True, True] Translation: X:175.14, Y:196.88, Z:-164.46 [[ 3.37507708e-01 1.41495021e-01 9.30627587e-01 1.75135569e+02] [-2.19867147e-02 9.89553394e-01 -1.42480402e-01 1.96876319e+02] [-9.41065955e-01 2.76267907e-02 3.37092909e-01 -1.64459810e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.740714057 meters Centerline goodness : 0.984057 Centerline is valid? [True, True] Translation: X:175.16, Y:196.89, Z:-164.49 [[ 3.43202717e-01 1.82926087e-01 9.21276257e-01 1.75161257e+02] [-1.87995852e-02 9.81993212e-01 -1.87978477e-01 1.96890417e+02] [-9.39073198e-01 4.71951123e-02 3.40461673e-01 -1.64486650e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.770714057 meters Centerline goodness : 0.984877 Centerline is valid? [True, True] Translation: X:175.18, Y:196.89, Z:-164.51 [[ 3.47527362e-01 1.76264002e-01 9.20953709e-01 1.75176039e+02] [-1.65033016e-02 9.83170355e-01 -1.81944207e-01 1.96886845e+02] [-9.37524599e-01 4.80318135e-02 3.44587537e-01 -1.64510862e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.8007140569999 meters Centerline goodness : 0.983588 Centerline is valid? [True, True] Translation: X:175.18, Y:196.89, Z:-164.54 [[ 3.39084016e-01 1.97776992e-01 9.19731641e-01 1.75182339e+02] [-1.73116976e-02 9.78797794e-01 -2.04096016e-01 1.96889975e+02] [-9.40596797e-01 5.32835808e-02 3.35318543e-01 -1.64544763e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.8307140569999 meters Centerline goodness : 0.984428 Centerline is valid? [True, True] Translation: X:175.19, Y:196.88, Z:-164.57 [[ 3.40237957e-01 1.87175515e-01 9.21522360e-01 1.75192609e+02] [-1.32477100e-02 9.80845990e-01 -1.94333841e-01 1.96883546e+02] [-9.40246048e-01 5.39116881e-02 3.36200683e-01 -1.64572732e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.8607140569999 meters Centerline goodness : 0.983420 Centerline is valid? [True, True] Translation: X:175.20, Y:196.88, Z:-164.60 [[ 3.43109282e-01 1.80555157e-01 9.21778637e-01 1.75202613e+02] [-1.15694414e-02 9.82088990e-01 -1.88062125e-01 1.96879512e+02] [-9.39224238e-01 5.38613968e-02 3.39052770e-01 -1.64600065e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.890714057 meters Centerline goodness : 0.985214 Centerline is valid? [True, True] Translation: X:175.21, Y:196.86, Z:-164.63 [[ 3.44561022e-01 1.42999035e-01 9.27808697e-01 1.75210140e+02] [-5.09971367e-03 9.88600699e-01 -1.50474752e-01 1.96860609e+02] [-9.38750071e-01 4.71161755e-02 3.41362521e-01 -1.64634102e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.9207140569999 meters Centerline goodness : 0.985534 Centerline is valid? [True, True] Translation: X:175.23, Y:196.87, Z:-164.66 [[ 3.46116119e-01 1.64879245e-01 9.23589989e-01 1.75225805e+02] [-2.73950510e-03 9.84609760e-01 -1.74745860e-01 1.96866183e+02] [-9.38187683e-01 5.79521794e-02 3.41240996e-01 -1.64663615e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.9507140569999 meters Centerline goodness : 0.985362 Centerline is valid? [True, True] Translation: X:175.24, Y:196.86, Z:-164.69 [[ 3.45437363e-01 1.69212486e-01 9.23060216e-01 1.75236267e+02] [-9.57761050e-04 9.83672491e-01 -1.79965313e-01 1.96864896e+02] [-9.38441320e-01 6.12826720e-02 3.39959297e-01 -1.64693251e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.9807140569999 meters Centerline goodness : 0.985896 Centerline is valid? [True, True] Translation: X:175.24, Y:196.85, Z:-164.72 [[ 3.42583404e-01 1.45487587e-01 9.28154068e-01 1.75244119e+02] [ 1.37035662e-03 9.87858231e-01 -1.55351980e-01 1.96853849e+02] [-9.39486420e-01 5.44929120e-02 3.38224465e-01 -1.64721092e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.010714057 meters Centerline goodness : 0.985729 Centerline is valid? [True, True] Translation: X:175.26, Y:196.85, Z:-164.75 [[ 3.47884137e-01 1.54094038e-01 9.24787357e-01 1.75255518e+02] [ 5.47786624e-03 9.86049435e-01 -1.66362570e-01 1.96853503e+02] [-9.37521531e-01 6.29407605e-02 3.42186850e-01 -1.64754228e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.040714057 meters Centerline goodness : 0.985592 Centerline is valid? [True, True] Translation: X:175.27, Y:196.85, Z:-164.78 [[ 3.51345131e-01 1.55493622e-01 9.23243377e-01 1.75268347e+02] [ 8.26972244e-03 9.85558059e-01 -1.69135813e-01 1.96853233e+02] [-9.36209491e-01 6.70600108e-02 3.44985136e-01 -1.64782219e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.0707140569999 meters Centerline goodness : 0.986389 Centerline is valid? [True, True] Translation: X:175.28, Y:196.85, Z:-164.81 [[ 3.52555009e-01 1.50188413e-01 9.23660331e-01 1.75278734e+02] [ 1.09321976e-02 9.86308520e-01 -1.64547840e-01 1.96850011e+02] [-9.35727232e-01 6.81098023e-02 3.46086119e-01 -1.64811129e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.1007140569999 meters Centerline goodness : 0.985620 Centerline is valid? [True, True] Translation: X:175.29, Y:196.84, Z:-164.84 [[ 3.54253050e-01 1.39510373e-01 9.24684613e-01 1.75288021e+02] [ 1.39220376e-02 9.87912911e-01 -1.54383474e-01 1.96843743e+02] [-9.35045963e-01 6.75643104e-02 3.48028893e-01 -1.64841265e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.130714057 meters Centerline goodness : 0.986543 Centerline is valid? [True, True] Translation: X:175.30, Y:196.84, Z:-164.87 [[ 3.55235089e-01 1.36295303e-01 9.24787339e-01 1.75300024e+02] [ 1.53731505e-02 9.88327719e-01 -1.51565125e-01 1.96841312e+02] [-9.34650575e-01 6.80581456e-02 3.48993397e-01 -1.64870776e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.160714057 meters Centerline goodness : 0.986557 Centerline is valid? [True, True] Translation: X:175.31, Y:196.84, Z:-164.90 [[ 3.52937779e-01 1.41680053e-01 9.24857658e-01 1.75310649e+02] [ 1.78921444e-02 9.87266058e-01 -1.58068347e-01 1.96843390e+02] [-9.35475706e-01 7.23359779e-02 3.45908529e-01 -1.64899816e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.1907140569999 meters Centerline goodness : 0.986933 Centerline is valid? [True, True] Translation: X:175.32, Y:196.84, Z:-164.93 [[ 3.51786404e-01 1.37618751e-01 9.25908962e-01 1.75320940e+02] [ 1.85716896e-02 9.87913347e-01 -1.53890581e-01 1.96840585e+02] [-9.35896051e-01 7.13323080e-02 3.44978671e-01 -1.64932685e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.2207140569999 meters Centerline goodness : 0.986647 Centerline is valid? [True, True] Translation: X:175.33, Y:196.84, Z:-164.96 [[ 3.51411862e-01 1.41752056e-01 9.25427500e-01 1.75332238e+02] [ 2.04152513e-02 9.87075970e-01 -1.58947308e-01 1.96841919e+02] [-9.35998355e-01 7.47488045e-02 3.43976301e-01 -1.64963654e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.250714057 meters Centerline goodness : 0.987051 Centerline is valid? [True, True] Translation: X:175.34, Y:196.84, Z:-164.99 [[ 3.51947634e-01 1.35952679e-01 9.26093803e-01 1.75343779e+02] [ 2.35237702e-02 9.87798436e-01 -1.53950905e-01 1.96840659e+02] [-9.35724049e-01 7.59678747e-02 3.44455203e-01 -1.64994010e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.280714057 meters Centerline goodness : 0.988173 Centerline is valid? [True, True] Translation: X:175.35, Y:196.84, Z:-165.02 [[ 3.51904334e-01 1.25690141e-01 9.27558800e-01 1.75351667e+02] [ 2.92935316e-02 9.88979349e-01 -1.45126621e-01 1.96842861e+02] [-9.35577484e-01 7.82421601e-02 3.44344211e-01 -1.65017761e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.3107140569999 meters Centerline goodness : 0.988291 Centerline is valid? [True, True] Translation: X:175.36, Y:196.83, Z:-165.05 [[ 3.50327439e-01 9.61216304e-02 9.31681983e-01 1.75356862e+02] [ 3.06398327e-02 9.93011592e-01 -1.13970077e-01 1.96831440e+02] [-9.36125999e-01 6.84734253e-02 3.44934058e-01 -1.65049765e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.3407140569999 meters Centerline goodness : 0.987198 Centerline is valid? [True, True] Translation: X:175.37, Y:196.83, Z:-165.08 [[ 3.51082642e-01 9.63319680e-02 9.31375934e-01 1.75366821e+02] [ 3.17652611e-02 9.92895773e-01 -1.14668880e-01 1.96832168e+02] [-9.35805507e-01 6.98436532e-02 3.45528461e-01 -1.65075802e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.370714057 meters Centerline goodness : 0.987361 Centerline is valid? [True, True] Translation: X:175.38, Y:196.84, Z:-165.10 [[ 3.50943079e-01 9.52204034e-02 9.31542822e-01 1.75376059e+02] [ 3.42753543e-02 9.92843416e-01 -1.14399088e-01 1.96835101e+02] [-9.35769285e-01 7.20765284e-02 3.45167813e-01 -1.65102789e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.400714057 meters Centerline goodness : 0.987466 Centerline is valid? [True, True] Translation: X:175.39, Y:196.83, Z:-165.13 [[ 3.52930933e-01 8.24728185e-02 9.32007506e-01 1.75387565e+02] [ 3.71197708e-02 9.94089262e-01 -1.02022846e-01 1.96832622e+02] [-9.34912766e-01 7.06029233e-02 3.47783478e-01 -1.65129030e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.4307140569999 meters Centerline goodness : 0.986737 Centerline is valid? [True, True] Translation: X:175.40, Y:196.85, Z:-165.16 [[ 3.52462394e-01 1.10138343e-01 9.29322230e-01 1.75399433e+02] [ 3.93357047e-02 9.90429013e-01 -1.32299178e-01 1.96846114e+02] [-9.34998911e-01 8.31860299e-02 3.44756611e-01 -1.65155099e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.4607140569999 meters Centerline goodness : 0.987017 Centerline is valid? [True, True] Translation: X:175.41, Y:196.84, Z:-165.19 [[ 3.50838284e-01 9.14884262e-02 9.31956204e-01 1.75407006e+02] [ 4.15675856e-02 9.92713589e-01 -1.13101135e-01 1.96839821e+02] [-9.35513033e-01 7.84193773e-02 3.44478979e-01 -1.65187098e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.490714057 meters Centerline goodness : 0.986762 Centerline is valid? [True, True] Translation: X:175.42, Y:196.83, Z:-165.21 [[ 3.53105648e-01 7.85064001e-02 9.32283834e-01 1.75417760e+02] [ 4.35111828e-02 9.94016986e-01 -1.00184875e-01 1.96834890e+02] [-9.34571120e-01 7.59406176e-02 3.47577106e-01 -1.65212203e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.520714057 meters Centerline goodness : 0.987129 Centerline is valid? [True, True] Translation: X:175.43, Y:196.85, Z:-165.24 [[ 3.53293695e-01 1.08367944e-01 9.29214697e-01 1.75430155e+02] [ 5.05618313e-02 9.89604461e-01 -1.34634738e-01 1.96852844e+02] [-9.34145099e-01 9.45484008e-02 3.44141735e-01 -1.65237176e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.5507140569999 meters Centerline goodness : 0.985968 Centerline is valid? [True, True] Translation: X:175.44, Y:196.84, Z:-165.27 [[ 3.52622135e-01 7.40852988e-02 9.32828494e-01 1.75436864e+02] [ 5.38450531e-02 9.93603006e-01 -9.92661929e-02 1.96839888e+02] [-9.34215361e-01 8.52316567e-02 3.46377287e-01 -1.65266142e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.5807140569999 meters Centerline goodness : 0.983662 Centerline is valid? [True, True] Translation: X:175.45, Y:196.85, Z:-165.29 [[ 3.54576854e-01 8.76813668e-02 9.30906672e-01 1.75451591e+02] [ 6.00018901e-02 9.91407769e-01 -1.16234283e-01 1.96851555e+02] [-9.33099688e-01 9.70701462e-02 3.46269200e-01 -1.65291659e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.6107140569999 meters Centerline goodness : 0.985773 Centerline is valid? [True, True] Translation: X:175.46, Y:196.86, Z:-165.32 [[ 3.54585466e-01 1.05864461e-01 9.29011229e-01 1.75462594e+02] [ 6.17367542e-02 9.88750926e-01 -1.36235748e-01 1.96862028e+02] [-9.32983237e-01 1.05661354e-01 3.44060980e-01 -1.65316917e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.640714057 meters Centerline goodness : 0.982964 Centerline is valid? [True, True] Translation: X:175.46, Y:196.86, Z:-165.34 [[ 3.49710134e-01 1.05700201e-01 9.30876087e-01 1.75464420e+02] [ 5.92518870e-02 9.89130373e-01 -1.34574586e-01 1.96863221e+02] [-9.34982372e-01 1.02218261e-01 3.39645978e-01 -1.65339089e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.6707140569999 meters Centerline goodness : 0.982632 Centerline is valid? [True, True] Translation: X:175.45, Y:196.83, Z:-165.37 [[ 3.40021536e-01 1.00644916e-02 9.40363792e-01 1.75451655e+02] [ 6.06036242e-02 9.97629712e-01 -3.25907628e-02 1.96831633e+02] [-9.38462869e-01 6.80710151e-02 3.38605643e-01 -1.65370205e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.7007140569999 meters Centerline goodness : 0.985077 Centerline is valid? [True, True] Translation: X:175.46, Y:196.82, Z:-165.40 [[ 3.40477542e-01 -3.27576068e-02 9.39681852e-01 1.75462582e+02] [ 6.57083238e-02 9.97778520e-01 1.09745951e-02 1.96819452e+02] [-9.37953869e-01 5.80083162e-02 3.41873625e-01 -1.65404147e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.7307140569999 meters Centerline goodness : 0.986532 Centerline is valid? [True, True] Translation: X:175.50, Y:196.87, Z:-165.42 [[ 3.51261604e-01 7.84356301e-02 9.32986140e-01 1.75497462e+02] [ 6.33357969e-02 9.92211596e-01 -1.07260088e-01 1.96872052e+02] [-9.34132679e-01 9.67677712e-02 3.43558054e-01 -1.65423166e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.760714057 meters Centerline goodness : 0.986341 Centerline is valid? [True, True] Translation: X:175.51, Y:196.87, Z:-165.45 [[ 3.50555790e-01 7.87106172e-02 9.33228416e-01 1.75507708e+02] [ 6.21606696e-02 9.92309294e-01 -1.07043525e-01 1.96874909e+02] [-9.34476693e-01 9.55348308e-02 3.42967064e-01 -1.65449081e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.790714057 meters Centerline goodness : 0.986394 Centerline is valid? [True, True] Translation: X:175.52, Y:196.88, Z:-165.47 [[ 3.50472896e-01 7.92370915e-02 9.33214998e-01 1.75517464e+02] [ 5.98627974e-02 9.92482070e-01 -1.06751050e-01 1.96878061e+02] [-9.34657796e-01 9.32782098e-02 3.43094711e-01 -1.65474820e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.8207140569999 meters Centerline goodness : 0.988298 Centerline is valid? [True, True] Translation: X:175.53, Y:196.89, Z:-165.50 [[ 3.50150401e-01 8.09328866e-02 9.33190530e-01 1.75527171e+02] [ 5.41141977e-02 9.92848551e-01 -1.06411503e-01 1.96886026e+02] [-9.35129055e-01 8.77588874e-02 3.43266700e-01 -1.65500432e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.8507140569999 meters Centerline goodness : 0.988341 Centerline is valid? [True, True] Translation: X:175.54, Y:196.89, Z:-165.53 [[ 3.49276506e-01 8.19077061e-02 9.33432938e-01 1.75536796e+02] [ 5.06839116e-02 9.93062340e-01 -1.06105274e-01 1.96889433e+02] [-9.35647938e-01 8.43701120e-02 3.42701941e-01 -1.65526760e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.880714057 meters Centerline goodness : 0.988562 Centerline is valid? [True, True] Translation: X:175.55, Y:196.90, Z:-165.55 [[ 3.48435659e-01 8.41502827e-02 9.33547707e-01 1.75546519e+02] [ 4.23397898e-02 9.93532376e-01 -1.05360146e-01 1.96896897e+02] [-9.36375958e-01 7.62374456e-02 3.42619202e-01 -1.65552036e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.910714057 meters Centerline goodness : 0.988363 Centerline is valid? [True, True] Translation: X:175.56, Y:196.90, Z:-165.58 [[ 3.47898392e-01 8.52746479e-02 9.33646048e-01 1.75556685e+02] [ 3.83228699e-02 9.93729070e-01 -1.05042335e-01 1.96899998e+02] [-9.36748668e-01 7.23240556e-02 3.42448776e-01 -1.65577957e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.9407140569999 meters Centerline goodness : 0.984754 Centerline is valid? [True, True] Translation: X:175.57, Y:196.88, Z:-165.61 [[ 3.48132940e-01 7.14223710e-02 9.34720440e-01 1.75572150e+02] [ 2.07362245e-02 9.96262780e-01 -8.38479714e-02 1.96883419e+02] [-9.37215805e-01 4.85728137e-02 3.45350861e-01 -1.65606851e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.9707140569999 meters Centerline goodness : 0.986101 Centerline is valid? [True, True] Translation: X:175.60, Y:196.94, Z:-165.62 [[ 3.49266966e-01 1.77569777e-01 9.20044326e-01 1.75600969e+02] [ 2.11528833e-02 9.80135550e-01 -1.97197515e-01 1.96935334e+02] [-9.36784469e-01 8.83361679e-02 3.38572857e-01 -1.65616653e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.000714057 meters Centerline goodness : 0.986254 Centerline is valid? [True, True] Translation: X:175.56, Y:196.86, Z:-165.66 [[ 3.38886017e-01 -1.71942221e-02 9.40670307e-01 1.75558133e+02] [ 8.57461320e-03 9.99847907e-01 1.51868198e-02 1.96860659e+02] [-9.40788363e-01 2.91928314e-03 3.38981908e-01 -1.65663160e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.030714057 meters Centerline goodness : 0.988983 Centerline is valid? [True, True] Translation: X:175.57, Y:196.86, Z:-165.70 [[ 3.42956462e-01 -3.76434938e-02 9.38596736e-01 1.75570589e+02] [ 1.03463958e-02 9.99287484e-01 3.62970672e-02 1.96856294e+02] [-9.39294319e-01 -2.73722040e-03 3.43101575e-01 -1.65699107e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.0607140569999 meters Centerline goodness : 0.989137 Centerline is valid? [True, True] Translation: X:175.62, Y:196.91, Z:-165.72 [[ 3.49580580e-01 9.96140463e-02 9.31595653e-01 1.75618731e+02] [ 4.46544968e-03 9.94143274e-01 -1.07977821e-01 1.96913622e+02] [-9.36895660e-01 4.19069429e-02 3.47088361e-01 -1.65719182e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.0907140569999 meters Centerline goodness : 0.988285 Centerline is valid? [True, True] Translation: X:175.63, Y:196.92, Z:-165.75 [[ 3.48024654e-01 1.04271093e-01 9.31668600e-01 1.75630514e+02] [-6.67793014e-03 9.94045855e-01 -1.08757732e-01 1.96917346e+02] [-9.37461597e-01 3.16287542e-02 3.46648780e-01 -1.65750207e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.120714057 meters Centerline goodness : 0.987748 Centerline is valid? [True, True] Translation: X:175.64, Y:196.92, Z:-165.78 [[ 3.47546651e-01 1.06891257e-01 9.31550098e-01 1.75641556e+02] [-1.21453132e-02 9.93910868e-01 -1.09515655e-01 1.96917714e+02] [-9.37584032e-01 2.67478316e-02 3.46728622e-01 -1.65780320e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.150714057 meters Centerline goodness : 0.987642 Centerline is valid? [True, True] Translation: X:175.65, Y:196.92, Z:-165.81 [[ 3.45488922e-01 1.10539977e-01 9.31889649e-01 1.75651067e+02] [-2.04981039e-02 9.93690135e-01 -1.10271229e-01 1.96917978e+02] [-9.38198930e-01 1.89955172e-02 3.45574793e-01 -1.65806276e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.1807140569999 meters Centerline goodness : 0.983978 Centerline is valid? [True, True] Translation: X:175.67, Y:196.89, Z:-165.84 [[ 3.45055430e-01 9.02953896e-02 9.34228823e-01 1.75665325e+02] [-3.89074021e-02 9.95882137e-01 -8.18839597e-02 1.96891170e+02] [-9.37775541e-01 -8.09391151e-03 3.47147698e-01 -1.65842365e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.2107140569999 meters Centerline goodness : 0.984767 Centerline is valid? [True, True] Translation: X:175.71, Y:196.95, Z:-165.85 [[ 3.43576309e-01 2.31469635e-01 9.10152256e-01 1.75714061e+02] [-3.52614331e-02 9.71645657e-01 -2.33797665e-01 1.96950561e+02] [-9.38462547e-01 4.82340660e-02 3.41996379e-01 -1.65848198e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.240714057 meters Centerline goodness : 0.985219 Centerline is valid? [True, True] Translation: X:175.66, Y:196.85, Z:-165.91 [[ 3.49914957e-01 -6.83691392e-04 9.36781221e-01 1.75662580e+02] [-3.85680740e-02 9.99141342e-01 1.51354980e-02 1.96853957e+02] [-9.35987194e-01 -4.14259845e-02 3.49588131e-01 -1.65907510e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.270714057 meters Centerline goodness : 0.983543 Centerline is valid? [True, True] Translation: X:175.75, Y:196.96, Z:-165.90 [[ 3.43301467e-01 2.66109853e-01 9.00738391e-01 1.75745117e+02] [-4.03190891e-02 9.62314176e-01 -2.68934559e-01 1.96956393e+02] [-9.38359459e-01 5.60086772e-02 3.41093175e-01 -1.65899256e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.3007140569999 meters Centerline goodness : 0.984211 Centerline is valid? [True, True] Translation: X:175.67, Y:196.83, Z:-165.96 [[ 3.41932980e-01 -1.54525849e-02 9.39597284e-01 1.75674364e+02] [-4.91022374e-02 9.98205128e-01 3.42854586e-02 1.96833281e+02] [-9.38440626e-01 -5.78596579e-02 3.40560497e-01 -1.65962233e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.3307140569999 meters Centerline goodness : 0.982068 Centerline is valid? [True, True] Translation: X:175.74, Y:196.90, Z:-165.98 [[ 3.37629558e-01 1.85644207e-01 9.22790610e-01 1.75740822e+02] [-4.56562317e-02 9.82434112e-01 -1.80938456e-01 1.96903218e+02] [-9.40171150e-01 1.89590290e-02 3.40174610e-01 -1.65977676e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.3607140569999 meters Centerline goodness : 0.984729 Centerline is valid? [True, True] Translation: X:175.77, Y:196.94, Z:-165.99 [[ 3.35965263e-01 2.65158200e-01 9.03780101e-01 1.75766795e+02] [-3.77564938e-02 9.62574992e-01 -2.68372562e-01 1.96937038e+02] [-9.41117309e-01 5.60402906e-02 3.33403204e-01 -1.65990093e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.390714057 meters Centerline goodness : 0.984075 Centerline is valid? [True, True] Translation: X:175.71, Y:196.83, Z:-166.04 [[ 3.35097919e-01 1.50953725e-02 9.42062373e-01 1.75705569e+02] [-4.08788145e-02 9.99163031e-01 -1.46947012e-03 1.96825032e+02] [-9.41296078e-01 -3.80179766e-02 3.35434534e-01 -1.66044689e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.4207140569999 meters Centerline goodness : 0.983192 Centerline is valid? [True, True] Translation: X:175.73, Y:196.85, Z:-166.07 [[ 3.33085143e-01 8.68998550e-02 9.38883754e-01 1.75732776e+02] [-3.68050473e-02 9.96183359e-01 -7.91460867e-02 1.96850969e+02] [-9.42178155e-01 -8.19327541e-03 3.35012230e-01 -1.66067977e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.4507140569999 meters Centerline goodness : 0.980320 Centerline is valid? [True, True] Translation: X:175.74, Y:196.81, Z:-166.10 [[ 3.43864109e-01 3.20776757e-02 9.38471362e-01 1.75742151e+02] [-4.45614666e-02 9.98847811e-01 -1.78136785e-02 1.96813269e+02] [-9.37961487e-01 -3.56941756e-02 3.44897341e-01 -1.66098584e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.4807140569999 meters Centerline goodness : 0.983471 Centerline is valid? [True, True] Translation: X:175.78, Y:196.89, Z:-166.12 [[ 3.33926459e-01 2.06134545e-01 9.19783490e-01 1.75781219e+02] [-3.38994010e-02 9.77789995e-01 -2.06827357e-01 1.96886885e+02] [-9.41989358e-01 3.78850178e-02 3.33497789e-01 -1.66116605e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.510714057 meters Centerline goodness : 0.980640 Centerline is valid? [True, True] Translation: X:175.78, Y:196.83, Z:-166.15 [[ 3.43456849e-01 1.07401327e-01 9.33007153e-01 1.75781350e+02] [-3.99288386e-02 9.94211239e-01 -9.97481884e-02 1.96827048e+02] [-9.38319285e-01 -2.99469355e-03 3.45757070e-01 -1.66153266e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.540714057 meters Centerline goodness : 0.980988 Centerline is valid? [True, True] Translation: X:175.81, Y:196.85, Z:-166.18 [[ 3.42077615e-01 1.78366598e-01 9.22587807e-01 1.75807796e+02] [-3.85443897e-02 9.83656429e-01 -1.75881663e-01 1.96847919e+02] [-9.38880842e-01 2.46045960e-02 3.43361877e-01 -1.66180875e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.5707140569999 meters Centerline goodness : 0.980988 Centerline is valid? [True, True] Translation: X:175.82, Y:196.85, Z:-166.21 [[ 3.41765683e-01 1.87420014e-01 9.20907138e-01 1.75821632e+02] [-3.81917972e-02 9.81872719e-01 -1.85653847e-01 1.96850217e+02] [-9.39008842e-01 2.82790154e-02 3.42728308e-01 -1.66211426e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.6007140569999 meters Centerline goodness : 0.980513 Centerline is valid? [True, True] Translation: X:175.83, Y:196.84, Z:-166.24 [[ 3.42110213e-01 1.77477040e-01 9.22747258e-01 1.75831472e+02] [-3.55361389e-02 9.83742541e-01 -1.76033510e-01 1.96842022e+02] [-9.38987639e-01 2.74319867e-02 3.42855218e-01 -1.66240039e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.630714057 meters Centerline goodness : 0.985730 Centerline is valid? [True, True] Translation: X:175.84, Y:196.85, Z:-166.26 [[ 3.43892864e-01 1.99938687e-01 9.17476005e-01 1.75835337e+02] [-2.50287001e-02 9.78673078e-01 -2.03893528e-01 1.96852529e+02] [-9.38675270e-01 4.71542975e-02 3.41562893e-01 -1.66263374e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.660714057 meters Centerline goodness : 0.985487 Centerline is valid? [True, True] Translation: X:175.82, Y:196.81, Z:-166.30 [[ 3.42127452e-01 1.13890471e-01 9.32725987e-01 1.75824107e+02] [-2.45547015e-02 9.93372169e-01 -1.12288912e-01 1.96812302e+02] [-9.39332675e-01 1.55143112e-02 3.42656435e-01 -1.66301462e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.6907140569999 meters Centerline goodness : 0.985883 Centerline is valid? [True, True] Translation: X:175.84, Y:196.80, Z:-166.33 [[ 3.42356367e-01 1.13682651e-01 9.32667343e-01 1.75835079e+02] [-2.18793122e-02 9.93348626e-01 -1.13047791e-01 1.96800479e+02] [-9.39315396e-01 1.82965112e-02 3.42566525e-01 -1.66330970e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.7207140569999 meters Centerline goodness : 0.983777 Centerline is valid? [True, True] Translation: X:175.85, Y:196.79, Z:-166.38 [[ 3.30203252e-01 1.57184205e-01 9.30730325e-01 1.75845591e+02] [-3.12065927e-02 9.87316194e-01 -1.55669144e-01 1.96794073e+02] [-9.43393853e-01 2.23575352e-02 3.30920201e-01 -1.66380687e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.750714057 meters Centerline goodness : 0.984139 Centerline is valid? [True, True] Translation: X:175.88, Y:196.82, Z:-166.40 [[ 3.33582690e-01 2.44819627e-01 9.10376812e-01 1.75876695e+02] [-2.68574828e-02 9.67766808e-01 -2.50411823e-01 1.96824001e+02] [-9.42338190e-01 5.90826202e-02 3.29405494e-01 -1.66404350e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.780714057 meters Centerline goodness : 0.986826 Centerline is valid? [True, True] Translation: X:175.88, Y:196.81, Z:-166.41 [[ 3.48741617e-01 1.84020096e-01 9.18975456e-01 1.75882107e+02] [-1.01523648e-02 9.81218694e-01 -1.92631267e-01 1.96806568e+02] [-9.37163921e-01 5.78487654e-02 3.44060033e-01 -1.66411846e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.8107140569999 meters Centerline goodness : 0.987768 Centerline is valid? [True, True] Translation: X:175.88, Y:196.77, Z:-166.45 [[ 3.46767494e-01 9.64160202e-02 9.32982452e-01 1.75875293e+02] [-7.58540790e-03 9.94958382e-01 -1.00001403e-01 1.96765505e+02] [-9.37920448e-01 2.76001835e-02 3.45750579e-01 -1.66448336e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.8407140569999 meters Centerline goodness : 0.986550 Centerline is valid? [True, True] Translation: X:175.88, Y:196.76, Z:-166.50 [[ 3.35665765e-01 1.41627253e-01 9.31273438e-01 1.75883515e+02] [-1.67067717e-02 9.89372347e-01 -1.44441139e-01 1.96761786e+02] [-9.41832989e-01 3.29253727e-02 3.34464560e-01 -1.66497276e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.870714057 meters Centerline goodness : 0.987057 Centerline is valid? [True, True] Translation: X:175.91, Y:196.78, Z:-166.52 [[ 3.42808701e-01 2.02808485e-01 9.17251827e-01 1.75912632e+02] [-7.52106029e-03 9.76978860e-01 -2.13203519e-01 1.96783327e+02] [-9.39375127e-01 6.61893151e-02 3.36442189e-01 -1.66516021e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.900714057 meters Centerline goodness : 0.989337 Centerline is valid? [True, True] Translation: X:175.92, Y:196.78, Z:-166.53 [[ 3.51466583e-01 1.63915583e-01 9.21739075e-01 1.75922485e+02] [ 4.17698400e-03 9.84268790e-01 -1.76628145e-01 1.96778548e+02] [-9.36191110e-01 6.59289797e-02 3.45252915e-01 -1.66529905e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.9307140569999 meters Centerline goodness : 0.989224 Centerline is valid? [True, True] Translation: X:175.92, Y:196.75, Z:-166.56 [[ 3.49204919e-01 9.76952407e-02 9.31939678e-01 1.75919856e+02] [ 6.62067392e-03 9.94268149e-01 -1.06709952e-01 1.96748315e+02] [-9.37022994e-01 4.34337088e-02 3.46556521e-01 -1.66558331e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.9607140569999 meters Centerline goodness : 0.989550 Centerline is valid? [True, True] Translation: X:175.93, Y:196.74, Z:-166.59 [[ 3.49330378e-01 9.55574772e-02 9.32114293e-01 1.75930513e+02] [ 1.19468683e-02 9.94251110e-01 -1.06404904e-01 1.96742368e+02] [-9.36923454e-01 4.83063120e-02 3.46180503e-01 -1.66585510e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.990714057 meters Centerline goodness : 0.988998 Centerline is valid? [True, True] Translation: X:175.94, Y:196.75, Z:-166.64 [[ 3.35630452e-01 1.68392777e-01 9.26820410e-01 1.75938900e+02] [ 3.50436360e-03 9.83662317e-01 -1.79989347e-01 1.96753202e+02] [-9.41987218e-01 6.36578218e-02 3.29556919e-01 -1.66641877e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.020714057 meters Centerline goodness : 0.990748 Centerline is valid? [True, True] Translation: X:175.97, Y:196.78, Z:-166.63 [[ 3.55772148e-01 1.89708500e-01 9.15115765e-01 1.75969375e+02] [ 1.73570630e-02 9.77670769e-01 -2.09424448e-01 1.96776916e+02] [-9.34411532e-01 9.03911079e-02 3.44535247e-01 -1.66633468e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.0507140569999 meters Centerline goodness : 0.989239 Centerline is valid? [True, True] Translation: X:175.96, Y:196.74, Z:-166.69 [[ 3.39942694e-01 1.45759466e-01 9.29081882e-01 1.75960409e+02] [ 1.09077396e-02 9.87238539e-01 -1.58874445e-01 1.96743506e+02] [-9.40382893e-01 6.41423901e-02 3.34014622e-01 -1.66691694e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.0807140569999 meters Centerline goodness : 0.988750 Centerline is valid? [True, True] Translation: X:175.99, Y:196.78, Z:-166.72 [[ 3.46121497e-01 2.31663364e-01 9.09138051e-01 1.75988716e+02] [ 1.42820122e-02 9.67621019e-01 -2.52003149e-01 1.96778710e+02] [-9.38080985e-01 1.00208028e-01 3.31605817e-01 -1.66716375e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.1107140569999 meters Centerline goodness : 0.989300 Centerline is valid? [True, True] Translation: X:176.00, Y:196.75, Z:-166.73 [[ 3.59948024e-01 1.56355761e-01 9.19777308e-01 1.76003761e+02] [ 1.98679134e-02 9.84348812e-01 -1.75107629e-01 1.96752056e+02] [-9.32760787e-01 8.13037008e-02 3.51207947e-01 -1.66731338e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.140714057 meters Centerline goodness : 0.989370 Centerline is valid? [True, True] Translation: X:176.01, Y:196.77, Z:-166.75 [[ 3.61803991e-01 1.62942008e-01 9.17904011e-01 1.76010451e+02] [ 3.19994338e-02 9.81856212e-01 -1.86907502e-01 1.96768239e+02] [-9.31704840e-01 9.69962889e-02 3.50025444e-01 -1.66751569e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.1707140569999 meters Centerline goodness : 0.989105 Centerline is valid? [True, True] Translation: X:176.01, Y:196.74, Z:-166.79 [[ 3.57164193e-01 7.91637288e-02 9.30680849e-01 1.76005485e+02] [ 3.52301878e-02 9.94551128e-01 -9.81167040e-02 1.96735815e+02] [-9.33376973e-01 6.78318345e-02 3.52429098e-01 -1.66785920e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.2007140569999 meters Centerline goodness : 0.988127 Centerline is valid? [True, True] Translation: X:176.02, Y:196.72, Z:-166.83 [[ 3.58090459e-01 6.99727912e-02 9.31061240e-01 1.76020512e+02] [ 3.34979370e-02 9.95583079e-01 -8.77053141e-02 1.96723848e+02] [-9.33085801e-01 6.25950669e-02 3.54164857e-01 -1.66826391e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.2307140569999 meters Centerline goodness : 0.989070 Centerline is valid? [True, True] Translation: X:176.05, Y:196.77, Z:-166.84 [[ 3.64985702e-01 1.62291568e-01 9.16758902e-01 1.76045034e+02] [ 4.20464930e-02 9.80811493e-01 -1.90370450e-01 1.96774297e+02] [-9.30063186e-01 1.08028989e-01 3.51158380e-01 -1.66840827e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.260714057 meters Centerline goodness : 0.988710 Centerline is valid? [True, True] Translation: X:176.04, Y:196.74, Z:-166.88 [[ 3.57891554e-01 7.60215537e-02 9.30663397e-01 1.76040421e+02] [ 4.49312845e-02 9.94123786e-01 -9.84839011e-02 1.96741428e+02] [-9.32681519e-01 7.70624582e-02 3.52372760e-01 -1.66876058e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.290714057 meters Centerline goodness : 0.987219 Centerline is valid? [True, True] Translation: X:176.05, Y:196.75, Z:-166.91 [[ 3.58397288e-01 7.51971439e-02 9.30535746e-01 1.76053899e+02] [ 4.78648877e-02 9.93959691e-01 -9.87577063e-02 1.96747871e+02] [-9.32341320e-01 7.99344830e-02 3.52633154e-01 -1.66906604e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.3207140569999 meters Centerline goodness : 0.985881 Centerline is valid? [True, True] Translation: X:176.07, Y:196.75, Z:-166.94 [[ 3.58743727e-01 7.54895509e-02 9.30378561e-01 1.76066097e+02] [ 4.89234879e-02 9.93833854e-01 -9.95025783e-02 1.96751080e+02] [-9.32153116e-01 8.12132900e-02 3.52838448e-01 -1.66937848e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.3507140569999 meters Centerline goodness : 0.986403 Centerline is valid? [True, True] Translation: X:176.08, Y:196.75, Z:-166.97 [[ 3.59379439e-01 7.60449364e-02 9.30087946e-01 1.76078697e+02] [ 4.91370191e-02 9.93749597e-01 -1.00236176e-01 1.96753576e+02] [-9.31896975e-01 8.17245699e-02 3.53396551e-01 -1.66968136e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.380714057 meters Centerline goodness : 0.984521 Centerline is valid? [True, True] Translation: X:176.09, Y:196.76, Z:-167.00 [[ 3.59266294e-01 7.66646119e-02 9.30080785e-01 1.76090748e+02] [ 4.94314138e-02 9.93657735e-01 -1.00999211e-01 1.96761389e+02] [-9.31925032e-01 8.22608204e-02 3.53198092e-01 -1.66999741e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.410714057 meters Centerline goodness : 0.984952 Centerline is valid? [True, True] Translation: X:176.10, Y:196.77, Z:-167.03 [[ 3.59333438e-01 7.75822790e-02 9.29978747e-01 1.76103162e+02] [ 4.88454108e-02 9.93608698e-01 -1.01763849e-01 1.96765193e+02] [-9.31930044e-01 8.19923476e-02 3.53247291e-01 -1.67030766e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.4407140569999 meters Centerline goodness : 0.984900 Centerline is valid? [True, True] Translation: X:176.12, Y:196.77, Z:-167.06 [[ 3.59843139e-01 7.88915906e-02 9.29671465e-01 1.76116616e+02] [ 4.69762181e-02 9.93623022e-01 -1.02501340e-01 1.96774419e+02] [-9.31829464e-01 8.05568532e-02 3.53842399e-01 -1.67061840e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.4707140569999 meters Centerline goodness : 0.984952 Centerline is valid? [True, True] Translation: X:176.13, Y:196.78, Z:-167.09 [[ 3.60203697e-01 7.98506803e-02 9.29449926e-01 1.76128851e+02] [ 4.61488496e-02 9.93584761e-01 -1.03245374e-01 1.96778621e+02] [-9.31731496e-01 8.00824103e-02 3.54207887e-01 -1.67091248e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.500714057 meters Centerline goodness : 0.984852 Centerline is valid? [True, True] Translation: X:176.14, Y:196.78, Z:-167.12 [[ 3.60174201e-01 8.05005502e-02 9.29405297e-01 1.76140691e+02] [ 4.55698825e-02 9.93562332e-01 -1.03717302e-01 1.96782676e+02] [-9.31771394e-01 7.97091867e-02 3.54187118e-01 -1.67122540e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.530714057 meters Centerline goodness : 0.985323 Centerline is valid? [True, True] Translation: X:176.15, Y:196.79, Z:-167.15 [[ 3.60932945e-01 8.10058780e-02 9.29066982e-01 1.76152715e+02] [ 4.58631735e-02 9.93473247e-01 -1.04438867e-01 1.96792222e+02] [-9.31463353e-01 8.03053880e-02 3.54862038e-01 -1.67152351e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.5607140569999 meters Centerline goodness : 0.985952 Centerline is valid? [True, True] Translation: X:176.16, Y:196.80, Z:-167.18 [[ 3.61284963e-01 8.11577610e-02 9.28916893e-01 1.76163320e+02] [ 4.71594654e-02 9.93339858e-01 -1.05128075e-01 1.96796324e+02] [-9.31262133e-01 8.17884166e-02 3.55051397e-01 -1.67178588e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.5907140569999 meters Centerline goodness : 0.986370 Centerline is valid? [True, True] Translation: X:176.18, Y:196.80, Z:-167.21 [[ 3.61161608e-01 8.00710435e-02 9.29059159e-01 1.76175440e+02] [ 4.83399979e-02 9.93359433e-01 -1.04404415e-01 1.96798980e+02] [-9.31249450e-01 8.26175841e-02 3.54892656e-01 -1.67209818e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.620714057 meters Centerline goodness : 0.986439 Centerline is valid? [True, True] Translation: X:176.19, Y:196.81, Z:-167.24 [[ 3.61549367e-01 7.96072709e-02 9.28948189e-01 1.76188291e+02] [ 5.15031114e-02 9.93121603e-01 -1.05151847e-01 1.96806820e+02] [-9.30929366e-01 8.58613058e-02 3.54962465e-01 -1.67238833e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.650714057 meters Centerline goodness : 0.983405 Centerline is valid? [True, True] Translation: X:176.20, Y:196.83, Z:-167.26 [[ 3.47064296e-01 1.25506158e-01 9.29405498e-01 1.76197072e+02] [ 5.62759056e-02 9.86432272e-01 -1.54221901e-01 1.96832487e+02] [-9.36151375e-01 1.05828051e-01 3.35292449e-01 -1.67260042e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.6807140569999 meters Centerline goodness : 0.987728 Centerline is valid? [True, True] Translation: X:176.18, Y:196.77, Z:-167.30 [[ 3.52529419e-01 -5.42451435e-02 9.34227206e-01 1.76178413e+02] [ 5.86134620e-02 9.97638288e-01 3.58093429e-02 1.96765028e+02] [-9.33963314e-01 4.21344440e-02 3.54876341e-01 -1.67302316e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.7107140569999 meters Centerline goodness : 0.983416 Centerline is valid? [True, True] Translation: X:176.21, Y:196.84, Z:-167.31 [[ 3.50497624e-01 1.02673514e-01 9.30918667e-01 1.76214160e+02] [ 6.18104878e-02 9.89269757e-01 -1.32381309e-01 1.96836800e+02] [-9.34521738e-01 1.03939871e-01 3.40390399e-01 -1.67314148e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.740714057 meters Centerline goodness : 0.987808 Centerline is valid? [True, True] Translation: X:176.20, Y:196.78, Z:-167.35 [[ 3.56532023e-01 -3.68616106e-02 9.33555643e-01 1.76202833e+02] [ 6.28307972e-02 9.97905265e-01 1.54069061e-02 1.96780585e+02] [-9.32168015e-01 5.31629899e-02 3.58101227e-01 -1.67354652e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.770714057 meters Centerline goodness : 0.987645 Centerline is valid? [True, True] Translation: X:176.24, Y:196.83, Z:-167.37 [[ 3.69240799e-01 7.33898391e-02 9.26431413e-01 1.76243138e+02] [ 6.30859195e-02 9.92598054e-01 -1.03775094e-01 1.96830080e+02] [-9.27190056e-01 9.67627762e-02 3.61877833e-01 -1.67371583e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.8007140569999 meters Centerline goodness : 0.988202 Centerline is valid? [True, True] Translation: X:176.26, Y:196.84, Z:-167.40 [[ 3.70858132e-01 7.23180643e-02 9.25869507e-01 1.76255663e+02] [ 6.46891571e-02 9.92530241e-01 -1.03436138e-01 1.96839212e+02] [-9.26433785e-01 9.82538508e-02 3.63409717e-01 -1.67397026e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.8307140569999 meters Centerline goodness : 0.989676 Centerline is valid? [True, True] Translation: X:176.27, Y:196.84, Z:-167.42 [[ 3.71133992e-01 7.19162745e-02 9.25790262e-01 1.76267336e+02] [ 6.49777902e-02 9.92541158e-01 -1.03150069e-01 1.96843449e+02] [-9.26303107e-01 9.84383022e-02 3.63692802e-01 -1.67423161e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.8607140569999 meters Centerline goodness : 0.987506 Centerline is valid? [True, True] Translation: X:176.28, Y:196.83, Z:-167.46 [[ 3.62292284e-01 4.14803699e-02 9.31141063e-01 1.76281065e+02] [ 5.56346422e-02 9.96265566e-01 -6.60280899e-02 1.96829592e+02] [-9.30402648e-01 7.57251674e-02 3.58631582e-01 -1.67458186e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.890714057 meters Centerline goodness : 0.988167 Centerline is valid? [True, True] Translation: X:176.32, Y:196.85, Z:-167.48 [[ 3.71849199e-01 9.13514324e-02 9.23787361e-01 1.76315496e+02] [ 5.62540130e-02 9.91099736e-01 -1.20651564e-01 1.96854919e+02] [-9.26587103e-01 9.68309338e-02 3.63400758e-01 -1.67478962e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.9207140569999 meters Centerline goodness : 0.986651 Centerline is valid? [True, True] Translation: X:176.33, Y:196.87, Z:-167.50 [[ 3.74576700e-01 1.09026291e-01 9.20763577e-01 1.76333116e+02] [ 5.27620195e-02 9.88947015e-01 -1.38563960e-01 1.96869657e+02] [-9.25693505e-01 1.00484177e-01 3.64684062e-01 -1.67504408e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.9507140569999 meters Centerline goodness : 0.986492 Centerline is valid? [True, True] Translation: X:176.34, Y:196.87, Z:-167.53 [[ 3.68916764e-01 9.35319484e-02 9.24744395e-01 1.76339025e+02] [ 5.28488312e-02 9.91203438e-01 -1.21337322e-01 1.96866932e+02] [-9.27958740e-01 9.36350327e-02 3.60728511e-01 -1.67534781e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.9807140569999 meters Centerline goodness : 0.986298 Centerline is valid? [True, True] Translation: X:176.35, Y:196.87, Z:-167.57 [[ 3.64439566e-01 1.07396065e-01 9.25013453e-01 1.76349789e+02] [ 5.09690064e-02 9.89538115e-01 -1.34968439e-01 1.96874726e+02] [-9.29831148e-01 9.63348560e-02 3.55152970e-01 -1.67568156e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.010714057 meters Centerline goodness : 0.987374 Centerline is valid? [True, True] Translation: X:176.36, Y:196.88, Z:-167.60 [[ 3.65947882e-01 1.02118258e-01 9.25015680e-01 1.76361865e+02] [ 5.11738667e-02 9.90249556e-01 -1.29564861e-01 1.96877175e+02] [-9.29227304e-01 9.47506155e-02 3.57153942e-01 -1.67595154e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.040714057 meters Centerline goodness : 0.987829 Centerline is valid? [True, True] Translation: X:176.38, Y:196.89, Z:-167.63 [[ 3.74491331e-01 1.22033299e-01 9.19164902e-01 1.76381498e+02] [ 5.15970995e-02 9.87022865e-01 -1.52064469e-01 1.96892504e+02] [-9.25793704e-01 1.04373068e-01 3.63334942e-01 -1.67628426e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.0707140569999 meters Centerline goodness : 0.987724 Centerline is valid? [True, True] Translation: X:176.40, Y:196.90, Z:-167.66 [[ 3.76863801e-01 1.38806388e-01 9.15809184e-01 1.76398983e+02] [ 5.04554626e-02 9.84163702e-01 -1.69929554e-01 1.96902054e+02] [-9.24893465e-01 1.10247874e-01 3.63892134e-01 -1.67655224e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.1007140569999 meters Centerline goodness : 0.987647 Centerline is valid? [True, True] Translation: X:176.41, Y:196.91, Z:-167.69 [[ 3.75042366e-01 1.50310278e-01 9.14740424e-01 1.76410924e+02] [ 4.85688303e-02 9.82225441e-01 -1.81312582e-01 1.96912888e+02] [-9.25734461e-01 1.12427772e-01 3.61075759e-01 -1.67685679e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.130714057 meters Centerline goodness : 0.986467 Centerline is valid? [True, True] Translation: X:176.41, Y:196.91, Z:-167.71 [[ 3.62674134e-01 1.21589760e-01 9.23949892e-01 1.76410624e+02] [ 4.80957274e-02 9.87688496e-01 -1.48856431e-01 1.96906841e+02] [-9.30674097e-01 9.84244192e-02 3.52361122e-01 -1.67713288e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.160714057 meters Centerline goodness : 0.987882 Centerline is valid? [True, True] Translation: X:176.42, Y:196.91, Z:-167.75 [[ 3.71492911e-01 1.26825430e-01 9.19732748e-01 1.76424035e+02] [ 4.78245168e-02 9.86697014e-01 -1.55376377e-01 1.96911894e+02] [-9.27203232e-01 1.01706997e-01 3.60485581e-01 -1.67748826e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.1907140569999 meters Centerline goodness : 0.987782 Centerline is valid? [True, True] Translation: X:176.44, Y:196.92, Z:-167.77 [[ 3.61773168e-01 1.41203025e-01 9.21510651e-01 1.76436211e+02] [ 4.13149296e-02 9.85063599e-01 -1.67160947e-01 1.96924028e+02] [-9.31350230e-01 9.85464931e-02 3.50535786e-01 -1.67773132e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.2207140569999 meters Centerline goodness : 0.985990 Centerline is valid? [True, True] Translation: X:176.44, Y:196.92, Z:-167.81 [[ 3.56796745e-01 1.20430848e-01 9.26386795e-01 1.76437219e+02] [ 3.92155486e-02 9.88850537e-01 -1.43654993e-01 1.96918546e+02] [-9.33358572e-01 8.75844004e-02 3.48095891e-01 -1.67807108e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.250714057 meters Centerline goodness : 0.985793 Centerline is valid? [True, True] Translation: X:176.45, Y:196.92, Z:-167.84 [[ 3.56562017e-01 1.20577034e-01 9.26458152e-01 1.76448980e+02] [ 3.65586299e-02 9.89076597e-01 -1.42796888e-01 1.96921873e+02] [-9.33556102e-01 8.47859872e-02 3.48259015e-01 -1.67838119e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.280714057 meters Centerline goodness : 0.985762 Centerline is valid? [True, True] Translation: X:176.47, Y:196.94, Z:-167.87 [[ 3.48344508e-01 1.61031465e-01 9.23431086e-01 1.76467399e+02] [ 2.73874573e-02 9.82964338e-01 -1.81744431e-01 1.96940466e+02] [-9.36966398e-01 8.86001038e-02 3.37999987e-01 -1.67868710e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.3107140569999 meters Centerline goodness : 0.985430 Centerline is valid? [True, True] Translation: X:176.47, Y:196.94, Z:-167.90 [[ 3.47267595e-01 1.45260180e-01 9.26447353e-01 1.76473795e+02] [ 2.38086204e-02 9.86245963e-01 -1.63560539e-01 1.96937769e+02] [-9.37463795e-01 7.88567084e-02 3.39032819e-01 -1.67900605e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.3407140569999 meters Centerline goodness : 0.985532 Centerline is valid? [True, True] Translation: X:176.49, Y:196.95, Z:-167.93 [[ 3.43805117e-01 1.58215105e-01 9.25616563e-01 1.76488673e+02] [ 1.58445788e-02 9.84586351e-01 -1.74179986e-01 1.96947623e+02] [-9.38907339e-01 7.45499749e-02 3.35998974e-01 -1.67932905e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.370714057 meters Centerline goodness : 0.984558 Centerline is valid? [True, True] Translation: X:176.51, Y:196.95, Z:-167.96 [[ 3.41800002e-01 1.75399297e-01 9.23259360e-01 1.76505106e+02] [ 1.13823178e-02 9.81583635e-01 -1.90693497e-01 1.96954286e+02] [-9.39703784e-01 7.56878692e-02 3.33508838e-01 -1.67959828e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.400714057 meters Centerline goodness : 0.985386 Centerline is valid? [True, True] Translation: X:176.51, Y:196.95, Z:-167.99 [[ 3.39370515e-01 1.70632125e-01 9.25047205e-01 1.76512335e+02] [ 8.62027008e-03 9.82804397e-01 -1.84448391e-01 1.96953594e+02] [-9.40613281e-01 7.05705021e-02 3.32063940e-01 -1.67993942e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.4307140569999 meters Centerline goodness : 0.985862 Centerline is valid? [True, True] Translation: X:176.52, Y:196.96, Z:-168.02 [[ 3.38226041e-01 1.74414225e-01 9.24760955e-01 1.76522812e+02] [ 2.07713138e-03 9.82534250e-01 -1.86070237e-01 1.96957563e+02] [-9.41062607e-01 6.48546495e-02 3.31956389e-01 -1.68018795e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.4607140569999 meters Centerline goodness : 0.985862 Centerline is valid? [True, True] Translation: X:176.53, Y:196.96, Z:-168.05 [[ 3.38522462e-01 1.70716905e-01 9.25342251e-01 1.76531648e+02] [ 2.48823539e-03 9.83238240e-01 -1.82308451e-01 1.96955556e+02] [-9.40955021e-01 6.40179749e-02 3.32423446e-01 -1.68046710e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.490714057 meters Centerline goodness : 0.986058 Centerline is valid? [True, True] Translation: X:176.54, Y:196.95, Z:-168.08 [[ 3.38299991e-01 1.66593489e-01 9.26174782e-01 1.76542167e+02] [ 2.38633769e-03 9.84050137e-01 -1.77875328e-01 1.96954266e+02] [-9.41035293e-01 6.23853878e-02 3.32506604e-01 -1.68081760e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.520714057 meters Centerline goodness : 0.986551 Centerline is valid? [True, True] Translation: X:176.56, Y:196.96, Z:-168.11 [[ 3.38161277e-01 1.95191435e-01 9.20623297e-01 1.76563723e+02] [ 7.15366627e-04 9.78200430e-01 -2.07661761e-01 1.96963717e+02] [-9.41087902e-01 7.08817494e-02 3.30649873e-01 -1.68109777e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.5507140569999 meters Centerline goodness : 0.985142 Centerline is valid? [True, True] Translation: X:176.58, Y:196.97, Z:-168.15 [[ 3.33738910e-01 2.19863814e-01 9.16666920e-01 1.76576010e+02] [-4.55825962e-03 9.72785118e-01 -2.31664276e-01 1.96969673e+02] [-9.42654530e-01 7.31369771e-02 3.25658442e-01 -1.68145152e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.5807140569999 meters Centerline goodness : 0.987922 Centerline is valid? [True, True] Translation: X:176.59, Y:196.96, Z:-168.18 [[ 3.52706335e-01 1.95018275e-01 9.15186382e-01 1.76590094e+02] [-1.40349271e-03 9.78150261e-01 -2.07894435e-01 1.96964108e+02] [-9.35733013e-01 7.20412270e-02 3.45273501e-01 -1.68176474e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.6107140569999 meters Centerline goodness : 0.985591 Centerline is valid? [True, True] Translation: X:176.61, Y:196.98, Z:-168.20 [[ 3.37725321e-01 2.54554801e-01 9.06169665e-01 1.76613892e+02] [-7.89657904e-03 9.63467848e-01 -2.67707583e-01 1.96981234e+02] [-9.41211587e-01 8.32559893e-02 3.27397601e-01 -1.68202220e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.640714057 meters Centerline goodness : 0.989181 Centerline is valid? [True, True] Translation: X:176.60, Y:196.96, Z:-168.21 [[ 3.68690571e-01 1.42164112e-01 9.18616693e-01 1.76601472e+02] [ 2.05484877e-03 9.88108680e-01 -1.53743337e-01 1.96960831e+02] [-9.29549913e-01 5.85713373e-02 3.64014228e-01 -1.68210273e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.6707140569999 meters Centerline goodness : 0.986848 Centerline is valid? [True, True] Translation: X:176.59, Y:196.94, Z:-168.28 [[ 3.49791064e-01 1.43935996e-01 9.25704403e-01 1.76593957e+02] [-1.11774536e-02 9.88697472e-01 -1.49507102e-01 1.96940700e+02] [-9.36761056e-01 4.19492301e-02 3.47446378e-01 -1.68275480e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.7007140569999 meters Centerline goodness : 0.988132 Centerline is valid? [True, True] Translation: X:176.65, Y:196.98, Z:-168.25 [[ 3.69305034e-01 2.06797635e-01 9.06006915e-01 1.76649689e+02] [-5.58967811e-03 9.75402841e-01 -2.20358919e-01 1.96977898e+02] [-9.29291422e-01 7.63153711e-02 3.61377111e-01 -1.68252449e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.7307140569999 meters Centerline goodness : 0.988711 Centerline is valid? [True, True] Translation: X:176.60, Y:196.93, Z:-168.30 [[ 3.65187486e-01 7.52733462e-02 9.27885782e-01 1.76601699e+02] [-5.42131074e-03 9.96880698e-01 -7.87367934e-02 1.96929164e+02] [-9.30918208e-01 2.37233345e-02 3.64456436e-01 -1.68303201e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.760714057 meters Centerline goodness : 0.984071 Centerline is valid? [True, True] Translation: X:176.62, Y:196.93, Z:-168.34 [[ 3.43625079e-01 1.32756863e-01 9.29675976e-01 1.76616585e+02] [-1.78305499e-02 9.90701397e-01 -1.34880742e-01 1.96934242e+02] [-9.38937632e-01 2.97717716e-02 3.42796974e-01 -1.68341165e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.790714057 meters Centerline goodness : 0.986229 Centerline is valid? [True, True] Translation: X:176.65, Y:196.94, Z:-168.37 [[ 3.56191664e-01 1.53064064e-01 9.21791132e-01 1.76645346e+02] [-1.26997991e-02 9.87194172e-01 -1.59016923e-01 1.96938048e+02] [-9.34326610e-01 4.49339400e-02 3.53574217e-01 -1.68372841e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.8207140569999 meters Centerline goodness : 0.988277 Centerline is valid? [True, True] Translation: X:176.67, Y:196.95, Z:-168.37 [[ 3.68863767e-01 1.73463541e-01 9.13153833e-01 1.76674132e+02] [-4.64339007e-03 9.82763128e-01 -1.84810913e-01 1.96953768e+02] [-9.29471872e-01 6.39299200e-02 3.63311168e-01 -1.68369044e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.8507140569999 meters Centerline goodness : 0.988288 Centerline is valid? [True, True] Translation: X:176.64, Y:196.91, Z:-168.42 [[ 3.65195066e-01 6.54892979e-02 9.28624637e-01 1.76639525e+02] [ 6.61409160e-04 9.97503994e-01 -7.06069782e-02 1.96906601e+02] [-9.30930785e-01 2.63995209e-02 3.64240221e-01 -1.68416786e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.880714057 meters Centerline goodness : 0.985056 Centerline is valid? [True, True] Translation: X:176.64, Y:196.88, Z:-168.46 [[ 3.58697204e-01 3.96937994e-02 9.32609628e-01 1.76644397e+02] [-8.49014744e-03 9.99192870e-01 -3.92622681e-02 1.96876469e+02] [-9.33415360e-01 6.16527254e-03 3.58744695e-01 -1.68458104e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.910714057 meters Centerline goodness : 0.984435 Centerline is valid? [True, True] Translation: X:176.69, Y:196.91, Z:-168.47 [[ 3.58144404e-01 1.38721337e-01 9.23303296e-01 1.76691925e+02] [-6.04773501e-03 9.89224770e-01 -1.46279799e-01 1.96909815e+02] [-9.33646620e-01 4.68053976e-02 3.55124265e-01 -1.68473125e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.9407140569999 meters Centerline goodness : 0.987791 Centerline is valid? [True, True] Translation: X:176.70, Y:196.92, Z:-168.49 [[ 3.66671807e-01 1.35507727e-01 9.20428945e-01 1.76699906e+02] [ 9.49180105e-03 9.88739466e-01 -1.49345818e-01 1.96919253e+02] [-9.30301936e-01 6.34974294e-02 3.61256674e-01 -1.68494423e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.9707140569999 meters Centerline goodness : 0.983642 Centerline is valid? [True, True] Translation: X:176.69, Y:196.89, Z:-168.55 [[ 3.44660571e-01 1.35915838e-01 9.28835818e-01 1.76687966e+02] [ 1.47647223e-03 9.89383084e-01 -1.45323544e-01 1.96889239e+02] [-9.38726217e-01 5.14586958e-02 3.40800663e-01 -1.68551264e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.000714057 meters Centerline goodness : 0.981709 Centerline is valid? [True, True] Translation: X:176.69, Y:196.90, Z:-168.55 [[ 3.44723242e-01 1.44045193e-01 9.27586583e-01 1.76687946e+02] [ 1.07910844e-02 9.87482849e-01 -1.57356842e-01 1.96895256e+02] [-9.38642338e-01 6.42542259e-02 3.38853885e-01 -1.68554696e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.030714057 meters Centerline goodness : 0.988518 Centerline is valid? [True, True] Translation: X:176.66, Y:196.84, Z:-168.60 [[ 3.45707378e-01 2.54777318e-02 9.37996425e-01 1.76659616e+02] [ 1.91955126e-02 9.99230115e-01 -3.42156391e-02 1.96839800e+02] [-9.38146013e-01 2.98339211e-02 3.44952165e-01 -1.68601979e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.0607140569999 meters Centerline goodness : 0.988111 Centerline is valid? [True, True] Translation: X:176.69, Y:196.86, Z:-168.62 [[ 3.49396530e-01 8.76793550e-02 9.32863546e-01 1.76690631e+02] [ 2.19643687e-02 9.94572009e-01 -1.01705879e-01 1.96859791e+02] [-9.36717477e-01 5.60254399e-02 3.45574187e-01 -1.68620775e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.0907140569999 meters Centerline goodness : 0.988418 Centerline is valid? [True, True] Translation: X:176.70, Y:196.85, Z:-168.65 [[ 3.49163670e-01 8.64699787e-02 9.33063596e-01 1.76699025e+02] [ 2.47891241e-02 9.94532473e-01 -1.01442885e-01 1.96854928e+02] [-9.36733810e-01 5.85499994e-02 3.45111093e-01 -1.68646855e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.120714057 meters Centerline goodness : 0.985582 Centerline is valid? [True, True] Translation: X:176.72, Y:196.86, Z:-168.70 [[ 3.32319085e-01 1.64342571e-01 9.28738685e-01 1.76717813e+02] [ 1.54561923e-02 9.83621097e-01 -1.79584645e-01 1.96856229e+02] [-9.43040366e-01 7.40341687e-02 3.24335953e-01 -1.68702508e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.150714057 meters Centerline goodness : 0.987870 Centerline is valid? [True, True] Translation: X:176.77, Y:196.89, Z:-168.68 [[ 3.57375412e-01 2.15680415e-01 9.08716003e-01 1.76767931e+02] [ 2.88241406e-02 9.69959644e-01 -2.41552186e-01 1.96891359e+02] [-9.33515926e-01 1.12517770e-01 3.40422924e-01 -1.68681939e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.1807140569999 meters Centerline goodness : 0.987744 Centerline is valid? [True, True] Translation: X:176.73, Y:196.84, Z:-168.73 [[ 3.48621047e-01 8.02539207e-02 9.33821543e-01 1.76726811e+02] [ 3.10203584e-02 9.94793568e-01 -9.70746869e-02 1.96839192e+02] [-9.36750289e-01 6.28097579e-02 3.44316470e-01 -1.68730201e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.2107140569999 meters Centerline goodness : 0.988212 Centerline is valid? [True, True] Translation: X:176.74, Y:196.83, Z:-168.76 [[ 3.48476107e-01 8.07744473e-02 9.33830762e-01 1.76736853e+02] [ 3.16972493e-02 9.94694549e-01 -9.78674512e-02 1.96834476e+02] [-9.36781558e-01 6.37043348e-02 3.44066957e-01 -1.68760373e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.240714057 meters Centerline goodness : 0.987748 Centerline is valid? [True, True] Translation: X:176.75, Y:196.83, Z:-168.79 [[ 3.48021329e-01 8.12122215e-02 9.33962381e-01 1.76747379e+02] [ 3.18962645e-02 9.94638245e-01 -9.83737285e-02 1.96831283e+02] [-9.36943853e-01 6.40260669e-02 3.43564957e-01 -1.68791707e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.270714057 meters Centerline goodness : 0.982340 Centerline is valid? [True, True] Translation: X:176.75, Y:196.83, Z:-168.81 [[ 3.44462088e-01 8.42603281e-02 9.35011266e-01 1.76752255e+02] [ 3.43292861e-02 9.94167400e-01 -1.02238350e-01 1.96830305e+02] [-9.38172356e-01 6.73155047e-02 3.39560381e-01 -1.68812966e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.3007140569999 meters Centerline goodness : 0.988638 Centerline is valid? [True, True] Translation: X:176.75, Y:196.80, Z:-168.85 [[ 3.42415591e-01 2.37495737e-02 9.39248381e-01 1.76746522e+02] [ 3.46523540e-02 9.98681087e-01 -3.78853529e-02 1.96801228e+02] [-9.38909355e-01 4.55197029e-02 3.41140997e-01 -1.68850671e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.3307140569999 meters Centerline goodness : 0.988390 Centerline is valid? [True, True] Translation: X:176.78, Y:196.82, Z:-168.88 [[ 3.46458765e-01 8.00819567e-02 9.34640682e-01 1.76776242e+02] [ 3.56560618e-02 9.94505142e-01 -9.84284919e-02 1.96821241e+02] [-9.37387310e-01 6.74270196e-02 3.41699616e-01 -1.68875481e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.3607140569999 meters Centerline goodness : 0.988704 Centerline is valid? [True, True] Translation: X:176.79, Y:196.82, Z:-168.91 [[ 3.46314013e-01 8.03047663e-02 9.34675210e-01 1.76787171e+02] [ 3.71868155e-02 9.94371211e-01 -9.92120707e-02 1.96819053e+02] [-9.37381323e-01 6.91161250e-02 3.41378406e-01 -1.68906612e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.390714057 meters Centerline goodness : 0.988082 Centerline is valid? [True, True] Translation: X:176.80, Y:196.82, Z:-168.93 [[ 3.47727006e-01 7.92659032e-02 9.34239180e-01 1.76797340e+02] [ 4.19092985e-02 9.94110013e-01 -9.99444520e-02 1.96817481e+02] [-9.36658711e-01 7.39066937e-02 3.42356920e-01 -1.68933346e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.4207140569999 meters Centerline goodness : 0.988610 Centerline is valid? [True, True] Translation: X:176.81, Y:196.82, Z:-168.96 [[ 3.48556704e-01 7.80649425e-02 9.34031097e-01 1.76806547e+02] [ 4.46186841e-02 9.94013756e-01 -9.97287654e-02 1.96816329e+02] [-9.36225079e-01 7.64363682e-02 3.42987003e-01 -1.68959746e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.4507140569999 meters Centerline goodness : 0.986061 Centerline is valid? [True, True] Translation: X:176.82, Y:196.82, Z:-169.01 [[ 3.39445335e-01 1.36656692e-01 9.30645912e-01 1.76819100e+02] [ 3.69088088e-02 9.86693149e-01 -1.58348888e-01 1.96816399e+02] [-9.39901380e-01 8.80998233e-02 3.29884550e-01 -1.69008075e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.4807140569999 meters Centerline goodness : 0.988635 Centerline is valid? [True, True] Translation: X:176.86, Y:196.85, Z:-169.00 [[ 3.59323878e-01 1.71473929e-01 9.17323848e-01 1.76858165e+02] [ 5.33733657e-02 9.77588670e-01 -2.03645959e-01 1.96848902e+02] [-9.31685373e-01 1.22135517e-01 3.42118811e-01 -1.68998820e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.510714057 meters Centerline goodness : 0.988243 Centerline is valid? [True, True] Translation: X:176.83, Y:196.81, Z:-169.04 [[ 3.50206951e-01 7.04777917e-02 9.34017116e-01 1.76832787e+02] [ 5.71658716e-02 9.93698220e-01 -9.64153015e-02 1.96809659e+02] [-9.34926283e-01 8.71592112e-02 3.43971100e-01 -1.69040884e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.540714057 meters Centerline goodness : 0.988012 Centerline is valid? [True, True] Translation: X:176.85, Y:196.81, Z:-169.07 [[ 3.50498056e-01 6.97795703e-02 9.33960344e-01 1.76845634e+02] [ 5.96190332e-02 9.93535669e-01 -9.66045805e-02 1.96810140e+02] [-9.34663942e-01 8.95415304e-02 3.44072130e-01 -1.69071726e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.5707140569999 meters Centerline goodness : 0.988926 Centerline is valid? [True, True] Translation: X:176.86, Y:196.81, Z:-169.10 [[ 3.49695247e-01 7.05357373e-02 9.34204445e-01 1.76857907e+02] [ 5.98677832e-02 9.93441255e-01 -9.74182805e-02 1.96810156e+02] [-9.34948706e-01 8.99954588e-02 3.43178867e-01 -1.69102616e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.6007140569999 meters Centerline goodness : 0.986120 Centerline is valid? [True, True] Translation: X:176.86, Y:196.80, Z:-169.13 [[ 3.38477128e-01 5.16119984e-02 9.39558106e-01 1.76861409e+02] [ 5.70280659e-02 9.95534052e-01 -7.52313214e-02 1.96799476e+02] [-9.39244927e-01 7.90452632e-02 3.34022175e-01 -1.69130097e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.630714057 meters Centerline goodness : 0.984081 Centerline is valid? [True, True] Translation: X:176.89, Y:196.82, Z:-169.16 [[ 3.37207933e-01 1.17954956e-01 9.34011477e-01 1.76886450e+02] [ 4.75641976e-02 9.88718075e-01 -1.42035965e-01 1.96816066e+02] [-9.40227875e-01 9.23211607e-02 3.27793145e-01 -1.69164397e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.660714057 meters Centerline goodness : 0.980641 Centerline is valid? [True, True] Translation: X:176.90, Y:196.84, Z:-169.17 [[ 3.39149631e-01 1.71514239e-01 9.24965077e-01 1.76904790e+02] [ 5.19061624e-02 9.78329668e-01 -2.00441540e-01 1.96844070e+02] [-9.39299355e-01 1.15991062e-01 3.22897500e-01 -1.69170914e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.6907140569999 meters Centerline goodness : 0.987364 Centerline is valid? [True, True] Translation: X:176.86, Y:196.76, Z:-169.22 [[ 3.34283843e-01 -3.00307845e-02 9.41993877e-01 1.76856485e+02] [ 4.97302995e-02 9.98661880e-01 1.41896507e-02 1.96764354e+02] [-9.41159503e-01 4.21022666e-02 3.35329971e-01 -1.69224764e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.7207140569999 meters Centerline goodness : 0.988581 Centerline is valid? [True, True] Translation: X:176.91, Y:196.81, Z:-169.24 [[ 3.44845841e-01 9.03459084e-02 9.34301323e-01 1.76907115e+02] [ 4.80003532e-02 9.92357599e-01 -1.13676571e-01 1.96813436e+02] [-9.37431231e-01 8.40476863e-02 3.37873755e-01 -1.69241557e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.750714057 meters Centerline goodness : 0.980786 Centerline is valid? [True, True] Translation: X:176.91, Y:196.83, Z:-169.26 [[ 3.31612434e-01 1.14797838e-01 9.36405174e-01 1.76914055e+02] [ 4.89196550e-02 9.89141290e-01 -1.38587068e-01 1.96826480e+02] [-9.42146518e-01 9.17658128e-02 3.22395680e-01 -1.69263266e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.780714057 meters Centerline goodness : 0.988471 Centerline is valid? [True, True] Translation: X:176.89, Y:196.78, Z:-169.30 [[ 3.35812376e-01 -1.78466547e-03 9.41927207e-01 1.76894653e+02] [ 4.66869222e-02 9.98800632e-01 -1.47522241e-02 1.96779380e+02] [-9.40771162e-01 4.89296616e-02 3.35492934e-01 -1.69304849e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.8107140569999 meters Centerline goodness : 0.988209 Centerline is valid? [True, True] Translation: X:176.94, Y:196.82, Z:-169.32 [[ 3.44088929e-01 8.96625516e-02 9.34646155e-01 1.76935811e+02] [ 4.70138321e-02 9.92536153e-01 -1.12524149e-01 1.96816852e+02] [-9.37759302e-01 8.26596114e-02 3.37305322e-01 -1.69321840e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.8407140569999 meters Centerline goodness : 0.980821 Centerline is valid? [True, True] Translation: X:176.94, Y:196.83, Z:-169.34 [[ 3.32558927e-01 1.10219815e-01 9.36619535e-01 1.76941725e+02] [ 4.83188068e-02 9.89851289e-01 -1.33640258e-01 1.96828090e+02] [-9.41843858e-01 8.96995990e-02 3.23858193e-01 -1.69342419e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.870714057 meters Centerline goodness : 0.984538 Centerline is valid? [True, True] Translation: X:176.95, Y:196.81, Z:-169.39 [[ 3.36518361e-01 6.52057402e-02 9.39416630e-01 1.76953511e+02] [ 4.52074872e-02 9.95330813e-01 -8.52810450e-02 1.96808637e+02] [-9.40591131e-01 7.11673027e-02 3.31999306e-01 -1.69393445e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.900714057 meters Centerline goodness : 0.985201 Centerline is valid? [True, True] Translation: X:177.02, Y:196.87, Z:-169.39 [[ 3.51993137e-01 2.16779279e-01 9.10553445e-01 1.77021953e+02] [ 4.89338384e-02 9.67218557e-01 -2.49186160e-01 1.96872316e+02] [-9.34722585e-01 1.32268693e-01 3.29846452e-01 -1.69392087e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.9307140569999 meters Centerline goodness : 0.988353 Centerline is valid? [True, True] Translation: X:177.01, Y:196.86, Z:-169.40 [[ 3.70320036e-01 1.08436457e-01 9.22553308e-01 1.77009833e+02] [ 6.32620146e-02 9.87912994e-01 -1.41512665e-01 1.96856735e+02] [-9.26747532e-01 1.10767556e-01 3.58984067e-01 -1.69404814e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.9607140569999 meters Centerline goodness : 0.988056 Centerline is valid? [True, True] Translation: X:177.00, Y:196.83, Z:-169.44 [[ 3.64733259e-01 4.07970874e-02 9.30217850e-01 1.76995922e+02] [ 6.43769429e-02 9.95543998e-01 -6.89039752e-02 1.96831823e+02] [-9.28883878e-01 8.50161528e-02 3.60481615e-01 -1.69443647e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.990714057 meters Centerline goodness : 0.987364 Centerline is valid? [True, True] Translation: X:177.01, Y:196.83, Z:-169.47 [[ 3.64916294e-01 4.08346190e-02 9.30144415e-01 1.77007852e+02] [ 6.46863593e-02 9.95511588e-01 -6.90822220e-02 1.96833154e+02] [-9.28790490e-01 8.53768842e-02 3.60636956e-01 -1.69474696e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.020714057 meters Centerline goodness : 0.987502 Centerline is valid? [True, True] Translation: X:177.02, Y:196.84, Z:-169.50 [[ 3.65123466e-01 4.11087236e-02 9.30051035e-01 1.77020493e+02] [ 6.57876148e-02 9.95387675e-01 -6.98238229e-02 1.96838324e+02] [-9.28631705e-01 8.66801554e-02 3.60734953e-01 -1.69504443e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.0507140569999 meters Centerline goodness : 0.979298 Centerline is valid? [True, True] Translation: X:177.02, Y:196.85, Z:-169.53 [[ 3.48028899e-01 5.10593225e-02 9.36092320e-01 1.77020753e+02] [ 6.94952323e-02 9.94363294e-01 -8.00752914e-02 1.96848699e+02] [-9.34904433e-01 9.29224687e-02 3.42518783e-01 -1.69527591e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.0807140569999 meters Centerline goodness : 0.987005 Centerline is valid? [True, True] Translation: X:177.01, Y:196.81, Z:-169.57 [[ 3.57890658e-01 -3.90493773e-02 9.32946635e-01 1.77013186e+02] [ 6.77438109e-02 9.97578154e-01 1.57671705e-02 1.96813407e+02] [-9.31302879e-01 5.75584373e-02 3.59669255e-01 -1.69566299e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.1107140569999 meters Centerline goodness : 0.977888 Centerline is valid? [True, True] Translation: X:177.04, Y:196.86, Z:-169.58 [[ 3.48937414e-01 5.62415932e-02 9.35456875e-01 1.77044207e+02] [ 7.05126178e-02 9.93792335e-01 -8.60509520e-02 1.96858342e+02] [-9.34489514e-01 9.59879097e-02 3.42805585e-01 -1.69576956e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.140714057 meters Centerline goodness : 0.977980 Centerline is valid? [True, True] Translation: X:177.02, Y:196.82, Z:-169.62 [[ 3.41880868e-01 -5.24312006e-02 9.38279511e-01 1.77016728e+02] [ 7.03325236e-02 9.97069690e-01 3.00893459e-02 1.96817237e+02] [-9.37107683e-01 5.57045942e-02 3.44566670e-01 -1.69616443e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.1707140569999 meters Centerline goodness : 0.983425 Centerline is valid? [True, True] Translation: X:177.05, Y:196.84, Z:-169.66 [[ 3.48338834e-01 -1.12476777e-03 9.37368013e-01 1.77054927e+02] [ 6.71644953e-02 9.97458911e-01 -2.37623773e-02 1.96835630e+02] [-9.34959351e-01 7.12352083e-02 3.47529219e-01 -1.69655661e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.2007140569999 meters Centerline goodness : 0.987028 Centerline is valid? [True, True] Translation: X:177.12, Y:196.90, Z:-169.63 [[ 3.85041699e-01 9.20324591e-02 9.18298926e-01 1.77123275e+02] [ 8.58151462e-02 9.87134308e-01 -1.34913375e-01 1.96902233e+02] [-9.18900784e-01 1.30751232e-01 3.72190092e-01 -1.69632432e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.2307140569999 meters Centerline goodness : 0.983562 Centerline is valid? [True, True] Translation: X:177.10, Y:196.87, Z:-169.70 [[ 3.55021302e-01 5.68849408e-02 9.33125918e-01 1.77099222e+02] [ 7.00772243e-02 9.93719397e-01 -8.72407195e-02 1.96867124e+02] [-9.32228008e-01 9.63631880e-02 3.48805215e-01 -1.69701874e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.260714057 meters Centerline goodness : 0.985085 Centerline is valid? [True, True] Translation: X:177.15, Y:196.91, Z:-169.72 [[ 3.63505283e-01 1.54012967e-01 9.18773049e-01 1.77149353e+02] [ 7.43650018e-02 9.78295172e-01 -1.93412523e-01 1.96911428e+02] [-9.28619274e-01 1.38631033e-01 3.44162289e-01 -1.69720162e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.290714057 meters Centerline goodness : 0.983617 Centerline is valid? [True, True] Translation: X:177.15, Y:196.91, Z:-169.74 [[ 3.61853362e-01 1.39888340e-01 9.21679661e-01 1.77154243e+02] [ 7.42651240e-02 9.81209534e-01 -1.78080156e-01 1.96908249e+02] [-9.29272208e-01 1.32887558e-01 3.44665144e-01 -1.69743964e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.3207140569999 meters Centerline goodness : 0.984657 Centerline is valid? [True, True] Translation: X:177.15, Y:196.89, Z:-169.77 [[ 3.68727881e-01 8.11560757e-02 9.25987819e-01 1.77154573e+02] [ 8.10408961e-02 9.89581409e-01 -1.19000034e-01 1.96894448e+02] [-9.25997907e-01 1.18921513e-01 3.58309294e-01 -1.69774982e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.3507140569999 meters Centerline goodness : 0.985274 Centerline is valid? [True, True] Translation: X:177.17, Y:196.90, Z:-169.80 [[ 3.72486317e-01 7.40492662e-02 9.25078726e-01 1.77166853e+02] [ 8.20852421e-02 9.90275837e-01 -1.12319985e-01 1.96895372e+02] [-9.24400323e-01 1.17772969e-01 3.62785848e-01 -1.69797620e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.380714057 meters Centerline goodness : 0.985274 Centerline is valid? [True, True] Translation: X:177.18, Y:196.89, Z:-169.83 [[ 3.72394292e-01 6.99088157e-02 9.25437869e-01 1.77177337e+02] [ 8.24806175e-02 9.90720137e-01 -1.08030356e-01 1.96893924e+02] [-9.24402207e-01 1.16560575e-01 3.63172401e-01 -1.69827498e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.410714057 meters Centerline goodness : 0.985517 Centerline is valid? [True, True] Translation: X:177.19, Y:196.90, Z:-169.86 [[ 3.70270681e-01 7.55814389e-02 9.25843977e-01 1.77189133e+02] [ 8.35511921e-02 9.89934934e-01 -1.14227954e-01 1.96896365e+02] [-9.25158809e-01 1.19650630e-01 3.60228963e-01 -1.69861311e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.4407140569999 meters Centerline goodness : 0.988645 Centerline is valid? [True, True] Translation: X:177.21, Y:196.91, Z:-169.87 [[ 3.90286377e-01 5.16136843e-02 9.19245653e-01 1.77206830e+02] [ 9.88654852e-02 9.90304973e-01 -9.75790747e-02 1.96911515e+02] [-9.15369958e-01 1.28965451e-01 3.81399728e-01 -1.69866303e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.4707140569999 meters Centerline goodness : 0.987710 Centerline is valid? [True, True] Translation: X:177.19, Y:196.88, Z:-169.93 [[ 3.76610108e-01 2.67547001e-03 9.26367998e-01 1.77193275e+02] [ 9.05313263e-02 9.95102836e-01 -3.96790266e-02 1.96877834e+02] [-9.21937582e-01 9.88088460e-02 3.74523573e-01 -1.69928485e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.500714057 meters Centerline goodness : 0.985509 Centerline is valid? [True, True] Translation: X:177.24, Y:196.92, Z:-169.94 [[ 3.75535138e-01 1.14121359e-01 9.19755226e-01 1.77239315e+02] [ 8.28144956e-02 9.84288564e-01 -1.55941600e-01 1.96921896e+02] [-9.23100818e-01 1.34730615e-01 3.60184039e-01 -1.69935488e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.530714057 meters Centerline goodness : 0.989590 Centerline is valid? [True, True] Translation: X:177.23, Y:196.89, Z:-169.98 [[ 3.85086975e-01 -2.14601805e-04 9.22880261e-01 1.77226484e+02] [ 9.33320346e-02 9.94882122e-01 -3.87129826e-02 1.96888543e+02] [-9.18148764e-01 1.01042158e-01 3.83136176e-01 -1.69975577e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.5607140569999 meters Centerline goodness : 0.990226 Centerline is valid? [True, True] Translation: X:177.26, Y:196.93, Z:-169.98 [[ 3.92820233e-01 6.09655503e-02 9.17592211e-01 1.77261461e+02] [ 9.89895314e-02 9.89199351e-01 -1.08100496e-01 1.96927587e+02] [-9.14272026e-01 1.33296085e-01 3.82542568e-01 -1.69978704e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.5907140569999 meters Centerline goodness : 0.986176 Centerline is valid? [True, True] Translation: X:177.23, Y:196.88, Z:-170.03 [[ 3.69588063e-01 -2.02368840e-02 9.28975313e-01 1.77231198e+02] [ 8.77584243e-02 9.96054112e-01 -1.32161042e-02 1.96881603e+02] [-9.25042228e-01 8.64099240e-02 3.69905667e-01 -1.70034254e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.620714057 meters Centerline goodness : 0.986605 Centerline is valid? [True, True] Translation: X:177.27, Y:196.91, Z:-170.04 [[ 3.79193805e-01 2.34480959e-02 9.25020132e-01 1.77266975e+02] [ 9.07450208e-02 9.93917687e-01 -6.23936982e-02 1.96907407e+02] [-9.20856883e-01 1.07600275e-01 3.74759632e-01 -1.70044584e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.650714057 meters Centerline goodness : 0.988469 Centerline is valid? [True, True] Translation: X:177.27, Y:196.90, Z:-170.08 [[ 3.73813287e-01 -1.24165226e-02 9.27420863e-01 1.77265947e+02] [ 9.20298941e-02 9.95472574e-01 -2.37666526e-02 1.96895155e+02] [-9.22926934e-01 9.42347343e-02 3.73263566e-01 -1.70081630e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.6807140569999 meters Centerline goodness : 0.990682 Centerline is valid? [True, True] Translation: X:177.29, Y:196.92, Z:-170.10 [[ 3.84974097e-01 1.90923709e-02 9.22729877e-01 1.77290170e+02] [ 9.93833374e-02 9.93114990e-01 -6.20126558e-02 1.96922227e+02] [-9.17560841e-01 1.15577241e-01 3.80426083e-01 -1.70098127e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.7107140569999 meters Centerline goodness : 0.986944 Centerline is valid? [True, True] Translation: X:177.27, Y:196.90, Z:-170.13 [[ 3.68398262e-01 -4.01643064e-02 9.28800059e-01 1.77269189e+02] [ 9.78985796e-02 9.95187514e-01 4.20472598e-03 1.96897295e+02] [-9.24499102e-01 8.93791928e-02 3.70557379e-01 -1.70131966e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.740714057 meters Centerline goodness : 0.989714 Centerline is valid? [True, True] Translation: X:177.28, Y:196.90, Z:-170.17 [[ 3.75912065e-01 -4.95212040e-02 9.25331168e-01 1.77283031e+02] [ 1.01309970e-01 9.94781551e-01 1.20812317e-02 1.96895067e+02] [-9.21100651e-01 8.92037917e-02 3.78967378e-01 -1.70167710e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.770714057 meters Centerline goodness : 0.987478 Centerline is valid? [True, True] Translation: X:177.31, Y:196.92, Z:-170.18 [[ 3.74894770e-01 1.46940586e-03 9.27066207e-01 1.77309803e+02] [ 1.01595070e-01 9.93910777e-01 -4.26592173e-02 1.96920022e+02] [-9.21483778e-01 1.10178074e-01 3.72462668e-01 -1.70177219e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.8007140569999 meters Centerline goodness : 0.988291 Centerline is valid? [True, True] Translation: X:177.31, Y:196.90, Z:-170.22 [[ 3.77012120e-01 -4.94119028e-02 9.24889358e-01 1.77305137e+02] [ 1.05785895e-01 9.94338639e-01 1.00007632e-02 1.96901927e+02] [-9.20147383e-01 9.40698400e-02 3.80104801e-01 -1.70215154e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.8307140569999 meters Centerline goodness : 0.988589 Centerline is valid? [True, True] Translation: X:177.32, Y:196.92, Z:-170.24 [[ 3.80701150e-01 -2.53691096e-02 9.24350065e-01 1.77324400e+02] [ 1.07643618e-01 9.94043299e-01 -1.70520417e-02 1.96915020e+02] [-9.18411393e-01 1.05992117e-01 3.81164250e-01 -1.70238233e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.8607140569999 meters Centerline goodness : 0.990680 Centerline is valid? [True, True] Translation: X:177.34, Y:196.92, Z:-170.26 [[ 3.82948984e-01 -1.80442239e-02 9.23593245e-01 1.77338420e+02] [ 1.07693254e-01 9.93863835e-01 -2.52356984e-02 1.96918825e+02] [-9.17470566e-01 1.09128747e-01 3.82542387e-01 -1.70262680e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.890714057 meters Centerline goodness : 0.991341 Centerline is valid? [True, True] Translation: X:177.35, Y:196.92, Z:-170.29 [[ 3.82614618e-01 -5.40145207e-03 9.23892244e-01 1.77352828e+02] [ 1.06060352e-01 9.93628969e-01 -3.81139704e-02 1.96922333e+02] [-9.17800227e-01 1.12571298e-01 3.80749848e-01 -1.70293959e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.9207140569999 meters Centerline goodness : 0.989578 Centerline is valid? [True, True] Translation: X:177.38, Y:196.94, Z:-170.31 [[ 3.88029110e-01 3.36113565e-02 9.21034031e-01 1.77383101e+02] [ 1.04194770e-01 9.91328236e-01 -8.00735783e-02 1.96940827e+02] [-9.15738423e-01 1.27037808e-01 3.81162085e-01 -1.70306654e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.9507140569999 meters Centerline goodness : 0.988172 Centerline is valid? [True, True] Translation: X:177.38, Y:196.93, Z:-170.34 [[ 3.87453054e-01 -2.85293882e-03 9.21885021e-01 1.77381248e+02] [ 1.13599096e-01 9.92521855e-01 -4.46722873e-02 1.96934980e+02] [-9.14863584e-01 1.22033719e-01 3.84879715e-01 -1.70335559e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.9807140569999 meters Centerline goodness : 0.991180 Centerline is valid? [True, True] Translation: X:177.38, Y:196.93, Z:-170.37 [[ 3.83279775e-01 -2.35479138e-02 9.23332069e-01 1.77383967e+02] [ 1.10038137e-01 9.93719338e-01 -2.03343692e-02 1.96926401e+02] [-9.17054100e-01 1.09395493e-01 3.83463693e-01 -1.70369690e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.010714057 meters Centerline goodness : 0.990119 Centerline is valid? [True, True] Translation: X:177.41, Y:196.94, Z:-170.39 [[ 3.79694828e-01 2.56072574e-02 9.24757323e-01 1.77408549e+02] [ 1.01850642e-01 9.92383068e-01 -6.92985813e-02 1.96943147e+02] [-9.19488056e-01 1.20499440e-01 3.74194603e-01 -1.70394724e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.040714057 meters Centerline goodness : 0.991442 Centerline is valid? [True, True] Translation: X:177.42, Y:196.94, Z:-170.42 [[ 3.83652025e-01 1.14930069e-02 9.23406213e-01 1.77421733e+02] [ 1.07684189e-01 9.92544426e-01 -5.70935913e-02 1.96944747e+02] [-9.17177867e-01 1.21340321e-01 3.79554064e-01 -1.70423733e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.0707140569999 meters Centerline goodness : 0.990169 Centerline is valid? [True, True] Translation: X:177.43, Y:196.95, Z:-170.45 [[ 3.80920981e-01 3.77170185e-03 9.24599903e-01 1.77430834e+02] [ 1.04583216e-01 9.93398340e-01 -4.71390313e-02 1.96945101e+02] [-9.18673804e-01 1.14653878e-01 3.78011813e-01 -1.70448503e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.1007140569999 meters Centerline goodness : 0.990855 Centerline is valid? [True, True] Translation: X:177.44, Y:196.94, Z:-170.48 [[ 3.82131543e-01 -8.15271483e-03 9.24071976e-01 1.77439142e+02] [ 1.05754257e-01 9.93777387e-01 -3.49648670e-02 1.96941860e+02] [-9.18036776e-01 1.11085724e-01 3.80615871e-01 -1.70483856e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.130714057 meters Centerline goodness : 0.991230 Centerline is valid? [True, True] Translation: X:177.45, Y:196.94, Z:-170.51 [[ 3.84001789e-01 -7.81382479e-03 9.23299285e-01 1.77453943e+02] [ 1.04911624e-01 9.93857618e-01 -3.52219724e-02 1.96942217e+02] [-9.17352810e-01 1.10390128e-01 3.82462864e-01 -1.70513376e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.160714057 meters Centerline goodness : 0.991027 Centerline is valid? [True, True] Translation: X:177.48, Y:196.96, Z:-170.54 [[ 3.85048828e-01 2.64832091e-02 9.22516146e-01 1.77478385e+02] [ 1.07844972e-01 9.91448846e-01 -7.34754913e-02 1.96959540e+02] [-9.16573435e-01 1.27780379e-01 3.78900135e-01 -1.70535958e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.1907140569999 meters Centerline goodness : 0.991418 Centerline is valid? [True, True] Translation: X:177.48, Y:196.95, Z:-170.57 [[ 3.83326678e-01 -2.46137647e-04 9.23612796e-01 1.77478349e+02] [ 1.07989184e-01 9.93153198e-01 -4.45540412e-02 1.96949941e+02] [-9.17278036e-01 1.16818944e-01 3.80728696e-01 -1.70569504e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.2207140569999 meters Centerline goodness : 0.991185 Centerline is valid? [True, True] Translation: X:177.49, Y:196.95, Z:-170.60 [[ 3.85833392e-01 -7.33599908e-03 9.22539309e-01 1.77489378e+02] [ 1.09977863e-01 9.93203607e-01 -3.80980959e-02 1.96951161e+02] [-9.15989882e-01 1.16158419e-01 3.84017914e-01 -1.70597705e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.250714057 meters Centerline goodness : 0.989945 Centerline is valid? [True, True] Translation: X:177.50, Y:196.95, Z:-170.63 [[ 3.86005355e-01 -4.29897042e-03 9.22486523e-01 1.77500303e+02] [ 1.08207625e-01 9.93296900e-01 -4.06494488e-02 1.96952837e+02] [-9.16128253e-01 1.15510980e-01 3.83883104e-01 -1.70627963e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.280714057 meters Centerline goodness : 0.990546 Centerline is valid? [True, True] Translation: X:177.51, Y:196.95, Z:-170.66 [[ 3.86832177e-01 -7.13099601e-03 9.22122560e-01 1.77511396e+02] [ 1.09847706e-01 9.93206360e-01 -3.84006184e-02 1.96953980e+02] [-9.15584157e-01 1.16147643e-01 3.84987502e-01 -1.70657347e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.3107140569999 meters Centerline goodness : 0.991870 Centerline is valid? [True, True] Translation: X:177.52, Y:196.95, Z:-170.69 [[ 3.85813141e-01 -1.60795168e-02 9.22436810e-01 1.77519921e+02] [ 1.10459690e-01 9.93460844e-01 -2.88826609e-02 1.96951295e+02] [-9.15940433e-01 1.13035394e-01 3.85066387e-01 -1.70689853e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.3407140569999 meters Centerline goodness : 0.991186 Centerline is valid? [True, True] Translation: X:177.54, Y:196.96, Z:-170.71 [[ 3.87776423e-01 -6.31468053e-03 9.21731832e-01 1.77537521e+02] [ 1.09207137e-01 9.93248166e-01 -3.91392668e-02 1.96958379e+02] [-9.15261300e-01 1.15836979e-01 3.85847829e-01 -1.70712981e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.370714057 meters Centerline goodness : 0.991321 Centerline is valid? [True, True] Translation: X:177.54, Y:196.95, Z:-170.75 [[ 3.87695672e-01 -2.95528110e-02 9.21313572e-01 1.77542543e+02] [ 1.10426593e-01 9.93777172e-01 -1.45911268e-02 1.96951519e+02] [-9.15149187e-01 1.07394435e-01 3.88546525e-01 -1.70745008e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.400714057 meters Centerline goodness : 0.990804 Centerline is valid? [True, True] Translation: X:177.56, Y:196.96, Z:-170.77 [[ 3.86601103e-01 -1.71076915e-02 9.22088344e-01 1.77557384e+02] [ 1.06092102e-01 9.94015317e-01 -2.60387376e-02 1.96957022e+02] [-9.16124475e-01 1.07892896e-01 3.86102409e-01 -1.70774077e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.4307140569999 meters Centerline goodness : 0.990529 Centerline is valid? [True, True] Translation: X:177.57, Y:196.96, Z:-170.80 [[ 3.86695942e-01 -1.81041044e-02 9.22029549e-01 1.77570018e+02] [ 1.05555418e-01 9.94105366e-01 -2.47502528e-02 1.96959190e+02] [-9.16146442e-01 1.06896037e-01 3.86327497e-01 -1.70801883e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.4607140569999 meters Centerline goodness : 0.990585 Centerline is valid? [True, True] Translation: X:177.58, Y:196.96, Z:-170.83 [[ 3.84801292e-01 -2.93646474e-02 9.22532213e-01 1.77577328e+02] [ 1.04876770e-01 9.94411697e-01 -1.20929846e-02 1.96955753e+02] [-9.17021717e-01 1.01405595e-01 3.85730575e-01 -1.70834888e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.490714057 meters Centerline goodness : 0.990651 Centerline is valid? [True, True] Translation: X:177.59, Y:196.96, Z:-170.86 [[ 3.84328948e-01 -1.66420499e-02 9.23046208e-01 1.77593930e+02] [ 1.03335737e-01 9.94329816e-01 -2.50986663e-02 1.96962467e+02] [-9.17394673e-01 1.05029804e-01 3.83869451e-01 -1.70863348e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.520714057 meters Centerline goodness : 0.989232 Centerline is valid? [True, True] Translation: X:177.60, Y:196.96, Z:-170.89 [[ 3.79006340e-01 -2.27038369e-02 9.25115523e-01 1.77598828e+02] [ 9.62000933e-02 9.95249185e-01 -1.49867447e-02 1.96960251e+02] [-9.20380213e-01 9.46762708e-02 3.79389862e-01 -1.70890261e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.5507140569999 meters Centerline goodness : 0.987275 Centerline is valid? [True, True] Translation: X:177.61, Y:196.96, Z:-170.91 [[ 3.82732759e-01 -3.93799383e-02 9.23019423e-01 1.77605212e+02] [ 9.68725613e-02 9.95294147e-01 2.29498913e-03 1.96959198e+02] [-9.18766207e-01 8.85368881e-02 3.84746510e-01 -1.70914285e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.5807140569999 meters Centerline goodness : 0.990945 Centerline is valid? [True, True] Translation: X:177.61, Y:196.95, Z:-170.95 [[ 3.80360434e-01 -6.53512349e-02 9.22526507e-01 1.77606759e+02] [ 9.65319899e-02 9.94857095e-01 3.06746635e-02 1.96948206e+02] [-9.19786669e-01 7.73858911e-02 3.84712761e-01 -1.70953588e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.6107140569999 meters Centerline goodness : 0.989347 Centerline is valid? [True, True] Translation: X:177.64, Y:196.97, Z:-170.98 [[ 3.77699666e-01 1.29522995e-02 9.25837567e-01 1.77641406e+02] [ 8.66855787e-02 9.95015935e-01 -4.92838702e-02 1.96974857e+02] [-9.21861472e-01 9.88712666e-02 3.74694408e-01 -1.70978663e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.640714057 meters Centerline goodness : 0.988372 Centerline is valid? [True, True] Translation: X:177.65, Y:196.97, Z:-171.00 [[ 3.84815012e-01 -1.90230009e-02 9.22797666e-01 1.77645349e+02] [ 9.72213601e-02 9.95061217e-01 -2.00295136e-02 1.96971118e+02] [-9.17859147e-01 9.74233017e-02 3.84763936e-01 -1.70999979e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.6707140569999 meters Centerline goodness : 0.991139 Centerline is valid? [True, True] Translation: X:177.65, Y:196.97, Z:-171.04 [[ 3.83281576e-01 -1.96763373e-02 9.23421938e-01 1.77652997e+02] [ 9.44693148e-02 9.95365001e-01 -1.80017494e-02 1.96970976e+02] [-9.18787670e-01 9.41347766e-02 3.83363876e-01 -1.71040231e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.7007140569999 meters Centerline goodness : 0.987162 Centerline is valid? [True, True] Translation: X:177.68, Y:196.99, Z:-171.04 [[ 3.91302335e-01 2.03419082e-02 9.20037330e-01 1.77682395e+02] [ 9.50837033e-02 9.93511201e-01 -6.24065860e-02 1.96990247e+02] [-9.15336863e-01 1.11900399e-01 3.86829069e-01 -1.71042357e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.7307140569999 meters Centerline goodness : 0.990811 Centerline is valid? [True, True] Translation: X:177.68, Y:196.98, Z:-171.09 [[ 3.85670121e-01 -1.68874082e-02 9.22482181e-01 1.77676048e+02] [ 9.43561224e-02 9.95312167e-01 -2.12276125e-02 1.96976213e+02] [-9.17799259e-01 9.52286974e-02 3.85455594e-01 -1.71091077e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.760714057 meters Centerline goodness : 0.991038 Centerline is valid? [True, True] Translation: X:177.72, Y:197.01, Z:-171.10 [[ 3.91081860e-01 4.68510011e-02 9.19162642e-01 1.77717827e+02] [ 9.47860313e-02 9.91342621e-01 -9.08593189e-02 1.97005649e+02] [-9.15461953e-01 1.22657210e-01 3.83255295e-01 -1.71100172e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.790714057 meters Centerline goodness : 0.989566 Centerline is valid? [True, True] Translation: X:177.71, Y:197.00, Z:-171.13 [[ 3.84323223e-01 1.96530777e-02 9.22989391e-01 1.77714152e+02] [ 9.07942721e-02 9.94121988e-01 -5.89734882e-02 1.96995197e+02] [-9.18723060e-01 1.06467031e-01 3.80279780e-01 -1.71128914e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.8207140569999 meters Centerline goodness : 0.990986 Centerline is valid? [True, True] Translation: X:177.72, Y:196.99, Z:-171.15 [[ 3.95449553e-01 -2.12834825e-02 9.18241071e-01 1.77721566e+02] [ 9.94365040e-02 9.94847606e-01 -1.97641993e-02 1.96990064e+02] [-9.13089280e-01 9.91224257e-02 3.95528396e-01 -1.71154657e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.8507140569999 meters Centerline goodness : 0.988523 Centerline is valid? [True, True] Translation: X:177.72, Y:196.98, Z:-171.18 [[ 3.88054110e-01 -5.98194426e-02 9.19693233e-01 1.77718829e+02] [ 9.51248042e-02 9.95161565e-01 2.45912856e-02 1.96976305e+02] [-9.16714394e-01 7.79428893e-02 3.91866848e-01 -1.71183321e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.880714057 meters Centerline goodness : 0.988445 Centerline is valid? [True, True] Translation: X:177.73, Y:196.97, Z:-171.21 [[ 3.87948101e-01 -7.44549933e-02 9.18668997e-01 1.77725364e+02] [ 9.33321602e-02 9.94781803e-01 4.12100967e-02 1.96972277e+02] [-9.16943498e-01 6.97539832e-02 3.92872757e-01 -1.71213837e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.910714057 meters Centerline goodness : 0.987568 Centerline is valid? [True, True] Translation: X:177.74, Y:196.97, Z:-171.24 [[ 3.87334469e-01 -7.25478630e-02 9.19080419e-01 1.77737165e+02] [ 9.03750317e-02 9.95085596e-01 4.04599727e-02 1.96973996e+02] [-9.17498972e-01 6.73903800e-02 3.91987466e-01 -1.71242962e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.9407140569999 meters Centerline goodness : 0.989034 Centerline is valid? [True, True] Translation: X:177.74, Y:196.97, Z:-171.28 [[ 3.85133759e-01 -9.12424814e-02 9.18339152e-01 1.77742707e+02] [ 9.02866165e-02 9.94052036e-01 6.09005403e-02 1.96968497e+02] [-9.18433620e-01 5.94588808e-02 3.91080972e-01 -1.71276714e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.9707140569999 meters Centerline goodness : 0.988814 Centerline is valid? [True, True] Translation: X:177.76, Y:196.98, Z:-171.30 [[ 3.87890033e-01 -6.89010926e-02 9.19126739e-01 1.77763564e+02] [ 8.86811062e-02 9.95365506e-01 3.71910121e-02 1.96982937e+02] [-9.17429552e-01 6.70831529e-02 3.92202584e-01 -1.71297183e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.000714057 meters Centerline goodness : 0.987595 Centerline is valid? [True, True] Translation: X:177.77, Y:196.97, Z:-171.33 [[ 3.88288122e-01 -9.69092800e-02 9.16428353e-01 1.77766599e+02] [ 8.88580473e-02 9.93758718e-01 6.74378061e-02 1.96972941e+02] [-9.17244015e-01 5.52467349e-02 3.94475875e-01 -1.71330136e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.030714057 meters Centerline goodness : 0.988470 Centerline is valid? [True, True] Translation: X:177.78, Y:196.98, Z:-171.36 [[ 3.86829898e-01 -8.77817634e-02 9.17963503e-01 1.77779027e+02] [ 8.78266903e-02 9.94440859e-01 5.80848611e-02 1.96977144e+02] [-9.17959205e-01 5.81527354e-02 3.92389037e-01 -1.71361888e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.0607140569999 meters Centerline goodness : 0.987988 Centerline is valid? [True, True] Translation: X:177.79, Y:196.98, Z:-171.39 [[ 3.88511226e-01 -9.14755613e-02 9.16892169e-01 1.77791345e+02] [ 8.86768499e-02 9.94153284e-01 6.16089655e-02 1.96977960e+02] [-9.17167075e-01 5.73713345e-02 3.94351476e-01 -1.71389590e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.0907140569999 meters Centerline goodness : 0.988459 Centerline is valid? [True, True] Translation: X:177.80, Y:196.97, Z:-171.42 [[ 3.86282756e-01 -1.09248305e-01 9.15887788e-01 1.77797022e+02] [ 8.89862648e-02 9.92743194e-01 8.08850747e-02 1.96971267e+02] [-9.18077926e-01 5.02569237e-02 3.93201176e-01 -1.71423707e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.120714057 meters Centerline goodness : 0.990172 Centerline is valid? [True, True] Translation: X:177.82, Y:196.99, Z:-171.45 [[ 3.94515686e-01 -7.65354846e-02 9.15696289e-01 1.77823447e+02] [ 9.10340653e-02 9.94878237e-01 4.39328211e-02 1.96988992e+02] [-9.14368729e-01 6.60273687e-02 3.99462406e-01 -1.71451075e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.150714057 meters Centerline goodness : 0.989435 Centerline is valid? [True, True] Translation: X:177.83, Y:196.99, Z:-171.48 [[ 3.84585875e-01 -8.47417433e-02 9.19191243e-01 1.77830218e+02] [ 8.85868418e-02 9.94569407e-01 5.46266054e-02 1.96985964e+02] [-9.18828644e-01 6.04196284e-02 3.90004349e-01 -1.71481516e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.1807140569999 meters Centerline goodness : 0.989723 Centerline is valid? [True, True] Translation: X:177.85, Y:197.00, Z:-171.51 [[ 3.91709912e-01 -6.56284773e-02 9.17745198e-01 1.77850425e+02] [ 9.07207580e-02 9.95347332e-01 3.24566228e-02 1.96996344e+02] [-9.15605313e-01 7.05449591e-02 3.95841281e-01 -1.71510022e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.2107140569999 meters Centerline goodness : 0.989765 Centerline is valid? [True, True] Translation: X:177.86, Y:197.00, Z:-171.54 [[ 3.91594901e-01 -6.39529031e-02 9.17912556e-01 1.77863631e+02] [ 9.11483136e-02 9.95371240e-01 3.04644113e-02 1.96998760e+02] [-9.15612046e-01 7.17364733e-02 3.95611501e-01 -1.71539239e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.240714057 meters Centerline goodness : 0.989726 Centerline is valid? [True, True] Translation: X:177.88, Y:197.00, Z:-171.57 [[ 3.91072423e-01 -6.14565548e-02 9.18305751e-01 1.77876733e+02] [ 9.33710274e-02 9.95269436e-01 2.68439968e-02 1.97000861e+02] [-9.15611387e-01 7.52452045e-02 3.94960692e-01 -1.71570056e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.270714057 meters Centerline goodness : 0.989726 Centerline is valid? [True, True] Translation: X:177.89, Y:197.01, Z:-171.60 [[ 3.91507338e-01 -5.63984596e-02 9.18445000e-01 1.77891875e+02] [ 9.39365446e-02 9.95355019e-01 2.10787182e-02 1.97005119e+02] [-9.15367648e-01 7.80230769e-02 3.94986670e-01 -1.71598775e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.3007140569999 meters Centerline goodness : 0.989947 Centerline is valid? [True, True] Translation: X:177.90, Y:197.00, Z:-171.63 [[ 3.91207623e-01 -6.36788272e-02 9.18096728e-01 1.77901796e+02] [ 9.67008655e-02 9.94925100e-01 2.78026780e-02 1.97003471e+02] [-9.15207921e-01 7.79041287e-02 3.95380081e-01 -1.71631775e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.3307140569999 meters Centerline goodness : 0.988262 Centerline is valid? [True, True] Translation: X:177.91, Y:197.00, Z:-171.65 [[ 3.84872298e-01 -6.80420228e-02 9.20458363e-01 1.77911364e+02] [ 9.66754062e-02 9.94765031e-01 3.31119151e-02 1.97003380e+02] [-9.17892793e-01 7.62418273e-02 3.89435494e-01 -1.71654215e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.3607140569999 meters Centerline goodness : 0.989765 Centerline is valid? [True, True] Translation: X:177.92, Y:196.99, Z:-171.69 [[ 3.83742962e-01 -9.09101498e-02 9.18954125e-01 1.77915300e+02] [ 1.00961999e-01 9.93307035e-01 5.61053413e-02 1.96994512e+02] [-9.17904142e-01 7.12494157e-02 3.90353054e-01 -1.71689887e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.390714057 meters Centerline goodness : 0.988267 Centerline is valid? [True, True] Translation: X:177.93, Y:197.00, Z:-171.72 [[ 3.84234137e-01 -7.70517271e-02 9.20014760e-01 1.77931837e+02] [ 1.01826948e-01 9.93968450e-01 4.07184729e-02 1.97001565e+02] [-9.17603074e-01 7.80368681e-02 3.89762552e-01 -1.71716123e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.4207140569999 meters Centerline goodness : 0.989816 Centerline is valid? [True, True] Translation: X:177.94, Y:196.99, Z:-171.75 [[ 3.86208030e-01 -9.90113252e-02 9.17082393e-01 1.77938459e+02] [ 1.06393869e-01 9.92368279e-01 6.23341288e-02 1.96994644e+02] [-9.16255261e-01 7.34980025e-02 3.93794796e-01 -1.71749835e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.4507140569999 meters Centerline goodness : 0.990448 Centerline is valid? [True, True] Translation: X:177.96, Y:197.01, Z:-171.78 [[ 3.91492335e-01 -6.89409270e-02 9.17595173e-01 1.77963322e+02] [ 1.09007874e-01 9.93642326e-01 2.81462640e-02 1.97010270e+02] [-9.13701831e-01 8.90060523e-02 3.96518458e-01 -1.71775722e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.4807140569999 meters Centerline goodness : 0.990941 Centerline is valid? [True, True] Translation: X:177.97, Y:197.01, Z:-171.81 [[ 3.92529976e-01 -7.51602023e-02 9.16663058e-01 1.77974952e+02] [ 1.11426271e-01 9.93200416e-01 3.37212157e-02 1.97009879e+02] [-9.12964624e-01 8.89037583e-02 3.98235757e-01 -1.71805920e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.510714057 meters Centerline goodness : 0.989560 Centerline is valid? [True, True] Translation: X:177.98, Y:197.01, Z:-171.83 [[ 3.89117696e-01 -7.93751334e-02 9.17761955e-01 1.77983191e+02] [ 1.10887138e-01 9.93072430e-01 3.88740333e-02 1.97008097e+02] [-9.14489727e-01 8.66414227e-02 3.95223738e-01 -1.71830905e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.540714057 meters Centerline goodness : 0.990366 Centerline is valid? [True, True] Translation: X:178.00, Y:197.00, Z:-171.86 [[ 3.91812399e-01 -9.27637267e-02 9.15356725e-01 1.77995226e+02] [ 1.17382959e-01 9.91813727e-01 5.02670025e-02 1.97004676e+02] [-9.12526320e-01 8.77520459e-02 3.99493797e-01 -1.71864147e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.5707140569999 meters Centerline goodness : 0.990112 Centerline is valid? [True, True] Translation: X:178.01, Y:197.01, Z:-171.89 [[ 3.85836417e-01 -9.34666758e-02 9.17820375e-01 1.78007381e+02] [ 1.16284610e-01 9.91847406e-01 5.21211381e-02 1.97006549e+02] [-9.15209347e-01 8.66181515e-02 3.93559585e-01 -1.71888099e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.6007140569999 meters Centerline goodness : 0.989711 Centerline is valid? [True, True] Translation: X:178.01, Y:197.00, Z:-171.92 [[ 3.85201510e-01 -1.08884832e-01 9.16386322e-01 1.78014739e+02] [ 1.18027066e-01 9.90672567e-01 6.80990218e-02 1.97002614e+02] [-9.15253740e-01 8.19265428e-02 3.94459926e-01 -1.71920355e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.630714057 meters Centerline goodness : 0.989215 Centerline is valid? [True, True] Translation: X:178.03, Y:197.00, Z:-171.95 [[ 3.85426407e-01 -1.10575137e-01 9.16089310e-01 1.78027461e+02] [ 1.18672193e-01 9.90489304e-01 6.96265015e-02 1.97003248e+02] [-9.15075623e-01 8.18784353e-02 3.94882928e-01 -1.71951036e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.660714057 meters Centerline goodness : 0.990202 Centerline is valid? [True, True] Translation: X:178.04, Y:197.01, Z:-171.98 [[ 3.89368480e-01 -1.01134235e-01 9.15513000e-01 1.78042593e+02] [ 1.19419877e-01 9.91107323e-01 5.86955561e-02 1.97010234e+02] [-9.13307768e-01 8.64762500e-02 3.97983390e-01 -1.71975503e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.6907140569999 meters Centerline goodness : 0.991218 Centerline is valid? [True, True] Translation: X:178.05, Y:197.00, Z:-172.01 [[ 3.90103518e-01 -1.19273659e-01 9.13013165e-01 1.78048961e+02] [ 1.22099150e-01 9.89518859e-01 7.70988086e-02 1.97002891e+02] [-9.12639602e-01 8.14016149e-02 4.00578000e-01 -1.72014966e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.7207140569999 meters Centerline goodness : 0.989915 Centerline is valid? [True, True] Translation: X:178.07, Y:197.01, Z:-172.04 [[ 3.83823492e-01 -1.03524591e-01 9.17584975e-01 1.78066156e+02] [ 1.19201569e-01 9.90936224e-01 6.19385735e-02 1.97011785e+02] [-9.15680355e-01 8.56040891e-02 3.92684895e-01 -1.72037306e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.750714057 meters Centerline goodness : 0.989947 Centerline is valid? [True, True] Translation: X:178.07, Y:197.01, Z:-172.07 [[ 3.82111946e-01 -1.10750784e-01 9.17455571e-01 1.78074547e+02] [ 1.18220348e-01 9.90493643e-01 7.03298799e-02 1.97010272e+02] [-9.16523000e-01 8.15880298e-02 3.91572449e-01 -1.72069172e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.780714057 meters Centerline goodness : 0.991239 Centerline is valid? [True, True] Translation: X:178.10, Y:197.03, Z:-172.10 [[ 3.88437968e-01 -8.22215081e-02 9.17799307e-01 1.78096919e+02] [ 1.16907690e-01 9.92360044e-01 3.94225117e-02 1.97025334e+02] [-9.14028740e-01 9.19845963e-02 3.95082646e-01 -1.72101027e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.8107140569999 meters Centerline goodness : 0.992056 Centerline is valid? [True, True] Translation: X:178.11, Y:197.03, Z:-172.13 [[ 3.89274612e-01 -7.00137900e-02 9.18457046e-01 1.78114200e+02] [ 1.16403623e-01 9.92852421e-01 2.63489573e-02 1.97033441e+02] [-9.13737092e-01 9.66547480e-02 3.94642100e-01 -1.72125711e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.8407140569999 meters Centerline goodness : 0.990168 Centerline is valid? [True, True] Translation: X:178.11, Y:197.02, Z:-172.15 [[ 3.84028728e-01 -9.81882036e-02 9.18085515e-01 1.78114918e+02] [ 1.14349111e-01 9.91732410e-01 5.82332249e-02 1.97024970e+02] [-9.16212976e-01 8.26190309e-02 3.92081470e-01 -1.72150480e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.870714057 meters Centerline goodness : 0.991318 Centerline is valid? [True, True] Translation: X:178.12, Y:197.02, Z:-172.19 [[ 3.81908290e-01 -1.16988334e-01 9.16765939e-01 1.78118883e+02] [ 1.14228489e-01 9.90325219e-01 7.87896753e-02 1.97016907e+02] [-9.17113903e-01 7.46303576e-02 3.91576812e-01 -1.72187818e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.900714057 meters Centerline goodness : 0.991801 Centerline is valid? [True, True] Translation: X:178.15, Y:197.03, Z:-172.21 [[ 3.92293514e-01 -9.12376964e-02 9.15304038e-01 1.78145225e+02] [ 1.17845245e-01 9.91853701e-01 4.83604573e-02 1.97033825e+02] [-9.12259994e-01 8.88927344e-02 3.99849703e-01 -1.72210423e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.9307140569999 meters Centerline goodness : 0.990615 Centerline is valid? [True, True] Translation: X:178.15, Y:197.03, Z:-172.24 [[ 3.87836909e-01 -1.01281906e-01 9.16146553e-01 1.78149757e+02] [ 1.14429242e-01 9.91546014e-01 6.11755695e-02 1.97031471e+02] [-9.14597442e-01 8.11078117e-02 3.96147753e-01 -1.72236893e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.9607140569999 meters Centerline goodness : 0.990508 Centerline is valid? [True, True] Translation: X:178.15, Y:197.02, Z:-172.27 [[ 3.84892150e-01 -1.32251114e-01 9.13437286e-01 1.78152238e+02] [ 1.15091800e-01 9.88833256e-01 9.46713804e-02 1.97020016e+02] [-9.15757561e-01 6.86908704e-02 3.95815176e-01 -1.72269969e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.990714057 meters Centerline goodness : 0.991945 Centerline is valid? [True, True] Translation: X:178.17, Y:197.03, Z:-172.30 [[ 3.91197477e-01 -1.27028832e-01 9.11497784e-01 1.78169913e+02] [ 1.18879130e-01 9.89105345e-01 8.68237778e-02 1.97026612e+02] [-9.12596453e-01 7.43928211e-02 4.02036592e-01 -1.72301399e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.020714057 meters Centerline goodness : 0.991223 Centerline is valid? [True, True] Translation: X:178.18, Y:197.03, Z:-172.32 [[ 3.84935883e-01 -1.14382042e-01 9.15828103e-01 1.78184447e+02] [ 1.15642061e-01 9.90448160e-01 7.50956467e-02 1.97034362e+02] [-9.15669853e-01 7.70012403e-02 3.94486412e-01 -1.72323853e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.0507140569999 meters Centerline goodness : 0.992224 Centerline is valid? [True, True] Translation: X:178.20, Y:197.04, Z:-172.36 [[ 3.90983042e-01 -1.07015482e-01 9.14155319e-01 1.78200226e+02] [ 1.17924926e-01 9.90856118e-01 6.55581137e-02 1.97040969e+02] [-9.12812124e-01 8.21695878e-02 4.00027731e-01 -1.72356520e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.0807140569999 meters Centerline goodness : 0.991533 Centerline is valid? [True, True] Translation: X:178.20, Y:197.03, Z:-172.38 [[ 3.86973295e-01 -1.42377014e-01 9.11032631e-01 1.78203327e+02] [ 1.18851274e-01 9.87467423e-01 1.03838645e-01 1.97030849e+02] [-9.14399280e-01 6.80946060e-02 3.99045212e-01 -1.72384615e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.1107140569999 meters Centerline goodness : 0.992463 Centerline is valid? [True, True] Translation: X:178.23, Y:197.05, Z:-172.41 [[ 3.94153133e-01 -1.17238386e-01 9.11536323e-01 1.78226400e+02] [ 1.20738180e-01 9.89839401e-01 7.51016059e-02 1.97045584e+02] [-9.11079360e-01 8.04557038e-02 4.04303450e-01 -1.72411508e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.140714057 meters Centerline goodness : 0.992785 Centerline is valid? [True, True] Translation: X:178.24, Y:197.05, Z:-172.44 [[ 3.94912626e-01 -1.16175003e-01 9.11343726e-01 1.78239979e+02] [ 1.22019265e-01 9.89817072e-01 7.33039045e-02 1.97049244e+02] [-9.10579660e-01 8.22528542e-02 4.05066848e-01 -1.72440445e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.1707140569999 meters Centerline goodness : 0.992404 Centerline is valid? [True, True] Translation: X:178.25, Y:197.06, Z:-172.47 [[ 3.95153584e-01 -1.10693849e-01 9.11921333e-01 1.78254433e+02] [ 1.25051907e-01 9.89953975e-01 6.59783956e-02 1.97055918e+02] [-9.10063550e-01 8.79659021e-02 4.05026338e-01 -1.72465091e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.2007140569999 meters Centerline goodness : 0.992198 Centerline is valid? [True, True] Translation: X:178.26, Y:197.05, Z:-172.50 [[ 3.93436766e-01 -1.24198348e-01 9.10923862e-01 1.78260853e+02] [ 1.25568452e-01 9.88806833e-01 8.05829473e-02 1.97051482e+02] [-9.10736007e-01 8.26790054e-02 4.04628357e-01 -1.72499680e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.2307140569999 meters Centerline goodness : 0.992535 Centerline is valid? [True, True] Translation: X:178.28, Y:197.06, Z:-172.53 [[ 3.93932247e-01 -1.18469591e-01 9.11472622e-01 1.78275732e+02] [ 1.26387006e-01 9.89220663e-01 7.39513712e-02 1.97057984e+02] [-9.10408540e-01 8.60664660e-02 4.04658935e-01 -1.72526373e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.260714057 meters Centerline goodness : 0.991619 Centerline is valid? [True, True] Translation: X:178.29, Y:197.06, Z:-172.55 [[ 3.93418302e-01 -1.20095442e-01 9.11481829e-01 1.78285298e+02] [ 1.24686055e-01 9.89240911e-01 7.65232459e-02 1.97059469e+02] [-9.10865208e-01 8.35434281e-02 4.04159706e-01 -1.72552846e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.290714057 meters Centerline goodness : 0.991871 Centerline is valid? [True, True] Translation: X:178.29, Y:197.05, Z:-172.59 [[ 3.91450787e-01 -1.42073210e-01 9.09165268e-01 1.78288852e+02] [ 1.26102158e-01 9.86970534e-01 9.99370366e-02 1.97051652e+02] [-9.11517706e-01 7.55272703e-02 4.04266130e-01 -1.72590131e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.3207140569999 meters Centerline goodness : 0.992232 Centerline is valid? [True, True] Translation: X:178.31, Y:197.06, Z:-172.62 [[ 3.92779360e-01 -1.22710971e-01 9.11409015e-01 1.78308760e+02] [ 1.25837610e-01 9.88907177e-01 7.89144526e-02 1.97063058e+02] [-9.10982585e-01 8.36935642e-02 4.03863983e-01 -1.72615282e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.3507140569999 meters Centerline goodness : 0.992740 Centerline is valid? [True, True] Translation: X:178.32, Y:197.06, Z:-172.65 [[ 3.92560590e-01 -1.26282513e-01 9.11015318e-01 1.78319491e+02] [ 1.25133764e-01 9.88651615e-01 8.31235493e-02 1.97063271e+02] [-9.11173817e-01 8.13677461e-02 4.03907868e-01 -1.72645921e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.380714057 meters Centerline goodness : 0.990478 Centerline is valid? [True, True] Translation: X:178.33, Y:197.06, Z:-172.67 [[ 3.87155457e-01 -1.30935928e-01 9.12669948e-01 1.78327315e+02] [ 1.21587049e-01 9.88470806e-01 9.02333345e-02 1.97064582e+02] [-9.13962385e-01 7.60345180e-02 3.98611980e-01 -1.72670937e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.410714057 meters Centerline goodness : 0.991291 Centerline is valid? [True, True] Translation: X:178.34, Y:197.06, Z:-172.70 [[ 3.91263542e-01 -1.45791235e-01 9.08657117e-01 1.78335040e+02] [ 1.22547289e-01 9.86832306e-01 1.05565909e-01 1.97061129e+02] [-9.12082783e-01 7.00493744e-02 4.03977824e-01 -1.72702126e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.4407140569999 meters Centerline goodness : 0.990235 Centerline is valid? [True, True] Translation: X:178.35, Y:197.07, Z:-172.73 [[ 3.91544066e-01 -1.35906133e-01 9.10067452e-01 1.78347109e+02] [ 1.20381865e-01 9.88097685e-01 9.57662322e-02 1.97066682e+02] [-9.12250761e-01 7.20589169e-02 4.03244419e-01 -1.72731653e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.4707140569999 meters Centerline goodness : 0.990499 Centerline is valid? [True, True] Translation: X:178.35, Y:197.06, Z:-172.76 [[ 3.83022024e-01 -1.61032288e-01 9.09594817e-01 1.78349488e+02] [ 1.18222496e-01 9.85135746e-01 1.24623449e-01 1.97056803e+02] [-9.16142768e-01 5.98010445e-02 3.96366326e-01 -1.72764180e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.500714057 meters Centerline goodness : 0.991418 Centerline is valid? [True, True] Translation: X:178.37, Y:197.07, Z:-172.79 [[ 3.89423442e-01 -1.41569235e-01 9.10114023e-01 1.78370685e+02] [ 1.20830180e-01 9.87429788e-01 1.01894458e-01 1.97069109e+02] [-9.13098818e-01 7.02891507e-02 4.01634143e-01 -1.72793268e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.530714057 meters Centerline goodness : 0.990734 Centerline is valid? [True, True] Translation: X:178.38, Y:197.08, Z:-172.82 [[ 3.80955058e-01 -1.25145876e-01 9.16085014e-01 1.78384343e+02] [ 1.13658796e-01 9.89621447e-01 8.79265010e-02 1.97078037e+02] [-9.17581016e-01 7.06250744e-02 3.91225226e-01 -1.72818434e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.5607140569999 meters Centerline goodness : 0.992555 Centerline is valid? [True, True] Translation: X:178.40, Y:197.09, Z:-172.86 [[ 3.82217276e-01 -1.03581642e-01 9.18248767e-01 1.78401977e+02] [ 1.11001746e-01 9.91648988e-01 6.56574211e-02 1.97086633e+02] [-9.17381364e-01 7.68318158e-02 3.90523118e-01 -1.72859373e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.5907140569999 meters Centerline goodness : 0.990768 Centerline is valid? [True, True] Translation: X:178.43, Y:197.11, Z:-172.88 [[ 3.84377919e-01 -6.52478411e-02 9.20867165e-01 1.78430232e+02] [ 1.08009564e-01 9.93827027e-01 2.53332701e-02 1.97106976e+02] [-9.16835618e-01 8.97249111e-02 3.89052555e-01 -1.72877813e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.620714057 meters Centerline goodness : 0.989796 Centerline is valid? [True, True] Translation: X:178.44, Y:197.10, Z:-172.90 [[ 3.85321794e-01 -8.03011985e-02 9.19281694e-01 1.78435868e+02] [ 1.06991201e-01 9.93375541e-01 4.19275235e-02 1.97103691e+02] [-9.16558780e-01 8.21994643e-02 3.91360767e-01 -1.72899802e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.650714057 meters Centerline goodness : 0.990472 Centerline is valid? [True, True] Translation: X:178.44, Y:197.10, Z:-172.94 [[ 3.84229332e-01 -1.05795691e-01 9.17155980e-01 1.78437958e+02] [ 1.10863153e-01 9.91511532e-01 6.79282189e-02 1.97095065e+02] [-9.16557244e-01 7.55787895e-02 3.92696658e-01 -1.72938501e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.6807140569999 meters Centerline goodness : 0.990034 Centerline is valid? [True, True] Translation: X:178.46, Y:197.10, Z:-172.97 [[ 3.84783207e-01 -9.32399929e-02 9.18285461e-01 1.78456125e+02] [ 1.10625429e-01 9.92371806e-01 5.44078449e-02 1.97103014e+02] [-9.16353588e-01 8.06504977e-02 3.92162720e-01 -1.72966641e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.7107140569999 meters Centerline goodness : 0.991077 Centerline is valid? [True, True] Translation: X:178.47, Y:197.10, Z:-173.00 [[ 3.84160068e-01 -9.27720742e-02 9.18593700e-01 1.78467950e+02] [ 1.10545726e-01 9.92403201e-01 5.39956347e-02 1.97104945e+02] [-9.16624615e-01 8.08036408e-02 3.91497237e-01 -1.72997764e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.740714057 meters Centerline goodness : 0.989377 Centerline is valid? [True, True] Translation: X:178.47, Y:197.10, Z:-173.02 [[ 3.79493007e-01 -1.01861994e-01 9.19570113e-01 1.78473767e+02] [ 1.06431354e-01 9.92128739e-01 6.59767603e-02 1.97101886e+02] [-9.19052460e-01 7.28333732e-02 3.87347228e-01 -1.73023355e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.770714057 meters Centerline goodness : 0.990100 Centerline is valid? [True, True] Translation: X:178.49, Y:197.11, Z:-173.06 [[ 3.83896030e-01 -9.87419061e-02 9.18081627e-01 1.78488579e+02] [ 1.07505838e-01 9.92283777e-01 6.17689382e-02 1.97105496e+02] [-9.17096687e-01 7.49862841e-02 3.91549134e-01 -1.73056897e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.8007140569999 meters Centerline goodness : 0.990807 Centerline is valid? [True, True] Translation: X:178.50, Y:197.11, Z:-173.09 [[ 3.85468109e-01 -1.00216770e-01 9.17262741e-01 1.78501864e+02] [ 1.03523649e-01 9.92505195e-01 6.49329757e-02 1.97105075e+02] [-9.16895409e-01 6.99287950e-02 3.92953907e-01 -1.73088726e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.8307140569999 meters Centerline goodness : 0.990490 Centerline is valid? [True, True] Translation: X:178.52, Y:197.11, Z:-173.11 [[ 3.86634995e-01 -8.83906239e-02 9.17987189e-01 1.78521466e+02] [ 1.03427386e-01 9.93272677e-01 5.20784446e-02 1.97114487e+02] [-9.16414839e-01 7.48096660e-02 3.93175987e-01 -1.73113898e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.8607140569999 meters Centerline goodness : 0.990478 Centerline is valid? [True, True] Translation: X:178.53, Y:197.11, Z:-173.14 [[ 3.86291736e-01 -9.34017077e-02 9.17635448e-01 1.78531728e+02] [ 1.03218043e-01 9.92988380e-01 5.76204127e-02 1.97114645e+02] [-9.16583183e-01 7.24582463e-02 3.93223946e-01 -1.73144518e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.890714057 meters Centerline goodness : 0.990594 Centerline is valid? [True, True] Translation: X:178.54, Y:197.11, Z:-173.17 [[ 3.90685958e-01 -1.05306503e-01 9.14480739e-01 1.78541265e+02] [ 1.04951755e-01 9.92052694e-01 6.94015967e-02 1.97111553e+02] [-9.14521520e-01 6.88621288e-02 3.98633160e-01 -1.73172836e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.9207140569999 meters Centerline goodness : 0.989584 Centerline is valid? [True, True] Translation: X:178.55, Y:197.11, Z:-173.20 [[ 3.93078610e-01 -1.15507923e-01 9.12220985e-01 1.78551205e+02] [ 1.06720481e-01 9.91104867e-01 7.95102579e-02 1.97109163e+02] [-9.13290723e-01 6.60988810e-02 4.01909185e-01 -1.73202498e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.9507140569999 meters Centerline goodness : 0.989762 Centerline is valid? [True, True] Translation: X:178.56, Y:197.11, Z:-173.23 [[ 3.94504077e-01 -1.15470707e-01 9.11610141e-01 1.78562971e+02] [ 1.06837259e-01 9.91108640e-01 7.93061392e-02 1.97109934e+02] [-9.12662223e-01 6.61073339e-02 4.03332973e-01 -1.73232203e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.9807140569999 meters Centerline goodness : 0.990356 Centerline is valid? [True, True] Translation: X:178.58, Y:197.11, Z:-173.26 [[ 3.91936362e-01 -1.08560679e-01 9.13564704e-01 1.78575045e+02] [ 1.04739073e-01 9.91822387e-01 7.29251687e-02 1.97113967e+02] [-9.14010730e-01 6.71038951e-02 4.00101802e-01 -1.73261438e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.010714057 meters Centerline goodness : 0.990413 Centerline is valid? [True, True] Translation: X:178.58, Y:197.11, Z:-173.29 [[ 3.89560715e-01 -1.20485535e-01 9.13085804e-01 1.78584201e+02] [ 1.04674980e-01 9.90774296e-01 8.60781216e-02 1.97111476e+02] [-9.15033113e-01 6.20445837e-02 3.98578564e-01 -1.73293528e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.040714057 meters Centerline goodness : 0.989577 Centerline is valid? [True, True] Translation: X:178.60, Y:197.12, Z:-173.31 [[ 3.90398734e-01 -1.14254559e-01 9.13528721e-01 1.78597142e+02] [ 1.07744412e-01 9.91120846e-01 7.79141269e-02 1.97124981e+02] [-9.14319403e-01 6.80100383e-02 3.99242613e-01 -1.73307418e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.0707140569999 meters Centerline goodness : 0.990241 Centerline is valid? [True, True] Translation: X:178.59, Y:197.08, Z:-173.36 [[ 3.87618647e-01 -1.86228696e-01 9.02812637e-01 1.78585092e+02] [ 1.02868344e-01 9.82002201e-01 1.58397540e-01 1.97082542e+02] [-9.16062164e-01 3.14730003e-02 3.99799402e-01 -1.73364563e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.1007140569999 meters Centerline goodness : 0.990274 Centerline is valid? [True, True] Translation: X:178.63, Y:197.12, Z:-173.38 [[ 3.85318918e-01 -1.01413557e-01 9.17193885e-01 1.78626781e+02] [ 1.00537325e-01 9.92639616e-01 6.75191815e-02 1.97123291e+02] [-9.17290345e-01 6.61958019e-02 3.92678671e-01 -1.73380734e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.130714057 meters Centerline goodness : 0.989933 Centerline is valid? [True, True] Translation: X:178.64, Y:197.12, Z:-173.41 [[ 3.83858125e-01 -1.03053185e-01 9.17623551e-01 1.78636929e+02] [ 9.86707449e-02 9.92640786e-01 7.02022387e-02 1.97122792e+02] [-9.18105127e-01 6.35948997e-02 3.91201565e-01 -1.73411925e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.160714057 meters Centerline goodness : 0.989446 Centerline is valid? [True, True] Translation: X:178.65, Y:197.12, Z:-173.44 [[ 3.84204816e-01 -1.03581735e-01 9.17418925e-01 1.78649545e+02] [ 9.79633241e-02 9.92650545e-01 7.10498588e-02 1.97124765e+02] [-9.18035863e-01 6.25757095e-02 3.91528331e-01 -1.73437717e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.1907140569999 meters Centerline goodness : 0.989446 Centerline is valid? [True, True] Translation: X:178.66, Y:197.12, Z:-173.47 [[ 3.84142509e-01 -1.09428400e-01 9.16766032e-01 1.78659963e+02] [ 9.83936906e-02 9.92148792e-01 7.71975111e-02 1.97124541e+02] [-9.18015912e-01 6.05491477e-02 3.91893591e-01 -1.73468753e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.2207140569999 meters Centerline goodness : 0.987619 Centerline is valid? [True, True] Translation: X:178.67, Y:197.12, Z:-173.49 [[ 3.75078677e-01 -1.14557481e-01 9.19887259e-01 1.78665523e+02] [ 9.14796815e-02 9.92065085e-01 8.62457857e-02 1.97119613e+02] [-9.22468132e-01 5.18020383e-02 3.82582141e-01 -1.73494624e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.250714057 meters Centerline goodness : 0.988158 Centerline is valid? [True, True] Translation: X:178.67, Y:197.10, Z:-173.53 [[ 3.74006824e-01 -1.49148925e-01 9.15354300e-01 1.78667062e+02] [ 9.14517599e-02 9.88104552e-01 1.23636443e-01 1.97104512e+02] [-9.22905993e-01 3.74698883e-02 3.83197777e-01 -1.73530873e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.280714057 meters Centerline goodness : 0.988783 Centerline is valid? [True, True] Translation: X:178.68, Y:197.10, Z:-173.56 [[ 3.76884124e-01 -1.59860986e-01 9.12361125e-01 1.78680750e+02] [ 8.99339878e-02 9.86655841e-01 1.35728145e-01 1.97102088e+02] [-9.21884068e-01 3.08984911e-02 3.86231858e-01 -1.73559403e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.3107140569999 meters Centerline goodness : 0.987290 Centerline is valid? [True, True] Translation: X:178.70, Y:197.12, Z:-173.58 [[ 3.74473827e-01 -1.18226923e-01 9.19669369e-01 1.78701816e+02] [ 8.44041290e-02 9.92066558e-01 9.31659166e-02 1.97118907e+02] [-9.23387944e-01 4.27356946e-02 3.81481801e-01 -1.73584531e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.3407140569999 meters Centerline goodness : 0.986589 Centerline is valid? [True, True] Translation: X:178.71, Y:197.11, Z:-173.62 [[ 3.78078949e-01 -1.38315756e-01 9.15382467e-01 1.78709370e+02] [ 8.45365698e-02 9.89803078e-01 1.14644826e-01 1.97111447e+02] [-9.21905568e-01 3.40384983e-02 3.85916447e-01 -1.73616451e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.370714057 meters Centerline goodness : 0.987203 Centerline is valid? [True, True] Translation: X:178.72, Y:197.11, Z:-173.65 [[ 3.74047497e-01 -1.40225028e-01 9.16747191e-01 1.78718521e+02] [ 8.12883856e-02 9.89655782e-01 1.18210117e-01 1.97108259e+02] [-9.23840175e-01 3.03047008e-02 3.81576934e-01 -1.73650704e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.400714057 meters Centerline goodness : 0.988307 Centerline is valid? [True, True] Translation: X:178.73, Y:197.11, Z:-173.68 [[ 3.76396174e-01 -1.35608514e-01 9.16480360e-01 1.78733930e+02] [ 8.11964730e-02 9.90251533e-01 1.13177000e-01 1.97108468e+02] [-9.22893847e-01 3.18155831e-02 3.83737822e-01 -1.73680925e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.4307140569999 meters Centerline goodness : 0.987491 Centerline is valid? [True, True] Translation: X:178.75, Y:197.11, Z:-173.71 [[ 3.77563667e-01 -1.21448674e-01 9.17984693e-01 1.78750754e+02] [ 7.99767351e-02 9.91934151e-01 9.83379987e-02 1.97114805e+02] [-9.22523387e-01 3.62885633e-02 3.84231364e-01 -1.73708923e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.4607140569999 meters Centerline goodness : 0.985505 Centerline is valid? [True, True] Translation: X:178.76, Y:197.11, Z:-173.73 [[ 3.80572794e-01 -1.27261162e-01 9.15952480e-01 1.78763836e+02] [ 8.08291675e-02 9.91272462e-01 1.04141978e-01 1.97113496e+02] [-9.21211699e-01 3.44020727e-02 3.87537744e-01 -1.73734875e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.490714057 meters Centerline goodness : 0.987775 Centerline is valid? [True, True] Translation: X:178.77, Y:197.11, Z:-173.77 [[ 3.82207159e-01 -1.41172283e-01 9.13229475e-01 1.78771330e+02] [ 7.98817665e-02 9.89609699e-01 1.19547256e-01 1.97107840e+02] [-9.20617506e-01 2.72585667e-02 3.89513003e-01 -1.73766348e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.520714057 meters Centerline goodness : 0.986864 Centerline is valid? [True, True] Translation: X:178.79, Y:197.11, Z:-173.79 [[ 3.80806593e-01 -1.30798151e-01 9.15356861e-01 1.78787349e+02] [ 7.67617173e-02 9.90999281e-01 1.09672533e-01 1.97110234e+02] [-9.21462955e-01 2.85003410e-02 3.87419350e-01 -1.73794804e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.5507140569999 meters Centerline goodness : 0.987349 Centerline is valid? [True, True] Translation: X:178.80, Y:197.11, Z:-173.83 [[ 3.79524982e-01 -1.33151807e-01 9.15549772e-01 1.78799226e+02] [ 7.54588996e-02 9.90747358e-01 1.12807918e-01 1.97109638e+02] [-9.22099096e-01 2.62729553e-02 3.86060862e-01 -1.73825690e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.5807140569999 meters Centerline goodness : 0.986988 Centerline is valid? [True, True] Translation: X:178.82, Y:197.11, Z:-173.85 [[ 3.76603747e-01 -1.20691957e-01 9.18478671e-01 1.78815859e+02] [ 7.51525314e-02 9.92189145e-01 9.95630361e-02 1.97113086e+02] [-9.23321025e-01 3.15301846e-02 3.82732456e-01 -1.73853357e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.6107140569999 meters Centerline goodness : 0.986728 Centerline is valid? [True, True] Translation: X:178.82, Y:197.11, Z:-173.88 [[ 3.77500872e-01 -1.27302338e-01 9.17217099e-01 1.78824733e+02] [ 7.50178115e-02 9.91453938e-01 1.06730582e-01 1.97109056e+02] [-9.22965557e-01 2.85167317e-02 3.83824668e-01 -1.73882229e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.640714057 meters Centerline goodness : 0.986458 Centerline is valid? [True, True] Translation: X:178.83, Y:197.11, Z:-173.91 [[ 3.78289191e-01 -1.33838436e-01 9.15961004e-01 1.78834743e+02] [ 7.66435371e-02 9.90623749e-01 1.13094457e-01 1.97105064e+02] [-9.22509109e-01 2.74200807e-02 3.85000108e-01 -1.73912468e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.6707140569999 meters Centerline goodness : 0.988791 Centerline is valid? [True, True] Translation: X:178.85, Y:197.10, Z:-173.95 [[ 3.82437519e-01 -1.32032785e-01 9.14499255e-01 1.78849478e+02] [ 8.66784135e-02 9.90499751e-01 1.06757182e-01 1.97101968e+02] [-9.19906733e-01 3.84393929e-02 3.90248660e-01 -1.73949288e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.7007140569999 meters Centerline goodness : 0.987395 Centerline is valid? [True, True] Translation: X:178.86, Y:197.10, Z:-173.97 [[ 3.77124800e-01 -1.34579449e-01 9.16332504e-01 1.78861548e+02] [ 8.88958993e-02 9.90078164e-01 1.08824390e-01 1.97100626e+02] [-9.21886329e-01 4.04178256e-02 3.85346591e-01 -1.73973658e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.7307140569999 meters Centerline goodness : 0.986910 Centerline is valid? [True, True] Translation: X:178.87, Y:197.09, Z:-174.01 [[ 3.76078588e-01 -1.42546927e-01 9.15557355e-01 1.78870474e+02] [ 9.53342199e-02 9.88804519e-01 1.14791156e-01 1.97093349e+02] [-9.21670376e-01 4.41134503e-02 3.85457807e-01 -1.74005401e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.760714057 meters Centerline goodness : 0.987484 Centerline is valid? [True, True] Translation: X:178.89, Y:197.10, Z:-174.04 [[ 3.84353935e-01 -1.37648280e-01 9.12866367e-01 1.78887199e+02] [ 1.02571702e-01 9.89066901e-01 1.05951455e-01 1.97096857e+02] [-9.17469944e-01 5.29113985e-02 3.94270574e-01 -1.74038448e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.790714057 meters Centerline goodness : 0.987127 Centerline is valid? [True, True] Translation: X:178.90, Y:197.09, Z:-174.06 [[ 3.76468681e-01 -1.42925361e-01 9.15338010e-01 1.78896591e+02] [ 1.04731893e-01 9.88259905e-01 1.11236641e-01 1.97091353e+02] [-9.20490393e-01 5.39879705e-02 3.87017747e-01 -1.74063132e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.8207140569999 meters Centerline goodness : 0.988385 Centerline is valid? [True, True] Translation: X:178.91, Y:197.09, Z:-174.09 [[ 3.83123219e-01 -1.38411609e-01 9.13268211e-01 1.78912601e+02] [ 1.09854080e-01 9.88519998e-01 1.03731843e-01 1.97093721e+02] [-9.17141581e-01 6.05841614e-02 3.93930044e-01 -1.74094603e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.8507140569999 meters Centerline goodness : 0.989380 Centerline is valid? [True, True] Translation: X:178.93, Y:197.09, Z:-174.12 [[ 3.86325926e-01 -1.46543845e-01 9.10646573e-01 1.78926493e+02] [ 1.15036642e-01 9.87244462e-01 1.10067907e-01 1.97092705e+02] [-9.15160560e-01 6.22356381e-02 3.98256043e-01 -1.74122159e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.880714057 meters Centerline goodness : 0.988034 Centerline is valid? [True, True] Translation: X:178.94, Y:197.10, Z:-174.15 [[ 3.84100391e-01 -1.35225202e-01 9.13335116e-01 1.78942887e+02] [ 1.16513542e-01 9.88407496e-01 9.73407288e-02 1.97096252e+02] [-9.15910195e-01 6.90272973e-02 3.95403273e-01 -1.74150103e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.910714057 meters Centerline goodness : 0.988075 Centerline is valid? [True, True] Translation: X:178.95, Y:197.09, Z:-174.18 [[ 3.84973084e-01 -1.43688529e-01 9.11673917e-01 1.78954764e+02] [ 1.17998979e-01 9.87362476e-01 1.05790272e-01 1.97094354e+02] [-9.15353465e-01 6.68501839e-02 3.97063077e-01 -1.74180412e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.9407140569999 meters Centerline goodness : 0.988246 Centerline is valid? [True, True] Translation: X:178.97, Y:197.10, Z:-174.21 [[ 3.84416258e-01 -1.35135249e-01 9.13215531e-01 1.78968222e+02] [ 1.18000210e-01 9.88306236e-01 9.65750216e-02 1.97097943e+02] [-9.15587293e-01 7.06346162e-02 3.95866973e-01 -1.74208876e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.9707140569999 meters Centerline goodness : 0.986189 Centerline is valid? [True, True] Translation: X:178.97, Y:197.09, Z:-174.24 [[ 3.78083126e-01 -1.47883983e-01 9.13883733e-01 1.78973181e+02] [ 1.14313770e-01 9.87061913e-01 1.12432836e-01 1.97092001e+02] [-9.18686841e-01 6.19605372e-02 3.90096629e-01 -1.74235018e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.000714057 meters Centerline goodness : 0.988325 Centerline is valid? [True, True] Translation: X:178.99, Y:197.09, Z:-174.27 [[ 3.83153540e-01 -1.52865695e-01 9.10947553e-01 1.78986927e+02] [ 1.18847177e-01 9.86171853e-01 1.15500754e-01 1.97091620e+02] [-9.16006939e-01 6.40090226e-02 3.96022893e-01 -1.74269961e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.030714057 meters Centerline goodness : 0.987775 Centerline is valid? [True, True] Translation: X:179.01, Y:197.10, Z:-174.29 [[ 3.85100863e-01 -1.38924634e-01 9.12358083e-01 1.79005387e+02] [ 1.20284818e-01 9.87727443e-01 9.96296171e-02 1.97100265e+02] [-9.15002125e-01 7.13753743e-02 3.97085215e-01 -1.74294809e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.0607140569999 meters Centerline goodness : 0.987581 Centerline is valid? [True, True] Translation: X:179.02, Y:197.11, Z:-174.32 [[ 3.84482214e-01 -1.30772721e-01 9.13822698e-01 1.79017669e+02] [ 1.19339120e-01 9.88649562e-01 9.12700294e-02 1.97105439e+02] [-9.15386040e-01 7.39630940e-02 3.95724474e-01 -1.74324301e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.0907140569999 meters Centerline goodness : 0.987902 Centerline is valid? [True, True] Translation: X:179.03, Y:197.10, Z:-174.36 [[ 3.84756272e-01 -1.47007468e-01 9.11236202e-01 1.79026481e+02] [ 1.19799857e-01 9.86838185e-01 1.08620395e-01 1.97100180e+02] [-9.15210689e-01 6.73735883e-02 3.97303655e-01 -1.74357252e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.120714057 meters Centerline goodness : 0.988243 Centerline is valid? [True, True] Translation: X:179.04, Y:197.11, Z:-174.39 [[ 3.85355895e-01 -1.35665814e-01 9.12740720e-01 1.79040385e+02] [ 1.18588151e-01 9.88212273e-01 9.68160814e-02 1.97106901e+02] [-9.15116214e-01 7.09315862e-02 3.96901783e-01 -1.74387317e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.150714057 meters Centerline goodness : 0.988353 Centerline is valid? [True, True] Translation: X:179.05, Y:197.11, Z:-174.42 [[ 3.85218365e-01 -1.35677504e-01 9.12797035e-01 1.79052143e+02] [ 1.17976130e-01 9.88257122e-01 9.71055824e-02 1.97109055e+02] [-9.15253213e-01 7.02814081e-02 3.96701500e-01 -1.74417770e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.1807140569999 meters Centerline goodness : 0.987883 Centerline is valid? [True, True] Translation: X:179.06, Y:197.11, Z:-174.45 [[ 3.84899510e-01 -1.40355161e-01 9.12224093e-01 1.79063952e+02] [ 1.16667742e-01 9.87840246e-01 1.02763258e-01 1.97109437e+02] [-9.15555026e-01 6.68735971e-02 3.96594146e-01 -1.74446157e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.2107140569999 meters Centerline goodness : 0.987465 Centerline is valid? [True, True] Translation: X:179.08, Y:197.11, Z:-174.48 [[ 3.85073952e-01 -1.42701987e-01 9.11786266e-01 1.79076565e+02] [ 1.16834382e-01 9.87561999e-01 1.05218938e-01 1.97110927e+02] [-9.15460419e-01 6.60109125e-02 3.96956901e-01 -1.74475408e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.240714057 meters Centerline goodness : 0.987900 Centerline is valid? [True, True] Translation: X:179.09, Y:197.11, Z:-174.50 [[ 3.86906797e-01 -1.53026827e-01 9.09332679e-01 1.79088643e+02] [ 1.18084087e-01 9.86237142e-01 1.15725748e-01 1.97110175e+02] [-9.14526806e-01 6.26026405e-02 3.99651887e-01 -1.74504382e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.270714057 meters Centerline goodness : 0.987700 Centerline is valid? [True, True] Translation: X:179.10, Y:197.12, Z:-174.53 [[ 3.85794333e-01 -1.43299837e-01 9.11387892e-01 1.79102669e+02] [ 1.14438381e-01 9.87667292e-01 1.06851192e-01 1.97116851e+02] [-9.15459770e-01 6.30751708e-02 3.97435445e-01 -1.74532752e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.3007140569999 meters Centerline goodness : 0.988310 Centerline is valid? [True, True] Translation: X:179.12, Y:197.12, Z:-174.56 [[ 3.85007739e-01 -1.34981333e-01 9.12989091e-01 1.79117417e+02] [ 1.13207557e-01 9.88683489e-01 9.84327530e-02 1.97122988e+02] [-9.15943825e-01 6.54598931e-02 3.95931702e-01 -1.74560741e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.3307140569999 meters Centerline goodness : 0.989448 Centerline is valid? [True, True] Translation: X:179.13, Y:197.12, Z:-174.59 [[ 3.84378359e-01 -1.44720735e-01 9.11761584e-01 1.79130666e+02] [ 1.14622378e-01 9.87475377e-01 1.08416282e-01 1.97121383e+02] [-9.16032198e-01 6.28354086e-02 3.96152400e-01 -1.74592566e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.3607140569999 meters Centerline goodness : 0.988908 Centerline is valid? [True, True] Translation: X:179.15, Y:197.13, Z:-174.61 [[ 3.85736314e-01 -1.40191287e-01 9.11895772e-01 1.79146360e+02] [ 1.16303782e-01 9.87892070e-01 1.02677599e-01 1.97126879e+02] [-9.15249106e-01 6.64504490e-02 3.97370622e-01 -1.74614838e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.390714057 meters Centerline goodness : 0.989335 Centerline is valid? [True, True] Translation: X:179.16, Y:197.12, Z:-174.65 [[ 3.84498722e-01 -1.49196884e-01 9.10989036e-01 1.79156166e+02] [ 1.16554724e-01 9.86801372e-01 1.12419078e-01 1.97124193e+02] [-9.15737806e-01 6.29550833e-02 3.96813467e-01 -1.74646368e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.4207140569999 meters Centerline goodness : 0.988886 Centerline is valid? [True, True] Translation: X:179.17, Y:197.13, Z:-174.68 [[ 3.81373847e-01 -1.26973060e-01 9.15659233e-01 1.79170364e+02] [ 1.12196096e-01 9.89557228e-01 9.04904900e-02 1.97133294e+02] [-9.17587067e-01 6.82226852e-02 3.91637128e-01 -1.74680104e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.4507140569999 meters Centerline goodness : 0.989738 Centerline is valid? [True, True] Translation: X:179.18, Y:197.14, Z:-174.71 [[ 3.82452153e-01 -1.22279688e-01 9.15848256e-01 1.79184128e+02] [ 1.11999034e-01 9.90030629e-01 8.54141109e-02 1.97138784e+02] [-9.17162236e-01 6.99073093e-02 3.92334552e-01 -1.74709104e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.4807140569999 meters Centerline goodness : 0.989014 Centerline is valid? [True, True] Translation: X:179.19, Y:197.13, Z:-174.74 [[ 3.87726435e-01 -1.46633051e-01 9.10036791e-01 1.79194258e+02] [ 1.14695872e-01 9.87268212e-01 1.10210411e-01 1.97133478e+02] [-9.14610884e-01 6.16459736e-02 3.99608190e-01 -1.74735167e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.510714057 meters Centerline goodness : 0.988068 Centerline is valid? [True, True] Translation: X:179.21, Y:197.14, Z:-174.77 [[ 3.86331322e-01 -1.29739592e-01 9.13189875e-01 1.79205199e+02] [ 1.10171019e-01 9.89460736e-01 9.39670044e-02 1.97138705e+02] [-9.15756767e-01 6.43046620e-02 3.96553217e-01 -1.74767233e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.540714057 meters Centerline goodness : 0.986645 Centerline is valid? [True, True] Translation: X:179.21, Y:197.13, Z:-174.79 [[ 3.82029573e-01 -1.49103527e-01 9.12042512e-01 1.79212096e+02] [ 1.07548051e-01 9.87366060e-01 1.16368727e-01 1.97132038e+02] [-9.17870809e-01 5.36320998e-02 3.93238828e-01 -1.74790560e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.5707140569999 meters Centerline goodness : 0.988984 Centerline is valid? [True, True] Translation: X:179.22, Y:197.12, Z:-174.83 [[ 3.91562984e-01 -1.68854180e-01 9.04525674e-01 1.79222705e+02] [ 1.13267658e-01 9.84387292e-01 1.34729715e-01 1.97124465e+02] [-9.13153255e-01 4.96983358e-02 4.04575343e-01 -1.74826942e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.6007140569999 meters Centerline goodness : 0.988533 Centerline is valid? [True, True] Translation: X:179.24, Y:197.14, Z:-174.85 [[ 3.93579923e-01 -1.48950146e-01 9.07143152e-01 1.79242746e+02] [ 1.13684510e-01 9.87097900e-01 1.12754460e-01 1.97137497e+02] [-9.12233893e-01 5.87502328e-02 4.05435240e-01 -1.74849708e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.630714057 meters Centerline goodness : 0.987614 Centerline is valid? [True, True] Translation: X:179.25, Y:197.13, Z:-174.87 [[ 3.86745572e-01 -1.59882403e-01 9.08221052e-01 1.79249547e+02] [ 1.08172302e-01 9.85922401e-01 1.27498128e-01 1.97134436e+02] [-9.15820187e-01 4.89350257e-02 3.98595971e-01 -1.74872605e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.660714057 meters Centerline goodness : 0.989319 Centerline is valid? [True, True] Translation: X:179.26, Y:197.13, Z:-174.91 [[ 3.92546388e-01 -1.71348302e-01 9.03629954e-01 1.79261637e+02] [ 1.10249960e-01 9.84174577e-01 1.38727604e-01 1.97131169e+02] [-9.13100367e-01 4.51681466e-02 4.05225319e-01 -1.74909696e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.6907140569999 meters Centerline goodness : 0.987255 Centerline is valid? [True, True] Translation: X:179.28, Y:197.14, Z:-174.93 [[ 3.85145915e-01 -1.56722546e-01 9.09450751e-01 1.79275158e+02] [ 1.03523397e-01 9.86591553e-01 1.26174536e-01 1.97138315e+02] [-9.17030823e-01 4.55538240e-02 3.96206157e-01 -1.74934393e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.7207140569999 meters Centerline goodness : 0.988149 Centerline is valid? [True, True] Translation: X:179.28, Y:197.13, Z:-174.97 [[ 3.84634948e-01 -1.67404267e-01 9.07761956e-01 1.79284034e+02] [ 1.01132669e-01 9.85139886e-01 1.38822145e-01 1.97132398e+02] [-9.17511929e-01 3.84085404e-02 3.95849269e-01 -1.74967019e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.750714057 meters Centerline goodness : 0.988682 Centerline is valid? [True, True] Translation: X:179.30, Y:197.13, Z:-175.00 [[ 3.92668196e-01 -1.70093377e-01 9.03814102e-01 1.79300082e+02] [ 1.05857084e-01 9.84575664e-01 1.39301975e-01 1.97132984e+02] [-9.13567713e-01 4.09756699e-02 4.04617139e-01 -1.74996150e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.780714057 meters Centerline goodness : 0.987687 Centerline is valid? [True, True] Translation: X:179.31, Y:197.14, Z:-175.02 [[ 3.85471808e-01 -1.61508932e-01 9.08474738e-01 1.79313273e+02] [ 1.02118448e-01 9.85981122e-01 1.31958512e-01 1.97137231e+02] [-9.17051421e-01 4.19057438e-02 3.96560967e-01 -1.75019293e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.8107140569999 meters Centerline goodness : 0.988332 Centerline is valid? [True, True] Translation: X:179.33, Y:197.14, Z:-175.06 [[ 3.87883172e-01 -1.63304169e-01 9.07126448e-01 1.79326496e+02] [ 1.08924078e-01 9.85404243e-01 1.30820576e-01 1.97135194e+02] [-9.15249797e-01 4.80648122e-02 4.00009479e-01 -1.75056742e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.8407140569999 meters Centerline goodness : 0.987935 Centerline is valid? [True, True] Translation: X:179.35, Y:197.15, Z:-175.09 [[ 3.82556848e-01 -1.14800413e-01 9.16772122e-01 1.79346736e+02] [ 1.07424453e-01 9.91047692e-01 7.92745791e-02 1.97154897e+02] [-9.17665650e-01 6.81567105e-02 3.91464453e-01 -1.75088615e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.870714057 meters Centerline goodness : 0.987601 Centerline is valid? [True, True] Translation: X:179.36, Y:197.15, Z:-175.11 [[ 3.86412896e-01 -1.32226454e-01 9.12798575e-01 1.79359091e+02] [ 1.14446953e-01 9.88895662e-01 9.48011864e-02 1.97147271e+02] [-9.15197776e-01 6.78346148e-02 3.97254951e-01 -1.75114664e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.900714057 meters Centerline goodness : 0.988165 Centerline is valid? [True, True] Translation: X:179.37, Y:197.14, Z:-175.14 [[ 3.89161304e-01 -1.48792313e-01 9.09073334e-01 1.79370230e+02] [ 1.17485385e-01 9.86826353e-01 1.11224701e-01 1.97142051e+02] [-9.13646903e-01 6.35184813e-02 4.01515552e-01 -1.75141581e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.9307140569999 meters Centerline goodness : 0.988803 Centerline is valid? [True, True] Translation: X:179.38, Y:197.14, Z:-175.15 [[ 3.95824539e-01 -1.77009256e-01 9.01105242e-01 1.79376113e+02] [ 1.28882262e-01 9.82243532e-01 1.36334170e-01 1.97142357e+02] [-9.09237206e-01 6.21720721e-02 4.11609447e-01 -1.75152415e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.9607140569999 meters Centerline goodness : 0.988617 Centerline is valid? [True, True] Translation: X:179.38, Y:197.11, Z:-175.21 [[ 3.90685715e-01 -2.19131853e-01 8.94061465e-01 1.79379686e+02] [ 1.18004673e-01 9.75161401e-01 1.87443696e-01 1.97108100e+02] [-9.12929115e-01 3.22718567e-02 4.06840212e-01 -1.75207260e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.990714057 meters Centerline goodness : 0.988399 Centerline is valid? [True, True] Translation: X:179.41, Y:197.14, Z:-175.22 [[ 3.94165363e-01 -1.52106906e-01 9.06364803e-01 1.79409466e+02] [ 1.14924151e-01 9.86625400e-01 1.15597403e-01 1.97141530e+02] [-9.11825700e-01 5.85987127e-02 4.06374316e-01 -1.75222749e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.020714057 meters Centerline goodness : 0.987832 Centerline is valid? [True, True] Translation: X:179.42, Y:197.14, Z:-175.25 [[ 3.93550481e-01 -1.49516963e-01 9.07062675e-01 1.79421594e+02] [ 1.11778476e-01 9.87147075e-01 1.14220068e-01 1.97143182e+02] [-9.12482105e-01 5.64387207e-02 4.05204985e-01 -1.75253779e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.0507140569999 meters Centerline goodness : 0.988414 Centerline is valid? [True, True] Translation: X:179.43, Y:197.15, Z:-175.27 [[ 3.97837968e-01 -1.73792635e-01 9.00844643e-01 1.79427976e+02] [ 1.18838640e-01 9.83384078e-01 1.37233860e-01 1.97146561e+02] [-9.09726513e-01 5.24583122e-02 4.11880804e-01 -1.75267162e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.0807140569999 meters Centerline goodness : 0.988414 Centerline is valid? [True, True] Translation: X:179.43, Y:197.12, Z:-175.31 [[ 3.96138761e-01 -2.37617573e-01 8.86911479e-01 1.79425918e+02] [ 1.18809492e-01 9.71078509e-01 2.07101022e-01 1.97117839e+02] [-9.10471519e-01 2.33327604e-02 4.12913060e-01 -1.75307712e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.1107140569999 meters Centerline goodness : 0.989296 Centerline is valid? [True, True] Translation: X:179.44, Y:197.12, Z:-175.34 [[ 3.95603248e-01 -2.36179823e-01 8.87534316e-01 1.79438560e+02] [ 1.16031415e-01 9.71478698e-01 2.06799060e-01 1.97118604e+02] [-9.11062446e-01 2.11714829e-02 4.11724407e-01 -1.75336840e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.140714057 meters Centerline goodness : 0.986612 Centerline is valid? [True, True] Translation: X:179.46, Y:197.10, Z:-175.38 [[ 3.89311971e-01 -2.37325897e-01 8.90007083e-01 1.79457008e+02] [ 9.94187001e-02 9.71419347e-01 2.15546687e-01 1.97102938e+02] [-9.15724911e-01 4.56844171e-03 4.01779813e-01 -1.75376553e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.1707140569999 meters Centerline goodness : 0.988569 Centerline is valid? [True, True] Translation: X:179.48, Y:197.14, Z:-175.39 [[ 3.95025344e-01 -1.74238818e-01 9.01995461e-01 1.79478956e+02] [ 1.11489208e-01 9.83684327e-01 1.41192430e-01 1.97144297e+02] [-9.11880000e-01 4.47881710e-02 4.08005987e-01 -1.75385859e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.2007140569999 meters Centerline goodness : 0.989196 Centerline is valid? [True, True] Translation: X:179.48, Y:197.11, Z:-175.43 [[ 3.93537072e-01 -2.34326701e-01 8.88942951e-01 1.79478638e+02] [ 1.11538497e-01 9.71995821e-01 2.06841215e-01 1.97114976e+02] [-9.12517253e-01 1.77516745e-02 4.08652837e-01 -1.75425291e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.2307140569999 meters Centerline goodness : 0.988813 Centerline is valid? [True, True] Translation: X:179.49, Y:197.12, Z:-175.46 [[ 3.92904950e-01 -2.33873721e-01 8.89341769e-01 1.79491760e+02] [ 1.11712781e-01 9.72094712e-01 2.06281666e-01 1.97115046e+02] [-9.12768292e-01 1.83017548e-02 4.08067508e-01 -1.75455847e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.260714057 meters Centerline goodness : 0.988997 Centerline is valid? [True, True] Translation: X:179.50, Y:197.12, Z:-175.48 [[ 3.92917299e-01 -2.33615577e-01 8.89404159e-01 1.79504427e+02] [ 1.12530790e-01 9.72137706e-01 2.05633418e-01 1.97115560e+02] [-9.12662489e-01 1.92884253e-02 4.08258667e-01 -1.75484924e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.290714057 meters Centerline goodness : 0.988979 Centerline is valid? [True, True] Translation: X:179.53, Y:197.09, Z:-175.53 [[ 3.96804391e-01 -2.51494114e-01 8.82777994e-01 1.79527169e+02] [ 1.07004231e-01 9.67849993e-01 2.27632348e-01 1.97093463e+02] [-9.11644871e-01 4.13546486e-03 4.10958061e-01 -1.75529939e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.3207140569999 meters Centerline goodness : 0.988748 Centerline is valid? [True, True] Translation: X:179.55, Y:197.17, Z:-175.53 [[ 3.94781593e-01 -1.23471455e-01 9.10440714e-01 1.79553952e+02] [ 1.15893330e-01 9.89706072e-01 8.39680102e-02 1.97166172e+02] [-9.11436356e-01 7.23649810e-02 4.05027258e-01 -1.75527257e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.3507140569999 meters Centerline goodness : 0.988343 Centerline is valid? [True, True] Translation: X:179.54, Y:197.11, Z:-175.57 [[ 3.90421532e-01 -2.35861075e-01 8.89910434e-01 1.79542991e+02] [ 1.17744670e-01 9.71479800e-01 2.05823203e-01 1.97109571e+02] [-9.13075693e-01 2.44243998e-02 4.07058016e-01 -1.75572831e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.380714057 meters Centerline goodness : 0.988426 Centerline is valid? [True, True] Translation: X:179.56, Y:197.11, Z:-175.60 [[ 3.90042706e-01 -2.35703719e-01 8.90118219e-01 1.79557071e+02] [ 1.18629493e-01 9.71489544e-01 2.05268386e-01 1.97110780e+02] [-9.13123064e-01 2.55308361e-02 4.06883823e-01 -1.75602969e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.410714057 meters Centerline goodness : 0.988605 Centerline is valid? [True, True] Translation: X:179.57, Y:197.11, Z:-175.63 [[ 3.85444735e-01 -2.43139756e-01 8.90121012e-01 1.79566746e+02] [ 1.17757012e-01 9.69733203e-01 2.13894371e-01 1.97108015e+02] [-9.15186125e-01 2.23735317e-02 4.02409968e-01 -1.75629664e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.4407140569999 meters Centerline goodness : 0.986826 Centerline is valid? [True, True] Translation: X:179.59, Y:197.09, Z:-175.67 [[ 3.85184703e-01 -2.51622569e-01 8.87873205e-01 1.79589889e+02] [ 1.08813347e-01 9.67782172e-01 2.27062376e-01 1.97089625e+02] [-9.16401877e-01 9.15150177e-03 4.00154782e-01 -1.75671376e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.4707140569999 meters Centerline goodness : 0.984853 Centerline is valid? [True, True] Translation: X:179.61, Y:197.14, Z:-175.68 [[ 3.83625187e-01 -1.53184848e-01 9.10695404e-01 1.79608173e+02] [ 1.16043544e-01 9.86326181e-01 1.17023759e-01 1.97141697e+02] [-9.16168986e-01 6.07870606e-02 3.96155679e-01 -1.75679756e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.500714057 meters Centerline goodness : 0.988838 Centerline is valid? [True, True] Translation: X:179.61, Y:197.08, Z:-175.72 [[ 3.89157102e-01 -2.84720088e-01 8.76065763e-01 1.79607209e+02] [ 1.21728024e-01 9.58589022e-01 2.57467231e-01 1.97075996e+02] [-9.13093116e-01 6.44655236e-03 4.07700140e-01 -1.75724072e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.530714057 meters Centerline goodness : 0.987696 Centerline is valid? [True, True] Translation: X:179.63, Y:197.10, Z:-175.74 [[ 3.86720841e-01 -2.33260494e-01 8.92208795e-01 1.79631569e+02] [ 1.21130059e-01 9.71948053e-01 2.01604788e-01 1.97104178e+02] [-9.14207034e-01 3.01085307e-02 4.04127426e-01 -1.75743511e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.5607140569999 meters Centerline goodness : 0.988292 Centerline is valid? [True, True] Translation: X:179.64, Y:197.11, Z:-175.77 [[ 3.88138599e-01 -2.29017468e-01 8.92692235e-01 1.79642196e+02] [ 1.23445072e-01 9.72822690e-01 1.95901325e-01 1.97107535e+02] [-9.13296087e-01 3.41615911e-02 4.05861114e-01 -1.75774861e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.5907140569999 meters Centerline goodness : 0.987475 Centerline is valid? [True, True] Translation: X:179.66, Y:197.11, Z:-175.82 [[ 3.88392800e-01 -2.01178042e-01 8.99265494e-01 1.79663252e+02] [ 1.14256456e-01 9.78860900e-01 1.69637260e-01 1.97106291e+02] [-9.14383123e-01 3.68609977e-02 4.03168416e-01 -1.75817571e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.620714057 meters Centerline goodness : 0.986345 Centerline is valid? [True, True] Translation: X:179.68, Y:197.13, Z:-175.84 [[ 3.86458696e-01 -1.50884828e-01 9.09881006e-01 1.79683746e+02] [ 1.12750895e-01 9.86857014e-01 1.15760397e-01 1.97133030e+02] [-9.15388940e-01 5.78532853e-02 3.98391874e-01 -1.75838591e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.650714057 meters Centerline goodness : 0.986505 Centerline is valid? [True, True] Translation: X:179.69, Y:197.12, Z:-175.87 [[ 3.88202261e-01 -1.87397398e-01 9.02319910e-01 1.79694889e+02] [ 1.14886667e-01 9.81310041e-01 1.54375054e-01 1.97119134e+02] [-9.14385071e-01 4.37357818e-02 4.02476239e-01 -1.75870940e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.6807140569999 meters Centerline goodness : 0.986543 Centerline is valid? [True, True] Translation: X:179.71, Y:197.13, Z:-175.89 [[ 3.91166812e-01 -1.69919878e-01 9.04497518e-01 1.79712257e+02] [ 1.14995338e-01 9.84129641e-01 1.35147777e-01 1.97130415e+02] [-9.13107112e-01 5.11476732e-02 4.04498848e-01 -1.75891594e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.7107140569999 meters Centerline goodness : 0.985661 Centerline is valid? [True, True] Translation: X:179.72, Y:197.13, Z:-175.92 [[ 3.89328350e-01 -1.76325569e-01 9.04064560e-01 1.79721706e+02] [ 1.14103738e-01 9.83178767e-01 1.42617841e-01 1.97128962e+02] [-9.14004252e-01 4.76319771e-02 4.02898774e-01 -1.75922453e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.740714057 meters Centerline goodness : 0.986883 Centerline is valid? [True, True] Translation: X:179.74, Y:197.12, Z:-175.95 [[ 3.93884336e-01 -2.11671825e-01 8.94455236e-01 1.79738762e+02] [ 1.16936362e-01 9.76755068e-01 1.79653626e-01 1.97119364e+02] [-9.11691295e-01 3.38315921e-02 4.09480655e-01 -1.75947461e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.770714057 meters Centerline goodness : 0.986647 Centerline is valid? [True, True] Translation: X:179.75, Y:197.12, Z:-175.98 [[ 3.93584982e-01 -2.13579788e-01 8.94133400e-01 1.79753221e+02] [ 1.18105334e-01 9.76324184e-01 1.81224218e-01 1.97123083e+02] [-9.11669892e-01 3.42747932e-02 4.09491448e-01 -1.75975817e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.8007140569999 meters Centerline goodness : 0.986898 Centerline is valid? [True, True] Translation: X:179.76, Y:197.13, Z:-176.01 [[ 3.90236473e-01 -2.13348189e-01 8.95655093e-01 1.79764518e+02] [ 1.18090251e-01 9.76345876e-01 1.81117155e-01 1.97126159e+02] [-9.13110173e-01 3.50896150e-02 4.06200112e-01 -1.76005615e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.8307140569999 meters Centerline goodness : 0.985968 Centerline is valid? [True, True] Translation: X:179.78, Y:197.14, Z:-176.03 [[ 3.93072273e-01 -1.93073035e-01 8.99008894e-01 1.79780736e+02] [ 1.17433338e-01 9.80241403e-01 1.59173501e-01 1.97137954e+02] [-9.11977851e-01 4.30069254e-02 4.07978927e-01 -1.76031073e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.8607140569999 meters Centerline goodness : 0.986003 Centerline is valid? [True, True] Translation: X:179.79, Y:197.13, Z:-176.06 [[ 3.96258073e-01 -2.11605572e-01 8.93421861e-01 1.79792547e+02] [ 1.16776271e-01 9.76791802e-01 1.79558006e-01 1.97133178e+02] [-9.10682625e-01 3.31791635e-02 4.11772147e-01 -1.76059505e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.890714057 meters Centerline goodness : 0.987708 Centerline is valid? [True, True] Translation: X:179.80, Y:197.15, Z:-176.08 [[ 3.90376486e-01 -1.98479887e-01 8.99006081e-01 1.79795248e+02] [ 1.19696711e-01 9.79138706e-01 1.64195283e-01 1.97149316e+02] [-9.12841113e-01 4.35100937e-02 4.05990117e-01 -1.76084562e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.9207140569999 meters Centerline goodness : 0.988166 Centerline is valid? [True, True] Translation: X:179.80, Y:197.13, Z:-176.12 [[ 3.91357843e-01 -2.37016269e-01 8.89191952e-01 1.79796708e+02] [ 1.15860103e-01 9.71264221e-01 2.07899612e-01 1.97133503e+02] [-9.12915919e-01 2.16587275e-02 4.07572600e-01 -1.76118982e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.9507140569999 meters Centerline goodness : 0.986798 Centerline is valid? [True, True] Translation: X:179.82, Y:197.11, Z:-176.15 [[ 3.99267892e-01 -2.87996534e-01 8.70426991e-01 1.79822521e+02] [ 1.13338945e-01 9.57605178e-01 2.64852048e-01 1.97110726e+02] [-9.09801865e-01 -7.09364172e-03 4.14982224e-01 -1.76148927e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.9807140569999 meters Centerline goodness : 0.987970 Centerline is valid? [True, True] Translation: X:179.85, Y:197.15, Z:-176.17 [[ 4.00018566e-01 -2.11731520e-01 8.91714590e-01 1.79845031e+02] [ 1.08003442e-01 9.77059866e-01 1.83546383e-01 1.97148304e+02] [-9.10121093e-01 2.28862844e-02 4.13709819e-01 -1.76170721e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.010714057 meters Centerline goodness : 0.988543 Centerline is valid? [True, True] Translation: X:179.85, Y:197.17, Z:-176.20 [[ 3.91140642e-01 -1.78202214e-01 9.02913600e-01 1.79848503e+02] [ 1.06242022e-01 9.83258917e-01 1.48035585e-01 1.97166527e+02] [-9.14178118e-01 3.80246326e-02 4.03525088e-01 -1.76198845e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.040714057 meters Centerline goodness : 0.986662 Centerline is valid? [True, True] Translation: X:179.86, Y:197.14, Z:-176.23 [[ 3.98088697e-01 -2.41978299e-01 8.84856990e-01 1.79863948e+02] [ 1.01968188e-01 9.70277443e-01 2.19463375e-01 1.97136945e+02] [-9.11662151e-01 2.86137499e-03 4.10930571e-01 -1.76232039e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.0707140569999 meters Centerline goodness : 0.989065 Centerline is valid? [True, True] Translation: X:179.87, Y:197.18, Z:-176.26 [[ 3.93419174e-01 -1.61060485e-01 9.05141356e-01 1.79871119e+02] [ 1.05589799e-01 9.85935870e-01 1.29542482e-01 1.97180458e+02] [-9.13275505e-01 4.46091974e-02 4.04892420e-01 -1.76257819e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.1007140569999 meters Centerline goodness : 0.986775 Centerline is valid? [True, True] Translation: X:179.89, Y:197.12, Z:-176.29 [[ 4.02352011e-01 -2.88907362e-01 8.68703284e-01 1.79888104e+02] [ 1.00095066e-01 9.57093468e-01 2.71943140e-01 1.97121702e+02] [-9.09996614e-01 -2.24639568e-02 4.14006683e-01 -1.76289824e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.130714057 meters Centerline goodness : 0.987433 Centerline is valid? [True, True] Translation: X:179.90, Y:197.18, Z:-176.31 [[ 3.87991966e-01 -1.63040458e-01 9.07127358e-01 1.79898200e+02] [ 9.52069146e-02 9.86053807e-01 1.36504699e-01 1.97179756e+02] [-9.16732174e-01 3.34020704e-02 3.98103534e-01 -1.76314892e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.160714057 meters Centerline goodness : 0.987807 Centerline is valid? [True, True] Translation: X:179.90, Y:197.16, Z:-176.35 [[ 3.87835596e-01 -2.16112841e-01 8.96035039e-01 1.79899738e+02] [ 9.55478952e-02 9.76313766e-01 1.94118600e-01 1.97155276e+02] [-9.16762865e-01 1.03281591e-02 3.99298358e-01 -1.76349167e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.1907140569999 meters Centerline goodness : 0.988238 Centerline is valid? [True, True] Translation: X:179.91, Y:197.15, Z:-176.38 [[ 3.86781891e-01 -2.34361947e-01 8.91893630e-01 1.79908789e+02] [ 9.53245283e-02 9.72146911e-01 2.14111229e-01 1.97146169e+02] [-9.17231161e-01 2.20499339e-03 3.98349263e-01 -1.76381490e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.2207140569999 meters Centerline goodness : 0.987271 Centerline is valid? [True, True] Translation: X:179.92, Y:197.15, Z:-176.41 [[ 3.87480066e-01 -2.30178012e-01 8.92679831e-01 1.79922243e+02] [ 9.54732334e-02 9.73140087e-01 2.09483254e-01 1.97147407e+02] [-9.16920967e-01 4.05644495e-03 3.99048224e-01 -1.76411113e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.250714057 meters Centerline goodness : 0.986267 Centerline is valid? [True, True] Translation: X:179.96, Y:197.12, Z:-176.43 [[ 4.08103984e-01 -2.89654038e-01 8.65766525e-01 1.79957126e+02] [ 1.01995646e-01 9.56861683e-01 2.72052584e-01 1.97121768e+02] [-9.07219944e-01 -2.27213278e-02 4.20042516e-01 -1.76434464e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.280714057 meters Centerline goodness : 0.986333 Centerline is valid? [True, True] Translation: X:179.98, Y:197.15, Z:-176.46 [[ 4.06626124e-01 -2.31046941e-01 8.83896208e-01 1.79977939e+02] [ 1.01964594e-01 9.72925392e-01 2.07411194e-01 1.97150336e+02] [-9.07886786e-01 5.78730771e-03 4.19175489e-01 -1.76459902e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.3107140569999 meters Centerline goodness : 0.987588 Centerline is valid? [True, True] Translation: X:179.99, Y:197.15, Z:-176.49 [[ 4.02896610e-01 -2.23767329e-01 8.87469720e-01 1.79990878e+02] [ 1.02737356e-01 9.74580929e-01 1.99090554e-01 1.97154022e+02] [-9.09461026e-01 1.09633830e-02 4.15644616e-01 -1.76488425e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.3407140569999 meters Centerline goodness : 0.987352 Centerline is valid? [True, True] Translation: X:180.01, Y:197.16, Z:-176.52 [[ 4.01145303e-01 -2.04584775e-01 8.92875980e-01 1.80005380e+02] [ 1.04634896e-01 9.78593961e-01 1.77215685e-01 1.97159342e+02] [-9.10018673e-01 2.23367454e-02 4.13965077e-01 -1.76516226e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.370714057 meters Centerline goodness : 0.986925 Centerline is valid? [True, True] Translation: X:180.02, Y:197.15, Z:-176.55 [[ 3.96525934e-01 -2.16115769e-01 8.92222595e-01 1.80016018e+02] [ 1.05504096e-01 9.76183521e-01 1.89564290e-01 1.97154425e+02] [-9.11940826e-01 1.89659811e-02 4.09883181e-01 -1.76545700e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.400714057 meters Centerline goodness : 0.986854 Centerline is valid? [True, True] Translation: X:180.03, Y:197.16, Z:-176.58 [[ 3.93696552e-01 -2.08507280e-01 8.95280816e-01 1.80027808e+02] [ 1.04917647e-01 9.77763269e-01 1.81579948e-01 1.97158240e+02] [-9.13233438e-01 2.24433573e-02 4.06818121e-01 -1.76576200e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.4307140569999 meters Centerline goodness : 0.986111 Centerline is valid? [True, True] Translation: X:180.04, Y:197.16, Z:-176.60 [[ 3.90562257e-01 -2.00174784e-01 8.98549486e-01 1.80041580e+02] [ 1.03510590e-01 9.79431853e-01 1.73201623e-01 1.97160471e+02] [-9.14738586e-01 2.53633709e-02 4.03249325e-01 -1.76603361e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.4607140569999 meters Centerline goodness : 0.986657 Centerline is valid? [True, True] Translation: X:180.05, Y:197.16, Z:-176.63 [[ 3.89204462e-01 -2.11945515e-01 8.96436828e-01 1.80052418e+02] [ 1.03275520e-01 9.77074327e-01 1.86171767e-01 1.97156516e+02] [-9.15343681e-01 2.01210977e-02 4.02170471e-01 -1.76632337e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.490714057 meters Centerline goodness : 0.987273 Centerline is valid? [True, True] Translation: X:180.06, Y:197.16, Z:-176.66 [[ 3.90162621e-01 -2.07022973e-01 8.97170339e-01 1.80064225e+02] [ 1.01851203e-01 9.78119202e-01 1.81408820e-01 1.97157231e+02] [-9.15095329e-01 2.05989375e-02 4.02711090e-01 -1.76662993e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.520714057 meters Centerline goodness : 0.986866 Centerline is valid? [True, True] Translation: X:180.08, Y:197.16, Z:-176.69 [[ 3.92621822e-01 -2.02284707e-01 8.97178356e-01 1.80077984e+02] [ 1.01404374e-01 9.79085673e-01 1.76375731e-01 1.97159650e+02] [-9.14092587e-01 2.17288484e-02 4.04922954e-01 -1.76691794e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.5507140569999 meters Centerline goodness : 0.985764 Centerline is valid? [True, True] Translation: X:180.09, Y:197.16, Z:-176.72 [[ 3.86950992e-01 -2.06352036e-01 8.98714508e-01 1.80085859e+02] [ 1.00166959e-01 9.78277610e-01 1.81492421e-01 1.97156862e+02] [-9.16643611e-01 1.97928269e-02 3.99215148e-01 -1.76724373e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.5807140569999 meters Centerline goodness : 0.986972 Centerline is valid? [True, True] Translation: X:180.10, Y:197.16, Z:-176.75 [[ 3.86541985e-01 -1.94318100e-01 9.01568506e-01 1.80099647e+02] [ 1.01550855e-01 9.80575391e-01 1.67807412e-01 1.97160192e+02] [-9.16663907e-01 2.66904429e-02 3.98766727e-01 -1.76752850e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.6107140569999 meters Centerline goodness : 0.986085 Centerline is valid? [True, True] Translation: X:180.11, Y:197.16, Z:-176.78 [[ 3.83657218e-01 -1.82234697e-01 9.05316328e-01 1.80107932e+02] [ 1.00821309e-01 9.82741589e-01 1.55093627e-01 1.97163721e+02] [-9.17955447e-01 3.17723880e-02 3.95409045e-01 -1.76783376e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.640714057 meters Centerline goodness : 0.986970 Centerline is valid? [True, True] Translation: X:180.12, Y:197.16, Z:-176.82 [[ 3.78770434e-01 -1.90742908e-01 9.05621390e-01 1.80115015e+02] [ 1.00567313e-01 9.81219545e-01 1.64603825e-01 1.97157955e+02] [-9.20010421e-01 2.87288471e-02 3.90839455e-01 -1.76815828e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.6707140569999 meters Centerline goodness : 0.984955 Centerline is valid? [True, True] Translation: X:180.13, Y:197.16, Z:-176.84 [[ 3.76844180e-01 -1.74363321e-01 9.09717481e-01 1.80128254e+02] [ 1.02126537e-01 9.83956400e-01 1.46287301e-01 1.97161901e+02] [-9.20629477e-01 3.77787782e-02 3.88605365e-01 -1.76844826e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.7007140569999 meters Centerline goodness : 0.984397 Centerline is valid? [True, True] Translation: X:180.14, Y:197.16, Z:-176.88 [[ 3.76141573e-01 -1.82563599e-01 9.08398618e-01 1.80137743e+02] [ 1.02977946e-01 9.82559865e-01 1.54827821e-01 1.97158869e+02] [-9.20821948e-01 3.53078435e-02 3.88381638e-01 -1.76877152e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.7307140569999 meters Centerline goodness : 0.985026 Centerline is valid? [True, True] Translation: X:180.15, Y:197.16, Z:-176.91 [[ 3.76682113e-01 -1.85353765e-01 9.07609259e-01 1.80149738e+02] [ 1.04602626e-01 9.82021437e-01 1.57137481e-01 1.97157570e+02] [-9.20417773e-01 3.57474338e-02 3.89298401e-01 -1.76906831e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.760714057 meters Centerline goodness : 0.983975 Centerline is valid? [True, True] Translation: X:180.16, Y:197.16, Z:-176.94 [[ 3.78170845e-01 -1.82916634e-01 9.07484610e-01 1.80162009e+02] [ 1.04572699e-01 9.82451012e-01 1.54449216e-01 1.97159404e+02] [-9.19810504e-01 3.64899240e-02 3.90662415e-01 -1.76936059e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.790714057 meters Centerline goodness : 0.983784 Centerline is valid? [True, True] Translation: X:180.17, Y:197.16, Z:-176.96 [[ 3.78828433e-01 -1.85680081e-01 9.06648734e-01 1.80172448e+02] [ 1.04171996e-01 9.81995595e-01 1.57584412e-01 1.97158896e+02] [-9.19585349e-01 3.47499520e-02 3.91350517e-01 -1.76964861e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.8207140569999 meters Centerline goodness : 0.984154 Centerline is valid? [True, True] Translation: X:180.18, Y:197.16, Z:-177.00 [[ 3.73427442e-01 -1.66030254e-01 9.12680612e-01 1.80177397e+02] [ 1.00373996e-01 9.85308600e-01 1.38173892e-01 1.97164053e+02] [-9.22213103e-01 4.00114773e-02 3.84606390e-01 -1.77000759e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.8507140569999 meters Centerline goodness : 0.982577 Centerline is valid? [True, True] Translation: X:180.19, Y:197.16, Z:-177.03 [[ 3.74832071e-01 -1.67371136e-01 9.11859541e-01 1.80190141e+02] [ 9.89645926e-02 9.85172493e-01 1.40146953e-01 1.97163758e+02] [-9.21795492e-01 3.77102354e-02 3.85838062e-01 -1.77028161e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.880714057 meters Centerline goodness : 0.984028 Centerline is valid? [True, True] Translation: X:180.20, Y:197.16, Z:-177.06 [[ 3.75346981e-01 -1.79780782e-01 9.09281868e-01 1.80201615e+02] [ 9.86149788e-02 9.83186618e-01 1.53685265e-01 1.97160804e+02] [-9.21623421e-01 3.19835119e-02 3.86765206e-01 -1.77056709e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.910714057 meters Centerline goodness : 0.983243 Centerline is valid? [True, True] Translation: X:180.21, Y:197.17, Z:-177.09 [[ 3.71345416e-01 -1.64745615e-01 9.13762258e-01 1.80213814e+02] [ 9.45555781e-02 9.85726387e-01 1.39293693e-01 1.97166570e+02] [-9.23667594e-01 3.46752441e-02 3.81622592e-01 -1.77089295e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.9407140569999 meters Centerline goodness : 0.984025 Centerline is valid? [True, True] Translation: X:180.23, Y:197.17, Z:-177.12 [[ 3.71222055e-01 -1.67658882e-01 9.13282369e-01 1.80227837e+02] [ 9.33271533e-02 9.85320100e-01 1.42948745e-01 1.97167083e+02] [-9.23842101e-01 3.21683166e-02 3.81419679e-01 -1.77118197e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.9707140569999 meters Centerline goodness : 0.983987 Centerline is valid? [True, True] Translation: X:180.24, Y:197.17, Z:-177.15 [[ 3.70153691e-01 -1.70553319e-01 9.13180054e-01 1.80239645e+02] [ 9.26561035e-02 9.84878578e-01 1.46386587e-01 1.97168121e+02] [-9.24338191e-01 3.04261702e-02 3.80359246e-01 -1.77146523e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.000714057 meters Centerline goodness : 0.983987 Centerline is valid? [True, True] Translation: X:180.25, Y:197.17, Z:-177.18 [[ 3.70327565e-01 -1.69840528e-01 9.13242405e-01 1.80252267e+02] [ 9.29273512e-02 9.84984404e-01 1.45499936e-01 1.97171214e+02] [-9.24241312e-01 3.09825607e-02 3.80549707e-01 -1.77176552e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.030714057 meters Centerline goodness : 0.983775 Centerline is valid? [True, True] Translation: X:180.26, Y:197.17, Z:-177.21 [[ 3.68218126e-01 -1.57977855e-01 9.16219629e-01 1.80263959e+02] [ 8.97578957e-02 9.86895646e-01 1.34091401e-01 1.97173544e+02] [-9.25396635e-01 3.28630616e-02 3.77572626e-01 -1.77207517e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.0607140569999 meters Centerline goodness : 0.983851 Centerline is valid? [True, True] Translation: X:180.28, Y:197.17, Z:-177.24 [[ 3.68805502e-01 -1.63399831e-01 9.15031692e-01 1.80276568e+02] [ 8.92283711e-02 9.86104702e-01 1.40127854e-01 1.97171311e+02] [-9.25213921e-01 2.99668638e-02 3.78260740e-01 -1.77238710e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.0907140569999 meters Centerline goodness : 0.983146 Centerline is valid? [True, True] Translation: X:180.29, Y:197.17, Z:-177.27 [[ 3.70888250e-01 -1.68834646e-01 9.13201384e-01 1.80289254e+02] [ 9.02623636e-02 9.85233242e-01 1.45492833e-01 1.97170968e+02] [-9.24280591e-01 2.84661333e-02 3.80650848e-01 -1.77267444e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.120714057 meters Centerline goodness : 0.984896 Centerline is valid? [True, True] Translation: X:180.30, Y:197.17, Z:-177.29 [[ 3.72096296e-01 -1.69081346e-01 9.12664147e-01 1.80301502e+02] [ 9.02628919e-02 9.85199783e-01 1.45718902e-01 1.97169143e+02] [-9.23794867e-01 2.81582416e-02 3.81850961e-01 -1.77294806e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.150714057 meters Centerline goodness : 0.983975 Centerline is valid? [True, True] Translation: X:180.31, Y:197.17, Z:-177.33 [[ 3.70667781e-01 -1.69578633e-01 9.13153045e-01 1.80312487e+02] [ 8.99045580e-02 9.85124135e-01 1.46450020e-01 1.97168251e+02] [-9.24403898e-01 2.78123170e-02 3.80399670e-01 -1.77328866e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.1807140569999 meters Centerline goodness : 0.985286 Centerline is valid? [True, True] Translation: X:180.33, Y:197.17, Z:-177.36 [[ 3.76729409e-01 -1.75070664e-01 9.09629164e-01 1.80329719e+02] [ 9.59135499e-02 9.84072150e-01 1.49674961e-01 1.97167982e+02] [-9.21344422e-01 3.08588025e-02 3.87520568e-01 -1.77355292e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.2107140569999 meters Centerline goodness : 0.983569 Centerline is valid? [True, True] Translation: X:180.34, Y:197.19, Z:-177.38 [[ 3.72639535e-01 -1.34665988e-01 9.18152955e-01 1.80340508e+02] [ 9.34431013e-02 9.89830734e-01 1.07254395e-01 1.97185124e+02] [-9.23259533e-01 4.58278317e-02 3.81433671e-01 -1.77383490e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.240714057 meters Centerline goodness : 0.983842 Centerline is valid? [True, True] Translation: X:180.35, Y:197.17, Z:-177.42 [[ 3.72931464e-01 -1.80380673e-01 9.10156545e-01 1.80353205e+02] [ 9.70507636e-02 9.83123919e-01 1.55075818e-01 1.97167525e+02] [-9.22769350e-01 3.04987359e-02 3.84143924e-01 -1.77417662e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.270714057 meters Centerline goodness : 0.984641 Centerline is valid? [True, True] Translation: X:180.36, Y:197.18, Z:-177.45 [[ 3.69947205e-01 -1.52136103e-01 9.16511687e-01 1.80362772e+02] [ 9.67376483e-02 9.87446727e-01 1.24863082e-01 1.97177829e+02] [-9.24002648e-01 4.24684369e-02 3.80020446e-01 -1.77446093e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.3007140569999 meters Centerline goodness : 0.985862 Centerline is valid? [True, True] Translation: X:180.38, Y:197.17, Z:-177.48 [[ 3.70047003e-01 -1.73109582e-01 9.12742181e-01 1.80376976e+02] [ 1.01311222e-01 9.84145867e-01 1.45577983e-01 1.97172161e+02] [-9.23472388e-01 3.86003295e-02 3.81718172e-01 -1.77478833e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.3307140569999 meters Centerline goodness : 0.984375 Centerline is valid? [True, True] Translation: X:180.39, Y:197.18, Z:-177.51 [[ 3.68279686e-01 -1.46541456e-01 9.18093500e-01 1.80388727e+02] [ 1.01363170e-01 9.87942048e-01 1.17029986e-01 1.97183919e+02] [-9.24172917e-01 4.99611010e-02 3.78692894e-01 -1.77506731e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.3607140569999 meters Centerline goodness : 0.983987 Centerline is valid? [True, True] Translation: X:180.40, Y:197.18, Z:-177.54 [[ 3.64591387e-01 -1.54329287e-01 9.18289492e-01 1.80398787e+02] [ 1.05527433e-01 9.86664654e-01 1.23922642e-01 1.97180401e+02] [-9.25168677e-01 5.17236052e-02 3.76015408e-01 -1.77541479e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.390714057 meters Centerline goodness : 0.984267 Centerline is valid? [True, True] Translation: X:180.41, Y:197.19, Z:-177.57 [[ 3.64989497e-01 -1.49197113e-01 9.18979265e-01 1.80413527e+02] [ 1.09952344e-01 9.87075919e-01 1.16583073e-01 1.97185933e+02] [-9.24496160e-01 5.84923267e-02 3.76676915e-01 -1.77569785e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.4207140569999 meters Centerline goodness : 0.985417 Centerline is valid? [True, True] Translation: X:180.42, Y:197.19, Z:-177.60 [[ 3.64689355e-01 -1.49413501e-01 9.19063262e-01 1.80424521e+02] [ 1.14219372e-01 9.86765721e-01 1.15097117e-01 1.97187352e+02] [-9.24097186e-01 6.30001350e-02 3.76928871e-01 -1.77598316e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.4507140569999 meters Centerline goodness : 0.985662 Centerline is valid? [True, True] Translation: X:180.44, Y:197.19, Z:-177.63 [[ 3.64962246e-01 -1.53627989e-01 9.18259767e-01 1.80439050e+02] [ 1.18424695e-01 9.85940721e-01 1.17883361e-01 1.97189778e+02] [-9.23459880e-01 6.57216566e-02 3.78024488e-01 -1.77628810e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.4807140569999 meters Centerline goodness : 0.986597 Centerline is valid? [True, True] Translation: X:180.43, Y:197.20, Z:-177.64 [[ 3.57040125e-01 -1.39528496e-01 9.23609305e-01 1.80434500e+02] [ 1.23240587e-01 9.87173521e-01 1.01489885e-01 1.97199189e+02] [-9.25923381e-01 7.75901917e-02 3.69656131e-01 -1.77642403e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.510714057 meters Centerline goodness : 0.984779 Centerline is valid? [True, True] Translation: X:180.45, Y:197.13, Z:-177.69 [[ 3.58701552e-01 -2.87645884e-01 8.88027613e-01 1.80448261e+02] [ 1.27725191e-01 9.57513604e-01 2.58561355e-01 1.97134971e+02] [-9.24672630e-01 2.06771370e-02 3.80201241e-01 -1.77692180e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.540714057 meters Centerline goodness : 0.987366 Centerline is valid? [True, True] Translation: X:180.47, Y:197.20, Z:-177.69 [[ 3.69230466e-01 -1.98790411e-01 9.07827756e-01 1.80469616e+02] [ 1.50425146e-01 9.76756858e-01 1.52703362e-01 1.97200334e+02] [-9.17082951e-01 8.01773890e-02 3.90551466e-01 -1.77690607e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.5707140569999 meters Centerline goodness : 0.986225 Centerline is valid? [True, True] Translation: X:180.48, Y:197.18, Z:-177.72 [[ 3.65311237e-01 -2.51828681e-01 8.96175215e-01 1.80478408e+02] [ 1.52130840e-01 9.65920350e-01 2.09413672e-01 1.97178105e+02] [-9.18370245e-01 5.98347208e-02 3.91172467e-01 -1.77723790e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.6007140569999 meters Centerline goodness : 0.984265 Centerline is valid? [True, True] Translation: X:180.48, Y:197.19, Z:-177.74 [[ 3.59263044e-01 -2.30554412e-01 9.04308978e-01 1.80483652e+02] [ 1.52785322e-01 9.70459609e-01 1.86721164e-01 1.97189734e+02] [-9.20644726e-01 7.10831247e-02 3.83875603e-01 -1.77744752e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.630714057 meters Centerline goodness : 0.982275 Centerline is valid? [True, True] Translation: X:180.49, Y:197.16, Z:-177.78 [[ 3.55146986e-01 -3.10171557e-01 8.81852722e-01 1.80493044e+02] [ 1.54809086e-01 9.49838224e-01 2.71737916e-01 1.97156649e+02] [-9.21902796e-01 4.00119121e-02 3.85349557e-01 -1.77777124e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.660714057 meters Centerline goodness : 0.983841 Centerline is valid? [True, True] Translation: X:180.51, Y:197.17, Z:-177.81 [[ 3.53927036e-01 -2.85751135e-01 8.90551482e-01 1.80511351e+02] [ 1.53423074e-01 9.57023145e-01 2.46105790e-01 1.97170957e+02] [-9.22603389e-01 4.95276527e-02 3.82557183e-01 -1.77810688e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.6907140569999 meters Centerline goodness : 0.983918 Centerline is valid? [True, True] Translation: X:180.52, Y:197.22, Z:-177.82 [[ 3.57337945e-01 -1.96677401e-01 9.13032088e-01 1.80515040e+02] [ 1.62410980e-01 9.75767883e-01 1.46627799e-01 1.97222351e+02] [-9.19745762e-01 9.58907598e-02 3.80621460e-01 -1.77821048e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.7207140569999 meters Centerline goodness : 0.981916 Centerline is valid? [True, True] Translation: X:180.53, Y:197.17, Z:-177.86 [[ 3.53298508e-01 -3.23559923e-01 8.77775108e-01 1.80525042e+02] [ 1.60198168e-01 9.45349736e-01 2.83990183e-01 1.97165552e+02] [-9.21692308e-01 4.02846566e-02 3.85824359e-01 -1.77859948e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.750714057 meters Centerline goodness : 0.982025 Centerline is valid? [True, True] Translation: X:180.54, Y:197.16, Z:-177.89 [[ 3.55339434e-01 -3.39542105e-01 8.70887505e-01 1.80542672e+02] [ 1.60618859e-01 9.40013930e-01 3.00957463e-01 1.97162579e+02] [-9.20834116e-01 3.29389025e-02 3.88560883e-01 -1.77891021e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.780714057 meters Centerline goodness : 0.982060 Centerline is valid? [True, True] Translation: X:180.55, Y:197.25, Z:-177.90 [[ 3.55367651e-01 -1.87033509e-01 9.15823291e-01 1.80549804e+02] [ 1.71346132e-01 9.76208942e-01 1.32878158e-01 1.97246657e+02] [-9.18887554e-01 1.09702179e-01 3.78960547e-01 -1.77904216e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.8107140569999 meters Centerline goodness : 0.983280 Centerline is valid? [True, True] Translation: X:180.56, Y:197.17, Z:-177.94 [[ 3.52591086e-01 -3.58730086e-01 8.64287135e-01 1.80561878e+02] [ 1.64981711e-01 9.32965951e-01 3.19930569e-01 1.97165556e+02] [-9.21119190e-01 2.97869038e-02 3.88139381e-01 -1.77944674e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.8407140569999 meters Centerline goodness : 0.986233 Centerline is valid? [True, True] Translation: X:180.58, Y:197.23, Z:-177.96 [[ 3.60981107e-01 -2.57853686e-01 8.96216557e-01 1.80575653e+02] [ 1.76434270e-01 9.62542351e-01 2.05871733e-01 1.97227584e+02] [-9.15731177e-01 8.38075083e-02 3.92953830e-01 -1.77961492e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.870714057 meters Centerline goodness : 0.982768 Centerline is valid? [True, True] Translation: X:180.58, Y:197.25, Z:-177.98 [[ 3.53507424e-01 -2.30651452e-01 9.06549728e-01 1.80577423e+02] [ 1.76046358e-01 9.68211546e-01 1.77690974e-01 1.97246476e+02] [-9.18716595e-01 9.67797001e-02 3.82875317e-01 -1.77981512e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.900714057 meters Centerline goodness : 0.980684 Centerline is valid? [True, True] Translation: X:180.59, Y:197.23, Z:-178.01 [[ 3.51496094e-01 -2.79058517e-01 8.93631267e-01 1.80587413e+02] [ 1.74114474e-01 9.57373430e-01 2.30478341e-01 1.97232801e+02] [-9.19855775e-01 7.45819014e-02 3.85101148e-01 -1.78013183e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.9307140569999 meters Centerline goodness : 0.983574 Centerline is valid? [True, True] Translation: X:180.60, Y:197.19, Z:-178.05 [[ 3.48004092e-01 -3.73039482e-01 8.60078309e-01 1.80600714e+02] [ 1.68188638e-01 9.27381940e-01 3.34178575e-01 1.97189789e+02] [-9.22282893e-01 2.83598876e-02 3.85473712e-01 -1.78049445e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.9607140569999 meters Centerline goodness : 0.985608 Centerline is valid? [True, True] Translation: X:180.62, Y:197.27, Z:-178.07 [[ 3.61610780e-01 -2.40842912e-01 9.00684371e-01 1.80616065e+02] [ 1.78009612e-01 9.66121706e-01 1.86872756e-01 1.97267973e+02] [-9.15177700e-01 9.27552723e-02 3.92232377e-01 -1.78066810e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.990714057 meters Centerline goodness : 0.984474 Centerline is valid? [True, True] Translation: X:180.63, Y:197.25, Z:-178.09 [[ 3.56001566e-01 -2.80500126e-01 8.91393608e-01 1.80626321e+02] [ 1.72589499e-01 9.57213197e-01 2.32283795e-01 1.97251528e+02] [-9.18409359e-01 7.11517818e-02 3.89180773e-01 -1.78094554e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.020714057 meters Centerline goodness : 0.982035 Centerline is valid? [True, True] Translation: X:180.63, Y:197.29, Z:-178.11 [[ 3.56715020e-01 -2.15947153e-01 9.08912109e-01 1.80633247e+02] [ 1.78104615e-01 9.70792611e-01 1.60749656e-01 1.97292769e+02] [-9.17078590e-01 1.04539624e-01 3.84757491e-01 -1.78113480e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.0507140569999 meters Centerline goodness : 0.981701 Centerline is valid? [True, True] Translation: X:180.64, Y:197.24, Z:-178.15 [[ 3.51740615e-01 -3.44138908e-01 8.70544055e-01 1.80638562e+02] [ 1.70496912e-01 9.37968428e-01 3.01904010e-01 1.97235393e+02] [-9.20439755e-01 4.22331708e-02 3.88596213e-01 -1.78153763e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.0807140569999 meters Centerline goodness : 0.982536 Centerline is valid? [True, True] Translation: X:180.65, Y:197.31, Z:-178.17 [[ 3.54989636e-01 -2.14728132e-01 9.09875919e-01 1.80653852e+02] [ 1.77585044e-01 9.71032085e-01 1.59875706e-01 1.97311265e+02] [-9.17848523e-01 1.04826137e-01 3.82838831e-01 -1.78168622e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.1107140569999 meters Centerline goodness : 0.983812 Centerline is valid? [True, True] Translation: X:180.65, Y:197.27, Z:-178.21 [[ 3.49796365e-01 -3.26022097e-01 8.78266529e-01 1.80653707e+02] [ 1.72112418e-01 9.43899065e-01 2.81836602e-01 1.97266266e+02] [-9.20879916e-01 5.25751567e-02 3.86284913e-01 -1.78207685e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.140714057 meters Centerline goodness : 0.983839 Centerline is valid? [True, True] Translation: X:180.67, Y:197.29, Z:-178.23 [[ 3.52561583e-01 -2.96582673e-01 8.87546646e-01 1.80666067e+02] [ 1.72603693e-01 9.52784582e-01 2.49818945e-01 1.97288807e+02] [-9.19732731e-01 6.51172660e-02 3.87106505e-01 -1.78230596e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.1707140569999 meters Centerline goodness : 0.983937 Centerline is valid? [True, True] Translation: X:180.68, Y:197.28, Z:-178.26 [[ 3.53132222e-01 -3.25107844e-01 8.77269927e-01 1.80675893e+02] [ 1.71148278e-01 9.44306530e-01 2.81057723e-01 1.97280353e+02] [-9.19785791e-01 5.08926991e-02 3.89106711e-01 -1.78257952e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.2007140569999 meters Centerline goodness : 0.983520 Centerline is valid? [True, True] Translation: X:180.69, Y:197.30, Z:-178.28 [[ 3.58935267e-01 -3.05343766e-01 8.82003775e-01 1.80691535e+02] [ 1.71947145e-01 9.50432902e-01 2.59058832e-01 1.97297187e+02] [-9.17387406e-01 5.86726799e-02 3.93646876e-01 -1.78279019e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.2307140569999 meters Centerline goodness : 0.985155 Centerline is valid? [True, True] Translation: X:180.70, Y:197.29, Z:-178.31 [[ 3.57582566e-01 -3.30942688e-01 8.73276386e-01 1.80696948e+02] [ 1.71224333e-01 9.42485709e-01 2.87059082e-01 1.97294383e+02] [-9.18050618e-01 4.68788435e-02 3.93681899e-01 -1.78308587e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.260714057 meters Centerline goodness : 0.983587 Centerline is valid? [True, True] Translation: X:180.71, Y:197.32, Z:-178.33 [[ 3.59265948e-01 -2.97138747e-01 8.84667477e-01 1.80712001e+02] [ 1.71590586e-01 9.52828453e-01 2.50348977e-01 1.97318990e+02] [-9.17324724e-01 6.18587482e-02 3.93305029e-01 -1.78332105e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.290714057 meters Centerline goodness : 0.982978 Centerline is valid? [True, True] Translation: X:180.72, Y:197.32, Z:-178.36 [[ 3.59043645e-01 -3.06627602e-01 8.81514138e-01 1.80721727e+02] [ 1.71373693e-01 9.50092854e-01 2.60681081e-01 1.97320535e+02] [-9.17452298e-01 5.74724482e-02 3.93672706e-01 -1.78358694e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.3207140569999 meters Centerline goodness : 0.988623 Centerline is valid? [True, True] Translation: X:180.73, Y:197.29, Z:-178.39 [[ 3.58526758e-01 -3.79396745e-01 8.52945880e-01 1.80726671e+02] [ 1.69137326e-01 9.24966630e-01 3.40337035e-01 1.97290177e+02] [-9.18069240e-01 2.22450517e-02 3.95795438e-01 -1.78388919e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.3507140569999 meters Centerline goodness : 0.988219 Centerline is valid? [True, True] Translation: X:180.76, Y:197.36, Z:-178.41 [[ 3.66455135e-01 -2.39196486e-01 8.99163876e-01 1.80756242e+02] [ 1.68176816e-01 9.67500867e-01 1.88834932e-01 1.97362530e+02] [-9.15110481e-01 8.20189873e-02 3.94772964e-01 -1.78412818e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.380714057 meters Centerline goodness : 0.988244 Centerline is valid? [True, True] Translation: X:180.77, Y:197.41, Z:-178.43 [[ 3.61286395e-01 -1.83016163e-01 9.14317901e-01 1.80765375e+02] [ 1.74237987e-01 9.76528828e-01 1.26619795e-01 1.97405335e+02] [-9.16031258e-01 1.13562901e-01 3.84694948e-01 -1.78429834e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.410714057 meters Centerline goodness : 0.988410 Centerline is valid? [True, True] Translation: X:180.77, Y:197.35, Z:-178.47 [[ 3.63306825e-01 -3.03701090e-01 8.80780222e-01 1.80768430e+02] [ 1.72680559e-01 9.50948466e-01 2.56667957e-01 1.97351832e+02] [-9.15526939e-01 5.88444005e-02 3.97929342e-01 -1.78469662e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.4407140569999 meters Centerline goodness : 0.987197 Centerline is valid? [True, True] Translation: X:180.79, Y:197.38, Z:-178.50 [[ 3.63916901e-01 -2.48942016e-01 8.97547972e-01 1.80789418e+02] [ 1.71963133e-01 9.65014061e-01 1.97930653e-01 1.97384378e+02] [-9.15419669e-01 8.23148512e-02 3.93993775e-01 -1.78495040e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.4707140569999 meters Centerline goodness : 0.987782 Centerline is valid? [True, True] Translation: X:180.80, Y:197.40, Z:-178.53 [[ 3.61909913e-01 -2.26842367e-01 9.04192322e-01 1.80800639e+02] [ 1.70861526e-01 9.69651837e-01 1.74876112e-01 1.97399754e+02] [-9.16421057e-01 9.12022813e-02 3.89685245e-01 -1.78525390e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.500714057 meters Centerline goodness : 0.987154 Centerline is valid? [True, True] Translation: X:180.81, Y:197.41, Z:-178.56 [[ 3.57858611e-01 -2.35345881e-01 9.03631302e-01 1.80807669e+02] [ 1.71071706e-01 9.67862739e-01 1.84326313e-01 1.97405302e+02] [-9.17971506e-01 8.86229901e-02 3.86619037e-01 -1.78556541e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.530714057 meters Centerline goodness : 0.987943 Centerline is valid? [True, True] Translation: X:180.82, Y:197.42, Z:-178.58 [[ 3.66458664e-01 -2.25990769e-01 9.02572002e-01 1.80824480e+02] [ 1.74484275e-01 9.69536347e-01 1.71914252e-01 1.97417774e+02] [-9.13927396e-01 9.44851542e-02 3.94726830e-01 -1.78579654e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.5607140569999 meters Centerline goodness : 0.987256 Centerline is valid? [True, True] Translation: X:180.83, Y:197.43, Z:-178.61 [[ 3.63359631e-01 -2.19511106e-01 9.05419601e-01 1.80830658e+02] [ 1.73318182e-01 9.70808080e-01 1.65808565e-01 1.97426681e+02] [-9.15385485e-01 9.66775398e-02 3.90797731e-01 -1.78611034e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.5907140569999 meters Centerline goodness : 0.986048 Centerline is valid? [True, True] Translation: X:180.84, Y:197.43, Z:-178.64 [[ 3.62191942e-01 -2.27029630e-01 9.04032380e-01 1.80839217e+02] [ 1.73019299e-01 9.69403848e-01 1.74127835e-01 1.97429254e+02] [-9.15904645e-01 9.33473497e-02 3.90390770e-01 -1.78635676e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.620714057 meters Centerline goodness : 0.986196 Centerline is valid? [True, True] Translation: X:180.84, Y:197.44, Z:-178.66 [[ 3.61727852e-01 -2.32649488e-01 9.02788556e-01 1.80844525e+02] [ 1.72463497e-01 9.68347626e-01 1.80441730e-01 1.97435337e+02] [-9.16192831e-01 9.04272720e-02 3.90401851e-01 -1.78662930e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.650714057 meters Centerline goodness : 0.987383 Centerline is valid? [True, True] Translation: X:180.85, Y:197.44, Z:-178.69 [[ 3.58852711e-01 -2.44308870e-01 9.00853988e-01 1.80851670e+02] [ 1.72497688e-01 9.65871475e-01 1.93227435e-01 1.97435651e+02] [-9.17316346e-01 8.60550414e-02 3.88748313e-01 -1.78694189e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.6807140569999 meters Centerline goodness : 0.987151 Centerline is valid? [True, True] Translation: X:180.86, Y:197.45, Z:-178.73 [[ 3.55735665e-01 -2.17826953e-01 9.08847377e-01 1.80862531e+02] [ 1.69551872e-01 9.71364008e-01 1.66445564e-01 1.97449945e+02] [-9.19077962e-01 9.48861512e-02 3.82481789e-01 -1.78726976e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.7107140569999 meters Centerline goodness : 0.987214 Centerline is valid? [True, True] Translation: X:180.88, Y:197.46, Z:-178.75 [[ 3.58761152e-01 -2.14186187e-01 9.08523370e-01 1.80876963e+02] [ 1.71222675e-01 9.71903128e-01 1.61515032e-01 1.97461328e+02] [-9.17590994e-01 9.76144823e-02 3.85354617e-01 -1.78750589e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.740714057 meters Centerline goodness : 0.987706 Centerline is valid? [True, True] Translation: X:180.88, Y:197.45, Z:-178.79 [[ 3.51763303e-01 -2.51893393e-01 9.01561034e-01 1.80878996e+02] [ 1.72037392e-01 9.64106020e-01 2.02244206e-01 1.97448421e+02] [-9.20144399e-01 8.39601193e-02 3.82472200e-01 -1.78787098e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.770714057 meters Centerline goodness : 0.987091 Centerline is valid? [True, True] Translation: X:180.90, Y:197.48, Z:-178.81 [[ 3.52256926e-01 -2.07779935e-01 9.12547290e-01 1.80898336e+02] [ 1.70977038e-01 9.72922476e-01 1.55527198e-01 1.97475664e+02] [-9.20153199e-01 1.01239100e-01 3.78244279e-01 -1.78814546e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.8007140569999 meters Centerline goodness : 0.988851 Centerline is valid? [True, True] Translation: X:180.92, Y:197.49, Z:-178.84 [[ 3.63200570e-01 -1.91948937e-01 9.11724164e-01 1.80917612e+02] [ 1.76370932e-01 9.75020182e-01 1.35014591e-01 1.97490768e+02] [-9.14865368e-01 1.11764264e-01 3.87982099e-01 -1.78842106e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.8307140569999 meters Centerline goodness : 0.986770 Centerline is valid? [True, True] Translation: X:180.92, Y:197.49, Z:-178.86 [[ 3.59864408e-01 -2.06269667e-01 9.09917816e-01 1.80924392e+02] [ 1.72436971e-01 9.73158348e-01 1.52408402e-01 1.97489428e+02] [-9.16931349e-01 1.02057113e-01 3.85773570e-01 -1.78863107e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.8607140569999 meters Centerline goodness : 0.987623 Centerline is valid? [True, True] Translation: X:180.93, Y:197.49, Z:-178.90 [[ 3.51013773e-01 -2.12785008e-01 9.11872728e-01 1.80926497e+02] [ 1.68941578e-01 9.72247927e-01 1.61841623e-01 1.97488372e+02] [-9.21003841e-01 9.72445789e-02 3.77220648e-01 -1.78901911e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.890714057 meters Centerline goodness : 0.987623 Centerline is valid? [True, True] Translation: X:180.94, Y:197.50, Z:-178.93 [[ 3.51384496e-01 -2.04385036e-01 9.13649656e-01 1.80940799e+02] [ 1.69093744e-01 9.73686151e-01 1.52782807e-01 1.97495301e+02] [-9.20834536e-01 1.00806931e-01 3.76698448e-01 -1.78931618e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.9207140569999 meters Centerline goodness : 0.987449 Centerline is valid? [True, True] Translation: X:180.95, Y:197.49, Z:-178.96 [[ 3.55816436e-01 -2.28472591e-01 9.06198068e-01 1.80952460e+02] [ 1.70976981e-01 9.69205036e-01 1.77224352e-01 1.97492451e+02] [-9.18782638e-01 9.18796728e-02 3.83922635e-01 -1.78955117e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.9507140569999 meters Centerline goodness : 0.989965 Centerline is valid? [True, True] Translation: X:180.96, Y:197.51, Z:-179.00 [[ 3.57905902e-01 -1.90979323e-01 9.14018744e-01 1.80964422e+02] [ 1.68841180e-01 9.75961862e-01 1.37808203e-01 1.97510963e+02] [-9.18365952e-01 1.05001634e-01 3.81547685e-01 -1.78996244e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.9807140569999 meters Centerline goodness : 0.990093 Centerline is valid? [True, True] Translation: X:180.98, Y:197.53, Z:-179.02 [[ 3.60071334e-01 -1.62116509e-01 9.18731121e-01 1.80983128e+02] [ 1.67474373e-01 9.80020524e-01 1.07294488e-01 1.97528183e+02] [-9.17769562e-01 1.15230249e-01 3.80027658e-01 -1.79023878e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.010714057 meters Centerline goodness : 0.988120 Centerline is valid? [True, True] Translation: X:180.99, Y:197.53, Z:-179.05 [[ 3.50227718e-01 -1.61737425e-01 9.22595009e-01 1.80990855e+02] [ 1.60918136e-01 9.80723980e-01 1.10841462e-01 1.97530236e+02] [-9.22738261e-01 1.09642517e-01 3.69503207e-01 -1.79048865e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.040714057 meters Centerline goodness : 0.989506 Centerline is valid? [True, True] Translation: X:180.99, Y:197.54, Z:-179.07 [[ 3.60229468e-01 -1.80937174e-01 9.15148332e-01 1.80994771e+02] [ 1.68450040e-01 9.77499998e-01 1.26958018e-01 1.97537330e+02] [-9.17528918e-01 1.08422754e-01 3.82603178e-01 -1.79065183e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.0707140569999 meters Centerline goodness : 0.989114 Centerline is valid? [True, True] Translation: X:180.99, Y:197.50, Z:-179.12 [[ 3.56175433e-01 -2.44822354e-01 9.01776622e-01 1.80993174e+02] [ 1.60757945e-01 9.66732057e-01 1.98962340e-01 1.97503118e+02] [-9.20486798e-01 7.41022592e-02 3.83683347e-01 -1.79121064e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.1007140569999 meters Centerline goodness : 0.989987 Centerline is valid? [True, True] Translation: X:181.03, Y:197.55, Z:-179.14 [[ 3.61634066e-01 -1.48336388e-01 9.20443979e-01 1.81030176e+02] [ 1.58136225e-01 9.82715866e-01 9.62416818e-02 1.97552632e+02] [-9.18811045e-01 1.10751265e-01 3.78840891e-01 -1.79138482e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.130714057 meters Centerline goodness : 0.989476 Centerline is valid? [True, True] Translation: X:181.03, Y:197.54, Z:-179.16 [[ 3.55789113e-01 -2.09794463e-01 9.10714220e-01 1.81030736e+02] [ 1.56820704e-01 9.74062807e-01 1.63122395e-01 1.97535035e+02] [-9.21315024e-01 8.47816724e-02 3.79461057e-01 -1.79161536e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.160714057 meters Centerline goodness : 0.989782 Centerline is valid? [True, True] Translation: X:181.04, Y:197.53, Z:-179.19 [[ 3.58100990e-01 -2.30331632e-01 9.04826514e-01 1.81039592e+02] [ 1.57810976e-01 9.70082654e-01 1.84486695e-01 1.97531469e+02] [-9.20249628e-01 7.67266875e-02 3.83736418e-01 -1.79189882e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.1907140569999 meters Centerline goodness : 0.988817 Centerline is valid? [True, True] Translation: X:181.05, Y:197.54, Z:-179.22 [[ 3.58696134e-01 -2.24394987e-01 9.06081659e-01 1.81052070e+02] [ 1.56307015e-01 9.71409315e-01 1.78695437e-01 1.97538471e+02] [-9.20274525e-01 7.75295571e-02 3.83515276e-01 -1.79216296e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.2207140569999 meters Centerline goodness : 0.990762 Centerline is valid? [True, True] Translation: X:181.06, Y:197.53, Z:-179.25 [[ 3.63013561e-01 -2.45892992e-01 8.98753465e-01 1.81059258e+02] [ 1.61900815e-01 9.66524952e-01 1.99041815e-01 1.97534892e+02] [-9.17610637e-01 7.32540405e-02 3.90671940e-01 -1.79251806e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.250714057 meters Centerline goodness : 0.989719 Centerline is valid? [True, True] Translation: X:181.07, Y:197.54, Z:-179.28 [[ 3.54562139e-01 -2.49651075e-01 9.01088248e-01 1.81068277e+02] [ 1.58966695e-01 9.65762332e-01 2.05018801e-01 1.97536595e+02] [-9.21420251e-01 7.05511164e-02 3.82108964e-01 -1.79275861e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.280714057 meters Centerline goodness : 0.988741 Centerline is valid? [True, True] Translation: X:181.08, Y:197.54, Z:-179.31 [[ 3.50785007e-01 -2.31872887e-01 9.07295345e-01 1.81078223e+02] [ 1.59256894e-01 9.69518485e-01 1.86201903e-01 1.97544692e+02] [-9.22814782e-01 7.91762030e-02 3.77019904e-01 -1.79305982e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.3107140569999 meters Centerline goodness : 0.989242 Centerline is valid? [True, True] Translation: X:181.09, Y:197.55, Z:-179.34 [[ 3.59423494e-01 -2.23155031e-01 9.06099655e-01 1.81091883e+02] [ 1.65825410e-01 9.70806152e-01 1.73312867e-01 1.97552415e+02] [-9.18322757e-01 8.79616303e-02 3.85935314e-01 -1.79338312e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.3407140569999 meters Centerline goodness : 0.988614 Centerline is valid? [True, True] Translation: X:181.10, Y:197.55, Z:-179.36 [[ 3.51375798e-01 -2.39642062e-01 9.05045154e-01 1.81097817e+02] [ 1.63990793e-01 9.67495199e-01 1.92509896e-01 1.97548287e+02] [-9.21760310e-01 8.07757542e-02 3.79253489e-01 -1.79363836e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.370714057 meters Centerline goodness : 0.989648 Centerline is valid? [True, True] Translation: X:181.10, Y:197.55, Z:-179.40 [[ 3.48370522e-01 -2.50700415e-01 9.03209434e-01 1.81103905e+02] [ 1.66928025e-01 9.64760763e-01 2.03400356e-01 1.97545719e+02] [-9.22373576e-01 7.99122782e-02 3.77943136e-01 -1.79396864e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.400714057 meters Centerline goodness : 0.988621 Centerline is valid? [True, True] Translation: X:181.12, Y:197.56, Z:-179.43 [[ 3.47245407e-01 -2.32149613e-01 9.08585266e-01 1.81116441e+02] [ 1.66144502e-01 9.68776775e-01 1.84031421e-01 1.97555185e+02] [-9.22939127e-01 8.70523810e-02 3.74973668e-01 -1.79426763e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.4307140569999 meters Centerline goodness : 0.987958 Centerline is valid? [True, True] Translation: X:181.13, Y:197.56, Z:-179.46 [[ 3.46622415e-01 -2.31335107e-01 9.09030786e-01 1.81127837e+02] [ 1.67784441e-01 9.68772420e-01 1.82560619e-01 1.97559547e+02] [-9.22876635e-01 8.92416197e-02 3.74612668e-01 -1.79456771e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.4607140569999 meters Centerline goodness : 0.988208 Centerline is valid? [True, True] Translation: X:181.14, Y:197.57, Z:-179.49 [[ 3.43173620e-01 -2.21928789e-01 9.12677095e-01 1.81138672e+02] [ 1.67720715e-01 9.70547652e-01 1.72936454e-01 1.97565523e+02] [-9.24176189e-01 9.37276259e-02 3.70288406e-01 -1.79487772e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.490714057 meters Centerline goodness : 0.988945 Centerline is valid? [True, True] Translation: X:181.16, Y:197.58, Z:-179.52 [[ 3.51494379e-01 -2.07761892e-01 9.12845385e-01 1.81156302e+02] [ 1.73200873e-01 9.72663399e-01 1.54684744e-01 1.97576708e+02] [-9.20028890e-01 1.03734799e-01 3.77870259e-01 -1.79520378e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.520714057 meters Centerline goodness : 0.987131 Centerline is valid? [True, True] Translation: X:181.17, Y:197.58, Z:-179.54 [[ 3.43831975e-01 -2.10924635e-01 9.15035721e-01 1.81165998e+02] [ 1.69163195e-01 9.72417375e-01 1.60587243e-01 1.97578458e+02] [-9.23668440e-01 9.95753370e-02 3.70028872e-01 -1.79541059e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.5507140569999 meters Centerline goodness : 0.987240 Centerline is valid? [True, True] Translation: X:181.17, Y:197.57, Z:-179.57 [[ 3.39885641e-01 -2.29494127e-01 9.12036291e-01 1.81169666e+02] [ 1.67812214e-01 9.69005954e-01 1.81291265e-01 1.97572382e+02] [-9.25373877e-01 9.14325314e-02 3.67863127e-01 -1.79571306e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.5807140569999 meters Centerline goodness : 0.988644 Centerline is valid? [True, True] Translation: X:181.18, Y:197.57, Z:-179.60 [[ 3.37646835e-01 -2.44807671e-01 9.08880531e-01 1.81177624e+02] [ 1.68590666e-01 9.65700952e-01 1.97481286e-01 1.97570000e+02] [-9.26051728e-01 8.65498427e-02 3.67338158e-01 -1.79603534e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.6107140569999 meters Centerline goodness : 0.989588 Centerline is valid? [True, True] Translation: X:181.19, Y:197.59, Z:-179.63 [[ 3.38833142e-01 -2.18246017e-01 9.15183467e-01 1.81193926e+02] [ 1.64804878e-01 9.71451824e-01 1.70647901e-01 1.97585523e+02] [-9.26299873e-01 9.30055352e-02 3.65128082e-01 -1.79628704e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.640714057 meters Centerline goodness : 0.988892 Centerline is valid? [True, True] Translation: X:181.20, Y:197.58, Z:-179.66 [[ 3.38554148e-01 -2.29339063e-01 9.12570372e-01 1.81202126e+02] [ 1.65353938e-01 9.69250776e-01 1.82238881e-01 1.97583543e+02] [-9.26304035e-01 8.91993753e-02 3.66065988e-01 -1.79662685e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.6707140569999 meters Centerline goodness : 0.988449 Centerline is valid? [True, True] Translation: X:181.22, Y:197.60, Z:-179.69 [[ 3.37995002e-01 -2.01975356e-01 9.19219960e-01 1.81217561e+02] [ 1.62926923e-01 9.74511226e-01 1.54216371e-01 1.97597055e+02] [-9.26938076e-01 9.76413174e-02 3.62287147e-01 -1.79693064e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.7007140569999 meters Centerline goodness : 0.989095 Centerline is valid? [True, True] Translation: X:181.23, Y:197.59, Z:-179.72 [[ 3.41017757e-01 -2.26002837e-01 9.12485401e-01 1.81225484e+02] [ 1.64590843e-01 9.70031133e-01 1.78744107e-01 1.97592894e+02] [-9.25535923e-01 8.92318267e-02 3.67995838e-01 -1.79721448e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.7307140569999 meters Centerline goodness : 0.988696 Centerline is valid? [True, True] Translation: X:181.24, Y:197.60, Z:-179.75 [[ 3.40798915e-01 -2.15235950e-01 9.15166425e-01 1.81238051e+02] [ 1.63419668e-01 9.72183419e-01 1.67789783e-01 1.97600594e+02] [-9.25824018e-01 9.23736173e-02 3.66492842e-01 -1.79751830e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.760714057 meters Centerline goodness : 0.989441 Centerline is valid? [True, True] Translation: X:181.25, Y:197.60, Z:-179.78 [[ 3.41401805e-01 -2.14928864e-01 9.15013875e-01 1.81248842e+02] [ 1.62607982e-01 9.72331310e-01 1.67721397e-01 1.97603968e+02] [-9.25744809e-01 9.15281722e-02 3.66904813e-01 -1.79781512e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.790714057 meters Centerline goodness : 0.989768 Centerline is valid? [True, True] Translation: X:181.26, Y:197.60, Z:-179.81 [[ 3.44147536e-01 -2.23775627e-01 9.11859059e-01 1.81258126e+02] [ 1.60336718e-01 9.70924518e-01 1.77757467e-01 1.97604564e+02] [-9.25124106e-01 8.50296947e-02 3.70020730e-01 -1.79809631e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.8207140569999 meters Centerline goodness : 0.988975 Centerline is valid? [True, True] Translation: X:181.27, Y:197.61, Z:-179.84 [[ 3.42117578e-01 -2.12222427e-01 9.15378176e-01 1.81268530e+02] [ 1.56293654e-01 9.73443814e-01 1.67270541e-01 1.97611189e+02] [-9.26567783e-01 8.58416070e-02 3.66201259e-01 -1.79843160e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.8507140569999 meters Centerline goodness : 0.988177 Centerline is valid? [True, True] Translation: X:181.29, Y:197.63, Z:-179.88 [[ 3.38315328e-01 -1.67245233e-01 9.26051711e-01 1.81285252e+02] [ 1.46274821e-01 9.81465090e-01 1.23814191e-01 1.97631754e+02] [-9.29594759e-01 9.35698092e-02 3.56508450e-01 -1.79879110e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.880714057 meters Centerline goodness : 0.988384 Centerline is valid? [True, True] Translation: X:181.30, Y:197.63, Z:-179.90 [[ 3.43572189e-01 -1.89672513e-01 9.19773064e-01 1.81295870e+02] [ 1.47260759e-01 9.78157475e-01 1.46704541e-01 1.97630517e+02] [-9.27508717e-01 8.50428791e-02 3.63999023e-01 -1.79902566e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.910714057 meters Centerline goodness : 0.988286 Centerline is valid? [True, True] Translation: X:181.31, Y:197.64, Z:-179.93 [[ 3.41335794e-01 -1.73233777e-01 9.23839777e-01 1.81307576e+02] [ 1.41800012e-01 9.81111146e-01 1.31581441e-01 1.97640211e+02] [-9.29183853e-01 8.60870356e-02 3.59452904e-01 -1.79934461e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.9407140569999 meters Centerline goodness : 0.986408 Centerline is valid? [True, True] Translation: X:181.31, Y:197.64, Z:-179.95 [[ 3.45787926e-01 -1.91570641e-01 9.18548529e-01 1.81314727e+02] [ 1.36609413e-01 9.78784225e-01 1.52706614e-01 1.97636957e+02] [-9.28314914e-01 7.26782720e-02 3.64622120e-01 -1.79954271e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.9707140569999 meters Centerline goodness : 0.988405 Centerline is valid? [True, True] Translation: X:181.32, Y:197.63, Z:-179.99 [[ 3.42746579e-01 -2.19513480e-01 9.13421379e-01 1.81318139e+02] [ 1.34264706e-01 9.73781232e-01 1.83638506e-01 1.97626480e+02] [-9.29783723e-01 5.96987835e-02 3.63233099e-01 -1.79993236e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.000714057 meters Centerline goodness : 0.986921 Centerline is valid? [True, True] Translation: X:181.34, Y:197.65, Z:-180.02 [[ 3.40061756e-01 -1.69698637e-01 9.24965067e-01 1.81337891e+02] [ 1.24860509e-01 9.83023023e-01 1.34445491e-01 1.97651868e+02] [-9.32077172e-01 6.97718394e-02 3.55477194e-01 -1.80021783e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.030714057 meters Centerline goodness : 0.987695 Centerline is valid? [True, True] Translation: X:181.35, Y:197.65, Z:-180.05 [[ 3.43964597e-01 -1.86435294e-01 9.20288127e-01 1.81347825e+02] [ 1.25503582e-01 9.80424855e-01 1.51710104e-01 1.97651781e+02] [-9.30557471e-01 6.33165520e-02 3.60629737e-01 -1.80049783e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.0607140569999 meters Centerline goodness : 0.987082 Centerline is valid? [True, True] Translation: X:181.36, Y:197.66, Z:-180.08 [[ 3.42835285e-01 -1.75717175e-01 9.22814955e-01 1.81359069e+02] [ 1.21649736e-01 9.82382564e-01 1.41865567e-01 1.97658072e+02] [-9.31485539e-01 6.36236737e-02 3.58171355e-01 -1.80079496e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.0907140569999 meters Centerline goodness : 0.986862 Centerline is valid? [True, True] Translation: X:181.37, Y:197.66, Z:-180.11 [[ 3.46332437e-01 -1.81330044e-01 9.20420153e-01 1.81368237e+02] [ 1.18497709e-01 9.81738362e-01 1.48822317e-01 1.97659918e+02] [-9.30597730e-01 5.75256839e-02 3.61495035e-01 -1.80109845e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.120714057 meters Centerline goodness : 0.986536 Centerline is valid? [True, True] Translation: X:181.38, Y:197.67, Z:-180.14 [[ 3.47864765e-01 -1.77821870e-01 9.20526745e-01 1.81380695e+02] [ 1.17482348e-01 9.82376945e-01 1.45373436e-01 1.97665357e+02] [-9.30154828e-01 5.75753473e-02 3.62625256e-01 -1.80140658e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.150714057 meters Centerline goodness : 0.987350 Centerline is valid? [True, True] Translation: X:181.39, Y:197.67, Z:-180.17 [[ 3.47626201e-01 -1.68645480e-01 9.22341979e-01 1.81393220e+02] [ 1.15392636e-01 9.83908727e-01 1.36411720e-01 1.97672318e+02] [-9.30505542e-01 5.90111845e-02 3.61492899e-01 -1.80172802e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.1807140569999 meters Centerline goodness : 0.987505 Centerline is valid? [True, True] Translation: X:181.41, Y:197.69, Z:-180.21 [[ 3.52904870e-01 -1.45073242e-01 9.24344042e-01 1.81412095e+02] [ 1.15423330e-01 9.87111035e-01 1.10856930e-01 1.97687672e+02] [-9.28512578e-01 6.75689170e-02 3.65101128e-01 -1.80205762e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.2107140569999 meters Centerline goodness : 0.986172 Centerline is valid? [True, True] Translation: X:181.42, Y:197.70, Z:-180.23 [[ 3.48822503e-01 -1.35679859e-01 9.27315392e-01 1.81424617e+02] [ 1.11131441e-01 9.88472031e-01 1.02824346e-01 1.97695432e+02] [-9.30576522e-01 6.71864503e-02 3.59879587e-01 -1.80227392e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.240714057 meters Centerline goodness : 0.985010 Centerline is valid? [True, True] Translation: X:181.43, Y:197.68, Z:-180.26 [[ 3.46926847e-01 -1.59134737e-01 9.24293189e-01 1.81425685e+02] [ 1.07189152e-01 9.85770619e-01 1.29486569e-01 1.97684554e+02] [-9.31746880e-01 5.41518362e-02 3.59047810e-01 -1.80261764e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.270714057 meters Centerline goodness : 0.984800 Centerline is valid? [True, True] Translation: X:181.44, Y:197.69, Z:-180.29 [[ 3.47023907e-01 -1.50986444e-01 9.25622764e-01 1.81439603e+02] [ 1.07035599e-01 9.86883230e-01 1.20850613e-01 1.97690931e+02] [-9.31728388e-01 5.71365350e-02 3.58632998e-01 -1.80293302e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.3007140569999 meters Centerline goodness : 0.986333 Centerline is valid? [True, True] Translation: X:181.45, Y:197.70, Z:-180.33 [[ 3.47735280e-01 -1.46201417e-01 9.26123815e-01 1.81453516e+02] [ 1.07818329e-01 9.87450313e-01 1.15399686e-01 1.97695756e+02] [-9.31372848e-01 5.97245801e-02 3.59134504e-01 -1.80325697e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.3307140569999 meters Centerline goodness : 0.985879 Centerline is valid? [True, True] Translation: X:181.47, Y:197.70, Z:-180.35 [[ 3.47724065e-01 -1.38502313e-01 9.27310673e-01 1.81467567e+02] [ 1.07586441e-01 9.88390448e-01 1.07282242e-01 1.97702235e+02] [-9.31403851e-01 6.24614379e-02 3.58588115e-01 -1.80353289e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.3607140569999 meters Centerline goodness : 0.985248 Centerline is valid? [True, True] Translation: X:181.48, Y:197.70, Z:-180.38 [[ 3.49179417e-01 -1.48180401e-01 9.25265531e-01 1.81478739e+02] [ 1.08578719e-01 9.87164676e-01 1.17117736e-01 1.97700343e+02] [-9.30744002e-01 5.95690430e-02 3.60786824e-01 -1.80381974e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.390714057 meters Centerline goodness : 0.985488 Centerline is valid? [True, True] Translation: X:181.49, Y:197.70, Z:-180.41 [[ 3.49254671e-01 -1.47351021e-01 9.25369576e-01 1.81491715e+02] [ 1.09311961e-01 9.87222376e-01 1.15943418e-01 1.97703467e+02] [-9.30629932e-01 6.06601822e-02 3.60899254e-01 -1.80412847e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.4207140569999 meters Centerline goodness : 0.985264 Centerline is valid? [True, True] Translation: X:181.50, Y:197.70, Z:-180.44 [[ 3.52743346e-01 -1.63800087e-01 9.21271764e-01 1.81502765e+02] [ 1.12307314e-01 9.84853131e-01 1.32103659e-01 1.97700373e+02] [-9.28955973e-01 5.68668709e-02 3.65796337e-01 -1.80442277e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.4507140569999 meters Centerline goodness : 0.985299 Centerline is valid? [True, True] Translation: X:181.52, Y:197.70, Z:-180.47 [[ 3.51883687e-01 -1.57384908e-01 9.22717650e-01 1.81516402e+02] [ 1.14155523e-01 9.85620762e-01 1.24580218e-01 1.97703889e+02] [-9.29056719e-01 6.14955697e-02 3.64790224e-01 -1.80469953e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.4807140569999 meters Centerline goodness : 0.985050 Centerline is valid? [True, True] Translation: X:181.53, Y:197.71, Z:-180.50 [[ 3.48337953e-01 -1.47372414e-01 9.25711641e-01 1.81527823e+02] [ 1.13374990e-01 9.86937493e-01 1.14457401e-01 1.97707345e+02] [-9.30487390e-01 6.50826912e-02 3.60496132e-01 -1.80501755e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.510714057 meters Centerline goodness : 0.984753 Centerline is valid? [True, True] Translation: X:181.54, Y:197.70, Z:-180.53 [[ 3.53231947e-01 -1.69490201e-01 9.20054490e-01 1.81538177e+02] [ 1.19906598e-01 9.83542925e-01 1.35150742e-01 1.97700366e+02] [-9.27819810e-01 6.25810443e-02 3.67741775e-01 -1.80525768e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.540714057 meters Centerline goodness : 0.984943 Centerline is valid? [True, True] Translation: X:181.55, Y:197.70, Z:-180.56 [[ 3.54753528e-01 -1.84543191e-01 9.16566280e-01 1.81546445e+02] [ 1.21847027e-01 9.81091655e-01 1.50374419e-01 1.97695452e+02] [-9.26986104e-01 5.83350207e-02 3.70531765e-01 -1.80556290e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.5707140569999 meters Centerline goodness : 0.985282 Centerline is valid? [True, True] Translation: X:181.56, Y:197.69, Z:-180.58 [[ 3.57108880e-01 -1.99208862e-01 9.12572779e-01 1.81557904e+02] [ 1.25374517e-01 9.78374799e-01 1.64511347e-01 1.97692781e+02] [-9.25610328e-01 5.56649082e-02 3.74362044e-01 -1.80584070e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.6007140569999 meters Centerline goodness : 0.984991 Centerline is valid? [True, True] Translation: X:181.57, Y:197.69, Z:-180.62 [[ 3.55171472e-01 -1.96481215e-01 9.13919229e-01 1.81570555e+02] [ 1.27715906e-01 9.78693310e-01 1.60773293e-01 1.97694089e+02] [-9.26035568e-01 5.96199355e-02 3.72697720e-01 -1.80615141e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.630714057 meters Centerline goodness : 0.985093 Centerline is valid? [True, True] Translation: X:181.58, Y:197.69, Z:-180.65 [[ 3.55747481e-01 -1.99401920e-01 9.13062213e-01 1.81581618e+02] [ 1.29999642e-01 9.78033991e-01 1.62940497e-01 1.97693616e+02] [-9.25496528e-01 6.07320890e-02 3.73855307e-01 -1.80647779e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.660714057 meters Centerline goodness : 0.988367 Centerline is valid? [True, True] Translation: X:181.60, Y:197.70, Z:-180.68 [[ 3.61716049e-01 -2.06679697e-01 9.09090206e-01 1.81600086e+02] [ 1.42713944e-01 9.75899504e-01 1.65084487e-01 1.97695856e+02] [-9.21300293e-01 7.00261402e-02 3.82494588e-01 -1.80676498e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.6907140569999 meters Centerline goodness : 0.986977 Centerline is valid? [True, True] Translation: X:181.62, Y:197.71, Z:-180.69 [[ 3.60134535e-01 -1.93507309e-01 9.12610562e-01 1.81615496e+02] [ 1.41225486e-01 9.78285115e-01 1.51702327e-01 1.97705017e+02] [-9.22148838e-01 7.42506229e-02 3.79642418e-01 -1.80693531e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.7207140569999 meters Centerline goodness : 0.986822 Centerline is valid? [True, True] Translation: X:181.62, Y:197.69, Z:-180.73 [[ 3.59242676e-01 -2.29102965e-01 9.04685874e-01 1.81619660e+02] [ 1.43387333e-01 9.71438501e-01 1.89069595e-01 1.97690040e+02] [-9.22163094e-01 6.17986272e-02 3.81832630e-01 -1.80726267e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.750714057 meters Centerline goodness : 0.987851 Centerline is valid? [True, True] Translation: X:181.63, Y:197.69, Z:-180.76 [[ 3.57150120e-01 -2.32154204e-01 9.04736546e-01 1.81631202e+02] [ 1.46241942e-01 9.70572420e-01 1.91317728e-01 1.97689684e+02] [-9.22527553e-01 6.39812797e-02 3.80590738e-01 -1.80758641e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.780714057 meters Centerline goodness : 0.986427 Centerline is valid? [True, True] Translation: X:181.65, Y:197.70, Z:-180.78 [[ 3.59486309e-01 -2.25259032e-01 9.05553953e-01 1.81646030e+02] [ 1.47839983e-01 9.71918613e-01 1.83077988e-01 1.97696771e+02] [-9.21364712e-01 6.80630504e-02 3.82693726e-01 -1.80782410e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.8107140569999 meters Centerline goodness : 0.986427 Centerline is valid? [True, True] Translation: X:181.65, Y:197.69, Z:-180.81 [[ 3.59163627e-01 -2.39222138e-01 9.02094373e-01 1.81654138e+02] [ 1.48027676e-01 9.68956756e-01 1.98016698e-01 1.97693180e+02] [-9.21460415e-01 6.24145384e-02 3.83425519e-01 -1.80813240e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.8407140569999 meters Centerline goodness : 0.986485 Centerline is valid? [True, True] Translation: X:181.67, Y:197.70, Z:-180.84 [[ 3.56085735e-01 -2.39071553e-01 9.03353609e-01 1.81665082e+02] [ 1.48949680e-01 9.68880169e-01 1.97699803e-01 1.97695210e+02] [-9.22505795e-01 6.41561517e-02 3.80614038e-01 -1.80841889e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.870714057 meters Centerline goodness : 0.986013 Centerline is valid? [True, True] Translation: X:181.68, Y:197.71, Z:-180.87 [[ 3.54730330e-01 -1.99548991e-01 9.13425746e-01 1.81678770e+02] [ 1.44951028e-01 9.76884037e-01 1.57120268e-01 1.97709643e+02] [-9.23664221e-01 7.66666766e-02 3.75455228e-01 -1.80870993e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.900714057 meters Centerline goodness : 0.985748 Centerline is valid? [True, True] Translation: X:181.69, Y:197.70, Z:-180.89 [[ 3.57454152e-01 -2.33181800e-01 9.04352131e-01 1.81688001e+02] [ 1.48434858e-01 9.70205227e-01 1.91491278e-01 1.97701766e+02] [-9.22059446e-01 6.57880281e-02 3.81416195e-01 -1.80894013e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.9307140569999 meters Centerline goodness : 0.981434 Centerline is valid? [True, True] Translation: X:181.68, Y:197.69, Z:-180.91 [[ 3.53895777e-01 -2.54062449e-01 9.00116687e-01 1.81682513e+02] [ 1.49509808e-01 9.65389806e-01 2.13703858e-01 1.97693317e+02] [-9.23257600e-01 5.89473803e-02 3.79632204e-01 -1.80908961e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.9607140569999 meters Centerline goodness : 0.987652 Centerline is valid? [True, True] Translation: X:181.69, Y:197.66, Z:-180.96 [[ 3.52148401e-01 -3.08729825e-01 8.83559505e-01 1.81688916e+02] [ 1.43732305e-01 9.50670450e-01 2.74894016e-01 1.97663575e+02] [-9.24841894e-01 3.01925557e-02 3.79151528e-01 -1.80955419e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.990714057 meters Centerline goodness : 0.986463 Centerline is valid? [True, True] Translation: X:181.72, Y:197.72, Z:-180.97 [[ 3.52683472e-01 -1.92589502e-01 9.15709371e-01 1.81724016e+02] [ 1.42001431e-01 9.78272784e-01 1.51056127e-01 1.97721886e+02] [-9.24905380e-01 7.67570422e-02 3.72368627e-01 -1.80970613e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.020714057 meters Centerline goodness : 0.985894 Centerline is valid? [True, True] Translation: X:181.73, Y:197.71, Z:-181.01 [[ 3.54753808e-01 -2.17052696e-01 9.09416221e-01 1.81731126e+02] [ 1.40232259e-01 9.74028974e-01 1.77770842e-01 1.97711150e+02] [-9.24383389e-01 6.44646079e-02 3.75978277e-01 -1.81005698e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.0507140569999 meters Centerline goodness : 0.986494 Centerline is valid? [True, True] Translation: X:181.75, Y:197.72, Z:-181.03 [[ 3.56064620e-01 -2.00565588e-01 9.12683643e-01 1.81748211e+02] [ 1.39237800e-01 9.77179061e-01 1.60417949e-01 1.97722339e+02] [-9.24029665e-01 6.99609064e-02 3.75865202e-01 -1.81034746e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.0807140569999 meters Centerline goodness : 0.985810 Centerline is valid? [True, True] Translation: X:181.76, Y:197.73, Z:-181.06 [[ 3.56173534e-01 -1.97625647e-01 9.13282277e-01 1.81760870e+02] [ 1.37778619e-01 9.77803126e-01 1.57854676e-01 1.97726510e+02] [-9.24206398e-01 6.96071132e-02 3.75496183e-01 -1.81062641e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.1107140569999 meters Centerline goodness : 0.985505 Centerline is valid? [True, True] Translation: X:181.77, Y:197.73, Z:-181.09 [[ 3.56713453e-01 -1.91164546e-01 9.14446078e-01 1.81774003e+02] [ 1.34420589e-01 9.79157295e-01 1.52256684e-01 1.97729025e+02] [-9.24492627e-01 6.86083733e-02 3.74975030e-01 -1.81094883e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.140714057 meters Centerline goodness : 0.985405 Centerline is valid? [True, True] Translation: X:181.79, Y:197.73, Z:-181.12 [[ 3.59659734e-01 -1.86790845e-01 9.14195852e-01 1.81788582e+02] [ 1.34272351e-01 9.79921237e-01 1.47395066e-01 1.97734190e+02] [-9.23371979e-01 6.97391557e-02 3.77519058e-01 -1.81124107e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.1707140569999 meters Centerline goodness : 0.985191 Centerline is valid? [True, True] Translation: X:181.80, Y:197.74, Z:-181.15 [[ 3.58588418e-01 -1.76567140e-01 9.16645183e-01 1.81800946e+02] [ 1.29431798e-01 9.81868565e-01 1.38497407e-01 1.97738661e+02] [-9.24479181e-01 6.89794681e-02 3.74940098e-01 -1.81154285e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.2007140569999 meters Centerline goodness : 0.984442 Centerline is valid? [True, True] Translation: X:181.81, Y:197.74, Z:-181.19 [[ 3.58515026e-01 -1.73869742e-01 9.17189342e-01 1.81814052e+02] [ 1.28137012e-01 9.82368126e-01 1.36138792e-01 1.97742516e+02] [-9.24687992e-01 6.87180987e-02 3.74472884e-01 -1.81187797e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.2307140569999 meters Centerline goodness : 0.985482 Centerline is valid? [True, True] Translation: X:181.83, Y:197.74, Z:-181.22 [[ 3.61779992e-01 -1.77733341e-01 9.15164519e-01 1.81827773e+02] [ 1.28839913e-01 9.81770870e-01 1.39736311e-01 1.97744686e+02] [-9.23317667e-01 6.73559157e-02 3.78084206e-01 -1.81216571e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.260714057 meters Centerline goodness : 0.986103 Centerline is valid? [True, True] Translation: X:181.83, Y:197.74, Z:-181.23 [[ 3.63834749e-01 -1.95373326e-01 9.10743399e-01 1.81832924e+02] [ 1.27443735e-01 9.79001640e-01 1.59103374e-01 1.97738788e+02] [-9.22703837e-01 5.81812038e-02 3.81093923e-01 -1.81234655e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.290714057 meters Centerline goodness : 0.985356 Centerline is valid? [True, True] Translation: X:181.84, Y:197.73, Z:-181.27 [[ 3.62985341e-01 -2.16182459e-01 9.06370116e-01 1.81841530e+02] [ 1.24697571e-01 9.75234712e-01 1.82668476e-01 1.97728518e+02] [-9.23413319e-01 4.67161728e-02 3.80953332e-01 -1.81272699e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.3207140569999 meters Centerline goodness : 0.986684 Centerline is valid? [True, True] Translation: X:181.86, Y:197.74, Z:-181.30 [[ 3.66778627e-01 -2.09674111e-01 9.06372002e-01 1.81859693e+02] [ 1.28267067e-01 9.76363388e-01 1.73960037e-01 1.97735112e+02] [-9.21423355e-01 5.24528548e-02 3.85003506e-01 -1.81304508e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.3507140569999 meters Centerline goodness : 0.989025 Centerline is valid? [True, True] Translation: X:181.87, Y:197.74, Z:-181.31 [[ 3.83434127e-01 -2.48879313e-01 8.89402810e-01 1.81872309e+02] [ 1.51241788e-01 9.66927568e-01 2.05370395e-01 1.97741908e+02] [-9.11100539e-01 5.57688531e-02 4.08393980e-01 -1.81305672e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.380714057 meters Centerline goodness : 0.986205 Centerline is valid? [True, True] Translation: X:181.86, Y:197.70, Z:-181.34 [[ 3.72849587e-01 -3.04816210e-01 8.76396180e-01 1.81864738e+02] [ 1.40265540e-01 9.52163917e-01 2.71494849e-01 1.97703558e+02] [-9.17228851e-01 2.17014409e-02 3.97769133e-01 -1.81344082e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.410714057 meters Centerline goodness : 0.982220 Centerline is valid? [True, True] Translation: X:181.87, Y:197.71, Z:-181.36 [[ 3.69544717e-01 -3.12037356e-01 8.75253901e-01 1.81869052e+02] [ 1.47679132e-01 9.49680925e-01 2.76219142e-01 1.97708697e+02] [-9.17402625e-01 2.71814117e-02 3.97030975e-01 -1.81363663e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.4407140569999 meters Centerline goodness : 0.987673 Centerline is valid? [True, True] Translation: X:181.87, Y:197.67, Z:-181.40 [[ 3.69972361e-01 -3.79633008e-01 8.47938224e-01 1.81872695e+02] [ 1.44996425e-01 9.25111566e-01 3.50919688e-01 1.97668212e+02] [-9.17658155e-01 -6.88257473e-03 3.97311139e-01 -1.81403496e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.4707140569999 meters Centerline goodness : 0.989499 Centerline is valid? [True, True] Translation: X:181.90, Y:197.72, Z:-181.42 [[ 3.75244934e-01 -2.97055958e-01 8.78037014e-01 1.81900018e+02] [ 1.55349399e-01 9.54013419e-01 2.56368799e-01 1.97721006e+02] [-9.13814973e-01 4.02014298e-02 4.04136167e-01 -1.81419076e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.500714057 meters Centerline goodness : 0.987510 Centerline is valid? [True, True] Translation: X:181.91, Y:197.69, Z:-181.45 [[ 3.69349957e-01 -3.40775592e-01 8.64553414e-01 1.81906259e+02] [ 1.54985332e-01 9.39896173e-01 3.04260958e-01 1.97694187e+02] [-9.16275153e-01 2.16143262e-02 3.99965829e-01 -1.81450978e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.530714057 meters Centerline goodness : 0.987216 Centerline is valid? [True, True] Translation: X:181.93, Y:197.72, Z:-181.48 [[ 3.68222653e-01 -2.91587139e-01 8.82830118e-01 1.81926976e+02] [ 1.54546964e-01 9.55533441e-01 2.51139562e-01 1.97717198e+02] [-9.16802767e-01 4.39634388e-02 3.96912966e-01 -1.81475868e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.5607140569999 meters Centerline goodness : 0.988643 Centerline is valid? [True, True] Translation: X:181.95, Y:197.73, Z:-181.50 [[ 3.72143705e-01 -2.64690426e-01 8.89633656e-01 1.81947260e+02] [ 1.64674504e-01 9.62098994e-01 2.17365666e-01 1.97733543e+02] [-9.13450256e-01 6.56087171e-02 4.01626849e-01 -1.81504309e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.5907140569999 meters Centerline goodness : 0.989099 Centerline is valid? [True, True] Translation: X:181.96, Y:197.74, Z:-181.53 [[ 3.72500184e-01 -2.61907616e-01 8.90307820e-01 1.81962643e+02] [ 1.68874236e-01 9.62462816e-01 2.12477812e-01 1.97738734e+02] [-9.12537728e-01 7.12020291e-02 4.02747025e-01 -1.81533177e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.620714057 meters Centerline goodness : 0.988364 Centerline is valid? [True, True] Translation: X:181.98, Y:197.74, Z:-181.56 [[ 3.72578661e-01 -2.59934109e-01 8.90853187e-01 1.81976222e+02] [ 1.71920295e-01 9.62686716e-01 2.08992102e-01 1.97743295e+02] [-9.11936705e-01 7.52897451e-02 4.03364477e-01 -1.81561658e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.650714057 meters Centerline goodness : 0.988108 Centerline is valid? [True, True] Translation: X:181.98, Y:197.74, Z:-181.59 [[ 3.65812310e-01 -2.55494505e-01 8.94932351e-01 1.81984454e+02] [ 1.70097911e-01 9.63738412e-01 2.05608790e-01 1.97743517e+02] [-9.15012598e-01 7.70118972e-02 3.96006456e-01 -1.81587877e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.6807140569999 meters Centerline goodness : 0.989821 Centerline is valid? [True, True] Translation: X:181.99, Y:197.75, Z:-181.61 [[ 3.68541636e-01 -2.79929975e-01 8.86462786e-01 1.81988660e+02] [ 1.82085587e-01 9.56850275e-01 2.26456155e-01 1.97745121e+02] [-9.11604027e-01 7.79535752e-02 4.03610380e-01 -1.81609881e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.7107140569999 meters Centerline goodness : 0.988199 Centerline is valid? [True, True] Translation: X:182.00, Y:197.72, Z:-181.66 [[ 3.64501699e-01 -3.05546532e-01 8.79647559e-01 1.81999158e+02] [ 1.75715149e-01 9.50234132e-01 2.57253341e-01 1.97721288e+02] [-9.14474001e-01 6.07981218e-02 4.00051109e-01 -1.81659918e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.740714057 meters Centerline goodness : 0.987314 Centerline is valid? [True, True] Translation: X:182.02, Y:197.75, Z:-181.68 [[ 3.63062538e-01 -2.50236698e-01 8.97533948e-01 1.82020200e+02] [ 1.73592811e-01 9.64563140e-01 1.98704516e-01 1.97752261e+02] [-9.15451326e-01 8.36632750e-02 3.93636034e-01 -1.81675478e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.770714057 meters Centerline goodness : 0.987321 Centerline is valid? [True, True] Translation: X:182.03, Y:197.74, Z:-181.71 [[ 3.62052249e-01 -2.69961772e-01 8.92210071e-01 1.82025918e+02] [ 1.73739756e-01 9.59915837e-01 2.19945636e-01 1.97744079e+02] [-9.15823491e-01 7.53805482e-02 3.94442781e-01 -1.81708122e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.8007140569999 meters Centerline goodness : 0.988012 Centerline is valid? [True, True] Translation: X:182.04, Y:197.75, Z:-181.74 [[ 3.63325785e-01 -2.59659776e-01 8.94746430e-01 1.82042837e+02] [ 1.80264778e-01 9.61820772e-01 2.05925743e-01 1.97751889e+02] [-9.14056335e-01 8.64731344e-02 3.96261799e-01 -1.81744299e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.8307140569999 meters Centerline goodness : 0.988196 Centerline is valid? [True, True] Translation: X:182.06, Y:197.76, Z:-181.77 [[ 3.64461343e-01 -2.42674889e-01 8.99042172e-01 1.82059239e+02] [ 1.81969550e-01 9.65394522e-01 1.86816756e-01 1.97764309e+02] [-9.13266124e-01 9.55108133e-02 3.96008425e-01 -1.81767297e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.8607140569999 meters Centerline goodness : 0.988292 Centerline is valid? [True, True] Translation: X:182.07, Y:197.77, Z:-181.79 [[ 3.64832375e-01 -2.49362189e-01 8.97059551e-01 1.82071112e+02] [ 1.84112396e-01 9.63765181e-01 1.93026687e-01 1.97765342e+02] [-9.12688317e-01 9.47373991e-02 3.97523410e-01 -1.81793875e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.890714057 meters Centerline goodness : 0.988816 Centerline is valid? [True, True] Translation: X:182.08, Y:197.77, Z:-181.82 [[ 3.65816940e-01 -2.53574035e-01 8.95476508e-01 1.82083596e+02] [ 1.84468743e-01 9.62833467e-01 1.97289124e-01 1.97767823e+02] [-9.12222149e-01 9.30157224e-02 3.98997276e-01 -1.81823561e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.9207140569999 meters Centerline goodness : 0.987871 Centerline is valid? [True, True] Translation: X:182.10, Y:197.77, Z:-181.85 [[ 3.66994844e-01 -2.55689205e-01 8.94392428e-01 1.82096090e+02] [ 1.85804233e-01 9.62255582e-01 1.98849145e-01 1.97772176e+02] [-9.11477686e-01 9.32052877e-02 4.00650973e-01 -1.81851847e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.9507140569999 meters Centerline goodness : 0.987536 Centerline is valid? [True, True] Translation: X:182.11, Y:197.78, Z:-181.88 [[ 3.67713316e-01 -2.57238355e-01 8.93652811e-01 1.82107592e+02] [ 1.86156010e-01 9.61890253e-01 2.00282504e-01 1.97775156e+02] [-9.11116270e-01 9.27122977e-02 4.01586321e-01 -1.81881603e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.9807140569999 meters Centerline goodness : 0.987698 Centerline is valid? [True, True] Translation: X:182.12, Y:197.78, Z:-181.91 [[ 3.67175051e-01 -2.55342202e-01 8.94417599e-01 1.82118187e+02] [ 1.85912122e-01 9.62325695e-01 1.98408517e-01 1.97778600e+02] [-9.11383106e-01 9.34324167e-02 4.00813196e-01 -1.81909453e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.010714057 meters Centerline goodness : 0.987753 Centerline is valid? [True, True] Translation: X:182.13, Y:197.78, Z:-181.93 [[ 3.66907553e-01 -2.56161740e-01 8.94293023e-01 1.82128843e+02] [ 1.86809267e-01 9.62045242e-01 1.98925238e-01 1.97781100e+02] [-9.11307383e-01 9.40750521e-02 4.00835053e-01 -1.81934103e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.040714057 meters Centerline goodness : 0.987897 Centerline is valid? [True, True] Translation: X:182.14, Y:197.78, Z:-181.96 [[ 3.67669825e-01 -2.69491781e-01 8.90052290e-01 1.82140678e+02] [ 1.89337596e-01 9.58736388e-01 2.12075018e-01 1.97780991e+02] [-9.10477992e-01 9.05467761e-02 4.03523366e-01 -1.81957768e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.0707140569999 meters Centerline goodness : 0.987378 Centerline is valid? [True, True] Translation: X:182.15, Y:197.79, Z:-181.98 [[ 3.66767132e-01 -2.68350605e-01 8.90769231e-01 1.82151463e+02] [ 1.90511970e-01 9.58867542e-01 2.10423923e-01 1.97785913e+02] [-9.10597090e-01 9.25256223e-02 4.02805101e-01 -1.81983066e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.1007140569999 meters Centerline goodness : 0.988238 Centerline is valid? [True, True] Translation: X:182.16, Y:197.79, Z:-182.01 [[ 3.65562309e-01 -2.70155232e-01 8.90719007e-01 1.82162775e+02] [ 1.92044457e-01 9.58254001e-01 2.11821141e-01 1.97790728e+02] [-9.10759642e-01 9.36238225e-02 4.02183360e-01 -1.82007594e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.130714057 meters Centerline goodness : 0.988817 Centerline is valid? [True, True] Translation: X:182.17, Y:197.79, Z:-182.04 [[ 3.64969938e-01 -2.79472485e-01 8.88083372e-01 1.82173497e+02] [ 1.94097904e-01 9.55763259e-01 2.21003612e-01 1.97790871e+02] [-9.10561886e-01 9.17154468e-02 4.03069881e-01 -1.82043122e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.160714057 meters Centerline goodness : 0.988466 Centerline is valid? [True, True] Translation: X:182.19, Y:197.80, Z:-182.07 [[ 3.67697237e-01 -2.82288644e-01 8.86065383e-01 1.82188919e+02] [ 1.96318497e-01 9.54903498e-01 2.22751784e-01 1.97795908e+02] [-9.08987233e-01 9.20458090e-02 4.06533861e-01 -1.82070166e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.1907140569999 meters Centerline goodness : 0.988724 Centerline is valid? [True, True] Translation: X:182.20, Y:197.80, Z:-182.10 [[ 3.68057741e-01 -2.76424121e-01 8.87763034e-01 1.82201964e+02] [ 1.96601189e-01 9.56335053e-01 2.16266594e-01 1.97803943e+02] [-9.08780211e-01 9.49366741e-02 4.06331830e-01 -1.82098861e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.2207140569999 meters Centerline goodness : 0.987820 Centerline is valid? [True, True] Translation: X:182.21, Y:197.80, Z:-182.12 [[ 3.67232430e-01 -2.95615118e-01 8.81902514e-01 1.82209187e+02] [ 1.93768358e-01 9.51662395e-01 2.38311789e-01 1.97799293e+02] [-9.09722027e-01 8.33689846e-02 4.06762150e-01 -1.82122280e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.250714057 meters Centerline goodness : 0.989330 Centerline is valid? [True, True] Translation: X:182.22, Y:197.80, Z:-182.16 [[ 3.68434563e-01 -3.06511810e-01 8.77671056e-01 1.82222093e+02] [ 1.97215353e-01 9.48365654e-01 2.48412340e-01 1.97801834e+02] [-9.08494401e-01 8.15665153e-02 4.09859520e-01 -1.82157337e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.280714057 meters Centerline goodness : 0.988392 Centerline is valid? [True, True] Translation: X:182.23, Y:197.81, Z:-182.18 [[ 3.67509771e-01 -2.95985876e-01 8.81662594e-01 1.82233305e+02] [ 1.94099875e-01 9.51538622e-01 2.38536139e-01 1.97811301e+02] [-9.09539338e-01 8.34662377e-02 4.07150563e-01 -1.82178524e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.3107140569999 meters Centerline goodness : 0.988329 Centerline is valid? [True, True] Translation: X:182.24, Y:197.81, Z:-182.22 [[ 3.67334210e-01 -2.99357753e-01 8.80596681e-01 1.82244457e+02] [ 1.96144952e-01 9.50427734e-01 2.41276357e-01 1.97813521e+02] [-9.09171456e-01 8.40955339e-02 4.07842132e-01 -1.82218490e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.3407140569999 meters Centerline goodness : 0.989460 Centerline is valid? [True, True] Translation: X:182.26, Y:197.83, Z:-182.24 [[ 3.72076364e-01 -2.90686479e-01 8.81510380e-01 1.82261787e+02] [ 2.01268950e-01 9.52367846e-01 2.29098876e-01 1.97826280e+02] [-9.06118088e-01 9.21783912e-02 4.12859728e-01 -1.82241902e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.370714057 meters Centerline goodness : 0.988007 Centerline is valid? [True, True] Translation: X:182.27, Y:197.82, Z:-182.27 [[ 3.67172920e-01 -3.06759309e-01 8.78113189e-01 1.82267966e+02] [ 1.96909441e-01 9.48290929e-01 2.48939725e-01 1.97821369e+02] [-9.09071350e-01 8.15048517e-02 4.08590554e-01 -1.82266334e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.400714057 meters Centerline goodness : 0.989321 Centerline is valid? [True, True] Translation: X:182.28, Y:197.82, Z:-182.29 [[ 3.72119517e-01 -3.31644965e-01 8.66913307e-01 1.82276927e+02] [ 2.06814647e-01 9.40133461e-01 2.70881483e-01 1.97822565e+02] [-9.04850688e-01 7.84900834e-02 4.18431046e-01 -1.82294804e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.4307140569999 meters Centerline goodness : 0.988826 Centerline is valid? [True, True] Translation: X:182.29, Y:197.83, Z:-182.32 [[ 3.73444164e-01 -3.25714665e-01 8.68590475e-01 1.82289711e+02] [ 2.04408624e-01 9.42210197e-01 2.65437485e-01 1.97828274e+02] [-9.04851684e-01 7.84213038e-02 4.18441786e-01 -1.82321442e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.4607140569999 meters Centerline goodness : 0.988887 Centerline is valid? [True, True] Translation: X:182.31, Y:197.85, Z:-182.35 [[ 3.75492807e-01 -3.06524658e-01 8.74670101e-01 1.82305418e+02] [ 2.02621610e-01 9.48047761e-01 2.45254821e-01 1.97845068e+02] [-9.04405681e-01 8.51356427e-02 4.18093635e-01 -1.82346624e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.490714057 meters Centerline goodness : 0.989068 Centerline is valid? [True, True] Translation: X:182.32, Y:197.85, Z:-182.38 [[ 3.75235239e-01 -3.05835434e-01 8.75021830e-01 1.82317512e+02] [ 2.01334706e-01 9.48354616e-01 2.45128249e-01 1.97850558e+02] [-9.04799896e-01 8.41915056e-02 4.17431359e-01 -1.82376041e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.520714057 meters Centerline goodness : 0.988578 Centerline is valid? [True, True] Translation: X:182.33, Y:197.86, Z:-182.41 [[ 3.74108267e-01 -2.94255932e-01 8.79463729e-01 1.82329127e+02] [ 1.96653760e-01 9.51931204e-01 2.34849488e-01 1.97860680e+02] [-9.06294822e-01 8.50907138e-02 4.13991868e-01 -1.82408224e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.5507140569999 meters Centerline goodness : 0.988424 Centerline is valid? [True, True] Translation: X:182.34, Y:197.87, Z:-182.44 [[ 3.73674423e-01 -2.93545584e-01 8.79885456e-01 1.82342099e+02] [ 1.95802094e-01 9.52189615e-01 2.34513277e-01 1.97866824e+02] [-9.06658131e-01 8.46518011e-02 4.13285744e-01 -1.82438476e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.5807140569999 meters Centerline goodness : 0.988263 Centerline is valid? [True, True] Translation: X:182.36, Y:197.87, Z:-182.46 [[ 3.77591570e-01 -3.17222222e-01 8.69939463e-01 1.82355683e+02] [ 1.99009362e-01 9.45334676e-01 2.58336262e-01 1.97866372e+02] [-9.04333943e-01 7.55805024e-02 4.20080596e-01 -1.82461794e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.6107140569999 meters Centerline goodness : 0.988480 Centerline is valid? [True, True] Translation: X:182.37, Y:197.88, Z:-182.49 [[ 3.77923699e-01 -3.11598429e-01 8.71825727e-01 1.82367339e+02] [ 1.97030302e-01 9.47160185e-01 2.53113895e-01 1.97875603e+02] [-9.04628509e-01 7.61183466e-02 4.19348613e-01 -1.82490159e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.640714057 meters Centerline goodness : 0.987961 Centerline is valid? [True, True] Translation: X:182.38, Y:197.88, Z:-182.52 [[ 3.78422308e-01 -3.17549346e-01 8.69459010e-01 1.82379015e+02] [ 1.96981454e-01 9.45424232e-01 2.59559872e-01 1.97879068e+02] [-9.04430685e-01 7.30440545e-02 4.20320952e-01 -1.82519580e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.6707140569999 meters Centerline goodness : 0.989236 Centerline is valid? [True, True] Translation: X:182.38, Y:197.90, Z:-182.54 [[ 3.77744858e-01 -3.08148730e-01 8.73128388e-01 1.82382918e+02] [ 1.99723357e-01 9.47913263e-01 2.48135097e-01 1.97896010e+02] [-9.04112495e-01 8.06523756e-02 4.19613860e-01 -1.82540109e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.7007140569999 meters Centerline goodness : 0.989236 Centerline is valid? [True, True] Translation: X:182.38, Y:197.87, Z:-182.58 [[ 3.74108183e-01 -3.63276198e-01 8.53272214e-01 1.82382178e+02] [ 1.99564915e-01 9.30063693e-01 3.08472643e-01 1.97870700e+02] [-9.05658276e-01 5.48810572e-02 4.20441622e-01 -1.82575429e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.7307140569999 meters Centerline goodness : 0.989170 Centerline is valid? [True, True] Translation: X:182.40, Y:197.86, Z:-182.61 [[ 3.78521997e-01 -3.79277975e-01 8.44315886e-01 1.82403287e+02] [ 1.95821096e-01 9.24356561e-01 3.27443196e-01 1.97863129e+02] [-9.04640921e-01 4.13904100e-02 4.24159920e-01 -1.82614470e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.760714057 meters Centerline goodness : 0.988750 Centerline is valid? [True, True] Translation: X:182.42, Y:197.92, Z:-182.62 [[ 3.79669134e-01 -2.91103867e-01 8.78128628e-01 1.82422218e+02] [ 1.99810126e-01 9.52602051e-01 2.29401932e-01 1.97920062e+02] [-9.03286921e-01 8.83621588e-02 4.19839096e-01 -1.82620380e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.790714057 meters Centerline goodness : 0.989228 Centerline is valid? [True, True] Translation: X:182.42, Y:197.89, Z:-182.66 [[ 3.75305730e-01 -3.63693281e-01 8.52568359e-01 1.82419330e+02] [ 1.98762334e-01 9.29986584e-01 3.09222394e-01 1.97887268e+02] [-9.05339242e-01 5.34055401e-02 4.21317819e-01 -1.82663085e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.8207140569999 meters Centerline goodness : 0.988733 Centerline is valid? [True, True] Translation: X:182.43, Y:197.89, Z:-182.69 [[ 3.76029613e-01 -3.62708656e-01 8.52668846e-01 1.82432774e+02] [ 1.97737036e-01 9.30418671e-01 3.08579264e-01 1.97894122e+02] [-9.05263385e-01 5.25692692e-02 4.21585907e-01 -1.82691439e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.8507140569999 meters Centerline goodness : 0.989556 Centerline is valid? [True, True] Translation: X:182.45, Y:197.90, Z:-182.72 [[ 3.76348835e-01 -3.61526690e-01 8.53029898e-01 1.82446691e+02] [ 1.95997446e-01 9.30952336e-01 3.08079127e-01 1.97901831e+02] [-9.05509004e-01 5.12464604e-02 4.21221135e-01 -1.82721116e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.880714057 meters Centerline goodness : 0.990391 Centerline is valid? [True, True] Translation: X:182.47, Y:197.89, Z:-182.76 [[ 3.82999292e-01 -3.90695325e-01 8.37059559e-01 1.82471858e+02] [ 1.96348794e-01 9.19879936e-01 3.39511494e-01 1.97893743e+02] [-9.02639847e-01 3.43229733e-02 4.29025920e-01 -1.82757076e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.910714057 meters Centerline goodness : 0.990900 Centerline is valid? [True, True] Translation: X:182.50, Y:197.94, Z:-182.78 [[ 3.85056208e-01 -3.14462125e-01 8.67666577e-01 1.82498809e+02] [ 1.93522986e-01 9.46769298e-01 2.57248422e-01 1.97937069e+02] [-9.02374961e-01 6.88583249e-02 4.25415045e-01 -1.82778888e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.9407140569999 meters Centerline goodness : 0.989926 Centerline is valid? [True, True] Translation: X:182.50, Y:197.96, Z:-182.79 [[ 3.80039826e-01 -2.77761736e-01 8.82280086e-01 1.82502170e+02] [ 1.94790887e-01 9.56489649e-01 2.17218924e-01 1.97962120e+02] [-9.04226875e-01 8.93082789e-02 4.17609614e-01 -1.82794610e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.9707140569999 meters Centerline goodness : 0.990172 Centerline is valid? [True, True] Translation: X:182.51, Y:197.91, Z:-182.85 [[ 3.80362499e-01 -3.84135193e-01 8.41287420e-01 1.82506992e+02] [ 1.92991211e-01 9.22601145e-01 3.34008263e-01 1.97911189e+02] [-9.04477065e-01 3.53168600e-02 4.25057593e-01 -1.82848936e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.000714057 meters Centerline goodness : 0.990451 Centerline is valid? [True, True] Translation: X:182.54, Y:197.96, Z:-182.87 [[ 3.82047389e-01 -2.96445108e-01 8.75305713e-01 1.82536011e+02] [ 1.91708253e-01 9.51973463e-01 2.38735148e-01 1.97960525e+02] [-9.04039678e-01 7.65951895e-02 4.20529950e-01 -1.82868585e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.030714057 meters Centerline goodness : 0.988572 Centerline is valid? [True, True] Translation: X:182.55, Y:197.97, Z:-182.89 [[ 3.77028985e-01 -2.91737071e-01 8.79055531e-01 1.82546122e+02] [ 1.86176467e-01 9.53597072e-01 2.36624065e-01 1.97966848e+02] [-9.07296792e-01 7.44453218e-02 4.13848313e-01 -1.82888248e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.0607140569999 meters Centerline goodness : 0.989416 Centerline is valid? [True, True] Translation: X:182.55, Y:197.97, Z:-182.91 [[ 3.77056494e-01 -3.01737566e-01 8.75661374e-01 1.82545049e+02] [ 1.98020291e-01 9.49846159e-01 2.42033550e-01 1.97973894e+02] [-9.04774206e-01 8.21383981e-02 4.17895823e-01 -1.82914565e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.0907140569999 meters Centerline goodness : 0.988250 Centerline is valid? [True, True] Translation: X:182.55, Y:197.94, Z:-182.97 [[ 3.67084116e-01 -3.54976008e-01 8.59791420e-01 1.82550376e+02] [ 1.84262157e-01 9.33753340e-01 3.06842237e-01 1.97939778e+02] [-9.11754742e-01 4.57901101e-02 4.08174664e-01 -1.82967808e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.120714057 meters Centerline goodness : 0.989202 Centerline is valid? [True, True] Translation: X:182.57, Y:197.98, Z:-182.97 [[ 3.77218671e-01 -3.01951122e-01 8.75517901e-01 1.82568491e+02] [ 2.01307528e-01 9.49486868e-01 2.40727993e-01 1.97984802e+02] [-9.03980837e-01 8.54412508e-02 4.18949208e-01 -1.82971376e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.150714057 meters Centerline goodness : 0.987609 Centerline is valid? [True, True] Translation: X:182.57, Y:197.95, Z:-183.02 [[ 3.66069420e-01 -3.54705571e-01 8.60335480e-01 1.82571303e+02] [ 1.87946933e-01 9.33636826e-01 3.04956108e-01 1.97949642e+02] [-9.11410517e-01 5.00623094e-02 4.08441716e-01 -1.83024587e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.1807140569999 meters Centerline goodness : 0.989500 Centerline is valid? [True, True] Translation: X:182.59, Y:197.99, Z:-183.03 [[ 3.76547647e-01 -3.12940379e-01 8.71940473e-01 1.82589251e+02] [ 2.05177826e-01 9.46013538e-01 2.50919202e-01 1.97990667e+02] [-9.03390242e-01 8.44198157e-02 4.20427598e-01 -1.83029644e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.2107140569999 meters Centerline goodness : 0.989708 Centerline is valid? [True, True] Translation: X:182.59, Y:197.95, Z:-183.07 [[ 3.67244510e-01 -3.94468708e-01 8.42333609e-01 1.82587743e+02] [ 2.02671772e-01 9.17790929e-01 3.41443940e-01 1.97954241e+02] [-9.07775095e-01 4.53238328e-02 4.17001352e-01 -1.83067590e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.240714057 meters Centerline goodness : 0.988657 Centerline is valid? [True, True] Translation: X:182.61, Y:197.96, Z:-183.11 [[ 3.64239888e-01 -3.56255022e-01 8.60471768e-01 1.82606548e+02] [ 1.91393812e-01 9.32854691e-01 3.05205723e-01 1.97964553e+02] [-9.11426197e-01 5.35208732e-02 4.07967895e-01 -1.83110874e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.270714057 meters Centerline goodness : 0.989155 Centerline is valid? [True, True] Translation: X:182.63, Y:198.00, Z:-183.13 [[ 3.66204891e-01 -2.98772333e-01 8.81265608e-01 1.82632220e+02] [ 1.94235527e-01 9.50734868e-01 2.41610784e-01 1.98000955e+02] [-9.10036559e-01 8.26940391e-02 4.06195960e-01 -1.83129330e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.3007140569999 meters Centerline goodness : 0.988745 Centerline is valid? [True, True] Translation: X:182.64, Y:198.01, Z:-183.16 [[ 3.61558961e-01 -2.73506176e-01 8.91330180e-01 1.82644847e+02] [ 1.91205804e-01 9.57436564e-01 2.16230355e-01 1.98014044e+02] [-9.12532442e-01 9.22474813e-02 3.98465738e-01 -1.83164332e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.3307140569999 meters Centerline goodness : 0.988904 Centerline is valid? [True, True] Translation: X:182.66, Y:198.02, Z:-183.19 [[ 3.63628690e-01 -2.83306252e-01 8.87418584e-01 1.82656936e+02] [ 1.93929242e-01 9.54782647e-01 2.25347610e-01 1.98017320e+02] [-9.11134252e-01 9.01535566e-02 4.02127730e-01 -1.83188313e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.3607140569999 meters Centerline goodness : 0.987306 Centerline is valid? [True, True] Translation: X:182.67, Y:198.01, Z:-183.21 [[ 3.68797168e-01 -3.34858834e-01 8.67097578e-01 1.82665756e+02] [ 2.02689662e-01 9.39377253e-01 2.76563335e-01 1.98005814e+02] [-9.07141417e-01 7.37559404e-02 4.14312094e-01 -1.83206005e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.390714057 meters Centerline goodness : 0.988128 Centerline is valid? [True, True] Translation: X:182.67, Y:198.00, Z:-183.24 [[ 3.66382593e-01 -3.52132371e-01 8.61258723e-01 1.82673261e+02] [ 2.03361554e-01 9.33549118e-01 2.95178121e-01 1.98001017e+02] [-9.07969093e-01 6.69987870e-02 4.13646333e-01 -1.83239596e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.4207140569999 meters Centerline goodness : 0.988530 Centerline is valid? [True, True] Translation: X:182.68, Y:198.00, Z:-183.27 [[ 3.65429862e-01 -3.55769877e-01 8.60167897e-01 1.82684682e+02] [ 2.05343911e-01 9.32123750e-01 2.98293804e-01 1.98004956e+02] [-9.07906876e-01 6.76247765e-02 4.13681031e-01 -1.83270754e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.4507140569999 meters Centerline goodness : 0.987760 Centerline is valid? [True, True] Translation: X:182.70, Y:198.02, Z:-183.29 [[ 3.67739168e-01 -3.38706032e-01 8.66052036e-01 1.82699973e+02] [ 2.07594813e-01 9.37708049e-01 2.78582139e-01 1.98019685e+02] [-9.06461416e-01 7.73423471e-02 4.15145593e-01 -1.83294070e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.4807140569999 meters Centerline goodness : 0.987881 Centerline is valid? [True, True] Translation: X:182.71, Y:198.01, Z:-183.33 [[ 3.64072163e-01 -3.64211840e-01 8.57205457e-01 1.82706195e+02] [ 2.08387533e-01 9.28891035e-01 3.06163489e-01 1.98011638e+02] [-9.07758832e-01 6.71653271e-02 4.14080575e-01 -1.83326882e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.510714057 meters Centerline goodness : 0.989225 Centerline is valid? [True, True] Translation: X:182.72, Y:198.02, Z:-183.35 [[ 3.64026511e-01 -3.67067500e-01 8.56005929e-01 1.82720074e+02] [ 2.11811139e-01 9.27609138e-01 3.07696814e-01 1.98018375e+02] [-9.06984421e-01 6.93017932e-02 4.15423303e-01 -1.83353949e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.540714057 meters Centerline goodness : 0.988414 Centerline is valid? [True, True] Translation: X:182.73, Y:198.03, Z:-183.38 [[ 3.63085439e-01 -3.54577193e-01 8.61651889e-01 1.82734198e+02] [ 2.11963424e-01 9.31947296e-01 2.94186581e-01 1.98029343e+02] [-9.07326000e-01 7.58238207e-02 4.13533889e-01 -1.83380660e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.5707140569999 meters Centerline goodness : 0.987826 Centerline is valid? [True, True] Translation: X:182.74, Y:198.03, Z:-183.41 [[ 3.62667511e-01 -3.67977856e-01 8.56191902e-01 1.82742392e+02] [ 2.13460897e-01 9.27116315e-01 3.08041855e-01 1.98028679e+02] [-9.07142063e-01 7.10467189e-02 4.14783850e-01 -1.83409723e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.6007140569999 meters Centerline goodness : 0.989581 Centerline is valid? [True, True] Translation: X:182.75, Y:198.04, Z:-183.44 [[ 3.61843483e-01 -3.50509412e-01 8.63835891e-01 1.82754700e+02] [ 2.14637377e-01 9.33054122e-01 2.88688070e-01 1.98039873e+02] [-9.07193524e-01 8.09515729e-02 4.12851974e-01 -1.83444527e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.630714057 meters Centerline goodness : 0.988622 Centerline is valid? [True, True] Translation: X:182.77, Y:198.06, Z:-183.46 [[ 3.62761228e-01 -3.32087776e-01 8.70702016e-01 1.82771658e+02] [ 2.13682270e-01 9.39095324e-01 2.69146540e-01 1.98056187e+02] [-9.07052468e-01 8.84176538e-02 4.11628642e-01 -1.83462673e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.660714057 meters Centerline goodness : 0.989539 Centerline is valid? [True, True] Translation: X:182.78, Y:198.05, Z:-183.49 [[ 3.60652381e-01 -3.64154204e-01 8.58674313e-01 1.82776251e+02] [ 2.15423949e-01 9.28262431e-01 3.03185390e-01 1.98046744e+02] [-9.07481340e-01 7.56344786e-02 4.13227593e-01 -1.83494595e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.6907140569999 meters Centerline goodness : 0.989466 Centerline is valid? [True, True] Translation: X:182.79, Y:198.06, Z:-183.53 [[ 3.57732863e-01 -3.51090252e-01 8.65310831e-01 1.82785028e+02] [ 2.15696591e-01 9.32640067e-01 2.89236038e-01 1.98055553e+02] [-9.08571505e-01 8.31753606e-02 4.09364972e-01 -1.83530698e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.7207140569999 meters Centerline goodness : 0.989579 Centerline is valid? [True, True] Translation: X:182.80, Y:198.07, Z:-183.55 [[ 3.55533349e-01 -3.44220602e-01 8.68969628e-01 1.82799028e+02] [ 2.15678916e-01 9.34836835e-01 2.82068604e-01 1.98066217e+02] [-9.09438642e-01 8.71336320e-02 4.06606797e-01 -1.83551448e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.750714057 meters Centerline goodness : 0.988304 Centerline is valid? [True, True] Translation: X:182.81, Y:198.07, Z:-183.58 [[ 3.52049767e-01 -3.35139747e-01 8.73923516e-01 1.82806518e+02] [ 2.13844791e-01 9.37802084e-01 2.73491604e-01 1.98072612e+02] [-9.11225201e-01 9.06013362e-02 4.01820894e-01 -1.83581712e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.780714057 meters Centerline goodness : 0.988191 Centerline is valid? [True, True] Translation: X:182.81, Y:198.08, Z:-183.61 [[ 3.52793473e-01 -3.37068979e-01 8.72881017e-01 1.82814237e+02] [ 2.13594104e-01 9.37243461e-01 2.75594366e-01 1.98075933e+02] [-9.10996336e-01 8.92143457e-02 4.02649322e-01 -1.83611014e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.8107140569999 meters Centerline goodness : 0.989359 Centerline is valid? [True, True] Translation: X:182.82, Y:198.07, Z:-183.65 [[ 3.42240133e-01 -3.46296206e-01 8.73470451e-01 1.82817630e+02] [ 2.09181174e-01 9.34358241e-01 2.88475152e-01 1.98070942e+02] [-9.16032165e-01 8.39857998e-02 3.92213536e-01 -1.83652700e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.8407140569999 meters Centerline goodness : 0.987773 Centerline is valid? [True, True] Translation: X:182.83, Y:198.09, Z:-183.67 [[ 3.47695738e-01 -3.23419534e-01 8.80061066e-01 1.82830129e+02] [ 2.15866899e-01 9.41021661e-01 2.60537359e-01 1.98092885e+02] [-9.12419397e-01 9.93883242e-02 3.97004792e-01 -1.83667595e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.870714057 meters Centerline goodness : 0.989350 Centerline is valid? [True, True] Translation: X:182.84, Y:198.08, Z:-183.71 [[ 3.45741648e-01 -3.64099871e-01 8.64808648e-01 1.82835859e+02] [ 2.14736286e-01 9.27890012e-01 3.04808881e-01 1.98076213e+02] [-9.13428180e-01 8.03206717e-02 3.98995675e-01 -1.83708063e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.900714057 meters Centerline goodness : 0.989759 Centerline is valid? [True, True] Translation: X:182.85, Y:198.11, Z:-183.71 [[ 3.51688864e-01 -3.23610802e-01 8.78402523e-01 1.82852739e+02] [ 2.21941656e-01 9.40417513e-01 2.57598141e-01 1.98113093e+02] [-9.09426657e-01 1.04359713e-01 4.02557084e-01 -1.83713972e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.9307140569999 meters Centerline goodness : 0.988575 Centerline is valid? [True, True] Translation: X:182.85, Y:198.08, Z:-183.77 [[ 3.40771399e-01 -3.77479534e-01 8.61036617e-01 1.82851806e+02] [ 2.09386526e-01 9.23323546e-01 3.21917555e-01 1.98078242e+02] [-9.16532671e-01 7.05891706e-02 3.93681384e-01 -1.83765402e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.9607140569999 meters Centerline goodness : 0.986665 Centerline is valid? [True, True] Translation: X:182.86, Y:198.11, Z:-183.78 [[ 3.42237155e-01 -3.46177191e-01 8.73518793e-01 1.82862780e+02] [ 2.13929929e-01 9.33948951e-01 2.86309872e-01 1.98105631e+02] [-9.14935908e-01 8.88859368e-02 3.93689694e-01 -1.83779486e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.990714057 meters Centerline goodness : 0.988447 Centerline is valid? [True, True] Translation: X:182.89, Y:198.13, Z:-183.82 [[ 3.45082379e-01 -3.04791629e-01 8.87705027e-01 1.82893761e+02] [ 2.10272455e-01 9.46868038e-01 2.43364774e-01 1.98132595e+02] [-9.14715063e-01 1.02679021e-01 3.90836759e-01 -1.83819983e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.020714057 meters Centerline goodness : 0.987676 Centerline is valid? [True, True] Translation: X:182.91, Y:198.16, Z:-183.83 [[ 3.49243571e-01 -2.80692740e-01 8.94002524e-01 1.82910998e+02] [ 2.12307241e-01 9.52970801e-01 2.16269016e-01 1.98155928e+02] [-9.12663445e-01 1.14272646e-01 3.92412027e-01 -1.83830049e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.0507140569999 meters Centerline goodness : 0.987647 Centerline is valid? [True, True] Translation: X:182.92, Y:198.16, Z:-183.87 [[ 3.47821242e-01 -2.87916077e-01 8.92258212e-01 1.82919484e+02] [ 2.09031441e-01 9.51540003e-01 2.25560367e-01 1.98156511e+02] [-9.13961838e-01 1.08055332e-01 3.91149338e-01 -1.83869364e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.0807140569999 meters Centerline goodness : 0.986075 Centerline is valid? [True, True] Translation: X:182.93, Y:198.17, Z:-183.89 [[ 3.48655169e-01 -2.77112699e-01 8.95348047e-01 1.82930058e+02] [ 2.05615772e-01 9.54634830e-01 2.15393816e-01 1.98166657e+02] [-9.14418792e-01 1.08999513e-01 3.89817109e-01 -1.83891059e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.1107140569999 meters Centerline goodness : 0.987189 Centerline is valid? [True, True] Translation: X:182.94, Y:198.16, Z:-183.93 [[ 3.49337858e-01 -2.99847306e-01 8.87724425e-01 1.82938259e+02] [ 2.06262589e-01 9.48783420e-01 2.39302666e-01 1.98162746e+02] [-9.14012476e-01 9.95068575e-02 3.93293249e-01 -1.83926162e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.140714057 meters Centerline goodness : 0.985741 Centerline is valid? [True, True] Translation: X:182.95, Y:198.18, Z:-183.95 [[ 3.51300006e-01 -2.82162666e-01 8.92733183e-01 1.82951936e+02] [ 2.03082871e-01 9.53770283e-01 2.21539151e-01 1.98178323e+02] [-9.13972458e-01 1.03472112e-01 3.92361910e-01 -1.83951739e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.1707140569999 meters Centerline goodness : 0.987201 Centerline is valid? [True, True] Translation: X:182.96, Y:198.18, Z:-183.98 [[ 3.54408075e-01 -3.04217537e-01 8.84220904e-01 1.82961630e+02] [ 2.04946085e-01 9.47878620e-01 2.43973820e-01 1.98176413e+02] [-9.12355204e-01 9.47513209e-02 3.98284030e-01 -1.83983672e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.2007140569999 meters Centerline goodness : 0.986801 Centerline is valid? [True, True] Translation: X:182.97, Y:198.19, Z:-184.01 [[ 3.56232317e-01 -2.99223407e-01 8.85191442e-01 1.82974093e+02] [ 2.01915584e-01 9.49607670e-01 2.39740214e-01 1.98188021e+02] [-9.12320467e-01 9.33307354e-02 3.98698809e-01 -1.84008349e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.2307140569999 meters Centerline goodness : 0.987481 Centerline is valid? [True, True] Translation: X:182.98, Y:198.19, Z:-184.04 [[ 3.56380753e-01 -3.11528995e-01 8.80875953e-01 1.82983993e+02] [ 2.01725495e-01 9.46197187e-01 2.53017209e-01 1.98188627e+02] [-9.12304546e-01 8.75246742e-02 4.00049806e-01 -1.84038420e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.260714057 meters Centerline goodness : 0.988012 Centerline is valid? [True, True] Translation: X:183.00, Y:198.20, Z:-184.07 [[ 3.57513181e-01 -3.07086921e-01 8.81976161e-01 1.82997560e+02] [ 2.00264915e-01 9.47632822e-01 2.48768968e-01 1.98199411e+02] [-9.12183255e-01 8.76906961e-02 4.00289960e-01 -1.84065014e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.290714057 meters Centerline goodness : 0.987300 Centerline is valid? [True, True] Translation: X:183.01, Y:198.21, Z:-184.09 [[ 3.58507695e-01 -3.03243186e-01 8.82901922e-01 1.83008870e+02] [ 1.98064675e-01 9.48946442e-01 2.45501597e-01 1.98207135e+02] [-9.12273324e-01 8.68574707e-02 4.00266364e-01 -1.84091746e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.3207140569999 meters Centerline goodness : 0.986830 Centerline is valid? [True, True] Translation: X:183.02, Y:198.21, Z:-184.12 [[ 3.57860089e-01 -3.11604897e-01 8.80249138e-01 1.83017430e+02] [ 1.93738951e-01 9.46941620e-01 2.56450360e-01 1.98209427e+02] [-9.13455733e-01 7.87651956e-02 3.99242619e-01 -1.84122016e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.3507140569999 meters Centerline goodness : 0.986856 Centerline is valid? [True, True] Translation: X:183.03, Y:198.21, Z:-184.16 [[ 3.61441330e-01 -3.22652650e-01 8.74788793e-01 1.83030581e+02] [ 1.96479057e-01 9.43506369e-01 2.66817751e-01 1.98211771e+02] [-9.11458252e-01 7.54387140e-02 4.04416685e-01 -1.84155235e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.380714057 meters Centerline goodness : 0.986008 Centerline is valid? [True, True] Translation: X:183.04, Y:198.22, Z:-184.18 [[ 3.60841500e-01 -3.24116460e-01 8.74495244e-01 1.83040627e+02] [ 1.94124117e-01 9.43233720e-01 2.69492074e-01 1.98217125e+02] [-9.12200219e-01 7.25166929e-02 4.03276692e-01 -1.84177266e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.410714057 meters Centerline goodness : 0.985424 Centerline is valid? [True, True] Translation: X:183.05, Y:198.23, Z:-184.20 [[ 3.60444723e-01 -3.17126649e-01 8.77217356e-01 1.83052964e+02] [ 1.91920431e-01 9.45525109e-01 2.62961626e-01 1.98225753e+02] [-9.12823176e-01 7.35728026e-02 4.01672619e-01 -1.84204626e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.4407140569999 meters Centerline goodness : 0.986608 Centerline is valid? [True, True] Translation: X:183.07, Y:198.23, Z:-184.24 [[ 3.62937284e-01 -3.25942384e-01 8.72947931e-01 1.83065344e+02] [ 1.94097608e-01 9.42721765e-01 2.71296502e-01 1.98230602e+02] [-9.11374043e-01 7.09734893e-02 4.05413514e-01 -1.84240940e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.4707140569999 meters Centerline goodness : 0.985679 Centerline is valid? [True, True] Translation: X:183.08, Y:198.24, Z:-184.26 [[ 3.63320399e-01 -3.24117059e-01 8.73468042e-01 1.83075963e+02] [ 1.92073495e-01 9.43452965e-01 2.70193036e-01 1.98237105e+02] [-9.11650186e-01 6.96034178e-02 4.05030003e-01 -1.84260796e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.500714057 meters Centerline goodness : 0.987124 Centerline is valid? [True, True] Translation: X:183.09, Y:198.24, Z:-184.29 [[ 3.62839140e-01 -3.21080989e-01 8.74788407e-01 1.83087295e+02] [ 1.89815741e-01 9.44547636e-01 2.67954750e-01 1.98244190e+02] [-9.12314498e-01 6.88241385e-02 4.03665078e-01 -1.84291946e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.530714057 meters Centerline goodness : 0.987494 Centerline is valid? [True, True] Translation: X:183.10, Y:198.25, Z:-184.33 [[ 3.67559541e-01 -3.32524927e-01 8.68520096e-01 1.83102680e+02] [ 1.97138999e-01 9.40528022e-01 2.76664516e-01 1.98248918e+02] [-9.08865336e-01 6.95285000e-02 4.11253679e-01 -1.84327026e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.5607140569999 meters Centerline goodness : 0.985793 Centerline is valid? [True, True] Translation: X:183.11, Y:198.26, Z:-184.34 [[ 3.66608637e-01 -3.24980133e-01 8.71771771e-01 1.83112129e+02] [ 1.93937701e-01 9.43120911e-01 2.70020584e-01 1.98256059e+02] [-9.09937512e-01 7.00775347e-02 4.08782172e-01 -1.84343648e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.5907140569999 meters Centerline goodness : 0.986843 Centerline is valid? [True, True] Translation: X:183.12, Y:198.25, Z:-184.38 [[ 3.69557605e-01 -3.50143379e-01 8.60712955e-01 1.83122538e+02] [ 1.98973627e-01 9.34620566e-01 2.94777702e-01 1.98251995e+02] [-9.07654490e-01 6.23218369e-02 4.15065436e-01 -1.84376006e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.620714057 meters Centerline goodness : 0.986843 Centerline is valid? [True, True] Translation: X:183.14, Y:198.26, Z:-184.40 [[ 3.70434406e-01 -3.44315044e-01 8.62685054e-01 1.83137742e+02] [ 1.99984464e-01 9.36540720e-01 2.87919597e-01 1.98261818e+02] [-9.07074730e-01 6.58682831e-02 4.15784565e-01 -1.84403881e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.650714057 meters Centerline goodness : 0.987274 Centerline is valid? [True, True] Translation: X:183.15, Y:198.26, Z:-184.44 [[ 3.71252177e-01 -3.55877097e-01 8.57626558e-01 1.83150490e+02] [ 2.03642309e-01 9.32356282e-01 2.98733282e-01 1.98263921e+02] [-9.05925842e-01 6.37436712e-02 4.18610933e-01 -1.84435896e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.6807140569999 meters Centerline goodness : 0.986539 Centerline is valid? [True, True] Translation: X:183.16, Y:198.27, Z:-184.46 [[ 3.72053694e-01 -3.55671633e-01 8.57364414e-01 1.83160897e+02] [ 2.03326986e-01 9.32469513e-01 2.98594616e-01 1.98268976e+02] [-9.05667812e-01 6.32320921e-02 4.19246367e-01 -1.84457465e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.7107140569999 meters Centerline goodness : 0.988110 Centerline is valid? [True, True] Translation: X:183.17, Y:198.27, Z:-184.49 [[ 3.72034979e-01 -3.66740959e-01 8.52696337e-01 1.83174638e+02] [ 2.07788688e-01 9.28229226e-01 3.08568250e-01 1.98271054e+02] [-9.04662277e-01 6.23824705e-02 4.21538363e-01 -1.84492466e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.740714057 meters Centerline goodness : 0.987576 Centerline is valid? [True, True] Translation: X:183.19, Y:198.28, Z:-184.51 [[ 3.72610597e-01 -3.63461571e-01 8.53848365e-01 1.83185305e+02] [ 2.07045646e-01 9.29474727e-01 3.05301214e-01 1.98278360e+02] [-9.04595735e-01 6.30271188e-02 4.21585268e-01 -1.84510237e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.770714057 meters Centerline goodness : 0.987574 Centerline is valid? [True, True] Translation: X:183.20, Y:198.28, Z:-184.55 [[ 3.72972734e-01 -3.82925772e-01 8.45138564e-01 1.83197797e+02] [ 2.10444445e-01 9.22038796e-01 3.24896282e-01 1.98275501e+02] [-9.03661704e-01 5.66772615e-02 4.24479932e-01 -1.84547876e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.8007140569999 meters Centerline goodness : 0.988142 Centerline is valid? [True, True] Translation: X:183.22, Y:198.29, Z:-184.57 [[ 3.73762484e-01 -3.66427545e-01 8.52075384e-01 1.83215238e+02] [ 2.12535247e-01 9.28047514e-01 3.05870202e-01 1.98292268e+02] [-9.02845709e-01 6.67732458e-02 4.24748113e-01 -1.84569369e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.8307140569999 meters Centerline goodness : 0.988020 Centerline is valid? [True, True] Translation: X:183.23, Y:198.29, Z:-184.60 [[ 3.74985601e-01 -3.87342305e-01 8.42230216e-01 1.83226132e+02] [ 2.15272588e-01 9.20073155e-01 3.27296659e-01 1.98288809e+02] [-9.01689255e-01 5.85775435e-02 4.28398366e-01 -1.84598567e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.8607140569999 meters Centerline goodness : 0.987747 Centerline is valid? [True, True] Translation: X:183.24, Y:198.30, Z:-184.62 [[ 3.75482950e-01 -3.79268570e-01 8.45676005e-01 1.83240584e+02] [ 2.16477722e-01 9.23090322e-01 3.17870497e-01 1.98299428e+02] [-9.01193625e-01 6.37150632e-02 4.28707873e-01 -1.84624906e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.890714057 meters Centerline goodness : 0.987675 Centerline is valid? [True, True] Translation: X:183.25, Y:198.30, Z:-184.65 [[ 3.76066728e-01 -3.85525462e-01 8.42581708e-01 1.83252926e+02] [ 2.16978766e-01 9.20690632e-01 3.24420984e-01 1.98301659e+02] [-9.00829635e-01 6.08184014e-02 4.29891952e-01 -1.84654994e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.9207140569999 meters Centerline goodness : 0.987526 Centerline is valid? [True, True] Translation: X:183.27, Y:198.32, Z:-184.69 [[ 3.74808319e-01 -3.66100863e-01 8.51756352e-01 1.83267208e+02] [ 2.16926512e-01 9.27857400e-01 3.03353809e-01 1.98315168e+02] [-9.01366525e-01 7.10690032e-02 4.27185655e-01 -1.84685612e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.9507140569999 meters Centerline goodness : 0.987764 Centerline is valid? [True, True] Translation: X:183.28, Y:198.31, Z:-184.71 [[ 3.76168827e-01 -3.85307244e-01 8.42635948e-01 1.83278561e+02] [ 2.21316521e-01 9.20473200e-01 3.22099498e-01 1.98313335e+02] [-8.99731077e-01 6.53254666e-02 4.31528183e-01 -1.84711282e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.9807140569999 meters Centerline goodness : 0.987731 Centerline is valid? [True, True] Translation: X:183.29, Y:198.32, Z:-184.74 [[ 3.76811528e-01 -3.76208766e-01 8.46451438e-01 1.83292880e+02] [ 2.22679738e-01 9.23800814e-01 3.11457527e-01 1.98323644e+02] [-8.99125579e-01 7.11267978e-02 4.31872866e-01 -1.84738130e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.010714057 meters Centerline goodness : 0.987552 Centerline is valid? [True, True] Translation: X:183.30, Y:198.32, Z:-184.77 [[ 3.76949505e-01 -3.88876771e-01 8.40644948e-01 1.83304142e+02] [ 2.24763372e-01 9.18871429e-01 3.24278773e-01 1.98322684e+02] [-8.98549107e-01 6.67094703e-02 4.33773385e-01 -1.84770068e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.040714057 meters Centerline goodness : 0.988342 Centerline is valid? [True, True] Translation: X:183.32, Y:198.33, Z:-184.80 [[ 3.76919987e-01 -3.89936761e-01 8.40167035e-01 1.83318393e+02] [ 2.27457723e-01 9.18258216e-01 3.24137060e-01 1.98329056e+02] [-8.97883237e-01 6.89287446e-02 4.34804002e-01 -1.84796802e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.0707140569999 meters Centerline goodness : 0.987537 Centerline is valid? [True, True] Translation: X:183.33, Y:198.34, Z:-184.82 [[ 3.76972655e-01 -3.89097758e-01 8.40532303e-01 1.83330846e+02] [ 2.27508680e-01 9.18578999e-01 3.23191003e-01 1.98335069e+02] [-8.97848216e-01 6.93942242e-02 4.34802281e-01 -1.84823387e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.1007140569999 meters Centerline goodness : 0.988099 Centerline is valid? [True, True] Translation: X:183.34, Y:198.34, Z:-184.86 [[ 3.78034689e-01 -3.87534854e-01 8.40777325e-01 1.83343960e+02] [ 2.28444221e-01 9.19136492e-01 3.20938230e-01 1.98341018e+02] [-8.97163871e-01 7.07449373e-02 4.35995576e-01 -1.84855464e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.130714057 meters Centerline goodness : 0.990648 Centerline is valid? [True, True] Translation: X:183.37, Y:198.36, Z:-184.89 [[ 3.80901021e-01 -3.64824789e-01 8.49598309e-01 1.83365185e+02] [ 2.34124983e-01 9.26976750e-01 2.93086332e-01 1.98362283e+02] [-8.94483038e-01 8.72753066e-02 4.38500988e-01 -1.84889050e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.160714057 meters Centerline goodness : 0.990323 Centerline is valid? [True, True] Translation: X:183.38, Y:198.38, Z:-184.91 [[ 3.82577361e-01 -3.42785958e-01 8.57981556e-01 1.83384908e+02] [ 2.35589703e-01 9.34124938e-01 2.68156843e-01 1.98382246e+02] [-8.93382368e-01 9.95408821e-02 4.38131895e-01 -1.84912213e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.1907140569999 meters Centerline goodness : 0.987459 Centerline is valid? [True, True] Translation: X:183.39, Y:198.37, Z:-184.93 [[ 3.77374837e-01 -3.68695870e-01 8.49500787e-01 1.83386664e+02] [ 2.27993014e-01 9.26081963e-01 3.00651598e-01 1.98370721e+02] [-8.97556359e-01 8.02218974e-02 4.33540113e-01 -1.84931744e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.2207140569999 meters Centerline goodness : 0.989043 Centerline is valid? [True, True] Translation: X:183.40, Y:198.36, Z:-184.97 [[ 3.77050405e-01 -4.03111894e-01 8.33866772e-01 1.83395244e+02] [ 2.30495677e-01 9.12831337e-01 3.37061854e-01 1.98359684e+02] [-8.97053362e-01 6.51133776e-02 4.37098974e-01 -1.84969235e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.250714057 meters Centerline goodness : 0.988467 Centerline is valid? [True, True] Translation: X:183.41, Y:198.38, Z:-184.99 [[ 3.78678824e-01 -3.88092317e-01 8.40230148e-01 1.83412800e+02] [ 2.30652173e-01 9.18767121e-01 3.20416219e-01 1.98375600e+02] [-8.96326907e-01 7.24660723e-02 4.37431989e-01 -1.84994818e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.280714057 meters Centerline goodness : 0.989073 Centerline is valid? [True, True] Translation: X:183.42, Y:198.38, Z:-185.03 [[ 3.78754441e-01 -4.00141964e-01 8.34524704e-01 1.83424142e+02] [ 2.32231858e-01 9.13945859e-01 3.32823274e-01 1.98376134e+02] [-8.95886956e-01 6.77449295e-02 4.39086765e-01 -1.85025007e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.3107140569999 meters Centerline goodness : 0.988309 Centerline is valid? [True, True] Translation: X:183.44, Y:198.39, Z:-185.05 [[ 3.79962138e-01 -3.86009271e-01 8.40610265e-01 1.83439997e+02] [ 2.33141134e-01 9.19391311e-01 3.16804085e-01 1.98391453e+02] [-8.95139087e-01 7.56072735e-02 4.39328527e-01 -1.85049205e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.3407140569999 meters Centerline goodness : 0.988326 Centerline is valid? [True, True] Translation: X:183.45, Y:198.40, Z:-185.08 [[ 3.78342836e-01 -3.69328489e-01 8.48795126e-01 1.83450485e+02] [ 2.27649488e-01 9.25918684e-01 3.01413837e-01 1.98398336e+02] [-8.97235983e-01 7.91900096e-02 4.34392142e-01 -1.85084006e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.370714057 meters Centerline goodness : 0.988509 Centerline is valid? [True, True] Translation: X:183.46, Y:198.40, Z:-185.10 [[ 3.82546775e-01 -3.90965260e-01 8.37140449e-01 1.83464207e+02] [ 2.36279881e-01 9.17326989e-01 3.20441903e-01 1.98402459e+02] [-8.93213179e-01 7.52154290e-02 4.43297706e-01 -1.85101378e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.400714057 meters Centerline goodness : 0.988243 Centerline is valid? [True, True] Translation: X:183.47, Y:198.40, Z:-185.13 [[ 3.81818025e-01 -4.06354319e-01 8.30115151e-01 1.83472426e+02] [ 2.35890112e-01 9.11261485e-01 3.37577194e-01 1.98399041e+02] [-8.93627915e-01 6.69228989e-02 4.43791026e-01 -1.85132459e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.4307140569999 meters Centerline goodness : 0.987464 Centerline is valid? [True, True] Translation: X:183.49, Y:198.41, Z:-185.16 [[ 3.81916197e-01 -4.04263684e-01 8.31090183e-01 1.83486296e+02] [ 2.36977182e-01 9.12027862e-01 3.34734214e-01 1.98407398e+02] [-8.93298289e-01 6.91089917e-02 4.44119481e-01 -1.85162373e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.4607140569999 meters Centerline goodness : 0.988175 Centerline is valid? [True, True] Translation: X:183.50, Y:198.41, Z:-185.19 [[ 3.82446005e-01 -4.07876576e-01 8.29078858e-01 1.83499618e+02] [ 2.39941808e-01 9.10351403e-01 3.37176886e-01 1.98414348e+02] [-8.92279655e-01 6.99787271e-02 4.46026900e-01 -1.85189158e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.490714057 meters Centerline goodness : 0.987940 Centerline is valid? [True, True] Translation: X:183.51, Y:198.42, Z:-185.22 [[ 3.81037865e-01 -4.07097539e-01 8.30109474e-01 1.83512782e+02] [ 2.40612224e-01 9.10568988e-01 3.36109917e-01 1.98421233e+02] [-8.92701464e-01 7.16638813e-02 4.44913908e-01 -1.85218637e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.520714057 meters Centerline goodness : 0.987978 Centerline is valid? [True, True] Translation: X:183.53, Y:198.43, Z:-185.25 [[ 3.80686883e-01 -4.07489952e-01 8.30077970e-01 1.83525594e+02] [ 2.41239128e-01 9.10348077e-01 3.36258921e-01 1.98428119e+02] [-8.92682015e-01 7.22379250e-02 4.44860092e-01 -1.85248615e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.5507140569999 meters Centerline goodness : 0.989460 Centerline is valid? [True, True] Translation: X:183.54, Y:198.44, Z:-185.28 [[ 3.86625642e-01 -3.98960239e-01 8.31475400e-01 1.83544528e+02] [ 2.49635446e-01 9.13200924e-01 3.22096594e-01 1.98443539e+02] [-8.87807838e-01 8.30349300e-02 4.52661511e-01 -1.85279322e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.5807140569999 meters Centerline goodness : 0.990258 Centerline is valid? [True, True] Translation: X:183.56, Y:198.46, Z:-185.30 [[ 3.86149200e-01 -3.87031919e-01 8.37314212e-01 1.83560807e+02] [ 2.51758726e-01 9.17477711e-01 3.07980834e-01 1.98459588e+02] [-8.87415540e-01 9.18746065e-02 4.51721946e-01 -1.85303796e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.6107140569999 meters Centerline goodness : 0.988572 Centerline is valid? [True, True] Translation: X:183.57, Y:198.46, Z:-185.33 [[ 3.78873412e-01 -3.96411344e-01 8.36249355e-01 1.83567899e+02] [ 2.45352516e-01 9.14305903e-01 3.22252789e-01 1.98457925e+02] [-8.92332383e-01 8.30828695e-02 4.43666717e-01 -1.85330100e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.640714057 meters Centerline goodness : 0.987808 Centerline is valid? [True, True] Translation: X:183.58, Y:198.45, Z:-185.36 [[ 3.78131066e-01 -4.19241563e-01 8.25380766e-01 1.83577311e+02] [ 2.47539499e-01 9.04903181e-01 3.46228869e-01 1.98452649e+02] [-8.92043213e-01 7.33944503e-02 4.45950851e-01 -1.85359987e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.6707140569999 meters Centerline goodness : 0.988240 Centerline is valid? [True, True] Translation: X:183.59, Y:198.45, Z:-185.39 [[ 3.78055325e-01 -4.27972428e-01 8.20922513e-01 1.83589353e+02] [ 2.46693207e-01 9.01242210e-01 3.56237198e-01 1.98451989e+02] [-8.92309718e-01 6.78386379e-02 4.46297308e-01 -1.85390497e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.7007140569999 meters Centerline goodness : 0.989531 Centerline is valid? [True, True] Translation: X:183.61, Y:198.48, Z:-185.42 [[ 3.83071225e-01 -3.88466409e-01 8.38063414e-01 1.83611872e+02] [ 2.56168849e-01 9.16361465e-01 3.07667330e-01 1.98483842e+02] [-8.87487441e-01 9.68272388e-02 4.50544702e-01 -1.85416330e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.7307140569999 meters Centerline goodness : 0.989687 Centerline is valid? [True, True] Translation: X:183.62, Y:198.49, Z:-185.45 [[ 3.82016175e-01 -3.85820703e-01 8.39765460e-01 1.83623190e+02] [ 2.55918158e-01 9.17312807e-01 3.05029688e-01 1.98490468e+02] [-8.88014380e-01 9.83849553e-02 4.49166853e-01 -1.85445452e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.760714057 meters Centerline goodness : 0.989744 Centerline is valid? [True, True] Translation: X:183.64, Y:198.50, Z:-185.48 [[ 3.82892279e-01 -3.87185644e-01 8.38737611e-01 1.83636202e+02] [ 2.57876381e-01 9.16633754e-01 3.05421567e-01 1.98497385e+02] [-8.87070051e-01 9.93470604e-02 4.50818019e-01 -1.85477001e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.790714057 meters Centerline goodness : 0.989512 Centerline is valid? [True, True] Translation: X:183.65, Y:198.51, Z:-185.50 [[ 3.84755967e-01 -3.86451297e-01 8.38223264e-01 1.83650458e+02] [ 2.60034675e-01 9.16732610e-01 3.03287470e-01 1.98506648e+02] [-8.85632437e-01 1.01275450e-01 4.53209079e-01 -1.85502055e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.8207140569999 meters Centerline goodness : 0.987005 Centerline is valid? [True, True] Translation: X:183.66, Y:198.50, Z:-185.53 [[ 3.84764207e-01 -4.08303783e-01 8.27794978e-01 1.83656448e+02] [ 2.61564685e-01 9.08306988e-01 3.26438863e-01 1.98500556e+02] [-8.85178186e-01 9.09199430e-02 4.56281868e-01 -1.85526829e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.8507140569999 meters Centerline goodness : 0.989337 Centerline is valid? [True, True] Translation: X:183.67, Y:198.51, Z:-185.55 [[ 3.84655360e-01 -3.96958662e-01 8.33345112e-01 1.83669679e+02] [ 2.61157573e-01 9.12721244e-01 3.14223891e-01 1.98512489e+02] [-8.85345682e-01 9.67664827e-02 4.54751879e-01 -1.85553596e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.880714057 meters Centerline goodness : 0.989399 Centerline is valid? [True, True] Translation: X:183.68, Y:198.52, Z:-185.59 [[ 3.85230484e-01 -3.90505932e-01 8.36123550e-01 1.83682454e+02] [ 2.55893997e-01 9.15724872e-01 3.09784154e-01 1.98518293e+02] [-8.86631680e-01 9.46206979e-02 4.52693259e-01 -1.85585795e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.910714057 meters Centerline goodness : 0.986976 Centerline is valid? [True, True] Translation: X:183.69, Y:198.53, Z:-185.60 [[ 3.87755849e-01 -3.95668634e-01 8.32521311e-01 1.83694903e+02] [ 2.59578963e-01 9.13504185e-01 3.13255275e-01 1.98526463e+02] [-8.84456988e-01 9.46384533e-02 4.56923844e-01 -1.85603264e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.9407140569999 meters Centerline goodness : 0.987144 Centerline is valid? [True, True] Translation: X:183.70, Y:198.52, Z:-185.63 [[ 3.86343599e-01 -4.20332698e-01 8.21010990e-01 1.83700095e+02] [ 2.57565880e-01 9.03880060e-01 3.41556226e-01 1.98517340e+02] [-8.85662713e-01 7.95063562e-02 4.57471636e-01 -1.85634203e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.9707140569999 meters Centerline goodness : 0.988353 Centerline is valid? [True, True] Translation: X:183.71, Y:198.52, Z:-185.66 [[ 3.77910345e-01 -4.07195542e-01 8.31489965e-01 1.83708009e+02] [ 2.44533487e-01 9.10098177e-01 3.34551465e-01 1.98521568e+02] [-8.92965366e-01 7.68966810e-02 4.43508462e-01 -1.85662528e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.000714057 meters Centerline goodness : 0.990081 Centerline is valid? [True, True] Translation: X:183.73, Y:198.55, Z:-185.69 [[ 3.85867491e-01 -3.78878358e-01 8.41164353e-01 1.83727131e+02] [ 2.46745793e-01 9.20945036e-01 3.01623531e-01 1.98548038e+02] [-8.88944764e-01 9.11670504e-02 4.48849391e-01 -1.85687481e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.030714057 meters Centerline goodness : 0.990283 Centerline is valid? [True, True] Translation: X:183.74, Y:198.55, Z:-185.72 [[ 3.86519335e-01 -3.84036457e-01 8.38521796e-01 1.83739990e+02] [ 2.44989784e-01 9.19271616e-01 3.08090412e-01 1.98551702e+02] [-8.89147237e-01 8.63463726e-02 4.49401262e-01 -1.85718404e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.0607140569999 meters Centerline goodness : 0.990417 Centerline is valid? [True, True] Translation: X:183.75, Y:198.57, Z:-185.72 [[ 3.90396772e-01 -3.95047656e-01 8.31581451e-01 1.83747752e+02] [ 2.55067983e-01 9.14311073e-01 3.14603854e-01 1.98567955e+02] [-8.84607644e-01 8.92894748e-02 4.57708101e-01 -1.85722440e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.0907140569999 meters Centerline goodness : 0.990020 Centerline is valid? [True, True] Translation: X:183.75, Y:198.55, Z:-185.78 [[ 3.85640305e-01 -4.13279562e-01 8.24913061e-01 1.83753657e+02] [ 2.38191119e-01 9.08357295e-01 3.43732476e-01 1.98546717e+02] [-8.91373404e-01 6.39298684e-02 4.48738706e-01 -1.85778180e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.120714057 meters Centerline goodness : 0.989040 Centerline is valid? [True, True] Translation: X:183.77, Y:198.57, Z:-185.80 [[ 3.88696378e-01 -3.78851412e-01 8.39873046e-01 1.83774394e+02] [ 2.36804112e-01 9.22008463e-01 3.06307374e-01 1.98574917e+02] [-8.90415037e-01 7.98248240e-02 4.48094922e-01 -1.85797377e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.150714057 meters Centerline goodness : 0.988047 Centerline is valid? [True, True] Translation: X:183.78, Y:198.57, Z:-185.82 [[ 3.89321898e-01 -4.02516849e-01 8.28497825e-01 1.83779372e+02] [ 2.38816959e-01 9.12816492e-01 3.31258982e-01 1.98570275e+02] [-8.89603800e-01 6.88929552e-02 4.51507299e-01 -1.85822171e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.1807140569999 meters Centerline goodness : 0.989724 Centerline is valid? [True, True] Translation: X:183.79, Y:198.57, Z:-185.86 [[ 3.88154823e-01 -3.97509700e-01 8.31457679e-01 1.83790477e+02] [ 2.33610599e-01 9.15167703e-01 3.28472471e-01 1.98574569e+02] [-8.91494207e-01 6.67391530e-02 4.48089237e-01 -1.85857943e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.2107140569999 meters Centerline goodness : 0.989999 Centerline is valid? [True, True] Translation: X:183.80, Y:198.60, Z:-185.85 [[ 3.95974018e-01 -3.91860171e-01 8.30451795e-01 1.83804159e+02] [ 2.46728434e-01 9.16519709e-01 3.14828052e-01 1.98604127e+02] [-8.84494012e-01 8.02323425e-02 4.59601038e-01 -1.85852470e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.240714057 meters Centerline goodness : 0.987646 Centerline is valid? [True, True] Translation: X:183.79, Y:198.56, Z:-185.90 [[ 3.84367096e-01 -4.60679279e-01 8.00022836e-01 1.83793164e+02] [ 2.37353549e-01 8.86776303e-01 3.96599396e-01 1.98560236e+02] [-8.92146416e-01 3.74485012e-02 4.50191494e-01 -1.85898064e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.270714057 meters Centerline goodness : 0.989229 Centerline is valid? [True, True] Translation: X:183.81, Y:198.56, Z:-185.93 [[ 3.87316440e-01 -4.56801625e-01 8.00823483e-01 1.83809458e+02] [ 2.33329385e-01 8.88911858e-01 3.94199323e-01 1.98564381e+02] [-8.91932382e-01 3.41757726e-02 4.50875419e-01 -1.85927174e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.3007140569999 meters Centerline goodness : 0.988961 Centerline is valid? [True, True] Translation: X:183.83, Y:198.61, Z:-185.94 [[ 3.95229215e-01 -4.11272946e-01 8.21369851e-01 1.83832286e+02] [ 2.42571500e-01 9.09159269e-01 3.38509219e-01 1.98608876e+02] [-8.85975697e-01 6.54521842e-02 4.59089400e-01 -1.85936296e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.3307140569999 meters Centerline goodness : 0.987401 Centerline is valid? [True, True] Translation: X:183.84, Y:198.59, Z:-185.97 [[ 3.93360622e-01 -4.40851942e-01 8.06794265e-01 1.83835474e+02] [ 2.40970228e-01 8.96296714e-01 3.72270802e-01 1.98594748e+02] [-8.87243355e-01 4.79767241e-02 4.58800025e-01 -1.85969946e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.3607140569999 meters Centerline goodness : 0.989543 Centerline is valid? [True, True] Translation: X:183.85, Y:198.60, Z:-186.00 [[ 3.87863250e-01 -4.34477543e-01 8.12890746e-01 1.83847861e+02] [ 2.31262625e-01 8.99592651e-01 3.70473563e-01 1.98597824e+02] [-8.92232984e-01 4.42981676e-02 4.49397346e-01 -1.86000418e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.390714057 meters Centerline goodness : 0.989736 Centerline is valid? [True, True] Translation: X:183.87, Y:198.62, Z:-186.02 [[ 3.95035882e-01 -4.07758326e-01 8.23213095e-01 1.83870965e+02] [ 2.35786023e-01 9.11081593e-01 3.38135007e-01 1.98621709e+02] [-8.87891662e-01 6.05266803e-02 4.56053635e-01 -1.86021834e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.4207140569999 meters Centerline goodness : 0.990274 Centerline is valid? [True, True] Translation: X:183.89, Y:198.63, Z:-186.05 [[ 3.97196867e-01 -4.05934808e-01 8.23074468e-01 1.83886679e+02] [ 2.36682069e-01 9.11826923e-01 3.35489584e-01 1.98631192e+02] [-8.86688360e-01 6.15515562e-02 4.58252287e-01 -1.86045782e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.4507140569999 meters Centerline goodness : 0.991271 Centerline is valid? [True, True] Translation: X:183.89, Y:198.64, Z:-186.06 [[ 3.95574202e-01 -4.18456830e-01 8.17566469e-01 1.83892280e+02] [ 2.47118024e-01 9.05840599e-01 3.44071927e-01 1.98642697e+02] [-8.84564148e-01 6.59294323e-02 4.61735398e-01 -1.86059210e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.4807140569999 meters Centerline goodness : 0.987963 Centerline is valid? [True, True] Translation: X:183.89, Y:198.61, Z:-186.10 [[ 3.90790140e-01 -4.72477490e-01 7.89967144e-01 1.83890574e+02] [ 2.47481035e-01 8.80543090e-01 4.04223953e-01 1.98612533e+02] [-8.86586828e-01 3.75351511e-02 4.61036775e-01 -1.86100309e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.510714057 meters Centerline goodness : 0.987963 Centerline is valid? [True, True] Translation: X:183.90, Y:198.63, Z:-186.12 [[ 3.91197764e-01 -4.60603352e-01 7.96748932e-01 1.83904279e+02] [ 2.47953741e-01 8.86479675e-01 3.90733578e-01 1.98626472e+02] [-8.86274930e-01 4.47027768e-02 4.60997191e-01 -1.86121541e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.540714057 meters Centerline goodness : 0.989063 Centerline is valid? [True, True] Translation: X:183.92, Y:198.63, Z:-186.15 [[ 3.86477720e-01 -4.46900288e-01 8.06793099e-01 1.83918689e+02] [ 2.38110310e-01 8.93455344e-01 3.80842525e-01 1.98631240e+02] [-8.91032240e-01 4.49186045e-02 4.51712150e-01 -1.86152747e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.5707140569999 meters Centerline goodness : 0.989183 Centerline is valid? [True, True] Translation: X:183.94, Y:198.65, Z:-186.17 [[ 3.87856613e-01 -4.35247143e-01 8.12482106e-01 1.83936511e+02] [ 2.42728126e-01 8.98602011e-01 3.65509895e-01 1.98649126e+02] [-8.89185191e-01 5.54468295e-02 4.54175456e-01 -1.86171927e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.6007140569999 meters Centerline goodness : 0.982745 Centerline is valid? [True, True] Translation: X:183.94, Y:198.64, Z:-186.19 [[ 3.84289650e-01 -4.55088732e-01 8.03253205e-01 1.83939203e+02] [ 2.47516560e-01 8.88997544e-01 3.85251762e-01 1.98643301e+02] [-8.89413862e-01 5.07702051e-02 4.54274552e-01 -1.86194116e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.630714057 meters Centerline goodness : 0.990570 Centerline is valid? [True, True] Translation: X:183.95, Y:198.64, Z:-186.24 [[ 3.88325618e-01 -4.80839903e-01 7.86127345e-01 1.83954762e+02] [ 2.52281202e-01 8.75955717e-01 4.11163930e-01 1.98635245e+02] [-8.86316766e-01 3.86596646e-02 4.61462914e-01 -1.86237400e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.660714057 meters Centerline goodness : 0.989105 Centerline is valid? [True, True] Translation: X:183.98, Y:198.67, Z:-186.24 [[ 3.88620460e-01 -4.35287345e-01 8.12095478e-01 1.83976353e+02] [ 2.54789122e-01 8.97773509e-01 3.59284331e-01 1.98674317e+02] [-8.85469729e-01 6.72878525e-02 4.59799634e-01 -1.86238869e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.6907140569999 meters Centerline goodness : 0.988969 Centerline is valid? [True, True] Translation: X:183.99, Y:198.66, Z:-186.27 [[ 3.88260986e-01 -4.61087468e-01 7.97904602e-01 1.83985981e+02] [ 2.57661737e-01 8.85613090e-01 3.86393432e-01 1.98662954e+02] [-8.84795929e-01 5.55679906e-02 4.62653609e-01 -1.86272003e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.7207140569999 meters Centerline goodness : 0.988830 Centerline is valid? [True, True] Translation: X:184.00, Y:198.67, Z:-186.30 [[ 3.87026610e-01 -4.64035956e-01 7.96794224e-01 1.83998601e+02] [ 2.58615393e-01 8.84081527e-01 3.89253045e-01 1.98666117e+02] [-8.85058463e-01 5.54119647e-02 4.62169917e-01 -1.86302736e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.750714057 meters Centerline goodness : 0.989332 Centerline is valid? [True, True] Translation: X:184.02, Y:198.68, Z:-186.33 [[ 3.90416367e-01 -4.62405028e-01 7.96088343e-01 1.84015323e+02] [ 2.65351740e-01 8.84536066e-01 3.83646194e-01 1.98675263e+02] [-8.81568780e-01 6.14616735e-02 4.68037337e-01 -1.86332394e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.780714057 meters Centerline goodness : 0.988810 Centerline is valid? [True, True] Translation: X:184.03, Y:198.68, Z:-186.36 [[ 3.88059360e-01 -4.63246560e-01 7.96751252e-01 1.84027054e+02] [ 2.62606957e-01 8.84239242e-01 3.86210500e-01 1.98679633e+02] [-8.83429408e-01 5.93598223e-02 4.64789084e-01 -1.86356674e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.8107140569999 meters Centerline goodness : 0.989862 Centerline is valid? [True, True] Translation: X:184.04, Y:198.68, Z:-186.39 [[ 3.90762198e-01 -4.69213644e-01 7.91923899e-01 1.84043375e+02] [ 2.68545690e-01 8.81011858e-01 3.89488536e-01 1.98682385e+02] [-8.80447680e-01 6.04703533e-02 4.70271431e-01 -1.86389896e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.8407140569999 meters Centerline goodness : 0.988832 Centerline is valid? [True, True] Translation: X:184.05, Y:198.69, Z:-186.41 [[ 3.87289467e-01 -4.59180881e-01 7.99474695e-01 1.84054426e+02] [ 2.62087321e-01 8.86206203e-01 3.82032462e-01 1.98691161e+02] [-8.83921436e-01 6.15750322e-02 4.63563815e-01 -1.86414638e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.870714057 meters Centerline goodness : 0.988451 Centerline is valid? [True, True] Translation: X:184.07, Y:198.69, Z:-186.45 [[ 3.88079712e-01 -4.71935133e-01 7.91625775e-01 1.84067364e+02] [ 2.63006462e-01 8.79937259e-01 3.95648860e-01 1.98690367e+02] [-8.83301612e-01 5.46593986e-02 4.65607788e-01 -1.86445484e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.900714057 meters Centerline goodness : 0.988420 Centerline is valid? [True, True] Translation: X:184.08, Y:198.70, Z:-186.47 [[ 3.87134471e-01 -4.63710680e-01 7.96931181e-01 1.84082316e+02] [ 2.63115799e-01 8.83949515e-01 3.86527272e-01 1.98701866e+02] [-8.83683755e-01 6.00471529e-02 4.64216934e-01 -1.86471512e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.9307140569999 meters Centerline goodness : 0.988942 Centerline is valid? [True, True] Translation: X:184.10, Y:198.71, Z:-186.50 [[ 3.90198063e-01 -4.66614933e-01 7.93735457e-01 1.84099451e+02] [ 2.67636327e-01 8.82328433e-01 3.87127025e-01 1.98706864e+02] [-8.80974612e-01 6.13762274e-02 4.69165953e-01 -1.86503719e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.9607140569999 meters Centerline goodness : 0.989872 Centerline is valid? [True, True] Translation: X:184.11, Y:198.72, Z:-186.53 [[ 3.90808573e-01 -4.55863941e-01 7.99660382e-01 1.84114695e+02] [ 2.67322961e-01 8.87516869e-01 3.75302866e-01 1.98719355e+02] [-8.80799123e-01 6.70960034e-02 4.68712100e-01 -1.86528691e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.990714057 meters Centerline goodness : 0.988882 Centerline is valid? [True, True] Translation: X:184.13, Y:198.73, Z:-186.56 [[ 3.90237381e-01 -4.51275257e-01 8.02536871e-01 1.84128541e+02] [ 2.66570230e-01 8.89690987e-01 3.70661923e-01 1.98727284e+02] [-8.81280375e-01 6.92862999e-02 4.67487229e-01 -1.86557827e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.020714057 meters Centerline goodness : 0.987770 Centerline is valid? [True, True] Translation: X:184.14, Y:198.72, Z:-186.59 [[ 3.86880594e-01 -4.70290230e-01 7.93190081e-01 1.84140565e+02] [ 2.64580924e-01 8.80617688e-01 3.93076865e-01 1.98721879e+02] [-8.83357425e-01 5.77891535e-02 4.65123718e-01 -1.86587681e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.0507140569999 meters Centerline goodness : 0.988280 Centerline is valid? [True, True] Translation: X:184.16, Y:198.73, Z:-186.61 [[ 3.91349897e-01 -4.61568074e-01 7.96115677e-01 1.84156275e+02] [ 2.68872372e-01 8.84717260e-01 3.80766357e-01 1.98734593e+02] [-8.80086874e-01 6.50406354e-02 4.70336911e-01 -1.86614641e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.0807140569999 meters Centerline goodness : 0.988534 Centerline is valid? [True, True] Translation: X:184.17, Y:198.74, Z:-186.65 [[ 3.92026019e-01 -4.64730471e-01 7.93940293e-01 1.84170587e+02] [ 2.71399978e-01 8.83035162e-01 3.82871983e-01 1.98739619e+02] [-8.79009472e-01 6.53795987e-02 4.72300599e-01 -1.86645750e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.1107140569999 meters Centerline goodness : 0.988000 Centerline is valid? [True, True] Translation: X:184.18, Y:198.75, Z:-186.67 [[ 3.91030352e-01 -4.63709657e-01 7.95027432e-01 1.84182241e+02] [ 2.68981482e-01 8.83669872e-01 3.83114239e-01 1.98745076e+02] [-8.80195561e-01 6.40383612e-02 4.70271052e-01 -1.86665814e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.140714057 meters Centerline goodness : 0.988396 Centerline is valid? [True, True] Translation: X:184.19, Y:198.74, Z:-186.70 [[ 3.90352418e-01 -4.92021586e-01 7.78164346e-01 1.84193462e+02] [ 2.79781295e-01 8.68641602e-01 4.08881640e-01 1.98739361e+02] [-8.77124516e-01 5.81078917e-02 4.76734786e-01 -1.86695009e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.1707140569999 meters Centerline goodness : 0.989807 Centerline is valid? [True, True] Translation: X:184.20, Y:198.75, Z:-186.71 [[ 3.91372065e-01 -4.80670569e-01 7.84718874e-01 1.84204368e+02] [ 2.81498308e-01 8.74397036e-01 3.95206942e-01 1.98753375e+02] [-8.76120203e-01 6.62240781e-02 4.77522525e-01 -1.86710715e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.2007140569999 meters Centerline goodness : 0.990139 Centerline is valid? [True, True] Translation: X:184.21, Y:198.74, Z:-186.75 [[ 3.89391038e-01 -5.12096201e-01 7.65592647e-01 1.84213173e+02] [ 2.81747722e-01 8.57578001e-01 4.30323359e-01 1.98739385e+02] [-8.76922369e-01 4.81399249e-02 4.78215126e-01 -1.86747480e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.2307140569999 meters Centerline goodness : 0.988130 Centerline is valid? [True, True] Translation: X:184.23, Y:198.73, Z:-186.78 [[ 3.86860388e-01 -5.19099782e-01 7.62151203e-01 1.84227034e+02] [ 2.75412141e-01 8.53822783e-01 4.41740657e-01 1.98732354e+02] [-8.80049540e-01 3.90137321e-02 4.73276596e-01 -1.86776698e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.260714057 meters Centerline goodness : 0.988422 Centerline is valid? [True, True] Translation: X:184.25, Y:198.76, Z:-186.80 [[ 3.88110886e-01 -4.83274520e-01 7.84739242e-01 1.84246187e+02] [ 2.78314574e-01 8.73190372e-01 4.00099454e-01 1.98759754e+02] [-8.78584622e-01 6.31214142e-02 4.73397031e-01 -1.86803728e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.290714057 meters Centerline goodness : 0.989699 Centerline is valid? [True, True] Translation: X:184.26, Y:198.79, Z:-186.81 [[ 3.90162953e-01 -4.73956102e-01 7.89391211e-01 1.84256354e+02] [ 2.88735949e-01 8.77074062e-01 3.83891445e-01 1.98785175e+02] [-8.74302249e-01 7.81454000e-02 4.79049971e-01 -1.86809470e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.3207140569999 meters Centerline goodness : 0.987572 Centerline is valid? [True, True] Translation: X:184.27, Y:198.75, Z:-186.86 [[ 3.83365757e-01 -5.11648693e-01 7.68925426e-01 1.84269296e+02] [ 2.73055513e-01 8.58105393e-01 4.34851493e-01 1.98752559e+02] [-8.82310253e-01 4.32521544e-02 4.68676720e-01 -1.86859678e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.3507140569999 meters Centerline goodness : 0.989580 Centerline is valid? [True, True] Translation: X:184.28, Y:198.79, Z:-186.87 [[ 3.89270688e-01 -4.88385781e-01 7.80991460e-01 1.84281879e+02] [ 2.87730955e-01 8.69912831e-01 4.00577787e-01 1.98787408e+02] [-8.75030987e-01 6.87822280e-02 4.79155274e-01 -1.86868515e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.380714057 meters Centerline goodness : 0.988817 Centerline is valid? [True, True] Translation: X:184.30, Y:198.77, Z:-186.92 [[ 3.87203916e-01 -5.03137696e-01 7.72609595e-01 1.84298731e+02] [ 2.77338706e-01 8.62726431e-01 4.22831347e-01 1.98772590e+02] [-8.79293108e-01 5.05525921e-02 4.73590611e-01 -1.86917180e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.410714057 meters Centerline goodness : 0.988455 Centerline is valid? [True, True] Translation: X:184.32, Y:198.81, Z:-186.93 [[ 3.90099553e-01 -4.64076484e-01 7.95270618e-01 1.84318675e+02] [ 2.78736975e-01 8.82692698e-01 3.78363978e-01 1.98806173e+02] [-8.77569392e-01 7.40717074e-02 4.73693302e-01 -1.86934527e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.4407140569999 meters Centerline goodness : 0.987255 Centerline is valid? [True, True] Translation: X:184.33, Y:198.81, Z:-186.96 [[ 3.90562130e-01 -4.63368290e-01 7.95456505e-01 1.84331289e+02] [ 2.76060906e-01 8.83270133e-01 3.78977900e-01 1.98811170e+02] [-8.78209314e-01 7.15800273e-02 4.72889734e-01 -1.86962480e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.4707140569999 meters Centerline goodness : 0.987189 Centerline is valid? [True, True] Translation: X:184.34, Y:198.81, Z:-186.99 [[ 3.91386115e-01 -4.74635023e-01 7.88377133e-01 1.84344291e+02] [ 2.77374234e-01 8.77723377e-01 3.90723955e-01 1.98812046e+02] [-8.77428313e-01 6.57515728e-02 4.75180268e-01 -1.86992951e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.500714057 meters Centerline goodness : 0.987191 Centerline is valid? [True, True] Translation: X:184.36, Y:198.82, Z:-187.02 [[ 3.91884519e-01 -4.65548758e-01 7.93530641e-01 1.84357485e+02] [ 2.76117652e-01 8.82273260e-01 3.81251803e-01 1.98823301e+02] [-8.77602169e-01 6.97011376e-02 4.74295462e-01 -1.87017687e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.530714057 meters Centerline goodness : 0.987499 Centerline is valid? [True, True] Translation: X:184.37, Y:198.83, Z:-187.05 [[ 3.92159588e-01 -4.69933856e-01 7.90805304e-01 1.84371078e+02] [ 2.76196918e-01 8.80153702e-01 3.86063108e-01 1.98826073e+02] [-8.77454341e-01 6.70196382e-02 4.74954995e-01 -1.87050311e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.5607140569999 meters Centerline goodness : 0.987620 Centerline is valid? [True, True] Translation: X:184.39, Y:198.83, Z:-187.08 [[ 3.93606476e-01 -4.71595669e-01 7.89095347e-01 1.84385795e+02] [ 2.77810583e-01 8.79271467e-01 3.86914677e-01 1.98833906e+02] [-8.76296310e-01 6.69269166e-02 4.77101211e-01 -1.87076002e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.5907140569999 meters Centerline goodness : 0.987133 Centerline is valid? [True, True] Translation: X:184.40, Y:198.84, Z:-187.10 [[ 3.89321066e-01 -4.72594929e-01 7.90621996e-01 1.84395760e+02] [ 2.72134825e-01 8.79042291e-01 3.91442574e-01 1.98837422e+02] [-8.79983946e-01 6.27589385e-02 4.70839220e-01 -1.87103830e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.620714057 meters Centerline goodness : 0.987672 Centerline is valid? [True, True] Translation: X:184.41, Y:198.84, Z:-187.13 [[ 3.93939119e-01 -4.75344820e-01 7.86676092e-01 1.84410932e+02] [ 2.76232588e-01 8.77547469e-01 3.91926009e-01 1.98844852e+02] [-8.76645611e-01 6.29105859e-02 4.77006007e-01 -1.87132196e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.650714057 meters Centerline goodness : 0.987401 Centerline is valid? [True, True] Translation: X:184.43, Y:198.85, Z:-187.16 [[ 3.95432093e-01 -4.70804054e-01 7.88655186e-01 1.84425826e+02] [ 2.74736611e-01 8.79955296e-01 3.87554476e-01 1.98853518e+02] [-8.76443526e-01 6.34209756e-02 4.77309674e-01 -1.87157112e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.6807140569999 meters Centerline goodness : 0.988088 Centerline is valid? [True, True] Translation: X:184.44, Y:198.86, Z:-187.19 [[ 3.95988856e-01 -4.78543031e-01 7.83702363e-01 1.84440110e+02] [ 2.75575557e-01 8.76060895e-01 3.95696122e-01 1.98856685e+02] [-8.75928615e-01 5.92779603e-02 4.78785114e-01 -1.87187963e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.7107140569999 meters Centerline goodness : 0.987110 Centerline is valid? [True, True] Translation: X:184.45, Y:198.87, Z:-187.21 [[ 3.95942154e-01 -4.64384481e-01 7.92197491e-01 1.84453860e+02] [ 2.73052476e-01 8.83219281e-01 3.81268996e-01 1.98870266e+02] [-8.76739503e-01 6.53510191e-02 4.76505077e-01 -1.87214010e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.740714057 meters Centerline goodness : 0.988456 Centerline is valid? [True, True] Translation: X:184.47, Y:198.87, Z:-187.24 [[ 3.96844740e-01 -4.71281958e-01 7.87659551e-01 1.84467905e+02] [ 2.73804359e-01 8.79836039e-01 3.88483871e-01 1.98874816e+02] [-8.76096699e-01 6.14968374e-02 4.78197358e-01 -1.87241694e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.770714057 meters Centerline goodness : 0.985849 Centerline is valid? [True, True] Translation: X:184.48, Y:198.88, Z:-187.27 [[ 3.91698685e-01 -4.62304915e-01 7.95516377e-01 1.84479163e+02] [ 2.62803839e-01 8.84799575e-01 3.84790663e-01 1.98881574e+02] [-8.81763167e-01 5.83427616e-02 4.68070336e-01 -1.87269959e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.8007140569999 meters Centerline goodness : 0.987919 Centerline is valid? [True, True] Translation: X:184.49, Y:198.89, Z:-187.28 [[ 3.98561319e-01 -4.89832489e-01 7.75379267e-01 1.84486903e+02] [ 2.79293472e-01 8.70098886e-01 4.06107233e-01 1.98888663e+02] [-8.73581154e-01 5.46997335e-02 4.83594776e-01 -1.87282987e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.8307140569999 meters Centerline goodness : 0.988804 Centerline is valid? [True, True] Translation: X:184.50, Y:198.87, Z:-187.32 [[ 3.97628773e-01 -5.23145988e-01 7.53796812e-01 1.84496323e+02] [ 2.78004375e-01 8.51609361e-01 4.44381664e-01 1.98874230e+02] [-8.74416907e-01 3.28598761e-02 4.84061259e-01 -1.87319864e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.8607140569999 meters Centerline goodness : 0.988025 Centerline is valid? [True, True] Translation: X:184.52, Y:198.89, Z:-187.36 [[ 3.96195396e-01 -4.86215662e-01 7.78860410e-01 1.84517680e+02] [ 2.64842733e-01 8.72740661e-01 4.10100067e-01 1.98887696e+02] [-8.79140225e-01 4.37957614e-02 4.74546516e-01 -1.87363150e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.890714057 meters Centerline goodness : 0.987612 Centerline is valid? [True, True] Translation: X:184.54, Y:198.91, Z:-187.38 [[ 3.99105125e-01 -4.68367430e-01 7.88255701e-01 1.84535383e+02] [ 2.69255275e-01 8.81655917e-01 3.87536374e-01 1.98908817e+02] [-8.76479718e-01 5.75742525e-02 4.77983797e-01 -1.87378603e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.9207140569999 meters Centerline goodness : 0.987991 Centerline is valid? [True, True] Translation: X:184.55, Y:198.91, Z:-187.41 [[ 3.99430692e-01 -4.71940205e-01 7.85956466e-01 1.84549589e+02] [ 2.70750481e-01 8.79802630e-01 3.90693626e-01 1.98914660e+02] [-8.75870595e-01 5.67430661e-02 4.79198211e-01 -1.87407139e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.9507140569999 meters Centerline goodness : 0.987660 Centerline is valid? [True, True] Translation: X:184.56, Y:198.93, Z:-187.44 [[ 3.98109035e-01 -4.63535426e-01 7.91608556e-01 1.84562005e+02] [ 2.70926263e-01 8.83859527e-01 3.81302106e-01 1.98925544e+02] [-8.76417798e-01 6.26677344e-02 4.77456384e-01 -1.87436200e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.9807140569999 meters Centerline goodness : 0.987229 Centerline is valid? [True, True] Translation: X:184.58, Y:198.92, Z:-187.46 [[ 3.98155166e-01 -4.80431091e-01 7.81446371e-01 1.84576301e+02] [ 2.74897943e-01 8.75220706e-01 3.98019895e-01 1.98924419e+02] [-8.75159177e-01 5.63443228e-02 4.80543165e-01 -1.87462537e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.010714057 meters Centerline goodness : 0.987118 Centerline is valid? [True, True] Translation: X:184.59, Y:198.94, Z:-187.49 [[ 3.97094450e-01 -4.71384859e-01 7.87472103e-01 1.84590330e+02] [ 2.75507738e-01 8.79672988e-01 3.87647934e-01 1.98935821e+02] [-8.75449304e-01 6.30218147e-02 4.79183437e-01 -1.87491068e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.040714057 meters Centerline goodness : 0.987279 Centerline is valid? [True, True] Translation: X:184.60, Y:198.93, Z:-187.51 [[ 3.97465901e-01 -4.87240313e-01 7.77571691e-01 1.84601416e+02] [ 2.76307352e-01 8.71602594e-01 4.04923654e-01 1.98934077e+02] [-8.75028631e-01 5.39054304e-02 4.81060391e-01 -1.87514316e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.0707140569999 meters Centerline goodness : 0.987475 Centerline is valid? [True, True] Translation: X:184.62, Y:198.94, Z:-187.55 [[ 3.96654672e-01 -4.91516398e-01 7.75291366e-01 1.84616981e+02] [ 2.80896654e-01 8.69050383e-01 4.07245015e-01 1.98937312e+02] [-8.73934861e-01 5.62411130e-02 4.82778206e-01 -1.87548508e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.1007140569999 meters Centerline goodness : 0.988367 Centerline is valid? [True, True] Translation: X:184.63, Y:198.95, Z:-187.57 [[ 3.97262776e-01 -4.84200301e-01 7.79571905e-01 1.84632377e+02] [ 2.83596843e-01 8.72673922e-01 3.97508562e-01 1.98950752e+02] [-8.72785837e-01 6.31687761e-02 4.83998542e-01 -1.87571187e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.130714057 meters Centerline goodness : 0.986619 Centerline is valid? [True, True] Translation: X:184.64, Y:198.95, Z:-187.60 [[ 3.91958897e-01 -4.92219217e-01 7.77231282e-01 1.84643176e+02] [ 2.78398586e-01 8.68682267e-01 4.09738143e-01 1.98950855e+02] [-8.76848020e-01 5.57795790e-02 4.77520877e-01 -1.87599068e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.160714057 meters Centerline goodness : 0.986988 Centerline is valid? [True, True] Translation: X:184.65, Y:198.97, Z:-187.62 [[ 3.92534302e-01 -4.96122825e-01 7.74453978e-01 1.84651759e+02] [ 2.92215968e-01 8.65681895e-01 4.06453791e-01 1.98966112e+02] [-8.72081791e-01 6.67607639e-02 4.84784850e-01 -1.87616786e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.1907140569999 meters Centerline goodness : 0.987082 Centerline is valid? [True, True] Translation: X:184.67, Y:198.94, Z:-187.67 [[ 3.85455908e-01 -5.17346135e-01 7.64052825e-01 1.84667748e+02] [ 2.74558926e-01 8.54838141e-01 4.40305745e-01 1.98943916e+02] [-8.80931972e-01 4.00590721e-02 4.71544411e-01 -1.87669393e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.2207140569999 meters Centerline goodness : 0.987576 Centerline is valid? [True, True] Translation: X:184.69, Y:198.98, Z:-187.68 [[ 3.95884516e-01 -4.91814861e-01 7.75495708e-01 1.84689924e+02] [ 2.90361388e-01 8.68204109e-01 4.02382764e-01 1.98978295e+02] [-8.71186384e-01 6.58769042e-02 4.86512609e-01 -1.87679964e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.250714057 meters Centerline goodness : 0.987971 Centerline is valid? [True, True] Translation: X:184.70, Y:199.00, Z:-187.71 [[ 3.90741176e-01 -4.52769306e-01 8.01449492e-01 1.84700621e+02] [ 2.83140290e-01 8.87573112e-01 3.63380718e-01 1.98999291e+02] [-8.75872656e-01 8.49348325e-02 4.75008595e-01 -1.87714700e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.280714057 meters Centerline goodness : 0.988124 Centerline is valid? [True, True] Translation: X:184.71, Y:198.99, Z:-187.74 [[ 3.94366415e-01 -4.94239093e-01 7.74727597e-01 1.84714802e+02] [ 2.92276856e-01 8.66736466e-01 4.04156080e-01 1.98990014e+02] [-8.71234394e-01 6.70493620e-02 4.86266401e-01 -1.87737811e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.3107140569999 meters Centerline goodness : 0.988262 Centerline is valid? [True, True] Translation: X:184.73, Y:199.00, Z:-187.77 [[ 3.93331647e-01 -4.90852251e-01 7.77402266e-01 1.84729026e+02] [ 2.94060567e-01 8.68305603e-01 3.99466848e-01 1.98999101e+02] [-8.71101945e-01 7.14803973e-02 4.85872364e-01 -1.87766302e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.3407140569999 meters Centerline goodness : 0.988694 Centerline is valid? [True, True] Translation: X:184.73, Y:199.01, Z:-187.78 [[ 3.90705862e-01 -4.91108553e-01 7.78563625e-01 1.84733318e+02] [ 3.01648062e-01 8.67396433e-01 3.95767450e-01 1.99013339e+02] [-8.69688091e-01 8.02235464e-02 4.87038815e-01 -1.87781674e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.370714057 meters Centerline goodness : 0.989052 Centerline is valid? [True, True] Translation: X:184.74, Y:198.99, Z:-187.82 [[ 3.87292938e-01 -5.40727490e-01 7.46738215e-01 1.84742957e+02] [ 3.01497042e-01 8.39697985e-01 4.51671150e-01 1.98989866e+02] [-8.71265582e-01 5.02103161e-02 4.88236839e-01 -1.87821438e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.400714057 meters Centerline goodness : 0.989498 Centerline is valid? [True, True] Translation: X:184.76, Y:199.00, Z:-187.85 [[ 3.86725889e-01 -5.41036569e-01 7.46808220e-01 1.84757310e+02] [ 3.03188935e-01 8.39391829e-01 4.51107334e-01 1.98997211e+02] [-8.70930282e-01 5.19691043e-02 4.88650853e-01 -1.87850090e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.4307140569999 meters Centerline goodness : 0.989498 Centerline is valid? [True, True] Translation: X:184.77, Y:199.01, Z:-187.88 [[ 3.86820323e-01 -5.40596275e-01 7.47078112e-01 1.84771136e+02] [ 3.03092632e-01 8.39666769e-01 4.50660154e-01 1.99005683e+02] [-8.70921865e-01 5.21093646e-02 4.88650918e-01 -1.87879461e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.4607140569999 meters Centerline goodness : 0.988591 Centerline is valid? [True, True] Translation: X:184.79, Y:199.02, Z:-187.92 [[ 3.85793676e-01 -5.09569530e-01 7.69091759e-01 1.84791753e+02] [ 2.92345544e-01 8.58188970e-01 4.21954707e-01 1.99018569e+02] [-8.75041326e-01 6.20530913e-02 4.80054259e-01 -1.87923218e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.490714057 meters Centerline goodness : 0.989320 Centerline is valid? [True, True] Translation: X:184.81, Y:199.04, Z:-187.93 [[ 3.87722898e-01 -4.99865418e-01 7.74471122e-01 1.84806020e+02] [ 3.00730290e-01 8.62818095e-01 4.06332656e-01 1.99040219e+02] [-8.71339341e-01 7.53624500e-02 4.84859005e-01 -1.87933737e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.520714057 meters Centerline goodness : 0.989711 Centerline is valid? [True, True] Translation: X:184.81, Y:199.05, Z:-187.95 [[ 3.87415870e-01 -5.02816223e-01 7.72712618e-01 1.84813377e+02] [ 3.01021175e-01 8.61223357e-01 4.09488195e-01 1.99045140e+02] [-8.71375462e-01 7.39606348e-02 4.85009927e-01 -1.87954504e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.5507140569999 meters Centerline goodness : 0.988595 Centerline is valid? [True, True] Translation: X:184.82, Y:199.03, Z:-187.99 [[ 3.84975422e-01 -5.34233388e-01 7.52587943e-01 1.84824692e+02] [ 3.00205496e-01 8.43577198e-01 4.45257422e-01 1.99033099e+02] [-8.72737409e-01 5.45178734e-02 4.85136287e-01 -1.87990452e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.5807140569999 meters Centerline goodness : 0.987905 Centerline is valid? [True, True] Translation: X:184.84, Y:199.04, Z:-188.03 [[ 3.83210111e-01 -5.04217728e-01 7.73895660e-01 1.84844749e+02] [ 2.89511727e-01 8.61204145e-01 4.17744398e-01 1.99044249e+02] [-8.77116281e-01 6.39679916e-02 4.75999081e-01 -1.88034608e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.6107140569999 meters Centerline goodness : 0.988720 Centerline is valid? [True, True] Translation: X:184.86, Y:199.07, Z:-188.05 [[ 3.85733851e-01 -4.69083404e-01 7.94462180e-01 1.84862460e+02] [ 2.91354618e-01 8.78971504e-01 3.77520308e-01 1.99074115e+02] [-8.75398128e-01 8.58478628e-02 4.75718679e-01 -1.88053596e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.640714057 meters Centerline goodness : 0.988636 Centerline is valid? [True, True] Translation: X:184.87, Y:199.08, Z:-188.07 [[ 3.87000501e-01 -4.99579548e-01 7.75016702e-01 1.84868847e+02] [ 3.02278317e-01 8.62798880e-01 4.05223285e-01 1.99079032e+02] [-8.71124808e-01 7.74491301e-02 4.84915664e-01 -1.88065429e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.6707140569999 meters Centerline goodness : 0.987275 Centerline is valid? [True, True] Translation: X:184.88, Y:199.06, Z:-188.11 [[ 3.85405001e-01 -5.20752230e-01 7.61761183e-01 1.84883008e+02] [ 2.88744254e-01 8.52138247e-01 4.36448352e-01 1.99059503e+02] [-8.76407292e-01 5.17447873e-02 4.78782556e-01 -1.88111632e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.7007140569999 meters Centerline goodness : 0.987348 Centerline is valid? [True, True] Translation: X:184.90, Y:199.08, Z:-188.14 [[ 3.87743381e-01 -5.06895042e-01 7.69878229e-01 1.84901676e+02] [ 2.95924825e-01 8.59462021e-01 4.16837537e-01 1.99080847e+02] [-8.72973979e-01 6.62000843e-02 4.83253537e-01 -1.88136773e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.7307140569999 meters Centerline goodness : 0.988392 Centerline is valid? [True, True] Translation: X:184.92, Y:199.10, Z:-188.16 [[ 3.88934799e-01 -4.83911810e-01 7.83938188e-01 1.84915594e+02] [ 2.95573494e-01 8.71496893e-01 3.91317615e-01 1.99101378e+02] [-8.72562910e-01 7.95143120e-02 4.81986973e-01 -1.88160749e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.760714057 meters Centerline goodness : 0.988341 Centerline is valid? [True, True] Translation: X:184.92, Y:199.11, Z:-188.18 [[ 3.89286968e-01 -5.00561330e-01 7.73236065e-01 1.84919860e+02] [ 3.02790664e-01 8.62345056e-01 4.05806381e-01 1.99109920e+02] [-8.69927279e-01 7.61535262e-02 4.87264989e-01 -1.88175476e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.790714057 meters Centerline goodness : 0.988160 Centerline is valid? [True, True] Translation: X:184.94, Y:199.09, Z:-188.22 [[ 3.89675819e-01 -5.35748046e-01 7.49083965e-01 1.84937805e+02] [ 2.94327429e-01 8.43169937e-01 4.49928685e-01 1.99088885e+02] [-8.72653494e-01 4.51496286e-02 4.86248281e-01 -1.88223116e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.8207140569999 meters Centerline goodness : 0.987968 Centerline is valid? [True, True] Translation: X:184.95, Y:199.13, Z:-188.24 [[ 3.92969064e-01 -4.87486696e-01 7.79699966e-01 1.84953175e+02] [ 2.93209248e-01 8.70080600e-01 3.96217220e-01 1.99126007e+02] [-8.71552438e-01 7.29141301e-02 4.84850367e-01 -1.88239773e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.8507140569999 meters Centerline goodness : 0.988863 Centerline is valid? [True, True] Translation: X:184.96, Y:199.14, Z:-188.26 [[ 3.92994917e-01 -4.96470567e-01 7.73997397e-01 1.84957131e+02] [ 2.96412035e-01 8.65188324e-01 4.04461457e-01 1.99136687e+02] [-8.70456720e-01 7.04708466e-02 4.87174464e-01 -1.88257173e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.880714057 meters Centerline goodness : 0.988301 Centerline is valid? [True, True] Translation: X:184.97, Y:199.11, Z:-188.30 [[ 3.94708021e-01 -5.42752301e-01 7.41367330e-01 1.84974779e+02] [ 2.90537520e-01 8.39206403e-01 4.59696163e-01 1.99111482e+02] [-8.71661360e-01 3.39492627e-02 4.88931407e-01 -1.88301405e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.910714057 meters Centerline goodness : 0.987429 Centerline is valid? [True, True] Translation: X:184.99, Y:199.14, Z:-188.32 [[ 3.96508007e-01 -5.01775068e-01 7.68767313e-01 1.84990558e+02] [ 2.88774905e-01 8.63071991e-01 4.14386044e-01 1.99144175e+02] [-8.71430121e-01 5.76933235e-02 4.87115002e-01 -1.88323396e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.9407140569999 meters Centerline goodness : 0.988628 Centerline is valid? [True, True] Translation: X:185.00, Y:199.16, Z:-188.35 [[ 3.96819144e-01 -4.89704718e-01 7.76352920e-01 1.85002558e+02] [ 2.83467590e-01 8.69832203e-01 4.03779724e-01 1.99158220e+02] [-8.73029606e-01 5.98433665e-02 4.83981486e-01 -1.88351221e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.9707140569999 meters Centerline goodness : 0.988398 Centerline is valid? [True, True] Translation: X:185.01, Y:199.16, Z:-188.38 [[ 3.97591735e-01 -4.92494198e-01 7.74190079e-01 1.85014355e+02] [ 2.80647528e-01 8.68582876e-01 4.08412479e-01 1.99164844e+02] [-8.73589021e-01 5.48931060e-02 4.83558651e-01 -1.88379319e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.000714057 meters Centerline goodness : 0.988604 Centerline is valid? [True, True] Translation: X:185.03, Y:199.17, Z:-188.41 [[ 3.96616090e-01 -4.89147986e-01 7.76807522e-01 1.85026686e+02] [ 2.78182916e-01 8.70462877e-01 4.06089455e-01 1.99174135e+02] [-8.74819949e-01 5.50329697e-02 4.81312195e-01 -1.88409243e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.030714057 meters Centerline goodness : 0.989583 Centerline is valid? [True, True] Translation: X:185.03, Y:199.19, Z:-188.43 [[ 3.95984554e-01 -4.95458730e-01 7.73121517e-01 1.85032047e+02] [ 2.83590191e-01 8.66771908e-01 4.10223187e-01 1.99186721e+02] [-8.73368672e-01 5.68076332e-02 4.83735523e-01 -1.88425475e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.0607140569999 meters Centerline goodness : 0.988667 Centerline is valid? [True, True] Translation: X:185.05, Y:199.17, Z:-188.47 [[ 3.93899076e-01 -5.07234918e-01 7.66522182e-01 1.85046475e+02] [ 2.70519776e-01 8.60983025e-01 4.30728780e-01 1.99173432e+02] [-8.78443265e-01 3.76957403e-02 4.76357494e-01 -1.88474135e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.0907140569999 meters Centerline goodness : 0.988069 Centerline is valid? [True, True] Translation: X:185.06, Y:199.20, Z:-188.49 [[ 3.94083836e-01 -4.69203752e-01 7.90282082e-01 1.85060820e+02] [ 2.69421039e-01 8.81068543e-01 3.88755099e-01 1.99202880e+02] [-8.78698033e-01 5.97165187e-02 4.73628234e-01 -1.88494477e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.120714057 meters Centerline goodness : 0.988154 Centerline is valid? [True, True] Translation: X:185.07, Y:199.21, Z:-188.52 [[ 3.93436928e-01 -4.79678547e-01 7.84293233e-01 1.85072977e+02] [ 2.70785204e-01 8.75712724e-01 3.99753173e-01 1.99205293e+02] [-8.78568584e-01 5.50973426e-02 4.74427577e-01 -1.88521783e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.150714057 meters Centerline goodness : 0.987706 Centerline is valid? [True, True] Translation: X:185.09, Y:199.22, Z:-188.55 [[ 3.91823898e-01 -4.72181551e-01 7.89631950e-01 1.85085260e+02] [ 2.70979420e-01 8.79415053e-01 3.91406846e-01 1.99215995e+02] [-8.79229314e-01 6.06114519e-02 4.72527317e-01 -1.88550628e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.1807140569999 meters Centerline goodness : 0.987588 Centerline is valid? [True, True] Translation: X:185.10, Y:199.22, Z:-188.58 [[ 3.92143386e-01 -4.80246735e-01 7.84593295e-01 1.85098644e+02] [ 2.73587325e-01 8.75200279e-01 3.98966723e-01 1.99220658e+02] [-8.78278737e-01 5.82026194e-02 4.74593420e-01 -1.88578437e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.2107140569999 meters Centerline goodness : 0.988190 Centerline is valid? [True, True] Translation: X:185.11, Y:199.23, Z:-188.61 [[ 3.89475486e-01 -4.67401937e-01 7.93627290e-01 1.85110476e+02] [ 2.72795994e-01 8.81545401e-01 3.85305142e-01 1.99232365e+02] [-8.79710857e-01 6.64314377e-02 4.70845700e-01 -1.88611119e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.240714057 meters Centerline goodness : 0.987573 Centerline is valid? [True, True] Translation: X:185.12, Y:199.24, Z:-188.64 [[ 3.88690688e-01 -4.71932031e-01 7.91327813e-01 1.85122529e+02] [ 2.73976371e-01 8.79212972e-01 3.89771084e-01 1.99236954e+02] [-8.79691138e-01 6.53047316e-02 4.71040120e-01 -1.88637813e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.270714057 meters Centerline goodness : 0.989734 Centerline is valid? [True, True] Translation: X:185.13, Y:199.24, Z:-188.65 [[ 3.90646036e-01 -5.07694483e-01 7.67881493e-01 1.85131864e+02] [ 2.90536008e-01 8.59525690e-01 4.20481173e-01 1.99239567e+02] [-8.73489842e-01 5.88379200e-02 4.83273831e-01 -1.88645918e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.3007140569999 meters Centerline goodness : 0.989562 Centerline is valid? [True, True] Translation: X:185.14, Y:199.23, Z:-188.68 [[ 3.88023816e-01 -5.36310497e-01 7.49538905e-01 1.85143315e+02] [ 2.90960651e-01 8.42950223e-01 4.52522730e-01 1.99229741e+02] [-8.74516677e-01 4.24967310e-02 4.83130013e-01 -1.88681301e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.3307140569999 meters Centerline goodness : 0.989327 Centerline is valid? [True, True] Translation: X:185.16, Y:199.23, Z:-188.72 [[ 3.89023322e-01 -5.36550296e-01 7.48848873e-01 1.85164763e+02] [ 2.86183121e-01 8.43049921e-01 4.55374628e-01 1.99230842e+02] [-8.75648375e-01 3.71565571e-02 4.81517719e-01 -1.88720283e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.3607140569999 meters Centerline goodness : 0.989131 Centerline is valid? [True, True] Translation: X:185.18, Y:199.27, Z:-188.74 [[ 3.87387954e-01 -4.77423337e-01 7.88668201e-01 1.85180225e+02] [ 2.85274690e-01 8.75556379e-01 3.89896626e-01 1.99271935e+02] [-8.76669222e-01 7.39458206e-02 4.75376788e-01 -1.88742313e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.390714057 meters Centerline goodness : 0.989995 Centerline is valid? [True, True] Translation: X:185.19, Y:199.28, Z:-188.77 [[ 3.83935702e-01 -4.77820384e-01 7.90114585e-01 1.85193044e+02] [ 2.86973723e-01 8.75067229e-01 3.89747902e-01 1.99278538e+02] [-8.77632873e-01 7.71039896e-02 4.73091446e-01 -1.88774147e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.4207140569999 meters Centerline goodness : 0.990130 Centerline is valid? [True, True] Translation: X:185.21, Y:199.29, Z:-188.80 [[ 3.83813890e-01 -4.81334935e-01 7.88037803e-01 1.85206926e+02] [ 2.90072128e-01 8.73046785e-01 3.91978919e-01 1.99285930e+02] [-8.76667017e-01 7.81408485e-02 4.74709331e-01 -1.88801136e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.4507140569999 meters Centerline goodness : 0.988475 Centerline is valid? [True, True] Translation: X:185.22, Y:199.30, Z:-188.83 [[ 3.79780474e-01 -4.63661897e-01 8.00490123e-01 1.85217248e+02] [ 2.88612945e-01 8.81518707e-01 3.73667414e-01 1.99298183e+02] [-8.78902361e-01 8.91202244e-02 4.68602418e-01 -1.88831949e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.4807140569999 meters Centerline goodness : 0.989194 Centerline is valid? [True, True] Translation: X:185.23, Y:199.30, Z:-188.86 [[ 3.79308883e-01 -4.75222265e-01 7.93907155e-01 1.85230013e+02] [ 2.90577999e-01 8.75798583e-01 3.85410521e-01 1.99300209e+02] [-8.78458421e-01 8.45023180e-02 4.70287317e-01 -1.88859604e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.510714057 meters Centerline goodness : 0.989684 Centerline is valid? [True, True] Translation: X:185.24, Y:199.31, Z:-188.89 [[ 3.79216362e-01 -4.78030815e-01 7.92263524e-01 1.85243720e+02] [ 2.93697629e-01 8.74123912e-01 3.86845046e-01 1.99308296e+02] [-8.77460343e-01 8.59879472e-02 4.71878606e-01 -1.88887707e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.540714057 meters Centerline goodness : 0.989662 Centerline is valid? [True, True] Translation: X:185.26, Y:199.32, Z:-188.92 [[ 3.77896328e-01 -4.80418253e-01 7.91449725e-01 1.85257183e+02] [ 2.98246050e-01 8.72436751e-01 3.87173616e-01 1.99316378e+02] [-8.76495099e-01 8.97352661e-02 4.72973491e-01 -1.88916105e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.5707140569999 meters Centerline goodness : 0.989420 Centerline is valid? [True, True] Translation: X:185.27, Y:199.32, Z:-188.94 [[ 3.77905353e-01 -4.90724562e-01 7.85096777e-01 1.85270133e+02] [ 3.01456585e-01 8.66988720e-01 3.96805351e-01 1.99320137e+02] [-8.75392182e-01 8.67177273e-02 4.75571829e-01 -1.88940235e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.6007140569999 meters Centerline goodness : 0.989295 Centerline is valid? [True, True] Translation: X:185.28, Y:199.33, Z:-188.97 [[ 3.78035201e-01 -4.86982934e-01 7.87360787e-01 1.85283987e+02] [ 3.03710193e-01 8.68641874e-01 3.91435070e-01 1.99330666e+02] [-8.74556748e-01 9.11532609e-02 4.76278886e-01 -1.88970225e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.630714057 meters Centerline goodness : 0.989210 Centerline is valid? [True, True] Translation: X:185.30, Y:199.33, Z:-189.00 [[ 3.78980242e-01 -5.02882902e-01 7.76841530e-01 1.85298335e+02] [ 3.09120441e-01 8.60035879e-01 4.05934527e-01 1.99333077e+02] [-8.72249121e-01 8.62964309e-02 4.81387990e-01 -1.88996274e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.660714057 meters Centerline goodness : 0.990404 Centerline is valid? [True, True] Translation: X:185.31, Y:199.35, Z:-189.01 [[ 3.77670442e-01 -5.18437477e-01 7.67194643e-01 1.85305256e+02] [ 3.22715805e-01 8.50305099e-01 4.15735189e-01 1.99345382e+02] [-8.67882220e-01 9.05749437e-02 4.88443070e-01 -1.89006633e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.6907140569999 meters Centerline goodness : 0.989495 Centerline is valid? [True, True] Translation: X:185.32, Y:199.33, Z:-189.04 [[ 3.74176803e-01 -5.56463775e-01 7.41848897e-01 1.85315906e+02] [ 3.22213593e-01 8.28132688e-01 4.58666167e-01 1.99330522e+02] [-8.69580428e-01 6.74115584e-02 4.89168234e-01 -1.89044222e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.7207140569999 meters Centerline goodness : 0.989276 Centerline is valid? [True, True] Translation: X:185.33, Y:199.34, Z:-189.07 [[ 3.73272489e-01 -5.56724403e-01 7.42108879e-01 1.85328810e+02] [ 3.23665442e-01 8.27813761e-01 4.58219443e-01 1.99340773e+02] [-8.69429888e-01 6.91542865e-02 4.89192553e-01 -1.89073510e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.750714057 meters Centerline goodness : 0.988255 Centerline is valid? [True, True] Translation: X:185.35, Y:199.34, Z:-189.12 [[ 3.76023804e-01 -5.60452808e-01 7.37901585e-01 1.85352895e+02] [ 3.16873725e-01 8.26110304e-01 4.65975115e-01 1.99339513e+02] [-8.70745164e-01 5.86038883e-02 4.88229908e-01 -1.89116108e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.780714057 meters Centerline goodness : 0.988711 Centerline is valid? [True, True] Translation: X:185.37, Y:199.39, Z:-189.13 [[ 3.80417233e-01 -4.99059198e-01 7.78603009e-01 1.85369811e+02] [ 3.20048049e-01 8.60922518e-01 3.95451217e-01 1.99386906e+02] [-8.67670430e-01 9.87539162e-02 4.87232684e-01 -1.89128389e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.8107140569999 meters Centerline goodness : 0.989113 Centerline is valid? [True, True] Translation: X:185.38, Y:199.39, Z:-189.16 [[ 3.79525651e-01 -5.03926163e-01 7.75898642e-01 1.85381185e+02] [ 3.20327180e-01 8.58346835e-01 4.00788234e-01 1.99393242e+02] [-8.67957821e-01 9.64320088e-02 4.87185888e-01 -1.89155335e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.8407140569999 meters Centerline goodness : 0.988249 Centerline is valid? [True, True] Translation: X:185.40, Y:199.40, Z:-189.18 [[ 3.80282345e-01 -5.15476669e-01 7.67899174e-01 1.85395481e+02] [ 3.22485222e-01 8.52073588e-01 4.12278890e-01 1.99398738e+02] [-8.66826753e-01 9.08537525e-02 4.90262150e-01 -1.89182147e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.870714057 meters Centerline goodness : 0.988530 Centerline is valid? [True, True] Translation: X:185.41, Y:199.41, Z:-189.21 [[ 3.79850426e-01 -5.28447117e-01 7.59247851e-01 1.85408833e+02] [ 3.23975671e-01 8.44780282e-01 4.25894400e-01 1.99405239e+02] [-8.66460281e-01 8.42016630e-02 4.92094159e-01 -1.89208967e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.900714057 meters Centerline goodness : 0.989023 Centerline is valid? [True, True] Translation: X:185.41, Y:199.44, Z:-189.22 [[ 3.76863272e-01 -4.92087784e-01 7.84744345e-01 1.85409110e+02] [ 3.26065822e-01 8.63460677e-01 3.84859376e-01 1.99438837e+02] [-8.66980481e-01 1.10838946e-01 4.85859624e-01 -1.89223118e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.9307140569999 meters Centerline goodness : 0.989023 Centerline is valid? [True, True] Translation: X:185.42, Y:199.40, Z:-189.27 [[ 3.71335124e-01 -5.59627010e-01 7.40896643e-01 1.85415628e+02] [ 3.23522210e-01 8.25929638e-01 4.61707280e-01 1.99404784e+02] [-8.70312361e-01 6.82483892e-02 4.87748451e-01 -1.89267319e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.9607140569999 meters Centerline goodness : 0.989716 Centerline is valid? [True, True] Translation: X:185.44, Y:199.40, Z:-189.31 [[ 3.77298111e-01 -5.84784933e-01 7.18103556e-01 1.85441779e+02] [ 3.20339248e-01 8.09957009e-01 4.91276306e-01 1.99398017e+02] [-8.68923991e-01 4.46791311e-02 4.92924815e-01 -1.89305658e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.990714057 meters Centerline goodness : 0.989266 Centerline is valid? [True, True] Translation: X:185.46, Y:199.45, Z:-189.32 [[ 3.83763934e-01 -5.23540995e-01 7.60677376e-01 1.85460355e+02] [ 3.23246998e-01 8.47795452e-01 4.20421515e-01 1.99448609e+02] [-8.65006718e-01 8.45440637e-02 4.94586372e-01 -1.89318702e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.020714057 meters Centerline goodness : 0.989098 Centerline is valid? [True, True] Translation: X:185.47, Y:199.46, Z:-189.35 [[ 3.84864000e-01 -5.15938054e-01 7.65302311e-01 1.85472249e+02] [ 3.21872143e-01 8.52142400e-01 4.12615625e-01 1.99461858e+02] [-8.65030650e-01 8.75285953e-02 4.94025019e-01 -1.89345188e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.0507140569999 meters Centerline goodness : 0.988458 Centerline is valid? [True, True] Translation: X:185.48, Y:199.47, Z:-189.37 [[ 3.88110689e-01 -5.12226855e-01 7.66155168e-01 1.85483842e+02] [ 3.19381853e-01 8.54558854e-01 4.09541692e-01 1.99474654e+02] [-8.64502936e-01 8.57485489e-02 4.95259387e-01 -1.89372273e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.0807140569999 meters Centerline goodness : 0.988295 Centerline is valid? [True, True] Translation: X:185.49, Y:199.48, Z:-189.40 [[ 3.87736984e-01 -5.10414432e-01 7.67552694e-01 1.85494533e+02] [ 3.16985980e-01 8.55742524e-01 4.08931072e-01 1.99483762e+02] [-8.65551801e-01 8.47457425e-02 4.93597245e-01 -1.89401901e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.1107140569999 meters Centerline goodness : 0.988969 Centerline is valid? [True, True] Translation: X:185.51, Y:199.49, Z:-189.43 [[ 3.87240096e-01 -5.16571129e-01 7.63674916e-01 1.85505742e+02] [ 3.16021078e-01 8.52490411e-01 4.16402182e-01 1.99489958e+02] [-8.66126888e-01 8.00897495e-02 4.93365834e-01 -1.89431265e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.140714057 meters Centerline goodness : 0.987002 Centerline is valid? [True, True] Translation: X:185.51, Y:199.50, Z:-189.45 [[ 3.84870522e-01 -5.18231206e-01 7.63748060e-01 1.85514508e+02] [ 3.06014451e-01 8.52331279e-01 4.24130341e-01 1.99497823e+02] [-8.70763939e-01 7.04826774e-02 4.86623422e-01 -1.89452839e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.1707140569999 meters Centerline goodness : 0.988193 Centerline is valid? [True, True] Translation: X:185.53, Y:199.51, Z:-189.49 [[ 3.88074573e-01 -5.20654677e-01 7.60471454e-01 1.85527285e+02] [ 3.11042968e-01 8.50716931e-01 4.23713317e-01 1.99505231e+02] [-8.67554262e-01 7.21069337e-02 4.92087586e-01 -1.89489638e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.2007140569999 meters Centerline goodness : 0.987409 Centerline is valid? [True, True] Translation: X:185.54, Y:199.53, Z:-189.52 [[ 3.87809308e-01 -4.98867547e-01 7.75071036e-01 1.85540127e+02] [ 3.08847674e-01 8.62598405e-01 4.00670820e-01 1.99525737e+02] [-8.68456709e-01 8.39950129e-02 4.88597772e-01 -1.89516189e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.2307140569999 meters Centerline goodness : 0.987354 Centerline is valid? [True, True] Translation: X:185.55, Y:199.53, Z:-189.55 [[ 3.86296117e-01 -5.02073291e-01 7.73755595e-01 1.85550251e+02] [ 3.06909724e-01 8.61038910e-01 4.05485410e-01 1.99532357e+02] [-8.69817068e-01 8.08356765e-02 4.86707162e-01 -1.89547632e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.260714057 meters Centerline goodness : 0.987061 Centerline is valid? [True, True] Translation: X:185.56, Y:199.55, Z:-189.58 [[ 3.85197150e-01 -4.91001223e-01 7.81371202e-01 1.85561290e+02] [ 3.03898286e-01 8.66971394e-01 3.94976498e-01 1.99545390e+02] [-8.71360423e-01 8.53135478e-02 4.83169341e-01 -1.89575173e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.290714057 meters Centerline goodness : 0.985102 Centerline is valid? [True, True] Translation: X:185.57, Y:199.55, Z:-189.60 [[ 3.77089499e-01 -4.96950712e-01 7.81564776e-01 1.85568168e+02] [ 2.93317289e-01 8.64502862e-01 4.08166352e-01 1.99546207e+02] [-8.78503545e-01 7.53312164e-02 4.71759186e-01 -1.89600660e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.3207140569999 meters Centerline goodness : 0.985102 Centerline is valid? [True, True] Translation: X:185.58, Y:199.55, Z:-189.63 [[ 3.76449838e-01 -5.11945811e-01 7.72137945e-01 1.85579964e+02] [ 2.93093504e-01 8.56452648e-01 4.24953009e-01 1.99545732e+02] [-8.78852501e-01 6.63351248e-02 4.72459452e-01 -1.89633519e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.3507140569999 meters Centerline goodness : 0.984503 Centerline is valid? [True, True] Translation: X:185.59, Y:199.56, Z:-189.66 [[ 3.76110181e-01 -5.03829180e-01 7.77622845e-01 1.85590960e+02] [ 2.91103671e-01 8.61002000e-01 4.17054204e-01 1.99558650e+02] [-8.79658902e-01 6.95105330e-02 4.70498142e-01 -1.89663038e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.380714057 meters Centerline goodness : 0.984712 Centerline is valid? [True, True] Translation: X:185.60, Y:199.57, Z:-189.69 [[ 3.76142603e-01 -5.06850705e-01 7.75641093e-01 1.85602429e+02] [ 2.90311975e-01 8.59434828e-01 4.20821498e-01 1.99565903e+02] [-8.79906642e-01 6.68890039e-02 4.70414883e-01 -1.89692780e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.410714057 meters Centerline goodness : 0.984894 Centerline is valid? [True, True] Translation: X:185.62, Y:199.60, Z:-189.73 [[ 3.80372657e-01 -4.63900488e-01 8.00070609e-01 1.85616370e+02] [ 2.94285959e-01 8.80843523e-01 3.70824031e-01 1.99595501e+02] [-8.76762463e-01 9.43982242e-02 4.71568191e-01 -1.89727697e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.4407140569999 meters Centerline goodness : 0.984941 Centerline is valid? [True, True] Translation: X:185.62, Y:199.58, Z:-189.75 [[ 3.76238339e-01 -5.04265494e-01 7.77277958e-01 1.85623670e+02] [ 2.87897943e-01 8.61019497e-01 4.19237642e-01 1.99581938e+02] [-8.80658553e-01 6.60434510e-02 4.69125544e-01 -1.89750935e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.4707140569999 meters Centerline goodness : 0.986626 Centerline is valid? [True, True] Translation: X:185.64, Y:199.60, Z:-189.78 [[ 3.81940026e-01 -4.81552444e-01 7.88814972e-01 1.85639236e+02] [ 2.94632490e-01 8.72432711e-01 3.89939560e-01 1.99604061e+02] [-8.75964333e-01 8.34769937e-02 4.75097968e-01 -1.89784169e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.500714057 meters Centerline goodness : 0.990016 Centerline is valid? [True, True] Translation: X:185.65, Y:199.60, Z:-189.79 [[ 3.88204047e-01 -5.38399385e-01 7.47946335e-01 1.85646486e+02] [ 3.13025503e-01 8.40379384e-01 4.42467542e-01 1.99602811e+02] [-8.66782933e-01 6.23585871e-02 4.94771416e-01 -1.89787303e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.530714057 meters Centerline goodness : 0.981190 Centerline is valid? [True, True] Translation: X:185.64, Y:199.59, Z:-189.82 [[ 3.71476703e-01 -5.59324505e-01 7.41054085e-01 1.85642617e+02] [ 3.02488440e-01 8.27530768e-01 4.72962548e-01 1.99590894e+02] [-8.77784599e-01 4.84657262e-02 4.76597598e-01 -1.89816287e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.5607140569999 meters Centerline goodness : 0.990626 Centerline is valid? [True, True] Translation: X:185.66, Y:199.58, Z:-189.85 [[ 3.84781752e-01 -5.99075105e-01 7.02176632e-01 1.85661442e+02] [ 3.11694580e-01 8.00395194e-01 5.12068377e-01 1.99579129e+02] [-8.68786218e-01 2.18300825e-02 4.94705928e-01 -1.89851034e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.5907140569999 meters Centerline goodness : 0.990370 Centerline is valid? [True, True] Translation: X:185.68, Y:199.61, Z:-189.87 [[ 3.87445033e-01 -5.62434058e-01 7.30447997e-01 1.85678158e+02] [ 3.11912416e-01 8.25581372e-01 4.70240409e-01 1.99612907e+02] [-8.67523481e-01 4.56434889e-02 4.95297568e-01 -1.89870494e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.620714057 meters Centerline goodness : 0.987457 Centerline is valid? [True, True] Translation: X:185.69, Y:199.62, Z:-189.92 [[ 3.77568819e-01 -5.34668058e-01 7.56023713e-01 1.85694769e+02] [ 2.88596926e-01 8.43736845e-01 4.52570381e-01 1.99616489e+02] [-8.79859990e-01 4.73096557e-02 4.72872282e-01 -1.89915319e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.650714057 meters Centerline goodness : 0.987426 Centerline is valid? [True, True] Translation: X:185.71, Y:199.64, Z:-189.93 [[ 3.78954645e-01 -5.13103347e-01 7.70141762e-01 1.85711298e+02] [ 2.93336651e-01 8.55898879e-01 4.25899892e-01 1.99641731e+02] [-8.77694131e-01 6.45140630e-02 4.74858873e-01 -1.89934726e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.6807140569999 meters Centerline goodness : 0.987214 Centerline is valid? [True, True] Translation: X:185.72, Y:199.65, Z:-189.95 [[ 3.78684481e-01 -5.25822719e-01 7.61648562e-01 1.85720988e+02] [ 2.97960589e-01 8.48386520e-01 4.37561196e-01 1.99645996e+02] [-8.76251991e-01 6.12436193e-02 4.77945256e-01 -1.89954498e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.7107140569999 meters Centerline goodness : 0.988935 Centerline is valid? [True, True] Translation: X:185.73, Y:199.64, Z:-189.98 [[ 3.77789542e-01 -5.52568755e-01 7.42928552e-01 1.85730482e+02] [ 3.00137501e-01 8.32151496e-01 4.66306088e-01 1.99639135e+02] [-8.75895280e-01 4.68151557e-02 4.80224738e-01 -1.89982365e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.740714057 meters Centerline goodness : 0.987234 Centerline is valid? [True, True] Translation: X:185.74, Y:199.66, Z:-190.00 [[ 3.77707593e-01 -5.42897247e-01 7.50066366e-01 1.85742303e+02] [ 3.03162243e-01 8.37931537e-01 4.53831900e-01 1.99655599e+02] [-8.74888352e-01 5.59760473e-02 4.81079051e-01 -1.90004653e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.770714057 meters Centerline goodness : 0.988480 Centerline is valid? [True, True] Translation: X:185.75, Y:199.66, Z:-190.03 [[ 3.76300357e-01 -5.48782900e-01 7.46481996e-01 1.85751735e+02] [ 3.04594415e-01 8.34194208e-01 4.59719768e-01 1.99658476e+02] [-8.74997305e-01 5.43815344e-02 4.81063785e-01 -1.90030581e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.8007140569999 meters Centerline goodness : 0.986410 Centerline is valid? [True, True] Translation: X:185.77, Y:199.68, Z:-190.06 [[ 3.75239217e-01 -5.18604674e-01 7.68273859e-01 1.85766177e+02] [ 3.02449950e-01 8.51977830e-01 4.27384843e-01 1.99679749e+02] [-8.76196073e-01 7.19928359e-02 4.76547452e-01 -1.90058027e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.8307140569999 meters Centerline goodness : 0.987832 Centerline is valid? [True, True] Translation: X:185.78, Y:199.68, Z:-190.09 [[ 3.74230989e-01 -5.26772239e-01 7.63192096e-01 1.85779459e+02] [ 3.04947040e-01 8.47129441e-01 4.35176991e-01 1.99684122e+02] [-8.75761652e-01 6.98764546e-02 4.77659723e-01 -1.90090078e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.8607140569999 meters Centerline goodness : 0.981063 Centerline is valid? [True, True] Translation: X:185.78, Y:199.69, Z:-190.11 [[ 3.68327843e-01 -5.28234822e-01 7.65050700e-01 1.85778876e+02] [ 3.07402411e-01 8.45816092e-01 4.36003321e-01 1.99688771e+02] [-8.77404330e-01 7.45862666e-02 4.73918274e-01 -1.90106248e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.890714057 meters Centerline goodness : 0.988189 Centerline is valid? [True, True] Translation: X:185.79, Y:199.65, Z:-190.15 [[ 3.67621516e-01 -5.96327085e-01 7.13616444e-01 1.85792428e+02] [ 3.05687831e-01 8.02195595e-01 5.12871502e-01 1.99649546e+02] [-8.78299136e-01 2.96012639e-02 4.77194293e-01 -1.90150044e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.9207140569999 meters Centerline goodness : 0.980696 Centerline is valid? [True, True] Translation: X:185.80, Y:199.69, Z:-190.16 [[ 3.63402260e-01 -5.43576545e-01 7.56613070e-01 1.85799343e+02] [ 3.10271721e-01 8.36389726e-01 4.51866888e-01 1.99694761e+02] [-8.78447640e-01 7.05461911e-02 4.72602347e-01 -1.90158216e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.9507140569999 meters Centerline goodness : 0.981122 Centerline is valid? [True, True] Translation: X:185.81, Y:199.67, Z:-190.19 [[ 3.62521874e-01 -5.88430320e-01 7.22722387e-01 1.85808945e+02] [ 3.10677662e-01 8.07419088e-01 5.01551399e-01 1.99672195e+02] [-8.78667901e-01 4.27103483e-02 4.75519238e-01 -1.90194742e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.9807140569999 meters Centerline goodness : 0.987610 Centerline is valid? [True, True] Translation: X:185.83, Y:199.67, Z:-190.23 [[ 3.65745262e-01 -5.99104246e-01 7.12253119e-01 1.85827112e+02] [ 3.07608539e-01 8.00081161e-01 5.15021479e-01 1.99669234e+02] [-8.78411857e-01 3.07284758e-02 4.76915476e-01 -1.90225678e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.010714057 meters Centerline goodness : 0.980623 Centerline is valid? [True, True] Translation: X:185.83, Y:199.71, Z:-190.23 [[ 3.63157985e-01 -5.49675055e-01 7.52312177e-01 1.85834133e+02] [ 3.10654851e-01 8.32669056e-01 4.58427538e-01 1.99711586e+02] [-8.78413252e-01 6.72278066e-02 4.73149638e-01 -1.90234244e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.040714057 meters Centerline goodness : 0.986026 Centerline is valid? [True, True] Translation: X:185.85, Y:199.70, Z:-190.27 [[ 3.67603333e-01 -5.80509744e-01 7.26550911e-01 1.85852740e+02] [ 3.08352943e-01 8.13140506e-01 4.93681051e-01 1.99698487e+02] [-8.77374636e-01 4.25553117e-02 4.77915049e-01 -1.90271772e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.0707140569999 meters Centerline goodness : 0.985728 Centerline is valid? [True, True] Translation: X:185.87, Y:199.74, Z:-190.29 [[ 3.69784281e-01 -5.32455636e-01 7.61413541e-01 1.85869554e+02] [ 3.08441684e-01 8.43376902e-01 4.39976281e-01 1.99738170e+02] [-8.76426445e-01 7.21553624e-02 4.76099035e-01 -1.90290717e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.1007140569999 meters Centerline goodness : 0.980888 Centerline is valid? [True, True] Translation: X:185.87, Y:199.75, Z:-190.31 [[ 3.68019191e-01 -5.33786712e-01 7.61336733e-01 1.85870929e+02] [ 3.11104659e-01 8.42298583e-01 4.40167000e-01 1.99749782e+02] [-8.76228147e-01 7.48655009e-02 4.76045576e-01 -1.90306681e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.130714057 meters Centerline goodness : 0.980883 Centerline is valid? [True, True] Translation: X:185.88, Y:199.72, Z:-190.35 [[ 3.66679302e-01 -5.86727792e-01 7.22008856e-01 1.85876775e+02] [ 3.06687627e-01 8.08915190e-01 5.01596366e-01 1.99720531e+02] [-8.78344459e-01 3.75061775e-02 4.76554612e-01 -1.90345627e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.160714057 meters Centerline goodness : 0.988798 Centerline is valid? [True, True] Translation: X:185.89, Y:199.72, Z:-190.37 [[ 3.71786350e-01 -6.00026831e-01 7.08337993e-01 1.85894400e+02] [ 3.04142488e-01 7.99650711e-01 5.17741332e-01 1.99719127e+02] [-8.77081671e-01 2.29465194e-02 4.79792873e-01 -1.90374537e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.1907140569999 meters Centerline goodness : 0.985391 Centerline is valid? [True, True] Translation: X:185.92, Y:199.74, Z:-190.41 [[ 3.78532440e-01 -5.57160566e-01 7.39111153e-01 1.85919334e+02] [ 2.93890994e-01 8.29558500e-01 4.74827104e-01 1.99744386e+02] [-8.77690877e-01 3.74806491e-02 4.77759275e-01 -1.90407047e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.2207140569999 meters Centerline goodness : 0.986148 Centerline is valid? [True, True] Translation: X:185.94, Y:199.78, Z:-190.42 [[ 3.84206232e-01 -5.27148650e-01 7.57957698e-01 1.85937583e+02] [ 2.92274812e-01 8.48192337e-01 4.41752412e-01 1.99775267e+02] [-8.75763099e-01 5.18079146e-02 4.79953054e-01 -1.90424317e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.250714057 meters Centerline goodness : 0.984792 Centerline is valid? [True, True] Translation: X:185.95, Y:199.79, Z:-190.45 [[ 3.84165375e-01 -5.07953029e-01 7.70973855e-01 1.85949809e+02] [ 2.87907844e-01 8.59321610e-01 4.22700183e-01 1.99792762e+02] [-8.77226332e-01 5.95826463e-02 4.76365270e-01 -1.90452082e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.280714057 meters Centerline goodness : 0.985713 Centerline is valid? [True, True] Translation: X:185.96, Y:199.80, Z:-190.48 [[ 3.88102427e-01 -5.18204430e-01 7.62129041e-01 1.85962282e+02] [ 2.86044511e-01 8.53839441e-01 4.34898547e-01 1.99796933e+02] [-8.76102188e-01 4.92176475e-02 4.79606692e-01 -1.90478896e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.3107140569999 meters Centerline goodness : 0.985159 Centerline is valid? [True, True] Translation: X:185.98, Y:199.80, Z:-190.51 [[ 3.90297041e-01 -5.23282763e-01 7.57524501e-01 1.85975129e+02] [ 2.85934444e-01 8.50987662e-01 4.40524112e-01 1.99804259e+02] [-8.75162678e-01 4.46670896e-02 4.81762533e-01 -1.90506680e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.3407140569999 meters Centerline goodness : 0.984763 Centerline is valid? [True, True] Translation: X:185.99, Y:199.81, Z:-190.54 [[ 3.91138578e-01 -5.24596448e-01 7.56180652e-01 1.85987412e+02] [ 2.84886494e-01 8.50297787e-01 4.42530631e-01 1.99812200e+02] [-8.75128733e-01 4.23348533e-02 4.82034710e-01 -1.90535193e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.370714057 meters Centerline goodness : 0.985063 Centerline is valid? [True, True] Translation: X:186.00, Y:199.82, Z:-190.56 [[ 3.92305868e-01 -5.20541410e-01 7.58375070e-01 1.85999936e+02] [ 2.83647151e-01 8.52750474e-01 4.38589697e-01 1.99822254e+02] [-8.75008800e-01 4.30496161e-02 4.82189103e-01 -1.90562821e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.400714057 meters Centerline goodness : 0.983927 Centerline is valid? [True, True] Translation: X:186.01, Y:199.83, Z:-190.59 [[ 3.94982110e-01 -5.28352399e-01 7.51553642e-01 1.86014088e+02] [ 2.84530031e-01 8.48202053e-01 4.46761613e-01 1.99828053e+02] [-8.73516912e-01 3.73767363e-02 4.85356761e-01 -1.90588988e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.4307140569999 meters Centerline goodness : 0.984419 Centerline is valid? [True, True] Translation: X:186.03, Y:199.83, Z:-190.62 [[ 3.92839223e-01 -5.27597733e-01 7.53205136e-01 1.86025286e+02] [ 2.83201214e-01 8.48652591e-01 4.46750323e-01 1.99834939e+02] [-8.74913949e-01 3.78075595e-02 4.82800343e-01 -1.90619518e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.4607140569999 meters Centerline goodness : 0.985016 Centerline is valid? [True, True] Translation: X:186.04, Y:199.85, Z:-190.65 [[ 3.91917040e-01 -5.24854738e-01 7.55598132e-01 1.86039419e+02] [ 2.83377549e-01 8.50239122e-01 4.43610866e-01 1.99845533e+02] [-8.75270357e-01 4.02608895e-02 4.81955250e-01 -1.90647131e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.490714057 meters Centerline goodness : 0.985973 Centerline is valid? [True, True] Translation: X:186.05, Y:199.86, Z:-190.67 [[ 3.89424592e-01 -5.13812214e-01 7.64424944e-01 1.86050587e+02] [ 2.81535902e-01 8.56622943e-01 4.32359422e-01 1.99860153e+02] [-8.76975497e-01 4.68416746e-02 4.78246626e-01 -1.90674886e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.520714057 meters Centerline goodness : 0.985605 Centerline is valid? [True, True] Translation: X:186.06, Y:199.87, Z:-190.71 [[ 3.87959110e-01 -5.13139312e-01 7.65621170e-01 1.86060845e+02] [ 2.80742023e-01 8.57001306e-01 4.32125767e-01 1.99865854e+02] [-8.77879061e-01 4.72949085e-02 4.76541232e-01 -1.90706764e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.5507140569999 meters Centerline goodness : 0.985139 Centerline is valid? [True, True] Translation: X:186.07, Y:199.87, Z:-190.74 [[ 3.85525830e-01 -5.10203623e-01 7.68805631e-01 1.86073432e+02] [ 2.79572778e-01 8.58639174e-01 4.29625222e-01 1.99874832e+02] [-8.79322976e-01 4.93055056e-02 4.73666624e-01 -1.90736113e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.5807140569999 meters Centerline goodness : 0.984124 Centerline is valid? [True, True] Translation: X:186.08, Y:199.89, Z:-190.76 [[ 3.82905882e-01 -4.94248844e-01 7.80449336e-01 1.86083353e+02] [ 2.78584170e-01 8.67285385e-01 4.12561414e-01 1.99886664e+02] [-8.80780305e-01 5.94486386e-02 4.69778580e-01 -1.90765000e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.6107140569999 meters Centerline goodness : 0.987658 Centerline is valid? [True, True] Translation: X:186.10, Y:199.88, Z:-190.80 [[ 3.85244160e-01 -5.27197104e-01 7.57396957e-01 1.86098052e+02] [ 2.88901508e-01 8.48390547e-01 4.43586969e-01 1.99881078e+02] [-8.76426184e-01 4.79238334e-02 4.79145542e-01 -1.90802589e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.640714057 meters Centerline goodness : 0.985699 Centerline is valid? [True, True] Translation: X:186.11, Y:199.90, Z:-190.81 [[ 3.83894667e-01 -5.02396811e-01 7.74740169e-01 1.86109800e+02] [ 2.87402821e-01 8.62364236e-01 4.16806362e-01 1.99904401e+02] [-8.77510401e-01 6.26527706e-02 4.75447292e-01 -1.90813673e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.6707140569999 meters Centerline goodness : 0.986065 Centerline is valid? [True, True] Translation: X:186.12, Y:199.89, Z:-190.85 [[ 3.81038038e-01 -5.37219314e-01 7.52466227e-01 1.86117001e+02] [ 2.87034229e-01 8.42386001e-01 4.56067074e-01 1.99887849e+02] [-8.78875056e-01 4.22046602e-02 4.75181441e-01 -1.90849522e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.7007140569999 meters Centerline goodness : 0.981235 Centerline is valid? [True, True] Translation: X:186.12, Y:199.89, Z:-190.87 [[ 3.76748047e-01 -5.48095968e-01 7.46760818e-01 1.86116992e+02] [ 2.90725160e-01 8.35392282e-01 4.66474669e-01 1.99888932e+02] [-8.79511109e-01 4.13587371e-02 4.74077698e-01 -1.90871454e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.7307140569999 meters Centerline goodness : 0.985684 Centerline is valid? [True, True] Translation: X:186.14, Y:199.89, Z:-190.91 [[ 3.79551230e-01 -5.54131839e-01 7.40863529e-01 1.86141478e+02] [ 2.87693339e-01 8.31776440e-01 4.74742559e-01 1.99894750e+02] [-8.79302796e-01 3.29523803e-02 4.75121810e-01 -1.90908601e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.760714057 meters Centerline goodness : 0.986944 Centerline is valid? [True, True] Translation: X:186.16, Y:199.93, Z:-190.92 [[ 3.82644722e-01 -5.09766013e-01 7.70533341e-01 1.86157458e+02] [ 2.89921670e-01 8.58129893e-01 4.23743451e-01 1.99931620e+02] [-8.77227703e-01 6.12511179e-02 4.76151088e-01 -1.90924536e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.790714057 meters Centerline goodness : 0.985941 Centerline is valid? [True, True] Translation: X:186.17, Y:199.94, Z:-190.95 [[ 3.82938504e-01 -5.11660498e-01 7.69130442e-01 1.86169568e+02] [ 2.89636503e-01 8.57115162e-01 4.25986261e-01 1.99938699e+02] [-8.77193706e-01 5.96417094e-02 4.76417956e-01 -1.90951174e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.8207140569999 meters Centerline goodness : 0.985843 Centerline is valid? [True, True] Translation: X:186.18, Y:199.94, Z:-190.98 [[ 3.84786063e-01 -5.25188109e-01 7.59023804e-01 1.86181666e+02] [ 2.90046404e-01 8.49482783e-01 4.40740383e-01 1.99940058e+02] [-8.76249262e-01 5.05613681e-02 4.79198058e-01 -1.90977486e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.8507140569999 meters Centerline goodness : 0.986591 Centerline is valid? [True, True] Translation: X:186.20, Y:199.95, Z:-191.01 [[ 3.83456369e-01 -5.25620735e-01 7.59397166e-01 1.86195459e+02] [ 2.87881453e-01 8.49310082e-01 4.42489157e-01 1.99948547e+02] [-8.77545145e-01 4.89410739e-02 4.76989821e-01 -1.91007314e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.880714057 meters Centerline goodness : 0.986425 Centerline is valid? [True, True] Translation: X:186.21, Y:199.96, Z:-191.03 [[ 3.85883042e-01 -5.19763986e-01 7.62193989e-01 1.86208276e+02] [ 2.84943419e-01 8.52937593e-01 4.37383940e-01 1.99960291e+02] [-8.77440326e-01 4.84031163e-02 4.77237480e-01 -1.91031793e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.910714057 meters Centerline goodness : 0.981522 Centerline is valid? [True, True] Translation: X:186.20, Y:199.96, Z:-191.05 [[ 3.76600004e-01 -5.30880376e-01 7.59169588e-01 1.86204160e+02] [ 2.86045087e-01 8.46099160e-01 4.49771520e-01 1.99959885e+02] [-8.81107624e-01 4.77727750e-02 4.70496670e-01 -1.91052862e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.9407140569999 meters Centerline goodness : 0.987091 Centerline is valid? [True, True] Translation: X:186.22, Y:199.92, Z:-191.10 [[ 3.80979858e-01 -5.98610916e-01 7.04641270e-01 1.86217867e+02] [ 2.79227051e-01 8.01024440e-01 5.29520633e-01 1.99917802e+02] [-8.81411710e-01 -4.98179186e-03 4.72322538e-01 -1.91099220e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.9707140569999 meters Centerline goodness : 0.986245 Centerline is valid? [True, True] Translation: X:186.24, Y:199.97, Z:-191.12 [[ 3.82456356e-01 -5.16719725e-01 7.65981633e-01 1.86236454e+02] [ 2.72852057e-01 8.55197896e-01 4.40668031e-01 1.99973231e+02] [-8.82767745e-01 4.04633746e-02 4.68063910e-01 -1.91116883e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.000714057 meters Centerline goodness : 0.986562 Centerline is valid? [True, True] Translation: X:186.25, Y:199.98, Z:-191.13 [[ 3.82941544e-01 -5.33088264e-01 7.54435336e-01 1.86247529e+02] [ 2.79387510e-01 8.45277824e-01 4.55464620e-01 1.99979236e+02] [-8.80510303e-01 3.63634845e-02 4.72630198e-01 -1.91133486e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.030714057 meters Centerline goodness : 0.986313 Centerline is valid? [True, True] Translation: X:186.26, Y:199.98, Z:-191.17 [[ 3.83690733e-01 -5.32443051e-01 7.54510317e-01 1.86258948e+02] [ 2.75703041e-01 8.45830258e-01 4.56682611e-01 1.99984236e+02] [-8.81345139e-01 3.27959026e-02 4.71333400e-01 -1.91165498e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.0607140569999 meters Centerline goodness : 0.986187 Centerline is valid? [True, True] Translation: X:186.27, Y:199.99, Z:-191.19 [[ 3.83975635e-01 -5.31661357e-01 7.54916494e-01 1.86272441e+02] [ 2.75332757e-01 8.46323089e-01 4.55992437e-01 1.99993107e+02] [-8.81336817e-01 3.27632543e-02 4.71351233e-01 -1.91194559e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.0907140569999 meters Centerline goodness : 0.981421 Centerline is valid? [True, True] Translation: X:186.28, Y:200.01, Z:-191.21 [[ 3.83042900e-01 -5.18628685e-01 7.64396772e-01 1.86276457e+02] [ 2.78312278e-01 8.53853445e-01 4.39859716e-01 2.00009026e+02] [-8.80806683e-01 4.42558653e-02 4.71403230e-01 -1.91206716e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.120714057 meters Centerline goodness : 0.988883 Centerline is valid? [True, True] Translation: X:186.29, Y:199.96, Z:-191.26 [[ 3.86708202e-01 -6.08584146e-01 6.92879574e-01 1.86289278e+02] [ 2.80674249e-01 7.93358265e-01 5.40189439e-01 1.99957398e+02] [-8.78452465e-01 -1.44222326e-02 4.77612046e-01 -1.91259998e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.150714057 meters Centerline goodness : 0.986850 Centerline is valid? [True, True] Translation: X:186.31, Y:200.00, Z:-191.28 [[ 3.85334907e-01 -5.48660010e-01 7.41949596e-01 1.86309364e+02] [ 2.70418897e-01 8.35881323e-01 4.77677752e-01 1.99998443e+02] [-8.82264490e-01 1.65712788e-02 4.70462287e-01 -1.91280187e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.1807140569999 meters Centerline goodness : 0.986893 Centerline is valid? [True, True] Translation: X:186.32, Y:200.01, Z:-191.30 [[ 3.85799709e-01 -5.36936562e-01 7.50238437e-01 1.86324247e+02] [ 2.71080666e-01 8.43272065e-01 4.64120131e-01 2.00014823e+02] [-8.81858184e-01 2.43177233e-02 4.70887238e-01 -1.91304686e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.2107140569999 meters Centerline goodness : 0.988768 Centerline is valid? [True, True] Translation: X:186.34, Y:200.03, Z:-191.32 [[ 3.88395045e-01 -5.30827339e-01 7.53240749e-01 1.86335498e+02] [ 2.80125305e-01 8.46742878e-01 4.52279020e-01 2.00033207e+02] [-8.77883308e-01 3.53388636e-02 4.77568908e-01 -1.91324655e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.240714057 meters Centerline goodness : 0.988768 Centerline is valid? [True, True] Translation: X:186.35, Y:200.03, Z:-191.36 [[ 3.87992064e-01 -5.50042652e-01 7.39537179e-01 1.86347027e+02] [ 2.79658293e-01 8.34824337e-01 4.74193596e-01 2.00028723e+02] [-8.78210338e-01 2.28343528e-02 4.77729207e-01 -1.91358916e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.270714057 meters Centerline goodness : 0.981066 Centerline is valid? [True, True] Translation: X:186.35, Y:200.03, Z:-191.38 [[ 3.78824731e-01 -5.50709444e-01 7.43781508e-01 1.86348212e+02] [ 2.72734183e-01 8.34421845e-01 4.78911526e-01 2.00027759e+02] [-8.84368639e-01 2.14311117e-02 4.66296921e-01 -1.91381942e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.3007140569999 meters Centerline goodness : 0.985982 Centerline is valid? [True, True] Translation: X:186.37, Y:200.01, Z:-191.42 [[ 3.84981295e-01 -5.82734291e-01 7.15688584e-01 1.86367614e+02] [ 2.66173402e-01 8.12611743e-01 5.18472637e-01 2.00005439e+02] [-8.83708732e-01 -9.10500186e-03 4.67948689e-01 -1.91419233e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.3307140569999 meters Centerline goodness : 0.989854 Centerline is valid? [True, True] Translation: X:186.38, Y:200.05, Z:-191.43 [[ 3.88604184e-01 -5.49884315e-01 7.39333503e-01 1.86380826e+02] [ 2.77682510e-01 8.34984649e-01 4.75071636e-01 2.00045572e+02] [-8.78566567e-01 2.06851570e-02 4.77171785e-01 -1.91431407e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.3607140569999 meters Centerline goodness : 0.987922 Centerline is valid? [True, True] Translation: X:186.40, Y:200.04, Z:-191.47 [[ 3.86197807e-01 -5.51369929e-01 7.39487968e-01 1.86397302e+02] [ 2.64959907e-01 8.34210567e-01 4.83620697e-01 2.00041075e+02] [-8.83542587e-01 9.16141070e-03 4.68261216e-01 -1.91467018e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.390714057 meters Centerline goodness : 0.989276 Centerline is valid? [True, True] Translation: X:186.41, Y:200.07, Z:-191.48 [[ 3.90336079e-01 -5.23647388e-01 7.57252374e-01 1.86410720e+02] [ 2.75404102e-01 8.51248652e-01 4.46685923e-01 2.00074886e+02] [-8.78515979e-01 3.41927787e-02 4.76487700e-01 -1.91480658e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.4207140569999 meters Centerline goodness : 0.988757 Centerline is valid? [True, True] Translation: X:186.42, Y:200.06, Z:-191.52 [[ 3.90236935e-01 -5.48348726e-01 7.39613960e-01 1.86421811e+02] [ 2.74677862e-01 8.36059850e-01 4.74927362e-01 2.00064878e+02] [-8.78787350e-01 1.78213828e-02 4.76880689e-01 -1.91515943e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.4507140569999 meters Centerline goodness : 0.988339 Centerline is valid? [True, True] Translation: X:186.44, Y:200.08, Z:-191.55 [[ 3.88115023e-01 -5.25135974e-01 7.57363148e-01 1.86440006e+02] [ 2.68444451e-01 8.50563919e-01 4.52193097e-01 2.00078580e+02] [-8.81648630e-01 2.78070007e-02 4.71086473e-01 -1.91553102e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.4807140569999 meters Centerline goodness : 0.989683 Centerline is valid? [True, True] Translation: X:186.45, Y:200.10, Z:-191.56 [[ 3.91074291e-01 -5.19538759e-01 7.59697557e-01 1.86451980e+02] [ 2.74497910e-01 8.53710157e-01 4.42526683e-01 2.00095470e+02] [-8.78471284e-01 3.54745828e-02 4.76476398e-01 -1.91563817e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.510714057 meters Centerline goodness : 0.988086 Centerline is valid? [True, True] Translation: X:186.47, Y:200.09, Z:-191.61 [[ 3.88666602e-01 -5.29926743e-01 7.53734648e-01 1.86466000e+02] [ 2.67794207e-01 8.47707343e-01 4.57906675e-01 2.00085301e+02] [-8.81603389e-01 2.38727410e-02 4.71386845e-01 -1.91605560e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.540714057 meters Centerline goodness : 0.989103 Centerline is valid? [True, True] Translation: X:186.48, Y:200.11, Z:-191.61 [[ 3.90378852e-01 -5.14521706e-01 7.63460390e-01 1.86477440e+02] [ 2.74782297e-01 8.56577257e-01 4.36772357e-01 2.00107520e+02] [-8.78691665e-01 3.92787081e-02 4.75771102e-01 -1.91614785e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.5707140569999 meters Centerline goodness : 0.989391 Centerline is valid? [True, True] Translation: X:186.49, Y:200.09, Z:-191.65 [[ 3.89827350e-01 -5.48034359e-01 7.40062821e-01 1.86488477e+02] [ 2.74720290e-01 8.36255299e-01 4.74558570e-01 2.00092289e+02] [-8.78955858e-01 1.83143630e-02 4.76551345e-01 -1.91651544e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.6007140569999 meters Centerline goodness : 0.987327 Centerline is valid? [True, True] Translation: X:186.51, Y:200.09, Z:-191.68 [[ 3.89073110e-01 -5.50246515e-01 7.38817222e-01 1.86505263e+02] [ 2.73250157e-01 8.34849806e-01 4.77870436e-01 2.00094185e+02] [-8.79747956e-01 1.59553854e-02 4.75172557e-01 -1.91683719e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.630714057 meters Centerline goodness : 0.988750 Centerline is valid? [True, True] Translation: X:186.52, Y:200.13, Z:-191.69 [[ 3.88645775e-01 -5.14685139e-01 7.64234041e-01 1.86516166e+02] [ 2.77249443e-01 8.56322961e-01 4.35710606e-01 2.00125411e+02] [-8.78684931e-01 4.25463761e-02 4.75502469e-01 -1.91692832e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.660714057 meters Centerline goodness : 0.982964 Centerline is valid? [True, True] Translation: X:186.52, Y:200.10, Z:-191.73 [[ 3.82609245e-01 -5.55482927e-01 7.38274260e-01 1.86519140e+02] [ 2.75531674e-01 8.31316872e-01 4.82695094e-01 2.00102381e+02] [-8.81868733e-01 1.87343374e-02 4.71122662e-01 -1.91725183e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.6907140569999 meters Centerline goodness : 0.988945 Centerline is valid? [True, True] Translation: X:186.54, Y:200.10, Z:-191.75 [[ 3.85635253e-01 -5.62715265e-01 7.31188746e-01 1.86537147e+02] [ 2.77580197e-01 8.26530165e-01 4.89690841e-01 2.00104547e+02] [-8.79906067e-01 1.41214644e-02 4.74937784e-01 -1.91752963e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.7207140569999 meters Centerline goodness : 0.988589 Centerline is valid? [True, True] Translation: X:186.55, Y:200.12, Z:-191.78 [[ 3.84593687e-01 -5.53678612e-01 7.38598464e-01 1.86551068e+02] [ 2.76332401e-01 8.32503909e-01 4.80185011e-01 2.00116483e+02] [-8.80754279e-01 1.94225632e-02 4.73175088e-01 -1.91778139e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.750714057 meters Centerline goodness : 0.988896 Centerline is valid? [True, True] Translation: X:186.57, Y:200.12, Z:-191.81 [[ 3.83946901e-01 -5.53443707e-01 7.39110844e-01 1.86566329e+02] [ 2.78044079e-01 8.32606757e-01 4.79017201e-01 2.00121590e+02] [-8.80497738e-01 2.15882242e-02 4.73558530e-01 -1.91807107e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.780714057 meters Centerline goodness : 0.988935 Centerline is valid? [True, True] Translation: X:186.58, Y:200.13, Z:-191.83 [[ 3.83974476e-01 -5.50103779e-01 7.41585757e-01 1.86580962e+02] [ 2.78291484e-01 8.34753021e-01 4.75122346e-01 2.00130753e+02] [-8.80407549e-01 2.39421463e-02 4.73613051e-01 -1.91834966e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.8107140569999 meters Centerline goodness : 0.989184 Centerline is valid? [True, True] Translation: X:186.60, Y:200.14, Z:-191.86 [[ 3.83187902e-01 -5.49981784e-01 7.42082926e-01 1.86595984e+02] [ 2.78638959e-01 8.34807561e-01 4.74822774e-01 2.00136240e+02] [-8.80640314e-01 2.48268717e-02 4.73134510e-01 -1.91864311e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.8407140569999 meters Centerline goodness : 0.989461 Centerline is valid? [True, True] Translation: X:186.61, Y:200.14, Z:-191.89 [[ 3.83112910e-01 -5.49805697e-01 7.42252109e-01 1.86609415e+02] [ 2.79220678e-01 8.34902151e-01 4.74314466e-01 2.00142670e+02] [-8.80488678e-01 2.55361416e-02 4.73378912e-01 -1.91892275e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.870714057 meters Centerline goodness : 0.987242 Centerline is valid? [True, True] Translation: X:186.63, Y:200.15, Z:-191.92 [[ 3.86603016e-01 -5.36840358e-01 7.49893684e-01 1.86625106e+02] [ 2.74343498e-01 8.43250867e-01 4.62237623e-01 2.00147929e+02] [-8.80496311e-01 2.70259976e-02 4.73281990e-01 -1.91918287e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.900714057 meters Centerline goodness : 0.989037 Centerline is valid? [True, True] Translation: X:186.63, Y:200.15, Z:-191.94 [[ 3.82696116e-01 -5.50447767e-01 7.41991199e-01 1.86633637e+02] [ 2.81906736e-01 8.34402426e-01 4.73604459e-01 2.00153567e+02] [-8.79813773e-01 2.79257303e-02 4.74497501e-01 -1.91941683e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.9307140569999 meters Centerline goodness : 0.989334 Centerline is valid? [True, True] Translation: X:186.65, Y:200.16, Z:-191.97 [[ 3.82573419e-01 -5.52289185e-01 7.40684977e-01 1.86649165e+02] [ 2.83608166e-01 8.33167573e-01 4.74761207e-01 2.00157349e+02] [-8.79320185e-01 2.84332902e-02 4.75381490e-01 -1.91970970e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.9607140569999 meters Centerline goodness : 0.988857 Centerline is valid? [True, True] Translation: X:186.66, Y:200.16, Z:-192.00 [[ 3.82010126e-01 -5.52204933e-01 7.41038444e-01 1.86663525e+02] [ 2.84166941e-01 8.33191323e-01 4.74385253e-01 2.00164422e+02] [-8.79384679e-01 2.93586573e-02 4.75205909e-01 -1.92000172e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.990714057 meters Centerline goodness : 0.989106 Centerline is valid? [True, True] Translation: X:186.68, Y:200.17, Z:-192.03 [[ 3.81075440e-01 -5.52550771e-01 7.41261866e-01 1.86679123e+02] [ 2.85797121e-01 8.32893284e-01 4.73929091e-01 2.00170335e+02] [-8.79261915e-01 3.12477702e-02 4.75312594e-01 -1.92028674e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.020714057 meters Centerline goodness : 0.989780 Centerline is valid? [True, True] Translation: X:186.69, Y:200.18, Z:-192.06 [[ 3.80160189e-01 -5.52438863e-01 7.41815026e-01 1.86692768e+02] [ 2.86079931e-01 8.32933518e-01 4.73687689e-01 2.00177284e+02] [-8.79566088e-01 3.21411899e-02 4.74689836e-01 -1.92057087e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.0507140569999 meters Centerline goodness : 0.982647 Centerline is valid? [True, True] Translation: X:186.70, Y:200.18, Z:-192.08 [[ 3.71652091e-01 -5.44883082e-01 7.51649619e-01 1.86697259e+02] [ 2.81978320e-01 8.37646447e-01 4.67799805e-01 2.00184950e+02] [-8.84512832e-01 3.80901213e-02 4.64958270e-01 -1.92077735e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.0807140569999 meters Centerline goodness : 0.982598 Centerline is valid? [True, True] Translation: X:186.71, Y:200.16, Z:-192.11 [[ 3.68688571e-01 -5.82751527e-01 7.24202593e-01 1.86708711e+02] [ 2.81484882e-01 8.12499941e-01 5.10499861e-01 2.00164063e+02] [-8.85909137e-01 1.56366174e-02 4.63595187e-01 -1.92110629e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.1107140569999 meters Centerline goodness : 0.987954 Centerline is valid? [True, True] Translation: X:186.73, Y:200.17, Z:-192.14 [[ 3.75738429e-01 -5.95583025e-01 7.10001052e-01 1.86729113e+02] [ 2.89197788e-01 8.03235598e-01 5.20746785e-01 2.00166207e+02] [-8.80446065e-01 9.66615474e-03 4.74047775e-01 -1.92138705e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.140714057 meters Centerline goodness : 0.989541 Centerline is valid? [True, True] Translation: X:186.74, Y:200.20, Z:-192.16 [[ 3.76621018e-01 -5.55669354e-01 7.41207244e-01 1.86743637e+02] [ 2.91642511e-01 8.30558411e-01 4.74465353e-01 2.00200226e+02] [-8.79261767e-01 3.74739177e-02 4.74862560e-01 -1.92159578e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.1707140569999 meters Centerline goodness : 0.990543 Centerline is valid? [True, True] Translation: X:186.76, Y:200.21, Z:-192.19 [[ 3.76115272e-01 -5.55719189e-01 7.41426655e-01 1.86757516e+02] [ 2.92711844e-01 8.30466147e-01 4.73968095e-01 2.00207288e+02] [-8.79122903e-01 3.87577246e-02 4.75016589e-01 -1.92188131e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.2007140569999 meters Centerline goodness : 0.982613 Centerline is valid? [True, True] Translation: X:186.77, Y:200.21, Z:-192.21 [[ 3.72787310e-01 -5.56648972e-01 7.42409283e-01 1.86765278e+02] [ 2.95829656e-01 8.29628389e-01 4.73499262e-01 2.00211539e+02] [-8.79496695e-01 4.31121667e-02 4.73948209e-01 -1.92208626e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.2307140569999 meters Centerline goodness : 0.982452 Centerline is valid? [True, True] Translation: X:186.77, Y:200.21, Z:-192.24 [[ 3.64500760e-01 -5.70029081e-01 7.36346415e-01 1.86772578e+02] [ 2.92153406e-01 8.20825494e-01 4.90807392e-01 2.00206952e+02] [-8.84186397e-01 3.62264462e-02 4.65727454e-01 -1.92236787e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.260714057 meters Centerline goodness : 0.982923 Centerline is valid? [True, True] Translation: X:186.78, Y:200.20, Z:-192.26 [[ 3.62670321e-01 -5.87842940e-01 7.23125796e-01 1.86784870e+02] [ 2.92524156e-01 8.08545424e-01 5.10572146e-01 2.00200621e+02] [-8.84816284e-01 2.63623987e-02 4.65193688e-01 -1.92264850e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.290714057 meters Centerline goodness : 0.988162 Centerline is valid? [True, True] Translation: X:186.81, Y:200.21, Z:-192.30 [[ 3.66255983e-01 -5.88347208e-01 7.20905069e-01 1.86807805e+02] [ 3.04615744e-01 8.07859061e-01 5.04552264e-01 2.00213266e+02] [-8.79241607e-01 3.48037486e-02 4.75103036e-01 -1.92296789e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.3207140569999 meters Centerline goodness : 0.989787 Centerline is valid? [True, True] Translation: X:186.81, Y:200.27, Z:-192.29 [[ 3.67726214e-01 -5.33923676e-01 7.61382256e-01 1.86810680e+02] [ 3.20500445e-01 8.41351278e-01 4.35209711e-01 2.00269404e+02] [-8.72958702e-01 8.39853326e-02 4.80509696e-01 -1.92291522e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.3507140569999 meters Centerline goodness : 0.989613 Centerline is valid? [True, True] Translation: X:186.82, Y:200.25, Z:-192.33 [[ 3.64489262e-01 -5.83780932e-01 7.25498037e-01 1.86823386e+02] [ 3.20083474e-01 8.10165124e-01 4.91099830e-01 2.00245773e+02] [-8.74467923e-01 5.32193175e-02 4.82155116e-01 -1.92329163e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.380714057 meters Centerline goodness : 0.989783 Centerline is valid? [True, True] Translation: X:186.84, Y:200.25, Z:-192.36 [[ 3.63470616e-01 -5.84093953e-01 7.25757098e-01 1.86835760e+02] [ 3.21567675e-01 8.09818839e-01 4.90701210e-01 2.00254121e+02] [-8.74347381e-01 5.50245515e-02 4.82171087e-01 -1.92355767e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.410714057 meters Centerline goodness : 0.990043 Centerline is valid? [True, True] Translation: X:186.85, Y:200.26, Z:-192.38 [[ 3.62238892e-01 -5.85045954e-01 7.25606103e-01 1.86850232e+02] [ 3.23905579e-01 8.08971441e-01 4.90561295e-01 2.00263198e+02] [-8.73995515e-01 5.73274853e-02 4.82540567e-01 -1.92384570e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.4407140569999 meters Centerline goodness : 0.990816 Centerline is valid? [True, True] Translation: X:186.86, Y:200.27, Z:-192.41 [[ 3.61361433e-01 -5.85172023e-01 7.25941884e-01 1.86863660e+02] [ 3.24970604e-01 8.08776140e-01 4.90178807e-01 2.00271940e+02] [-8.73963398e-01 5.87780561e-02 4.82424211e-01 -1.92413461e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.4707140569999 meters Centerline goodness : 0.990459 Centerline is valid? [True, True] Translation: X:186.88, Y:200.28, Z:-192.44 [[ 3.60904392e-01 -5.85340018e-01 7.26033803e-01 1.86877271e+02] [ 3.25674369e-01 8.08594168e-01 4.90011916e-01 2.00280238e+02] [-8.73890282e-01 5.96031475e-02 4.82455428e-01 -1.92442828e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.500714057 meters Centerline goodness : 0.983398 Centerline is valid? [True, True] Translation: X:186.88, Y:200.28, Z:-192.47 [[ 3.48403086e-01 -5.90223635e-01 7.28183597e-01 1.86879801e+02] [ 3.20553393e-01 8.05042797e-01 4.99150896e-01 2.00279347e+02] [-8.80829616e-01 5.95160103e-02 4.69677584e-01 -1.92466811e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.530714057 meters Centerline goodness : 0.989402 Centerline is valid? [True, True] Translation: X:186.90, Y:200.26, Z:-192.50 [[ 3.50400141e-01 -6.28874071e-01 6.94072867e-01 1.86899429e+02] [ 3.17511925e-01 7.76932833e-01 5.43655729e-01 2.00259514e+02] [-8.81138990e-01 2.98793676e-02 4.71912391e-01 -1.92501049e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.5607140569999 meters Centerline goodness : 0.990317 Centerline is valid? [True, True] Translation: X:186.91, Y:200.31, Z:-192.51 [[ 3.55595546e-01 -5.67157645e-01 7.42888964e-01 1.86905119e+02] [ 3.28914199e-01 8.19932388e-01 4.68536369e-01 2.00313159e+02] [-8.74852706e-01 7.77372824e-02 4.78110508e-01 -1.92513731e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.5907140569999 meters Centerline goodness : 0.989459 Centerline is valid? [True, True] Translation: X:186.93, Y:200.30, Z:-192.56 [[ 3.56451556e-01 -5.89574523e-01 7.24806299e-01 1.86927044e+02] [ 3.24498840e-01 8.05592379e-01 4.95702957e-01 2.00303388e+02] [-8.76152265e-01 5.85047127e-02 4.78470906e-01 -1.92556035e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.620714057 meters Centerline goodness : 0.989425 Centerline is valid? [True, True] Translation: X:186.94, Y:200.34, Z:-192.58 [[ 3.58858638e-01 -5.44431474e-01 7.58165449e-01 1.86938040e+02] [ 3.27323764e-01 8.34089039e-01 4.44020978e-01 2.00340286e+02] [-8.74116486e-01 8.88248055e-02 4.77525416e-01 -1.92575008e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.650714057 meters Centerline goodness : 0.990112 Centerline is valid? [True, True] Translation: X:186.95, Y:200.34, Z:-192.60 [[ 3.58719562e-01 -5.59964481e-01 7.46833353e-01 1.86951395e+02] [ 3.30874929e-01 8.24410617e-01 4.59204657e-01 2.00343284e+02] [-8.72835642e-01 8.23827389e-02 4.81010423e-01 -1.92603297e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.6807140569999 meters Centerline goodness : 0.990087 Centerline is valid? [True, True] Translation: X:186.96, Y:200.36, Z:-192.63 [[ 3.56739548e-01 -5.49888668e-01 7.55221390e-01 1.86961826e+02] [ 3.31947407e-01 8.30269176e-01 4.47732079e-01 2.00358375e+02] [-8.73239837e-01 9.09700431e-02 4.78723968e-01 -1.92632118e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.7107140569999 meters Centerline goodness : 0.988705 Centerline is valid? [True, True] Translation: X:186.97, Y:200.36, Z:-192.66 [[ 3.52638899e-01 -5.64448131e-01 7.46353880e-01 1.86972969e+02] [ 3.27576837e-01 8.21586968e-01 4.66570756e-01 2.00358122e+02] [-8.76549612e-01 7.99572453e-02 4.74623658e-01 -1.92659967e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.740714057 meters Centerline goodness : 0.990043 Centerline is valid? [True, True] Translation: X:186.99, Y:200.37, Z:-192.69 [[ 3.55820454e-01 -5.63743054e-01 7.45376129e-01 1.86986226e+02] [ 3.33948399e-01 8.21612982e-01 4.61985470e-01 2.00371835e+02] [-8.72851804e-01 8.45332857e-02 4.80607794e-01 -1.92688586e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.770714057 meters Centerline goodness : 0.989806 Centerline is valid? [True, True] Translation: X:187.00, Y:200.38, Z:-192.71 [[ 3.56196053e-01 -5.62032465e-01 7.46487696e-01 1.86997316e+02] [ 3.35666443e-01 8.22522997e-01 4.59112142e-01 2.00384992e+02] [-8.72039226e-01 8.70369365e-02 4.81634883e-01 -1.92713676e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.8007140569999 meters Centerline goodness : 0.988790 Centerline is valid? [True, True] Translation: X:187.01, Y:200.39, Z:-192.74 [[ 3.52505390e-01 -5.74110448e-01 7.39010922e-01 1.87007853e+02] [ 3.30990942e-01 8.15146023e-01 4.75375596e-01 2.00385224e+02] [-8.75319911e-01 7.70334610e-02 4.77368725e-01 -1.92741639e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.8307140569999 meters Centerline goodness : 0.990174 Centerline is valid? [True, True] Translation: X:187.02, Y:200.40, Z:-192.77 [[ 3.54343704e-01 -5.71306900e-01 7.40303293e-01 1.87020680e+02] [ 3.34879355e-01 8.16691748e-01 4.69968516e-01 2.00397913e+02] [-8.73095847e-01 8.13819049e-02 4.80708465e-01 -1.92773867e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.8607140569999 meters Centerline goodness : 0.989240 Centerline is valid? [True, True] Translation: X:187.03, Y:200.42, Z:-192.80 [[ 3.54951757e-01 -5.59881459e-01 7.48693530e-01 1.87030932e+02] [ 3.35381757e-01 8.23792826e-01 4.57038791e-01 2.00417592e+02] [-8.72655904e-01 8.88714290e-02 4.80180739e-01 -1.92800284e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.890714057 meters Centerline goodness : 0.989190 Centerline is valid? [True, True] Translation: X:187.04, Y:200.43, Z:-192.83 [[ 3.55628108e-01 -5.63801213e-01 7.45423934e-01 1.87042653e+02] [ 3.35716751e-01 8.21392233e-01 4.61095504e-01 2.00426561e+02] [-8.72251634e-01 8.62727793e-02 4.81387677e-01 -1.92827189e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.9207140569999 meters Centerline goodness : 0.989080 Centerline is valid? [True, True] Translation: X:187.05, Y:200.44, Z:-192.86 [[ 3.54155599e-01 -5.61059316e-01 7.48188650e-01 1.87053177e+02] [ 3.35003935e-01 8.23061232e-01 4.58631193e-01 2.00437631e+02] [-8.73124376e-01 8.82193369e-02 4.79448823e-01 -1.92856115e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.9507140569999 meters Centerline goodness : 0.988950 Centerline is valid? [True, True] Translation: X:187.06, Y:200.45, Z:-192.88 [[ 3.53670404e-01 -5.58412125e-01 7.50395325e-01 1.87062863e+02] [ 3.33069019e-01 8.24843971e-01 4.56834162e-01 2.00449493e+02] [-8.74060795e-01 8.83647123e-02 4.77712679e-01 -1.92883402e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.9807140569999 meters Centerline goodness : 0.988011 Centerline is valid? [True, True] Translation: X:187.07, Y:200.45, Z:-192.91 [[ 3.51081706e-01 -5.72158529e-01 7.41199200e-01 1.87073811e+02] [ 3.28711953e-01 8.16518780e-01 4.74600393e-01 2.00450064e+02] [-8.76749730e-01 7.70175207e-02 4.74740153e-01 -1.92910499e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.010714057 meters Centerline goodness : 0.989148 Centerline is valid? [True, True] Translation: X:187.09, Y:200.46, Z:-192.94 [[ 3.53029829e-01 -5.67665618e-01 7.43724200e-01 1.87087061e+02] [ 3.32175418e-01 8.19167304e-01 4.67572903e-01 2.00464806e+02] [-8.74659609e-01 8.19797156e-02 4.77755057e-01 -1.92941727e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.040714057 meters Centerline goodness : 0.989174 Centerline is valid? [True, True] Translation: X:187.10, Y:200.47, Z:-192.97 [[ 3.51187210e-01 -5.68248925e-01 7.44150995e-01 1.87096735e+02] [ 3.28132595e-01 8.19064132e-01 4.70598500e-01 2.00473150e+02] [-8.76924480e-01 7.89120233e-02 4.74105841e-01 -1.92966089e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.0707140569999 meters Centerline goodness : 0.988687 Centerline is valid? [True, True] Translation: X:187.11, Y:200.48, Z:-193.00 [[ 3.52666517e-01 -5.73167277e-01 7.39665871e-01 1.87110036e+02] [ 3.32072074e-01 8.15664491e-01 4.73729432e-01 2.00482808e+02] [-8.74845395e-01 7.85538709e-02 4.77990402e-01 -1.92998071e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.1007140569999 meters Centerline goodness : 0.987816 Centerline is valid? [True, True] Translation: X:187.12, Y:200.49, Z:-193.02 [[ 3.51376688e-01 -5.70961661e-01 7.41981944e-01 1.87118362e+02] [ 3.28102715e-01 8.17354016e-01 4.73583171e-01 2.00492818e+02] [-8.76859756e-01 7.70402044e-02 4.74533218e-01 -1.93022661e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.130714057 meters Centerline goodness : 0.987816 Centerline is valid? [True, True] Translation: X:187.13, Y:200.50, Z:-193.05 [[ 3.50749185e-01 -5.78098835e-01 7.36733837e-01 1.87130816e+02] [ 3.27528125e-01 8.12757062e-01 4.81820802e-01 2.00496774e+02] [-8.77325673e-01 7.23027980e-02 4.74417505e-01 -1.93052790e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.160714057 meters Centerline goodness : 0.988440 Centerline is valid? [True, True] Translation: X:187.14, Y:200.51, Z:-193.08 [[ 3.52375269e-01 -5.73922388e-01 7.39219022e-01 1.87144124e+02] [ 3.31805682e-01 8.15187331e-01 4.74736353e-01 2.00510708e+02] [-8.75063803e-01 7.79917221e-02 4.77682564e-01 -1.93083868e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.1907140569999 meters Centerline goodness : 0.987606 Centerline is valid? [True, True] Translation: X:187.16, Y:200.53, Z:-193.11 [[ 3.53482694e-01 -5.61239271e-01 7.48371877e-01 1.87155217e+02] [ 3.31474604e-01 8.23259769e-01 4.60833961e-01 2.00527395e+02] [-8.74742575e-01 8.51694414e-02 4.77044646e-01 -1.93109183e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.2207140569999 meters Centerline goodness : 0.987247 Centerline is valid? [True, True] Translation: X:187.17, Y:200.54, Z:-193.14 [[ 3.53844911e-01 -5.62824453e-01 7.47008979e-01 1.87165420e+02] [ 3.31450492e-01 8.22304881e-01 4.62552975e-01 2.00538178e+02] [-8.74605254e-01 8.39244776e-02 4.77516839e-01 -1.93138484e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.250714057 meters Centerline goodness : 0.988421 Centerline is valid? [True, True] Translation: X:187.18, Y:200.55, Z:-193.17 [[ 3.53768990e-01 -5.62346644e-01 7.47404679e-01 1.87176794e+02] [ 3.31017645e-01 8.22637585e-01 4.62271266e-01 2.00549027e+02] [-8.74799875e-01 8.38668979e-02 4.77170329e-01 -1.93166142e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.280714057 meters Centerline goodness : 0.988248 Centerline is valid? [True, True] Translation: X:187.19, Y:200.56, Z:-193.20 [[ 3.53187979e-01 -5.63080210e-01 7.47127117e-01 1.87188698e+02] [ 3.31139563e-01 8.22137228e-01 4.63073394e-01 2.00559271e+02] [-8.74988481e-01 8.38513905e-02 4.76827120e-01 -1.93196364e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.3107140569999 meters Centerline goodness : 0.988131 Centerline is valid? [True, True] Translation: X:187.20, Y:200.57, Z:-193.22 [[ 3.53640630e-01 -5.62789686e-01 7.47131899e-01 1.87201139e+02] [ 3.32040458e-01 8.22257365e-01 4.62214193e-01 2.00570884e+02] [-8.74464087e-01 8.46202992e-02 4.77652558e-01 -1.93223716e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.3407140569999 meters Centerline goodness : 0.987499 Centerline is valid? [True, True] Translation: X:187.21, Y:200.58, Z:-193.25 [[ 3.52988544e-01 -5.60233264e-01 7.49358245e-01 1.87211622e+02] [ 3.30969172e-01 8.23897996e-01 4.60055974e-01 2.00582666e+02] [-8.75133416e-01 8.56199891e-02 4.76246493e-01 -1.93252051e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.370714057 meters Centerline goodness : 0.986927 Centerline is valid? [True, True] Translation: X:187.22, Y:200.59, Z:-193.28 [[ 3.52910805e-01 -5.62068374e-01 7.48019456e-01 1.87223241e+02] [ 3.30027541e-01 8.22853637e-01 4.62594546e-01 2.00590523e+02] [-8.75520294e-01 8.36124083e-02 4.75891983e-01 -1.93279656e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.400714057 meters Centerline goodness : 0.987194 Centerline is valid? [True, True] Translation: X:187.24, Y:200.60, Z:-193.31 [[ 3.51654763e-01 -5.63135652e-01 7.47808241e-01 1.87235502e+02] [ 3.31044639e-01 8.22020569e-01 4.63348284e-01 2.00599998e+02] [-8.75641693e-01 8.46192787e-02 4.75490487e-01 -1.93310037e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.4307140569999 meters Centerline goodness : 0.987767 Centerline is valid? [True, True] Translation: X:187.25, Y:200.61, Z:-193.34 [[ 3.51366356e-01 -5.59243412e-01 7.50858502e-01 1.87246824e+02] [ 3.30934572e-01 8.24409839e-01 4.59163073e-01 2.00612001e+02] [-8.75799060e-01 8.71505812e-02 4.74742860e-01 -1.93337312e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.4607140569999 meters Centerline goodness : 0.987999 Centerline is valid? [True, True] Translation: X:187.26, Y:200.62, Z:-193.37 [[ 3.51206363e-01 -5.68931752e-01 7.43620032e-01 1.87259343e+02] [ 3.34310525e-01 8.18059010e-01 4.67991376e-01 2.00619168e+02] [-8.74580221e-01 8.42384545e-02 4.77507402e-01 -1.93366499e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.490714057 meters Centerline goodness : 0.986063 Centerline is valid? [True, True] Translation: X:187.27, Y:200.63, Z:-193.39 [[ 3.49434821e-01 -5.67485123e-01 7.45557470e-01 1.87267991e+02] [ 3.30254855e-01 8.19248900e-01 4.68788833e-01 2.00627534e+02] [-8.76827826e-01 8.24128324e-02 4.73688810e-01 -1.93387366e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.520714057 meters Centerline goodness : 0.988003 Centerline is valid? [True, True] Translation: X:187.28, Y:200.63, Z:-193.42 [[ 3.49840396e-01 -5.88423360e-01 7.28951059e-01 1.87282245e+02] [ 3.37988692e-01 8.04992483e-01 4.87596910e-01 2.00627537e+02] [-8.73713535e-01 7.57961185e-02 4.80499331e-01 -1.93424117e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.5507140569999 meters Centerline goodness : 0.986947 Centerline is valid? [True, True] Translation: X:187.29, Y:200.65, Z:-193.44 [[ 3.48834039e-01 -5.69302833e-01 7.44452213e-01 1.87291684e+02] [ 3.34359596e-01 8.17675917e-01 4.68625389e-01 2.00647230e+02] [-8.75510407e-01 8.54422541e-02 4.75585059e-01 -1.93441917e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.5807140569999 meters Centerline goodness : 0.987463 Centerline is valid? [True, True] Translation: X:187.31, Y:200.65, Z:-193.48 [[ 3.49074247e-01 -5.85219208e-01 7.31891829e-01 1.87305199e+02] [ 3.40152473e-01 8.06882294e-01 4.82946434e-01 2.00648556e+02] [-8.73180088e-01 8.03706527e-02 4.80725590e-01 -1.93477722e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.6107140569999 meters Centerline goodness : 0.987085 Centerline is valid? [True, True] Translation: X:187.32, Y:200.67, Z:-193.50 [[ 3.50442012e-01 -5.75997716e-01 7.38523546e-01 1.87319303e+02] [ 3.43048885e-01 8.12670924e-01 4.71045042e-01 2.00666665e+02] [-8.71497481e-01 8.82757067e-02 4.82389408e-01 -1.93501877e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.640714057 meters Centerline goodness : 0.986650 Centerline is valid? [True, True] Translation: X:187.33, Y:200.67, Z:-193.52 [[ 3.48424779e-01 -5.73948928e-01 7.41068689e-01 1.87327013e+02] [ 3.37419764e-01 8.14409339e-01 4.72107331e-01 2.00674559e+02] [-8.74498757e-01 8.55573301e-02 4.77422106e-01 -1.93524589e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.6707140569999 meters Centerline goodness : 0.988687 Centerline is valid? [True, True] Translation: X:187.34, Y:200.68, Z:-193.56 [[ 3.47695241e-01 -5.88896721e-01 7.29594868e-01 1.87340971e+02] [ 3.42540992e-01 8.04139353e-01 4.85824628e-01 2.00676147e+02] [-8.72796476e-01 8.09972392e-02 4.81316693e-01 -1.93562317e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.7007140569999 meters Centerline goodness : 0.988486 Centerline is valid? [True, True] Translation: X:187.35, Y:200.70, Z:-193.58 [[ 3.49418671e-01 -5.74160208e-01 7.40436795e-01 1.87354433e+02] [ 3.44701087e-01 8.13600266e-01 4.68226194e-01 2.00696995e+02] [-8.71256422e-01 9.16223934e-02 4.82200771e-01 -1.93584144e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.7307140569999 meters Centerline goodness : 0.989623 Centerline is valid? [True, True] Translation: X:187.37, Y:200.71, Z:-193.61 [[ 3.49173019e-01 -5.75382210e-01 7.39603620e-01 1.87366515e+02] [ 3.44947881e-01 8.12783838e-01 4.69460746e-01 2.00705612e+02] [-8.71257231e-01 9.12016753e-02 4.82279061e-01 -1.93611821e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.760714057 meters Centerline goodness : 0.988650 Centerline is valid? [True, True] Translation: X:187.38, Y:200.71, Z:-193.64 [[ 3.49117121e-01 -5.76952352e-01 7.38405864e-01 1.87378118e+02] [ 3.45103230e-01 8.11764746e-01 4.71106949e-01 2.00713504e+02] [-8.71218111e-01 9.03547467e-02 4.82509092e-01 -1.93639304e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.790714057 meters Centerline goodness : 0.988650 Centerline is valid? [True, True] Translation: X:187.39, Y:200.72, Z:-193.67 [[ 3.48678700e-01 -5.78516612e-01 7.37388428e-01 1.87390586e+02] [ 3.45080421e-01 8.10737563e-01 4.72889107e-01 2.00721325e+02] [-8.71402701e-01 8.95719500e-02 4.82321675e-01 -1.93668300e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.8207140569999 meters Centerline goodness : 0.989541 Centerline is valid? [True, True] Translation: X:187.40, Y:200.73, Z:-193.70 [[ 3.46884709e-01 -5.75004271e-01 7.40973068e-01 1.87401477e+02] [ 3.44211898e-01 8.12948349e-01 4.69716032e-01 2.00731759e+02] [-8.72461557e-01 9.21144373e-02 4.79922663e-01 -1.93699153e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.8507140569999 meters Centerline goodness : 0.988742 Centerline is valid? [True, True] Translation: X:187.41, Y:200.74, Z:-193.72 [[ 3.47338904e-01 -5.83537161e-01 7.34057265e-01 1.87412650e+02] [ 3.43496271e-01 8.07560281e-01 4.79433734e-01 2.00736456e+02] [-8.72562891e-01 8.56199453e-02 4.80939941e-01 -1.93722225e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.880714057 meters Centerline goodness : 0.989347 Centerline is valid? [True, True] Translation: X:187.43, Y:200.75, Z:-193.75 [[ 3.47295819e-01 -5.85679072e-01 7.32369878e-01 1.87425864e+02] [ 3.45751905e-01 8.05932958e-01 4.80549360e-01 2.00745675e+02] [-8.71688726e-01 8.63254974e-02 4.82396802e-01 -1.93753146e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.910714057 meters Centerline goodness : 0.989018 Centerline is valid? [True, True] Translation: X:187.44, Y:200.75, Z:-193.78 [[ 3.46042121e-01 -5.87199868e-01 7.31745287e-01 1.87437400e+02] [ 3.45776286e-01 8.04848848e-01 4.82345407e-01 2.00753234e+02] [-8.72177511e-01 8.61083398e-02 4.81551392e-01 -1.93781770e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.9407140569999 meters Centerline goodness : 0.990559 Centerline is valid? [True, True] Translation: X:187.45, Y:200.77, Z:-193.81 [[ 3.46181522e-01 -5.70273440e-01 7.44947352e-01 1.87448580e+02] [ 3.44499793e-01 8.15843910e-01 4.64455172e-01 2.00771869e+02] [-8.72627210e-01 9.58484105e-02 4.78889168e-01 -1.93810889e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.9707140569999 meters Centerline goodness : 0.990465 Centerline is valid? [True, True] Translation: X:187.46, Y:200.78, Z:-193.84 [[ 3.46132345e-01 -5.77576223e-01 7.39322735e-01 1.87461155e+02] [ 3.45893201e-01 8.11084178e-01 4.71699428e-01 2.00777519e+02] [-8.72095347e-01 9.24562778e-02 4.80522157e-01 -1.93839035e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.000714057 meters Centerline goodness : 0.990466 Centerline is valid? [True, True] Translation: X:187.47, Y:200.79, Z:-193.87 [[ 3.45795534e-01 -5.68344503e-01 7.46598939e-01 1.87471399e+02] [ 3.44645266e-01 8.16999775e-01 4.62310512e-01 2.00790791e+02] [-8.72722803e-01 9.74468795e-02 4.78392115e-01 -1.93866188e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.030714057 meters Centerline goodness : 0.990205 Centerline is valid? [True, True] Translation: X:187.48, Y:200.80, Z:-193.90 [[ 3.44044543e-01 -5.80215869e-01 7.38229570e-01 1.87483072e+02] [ 3.48057118e-01 8.09021208e-01 4.73646417e-01 2.00795123e+02] [-8.72060546e-01 9.39905912e-02 4.80287594e-01 -1.93896755e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.0607140569999 meters Centerline goodness : 0.989613 Centerline is valid? [True, True] Translation: X:187.49, Y:200.81, Z:-193.92 [[ 3.43229221e-01 -5.71485702e-01 7.45384327e-01 1.87494336e+02] [ 3.48036597e-01 8.14484824e-01 4.64203618e-01 2.00808539e+02] [-8.72389953e-01 1.00092778e-01 4.78452930e-01 -1.93924121e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.0907140569999 meters Centerline goodness : 0.990083 Centerline is valid? [True, True] Translation: X:187.51, Y:200.82, Z:-193.95 [[ 3.42281805e-01 -5.75308834e-01 7.42874762e-01 1.87506653e+02] [ 3.49517898e-01 8.11853499e-01 4.67687006e-01 2.00816001e+02] [-8.72169941e-01 9.95672729e-02 4.78963415e-01 -1.93953533e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.120714057 meters Centerline goodness : 0.990322 Centerline is valid? [True, True] Translation: X:187.52, Y:200.83, Z:-193.98 [[ 3.41665708e-01 -5.74439994e-01 7.43830114e-01 1.87518668e+02] [ 3.50435483e-01 8.12249058e-01 4.66311527e-01 2.00825883e+02] [-8.72043300e-01 1.01341807e-01 4.78821806e-01 -1.93981562e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.150714057 meters Centerline goodness : 0.990156 Centerline is valid? [True, True] Translation: X:187.53, Y:200.83, Z:-194.01 [[ 3.40659555e-01 -5.77125261e-01 7.42211224e-01 1.87529459e+02] [ 3.51335981e-01 8.10381216e-01 4.68876650e-01 2.00834271e+02] [-8.72074593e-01 1.01038198e-01 4.78828974e-01 -1.94008368e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.1807140569999 meters Centerline goodness : 0.990726 Centerline is valid? [True, True] Translation: X:187.54, Y:200.85, Z:-194.03 [[ 3.39679566e-01 -5.84681892e-01 7.36725782e-01 1.87535946e+02] [ 3.56553289e-01 8.04882337e-01 4.74377672e-01 2.00846138e+02] [-8.70337604e-01 1.01545598e-01 4.81872334e-01 -1.94026544e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.2107140569999 meters Centerline goodness : 0.990386 Centerline is valid? [True, True] Translation: X:187.55, Y:200.84, Z:-194.07 [[ 3.37807771e-01 -5.92280708e-01 7.31498102e-01 1.87551567e+02] [ 3.48393978e-01 8.00666538e-01 4.87395866e-01 2.00841420e+02] [-8.74361222e-01 9.02034226e-02 4.76818410e-01 -1.94072145e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.240714057 meters Centerline goodness : 0.990418 Centerline is valid? [True, True] Translation: X:187.56, Y:200.87, Z:-194.09 [[ 3.39965942e-01 -5.56417919e-01 7.58170335e-01 1.87564677e+02] [ 3.49058128e-01 8.23257651e-01 4.47666464e-01 2.00873958e+02] [-8.73259172e-01 1.12454167e-01 4.74101760e-01 -1.94093100e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.270714057 meters Centerline goodness : 0.990433 Centerline is valid? [True, True] Translation: X:187.57, Y:200.88, Z:-194.11 [[ 3.38926996e-01 -5.85110652e-01 7.36731984e-01 1.87572304e+02] [ 3.57570411e-01 8.04430082e-01 4.74379221e-01 2.00875032e+02] [-8.70213706e-01 1.02653634e-01 4.81861327e-01 -1.94110042e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.3007140569999 meters Centerline goodness : 0.990084 Centerline is valid? [True, True] Translation: X:187.59, Y:200.87, Z:-194.16 [[ 3.36487943e-01 -5.83762024e-01 7.38916615e-01 1.87587084e+02] [ 3.47213126e-01 8.06297821e-01 4.78880851e-01 2.00873024e+02] [-8.75339311e-01 9.54239147e-02 4.73999332e-01 -1.94157293e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.3307140569999 meters Centerline goodness : 0.990404 Centerline is valid? [True, True] Translation: X:187.60, Y:200.90, Z:-194.18 [[ 3.38127196e-01 -5.48951109e-01 7.64410021e-01 1.87600848e+02] [ 3.48952206e-01 8.27482869e-01 4.39891418e-01 2.00904690e+02] [-8.74015079e-01 1.18003311e-01 4.71352162e-01 -1.94177733e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.3607140569999 meters Centerline goodness : 0.990278 Centerline is valid? [True, True] Translation: X:187.61, Y:200.91, Z:-194.20 [[ 3.38687056e-01 -5.60060940e-01 7.56057420e-01 1.87612758e+02] [ 3.51288232e-01 8.20710697e-01 4.50589092e-01 2.00908887e+02] [-8.72861762e-01 1.12985382e-01 4.74706907e-01 -1.94202188e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.390714057 meters Centerline goodness : 0.989739 Centerline is valid? [True, True] Translation: X:187.62, Y:200.92, Z:-194.23 [[ 3.38030725e-01 -5.56222216e-01 7.59178554e-01 1.87623836e+02] [ 3.50639506e-01 8.23018300e-01 4.46870021e-01 2.00919099e+02] [-8.73376875e-01 1.15142196e-01 4.73238955e-01 -1.94230216e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.4207140569999 meters Centerline goodness : 0.989787 Centerline is valid? [True, True] Translation: X:187.64, Y:200.92, Z:-194.26 [[ 3.38764167e-01 -5.66326179e-01 7.51341133e-01 1.87636531e+02] [ 3.53084067e-01 8.16716695e-01 4.56404953e-01 2.00923188e+02] [-8.72106920e-01 1.10672940e-01 4.76635101e-01 -1.94257034e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.4507140569999 meters Centerline goodness : 0.990037 Centerline is valid? [True, True] Translation: X:187.65, Y:200.93, Z:-194.28 [[ 3.39236303e-01 -5.68329094e-01 7.49613748e-01 1.87648418e+02] [ 3.53513474e-01 8.15478219e-01 4.58283208e-01 2.00930035e+02] [-8.71749365e-01 1.09532259e-01 4.77551808e-01 -1.94283518e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.4807140569999 meters Centerline goodness : 0.989974 Centerline is valid? [True, True] Translation: X:187.66, Y:200.94, Z:-194.31 [[ 3.39582610e-01 -5.76119187e-01 7.43485261e-01 1.87661814e+02] [ 3.55651015e-01 8.10419968e-01 4.65544660e-01 2.00935393e+02] [-8.70744513e-01 1.06330417e-01 4.80101902e-01 -1.94314196e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.510714057 meters Centerline goodness : 0.989205 Centerline is valid? [True, True] Translation: X:187.67, Y:200.95, Z:-194.34 [[ 3.39819612e-01 -5.68205717e-01 7.49443056e-01 1.87673302e+02] [ 3.53261127e-01 8.15629997e-01 4.58207686e-01 2.00947617e+02] [-8.71624465e-01 1.09041141e-01 4.77892061e-01 -1.94340263e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.540714057 meters Centerline goodness : 0.989568 Centerline is valid? [True, True] Translation: X:187.69, Y:200.95, Z:-194.37 [[ 3.41142505e-01 -5.76147415e-01 7.42748913e-01 1.87686263e+02] [ 3.54701702e-01 8.10635606e-01 4.65893353e-01 2.00953651e+02] [-8.70521966e-01 1.04518279e-01 4.80902730e-01 -1.94369713e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.5707140569999 meters Centerline goodness : 0.989258 Centerline is valid? [True, True] Translation: X:187.70, Y:200.97, Z:-194.40 [[ 3.42149779e-01 -5.68730095e-01 7.47983695e-01 1.87698045e+02] [ 3.51598022e-01 8.15689684e-01 4.59379113e-01 2.00966095e+02] [-8.71385311e-01 1.05813126e-01 4.79052422e-01 -1.94395702e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.6007140569999 meters Centerline goodness : 0.988962 Centerline is valid? [True, True] Translation: X:187.71, Y:200.97, Z:-194.42 [[ 3.43373188e-01 -5.73458855e-01 7.43800912e-01 1.87710509e+02] [ 3.51616498e-01 8.12849708e-01 4.64371823e-01 2.00973604e+02] [-8.70896488e-01 1.02079838e-01 4.80748389e-01 -1.94420200e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.630714057 meters Centerline goodness : 0.989757 Centerline is valid? [True, True] Translation: X:187.72, Y:200.98, Z:-194.45 [[ 3.43325656e-01 -5.67417425e-01 7.48441688e-01 1.87722333e+02] [ 3.49761278e-01 8.16803434e-01 4.58801917e-01 2.00984814e+02] [-8.71661943e-01 1.04257452e-01 4.78890218e-01 -1.94452893e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.660714057 meters Centerline goodness : 0.988411 Centerline is valid? [True, True] Translation: X:187.73, Y:201.00, Z:-194.48 [[ 3.45493103e-01 -5.64630977e-01 7.49550783e-01 1.87733927e+02] [ 3.47610139e-01 8.18919077e-01 4.56660417e-01 2.00995325e+02] [-8.71666052e-01 1.02778427e-01 4.79202346e-01 -1.94477814e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.6907140569999 meters Centerline goodness : 0.988761 Centerline is valid? [True, True] Translation: X:187.75, Y:201.00, Z:-194.50 [[ 3.46184318e-01 -5.76227258e-01 7.40350299e-01 1.87745657e+02] [ 3.46638661e-01 8.11866344e-01 4.69802808e-01 2.00997570e+02] [-8.71778674e-01 9.39956717e-02 4.80798042e-01 -1.94503436e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.7207140569999 meters Centerline goodness : 0.989118 Centerline is valid? [True, True] Translation: X:187.76, Y:201.01, Z:-194.53 [[ 3.47681387e-01 -5.73069702e-01 7.42097547e-01 1.87757721e+02] [ 3.45735877e-01 8.14060649e-01 4.66660436e-01 2.01009393e+02] [-8.71541368e-01 9.43205994e-02 4.81164492e-01 -1.94530617e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.750714057 meters Centerline goodness : 0.988603 Centerline is valid? [True, True] Translation: X:187.77, Y:201.02, Z:-194.56 [[ 3.48188182e-01 -5.77017532e-01 7.38793447e-01 1.87770430e+02] [ 3.44921271e-01 8.11680493e-01 4.71385292e-01 2.01017116e+02] [-8.71661808e-01 9.06947872e-02 4.81643176e-01 -1.94560071e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.780714057 meters Centerline goodness : 0.989261 Centerline is valid? [True, True] Translation: X:187.78, Y:201.03, Z:-194.59 [[ 3.49343189e-01 -5.62997395e-01 7.48994839e-01 1.87782200e+02] [ 3.39972836e-01 8.21045816e-01 4.58587220e-01 2.01032668e+02] [-8.73142490e-01 9.44335775e-02 4.78230585e-01 -1.94589545e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.8107140569999 meters Centerline goodness : 0.989982 Centerline is valid? [True, True] Translation: X:187.79, Y:201.03, Z:-194.60 [[ 3.50675088e-01 -5.89796551e-01 7.27438665e-01 1.87790386e+02] [ 3.47869961e-01 8.03224759e-01 4.83545734e-01 2.01034811e+02] [-8.69490353e-01 8.34866174e-02 4.86843416e-01 -1.94604884e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.8407140569999 meters Centerline goodness : 0.988206 Centerline is valid? [True, True] Translation: X:187.81, Y:201.03, Z:-194.65 [[ 3.49792634e-01 -5.94009082e-01 7.24429654e-01 1.87806615e+02] [ 3.38721343e-01 8.01157311e-01 4.93370869e-01 2.01029878e+02] [-8.73448891e-01 7.28022894e-02 4.81442480e-01 -1.94650248e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.870714057 meters Centerline goodness : 0.989837 Centerline is valid? [True, True] Translation: X:187.82, Y:201.06, Z:-194.67 [[ 3.52253746e-01 -5.65856352e-01 7.45468904e-01 1.87820900e+02] [ 3.38991850e-01 8.19577918e-01 4.61927010e-01 2.01058083e+02] [-8.72354185e-01 8.99923632e-02 4.80520083e-01 -1.94672859e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.900714057 meters Centerline goodness : 0.989995 Centerline is valid? [True, True] Translation: X:187.83, Y:201.08, Z:-194.71 [[ 3.52485308e-01 -5.31180992e-01 7.70454971e-01 1.87832872e+02] [ 3.30660355e-01 8.40884161e-01 4.28459518e-01 2.01081402e+02] [-8.75452933e-01 1.03733229e-01 4.72039808e-01 -1.94709284e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.9307140569999 meters Centerline goodness : 0.990002 Centerline is valid? [True, True] Translation: X:187.85, Y:201.07, Z:-194.73 [[ 3.56438154e-01 -5.71079723e-01 7.39472645e-01 1.87847174e+02] [ 3.40075858e-01 8.16465756e-01 4.66617703e-01 2.01074231e+02] [-8.70230000e-01 8.51564418e-02 4.85229973e-01 -1.94732373e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.9607140569999 meters Centerline goodness : 0.988269 Centerline is valid? [True, True] Translation: X:187.86, Y:201.08, Z:-194.75 [[ 3.58721497e-01 -5.69861047e-01 7.39308647e-01 1.87857962e+02] [ 3.37213242e-01 8.17647925e-01 4.66625224e-01 2.01082731e+02] [-8.70405720e-01 8.19161668e-02 4.85472579e-01 -1.94754457e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.990714057 meters Centerline goodness : 0.989777 Centerline is valid? [True, True] Translation: X:187.87, Y:201.09, Z:-194.79 [[ 3.60013307e-01 -5.75622594e-01 7.34199597e-01 1.87871262e+02] [ 3.34810696e-01 8.14260171e-01 4.74217431e-01 2.01087594e+02] [-8.70799757e-01 7.50932920e-02 4.85869098e-01 -1.94788280e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.020714057 meters Centerline goodness : 0.989375 Centerline is valid? [True, True] Translation: X:187.88, Y:201.11, Z:-194.81 [[ 3.61758093e-01 -5.58721771e-01 7.46298241e-01 1.87883734e+02] [ 3.33129903e-01 8.25135240e-01 4.56263415e-01 2.01107129e+02] [-8.70721282e-01 8.35572776e-02 4.84626280e-01 -1.94812866e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.0507140569999 meters Centerline goodness : 0.989375 Centerline is valid? [True, True] Translation: X:187.90, Y:201.11, Z:-194.84 [[ 3.61656192e-01 -5.62283083e-01 7.43668295e-01 1.87896415e+02] [ 3.33742262e-01 8.22881363e-01 4.59872119e-01 2.01114609e+02] [-8.70529093e-01 8.18779395e-02 4.85257769e-01 -1.94842123e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.0807140569999 meters Centerline goodness : 0.989409 Centerline is valid? [True, True] Translation: X:187.91, Y:201.13, Z:-194.87 [[ 3.62573996e-01 -5.58322656e-01 7.46200985e-01 1.87908566e+02] [ 3.31948077e-01 8.25539290e-01 4.56393860e-01 2.01126223e+02] [-8.70833263e-01 8.22234366e-02 4.84653211e-01 -1.94871428e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.1107140569999 meters Centerline goodness : 0.989064 Centerline is valid? [True, True] Translation: X:187.92, Y:201.13, Z:-194.90 [[ 3.64932048e-01 -5.62333829e-01 7.42027806e-01 1.87920716e+02] [ 3.31839145e-01 8.23211479e-01 4.60657837e-01 2.01134761e+02] [-8.69889293e-01 7.81250649e-02 4.87020628e-01 -1.94901507e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.140714057 meters Centerline goodness : 0.989377 Centerline is valid? [True, True] Translation: X:187.93, Y:201.14, Z:-194.93 [[ 3.65294310e-01 -5.65053023e-01 7.39780473e-01 1.87932129e+02] [ 3.31045436e-01 8.21604495e-01 4.64085093e-01 2.01142473e+02] [-8.70039647e-01 7.53733053e-02 4.87185671e-01 -1.94926337e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.1707140569999 meters Centerline goodness : 0.988818 Centerline is valid? [True, True] Translation: X:187.94, Y:201.15, Z:-194.95 [[ 3.65709010e-01 -5.62314198e-01 7.41660072e-01 1.87944851e+02] [ 3.31166022e-01 8.23326756e-01 4.60936134e-01 2.01154061e+02] [-8.69819514e-01 7.70441180e-02 4.87317369e-01 -1.94954482e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.2007140569999 meters Centerline goodness : 0.988795 Centerline is valid? [True, True] Translation: X:187.96, Y:201.16, Z:-194.98 [[ 3.66535390e-01 -5.73535239e-01 7.32604353e-01 1.87958058e+02] [ 3.33391332e-01 8.16080081e-01 4.72084230e-01 2.01159219e+02] [-8.68620762e-01 7.12083641e-02 4.90333908e-01 -1.94980002e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.2307140569999 meters Centerline goodness : 0.988641 Centerline is valid? [True, True] Translation: X:187.97, Y:201.17, Z:-195.01 [[ 3.64394304e-01 -5.62245528e-01 7.42358914e-01 1.87969572e+02] [ 3.31951295e-01 8.23226116e-01 4.60550867e-01 2.01174609e+02] [-8.70071910e-01 7.86048899e-02 4.86617039e-01 -1.95007888e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.260714057 meters Centerline goodness : 0.988799 Centerline is valid? [True, True] Translation: X:187.98, Y:201.18, Z:-195.04 [[ 3.64146299e-01 -5.70486649e-01 7.36167410e-01 1.87982034e+02] [ 3.33867274e-01 8.17863763e-01 4.68648599e-01 2.01180050e+02] [-8.69442417e-01 7.51255539e-02 4.88288885e-01 -1.95038580e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.290714057 meters Centerline goodness : 0.989083 Centerline is valid? [True, True] Translation: X:187.99, Y:201.19, Z:-195.07 [[ 3.62251383e-01 -5.67898126e-01 7.39097865e-01 1.87993765e+02] [ 3.32334299e-01 8.19534025e-01 4.66816770e-01 2.01189621e+02] [-8.70820217e-01 7.65225504e-02 4.85609359e-01 -1.95067116e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.3207140569999 meters Centerline goodness : 0.988386 Centerline is valid? [True, True] Translation: X:188.01, Y:201.20, Z:-195.09 [[ 3.62176457e-01 -5.70772869e-01 7.36916919e-01 1.88006730e+02] [ 3.33588770e-01 8.17596842e-01 4.69312195e-01 2.01198274e+02] [-8.70371614e-01 7.58533807e-02 4.86517747e-01 -1.95092881e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.3507140569999 meters Centerline goodness : 0.989502 Centerline is valid? [True, True] Translation: X:188.02, Y:201.21, Z:-195.12 [[ 3.61262373e-01 -5.73965897e-01 7.34882744e-01 1.88019284e+02] [ 3.37596194e-01 8.15151317e-01 4.70698567e-01 2.01207012e+02] [-8.69205561e-01 7.80479365e-02 4.88252201e-01 -1.95119922e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.380714057 meters Centerline goodness : 0.990514 Centerline is valid? [True, True] Translation: X:188.03, Y:201.21, Z:-195.15 [[ 3.60803311e-01 -5.80065980e-01 7.30304340e-01 1.88032257e+02] [ 3.40481681e-01 8.10926456e-01 4.75889177e-01 2.01213250e+02] [-8.68270232e-01 7.69528586e-02 4.90086790e-01 -1.95149707e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.410714057 meters Centerline goodness : 0.989566 Centerline is valid? [True, True] Translation: X:188.04, Y:201.22, Z:-195.18 [[ 3.59417253e-01 -5.82814450e-01 7.28798020e-01 1.88044420e+02] [ 3.41673628e-01 8.08942774e-01 4.78404348e-01 2.01220062e+02] [-8.68376860e-01 7.70642867e-02 4.89880318e-01 -1.95176618e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.4407140569999 meters Centerline goodness : 0.989053 Centerline is valid? [True, True] Translation: X:188.06, Y:201.23, Z:-195.20 [[ 3.58523001e-01 -5.84958712e-01 7.27519459e-01 1.88058145e+02] [ 3.45768469e-01 8.07110039e-01 4.78557783e-01 2.01229725e+02] [-8.67124803e-01 7.99793170e-02 4.91627791e-01 -1.95204456e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.4707140569999 meters Centerline goodness : 0.989845 Centerline is valid? [True, True] Translation: X:188.07, Y:201.24, Z:-195.23 [[ 3.57407014e-01 -5.84177975e-01 7.28694943e-01 1.88070705e+02] [ 3.47399697e-01 8.07400556e-01 4.76883416e-01 2.01240370e+02] [-8.66933491e-01 8.27069242e-02 4.91513873e-01 -1.95232667e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.500714057 meters Centerline goodness : 0.988975 Centerline is valid? [True, True] Translation: X:188.08, Y:201.24, Z:-195.26 [[ 3.56916675e-01 -5.94802851e-01 7.20291646e-01 1.88084223e+02] [ 3.50147165e-01 8.00045936e-01 4.87158561e-01 2.01244540e+02] [-8.66029705e-01 7.83330643e-02 4.93818268e-01 -1.95259839e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.530714057 meters Centerline goodness : 0.989938 Centerline is valid? [True, True] Translation: X:188.10, Y:201.26, Z:-195.29 [[ 3.55860036e-01 -5.90298095e-01 7.24507967e-01 1.88097515e+02] [ 3.52925316e-01 8.02735457e-01 4.80686495e-01 2.01257465e+02] [-8.65336557e-01 8.46400894e-02 4.93992611e-01 -1.95288554e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.5607140569999 meters Centerline goodness : 0.989327 Centerline is valid? [True, True] Translation: X:188.11, Y:201.26, Z:-195.32 [[ 3.55126591e-01 -5.98410404e-01 7.18185278e-01 1.88111826e+02] [ 3.56520211e-01 7.96894328e-01 4.87701517e-01 2.01262040e+02] [-8.64163436e-01 8.28517903e-02 4.96343769e-01 -1.95315946e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.5907140569999 meters Centerline goodness : 0.989370 Centerline is valid? [True, True] Translation: X:188.12, Y:201.27, Z:-195.34 [[ 3.55376492e-01 -6.01087417e-01 7.15822231e-01 1.88124408e+02] [ 3.58010640e-01 7.94943413e-01 4.89789088e-01 2.01270859e+02] [-8.63444226e-01 8.22124472e-02 4.97699892e-01 -1.95340704e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.620714057 meters Centerline goodness : 0.989399 Centerline is valid? [True, True] Translation: X:188.14, Y:201.28, Z:-195.37 [[ 3.54932463e-01 -5.98256774e-01 7.18409200e-01 1.88136202e+02] [ 3.57147968e-01 7.96925404e-01 4.87191163e-01 2.01281274e+02] [-8.63983956e-01 8.36584261e-02 4.96520888e-01 -1.95367649e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.650714057 meters Centerline goodness : 0.990290 Centerline is valid? [True, True] Translation: X:188.15, Y:201.29, Z:-195.40 [[ 3.54723390e-01 -6.05442855e-01 7.12467730e-01 1.88150110e+02] [ 3.58592479e-01 7.91845342e-01 4.94360586e-01 2.01288431e+02] [-8.63471338e-01 8.01243063e-02 4.97993318e-01 -1.95396494e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.6807140569999 meters Centerline goodness : 0.991029 Centerline is valid? [True, True] Translation: X:188.16, Y:201.30, Z:-195.42 [[ 3.55042026e-01 -6.02806785e-01 7.14541210e-01 1.88163575e+02] [ 3.59148008e-01 7.93634157e-01 4.91077930e-01 2.01300406e+02] [-8.63109419e-01 8.22727487e-02 4.98270334e-01 -1.95423984e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.7107140569999 meters Centerline goodness : 0.990506 Centerline is valid? [True, True] Translation: X:188.18, Y:201.31, Z:-195.45 [[ 3.55424258e-01 -6.03671789e-01 7.13620325e-01 1.88177141e+02] [ 3.59426579e-01 7.93037355e-01 4.91837664e-01 2.01310356e+02] [-8.62836098e-01 8.16830754e-02 4.98840400e-01 -1.95452182e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.740714057 meters Centerline goodness : 0.990763 Centerline is valid? [True, True] Translation: X:188.19, Y:201.32, Z:-195.48 [[ 3.58824059e-01 -6.12104728e-01 7.04679428e-01 1.88191567e+02] [ 3.60609555e-01 7.87247258e-01 5.00202462e-01 2.01317550e+02] [-8.60933240e-01 7.46294569e-02 5.03214071e-01 -1.95476816e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.770714057 meters Centerline goodness : 0.989954 Centerline is valid? [True, True] Translation: X:188.21, Y:201.33, Z:-195.50 [[ 3.59373197e-01 -6.09377422e-01 7.06760259e-01 1.88205115e+02] [ 3.61623348e-01 7.89117989e-01 4.96509167e-01 2.01330741e+02] [-8.60278711e-01 7.71489246e-02 5.03952958e-01 -1.95503565e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.8007140569999 meters Centerline goodness : 0.990638 Centerline is valid? [True, True] Translation: X:188.22, Y:201.34, Z:-195.53 [[ 3.60109972e-01 -6.04019411e-01 7.10972123e-01 1.88217624e+02] [ 3.60832555e-01 7.92968669e-01 4.90918076e-01 2.01343978e+02] [-8.60302665e-01 7.97573926e-02 5.03505793e-01 -1.95530597e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.8307140569999 meters Centerline goodness : 0.990276 Centerline is valid? [True, True] Translation: X:188.23, Y:201.35, Z:-195.56 [[ 3.60696184e-01 -6.02886911e-01 7.11635887e-01 1.88229272e+02] [ 3.60349650e-01 7.93831685e-01 4.89876909e-01 2.01354836e+02] [-8.60259492e-01 7.97410116e-02 5.03582146e-01 -1.95556286e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.8607140569999 meters Centerline goodness : 0.990006 Centerline is valid? [True, True] Translation: X:188.24, Y:201.36, Z:-195.59 [[ 3.60656795e-01 -6.05784946e-01 7.09190578e-01 1.88241749e+02] [ 3.59040777e-01 7.91941480e-01 4.93880971e-01 2.01362926e+02] [-8.60823093e-01 7.65068076e-02 5.03120574e-01 -1.95585397e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.890714057 meters Centerline goodness : 0.990349 Centerline is valid? [True, True] Translation: X:188.25, Y:201.38, Z:-195.61 [[ 3.60075334e-01 -5.97698193e-01 7.16311820e-01 1.88253594e+02] [ 3.56767950e-01 7.97672338e-01 4.86246306e-01 2.01375230e+02] [-8.62010663e-01 8.04717987e-02 5.00461693e-01 -1.95614429e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.9207140569999 meters Centerline goodness : 0.990433 Centerline is valid? [True, True] Translation: X:188.27, Y:201.38, Z:-195.64 [[ 3.60286791e-01 -6.12500591e-01 7.03588271e-01 1.88266862e+02] [ 3.59292688e-01 7.87166735e-01 5.01275668e-01 2.01377813e+02] [-8.60872925e-01 7.21911190e-02 5.03672761e-01 -1.95642185e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.9507140569999 meters Centerline goodness : 0.989254 Centerline is valid? [True, True] Translation: X:188.28, Y:201.39, Z:-195.67 [[ 3.60862333e-01 -6.01495724e-01 7.12728048e-01 1.88278943e+02] [ 3.57829763e-01 7.95030341e-01 4.89780174e-01 2.01393507e+02] [-8.61241103e-01 7.82920924e-02 5.02129575e-01 -1.95668341e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.9807140569999 meters Centerline goodness : 0.989964 Centerline is valid? [True, True] Translation: X:188.29, Y:201.40, Z:-195.70 [[ 3.60576925e-01 -5.99796070e-01 7.14303126e-01 1.88290968e+02] [ 3.57105929e-01 7.96243540e-01 4.88335520e-01 2.01404151e+02] [-8.61660976e-01 7.89993608e-02 5.01297780e-01 -1.95696598e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.010714057 meters Centerline goodness : 0.990239 Centerline is valid? [True, True] Translation: X:188.30, Y:201.41, Z:-195.73 [[ 3.59348344e-01 -5.97940395e-01 7.16474739e-01 1.88302623e+02] [ 3.55829224e-01 7.97549156e-01 4.87135410e-01 2.01413978e+02] [-8.62701763e-01 7.98913473e-02 4.99362635e-01 -1.95727400e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.040714057 meters Centerline goodness : 0.990126 Centerline is valid? [True, True] Translation: X:188.32, Y:201.43, Z:-195.76 [[ 3.59607111e-01 -5.94273267e-01 7.19390026e-01 1.88315709e+02] [ 3.54860561e-01 8.00135212e-01 4.83588281e-01 2.01427186e+02] [-8.62992878e-01 8.13813635e-02 4.98618457e-01 -1.95755590e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.0707140569999 meters Centerline goodness : 0.990133 Centerline is valid? [True, True] Translation: X:188.33, Y:201.44, Z:-195.79 [[ 3.59669475e-01 -5.92780993e-01 7.20589039e-01 1.88328163e+02] [ 3.53584317e-01 8.01260668e-01 4.82658755e-01 2.01437654e+02] [-8.63490591e-01 8.11913626e-02 4.97787066e-01 -1.95785019e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.1007140569999 meters Centerline goodness : 0.990134 Centerline is valid? [True, True] Translation: X:188.34, Y:201.44, Z:-195.81 [[ 3.60857045e-01 -5.98053262e-01 7.15621750e-01 1.88340125e+02] [ 3.52946417e-01 7.97825931e-01 4.88776647e-01 2.01443910e+02] [-8.63256057e-01 7.61976357e-02 4.98981864e-01 -1.95810986e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.130714057 meters Centerline goodness : 0.990416 Centerline is valid? [True, True] Translation: X:188.35, Y:201.46, Z:-195.84 [[ 3.62408040e-01 -5.97663396e-01 7.15163532e-01 1.88352017e+02] [ 3.52132600e-01 7.98256071e-01 4.88661311e-01 2.01455027e+02] [-8.62938610e-01 7.47376052e-02 4.99751184e-01 -1.95838237e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.160714057 meters Centerline goodness : 0.989602 Centerline is valid? [True, True] Translation: X:188.36, Y:201.46, Z:-195.86 [[ 3.63341945e-01 -6.01553244e-01 7.11418530e-01 1.88364141e+02] [ 3.51717337e-01 7.95668322e-01 4.93160052e-01 2.01462876e+02] [-8.62715217e-01 7.10324981e-02 5.00676381e-01 -1.95864566e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.1907140569999 meters Centerline goodness : 0.989059 Centerline is valid? [True, True] Translation: X:188.38, Y:201.47, Z:-195.89 [[ 3.63533582e-01 -5.97589906e-01 7.14653510e-01 1.88376560e+02] [ 3.49995422e-01 7.98553657e-01 4.89709364e-01 2.01474609e+02] [-8.63334547e-01 7.20996573e-02 4.99454802e-01 -1.95891403e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.2207140569999 meters Centerline goodness : 0.990984 Centerline is valid? [True, True] Translation: X:188.39, Y:201.48, Z:-195.92 [[ 3.65667674e-01 -6.10532944e-01 7.02521656e-01 1.88390528e+02] [ 3.51336830e-01 7.89497043e-01 5.03246312e-01 2.01479871e+02] [-8.61887223e-01 6.28008231e-02 5.03196256e-01 -1.95917956e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.250714057 meters Centerline goodness : 0.989441 Centerline is valid? [True, True] Translation: X:188.40, Y:201.50, Z:-195.94 [[ 3.65724768e-01 -5.98441275e-01 7.12820759e-01 1.88402828e+02] [ 3.49572220e-01 7.98127359e-01 4.90705595e-01 2.01496459e+02] [-8.62580232e-01 6.97191453e-02 5.01093389e-01 -1.95944163e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.280714057 meters Centerline goodness : 0.989940 Centerline is valid? [True, True] Translation: X:188.42, Y:201.50, Z:-195.98 [[ 3.66848080e-01 -6.11058558e-01 7.01448448e-01 1.88416628e+02] [ 3.49957958e-01 7.89278833e-01 5.04547671e-01 2.01499037e+02] [-8.61946584e-01 6.03851223e-02 5.03390230e-01 -1.95975306e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.3107140569999 meters Centerline goodness : 0.989614 Centerline is valid? [True, True] Translation: X:188.43, Y:201.52, Z:-196.00 [[ 3.66431878e-01 -5.90287697e-01 7.19227442e-01 1.88428503e+02] [ 3.47038138e-01 8.03919884e-01 4.82987941e-01 2.01519838e+02] [-8.63303081e-01 7.26171737e-02 4.99434216e-01 -1.95999730e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.3407140569999 meters Centerline goodness : 0.988785 Centerline is valid? [True, True] Translation: X:188.44, Y:201.52, Z:-196.03 [[ 3.68217535e-01 -5.98324148e-01 7.11634780e-01 1.88441655e+02] [ 3.46194257e-01 7.98606491e-01 4.92318199e-01 2.01523662e+02] [-8.62882022e-01 6.50836802e-02 5.01197297e-01 -1.96030371e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.370714057 meters Centerline goodness : 0.989671 Centerline is valid? [True, True] Translation: X:188.45, Y:201.54, Z:-196.06 [[ 3.68762487e-01 -5.94136864e-01 7.14853562e-01 1.88454733e+02] [ 3.46001090e-01 8.01526784e-01 4.87686437e-01 2.01536085e+02] [-8.62726767e-01 6.74996480e-02 5.01145012e-01 -1.96057860e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.400714057 meters Centerline goodness : 0.990181 Centerline is valid? [True, True] Translation: X:188.47, Y:201.54, Z:-196.09 [[ 3.69426053e-01 -5.93929901e-01 7.14682912e-01 1.88467845e+02] [ 3.43877676e-01 8.01866302e-01 4.88629285e-01 2.01544380e+02] [-8.63291686e-01 6.52511111e-02 5.00469537e-01 -1.96086601e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.4307140569999 meters Centerline goodness : 0.989882 Centerline is valid? [True, True] Translation: X:188.48, Y:201.56, Z:-196.11 [[ 3.69999502e-01 -5.88998603e-01 7.18457386e-01 1.88481329e+02] [ 3.43769404e-01 8.05248407e-01 4.83112409e-01 2.01556741e+02] [-8.63089199e-01 6.82323162e-02 5.00421208e-01 -1.96114723e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.4607140569999 meters Centerline goodness : 0.989181 Centerline is valid? [True, True] Translation: X:188.50, Y:201.56, Z:-196.14 [[ 3.70273475e-01 -5.96846928e-01 7.11808470e-01 1.88495141e+02] [ 3.46286525e-01 7.99726379e-01 4.90431811e-01 2.01562253e+02] [-8.61964730e-01 6.48957905e-02 5.02797514e-01 -1.96144894e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.490714057 meters Centerline goodness : 0.989646 Centerline is valid? [True, True] Translation: X:188.51, Y:201.58, Z:-196.17 [[ 3.68771894e-01 -5.73602322e-01 7.31428511e-01 1.88506544e+02] [ 3.43670178e-01 8.15267555e-01 4.66078987e-01 2.01583323e+02] [-8.63653923e-01 7.94933361e-02 4.97777773e-01 -1.96172104e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.520714057 meters Centerline goodness : 0.989240 Centerline is valid? [True, True] Translation: X:188.52, Y:201.58, Z:-196.20 [[ 3.68583523e-01 -5.94803522e-01 7.14391319e-01 1.88520460e+02] [ 3.46436895e-01 8.01027915e-01 4.88196433e-01 2.01580868e+02] [-8.62628347e-01 6.75503493e-02 5.01307576e-01 -1.96201803e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.5507140569999 meters Centerline goodness : 0.988955 Centerline is valid? [True, True] Translation: X:188.53, Y:201.59, Z:-196.22 [[ 3.69247166e-01 -6.01427637e-01 7.08478178e-01 1.88533693e+02] [ 3.50669753e-01 7.96166108e-01 4.93102681e-01 2.01588154e+02] [-8.60631893e-01 6.63651005e-02 5.04884560e-01 -1.96223728e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.5807140569999 meters Centerline goodness : 0.987842 Centerline is valid? [True, True] Translation: X:188.55, Y:201.60, Z:-196.25 [[ 3.67410323e-01 -5.93338848e-01 7.16211328e-01 1.88545631e+02] [ 3.49347444e-01 8.01724112e-01 4.84968877e-01 2.01599738e+02] [-8.61954766e-01 7.20240247e-02 5.01843125e-01 -1.96251884e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.6107140569999 meters Centerline goodness : 0.989547 Centerline is valid? [True, True] Translation: X:188.55, Y:201.61, Z:-196.27 [[ 3.65528905e-01 -6.12535908e-01 7.00848329e-01 1.88551570e+02] [ 3.58887546e-01 7.87480437e-01 5.01073140e-01 2.01606114e+02] [-8.58829639e-01 6.83690203e-02 5.07678371e-01 -1.96265542e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.640714057 meters Centerline goodness : 0.988792 Centerline is valid? [True, True] Translation: X:188.57, Y:201.59, Z:-196.31 [[ 3.63449195e-01 -6.34215563e-01 6.82404061e-01 1.88574451e+02] [ 3.52316766e-01 7.71667023e-01 5.29530832e-01 2.01589426e+02] [-8.62425405e-01 4.79648373e-02 5.03906534e-01 -1.96314022e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.6707140569999 meters Centerline goodness : 0.989267 Centerline is valid? [True, True] Translation: X:188.58, Y:201.63, Z:-196.32 [[ 3.62336264e-01 -6.01510557e-01 7.11967332e-01 1.88579580e+02] [ 3.64145002e-01 7.94521828e-01 4.85935677e-01 2.01631453e+02] [-8.57969026e-01 8.31872279e-02 5.06921134e-01 -1.96316536e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.7007140569999 meters Centerline goodness : 0.989305 Centerline is valid? [True, True] Translation: X:188.60, Y:201.60, Z:-196.37 [[ 3.61633964e-01 -6.47875736e-01 6.70431135e-01 1.88603128e+02] [ 3.58933259e-01 7.60420792e-01 5.41227434e-01 2.01601965e+02] [-8.60457897e-01 4.49138104e-02 5.07538135e-01 -1.96367290e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.7307140569999 meters Centerline goodness : 0.988438 Centerline is valid? [True, True] Translation: X:188.62, Y:201.64, Z:-196.38 [[ 3.63272550e-01 -6.06079607e-01 7.07601982e-01 1.88618431e+02] [ 3.64349111e-01 7.91419768e-01 4.90820207e-01 2.01640865e+02] [-8.57486315e-01 7.95126451e-02 5.08325643e-01 -1.96381137e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.760714057 meters Centerline goodness : 0.988733 Centerline is valid? [True, True] Translation: X:188.63, Y:201.65, Z:-196.41 [[ 3.61389107e-01 -6.06059418e-01 7.08583020e-01 1.88630543e+02] [ 3.64715675e-01 7.91277259e-01 4.90777726e-01 2.01648385e+02] [-8.58126092e-01 8.10696108e-02 5.06998351e-01 -1.96410619e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.790714057 meters Centerline goodness : 0.988606 Centerline is valid? [True, True] Translation: X:188.63, Y:201.66, Z:-196.43 [[ 3.58928191e-01 -6.03149897e-01 7.12306644e-01 1.88633749e+02] [ 3.71162539e-01 7.92458437e-01 4.83991731e-01 2.01663281e+02] [-8.56392973e-01 9.06632661e-02 5.08302320e-01 -1.96426439e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.8207140569999 meters Centerline goodness : 0.989507 Centerline is valid? [True, True] Translation: X:188.66, Y:201.63, Z:-196.48 [[ 3.59550298e-01 -6.56773147e-01 6.62851882e-01 1.88658404e+02] [ 3.66291993e-01 7.52678284e-01 5.47088271e-01 2.01630940e+02] [-8.58227103e-01 4.60915861e-02 5.11196446e-01 -1.96475661e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.8507140569999 meters Centerline goodness : 0.989587 Centerline is valid? [True, True] Translation: X:188.66, Y:201.69, Z:-196.48 [[ 3.59086382e-01 -5.95200263e-01 7.18883591e-01 1.88659351e+02] [ 3.72294016e-01 7.97669704e-01 4.74468344e-01 2.01686391e+02] [-8.55835344e-01 9.72609382e-02 5.08021825e-01 -1.96478699e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.880714057 meters Centerline goodness : 0.989212 Centerline is valid? [True, True] Translation: X:188.68, Y:201.65, Z:-196.53 [[ 3.58209902e-01 -6.51267735e-01 6.68981318e-01 1.88684338e+02] [ 3.65732712e-01 7.57146979e-01 5.41265218e-01 2.01649905e+02] [-8.59025756e-01 5.07817918e-02 5.09407460e-01 -1.96531272e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.910714057 meters Centerline goodness : 0.989982 Centerline is valid? [True, True] Translation: X:188.70, Y:201.69, Z:-196.55 [[ 3.62004415e-01 -6.03364088e-01 7.10566381e-01 1.88697442e+02] [ 3.67320944e-01 7.92921424e-01 4.86159376e-01 2.01692986e+02] [-8.56754415e-01 8.50140728e-02 5.08669322e-01 -1.96545434e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.9407140569999 meters Centerline goodness : 0.989982 Centerline is valid? [True, True] Translation: X:188.71, Y:201.70, Z:-196.57 [[ 3.61342696e-01 -6.07047079e-01 7.07760764e-01 1.88710023e+02] [ 3.67437306e-01 7.90329868e-01 4.90273929e-01 2.01700767e+02] [-8.56983828e-01 8.29008051e-02 5.08631669e-01 -1.96574411e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.9707140569999 meters Centerline goodness : 0.989991 Centerline is valid? [True, True] Translation: X:188.71, Y:201.72, Z:-196.59 [[ 3.59020749e-01 -6.00635974e-01 7.14381221e-01 1.88711967e+02] [ 3.71436155e-01 7.94136274e-01 4.81022621e-01 2.01718492e+02] [-8.56235531e-01 9.26499125e-02 5.08209316e-01 -1.96590128e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.000714057 meters Centerline goodness : 0.989055 Centerline is valid? [True, True] Translation: X:188.73, Y:201.70, Z:-196.64 [[ 3.57814469e-01 -6.29174120e-01 6.90006328e-01 1.88732885e+02] [ 3.60114395e-01 7.74745446e-01 5.19699064e-01 2.01697268e+02] [-8.61560461e-01 6.25253663e-02 5.03789788e-01 -1.96642100e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.030714057 meters Centerline goodness : 0.989220 Centerline is valid? [True, True] Translation: X:188.75, Y:201.73, Z:-196.66 [[ 3.62031848e-01 -5.97674677e-01 7.15344618e-01 1.88746007e+02] [ 3.61237911e-01 7.97388874e-01 4.83402685e-01 2.01730098e+02] [-8.59325382e-01 8.34024285e-02 5.04582919e-01 -1.96659747e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.0607140569999 meters Centerline goodness : 0.987697 Centerline is valid? [True, True] Translation: X:188.76, Y:201.74, Z:-196.69 [[ 3.63639072e-01 -6.00852606e-01 7.11858674e-01 1.88758809e+02] [ 3.59354108e-01 7.95506420e-01 4.87887448e-01 2.01737541e+02] [-8.59436589e-01 7.83944001e-02 5.05196068e-01 -1.96687902e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.0907140569999 meters Centerline goodness : 0.988622 Centerline is valid? [True, True] Translation: X:188.77, Y:201.75, Z:-196.72 [[ 3.64484620e-01 -5.88884723e-01 7.21363809e-01 1.88769280e+02] [ 3.55586192e-01 8.03967056e-01 4.76650221e-01 2.01752729e+02] [-8.60644771e-01 8.27753355e-02 5.02432903e-01 -1.96718243e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.120714057 meters Centerline goodness : 0.988136 Centerline is valid? [True, True] Translation: X:188.78, Y:201.76, Z:-196.75 [[ 3.65415174e-01 -5.89173133e-01 7.20657179e-01 1.88781184e+02] [ 3.54529754e-01 8.03935333e-01 4.77489931e-01 2.01761923e+02] [-8.60686008e-01 8.10123457e-02 5.02649576e-01 -1.96746993e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.150714057 meters Centerline goodness : 0.988901 Centerline is valid? [True, True] Translation: X:188.79, Y:201.76, Z:-196.76 [[ 3.66627656e-01 -6.19896154e-01 6.93767195e-01 1.88786482e+02] [ 3.64687128e-01 7.81769569e-01 5.05805932e-01 2.01763395e+02] [-8.55913232e-01 6.75655230e-02 5.12686492e-01 -1.96760928e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.1807140569999 meters Centerline goodness : 0.989353 Centerline is valid? [True, True] Translation: X:188.80, Y:201.76, Z:-196.79 [[ 3.67574605e-01 -6.42304199e-01 6.72557971e-01 1.88798243e+02] [ 3.62098794e-01 7.64961389e-01 5.32652360e-01 2.01757048e+02] [-8.56605728e-01 4.77429494e-02 5.13757957e-01 -1.96793706e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.2107140569999 meters Centerline goodness : 0.989676 Centerline is valid? [True, True] Translation: X:188.81, Y:201.77, Z:-196.82 [[ 3.67844096e-01 -6.41900871e-01 6.72795654e-01 1.88808795e+02] [ 3.61178397e-01 7.65343499e-01 5.32728349e-01 2.01766101e+02] [-8.56878572e-01 4.70382783e-02 5.13367815e-01 -1.96817168e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.240714057 meters Centerline goodness : 0.989757 Centerline is valid? [True, True] Translation: X:188.82, Y:201.78, Z:-196.84 [[ 3.68013959e-01 -6.41831593e-01 6.72768855e-01 1.88819602e+02] [ 3.60645359e-01 7.65434799e-01 5.32958248e-01 2.01775298e+02] [-8.57030135e-01 4.64948908e-02 5.13164276e-01 -1.96841278e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.270714057 meters Centerline goodness : 0.987344 Centerline is valid? [True, True] Translation: X:188.83, Y:201.80, Z:-196.88 [[ 3.66984680e-01 -6.02831402e-01 7.08460688e-01 1.88834136e+02] [ 3.46621327e-01 7.95370246e-01 4.97232167e-01 2.01796630e+02] [-8.63235716e-01 6.30909963e-02 5.00842915e-01 -1.96881479e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.3007140569999 meters Centerline goodness : 0.988012 Centerline is valid? [True, True] Translation: X:188.85, Y:201.82, Z:-196.91 [[ 3.66371040e-01 -5.83537935e-01 7.24745293e-01 1.88845620e+02] [ 3.44988259e-01 8.08577796e-01 4.76639328e-01 2.01817983e+02] [-8.64150081e-01 7.54017707e-02 4.97553225e-01 -1.96908021e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.3307140569999 meters Centerline goodness : 0.988334 Centerline is valid? [True, True] Translation: X:188.86, Y:201.82, Z:-196.94 [[ 3.67630854e-01 -5.95458212e-01 7.14336806e-01 1.88859991e+02] [ 3.48195543e-01 8.00389390e-01 4.87992509e-01 2.01823461e+02] [-8.62326747e-01 6.93277892e-02 5.01583731e-01 -1.96938208e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.3607140569999 meters Centerline goodness : 0.988060 Centerline is valid? [True, True] Translation: X:188.87, Y:201.84, Z:-196.96 [[ 3.67329218e-01 -5.90228246e-01 7.18818380e-01 1.88871348e+02] [ 3.46556676e-01 8.04050434e-01 4.83116311e-01 2.01836277e+02] [-8.63115123e-01 7.16485714e-02 4.99898756e-01 -1.96963727e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.390714057 meters Centerline goodness : 0.988515 Centerline is valid? [True, True] Translation: X:188.88, Y:201.85, Z:-196.99 [[ 3.67889073e-01 -5.92952266e-01 7.16285726e-01 1.88884292e+02] [ 3.48694281e-01 8.02067136e-01 4.84871744e-01 2.01847447e+02] [-8.62015040e-01 7.13857197e-02 5.01830799e-01 -1.96987869e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.4207140569999 meters Centerline goodness : 0.990039 Centerline is valid? [True, True] Translation: X:188.90, Y:201.86, Z:-197.02 [[ 3.67366949e-01 -5.88445860e-01 7.20258977e-01 1.88896711e+02] [ 3.49573772e-01 8.04987006e-01 4.79368437e-01 2.01861120e+02] [-8.61881490e-01 7.56795272e-02 5.01430860e-01 -1.97015437e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.4507140569999 meters Centerline goodness : 0.990066 Centerline is valid? [True, True] Translation: X:188.91, Y:201.86, Z:-197.02 [[ 3.68390537e-01 -6.27007375e-01 6.86403791e-01 1.88905730e+02] [ 3.63562522e-01 7.76694275e-01 5.14362028e-01 2.01860958e+02] [-8.55634680e-01 6.00645899e-02 5.14083203e-01 -1.97023609e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.4807140569999 meters Centerline goodness : 0.991035 Centerline is valid? [True, True] Translation: X:188.92, Y:201.86, Z:-197.07 [[ 3.66705957e-01 -6.21217649e-01 6.92542688e-01 1.88923480e+02] [ 3.54155222e-01 7.81566123e-01 5.13545007e-01 2.01862192e+02] [-8.60291125e-01 5.69475960e-02 5.06612428e-01 -1.97072992e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.510714057 meters Centerline goodness : 0.989936 Centerline is valid? [True, True] Translation: X:188.94, Y:201.89, Z:-197.08 [[ 3.68709749e-01 -6.07751856e-01 7.03342593e-01 1.88937064e+02] [ 3.60942893e-01 7.90887512e-01 4.94183337e-01 2.01888536e+02] [-8.56605714e-01 7.16562963e-02 5.10971649e-01 -1.97084786e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.540714057 meters Centerline goodness : 0.989557 Centerline is valid? [True, True] Translation: X:188.95, Y:201.90, Z:-197.12 [[ 3.67986360e-01 -6.12734869e-01 6.99386888e-01 1.88951076e+02] [ 3.59804894e-01 7.87404635e-01 5.00534094e-01 2.01895356e+02] [-8.57395170e-01 6.74531059e-02 5.10219170e-01 -1.97117677e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.5707140569999 meters Centerline goodness : 0.990524 Centerline is valid? [True, True] Translation: X:188.97, Y:201.91, Z:-197.14 [[ 3.68223807e-01 -6.25025134e-01 6.88298489e-01 1.88966063e+02] [ 3.68000394e-01 7.77834945e-01 5.09459035e-01 2.01905692e+02] [-8.53807319e-01 6.56991696e-02 5.16426841e-01 -1.97136779e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.6007140569999 meters Centerline goodness : 0.991337 Centerline is valid? [True, True] Translation: X:188.98, Y:201.91, Z:-197.17 [[ 3.66103263e-01 -6.26853680e-01 6.87766577e-01 1.88978841e+02] [ 3.66169753e-01 7.76495917e-01 5.12809715e-01 2.01913231e+02] [-8.55504596e-01 6.40980078e-02 5.13812546e-01 -1.97170542e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.630714057 meters Centerline goodness : 0.991108 Centerline is valid? [True, True] Translation: X:188.99, Y:201.94, Z:-197.19 [[ 3.66829178e-01 -6.12076207e-01 7.00570532e-01 1.88992017e+02] [ 3.69225284e-01 7.87005926e-01 4.94261432e-01 2.01936164e+02] [-8.53878823e-01 7.73588389e-02 5.14690748e-01 -1.97191793e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.660714057 meters Centerline goodness : 0.990372 Centerline is valid? [True, True] Translation: X:189.00, Y:201.94, Z:-197.22 [[ 3.66828898e-01 -6.22895666e-01 6.90968558e-01 1.89004613e+02] [ 3.73050714e-01 7.78906473e-01 5.04120890e-01 2.01942527e+02] [-8.52214600e-01 7.28402036e-02 5.18097076e-01 -1.97216171e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.6907140569999 meters Centerline goodness : 0.990441 Centerline is valid? [True, True] Translation: X:189.02, Y:201.95, Z:-197.24 [[ 3.66183967e-01 -6.33813858e-01 6.81314388e-01 1.89017786e+02] [ 3.74761549e-01 7.70615205e-01 5.15466767e-01 2.01947186e+02] [-8.51741207e-01 6.65747696e-02 5.19715996e-01 -1.97244912e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.7207140569999 meters Centerline goodness : 0.990637 Centerline is valid? [True, True] Translation: X:189.03, Y:201.96, Z:-197.27 [[ 3.65159774e-01 -6.20467856e-01 6.94030244e-01 1.89028402e+02] [ 3.72024036e-01 7.80654330e-01 5.02172216e-01 2.01962714e+02] [-8.53379433e-01 7.48228398e-02 5.15892515e-01 -1.97273708e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.750714057 meters Centerline goodness : 0.990586 Centerline is valid? [True, True] Translation: X:189.04, Y:201.97, Z:-197.30 [[ 3.65443987e-01 -6.19395110e-01 6.94838391e-01 1.89040398e+02] [ 3.73580906e-01 7.81308201e-01 4.99994802e-01 2.01974937e+02] [-8.52577269e-01 7.68582611e-02 5.16918570e-01 -1.97297875e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.780714057 meters Centerline goodness : 0.991395 Centerline is valid? [True, True] Translation: X:189.04, Y:201.99, Z:-197.32 [[ 3.61690004e-01 -6.09439369e-01 7.05523917e-01 1.89040351e+02] [ 3.75684110e-01 7.87871250e-01 4.87975761e-01 2.01992739e+02] [-8.53253650e-01 8.85581703e-02 5.13921842e-01 -1.97315550e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.8107140569999 meters Centerline goodness : 0.990448 Centerline is valid? [True, True] Translation: X:189.05, Y:201.97, Z:-197.36 [[ 3.59101707e-01 -6.53975858e-01 6.65853994e-01 1.89052434e+02] [ 3.73590508e-01 7.54513824e-01 5.39573000e-01 2.01971048e+02] [-8.55263759e-01 5.49951467e-02 5.15266375e-01 -1.97355830e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.8407140569999 meters Centerline goodness : 0.990352 Centerline is valid? [True, True] Translation: X:189.08, Y:201.97, Z:-197.39 [[ 3.64095133e-01 -6.75807742e-01 6.40873334e-01 1.89078317e+02] [ 3.74089463e-01 7.36272971e-01 5.63878697e-01 2.01968785e+02] [-8.52931303e-01 3.44384723e-02 5.20885961e-01 -1.97390351e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.870714057 meters Centerline goodness : 0.989712 Centerline is valid? [True, True] Translation: X:189.09, Y:202.01, Z:-197.41 [[ 3.69643414e-01 -6.30477580e-01 6.82540672e-01 1.89090114e+02] [ 3.73673642e-01 7.73415901e-01 5.12050636e-01 2.02012822e+02] [-8.50724254e-01 6.57713135e-02 5.21480947e-01 -1.97405801e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.900714057 meters Centerline goodness : 0.989498 Centerline is valid? [True, True] Translation: X:189.09, Y:202.04, Z:-197.43 [[ 3.66774632e-01 -6.05491298e-01 7.06297853e-01 1.89088850e+02] [ 3.71905326e-01 7.91332542e-01 4.85262028e-01 2.02037439e+02] [-8.52738411e-01 8.46941316e-02 5.15426141e-01 -1.97425119e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.9307140569999 meters Centerline goodness : 0.990244 Centerline is valid? [True, True] Translation: X:189.11, Y:202.00, Z:-197.47 [[ 3.69635766e-01 -6.69946773e-01 6.43848369e-01 1.89113417e+02] [ 3.66498059e-01 7.41865426e-01 5.61529041e-01 2.02002040e+02] [-8.53843413e-01 2.84079600e-02 5.19754187e-01 -1.97473168e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.9607140569999 meters Centerline goodness : 0.990226 Centerline is valid? [True, True] Translation: X:189.13, Y:202.05, Z:-197.49 [[ 3.72000368e-01 -6.15921441e-01 6.94446906e-01 1.89125067e+02] [ 3.63610166e-01 7.85042118e-01 5.01494288e-01 2.02050053e+02] [-8.54051154e-01 6.59518949e-02 5.15991254e-01 -1.97490018e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.990714057 meters Centerline goodness : 0.990425 Centerline is valid? [True, True] Translation: X:189.14, Y:202.06, Z:-197.52 [[ 3.74609948e-01 -6.23422056e-01 6.86303378e-01 1.89138598e+02] [ 3.63538808e-01 7.79692956e-01 5.09821958e-01 2.02057605e+02] [-8.52940163e-01 5.85135345e-02 5.18718849e-01 -1.97516478e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.020714057 meters Centerline goodness : 0.990145 Centerline is valid? [True, True] Translation: X:189.15, Y:202.07, Z:-197.54 [[ 3.74243541e-01 -6.11766743e-01 6.96909768e-01 1.89148774e+02] [ 3.58302025e-01 7.88552918e-01 4.99803917e-01 2.02073232e+02] [-8.55313645e-01 6.26557937e-02 5.14308099e-01 -1.97544687e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.0507140569999 meters Centerline goodness : 0.989724 Centerline is valid? [True, True] Translation: X:189.16, Y:202.08, Z:-197.57 [[ 3.74964422e-01 -6.15294255e-01 6.93408005e-01 1.89161944e+02] [ 3.57402062e-01 7.86106159e-01 5.04282533e-01 2.02081862e+02] [-8.55374449e-01 5.87374423e-02 5.14669277e-01 -1.97573353e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.0807140569999 meters Centerline goodness : 0.989745 Centerline is valid? [True, True] Translation: X:189.16, Y:202.10, Z:-197.59 [[ 3.72880165e-01 -5.98982913e-01 7.08646494e-01 1.89160892e+02] [ 3.57578820e-01 7.97500046e-01 4.85933190e-01 2.02103293e+02] [-8.56211288e-01 7.22021287e-02 5.11555552e-01 -1.97589283e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.1107140569999 meters Centerline goodness : 0.989244 Centerline is valid? [True, True] Translation: X:189.19, Y:202.07, Z:-197.64 [[ 3.75898869e-01 -6.55106280e-01 6.55389810e-01 1.89185170e+02] [ 3.51979048e-01 7.55192157e-01 5.52987844e-01 2.02069393e+02] [-8.57211053e-01 2.28159761e-02 5.14459562e-01 -1.97640580e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.140714057 meters Centerline goodness : 0.989751 Centerline is valid? [True, True] Translation: X:189.19, Y:202.12, Z:-197.64 [[ 3.74662712e-01 -5.99528365e-01 7.07243658e-01 1.89185274e+02] [ 3.56292031e-01 7.97333016e-01 4.87150952e-01 2.02122177e+02] [-8.55969533e-01 6.94679818e-02 5.12338129e-01 -1.97644985e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.1707140569999 meters Centerline goodness : 0.989780 Centerline is valid? [True, True] Translation: X:189.20, Y:202.10, Z:-197.69 [[ 3.73317735e-01 -6.45794380e-01 6.66020636e-01 1.89197437e+02] [ 3.55349929e-01 7.62711426e-01 5.40368124e-01 2.02098489e+02] [-8.56948246e-01 3.49413816e-02 5.14216689e-01 -1.97687184e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.2007140569999 meters Centerline goodness : 0.987439 Centerline is valid? [True, True] Translation: X:189.21, Y:202.13, Z:-197.73 [[ 3.70670508e-01 -5.73796817e-01 7.30315403e-01 1.89214805e+02] [ 3.36866257e-01 8.15844671e-01 4.70019785e-01 2.02134515e+02] [-8.65519786e-01 7.17961436e-02 4.95702344e-01 -1.97734906e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.2307140569999 meters Centerline goodness : 0.989638 Centerline is valid? [True, True] Translation: X:189.22, Y:202.13, Z:-197.73 [[ 3.74235387e-01 -6.26538652e-01 6.83664532e-01 1.89221452e+02] [ 3.57893921e-01 7.77702114e-01 5.16808826e-01 2.02130164e+02] [-8.55488057e-01 5.12712290e-02 5.15278027e-01 -1.97731697e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.260714057 meters Centerline goodness : 0.988593 Centerline is valid? [True, True] Translation: X:189.24, Y:202.12, Z:-197.78 [[ 3.74892877e-01 -6.44158403e-01 6.66719794e-01 1.89244581e+02] [ 3.51121170e-01 7.64251488e-01 5.40956179e-01 2.02119559e+02] [-8.58003063e-01 3.12988160e-02 5.12690091e-01 -1.97775119e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.290714057 meters Centerline goodness : 0.988328 Centerline is valid? [True, True] Translation: X:189.25, Y:202.17, Z:-197.80 [[ 3.70658975e-01 -5.77503343e-01 7.27393851e-01 1.89253384e+02] [ 3.45079277e-01 8.12747888e-01 4.69426420e-01 2.02168200e+02] [-8.62283142e-01 7.70114284e-02 5.00536734e-01 -1.97800951e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.3207140569999 meters Centerline goodness : 0.987961 Centerline is valid? [True, True] Translation: X:189.27, Y:202.16, Z:-197.83 [[ 3.70022797e-01 -5.98133050e-01 7.10858624e-01 1.89266629e+02] [ 3.45869331e-01 7.98856322e-01 4.92141222e-01 2.02164859e+02] [-8.62239837e-01 6.37607252e-02 5.02470928e-01 -1.97828893e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.3507140569999 meters Centerline goodness : 0.988478 Centerline is valid? [True, True] Translation: X:189.28, Y:202.17, Z:-197.85 [[ 3.71714933e-01 -6.13961773e-01 6.96332500e-01 1.89281296e+02] [ 3.51699952e-01 7.87299949e-01 5.06424658e-01 2.02170223e+02] [-8.59147922e-01 5.66544992e-02 5.08581474e-01 -1.97847696e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.380714057 meters Centerline goodness : 0.988814 Centerline is valid? [True, True] Translation: X:189.29, Y:202.19, Z:-197.88 [[ 3.69679010e-01 -5.97696054e-01 7.11404847e-01 1.89294030e+02] [ 3.50232389e-01 7.98805110e-01 4.89129503e-01 2.02188568e+02] [-8.60624601e-01 6.83361088e-02 5.04633999e-01 -1.97879592e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.410714057 meters Centerline goodness : 0.989269 Centerline is valid? [True, True] Translation: X:189.31, Y:202.19, Z:-197.90 [[ 3.70534577e-01 -6.22104559e-01 6.89702868e-01 1.89308967e+02] [ 3.58147161e-01 7.80831512e-01 5.11891356e-01 2.02189069e+02] [-8.56991679e-01 5.73416769e-02 5.12130055e-01 -1.97898591e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.4407140569999 meters Centerline goodness : 0.989421 Centerline is valid? [True, True] Translation: X:189.32, Y:202.20, Z:-197.92 [[ 3.71753800e-01 -6.28993271e-01 6.82763925e-01 1.89323426e+02] [ 3.62487529e-01 7.75441743e-01 5.17003767e-01 2.02198541e+02] [-8.54635539e-01 5.52952924e-02 5.16275631e-01 -1.97921637e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.4707140569999 meters Centerline goodness : 0.990376 Centerline is valid? [True, True] Translation: X:189.34, Y:202.21, Z:-197.95 [[ 3.68497272e-01 -6.30214187e-01 6.83403131e-01 1.89337603e+02] [ 3.65385031e-01 7.74158536e-01 5.16887164e-01 2.02207206e+02] [-8.54811991e-01 5.92337641e-02 5.15546139e-01 -1.97949890e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.500714057 meters Centerline goodness : 0.990229 Centerline is valid? [True, True] Translation: X:189.35, Y:202.22, Z:-197.98 [[ 3.66277365e-01 -6.31038211e-01 6.83835995e-01 1.89350307e+02] [ 3.68245155e-01 7.73212123e-01 5.16273686e-01 2.02217986e+02] [-8.54538705e-01 6.27199264e-02 5.15586863e-01 -1.97977603e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.530714057 meters Centerline goodness : 0.990778 Centerline is valid? [True, True] Translation: X:189.36, Y:202.23, Z:-198.00 [[ 3.64773218e-01 -6.29648496e-01 6.85917831e-01 1.89363587e+02] [ 3.70596764e-01 7.73992612e-01 5.13413552e-01 2.02229322e+02] [-8.54165405e-01 6.69194150e-02 5.15677471e-01 -1.98004466e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.5607140569999 meters Centerline goodness : 0.990231 Centerline is valid? [True, True] Translation: X:189.38, Y:202.24, Z:-198.03 [[ 3.62687053e-01 -6.39104200e-01 6.78235891e-01 1.89378951e+02] [ 3.77229837e-01 7.66182150e-01 5.20252403e-01 2.02237033e+02] [-8.52147729e-01 6.71620037e-02 5.18973519e-01 -1.98031373e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.5907140569999 meters Centerline goodness : 0.989880 Centerline is valid? [True, True] Translation: X:189.39, Y:202.25, Z:-198.05 [[ 3.61940488e-01 -6.44527727e-01 6.73485778e-01 1.89392928e+02] [ 3.81867551e-01 7.61580874e-01 5.23614119e-01 2.02247740e+02] [-8.50397705e-01 6.76652151e-02 5.21771178e-01 -1.98054969e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.620714057 meters Centerline goodness : 0.990606 Centerline is valid? [True, True] Translation: X:189.41, Y:202.26, Z:-198.08 [[ 3.60070793e-01 -6.47109534e-01 6.72010622e-01 1.89406041e+02] [ 3.83454068e-01 7.59323803e-01 5.25728390e-01 2.02256944e+02] [-8.50477514e-01 6.83857687e-02 5.21547107e-01 -1.98082298e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.650714057 meters Centerline goodness : 0.990128 Centerline is valid? [True, True] Translation: X:189.42, Y:202.27, Z:-198.11 [[ 3.58048849e-01 -6.45601857e-01 6.74536333e-01 1.89418029e+02] [ 3.83427247e-01 7.60372526e-01 5.24230071e-01 2.02267917e+02] [-8.51342803e-01 7.09356354e-02 5.19791851e-01 -1.98110126e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.6807140569999 meters Centerline goodness : 0.988827 Centerline is valid? [True, True] Translation: X:189.43, Y:202.29, Z:-198.13 [[ 3.61785922e-01 -6.33055908e-01 6.84361867e-01 1.89428401e+02] [ 3.83890313e-01 7.70124803e-01 5.09446774e-01 2.02285666e+02] [-8.49552338e-01 7.84092210e-02 5.21644342e-01 -1.98130164e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.7107140569999 meters Centerline goodness : 0.990277 Centerline is valid? [True, True] Translation: X:189.44, Y:202.28, Z:-198.17 [[ 3.55466464e-01 -6.63475501e-01 6.58364529e-01 1.89441722e+02] [ 3.83110654e-01 7.45903358e-01 5.44843470e-01 2.02275859e+02] [-8.52566608e-01 5.85528833e-02 5.19328162e-01 -1.98169264e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.740714057 meters Centerline goodness : 0.989213 Centerline is valid? [True, True] Translation: X:189.45, Y:202.30, Z:-198.19 [[ 3.57495945e-01 -6.41548742e-01 6.78683918e-01 1.89453698e+02] [ 3.83238105e-01 7.63479424e-01 5.19834324e-01 2.02302861e+02] [-8.51660264e-01 7.42588754e-02 5.18806722e-01 -1.98192130e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.770714057 meters Centerline goodness : 0.989224 Centerline is valid? [True, True] Translation: X:189.47, Y:202.31, Z:-198.22 [[ 3.57619838e-01 -6.41964342e-01 6.78225505e-01 1.89465745e+02] [ 3.83264649e-01 7.63166807e-01 5.20273615e-01 2.02313328e+02] [-8.51596302e-01 7.38796942e-02 5.18965828e-01 -1.98219225e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.8007140569999 meters Centerline goodness : 0.988429 Centerline is valid? [True, True] Translation: X:189.48, Y:202.32, Z:-198.25 [[ 3.55515743e-01 -6.50828529e-01 6.70843336e-01 1.89477376e+02] [ 3.82944119e-01 7.56151662e-01 5.30649098e-01 2.02317527e+02] [-8.52620876e-01 6.82414024e-02 5.18054778e-01 -1.98247513e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.8307140569999 meters Centerline goodness : 0.988727 Centerline is valid? [True, True] Translation: X:189.49, Y:202.34, Z:-198.27 [[ 3.57485004e-01 -6.42263139e-01 6.78013667e-01 1.89489528e+02] [ 3.85003372e-01 7.62776299e-01 5.19562047e-01 2.02335273e+02] [-8.50868307e-01 7.53019072e-02 5.19954562e-01 -1.98271608e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.8607140569999 meters Centerline goodness : 0.988727 Centerline is valid? [True, True] Translation: X:189.50, Y:202.34, Z:-198.30 [[ 3.56419957e-01 -6.45348320e-01 6.75640703e-01 1.89501407e+02] [ 3.84594512e-01 7.60363321e-01 5.23387698e-01 2.02343320e+02] [-8.51499780e-01 7.33018852e-02 5.19206084e-01 -1.98300574e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.890714057 meters Centerline goodness : 0.989258 Centerline is valid? [True, True] Translation: X:189.51, Y:202.35, Z:-198.33 [[ 3.55963642e-01 -6.50952991e-01 6.70484966e-01 1.89513957e+02] [ 3.85308659e-01 7.55890277e-01 5.29308159e-01 2.02351231e+02] [-8.51367796e-01 6.99292033e-02 5.19887279e-01 -1.98328034e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.9207140569999 meters Centerline goodness : 0.988819 Centerline is valid? [True, True] Translation: X:189.51, Y:202.38, Z:-198.35 [[ 3.51396839e-01 -6.03783150e-01 7.15518113e-01 1.89506536e+02] [ 3.81511396e-01 7.90271522e-01 4.79499714e-01 2.02384859e+02] [-8.54967436e-01 1.04483630e-01 5.08049067e-01 -1.98345865e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.9507140569999 meters Centerline goodness : 0.988882 Centerline is valid? [True, True] Translation: X:189.53, Y:202.34, Z:-198.40 [[ 3.52342963e-01 -6.77567425e-01 6.45567053e-01 1.89531841e+02] [ 3.75650962e-01 7.34188559e-01 5.65555935e-01 2.02342320e+02] [-8.57170223e-01 4.32382304e-02 5.13215027e-01 -1.98401315e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.9807140569999 meters Centerline goodness : 0.987755 Centerline is valid? [True, True] Translation: X:189.54, Y:202.38, Z:-198.41 [[ 3.51001986e-01 -6.40831873e-01 6.82738688e-01 1.89544126e+02] [ 3.71523986e-01 7.64592462e-01 5.26657664e-01 2.02381552e+02] [-8.59515872e-01 6.87959128e-02 5.06457884e-01 -1.98413771e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.010714057 meters Centerline goodness : 0.988921 Centerline is valid? [True, True] Translation: X:189.56, Y:202.40, Z:-198.44 [[ 3.59297020e-01 -6.43071429e-01 6.76287505e-01 1.89559030e+02] [ 3.81432994e-01 7.62578748e-01 5.22477296e-01 2.02397038e+02] [-8.51712700e-01 7.02338319e-02 5.19280932e-01 -1.98436690e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.040714057 meters Centerline goodness : 0.986906 Centerline is valid? [True, True] Translation: X:189.57, Y:202.41, Z:-198.47 [[ 3.51064524e-01 -6.29280530e-01 6.93368383e-01 1.89566066e+02] [ 3.66877147e-01 7.73735691e-01 5.16463202e-01 2.02408412e+02] [-8.61484103e-01 7.30691060e-02 5.02499797e-01 -1.98467815e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.0707140569999 meters Centerline goodness : 0.986255 Centerline is valid? [True, True] Translation: X:189.58, Y:202.42, Z:-198.49 [[ 3.54807884e-01 -6.38662812e-01 6.82803909e-01 1.89577352e+02] [ 3.66341424e-01 7.66889099e-01 5.26948832e-01 2.02415986e+02] [-8.60177497e-01 6.31737561e-02 5.06066942e-01 -1.98491386e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.1007140569999 meters Centerline goodness : 0.986884 Centerline is valid? [True, True] Translation: X:189.58, Y:202.45, Z:-198.53 [[ 3.58424811e-01 -5.89862976e-01 7.23597488e-01 1.89583815e+02] [ 3.60983563e-01 8.02375618e-01 4.75272801e-01 2.02448629e+02] [-8.60942810e-01 9.08572351e-02 5.00522168e-01 -1.98525030e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.130714057 meters Centerline goodness : 0.987100 Centerline is valid? [True, True] Translation: X:189.58, Y:202.44, Z:-198.54 [[ 3.56601547e-01 -6.33785523e-01 6.86404580e-01 1.89584285e+02] [ 3.68426781e-01 7.70564543e-01 5.20088447e-01 2.02437362e+02] [-8.58543560e-01 6.74254845e-02 5.08288068e-01 -1.98543452e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.160714057 meters Centerline goodness : 0.987718 Centerline is valid? [True, True] Translation: X:189.60, Y:202.43, Z:-198.58 [[ 3.58412042e-01 -6.63894391e-01 6.56342171e-01 1.89595812e+02] [ 3.63357522e-01 7.46816246e-01 5.56989054e-01 2.02425327e+02] [-8.59948905e-01 3.88552805e-02 5.08898956e-01 -1.98580091e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.1907140569999 meters Centerline goodness : 0.986251 Centerline is valid? [True, True] Translation: X:189.62, Y:202.43, Z:-198.62 [[ 3.54960100e-01 -6.52643346e-01 6.69372834e-01 1.89615324e+02] [ 3.45842365e-01 7.56872506e-01 5.54560247e-01 2.02434095e+02] [-8.68559949e-01 3.46507230e-02 4.94371259e-01 -1.98618502e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.2207140569999 meters Centerline goodness : 0.987525 Centerline is valid? [True, True] Translation: X:189.63, Y:202.45, Z:-198.64 [[ 3.58852844e-01 -6.53500647e-01 6.66454456e-01 1.89630853e+02] [ 3.51957120e-01 7.56043710e-01 5.51837018e-01 2.02452055e+02] [-8.64494547e-01 3.65351078e-02 5.01312641e-01 -1.98637251e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.250714057 meters Centerline goodness : 0.988031 Centerline is valid? [True, True] Translation: X:189.64, Y:202.49, Z:-198.66 [[ 3.65057764e-01 -6.20573277e-01 6.93989652e-01 1.89641548e+02] [ 3.56131162e-01 7.81824871e-01 5.11781660e-01 2.02485256e+02] [-8.60176392e-01 6.03214730e-02 5.06416721e-01 -1.98660980e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.280714057 meters Centerline goodness : 0.988943 Centerline is valid? [True, True] Translation: X:189.64, Y:202.49, Z:-198.68 [[ 3.63744868e-01 -6.32989348e-01 6.83384340e-01 1.89643121e+02] [ 3.59869814e-01 7.72172647e-01 5.23682270e-01 2.02491140e+02] [-8.59175994e-01 5.54426570e-02 5.08667596e-01 -1.98681508e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.3107140569999 meters Centerline goodness : 0.987559 Centerline is valid? [True, True] Translation: X:189.66, Y:202.48, Z:-198.73 [[ 3.63886474e-01 -6.51719341e-01 6.65468658e-01 1.89664469e+02] [ 3.52342378e-01 7.57671930e-01 5.49352432e-01 2.02480114e+02] [-8.62230527e-01 3.45708899e-02 5.05334910e-01 -1.98730070e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.3407140569999 meters Centerline goodness : 0.988986 Centerline is valid? [True, True] Translation: X:189.67, Y:202.51, Z:-198.74 [[ 3.64559074e-01 -6.33581154e-01 6.82401350e-01 1.89666699e+02] [ 3.60780705e-01 7.71700322e-01 5.23751750e-01 2.02511190e+02] [-8.58448580e-01 5.52587871e-02 5.09914210e-01 -1.98736151e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.370714057 meters Centerline goodness : 0.989298 Centerline is valid? [True, True] Translation: X:189.68, Y:202.50, Z:-198.77 [[ 3.63156146e-01 -6.64924161e-01 6.52681755e-01 1.89679133e+02] [ 3.60762085e-01 7.46212820e-01 5.59479352e-01 2.02498255e+02] [-8.59050832e-01 3.22844657e-02 5.10871198e-01 -1.98773216e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.400714057 meters Centerline goodness : 0.986877 Centerline is valid? [True, True] Translation: X:189.70, Y:202.51, Z:-198.81 [[ 3.57475436e-01 -6.49019436e-01 6.71554231e-01 1.89698583e+02] [ 3.45052303e-01 7.59974348e-01 5.50797512e-01 2.02508085e+02] [-8.67842279e-01 3.48247532e-02 4.95617812e-01 -1.98813627e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.4307140569999 meters Centerline goodness : 0.987008 Centerline is valid? [True, True] Translation: X:189.71, Y:202.53, Z:-198.83 [[ 3.58509921e-01 -6.31859540e-01 6.87185680e-01 1.89711151e+02] [ 3.48630605e-01 7.73481012e-01 5.29323932e-01 2.02533137e+02] [-8.65983451e-01 4.98060785e-02 4.97586191e-01 -1.98830836e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.4607140569999 meters Centerline goodness : 0.987352 Centerline is valid? [True, True] Translation: X:189.72, Y:202.55, Z:-198.86 [[ 3.54670841e-01 -6.21441209e-01 6.98583866e-01 1.89722938e+02] [ 3.46785997e-01 7.81296067e-01 5.18956576e-01 2.02545455e+02] [-8.68301829e-01 5.82003375e-02 4.92610042e-01 -1.98862736e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.490714057 meters Centerline goodness : 0.986945 Centerline is valid? [True, True] Translation: X:189.74, Y:202.55, Z:-198.89 [[ 3.53570400e-01 -6.28972507e-01 6.92373857e-01 1.89736271e+02] [ 3.50271681e-01 7.75355438e-01 5.25484248e-01 2.02552380e+02] [-8.67350980e-01 5.67232785e-02 4.94453990e-01 -1.98891781e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.520714057 meters Centerline goodness : 0.988149 Centerline is valid? [True, True] Translation: X:189.75, Y:202.58, Z:-198.92 [[ 3.57297732e-01 -6.04392394e-01 7.12073146e-01 1.89747998e+02] [ 3.55789565e-01 7.92991222e-01 4.94548994e-01 2.02578316e+02] [-8.63569404e-01 7.66469607e-02 4.98370472e-01 -1.98920924e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.5507140569999 meters Centerline goodness : 0.986951 Centerline is valid? [True, True] Translation: X:189.76, Y:202.57, Z:-198.94 [[ 3.51566824e-01 -6.29732232e-01 6.92703461e-01 1.89759448e+02] [ 3.50908579e-01 7.74635813e-01 5.26120259e-01 2.02570516e+02] [-8.67907793e-01 5.81091589e-02 4.93314695e-01 -1.98944526e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.5807140569999 meters Centerline goodness : 0.988240 Centerline is valid? [True, True] Translation: X:189.77, Y:202.58, Z:-198.97 [[ 3.51878464e-01 -6.33371580e-01 6.89218390e-01 1.89772557e+02] [ 3.53653507e-01 7.71690700e-01 5.28604446e-01 2.02580845e+02] [-8.66666455e-01 5.77399802e-02 4.95535419e-01 -1.98971787e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.6107140569999 meters Centerline goodness : 0.987436 Centerline is valid? [True, True] Translation: X:189.78, Y:202.59, Z:-199.00 [[ 3.49435000e-01 -6.31503429e-01 6.92169488e-01 1.89784741e+02] [ 3.55777925e-01 7.72839230e-01 5.25491763e-01 2.02591968e+02] [-8.66785584e-01 6.26334097e-02 4.94732056e-01 -1.99000962e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.640714057 meters Centerline goodness : 0.988088 Centerline is valid? [True, True] Translation: X:189.80, Y:202.61, Z:-199.03 [[ 3.54145091e-01 -6.27875822e-01 6.93075181e-01 1.89797023e+02] [ 3.63303082e-01 7.75265734e-01 5.16695183e-01 2.02606626e+02] [-8.61737852e-01 6.88112869e-02 5.02665776e-01 -1.99025870e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.6707140569999 meters Centerline goodness : 0.986342 Centerline is valid? [True, True] Translation: X:189.81, Y:202.61, Z:-199.05 [[ 3.48880016e-01 -6.30985546e-01 6.92921335e-01 1.89808321e+02] [ 3.58089618e-01 7.73029572e-01 5.23638336e-01 2.02611964e+02] [-8.66056904e-01 6.54409851e-02 4.95643942e-01 -1.99053170e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.7007140569999 meters Centerline goodness : 0.987315 Centerline is valid? [True, True] Translation: X:189.82, Y:202.62, Z:-199.08 [[ 3.48609062e-01 -6.43857586e-01 6.81116092e-01 1.89821670e+02] [ 3.61775891e-01 7.62822041e-01 5.35929789e-01 2.02616005e+02] [-8.64632828e-01 5.95813999e-02 4.98858828e-01 -1.99078572e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.7307140569999 meters Centerline goodness : 0.987232 Centerline is valid? [True, True] Translation: X:189.84, Y:202.62, Z:-199.11 [[ 3.46225015e-01 -6.50434707e-01 6.76064295e-01 1.89835424e+02] [ 3.64789418e-01 7.57262785e-01 5.41739564e-01 2.02623090e+02] [-8.64324545e-01 5.90573117e-02 4.99455017e-01 -1.99108728e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.760714057 meters Centerline goodness : 0.987367 Centerline is valid? [True, True] Translation: X:189.85, Y:202.64, Z:-199.13 [[ 3.46541730e-01 -6.39573863e-01 6.86188096e-01 1.89845658e+02] [ 3.65632746e-01 7.65756606e-01 5.29083656e-01 2.02640474e+02] [-8.63841145e-01 6.75432722e-02 4.99215767e-01 -1.99131402e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.790714057 meters Centerline goodness : 0.986403 Centerline is valid? [True, True] Translation: X:189.86, Y:202.64, Z:-199.16 [[ 3.44976969e-01 -6.57029511e-01 6.70300763e-01 1.89859080e+02] [ 3.68598254e-01 7.51602286e-01 5.47018583e-01 2.02641165e+02] [-8.63206938e-01 5.83628783e-02 5.01465409e-01 -1.99162234e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.8207140569999 meters Centerline goodness : 0.986246 Centerline is valid? [True, True] Translation: X:189.87, Y:202.66, Z:-199.19 [[ 3.44872481e-01 -6.51316789e-01 6.75906364e-01 1.89871338e+02] [ 3.69826218e-01 7.56121902e-01 5.39915029e-01 2.02656886e+02] [-8.62723328e-01 6.37660587e-02 5.01639661e-01 -1.99188259e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.8507140569999 meters Centerline goodness : 0.987454 Centerline is valid? [True, True] Translation: X:189.89, Y:202.66, Z:-199.21 [[ 3.45590750e-01 -6.65892449e-01 6.61176437e-01 1.89885392e+02] [ 3.73213926e-01 7.44001148e-01 5.54232494e-01 2.02661138e+02] [-8.60975261e-01 5.52226309e-02 5.05640250e-01 -1.99214197e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.880714057 meters Centerline goodness : 0.987422 Centerline is valid? [True, True] Translation: X:189.90, Y:202.67, Z:-199.24 [[ 3.45152752e-01 -6.62640553e-01 6.64663130e-01 1.89897785e+02] [ 3.72509453e-01 7.46734202e-01 5.51021541e-01 2.02673930e+02] [-8.61455911e-01 5.74066977e-02 5.04577234e-01 -1.99242308e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.910714057 meters Centerline goodness : 0.986881 Centerline is valid? [True, True] Translation: X:189.91, Y:202.70, Z:-199.28 [[ 3.42213398e-01 -6.28706420e-01 6.98296662e-01 1.89905810e+02] [ 3.62871244e-01 7.73940655e-01 5.18980079e-01 2.02698523e+02] [-8.66726284e-01 7.57898421e-02 4.92992342e-01 -1.99277169e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.9407140569999 meters Centerline goodness : 0.987096 Centerline is valid? [True, True] Translation: X:189.92, Y:202.69, Z:-199.30 [[ 3.45905889e-01 -6.64105587e-01 6.62806824e-01 1.89921718e+02] [ 3.72998399e-01 7.45525553e-01 5.52325850e-01 2.02694955e+02] [-8.60942106e-01 5.61731202e-02 5.05592000e-01 -1.99295623e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.9707140569999 meters Centerline goodness : 0.987581 Centerline is valid? [True, True] Translation: X:189.94, Y:202.70, Z:-199.32 [[ 3.48518377e-01 -6.77922023e-01 6.47268624e-01 1.89935999e+02] [ 3.76754490e-01 7.33644871e-01 5.65527415e-01 2.02701241e+02] [-8.58248796e-01 4.67646631e-02 5.11098886e-01 -1.99319593e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.000714057 meters Centerline goodness : 0.987959 Centerline is valid? [True, True] Translation: X:189.95, Y:202.71, Z:-199.35 [[ 3.49170621e-01 -6.73036766e-01 6.51997998e-01 1.89947946e+02] [ 3.76544693e-01 7.37920820e-01 5.60077636e-01 2.02714728e+02] [-8.58075738e-01 4.99437303e-02 5.11088693e-01 -1.99347334e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.030714057 meters Centerline goodness : 0.988031 Centerline is valid? [True, True] Translation: X:189.96, Y:202.73, Z:-199.37 [[ 3.50262374e-01 -6.73463555e-01 6.50970898e-01 1.89960493e+02] [ 3.77391809e-01 7.37559241e-01 5.59983739e-01 2.02725953e+02] [-8.57258241e-01 4.95298510e-02 5.12498880e-01 -1.99374299e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.0607140569999 meters Centerline goodness : 0.988129 Centerline is valid? [True, True] Translation: X:189.98, Y:202.73, Z:-199.40 [[ 3.49471808e-01 -6.86866041e-01 6.37247595e-01 1.89975029e+02] [ 3.79655259e-01 7.25605465e-01 5.73897721e-01 2.02730689e+02] [-8.56581192e-01 4.13733266e-02 5.14350959e-01 -1.99400312e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.0907140569999 meters Centerline goodness : 0.989026 Centerline is valid? [True, True] Translation: X:189.99, Y:202.75, Z:-199.43 [[ 3.52623164e-01 -6.69469438e-01 6.53810045e-01 1.89986377e+02] [ 3.83523810e-01 7.40707221e-01 5.51599765e-01 2.02753615e+02] [-8.53561006e-01 5.62448650e-02 5.17947993e-01 -1.99427770e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.120714057 meters Centerline goodness : 0.988881 Centerline is valid? [True, True] Translation: X:190.00, Y:202.76, Z:-199.45 [[ 3.50319068e-01 -6.77425302e-01 6.46816444e-01 1.89998321e+02] [ 3.79739203e-01 7.33999593e-01 5.63065481e-01 2.02759581e+02] [-8.56197810e-01 4.83689862e-02 5.14378997e-01 -1.99450086e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.150714057 meters Centerline goodness : 0.989461 Centerline is valid? [True, True] Translation: X:190.01, Y:202.78, Z:-199.48 [[ 3.51346864e-01 -6.47209559e-01 6.76516939e-01 1.90006256e+02] [ 3.76774608e-01 7.59233059e-01 5.30665673e-01 2.02783579e+02] [-8.57085921e-01 6.84466843e-02 5.10606282e-01 -1.99483182e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.1807140569999 meters Centerline goodness : 0.988061 Centerline is valid? [True, True] Translation: X:190.02, Y:202.78, Z:-199.50 [[ 3.53232640e-01 -6.74157039e-01 6.48643962e-01 1.90020750e+02] [ 3.77422932e-01 7.37103561e-01 5.60562460e-01 2.02781420e+02] [-8.56024902e-01 4.68041480e-02 5.14811363e-01 -1.99500864e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.2107140569999 meters Centerline goodness : 0.989180 Centerline is valid? [True, True] Translation: X:190.03, Y:202.79, Z:-199.53 [[ 3.53304934e-01 -6.80745864e-01 6.41685821e-01 1.90032064e+02] [ 3.77114279e-01 7.31358654e-01 5.68242325e-01 2.02787751e+02] [-8.56131090e-01 4.12260684e-02 5.15111607e-01 -1.99528140e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.240714057 meters Centerline goodness : 0.989232 Centerline is valid? [True, True] Translation: X:190.04, Y:202.80, Z:-199.56 [[ 3.53635254e-01 -6.78474531e-01 6.43905598e-01 1.90044803e+02] [ 3.78620212e-01 7.33299787e-01 5.64728394e-01 2.02798360e+02] [-8.55329669e-01 4.40878046e-02 5.16204827e-01 -1.99561345e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.270714057 meters Centerline goodness : 0.989794 Centerline is valid? [True, True] Translation: X:190.06, Y:202.81, Z:-199.59 [[ 3.53528435e-01 -6.74755654e-01 6.47859903e-01 1.90056586e+02] [ 3.77433768e-01 7.36598921e-01 5.61218122e-01 2.02812753e+02] [-8.55898006e-01 4.61176399e-02 5.15084232e-01 -1.99585309e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.3007140569999 meters Centerline goodness : 0.989119 Centerline is valid? [True, True] Translation: X:190.07, Y:202.83, Z:-199.61 [[ 3.54102423e-01 -6.60125281e-01 6.62454593e-01 1.90066197e+02] [ 3.74219330e-01 7.49184524e-01 5.46518473e-01 2.02830842e+02] [-8.57071390e-01 5.43797981e-02 5.12319695e-01 -1.99610820e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.3307140569999 meters Centerline goodness : 0.988096 Centerline is valid? [True, True] Translation: X:190.07, Y:202.84, Z:-199.64 [[ 3.52861558e-01 -6.64819485e-01 6.58410035e-01 1.90074857e+02] [ 3.67691468e-01 7.45587917e-01 5.55789207e-01 2.02836081e+02] [-8.60402061e-01 4.59751069e-02 5.07537766e-01 -1.99635375e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.3607140569999 meters Centerline goodness : 0.988978 Centerline is valid? [True, True] Translation: X:190.07, Y:202.86, Z:-199.66 [[ 3.47219651e-01 -6.27980479e-01 6.96476153e-01 1.90068412e+02] [ 3.63582614e-01 7.74739605e-01 5.17287374e-01 2.02861454e+02] [-8.64434033e-01 7.36142788e-02 4.97327599e-01 -1.99663448e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.390714057 meters Centerline goodness : 0.988949 Centerline is valid? [True, True] Translation: X:190.08, Y:202.83, Z:-199.71 [[ 3.45570424e-01 -6.77924222e-01 6.48844998e-01 1.90080542e+02] [ 3.61085865e-01 7.34267691e-01 5.74863425e-01 2.02834630e+02] [-8.66139758e-01 3.56329594e-02 4.98530051e-01 -1.99705172e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.4207140569999 meters Centerline goodness : 0.989266 Centerline is valid? [True, True] Translation: X:190.09, Y:202.84, Z:-199.73 [[ 3.46079543e-01 -6.77244138e-01 6.49283703e-01 1.90090372e+02] [ 3.60134000e-01 7.34927059e-01 5.74617891e-01 2.02842891e+02] [-8.66332760e-01 3.49656401e-02 4.98241861e-01 -1.99728649e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.4507140569999 meters Centerline goodness : 0.988677 Centerline is valid? [True, True] Translation: X:190.10, Y:202.85, Z:-199.76 [[ 3.46675694e-01 -6.76964901e-01 6.49256872e-01 1.90102695e+02] [ 3.59094190e-01 7.35236495e-01 5.74872733e-01 2.02853491e+02] [-8.66526010e-01 3.38499670e-02 4.97982785e-01 -1.99758020e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.4807140569999 meters Centerline goodness : 0.989026 Centerline is valid? [True, True] Translation: X:190.11, Y:202.86, Z:-199.79 [[ 3.48028349e-01 -6.75980650e-01 6.49558642e-01 1.90114398e+02] [ 3.57751866e-01 7.36204616e-01 5.74470509e-01 2.02864414e+02] [-8.66539019e-01 3.24487932e-02 4.98053416e-01 -1.99786312e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.510714057 meters Centerline goodness : 0.988196 Centerline is valid? [True, True] Translation: X:190.12, Y:202.87, Z:-199.81 [[ 3.47325368e-01 -6.80401301e-01 6.45305477e-01 1.90124096e+02] [ 3.54023209e-01 7.32362877e-01 5.81646099e-01 2.02870057e+02] [-8.68350538e-01 2.64326703e-02 4.95246058e-01 -1.99812754e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.540714057 meters Centerline goodness : 0.986575 Centerline is valid? [True, True] Translation: X:190.14, Y:202.89, Z:-199.85 [[ 3.48449458e-01 -6.49009242e-01 6.76291342e-01 1.90141632e+02] [ 3.38869883e-01 7.59933153e-01 5.54679011e-01 2.02888414e+02] [-8.73928016e-01 3.58971672e-02 4.84727982e-01 -1.99853493e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.5707140569999 meters Centerline goodness : 0.986967 Centerline is valid? [True, True] Translation: X:190.16, Y:202.90, Z:-199.88 [[ 3.51974827e-01 -6.55537669e-01 6.68119814e-01 1.90156764e+02] [ 3.45502329e-01 7.54379486e-01 5.58157443e-01 2.02899684e+02] [-8.69909111e-01 3.43795823e-02 4.92012380e-01 -1.99877357e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.6007140569999 meters Centerline goodness : 0.987881 Centerline is valid? [True, True] Translation: X:190.17, Y:202.92, Z:-199.90 [[ 3.55419770e-01 -6.42411106e-01 6.78958583e-01 1.90169145e+02] [ 3.50086765e-01 7.65004276e-01 5.40562407e-01 2.02920131e+02] [-8.66669513e-01 4.55678476e-02 4.96797270e-01 -1.99902391e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.630714057 meters Centerline goodness : 0.988371 Centerline is valid? [True, True] Translation: X:190.18, Y:202.94, Z:-199.93 [[ 3.56356891e-01 -6.37129769e-01 6.83429165e-01 1.90181537e+02] [ 3.50870245e-01 7.69167838e-01 5.34107581e-01 2.02935294e+02] [-8.65967573e-01 4.94620414e-02 4.97648138e-01 -1.99927776e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.660714057 meters Centerline goodness : 0.988427 Centerline is valid? [True, True] Translation: X:190.19, Y:202.95, Z:-199.96 [[ 3.55582194e-01 -6.31573112e-01 6.88967857e-01 1.90192530e+02] [ 3.49235872e-01 7.73532515e-01 5.28849462e-01 2.02948231e+02] [-8.66946140e-01 5.25628384e-02 4.95622375e-01 -1.99956434e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.6907140569999 meters Centerline goodness : 0.987597 Centerline is valid? [True, True] Translation: X:190.20, Y:202.96, Z:-199.99 [[ 3.52888831e-01 -6.10996405e-01 7.08627452e-01 1.90201153e+02] [ 3.42346361e-01 7.89150922e-01 5.09940969e-01 2.02964741e+02] [-8.70786106e-01 6.26435568e-02 4.87654942e-01 -1.99989030e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.7207140569999 meters Centerline goodness : 0.986439 Centerline is valid? [True, True] Translation: X:190.21, Y:202.97, Z:-200.01 [[ 3.52738966e-01 -6.25083177e-01 6.96309015e-01 1.90212747e+02] [ 3.43385595e-01 7.78696114e-01 5.25089226e-01 2.02966251e+02] [-8.70437566e-01 5.38830548e-02 4.89321020e-01 -2.00014899e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.750714057 meters Centerline goodness : 0.986439 Centerline is valid? [True, True] Translation: X:190.22, Y:202.98, Z:-200.04 [[ 3.52802628e-01 -6.23554437e-01 6.97646164e-01 1.90224785e+02] [ 3.44199211e-01 7.79797270e-01 5.22917892e-01 2.02978681e+02] [-8.70090346e-01 5.56424529e-02 4.89741471e-01 -2.00042703e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.780714057 meters Centerline goodness : 0.986114 Centerline is valid? [True, True] Translation: X:190.24, Y:202.99, Z:-200.07 [[ 3.51503723e-01 -6.16584922e-01 7.04463034e-01 1.90236215e+02] [ 3.43630813e-01 7.84932907e-01 5.15556201e-01 2.02991032e+02] [-8.70840397e-01 6.08552814e-02 4.87784417e-01 -2.00074899e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.8107140569999 meters Centerline goodness : 0.987223 Centerline is valid? [True, True] Translation: X:190.25, Y:203.00, Z:-200.11 [[ 3.50193606e-01 -6.11635094e-01 7.09413103e-01 1.90248343e+02] [ 3.44107581e-01 7.88419323e-01 5.09887188e-01 2.03002008e+02] [-8.71179896e-01 6.55551936e-02 4.86567678e-01 -2.00108661e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.8407140569999 meters Centerline goodness : 0.987085 Centerline is valid? [True, True] Translation: X:190.26, Y:203.01, Z:-200.13 [[ 3.50019226e-01 -6.19638789e-01 7.02519973e-01 1.90259652e+02] [ 3.46623487e-01 7.82401834e-01 5.17396877e-01 2.03008322e+02] [-8.70252090e-01 6.24110683e-02 4.88637043e-01 -2.00130699e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.870714057 meters Centerline goodness : 0.985889 Centerline is valid? [True, True] Translation: X:190.27, Y:203.01, Z:-200.16 [[ 3.48084172e-01 -6.30510631e-01 6.93753381e-01 1.90271814e+02] [ 3.43343185e-01 7.74355966e-01 5.31496280e-01 2.03011136e+02] [-8.72326124e-01 5.31900525e-02 4.86022583e-01 -2.00156053e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.900714057 meters Centerline goodness : 0.988073 Centerline is valid? [True, True] Translation: X:190.28, Y:203.00, Z:-200.17 [[ 3.47041971e-01 -6.87203770e-01 6.38210661e-01 1.90282270e+02] [ 3.62586123e-01 7.25902576e-01 5.84462791e-01 2.03001813e+02] [-8.64923796e-01 2.85732103e-02 5.01089212e-01 -2.00168061e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.9307140569999 meters Centerline goodness : 0.987760 Centerline is valid? [True, True] Translation: X:190.30, Y:203.02, Z:-200.22 [[ 3.48680548e-01 -6.45668829e-01 6.79362671e-01 1.90298277e+02] [ 3.49401042e-01 7.62149231e-01 5.45020607e-01 2.03022283e+02] [-8.69678554e-01 4.73319408e-02 4.91343973e-01 -2.00216814e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.9607140569999 meters Centerline goodness : 0.986816 Centerline is valid? [True, True] Translation: X:190.31, Y:203.05, Z:-200.24 [[ 3.49188011e-01 -6.28221533e-01 6.95273644e-01 1.90309813e+02] [ 3.52205580e-01 7.75564534e-01 5.23880601e-01 2.03046204e+02] [-8.68342653e-01 6.19464322e-02 4.92080966e-01 -2.00235112e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.990714057 meters Centerline goodness : 0.986574 Centerline is valid? [True, True] Translation: X:190.32, Y:203.06, Z:-200.26 [[ 3.48655222e-01 -6.28601629e-01 6.95197475e-01 1.90321287e+02] [ 3.52577624e-01 7.75222676e-01 5.24136263e-01 2.03055836e+02] [-8.68405755e-01 6.23682286e-02 4.91916302e-01 -2.00262326e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.020714057 meters Centerline goodness : 0.986898 Centerline is valid? [True, True] Translation: X:190.33, Y:203.06, Z:-200.29 [[ 3.48138388e-01 -6.33030028e-01 6.91427976e-01 1.90332881e+02] [ 3.53111634e-01 7.71794612e-01 5.28814949e-01 2.03063105e+02] [-8.68396129e-01 6.00504782e-02 4.92221600e-01 -2.00289406e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.0507140569999 meters Centerline goodness : 0.986704 Centerline is valid? [True, True] Translation: X:190.35, Y:203.07, Z:-200.32 [[ 3.47169704e-01 -6.38080385e-01 6.87260226e-01 1.90346407e+02] [ 3.57538091e-01 7.67547777e-01 5.32012146e-01 2.03070826e+02] [-8.66971574e-01 6.10232102e-02 4.94607377e-01 -2.00318682e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.0807140569999 meters Centerline goodness : 0.980469 Centerline is valid? [True, True] Translation: X:190.35, Y:203.06, Z:-200.34 [[ 3.38324752e-01 -6.47682254e-01 6.82674198e-01 1.90345283e+02] [ 3.49340066e-01 7.60058429e-01 5.47971443e-01 2.03061597e+02] [-8.73783658e-01 5.30931467e-02 4.83407941e-01 -2.00336189e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.1107140569999 meters Centerline goodness : 0.981245 Centerline is valid? [True, True] Translation: X:190.36, Y:203.03, Z:-200.37 [[ 3.35958465e-01 -7.03168614e-01 6.26646480e-01 1.90360181e+02] [ 3.48335972e-01 7.10903831e-01 6.10964642e-01 2.03027440e+02] [-8.75096544e-01 1.30247671e-02 4.83773082e-01 -2.00374918e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.140714057 meters Centerline goodness : 0.985169 Centerline is valid? [True, True] Translation: X:190.38, Y:203.04, Z:-200.41 [[ 3.38351882e-01 -6.99075219e-01 6.29930030e-01 1.90382370e+02] [ 3.50441277e-01 7.14868778e-01 6.05106224e-01 2.03042264e+02] [-8.73332076e-01 1.60146538e-02 4.86862009e-01 -2.00406550e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.1707140569999 meters Centerline goodness : 0.981782 Centerline is valid? [True, True] Translation: X:190.38, Y:203.08, Z:-200.41 [[ 3.32815141e-01 -6.56549007e-01 6.76888088e-01 1.90379114e+02] [ 3.56882266e-01 7.52113203e-01 5.54040412e-01 2.03082764e+02] [-8.72851150e-01 5.71763170e-02 4.84625359e-01 -2.00410872e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.2007140569999 meters Centerline goodness : 0.987179 Centerline is valid? [True, True] Translation: X:190.40, Y:203.06, Z:-200.46 [[ 3.32765561e-01 -7.06687715e-01 6.24387344e-01 1.90402955e+02] [ 3.55444207e-01 7.07281329e-01 6.11074903e-01 2.03056712e+02] [-8.73456637e-01 1.85901820e-02 4.86546923e-01 -2.00455367e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.2307140569999 meters Centerline goodness : 0.988252 Centerline is valid? [True, True] Translation: X:190.41, Y:203.11, Z:-200.46 [[ 3.35448012e-01 -6.64228020e-01 6.68038748e-01 1.90409494e+02] [ 3.71870866e-01 7.44903295e-01 5.53923406e-01 2.03107206e+02] [-8.65555712e-01 6.26116425e-02 4.96883379e-01 -2.00462195e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.260714057 meters Centerline goodness : 0.988963 Centerline is valid? [True, True] Translation: X:190.41, Y:203.12, Z:-200.48 [[ 3.33959188e-01 -6.63409769e-01 6.69595953e-01 1.90414950e+02] [ 3.76003630e-01 7.45174680e-01 5.50759445e-01 2.03119178e+02] [-8.64345146e-01 6.78393319e-02 4.98302412e-01 -2.00479540e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.290714057 meters Centerline goodness : 0.988453 Centerline is valid? [True, True] Translation: X:190.43, Y:203.11, Z:-200.52 [[ 3.30641445e-01 -6.92002127e-01 6.41723687e-01 1.90430277e+02] [ 3.77399376e-01 7.20182532e-01 5.82157051e-01 2.03108226e+02] [-8.65012108e-01 4.97008706e-02 4.99283364e-01 -2.00515446e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.3207140569999 meters Centerline goodness : 0.988191 Centerline is valid? [True, True] Translation: X:190.44, Y:203.12, Z:-200.54 [[ 3.29688384e-01 -6.92082585e-01 6.42127141e-01 1.90442953e+02] [ 3.78191380e-01 7.20013172e-01 5.81852483e-01 2.03119078e+02] [-8.65029970e-01 5.10169448e-02 4.99119647e-01 -2.00544294e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.3507140569999 meters Centerline goodness : 0.989031 Centerline is valid? [True, True] Translation: X:190.46, Y:203.13, Z:-200.57 [[ 3.28030379e-01 -6.92750546e-01 6.42255986e-01 1.90455577e+02] [ 3.79914318e-01 7.19213792e-01 5.81718688e-01 2.03129248e+02] [-8.64905302e-01 5.31808436e-02 4.99109824e-01 -2.00571880e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.380714057 meters Centerline goodness : 0.988910 Centerline is valid? [True, True] Translation: X:190.47, Y:203.14, Z:-200.60 [[ 3.27409611e-01 -6.92900482e-01 6.42410982e-01 1.90466989e+02] [ 3.80397002e-01 7.19013316e-01 5.81651075e-01 2.03139057e+02] [-8.64928360e-01 5.39330593e-02 4.98989136e-01 -2.00596982e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.410714057 meters Centerline goodness : 0.988359 Centerline is valid? [True, True] Translation: X:190.49, Y:203.14, Z:-200.63 [[ 3.30864555e-01 -7.06984272e-01 6.25061505e-01 1.90494808e+02] [ 3.78335959e-01 7.06182194e-01 5.98471898e-01 2.03138137e+02] [-8.64517524e-01 3.84701055e-02 5.01128230e-01 -2.00633068e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.4407140569999 meters Centerline goodness : 0.989468 Centerline is valid? [True, True] Translation: X:190.49, Y:203.20, Z:-200.63 [[ 3.29764092e-01 -6.38062139e-01 6.95796199e-01 1.90486288e+02] [ 3.84383375e-01 7.63911546e-01 5.18351783e-01 2.03199049e+02] [-8.62267398e-01 9.65186860e-02 4.97171076e-01 -2.00634440e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.4707140569999 meters Centerline goodness : 0.988656 Centerline is valid? [True, True] Translation: X:190.50, Y:203.17, Z:-200.67 [[ 3.25498641e-01 -6.94564874e-01 6.41584188e-01 1.90499141e+02] [ 3.82133960e-01 7.17284533e-01 5.82646149e-01 2.03168009e+02] [-8.64883964e-01 5.55205765e-02 4.98891966e-01 -2.00671327e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.500714057 meters Centerline goodness : 0.988774 Centerline is valid? [True, True] Translation: X:190.51, Y:203.18, Z:-200.70 [[ 3.25788956e-01 -6.94661907e-01 6.41331733e-01 1.90509225e+02] [ 3.82201510e-01 7.17208959e-01 5.82694873e-01 2.03177997e+02] [-8.64744796e-01 5.52824028e-02 4.99159588e-01 -2.00695312e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.530714057 meters Centerline goodness : 0.988885 Centerline is valid? [True, True] Translation: X:190.52, Y:203.19, Z:-200.72 [[ 3.25979989e-01 -6.94906581e-01 6.40969492e-01 1.90518922e+02] [ 3.82127202e-01 7.17002331e-01 5.82997821e-01 2.03187602e+02] [-8.64705643e-01 5.48862556e-02 4.99271120e-01 -2.00719737e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.5607140569999 meters Centerline goodness : 0.988449 Centerline is valid? [True, True] Translation: X:190.53, Y:203.20, Z:-200.74 [[ 3.26432149e-01 -6.95086913e-01 6.40543703e-01 1.90528869e+02] [ 3.82004368e-01 7.16871958e-01 5.83238595e-01 2.03197310e+02] [-8.64589333e-01 5.43026644e-02 4.99536291e-01 -2.00744317e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.5907140569999 meters Centerline goodness : 0.988849 Centerline is valid? [True, True] Translation: X:190.56, Y:203.19, Z:-200.78 [[ 3.34246844e-01 -7.35322984e-01 5.89558442e-01 1.90561896e+02] [ 3.87144632e-01 6.77445097e-01 6.25449578e-01 2.03189602e+02] [-8.59300926e-01 1.91898389e-02 5.11110232e-01 -2.00776750e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.620714057 meters Centerline goodness : 0.989255 Centerline is valid? [True, True] Translation: X:190.57, Y:203.24, Z:-200.79 [[ 3.38917247e-01 -6.79143380e-01 6.51075548e-01 1.90569325e+02] [ 3.87978117e-01 7.31339672e-01 5.60905754e-01 2.03242246e+02] [-8.57092807e-01 6.25024314e-02 5.11356398e-01 -2.00793054e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.650714057 meters Centerline goodness : 0.988577 Centerline is valid? [True, True] Translation: X:190.58, Y:203.26, Z:-200.82 [[ 3.40564319e-01 -6.70727356e-01 6.58893587e-01 1.90579759e+02] [ 3.88578261e-01 7.38543933e-01 5.50962608e-01 2.03259296e+02] [-8.56167554e-01 6.83935187e-02 5.12151781e-01 -2.00818903e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.6807140569999 meters Centerline goodness : 0.988973 Centerline is valid? [True, True] Translation: X:190.57, Y:203.29, Z:-200.84 [[ 3.34219389e-01 -6.32293618e-01 6.98929311e-01 1.90568927e+02] [ 3.83952371e-01 7.68590505e-01 5.11712041e-01 2.03287174e+02] [-8.60742689e-01 9.73314808e-02 4.99648482e-01 -2.00840566e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.7107140569999 meters Centerline goodness : 0.989454 Centerline is valid? [True, True] Translation: X:190.60, Y:203.24, Z:-200.89 [[ 3.34692439e-01 -7.14019226e-01 6.14945133e-01 1.90599671e+02] [ 3.81549452e-01 6.99378472e-01 6.04392065e-01 2.03244116e+02] [-8.61626942e-01 3.23465246e-02 5.06510331e-01 -2.00891625e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.740714057 meters Centerline goodness : 0.988670 Centerline is valid? [True, True] Translation: X:190.61, Y:203.29, Z:-200.91 [[ 3.35832073e-01 -6.57427946e-01 6.74540817e-01 1.90605030e+02] [ 3.78864314e-01 7.49929599e-01 5.42279843e-01 2.03292134e+02] [-8.62368048e-01 7.34444798e-02 5.00926400e-01 -2.00911024e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.770714057 meters Centerline goodness : 0.989209 Centerline is valid? [True, True] Translation: X:190.62, Y:203.30, Z:-200.94 [[ 3.36951987e-01 -6.57113355e-01 6.74288808e-01 1.90615560e+02] [ 3.78474071e-01 7.50291763e-01 5.42051334e-01 2.03304183e+02] [-8.62102509e-01 7.25555557e-02 5.01512667e-01 -2.00937145e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.8007140569999 meters Centerline goodness : 0.988251 Centerline is valid? [True, True] Translation: X:190.62, Y:203.32, Z:-200.97 [[ 3.36428700e-01 -6.44911967e-01 6.86224661e-01 1.90623205e+02] [ 3.74907195e-01 7.60188318e-01 5.30620690e-01 2.03320618e+02] [-8.63863603e-01 7.87545338e-02 4.97531304e-01 -2.00966473e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.8307140569999 meters Centerline goodness : 0.988159 Centerline is valid? [True, True] Translation: X:190.63, Y:203.33, Z:-201.00 [[ 3.30382311e-01 -6.32748573e-01 7.00340469e-01 1.90629213e+02] [ 3.60888673e-01 7.70311149e-01 5.25718651e-01 2.03330450e+02] [-8.72127797e-01 7.90568001e-02 4.82848970e-01 -2.01000257e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.8607140569999 meters Centerline goodness : 0.987046 Centerline is valid? [True, True] Translation: X:190.64, Y:203.33, Z:-201.03 [[ 3.30920298e-01 -6.48993164e-01 6.85054472e-01 1.90640748e+02] [ 3.62109639e-01 7.57712685e-01 5.42907080e-01 2.03332087e+02] [-8.71417447e-01 6.84058544e-02 4.85749188e-01 -2.01025793e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.890714057 meters Centerline goodness : 0.987874 Centerline is valid? [True, True] Translation: X:190.65, Y:203.35, Z:-201.06 [[ 3.34537268e-01 -6.38894329e-01 6.92747323e-01 1.90651934e+02] [ 3.67328643e-01 7.65363523e-01 5.28477385e-01 2.03351413e+02] [-8.67844735e-01 7.76705538e-02 4.90726808e-01 -2.01059843e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.9207140569999 meters Centerline goodness : 0.981774 Centerline is valid? [True, True] Translation: X:190.65, Y:203.34, Z:-201.08 [[ 3.26334769e-01 -6.46734703e-01 6.89376415e-01 1.90647946e+02] [ 3.52938233e-01 7.59924984e-01 5.45846702e-01 2.03337509e+02] [-8.76892366e-01 6.51785362e-02 4.76247348e-01 -2.01075295e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.9507140569999 meters Centerline goodness : 0.988183 Centerline is valid? [True, True] Translation: X:190.67, Y:203.32, Z:-201.12 [[ 3.31764395e-01 -6.97424600e-01 6.35241146e-01 1.90670698e+02] [ 3.63678988e-01 7.15884849e-01 5.96025567e-01 2.03323680e+02] [-8.70442405e-01 3.32837959e-02 4.91143777e-01 -2.01118970e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.9807140569999 meters Centerline goodness : 0.988713 Centerline is valid? [True, True] Translation: X:190.67, Y:203.38, Z:-201.11 [[ 3.34353121e-01 -6.48610046e-01 6.83749222e-01 1.90668011e+02] [ 3.74469633e-01 7.57205200e-01 5.35175466e-01 2.03379108e+02] [-8.64858650e-01 7.71057329e-02 4.96058688e-01 -2.01113415e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.010714057 meters Centerline goodness : 0.987483 Centerline is valid? [True, True] Translation: X:190.69, Y:203.36, Z:-201.17 [[ 3.35752032e-01 -6.86775308e-01 6.44678407e-01 1.90692050e+02] [ 3.65726841e-01 7.25760586e-01 5.82679543e-01 2.03356467e+02] [-8.68052102e-01 4.01403565e-02 4.94847755e-01 -2.01167394e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.040714057 meters Centerline goodness : 0.988018 Centerline is valid? [True, True] Translation: X:190.70, Y:203.40, Z:-201.19 [[ 3.38191510e-01 -6.40599681e-01 6.89389985e-01 1.90700513e+02] [ 3.65688197e-01 7.64440895e-01 5.30944687e-01 2.03399411e+02] [-8.67120894e-01 7.25407952e-02 4.92787163e-01 -2.01186184e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.0707140569999 meters Centerline goodness : 0.988177 Centerline is valid? [True, True] Translation: X:190.71, Y:203.41, Z:-201.21 [[ 3.39173119e-01 -6.48126480e-01 6.81831109e-01 1.90713001e+02] [ 3.68085867e-01 7.58441226e-01 5.37847285e-01 2.03408784e+02] [-8.65721890e-01 6.85490539e-02 4.95809073e-01 -2.01211837e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.1007140569999 meters Centerline goodness : 0.987901 Centerline is valid? [True, True] Translation: X:190.72, Y:203.42, Z:-201.23 [[ 3.41267997e-01 -6.54770971e-01 6.74396864e-01 1.90724649e+02] [ 3.70469306e-01 7.53087697e-01 5.43701585e-01 2.03418148e+02] [-8.63879996e-01 6.42953871e-02 4.99577278e-01 -2.01234942e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.130714057 meters Centerline goodness : 0.987987 Centerline is valid? [True, True] Translation: X:190.73, Y:203.43, Z:-201.27 [[ 3.39831199e-01 -6.49543605e-01 6.80152822e-01 1.90733878e+02] [ 3.68335870e-01 7.57341767e-01 5.39223641e-01 2.03429351e+02] [-8.65357408e-01 6.72796650e-02 4.96618569e-01 -2.01265700e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.160714057 meters Centerline goodness : 0.988034 Centerline is valid? [True, True] Translation: X:190.75, Y:203.44, Z:-201.30 [[ 3.38877203e-01 -6.56772588e-01 6.73655705e-01 1.90745459e+02] [ 3.70085005e-01 7.51354071e-01 5.46355331e-01 2.03437036e+02] [-8.64985162e-01 6.41625087e-02 4.97678453e-01 -2.01295244e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.1907140569999 meters Centerline goodness : 0.987490 Centerline is valid? [True, True] Translation: X:190.75, Y:203.46, Z:-201.32 [[ 3.36642482e-01 -6.39791400e-01 6.90897101e-01 1.90753527e+02] [ 3.65768881e-01 7.64954680e-01 5.30148529e-01 2.03455219e+02] [-8.67689441e-01 7.42381428e-02 4.91532026e-01 -2.01323875e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.2207140569999 meters Centerline goodness : 0.986461 Centerline is valid? [True, True] Translation: X:190.76, Y:203.46, Z:-201.35 [[ 3.36131578e-01 -6.48701576e-01 6.82789739e-01 1.90764926e+02] [ 3.66817262e-01 7.57897240e-01 5.39478331e-01 2.03461067e+02] [-8.67444903e-01 6.91233602e-02 4.92708131e-01 -2.01351239e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.250714057 meters Centerline goodness : 0.988578 Centerline is valid? [True, True] Translation: X:190.77, Y:203.47, Z:-201.36 [[ 3.33345349e-01 -6.62044560e-01 6.71250981e-01 1.90765337e+02] [ 3.75889805e-01 7.46263894e-01 5.49360587e-01 2.03471839e+02] [-8.64631559e-01 6.91896034e-02 4.97619398e-01 -2.01363022e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.280714057 meters Centerline goodness : 0.988230 Centerline is valid? [True, True] Translation: X:190.78, Y:203.45, Z:-201.40 [[ 3.30275972e-01 -6.99795898e-01 6.33406255e-01 1.90776396e+02] [ 3.75093386e-01 7.13108566e-01 5.92267781e-01 2.03452719e+02] [-8.66153990e-01 4.19746799e-02 4.98011438e-01 -2.01397355e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.3107140569999 meters Centerline goodness : 0.981660 Centerline is valid? [True, True] Translation: X:190.78, Y:203.46, Z:-201.42 [[ 3.18492702e-01 -6.96170940e-01 6.43357149e-01 1.90775704e+02] [ 3.66183169e-01 7.16372806e-01 5.93902256e-01 2.03457715e+02] [-8.74341058e-01 4.64330255e-02 4.83085591e-01 -2.01421390e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.3407140569999 meters Centerline goodness : 0.981357 Centerline is valid? [True, True] Translation: X:190.79, Y:203.44, Z:-201.45 [[ 3.16875626e-01 -7.27458125e-01 6.08600456e-01 1.90790790e+02] [ 3.67462236e-01 6.85713013e-01 6.28306589e-01 2.03443357e+02] [-8.74391985e-01 2.45426409e-02 4.84599129e-01 -2.01453665e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.370714057 meters Centerline goodness : 0.988444 Centerline is valid? [True, True] Translation: X:190.81, Y:203.46, Z:-201.48 [[ 3.25004224e-01 -7.26019373e-01 6.06026505e-01 1.90809263e+02] [ 3.78037157e-01 6.87125969e-01 6.20440013e-01 2.03460783e+02] [-8.66868019e-01 2.74549124e-02 4.97781142e-01 -2.01478085e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.400714057 meters Centerline goodness : 0.988727 Centerline is valid? [True, True] Translation: X:190.82, Y:203.49, Z:-201.50 [[ 3.25472127e-01 -7.02386685e-01 6.33025149e-01 1.90819741e+02] [ 3.79583018e-01 7.10220879e-01 5.92876914e-01 2.03490355e+02] [-8.66016528e-01 4.73206861e-02 4.97771158e-01 -2.01501011e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.4307140569999 meters Centerline goodness : 0.980720 Centerline is valid? [True, True] Translation: X:190.82, Y:203.50, Z:-201.52 [[ 3.13554866e-01 -6.93370763e-01 6.48783732e-01 1.90819189e+02] [ 3.74571470e-01 7.18151392e-01 5.86476591e-01 2.03500174e+02] [-8.72570662e-01 5.91232874e-02 4.84896769e-01 -2.01523748e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.4607140569999 meters Centerline goodness : 0.980194 Centerline is valid? [True, True] Translation: X:190.83, Y:203.49, Z:-201.56 [[ 3.11399274e-01 -7.22030000e-01 6.17821311e-01 1.90832617e+02] [ 3.73521229e-01 6.90817938e-01 6.19073880e-01 2.03486482e+02] [-8.73791957e-01 3.79902187e-02 4.84813737e-01 -2.01557485e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.490714057 meters Centerline goodness : 0.988127 Centerline is valid? [True, True] Translation: X:190.85, Y:203.49, Z:-201.58 [[ 3.20020304e-01 -7.32356717e-01 6.01032982e-01 1.90853475e+02] [ 3.83297976e-01 6.80240829e-01 6.24784024e-01 2.03494524e+02] [-8.66411950e-01 3.04311521e-02 4.98401724e-01 -2.01583021e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.520714057 meters Centerline goodness : 0.981368 Centerline is valid? [True, True] Translation: X:190.85, Y:203.53, Z:-201.60 [[ 3.11577679e-01 -6.91673365e-01 6.51542253e-01 1.90850880e+02] [ 3.78026433e-01 7.19306302e-01 5.82833132e-01 2.03529350e+02] [-8.71788602e-01 6.47023999e-02 4.85590603e-01 -2.01598719e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.5507140569999 meters Centerline goodness : 0.987765 Centerline is valid? [True, True] Translation: X:190.87, Y:203.52, Z:-201.64 [[ 3.13620772e-01 -7.31605841e-01 6.05305629e-01 1.90873891e+02] [ 3.78688900e-01 6.80946155e-01 6.26822982e-01 2.03515714e+02] [-8.70767896e-01 3.26378147e-02 4.90609870e-01 -2.01636124e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.5807140569999 meters Centerline goodness : 0.981331 Centerline is valid? [True, True] Translation: X:190.87, Y:203.57, Z:-201.64 [[ 3.11940299e-01 -6.67040808e-01 6.76572103e-01 1.90868264e+02] [ 3.80804979e-01 7.40182763e-01 5.54181420e-01 2.03569449e+02] [-8.70448630e-01 8.47705081e-02 4.84905293e-01 -2.01639261e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.6107140569999 meters Centerline goodness : 0.988678 Centerline is valid? [True, True] Translation: X:190.89, Y:203.53, Z:-201.68 [[ 3.16678686e-01 -7.32745669e-01 6.02327481e-01 1.90891222e+02] [ 3.84030613e-01 6.79682132e-01 6.24942147e-01 2.03534528e+02] [-8.67314879e-01 3.34063335e-02 4.96637613e-01 -2.01680267e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.640714057 meters Centerline goodness : 0.987908 Centerline is valid? [True, True] Translation: X:190.91, Y:203.57, Z:-201.71 [[ 3.22463994e-01 -7.03542070e-01 6.33281556e-01 1.90913430e+02] [ 3.79544771e-01 7.08983502e-01 5.94380485e-01 2.03566069e+02] [-8.67157852e-01 4.86923983e-02 4.95647366e-01 -2.01713011e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.6707140569999 meters Centerline goodness : 0.987908 Centerline is valid? [True, True] Translation: X:190.92, Y:203.61, Z:-201.73 [[ 3.25024806e-01 -6.59969782e-01 6.77346855e-01 1.90922472e+02] [ 3.81611461e-01 7.46860695e-01 5.44584058e-01 2.03609020e+02] [-8.65292765e-01 8.14799952e-02 4.94600285e-01 -2.01729028e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.7007140569999 meters Centerline goodness : 0.988335 Centerline is valid? [True, True] Translation: X:190.94, Y:203.60, Z:-201.75 [[ 3.24585992e-01 -6.98661031e-01 6.37586619e-01 1.90937581e+02] [ 3.82505121e-01 7.13462985e-01 5.87077849e-01 2.03601633e+02] [-8.65062869e-01 5.33229008e-02 4.98821513e-01 -2.01749421e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.7307140569999 meters Centerline goodness : 0.988629 Centerline is valid? [True, True] Translation: X:190.93, Y:203.63, Z:-201.77 [[ 3.22473840e-01 -6.57878027e-01 6.80593215e-01 1.90931140e+02] [ 3.83424073e-01 7.48160137e-01 5.41518595e-01 2.03634878e+02] [-8.65445898e-01 8.63302419e-02 4.93508345e-01 -2.01770101e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.760714057 meters Centerline goodness : 0.990114 Centerline is valid? [True, True] Translation: X:190.94, Y:203.61, Z:-201.81 [[ 3.21339616e-01 -7.06552699e-01 6.30495151e-01 1.90943798e+02] [ 3.79357925e-01 7.06094900e-01 5.97927719e-01 2.03608701e+02] [-8.67656854e-01 4.70454688e-02 4.94932629e-01 -2.01811603e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.790714057 meters Centerline goodness : 0.980941 Centerline is valid? [True, True] Translation: X:190.94, Y:203.62, Z:-201.84 [[ 3.11735118e-01 -6.95362129e-01 6.47528166e-01 1.90942532e+02] [ 3.71274900e-01 7.16451736e-01 5.90636824e-01 2.03620063e+02] [-8.74629158e-01 5.62887150e-02 4.81513672e-01 -2.01835911e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.8207140569999 meters Centerline goodness : 0.987897 Centerline is valid? [True, True] Translation: X:190.97, Y:203.60, Z:-201.87 [[ 3.15981119e-01 -7.39029428e-01 5.94971795e-01 1.90965697e+02] [ 3.70343701e-01 6.73427787e-01 6.39797279e-01 2.03599069e+02] [-8.73499557e-01 1.81801964e-02 4.86485360e-01 -2.01873394e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.8507140569999 meters Centerline goodness : 0.989286 Centerline is valid? [True, True] Translation: X:190.96, Y:203.66, Z:-201.87 [[ 3.17890836e-01 -6.74826946e-01 6.65998506e-01 1.90959624e+02] [ 3.82582537e-01 7.34008299e-01 5.61126028e-01 2.03663734e+02] [-8.67511394e-01 7.64225759e-02 4.91511517e-01 -2.01874221e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.880714057 meters Centerline goodness : 0.989162 Centerline is valid? [True, True] Translation: X:190.99, Y:203.63, Z:-201.92 [[ 3.22643884e-01 -7.44241883e-01 5.84811888e-01 1.90992303e+02] [ 3.82859166e-01 6.67670170e-01 6.38463315e-01 2.03627881e+02] [-8.65632592e-01 1.79043079e-02 5.00359523e-01 -2.01918591e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.910714057 meters Centerline goodness : 0.988766 Centerline is valid? [True, True] Translation: X:190.98, Y:203.68, Z:-201.93 [[ 3.16105378e-01 -6.80404230e-01 6.61156164e-01 1.90983349e+02] [ 3.76177813e-01 7.29656467e-01 5.71044388e-01 2.03681801e+02] [-8.70957888e-01 6.82020776e-02 4.86601309e-01 -2.01928958e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.9407140569999 meters Centerline goodness : 0.988981 Centerline is valid? [True, True] Translation: X:191.01, Y:203.65, Z:-201.97 [[ 3.23413557e-01 -7.46682277e-01 5.81265213e-01 1.91013571e+02] [ 3.75665860e-01 6.65111003e-01 6.45370061e-01 2.03645837e+02] [-8.68492276e-01 9.64006855e-03 4.95608955e-01 -2.01971183e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.9707140569999 meters Centerline goodness : 0.988816 Centerline is valid? [True, True] Translation: X:191.02, Y:203.69, Z:-201.99 [[ 3.30125430e-01 -7.08111956e-01 6.24175182e-01 1.91023636e+02] [ 3.81602760e-01 7.04919872e-01 5.97885697e-01 2.03690821e+02] [-8.63363500e-01 4.08096994e-02 5.02929453e-01 -2.01989601e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.000714057 meters Centerline goodness : 0.989620 Centerline is valid? [True, True] Translation: X:191.01, Y:203.72, Z:-202.01 [[ 3.25386638e-01 -6.58442775e-01 6.78657976e-01 1.91013067e+02] [ 3.70316632e-01 7.49121290e-01 5.49256666e-01 2.03724159e+02] [-8.70051222e-01 7.25975556e-02 4.87586368e-01 -2.02010467e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.030714057 meters Centerline goodness : 0.989792 Centerline is valid? [True, True] Translation: X:191.05, Y:203.68, Z:-202.05 [[ 3.32936118e-01 -7.52498956e-01 5.68241905e-01 1.91048275e+02] [ 3.76253865e-01 6.58585825e-01 6.51688377e-01 2.03675629e+02] [-8.64630887e-01 -3.16738529e-03 5.02397649e-01 -2.02053513e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.0607140569999 meters Centerline goodness : 0.989462 Centerline is valid? [True, True] Translation: X:191.03, Y:203.74, Z:-202.07 [[ 3.27081006e-01 -6.61529484e-01 6.74830910e-01 1.91034847e+02] [ 3.64484792e-01 7.47167716e-01 5.55779849e-01 2.03739928e+02] [-8.71876627e-01 6.41805713e-02 4.85501805e-01 -2.02067173e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.0907140569999 meters Centerline goodness : 0.987674 Centerline is valid? [True, True] Translation: X:191.07, Y:203.69, Z:-202.11 [[ 3.35069865e-01 -7.54286621e-01 5.64605950e-01 1.91071191e+02] [ 3.66299479e-01 6.56392291e-01 6.59525475e-01 2.03691857e+02] [-8.68074235e-01 -1.41722468e-02 4.96232073e-01 -2.02105179e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.120714057 meters Centerline goodness : 0.988458 Centerline is valid? [True, True] Translation: X:191.06, Y:203.75, Z:-202.13 [[ 3.27701303e-01 -6.68519277e-01 6.67603050e-01 1.91058823e+02] [ 3.57764297e-01 7.41806101e-01 5.67211086e-01 2.03752167e+02] [-8.74423561e-01 5.29687239e-02 4.82263155e-01 -2.02125756e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.150714057 meters Centerline goodness : 0.988984 Centerline is valid? [True, True] Translation: X:191.07, Y:203.73, Z:-202.16 [[ 3.26488024e-01 -7.07935885e-01 6.26284563e-01 1.91072891e+02] [ 3.55160042e-01 7.05922776e-01 6.12808598e-01 2.03731799e+02] [-8.75937735e-01 2.23565836e-02 4.81905871e-01 -2.02164763e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.1807140569999 meters Centerline goodness : 0.988306 Centerline is valid? [True, True] Translation: X:191.10, Y:203.73, Z:-202.20 [[ 3.34097988e-01 -7.31569794e-01 5.94293000e-01 1.91102175e+02] [ 3.54482642e-01 6.81759315e-01 6.39958040e-01 2.03730984e+02] [-8.73338761e-01 -3.14214073e-03 4.87103209e-01 -2.02195627e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.2107140569999 meters Centerline goodness : 0.987739 Centerline is valid? [True, True] Translation: X:191.12, Y:203.75, Z:-202.21 [[ 3.36451408e-01 -7.26424938e-01 5.99255588e-01 1.91119097e+02] [ 3.65290162e-01 6.87203466e-01 6.27944659e-01 2.03754919e+02] [-8.67965177e-01 7.62930628e-03 4.96566456e-01 -2.02208778e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.240714057 meters Centerline goodness : 0.988910 Centerline is valid? [True, True] Translation: X:191.11, Y:203.80, Z:-202.23 [[ 3.24164687e-01 -6.51790795e-01 6.85628190e-01 1.91105322e+02] [ 3.56110499e-01 7.55529381e-01 5.49873318e-01 2.03799361e+02] [-8.76414610e-01 6.59098846e-02 4.77025491e-01 -2.02233813e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.270714057 meters Centerline goodness : 0.989598 Centerline is valid? [True, True] Translation: X:191.12, Y:203.77, Z:-202.28 [[ 3.22616923e-01 -7.09591426e-01 6.26417057e-01 1.91121243e+02] [ 3.55621233e-01 7.04187039e-01 6.14535721e-01 2.03765892e+02] [-8.77184051e-01 2.45075829e-02 4.79528434e-01 -2.02278043e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.3007140569999 meters Centerline goodness : 0.989296 Centerline is valid? [True, True] Translation: X:191.16, Y:203.75, Z:-202.30 [[ 3.32345602e-01 -7.67388663e-01 5.48325670e-01 1.91162178e+02] [ 3.69923212e-01 6.40847438e-01 6.72659928e-01 2.03751156e+02] [-8.67584704e-01 -2.07171756e-02 4.96857707e-01 -2.02297988e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.3307140569999 meters Centerline goodness : 0.990041 Centerline is valid? [True, True] Translation: X:191.14, Y:203.81, Z:-202.32 [[ 3.21478811e-01 -6.64953419e-01 6.74157492e-01 1.91143132e+02] [ 3.60242595e-01 7.44300738e-01 5.62353700e-01 2.03814906e+02] [-8.75714935e-01 6.20754456e-02 4.78821462e-01 -2.02322312e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.3607140569999 meters Centerline goodness : 0.989360 Centerline is valid? [True, True] Translation: X:191.19, Y:203.77, Z:-202.35 [[ 3.29838169e-01 -7.67610903e-01 5.49527328e-01 1.91185904e+02] [ 3.71756702e-01 6.40682705e-01 6.71805497e-01 2.03768591e+02] [-8.67757879e-01 -1.72966276e-02 4.96686108e-01 -2.02353385e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.390714057 meters Centerline goodness : 0.990009 Centerline is valid? [True, True] Translation: X:191.19, Y:203.82, Z:-202.38 [[ 3.25856664e-01 -7.07235702e-01 6.27403456e-01 1.91190794e+02] [ 3.68467123e-01 7.06152372e-01 6.04632787e-01 2.03815759e+02] [-8.70660332e-01 3.41539232e-02 4.90697560e-01 -2.02381969e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.4207140569999 meters Centerline goodness : 0.990632 Centerline is valid? [True, True] Translation: X:191.18, Y:203.85, Z:-202.40 [[ 3.15955978e-01 -6.55468193e-01 6.85954275e-01 1.91179286e+02] [ 3.60659302e-01 7.51692536e-01 5.52162294e-01 2.03845040e+02] [-8.77551530e-01 7.29368127e-02 4.73902452e-01 -2.02402800e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.4507140569999 meters Centerline goodness : 0.989946 Centerline is valid? [True, True] Translation: X:191.20, Y:203.81, Z:-202.43 [[ 3.12893290e-01 -7.21392405e-01 6.17811288e-01 1.91195414e+02] [ 3.58959165e-01 6.92045349e-01 6.26275940e-01 2.03808696e+02] [-8.79344135e-01 2.58114843e-02 4.75486761e-01 -2.02434718e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.4807140569999 meters Centerline goodness : 0.989639 Centerline is valid? [True, True] Translation: X:191.21, Y:203.81, Z:-202.47 [[ 3.10433112e-01 -7.19343022e-01 6.21431332e-01 1.91206753e+02] [ 3.60144028e-01 6.93995163e-01 6.23431627e-01 2.03814603e+02] [-8.79731528e-01 3.02709631e-02 4.74506172e-01 -2.02468107e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.510714057 meters Centerline goodness : 0.990290 Centerline is valid? [True, True] Translation: X:191.22, Y:203.83, Z:-202.49 [[ 3.07474384e-01 -7.13254981e-01 6.29862553e-01 1.91220424e+02] [ 3.62355323e-01 6.99821212e-01 6.15588249e-01 2.03827963e+02] [-8.79862559e-01 3.89564314e-02 4.73628835e-01 -2.02494940e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.540714057 meters Centerline goodness : 0.992301 Centerline is valid? [True, True] Translation: X:191.23, Y:203.83, Z:-202.52 [[ 3.05936691e-01 -7.26459578e-01 6.15352925e-01 1.91234509e+02] [ 3.62685704e-01 6.86537142e-01 6.30179207e-01 2.03831856e+02] [-8.80262359e-01 3.03847673e-02 4.73513405e-01 -2.02518564e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.5707140569999 meters Centerline goodness : 0.992077 Centerline is valid? [True, True] Translation: X:191.25, Y:203.84, Z:-202.55 [[ 3.04688204e-01 -7.17856425e-01 6.25977037e-01 1.91245241e+02] [ 3.64488444e-01 6.95078248e-01 6.19688957e-01 2.03844281e+02] [-8.79950722e-01 3.93494809e-02 4.73432514e-01 -2.02550743e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.6007140569999 meters Centerline goodness : 0.992129 Centerline is valid? [True, True] Translation: X:191.26, Y:203.86, Z:-202.58 [[ 3.02887872e-01 -7.14607346e-01 6.30551566e-01 1.91258779e+02] [ 3.66793201e-01 6.98075367e-01 6.14941892e-01 2.03855894e+02] [-8.79614509e-01 4.50235863e-02 4.73551678e-01 -2.02578493e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.630714057 meters Centerline goodness : 0.992292 Centerline is valid? [True, True] Translation: X:191.27, Y:203.87, Z:-202.61 [[ 3.02273104e-01 -7.14679271e-01 6.30765019e-01 1.91270938e+02] [ 3.68009384e-01 6.97910897e-01 6.14401720e-01 2.03865948e+02] [-8.79317954e-01 4.64103310e-02 4.73968371e-01 -2.02606103e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.660714057 meters Centerline goodness : 0.991986 Centerline is valid? [True, True] Translation: X:191.28, Y:203.88, Z:-202.64 [[ 3.01197600e-01 -7.15043930e-01 6.30866217e-01 1.91282593e+02] [ 3.69554733e-01 6.97416347e-01 6.14035617e-01 2.03876304e+02] [-8.79038853e-01 4.81935425e-02 4.74307998e-01 -2.02635031e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.6907140569999 meters Centerline goodness : 0.992159 Centerline is valid? [True, True] Translation: X:191.29, Y:203.89, Z:-202.66 [[ 3.00471463e-01 -7.15272323e-01 6.30953568e-01 1.91294285e+02] [ 3.71339898e-01 6.97054989e-01 6.13368587e-01 2.03886579e+02] [-8.78534906e-01 4.99984763e-02 4.75054283e-01 -2.02662759e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.7207140569999 meters Centerline goodness : 0.992848 Centerline is valid? [True, True] Translation: X:191.31, Y:203.89, Z:-202.69 [[ 2.97650989e-01 -7.35261957e-01 6.08928357e-01 1.91310687e+02] [ 3.76571822e-01 6.76545388e-01 6.32834893e-01 2.03887761e+02] [-8.77267093e-01 4.09413291e-02 4.78253338e-01 -2.02686740e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.750714057 meters Centerline goodness : 0.992435 Centerline is valid? [True, True] Translation: X:191.33, Y:203.90, Z:-202.73 [[ 3.02691048e-01 -7.27572330e-01 6.15643269e-01 1.91332871e+02] [ 3.72723508e-01 6.84867249e-01 6.26126216e-01 2.03899195e+02] [-8.77186022e-01 3.99419184e-02 4.78486496e-01 -2.02725881e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.780714057 meters Centerline goodness : 0.991873 Centerline is valid? [True, True] Translation: X:191.34, Y:203.93, Z:-202.74 [[ 3.03998322e-01 -6.99282305e-01 6.46984759e-01 1.91342124e+02] [ 3.80030862e-01 7.11765154e-01 5.90734213e-01 2.03934014e+02] [-8.73591188e-01 6.62919663e-02 4.82124269e-01 -2.02741996e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.8107140569999 meters Centerline goodness : 0.991526 Centerline is valid? [True, True] Translation: X:191.35, Y:203.95, Z:-202.77 [[ 3.02065465e-01 -6.89106444e-01 6.58702333e-01 1.91349941e+02] [ 3.79138588e-01 7.20823319e-01 5.80230707e-01 2.03946935e+02] [-8.74648722e-01 7.44718140e-02 4.79002675e-01 -2.02770672e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.8407140569999 meters Centerline goodness : 0.993399 Centerline is valid? [True, True] Translation: X:191.37, Y:203.95, Z:-202.79 [[ 2.99482789e-01 -7.12191895e-01 6.34895869e-01 1.91365942e+02] [ 3.87286899e-01 6.98893323e-01 6.01296084e-01 2.03948502e+02] [-8.71962681e-01 6.58090246e-02 4.85129112e-01 -2.02794749e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.870714057 meters Centerline goodness : 0.992103 Centerline is valid? [True, True] Translation: X:191.38, Y:203.96, Z:-202.82 [[ 3.00763120e-01 -7.16347058e-01 6.29593868e-01 1.91378948e+02] [ 3.91312091e-01 6.94723784e-01 6.03517780e-01 2.03961814e+02] [-8.69722021e-01 6.48518025e-02 4.89262558e-01 -2.02816827e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.900714057 meters Centerline goodness : 0.992915 Centerline is valid? [True, True] Translation: X:191.39, Y:203.97, Z:-202.84 [[ 2.99171829e-01 -7.24877504e-01 6.20523022e-01 1.91388745e+02] [ 3.91392256e-01 6.86306087e-01 6.13022069e-01 2.03965914e+02] [-8.70234635e-01 5.94689719e-02 4.89034889e-01 -2.02841947e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.9307140569999 meters Centerline goodness : 0.992135 Centerline is valid? [True, True] Translation: X:191.40, Y:203.97, Z:-202.87 [[ 2.95039965e-01 -7.40275415e-01 6.04105727e-01 1.91400565e+02] [ 3.89880539e-01 6.70494026e-01 6.31213852e-01 2.03967685e+02] [-8.72321377e-01 4.92957540e-02 4.86441512e-01 -2.02870501e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.9607140569999 meters Centerline goodness : 0.992120 Centerline is valid? [True, True] Translation: X:191.41, Y:203.99, Z:-202.90 [[ 2.97478686e-01 -7.22346535e-01 6.24277114e-01 1.91407968e+02] [ 3.90767555e-01 6.88721517e-01 6.10707286e-01 2.03990047e+02] [-8.71095373e-01 6.22748406e-02 4.87149561e-01 -2.02895904e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.990714057 meters Centerline goodness : 0.991457 Centerline is valid? [True, True] Translation: X:191.42, Y:204.00, Z:-202.92 [[ 2.96305544e-01 -7.23012049e-01 6.24064582e-01 1.91416846e+02] [ 3.89702231e-01 6.88063632e-01 6.12127936e-01 2.03998869e+02] [-8.71972016e-01 6.18224581e-02 4.85636477e-01 -2.02921249e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.020714057 meters Centerline goodness : 0.990441 Centerline is valid? [True, True] Translation: X:191.42, Y:204.01, Z:-202.95 [[ 2.95674686e-01 -7.20103979e-01 6.27715493e-01 1.91423539e+02] [ 3.89532971e-01 6.90868356e-01 6.09068945e-01 2.04010154e+02] [-8.72261741e-01 6.44296120e-02 4.84776527e-01 -2.02946050e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.0507140569999 meters Centerline goodness : 0.991496 Centerline is valid? [True, True] Translation: X:191.43, Y:204.01, Z:-202.97 [[ 2.92602964e-01 -7.25395228e-01 6.23045158e-01 1.91431521e+02] [ 3.87660247e-01 6.85603308e-01 6.16171759e-01 2.04014945e+02] [-8.74129875e-01 6.12361568e-02 4.81816453e-01 -2.02973708e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.0807140569999 meters Centerline goodness : 0.991470 Centerline is valid? [True, True] Translation: X:191.44, Y:204.02, Z:-203.00 [[ 2.91859741e-01 -7.30752623e-01 6.17104931e-01 1.91441783e+02] [ 3.88774958e-01 6.80129375e-01 6.21512724e-01 2.04022084e+02] [-8.73883244e-01 5.85204010e-02 4.82600704e-01 -2.02998329e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.1107140569999 meters Centerline goodness : 0.990242 Centerline is valid? [True, True] Translation: X:191.45, Y:204.04, Z:-203.02 [[ 2.90253361e-01 -7.23241777e-01 6.26637310e-01 1.91448914e+02] [ 3.88087891e-01 6.87524857e-01 6.13756760e-01 2.04035010e+02] [-8.74723257e-01 6.50453893e-02 4.80237777e-01 -2.03024126e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.140714057 meters Centerline goodness : 0.989723 Centerline is valid? [True, True] Translation: X:191.45, Y:204.04, Z:-203.05 [[ 2.87670785e-01 -7.25332223e-01 6.25410814e-01 1.91454352e+02] [ 3.87949994e-01 6.85292361e-01 6.16335285e-01 2.04041355e+02] [-8.75637095e-01 6.53264657e-02 4.78531223e-01 -2.03052544e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.1707140569999 meters Centerline goodness : 0.989459 Centerline is valid? [True, True] Translation: X:191.46, Y:204.05, Z:-203.08 [[ 2.86497346e-01 -7.20367836e-01 6.31656118e-01 1.91460981e+02] [ 3.87478941e-01 6.90088365e-01 6.11259453e-01 2.04053135e+02] [-8.76230187e-01 6.96292328e-02 4.76835851e-01 -2.03077471e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.2007140569999 meters Centerline goodness : 0.989849 Centerline is valid? [True, True] Translation: X:191.47, Y:204.06, Z:-203.11 [[ 2.84485527e-01 -7.25036321e-01 6.27208354e-01 1.91467944e+02] [ 3.85622256e-01 6.85523090e-01 6.17538313e-01 2.04061142e+02] [-8.77703515e-01 6.61847882e-02 4.74611539e-01 -2.03109817e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.2307140569999 meters Centerline goodness : 0.989873 Centerline is valid? [True, True] Translation: X:191.47, Y:204.08, Z:-203.13 [[ 2.86230091e-01 -7.03988211e-01 6.49979179e-01 1.91473433e+02] [ 3.84311854e-01 7.05754593e-01 5.95159520e-01 2.04084538e+02] [-8.77711077e-01 7.94421397e-02 4.72559216e-01 -2.03134470e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.260714057 meters Centerline goodness : 0.989603 Centerline is valid? [True, True] Translation: X:191.48, Y:204.09, Z:-203.16 [[ 2.85196222e-01 -7.09838209e-01 6.44044123e-01 1.91482630e+02] [ 3.83019890e-01 7.00370555e-01 6.02309596e-01 2.04091473e+02] [-8.78611905e-01 7.49052881e-02 4.71625189e-01 -2.03164077e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.290714057 meters Centerline goodness : 0.989940 Centerline is valid? [True, True] Translation: X:191.49, Y:204.10, Z:-203.19 [[ 2.83999010e-01 -7.13501256e-01 6.40515823e-01 1.91489462e+02] [ 3.80500348e-01 6.97035501e-01 6.07750768e-01 2.04096620e+02] [-8.80093204e-01 7.11158772e-02 4.69444868e-01 -2.03192209e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.3207140569999 meters Centerline goodness : 0.989273 Centerline is valid? [True, True] Translation: X:191.49, Y:204.11, Z:-203.22 [[ 2.82663116e-01 -7.10067455e-01 6.44907569e-01 1.91494699e+02] [ 3.77644093e-01 7.00406817e-01 6.05652731e-01 2.04107593e+02] [-8.81751950e-01 7.23498455e-02 4.66131953e-01 -2.03220693e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.3507140569999 meters Centerline goodness : 0.988346 Centerline is valid? [True, True] Translation: X:191.50, Y:204.11, Z:-203.25 [[ 2.80691196e-01 -7.20640227e-01 6.33948039e-01 1.91503948e+02] [ 3.76167846e-01 6.90257681e-01 6.18095531e-01 2.04111476e+02] [-8.83012007e-01 6.49768940e-02 4.64830936e-01 -2.03250357e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.380714057 meters Centerline goodness : 0.988791 Centerline is valid? [True, True] Translation: X:191.51, Y:204.13, Z:-203.28 [[ 2.79122824e-01 -7.07784751e-01 6.48946219e-01 1.91511448e+02] [ 3.74145416e-01 7.02558642e-01 6.05331779e-01 2.04130105e+02] [-8.84367377e-01 7.38383380e-02 4.60914572e-01 -2.03281034e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.410714057 meters Centerline goodness : 0.988338 Centerline is valid? [True, True] Translation: X:191.52, Y:204.15, Z:-203.30 [[ 2.79073790e-01 -7.01606650e-01 6.55641616e-01 1.91518202e+02] [ 3.76077530e-01 7.08083746e-01 5.97647974e-01 2.04147854e+02] [-8.83562964e-01 7.97841938e-02 4.61466111e-01 -2.03302932e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.4407140569999 meters Centerline goodness : 0.987396 Centerline is valid? [True, True] Translation: X:191.53, Y:204.16, Z:-203.33 [[ 2.77892026e-01 -7.07009684e-01 6.50317867e-01 1.91527149e+02] [ 3.76845680e-01 7.02950561e-01 6.03198012e-01 2.04156181e+02] [-8.83608146e-01 7.74455613e-02 4.61777901e-01 -2.03326841e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.4707140569999 meters Centerline goodness : 0.987686 Centerline is valid? [True, True] Translation: X:191.54, Y:204.16, Z:-203.36 [[ 2.76694659e-01 -7.16231892e-01 6.40665235e-01 1.91538322e+02] [ 3.77287072e-01 6.94129392e-01 6.13056973e-01 2.04162478e+02] [-8.83795526e-01 7.20851203e-02 4.62286929e-01 -2.03356360e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.500714057 meters Centerline goodness : 0.988149 Centerline is valid? [True, True] Translation: X:191.55, Y:204.18, Z:-203.39 [[ 2.76156251e-01 -7.17390832e-01 6.39599969e-01 1.91548598e+02] [ 3.79952157e-01 6.92756998e-01 6.12963376e-01 2.04175159e+02] [-8.82821660e-01 7.37437199e-02 4.63883369e-01 -2.03386160e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.530714057 meters Centerline goodness : 0.987635 Centerline is valid? [True, True] Translation: X:191.56, Y:204.20, Z:-203.41 [[ 2.77730608e-01 -7.05314411e-01 6.52224878e-01 1.91555327e+02] [ 3.81264310e-01 7.04102032e-01 5.99064149e-01 2.04197153e+02] [-8.81761439e-01 8.22916175e-02 4.64461898e-01 -2.03409895e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.5607140569999 meters Centerline goodness : 0.987635 Centerline is valid? [True, True] Translation: X:191.57, Y:204.20, Z:-203.44 [[ 2.77094250e-01 -7.12975216e-01 6.44115765e-01 1.91566734e+02] [ 3.80744246e-01 6.96964180e-01 6.07679810e-01 2.04202164e+02] [-8.82186259e-01 7.68587894e-02 4.64585978e-01 -2.03440656e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.5907140569999 meters Centerline goodness : 0.988730 Centerline is valid? [True, True] Translation: X:191.58, Y:204.22, Z:-203.47 [[ 2.76143694e-01 -7.09681023e-01 6.48149293e-01 1.91576866e+02] [ 3.87424981e-01 6.99348062e-01 6.00678094e-01 2.04217841e+02] [-8.79571796e-01 8.52357599e-02 4.68068713e-01 -2.03472003e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.620714057 meters Centerline goodness : 0.987040 Centerline is valid? [True, True] Translation: X:191.58, Y:204.24, Z:-203.49 [[ 2.79337496e-01 -6.89434300e-01 6.68319466e-01 1.91581318e+02] [ 3.84103234e-01 7.18143305e-01 5.80288635e-01 2.04240771e+02] [-8.80020039e-01 9.46072937e-02 4.65418297e-01 -2.03487499e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.650714057 meters Centerline goodness : 0.986059 Centerline is valid? [True, True] Translation: X:191.59, Y:204.23, Z:-203.52 [[ 2.76257896e-01 -7.15747023e-01 6.41395177e-01 1.91591435e+02] [ 3.83877376e-01 6.93995978e-01 6.09104049e-01 2.04234856e+02] [-8.81090083e-01 7.79472949e-02 4.66480958e-01 -2.03517871e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.6807140569999 meters Centerline goodness : 0.985973 Centerline is valid? [True, True] Translation: X:191.60, Y:204.25, Z:-203.54 [[ 2.73884328e-01 -7.13226504e-01 6.45209523e-01 1.91598557e+02] [ 3.83794336e-01 6.96182395e-01 6.06656394e-01 2.04246513e+02] [-8.81866930e-01 8.14740819e-02 4.64405740e-01 -2.03543693e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.7107140569999 meters Centerline goodness : 0.986058 Centerline is valid? [True, True] Translation: X:191.61, Y:204.26, Z:-203.57 [[ 2.73559015e-01 -7.07654025e-01 6.51453180e-01 1.91607404e+02] [ 3.83842687e-01 7.01337596e-01 6.00658278e-01 2.04260610e+02] [-8.81946856e-01 8.57400525e-02 4.63485045e-01 -2.03572290e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.740714057 meters Centerline goodness : 0.986493 Centerline is valid? [True, True] Translation: X:191.62, Y:204.27, Z:-203.60 [[ 2.75820190e-01 -7.08238075e-01 6.49863103e-01 1.91616166e+02] [ 3.86133959e-01 7.00778849e-01 5.99841288e-01 2.04271586e+02] [-8.80240756e-01 8.54858743e-02 4.66763727e-01 -2.03596178e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.770714057 meters Centerline goodness : 0.986864 Centerline is valid? [True, True] Translation: X:191.62, Y:204.28, Z:-203.63 [[ 2.75436756e-01 -7.09958901e-01 6.48145780e-01 1.91623893e+02] [ 3.85785892e-01 6.99184951e-01 6.01921631e-01 2.04281501e+02] [-8.80513395e-01 8.42541562e-02 4.66473363e-01 -2.03625994e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.8007140569999 meters Centerline goodness : 0.986590 Centerline is valid? [True, True] Translation: X:191.63, Y:204.29, Z:-203.65 [[ 2.74510445e-01 -7.09972109e-01 6.48524186e-01 1.91634195e+02] [ 3.85240188e-01 6.99142550e-01 6.02320258e-01 2.04294819e+02] [-8.81041437e-01 8.44943774e-02 4.65431721e-01 -2.03654561e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.8307140569999 meters Centerline goodness : 0.987409 Centerline is valid? [True, True] Translation: X:191.64, Y:204.31, Z:-203.68 [[ 2.75993089e-01 -7.08412160e-01 6.49599897e-01 1.91644522e+02] [ 3.86775297e-01 7.00571289e-01 5.99670525e-01 2.04307139e+02] [-8.79904929e-01 8.57442724e-02 4.67349158e-01 -2.03684081e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.8607140569999 meters Centerline goodness : 0.986831 Centerline is valid? [True, True] Translation: X:191.66, Y:204.32, Z:-203.71 [[ 2.75354729e-01 -7.15508723e-01 6.42049096e-01 1.91655780e+02] [ 3.86925767e-01 6.93869013e-01 6.07317251e-01 2.04317302e+02] [-8.80038763e-01 8.11976619e-02 4.67908875e-01 -2.03711406e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.890714057 meters Centerline goodness : 0.986211 Centerline is valid? [True, True] Translation: X:191.66, Y:204.33, Z:-203.74 [[ 2.75591422e-01 -7.08709673e-01 6.49445893e-01 1.91664395e+02] [ 3.85737193e-01 7.00361094e-01 6.00584013e-01 2.04332612e+02] [-8.80486335e-01 8.49996334e-02 4.66389190e-01 -2.03736718e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.9207140569999 meters Centerline goodness : 0.985733 Centerline is valid? [True, True] Translation: X:191.67, Y:204.34, Z:-203.76 [[ 2.75795996e-01 -7.14768664e-01 6.42683690e-01 1.91674973e+02] [ 3.86551563e-01 6.94641280e-01 6.06672384e-01 2.04340695e+02] [-8.80065031e-01 8.11125702e-02 4.67874228e-01 -2.03764528e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.9507140569999 meters Centerline goodness : 0.988629 Centerline is valid? [True, True] Translation: X:191.68, Y:204.36, Z:-203.79 [[ 2.71034237e-01 -7.16165212e-01 6.43154594e-01 1.91678181e+02] [ 3.96152043e-01 6.91945978e-01 6.03551425e-01 2.04360392e+02] [-8.77270769e-01 9.12039060e-02 4.71251362e-01 -2.03788248e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.9807140569999 meters Centerline goodness : 0.985878 Centerline is valid? [True, True] Translation: X:191.69, Y:204.35, Z:-203.82 [[ 2.75346877e-01 -7.32846793e-01 6.22189421e-01 1.91694092e+02] [ 3.87367751e-01 6.76918326e-01 6.25881623e-01 2.04348606e+02] [-8.79846761e-01 6.86815665e-02 4.70268561e-01 -2.03821159e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.010714057 meters Centerline goodness : 0.985871 Centerline is valid? [True, True] Translation: X:191.70, Y:204.37, Z:-203.85 [[ 2.75970814e-01 -7.12501141e-01 6.45121876e-01 1.91700154e+02] [ 3.87474194e-01 6.96701608e-01 6.03714021e-01 2.04371172e+02] [-8.79604376e-01 8.33606294e-02 4.68345115e-01 -2.03845976e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.040714057 meters Centerline goodness : 0.986334 Centerline is valid? [True, True] Translation: X:191.71, Y:204.38, Z:-203.87 [[ 2.75172066e-01 -7.16498103e-01 6.41023247e-01 1.91711270e+02] [ 3.87808131e-01 6.92834470e-01 6.07935235e-01 2.04380275e+02] [-8.79707444e-01 8.13072325e-02 4.68512483e-01 -2.03869665e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.0707140569999 meters Centerline goodness : 0.988851 Centerline is valid? [True, True] Translation: X:191.71, Y:204.40, Z:-203.89 [[ 2.71714564e-01 -7.18672146e-01 6.40063702e-01 1.91714033e+02] [ 3.99062208e-01 6.89349593e-01 6.04604411e-01 2.04397690e+02] [-8.75740002e-01 9.11454105e-02 4.74101217e-01 -2.03893825e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.1007140569999 meters Centerline goodness : 0.986295 Centerline is valid? [True, True] Translation: X:191.73, Y:204.39, Z:-203.93 [[ 2.76995513e-01 -7.29333687e-01 6.25576422e-01 1.91728268e+02] [ 3.86706425e-01 6.80614042e-01 6.22272181e-01 2.04388446e+02] [-8.79620161e-01 6.95478195e-02 4.70565058e-01 -2.03928511e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.130714057 meters Centerline goodness : 0.986682 Centerline is valid? [True, True] Translation: X:191.74, Y:204.41, Z:-203.95 [[ 2.77046435e-01 -7.15408281e-01 6.41432977e-01 1.91738035e+02] [ 3.86646365e-01 6.94136069e-01 6.07190009e-01 2.04412659e+02] [-8.79630525e-01 7.97879022e-02 4.68917935e-01 -2.03953943e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.160714057 meters Centerline goodness : 0.986270 Centerline is valid? [True, True] Translation: X:191.75, Y:204.42, Z:-203.98 [[ 2.78859325e-01 -7.16719000e-01 6.39180219e-01 1.91747257e+02] [ 3.85692040e-01 6.93129420e-01 6.08944380e-01 2.04422788e+02] [-8.79476622e-01 7.67169040e-02 4.69718415e-01 -2.03981466e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.1907140569999 meters Centerline goodness : 0.986443 Centerline is valid? [True, True] Translation: X:191.76, Y:204.43, Z:-204.01 [[ 2.80292466e-01 -7.19431806e-01 6.35495091e-01 1.91758772e+02] [ 3.86712014e-01 6.90562902e-01 6.11209209e-01 2.04434867e+02] [-8.78572679e-01 7.44362500e-02 4.71772501e-01 -2.04008673e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.2207140569999 meters Centerline goodness : 0.985796 Centerline is valid? [True, True] Translation: X:191.77, Y:204.45, Z:-204.03 [[ 2.80974523e-01 -7.09650003e-01 6.46103854e-01 1.91766885e+02] [ 3.81952797e-01 7.00297384e-01 6.03071833e-01 2.04451125e+02] [-8.80434767e-01 7.73333538e-02 4.67818527e-01 -2.04032494e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.250714057 meters Centerline goodness : 0.988175 Centerline is valid? [True, True] Translation: X:191.78, Y:204.45, Z:-204.07 [[ 2.78796218e-01 -7.27804607e-01 6.26556559e-01 1.91780671e+02] [ 3.86709583e-01 6.82272494e-01 6.20451402e-01 2.04453372e+02] [-8.79049696e-01 6.93159208e-02 4.71664007e-01 -2.04071292e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.280714057 meters Centerline goodness : 0.988611 Centerline is valid? [True, True] Translation: X:191.79, Y:204.49, Z:-204.09 [[ 2.82373617e-01 -6.97558956e-01 6.58541300e-01 1.91788365e+02] [ 3.85440578e-01 7.11128272e-01 5.87989917e-01 2.04489221e+02] [-8.78464969e-01 8.77956994e-02 4.69671389e-01 -2.04089639e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.3107140569999 meters Centerline goodness : 0.986717 Centerline is valid? [True, True] Translation: X:191.80, Y:204.50, Z:-204.11 [[ 2.85258088e-01 -6.97489894e-01 6.57370270e-01 1.91795428e+02] [ 3.80366093e-01 7.11928070e-01 5.90321996e-01 2.04497183e+02] [-8.79743973e-01 8.16472376e-02 4.68384746e-01 -2.04110919e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.3407140569999 meters Centerline goodness : 0.988401 Centerline is valid? [True, True] Translation: X:191.81, Y:204.49, Z:-204.15 [[ 2.82425097e-01 -7.17066778e-01 6.37221547e-01 1.91806012e+02] [ 3.82237900e-01 6.93373403e-01 6.10841642e-01 2.04494594e+02] [-8.79846721e-01 7.10532160e-02 4.69916151e-01 -2.04145579e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.370714057 meters Centerline goodness : 0.987437 Centerline is valid? [True, True] Translation: X:191.81, Y:204.51, Z:-204.16 [[ 2.83041542e-01 -7.03635975e-01 6.51754478e-01 1.91812971e+02] [ 3.76290520e-01 7.06526723e-01 5.99354181e-01 2.04513539e+02] [-8.82209119e-01 7.56069001e-02 4.64747960e-01 -2.04161577e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.400714057 meters Centerline goodness : 0.987872 Centerline is valid? [True, True] Translation: X:191.82, Y:204.52, Z:-204.19 [[ 2.84794084e-01 -7.13456610e-01 6.40212462e-01 1.91822336e+02] [ 3.82162255e-01 6.97004043e-01 6.06743253e-01 2.04518203e+02] [-8.79115658e-01 7.18681490e-02 4.71158815e-01 -2.04194260e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.4307140569999 meters Centerline goodness : 0.986645 Centerline is valid? [True, True] Translation: X:191.83, Y:204.54, Z:-204.21 [[ 2.86956689e-01 -6.96222181e-01 6.57974568e-01 1.91828791e+02] [ 3.79365178e-01 7.13297635e-01 5.89311926e-01 2.04540147e+02] [-8.79623738e-01 8.05056398e-02 4.68807979e-01 -2.04210928e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.4607140569999 meters Centerline goodness : 0.988452 Centerline is valid? [True, True] Translation: X:191.84, Y:204.54, Z:-204.25 [[ 2.85053090e-01 -7.13012585e-01 6.40591750e-01 1.91837926e+02] [ 3.81272665e-01 6.97517119e-01 6.06713296e-01 2.04536172e+02] [-8.79417927e-01 7.12946237e-02 4.70681618e-01 -2.04245769e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.490714057 meters Centerline goodness : 0.988822 Centerline is valid? [True, True] Translation: X:191.85, Y:204.55, Z:-204.27 [[ 2.85617514e-01 -7.07663740e-01 6.46246599e-01 1.91846888e+02] [ 3.82858951e-01 7.02444293e-01 5.99992532e-01 2.04553345e+02] [-8.78545195e-01 7.60529199e-02 4.71565790e-01 -2.04272519e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.520714057 meters Centerline goodness : 0.989507 Centerline is valid? [True, True] Translation: X:191.86, Y:204.57, Z:-204.30 [[ 2.85898527e-01 -6.99326889e-01 6.55136577e-01 1.91855359e+02] [ 3.82997158e-01 7.10083653e-01 5.90842096e-01 2.04570839e+02] [-8.78393539e-01 8.19945626e-02 4.70852082e-01 -2.04299357e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.5507140569999 meters Centerline goodness : 0.989665 Centerline is valid? [True, True] Translation: X:191.86, Y:204.58, Z:-204.33 [[ 2.85759149e-01 -6.95843894e-01 6.58895276e-01 1.91863960e+02] [ 3.81421573e-01 7.13344554e-01 5.87926128e-01 2.04583355e+02] [-8.79124162e-01 8.33116022e-02 4.69254605e-01 -2.04329366e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.5807140569999 meters Centerline goodness : 0.989729 Centerline is valid? [True, True] Translation: X:191.87, Y:204.60, Z:-204.36 [[ 2.86543229e-01 -6.90548259e-01 6.64105474e-01 1.91871570e+02] [ 3.78914572e-01 7.18338593e-01 5.83449580e-01 2.04596163e+02] [-8.79952683e-01 8.44557146e-02 4.67493858e-01 -2.04358230e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.6107140569999 meters Centerline goodness : 0.989035 Centerline is valid? [True, True] Translation: X:191.88, Y:204.60, Z:-204.39 [[ 2.86479507e-01 -6.96604228e-01 6.57778110e-01 1.91881567e+02] [ 3.79246858e-01 7.12926951e-01 5.89836404e-01 2.04604519e+02] [-8.79830275e-01 8.04842391e-02 4.68423926e-01 -2.04387804e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.640714057 meters Centerline goodness : 0.990295 Centerline is valid? [True, True] Translation: X:191.89, Y:204.62, Z:-204.42 [[ 2.86569011e-01 -6.91262938e-01 6.63350400e-01 1.91891121e+02] [ 3.78584175e-01 7.17743572e-01 5.84395574e-01 2.04619838e+02] [-8.80086487e-01 8.36643024e-02 4.67384275e-01 -2.04415753e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.6707140569999 meters Centerline goodness : 0.988614 Centerline is valid? [True, True] Translation: X:191.90, Y:204.64, Z:-204.44 [[ 2.85718365e-01 -6.77426751e-01 6.77833322e-01 1.91897942e+02] [ 3.74831332e-01 7.29967612e-01 5.71531939e-01 2.04636958e+02] [-8.81967396e-01 9.07759957e-02 4.62485925e-01 -2.04444901e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.7007140569999 meters Centerline goodness : 0.989299 Centerline is valid? [True, True] Translation: X:191.91, Y:204.64, Z:-204.47 [[ 2.85739172e-01 -6.94846407e-01 6.59955753e-01 1.91909758e+02] [ 3.76582087e-01 7.14682635e-01 5.89418920e-01 2.04638892e+02] [-8.81214535e-01 8.01074410e-02 4.65879535e-01 -2.04473793e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.7307140569999 meters Centerline goodness : 0.989353 Centerline is valid? [True, True] Translation: X:191.92, Y:204.65, Z:-204.50 [[ 2.85388964e-01 -6.89729827e-01 6.65451655e-01 1.91918183e+02] [ 3.75189933e-01 7.19314982e-01 5.84652436e-01 2.04654048e+02] [-8.81921569e-01 8.28174085e-02 4.64064245e-01 -2.04501858e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.760714057 meters Centerline goodness : 0.990091 Centerline is valid? [True, True] Translation: X:191.93, Y:204.67, Z:-204.53 [[ 2.85288085e-01 -6.90488202e-01 6.64708020e-01 1.91928197e+02] [ 3.74937635e-01 7.18663062e-01 5.85615209e-01 2.04665319e+02] [-8.82061494e-01 8.21550113e-02 4.63916022e-01 -2.04529940e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.790714057 meters Centerline goodness : 0.990667 Centerline is valid? [True, True] Translation: X:191.94, Y:204.68, Z:-204.56 [[ 2.85284085e-01 -6.92740572e-01 6.62362054e-01 1.91938350e+02] [ 3.75574444e-01 7.16612356e-01 5.87716401e-01 2.04676335e+02] [-8.81791828e-01 8.11001245e-02 4.64613756e-01 -2.04558290e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.8207140569999 meters Centerline goodness : 0.989665 Centerline is valid? [True, True] Translation: X:191.95, Y:204.69, Z:-204.59 [[ 2.86023974e-01 -6.90672456e-01 6.64200154e-01 1.91946520e+02] [ 3.74737050e-01 7.18579352e-01 5.85846275e-01 2.04688670e+02] [-8.81908402e-01 8.13343264e-02 4.64351481e-01 -2.04585427e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.8507140569999 meters Centerline goodness : 0.990372 Centerline is valid? [True, True] Translation: X:191.96, Y:204.70, Z:-204.61 [[ 2.86267339e-01 -6.98123330e-01 6.56258201e-01 1.91956769e+02] [ 3.76812335e-01 7.11761170e-01 5.92797184e-01 2.04695842e+02] [-8.80944649e-01 7.75877127e-02 4.66815459e-01 -2.04614902e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.880714057 meters Centerline goodness : 0.990365 Centerline is valid? [True, True] Translation: X:191.97, Y:204.71, Z:-204.64 [[ 2.87119786e-01 -6.93685262e-01 6.60577767e-01 1.91966945e+02] [ 3.76948967e-01 7.15796412e-01 5.87830735e-01 2.04709755e+02] [-8.80608713e-01 8.02262722e-02 4.67003256e-01 -2.04643730e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.910714057 meters Centerline goodness : 0.990464 Centerline is valid? [True, True] Translation: X:191.98, Y:204.72, Z:-204.67 [[ 2.88143530e-01 -7.01129962e-01 6.52219352e-01 1.91977544e+02] [ 3.79611385e-01 7.08937323e-01 5.94393026e-01 2.04717809e+02] [-8.79129401e-01 7.63193870e-02 4.70432618e-01 -2.04670832e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.9407140569999 meters Centerline goodness : 0.990587 Centerline is valid? [True, True] Translation: X:191.99, Y:204.73, Z:-204.70 [[ 2.88720802e-01 -7.02911616e-01 6.50042736e-01 1.91988036e+02] [ 3.80161332e-01 7.07306826e-01 5.95981892e-01 2.04728083e+02] [-8.78702259e-01 7.50487425e-02 4.71434010e-01 -2.04699716e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.9707140569999 meters Centerline goodness : 0.990400 Centerline is valid? [True, True] Translation: X:191.99, Y:204.74, Z:-204.71 [[ 2.87790363e-01 -7.05146619e-01 6.48031598e-01 1.91989255e+02] [ 3.87432166e-01 7.04539173e-01 5.94576211e-01 2.04744786e+02] [-8.75827051e-01 7.99549822e-02 4.75956067e-01 -2.04712633e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.000714057 meters Centerline goodness : 0.990211 Centerline is valid? [True, True] Translation: X:192.01, Y:204.72, Z:-204.76 [[ 2.87669005e-01 -7.40056881e-01 6.07916405e-01 1.92009545e+02] [ 3.80189017e-01 6.70832609e-01 6.36741645e-01 2.04722281e+02] [-8.79035184e-01 4.79523046e-02 4.74339247e-01 -2.04763127e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.030714057 meters Centerline goodness : 0.990621 Centerline is valid? [True, True] Translation: X:192.02, Y:204.76, Z:-204.78 [[ 2.90070842e-01 -7.04059791e-01 6.48196512e-01 1.92018303e+02] [ 3.82141536e-01 7.06189389e-01 5.96040597e-01 2.04763577e+02] [-8.77397717e-01 7.48088129e-02 4.73895441e-01 -2.04779797e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.0607140569999 meters Centerline goodness : 0.991247 Centerline is valid? [True, True] Translation: X:192.03, Y:204.77, Z:-204.81 [[ 2.89427964e-01 -7.03835348e-01 6.48727413e-01 1.92028217e+02] [ 3.81231124e-01 7.06422943e-01 5.96346757e-01 2.04774302e+02] [-8.78005856e-01 7.47156531e-02 4.72782495e-01 -2.04809999e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.0907140569999 meters Centerline goodness : 0.990850 Centerline is valid? [True, True] Translation: X:192.03, Y:204.79, Z:-204.82 [[ 2.87093973e-01 -7.04742447e-01 6.48779728e-01 1.92029257e+02] [ 3.86788813e-01 7.04910223e-01 5.94555289e-01 2.04791140e+02] [-8.76339811e-01 8.02475008e-02 4.74961971e-01 -2.04822998e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.120714057 meters Centerline goodness : 0.991176 Centerline is valid? [True, True] Translation: X:192.05, Y:204.77, Z:-204.88 [[ 2.85463742e-01 -7.29259618e-01 6.21844725e-01 1.92047417e+02] [ 3.75989212e-01 6.82043279e-01 6.27255194e-01 2.04772824e+02] [-8.81556898e-01 5.47482935e-02 4.68892375e-01 -2.04876256e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.150714057 meters Centerline goodness : 0.991349 Centerline is valid? [True, True] Translation: X:192.05, Y:204.81, Z:-204.88 [[ 2.86339523e-01 -7.06132206e-01 6.47600946e-01 1.92048666e+02] [ 3.86439993e-01 7.03602190e-01 5.96328844e-01 2.04812266e+02] [-8.76740446e-01 7.95063882e-02 4.74346840e-01 -2.04877206e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.1807140569999 meters Centerline goodness : 0.990665 Centerline is valid? [True, True] Translation: X:192.06, Y:204.80, Z:-204.93 [[ 2.84729240e-01 -7.20602629e-01 6.32187560e-01 1.92064676e+02] [ 3.74789115e-01 6.90673743e-01 6.18468189e-01 2.04799747e+02] [-8.82305151e-01 6.08410391e-02 4.66729031e-01 -2.04930055e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.2107140569999 meters Centerline goodness : 0.990710 Centerline is valid? [True, True] Translation: X:192.07, Y:204.83, Z:-204.95 [[ 2.86122217e-01 -6.95607944e-01 6.58986848e-01 1.92074255e+02] [ 3.78566911e-01 7.13852006e-01 5.89153977e-01 2.04831948e+02] [-8.80239269e-01 8.09005737e-02 4.67583069e-01 -2.04947994e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.240714057 meters Centerline goodness : 0.991288 Centerline is valid? [True, True] Translation: X:192.08, Y:204.83, Z:-204.96 [[ 2.85152359e-01 -7.19157123e-01 6.33641196e-01 1.92078683e+02] [ 3.88980235e-01 6.91028809e-01 6.09240151e-01 2.04834701e+02] [-8.76003715e-01 7.27476346e-02 4.76786402e-01 -2.04963047e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.270714057 meters Centerline goodness : 0.990126 Centerline is valid? [True, True] Translation: X:192.09, Y:204.83, Z:-205.01 [[ 2.84066028e-01 -7.19850681e-01 6.33341526e-01 1.92094008e+02] [ 3.77021936e-01 6.91204271e-01 6.16515300e-01 2.04831265e+02] [-8.81567327e-01 6.36525955e-02 4.67747150e-01 -2.05011423e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.3007140569999 meters Centerline goodness : 0.989728 Centerline is valid? [True, True] Translation: X:192.10, Y:204.86, Z:-205.03 [[ 2.85844963e-01 -6.98317444e-01 6.56235784e-01 1.92103660e+02] [ 3.79922530e-01 7.11273011e-01 5.91396293e-01 2.04859473e+02] [-8.79745150e-01 8.02711074e-02 4.68620338e-01 -2.05030995e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.3307140569999 meters Centerline goodness : 0.990361 Centerline is valid? [True, True] Translation: X:192.11, Y:204.86, Z:-205.05 [[ 2.85351721e-01 -7.29929027e-01 6.21110305e-01 1.92110111e+02] [ 3.89674077e-01 6.80431425e-01 6.20618393e-01 2.04856187e+02] [-8.75630350e-01 6.49360582e-02 4.78596698e-01 -2.05049740e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.3607140569999 meters Centerline goodness : 0.989338 Centerline is valid? [True, True] Translation: X:192.12, Y:204.86, Z:-205.09 [[ 2.85092480e-01 -7.24604171e-01 6.27432127e-01 1.92124650e+02] [ 3.79490457e-01 6.86437419e-01 6.20314971e-01 2.04858499e+02] [-8.80175705e-01 6.12573712e-02 4.70678514e-01 -2.05093329e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.390714057 meters Centerline goodness : 0.990109 Centerline is valid? [True, True] Translation: X:192.13, Y:204.88, Z:-205.10 [[ 2.88010588e-01 -7.29274099e-01 6.20652229e-01 1.92131688e+02] [ 3.88018367e-01 6.81398946e-01 6.20594250e-01 2.04876298e+02] [-8.75495087e-01 6.20867496e-02 4.79221856e-01 -2.05104640e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.4207140569999 meters Centerline goodness : 0.990569 Centerline is valid? [True, True] Translation: X:192.15, Y:204.88, Z:-205.15 [[ 2.89300860e-01 -7.20648705e-01 6.30055915e-01 1.92145941e+02] [ 3.75108015e-01 6.90907919e-01 6.18013126e-01 2.04880962e+02] [-8.80680981e-01 5.75472952e-02 4.70201360e-01 -2.05148825e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.4507140569999 meters Centerline goodness : 0.990894 Centerline is valid? [True, True] Translation: X:192.16, Y:204.90, Z:-205.16 [[ 2.92237219e-01 -7.13419131e-01 6.36891318e-01 1.92156620e+02] [ 3.79049754e-01 6.97826537e-01 6.07749462e-01 2.04902123e+02] [-8.78019756e-01 6.38064850e-02 4.74352233e-01 -2.05163591e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.4807140569999 meters Centerline goodness : 0.990894 Centerline is valid? [True, True] Translation: X:192.17, Y:204.91, Z:-205.19 [[ 2.92093428e-01 -7.17214578e-01 6.32680550e-01 1.92167581e+02] [ 3.79107645e-01 6.94166417e-01 6.11890822e-01 2.04910773e+02] [-8.78042609e-01 6.11247458e-02 4.74662978e-01 -2.05194262e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.510714057 meters Centerline goodness : 0.989996 Centerline is valid? [True, True] Translation: X:192.18, Y:204.92, Z:-205.22 [[ 2.91861454e-01 -7.22738364e-01 6.26471187e-01 1.92178287e+02] [ 3.74375777e-01 6.89053405e-01 6.20522508e-01 2.04915384e+02] [-8.80147527e-01 5.34290361e-02 4.71683866e-01 -2.05222048e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.540714057 meters Centerline goodness : 0.991008 Centerline is valid? [True, True] Translation: X:192.19, Y:204.93, Z:-205.24 [[ 2.96192022e-01 -7.23221512e-01 6.23875734e-01 1.92185847e+02] [ 3.79518313e-01 6.88522799e-01 6.17982367e-01 2.04931542e+02] [-8.76490808e-01 5.37308198e-02 4.78410768e-01 -2.05242975e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.5707140569999 meters Centerline goodness : 0.990014 Centerline is valid? [True, True] Translation: X:192.20, Y:204.93, Z:-205.28 [[ 2.97724982e-01 -7.40537664e-01 6.02464774e-01 1.92198386e+02] [ 3.77266346e-01 6.70981915e-01 6.38320746e-01 2.04927261e+02] [-8.76943521e-01 3.72456511e-02 4.79148017e-01 -2.05277095e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.6007140569999 meters Centerline goodness : 0.989944 Centerline is valid? [True, True] Translation: X:192.21, Y:204.94, Z:-205.31 [[ 3.00120553e-01 -7.39375115e-01 6.02703984e-01 1.92209810e+02] [ 3.75641814e-01 6.72384284e-01 6.37802949e-01 2.04938259e+02] [-8.76824316e-01 3.49830442e-02 4.79536553e-01 -2.05305600e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.630714057 meters Centerline goodness : 0.989335 Centerline is valid? [True, True] Translation: X:192.22, Y:204.95, Z:-205.33 [[ 3.02359431e-01 -7.38360414e-01 6.02828893e-01 1.92219778e+02] [ 3.74475380e-01 6.73594660e-01 6.37211444e-01 2.04947918e+02] [-8.76554028e-01 3.30776892e-02 4.80165495e-01 -2.05331198e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.660714057 meters Centerline goodness : 0.989770 Centerline is valid? [True, True] Translation: X:192.23, Y:204.96, Z:-205.36 [[ 3.05969552e-01 -7.37133439e-01 6.02508860e-01 1.92230623e+02] [ 3.71138301e-01 6.75143784e-01 6.37524300e-01 2.04955215e+02] [-8.76720591e-01 2.85510901e-02 4.80151893e-01 -2.05356176e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.6907140569999 meters Centerline goodness : 0.989773 Centerline is valid? [True, True] Translation: X:192.24, Y:204.97, Z:-205.39 [[ 3.07799349e-01 -7.36745362e-01 6.02051354e-01 1.92242575e+02] [ 3.69739383e-01 6.75659003e-01 6.37791267e-01 2.04965295e+02] [-8.76671175e-01 2.62903594e-02 4.80371177e-01 -2.05385901e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.7207140569999 meters Centerline goodness : 0.988857 Centerline is valid? [True, True] Translation: X:192.26, Y:204.97, Z:-205.42 [[ 3.11072485e-01 -7.35226484e-01 6.02225810e-01 1.92255543e+02] [ 3.67492083e-01 6.77428003e-01 6.37213363e-01 2.04974456e+02] [-8.76460768e-01 2.30936732e-02 4.80919124e-01 -2.05415101e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.750714057 meters Centerline goodness : 0.988958 Centerline is valid? [True, True] Translation: X:192.27, Y:204.98, Z:-205.44 [[ 3.12294369e-01 -7.34409301e-01 6.02590412e-01 1.92267417e+02] [ 3.66445326e-01 6.78352225e-01 6.36832853e-01 2.04984481e+02] [-8.76464517e-01 2.19371261e-02 4.80966436e-01 -2.05444799e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.780714057 meters Centerline goodness : 0.990094 Centerline is valid? [True, True] Translation: X:192.28, Y:204.99, Z:-205.47 [[ 3.13314919e-01 -7.33744929e-01 6.02869921e-01 1.92279703e+02] [ 3.65922099e-01 6.79093347e-01 6.36343652e-01 2.04994643e+02] [-8.76318880e-01 2.12274673e-02 4.81263562e-01 -2.05472504e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.8107140569999 meters Centerline goodness : 0.989328 Centerline is valid? [True, True] Translation: X:192.29, Y:205.00, Z:-205.50 [[ 3.13420224e-01 -7.33337224e-01 6.03311097e-01 1.92291816e+02] [ 3.65559286e-01 6.79534911e-01 6.36080744e-01 2.05004584e+02] [-8.76432640e-01 2.11854041e-02 4.81058216e-01 -2.05501730e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.8407140569999 meters Centerline goodness : 0.987253 Centerline is valid? [True, True] Translation: X:192.31, Y:205.01, Z:-205.53 [[ 3.12183987e-01 -7.33364755e-01 6.03918285e-01 1.92306426e+02] [ 3.65908001e-01 6.79464807e-01 6.35955117e-01 2.05012563e+02] [-8.76728289e-01 2.24435286e-02 4.80462064e-01 -2.05529614e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.870714057 meters Centerline goodness : 0.989200 Centerline is valid? [True, True] Translation: X:192.32, Y:205.02, Z:-205.56 [[ 3.10688478e-01 -7.33642836e-01 6.04351602e-01 1.92318852e+02] [ 3.67031106e-01 6.79100225e-01 6.35697295e-01 2.05021820e+02] [-8.76790076e-01 2.43120118e-02 4.80258357e-01 -2.05558424e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.900714057 meters Centerline goodness : 0.987543 Centerline is valid? [True, True] Translation: X:192.33, Y:205.03, Z:-205.59 [[ 3.08912427e-01 -7.34292972e-01 6.04472451e-01 1.92331477e+02] [ 3.68755320e-01 6.78312278e-01 6.35540689e-01 2.05030489e+02] [-8.76694146e-01 2.65760154e-02 4.80313532e-01 -2.05586486e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.9307140569999 meters Centerline goodness : 0.986262 Centerline is valid? [True, True] Translation: X:192.35, Y:205.04, Z:-205.62 [[ 3.09361020e-01 -7.24574797e-01 6.15862909e-01 1.92350843e+02] [ 3.64855992e-01 6.88507436e-01 6.26767593e-01 2.05041240e+02] [-8.78166194e-01 3.08038108e-02 4.77362819e-01 -2.05624172e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.9607140569999 meters Centerline goodness : 0.988006 Centerline is valid? [True, True] Translation: X:192.36, Y:205.07, Z:-205.65 [[ 3.06103190e-01 -7.01421153e-01 6.43668551e-01 1.92363317e+02] [ 3.70835457e-01 7.10570889e-01 5.97971634e-01 2.05066309e+02] [-8.76802088e-01 5.56540968e-02 4.77619849e-01 -2.05648391e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.990714057 meters Centerline goodness : 0.987988 Centerline is valid? [True, True] Translation: X:192.38, Y:205.07, Z:-205.67 [[ 3.04132444e-01 -7.08261421e-01 6.37078658e-01 1.92375672e+02] [ 3.74757500e-01 7.03788865e-01 6.03521374e-01 2.05071567e+02] [-8.75819772e-01 5.51995744e-02 4.79471307e-01 -2.05672592e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.020714057 meters Centerline goodness : 0.987519 Centerline is valid? [True, True] Translation: X:192.39, Y:205.08, Z:-205.70 [[ 3.02388846e-01 -7.16534657e-01 6.28600884e-01 1.92390338e+02] [ 3.78977635e-01 6.95487096e-01 6.10470025e-01 2.05076727e+02] [-8.74606733e-01 5.36263500e-02 4.81858150e-01 -2.05700607e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.0507140569999 meters Centerline goodness : 0.987530 Centerline is valid? [True, True] Translation: X:192.40, Y:205.09, Z:-205.73 [[ 2.98247694e-01 -7.14589316e-01 6.32779917e-01 1.92404014e+02] [ 3.83003021e-01 6.96835838e-01 6.06406218e-01 2.05085469e+02] [-8.74275128e-01 6.14973635e-02 4.81519548e-01 -2.05727224e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.0807140569999 meters Centerline goodness : 0.987474 Centerline is valid? [True, True] Translation: X:192.42, Y:205.09, Z:-205.76 [[ 2.95860866e-01 -7.24137292e-01 6.22969927e-01 1.92418154e+02] [ 3.86837528e-01 6.87124420e-01 6.14993299e-01 2.05090284e+02] [-8.73397432e-01 5.90356969e-02 4.83416706e-01 -2.05756551e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.1107140569999 meters Centerline goodness : 0.988911 Centerline is valid? [True, True] Translation: X:192.42, Y:205.10, Z:-205.78 [[ 2.92192429e-01 -7.21587955e-01 6.27641942e-01 1.92422975e+02] [ 3.91283334e-01 6.89039700e-01 6.10017741e-01 2.05103714e+02] [-8.72651670e-01 6.73432666e-02 4.83677524e-01 -2.05775878e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.140714057 meters Centerline goodness : 0.987958 Centerline is valid? [True, True] Translation: X:192.44, Y:205.10, Z:-205.82 [[ 2.90591845e-01 -7.35589447e-01 6.11935082e-01 1.92442320e+02] [ 3.85514370e-01 6.75334947e-01 6.28729974e-01 2.05097098e+02] [-8.75748280e-01 5.32059650e-02 4.79827131e-01 -2.05819491e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.1707140569999 meters Centerline goodness : 0.986961 Centerline is valid? [True, True] Translation: X:192.45, Y:205.12, Z:-205.84 [[ 2.84360649e-01 -7.01093801e-01 6.53916282e-01 1.92447785e+02] [ 3.73748585e-01 7.09176475e-01 5.97813284e-01 2.05121734e+02] [-8.82865232e-01 7.44057117e-02 4.63694698e-01 -2.05840118e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.2007140569999 meters Centerline goodness : 0.987678 Centerline is valid? [True, True] Translation: X:192.47, Y:205.12, Z:-205.87 [[ 2.86886372e-01 -7.32759346e-01 6.17057494e-01 1.92467179e+02] [ 3.87487293e-01 6.77850288e-01 6.24798035e-01 2.05117614e+02] [-8.76099200e-01 5.98558964e-02 4.78400945e-01 -2.05873809e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.2307140569999 meters Centerline goodness : 0.989065 Centerline is valid? [True, True] Translation: X:192.48, Y:205.14, Z:-205.90 [[ 2.86570304e-01 -7.12023702e-01 6.41014594e-01 1.92476076e+02] [ 3.87201087e-01 6.98073750e-01 6.02302547e-01 2.05140872e+02] [-8.76329150e-01 7.55995240e-02 4.75743558e-01 -2.05901324e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.260714057 meters Centerline goodness : 0.987996 Centerline is valid? [True, True] Translation: X:192.48, Y:205.16, Z:-205.93 [[ 2.85756745e-01 -6.99635786e-01 6.54868574e-01 1.92484147e+02] [ 3.84281171e-01 7.09672524e-01 5.90502236e-01 2.05155880e+02] [-8.77878730e-01 8.29136649e-02 4.71650570e-01 -2.05929468e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.290714057 meters Centerline goodness : 0.989720 Centerline is valid? [True, True] Translation: X:192.50, Y:205.17, Z:-205.96 [[ 2.85829673e-01 -6.98261638e-01 6.56301823e-01 1.92496430e+02] [ 3.86726664e-01 7.10678429e-01 5.87689253e-01 2.05167205e+02] [-8.76780409e-01 8.58303871e-02 4.73169377e-01 -2.05962707e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.3207140569999 meters Centerline goodness : 0.987427 Centerline is valid? [True, True] Translation: X:192.51, Y:205.17, Z:-205.98 [[ 2.82429819e-01 -7.17129442e-01 6.37148932e-01 1.92508414e+02] [ 3.83801450e-01 6.93186370e-01 6.10073032e-01 2.05165798e+02] [-8.79164288e-01 7.22358681e-02 4.71011820e-01 -2.05981922e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.3507140569999 meters Centerline goodness : 0.987823 Centerline is valid? [True, True] Translation: X:192.52, Y:205.17, Z:-206.01 [[ 2.88096216e-01 -7.28541195e-01 6.21472685e-01 1.92522730e+02] [ 3.94404400e-01 6.81661433e-01 6.16265251e-01 2.05171779e+02] [-8.72608583e-01 6.75678743e-02 4.83723932e-01 -2.06008560e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.380714057 meters Centerline goodness : 0.988113 Centerline is valid? [True, True] Translation: X:192.53, Y:205.19, Z:-206.04 [[ 2.88736543e-01 -7.24892348e-01 6.25429687e-01 1.92533699e+02] [ 3.94327092e-01 6.85312248e-01 6.12252617e-01 2.05185486e+02] [-8.72431862e-01 6.98441651e-02 4.83719381e-01 -2.06037106e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.410714057 meters Centerline goodness : 0.987698 Centerline is valid? [True, True] Translation: X:192.54, Y:205.20, Z:-206.07 [[ 2.85244183e-01 -7.14944209e-01 6.38349853e-01 1.92540485e+02] [ 3.82514175e-01 6.95596684e-01 6.08134984e-01 2.05196821e+02] [-8.78816626e-01 7.07109002e-02 4.71891202e-01 -2.06068786e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.4407140569999 meters Centerline goodness : 0.987705 Centerline is valid? [True, True] Translation: X:192.55, Y:205.21, Z:-206.10 [[ 2.88681321e-01 -7.08051524e-01 6.44458016e-01 1.92550676e+02] [ 3.87509251e-01 7.01926542e-01 5.97608324e-01 2.05212162e+02] [-8.75499672e-01 7.72150827e-02 4.77009598e-01 -2.06100124e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.4707140569999 meters Centerline goodness : 0.988098 Centerline is valid? [True, True] Translation: X:192.56, Y:205.23, Z:-206.13 [[ 2.89450040e-01 -7.05628280e-01 6.46766886e-01 1.92561236e+02] [ 3.89177405e-01 7.04076797e-01 5.93983848e-01 2.05227062e+02] [-8.74505358e-01 7.97784101e-02 4.78409640e-01 -2.06126433e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.500714057 meters Centerline goodness : 0.987972 Centerline is valid? [True, True] Translation: X:192.57, Y:205.24, Z:-206.15 [[ 2.89278633e-01 -7.06923920e-01 6.45427334e-01 1.92571066e+02] [ 3.87408431e-01 7.03028087e-01 5.96377578e-01 2.05236448e+02] [-8.75347120e-01 7.75247008e-02 4.77239291e-01 -2.06154520e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.530714057 meters Centerline goodness : 0.989183 Centerline is valid? [True, True] Translation: X:192.58, Y:205.24, Z:-206.18 [[ 2.89701362e-01 -7.17212632e-01 6.33781636e-01 1.92584003e+02] [ 3.90623450e-01 6.93117861e-01 6.05806035e-01 2.05244346e+02] [-8.73777112e-01 7.20671353e-02 4.80957261e-01 -2.06181995e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.5607140569999 meters Centerline goodness : 0.988066 Centerline is valid? [True, True] Translation: X:192.59, Y:205.25, Z:-206.21 [[ 2.87131230e-01 -7.19785212e-01 6.32032361e-01 1.92593268e+02] [ 3.83934336e-01 6.90976049e-01 6.12492061e-01 2.05251879e+02] [-8.77581952e-01 6.67933261e-02 4.74751061e-01 -2.06205320e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.5907140569999 meters Centerline goodness : 0.988093 Centerline is valid? [True, True] Translation: X:192.61, Y:205.26, Z:-206.24 [[ 2.85557964e-01 -7.26648018e-01 6.24851428e-01 1.92605128e+02] [ 3.83949508e-01 6.84130742e-01 6.20119265e-01 2.05258439e+02] [-8.78088506e-01 6.28314032e-02 4.74355131e-01 -2.06237047e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.620714057 meters Centerline goodness : 0.988213 Centerline is valid? [True, True] Translation: X:192.61, Y:205.27, Z:-206.27 [[ 2.85147806e-01 -7.18260025e-01 6.34659960e-01 1.92614684e+02] [ 3.82759733e-01 6.92392796e-01 6.11626686e-01 2.05274223e+02] [-8.78740983e-01 6.85182693e-02 4.72355302e-01 -2.06265536e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.650714057 meters Centerline goodness : 0.982967 Centerline is valid? [True, True] Translation: X:192.62, Y:205.27, Z:-206.28 [[ 2.81538800e-01 -7.29678761e-01 6.23141083e-01 1.92617468e+02] [ 3.84201773e-01 6.80803458e-01 6.23614985e-01 2.05273098e+02] [-8.79275214e-01 6.38400942e-02 4.72016463e-01 -2.06281665e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.6807140569999 meters Centerline goodness : 0.987351 Centerline is valid? [True, True] Translation: X:192.64, Y:205.24, Z:-206.32 [[ 2.83584950e-01 -7.79751137e-01 5.58182533e-01 1.92642371e+02] [ 3.77864867e-01 6.25846984e-01 6.82300297e-01 2.05242296e+02] [-8.81361287e-01 1.74274734e-02 4.72121345e-01 -2.06321809e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.7107140569999 meters Centerline goodness : 0.987731 Centerline is valid? [True, True] Translation: X:192.64, Y:205.29, Z:-206.34 [[ 2.85514133e-01 -7.31066078e-01 6.19696756e-01 1.92643340e+02] [ 3.77684719e-01 6.80114295e-01 6.28330167e-01 2.05288434e+02] [-8.80815493e-01 5.46528526e-02 4.70294730e-01 -2.06343715e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.740714057 meters Centerline goodness : 0.987221 Centerline is valid? [True, True] Translation: X:192.66, Y:205.30, Z:-206.37 [[ 2.87405820e-01 -7.36636340e-01 6.12180363e-01 1.92655045e+02] [ 3.79130232e-01 6.74437606e-01 6.33556772e-01 2.05296669e+02] [-8.79578400e-01 5.00081791e-02 4.73118400e-01 -2.06366916e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.770714057 meters Centerline goodness : 0.988053 Centerline is valid? [True, True] Translation: X:192.66, Y:205.31, Z:-206.40 [[ 2.84870429e-01 -7.28411010e-01 6.23110134e-01 1.92663497e+02] [ 3.73634604e-01 6.83006944e-01 6.27613493e-01 2.05309305e+02] [-8.82749127e-01 5.40269836e-02 4.66728041e-01 -2.06402718e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.8007140569999 meters Centerline goodness : 0.987763 Centerline is valid? [True, True] Translation: X:192.68, Y:205.32, Z:-206.42 [[ 2.86616784e-01 -7.39227138e-01 6.09421084e-01 1.92677928e+02] [ 3.77978264e-01 6.71761216e-01 6.37078724e-01 2.05317743e+02] [-8.80331330e-01 4.77504688e-02 4.71949830e-01 -2.06423557e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.8307140569999 meters Centerline goodness : 0.987336 Centerline is valid? [True, True] Translation: X:192.69, Y:205.33, Z:-206.45 [[ 2.88247517e-01 -7.37872614e-01 6.10292860e-01 1.92687688e+02] [ 3.78582098e-01 6.73233741e-01 6.35162913e-01 2.05329468e+02] [-8.79539064e-01 4.79618183e-02 4.73403316e-01 -2.06451198e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.8607140569999 meters Centerline goodness : 0.987997 Centerline is valid? [True, True] Translation: X:192.70, Y:205.34, Z:-206.48 [[ 2.88847504e-01 -7.27780181e-01 6.22015376e-01 1.92695151e+02] [ 3.74571313e-01 6.83826792e-01 6.26160723e-01 2.05343212e+02] [-8.81058143e-01 5.21241540e-02 4.70127240e-01 -2.06481320e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.890714057 meters Centerline goodness : 0.989110 Centerline is valid? [True, True] Translation: X:192.70, Y:205.36, Z:-206.52 [[ 2.87986354e-01 -7.10802327e-01 6.41735079e-01 1.92703139e+02] [ 3.74028518e-01 7.00386185e-01 6.07915997e-01 2.05362474e+02] [-8.81570489e-01 6.49557089e-02 4.67562005e-01 -2.06518457e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.9207140569999 meters Centerline goodness : 0.989004 Centerline is valid? [True, True] Translation: X:192.72, Y:205.37, Z:-206.54 [[ 2.89288187e-01 -7.24224825e-01 6.25947879e-01 1.92717239e+02] [ 3.78087962e-01 6.87186939e-01 6.20341522e-01 2.05369184e+02] [-8.79409937e-01 5.72058839e-02 4.72615752e-01 -2.06540867e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.9507140569999 meters Centerline goodness : 0.989717 Centerline is valid? [True, True] Translation: X:192.72, Y:205.39, Z:-206.57 [[ 2.86987867e-01 -7.02588216e-01 6.51158784e-01 1.92721479e+02] [ 3.67932979e-01 7.08459705e-01 6.02254240e-01 2.05386816e+02] [-8.84456492e-01 6.67431315e-02 4.61824715e-01 -2.06571425e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.9807140569999 meters Centerline goodness : 0.990173 Centerline is valid? [True, True] Translation: X:192.74, Y:205.39, Z:-206.60 [[ 2.89061202e-01 -7.34755343e-01 6.13659683e-01 1.92740105e+02] [ 3.79551343e-01 6.76451774e-01 6.31152736e-01 2.05385096e+02] [-8.78854027e-01 5.04735881e-02 4.74413340e-01 -2.06599097e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.010714057 meters Centerline goodness : 0.989419 Centerline is valid? [True, True] Translation: X:192.74, Y:205.41, Z:-206.63 [[ 2.85499689e-01 -6.98449071e-01 6.56246008e-01 1.92742203e+02] [ 3.69064764e-01 7.12061979e-01 5.97293008e-01 2.05410169e+02] [-8.84466578e-01 7.16703103e-02 4.61066415e-01 -2.06629980e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.040714057 meters Centerline goodness : 0.989973 Centerline is valid? [True, True] Translation: X:192.76, Y:205.40, Z:-206.65 [[ 2.87295284e-01 -7.40292922e-01 6.07805734e-01 1.92761536e+02] [ 3.81675670e-01 6.70481644e-01 6.36221697e-01 2.05402913e+02] [-8.78513007e-01 4.92011672e-02 4.75178011e-01 -2.06654175e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.0707140569999 meters Centerline goodness : 0.989514 Centerline is valid? [True, True] Translation: X:192.76, Y:205.43, Z:-206.68 [[ 2.85827481e-01 -7.09221526e-01 6.44443542e-01 1.92763834e+02] [ 3.73012978e-01 7.01802776e-01 6.06905415e-01 2.05426372e+02] [-8.82702651e-01 6.69155584e-02 4.65143353e-01 -2.06682730e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.1007140569999 meters Centerline goodness : 0.989322 Centerline is valid? [True, True] Translation: X:192.78, Y:205.42, Z:-206.71 [[ 2.86597842e-01 -7.50091246e-01 5.96007382e-01 1.92782857e+02] [ 3.81820852e-01 6.59990687e-01 6.47012465e-01 2.05416576e+02] [-8.78677707e-01 4.21356702e-02 4.75552386e-01 -2.06707360e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.130714057 meters Centerline goodness : 0.989074 Centerline is valid? [True, True] Translation: X:192.79, Y:205.43, Z:-206.73 [[ 2.85011108e-01 -7.37267049e-01 6.12540584e-01 1.92790376e+02] [ 3.80664177e-01 6.73551093e-01 6.33580073e-01 2.05433225e+02] [-8.79695091e-01 5.25948985e-02 4.72620698e-01 -2.06734906e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.160714057 meters Centerline goodness : 0.988657 Centerline is valid? [True, True] Translation: X:192.80, Y:205.44, Z:-206.77 [[ 2.83285402e-01 -7.32504344e-01 6.19020813e-01 1.92798571e+02] [ 3.78580488e-01 6.78455357e-01 6.29583308e-01 2.05444144e+02] [-8.81150495e-01 5.59974410e-02 4.69508351e-01 -2.06766514e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.1907140569999 meters Centerline goodness : 0.989453 Centerline is valid? [True, True] Translation: X:192.81, Y:205.46, Z:-206.80 [[ 2.80554322e-01 -7.13489601e-01 6.42045062e-01 1.92805450e+02] [ 3.72266534e-01 6.97435095e-01 6.12374000e-01 2.05461018e+02] [-8.84707240e-01 6.72077178e-02 4.61276731e-01 -2.06803900e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.2207140569999 meters Centerline goodness : 0.989842 Centerline is valid? [True, True] Translation: X:192.82, Y:205.47, Z:-206.82 [[ 2.83229786e-01 -7.35143501e-01 6.15909833e-01 1.92819660e+02] [ 3.81949778e-01 6.75542940e-01 6.30679082e-01 2.05465669e+02] [-8.79713167e-01 5.66195227e-02 4.72121779e-01 -2.06819589e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.250714057 meters Centerline goodness : 0.989106 Centerline is valid? [True, True] Translation: X:192.83, Y:205.47, Z:-206.85 [[ 2.80378594e-01 -7.33731014e-01 6.18891463e-01 1.92828574e+02] [ 3.78489198e-01 6.77021733e-01 6.31179452e-01 2.05473954e+02] [-8.82118910e-01 5.72745259e-02 4.67531665e-01 -2.06851591e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.280714057 meters Centerline goodness : 0.989736 Centerline is valid? [True, True] Translation: X:192.84, Y:205.49, Z:-206.88 [[ 2.78792123e-01 -7.26181019e-01 6.28439401e-01 1.92837145e+02] [ 3.76735855e-01 6.84629793e-01 6.23980883e-01 2.05487722e+02] [-8.83371410e-01 6.27947000e-02 4.64447820e-01 -2.06883512e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.3107140569999 meters Centerline goodness : 0.986605 Centerline is valid? [True, True] Translation: X:192.84, Y:205.50, Z:-206.90 [[ 2.74994491e-01 -7.27193043e-01 6.28942214e-01 1.92837011e+02] [ 3.79985889e-01 6.83108022e-01 6.23677925e-01 2.05495858e+02] [-8.83169720e-01 6.74811733e-02 4.64174037e-01 -2.06900350e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.3407140569999 meters Centerline goodness : 0.989008 Centerline is valid? [True, True] Translation: X:192.86, Y:205.48, Z:-206.94 [[ 2.76697222e-01 -7.56209169e-01 5.92947165e-01 1.92860703e+02] [ 3.75356657e-01 6.53070707e-01 6.57727932e-01 2.05483665e+02] [-8.84616317e-01 4.05751735e-02 4.64550996e-01 -2.06942751e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.370714057 meters Centerline goodness : 0.989008 Centerline is valid? [True, True] Translation: X:192.87, Y:205.52, Z:-206.96 [[ 2.77930477e-01 -7.24126740e-01 6.31185483e-01 1.92865117e+02] [ 3.78172042e-01 6.86493357e-01 6.21057789e-01 2.05519933e+02] [-8.83029193e-01 6.60858157e-02 4.64641914e-01 -2.06962711e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.400714057 meters Centerline goodness : 0.989572 Centerline is valid? [True, True] Translation: X:192.87, Y:205.53, Z:-207.00 [[ 2.76447470e-01 -7.19934478e-01 6.36609099e-01 1.92874388e+02] [ 3.77532880e-01 6.90524951e-01 6.16963708e-01 2.05532908e+02] [-8.83767911e-01 6.97828104e-02 4.62692812e-01 -2.06997262e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.4307140569999 meters Centerline goodness : 0.989433 Centerline is valid? [True, True] Translation: X:192.89, Y:205.54, Z:-207.02 [[ 2.75150428e-01 -7.38210491e-01 6.15903818e-01 1.92888250e+02] [ 3.84003540e-01 6.71697384e-01 6.33532877e-01 2.05537659e+02] [-8.81381599e-01 6.21924037e-02 4.68293264e-01 -2.07022304e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.4607140569999 meters Centerline goodness : 0.988709 Centerline is valid? [True, True] Translation: X:192.90, Y:205.55, Z:-207.05 [[ 2.75855251e-01 -7.27299563e-01 6.28441904e-01 1.92895254e+02] [ 3.82577672e-01 6.82868253e-01 6.22354620e-01 2.05554385e+02] [-8.81781268e-01 6.87480511e-02 4.66621367e-01 -2.07048554e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.490714057 meters Centerline goodness : 0.989393 Centerline is valid? [True, True] Translation: X:192.91, Y:205.56, Z:-207.08 [[ 2.75822632e-01 -7.40820509e-01 6.12459671e-01 1.92908388e+02] [ 3.84814636e-01 6.68992013e-01 6.35898878e-01 2.05559974e+02] [-8.80817559e-01 6.02881433e-02 4.69601712e-01 -2.07076013e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.520714057 meters Centerline goodness : 0.988910 Centerline is valid? [True, True] Translation: X:192.92, Y:205.58, Z:-207.11 [[ 2.74855101e-01 -7.33685231e-01 6.21418262e-01 1.92917704e+02] [ 3.84218798e-01 6.76275500e-01 6.28512024e-01 2.05575926e+02] [-8.81379935e-01 6.60108418e-02 4.67773428e-01 -2.07105337e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.5507140569999 meters Centerline goodness : 0.988336 Centerline is valid? [True, True] Translation: X:192.93, Y:205.59, Z:-207.13 [[ 2.77168832e-01 -7.34471796e-01 6.19458328e-01 1.92926632e+02] [ 3.86745107e-01 6.75465401e-01 6.27833349e-01 2.05587304e+02] [-8.79548555e-01 6.55566413e-02 4.71271329e-01 -2.07129620e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.5807140569999 meters Centerline goodness : 0.988672 Centerline is valid? [True, True] Translation: X:192.94, Y:205.59, Z:-207.16 [[ 2.77280153e-01 -7.47988598e-01 6.03016397e-01 1.92939163e+02] [ 3.88448491e-01 6.61318312e-01 6.41689847e-01 2.05591102e+02] [-8.78762475e-01 5.63129508e-02 4.73925485e-01 -2.07155306e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.6107140569999 meters Centerline goodness : 0.989247 Centerline is valid? [True, True] Translation: X:192.95, Y:205.60, Z:-207.19 [[ 2.76389973e-01 -7.49336194e-01 6.01750656e-01 1.92950037e+02] [ 3.86815144e-01 6.59923229e-01 6.44108202e-01 2.05601612e+02] [-8.79762825e-01 5.47412179e-02 4.72250751e-01 -2.07187250e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.640714057 meters Centerline goodness : 0.988652 Centerline is valid? [True, True] Translation: X:192.96, Y:205.62, Z:-207.21 [[ 2.76893143e-01 -7.35584783e-01 6.18259827e-01 1.92956797e+02] [ 3.86129026e-01 6.74359697e-01 6.29399217e-01 2.05621721e+02] [-8.79905996e-01 6.44517379e-02 4.70756212e-01 -2.07212277e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.6707140569999 meters Centerline goodness : 0.988184 Centerline is valid? [True, True] Translation: X:192.97, Y:205.63, Z:-207.24 [[ 2.77595041e-01 -7.38691767e-01 6.14227537e-01 1.92967487e+02] [ 3.86796311e-01 6.71182563e-01 6.32378511e-01 2.05631731e+02] [-8.79391612e-01 6.20358067e-02 4.72040202e-01 -2.07239920e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.7007140569999 meters Centerline goodness : 0.989105 Centerline is valid? [True, True] Translation: X:192.98, Y:205.63, Z:-207.27 [[ 2.76921238e-01 -7.54462896e-01 5.95063330e-01 1.92981588e+02] [ 3.86623739e-01 6.54426225e-01 6.49806433e-01 2.05633932e+02] [-8.79679892e-01 5.01204080e-02 4.72917786e-01 -2.07270389e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.7307140569999 meters Centerline goodness : 0.987710 Centerline is valid? [True, True] Translation: X:192.99, Y:205.65, Z:-207.30 [[ 2.77213783e-01 -7.41105745e-01 6.11485726e-01 1.92988743e+02] [ 3.86994770e-01 6.68645312e-01 6.34939757e-01 2.05654002e+02] [-8.79424566e-01 6.06277259e-02 4.72161744e-01 -2.07295769e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.760714057 meters Centerline goodness : 0.988585 Centerline is valid? [True, True] Translation: X:193.00, Y:205.67, Z:-207.32 [[ 2.77213020e-01 -7.32107362e-01 6.22231269e-01 1.92995142e+02] [ 3.85584875e-01 6.77943090e-01 6.25873367e-01 2.05666402e+02] [-8.80043889e-01 6.64227195e-02 4.70224177e-01 -2.07322954e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.790714057 meters Centerline goodness : 0.987841 Centerline is valid? [True, True] Translation: X:193.01, Y:205.67, Z:-207.35 [[ 2.77208964e-01 -7.38661362e-01 6.14438429e-01 1.93005416e+02] [ 3.85354030e-01 6.71287081e-01 6.33147634e-01 2.05671196e+02] [-8.80146273e-01 6.12621246e-02 4.70732929e-01 -2.07349767e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.8207140569999 meters Centerline goodness : 0.987868 Centerline is valid? [True, True] Translation: X:193.02, Y:205.68, Z:-207.38 [[ 2.75862995e-01 -7.38279872e-01 6.15501778e-01 1.93015623e+02] [ 3.83802768e-01 6.71691495e-01 6.33660769e-01 2.05681530e+02] [-8.81246301e-01 6.14277286e-02 4.68648686e-01 -2.07381945e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.8507140569999 meters Centerline goodness : 0.987342 Centerline is valid? [True, True] Translation: X:193.02, Y:205.70, Z:-207.41 [[ 2.75339833e-01 -7.29738733e-01 6.25834928e-01 1.93024675e+02] [ 3.81643629e-01 6.80473810e-01 6.25542592e-01 2.05697623e+02] [-8.82346937e-01 6.66091207e-02 4.65861684e-01 -2.07408075e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.880714057 meters Centerline goodness : 0.987957 Centerline is valid? [True, True] Translation: X:193.04, Y:205.71, Z:-207.44 [[ 2.74675903e-01 -7.36476236e-01 6.18187595e-01 1.93037636e+02] [ 3.82592424e-01 6.73541940e-01 6.32427302e-01 2.05705543e+02] [-8.82142951e-01 6.28013504e-02 4.66775969e-01 -2.07438450e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.910714057 meters Centerline goodness : 0.986560 Centerline is valid? [True, True] Translation: X:193.05, Y:205.72, Z:-207.46 [[ 2.75250376e-01 -7.31608084e-01 6.23688096e-01 1.93046254e+02] [ 3.82719301e-01 6.78512253e-01 6.27014401e-01 2.05719504e+02] [-8.81908820e-01 6.61115222e-02 4.66761288e-01 -2.07463606e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.9407140569999 meters Centerline goodness : 0.987418 Centerline is valid? [True, True] Translation: X:193.06, Y:205.73, Z:-207.49 [[ 2.76629607e-01 -7.44016767e-01 6.08206470e-01 1.93060491e+02] [ 3.87586078e-01 6.65525685e-01 6.37849979e-01 2.05725727e+02] [-8.79348107e-01 5.92841713e-02 4.72474649e-01 -2.07493075e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.9707140569999 meters Centerline goodness : 0.987087 Centerline is valid? [True, True] Translation: X:193.07, Y:205.75, Z:-207.51 [[ 2.77743942e-01 -7.29702099e-01 6.24814492e-01 1.93067079e+02] [ 3.86699700e-01 6.80306339e-01 6.22612743e-01 2.05746790e+02] [-8.79387085e-01 6.86886590e-02 4.71126548e-01 -2.07512063e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.000714057 meters Centerline goodness : 0.988692 Centerline is valid? [True, True] Translation: X:193.08, Y:205.74, Z:-207.55 [[ 2.74418245e-01 -7.53381127e-01 5.97588072e-01 1.93084169e+02] [ 3.85552285e-01 6.55508403e-01 6.49352115e-01 2.05742415e+02] [-8.80933631e-01 5.22073786e-02 4.70351281e-01 -2.07550196e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.030714057 meters Centerline goodness : 0.987433 Centerline is valid? [True, True] Translation: X:193.09, Y:205.77, Z:-207.57 [[ 2.78738482e-01 -7.26124473e-01 6.28528527e-01 1.93086897e+02] [ 3.88121495e-01 6.83812312e-01 6.17869264e-01 2.05770843e+02] [-8.78445539e-01 7.17214906e-02 4.72429321e-01 -2.07569484e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.0607140569999 meters Centerline goodness : 0.987406 Centerline is valid? [True, True] Translation: X:193.10, Y:205.77, Z:-207.60 [[ 2.75972097e-01 -7.51247302e-01 5.99555579e-01 1.93103924e+02] [ 3.87696459e-01 6.57788846e-01 6.45759467e-01 2.05766729e+02] [-8.79506030e-01 5.42339803e-02 4.72787286e-01 -2.07603135e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.0907140569999 meters Centerline goodness : 0.987595 Centerline is valid? [True, True] Translation: X:193.11, Y:205.79, Z:-207.63 [[ 2.77922880e-01 -7.33122575e-01 6.20717459e-01 1.93109665e+02] [ 3.88450387e-01 6.76757524e-01 6.25384323e-01 2.05790803e+02] [-8.78558575e-01 6.73093246e-02 4.72868147e-01 -2.07627418e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.120714057 meters Centerline goodness : 0.988643 Centerline is valid? [True, True] Translation: X:193.12, Y:205.80, Z:-207.66 [[ 2.76644508e-01 -7.42559860e-01 6.09977599e-01 1.93122194e+02] [ 3.87697635e-01 6.67042864e-01 6.36195223e-01 2.05796360e+02] [-8.79294240e-01 6.04869585e-02 4.72422446e-01 -2.07658592e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.150714057 meters Centerline goodness : 0.987782 Centerline is valid? [True, True] Translation: X:193.13, Y:205.81, Z:-207.69 [[ 2.76682784e-01 -7.39404702e-01 6.13781169e-01 1.93131640e+02] [ 3.89230052e-01 6.70206624e-01 6.31920128e-01 2.05812231e+02] [-8.78604919e-01 6.40606561e-02 4.73233165e-01 -2.07685774e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.1807140569999 meters Centerline goodness : 0.988739 Centerline is valid? [True, True] Translation: X:193.14, Y:205.83, Z:-207.72 [[ 2.78549556e-01 -7.31139390e-01 6.22772299e-01 1.93141992e+02] [ 3.97753755e-01 6.78033644e-01 6.18111906e-01 2.05834142e+02] [-8.74186534e-01 7.55352231e-02 4.79679408e-01 -2.07718044e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.2107140569999 meters Centerline goodness : 0.987570 Centerline is valid? [True, True] Translation: X:193.15, Y:205.85, Z:-207.74 [[ 2.78170300e-01 -7.22351036e-01 6.33111574e-01 1.93147865e+02] [ 3.90958042e-01 6.87204037e-01 6.12292758e-01 2.05848081e+02] [-8.77367138e-01 7.71984015e-02 4.73568699e-01 -2.07736933e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.240714057 meters Centerline goodness : 0.987998 Centerline is valid? [True, True] Translation: X:193.16, Y:205.84, Z:-207.77 [[ 2.74013204e-01 -7.45857427e-01 6.07135456e-01 1.93162876e+02] [ 3.88991907e-01 6.63307263e-01 6.39303348e-01 2.05843109e+02] [-8.79546508e-01 6.09932203e-02 4.71887452e-01 -2.07773718e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.270714057 meters Centerline goodness : 0.988067 Centerline is valid? [True, True] Translation: X:193.17, Y:205.86, Z:-207.80 [[ 2.76416513e-01 -7.35055752e-01 6.19101731e-01 1.93170726e+02] [ 3.91830909e-01 6.74424546e-01 6.25795550e-01 2.05863313e+02] [-8.77532022e-01 6.96029705e-02 4.74439644e-01 -2.07796815e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.3007140569999 meters Centerline goodness : 0.988441 Centerline is valid? [True, True] Translation: X:193.18, Y:205.88, Z:-207.83 [[ 2.74108777e-01 -7.30579041e-01 6.25394790e-01 1.93178927e+02] [ 3.89597697e-01 6.78907721e-01 6.22332661e-01 2.05877054e+02] [-8.79248550e-01 7.30655255e-02 4.70726477e-01 -2.07825720e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.3307140569999 meters Centerline goodness : 0.987803 Centerline is valid? [True, True] Translation: X:193.19, Y:205.88, Z:-207.86 [[ 2.75049677e-01 -7.39114837e-01 6.14863345e-01 1.93190932e+02] [ 3.94325790e-01 6.69989061e-01 6.28984761e-01 2.05884814e+02] [-8.76843684e-01 6.94544185e-02 4.75732317e-01 -2.07855539e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.3607140569999 meters Centerline goodness : 0.986991 Centerline is valid? [True, True] Translation: X:193.20, Y:205.90, Z:-207.88 [[ 2.73581897e-01 -7.33066645e-01 6.22708792e-01 1.93198255e+02] [ 3.94416433e-01 6.75975216e-01 6.22489505e-01 2.05901088e+02] [-8.77262004e-01 7.53047206e-02 4.74068114e-01 -2.07880774e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.390714057 meters Centerline goodness : 0.987974 Centerline is valid? [True, True] Translation: X:193.21, Y:205.91, Z:-207.91 [[ 2.73721621e-01 -7.41930680e-01 6.12058282e-01 1.93209526e+02] [ 3.96627052e-01 6.66805840e-01 6.30917549e-01 2.05908159e+02] [-8.76221123e-01 7.00630976e-02 4.76788954e-01 -2.07905764e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.4207140569999 meters Centerline goodness : 0.986734 Centerline is valid? [True, True] Translation: X:193.22, Y:205.92, Z:-207.94 [[ 2.71056297e-01 -7.50799518e-01 6.02352528e-01 1.93221898e+02] [ 3.96719751e-01 6.57296166e-01 6.40761414e-01 2.05915760e+02] [-8.77007368e-01 6.52827288e-02 4.76021263e-01 -2.07936653e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.4507140569999 meters Centerline goodness : 0.987752 Centerline is valid? [True, True] Translation: X:193.23, Y:205.93, Z:-207.96 [[ 2.71257838e-01 -7.52771135e-01 5.99795636e-01 1.93233858e+02] [ 4.01783326e-01 6.54828241e-01 6.40132903e-01 2.05932098e+02] [-8.74636693e-01 6.73468183e-02 4.80078183e-01 -2.07961613e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.4807140569999 meters Centerline goodness : 0.987693 Centerline is valid? [True, True] Translation: X:193.24, Y:205.95, Z:-207.98 [[ 2.72177866e-01 -7.39560349e-01 6.15605149e-01 1.93239328e+02] [ 4.01876310e-01 6.68657726e-01 6.25613520e-01 2.05952383e+02] [-8.74308093e-01 7.71189727e-02 4.79205617e-01 -2.07984599e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.510714057 meters Centerline goodness : 0.987459 Centerline is valid? [True, True] Translation: X:193.25, Y:205.96, Z:-208.02 [[ 2.70200623e-01 -7.53188341e-01 5.99749070e-01 1.93251260e+02] [ 4.01048087e-01 6.54352316e-01 6.41079931e-01 2.05955247e+02] [-8.75301123e-01 6.73080204e-02 4.78871147e-01 -2.08015202e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.540714057 meters Centerline goodness : 0.987449 Centerline is valid? [True, True] Translation: X:193.26, Y:205.97, Z:-208.04 [[ 2.70714822e-01 -7.45853832e-01 6.08617734e-01 1.93259802e+02] [ 4.04055072e-01 6.61875383e-01 6.31395657e-01 2.05973949e+02] [-8.73757966e-01 7.49869192e-02 4.80545501e-01 -2.08041883e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.5707140569999 meters Centerline goodness : 0.988043 Centerline is valid? [True, True] Translation: X:193.27, Y:205.98, Z:-208.07 [[ 2.68890784e-01 -7.53566414e-01 5.99862822e-01 1.93271108e+02] [ 4.04109183e-01 6.53597718e-01 6.39926395e-01 2.05981072e+02] [-8.74296011e-01 7.03397650e-02 4.80269511e-01 -2.08071473e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.6007140569999 meters Centerline goodness : 0.988315 Centerline is valid? [True, True] Translation: X:193.28, Y:206.00, Z:-208.10 [[ 2.68468594e-01 -7.54245563e-01 5.99198001e-01 1.93281681e+02] [ 4.07114772e-01 6.52591032e-01 6.39048126e-01 2.05995431e+02] [-8.73030456e-01 7.23780056e-02 4.82264707e-01 -2.08097903e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.630714057 meters Centerline goodness : 0.988532 Centerline is valid? [True, True] Translation: X:193.29, Y:206.02, Z:-208.13 [[ 2.70426830e-01 -7.39803127e-01 6.16084948e-01 1.93289710e+02] [ 4.16867675e-01 6.66807116e-01 6.17729401e-01 2.06021130e+02] [-8.67807969e-01 8.97752960e-02 4.88722544e-01 -2.08128809e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.660714057 meters Centerline goodness : 0.988095 Centerline is valid? [True, True] Translation: X:193.29, Y:206.05, Z:-208.16 [[ 2.70337907e-01 -7.10387903e-01 6.49820316e-01 1.93293491e+02] [ 4.12967069e-01 6.95267953e-01 5.88269219e-01 2.06048326e+02] [-8.69698578e-01 1.09322921e-01 4.81324093e-01 -2.08160801e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.6907140569999 meters Centerline goodness : 0.990141 Centerline is valid? [True, True] Translation: X:193.30, Y:206.04, Z:-208.17 [[ 2.66829773e-01 -7.54838683e-01 5.99183140e-01 1.93301591e+02] [ 4.25700411e-01 6.50097863e-01 6.29406012e-01 2.06041786e+02] [-8.64627684e-01 8.71282450e-02 4.94800603e-01 -2.08170424e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.7207140569999 meters Centerline goodness : 0.989300 Centerline is valid? [True, True] Translation: X:193.32, Y:206.04, Z:-208.20 [[ 2.65166109e-01 -7.77849286e-01 5.69769623e-01 1.93315255e+02] [ 4.23860360e-01 6.24801449e-01 6.55717580e-01 2.06036447e+02] [-8.66042337e-01 6.76286788e-02 4.95375647e-01 -2.08204806e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.750714057 meters Centerline goodness : 0.987581 Centerline is valid? [True, True] Translation: X:193.33, Y:206.05, Z:-208.24 [[ 2.66876384e-01 -7.56265906e-01 5.97359922e-01 1.93327782e+02] [ 4.16530953e-01 6.49471892e-01 6.36151104e-01 2.06052854e+02] [-8.69067869e-01 7.90451910e-02 4.88336868e-01 -2.08244019e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.780714057 meters Centerline goodness : 0.988327 Centerline is valid? [True, True] Translation: X:193.34, Y:206.08, Z:-208.27 [[ 2.68302545e-01 -7.47291225e-01 6.07922339e-01 1.93337581e+02] [ 4.23361627e-01 6.58321515e-01 6.22396751e-01 2.06077903e+02] [-8.65319985e-01 9.03803581e-02 4.93003767e-01 -2.08265888e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.8107140569999 meters Centerline goodness : 0.987704 Centerline is valid? [True, True] Translation: X:193.35, Y:206.09, Z:-208.29 [[ 2.68511846e-01 -7.48027913e-01 6.06923084e-01 1.93348109e+02] [ 4.25025150e-01 6.57414919e-01 6.22221220e-01 2.06091326e+02] [-8.64439130e-01 9.08838069e-02 4.94454370e-01 -2.08292199e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.8407140569999 meters Centerline goodness : 0.988372 Centerline is valid? [True, True] Translation: X:193.36, Y:206.10, Z:-208.32 [[ 2.69399771e-01 -7.49159380e-01 6.05131380e-01 1.93357786e+02] [ 4.25589753e-01 6.56288790e-01 6.23023584e-01 2.06104390e+02] [-8.63884903e-01 8.96953034e-02 4.95638605e-01 -2.08321331e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.870714057 meters Centerline goodness : 0.988933 Centerline is valid? [True, True] Translation: X:193.36, Y:206.12, Z:-208.35 [[ 2.69177265e-01 -7.37988794e-01 6.18802182e-01 1.93363753e+02] [ 4.21630981e-01 6.67972343e-01 6.13221220e-01 2.06121268e+02] [-8.65893132e-01 9.58409600e-02 4.90961908e-01 -2.08350684e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.900714057 meters Centerline goodness : 0.988855 Centerline is valid? [True, True] Translation: X:193.38, Y:206.13, Z:-208.38 [[ 2.69547802e-01 -7.55400264e-01 5.97255744e-01 1.93377538e+02] [ 4.24096041e-01 6.49946692e-01 6.30643992e-01 2.06125371e+02] [-8.64573034e-01 8.33050949e-02 4.95553963e-01 -2.08377214e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.9307140569999 meters Centerline goodness : 0.988514 Centerline is valid? [True, True] Translation: X:193.39, Y:206.14, Z:-208.40 [[ 2.71563115e-01 -7.50534192e-01 6.02454895e-01 1.93386142e+02] [ 4.23179989e-01 6.55336991e-01 6.25661350e-01 2.06142230e+02] [-8.64391214e-01 8.50403111e-02 4.95576406e-01 -2.08403595e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.9607140569999 meters Centerline goodness : 0.988629 Centerline is valid? [True, True] Translation: X:193.40, Y:206.15, Z:-208.43 [[ 2.72142337e-01 -7.58655821e-01 5.91928960e-01 1.93398018e+02] [ 4.24888040e-01 6.46670799e-01 6.33472202e-01 2.06151442e+02] [-8.63370547e-01 7.91089297e-02 4.98330287e-01 -2.08433234e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.990714057 meters Centerline goodness : 0.988261 Centerline is valid? [True, True] Translation: X:193.40, Y:206.17, Z:-208.46 [[ 2.72951961e-01 -7.36505295e-01 6.18916131e-01 1.93401758e+02] [ 4.17685483e-01 6.70271842e-01 6.13412174e-01 2.06173549e+02] [-8.66623370e-01 9.10802270e-02 4.90579583e-01 -2.08462203e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.020714057 meters Centerline goodness : 0.988955 Centerline is valid? [True, True] Translation: X:193.41, Y:206.18, Z:-208.48 [[ 2.74942017e-01 -7.52606740e-01 5.98322641e-01 1.93414051e+02] [ 4.20276950e-01 6.53779421e-01 6.29237439e-01 2.06180213e+02] [-8.64739367e-01 7.84574039e-02 4.96054697e-01 -2.08484867e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.0507140569999 meters Centerline goodness : 0.988726 Centerline is valid? [True, True] Translation: X:193.42, Y:206.19, Z:-208.52 [[ 2.74650301e-01 -7.49183667e-01 6.02736299e-01 1.93422563e+02] [ 4.19234685e-01 6.57425110e-01 6.26126588e-01 2.06194250e+02] [-8.65337790e-01 8.07221068e-02 4.94645783e-01 -2.08515266e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.0807140569999 meters Centerline goodness : 0.988784 Centerline is valid? [True, True] Translation: X:193.43, Y:206.21, Z:-208.54 [[ 2.75396194e-01 -7.38906000e-01 6.14959234e-01 1.93429488e+02] [ 4.17141565e-01 6.68185701e-01 6.16052582e-01 2.06213183e+02] [-8.66111916e-01 8.68665209e-02 4.92244205e-01 -2.08543202e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.1107140569999 meters Centerline goodness : 0.988595 Centerline is valid? [True, True] Translation: X:193.43, Y:206.23, Z:-208.57 [[ 2.76367063e-01 -7.33286342e-01 6.21218470e-01 1.93434787e+02] [ 4.12190856e-01 6.74363605e-01 6.12643801e-01 2.06226634e+02] [-8.68170459e-01 8.67460048e-02 4.88625813e-01 -2.08571388e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.140714057 meters Centerline goodness : 0.989025 Centerline is valid? [True, True] Translation: X:193.45, Y:206.24, Z:-208.60 [[ 2.77753709e-01 -7.43552808e-01 6.08261539e-01 1.93446639e+02] [ 4.14721896e-01 6.63942931e-01 6.22242343e-01 2.06235249e+02] [-8.66520990e-01 7.94292597e-02 4.92780242e-01 -2.08597686e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.1707140569999 meters Centerline goodness : 0.988643 Centerline is valid? [True, True] Translation: X:193.45, Y:206.25, Z:-208.63 [[ 2.78150094e-01 -7.32215947e-01 6.21685075e-01 1.93453451e+02] [ 4.12021533e-01 6.75609441e-01 6.11383791e-01 2.06253250e+02] [-8.67681267e-01 8.60911783e-02 4.89609566e-01 -2.08627218e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.2007140569999 meters Centerline goodness : 0.988936 Centerline is valid? [True, True] Translation: X:193.46, Y:206.26, Z:-208.66 [[ 2.79768935e-01 -7.33933755e-01 6.18926963e-01 1.93462930e+02] [ 4.10532322e-01 6.74212505e-01 6.13922398e-01 2.06264942e+02] [-8.67866669e-01 8.23331083e-02 4.89927243e-01 -2.08657449e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.2307140569999 meters Centerline goodness : 0.989088 Centerline is valid? [True, True] Translation: X:193.47, Y:206.28, Z:-208.68 [[ 2.80469004e-01 -7.31871853e-01 6.21048089e-01 1.93471366e+02] [ 4.09537719e-01 6.76411627e-01 6.12165147e-01 2.06278773e+02] [-8.68110589e-01 8.26492684e-02 4.89441624e-01 -2.08683294e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.260714057 meters Centerline goodness : 0.988407 Centerline is valid? [True, True] Translation: X:193.48, Y:206.29, Z:-208.71 [[ 2.80619795e-01 -7.25721020e-01 6.28157251e-01 1.93479782e+02] [ 4.06896679e-01 6.82683766e-01 6.06941487e-01 2.06293674e+02] [-8.69302953e-01 8.52753032e-02 4.86868051e-01 -2.08714382e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.290714057 meters Centerline goodness : 0.988407 Centerline is valid? [True, True] Translation: X:193.49, Y:206.31, Z:-208.74 [[ 2.80684002e-01 -7.26652046e-01 6.27051270e-01 1.93490405e+02] [ 4.08222169e-01 6.81659023e-01 6.07203127e-01 2.06306526e+02] [-8.68660551e-01 8.55440256e-02 4.87966257e-01 -2.08742715e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.3207140569999 meters Centerline goodness : 0.989727 Centerline is valid? [True, True] Translation: X:193.50, Y:206.30, Z:-208.75 [[ 2.81245742e-01 -7.70622043e-01 5.71876298e-01 1.93498357e+02] [ 4.23484362e-01 6.34432042e-01 6.46650585e-01 2.06303276e+02] [-8.61139843e-01 6.03129455e-02 5.04777694e-01 -2.08747819e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.3507140569999 meters Centerline goodness : 0.989777 Centerline is valid? [True, True] Translation: X:193.51, Y:206.30, Z:-208.78 [[ 2.81150666e-01 -7.86955381e-01 5.49231765e-01 1.93511285e+02] [ 4.21900965e-01 6.15400715e-01 6.65793914e-01 2.06301919e+02] [-8.61947724e-01 4.45330095e-02 5.05037555e-01 -2.08781800e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.380714057 meters Centerline goodness : 0.987841 Centerline is valid? [True, True] Translation: X:193.52, Y:206.34, Z:-208.83 [[ 2.82605535e-01 -7.30516166e-01 6.21675352e-01 1.93517428e+02] [ 4.02936037e-01 6.78548897e-01 6.14177453e-01 2.06336684e+02] [-8.70503683e-01 7.69254551e-02 4.86112963e-01 -2.08831095e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.410714057 meters Centerline goodness : 0.989624 Centerline is valid? [True, True] Translation: X:193.53, Y:206.34, Z:-208.83 [[ 2.83031441e-01 -7.71042396e-01 5.70426882e-01 1.93526533e+02] [ 4.24017603e-01 6.34059153e-01 6.46666887e-01 2.06339749e+02] [-8.60291971e-01 5.88439783e-02 5.06394224e-01 -2.08828134e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.4407140569999 meters Centerline goodness : 0.987802 Centerline is valid? [True, True] Translation: X:193.54, Y:206.35, Z:-208.88 [[ 2.84881667e-01 -7.52577328e-01 5.93691672e-01 1.93540024e+02] [ 4.08051072e-01 6.55647472e-01 6.35311511e-01 2.06350089e+02] [-8.67373483e-01 6.12679204e-02 4.93871930e-01 -2.08877352e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.4707140569999 meters Centerline goodness : 0.989398 Centerline is valid? [True, True] Translation: X:193.54, Y:206.37, Z:-208.88 [[ 2.84399961e-01 -7.67803325e-01 5.74103402e-01 1.93543815e+02] [ 4.24245319e-01 6.37799843e-01 6.42827558e-01 2.06366545e+02] [-8.59728196e-01 6.07405483e-02 5.07127217e-01 -2.08877890e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.500714057 meters Centerline goodness : 0.987716 Centerline is valid? [True, True] Translation: X:193.56, Y:206.36, Z:-208.91 [[ 2.83958598e-01 -7.88351094e-01 5.45774740e-01 1.93557053e+02] [ 4.22596374e-01 6.13837796e-01 6.66794919e-01 2.06361957e+02] [-8.60685668e-01 4.13002759e-02 5.07458834e-01 -2.08912814e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.530714057 meters Centerline goodness : 0.988573 Centerline is valid? [True, True] Translation: X:193.57, Y:206.37, Z:-208.94 [[ 2.84677025e-01 -7.87848609e-01 5.46125957e-01 1.93566778e+02] [ 4.22170274e-01 6.14513533e-01 6.66442328e-01 2.06374897e+02] [-8.60657453e-01 4.08373261e-02 5.07544148e-01 -2.08940011e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.5607140569999 meters Centerline goodness : 0.987510 Centerline is valid? [True, True] Translation: X:193.58, Y:206.40, Z:-208.98 [[ 2.87083896e-01 -7.43841781e-01 6.03557985e-01 1.93576050e+02] [ 4.05552161e-01 6.65207390e-01 6.26918315e-01 2.06403891e+02] [-8.67819268e-01 6.47960924e-02 4.92636971e-01 -2.08984878e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.5907140569999 meters Centerline goodness : 0.986062 Centerline is valid? [True, True] Translation: X:193.58, Y:206.43, Z:-209.01 [[ 2.88796787e-01 -7.27979877e-01 6.21805207e-01 1.93582691e+02] [ 4.06275841e-01 6.81286862e-01 6.08923766e-01 2.06429914e+02] [-8.66911966e-01 7.67692062e-02 4.92514094e-01 -2.09008652e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.620714057 meters Centerline goodness : 0.988054 Centerline is valid? [True, True] Translation: X:193.59, Y:206.42, Z:-209.01 [[ 2.87761107e-01 -7.74694525e-01 5.63064773e-01 1.93592388e+02] [ 4.22942024e-01 6.30291805e-01 6.51039388e-01 2.06424947e+02] [-8.59251762e-01 5.07999400e-02 5.09024337e-01 -2.09014901e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.650714057 meters Centerline goodness : 0.988213 Centerline is valid? [True, True] Translation: X:193.61, Y:206.43, Z:-209.05 [[ 2.87876910e-01 -7.87794656e-01 5.44524072e-01 1.93605429e+02] [ 4.21390590e-01 6.14793150e-01 6.66677848e-01 2.06425402e+02] [-8.59974915e-01 3.75361610e-02 5.08954007e-01 -2.09046670e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.6807140569999 meters Centerline goodness : 0.988882 Centerline is valid? [True, True] Translation: X:193.62, Y:206.44, Z:-209.07 [[ 2.88822360e-01 -7.87052030e-01 5.45097007e-01 1.93615054e+02] [ 4.19031773e-01 6.15851919e-01 6.67187220e-01 2.06437336e+02] [-8.60810094e-01 3.57143783e-02 5.07671612e-01 -2.09072302e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.7107140569999 meters Centerline goodness : 0.988950 Centerline is valid? [True, True] Translation: X:193.62, Y:206.45, Z:-209.10 [[ 2.89294220e-01 -7.86825391e-01 5.45173971e-01 1.93623793e+02] [ 4.18486048e-01 6.16175523e-01 6.67230959e-01 2.06448822e+02] [-8.60917117e-01 3.51216404e-02 5.07531466e-01 -2.09095976e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.740714057 meters Centerline goodness : 0.989205 Centerline is valid? [True, True] Translation: X:193.63, Y:206.46, Z:-209.12 [[ 2.90209630e-01 -7.86683044e-01 5.44892795e-01 1.93634697e+02] [ 4.17447670e-01 6.16436148e-01 6.67640561e-01 2.06462071e+02] [-8.61113125e-01 3.37085072e-02 5.07294710e-01 -2.09124874e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.770714057 meters Centerline goodness : 0.988915 Centerline is valid? [True, True] Translation: X:193.65, Y:206.47, Z:-209.15 [[ 2.91077634e-01 -7.86037757e-01 5.45360849e-01 1.93645069e+02] [ 4.16505832e-01 6.17303829e-01 6.67427056e-01 2.06474195e+02] [-8.61276206e-01 3.28728859e-02 5.07072647e-01 -2.09153064e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.8007140569999 meters Centerline goodness : 0.987985 Centerline is valid? [True, True] Translation: X:193.65, Y:206.48, Z:-209.18 [[ 2.91120280e-01 -7.85824706e-01 5.45645044e-01 1.93654712e+02] [ 4.16338420e-01 6.17572856e-01 6.67282614e-01 2.06484046e+02] [-8.61342732e-01 3.29134944e-02 5.06957000e-01 -2.09177357e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.8307140569999 meters Centerline goodness : 0.988665 Centerline is valid? [True, True] Translation: X:193.67, Y:206.49, Z:-209.20 [[ 2.90941141e-01 -7.86202815e-01 5.45195732e-01 1.93665159e+02] [ 4.16769170e-01 6.17085323e-01 6.67464727e-01 2.06491512e+02] [-8.61194932e-01 3.30278230e-02 5.07200603e-01 -2.09201826e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.8607140569999 meters Centerline goodness : 0.989357 Centerline is valid? [True, True] Translation: X:193.67, Y:206.50, Z:-209.23 [[ 2.91193600e-01 -7.86286909e-01 5.44939615e-01 1.93674851e+02] [ 4.16907659e-01 6.16988872e-01 6.67467404e-01 2.06500303e+02] [-8.61042561e-01 3.28272625e-02 5.07472245e-01 -2.09225135e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.890714057 meters Centerline goodness : 0.987756 Centerline is valid? [True, True] Translation: X:193.68, Y:206.52, Z:-209.26 [[ 2.91063821e-01 -7.56939402e-01 5.85085116e-01 1.93683181e+02] [ 4.06108644e-01 6.51484867e-01 6.40814510e-01 2.06522222e+02] [-8.66231852e-01 5.10902032e-02 4.97023310e-01 -2.09260888e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.9207140569999 meters Centerline goodness : 0.990067 Centerline is valid? [True, True] Translation: X:193.69, Y:206.53, Z:-209.27 [[ 2.92574007e-01 -7.71403520e-01 5.65099159e-01 1.93692205e+02] [ 4.16983886e-01 6.34732010e-01 6.50568762e-01 2.06531770e+02] [-8.60537558e-01 4.52977343e-02 5.07368925e-01 -2.09268188e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.9507140569999 meters Centerline goodness : 0.990199 Centerline is valid? [True, True] Translation: X:193.71, Y:206.53, Z:-209.30 [[ 2.92553844e-01 -7.86194100e-01 5.44344639e-01 1.93706711e+02] [ 4.15592363e-01 6.17212828e-01 6.68080320e-01 2.06530893e+02] [-8.61217299e-01 3.07760090e-02 5.07304249e-01 -2.09301723e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.9807140569999 meters Centerline goodness : 0.989307 Centerline is valid? [True, True] Translation: X:193.72, Y:206.55, Z:-209.34 [[ 2.92651681e-01 -7.65274465e-01 5.73332353e-01 1.93716176e+02] [ 4.06827095e-01 6.42257128e-01 6.49613344e-01 2.06549037e+02] [-8.65359295e-01 4.31366989e-02 4.99292015e-01 -2.09336314e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.010714057 meters Centerline goodness : 0.989041 Centerline is valid? [True, True] Translation: X:193.72, Y:206.56, Z:-209.35 [[ 2.94177657e-01 -7.68882336e-01 5.67696626e-01 1.93723364e+02] [ 4.15613565e-01 6.37791853e-01 6.48449626e-01 2.06564518e+02] [-8.60653746e-01 4.51830269e-02 5.07182041e-01 -2.09345050e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.040714057 meters Centerline goodness : 0.989715 Centerline is valid? [True, True] Translation: X:193.74, Y:206.56, Z:-209.38 [[ 2.94232956e-01 -7.85605631e-01 5.44289225e-01 1.93738889e+02] [ 4.14462589e-01 6.18045858e-01 6.68012036e-01 2.06559158e+02] [-8.61189718e-01 2.90363651e-02 5.07453603e-01 -2.09377140e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.0707140569999 meters Centerline goodness : 0.989499 Centerline is valid? [True, True] Translation: X:193.75, Y:206.57, Z:-209.40 [[ 2.94158364e-01 -7.85632910e-01 5.44290169e-01 1.93748887e+02] [ 4.14604044e-01 6.18004504e-01 6.67962514e-01 2.06568774e+02] [-8.61147109e-01 2.91781452e-02 5.07517776e-01 -2.09400994e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.1007140569999 meters Centerline goodness : 0.989487 Centerline is valid? [True, True] Translation: X:193.76, Y:206.58, Z:-209.42 [[ 2.93770644e-01 -7.86037202e-01 5.43915735e-01 1.93758623e+02] [ 4.14910804e-01 6.17481461e-01 6.68255692e-01 2.06578436e+02] [-8.61131717e-01 2.93626097e-02 5.07533254e-01 -2.09424697e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.130714057 meters Centerline goodness : 0.989409 Centerline is valid? [True, True] Translation: X:193.77, Y:206.59, Z:-209.45 [[ 2.92425345e-01 -7.86502183e-01 5.43968505e-01 1.93769509e+02] [ 4.15232934e-01 6.16841576e-01 6.68646454e-01 2.06587440e+02] [-8.61434286e-01 3.03444683e-02 5.06961720e-01 -2.09447478e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.160714057 meters Centerline goodness : 0.989343 Centerline is valid? [True, True] Translation: X:193.78, Y:206.60, Z:-209.47 [[ 2.91118293e-01 -7.86903663e-01 5.44088931e-01 1.93779808e+02] [ 4.15300810e-01 6.16288172e-01 6.69114435e-01 2.06596724e+02] [-8.61844172e-01 3.11691216e-02 5.06214489e-01 -2.09471697e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.1907140569999 meters Centerline goodness : 0.988677 Centerline is valid? [True, True] Translation: X:193.80, Y:206.60, Z:-209.50 [[ 2.91045996e-01 -7.91971430e-01 5.36724774e-01 1.93797361e+02] [ 4.14222207e-01 6.10016104e-01 6.75500049e-01 2.06602141e+02] [-8.62387495e-01 2.57217353e-02 5.05594898e-01 -2.09503447e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.2207140569999 meters Centerline goodness : 0.989318 Centerline is valid? [True, True] Translation: X:193.80, Y:206.63, Z:-209.51 [[ 2.88226147e-01 -7.63690893e-01 5.77669377e-01 1.93797510e+02] [ 4.17841064e-01 6.43112741e-01 6.41728017e-01 2.06634733e+02] [-8.61588378e-01 5.64111930e-02 5.04463322e-01 -2.09514439e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.250714057 meters Centerline goodness : 0.988975 Centerline is valid? [True, True] Translation: X:193.81, Y:206.63, Z:-209.55 [[ 2.86181305e-01 -7.88814598e-01 5.43940980e-01 1.93814824e+02] [ 4.17115370e-01 6.13632560e-01 6.70425126e-01 2.06625585e+02] [-8.62621023e-01 3.50230058e-02 5.04636860e-01 -2.09550171e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.280714057 meters Centerline goodness : 0.988759 Centerline is valid? [True, True] Translation: X:193.83, Y:206.64, Z:-209.58 [[ 2.84778464e-01 -7.88982426e-01 5.44433612e-01 1.93826322e+02] [ 4.17869455e-01 6.13322744e-01 6.70239009e-01 2.06636912e+02] [-8.62720317e-01 3.66325412e-02 5.04352766e-01 -2.09577892e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.3107140569999 meters Centerline goodness : 0.988763 Centerline is valid? [True, True] Translation: X:193.84, Y:206.65, Z:-209.61 [[ 2.81754056e-01 -7.89807688e-01 5.44810488e-01 1.93839833e+02] [ 4.20185904e-01 6.12038622e-01 6.69964575e-01 2.06646957e+02] [-8.62588232e-01 4.01564513e-02 5.04310422e-01 -2.09606565e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.3407140569999 meters Centerline goodness : 0.988305 Centerline is valid? [True, True] Translation: X:193.86, Y:206.65, Z:-209.63 [[ 2.80867923e-01 -8.09074528e-01 5.16247633e-01 1.93860024e+02] [ 4.25163177e-01 5.87130056e-01 6.88850179e-01 2.06647258e+02] [-8.60435635e-01 2.60135644e-02 5.08894697e-01 -2.09632601e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.370714057 meters Centerline goodness : 0.989472 Centerline is valid? [True, True] Translation: X:193.86, Y:206.68, Z:-209.65 [[ 2.80093861e-01 -7.70072762e-01 5.73180050e-01 1.93856411e+02] [ 4.24479581e-01 6.34888250e-01 6.45549376e-01 2.06683301e+02] [-8.61025270e-01 6.24888105e-02 5.04708464e-01 -2.09649822e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.400714057 meters Centerline goodness : 0.989492 Centerline is valid? [True, True] Translation: X:193.88, Y:206.67, Z:-209.68 [[ 2.77134120e-01 -8.12157555e-01 5.13416776e-01 1.93883916e+02] [ 4.29002473e-01 5.82718246e-01 6.90214694e-01 2.06665002e+02] [-8.59740402e-01 2.89750243e-02 5.09908708e-01 -2.09681810e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.4307140569999 meters Centerline goodness : 0.989142 Centerline is valid? [True, True] Translation: X:193.88, Y:206.70, Z:-209.70 [[ 2.76463494e-01 -7.68554096e-01 5.76968403e-01 1.93877280e+02] [ 4.27837863e-01 6.36020366e-01 6.42209357e-01 2.06704791e+02] [-8.60536286e-01 6.93014853e-02 5.04652955e-01 -2.09697721e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.4607140569999 meters Centerline goodness : 0.989994 Centerline is valid? [True, True] Translation: X:193.89, Y:206.70, Z:-209.73 [[ 2.73817046e-01 -7.93131079e-01 5.44028783e-01 1.93892964e+02] [ 4.26761817e-01 6.07106243e-01 6.70295727e-01 2.06695661e+02] [-8.61915644e-01 4.86323159e-02 5.04714099e-01 -2.09728790e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.490714057 meters Centerline goodness : 0.990038 Centerline is valid? [True, True] Translation: X:193.90, Y:206.70, Z:-209.75 [[ 2.72608834e-01 -7.93841821e-01 5.43598737e-01 1.93903254e+02] [ 4.27828877e-01 6.06084081e-01 6.70540483e-01 2.06704137e+02] [-8.61769619e-01 4.97719779e-02 5.04852329e-01 -2.09751814e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.520714057 meters Centerline goodness : 0.989832 Centerline is valid? [True, True] Translation: X:193.91, Y:206.71, Z:-209.78 [[ 2.72366935e-01 -7.94038946e-01 5.43432061e-01 1.93912632e+02] [ 4.28009312e-01 6.05813160e-01 6.70670145e-01 2.06713658e+02] [-8.61756510e-01 4.99256109e-02 5.04859537e-01 -2.09775443e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.5507140569999 meters Centerline goodness : 0.989618 Centerline is valid? [True, True] Translation: X:193.93, Y:206.72, Z:-209.80 [[ 2.73008596e-01 -8.07278245e-01 5.23228575e-01 1.93930485e+02] [ 4.29554356e-01 5.88955020e-01 6.84554629e-01 2.06716461e+02] [-8.60784155e-01 3.78658150e-02 5.07559669e-01 -2.09802609e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.5807140569999 meters Centerline goodness : 0.990397 Centerline is valid? [True, True] Translation: X:193.93, Y:206.75, Z:-209.82 [[ 2.74211171e-01 -7.72625570e-01 5.72588824e-01 1.93926366e+02] [ 4.29173477e-01 6.31148228e-01 6.46113025e-01 2.06750901e+02] [-8.60591866e-01 6.85685272e-02 5.04658298e-01 -2.09818233e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.6107140569999 meters Centerline goodness : 0.990906 Centerline is valid? [True, True] Translation: X:193.94, Y:206.74, Z:-209.85 [[ 2.72644343e-01 -7.94347187e-01 5.42842159e-01 1.93940293e+02] [ 4.27340723e-01 6.05490336e-01 6.71387638e-01 2.06743390e+02] [-8.62000562e-01 4.89285195e-02 5.04540416e-01 -2.09847628e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.640714057 meters Centerline goodness : 0.990317 Centerline is valid? [True, True] Translation: X:193.95, Y:206.76, Z:-209.88 [[ 2.73311039e-01 -7.94301924e-01 5.42573064e-01 1.93951847e+02] [ 4.26859624e-01 6.05619804e-01 6.71576887e-01 2.06755474e+02] [-8.62027806e-01 4.80531573e-02 5.04577998e-01 -2.09876394e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.6707140569999 meters Centerline goodness : 0.990936 Centerline is valid? [True, True] Translation: X:193.96, Y:206.77, Z:-209.90 [[ 2.74019712e-01 -7.94080706e-01 5.42539427e-01 1.93962532e+02] [ 4.26939534e-01 6.05937834e-01 6.71239135e-01 2.06767877e+02] [-8.61763211e-01 4.76987756e-02 5.05063357e-01 -2.09903686e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.7007140569999 meters Centerline goodness : 0.990626 Centerline is valid? [True, True] Translation: X:193.97, Y:206.78, Z:-209.93 [[ 2.74101865e-01 -7.94048970e-01 5.42544376e-01 1.93971471e+02] [ 4.27195948e-01 6.05968512e-01 6.71048273e-01 2.06778195e+02] [-8.61609999e-01 4.78371764e-02 5.05311602e-01 -2.09926876e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.7307140569999 meters Centerline goodness : 0.991054 Centerline is valid? [True, True] Translation: X:193.98, Y:206.79, Z:-209.95 [[ 2.74142021e-01 -7.94350524e-01 5.42082463e-01 1.93980880e+02] [ 4.27826130e-01 6.05563106e-01 6.71012762e-01 2.06789083e+02] [-8.61284480e-01 4.79642473e-02 5.05854204e-01 -2.09950462e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.760714057 meters Centerline goodness : 0.991062 Centerline is valid? [True, True] Translation: X:193.99, Y:206.80, Z:-209.98 [[ 2.73868692e-01 -7.94660349e-01 5.41766435e-01 1.93991615e+02] [ 4.27790868e-01 6.05162496e-01 6.71396550e-01 2.06801132e+02] [-8.61388944e-01 4.78882383e-02 5.05683501e-01 -2.09978811e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.790714057 meters Centerline goodness : 0.990657 Centerline is valid? [True, True] Translation: X:194.00, Y:206.81, Z:-210.00 [[ 2.73453611e-01 -7.94778957e-01 5.41802116e-01 1.94001354e+02] [ 4.28321677e-01 6.04957044e-01 6.71243261e-01 2.06812184e+02] [-8.61257025e-01 4.85116974e-02 5.05848744e-01 -2.10002676e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.8207140569999 meters Centerline goodness : 0.990028 Centerline is valid? [True, True] Translation: X:194.02, Y:206.82, Z:-210.03 [[ 2.73645192e-01 -8.00533513e-01 5.33164519e-01 1.94016667e+02] [ 4.28280540e-01 5.97750796e-01 6.77694448e-01 2.06819772e+02] [-8.61216633e-01 4.28961604e-02 5.06424556e-01 -2.10030729e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.8507140569999 meters Centerline goodness : 0.989406 Centerline is valid? [True, True] Translation: X:194.02, Y:206.85, Z:-210.05 [[ 2.75067515e-01 -7.68387113e-01 5.77857342e-01 1.94018298e+02] [ 4.26153643e-01 6.36216724e-01 6.43134008e-01 2.06851820e+02] [-8.61818389e-01 6.93507382e-02 5.02453521e-01 -2.10054937e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.880714057 meters Centerline goodness : 0.991151 Centerline is valid? [True, True] Translation: X:194.03, Y:206.85, Z:-210.07 [[ 2.74336365e-01 -7.88449481e-01 5.50533355e-01 1.94030730e+02] [ 4.31783868e-01 6.12538011e-01 6.62087514e-01 2.06854300e+02] [-8.59245163e-01 5.60767396e-02 5.08481219e-01 -2.10074969e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.910714057 meters Centerline goodness : 0.990345 Centerline is valid? [True, True] Translation: X:194.04, Y:206.87, Z:-210.10 [[ 2.75457926e-01 -7.83439493e-01 5.57086610e-01 1.94040279e+02] [ 4.30441387e-01 6.18684490e-01 6.57228814e-01 2.06867083e+02] [-8.59559855e-01 5.87542467e-02 5.07646328e-01 -2.10102092e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.9407140569999 meters Centerline goodness : 0.990310 Centerline is valid? [True, True] Translation: X:194.04, Y:206.89, Z:-210.12 [[ 2.72804834e-01 -7.76834409e-01 5.67543675e-01 1.94038839e+02] [ 4.33755920e-01 6.25874612e-01 6.48179583e-01 2.06887426e+02] [-8.58739381e-01 6.93489055e-02 5.07698143e-01 -2.10120375e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.9707140569999 meters Centerline goodness : 0.991741 Centerline is valid? [True, True] Translation: X:194.06, Y:206.89, Z:-210.17 [[ 2.75891286e-01 -7.86820788e-01 5.52084275e-01 1.94061733e+02] [ 4.22041444e-01 6.15210030e-01 6.65881099e-01 2.06885010e+02] [-8.63576874e-01 4.92916521e-02 5.01802068e-01 -2.10171868e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.000714057 meters Centerline goodness : 0.990436 Centerline is valid? [True, True] Translation: X:194.05, Y:206.92, Z:-210.17 [[ 2.73571923e-01 -7.61647632e-01 5.87410664e-01 1.94054623e+02] [ 4.33962285e-01 6.42755623e-01 6.31301785e-01 2.06924542e+02] [-8.58391017e-01 8.22076304e-02 5.06366239e-01 -2.10167950e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.030714057 meters Centerline goodness : 0.990350 Centerline is valid? [True, True] Translation: X:194.07, Y:206.91, Z:-210.21 [[ 2.70832936e-01 -8.01557335e-01 5.33062247e-01 1.94074944e+02] [ 4.30714638e-01 5.96138945e-01 6.77571589e-01 2.06905382e+02] [-8.60891643e-01 4.60890103e-02 5.06696538e-01 -2.10207129e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.0607140569999 meters Centerline goodness : 0.990405 Centerline is valid? [True, True] Translation: X:194.09, Y:206.93, Z:-210.25 [[ 2.74504769e-01 -7.78613300e-01 5.64276937e-01 1.94088924e+02] [ 4.19601750e-01 6.24993649e-01 6.58268417e-01 2.06926184e+02] [-8.65206047e-01 5.60737706e-02 4.98271241e-01 -2.10252181e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.0907140569999 meters Centerline goodness : 0.990359 Centerline is valid? [True, True] Translation: X:194.09, Y:206.96, Z:-210.27 [[ 2.75522092e-01 -7.49308175e-01 6.02183391e-01 1.94090639e+02] [ 4.21351632e-01 6.57182135e-01 6.24959554e-01 2.06960319e+02] [-8.64031469e-01 8.15407906e-02 4.96790419e-01 -2.10267854e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.120714057 meters Centerline goodness : 0.990612 Centerline is valid? [True, True] Translation: X:194.10, Y:206.96, Z:-210.28 [[ 2.71877894e-01 -7.74439417e-01 5.71249508e-01 1.94096882e+02] [ 4.33065509e-01 6.28566652e-01 6.46032685e-01 2.06963843e+02] [-8.59381566e-01 7.17464526e-02 5.06276378e-01 -2.10277163e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.150714057 meters Centerline goodness : 0.989988 Centerline is valid? [True, True] Translation: X:194.12, Y:206.96, Z:-210.33 [[ 2.72753993e-01 -7.79416062e-01 5.64017608e-01 1.94116506e+02] [ 4.21549000e-01 6.23793377e-01 6.58162794e-01 2.06960711e+02] [-8.64813101e-01 5.82445286e-02 4.98704196e-01 -2.10326257e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.1807140569999 meters Centerline goodness : 0.989988 Centerline is valid? [True, True] Translation: X:194.12, Y:206.99, Z:-210.35 [[ 2.73545372e-01 -7.58225430e-01 5.91833698e-01 1.94121355e+02] [ 4.23583135e-01 6.47385799e-01 6.33615779e-01 2.06990406e+02] [-8.63568328e-01 7.73681096e-02 4.98260894e-01 -2.10348765e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.2107140569999 meters Centerline goodness : 0.990223 Centerline is valid? [True, True] Translation: X:194.13, Y:207.00, Z:-210.38 [[ 2.73412073e-01 -7.62918585e-01 5.85833654e-01 1.94132746e+02] [ 4.24447419e-01 6.42228706e-01 6.38268500e-01 2.06999378e+02] [-8.63186091e-01 7.41452685e-02 4.99411906e-01 -2.10375775e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.240714057 meters Centerline goodness : 0.991359 Centerline is valid? [True, True] Translation: X:194.14, Y:207.01, Z:-210.39 [[ 2.70603537e-01 -7.80599788e-01 5.63416096e-01 1.94138342e+02] [ 4.34634331e-01 6.21272345e-01 6.52007417e-01 2.07008677e+02] [-8.58991691e-01 6.84444649e-02 5.07393960e-01 -2.10385588e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.270714057 meters Centerline goodness : 0.990735 Centerline is valid? [True, True] Translation: X:194.15, Y:207.00, Z:-210.42 [[ 2.68898009e-01 -8.02719516e-01 5.32292438e-01 1.94152645e+02] [ 4.33542629e-01 5.94369787e-01 6.77322187e-01 2.07001783e+02] [-8.60078281e-01 4.86408754e-02 5.07837982e-01 -2.10415802e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.3007140569999 meters Centerline goodness : 0.991151 Centerline is valid? [True, True] Translation: X:194.16, Y:207.01, Z:-210.44 [[ 2.68806554e-01 -8.03053385e-01 5.31834840e-01 1.94161396e+02] [ 4.33839796e-01 5.93921320e-01 6.77525275e-01 2.07012234e+02] [-8.59957015e-01 4.86078845e-02 5.08046460e-01 -2.10440080e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.3307140569999 meters Centerline goodness : 0.989000 Centerline is valid? [True, True] Translation: X:194.17, Y:207.04, Z:-210.48 [[ 2.71875016e-01 -7.71445142e-01 5.75288075e-01 1.94170709e+02] [ 4.21313084e-01 6.32887287e-01 6.49575991e-01 2.07035433e+02] [-8.65204751e-01 6.57729100e-02 4.97086173e-01 -2.10482715e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.3607140569999 meters Centerline goodness : 0.989222 Centerline is valid? [True, True] Translation: X:194.18, Y:207.05, Z:-210.50 [[ 2.72085001e-01 -7.68644143e-01 5.78926536e-01 1.94180162e+02] [ 4.25436194e-01 6.35718975e-01 6.44100481e-01 2.07053484e+02] [-8.63118646e-01 7.10462224e-02 4.99978637e-01 -2.10503595e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.390714057 meters Centerline goodness : 0.989303 Centerline is valid? [True, True] Translation: X:194.19, Y:207.07, Z:-210.53 [[ 2.71395671e-01 -7.66419136e-01 5.82190774e-01 1.94189634e+02] [ 4.25459235e-01 6.38117066e-01 6.41709474e-01 2.07067270e+02] [-8.63324290e-01 7.35412681e-02 4.99262309e-01 -2.10532087e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.4207140569999 meters Centerline goodness : 0.989129 Centerline is valid? [True, True] Translation: X:194.20, Y:207.08, Z:-210.56 [[ 2.70691931e-01 -7.65950981e-01 5.83133752e-01 1.94199078e+02] [ 4.25800592e-01 6.38536548e-01 6.41065467e-01 2.07079813e+02] [-8.63376936e-01 7.47674474e-02 4.98989073e-01 -2.10560359e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.4507140569999 meters Centerline goodness : 0.988487 Centerline is valid? [True, True] Translation: X:194.21, Y:207.09, Z:-210.59 [[ 2.69486612e-01 -7.68553305e-01 5.80260962e-01 1.94209617e+02] [ 4.26807948e-01 6.35461495e-01 6.43446706e-01 2.07091759e+02] [-8.63256591e-01 7.42597182e-02 4.99273024e-01 -2.10589440e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.4807140569999 meters Centerline goodness : 0.989796 Centerline is valid? [True, True] Translation: X:194.22, Y:207.10, Z:-210.60 [[ 2.66448016e-01 -7.92774467e-01 5.48191663e-01 1.94217397e+02] [ 4.39351869e-01 6.06125487e-01 6.63009675e-01 2.07098746e+02] [-8.57890080e-01 6.41914195e-02 5.09807878e-01 -2.10600155e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.510714057 meters Centerline goodness : 0.989493 Centerline is valid? [True, True] Translation: X:194.23, Y:207.10, Z:-210.64 [[ 2.67276685e-01 -7.87431778e-01 5.55440698e-01 1.94232724e+02] [ 4.29197268e-01 6.13357487e-01 6.63010029e-01 2.07102362e+02] [-8.62758876e-01 6.11865074e-02 5.01899724e-01 -2.10643245e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.540714057 meters Centerline goodness : 0.989394 Centerline is valid? [True, True] Translation: X:194.24, Y:207.13, Z:-210.67 [[ 2.67562128e-01 -7.71906099e-01 5.76690110e-01 1.94238412e+02] [ 4.31939600e-01 6.31092855e-01 6.44321341e-01 2.07128713e+02] [-8.61300581e-01 7.66993058e-02 5.02273358e-01 -2.10665179e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.5707140569999 meters Centerline goodness : 0.990327 Centerline is valid? [True, True] Translation: X:194.25, Y:207.14, Z:-210.69 [[ 2.67517200e-01 -7.72055547e-01 5.76510868e-01 1.94249237e+02] [ 4.32649279e-01 6.30858017e-01 6.44075123e-01 2.07142088e+02] [-8.60958274e-01 7.71258376e-02 5.02794646e-01 -2.10693458e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.6007140569999 meters Centerline goodness : 0.988619 Centerline is valid? [True, True] Translation: X:194.26, Y:207.16, Z:-210.72 [[ 2.66525041e-01 -7.70418942e-01 5.79153742e-01 1.94258731e+02] [ 4.33062756e-01 6.32541320e-01 6.42143386e-01 2.07156659e+02] [-8.61058100e-01 7.96626240e-02 5.02227851e-01 -2.10723694e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.630714057 meters Centerline goodness : 0.989431 Centerline is valid? [True, True] Translation: X:194.27, Y:207.17, Z:-210.75 [[ 2.66310381e-01 -7.66258523e-01 5.84744950e-01 1.94267699e+02] [ 4.32258639e-01 6.37171182e-01 6.38095098e-01 2.07171967e+02] [-8.61528439e-01 8.28297075e-02 5.00907166e-01 -2.10753754e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.660714057 meters Centerline goodness : 0.989112 Centerline is valid? [True, True] Translation: X:194.28, Y:207.18, Z:-210.78 [[ 2.66628670e-01 -7.67861735e-01 5.82492496e-01 1.94277363e+02] [ 4.31773254e-01 6.35494784e-01 6.40092366e-01 2.07183616e+02] [-8.61673378e-01 8.08377038e-02 5.00983289e-01 -2.10777754e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.6907140569999 meters Centerline goodness : 0.988630 Centerline is valid? [True, True] Translation: X:194.29, Y:207.20, Z:-210.81 [[ 2.65989548e-01 -7.63127147e-01 5.88970728e-01 1.94286658e+02] [ 4.30934315e-01 6.40663914e-01 6.35488290e-01 2.07198634e+02] [-8.62290657e-01 8.47744541e-02 4.99267579e-01 -2.10807484e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.7207140569999 meters Centerline goodness : 0.987862 Centerline is valid? [True, True] Translation: X:194.30, Y:207.21, Z:-210.83 [[ 2.66318485e-01 -7.63125156e-01 5.88824644e-01 1.94296203e+02] [ 4.31012093e-01 6.40693280e-01 6.35405931e-01 2.07210950e+02] [-8.62150242e-01 8.45701977e-02 4.99544634e-01 -2.10833222e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.750714057 meters Centerline goodness : 0.987181 Centerline is valid? [True, True] Translation: X:194.31, Y:207.22, Z:-210.86 [[ 2.65798070e-01 -7.65000479e-01 5.86622241e-01 1.94307707e+02] [ 4.31957106e-01 6.38515772e-01 6.36954212e-01 2.07222107e+02] [-8.61837830e-01 8.40944452e-02 5.00163652e-01 -2.10862128e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.780714057 meters Centerline goodness : 0.988180 Centerline is valid? [True, True] Translation: X:194.32, Y:207.23, Z:-210.89 [[ 2.65787242e-01 -7.70368304e-01 5.79560021e-01 1.94320617e+02] [ 4.35083913e-01 6.32331182e-01 6.40983046e-01 2.07233798e+02] [-8.60266895e-01 8.17921259e-02 5.03240417e-01 -2.10892254e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.8107140569999 meters Centerline goodness : 0.987359 Centerline is valid? [True, True] Translation: X:194.33, Y:207.25, Z:-210.92 [[ 2.66062437e-01 -7.65982077e-01 5.85219820e-01 1.94328029e+02] [ 4.34105666e-01 6.37266538e-01 6.36744557e-01 2.07248525e+02] [-8.60675927e-01 8.46334309e-02 5.02069847e-01 -2.10915131e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.8407140569999 meters Centerline goodness : 0.986137 Centerline is valid? [True, True] Translation: X:194.34, Y:207.25, Z:-210.94 [[ 2.65398299e-01 -7.78509150e-01 5.68759392e-01 1.94340857e+02] [ 4.31264104e-01 6.23465996e-01 6.52151381e-01 2.07252059e+02] [-8.62307959e-01 7.22056427e-02 5.01209866e-01 -2.10942307e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.870714057 meters Centerline goodness : 0.985951 Centerline is valid? [True, True] Translation: X:194.35, Y:207.26, Z:-210.97 [[ 2.63700554e-01 -7.77943760e-01 5.70320546e-01 1.94350474e+02] [ 4.30320211e-01 6.24029024e-01 6.52236378e-01 2.07264416e+02] [-8.63299794e-01 7.34253636e-02 4.99321722e-01 -2.10972040e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.900714057 meters Centerline goodness : 0.986135 Centerline is valid? [True, True] Translation: X:194.36, Y:207.27, Z:-211.00 [[ 2.63863306e-01 -7.84595651e-01 5.61057770e-01 1.94362504e+02] [ 4.32547975e-01 6.16155896e-01 6.58220450e-01 2.07273673e+02] [-8.62135955e-01 6.90041782e-02 5.01956192e-01 -2.10995698e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.9307140569999 meters Centerline goodness : 0.982008 Centerline is valid? [True, True] Translation: X:194.37, Y:207.28, Z:-211.01 [[ 2.60401660e-01 -7.95758209e-01 5.46772208e-01 1.94366570e+02] [ 4.42349995e-01 6.01706636e-01 6.65038049e-01 2.07276785e+02] [-8.58205953e-01 6.86876722e-02 5.08689047e-01 -2.11013040e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.9607140569999 meters Centerline goodness : 0.985989 Centerline is valid? [True, True] Translation: X:194.39, Y:207.27, Z:-211.05 [[ 2.60898073e-01 -8.11199318e-01 5.23342968e-01 1.94388395e+02] [ 4.32525311e-01 5.82886368e-01 6.87870146e-01 2.07272257e+02] [-8.63049275e-01 4.68950841e-02 5.02938167e-01 -2.11049209e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.990714057 meters Centerline goodness : 0.982664 Centerline is valid? [True, True] Translation: X:194.38, Y:207.29, Z:-211.06 [[ 2.55569181e-01 -7.96472070e-01 5.48011528e-01 1.94381239e+02] [ 4.36422971e-01 6.00839099e-01 6.69721859e-01 2.07293392e+02] [-8.62681508e-01 6.80045519e-02 5.01154663e-01 -2.11059636e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.020714057 meters Centerline goodness : 0.983317 Centerline is valid? [True, True] Translation: X:194.41, Y:207.26, Z:-211.10 [[ 2.54726874e-01 -8.45816966e-01 4.68730070e-01 1.94409613e+02] [ 4.35420881e-01 5.33123285e-01 7.25388323e-01 2.07263500e+02] [-8.63436666e-01 1.93189600e-02 5.04087197e-01 -2.11095198e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.0507140569999 meters Centerline goodness : 0.986701 Centerline is valid? [True, True] Translation: X:194.42, Y:207.29, Z:-211.12 [[ 2.59026628e-01 -8.26222117e-01 5.00262151e-01 1.94421660e+02] [ 4.32723465e-01 5.62320594e-01 7.04660168e-01 2.07294232e+02] [-8.63513526e-01 3.39494242e-02 5.03181705e-01 -2.11122325e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.0807140569999 meters Centerline goodness : 0.983860 Centerline is valid? [True, True] Translation: X:194.41, Y:207.32, Z:-211.14 [[ 2.53471005e-01 -8.08959865e-01 5.30411526e-01 1.94413774e+02] [ 4.41176351e-01 5.84645446e-01 6.80847362e-01 2.07321264e+02] [-8.60880873e-01 6.14299565e-02 5.05084630e-01 -2.11136251e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.1107140569999 meters Centerline goodness : 0.988370 Centerline is valid? [True, True] Translation: X:194.43, Y:207.33, Z:-211.17 [[ 2.52477283e-01 -8.18125933e-01 5.16648023e-01 1.94429314e+02] [ 4.42213784e-01 5.72484004e-01 6.90441189e-01 2.07327603e+02] [-8.60640570e-01 5.41481618e-02 5.06325770e-01 -2.11167139e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.140714057 meters Centerline goodness : 0.983935 Centerline is valid? [True, True] Translation: X:194.42, Y:207.36, Z:-211.17 [[ 2.50214469e-01 -7.77323776e-01 5.77200543e-01 1.94418165e+02] [ 4.36745130e-01 6.22681828e-01 6.49246511e-01 2.07360749e+02] [-8.64087039e-01 8.96386550e-02 4.95296377e-01 -2.11173626e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.1707140569999 meters Centerline goodness : 0.983430 Centerline is valid? [True, True] Translation: X:194.45, Y:207.32, Z:-211.22 [[ 2.46908137e-01 -8.48413851e-01 4.68220364e-01 1.94453440e+02] [ 4.34706869e-01 5.28809307e-01 7.28965469e-01 2.07317820e+02] [-8.66063687e-01 2.35511019e-02 4.99378650e-01 -2.11217690e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.2007140569999 meters Centerline goodness : 0.989936 Centerline is valid? [True, True] Translation: X:194.47, Y:207.33, Z:-211.24 [[ 2.49744161e-01 -8.47889581e-01 4.67665599e-01 1.94465779e+02] [ 4.40809944e-01 5.29575800e-01 7.24731720e-01 2.07333915e+02] [-8.62156858e-01 2.51541310e-02 5.06016622e-01 -2.11242826e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.2307140569999 meters Centerline goodness : 0.990315 Centerline is valid? [True, True] Translation: X:194.47, Y:207.37, Z:-211.26 [[ 2.49905434e-01 -8.21368461e-01 5.12738847e-01 1.94466106e+02] [ 4.44664771e-01 5.67752710e-01 6.92769877e-01 2.07370842e+02] [-8.60128198e-01 5.48699452e-02 5.07118106e-01 -2.11264500e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.260714057 meters Centerline goodness : 0.990008 Centerline is valid? [True, True] Translation: X:194.47, Y:207.39, Z:-211.29 [[ 2.49159576e-01 -8.16667961e-01 5.20550619e-01 1.94472047e+02] [ 4.47161039e-01 5.73788585e-01 6.86158630e-01 2.07386174e+02] [-8.59049772e-01 6.18069624e-02 5.08147015e-01 -2.11285958e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.290714057 meters Centerline goodness : 0.983710 Centerline is valid? [True, True] Translation: X:194.47, Y:207.39, Z:-211.31 [[ 2.41720699e-01 -8.15889906e-01 5.25256856e-01 1.94473100e+02] [ 4.38657966e-01 5.74719258e-01 6.90852346e-01 2.07390174e+02] [-8.65534686e-01 6.34147924e-02 4.96818147e-01 -2.11307824e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.3207140569999 meters Centerline goodness : 0.983179 Centerline is valid? [True, True] Translation: X:194.49, Y:207.38, Z:-211.34 [[ 2.39897003e-01 -8.39085491e-01 4.88246830e-01 1.94489362e+02] [ 4.35890034e-01 5.42486529e-01 7.18128293e-01 2.07381115e+02] [-8.67438359e-01 4.05451017e-02 4.95889895e-01 -2.11338078e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.3507140569999 meters Centerline goodness : 0.983131 Centerline is valid? [True, True] Translation: X:194.50, Y:207.40, Z:-211.36 [[ 2.40545392e-01 -8.37171075e-01 4.91205157e-01 1.94496604e+02] [ 4.37139433e-01 5.45273763e-01 7.15252151e-01 2.07396872e+02] [-8.66629696e-01 4.26745343e-02 4.97123580e-01 -2.11361262e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.380714057 meters Centerline goodness : 0.982665 Centerline is valid? [True, True] Translation: X:194.50, Y:207.42, Z:-211.38 [[ 2.44070958e-01 -8.30330162e-01 5.00980229e-01 1.94503099e+02] [ 4.39560211e-01 5.55210976e-01 7.06064865e-01 2.07415796e+02] [-8.64416676e-01 4.78810469e-02 5.00490975e-01 -2.11382512e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.410714057 meters Centerline goodness : 0.987210 Centerline is valid? [True, True] Translation: X:194.53, Y:207.41, Z:-211.41 [[ 2.47278702e-01 -8.56293004e-01 4.53448493e-01 1.94527225e+02] [ 4.33878804e-01 5.16296247e-01 7.38368044e-01 2.07406542e+02] [-8.66373145e-01 1.41589987e-02 4.99196450e-01 -2.11414008e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.4407140569999 meters Centerline goodness : 0.983975 Centerline is valid? [True, True] Translation: X:194.52, Y:207.45, Z:-211.43 [[ 2.44848074e-01 -8.25943920e-01 5.07805142e-01 1.94515021e+02] [ 4.38150819e-01 5.61475259e-01 7.01975351e-01 2.07445612e+02] [-8.64912297e-01 5.06179257e-02 4.99364140e-01 -2.11432300e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.4707140569999 meters Centerline goodness : 0.983901 Centerline is valid? [True, True] Translation: X:194.52, Y:207.47, Z:-211.45 [[ 2.48407617e-01 -8.09651279e-01 5.31750376e-01 1.94517975e+02] [ 4.35313075e-01 5.83709921e-01 6.85408824e-01 2.07468204e+02] [-8.65330100e-01 6.12171189e-02 4.97449778e-01 -2.11449358e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.500714057 meters Centerline goodness : 0.988276 Centerline is valid? [True, True] Translation: X:194.55, Y:207.45, Z:-211.48 [[ 2.54227718e-01 -8.49617746e-01 4.62080029e-01 1.94546146e+02] [ 4.36477756e-01 5.27146192e-01 7.29111830e-01 2.07452200e+02] [-8.63050077e-01 1.63272175e-02 5.04854421e-01 -2.11484360e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.530714057 meters Centerline goodness : 0.988690 Centerline is valid? [True, True] Translation: X:194.54, Y:207.49, Z:-211.50 [[ 2.55989282e-01 -8.18014956e-01 5.15093214e-01 1.94541069e+02] [ 4.36896027e-01 5.73224947e-01 6.93206334e-01 2.07491364e+02] [-8.62317429e-01 4.75887871e-02 5.04126927e-01 -2.11501065e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.5607140569999 meters Centerline goodness : 0.990266 Centerline is valid? [True, True] Translation: X:194.54, Y:207.51, Z:-211.52 [[ 2.53786631e-01 -8.04769867e-01 5.36598366e-01 1.94539960e+02] [ 4.37350188e-01 5.90287241e-01 6.78443650e-01 2.07513661e+02] [-8.62738176e-01 6.25014683e-02 5.01773263e-01 -2.11524875e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.5907140569999 meters Centerline goodness : 0.982557 Centerline is valid? [True, True] Translation: X:194.55, Y:207.51, Z:-211.55 [[ 2.52161670e-01 -8.16631014e-01 5.19161130e-01 1.94547275e+02] [ 4.34809607e-01 5.74906273e-01 6.93125806e-01 2.07512773e+02] [-8.64497020e-01 5.09564855e-02 5.00048336e-01 -2.11551149e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.620714057 meters Centerline goodness : 0.990203 Centerline is valid? [True, True] Translation: X:194.56, Y:207.52, Z:-211.58 [[ 2.53631769e-01 -8.22636160e-01 5.08862137e-01 1.94560053e+02] [ 4.35501588e-01 5.66844043e-01 6.99304081e-01 2.07520986e+02] [-8.63718295e-01 4.42445372e-02 5.02029011e-01 -2.11578113e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.650714057 meters Centerline goodness : 0.991139 Centerline is valid? [True, True] Translation: X:194.57, Y:207.54, Z:-211.61 [[ 2.54494286e-01 -8.16269662e-01 5.18590877e-01 1.94567130e+02] [ 4.36233702e-01 5.75487359e-01 6.91747394e-01 2.07540802e+02] [-8.63094906e-01 5.01810587e-02 5.02542581e-01 -2.11605127e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.6807140569999 meters Centerline goodness : 0.990231 Centerline is valid? [True, True] Translation: X:194.58, Y:207.55, Z:-211.63 [[ 2.54798159e-01 -8.16169441e-01 5.18599405e-01 1.94576211e+02] [ 4.36531420e-01 5.75627268e-01 6.91443106e-01 2.07554195e+02] [-8.62854691e-01 5.02065039e-02 5.02952373e-01 -2.11632696e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.7107140569999 meters Centerline goodness : 0.990727 Centerline is valid? [True, True] Translation: X:194.59, Y:207.56, Z:-211.66 [[ 2.54309699e-01 -8.23819528e-01 5.06604345e-01 1.94588236e+02] [ 4.37669957e-01 5.65151129e-01 6.99320535e-01 2.07562222e+02] [-8.62421931e-01 4.38815073e-02 5.04284471e-01 -2.11659012e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.740714057 meters Centerline goodness : 0.991525 Centerline is valid? [True, True] Translation: X:194.59, Y:207.59, Z:-211.68 [[ 2.56725937e-01 -8.03960156e-01 5.36413890e-01 1.94588508e+02] [ 4.37330389e-01 5.91577053e-01 6.77332061e-01 2.07588653e+02] [-8.61878138e-01 6.07013874e-02 5.03469381e-01 -2.11677356e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.770714057 meters Centerline goodness : 0.991015 Centerline is valid? [True, True] Translation: X:194.60, Y:207.59, Z:-211.71 [[ 2.55528360e-01 -8.23657038e-01 5.06255214e-01 1.94604050e+02] [ 4.36890776e-01 5.65498751e-01 6.99526707e-01 2.07585809e+02] [-8.62456786e-01 4.24293208e-02 5.04349131e-01 -2.11707446e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.8007140569999 meters Centerline goodness : 0.992013 Centerline is valid? [True, True] Translation: X:194.60, Y:207.61, Z:-211.72 [[ 2.57814690e-01 -8.03267433e-01 5.36929248e-01 1.94603975e+02] [ 4.35307924e-01 5.92687382e-01 6.77664134e-01 2.07612110e+02] [-8.62576719e-01 5.90177872e-02 5.02472192e-01 -2.11724859e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.8307140569999 meters Centerline goodness : 0.989847 Centerline is valid? [True, True] Translation: X:194.62, Y:207.60, Z:-211.75 [[ 2.57188601e-01 -8.25928534e-01 5.01693214e-01 1.94622970e+02] [ 4.27121633e-01 5.62849673e-01 7.07649176e-01 2.07602890e+02] [-8.66845508e-01 3.22847233e-02 4.97530463e-01 -2.11754581e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.8607140569999 meters Centerline goodness : 0.991688 Centerline is valid? [True, True] Translation: X:194.62, Y:207.63, Z:-211.77 [[ 2.58946489e-01 -8.05187742e-01 5.33497344e-01 1.94621012e+02] [ 4.33842893e-01 5.90442854e-01 6.80556817e-01 2.07633384e+02] [-8.62975701e-01 5.52262329e-02 5.02218083e-01 -2.11773603e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.890714057 meters Centerline goodness : 0.989420 Centerline is valid? [True, True] Translation: X:194.64, Y:207.63, Z:-211.80 [[ 2.59201718e-01 -8.25313313e-01 5.01669618e-01 1.94639240e+02] [ 4.25441241e-01 5.63879861e-01 7.07841263e-01 2.07625820e+02] [-8.67072212e-01 2.99572738e-02 4.97280949e-01 -2.11803982e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.9207140569999 meters Centerline goodness : 0.990308 Centerline is valid? [True, True] Translation: X:194.64, Y:207.66, Z:-211.82 [[ 2.60475228e-01 -8.02747391e-01 5.36422671e-01 1.94636342e+02] [ 4.32467733e-01 5.93755076e-01 6.78547397e-01 2.07657577e+02] [-8.63205836e-01 5.52407088e-02 5.01820833e-01 -2.11821231e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.9507140569999 meters Centerline goodness : 0.990729 Centerline is valid? [True, True] Translation: X:194.65, Y:207.66, Z:-211.85 [[ 2.60216022e-01 -8.15766845e-01 5.16538552e-01 1.94648870e+02] [ 4.31471508e-01 5.76826025e-01 6.93616663e-01 2.07657606e+02] [-8.63782357e-01 4.23814989e-02 5.02079524e-01 -2.11849222e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.9807140569999 meters Centerline goodness : 0.991001 Centerline is valid? [True, True] Translation: X:194.66, Y:207.66, Z:-211.88 [[ 2.60781266e-01 -8.24874152e-01 5.01573290e-01 1.94664746e+02] [ 4.32093870e-01 5.64335712e-01 7.03434497e-01 2.07663490e+02] [-8.63300654e-01 3.32842056e-02 5.03591245e-01 -2.11877603e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.010714057 meters Centerline goodness : 0.991279 Centerline is valid? [True, True] Translation: X:194.66, Y:207.69, Z:-211.89 [[ 2.60833174e-01 -7.98898046e-01 5.41966759e-01 1.94661319e+02] [ 4.32988435e-01 5.98578158e-01 6.73962317e-01 2.07694557e+02] [-8.62836642e-01 5.88736083e-02 5.02042655e-01 -2.11893807e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.040714057 meters Centerline goodness : 0.991088 Centerline is valid? [True, True] Translation: X:194.67, Y:207.69, Z:-211.92 [[ 2.59136830e-01 -8.16927418e-01 5.15245279e-01 1.94674651e+02] [ 4.33458226e-01 5.75094348e-01 6.93815867e-01 2.07691089e+02] [-8.63111852e-01 4.35440603e-02 5.03132036e-01 -2.11923417e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.0707140569999 meters Centerline goodness : 0.990827 Centerline is valid? [True, True] Translation: X:194.68, Y:207.70, Z:-211.95 [[ 2.58207669e-01 -8.17486453e-01 5.14824921e-01 1.94683088e+02] [ 4.34222372e-01 5.74238488e-01 6.94046894e-01 2.07702419e+02] [-8.63006218e-01 4.43402679e-02 5.03243688e-01 -2.11947844e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.1007140569999 meters Centerline goodness : 0.990827 Centerline is valid? [True, True] Translation: X:194.69, Y:207.71, Z:-211.97 [[ 2.57982033e-01 -8.17798840e-01 5.14441763e-01 1.94691578e+02] [ 4.34355021e-01 5.73794659e-01 6.94330905e-01 2.07713707e+02] [-8.63006945e-01 4.43254641e-02 5.03243745e-01 -2.11972491e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.130714057 meters Centerline goodness : 0.990436 Centerline is valid? [True, True] Translation: X:194.70, Y:207.73, Z:-212.00 [[ 2.56827685e-01 -8.18364864e-01 5.14119140e-01 1.94700198e+02] [ 4.35009643e-01 5.72915434e-01 6.94647045e-01 2.07725011e+02] [-8.63021524e-01 4.52421913e-02 5.03137151e-01 -2.11996979e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.160714057 meters Centerline goodness : 0.990527 Centerline is valid? [True, True] Translation: X:194.71, Y:207.74, Z:-212.03 [[ 2.55929750e-01 -8.18863855e-01 5.13772274e-01 1.94710433e+02] [ 4.35481953e-01 5.72151825e-01 6.94980401e-01 2.07738122e+02] [-8.63050075e-01 4.58723932e-02 5.03031104e-01 -2.12025406e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.1907140569999 meters Centerline goodness : 0.990530 Centerline is valid? [True, True] Translation: X:194.72, Y:207.75, Z:-212.05 [[ 2.53610521e-01 -8.19323312e-01 5.14189667e-01 1.94719994e+02] [ 4.36174189e-01 5.71322367e-01 6.95228617e-01 2.07750498e+02] [-8.63385071e-01 4.79589696e-02 5.02261045e-01 -2.12051910e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.2207140569999 meters Centerline goodness : 0.990028 Centerline is valid? [True, True] Translation: X:194.73, Y:207.76, Z:-212.08 [[ 2.51839749e-01 -8.23063520e-01 5.09061080e-01 1.94732265e+02] [ 4.36301301e-01 5.66086474e-01 6.99419244e-01 2.07759213e+02] [-8.63839056e-01 4.59624449e-02 5.01666760e-01 -2.12079236e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.250714057 meters Centerline goodness : 0.990657 Centerline is valid? [True, True] Translation: X:194.73, Y:207.78, Z:-212.10 [[ 2.49492772e-01 -8.08781160e-01 5.32565857e-01 1.94732387e+02] [ 4.39629596e-01 5.84615962e-01 6.81872419e-01 2.07782924e+02] [-8.62832067e-01 6.40094726e-02 5.01421592e-01 -2.12096216e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.280714057 meters Centerline goodness : 0.989519 Centerline is valid? [True, True] Translation: X:194.74, Y:207.78, Z:-212.12 [[ 2.47399612e-01 -8.21682606e-01 5.13450219e-01 1.94743835e+02] [ 4.39863375e-01 5.67416302e-01 6.96102688e-01 2.07783323e+02] [-8.63315495e-01 5.36324108e-02 5.01806657e-01 -2.12123032e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.3107140569999 meters Centerline goodness : 0.989942 Centerline is valid? [True, True] Translation: X:194.75, Y:207.79, Z:-212.15 [[ 2.46429443e-01 -8.22148588e-01 5.13170760e-01 1.94752207e+02] [ 4.40892887e-01 5.66637205e-01 6.96086016e-01 2.07794697e+02] [-8.63067780e-01 5.47172488e-02 5.02115555e-01 -2.12147351e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.3407140569999 meters Centerline goodness : 0.990597 Centerline is valid? [True, True] Translation: X:194.76, Y:207.80, Z:-212.17 [[ 2.44429673e-01 -8.23000045e-01 5.12762187e-01 1.94760397e+02] [ 4.42291813e-01 5.65216343e-01 6.96353673e-01 2.07805000e+02] [-8.62920672e-01 5.65810163e-02 5.02161828e-01 -2.12172139e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.370714057 meters Centerline goodness : 0.990267 Centerline is valid? [True, True] Translation: X:194.77, Y:207.82, Z:-212.20 [[ 2.43514930e-01 -8.23581482e-01 5.12263624e-01 1.94768663e+02] [ 4.43238633e-01 5.64281553e-01 6.96509758e-01 2.07816195e+02] [-8.62693453e-01 5.74445032e-02 5.02454113e-01 -2.12196525e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.400714057 meters Centerline goodness : 0.989493 Centerline is valid? [True, True] Translation: X:194.78, Y:207.83, Z:-212.23 [[ 2.42776551e-01 -8.24383369e-01 5.11323388e-01 1.94781802e+02] [ 4.41775593e-01 5.63218967e-01 6.98297014e-01 2.07826019e+02] [-8.63651476e-01 5.63600522e-02 5.00928810e-01 -2.12227015e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.4307140569999 meters Centerline goodness : 0.990267 Centerline is valid? [True, True] Translation: X:194.78, Y:207.85, Z:-212.24 [[ 2.43772447e-01 -8.07025380e-01 5.37852239e-01 1.94779857e+02] [ 4.45799408e-01 5.85763560e-01 6.76863310e-01 2.07853406e+02] [-8.61300111e-01 7.47735842e-02 5.02564453e-01 -2.12239940e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.4607140569999 meters Centerline goodness : 0.990381 Centerline is valid? [True, True] Translation: X:194.79, Y:207.85, Z:-212.27 [[ 2.42901306e-01 -8.24549213e-01 5.10996625e-01 1.94792829e+02] [ 4.44763191e-01 5.62805903e-01 6.96731813e-01 2.07850181e+02] [-8.62081585e-01 5.80354227e-02 5.03435428e-01 -2.12268953e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.4907140569999 meters Centerline goodness : 0.990244 Centerline is valid? [True, True] Translation: X:194.80, Y:207.86, Z:-212.29 [[ 2.44456002e-01 -8.24467943e-01 5.10386004e-01 1.94799993e+02] [ 4.44436589e-01 5.63079423e-01 6.96719227e-01 2.07861375e+02] [-8.61810525e-01 5.65170182e-02 5.04071866e-01 -2.12292747e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.520714057 meters Centerline goodness : 0.989872 Centerline is valid? [True, True] Translation: X:194.81, Y:207.87, Z:-212.32 [[ 2.44999690e-01 -8.24396024e-01 5.10241459e-01 1.94808037e+02] [ 4.43965015e-01 5.63256721e-01 6.96876554e-01 2.07873355e+02] [-8.61899192e-01 5.57948174e-02 5.04000716e-01 -2.12317010e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.5507140569999 meters Centerline goodness : 0.989611 Centerline is valid? [True, True] Translation: X:194.82, Y:207.89, Z:-212.34 [[ 2.46561436e-01 -8.24101105e-01 5.09965516e-01 1.94815332e+02] [ 4.42482761e-01 5.63889470e-01 6.97307444e-01 2.07885887e+02] [-8.62216020e-01 5.37218252e-02 5.03683930e-01 -2.12341062e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.5807140569999 meters Centerline goodness : 0.988916 Centerline is valid? [True, True] Translation: X:194.82, Y:207.90, Z:-212.36 [[ 2.47588551e-01 -8.23993771e-01 5.09641222e-01 1.94822518e+02] [ 4.41502563e-01 5.64182923e-01 6.97691276e-01 2.07897146e+02] [-8.62424140e-01 5.22675336e-02 5.03480594e-01 -2.12364022e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.6107140569999 meters Centerline goodness : 0.990419 Centerline is valid? [True, True] Translation: X:194.83, Y:207.91, Z:-212.39 [[ 2.49415478e-01 -8.23444610e-01 5.09638003e-01 1.94829067e+02] [ 4.39647831e-01 5.65193036e-01 6.98044853e-01 2.07910623e+02] [-8.62845122e-01 4.99580520e-02 5.02993528e-01 -2.12387862e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.640714057 meters Centerline goodness : 0.989295 Centerline is valid? [True, True] Translation: X:194.84, Y:207.92, Z:-212.41 [[ 2.50137043e-01 -8.23379954e-01 5.09388763e-01 1.94836102e+02] [ 4.38597894e-01 5.65398171e-01 6.98539044e-01 2.07922310e+02] [-8.63170520e-01 4.86863478e-02 5.02559740e-01 -2.12410765e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.6707140569999 meters Centerline goodness : 0.989504 Centerline is valid? [True, True] Translation: X:194.85, Y:207.94, Z:-212.44 [[ 2.50862685e-01 -8.23339732e-01 5.09096846e-01 1.94845098e+02] [ 4.38144571e-01 5.65534306e-01 6.98713306e-01 2.07936700e+02] [-8.63190158e-01 4.77769229e-02 5.02613288e-01 -2.12438718e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.7007140569999 meters Centerline goodness : 0.989455 Centerline is valid? [True, True] Translation: X:194.85, Y:207.95, Z:-212.46 [[ 2.51253347e-01 -8.23116629e-01 5.09264932e-01 1.94852909e+02] [ 4.37645820e-01 5.65897458e-01 6.98731854e-01 2.07949474e+02] [-8.63329539e-01 4.73189520e-02 5.02417182e-01 -2.12464717e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.7307140569999 meters Centerline goodness : 0.989665 Centerline is valid? [True, True] Translation: X:194.86, Y:207.96, Z:-212.49 [[ 2.51612474e-01 -8.23217576e-01 5.08924342e-01 1.94859583e+02] [ 4.38693158e-01 5.65728465e-01 6.98211728e-01 2.07961426e+02] [-8.62693153e-01 4.75828463e-02 5.03484257e-01 -2.12487705e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.760714057 meters Centerline goodness : 0.989775 Centerline is valid? [True, True] Translation: X:194.87, Y:207.97, Z:-212.51 [[ 2.49877595e-01 -8.24036280e-01 5.08453928e-01 1.94866396e+02] [ 4.40930033e-01 5.64344252e-01 6.97922826e-01 2.07972461e+02] [-8.62056781e-01 4.97973301e-02 5.04359329e-01 -2.12512277e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.790714057 meters Centerline goodness : 0.990568 Centerline is valid? [True, True] Translation: X:194.87, Y:207.98, Z:-212.54 [[ 2.48295102e-01 -8.24770008e-01 5.08039346e-01 1.94873801e+02] [ 4.42048671e-01 5.63143605e-01 6.98184971e-01 2.07982982e+02] [-8.61941132e-01 5.12222090e-02 5.04414284e-01 -2.12536228e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.8207140569999 meters Centerline goodness : 0.990336 Centerline is valid? [True, True] Translation: X:194.88, Y:207.99, Z:-212.56 [[ 2.46837780e-01 -8.25386161e-01 5.07748752e-01 1.94882105e+02] [ 4.43449400e-01 5.62091119e-01 6.98144830e-01 2.07994478e+02] [-8.61640146e-01 5.28323597e-02 5.04762321e-01 -2.12560413e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.8507140569999 meters Centerline goodness : 0.983511 Centerline is valid? [True, True] Translation: X:194.89, Y:208.00, Z:-212.58 [[ 2.44031881e-01 -8.26082547e-01 5.07972506e-01 1.94886403e+02] [ 4.40786639e-01 5.61058457e-01 7.00657225e-01 2.08000720e+02] [-8.63802975e-01 5.29247935e-02 5.01042300e-01 -2.12580873e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.880714057 meters Centerline goodness : 0.989927 Centerline is valid? [True, True] Translation: X:194.90, Y:208.00, Z:-212.61 [[ 2.40505137e-01 -8.46623416e-01 4.74748429e-01 1.94904236e+02] [ 4.44515229e-01 5.30869268e-01 7.21515094e-01 2.08000209e+02] [-8.62880925e-01 3.75048202e-02 5.04013788e-01 -2.12614532e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.910714057 meters Centerline goodness : 0.989359 Centerline is valid? [True, True] Translation: X:194.91, Y:208.04, Z:-212.65 [[ 2.45229197e-01 -8.06278138e-01 5.38310510e-01 1.94910370e+02] [ 4.35678855e-01 5.87690937e-01 6.81764841e-01 2.08036675e+02] [-8.66052294e-01 6.73418617e-02 4.95397313e-01 -2.12651844e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.9407140569999 meters Centerline goodness : 0.989399 Centerline is valid? [True, True] Translation: X:194.91, Y:208.06, Z:-212.66 [[ 2.43623887e-01 -8.07252918e-01 5.37578021e-01 1.94909039e+02] [ 4.48813386e-01 5.85195683e-01 6.75361058e-01 2.08063049e+02] [-8.59775521e-01 7.67381253e-02 5.04873562e-01 -2.12655007e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.9707140569999 meters Centerline goodness : 0.989249 Centerline is valid? [True, True] Translation: X:194.92, Y:208.06, Z:-212.69 [[ 2.42661457e-01 -8.27687335e-01 5.06012938e-01 1.94922303e+02] [ 4.45843617e-01 5.58404263e-01 6.99577121e-01 2.08057015e+02] [-8.61590904e-01 5.58422355e-02 5.04522307e-01 -2.12687634e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.000714057 meters Centerline goodness : 0.988861 Centerline is valid? [True, True] Translation: X:194.94, Y:208.07, Z:-212.72 [[ 2.44485865e-01 -8.30231926e-01 5.00940727e-01 1.94935836e+02] [ 4.44162440e-01 5.55119997e-01 7.03250678e-01 2.08066876e+02] [-8.61943379e-01 5.05642053e-02 5.04476830e-01 -2.12717790e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.030714057 meters Centerline goodness : 0.989365 Centerline is valid? [True, True] Translation: X:194.94, Y:208.10, Z:-212.74 [[ 2.46883810e-01 -8.10558172e-01 5.31077993e-01 1.94936278e+02] [ 4.44428532e-01 5.81715873e-01 6.81241457e-01 2.08096518e+02] [-8.61122328e-01 6.78387262e-02 5.03851410e-01 -2.12735800e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.0607140569999 meters Centerline goodness : 0.990371 Centerline is valid? [True, True] Translation: X:194.94, Y:208.11, Z:-212.75 [[ 2.46394688e-01 -8.09825835e-01 5.32420675e-01 1.94939198e+02] [ 4.45599161e-01 5.82509535e-01 6.79797050e-01 2.08109903e+02] [-8.60657333e-01 6.97478240e-02 5.04384968e-01 -2.12754684e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.0907140569999 meters Centerline goodness : 0.990459 Centerline is valid? [True, True] Translation: X:194.95, Y:208.11, Z:-212.78 [[ 2.45425175e-01 -8.27474056e-01 5.05027891e-01 1.94951365e+02] [ 4.43898531e-01 5.59061775e-01 7.00288531e-01 2.08106785e+02] [-8.61812380e-01 5.23127041e-02 5.04522352e-01 -2.12784631e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.120714057 meters Centerline goodness : 0.990226 Centerline is valid? [True, True] Translation: X:194.96, Y:208.12, Z:-212.81 [[ 2.44808326e-01 -8.27708939e-01 5.04942369e-01 1.94958677e+02] [ 4.43210605e-01 5.58725710e-01 7.00992112e-01 2.08117699e+02] [-8.62341721e-01 5.21871070e-02 5.03630085e-01 -2.12809202e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.150714057 meters Centerline goodness : 0.990721 Centerline is valid? [True, True] Translation: X:194.97, Y:208.13, Z:-212.83 [[ 2.44752352e-01 -8.27948248e-01 5.04577035e-01 1.94966850e+02] [ 4.43139216e-01 5.58392907e-01 7.01302357e-01 2.08129061e+02] [-8.62394296e-01 5.19524699e-02 5.03564315e-01 -2.12833039e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.1807140569999 meters Centerline goodness : 0.990905 Centerline is valid? [True, True] Translation: X:194.97, Y:208.14, Z:-212.86 [[ 2.44972477e-01 -8.28165690e-01 5.04113157e-01 1.94973882e+02] [ 4.43239754e-01 5.58102858e-01 7.01469686e-01 2.08140093e+02] [-8.62280120e-01 5.16022253e-02 5.03795796e-01 -2.12856514e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.2107140569999 meters Centerline goodness : 0.989652 Centerline is valid? [True, True] Translation: X:194.98, Y:208.15, Z:-212.88 [[ 2.44848531e-01 -8.28394659e-01 5.03797068e-01 1.94981494e+02] [ 4.43839654e-01 5.57737817e-01 7.01380702e-01 2.08151443e+02] [-8.62006704e-01 5.18730813e-02 5.04235684e-01 -2.12880622e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.2407140569999 meters Centerline goodness : 0.989824 Centerline is valid? [True, True] Translation: X:194.99, Y:208.16, Z:-212.90 [[ 2.45873389e-01 -8.28795294e-01 5.02637680e-01 1.94988674e+02] [ 4.45795603e-01 5.57147925e-01 7.00608642e-01 2.08162805e+02] [-8.60704686e-01 5.18126468e-02 5.06461147e-01 -2.12904253e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.270714057 meters Centerline goodness : 0.989588 Centerline is valid? [True, True] Translation: X:195.00, Y:208.17, Z:-212.93 [[ 2.45712918e-01 -8.29041792e-01 5.02309535e-01 1.94996258e+02] [ 4.46438085e-01 5.56751941e-01 7.00514320e-01 2.08173917e+02] [-8.60417456e-01 5.21246889e-02 5.06916974e-01 -2.12929102e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.3007140569999 meters Centerline goodness : 0.989541 Centerline is valid? [True, True] Translation: X:195.01, Y:208.18, Z:-212.96 [[ 2.44968012e-01 -8.29463786e-01 5.01976595e-01 1.95008437e+02] [ 4.44777530e-01 5.56199867e-01 7.02007591e-01 2.08183999e+02] [-8.61489189e-01 5.12985062e-02 5.05178029e-01 -2.12959678e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.3307140569999 meters Centerline goodness : 0.989730 Centerline is valid? [True, True] Translation: X:195.01, Y:208.21, Z:-212.97 [[ 2.45640366e-01 -8.13449125e-01 5.27220382e-01 1.95007904e+02] [ 4.47918418e-01 5.77587125e-01 6.82467731e-01 2.08212010e+02] [-8.59668483e-01 6.85100959e-02 5.06237558e-01 -2.12972362e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.3607140569999 meters Centerline goodness : 0.990554 Centerline is valid? [True, True] Translation: X:195.02, Y:208.21, Z:-213.00 [[ 2.43606444e-01 -8.29905673e-01 5.01908831e-01 1.95020628e+02] [ 4.46497524e-01 5.55362217e-01 7.01578769e-01 2.08209619e+02] [-8.60985402e-01 5.31919417e-02 5.05840643e-01 -2.13001821e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.390714057 meters Centerline goodness : 0.990677 Centerline is valid? [True, True] Translation: X:195.03, Y:208.22, Z:-213.03 [[ 2.43129434e-01 -8.30179482e-01 5.01687259e-01 1.95029124e+02] [ 4.46164197e-01 5.54958641e-01 7.02109975e-01 2.08221650e+02] [-8.61292975e-01 5.31312918e-02 5.05323142e-01 -2.13027324e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.4207140569999 meters Centerline goodness : 0.989930 Centerline is valid? [True, True] Translation: X:195.04, Y:208.23, Z:-213.05 [[ 2.42930562e-01 -8.30205375e-01 5.01740748e-01 1.95036637e+02] [ 4.45931311e-01 5.54919598e-01 7.02288762e-01 2.08233276e+02] [-8.61469679e-01 5.31345056e-02 5.05021501e-01 -2.13050994e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.4507140569999 meters Centerline goodness : 0.989833 Centerline is valid? [True, True] Translation: X:195.04, Y:208.24, Z:-213.07 [[ 2.42910184e-01 -8.30538929e-01 5.01198293e-01 1.95043754e+02] [ 4.46414887e-01 5.54420849e-01 7.02375449e-01 2.08244299e+02] [-8.61224937e-01 5.31282297e-02 5.05439413e-01 -2.13074687e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.4807140569999 meters Centerline goodness : 0.989817 Centerline is valid? [True, True] Translation: X:195.05, Y:208.26, Z:-213.10 [[ 2.42335421e-01 -8.30790079e-01 5.01060264e-01 1.95051203e+02] [ 4.46662305e-01 5.54003576e-01 7.02547382e-01 2.08255685e+02] [-8.61258573e-01 5.35526168e-02 5.05337302e-01 -2.13099262e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.510714057 meters Centerline goodness : 0.989954 Centerline is valid? [True, True] Translation: X:195.06, Y:208.27, Z:-213.12 [[ 2.41380635e-01 -8.31343974e-01 5.00602224e-01 1.95058932e+02] [ 4.47485728e-01 5.53090938e-01 7.02742441e-01 2.08267081e+02] [-8.61099247e-01 5.43839335e-02 5.05520005e-01 -2.13123512e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.540714057 meters Centerline goodness : 0.989810 Centerline is valid? [True, True] Translation: X:195.07, Y:208.28, Z:-213.15 [[ 2.40777453e-01 -8.31848678e-01 5.00053992e-01 1.95066748e+02] [ 4.48396734e-01 5.52270319e-01 7.02807131e-01 2.08278268e+02] [-8.60794161e-01 5.50024655e-02 5.05972471e-01 -2.13146386e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.5707140569999 meters Centerline goodness : 0.990354 Centerline is valid? [True, True] Translation: X:195.07, Y:208.29, Z:-213.17 [[ 2.38620509e-01 -8.32415025e-01 5.00145459e-01 1.95074787e+02] [ 4.48890825e-01 5.51245401e-01 7.03296193e-01 2.08289865e+02] [-8.61137202e-01 5.66898121e-02 5.05201925e-01 -2.13170118e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.6007140569999 meters Centerline goodness : 0.990143 Centerline is valid? [True, True] Translation: X:195.08, Y:208.30, Z:-213.19 [[ 2.37140159e-01 -8.32851461e-01 5.00122974e-01 1.95082703e+02] [ 4.48541402e-01 5.50516585e-01 7.04089554e-01 2.08300910e+02] [-8.61728006e-01 5.73579510e-02 5.04117953e-01 -2.13193794e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.630714057 meters Centerline goodness : 0.988785 Centerline is valid? [True, True] Translation: X:195.09, Y:208.31, Z:-213.22 [[ 2.36068537e-01 -8.33171925e-01 5.00096180e-01 1.95092594e+02] [ 4.48731422e-01 5.49951479e-01 7.04410024e-01 2.08314266e+02] [-8.61923290e-01 5.81198265e-02 5.03696664e-01 -2.13222183e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.660714057 meters Centerline goodness : 0.988914 Centerline is valid? [True, True] Translation: X:195.11, Y:208.33, Z:-213.26 [[ 2.40434607e-01 -8.17641549e-01 5.23119008e-01 1.95107592e+02] [ 4.39646918e-01 5.72211282e-01 6.92304006e-01 2.08332052e+02] [-8.65391118e-01 6.35338181e-02 4.97052982e-01 -2.13263621e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.6907140569999 meters Centerline goodness : 0.989348 Centerline is valid? [True, True] Translation: X:195.10, Y:208.36, Z:-213.27 [[ 2.37977435e-01 -8.07617005e-01 5.39556776e-01 1.95103125e+02] [ 4.51084937e-01 5.83872199e-01 6.74993063e-01 2.08362179e+02] [-8.60168077e-01 8.27528160e-02 5.03252274e-01 -2.13267361e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.7207140569999 meters Centerline goodness : 0.989694 Centerline is valid? [True, True] Translation: X:195.12, Y:208.35, Z:-213.30 [[ 2.37651677e-01 -8.33170545e-01 4.99348098e-01 1.95118029e+02] [ 4.48223272e-01 5.50135426e-01 7.04589889e-01 2.08350107e+02] [-8.61752620e-01 5.63724701e-02 5.04187035e-01 -2.13300855e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.750714057 meters Centerline goodness : 0.990144 Centerline is valid? [True, True] Translation: X:195.13, Y:208.36, Z:-213.33 [[ 2.38337501e-01 -8.33192663e-01 4.98984190e-01 1.95127574e+02] [ 4.47598139e-01 5.50207465e-01 7.04930955e-01 2.08363163e+02] [-8.61888126e-01 5.53329125e-02 5.04070558e-01 -2.13330242e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.780714057 meters Centerline goodness : 0.982599 Centerline is valid? [True, True] Translation: X:195.13, Y:208.37, Z:-213.35 [[ 2.39030677e-01 -8.32023394e-01 5.00601047e-01 1.95132357e+02] [ 4.45933556e-01 5.52025000e-01 7.04564875e-01 2.08372662e+02] [-8.62558751e-01 5.48221857e-02 5.02978060e-01 -2.13353385e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.8107140569999 meters Centerline goodness : 0.989925 Centerline is valid? [True, True] Translation: X:195.15, Y:208.38, Z:-213.38 [[ 2.40395044e-01 -8.42695065e-01 4.81741891e-01 1.95146452e+02] [ 4.45462273e-01 5.36724119e-01 7.16582573e-01 2.08376193e+02] [-8.62423090e-01 4.23349384e-02 5.04414677e-01 -2.13382176e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.8407140569999 meters Centerline goodness : 0.983711 Centerline is valid? [True, True] Translation: X:195.15, Y:208.39, Z:-213.40 [[ 2.39406334e-01 -8.34446386e-01 4.96370664e-01 1.95148216e+02] [ 4.43951590e-01 5.48744898e-01 7.08368565e-01 2.08392826e+02] [-8.63476458e-01 5.07766244e-02 5.01826804e-01 -2.13402265e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.870714057 meters Centerline goodness : 0.990082 Centerline is valid? [True, True] Translation: X:195.16, Y:208.40, Z:-213.43 [[ 2.42884401e-01 -8.38078663e-01 4.88499051e-01 1.95160169e+02] [ 4.43585754e-01 5.43799528e-01 7.12399995e-01 2.08403261e+02] [-8.62692788e-01 4.36603743e-02 5.03840178e-01 -2.13428841e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.900714057 meters Centerline goodness : 0.983252 Centerline is valid? [True, True] Translation: X:195.16, Y:208.42, Z:-213.45 [[ 2.42905990e-01 -8.29230677e-01 5.03361863e-01 1.95162464e+02] [ 4.43709052e-01 5.56416215e-01 7.02512116e-01 2.08421378e+02] [-8.62623300e-01 5.27018139e-02 5.03093989e-01 -2.13448291e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.9307140569999 meters Centerline goodness : 0.990769 Centerline is valid? [True, True] Translation: X:195.18, Y:208.42, Z:-213.48 [[ 2.43117216e-01 -8.44120793e-01 4.77864109e-01 1.95176943e+02] [ 4.42714486e-01 5.34902339e-01 7.19641141e-01 2.08419109e+02] [-8.63074680e-01 3.66002132e-02 5.03748470e-01 -2.13479122e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.9607140569999 meters Centerline goodness : 0.992026 Centerline is valid? [True, True] Translation: X:195.18, Y:208.44, Z:-213.50 [[ 2.43379320e-01 -8.32802604e-01 4.97198482e-01 1.95181146e+02] [ 4.44201269e-01 5.51397669e-01 7.06148599e-01 2.08440860e+02] [-8.62236475e-01 4.89942302e-02 5.04130763e-01 -2.13499123e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.9907140569999 meters Centerline goodness : 0.992026 Centerline is valid? [True, True] Translation: X:195.19, Y:208.45, Z:-213.52 [[ 2.43151212e-01 -8.33099264e-01 4.96812947e-01 1.95189353e+02] [ 4.44324599e-01 5.50950667e-01 7.06419857e-01 2.08452360e+02] [-8.62237287e-01 4.89793694e-02 5.04130819e-01 -2.13523759e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.020714057 meters Centerline goodness : 0.991129 Centerline is valid? [True, True] Translation: X:195.20, Y:208.46, Z:-213.55 [[ 2.42460754e-01 -8.33546601e-01 4.96399886e-01 1.95197152e+02] [ 4.44939017e-01 5.50223020e-01 7.06600240e-01 2.08463839e+02] [-8.62114873e-01 4.95448507e-02 5.04284893e-01 -2.13548210e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.0507140569999 meters Centerline goodness : 0.984826 Centerline is valid? [True, True] Translation: X:195.20, Y:208.48, Z:-213.57 [[ 2.39423984e-01 -8.30890623e-01 5.02291676e-01 1.95201766e+02] [ 4.46540702e-01 5.53611229e-01 7.02933858e-01 2.08478083e+02] [-8.62135464e-01 5.59944527e-02 5.03574288e-01 -2.13569785e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.0807140569999 meters Centerline goodness : 0.983186 Centerline is valid? [True, True] Translation: X:195.21, Y:208.48, Z:-213.60 [[ 2.36553704e-01 -8.42224229e-01 4.84459176e-01 1.95212712e+02] [ 4.44813621e-01 5.37164250e-01 7.16655713e-01 2.08479296e+02] [-8.63818955e-01 4.59664771e-02 5.01701002e-01 -2.13597595e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.1107140569999 meters Centerline goodness : 0.989812 Centerline is valid? [True, True] Translation: X:195.22, Y:208.51, Z:-213.62 [[ 2.36650329e-01 -8.33106181e-01 4.99930708e-01 1.95223132e+02] [ 4.46667134e-01 5.50235606e-01 7.05499291e-01 2.08505308e+02] [-8.62835496e-01 5.63459770e-02 5.02334588e-01 -2.13624093e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.140714057 meters Centerline goodness : 0.990278 Centerline is valid? [True, True] Translation: X:195.23, Y:208.53, Z:-213.64 [[ 2.36826724e-01 -8.27605485e-01 5.08903000e-01 1.95228047e+02] [ 4.53594618e-01 5.57398701e-01 6.95383787e-01 2.08528722e+02] [-8.59165308e-01 6.61501973e-02 5.07404302e-01 -2.13636621e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.1707140569999 meters Centerline goodness : 0.990463 Centerline is valid? [True, True] Translation: X:195.23, Y:208.54, Z:-213.65 [[ 2.36704968e-01 -8.21300340e-01 5.19072741e-01 1.95228839e+02] [ 4.55141013e-01 5.65742212e-01 6.87591745e-01 2.08543856e+02] [-8.58380694e-01 7.34949114e-02 5.07721461e-01 -2.13654348e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.2007140569999 meters Centerline goodness : 0.991124 Centerline is valid? [True, True] Translation: X:195.24, Y:208.54, Z:-213.69 [[ 2.35498648e-01 -8.42757533e-01 4.84045584e-01 1.95243280e+02] [ 4.54008142e-01 5.35765710e-01 7.11921141e-01 2.08535856e+02] [-8.59311931e-01 5.21041699e-02 5.08790882e-01 -2.13686119e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.2307140569999 meters Centerline goodness : 0.990224 Centerline is valid? [True, True] Translation: X:195.25, Y:208.55, Z:-213.71 [[ 2.36068702e-01 -8.42897501e-01 4.83523908e-01 1.95251320e+02] [ 4.54058997e-01 5.35607221e-01 7.12007958e-01 2.08546531e+02] [-8.59128626e-01 5.14655861e-02 5.09165296e-01 -2.13709239e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.260714057 meters Centerline goodness : 0.989890 Centerline is valid? [True, True] Translation: X:195.27, Y:208.55, Z:-213.74 [[ 2.37801999e-01 -8.48879597e-01 4.72073764e-01 1.95267316e+02] [ 4.53394603e-01 5.26828739e-01 7.18947018e-01 2.08554582e+02] [-8.59001481e-01 4.30686588e-02 5.10158355e-01 -2.13738822e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.290714057 meters Centerline goodness : 0.989607 Centerline is valid? [True, True] Translation: X:195.26, Y:208.59, Z:-213.75 [[ 2.39438193e-01 -8.22992555e-01 5.15123874e-01 1.95261922e+02] [ 4.54897216e-01 5.63812226e-01 6.89336127e-01 2.08588336e+02] [-8.57751639e-01 6.92750195e-02 5.09375203e-01 -2.13750764e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.3207140569999 meters Centerline goodness : 0.988856 Centerline is valid? [True, True] Translation: X:195.29, Y:208.58, Z:-213.80 [[ 2.44469648e-01 -8.39002162e-01 4.86117232e-01 1.95287725e+02] [ 4.47222376e-01 5.42383733e-01 7.11204635e-01 2.08584008e+02] [-8.60364305e-01 4.35345569e-02 5.07816901e-01 -2.13795734e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.3507140569999 meters Centerline goodness : 0.989531 Centerline is valid? [True, True] Translation: X:195.28, Y:208.62, Z:-213.80 [[ 2.43355260e-01 -8.16094066e-01 5.24183836e-01 1.95278778e+02] [ 4.52076160e-01 5.73574221e-01 6.83110356e-01 2.08620801e+02] [-8.58140643e-01 7.07325173e-02 5.08518975e-01 -2.13803364e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.380714057 meters Centerline goodness : 0.989725 Centerline is valid? [True, True] Translation: X:195.29, Y:208.61, Z:-213.84 [[ 2.43043270e-01 -8.41349111e-01 4.82764583e-01 1.95294377e+02] [ 4.49289857e-01 5.38723468e-01 7.12682012e-01 2.08608945e+02] [-8.59690987e-01 4.36886638e-02 5.08942734e-01 -2.13835789e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.410714057 meters Centerline goodness : 0.990610 Centerline is valid? [True, True] Translation: X:195.30, Y:208.62, Z:-213.86 [[ 2.44633912e-01 -8.41065029e-01 4.82456076e-01 1.95302636e+02] [ 4.48763595e-01 5.39286558e-01 7.12587710e-01 2.08619839e+02] [-8.59514680e-01 4.21856041e-02 5.09367147e-01 -2.13860251e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.4407140569999 meters Centerline goodness : 0.990015 Centerline is valid? [True, True] Translation: X:195.31, Y:208.63, Z:-213.89 [[ 2.44746410e-01 -8.41368243e-01 4.81869977e-01 1.95311624e+02] [ 4.49363412e-01 5.38817174e-01 7.12564788e-01 2.08632021e+02] [-8.59169203e-01 4.21370635e-02 5.09953673e-01 -2.13886708e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.4707140569999 meters Centerline goodness : 0.989666 Centerline is valid? [True, True] Translation: X:195.32, Y:208.64, Z:-213.91 [[ 2.43770369e-01 -8.41698509e-01 4.81787949e-01 1.95319452e+02] [ 4.50281913e-01 5.38211393e-01 7.12442766e-01 2.08642688e+02] [-8.58965777e-01 4.32679633e-02 5.10201605e-01 -2.13910390e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.500714057 meters Centerline goodness : 0.989870 Centerline is valid? [True, True] Translation: X:195.33, Y:208.65, Z:-213.93 [[ 2.41419915e-01 -8.42691010e-01 4.81236206e-01 1.95328297e+02] [ 4.53116111e-01 5.36414654e-01 7.12000779e-01 2.08652663e+02] [-8.58138809e-01 4.61647104e-02 5.11338053e-01 -2.13933307e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.530714057 meters Centerline goodness : 0.990547 Centerline is valid? [True, True] Translation: X:195.34, Y:208.66, Z:-213.96 [[ 2.39308391e-01 -8.43340133e-01 4.81153732e-01 1.95336980e+02] [ 4.54130579e-01 5.35226768e-01 7.12248358e-01 2.08663533e+02] [-8.58193982e-01 4.80596140e-02 5.11070800e-01 -2.13957259e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.5607140569999 meters Centerline goodness : 0.990566 Centerline is valid? [True, True] Translation: X:195.35, Y:208.68, Z:-213.99 [[ 2.35503963e-01 -8.44381600e-01 4.81204319e-01 1.95347878e+02] [ 4.54935385e-01 5.33312791e-01 7.13169869e-01 2.08675778e+02] [-8.58819934e-01 5.09625417e-02 5.09736344e-01 -2.13985170e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.5907140569999 meters Centerline goodness : 0.989685 Centerline is valid? [True, True] Translation: X:195.36, Y:208.68, Z:-214.01 [[ 2.33902914e-01 -8.53895861e-01 4.64920730e-01 1.95364088e+02] [ 4.56271832e-01 5.18663969e-01 7.23051659e-01 2.08681955e+02] [-8.58548451e-01 4.30063432e-02 5.10925643e-01 -2.14013074e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.620714057 meters Centerline goodness : 0.990540 Centerline is valid? [True, True] Translation: X:195.36, Y:208.72, Z:-214.03 [[ 2.33542404e-01 -8.26403150e-01 5.12362937e-01 1.95359272e+02] [ 4.57909699e-01 5.58320322e-01 6.91807145e-01 2.08715955e+02] [-8.57774244e-01 7.30496544e-02 5.08809487e-01 -2.14026878e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.650714057 meters Centerline goodness : 0.990335 Centerline is valid? [True, True] Translation: X:195.37, Y:208.71, Z:-214.06 [[ 2.30459870e-01 -8.45863500e-01 4.81043852e-01 1.95374582e+02] [ 4.57754783e-01 5.30475738e-01 7.13481640e-01 2.08709513e+02] [-8.58690169e-01 5.57712376e-02 5.09451433e-01 -2.14056398e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.6807140569999 meters Centerline goodness : 0.990769 Centerline is valid? [True, True] Translation: X:195.38, Y:208.72, Z:-214.08 [[ 2.29470363e-01 -8.46368368e-01 4.80628691e-01 1.95383035e+02] [ 4.58836170e-01 5.29559435e-01 7.13467711e-01 2.08721037e+02] [-8.58377960e-01 5.68101334e-02 5.09862616e-01 -2.14080772e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.7107140569999 meters Centerline goodness : 0.990469 Centerline is valid? [True, True] Translation: X:195.39, Y:208.73, Z:-214.10 [[ 2.28057968e-01 -8.47064238e-01 4.80074724e-01 1.95391714e+02] [ 4.60231815e-01 5.28291685e-01 7.13508635e-01 2.08731507e+02] [-8.58007133e-01 5.82243316e-02 5.10327039e-01 -2.14104610e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.7407140569999 meters Centerline goodness : 0.989789 Centerline is valid? [True, True] Translation: X:195.40, Y:208.74, Z:-214.13 [[ 2.27126866e-01 -8.47529217e-01 4.79695333e-01 1.95399954e+02] [ 4.61172954e-01 5.27441223e-01 7.13530142e-01 2.08743531e+02] [-8.57748736e-01 5.91606491e-02 5.10653625e-01 -2.14128878e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.770714057 meters Centerline goodness : 0.989792 Centerline is valid? [True, True] Translation: X:195.41, Y:208.75, Z:-214.15 [[ 2.26007879e-01 -8.48008474e-01 4.79376748e-01 1.95407767e+02] [ 4.61544993e-01 5.26586510e-01 7.13920772e-01 2.08754524e+02] [-8.57844192e-01 5.99022178e-02 5.10406765e-01 -2.14153021e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.8007140569999 meters Centerline goodness : 0.989413 Centerline is valid? [True, True] Translation: X:195.42, Y:208.77, Z:-214.18 [[ 2.24404673e-01 -8.48660199e-01 4.78976418e-01 1.95415985e+02] [ 4.62510524e-01 5.25378406e-01 7.14185932e-01 2.08765509e+02] [-8.57745043e-01 6.12649738e-02 5.10411643e-01 -2.14177022e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.8307140569999 meters Centerline goodness : 0.990719 Centerline is valid? [True, True] Translation: X:195.42, Y:208.78, Z:-214.20 [[ 2.23917735e-01 -8.49050614e-01 4.78512177e-01 1.95423972e+02] [ 4.63015716e-01 5.24707698e-01 7.14351649e-01 2.08776522e+02] [-8.57599729e-01 6.16026549e-02 5.10615137e-01 -2.14200978e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.8607140569999 meters Centerline goodness : 0.990170 Centerline is valid? [True, True] Translation: X:195.44, Y:208.78, Z:-214.23 [[ 2.22809377e-01 -8.54526884e-01 4.69190564e-01 1.95437191e+02] [ 4.63687556e-01 5.16256410e-01 7.20050811e-01 2.08784668e+02] [-8.57525412e-01 5.71237530e-02 5.11260252e-01 -2.14230384e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.890714057 meters Centerline goodness : 0.989531 Centerline is valid? [True, True] Translation: X:195.43, Y:208.82, Z:-214.25 [[ 2.23751166e-01 -8.33503887e-01 5.05179856e-01 1.95433572e+02] [ 4.66511020e-01 5.46678488e-01 6.95348905e-01 2.08815166e+02] [-8.55746974e-01 8.00868422e-02 5.11158697e-01 -2.14245045e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.9207140569999 meters Centerline goodness : 0.989072 Centerline is valid? [True, True] Translation: X:195.46, Y:208.81, Z:-214.29 [[ 2.27151172e-01 -8.45954016e-01 4.82456370e-01 1.95457680e+02] [ 4.59085953e-01 5.29923535e-01 7.13036559e-01 2.08813183e+02] [-8.58861125e-01 5.95218526e-02 5.08738358e-01 -2.14289332e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.9507140569999 meters Centerline goodness : 0.989404 Centerline is valid? [True, True] Translation: X:195.45, Y:208.85, Z:-214.30 [[ 2.22380778e-01 -8.23923003e-01 5.21246271e-01 1.95446413e+02] [ 4.69049762e-01 5.59108616e-01 6.83659181e-01 2.08851039e+02] [-8.54715807e-01 9.24577786e-02 5.10795897e-01 -2.14295171e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.9807140569999 meters Centerline goodness : 0.989273 Centerline is valid? [True, True] Translation: X:195.47, Y:208.84, Z:-214.34 [[ 2.24376169e-01 -8.50852055e-01 4.75085377e-01 1.95474653e+02] [ 4.62026510e-01 5.22121518e-01 7.16882574e-01 2.08837730e+02] [-8.58013309e-01 5.86506731e-02 5.10267832e-01 -2.14342335e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.010714057 meters Centerline goodness : 0.989372 Centerline is valid? [True, True] Translation: X:195.47, Y:208.88, Z:-214.36 [[ 2.24154225e-01 -8.20101102e-01 5.26487480e-01 1.95470735e+02] [ 4.64617372e-01 5.64816130e-01 6.81992256e-01 2.08879122e+02] [-8.56671221e-01 9.17437835e-02 5.07639141e-01 -2.14361787e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.040714057 meters Centerline goodness : 0.990191 Centerline is valid? [True, True] Translation: X:195.47, Y:208.89, Z:-214.38 [[ 2.18568913e-01 -8.29519946e-01 5.13930238e-01 1.95471070e+02] [ 4.70052296e-01 5.51034657e-01 6.89501013e-01 2.08889414e+02] [-8.55148215e-01 9.08706012e-02 5.10356801e-01 -2.14379257e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.0707140569999 meters Centerline goodness : 0.990187 Centerline is valid? [True, True] Translation: X:195.49, Y:208.88, Z:-214.41 [[ 2.16121721e-01 -8.52047094e-01 4.76767398e-01 1.95486605e+02] [ 4.67549653e-01 5.18995219e-01 7.15570600e-01 2.08883321e+02] [-8.57139851e-01 6.82620821e-02 5.10540463e-01 -2.14414997e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.1007140569999 meters Centerline goodness : 0.989319 Centerline is valid? [True, True] Translation: X:195.51, Y:208.90, Z:-214.45 [[ 2.19498891e-01 -8.54369050e-01 4.71034779e-01 1.95505104e+02] [ 4.64321149e-01 5.16106335e-01 7.19750041e-01 2.08896178e+02] [-8.58036192e-01 6.07270742e-02 5.09986388e-01 -2.14451557e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.130714057 meters Centerline goodness : 0.989043 Centerline is valid? [True, True] Translation: X:195.50, Y:208.93, Z:-214.47 [[ 2.21754793e-01 -8.24914483e-01 5.19943178e-01 1.95502585e+02] [ 4.64526109e-01 5.58195169e-01 6.87483562e-01 2.08933752e+02] [-8.57344917e-01 8.90744068e-02 5.06976769e-01 -2.14471236e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.160714057 meters Centerline goodness : 0.989712 Centerline is valid? [True, True] Translation: X:195.51, Y:208.94, Z:-214.50 [[ 2.20721767e-01 -8.31650606e-01 5.09548007e-01 1.95511437e+02] [ 4.65525919e-01 5.48913409e-01 6.94247570e-01 2.08944293e+02] [-8.57069146e-01 8.39722539e-02 5.08312050e-01 -2.14500626e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.1907140569999 meters Centerline goodness : 0.990357 Centerline is valid? [True, True] Translation: X:195.52, Y:208.96, Z:-214.53 [[ 2.21548099e-01 -8.28083700e-01 5.14969733e-01 1.95518389e+02] [ 4.65457692e-01 5.53852018e-01 6.90360109e-01 2.08961377e+02] [-8.56892979e-01 8.67486535e-02 5.08142789e-01 -2.14526703e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.2207140569999 meters Centerline goodness : 0.989810 Centerline is valid? [True, True] Translation: X:195.53, Y:208.97, Z:-214.55 [[ 2.20891632e-01 -8.29579903e-01 5.12839226e-01 1.95526083e+02] [ 4.65617920e-01 5.51734661e-01 6.91945675e-01 2.08974642e+02] [-8.56975402e-01 8.59421239e-02 5.08140838e-01 -2.14554137e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.250714057 meters Centerline goodness : 0.990682 Centerline is valid? [True, True] Translation: X:195.53, Y:208.99, Z:-214.58 [[ 2.21168509e-01 -8.29720738e-01 5.12491940e-01 1.95532440e+02] [ 4.65040194e-01 5.51639508e-01 6.92409901e-01 2.08989893e+02] [-8.57217656e-01 8.51900853e-02 5.07858780e-01 -2.14581835e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.280714057 meters Centerline goodness : 0.991022 Centerline is valid? [True, True] Translation: X:195.54, Y:209.00, Z:-214.61 [[ 2.22181620e-01 -8.31966762e-01 5.08396140e-01 1.95540621e+02] [ 4.66309436e-01 5.48599832e-01 6.93969549e-01 2.09004364e+02] [-8.56265635e-01 8.28826388e-02 5.09842751e-01 -2.14607891e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.3107140569999 meters Centerline goodness : 0.991334 Centerline is valid? [True, True] Translation: X:195.55, Y:209.02, Z:-214.64 [[ 2.23489644e-01 -8.36848888e-01 4.99736248e-01 1.95548551e+02] [ 4.65149873e-01 5.42125514e-01 6.99811062e-01 2.09016180e+02] [-8.56555879e-01 7.60517271e-02 5.10419592e-01 -2.14636558e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.3407140569999 meters Centerline goodness : 0.991369 Centerline is valid? [True, True] Translation: X:195.55, Y:209.04, Z:-214.66 [[ 2.26231447e-01 -8.30695689e-01 5.08688515e-01 1.95553494e+02] [ 4.66160524e-01 5.50873411e-01 6.92266460e-01 2.09036891e+02] [-8.55285741e-01 8.05180618e-02 5.11862426e-01 -2.14659710e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.370714057 meters Centerline goodness : 0.990592 Centerline is valid? [True, True] Translation: X:195.56, Y:209.05, Z:-214.68 [[ 2.32850544e-01 -8.24843095e-01 5.15183941e-01 1.95555134e+02] [ 4.62038457e-01 5.59969232e-01 6.87717183e-01 2.09053442e+02] [-8.55745925e-01 7.78994732e-02 5.11498371e-01 -2.14684569e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.400714057 meters Centerline goodness : 0.990547 Centerline is valid? [True, True] Translation: X:195.57, Y:209.05, Z:-214.72 [[ 2.31413506e-01 -8.42908705e-01 4.85749631e-01 1.95568145e+02] [ 4.59542340e-01 5.34797796e-01 7.09092487e-01 2.09053184e+02] [-8.57478063e-01 5.91289435e-02 5.11111671e-01 -2.14721169e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.4307140569999 meters Centerline goodness : 0.990182 Centerline is valid? [True, True] Translation: X:195.57, Y:209.08, Z:-214.74 [[ 2.34521960e-01 -8.29362118e-01 5.07107413e-01 1.95570953e+02] [ 4.58467751e-01 5.54360674e-01 6.94616127e-01 2.09079953e+02] [-8.57208709e-01 6.95896597e-02 5.10245537e-01 -2.14744430e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.4607140569999 meters Centerline goodness : 0.989366 Centerline is valid? [True, True] Translation: X:195.58, Y:209.09, Z:-214.77 [[ 2.36560624e-01 -8.29499534e-01 5.05934378e-01 1.95576148e+02] [ 4.49396852e-01 5.55079417e-01 6.99949506e-01 2.09091941e+02] [-8.61441548e-01 6.17848247e-02 5.04084412e-01 -2.14768774e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.4907140569999 meters Centerline goodness : 0.990570 Centerline is valid? [True, True] Translation: X:195.58, Y:209.11, Z:-214.80 [[ 2.39450362e-01 -8.20987930e-01 5.18307191e-01 1.95580902e+02] [ 4.50594364e-01 5.66833404e-01 6.89684429e-01 2.09110742e+02] [-8.60016420e-01 6.84011128e-02 5.05660998e-01 -2.14802389e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.520714057 meters Centerline goodness : 0.990234 Centerline is valid? [True, True] Translation: X:195.58, Y:209.12, Z:-214.82 [[ 2.37838347e-01 -8.28561112e-01 5.06872178e-01 1.95579594e+02] [ 4.54372502e-01 5.56136145e-01 6.95886642e-01 2.09122393e+02] [-8.58474549e-01 6.48002511e-02 5.08745886e-01 -2.14818053e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.5507140569999 meters Centerline goodness : 0.989029 Centerline is valid? [True, True] Translation: X:195.60, Y:209.12, Z:-214.86 [[ 2.41923699e-01 -8.42406019e-01 4.81482112e-01 1.95601746e+02] [ 4.46439246e-01 5.37217164e-01 7.15604443e-01 2.09118341e+02] [-8.61489944e-01 4.18308366e-02 5.06048671e-01 -2.14864203e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.5807140569999 meters Centerline goodness : 0.989793 Centerline is valid? [True, True] Translation: X:195.60, Y:209.15, Z:-214.87 [[ 2.39015688e-01 -8.27563531e-01 5.07946948e-01 1.95595117e+02] [ 4.52735765e-01 5.57747289e-01 6.95663920e-01 2.09150976e+02] [-8.59012124e-01 6.36911595e-02 5.07977960e-01 -2.14872312e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.6107140569999 meters Centerline goodness : 0.989992 Centerline is valid? [True, True] Translation: X:195.62, Y:209.14, Z:-214.92 [[ 2.42539707e-01 -8.51414711e-01 4.65045676e-01 1.95621147e+02] [ 4.47021489e-01 5.23518151e-01 7.25327880e-01 2.09140265e+02] [-8.61014680e-01 3.19645990e-02 5.07574611e-01 -2.14917995e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.640714057 meters Centerline goodness : 0.989366 Centerline is valid? [True, True] Translation: X:195.62, Y:209.18, Z:-214.94 [[ 2.43274881e-01 -8.17957736e-01 5.21308426e-01 1.95619126e+02] [ 4.45623126e-01 5.71628279e-01 6.88956560e-01 2.09182060e+02] [-8.61531986e-01 6.47012649e-02 5.03563684e-01 -2.14936272e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.6707140569999 meters Centerline goodness : 0.988974 Centerline is valid? [True, True] Translation: X:195.63, Y:209.19, Z:-214.97 [[ 2.39779535e-01 -8.25209729e-01 5.11404613e-01 1.95630617e+02] [ 4.48238568e-01 5.61366213e-01 6.95665265e-01 2.09189415e+02] [-8.61155016e-01 6.24249774e-02 5.04494956e-01 -2.14966614e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.7007140569999 meters Centerline goodness : 0.989711 Centerline is valid? [True, True] Translation: X:195.64, Y:209.21, Z:-214.99 [[ 2.37574396e-01 -8.14128027e-01 5.29862211e-01 1.95635284e+02] [ 4.48508140e-01 5.75790047e-01 6.83598032e-01 2.09210558e+02] [-8.61625705e-01 7.52421247e-02 5.01936020e-01 -2.14991989e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.7307140569999 meters Centerline goodness : 0.989740 Centerline is valid? [True, True] Translation: X:195.65, Y:209.21, Z:-215.02 [[ 2.35251099e-01 -8.36269787e-01 4.95287556e-01 1.95651555e+02] [ 4.54192920e-01 5.45114980e-01 7.04669036e-01 2.09209241e+02] [-8.59282091e-01 5.91819358e-02 5.08066715e-01 -2.15019423e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.760714057 meters Centerline goodness : 0.989986 Centerline is valid? [True, True] Translation: X:195.66, Y:209.22, Z:-215.04 [[ 2.30019519e-01 -8.37192750e-01 4.96184764e-01 1.95658573e+02] [ 4.60431489e-01 5.42801667e-01 7.02402445e-01 2.09224597e+02] [-8.57376152e-01 6.68928172e-02 5.10324882e-01 -2.15039877e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.790714057 meters Centerline goodness : 0.990422 Centerline is valid? [True, True] Translation: X:195.67, Y:209.23, Z:-215.07 [[ 2.29534809e-01 -8.36926407e-01 4.96858090e-01 1.95668485e+02] [ 4.59375634e-01 5.43207413e-01 7.02780004e-01 2.09233282e+02] [-8.58072141e-01 6.69320261e-02 5.09148608e-01 -2.15066746e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.8207140569999 meters Centerline goodness : 0.989953 Centerline is valid? [True, True] Translation: X:195.66, Y:209.25, Z:-215.08 [[ 2.23811767e-01 -8.26541346e-01 5.16466548e-01 1.95664861e+02] [ 4.62829047e-01 5.56481604e-01 6.90012680e-01 2.09253587e+02] [-8.57728142e-01 8.46027629e-02 5.07094475e-01 -2.15083881e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.8507140569999 meters Centerline goodness : 0.990876 Centerline is valid? [True, True] Translation: X:195.68, Y:209.24, Z:-215.12 [[ 2.21126339e-01 -8.54681306e-01 4.69705234e-01 1.95681674e+02] [ 4.61098124e-01 5.16019563e-01 7.21881106e-01 2.09237889e+02] [-8.59355376e-01 5.69532753e-02 5.08197464e-01 -2.15117983e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.880714057 meters Centerline goodness : 0.989398 Centerline is valid? [True, True] Translation: X:195.69, Y:209.25, Z:-215.14 [[ 2.20952757e-01 -8.54975333e-01 4.69251596e-01 1.95690352e+02] [ 4.61348241e-01 5.15533135e-01 7.22068825e-01 2.09249759e+02] [-8.59265780e-01 5.69453011e-02 5.08349833e-01 -2.15143862e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.910714057 meters Centerline goodness : 0.989398 Centerline is valid? [True, True] Translation: X:195.70, Y:209.26, Z:-215.17 [[ 2.20935529e-01 -8.55007714e-01 4.69200704e-01 1.95698659e+02] [ 4.61354596e-01 5.15481126e-01 7.22101894e-01 2.09262557e+02] [-8.59266797e-01 5.69299373e-02 5.08349834e-01 -2.15169877e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.9407140569999 meters Centerline goodness : 0.990744 Centerline is valid? [True, True] Translation: X:195.71, Y:209.27, Z:-215.19 [[ 2.21985161e-01 -8.54856273e-01 4.68981174e-01 1.95707068e+02] [ 4.61422897e-01 5.15816039e-01 7.21819038e-01 2.09273523e+02] [-8.58959544e-01 5.61655365e-02 5.08953765e-01 -2.15193037e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.9707140569999 meters Centerline goodness : 0.990143 Centerline is valid? [True, True] Translation: X:195.72, Y:209.28, Z:-215.22 [[ 2.23789595e-01 -8.54526672e-01 4.68724209e-01 1.95715150e+02] [ 4.60612374e-01 5.16554361e-01 7.21808723e-01 2.09284262e+02] [-8.58926340e-01 5.43668893e-02 5.09205051e-01 -2.15217629e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.000714057 meters Centerline goodness : 0.990802 Centerline is valid? [True, True] Translation: X:195.73, Y:209.30, Z:-215.26 [[ 2.30279015e-01 -8.39165678e-01 4.92719534e-01 1.95729908e+02] [ 4.50943751e-01 5.40703225e-01 7.10133618e-01 2.09304818e+02] [-8.62334801e-01 5.86599251e-02 5.02929125e-01 -2.15259177e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.030714057 meters Centerline goodness : 0.991287 Centerline is valid? [True, True] Translation: X:195.72, Y:209.34, Z:-215.26 [[ 2.28533735e-01 -8.28532537e-01 5.11181150e-01 1.95724969e+02] [ 4.61411119e-01 5.54537732e-01 6.92522695e-01 2.09335289e+02] [-8.57246820e-01 7.75998684e-02 5.09024704e-01 -2.15261181e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.0607140569999 meters Centerline goodness : 0.990057 Centerline is valid? [True, True] Translation: X:195.75, Y:209.33, Z:-215.31 [[ 2.33290013e-01 -8.39329928e-01 4.91020409e-01 1.95747821e+02] [ 4.49824294e-01 5.40826616e-01 7.10749377e-01 2.09330348e+02] [-8.62110129e-01 5.50621769e-02 5.03720440e-01 -2.15312947e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.0907140569999 meters Centerline goodness : 0.990357 Centerline is valid? [True, True] Translation: X:195.75, Y:209.36, Z:-215.33 [[ 2.37979446e-01 -8.24833177e-01 5.12850868e-01 1.95752879e+02] [ 4.52274107e-01 5.61389552e-01 6.93029511e-01 2.09360307e+02] [-8.59542853e-01 6.70223892e-02 5.06649863e-01 -2.15327119e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.120714057 meters Centerline goodness : 0.990945 Centerline is valid? [True, True] Translation: X:195.75, Y:209.37, Z:-215.34 [[ 2.37598567e-01 -8.27015773e-01 5.09501552e-01 1.95752046e+02] [ 4.55669669e-01 5.58123379e-01 6.93443182e-01 2.09374490e+02] [-8.57853177e-01 6.74032968e-02 5.09455319e-01 -2.15340522e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.150714057 meters Centerline goodness : 0.990164 Centerline is valid? [True, True] Translation: X:195.77, Y:209.38, Z:-215.40 [[ 2.42299267e-01 -8.24929701e-01 5.10668243e-01 1.95771361e+02] [ 4.39836521e-01 5.62554290e-01 7.00054645e-01 2.09376529e+02] [-8.64774479e-01 5.49878158e-02 4.99140702e-01 -2.15395027e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.1807140569999 meters Centerline goodness : 0.990152 Centerline is valid? [True, True] Translation: X:195.77, Y:209.40, Z:-215.39 [[ 2.39985260e-01 -8.27721196e-01 5.07232389e-01 1.95769733e+02] [ 4.54951214e-01 5.57465297e-01 6.94443543e-01 2.09398165e+02] [-8.57570095e-01 6.41097772e-02 5.10356217e-01 -2.15392274e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.2107140569999 meters Centerline goodness : 0.990431 Centerline is valid? [True, True] Translation: X:195.79, Y:209.39, Z:-215.43 [[ 2.39792680e-01 -8.52276848e-01 4.64891003e-01 1.95786532e+02] [ 4.53453894e-01 5.21742900e-01 7.22609101e-01 2.09386485e+02] [-8.58416587e-01 3.75302627e-02 5.11578384e-01 -2.15427390e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.2407140569999 meters Centerline goodness : 0.991291 Centerline is valid? [True, True] Translation: X:195.79, Y:209.40, Z:-215.45 [[ 2.39969244e-01 -8.52304016e-01 4.64750069e-01 1.95794627e+02] [ 4.53673349e-01 5.21703071e-01 7.22500103e-01 2.09396896e+02] [-8.58251277e-01 3.74669169e-02 5.11860309e-01 -2.15450388e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.270714057 meters Centerline goodness : 0.990957 Centerline is valid? [True, True] Translation: X:195.80, Y:209.41, Z:-215.47 [[ 2.39933931e-01 -8.52502702e-01 4.64403759e-01 1.95802902e+02] [ 4.54309663e-01 5.21363850e-01 7.22345116e-01 2.09408531e+02] [-8.57924495e-01 3.76680122e-02 5.12393093e-01 -2.15474696e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.3007140569999 meters Centerline goodness : 0.990356 Centerline is valid? [True, True] Translation: X:195.82, Y:209.42, Z:-215.51 [[ 2.43931786e-01 -8.49407395e-01 4.67979017e-01 1.95823830e+02] [ 4.50399997e-01 5.26582357e-01 7.21006841e-01 2.09421513e+02] [-8.58858037e-01 3.49012619e-02 5.11023263e-01 -2.15514722e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.3307140569999 meters Centerline goodness : 0.991018 Centerline is valid? [True, True] Translation: X:195.83, Y:209.45, Z:-215.53 [[ 2.43990398e-01 -8.36442915e-01 4.90746304e-01 1.95829709e+02] [ 4.57741653e-01 5.45453381e-01 7.02106252e-01 2.09453941e+02] [-8.54951031e-01 5.33278408e-02 5.15960150e-01 -2.15531131e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.3607140569999 meters Centerline goodness : 0.991020 Centerline is valid? [True, True] Translation: X:195.84, Y:209.47, Z:-215.55 [[ 2.43006513e-01 -8.34979892e-01 4.93716939e-01 1.95838954e+02] [ 4.60628979e-01 5.47256940e-01 6.98806687e-01 2.09471084e+02] [-8.53679553e-01 5.76057535e-02 5.17602936e-01 -2.15554722e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.390714057 meters Centerline goodness : 0.990247 Centerline is valid? [True, True] Translation: X:195.85, Y:209.49, Z:-215.58 [[ 2.40777514e-01 -8.31585405e-01 5.00491661e-01 1.95847368e+02] [ 4.60455420e-01 5.51808385e-01 6.95333239e-01 2.09485454e+02] [-8.54404468e-01 6.30334892e-02 5.15771058e-01 -2.15582310e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.4207140569999 meters Centerline goodness : 0.990956 Centerline is valid? [True, True] Translation: X:195.86, Y:209.49, Z:-215.61 [[ 2.37685647e-01 -8.43343545e-01 4.81951448e-01 1.95861837e+02] [ 4.64630301e-01 5.34437070e-01 7.06042281e-01 2.09492151e+02] [-8.53008920e-01 5.61131300e-02 5.18870986e-01 -2.15608845e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.4507140569999 meters Centerline goodness : 0.989335 Centerline is valid? [True, True] Translation: X:195.87, Y:209.50, Z:-215.63 [[ 2.34884511e-01 -8.44543339e-01 4.81223249e-01 1.95870204e+02] [ 4.58127091e-01 5.32823646e-01 7.11490359e-01 2.09502142e+02] [-8.57291569e-01 5.33433422e-02 5.12060204e-01 -2.15632282e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.4807140569999 meters Centerline goodness : 0.989781 Centerline is valid? [True, True] Translation: X:195.88, Y:209.52, Z:-215.66 [[ 2.35489557e-01 -8.34213130e-01 4.98631249e-01 1.95875044e+02] [ 4.62027759e-01 5.47469031e-01 6.97716282e-01 2.09521956e+02] [-8.55029250e-01 6.60765804e-02 5.14352862e-01 -2.15661761e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.510714057 meters Centerline goodness : 0.989733 Centerline is valid? [True, True] Translation: X:195.89, Y:209.52, Z:-215.69 [[ 2.30327127e-01 -8.47175880e-01 4.78792693e-01 1.95889170e+02] [ 4.54228236e-01 5.28729105e-01 7.17023182e-01 2.09522099e+02] [-8.60596377e-01 5.23312714e-02 5.06591861e-01 -2.15690676e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.540714057 meters Centerline goodness : 0.989503 Centerline is valid? [True, True] Translation: X:195.89, Y:209.55, Z:-215.72 [[ 2.31688468e-01 -8.29775633e-01 5.07733053e-01 1.95892259e+02] [ 4.56931413e-01 5.53602090e-01 6.96231578e-01 2.09547109e+02] [-8.58798077e-01 7.06903531e-02 5.07413772e-01 -2.15719396e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.5707140569999 meters Centerline goodness : 0.989935 Centerline is valid? [True, True] Translation: X:195.91, Y:209.55, Z:-215.75 [[ 2.29754084e-01 -8.36958298e-01 4.96702997e-01 1.95905125e+02] [ 4.58572865e-01 5.43248608e-01 7.03272264e-01 2.09554924e+02] [-8.58442769e-01 6.61948415e-02 5.08619951e-01 -2.15746734e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.6007140569999 meters Centerline goodness : 0.990002 Centerline is valid? [True, True] Translation: X:195.91, Y:209.57, Z:-215.78 [[ 2.28200926e-01 -8.34728159e-01 5.01151911e-01 1.95913750e+02] [ 4.57844747e-01 5.46272851e-01 7.01401568e-01 2.09568338e+02] [-8.59245323e-01 6.93892824e-02 5.06835874e-01 -2.15776789e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.630714057 meters Centerline goodness : 0.989772 Centerline is valid? [True, True] Translation: X:195.92, Y:209.58, Z:-215.80 [[ 2.26723370e-01 -8.29999076e-01 5.09605776e-01 1.95920598e+02] [ 4.58325145e-01 5.52598382e-01 6.96112842e-01 2.09584548e+02] [-8.59380344e-01 7.57400917e-02 5.05696415e-01 -2.15804374e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.660714057 meters Centerline goodness : 0.990512 Centerline is valid? [True, True] Translation: X:195.93, Y:209.59, Z:-215.83 [[ 2.24939991e-01 -8.37691706e-01 4.97669174e-01 1.95934026e+02] [ 4.61724160e-01 5.41411494e-01 7.02626781e-01 2.09591310e+02] [-8.58028438e-01 7.17370195e-02 5.08567596e-01 -2.15833288e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.6907140569999 meters Centerline goodness : 0.990298 Centerline is valid? [True, True] Translation: X:195.94, Y:209.61, Z:-215.86 [[ 2.23473937e-01 -8.32625567e-01 5.06748523e-01 1.95941271e+02] [ 4.62142583e-01 5.48255757e-01 6.97022136e-01 2.09607619e+02] [-8.58186246e-01 7.84237901e-02 5.07312603e-01 -2.15861175e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.7207140569999 meters Centerline goodness : 0.990431 Centerline is valid? [True, True] Translation: X:195.94, Y:209.63, Z:-215.90 [[ 2.20915192e-01 -8.10465747e-01 5.42532718e-01 1.95944309e+02] [ 4.56684600e-01 5.77484696e-01 6.76720476e-01 2.09630759e+02] [-8.61763108e-01 9.82685029e-02 4.97702368e-01 -2.15897813e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.750714057 meters Centerline goodness : 0.989595 Centerline is valid? [True, True] Translation: X:195.95, Y:209.63, Z:-215.90 [[ 2.14407859e-01 -8.44811317e-01 4.90227609e-01 1.95953503e+02] [ 4.71284083e-01 5.29089568e-01 7.05659651e-01 2.09626674e+02] [-8.55523573e-01 7.97374939e-02 5.11587088e-01 -2.15904494e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.780714057 meters Centerline goodness : 0.989727 Centerline is valid? [True, True] Translation: X:195.98, Y:209.62, Z:-215.95 [[ 2.17120806e-01 -8.57950532e-01 4.65595791e-01 1.95979274e+02] [ 4.63056907e-01 5.10416926e-01 7.24605315e-01 2.09623221e+02] [-8.59323488e-01 5.82704567e-02 5.08102054e-01 -2.15952183e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.8107140569999 meters Centerline goodness : 0.989581 Centerline is valid? [True, True] Translation: X:195.98, Y:209.66, Z:-215.97 [[ 2.19143449e-01 -8.36228230e-01 5.02691254e-01 1.95980413e+02] [ 4.67248277e-01 5.42239024e-01 6.98323628e-01 2.09657307e+02] [-8.56536746e-01 8.18485742e-02 5.09554329e-01 -2.15966809e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.8407140569999 meters Centerline goodness : 0.989335 Centerline is valid? [True, True] Translation: X:195.99, Y:209.67, Z:-216.00 [[ 2.18800327e-01 -8.37271820e-01 5.01101103e-01 1.95989681e+02] [ 4.66993199e-01 5.40764471e-01 6.99636433e-01 2.09670124e+02] [-8.56763543e-01 8.09301273e-02 5.09319689e-01 -2.15996738e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.870714057 meters Centerline goodness : 0.988603 Centerline is valid? [True, True] Translation: X:196.00, Y:209.69, Z:-216.02 [[ 2.22234364e-01 -8.35070735e-01 5.03258140e-01 1.95998005e+02] [ 4.65918085e-01 5.44374319e-01 6.97550672e-01 2.09685130e+02] [-8.56464959e-01 7.94573386e-02 5.10053238e-01 -2.16021967e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.900714057 meters Centerline goodness : 0.989725 Centerline is valid? [True, True] Translation: X:196.01, Y:209.69, Z:-216.05 [[ 2.21109669e-01 -8.48213493e-01 4.81294489e-01 1.96012321e+02] [ 4.68736822e-01 5.25198727e-01 7.10247907e-01 2.09691519e+02] [-8.55217111e-01 6.85577692e-02 5.13715413e-01 -2.16051603e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.9307140569999 meters Centerline goodness : 0.988915 Centerline is valid? [True, True] Translation: X:196.02, Y:209.71, Z:-216.08 [[ 2.21831158e-01 -8.40022722e-01 4.95129037e-01 1.96018399e+02] [ 4.69516817e-01 5.37057737e-01 7.00801645e-01 2.09713098e+02] [-8.54602186e-01 7.70117692e-02 5.13540934e-01 -2.16075856e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.9607140569999 meters Centerline goodness : 0.988835 Centerline is valid? [True, True] Translation: X:196.03, Y:209.72, Z:-216.10 [[ 2.22424367e-01 -8.47697364e-01 4.81597945e-01 1.96031709e+02] [ 4.71602327e-01 5.25883659e-01 7.07840110e-01 2.09724429e+02] [-8.53298685e-01 6.96818226e-02 5.16745390e-01 -2.16101266e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.9907140569999 meters Centerline goodness : 0.988938 Centerline is valid? [True, True] Translation: X:196.04, Y:209.74, Z:-216.13 [[ 2.24019978e-01 -8.43123869e-01 4.88832478e-01 1.96038570e+02] [ 4.72558369e-01 5.32643139e-01 7.02125255e-01 2.09742580e+02] [-8.52351827e-01 7.37117945e-02 5.17747945e-01 -2.16126193e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.020714057 meters Centerline goodness : 0.989932 Centerline is valid? [True, True] Translation: X:196.05, Y:209.75, Z:-216.15 [[ 2.21919010e-01 -8.54760718e-01 4.69186603e-01 1.96051685e+02] [ 4.74064813e-01 5.15067733e-01 7.14120286e-01 2.09748374e+02] [-8.52064849e-01 6.39479926e-02 5.19515301e-01 -2.16152728e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.0507140569999 meters Centerline goodness : 0.990051 Centerline is valid? [True, True] Translation: X:196.05, Y:209.77, Z:-216.18 [[ 2.21164463e-01 -8.35106830e-01 5.03669398e-01 1.96052782e+02] [ 4.68569437e-01 5.43934487e-01 6.96116339e-01 2.09771515e+02] [-8.55294665e-01 8.20478904e-02 5.11604516e-01 -2.16183111e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.0807140569999 meters Centerline goodness : 0.988822 Centerline is valid? [True, True] Translation: X:196.06, Y:209.78, Z:-216.21 [[ 2.19716919e-01 -8.44829214e-01 4.87840214e-01 1.96064887e+02] [ 4.71582757e-01 5.29730487e-01 7.04978946e-01 2.09780035e+02] [-8.54010643e-01 7.51612312e-02 5.14797640e-01 -2.16208003e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.1107140569999 meters Centerline goodness : 0.990320 Centerline is valid? [True, True] Translation: X:196.07, Y:209.79, Z:-216.24 [[ 2.18075059e-01 -8.37458228e-01 5.01105763e-01 1.96070425e+02] [ 4.68291621e-01 5.40284258e-01 6.99139384e-01 2.09794232e+02] [-8.56239585e-01 8.21987670e-02 5.09997192e-01 -2.16238151e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.140714057 meters Centerline goodness : 0.989138 Centerline is valid? [True, True] Translation: X:196.07, Y:209.82, Z:-216.28 [[ 2.16523708e-01 -8.11959943e-01 5.42068755e-01 1.96068793e+02] [ 4.57798744e-01 5.74854053e-01 6.78205816e-01 2.09815026e+02] [-8.62286376e-01 1.01310758e-01 4.96183773e-01 -2.16276546e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.1707140569999 meters Centerline goodness : 0.989926 Centerline is valid? [True, True] Translation: X:196.09, Y:209.81, Z:-216.30 [[ 2.15452903e-01 -8.54956966e-01 4.71835387e-01 1.96093998e+02] [ 4.69116747e-01 5.14395113e-01 7.17862902e-01 2.09805383e+02] [-8.56451706e-01 6.66802351e-02 5.11902551e-01 -2.16296482e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.2007140569999 meters Centerline goodness : 0.989110 Centerline is valid? [True, True] Translation: X:196.10, Y:209.83, Z:-216.32 [[ 2.15039210e-01 -8.35748272e-01 5.05255345e-01 1.96095454e+02] [ 4.66484262e-01 5.42423736e-01 6.98690864e-01 2.09829048e+02] [-8.57992175e-01 8.54477354e-02 5.06505788e-01 -2.16324408e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.2307140569999 meters Centerline goodness : 0.989656 Centerline is valid? [True, True] Translation: X:196.11, Y:209.84, Z:-216.35 [[ 2.14237732e-01 -8.44283651e-01 4.91210048e-01 1.96107551e+02] [ 4.67342276e-01 5.30189692e-01 7.07453240e-01 2.09836783e+02] [-8.57725709e-01 7.80000443e-02 5.08156080e-01 -2.16353812e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.260714057 meters Centerline goodness : 0.988163 Centerline is valid? [True, True] Translation: X:196.10, Y:209.86, Z:-216.39 [[ 2.12206143e-01 -8.11310747e-01 5.44741613e-01 1.96102454e+02] [ 4.54739560e-01 5.75388341e-01 6.79808936e-01 2.09862313e+02] [-8.64974269e-01 1.03455929e-01 4.91036032e-01 -2.16387881e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.290714057 meters Centerline goodness : 0.988678 Centerline is valid? [True, True] Translation: X:196.12, Y:209.87, Z:-216.43 [[ 2.11281156e-01 -8.20461862e-01 5.31227453e-01 1.96115251e+02] [ 4.55613553e-01 5.63508656e-01 6.89111229e-01 2.09868330e+02] [-8.64740749e-01 9.64382101e-02 4.92872304e-01 -2.16425618e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.3207140569999 meters Centerline goodness : 0.989326 Centerline is valid? [True, True] Translation: X:196.13, Y:209.87, Z:-216.44 [[ 2.10447788e-01 -8.42528768e-01 4.95839695e-01 1.96131831e+02] [ 4.64225363e-01 5.32491082e-01 7.07776844e-01 2.09872293e+02] [-8.60352568e-01 8.12312912e-02 5.03184794e-01 -2.16443209e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.3507140569999 meters Centerline goodness : 0.988706 Centerline is valid? [True, True] Translation: X:196.13, Y:209.90, Z:-216.47 [[ 2.10519426e-01 -8.20798093e-01 5.31010416e-01 1.96131860e+02] [ 4.60715579e-01 5.62380287e-01 6.86636416e-01 2.09898169e+02] [-8.62219651e-01 1.00094467e-01 4.96546444e-01 -2.16473748e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.380714057 meters Centerline goodness : 0.988758 Centerline is valid? [True, True] Translation: X:196.15, Y:209.90, Z:-216.50 [[ 2.09981507e-01 -8.44364084e-01 4.92906746e-01 1.96148813e+02] [ 4.65976649e-01 5.29633675e-01 7.08769309e-01 2.09898007e+02] [-8.59519360e-01 8.08545859e-02 5.04667223e-01 -2.16495313e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.410714057 meters Centerline goodness : 0.988874 Centerline is valid? [True, True] Translation: X:196.16, Y:209.91, Z:-216.52 [[ 2.10673881e-01 -8.49239533e-01 4.84157755e-01 1.96159547e+02] [ 4.69388430e-01 5.22322987e-01 7.11936232e-01 2.09912456e+02] [-8.57491118e-01 7.72716796e-02 5.08663022e-01 -2.16518748e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.4407140569999 meters Centerline goodness : 0.988943 Centerline is valid? [True, True] Translation: X:196.17, Y:209.93, Z:-216.54 [[ 2.11185613e-01 -8.43969372e-01 4.93068288e-01 1.96165186e+02] [ 4.67962282e-01 5.30176226e-01 7.07053372e-01 2.09928960e+02] [-8.58144475e-01 8.14178615e-02 5.06911425e-01 -2.16544945e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.4707140569999 meters Centerline goodness : 0.988781 Centerline is valid? [True, True] Translation: X:196.17, Y:209.95, Z:-216.58 [[ 2.12153883e-01 -8.31729114e-01 5.13047182e-01 1.96167561e+02] [ 4.62027498e-01 5.47984546e-01 6.97311644e-01 2.09946170e+02] [-8.61116323e-01 8.91045329e-02 5.00538770e-01 -2.16576073e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.500714057 meters Centerline goodness : 0.988961 Centerline is valid? [True, True] Translation: X:196.19, Y:209.94, Z:-216.60 [[ 2.13337577e-01 -8.66495828e-01 4.51300408e-01 1.96191192e+02] [ 4.74122485e-01 4.95716619e-01 7.27648888e-01 2.09944146e+02] [-8.54221838e-01 5.87368205e-02 5.16580137e-01 -2.16598390e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.530714057 meters Centerline goodness : 0.989307 Centerline is valid? [True, True] Translation: X:196.19, Y:209.97, Z:-216.63 [[ 2.14694527e-01 -8.42726105e-01 4.93679018e-01 1.96189609e+02] [ 4.68724033e-01 5.32356270e-01 7.04907499e-01 2.09972178e+02] [-8.56857072e-01 8.00594383e-02 5.09299956e-01 -2.16628023e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.5607140569999 meters Centerline goodness : 0.988970 Centerline is valid? [True, True] Translation: X:196.20, Y:209.98, Z:-216.65 [[ 2.16996471e-01 -8.61015378e-01 4.59962010e-01 1.96204172e+02] [ 4.70321342e-01 5.05109735e-01 7.23644934e-01 2.09975151e+02] [-8.55400706e-01 5.93015528e-02 5.14560938e-01 -2.16648871e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.5907140569999 meters Centerline goodness : 0.989013 Centerline is valid? [True, True] Translation: X:196.21, Y:209.99, Z:-216.68 [[ 2.16142111e-01 -8.60000920e-01 4.62256428e-01 1.96212289e+02] [ 4.71718293e-01 5.06505568e-01 7.21757550e-01 2.09991414e+02] [-8.54847612e-01 6.20526129e-02 5.15155349e-01 -2.16679406e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.620714057 meters Centerline goodness : 0.989027 Centerline is valid? [True, True] Translation: X:196.22, Y:210.01, Z:-216.71 [[ 2.16515723e-01 -8.54586048e-01 4.72020792e-01 1.96218620e+02] [ 4.71709463e-01 5.14881709e-01 7.15812132e-01 2.10011010e+02] [-8.54757933e-01 6.76720929e-02 5.14596312e-01 -2.16706094e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.650714057 meters Centerline goodness : 0.988565 Centerline is valid? [True, True] Translation: X:196.22, Y:210.03, Z:-216.74 [[ 2.18167855e-01 -8.33865669e-01 5.07021531e-01 1.96215975e+02] [ 4.59202844e-01 5.46142999e-01 7.00614425e-01 2.10028997e+02] [-8.61124576e-01 7.99741824e-02 5.02064334e-01 -2.16736049e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.6807140569999 meters Centerline goodness : 0.989213 Centerline is valid? [True, True] Translation: X:196.23, Y:210.03, Z:-216.77 [[ 2.15952965e-01 -8.54414792e-01 4.72588278e-01 1.96233935e+02] [ 4.66254525e-01 5.15498429e-01 7.18935385e-01 2.10033470e+02] [-8.57887542e-01 6.50901950e-02 5.09698177e-01 -2.16768627e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.7107140569999 meters Centerline goodness : 0.989609 Centerline is valid? [True, True] Translation: X:196.24, Y:210.06, Z:-216.79 [[ 2.15765247e-01 -8.48875316e-01 4.82551609e-01 1.96239864e+02] [ 4.70846809e-01 5.23391341e-01 7.10186445e-01 2.10056326e+02] [-8.55423077e-01 7.39743309e-02 5.12619896e-01 -2.16790848e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.7407140569999 meters Centerline goodness : 0.989701 Centerline is valid? [True, True] Translation: X:196.24, Y:210.07, Z:-216.82 [[ 2.14432275e-01 -8.41603403e-01 4.95704057e-01 1.96244990e+02] [ 4.68987333e-01 5.33894475e-01 7.03567745e-01 2.10074159e+02] [-8.56778665e-01 8.16112912e-02 5.09185542e-01 -2.16821327e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.770714057 meters Centerline goodness : 0.989773 Centerline is valid? [True, True] Translation: X:196.26, Y:210.08, Z:-216.84 [[ 2.12908840e-01 -8.58160900e-01 4.67150614e-01 1.96259347e+02] [ 4.75799078e-01 5.08655256e-01 7.17554923e-01 2.10080815e+02] [-8.53396194e-01 6.94960448e-02 5.16609366e-01 -2.16842356e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.8007140569999 meters Centerline goodness : 0.989773 Centerline is valid? [True, True] Translation: X:196.27, Y:210.09, Z:-216.87 [[ 2.12359270e-01 -8.59176348e-01 4.65531464e-01 1.96267804e+02] [ 4.75692630e-01 5.07031519e-01 7.18773650e-01 2.10094217e+02] [-8.53592445e-01 6.88116391e-02 5.16376700e-01 -2.16870666e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.8307140569999 meters Centerline goodness : 0.990544 Centerline is valid? [True, True] Translation: X:196.27, Y:210.11, Z:-216.91 [[ 2.11419523e-01 -8.44497031e-01 4.92063562e-01 1.96270119e+02] [ 4.69386499e-01 5.29315551e-01 7.06754103e-01 2.10114852e+02] [-8.57308638e-01 8.15463776e-02 5.08303146e-01 -2.16905576e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.8607140569999 meters Centerline goodness : 0.989363 Centerline is valid? [True, True] Translation: X:196.28, Y:210.12, Z:-216.92 [[ 2.11810972e-01 -8.61354305e-01 4.61741133e-01 1.96284324e+02] [ 4.74648991e-01 5.03663044e-01 7.21825376e-01 2.10120306e+02] [-8.54309340e-01 6.62744283e-02 5.15522311e-01 -2.16923385e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.890714057 meters Centerline goodness : 0.989757 Centerline is valid? [True, True] Translation: X:196.28, Y:210.14, Z:-216.96 [[ 2.12024329e-01 -8.44273712e-01 4.92186533e-01 1.96283536e+02] [ 4.66395896e-01 5.29998608e-01 7.08220547e-01 2.10138910e+02] [-8.58790168e-01 7.93937930e-02 5.06138393e-01 -2.16956800e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.9207140569999 meters Centerline goodness : 0.988786 Centerline is valid? [True, True] Translation: X:196.30, Y:210.14, Z:-216.99 [[ 2.09923535e-01 -8.59469087e-01 4.66095481e-01 1.96298624e+02] [ 4.63417151e-01 5.07232833e-01 7.26608146e-01 2.10140526e+02] [-8.60916171e-01 6.34644894e-02 5.04772825e-01 -2.16988518e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.9507140569999 meters Centerline goodness : 0.988601 Centerline is valid? [True, True] Translation: X:196.31, Y:210.15, Z:-217.01 [[ 2.10593697e-01 -8.62811859e-01 4.59571530e-01 1.96307407e+02] [ 4.65847540e-01 5.01877865e-01 7.28769290e-01 2.10154943e+02] [-8.59439564e-01 6.06160475e-02 5.07631097e-01 -2.17010249e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.9807140569999 meters Centerline goodness : 0.988244 Centerline is valid? [True, True] Translation: X:196.30, Y:210.18, Z:-217.04 [[ 2.14214182e-01 -8.40859332e-01 4.97059220e-01 1.96303471e+02] [ 4.60918207e-01 5.35670903e-01 7.07538755e-01 2.10176785e+02] [-8.61200726e-01 7.75388088e-02 5.02315680e-01 -2.17037707e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.010714057 meters Centerline goodness : 0.989981 Centerline is valid? [True, True] Translation: X:196.32, Y:210.17, Z:-217.06 [[ 2.09547272e-01 -8.77555338e-01 4.31261603e-01 1.96317337e+02] [ 4.70244095e-01 4.77144151e-01 7.42431108e-01 2.10168618e+02] [-8.57298333e-01 4.72238085e-02 5.12649471e-01 -2.17055575e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.040714057 meters Centerline goodness : 0.990071 Centerline is valid? [True, True] Translation: X:196.33, Y:210.17, Z:-217.09 [[ 2.08011324e-01 -8.86535487e-01 4.13262772e-01 1.96330285e+02] [ 4.68032375e-01 4.61209146e-01 7.53811528e-01 2.10172442e+02] [-8.58881240e-01 3.66190227e-02 5.10864035e-01 -2.17085836e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.0707140569999 meters Centerline goodness : 0.988568 Centerline is valid? [True, True] Translation: X:196.33, Y:210.21, Z:-217.13 [[ 2.13373508e-01 -8.43436497e-01 4.93038154e-01 1.96328433e+02] [ 4.54159850e-01 5.32449161e-01 7.14308562e-01 2.10211519e+02] [-8.64991663e-01 7.15036100e-02 4.96665539e-01 -2.17125778e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.1007140569999 meters Centerline goodness : 0.988785 Centerline is valid? [True, True] Translation: X:196.34, Y:210.23, Z:-217.15 [[ 2.14229073e-01 -8.39246639e-01 4.99770930e-01 1.96335214e+02] [ 4.54841302e-01 5.38503474e-01 7.09318968e-01 2.10229433e+02] [-8.64421942e-01 7.53597159e-02 4.97087134e-01 -2.17151090e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.130714057 meters Centerline goodness : 0.988810 Centerline is valid? [True, True] Translation: X:196.35, Y:210.24, Z:-217.17 [[ 2.14761692e-01 -8.55471368e-01 4.71217736e-01 1.96349771e+02] [ 4.60719479e-01 5.14157716e-01 7.23449656e-01 2.10235109e+02] [-8.61170701e-01 6.17299173e-02 5.04553704e-01 -2.17174274e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.160714057 meters Centerline goodness : 0.990597 Centerline is valid? [True, True] Translation: X:196.35, Y:210.25, Z:-217.19 [[ 2.10790504e-01 -8.69215019e-01 4.47250057e-01 1.96353713e+02] [ 4.70593193e-01 4.91255612e-01 7.32946089e-01 2.10245361e+02] [-8.56801850e-01 5.59747572e-02 5.12598689e-01 -2.17186958e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.1907140569999 meters Centerline goodness : 0.987568 Centerline is valid? [True, True] Translation: X:196.36, Y:210.26, Z:-217.22 [[ 2.18071155e-01 -8.46391824e-01 4.85866084e-01 1.96358428e+02] [ 4.56251198e-01 5.28509954e-01 7.15899485e-01 2.10257267e+02] [-8.62716533e-01 6.55599553e-02 5.01420060e-01 -2.17222522e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.2207140569999 meters Centerline goodness : 0.990221 Centerline is valid? [True, True] Translation: X:196.38, Y:210.24, Z:-217.25 [[ 2.08774237e-01 -8.96700123e-01 3.90310398e-01 1.96384590e+02] [ 4.67759094e-01 4.42051903e-01 7.65370202e-01 2.10242888e+02] [-8.58845008e-01 2.27816582e-02 5.11728686e-01 -2.17249608e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.250714057 meters Centerline goodness : 0.991298 Centerline is valid? [True, True] Translation: X:196.39, Y:210.27, Z:-217.27 [[ 2.10979931e-01 -8.84492640e-01 4.16125268e-01 1.96386717e+02] [ 4.74956880e-01 4.64836933e-01 7.47223252e-01 2.10270952e+02] [-8.54343860e-01 3.99924484e-02 5.18167128e-01 -2.17272590e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.280714057 meters Centerline goodness : 0.991176 Centerline is valid? [True, True] Translation: X:196.39, Y:210.28, Z:-217.30 [[ 2.10252927e-01 -8.82511805e-01 4.20674008e-01 1.96394039e+02] [ 4.75759707e-01 4.68265546e-01 7.44567042e-01 2.10284713e+02] [-8.54076348e-01 4.35923427e-02 5.18317759e-01 -2.17295524e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.3107140569999 meters Centerline goodness : 0.991370 Centerline is valid? [True, True] Translation: X:196.40, Y:210.30, Z:-217.32 [[ 2.09468411e-01 -8.82872136e-01 4.20309145e-01 1.96401419e+02] [ 4.75993434e-01 4.67544110e-01 7.44870966e-01 2.10296869e+02] [-8.54138886e-01 4.40374558e-02 5.18177061e-01 -2.17319339e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.3407140569999 meters Centerline goodness : 0.991813 Centerline is valid? [True, True] Translation: X:196.41, Y:210.31, Z:-217.34 [[ 2.09422960e-01 -8.83031972e-01 4.19995905e-01 1.96408823e+02] [ 4.75628012e-01 4.67275291e-01 7.45272968e-01 2.10308744e+02] [-8.54353567e-01 4.36845465e-02 5.17852916e-01 -2.17342622e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.370714057 meters Centerline goodness : 0.991469 Centerline is valid? [True, True] Translation: X:196.42, Y:210.32, Z:-217.37 [[ 2.08440356e-01 -8.83232023e-01 4.20064057e-01 1.96416501e+02] [ 4.75202267e-01 4.66852450e-01 7.45809356e-01 2.10320264e+02] [-8.54830641e-01 4.41586246e-02 5.17024750e-01 -2.17366757e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.400714057 meters Centerline goodness : 0.991478 Centerline is valid? [True, True] Translation: X:196.42, Y:210.33, Z:-217.39 [[ 2.08049274e-01 -8.83444366e-01 4.19811329e-01 1.96424184e+02] [ 4.74811718e-01 4.66459506e-01 7.46303800e-01 2.10332056e+02] [-8.55142873e-01 4.40633745e-02 5.16516298e-01 -2.17391047e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.4307140569999 meters Centerline goodness : 0.991116 Centerline is valid? [True, True] Translation: X:196.43, Y:210.34, Z:-217.42 [[ 2.07441849e-01 -8.83724050e-01 4.19523161e-01 1.96432083e+02] [ 4.74652176e-01 4.65914457e-01 7.46745627e-01 2.10344707e+02] [-8.55378975e-01 4.42212877e-02 5.16111699e-01 -2.17415013e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.4607140569999 meters Centerline goodness : 0.985901 Centerline is valid? [True, True] Translation: X:196.44, Y:210.36, Z:-217.44 [[ 2.07330802e-01 -8.79821035e-01 4.27701864e-01 1.96435486e+02] [ 4.74922135e-01 4.72748654e-01 7.42265233e-01 2.10360077e+02] [-8.55256046e-01 4.92306367e-02 5.15861842e-01 -2.17436313e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.4907140569999 meters Centerline goodness : 0.991086 Centerline is valid? [True, True] Translation: X:196.45, Y:210.36, Z:-217.47 [[ 2.06457973e-01 -8.92192822e-01 4.01705209e-01 1.96451050e+02] [ 4.73940557e-01 4.50360808e-01 7.56673966e-01 2.10361359e+02] [-8.56011363e-01 3.41630169e-02 5.15826942e-01 -2.17466018e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.520714057 meters Centerline goodness : 0.992855 Centerline is valid? [True, True] Translation: X:196.45, Y:210.38, Z:-217.49 [[ 2.06515090e-01 -8.84296959e-01 4.18772498e-01 1.96454325e+02] [ 4.73963205e-01 4.64843335e-01 7.47849955e-01 2.10380638e+02] [-8.55985046e-01 4.40404545e-02 5.15121384e-01 -2.17485844e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.5507140569999 meters Centerline goodness : 0.991433 Centerline is valid? [True, True] Translation: X:196.46, Y:210.39, Z:-217.51 [[ 2.06488863e-01 -8.84393911e-01 4.18580649e-01 1.96461852e+02] [ 4.74025877e-01 4.64664518e-01 7.47921355e-01 2.10392974e+02] [-8.55956668e-01 4.39806291e-02 5.15173648e-01 -2.17509773e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.5807140569999 meters Centerline goodness : 0.991650 Centerline is valid? [True, True] Translation: X:196.47, Y:210.40, Z:-217.53 [[ 2.06681421e-01 -8.84492659e-01 4.18276854e-01 1.96469693e+02] [ 4.73541387e-01 4.64530267e-01 7.48311557e-01 2.10403815e+02] [-8.56178337e-01 4.34093053e-02 5.14853656e-01 -2.17533382e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.6107140569999 meters Centerline goodness : 0.992130 Centerline is valid? [True, True] Translation: X:196.48, Y:210.42, Z:-217.56 [[ 2.06864058e-01 -8.84569663e-01 4.18023651e-01 1.96477112e+02] [ 4.73745699e-01 4.64398667e-01 7.48263918e-01 2.10415955e+02] [-8.56021188e-01 4.32479963e-02 5.15128466e-01 -2.17557361e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.640714057 meters Centerline goodness : 0.985103 Centerline is valid? [True, True] Translation: X:196.48, Y:210.43, Z:-217.58 [[ 2.06289038e-01 -8.81398431e-01 4.24948984e-01 1.96480439e+02] [ 4.74780566e-01 4.69903376e-01 7.44160085e-01 2.10431337e+02] [-8.55586493e-01 4.82454509e-02 5.15406761e-01 -2.17579989e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.6707140569999 meters Centerline goodness : 0.992206 Centerline is valid? [True, True] Translation: X:196.50, Y:210.43, Z:-217.61 [[ 2.08042349e-01 -8.91570166e-01 4.02269834e-01 1.96495329e+02] [ 4.73368618e-01 4.51672117e-01 7.56250256e-01 2.10433203e+02] [-8.55944235e-01 3.30898362e-02 5.16008266e-01 -2.17607940e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.7007140569999 meters Centerline goodness : 0.992793 Centerline is valid? [True, True] Translation: X:196.50, Y:210.45, Z:-217.63 [[ 2.08631306e-01 -8.84803856e-01 4.16647471e-01 1.96498625e+02] [ 4.73781601e-01 4.64133417e-01 7.48405749e-01 2.10452191e+02] [-8.55572307e-01 4.12590366e-02 5.16036549e-01 -2.17629211e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.7307140569999 meters Centerline goodness : 0.992283 Centerline is valid? [True, True] Translation: X:196.51, Y:210.46, Z:-217.65 [[ 2.09660082e-01 -8.84697977e-01 4.16355785e-01 1.96505890e+02] [ 4.72800268e-01 4.64457871e-01 7.48824941e-01 2.10463986e+02] [-8.55863632e-01 3.98544277e-02 5.15663716e-01 -2.17653883e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.760714057 meters Centerline goodness : 0.986693 Centerline is valid? [True, True] Translation: X:196.50, Y:210.48, Z:-217.67 [[ 2.07344049e-01 -8.73833846e-01 4.39798652e-01 1.96503443e+02] [ 4.65781626e-01 4.83523104e-01 7.41115973e-01 2.10479548e+02] [-8.60265031e-01 5.11841448e-02 5.07271388e-01 -2.17673730e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.790714057 meters Centerline goodness : 0.992132 Centerline is valid? [True, True] Translation: X:196.54, Y:210.46, Z:-217.71 [[ 2.09835104e-01 -9.08972749e-01 3.60191298e-01 1.96535491e+02] [ 4.69421340e-01 4.16815942e-01 7.78400974e-01 2.10462902e+02] [-8.57678748e-01 5.74563292e-03 5.14153822e-01 -2.17710975e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.8207140569999 meters Centerline goodness : 0.989937 Centerline is valid? [True, True] Translation: X:196.54, Y:210.49, Z:-217.73 [[ 2.15194648e-01 -8.94654111e-01 3.91516647e-01 1.96539068e+02] [ 4.66606278e-01 4.46381621e-01 7.63558793e-01 2.10490984e+02] [-8.57886849e-01 1.83703600e-02 5.13510161e-01 -2.17726939e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.8507140569999 meters Centerline goodness : 0.991270 Centerline is valid? [True, True] Translation: X:196.53, Y:210.52, Z:-217.74 [[ 2.14353715e-01 -8.72985548e-01 4.38119525e-01 1.96528490e+02] [ 4.68538619e-01 4.85470322e-01 7.38098997e-01 2.10522064e+02] [-8.57043784e-01 4.70616552e-02 5.13089810e-01 -2.17743411e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.880714057 meters Centerline goodness : 0.992760 Centerline is valid? [True, True] Translation: X:196.55, Y:210.52, Z:-217.78 [[ 2.13921134e-01 -8.93862303e-01 3.94015142e-01 1.96551436e+02] [ 4.68692118e-01 4.47812083e-01 7.61440764e-01 2.10515710e+02] [-8.57067936e-01 2.17835194e-02 5.14742684e-01 -2.17779696e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.910714057 meters Centerline goodness : 0.989775 Centerline is valid? [True, True] Translation: X:196.57, Y:210.53, Z:-217.80 [[ 2.21467196e-01 -8.88521995e-01 4.01846918e-01 1.96566153e+02] [ 4.66051293e-01 4.58411429e-01 7.56739819e-01 2.10533380e+02] [-8.56591194e-01 1.96882298e-02 5.15619918e-01 -2.17801359e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.9407140569999 meters Centerline goodness : 0.992010 Centerline is valid? [True, True] Translation: X:196.56, Y:210.56, Z:-217.82 [[ 2.13721937e-01 -8.72286246e-01 4.39817735e-01 1.96555265e+02] [ 4.70920282e-01 4.86449711e-01 7.35935301e-01 2.10562615e+02] [-8.55895450e-01 4.98335741e-02 5.14742259e-01 -2.17823330e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.9707140569999 meters Centerline goodness : 0.992383 Centerline is valid? [True, True] Translation: X:196.58, Y:210.55, Z:-217.85 [[ 2.13690027e-01 -8.97529167e-01 3.85717469e-01 1.96582534e+02] [ 4.70328653e-01 4.40586817e-01 7.64639925e-01 2.10554200e+02] [-8.56228667e-01 1.80180510e-02 5.16282693e-01 -2.17847907e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.000714057 meters Centerline goodness : 0.986230 Centerline is valid? [True, True] Translation: X:196.57, Y:210.59, Z:-217.86 [[ 2.09632105e-01 -8.68346738e-01 4.49475609e-01 1.96568027e+02] [ 4.73096128e-01 4.92376480e-01 7.30578850e-01 2.10591961e+02] [-8.55706980e-01 5.94923881e-02 5.14029397e-01 -2.17862993e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.030714057 meters Centerline goodness : 0.986930 Centerline is valid? [True, True] Translation: X:196.60, Y:210.57, Z:-217.90 [[ 2.03928701e-01 -9.05332316e-01 3.72540578e-01 1.96598613e+02] [ 4.71965045e-01 4.24312393e-01 7.72792333e-01 2.10568202e+02] [-8.57707457e-01 1.82315941e-02 5.13814683e-01 -2.17899760e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.0607140569999 meters Centerline goodness : 0.986434 Centerline is valid? [True, True] Translation: X:196.61, Y:210.58, Z:-217.92 [[ 2.02225434e-01 -9.04683977e-01 3.75035700e-01 1.96606947e+02] [ 4.73363225e-01 4.25537423e-01 7.71262056e-01 2.10582522e+02] [-8.57340149e-01 2.15593046e-02 5.14298615e-01 -2.17923524e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.0907140569999 meters Centerline goodness : 0.986515 Centerline is valid? [True, True] Translation: X:196.61, Y:210.60, Z:-217.95 [[ 2.01474280e-01 -9.01520690e-01 3.82973315e-01 1.96614046e+02] [ 4.75057841e-01 4.31863473e-01 7.66690282e-01 2.10599162e+02] [-8.56579338e-01 2.74661038e-02 5.15283855e-01 -2.17946467e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.120714057 meters Centerline goodness : 0.991860 Centerline is valid? [True, True] Translation: X:196.64, Y:210.60, Z:-217.98 [[ 1.99610879e-01 -9.16727517e-01 3.46072474e-01 1.96636326e+02] [ 4.83545849e-01 3.99336910e-01 7.78918124e-01 2.10603907e+02] [-8.52255190e-01 1.18613767e-02 5.22991777e-01 -2.17976035e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.150714057 meters Centerline goodness : 0.986052 Centerline is valid? [True, True] Translation: X:196.62, Y:210.64, Z:-217.98 [[ 2.01987700e-01 -8.81529078e-01 4.26740499e-01 1.96618843e+02] [ 4.81590515e-01 4.68802991e-01 7.40468995e-01 2.10643642e+02] [-8.52802173e-01 5.59485474e-02 5.19228480e-01 -2.17983175e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.1807140569999 meters Centerline goodness : 0.990801 Centerline is valid? [True, True] Translation: X:196.66, Y:210.63, Z:-218.02 [[ 2.03807451e-01 -9.14959190e-01 3.48299015e-01 1.96655214e+02] [ 4.79228072e-01 4.03465977e-01 7.79458569e-01 2.10626693e+02] [-8.53699583e-01 8.05520136e-03 5.20703501e-01 -2.18020493e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.2107140569999 meters Centerline goodness : 0.991528 Centerline is valid? [True, True] Translation: X:196.65, Y:210.66, Z:-218.04 [[ 2.03375616e-01 -8.95986380e-01 3.94774323e-01 1.96652216e+02] [ 4.84058640e-01 4.42489986e-01 7.54910488e-01 2.10660001e+02] [-8.51073200e-01 3.75635357e-02 5.23701622e-01 -2.18043233e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.2407140569999 meters Centerline goodness : 0.991094 Centerline is valid? [True, True] Translation: X:196.65, Y:210.68, Z:-218.06 [[ 2.04267520e-01 -8.85907635e-01 4.16464215e-01 1.96654409e+02] [ 4.84793446e-01 4.61149107e-01 7.43180204e-01 2.10682273e+02] [-8.50441118e-01 5.00915446e-02 5.23680000e-01 -2.18063292e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.270714057 meters Centerline goodness : 0.991680 Centerline is valid? [True, True] Translation: X:196.66, Y:210.70, Z:-218.09 [[ 2.05128812e-01 -8.85917072e-01 4.16020567e-01 1.96663767e+02] [ 4.84467098e-01 4.61240946e-01 7.43336008e-01 2.10697054e+02] [-8.50419780e-01 4.90686449e-02 5.23811480e-01 -2.18091214e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.3007140569999 meters Centerline goodness : 0.985457 Centerline is valid? [True, True] Translation: X:196.67, Y:210.70, Z:-218.11 [[ 2.04135615e-01 -8.82959274e-01 4.22742914e-01 1.96665331e+02] [ 4.76843875e-01 4.66827610e-01 7.44776411e-01 2.10704384e+02] [-8.54955303e-01 4.95469787e-02 5.16329863e-01 -2.18111349e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.3307140569999 meters Centerline goodness : 0.985052 Centerline is valid? [True, True] Translation: X:196.68, Y:210.71, Z:-218.14 [[ 2.06554382e-01 -8.94299634e-01 3.96942631e-01 1.96681815e+02] [ 4.74353691e-01 4.46354225e-01 7.58786190e-01 2.10706340e+02] [-8.55759232e-01 3.15605896e-02 5.16410753e-01 -2.18140050e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.3607140569999 meters Centerline goodness : 0.985575 Centerline is valid? [True, True] Translation: X:196.69, Y:210.72, Z:-218.16 [[ 2.06825129e-01 -8.96840134e-01 3.91025754e-01 1.96689201e+02] [ 4.74261234e-01 4.41473390e-01 7.61693854e-01 2.10715085e+02] [-8.55745083e-01 2.79109274e-02 5.16644300e-01 -2.18163851e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.390714057 meters Centerline goodness : 0.991369 Centerline is valid? [True, True] Translation: X:196.71, Y:210.72, Z:-218.19 [[ 2.07392800e-01 -9.10458978e-01 3.57844484e-01 1.96708338e+02] [ 4.81363460e-01 4.13426416e-01 7.72895736e-01 2.10722228e+02] [-8.51632225e-01 1.19602479e-02 5.24003346e-01 -2.18194755e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.4207140569999 meters Centerline goodness : 0.990136 Centerline is valid? [True, True] Translation: X:196.70, Y:210.75, Z:-218.21 [[ 2.10940911e-01 -8.88423742e-01 4.07685157e-01 1.96699530e+02] [ 4.80548556e-01 4.57441640e-01 7.48211355e-01 2.10754279e+02] [-8.51220898e-01 3.80841285e-02 5.23423902e-01 -2.18206807e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.4507140569999 meters Centerline goodness : 0.991217 Centerline is valid? [True, True] Translation: X:196.71, Y:210.76, Z:-218.24 [[ 2.11425623e-01 -8.92339458e-01 3.98785027e-01 1.96711645e+02] [ 4.83223188e-01 4.50087563e-01 7.50943763e-01 2.10764854e+02] [-8.49584932e-01 3.39334195e-02 5.26359161e-01 -2.18236678e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.4807140569999 meters Centerline goodness : 0.991075 Centerline is valid? [True, True] Translation: X:196.71, Y:210.78, Z:-218.26 [[ 2.12644003e-01 -8.85630207e-01 4.12845812e-01 1.96714909e+02] [ 4.83136813e-01 4.62543595e-01 7.43392388e-01 2.10783189e+02] [-8.49329941e-01 4.13830770e-02 5.26237677e-01 -2.18258163e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.510714057 meters Centerline goodness : 0.991195 Centerline is valid? [True, True] Translation: X:196.72, Y:210.80, Z:-218.28 [[ 2.15308257e-01 -8.85112670e-01 4.12574740e-01 1.96722058e+02] [ 4.81259315e-01 4.63789668e-01 7.43833728e-01 2.10796316e+02] [-8.49724559e-01 3.84018934e-02 5.25826462e-01 -2.18281342e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.540714057 meters Centerline goodness : 0.990641 Centerline is valid? [True, True] Translation: X:196.73, Y:210.81, Z:-218.30 [[ 2.17001383e-01 -8.84847629e-01 4.12256078e-01 1.96728512e+02] [ 4.80034037e-01 4.64456171e-01 7.44209506e-01 2.10808647e+02] [-8.49986896e-01 3.64024572e-02 5.25544611e-01 -2.18304307e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.5707140569999 meters Centerline goodness : 0.991488 Centerline is valid? [True, True] Translation: X:196.74, Y:210.82, Z:-218.33 [[ 2.18947924e-01 -8.84475364e-01 4.12025652e-01 1.96735835e+02] [ 4.79216138e-01 4.65309108e-01 7.44203821e-01 2.10821814e+02] [-8.49949234e-01 3.45074602e-02 5.25733331e-01 -2.18328363e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.6007140569999 meters Centerline goodness : 0.986437 Centerline is valid? [True, True] Translation: X:196.74, Y:210.83, Z:-218.35 [[ 2.20491470e-01 -8.84599096e-01 4.10935459e-01 1.96740273e+02] [ 4.71011640e-01 4.65490446e-01 7.49310804e-01 2.10826725e+02] [-8.54126189e-01 2.83387441e-02 5.19293143e-01 -2.18350257e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.630714057 meters Centerline goodness : 0.991103 Centerline is valid? [True, True] Translation: X:196.76, Y:210.84, Z:-218.38 [[ 2.22081338e-01 -8.96338493e-01 3.83741040e-01 1.96758118e+02] [ 4.76479315e-01 4.43142615e-01 7.59336608e-01 2.10835288e+02] [-8.50674639e-01 1.42101778e-02 5.25500456e-01 -2.18380459e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.660714057 meters Centerline goodness : 0.991194 Centerline is valid? [True, True] Translation: X:196.76, Y:210.86, Z:-218.40 [[ 2.22892290e-01 -8.84223272e-01 4.10448819e-01 1.96757640e+02] [ 4.76974594e-01 4.66119932e-01 7.45135857e-01 2.10859637e+02] [-8.50184841e-01 2.96886213e-02 5.25646575e-01 -2.18399869e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.6907140569999 meters Centerline goodness : 0.990276 Centerline is valid? [True, True] Translation: X:196.77, Y:210.87, Z:-218.43 [[ 2.22924237e-01 -8.84346218e-01 4.10166492e-01 1.96767742e+02] [ 4.76504154e-01 4.65914905e-01 7.45564949e-01 2.10873134e+02] [-8.50440225e-01 2.92415399e-02 5.25258371e-01 -2.18427313e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.7207140569999 meters Centerline goodness : 0.990276 Centerline is valid? [True, True] Translation: X:196.78, Y:210.89, Z:-218.46 [[ 2.23006251e-01 -8.84277598e-01 4.10269840e-01 1.96776018e+02] [ 4.76464839e-01 4.66046092e-01 7.45508080e-01 2.10888156e+02] [-8.50440750e-01 2.92261910e-02 5.25258375e-01 -2.18455148e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.750714057 meters Centerline goodness : 0.990659 Centerline is valid? [True, True] Translation: X:196.78, Y:210.90, Z:-218.48 [[ 2.22167541e-01 -8.84389535e-01 4.10483538e-01 1.96783848e+02] [ 4.76591431e-01 4.65785284e-01 7.45590154e-01 2.10899582e+02] [-8.50589320e-01 2.99870061e-02 5.24974845e-01 -2.18477822e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.780714057 meters Centerline goodness : 0.990560 Centerline is valid? [True, True] Translation: X:196.79, Y:210.91, Z:-218.50 [[ 2.19438553e-01 -8.85047829e-01 4.10532657e-01 1.96792861e+02] [ 4.77151993e-01 4.64387667e-01 7.46103258e-01 2.10910750e+02] [-8.50983371e-01 3.21626562e-02 5.24206893e-01 -2.18501146e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.8107140569999 meters Centerline goodness : 0.985687 Centerline is valid? [True, True] Translation: X:196.80, Y:210.91, Z:-218.53 [[ 2.14509348e-01 -8.90177403e-01 4.01957623e-01 1.96800065e+02] [ 4.73594839e-01 4.54717765e-01 7.54280904e-01 2.10914855e+02] [-8.54221088e-01 2.85647505e-02 5.19124636e-01 -2.18525402e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.8407140569999 meters Centerline goodness : 0.990020 Centerline is valid? [True, True] Translation: X:196.81, Y:210.93, Z:-218.55 [[ 2.15371386e-01 -8.89448271e-01 4.03109092e-01 1.96810863e+02] [ 4.78803433e-01 4.55953816e-01 7.50235557e-01 2.10932281e+02] [-8.51094847e-01 3.14307449e-02 5.24070291e-01 -2.18549836e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.870714057 meters Centerline goodness : 0.989674 Centerline is valid? [True, True] Translation: X:196.82, Y:210.95, Z:-218.57 [[ 2.13644365e-01 -8.86874245e-01 4.09646382e-01 1.96816698e+02] [ 4.79848056e-01 4.60524925e-01 7.46768128e-01 2.10946640e+02] [-8.50941789e-01 3.70252173e-02 5.23953438e-01 -2.18571638e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.900714057 meters Centerline goodness : 0.989527 Centerline is valid? [True, True] Translation: X:196.83, Y:210.96, Z:-218.60 [[ 2.09782806e-01 -8.87861715e-01 4.09503052e-01 1.96825981e+02] [ 4.81709329e-01 4.58318379e-01 7.46927296e-01 2.10958234e+02] [-8.50850925e-01 4.05689364e-02 5.23838586e-01 -2.18595593e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.9307140569999 meters Centerline goodness : 0.989377 Centerline is valid? [True, True] Translation: X:196.83, Y:210.97, Z:-218.62 [[ 2.08049042e-01 -8.88481741e-01 4.09042531e-01 1.96834463e+02] [ 4.82842666e-01 4.56977981e-01 7.47016790e-01 2.10971413e+02] [-8.50634208e-01 4.20870584e-02 5.24070724e-01 -2.18620582e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.9607140569999 meters Centerline goodness : 0.989370 Centerline is valid? [True, True] Translation: X:196.84, Y:210.98, Z:-218.64 [[ 2.04691068e-01 -8.89259304e-01 4.09047011e-01 1.96842714e+02] [ 4.84348602e-01 4.55165953e-01 7.47148170e-01 2.10982981e+02] [-8.50592734e-01 4.51867907e-02 5.23879905e-01 -2.18644130e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.9907140569999 meters Centerline goodness : 0.989098 Centerline is valid? [True, True] Translation: X:196.85, Y:211.00, Z:-218.67 [[ 2.03491774e-01 -8.89613407e-01 4.08875389e-01 1.96850407e+02] [ 4.84917995e-01 4.54370661e-01 7.47262900e-01 2.10995494e+02] [-8.50556075e-01 4.62091802e-02 5.23850241e-01 -2.18668319e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.020714057 meters Centerline goodness : 0.987608 Centerline is valid? [True, True] Translation: X:196.89, Y:211.00, Z:-218.69 [[ 2.09262426e-01 -9.16900524e-01 3.39856833e-01 1.96891879e+02] [ 4.91623499e-01 3.99083000e-01 7.73976159e-01 2.10999459e+02] [-8.45290230e-01 5.11747690e-03 5.34282920e-01 -2.18687954e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.0507140569999 meters Centerline goodness : 0.989161 Centerline is valid? [True, True] Translation: X:196.89, Y:211.04, Z:-218.71 [[ 2.08142158e-01 -8.96348164e-01 3.91454736e-01 1.96887189e+02] [ 4.95430613e-01 4.41697273e-01 7.47965258e-01 2.11037069e+02] [-8.43341776e-01 3.82555573e-02 5.36014143e-01 -2.18711174e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.0807140569999 meters Centerline goodness : 0.988671 Centerline is valid? [True, True] Translation: X:196.88, Y:211.06, Z:-218.73 [[ 2.07722243e-01 -8.76224469e-01 4.34835774e-01 1.96882338e+02] [ 4.88867644e-01 4.78027238e-01 7.29724871e-01 2.11063511e+02] [-8.47266131e-01 6.09970534e-02 5.27654681e-01 -2.18731859e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.1107140569999 meters Centerline goodness : 0.988356 Centerline is valid? [True, True] Translation: X:196.89, Y:211.08, Z:-218.76 [[ 2.05430419e-01 -8.79941069e-01 4.28371401e-01 1.96891420e+02] [ 4.93442969e-01 4.71127051e-01 7.31131547e-01 2.11075601e+02] [-8.45170030e-01 6.11801965e-02 5.30984561e-01 -2.18763271e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.140714057 meters Centerline goodness : 0.988533 Centerline is valid? [True, True] Translation: X:196.90, Y:211.09, Z:-218.79 [[ 2.04236298e-01 -8.74099775e-01 4.40723402e-01 1.96895382e+02] [ 4.92586817e-01 4.80828263e-01 7.25370533e-01 2.11093779e+02] [-8.45958488e-01 6.89475452e-02 5.28772610e-01 -2.18790653e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.1707140569999 meters Centerline goodness : 0.987899 Centerline is valid? [True, True] Translation: X:196.90, Y:211.11, Z:-218.82 [[ 2.03926028e-01 -8.75989424e-01 4.37100336e-01 1.96902533e+02] [ 4.92562489e-01 4.77661500e-01 7.27476244e-01 2.11106698e+02] [-8.46047499e-01 6.69478888e-02 5.28887143e-01 -2.18815197e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.2007140569999 meters Centerline goodness : 0.988904 Centerline is valid? [True, True] Translation: X:196.91, Y:211.12, Z:-218.85 [[ 1.97003900e-01 -8.82910144e-01 4.26214900e-01 1.96912149e+02] [ 4.93082326e-01 4.64978806e-01 7.35298939e-01 2.11115607e+02] [-8.47383787e-01 6.53022755e-02 5.26950026e-01 -2.18847857e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.2307140569999 meters Centerline goodness : 0.987754 Centerline is valid? [True, True] Translation: X:196.92, Y:211.13, Z:-218.87 [[ 1.95300607e-01 -8.76895205e-01 4.39218023e-01 1.96915726e+02] [ 4.88673304e-01 4.75297196e-01 7.31635823e-01 2.11133742e+02] [-8.50327040e-01 7.17452029e-02 5.21341108e-01 -2.18871107e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.260714057 meters Centerline goodness : 0.983789 Centerline is valid? [True, True] Translation: X:196.90, Y:211.17, Z:-218.89 [[ 1.86321113e-01 -8.49216361e-01 4.94080980e-01 1.96898448e+02] [ 4.91032475e-01 5.16064393e-01 7.01829503e-01 2.11167664e+02] [-8.50982697e-01 1.11844152e-01 5.13146504e-01 -2.18892528e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.290714057 meters Centerline goodness : 0.989665 Centerline is valid? [True, True] Translation: X:196.95, Y:211.13, Z:-218.93 [[ 1.89569469e-01 -9.14602409e-01 3.57163617e-01 1.96949734e+02] [ 4.94264485e-01 4.03199672e-01 7.70151052e-01 2.11129872e+02] [-8.48390261e-01 3.05361650e-02 5.28489837e-01 -2.18934928e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.3207140569999 meters Centerline goodness : 0.989319 Centerline is valid? [True, True] Translation: X:196.97, Y:211.16, Z:-218.96 [[ 1.96428880e-01 -9.14611740e-01 3.53413440e-01 1.96971796e+02] [ 5.04114727e-01 4.03351702e-01 7.63659444e-01 2.11162312e+02] [-8.41001806e-01 2.81561501e-02 5.40299171e-01 -2.18957250e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.3507140569999 meters Centerline goodness : 0.988038 Centerline is valid? [True, True] Translation: X:196.96, Y:211.21, Z:-218.97 [[ 1.98333287e-01 -8.83201400e-01 4.24993170e-01 1.96959150e+02] [ 5.02505272e-01 4.63910754e-01 7.29571973e-01 2.11207178e+02] [-8.41517890e-01 6.88629005e-02 5.35822304e-01 -2.18972003e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.380714057 meters Centerline goodness : 0.989412 Centerline is valid? [True, True] Translation: X:196.96, Y:211.22, Z:-219.00 [[ 1.97639083e-01 -8.78949145e-01 4.34035935e-01 1.96960761e+02] [ 5.01310080e-01 4.71116406e-01 7.25766860e-01 2.11224951e+02] [-8.42393611e-01 7.41466925e-02 5.33737081e-01 -2.18999488e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.410714057 meters Centerline goodness : 0.987344 Centerline is valid? [True, True] Translation: X:196.96, Y:211.25, Z:-219.02 [[ 2.00092625e-01 -8.66711345e-01 4.56918359e-01 1.96960193e+02] [ 5.01168695e-01 4.91261441e-01 7.12384823e-01 2.11247874e+02] [-8.41898379e-01 8.64502287e-02 5.32666385e-01 -2.19023142e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.4407140569999 meters Centerline goodness : 0.988542 Centerline is valid? [True, True] Translation: X:196.97, Y:211.25, Z:-219.06 [[ 1.95016708e-01 -8.79672922e-01 4.33755732e-01 1.96969341e+02] [ 4.89863154e-01 4.70495565e-01 7.33940061e-01 2.11246063e+02] [-8.49707346e-01 6.93503766e-02 5.22673848e-01 -2.19061506e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.4707140569999 meters Centerline goodness : 0.988601 Centerline is valid? [True, True] Translation: X:196.97, Y:211.27, Z:-219.09 [[ 1.94922559e-01 -8.68206245e-01 4.56314707e-01 1.96969884e+02] [ 4.89421178e-01 4.89276172e-01 7.21855760e-01 2.11270394e+02] [-8.49983592e-01 8.26241098e-02 5.20289486e-01 -2.19087499e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.500714057 meters Centerline goodness : 0.987690 Centerline is valid? [True, True] Translation: X:196.97, Y:211.29, Z:-219.12 [[ 1.92381720e-01 -8.63930438e-01 4.65417525e-01 1.96970902e+02] [ 4.85630488e-01 4.95945785e-01 7.19861658e-01 2.11285922e+02] [-8.52732257e-01 8.75327157e-02 5.14961864e-01 -2.19119153e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.530714057 meters Centerline goodness : 0.988372 Centerline is valid? [True, True] Translation: X:196.98, Y:211.30, Z:-219.15 [[ 1.92733894e-01 -8.61267582e-01 4.70182728e-01 1.96975324e+02] [ 4.92696060e-01 4.99325585e-01 7.12688257e-01 2.11304592e+02] [-8.48589558e-01 9.42979946e-02 5.20580109e-01 -2.19149923e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.5607140569999 meters Centerline goodness : 0.988477 Centerline is valid? [True, True] Translation: X:196.98, Y:211.31, Z:-219.18 [[ 1.90892089e-01 -8.66332349e-01 4.61550075e-01 1.96983040e+02] [ 4.89570481e-01 4.91568158e-01 7.20195453e-01 2.11313589e+02] [-8.50811938e-01 8.84816778e-02 5.17967218e-01 -2.19175377e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.5907140569999 meters Centerline goodness : 0.987475 Centerline is valid? [True, True] Translation: X:196.99, Y:211.33, Z:-219.20 [[ 1.85743718e-01 -8.65214754e-01 4.65728140e-01 1.96986347e+02] [ 4.88559805e-01 4.92556669e-01 7.20206391e-01 2.11330129e+02] [-8.52530697e-01 9.37622365e-02 5.14198459e-01 -2.19203950e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.620714057 meters Centerline goodness : 0.988934 Centerline is valid? [True, True] Translation: X:196.99, Y:211.35, Z:-219.23 [[ 1.86493396e-01 -8.56948414e-01 4.80478542e-01 1.96988258e+02] [ 4.94889535e-01 5.04420292e-01 7.07562377e-01 2.11351883e+02] [-8.48707583e-01 1.05828092e-01 5.18165856e-01 -2.19234911e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.650714057 meters Centerline goodness : 0.987498 Centerline is valid? [True, True] Translation: X:197.00, Y:211.36, Z:-219.26 [[ 1.81755525e-01 -8.72314861e-01 4.53907164e-01 1.96998504e+02] [ 4.92231219e-01 4.80310332e-01 7.25954828e-01 2.11357904e+02] [-8.51277485e-01 9.14809754e-02 5.16679664e-01 -2.19259628e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.6807140569999 meters Centerline goodness : 0.986478 Centerline is valid? [True, True] Translation: X:197.00, Y:211.38, Z:-219.29 [[ 1.80641664e-01 -8.65899261e-01 4.66462281e-01 1.97000628e+02] [ 4.91392780e-01 4.90286400e-01 7.19828022e-01 2.11376643e+02] [-8.51998665e-01 9.91852652e-02 5.14062796e-01 -2.19287453e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.7107140569999 meters Centerline goodness : 0.986896 Centerline is valid? [True, True] Translation: X:197.01, Y:211.39, Z:-219.32 [[ 1.79904769e-01 -8.71222737e-01 4.56733200e-01 1.97009597e+02] [ 4.91751833e-01 4.81781654e-01 7.25304469e-01 2.11390361e+02] [-8.51947421e-01 9.41136554e-02 5.15100196e-01 -2.19316175e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.7407140569999 meters Centerline goodness : 0.986022 Centerline is valid? [True, True] Translation: X:197.01, Y:211.41, Z:-219.34 [[ 1.79849604e-01 -8.68194835e-01 4.62484431e-01 1.97014151e+02] [ 4.91981823e-01 4.86513347e-01 7.21982444e-01 2.11408480e+02] [-8.51826277e-01 9.76856766e-02 5.14635310e-01 -2.19343644e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.770714057 meters Centerline goodness : 0.987213 Centerline is valid? [True, True] Translation: X:197.02, Y:211.42, Z:-219.37 [[ 1.78745696e-01 -8.73885861e-01 4.52076849e-01 1.97020773e+02] [ 4.93616178e-01 4.77116792e-01 7.27119409e-01 2.11423729e+02] [-8.51112827e-01 9.31829812e-02 5.16646772e-01 -2.19372105e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.8007140569999 meters Centerline goodness : 0.986706 Centerline is valid? [True, True] Translation: X:197.02, Y:211.44, Z:-219.39 [[ 1.80792019e-01 -8.75281984e-01 4.48548431e-01 1.97023383e+02] [ 4.95556318e-01 4.75009978e-01 7.27179109e-01 2.11441540e+02] [-8.49551753e-01 9.08128295e-02 5.19629530e-01 -2.19391758e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.8307140569999 meters Centerline goodness : 0.987868 Centerline is valid? [True, True] Translation: X:197.03, Y:211.45, Z:-219.42 [[ 1.79198257e-01 -8.79211992e-01 4.41445646e-01 1.97031151e+02] [ 4.93750678e-01 4.68479441e-01 7.32623561e-01 2.11454924e+02] [-8.50939629e-01 8.66792219e-02 5.18062216e-01 -2.19423342e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.8607140569999 meters Centerline goodness : 0.987666 Centerline is valid? [True, True] Translation: X:197.03, Y:211.48, Z:-219.45 [[ 1.79935313e-01 -8.71458259e-01 4.56271615e-01 1.97033400e+02] [ 4.94204174e-01 4.81140453e-01 7.24062221e-01 2.11478168e+02] [-8.50520733e-01 9.52069740e-02 5.17252467e-01 -2.19449310e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.890714057 meters Centerline goodness : 0.987914 Centerline is valid? [True, True] Translation: X:197.04, Y:211.49, Z:-219.48 [[ 1.79944277e-01 -8.77894909e-01 4.43757350e-01 1.97041310e+02] [ 4.94514982e-01 4.70704807e-01 7.30679080e-01 2.11489946e+02] [-8.50338162e-01 8.79631396e-02 5.18832821e-01 -2.19476060e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.9207140569999 meters Centerline goodness : 0.987798 Centerline is valid? [True, True] Translation: X:197.04, Y:211.51, Z:-219.50 [[ 1.81044890e-01 -8.76267957e-01 4.46516759e-01 1.97044069e+02] [ 4.93245387e-01 4.73691769e-01 7.29606124e-01 2.11509240e+02] [-8.50841781e-01 8.81508714e-02 5.17974602e-01 -2.19503033e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.9507140569999 meters Centerline goodness : 0.989079 Centerline is valid? [True, True] Translation: X:197.04, Y:211.54, Z:-219.53 [[ 1.84122629e-01 -8.62778923e-01 4.70862388e-01 1.97043312e+02] [ 4.99419782e-01 4.94725560e-01 7.11214807e-01 2.11536990e+02] [-8.46568804e-01 1.04207251e-01 5.21979032e-01 -2.19533074e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.9807140569999 meters Centerline goodness : 0.988820 Centerline is valid? [True, True] Translation: X:197.05, Y:211.55, Z:-219.56 [[ 1.85527639e-01 -8.71760427e-01 4.53445976e-01 1.97050117e+02] [ 4.99751931e-01 4.81030184e-01 7.20317965e-01 2.11546482e+02] [-8.46065898e-01 9.29716109e-02 5.24908351e-01 -2.19558202e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.010714057 meters Centerline goodness : 0.988230 Centerline is valid? [True, True] Translation: X:197.06, Y:211.55, Z:-219.59 [[ 1.82407556e-01 -8.85393457e-01 4.27558077e-01 1.97062388e+02] [ 4.95781218e-01 4.58349219e-01 7.37642852e-01 2.11551405e+02] [-8.49075066e-01 7.74236344e-02 5.22567807e-01 -2.19586182e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.040714057 meters Centerline goodness : 0.988135 Centerline is valid? [True, True] Translation: X:197.07, Y:211.57, Z:-219.61 [[ 1.83652412e-01 -8.79150640e-01 4.39733948e-01 1.97065078e+02] [ 4.97386979e-01 4.68960142e-01 7.29851066e-01 2.11573926e+02] [-8.47866726e-01 8.46790315e-02 5.23403742e-01 -2.19609988e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.0707140569999 meters Centerline goodness : 0.987907 Centerline is valid? [True, True] Translation: X:197.07, Y:211.59, Z:-219.64 [[ 1.84988690e-01 -8.79736854e-01 4.37998004e-01 1.97068757e+02] [ 4.98504278e-01 4.68094917e-01 7.29644183e-01 2.11589643e+02] [-8.46919518e-01 8.33679569e-02 5.25144851e-01 -2.19635796e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.1007140569999 meters Centerline goodness : 0.989148 Centerline is valid? [True, True] Translation: X:197.08, Y:211.60, Z:-219.67 [[ 1.84321435e-01 -8.81778845e-01 4.34156282e-01 1.97075767e+02] [ 4.96875463e-01 4.64719957e-01 7.32905271e-01 2.11602626e+02] [-8.48021452e-01 8.06314521e-02 5.23792121e-01 -2.19665629e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.130714057 meters Centerline goodness : 0.989088 Centerline is valid? [True, True] Translation: X:197.08, Y:211.62, Z:-219.69 [[ 1.84977749e-01 -8.82656178e-01 4.32089463e-01 1.97080812e+02] [ 4.97527311e-01 4.63278217e-01 7.33375667e-01 2.11619700e+02] [-8.47496199e-01 7.93181290e-02 5.24841716e-01 -2.19692056e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.160714057 meters Centerline goodness : 0.988337 Centerline is valid? [True, True] Translation: X:197.08, Y:211.64, Z:-219.72 [[ 1.87967399e-01 -8.77408131e-01 4.41387844e-01 1.97083607e+02] [ 4.98952184e-01 4.72393590e-01 7.26561088e-01 2.11639664e+02] [-8.45999394e-01 8.36616308e-02 5.26579297e-01 -2.19715422e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.1907140569999 meters Centerline goodness : 0.988749 Centerline is valid? [True, True] Translation: X:197.09, Y:211.64, Z:-219.74 [[ 1.85753289e-01 -8.90986828e-01 4.14292394e-01 1.97094786e+02] [ 4.96641605e-01 4.48942631e-01 7.42830822e-01 2.11641719e+02] [-8.47845996e-01 6.77715708e-02 5.25893698e-01 -2.19742731e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.2207140569999 meters Centerline goodness : 0.988921 Centerline is valid? [True, True] Translation: X:197.10, Y:211.66, Z:-219.77 [[ 1.86281236e-01 -8.84019607e-01 4.28729094e-01 1.97095829e+02] [ 4.94341562e-01 4.61441142e-01 7.36680726e-01 2.11663453e+02] [-8.49073449e-01 7.47088135e-02 5.22965459e-01 -2.19770693e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.250714057 meters Centerline goodness : 0.989352 Centerline is valid? [True, True] Translation: X:197.10, Y:211.68, Z:-219.80 [[ 1.86027160e-01 -8.82944965e-01 4.31047660e-01 1.97101533e+02] [ 4.93967518e-01 4.63276160e-01 7.35779376e-01 2.11680543e+02] [-8.49346800e-01 7.60485950e-02 5.22328082e-01 -2.19797843e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.280714057 meters Centerline goodness : 0.989046 Centerline is valid? [True, True] Translation: X:197.10, Y:211.70, Z:-219.83 [[ 1.85360533e-01 -8.74607155e-01 4.47999773e-01 1.97103074e+02] [ 4.90154879e-01 4.77427004e-01 7.29254174e-01 2.11701647e+02] [-8.51698108e-01 8.44143324e-02 5.17189089e-01 -2.19828036e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.3107140569999 meters Centerline goodness : 0.988843 Centerline is valid? [True, True] Translation: X:197.11, Y:211.71, Z:-219.86 [[ 1.84979853e-01 -8.77384043e-01 4.42695939e-01 1.97110978e+02] [ 4.90021988e-01 4.72822371e-01 7.32336983e-01 2.11713998e+02] [-8.51857327e-01 8.14631573e-02 5.17400086e-01 -2.19856484e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.3407140569999 meters Centerline goodness : 0.989799 Centerline is valid? [True, True] Translation: X:197.12, Y:211.74, Z:-219.88 [[ 1.86014940e-01 -8.75967331e-01 4.45061430e-01 1.97115374e+02] [ 5.00833930e-01 4.74235453e-01 7.24062228e-01 2.11736006e+02] [-8.45318766e-01 8.82154729e-02 5.26929041e-01 -2.19883869e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.370714057 meters Centerline goodness : 0.989875 Centerline is valid? [True, True] Translation: X:197.13, Y:211.73, Z:-219.91 [[ 1.79532085e-01 -8.96214623e-01 4.05669299e-01 1.97126820e+02] [ 4.93850131e-01 4.38749939e-01 7.50739994e-01 2.11727269e+02] [-8.50811541e-01 6.55579200e-02 5.21365400e-01 -2.19908222e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.400714057 meters Centerline goodness : 0.989525 Centerline is valid? [True, True] Translation: X:197.12, Y:211.76, Z:-219.94 [[ 1.81021829e-01 -8.70771967e-01 4.57151264e-01 1.97124591e+02] [ 4.88120120e-01 4.83086490e-01 7.26888018e-01 2.11760410e+02] [-8.53797310e-01 9.15621315e-02 5.12490517e-01 -2.19938048e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.4307140569999 meters Centerline goodness : 0.989651 Centerline is valid? [True, True] Translation: X:197.13, Y:211.77, Z:-219.96 [[ 1.80488976e-01 -8.84616922e-01 4.29972826e-01 1.97134981e+02] [ 4.96315239e-01 4.59328020e-01 7.36674252e-01 2.11769739e+02] [-8.49173076e-01 8.04404844e-02 5.21952504e-01 -2.19955989e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.4607140569999 meters Centerline goodness : 0.989579 Centerline is valid? [True, True] Translation: X:197.14, Y:211.78, Z:-219.98 [[ 1.81792772e-01 -8.88637343e-01 4.21040450e-01 1.97143690e+02] [ 4.96909704e-01 4.52501893e-01 7.40488206e-01 2.11780951e+02] [-8.48547073e-01 7.46036822e-02 5.23834092e-01 -2.19982262e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.4907140569999 meters Centerline goodness : 0.989460 Centerline is valid? [True, True] Translation: X:197.15, Y:211.80, Z:-220.01 [[ 1.81957988e-01 -8.90962682e-01 4.16024988e-01 1.97151431e+02] [ 4.95630441e-01 4.48513392e-01 7.43764884e-01 2.11795125e+02] [-8.49259535e-01 7.08606863e-02 5.23198821e-01 -2.20014953e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.520714057 meters Centerline goodness : 0.992408 Centerline is valid? [True, True] Translation: X:197.15, Y:211.82, Z:-220.03 [[ 1.80256049e-01 -8.92080677e-01 4.14366773e-01 1.97148553e+02] [ 5.11183948e-01 4.44870452e-01 7.35378306e-01 2.11819618e+02] [-8.40356311e-01 7.92612554e-02 5.36207912e-01 -2.20026946e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.5507140569999 meters Centerline goodness : 0.990245 Centerline is valid? [True, True] Translation: X:197.17, Y:211.82, Z:-220.07 [[ 1.84061496e-01 -8.96900472e-01 4.02108082e-01 1.97167914e+02] [ 4.92068039e-01 4.38223613e-01 7.52216132e-01 2.11819319e+02] [-8.50876261e-01 5.94105092e-02 5.21996150e-01 -2.20071819e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.5807140569999 meters Centerline goodness : 0.990115 Centerline is valid? [True, True] Translation: X:197.17, Y:211.85, Z:-220.09 [[ 1.87552747e-01 -8.81445018e-01 4.33449707e-01 1.97166204e+02] [ 4.89519315e-01 4.66452742e-01 7.36744651e-01 2.11851554e+02] [-8.51583706e-01 7.40035199e-02 5.18968854e-01 -2.20094260e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.6107140569999 meters Centerline goodness : 0.990115 Centerline is valid? [True, True] Translation: X:197.18, Y:211.87, Z:-220.12 [[ 1.87442597e-01 -8.83700983e-01 4.28879756e-01 1.97175262e+02] [ 4.89671657e-01 4.62562645e-01 7.39092327e-01 2.11865223e+02] [-8.51520370e-01 7.14728757e-02 5.19427269e-01 -2.20123699e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.640714057 meters Centerline goodness : 0.990005 Centerline is valid? [True, True] Translation: X:197.18, Y:211.89, Z:-220.15 [[ 1.88052932e-01 -8.68886042e-01 4.57900799e-01 1.97175033e+02] [ 4.84337398e-01 4.87628432e-01 7.26385433e-01 2.11890622e+02] [-8.54431612e-01 8.51795710e-02 5.12533960e-01 -2.20154700e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.6707140569999 meters Centerline goodness : 0.989660 Centerline is valid? [True, True] Translation: X:197.19, Y:211.88, Z:-220.18 [[ 1.89094065e-01 -8.92686783e-01 4.09088917e-01 1.97186985e+02] [ 4.86535101e-01 4.47046007e-01 7.50622051e-01 2.11879461e+02] [-8.52951951e-01 5.70979428e-02 5.18857201e-01 -2.20176468e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.7007140569999 meters Centerline goodness : 0.991264 Centerline is valid? [True, True] Translation: X:197.19, Y:211.89, Z:-220.20 [[ 1.89633818e-01 -8.98134174e-01 3.96729154e-01 1.97194595e+02] [ 4.87653857e-01 4.36855057e-01 7.55877883e-01 2.11886381e+02] [-8.52192895e-01 5.01264935e-02 5.20821087e-01 -2.20203415e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.7307140569999 meters Centerline goodness : 0.984867 Centerline is valid? [True, True] Translation: X:197.19, Y:211.90, Z:-220.22 [[ 1.85623826e-01 -8.98768501e-01 3.97188842e-01 1.97194167e+02] [ 4.91207438e-01 4.34957781e-01 7.54670115e-01 2.11901495e+02] [-8.51034106e-01 5.50173596e-02 5.22220300e-01 -2.20222518e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.760714057 meters Centerline goodness : 0.992731 Centerline is valid? [True, True] Translation: X:197.21, Y:211.92, Z:-220.25 [[ 1.88821980e-01 -9.02089915e-01 3.88046448e-01 1.97205384e+02] [ 4.98719591e-01 4.28492910e-01 7.53440506e-01 2.11916972e+02] [-8.45946233e-01 5.12602374e-02 5.30798793e-01 -2.20247719e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.790714057 meters Centerline goodness : 0.992942 Centerline is valid? [True, True] Translation: X:197.21, Y:211.93, Z:-220.27 [[ 1.88466693e-01 -8.99731602e-01 3.93653845e-01 1.97209950e+02] [ 4.99708749e-01 4.32923990e-01 7.50245283e-01 2.11932761e+02] [-8.45441584e-01 5.53160230e-02 5.31195506e-01 -2.20269784e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.8207140569999 meters Centerline goodness : 0.992962 Centerline is valid? [True, True] Translation: X:197.22, Y:211.95, Z:-220.29 [[ 1.87138506e-01 -9.00209470e-01 3.93194722e-01 1.97215208e+02] [ 5.01075557e-01 4.31754549e-01 7.50007530e-01 2.11945831e+02] [-8.44927492e-01 5.66649755e-02 5.31870863e-01 -2.20294296e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.8507140569999 meters Centerline goodness : 0.992619 Centerline is valid? [True, True] Translation: X:197.22, Y:211.96, Z:-220.31 [[ 1.90271809e-01 -8.96523858e-01 4.00052010e-01 1.97218644e+02] [ 5.02075523e-01 4.39037405e-01 7.45094844e-01 2.11960644e+02] [-8.43633100e-01 5.90857787e-02 5.33659126e-01 -2.20312321e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.880714057 meters Centerline goodness : 0.992668 Centerline is valid? [True, True] Translation: X:197.23, Y:211.98, Z:-220.36 [[ 1.93338443e-01 -8.81878760e-01 4.30011743e-01 1.97228686e+02] [ 4.88931330e-01 4.66583724e-01 7.37052090e-01 2.11981407e+02] [-8.50627064e-01 6.77457100e-02 5.21386726e-01 -2.20361421e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.910714057 meters Centerline goodness : 0.992158 Centerline is valid? [True, True] Translation: X:197.23, Y:212.00, Z:-220.36 [[ 1.88846550e-01 -8.89230864e-01 4.16659875e-01 1.97227779e+02] [ 5.02907916e-01 4.52007265e-01 7.36731335e-01 2.12002185e+02] [-8.43457532e-01 7.04123784e-02 5.32561253e-01 -2.20361395e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.9407140569999 meters Centerline goodness : 0.984198 Centerline is valid? [True, True] Translation: X:197.23, Y:212.00, Z:-220.39 [[ 1.85669587e-01 -8.95667458e-01 4.04112125e-01 1.97233038e+02] [ 4.93361309e-01 4.40640696e-01 7.49953596e-01 2.12000484e+02] [-8.49777279e-01 6.01297125e-02 5.23701245e-01 -2.20387464e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.9707140569999 meters Centerline goodness : 0.991225 Centerline is valid? [True, True] Translation: X:197.26, Y:211.99, Z:-220.42 [[ 1.87959051e-01 -9.15527282e-01 3.55641942e-01 1.97256140e+02] [ 4.87518134e-01 4.01305550e-01 7.75422417e-01 2.11990711e+02] [-8.52641463e-01 2.76342341e-02 5.21765163e-01 -2.20424884e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.000714057 meters Centerline goodness : 0.991054 Centerline is valid? [True, True] Translation: X:197.25, Y:212.04, Z:-220.44 [[ 1.90378107e-01 -8.83963380e-01 4.27042058e-01 1.97247649e+02] [ 4.87325905e-01 4.62712681e-01 7.40547390e-01 2.12037986e+02] [-8.52214550e-01 6.71246472e-02 5.18868619e-01 -2.20440778e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.030714057 meters Centerline goodness : 0.992709 Centerline is valid? [True, True] Translation: X:197.26, Y:212.05, Z:-220.46 [[ 1.87729702e-01 -8.95012259e-01 4.04611683e-01 1.97255352e+02] [ 4.96393211e-01 4.41909238e-01 7.47201449e-01 2.12046364e+02] [-8.47556098e-01 6.05745869e-02 5.27237499e-01 -2.20464556e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.0607140569999 meters Centerline goodness : 0.991664 Centerline is valid? [True, True] Translation: X:197.26, Y:212.07, Z:-220.49 [[ 1.88742623e-01 -8.80024372e-01 4.35813409e-01 1.97256180e+02] [ 4.94479807e-01 4.68590641e-01 7.32060470e-01 2.12074721e+02] [-8.48449140e-01 7.73299169e-02 5.23597308e-01 -2.20486343e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.0907140569999 meters Centerline goodness : 0.991506 Centerline is valid? [True, True] Translation: X:197.26, Y:212.09, Z:-220.51 [[ 1.87478662e-01 -8.82758076e-01 4.30801499e-01 1.97263957e+02] [ 4.96256814e-01 4.63611576e-01 7.34025532e-01 2.12088892e+02] [-8.47691528e-01 7.61740543e-02 5.24991988e-01 -2.20511969e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.120714057 meters Centerline goodness : 0.992940 Centerline is valid? [True, True] Translation: X:197.27, Y:212.10, Z:-220.53 [[ 1.81631422e-01 -8.94685460e-01 4.08102872e-01 1.97265991e+02] [ 5.04312999e-01 4.41023320e-01 7.42406108e-01 2.12097187e+02] [-8.44202834e-01 7.09673058e-02 5.31305201e-01 -2.20526130e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.150714057 meters Centerline goodness : 0.991981 Centerline is valid? [True, True] Translation: X:197.28, Y:212.11, Z:-220.56 [[ 1.83414137e-01 -8.93357080e-01 4.10210169e-01 1.97279578e+02] [ 4.98477739e-01 4.44182205e-01 7.44460954e-01 2.12105271e+02] [-8.47277521e-01 6.79359741e-02 5.26787913e-01 -2.20563861e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.1807140569999 meters Centerline goodness : 0.992327 Centerline is valid? [True, True] Translation: X:197.28, Y:212.13, Z:-220.59 [[ 1.82739158e-01 -8.81515273e-01 4.35358731e-01 1.97282045e+02] [ 4.99965989e-01 4.64604274e-01 7.30874052e-01 2.12132948e+02] [-8.46546166e-01 8.41052495e-02 5.25629048e-01 -2.20589149e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.2107140569999 meters Centerline goodness : 0.993289 Centerline is valid? [True, True] Translation: X:197.29, Y:212.14, Z:-220.60 [[ 1.76374252e-01 -8.97405667e-01 4.04419574e-01 1.97287290e+02] [ 5.09510118e-01 4.34769577e-01 7.42546197e-01 2.12138352e+02] [-8.42194493e-01 7.50898350e-02 5.33919426e-01 -2.20604899e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.2407140569999 meters Centerline goodness : 0.992736 Centerline is valid? [True, True] Translation: X:197.30, Y:212.14, Z:-220.63 [[ 1.74588695e-01 -9.06024032e-01 3.85537600e-01 1.97297538e+02] [ 5.09229029e-01 4.18204578e-01 7.52190619e-01 2.12141382e+02] [-8.42736367e-01 6.50029596e-02 5.34387529e-01 -2.20632983e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.270714057 meters Centerline goodness : 0.991996 Centerline is valid? [True, True] Translation: X:197.31, Y:212.15, Z:-220.66 [[ 1.78414137e-01 -8.98373882e-01 4.01363631e-01 1.97306156e+02] [ 5.00283006e-01 4.34071690e-01 7.49198693e-01 2.12154282e+02] [-8.47281128e-01 6.71277655e-02 5.26885712e-01 -2.20662511e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.3007140569999 meters Centerline goodness : 0.993473 Centerline is valid? [True, True] Translation: X:197.31, Y:212.17, Z:-220.68 [[ 1.72623174e-01 -9.02434739e-01 3.94731277e-01 1.97307119e+02] [ 5.10351128e-01 4.24705044e-01 7.47774934e-01 2.12172085e+02] [-8.42462442e-01 7.23682704e-02 5.33872520e-01 -2.20676527e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.3307140569999 meters Centerline goodness : 0.992143 Centerline is valid? [True, True] Translation: X:197.32, Y:212.18, Z:-220.70 [[ 1.69845217e-01 -9.07803149e-01 3.83465833e-01 1.97315468e+02] [ 5.09381807e-01 4.13978493e-01 7.54421621e-01 2.12179214e+02] [-8.43612931e-01 6.71956152e-02 5.32730676e-01 -2.20704014e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.3607140569999 meters Centerline goodness : 0.993663 Centerline is valid? [True, True] Translation: X:197.32, Y:212.20, Z:-220.72 [[ 1.71261055e-01 -9.04499141e-01 3.90577719e-01 1.97321224e+02] [ 5.09293240e-01 4.20635177e-01 7.50790546e-01 2.12196857e+02] [-8.43380132e-01 7.03374108e-02 5.32693722e-01 -2.20724257e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.390714057 meters Centerline goodness : 0.992824 Centerline is valid? [True, True] Translation: X:197.33, Y:212.22, Z:-220.77 [[ 1.77373959e-01 -8.82151844e-01 4.36287294e-01 1.97329097e+02] [ 4.95931368e-01 4.63033953e-01 7.34609853e-01 2.12224850e+02] [-8.50053267e-01 8.60678965e-02 5.19616936e-01 -2.20769988e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.4207140569999 meters Centerline goodness : 0.993744 Centerline is valid? [True, True] Translation: X:197.33, Y:212.25, Z:-220.78 [[ 1.76526941e-01 -8.75014511e-01 4.50763624e-01 1.97329653e+02] [ 5.05230790e-01 4.73573752e-01 7.21435895e-01 2.12254542e+02] [-8.44736698e-01 1.00386790e-01 5.25682798e-01 -2.20776128e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.4507140569999 meters Centerline goodness : 0.993475 Centerline is valid? [True, True] Translation: X:197.34, Y:212.26, Z:-220.81 [[ 1.78129835e-01 -8.77264069e-01 4.45732560e-01 1.97339727e+02] [ 4.99117781e-01 4.70931990e-01 7.27395698e-01 2.12262127e+02] [-8.48027831e-01 9.29021709e-02 5.21745133e-01 -2.20814220e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.4807140569999 meters Centerline goodness : 0.991826 Centerline is valid? [True, True] Translation: X:197.34, Y:212.27, Z:-220.83 [[ 1.80210876e-01 -8.82803091e-01 4.33800349e-01 1.97344725e+02] [ 5.02353011e-01 4.61770054e-01 7.31033426e-01 2.12272173e+02] [-8.45674579e-01 8.61807373e-02 5.26694777e-01 -2.20825753e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.510714057 meters Centerline goodness : 0.992886 Centerline is valid? [True, True] Translation: X:197.36, Y:212.28, Z:-220.86 [[ 1.78843075e-01 -8.95533996e-01 4.07472720e-01 1.97359708e+02] [ 5.04236653e-01 4.39052270e-01 7.43625243e-01 2.12277379e+02] [-8.44843508e-01 7.24704552e-02 5.30082522e-01 -2.20862390e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.540714057 meters Centerline goodness : 0.992579 Centerline is valid? [True, True] Translation: X:197.36, Y:212.30, Z:-220.88 [[ 1.80573907e-01 -8.85300738e-01 4.28527325e-01 1.97361989e+02] [ 5.03807010e-01 4.57446218e-01 7.32749244e-01 2.12302780e+02] [-8.44731650e-01 8.35796761e-02 5.28623568e-01 -2.20884786e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.5707140569999 meters Centerline goodness : 0.992983 Centerline is valid? [True, True] Translation: X:197.37, Y:212.31, Z:-220.91 [[ 1.80759984e-01 -8.90576731e-01 4.17371435e-01 1.97371827e+02] [ 5.05721767e-01 4.48125923e-01 7.37176133e-01 2.12314798e+02] [-8.43546870e-01 7.78218736e-02 5.31387273e-01 -2.20912615e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.6007140569999 meters Centerline goodness : 0.993135 Centerline is valid? [True, True] Translation: X:197.38, Y:212.33, Z:-220.94 [[ 1.82870144e-01 -8.83815166e-01 4.30614981e-01 1.97375969e+02] [ 5.03913590e-01 4.60353059e-01 7.30853032e-01 2.12334853e+02] [-8.44173918e-01 8.33415418e-02 5.29551303e-01 -2.20939022e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.630714057 meters Centerline goodness : 0.993291 Centerline is valid? [True, True] Translation: X:197.38, Y:212.35, Z:-220.97 [[ 1.83657323e-01 -8.87055632e-01 4.23559078e-01 1.97384925e+02] [ 5.04602766e-01 4.54860117e-01 7.33810822e-01 2.12347444e+02] [-8.43591155e-01 7.89593514e-02 5.31149117e-01 -2.20965604e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.660714057 meters Centerline goodness : 0.992527 Centerline is valid? [True, True] Translation: X:197.39, Y:212.36, Z:-220.99 [[ 1.89242028e-01 -8.88265361e-01 4.18535666e-01 1.97390922e+02] [ 5.01707108e-01 4.53868898e-01 7.36405460e-01 2.12358827e+02] [-8.44083783e-01 7.06234557e-02 5.31540116e-01 -2.20987967e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.6907140569999 meters Centerline goodness : 0.993233 Centerline is valid? [True, True] Translation: X:197.40, Y:212.37, Z:-221.02 [[ 1.87411121e-01 -8.95734188e-01 4.03159194e-01 1.97402991e+02] [ 5.02808855e-01 4.40063634e-01 7.43994122e-01 2.12369503e+02] [-8.43836671e-01 6.32792401e-02 5.32855900e-01 -2.21020791e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.7207140569999 meters Centerline goodness : 0.993080 Centerline is valid? [True, True] Translation: X:197.41, Y:212.39, Z:-221.04 [[ 1.89657323e-01 -8.88501676e-01 4.17845511e-01 1.97406326e+02] [ 5.02084895e-01 4.53482249e-01 7.36386182e-01 2.12392758e+02] [-8.43765879e-01 7.01328874e-02 5.32109500e-01 -2.21043723e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.750714057 meters Centerline goodness : 0.992792 Centerline is valid? [True, True] Translation: X:197.41, Y:212.41, Z:-221.07 [[ 1.93954946e-01 -8.90481812e-01 4.11611008e-01 1.97413383e+02] [ 5.00683716e-01 4.50672299e-01 7.39060414e-01 2.12406779e+02] [-8.43621536e-01 6.27425060e-02 5.33259864e-01 -2.21067988e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.780714057 meters Centerline goodness : 0.992391 Centerline is valid? [True, True] Translation: X:197.42, Y:212.42, Z:-221.09 [[ 1.95702704e-01 -8.88026445e-01 4.16064279e-01 1.97418288e+02] [ 4.99207278e-01 4.55395083e-01 7.37161728e-01 2.12421716e+02] [-8.44092735e-01 6.34377726e-02 5.32431314e-01 -2.21091043e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.8107140569999 meters Centerline goodness : 0.992983 Centerline is valid? [True, True] Translation: X:197.43, Y:212.44, Z:-221.12 [[ 1.98202121e-01 -8.85698124e-01 4.19827050e-01 1.97425636e+02] [ 4.96382178e-01 4.60037989e-01 7.36185970e-01 2.12438105e+02] [-8.45174924e-01 6.24810451e-02 5.30825269e-01 -2.21121196e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.8407140569999 meters Centerline goodness : 0.992724 Centerline is valid? [True, True] Translation: X:197.43, Y:212.46, Z:-221.15 [[ 1.99191212e-01 -8.81177871e-01 4.28775490e-01 1.97431130e+02] [ 4.94590553e-01 4.68126671e-01 7.32282462e-01 2.12455362e+02] [-8.45992344e-01 6.62040753e-02 5.29068969e-01 -2.21148090e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.870714057 meters Centerline goodness : 0.992477 Centerline is valid? [True, True] Translation: X:197.44, Y:212.47, Z:-221.18 [[ 1.99721012e-01 -8.85026427e-01 4.20523175e-01 1.97440662e+02] [ 4.94571906e-01 4.61541351e-01 7.36463313e-01 2.12466363e+02] [-8.45878329e-01 6.08917503e-02 5.29888712e-01 -2.21175356e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.900714057 meters Centerline goodness : 0.993422 Centerline is valid? [True, True] Translation: X:197.45, Y:212.49, Z:-221.21 [[ 2.00055355e-01 -8.80739547e-01 4.29273462e-01 1.97447407e+02] [ 4.94070478e-01 4.69030142e-01 7.32055386e-01 2.12485227e+02] [-8.46092322e-01 6.56397448e-02 5.28979401e-01 -2.21206636e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.9307140569999 meters Centerline goodness : 0.992462 Centerline is valid? [True, True] Translation: X:197.45, Y:212.50, Z:-221.23 [[ 2.00494235e-01 -8.78259849e-01 4.34121756e-01 1.97453397e+02] [ 4.93424188e-01 4.73338018e-01 7.29714801e-01 2.12501629e+02] [-8.46365543e-01 6.79025638e-02 5.28256197e-01 -2.21231431e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.9607140569999 meters Centerline goodness : 0.993403 Centerline is valid? [True, True] Translation: X:197.47, Y:212.51, Z:-221.26 [[ 1.99003929e-01 -8.87591765e-01 4.15425438e-01 1.97466220e+02] [ 4.98647096e-01 4.56636591e-01 7.36772759e-01 2.12510168e+02] [-8.43651889e-01 6.05300143e-02 5.33467532e-01 -2.21256867e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.9907140569999 meters Centerline goodness : 0.991656 Centerline is valid? [True, True] Translation: X:197.47, Y:212.52, Z:-221.28 [[ 1.94108461e-01 -8.95239464e-01 4.01083792e-01 1.97470614e+02] [ 5.02232248e-01 4.41904152e-01 7.43292331e-01 2.12517042e+02] [-8.42665221e-01 5.71578839e-02 5.35395463e-01 -2.21276094e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.020714057 meters Centerline goodness : 0.992683 Centerline is valid? [True, True] Translation: X:197.48, Y:212.53, Z:-221.31 [[ 1.96260514e-01 -8.91046450e-01 4.09289671e-01 1.97481922e+02] [ 5.00811092e-01 4.49947944e-01 7.39415376e-01 2.12534571e+02] [-8.43012492e-01 5.98587648e-02 5.34552960e-01 -2.21307628e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.0507140569999 meters Centerline goodness : 0.992663 Centerline is valid? [True, True] Translation: X:197.49, Y:212.56, Z:-221.33 [[ 1.93092612e-01 -8.87019927e-01 4.19417325e-01 1.97489994e+02] [ 5.02839023e-01 4.56520520e-01 7.33990417e-01 2.12555197e+02] [-8.42536741e-01 6.91712708e-02 5.34178973e-01 -2.21332323e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.0807140569999 meters Centerline goodness : 0.993078 Centerline is valid? [True, True] Translation: X:197.50, Y:212.57, Z:-221.36 [[ 1.92292999e-01 -8.87053378e-01 4.19713839e-01 1.97497176e+02] [ 5.04437852e-01 4.56213074e-01 7.33083955e-01 2.12571154e+02] [-8.41763539e-01 7.07526353e-02 5.35189881e-01 -2.21355726e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.1107140569999 meters Centerline goodness : 0.992364 Centerline is valid? [True, True] Translation: X:197.51, Y:212.58, Z:-221.38 [[ 1.90166722e-01 -8.93648119e-01 4.06484512e-01 1.97507748e+02] [ 5.07646082e-01 4.43899052e-01 7.38409837e-01 2.12582393e+02] [-8.40316651e-01 6.59292918e-02 5.38071794e-01 -2.21381422e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.140714057 meters Centerline goodness : 0.991387 Centerline is valid? [True, True] Translation: X:197.52, Y:212.59, Z:-221.40 [[ 1.92389670e-01 -8.93589990e-01 4.05565217e-01 1.97515190e+02] [ 5.05255913e-01 4.44496843e-01 7.39688461e-01 2.12593478e+02] [-8.41250663e-01 6.26058049e-02 5.37008227e-01 -2.21404583e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.1707140569999 meters Centerline goodness : 0.992795 Centerline is valid? [True, True] Translation: X:197.53, Y:212.61, Z:-221.44 [[ 1.89397172e-01 -8.98815509e-01 3.95296587e-01 1.97527169e+02] [ 5.06885693e-01 4.34291694e-01 7.44619111e-01 2.12605261e+02] [-8.40949229e-01 5.93414301e-02 5.37850341e-01 -2.21439603e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.2007140569999 meters Centerline goodness : 0.991906 Centerline is valid? [True, True] Translation: X:197.53, Y:212.63, Z:-221.46 [[ 1.91068590e-01 -8.91721299e-01 4.10275418e-01 1.97532178e+02] [ 5.08581078e-01 4.47431723e-01 7.35629079e-01 2.12629477e+02] [-8.39546355e-01 6.81027034e-02 5.39002728e-01 -2.21459555e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.2307140569999 meters Centerline goodness : 0.991892 Centerline is valid? [True, True] Translation: X:197.54, Y:212.65, Z:-221.49 [[ 1.92103986e-01 -8.88678839e-01 4.16348387e-01 1.97538614e+02] [ 5.07427590e-01 4.53083926e-01 7.32961252e-01 2.12646265e+02] [-8.40007916e-01 7.04618809e-02 5.37979390e-01 -2.21485732e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.260714057 meters Centerline goodness : 0.993290 Centerline is valid? [True, True] Translation: X:197.55, Y:212.66, Z:-221.51 [[ 1.92466818e-01 -8.90217746e-01 4.12878783e-01 1.97547693e+02] [ 5.07312809e-01 4.50422645e-01 7.34678947e-01 2.12660186e+02] [-8.39994190e-01 6.80573763e-02 5.38310278e-01 -2.21514588e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.290714057 meters Centerline goodness : 0.992226 Centerline is valid? [True, True] Translation: X:197.56, Y:212.68, Z:-221.54 [[ 1.93437678e-01 -8.88576378e-01 4.15949378e-01 1.97555769e+02] [ 5.06905062e-01 4.53502866e-01 7.33063714e-01 2.12675975e+02] [-8.40017335e-01 6.90447025e-02 5.38148405e-01 -2.21542001e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.3207140569999 meters Centerline goodness : 0.992229 Centerline is valid? [True, True] Translation: X:197.57, Y:212.69, Z:-221.57 [[ 1.94183272e-01 -8.92652345e-01 4.06773460e-01 1.97565655e+02] [ 5.08005725e-01 4.46239329e-01 7.36750056e-01 2.12687601e+02] [-8.39179981e-01 6.35787099e-02 5.40124714e-01 -2.21565712e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.3507140569999 meters Centerline goodness : 0.992830 Centerline is valid? [True, True] Translation: X:197.57, Y:212.70, Z:-221.58 [[ 1.91116202e-01 -8.94912928e-01 4.03243660e-01 1.97565214e+02] [ 5.11900407e-01 4.41396626e-01 7.36971501e-01 2.12700919e+02] [-8.37515714e-01 6.55733997e-02 5.42464338e-01 -2.21581019e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.380714057 meters Centerline goodness : 0.992450 Centerline is valid? [True, True] Translation: X:197.58, Y:212.69, Z:-221.61 [[ 1.90515426e-01 -9.11040715e-01 3.65661985e-01 1.97581047e+02] [ 5.10365568e-01 4.10108091e-01 7.55869262e-01 2.12693713e+02] [-8.38588612e-01 4.26165329e-02 5.43095730e-01 -2.21613348e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.410714057 meters Centerline goodness : 0.992422 Centerline is valid? [True, True] Translation: X:197.59, Y:212.71, Z:-221.64 [[ 1.90871143e-01 -9.11100986e-01 3.65326156e-01 1.97588213e+02] [ 5.09931041e-01 4.10042427e-01 7.56198084e-01 2.12705861e+02] [-8.38772043e-01 4.19547539e-02 5.42863941e-01 -2.21636928e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.4407140569999 meters Centerline goodness : 0.992718 Centerline is valid? [True, True] Translation: X:197.60, Y:212.72, Z:-221.66 [[ 1.91076288e-01 -9.11180511e-01 3.65020450e-01 1.97596377e+02] [ 5.10348894e-01 4.09878114e-01 7.56005251e-01 2.12718219e+02] [-8.38471144e-01 4.18331060e-02 5.43337954e-01 -2.21661019e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.4707140569999 meters Centerline goodness : 0.992141 Centerline is valid? [True, True] Translation: X:197.61, Y:212.73, Z:-221.70 [[ 1.95418072e-01 -9.10066166e-01 3.65501507e-01 1.97613851e+02] [ 5.06742103e-01 4.12780035e-01 7.56852088e-01 2.12733922e+02] [-8.39657203e-01 3.73124262e-02 5.41833522e-01 -2.21696783e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.500714057 meters Centerline goodness : 0.991827 Centerline is valid? [True, True] Translation: X:197.61, Y:212.77, Z:-221.71 [[ 1.95355450e-01 -8.94789579e-01 4.01482076e-01 1.97614080e+02] [ 5.09761043e-01 4.42368414e-01 7.37871171e-01 2.12767982e+02] [-8.37842424e-01 6.05127671e-02 5.42547950e-01 -2.21713654e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.530714057 meters Centerline goodness : 0.991827 Centerline is valid? [True, True] Translation: X:197.62, Y:212.78, Z:-221.74 [[ 1.94984704e-01 -8.95233331e-01 4.00672246e-01 1.97621709e+02] [ 5.09860543e-01 4.41495407e-01 7.38325154e-01 2.12783361e+02] [-8.37868243e-01 6.03248572e-02 5.42529003e-01 -2.21741271e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.5607140569999 meters Centerline goodness : 0.992656 Centerline is valid? [True, True] Translation: X:197.63, Y:212.80, Z:-221.77 [[ 1.93439682e-01 -8.94353628e-01 4.03376595e-01 1.97629564e+02] [ 5.09873628e-01 4.42900421e-01 7.37474136e-01 2.12798177e+02] [-8.38218333e-01 6.30143251e-02 5.41681846e-01 -2.21767927e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.5907140569999 meters Centerline goodness : 0.992612 Centerline is valid? [True, True] Translation: X:197.64, Y:212.81, Z:-221.80 [[ 1.91132299e-01 -8.95533565e-01 4.01855794e-01 1.97639462e+02] [ 5.10310056e-01 4.40384195e-01 7.38678149e-01 2.12811818e+02] [-8.38482016e-01 6.38858000e-02 5.41171427e-01 -2.21797639e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.620714057 meters Centerline goodness : 0.992602 Centerline is valid? [True, True] Translation: X:197.65, Y:212.83, Z:-221.83 [[ 1.87435852e-01 -8.91328628e-01 4.12796656e-01 1.97646890e+02] [ 5.10187186e-01 4.47453120e-01 7.34503057e-01 2.12828458e+02] [-8.39390753e-01 7.29313581e-02 5.38613201e-01 -2.21825069e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.650714057 meters Centerline goodness : 0.992577 Centerline is valid? [True, True] Translation: X:197.65, Y:212.84, Z:-221.84 [[ 1.80330970e-01 -8.99515302e-01 3.97935877e-01 1.97648481e+02] [ 5.17624291e-01 4.30802473e-01 7.39239016e-01 2.12838288e+02] [-8.36388567e-01 7.26735870e-02 5.43297998e-01 -2.21839795e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.6807140569999 meters Centerline goodness : 0.992746 Centerline is valid? [True, True] Translation: X:197.67, Y:212.84, Z:-221.88 [[ 1.78936712e-01 -9.11132773e-01 3.71239442e-01 1.97673285e+02] [ 5.13872823e-01 4.08321972e-01 7.54458673e-01 2.12837874e+02] [-8.38997244e-01 5.57695058e-02 5.41270162e-01 -2.21883241e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.7107140569999 meters Centerline goodness : 0.993496 Centerline is valid? [True, True] Translation: X:197.67, Y:212.87, Z:-221.90 [[ 1.77057169e-01 -8.96100314e-01 4.07007354e-01 1.97673080e+02] [ 5.17437465e-01 4.36529885e-01 7.36002805e-01 2.12871970e+02] [-8.37203218e-01 8.02862803e-02 5.40966621e-01 -2.21902273e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.7407140569999 meters Centerline goodness : 0.992948 Centerline is valid? [True, True] Translation: X:197.68, Y:212.89, Z:-221.93 [[ 1.74705546e-01 -9.00220057e-01 3.98850625e-01 1.97683014e+02] [ 5.20460725e-01 4.28295259e-01 7.38704139e-01 2.12885206e+02] [-8.35822114e-01 7.85303754e-02 5.43354741e-01 -2.21927768e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.770714057 meters Centerline goodness : 0.992500 Centerline is valid? [True, True] Translation: X:197.69, Y:212.90, Z:-221.95 [[ 1.71007730e-01 -9.04521559e-01 3.90636795e-01 1.97693668e+02] [ 5.23105868e-01 4.19333312e-01 7.41970232e-01 2.12897811e+02] [-8.34935092e-01 7.74617548e-02 5.44869773e-01 -2.21954083e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.8007140569999 meters Centerline goodness : 0.993074 Centerline is valid? [True, True] Translation: X:197.70, Y:212.91, Z:-221.98 [[ 1.69250193e-01 -9.07059770e-01 3.85482744e-01 1.97702767e+02] [ 5.24793751e-01 4.14008595e-01 7.43766362e-01 2.12912606e+02] [-8.34233715e-01 7.64163351e-02 5.46090334e-01 -2.21980079e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.8307140569999 meters Centerline goodness : 0.992719 Centerline is valid? [True, True] Translation: X:197.71, Y:212.93, Z:-222.01 [[ 1.66993521e-01 -9.05549946e-01 3.89990333e-01 1.97710388e+02] [ 5.24697330e-01 4.16504264e-01 7.42439836e-01 2.12928162e+02] [-8.34748990e-01 8.06442439e-02 5.44693152e-01 -2.22007920e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.8607140569999 meters Centerline goodness : 0.992710 Centerline is valid? [True, True] Translation: X:197.72, Y:212.94, Z:-222.03 [[ 1.66293282e-01 -9.05885563e-01 3.89509809e-01 1.97717507e+02] [ 5.25469528e-01 4.15660738e-01 7.42366437e-01 2.12942645e+02] [-8.34402972e-01 8.12249844e-02 5.45136847e-01 -2.22033131e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.890714057 meters Centerline goodness : 0.993015 Centerline is valid? [True, True] Translation: X:197.73, Y:212.96, Z:-222.06 [[ 1.65167206e-01 -9.05774108e-01 3.90247433e-01 1.97725062e+02] [ 5.24935157e-01 4.15715383e-01 7.42713808e-01 2.12957165e+02] [-8.34962798e-01 8.21826332e-02 5.44135222e-01 -2.22062195e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.9207140569999 meters Centerline goodness : 0.991785 Centerline is valid? [True, True] Translation: X:197.73, Y:212.97, Z:-222.09 [[ 1.63715624e-01 -9.06566773e-01 3.89016555e-01 1.97733518e+02] [ 5.25908183e-01 4.13834102e-01 7.43075985e-01 2.12972366e+02] [-8.34636314e-01 8.29338411e-02 5.44521993e-01 -2.22090586e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.9507140569999 meters Centerline goodness : 0.992398 Centerline is valid? [True, True] Translation: X:197.74, Y:212.99, Z:-222.12 [[ 1.63033749e-01 -9.07383115e-01 3.87396283e-01 1.97741080e+02] [ 5.26189414e-01 4.12113362e-01 7.43832829e-01 2.12987738e+02] [-8.34592534e-01 8.25739684e-02 5.44643775e-01 -2.22117954e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.9807140569999 meters Centerline goodness : 0.993018 Centerline is valid? [True, True] Translation: X:197.75, Y:213.01, Z:-222.15 [[ 1.62944579e-01 -9.05276049e-01 3.92331925e-01 1.97746575e+02] [ 5.26007276e-01 4.16129024e-01 7.41722981e-01 2.13006081e+02] [-8.34724751e-01 8.55097086e-02 5.43987757e-01 -2.22145251e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.010714057 meters Centerline goodness : 0.992378 Centerline is valid? [True, True] Translation: X:197.75, Y:213.02, Z:-222.17 [[ 1.63010363e-01 -9.03154537e-01 3.97164330e-01 1.97752462e+02] [ 5.24433461e-01 4.20287870e-01 7.40491493e-01 2.13023058e+02] [-8.35701601e-01 8.75784768e-02 5.42155738e-01 -2.22173994e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.040714057 meters Centerline goodness : 0.993094 Centerline is valid? [True, True] Translation: X:197.75, Y:213.03, Z:-222.19 [[ 1.58838877e-01 -9.07559122e-01 3.88724389e-01 1.97752666e+02] [ 5.27919687e-01 4.10782720e-01 7.43342694e-01 2.13034980e+02] [-8.34308705e-01 8.71435387e-02 5.44366594e-01 -2.22192175e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.0707140569999 meters Centerline goodness : 0.993198 Centerline is valid? [True, True] Translation: X:197.77, Y:213.04, Z:-222.23 [[ 1.61029463e-01 -9.19283682e-01 3.59147636e-01 1.97772162e+02] [ 5.23328737e-01 3.88058471e-01 7.58641982e-01 2.13035256e+02] [-8.36777477e-01 6.57885683e-02 5.43576415e-01 -2.22228698e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.1007140569999 meters Centerline goodness : 0.993392 Centerline is valid? [True, True] Translation: X:197.77, Y:213.07, Z:-222.25 [[ 1.62757826e-01 -8.98365895e-01 4.07981138e-01 1.97766609e+02] [ 5.22716278e-01 4.29208487e-01 7.36578419e-01 2.13071415e+02] [-8.36825898e-01 9.33744803e-02 5.39447517e-01 -2.22252209e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.130714057 meters Centerline goodness : 0.992829 Centerline is valid? [True, True] Translation: X:197.78, Y:213.07, Z:-222.28 [[ 1.61640095e-01 -9.14211056e-01 3.71605470e-01 1.97779891e+02] [ 5.26972142e-01 3.98336232e-01 7.50752029e-01 2.13074988e+02] [-8.34369727e-01 7.44741014e-02 5.46150864e-01 -2.22276572e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.160714057 meters Centerline goodness : 0.993571 Centerline is valid? [True, True] Translation: X:197.78, Y:213.09, Z:-222.29 [[ 1.59395540e-01 -9.09246040e-01 3.84531794e-01 1.97775486e+02] [ 5.29655182e-01 4.07469444e-01 7.43931476e-01 2.13094138e+02] [-8.33101705e-01 8.50898977e-02 5.46535689e-01 -2.22292381e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.1907140569999 meters Centerline goodness : 0.993558 Centerline is valid? [True, True] Translation: X:197.80, Y:213.09, Z:-222.33 [[ 1.60639273e-01 -9.25236037e-01 3.43705252e-01 1.97798538e+02] [ 5.28452240e-01 3.74735322e-01 7.61781904e-01 2.13094498e+02] [-8.33626568e-01 5.92597193e-02 5.49140266e-01 -2.22330781e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.2207140569999 meters Centerline goodness : 0.992766 Centerline is valid? [True, True] Translation: X:197.80, Y:213.13, Z:-222.35 [[ 1.61442487e-01 -9.15452740e-01 3.68622578e-01 1.97797696e+02] [ 5.32732042e-01 3.95266545e-01 7.48305373e-01 2.13125739e+02] [-8.30742376e-01 7.55687785e-02 5.51503821e-01 -2.22349464e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.250714057 meters Centerline goodness : 0.992643 Centerline is valid? [True, True] Translation: X:197.80, Y:213.14, Z:-222.37 [[ 1.59450097e-01 -9.20466651e-01 3.56814814e-01 1.97804899e+02] [ 5.28717922e-01 3.84855489e-01 7.56533946e-01 2.13135106e+02] [-8.33686407e-01 6.80249760e-02 5.48032460e-01 -2.22370099e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.280714057 meters Centerline goodness : 0.993328 Centerline is valid? [True, True] Translation: X:197.81, Y:213.16, Z:-222.40 [[ 1.59318774e-01 -9.18991871e-01 3.60654225e-01 1.97809103e+02] [ 5.35270481e-01 3.87372657e-01 7.50618370e-01 2.13155665e+02] [-8.29519765e-01 7.34599621e-02 5.53624957e-01 -2.22395112e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.3107140569999 meters Centerline goodness : 0.993034 Centerline is valid? [True, True] Translation: X:197.80, Y:213.18, Z:-222.42 [[ 1.57709424e-01 -9.06324830e-01 3.92049792e-01 1.97801276e+02] [ 5.32884007e-01 4.12359817e-01 7.38914079e-01 2.13177108e+02] [-8.31361758e-01 9.23833505e-02 5.47999037e-01 -2.22415055e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.3407140569999 meters Centerline goodness : 0.993537 Centerline is valid? [True, True] Translation: X:197.83, Y:213.17, Z:-222.45 [[ 1.56723620e-01 -9.30008226e-01 3.32449104e-01 1.97825356e+02] [ 5.31974334e-01 3.63097027e-01 7.64960036e-01 2.13170644e+02] [-8.32130408e-01 5.69670847e-02 5.51646387e-01 -2.22450007e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.370714057 meters Centerline goodness : 0.993373 Centerline is valid? [True, True] Translation: X:197.81, Y:213.21, Z:-222.46 [[ 1.58122457e-01 -9.08451122e-01 3.86928736e-01 1.97812655e+02] [ 5.32350269e-01 4.08462628e-01 7.41459016e-01 2.13205797e+02] [-8.31625204e-01 8.87402950e-02 5.48201314e-01 -2.22463062e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.400714057 meters Centerline goodness : 0.993195 Centerline is valid? [True, True] Translation: X:197.83, Y:213.20, Z:-222.49 [[ 1.57076960e-01 -9.21986451e-01 3.53931933e-01 1.97825197e+02] [ 5.30010722e-01 3.81097663e-01 7.57530993e-01 2.13203993e+02] [-8.33315945e-01 6.85970542e-02 5.48524367e-01 -2.22494187e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.4307140569999 meters Centerline goodness : 0.993166 Centerline is valid? [True, True] Translation: X:197.83, Y:213.22, Z:-222.52 [[ 1.59408068e-01 -9.21775012e-01 3.53440087e-01 1.97828958e+02] [ 5.29384173e-01 3.82005533e-01 7.57511829e-01 2.13219028e+02] [-8.33271544e-01 6.63520911e-02 5.48867866e-01 -2.22516344e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.4607140569999 meters Centerline goodness : 0.993360 Centerline is valid? [True, True] Translation: X:197.83, Y:213.25, Z:-222.55 [[ 1.64392736e-01 -9.07568395e-01 3.86386642e-01 1.97832699e+02] [ 5.24203640e-01 4.12204791e-01 7.45183034e-01 2.13246343e+02] [-8.35574995e-01 8.00426061e-02 5.43514129e-01 -2.22548034e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.4907140569999 meters Centerline goodness : 0.993028 Centerline is valid? [True, True] Translation: X:197.84, Y:213.27, Z:-222.57 [[ 1.66960700e-01 -9.05706484e-01 3.89640719e-01 1.97835647e+02] [ 5.25309306e-01 4.16140946e-01 7.42210783e-01 2.13265170e+02] [-8.34370576e-01 8.07618641e-02 5.45255228e-01 -2.22568733e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.520714057 meters Centerline goodness : 0.993181 Centerline is valid? [True, True] Translation: X:197.84, Y:213.28, Z:-222.60 [[ 1.67735469e-01 -9.04280409e-01 3.92608907e-01 1.97841363e+02] [ 5.27052417e-01 4.18815057e-01 7.39465819e-01 2.13284726e+02] [-8.33114976e-01 8.28908272e-02 5.46853315e-01 -2.22597030e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.5507140569999 meters Centerline goodness : 0.993063 Centerline is valid? [True, True] Translation: X:197.85, Y:213.29, Z:-222.62 [[ 1.68109161e-01 -9.10360662e-01 3.78130631e-01 1.97850195e+02] [ 5.21158796e-01 4.07676131e-01 7.49795760e-01 2.13292511e+02] [-8.36739398e-01 7.10185683e-02 5.42976559e-01 -2.22621008e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.5807140569999 meters Centerline goodness : 0.993160 Centerline is valid? [True, True] Translation: X:197.85, Y:213.32, Z:-222.65 [[ 1.72126363e-01 -8.95852552e-01 4.09659273e-01 1.97849518e+02] [ 5.26576706e-01 4.35139661e-01 7.30322154e-01 2.13324846e+02] [-8.32519963e-01 9.00093341e-02 5.46634093e-01 -2.22649116e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.6107140569999 meters Centerline goodness : 0.993244 Centerline is valid? [True, True] Translation: X:197.86, Y:213.34, Z:-222.67 [[ 1.69240516e-01 -9.03631866e-01 3.93455333e-01 1.97857155e+02] [ 5.31088329e-01 4.19910554e-01 7.35948581e-01 2.13336269e+02] [-8.30242636e-01 8.44072176e-02 5.50974216e-01 -2.22674211e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.640714057 meters Centerline goodness : 0.992675 Centerline is valid? [True, True] Translation: X:197.86, Y:213.34, Z:-222.69 [[ 1.66638609e-01 -9.13507997e-01 3.71126278e-01 1.97860462e+02] [ 5.37057715e-01 3.99746948e-01 7.42813159e-01 2.13343143e+02] [-8.26922357e-01 7.55348789e-02 5.57219792e-01 -2.22690915e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.6707140569999 meters Centerline goodness : 0.993072 Centerline is valid? [True, True] Translation: X:197.87, Y:213.34, Z:-222.72 [[ 1.67532318e-01 -9.24360271e-01 3.42769619e-01 1.97870086e+02] [ 5.36316429e-01 3.77187485e-01 7.55045885e-01 2.13344286e+02] [-8.27222830e-01 5.73383909e-02 5.58940694e-01 -2.22720492e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.7007140569999 meters Centerline goodness : 0.992862 Centerline is valid? [True, True] Translation: X:197.88, Y:213.36, Z:-222.74 [[ 1.68908997e-01 -9.24292035e-01 3.42277644e-01 1.97875478e+02] [ 5.36103811e-01 3.77560309e-01 7.55010541e-01 2.13358980e+02] [-8.27080682e-01 5.59682762e-02 5.59289815e-01 -2.22744000e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.7307140569999 meters Centerline goodness : 0.992771 Centerline is valid? [True, True] Translation: X:197.88, Y:213.38, Z:-222.78 [[ 1.75699763e-01 -9.17759894e-01 3.56154982e-01 1.97884056e+02] [ 5.29949213e-01 3.93064803e-01 7.51434556e-01 2.13382903e+02] [-8.29628486e-01 5.67171791e-02 5.55427526e-01 -2.22780550e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.760714057 meters Centerline goodness : 0.993049 Centerline is valid? [True, True] Translation: X:197.88, Y:213.41, Z:-222.80 [[ 1.76838267e-01 -9.09048425e-01 3.77305167e-01 1.97884485e+02] [ 5.24788935e-01 4.11394650e-01 7.45218770e-01 2.13408808e+02] [-8.32661276e-01 6.62223815e-02 5.49808872e-01 -2.22797962e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.790714057 meters Centerline goodness : 0.993184 Centerline is valid? [True, True] Translation: X:197.89, Y:213.43, Z:-222.82 [[ 1.79624188e-01 -9.03844309e-01 3.88330550e-01 1.97887943e+02] [ 5.29095480e-01 4.21556646e-01 7.36442780e-01 2.13432738e+02] [-8.29332940e-01 7.31810020e-02 5.53941709e-01 -2.22822653e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.8207140569999 meters Centerline goodness : 0.993271 Centerline is valid? [True, True] Translation: X:197.89, Y:213.44, Z:-222.84 [[ 1.79417255e-01 -9.10745162e-01 3.71957926e-01 1.97888902e+02] [ 5.31146562e-01 4.07928180e-01 7.42615600e-01 2.13442760e+02] [-8.28065685e-01 6.43261214e-02 5.56928516e-01 -2.22838675e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.8507140569999 meters Centerline goodness : 0.993740 Centerline is valid? [True, True] Translation: X:197.91, Y:213.45, Z:-222.88 [[ 1.82410698e-01 -9.18633225e-01 3.50484429e-01 1.97905831e+02] [ 5.25601732e-01 3.92362850e-01 7.54847146e-01 2.13448147e+02] [-8.30944738e-01 4.65230279e-02 5.54406395e-01 -2.22881286e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.880714057 meters Centerline goodness : 0.993201 Centerline is valid? [True, True] Translation: X:197.90, Y:213.48, Z:-222.90 [[ 1.84848698e-01 -9.06438554e-01 3.79736890e-01 1.97903745e+02] [ 5.25902527e-01 4.17651193e-01 7.40941302e-01 2.13480822e+02] [-8.30215328e-01 6.27425549e-02 5.53900605e-01 -2.22899809e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.910714057 meters Centerline goodness : 0.993147 Centerline is valid? [True, True] Translation: X:197.91, Y:213.49, Z:-222.93 [[ 1.85805783e-01 -9.09571083e-01 3.71694304e-01 1.97911051e+02] [ 5.25816432e-01 4.11602077e-01 7.44379480e-01 2.13493625e+02] [-8.30056197e-01 5.71329602e-02 5.54745468e-01 -2.22927068e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.9407140569999 meters Centerline goodness : 0.993061 Centerline is valid? [True, True] Translation: X:197.92, Y:213.51, Z:-222.95 [[ 1.86198312e-01 -9.08325833e-01 3.74532202e-01 1.97916285e+02] [ 5.25831328e-01 4.14137554e-01 7.42961305e-01 2.13511216e+02] [-8.29958796e-01 5.86026245e-02 5.54737892e-01 -2.22953008e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.9707140569999 meters Centerline goodness : 0.992727 Centerline is valid? [True, True] Translation: X:197.92, Y:213.53, Z:-222.98 [[ 1.85947041e-01 -9.12544858e-01 3.64260319e-01 1.97924269e+02] [ 5.28615251e-01 4.05412504e-01 7.45792610e-01 2.13525401e+02] [-8.28244900e-01 5.38756311e-02 5.57770385e-01 -2.22981589e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.000714057 meters Centerline goodness : 0.992658 Centerline is valid? [True, True] Translation: X:197.93, Y:213.55, Z:-223.01 [[ 1.86346560e-01 -9.07338255e-01 3.76845128e-01 1.97928365e+02] [ 5.27483551e-01 4.15989876e-01 7.40752001e-01 2.13546935e+02] [-8.28876386e-01 6.07430190e-02 5.56124287e-01 -2.23009027e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.030714057 meters Centerline goodness : 0.992697 Centerline is valid? [True, True] Translation: X:197.93, Y:213.57, Z:-223.04 [[ 1.85836128e-01 -9.04500078e-01 3.83854845e-01 1.97932185e+02] [ 5.26124980e-01 4.21536946e-01 7.38579115e-01 2.13565150e+02] [-8.29853866e-01 6.47009391e-02 5.54216879e-01 -2.23036304e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.0607140569999 meters Centerline goodness : 0.992534 Centerline is valid? [True, True] Translation: X:197.94, Y:213.57, Z:-223.05 [[ 1.81174177e-01 -9.12253180e-01 3.67382708e-01 1.97935208e+02] [ 5.31799923e-01 4.05113913e-01 7.43687811e-01 2.13574467e+02] [-8.27263416e-01 6.06370685e-02 5.58532350e-01 -2.23053123e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.0907140569999 meters Centerline goodness : 0.992529 Centerline is valid? [True, True] Translation: X:197.95, Y:213.58, Z:-223.08 [[ 1.78308693e-01 -9.22565621e-01 3.42167628e-01 1.97945709e+02] [ 5.32028666e-01 3.82919454e-01 7.55194141e-01 2.13575247e+02] [-8.27738793e-01 4.73853059e-02 5.59109224e-01 -2.23082206e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.120714057 meters Centerline goodness : 0.992705 Centerline is valid? [True, True] Translation: X:197.95, Y:213.59, Z:-223.11 [[ 1.74871681e-01 -9.23252365e-01 3.42089119e-01 1.97950902e+02] [ 5.33139357e-01 3.80890182e-01 7.55437023e-01 2.13589451e+02] [-8.27757405e-01 5.02766313e-02 5.58829079e-01 -2.23105109e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.150714057 meters Centerline goodness : 0.992505 Centerline is valid? [True, True] Translation: X:197.96, Y:213.60, Z:-223.13 [[ 1.73320779e-01 -9.23671856e-01 3.41745826e-01 1.97956524e+02] [ 5.33680605e-01 3.79719467e-01 7.55644188e-01 2.13603865e+02] [-8.27734812e-01 5.14142794e-02 5.58759029e-01 -2.23128782e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.1807140569999 meters Centerline goodness : 0.992884 Centerline is valid? [True, True] Translation: X:197.96, Y:213.62, Z:-223.15 [[ 1.70528728e-01 -9.24243186e-01 3.41605748e-01 1.97961116e+02] [ 5.33940198e-01 3.78047821e-01 7.56298691e-01 2.13618866e+02] [-8.28147220e-01 5.34263872e-02 5.57958604e-01 -2.23152083e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.2107140569999 meters Centerline goodness : 0.992741 Centerline is valid? [True, True] Translation: X:197.97, Y:213.63, Z:-223.17 [[ 1.69819176e-01 -9.24507963e-01 3.41242545e-01 1.97966751e+02] [ 5.34170216e-01 3.77344558e-01 7.56487452e-01 2.13633369e+02] [-8.28144691e-01 5.38155281e-02 5.57924960e-01 -2.23174276e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.2407140569999 meters Centerline goodness : 0.993194 Centerline is valid? [True, True] Translation: X:197.97, Y:213.65, Z:-223.20 [[ 1.67639721e-01 -9.24885205e-01 3.41297935e-01 1.97971347e+02] [ 5.34157747e-01 3.76190255e-01 7.57070930e-01 2.13648364e+02] [-8.28596660e-01 5.53917765e-02 5.57099027e-01 -2.23196565e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.270714057 meters Centerline goodness : 0.993152 Centerline is valid? [True, True] Translation: X:197.98, Y:213.66, Z:-223.22 [[ 1.66347694e-01 -9.25117213e-01 3.41301315e-01 1.97977315e+02] [ 5.34007893e-01 3.75492473e-01 7.57522919e-01 2.13662149e+02] [-8.28953567e-01 5.62454055e-02 5.56482200e-01 -2.23219628e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.3007140569999 meters Centerline goodness : 0.990407 Centerline is valid? [True, True] Translation: X:197.98, Y:213.66, Z:-223.25 [[ 1.60444630e-01 -9.32780427e-01 3.22766472e-01 1.97984441e+02] [ 5.24742411e-01 3.57571632e-01 7.72520504e-01 2.13661628e+02] [-8.36004140e-01 4.54224905e-02 5.46839899e-01 -2.23245538e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.3307140569999 meters Centerline goodness : 0.993429 Centerline is valid? [True, True] Translation: X:197.99, Y:213.69, Z:-223.27 [[ 1.64239638e-01 -9.25564236e-01 3.41110225e-01 1.97988914e+02] [ 5.35174066e-01 3.74096622e-01 7.57390545e-01 2.13691093e+02] [-8.28621784e-01 5.81597972e-02 5.56779469e-01 -2.23266954e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.3607140569999 meters Centerline goodness : 0.990929 Centerline is valid? [True, True] Translation: X:198.00, Y:213.69, Z:-223.30 [[ 1.57678847e-01 -9.35844827e-01 3.15169544e-01 1.97997231e+02] [ 5.25840044e-01 3.49721002e-01 7.75362798e-01 2.13687277e+02] [-8.35840673e-01 4.34704549e-02 5.47248289e-01 -2.23295528e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.390714057 meters Centerline goodness : 0.991118 Centerline is valid? [True, True] Translation: X:198.00, Y:213.71, Z:-223.31 [[ 1.58486345e-01 -9.30420697e-01 3.30453334e-01 1.97999024e+02] [ 5.28760876e-01 3.62625099e-01 7.67407958e-01 2.13710205e+02] [-8.33842920e-01 5.31071121e-02 5.49441189e-01 -2.23314727e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.4207140569999 meters Centerline goodness : 0.991118 Centerline is valid? [True, True] Translation: X:198.01, Y:213.72, Z:-223.34 [[ 1.58124837e-01 -9.33337617e-01 3.22300215e-01 1.98007017e+02] [ 5.27948457e-01 3.55747306e-01 7.71177205e-01 2.13719529e+02] [-8.34426128e-01 4.82156314e-02 5.49006640e-01 -2.23340867e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.4507140569999 meters Centerline goodness : 0.991884 Centerline is valid? [True, True] Translation: X:198.01, Y:213.73, Z:-223.37 [[ 1.58255179e-01 -9.33628081e-01 3.21393692e-01 1.98013372e+02] [ 5.28126246e-01 3.55058969e-01 7.71372671e-01 2.13733886e+02] [-8.34288899e-01 4.76627238e-02 5.49263414e-01 -2.23365033e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.4807140569999 meters Centerline goodness : 0.992803 Centerline is valid? [True, True] Translation: X:198.02, Y:213.76, Z:-223.39 [[ 1.63774005e-01 -9.24487157e-01 3.44240572e-01 1.98016550e+02] [ 5.37519965e-01 3.76229289e-01 7.54668013e-01 2.13763581e+02] [-8.27194271e-01 6.14411773e-02 5.58546882e-01 -2.23385374e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.510714057 meters Centerline goodness : 0.992464 Centerline is valid? [True, True] Translation: X:198.03, Y:213.76, Z:-223.41 [[ 1.59763123e-01 -9.34734874e-01 3.17405828e-01 1.98025042e+02] [ 5.27945752e-01 3.52594289e-01 7.72625751e-01 2.13759971e+02] [-8.34115716e-01 4.41359555e-02 5.49820871e-01 -2.23413214e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.540714057 meters Centerline goodness : 0.993048 Centerline is valid? [True, True] Translation: X:198.03, Y:213.79, Z:-223.43 [[ 1.65255439e-01 -9.24528947e-01 3.43419372e-01 1.98027443e+02] [ 5.36972712e-01 3.76415623e-01 7.54964626e-01 2.13791507e+02] [-8.27255067e-01 5.96448208e-02 5.58651545e-01 -2.23432026e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.5707140569999 meters Centerline goodness : 0.992779 Centerline is valid? [True, True] Translation: X:198.03, Y:213.80, Z:-223.46 [[ 1.66630753e-01 -9.26150533e-01 3.38348021e-01 1.98033104e+02] [ 5.35201654e-01 3.73150854e-01 7.57837469e-01 2.13802996e+02] [-8.28126429e-01 5.48053924e-02 5.57855704e-01 -2.23455647e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.6007140569999 meters Centerline goodness : 0.991870 Centerline is valid? [True, True] Translation: X:198.04, Y:213.80, Z:-223.48 [[ 1.63382640e-01 -9.33540238e-01 3.19074815e-01 1.98040316e+02] [ 5.25079036e-01 3.56091513e-01 7.72975317e-01 2.13802848e+02] [-8.35223394e-01 4.12487483e-02 5.48361580e-01 -2.23482804e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.630714057 meters Centerline goodness : 0.993063 Centerline is valid? [True, True] Translation: X:198.04, Y:213.85, Z:-223.51 [[ 1.68692102e-01 -9.07702592e-01 3.84212155e-01 1.98037136e+02] [ 5.20805927e-01 4.13025232e-01 7.47108656e-01 2.13852505e+02] [-8.36841778e-01 7.40686385e-02 5.42410984e-01 -2.23508602e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.660714057 meters Centerline goodness : 0.992524 Centerline is valid? [True, True] Translation: X:198.04, Y:213.87, Z:-223.53 [[ 1.71525928e-01 -9.07443837e-01 3.83568167e-01 1.98043940e+02] [ 5.21702236e-01 4.13931852e-01 7.45980696e-01 2.13871612e+02] [-8.35706667e-01 7.21533394e-02 5.44415524e-01 -2.23534193e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.6907140569999 meters Centerline goodness : 0.993446 Centerline is valid? [True, True] Translation: X:198.04, Y:213.90, Z:-223.56 [[ 1.77202992e-01 -8.89486186e-01 4.21204729e-01 1.98042353e+02] [ 5.22579675e-01 4.47700013e-01 7.25586096e-01 2.13903507e+02] [-8.33972172e-01 9.15370033e-02 5.44161184e-01 -2.23556088e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.7207140569999 meters Centerline goodness : 0.992382 Centerline is valid? [True, True] Translation: X:198.05, Y:213.90, Z:-223.58 [[ 1.77767907e-01 -9.06584590e-01 3.82757041e-01 1.98054604e+02] [ 5.16613464e-01 4.17019202e-01 7.47800451e-01 2.13901311e+02] [-8.37561401e-01 6.48025201e-02 5.42486436e-01 -2.23580242e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.750714057 meters Centerline goodness : 0.992371 Centerline is valid? [True, True] Translation: X:198.06, Y:213.92, Z:-223.61 [[ 1.79593070e-01 -9.07599654e-01 3.79485437e-01 1.98061466e+02] [ 5.17986293e-01 4.15195094e-01 7.47865787e-01 2.13918534e+02] [-8.36323221e-01 6.22567416e-02 5.44690342e-01 -2.23605632e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.780714057 meters Centerline goodness : 0.992207 Centerline is valid? [True, True] Translation: X:198.07, Y:213.93, Z:-223.63 [[ 1.80245621e-01 -9.15278832e-01 3.60244606e-01 1.98072411e+02] [ 5.21183843e-01 3.99474357e-01 7.54180111e-01 2.13927897e+02] [-8.34193573e-01 5.18160058e-02 5.49032043e-01 -2.23632991e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.8107140569999 meters Centerline goodness : 0.992077 Centerline is valid? [True, True] Translation: X:198.07, Y:213.95, Z:-223.65 [[ 1.83396751e-01 -9.06761707e-01 3.79669380e-01 1.98074931e+02] [ 5.20550273e-01 4.17205645e-01 7.44960981e-01 2.13951897e+02] [-8.33902299e-01 6.10135762e-02 5.48529214e-01 -2.23653640e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.8407140569999 meters Centerline goodness : 0.991235 Centerline is valid? [True, True] Translation: X:198.08, Y:213.96, Z:-223.68 [[ 1.85455152e-01 -9.12306045e-01 3.65108294e-01 1.98084203e+02] [ 5.21894524e-01 4.06264508e-01 7.50050169e-01 2.13959193e+02] [-8.32605844e-01 5.14473513e-02 5.51471376e-01 -2.23679669e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.870714057 meters Centerline goodness : 0.991997 Centerline is valid? [True, True] Translation: X:198.10, Y:213.96, Z:-223.72 [[ 1.84281990e-01 -9.21942045e-01 3.40680223e-01 1.98098311e+02] [ 5.20753823e-01 3.85552189e-01 7.61685608e-01 2.13962789e+02] [-8.33579993e-01 3.70455891e-02 5.51155169e-01 -2.23716324e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.900714057 meters Centerline goodness : 0.991404 Centerline is valid? [True, True] Translation: X:198.10, Y:213.99, Z:-223.73 [[ 1.86328092e-01 -9.12675472e-01 3.63737989e-01 1.98099587e+02] [ 5.21629423e-01 4.05629393e-01 7.50578137e-01 2.13989319e+02] [-8.32577076e-01 4.98826452e-02 5.51658531e-01 -2.23733806e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.9307140569999 meters Centerline goodness : 0.992012 Centerline is valid? [True, True] Translation: X:198.10, Y:214.01, Z:-223.77 [[ 1.87720441e-01 -9.01897438e-01 3.89027052e-01 1.98104487e+02] [ 5.14500189e-01 4.27673145e-01 7.43226235e-01 2.14011991e+02] [-8.36690260e-01 6.06357351e-02 5.44309394e-01 -2.23769116e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.9607140569999 meters Centerline goodness : 0.992429 Centerline is valid? [True, True] Translation: X:198.11, Y:214.03, Z:-223.80 [[ 1.86253760e-01 -9.03772126e-01 3.85364088e-01 1.98112998e+02] [ 5.17303354e-01 4.23665488e-01 7.43575681e-01 2.14027800e+02] [-8.35288439e-01 6.08563687e-02 5.46433643e-01 -2.23797061e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.9907140569999 meters Centerline goodness : 0.991436 Centerline is valid? [True, True] Translation: X:198.12, Y:214.04, Z:-223.82 [[ 1.87266379e-01 -9.07986865e-01 3.74821499e-01 1.98120442e+02] [ 5.18875789e-01 4.15429129e-01 7.47118836e-01 2.14038650e+02] [-8.34085858e-01 5.45755621e-02 5.48928310e-01 -2.23817894e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.020714057 meters Centerline goodness : 0.991648 Centerline is valid? [True, True] Translation: X:198.13, Y:214.05, Z:-223.85 [[ 1.85690220e-01 -9.16691159e-01 3.53831120e-01 1.98133780e+02] [ 5.22017739e-01 3.97106730e-01 7.54853446e-01 2.14047004e+02] [-8.32476199e-01 4.45372188e-02 5.52267883e-01 -2.23847884e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.0507140569999 meters Centerline goodness : 0.991611 Centerline is valid? [True, True] Translation: X:198.14, Y:214.06, Z:-223.87 [[ 1.85020101e-01 -9.16933330e-01 3.53554564e-01 1.98140798e+02] [ 5.25872931e-01 3.96300810e-01 7.52597720e-01 2.14064678e+02] [-8.30195894e-01 4.66790682e-02 5.55514034e-01 -2.23867153e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.0807140569999 meters Centerline goodness : 0.991703 Centerline is valid? [True, True] Translation: X:198.15, Y:214.08, Z:-223.90 [[ 1.84836288e-01 -9.16647563e-01 3.54390733e-01 1.98149603e+02] [ 5.24259518e-01 3.96977292e-01 7.53366436e-01 2.14078662e+02] [-8.31256582e-01 4.65432598e-02 5.53937019e-01 -2.23895926e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.1107140569999 meters Centerline goodness : 0.992032 Centerline is valid? [True, True] Translation: X:198.16, Y:214.09, Z:-223.92 [[ 1.84046822e-01 -9.20310408e-01 3.45189108e-01 1.98158971e+02] [ 5.26524131e-01 3.88861537e-01 7.56015241e-01 2.14091922e+02] [-8.29999462e-01 4.26081926e-02 5.56134368e-01 -2.23921321e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.140714057 meters Centerline goodness : 0.991624 Centerline is valid? [True, True] Translation: X:198.16, Y:214.11, Z:-223.95 [[ 1.84572945e-01 -9.16826163e-01 3.54065833e-01 1.98164866e+02] [ 5.25442125e-01 3.96499409e-01 7.52793991e-01 2.14110818e+02] [-8.30568120e-01 4.70956998e-02 5.54922151e-01 -2.23949491e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.1707140569999 meters Centerline goodness : 0.991224 Centerline is valid? [True, True] Translation: X:198.18, Y:214.12, Z:-223.97 [[ 1.83268117e-01 -9.22529452e-01 3.39635403e-01 1.98177532e+02] [ 5.29658674e-01 3.83715119e-01 7.56455152e-01 2.14121383e+02] [-8.28175396e-01 4.12567259e-02 5.58948473e-01 -2.23974529e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.2007140569999 meters Centerline goodness : 0.990722 Centerline is valid? [True, True] Translation: X:198.18, Y:214.14, Z:-224.00 [[ 1.84091115e-01 -9.22896488e-01 3.38190087e-01 1.98184882e+02] [ 5.35241695e-01 3.82707926e-01 7.53027869e-01 2.14140003e+02] [-8.24394802e-01 4.23876948e-02 5.64425809e-01 -2.23995370e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.2307140569999 meters Centerline goodness : 0.990612 Centerline is valid? [True, True] Translation: X:198.20, Y:214.14, Z:-224.02 [[ 1.81618609e-01 -9.29728517e-01 3.20342888e-01 1.98197813e+02] [ 5.34045881e-01 3.66788264e-01 7.61748887e-01 2.14144377e+02] [-8.25717675e-01 3.27300265e-02 5.63133259e-01 -2.24021813e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.260714057 meters Centerline goodness : 0.990480 Centerline is valid? [True, True] Translation: X:198.20, Y:214.16, Z:-224.04 [[ 1.80834098e-01 -9.27332411e-01 3.27648636e-01 1.98203160e+02] [ 5.34349528e-01 3.72319372e-01 7.58847064e-01 2.14160538e+02] [-8.25693412e-01 3.78534696e-02 5.62847674e-01 -2.24042390e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.290714057 meters Centerline goodness : 0.990733 Centerline is valid? [True, True] Translation: X:198.21, Y:214.17, Z:-224.07 [[ 1.78716373e-01 -9.25676373e-01 3.33442215e-01 1.98211178e+02] [ 5.29633094e-01 3.76117676e-01 7.60279080e-01 2.14174531e+02] [-8.29185892e-01 4.07277127e-02 5.57487228e-01 -2.24073830e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.3207140569999 meters Centerline goodness : 0.990152 Centerline is valid? [True, True] Translation: X:198.21, Y:214.20, Z:-224.10 [[ 1.79514448e-01 -9.16570139e-01 3.57314627e-01 1.98214920e+02] [ 5.26177651e-01 3.96352460e-01 7.52357499e-01 2.14195622e+02] [-8.31210949e-01 5.29519301e-02 5.53429716e-01 -2.24099905e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.3507140569999 meters Centerline goodness : 0.990527 Centerline is valid? [True, True] Translation: X:198.23, Y:214.20, Z:-224.13 [[ 1.78377861e-01 -9.21957261e-01 3.43767577e-01 1.98225449e+02] [ 5.27216259e-01 3.84541079e-01 7.57740836e-01 2.14202772e+02] [-8.30797421e-01 4.60756669e-02 5.54664474e-01 -2.24126429e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.380714057 meters Centerline goodness : 0.990304 Centerline is valid? [True, True] Translation: X:198.23, Y:214.22, Z:-224.16 [[ 1.74752931e-01 -9.12821773e-01 3.69076989e-01 1.98230757e+02] [ 5.20816667e-01 4.03808737e-01 7.52122665e-01 2.14221804e+02] [-8.35590457e-01 6.07858072e-02 5.45979554e-01 -2.24160284e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.410714057 meters Centerline goodness : 0.990235 Centerline is valid? [True, True] Translation: X:198.24, Y:214.24, Z:-224.18 [[ 1.73314590e-01 -9.20608070e-01 3.49918325e-01 1.98240989e+02] [ 5.31083041e-01 3.86572757e-01 7.53997551e-01 2.14235374e+02] [-8.29405122e-01 5.51569119e-02 5.55918032e-01 -2.24175143e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.4407140569999 meters Centerline goodness : 0.990029 Centerline is valid? [True, True] Translation: X:198.25, Y:214.24, Z:-224.20 [[ 1.71888730e-01 -9.26390102e-01 3.35045733e-01 1.98251587e+02] [ 5.34680480e-01 3.73385178e-01 7.58089898e-01 2.14244898e+02] [-8.27388089e-01 4.88353037e-02 5.59503409e-01 -2.24196787e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.4707140569999 meters Centerline goodness : 0.989795 Centerline is valid? [True, True] Translation: X:198.26, Y:214.26, Z:-224.22 [[ 1.71819503e-01 -9.26872375e-01 3.33744901e-01 1.98257996e+02] [ 5.35981029e-01 3.72206153e-01 7.57751223e-01 2.14258914e+02] [-8.26560582e-01 4.86844965e-02 5.60738285e-01 -2.24218140e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.500714057 meters Centerline goodness : 0.989560 Centerline is valid? [True, True] Translation: X:198.27, Y:214.27, Z:-224.24 [[ 1.69502068e-01 -9.35825173e-01 3.09031219e-01 1.98270533e+02] [ 5.37774843e-01 3.50597908e-01 7.66732890e-01 2.14266127e+02] [-8.25873639e-01 3.62264042e-02 5.62690306e-01 -2.24244220e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.530714057 meters Centerline goodness : 0.990577 Centerline is valid? [True, True] Translation: X:198.27, Y:214.29, Z:-224.26 [[ 1.69993150e-01 -9.30401342e-01 3.24739390e-01 1.98273801e+02] [ 5.36979276e-01 3.63770760e-01 7.61133426e-01 2.14288281e+02] [-8.26290256e-01 4.49908540e-02 5.61444776e-01 -2.24263564e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.5607140569999 meters Centerline goodness : 0.988921 Centerline is valid? [True, True] Translation: X:198.27, Y:214.31, Z:-224.28 [[ 1.74879978e-01 -9.22380845e-01 3.44427889e-01 1.98273926e+02] [ 5.38961684e-01 3.82434201e-01 7.50509417e-01 2.14311217e+02] [-8.23976515e-01 5.43843646e-02 5.64008018e-01 -2.24277435e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.5907140569999 meters Centerline goodness : 0.990327 Centerline is valid? [True, True] Translation: X:198.29, Y:214.31, Z:-224.32 [[ 1.71921095e-01 -9.34534398e-01 3.11590429e-01 1.98290484e+02] [ 5.30614672e-01 3.54343519e-01 7.69992689e-01 2.14306301e+02] [-8.29994703e-01 3.29564676e-02 5.56796789e-01 -2.24316939e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.620714057 meters Centerline goodness : 0.989455 Centerline is valid? [True, True] Translation: X:198.29, Y:214.33, Z:-224.33 [[ 1.73778552e-01 -9.22420131e-01 3.44879858e-01 1.98288144e+02] [ 5.27574411e-01 3.82915104e-01 7.58314753e-01 2.14332874e+02] [-8.31544501e-01 5.01709484e-02 5.53187690e-01 -2.24334462e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.650714057 meters Centerline goodness : 0.990542 Centerline is valid? [True, True] Translation: X:198.30, Y:214.34, Z:-224.36 [[ 1.73947013e-01 -9.27540354e-01 3.30773833e-01 1.98297786e+02] [ 5.29205963e-01 3.71317118e-01 7.62931613e-01 2.14343865e+02] [-8.30471845e-01 4.23378097e-02 5.55449390e-01 -2.24359858e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.6807140569999 meters Centerline goodness : 0.990498 Centerline is valid? [True, True] Translation: X:198.30, Y:214.36, Z:-224.38 [[ 1.76601753e-01 -9.24400195e-01 3.38077064e-01 1.98301829e+02] [ 5.27597808e-01 3.78866818e-01 7.60329197e-01 2.14360899e+02] [-8.30934639e-01 4.40932489e-02 5.54620061e-01 -2.24380321e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.7107140569999 meters Centerline goodness : 0.990940 Centerline is valid? [True, True] Translation: X:198.31, Y:214.38, Z:-224.40 [[ 1.78083843e-01 -9.23380367e-01 3.40080641e-01 1.98307302e+02] [ 5.26117157e-01 3.81406520e-01 7.60085393e-01 2.14375270e+02] [-8.31556903e-01 4.35633322e-02 5.53728592e-01 -2.24404537e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.7407140569999 meters Centerline goodness : 0.990965 Centerline is valid? [True, True] Translation: X:198.32, Y:214.38, Z:-224.43 [[ 1.78633816e-01 -9.32455447e-01 3.14033118e-01 1.98321594e+02] [ 5.26655077e-01 3.60210650e-01 7.69988778e-01 2.14383412e+02] [-8.31098303e-01 2.78411024e-02 5.55428198e-01 -2.24433643e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.770714057 meters Centerline goodness : 0.990922 Centerline is valid? [True, True] Translation: X:198.32, Y:214.41, Z:-224.46 [[ 1.81583927e-01 -9.16020314e-01 3.57678714e-01 1.98318050e+02] [ 5.21282039e-01 3.98080519e-01 7.54848949e-01 2.14414672e+02] [-8.33841899e-01 4.93830531e-02 5.49789961e-01 -2.24457638e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.8007140569999 meters Centerline goodness : 0.990061 Centerline is valid? [True, True] Translation: X:198.33, Y:214.42, Z:-224.48 [[ 1.83928477e-01 -9.24333815e-01 3.34331143e-01 1.98328976e+02] [ 5.27656300e-01 3.79819684e-01 7.59813028e-01 2.14423217e+02] [-8.29306424e-01 3.66606805e-02 5.57590217e-01 -2.24476260e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.8307140569999 meters Centerline goodness : 0.991400 Centerline is valid? [True, True] Translation: X:198.34, Y:214.43, Z:-224.50 [[ 1.84428679e-01 -9.35994102e-01 2.99835129e-01 1.98342706e+02] [ 5.29502762e-01 3.51634146e-01 7.71997573e-01 2.14426196e+02] [-8.28017444e-01 1.63850360e-02 5.60462883e-01 -2.24502782e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.8607140569999 meters Centerline goodness : 0.990956 Centerline is valid? [True, True] Translation: X:198.34, Y:214.45, Z:-224.52 [[ 1.85442306e-01 -9.28618929e-01 3.21369003e-01 1.98342915e+02] [ 5.29866429e-01 3.69918423e-01 7.63152624e-01 2.14451090e+02] [-8.27558287e-01 2.87618639e-02 5.60642521e-01 -2.24519818e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.890714057 meters Centerline goodness : 0.991325 Centerline is valid? [True, True] Translation: X:198.34, Y:214.48, Z:-224.55 [[ 1.86290335e-01 -9.13967688e-01 3.60498235e-01 1.98341682e+02] [ 5.20177253e-01 4.03026758e-01 7.52984102e-01 2.14475715e+02] [-8.33493573e-01 4.72493210e-02 5.50505191e-01 -2.24551726e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.9207140569999 meters Centerline goodness : 0.990773 Centerline is valid? [True, True] Translation: X:198.35, Y:214.49, Z:-224.58 [[ 1.85232502e-01 -9.20892559e-01 3.42995358e-01 1.98353319e+02] [ 5.22681649e-01 3.87895283e-01 7.59171353e-01 2.14485959e+02] [-8.32161531e-01 3.86541695e-02 5.53184455e-01 -2.24581050e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.9507140569999 meters Centerline goodness : 0.990804 Centerline is valid? [True, True] Translation: X:198.36, Y:214.50, Z:-224.60 [[ 1.86539308e-01 -9.18793963e-01 3.47880352e-01 1.98358003e+02] [ 5.21705133e-01 3.92684107e-01 7.57378998e-01 2.14502457e+02] [-8.32482337e-01 4.02100109e-02 5.52590548e-01 -2.24601238e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.9807140569999 meters Centerline goodness : 0.992304 Centerline is valid? [True, True] Translation: X:198.37, Y:214.50, Z:-224.63 [[ 1.85528143e-01 -9.31109253e-01 3.14030042e-01 1.98372810e+02] [ 5.23644886e-01 3.64103551e-01 7.70210775e-01 2.14504650e+02] [-8.31489833e-01 2.15444505e-02 5.55122054e-01 -2.24628771e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.010714057 meters Centerline goodness : 0.991428 Centerline is valid? [True, True] Translation: X:198.37, Y:214.53, Z:-224.65 [[ 1.85850861e-01 -9.21446109e-01 3.41169351e-01 1.98371992e+02] [ 5.21274266e-01 3.86791039e-01 7.60700883e-01 2.14528888e+02] [-8.32906116e-01 3.64658888e-02 5.52211591e-01 -2.24647563e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.040714057 meters Centerline goodness : 0.990904 Centerline is valid? [True, True] Translation: X:198.38, Y:214.55, Z:-224.68 [[ 1.84069130e-01 -9.18732478e-01 3.49355391e-01 1.98378297e+02] [ 5.19197758e-01 3.92677131e-01 7.59103655e-01 2.14545636e+02] [-8.34597055e-01 4.16569867e-02 5.49283580e-01 -2.24678178e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.0707140569999 meters Centerline goodness : 0.993042 Centerline is valid? [True, True] Translation: X:198.38, Y:214.55, Z:-224.69 [[ 1.80447005e-01 -9.27528220e-01 3.27307624e-01 1.98378128e+02] [ 5.34146010e-01 3.71833733e-01 7.59228368e-01 2.14554193e+02] [-8.25909752e-01 3.78295759e-02 5.62531781e-01 -2.24694867e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.1007140569999 meters Centerline goodness : 0.992614 Centerline is valid? [True, True] Translation: X:198.40, Y:214.54, Z:-224.73 [[ 1.76583170e-01 -9.48569907e-01 2.62742299e-01 1.98401551e+02] [ 5.30155634e-01 3.16567488e-01 7.86587585e-01 2.14542857e+02] [-8.29308982e-01 3.96181160e-04 5.58790171e-01 -2.24726410e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.130714057 meters Centerline goodness : 0.990851 Centerline is valid? [True, True] Translation: X:198.41, Y:214.57, Z:-224.75 [[ 1.81878000e-01 -9.39293380e-01 2.90943878e-01 1.98411127e+02] [ 5.29250542e-01 3.42875226e-01 7.76099506e-01 2.14570080e+02] [-8.28742576e-01 1.28267787e-02 5.59482991e-01 -2.24749050e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.160714057 meters Centerline goodness : 0.992482 Centerline is valid? [True, True] Translation: X:198.41, Y:214.59, Z:-224.77 [[ 1.75495371e-01 -9.37921898e-01 2.99172004e-01 1.98409140e+02] [ 5.32287893e-01 3.46038874e-01 7.72610314e-01 2.14590213e+02] [-8.28173275e-01 2.36561022e-02 5.59972692e-01 -2.24766265e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.1907140569999 meters Centerline goodness : 0.991419 Centerline is valid? [True, True] Translation: X:198.42, Y:214.60, Z:-224.80 [[ 1.77632184e-01 -9.36897574e-01 3.01114170e-01 1.98423214e+02] [ 5.29153890e-01 3.48914681e-01 7.73469267e-01 2.14602319e+02] [-8.29724634e-01 2.19426992e-02 5.57741473e-01 -2.24795270e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.2207140569999 meters Centerline goodness : 0.990993 Centerline is valid? [True, True] Translation: X:198.42, Y:214.63, Z:-224.82 [[ 1.76013629e-01 -9.20429587e-01 3.49039507e-01 1.98419591e+02] [ 5.22673210e-01 3.87849901e-01 7.59200349e-01 2.14631388e+02] [-8.34165402e-01 4.88039910e-02 5.49350755e-01 -2.24821782e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.250714057 meters Centerline goodness : 0.991050 Centerline is valid? [True, True] Translation: X:198.43, Y:214.64, Z:-224.85 [[ 1.75027492e-01 -9.22464719e-01 3.44128202e-01 1.98427504e+02] [ 5.20666670e-01 3.83372213e-01 7.62844654e-01 2.14640361e+02] [-8.35626469e-01 4.56572983e-02 5.47397310e-01 -2.24849524e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.280714057 meters Centerline goodness : 0.990898 Centerline is valid? [True, True] Translation: X:198.44, Y:214.65, Z:-224.87 [[ 1.73052210e-01 -9.25654197e-01 3.36477696e-01 1.98436566e+02] [ 5.22636078e-01 3.75869729e-01 7.65227729e-01 2.14650684e+02] [-8.34808039e-01 4.34310336e-02 5.48825366e-01 -2.24873139e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.3107140569999 meters Centerline goodness : 0.991366 Centerline is valid? [True, True] Translation: X:198.44, Y:214.67, Z:-224.91 [[ 1.71228901e-01 -9.21590151e-01 3.48356509e-01 1.98441613e+02] [ 5.20889562e-01 3.84801595e-01 7.61972307e-01 2.14670915e+02] [-8.36274313e-01 5.09835887e-02 5.45935845e-01 -2.24905635e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.3407140569999 meters Centerline goodness : 0.991366 Centerline is valid? [True, True] Translation: X:198.45, Y:214.69, Z:-224.93 [[ 1.70874474e-01 -9.21212485e-01 3.49527499e-01 1.98447466e+02] [ 5.21704313e-01 3.85527683e-01 7.61047315e-01 2.14688877e+02] [-8.35838815e-01 5.23064440e-02 5.46477367e-01 -2.24932366e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.370714057 meters Centerline goodness : 0.992315 Centerline is valid? [True, True] Translation: X:198.46, Y:214.68, Z:-224.94 [[ 1.63079792e-01 -9.48040825e-01 2.73173161e-01 1.98464482e+02] [ 5.36927842e-01 3.17567897e-01 7.81574771e-01 2.14682435e+02] [-8.27715817e-01 1.92152246e-02 5.60818421e-01 -2.24943166e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.400714057 meters Centerline goodness : 0.990422 Centerline is valid? [True, True] Translation: X:198.47, Y:214.70, Z:-224.97 [[ 1.68716458e-01 -9.37703872e-01 3.03720603e-01 1.98469725e+02] [ 5.32664425e-01 3.46007306e-01 7.72364910e-01 2.14704252e+02] [-8.29339115e-01 3.14704882e-02 5.57858621e-01 -2.24970973e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.4307140569999 meters Centerline goodness : 0.990429 Centerline is valid? [True, True] Translation: X:198.47, Y:214.73, Z:-225.00 [[ 1.68271839e-01 -9.27258765e-01 3.34478358e-01 1.98469848e+02] [ 5.25531715e-01 3.71461530e-01 7.65397118e-01 2.14726899e+02] [-8.33967028e-01 4.69842050e-02 5.49810404e-01 -2.25002723e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.4607140569999 meters Centerline goodness : 0.990288 Centerline is valid? [True, True] Translation: X:198.48, Y:214.74, Z:-225.02 [[ 1.67554794e-01 -9.35634474e-01 3.10666256e-01 1.98480764e+02] [ 5.33139958e-01 3.51062222e-01 7.69751324e-01 2.14735879e+02] [-8.29269061e-01 3.66530705e-02 5.57646282e-01 -2.25018728e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.4907140569999 meters Centerline goodness : 0.990248 Centerline is valid? [True, True] Translation: X:198.48, Y:214.76, Z:-225.06 [[ 1.66195913e-01 -9.20279366e-01 3.54210117e-01 1.98478046e+02] [ 5.21644340e-01 3.86879565e-01 7.60402120e-01 2.14759062e+02] [-8.36819037e-01 5.83959780e-02 5.44356325e-01 -2.25056141e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.520714057 meters Centerline goodness : 0.990797 Centerline is valid? [True, True] Translation: X:198.49, Y:214.77, Z:-225.08 [[ 1.64288763e-01 -9.26483574e-01 3.38581437e-01 1.98488416e+02] [ 5.24239666e-01 3.72765657e-01 7.65649096e-01 2.14770294e+02] [-8.35572842e-01 5.17102768e-02 5.46940648e-01 -2.25084397e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.5507140569999 meters Centerline goodness : 0.990815 Centerline is valid? [True, True] Translation: X:198.51, Y:214.77, Z:-225.10 [[ 1.59667986e-01 -9.43759483e-01 2.89524043e-01 1.98506461e+02] [ 5.37337590e-01 3.29120169e-01 7.76497411e-01 2.14774003e+02] [-8.28114997e-01 3.15903738e-02 5.59667401e-01 -2.25104584e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.5807140569999 meters Centerline goodness : 0.989827 Centerline is valid? [True, True] Translation: X:198.51, Y:214.80, Z:-225.13 [[ 1.59513520e-01 -9.36174076e-01 3.13262728e-01 1.98505708e+02] [ 5.38921664e-01 3.48448842e-01 7.66907325e-01 2.14799825e+02] [-8.27114791e-01 4.64919833e-02 5.60106792e-01 -2.25126505e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.6107140569999 meters Centerline goodness : 0.990574 Centerline is valid? [True, True] Translation: X:198.51, Y:214.81, Z:-225.15 [[ 1.57191827e-01 -9.39357594e-01 3.04791800e-01 1.98513931e+02] [ 5.38000050e-01 3.40264366e-01 7.71217290e-01 2.14808954e+02] [-8.28158606e-01 4.27489484e-02 5.58861209e-01 -2.25152962e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.640714057 meters Centerline goodness : 0.989587 Centerline is valid? [True, True] Translation: X:198.52, Y:214.82, Z:-225.18 [[ 1.57054948e-01 -9.37719359e-01 3.09864723e-01 1.98517794e+02] [ 5.37411319e-01 3.44384708e-01 7.69797536e-01 2.14823765e+02] [-8.28566725e-01 4.56242981e-02 5.58028320e-01 -2.25175184e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.6707140569999 meters Centerline goodness : 0.990180 Centerline is valid? [True, True] Translation: X:198.53, Y:214.84, Z:-225.20 [[ 1.55940188e-01 -9.40415376e-01 3.02161510e-01 1.98525004e+02] [ 5.39172958e-01 3.37351030e-01 7.71677915e-01 2.14836371e+02] [-8.27632273e-01 4.25817158e-02 5.59653123e-01 -2.25198242e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.7007140569999 meters Centerline goodness : 0.990442 Centerline is valid? [True, True] Translation: X:198.53, Y:214.85, Z:-225.22 [[ 1.54164501e-01 -9.44110505e-01 2.91356589e-01 1.98533992e+02] [ 5.40236778e-01 3.27443708e-01 7.75193423e-01 2.14850065e+02] [-8.27271135e-01 3.78942377e-02 5.60523413e-01 -2.25224688e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.7307140569999 meters Centerline goodness : 0.990557 Centerline is valid? [True, True] Translation: X:198.54, Y:214.87, Z:-225.25 [[ 1.54734577e-01 -9.41902033e-01 2.98123751e-01 1.98537678e+02] [ 5.40912631e-01 3.33280607e-01 7.72228958e-01 2.14867695e+02] [-8.26722890e-01 4.17683811e-02 5.61056740e-01 -2.25245695e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.760714057 meters Centerline goodness : 0.990233 Centerline is valid? [True, True] Translation: X:198.54, Y:214.88, Z:-225.27 [[ 1.53986462e-01 -9.43792347e-01 2.92479358e-01 1.98544865e+02] [ 5.40400895e-01 3.28258829e-01 7.74734157e-01 2.14880058e+02] [-8.27197100e-01 3.87575347e-02 5.60573645e-01 -2.25268925e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.790714057 meters Centerline goodness : 0.991043 Centerline is valid? [True, True] Translation: X:198.55, Y:214.90, Z:-225.30 [[ 1.53126422e-01 -9.40147447e-01 3.04425814e-01 1.98547799e+02] [ 5.36862910e-01 3.37776595e-01 7.73101021e-01 2.14896981e+02] [-8.29656866e-01 4.50527354e-02 5.56452815e-01 -2.25296463e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.8207140569999 meters Centerline goodness : 0.989845 Centerline is valid? [True, True] Translation: X:198.55, Y:214.91, Z:-225.31 [[ 1.53404487e-01 -9.39472306e-01 3.06363917e-01 1.98550582e+02] [ 5.38358841e-01 3.39439923e-01 7.71330213e-01 2.14909337e+02] [-8.28635518e-01 4.66082074e-02 5.57844829e-01 -2.25311611e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.8507140569999 meters Centerline goodness : 0.990968 Centerline is valid? [True, True] Translation: X:198.56, Y:214.92, Z:-225.35 [[ 1.52844680e-01 -9.44222654e-01 2.91688333e-01 1.98561294e+02] [ 5.35608311e-01 3.27195224e-01 7.78503066e-01 2.14918939e+02] [-8.30519260e-01 3.72406432e-02 5.55743550e-01 -2.25347262e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.880714057 meters Centerline goodness : 0.990518 Centerline is valid? [True, True] Translation: X:198.57, Y:214.94, Z:-225.36 [[ 1.52981567e-01 -9.46947036e-01 2.82644567e-01 1.98567500e+02] [ 5.44315694e-01 3.19457935e-01 7.75672001e-01 2.14937970e+02] [-8.24813352e-01 3.51843559e-02 5.64309309e-01 -2.25357986e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.910714057 meters Centerline goodness : 0.991682 Centerline is valid? [True, True] Translation: X:198.57, Y:214.95, Z:-225.39 [[ 1.51304703e-01 -9.47551465e-01 2.81519285e-01 1.98573797e+02] [ 5.41814003e-01 3.17703542e-01 7.78140120e-01 2.14950792e+02] [-8.26767484e-01 3.47948307e-02 5.61466692e-01 -2.25385235e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.9407140569999 meters Centerline goodness : 0.991266 Centerline is valid? [True, True] Translation: X:198.58, Y:214.97, Z:-225.40 [[ 1.49933103e-01 -9.44970742e-01 2.90775450e-01 1.98576014e+02] [ 5.45071503e-01 3.24372007e-01 7.73097573e-01 2.14970717e+02] [-8.24874003e-01 4.25804940e-02 5.63710724e-01 -2.25402864e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.9707140569999 meters Centerline goodness : 0.991181 Centerline is valid? [True, True] Translation: X:198.58, Y:214.98, Z:-225.43 [[ 1.49875833e-01 -9.45893064e-01 2.87790804e-01 1.98581878e+02] [ 5.45823731e-01 3.21860356e-01 7.73616421e-01 2.14983209e+02] [-8.24386857e-01 4.11366455e-02 5.64529970e-01 -2.25426007e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.000714057 meters Centerline goodness : 0.991822 Centerline is valid? [True, True] Translation: X:198.59, Y:214.99, Z:-225.45 [[ 1.47713996e-01 -9.50365344e-01 2.73836245e-01 1.98591460e+02] [ 5.46254292e-01 3.09206884e-01 7.78458317e-01 2.14994547e+02] [-8.24491858e-01 3.45950355e-02 5.64815332e-01 -2.25451523e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.030714057 meters Centerline goodness : 0.990691 Centerline is valid? [True, True] Translation: X:198.59, Y:215.02, Z:-225.47 [[ 1.49907299e-01 -9.44371217e-01 2.92729921e-01 1.98591497e+02] [ 5.47087768e-01 3.25848350e-01 7.71049821e-01 2.15016208e+02] [-8.23542819e-01 4.45629628e-02 5.65500988e-01 -2.25471309e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.0607140569999 meters Centerline goodness : 0.990577 Centerline is valid? [True, True] Translation: X:198.60, Y:215.02, Z:-225.50 [[ 1.49133905e-01 -9.49337684e-01 2.76617135e-01 1.98600757e+02] [ 5.45366370e-01 3.12318823e-01 7.77838335e-01 2.15024272e+02] [-8.24823982e-01 3.48556141e-02 5.64314172e-01 -2.25497807e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.0907140569999 meters Centerline goodness : 0.990806 Centerline is valid? [True, True] Translation: X:198.60, Y:215.04, Z:-225.52 [[ 1.52930732e-01 -9.45639499e-01 2.87015905e-01 1.98603065e+02] [ 5.44244739e-01 3.23012475e-01 7.74248413e-01 2.15043563e+02] [-8.24869599e-01 3.78005198e-02 5.64057856e-01 -2.25518724e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.120714057 meters Centerline goodness : 0.990588 Centerline is valid? [True, True] Translation: X:198.61, Y:215.06, Z:-225.55 [[ 1.53431014e-01 -9.45729506e-01 2.86451785e-01 1.98608437e+02] [ 5.41602149e-01 3.22947828e-01 7.76126158e-01 2.15055339e+02] [-8.26514390e-01 3.60610789e-02 5.61759346e-01 -2.25545555e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.150714057 meters Centerline goodness : 0.990644 Centerline is valid? [True, True] Translation: X:198.62, Y:215.07, Z:-225.57 [[ 1.56712318e-01 -9.48263090e-01 2.76112952e-01 1.98616563e+02] [ 5.41992738e-01 3.16280536e-01 7.78595206e-01 2.15069113e+02] [-8.25642248e-01 2.76357557e-02 5.63516764e-01 -2.25567906e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.1807140569999 meters Centerline goodness : 0.990752 Centerline is valid? [True, True] Translation: X:198.62, Y:215.09, Z:-225.59 [[ 1.57817580e-01 -9.46240025e-01 2.82353372e-01 1.98620799e+02] [ 5.39599063e-01 3.22108479e-01 7.77868228e-01 2.15086318e+02] [-8.26998466e-01 2.95963333e-02 5.61424611e-01 -2.25591061e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.2107140569999 meters Centerline goodness : 0.991494 Centerline is valid? [True, True] Translation: X:198.63, Y:215.11, Z:-225.62 [[ 1.57062957e-01 -9.44049729e-01 2.90002305e-01 1.98625591e+02] [ 5.44187089e-01 3.27775125e-01 7.72284843e-01 2.15107106e+02] [-8.24130839e-01 3.65181691e-02 5.65221004e-01 -2.25617787e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.2407140569999 meters Centerline goodness : 0.989811 Centerline is valid? [True, True] Translation: X:198.63, Y:215.12, Z:-225.64 [[ 1.62144167e-01 -9.37468853e-01 3.07995809e-01 1.98626300e+02] [ 5.36029302e-01 3.45737768e-01 7.70154519e-01 2.15121860e+02] [-8.28481657e-01 4.02187156e-02 5.58570138e-01 -2.25635813e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.270714057 meters Centerline goodness : 0.990828 Centerline is valid? [True, True] Translation: X:198.64, Y:215.13, Z:-225.67 [[ 1.59902992e-01 -9.44572911e-01 2.86728180e-01 1.98638333e+02] [ 5.42542713e-01 3.26756240e-01 7.73871930e-01 2.15132512e+02] [-8.24668684e-01 3.18178477e-02 5.64720450e-01 -2.25665332e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.3007140569999 meters Centerline goodness : 0.991424 Centerline is valid? [True, True] Translation: X:198.64, Y:215.15, Z:-225.69 [[ 1.59817338e-01 -9.40431060e-01 3.00079722e-01 1.98640842e+02] [ 5.42331420e-01 3.37647983e-01 7.69331184e-01 2.15152261e+02] [-8.24824254e-01 3.97901998e-02 5.63987314e-01 -2.25686837e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.3307140569999 meters Centerline goodness : 0.989480 Centerline is valid? [True, True] Translation: X:198.65, Y:215.16, Z:-225.70 [[ 1.61646090e-01 -9.42589523e-01 2.92225139e-01 1.98647357e+02] [ 5.39751530e-01 3.32348267e-01 7.73442251e-01 2.15162977e+02] [-8.26159081e-01 3.27050498e-02 5.62486935e-01 -2.25701942e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.3607140569999 meters Centerline goodness : 0.989434 Centerline is valid? [True, True] Translation: X:198.66, Y:215.17, Z:-225.73 [[ 1.61191771e-01 -9.45091216e-01 2.84288246e-01 1.98657242e+02] [ 5.37590872e-01 3.25651083e-01 7.77783663e-01 2.15170889e+02] [-8.27655283e-01 2.74584400e-02 5.60564686e-01 -2.25730610e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.390714057 meters Centerline goodness : 0.989756 Centerline is valid? [True, True] Translation: X:198.67, Y:215.18, Z:-225.76 [[ 1.59692823e-01 -9.49382580e-01 2.70501239e-01 1.98667317e+02] [ 5.41301121e-01 3.13363262e-01 7.80254165e-01 2.15182066e+02] [-8.25524863e-01 2.18216336e-02 5.63943719e-01 -2.25755596e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.4207140569999 meters Centerline goodness : 0.989743 Centerline is valid? [True, True] Translation: X:198.67, Y:215.20, Z:-225.78 [[ 1.57547008e-01 -9.47516384e-01 2.78193533e-01 1.98672790e+02] [ 5.40315709e-01 3.18513060e-01 7.78850669e-01 2.15199151e+02] [-8.26582044e-01 2.76067434e-02 5.62138767e-01 -2.25775990e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.4507140569999 meters Centerline goodness : 0.989749 Centerline is valid? [True, True] Translation: X:198.68, Y:215.21, Z:-225.80 [[ 1.56801401e-01 -9.44298389e-01 2.89333500e-01 1.98675401e+02] [ 5.38410986e-01 3.27327120e-01 7.76511795e-01 2.15214235e+02] [-8.27965538e-01 3.40221975e-02 5.59745977e-01 -2.25800107e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.4807140569999 meters Centerline goodness : 0.989811 Centerline is valid? [True, True] Translation: X:198.69, Y:215.22, Z:-225.83 [[ 1.54105114e-01 -9.54183751e-01 2.56485834e-01 1.98691762e+02] [ 5.39483682e-01 2.98734807e-01 7.87219710e-01 2.15221336e+02] [-8.27773502e-01 1.70553387e-02 5.60803125e-01 -2.25828601e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.510714057 meters Centerline goodness : 0.988256 Centerline is valid? [True, True] Translation: X:198.68, Y:215.25, Z:-225.85 [[ 1.56125113e-01 -9.37318361e-01 3.11543320e-01 1.98684844e+02] [ 5.37146214e-01 3.45263940e-01 7.69588693e-01 2.15253786e+02] [-8.28914286e-01 4.71921931e-02 5.57381380e-01 -2.25847115e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.540714057 meters Centerline goodness : 0.988856 Centerline is valid? [True, True] Translation: X:198.70, Y:215.25, Z:-225.87 [[ 1.54124805e-01 -9.52590402e-01 2.62330079e-01 1.98704037e+02] [ 5.39754320e-01 3.03559066e-01 7.85186072e-01 2.15252638e+02] [-8.27593390e-01 2.05771435e-02 5.60950767e-01 -2.25872969e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.5707140569999 meters Centerline goodness : 0.989813 Centerline is valid? [True, True] Translation: X:198.71, Y:215.26, Z:-225.91 [[ 1.51369335e-01 -9.53327401e-01 2.61255030e-01 1.98712791e+02] [ 5.30699705e-01 3.01356592e-01 7.92175503e-01 2.15263135e+02] [-8.33933539e-01 1.87368880e-02 5.51546717e-01 -2.25907287e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.6007140569999 meters Centerline goodness : 0.988920 Centerline is valid? [True, True] Translation: X:198.71, Y:215.30, Z:-225.92 [[ 1.51839829e-01 -9.44239464e-01 2.92158348e-01 1.98711439e+02] [ 5.40984627e-01 3.26773546e-01 7.74954633e-01 2.15295265e+02] [-8.27212367e-01 4.03841964e-02 5.60436274e-01 -2.25919417e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.630714057 meters Centerline goodness : 0.988505 Centerline is valid? [True, True] Translation: X:198.73, Y:215.29, Z:-225.95 [[ 1.48522295e-01 -9.54777949e-01 2.57565906e-01 1.98727414e+02] [ 5.36706110e-01 2.96583233e-01 7.89927172e-01 2.15292174e+02] [-8.30594775e-01 2.09153993e-02 5.56484381e-01 -2.25950752e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.660714057 meters Centerline goodness : 0.988577 Centerline is valid? [True, True] Translation: X:198.73, Y:215.31, Z:-225.97 [[ 1.45607916e-01 -9.52667882e-01 2.66874954e-01 1.98733040e+02] [ 5.37353025e-01 3.02647104e-01 7.87182607e-01 2.15311168e+02] [-8.30692519e-01 2.87860447e-02 5.55986783e-01 -2.25972260e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.6907140569999 meters Centerline goodness : 0.989690 Centerline is valid? [True, True] Translation: X:198.74, Y:215.32, Z:-226.00 [[ 1.43561789e-01 -9.54171093e-01 2.62578633e-01 1.98740894e+02] [ 5.37031252e-01 2.97975364e-01 7.89181929e-01 2.15323924e+02] [-8.31256547e-01 2.77165623e-02 5.55197573e-01 -2.25999543e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.7207140569999 meters Centerline goodness : 0.989863 Centerline is valid? [True, True] Translation: X:198.75, Y:215.34, Z:-226.03 [[ 1.42053826e-01 -9.52682978e-01 2.68730077e-01 1.98746715e+02] [ 5.35503847e-01 3.02288723e-01 7.88579202e-01 2.15341100e+02] [-8.32500055e-01 3.18852970e-02 5.53106669e-01 -2.26025015e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.750714057 meters Centerline goodness : 0.983731 Centerline is valid? [True, True] Translation: X:198.73, Y:215.38, Z:-226.04 [[ 1.37093391e-01 -9.29775015e-01 3.41648685e-01 1.98728220e+02] [ 5.37653366e-01 3.59522898e-01 7.62674337e-01 2.15380214e+02] [-8.31946069e-01 7.91309545e-02 5.49184879e-01 -2.26036569e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.780714057 meters Centerline goodness : 0.983098 Centerline is valid? [True, True] Translation: X:198.77, Y:215.35, Z:-226.08 [[ 1.37875378e-01 -9.63710080e-01 2.28589726e-01 1.98769279e+02] [ 5.31807888e-01 2.66734676e-01 8.03761770e-01 2.15348057e+02] [-8.35566126e-01 1.07468617e-02 5.49284767e-01 -2.26083424e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.8107140569999 meters Centerline goodness : 0.987816 Centerline is valid? [True, True] Translation: X:198.78, Y:215.38, Z:-226.11 [[ 1.43422253e-01 -9.62019817e-01 2.32266934e-01 1.98780896e+02] [ 5.37342046e-01 2.72783282e-01 7.98030580e-01 2.15378347e+02] [-8.31079769e-01 1.03514459e-02 5.56056890e-01 -2.26108137e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.8407140569999 meters Centerline goodness : 0.983316 Centerline is valid? [True, True] Translation: X:198.76, Y:215.41, Z:-226.11 [[ 1.40893956e-01 -9.38631448e-01 3.14833129e-01 1.98756768e+02] [ 5.34480015e-01 3.39796642e-01 7.73866497e-01 2.15410418e+02] [-8.33354670e-01 5.92389030e-02 5.49555044e-01 -2.26111329e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.870714057 meters Centerline goodness : 0.989289 Centerline is valid? [True, True] Translation: X:198.80, Y:215.39, Z:-226.15 [[ 1.45799875e-01 -9.66783642e-01 2.09932813e-01 1.98799833e+02] [ 5.32961964e-01 2.55532119e-01 8.06631813e-01 2.15388874e+02] [-8.33483018e-01 -5.72061289e-03 5.52515459e-01 -2.26154111e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.900714057 meters Centerline goodness : 0.983320 Centerline is valid? [True, True] Translation: X:198.78, Y:215.43, Z:-226.16 [[ 1.43918465e-01 -9.46167101e-01 2.89922907e-01 1.98777893e+02] [ 5.33711347e-01 3.20924717e-01 7.82406240e-01 2.15429891e+02] [-8.33330471e-01 4.21324394e-02 5.51167110e-01 -2.26163213e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.9307140569999 meters Centerline goodness : 0.983275 Centerline is valid? [True, True] Translation: X:198.80, Y:215.42, Z:-226.20 [[ 1.44707019e-01 -9.61074437e-01 2.35363133e-01 1.98801602e+02] [ 5.31435052e-01 2.76136527e-01 8.00827949e-01 2.15422822e+02] [-8.34647629e-01 9.19479302e-03 5.50707537e-01 -2.26197070e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.9607140569999 meters Centerline goodness : 0.983600 Centerline is valid? [True, True] Translation: X:198.81, Y:215.44, Z:-226.22 [[ 1.44268479e-01 -9.60034541e-01 2.39833871e-01 1.98806304e+02] [ 5.30886552e-01 2.79627909e-01 7.99979813e-01 2.15438644e+02] [-8.35072497e-01 1.19127063e-02 5.50010921e-01 -2.26221763e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.9907140569999 meters Centerline goodness : 0.990085 Centerline is valid? [True, True] Translation: X:198.82, Y:215.46, Z:-226.24 [[ 1.46408053e-01 -9.60429249e-01 2.36939529e-01 1.98816984e+02] [ 5.42646748e-01 2.78241608e-01 7.92537768e-01 2.15461279e+02] [-8.27102889e-01 1.25405534e-02 5.61910621e-01 -2.26243993e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.020714057 meters Centerline goodness : 0.983962 Centerline is valid? [True, True] Translation: X:198.81, Y:215.48, Z:-226.26 [[ 1.41624123e-01 -9.48591182e-01 2.83050133e-01 1.98805372e+02] [ 5.32051845e-01 3.14062497e-01 7.86311377e-01 2.15483208e+02] [-8.34783470e-01 3.92366860e-02 5.49178514e-01 -2.26260842e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.0507140569999 meters Centerline goodness : 0.984215 Centerline is valid? [True, True] Translation: X:198.82, Y:215.48, Z:-226.29 [[ 1.39551743e-01 -9.60385143e-01 2.41217098e-01 1.98824592e+02] [ 5.31104928e-01 2.78191751e-01 8.00335496e-01 2.15480569e+02] [-8.35734926e-01 1.64233759e-02 5.48887426e-01 -2.26290920e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.0807140569999 meters Centerline goodness : 0.983859 Centerline is valid? [True, True] Translation: X:198.83, Y:215.50, Z:-226.31 [[ 1.38439837e-01 -9.59437424e-01 2.45589579e-01 1.98829155e+02] [ 5.32236545e-01 2.81199698e-01 7.98530519e-01 2.15498045e+02] [-8.35199780e-01 2.01633139e-02 5.49576900e-01 -2.26314337e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.1107140569999 meters Centerline goodness : 0.983564 Centerline is valid? [True, True] Translation: X:198.84, Y:215.51, Z:-226.34 [[ 1.37724970e-01 -9.60258658e-01 2.42765611e-01 1.98835997e+02] [ 5.32250136e-01 2.78457123e-01 7.99481972e-01 2.15510432e+02] [-8.35309299e-01 1.91033993e-02 5.49448301e-01 -2.26337385e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.140714057 meters Centerline goodness : 0.989718 Centerline is valid? [True, True] Translation: X:198.85, Y:215.52, Z:-226.36 [[ 1.39463933e-01 -9.65524632e-01 2.19799902e-01 1.98853424e+02] [ 5.33066475e-01 2.60265722e-01 8.05047755e-01 2.15521770e+02] [-8.34499817e-01 4.89283305e-03 5.50986493e-01 -2.26363487e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.1707140569999 meters Centerline goodness : 0.989253 Centerline is valid? [True, True] Translation: X:198.86, Y:215.55, Z:-226.39 [[ 1.45535758e-01 -9.59518539e-01 2.41129668e-01 1.98863708e+02] [ 5.38388694e-01 2.81286623e-01 7.94364810e-01 2.15552157e+02] [-8.30034311e-01 1.42130020e-02 5.57531194e-01 -2.26385192e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.2007140569999 meters Centerline goodness : 0.989243 Centerline is valid? [True, True] Translation: X:198.83, Y:215.59, Z:-226.39 [[ 1.36565312e-01 -9.37154359e-01 3.21078842e-01 1.98834853e+02] [ 5.38702115e-01 3.42258005e-01 7.69843809e-01 2.15590342e+02] [-8.31354285e-01 6.78318913e-02 5.51587606e-01 -2.26393248e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.2307140569999 meters Centerline goodness : 0.989243 Centerline is valid? [True, True] Translation: X:198.85, Y:215.58, Z:-226.43 [[ 1.35613914e-01 -9.53836405e-01 2.67964511e-01 1.98854964e+02] [ 5.36220129e-01 2.98088783e-01 7.89690478e-01 2.15583328e+02] [-8.33112741e-01 3.65949482e-02 5.51891267e-01 -2.26425921e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.260714057 meters Centerline goodness : 0.988846 Centerline is valid? [True, True] Translation: X:198.87, Y:215.60, Z:-226.46 [[ 1.40759655e-01 -9.50078238e-01 2.78456569e-01 1.98869710e+02] [ 5.31941894e-01 3.09787074e-01 7.88079812e-01 2.15602371e+02] [-8.34999726e-01 3.71928724e-02 5.48991939e-01 -2.26462369e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.290714057 meters Centerline goodness : 0.983597 Centerline is valid? [True, True] Translation: X:198.86, Y:215.63, Z:-226.47 [[ 1.35042099e-01 -9.36281334e-01 3.24254367e-01 1.98855982e+02] [ 5.31852774e-01 3.44607165e-01 7.73549306e-01 2.15625973e+02] [-8.36000154e-01 6.79938627e-02 5.44500300e-01 -2.26474979e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.3207140569999 meters Centerline goodness : 0.984026 Centerline is valid? [True, True] Translation: X:198.88, Y:215.62, Z:-226.51 [[ 1.33067017e-01 -9.56019449e-01 2.61380913e-01 1.98880311e+02] [ 5.31062226e-01 2.91448041e-01 7.95632423e-01 2.15615684e+02] [-8.36819026e-01 3.29370964e-02 5.46487938e-01 -2.26508536e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.3507140569999 meters Centerline goodness : 0.983290 Centerline is valid? [True, True] Translation: X:198.89, Y:215.63, Z:-226.53 [[ 1.30184667e-01 -9.56128904e-01 2.62429935e-01 1.98885641e+02] [ 5.30501209e-01 2.90780025e-01 7.96250868e-01 2.15630086e+02] [-8.37627853e-01 3.55597439e-02 5.45082640e-01 -2.26532889e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.380714057 meters Centerline goodness : 0.984003 Centerline is valid? [True, True] Translation: X:198.89, Y:215.64, Z:-226.56 [[ 1.29402871e-01 -9.58089631e-01 2.55576124e-01 1.98893174e+02] [ 5.31330238e-01 2.84614299e-01 7.97924106e-01 2.15642236e+02] [-8.37223432e-01 3.25416524e-02 5.45891899e-01 -2.26556871e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.410714057 meters Centerline goodness : 0.984278 Centerline is valid? [True, True] Translation: X:198.90, Y:215.66, Z:-226.58 [[ 1.27874188e-01 -9.58105799e-01 2.56283964e-01 1.98896918e+02] [ 5.33292445e-01 2.84293345e-01 7.96728600e-01 2.15656691e+02] [-8.36210117e-01 3.47932791e-02 5.47304365e-01 -2.26579178e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.4407140569999 meters Centerline goodness : 0.990653 Centerline is valid? [True, True] Translation: X:198.91, Y:215.68, Z:-226.60 [[ 1.29855380e-01 -9.61870025e-01 2.40714842e-01 1.98909611e+02] [ 5.45906757e-01 2.72017738e-01 7.92459566e-01 2.15676186e+02] [-8.27721809e-01 2.85027208e-02 5.60414313e-01 -2.26604474e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.4707140569999 meters Centerline goodness : 0.983720 Centerline is valid? [True, True] Translation: X:198.89, Y:215.70, Z:-226.62 [[ 1.26293004e-01 -9.46276974e-01 2.97674263e-01 1.98892577e+02] [ 5.36539179e-01 3.17556735e-01 7.81846167e-01 2.15701919e+02] [-8.34371492e-01 6.09722036e-02 5.47819865e-01 -2.26618083e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.500714057 meters Centerline goodness : 0.983548 Centerline is valid? [True, True] Translation: X:198.91, Y:215.69, Z:-226.65 [[ 1.24237964e-01 -9.61972154e-01 2.43258101e-01 1.98913753e+02] [ 5.32882016e-01 2.71488803e-01 8.01455293e-01 2.15694606e+02] [-8.37019525e-01 3.00566932e-02 5.46346876e-01 -2.26650532e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.530714057 meters Centerline goodness : 0.982812 Centerline is valid? [True, True] Translation: X:198.92, Y:215.71, Z:-226.67 [[ 1.24535028e-01 -9.60597102e-01 2.48483872e-01 1.98917813e+02] [ 5.33510876e-01 2.75978284e-01 7.99501177e-01 2.15712152e+02] [-8.36574666e-01 3.30029468e-02 5.46857964e-01 -2.26672564e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.5607140569999 meters Centerline goodness : 0.983742 Centerline is valid? [True, True] Translation: X:198.93, Y:215.72, Z:-226.70 [[ 1.24103711e-01 -9.65149399e-01 2.30401618e-01 1.98927926e+02] [ 5.33370135e-01 2.60684938e-01 8.04710919e-01 2.15719735e+02] [-8.36728491e-01 2.30217311e-02 5.47133833e-01 -2.26698135e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.5907140569999 meters Centerline goodness : 0.983525 Centerline is valid? [True, True] Translation: X:198.93, Y:215.74, Z:-226.72 [[ 1.24674619e-01 -9.58864333e-01 2.55020452e-01 1.98925074e+02] [ 5.34226822e-01 2.81461470e-01 7.97107988e-01 2.15744274e+02] [-8.36096850e-01 3.68596303e-02 5.47342147e-01 -2.26716690e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.620714057 meters Centerline goodness : 0.983505 Centerline is valid? [True, True] Translation: X:198.93, Y:215.75, Z:-226.74 [[ 1.24999827e-01 -9.63211496e-01 2.37904722e-01 1.98934597e+02] [ 5.33583717e-01 2.67420102e-01 8.02355848e-01 2.15753940e+02] [-8.36458882e-01 2.66477439e-02 5.47381437e-01 -2.26744315e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.650714057 meters Centerline goodness : 0.983487 Centerline is valid? [True, True] Translation: X:198.93, Y:215.78, Z:-226.76 [[ 1.26733284e-01 -9.53759464e-01 2.72546435e-01 1.98928177e+02] [ 5.33270038e-01 2.97188542e-01 7.92024013e-01 2.15780204e+02] [-8.36398076e-01 4.49650435e-02 5.46275026e-01 -2.26759642e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.6807140569999 meters Centerline goodness : 0.983614 Centerline is valid? [True, True] Translation: X:198.94, Y:215.78, Z:-226.79 [[ 1.27476813e-01 -9.62487999e-01 2.39513075e-01 1.98943785e+02] [ 5.31477600e-01 2.70174339e-01 8.02830859e-01 2.15782005e+02] [-8.37425354e-01 2.49535148e-02 5.45981775e-01 -2.26788809e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.7107140569999 meters Centerline goodness : 0.983401 Centerline is valid? [True, True] Translation: X:198.95, Y:215.80, Z:-226.81 [[ 1.28833836e-01 -9.61415544e-01 2.43067880e-01 1.98946661e+02] [ 5.32194899e-01 2.73854594e-01 8.01106891e-01 2.15799053e+02] [-8.36761873e-01 2.61498119e-02 5.46942186e-01 -2.26810793e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.7407140569999 meters Centerline goodness : 0.983083 Centerline is valid? [True, True] Translation: X:198.95, Y:215.81, Z:-226.83 [[ 1.30518652e-01 -9.61205516e-01 2.42999665e-01 1.98952259e+02] [ 5.31437382e-01 2.74738199e-01 8.01307202e-01 2.15813558e+02] [-8.36982193e-01 2.45535697e-02 5.46679002e-01 -2.26833918e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.770714057 meters Centerline goodness : 0.983460 Centerline is valid? [True, True] Translation: X:198.96, Y:215.83, Z:-226.85 [[ 1.32627407e-01 -9.59536094e-01 2.48395763e-01 1.98955530e+02] [ 5.30184245e-01 2.80422162e-01 8.00167531e-01 2.15828557e+02] [-8.37445304e-01 2.55713757e-02 5.45922583e-01 -2.26854246e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.8007140569999 meters Centerline goodness : 0.983848 Centerline is valid? [True, True] Translation: X:198.96, Y:215.84, Z:-226.88 [[ 1.33743250e-01 -9.61606965e-01 2.39634698e-01 1.98962851e+02] [ 5.31680408e-01 2.73685001e-01 8.01506371e-01 2.15842440e+02] [-8.36318532e-01 2.02130068e-02 5.47871105e-01 -2.26880431e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.8307140569999 meters Centerline goodness : 0.983208 Centerline is valid? [True, True] Translation: X:198.96, Y:215.86, Z:-226.90 [[ 1.35320967e-01 -9.57525556e-01 2.54623341e-01 1.98963727e+02] [ 5.32027056e-01 2.87017724e-01 7.96597789e-01 2.15863239e+02] [-8.35844153e-01 2.76701231e-02 5.48269019e-01 -2.26901923e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.8607140569999 meters Centerline goodness : 0.983198 Centerline is valid? [True, True] Translation: X:198.98, Y:215.87, Z:-226.93 [[ 1.36990288e-01 -9.62276881e-01 2.35067791e-01 1.98976234e+02] [ 5.31832369e-01 2.71650646e-01 8.02097412e-01 2.15871254e+02] [-8.35696112e-01 1.51371042e-02 5.48983494e-01 -2.26927010e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.890714057 meters Centerline goodness : 0.988185 Centerline is valid? [True, True] Translation: X:198.99, Y:215.90, Z:-226.95 [[ 1.43076051e-01 -9.59835068e-01 2.41341844e-01 1.98986212e+02] [ 5.32923321e-01 2.80196046e-01 7.98425269e-01 2.15895843e+02] [-8.33979603e-01 1.43811620e-02 5.51607836e-01 -2.26951283e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.9207140569999 meters Centerline goodness : 0.988839 Centerline is valid? [True, True] Translation: X:198.97, Y:215.94, Z:-226.97 [[ 1.43502906e-01 -9.39515663e-01 3.10993947e-01 1.98971745e+02] [ 5.33384690e-01 3.38123704e-01 7.75353554e-01 2.15938646e+02] [-8.33611234e-01 5.46139216e-02 5.49645004e-01 -2.26968194e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.9507140569999 meters Centerline goodness : 0.987900 Centerline is valid? [True, True] Translation: X:198.98, Y:215.96, Z:-226.99 [[ 1.42753070e-01 -9.41314555e-01 3.05856944e-01 1.98978765e+02] [ 5.35802436e-01 3.33321882e-01 7.75765604e-01 2.15956137e+02] [-8.32188267e-01 5.31359737e-02 5.51941353e-01 -2.26989542e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.9807140569999 meters Centerline goodness : 0.983831 Centerline is valid? [True, True] Translation: X:198.97, Y:215.98, Z:-227.01 [[ 1.38379505e-01 -9.30986788e-01 3.37808693e-01 1.98968202e+02] [ 5.36013081e-01 3.57218722e-01 7.64908336e-01 2.15979685e+02] [-8.32791144e-01 7.52222415e-02 5.48452847e-01 -2.27006097e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.010714057 meters Centerline goodness : 0.987862 Centerline is valid? [True, True] Translation: X:199.00, Y:215.97, Z:-227.05 [[ 1.42384034e-01 -9.53789724e-01 2.64597711e-01 1.99000950e+02] [ 5.34065902e-01 2.99099192e-01 7.90767530e-01 2.15973386e+02] [-8.33366906e-01 2.87199436e-02 5.51973519e-01 -2.27048936e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.040714057 meters Centerline goodness : 0.989628 Centerline is valid? [True, True] Translation: X:199.00, Y:216.00, Z:-227.06 [[ 1.34690695e-01 -9.51989612e-01 2.74907611e-01 1.98995365e+02] [ 5.44342117e-01 3.02910956e-01 7.82263774e-01 2.15999082e+02] [-8.27979515e-01 4.42801395e-02 5.59007328e-01 -2.27056990e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.0707140569999 meters Centerline goodness : 0.988766 Centerline is valid? [True, True] Translation: X:199.00, Y:216.02, Z:-227.08 [[ 1.34601495e-01 -9.48584163e-01 2.86479533e-01 1.98997643e+02] [ 5.44558973e-01 3.12351281e-01 7.78390778e-01 2.16019004e+02] [-8.27851414e-01 5.12324375e-02 5.58602967e-01 -2.27078246e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.1007140569999 meters Centerline goodness : 0.983804 Centerline is valid? [True, True] Translation: X:198.99, Y:216.03, Z:-227.10 [[ 1.28455969e-01 -9.48914337e-01 2.88202438e-01 1.98994523e+02] [ 5.42046666e-01 3.10540470e-01 7.80864924e-01 2.16028508e+02] [-8.30472442e-01 5.59124100e-02 5.54246629e-01 -2.27101404e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.130714057 meters Centerline goodness : 0.983128 Centerline is valid? [True, True] Translation: X:199.01, Y:216.03, Z:-227.13 [[ 1.27597437e-01 -9.59121113e-01 2.52597672e-01 1.99010883e+02] [ 5.39350460e-01 2.80830405e-01 7.93873646e-01 2.16030320e+02] [-8.32358082e-01 3.49424281e-02 5.53135653e-01 -2.27131540e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.160714057 meters Centerline goodness : 0.983244 Centerline is valid? [True, True] Translation: X:199.01, Y:216.05, Z:-227.15 [[ 1.26496096e-01 -9.58627299e-01 2.55014587e-01 1.99014090e+02] [ 5.40989398e-01 2.82151529e-01 7.92288449e-01 2.16046611e+02] [-8.31462091e-01 3.77387922e-02 5.54298273e-01 -2.27154066e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.1907140569999 meters Centerline goodness : 0.982151 Centerline is valid? [True, True] Translation: X:199.02, Y:216.06, Z:-227.18 [[ 1.27109473e-01 -9.60434166e-01 2.47809191e-01 1.99021618e+02] [ 5.39972276e-01 2.76573070e-01 7.94944827e-01 2.16057585e+02] [-8.32029521e-01 3.27650752e-02 5.53762879e-01 -2.27178562e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.2207140569999 meters Centerline goodness : 0.982737 Centerline is valid? [True, True] Translation: X:199.03, Y:216.07, Z:-227.20 [[ 1.27702752e-01 -9.60043804e-01 2.49013859e-01 1.99026484e+02] [ 5.39651714e-01 2.77909622e-01 7.94696338e-01 2.16072909e+02] [-8.32146643e-01 3.28958461e-02 5.53579108e-01 -2.27202242e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.250714057 meters Centerline goodness : 0.983497 Centerline is valid? [True, True] Translation: X:199.03, Y:216.09, Z:-227.23 [[ 1.28732990e-01 -9.61398494e-01 2.43188720e-01 1.99032562e+02] [ 5.40347943e-01 2.73630259e-01 7.95707598e-01 2.16086753e+02] [-8.31535879e-01 2.89727063e-02 5.54714940e-01 -2.27226039e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.280714057 meters Centerline goodness : 0.989619 Centerline is valid? [True, True] Translation: X:199.05, Y:216.10, Z:-227.25 [[ 1.31952287e-01 -9.66878759e-01 2.18481254e-01 1.99049594e+02] [ 5.40238053e-01 2.54943835e-01 8.01964143e-01 2.16096063e+02] [-8.31102545e-01 1.22108848e-02 5.55985121e-01 -2.27254079e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.3107140569999 meters Centerline goodness : 0.982947 Centerline is valid? [True, True] Translation: X:199.02, Y:216.14, Z:-227.26 [[ 1.28293132e-01 -9.43941190e-01 3.04164269e-01 1.99022003e+02] [ 5.42090041e-01 3.23572549e-01 7.75525108e-01 2.16141353e+02] [-8.30469301e-01 6.53898762e-02 5.53213254e-01 -2.27261532e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.3407140569999 meters Centerline goodness : 0.983409 Centerline is valid? [True, True] Translation: X:199.04, Y:216.14, Z:-227.29 [[ 1.28807417e-01 -9.58095563e-01 2.55854534e-01 1.99040832e+02] [ 5.40168174e-01 2.84155739e-01 7.92132477e-01 2.16136328e+02] [-8.31641145e-01 3.61719375e-02 5.54134097e-01 -2.27293903e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.370714057 meters Centerline goodness : 0.983396 Centerline is valid? [True, True] Translation: X:199.05, Y:216.15, Z:-227.32 [[ 1.29591166e-01 -9.61362863e-01 2.42873580e-01 1.99050134e+02] [ 5.39380052e-01 2.73875938e-01 7.96279555e-01 2.16145480e+02] [-8.32030822e-01 2.78103683e-02 5.54031853e-01 -2.27319167e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.400714057 meters Centerline goodness : 0.989822 Centerline is valid? [True, True] Translation: X:199.07, Y:216.15, Z:-227.35 [[ 1.32515291e-01 -9.69059469e-01 2.08238909e-01 1.99068154e+02] [ 5.38711648e-01 2.46767531e-01 8.05540530e-01 2.16148285e+02] [-8.32003280e-01 5.43428789e-03 5.54744095e-01 -2.27347687e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.4307140569999 meters Centerline goodness : 0.990349 Centerline is valid? [True, True] Translation: X:199.05, Y:216.20, Z:-227.36 [[ 1.35758857e-01 -9.45794535e-01 2.95029203e-01 1.99048936e+02] [ 5.43073667e-01 3.20102628e-01 7.76276561e-01 2.16198450e+02] [-8.28637752e-01 5.48361724e-02 5.57092873e-01 -2.27357509e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.4607140569999 meters Centerline goodness : 0.989286 Centerline is valid? [True, True] Translation: X:199.05, Y:216.22, Z:-227.38 [[ 1.36233016e-01 -9.43176711e-01 3.03081270e-01 1.99049891e+02] [ 5.42448193e-01 3.27014499e-01 7.73829100e-01 2.16215679e+02] [-8.28969555e-01 5.89848151e-02 5.56174674e-01 -2.27380577e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.4907140569999 meters Centerline goodness : 0.989639 Centerline is valid? [True, True] Translation: X:199.05, Y:216.23, Z:-227.41 [[ 1.35808808e-01 -9.42819918e-01 3.04378992e-01 1.99054432e+02] [ 5.38246561e-01 3.28145443e-01 7.76280367e-01 2.16226031e+02] [-8.31773170e-01 5.84052339e-02 5.52034620e-01 -2.27410257e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.520714057 meters Centerline goodness : 0.989266 Centerline is valid? [True, True] Translation: X:199.06, Y:216.24, Z:-227.44 [[ 1.34370288e-01 -9.45537364e-01 2.96485614e-01 1.99060987e+02] [ 5.38516782e-01 3.20838756e-01 7.79141944e-01 2.16238565e+02] [-8.31831895e-01 5.49689515e-02 5.52298934e-01 -2.27435481e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.5507140569999 meters Centerline goodness : 0.989400 Centerline is valid? [True, True] Translation: X:199.06, Y:216.26, Z:-227.46 [[ 1.37004419e-01 -9.40285005e-01 3.11598939e-01 1.99061104e+02] [ 5.40638755e-01 3.34561137e-01 7.71866946e-01 2.16258692e+02] [-8.30023811e-01 6.27132804e-02 5.54190868e-01 -2.27455546e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.5807140569999 meters Centerline goodness : 0.990292 Centerline is valid? [True, True] Translation: X:199.08, Y:216.26, Z:-227.48 [[ 1.34190107e-01 -9.52381741e-01 2.73791955e-01 1.99075887e+02] [ 5.41693041e-01 3.01855503e-01 7.84507428e-01 2.16262144e+02] [-8.29796158e-01 4.30380610e-02 5.56404584e-01 -2.27483596e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.6107140569999 meters Centerline goodness : 0.989720 Centerline is valid? [True, True] Translation: X:199.07, Y:216.29, Z:-227.50 [[ 1.35263526e-01 -9.44254065e-01 3.00146696e-01 1.99072663e+02] [ 5.41819510e-01 3.24116464e-01 7.75487032e-01 2.16287074e+02] [-8.29539268e-01 5.77302253e-02 5.55456410e-01 -2.27502756e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.640714057 meters Centerline goodness : 0.989088 Centerline is valid? [True, True] Translation: X:199.08, Y:216.30, Z:-227.52 [[ 1.35450028e-01 -9.46924442e-01 2.91525969e-01 1.99078776e+02] [ 5.42677798e-01 3.17081516e-01 7.77791823e-01 2.16298996e+02] [-8.28947584e-01 5.28527464e-02 5.56823571e-01 -2.27524561e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.6707140569999 meters Centerline goodness : 0.990179 Centerline is valid? [True, True] Translation: X:199.09, Y:216.31, Z:-227.56 [[ 1.34549156e-01 -9.48648527e-01 2.86290929e-01 1.99085541e+02] [ 5.37794003e-01 3.12574114e-01 7.82991081e-01 2.16311061e+02] [-8.32270470e-01 4.86147560e-02 5.52234073e-01 -2.27555474e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.7007140569999 meters Centerline goodness : 0.990168 Centerline is valid? [True, True] Translation: X:199.08, Y:216.34, Z:-227.58 [[ 1.37450415e-01 -9.42489703e-01 3.04664642e-01 1.99084162e+02] [ 5.38925539e-01 3.29231154e-01 7.75349025e-01 2.16335287e+02] [-8.31063564e-01 5.76195113e-02 5.53184729e-01 -2.27576026e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.7307140569999 meters Centerline goodness : 0.990040 Centerline is valid? [True, True] Translation: X:199.09, Y:216.35, Z:-227.60 [[ 1.37364864e-01 -9.43437906e-01 3.01754554e-01 1.99089014e+02] [ 5.36081104e-01 3.26979350e-01 7.78268305e-01 2.16345808e+02] [-8.32915328e-01 5.48581950e-02 5.50674709e-01 -2.27602933e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.760714057 meters Centerline goodness : 0.990586 Centerline is valid? [True, True] Translation: X:199.09, Y:216.36, Z:-227.63 [[ 1.39200469e-01 -9.43335113e-01 3.01234283e-01 1.99093471e+02] [ 5.32812081e-01 3.27758017e-01 7.80183292e-01 2.16358076e+02] [-8.34706245e-01 5.18993853e-02 5.48244414e-01 -2.27628513e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.790714057 meters Centerline goodness : 0.990238 Centerline is valid? [True, True] Translation: X:199.10, Y:216.37, Z:-227.65 [[ 1.39935383e-01 -9.41694179e-01 3.05990461e-01 1.99096446e+02] [ 5.30947619e-01 3.32209500e-01 7.79571340e-01 2.16372504e+02] [-8.35770731e-01 5.33752931e-02 5.46478146e-01 -2.27654578e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.8207140569999 meters Centerline goodness : 0.989235 Centerline is valid? [True, True] Translation: X:199.10, Y:216.38, Z:-227.68 [[ 1.40679960e-01 -9.42670434e-01 3.02624524e-01 1.99101306e+02] [ 5.30863422e-01 3.29831082e-01 7.80637871e-01 2.16384551e+02] [-8.35699214e-01 5.08321854e-02 5.46829875e-01 -2.27676761e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.8507140569999 meters Centerline goodness : 0.989869 Centerline is valid? [True, True] Translation: X:199.11, Y:216.40, Z:-227.70 [[ 1.41391127e-01 -9.44089309e-01 2.97832042e-01 1.99107227e+02] [ 5.29439995e-01 3.26327600e-01 7.83073170e-01 2.16395287e+02] [-8.36481824e-01 4.69645962e-02 5.45978466e-01 -2.27704022e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.880714057 meters Centerline goodness : 0.989492 Centerline is valid? [True, True] Translation: X:199.11, Y:216.41, Z:-227.73 [[ 1.41457756e-01 -9.41404117e-01 3.06182937e-01 1.99109650e+02] [ 5.29617635e-01 3.33276138e-01 7.80020626e-01 2.16411784e+02] [-8.36358095e-01 5.18199157e-02 5.45728717e-01 -2.27725970e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.910714057 meters Centerline goodness : 0.989904 Centerline is valid? [True, True] Translation: X:199.12, Y:216.42, Z:-227.75 [[ 1.40863044e-01 -9.44222728e-01 2.97659273e-01 1.99116520e+02] [ 5.30372944e-01 3.25845511e-01 7.82642475e-01 2.16422464e+02] [-8.35979750e-01 4.76250234e-02 5.46689779e-01 -2.27749358e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.9407140569999 meters Centerline goodness : 0.990696 Centerline is valid? [True, True] Translation: X:199.13, Y:216.43, Z:-227.77 [[ 1.39105832e-01 -9.48933289e-01 2.83152223e-01 1.99126445e+02] [ 5.32414205e-01 3.12757076e-01 7.86586375e-01 2.16433855e+02] [-8.34975857e-01 4.13355136e-02 5.48731895e-01 -2.27774953e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.9707140569999 meters Centerline goodness : 0.991005 Centerline is valid? [True, True] Translation: X:199.13, Y:216.45, Z:-227.80 [[ 1.38075188e-01 -9.46832770e-01 2.90590689e-01 1.99130177e+02] [ 5.32568005e-01 3.18351517e-01 7.84234424e-01 2.16453305e+02] [-8.35048839e-01 4.64759876e-02 5.48209285e-01 -2.27801330e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.000714057 meters Centerline goodness : 0.990345 Centerline is valid? [True, True] Translation: X:199.14, Y:216.47, Z:-227.82 [[ 1.36697835e-01 -9.47825198e-01 2.87994958e-01 1.99137026e+02] [ 5.38288890e-01 3.15128990e-01 7.81625736e-01 2.16471620e+02] [-8.31600128e-01 4.81779407e-02 5.53281225e-01 -2.27824207e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.030714057 meters Centerline goodness : 0.990413 Centerline is valid? [True, True] Translation: X:199.15, Y:216.48, Z:-227.85 [[ 1.34572334e-01 -9.52552734e-01 2.73008380e-01 1.99145845e+02] [ 5.39493059e-01 3.01532172e-01 7.86146035e-01 2.16480902e+02] [-8.31166365e-01 4.14926193e-02 5.54473476e-01 -2.27848274e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.0607140569999 meters Centerline goodness : 0.990169 Centerline is valid? [True, True] Translation: X:199.15, Y:216.50, Z:-227.87 [[ 1.32535764e-01 -9.51651206e-01 2.77117760e-01 1.99149863e+02] [ 5.40602999e-01 3.03742301e-01 7.84531078e-01 2.16497841e+02] [-8.30772333e-01 4.58322667e-02 5.54722214e-01 -2.27872296e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.0907140569999 meters Centerline goodness : 0.989793 Centerline is valid? [True, True] Translation: X:199.16, Y:216.51, Z:-227.89 [[ 1.29880430e-01 -9.55067446e-01 2.66415555e-01 1.99158064e+02] [ 5.41345312e-01 2.93414149e-01 7.87942504e-01 2.16512940e+02] [-8.30708328e-01 4.18845004e-02 5.55130041e-01 -2.27894012e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.120714057 meters Centerline goodness : 0.990228 Centerline is valid? [True, True] Translation: X:199.16, Y:216.53, Z:-227.92 [[ 1.30944641e-01 -9.49912901e-01 2.83758668e-01 1.99158352e+02] [ 5.41364273e-01 3.08294072e-01 7.82227262e-01 2.16534435e+02] [-8.30528883e-01 5.11883366e-02 5.54618363e-01 -2.27919219e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.150714057 meters Centerline goodness : 0.990228 Centerline is valid? [True, True] Translation: X:199.16, Y:216.54, Z:-227.94 [[ 1.30094292e-01 -9.52450897e-01 2.75522710e-01 1.99164940e+02] [ 5.40612314e-01 3.01083390e-01 7.85548928e-01 2.16544571e+02] [-8.31152093e-01 4.67555380e-02 5.54075914e-01 -2.27943859e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.1807140569999 meters Centerline goodness : 0.990882 Centerline is valid? [True, True] Translation: X:199.17, Y:216.56, Z:-227.97 [[ 1.30895305e-01 -9.51958771e-01 2.76840961e-01 1.99169245e+02] [ 5.38313030e-01 3.02739511e-01 7.86490858e-01 2.16558655e+02] [-8.32517568e-01 4.60791355e-02 5.52078991e-01 -2.27968735e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.2107140569999 meters Centerline goodness : 0.989654 Centerline is valid? [True, True] Translation: X:199.17, Y:216.57, Z:-228.00 [[ 1.31133876e-01 -9.50027129e-01 2.83288477e-01 1.99173433e+02] [ 5.33025652e-01 3.08503636e-01 7.87850977e-01 2.16573779e+02] [-8.35875326e-01 4.76860728e-02 5.46844107e-01 -2.27996716e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.2407140569999 meters Centerline goodness : 0.990137 Centerline is valid? [True, True] Translation: X:199.18, Y:216.59, Z:-228.02 [[ 1.32948459e-01 -9.48245336e-01 2.88366937e-01 1.99176530e+02] [ 5.33657958e-01 3.13660833e-01 7.85382751e-01 2.16590782e+02] [-8.35184944e-01 4.94738841e-02 5.47739394e-01 -2.28024457e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.270714057 meters Centerline goodness : 0.990045 Centerline is valid? [True, True] Translation: X:199.18, Y:216.60, Z:-228.05 [[ 1.34224488e-01 -9.51499491e-01 2.76825767e-01 1.99183874e+02] [ 5.32951387e-01 3.04826558e-01 7.89331102e-01 2.16600356e+02] [-8.35431988e-01 4.15871129e-02 5.48018162e-01 -2.28046701e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.3007140569999 meters Centerline goodness : 0.991082 Centerline is valid? [True, True] Translation: X:199.17, Y:216.62, Z:-228.07 [[ 1.25902361e-01 -9.44814707e-01 3.02446300e-01 1.99170001e+02] [ 5.29092196e-01 3.21844064e-01 7.85161032e-01 2.16615035e+02] [-8.39172237e-01 6.11683493e-02 5.40415016e-01 -2.28068524e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.3307140569999 meters Centerline goodness : 0.989907 Centerline is valid? [True, True] Translation: X:199.21, Y:216.60, Z:-228.11 [[ 1.32534248e-01 -9.67421972e-01 2.15706748e-01 1.99210307e+02] [ 5.30559142e-01 2.53066212e-01 8.08989795e-01 2.16604328e+02] [-8.37222593e-01 7.22633308e-03 5.46814512e-01 -2.28105389e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.3607140569999 meters Centerline goodness : 0.989678 Centerline is valid? [True, True] Translation: X:199.19, Y:216.65, Z:-228.12 [[ 1.35360103e-01 -9.41322892e-01 3.09174474e-01 1.99188715e+02] [ 5.24475913e-01 3.32816440e-01 7.83682483e-01 2.16646666e+02] [-8.40596609e-01 5.60752228e-02 5.38751251e-01 -2.28124358e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.390714057 meters Centerline goodness : 0.992139 Centerline is valid? [True, True] Translation: X:199.19, Y:216.65, Z:-228.15 [[ 1.27043569e-01 -9.47231953e-01 2.94298418e-01 1.99188197e+02] [ 5.29947324e-01 3.15625489e-01 7.87106336e-01 2.16653911e+02] [-8.38460354e-01 5.59658611e-02 5.42081228e-01 -2.28146487e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.4207140569999 meters Centerline goodness : 0.990451 Centerline is valid? [True, True] Translation: X:199.21, Y:216.66, Z:-228.18 [[ 1.33877365e-01 -9.55859471e-01 2.61552144e-01 1.99211856e+02] [ 5.24494619e-01 2.92275895e-01 7.99675056e-01 2.16655588e+02] [-8.40822363e-01 3.01243030e-02 5.40472275e-01 -2.28178874e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.4507140569999 meters Centerline goodness : 0.989676 Centerline is valid? [True, True] Translation: X:199.22, Y:216.67, Z:-228.20 [[ 1.33552097e-01 -9.57377799e-01 2.56108546e-01 1.99219334e+02] [ 5.27141260e-01 2.87458093e-01 7.99681147e-01 2.16673723e+02] [-8.39217451e-01 2.82062873e-02 5.43063970e-01 -2.28202356e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.4807140569999 meters Centerline goodness : 0.990341 Centerline is valid? [True, True] Translation: X:199.22, Y:216.70, Z:-228.22 [[ 1.34968216e-01 -9.49928176e-01 2.81815617e-01 1.99216641e+02] [ 5.26881329e-01 3.09679503e-01 7.91514163e-01 2.16696400e+02] [-8.39154125e-01 4.16541320e-02 5.42296309e-01 -2.28222280e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.510714057 meters Centerline goodness : 0.991571 Centerline is valid? [True, True] Translation: X:199.21, Y:216.71, Z:-228.24 [[ 1.27395844e-01 -9.47983670e-01 2.91714349e-01 1.99209292e+02] [ 5.25958008e-01 3.13921415e-01 7.90456526e-01 2.16709115e+02] [-8.40915259e-01 5.27286220e-02 5.38591886e-01 -2.28244088e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.540714057 meters Centerline goodness : 0.989996 Centerline is valid? [True, True] Translation: X:199.23, Y:216.71, Z:-228.28 [[ 1.35194800e-01 -9.57596501e-01 2.54423481e-01 1.99234330e+02] [ 5.21620124e-01 2.87103487e-01 8.03420210e-01 2.16711340e+02] [-8.42398251e-01 2.40941728e-02 5.38316504e-01 -2.28278208e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.5707140569999 meters Centerline goodness : 0.989499 Centerline is valid? [True, True] Translation: X:199.24, Y:216.74, Z:-228.30 [[ 1.34763962e-01 -9.55587408e-01 2.62090405e-01 1.99237938e+02] [ 5.26681995e-01 2.93124618e-01 7.97924830e-01 2.16735281e+02] [-8.39312070e-01 3.05067865e-02 5.42793318e-01 -2.28299719e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.6007140569999 meters Centerline goodness : 0.989789 Centerline is valid? [True, True] Translation: X:199.24, Y:216.75, Z:-228.32 [[ 1.35538154e-01 -9.50565459e-01 2.79382742e-01 1.99237266e+02] [ 5.25186642e-01 3.08038953e-01 7.93278637e-01 2.16754672e+02] [-8.40124039e-01 3.92085616e-02 5.40975312e-01 -2.28318886e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.630714057 meters Centerline goodness : 0.990153 Centerline is valid? [True, True] Translation: X:199.25, Y:216.77, Z:-228.35 [[ 1.33864802e-01 -9.54163488e-01 2.67679386e-01 1.99246410e+02] [ 5.25335645e-01 2.97359936e-01 7.97244961e-01 2.16765893e+02] [-8.40299158e-01 3.38984840e-02 5.41062120e-01 -2.28346628e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.660714057 meters Centerline goodness : 0.990866 Centerline is valid? [True, True] Translation: X:199.25, Y:216.79, Z:-228.37 [[ 1.31231513e-01 -9.53564865e-01 2.71094705e-01 1.99251316e+02] [ 5.31968880e-01 2.98489552e-01 7.92409678e-01 2.16787985e+02] [-8.36532964e-01 4.02248259e-02 5.46438069e-01 -2.28372081e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.6907140569999 meters Centerline goodness : 0.990883 Centerline is valid? [True, True] Translation: X:199.25, Y:216.81, Z:-228.39 [[ 1.34465311e-01 -9.47423687e-01 2.90357432e-01 1.99249613e+02] [ 5.31433175e-01 3.16263910e-01 7.85847262e-01 2.16809723e+02] [-8.36359887e-01 4.86363758e-02 5.46018903e-01 -2.28385182e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.7207140569999 meters Centerline goodness : 0.990221 Centerline is valid? [True, True] Translation: X:199.27, Y:216.81, Z:-228.42 [[ 1.30445084e-01 -9.59823123e-01 2.48442452e-01 1.99266436e+02] [ 5.26701175e-01 2.79386437e-01 8.02825692e-01 2.16807372e+02] [-8.39982115e-01 2.61302668e-02 5.41984554e-01 -2.28418730e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.750714057 meters Centerline goodness : 0.990392 Centerline is valid? [True, True] Translation: X:199.27, Y:216.83, Z:-228.44 [[ 1.31394262e-01 -9.55501538e-01 2.64106718e-01 1.99266715e+02] [ 5.30765954e-01 2.92820630e-01 7.95326085e-01 2.16830028e+02] [-8.37271193e-01 3.56775705e-02 5.45622636e-01 -2.28437578e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.780714057 meters Centerline goodness : 0.990743 Centerline is valid? [True, True] Translation: X:199.27, Y:216.84, Z:-228.46 [[ 1.29488411e-01 -9.58579833e-01 2.53687711e-01 1.99274562e+02] [ 5.28412459e-01 2.83195497e-01 8.00362783e-01 2.16841826e+02] [-8.39054840e-01 3.04140419e-02 5.43196062e-01 -2.28463691e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.8107140569999 meters Centerline goodness : 0.991819 Centerline is valid? [True, True] Translation: X:199.28, Y:216.86, Z:-228.49 [[ 1.27857897e-01 -9.56307722e-01 2.62921849e-01 1.99276941e+02] [ 5.33656883e-01 2.89785766e-01 7.94502701e-01 2.16862950e+02] [-8.35980077e-01 3.87266095e-02 5.47391597e-01 -2.28488046e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.8407140569999 meters Centerline goodness : 0.992080 Centerline is valid? [True, True] Translation: X:199.28, Y:216.88, Z:-228.51 [[ 1.27128943e-01 -9.57515204e-01 2.58849120e-01 1.99283481e+02] [ 5.34681226e-01 2.85959242e-01 7.95200163e-01 2.16878839e+02] [-8.35436544e-01 3.73088091e-02 5.48319099e-01 -2.28512500e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.870714057 meters Centerline goodness : 0.990960 Centerline is valid? [True, True] Translation: X:199.28, Y:216.91, Z:-228.53 [[ 1.31009575e-01 -9.48529505e-01 2.88319734e-01 1.99280192e+02] [ 5.36131703e-01 3.12416921e-01 7.84192875e-01 2.16905481e+02] [-8.33906043e-01 5.18405746e-02 5.49466347e-01 -2.28530647e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.900714057 meters Centerline goodness : 0.990984 Centerline is valid? [True, True] Translation: X:199.30, Y:216.90, Z:-228.57 [[ 1.25731946e-01 -9.64971060e-01 2.30265784e-01 1.99300395e+02] [ 5.27675989e-01 2.61600986e-01 8.08160241e-01 2.16895252e+02] [-8.40089001e-01 1.98941653e-02 5.42083659e-01 -2.28567124e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.9307140569999 meters Centerline goodness : 0.991291 Centerline is valid? [True, True] Translation: X:199.30, Y:216.92, Z:-228.59 [[ 1.25916581e-01 -9.57927979e-01 2.57912781e-01 1.99297943e+02] [ 5.26698359e-01 2.84867137e-01 8.00899215e-01 2.16921319e+02] [-8.40674642e-01 3.49957475e-02 5.40408590e-01 -2.28590514e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.9607140569999 meters Centerline goodness : 0.991681 Centerline is valid? [True, True] Translation: X:199.30, Y:216.94, Z:-228.62 [[ 1.24827092e-01 -9.54284291e-01 2.71587349e-01 1.99299465e+02] [ 5.30811229e-01 2.95492032e-01 7.94307181e-01 2.16942102e+02] [-8.38246763e-01 4.50105591e-02 5.43430229e-01 -2.28617027e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.9907140569999 meters Centerline goodness : 0.991176 Centerline is valid? [True, True] Translation: X:199.31, Y:216.95, Z:-228.64 [[ 1.22948268e-01 -9.56161464e-01 2.65779944e-01 1.99305906e+02] [ 5.24592385e-01 2.89953986e-01 8.00455817e-01 2.16952908e+02] [-8.42428960e-01 4.10114782e-02 5.37244363e-01 -2.28642576e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.020714057 meters Centerline goodness : 0.990920 Centerline is valid? [True, True] Translation: X:199.31, Y:216.97, Z:-228.67 [[ 1.22236306e-01 -9.54145777e-01 2.73247364e-01 1.99308556e+02] [ 5.23626424e-01 2.95876036e-01 7.98919733e-01 2.16968458e+02] [-8.43133236e-01 4.54225426e-02 5.35782735e-01 -2.28668796e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.0507140569999 meters Centerline goodness : 0.991631 Centerline is valid? [True, True] Translation: X:199.30, Y:216.99, Z:-228.71 [[ 1.21006219e-01 -9.38491958e-01 3.23404298e-01 1.99300709e+02] [ 5.15308107e-01 3.37849483e-01 7.87600966e-01 2.16989964e+02] [-8.48419147e-01 7.13482414e-02 5.24494403e-01 -2.28705372e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.0807140569999 meters Centerline goodness : 0.990337 Centerline is valid? [True, True] Translation: X:199.32, Y:216.99, Z:-228.73 [[ 1.17213754e-01 -9.57224993e-01 2.64539691e-01 1.99320101e+02] [ 5.19255621e-01 2.86135829e-01 8.05294908e-01 2.16989210e+02] [-8.46542696e-01 4.29720817e-02 5.30583513e-01 -2.28725104e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.1107140569999 meters Centerline goodness : 0.991583 Centerline is valid? [True, True] Translation: X:199.32, Y:217.01, Z:-228.76 [[ 1.15819089e-01 -9.49702907e-01 2.90947293e-01 1.99317796e+02] [ 5.19390397e-01 3.07586771e-01 7.97260305e-01 2.17009448e+02] [-8.46651967e-01 5.87772680e-02 5.28890990e-01 -2.28755281e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.140714057 meters Centerline goodness : 0.991128 Centerline is valid? [True, True] Translation: X:199.32, Y:217.02, Z:-228.78 [[ 1.14485630e-01 -9.50750738e-01 2.88038321e-01 1.99322632e+02] [ 5.14511459e-01 3.04774673e-01 8.01492581e-01 2.17019884e+02] [-8.49806448e-01 5.64396334e-02 5.24064470e-01 -2.28776763e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.1707140569999 meters Centerline goodness : 0.991489 Centerline is valid? [True, True] Translation: X:199.34, Y:217.02, Z:-228.81 [[ 1.11914135e-01 -9.60747530e-01 2.53849187e-01 1.99336721e+02] [ 5.16020169e-01 2.74498518e-01 8.11402335e-01 2.17024216e+02] [-8.49234015e-01 4.01839103e-02 5.26485367e-01 -2.28805217e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.2007140569999 meters Centerline goodness : 0.991087 Centerline is valid? [True, True] Translation: X:199.34, Y:217.05, Z:-228.83 [[ 1.12236026e-01 -9.55384200e-01 2.73210735e-01 1.99336110e+02] [ 5.17438745e-01 2.90921195e-01 8.04749653e-01 2.17047524e+02] [-8.48327896e-01 5.10479163e-02 5.27004640e-01 -2.28828711e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.2307140569999 meters Centerline goodness : 0.990005 Centerline is valid? [True, True] Translation: X:199.34, Y:217.06, Z:-228.85 [[ 1.12688599e-01 -9.56766642e-01 2.68139653e-01 1.99340966e+02] [ 5.16034903e-01 2.86964711e-01 8.07068296e-01 2.17058580e+02] [-8.49122641e-01 4.74220239e-02 5.26062632e-01 -2.28852812e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.260714057 meters Centerline goodness : 0.991040 Centerline is valid? [True, True] Translation: X:199.34, Y:217.07, Z:-228.89 [[ 1.13629284e-01 -9.50351511e-01 2.89690166e-01 1.99339213e+02] [ 5.11129846e-01 3.05950314e-01 8.03206503e-01 2.17072883e+02] [-8.51959310e-01 5.68015104e-02 5.20517936e-01 -2.28885387e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.290714057 meters Centerline goodness : 0.990431 Centerline is valid? [True, True] Translation: X:199.35, Y:217.08, Z:-228.91 [[ 1.12857161e-01 -9.58156923e-01 2.63056213e-01 1.99350649e+02] [ 5.08779899e-01 2.83132890e-01 8.13006015e-01 2.17080727e+02] [-8.53467208e-01 4.20841632e-02 5.19444557e-01 -2.28911590e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.3207140569999 meters Centerline goodness : 0.990923 Centerline is valid? [True, True] Translation: X:199.35, Y:217.10, Z:-228.94 [[ 1.16704811e-01 -9.55163447e-01 2.72108025e-01 1.99351351e+02] [ 5.08491754e-01 2.92811961e-01 8.09751376e-01 2.17099398e+02] [-8.53121400e-01 4.38628061e-02 5.19865301e-01 -2.28937528e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.3507140569999 meters Centerline goodness : 0.991091 Centerline is valid? [True, True] Translation: X:199.35, Y:217.11, Z:-228.97 [[ 1.17680103e-01 -9.51399041e-01 2.84589631e-01 1.99352408e+02] [ 5.01608868e-01 3.04282804e-01 8.09815114e-01 2.17114417e+02] [-8.57053054e-01 4.74535567e-02 5.13038227e-01 -2.28969128e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.380714057 meters Centerline goodness : 0.991423 Centerline is valid? [True, True] Translation: X:199.35, Y:217.13, Z:-228.99 [[ 1.22684261e-01 -9.49338093e-01 2.89319474e-01 1.99353820e+02] [ 5.05642295e-01 3.10638923e-01 8.04878456e-01 2.17133911e+02] [-8.53975668e-01 4.75462444e-02 5.18135999e-01 -2.28991485e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.410714057 meters Centerline goodness : 0.991431 Centerline is valid? [True, True] Translation: X:199.37, Y:217.14, Z:-229.02 [[ 1.21603347e-01 -9.60386808e-01 2.50738519e-01 1.99369066e+02] [ 5.03896707e-01 2.77371666e-01 8.18017768e-01 2.17136664e+02] [-8.55161234e-01 2.68726155e-02 5.17665073e-01 -2.29023214e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.4407140569999 meters Centerline goodness : 0.991155 Centerline is valid? [True, True] Translation: X:199.36, Y:217.17, Z:-229.05 [[ 1.23394591e-01 -9.43115972e-01 3.08716760e-01 1.99358173e+02] [ 4.96675264e-01 3.28020088e-01 8.03564872e-01 2.17167633e+02] [-8.59120164e-01 5.41764194e-02 5.08898280e-01 -2.29050882e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.4707140569999 meters Centerline goodness : 0.991195 Centerline is valid? [True, True] Translation: X:199.37, Y:217.18, Z:-229.08 [[ 1.24928125e-01 -9.48199326e-01 2.92080471e-01 1.99366246e+02] [ 4.96182247e-01 3.14637397e-01 8.09201141e-01 2.17177984e+02] [-8.59183416e-01 4.38331633e-02 5.09786732e-01 -2.29082221e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.500714057 meters Centerline goodness : 0.991092 Centerline is valid? [True, True] Translation: X:199.38, Y:217.19, Z:-229.10 [[ 1.24285814e-01 -9.55563078e-01 2.67305520e-01 1.99377201e+02] [ 5.03275745e-01 2.92878566e-01 8.12979502e-01 2.17190327e+02] [-8.55141252e-01 3.34865660e-02 5.17312371e-01 -2.29102848e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.530714057 meters Centerline goodness : 0.991052 Centerline is valid? [True, True] Translation: X:199.37, Y:217.21, Z:-229.13 [[ 1.26130310e-01 -9.47097487e-01 2.95122846e-01 1.99374960e+02] [ 4.98409163e-01 3.17725515e-01 8.06621846e-01 2.17211171e+02] [-8.57717582e-01 4.53524671e-02 5.12116884e-01 -2.29130706e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.5607140569999 meters Centerline goodness : 0.991917 Centerline is valid? [True, True] Translation: X:199.37, Y:217.23, Z:-229.17 [[ 1.26686683e-01 -9.39419915e-01 3.18497578e-01 1.99374580e+02] [ 4.98948874e-01 3.37858248e-01 7.98061292e-01 2.17232425e+02] [-8.57321705e-01 5.78102695e-02 5.11524650e-01 -2.29166501e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.5907140569999 meters Centerline goodness : 0.991298 Centerline is valid? [True, True] Translation: X:199.39, Y:217.24, Z:-229.19 [[ 1.25429782e-01 -9.49847325e-01 2.86456680e-01 1.99387393e+02] [ 4.97774699e-01 3.10015678e-01 8.10006561e-01 2.17238441e+02] [-8.58188627e-01 4.09919419e-02 5.11695165e-01 -2.29186982e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.620714057 meters Centerline goodness : 0.990808 Centerline is valid? [True, True] Translation: X:199.39, Y:217.25, Z:-229.21 [[ 1.26594602e-01 -9.52109829e-01 2.78317590e-01 1.99394699e+02] [ 5.00097332e-01 3.03567941e-01 8.11017364e-01 2.17252598e+02] [-8.56665901e-01 3.65154642e-02 5.14577647e-01 -2.29210871e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.650714057 meters Centerline goodness : 0.990752 Centerline is valid? [True, True] Translation: X:199.39, Y:217.27, Z:-229.24 [[ 1.27848775e-01 -9.45783175e-01 2.98578092e-01 1.99394147e+02] [ 4.95151150e-01 3.21713475e-01 8.07047569e-01 2.17268853e+02] [-8.59348608e-01 4.46612426e-02 5.09436300e-01 -2.29238644e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.6807140569999 meters Centerline goodness : 0.991980 Centerline is valid? [True, True] Translation: X:199.39, Y:217.28, Z:-229.26 [[ 1.22405045e-01 -9.50867450e-01 2.84373167e-01 1.99393504e+02] [ 5.04297116e-01 3.06371232e-01 8.07354375e-01 2.17276143e+02] [-8.54810754e-01 4.45843194e-02 5.17021097e-01 -2.29257822e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.7107140569999 meters Centerline goodness : 0.990712 Centerline is valid? [True, True] Translation: X:199.41, Y:217.28, Z:-229.29 [[ 1.30205014e-01 -9.56463331e-01 2.61198299e-01 1.99414882e+02] [ 4.92915195e-01 2.91023274e-01 8.19963453e-01 2.17279473e+02] [-8.60279759e-01 2.19852574e-02 5.09347999e-01 -2.29294057e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.7407140569999 meters Centerline goodness : 0.990857 Centerline is valid? [True, True] Translation: X:199.41, Y:217.31, Z:-229.32 [[ 1.30467004e-01 -9.47833927e-01 2.90842240e-01 1.99411808e+02] [ 4.92843662e-01 3.16539657e-01 8.10498470e-01 2.17306399e+02] [-8.60281050e-01 3.75964472e-02 5.08431924e-01 -2.29318436e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.770714057 meters Centerline goodness : 0.990723 Centerline is valid? [True, True] Translation: X:199.42, Y:217.32, Z:-229.35 [[ 1.32907563e-01 -9.49790054e-01 2.83256832e-01 1.99420015e+02] [ 4.95494519e-01 3.11188100e-01 8.10954467e-01 2.17321343e+02] [-8.58382643e-01 3.25702258e-02 5.11975018e-01 -2.29345328e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.8007140569999 meters Centerline goodness : 0.991437 Centerline is valid? [True, True] Translation: X:199.41, Y:217.34, Z:-229.36 [[ 1.28600411e-01 -9.46595252e-01 2.95667657e-01 1.99413436e+02] [ 5.03221958e-01 3.19195645e-01 8.03045330e-01 2.17338721e+02] [-8.54534724e-01 4.55144975e-02 5.17396207e-01 -2.29359595e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.8307140569999 meters Centerline goodness : 0.990675 Centerline is valid? [True, True] Translation: X:199.43, Y:217.33, Z:-229.39 [[ 1.29101738e-01 -9.58842047e-01 2.52892607e-01 1.99430525e+02] [ 5.02076526e-01 2.83126818e-01 8.17164835e-01 2.17333777e+02] [-8.55132682e-01 2.14740405e-02 5.17964248e-01 -2.29390457e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.8607140569999 meters Centerline goodness : 0.991243 Centerline is valid? [True, True] Translation: X:199.44, Y:217.35, Z:-229.41 [[ 1.30960506e-01 -9.58633472e-01 2.52727546e-01 1.99436835e+02] [ 5.01346860e-01 2.83963147e-01 8.17322615e-01 2.17347121e+02] [-8.55278126e-01 1.96671781e-02 5.17795838e-01 -2.29414616e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.890714057 meters Centerline goodness : 0.991326 Centerline is valid? [True, True] Translation: X:199.44, Y:217.36, Z:-229.44 [[ 1.31241143e-01 -9.58720696e-01 2.52250649e-01 1.99442070e+02] [ 5.01418888e-01 2.83699801e-01 8.17369881e-01 2.17360412e+02] [-8.55192880e-01 1.92106824e-02 5.17953751e-01 -2.29438673e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.9207140569999 meters Centerline goodness : 0.989963 Centerline is valid? [True, True] Translation: X:199.46, Y:217.37, Z:-229.47 [[ 1.36594095e-01 -9.63373285e-01 2.30768212e-01 1.99463938e+02] [ 4.95677808e-01 2.68159488e-01 8.26071425e-01 2.17372004e+02] [-8.57697828e-01 1.55020319e-03 5.14151761e-01 -2.29466762e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.9507140569999 meters Centerline goodness : 0.990645 Centerline is valid? [True, True] Translation: X:199.45, Y:217.40, Z:-229.48 [[ 1.28521227e-01 -9.54789105e-01 2.68067266e-01 1.99450476e+02] [ 4.97572616e-01 2.95906221e-01 8.15390091e-01 2.17396722e+02] [-8.57848347e-01 2.85879955e-02 5.13107143e-01 -2.29481886e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.9807140569999 meters Centerline goodness : 0.989753 Centerline is valid? [True, True] Translation: X:199.46, Y:217.40, Z:-229.51 [[ 1.27769046e-01 -9.62335890e-01 2.39968133e-01 1.99463849e+02] [ 4.97922977e-01 2.71489477e-01 8.23629876e-01 2.17398288e+02] [-8.57757413e-01 1.42512439e-02 5.13857103e-01 -2.29510113e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.010714057 meters Centerline goodness : 0.990430 Centerline is valid? [True, True] Translation: X:199.47, Y:217.42, Z:-229.54 [[ 1.27921496e-01 -9.58132870e-01 2.56159118e-01 1.99468415e+02] [ 5.01891562e-01 2.85306739e-01 8.16520009e-01 2.17415790e+02] [-8.55418583e-01 2.41136391e-02 5.17375667e-01 -2.29536276e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.040714057 meters Centerline goodness : 0.990430 Centerline is valid? [True, True] Translation: X:199.47, Y:217.43, Z:-229.56 [[ 1.27566500e-01 -9.60102099e-01 2.48858891e-01 1.99474723e+02] [ 5.01834176e-01 2.78901794e-01 8.18765075e-01 2.17426859e+02] [-8.55505259e-01 2.04389014e-02 5.17390572e-01 -2.29561930e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.0707140569999 meters Centerline goodness : 0.989914 Centerline is valid? [True, True] Translation: X:199.48, Y:217.44, Z:-229.59 [[ 1.26577537e-01 -9.60351720e-01 2.48400285e-01 1.99480812e+02] [ 5.02330923e-01 2.77988539e-01 8.18771040e-01 2.17440381e+02] [-8.55360609e-01 2.11411228e-02 5.17601470e-01 -2.29585982e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.1007140569999 meters Centerline goodness : 0.989266 Centerline is valid? [True, True] Translation: X:199.49, Y:217.44, Z:-229.61 [[ 1.22824167e-01 -9.68492574e-01 2.16648005e-01 1.99494553e+02] [ 4.98052810e-01 2.48973010e-01 8.30635804e-01 2.17444915e+02] [-8.58404114e-01 5.87999639e-03 5.12940351e-01 -2.29608718e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.130714057 meters Centerline goodness : 0.989731 Centerline is valid? [True, True] Translation: X:199.49, Y:217.47, Z:-229.63 [[ 1.23824231e-01 -9.57603940e-01 2.60119692e-01 1.99490708e+02] [ 5.03997138e-01 2.86499950e-01 8.14803451e-01 2.17471551e+02] [-8.54783273e-01 3.02071700e-02 5.18105281e-01 -2.29631696e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.160714057 meters Centerline goodness : 0.988970 Centerline is valid? [True, True] Translation: X:199.51, Y:217.47, Z:-229.66 [[ 1.20038471e-01 -9.68515212e-01 2.18103299e-01 1.99506767e+02] [ 4.98557176e-01 2.48789526e-01 8.30388171e-01 2.17471479e+02] [-8.58505392e-01 9.05843812e-03 5.12724523e-01 -2.29655501e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.1907140569999 meters Centerline goodness : 0.988534 Centerline is valid? [True, True] Translation: X:199.51, Y:217.49, Z:-229.68 [[ 1.17467413e-01 -9.66415256e-01 2.28567190e-01 1.99511109e+02] [ 4.99943449e-01 2.56416075e-01 8.27228713e-01 2.17488153e+02] [-8.58054750e-01 1.70982522e-02 5.13273509e-01 -2.29677080e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.2207140569999 meters Centerline goodness : 0.982486 Centerline is valid? [True, True] Translation: X:199.51, Y:217.50, Z:-229.70 [[ 1.14649425e-01 -9.63235004e-01 2.42968796e-01 1.99510190e+02] [ 4.99769168e-01 2.67303013e-01 8.23880985e-01 2.17504017e+02] [-8.58537296e-01 2.69708316e-02 5.12041294e-01 -2.29698709e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.250714057 meters Centerline goodness : 0.982732 Centerline is valid? [True, True] Translation: X:199.52, Y:217.51, Z:-229.73 [[ 1.12730604e-01 -9.70235678e-01 2.14323449e-01 1.99524670e+02] [ 4.98529466e-01 2.41813285e-01 8.32463036e-01 2.17506289e+02] [-8.59511595e-01 1.30024940e-02 5.10950832e-01 -2.29727401e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.280714057 meters Centerline goodness : 0.982452 Centerline is valid? [True, True] Translation: X:199.53, Y:217.52, Z:-229.75 [[ 1.08860537e-01 -9.69941732e-01 2.17629086e-01 1.99530949e+02] [ 5.00042685e-01 2.42646176e-01 8.31312304e-01 2.17519896e+02] [-8.59131362e-01 1.83267290e-02 5.11426861e-01 -2.29750594e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.3107140569999 meters Centerline goodness : 0.982572 Centerline is valid? [True, True] Translation: X:199.54, Y:217.53, Z:-229.77 [[ 1.06385668e-01 -9.69520980e-01 2.20706047e-01 1.99536162e+02] [ 5.00498612e-01 2.44009997e-01 8.30638466e-01 2.17534540e+02] [-8.59175901e-01 2.20950423e-02 5.11203071e-01 -2.29773661e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.3407140569999 meters Centerline goodness : 0.988784 Centerline is valid? [True, True] Translation: X:199.55, Y:217.54, Z:-229.80 [[ 1.02523341e-01 -9.74274206e-01 2.00695630e-01 1.99550857e+02] [ 5.01941515e-01 2.24858484e-01 8.35160690e-01 2.17542362e+02] [-8.58803633e-01 1.51140042e-02 5.12081914e-01 -2.29799000e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.370714057 meters Centerline goodness : 0.982402 Centerline is valid? [True, True] Translation: X:199.55, Y:217.56, Z:-229.82 [[ 9.93449075e-02 -9.68936320e-01 2.26479575e-01 1.99546362e+02] [ 5.00322386e-01 2.45382087e-01 8.30340377e-01 2.17560513e+02] [-8.60120980e-01 3.08227133e-02 5.09157992e-01 -2.29820796e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.400714057 meters Centerline goodness : 0.988989 Centerline is valid? [True, True] Translation: X:199.55, Y:217.58, Z:-229.85 [[ 9.92166110e-02 -9.68494048e-01 2.28419228e-01 1.99553448e+02] [ 5.12889125e-01 2.46483792e-01 8.22308024e-01 2.17582280e+02] [-8.52702064e-01 3.55671229e-02 5.21185351e-01 -2.29845542e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.4307140569999 meters Centerline goodness : 0.988346 Centerline is valid? [True, True] Translation: X:199.56, Y:217.59, Z:-229.87 [[ 9.34169564e-02 -9.71521603e-01 2.17759152e-01 1.99559965e+02] [ 5.05606310e-01 2.34705595e-01 8.30226200e-01 2.17588831e+02] [-8.57691980e-01 3.25431964e-02 5.13132935e-01 -2.29865368e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.4607140569999 meters Centerline goodness : 0.983044 Centerline is valid? [True, True] Translation: X:199.56, Y:217.60, Z:-229.89 [[ 9.17574310e-02 -9.69287146e-01 2.28173184e-01 1.99561022e+02] [ 5.05253923e-01 2.42771474e-01 8.28118642e-01 2.17604522e+02] [-8.58078696e-01 3.92993569e-02 5.12012220e-01 -2.29887922e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.4907140569999 meters Centerline goodness : 0.987169 Centerline is valid? [True, True] Translation: X:199.58, Y:217.62, Z:-229.92 [[ 9.70173701e-02 -9.70971727e-01 2.18635621e-01 1.99575994e+02] [ 5.05100630e-01 2.37314509e-01 8.29792249e-01 2.17617719e+02] [-8.57590219e-01 2.99287283e-02 5.13462061e-01 -2.29917068e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.520714057 meters Centerline goodness : 0.987728 Centerline is valid? [True, True] Translation: X:199.58, Y:217.64, Z:-229.94 [[ 9.53751648e-02 -9.67414578e-01 2.34547677e-01 1.99576958e+02] [ 5.07639295e-01 2.49949346e-01 8.24516629e-01 2.17643248e+02] [-8.56274445e-01 4.04272081e-02 5.14936614e-01 -2.29943126e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.5507140569999 meters Centerline goodness : 0.986533 Centerline is valid? [True, True] Translation: X:199.57, Y:217.66, Z:-229.96 [[ 9.64563790e-02 -9.57019067e-01 2.73515398e-01 1.99569695e+02] [ 5.08252606e-01 2.83627494e-01 8.13163411e-01 2.17664690e+02] [-8.55789376e-01 6.05801154e-02 5.13765116e-01 -2.29958053e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.5807140569999 meters Centerline goodness : 0.987847 Centerline is valid? [True, True] Translation: X:199.58, Y:217.67, Z:-230.00 [[ 9.72607189e-02 -9.59964519e-01 2.62694643e-01 1.99579961e+02] [ 5.04183012e-01 2.75095199e-01 8.18609872e-01 2.17673391e+02] [-8.58102467e-01 5.28275915e-02 5.10753759e-01 -2.29997005e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.6107140569999 meters Centerline goodness : 0.988468 Centerline is valid? [True, True] Translation: X:199.58, Y:217.70, Z:-230.02 [[ 9.55445082e-02 -9.55007277e-01 2.80770988e-01 1.99578319e+02] [ 5.16874140e-01 2.88653076e-01 8.05928362e-01 2.17697626e+02] [-8.50712860e-01 6.81212342e-02 5.21197781e-01 -2.30017850e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.640714057 meters Centerline goodness : 0.989021 Centerline is valid? [True, True] Translation: X:199.58, Y:217.72, Z:-230.05 [[ 9.68143288e-02 -9.50695376e-01 2.94627373e-01 1.99579251e+02] [ 5.15157174e-01 3.01145892e-01 8.02448900e-01 2.17715687e+02] [-8.51610282e-01 7.40908529e-02 5.18912780e-01 -2.30048038e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.6707140569999 meters Centerline goodness : 0.986989 Centerline is valid? [True, True] Translation: X:199.59, Y:217.72, Z:-230.06 [[ 9.66023394e-02 -9.57761273e-01 2.70852971e-01 1.99589274e+02] [ 5.13204241e-01 2.81092670e-01 8.10930527e-01 2.17724506e+02] [-8.52812638e-01 6.06651075e-02 5.18681356e-01 -2.30064625e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.7007140569999 meters Centerline goodness : 0.987784 Centerline is valid? [True, True] Translation: X:199.59, Y:217.74, Z:-230.09 [[ 9.89576804e-02 -9.57963937e-01 2.69281401e-01 1.99593827e+02] [ 5.17282775e-01 2.80695191e-01 8.08473092e-01 2.17738290e+02] [-8.50074060e-01 5.92900085e-02 5.23315189e-01 -2.30094054e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.7307140569999 meters Centerline goodness : 0.987271 Centerline is valid? [True, True] Translation: X:199.59, Y:217.76, Z:-230.12 [[ 9.98394028e-02 -9.51899219e-01 2.89689440e-01 1.99591593e+02] [ 5.16241033e-01 2.98447943e-01 8.02760251e-01 2.17758744e+02] [-8.50604073e-01 6.94024715e-02 5.21206300e-01 -2.30120232e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.760714057 meters Centerline goodness : 0.989008 Centerline is valid? [True, True] Translation: X:199.60, Y:217.77, Z:-230.14 [[ 1.01559953e-01 -9.54641154e-01 2.79903274e-01 1.99598118e+02] [ 5.17527744e-01 2.90988242e-01 8.04668178e-01 2.17772029e+02] [-8.49617920e-01 6.31356475e-02 5.23606035e-01 -2.30144084e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.790714057 meters Centerline goodness : 0.987831 Centerline is valid? [True, True] Translation: X:199.60, Y:217.79, Z:-230.17 [[ 1.02482123e-01 -9.51489293e-01 2.90112977e-01 1.99598887e+02] [ 5.16192690e-01 3.00175497e-01 8.02146980e-01 2.17788703e+02] [-8.50319070e-01 6.75484724e-02 5.21914440e-01 -2.30169633e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.8207140569999 meters Centerline goodness : 0.987816 Centerline is valid? [True, True] Translation: X:199.61, Y:217.80, Z:-230.19 [[ 1.03346223e-01 -9.54571186e-01 2.79487761e-01 1.99605215e+02] [ 5.16147618e-01 2.91665958e-01 8.05309012e-01 2.17800396e+02] [-8.50241845e-01 6.10312976e-02 5.22842219e-01 -2.30193195e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.8507140569999 meters Centerline goodness : 0.988643 Centerline is valid? [True, True] Translation: X:199.61, Y:217.82, Z:-230.22 [[ 1.03681487e-01 -9.55714814e-01 2.75425748e-01 1.99610248e+02] [ 5.16535521e-01 2.88385936e-01 8.06241035e-01 2.17816850e+02] [-8.49965414e-01 5.86749129e-02 5.23560933e-01 -2.30221519e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.880714057 meters Centerline goodness : 0.989421 Centerline is valid? [True, True] Translation: X:199.61, Y:217.84, Z:-230.25 [[ 1.04269272e-01 -9.54771339e-01 2.78459348e-01 1.99613735e+02] [ 5.16491869e-01 2.91253184e-01 8.05237687e-01 2.17835182e+02] [-8.49920036e-01 5.98604413e-02 5.23500391e-01 -2.30249325e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.910714057 meters Centerline goodness : 0.988980 Centerline is valid? [True, True] Translation: X:199.62, Y:217.85, Z:-230.27 [[ 1.03407237e-01 -9.61311321e-01 2.55318406e-01 1.99624038e+02] [ 5.21432584e-01 2.70987088e-01 8.09119311e-01 2.17849109e+02] [-8.47003544e-01 4.94625440e-02 5.29281072e-01 -2.30271964e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.9407140569999 meters Centerline goodness : 0.990362 Centerline is valid? [True, True] Translation: X:199.63, Y:217.87, Z:-230.30 [[ 1.03340384e-01 -9.60008199e-01 2.60201889e-01 1.99626296e+02] [ 5.21568805e-01 2.75053176e-01 8.07658178e-01 2.17865653e+02] [-8.46927829e-01 5.22494820e-02 5.29134430e-01 -2.30295399e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.9707140569999 meters Centerline goodness : 0.987437 Centerline is valid? [True, True] Translation: X:199.63, Y:217.87, Z:-230.31 [[ 1.04367744e-01 -9.60685419e-01 2.57275922e-01 1.99629556e+02] [ 5.15976160e-01 2.73454188e-01 8.11782859e-01 2.17874210e+02] [-8.50221134e-01 4.80242972e-02 5.24230570e-01 -2.30314889e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.000714057 meters Centerline goodness : 0.988565 Centerline is valid? [True, True] Translation: X:199.64, Y:217.89, Z:-230.35 [[ 1.00362834e-01 -9.63907384e-01 2.46596545e-01 1.99637245e+02] [ 5.19887822e-01 2.62126885e-01 8.13022847e-01 2.17887335e+02] [-8.48318310e-01 4.66052635e-02 5.27431507e-01 -2.30346410e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.030714057 meters Centerline goodness : 0.989977 Centerline is valid? [True, True] Translation: X:199.63, Y:217.91, Z:-230.37 [[ 9.98838785e-02 -9.58460980e-01 2.67162423e-01 1.99633856e+02] [ 5.20653157e-01 2.79158179e-01 8.06840133e-01 2.17908049e+02] [-8.47905361e-01 5.85086372e-02 5.26909137e-01 -2.30366105e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.0607140569999 meters Centerline goodness : 0.989217 Centerline is valid? [True, True] Translation: X:199.64, Y:217.92, Z:-230.39 [[ 9.62975795e-02 -9.64477314e-01 2.45988388e-01 1.99642647e+02] [ 5.23936984e-01 2.59244613e-01 8.11345960e-01 2.17918095e+02] [-8.46295937e-01 5.07517619e-02 5.30289964e-01 -2.30387978e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.0907140569999 meters Centerline goodness : 0.989848 Centerline is valid? [True, True] Translation: X:199.65, Y:217.93, Z:-230.42 [[ 9.24600514e-02 -9.64257283e-01 2.48312366e-01 1.99646084e+02] [ 5.23263458e-01 2.59223145e-01 8.11787358e-01 2.17933566e+02] [-8.47140184e-01 5.48748864e-02 5.28528386e-01 -2.30417077e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.120714057 meters Centerline goodness : 0.988942 Centerline is valid? [True, True] Translation: X:199.65, Y:217.95, Z:-230.44 [[ 9.33610014e-02 -9.60653044e-01 2.61590239e-01 1.99645987e+02] [ 5.17111008e-01 2.71307138e-01 8.11781155e-01 2.17947551e+02] [-8.50811336e-01 5.94824906e-02 5.22093769e-01 -2.30441992e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.150714057 meters Centerline goodness : 0.988624 Centerline is valid? [True, True] Translation: X:199.66, Y:217.95, Z:-230.47 [[ 8.90970611e-02 -9.68224320e-01 2.33673661e-01 1.99656239e+02] [ 5.20069999e-01 2.45308999e-01 8.18138553e-01 2.17953571e+02] [-8.49463896e-01 4.86329197e-02 5.25400732e-01 -2.30465545e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.1807140569999 meters Centerline goodness : 0.989669 Centerline is valid? [True, True] Translation: X:199.66, Y:217.97, Z:-230.50 [[ 8.40947459e-02 -9.66564309e-01 2.42242668e-01 1.99658943e+02] [ 5.19980376e-01 2.49946333e-01 8.16790817e-01 2.17969741e+02] [-8.50028519e-01 5.72736175e-02 5.23613646e-01 -2.30498468e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.2107140569999 meters Centerline goodness : 0.990291 Centerline is valid? [True, True] Translation: X:199.65, Y:217.99, Z:-230.53 [[ 8.20613601e-02 -9.59002431e-01 2.71256834e-01 1.99654229e+02] [ 5.18914212e-01 2.73485251e-01 8.09897437e-01 2.17993186e+02] [-8.50878355e-01 7.42977410e-02 5.20082562e-01 -2.30525538e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.2407140569999 meters Centerline goodness : 0.989821 Centerline is valid? [True, True] Translation: X:199.65, Y:218.01, Z:-230.55 [[ 7.93504941e-02 -9.55654046e-01 2.83599794e-01 1.99654152e+02] [ 5.13450616e-01 2.83037653e-01 8.10097619e-01 2.18005971e+02] [-8.54442487e-01 8.13328427e-02 5.13140336e-01 -2.30553161e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.270714057 meters Centerline goodness : 0.989471 Centerline is valid? [True, True] Translation: X:199.66, Y:218.02, Z:-230.59 [[ 7.68685327e-02 -9.54895175e-01 2.86821257e-01 1.99658128e+02] [ 5.11797408e-01 2.84670271e-01 8.10571557e-01 2.18021215e+02] [-8.55660354e-01 8.44869296e-02 5.10595062e-01 -2.30587554e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.3007140569999 meters Centerline goodness : 0.988729 Centerline is valid? [True, True] Translation: X:199.66, Y:218.03, Z:-230.61 [[ 7.49244325e-02 -9.56475961e-01 2.82028484e-01 1.99662891e+02] [ 5.11626768e-01 2.79632682e-01 8.12430682e-01 2.18034793e+02] [-8.55934799e-01 8.34224139e-02 5.10310025e-01 -2.30611126e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.3307140569999 meters Centerline goodness : 0.990284 Centerline is valid? [True, True] Translation: X:199.67, Y:218.05, Z:-230.63 [[ 7.14359649e-02 -9.58432383e-01 2.76232277e-01 1.99667272e+02] [ 5.13553756e-01 2.72753451e-01 8.13552761e-01 2.18048576e+02] [-8.55078618e-01 8.37431969e-02 5.11690956e-01 -2.30634467e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.3607140569999 meters Centerline goodness : 0.989225 Centerline is valid? [True, True] Translation: X:199.67, Y:218.07, Z:-230.66 [[ 7.03858182e-02 -9.54629650e-01 2.89358026e-01 1.99667280e+02] [ 5.12693403e-01 2.83451752e-01 8.10432341e-01 2.18066014e+02] [-8.55681782e-01 9.13090079e-02 5.09383307e-01 -2.30663609e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.390714057 meters Centerline goodness : 0.990187 Centerline is valid? [True, True] Translation: X:199.68, Y:218.08, Z:-230.68 [[ 6.71778209e-02 -9.61983135e-01 2.64717943e-01 1.99676529e+02] [ 5.17002055e-01 2.60481695e-01 8.15388350e-01 2.18075784e+02] [-8.53344020e-01 8.20837077e-02 5.14845850e-01 -2.30683699e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.4207140569999 meters Centerline goodness : 0.988056 Centerline is valid? [True, True] Translation: X:199.68, Y:218.08, Z:-230.70 [[ 6.80383263e-02 -9.67202344e-01 2.44725178e-01 1.99684252e+02] [ 5.19014067e-01 2.43802230e-01 8.19258733e-01 2.18084500e+02] [-8.52053510e-01 7.12748172e-02 5.18579518e-01 -2.30696648e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.4507140569999 meters Centerline goodness : 0.989610 Centerline is valid? [True, True] Translation: X:199.68, Y:218.10, Z:-230.74 [[ 6.59994214e-02 -9.59109593e-01 2.75232384e-01 1.99680703e+02] [ 5.15025427e-01 2.68995106e-01 8.13873727e-01 2.18103130e+02] [-8.54630263e-01 8.80364811e-02 5.11719349e-01 -2.30736666e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.4807140569999 meters Centerline goodness : 0.989940 Centerline is valid? [True, True] Translation: X:199.69, Y:218.12, Z:-230.76 [[ 6.27173214e-02 -9.65877551e-01 2.51290854e-01 1.99690701e+02] [ 5.22296430e-01 2.46319627e-01 8.16414773e-01 2.18117764e+02] [-8.50454571e-01 8.00449681e-02 5.19922904e-01 -2.30761752e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.510714057 meters Centerline goodness : 0.989419 Centerline is valid? [True, True] Translation: X:199.70, Y:218.13, Z:-230.78 [[ 6.22808523e-02 -9.69924171e-01 2.35304479e-01 1.99697781e+02] [ 5.27359490e-01 2.32143823e-01 8.17313412e-01 2.18133494e+02] [-8.47356515e-01 7.31870740e-02 5.25956831e-01 -2.30780098e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.540714057 meters Centerline goodness : 0.990567 Centerline is valid? [True, True] Translation: X:199.69, Y:218.15, Z:-230.80 [[ 5.89712361e-02 -9.66938340e-01 2.48098046e-01 1.99686409e+02] [ 5.27717346e-01 2.41160893e-01 8.14466590e-01 2.18148892e+02] [-8.47370519e-01 8.28955405e-02 5.24491690e-01 -2.30795158e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.5707140569999 meters Centerline goodness : 0.989821 Centerline is valid? [True, True] Translation: X:199.70, Y:218.15, Z:-230.83 [[ 5.96542676e-02 -9.77023322e-01 2.04613776e-01 1.99702761e+02] [ 5.24819334e-01 2.05059900e-01 8.26144724e-01 2.18147797e+02] [-8.49120743e-01 5.81022073e-02 5.24993427e-01 -2.30826343e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.6007140569999 meters Centerline goodness : 0.990574 Centerline is valid? [True, True] Translation: X:199.71, Y:218.16, Z:-230.85 [[ 6.02818905e-02 -9.77059241e-01 2.04258005e-01 1.99705173e+02] [ 5.24035696e-01 2.05140117e-01 8.26622116e-01 2.18161766e+02] [-8.49560288e-01 5.72081420e-02 5.24380153e-01 -2.30850263e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.630714057 meters Centerline goodness : 0.989571 Centerline is valid? [True, True] Translation: X:199.71, Y:218.18, Z:-230.87 [[ 6.24851778e-02 -9.76991984e-01 2.03917299e-01 1.99706720e+02] [ 5.22746044e-01 2.06086537e-01 8.27203066e-01 2.18175316e+02] [-8.50195375e-01 5.49090309e-02 5.23596049e-01 -2.30873044e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.660714057 meters Centerline goodness : 0.988840 Centerline is valid? [True, True] Translation: X:199.71, Y:218.20, Z:-230.91 [[ 7.06365918e-02 -9.65261210e-01 2.51557683e-01 1.99708074e+02] [ 5.12190213e-01 2.51501339e-01 8.21223637e-01 2.18197468e+02] [-8.55962416e-01 7.08369447e-02 5.12162543e-01 -2.30912932e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.6907140569999 meters Centerline goodness : 0.990392 Centerline is valid? [True, True] Translation: X:199.70, Y:218.21, Z:-230.91 [[ 6.43211464e-02 -9.69893550e-01 2.34881442e-01 1.99702152e+02] [ 5.22847813e-01 2.33230863e-01 8.19898487e-01 2.18213339e+02] [-8.49995856e-01 7.00704375e-02 5.22108398e-01 -2.30913877e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.7207140569999 meters Centerline goodness : 0.990115 Centerline is valid? [True, True] Translation: X:199.72, Y:218.22, Z:-230.94 [[ 6.45199697e-02 -9.77101242e-01 2.02756841e-01 1.99715556e+02] [ 5.20405878e-01 2.06309543e-01 8.28621804e-01 2.18215554e+02] [-8.51478065e-01 5.20531982e-02 5.21800315e-01 -2.30943028e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.750714057 meters Centerline goodness : 0.990519 Centerline is valid? [True, True] Translation: X:199.72, Y:218.23, Z:-230.97 [[ 6.45168946e-02 -9.77184900e-01 2.02354245e-01 1.99718808e+02] [ 5.20040065e-01 2.05988775e-01 8.28931213e-01 2.18228799e+02] [-8.51701768e-01 5.17522474e-02 5.21465056e-01 -2.30966831e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.780714057 meters Centerline goodness : 0.990786 Centerline is valid? [True, True] Translation: X:199.72, Y:218.24, Z:-230.99 [[ 6.41500450e-02 -9.77301937e-01 2.01905168e-01 1.99721606e+02] [ 5.20023812e-01 2.05418283e-01 8.29082966e-01 2.18242735e+02] [-8.51739401e-01 5.18097853e-02 5.21397870e-01 -2.30991315e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.8107140569999 meters Centerline goodness : 0.989481 Centerline is valid? [True, True] Translation: X:199.72, Y:218.26, Z:-231.01 [[ 6.38086108e-02 -9.77413854e-01 2.01471136e-01 1.99724859e+02] [ 5.19892481e-01 2.04880756e-01 8.29298308e-01 2.18255789e+02] [-8.51845214e-01 5.18269561e-02 5.21223271e-01 -2.31014241e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.8407140569999 meters Centerline goodness : 0.989690 Centerline is valid? [True, True] Translation: X:199.73, Y:218.27, Z:-231.04 [[ 6.33183353e-02 -9.77486205e-01 2.01274708e-01 1.99728032e+02] [ 5.19958288e-01 2.04455556e-01 8.29361987e-01 2.18269352e+02] [-8.51841633e-01 5.21406323e-02 5.21197838e-01 -2.31037943e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.870714057 meters Centerline goodness : 0.990128 Centerline is valid? [True, True] Translation: X:199.73, Y:218.28, Z:-231.06 [[ 6.32842109e-02 -9.77586042e-01 2.00799998e-01 1.99731609e+02] [ 5.20088332e-01 2.04027132e-01 8.29385952e-01 2.18282435e+02] [-8.51764777e-01 5.19467004e-02 5.21342790e-01 -2.31060846e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.900714057 meters Centerline goodness : 0.989923 Centerline is valid? [True, True] Translation: X:199.73, Y:218.30, Z:-231.09 [[ 6.24481365e-02 -9.77668835e-01 2.00658614e-01 1.99734580e+02] [ 5.19850883e-01 2.03487724e-01 8.29667286e-01 2.18296465e+02] [-8.51971414e-01 5.25013815e-02 5.20949436e-01 -2.31085261e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.9307140569999 meters Centerline goodness : 0.990037 Centerline is valid? [True, True] Translation: X:199.74, Y:218.31, Z:-231.11 [[ 6.22341384e-02 -9.77762212e-01 2.00269738e-01 1.99736786e+02] [ 5.19470394e-01 2.03070079e-01 8.30007863e-01 2.18310514e+02] [-8.52219116e-01 5.23793755e-02 5.20556413e-01 -2.31108743e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.9607140569999 meters Centerline goodness : 0.990037 Centerline is valid? [True, True] Translation: X:199.74, Y:218.32, Z:-231.13 [[ 6.19769677e-02 -9.77818302e-01 2.00075544e-01 1.99740270e+02] [ 5.19513082e-01 2.02769256e-01 8.30054689e-01 2.18324986e+02] [-8.52211836e-01 5.24975901e-02 5.20556424e-01 -2.31132937e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.9907140569999 meters Centerline goodness : 0.982267 Centerline is valid? [True, True] Translation: X:199.73, Y:218.34, Z:-231.15 [[ 6.05089115e-02 -9.71182250e-01 2.30529192e-01 1.99731092e+02] [ 5.13450366e-01 2.28338160e-01 8.27182209e-01 2.18343926e+02] [-8.55983290e-01 6.83134027e-02 5.12470376e-01 -2.31150842e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.020714057 meters Centerline goodness : 0.989405 Centerline is valid? [True, True] Translation: X:199.76, Y:218.34, Z:-231.19 [[ 6.15407925e-02 -9.87572270e-01 1.44615848e-01 1.99764235e+02] [ 5.17258635e-01 1.55471773e-01 8.41588993e-01 2.18335676e+02] [-8.53613634e-01 2.30117423e-02 5.20398140e-01 -2.31188933e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.0507140569999 meters Centerline goodness : 0.982514 Centerline is valid? [True, True] Translation: X:199.74, Y:218.37, Z:-231.20 [[ 6.11883658e-02 -9.72078755e-01 2.26536702e-01 1.99736650e+02] [ 5.11400303e-01 2.25440620e-01 8.29244389e-01 2.18369936e+02] [-8.57161429e-01 6.51108288e-02 5.10915713e-01 -2.31198785e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.0807140569999 meters Centerline goodness : 0.988112 Centerline is valid? [True, True] Translation: X:199.77, Y:218.37, Z:-231.24 [[ 6.41028723e-02 -9.87814035e-01 1.41824734e-01 1.99771002e+02] [ 5.10225890e-01 1.54579295e-01 8.46034741e-01 2.18365570e+02] [-8.57648158e-01 1.81293940e-02 5.13917271e-01 -2.31241240e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.1107140569999 meters Centerline goodness : 0.983330 Centerline is valid? [True, True] Translation: X:199.73, Y:218.41, Z:-231.24 [[ 5.89129824e-02 -9.65279787e-01 2.54488102e-01 1.99730489e+02] [ 5.12911516e-01 2.47976743e-01 8.21845066e-01 2.18409965e+02] [-8.56417561e-01 8.21125342e-02 5.09712168e-01 -2.31241296e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.140714057 meters Centerline goodness : 0.988846 Centerline is valid? [True, True] Translation: X:199.78, Y:218.39, Z:-231.29 [[ 6.47246739e-02 -9.88997633e-01 1.33020296e-01 1.99776514e+02] [ 5.07505984e-01 1.47397117e-01 8.48947446e-01 2.18388207e+02] [-8.59213823e-01 1.25607496e-02 5.11462447e-01 -2.31286111e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.1707140569999 meters Centerline goodness : 0.982239 Centerline is valid? [True, True] Translation: X:199.74, Y:218.44, Z:-231.29 [[ 5.87022682e-02 -9.67040283e-01 2.47764273e-01 1.99735005e+02] [ 5.09741189e-01 2.42433843e-01 8.25463356e-01 2.18436389e+02] [-8.58322762e-01 7.78390837e-02 5.07171680e-01 -2.31291102e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.2007140569999 meters Centerline goodness : 0.982852 Centerline is valid? [True, True] Translation: X:199.76, Y:218.42, Z:-231.33 [[ 5.96917791e-02 -9.83802177e-01 1.69027123e-01 1.99762891e+02] [ 5.06190590e-01 1.75775360e-01 8.44318725e-01 2.18423052e+02] [-8.60353403e-01 3.51610525e-02 5.08483748e-01 -2.31329224e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.2307140569999 meters Centerline goodness : 0.982833 Centerline is valid? [True, True] Translation: X:199.76, Y:218.44, Z:-231.35 [[ 6.00654429e-02 -9.82986690e-01 1.73577964e-01 1.99763994e+02] [ 5.06970443e-01 1.79836299e-01 8.42994588e-01 2.18438848e+02] [-8.59868078e-01 3.73640538e-02 5.09147145e-01 -2.31352178e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.260714057 meters Centerline goodness : 0.989199 Centerline is valid? [True, True] Translation: X:199.79, Y:218.44, Z:-231.38 [[ 6.42454819e-02 -9.91427310e-01 1.13773494e-01 1.99791561e+02] [ 5.07334393e-01 1.30625056e-01 8.51791587e-01 2.18437068e+02] [-8.59351111e-01 2.99744577e-03 5.11377242e-01 -2.31381373e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.290714057 meters Centerline goodness : 0.983150 Centerline is valid? [True, True] Translation: X:199.75, Y:218.49, Z:-231.39 [[ 6.13958337e-02 -9.68356809e-01 2.41900067e-01 1.99745383e+02] [ 5.12543784e-01 2.38550040e-01 8.24859229e-01 2.18491036e+02] [-8.56463322e-01 7.33414555e-02 5.10971242e-01 -2.31388160e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.3207140569999 meters Centerline goodness : 0.983286 Centerline is valid? [True, True] Translation: X:199.77, Y:218.48, Z:-231.43 [[ 6.28505360e-02 -9.84545460e-01 1.63462678e-01 1.99774769e+02] [ 5.08287513e-01 1.72530568e-01 8.43728041e-01 2.18476547e+02] [-8.58890921e-01 3.00572782e-02 5.11275802e-01 -2.31426165e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.3507140569999 meters Centerline goodness : 0.983321 Centerline is valid? [True, True] Translation: X:199.78, Y:218.49, Z:-231.45 [[ 6.44707378e-02 -9.84047301e-01 1.65814453e-01 1.99775689e+02] [ 5.10682690e-01 1.75288241e-01 8.41710890e-01 2.18494694e+02] [-8.57348654e-01 3.04128487e-02 5.13836885e-01 -2.31450705e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.380714057 meters Centerline goodness : 0.983516 Centerline is valid? [True, True] Translation: X:199.77, Y:218.51, Z:-231.47 [[ 6.69925052e-02 -9.80198394e-01 1.86341387e-01 1.99770678e+02] [ 5.10153532e-01 1.94153285e-01 8.37882973e-01 2.18514299e+02] [-8.57470337e-01 3.89308372e-02 5.13058488e-01 -2.31469834e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.410714057 meters Centerline goodness : 0.991431 Centerline is valid? [True, True] Translation: X:199.80, Y:218.51, Z:-231.50 [[ 7.21089958e-02 -9.90780826e-01 1.14689353e-01 1.99801612e+02] [ 5.08099327e-01 1.35439968e-01 8.50582794e-01 2.18507539e+02] [-8.58274645e-01 -3.06108787e-03 5.13181511e-01 -2.31500581e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.4407140569999 meters Centerline goodness : 0.984568 Centerline is valid? [True, True] Translation: X:199.76, Y:218.56, Z:-231.51 [[ 7.10010813e-02 -9.67703916e-01 2.41884224e-01 1.99757038e+02] [ 5.11881709e-01 2.43478942e-01 8.23829546e-01 2.18564719e+02] [-8.56116793e-01 6.53233213e-02 5.12637202e-01 -2.31507620e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.4707140569999 meters Centerline goodness : 0.989558 Centerline is valid? [True, True] Translation: X:199.78, Y:218.57, Z:-231.55 [[ 7.56894340e-02 -9.80591801e-01 1.80861355e-01 1.99780529e+02] [ 5.13218901e-01 1.93822574e-01 8.36085623e-01 2.18571781e+02] [-8.54913720e-01 2.95386185e-02 5.17928568e-01 -2.31545342e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.500714057 meters Centerline goodness : 0.990570 Centerline is valid? [True, True] Translation: X:199.77, Y:218.60, Z:-231.55 [[ 6.66702419e-02 -9.80384598e-01 1.85475386e-01 1.99768760e+02] [ 5.25619308e-01 1.92513800e-01 8.28651181e-01 2.18596512e+02] [-8.48103426e-01 4.22430695e-02 5.28144016e-01 -2.31546242e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.530714057 meters Centerline goodness : 0.990781 Centerline is valid? [True, True] Translation: X:199.79, Y:218.60, Z:-231.58 [[ 6.75773101e-02 -9.87653906e-01 1.41326109e-01 1.99787948e+02] [ 5.27358218e-01 1.55604405e-01 8.35272758e-01 2.18601458e+02] [-8.46951367e-01 1.80839986e-02 5.31362731e-01 -2.31575623e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.5607140569999 meters Centerline goodness : 0.989761 Centerline is valid? [True, True] Translation: X:199.78, Y:218.62, Z:-231.60 [[ 6.56640761e-02 -9.85501775e-01 1.56443217e-01 1.99783384e+02] [ 5.28226532e-01 1.67342847e-01 8.32450061e-01 2.18621592e+02] [-8.46560666e-01 2.79753937e-02 5.31556598e-01 -2.31595244e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.5907140569999 meters Centerline goodness : 0.989720 Centerline is valid? [True, True] Translation: X:199.78, Y:218.65, Z:-231.63 [[ 7.02014333e-02 -9.74942274e-01 2.11090789e-01 1.99775353e+02] [ 5.21743260e-01 2.16246383e-01 8.25240251e-01 2.18650264e+02] [-8.50209227e-01 5.22021480e-02 5.23850366e-01 -2.31626456e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.620714057 meters Centerline goodness : 0.989631 Centerline is valid? [True, True] Translation: X:199.79, Y:218.65, Z:-231.64 [[ 6.44293595e-02 -9.86045697e-01 1.53501600e-01 1.99790300e+02] [ 5.28305405e-01 1.64200441e-01 8.33025579e-01 2.18650062e+02] [-8.46606318e-01 2.74244204e-02 5.31512600e-01 -2.31642935e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.650714057 meters Centerline goodness : 0.989540 Centerline is valid? [True, True] Translation: X:199.79, Y:218.67, Z:-231.67 [[ 6.72817918e-02 -9.79515547e-01 1.89795823e-01 1.99786701e+02] [ 5.23065179e-01 1.96618685e-01 8.29303269e-01 2.18673362e+02] [-8.49632850e-01 4.34785761e-02 5.25579332e-01 -2.31671984e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.6807140569999 meters Centerline goodness : 0.989813 Centerline is valid? [True, True] Translation: X:199.79, Y:218.68, Z:-231.69 [[ 6.19104941e-02 -9.84393621e-01 1.64730961e-01 1.99792129e+02] [ 5.28052809e-01 1.72361634e-01 8.31535747e-01 2.18682612e+02] [-8.46951782e-01 3.55058576e-02 5.30482811e-01 -2.31689514e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.7107140569999 meters Centerline goodness : 0.989284 Centerline is valid? [True, True] Translation: X:199.80, Y:218.69, Z:-231.72 [[ 5.86680982e-02 -9.86394559e-01 1.53570273e-01 1.99799548e+02] [ 5.27488913e-01 1.61236689e-01 8.34121200e-01 2.18693484e+02] [-8.47533776e-01 3.20703121e-02 5.29771643e-01 -2.31715109e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.7407140569999 meters Centerline goodness : 0.984110 Centerline is valid? [True, True] Translation: X:199.79, Y:218.71, Z:-231.74 [[ 5.21688958e-02 -9.83596080e-01 1.72676457e-01 1.99791716e+02] [ 5.28421949e-01 1.73910440e-01 8.30978582e-01 2.18709114e+02] [-8.47377514e-01 4.78947947e-02 5.28826473e-01 -2.31737699e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.770714057 meters Centerline goodness : 0.984181 Centerline is valid? [True, True] Translation: X:199.81, Y:218.71, Z:-231.77 [[ 5.10211184e-02 -9.89115771e-01 1.38010282e-01 1.99806738e+02] [ 5.27694331e-01 1.44024441e-01 8.37135385e-01 2.18711027e+02] [-8.47900665e-01 3.01156599e-02 5.29299073e-01 -2.31767085e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.8007140569999 meters Centerline goodness : 0.984749 Centerline is valid? [True, True] Translation: X:199.81, Y:218.72, Z:-231.79 [[ 4.94393439e-02 -9.90097531e-01 1.31387333e-01 1.99811602e+02] [ 5.27259679e-01 1.37596798e-01 8.38489328e-01 2.18722227e+02] [-8.48264689e-01 2.78208810e-02 5.28841201e-01 -2.31792568e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.8307140569999 meters Centerline goodness : 0.990268 Centerline is valid? [True, True] Translation: X:199.83, Y:218.73, Z:-231.82 [[ 5.01531005e-02 -9.93632312e-01 1.00893487e-01 1.99827618e+02] [ 5.28948863e-01 1.12115489e-01 8.41215322e-01 2.18730545e+02] [-8.47170448e-01 1.11779387e-02 5.31203621e-01 -2.31816414e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.8607140569999 meters Centerline goodness : 0.990197 Centerline is valid? [True, True] Translation: X:199.82, Y:218.76, Z:-231.84 [[ 5.34382520e-02 -9.85829620e-01 1.59010419e-01 1.99815023e+02] [ 5.27288759e-01 1.63085303e-01 8.33888331e-01 2.18761804e+02] [-8.48004079e-01 3.92828716e-02 5.28531870e-01 -2.31837919e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.890714057 meters Centerline goodness : 0.989967 Centerline is valid? [True, True] Translation: X:199.81, Y:218.78, Z:-231.86 [[ 5.37184866e-02 -9.81164724e-01 1.85553521e-01 1.99809594e+02] [ 5.25501077e-01 1.85786173e-01 8.30260270e-01 2.18784781e+02] [-8.49095367e-01 5.29082499e-02 5.25583271e-01 -2.31858966e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.9207140569999 meters Centerline goodness : 0.991277 Centerline is valid? [True, True] Translation: X:199.82, Y:218.80, Z:-231.88 [[ 5.26554239e-02 -9.85219242e-01 1.63004451e-01 1.99818055e+02] [ 5.27681915e-01 1.66031519e-01 8.33057820e-01 2.18797022e+02] [-8.47808471e-01 4.21494884e-02 5.28624837e-01 -2.31882299e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.9507140569999 meters Centerline goodness : 0.990920 Centerline is valid? [True, True] Translation: X:199.81, Y:218.82, Z:-231.91 [[ 5.45864196e-02 -9.79559229e-01 1.93607955e-01 1.99813645e+02] [ 5.21856576e-01 1.93295494e-01 8.30844490e-01 2.18816867e+02] [-8.51284933e-01 5.56827586e-02 5.21740734e-01 -2.31914508e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.9807140569999 meters Centerline goodness : 0.991221 Centerline is valid? [True, True] Translation: X:199.81, Y:218.84, Z:-231.93 [[ 5.40551950e-02 -9.78086641e-01 2.01058596e-01 1.99812399e+02] [ 5.27075485e-01 1.98965505e-01 8.26198621e-01 2.18836729e+02] [-8.48097559e-01 6.13127293e-02 5.26280610e-01 -2.31930496e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.010714057 meters Centerline goodness : 0.990763 Centerline is valid? [True, True] Translation: X:199.82, Y:218.84, Z:-231.95 [[ 5.26694886e-02 -9.85057887e-01 1.63972205e-01 1.99823607e+02] [ 5.32768230e-01 1.66597800e-01 8.29700661e-01 2.18844764e+02] [-8.44620588e-01 4.36592719e-02 5.33582168e-01 -2.31950397e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.040714057 meters Centerline goodness : 0.991356 Centerline is valid? [True, True] Translation: X:199.83, Y:218.86, Z:-231.97 [[ 5.26353527e-02 -9.84793322e-01 1.65564590e-01 1.99825268e+02] [ 5.32988434e-01 1.67909225e-01 8.29294774e-01 2.18859022e+02] [-8.44483777e-01 4.45937884e-02 5.33721411e-01 -2.31974911e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.0707140569999 meters Centerline goodness : 0.991677 Centerline is valid? [True, True] Translation: X:199.83, Y:218.87, Z:-232.01 [[ 5.41861272e-02 -9.82515049e-01 1.78123672e-01 1.99826216e+02] [ 5.25993471e-01 1.79715243e-01 8.31284127e-01 2.18874769e+02] [-8.48760704e-01 4.86478211e-02 5.26534574e-01 -2.32006591e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.1007140569999 meters Centerline goodness : 0.991496 Centerline is valid? [True, True] Translation: X:199.83, Y:218.90, Z:-232.02 [[ 5.56807895e-02 -9.82911449e-01 1.75455784e-01 1.99825325e+02] [ 5.36384734e-01 1.77664201e-01 8.25061725e-01 2.18897999e+02] [-8.42134827e-01 4.81717159e-02 5.37111179e-01 -2.32016258e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.130714057 meters Centerline goodness : 0.992184 Centerline is valid? [True, True] Translation: X:199.82, Y:218.91, Z:-232.05 [[ 5.93423548e-02 -9.79893106e-01 1.90494058e-01 1.99824767e+02] [ 5.29817672e-01 1.92651125e-01 8.25941147e-01 2.18909627e+02] [-8.46032930e-01 5.19138257e-02 5.30597056e-01 -2.32050733e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.160714057 meters Centerline goodness : 0.991760 Centerline is valid? [True, True] Translation: X:199.84, Y:218.92, Z:-232.07 [[ 5.85657582e-02 -9.85968445e-01 1.56321073e-01 1.99835165e+02] [ 5.32455483e-01 1.63308372e-01 8.30554955e-01 2.18920120e+02] [-8.44429518e-01 3.45919319e-02 5.34548583e-01 -2.32069162e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.1907140569999 meters Centerline goodness : 0.992545 Centerline is valid? [True, True] Translation: X:199.83, Y:218.94, Z:-232.10 [[ 6.27593701e-02 -9.77858004e-01 1.99637135e-01 1.99826036e+02] [ 5.19358745e-01 2.02812220e-01 8.30140770e-01 2.18939168e+02] [-8.52248647e-01 5.15841798e-02 5.20587473e-01 -2.32101092e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.2207140569999 meters Centerline goodness : 0.992297 Centerline is valid? [True, True] Translation: X:199.83, Y:218.96, Z:-232.12 [[ 6.11493176e-02 -9.79638726e-01 1.91229516e-01 1.99830044e+02] [ 5.32207840e-01 1.94081906e-01 8.24067369e-01 2.18960943e+02] [-8.44402497e-01 5.13826905e-02 5.33239386e-01 -2.32120366e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.250714057 meters Centerline goodness : 0.991817 Centerline is valid? [True, True] Translation: X:199.83, Y:218.97, Z:-232.15 [[ 6.78323407e-02 -9.73506433e-01 2.18366660e-01 1.99825598e+02] [ 5.19061178e-01 2.21352210e-01 8.25577793e-01 2.18974246e+02] [-8.52041236e-01 5.73447817e-02 5.20324234e-01 -2.32151227e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.280714057 meters Centerline goodness : 0.991626 Centerline is valid? [True, True] Translation: X:199.84, Y:218.98, Z:-232.17 [[ 6.54865023e-02 -9.84712847e-01 1.61406715e-01 1.99843422e+02] [ 5.26898751e-01 1.71488989e-01 8.32447736e-01 2.18977833e+02] [-8.47401454e-01 3.05309059e-02 5.30074183e-01 -2.32172192e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.3107140569999 meters Centerline goodness : 0.992667 Centerline is valid? [True, True] Translation: X:199.84, Y:218.99, Z:-232.19 [[ 6.74494212e-02 -9.83442013e-01 1.68203396e-01 1.99843615e+02] [ 5.30214234e-01 1.78142502e-01 8.28937944e-01 2.18994845e+02] [-8.45176574e-01 3.32724504e-02 5.33450562e-01 -2.32193362e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.3407140569999 meters Centerline goodness : 0.992344 Centerline is valid? [True, True] Translation: X:199.84, Y:219.02, Z:-232.23 [[ 6.78778605e-02 -9.75766802e-01 2.08018616e-01 1.99836793e+02] [ 5.23599890e-01 2.12318868e-01 8.25084149e-01 2.19015232e+02] [-8.49255999e-01 5.29135777e-02 5.25323141e-01 -2.32227144e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.370714057 meters Centerline goodness : 0.992108 Centerline is valid? [True, True] Translation: X:199.82, Y:219.03, Z:-232.24 [[ 6.36606119e-02 -9.68265194e-01 2.41681281e-01 1.99820332e+02] [ 5.17982852e-01 2.39056142e-01 8.21307450e-01 2.19026694e+02] [-8.53018811e-01 7.29018241e-02 5.16763226e-01 -2.32244366e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.400714057 meters Centerline goodness : 0.992141 Centerline is valid? [True, True] Translation: X:199.88, Y:219.01, Z:-232.28 [[ 6.46136785e-02 -9.92702731e-01 1.01815321e-01 1.99875920e+02] [ 5.26677187e-01 1.20584948e-01 8.41469198e-01 2.19012434e+02] [-8.47606166e-01 -7.46613270e-04 5.30625319e-01 -2.32283854e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.4307140569999 meters Centerline goodness : 0.991924 Centerline is valid? [True, True] Translation: X:199.85, Y:219.06, Z:-232.30 [[ 6.79132420e-02 -9.78562061e-01 1.94432726e-01 1.99851662e+02] [ 5.26306172e-01 2.00699599e-01 8.26269620e-01 2.19055780e+02] [-8.47578672e-01 4.62164950e-02 5.28653413e-01 -2.32297488e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.4607140569999 meters Centerline goodness : 0.992572 Centerline is valid? [True, True] Translation: X:199.86, Y:219.07, Z:-232.32 [[ 6.71832224e-02 -9.80126445e-01 1.86650923e-01 1.99858509e+02] [ 5.27655216e-01 1.93674813e-01 8.27085267e-01 2.19068844e+02] [-8.46797725e-01 4.29210796e-02 5.30180529e-01 -2.32320506e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.4907140569999 meters Centerline goodness : 0.992563 Centerline is valid? [True, True] Translation: X:199.86, Y:219.08, Z:-232.35 [[ 6.75383073e-02 -9.77573426e-01 1.99471234e-01 1.99858755e+02] [ 5.25275636e-01 2.04815875e-01 8.25915228e-01 2.19083657e+02] [-8.48247655e-01 4.89964629e-02 5.27328421e-01 -2.32346305e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.520714057 meters Centerline goodness : 0.992323 Centerline is valid? [True, True] Translation: X:199.85, Y:219.10, Z:-232.38 [[ 7.00340696e-02 -9.65054911e-01 2.52515838e-01 1.99848756e+02] [ 5.12928491e-01 2.51947813e-01 8.20625775e-01 2.19101553e+02] [-8.55569747e-01 7.20508050e-02 5.12649090e-01 -2.32383310e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.5507140569999 meters Centerline goodness : 0.991139 Centerline is valid? [True, True] Translation: X:199.85, Y:219.11, Z:-232.41 [[ 6.97552367e-02 -9.62421378e-01 2.62448657e-01 1.99851290e+02] [ 5.07202784e-01 2.60762507e-01 8.21430613e-01 2.19112670e+02] [-8.58999152e-01 7.58156024e-02 5.06332353e-01 -2.32413078e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.5807140569999 meters Centerline goodness : 0.990860 Centerline is valid? [True, True] Translation: X:199.86, Y:219.12, Z:-232.44 [[ 6.74061600e-02 -9.68072181e-01 2.41438734e-01 1.99861155e+02] [ 5.08711733e-01 2.41518294e-01 8.26366315e-01 2.19120221e+02] [-8.58294112e-01 6.71205367e-02 5.08749498e-01 -2.32440502e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.6107140569999 meters Centerline goodness : 0.991720 Centerline is valid? [True, True] Translation: X:199.87, Y:219.12, Z:-232.45 [[ 5.74546073e-02 -9.78486826e-01 1.98147673e-01 1.99867475e+02] [ 5.17872352e-01 1.98894860e-01 8.32015061e-01 2.19122585e+02] [-8.53526330e-01 5.48121027e-02 5.18158700e-01 -2.32447319e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.640714057 meters Centerline goodness : 0.990503 Centerline is valid? [True, True] Translation: X:199.88, Y:219.14, Z:-232.49 [[ 6.31552565e-02 -9.71852230e-01 2.26968406e-01 1.99875158e+02] [ 5.05186322e-01 2.27264453e-01 8.32548886e-01 2.19137011e+02] [-8.60696342e-01 6.20814958e-02 5.05319399e-01 -2.32494580e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.6707140569999 meters Centerline goodness : 0.990306 Centerline is valid? [True, True] Translation: X:199.89, Y:219.15, Z:-232.52 [[ 5.79135229e-02 -9.79529217e-01 1.92791433e-01 1.99888279e+02] [ 5.17554192e-01 1.94596266e-01 8.33228631e-01 2.19151830e+02] [-8.53688282e-01 5.15248087e-02 5.18229208e-01 -2.32516790e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.7007140569999 meters Centerline goodness : 0.988745 Centerline is valid? [True, True] Translation: X:199.88, Y:219.17, Z:-232.54 [[ 5.84513503e-02 -9.73212223e-01 2.22354240e-01 1.99884679e+02] [ 5.09842765e-01 2.20598481e-01 8.31502655e-01 2.19166882e+02] [-8.58279555e-01 6.47632475e-02 5.09079490e-01 -2.32539080e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.7307140569999 meters Centerline goodness : 0.988799 Centerline is valid? [True, True] Translation: X:199.89, Y:219.18, Z:-232.57 [[ 5.97620195e-02 -9.73132977e-01 2.22352671e-01 1.99888444e+02] [ 5.06356265e-01 2.21518119e-01 8.33386499e-01 2.19177894e+02] [-8.60251030e-01 6.27848076e-02 5.05990350e-01 -2.32568215e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.760714057 meters Centerline goodness : 0.988977 Centerline is valid? [True, True] Translation: X:199.90, Y:219.19, Z:-232.59 [[ 5.44700722e-02 -9.80021299e-01 1.91288432e-01 1.99901724e+02] [ 5.13067745e-01 1.91818746e-01 8.36640340e-01 2.19188085e+02] [-8.56618060e-01 5.25720650e-02 5.13265699e-01 -2.32592441e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.790714057 meters Centerline goodness : 0.989751 Centerline is valid? [True, True] Translation: X:199.90, Y:219.20, Z:-232.61 [[ 5.30239694e-02 -9.79984404e-01 1.91882845e-01 1.99904291e+02] [ 5.18470490e-01 1.91241194e-01 8.33435754e-01 2.19203129e+02] [-8.53449946e-01 5.52935209e-02 5.18233362e-01 -2.32614089e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.8207140569999 meters Centerline goodness : 0.989047 Centerline is valid? [True, True] Translation: X:199.91, Y:219.22, Z:-232.64 [[ 5.03873363e-02 -9.79788077e-01 1.93588328e-01 1.99906537e+02] [ 5.21873081e-01 1.91096459e-01 8.31342668e-01 2.19219407e+02] [-8.51533678e-01 5.91393945e-02 5.20953864e-01 -2.32640188e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.8507140569999 meters Centerline goodness : 0.989047 Centerline is valid? [True, True] Translation: X:199.91, Y:219.24, Z:-232.66 [[ 4.97450745e-02 -9.78921405e-01 1.98086624e-01 1.99907339e+02] [ 5.22582402e-01 1.94528040e-01 8.30100280e-01 2.19235734e+02] [-8.51136335e-01 6.22231834e-02 5.21243911e-01 -2.32663591e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.880714057 meters Centerline goodness : 0.988976 Centerline is valid? [True, True] Translation: X:199.91, Y:219.25, Z:-232.68 [[ 4.82627718e-02 -9.81272623e-01 1.86479875e-01 1.99914073e+02] [ 5.25140166e-01 1.83739965e-01 8.30943699e-01 2.19246719e+02] [-8.49646109e-01 5.78244264e-02 5.24173468e-01 -2.32683840e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.910714057 meters Centerline goodness : 0.990392 Centerline is valid? [True, True] Translation: X:199.92, Y:219.26, Z:-232.71 [[ 4.43305249e-02 -9.83552368e-01 1.75098672e-01 1.99921248e+02] [ 5.25274737e-01 1.72035649e-01 8.33360778e-01 2.19258928e+02] [-8.49777180e-01 5.50315881e-02 5.24261642e-01 -2.32713495e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.9407140569999 meters Centerline goodness : 0.990554 Centerline is valid? [True, True] Translation: X:199.91, Y:219.29, Z:-232.74 [[ 4.54507453e-02 -9.73135025e-01 2.25704348e-01 1.99910295e+02] [ 5.20929184e-01 2.15874399e-01 8.25851699e-01 2.19286003e+02] [-8.52389005e-01 8.00404064e-02 5.16746087e-01 -2.32742983e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.9707140569999 meters Centerline goodness : 0.991037 Centerline is valid? [True, True] Translation: X:199.93, Y:219.30, Z:-232.75 [[ 4.01370961e-02 -9.84649406e-01 1.69866301e-01 1.99927002e+02] [ 5.32861653e-01 1.64904349e-01 8.29978924e-01 2.19295131e+02] [-8.45249947e-01 5.72022942e-02 5.31300692e-01 -2.32754787e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.000714057 meters Centerline goodness : 0.989836 Centerline is valid? [True, True] Translation: X:199.93, Y:219.31, Z:-232.77 [[ 4.08819032e-02 -9.82371283e-01 1.82415276e-01 1.99925192e+02] [ 5.33142513e-01 1.75853236e-01 8.27547401e-01 2.19312653e+02] [-8.45037118e-01 6.34216261e-02 5.30933109e-01 -2.32773602e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.030714057 meters Centerline goodness : 0.990329 Centerline is valid? [True, True] Translation: X:199.94, Y:219.32, Z:-232.80 [[ 3.57019197e-02 -9.90078624e-01 1.35903242e-01 1.99940856e+02] [ 5.34952936e-01 1.33799527e-01 8.34220021e-01 2.19319361e+02] [-8.44127200e-01 4.29185819e-02 5.34422367e-01 -2.32795066e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.0607140569999 meters Centerline goodness : 0.990782 Centerline is valid? [True, True] Translation: X:199.93, Y:219.34, Z:-232.82 [[ 3.33926520e-02 -9.85904950e-01 1.63940110e-01 1.99934148e+02] [ 5.38072769e-01 1.55964707e-01 8.28343350e-01 2.19342939e+02] [-8.42236681e-01 6.05511277e-02 5.35696682e-01 -2.32818980e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.0907140569999 meters Centerline goodness : 0.990020 Centerline is valid? [True, True] Translation: X:199.94, Y:219.36, Z:-232.84 [[ 3.31486050e-02 -9.87081766e-01 1.56750624e-01 1.99939461e+02] [ 5.31371398e-01 1.50239626e-01 8.33710077e-01 2.19355921e+02] [-8.46490170e-01 5.56564724e-02 5.29487252e-01 -2.32841792e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.120714057 meters Centerline goodness : 0.988870 Centerline is valid? [True, True] Translation: X:199.93, Y:219.38, Z:-232.87 [[ 3.65404214e-02 -9.80165241e-01 1.94784232e-01 1.99929675e+02] [ 5.34670586e-01 1.83845568e-01 8.24820084e-01 2.19375404e+02] [-8.44270195e-01 7.40061261e-02 5.30783319e-01 -2.32865823e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.150714057 meters Centerline goodness : 0.988916 Centerline is valid? [True, True] Translation: X:199.95, Y:219.38, Z:-232.90 [[ 3.16927940e-02 -9.89532882e-01 1.40784385e-01 1.99948107e+02] [ 5.27193838e-01 1.36217780e-01 8.38755849e-01 2.19376607e+02] [-8.49153828e-01 4.76381439e-02 5.25992760e-01 -2.32895144e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.1807140569999 meters Centerline goodness : 0.989405 Centerline is valid? [True, True] Translation: X:199.94, Y:219.40, Z:-232.92 [[ 3.32916046e-02 -9.85960146e-01 1.63628420e-01 1.99942718e+02] [ 5.29268361e-01 1.56270359e-01 8.33939193e-01 2.19395158e+02] [-8.47801080e-01 5.88401720e-02 5.27040001e-01 -2.32918429e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.2107140569999 meters Centerline goodness : 0.989854 Centerline is valid? [True, True] Translation: X:199.94, Y:219.41, Z:-232.94 [[ 3.31969826e-02 -9.85386170e-01 1.67069015e-01 1.99943856e+02] [ 5.27519410e-01 1.59255545e-01 8.34482441e-01 2.19407975e+02] [-8.48894123e-01 6.04298491e-02 5.25097135e-01 -2.32944949e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.2407140569999 meters Centerline goodness : 0.989703 Centerline is valid? [True, True] Translation: X:199.94, Y:219.42, Z:-232.97 [[ 3.44599230e-02 -9.83862129e-01 1.75578543e-01 1.99943547e+02] [ 5.23999040e-01 1.67385441e-01 8.35109047e-01 2.19420622e+02] [-8.51021457e-01 6.32251946e-02 5.21310900e-01 -2.32971897e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.270714057 meters Centerline goodness : 0.990161 Centerline is valid? [True, True] Translation: X:199.94, Y:219.44, Z:-233.00 [[ 3.24595785e-02 -9.82789382e-01 1.81855453e-01 1.99943609e+02] [ 5.27919155e-01 1.71357673e-01 8.31828055e-01 2.19438411e+02] [-8.48674108e-01 6.90041892e-02 5.24395538e-01 -2.32999499e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.3007140569999 meters Centerline goodness : 0.989585 Centerline is valid? [True, True] Translation: X:199.94, Y:219.46, Z:-233.02 [[ 3.44755068e-02 -9.79813672e-01 1.96917771e-01 1.99940754e+02] [ 5.27287121e-01 1.85212391e-01 8.29255487e-01 2.19456996e+02] [-8.48987475e-01 7.52432015e-02 5.23028421e-01 -2.33023881e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.3307140569999 meters Centerline goodness : 0.987973 Centerline is valid? [True, True] Translation: X:199.95, Y:219.46, Z:-233.04 [[ 3.69168906e-02 -9.82851225e-01 1.80667133e-01 1.99947182e+02] [ 5.20453967e-01 1.73245726e-01 8.36130125e-01 2.19464557e+02] [-8.53091327e-01 6.31616015e-02 5.17924513e-01 -2.33044492e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.3607140569999 meters Centerline goodness : 0.987468 Centerline is valid? [True, True] Translation: X:199.95, Y:219.48, Z:-233.07 [[ 3.79436442e-02 -9.83251404e-01 1.78260924e-01 1.99949599e+02] [ 5.19308027e-01 1.71811038e-01 8.37138066e-01 2.19477793e+02] [-8.53744372e-01 6.08082599e-02 5.17129483e-01 -2.33068671e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.390714057 meters Centerline goodness : 0.988740 Centerline is valid? [True, True] Translation: X:199.95, Y:219.49, Z:-233.10 [[ 3.72245468e-02 -9.82833607e-01 1.80699844e-01 1.99950825e+02] [ 5.24446657e-01 1.73135634e-01 8.33654459e-01 2.19493000e+02] [-8.50629201e-01 6.37350195e-02 5.21888695e-01 -2.33102066e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.4207140569999 meters Centerline goodness : 0.987119 Centerline is valid? [True, True] Translation: X:199.95, Y:219.50, Z:-233.12 [[ 4.32788936e-02 -9.79320884e-01 1.97629813e-01 1.99946546e+02] [ 5.15696869e-01 1.91322966e-01 8.35136074e-01 2.19503385e+02] [-8.55677321e-01 6.57733104e-02 5.13312960e-01 -2.33116952e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.4507140569999 meters Centerline goodness : 0.987430 Centerline is valid? [True, True] Translation: X:199.96, Y:219.51, Z:-233.16 [[ 4.19890154e-02 -9.85048441e-01 1.67082289e-01 1.99960297e+02] [ 5.13241323e-01 1.64744450e-01 8.42284163e-01 2.19513190e+02] [-8.57216581e-01 5.03868523e-02 5.12485023e-01 -2.33156651e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.4807140569999 meters Centerline goodness : 0.988031 Centerline is valid? [True, True] Translation: X:199.95, Y:219.54, Z:-233.18 [[ 4.19958557e-02 -9.79052228e-01 1.99231231e-01 1.99951645e+02] [ 5.16007299e-01 1.92007958e-01 8.34787046e-01 2.19540816e+02] [-8.55554099e-01 6.77471731e-02 5.13261634e-01 -2.33179037e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.510714057 meters Centerline goodness : 0.987816 Centerline is valid? [True, True] Translation: X:199.96, Y:219.55, Z:-233.21 [[ 4.09936192e-02 -9.81691814e-01 1.86012648e-01 1.99958591e+02] [ 5.15558735e-01 1.80253810e-01 8.37679984e-01 2.19553846e+02] [-8.55873071e-01 6.15609109e-02 5.13509046e-01 -2.33209454e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.540714057 meters Centerline goodness : 0.987520 Centerline is valid? [True, True] Translation: X:199.96, Y:219.57, Z:-233.23 [[ 4.14647970e-02 -9.80272078e-01 1.93254559e-01 1.99957530e+02] [ 5.14873270e-01 1.86725698e-01 8.36683351e-01 2.19572098e+02] [-8.56262919e-01 6.48087014e-02 5.12458433e-01 -2.33231434e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.5707140569999 meters Centerline goodness : 0.987806 Centerline is valid? [True, True] Translation: X:199.96, Y:219.59, Z:-233.26 [[ 4.11239296e-02 -9.77858227e-01 2.05187988e-01 1.99957054e+02] [ 5.10802768e-01 1.97072138e-01 8.36805297e-01 2.19588514e+02] [-8.58713779e-01 7.03978699e-02 5.07597070e-01 -2.33261359e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.6007140569999 meters Centerline goodness : 0.986240 Centerline is valid? [True, True] Translation: X:199.96, Y:219.60, Z:-233.28 [[ 4.42060414e-02 -9.80349985e-01 1.92249145e-01 1.99961535e+02] [ 5.18229444e-01 1.87023876e-01 8.34541978e-01 2.19598003e+02] [-8.54098396e-01 6.27373701e-02 5.16313813e-01 -2.33276482e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.630714057 meters Centerline goodness : 0.985852 Centerline is valid? [True, True] Translation: X:199.97, Y:219.60, Z:-233.30 [[ 4.65799973e-02 -9.83267767e-01 1.76110201e-01 1.99968767e+02] [ 5.11325150e-01 1.74922933e-01 8.41396790e-01 2.19604712e+02] [-8.58124056e-01 5.08573148e-02 5.10917448e-01 -2.33300599e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.660714057 meters Centerline goodness : 0.986320 Centerline is valid? [True, True] Translation: X:199.98, Y:219.62, Z:-233.33 [[ 4.25106221e-02 -9.87063974e-01 1.54588352e-01 1.99978284e+02] [ 5.13165887e-01 1.54330406e-01 8.44300242e-01 2.19617909e+02] [-8.57236035e-01 4.34377403e-02 5.13088241e-01 -2.33333856e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.6907140569999 meters Centerline goodness : 0.986585 Centerline is valid? [True, True] Translation: X:199.97, Y:219.64, Z:-233.36 [[ 4.07277010e-02 -9.80793093e-01 1.90751573e-01 1.99969911e+02] [ 5.12013292e-01 1.84425549e-01 8.38945532e-01 2.19642125e+02] [-8.58011447e-01 6.34990181e-02 5.09690329e-01 -2.33357659e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.7207140569999 meters Centerline goodness : 0.989566 Centerline is valid? [True, True] Translation: X:199.98, Y:219.65, Z:-233.38 [[ 2.76629384e-02 -9.89596794e-01 1.41184092e-01 1.99982260e+02] [ 5.28001379e-01 1.34393011e-01 8.38542225e-01 2.19648420e+02] [-8.48792852e-01 5.13488534e-02 5.26226177e-01 -2.33383175e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.750714057 meters Centerline goodness : 0.989515 Centerline is valid? [True, True] Translation: X:199.98, Y:219.67, Z:-233.40 [[ 2.48934702e-02 -9.88225132e-01 1.50968220e-01 1.99977238e+02] [ 5.33667528e-01 1.40833333e-01 8.33885449e-01 2.19667052e+02] [-8.45327916e-01 5.98085344e-02 5.30889494e-01 -2.33397033e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.780714057 meters Centerline goodness : 0.989578 Centerline is valid? [True, True] Translation: X:199.99, Y:219.67, Z:-233.43 [[ 2.26900765e-02 -9.92022340e-01 1.24003380e-01 1.99988580e+02] [ 5.33207026e-01 1.16929425e-01 8.37865011e-01 2.19671930e+02] [-8.45680453e-01 4.71082525e-02 5.31606419e-01 -2.33425256e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.8107140569999 meters Centerline goodness : 0.988670 Centerline is valid? [True, True] Translation: X:199.98, Y:219.70, Z:-233.47 [[ 3.14557475e-02 -9.81747558e-01 1.87569367e-01 1.99984398e+02] [ 5.21418970e-01 1.76220922e-01 8.34906249e-01 2.19697813e+02] [-8.52720818e-01 7.15396262e-02 5.17444962e-01 -2.33467623e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.8407140569999 meters Centerline goodness : 0.986853 Centerline is valid? [True, True] Translation: X:199.99, Y:219.71, Z:-233.48 [[ 2.96148165e-02 -9.82302571e-01 1.84944915e-01 1.99986080e+02] [ 5.18192343e-01 1.73308474e-01 8.37520668e-01 2.19712867e+02] [-8.54751226e-01 7.10340178e-02 5.14154169e-01 -2.33479718e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.870714057 meters Centerline goodness : 0.987310 Centerline is valid? [True, True] Translation: X:199.99, Y:219.72, Z:-233.51 [[ 2.80036985e-02 -9.86560479e-01 1.60978928e-01 1.99994742e+02] [ 5.18550088e-01 1.52016122e-01 8.41425520e-01 2.19721777e+02] [-8.54588556e-01 5.99126105e-02 5.15838036e-01 -2.33507900e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.900714057 meters Centerline goodness : 0.981442 Centerline is valid? [True, True] Translation: X:199.99, Y:219.73, Z:-233.52 [[ 2.06599213e-02 -9.85821006e-01 1.66523607e-01 1.99986851e+02] [ 5.17091687e-01 1.53087968e-01 8.42128412e-01 2.19730416e+02] [-8.55680639e-01 6.87096663e-02 5.12922632e-01 -2.33524449e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.9307140569999 meters Centerline goodness : 0.987395 Centerline is valid? [True, True] Translation: X:200.01, Y:219.74, Z:-233.56 [[ 2.70840211e-02 -9.92480787e-01 1.19366427e-01 2.00011169e+02] [ 5.15745262e-01 1.16163750e-01 8.48830258e-01 2.19736116e+02] [-8.56313774e-01 3.85729325e-02 5.15013445e-01 -2.33561614e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.9607140569999 meters Centerline goodness : 0.987790 Centerline is valid? [True, True] Translation: X:200.00, Y:219.76, Z:-233.57 [[ 2.73390861e-02 -9.87004946e-01 1.58347121e-01 1.99997808e+02] [ 5.19604990e-01 1.49356106e-01 8.41251097e-01 2.19764818e+02] [-8.53969103e-01 5.92789181e-02 5.16935954e-01 -2.33574222e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.9907140569999 meters Centerline goodness : 0.982569 Centerline is valid? [True, True] Translation: X:199.99, Y:219.77, Z:-233.59 [[ 2.06106328e-02 -9.88519549e-01 1.49680673e-01 1.99993480e+02] [ 5.16863601e-01 1.38689158e-01 8.44758744e-01 2.19769063e+02] [-8.55819619e-01 5.99534795e-02 5.13788245e-01 -2.33592209e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.020714057 meters Centerline goodness : 0.982562 Centerline is valid? [True, True] Translation: X:200.01, Y:219.77, Z:-233.62 [[ 1.98586235e-02 -9.94927072e-01 9.86192467e-02 2.00010661e+02] [ 5.14338492e-01 9.47515377e-02 8.52336824e-01 2.19765067e+02] [-8.57357307e-01 3.37974386e-02 5.13610925e-01 -2.33622854e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.0507140569999 meters Centerline goodness : 0.988752 Centerline is valid? [True, True] Translation: X:200.02, Y:219.79, Z:-233.66 [[ 2.14410435e-02 -9.96492436e-01 8.08894767e-02 2.00017767e+02] [ 5.16874693e-01 8.03049874e-02 8.52286138e-01 2.19787580e+02] [-8.55792518e-01 2.35358193e-02 5.16783545e-01 -2.33656626e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.0807140569999 meters Centerline goodness : 0.989652 Centerline is valid? [True, True] Translation: X:200.00, Y:219.82, Z:-233.65 [[ 8.89084695e-03 -9.93872720e-01 1.10172455e-01 1.99996060e+02] [ 5.28443472e-01 9.82050984e-02 8.43269385e-01 2.19818855e+02] [-8.48921934e-01 5.07225356e-02 5.26078678e-01 -2.33653276e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.1107140569999 meters Centerline goodness : 0.989520 Centerline is valid? [True, True] Translation: X:200.01, Y:219.82, Z:-233.68 [[ 1.16342232e-02 -9.97260860e-01 7.30439674e-02 2.00011739e+02] [ 5.29521034e-01 6.81100469e-02 8.45558097e-01 2.19824449e+02] [-8.48217024e-01 2.88409055e-02 5.28863010e-01 -2.33682595e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.140714057 meters Centerline goodness : 0.988945 Centerline is valid? [True, True] Translation: X:200.01, Y:219.85, Z:-233.71 [[ 1.57892026e-02 -9.94342903e-01 1.05037576e-01 2.00006657e+02] [ 5.26066854e-01 9.75966156e-02 8.44824577e-01 2.19845842e+02] [-8.50296634e-01 4.19176810e-02 5.24631816e-01 -2.33709774e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.1707140569999 meters Centerline goodness : 0.990528 Centerline is valid? [True, True] Translation: X:199.99, Y:219.87, Z:-233.72 [[ 9.16444275e-03 -9.90390149e-01 1.37997704e-01 1.99985076e+02] [ 5.39977086e-01 1.21054184e-01 8.32928947e-01 2.19868672e+02] [-8.41629823e-01 6.68822685e-02 5.35897381e-01 -2.33720876e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.2007140569999 meters Centerline goodness : 0.983646 Centerline is valid? [True, True] Translation: X:199.99, Y:219.86, Z:-233.75 [[ 1.02128356e-02 -9.93659544e-01 1.11966101e-01 1.99994368e+02] [ 5.25438027e-01 1.00600145e-01 8.44863593e-01 2.19863032e+02] [-8.50770579e-01 5.02027943e-02 5.23133923e-01 -2.33748302e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.2307140569999 meters Centerline goodness : 0.988638 Centerline is valid? [True, True] Translation: X:200.03, Y:219.86, Z:-233.79 [[ 1.43588102e-02 -9.99412562e-01 3.11183974e-02 2.00027940e+02] [ 5.26222377e-01 3.40161648e-02 8.49666353e-01 2.19861953e+02] [-8.50225755e-01 4.17499919e-03 5.26401686e-01 -2.33790739e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.260714057 meters Centerline goodness : 0.984207 Centerline is valid? [True, True] Translation: X:199.99, Y:219.90, Z:-233.79 [[ 1.23827267e-02 -9.90866792e-01 1.34274598e-01 1.99988289e+02] [ 5.26480951e-01 1.20624623e-01 8.41586305e-01 2.19899360e+02] [-8.50096745e-01 6.02718851e-02 5.23166153e-01 -2.33791216e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.290714057 meters Centerline goodness : 0.983698 Centerline is valid? [True, True] Translation: X:200.02, Y:219.89, Z:-233.83 [[ 1.37947170e-02 -9.99053802e-01 4.12456914e-02 2.00021667e+02] [ 5.22393915e-01 4.23732962e-02 8.51650810e-01 2.19886385e+02] [-8.52592695e-01 9.79821629e-03 5.22484154e-01 -2.33831860e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.3207140569999 meters Centerline goodness : 0.984560 Centerline is valid? [True, True] Translation: X:200.02, Y:219.90, Z:-233.85 [[ 1.51380872e-02 -9.98571987e-01 5.12330533e-02 2.00019147e+02] [ 5.21924182e-01 5.15959709e-02 8.51429976e-01 2.19904535e+02] [-8.52857542e-01 1.38507482e-02 5.21959931e-01 -2.33853692e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.3507140569999 meters Centerline goodness : 0.988548 Centerline is valid? [True, True] Translation: X:200.01, Y:219.95, Z:-233.88 [[ 1.92453428e-02 -9.95312212e-01 9.47798386e-02 2.00007513e+02] [ 5.29458567e-01 9.05598237e-02 8.43488319e-01 2.19950038e+02] [-8.48117470e-01 3.39487757e-02 5.28719432e-01 -2.33879040e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.380714057 meters Centerline goodness : 0.990670 Centerline is valid? [True, True] Translation: X:200.00, Y:219.97, Z:-233.88 [[ 5.15403934e-03 -9.97614963e-01 6.88318338e-02 2.00001435e+02] [ 5.42607710e-01 6.06082659e-02 8.37796820e-01 2.19966698e+02] [-8.39970422e-01 3.30306459e-02 5.41625948e-01 -2.33877417e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.410714057 meters Centerline goodness : 0.991377 Centerline is valid? [True, True] Translation: X:200.00, Y:219.98, Z:-233.90 [[ 3.01856706e-03 -9.97215113e-01 7.45178323e-02 1.99999578e+02] [ 5.50359045e-01 6.38738763e-02 8.32481261e-01 2.19984309e+02] [-8.34922637e-01 3.84986625e-02 5.49019165e-01 -2.33900666e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.4407140569999 meters Centerline goodness : 0.991424 Centerline is valid? [True, True] Translation: X:200.00, Y:220.00, Z:-233.93 [[-2.01315866e-03 -9.97627747e-01 6.88100754e-02 2.00003026e+02] [ 5.50096147e-01 5.63586431e-02 8.33197415e-01 2.19997041e+02] [-8.35098902e-01 3.95295159e-02 5.48677721e-01 -2.33925389e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.4707140569999 meters Centerline goodness : 0.984537 Centerline is valid? [True, True] Translation: X:200.00, Y:220.00, Z:-233.95 [[-4.97839452e-03 -9.97514077e-01 7.02914118e-02 2.00003426e+02] [ 5.37696205e-01 5.65955666e-02 8.41237025e-01 2.20001195e+02] [-8.43123957e-01 4.19834352e-02 5.36077778e-01 -2.33948595e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.500714057 meters Centerline goodness : 0.988692 Centerline is valid? [True, True] Translation: X:200.03, Y:220.01, Z:-233.98 [[-4.59916309e-03 -9.99281534e-01 3.76199933e-02 2.00025782e+02] [ 5.37751077e-01 2.92462727e-02 8.42596247e-01 2.20011196e+02] [-8.43091114e-01 2.41054295e-02 5.37230213e-01 -2.33981114e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.530714057 meters Centerline goodness : 0.991694 Centerline is valid? [True, True] Translation: X:200.01, Y:220.04, Z:-233.99 [[-1.41885868e-02 -9.97495459e-01 6.92928099e-02 2.00007803e+02] [ 5.51428136e-01 5.00029285e-02 8.32722474e-01 2.20041228e+02] [-8.34101730e-01 5.00251601e-02 5.49337590e-01 -2.33994610e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.5607140569999 meters Centerline goodness : 0.983543 Centerline is valid? [True, True] Translation: X:200.01, Y:220.05, Z:-234.02 [[-1.93924952e-02 -9.97367115e-01 6.98768208e-02 2.00008123e+02] [ 5.38572451e-01 4.84626201e-02 8.41184338e-01 2.20046546e+02] [-8.42356010e-01 5.39463939e-02 5.36214640e-01 -2.34018735e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.5907140569999 meters Centerline goodness : 0.990059 Centerline is valid? [True, True] Translation: X:200.01, Y:220.08, Z:-234.05 [[-2.26818613e-02 -9.96575883e-01 7.95112762e-02 2.00006907e+02] [ 5.50157460e-01 5.39641593e-02 8.33315450e-01 2.20080303e+02] [-8.34752839e-01 6.26448672e-02 5.47049649e-01 -2.34047832e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.620714057 meters Centerline goodness : 0.990628 Centerline is valid? [True, True] Translation: X:200.00, Y:220.10, Z:-234.06 [[-2.78510185e-02 -9.96545189e-01 7.82432505e-02 2.00003335e+02] [ 5.55357844e-01 4.96561574e-02 8.30127660e-01 2.20099730e+02] [-8.31144985e-01 6.65729037e-02 5.52056213e-01 -2.34060156e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.650714057 meters Centerline goodness : 0.991108 Centerline is valid? [True, True] Translation: X:200.00, Y:220.11, Z:-234.08 [[-3.02292625e-02 -9.96450860e-01 7.85612903e-02 1.99998703e+02] [ 5.58128097e-01 4.83756193e-02 8.28343424e-01 2.20114526e+02] [-8.29203967e-01 6.88874742e-02 5.54684862e-01 -2.34077051e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.6807140569999 meters Centerline goodness : 0.990184 Centerline is valid? [True, True] Translation: X:200.01, Y:220.13, Z:-234.12 [[-2.22713000e-02 -9.95475463e-01 9.23720318e-02 2.00005608e+02] [ 5.51043290e-01 6.48700997e-02 8.31951419e-01 2.20129520e+02] [-8.34179406e-01 6.94296279e-02 5.47105333e-01 -2.34115992e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.7107140569999 meters Centerline goodness : 0.990851 Centerline is valid? [True, True] Translation: X:200.00, Y:220.14, Z:-234.12 [[-2.80330509e-02 -9.97489413e-01 6.50309018e-02 2.00000177e+02] [ 5.54114411e-01 3.86394990e-02 8.31543270e-01 2.20140128e+02] [-8.31968370e-01 5.93452546e-02 5.51640075e-01 -2.34121441e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.7407140569999 meters Centerline goodness : 0.990551 Centerline is valid? [True, True] Translation: X:200.01, Y:220.15, Z:-234.16 [[-1.82427599e-02 -9.98018828e-01 6.02131241e-02 2.00010401e+02] [ 5.50762126e-01 4.02314898e-02 8.33692094e-01 2.20153806e+02] [-8.34462871e-01 4.83719529e-02 5.48937038e-01 -2.34155804e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.770714057 meters Centerline goodness : 0.990551 Centerline is valid? [True, True] Translation: X:200.01, Y:220.17, Z:-234.18 [[-1.87328177e-02 -9.96867025e-01 7.68454059e-02 2.00005146e+02] [ 5.51600265e-01 5.37994717e-02 8.32371771e-01 2.20174442e+02] [-8.33898213e-01 5.79806149e-02 5.48864299e-01 -2.34176394e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.8007140569999 meters Centerline goodness : 0.992068 Centerline is valid? [True, True] Translation: X:200.00, Y:220.19, Z:-234.19 [[-2.66735685e-02 -9.97194462e-01 6.99408772e-02 1.99997885e+02] [ 5.59661507e-01 4.30758236e-02 8.27601034e-01 2.20189545e+02] [-8.28291928e-01 6.12182896e-02 5.56942370e-01 -2.34194061e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.8307140569999 meters Centerline goodness : 0.992232 Centerline is valid? [True, True] Translation: X:200.00, Y:220.20, Z:-234.22 [[-2.63761341e-02 -9.98322669e-01 5.15378291e-02 2.00004391e+02] [ 5.58966466e-01 2.80138844e-02 8.28716907e-01 2.20199126e+02] [-8.28770649e-01 5.06662665e-02 5.57289997e-01 -2.34220022e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.8607140569999 meters Centerline goodness : 0.992592 Centerline is valid? [True, True] Translation: X:200.00, Y:220.21, Z:-234.24 [[-2.61218045e-02 -9.98340009e-01 5.13310656e-02 2.00002670e+02] [ 5.59489035e-01 2.79524611e-02 8.28366271e-01 2.20214763e+02] [-8.28426020e-01 5.03575902e-02 5.57830119e-01 -2.34242972e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.890714057 meters Centerline goodness : 0.991875 Centerline is valid? [True, True] Translation: X:200.00, Y:220.23, Z:-234.27 [[-2.64355762e-02 -9.98354734e-01 5.08820710e-02 2.00002310e+02] [ 5.59996186e-01 2.73737499e-02 8.28042843e-01 2.20230045e+02] [-8.28073325e-01 5.03835554e-02 5.58351203e-01 -2.34265770e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.9207140569999 meters Centerline goodness : 0.990959 Centerline is valid? [True, True] Translation: X:199.99, Y:220.26, Z:-234.30 [[-1.78255372e-02 -9.94678334e-01 1.01475430e-01 1.99994210e+02] [ 5.53578781e-01 7.46974630e-02 8.29440065e-01 2.20255601e+02] [-8.32606019e-01 7.09598595e-02 5.49301297e-01 -2.34302520e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.9507140569999 meters Centerline goodness : 0.992545 Centerline is valid? [True, True] Translation: X:200.00, Y:220.27, Z:-234.31 [[-2.74250865e-02 -9.97767509e-01 6.08922245e-02 1.99995789e+02] [ 5.63337161e-01 3.48942492e-02 8.25489936e-01 2.20265227e+02] [-8.25771826e-01 5.69419858e-02 5.61122538e-01 -2.34311024e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.9807140569999 meters Centerline goodness : 0.990769 Centerline is valid? [True, True] Translation: X:200.00, Y:220.28, Z:-234.35 [[-1.70731439e-02 -9.97353900e-01 7.06661563e-02 2.00002800e+02] [ 5.52165747e-01 4.95166221e-02 8.32262634e-01 2.20279851e+02] [-8.33559533e-01 5.32287707e-02 5.49859257e-01 -2.34347335e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.010714057 meters Centerline goodness : 0.991335 Centerline is valid? [True, True] Translation: X:199.99, Y:220.30, Z:-234.37 [[-1.78887818e-02 -9.96053690e-01 8.69312235e-02 1.99994910e+02] [ 5.58437042e-01 6.21663162e-02 8.27214252e-01 2.20304481e+02] [-8.29354003e-01 6.33434706e-02 5.55121197e-01 -2.34367598e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.040714057 meters Centerline goodness : 0.990266 Centerline is valid? [True, True] Translation: X:199.99, Y:220.32, Z:-234.39 [[-1.37441700e-02 -9.96180758e-01 8.62264217e-02 1.99993921e+02] [ 5.52958972e-01 6.42760167e-02 8.30725568e-01 2.20320158e+02] [-8.33095117e-01 5.90973069e-02 5.49963667e-01 -2.34386299e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.0707140569999 meters Centerline goodness : 0.993028 Centerline is valid? [True, True] Translation: X:200.00, Y:220.34, Z:-234.41 [[-1.49894162e-02 -9.98114663e-01 5.95183679e-02 1.99999807e+02] [ 5.61448645e-01 4.08533163e-02 8.26502526e-01 2.20337533e+02] [-8.27375814e-01 4.58052974e-02 5.59777758e-01 -2.34410453e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.1007140569999 meters Centerline goodness : 0.992251 Centerline is valid? [True, True] Translation: X:199.99, Y:220.36, Z:-234.43 [[-1.44232299e-02 -9.96453030e-01 8.29055502e-02 1.99990983e+02] [ 5.62122985e-01 6.04906233e-02 8.24838551e-01 2.20361425e+02] [-8.26927881e-01 5.84999514e-02 5.59256681e-01 -2.34429310e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.130714057 meters Centerline goodness : 0.993107 Centerline is valid? [True, True] Translation: X:199.99, Y:220.38, Z:-234.45 [[-1.35002468e-02 -9.96268848e-01 8.52415706e-02 1.99989958e+02] [ 5.62807551e-01 6.28920291e-02 8.24191879e-01 2.20379394e+02] [-8.26477710e-01 5.91013933e-02 5.59858572e-01 -2.34453312e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.160714057 meters Centerline goodness : 0.992437 Centerline is valid? [True, True] Translation: X:199.99, Y:220.40, Z:-234.48 [[-1.14173279e-02 -9.96142208e-01 8.70077328e-02 1.99988637e+02] [ 5.64894313e-01 6.53725313e-02 8.22569661e-01 2.20396610e+02] [-8.25084274e-01 5.85417209e-02 5.61968689e-01 -2.34477205e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.1907140569999 meters Centerline goodness : 0.992542 Centerline is valid? [True, True] Translation: X:199.99, Y:220.41, Z:-234.50 [[-1.18905250e-02 -9.95573419e-01 9.32318819e-02 1.99986029e+02] [ 5.65935220e-01 7.01674449e-02 8.21458371e-01 2.20414620e+02] [-8.24363962e-01 6.25307769e-02 5.62595734e-01 -2.34498960e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.2207140569999 meters Centerline goodness : 0.992725 Centerline is valid? [True, True] Translation: X:199.97, Y:220.43, Z:-234.51 [[-1.87042164e-02 -9.94019554e-01 1.07588471e-01 1.99972082e+02] [ 5.64861609e-01 7.82829317e-02 8.21464026e-01 2.20426017e+02] [-8.24973645e-01 7.61374377e-02 5.60019263e-01 -2.34511309e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.250714057 meters Centerline goodness : 0.992531 Centerline is valid? [True, True] Translation: X:200.00, Y:220.41, Z:-234.55 [[-1.90196478e-02 -9.99659406e-01 1.78696628e-02 2.00002788e+02] [ 5.57927060e-01 4.21952356e-03 8.29879263e-01 2.20413830e+02] [-8.29672013e-01 2.57539798e-02 5.57656780e-01 -2.34545560e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.280714057 meters Centerline goodness : 0.992924 Centerline is valid? [True, True] Translation: X:200.00, Y:220.43, Z:-234.57 [[-1.94928275e-02 -9.99521020e-01 2.40366606e-02 2.00000570e+02] [ 5.58580069e-01 9.05206628e-03 8.29401210e-01 2.20429504e+02] [-8.29221525e-01 2.95937742e-02 5.58136069e-01 -2.34567671e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.3107140569999 meters Centerline goodness : 0.993261 Centerline is valid? [True, True] Translation: X:200.00, Y:220.45, Z:-234.59 [[-1.90609387e-02 -9.99128502e-01 3.71337696e-02 1.99998652e+02] [ 5.62835206e-01 1.99739047e-02 8.26327765e-01 2.20448561e+02] [-8.26349328e-01 3.66507757e-02 5.61963975e-01 -2.34594927e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.3407140569999 meters Centerline goodness : 0.993176 Centerline is valid? [True, True] Translation: X:200.00, Y:220.46, Z:-234.62 [[-1.82849126e-02 -9.99089140e-01 3.85558229e-02 1.99998433e+02] [ 5.63044565e-01 2.15771261e-02 8.26144809e-01 2.20464550e+02] [-8.26224231e-01 3.68146321e-02 5.62137174e-01 -2.34617726e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.370714057 meters Centerline goodness : 0.993097 Centerline is valid? [True, True] Translation: X:200.00, Y:220.48, Z:-234.64 [[-1.68951210e-02 -9.99130588e-01 3.81132901e-02 1.99998551e+02] [ 5.63478739e-01 2.19744766e-02 8.25838261e-01 2.20479430e+02] [-8.25957787e-01 3.54286660e-02 5.62617583e-01 -2.34640460e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.400714057 meters Centerline goodness : 0.993527 Centerline is valid? [True, True] Translation: X:200.00, Y:220.50, Z:-234.66 [[-1.33298757e-02 -9.99191846e-01 3.79205718e-02 1.99998228e+02] [ 5.63731688e-01 2.38125504e-02 8.25614648e-01 2.20495371e+02] [-8.25850409e-01 3.23823686e-02 5.62958687e-01 -2.34662942e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.4307140569999 meters Centerline goodness : 0.993758 Centerline is valid? [True, True] Translation: X:200.00, Y:220.51, Z:-234.69 [[-1.02435034e-02 -9.99243783e-01 3.75091006e-02 1.99997847e+02] [ 5.63342173e-01 2.52249390e-02 8.25838543e-01 2.20511643e+02] [-8.26160195e-01 2.95899381e-02 5.62657772e-01 -2.34685183e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.4607140569999 meters Centerline goodness : 0.993641 Centerline is valid? [True, True] Translation: X:200.02, Y:220.53, Z:-234.71 [[-6.84182580e-03 -9.99976546e-01 3.10529626e-04 2.00016961e+02] [ 5.67927025e-01 -3.63015502e-03 8.23070906e-01 2.20530747e+02] [-8.23050474e-01 5.80766593e-03 5.67938542e-01 -2.34712812e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.4907140569999 meters Centerline goodness : 0.992324 Centerline is valid? [True, True] Translation: X:200.00, Y:220.56, Z:-234.72 [[-2.67760909e-03 -9.98855737e-01 4.77498381e-02 2.00000450e+02] [ 5.62600261e-01 3.79715443e-02 8.25856591e-01 2.20560059e+02] [-8.26724729e-01 2.90753925e-02 5.61854825e-01 -2.34724229e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.520714057 meters Centerline goodness : 0.993088 Centerline is valid? [True, True] Translation: X:200.01, Y:220.58, Z:-234.75 [[-4.85212098e-03 -9.99232872e-01 3.88603187e-02 2.00005574e+02] [ 5.67819518e-01 2.92351082e-02 8.22633760e-01 2.20576677e+02] [-8.23138781e-01 2.60571659e-02 5.67242075e-01 -2.34750260e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.5507140569999 meters Centerline goodness : 0.993369 Centerline is valid? [True, True] Translation: X:199.99, Y:220.60, Z:-234.77 [[-1.22679162e-03 -9.96387668e-01 8.49123706e-02 1.99993325e+02] [ 5.62610966e-01 6.95112203e-02 8.23794326e-01 2.20599955e+02] [-8.26720869e-01 4.87832548e-02 5.60493353e-01 -2.34774089e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.5807140569999 meters Centerline goodness : 0.992377 Centerline is valid? [True, True] Translation: X:200.01, Y:220.60, Z:-234.80 [[-2.67119938e-03 -9.99346781e-01 3.60399145e-02 2.00011281e+02] [ 5.61308424e-01 2.83285343e-02 8.27121725e-01 2.20602181e+02] [-8.27602391e-01 2.24389146e-02 5.60866095e-01 -2.34797262e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.6107140569999 meters Centerline goodness : 0.993087 Centerline is valid? [True, True] Translation: X:199.99, Y:220.62, Z:-234.82 [[-8.16239944e-03 -9.95746857e-01 9.17691209e-02 1.99988777e+02] [ 5.58914001e-01 7.15557113e-02 8.26132507e-01 2.20621980e+02] [-8.29185452e-01 5.80342701e-02 5.55952794e-01 -2.34818223e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.640714057 meters Centerline goodness : 0.992489 Centerline is valid? [True, True] Translation: X:200.03, Y:220.62, Z:-234.86 [[-4.40998662e-03 -9.99990255e-01 2.04941916e-04 2.00029411e+02] [ 5.55807487e-01 -2.28075597e-03 8.31307907e-01 2.20618330e+02] [-8.31299338e-01 3.77996499e-03 5.55812128e-01 -2.34855768e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.6707140569999 meters Centerline goodness : 0.991926 Centerline is valid? [True, True] Translation: X:200.02, Y:220.64, Z:-234.87 [[-8.35966846e-03 -9.99424985e-01 3.28605546e-02 2.00022175e+02] [ 5.56603759e-01 2.26496826e-02 8.30469293e-01 2.20644031e+02] [-8.30736042e-01 2.52327562e-02 5.56094360e-01 -2.34874053e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.7007140569999 meters Centerline goodness : 0.993249 Centerline is valid? [True, True] Translation: X:200.02, Y:220.66, Z:-234.90 [[-1.31268529e-02 -9.98951853e-01 4.38506784e-02 2.00020845e+02] [ 5.61863881e-01 2.89072234e-02 8.26724471e-01 2.20664606e+02] [-8.27125543e-01 3.54904029e-02 5.60895504e-01 -2.34897473e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.7307140569999 meters Centerline goodness : 0.992842 Centerline is valid? [True, True] Translation: X:200.01, Y:220.68, Z:-234.91 [[-1.78057010e-02 -9.96342612e-01 8.35724646e-02 2.00006433e+02] [ 5.51318064e-01 5.99465247e-02 8.32138694e-01 2.20679488e+02] [-8.34105119e-01 6.08918222e-02 5.48234290e-01 -2.34914153e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.760714057 meters Centerline goodness : 0.992651 Centerline is valid? [True, True] Translation: X:200.03, Y:220.68, Z:-234.95 [[-2.03401251e-02 -9.99414666e-01 2.75064351e-02 2.00027760e+02] [ 5.47911309e-01 1.18701818e-02 8.36452208e-01 2.20676560e+02] [-8.36289111e-01 3.20846295e-02 5.47349157e-01 -2.34948389e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.790714057 meters Centerline goodness : 0.992195 Centerline is valid? [True, True] Translation: X:200.03, Y:220.69, Z:-234.97 [[-2.07279050e-02 -9.99331676e-01 3.01090470e-02 2.00029676e+02] [ 5.48810926e-01 1.37996450e-02 8.35832601e-01 2.20692761e+02] [-8.35689489e-01 3.38492327e-02 5.48158105e-01 -2.34970677e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.8207140569999 meters Centerline goodness : 0.992602 Centerline is valid? [True, True] Translation: X:200.03, Y:220.71, Z:-234.99 [[-2.17830445e-02 -9.99308238e-01 3.01420894e-02 2.00031942e+02] [ 5.48806842e-01 1.32485716e-02 8.35844200e-01 2.20707308e+02] [-8.35665334e-01 3.47494163e-02 5.48138603e-01 -2.34994544e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.8507140569999 meters Centerline goodness : 0.992197 Centerline is valid? [True, True] Translation: X:200.04, Y:220.72, Z:-235.02 [[-2.43375723e-02 -9.99349681e-01 2.66063311e-02 2.00036171e+02] [ 5.47659245e-01 8.93740199e-03 8.36653737e-01 2.20720378e+02] [-8.36347437e-01 3.49333240e-02 5.47085577e-01 -2.35018399e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.880714057 meters Centerline goodness : 0.992736 Centerline is valid? [True, True] Translation: X:200.03, Y:220.74, Z:-235.04 [[-2.55889381e-02 -9.98761489e-01 4.26695907e-02 2.00031763e+02] [ 5.53383983e-01 2.13948856e-02 8.32651443e-01 2.20739709e+02] [-8.32533107e-01 4.49193343e-02 5.52151139e-01 -2.35041145e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.910714057 meters Centerline goodness : 0.991783 Centerline is valid? [True, True] Translation: X:200.04, Y:220.76, Z:-235.08 [[-1.77126239e-02 -9.98263497e-01 5.61805431e-02 2.00039980e+02] [ 5.42573252e-01 3.75997296e-02 8.39166567e-01 2.20759160e+02] [-8.39821725e-01 4.53459018e-02 5.40965082e-01 -2.35079091e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.9407140569999 meters Centerline goodness : 0.991336 Centerline is valid? [True, True] Translation: X:200.03, Y:220.78, Z:-235.09 [[-1.93017073e-02 -9.96671827e-01 7.92004679e-02 2.00031507e+02] [ 5.45785306e-01 5.58677338e-02 8.36060522e-01 2.20782724e+02] [-8.37702718e-01 5.93638471e-02 5.42890495e-01 -2.35092725e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.9707140569999 meters Centerline goodness : 0.990761 Centerline is valid? [True, True] Translation: X:200.04, Y:220.79, Z:-235.11 [[-2.28059216e-02 -9.98409896e-01 5.15516262e-02 2.00042165e+02] [ 5.48703964e-01 3.06040988e-02 8.35456372e-01 2.20794793e+02] [-8.35705600e-01 4.73399341e-02 5.47133512e-01 -2.35113851e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.000714057 meters Centerline goodness : 0.990232 Centerline is valid? [True, True] Translation: X:200.04, Y:220.81, Z:-235.14 [[-2.32178617e-02 -9.98365827e-01 5.22169219e-02 2.00042375e+02] [ 5.48977959e-01 3.09193872e-02 8.35264744e-01 2.20810758e+02] [-8.35514292e-01 4.80590005e-02 5.47362952e-01 -2.35135783e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.030714057 meters Centerline goodness : 0.991218 Centerline is valid? [True, True] Translation: X:200.05, Y:220.83, Z:-235.16 [[-2.38729767e-02 -9.98760225e-01 4.36817331e-02 2.00046381e+02] [ 5.49413640e-01 2.33968501e-02 8.35222868e-01 2.20826423e+02] [-8.35209395e-01 4.39385961e-02 5.48173939e-01 -2.35160474e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.0607140569999 meters Centerline goodness : 0.990878 Centerline is valid? [True, True] Translation: X:200.04, Y:220.84, Z:-235.18 [[-2.38234580e-02 -9.98262572e-01 5.38913675e-02 2.00043144e+02] [ 5.50800482e-01 3.18803196e-02 8.34027862e-01 2.20843383e+02] [-8.34296873e-01 4.95528189e-02 5.49084006e-01 -2.35181817e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.0907140569999 meters Centerline goodness : 0.990669 Centerline is valid? [True, True] Translation: X:200.05, Y:220.85, Z:-235.21 [[-2.39952325e-02 -9.98856609e-01 4.13485649e-02 2.00048919e+02] [ 5.50998615e-01 2.12974044e-02 8.34234348e-01 2.20853623e+02] [-8.34161109e-01 4.28006492e-02 5.49857572e-01 -2.35208725e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.120714057 meters Centerline goodness : 0.990420 Centerline is valid? [True, True] Translation: X:200.05, Y:220.87, Z:-235.24 [[-2.40692499e-02 -9.98117762e-01 5.64057165e-02 2.00046899e+02] [ 5.46857528e-01 3.40868671e-02 8.36531487e-01 2.20869229e+02] [-8.36879630e-01 5.09805761e-02 5.45007767e-01 -2.35236238e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.150714057 meters Centerline goodness : 0.989766 Centerline is valid? [True, True] Translation: X:200.04, Y:220.89, Z:-235.26 [[-2.22497669e-02 -9.96295636e-01 8.30659596e-02 2.00040415e+02] [ 5.42237969e-01 5.77782443e-02 8.38236040e-01 2.20886851e+02] [-8.39930314e-01 6.36920737e-02 5.38943770e-01 -2.35264182e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.1807140569999 meters Centerline goodness : 0.990978 Centerline is valid? [True, True] Translation: X:200.05, Y:220.90, Z:-235.29 [[-2.28987399e-02 -9.98294157e-01 5.37068251e-02 2.00050376e+02] [ 5.44094854e-01 3.26237875e-02 8.38389216e-01 2.20896367e+02] [-8.38711176e-01 4.84196637e-02 5.42419670e-01 -2.35289243e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.2107140569999 meters Centerline goodness : 0.990123 Centerline is valid? [True, True] Translation: X:200.04, Y:220.91, Z:-235.31 [[-1.95224716e-02 -9.96593045e-01 8.01322391e-02 2.00042972e+02] [ 5.40724359e-01 5.68904425e-02 8.39273880e-01 2.20913491e+02] [-8.40973270e-01 5.97141541e-02 5.37771493e-01 -2.35313302e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.2407140569999 meters Centerline goodness : 0.991175 Centerline is valid? [True, True] Translation: X:200.04, Y:220.93, Z:-235.34 [[-2.07746647e-02 -9.95976640e-01 8.71719332e-02 2.00041734e+02] [ 5.43527397e-01 6.19295182e-02 8.37103759e-01 2.20933617e+02] [-8.39134305e-01 6.47708839e-02 5.40054026e-01 -2.35344509e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.270714057 meters Centerline goodness : 0.990159 Centerline is valid? [True, True] Translation: X:200.04, Y:220.94, Z:-235.37 [[-1.47214865e-02 -9.96072776e-01 8.73058054e-02 2.00042518e+02] [ 5.33761251e-01 6.60050806e-02 8.43055310e-01 2.20943074e+02] [-8.45507070e-01 5.90114832e-02 5.30693358e-01 -2.35365435e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.3007140569999 meters Centerline goodness : 0.989571 Centerline is valid? [True, True] Translation: X:200.06, Y:220.95, Z:-235.38 [[-1.61824238e-02 -9.99082782e-01 3.96449666e-02 2.00057024e+02] [ 5.40267220e-01 2.46264478e-02 8.41133086e-01 2.20952054e+02] [-8.41337899e-01 3.50304480e-02 5.39373162e-01 -2.35383746e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.3307140569999 meters Centerline goodness : 0.990748 Centerline is valid? [True, True] Translation: X:200.04, Y:220.97, Z:-235.41 [[-1.32722963e-02 -9.96164100e-01 8.64923777e-02 2.00043047e+02] [ 5.33881984e-01 6.60783793e-02 8.42973117e-01 2.20974801e+02] [-8.45454832e-01 5.73649112e-02 5.30957054e-01 -2.35413891e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.3607140569999 meters Centerline goodness : 0.989789 Centerline is valid? [True, True] Translation: X:200.05, Y:220.99, Z:-235.44 [[-1.24201655e-02 -9.96810516e-01 7.88323267e-02 2.00046299e+02] [ 5.32861736e-01 6.01130630e-02 8.44064447e-01 2.20988202e+02] [-8.46111169e-01 5.24901505e-02 5.30415567e-01 -2.35438859e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.390714057 meters Centerline goodness : 0.990485 Centerline is valid? [True, True] Translation: X:200.06, Y:221.00, Z:-235.45 [[-1.47041679e-02 -9.98860918e-01 4.53944278e-02 2.00055943e+02] [ 5.40440589e-01 3.02570943e-02 8.40837962e-01 2.20999220e+02] [-8.41253682e-01 3.68968139e-02 5.39380078e-01 -2.35454218e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.4207140569999 meters Centerline goodness : 0.990298 Centerline is valid? [True, True] Translation: X:200.05, Y:221.02, Z:-235.48 [[-1.32135664e-02 -9.96625261e-01 8.10153793e-02 2.00045891e+02] [ 5.35362585e-01 6.13795660e-02 8.42389133e-01 2.21021401e+02] [-8.44518978e-01 5.45035677e-02 5.32744833e-01 -2.35483773e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.4507140569999 meters Centerline goodness : 0.990427 Centerline is valid? [True, True] Translation: X:200.06, Y:221.03, Z:-235.51 [[-1.59768869e-02 -9.98996539e-01 4.18408095e-02 2.00060147e+02] [ 5.39664923e-01 2.66118724e-02 8.41459196e-01 2.21031464e+02] [-8.41728288e-01 3.60239157e-02 5.38698216e-01 -2.35510633e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.4807140569999 meters Centerline goodness : 0.990082 Centerline is valid? [True, True] Translation: X:200.06, Y:221.05, Z:-235.53 [[-1.55093362e-02 -9.98782471e-01 4.68298689e-02 2.00058842e+02] [ 5.40653622e-01 3.10212038e-02 8.40673150e-01 2.21048050e+02] [-8.41102325e-01 3.83570208e-02 5.39514242e-01 -2.35528930e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.510714057 meters Centerline goodness : 0.989916 Centerline is valid? [True, True] Translation: X:200.05, Y:221.07, Z:-235.56 [[-1.25021557e-02 -9.97466777e-01 7.00266048e-02 2.00054416e+02] [ 5.35392319e-01 5.24698347e-02 8.42972112e-01 2.21066893e+02] [-8.44510960e-01 4.80306749e-02 5.33380065e-01 -2.35558891e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.540714057 meters Centerline goodness : 0.990342 Centerline is valid? [True, True] Translation: X:200.06, Y:221.08, Z:-235.59 [[-1.29715015e-02 -9.97715136e-01 6.63042025e-02 2.00056202e+02] [ 5.36032399e-01 4.90382210e-02 8.42771926e-01 2.21083939e+02] [-8.44097748e-01 4.64732180e-02 5.34171539e-01 -2.35587480e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.5707140569999 meters Centerline goodness : 0.990014 Centerline is valid? [True, True] Translation: X:200.07, Y:221.10, Z:-235.60 [[-1.31716148e-02 -9.99205263e-01 3.76211648e-02 2.00065809e+02] [ 5.42744094e-01 2.44551677e-02 8.39542014e-01 2.21095748e+02] [-8.39794830e-01 3.14767890e-02 5.41990641e-01 -2.35600625e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.6007140569999 meters Centerline goodness : 0.989811 Centerline is valid? [True, True] Translation: X:200.07, Y:221.11, Z:-235.62 [[-1.35122998e-02 -9.99608630e-01 2.44949826e-02 2.00071024e+02] [ 5.44512018e-01 1.31902531e-02 8.38649318e-01 2.21109749e+02] [-8.38644191e-01 2.46698934e-02 5.44120682e-01 -2.35624996e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.630714057 meters Centerline goodness : 0.988957 Centerline is valid? [True, True] Translation: X:200.07, Y:221.13, Z:-235.65 [[-1.18540665e-02 -9.98948008e-01 4.42985197e-02 2.00065548e+02] [ 5.42967368e-01 3.07708672e-02 8.39189842e-01 2.21127223e+02] [-8.39670125e-01 3.40004629e-02 5.42031411e-01 -2.35647327e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.660714057 meters Centerline goodness : 0.988957 Centerline is valid? [True, True] Translation: X:200.07, Y:221.14, Z:-235.67 [[-1.22882172e-02 -9.99315184e-01 3.49021850e-02 2.00069077e+02] [ 5.42965706e-01 2.26420492e-02 8.39449569e-01 2.21140428e+02] [-8.39664958e-01 2.92660282e-02 5.42315644e-01 -2.35672602e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.6907140569999 meters Centerline goodness : 0.988740 Centerline is valid? [True, True] Translation: X:200.07, Y:221.15, Z:-235.70 [[-1.25787190e-02 -9.99536650e-01 2.77175167e-02 2.00073286e+02] [ 5.45028523e-01 1.63862443e-02 8.38257359e-01 2.21154928e+02] [-8.38323139e-01 2.56510410e-02 5.44569866e-01 -2.35696134e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.7207140569999 meters Centerline goodness : 0.989138 Centerline is valid? [True, True] Translation: X:200.07, Y:221.17, Z:-235.72 [[-1.38063648e-02 -9.99474418e-01 2.93303864e-02 2.00073824e+02] [ 5.45770270e-01 1.70457227e-02 8.37761455e-01 2.21171397e+02] [-8.37821101e-01 2.75740932e-02 5.45248083e-01 -2.35720232e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.750714057 meters Centerline goodness : 0.990171 Centerline is valid? [True, True] Translation: X:200.06, Y:221.18, Z:-235.73 [[-2.53780869e-02 -9.99227846e-01 2.99944077e-02 2.00064962e+02] [ 5.52705148e-01 1.09763538e-02 8.33304590e-01 2.21183395e+02] [-8.32990380e-01 3.77257398e-02 5.51999815e-01 -2.35731792e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.780714057 meters Centerline goodness : 0.988402 Centerline is valid? [True, True] Translation: X:200.09, Y:221.19, Z:-235.77 [[-1.88793046e-02 -9.99765280e-01 1.06281344e-02 2.00085514e+02] [ 5.43486292e-01 -1.33952122e-03 8.39416974e-01 2.21193124e+02] [-8.39205710e-01 2.16238541e-02 5.43384014e-01 -2.35773441e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.8107140569999 meters Centerline goodness : 0.989031 Centerline is valid? [True, True] Translation: X:200.08, Y:221.22, Z:-235.80 [[-2.22633851e-02 -9.99436147e-01 2.51342552e-02 2.00080509e+02] [ 5.44570964e-01 8.96032720e-03 8.38666905e-01 2.21215062e+02] [-8.38419231e-01 3.23589499e-02 5.44064419e-01 -2.35796262e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.8407140569999 meters Centerline goodness : 0.989141 Centerline is valid? [True, True] Translation: X:200.07, Y:221.23, Z:-235.82 [[-2.69511211e-02 -9.98724999e-01 4.26850450e-02 2.00074820e+02] [ 5.45043737e-01 2.11134971e-02 8.38141722e-01 2.21234040e+02] [-8.37974321e-01 4.58540755e-02 5.43779773e-01 -2.35816015e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.870714057 meters Centerline goodness : 0.988973 Centerline is valid? [True, True] Translation: X:200.08, Y:221.25, Z:-235.84 [[-3.26259079e-02 -9.98919660e-01 3.30917380e-02 2.00078556e+02] [ 5.45856108e-01 9.92659722e-03 8.37820131e-01 2.21248116e+02] [-8.37243489e-01 4.53979697e-02 5.44942534e-01 -2.35840257e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.900714057 meters Centerline goodness : 0.989016 Centerline is valid? [True, True] Translation: X:200.08, Y:221.26, Z:-235.86 [[-3.66440181e-02 -9.98991506e-01 2.59458588e-02 2.00081167e+02] [ 5.46414472e-01 1.70889992e-03 8.37513167e-01 2.21262950e+02] [-8.36712878e-01 4.48670404e-02 5.45800796e-01 -2.35863186e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.9307140569999 meters Centerline goodness : 0.988880 Centerline is valid? [True, True] Translation: X:200.08, Y:221.28, Z:-235.88 [[-4.28405806e-02 -9.98903793e-01 1.88652398e-02 2.00082683e+02] [ 5.48917764e-01 -7.75612893e-03 8.35840374e-01 2.21278579e+02] [-8.34777799e-01 4.61633521e-02 5.48648314e-01 -2.35883998e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.9607140569999 meters Centerline goodness : 0.988537 Centerline is valid? [True, True] Translation: X:200.09, Y:221.29, Z:-235.91 [[-4.74095640e-02 -9.98857567e-01 5.99125735e-03 2.00086391e+02] [ 5.49060086e-01 -2.10489443e-02 8.35517782e-01 2.21293162e+02] [-8.34437149e-01 4.29010941e-02 5.49430743e-01 -2.35906382e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.9907140569999 meters Centerline goodness : 0.989039 Centerline is valid? [True, True] Translation: X:200.08, Y:221.31, Z:-235.93 [[-4.85424599e-02 -9.98455110e-01 2.70374514e-02 2.00080114e+02] [ 5.46745492e-01 -3.90822852e-03 8.37289730e-01 2.21310579e+02] [-8.35890541e-01 5.54267078e-02 5.46090545e-01 -2.35929746e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.020714057 meters Centerline goodness : 0.988830 Centerline is valid? [True, True] Translation: X:200.09, Y:221.32, Z:-235.95 [[-5.31990321e-02 -9.98553283e-01 7.82331010e-03 2.00085606e+02] [ 5.46953448e-01 -2.25830628e-02 8.36858370e-01 2.21324909e+02] [-8.35470999e-01 4.87990417e-02 5.47363558e-01 -2.35952549e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.0507140569999 meters Centerline goodness : 0.989101 Centerline is valid? [True, True] Translation: X:200.09, Y:221.34, Z:-235.98 [[-5.49676396e-02 -9.98475020e-01 5.11790014e-03 2.00086747e+02] [ 5.45836073e-01 -2.57563775e-02 8.37496024e-01 2.21340633e+02] [-8.36087041e-01 4.88287141e-02 5.46419452e-01 -2.35976805e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.0807140569999 meters Centerline goodness : 0.988938 Centerline is valid? [True, True] Translation: X:200.08, Y:221.34, Z:-235.98 [[-5.33547397e-02 -9.98346351e-01 2.13970644e-02 2.00081142e+02] [ 5.41040932e-01 -1.08917672e-02 8.40925728e-01 2.21341510e+02] [-8.39302080e-01 5.64440610e-02 5.40727367e-01 -2.35975461e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.1107140569999 meters Centerline goodness : 0.987851 Centerline is valid? [True, True] Translation: X:200.08, Y:221.36, Z:-236.00 [[-5.34282115e-02 -9.98252292e-01 2.52544452e-02 2.00079894e+02] [ 5.40288892e-01 -7.62977694e-03 8.41445007e-01 2.21356360e+02] [-8.39781721e-01 5.86015980e-02 5.39752270e-01 -2.35999722e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.140714057 meters Centerline goodness : 0.989324 Centerline is valid? [True, True] Translation: X:200.08, Y:221.37, Z:-236.02 [[-5.60807801e-02 -9.98410449e-01 5.61440024e-03 2.00084324e+02] [ 5.43451818e-01 -2.58074979e-02 8.39043559e-01 2.21369162e+02] [-8.37564963e-01 5.01053734e-02 5.44035278e-01 -2.36024108e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.1707140569999 meters Centerline goodness : 0.988240 Centerline is valid? [True, True] Translation: X:200.08, Y:221.39, Z:-236.05 [[-5.54470921e-02 -9.97934819e-01 3.24301950e-02 2.00075359e+02] [ 5.43771113e-01 -2.94025797e-03 8.39228414e-01 2.21388222e+02] [-8.37399903e-01 6.41673784e-02 5.42811156e-01 -2.36048118e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.2007140569999 meters Centerline goodness : 0.988074 Centerline is valid? [True, True] Translation: X:200.07, Y:221.40, Z:-236.08 [[-5.40125910e-02 -9.97222108e-01 5.12904180e-02 2.00069447e+02] [ 5.40624538e-01 1.39811288e-02 8.41147809e-01 2.21403441e+02] [-8.39528290e-01 7.31614312e-02 5.38367584e-01 -2.36078759e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.2307140569999 meters Centerline goodness : 0.987926 Centerline is valid? [True, True] Translation: X:200.09, Y:221.40, Z:-236.09 [[-5.73977305e-02 -9.98348279e-01 -2.49293015e-03 2.00086959e+02] [ 5.50960529e-01 -3.37583688e-02 8.33848229e-01 2.21397685e+02] [-8.32555101e-01 4.64874898e-02 5.51988149e-01 -2.36089207e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.260714057 meters Centerline goodness : 0.989355 Centerline is valid? [True, True] Translation: X:200.08, Y:221.41, Z:-236.09 [[-5.76305206e-02 -9.98325831e-01 4.92535936e-03 2.00081508e+02] [ 5.52401274e-01 -2.77782861e-02 8.33115358e-01 2.21406463e+02] [-8.31583763e-01 5.07336466e-02 5.53077338e-01 -2.36093611e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.290714057 meters Centerline goodness : 0.988535 Centerline is valid? [True, True] Translation: X:200.08, Y:221.41, Z:-236.09 [[-5.55464888e-02 -9.98410657e-01 9.52620140e-03 2.00076919e+02] [ 5.51951741e-01 -2.27544326e-02 8.33565541e-01 2.21408762e+02] [-8.32023956e-01 5.15596425e-02 5.52338429e-01 -2.36093420e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.3207140569999 meters Centerline goodness : 0.988278 Centerline is valid? [True, True] Translation: X:200.07, Y:221.41, Z:-236.10 [[-5.40442298e-02 -9.98404197e-01 1.63793065e-02 2.00073805e+02] [ 5.50451576e-01 -1.61024276e-02 8.34711791e-01 2.21413045e+02] [-8.33116008e-01 5.41273709e-02 5.50443407e-01 -2.36097220e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.3507140569999 meters Centerline goodness : 0.988667 Centerline is valid? [True, True] Translation: X:200.07, Y:221.41, Z:-236.10 [[-5.15720155e-02 -9.98590249e-01 1.25635304e-02 2.00072826e+02] [ 5.49634771e-01 -1.78777427e-02 8.35213748e-01 2.21413364e+02] [-8.33811697e-01 4.99790095e-02 5.49781914e-01 -2.36098260e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.380714057 meters Centerline goodness : 0.989786 Centerline is valid? [True, True] Translation: X:200.07, Y:221.43, Z:-236.12 [[-5.31382213e-02 -9.98571035e-01 5.67603409e-03 2.00072230e+02] [ 5.53017200e-01 -2.46946154e-02 8.32803790e-01 2.21432840e+02] [-8.31473575e-01 4.73926566e-02 5.53539186e-01 -2.36117680e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.410714057 meters Centerline goodness : 0.988340 Centerline is valid? [True, True] Translation: X:200.07, Y:221.43, Z:-236.12 [[-5.07293594e-02 -9.98666530e-01 9.57572958e-03 2.00069366e+02] [ 5.53973366e-01 -2.01598099e-02 8.32290269e-01 2.21434524e+02] [-8.30987390e-01 4.75262513e-02 5.54257353e-01 -2.36116478e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.4407140569999 meters Centerline goodness : 0.988521 Centerline is valid? [True, True] Translation: X:200.07, Y:221.44, Z:-236.12 [[-4.72278473e-02 -9.98838174e-01 9.58293091e-03 2.00066328e+02] [ 5.55350587e-01 -1.82818571e-02 8.31415359e-01 2.21438371e+02] [-8.30274205e-01 4.45878439e-02 5.55568779e-01 -2.36121148e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.4707140569999 meters Centerline goodness : 0.988503 Centerline is valid? [True, True] Translation: X:200.06, Y:221.46, Z:-236.14 [[-4.57541429e-02 -9.98742563e-01 2.04902844e-02 2.00061245e+02] [ 5.55890092e-01 -8.41305824e-03 8.31213225e-01 2.21456273e+02] [-8.29995641e-01 4.94217948e-02 5.55576027e-01 -2.36141196e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.500714057 meters Centerline goodness : 0.988333 Centerline is valid? [True, True] Translation: X:200.07, Y:221.47, Z:-236.16 [[-4.72899061e-02 -9.98881203e-01 -8.60440332e-05 2.00066070e+02] [ 5.57555291e-01 -2.64677417e-02 8.29717757e-01 2.21470687e+02] [-8.28791748e-01 3.91893005e-02 5.58183157e-01 -2.36163162e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.530714057 meters Centerline goodness : 0.988625 Centerline is valid? [True, True] Translation: X:200.07, Y:221.48, Z:-236.18 [[-4.63076693e-02 -9.98927034e-01 6.16831652e-04 2.00065165e+02] [ 5.59749734e-01 -2.54370948e-02 8.28271205e-01 2.21482818e+02] [-8.27366808e-01 3.87005804e-02 5.60327074e-01 -2.36175127e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.5607140569999 meters Centerline goodness : 0.989080 Centerline is valid? [True, True] Translation: X:200.06, Y:221.48, Z:-236.17 [[-4.54335520e-02 -9.98967187e-01 5.92885052e-04 2.00064600e+02] [ 5.61055718e-01 -2.50260485e-02 8.27399649e-01 2.21479705e+02] [-8.26530262e-01 3.79243465e-02 5.61613275e-01 -2.36168974e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.5907140569999 meters Centerline goodness : 0.988906 Centerline is valid? [True, True] Translation: X:200.06, Y:221.50, Z:-236.19 [[-4.59079861e-02 -9.98945240e-01 9.29257765e-04 2.00062955e+02] [ 5.65250989e-01 -2.52099206e-02 8.24533674e-01 2.21499053e+02] [-8.23640563e-01 3.83779443e-02 5.65812122e-01 -2.36186663e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.620714057 meters Centerline goodness : 0.988625 Centerline is valid? [True, True] Translation: X:200.06, Y:221.52, Z:-236.21 [[-4.61690866e-02 -9.98927378e-01 3.53668231e-03 2.00061316e+02] [ 5.64168023e-01 -2.31530079e-02 8.25335314e-01 2.21515834e+02] [-8.24368157e-01 4.01002606e-02 5.64631837e-01 -2.36210238e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.650714057 meters Centerline goodness : 0.988753 Centerline is valid? [True, True] Translation: X:200.06, Y:221.51, Z:-236.21 [[-4.39209057e-02 -9.99008457e-01 7.28398760e-03 2.00060075e+02] [ 5.61770919e-01 -1.86675408e-02 8.27082195e-01 2.21512533e+02] [-8.26126134e-01 4.04181315e-02 5.62033794e-01 -2.36206639e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.6807140569999 meters Centerline goodness : 0.988746 Centerline is valid? [True, True] Translation: X:200.06, Y:221.53, Z:-236.23 [[-4.29560281e-02 -9.99068244e-01 -4.17409282e-03 2.00062700e+02] [ 5.65041072e-01 -2.77397084e-02 8.24596323e-01 2.21529143e+02] [-8.23943789e-01 3.30628490e-02 5.65706179e-01 -2.36227326e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.7107140569999 meters Centerline goodness : 0.988857 Centerline is valid? [True, True] Translation: X:200.05, Y:221.55, Z:-236.25 [[-4.12413580e-02 -9.98751390e-01 2.81924165e-02 2.00052002e+02] [ 5.62041335e-01 1.39030863e-04 8.27109134e-01 2.21546938e+02] [-8.26080316e-01 4.99564073e-02 5.61333830e-01 -2.36251487e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.7407140569999 meters Centerline goodness : 0.988341 Centerline is valid? [True, True] Translation: X:200.06, Y:221.56, Z:-236.28 [[-4.02871525e-02 -9.98991088e-01 1.98431762e-02 2.00055473e+02] [ 5.60600557e-01 -6.15980595e-03 8.28063447e-01 2.21558041e+02] [-8.27105774e-01 4.44844140e-02 5.60283122e-01 -2.36280086e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.770714057 meters Centerline goodness : 0.989557 Centerline is valid? [True, True] Translation: X:200.06, Y:221.57, Z:-236.31 [[-4.26327092e-02 -9.99088618e-01 2.09409300e-03 2.00061375e+02] [ 5.59218837e-01 -2.21257523e-02 8.28724770e-01 2.21569543e+02] [-8.27923152e-01 3.65018384e-02 5.59652456e-01 -2.36307285e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.8007140569999 meters Centerline goodness : 0.988789 Centerline is valid? [True, True] Translation: X:200.06, Y:221.58, Z:-236.31 [[-4.22211466e-02 -9.99017036e-01 1.35032138e-02 2.00056613e+02] [ 5.58991311e-01 -1.24182093e-02 8.29080516e-01 2.21575564e+02] [-8.28097874e-01 4.25529092e-02 5.58966154e-01 -2.36311299e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.8307140569999 meters Centerline goodness : 0.989263 Centerline is valid? [True, True] Translation: X:200.05, Y:221.57, Z:-236.31 [[-3.88452903e-02 -9.98615979e-01 3.54565815e-02 2.00049740e+02] [ 5.47974113e-01 8.38316294e-03 8.36453283e-01 2.21574896e+02] [-8.35592852e-01 5.19215594e-02 5.46890059e-01 -2.36313062e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.8607140569999 meters Centerline goodness : 0.989296 Centerline is valid? [True, True] Translation: X:200.05, Y:221.59, Z:-236.34 [[-4.15315933e-02 -9.98434933e-01 3.74541275e-02 2.00048963e+02] [ 5.48319275e-01 8.56091281e-03 8.36225259e-01 2.21592410e+02] [-8.35237152e-01 5.52665874e-02 5.47105570e-01 -2.36338014e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.890714057 meters Centerline goodness : 0.990146 Centerline is valid? [True, True] Translation: X:200.04, Y:221.61, Z:-236.36 [[-4.39894867e-02 -9.97907400e-01 4.73893138e-02 2.00044356e+02] [ 5.49627515e-01 1.54372108e-02 8.35267195e-01 2.21610382e+02] [-8.34250873e-01 6.27894460e-02 5.47798290e-01 -2.36356986e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.9207140569999 meters Centerline goodness : 0.990482 Centerline is valid? [True, True] Translation: X:200.05, Y:221.63, Z:-236.38 [[-5.29301752e-02 -9.98112967e-01 3.11271821e-02 2.00048539e+02] [ 5.57658305e-01 -3.68640396e-03 8.30062423e-01 2.21629064e+02] [-8.28381320e-01 6.12936811e-02 5.56801107e-01 -2.36380489e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.9507140569999 meters Centerline goodness : 0.989557 Centerline is valid? [True, True] Translation: X:200.04, Y:221.65, Z:-236.40 [[-5.12635780e-02 -9.97364162e-01 5.13495339e-02 2.00040809e+02] [ 5.57846436e-01 1.40509710e-02 8.29825237e-01 2.21647681e+02] [-8.28359463e-01 7.11849652e-02 5.55655740e-01 -2.36396587e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.9807140569999 meters Centerline goodness : 0.990604 Centerline is valid? [True, True] Translation: X:200.05, Y:221.66, Z:-236.43 [[-5.93185594e-02 -9.98192697e-01 9.62537353e-03 2.00054122e+02] [ 5.57358949e-01 -2.51191114e-02 8.29891579e-01 2.21657345e+02] [-8.28149932e-01 5.45927610e-02 5.57841662e-01 -2.36426859e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.010714057 meters Centerline goodness : 0.989772 Centerline is valid? [True, True] Translation: X:200.05, Y:221.66, Z:-236.43 [[-5.97705242e-02 -9.97964045e-01 2.22541963e-02 2.00050141e+02] [ 5.54171649e-01 -1.46313337e-02 8.32273818e-01 2.21663157e+02] [-8.30253737e-01 6.20780870e-02 5.53917903e-01 -2.36429520e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.040714057 meters Centerline goodness : 0.988760 Centerline is valid? [True, True] Translation: X:200.05, Y:221.66, Z:-236.43 [[-6.02720987e-02 -9.98097400e-01 1.29944164e-02 2.00053301e+02] [ 5.52982606e-01 -2.25494364e-02 8.32887604e-01 2.21663015e+02] [-8.31009935e-01 5.73855701e-02 5.53289603e-01 -2.36434228e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.0707140569999 meters Centerline goodness : 0.989754 Centerline is valid? [True, True] Translation: X:200.06, Y:221.66, Z:-236.44 [[-5.90918635e-02 -9.98251133e-01 1.68171575e-03 2.00056706e+02] [ 5.47832586e-01 -3.10207639e-02 8.36012662e-01 2.21659966e+02] [-8.34498418e-01 5.03228448e-02 5.48707574e-01 -2.36443065e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.1007140569999 meters Centerline goodness : 0.990681 Centerline is valid? [True, True] Translation: X:200.05, Y:221.68, Z:-236.46 [[-5.92359871e-02 -9.98059338e-01 1.92004049e-02 2.00048088e+02] [ 5.53555213e-01 -1.68359934e-02 8.32642286e-01 2.21680520e+02] [-8.30703151e-01 5.99508719e-02 5.53478246e-01 -2.36459852e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.130714057 meters Centerline goodness : 0.989676 Centerline is valid? [True, True] Translation: X:200.04, Y:221.70, Z:-236.47 [[-5.54088949e-02 -9.97827054e-01 3.56514272e-02 2.00040692e+02] [ 5.53684712e-01 -9.93353377e-04 8.32725797e-01 2.21698901e+02] [-8.30880915e-01 6.58800664e-02 5.52536626e-01 -2.36473788e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.160714057 meters Centerline goodness : 0.991085 Centerline is valid? [True, True] Translation: X:200.04, Y:221.71, Z:-236.50 [[-5.73437734e-02 -9.97998471e-01 2.66597938e-02 2.00042295e+02] [ 5.54330721e-01 -9.61929770e-03 8.32240903e-01 2.21711874e+02] [-8.30318700e-01 6.25021764e-02 5.53772819e-01 -2.36504886e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.1907140569999 meters Centerline goodness : 0.991085 Centerline is valid? [True, True] Translation: X:200.02, Y:221.74, Z:-236.53 [[-5.28753991e-02 -9.94723652e-01 8.79150124e-02 2.00022394e+02] [ 5.49167726e-01 4.45647845e-02 8.34523091e-01 2.21736787e+02] [-8.34037770e-01 9.24058289e-02 5.43913745e-01 -2.36531585e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.2207140569999 meters Centerline goodness : 0.991152 Centerline is valid? [True, True] Translation: X:200.05, Y:221.73, Z:-236.56 [[-5.99192232e-02 -9.98201868e-01 -1.64824797e-03 2.00049537e+02] [ 5.65912049e-01 -3.53302142e-02 8.23708279e-01 2.21733639e+02] [-8.22285376e-01 4.84231968e-02 5.67011424e-01 -2.36558471e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.250714057 meters Centerline goodness : 0.991239 Centerline is valid? [True, True] Translation: X:200.04, Y:221.74, Z:-236.56 [[-5.70609653e-02 -9.98080480e-01 2.40707668e-02 2.00039809e+02] [ 5.64069147e-01 -1.23363327e-02 8.25635400e-01 2.21739471e+02] [-8.23753631e-01 6.06891297e-02 5.63690328e-01 -2.36556752e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.280714057 meters Centerline goodness : 0.991123 Centerline is valid? [True, True] Translation: X:200.04, Y:221.75, Z:-236.57 [[-5.73842676e-02 -9.98263722e-01 1.32886120e-02 2.00042268e+02] [ 5.67569482e-01 -2.16701215e-02 8.23040272e-01 2.21747603e+02] [-8.21323279e-01 5.47717739e-02 5.67827547e-01 -2.36571872e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.3107140569999 meters Centerline goodness : 0.991006 Centerline is valid? [True, True] Translation: X:200.03, Y:221.74, Z:-236.56 [[-5.23496875e-02 -9.98006453e-01 3.52509569e-02 2.00033833e+02] [ 5.63220407e-01 -3.57024583e-04 8.26306630e-01 2.21743840e+02] [-8.24646763e-01 6.31109521e-02 5.62116290e-01 -2.36559529e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.3407140569999 meters Centerline goodness : 0.990499 Centerline is valid? [True, True] Translation: X:200.03, Y:221.76, Z:-236.58 [[-4.82479070e-02 -9.97725996e-01 4.70635329e-02 2.00028217e+02] [ 5.62833486e-01 1.17685997e-02 8.26486520e-01 2.21760566e+02] [-8.25160958e-01 6.63651770e-02 5.60985790e-01 -2.36576499e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.370714057 meters Centerline goodness : 0.991085 Centerline is valid? [True, True] Translation: X:200.04, Y:221.77, Z:-236.61 [[-5.04772384e-02 -9.98553677e-01 1.85095407e-02 2.00035448e+02] [ 5.64408829e-01 -1.32313577e-02 8.25389366e-01 2.21773606e+02] [-8.23950680e-01 5.21103240e-02 5.64260393e-01 -2.36605687e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.400714057 meters Centerline goodness : 0.991169 Centerline is valid? [True, True] Translation: X:200.03, Y:221.77, Z:-236.60 [[-4.28740433e-02 -9.98216692e-01 4.15361576e-02 2.00027965e+02] [ 5.55776730e-01 1.07181685e-02 8.31262502e-01 2.21769552e+02] [-8.30225297e-01 5.87244144e-02 5.54326077e-01 -2.36596178e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.4307140569999 meters Centerline goodness : 0.992054 Centerline is valid? [True, True] Translation: X:200.03, Y:221.79, Z:-236.61 [[-4.36550333e-02 -9.98426132e-01 3.52064853e-02 2.00026041e+02] [ 5.60448472e-01 4.69816272e-03 8.28175970e-01 2.21790302e+02] [-8.27037937e-01 5.58854705e-02 5.59361301e-01 -2.36610673e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.4607140569999 meters Centerline goodness : 0.991408 Centerline is valid? [True, True] Translation: X:200.03, Y:221.81, Z:-236.63 [[-4.43872948e-02 -9.98402539e-01 3.49590847e-02 2.00025553e+02] [ 5.59768030e-01 4.12846992e-03 8.28639070e-01 2.21805743e+02] [-8.27459679e-01 5.63500246e-02 5.58690571e-01 -2.36633080e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.4907140569999 meters Centerline goodness : 0.991918 Centerline is valid? [True, True] Translation: X:200.03, Y:221.80, Z:-236.64 [[-4.36104835e-02 -9.98771489e-01 2.35295170e-02 2.00029673e+02] [ 5.58733858e-01 -4.85882296e-03 8.29332785e-01 2.21803418e+02] [-8.28199615e-01 4.93143415e-02 5.58259343e-01 -2.36636494e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.520714057 meters Centerline goodness : 0.992396 Centerline is valid? [True, True] Translation: X:200.01, Y:221.83, Z:-236.66 [[-4.17747088e-02 -9.95570946e-01 8.42221210e-02 2.00010992e+02] [ 5.51139833e-01 4.73487928e-02 8.33068410e-01 2.21828888e+02] [-8.33366521e-01 8.12193560e-02 5.46720823e-01 -2.36661455e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.5507140569999 meters Centerline goodness : 0.991520 Centerline is valid? [True, True] Translation: X:200.04, Y:221.84, Z:-236.70 [[-5.26873468e-02 -9.98608418e-01 -2.29599254e-03 2.00038909e+02] [ 5.66625836e-01 -3.17886810e-02 8.23361793e-01 2.21835040e+02] [-8.22289004e-01 4.20797796e-02 5.67512190e-01 -2.36703219e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.5807140569999 meters Centerline goodness : 0.991520 Centerline is valid? [True, True] Translation: X:200.03, Y:221.84, Z:-236.71 [[-5.18876601e-02 -9.98603732e-01 9.91247157e-03 2.00034475e+02] [ 5.66988339e-01 -2.12869887e-02 8.23450719e-01 2.21841315e+02] [-8.22089955e-01 4.83471868e-02 5.67301204e-01 -2.36705246e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.6107140569999 meters Centerline goodness : 0.992273 Centerline is valid? [True, True] Translation: X:200.04, Y:221.85, Z:-236.71 [[-5.42090039e-02 -9.98501037e-01 7.55395131e-03 2.00035601e+02] [ 5.66224679e-01 -2.45076132e-02 8.23886515e-01 2.21845899e+02] [-8.22466411e-01 4.89393009e-02 5.66704463e-01 -2.36713052e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.640714057 meters Centerline goodness : 0.992770 Centerline is valid? [True, True] Translation: X:200.02, Y:221.85, Z:-236.72 [[-6.27501853e-02 -9.97273555e-01 3.88313050e-02 2.00019425e+02] [ 5.54365444e-01 -2.47516472e-03 8.32269685e-01 2.21854931e+02] [-8.29904434e-01 7.37518106e-02 5.53009314e-01 -2.36724089e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.6707140569999 meters Centerline goodness : 0.992271 Centerline is valid? [True, True] Translation: X:200.05, Y:221.84, Z:-236.73 [[-5.51470740e-02 -9.97681655e-01 -3.98762468e-02 2.00053210e+02] [ 5.62753253e-01 -6.40462893e-02 8.24140066e-01 2.21835253e+02] [-8.24783351e-01 2.30084256e-02 5.64980563e-01 -2.36727995e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.7007140569999 meters Centerline goodness : 0.992266 Centerline is valid? [True, True] Translation: X:200.03, Y:221.85, Z:-236.71 [[-5.16594826e-02 -9.98416863e-01 2.22500921e-02 2.00031325e+02] [ 5.62481564e-01 -1.06793533e-02 8.26740855e-01 2.21847151e+02] [-8.25194394e-01 5.52242714e-02 5.62142768e-01 -2.36713612e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.7307140569999 meters Centerline goodness : 0.991185 Centerline is valid? [True, True] Translation: X:200.04, Y:221.84, Z:-236.72 [[-5.16075524e-02 -9.98631839e-01 8.43274989e-03 2.00036619e+02] [ 5.58785871e-01 -2.18765550e-02 8.29023381e-01 2.21844292e+02] [-8.27704664e-01 4.74959691e-02 5.59150358e-01 -2.36718382e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.760714057 meters Centerline goodness : 0.991171 Centerline is valid? [True, True] Translation: X:200.04, Y:221.85, Z:-236.73 [[-5.28104123e-02 -9.98601727e-01 2.37727470e-03 2.00037868e+02] [ 5.62543091e-01 -2.77826357e-02 8.26301033e-01 2.21853076e+02] [-8.25079591e-01 4.49746176e-02 5.63223714e-01 -2.36731900e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.790714057 meters Centerline goodness : 0.991469 Centerline is valid? [True, True] Translation: X:200.02, Y:221.87, Z:-236.75 [[-5.78056499e-02 -9.97941439e-01 2.77739481e-02 2.00024964e+02] [ 5.50877011e-01 -8.68317271e-03 8.34541264e-01 2.21867213e+02] [-8.32582143e-01 6.35412296e-02 5.50244934e-01 -2.36753718e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.8207140569999 meters Centerline goodness : 0.991172 Centerline is valid? [True, True] Translation: X:200.03, Y:221.84, Z:-236.72 [[-3.99768771e-02 -9.98904363e-01 2.43294494e-02 2.00032806e+02] [ 5.37882629e-01 -9.93764779e-04 8.43019151e-01 2.21837007e+02] [-8.42071331e-01 4.67876612e-02 5.37333033e-01 -2.36721631e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.8507140569999 meters Centerline goodness : 0.991095 Centerline is valid? [True, True] Translation: X:200.02, Y:221.85, Z:-236.72 [[-4.61413125e-02 -9.97763053e-01 4.83721963e-02 2.00016526e+02] [ 5.43306614e-01 1.55690835e-02 8.39389973e-01 2.21854891e+02] [-8.38265413e-01 6.50114892e-02 5.41372888e-01 -2.36724089e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.880714057 meters Centerline goodness : 0.992123 Centerline is valid? [True, True] Translation: X:200.03, Y:221.86, Z:-236.77 [[-3.75923491e-02 -9.99077329e-01 2.07678902e-02 2.00034138e+02] [ 5.36092069e-01 -2.62405392e-03 8.44155440e-01 2.21864325e+02] [-8.43322067e-01 4.28672872e-02 5.35696077e-01 -2.36770445e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.910714057 meters Centerline goodness : 0.991358 Centerline is valid? [True, True] Translation: X:200.01, Y:221.89, Z:-236.78 [[-3.29402561e-02 -9.96383768e-01 7.83219386e-02 2.00013129e+02] [ 5.37465839e-01 4.84096367e-02 8.41894874e-01 2.21892665e+02] [-8.42641924e-01 6.98275992e-02 5.33927612e-01 -2.36779869e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.9407140569999 meters Centerline goodness : 0.991495 Centerline is valid? [True, True] Translation: X:200.04, Y:221.89, Z:-236.81 [[-3.95303032e-02 -9.99195559e-01 -6.75206764e-03 2.00039826e+02] [ 5.44212468e-01 -2.71964144e-02 8.38506497e-01 2.21893894e+02] [-8.38015600e-01 2.94718567e-02 5.44849763e-01 -2.36807071e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.9707140569999 meters Centerline goodness : 0.992105 Centerline is valid? [True, True] Translation: X:200.02, Y:221.92, Z:-236.83 [[-3.52723959e-02 -9.97025222e-01 6.85314910e-02 2.00016065e+02] [ 5.37662240e-01 3.88725931e-02 8.42263757e-01 2.21924266e+02] [-8.42422206e-01 6.65554557e-02 5.34691685e-01 -2.36832003e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.000714057 meters Centerline goodness : 0.991945 Centerline is valid? [True, True] Translation: X:200.03, Y:221.91, Z:-236.84 [[-3.38662883e-02 -9.98967256e-01 3.02901892e-02 2.00030221e+02] [ 5.38088620e-01 7.31477378e-03 8.42856531e-01 2.21913873e+02] [-8.42207642e-01 4.48432283e-02 5.37285188e-01 -2.36839964e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.030714057 meters Centerline goodness : 0.991864 Centerline is valid? [True, True] Translation: X:200.03, Y:221.92, Z:-236.85 [[-3.29340878e-02 -9.98620434e-01 4.08971327e-02 2.00027328e+02] [ 5.36414234e-01 1.68653939e-02 8.43786305e-01 2.21923199e+02] [-8.43311992e-01 4.97271363e-02 5.35118769e-01 -2.36851678e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.0607140569999 meters Centerline goodness : 0.991704 Centerline is valid? [True, True] Translation: X:200.04, Y:221.94, Z:-236.88 [[-4.34893796e-02 -9.98992075e-01 1.11133793e-02 2.00036907e+02] [ 5.51591054e-01 -1.47348179e-02 8.33984529e-01 2.21940731e+02] [-8.32980181e-01 4.23995103e-02 5.51675900e-01 -2.36876375e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.0907140569999 meters Centerline goodness : 0.991533 Centerline is valid? [True, True] Translation: X:200.04, Y:221.94, Z:-236.88 [[-4.27531640e-02 -9.99084328e-01 -1.63509867e-03 2.00041714e+02] [ 5.53642258e-01 -2.50539191e-02 8.32377649e-01 2.21938602e+02] [-8.31656430e-01 3.46815185e-02 5.54206438e-01 -2.36881229e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.120714057 meters Centerline goodness : 0.991289 Centerline is valid? [True, True] Translation: X:200.04, Y:221.95, Z:-236.90 [[-4.53123629e-02 -9.98968880e-01 -2.82241905e-03 2.00041890e+02] [ 5.54662386e-01 -2.75086099e-02 8.31620655e-01 2.21950681e+02] [-8.30840796e-01 3.61172072e-02 5.55336943e-01 -2.36896474e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.150714057 meters Centerline goodness : 0.991674 Centerline is valid? [True, True] Translation: X:200.04, Y:221.95, Z:-236.89 [[-4.71281876e-02 -9.98875823e-01 5.10144540e-03 2.00040785e+02] [ 5.55291505e-01 -2.19533936e-02 8.31365980e-01 2.21950811e+02] [-8.30319383e-01 4.20135612e-02 5.55701883e-01 -2.36891986e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.1807140569999 meters Centerline goodness : 0.991976 Centerline is valid? [True, True] Translation: X:200.04, Y:221.95, Z:-236.90 [[-4.86773761e-02 -9.98808831e-01 -3.38118178e-03 2.00044449e+02] [ 5.57980264e-01 -3.00008050e-02 8.29311749e-01 2.21950881e+02] [-8.28425336e-01 3.84820872e-02 5.58775976e-01 -2.36895098e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.2107140569999 meters Centerline goodness : 0.991378 Centerline is valid? [True, True] Translation: X:200.04, Y:221.96, Z:-236.90 [[-5.02517654e-02 -9.98731105e-01 3.30747180e-03 2.00043695e+02] [ 5.59901017e-01 -2.54291352e-02 8.28169192e-01 2.21955104e+02] [-8.27034226e-01 4.34688207e-02 5.60468420e-01 -2.36899632e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.2407140569999 meters Centerline goodness : 0.991371 Centerline is valid? [True, True] Translation: X:200.04, Y:221.96, Z:-236.91 [[-5.06561860e-02 -9.98693191e-01 6.77204883e-03 2.00042890e+02] [ 5.61197546e-01 -2.28550295e-02 8.27366281e-01 2.21963156e+02] [-8.26130296e-01 4.57116774e-02 5.61621917e-01 -2.36908238e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.270714057 meters Centerline goodness : 0.991540 Centerline is valid? [True, True] Translation: X:200.04, Y:221.96, Z:-236.90 [[-4.95410911e-02 -9.98766282e-01 3.40505114e-03 2.00044540e+02] [ 5.61587844e-01 -2.50364549e-02 8.27038252e-01 2.21957876e+02] [-8.25932669e-01 4.28846127e-02 5.62135336e-01 -2.36903289e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.3007140569999 meters Centerline goodness : 0.991066 Centerline is valid? [True, True] Translation: X:200.04, Y:221.97, Z:-236.92 [[-4.99964375e-02 -9.98718507e-01 7.85493713e-03 2.00043280e+02] [ 5.62502360e-01 -2.16586701e-02 8.26511946e-01 2.21971381e+02] [-8.25282649e-01 4.57410735e-02 5.62864374e-01 -2.36915886e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.3307140569999 meters Centerline goodness : 0.991032 Centerline is valid? [True, True] Translation: X:200.04, Y:221.97, Z:-236.92 [[-4.79240107e-02 -9.98822825e-01 7.50029779e-03 2.00043556e+02] [ 5.61693411e-01 -2.07396278e-02 8.27085473e-01 2.21973148e+02] [-8.25956295e-01 4.38501209e-02 5.62026125e-01 -2.36921316e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.3607140569999 meters Centerline goodness : 0.990819 Centerline is valid? [True, True] Translation: X:200.04, Y:221.97, Z:-236.92 [[-4.36692174e-02 -9.98994446e-01 1.01536523e-02 2.00043740e+02] [ 5.59759652e-01 -1.60481063e-02 8.28499602e-01 2.21971440e+02] [-8.27503554e-01 4.18635341e-02 5.59897592e-01 -2.36917054e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.390714057 meters Centerline goodness : 0.991053 Centerline is valid? [True, True] Translation: X:200.03, Y:221.96, Z:-236.90 [[-3.20145058e-02 -9.97720278e-01 5.94080722e-02 2.00029069e+02] [ 5.37257975e-01 3.29426526e-02 8.42774377e-01 2.21959286e+02] [-8.42810145e-01 5.88984657e-02 5.34978533e-01 -2.36895099e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.4207140569999 meters Centerline goodness : 0.990556 Centerline is valid? [True, True] Translation: X:200.04, Y:221.97, Z:-236.91 [[-3.49690859e-02 -9.99293890e-01 1.37435047e-02 2.00042042e+02] [ 5.45251288e-01 -7.55193499e-03 8.38238631e-01 2.21970250e+02] [-8.37542952e-01 3.68061023e-02 5.45130365e-01 -2.36912029e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.4507140569999 meters Centerline goodness : 0.990488 Centerline is valid? [True, True] Translation: X:200.04, Y:221.99, Z:-236.93 [[-3.14806245e-02 -9.99089729e-01 2.87868849e-02 2.00037191e+02] [ 5.45253577e-01 6.97180390e-03 8.38242167e-01 2.21989679e+02] [-8.37679836e-01 4.20845388e-02 5.44537772e-01 -2.36932970e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.4807140569999 meters Centerline goodness : 0.991119 Centerline is valid? [True, True] Translation: X:200.04, Y:222.00, Z:-236.96 [[-3.14392547e-02 -9.99342451e-01 1.80620926e-02 2.00040533e+02] [ 5.44201190e-01 -1.95732980e-03 8.38952462e-01 2.22001443e+02] [-8.38365457e-01 3.62054524e-02 5.43904887e-01 -2.36958604e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.510714057 meters Centerline goodness : 0.991519 Centerline is valid? [True, True] Translation: X:200.02, Y:222.02, Z:-236.98 [[-3.68716422e-02 -9.98266852e-01 4.58669299e-02 2.00023912e+02] [ 5.40890607e-01 1.86576702e-02 8.40885987e-01 2.22015340e+02] [-8.40284377e-01 5.58138388e-02 5.39265224e-01 -2.36975373e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.540714057 meters Centerline goodness : 0.991022 Centerline is valid? [True, True] Translation: X:200.05, Y:222.02, Z:-237.01 [[-3.10422660e-02 -9.99398683e-01 -1.54482838e-02 2.00053714e+02] [ 5.43880215e-01 -2.98566459e-02 8.38631559e-01 2.22021513e+02] [-8.38588510e-01 1.76310080e-02 5.44479989e-01 -2.37012071e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.5707140569999 meters Centerline goodness : 0.990808 Centerline is valid? [True, True] Translation: X:200.04, Y:222.05, Z:-237.03 [[-2.96147509e-02 -9.99358263e-01 2.01501495e-02 2.00042160e+02] [ 5.44472867e-01 7.77574615e-04 8.38778095e-01 2.22045032e+02] [-8.38255488e-01 3.58114140e-02 5.44100431e-01 -2.37029424e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.6007140569999 meters Centerline goodness : 0.990247 Centerline is valid? [True, True] Translation: X:200.04, Y:222.06, Z:-237.05 [[-2.96662914e-02 -9.99426129e-01 1.63500389e-02 2.00043967e+02] [ 5.44211655e-01 -2.42936146e-03 8.38944440e-01 2.22059438e+02] [-8.38423274e-01 3.37862519e-02 5.43971417e-01 -2.37054424e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.630714057 meters Centerline goodness : 0.990070 Centerline is valid? [True, True] Translation: X:200.05, Y:222.07, Z:-237.08 [[-2.81487808e-02 -9.99519882e-01 1.29480491e-02 2.00046256e+02] [ 5.41931705e-01 -4.37513266e-03 8.40411141e-01 2.22073402e+02] [-8.39950995e-01 3.06735073e-02 5.41794669e-01 -2.37077654e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.660714057 meters Centerline goodness : 0.989653 Centerline is valid? [True, True] Translation: X:200.04, Y:222.09, Z:-237.10 [[-2.76212904e-02 -9.99436490e-01 1.90726530e-02 2.00044398e+02] [ 5.41692253e-01 1.07038247e-03 8.40576206e-01 2.22089250e+02] [-8.40122948e-01 3.35493079e-02 5.41357438e-01 -2.37099459e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.6907140569999 meters Centerline goodness : 0.989515 Centerline is valid? [True, True] Translation: X:200.04, Y:222.10, Z:-237.12 [[-2.71748614e-02 -9.99447971e-01 1.91123017e-02 2.00044631e+02] [ 5.42106671e-01 1.32929220e-03 8.40308628e-01 2.22103357e+02] [-8.39870159e-01 3.31961768e-02 5.41771289e-01 -2.37123003e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.7207140569999 meters Centerline goodness : 0.989518 Centerline is valid? [True, True] Translation: X:200.06, Y:222.11, Z:-237.15 [[-2.91250475e-02 -9.99391638e-01 -1.91855744e-02 2.00058450e+02] [ 5.45697380e-01 -3.19783781e-02 8.37371932e-01 2.22112640e+02] [-8.37476030e-01 1.39189796e-02 5.46296770e-01 -2.37147983e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.750714057 meters Centerline goodness : 0.989953 Centerline is valid? [True, True] Translation: X:200.04, Y:222.14, Z:-237.17 [[-2.58172676e-02 -9.98774702e-01 4.22204102e-02 2.00039786e+02] [ 5.41025239e-01 2.15545868e-02 8.40730094e-01 2.22137955e+02] [-8.40609992e-01 4.45476614e-02 5.39805842e-01 -2.37172656e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.780714057 meters Centerline goodness : 0.990430 Centerline is valid? [True, True] Translation: X:200.04, Y:222.14, Z:-237.19 [[-3.28084483e-02 -9.98958133e-01 3.17215141e-02 2.00037371e+02] [ 5.38992556e-01 9.04373808e-03 8.42261976e-01 2.22142198e+02] [-8.41671332e-01 4.47309685e-02 5.38134286e-01 -2.37190988e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.8107140569999 meters Centerline goodness : 0.991152 Centerline is valid? [True, True] Translation: X:200.05, Y:222.15, Z:-237.23 [[-3.23412790e-02 -9.99464235e-01 5.02836608e-03 2.00051018e+02] [ 5.40510796e-01 -1.32578880e-02 8.41232613e-01 2.22146763e+02] [-8.40715244e-01 2.99244248e-02 5.40649986e-01 -2.37226680e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.8407140569999 meters Centerline goodness : 0.989384 Centerline is valid? [True, True] Translation: X:200.08, Y:222.16, Z:-237.25 [[-2.82708176e-02 -9.98092531e-01 -5.48822422e-02 2.00076764e+02] [ 5.41894640e-01 -6.14391684e-02 8.38197726e-01 2.22160422e+02] [-8.39970809e-01 -6.04385785e-03 5.42597928e-01 -2.37248940e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.870714057 meters Centerline goodness : 0.990407 Centerline is valid? [True, True] Translation: X:200.04, Y:222.19, Z:-237.27 [[-3.20392062e-02 -9.98382779e-01 4.69607933e-02 2.00039067e+02] [ 5.40220397e-01 2.22325427e-02 8.41229836e-01 2.22188508e+02] [-8.40913439e-01 5.23215146e-02 5.38634428e-01 -2.37268256e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.900714057 meters Centerline goodness : 0.989719 Centerline is valid? [True, True] Translation: X:200.06, Y:222.19, Z:-237.30 [[-3.25492953e-02 -9.99225281e-01 -2.21219537e-02 2.00063868e+02] [ 5.33606013e-01 -3.60886875e-02 8.44962857e-01 2.22185922e+02] [-8.45106601e-01 1.56985380e-02 5.34367280e-01 -2.37296800e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.9307140569999 meters Centerline goodness : 0.989443 Centerline is valid? [True, True] Translation: X:200.07, Y:222.20, Z:-237.32 [[-3.37729111e-02 -9.99126299e-01 -2.46176815e-02 2.00066727e+02] [ 5.33562782e-01 -3.88525951e-02 8.44867584e-01 2.22198455e+02] [-8.45085882e-01 1.53985592e-02 5.34408772e-01 -2.37321221e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.9607140569999 meters Centerline goodness : 0.988809 Centerline is valid? [True, True] Translation: X:200.06, Y:222.23, Z:-237.36 [[-2.59826006e-02 -9.99043314e-01 3.51761503e-02 2.00056983e+02] [ 5.27004500e-01 1.62120134e-02 8.49707849e-01 2.22226432e+02] [-8.49465221e-01 4.06156092e-02 5.26079091e-01 -2.37357389e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.9907140569999 meters Centerline goodness : 0.988438 Centerline is valid? [True, True] Translation: X:200.06, Y:222.18, Z:-237.29 [[-2.33381480e-02 -9.99323930e-01 2.84079954e-02 2.00062533e+02] [ 5.20912782e-01 1.20979503e-02 8.53524173e-01 2.22178089e+02] [-8.53290809e-01 3.47177614e-02 5.20278264e-01 -2.37291328e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.020714057 meters Centerline goodness : 0.988902 Centerline is valid? [True, True] Translation: X:200.06, Y:222.20, Z:-237.31 [[-2.83127007e-02 -9.99068699e-01 3.25595817e-02 2.00060946e+02] [ 5.24681123e-01 1.28716134e-02 8.51201527e-01 2.22198123e+02] [-8.50827897e-01 4.11832120e-02 5.23828057e-01 -2.37307577e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.0507140569999 meters Centerline goodness : 0.988767 Centerline is valid? [True, True] Translation: X:200.06, Y:222.22, Z:-237.33 [[-2.94013837e-02 -9.98726513e-01 4.09989167e-02 2.00059029e+02] [ 5.24356419e-01 1.95094080e-02 8.51275354e-01 2.22215488e+02] [-8.50991131e-01 4.65267185e-02 5.23115055e-01 -2.37334630e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.0807140569999 meters Centerline goodness : 0.989863 Centerline is valid? [True, True] Translation: X:200.06, Y:222.22, Z:-237.34 [[-3.06063271e-02 -9.99069338e-01 3.03926220e-02 2.00063247e+02] [ 5.28169146e-01 9.64956259e-03 8.49084353e-01 2.22216801e+02] [-8.48587418e-01 4.20397987e-02 5.27382261e-01 -2.37340847e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.1107140569999 meters Centerline goodness : 0.988430 Centerline is valid? [True, True] Translation: X:200.06, Y:222.24, Z:-237.35 [[-3.11388633e-02 -9.98629423e-01 4.20671813e-02 2.00057670e+02] [ 5.27652418e-01 1.93211435e-02 8.49240613e-01 2.22236545e+02] [-8.48889449e-01 4.86412373e-02 5.26327591e-01 -2.37354015e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.140714057 meters Centerline goodness : 0.988927 Centerline is valid? [True, True] Translation: X:200.06, Y:222.25, Z:-237.39 [[-2.83510109e-02 -9.98258605e-01 5.17298463e-02 2.00055635e+02] [ 5.21560801e-01 2.93748467e-02 8.52708303e-01 2.22253416e+02] [-8.52742958e-01 5.11554024e-02 5.19819751e-01 -2.37385390e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.1707140569999 meters Centerline goodness : 0.987334 Centerline is valid? [True, True] Translation: X:200.07, Y:222.27, Z:-237.42 [[-3.76737655e-02 -9.99289250e-01 1.29686675e-03 2.00073723e+02] [ 5.32608044e-01 -1.89814990e-02 8.46149144e-01 2.22267341e+02] [-8.45523127e-01 3.25683461e-02 5.32944598e-01 -2.37421278e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.2007140569999 meters Centerline goodness : 0.989344 Centerline is valid? [True, True] Translation: X:200.08, Y:222.26, Z:-237.42 [[-3.31598663e-02 -9.99402125e-01 -9.78852226e-03 2.00077720e+02] [ 5.30948938e-01 -2.59126404e-02 8.47007533e-01 2.22262684e+02] [-8.46754775e-01 2.28894510e-02 5.31490757e-01 -2.37422825e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.2307140569999 meters Centerline goodness : 0.988827 Centerline is valid? [True, True] Translation: X:200.07, Y:222.26, Z:-237.41 [[-2.77454841e-02 -9.99530295e-01 1.30145465e-02 2.00069927e+02] [ 5.26764759e-01 -3.55460053e-03 8.50003678e-01 2.22256901e+02] [-8.49558166e-01 3.04393680e-02 5.26615959e-01 -2.37410621e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.260714057 meters Centerline goodness : 0.988513 Centerline is valid? [True, True] Translation: X:200.06, Y:222.25, Z:-237.40 [[-2.31236566e-02 -9.99154191e-01 3.40029207e-02 2.00064381e+02] [ 5.20711560e-01 1.69972714e-02 8.53563451e-01 2.22252144e+02] [-8.53419456e-01 3.74432220e-02 5.19878098e-01 -2.37402821e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.290714057 meters Centerline goodness : 0.989479 Centerline is valid? [True, True] Translation: X:200.06, Y:222.27, Z:-237.42 [[-2.84896266e-02 -9.98265082e-01 5.15283184e-02 2.00059309e+02] [ 5.24236005e-01 2.89696994e-02 8.51080119e-01 2.22273783e+02] [-8.51096324e-01 5.12599545e-02 5.22501162e-01 -2.37424876e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.3207140569999 meters Centerline goodness : 0.988803 Centerline is valid? [True, True] Translation: X:200.07, Y:222.29, Z:-237.46 [[-3.60928070e-02 -9.99224243e-01 1.57550757e-02 2.00072367e+02] [ 5.31210746e-01 -5.82939914e-03 8.47219665e-01 2.22287787e+02] [-8.46470586e-01 3.89478014e-02 5.31009055e-01 -2.37456810e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.3507140569999 meters Centerline goodness : 0.990039 Centerline is valid? [True, True] Translation: X:200.06, Y:222.28, Z:-237.45 [[-3.21751870e-02 -9.98519036e-01 4.38690251e-02 2.00064076e+02] [ 5.26552524e-01 2.03724621e-02 8.49898466e-01 2.22283105e+02] [-8.49533517e-01 5.04449880e-02 5.25117231e-01 -2.37446812e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.380714057 meters Centerline goodness : 0.988454 Centerline is valid? [True, True] Translation: X:200.06, Y:222.30, Z:-237.45 [[-3.51222027e-02 -9.98052230e-01 5.15575110e-02 2.00058709e+02] [ 5.26438734e-01 2.53750789e-02 8.49834316e-01 2.22301866e+02] [-8.49487310e-01 5.69899240e-02 5.24522124e-01 -2.37454615e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.410714057 meters Centerline goodness : 0.988301 Centerline is valid? [True, True] Translation: X:200.07, Y:222.31, Z:-237.48 [[-4.11001566e-02 -9.98964226e-01 1.95257021e-02 2.00070324e+02] [ 5.30343625e-01 -5.24940658e-03 8.47766527e-01 2.22311658e+02] [-8.46785933e-01 4.51986687e-02 5.30010060e-01 -2.37475998e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.4407140569999 meters Centerline goodness : 0.988896 Centerline is valid? [True, True] Translation: X:200.07, Y:222.33, Z:-237.51 [[-4.10938417e-02 -9.98424823e-01 3.81990708e-02 2.00066203e+02] [ 5.25894752e-01 1.08936652e-02 8.50479887e-01 2.22328001e+02] [-8.49556359e-01 5.50381766e-02 5.24618712e-01 -2.37506339e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.4707140569999 meters Centerline goodness : 0.988896 Centerline is valid? [True, True] Translation: X:200.06, Y:222.35, Z:-237.53 [[-4.18108830e-02 -9.97986564e-01 4.76934801e-02 2.00062445e+02] [ 5.26280422e-01 1.85777698e-02 8.50108102e-01 2.22345557e+02] [-8.49282502e-01 6.06439152e-02 5.24444037e-01 -2.37528758e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.500714057 meters Centerline goodness : 0.988509 Centerline is valid? [True, True] Translation: X:200.07, Y:222.36, Z:-237.55 [[-4.63535251e-02 -9.98622652e-01 2.45794751e-02 2.00070417e+02] [ 5.30893346e-01 -3.78460146e-03 8.47430193e-01 2.22358742e+02] [-8.46169963e-01 5.23304565e-02 5.30337550e-01 -2.37548608e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.530714057 meters Centerline goodness : 0.988682 Centerline is valid? [True, True] Translation: X:200.06, Y:222.37, Z:-237.57 [[-4.68972777e-02 -9.98057142e-01 4.10193391e-02 2.00064562e+02] [ 5.30354442e-01 9.91992442e-03 8.47717973e-01 2.22374731e+02] [-8.46477886e-01 6.15104538e-02 5.28858821e-01 -2.37568215e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.5607140569999 meters Centerline goodness : 0.988660 Centerline is valid? [True, True] Translation: X:200.08, Y:222.38, Z:-237.60 [[-4.84155610e-02 -9.98822304e-01 3.15269587e-03 2.00077434e+02] [ 5.30304063e-01 -2.30301983e-02 8.47494667e-01 2.22383349e+02] [-8.46423969e-01 4.27038171e-02 5.30794545e-01 -2.37595255e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.5907140569999 meters Centerline goodness : 0.987936 Centerline is valid? [True, True] Translation: X:200.07, Y:222.40, Z:-237.62 [[-4.77391147e-02 -9.98781595e-01 1.25020694e-02 2.00073074e+02] [ 5.29312310e-01 -1.46812830e-02 8.48300028e-01 2.22400770e+02] [-8.47082909e-01 4.71145916e-02 5.29368265e-01 -2.37616631e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.620714057 meters Centerline goodness : 0.989044 Centerline is valid? [True, True] Translation: X:200.07, Y:222.42, Z:-237.64 [[-4.64824486e-02 -9.98649359e-01 2.32129357e-02 2.00069655e+02] [ 5.25816578e-01 -4.70301967e-03 8.50584980e-01 2.22416659e+02] [-8.49326974e-01 5.17430190e-02 5.25324996e-01 -2.37643175e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.650714057 meters Centerline goodness : 0.988481 Centerline is valid? [True, True] Translation: X:200.08, Y:222.42, Z:-237.66 [[-4.79250970e-02 -9.98850660e-01 -7.37942998e-04 2.00076868e+02] [ 5.31092348e-01 -2.61076314e-02 8.46911630e-01 2.22421289e+02] [-8.45957507e-01 4.01964062e-02 5.31733153e-01 -2.37655217e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.6807140569999 meters Centerline goodness : 0.987579 Centerline is valid? [True, True] Translation: X:200.07, Y:222.42, Z:-237.65 [[-4.28896362e-02 -9.98884006e-01 1.97793365e-02 2.00070277e+02] [ 5.25252399e-01 -5.70347059e-03 8.50927370e-01 2.22417684e+02] [-8.49864929e-01 4.68851093e-02 5.24910840e-01 -2.37646551e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.7107140569999 meters Centerline goodness : 0.987165 Centerline is valid? [True, True] Translation: X:200.07, Y:222.43, Z:-237.67 [[-4.20253270e-02 -9.98942509e-01 1.86476569e-02 2.00070520e+02] [ 5.25375506e-01 -6.21933734e-03 8.50847753e-01 2.22430972e+02] [-8.49832013e-01 4.55541773e-02 5.25081295e-01 -2.37671344e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.7407140569999 meters Centerline goodness : 0.987844 Centerline is valid? [True, True] Translation: X:200.07, Y:222.44, Z:-237.70 [[-4.21877012e-02 -9.99035113e-01 1.22082053e-02 2.00072435e+02] [ 5.25411899e-01 -1.17909674e-02 8.50766307e-01 2.22443913e+02] [-8.49801468e-01 4.23062111e-02 5.25402370e-01 -2.37696526e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.770714057 meters Centerline goodness : 0.987710 Centerline is valid? [True, True] Translation: X:200.07, Y:222.45, Z:-237.71 [[-4.03769581e-02 -9.99162763e-01 6.59345040e-03 2.00074023e+02] [ 5.25931261e-01 -1.56416405e-02 8.50383236e-01 2.22445964e+02] [-8.49568132e-01 3.78035899e-02 5.26122494e-01 -2.37705902e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.8007140569999 meters Centerline goodness : 0.988377 Centerline is valid? [True, True] Translation: X:200.06, Y:222.47, Z:-237.73 [[-4.35311158e-02 -9.98497311e-01 3.32890709e-02 2.00063612e+02] [ 5.32032417e-01 5.03375608e-03 8.46709023e-01 2.22469256e+02] [-8.45604251e-01 5.45690533e-02 5.31013812e-01 -2.37729058e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.8307140569999 meters Centerline goodness : 0.987927 Centerline is valid? [True, True] Translation: X:200.06, Y:222.48, Z:-237.75 [[-4.11922914e-02 -9.98181463e-01 4.40109361e-02 2.00059744e+02] [ 5.26683037e-01 1.57389409e-02 8.49916034e-01 2.22481229e+02] [-8.49063115e-01 5.81898024e-02 5.25076922e-01 -2.37751887e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.8607140569999 meters Centerline goodness : 0.988652 Centerline is valid? [True, True] Translation: X:200.06, Y:222.49, Z:-237.78 [[-5.57812854e-02 -9.98210908e-01 2.15274408e-02 2.00059945e+02] [ 5.28294031e-01 -1.12124531e-02 8.48987454e-01 2.22491019e+02] [-8.47227162e-01 5.87304300e-02 5.27974310e-01 -2.37779917e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.890714057 meters Centerline goodness : 0.989814 Centerline is valid? [True, True] Translation: X:200.07, Y:222.49, Z:-237.79 [[-5.61312346e-02 -9.98391903e-01 -7.93054039e-03 2.00070678e+02] [ 5.26468218e-01 -3.63460993e-02 8.49417552e-01 2.22486956e+02] [-8.48339850e-01 4.35036784e-02 5.27661757e-01 -2.37790456e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.9207140569999 meters Centerline goodness : 0.989921 Centerline is valid? [True, True] Translation: X:200.07, Y:222.49, Z:-237.79 [[-5.55252359e-02 -9.98432264e-01 -7.06840051e-03 2.00069942e+02] [ 5.26659661e-01 -3.53017416e-02 8.49342916e-01 2.22489763e+02] [-8.48260897e-01 4.34373243e-02 5.27794136e-01 -2.37793988e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.9507140569999 meters Centerline goodness : 0.989687 Centerline is valid? [True, True] Translation: X:200.07, Y:222.50, Z:-237.80 [[-5.53070132e-02 -9.98450098e-01 -6.20780228e-03 2.00068822e+02] [ 5.26395458e-01 -3.44405290e-02 8.49542037e-01 2.22495506e+02] [-8.48439130e-01 4.37178737e-02 5.27484399e-01 -2.37803584e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.9807140569999 meters Centerline goodness : 0.990478 Centerline is valid? [True, True] Translation: X:200.07, Y:222.50, Z:-237.80 [[-5.49819288e-02 -9.98473052e-01 -5.34344981e-03 2.00067179e+02] [ 5.26668107e-01 -3.35472265e-02 8.49408788e-01 2.22495507e+02] [-8.48291042e-01 4.38879089e-02 5.27708404e-01 -2.37803370e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.010714057 meters Centerline goodness : 0.990295 Centerline is valid? [True, True] Translation: X:200.07, Y:222.50, Z:-237.81 [[-5.49494980e-02 -9.98479092e-01 -4.47827821e-03 2.00065990e+02] [ 5.27215190e-01 -3.28226257e-02 8.49097650e-01 2.22500239e+02] [-8.47953240e-01 4.42964733e-02 5.28216931e-01 -2.37809369e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.040714057 meters Centerline goodness : 0.990060 Centerline is valid? [True, True] Translation: X:200.06, Y:222.50, Z:-237.81 [[-5.53989179e-02 -9.98457748e-01 -3.61744183e-03 2.00064664e+02] [ 5.26425463e-01 -3.22866027e-02 8.49608032e-01 2.22502523e+02] [-8.48414517e-01 4.51630521e-02 5.27402225e-01 -2.37813183e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.0707140569999 meters Centerline goodness : 0.989962 Centerline is valid? [True, True] Translation: X:200.06, Y:222.51, Z:-237.82 [[-5.55930783e-02 -9.98449710e-01 -2.75449358e-03 2.00064041e+02] [ 5.25925843e-01 -3.16280294e-02 8.49942160e-01 2.22506137e+02] [-8.48711622e-01 4.58022417e-02 5.26868805e-01 -2.37818106e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.1007140569999 meters Centerline goodness : 0.990023 Centerline is valid? [True, True] Translation: X:200.06, Y:222.51, Z:-237.82 [[-5.55603605e-02 -9.98453539e-01 -1.89125799e-03 2.00063323e+02] [ 5.24909627e-01 -3.08205345e-02 8.50599776e-01 2.22509656e+02] [-8.49342646e-01 4.62668907e-02 5.25810274e-01 -2.37823269e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.130714057 meters Centerline goodness : 0.990147 Centerline is valid? [True, True] Translation: X:200.06, Y:222.51, Z:-237.83 [[-5.62199910e-02 -9.98417878e-01 -1.02600026e-03 2.00062108e+02] [ 5.23826944e-01 -3.03710134e-02 8.51283111e-01 2.22512727e+02] [-8.49967438e-01 4.73216823e-02 5.24705644e-01 -2.37828012e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.160714057 meters Centerline goodness : 0.990404 Centerline is valid? [True, True] Translation: X:200.06, Y:222.51, Z:-237.83 [[-5.61645874e-02 -9.98421511e-01 -1.59622432e-04 2.00061612e+02] [ 5.23737753e-01 -2.95981321e-02 8.51365207e-01 2.22514787e+02] [-8.50026061e-01 4.77329753e-02 5.24573406e-01 -2.37830739e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.1907140569999 meters Centerline goodness : 0.990532 Centerline is valid? [True, True] Translation: X:200.06, Y:222.53, Z:-237.85 [[-5.67025570e-02 -9.98390869e-01 7.01672149e-04 2.00061103e+02] [ 5.24153834e-01 -2.91705920e-02 8.51123866e-01 2.22529582e+02] [-8.49733828e-01 4.86286837e-02 5.24964449e-01 -2.37854933e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.2207140569999 meters Centerline goodness : 0.990053 Centerline is valid? [True, True] Translation: X:200.06, Y:222.54, Z:-237.88 [[-5.78384562e-02 -9.98325919e-01 2.69353141e-04 2.00061149e+02] [ 5.24743375e-01 -3.01717110e-02 8.50725607e-01 2.22542858e+02] [-8.49293296e-01 4.93459971e-02 5.25609998e-01 -2.37879067e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.250714057 meters Centerline goodness : 0.990596 Centerline is valid? [True, True] Translation: X:200.06, Y:222.54, Z:-237.88 [[-5.77685039e-02 -9.98329989e-01 -1.83297384e-04 2.00061176e+02] [ 5.25265890e-01 -3.05507188e-02 8.50389557e-01 2.22544913e+02] [-8.48974997e-01 4.90294526e-02 5.26153559e-01 -2.37883860e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.280714057 meters Centerline goodness : 0.990483 Centerline is valid? [True, True] Translation: X:200.06, Y:222.56, Z:-237.91 [[-5.76931331e-02 -9.98334132e-01 6.80123983e-04 2.00060135e+02] [ 5.26742610e-01 -2.98614112e-02 8.49500158e-01 2.22559487e+02] [-8.48064694e-01 4.93685760e-02 5.27587925e-01 -2.37907710e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.3107140569999 meters Centerline goodness : 0.990859 Centerline is valid? [True, True] Translation: X:200.06, Y:222.57, Z:-237.93 [[-5.76131832e-02 -9.98338958e-01 2.16085617e-04 2.00059562e+02] [ 5.27546216e-01 -3.02604267e-02 8.48987218e-01 2.22573441e+02] [-8.47570476e-01 4.90268513e-02 5.28413339e-01 -2.37930297e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.3407140569999 meters Centerline goodness : 0.990487 Centerline is valid? [True, True] Translation: X:200.06, Y:222.59, Z:-237.95 [[-5.75309190e-02 -9.98343725e-01 1.49644712e-05 2.00059076e+02] [ 5.27598810e-01 -3.03908759e-02 8.48949875e-01 2.22588084e+02] [-8.47543326e-01 4.88487617e-02 5.28473376e-01 -2.37954414e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.370714057 meters Centerline goodness : 0.990166 Centerline is valid? [True, True] Translation: X:200.06, Y:222.59, Z:-237.96 [[-5.56680742e-02 -9.98449232e-01 -4.44504797e-04 2.00058280e+02] [ 5.27777264e-01 -2.98038851e-02 8.48859757e-01 2.22590111e+02] [-8.47556620e-01 4.70197884e-02 5.28617929e-01 -2.37957548e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.400714057 meters Centerline goodness : 0.990490 Centerline is valid? [True, True] Translation: X:200.06, Y:222.61, Z:-237.98 [[-5.47984610e-02 -9.98497348e-01 4.18712225e-04 2.00057064e+02] [ 5.27779743e-01 -2.86090626e-02 8.48899325e-01 2.22605214e+02] [-8.47611746e-01 4.67393644e-02 5.28554406e-01 -2.37980927e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.4307140569999 meters Centerline goodness : 0.990213 Centerline is valid? [True, True] Translation: X:200.06, Y:222.61, Z:-237.98 [[-5.31470488e-02 -9.98586696e-01 -4.31053150e-05 2.00056151e+02] [ 5.27865808e-01 -2.81308578e-02 8.48861793e-01 2.22606149e+02] [-8.47663306e-01 4.50917453e-02 5.28614845e-01 -2.37981995e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.4607140569999 meters Centerline goodness : 0.984308 Centerline is valid? [True, True] Translation: X:200.05, Y:222.61, Z:-238.00 [[-4.86881499e-02 -9.98689197e-01 1.57908604e-02 2.00047860e+02] [ 5.16603088e-01 -1.16484392e-02 8.56145761e-01 2.22614509e+02] [-8.54839584e-01 4.98417604e-02 5.16493064e-01 -2.38000797e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.4907140569999 meters Centerline goodness : 0.991166 Centerline is valid? [True, True] Translation: X:200.08, Y:222.62, Z:-238.04 [[-4.83448817e-02 -9.96722019e-01 -6.48690198e-02 2.00078404e+02] [ 5.24737530e-01 -8.06051515e-02 8.47439280e-01 2.22619237e+02] [-8.49890167e-01 6.93014249e-03 5.26914297e-01 -2.38038716e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.520714057 meters Centerline goodness : 0.990890 Centerline is valid? [True, True] Translation: X:200.05, Y:222.64, Z:-238.03 [[-4.76451022e-02 -9.98864253e-01 -3.86161712e-04 2.00051484e+02] [ 5.26772462e-01 -2.54551310e-02 8.49625100e-01 2.22636810e+02] [-8.48669970e-01 4.02770553e-02 5.27386994e-01 -2.38030261e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.5507140569999 meters Centerline goodness : 0.991482 Centerline is valid? [True, True] Translation: X:200.05, Y:222.65, Z:-238.05 [[-4.73482048e-02 -9.98878291e-01 5.55135258e-04 2.00050265e+02] [ 5.26135668e-01 -2.44671324e-02 8.50048598e-01 2.22651839e+02] [-8.49081508e-01 4.05403516e-02 5.26703971e-01 -2.38053760e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.5807140569999 meters Centerline goodness : 0.984899 Centerline is valid? [True, True] Translation: X:200.05, Y:222.66, Z:-238.08 [[-4.49238805e-02 -9.98988072e-01 2.16257618e-03 2.00048493e+02] [ 5.13692721e-01 -2.12437017e-02 8.57711195e-01 2.22656843e+02] [-8.56797312e-01 3.96426149e-02 5.14127250e-01 -2.38075278e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.6107140569999 meters Centerline goodness : 0.984873 Centerline is valid? [True, True] Translation: X:200.04, Y:222.71, Z:-238.15 [[-4.15772922e-02 -9.98972243e-01 1.80495569e-02 2.00041897e+02] [ 5.11529421e-01 -5.76491594e-03 8.59246424e-01 2.22710751e+02] [-8.58259273e-01 4.49580190e-02 5.11243383e-01 -2.38154310e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.640714057 meters Centerline goodness : 0.990930 Centerline is valid? [True, True] Translation: X:200.06, Y:222.72, Z:-238.19 [[-4.33280773e-02 -9.98366714e-01 -3.72368265e-02 2.00063784e+02] [ 5.22068611e-01 -5.44038293e-02 8.51166605e-01 2.22721553e+02] [-8.51802232e-01 1.74392342e-02 5.23573137e-01 -2.38188092e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.6707140569999 meters Centerline goodness : 0.985312 Centerline is valid? [True, True] Translation: X:200.04, Y:222.74, Z:-238.20 [[-4.22930781e-02 -9.99029107e-01 1.23344973e-02 2.00043725e+02] [ 5.11489171e-01 -1.10451439e-02 8.59218734e-01 2.22738396e+02] [-8.58248288e-01 4.26479668e-02 5.11459703e-01 -2.38202162e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.7007140569999 meters Centerline goodness : 0.991591 Centerline is valid? [True, True] Translation: X:200.06, Y:222.75, Z:-238.24 [[-4.44680991e-02 -9.98195967e-01 -4.03410322e-02 2.00064668e+02] [ 5.22526009e-01 -5.76567258e-02 8.50671659e-01 2.22749796e+02] [-8.51462952e-01 1.67485130e-02 5.24147240e-01 -2.38235720e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.7307140569999 meters Centerline goodness : 0.990864 Centerline is valid? [True, True] Translation: X:200.05, Y:222.77, Z:-238.25 [[-4.30346392e-02 -9.98955346e-01 -1.53699917e-02 2.00054366e+02] [ 5.18573606e-01 -3.54842249e-02 8.54296368e-01 2.22772523e+02] [-8.53949317e-01 2.87938640e-02 5.19558927e-01 -2.38249956e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.760714057 meters Centerline goodness : 0.991495 Centerline is valid? [True, True] Translation: X:200.04, Y:222.79, Z:-238.27 [[-4.71032623e-02 -9.98754187e-01 1.64728967e-02 2.00041457e+02] [ 5.27139609e-01 -1.08463314e-02 8.49709474e-01 2.22793722e+02] [-8.48472224e-01 4.87076045e-02 5.26993790e-01 -2.38274417e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.790714057 meters Centerline goodness : 0.990498 Centerline is valid? [True, True] Translation: X:200.05, Y:222.80, Z:-238.30 [[-4.03295661e-02 -9.99164195e-01 6.66616069e-03 2.00051379e+02] [ 5.17526767e-01 -1.51812025e-02 8.55532335e-01 2.22801988e+02] [-8.54716077e-01 3.79531645e-02 5.17706467e-01 -2.38300839e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.8207140569999 meters Centerline goodness : 0.984371 Centerline is valid? [True, True] Translation: X:200.05, Y:222.81, Z:-238.32 [[-4.56999903e-02 -9.98947679e-01 3.87893516e-03 2.00045315e+02] [ 5.14682378e-01 -2.02174547e-02 8.57142523e-01 2.22809012e+02] [-8.56162111e-01 4.11678245e-02 5.15064705e-01 -2.38321984e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.8507140569999 meters Centerline goodness : 0.989726 Centerline is valid? [True, True] Translation: X:200.07, Y:222.82, Z:-238.35 [[-3.91875811e-02 -9.98757897e-01 -3.07733081e-02 2.00066561e+02] [ 5.16242605e-01 -4.66047019e-02 8.55173418e-01 2.22821173e+02] [-8.55545386e-01 1.76256849e-02 5.17427704e-01 -2.38353427e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.880714057 meters Centerline goodness : 0.991396 Centerline is valid? [True, True] Translation: X:200.04, Y:222.85, Z:-238.37 [[-4.64001149e-02 -9.98909398e-01 5.20037811e-03 2.00044643e+02] [ 5.27248743e-01 -2.00687034e-02 8.49473961e-01 2.22848479e+02] [-8.48443158e-01 4.21575822e-02 5.27604915e-01 -2.38368795e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.910714057 meters Centerline goodness : 0.991852 Centerline is valid? [True, True] Translation: X:200.04, Y:222.86, Z:-238.39 [[-4.38078420e-02 -9.99029033e-01 4.67599659e-03 2.00044461e+02] [ 5.27252149e-01 -1.91441399e-02 8.49493186e-01 2.22862634e+02] [-8.48578838e-01 3.96798925e-02 5.27578868e-01 -2.38391771e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.9407140569999 meters Centerline goodness : 0.991411 Centerline is valid? [True, True] Translation: X:200.04, Y:222.88, Z:-238.42 [[-4.23077666e-02 -9.99094617e-01 4.47197373e-03 2.00044425e+02] [ 5.27488004e-01 -1.85353042e-02 8.49360258e-01 2.22877156e+02] [-8.48508373e-01 3.82934481e-02 5.27794613e-01 -2.38415837e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.9707140569999 meters Centerline goodness : 0.991473 Centerline is valid? [True, True] Translation: X:200.04, Y:222.89, Z:-238.44 [[-3.92370968e-02 -9.99221895e-01 4.00679411e-03 2.00044311e+02] [ 5.27754137e-01 -1.73183635e-02 8.49220611e-01 2.22891570e+02] [-8.48490437e-01 3.54355534e-02 5.28023011e-01 -2.38438844e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.000714057 meters Centerline goodness : 0.991688 Centerline is valid? [True, True] Translation: X:200.04, Y:222.91, Z:-238.46 [[-3.81049769e-02 -9.99266925e-01 3.69096143e-03 2.00044427e+02] [ 5.28059489e-01 -1.70003936e-02 8.49037198e-01 2.22906144e+02] [-8.48352042e-01 3.43015900e-02 5.28320181e-01 -2.38462225e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.030714057 meters Centerline goodness : 0.990181 Centerline is valid? [True, True] Translation: X:200.06, Y:222.92, Z:-238.49 [[-3.07410350e-02 -9.99336077e-01 -1.95549224e-02 2.00059717e+02] [ 5.21115569e-01 -3.27189413e-02 8.52858743e-01 2.22916336e+02] [-8.52932326e-01 1.60273859e-02 5.21775402e-01 -2.38490541e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.0607140569999 meters Centerline goodness : 0.990765 Centerline is valid? [True, True] Translation: X:200.03, Y:222.94, Z:-238.50 [[-3.44855910e-02 -9.98669903e-01 3.83297498e-02 2.00032866e+02] [ 5.29143423e-01 1.42906061e-02 8.48412056e-01 2.22944704e+02] [-8.47831341e-01 4.95399262e-02 5.27946790e-01 -2.38503516e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.0907140569999 meters Centerline goodness : 0.991948 Centerline is valid? [True, True] Translation: X:200.05, Y:222.95, Z:-238.53 [[-3.32813285e-02 -9.99441518e-01 3.00074365e-03 2.00047248e+02] [ 5.28000102e-01 -1.50329753e-02 8.49111242e-01 2.22949609e+02] [-8.48591919e-01 2.98439432e-02 5.28205541e-01 -2.38532456e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.120714057 meters Centerline goodness : 0.991023 Centerline is valid? [True, True] Translation: X:200.05, Y:222.96, Z:-238.56 [[-3.27040589e-02 -9.99461156e-01 2.80024940e-03 2.00047987e+02] [ 5.27985529e-01 -1.48975420e-02 8.49122691e-01 2.22964436e+02] [-8.48623430e-01 2.92482496e-02 5.28188238e-01 -2.38556434e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.150714057 meters Centerline goodness : 0.990958 Centerline is valid? [True, True] Translation: X:200.05, Y:222.98, Z:-238.58 [[-3.14163642e-02 -9.99503620e-01 2.35078389e-03 2.00049175e+02] [ 5.28443981e-01 -1.46135974e-02 8.48842389e-01 2.22979378e+02] [-8.48386687e-01 2.79097992e-02 5.28640778e-01 -2.38580257e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.1807140569999 meters Centerline goodness : 0.991875 Centerline is valid? [True, True] Translation: X:200.05, Y:222.99, Z:-238.60 [[-3.06764134e-02 -9.99527609e-01 1.87515851e-03 2.00050379e+02] [ 5.28907661e-01 -1.46407347e-02 8.48553083e-01 2.22993299e+02] [-8.48124781e-01 2.70223509e-02 5.29106935e-01 -2.38603365e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.2107140569999 meters Centerline goodness : 0.991476 Centerline is valid? [True, True] Translation: X:200.05, Y:223.01, Z:-238.63 [[-3.05774908e-02 -9.99531193e-01 1.55274251e-03 2.00051547e+02] [ 5.29168120e-01 -1.48702785e-02 8.48386690e-01 2.23007782e+02] [-8.47965871e-01 2.67631981e-02 5.29374738e-01 -2.38627146e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.2407140569999 meters Centerline goodness : 0.990603 Centerline is valid? [True, True] Translation: X:200.05, Y:223.02, Z:-238.65 [[-3.11587180e-02 -9.99513852e-01 1.09231010e-03 2.00054771e+02] [ 5.28579905e-01 -1.55503435e-02 8.48741109e-01 2.23021093e+02] [-8.48311510e-01 2.70230580e-02 5.28807466e-01 -2.38650213e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.270714057 meters Centerline goodness : 0.990975 Centerline is valid? [True, True] Translation: X:200.06, Y:223.04, Z:-238.67 [[-3.22670213e-02 -9.99478885e-01 8.92984543e-04 2.00056476e+02] [ 5.28510745e-01 -1.63040252e-02 8.48770034e-01 2.23036241e+02] [-8.48313169e-01 2.78592327e-02 5.28761413e-01 -2.38674078e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.3007140569999 meters Centerline goodness : 0.991129 Centerline is valid? [True, True] Translation: X:200.06, Y:223.05, Z:-238.70 [[-3.38135227e-02 -9.99428068e-01 4.28406744e-04 2.00057981e+02] [ 5.29059473e-01 -1.75359321e-02 8.48403539e-01 2.23050452e+02] [-8.47910797e-01 2.89141650e-02 5.29349838e-01 -2.38697130e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.3307140569999 meters Centerline goodness : 0.990364 Centerline is valid? [True, True] Translation: X:200.06, Y:223.06, Z:-238.72 [[-3.69903755e-02 -9.99315596e-01 2.27306238e-04 2.00061352e+02] [ 5.29756683e-01 -1.94164481e-02 8.47927390e-01 2.23064145e+02] [-8.47342652e-01 3.14855695e-02 5.30112337e-01 -2.38720086e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.3607140569999 meters Centerline goodness : 0.991442 Centerline is valid? [True, True] Translation: X:200.06, Y:223.07, Z:-238.73 [[-3.76293496e-02 -9.99291762e-01 -8.59674976e-05 2.00063416e+02] [ 5.29857858e-01 -2.00252768e-02 8.47850010e-01 2.23067555e+02] [-8.47251251e-01 3.18584938e-02 5.30236131e-01 -2.38726124e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.390714057 meters Centerline goodness : 0.991442 Centerline is valid? [True, True] Translation: X:200.06, Y:223.08, Z:-238.75 [[-3.78992522e-02 -9.99281266e-01 7.73494071e-04 2.00063026e+02] [ 5.29880398e-01 -1.94402366e-02 8.47849539e-01 2.23082785e+02] [-8.47225124e-01 3.25427229e-02 5.30236325e-01 -2.38750100e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.4207140569999 meters Centerline goodness : 0.990764 Centerline is valid? [True, True] Translation: X:200.07, Y:223.10, Z:-238.77 [[-3.89621917e-02 -9.99240629e-01 3.36871508e-04 2.00065417e+02] [ 5.29871322e-01 -2.03748092e-02 8.47833267e-01 2.23097003e+02] [-8.47182583e-01 3.32119408e-02 5.30262800e-01 -2.38772911e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.4507140569999 meters Centerline goodness : 0.989902 Centerline is valid? [True, True] Translation: X:200.07, Y:223.11, Z:-238.80 [[-4.02914113e-02 -9.99187962e-01 1.35513548e-04 2.00069342e+02] [ 5.29507542e-01 -2.12369305e-02 8.48039360e-01 2.23111106e+02] [-8.47347842e-01 3.42404581e-02 5.29933228e-01 -2.38796855e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.4807140569999 meters Centerline goodness : 0.990086 Centerline is valid? [True, True] Translation: X:200.07, Y:223.11, Z:-238.80 [[-3.98046445e-02 -9.99207424e-01 -3.36593825e-04 2.00071520e+02] [ 5.29213469e-01 -2.13675950e-02 8.48219624e-01 2.23114195e+02] [-8.47554538e-01 3.35849506e-02 5.29644557e-01 -2.38802949e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.510714057 meters Centerline goodness : 0.990585 Centerline is valid? [True, True] Translation: X:200.07, Y:223.13, Z:-238.83 [[-3.95566286e-02 -9.99217194e-01 5.22362220e-04 2.00073108e+02] [ 5.29356506e-01 -2.05125738e-02 8.48151475e-01 2.23129005e+02] [-8.47476821e-01 3.38265287e-02 5.29753531e-01 -2.38826303e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.540714057 meters Centerline goodness : 0.990505 Centerline is valid? [True, True] Translation: X:200.08, Y:223.14, Z:-238.85 [[-3.74834853e-02 -9.99297246e-01 5.32399183e-05 2.00076076e+02] [ 5.29325343e-01 -1.98097227e-02 8.48187630e-01 2.23143228e+02] [-8.47590508e-01 3.18212098e-02 5.29695895e-01 -2.38849239e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.5707140569999 meters Centerline goodness : 0.990175 Centerline is valid? [True, True] Translation: X:200.08, Y:223.15, Z:-238.85 [[-3.54198932e-02 -9.99372483e-01 -2.66304735e-04 2.00077371e+02] [ 5.29254805e-01 -1.89839545e-02 8.48250530e-01 2.23145765e+02] [-8.47723294e-01 2.99040001e-02 5.29595098e-01 -2.38854202e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.6007140569999 meters Centerline goodness : 0.990219 Centerline is valid? [True, True] Translation: X:200.08, Y:223.16, Z:-238.88 [[-3.10389361e-02 -9.99518001e-01 5.91648073e-04 2.00079803e+02] [ 5.29629880e-01 -1.59450692e-02 8.48078973e-01 2.23160464e+02] [-8.47660766e-01 2.66368235e-02 5.29869517e-01 -2.38877276e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.630714057 meters Centerline goodness : 0.991070 Centerline is valid? [True, True] Translation: X:200.08, Y:223.17, Z:-238.90 [[-2.95068757e-02 -9.99564500e-01 3.92114167e-04 2.00081489e+02] [ 5.29657797e-01 -1.53026695e-02 8.48073373e-01 2.23174920e+02] [-8.47698037e-01 2.52316819e-02 5.29878665e-01 -2.38901116e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.660714057 meters Centerline goodness : 0.990192 Centerline is valid? [True, True] Translation: X:200.08, Y:223.18, Z:-238.91 [[-2.75674892e-02 -9.99619943e-01 -5.97584551e-05 2.00082933e+02] [ 5.29903340e-01 -1.46643490e-02 8.47931251e-01 2.23177277e+02] [-8.47609865e-01 2.33436694e-02 5.30106206e-01 -2.38905536e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.6907140569999 meters Centerline goodness : 0.990385 Centerline is valid? [True, True] Translation: X:200.09, Y:223.19, Z:-238.93 [[-2.60938336e-02 -9.99659182e-01 7.95208750e-04 2.00085699e+02] [ 5.29596794e-01 -1.31492377e-02 8.48147589e-01 2.23191885e+02] [-8.47848069e-01 2.25525621e-02 5.29759412e-01 -2.38928396e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.7207140569999 meters Centerline goodness : 0.990013 Centerline is valid? [True, True] Translation: X:200.09, Y:223.21, Z:-238.95 [[-2.59050445e-02 -9.99664290e-01 4.86172387e-04 2.00087548e+02] [ 5.29423665e-01 -1.33068135e-02 8.48253212e-01 2.23206370e+02] [-8.47961976e-01 2.22314284e-02 5.29590645e-01 -2.38951744e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.750714057 meters Centerline goodness : 0.990031 Centerline is valid? [True, True] Translation: X:200.09, Y:223.22, Z:-238.98 [[-2.59380509e-02 -9.99663552e-01 2.70143536e-05 2.00091254e+02] [ 5.28219665e-01 -1.36826569e-02 8.48997509e-01 2.23220713e+02] [-8.48711496e-01 2.20356101e-02 5.28396848e-01 -2.38975255e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.780714057 meters Centerline goodness : 0.990366 Centerline is valid? [True, True] Translation: X:200.09, Y:223.22, Z:-238.98 [[-2.54060342e-02 -9.99677121e-01 -4.32943499e-04 2.00093431e+02] [ 5.28265666e-01 -1.37931439e-02 8.48967099e-01 2.23223283e+02] [-8.48698957e-01 2.13401779e-02 5.28445530e-01 -2.38979918e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.8107140569999 meters Centerline goodness : 0.990288 Centerline is valid? [True, True] Translation: X:200.09, Y:223.24, Z:-239.00 [[-2.57815408e-02 -9.99667513e-01 4.19969381e-04 2.00094823e+02] [ 5.29020627e-01 -1.32870386e-02 8.48504939e-01 2.23238045e+02] [-8.48217242e-01 2.20979372e-02 5.29187294e-01 -2.39003793e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.8407140569999 meters Centerline goodness : 0.990723 Centerline is valid? [True, True] Translation: X:200.10, Y:223.24, Z:-239.01 [[-2.63345686e-02 -9.99653184e-01 -3.77055990e-05 2.00099487e+02] [ 5.30447791e-01 -1.40059306e-02 8.47601896e-01 2.23239883e+02] [-8.47308463e-01 2.23012295e-02 5.30632664e-01 -2.39008588e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.870714057 meters Centerline goodness : 0.990512 Centerline is valid? [True, True] Translation: X:200.10, Y:223.25, Z:-239.03 [[-2.73374237e-02 -9.99625929e-01 8.16389632e-04 2.00101412e+02] [ 5.30759795e-01 -1.38229598e-02 8.47409562e-01 2.23254492e+02] [-8.47081287e-01 2.35993011e-02 5.30939137e-01 -2.39032929e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.900714057 meters Centerline goodness : 0.989909 Centerline is valid? [True, True] Translation: X:200.11, Y:223.27, Z:-239.06 [[-2.94509444e-02 -9.99566160e-01 3.65202755e-04 2.00105927e+02] [ 5.30315298e-01 -1.53153622e-02 8.47662153e-01 2.23268098e+02] [-8.47288810e-01 2.51581235e-02 5.30536278e-01 -2.39055671e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.9307140569999 meters Centerline goodness : 0.991215 Centerline is valid? [True, True] Translation: X:200.11, Y:223.28, Z:-239.08 [[-3.07863778e-02 -9.99525985e-01 5.89305559e-05 2.00108149e+02] [ 5.29987234e-01 -1.62741372e-02 8.47849447e-01 2.23282935e+02] [-8.47446595e-01 2.61334458e-02 5.30237034e-01 -2.39078817e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.9607140569999 meters Centerline goodness : 0.990732 Centerline is valid? [True, True] Translation: X:200.11, Y:223.29, Z:-239.09 [[-3.19476528e-02 -9.99489469e-01 -3.86088929e-04 2.00110366e+02] [ 5.29884446e-01 -1.72647410e-02 8.47894099e-01 2.23287020e+02] [-8.47467888e-01 2.68836438e-02 5.30165491e-01 -2.39085239e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.9907140569999 meters Centerline goodness : 0.990532 Centerline is valid? [True, True] Translation: X:200.11, Y:223.30, Z:-239.11 [[-3.65009348e-02 -9.99333509e-01 4.69632171e-04 2.00114080e+02] [ 5.30039330e-01 -1.89614328e-02 8.47761035e-01 2.23301243e+02] [-8.47187105e-01 3.11929938e-02 5.30378174e-01 -2.39108235e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.020714057 meters Centerline goodness : 0.989474 Centerline is valid? [True, True] Translation: X:200.12, Y:223.32, Z:-239.13 [[-3.88056747e-02 -9.99246762e-01 1.68876984e-04 2.00116315e+02] [ 5.30083165e-01 -2.04424760e-02 8.47699206e-01 2.23316144e+02] [-8.47057234e-01 3.29850584e-02 5.30477170e-01 -2.39132400e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.0507140569999 meters Centerline goodness : 0.988878 Centerline is valid? [True, True] Translation: X:200.12, Y:223.32, Z:-239.14 [[-4.20863105e-02 -9.99113938e-01 -2.83762603e-04 2.00120729e+02] [ 5.29530154e-01 -2.25465764e-02 8.47991431e-01 2.23320335e+02] [-8.47246457e-01 3.55385698e-02 5.30009860e-01 -2.39138678e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.0807140569999 meters Centerline goodness : 0.990154 Centerline is valid? [True, True] Translation: X:200.12, Y:223.34, Z:-239.16 [[-4.35144245e-02 -9.99052632e-01 5.77277659e-04 2.00122294e+02] [ 5.28952011e-01 -2.25486695e-02 8.48352125e-01 2.23335938e+02] [-8.47535407e-01 3.72209067e-02 5.29432091e-01 -2.39162315e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.1107140569999 meters Centerline goodness : 0.989189 Centerline is valid? [True, True] Translation: X:200.13, Y:223.35, Z:-239.19 [[-4.56296345e-02 -9.98958416e-01 1.42283197e-04 2.00125127e+02] [ 5.27377267e-01 -2.39681567e-02 8.49293086e-01 2.23350908e+02] [-8.48405066e-01 3.88279700e-02 5.27921617e-01 -2.39185801e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.140714057 meters Centerline goodness : 0.988884 Centerline is valid? [True, True] Translation: X:200.13, Y:223.35, Z:-239.19 [[-4.54231522e-02 -9.98967792e-01 -2.95043149e-04 2.00126697e+02] [ 5.27328286e-01 -2.42285068e-02 8.49316112e-01 2.23353840e+02] [-8.48446590e-01 3.84230305e-02 5.27884509e-01 -2.39189848e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.1707140569999 meters Centerline goodness : 0.989478 Centerline is valid? [True, True] Translation: X:200.13, Y:223.37, Z:-239.21 [[-4.62740796e-02 -9.98928619e-01 5.69405395e-04 2.00127203e+02] [ 5.27225086e-01 -2.39388569e-02 8.49388392e-01 2.23368716e+02] [-8.48464742e-01 3.96048709e-02 5.27767975e-01 -2.39213602e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.2007140569999 meters Centerline goodness : 0.984527 Centerline is valid? [True, True] Translation: X:200.13, Y:223.38, Z:-239.24 [[-4.72734164e-02 -9.98835601e-01 -9.62631652e-03 2.00132484e+02] [ 5.22557360e-01 -3.29427387e-02 8.51967477e-01 2.23375868e+02] [-8.51292564e-01 3.52451107e-02 5.23506211e-01 -2.39237713e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.2307140569999 meters Centerline goodness : 0.987799 Centerline is valid? [True, True] Translation: X:200.13, Y:222.90, Z:-238.47 [[-4.09727403e-02 -9.99158443e-01 1.90801994e-03 2.00126374e+02] [ 5.24808003e-01 -1.98958633e-02 8.50988081e-01 2.22904309e+02] [-8.50233964e-01 3.58686578e-02 5.25181536e-01 -2.38465847e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.260714057 meters Centerline goodness : 0.989016 Centerline is valid? [True, True] Translation: X:200.13, Y:222.92, Z:-238.49 [[-4.20604729e-02 -9.99105741e-01 -4.31679879e-03 2.00130118e+02] [ 5.23704121e-01 -2.57260534e-02 8.51511693e-01 2.22918613e+02] [-8.50861276e-01 3.35542592e-02 5.24317844e-01 -2.38491121e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.290714057 meters Centerline goodness : 0.989043 Centerline is valid? [True, True] Translation: X:200.13, Y:222.94, Z:-238.52 [[-4.43023911e-02 -9.98988004e-01 7.76307923e-03 2.00127137e+02] [ 5.25165251e-01 -1.66778405e-02 8.50836829e-01 2.22936046e+02] [-8.49846314e-01 4.17710054e-02 5.25372654e-01 -2.38515195e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.3207140569999 meters Centerline goodness : 0.988574 Centerline is valid? [True, True] Translation: X:200.13, Y:222.95, Z:-238.54 [[-4.48590161e-02 -9.98960469e-01 8.10251425e-03 2.00127286e+02] [ 5.25523826e-01 -1.66997218e-02 8.50614970e-01 2.22950898e+02] [-8.49595419e-01 4.24158149e-02 5.25726661e-01 -2.38539400e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.3507140569999 meters Centerline goodness : 0.988792 Centerline is valid? [True, True] Translation: X:200.13, Y:222.96, Z:-238.56 [[-4.44884698e-02 -9.98990395e-01 6.24235248e-03 2.00128299e+02] [ 5.24968014e-01 -1.80614517e-02 8.50930296e-01 2.22964539e+02] [-8.49958446e-01 4.11336222e-02 5.25241530e-01 -2.38561939e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.380714057 meters Centerline goodness : 0.988693 Centerline is valid? [True, True] Translation: X:200.13, Y:222.98, Z:-238.59 [[-4.59615349e-02 -9.98939596e-01 2.68717343e-03 2.00130428e+02] [ 5.26081886e-01 -2.19182689e-02 8.50151421e-01 2.22979418e+02] [-8.49191019e-01 4.04879375e-02 5.26531424e-01 -2.38588372e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.410714057 meters Centerline goodness : 0.986776 Centerline is valid? [True, True] Translation: X:200.14, Y:223.00, Z:-238.62 [[-3.67668547e-02 -9.99323570e-01 -7.75031930e-04 2.00144343e+02] [ 5.26117803e-01 -2.00161500e-02 8.50176106e-01 2.23000570e+02] [-8.49616535e-01 3.08505433e-02 5.26497852e-01 -2.38623825e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.4407140569999 meters Centerline goodness : 0.984912 Centerline is valid? [True, True] Translation: X:200.12, Y:223.02, Z:-238.63 [[-3.57329398e-02 -9.97406681e-01 6.24745568e-02 2.00118499e+02] [ 5.27110406e-01 3.43011620e-02 8.49104264e-01 2.23022094e+02] [-8.49045215e-01 6.32719805e-02 5.24517759e-01 -2.38632099e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.4707140569999 meters Centerline goodness : 0.988632 Centerline is valid? [True, True] Translation: X:200.14, Y:223.03, Z:-238.67 [[-3.53255079e-02 -9.99374906e-01 1.38021870e-03 2.00142899e+02] [ 5.30400075e-01 -1.75778145e-02 8.47565208e-01 2.23030912e+02] [-8.47011139e-01 3.06727396e-02 5.30689470e-01 -2.38665835e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.500714057 meters Centerline goodness : 0.988675 Centerline is valid? [True, True] Translation: X:200.14, Y:223.05, Z:-238.69 [[-3.46220627e-02 -9.99201865e-01 1.99235058e-02 2.00135684e+02] [ 5.31176646e-01 -1.51125278e-03 8.47259752e-01 2.23049417e+02] [-8.46553414e-01 3.99167812e-02 5.30805018e-01 -2.38686816e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.530714057 meters Centerline goodness : 0.987381 Centerline is valid? [True, True] Translation: X:200.14, Y:223.06, Z:-238.71 [[-3.19027311e-02 -9.99301138e-01 1.94795013e-02 2.00136236e+02] [ 5.30625915e-01 -4.17765337e-04 8.47606019e-01 2.23064142e+02] [-8.47005522e-01 3.73772751e-02 5.30268409e-01 -2.38710021e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.5607140569999 meters Centerline goodness : 0.984802 Centerline is valid? [True, True] Translation: X:200.15, Y:223.08, Z:-238.74 [[-1.95553551e-02 -9.99784572e-01 6.95678831e-03 2.00153240e+02] [ 5.26059756e-01 -4.37192137e-03 8.50436370e-01 2.23082051e+02] [-8.50222748e-01 2.02902716e-02 5.26031922e-01 -2.38739424e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.5907140569999 meters Centerline goodness : 0.987614 Centerline is valid? [True, True] Translation: X:200.12, Y:223.10, Z:-238.75 [[-3.02219292e-02 -9.97759205e-01 5.96925846e-02 2.00121439e+02] [ 5.31559853e-01 3.45314359e-02 8.46316550e-01 2.23101874e+02] [-8.46481398e-01 5.73075003e-02 5.29325129e-01 -2.38752418e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.620714057 meters Centerline goodness : 0.984016 Centerline is valid? [True, True] Translation: X:200.14, Y:223.11, Z:-238.78 [[-2.22986384e-02 -9.99589424e-01 1.79931801e-02 2.00143851e+02] [ 5.26835183e-01 3.54723368e-03 8.49960062e-01 2.23110287e+02] [-8.49674915e-01 2.84323924e-02 5.26539778e-01 -2.38779535e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.650714057 meters Centerline goodness : 0.986865 Centerline is valid? [True, True] Translation: X:200.14, Y:223.12, Z:-238.80 [[-2.82621198e-02 -9.99447550e-01 1.74885108e-02 2.00139427e+02] [ 5.29812868e-01 -1.41452264e-04 8.48114559e-01 2.23122560e+02] [-8.47643544e-01 3.32351533e-02 5.29524170e-01 -2.38804777e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.6807140569999 meters Centerline goodness : 0.987125 Centerline is valid? [True, True] Translation: X:200.14, Y:223.14, Z:-238.83 [[-2.71683241e-02 -9.99486643e-01 1.69803678e-02 2.00141281e+02] [ 5.29661084e-01 1.29097561e-05 8.48209370e-01 2.23137338e+02] [-8.47774155e-01 3.20382671e-02 5.29388828e-01 -2.38828802e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.7107140569999 meters Centerline goodness : 0.987296 Centerline is valid? [True, True] Translation: X:200.14, Y:223.15, Z:-238.85 [[-2.65112655e-02 -9.99512129e-01 1.65123186e-02 2.00142469e+02] [ 5.29251714e-01 -2.10207618e-05 8.48464863e-01 2.23151496e+02] [-8.48050574e-01 3.12330501e-02 5.28994064e-01 -2.38851371e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.7407140569999 meters Centerline goodness : 0.987566 Centerline is valid? [True, True] Translation: X:200.14, Y:223.17, Z:-238.87 [[-2.56455511e-02 -9.99537977e-01 1.63137403e-02 2.00143605e+02] [ 5.28747547e-01 2.86872020e-04 8.48779094e-01 2.23165416e+02] [-8.48391618e-01 3.03932577e-02 5.28495896e-01 -2.38874325e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.770714057 meters Centerline goodness : 0.986427 Centerline is valid? [True, True] Translation: X:200.15, Y:223.17, Z:-238.90 [[-2.12727026e-02 -9.99641775e-01 1.62417195e-02 2.00148735e+02] [ 5.17371274e-01 2.89410287e-03 8.55756150e-01 2.23174594e+02] [-8.55496603e-01 2.66072452e-02 5.17124373e-01 -2.38901695e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.8007140569999 meters Centerline goodness : 0.986835 Centerline is valid? [True, True] Translation: X:200.15, Y:223.19, Z:-238.92 [[-2.44070764e-02 -9.99579795e-01 1.56373945e-02 2.00148422e+02] [ 5.27597984e-01 4.06920773e-04 8.49494086e-01 2.23193840e+02] [-8.49143487e-01 2.89839249e-02 5.27366353e-01 -2.38921011e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.8307140569999 meters Centerline goodness : 0.986407 Centerline is valid? [True, True] Translation: X:200.15, Y:223.21, Z:-238.95 [[-2.44529937e-02 -9.99581905e-01 1.54294080e-02 2.00150035e+02] [ 5.27275966e-01 2.16891220e-04 8.49694068e-01 2.23208365e+02] [-8.49342161e-01 2.89131197e-02 5.27050211e-01 -2.38945039e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.8607140569999 meters Centerline goodness : 0.986303 Centerline is valid? [True, True] Translation: X:200.15, Y:223.22, Z:-238.97 [[-2.41006856e-02 -9.99597559e-01 1.49625503e-02 2.00153059e+02] [ 5.27755274e-01 -1.01304810e-05 8.49396474e-01 2.23222645e+02] [-8.49054491e-01 2.83676022e-02 5.27543128e-01 -2.38969165e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.890714057 meters Centerline goodness : 0.985232 Centerline is valid? [True, True] Translation: X:200.16, Y:223.24, Z:-239.01 [[-1.42111628e-02 -9.99486225e-01 2.87285511e-02 2.00162825e+02] [ 5.23711009e-01 1.70350537e-02 8.51725652e-01 2.23242012e+02] [-8.51777449e-01 2.71494704e-02 5.23199851e-01 -2.39007523e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.9207140569999 meters Centerline goodness : 0.987056 Centerline is valid? [True, True] Translation: X:200.14, Y:223.26, Z:-239.01 [[-2.54652167e-02 -9.97383723e-01 6.76552469e-02 2.00136856e+02] [ 5.29345281e-01 4.39571688e-02 8.47266984e-01 2.23262291e+02] [-8.48024231e-01 5.73888229e-02 5.26840988e-01 -2.39010244e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.9507140569999 meters Centerline goodness : 0.985769 Centerline is valid? [True, True] Translation: X:200.16, Y:223.27, Z:-239.05 [[-2.19747076e-02 -9.99140989e-01 3.51339907e-02 2.00158437e+02] [ 5.23915815e-01 1.84220088e-02 8.51570812e-01 2.23269596e+02] [-8.51486542e-01 3.71202730e-02 5.23060947e-01 -2.39049601e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.9807140569999 meters Centerline goodness : 0.986786 Centerline is valid? [True, True] Translation: X:200.15, Y:223.28, Z:-239.06 [[-2.73766284e-02 -9.99010085e-01 3.50623810e-02 2.00153233e+02] [ 5.28611905e-01 1.53018796e-02 8.48725696e-01 2.23284486e+02] [-8.48422050e-01 4.17696400e-02 5.27669710e-01 -2.39061558e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.010714057 meters Centerline goodness : 0.986685 Centerline is valid? [True, True] Translation: X:200.17, Y:223.29, Z:-239.09 [[-2.85786866e-02 -9.99517317e-01 1.21816320e-02 2.00166285e+02] [ 5.28021396e-01 -4.74759091e-03 8.49217796e-01 2.23294846e+02] [-8.48750060e-01 3.07016916e-02 5.27902209e-01 -2.39086644e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.040714057 meters Centerline goodness : 0.986190 Centerline is valid? [True, True] Translation: X:200.17, Y:223.31, Z:-239.11 [[-2.92311214e-02 -9.99500838e-01 1.19839944e-02 2.00168122e+02] [ 5.27618064e-01 -5.24549599e-03 8.49465517e-01 2.23308711e+02] [-8.48978634e-01 3.11538015e-02 5.27508029e-01 -2.39109362e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.0707140569999 meters Centerline goodness : 0.983776 Centerline is valid? [True, True] Translation: X:200.15, Y:223.32, Z:-239.13 [[-2.79807673e-02 -9.98112709e-01 5.46634960e-02 2.00154713e+02] [ 5.19516542e-01 3.21989144e-02 8.53853496e-01 2.23323620e+02] [-8.54002131e-01 5.22900664e-02 5.17635112e-01 -2.39128478e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.1007140569999 meters Centerline goodness : 0.986439 Centerline is valid? [True, True] Translation: X:200.20, Y:223.33, Z:-239.16 [[-3.04701030e-02 -9.97335572e-01 -6.62821928e-02 2.00204357e+02] [ 5.23857438e-01 -7.24101209e-02 8.48722663e-01 2.23325273e+02] [-8.51260804e-01 -8.86175276e-03 5.24668002e-01 -2.39163336e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.130714057 meters Centerline goodness : 0.985775 Centerline is valid? [True, True] Translation: X:200.18, Y:223.35, Z:-239.18 [[-3.08421654e-02 -9.99467390e-01 1.06628919e-02 2.00175482e+02] [ 5.26773993e-01 -7.18748717e-03 8.49975000e-01 2.23351733e+02] [-8.49445656e-01 3.18320037e-02 5.26715105e-01 -2.39178426e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.160714057 meters Centerline goodness : 0.984011 Centerline is valid? [True, True] Translation: X:200.16, Y:223.36, Z:-239.20 [[-3.05143699e-02 -9.98241501e-01 5.08210581e-02 2.00161321e+02] [ 5.17715853e-01 2.77082330e-02 8.55103824e-01 2.23364428e+02] [-8.55008286e-01 5.24038218e-02 5.15959950e-01 -2.39198134e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.1907140569999 meters Centerline goodness : 0.985839 Centerline is valid? [True, True] Translation: X:200.21, Y:223.37, Z:-239.23 [[-2.58441528e-02 -9.97714324e-01 -6.24356337e-02 2.00213935e+02] [ 5.18526528e-01 -6.67767685e-02 8.52450059e-01 2.23366999e+02] [-8.54670884e-01 -1.03436828e-02 5.19067133e-01 -2.39234216e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.2207140569999 meters Centerline goodness : 0.983874 Centerline is valid? [True, True] Translation: X:200.19, Y:223.40, Z:-239.26 [[-1.57145911e-02 -9.99593067e-01 2.38065618e-02 2.00193380e+02] [ 5.16733118e-01 1.22645551e-02 8.56058681e-01 2.23397418e+02] [-8.56002300e-01 2.57542510e-02 5.16330109e-01 -2.39264536e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.250714057 meters Centerline goodness : 0.983111 Centerline is valid? [True, True] Translation: X:200.18, Y:223.42, Z:-239.28 [[-1.41383291e-02 -9.98022854e-01 6.12412515e-02 2.00179265e+02] [ 5.19963015e-01 4.49765405e-02 8.53003854e-01 2.23420570e+02] [-8.54071760e-01 4.39032349e-02 5.18299079e-01 -2.39278934e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.280714057 meters Centerline goodness : 0.983111 Centerline is valid? [True, True] Translation: X:200.18, Y:223.43, Z:-239.30 [[-1.45572427e-02 -9.98582139e-01 5.12035050e-02 2.00183195e+02] [ 5.20086570e-01 3.61746292e-02 8.53347149e-01 2.23434684e+02] [-8.53989489e-01 3.90526368e-02 5.18822556e-01 -2.39304725e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.3107140569999 meters Centerline goodness : 0.985240 Centerline is valid? [True, True] Translation: X:200.18, Y:223.45, Z:-239.33 [[-1.29600340e-02 -9.98295613e-01 5.69026067e-02 2.00182450e+02] [ 5.18848786e-01 4.19327214e-02 8.53836978e-01 2.23449914e+02] [-8.54767790e-01 4.05896046e-02 5.17421017e-01 -2.39330076e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.3407140569999 meters Centerline goodness : 0.983964 Centerline is valid? [True, True] Translation: X:200.19, Y:223.47, Z:-239.35 [[-1.18149145e-02 -9.99158181e-01 3.92853427e-02 2.00189096e+02] [ 5.22251621e-01 2.73376409e-02 8.52353154e-01 2.23466084e+02] [-8.52709595e-01 3.05873136e-02 5.21488987e-01 -2.39351564e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.370714057 meters Centerline goodness : 0.987337 Centerline is valid? [True, True] Translation: X:200.18, Y:223.47, Z:-239.36 [[-1.86657747e-02 -9.99464489e-01 2.68761043e-02 2.00184064e+02] [ 5.24995569e-01 1.30792397e-02 8.51004457e-01 2.23474762e+02] [-8.50900254e-01 2.99944931e-02 5.24470294e-01 -2.39364609e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.400714057 meters Centerline goodness : 0.985748 Centerline is valid? [True, True] Translation: X:200.21, Y:223.49, Z:-239.40 [[-5.84761692e-03 -9.99944784e-01 -8.73121253e-03 2.00212815e+02] [ 5.23553602e-01 -1.05004854e-02 8.51928028e-01 2.23491035e+02] [-8.51972670e-01 4.10490973e-04 5.23586097e-01 -2.39403222e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.4307140569999 meters Centerline goodness : 0.986201 Centerline is valid? [True, True] Translation: X:200.20, Y:223.52, Z:-239.42 [[-8.50786210e-03 -9.99609297e-01 2.66246006e-02 2.00200737e+02] [ 5.34065474e-01 1.79677660e-02 8.45252169e-01 2.23517514e+02] [-8.45400311e-01 2.14105688e-02 5.33703946e-01 -2.39418944e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.4607140569999 meters Centerline goodness : 0.985660 Centerline is valid? [True, True] Translation: X:200.20, Y:223.53, Z:-239.44 [[-6.69382808e-03 -9.99340872e-01 3.56793389e-02 2.00198185e+02] [ 5.29518043e-01 2.67248246e-02 8.47877601e-01 2.23531854e+02] [-8.48272265e-01 2.45684006e-02 5.28990131e-01 -2.39438042e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.4907140569999 meters Centerline goodness : 0.987364 Centerline is valid? [True, True] Translation: X:200.20, Y:223.55, Z:-239.47 [[-9.21400786e-03 -9.99540131e-01 2.88899440e-02 2.00203823e+02] [ 5.32701375e-01 1.95438071e-02 8.46077588e-01 2.23546861e+02] [-8.46253123e-01 2.31854784e-02 5.32276325e-01 -2.39466757e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.520714057 meters Centerline goodness : 0.988040 Centerline is valid? [True, True] Translation: X:200.19, Y:223.56, Z:-239.48 [[-1.64979861e-02 -9.98343648e-01 5.51160267e-02 2.00189661e+02] [ 5.30476574e-01 3.79860244e-02 8.46848078e-01 2.23557753e+02] [-8.47539038e-01 4.32090489e-02 5.28971225e-01 -2.39482661e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.5507140569999 meters Centerline goodness : 0.989199 Centerline is valid? [True, True] Translation: X:200.21, Y:223.56, Z:-239.51 [[-1.80712088e-02 -9.99830876e-01 3.41325189e-03 2.00212442e+02] [ 5.29348277e-01 -6.67136240e-03 8.48378391e-01 2.23564707e+02] [-8.48212139e-01 1.71380221e-02 5.29379311e-01 -2.39510653e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.5807140569999 meters Centerline goodness : 0.988548 Centerline is valid? [True, True] Translation: X:200.23, Y:223.59, Z:-239.54 [[-1.64407031e-02 -9.99801401e-01 -1.12633396e-02 2.00231158e+02] [ 5.33295725e-01 -1.82971457e-02 8.45730976e-01 2.23586518e+02] [-8.45769102e-01 7.89772098e-03 5.33490631e-01 -2.39537927e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.6107140569999 meters Centerline goodness : 0.987054 Centerline is valid? [True, True] Translation: X:200.21, Y:223.60, Z:-239.56 [[-1.63094679e-02 -9.98667717e-01 4.89570496e-02 2.00211649e+02] [ 5.27458265e-01 3.30029877e-02 8.48939681e-01 2.23603762e+02] [-8.49424382e-01 3.96685549e-02 5.26217280e-01 -2.39560025e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.640714057 meters Centerline goodness : 0.987543 Centerline is valid? [True, True] Translation: X:200.22, Y:223.61, Z:-239.58 [[-2.26087088e-02 -9.98983155e-01 3.90064323e-02 2.00215713e+02] [ 5.25649235e-01 2.13098326e-02 8.50434461e-01 2.23611189e+02] [-8.50400922e-01 3.97309264e-02 5.24632943e-01 -2.39579870e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.6707140569999 meters Centerline goodness : 0.989780 Centerline is valid? [True, True] Translation: X:200.25, Y:223.62, Z:-239.61 [[-3.31513780e-02 -9.98751930e-01 -3.73573159e-02 2.00250072e+02] [ 5.27321644e-01 -4.92307888e-02 8.48238300e-01 2.23621446e+02] [-8.49018769e-01 8.42094730e-03 5.28295578e-01 -2.39610728e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.7007140569999 meters Centerline goodness : 0.989122 Centerline is valid? [True, True] Translation: X:200.24, Y:223.65, Z:-239.64 [[-2.99922646e-02 -9.99379232e-01 1.84828458e-02 2.00240062e+02] [ 5.27001631e-01 -9.81231024e-05 8.49864266e-01 2.23645725e+02] [-8.49334884e-01 3.52298438e-02 5.26677428e-01 -2.39641979e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.7307140569999 meters Centerline goodness : 0.990397 Centerline is valid? [True, True] Translation: X:200.23, Y:223.66, Z:-239.65 [[-4.53934058e-02 -9.98109236e-01 4.14414180e-02 2.00225817e+02] [ 5.30499774e-01 1.10660099e-02 8.47612844e-01 2.23661813e+02] [-8.46468800e-01 6.04606966e-02 5.28994400e-01 -2.39653072e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.760714057 meters Centerline goodness : 0.990252 Centerline is valid? [True, True] Translation: X:200.24, Y:223.67, Z:-239.68 [[-4.88341903e-02 -9.98788602e-01 6.04567267e-03 2.00241681e+02] [ 5.28964206e-01 -2.07275539e-02 8.48390970e-01 2.23672189e+02] [-8.47237919e-01 4.46284305e-02 5.29335633e-01 -2.39679780e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.790714057 meters Centerline goodness : 0.989740 Centerline is valid? [True, True] Translation: X:200.25, Y:223.69, Z:-239.71 [[-4.71143912e-02 -9.98863970e-01 7.14162717e-03 2.00249985e+02] [ 5.29525641e-01 -1.89130709e-02 8.48083069e-01 2.23691453e+02] [-8.46984551e-01 4.37385922e-02 5.29815162e-01 -2.39710286e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.8207140569999 meters Centerline goodness : 0.989456 Centerline is valid? [True, True] Translation: X:200.24, Y:223.71, Z:-239.73 [[-5.13955358e-02 -9.98394346e-01 2.38165694e-02 2.00243377e+02] [ 5.33036169e-01 -7.25705333e-03 8.46061332e-01 2.23711532e+02] [-8.44530012e-01 5.61788684e-02 5.32553277e-01 -2.39729654e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.8507140569999 meters Centerline goodness : 0.990815 Centerline is valid? [True, True] Translation: X:200.24, Y:223.73, Z:-239.75 [[-5.59865682e-02 -9.97706631e-01 3.80392329e-02 2.00239472e+02] [ 5.32420591e-01 2.39641329e-03 8.46476563e-01 2.23726836e+02] [-8.44626438e-01 6.76441886e-02 5.31065387e-01 -2.39754611e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.880714057 meters Centerline goodness : 0.990105 Centerline is valid? [True, True] Translation: X:200.24, Y:223.74, Z:-239.78 [[-6.08014125e-02 -9.97751310e-01 2.82048215e-02 2.00242083e+02] [ 5.34162057e-01 -8.65466749e-03 8.45337799e-01 2.23741638e+02] [-8.43192793e-01 6.64636777e-02 5.33487108e-01 -2.39777686e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.910714057 meters Centerline goodness : 0.990766 Centerline is valid? [True, True] Translation: X:200.24, Y:223.76, Z:-239.80 [[-6.43085443e-02 -9.97646644e-01 2.37820198e-02 2.00242111e+02] [ 5.35537854e-01 -1.43922641e-02 8.44388577e-01 2.23757924e+02] [-8.42059153e-01 6.70375721e-02 5.35203089e-01 -2.39797492e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.9407140569999 meters Centerline goodness : 0.991383 Centerline is valid? [True, True] Translation: X:200.23, Y:223.77, Z:-239.82 [[-7.08673003e-02 -9.96720620e-01 3.90618990e-02 2.00229729e+02] [ 5.31691037e-01 -4.61210181e-03 8.46925835e-01 2.23766795e+02] [-8.43968286e-01 8.07882091e-02 5.30274267e-01 -2.39820559e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.9707140569999 meters Centerline goodness : 0.991095 Centerline is valid? [True, True] Translation: X:200.24, Y:223.78, Z:-239.85 [[-7.32913767e-02 -9.97309172e-01 1.67020371e-03 2.00243639e+02] [ 5.28540020e-01 -3.74216492e-02 8.48083173e-01 2.23777662e+02] [-8.45738625e-01 6.30399527e-02 5.29860494e-01 -2.39847242e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.000714057 meters Centerline goodness : 0.990895 Centerline is valid? [True, True] Translation: X:200.24, Y:223.79, Z:-239.87 [[-7.78445607e-02 -9.96964779e-01 1.20608877e-03 2.00241788e+02] [ 5.26750615e-01 -4.01023319e-02 8.49073373e-01 2.23792887e+02] [-8.46447880e-01 6.67310517e-02 5.28273559e-01 -2.39869835e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.030714057 meters Centerline goodness : 0.990892 Centerline is valid? [True, True] Translation: X:200.25, Y:223.81, Z:-239.90 [[-7.42621468e-02 -9.97214017e-01 7.02413175e-03 2.00245877e+02] [ 5.25965115e-01 -3.31822250e-02 8.49858599e-01 2.23812567e+02] [-8.47257830e-01 6.68067722e-02 5.26963969e-01 -2.39901253e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.0607140569999 meters Centerline goodness : 0.990083 Centerline is valid? [True, True] Translation: X:200.24, Y:223.82, Z:-239.91 [[-8.02700591e-02 -9.96746531e-01 7.28492622e-03 2.00239758e+02] [ 5.32342897e-01 -3.66894586e-02 8.45733365e-01 2.23824279e+02] [-8.42714518e-01 7.17651459e-02 5.33556001e-01 -2.39910352e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.0907140569999 meters Centerline goodness : 0.988229 Centerline is valid? [True, True] Translation: X:200.23, Y:223.83, Z:-239.92 [[-8.14202857e-02 -9.96493001e-01 1.92986024e-02 2.00232550e+02] [ 5.31441150e-01 -2.70254365e-02 8.46664001e-01 2.23828188e+02] [-8.43173198e-01 7.91916963e-02 5.31777805e-01 -2.39916821e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.120714057 meters Centerline goodness : 0.984442 Centerline is valid? [True, True] Translation: X:200.23, Y:224.23, Z:-240.56 [[-9.77959941e-02 -9.95190028e-01 -5.72299615e-03 2.00228613e+02] [ 5.30047579e-01 -5.69524286e-02 8.46053181e-01 2.24228215e+02] [-8.42309627e-01 7.97071516e-02 5.33067784e-01 -2.40559983e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.150714057 meters Centerline goodness : 0.988501 Centerline is valid? [True, True] Translation: X:200.08, Y:224.51, Z:-239.67 [[-6.05658782e-03 3.46820306e-01 9.37912039e-01 2.00078920e+02] [ 5.51212659e-01 7.83726762e-01 -2.86246339e-01 2.24513559e+02] [-8.34342809e-01 5.15255313e-01 -1.95918453e-01 -2.39666252e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.1807140569999 meters Centerline goodness : 0.987209 Centerline is valid? [True, True] Translation: X:200.27, Y:223.93, Z:-240.02 [[-1.12219524e-01 -9.91173381e-01 -7.05840393e-02 2.00271479e+02] [ 4.69921629e-01 -1.15523284e-01 8.75116012e-01 2.23926919e+02] [-8.75545796e-01 6.50361353e-02 4.78737778e-01 -2.40020600e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.2107140569999 meters Centerline goodness : 0.987732 Centerline is valid? [True, True] Translation: X:200.24, Y:223.94, Z:-240.04 [[-1.26413711e-01 -9.91822852e-01 -1.75215516e-02 2.00235499e+02] [ 4.68806963e-01 -7.52998239e-02 8.80085205e-01 2.23940967e+02] [-8.74207988e-01 1.03040611e-01 4.74492389e-01 -2.40039498e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.2407140569999 meters Centerline goodness : 0.987941 Centerline is valid? [True, True] Translation: X:200.25, Y:223.94, Z:-240.05 [[-1.27501769e-01 -9.90398696e-01 -5.34202308e-02 2.00245342e+02] [ 4.65565681e-01 -1.07319581e-01 8.78482273e-01 2.23937982e+02] [-8.75780735e-01 8.71374176e-02 4.74779080e-01 -2.40045510e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.270714057 meters Centerline goodness : 0.983481 Centerline is valid? [True, True] Translation: X:200.23, Y:224.20, Z:-240.52 [[-1.29275419e-01 -9.89129822e-01 -7.00718323e-02 2.00231892e+02] [ 4.73203794e-01 -1.23636606e-01 8.72234005e-01 2.24199191e+02] [-8.71416109e-01 7.96001597e-02 4.84043159e-01 -2.40519609e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.3007140569999 meters Centerline goodness : 0.984497 Centerline is valid? [True, True] Translation: X:200.00, Y:224.79, Z:-240.29 [[-1.57208283e-02 7.69702377e-02 9.96909443e-01 2.00003224e+02] [ 5.01394988e-01 8.63222155e-01 -5.87416143e-02 2.24793724e+02] [-8.65075674e-01 4.98921931e-01 -5.21630587e-02 -2.40293537e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.3307140569999 meters Centerline goodness : 0.987056 Centerline is valid? [True, True] Translation: X:200.73, Y:224.73, Z:-239.93 [[ 3.95093576e-03 9.49945206e-01 -3.12391575e-01 2.00728848e+02] [ 4.01835248e-01 -2.87570692e-01 -8.69385720e-01 2.24731640e+02] [-9.15703458e-01 -1.22095059e-01 -3.82857641e-01 -2.39931679e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.3607140569999 meters Centerline goodness : 0.986305 Centerline is valid? [True, True] Translation: X:200.31, Y:224.05, Z:-240.22 [[-1.97789143e-01 -9.60338769e-01 -1.96542371e-01 2.00310301e+02] [ 4.00953904e-01 -2.62222844e-01 8.77767137e-01 2.24047605e+02] [-8.94491711e-01 9.48083785e-02 4.36916411e-01 -2.40224757e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.390714057 meters Centerline goodness : 0.985447 Centerline is valid? [True, True] Translation: X:200.30, Y:224.05, Z:-240.23 [[-1.98006330e-01 -9.60578007e-01 -1.95149652e-01 2.00304200e+02] [ 4.01646075e-01 -2.61120679e-01 8.77779255e-01 2.24048889e+02] [-8.94133057e-01 9.54247571e-02 4.37515934e-01 -2.40228877e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.4207140569999 meters Centerline goodness : 0.985471 Centerline is valid? [True, True] Translation: X:200.30, Y:224.05, Z:-240.23 [[-1.98200029e-01 -9.60761038e-01 -1.94048905e-01 2.00298047e+02] [ 4.02546868e-01 -2.60298065e-01 8.77610926e-01 2.24048461e+02] [-8.93684938e-01 9.58287319e-02 4.38342430e-01 -2.40230479e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.4507140569999 meters Centerline goodness : 0.986788 Centerline is valid? [True, True] Translation: X:200.29, Y:224.05, Z:-240.23 [[-1.97660460e-01 -9.61087286e-01 -1.92980752e-01 2.00286618e+02] [ 4.03336340e-01 -2.59165235e-01 8.77583716e-01 2.24048369e+02] [-8.93448454e-01 9.56274504e-02 4.38868148e-01 -2.40233168e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.4807140569999 meters Centerline goodness : 0.986804 Centerline is valid? [True, True] Translation: X:200.28, Y:224.05, Z:-240.23 [[-1.96796509e-01 -9.61455626e-01 -1.92026596e-01 2.00280844e+02] [ 4.03096529e-01 -2.57881043e-01 8.78072068e-01 2.24048215e+02] [-8.93747348e-01 9.53962628e-02 4.38309515e-01 -2.40233045e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.510714057 meters Centerline goodness : 0.986821 Centerline is valid? [True, True] Translation: X:200.27, Y:224.05, Z:-240.24 [[-1.95175917e-01 -9.61961252e-01 -1.91146310e-01 2.00269872e+02] [ 4.02328282e-01 -2.56270639e-01 8.78895507e-01 2.24051870e+02] [-8.94448609e-01 9.46356695e-02 4.37042075e-01 -2.40239737e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.540714057 meters Centerline goodness : 0.986918 Centerline is valid? [True, True] Translation: X:200.26, Y:224.05, Z:-240.24 [[-1.94432968e-01 -9.62308918e-01 -1.90150905e-01 2.00264264e+02] [ 4.02463345e-01 -2.55043885e-01 8.79190465e-01 2.24052226e+02] [-8.94549651e-01 9.44148419e-02 4.36883005e-01 -2.40241395e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.5707140569999 meters Centerline goodness : 0.987710 Centerline is valid? [True, True] Translation: X:200.25, Y:224.05, Z:-240.24 [[-1.93256342e-01 -9.62760367e-01 -1.89062060e-01 2.00254763e+02] [ 4.03643377e-01 -2.53648030e-01 8.79053298e-01 2.24051788e+02] [-8.94272895e-01 9.35689763e-02 4.37630936e-01 -2.40241044e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.6007140569999 meters Centerline goodness : 0.987386 Centerline is valid? [True, True] Translation: X:200.25, Y:224.05, Z:-240.24 [[-1.92601068e-01 -9.63107348e-01 -1.87960276e-01 2.00250019e+02] [ 4.04842365e-01 -2.52474486e-01 8.78839743e-01 2.24052889e+02] [-8.93872188e-01 9.31711902e-02 4.38533512e-01 -2.40243998e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.630714057 meters Centerline goodness : 0.987095 Centerline is valid? [True, True] Translation: X:200.25, Y:224.05, Z:-240.24 [[-1.91958576e-01 -9.63444796e-01 -1.86885074e-01 2.00245670e+02] [ 4.05787253e-01 -2.51304096e-01 8.78739413e-01 2.24051786e+02] [-8.93581899e-01 9.28459856e-02 4.39193594e-01 -2.40244663e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.660714057 meters Centerline goodness : 0.988946 Centerline is valid? [True, True] Translation: X:200.24, Y:224.05, Z:-240.25 [[-1.90833652e-01 -9.63905328e-01 -1.85658385e-01 2.00237318e+02] [ 4.08418471e-01 -2.49952463e-01 8.77905530e-01 2.24053022e+02] [-8.92623588e-01 9.17076045e-02 4.41376081e-01 -2.40250084e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.6907140569999 meters Centerline goodness : 0.988517 Centerline is valid? [True, True] Translation: X:200.24, Y:224.05, Z:-240.24 [[-1.78534145e-01 -9.64930280e-01 -1.92445092e-01 2.00243633e+02] [ 4.16190498e-01 -2.51287823e-01 8.73864920e-01 2.24049397e+02] [-8.91577831e-01 7.59209079e-02 4.46458271e-01 -2.40237314e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.7207140569999 meters Centerline goodness : 0.990149 Centerline is valid? [True, True] Translation: X:200.20, Y:224.06, Z:-240.25 [[-1.90114731e-01 -9.73384637e-01 -1.27979441e-01 2.00204095e+02] [ 4.16128039e-01 -1.97962096e-01 8.87495613e-01 2.24063196e+02] [-8.89209674e-01 1.15470156e-01 4.42688151e-01 -2.40245514e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.750714057 meters Centerline goodness : 0.989378 Centerline is valid? [True, True] Translation: X:200.22, Y:224.06, Z:-240.26 [[-1.88186731e-01 -9.65064289e-01 -1.82309279e-01 2.00218409e+02] [ 4.12571921e-01 -2.46132328e-01 8.77042352e-01 2.24058870e+02] [-8.91274461e-01 8.98320437e-02 4.44477266e-01 -2.40263529e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.780714057 meters Centerline goodness : 0.988517 Centerline is valid? [True, True] Translation: X:200.22, Y:224.06, Z:-240.25 [[-1.75439612e-01 -9.66958732e-01 -1.84964192e-01 2.00222736e+02] [ 4.18214002e-01 -2.43283506e-01 8.75162948e-01 2.24055316e+02] [-8.91245192e-01 7.61836333e-02 4.47077245e-01 -2.40250381e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.8107140569999 meters Centerline goodness : 0.989395 Centerline is valid? [True, True] Translation: X:200.19, Y:224.07, Z:-240.25 [[-1.75660191e-01 -9.75540698e-01 -1.32150841e-01 2.00191760e+02] [ 4.22669166e-01 -1.95972128e-01 8.84842190e-01 2.24067984e+02] [-8.89097449e-01 9.95754624e-02 4.46755475e-01 -2.40253213e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.8407140569999 meters Centerline goodness : 0.988741 Centerline is valid? [True, True] Translation: X:200.20, Y:224.07, Z:-240.26 [[-1.77289462e-01 -9.71061059e-01 -1.60027708e-01 2.00199953e+02] [ 4.22377345e-01 -2.21942684e-01 8.78828097e-01 2.24066124e+02] [-8.88912721e-01 8.82148820e-02 4.49502291e-01 -2.40256830e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.870714057 meters Centerline goodness : 0.989518 Centerline is valid? [True, True] Translation: X:200.19, Y:224.07, Z:-240.27 [[-1.77416684e-01 -9.72822605e-01 -1.48793479e-01 2.00190486e+02] [ 4.26133346e-01 -2.12222145e-01 8.79415790e-01 2.24072718e+02] [-8.87092831e-01 9.26171705e-02 4.52203901e-01 -2.40265407e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.900714057 meters Centerline goodness : 0.988816 Centerline is valid? [True, True] Translation: X:200.19, Y:224.07, Z:-240.26 [[-1.76975458e-01 -9.73452488e-01 -1.45154889e-01 2.00186354e+02] [ 4.24449735e-01 -2.08550635e-01 8.81106722e-01 2.24070655e+02] [-8.87987674e-01 9.43233112e-02 4.50089995e-01 -2.40259124e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.9307140569999 meters Centerline goodness : 0.989881 Centerline is valid? [True, True] Translation: X:200.18, Y:224.07, Z:-240.27 [[-1.76872823e-01 -9.71795155e-01 -1.55981349e-01 2.00183423e+02] [ 4.24008166e-01 -2.18253739e-01 8.78966655e-01 2.24073196e+02] [-8.88219049e-01 8.93279483e-02 4.50652236e-01 -2.40270200e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.9607140569999 meters Centerline goodness : 0.989735 Centerline is valid? [True, True] Translation: X:200.17, Y:224.07, Z:-240.26 [[-1.73626694e-01 -9.74237954e-01 -1.43924219e-01 2.00174021e+02] [ 4.18452237e-01 -2.05277870e-01 8.84736527e-01 2.24069205e+02] [-8.91488360e-01 9.33884665e-02 4.43313769e-01 -2.40260737e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.9907140569999 meters Centerline goodness : 0.989841 Centerline is valid? [True, True] Translation: X:200.17, Y:224.07, Z:-240.26 [[-1.73098285e-01 -9.73463119e-01 -1.49688139e-01 2.00173293e+02] [ 4.18017654e-01 -2.10228176e-01 8.83779019e-01 2.24068801e+02] [-8.91794945e-01 9.04083479e-02 4.43314907e-01 -2.40261454e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.020714057 meters Centerline goodness : 0.990185 Centerline is valid? [True, True] Translation: X:200.17, Y:224.07, Z:-240.27 [[-1.73835331e-01 -9.74251091e-01 -1.43583040e-01 2.00167557e+02] [ 4.18039722e-01 -2.05018864e-01 8.84991558e-01 2.24073955e+02] [-8.91641222e-01 9.38193866e-02 4.42915177e-01 -2.40268635e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.0507140569999 meters Centerline goodness : 0.990202 Centerline is valid? [True, True] Translation: X:200.17, Y:224.08, Z:-240.28 [[-1.74125485e-01 -9.72468476e-01 -1.54872135e-01 2.00169479e+02] [ 4.17516974e-01 -2.15347608e-01 8.82782524e-01 2.24075526e+02] [-8.91829520e-01 8.90531894e-02 4.43519602e-01 -2.40278924e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.0807140569999 meters Centerline goodness : 0.990726 Centerline is valid? [True, True] Translation: X:200.16, Y:224.08, Z:-240.29 [[-1.76039094e-01 -9.74156155e-01 -1.41527467e-01 2.00157154e+02] [ 4.21821818e-01 -2.04555207e-01 8.83302622e-01 2.24084381e+02] [-8.89424865e-01 9.57964197e-02 4.46930034e-01 -2.40290499e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.1107140569999 meters Centerline goodness : 0.990471 Centerline is valid? [True, True] Translation: X:200.16, Y:224.08, Z:-240.28 [[-1.76182581e-01 -9.74154390e-01 -1.41360964e-01 2.00155520e+02] [ 4.19339823e-01 -2.04201098e-01 8.84565444e-01 2.24081146e+02] [-8.90569375e-01 9.65667410e-02 4.44478406e-01 -2.40284884e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.140714057 meters Centerline goodness : 0.991203 Centerline is valid? [True, True] Translation: X:200.16, Y:224.08, Z:-240.29 [[-1.75383117e-01 -9.70251107e-01 -1.66893834e-01 2.00161381e+02] [ 4.18365953e-01 -2.26904200e-01 8.79479626e-01 2.24075709e+02] [-8.91184993e-01 8.44231801e-02 4.45715195e-01 -2.40294241e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.1707140569999 meters Centerline goodness : 0.991044 Centerline is valid? [True, True] Translation: X:200.15, Y:224.08, Z:-240.29 [[-1.74273975e-01 -9.74017574e-01 -1.44631763e-01 2.00149747e+02] [ 4.20376883e-01 -2.06414580e-01 8.83558882e-01 2.24078955e+02] [-8.90455984e-01 9.31814686e-02 4.45427161e-01 -2.40290163e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.2007140569999 meters Centerline goodness : 0.991044 Centerline is valid? [True, True] Translation: X:200.15, Y:224.08, Z:-240.29 [[-1.73808952e-01 -9.73826435e-01 -1.46466796e-01 2.00150122e+02] [ 4.20284667e-01 -2.07858513e-01 8.83264194e-01 2.24080382e+02] [-8.90590392e-01 9.19614751e-02 4.45411990e-01 -2.40294329e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.2307140569999 meters Centerline goodness : 0.992373 Centerline is valid? [True, True] Translation: X:200.14, Y:224.09, Z:-240.30 [[-1.72656010e-01 -9.75976169e-01 -1.32892512e-01 2.00137677e+02] [ 4.22548888e-01 -1.95263931e-01 8.85056176e-01 2.24086859e+02] [-8.89742850e-01 9.66566848e-02 4.46111136e-01 -2.40301828e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.260714057 meters Centerline goodness : 0.992454 Centerline is valid? [True, True] Translation: X:200.14, Y:224.09, Z:-240.31 [[-1.70998992e-01 -9.74868067e-01 -1.42799150e-01 2.00138979e+02] [ 4.19789747e-01 -2.03208011e-01 8.84580733e-01 2.24086560e+02] [-8.91367440e-01 9.13167942e-02 4.43987984e-01 -2.40309096e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.290714057 meters Centerline goodness : 0.992485 Centerline is valid? [True, True] Translation: X:200.14, Y:224.08, Z:-240.31 [[-1.69733751e-01 -9.74317955e-01 -1.47969511e-01 2.00138843e+02] [ 4.20267926e-01 -2.07373643e-01 8.83386123e-01 2.24084645e+02] [-8.91383938e-01 8.77536006e-02 4.44672893e-01 -2.40308062e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.3207140569999 meters Centerline goodness : 0.992530 Centerline is valid? [True, True] Translation: X:200.13, Y:224.09, Z:-240.31 [[-1.67362392e-01 -9.76982587e-01 -1.32268118e-01 2.00128808e+02] [ 4.22477516e-01 -1.92288185e-01 8.85741499e-01 2.24088460e+02] [-8.90787617e-01 9.23595098e-02 4.44934987e-01 -2.40308754e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.3507140569999 meters Centerline goodness : 0.993122 Centerline is valid? [True, True] Translation: X:200.13, Y:224.09, Z:-240.31 [[-1.64772136e-01 -9.76195932e-01 -1.41037746e-01 2.00126627e+02] [ 4.20177185e-01 -1.98839971e-01 8.85389067e-01 2.24086873e+02] [-8.92357147e-01 8.66266043e-02 4.42938545e-01 -2.40311963e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.380714057 meters Centerline goodness : 0.992380 Centerline is valid? [True, True] Translation: X:200.12, Y:224.09, Z:-240.32 [[-1.64144625e-01 -9.75918798e-01 -1.43662945e-01 2.00123943e+02] [ 4.20276877e-01 -2.00947670e-01 8.84865741e-01 2.24090168e+02] [-8.92425845e-01 8.48677416e-02 4.43140585e-01 -2.40320514e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.410714057 meters Centerline goodness : 0.993088 Centerline is valid? [True, True] Translation: X:200.12, Y:224.09, Z:-240.33 [[-1.64323414e-01 -9.75955153e-01 -1.43210875e-01 2.00118000e+02] [ 4.20984391e-01 -2.00685789e-01 8.84588807e-01 2.24093886e+02] [-8.92059392e-01 8.50691097e-02 4.43839259e-01 -2.40327668e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.4407140569999 meters Centerline goodness : 0.993628 Centerline is valid? [True, True] Translation: X:200.11, Y:224.10, Z:-240.33 [[-1.62863312e-01 -9.78022727e-01 -1.30180981e-01 2.00110415e+02] [ 4.22461209e-01 -1.88360606e-01 8.86592809e-01 2.24097335e+02] [-8.91628885e-01 8.93970269e-02 4.43853696e-01 -2.40328161e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.4707140569999 meters Centerline goodness : 0.993433 Centerline is valid? [True, True] Translation: X:200.11, Y:224.10, Z:-240.33 [[-1.63549796e-01 -9.77623047e-01 -1.32305112e-01 2.00108339e+02] [ 4.22524955e-01 -1.90602305e-01 8.86083192e-01 2.24099480e+02] [-8.91473010e-01 8.90165141e-02 4.44243102e-01 -2.40334657e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.500714057 meters Centerline goodness : 0.993555 Centerline is valid? [True, True] Translation: X:200.10, Y:224.10, Z:-240.34 [[-1.64725779e-01 -9.77581590e-01 -1.31147451e-01 2.00103736e+02] [ 4.22501087e-01 -1.90081859e-01 8.86206363e-01 2.24101740e+02] [-8.91267777e-01 9.05710927e-02 4.44340666e-01 -2.40341049e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.530714057 meters Centerline goodness : 0.993359 Centerline is valid? [True, True] Translation: X:200.10, Y:224.10, Z:-240.35 [[-1.64866985e-01 -9.77705649e-01 -1.30040538e-01 2.00101163e+02] [ 4.22117139e-01 -1.89102875e-01 8.86598682e-01 2.24103429e+02] [-8.91423580e-01 9.12785115e-02 4.43883132e-01 -2.40346383e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.5607140569999 meters Centerline goodness : 0.993322 Centerline is valid? [True, True] Translation: X:200.10, Y:224.11, Z:-240.35 [[-1.67395621e-01 -9.76778192e-01 -1.33727598e-01 2.00098520e+02] [ 4.23765748e-01 -1.93758824e-01 8.84805125e-01 2.24105282e+02] [-8.90169252e-01 9.14433275e-02 4.46359520e-01 -2.40352311e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.5907140569999 meters Centerline goodness : 0.993962 Centerline is valid? [True, True] Translation: X:200.10, Y:224.10, Z:-240.35 [[-1.66534693e-01 -9.77377596e-01 -1.30381097e-01 2.00095906e+02] [ 4.22662099e-01 -1.90221809e-01 8.86099550e-01 2.24103579e+02] [-8.90855177e-01 9.24591682e-02 4.44778997e-01 -2.40350368e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.620714057 meters Centerline goodness : 0.993712 Centerline is valid? [True, True] Translation: X:200.09, Y:224.11, Z:-240.36 [[-1.66973607e-01 -9.77236073e-01 -1.30879610e-01 2.00093823e+02] [ 4.23298097e-01 -1.90938559e-01 8.85641681e-01 2.24106521e+02] [-8.90470963e-01 9.24776958e-02 4.45543870e-01 -2.40356919e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.650714057 meters Centerline goodness : 0.993945 Centerline is valid? [True, True] Translation: X:200.09, Y:224.09, Z:-240.32 [[-1.57534537e-01 -9.80668385e-01 -1.16070619e-01 2.00088205e+02] [ 4.18876989e-01 -1.72799194e-01 8.91449666e-01 2.24091103e+02] [-8.94273413e-01 9.18147992e-02 4.38001261e-01 -2.40323062e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.6807140569999 meters Centerline goodness : 0.994503 Centerline is valid? [True, True] Translation: X:200.08, Y:224.12, Z:-240.36 [[-1.73092499e-01 -9.77416568e-01 -1.21226395e-01 2.00078752e+02] [ 4.27599504e-01 -1.85456331e-01 8.84739856e-01 2.24115294e+02] [-8.87241597e-01 1.01305486e-01 4.50043940e-01 -2.40360582e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.7107140569999 meters Centerline goodness : 0.994308 Centerline is valid? [True, True] Translation: X:200.09, Y:224.11, Z:-240.37 [[-1.71523017e-01 -9.73394898e-01 -1.51928365e-01 2.00088233e+02] [ 4.24644209e-01 -2.12200263e-01 8.80141093e-01 2.24108175e+02] [-8.88964089e-01 8.64489553e-02 4.49743735e-01 -2.40369141e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.7407140569999 meters Centerline goodness : 0.993989 Centerline is valid? [True, True] Translation: X:200.09, Y:224.09, Z:-240.34 [[-1.56876903e-01 -9.77377053e-01 -1.41858144e-01 2.00090898e+02] [ 4.16592793e-01 -1.95719641e-01 8.87774897e-01 2.24091828e+02] [-8.95455238e-01 8.01742957e-02 4.37872128e-01 -2.40342785e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.770714057 meters Centerline goodness : 0.994623 Centerline is valid? [True, True] Translation: X:200.08, Y:224.10, Z:-240.35 [[-1.56546830e-01 -9.80145024e-01 -1.21691506e-01 2.00078834e+02] [ 4.20237632e-01 -1.77602037e-01 8.89863950e-01 2.24104162e+02] [-8.93808382e-01 8.81660302e-02 4.39696859e-01 -2.40349617e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.8007140569999 meters Centerline goodness : 0.994770 Centerline is valid? [True, True] Translation: X:200.07, Y:224.11, Z:-240.36 [[-1.58763367e-01 -9.80817660e-01 -1.13096915e-01 2.00070123e+02] [ 4.23542284e-01 -1.71132759e-01 8.89564788e-01 2.24114151e+02] [-8.91855441e-01 9.33289746e-02 4.42587365e-01 -2.40360164e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.8307140569999 meters Centerline goodness : 0.994655 Centerline is valid? [True, True] Translation: X:200.07, Y:224.12, Z:-240.38 [[-1.57996916e-01 -9.78754495e-01 -1.30677515e-01 2.00074134e+02] [ 4.23598281e-01 -1.86726336e-01 8.86395945e-01 2.24116099e+02] [-8.91964949e-01 8.46930553e-02 4.44100907e-01 -2.40377667e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.8607140569999 meters Centerline goodness : 0.995460 Centerline is valid? [True, True] Translation: X:200.06, Y:224.13, Z:-240.39 [[-1.56337241e-01 -9.81134216e-01 -1.13729143e-01 2.00061628e+02] [ 4.25409849e-01 -1.70804984e-01 8.88736248e-01 2.24129021e+02] [-8.91395046e-01 9.05610751e-02 4.44087339e-01 -2.40394281e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.890714057 meters Centerline goodness : 0.995564 Centerline is valid? [True, True] Translation: X:200.06, Y:224.12, Z:-240.37 [[-1.52661218e-01 -9.81821385e-01 -1.12788835e-01 2.00062460e+02] [ 4.23819408e-01 -1.68139786e-01 8.90003439e-01 2.24115104e+02] [-8.92788700e-01 8.80669116e-02 4.41783382e-01 -2.40367825e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.9207140569999 meters Centerline goodness : 0.995748 Centerline is valid? [True, True] Translation: X:200.06, Y:224.13, Z:-240.40 [[-1.51044828e-01 -9.82222267e-01 -1.11466940e-01 2.00055457e+02] [ 4.24999877e-01 -1.66332113e-01 8.89780160e-01 2.24130186e+02] [-8.92502417e-01 8.70232557e-02 4.42567948e-01 -2.40400094e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.9507140569999 meters Centerline goodness : 0.995766 Centerline is valid? [True, True] Translation: X:200.05, Y:224.12, Z:-240.38 [[-1.49514906e-01 -9.82639426e-01 -1.09841029e-01 2.00054224e+02] [ 4.25935217e-01 -1.64262827e-01 8.89717323e-01 2.24122094e+02] [-8.92314118e-01 8.62408392e-02 4.43100478e-01 -2.40381040e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.9807140569999 meters Centerline goodness : 0.995586 Centerline is valid? [True, True] Translation: X:200.05, Y:224.13, Z:-240.40 [[-1.48081478e-01 -9.83080323e-01 -1.07819078e-01 2.00050705e+02] [ 4.25864827e-01 -1.61781125e-01 8.90205604e-01 2.24130133e+02] [-8.92586705e-01 8.59066089e-02 4.42616120e-01 -2.40396947e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.010714057 meters Centerline goodness : 0.994539 Centerline is valid? [True, True] Translation: X:200.05, Y:224.12, Z:-240.39 [[-1.45736680e-01 -9.83490619e-01 -1.07270795e-01 2.00048246e+02] [ 4.25350811e-01 -1.60184143e-01 8.90739989e-01 2.24124566e+02] [-8.93217503e-01 8.41857694e-02 4.41673238e-01 -2.40385076e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.040714057 meters Centerline goodness : 0.995531 Centerline is valid? [True, True] Translation: X:200.05, Y:224.13, Z:-240.39 [[-1.43628309e-01 -9.84008777e-01 -1.05345322e-01 2.00045373e+02] [ 4.24936382e-01 -1.57458147e-01 8.91423582e-01 2.24129283e+02] [-8.93756108e-01 8.32686012e-02 4.40756577e-01 -2.40394765e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.0707140569999 meters Centerline goodness : 0.995762 Centerline is valid? [True, True] Translation: X:200.04, Y:224.15, Z:-240.43 [[-1.44489483e-01 -9.83469656e-01 -1.09133975e-01 2.00039794e+02] [ 4.28757021e-01 -1.61625742e-01 8.88844495e-01 2.24147264e+02] [-8.91790450e-01 8.16367238e-02 4.45022740e-01 -2.40430609e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.1007140569999 meters Centerline goodness : 0.995413 Centerline is valid? [True, True] Translation: X:200.04, Y:224.15, Z:-240.43 [[-1.44153372e-01 -9.82958667e-01 -1.14070440e-01 2.00039617e+02] [ 4.29686581e-01 -1.66017174e-01 8.87585342e-01 2.24147513e+02] [-8.91397357e-01 7.89338823e-02 4.46296084e-01 -2.40432663e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.130714057 meters Centerline goodness : 0.994415 Centerline is valid? [True, True] Translation: X:200.04, Y:224.14, Z:-240.41 [[-1.41831504e-01 -9.83195539e-01 -1.14936316e-01 2.00039606e+02] [ 4.29909484e-01 -1.65769081e-01 8.87523773e-01 2.24139389e+02] [-8.91662302e-01 7.64666193e-02 4.46196365e-01 -2.40414051e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.160714057 meters Centerline goodness : 0.995196 Centerline is valid? [True, True] Translation: X:200.04, Y:224.16, Z:-240.45 [[-1.44070364e-01 -9.82271115e-01 -1.19946598e-01 2.00036261e+02] [ 4.33409148e-01 -1.71601512e-01 8.84708670e-01 2.24156118e+02] [-8.89606790e-01 7.54743468e-02 4.50447980e-01 -2.40445570e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.1907140569999 meters Centerline goodness : 0.994684 Centerline is valid? [True, True] Translation: X:200.04, Y:224.14, Z:-240.42 [[-1.40674439e-01 -9.82995356e-01 -1.18028951e-01 2.00035008e+02] [ 4.33617168e-01 -1.68344534e-01 8.85232325e-01 2.24143630e+02] [-8.90048793e-01 7.33501808e-02 4.49925435e-01 -2.40417684e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.2207140569999 meters Centerline goodness : 0.995354 Centerline is valid? [True, True] Translation: X:200.03, Y:224.15, Z:-240.42 [[-1.40100238e-01 -9.83507302e-01 -1.14391040e-01 2.00032123e+02] [ 4.35795827e-01 -1.64988733e-01 8.84794165e-01 2.24147810e+02] [-8.89074755e-01 7.41087350e-02 4.51723339e-01 -2.40420562e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.250714057 meters Centerline goodness : 0.995387 Centerline is valid? [True, True] Translation: X:200.03, Y:224.15, Z:-240.42 [[-1.40471558e-01 -9.82401467e-01 -1.23106044e-01 2.00033875e+02] [ 4.42614654e-01 -1.73532537e-01 8.79760608e-01 2.24147299e+02] [-8.85641016e-01 6.90928044e-02 4.59201672e-01 -2.40421573e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.280714057 meters Centerline goodness : 0.995415 Centerline is valid? [True, True] Translation: X:200.02, Y:224.15, Z:-240.41 [[-1.37931663e-01 -9.85561634e-01 -9.81994038e-02 2.00023906e+02] [ 4.39488933e-01 -1.49754565e-01 8.85676605e-01 2.24150671e+02] [-8.87594690e-01 7.90052956e-02 4.53799327e-01 -2.40413806e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.3107140569999 meters Centerline goodness : 0.995334 Centerline is valid? [True, True] Translation: X:200.03, Y:224.16, Z:-240.44 [[-1.40738251e-01 -9.83755763e-01 -1.11433138e-01 2.00026144e+02] [ 4.42422212e-01 -1.63182215e-01 8.81835672e-01 2.24158577e+02] [-8.85694830e-01 7.48075144e-02 4.58201380e-01 -2.40436118e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.3407140569999 meters Centerline goodness : 0.995307 Centerline is valid? [True, True] Translation: X:200.03, Y:224.16, Z:-240.44 [[-1.41721168e-01 -9.82570262e-01 -1.20294602e-01 2.00026959e+02] [ 4.46595957e-01 -1.71914956e-01 8.78064519e-01 2.24160436e+02] [-8.83440525e-01 7.07172463e-02 4.63175895e-01 -2.40443079e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.370714057 meters Centerline goodness : 0.995257 Centerline is valid? [True, True] Translation: X:200.01, Y:224.17, Z:-240.45 [[-1.41665653e-01 -9.85382238e-01 -9.46186479e-02 2.00014230e+02] [ 4.39019746e-01 -1.48208630e-01 8.86169208e-01 2.24167456e+02] [-8.87238697e-01 8.40002845e-02 4.53598331e-01 -2.40446023e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.400714057 meters Centerline goodness : 0.995352 Centerline is valid? [True, True] Translation: X:200.03, Y:224.16, Z:-240.46 [[-1.41134933e-01 -9.81524035e-01 -1.29195586e-01 2.00027726e+02] [ 4.36502463e-01 -1.78828198e-01 8.81751709e-01 2.24158332e+02] [-8.88564309e-01 6.80517770e-02 4.53676564e-01 -2.40456506e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.4307140569999 meters Centerline goodness : 0.994806 Centerline is valid? [True, True] Translation: X:200.03, Y:224.16, Z:-240.46 [[-1.40089069e-01 -9.81810327e-01 -1.28154337e-01 2.00026520e+02] [ 4.36028877e-01 -1.77377187e-01 8.82278954e-01 2.24159007e+02] [-8.88962244e-01 6.77186453e-02 4.52946259e-01 -2.40456380e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.4607140569999 meters Centerline goodness : 0.994752 Centerline is valid? [True, True] Translation: X:200.02, Y:224.17, Z:-240.47 [[-1.38976953e-01 -9.82103298e-01 -1.27116166e-01 2.00024745e+02] [ 4.35534052e-01 -1.75897801e-01 8.82819378e-01 2.24165113e+02] [-8.89379276e-01 6.73281283e-02 4.52185168e-01 -2.40467443e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.4907140569999 meters Centerline goodness : 0.994332 Centerline is valid? [True, True] Translation: X:200.02, Y:224.17, Z:-240.47 [[-1.37469674e-01 -9.82446436e-01 -1.26099523e-01 2.00023013e+02] [ 4.34769562e-01 -1.74238216e-01 8.83525026e-01 2.24168939e+02] [-8.89987369e-01 6.66336630e-02 4.51090277e-01 -2.40472709e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.520714057 meters Centerline goodness : 0.994179 Centerline is valid? [True, True] Translation: X:200.02, Y:224.19, Z:-240.51 [[-1.36250745e-01 -9.82752082e-01 -1.25036315e-01 2.00019658e+02] [ 4.34535722e-01 -1.72709312e-01 8.83940157e-01 2.24187036e+02] [-8.90288965e-01 6.61047596e-02 4.50572657e-01 -2.40509065e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.5507140569999 meters Centerline goodness : 0.994230 Centerline is valid? [True, True] Translation: X:200.02, Y:224.17, Z:-240.47 [[-1.34246581e-01 -9.83156186e-01 -1.24023261e-01 2.00021223e+02] [ 4.35015107e-01 -1.70921257e-01 8.84051911e-01 2.24169893e+02] [-8.90359317e-01 6.47289542e-02 4.50633388e-01 -2.40473398e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.5807140569999 meters Centerline goodness : 0.993637 Centerline is valid? [True, True] Translation: X:200.02, Y:224.17, Z:-240.48 [[-1.33113589e-01 -9.83463115e-01 -1.22805026e-01 2.00020493e+02] [ 4.35303893e-01 -1.69331210e-01 8.84215733e-01 2.24171512e+02] [-8.90388282e-01 6.42436241e-02 4.50645608e-01 -2.40476748e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.6107140569999 meters Centerline goodness : 0.993896 Centerline is valid? [True, True] Translation: X:200.02, Y:224.18, Z:-240.49 [[-1.32370844e-01 -9.83702523e-01 -1.21685278e-01 2.00019046e+02] [ 4.35915515e-01 -1.68030543e-01 8.84162542e-01 2.24178585e+02] [-8.90199766e-01 6.39928412e-02 4.51053536e-01 -2.40490241e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.640714057 meters Centerline goodness : 0.994329 Centerline is valid? [True, True] Translation: X:200.02, Y:224.18, Z:-240.49 [[-1.31498962e-01 -9.83954597e-01 -1.20587621e-01 2.00019042e+02] [ 4.36173708e-01 -1.66665463e-01 8.84293571e-01 2.24176414e+02] [-8.90202516e-01 6.36865368e-02 4.51091461e-01 -2.40485440e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.6707140569999 meters Centerline goodness : 0.993745 Centerline is valid? [True, True] Translation: X:200.02, Y:224.20, Z:-240.54 [[-1.30558471e-01 -9.84216708e-01 -1.19465295e-01 2.00015547e+02] [ 4.36801817e-01 -1.65273303e-01 8.84244824e-01 2.24203617e+02] [-8.90032954e-01 6.32629943e-02 4.51485476e-01 -2.40540742e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.7007140569999 meters Centerline goodness : 0.993568 Centerline is valid? [True, True] Translation: X:200.02, Y:224.18, Z:-240.50 [[-1.29685065e-01 -9.84458772e-01 -1.18417524e-01 2.00019213e+02] [ 4.37607224e-01 -1.63990938e-01 8.84085341e-01 2.24181488e+02] [-8.89764970e-01 6.28323010e-02 4.52073446e-01 -2.40495796e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.7307140569999 meters Centerline goodness : 0.993288 Centerline is valid? [True, True] Translation: X:200.02, Y:224.19, Z:-240.50 [[-1.28370657e-01 -9.84777214e-01 -1.17195619e-01 2.00019091e+02] [ 4.37902276e-01 -1.62314743e-01 8.84248563e-01 2.24185128e+02] [-8.89810413e-01 6.21913404e-02 4.52072633e-01 -2.40502639e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.760714057 meters Centerline goodness : 0.993947 Centerline is valid? [True, True] Translation: X:200.02, Y:224.18, Z:-240.50 [[-1.22004265e-01 -9.84977229e-01 -1.22208095e-01 2.00024870e+02] [ 4.41208064e-01 -1.64115355e-01 8.82270704e-01 2.24181374e+02] [-8.89072778e-01 5.37215918e-02 4.54602669e-01 -2.40495965e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.790714057 meters Centerline goodness : 0.993702 Centerline is valid? [True, True] Translation: X:200.02, Y:224.17, Z:-240.47 [[-1.12541202e-01 -9.88236481e-01 -1.03552572e-01 2.00020062e+02] [ 4.37204081e-01 -1.42832971e-01 8.87947822e-01 2.24174731e+02] [-8.92293152e-01 5.46571081e-02 4.48135617e-01 -2.40473744e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.8207140569999 meters Centerline goodness : 0.993094 Centerline is valid? [True, True] Translation: X:200.01, Y:224.20, Z:-240.50 [[-1.15130673e-01 -9.89121132e-01 -9.15659059e-02 2.00011054e+02] [ 4.44017236e-01 -1.33700710e-01 8.85986916e-01 2.24199243e+02] [-8.88590807e-01 6.13474293e-02 4.54579883e-01 -2.40502587e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.8507140569999 meters Centerline goodness : 0.993588 Centerline is valid? [True, True] Translation: X:200.01, Y:224.20, Z:-240.50 [[-1.08349621e-01 -9.89524293e-01 -9.54045756e-02 2.00012900e+02] [ 4.44345122e-01 -1.34055358e-01 8.85768917e-01 2.24199147e+02] [-8.89279356e-01 5.35801682e-02 4.54215140e-01 -2.40502512e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.880714057 meters Centerline goodness : 0.993621 Centerline is valid? [True, True] Translation: X:200.01, Y:224.20, Z:-240.49 [[-1.01716506e-01 -9.91510388e-01 -8.09993966e-02 2.00009009e+02] [ 4.41571880e-01 -1.17960512e-01 8.89437796e-01 2.24196451e+02] [-8.91441545e-01 5.47034488e-02 4.49821637e-01 -2.40487959e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.910714057 meters Centerline goodness : 0.993617 Centerline is valid? [True, True] Translation: X:200.01, Y:224.20, Z:-240.50 [[-9.61303966e-02 -9.91775185e-01 -8.45040214e-02 2.00010433e+02] [ 4.45108606e-01 -1.18768164e-01 8.87565464e-01 2.24201280e+02] [-8.90301789e-01 4.77085529e-02 4.52864901e-01 -2.40495178e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.9407140569999 meters Centerline goodness : 0.993260 Centerline is valid? [True, True] Translation: X:200.00, Y:224.21, Z:-240.52 [[-9.73910821e-02 -9.92389206e-01 -7.53567594e-02 2.00003910e+02] [ 4.41182059e-01 -1.10919329e-01 8.90536520e-01 2.24212633e+02] [-8.92117351e-01 5.34842650e-02 4.48626867e-01 -2.40517713e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.9707140569999 meters Centerline goodness : 0.992647 Centerline is valid? [True, True] Translation: X:200.02, Y:224.20, Z:-240.52 [[-9.33948667e-02 -9.89590649e-01 -1.09488571e-01 2.00019400e+02] [ 4.40828011e-01 -1.39703669e-01 8.86653004e-01 2.24197980e+02] [-8.92719476e-01 3.45432099e-02 4.49286883e-01 -2.40517384e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.000714057 meters Centerline goodness : 0.993178 Centerline is valid? [True, True] Translation: X:200.02, Y:224.20, Z:-240.52 [[-8.68265582e-02 -9.90308322e-01 -1.08400075e-01 2.00020709e+02] [ 4.41825880e-01 -1.35803480e-01 8.86762261e-01 2.24200108e+02] [-8.92889154e-01 2.91005564e-02 4.49335195e-01 -2.40521096e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.030714057 meters Centerline goodness : 0.992281 Centerline is valid? [True, True] Translation: X:200.02, Y:224.20, Z:-240.53 [[-8.35045238e-02 -9.90712027e-01 -1.07315766e-01 2.00020977e+02] [ 4.42381539e-01 -1.33353188e-01 8.86857092e-01 2.24203558e+02] [-8.92930887e-01 2.65820656e-02 4.49408305e-01 -2.40526503e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.0607140569999 meters Centerline goodness : 0.993593 Centerline is valid? [True, True] Translation: X:200.02, Y:224.20, Z:-240.52 [[-7.84902476e-02 -9.91239653e-01 -1.06222559e-01 2.00023359e+02] [ 4.43298730e-01 -1.30140977e-01 8.86876295e-01 2.24203315e+02] [-8.92930858e-01 2.25228145e-02 4.49630077e-01 -2.40523613e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.0907140569999 meters Centerline goodness : 0.993593 Centerline is valid? [True, True] Translation: X:200.02, Y:224.21, Z:-240.53 [[-7.79533396e-02 -9.91396879e-01 -1.05145159e-01 2.00022594e+02] [ 4.43393796e-01 -1.28937526e-01 8.87004541e-01 2.24205949e+02] [-8.92930691e-01 2.25242550e-02 4.49630336e-01 -2.40528135e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.120714057 meters Centerline goodness : 0.992526 Centerline is valid? [True, True] Translation: X:200.02, Y:224.21, Z:-240.53 [[-7.61479000e-02 -9.91651113e-01 -1.04065211e-01 2.00023537e+02] [ 4.43749576e-01 -1.27166702e-01 8.87082265e-01 2.24208325e+02] [-8.92909744e-01 2.13705584e-02 4.49728238e-01 -2.40531841e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.150714057 meters Centerline goodness : 0.992748 Centerline is valid? [True, True] Translation: X:200.03, Y:224.21, Z:-240.54 [[-7.43936306e-02 -9.91896218e-01 -1.02992621e-01 2.00025062e+02] [ 4.43969670e-01 -1.25422075e-01 8.87220511e-01 2.24211162e+02] [-8.92948218e-01 2.02779548e-02 4.49702440e-01 -2.40536367e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.1807140569999 meters Centerline goodness : 0.992765 Centerline is valid? [True, True] Translation: X:200.02, Y:224.20, Z:-240.51 [[-5.14201505e-02 -9.96887444e-01 -5.97611249e-02 2.00022727e+02] [ 4.20676986e-01 -7.58933734e-02 9.04030458e-01 2.24203180e+02] [-9.05752086e-01 2.13452523e-02 4.23270054e-01 -2.40512260e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.2107140569999 meters Centerline goodness : 0.993017 Centerline is valid? [True, True] Translation: X:200.01, Y:224.22, Z:-240.53 [[-5.35121733e-02 -9.97890558e-01 -3.67543300e-02 2.00014513e+02] [ 4.23099912e-01 -5.59979345e-02 9.04350981e-01 2.24222358e+02] [-9.04501472e-01 3.28430326e-02 4.25203978e-01 -2.40529209e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.2407140569999 meters Centerline goodness : 0.993496 Centerline is valid? [True, True] Translation: X:200.02, Y:224.22, Z:-240.54 [[-5.69192988e-02 -9.97229642e-01 -4.78877284e-02 2.00023367e+02] [ 4.27227257e-01 -6.76809134e-02 9.01607545e-01 2.24224754e+02] [-9.02350854e-01 3.08599264e-02 4.29896035e-01 -2.40537575e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.270714057 meters Centerline goodness : 0.992068 Centerline is valid? [True, True] Translation: X:200.02, Y:224.23, Z:-240.55 [[-5.49656621e-02 -9.97686688e-01 -4.00006149e-02 2.00023320e+02] [ 4.22817245e-01 -5.95489941e-02 9.04256321e-01 2.24228952e+02] [-9.04546490e-01 3.27900976e-02 4.25112287e-01 -2.40545842e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.3007140569999 meters Centerline goodness : 0.993316 Centerline is valid? [True, True] Translation: X:200.04, Y:224.23, Z:-240.56 [[-7.25537455e-02 -9.93247368e-01 -9.05296694e-02 2.00040700e+02] [ 4.43939687e-01 -1.13442515e-01 8.88846640e-01 2.24226864e+02] [-8.93114499e-01 2.42994399e-02 4.49172605e-01 -2.40557319e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.3307140569999 meters Centerline goodness : 0.992919 Centerline is valid? [True, True] Translation: X:200.05, Y:224.23, Z:-240.57 [[-7.26567974e-02 -9.92528924e-01 -9.80169635e-02 2.00046263e+02] [ 4.43616744e-01 -1.20180678e-01 8.88122057e-01 2.24227980e+02] [-8.93266575e-01 2.10461381e-02 4.49034393e-01 -2.40565266e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.3607140569999 meters Centerline goodness : 0.992061 Centerline is valid? [True, True] Translation: X:200.04, Y:224.24, Z:-240.57 [[-5.64445574e-02 -9.97169231e-01 -4.96743131e-02 2.00041879e+02] [ 4.21351136e-01 -6.88973355e-02 9.04276715e-01 2.24235569e+02] [-9.05139344e-01 3.01111707e-02 4.24047268e-01 -2.40569563e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.390714057 meters Centerline goodness : 0.991751 Centerline is valid? [True, True] Translation: X:200.05, Y:224.24, Z:-240.58 [[-5.65100906e-02 -9.97180571e-01 -4.93712321e-02 2.00045065e+02] [ 4.21396055e-01 -6.86518322e-02 9.04274455e-01 2.24238693e+02] [-9.05114343e-01 3.02957889e-02 4.24087480e-01 -2.40575583e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.4207140569999 meters Centerline goodness : 0.992176 Centerline is valid? [True, True] Translation: X:200.05, Y:224.24, Z:-240.58 [[-5.43705004e-02 -9.97265979e-01 -5.00441462e-02 2.00049599e+02] [ 4.17247012e-01 -6.82238953e-02 9.06228686e-01 2.24237589e+02] [-9.07165244e-01 2.83913366e-02 4.19815617e-01 -2.40579161e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.4507140569999 meters Centerline goodness : 0.992247 Centerline is valid? [True, True] Translation: X:200.05, Y:224.24, Z:-240.58 [[-5.34362030e-02 -9.97683588e-01 -4.20954969e-02 2.00054052e+02] [ 4.16460283e-01 -6.05806128e-02 9.07133299e-01 2.24239460e+02] [-9.07582175e-01 3.09426566e-02 4.18732787e-01 -2.40579750e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.4807140569999 meters Centerline goodness : 0.993429 Centerline is valid? [True, True] Translation: X:200.06, Y:224.24, Z:-240.58 [[-5.51726306e-02 -9.97074668e-01 -5.28969496e-02 2.00060650e+02] [ 4.22336909e-01 -7.13092930e-02 9.03629637e-01 2.24240833e+02] [-9.04758264e-01 2.75152900e-02 4.25035755e-01 -2.40584664e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.510714057 meters Centerline goodness : 0.991652 Centerline is valid? [True, True] Translation: X:200.07, Y:224.23, Z:-240.57 [[-5.45497734e-02 -9.96206601e-01 -6.77991934e-02 2.00073338e+02] [ 4.24316386e-01 -8.45918951e-02 9.01554111e-01 2.24230708e+02] [-9.03869419e-01 2.04112637e-02 4.27321254e-01 -2.40565458e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.540714057 meters Centerline goodness : 0.991105 Centerline is valid? [True, True] Translation: X:200.07, Y:224.24, Z:-240.57 [[-5.38255753e-02 -9.96725973e-01 -6.03335923e-02 2.00073263e+02] [ 4.24608572e-01 -7.75326301e-02 9.02051136e-01 2.24237702e+02] [-9.03775618e-01 2.29352608e-02 4.27391631e-01 -2.40574984e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.5707140569999 meters Centerline goodness : 0.992089 Centerline is valid? [True, True] Translation: X:200.08, Y:224.24, Z:-240.58 [[-5.52270658e-02 -9.95579521e-01 -7.59696524e-02 2.00081617e+02] [ 4.31439800e-01 -9.24105327e-02 8.97396229e-01 2.24239753e+02] [-9.00449704e-01 1.67842290e-02 4.34636192e-01 -2.40582690e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.6007140569999 meters Centerline goodness : 0.991984 Centerline is valid? [True, True] Translation: X:200.07, Y:224.24, Z:-240.58 [[-4.95173511e-02 -9.98206664e-01 -3.36376102e-02 2.00074432e+02] [ 4.23700862e-01 -5.14926361e-02 9.04337375e-01 2.24244016e+02] [-9.04447683e-01 3.05281069e-02 4.25490802e-01 -2.40578369e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.630714057 meters Centerline goodness : 0.991355 Centerline is valid? [True, True] Translation: X:200.08, Y:224.24, Z:-240.58 [[-4.89497959e-02 -9.97731278e-01 -4.62192068e-02 2.00083080e+02] [ 4.26406340e-01 -6.27209109e-02 9.02354543e-01 2.24243326e+02] [-9.03206262e-01 2.44619079e-02 4.28509118e-01 -2.40582665e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.660714057 meters Centerline goodness : 0.990406 Centerline is valid? [True, True] Translation: X:200.09, Y:224.25, Z:-240.59 [[-4.59444237e-02 -9.98258895e-01 -3.69903925e-02 2.00087037e+02] [ 4.15252398e-01 -5.27641408e-02 9.08174758e-01 2.24247142e+02] [-9.08545297e-01 2.63652167e-02 4.16953618e-01 -2.40590755e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.6907140569999 meters Centerline goodness : 0.990848 Centerline is valid? [True, True] Translation: X:200.09, Y:224.25, Z:-240.59 [[-4.20346428e-02 -9.98488980e-01 -3.53955720e-02 2.00090904e+02] [ 4.08865101e-01 -4.95155514e-02 9.11250536e-01 2.24245359e+02] [-9.11626249e-01 2.38320767e-02 4.10328666e-01 -2.40593794e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.7207140569999 meters Centerline goodness : 0.992529 Centerline is valid? [True, True] Translation: X:200.10, Y:224.26, Z:-240.62 [[-6.66326749e-02 -9.94852167e-01 -7.63495413e-02 2.00097670e+02] [ 4.41513971e-01 -9.80188038e-02 8.91884369e-01 2.24264617e+02] [-8.94776788e-01 2.57192521e-02 4.45772386e-01 -2.40618281e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.750714057 meters Centerline goodness : 0.990619 Centerline is valid? [True, True] Translation: X:200.11, Y:224.24, Z:-240.58 [[-4.71271898e-02 -9.96952872e-01 -6.21610691e-02 2.00111039e+02] [ 4.18512405e-01 -7.62117934e-02 9.05007807e-01 2.24236108e+02] [-9.06987539e-01 1.66352961e-02 4.20828792e-01 -2.40581763e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.780714057 meters Centerline goodness : 0.990581 Centerline is valid? [True, True] Translation: X:200.11, Y:224.24, Z:-240.58 [[-5.04116387e-02 -9.97702765e-01 -4.52532806e-02 2.00106716e+02] [ 4.25048126e-01 -6.24351882e-02 9.03014916e-01 2.24243864e+02] [-9.03765875e-01 2.62876396e-02 4.27219151e-01 -2.40577993e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.8107140569999 meters Centerline goodness : 0.990820 Centerline is valid? [True, True] Translation: X:200.10, Y:224.27, Z:-240.63 [[-7.36250953e-02 -9.96206963e-01 -4.63792272e-02 2.00102864e+02] [ 4.29175973e-01 -7.36286680e-02 9.00214865e-01 2.24274856e+02] [-9.00215157e-01 4.63735552e-02 4.32969010e-01 -2.40629365e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.8407140569999 meters Centerline goodness : 0.990626 Centerline is valid? [True, True] Translation: X:200.14, Y:224.24, Z:-240.59 [[-5.67181177e-02 -9.91818910e-01 -1.14360415e-01 2.00143333e+02] [ 4.35583026e-01 -1.27650787e-01 8.91051460e-01 2.24236505e+02] [-8.98359885e-01 7.25305730e-04 4.39259595e-01 -2.40589488e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.870714057 meters Centerline goodness : 0.988675 Centerline is valid? [True, True] Translation: X:200.12, Y:224.28, Z:-240.62 [[-6.48327369e-02 -9.96859661e-01 -4.54701255e-02 2.00118231e+02] [ 4.40964121e-01 -6.94951902e-02 8.94830187e-01 2.24278540e+02] [-8.95180072e-01 3.79635961e-02 4.44084908e-01 -2.40624993e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.900714057 meters Centerline goodness : 0.989003 Centerline is valid? [True, True] Translation: X:200.13, Y:224.27, Z:-240.62 [[-6.19726085e-02 -9.96603447e-01 -5.42306662e-02 2.00125236e+02] [ 4.35025396e-01 -7.58739747e-02 8.97215718e-01 2.24268997e+02] [-8.98282973e-01 3.20110814e-02 4.38249918e-01 -2.40616295e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.9307140569999 meters Centerline goodness : 0.983948 Centerline is valid? [True, True] Translation: X:200.08, Y:224.66, Z:-241.44 [[-8.37170790e-02 -9.94828858e-01 -5.75064616e-02 2.00083770e+02] [ 4.19233478e-01 -8.75153034e-02 9.03650575e-01 2.24657282e+02] [-9.04010366e-01 5.15423527e-02 4.24392088e-01 -2.41439382e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.9607140569999 meters Centerline goodness : 0.988778 Centerline is valid? [True, True] Translation: X:200.17, Y:224.26, Z:-240.65 [[-6.20097384e-02 -9.88532057e-01 -1.37692285e-01 2.00165521e+02] [ 4.36146766e-01 -1.50926926e-01 8.87128549e-01 2.24262181e+02] [-8.97736482e-01 -5.04343575e-03 4.40503999e-01 -2.40651618e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.9907140569999 meters Centerline goodness : 0.989786 Centerline is valid? [True, True] Translation: X:200.13, Y:224.28, Z:-240.65 [[-6.07314933e-02 -9.97508107e-01 -3.59063010e-02 2.00129471e+02] [ 4.35102633e-01 -5.88312933e-02 8.98456776e-01 2.24282705e+02] [-8.98330332e-01 3.89416955e-02 4.37591316e-01 -2.40648459e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.020714057 meters Centerline goodness : 0.990805 Centerline is valid? [True, True] Translation: X:200.12, Y:224.29, Z:-240.65 [[-6.01966905e-02 -9.98098824e-01 -1.32323956e-02 2.00122952e+02] [ 4.32925164e-01 -3.80504480e-02 9.00626430e-01 2.24286105e+02] [-8.99417679e-01 4.84860934e-02 4.34392608e-01 -2.40645165e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.0507140569999 meters Centerline goodness : 0.990037 Centerline is valid? [True, True] Translation: X:200.13, Y:224.29, Z:-240.66 [[-6.43877687e-02 -9.97193699e-01 -3.81960955e-02 2.00133131e+02] [ 4.36719777e-01 -6.25729039e-02 8.97418781e-01 2.24292154e+02] [-8.97290394e-01 4.11018025e-02 4.39523140e-01 -2.40664084e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.0807140569999 meters Centerline goodness : 0.989494 Centerline is valid? [True, True] Translation: X:200.14, Y:224.29, Z:-240.66 [[-6.13179936e-02 -9.97514252e-01 -3.47191595e-02 2.00136945e+02] [ 4.28287510e-01 -5.77148480e-02 9.01797541e-01 2.24285474e+02] [-9.01559711e-01 4.04266334e-02 4.30761854e-01 -2.40659886e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.1107140569999 meters Centerline goodness : 0.988021 Centerline is valid? [True, True] Translation: X:200.13, Y:224.29, Z:-240.67 [[-6.17612944e-02 -9.97824507e-01 -2.30606996e-02 2.00134896e+02] [ 4.25193619e-01 -4.72070930e-02 9.03870498e-01 2.24291512e+02] [-9.02992762e-01 4.60189495e-02 4.27184185e-01 -2.40667513e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.140714057 meters Centerline goodness : 0.988190 Centerline is valid? [True, True] Translation: X:200.15, Y:224.30, Z:-240.68 [[-6.64371134e-02 -9.96205981e-01 -5.62116850e-02 2.00149171e+02] [ 4.34885537e-01 -7.96141963e-02 8.96959391e-01 2.24297288e+02] [-8.98031559e-01 3.51457440e-02 4.38524910e-01 -2.40684592e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.1707140569999 meters Centerline goodness : 0.988503 Centerline is valid? [True, True] Translation: X:200.14, Y:224.30, Z:-240.69 [[-6.64188107e-02 -9.96919047e-01 -4.17247660e-02 2.00144922e+02] [ 4.35448388e-01 -6.65854268e-02 8.97747783e-01 2.24301986e+02] [-8.97760125e-01 4.14583579e-02 4.38529317e-01 -2.40686314e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.2007140569999 meters Centerline goodness : 0.988335 Centerline is valid? [True, True] Translation: X:200.14, Y:224.30, Z:-240.69 [[-6.35180253e-02 -9.97386036e-01 -3.44464262e-02 2.00144506e+02] [ 4.28496191e-01 -5.84286662e-02 9.01652431e-01 2.24298597e+02] [-9.01308202e-01 4.25110195e-02 4.31087390e-01 -2.40686031e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.2307140569999 meters Centerline goodness : 0.989728 Centerline is valid? [True, True] Translation: X:200.14, Y:224.31, Z:-240.71 [[-7.96472145e-02 -9.95993594e-01 -4.06581117e-02 2.00138796e+02] [ 4.37374255e-01 -7.15694111e-02 8.96427120e-01 2.24314672e+02] [-8.95745546e-01 5.36151117e-02 4.41322260e-01 -2.40713997e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.260714057 meters Centerline goodness : 0.989009 Centerline is valid? [True, True] Translation: X:200.16, Y:224.30, Z:-240.70 [[-6.30293271e-02 -9.96232876e-01 -5.95597321e-02 2.00157632e+02] [ 4.33034967e-01 -8.10675080e-02 8.97724221e-01 2.24301175e+02] [-8.99170741e-01 3.07915069e-02 4.36513301e-01 -2.40702645e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.290714057 meters Centerline goodness : 0.988352 Centerline is valid? [True, True] Translation: X:200.14, Y:224.32, Z:-240.70 [[-6.42939570e-02 -9.97874254e-01 -1.06424349e-02 2.00140649e+02] [ 4.34886226e-01 -3.76155099e-02 8.99699418e-01 2.24315628e+02] [-8.98187206e-01 5.32169873e-02 4.36380219e-01 -2.40704203e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.3207140569999 meters Centerline goodness : 0.988251 Centerline is valid? [True, True] Translation: X:200.14, Y:224.32, Z:-240.71 [[-6.73812632e-02 -9.97504061e-01 -2.11048180e-02 2.00144536e+02] [ 4.39513948e-01 -4.86657303e-02 8.96916460e-01 2.24318311e+02] [-8.95704893e-01 5.11595022e-02 4.41696107e-01 -2.40708090e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.3507140569999 meters Centerline goodness : 0.988601 Centerline is valid? [True, True] Translation: X:200.15, Y:224.32, Z:-240.71 [[-6.76826440e-02 -9.97500294e-01 -2.03032623e-02 2.00145005e+02] [ 4.39985255e-01 -4.81058672e-02 8.96715563e-01 2.24319788e+02] [-8.95450744e-01 5.17589442e-02 4.42141353e-01 -2.40710900e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.380714057 meters Centerline goodness : 0.985691 Centerline is valid? [True, True] Translation: X:200.14, Y:224.32, Z:-240.72 [[-6.74685579e-02 -9.97712047e-01 -4.32033444e-03 2.00142872e+02] [ 4.28591929e-01 -3.28925627e-02 9.02899240e-01 2.24322850e+02] [-9.00975556e-01 5.90656492e-02 4.29830544e-01 -2.40715770e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.410714057 meters Centerline goodness : 0.985228 Centerline is valid? [True, True] Translation: X:200.16, Y:224.31, Z:-240.72 [[-6.54148146e-02 -9.97163275e-01 -3.72331179e-02 2.00157290e+02] [ 4.24084537e-01 -6.15572003e-02 9.03528094e-01 2.24311870e+02] [-9.03257000e-01 4.33141331e-02 4.26908279e-01 -2.40715928e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.4407140569999 meters Centerline goodness : 0.985816 Centerline is valid? [True, True] Translation: X:200.15, Y:224.31, Z:-240.72 [[-6.30819722e-02 -9.97690989e-01 -2.51665410e-02 2.00153311e+02] [ 4.20623660e-01 -4.94459778e-02 9.05886765e-01 2.24311894e+02] [-9.05039447e-01 4.65594812e-02 4.22771586e-01 -2.40716158e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.4707140569999 meters Centerline goodness : 0.987123 Centerline is valid? [True, True] Translation: X:200.15, Y:224.32, Z:-240.72 [[-6.26808731e-02 -9.97817359e-01 -2.07756243e-02 2.00151326e+02] [ 4.26174145e-01 -4.55830692e-02 9.03491994e-01 2.24316628e+02] [-9.02467012e-01 4.77776331e-02 4.28101146e-01 -2.40722419e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.500714057 meters Centerline goodness : 0.985829 Centerline is valid? [True, True] Translation: X:200.15, Y:224.33, Z:-240.74 [[-6.86617258e-02 -9.97278532e-01 -2.68532619e-02 2.00150850e+02] [ 4.37175853e-01 -5.42721165e-02 8.97737050e-01 2.24333878e+02] [-8.96751271e-01 4.99005775e-02 4.39712510e-01 -2.40738659e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.530714057 meters Centerline goodness : 0.988014 Centerline is valid? [True, True] Translation: X:200.15, Y:224.33, Z:-240.74 [[-6.29175841e-02 -9.97478755e-01 -3.28254756e-02 2.00154010e+02] [ 4.31826092e-01 -5.68610868e-02 9.00162787e-01 2.24326715e+02] [-8.99759748e-01 4.24611710e-02 4.34314915e-01 -2.40741677e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.5607140569999 meters Centerline goodness : 0.987621 Centerline is valid? [True, True] Translation: X:200.14, Y:224.33, Z:-240.73 [[-5.78678219e-02 -9.98211357e-01 1.50133968e-02 2.00137142e+02] [ 4.22660476e-01 -1.08724043e-02 9.06222883e-01 2.24327825e+02] [-9.04438742e-01 5.87867138e-02 4.22533650e-01 -2.40733463e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.5907140569999 meters Centerline goodness : 0.987562 Centerline is valid? [True, True] Translation: X:200.14, Y:224.33, Z:-240.74 [[-5.69406484e-02 -9.98294457e-01 1.28817289e-02 2.00137870e+02] [ 4.20063210e-01 -1.22505279e-02 9.07412158e-01 2.24327356e+02] [-9.05706720e-01 5.70797771e-02 4.20044327e-01 -2.40736217e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.620714057 meters Centerline goodness : 0.986222 Centerline is valid? [True, True] Translation: X:200.14, Y:224.33, Z:-240.75 [[-5.91660751e-02 -9.98200741e-01 9.72911782e-03 2.00137984e+02] [ 4.16333359e-01 -1.58167768e-02 9.09074455e-01 2.24332538e+02] [-9.07284911e-01 5.78369238e-02 4.16520084e-01 -2.40747740e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.650714057 meters Centerline goodness : 0.985421 Centerline is valid? [True, True] Translation: X:200.14, Y:224.33, Z:-240.75 [[-5.97978829e-02 -9.98203164e-01 -3.82840814e-03 2.00142716e+02] [ 4.15878586e-01 -2.83996219e-02 9.08976602e-01 2.24331549e+02] [-9.07452046e-01 5.27627235e-02 4.16829557e-01 -2.40754517e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.6807140569999 meters Centerline goodness : 0.985221 Centerline is valid? [True, True] Translation: X:200.15, Y:224.33, Z:-240.76 [[-6.33408680e-02 -9.97796704e-01 -1.97400967e-02 2.00147588e+02] [ 4.18891327e-01 -4.45342174e-02 9.06943637e-01 2.24334490e+02] [-9.05824481e-01 4.91776419e-02 4.20789221e-01 -2.40762408e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.7107140569999 meters Centerline goodness : 0.986063 Centerline is valid? [True, True] Translation: X:200.14, Y:224.33, Z:-240.77 [[-6.03868526e-02 -9.98115208e-01 -1.09297956e-02 2.00143998e+02] [ 4.14404149e-01 -3.50303459e-02 9.09418538e-01 2.24333916e+02] [-9.08087347e-01 5.03875705e-02 4.15738455e-01 -2.40765389e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.7407140569999 meters Centerline goodness : 0.985262 Centerline is valid? [True, True] Translation: X:200.14, Y:224.34, Z:-240.78 [[-6.28239439e-02 -9.97900046e-01 -1.57686585e-02 2.00143886e+02] [ 4.19173488e-01 -4.07216998e-02 9.06992464e-01 2.24340712e+02] [-9.05729948e-01 5.03710401e-02 4.20851540e-01 -2.40775055e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.770714057 meters Centerline goodness : 0.985935 Centerline is valid? [True, True] Translation: X:200.15, Y:224.34, Z:-240.78 [[-6.20527540e-02 -9.97585056e-01 -3.12011528e-02 2.00147358e+02] [ 4.24822624e-01 -5.46875688e-02 9.03623267e-01 2.24342650e+02] [-9.03147382e-01 4.28173567e-02 4.27190215e-01 -2.40783781e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.8007140569999 meters Centerline goodness : 0.985871 Centerline is valid? [True, True] Translation: X:200.14, Y:224.35, Z:-240.78 [[-6.02873769e-02 -9.97734364e-01 -2.98592047e-02 2.00143003e+02] [ 4.29210810e-01 -5.29185226e-02 9.01652766e-01 2.24345790e+02] [-9.01190054e-01 4.15423867e-02 4.31428694e-01 -2.40780112e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.8307140569999 meters Centerline goodness : 0.988650 Centerline is valid? [True, True] Translation: X:200.14, Y:224.35, Z:-240.79 [[-5.72074575e-02 -9.98096506e-01 -2.30363197e-02 2.00137929e+02] [ 4.32419123e-01 -4.55690171e-02 9.00520498e-01 2.24348939e+02] [-8.99856104e-01 4.15551429e-02 4.34202904e-01 -2.40785374e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.8607140569999 meters Centerline goodness : 0.987204 Centerline is valid? [True, True] Translation: X:200.13, Y:224.36, Z:-240.78 [[-5.65923108e-02 -9.98356582e-01 -9.02473953e-03 2.00130228e+02] [ 4.32749518e-01 -3.26745785e-02 9.00921876e-01 2.24355817e+02] [-8.99736164e-01 4.70797991e-02 4.33887459e-01 -2.40783739e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.890714057 meters Centerline goodness : 0.990088 Centerline is valid? [True, True] Translation: X:200.13, Y:224.36, Z:-240.80 [[-6.71919948e-02 -9.97461426e-01 -2.35783779e-02 2.00125565e+02] [ 4.39776137e-01 -5.08204339e-02 8.96668408e-01 2.24362262e+02] [-8.95590412e-01 4.98797310e-02 4.42074459e-01 -2.40800390e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.9207140569999 meters Centerline goodness : 0.989715 Centerline is valid? [True, True] Translation: X:200.13, Y:224.36, Z:-240.80 [[-6.27212656e-02 -9.97014441e-01 -4.50360783e-02 2.00131047e+02] [ 4.38696795e-01 -6.80735723e-02 8.96053074e-01 2.24357896e+02] [-8.96443621e-01 3.64443996e-02 4.41656700e-01 -2.40804635e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.9507140569999 meters Centerline goodness : 0.987103 Centerline is valid? [True, True] Translation: X:200.13, Y:224.35, Z:-240.79 [[-4.20803230e-02 -9.98568930e-01 -3.30051317e-02 2.00134194e+02] [ 4.23183820e-01 -4.77385879e-02 9.04785324e-01 2.24346166e+02] [-9.05066131e-01 2.41064209e-02 4.24587070e-01 -2.40791209e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.9807140569999 meters Centerline goodness : 0.986987 Centerline is valid? [True, True] Translation: X:200.12, Y:224.35, Z:-240.79 [[-4.19738681e-02 -9.99103845e-01 -5.44996252e-03 2.00122289e+02] [ 4.26051919e-01 -2.28325121e-02 9.04410548e-01 2.24354181e+02] [-9.03724492e-01 3.56396420e-02 4.26628479e-01 -2.40788233e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.010714057 meters Centerline goodness : 0.986987 Centerline is valid? [True, True] Translation: X:200.12, Y:224.35, Z:-240.79 [[-4.13941377e-02 -9.99064555e-01 -1.25116297e-02 2.00124926e+02] [ 4.25964088e-01 -2.89734860e-02 9.04276027e-01 2.24354854e+02] [-9.03792632e-01 3.21022215e-02 4.26764954e-01 -2.40793722e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.040714057 meters Centerline goodness : 0.986848 Centerline is valid? [True, True] Translation: X:200.12, Y:224.36, Z:-240.80 [[-3.97220861e-02 -9.99205772e-01 -3.15930306e-03 2.00121186e+02] [ 4.23625887e-01 -1.97040907e-02 9.05622911e-01 2.24356950e+02] [-9.04965891e-01 3.46348687e-02 4.24072119e-01 -2.40795048e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.0707140569999 meters Centerline goodness : 0.988692 Centerline is valid? [True, True] Translation: X:200.12, Y:224.36, Z:-240.80 [[-3.84485478e-02 -9.99257046e-01 -2.65798280e-03 2.00118722e+02] [ 4.28255626e-01 -1.88812169e-02 9.03460358e-01 2.24358278e+02] [-9.02839315e-01 3.35984427e-02 4.28663407e-01 -2.40802249e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.1007140569999 meters Centerline goodness : 0.987233 Centerline is valid? [True, True] Translation: X:200.11, Y:224.36, Z:-240.80 [[-3.83140127e-02 -9.98899903e-01 2.70374038e-02 2.00108044e+02] [ 4.19871179e-01 8.45999833e-03 9.07544281e-01 2.24361981e+02] [-9.06774630e-01 4.61238897e-02 4.19085143e-01 -2.40797014e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.130714057 meters Centerline goodness : 0.987892 Centerline is valid? [True, True] Translation: X:200.13, Y:224.36, Z:-240.81 [[-4.51195845e-02 -9.98638435e-01 -2.61820558e-02 2.00125448e+02] [ 4.33324866e-01 -4.31793897e-02 9.00202811e-01 2.24359400e+02] [-9.00107651e-01 2.92714410e-02 4.34683102e-01 -2.40807527e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.160714057 meters Centerline goodness : 0.987673 Centerline is valid? [True, True] Translation: X:200.11, Y:224.36, Z:-240.81 [[-4.43068652e-02 -9.99006886e-01 4.70563880e-03 2.00114660e+02] [ 4.23130491e-01 -1.44988983e-02 9.05952741e-01 2.24364630e+02] [-9.04984801e-01 4.21310252e-02 4.23352675e-01 -2.40807711e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.1907140569999 meters Centerline goodness : 0.989558 Centerline is valid? [True, True] Translation: X:200.12, Y:224.36, Z:-240.80 [[-4.68755403e-02 -9.98754370e-01 -1.70994562e-02 2.00121283e+02] [ 4.30583265e-01 -3.56493144e-02 9.01846538e-01 2.24361340e+02] [-9.01332755e-01 3.49118040e-02 4.31717999e-01 -2.40803262e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.2207140569999 meters Centerline goodness : 0.988250 Centerline is valid? [True, True] Translation: X:200.11, Y:224.37, Z:-240.81 [[-5.04384860e-02 -9.98596661e-01 1.61452105e-02 2.00107638e+02] [ 4.32833696e-01 -7.28769497e-03 9.01444331e-01 2.24373672e+02] [-9.00061637e-01 5.24556784e-02 4.32593864e-01 -2.40805159e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.250714057 meters Centerline goodness : 0.989248 Centerline is valid? [True, True] Translation: X:200.11, Y:224.38, Z:-240.82 [[-5.53454201e-02 -9.98463719e-01 2.66190383e-03 2.00112744e+02] [ 4.31797698e-01 -2.15308279e-02 9.01713464e-01 2.24378442e+02] [-9.00270866e-01 5.10551144e-02 4.32325968e-01 -2.40820760e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.280714057 meters Centerline goodness : 0.987902 Centerline is valid? [True, True] Translation: X:200.11, Y:224.39, Z:-240.83 [[-6.11866646e-02 -9.98126266e-01 -3.87595923e-04 2.00112080e+02] [ 4.39810519e-01 -2.73096450e-02 8.97675270e-01 2.24386916e+02] [-8.96003850e-01 5.47552869e-02 4.40657417e-01 -2.40827195e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.3107140569999 meters Centerline goodness : 0.987544 Centerline is valid? [True, True] Translation: X:200.12, Y:224.39, Z:-240.83 [[-6.37321182e-02 -9.97943057e-01 -6.91892370e-03 2.00115129e+02] [ 4.37371967e-01 -3.41624754e-02 8.98631564e-01 2.24387626e+02] [-8.97019498e-01 5.42455498e-02 4.38649565e-01 -2.40834792e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.3407140569999 meters Centerline goodness : 0.988653 Centerline is valid? [True, True] Translation: X:200.12, Y:224.39, Z:-240.84 [[-6.43229762e-02 -9.97862460e-01 -1.15354221e-02 2.00116302e+02] [ 4.38167588e-01 -3.86263446e-02 8.98063010e-01 2.24388998e+02] [-8.96588936e-01 5.27116376e-02 4.39715549e-01 -2.40839763e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.370714057 meters Centerline goodness : 0.988865 Centerline is valid? [True, True] Translation: X:200.11, Y:224.40, Z:-240.85 [[-6.49530756e-02 -9.97866384e-01 -6.61645744e-03 2.00113706e+02] [ 4.38138358e-01 -3.44751985e-02 8.98246202e-01 2.24395747e+02] [-8.96557794e-01 5.54449297e-02 4.39442809e-01 -2.40849175e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.400714057 meters Centerline goodness : 0.988000 Centerline is valid? [True, True] Translation: X:200.11, Y:224.40, Z:-240.86 [[-6.32583505e-02 -9.97996002e-01 -1.53630121e-03 2.00110431e+02] [ 4.34742453e-01 -2.89418988e-02 9.00089643e-01 2.24399175e+02] [-8.98330329e-01 5.62702907e-02 4.35702047e-01 -2.40856980e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.4307140569999 meters Centerline goodness : 0.989225 Centerline is valid? [True, True] Translation: X:200.11, Y:224.40, Z:-240.86 [[-6.21651421e-02 -9.98028761e-01 -8.60736326e-03 2.00111520e+02] [ 4.35221873e-01 -3.48679580e-02 8.99647790e-01 2.24399551e+02] [-8.98174491e-01 5.21806200e-02 4.36531518e-01 -2.40860366e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.4607140569999 meters Centerline goodness : 0.989097 Centerline is valid? [True, True] Translation: X:200.10, Y:224.41, Z:-240.88 [[-6.19453771e-02 -9.98057370e-01 6.65249124e-03 2.00103368e+02] [ 4.39671712e-01 -2.13037043e-02 8.97905863e-01 2.24410874e+02] [-8.96019841e-01 5.85460294e-02 4.40137259e-01 -2.40875308e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.4907140569999 meters Centerline goodness : 0.988311 Centerline is valid? [True, True] Translation: X:200.10, Y:224.41, Z:-240.87 [[-5.89909649e-02 -9.98258485e-01 2.50998367e-04 2.00104420e+02] [ 4.38077236e-01 -2.56617493e-02 8.98570982e-01 2.24408969e+02] [-8.96999666e-01 5.31175260e-02 4.38828129e-01 -2.40870297e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.520714057 meters Centerline goodness : 0.987728 Centerline is valid? [True, True] Translation: X:200.10, Y:224.41, Z:-240.87 [[-5.53022056e-02 -9.98422306e-01 9.72447105e-03 2.00099659e+02] [ 4.34373945e-01 -1.52880705e-02 9.00602882e-01 2.24405421e+02] [-8.99033338e-01 5.40293826e-02 4.34534100e-01 -2.40865442e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.5507140569999 meters Centerline goodness : 0.989480 Centerline is valid? [True, True] Translation: X:200.10, Y:224.41, Z:-240.87 [[-5.24007146e-02 -9.98604169e-01 -6.62414873e-03 2.00102432e+02] [ 4.38121793e-01 -2.89497660e-02 8.98449334e-01 2.24406037e+02] [-8.97387018e-01 4.41772032e-02 4.39027237e-01 -2.40871196e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.5807140569999 meters Centerline goodness : 0.988187 Centerline is valid? [True, True] Translation: X:200.10, Y:224.42, Z:-240.88 [[-5.19858529e-02 -9.98635138e-01 5.03306132e-03 2.00097166e+02] [ 4.40284399e-01 -1.83956398e-02 8.97669900e-01 2.24416201e+02] [-8.96352118e-01 4.88821137e-02 4.40639784e-01 -2.40881411e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.6107140569999 meters Centerline goodness : 0.990432 Centerline is valid? [True, True] Translation: X:200.09, Y:224.42, Z:-240.89 [[-5.98389613e-02 -9.98186729e-01 6.52329844e-03 2.00088137e+02] [ 4.39090828e-01 -2.04525341e-02 8.98209852e-01 2.24420160e+02] [-8.96447736e-01 5.66122651e-02 4.39518495e-01 -2.40894722e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.640714057 meters Centerline goodness : 0.988789 Centerline is valid? [True, True] Translation: X:200.11, Y:224.41, Z:-240.89 [[-4.84561659e-02 -9.97670010e-01 -4.80265757e-02 2.00114775e+02] [ 4.39374955e-01 -6.44718407e-02 8.95987182e-01 2.24406673e+02] [-8.96995902e-01 2.23144290e-02 4.41475274e-01 -2.40892246e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.6707140569999 meters Centerline goodness : 0.989434 Centerline is valid? [True, True] Translation: X:200.10, Y:224.41, Z:-240.87 [[-4.42984233e-02 -9.99018244e-01 -4.45484743e-04 2.00095449e+02] [ 4.43824174e-01 -2.00795291e-02 8.95888897e-01 2.24411879e+02] [-8.95018297e-01 3.94887487e-02 4.44277938e-01 -2.40873554e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.7007140569999 meters Centerline goodness : 0.989397 Centerline is valid? [True, True] Translation: X:200.09, Y:224.42, Z:-240.89 [[-4.37117328e-02 -9.98877545e-01 1.82465217e-02 2.00087857e+02] [ 4.45931190e-01 -3.16421481e-03 8.95061653e-01 2.24424090e+02] [-8.93999250e-01 4.72613889e-02 4.45568965e-01 -2.40887470e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.7307140569999 meters Centerline goodness : 0.990246 Centerline is valid? [True, True] Translation: X:200.08, Y:224.43, Z:-240.91 [[-5.33204782e-02 -9.98021548e-01 3.33154174e-02 2.00075646e+02] [ 4.39825869e-01 6.48032885e-03 8.98059692e-01 2.24433572e+02] [-8.96498819e-01 6.25379546e-02 4.38610160e-01 -2.40906199e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.760714057 meters Centerline goodness : 0.990533 Centerline is valid? [True, True] Translation: X:200.11, Y:224.40, Z:-240.88 [[-3.52951837e-02 -9.99120658e-01 -2.26309885e-02 2.00105803e+02] [ 4.33776003e-01 -3.57165740e-02 9.00312560e-01 2.24397131e+02] [-9.00329179e-01 2.19599174e-02 4.34655188e-01 -2.40876611e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.790714057 meters Centerline goodness : 0.990506 Centerline is valid? [True, True] Translation: X:200.08, Y:224.44, Z:-240.92 [[-5.26007265e-02 -9.98254005e-01 2.68720223e-02 2.00078396e+02] [ 4.39283742e-01 1.03558557e-03 8.98347773e-01 2.24435221e+02] [-8.96807091e-01 5.90581880e-02 4.38462282e-01 -2.40917180e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.8207140569999 meters Centerline goodness : 0.989757 Centerline is valid? [True, True] Translation: X:200.10, Y:224.42, Z:-240.91 [[-3.83363365e-02 -9.99227380e-01 -8.65839484e-03 2.00101047e+02] [ 4.33613599e-01 -2.44412402e-02 9.00767380e-01 2.24416406e+02] [-9.00283051e-01 3.07777236e-02 4.34215568e-01 -2.40908534e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.8507140569999 meters Centerline goodness : 0.990438 Centerline is valid? [True, True] Translation: X:200.08, Y:224.44, Z:-240.92 [[-5.14614354e-02 -9.98462552e-01 2.05974047e-02 2.00082521e+02] [ 4.38606491e-01 -4.06730283e-03 8.98670019e-01 2.24435204e+02] [-8.97204585e-01 5.52810045e-02 4.38141465e-01 -2.40922986e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.880714057 meters Centerline goodness : 0.990023 Centerline is valid? [True, True] Translation: X:200.10, Y:224.42, Z:-240.91 [[-3.45676630e-02 -9.99402353e-01 1.14666705e-04 2.00100311e+02] [ 4.30475031e-01 -1.47858679e-02 9.02481372e-01 2.24415912e+02] [-9.01940311e-01 3.12460331e-02 4.30728871e-01 -2.40910038e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.910714057 meters Centerline goodness : 0.989567 Centerline is valid? [True, True] Translation: X:200.07, Y:224.44, Z:-240.92 [[-3.33790792e-02 -9.97106336e-01 6.82992784e-02 2.00074279e+02] [ 4.31078580e-01 4.72905601e-02 9.01074282e-01 2.24443998e+02] [-9.01696787e-01 5.95193857e-02 4.28252668e-01 -2.40923183e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.9407140569999 meters Centerline goodness : 0.990059 Centerline is valid? [True, True] Translation: X:200.08, Y:224.45, Z:-240.95 [[-3.53332248e-02 -9.98234726e-01 4.77388222e-02 2.00082012e+02] [ 4.35195696e-01 2.76326384e-02 8.99911742e-01 2.24454132e+02] [-8.99642301e-01 5.25725138e-02 4.33451106e-01 -2.40951096e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.9707140569999 meters Centerline goodness : 0.989330 Centerline is valid? [True, True] Translation: X:200.08, Y:224.47, Z:-240.97 [[-3.30857565e-02 -9.98254843e-01 4.89142216e-02 2.00081292e+02] [ 4.31535158e-01 2.98755949e-02 9.01601274e-01 2.24466086e+02] [-9.01489179e-01 5.09383665e-02 4.29793605e-01 -2.40971018e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.000714057 meters Centerline goodness : 0.990303 Centerline is valid? [True, True] Translation: X:200.09, Y:224.46, Z:-240.98 [[-3.07396865e-02 -9.99357121e-01 1.84503784e-02 2.00092368e+02] [ 4.33217967e-01 3.31416023e-03 9.01283091e-01 2.24459404e+02] [-9.00764822e-01 3.56981951e-02 4.32837584e-01 -2.40978083e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.030714057 meters Centerline goodness : 0.989609 Centerline is valid? [True, True] Translation: X:200.08, Y:224.48, Z:-241.00 [[-3.03847550e-02 -9.98263770e-01 5.04599984e-02 2.00080682e+02] [ 4.36500078e-01 3.21629498e-02 8.99129149e-01 2.24483189e+02] [-8.99190997e-01 4.93456122e-02 4.34764951e-01 -2.40995536e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.0607140569999 meters Centerline goodness : 0.990168 Centerline is valid? [True, True] Translation: X:200.08, Y:224.49, Z:-241.02 [[-2.59517352e-02 -9.98643155e-01 4.51481573e-02 2.00082645e+02] [ 4.33384065e-01 2.94590994e-02 9.00727714e-01 2.24492814e+02] [-9.00835590e-01 4.29419390e-02 4.32031515e-01 -2.41018708e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.0907140569999 meters Centerline goodness : 0.989014 Centerline is valid? [True, True] Translation: X:200.09, Y:224.50, Z:-241.04 [[-2.66218909e-02 -9.98915413e-01 3.82004304e-02 2.00085052e+02] [ 4.35372019e-01 2.28132344e-02 8.99961533e-01 2.24504338e+02] [-8.99856922e-01 4.05900763e-02 4.34292489e-01 -2.41039577e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.120714057 meters Centerline goodness : 0.990433 Centerline is valid? [True, True] Translation: X:200.09, Y:224.51, Z:-241.07 [[-2.88710589e-02 -9.99390124e-01 1.96428496e-02 2.00092931e+02] [ 4.36321445e-01 5.08021100e-03 8.99776521e-01 2.24513985e+02] [-8.99327559e-01 3.45480974e-02 4.35908672e-01 -2.41074513e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.150714057 meters Centerline goodness : 0.990515 Centerline is valid? [True, True] Translation: X:200.09, Y:224.53, Z:-241.09 [[-3.21479211e-02 -9.98895673e-01 3.42628870e-02 2.00088451e+02] [ 4.40128249e-01 1.66297226e-02 8.97780918e-01 2.24534622e+02] [-8.97359257e-01 4.39418546e-02 4.39107592e-01 -2.41094407e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.1807140569999 meters Centerline goodness : 0.989234 Centerline is valid? [True, True] Translation: X:200.09, Y:224.54, Z:-241.10 [[-3.58945911e-02 -9.98906952e-01 2.99412559e-02 2.00092416e+02] [ 4.41020266e-01 1.10519924e-02 8.97429094e-01 2.24537510e+02] [-8.96779072e-01 4.54175510e-02 4.40141503e-01 -2.41099696e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.2107140569999 meters Centerline goodness : 0.989782 Centerline is valid? [True, True] Translation: X:200.10, Y:224.53, Z:-241.10 [[-3.62882480e-02 -9.99237985e-01 1.43739950e-02 2.00099418e+02] [ 4.39278663e-01 -3.03014487e-03 8.98345743e-01 2.24533254e+02] [-8.97617635e-01 3.89135824e-02 4.39053885e-01 -2.41104720e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.2407140569999 meters Centerline goodness : 0.990015 Centerline is valid? [True, True] Translation: X:200.11, Y:224.54, Z:-241.13 [[-3.95987323e-02 -9.99181647e-01 -8.24481003e-03 2.00108496e+02] [ 4.33716917e-01 -2.46209942e-02 9.00712741e-01 2.24541129e+02] [-9.00178636e-01 3.20911692e-02 4.34336944e-01 -2.41129562e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.270714057 meters Centerline goodness : 0.990491 Centerline is valid? [True, True] Translation: X:200.10, Y:224.55, Z:-241.14 [[-4.45102824e-02 -9.98778764e-01 2.14433064e-02 2.00099138e+02] [ 4.33226048e-01 4.35762671e-05 9.01285299e-01 2.24553503e+02] [-9.00185551e-01 4.94062621e-02 4.32695037e-01 -2.41140784e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.3007140569999 meters Centerline goodness : 0.990312 Centerline is valid? [True, True] Translation: X:200.09, Y:224.57, Z:-241.16 [[-4.66250035e-02 -9.97297093e-01 5.67857096e-02 2.00087628e+02] [ 4.31872425e-01 3.11345781e-02 9.01397164e-01 2.24570245e+02] [-9.00728771e-01 6.65518279e-02 4.29253464e-01 -2.41164770e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.3307140569999 meters Centerline goodness : 0.989905 Centerline is valid? [True, True] Translation: X:200.09, Y:224.58, Z:-241.19 [[-5.10094161e-02 -9.97594553e-01 4.69377019e-02 2.00091195e+02] [ 4.31649240e-01 2.03597693e-02 9.01811739e-01 2.24579154e+02] [-9.00598120e-01 6.62615136e-02 4.29572391e-01 -2.41190560e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.3607140569999 meters Centerline goodness : 0.989194 Centerline is valid? [True, True] Translation: X:200.09, Y:224.59, Z:-241.22 [[-5.80505295e-02 -9.97285068e-01 4.53059473e-02 2.00092405e+02] [ 4.31233515e-01 1.58803018e-02 9.02100588e-01 2.24589111e+02] [-9.00370919e-01 7.19048597e-02 4.29140885e-01 -2.41216103e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.390714057 meters Centerline goodness : 0.989129 Centerline is valid? [True, True] Translation: X:200.09, Y:224.60, Z:-241.24 [[-6.15312782e-02 -9.97183290e-01 4.28880832e-02 2.00094035e+02] [ 4.29437524e-01 1.23393819e-02 9.03012266e-01 2.24599545e+02] [-9.00997955e-01 7.39812512e-02 4.27468665e-01 -2.41243732e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.4207140569999 meters Centerline goodness : 0.989301 Centerline is valid? [True, True] Translation: X:200.10, Y:224.60, Z:-241.25 [[-6.52411285e-02 -9.97495122e-01 2.73327057e-02 2.00098596e+02] [ 4.24739213e-01 -2.97331799e-03 9.05310864e-01 2.24596099e+02] [-9.02961902e-01 7.06727743e-02 4.23869276e-01 -2.41249674e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.4507140569999 meters Centerline goodness : 0.989101 Centerline is valid? [True, True] Translation: X:200.09, Y:224.61, Z:-241.27 [[-6.65106531e-02 -9.96280067e-01 5.47938144e-02 2.00086985e+02] [ 4.25589957e-01 2.13431417e-02 9.04664390e-01 2.24614191e+02] [-9.02468571e-01 8.34895165e-02 4.22587244e-01 -2.41271279e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.4807140569999 meters Centerline goodness : 0.989365 Centerline is valid? [True, True] Translation: X:200.09, Y:224.62, Z:-241.30 [[-6.78715714e-02 -9.96132975e-01 5.57901952e-02 2.00085969e+02] [ 4.24253776e-01 2.17953166e-02 9.05281005e-01 2.24624911e+02] [-9.02996226e-01 8.51120453e-02 4.21133894e-01 -2.41297352e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.510714057 meters Centerline goodness : 0.990037 Centerline is valid? [True, True] Translation: X:200.09, Y:224.64, Z:-241.32 [[-7.05693580e-02 -9.96341472e-01 4.82041104e-02 2.00085203e+02] [ 4.25767630e-01 1.36153733e-02 9.04730096e-01 2.24636442e+02] [-9.02076433e-01 8.43699719e-02 4.23249119e-01 -2.41324136e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.540714057 meters Centerline goodness : 0.990115 Centerline is valid? [True, True] Translation: X:200.09, Y:224.63, Z:-241.33 [[-7.06287351e-02 -9.97051300e-01 3.00047977e-02 2.00090148e+02] [ 4.24557228e-01 -2.82803456e-03 9.05396688e-01 2.24633351e+02] [-9.02642090e-01 7.66857765e-02 4.23505076e-01 -2.41330485e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.5707140569999 meters Centerline goodness : 0.990499 Centerline is valid? [True, True] Translation: X:200.09, Y:224.63, Z:-241.32 [[-7.09887247e-02 -9.96974566e-01 3.16593574e-02 2.00085112e+02] [ 4.24750876e-01 -1.49554526e-03 9.05309039e-01 2.24630286e+02] [-9.02522739e-01 7.77140740e-02 4.23571987e-01 -2.41323442e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.6007140569999 meters Centerline goodness : 0.990127 Centerline is valid? [True, True] Translation: X:200.08, Y:224.63, Z:-241.33 [[-7.09899064e-02 -9.96780217e-01 3.72777746e-02 2.00081482e+02] [ 4.24902320e-01 3.59282942e-03 9.05232075e-01 2.24633222e+02] [-9.02451357e-01 8.01017532e-02 4.23279172e-01 -2.41326287e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.630714057 meters Centerline goodness : 0.989444 Centerline is valid? [True, True] Translation: X:200.07, Y:224.65, Z:-241.35 [[-7.06109593e-02 -9.95910188e-01 5.63648013e-02 2.00071609e+02] [ 4.20303383e-01 2.15401558e-02 9.07127934e-01 2.24649422e+02] [-9.04632057e-01 8.77434903e-02 4.17063450e-01 -2.41345111e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.660714057 meters Centerline goodness : 0.989487 Centerline is valid? [True, True] Translation: X:200.07, Y:224.66, Z:-241.37 [[-7.29533917e-02 -9.96602155e-01 3.82354216e-02 2.00073728e+02] [ 4.20603509e-01 4.01773708e-03 9.07235662e-01 2.24658059e+02] [-9.04306635e-01 8.22678711e-02 4.18881256e-01 -2.41371367e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.6907140569999 meters Centerline goodness : 0.989981 Centerline is valid? [True, True] Translation: X:200.07, Y:224.67, Z:-241.40 [[-7.44794411e-02 -9.96665337e-01 3.33319482e-02 2.00072192e+02] [ 4.23047285e-01 -1.31039484e-03 9.06106659e-01 2.24670792e+02] [-9.03041421e-01 8.15873078e-02 4.21734162e-01 -2.41396311e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.7207140569999 meters Centerline goodness : 0.990373 Centerline is valid? [True, True] Translation: X:200.07, Y:224.68, Z:-241.43 [[-7.67624701e-02 -9.96406584e-01 3.57972420e-02 2.00066121e+02] [ 4.28476307e-01 -5.48169436e-04 9.03552851e-01 2.24684820e+02] [-9.00286387e-01 8.46972187e-02 4.26978692e-01 -2.41425694e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.750714057 meters Centerline goodness : 0.990912 Centerline is valid? [True, True] Translation: X:200.07, Y:224.68, Z:-241.42 [[-7.53154004e-02 -9.96718481e-01 2.96624461e-02 2.00065247e+02] [ 4.28355435e-01 -5.47693352e-03 9.03593728e-01 2.24681090e+02] [-9.00466108e-01 8.07605934e-02 4.27362276e-01 -2.41420681e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.780714057 meters Centerline goodness : 0.990021 Centerline is valid? [True, True] Translation: X:200.07, Y:224.68, Z:-241.42 [[-7.36249038e-02 -9.97151366e-01 1.63867666e-02 2.00066892e+02] [ 4.25873445e-01 -1.65781419e-02 9.04630850e-01 2.24679831e+02] [-9.01782226e-01 7.35820480e-02 4.25880852e-01 -2.41424676e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.8107140569999 meters Centerline goodness : 0.989641 Centerline is valid? [True, True] Translation: X:200.06, Y:224.68, Z:-241.43 [[-6.91519903e-02 -9.97397093e-01 2.04216036e-02 2.00058272e+02] [ 4.28108005e-01 -1.11794655e-02 9.03658429e-01 2.24683503e+02] [-9.01077987e-01 7.12324308e-02 4.27766762e-01 -2.41425390e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.8407140569999 meters Centerline goodness : 0.989959 Centerline is valid? [True, True] Translation: X:200.05, Y:224.68, Z:-241.43 [[-6.61031665e-02 -9.97507806e-01 2.46687863e-02 2.00053839e+02] [ 4.26560588e-01 -5.90027941e-03 9.04439745e-01 2.24684842e+02] [-9.02040152e-01 7.03090630e-02 4.25887543e-01 -2.41425276e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.870714057 meters Centerline goodness : 0.990676 Centerline is valid? [True, True] Translation: X:200.05, Y:224.68, Z:-241.42 [[-6.09095309e-02 -9.97902452e-01 2.19254368e-02 2.00048627e+02] [ 4.26455835e-01 -6.15685709e-03 9.04487432e-01 2.24683923e+02] [-9.02455234e-01 6.44421356e-02 4.25936335e-01 -2.41423245e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.900714057 meters Centerline goodness : 0.990676 Centerline is valid? [True, True] Translation: X:200.05, Y:224.68, Z:-241.43 [[-6.04422620e-02 -9.98011922e-01 1.78588216e-02 2.00050070e+02] [ 4.26181415e-01 -9.62365188e-03 9.04586528e-01 2.24684908e+02] [-9.02616272e-01 6.22863538e-02 4.25915808e-01 -2.41428476e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.9307140569999 meters Centerline goodness : 0.990644 Centerline is valid? [True, True] Translation: X:200.04, Y:224.69, Z:-241.43 [[-5.45019744e-02 -9.98122322e-01 2.79529158e-02 2.00043397e+02] [ 4.20750457e-01 2.43096888e-03 9.07173161e-01 2.24686616e+02] [-9.05537734e-01 6.12039305e-02 4.19827931e-01 -2.41432430e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.9607140569999 meters Centerline goodness : 0.991172 Centerline is valid? [True, True] Translation: X:200.03, Y:224.71, Z:-241.45 [[-5.29544727e-02 -9.97814397e-01 3.95253573e-02 2.00034937e+02] [ 4.25268707e-01 1.32783930e-02 9.04969729e-01 2.24705213e+02] [-9.03516658e-01 6.47310924e-02 4.23636088e-01 -2.41450971e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.9907140569999 meters Centerline goodness : 0.991303 Centerline is valid? [True, True] Translation: X:200.03, Y:224.72, Z:-241.48 [[-4.88862663e-02 -9.98180772e-01 3.52885221e-02 2.00030356e+02] [ 4.24075032e-01 1.12447887e-02 9.05557244e-01 2.24716096e+02] [-9.04306641e-01 5.92342937e-02 4.22753827e-01 -2.41475828e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.020714057 meters Centerline goodness : 0.990737 Centerline is valid? [True, True] Translation: X:200.02, Y:224.73, Z:-241.50 [[-4.50677343e-02 -9.97216079e-01 5.94053126e-02 2.00019681e+02] [ 4.20330930e-01 3.50166182e-02 9.06694957e-01 2.24729636e+02] [-9.06250963e-01 6.58325778e-02 4.17582643e-01 -2.41501218e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.0507140569999 meters Centerline goodness : 0.993287 Centerline is valid? [True, True] Translation: X:200.02, Y:224.74, Z:-241.53 [[-4.28884272e-02 -9.98349867e-01 3.81854092e-02 2.00021643e+02] [ 4.28437008e-01 1.61494012e-02 9.03427322e-01 2.24738513e+02] [-9.02553219e-01 5.51066194e-02 4.27037408e-01 -2.41533119e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.0807140569999 meters Centerline goodness : 0.991645 Centerline is valid? [True, True] Translation: X:200.03, Y:224.74, Z:-241.55 [[-4.06134282e-02 -9.98927469e-01 2.22364762e-02 2.00025654e+02] [ 4.22927008e-01 2.97645667e-03 9.06158864e-01 2.24739266e+02] [-9.05253167e-01 4.62066243e-02 4.22352522e-01 -2.41550389e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.1107140569999 meters Centerline goodness : 0.992178 Centerline is valid? [True, True] Translation: X:200.03, Y:224.73, Z:-241.54 [[-3.56244103e-02 -9.99329846e-01 8.41196865e-03 2.00028812e+02] [ 4.23112441e-01 -7.45649343e-03 9.06046501e-01 2.24730303e+02] [-9.05376587e-01 3.58365809e-02 4.23094524e-01 -2.41542682e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.140714057 meters Centerline goodness : 0.991810 Centerline is valid? [True, True] Translation: X:200.02, Y:224.74, Z:-241.55 [[-2.85520020e-02 -9.99449407e-01 1.69016596e-02 2.00022253e+02] [ 4.22976784e-01 3.24013071e-03 9.06134726e-01 2.24736192e+02] [-9.05690578e-01 3.30209702e-02 4.22651383e-01 -2.41548528e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.1707140569999 meters Centerline goodness : 0.991024 Centerline is valid? [True, True] Translation: X:200.02, Y:224.73, Z:-241.54 [[-2.33461826e-02 -9.99602391e-01 1.58119019e-02 2.00022453e+02] [ 4.18557439e-01 4.59013966e-03 9.08178728e-01 2.24728164e+02] [-9.07890206e-01 2.78206956e-02 4.18283854e-01 -2.41537892e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.2007140569999 meters Centerline goodness : 0.992986 Centerline is valid? [True, True] Translation: X:200.02, Y:224.74, Z:-241.55 [[-2.14416334e-02 -9.99472280e-01 2.44011920e-02 2.00015696e+02] [ 4.24850094e-01 1.29846137e-02 9.05170590e-01 2.24740692e+02] [-9.05009754e-01 2.97751847e-02 4.24347481e-01 -2.41553074e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.2307140569999 meters Centerline goodness : 0.993346 Centerline is valid? [True, True] Translation: X:200.00, Y:224.76, Z:-241.57 [[-1.70025255e-02 -9.98150384e-01 5.83671570e-02 2.00002230e+02] [ 4.25425306e-01 4.56058353e-02 9.03843691e-01 2.24763000e+02] [-9.04833810e-01 4.01984911e-02 4.23863018e-01 -2.41573635e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.260714057 meters Centerline goodness : 0.992283 Centerline is valid? [True, True] Translation: X:200.01, Y:224.77, Z:-241.60 [[-1.42822818e-02 -9.99266592e-01 3.55287973e-02 2.00010262e+02] [ 4.21583106e-01 2.62017455e-02 9.06411139e-01 2.24768359e+02] [-9.06677286e-01 2.79239600e-02 4.20899693e-01 -2.41597236e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.290714057 meters Centerline goodness : 0.992398 Centerline is valid? [True, True] Translation: X:200.02, Y:224.78, Z:-241.62 [[-1.16674796e-02 -9.99691686e-01 2.19181036e-02 2.00015532e+02] [ 4.23902160e-01 1.49074387e-02 9.05585295e-01 2.24776910e+02] [-9.05632833e-01 1.98570294e-02 4.23597533e-01 -2.41622297e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.3207140569999 meters Centerline goodness : 0.993174 Centerline is valid? [True, True] Translation: X:200.01, Y:224.79, Z:-241.65 [[-1.05498244e-02 -9.99502223e-01 2.97322551e-02 2.00013846e+02] [ 4.21492019e-01 2.25183919e-02 9.06552480e-01 2.24789834e+02] [-9.06770742e-01 2.20958777e-02 4.21044645e-01 -2.41650201e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.3507140569999 meters Centerline goodness : 0.992271 Centerline is valid? [True, True] Translation: X:200.02, Y:224.79, Z:-241.66 [[-1.13367992e-02 -9.99810594e-01 1.58194023e-02 2.00019793e+02] [ 4.27328011e-01 9.45874575e-03 9.04047180e-01 2.24793363e+02] [-9.04025580e-01 1.70090750e-02 4.27139840e-01 -2.41663361e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.380714057 meters Centerline goodness : 0.991974 Centerline is valid? [True, True] Translation: X:200.03, Y:224.79, Z:-241.67 [[-9.60961743e-03 -9.99883666e-01 1.18452848e-02 2.00025022e+02] [ 4.26280835e-01 6.61922398e-03 9.04566656e-01 2.24793300e+02] [-9.04539831e-01 1.37419574e-02 4.26167635e-01 -2.41670141e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.410714057 meters Centerline goodness : 0.993242 Centerline is valid? [True, True] Translation: X:200.02, Y:224.80, Z:-241.67 [[-9.08150726e-03 -9.99647888e-01 2.49324406e-02 2.00021564e+02] [ 4.28079436e-01 1.86466341e-02 9.03548726e-01 2.24800564e+02] [-9.03695482e-01 1.88786494e-02 4.27759364e-01 -2.41674165e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.4407140569999 meters Centerline goodness : 0.993287 Centerline is valid? [True, True] Translation: X:200.00, Y:224.82, Z:-241.69 [[-1.57980703e-02 -9.96956042e-01 7.63483557e-02 1.99996450e+02] [ 4.28009533e-01 6.22655308e-02 9.01626776e-01 2.24823214e+02] [-9.03636133e-01 4.69217873e-02 4.25723015e-01 -2.41685032e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.4707140569999 meters Centerline goodness : 0.992770 Centerline is valid? [True, True] Translation: X:200.03, Y:224.81, Z:-241.73 [[-6.90006224e-03 -9.99919575e-01 1.06410966e-02 2.00033937e+02] [ 4.18311480e-01 6.77924752e-03 9.08278343e-01 2.24812759e+02] [-9.08277433e-01 1.07184699e-02 4.18231060e-01 -2.41731906e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.500714057 meters Centerline goodness : 0.991759 Centerline is valid? [True, True] Translation: X:200.01, Y:224.84, Z:-241.75 [[-8.57454473e-03 -9.96817788e-01 7.92513401e-02 2.00013991e+02] [ 4.16331624e-01 6.84996734e-02 9.06628796e-01 2.24840792e+02] [-9.09172402e-01 4.07687683e-02 4.14419415e-01 -2.41748470e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.530714057 meters Centerline goodness : 0.992925 Centerline is valid? [True, True] Translation: X:200.02, Y:224.85, Z:-241.77 [[-2.19153952e-02 -9.98448001e-01 5.11986788e-02 2.00015731e+02] [ 4.27158237e-01 3.69499958e-02 9.03421573e-01 2.24848010e+02] [-9.03911255e-01 4.16687782e-02 4.25685514e-01 -2.41765845e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.5607140569999 meters Centerline goodness : 0.992025 Centerline is valid? [True, True] Translation: X:200.04, Y:224.85, Z:-241.80 [[-2.60986235e-02 -9.99639113e-01 6.36446318e-03 2.00038360e+02] [ 4.26220650e-01 -5.36839525e-03 9.04603304e-01 2.24845305e+02] [-9.04242677e-01 2.63215667e-02 4.26206940e-01 -2.41797428e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.5907140569999 meters Centerline goodness : 0.992079 Centerline is valid? [True, True] Translation: X:200.04, Y:224.86, Z:-241.82 [[-2.82291280e-02 -9.99584934e-01 5.75122567e-03 2.00041377e+02] [ 4.25993825e-01 -6.82513136e-03 9.04700325e-01 2.24856424e+02] [-9.04285562e-01 2.79888879e-02 4.26009677e-01 -2.41821843e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.620714057 meters Centerline goodness : 0.991395 Centerline is valid? [True, True] Translation: X:200.04, Y:224.87, Z:-241.85 [[-3.04359049e-02 -9.99521661e-01 5.48681511e-03 2.00044474e+02] [ 4.25519694e-01 -7.98980354e-03 9.04913893e-01 2.24867614e+02] [-9.04437198e-01 2.98766210e-02 4.25559328e-01 -2.41846894e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.650714057 meters Centerline goodness : 0.991281 Centerline is valid? [True, True] Translation: X:200.05, Y:224.88, Z:-241.87 [[-3.52363287e-02 -9.99365341e-01 5.22656196e-03 2.00050371e+02] [ 4.24501709e-01 -1.02324070e-02 9.05369315e-01 2.24878672e+02] [-9.04741234e-01 3.41205753e-02 4.24592847e-01 -2.41871083e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.6807140569999 meters Centerline goodness : 0.991254 Centerline is valid? [True, True] Translation: X:200.05, Y:224.89, Z:-241.90 [[-3.80620342e-02 -9.99263035e-01 4.96667549e-03 2.00052907e+02] [ 4.24282339e-01 -1.16605418e-02 9.05454874e-01 2.24890532e+02] [-9.04729671e-01 3.65707271e-02 4.24413482e-01 -2.41896711e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.7107140569999 meters Centerline goodness : 0.991104 Centerline is valid? [True, True] Translation: X:200.06, Y:224.90, Z:-241.92 [[-4.06607331e-02 -9.99163437e-01 4.37393989e-03 2.00055617e+02] [ 4.24033168e-01 -1.32918015e-02 9.05549115e-01 2.24901955e+02] [-9.04733429e-01 3.86749865e-02 4.24218892e-01 -2.41922186e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.7407140569999 meters Centerline goodness : 0.991134 Centerline is valid? [True, True] Translation: X:200.06, Y:224.91, Z:-241.95 [[-4.61472343e-02 -9.98927586e-01 3.75639536e-03 2.00060478e+02] [ 4.23714812e-01 -1.61686217e-02 9.05651331e-01 2.24912362e+02] [-9.04619363e-01 4.33849445e-02 4.24006551e-01 -2.41947714e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.770714057 meters Centerline goodness : 0.991082 Centerline is valid? [True, True] Translation: X:200.06, Y:224.92, Z:-241.97 [[-4.87649754e-02 -9.98805346e-01 3.13991489e-03 2.00062891e+02] [ 4.23534464e-01 -1.78311147e-02 9.05704482e-01 2.24923098e+02] [-9.04566490e-01 4.54965190e-02 4.23898020e-01 -2.41972101e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.8007140569999 meters Centerline goodness : 0.990854 Centerline is valid? [True, True] Translation: X:200.07, Y:224.93, Z:-242.00 [[-5.13799559e-02 -9.98675045e-01 2.87293982e-03 2.00065120e+02] [ 4.23548413e-01 -1.91853823e-02 9.05670284e-01 2.24934648e+02] [-9.04415194e-01 4.77501284e-02 4.23972974e-01 -2.41997628e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.8307140569999 meters Centerline goodness : 0.990995 Centerline is valid? [True, True] Translation: X:200.07, Y:224.95, Z:-242.02 [[-5.70517164e-02 -9.98368696e-01 2.24709570e-03 2.00068539e+02] [ 4.23698941e-01 -2.21741084e-02 9.05531621e-01 2.24945567e+02] [-9.04004596e-01 5.26142253e-02 4.24272830e-01 -2.42022329e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.8607140569999 meters Centerline goodness : 0.990480 Centerline is valid? [True, True] Translation: X:200.07, Y:224.96, Z:-242.05 [[-5.96040126e-02 -9.98220145e-01 1.97582099e-03 2.00070122e+02] [ 4.23923773e-01 -2.35205277e-02 9.05392412e-01 2.24956915e+02] [-9.03734472e-01 5.48026182e-02 4.24571168e-01 -2.42047011e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.890714057 meters Centerline goodness : 0.991191 Centerline is valid? [True, True] Translation: X:200.07, Y:224.97, Z:-242.07 [[-6.28973882e-02 -9.98018530e-01 1.71236795e-03 2.00071025e+02] [ 4.24218692e-01 -2.51820935e-02 9.05209569e-01 2.24968218e+02] [-9.03372802e-01 5.76617361e-02 4.24962004e-01 -2.42072454e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.9207140569999 meters Centerline goodness : 0.991086 Centerline is valid? [True, True] Translation: X:200.07, Y:224.98, Z:-242.10 [[-6.54845909e-02 -9.97852962e-01 1.11109200e-03 2.00072294e+02] [ 4.24764730e-01 -2.68677981e-02 9.04904993e-01 2.24980131e+02] [-9.02932275e-01 5.97292860e-02 4.25612171e-01 -2.42097215e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.9507140569999 meters Centerline goodness : 0.991393 Centerline is valid? [True, True] Translation: X:200.07, Y:224.99, Z:-242.12 [[-6.84646399e-02 -9.97653420e-01 4.96407885e-04 2.00072688e+02] [ 4.24725548e-01 -2.86968379e-02 9.04867228e-01 2.24991416e+02] [-9.02729640e-01 6.21622460e-02 4.25693614e-01 -2.42123274e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.9807140569999 meters Centerline goodness : 0.991115 Centerline is valid? [True, True] Translation: X:200.07, Y:224.99, Z:-242.13 [[-7.18289798e-02 -9.97416956e-01 -1.20589985e-04 2.00073646e+02] [ 4.24885793e-01 -3.07075329e-02 9.04725986e-01 2.24994619e+02] [-9.02392742e-01 6.49343076e-02 4.25993985e-01 -2.42132221e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.010714057 meters Centerline goodness : 0.990857 Centerline is valid? [True, True] Translation: X:200.07, Y:225.01, Z:-242.16 [[-7.37243857e-02 -9.97278104e-01 1.04760650e-03 2.00073056e+02] [ 4.24978056e-01 -3.04664125e-02 9.04690803e-01 2.25006391e+02] [-9.02196413e-01 6.71429835e-02 4.26067428e-01 -2.42157066e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.040714057 meters Centerline goodness : 0.991377 Centerline is valid? [True, True] Translation: X:200.07, Y:225.02, Z:-242.18 [[-7.50785978e-02 -9.97177522e-01 4.41010712e-04 2.00072968e+02] [ 4.25575003e-01 -3.16420467e-02 9.04369780e-01 2.25018271e+02] [-9.01803261e-01 6.80864980e-02 4.26749467e-01 -2.42181601e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.0707140569999 meters Centerline goodness : 0.991414 Centerline is valid? [True, True] Translation: X:200.09, Y:225.04, Z:-242.21 [[-7.35288503e-02 -9.96337483e-01 -4.36477775e-02 2.00093436e+02] [ 4.28921129e-01 -7.11050329e-02 9.00539138e-01 2.25035885e+02] [-9.00344475e-01 4.74941534e-02 4.32578469e-01 -2.42213826e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.1007140569999 meters Centerline goodness : 0.991713 Centerline is valid? [True, True] Translation: X:200.05, Y:225.07, Z:-242.25 [[-8.36795998e-02 -9.95225630e-01 5.02361492e-02 2.00050819e+02] [ 4.15305929e-01 1.09954349e-02 9.09615350e-01 2.25069914e+02] [-9.05824878e-01 9.69796191e-02 4.12403011e-01 -2.42254147e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.130714057 meters Centerline goodness : 0.991537 Centerline is valid? [True, True] Translation: X:200.07, Y:225.05, Z:-242.27 [[-8.39397029e-02 -9.96359562e-01 -1.48912873e-02 2.00073848e+02] [ 4.10421814e-01 -4.81864352e-02 9.10621767e-01 2.25054876e+02] [-9.08024262e-01 7.03256115e-02 4.12972454e-01 -2.42267209e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.160714057 meters Centerline goodness : 0.990463 Centerline is valid? [True, True] Translation: X:200.09, Y:225.05, Z:-242.24 [[-7.58027452e-02 -9.95949409e-01 -4.83603102e-02 2.00087821e+02] [ 4.25883988e-01 -7.61917118e-02 9.01564003e-01 2.25047461e+02] [-9.01596791e-01 4.77451447e-02 4.29934447e-01 -2.42240960e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.1907140569999 meters Centerline goodness : 0.990771 Centerline is valid? [True, True] Translation: X:200.06, Y:225.07, Z:-242.24 [[-7.51158719e-02 -9.97013773e-01 1.79204288e-02 2.00060466e+02] [ 4.30367562e-01 -1.62024831e-02 9.02508306e-01 2.25067949e+02] [-8.99522856e-01 7.55050696e-02 4.30299450e-01 -2.42236847e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.2207140569999 meters Centerline goodness : 0.990369 Centerline is valid? [True, True] Translation: X:200.05, Y:225.09, Z:-242.25 [[-7.56478406e-02 -9.96665503e-01 3.05823495e-02 2.00052343e+02] [ 4.27696120e-01 -4.72634960e-03 9.03910223e-01 2.25085693e+02] [-9.00751593e-01 8.14588086e-02 4.26627507e-01 -2.42253960e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.250714057 meters Centerline goodness : 0.990674 Centerline is valid? [True, True] Translation: X:200.05, Y:225.10, Z:-242.28 [[-7.64930533e-02 -9.96488189e-01 3.40602617e-02 2.00049336e+02] [ 4.27049471e-01 -1.87471657e-03 9.04226318e-01 2.25096894e+02] [-9.00986993e-01 8.37124486e-02 4.25693157e-01 -2.42279474e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.280714057 meters Centerline goodness : 0.991436 Centerline is valid? [True, True] Translation: X:200.02, Y:225.10, Z:-242.30 [[-8.17781182e-02 -9.93149936e-01 8.34598397e-02 2.00024259e+02] [ 4.24949643e-01 4.10010057e-02 9.04287962e-01 2.25103688e+02] [-9.01515469e-01 1.09417197e-01 4.18685726e-01 -2.42304264e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.3107140569999 meters Centerline goodness : 0.990099 Centerline is valid? [True, True] Translation: X:200.07, Y:225.10, Z:-242.34 [[-8.04615020e-02 -9.95926732e-01 -4.06926523e-02 2.00069437e+02] [ 4.24696243e-01 -7.11881171e-02 9.02532744e-01 2.25098243e+02] [-9.01753319e-01 5.53371236e-02 4.28694244e-01 -2.42339874e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.3407140569999 meters Centerline goodness : 0.991927 Centerline is valid? [True, True] Translation: X:200.04, Y:225.12, Z:-242.37 [[-8.31079193e-02 -9.96284271e-01 2.25992149e-02 2.00044842e+02] [ 4.23705794e-01 -1.48006693e-02 9.05678939e-01 2.25123280e+02] [-9.01979198e-01 8.48445104e-02 4.23361471e-01 -2.42368635e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.370714057 meters Centerline goodness : 0.991378 Centerline is valid? [True, True] Translation: X:200.03, Y:225.14, Z:-242.41 [[-9.40807128e-02 -9.94140189e-01 5.32362983e-02 2.00027329e+02] [ 4.16170587e-01 9.30541802e-03 9.09238941e-01 2.25139712e+02] [-9.04406359e-01 1.07697229e-01 4.12856446e-01 -2.42405525e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.400714057 meters Centerline goodness : 0.992599 Centerline is valid? [True, True] Translation: X:200.05, Y:225.12, Z:-242.42 [[-9.58612126e-02 -9.95272736e-01 -1.55823207e-02 2.00049690e+02] [ 4.11262810e-01 -5.38574829e-02 9.09924323e-01 2.25122013e+02] [-9.06462095e-01 8.08180199e-02 4.14481506e-01 -2.42422304e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.4307140569999 meters Centerline goodness : 0.991630 Centerline is valid? [True, True] Translation: X:200.05, Y:225.13, Z:-242.43 [[-9.62059981e-02 -9.95257724e-01 -1.43690060e-02 2.00047049e+02] [ 4.11416618e-01 -5.29061529e-02 9.09910603e-01 2.25125474e+02] [-9.06355765e-01 8.16272099e-02 4.14555456e-01 -2.42430602e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.4607140569999 meters Centerline goodness : 0.991827 Centerline is valid? [True, True] Translation: X:200.04, Y:225.13, Z:-242.43 [[-9.64666066e-02 -9.95249404e-01 -1.31460120e-02 2.00041918e+02] [ 4.12729845e-01 -5.20163058e-02 9.09367021e-01 2.25125909e+02] [-9.05730793e-01 8.22977991e-02 4.15786969e-01 -2.42431886e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.4907140569999 meters Centerline goodness : 0.992706 Centerline is valid? [True, True] Translation: X:200.04, Y:225.13, Z:-242.44 [[-9.58244102e-02 -9.95326784e-01 -1.19279576e-02 2.00038826e+02] [ 4.13448002e-01 -5.06992263e-02 9.09115140e-01 2.25130027e+02] [-9.05471387e-01 8.21838319e-02 4.16374094e-01 -2.42440805e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.520714057 meters Centerline goodness : 0.992151 Centerline is valid? [True, True] Translation: X:200.03, Y:225.13, Z:-242.44 [[-9.45468316e-02 -9.95462832e-01 -1.07073686e-02 2.00033345e+02] [ 4.14797133e-01 -4.91693932e-02 9.08584454e-01 2.25131055e+02] [-9.04988528e-01 8.14623955e-02 4.17563939e-01 -2.42443461e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.5507140569999 meters Centerline goodness : 0.993094 Centerline is valid? [True, True] Translation: X:200.03, Y:225.13, Z:-242.44 [[-8.24062595e-02 -9.96580905e-01 -5.97559106e-03 2.00034888e+02] [ 4.12928128e-01 -3.96004641e-02 9.09902283e-01 2.25132585e+02] [-9.07027877e-01 7.25141540e-02 4.14779613e-01 -2.42443862e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.5807140569999 meters Centerline goodness : 0.992918 Centerline is valid? [True, True] Translation: X:200.00, Y:225.16, Z:-242.45 [[-8.60476043e-02 -9.94409754e-01 6.11968157e-02 1.99999330e+02] [ 4.19910488e-01 1.95040342e-02 9.07355925e-01 2.25162723e+02] [-9.03477168e-01 1.03772988e-01 4.15884810e-01 -2.42450797e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.6107140569999 meters Centerline goodness : 0.994130 Centerline is valid? [True, True] Translation: X:200.02, Y:225.16, Z:-242.48 [[-8.57255436e-02 -9.96305426e-01 5.16042198e-03 2.00018234e+02] [ 4.14398852e-01 -3.09451355e-02 9.09569123e-01 2.25155912e+02] [-9.06048963e-01 8.01117805e-02 4.15520614e-01 -2.42482855e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.640714057 meters Centerline goodness : 0.993673 Centerline is valid? [True, True] Translation: X:200.01, Y:225.17, Z:-242.51 [[-8.40000742e-02 -9.96453742e-01 4.89157708e-03 2.00013418e+02] [ 4.12175114e-01 -3.02758287e-02 9.10601477e-01 2.25167879e+02] [-9.07224153e-01 7.85067780e-02 4.13256606e-01 -2.42507577e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.6707140569999 meters Centerline goodness : 0.994150 Centerline is valid? [True, True] Translation: X:200.01, Y:225.18, Z:-242.53 [[-8.30116711e-02 -9.96539484e-01 4.25679254e-03 2.00011237e+02] [ 4.11203445e-01 -3.03616532e-02 9.11037813e-01 2.25179027e+02] [-9.07755909e-01 7.73771791e-02 4.12300840e-01 -2.42532740e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.7007140569999 meters Centerline goodness : 0.993996 Centerline is valid? [True, True] Translation: X:200.01, Y:225.20, Z:-242.57 [[-7.53652068e-02 -9.96827529e-01 2.55922421e-02 2.00009752e+02] [ 4.07551512e-01 -7.36896227e-03 9.13152486e-01 2.25196084e+02] [-9.10066949e-01 7.92500829e-02 4.06813930e-01 -2.42569084e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.7307140569999 meters Centerline goodness : 0.993556 Centerline is valid? [True, True] Translation: X:199.99, Y:225.23, Z:-242.59 [[-7.30393352e-02 -9.94047988e-01 8.08322564e-02 1.99985069e+02] [ 4.10952860e-01 4.38512411e-02 9.10601349e-01 2.25225219e+02] [-9.08726033e-01 9.97279641e-02 4.05303998e-01 -2.42588059e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.760714057 meters Centerline goodness : 0.993756 Centerline is valid? [True, True] Translation: X:200.00, Y:225.21, Z:-242.60 [[-6.98615942e-02 -9.96603072e-01 4.36081929e-02 1.99997758e+02] [ 4.06543025e-01 1.14759207e-02 9.13559562e-01 2.25211833e+02] [-9.10956710e-01 8.15513340e-02 4.04360301e-01 -2.42596420e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.790714057 meters Centerline goodness : 0.993044 Centerline is valid? [True, True] Translation: X:199.97, Y:225.24, Z:-242.62 [[-6.83920011e-02 -9.91962449e-01 1.06456724e-01 1.99973389e+02] [ 4.08704555e-01 6.94838820e-02 9.10017899e-01 2.25242034e+02] [-9.10100611e-01 1.05747293e-01 4.00667429e-01 -2.42618167e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.8207140569999 meters Centerline goodness : 0.993044 Centerline is valid? [True, True] Translation: X:199.98, Y:225.25, Z:-242.65 [[-6.91493828e-02 -9.92663263e-01 9.91867397e-02 1.99975742e+02] [ 4.09011171e-01 6.24739328e-02 9.10388307e-01 2.25251902e+02] [-9.09905613e-01 1.03521274e-01 4.01690330e-01 -2.42645943e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.8507140569999 meters Centerline goodness : 0.993411 Centerline is valid? [True, True] Translation: X:200.00, Y:225.24, Z:-242.68 [[-8.64623706e-02 -9.96218900e-01 8.49479757e-03 1.99999203e+02] [ 4.25723575e-01 -2.92370860e-02 9.04380800e-01 2.25243181e+02] [-9.00712883e-01 8.18113435e-02 4.26641779e-01 -2.42679650e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.880714057 meters Centerline goodness : 0.993103 Centerline is valid? [True, True] Translation: X:200.02, Y:225.22, Z:-242.67 [[-7.15526047e-02 -9.96900924e-01 -3.26920813e-02 2.00018717e+02] [ 4.20562694e-01 -5.98735822e-02 9.05285687e-01 2.25220614e+02] [-9.04437530e-01 5.10264791e-02 4.23543449e-01 -2.42668154e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.910714057 meters Centerline goodness : 0.993478 Centerline is valid? [True, True] Translation: X:200.00, Y:225.24, Z:-242.67 [[-6.80614254e-02 -9.97403203e-01 2.35476683e-02 1.99995633e+02] [ 4.24331342e-01 -7.57844410e-03 9.05475278e-01 2.25239577e+02] [-9.02945488e-01 7.16199518e-02 4.23745239e-01 -2.42666587e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.9407140569999 meters Centerline goodness : 0.993549 Centerline is valid? [True, True] Translation: X:200.00, Y:225.25, Z:-242.67 [[-6.82644496e-02 -9.97481214e-01 1.92663782e-02 1.99995018e+02] [ 4.29333640e-01 -1.19394665e-02 9.03067038e-01 2.25245234e+02] [-9.00562375e-01 6.99190785e-02 4.29067281e-01 -2.42674583e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.9707140569999 meters Centerline goodness : 0.992438 Centerline is valid? [True, True] Translation: X:199.99, Y:225.24, Z:-242.67 [[-6.33689358e-02 -9.97665496e-01 2.54545903e-02 1.99992959e+02] [ 4.19583227e-01 -3.49130288e-03 9.07710156e-01 2.25239858e+02] [-9.05502233e-01 6.82009457e-02 4.18824948e-01 -2.42666628e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.000714057 meters Centerline goodness : 0.993206 Centerline is valid? [True, True] Translation: X:199.98, Y:225.23, Z:-242.65 [[-5.04018958e-02 -9.97333899e-01 5.27706553e-02 1.99982954e+02] [ 4.00318828e-01 2.82332460e-02 9.15940893e-01 2.25230894e+02] [-9.14988790e-01 6.72902443e-02 3.97828528e-01 -2.42650371e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.030714057 meters Centerline goodness : 0.993573 Centerline is valid? [True, True] Translation: X:199.97, Y:225.26, Z:-242.66 [[-5.65605802e-02 -9.94694474e-01 8.59290626e-02 1.99966048e+02] [ 4.17604250e-01 5.46062919e-02 9.06986683e-01 2.25263262e+02] [-9.06866910e-01 8.71840347e-02 4.12300076e-01 -2.42661341e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.0607140569999 meters Centerline goodness : 0.994145 Centerline is valid? [True, True] Translation: X:199.96, Y:225.27, Z:-242.68 [[-6.22817202e-02 -9.95752638e-01 6.78061308e-02 1.99962211e+02] [ 4.21255033e-01 3.53631895e-02 9.06252527e-01 2.25268910e+02] [-9.04801185e-01 8.50066401e-02 4.17263330e-01 -2.42676193e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.0907140569999 meters Centerline goodness : 0.994131 Centerline is valid? [True, True] Translation: X:199.98, Y:225.26, Z:-242.71 [[-6.19930319e-02 -9.98048505e-01 7.48636244e-03 1.99983345e+02] [ 4.18075130e-01 -1.91559349e-02 9.08210458e-01 2.25257894e+02] [-9.06294682e-01 5.94325818e-02 4.18446793e-01 -2.42710593e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.120714057 meters Centerline goodness : 0.993100 Centerline is valid? [True, True] Translation: X:199.98, Y:225.28, Z:-242.75 [[-5.46228894e-02 -9.97869926e-01 3.56644259e-02 1.99982875e+02] [ 4.12573402e-01 9.97093553e-03 9.10869787e-01 2.25275266e+02] [-9.09285174e-01 6.44685331e-02 4.11149949e-01 -2.42750009e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.150714057 meters Centerline goodness : 0.993963 Centerline is valid? [True, True] Translation: X:199.96, Y:225.31, Z:-242.76 [[-5.68652898e-02 -9.94626702e-01 8.65104733e-02 1.99961169e+02] [ 4.18426414e-01 5.49305839e-02 9.06588091e-01 2.25307504e+02] [-9.06468794e-01 8.77516616e-02 4.13054441e-01 -2.42761315e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.1807140569999 meters Centerline goodness : 0.993526 Centerline is valid? [True, True] Translation: X:199.96, Y:225.32, Z:-242.79 [[-5.76375881e-02 -9.94491722e-01 8.75449777e-02 1.99960283e+02] [ 4.17355160e-01 5.56578045e-02 9.07037419e-01 2.25317615e+02] [-9.06913766e-01 8.88167973e-02 4.11848270e-01 -2.42789729e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.2107140569999 meters Centerline goodness : 0.993338 Centerline is valid? [True, True] Translation: X:199.97, Y:225.32, Z:-242.81 [[-6.00314015e-02 -9.96990395e-01 4.90548979e-02 1.99971339e+02] [ 4.13527695e-01 1.98886222e-02 9.10274293e-01 2.25318922e+02] [-9.08510361e-01 7.49306004e-02 4.11089198e-01 -2.42812048e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.2407140569999 meters Centerline goodness : 0.994058 Centerline is valid? [True, True] Translation: X:199.96, Y:225.33, Z:-242.83 [[-6.88081232e-02 -9.96674362e-01 4.36538409e-02 1.99964144e+02] [ 4.22633600e-01 1.05151856e-02 9.06239632e-01 2.25328997e+02] [-9.03684836e-01 8.08062282e-02 4.20504544e-01 -2.42831893e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.270714057 meters Centerline goodness : 0.995320 Centerline is valid? [True, True] Translation: X:199.99, Y:225.32, Z:-242.87 [[-7.08663812e-02 -9.97282073e-01 -2.01599149e-02 1.99987641e+02] [ 4.13664324e-01 -4.77736332e-02 9.09175179e-01 2.25319217e+02] [-9.07667220e-01 5.60905173e-02 4.15925559e-01 -2.42865735e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.3007140569999 meters Centerline goodness : 0.994119 Centerline is valid? [True, True] Translation: X:199.98, Y:225.35, Z:-242.90 [[-6.61165231e-02 -9.97337608e-01 3.07620197e-02 1.99976332e+02] [ 4.17411434e-01 3.57145072e-04 9.08717540e-01 2.25345664e+02] [-9.06309164e-01 7.29216629e-02 4.16276507e-01 -2.42897427e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.3307140569999 meters Centerline goodness : 0.993746 Centerline is valid? [True, True] Translation: X:199.97, Y:225.36, Z:-242.92 [[-6.57373651e-02 -9.96922596e-01 4.27075738e-02 1.99969164e+02] [ 4.14435877e-01 1.16560050e-02 9.10003869e-01 2.25360964e+02] [-9.07701219e-01 7.75208074e-02 4.12394255e-01 -2.42915942e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.3607140569999 meters Centerline goodness : 0.994734 Centerline is valid? [True, True] Translation: X:199.96, Y:225.38, Z:-242.95 [[-6.70295051e-02 -9.96036085e-01 5.84736074e-02 1.99963015e+02] [ 4.17938343e-01 2.51870526e-02 9.08126177e-01 2.25377304e+02] [-9.05999220e-01 8.53096109e-02 4.14593396e-01 -2.42947491e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.390714057 meters Centerline goodness : 0.994084 Centerline is valid? [True, True] Translation: X:199.97, Y:225.38, Z:-242.97 [[-6.91424322e-02 -9.97269904e-01 2.59241618e-02 1.99971601e+02] [ 4.22297722e-01 -5.71562007e-03 9.06439168e-01 2.25376367e+02] [-9.03816330e-01 7.36211232e-02 4.21540000e-01 -2.42965283e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.4207140569999 meters Centerline goodness : 0.994107 Centerline is valid? [True, True] Translation: X:199.97, Y:225.38, Z:-242.98 [[-6.92932992e-02 -9.97267995e-01 2.55926883e-02 1.99970371e+02] [ 4.21757577e-01 -6.03686962e-03 9.06688537e-01 2.25382432e+02] [-9.04056959e-01 7.36213503e-02 4.21023647e-01 -2.42976846e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.4507140569999 meters Centerline goodness : 0.994501 Centerline is valid? [True, True] Translation: X:199.97, Y:225.38, Z:-242.96 [[-6.37195599e-02 -9.97287908e-01 3.68326830e-02 1.99965798e+02] [ 4.15042921e-01 7.08228263e-03 9.09774266e-01 2.25376290e+02] [-9.07567734e-01 7.32575601e-02 4.13466007e-01 -2.42963342e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.4807140569999 meters Centerline goodness : 0.994051 Centerline is valid? [True, True] Translation: X:199.95, Y:225.40, Z:-242.98 [[-6.53398852e-02 -9.96120119e-01 5.89525889e-02 1.99953998e+02] [ 4.19582145e-01 2.61761452e-02 9.07339866e-01 2.25400142e+02] [-9.05362647e-01 8.40209364e-02 4.16243870e-01 -2.42979396e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.510714057 meters Centerline goodness : 0.993296 Centerline is valid? [True, True] Translation: X:199.95, Y:225.41, Z:-243.01 [[-6.40852267e-02 -9.96497443e-01 5.37208588e-02 1.99954577e+02] [ 4.17283651e-01 2.21415855e-02 9.08506525e-01 2.25407890e+02] [-9.06513893e-01 8.06386827e-02 4.14403142e-01 -2.43006496e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.540714057 meters Centerline goodness : 0.993595 Centerline is valid? [True, True] Translation: X:199.95, Y:225.42, Z:-243.03 [[-6.24853521e-02 -9.96784427e-01 5.01636109e-02 1.99952567e+02] [ 4.18243064e-01 1.94834731e-02 9.08126166e-01 2.25419611e+02] [-9.06183381e-01 7.77251655e-02 4.15680741e-01 -2.43032182e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.5707140569999 meters Centerline goodness : 0.994472 Centerline is valid? [True, True] Translation: X:199.96, Y:225.41, Z:-243.04 [[-6.06482849e-02 -9.97874779e-01 2.38267080e-02 1.99961138e+02] [ 4.16793044e-01 -3.62715307e-03 9.08994171e-01 2.25410114e+02] [-9.06975934e-01 6.50597436e-02 4.16127247e-01 -2.43038433e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.6007140569999 meters Centerline goodness : 0.993447 Centerline is valid? [True, True] Translation: X:199.95, Y:225.43, Z:-243.06 [[-6.03360009e-02 -9.96530982e-01 5.73198794e-02 1.99946785e+02] [ 4.19552890e-01 2.67871465e-02 9.07335562e-01 2.25433762e+02] [-9.05723434e-01 7.87937203e-02 4.16481224e-01 -2.43058769e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.630714057 meters Centerline goodness : 0.993576 Centerline is valid? [True, True] Translation: X:199.95, Y:225.44, Z:-243.08 [[-5.55616135e-02 -9.97309740e-01 4.78141207e-02 1.99947356e+02] [ 4.17759557e-01 2.02742144e-02 9.08331387e-01 2.25437991e+02] [-9.06857133e-01 7.04431633e-02 4.15509207e-01 -2.43082875e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.660714057 meters Centerline goodness : 0.994452 Centerline is valid? [True, True] Translation: X:199.95, Y:225.45, Z:-243.11 [[-5.75610571e-02 -9.97325796e-01 4.50331242e-02 1.99947799e+02] [ 4.19759725e-01 1.67496696e-02 9.07480701e-01 2.25448805e+02] [-9.05808202e-01 7.11386402e-02 4.17673073e-01 -2.43114960e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.6907140569999 meters Centerline goodness : 0.994217 Centerline is valid? [True, True] Translation: X:199.95, Y:225.44, Z:-243.12 [[-5.47026075e-02 -9.97952574e-01 3.31403775e-02 1.99951405e+02] [ 4.17592803e-01 7.28301187e-03 9.08605089e-01 2.25444760e+02] [-9.06986150e-01 6.35422507e-02 4.16339413e-01 -2.43121374e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.7207140569999 meters Centerline goodness : 0.993869 Centerline is valid? [True, True] Translation: X:199.95, Y:225.45, Z:-243.13 [[-5.09039900e-02 -9.98045138e-01 3.62586077e-02 1.99946684e+02] [ 4.17417654e-01 1.17206792e-02 9.08639163e-01 2.25451234e+02] [-9.07287874e-01 6.13883418e-02 4.16005031e-01 -2.43131189e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.750714057 meters Centerline goodness : 0.993615 Centerline is valid? [True, True] Translation: X:199.93, Y:225.48, Z:-243.15 [[-4.91989379e-02 -9.96076506e-01 7.35599052e-02 1.99930602e+02] [ 4.18654122e-01 4.63005599e-02 9.06964710e-01 2.25476693e+02] [-9.06812103e-01 7.54178580e-02 4.14733597e-01 -2.43148599e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.780714057 meters Centerline goodness : 0.993248 Centerline is valid? [True, True] Translation: X:199.94, Y:225.48, Z:-243.18 [[-4.62528282e-02 -9.97496154e-01 5.34985799e-02 1.99936448e+02] [ 4.12021233e-01 2.97378714e-02 9.10688840e-01 2.25480273e+02] [-9.09999549e-01 6.41644853e-02 4.09614134e-01 -2.43175350e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.8107140569999 meters Centerline goodness : 0.993136 Centerline is valid? [True, True] Translation: X:199.94, Y:225.49, Z:-243.20 [[-4.46512863e-02 -9.97778147e-01 4.94472736e-02 1.99936533e+02] [ 4.11441140e-01 2.67366753e-02 9.11044092e-01 2.25489725e+02] [-9.10341942e-01 6.10239333e-02 4.09333152e-01 -2.43200949e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.8407140569999 meters Centerline goodness : 0.993559 Centerline is valid? [True, True] Translation: X:199.93, Y:225.51, Z:-243.23 [[-4.44529505e-02 -9.97031476e-01 6.28662952e-02 1.99928756e+02] [ 4.18742788e-01 3.85378070e-02 9.07286788e-01 2.25508709e+02] [-9.07016214e-01 6.66563823e-02 4.15786621e-01 -2.43230289e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.870714057 meters Centerline goodness : 0.993850 Centerline is valid? [True, True] Translation: X:199.94, Y:225.48, Z:-243.21 [[-3.68268115e-02 -9.98661352e-01 3.63220361e-02 1.99938484e+02] [ 4.15068787e-01 1.77772547e-02 9.09616332e-01 2.25481712e+02] [-9.09044382e-01 4.85744127e-02 4.13858476e-01 -2.43205284e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.900714057 meters Centerline goodness : 0.993870 Centerline is valid? [True, True] Translation: X:199.91, Y:225.52, Z:-243.20 [[-4.53588404e-02 -9.96690417e-01 6.74595245e-02 1.99912821e+02] [ 4.28133446e-01 4.16176405e-02 9.02756736e-01 2.25515825e+02] [-9.02576494e-01 6.98296774e-02 4.24828775e-01 -2.43199408e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.9307140569999 meters Centerline goodness : 0.993795 Centerline is valid? [True, True] Translation: X:199.93, Y:225.50, Z:-243.24 [[-4.69112336e-02 -9.98871907e-01 7.36543648e-03 1.99932375e+02] [ 4.24330591e-01 -1.32520785e-02 9.05410367e-01 2.25504465e+02] [-9.04291372e-01 4.55992972e-02 4.24473578e-01 -2.43235450e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.9607140569999 meters Centerline goodness : 0.994031 Centerline is valid? [True, True] Translation: X:199.93, Y:225.52, Z:-243.26 [[-4.79523490e-02 -9.98826829e-01 6.74817757e-03 1.99931478e+02] [ 4.23704943e-01 -1.42225853e-02 9.05688600e-01 2.25515597e+02] [-9.04530096e-01 4.62891320e-02 4.23889871e-01 -2.43260088e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.9907140569999 meters Centerline goodness : 0.993480 Centerline is valid? [True, True] Translation: X:199.93, Y:225.53, Z:-243.30 [[-4.51007568e-02 -9.98497493e-01 3.11236098e-02 1.99929923e+02] [ 4.17378711e-01 9.47163933e-03 9.08683278e-01 2.25532009e+02] [-9.07612767e-01 5.39726357e-02 4.16324418e-01 -2.43295888e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.020714057 meters Centerline goodness : 0.992411 Centerline is valid? [True, True] Translation: X:199.92, Y:225.56, Z:-243.31 [[-4.80484543e-02 -9.96603045e-01 6.68858472e-02 1.99915677e+02] [ 4.19404609e-01 4.06443685e-02 9.06889083e-01 2.25558218e+02] [-9.06526955e-01 7.16268513e-02 4.16027012e-01 -2.43312506e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.0507140569999 meters Centerline goodness : 0.992828 Centerline is valid? [True, True] Translation: X:199.92, Y:225.56, Z:-243.33 [[-4.91815551e-02 -9.97682242e-01 4.70246509e-02 1.99921315e+02] [ 4.18481208e-01 2.21660823e-02 9.07954924e-01 2.25562933e+02] [-9.06892857e-01 6.43335678e-02 4.16421107e-01 -2.43334870e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.0807140569999 meters Centerline goodness : 0.993163 Centerline is valid? [True, True] Translation: X:199.92, Y:225.57, Z:-243.37 [[-5.58326983e-02 -9.97686912e-01 3.87754600e-02 1.99924939e+02] [ 4.19538901e-01 1.17982620e-02 9.07660681e-01 2.25571408e+02] [-9.06018665e-01 6.69449588e-02 4.17909741e-01 -2.43365348e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.1107140569999 meters Centerline goodness : 0.993870 Centerline is valid? [True, True] Translation: X:199.92, Y:225.59, Z:-243.39 [[-6.17846909e-02 -9.96914544e-01 4.84153322e-02 1.99921557e+02] [ 4.20502202e-01 1.79930996e-02 9.07113084e-01 2.25586494e+02] [-9.05185368e-01 7.64044553e-02 4.18093063e-01 -2.43391015e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.140714057 meters Centerline goodness : 0.993659 Centerline is valid? [True, True] Translation: X:199.92, Y:225.60, Z:-243.42 [[-6.47494757e-02 -9.97048736e-01 4.12471088e-02 1.99923361e+02] [ 4.22915312e-01 1.00206034e-02 9.06113805e-01 2.25598382e+02] [-9.03852944e-01 7.61144276e-02 4.21018348e-01 -2.43416939e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.1707140569999 meters Centerline goodness : 0.993414 Centerline is valid? [True, True] Translation: X:199.93, Y:225.61, Z:-243.45 [[-6.81936307e-02 -9.97286462e-01 2.77369899e-02 1.99927947e+02] [ 4.22422698e-01 -3.67594040e-03 9.06391500e-01 2.25605521e+02] [-9.03830014e-01 7.35268614e-02 4.21527114e-01 -2.43446609e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.2007140569999 meters Centerline goodness : 0.993389 Centerline is valid? [True, True] Translation: X:199.93, Y:225.60, Z:-243.45 [[-6.89019088e-02 -9.97472814e-01 1.73353142e-02 1.99931642e+02] [ 4.21930974e-01 -1.33907242e-02 9.06529063e-01 2.25600571e+02] [-9.04005963e-01 6.97758888e-02 4.21787322e-01 -2.43448075e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.2307140569999 meters Centerline goodness : 0.993015 Centerline is valid? [True, True] Translation: X:199.93, Y:225.60, Z:-243.45 [[-6.73938547e-02 -9.97524634e-01 2.00667070e-02 1.99930217e+02] [ 4.23146379e-01 -1.03626388e-02 9.06002074e-01 2.25602397e+02] [-9.03551443e-01 6.95501265e-02 4.22797315e-01 -2.43447296e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.260714057 meters Centerline goodness : 0.992967 Centerline is valid? [True, True] Translation: X:199.92, Y:225.62, Z:-243.47 [[-6.77939204e-02 -9.96600480e-01 4.68131191e-02 1.99919071e+02] [ 4.23939836e-01 1.36993678e-02 9.05586740e-01 2.25624426e+02] [-9.03149490e-01 8.12392213e-02 4.21569910e-01 -2.43466882e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.290714057 meters Centerline goodness : 0.993530 Centerline is valid? [True, True] Translation: X:199.93, Y:225.63, Z:-243.49 [[-6.75082459e-02 -9.97446645e-01 2.32986591e-02 1.99927366e+02] [ 4.22432183e-01 -7.41953062e-03 9.06364166e-01 2.25629580e+02] [-9.03877031e-01 7.10291584e-02 4.21854443e-01 -2.43494427e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.3207140569999 meters Centerline goodness : 0.994124 Centerline is valid? [True, True] Translation: X:199.93, Y:225.63, Z:-243.49 [[-6.39088602e-02 -9.97742152e-01 2.06459722e-02 1.99928932e+02] [ 4.18249488e-01 -7.99522543e-03 9.08297001e-01 2.25625680e+02] [-9.06081135e-01 6.66833933e-02 4.17816110e-01 -2.43493570e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.3507140569999 meters Centerline goodness : 0.993773 Centerline is valid? [True, True] Translation: X:199.93, Y:225.64, Z:-243.52 [[-6.32486116e-02 -9.97715649e-01 2.37296612e-02 1.99927063e+02] [ 4.19823899e-01 -5.02792175e-03 9.07591656e-01 2.25640594e+02] [-9.05399087e-01 6.73661910e-02 4.19182883e-01 -2.43516714e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.380714057 meters Centerline goodness : 0.993538 Centerline is valid? [True, True] Translation: X:199.93, Y:225.64, Z:-243.52 [[-6.02734088e-02 -9.98063362e-01 1.53831466e-02 1.99930463e+02] [ 4.19715536e-01 -1.13581753e-02 9.07584630e-01 2.25636981e+02] [-9.05652243e-01 6.11597651e-02 4.19587294e-01 -2.43517748e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.410714057 meters Centerline goodness : 0.993350 Centerline is valid? [True, True] Translation: X:199.93, Y:225.65, Z:-243.54 [[-5.50612533e-02 -9.98248164e-01 2.16532335e-02 1.99927532e+02] [ 4.21324320e-01 -3.56751193e-03 9.06903021e-01 2.25651281e+02] [-9.05237027e-01 5.90582509e-02 4.20782660e-01 -2.43540307e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.4407140569999 meters Centerline goodness : 0.993968 Centerline is valid? [True, True] Translation: X:199.93, Y:225.66, Z:-243.57 [[-5.05581848e-02 -9.98528354e-01 1.96213391e-02 1.99929010e+02] [ 4.14886513e-01 -3.12768741e-03 9.09867792e-01 2.25659242e+02] [-9.08467419e-01 5.41418929e-02 4.14434077e-01 -2.43565778e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.4707140569999 meters Centerline goodness : 0.993108 Centerline is valid? [True, True] Translation: X:199.93, Y:225.66, Z:-243.58 [[-4.76072964e-02 -9.98831301e-01 8.34135082e-03 1.99932746e+02] [ 4.19211391e-01 -1.23997010e-02 9.07803975e-01 2.25660185e+02] [-9.06639595e-01 4.67148821e-02 4.19311775e-01 -2.43576265e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.500714057 meters Centerline goodness : 0.993799 Centerline is valid? [True, True] Translation: X:199.92, Y:225.68, Z:-243.60 [[-4.33833416e-02 -9.98425571e-01 3.55565167e-02 1.99923836e+02] [ 4.19656450e-01 1.40862385e-02 9.07573712e-01 2.25680381e+02] [-9.06645658e-01 5.42951019e-02 4.18384622e-01 -2.43598877e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.530714057 meters Centerline goodness : 0.994134 Centerline is valid? [True, True] Translation: X:199.92, Y:225.69, Z:-243.63 [[-4.16824324e-02 -9.98442812e-01 3.70746026e-02 1.99924839e+02] [ 4.18684061e-01 1.62367633e-02 9.07986798e-01 2.25691145e+02] [-9.07174863e-01 5.33696435e-02 4.17355303e-01 -2.43626960e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.5607140569999 meters Centerline goodness : 0.993907 Centerline is valid? [True, True] Translation: X:199.91, Y:225.71, Z:-243.64 [[-4.50903056e-02 -9.97417544e-01 5.59026580e-02 1.99912547e+02] [ 4.18837020e-01 3.19286229e-02 9.07499925e-01 2.25705369e+02] [-9.06941241e-01 6.43335517e-02 4.16315721e-01 -2.43642106e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.5907140569999 meters Centerline goodness : 0.994290 Centerline is valid? [True, True] Translation: X:199.93, Y:225.69, Z:-243.68 [[-4.48485792e-02 -9.98993443e-01 8.40648086e-04 1.99934718e+02] [ 4.16353592e-01 -1.79267403e-02 9.09026028e-01 2.25694961e+02] [-9.08095971e-01 4.11185326e-02 4.16738497e-01 -2.43677543e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.620714057 meters Centerline goodness : 0.994533 Centerline is valid? [True, True] Translation: X:199.94, Y:225.71, Z:-243.71 [[-3.85910722e-02 -9.99170869e-01 1.29731776e-02 1.99938105e+02] [ 4.13680119e-01 -4.15685890e-03 9.10412807e-01 2.25711865e+02] [-9.09604028e-01 4.05005520e-02 4.13497542e-01 -2.43713135e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.650714057 meters Centerline goodness : 0.993773 Centerline is valid? [True, True] Translation: X:199.93, Y:225.74, Z:-243.74 [[-4.34355462e-02 -9.98526561e-01 3.25278282e-02 1.99929903e+02] [ 4.19061500e-01 1.13461436e-02 9.07886956e-01 2.25735463e+02] [-9.06918305e-01 5.30657262e-02 4.17951213e-01 -2.43738092e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.6807140569999 meters Centerline goodness : 0.993640 Centerline is valid? [True, True] Translation: X:199.93, Y:225.74, Z:-243.77 [[-5.52360165e-02 -9.98222559e-01 2.23764300e-02 1.99930450e+02] [ 4.18554218e-01 -2.80225478e-03 9.08187489e-01 2.25744347e+02] [-9.06510535e-01 5.95304082e-02 4.17965048e-01 -2.43767245e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.7107140569999 meters Centerline goodness : 0.993640 Centerline is valid? [True, True] Translation: X:199.95, Y:225.73, Z:-243.78 [[-5.47734662e-02 -9.98357797e-01 -1.67802267e-02 1.99945901e+02] [ 4.16879336e-01 -3.81357084e-02 9.08161487e-01 2.25732083e+02] [-9.07310028e-01 4.27478227e-02 4.18283561e-01 -2.43779696e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.7407140569999 meters Centerline goodness : 0.994239 Centerline is valid? [True, True] Translation: X:199.95, Y:225.73, Z:-243.78 [[-5.58417210e-02 -9.98319368e-01 -1.54965101e-02 1.99946490e+02] [ 4.16344768e-01 -3.73898608e-02 9.08437688e-01 2.25733882e+02] [-9.07490351e-01 4.42768330e-02 4.17732960e-01 -2.43782807e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.770714057 meters Centerline goodness : 0.994559 Centerline is valid? [True, True] Translation: X:199.95, Y:225.74, Z:-243.79 [[-5.67148786e-02 -9.98289278e-01 -1.42105385e-02 1.99947039e+02] [ 4.16174838e-01 -3.65768437e-02 9.08548644e-01 2.25736319e+02] [-9.07514147e-01 4.56141575e-02 4.17537330e-01 -2.43786701e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.8007140569999 meters Centerline goodness : 0.994050 Centerline is valid? [True, True] Translation: X:199.95, Y:225.73, Z:-243.77 [[-4.84894415e-02 -9.98753407e-01 -1.18493320e-02 1.99953213e+02] [ 4.14921557e-01 -3.09328427e-02 9.09331216e-01 2.25728818e+02] [-9.08564184e-01 3.91764195e-02 4.15904235e-01 -2.43771939e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.8307140569999 meters Centerline goodness : 0.994038 Centerline is valid? [True, True] Translation: X:199.93, Y:225.77, Z:-243.78 [[-5.19221832e-02 -9.97230707e-01 5.32447504e-02 1.99927236e+02] [ 4.20707394e-01 2.65121875e-02 9.06808906e-01 2.25766972e+02] [-9.05709322e-01 6.94839584e-02 4.18165762e-01 -2.43781509e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.8607140569999 meters Centerline goodness : 0.993726 Centerline is valid? [True, True] Translation: X:199.93, Y:225.77, Z:-243.81 [[-5.23135584e-02 -9.97630147e-01 4.46920779e-02 1.99932116e+02] [ 4.18586843e-01 1.87262891e-02 9.07983690e-01 2.25771760e+02] [-9.06668819e-01 6.62073735e-02 4.16615215e-01 -2.43808521e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.890714057 meters Centerline goodness : 0.994278 Centerline is valid? [True, True] Translation: X:199.94, Y:225.78, Z:-243.84 [[-5.88336991e-02 -9.98101269e-01 1.82333010e-02 1.99943109e+02] [ 4.21454521e-01 -8.27727291e-03 9.06811763e-01 2.25778037e+02] [-9.04939049e-01 6.10355975e-02 4.21141274e-01 -2.43838461e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.9207140569999 meters Centerline goodness : 0.994572 Centerline is valid? [True, True] Translation: X:199.93, Y:225.80, Z:-243.86 [[-6.17006758e-02 -9.97280693e-01 4.03019350e-02 1.99934712e+02] [ 4.22943240e-01 1.04499517e-02 9.06095919e-01 2.25798245e+02] [-9.04053119e-01 7.29521615e-02 4.21148359e-01 -2.43859468e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.9507140569999 meters Centerline goodness : 0.993829 Centerline is valid? [True, True] Translation: X:199.94, Y:225.79, Z:-243.87 [[-6.23489055e-02 -9.97897959e-01 1.76714041e-02 1.99943411e+02] [ 4.22569449e-01 -1.03534177e-02 9.06271409e-01 2.25792993e+02] [-9.04183430e-01 6.39724260e-02 4.22326715e-01 -2.43869810e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.9807140569999 meters Centerline goodness : 0.994058 Centerline is valid? [True, True] Translation: X:199.94, Y:225.79, Z:-243.87 [[-6.24245952e-02 -9.97881229e-01 1.83363603e-02 1.99943206e+02] [ 4.20428689e-01 -9.62938129e-03 9.07274486e-01 2.25794771e+02] [-9.05175612e-01 6.43453745e-02 4.20139007e-01 -2.43872149e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.010714057 meters Centerline goodness : 0.993712 Centerline is valid? [True, True] Translation: X:199.94, Y:225.79, Z:-243.87 [[-6.11450215e-02 -9.98010640e-01 1.53639156e-02 1.99944253e+02] [ 4.22020006e-01 -1.19005782e-02 9.06508406e-01 2.25794099e+02] [-9.04522195e-01 6.19123557e-02 4.21908117e-01 -2.43874465e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.040714057 meters Centerline goodness : 0.994539 Centerline is valid? [True, True] Translation: X:199.94, Y:225.81, Z:-243.90 [[-6.13239025e-02 -9.97589960e-01 3.24599938e-02 1.99936550e+02] [ 4.23936389e-01 3.40933016e-03 9.05685550e-01 2.25813593e+02] [-9.03613478e-01 6.93011449e-02 4.22705612e-01 -2.43896146e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.0707140569999 meters Centerline goodness : 0.993909 Centerline is valid? [True, True] Translation: X:199.94, Y:225.81, Z:-243.90 [[-6.06068804e-02 -9.98009727e-01 1.74181389e-02 1.99942039e+02] [ 4.20931232e-01 -9.73174295e-03 9.07040347e-01 2.25807856e+02] [-9.05065580e-01 6.23047245e-02 4.20683275e-01 -2.43898181e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.1007140569999 meters Centerline goodness : 0.993580 Centerline is valid? [True, True] Translation: X:199.93, Y:225.81, Z:-243.89 [[-4.89950074e-02 -9.97466320e-01 5.15793499e-02 1.99931526e+02] [ 4.06849654e-01 2.72319395e-02 9.13089142e-01 2.25808164e+02] [-9.12180272e-01 6.57218499e-02 4.04484598e-01 -2.43893735e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.130714057 meters Centerline goodness : 0.994291 Centerline is valid? [True, True] Translation: X:199.92, Y:225.83, Z:-243.91 [[-4.81906361e-02 -9.95490183e-01 8.17126573e-02 1.99918392e+02] [ 4.09154958e-01 5.49549841e-02 9.10808525e-01 2.25832918e+02] [-9.11191463e-01 7.73255811e-02 4.04661429e-01 -2.43906872e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.160714057 meters Centerline goodness : 0.994108 Centerline is valid? [True, True] Translation: X:199.92, Y:225.84, Z:-243.94 [[-4.89559214e-02 -9.95436793e-01 8.19079279e-02 1.99917931e+02] [ 4.10036515e-01 5.47470932e-02 9.10424523e-01 2.25843894e+02] [-9.10754289e-01 7.81559127e-02 4.05485239e-01 -2.43936302e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.1907140569999 meters Centerline goodness : 0.993430 Centerline is valid? [True, True] Translation: X:199.92, Y:225.85, Z:-243.96 [[-4.62869988e-02 -9.95992866e-01 7.65227094e-02 1.99918842e+02] [ 4.07787518e-01 5.10911161e-02 9.11646334e-01 2.25851485e+02] [-9.11902875e-01 7.34023785e-02 4.03788604e-01 -2.43957064e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.2207140569999 meters Centerline goodness : 0.994558 Centerline is valid? [True, True] Translation: X:199.92, Y:225.86, Z:-243.99 [[-4.73302496e-02 -9.96442486e-01 6.97296185e-02 1.99921448e+02] [ 4.08321292e-01 4.44085328e-02 9.11757427e-01 2.25859526e+02] [-9.11610427e-01 7.16257945e-02 4.04766816e-01 -2.43992885e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.250714057 meters Centerline goodness : 0.994430 Centerline is valid? [True, True] Translation: X:199.92, Y:225.88, Z:-244.01 [[-5.06966138e-02 -9.96013711e-01 7.33930631e-02 1.99917722e+02] [ 4.13852709e-01 4.59299912e-02 9.09184454e-01 2.25876517e+02] [-9.08931124e-01 7.64664911e-02 4.09874478e-01 -2.44012833e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.280714057 meters Centerline goodness : 0.994482 Centerline is valid? [True, True] Translation: X:199.92, Y:225.89, Z:-244.04 [[-5.05538964e-02 -9.95394479e-01 8.14501970e-02 1.99915513e+02] [ 4.12325878e-01 5.34777576e-02 9.09465502e-01 2.25888791e+02] [-9.09632714e-01 7.95610488e-02 4.07723393e-01 -2.44041748e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.3107140569999 meters Centerline goodness : 0.994467 Centerline is valid? [True, True] Translation: X:199.92, Y:225.90, Z:-244.07 [[-5.32296488e-02 -9.95998058e-01 7.17946541e-02 1.99917541e+02] [ 4.14513323e-01 4.33711683e-02 9.09009157e-01 2.25899227e+02] [-9.08485173e-01 7.81460788e-02 4.10545832e-01 -2.44067136e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.3407140569999 meters Centerline goodness : 0.994260 Centerline is valid? [True, True] Translation: X:199.92, Y:225.91, Z:-244.09 [[-5.84918138e-02 -9.96843397e-01 5.36837961e-02 1.99921848e+02] [ 4.18147538e-01 2.43663997e-02 9.08052265e-01 2.25908942e+02] [-9.06493985e-01 7.55613711e-02 4.15402377e-01 -2.44090598e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.370714057 meters Centerline goodness : 0.994075 Centerline is valid? [True, True] Translation: X:199.93, Y:225.90, Z:-244.09 [[-5.51520497e-02 -9.97803789e-01 3.66858212e-02 1.99928716e+02] [ 4.12534926e-01 1.06876729e-02 9.10879086e-01 2.25895023e+02] [-9.09270689e-01 6.53710311e-02 4.11039465e-01 -2.44085432e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.400714057 meters Centerline goodness : 0.994056 Centerline is valid? [True, True] Translation: X:199.91, Y:225.92, Z:-244.09 [[-6.20827539e-02 -9.95416753e-01 7.27407741e-02 1.99907148e+02] [ 4.17409759e-01 4.03066106e-02 9.07824031e-01 2.25918888e+02] [-9.06595183e-01 8.67229248e-02 4.12994321e-01 -2.44092830e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.4307140569999 meters Centerline goodness : 0.994158 Centerline is valid? [True, True] Translation: X:199.95, Y:225.90, Z:-244.13 [[-6.55049481e-02 -9.97600298e-01 -2.24220431e-02 1.99945204e+02] [ 4.16702613e-01 -4.77651467e-02 9.07787102e-01 2.25904462e+02] [-9.06679676e-01 5.01212231e-02 4.18831504e-01 -2.44134499e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.4607140569999 meters Centerline goodness : 0.994773 Centerline is valid? [True, True] Translation: X:199.93, Y:225.94, Z:-244.15 [[-6.51256820e-02 -9.97448086e-01 2.92568323e-02 1.99925734e+02] [ 4.18831143e-01 -7.11407300e-04 9.08063857e-01 2.25935497e+02] [-9.05725742e-01 7.13919505e-02 4.17808652e-01 -2.44154570e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.4907140569999 meters Centerline goodness : 0.994369 Centerline is valid? [True, True] Translation: X:199.92, Y:225.95, Z:-244.18 [[-6.91027287e-02 -9.97178015e-01 2.93397192e-02 1.99922828e+02] [ 4.21794561e-01 -2.55239135e-03 9.06687837e-01 2.25951254e+02] [-9.04054291e-01 7.50299376e-02 4.20780640e-01 -2.44175653e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.520714057 meters Centerline goodness : 0.993829 Centerline is valid? [True, True] Translation: X:199.92, Y:225.96, Z:-244.20 [[-6.99820424e-02 -9.97229905e-01 2.51997981e-02 1.99924568e+02] [ 4.20258949e-01 -6.56295462e-03 9.07380484e-01 2.25960514e+02] [-9.04701569e-01 7.40907802e-02 4.19554081e-01 -2.44203549e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.5507140569999 meters Centerline goodness : 0.994504 Centerline is valid? [True, True] Translation: X:199.92, Y:225.97, Z:-244.23 [[-7.27764203e-02 -9.96987418e-01 2.68268710e-02 1.99921708e+02] [ 4.23145481e-01 -6.50844594e-03 9.06038378e-01 2.25974390e+02] [-9.03134262e-01 7.72898990e-02 4.22344382e-01 -2.44226262e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.5807140569999 meters Centerline goodness : 0.994573 Centerline is valid? [True, True] Translation: X:199.92, Y:225.98, Z:-244.25 [[-7.37374611e-02 -9.97103309e-01 1.86487987e-02 1.99924514e+02] [ 4.21826604e-01 -1.42393271e-02 9.06564702e-01 2.25981793e+02] [-9.03673118e-01 7.47143388e-02 4.21654674e-01 -2.44254352e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.6107140569999 meters Centerline goodness : 0.994915 Centerline is valid? [True, True] Translation: X:199.93, Y:225.98, Z:-244.26 [[-7.48285798e-02 -9.97151897e-01 9.42220150e-03 1.99927059e+02] [ 4.22777166e-01 -2.31658677e-02 9.05937531e-01 2.25980957e+02] [-9.03139054e-01 7.17735105e-02 4.23306522e-01 -2.44259988e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.640714057 meters Centerline goodness : 0.994542 Centerline is valid? [True, True] Translation: X:199.92, Y:225.99, Z:-244.27 [[-7.42271727e-02 -9.97129852e-01 1.49126170e-02 1.99923811e+02] [ 4.22731901e-01 -1.79176312e-02 9.06077645e-01 2.25988017e+02] [-9.03209869e-01 7.35596208e-02 4.22848573e-01 -2.44269448e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.6707140569999 meters Centerline goodness : 0.994408 Centerline is valid? [True, True] Translation: X:199.92, Y:226.00, Z:-244.29 [[-7.40210266e-02 -9.96962536e-01 2.42196018e-02 1.99919035e+02] [ 4.23166897e-01 -9.40879759e-03 9.06002898e-01 2.26003530e+02] [-9.03023070e-01 7.73121983e-02 4.22577992e-01 -2.44292890e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.7007140569999 meters Centerline goodness : 0.994298 Centerline is valid? [True, True] Translation: X:199.92, Y:226.01, Z:-244.32 [[-7.24382172e-02 -9.97051857e-01 2.53041528e-02 1.99918214e+02] [ 4.21593325e-01 -7.61730864e-03 9.06753023e-01 2.26013849e+02] [-9.03887036e-01 7.63516344e-02 4.20902191e-01 -2.44320142e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.7307140569999 meters Centerline goodness : 0.993623 Centerline is valid? [True, True] Translation: X:199.92, Y:226.01, Z:-244.32 [[-6.58510077e-02 -9.97531183e-01 2.43963757e-02 1.99918028e+02] [ 4.13655160e-01 -5.04111414e-03 9.10419681e-01 2.26008588e+02] [-9.08049037e-01 7.00437401e-02 4.12965884e-01 -2.44319799e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.760714057 meters Centerline goodness : 0.994115 Centerline is valid? [True, True] Translation: X:199.91, Y:226.02, Z:-244.34 [[-6.56300652e-02 -9.97391274e-01 3.00556365e-02 1.99913783e+02] [ 4.15713621e-01 5.22924763e-05 9.09495565e-01 2.26024830e+02] [-9.07124512e-01 7.21847907e-02 4.14625706e-01 -2.44340838e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.790714057 meters Centerline goodness : 0.993343 Centerline is valid? [True, True] Translation: X:199.91, Y:226.04, Z:-244.37 [[-6.28336536e-02 -9.97361258e-01 3.63655441e-02 1.99911373e+02] [ 4.12947897e-01 7.19100612e-03 9.10726262e-01 2.26035265e+02] [-9.08584595e-01 7.22413334e-02 4.11406396e-01 -2.44368507e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.8207140569999 meters Centerline goodness : 0.993433 Centerline is valid? [True, True] Translation: X:199.91, Y:226.05, Z:-244.39 [[-5.78588712e-02 -9.97435887e-01 4.21189161e-02 1.99908569e+02] [ 4.10572703e-01 1.46825968e-02 9.11709645e-01 2.26045996e+02] [-9.09990333e-01 7.00433681e-02 4.08670430e-01 -2.44394836e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.8507140569999 meters Centerline goodness : 0.993538 Centerline is valid? [True, True] Translation: X:199.91, Y:226.05, Z:-244.42 [[-5.63162511e-02 -9.97754701e-01 3.62496522e-02 1.99910023e+02] [ 4.10434878e-01 9.96193338e-03 9.11835495e-01 2.26054495e+02] [-9.10149268e-01 6.62292783e-02 4.08952310e-01 -2.44420897e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.880714057 meters Centerline goodness : 0.992948 Centerline is valid? [True, True] Translation: X:199.91, Y:226.07, Z:-244.45 [[-5.36231196e-02 -9.97581289e-01 4.42281963e-02 1.99907841e+02] [ 4.08669238e-01 1.84886193e-02 9.12495274e-01 2.26066202e+02] [-9.11105930e-01 6.70055465e-02 4.06689368e-01 -2.44448802e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.910714057 meters Centerline goodness : 0.992112 Centerline is valid? [True, True] Translation: X:199.92, Y:226.05, Z:-244.46 [[-5.36555310e-02 -9.98557495e-01 2.00325880e-03 1.99923581e+02] [ 4.06707448e-01 -2.00213305e-02 9.13339038e-01 2.26053530e+02] [-9.11981434e-01 4.98204313e-02 4.07195026e-01 -2.44462924e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.9407140569999 meters Centerline goodness : 0.992917 Centerline is valid? [True, True] Translation: X:199.92, Y:226.06, Z:-244.47 [[-4.90768540e-02 -9.98592026e-01 2.01352573e-02 1.99915736e+02] [ 4.08680397e-01 -1.68215023e-03 9.12676012e-01 2.26062478e+02] [-9.11357117e-01 5.30201523e-02 4.08187540e-01 -2.44468142e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.9707140569999 meters Centerline goodness : 0.992945 Centerline is valid? [True, True] Translation: X:199.91, Y:226.08, Z:-244.49 [[-4.76441726e-02 -9.98608787e-01 2.25947648e-02 1.99913734e+02] [ 4.11555468e-01 9.85662785e-04 9.11384181e-01 2.26077279e+02] [-9.10138522e-01 5.27211442e-02 4.10935945e-01 -2.44493199e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.000714057 meters Centerline goodness : 0.993290 Centerline is valid? [True, True] Translation: X:199.91, Y:226.09, Z:-244.52 [[-4.49774363e-02 -9.98483494e-01 3.17449496e-02 1.99910914e+02] [ 4.03481153e-01 1.09131826e-02 9.14922872e-01 2.26089412e+02] [-9.13881825e-01 5.39593741e-02 4.02378424e-01 -2.44521640e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.030714057 meters Centerline goodness : 0.993627 Centerline is valid? [True, True] Translation: X:199.91, Y:226.10, Z:-244.55 [[-4.22804057e-02 -9.98605153e-01 3.16246096e-02 1.99909563e+02] [ 4.06001830e-01 1.17489309e-02 9.13796737e-01 2.26102436e+02] [-9.12893686e-01 5.14753461e-02 4.04938770e-01 -2.44545270e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.0607140569999 meters Centerline goodness : 0.993307 Centerline is valid? [True, True] Translation: X:199.91, Y:226.11, Z:-244.57 [[-4.20046455e-02 -9.98706051e-01 2.86676464e-02 1.99909507e+02] [ 4.08030336e-01 9.04390292e-03 9.12923574e-01 2.26114610e+02] [-9.12001565e-01 5.00443005e-02 4.07122480e-01 -2.44569502e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.0907140569999 meters Centerline goodness : 0.993341 Centerline is valid? [True, True] Translation: X:199.91, Y:226.11, Z:-244.57 [[-4.52912604e-02 -9.98880028e-01 1.36891352e-02 1.99911932e+02] [ 4.07275677e-01 -5.95059926e-03 9.13285888e-01 2.26106793e+02] [-9.12181574e-01 4.69391207e-02 4.07089050e-01 -2.44566318e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.120714057 meters Centerline goodness : 0.993530 Centerline is valid? [True, True] Translation: X:199.92, Y:226.11, Z:-244.59 [[-3.78391898e-02 -9.99263926e-01 -6.30892082e-03 1.99922862e+02] [ 4.06785229e-01 -2.11698078e-02 9.13278499e-01 2.26107943e+02] [-9.12739817e-01 3.19913427e-02 4.07286853e-01 -2.44591392e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.150714057 meters Centerline goodness : 0.994102 Centerline is valid? [True, True] Translation: X:199.92, Y:226.13, Z:-244.61 [[-3.86162014e-02 -9.99250359e-01 2.74012936e-03 1.99917462e+02] [ 4.10878268e-01 -1.33787070e-02 9.11592047e-01 2.26127784e+02] [-9.10872021e-01 3.63280816e-02 4.11086892e-01 -2.44611771e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.1807140569999 meters Centerline goodness : 0.993488 Centerline is valid? [True, True] Translation: X:199.91, Y:226.14, Z:-244.63 [[-3.82333362e-02 -9.99223812e-01 9.48607585e-03 1.99914691e+02] [ 4.10863858e-01 -7.06601617e-03 9.11669327e-01 2.26141556e+02] [-9.10894672e-01 3.87536456e-02 4.10815107e-01 -2.44634992e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.2107140569999 meters Centerline goodness : 0.993235 Centerline is valid? [True, True] Translation: X:199.91, Y:226.15, Z:-244.66 [[-3.70638700e-02 -9.99122789e-01 1.94915789e-02 1.99912506e+02] [ 4.07480055e-01 2.69948724e-03 9.13210117e-01 2.26153022e+02] [-9.12461656e-01 4.17895307e-02 4.07022556e-01 -2.44663196e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.2407140569999 meters Centerline goodness : 0.993355 Centerline is valid? [True, True] Translation: X:199.92, Y:226.16, Z:-244.68 [[-3.98503544e-02 -9.99194935e-01 4.62947328e-03 1.99918000e+02] [ 4.08397310e-01 -1.20590517e-02 9.12724612e-01 2.26155644e+02] [-9.11933982e-01 3.82630637e-02 4.08549081e-01 -2.44679811e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.270714057 meters Centerline goodness : 0.993651 Centerline is valid? [True, True] Translation: X:199.92, Y:226.16, Z:-244.68 [[-3.79085071e-02 -9.99192770e-01 1.32948919e-02 1.99915879e+02] [ 4.02992156e-01 -3.11188260e-03 9.15198142e-01 2.26156241e+02] [-9.14417994e-01 4.00515324e-02 4.02784815e-01 -2.44679187e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.3007140569999 meters Centerline goodness : 0.993864 Centerline is valid? [True, True] Translation: X:199.91, Y:226.17, Z:-244.70 [[-4.22237508e-02 -9.98547224e-01 3.34753149e-02 1.99909988e+02] [ 4.01755746e-01 1.37077599e-02 9.15644264e-01 2.26173785e+02] [-9.14772909e-01 5.21108353e-02 4.00593292e-01 -2.44703476e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.3307140569999 meters Centerline goodness : 0.993306 Centerline is valid? [True, True] Translation: X:199.91, Y:226.18, Z:-244.73 [[-4.62503603e-02 -9.98732140e-01 1.98750457e-02 1.99914859e+02] [ 4.02945167e-01 -4.46806553e-04 9.15224013e-01 2.26180658e+02] [-9.14054756e-01 5.03379939e-02 4.02454953e-01 -2.44728026e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.3607140569999 meters Centerline goodness : 0.994228 Centerline is valid? [True, True] Translation: X:199.91, Y:226.19, Z:-244.76 [[-4.79592080e-02 -9.98476771e-01 2.72773348e-02 1.99914269e+02] [ 4.01312770e-01 5.74604980e-03 9.15923056e-01 2.26191756e+02] [-9.14684632e-01 5.48736871e-02 4.00425902e-01 -2.44756783e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.390714057 meters Centerline goodness : 0.993680 Centerline is valid? [True, True] Translation: X:199.92, Y:226.20, Z:-244.78 [[-4.99109799e-02 -9.98467382e-01 2.39119492e-02 1.99916495e+02] [ 3.96606216e-01 2.15914609e-03 9.17986300e-01 2.26200380e+02] [-9.16631007e-01 5.53012234e-02 3.95890605e-01 -2.44778965e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.4207140569999 meters Centerline goodness : 0.994411 Centerline is valid? [True, True] Translation: X:199.92, Y:226.20, Z:-244.81 [[-6.02652415e-02 -9.98182374e-01 2.19735130e-04 1.99923885e+02] [ 4.03543380e-01 -2.41625789e-02 9.14641411e-01 2.26204304e+02] [-9.12973626e-01 5.52097582e-02 4.04266053e-01 -2.44806541e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.4507140569999 meters Centerline goodness : 0.994232 Centerline is valid? [True, True] Translation: X:199.93, Y:226.21, Z:-244.82 [[-5.72324336e-02 -9.98348596e-01 4.95270462e-03 1.99925646e+02] [ 4.01071634e-01 -1.84487835e-02 9.15860900e-01 2.26210548e+02] [-9.14257072e-01 5.44033375e-02 4.01465171e-01 -2.44822180e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.4807140569999 meters Centerline goodness : 0.994448 Centerline is valid? [True, True] Translation: X:199.92, Y:226.23, Z:-244.85 [[-5.87808923e-02 -9.97647876e-01 3.52636024e-02 1.99915719e+02] [ 4.01725069e-01 8.69825252e-03 9.15719013e-01 2.26231850e+02] [-9.13871860e-01 6.79930537e-02 4.00268870e-01 -2.44845566e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.510714057 meters Centerline goodness : 0.994622 Centerline is valid? [True, True] Translation: X:199.92, Y:226.24, Z:-244.87 [[-6.11244592e-02 -9.97526733e-01 3.47018455e-02 1.99916989e+02] [ 4.02688052e-01 7.16655462e-03 9.15309223e-01 2.26243876e+02] [-9.13294111e-01 6.99217998e-02 4.01254045e-01 -2.44872107e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.540714057 meters Centerline goodness : 0.995037 Centerline is valid? [True, True] Translation: X:199.91, Y:226.26, Z:-244.90 [[-6.39243075e-02 -9.97086033e-01 4.16308258e-02 1.99914796e+02] [ 4.03509665e-01 1.23295743e-02 9.14892306e-01 2.26257699e+02] [-9.12739631e-01 7.52822976e-02 4.01545691e-01 -2.44896233e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.5707140569999 meters Centerline goodness : 0.994871 Centerline is valid? [True, True] Translation: X:199.92, Y:226.27, Z:-244.92 [[-6.88946012e-02 -9.96895181e-01 3.81252077e-02 1.99916684e+02] [ 4.02355465e-01 7.20416704e-03 9.15455176e-01 2.26267143e+02] [-9.12887514e-01 7.84098049e-02 4.00609896e-01 -2.44922820e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.6007140569999 meters Centerline goodness : 0.994362 Centerline is valid? [True, True] Translation: X:199.92, Y:226.27, Z:-244.95 [[-7.18742880e-02 -9.97133763e-01 2.36293559e-02 1.99921850e+02] [ 4.03233938e-01 -7.38085982e-03 9.15067164e-01 2.26274839e+02] [-9.12269959e-01 7.52979591e-02 4.02608668e-01 -2.44949829e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.630714057 meters Centerline goodness : 0.994362 Centerline is valid? [True, True] Translation: X:199.92, Y:226.29, Z:-244.98 [[-7.23018820e-02 -9.97051416e-01 2.57081992e-02 1.99920947e+02] [ 4.03397040e-01 -5.65985768e-03 9.15007538e-01 2.26286673e+02] [-9.12164057e-01 7.65273784e-02 4.02616808e-01 -2.44975556e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.660714057 meters Centerline goodness : 0.994976 Centerline is valid? [True, True] Translation: X:199.92, Y:226.27, Z:-244.95 [[-7.01320553e-02 -9.97280747e-01 2.26408339e-02 1.99923282e+02] [ 3.97376359e-01 -7.11229407e-03 9.17628163e-01 2.26270000e+02] [-9.14971871e-01 7.33520812e-02 3.96794591e-01 -2.44948344e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.6907140569999 meters Centerline goodness : 0.994585 Centerline is valid? [True, True] Translation: X:199.91, Y:226.29, Z:-244.97 [[-6.93743575e-02 -9.96357275e-01 4.95921316e-02 1.99913652e+02] [ 3.98952335e-01 1.78539339e-02 9.16797836e-01 2.26290856e+02] [-9.14343608e-01 8.33871575e-02 3.96260457e-01 -2.44968884e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.7207140569999 meters Centerline goodness : 0.994969 Centerline is valid? [True, True] Translation: X:199.92, Y:226.30, Z:-244.99 [[-6.67349440e-02 -9.96967738e-01 4.00222077e-02 1.99917721e+02] [ 3.94601954e-01 1.04701135e-02 9.18792509e-01 2.26297833e+02] [-9.16425526e-01 7.71084080e-02 3.92706695e-01 -2.44993398e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.750714057 meters Centerline goodness : 0.994487 Centerline is valid? [True, True] Translation: X:199.92, Y:226.31, Z:-245.02 [[-6.90563228e-02 -9.97051527e-01 3.34585716e-02 1.99917972e+02] [ 3.95459912e-01 3.43203448e-03 9.18476825e-01 2.26306023e+02] [-9.15883553e-01 7.66581560e-02 3.94056906e-01 -2.45017467e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.780714057 meters Centerline goodness : 0.995192 Centerline is valid? [True, True] Translation: X:199.93, Y:226.31, Z:-245.05 [[-7.49523128e-02 -9.97166995e-01 6.33523079e-03 1.99927071e+02] [ 4.00419922e-01 -2.42780438e-02 9.16010078e-01 2.26311248e+02] [-9.13261210e-01 7.11938265e-02 4.01105226e-01 -2.45048428e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.8107140569999 meters Centerline goodness : 0.994926 Centerline is valid? [True, True] Translation: X:199.92, Y:226.33, Z:-245.07 [[-7.41412984e-02 -9.96444348e-01 4.00215996e-02 1.99915882e+02] [ 3.99757001e-01 7.07018953e-03 9.16593886e-01 2.26331771e+02] [-9.13617758e-01 8.39563755e-02 3.97811412e-01 -2.45073241e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.8407140569999 meters Centerline goodness : 0.995048 Centerline is valid? [True, True] Translation: X:199.91, Y:226.34, Z:-245.10 [[-7.48750723e-02 -9.96369130e-01 4.05250592e-02 1.99914662e+02] [ 4.01453951e-01 7.08176901e-03 9.15851830e-01 2.26343375e+02] [-9.12813480e-01 8.48434171e-02 3.99466076e-01 -2.45096186e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.870714057 meters Centerline goodness : 0.994831 Centerline is valid? [True, True] Translation: X:199.91, Y:226.35, Z:-245.12 [[-7.50861796e-02 -9.96274734e-01 4.24113142e-02 1.99914045e+02] [ 3.99556724e-01 8.90897537e-03 9.16665181e-01 2.26352466e+02] [-9.13628201e-01 8.57746122e-02 3.97399328e-01 -2.45124339e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.900714057 meters Centerline goodness : 0.994992 Centerline is valid? [True, True] Translation: X:199.91, Y:226.36, Z:-245.15 [[-7.52737658e-02 -9.96339508e-01 4.05147442e-02 1.99914074e+02] [ 3.98859635e-01 7.15389572e-03 9.16984086e-01 2.26362606e+02] [-9.13917311e-01 8.51845413e-02 3.96861112e-01 -2.45149315e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.9307140569999 meters Centerline goodness : 0.995012 Centerline is valid? [True, True] Translation: X:199.91, Y:226.37, Z:-245.18 [[-7.55362665e-02 -9.96365127e-01 3.93802785e-02 1.99913962e+02] [ 3.97734091e-01 6.10949229e-03 9.17480391e-01 2.26372097e+02] [-9.14386059e-01 8.49659225e-02 3.95826890e-01 -2.45177176e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.9607140569999 meters Centerline goodness : 0.994237 Centerline is valid? [True, True] Translation: X:199.91, Y:226.38, Z:-245.20 [[-7.18954159e-02 -9.96734082e-01 3.67725395e-02 1.99913306e+02] [ 3.91497537e-01 5.70843824e-03 9.20161449e-01 2.26379469e+02] [-9.17366191e-01 8.05517487e-02 3.89808527e-01 -2.45200177e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.9907140569999 meters Centerline goodness : 0.994643 Centerline is valid? [True, True] Translation: X:199.92, Y:226.39, Z:-245.23 [[-7.43359571e-02 -9.96822109e-01 2.86330049e-02 1.99916796e+02] [ 3.93411816e-01 -2.92998181e-03 9.19357688e-01 2.26386621e+02] [-9.16352175e-01 7.96058961e-02 3.92379399e-01 -2.45233444e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.020714057 meters Centerline goodness : 0.994553 Centerline is valid? [True, True] Translation: X:199.92, Y:226.38, Z:-245.23 [[-7.20703283e-02 -9.97023981e-01 2.73687689e-02 1.99917230e+02] [ 3.89598379e-01 -2.88095852e-03 9.20980349e-01 2.26384074e+02] [-9.18160645e-01 7.70381841e-02 3.88646559e-01 -2.45234353e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.0507140569999 meters Centerline goodness : 0.994756 Centerline is valid? [True, True] Translation: X:199.90, Y:226.41, Z:-245.25 [[-7.17571662e-02 -9.95099756e-01 6.80248905e-02 1.99900921e+02] [ 3.90880061e-01 3.46900003e-02 9.19787683e-01 2.26410367e+02] [-9.17640282e-01 9.25909310e-02 3.86475397e-01 -2.45252895e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.0807140569999 meters Centerline goodness : 0.993351 Centerline is valid? [True, True] Translation: X:199.91, Y:226.41, Z:-245.28 [[-6.85741580e-02 -9.96211829e-01 5.34750191e-02 1.99905569e+02] [ 3.85155750e-01 2.30095974e-02 9.22564690e-01 2.26414009e+02] [-9.20300295e-01 8.38603079e-02 3.82118850e-01 -2.45277398e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.1107140569999 meters Centerline goodness : 0.994551 Centerline is valid? [True, True] Translation: X:199.91, Y:226.42, Z:-245.31 [[-7.18227124e-02 -9.96709540e-01 3.75711407e-02 1.99911328e+02] [ 3.89414472e-01 6.65757252e-03 9.21038569e-01 2.26421177e+02] [-9.18258061e-01 8.07822341e-02 3.87654954e-01 -2.45312785e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.140714057 meters Centerline goodness : 0.994180 Centerline is valid? [True, True] Translation: X:199.91, Y:226.42, Z:-245.30 [[-6.44538202e-02 -9.96973731e-01 4.34636053e-02 1.99909794e+02] [ 3.83497600e-01 1.54637443e-02 9.23412402e-01 2.26415812e+02] [-9.21290017e-01 7.61856452e-02 3.81340336e-01 -2.45301995e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.1707140569999 meters Centerline goodness : 0.993832 Centerline is valid? [True, True] Translation: X:199.89, Y:226.45, Z:-245.31 [[-6.23324271e-02 -9.93989483e-01 8.99976433e-02 1.99890363e+02] [ 3.83823421e-01 5.93646616e-02 9.21496293e-01 2.26446395e+02] [-9.21300304e-01 9.19823038e-02 3.77816100e-01 -2.45309111e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.2007140569999 meters Centerline goodness : 0.994706 Centerline is valid? [True, True] Translation: X:199.90, Y:226.45, Z:-245.35 [[-6.52329923e-02 -9.95970814e-01 6.15369361e-02 1.99900452e+02] [ 3.88768627e-01 3.14292547e-02 9.20799195e-01 2.26448589e+02] [-9.19023184e-01 8.39901169e-02 3.85151981e-01 -2.45345355e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.2307140569999 meters Centerline goodness : 0.994584 Centerline is valid? [True, True] Translation: X:199.89, Y:226.47, Z:-245.37 [[-6.39628393e-02 -9.95035713e-01 7.62409708e-02 1.99893467e+02] [ 3.92156094e-01 4.51902112e-02 9.18788029e-01 2.26466487e+02] [-9.17672247e-01 8.86666523e-02 3.87318824e-01 -2.45365899e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.260714057 meters Centerline goodness : 0.994665 Centerline is valid? [True, True] Translation: X:199.90, Y:226.47, Z:-245.39 [[-6.24768746e-02 -9.95629289e-01 6.94187170e-02 1.99895999e+02] [ 3.92284386e-01 3.94593720e-02 9.18997235e-01 2.26474616e+02] [-9.17719783e-01 8.46479538e-02 3.88104527e-01 -2.45393945e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.290714057 meters Centerline goodness : 0.994705 Centerline is valid? [True, True] Translation: X:199.90, Y:226.49, Z:-245.42 [[-6.16264715e-02 -9.96065265e-01 6.36880290e-02 1.99897115e+02] [ 3.94205952e-01 3.43314167e-02 9.18380652e-01 2.26485043e+02] [-9.16953568e-01 8.17027591e-02 3.90539132e-01 -2.45419732e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.3207140569999 meters Centerline goodness : 0.993612 Centerline is valid? [True, True] Translation: X:199.90, Y:226.49, Z:-245.45 [[-5.70630026e-02 -9.97028321e-01 5.17526921e-02 1.99901224e+02] [ 3.89982270e-01 2.54589153e-02 9.20470354e-01 2.26490728e+02] [-9.19052579e-01 7.27074345e-02 3.87370605e-01 -2.45445161e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.3507140569999 meters Centerline goodness : 0.995042 Centerline is valid? [True, True] Translation: X:199.90, Y:226.50, Z:-245.47 [[-5.48051949e-02 -9.96956488e-01 5.54450310e-02 1.99899512e+02] [ 3.94402602e-01 2.93986154e-02 9.18467370e-01 2.26504490e+02] [-9.17302011e-01 7.22044477e-02 3.91591036e-01 -2.45474506e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.380714057 meters Centerline goodness : 0.994141 Centerline is valid? [True, True] Translation: X:199.89, Y:226.52, Z:-245.50 [[-5.30658853e-02 -9.96310728e-01 6.74458755e-02 1.99894603e+02] [ 3.95036119e-01 4.10868443e-02 9.17746335e-01 2.26520957e+02] [-9.17131657e-01 7.53445787e-02 3.91398413e-01 -2.45501099e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.410714057 meters Centerline goodness : 0.993983 Centerline is valid? [True, True] Translation: X:199.91, Y:226.51, Z:-245.52 [[-5.09960781e-02 -9.98225975e-01 3.07295205e-02 1.99907527e+02] [ 3.94647101e-01 8.12314341e-03 9.18796866e-01 2.26513039e+02] [-9.17416517e-01 5.89823529e-02 3.93532739e-01 -2.45520396e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.4407140569999 meters Centerline goodness : 0.994496 Centerline is valid? [True, True] Translation: X:199.91, Y:226.51, Z:-245.51 [[-4.17201326e-02 -9.98443419e-01 3.70158160e-02 1.99905184e+02] [ 3.88182705e-01 1.79395526e-02 9.21407814e-01 2.26511098e+02] [-9.20637615e-01 5.28101557e-02 3.86830027e-01 -2.45514368e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.4707140569999 meters Centerline goodness : 0.993657 Centerline is valid? [True, True] Translation: X:199.91, Y:226.51, Z:-245.52 [[-4.03830509e-02 -9.98615556e-01 3.37072894e-02 1.99906041e+02] [ 3.90698778e-01 1.52674466e-02 9.20391965e-01 2.26513524e+02] [-9.19632358e-01 5.03376323e-02 3.89541332e-01 -2.45517812e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.500714057 meters Centerline goodness : 0.993698 Centerline is valid? [True, True] Translation: X:199.89, Y:226.54, Z:-245.54 [[-3.82051104e-02 -9.97138501e-01 6.52317334e-02 1.99894871e+02] [ 3.91019647e-01 4.51560974e-02 9.19273932e-01 2.26537194e+02] [-9.19589042e-01 6.06278514e-02 3.88175551e-01 -2.45539147e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.530714057 meters Centerline goodness : 0.993288 Centerline is valid? [True, True] Translation: X:199.91, Y:226.52, Z:-245.55 [[-3.53093176e-02 -9.99254347e-01 1.56205845e-02 1.99914444e+02] [ 3.89236906e-01 6.45497224e-04 9.21137457e-01 2.26518715e+02] [-9.20460691e-01 3.86048430e-02 3.88923879e-01 -2.45547352e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.5607140569999 meters Centerline goodness : 0.994270 Centerline is valid? [True, True] Translation: X:199.91, Y:226.52, Z:-245.54 [[-3.08732647e-02 -9.99139878e-01 2.76829558e-02 1.99910649e+02] [ 3.88862751e-01 1.35076022e-02 9.21196670e-01 2.26519426e+02] [-9.20778259e-01 3.92052190e-02 3.88111258e-01 -2.45541851e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.5907140569999 meters Centerline goodness : 0.993916 Centerline is valid? [True, True] Translation: X:199.89, Y:226.56, Z:-245.56 [[-3.23691292e-02 -9.95693193e-01 8.68752280e-02 1.99888666e+02] [ 3.92359591e-01 6.72842317e-02 9.17347690e-01 2.26555184e+02] [-9.19242183e-01 6.37800748e-02 3.88491842e-01 -2.45557242e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.620714057 meters Centerline goodness : 0.993314 Centerline is valid? [True, True] Translation: X:199.91, Y:226.54, Z:-245.58 [[-3.58884111e-02 -9.98678552e-01 3.67854859e-02 1.99908558e+02] [ 3.94297891e-01 1.96727495e-02 9.18772092e-01 2.26542441e+02] [-9.18281654e-01 4.74777101e-02 3.93070823e-01 -2.45581260e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.650714057 meters Centerline goodness : 0.994403 Centerline is valid? [True, True] Translation: X:199.90, Y:226.57, Z:-245.60 [[-3.80137284e-02 -9.96414580e-01 7.55840007e-02 1.99896579e+02] [ 3.94914133e-01 5.45013396e-02 9.17100012e-01 2.26567460e+02] [-9.17931253e-01 6.47115808e-02 3.91426401e-01 -2.45604991e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.6807140569999 meters Centerline goodness : 0.994409 Centerline is valid? [True, True] Translation: X:199.91, Y:226.57, Z:-245.65 [[-5.68128972e-02 -9.98326531e-01 1.07903774e-02 1.99914344e+02] [ 4.10554622e-01 -1.35094304e-02 9.11735926e-01 2.26568230e+02] [-9.10064392e-01 5.62283988e-02 4.10635081e-01 -2.45649276e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.7107140569999 meters Centerline goodness : 0.995055 Centerline is valid? [True, True] Translation: X:199.93, Y:226.55, Z:-245.64 [[-4.87810506e-02 -9.98809071e-01 -9.21210075e-04 1.99929415e+02] [ 3.98159720e-01 -2.02916494e-02 9.17091646e-01 2.26548739e+02] [-9.16018148e-01 4.43699052e-02 3.98675388e-01 -2.45640487e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.7407140569999 meters Centerline goodness : 0.994944 Centerline is valid? [True, True] Translation: X:199.91, Y:226.56, Z:-245.63 [[-4.82977275e-02 -9.97433488e-01 5.28560954e-02 1.99911213e+02] [ 3.92011912e-01 2.97431322e-02 9.19479204e-01 2.26561880e+02] [-9.18691456e-01 6.51289751e-02 3.89569283e-01 -2.45625405e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.770714057 meters Centerline goodness : 0.993335 Centerline is valid? [True, True] Translation: X:199.90, Y:226.58, Z:-245.63 [[-5.15515305e-02 -9.96196630e-01 7.02475255e-02 1.99903907e+02] [ 3.93287008e-01 4.44056520e-02 9.18342783e-01 2.26581536e+02] [-9.17969373e-01 7.49694151e-02 3.89502013e-01 -2.45632937e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.8007140569999 meters Centerline goodness : 0.994501 Centerline is valid? [True, True] Translation: X:199.91, Y:226.58, Z:-245.67 [[-5.44096876e-02 -9.97178832e-01 5.17103734e-02 1.99914994e+02] [ 3.85525422e-01 2.67921664e-02 9.22308153e-01 2.26579398e+02] [-9.21091600e-01 7.01181620e-02 3.82980037e-01 -2.45674289e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.8307140569999 meters Centerline goodness : 0.994131 Centerline is valid? [True, True] Translation: X:199.91, Y:226.60, Z:-245.69 [[-6.28182860e-02 -9.96109615e-01 6.18020857e-02 1.99913005e+02] [ 3.87814468e-01 3.26948049e-02 9.21157418e-01 2.26596032e+02] [-9.19594368e-01 8.18332731e-02 3.84251889e-01 -2.45692826e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.8607140569999 meters Centerline goodness : 0.994679 Centerline is valid? [True, True] Translation: X:199.91, Y:226.61, Z:-245.72 [[-6.89659433e-02 -9.95823286e-01 5.98304489e-02 1.99914483e+02] [ 3.93248945e-01 2.79806348e-02 9.19006176e-01 2.26607915e+02] [-9.16841844e-01 8.69083887e-02 3.89676745e-01 -2.45721378e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.890714057 meters Centerline goodness : 0.994555 Centerline is valid? [True, True] Translation: X:199.91, Y:226.62, Z:-245.74 [[-7.17953727e-02 -9.94716922e-01 7.33734922e-02 1.99910027e+02] [ 3.93307101e-01 3.93685986e-02 9.18563900e-01 2.26623409e+02] [-9.16599667e-01 9.48069530e-02 3.88402746e-01 -2.45744739e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.9207140569999 meters Centerline goodness : 0.993253 Centerline is valid? [True, True] Translation: X:199.92, Y:226.63, Z:-245.77 [[-7.18901276e-02 -9.95658825e-01 5.91211770e-02 1.99917097e+02] [ 3.85670285e-01 2.69151084e-02 9.22244007e-01 2.26626695e+02] [-9.19831637e-01 8.91015205e-02 3.82061092e-01 -2.45767598e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.9507140569999 meters Centerline goodness : 0.993995 Centerline is valid? [True, True] Translation: X:199.92, Y:226.63, Z:-245.80 [[-7.58398548e-02 -9.96070772e-01 4.57311015e-02 1.99922589e+02] [ 3.90802341e-01 1.25011632e-02 9.20389728e-01 2.26634745e+02] [-9.17344999e-01 8.76740448e-02 3.88318703e-01 -2.45800114e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.9807140569999 meters Centerline goodness : 0.993658 Centerline is valid? [True, True] Translation: X:199.92, Y:226.65, Z:-245.82 [[-7.40871182e-02 -9.95690091e-01 5.57883609e-02 1.99918988e+02] [ 3.87479502e-01 2.28053907e-02 9.21596197e-01 2.26648910e+02] [-9.18896477e-01 8.98952527e-02 3.84119915e-01 -2.45819577e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.010714057 meters Centerline goodness : 0.994417 Centerline is valid? [True, True] Translation: X:199.93, Y:226.64, Z:-245.83 [[-7.36137051e-02 -9.97130972e-01 1.76308715e-02 1.99934113e+02] [ 3.89500478e-01 -1.24713471e-02 9.20941824e-01 2.26637362e+02] [-9.18079735e-01 7.46611727e-02 3.89301053e-01 -2.45834632e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.040714057 meters Centerline goodness : 0.995161 Centerline is valid? [True, True] Translation: X:199.92, Y:226.66, Z:-245.84 [[-8.05036635e-02 -9.95893873e-01 4.14071652e-02 1.99916327e+02] [ 4.01228547e-01 5.65016217e-03 9.15960550e-01 2.26664134e+02] [-9.12433457e-01 9.03519166e-02 3.99126193e-01 -2.45844348e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.0707140569999 meters Centerline goodness : 0.994846 Centerline is valid? [True, True] Translation: X:199.93, Y:226.66, Z:-245.89 [[-7.28435871e-02 -9.96738853e-01 3.47198847e-02 1.99928353e+02] [ 3.92207046e-01 3.37905823e-03 9.19870760e-01 2.26663227e+02] [-9.16988247e-01 8.06240692e-02 3.90681858e-01 -2.45885034e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.1007140569999 meters Centerline goodness : 0.994196 Centerline is valid? [True, True] Translation: X:199.91, Y:226.69, Z:-245.90 [[-7.22221427e-02 -9.93961528e-01 8.26101852e-02 1.99909957e+02] [ 3.96538588e-01 4.73838123e-02 9.16794373e-01 2.26692366e+02] [-9.15172722e-01 9.89709802e-02 3.90721941e-01 -2.45904115e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.130714057 meters Centerline goodness : 0.992870 Centerline is valid? [True, True] Translation: X:199.91, Y:226.70, Z:-245.93 [[-6.70979678e-02 -9.95177737e-01 7.15481325e-02 1.99913091e+02] [ 3.91540474e-01 3.96943532e-02 9.19304311e-01 2.26697501e+02] [-9.17711240e-01 8.96974408e-02 3.86988952e-01 -2.45928757e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.160714057 meters Centerline goodness : 0.994071 Centerline is valid? [True, True] Translation: X:199.92, Y:226.71, Z:-245.97 [[-7.04743749e-02 -9.96069859e-01 5.36488465e-02 1.99918220e+02] [ 3.97454105e-01 2.12894546e-02 9.17375056e-01 2.26706179e+02] [-9.14911797e-01 8.59743879e-02 3.94391693e-01 -2.45965807e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.1907140569999 meters Centerline goodness : 0.994496 Centerline is valid? [True, True] Translation: X:199.92, Y:226.70, Z:-245.97 [[-7.03555141e-02 -9.96737313e-01 3.95579464e-02 1.99922431e+02] [ 4.00443506e-01 8.09939582e-03 9.16285653e-01 2.26704676e+02] [-9.13616495e-01 8.03064710e-02 3.98567147e-01 -2.45970376e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.2207140569999 meters Centerline goodness : 0.993021 Centerline is valid? [True, True] Translation: X:199.93, Y:226.70, Z:-245.96 [[-6.74728704e-02 -9.97164518e-01 3.33216888e-02 1.99925226e+02] [ 3.95456556e-01 3.93374513e-03 9.18476259e-01 2.26697913e+02] [-9.16003015e-01 7.51495098e-02 3.94069825e-01 -2.45964803e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.250714057 meters Centerline goodness : 0.993292 Centerline is valid? [True, True] Translation: X:199.93, Y:226.70, Z:-245.97 [[-6.63934428e-02 -9.97376310e-01 2.88514660e-02 1.99926486e+02] [ 3.97466069e-01 8.56759796e-05 9.17616868e-01 2.26697332e+02] [-9.15211798e-01 7.23912218e-02 3.96417553e-01 -2.45968723e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.280714057 meters Centerline goodness : 0.992659 Centerline is valid? [True, True] Translation: X:199.92, Y:226.72, Z:-245.99 [[-6.69934237e-02 -9.96480257e-01 5.03882783e-02 1.99916908e+02] [ 3.97657578e-01 1.96510727e-02 9.17323436e-01 2.26717459e+02] [-9.15084877e-01 8.14919183e-02 3.94941432e-01 -2.45988900e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.3107140569999 meters Centerline goodness : 0.994104 Centerline is valid? [True, True] Translation: X:199.93, Y:226.71, Z:-245.99 [[-6.73596097e-02 -9.97501648e-01 2.12872199e-02 1.99925921e+02] [ 4.00911231e-01 -7.52309493e-03 9.16086015e-01 2.26706949e+02] [-9.13637164e-01 7.02414820e-02 4.00416367e-01 -2.45988224e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.3407140569999 meters Centerline goodness : 0.993770 Centerline is valid? [True, True] Translation: X:199.91, Y:226.74, Z:-246.00 [[-6.75830870e-02 -9.94980530e-01 7.37988621e-02 1.99905330e+02] [ 4.03964484e-01 4.03449838e-02 9.13884554e-01 2.26737527e+02] [-9.12274752e-01 9.15752586e-02 3.99210158e-01 -2.46003346e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.370714057 meters Centerline goodness : 0.994181 Centerline is valid? [True, True] Translation: X:199.91, Y:226.74, Z:-246.03 [[-7.03217884e-02 -9.96129463e-01 5.27346034e-02 1.99911804e+02] [ 4.05723064e-01 1.97331915e-02 9.13783014e-01 2.26743520e+02] [-9.11286805e-01 8.56545007e-02 4.02765024e-01 -2.46032440e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.400714057 meters Centerline goodness : 0.993520 Centerline is valid? [True, True] Translation: X:199.91, Y:226.76, Z:-246.05 [[-7.19816136e-02 -9.95957859e-01 5.37270052e-02 1.99909834e+02] [ 4.08896986e-01 1.96652595e-02 9.12368639e-01 2.26758194e+02] [-9.09737271e-01 8.76425773e-02 4.05828629e-01 -2.46053189e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.4307140569999 meters Centerline goodness : 0.993397 Centerline is valid? [True, True] Translation: X:199.91, Y:226.76, Z:-246.08 [[-7.03777759e-02 -9.96530899e-01 4.44199972e-02 1.99912816e+02] [ 4.07227441e-01 1.19481892e-02 9.13248625e-01 2.26764393e+02] [-9.10611212e-01 8.23614489e-02 4.04973841e-01 -2.46076021e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.4607140569999 meters Centerline goodness : 0.993284 Centerline is valid? [True, True] Translation: X:199.92, Y:226.76, Z:-246.11 [[-7.02166903e-02 -9.97276500e-01 2.25654557e-02 1.99922417e+02] [ 4.00677482e-01 -7.48040574e-03 9.16188626e-01 2.26764727e+02] [-9.13524587e-01 7.33732030e-02 4.00111486e-01 -2.46107705e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.4907140569999 meters Centerline goodness : 0.993557 Centerline is valid? [True, True] Translation: X:199.92, Y:226.78, Z:-246.13 [[-7.19006441e-02 -9.97081429e-01 2.56694616e-02 1.99920645e+02] [ 4.01852792e-01 -5.40402004e-03 9.15688337e-01 2.26779225e+02] [-9.12877117e-01 7.61539260e-02 4.01068509e-01 -2.46127999e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.520714057 meters Centerline goodness : 0.993557 Centerline is valid? [True, True] Translation: X:199.92, Y:226.79, Z:-246.15 [[-7.22978616e-02 -9.97247209e-01 1.64628113e-02 1.99924036e+02] [ 4.01095063e-01 -1.39579545e-02 9.15930088e-01 2.26786526e+02] [-9.13178936e-01 7.28229391e-02 4.01000062e-01 -2.46154562e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.5507140569999 meters Centerline goodness : 0.994384 Centerline is valid? [True, True] Translation: X:199.92, Y:226.80, Z:-246.18 [[-7.56645436e-02 -9.96924253e-01 2.04183684e-02 1.99922985e+02] [ 4.04012622e-01 -1.19299405e-02 9.14675613e-01 2.26800320e+02] [-9.11618713e-01 7.74577914e-02 4.03672655e-01 -2.46184354e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.5807140569999 meters Centerline goodness : 0.993529 Centerline is valid? [True, True] Translation: X:199.92, Y:226.80, Z:-246.18 [[-7.67809875e-02 -9.96780205e-01 2.31063422e-02 1.99923601e+02] [ 4.02822364e-01 -9.81318012e-03 9.15225570e-01 2.26800915e+02] [-9.12051985e-01 7.95796744e-02 4.02278825e-01 -2.46179143e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.6107140569999 meters Centerline goodness : 0.993874 Centerline is valid? [True, True] Translation: X:199.94, Y:226.79, Z:-246.19 [[-7.60496360e-02 -9.97072307e-01 -7.95415142e-03 1.99935803e+02] [ 4.02922668e-01 -3.80270775e-02 9.14443692e-01 2.26790951e+02] [-9.12068954e-01 6.63382020e-02 4.04634979e-01 -2.46190834e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.640714057 meters Centerline goodness : 0.993893 Centerline is valid? [True, True] Translation: X:199.93, Y:226.80, Z:-246.21 [[-7.46569048e-02 -9.97206864e-01 -2.19460331e-03 1.99933565e+02] [ 4.01858900e-01 -3.20995667e-02 9.15138810e-01 2.26800881e+02] [-9.12653149e-01 6.74395101e-02 4.03132908e-01 -2.46206324e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.6707140569999 meters Centerline goodness : 0.994344 Centerline is valid? [True, True] Translation: X:199.92, Y:226.81, Z:-246.19 [[-7.24566042e-02 -9.97033744e-01 2.59567889e-02 1.99922630e+02] [ 4.06141709e-01 -5.72552198e-03 9.13792170e-01 2.26808812e+02] [-9.10933012e-01 7.67524122e-02 4.05351841e-01 -2.46193999e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.7007140569999 meters Centerline goodness : 0.993770 Centerline is valid? [True, True] Translation: X:199.91, Y:226.83, Z:-246.21 [[-7.03809006e-02 -9.95765745e-01 5.91363652e-02 1.99910292e+02] [ 4.08232673e-01 2.53389897e-02 9.12526175e-01 2.26832116e+02] [-9.10160763e-01 8.83658105e-02 4.04720731e-01 -2.46212028e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.7307140569999 meters Centerline goodness : 0.995055 Centerline is valid? [True, True] Translation: X:199.92, Y:226.83, Z:-246.24 [[-7.28731742e-02 -9.97112863e-01 2.13410167e-02 1.99924528e+02] [ 4.06036649e-01 -1.01169506e-02 9.13800792e-01 2.26832226e+02] [-9.10946618e-01 7.52567991e-02 4.05601620e-01 -2.46244858e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.760714057 meters Centerline goodness : 0.994395 Centerline is valid? [True, True] Translation: X:199.91, Y:226.86, Z:-246.27 [[-6.87036938e-02 -9.95222280e-01 6.93715738e-02 1.99909188e+02] [ 4.03890144e-01 3.58353928e-02 9.14105342e-01 2.26856108e+02] [-9.12223960e-01 9.08209085e-02 3.99498447e-01 -2.46267967e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.790714057 meters Centerline goodness : 0.994701 Centerline is valid? [True, True] Translation: X:199.91, Y:226.86, Z:-246.28 [[-7.37217929e-02 -9.95375169e-01 6.15903497e-02 1.99906047e+02] [ 4.06474775e-01 2.64053277e-02 9.13280360e-01 2.26863797e+02] [-9.10682906e-01 9.23635890e-02 4.02648250e-01 -2.46284479e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.8207140569999 meters Centerline goodness : 0.995176 Centerline is valid? [True, True] Translation: X:199.93, Y:226.85, Z:-246.32 [[-7.44501946e-02 -9.97219056e-01 3.36506807e-03 1.99928732e+02] [ 4.02899739e-01 -2.69925096e-02 9.14846001e-01 2.26852396e+02] [-9.12211033e-01 6.94662478e-02 4.03788895e-01 -2.46319556e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.8507140569999 meters Centerline goodness : 0.995799 Centerline is valid? [True, True] Translation: X:199.94, Y:226.86, Z:-246.35 [[-7.18121977e-02 -9.97394303e-01 -6.90025256e-03 1.99939293e+02] [ 4.02624006e-01 -3.53168897e-02 9.14683895e-01 2.26863803e+02] [-9.12544201e-01 6.29072533e-02 4.04111073e-01 -2.46353236e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.880714057 meters Centerline goodness : 0.994480 Centerline is valid? [True, True] Translation: X:199.92, Y:226.89, Z:-246.37 [[-7.02987538e-02 -9.96590086e-01 4.32005368e-02 1.99921633e+02] [ 4.05616650e-01 1.10074868e-02 9.13977006e-01 2.26891966e+02] [-9.11335952e-01 8.17743015e-02 4.03459720e-01 -2.46366281e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.910714057 meters Centerline goodness : 0.994805 Centerline is valid? [True, True] Translation: X:199.93, Y:226.90, Z:-246.40 [[-7.33418056e-02 -9.96966945e-01 2.60363071e-02 1.99928712e+02] [ 4.06305078e-01 -6.02759810e-03 9.13717600e-01 2.26897832e+02] [-9.10789308e-01 7.75923824e-02 4.05514808e-01 -2.46397501e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.9407140569999 meters Centerline goodness : 0.994295 Centerline is valid? [True, True] Translation: X:199.93, Y:226.90, Z:-246.40 [[-7.38655291e-02 -9.97101131e-01 1.82542643e-02 1.99933018e+02] [ 4.06518810e-01 -1.33904654e-02 9.13544281e-01 2.26897479e+02] [-9.10651602e-01 7.49001335e-02 4.06329459e-01 -2.46400606e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.9707140569999 meters Centerline goodness : 0.994571 Centerline is valid? [True, True] Translation: X:199.93, Y:226.90, Z:-246.41 [[-8.03766762e-02 -9.96304111e-01 3.02936904e-02 1.99925281e+02] [ 4.02576153e-01 -4.64482169e-03 9.15374714e-01 2.26903984e+02] [-9.11850882e-01 8.57702943e-02 4.01461612e-01 -2.46410203e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.000714057 meters Centerline goodness : 0.995262 Centerline is valid? [True, True] Translation: X:199.94, Y:226.89, Z:-246.43 [[-8.02018701e-02 -9.96730015e-01 -9.84571455e-03 1.99941140e+02] [ 3.99738970e-01 -4.12103122e-02 9.15702171e-01 2.26893574e+02] [-9.13113583e-01 6.95053108e-02 4.01736973e-01 -2.46425709e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.030714057 meters Centerline goodness : 0.995007 Centerline is valid? [True, True] Translation: X:199.94, Y:226.89, Z:-246.43 [[-7.92191194e-02 -9.96820238e-01 -8.58746761e-03 1.99941882e+02] [ 3.99894594e-01 -3.96689993e-02 9.15702290e-01 2.26894656e+02] [-9.13131231e-01 6.91070472e-02 4.01765567e-01 -2.46426100e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.0607140569999 meters Centerline goodness : 0.994687 Centerline is valid? [True, True] Translation: X:199.94, Y:226.90, Z:-246.43 [[-7.87643690e-02 -9.96866325e-01 -7.32837677e-03 1.99941945e+02] [ 4.00320112e-01 -3.83608286e-02 9.15572091e-01 2.26896950e+02] [-9.12984108e-01 6.91807614e-02 4.02087105e-01 -2.46429761e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.0907140569999 meters Centerline goodness : 0.994233 Centerline is valid? [True, True] Translation: X:199.94, Y:226.91, Z:-246.46 [[-7.82378618e-02 -9.96916228e-01 -6.07218242e-03 1.99942010e+02] [ 4.00699705e-01 -3.70229052e-02 9.15461114e-01 2.26909189e+02] [-9.12862851e-01 6.91905984e-02 4.02360631e-01 -2.46456510e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.120714057 meters Centerline goodness : 0.994696 Centerline is valid? [True, True] Translation: X:199.94, Y:226.91, Z:-246.45 [[-7.77986996e-02 -9.96957512e-01 -4.80441101e-03 1.99942808e+02] [ 4.01931237e-01 -3.57744665e-02 9.14970747e-01 2.26905822e+02] [-9.12358835e-01 6.92524914e-02 4.03491573e-01 -2.46446098e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.150714057 meters Centerline goodness : 0.995310 Centerline is valid? [True, True] Translation: X:199.94, Y:226.91, Z:-246.45 [[-7.77373049e-02 -9.96968031e-01 -3.41416981e-03 1.99942220e+02] [ 4.02412526e-01 -3.45104087e-02 9.14807734e-01 2.26909938e+02] [-9.12151890e-01 6.97407831e-02 4.03875170e-01 -2.46453078e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.1807140569999 meters Centerline goodness : 0.994824 Centerline is valid? [True, True] Translation: X:199.94, Y:226.92, Z:-246.47 [[-7.73756944e-02 -9.96999685e-01 -2.15186768e-03 1.99942202e+02] [ 4.02876718e-01 -3.32408054e-02 9.14650424e-01 2.26917109e+02] [-9.11977715e-01 6.99047743e-02 4.04239992e-01 -2.46467765e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.2107140569999 meters Centerline goodness : 0.994751 Centerline is valid? [True, True] Translation: X:199.94, Y:226.91, Z:-246.46 [[-7.74556231e-02 -9.96995409e-01 -8.83843953e-04 1.99941926e+02] [ 4.03436588e-01 -3.21532642e-02 9.14442501e-01 2.26912488e+02] [-9.11723393e-01 7.04721387e-02 4.04714877e-01 -2.46455293e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.2407140569999 meters Centerline goodness : 0.994600 Centerline is valid? [True, True] Translation: X:199.94, Y:226.92, Z:-246.48 [[-7.87258721e-02 -9.96896172e-01 5.09773341e-04 1.99942354e+02] [ 4.04992130e-01 -3.15153578e-02 9.13776864e-01 2.26923828e+02] [-9.10924592e-01 7.21443347e-02 4.06216178e-01 -2.46480402e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.270714057 meters Centerline goodness : 0.995300 Centerline is valid? [True, True] Translation: X:199.94, Y:226.92, Z:-246.48 [[-7.86820859e-02 -9.96899746e-01 -1.58194230e-04 1.99943007e+02] [ 4.05538153e-01 -3.21527820e-02 9.13512455e-01 2.26924343e+02] [-9.10685421e-01 7.18129117e-02 4.06810730e-01 -2.46482791e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.3007140569999 meters Centerline goodness : 0.994671 Centerline is valid? [True, True] Translation: X:199.94, Y:226.94, Z:-246.51 [[-7.92995355e-02 -9.96850216e-01 1.10936448e-03 1.99943258e+02] [ 4.06583324e-01 -3.13276094e-02 9.13076438e-01 2.26935135e+02] [-9.10165691e-01 7.28575865e-02 4.07786940e-01 -2.46506951e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.3307140569999 meters Centerline goodness : 0.993974 Centerline is valid? [True, True] Translation: X:199.95, Y:226.94, Z:-246.53 [[-8.00029928e-02 -9.96679021e-01 -1.51806161e-02 1.99946763e+02] [ 3.99028722e-01 -4.59783649e-02 9.15784947e-01 2.26940153e+02] [-9.13441624e-01 6.72080347e-02 4.01381963e-01 -2.46529501e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.3607140569999 meters Centerline goodness : 0.994638 Centerline is valid? [True, True] Translation: X:199.95, Y:226.95, Z:-246.56 [[-8.05668191e-02 -9.96530230e-01 -2.08922953e-02 1.99950661e+02] [ 4.05605832e-01 -5.19242621e-02 9.12572068e-01 2.26949833e+02] [-9.10490470e-01 6.50489919e-02 4.08381846e-01 -2.46560485e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.390714057 meters Centerline goodness : 0.994914 Centerline is valid? [True, True] Translation: X:199.94, Y:226.96, Z:-246.56 [[-8.03139612e-02 -9.96736851e-01 -8.08196637e-03 1.99944816e+02] [ 4.06725626e-01 -4.01729776e-02 9.12666641e-01 2.26955582e+02] [-9.10013150e-01 7.00127303e-02 4.08624870e-01 -2.46558524e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.4207140569999 meters Centerline goodness : 0.993336 Centerline is valid? [True, True] Translation: X:199.94, Y:227.19, Z:-247.10 [[-8.09773032e-02 -9.96715333e-01 -1.10541650e-03 1.99941145e+02] [ 4.05517669e-01 -3.39590208e-02 9.13456187e-01 2.27189646e+02] [-9.10493326e-01 7.35209526e-02 4.06935588e-01 -2.47097124e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.4507140569999 meters Centerline goodness : 0.994439 Centerline is valid? [True, True] Translation: X:199.95, Y:227.05, Z:-246.78 [[-6.94860981e-02 -9.97518388e-01 -1.13467145e-02 1.99945762e+02] [ 4.05318490e-01 -3.86234756e-02 9.13359266e-01 2.27049334e+02] [-9.11530912e-01 5.88667384e-02 4.06996441e-01 -2.46776372e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.4807140569999 meters Centerline goodness : 0.994887 Centerline is valid? [True, True] Translation: X:199.92, Y:227.08, Z:-246.79 [[-7.28817441e-02 -9.95828126e-01 5.49053289e-02 1.99917910e+02] [ 4.18365591e-01 1.94478289e-02 9.08070490e-01 2.27082181e+02] [-9.05349923e-01 8.91522615e-02 4.15202831e-01 -2.46791211e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.510714057 meters Centerline goodness : 0.994733 Centerline is valid? [True, True] Translation: X:199.92, Y:227.09, Z:-246.83 [[-6.70916306e-02 -9.95434576e-01 6.78875346e-02 1.99921921e+02] [ 4.09202486e-01 3.46029025e-02 9.11787237e-01 2.27091158e+02] [-9.09973647e-01 8.89530404e-02 4.05012738e-01 -2.46833982e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.540714057 meters Centerline goodness : 0.994576 Centerline is valid? [True, True] Translation: X:199.91, Y:227.11, Z:-246.85 [[-6.80120290e-02 -9.93411101e-01 9.22428745e-02 1.99912614e+02] [ 4.02768400e-01 5.72488822e-02 9.13509815e-01 2.27112026e+02] [-9.12771593e-01 9.92821710e-02 3.96220987e-01 -2.46854408e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.5707140569999 meters Centerline goodness : 0.995135 Centerline is valid? [True, True] Translation: X:199.91, Y:227.13, Z:-246.88 [[-7.10689547e-02 -9.92133493e-01 1.03055010e-01 1.99907477e+02] [ 4.13443962e-01 6.47233853e-02 9.08226279e-01 2.27128170e+02] [-9.07751780e-01 1.07154164e-01 4.05591779e-01 -2.46879904e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.6007140569999 meters Centerline goodness : 0.994745 Centerline is valid? [True, True] Translation: X:199.92, Y:227.13, Z:-246.91 [[-7.23430920e-02 -9.94531159e-01 7.53276282e-02 1.99917140e+02] [ 4.03055146e-01 3.99324865e-02 9.14304077e-01 2.27127563e+02] [-9.12311913e-01 9.65047722e-02 3.97962062e-01 -2.46909646e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.630714057 meters Centerline goodness : 0.994419 Centerline is valid? [True, True] Translation: X:199.91, Y:227.14, Z:-246.93 [[-7.45236689e-02 -9.93604498e-01 8.48311527e-02 1.99913063e+02] [ 4.05681089e-01 4.75030953e-02 9.12779442e-01 2.27143054e+02] [-9.10971502e-01 1.02438067e-01 3.99546450e-01 -2.46931532e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.660714057 meters Centerline goodness : 0.994322 Centerline is valid? [True, True] Translation: X:199.92, Y:227.15, Z:-246.96 [[-7.66821585e-02 -9.94827095e-01 6.66250582e-02 1.99918951e+02] [ 4.05717273e-01 2.99060309e-02 9.13509236e-01 2.27148675e+02] [-9.10776230e-01 9.70807969e-02 4.01325277e-01 -2.46956986e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.6907140569999 meters Centerline goodness : 0.994465 Centerline is valid? [True, True] Translation: X:199.92, Y:227.16, Z:-246.98 [[-7.82661444e-02 -9.95329017e-01 5.65204235e-02 1.99921772e+02] [ 4.06122867e-01 1.99445943e-02 9.13600805e-01 2.27157633e+02] [-9.10460668e-01 9.44582489e-02 4.02664887e-01 -2.46984885e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.7207140569999 meters Centerline goodness : 0.994801 Centerline is valid? [True, True] Translation: X:199.92, Y:227.17, Z:-247.01 [[-7.96611393e-02 -9.95321508e-01 5.46735567e-02 1.99922044e+02] [ 4.06753860e-01 1.76170173e-02 9.13367910e-01 2.27168585e+02] [-9.10057910e-01 9.49986084e-02 4.03447474e-01 -2.47011642e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.750714057 meters Centerline goodness : 0.994032 Centerline is valid? [True, True] Translation: X:199.92, Y:227.18, Z:-247.03 [[-8.10914253e-02 -9.95720036e-01 4.43372298e-02 1.99923487e+02] [ 4.08220839e-01 7.40185198e-03 9.12853197e-01 2.27179192e+02] [-9.09274396e-01 9.21239480e-02 4.05873442e-01 -2.47034224e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.780714057 meters Centerline goodness : 0.994732 Centerline is valid? [True, True] Translation: X:199.93, Y:227.19, Z:-247.06 [[-8.20152605e-02 -9.96040427e-01 3.43069138e-02 1.99925674e+02] [ 4.08684311e-01 -2.21612708e-03 9.12673119e-01 2.27188947e+02] [-9.08983295e-01 8.88738210e-02 4.07247852e-01 -2.47060462e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.8107140569999 meters Centerline goodness : 0.995482 Centerline is valid? [True, True] Translation: X:199.93, Y:227.20, Z:-247.09 [[-8.27385906e-02 -9.96498450e-01 1.20484317e-02 1.99932597e+02] [ 4.09512465e-01 -2.29745781e-02 9.12015192e-01 2.27196540e+02] [-9.08544917e-01 8.03928345e-02 4.09979421e-01 -2.47088135e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.8407140569999 meters Centerline goodness : 0.994898 Centerline is valid? [True, True] Translation: X:199.92, Y:227.22, Z:-247.11 [[-8.31421112e-02 -9.96025943e-01 3.19328934e-02 1.99922177e+02] [ 4.12114243e-01 -5.19005904e-03 9.11117399e-01 2.27216478e+02] [-9.07330833e-01 8.89122242e-02 4.10907990e-01 -2.47107278e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.870714057 meters Centerline goodness : 0.994854 Centerline is valid? [True, True] Translation: X:199.93, Y:227.22, Z:-247.14 [[-8.32904149e-02 -9.96399318e-01 1.58463387e-02 1.99927953e+02] [ 4.10373032e-01 -1.98042997e-02 9.11702673e-01 2.27222450e+02] [-9.08106096e-01 8.24390040e-02 4.10544917e-01 -2.47135289e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.900714057 meters Centerline goodness : 0.995148 Centerline is valid? [True, True] Translation: X:199.93, Y:227.23, Z:-247.16 [[-8.44700036e-02 -9.96407000e-01 6.15705849e-03 1.99929530e+02] [ 4.12136907e-01 -2.93115953e-02 9.10650317e-01 2.27231996e+02] [-9.07197877e-01 7.94601867e-02 4.13132049e-01 -2.47159158e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.9307140569999 meters Centerline goodness : 0.995107 Centerline is valid? [True, True] Translation: X:199.93, Y:227.24, Z:-247.19 [[-8.45224593e-02 -9.96413128e-01 4.10267308e-03 1.99929776e+02] [ 4.12337633e-01 -3.12283366e-02 9.10495726e-01 2.27241921e+02] [-9.07101775e-01 7.86490245e-02 4.13498127e-01 -2.47185151e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.9607140569999 meters Centerline goodness : 0.994928 Centerline is valid? [True, True] Translation: X:199.93, Y:227.25, Z:-247.21 [[-8.56652809e-02 -9.96314897e-01 -4.25285406e-03 1.99931102e+02] [ 4.13619074e-01 -3.94465339e-02 9.09595093e-01 2.27252149e+02] [-9.06410901e-01 7.61616576e-02 4.15474043e-01 -2.47210517e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.9907140569999 meters Centerline goodness : 0.994630 Centerline is valid? [True, True] Translation: X:199.93, Y:227.26, Z:-247.24 [[-8.56599104e-02 -9.96302710e-01 6.57957318e-03 1.99927327e+02] [ 4.13416421e-01 -2.95345858e-02 9.10062949e-01 2.27264882e+02] [-9.06503857e-01 8.06760142e-02 4.14417831e-01 -2.47237534e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.020714057 meters Centerline goodness : 0.994987 Centerline is valid? [True, True] Translation: X:199.93, Y:227.28, Z:-247.26 [[-8.64392445e-02 -9.96254776e-01 2.16279803e-03 1.99927675e+02] [ 4.13844159e-01 -3.39319289e-02 9.09715140e-01 2.27276713e+02] [-9.06234666e-01 7.95301507e-02 4.15227270e-01 -2.47261611e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.0507140569999 meters Centerline goodness : 0.994874 Centerline is valid? [True, True] Translation: X:199.93, Y:227.29, Z:-247.29 [[-8.46837742e-02 -9.96397002e-01 4.65541608e-03 1.99926458e+02] [ 4.12402629e-01 -3.07961015e-02 9.10481011e-01 2.27285747e+02] [-9.07057181e-01 7.90228742e-02 4.13524673e-01 -2.47289835e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.0807140569999 meters Centerline goodness : 0.994795 Centerline is valid? [True, True] Translation: X:199.93, Y:227.30, Z:-247.31 [[-8.63071684e-02 -9.96266324e-01 -2.11779226e-03 1.99927466e+02] [ 4.12089868e-01 -3.76347910e-02 9.10365621e-01 2.27295745e+02] [-9.07046313e-01 7.76983582e-02 4.13799410e-01 -2.47314750e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.1107140569999 meters Centerline goodness : 0.994977 Centerline is valid? [True, True] Translation: X:199.92, Y:227.31, Z:-247.34 [[-8.43901680e-02 -9.96346512e-01 1.31121499e-02 1.99922415e+02] [ 4.11757092e-01 -2.28866162e-02 9.11006202e-01 2.27310480e+02] [-9.07377759e-01 8.22789871e-02 4.12184147e-01 -2.47340563e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.140714057 meters Centerline goodness : 0.994706 Centerline is valid? [True, True] Translation: X:199.93, Y:227.32, Z:-247.37 [[-8.45037310e-02 -9.96418644e-01 3.00106870e-03 1.99925856e+02] [ 4.10363488e-01 -3.20570041e-02 9.11358413e-01 2.27317925e+02] [-9.07998308e-01 7.82447152e-02 4.11602766e-01 -2.47368274e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.1707140569999 meters Centerline goodness : 0.995000 Centerline is valid? [True, True] Translation: X:199.92, Y:227.33, Z:-247.40 [[-8.37277315e-02 -9.96343636e-01 1.70007484e-02 1.99921192e+02] [ 4.05602984e-01 -1.84914865e-02 9.13862290e-01 2.27330760e+02] [-9.10206508e-01 8.34111707e-02 4.05668202e-01 -2.47396262e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.2007140569999 meters Centerline goodness : 0.995345 Centerline is valid? [True, True] Translation: X:199.92, Y:227.34, Z:-247.42 [[-8.51722796e-02 -9.96107391e-01 2.27100754e-02 1.99918477e+02] [ 4.04849186e-01 -1.37721757e-02 9.14279751e-01 2.27343422e+02] [-9.10408051e-01 8.70654462e-02 4.04446274e-01 -2.47420832e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.2307140569999 meters Centerline goodness : 0.994267 Centerline is valid? [True, True] Translation: X:199.92, Y:227.35, Z:-247.45 [[-8.53631436e-02 -9.96168208e-01 1.90272332e-02 1.99920097e+02] [ 4.03653343e-01 -1.71175120e-02 9.14751862e-01 2.27351876e+02] [-9.10921024e-01 8.57665009e-02 4.03567832e-01 -2.47446338e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.260714057 meters Centerline goodness : 0.995453 Centerline is valid? [True, True] Translation: X:199.91, Y:227.37, Z:-247.47 [[-9.08641426e-02 -9.95639594e-01 2.11070412e-02 1.99914985e+02] [ 4.13770004e-01 -1.84658699e-02 9.10194153e-01 2.27366560e+02] [-9.05835577e-01 9.14374718e-02 4.13643684e-01 -2.47468660e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.290714057 meters Centerline goodness : 0.994576 Centerline is valid? [True, True] Translation: X:199.93, Y:227.36, Z:-247.50 [[-8.65652299e-02 -9.96220352e-01 -7.17440542e-03 1.99929960e+02] [ 4.01756896e-01 -4.14982130e-02 9.14805605e-01 2.27363466e+02] [-9.11645687e-01 7.63079907e-02 4.03830698e-01 -2.47499805e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.3207140569999 meters Centerline goodness : 0.994786 Centerline is valid? [True, True] Translation: X:199.93, Y:227.38, Z:-247.52 [[-9.29216064e-02 -9.95627246e-01 -9.58968835e-03 1.99925225e+02] [ 4.04623900e-01 -4.65601337e-02 9.13297133e-01 2.27376811e+02] [-9.09750007e-01 8.09848197e-02 4.07181022e-01 -2.47519655e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.3507140569999 meters Centerline goodness : 0.995114 Centerline is valid? [True, True] Translation: X:199.93, Y:227.39, Z:-247.55 [[-9.50758427e-02 -9.95452158e-01 -5.96534977e-03 1.99925613e+02] [ 4.10689329e-01 -4.46823662e-02 9.10679835e-01 2.27389603e+02] [-9.06804753e-01 8.41337472e-02 4.13069793e-01 -2.47549113e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.380714057 meters Centerline goodness : 0.995197 Centerline is valid? [True, True] Translation: X:199.92, Y:227.40, Z:-247.57 [[-9.64799662e-02 -9.95334860e-01 3.64788882e-04 1.99923468e+02] [ 4.11210094e-01 -3.95257218e-02 9.10683247e-01 2.27403021e+02] [-9.06420363e-01 8.80126937e-02 4.13105181e-01 -2.47573436e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.410714057 meters Centerline goodness : 0.994834 Centerline is valid? [True, True] Translation: X:199.93, Y:227.39, Z:-247.56 [[-1.00678124e-01 -9.94821927e-01 -1.39014152e-02 1.99928098e+02] [ 4.08377712e-01 -5.40617563e-02 9.11210717e-01 2.27389867e+02] [-9.07243936e-01 8.60619576e-02 4.11705938e-01 -2.47556997e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.4407140569999 meters Centerline goodness : 0.994834 Centerline is valid? [True, True] Translation: X:199.93, Y:227.39, Z:-247.56 [[-1.00170856e-01 -9.94748172e-01 -2.10208021e-02 1.99930849e+02] [ 4.07697518e-01 -6.03086819e-02 9.11123261e-01 2.27389351e+02] [-9.07605935e-01 8.26978681e-02 4.11597533e-01 -2.47562939e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.4707140569999 meters Centerline goodness : 0.994142 Centerline is valid? [True, True] Translation: X:199.93, Y:227.38, Z:-247.54 [[-8.60246181e-02 -9.96289440e-01 2.66770859e-03 1.99930096e+02] [ 3.96640783e-01 -3.17914180e-02 9.17423236e-01 2.27379337e+02] [-9.13934272e-01 7.99791056e-02 3.97903869e-01 -2.47538389e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.500714057 meters Centerline goodness : 0.994867 Centerline is valid? [True, True] Translation: X:199.92, Y:227.40, Z:-247.56 [[-8.73683471e-02 -9.95744501e-01 2.93199806e-02 1.99920627e+02] [ 3.99734535e-01 -8.08399052e-03 9.16595304e-01 2.27402901e+02] [-9.12457711e-01 9.18016255e-02 3.98739750e-01 -2.47560694e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.530714057 meters Centerline goodness : 0.993793 Centerline is valid? [True, True] Translation: X:199.91, Y:227.42, Z:-247.58 [[-8.84619272e-02 -9.95106709e-01 4.40127868e-02 1.99914719e+02] [ 4.03285343e-01 4.62167195e-03 9.15062606e-01 2.27420222e+02] [-9.10788351e-01 9.86979134e-02 4.00903108e-01 -2.47579990e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.5607140569999 meters Centerline goodness : 0.995277 Centerline is valid? [True, True] Translation: X:199.92, Y:227.42, Z:-247.61 [[-8.70773913e-02 -9.95685052e-01 3.20749857e-02 1.99919991e+02] [ 4.01045985e-01 -5.56404401e-03 9.16041025e-01 2.27424751e+02] [-9.11909889e-01 9.26300070e-02 3.99799995e-01 -2.47610722e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.5907140569999 meters Centerline goodness : 0.994530 Centerline is valid? [True, True] Translation: X:199.91, Y:227.44, Z:-247.64 [[-8.71262272e-02 -9.95034908e-01 4.81098001e-02 1.99914410e+02] [ 4.06804704e-01 8.54618155e-03 9.13475175e-01 2.27442802e+02] [-9.09350842e-01 9.91589387e-02 4.04040285e-01 -2.47637725e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.620714057 meters Centerline goodness : 0.994434 Centerline is valid? [True, True] Translation: X:199.91, Y:227.45, Z:-247.66 [[-8.37183309e-02 -9.95410601e-01 4.63570656e-02 1.99914429e+02] [ 4.02478796e-01 8.78010696e-03 9.15387202e-01 2.27453836e+02] [-9.11593144e-01 9.52924246e-02 3.99896604e-01 -2.47658020e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.650714057 meters Centerline goodness : 0.993134 Centerline is valid? [True, True] Translation: X:199.92, Y:227.46, Z:-247.69 [[-8.08461873e-02 -9.96400563e-01 2.54914267e-02 1.99922480e+02] [ 3.99830609e-01 -8.99311254e-03 9.16544930e-01 2.27456563e+02] [-9.13016637e-01 8.42914157e-02 3.99118502e-01 -2.47685808e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.6807140569999 meters Centerline goodness : 0.993700 Centerline is valid? [True, True] Translation: X:199.93, Y:227.47, Z:-247.71 [[-7.81503698e-02 -9.96784190e-01 1.77143491e-02 1.99925379e+02] [ 3.99245110e-01 -1.50103012e-02 9.16721350e-01 2.27467219e+02] [-9.13507451e-01 7.87144798e-02 3.99134274e-01 -2.47713811e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.7107140569999 meters Centerline goodness : 0.994503 Centerline is valid? [True, True] Translation: X:199.92, Y:227.48, Z:-247.74 [[-7.68455438e-02 -9.96595952e-01 2.98541662e-02 1.99921249e+02] [ 4.02260600e-01 -3.59213099e-03 9.15518163e-01 2.27484291e+02] [-9.12294455e-01 8.23626459e-02 4.01167325e-01 -2.47740081e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.7407140569999 meters Centerline goodness : 0.993701 Centerline is valid? [True, True] Translation: X:199.92, Y:227.50, Z:-247.76 [[-7.44262241e-02 -9.96604662e-01 3.52120065e-02 1.99918926e+02] [ 4.00533296e-01 2.46219765e-03 9.16278897e-01 2.27497655e+02] [-9.13254519e-01 8.22987596e-02 3.98990098e-01 -2.47763113e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.770714057 meters Centerline goodness : 0.993504 Centerline is valid? [True, True] Translation: X:199.92, Y:227.51, Z:-247.79 [[-6.92416306e-02 -9.96782536e-01 4.03753939e-02 1.99918490e+02] [ 4.00466360e-01 9.29549672e-03 9.16264312e-01 2.27507484e+02] [-9.13691574e-01 7.96126220e-02 3.98534238e-01 -2.47789518e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.8007140569999 meters Centerline goodness : 0.993481 Centerline is valid? [True, True] Translation: X:199.92, Y:227.51, Z:-247.82 [[-6.85594998e-02 -9.97268581e-01 2.74767629e-02 1.99923218e+02] [ 3.99014308e-01 -2.16754011e-03 9.16942138e-01 2.27514908e+02] [-9.14378027e-01 7.38287158e-02 3.98073039e-01 -2.47817058e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.8307140569999 meters Centerline goodness : 0.993859 Centerline is valid? [True, True] Translation: X:199.92, Y:227.53, Z:-247.85 [[-6.82644701e-02 -9.96782970e-01 4.19961064e-02 1.99918367e+02] [ 4.04377678e-01 1.08368451e-02 9.14527887e-01 2.27532248e+02] [-9.12040929e-01 7.94120496e-02 4.02337011e-01 -2.47845670e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.8607140569999 meters Centerline goodness : 0.994232 Centerline is valid? [True, True] Translation: X:199.92, Y:227.53, Z:-247.85 [[-6.51224909e-02 -9.97195942e-01 3.68688871e-02 1.99920947e+02] [ 4.01310718e-01 7.65569525e-03 9.15909984e-01 2.27531012e+02] [-9.13623976e-01 7.44422191e-02 3.99686861e-01 -2.47852636e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.890714057 meters Centerline goodness : 0.993116 Centerline is valid? [True, True] Translation: X:199.91, Y:227.55, Z:-247.87 [[-6.03077215e-02 -9.96375755e-01 5.99861152e-02 1.99912223e+02] [ 3.99021880e-01 3.10205936e-02 9.16416533e-01 2.27548196e+02] [-9.14956020e-01 7.92027655e-02 3.95704946e-01 -2.47868871e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.9207140569999 meters Centerline goodness : 0.993975 Centerline is valid? [True, True] Translation: X:199.92, Y:227.55, Z:-247.90 [[-6.24722562e-02 -9.97461208e-01 3.41812088e-02 1.99922009e+02] [ 4.02167531e-01 6.18583319e-03 9.15545200e-01 2.27553236e+02] [-9.13432260e-01 7.09427466e-02 4.00760069e-01 -2.47904888e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.9507140569999 meters Centerline goodness : 0.992553 Centerline is valid? [True, True] Translation: X:199.92, Y:227.55, Z:-247.90 [[-5.87888072e-02 -9.97693449e-01 3.39360756e-02 1.99923605e+02] [ 3.95778095e-01 7.91484166e-03 9.18312069e-01 2.27547645e+02] [-9.16462534e-01 6.74176264e-02 3.94399908e-01 -2.47897551e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.9807140569999 meters Centerline goodness : 0.994091 Centerline is valid? [True, True] Translation: X:199.93, Y:227.55, Z:-247.91 [[-5.40025686e-02 -9.98386252e-01 1.75674417e-02 1.99928678e+02] [ 3.98122533e-01 -5.39344085e-03 9.17316390e-01 2.27545715e+02] [-9.15741323e-01 5.65314357e-02 3.97771323e-01 -2.47907499e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.010714057 meters Centerline goodness : 0.994247 Centerline is valid? [True, True] Translation: X:199.91, Y:227.58, Z:-247.92 [[-4.76073426e-02 -9.95859068e-01 7.74484169e-02 1.99907155e+02] [ 3.96027957e-01 5.23633817e-02 9.16744203e-01 2.27575910e+02] [-9.17003489e-01 7.43154937e-02 3.91895151e-01 -2.47923557e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.040714057 meters Centerline goodness : 0.992810 Centerline is valid? [True, True] Translation: X:199.91, Y:227.58, Z:-247.95 [[-4.50707025e-02 -9.97015062e-01 6.26865069e-02 1.99913063e+02] [ 3.94126919e-01 3.99136180e-02 9.18188910e-01 2.27579943e+02] [-9.17950218e-01 6.60898591e-02 3.91151540e-01 -2.47950140e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.0707140569999 meters Centerline goodness : 0.993473 Centerline is valid? [True, True] Translation: X:199.92, Y:227.59, Z:-247.98 [[-4.56866813e-02 -9.97659799e-01 5.08689723e-02 1.99917531e+02] [ 3.93410978e-01 2.88378681e-02 9.18910322e-01 2.27588902e+02] [-9.18226840e-01 6.19943752e-02 3.91172811e-01 -2.47979381e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.1007140569999 meters Centerline goodness : 0.993980 Centerline is valid? [True, True] Translation: X:199.92, Y:227.59, Z:-247.99 [[-4.35966026e-02 -9.98280958e-01 3.91722409e-02 1.99922217e+02] [ 3.94451393e-01 1.88240959e-02 9.18723980e-01 2.27586541e+02] [-9.17882038e-01 5.55047893e-02 3.92952648e-01 -2.47986803e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.130714057 meters Centerline goodness : 0.993688 Centerline is valid? [True, True] Translation: X:199.89, Y:227.63, Z:-248.00 [[-4.35558581e-02 -9.92233475e-01 1.16514456e-01 1.99894856e+02] [ 3.97087244e-01 8.98235048e-02 9.13374763e-01 2.27626078e+02] [-9.16746752e-01 8.60492260e-02 3.90090917e-01 -2.48002013e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.160714057 meters Centerline goodness : 0.993939 Centerline is valid? [True, True] Translation: X:199.90, Y:227.63, Z:-248.03 [[-4.39249813e-02 -9.92859606e-01 1.10907161e-01 1.99898780e+02] [ 3.96357299e-01 8.45843797e-02 9.14191651e-01 2.27634820e+02] [-9.17044976e-01 8.41147140e-02 3.89811784e-01 -2.48031037e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.1907140569999 meters Centerline goodness : 0.993194 Centerline is valid? [True, True] Translation: X:199.90, Y:227.64, Z:-248.05 [[-4.32096902e-02 -9.94046297e-01 1.00024405e-01 1.99902492e+02] [ 3.95940821e-01 7.48814586e-02 9.15217807e-01 2.27642396e+02] [-9.17258845e-01 7.91500231e-02 3.90347902e-01 -2.48051541e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.2207140569999 meters Centerline goodness : 0.993925 Centerline is valid? [True, True] Translation: X:199.91, Y:227.65, Z:-248.08 [[-4.72955966e-02 -9.96106887e-01 7.43921739e-02 1.99912111e+02] [ 3.98854643e-01 4.94478644e-02 9.15680011e-01 2.27647153e+02] [-9.15793700e-01 7.29792964e-02 3.94963191e-01 -2.48084651e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.250714057 meters Centerline goodness : 0.993346 Centerline is valid? [True, True] Translation: X:199.90, Y:227.67, Z:-248.11 [[-4.74571008e-02 -9.93325442e-01 1.05130349e-01 1.99902586e+02] [ 3.98466983e-01 7.76856630e-02 9.13886755e-01 2.27667117e+02] [-9.15954086e-01 8.52613887e-02 3.92120656e-01 -2.48107757e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.280714057 meters Centerline goodness : 0.993688 Centerline is valid? [True, True] Translation: X:199.90, Y:227.68, Z:-248.13 [[-4.96296989e-02 -9.93391002e-01 1.03494976e-01 1.99903173e+02] [ 3.99517580e-01 7.52257413e-02 9.13633839e-01 2.27677725e+02] [-9.15381121e-01 8.66914345e-02 3.93143739e-01 -2.48135000e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.3107140569999 meters Centerline goodness : 0.993514 Centerline is valid? [True, True] Translation: X:199.92, Y:227.66, Z:-248.15 [[-4.72836704e-02 -9.97449875e-01 5.34602862e-02 1.99922511e+02] [ 3.94884646e-01 3.04947132e-02 9.18224476e-01 2.27659432e+02] [-9.17513145e-01 6.45276697e-02 3.92435739e-01 -2.48150090e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.3407140569999 meters Centerline goodness : 0.993767 Centerline is valid? [True, True] Translation: X:199.89, Y:227.70, Z:-248.16 [[-4.84203709e-02 -9.89826807e-01 1.33784754e-01 1.99893310e+02] [ 3.97565983e-01 1.03775167e-01 9.11686352e-01 2.27698948e+02] [-9.16295125e-01 9.73324585e-02 3.88496636e-01 -2.48161195e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.370714057 meters Centerline goodness : 0.993363 Centerline is valid? [True, True] Translation: X:199.90, Y:227.70, Z:-248.19 [[-5.17471729e-02 -9.92909447e-01 1.07018973e-01 1.99902125e+02] [ 3.99270068e-01 7.76555010e-02 9.13538744e-01 2.27703465e+02] [-9.15371861e-01 9.00025197e-02 3.92420570e-01 -2.48189288e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.400714057 meters Centerline goodness : 0.992812 Centerline is valid? [True, True] Translation: X:199.90, Y:227.71, Z:-248.21 [[-5.13863065e-02 -9.91651675e-01 1.18264126e-01 1.99899373e+02] [ 3.97623288e-01 8.83141782e-02 9.13288743e-01 2.27714591e+02] [-9.16108710e-01 9.39551057e-02 3.89765660e-01 -2.48210887e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.4307140569999 meters Centerline goodness : 0.993406 Centerline is valid? [True, True] Translation: X:199.92, Y:227.71, Z:-248.25 [[-5.70891733e-02 -9.95595914e-01 7.43612950e-02 1.99915296e+02] [ 3.96766333e-01 4.57232671e-02 9.16780159e-01 2.27713819e+02] [-9.16142622e-01 8.18422796e-02 3.92408636e-01 -2.48248499e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.4607140569999 meters Centerline goodness : 0.993678 Centerline is valid? [True, True] Translation: X:199.93, Y:227.71, Z:-248.27 [[-8.04177621e-02 -9.96759720e-01 1.74477487e-03 1.99930438e+02] [ 4.21988986e-01 -3.24597884e-02 9.06019678e-01 2.27713777e+02] [-9.03027286e-01 7.35963508e-02 4.23231968e-01 -2.48274441e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.4907140569999 meters Centerline goodness : 0.993973 Centerline is valid? [True, True] Translation: X:199.93, Y:227.69, Z:-248.25 [[-5.33348357e-02 -9.97400325e-01 4.84560357e-02 1.99927260e+02] [ 3.82826453e-01 2.43944906e-02 9.23498141e-01 2.27694966e+02] [-9.22279406e-01 6.78048739e-02 3.80530153e-01 -2.48250871e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.520714057 meters Centerline goodness : 0.993496 Centerline is valid? [True, True] Translation: X:199.89, Y:227.75, Z:-248.25 [[-6.09376231e-02 -9.88151591e-01 1.40865322e-01 1.99890042e+02] [ 3.97992403e-01 1.05368765e-01 9.11317437e-01 2.27748593e+02] [-9.15362581e-01 1.11596846e-01 3.86855904e-01 -2.48250476e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.5507140569999 meters Centerline goodness : 0.993840 Centerline is valid? [True, True] Translation: X:199.91, Y:227.73, Z:-248.27 [[-7.22653342e-02 -9.96292175e-01 4.66864366e-02 1.99911144e+02] [ 4.05948546e-01 1.33755616e-02 9.13798048e-01 2.27733745e+02] [-9.11034302e-01 8.49882124e-02 4.03476770e-01 -2.48265368e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.5807140569999 meters Centerline goodness : 0.992820 Centerline is valid? [True, True] Translation: X:199.92, Y:227.73, Z:-248.32 [[-6.57443938e-02 -9.96763307e-01 4.62664524e-02 1.99924863e+02] [ 3.93740406e-01 1.66899111e-02 9.19070149e-01 2.27734111e+02] [-9.16867584e-01 7.86406816e-02 3.91368721e-01 -2.48315888e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.6107140569999 meters Centerline goodness : 0.992423 Centerline is valid? [True, True] Translation: X:199.90, Y:227.76, Z:-248.33 [[-6.75657719e-02 -9.92738020e-01 9.95293464e-02 1.99903446e+02] [ 3.97067708e-01 6.47613866e-02 9.15501610e-01 2.27763404e+02] [-9.15298914e-01 1.01376462e-01 3.89808557e-01 -2.48326631e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.640714057 meters Centerline goodness : 0.993913 Centerline is valid? [True, True] Translation: X:199.91, Y:227.77, Z:-248.36 [[-7.10336961e-02 -9.94198496e-01 8.07685930e-02 1.99910594e+02] [ 3.98093289e-01 4.59882595e-02 9.16191472e-01 2.27768901e+02] [-9.14590590e-01 9.72339014e-02 3.92517033e-01 -2.48364863e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.6707140569999 meters Centerline goodness : 0.993586 Centerline is valid? [True, True] Translation: X:199.92, Y:227.76, Z:-248.38 [[-7.40932381e-02 -9.96283606e-01 4.39223046e-02 1.99923292e+02] [ 4.00783831e-01 1.05816839e-02 9.16111538e-01 2.27763928e+02] [-9.13171678e-01 8.54810198e-02 3.98510329e-01 -2.48383188e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.7007140569999 meters Centerline goodness : 0.992784 Centerline is valid? [True, True] Translation: X:199.93, Y:227.76, Z:-248.39 [[-7.64067298e-02 -9.96534023e-01 3.28930569e-02 1.99927220e+02] [ 4.02779415e-01 -6.70470899e-04 9.15296834e-01 2.27763782e+02] [-9.12102382e-01 8.31834840e-02 4.01434619e-01 -2.48390704e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.7307140569999 meters Centerline goodness : 0.993420 Centerline is valid? [True, True] Translation: X:199.93, Y:227.76, Z:-248.40 [[-7.47548987e-02 -9.96853059e-01 2.63758356e-02 1.99929693e+02] [ 3.98575500e-01 -5.62340658e-03 9.17118285e-01 2.27762483e+02] [-9.14083845e-01 7.90718463e-02 3.97741583e-01 -2.48398562e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.760714057 meters Centerline goodness : 0.994574 Centerline is valid? [True, True] Translation: X:199.92, Y:227.78, Z:-248.41 [[-9.48480667e-02 -9.95426921e-01 1.13617113e-02 1.99924420e+02] [ 4.22230702e-01 -2.98907998e-02 9.05995461e-01 2.27779352e+02] [-9.01512662e-01 9.07291812e-02 4.23134892e-01 -2.48410392e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.790714057 meters Centerline goodness : 0.993050 Centerline is valid? [True, True] Translation: X:199.93, Y:227.76, Z:-248.41 [[-7.73729725e-02 -9.96956942e-01 9.50150971e-03 1.99934674e+02] [ 4.01992827e-01 -2.24744028e-02 9.15366958e-01 2.27761713e+02] [-9.12367903e-01 7.46442013e-02 4.02508451e-01 -2.48405469e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.8207140569999 meters Centerline goodness : 0.993205 Centerline is valid? [True, True] Translation: X:199.91, Y:227.80, Z:-248.42 [[-7.90714119e-02 -9.94139228e-01 7.37218194e-02 1.99907300e+02] [ 4.09015515e-01 3.50876392e-02 9.11852601e-01 2.27798794e+02] [-9.09095166e-01 1.02254841e-01 4.03843940e-01 -2.48418946e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.8507140569999 meters Centerline goodness : 0.993836 Centerline is valid? [True, True] Translation: X:199.92, Y:227.79, Z:-248.44 [[-9.28177017e-02 -9.95667123e-01 5.64398701e-03 1.99923070e+02] [ 4.20958799e-01 -3.41042713e-02 9.06438408e-01 2.27788695e+02] [-9.02318438e-01 8.65094158e-02 4.22300317e-01 -2.48435311e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.880714057 meters Centerline goodness : 0.993944 Centerline is valid? [True, True] Translation: X:199.92, Y:227.78, Z:-248.43 [[-7.17020160e-02 -9.96987264e-01 2.95840643e-02 1.99922713e+02] [ 3.96908522e-01 -1.30913776e-03 9.17857239e-01 2.27778831e+02] [-9.15053248e-01 7.75543817e-02 3.95806610e-01 -2.48430734e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.910714057 meters Centerline goodness : 0.993566 Centerline is valid? [True, True] Translation: X:199.89, Y:227.82, Z:-248.44 [[-6.99519142e-02 -9.90103893e-01 1.21659408e-01 1.99887358e+02] [ 4.02320908e-01 8.35978814e-02 9.11673890e-01 2.27824419e+02] [-9.12822336e-01 1.12719457e-01 3.92491665e-01 -2.48443392e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.9407140569999 meters Centerline goodness : 0.992498 Centerline is valid? [True, True] Translation: X:199.90, Y:227.82, Z:-248.46 [[-6.64939829e-02 -9.93146539e-01 9.61171335e-02 1.99895002e+02] [ 3.99712922e-01 6.17493998e-02 9.14558140e-01 2.27823652e+02] [-9.14225427e-01 9.92318736e-02 3.92867541e-01 -2.48463467e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.9707140569999 meters Centerline goodness : 0.993818 Centerline is valid? [True, True] Translation: X:199.90, Y:227.83, Z:-248.50 [[-6.88283340e-02 -9.94879068e-01 7.40155369e-02 1.99902443e+02] [ 4.00050061e-01 4.04409870e-02 9.15600609e-01 2.27830269e+02] [-9.13905142e-01 9.26291846e-02 3.95217946e-01 -2.48503239e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.000714057 meters Centerline goodness : 0.992541 Centerline is valid? [True, True] Translation: X:199.92, Y:227.80, Z:-248.50 [[-6.59197494e-02 -9.97260112e-01 3.35686728e-02 1.99919803e+02] [ 3.97636925e-01 4.60078755e-03 9.17531312e-01 2.27804696e+02] [-9.15171821e-01 7.38315780e-02 3.96244162e-01 -2.48498749e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.030714057 meters Centerline goodness : 0.994232 Centerline is valid? [True, True] Translation: X:199.90, Y:227.84, Z:-248.53 [[-7.07980910e-02 -9.94947266e-01 7.11868500e-02 1.99902057e+02] [ 4.07405438e-01 3.62997151e-02 9.12525693e-01 2.27838734e+02] [-9.10499006e-01 9.36069868e-02 4.02776977e-01 -2.48527277e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.0607140569999 meters Centerline goodness : 0.993915 Centerline is valid? [True, True] Translation: X:199.92, Y:227.83, Z:-248.54 [[-8.92061769e-02 -9.95983232e-01 -7.72398077e-03 1.99921626e+02] [ 4.31108236e-01 -4.56011302e-02 9.01147172e-01 2.27830633e+02] [-8.97879695e-01 7.70580223e-02 4.33444477e-01 -2.48544440e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.0907140569999 meters Centerline goodness : 0.993986 Centerline is valid? [True, True] Translation: X:199.92, Y:227.82, Z:-248.54 [[-6.81873770e-02 -9.97605058e-01 1.16030209e-02 1.99923844e+02] [ 4.09693610e-01 -1.73949724e-02 9.12057323e-01 2.27817179e+02] [-9.09671165e-01 6.69444800e-02 4.09898535e-01 -2.48535288e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.120714057 meters Centerline goodness : 0.993292 Centerline is valid? [True, True] Translation: X:199.90, Y:227.83, Z:-248.52 [[-6.31755293e-02 -9.95986967e-01 6.33941108e-02 1.99904867e+02] [ 4.03899377e-01 3.25705302e-02 9.14223416e-01 2.27829018e+02] [-9.12619387e-01 8.33613900e-02 4.00220856e-01 -2.48524739e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.150714057 meters Centerline goodness : 0.992796 Centerline is valid? [True, True] Translation: X:199.91, Y:227.83, Z:-248.54 [[-6.43423929e-02 -9.97000881e-01 4.30034854e-02 1.99910299e+02] [ 4.11580626e-01 1.27445385e-02 9.11284239e-01 2.27832467e+02] [-9.09099249e-01 7.63336100e-02 4.09526233e-01 -2.48541492e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.1807140569999 meters Centerline goodness : 0.993782 Centerline is valid? [True, True] Translation: X:199.91, Y:227.83, Z:-248.54 [[-6.21393934e-02 -9.97276719e-01 3.97220446e-02 1.99911342e+02] [ 4.11133703e-01 1.06886449e-02 9.11512387e-01 2.27832202e+02] [-9.09454657e-01 7.29718981e-02 4.09349885e-01 -2.48543657e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.2107140569999 meters Centerline goodness : 0.993346 Centerline is valid? [True, True] Translation: X:199.91, Y:227.83, Z:-248.55 [[-6.09148651e-02 -9.97684630e-01 3.02449662e-02 1.99914477e+02] [ 4.08936492e-01 2.69624351e-03 9.12558862e-01 2.27832913e+02] [-9.10527498e-01 6.79566703e-02 4.07825411e-01 -2.48552695e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.2407140569999 meters Centerline goodness : 0.993996 Centerline is valid? [True, True] Translation: X:199.91, Y:227.84, Z:-248.55 [[-5.77833395e-02 -9.97447599e-01 4.19448809e-02 1.99908185e+02] [ 4.12045020e-01 1.44413663e-02 9.11049038e-01 2.27837807e+02] [-9.09329416e-01 6.99266351e-02 4.10158845e-01 -2.48550688e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.270714057 meters Centerline goodness : 0.994097 Centerline is valid? [True, True] Translation: X:199.91, Y:227.85, Z:-248.56 [[-5.69373322e-02 -9.97446702e-01 4.31070403e-02 1.99907040e+02] [ 4.14006622e-01 1.57010316e-02 9.10138448e-01 2.27845017e+02] [-9.08491419e-01 6.96674553e-02 4.12055564e-01 -2.48560752e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.3007140569999 meters Centerline goodness : 0.993664 Centerline is valid? [True, True] Translation: X:199.91, Y:227.84, Z:-248.56 [[-5.57743554e-02 -9.97628339e-01 4.03350714e-02 1.99907475e+02] [ 4.14420504e-01 1.36225233e-02 9.09983556e-01 2.27842967e+02] [-9.08374850e-01 6.74694269e-02 4.12677852e-01 -2.48557241e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.3307140569999 meters Centerline goodness : 0.993664 Centerline is valid? [True, True] Translation: X:199.89, Y:227.87, Z:-248.57 [[-5.66288248e-02 -9.94179994e-01 9.16477764e-02 1.99887934e+02] [ 4.17741063e-01 5.97793659e-02 9.06597392e-01 2.27874703e+02] [-9.06799636e-01 8.96245844e-02 4.11924573e-01 -2.48573827e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.3607140569999 meters Centerline goodness : 0.992400 Centerline is valid? [True, True] Translation: X:199.91, Y:227.86, Z:-248.60 [[-5.72905998e-02 -9.98046853e-01 2.49051598e-02 1.99912408e+02] [ 4.14622539e-01 -1.09259103e-03 9.09992833e-01 2.27858514e+02] [-9.08188272e-01 6.24602758e-02 4.13875315e-01 -2.48602118e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.390714057 meters Centerline goodness : 0.992799 Centerline is valid? [True, True] Translation: X:199.91, Y:227.87, Z:-248.62 [[-5.66826012e-02 -9.97934707e-01 3.02225640e-02 1.99910112e+02] [ 4.12412602e-01 4.16436425e-03 9.10987653e-01 2.27865962e+02] [-9.09232054e-01 6.41013161e-02 4.11324802e-01 -2.48616416e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.4207140569999 meters Centerline goodness : 0.992148 Centerline is valid? [True, True] Translation: X:199.91, Y:227.86, Z:-248.61 [[-5.38424617e-02 -9.97591018e-01 4.37395799e-02 1.99906922e+02] [ 4.08004291e-01 1.80010080e-02 9.12802532e-01 2.27862380e+02] [-9.11390964e-01 6.69934716e-02 4.06052197e-01 -2.48606829e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.4507140569999 meters Centerline goodness : 0.992706 Centerline is valid? [True, True] Translation: X:199.91, Y:227.88, Z:-248.63 [[-5.94323367e-02 -9.97650696e-01 3.40717834e-02 1.99907964e+02] [ 4.08880088e-01 6.80793436e-03 9.12562724e-01 2.27877909e+02] [-9.10650795e-01 6.81670089e-02 4.07514893e-01 -2.48631234e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.4807140569999 meters Centerline goodness : 0.993163 Centerline is valid? [True, True] Translation: X:199.91, Y:227.88, Z:-248.66 [[-5.80368486e-02 -9.97916766e-01 2.81754006e-02 1.99911191e+02] [ 4.05950800e-01 2.19374663e-03 9.13892300e-01 2.27881945e+02] [-9.12050258e-01 6.44772555e-02 4.04977791e-01 -2.48655424e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.510714057 meters Centerline goodness : 0.994292 Centerline is valid? [True, True] Translation: X:199.89, Y:227.92, Z:-248.68 [[-6.37643685e-02 -9.94611963e-01 8.17382888e-02 1.99890435e+02] [ 4.13277213e-01 4.82343519e-02 9.09326890e-01 2.27916796e+02] [-9.08369997e-01 9.17632270e-02 4.07974827e-01 -2.48676769e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.540714057 meters Centerline goodness : 0.993074 Centerline is valid? [True, True] Translation: X:199.91, Y:227.90, Z:-248.69 [[-6.64891706e-02 -9.97484701e-01 2.45654448e-02 1.99910874e+02] [ 4.13511934e-01 -5.14054651e-03 9.10484187e-01 2.27900344e+02] [-9.08067768e-01 7.06954431e-02 4.12813619e-01 -2.48692990e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.5707140569999 meters Centerline goodness : 0.992795 Centerline is valid? [True, True] Translation: X:199.92, Y:227.90, Z:-248.70 [[-6.80503384e-02 -9.97646944e-01 8.35020705e-03 1.99916782e+02] [ 4.09470397e-01 -2.02961531e-02 9.12097616e-01 2.27895298e+02] [-9.09781922e-01 6.54877140e-02 4.09888050e-01 -2.48697572e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.6007140569999 meters Centerline goodness : 0.993896 Centerline is valid? [True, True] Translation: X:199.91, Y:227.91, Z:-248.71 [[-6.90052129e-02 -9.97278936e-01 2.59423175e-02 1.99908871e+02] [ 4.13336597e-01 -4.91358241e-03 9.10565052e-01 2.27910540e+02] [-9.07959877e-01 7.35566445e-02 4.12550945e-01 -2.48712080e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.630714057 meters Centerline goodness : 0.992919 Centerline is valid? [True, True] Translation: X:199.91, Y:227.91, Z:-248.71 [[-7.02205961e-02 -9.97260016e-01 2.32707848e-02 1.99910163e+02] [ 4.09403210e-01 -7.53873498e-03 9.12322410e-01 2.27907158e+02] [-9.09647228e-01 7.35909574e-02 4.08810826e-01 -2.48707759e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.660714057 meters Centerline goodness : 0.993574 Centerline is valid? [True, True] Translation: X:199.91, Y:227.91, Z:-248.72 [[-7.43122313e-02 -9.97052800e-01 1.90632284e-02 1.99909596e+02] [ 4.18121177e-01 -1.37973086e-02 9.08286472e-01 2.27912300e+02] [-9.05346549e-01 7.54675339e-02 4.17914199e-01 -2.48716288e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.6907140569999 meters Centerline goodness : 0.993416 Centerline is valid? [True, True] Translation: X:199.91, Y:227.91, Z:-248.72 [[-7.56789185e-02 -9.97075996e-01 1.05905092e-02 1.99912937e+02] [ 4.20220158e-01 -2.22597234e-02 9.07149119e-01 2.27911408e+02] [-9.04260870e-01 7.31024097e-02 4.20676024e-01 -2.48722444e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.7207140569999 meters Centerline goodness : 0.993731 Centerline is valid? [True, True] Translation: X:199.91, Y:227.92, Z:-248.73 [[-7.46662827e-02 -9.97010982e-01 1.98506555e-02 1.99908241e+02] [ 4.19460154e-01 -1.33414505e-02 9.07675705e-01 2.27919257e+02] [-9.04697809e-01 7.60993298e-02 4.19202536e-01 -2.48731959e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.750714057 meters Centerline goodness : 0.994172 Centerline is valid? [True, True] Translation: X:199.90, Y:227.93, Z:-248.73 [[-7.63608572e-02 -9.96596944e-01 3.10411211e-02 1.99903272e+02] [ 4.21454374e-01 -4.04704136e-03 9.06840577e-01 2.27925477e+02] [-9.03628923e-01 8.23295401e-02 4.20329176e-01 -2.48734628e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.780714057 meters Centerline goodness : 0.993208 Centerline is valid? [True, True] Translation: X:199.91, Y:227.93, Z:-248.75 [[-7.87761304e-02 -9.96819969e-01 1.20112725e-02 1.99910606e+02] [ 4.21003184e-01 -2.23444292e-02 9.06783902e-01 2.27925328e+02] [-9.03631916e-01 7.64897109e-02 4.21424589e-01 -2.48749497e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.8107140569999 meters Centerline goodness : 0.993373 Centerline is valid? [True, True] Translation: X:199.91, Y:227.93, Z:-248.76 [[-7.90137122e-02 -9.96864430e-01 4.25920799e-03 1.99913523e+02] [ 4.20667523e-01 -2.94689266e-02 9.06736135e-01 2.27927249e+02] [-9.03767486e-01 7.34362984e-02 4.21676939e-01 -2.48762208e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.8407140569999 meters Centerline goodness : 0.994099 Centerline is valid? [True, True] Translation: X:199.91, Y:227.93, Z:-248.75 [[-8.04694887e-02 -9.96682349e-01 1.22047562e-02 1.99909578e+02] [ 4.27150639e-01 -2.34186883e-02 9.03877147e-01 2.27928375e+02] [-9.00592579e-01 7.79478013e-02 4.27617992e-01 -2.48754032e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.870714057 meters Centerline goodness : 0.993667 Centerline is valid? [True, True] Translation: X:199.91, Y:227.92, Z:-248.75 [[-7.88020735e-02 -9.96840802e-01 9.93221382e-03 1.99909974e+02] [ 4.26352009e-01 -2.46945291e-02 9.04220186e-01 2.27924078e+02] [-9.01118304e-01 7.54890449e-02 4.26951059e-01 -2.48749990e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.900714057 meters Centerline goodness : 0.992897 Centerline is valid? [True, True] Translation: X:199.90, Y:227.95, Z:-248.76 [[-7.74281990e-02 -9.96038693e-01 4.37240832e-02 1.99895899e+02] [ 4.24012476e-01 6.79427096e-03 9.05630862e-01 2.27947583e+02] [-9.02340454e-01 8.86609234e-02 4.21806764e-01 -2.48763424e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.9307140569999 meters Centerline goodness : 0.993177 Centerline is valid? [True, True] Translation: X:199.90, Y:227.95, Z:-248.79 [[-7.86051797e-02 -9.96711483e-01 1.96836558e-02 1.99904084e+02] [ 4.24244553e-01 -1.55771942e-02 9.05413668e-01 2.27951698e+02] [-9.02129583e-01 7.95208879e-02 4.24073866e-01 -2.48793153e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.9607140569999 meters Centerline goodness : 0.993390 Centerline is valid? [True, True] Translation: X:199.89, Y:227.97, Z:-248.81 [[-7.63327695e-02 -9.95893709e-01 4.86726716e-02 1.99892937e+02] [ 4.26763682e-01 1.14853304e-02 9.04290245e-01 2.27970230e+02] [-9.01135987e-01 8.97987074e-02 4.24134559e-01 -2.48813881e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.9907140569999 meters Centerline goodness : 0.994333 Centerline is valid? [True, True] Translation: X:199.90, Y:227.98, Z:-248.85 [[-8.00539550e-02 -9.96322585e-01 3.05396755e-02 1.99899145e+02] [ 4.30240536e-01 -6.90003475e-03 9.02687915e-01 2.27978858e+02] [-8.99157631e-01 8.54031440e-02 4.29210738e-01 -2.48847712e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.020714057 meters Centerline goodness : 0.992782 Centerline is valid? [True, True] Translation: X:199.88, Y:228.00, Z:-248.86 [[-7.62458518e-02 -9.94674792e-01 6.93442739e-02 1.99883427e+02] [ 4.32820749e-01 2.96357173e-02 9.00992743e-01 2.28003570e+02] [-8.98249837e-01 9.87105997e-02 4.28256288e-01 -2.48859254e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.0507140569999 meters Centerline goodness : 0.994625 Centerline is valid? [True, True] Translation: X:199.91, Y:228.00, Z:-248.90 [[-7.84437436e-02 -9.96895218e-01 6.81933755e-03 1.99905813e+02] [ 4.30158271e-01 -2.76758655e-02 9.02329158e-01 2.27995544e+02] [-8.99338891e-01 7.37154716e-02 4.30993722e-01 -2.48903365e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.0807140569999 meters Centerline goodness : 0.993624 Centerline is valid? [True, True] Translation: X:199.90, Y:228.02, Z:-248.94 [[-7.83082015e-02 -9.96758697e-01 1.84370709e-02 1.99900635e+02] [ 4.30402183e-01 -1.71205210e-02 9.02474846e-01 2.28016997e+02] [-8.99234000e-01 7.86065377e-02 4.30347797e-01 -2.48938032e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.1107140569999 meters Centerline goodness : 0.994237 Centerline is valid? [True, True] Translation: X:199.90, Y:228.01, Z:-248.92 [[-7.38555489e-02 -9.97193362e-01 1.22783461e-02 1.99903175e+02] [ 4.23808130e-01 -2.02390260e-02 9.05525842e-01 2.28005533e+02] [-9.02735857e-01 7.20817710e-02 4.24113418e-01 -2.48923547e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.140714057 meters Centerline goodness : 0.993928 Centerline is valid? [True, True] Translation: X:199.90, Y:228.01, Z:-248.94 [[-7.17572908e-02 -9.97221964e-01 1.99811443e-02 1.99898847e+02] [ 4.23371225e-01 -1.23138091e-02 9.05872605e-01 2.28014850e+02] [-9.03110014e-01 7.34624054e-02 4.23078690e-01 -2.48937238e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.1707140569999 meters Centerline goodness : 0.993367 Centerline is valid? [True, True] Translation: X:199.90, Y:228.02, Z:-248.95 [[-7.05601554e-02 -9.97460657e-01 9.66963169e-03 1.99901695e+02] [ 4.26091979e-01 -2.13739129e-02 9.04427322e-01 2.28016823e+02] [-9.01923993e-01 6.79366849e-02 4.26518132e-01 -2.48947763e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.2007140569999 meters Centerline goodness : 0.993329 Centerline is valid? [True, True] Translation: X:199.90, Y:228.02, Z:-248.94 [[-7.00374052e-02 -9.97494864e-01 9.93768277e-03 1.99899049e+02] [ 4.28842679e-01 -2.11128754e-02 9.03132439e-01 2.28016654e+02] [-9.00660157e-01 6.75147551e-02 4.29247061e-01 -2.48942691e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.2307140569999 meters Centerline goodness : 0.993732 Centerline is valid? [True, True] Translation: X:199.90, Y:228.01, Z:-248.94 [[-6.83262295e-02 -9.97659974e-01 -2.47049637e-03 1.99902506e+02] [ 4.29879838e-01 -3.16753935e-02 9.02330313e-01 2.28009476e+02] [-9.00297091e-01 6.05908115e-02 4.31038168e-01 -2.48937944e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.260714057 meters Centerline goodness : 0.993917 Centerline is valid? [True, True] Translation: X:199.90, Y:228.01, Z:-248.94 [[-6.69163293e-02 -9.97758269e-01 8.01356273e-04 1.99900142e+02] [ 4.32065073e-01 -2.82532024e-02 9.01399761e-01 2.28012602e+02] [-8.99356424e-01 6.06646013e-02 4.32987100e-01 -2.48937997e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.290714057 meters Centerline goodness : 0.994742 Centerline is valid? [True, True] Translation: X:199.90, Y:228.01, Z:-248.93 [[-6.42938496e-02 -9.97899161e-01 7.97276392e-03 1.99895263e+02] [ 4.38302904e-01 -2.10602545e-02 8.98580564e-01 2.28014890e+02] [-8.96524883e-01 6.12676892e-02 4.38736146e-01 -2.48930612e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.3207140569999 meters Centerline goodness : 0.993887 Centerline is valid? [True, True] Translation: X:199.88, Y:228.04, Z:-248.94 [[-6.47144935e-02 -9.97201855e-01 3.74231850e-02 1.99877025e+02] [ 4.42944520e-01 4.89999956e-03 8.96535634e-01 2.28038857e+02] [-8.94210371e-01 7.45952442e-02 4.41387996e-01 -2.48941737e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.3507140569999 meters Centerline goodness : 0.994234 Centerline is valid? [True, True] Translation: X:199.89, Y:228.04, Z:-248.98 [[-5.97014058e-02 -9.98141813e-01 1.21927820e-02 1.99891397e+02] [ 4.37831760e-01 -1.52069921e-02 8.98928305e-01 2.28039274e+02] [-8.97072512e-01 5.90056707e-02 4.37926066e-01 -2.48979615e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.380714057 meters Centerline goodness : 0.993926 Centerline is valid? [True, True] Translation: X:199.88, Y:228.06, Z:-248.99 [[-6.16365570e-02 -9.97549905e-01 3.30926390e-02 1.99877053e+02] [ 4.42899683e-01 2.37681384e-03 8.96568024e-01 2.28061365e+02] [-8.94450002e-01 6.99180854e-02 4.41668038e-01 -2.48993370e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.410714057 meters Centerline goodness : 0.994075 Centerline is valid? [True, True] Translation: X:199.89, Y:228.07, Z:-249.04 [[-5.03986042e-02 -9.98214875e-01 3.20475285e-02 1.99885404e+02] [ 4.34810285e-01 6.95723380e-03 9.00495204e-01 2.28069139e+02] [-8.99110670e-01 5.93182964e-02 4.33683459e-01 -2.49037801e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.4407140569999 meters Centerline goodness : 0.994477 Centerline is valid? [True, True] Translation: X:199.88, Y:228.08, Z:-249.05 [[-5.29466821e-02 -9.97645333e-01 4.35940275e-02 1.99879026e+02] [ 4.39565282e-01 1.59144228e-02 8.98069649e-01 2.28082710e+02] [-8.96648767e-01 6.67122292e-02 4.37687636e-01 -2.49047560e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.4707140569999 meters Centerline goodness : 0.993883 Centerline is valid? [True, True] Translation: X:199.88, Y:228.07, Z:-249.04 [[-4.63149675e-02 -9.98061532e-01 4.15704553e-02 1.99880816e+02] [ 4.34132201e-01 1.73685989e-02 9.00681722e-01 2.28073470e+02] [-8.99657800e-01 5.97621179e-02 4.32486223e-01 -2.49038384e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.500714057 meters Centerline goodness : 0.993842 Centerline is valid? [True, True] Translation: X:199.86, Y:228.11, Z:-249.05 [[-4.52299766e-02 -9.95128723e-01 8.75960802e-02 1.99862186e+02] [ 4.38511091e-01 5.90085821e-02 8.96786491e-01 2.28106082e+02] [-8.97586916e-01 7.89734847e-02 4.33706026e-01 -2.49050651e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.530714057 meters Centerline goodness : 0.993816 Centerline is valid? [True, True] Translation: X:199.87, Y:228.11, Z:-249.08 [[-4.88494591e-02 -9.97585213e-01 4.93707827e-02 1.99872808e+02] [ 4.43170468e-01 2.26497415e-02 8.96151174e-01 2.28110249e+02] [-8.95105394e-01 6.56561729e-02 4.40993878e-01 -2.49075816e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.5607140569999 meters Centerline goodness : 0.993017 Centerline is valid? [True, True] Translation: X:199.87, Y:228.12, Z:-249.10 [[-4.63037993e-02 -9.97904377e-01 4.51974921e-02 1.99873874e+02] [ 4.42230904e-01 2.00926487e-02 8.96676147e-01 2.28119983e+02] [-8.95705189e-01 6.15072402e-02 4.40373789e-01 -2.49098088e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.5907140569999 meters Centerline goodness : 0.993797 Centerline is valid? [True, True] Translation: X:199.88, Y:228.13, Z:-249.13 [[-4.54219535e-02 -9.97906812e-01 4.60308673e-02 1.99876136e+02] [ 4.38327455e-01 2.14967231e-02 8.98558253e-01 2.28131565e+02] [-8.97666914e-01 6.09908640e-02 4.36433530e-01 -2.49133184e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.620714057 meters Centerline goodness : 0.993255 Centerline is valid? [True, True] Translation: X:199.88, Y:228.13, Z:-249.14 [[-4.66464661e-02 -9.98188350e-01 3.80016482e-02 1.99878660e+02] [ 4.40738635e-01 1.35734181e-02 8.97532851e-01 2.28134453e+02] [-8.96422647e-01 5.86155302e-02 4.39307019e-01 -2.49141438e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.650714057 meters Centerline goodness : 0.993699 Centerline is valid? [True, True] Translation: X:199.88, Y:228.15, Z:-249.17 [[-4.88302022e-02 -9.98261078e-01 3.30216835e-02 1.99880216e+02] [ 4.42331915e-01 8.02916224e-03 8.96815482e-01 2.28145357e+02] [-8.95521127e-01 5.83982258e-02 4.41170669e-01 -2.49165367e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.6807140569999 meters Centerline goodness : 0.994067 Centerline is valid? [True, True] Translation: X:199.88, Y:228.14, Z:-249.16 [[-4.63489830e-02 -9.98439603e-01 3.11469160e-02 1.99883108e+02] [ 4.37673218e-01 7.73057381e-03 8.99100880e-01 2.28139530e+02] [-8.97938709e-01 5.53045824e-02 4.36631970e-01 -2.49158852e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.7107140569999 meters Centerline goodness : 0.993197 Centerline is valid? [True, True] Translation: X:199.89, Y:228.15, Z:-249.18 [[-4.52386589e-02 -9.98606077e-01 2.71913192e-02 1.99885485e+02] [ 4.35936137e-01 4.75670071e-03 8.99965032e-01 2.28146592e+02] [-8.98839890e-01 5.25668897e-02 4.35113289e-01 -2.49180319e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.7407140569999 meters Centerline goodness : 0.993860 Centerline is valid? [True, True] Translation: X:199.89, Y:228.16, Z:-249.21 [[-5.59926797e-02 -9.98375411e-01 1.05526990e-02 1.99887237e+02] [ 4.43830022e-01 -1.54212964e-02 8.95978289e-01 2.28159017e+02] [-8.94359956e-01 5.48518299e-02 4.43972461e-01 -2.49210342e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.770714057 meters Centerline goodness : 0.993648 Centerline is valid? [True, True] Translation: X:199.90, Y:228.14, Z:-249.20 [[-4.36317728e-02 -9.99046544e-01 -1.50682953e-03 1.99898136e+02] [ 4.35639517e-01 -2.03831402e-02 8.99890404e-01 2.28142620e+02] [-8.99063112e-01 3.86073791e-02 4.36113506e-01 -2.49199222e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.8007140569999 meters Centerline goodness : 0.992866 Centerline is valid? [True, True] Translation: X:199.89, Y:228.15, Z:-249.19 [[-3.80834801e-02 -9.98760565e-01 3.20465684e-02 1.99888556e+02] [ 4.25864464e-01 1.27898718e-02 9.04696567e-01 2.28149655e+02] [-9.03985126e-01 4.81014884e-02 4.24849549e-01 -2.49192917e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.8307140569999 meters Centerline goodness : 0.993544 Centerline is valid? [True, True] Translation: X:199.90, Y:228.16, Z:-249.22 [[-3.87626719e-02 -9.99096855e-01 1.74048679e-02 1.99895382e+02] [ 4.32713098e-01 -1.08306545e-03 9.01531032e-01 2.28157220e+02] [-9.00697969e-01 4.24770659e-02 4.32364277e-01 -2.49216083e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.8607140569999 meters Centerline goodness : 0.993176 Centerline is valid? [True, True] Translation: X:199.88, Y:228.18, Z:-249.24 [[-3.89360988e-02 -9.98058889e-01 4.86048804e-02 1.99884579e+02] [ 4.35384737e-01 2.68367388e-02 8.99844387e-01 2.28182688e+02] [-8.99402085e-01 5.61982530e-02 4.33494689e-01 -2.49235307e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.890714057 meters Centerline goodness : 0.993607 Centerline is valid? [True, True] Translation: X:199.89, Y:228.18, Z:-249.24 [[-3.52717979e-02 -9.98683544e-01 3.72435127e-02 1.99891083e+02] [ 4.29242339e-01 1.85151009e-02 9.02999560e-01 2.28175508e+02] [-9.02500368e-01 4.78369105e-02 4.28024199e-01 -2.49238793e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.9207140569999 meters Centerline goodness : 0.992826 Centerline is valid? [True, True] Translation: X:199.88, Y:228.20, Z:-249.26 [[-3.01248946e-02 -9.96413331e-01 7.90756957e-02 1.99880032e+02] [ 4.25191467e-01 5.88225043e-02 9.03189974e-01 2.28199092e+02] [-9.04601961e-01 6.08308138e-02 4.21894424e-01 -2.49262251e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.9507140569999 meters Centerline goodness : 0.993148 Centerline is valid? [True, True] Translation: X:199.88, Y:228.22, Z:-249.29 [[-2.93867125e-02 -9.95261328e-01 9.26893246e-02 1.99876347e+02] [ 4.25405254e-01 7.14595672e-02 9.02177311e-01 2.28215264e+02] [-9.04525727e-01 6.59425509e-02 4.21289436e-01 -2.49286154e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.9807140569999 meters Centerline goodness : 0.993679 Centerline is valid? [True, True] Translation: X:199.89, Y:228.22, Z:-249.30 [[-3.65397446e-02 -9.98483859e-01 4.11683283e-02 1.99885418e+02] [ 4.36990986e-01 2.10837595e-02 8.99218746e-01 2.28217125e+02] [-8.98723387e-01 5.08474117e-02 4.35558050e-01 -2.49297235e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.010714057 meters Centerline goodness : 0.993609 Centerline is valid? [True, True] Translation: X:199.90, Y:228.21, Z:-249.33 [[-3.52747196e-02 -9.99375968e-01 1.83518900e-03 1.99903027e+02] [ 4.36903300e-01 -1.37696594e-02 8.99403082e-01 2.28213206e+02] [-8.98816556e-01 3.25279916e-02 4.37116379e-01 -2.49329414e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.040714057 meters Centerline goodness : 0.994542 Centerline is valid? [True, True] Translation: X:199.89, Y:228.24, Z:-249.37 [[-2.35939745e-02 -9.97720050e-01 6.32299464e-02 1.99893777e+02] [ 4.23999837e-01 4.72908332e-02 9.04426733e-01 2.28237349e+02] [-9.05354882e-01 4.81485082e-02 4.21917360e-01 -2.49371367e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.0707140569999 meters Centerline goodness : 0.994043 Centerline is valid? [True, True] Translation: X:199.90, Y:228.24, Z:-249.39 [[-2.60111177e-02 -9.98561867e-01 4.68787817e-02 1.99901642e+02] [ 4.32609686e-01 3.10319570e-02 9.01047101e-01 2.28244279e+02] [-9.01206015e-01 4.37174572e-02 4.31180360e-01 -2.49387635e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.1007140569999 meters Centerline goodness : 0.993797 Centerline is valid? [True, True] Translation: X:199.90, Y:228.25, Z:-249.39 [[-2.44142704e-02 -9.97983135e-01 5.85969791e-02 1.99899171e+02] [ 4.27038930e-01 4.25865873e-02 9.03229835e-01 2.28249783e+02] [-9.03903588e-01 4.70748886e-02 4.25137929e-01 -2.49394853e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.130714057 meters Centerline goodness : 0.993747 Centerline is valid? [True, True] Translation: X:199.91, Y:228.26, Z:-249.43 [[-4.41512447e-02 -9.99010164e-01 5.41843947e-03 1.99911550e+02] [ 4.51672834e-01 -1.51233390e-02 8.92055456e-01 2.28259495e+02] [-8.91090522e-01 4.18327206e-02 4.51893466e-01 -2.49427171e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.160714057 meters Centerline goodness : 0.993782 Centerline is valid? [True, True] Translation: X:199.92, Y:228.25, Z:-249.44 [[-4.41152040e-02 -9.98804025e-01 -2.10800274e-02 1.99923679e+02] [ 4.50824139e-01 -3.87331014e-02 8.91772024e-01 2.28254006e+02] [-8.91521982e-01 2.98373195e-02 4.51993684e-01 -2.49439656e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.1907140569999 meters Centerline goodness : 0.993593 Centerline is valid? [True, True] Translation: X:199.93, Y:228.25, Z:-249.44 [[-4.41088518e-02 -9.98826199e-01 -2.00158534e-02 1.99927550e+02] [ 4.50064305e-01 -3.77542341e-02 8.92197702e-01 2.28254592e+02] [-8.91906122e-01 3.03453951e-02 4.51201314e-01 -2.49441561e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.2207140569999 meters Centerline goodness : 0.993078 Centerline is valid? [True, True] Translation: X:199.92, Y:228.25, Z:-249.43 [[-2.10744892e-02 -9.99218803e-01 3.34312608e-02 1.99920206e+02] [ 4.21848431e-01 2.14290326e-02 9.06413094e-01 2.28251167e+02] [-9.06421407e-01 3.32051179e-02 4.21067279e-01 -2.49427968e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.250714057 meters Centerline goodness : 0.993078 Centerline is valid? [True, True] Translation: X:199.89, Y:228.30, Z:-249.44 [[-2.25536587e-02 -9.92198041e-01 1.22614764e-01 1.99886269e+02] [ 4.24987350e-01 1.01497732e-01 8.99490947e-01 2.28296263e+02] [-9.04918275e-01 7.23965355e-02 4.19382471e-01 -2.49437025e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.280714057 meters Centerline goodness : 0.992934 Centerline is valid? [True, True] Translation: X:199.89, Y:228.30, Z:-249.47 [[-2.40105820e-02 -9.94010874e-01 1.06610851e-01 1.99894294e+02] [ 4.24804316e-01 8.63903674e-02 9.01153704e-01 2.28302693e+02] [-9.04966732e-01 6.69259747e-02 4.20185827e-01 -2.49467142e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.3107140569999 meters Centerline goodness : 0.993584 Centerline is valid? [True, True] Translation: X:199.91, Y:228.30, Z:-249.47 [[-3.38809224e-02 -9.98526613e-01 4.23873311e-02 1.99907235e+02] [ 4.37836898e-01 2.32957279e-02 8.98752558e-01 2.28300433e+02] [-8.98415792e-01 4.90093032e-02 4.36402514e-01 -2.49471508e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.3407140569999 meters Centerline goodness : 0.992745 Centerline is valid? [True, True] Translation: X:199.92, Y:228.31, Z:-249.53 [[-2.60660569e-02 -9.97748805e-01 6.17890157e-02 1.99916307e+02] [ 4.22657839e-01 4.50139219e-02 9.05170756e-01 2.28308694e+02] [-9.05914407e-01 4.97098442e-02 4.20533018e-01 -2.49525992e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.370714057 meters Centerline goodness : 0.993072 Centerline is valid? [True, True] Translation: X:199.92, Y:228.32, Z:-249.55 [[-2.38919229e-02 -9.97498603e-01 6.65260392e-02 1.99920285e+02] [ 4.15412134e-01 5.06221520e-02 9.08223627e-01 2.28315671e+02] [-9.09319490e-01 4.93349328e-02 4.13163563e-01 -2.49546128e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.400714057 meters Centerline goodness : 0.993422 Centerline is valid? [True, True] Translation: X:199.89, Y:228.36, Z:-249.56 [[-2.79010422e-02 -9.89945927e-01 1.38667206e-01 1.99894807e+02] [ 4.21200866e-01 1.14162191e-01 8.99753758e-01 2.28356153e+02] [-9.06538120e-01 8.35108147e-02 4.13780837e-01 -2.49558986e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.4307140569999 meters Centerline goodness : 0.993371 Centerline is valid? [True, True] Translation: X:199.94, Y:228.33, Z:-249.59 [[-3.42105703e-02 -9.98918097e-01 3.15003671e-02 1.99937730e+02] [ 4.36105315e-01 1.34390098e-02 8.99795281e-01 2.28333433e+02] [-8.99245123e-01 4.45199872e-02 4.35173735e-01 -2.49590823e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.4607140569999 meters Centerline goodness : 0.993433 Centerline is valid? [True, True] Translation: X:199.94, Y:228.34, Z:-249.59 [[-3.58597877e-02 -9.98546956e-01 4.02250263e-02 1.99936774e+02] [ 4.39650520e-01 2.03834073e-02 8.97937602e-01 2.28338317e+02] [-8.97452782e-01 4.98848055e-02 4.38280743e-01 -2.49590046e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.4907140569999 meters Centerline goodness : 0.993086 Centerline is valid? [True, True] Translation: X:199.94, Y:228.35, Z:-249.60 [[-3.87277478e-02 -9.98565970e-01 3.69616851e-02 1.99939401e+02] [ 4.43461726e-01 1.59718809e-02 8.96150990e-01 2.28345909e+02] [-8.95456230e-01 5.10970022e-02 4.42207234e-01 -2.49604055e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.520714057 meters Centerline goodness : 0.992853 Centerline is valid? [True, True] Translation: X:199.94, Y:228.35, Z:-249.60 [[-3.85535859e-02 -9.98457527e-01 3.99523294e-02 1.99940657e+02] [ 4.43261816e-01 1.87447058e-02 8.96196183e-01 2.28345679e+02] [-8.95562719e-01 5.22609187e-02 4.41855421e-01 -2.49602692e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.5507140569999 meters Centerline goodness : 0.993098 Centerline is valid? [True, True] Translation: X:199.95, Y:228.35, Z:-249.61 [[-4.46774379e-02 -9.98734666e-01 2.30866654e-02 1.99949845e+02] [ 4.54199470e-01 2.75789987e-04 8.90899975e-01 2.28349580e+02] [-8.89779056e-01 5.02890795e-02 4.53612434e-01 -2.49609884e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.5807140569999 meters Centerline goodness : 0.993906 Centerline is valid? [True, True] Translation: X:199.95, Y:228.35, Z:-249.61 [[-4.76250032e-02 -9.98717266e-01 1.71953984e-02 1.99952914e+02] [ 4.59809283e-01 -6.63754129e-03 8.87992886e-01 2.28353510e+02] [-8.86739693e-01 5.01972679e-02 4.59535583e-01 -2.49614511e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.6107140569999 meters Centerline goodness : 0.993867 Centerline is valid? [True, True] Translation: X:199.96, Y:228.36, Z:-249.63 [[-5.04348074e-02 -9.98654607e-01 1.20543115e-02 1.99955606e+02] [ 4.64831554e-01 -1.27891328e-02 8.85306763e-01 2.28362700e+02] [-8.83961513e-01 5.02535004e-02 4.64851190e-01 -2.49627959e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.640714057 meters Centerline goodness : 0.993640 Centerline is valid? [True, True] Translation: X:199.96, Y:228.36, Z:-249.63 [[-5.06713075e-02 -9.98562431e-01 1.74782482e-02 1.99955045e+02] [ 4.64611706e-01 -8.07749595e-03 8.85477677e-01 2.28363618e+02] [-8.84063562e-01 5.29889104e-02 4.64353092e-01 -2.49625409e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.6707140569999 meters Centerline goodness : 0.993645 Centerline is valid? [True, True] Translation: X:199.96, Y:228.37, Z:-249.64 [[-5.24633424e-02 -9.98551538e-01 1.19341733e-02 1.99959342e+02] [ 4.66879459e-01 -1.39619561e-02 8.84210741e-01 2.28369548e+02] [-8.82763371e-01 5.19604712e-02 4.66935693e-01 -2.49636566e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.7007140569999 meters Centerline goodness : 0.993741 Centerline is valid? [True, True] Translation: X:199.96, Y:228.37, Z:-249.64 [[-5.21076760e-02 -9.98543268e-01 1.40047308e-02 1.99959289e+02] [ 4.67819053e-01 -1.20178939e-02 8.83742555e-01 2.28370371e+02] [-8.82286872e-01 5.26014506e-02 4.67763791e-01 -2.49635558e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.7307140569999 meters Centerline goodness : 0.993549 Centerline is valid? [True, True] Translation: X:199.96, Y:228.38, Z:-249.65 [[-5.60932576e-02 -9.98392988e-01 8.06149947e-03 1.99960983e+02] [ 4.73996979e-01 -1.95227893e-02 8.80310016e-01 2.28378787e+02] [-8.78737965e-01 5.32005829e-02 4.74330357e-01 -2.49646800e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.760714057 meters Centerline goodness : 0.993397 Centerline is valid? [True, True] Translation: X:199.96, Y:228.38, Z:-249.65 [[-5.71143810e-02 -9.98235874e-01 1.62199669e-02 1.99960704e+02] [ 4.70794611e-01 -1.26028863e-02 8.82152822e-01 2.28381093e+02] [-8.80392175e-01 5.80198854e-02 4.70683876e-01 -2.49650619e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.790714057 meters Centerline goodness : 0.993697 Centerline is valid? [True, True] Translation: X:199.97, Y:228.39, Z:-249.67 [[-6.07958215e-02 -9.98131485e-01 6.11610864e-03 1.99965000e+02] [ 4.74396073e-01 -2.35030532e-02 8.79997712e-01 2.28389284e+02] [-8.78209676e-01 5.64016417e-02 4.74938544e-01 -2.49668226e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.8207140569999 meters Centerline goodness : 0.993459 Centerline is valid? [True, True] Translation: X:199.97, Y:228.39, Z:-249.68 [[-6.31244173e-02 -9.97988689e-01 5.82097601e-03 1.99966127e+02] [ 4.74688638e-01 -2.48932071e-02 8.79801697e-01 2.28394247e+02] [-8.77887239e-01 5.83001206e-02 4.75305261e-01 -2.49677410e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.8507140569999 meters Centerline goodness : 0.993729 Centerline is valid? [True, True] Translation: X:199.96, Y:228.40, Z:-249.68 [[-6.30435988e-02 -9.97922341e-01 1.32855877e-02 1.99964990e+02] [ 4.70178582e-01 -1.79560049e-02 8.82388624e-01 2.28396409e+02] [-8.80316764e-01 6.18755531e-02 4.70333722e-01 -2.49681967e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.880714057 meters Centerline goodness : 0.993398 Centerline is valid? [True, True] Translation: X:199.97, Y:228.40, Z:-249.69 [[-6.71609812e-02 -9.97670379e-01 1.19673969e-02 1.99967020e+02] [ 4.70041564e-01 -2.10575608e-02 8.82393057e-01 2.28399303e+02] [-8.80085411e-01 6.48875575e-02 4.70360791e-01 -2.49687609e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.910714057 meters Centerline goodness : 0.993475 Centerline is valid? [True, True] Translation: X:199.97, Y:228.40, Z:-249.70 [[-7.07481477e-02 -9.97490041e-01 2.88397178e-03 1.99970100e+02] [ 4.73838974e-01 -3.10631187e-02 8.80063469e-01 2.28404482e+02] [-8.77764961e-01 6.36293985e-02 4.74847316e-01 -2.49698586e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.9407140569999 meters Centerline goodness : 0.993401 Centerline is valid? [True, True] Translation: X:199.97, Y:228.41, Z:-249.70 [[-7.16626100e-02 -9.97419167e-01 4.41324729e-03 1.99970056e+02] [ 4.75222258e-01 -3.02529759e-02 8.79345531e-01 2.28408716e+02] [-8.76942573e-01 6.51134692e-02 4.76163795e-01 -2.49704418e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.9707140569999 meters Centerline goodness : 0.993732 Centerline is valid? [True, True] Translation: X:199.97, Y:228.41, Z:-249.71 [[-7.32976392e-02 -9.97281693e-01 7.52868599e-03 1.99969133e+02] [ 4.75976517e-01 -2.83472890e-02 8.79001017e-01 2.28412515e+02] [-8.76398204e-01 6.80121771e-02 4.76760456e-01 -2.49708936e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.000714057 meters Centerline goodness : 0.993625 Centerline is valid? [True, True] Translation: X:199.97, Y:228.41, Z:-249.71 [[-7.49128426e-02 -9.97175006e-01 5.48392113e-03 1.99970634e+02] [ 4.75944293e-01 -3.09217016e-02 8.78931669e-01 2.28411695e+02] [-8.76279120e-01 6.84533107e-02 4.76916186e-01 -2.49709369e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.030714057 meters Centerline goodness : 0.992862 Centerline is valid? [True, True] Translation: X:199.98, Y:228.41, Z:-249.71 [[-7.60572418e-02 -9.97080599e-01 -6.75098794e-03 1.99975801e+02] [ 4.71721052e-01 -4.19461894e-02 8.80749548e-01 2.28409582e+02] [-8.78461465e-01 6.38027982e-02 4.73534220e-01 -2.49713684e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.0607140569999 meters Centerline goodness : 0.993618 Centerline is valid? [True, True] Translation: X:199.97, Y:228.42, Z:-249.73 [[-7.52059390e-02 -9.97154853e-01 5.12499720e-03 1.99970549e+02] [ 4.73186330e-01 -3.11629815e-02 8.80411021e-01 2.28421042e+02] [-8.77746412e-01 6.86372161e-02 4.74183687e-01 -2.49731990e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.0907140569999 meters Centerline goodness : 0.992070 Centerline is valid? [True, True] Translation: X:199.97, Y:228.42, Z:-249.73 [[-7.75544674e-02 -9.96987793e-01 -8.03284560e-04 1.99972903e+02] [ 4.68186129e-01 -3.71309512e-02 8.82849388e-01 2.28417768e+02] [-8.80219889e-01 6.80928273e-02 4.69655526e-01 -2.49730249e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.120714057 meters Centerline goodness : 0.992371 Centerline is valid? [True, True] Translation: X:199.97, Y:228.41, Z:-249.73 [[-7.48505845e-02 -9.97181434e-01 5.15535026e-03 1.99971078e+02] [ 4.63112529e-01 -3.01827816e-02 8.85785406e-01 2.28414725e+02] [-8.83133158e-01 6.86890626e-02 4.64066415e-01 -2.49729507e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.150714057 meters Centerline goodness : 0.991891 Centerline is valid? [True, True] Translation: X:199.96, Y:228.41, Z:-249.73 [[-7.19760731e-02 -9.97095055e-01 2.49178005e-02 1.99963927e+02] [ 4.53351660e-01 -1.04523363e-02 8.91270453e-01 2.28413367e+02] [-8.88420912e-01 7.54466735e-02 4.52787017e-01 -2.49725403e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.1807140569999 meters Centerline goodness : 0.992287 Centerline is valid? [True, True] Translation: X:199.97, Y:228.42, Z:-249.75 [[-7.60039399e-02 -9.97098856e-01 4.15615270e-03 1.99969726e+02] [ 4.57001748e-01 -3.11297544e-02 8.88920886e-01 2.28423357e+02] [-8.86212618e-01 6.94608586e-02 4.58041904e-01 -2.49745403e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.2107140569999 meters Centerline goodness : 0.992537 Centerline is valid? [True, True] Translation: X:199.97, Y:228.44, Z:-249.77 [[-7.79839813e-02 -9.96954296e-01 7.94115072e-04 1.99970753e+02] [ 4.56953238e-01 -3.50359320e-02 8.88800440e-01 2.28435559e+02] [-8.86065594e-01 6.96750703e-02 4.58293735e-01 -2.49769293e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.2407140569999 meters Centerline goodness : 0.991869 Centerline is valid? [True, True] Translation: X:199.96, Y:228.45, Z:-249.79 [[-7.89924116e-02 -9.96722342e-01 1.74577317e-02 1.99964396e+02] [ 4.59989589e-01 -2.09073676e-02 8.87678129e-01 2.28454431e+02] [-8.84403628e-01 7.81502109e-02 4.60133424e-01 -2.49793659e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.270714057 meters Centerline goodness : 0.992868 Centerline is valid? [True, True] Translation: X:199.97, Y:228.46, Z:-249.82 [[-7.94620771e-02 -9.96810510e-01 7.38827272e-03 1.99967669e+02] [ 4.53548271e-01 -2.95531052e-02 8.90741590e-01 2.28460053e+02] [-8.87682232e-01 7.41311152e-02 4.54450034e-01 -2.49821718e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.3007140569999 meters Centerline goodness : 0.992566 Centerline is valid? [True, True] Translation: X:199.97, Y:228.47, Z:-249.84 [[-8.03257735e-02 -9.96742791e-01 7.18185468e-03 1.99967048e+02] [ 4.53595514e-01 -3.01367086e-02 8.90697978e-01 2.28473386e+02] [-8.87580351e-01 7.48036611e-02 4.54538813e-01 -2.49844770e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.3307140569999 meters Centerline goodness : 0.993326 Centerline is valid? [True, True] Translation: X:199.97, Y:228.48, Z:-249.87 [[-8.00283646e-02 -9.96790927e-01 -1.81929025e-03 1.99969828e+02] [ 4.53351021e-01 -3.80230752e-02 8.90520689e-01 2.28484203e+02] [-8.87732118e-01 7.04421373e-02 4.54939109e-01 -2.49872824e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.3607140569999 meters Centerline goodness : 0.993447 Centerline is valid? [True, True] Translation: X:199.96, Y:228.50, Z:-249.90 [[-7.85350271e-02 -9.96698750e-01 2.05876563e-02 1.99961585e+02] [ 4.52193600e-01 -1.72107340e-02 8.91753744e-01 2.28501106e+02] [-8.88455513e-01 7.93435108e-02 4.52052441e-01 -2.49896973e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.390714057 meters Centerline goodness : 0.992657 Centerline is valid? [True, True] Translation: X:199.97, Y:228.51, Z:-249.92 [[-7.78468488e-02 -9.96939500e-01 7.17640686e-03 1.99966104e+02] [ 4.51925473e-01 -2.88709325e-02 8.91588378e-01 2.28508834e+02] [-8.88652483e-01 7.26505467e-02 4.52789867e-01 -2.49922983e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.4207140569999 meters Centerline goodness : 0.992860 Centerline is valid? [True, True] Translation: X:199.97, Y:228.51, Z:-249.92 [[-7.59241552e-02 -9.97103512e-01 4.48438830e-03 1.99967069e+02] [ 4.50332105e-01 -3.02771487e-02 8.92347628e-01 2.28506974e+02] [-8.89627179e-01 6.97702038e-02 4.51326490e-01 -2.49922627e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.4507140569999 meters Centerline goodness : 0.993793 Centerline is valid? [True, True] Translation: X:199.96, Y:228.52, Z:-249.94 [[-7.92266689e-02 -9.96856372e-01 -7.13439462e-04 1.99961998e+02] [ 4.50421829e-01 -3.64364030e-02 8.92072062e-01 2.28517637e+02] [-8.89293715e-01 7.03545492e-02 4.51892605e-01 -2.49942348e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.4807140569999 meters Centerline goodness : 0.992622 Centerline is valid? [True, True] Translation: X:199.97, Y:228.53, Z:-249.97 [[-7.20766767e-02 -9.97398180e-01 1.35056964e-03 1.99968537e+02] [ 4.47099813e-01 -3.10990501e-02 8.93943290e-01 2.28527142e+02] [-8.91575409e-01 6.50363010e-02 4.48178056e-01 -2.49974043e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.510714057 meters Centerline goodness : 0.992926 Centerline is valid? [True, True] Translation: X:199.97, Y:228.54, Z:-250.00 [[-7.08397754e-02 -9.97486822e-01 1.32874828e-03 1.99968593e+02] [ 4.46520067e-01 -3.05198460e-02 8.94252967e-01 2.28538395e+02] [-8.91964997e-01 6.39419921e-02 4.47559901e-01 -2.49999423e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.540714057 meters Centerline goodness : 0.993445 Centerline is valid? [True, True] Translation: X:199.97, Y:228.55, Z:-250.03 [[-6.90452926e-02 -9.97597827e-01 5.59667326e-03 1.99967078e+02] [ 4.45268302e-01 -2.57964824e-02 8.95025520e-01 2.28552347e+02] [-8.92731139e-01 6.42893201e-02 4.45979816e-01 -2.50031234e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.5707140569999 meters Centerline goodness : 0.993387 Centerline is valid? [True, True] Translation: X:199.96, Y:228.56, Z:-250.03 [[-6.72862997e-02 -9.97653821e-01 1.26256278e-02 1.99962792e+02] [ 4.51096416e-01 -1.91320252e-02 8.92270132e-01 2.28559363e+02] [-8.89935154e-01 6.57329310e-02 4.51325387e-01 -2.50033201e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.6007140569999 meters Centerline goodness : 0.993667 Centerline is valid? [True, True] Translation: X:199.96, Y:228.56, Z:-250.04 [[-6.55189294e-02 -9.97642063e-01 2.04348822e-02 1.99959026e+02] [ 4.50361865e-01 -1.12901021e-02 8.92774733e-01 2.28564210e+02] [-8.90438914e-01 6.76967364e-02 4.50039656e-01 -2.50038401e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.630714057 meters Centerline goodness : 0.993996 Centerline is valid? [True, True] Translation: X:199.96, Y:228.58, Z:-250.07 [[-7.89802956e-02 -9.96876017e-01 -5.65598563e-04 1.99958519e+02] [ 4.57905211e-01 -3.67827848e-02 8.88239745e-01 2.28580704e+02] [-8.85485703e-01 6.98944471e-02 4.59379838e-01 -2.50073024e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.660714057 meters Centerline goodness : 0.992833 Centerline is valid? [True, True] Translation: X:199.97, Y:228.56, Z:-250.07 [[-6.42942446e-02 -9.97528985e-01 -2.83226971e-02 1.99973987e+02] [ 4.55841388e-01 -5.46043505e-02 8.88384486e-01 2.28564598e+02] [-8.87735816e-01 4.42073519e-02 4.58225742e-01 -2.50065841e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.6907140569999 meters Centerline goodness : 0.993397 Centerline is valid? [True, True] Translation: X:199.96, Y:228.57, Z:-250.07 [[-6.30760095e-02 -9.97976283e-01 -8.04703365e-03 1.99964576e+02] [ 4.59633541e-01 -3.62058190e-02 8.87370355e-01 2.28574236e+02] [-8.85865919e-01 5.22730944e-02 4.60987091e-01 -2.50066687e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.7207140569999 meters Centerline goodness : 0.993407 Centerline is valid? [True, True] Translation: X:199.96, Y:228.58, Z:-250.07 [[-5.99271602e-02 -9.98168795e-01 8.23361086e-03 1.99957925e+02] [ 4.56949306e-01 -2.00986117e-02 8.89265640e-01 2.28580110e+02] [-8.87471728e-01 5.70535072e-02 4.57316991e-01 -2.50069168e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.750714057 meters Centerline goodness : 0.993353 Centerline is valid? [True, True] Translation: X:199.95, Y:228.60, Z:-250.10 [[-5.76100286e-02 -9.97719224e-01 3.51772007e-02 1.99947333e+02] [ 4.55228098e-01 5.10632254e-03 8.90360211e-01 2.28598808e+02] [-8.88509124e-01 6.73073273e-02 4.53895649e-01 -2.50096712e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.780714057 meters Centerline goodness : 0.993057 Centerline is valid? [True, True] Translation: X:199.96, Y:228.60, Z:-250.11 [[-6.12132063e-02 -9.98080646e-01 9.37914336e-03 1.99955713e+02] [ 4.62094286e-01 -2.00090815e-02 8.86605046e-01 2.28602106e+02] [-8.84715669e-01 5.86059861e-02 4.62432184e-01 -2.50113304e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.8107140569999 meters Centerline goodness : 0.993290 Centerline is valid? [True, True] Translation: X:199.96, Y:228.60, Z:-250.12 [[-6.10167652e-02 -9.98132350e-01 -2.96087653e-03 1.99960093e+02] [ 4.60252373e-01 -3.07676261e-02 8.87254815e-01 2.28598840e+02] [-8.85688832e-01 5.27746682e-02 4.61270124e-01 -2.50118542e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.8407140569999 meters Centerline goodness : 0.993656 Centerline is valid? [True, True] Translation: X:199.96, Y:228.61, Z:-250.13 [[-6.14307478e-02 -9.98111207e-01 5.31779632e-04 1.99957296e+02] [ 4.61268872e-01 -2.79172282e-02 8.86821096e-01 2.28605742e+02] [-8.85131228e-01 5.47233765e-02 4.62112607e-01 -2.50129072e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.870714057 meters Centerline goodness : 0.992640 Centerline is valid? [True, True] Translation: X:199.95, Y:228.61, Z:-250.13 [[-6.29876362e-02 -9.97986262e-01 7.48186980e-03 1.99953923e+02] [ 4.62743725e-01 -2.25620976e-02 8.86204941e-01 2.28612463e+02] [-8.84251550e-01 5.92821427e-02 4.63233013e-01 -2.50134427e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.900714057 meters Centerline goodness : 0.992290 Centerline is valid? [True, True] Translation: X:199.95, Y:228.61, Z:-250.14 [[-6.48134770e-02 -9.97882242e-01 5.49950171e-03 1.99954298e+02] [ 4.60361707e-01 -2.50104665e-02 8.87379048e-01 2.28614287e+02] [-8.85362249e-01 6.00458816e-02 4.61007788e-01 -2.50141455e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.9307140569999 meters Centerline goodness : 0.992666 Centerline is valid? [True, True] Translation: X:199.96, Y:228.61, Z:-250.14 [[-6.57615880e-02 -9.97835337e-01 2.30815368e-04 1.99955441e+02] [ 4.61137561e-01 -3.01857898e-02 8.86815070e-01 2.28613482e+02] [-8.84888447e-01 5.84248048e-02 4.62124419e-01 -2.50140707e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.9607140569999 meters Centerline goodness : 0.992725 Centerline is valid? [True, True] Translation: X:199.95, Y:228.62, Z:-250.15 [[-6.56808621e-02 -9.97827000e-01 5.22516767e-03 1.99952492e+02] [ 4.60198687e-01 -2.56449214e-02 8.87445495e-01 2.28617545e+02] [-8.85383077e-01 6.06928005e-02 4.60883055e-01 -2.50145148e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.9907140569999 meters Centerline goodness : 0.993004 Centerline is valid? [True, True] Translation: X:199.95, Y:228.63, Z:-250.17 [[-6.65286410e-02 -9.97774747e-01 4.41519221e-03 1.99952182e+02] [ 4.58870251e-01 -2.66662076e-02 8.88103038e-01 2.28630042e+02] [-8.86009048e-01 6.11102886e-02 4.59623215e-01 -2.50170475e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.020714057 meters Centerline goodness : 0.994608 Centerline is valid? [True, True] Translation: X:199.95, Y:228.64, Z:-250.18 [[-6.52284855e-02 -9.97812659e-01 1.07304628e-02 1.99947898e+02] [ 4.62447662e-01 -2.06985000e-02 8.86404948e-01 2.28637035e+02] [-8.84243973e-01 6.27811297e-02 4.62786263e-01 -2.50177742e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.0507140569999 meters Centerline goodness : 0.993038 Centerline is valid? [True, True] Translation: X:199.94, Y:228.66, Z:-250.20 [[-6.17157819e-02 -9.97183649e-01 4.26137540e-02 1.99935641e+02] [ 4.56931104e-01 9.73029880e-03 8.89448867e-01 2.28656658e+02] [-8.87358512e-01 7.43645820e-02 4.55043713e-01 -2.50195529e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.0807140569999 meters Centerline goodness : 0.992742 Centerline is valid? [True, True] Translation: X:199.94, Y:228.67, Z:-250.22 [[-6.10905300e-02 -9.97671021e-01 3.03394314e-02 1.99937761e+02] [ 4.57161126e-01 -9.47034884e-04 8.89383387e-01 2.28665450e+02] [-8.87283299e-01 6.82029110e-02 4.56154262e-01 -2.50222299e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.1107140569999 meters Centerline goodness : 0.992777 Centerline is valid? [True, True] Translation: X:199.94, Y:228.68, Z:-250.25 [[-6.11604632e-02 -9.97959939e-01 1.83127591e-02 1.99939920e+02] [ 4.59608388e-01 -1.18715752e-02 8.88042339e-01 2.28675259e+02] [-8.86013277e-01 6.27297785e-02 4.59396830e-01 -2.50246364e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.140714057 meters Centerline goodness : 0.992777 Centerline is valid? [True, True] Translation: X:199.94, Y:228.69, Z:-250.27 [[-6.15228636e-02 -9.98011254e-01 1.37286270e-02 1.99941628e+02] [ 4.59114591e-01 -1.60838328e-02 8.88231447e-01 2.28686412e+02] [-8.86244171e-01 6.09495551e-02 4.59191052e-01 -2.50272398e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.1707140569999 meters Centerline goodness : 0.993133 Centerline is valid? [True, True] Translation: X:199.94, Y:228.70, Z:-250.30 [[-6.03818091e-02 -9.98015318e-01 1.78735238e-02 1.99937963e+02] [ 4.57458287e-01 -1.17531807e-02 8.89153406e-01 2.28699216e+02] [-8.87178648e-01 6.18650828e-02 4.57260056e-01 -2.50298676e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.2007140569999 meters Centerline goodness : 0.992898 Centerline is valid? [True, True] Translation: X:199.93, Y:228.71, Z:-250.32 [[-5.97044793e-02 -9.97969610e-01 2.21818310e-02 1.99933917e+02] [ 4.59367296e-01 -7.73981634e-03 8.88212690e-01 2.28714631e+02] [-8.86237588e-01 6.32198839e-02 4.58896703e-01 -2.50319231e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.2307140569999 meters Centerline goodness : 0.993579 Centerline is valid? [True, True] Translation: X:199.94, Y:228.72, Z:-250.35 [[-6.07459770e-02 -9.98146456e-01 3.68486125e-03 1.99939634e+02] [ 4.57950026e-01 -2.45896928e-02 8.88637790e-01 2.28721099e+02] [-8.86900051e-01 5.56686530e-02 4.58594920e-01 -2.50348557e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.260714057 meters Centerline goodness : 0.994481 Centerline is valid? [True, True] Translation: X:199.93, Y:228.74, Z:-250.38 [[-6.39152922e-02 -9.97725923e-01 2.13967014e-02 1.99930733e+02] [ 4.61320053e-01 -1.05268044e-02 8.87171345e-01 2.28741793e+02] [-8.84928610e-01 6.65745431e-02 4.60943799e-01 -2.50376314e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.290714057 meters Centerline goodness : 0.994469 Centerline is valid? [True, True] Translation: X:199.92, Y:228.76, Z:-250.40 [[-6.48163455e-02 -9.97136340e-01 3.89610253e-02 1.99922683e+02] [ 4.62395943e-01 4.58757048e-03 8.86661687e-01 2.28761001e+02] [-8.84301325e-01 7.54855903e-02 4.60774448e-01 -2.50398808e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.3207140569999 meters Centerline goodness : 0.995213 Centerline is valid? [True, True] Translation: X:199.92, Y:228.77, Z:-250.42 [[-6.49440735e-02 -9.96890062e-01 4.46371151e-02 1.99919492e+02] [ 4.61811565e-01 9.62782695e-03 8.86925805e-01 2.28774955e+02] [-8.84597279e-01 7.82145106e-02 4.59750089e-01 -2.50423155e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.3507140569999 meters Centerline goodness : 0.994376 Centerline is valid? [True, True] Translation: X:199.93, Y:228.77, Z:-250.43 [[-6.56634927e-02 -9.97678158e-01 1.80720585e-02 1.99928321e+02] [ 4.58607658e-01 -1.40889781e-02 8.88527162e-01 2.28768099e+02] [-8.86209525e-01 6.66317812e-02 4.58467975e-01 -2.50431918e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.380714057 meters Centerline goodness : 0.994452 Centerline is valid? [True, True] Translation: X:199.93, Y:228.77, Z:-250.45 [[-6.54431243e-02 -9.97823322e-01 -8.11272676e-03 1.99934767e+02] [ 4.59524412e-01 -3.73530849e-02 8.87379322e-01 2.28766509e+02] [-8.85750818e-01 5.43448793e-02 4.60968678e-01 -2.50447893e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.410714057 meters Centerline goodness : 0.993982 Centerline is valid? [True, True] Translation: X:199.93, Y:228.76, Z:-250.44 [[-5.86745901e-02 -9.98111079e-01 1.82089739e-02 1.99926092e+02] [ 4.46012255e-01 -9.89174578e-03 8.94972190e-01 2.28762566e+02] [-8.93101540e-01 6.06335520e-02 4.45750167e-01 -2.50438710e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.4407140569999 meters Centerline goodness : 0.994225 Centerline is valid? [True, True] Translation: X:199.93, Y:228.77, Z:-250.45 [[-6.45255419e-02 -9.97826017e-01 -1.34050279e-02 1.99934966e+02] [ 4.58550938e-01 -4.15782134e-02 8.87694930e-01 2.28766043e+02] [-8.86322454e-01 5.11321083e-02 4.60236913e-01 -2.50452076e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.4707140569999 meters Centerline goodness : 0.993708 Centerline is valid? [True, True] Translation: X:199.93, Y:228.77, Z:-250.46 [[-6.22582469e-02 -9.98036652e-01 -6.83759320e-03 1.99930987e+02] [ 4.56481812e-01 -3.45666613e-02 8.89061022e-01 2.28769145e+02] [-8.87551839e-01 5.22301437e-02 4.57737639e-01 -2.50455301e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.500714057 meters Centerline goodness : 0.995457 Centerline is valid? [True, True] Translation: X:199.92, Y:228.78, Z:-250.46 [[-6.12756396e-02 -9.98079431e-01 9.09641141e-03 1.99923515e+02] [ 4.56408739e-01 -1.99132934e-02 8.89547370e-01 2.28779463e+02] [-8.87657794e-01 5.86592657e-02 4.56752374e-01 -2.50462311e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.530714057 meters Centerline goodness : 0.994802 Centerline is valid? [True, True] Translation: X:199.90, Y:228.81, Z:-250.48 [[-5.95451464e-02 -9.95756200e-01 7.01709795e-02 1.99900995e+02] [ 4.57118055e-01 3.52919498e-02 8.88705555e-01 2.28809730e+02] [-8.87410536e-01 8.49945240e-02 4.53076672e-01 -2.50481077e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.5607140569999 meters Centerline goodness : 0.994703 Centerline is valid? [True, True] Translation: X:199.91, Y:228.82, Z:-250.51 [[-6.33420168e-02 -9.97066336e-01 4.29710367e-02 1.99907783e+02] [ 4.59089129e-01 9.12016096e-03 8.88343399e-01 2.28817210e+02] [-8.86129201e-01 7.59969983e-02 4.57164626e-01 -2.50505590e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.5907140569999 meters Centerline goodness : 0.994410 Centerline is valid? [True, True] Translation: X:199.91, Y:228.83, Z:-250.53 [[-6.15284757e-02 -9.97061551e-01 4.56345193e-02 1.99905991e+02] [ 4.56915591e-01 1.25117935e-02 8.89422058e-01 2.28828068e+02] [-8.87379507e-01 7.55759068e-02 4.54803136e-01 -2.50527132e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.620714057 meters Centerline goodness : 0.994911 Centerline is valid? [True, True] Translation: X:199.91, Y:228.84, Z:-250.56 [[-6.56714877e-02 -9.97549634e-01 2.41243504e-02 1.99912911e+02] [ 4.58037630e-01 -8.65731677e-03 8.88890646e-01 2.28835344e+02] [-8.86503686e-01 6.94246314e-02 4.57483809e-01 -2.50558970e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.650714057 meters Centerline goodness : 0.994328 Centerline is valid? [True, True] Translation: X:199.90, Y:228.86, Z:-250.58 [[-6.49409351e-02 -9.96188821e-01 5.82280724e-02 1.99900306e+02] [ 4.59012055e-01 2.19908577e-02 8.88157833e-01 2.28858141e+02] [-8.86053389e-01 8.44051873e-02 4.55834571e-01 -2.50581774e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.6807140569999 meters Centerline goodness : 0.994412 Centerline is valid? [True, True] Translation: X:199.90, Y:228.87, Z:-250.61 [[-6.77429159e-02 -9.96462349e-01 4.97361513e-02 1.99900274e+02] [ 4.59131949e-01 1.31226751e-02 8.88271157e-01 2.28869598e+02] [-8.85781435e-01 8.30095344e-02 4.56618732e-01 -2.50606092e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.7107140569999 meters Centerline goodness : 0.994306 Centerline is valid? [True, True] Translation: X:199.90, Y:228.88, Z:-250.63 [[-6.92599639e-02 -9.96848766e-01 3.86729395e-02 1.99902946e+02] [ 4.59005486e-01 2.57560092e-03 8.88429699e-01 2.28879702e+02] [-8.85729655e-01 7.92837002e-02 4.57380666e-01 -2.50633493e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.7407140569999 meters Centerline goodness : 0.995176 Centerline is valid? [True, True] Translation: X:199.91, Y:228.88, Z:-250.64 [[-6.85368613e-02 -9.97303523e-01 2.62370297e-02 1.99906695e+02] [ 4.57240974e-01 -8.02674090e-03 8.89306620e-01 2.28876418e+02] [-8.86698027e-01 7.29469294e-02 4.56558162e-01 -2.50637956e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.770714057 meters Centerline goodness : 0.994565 Centerline is valid? [True, True] Translation: X:199.91, Y:228.88, Z:-250.64 [[-6.81958579e-02 -9.97482156e-01 1.94595145e-02 1.99907682e+02] [ 4.57987215e-01 -1.39714393e-02 8.88848980e-01 2.28875324e+02] [-8.86339120e-01 6.95280276e-02 4.57786869e-01 -2.50639212e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.8007140569999 meters Centerline goodness : 0.994314 Centerline is valid? [True, True] Translation: X:199.90, Y:228.90, Z:-250.66 [[-6.90433378e-02 -9.96532893e-01 4.64242463e-02 1.99895662e+02] [ 4.57429296e-01 9.73139741e-03 8.89192746e-01 2.28896436e+02] [-8.86561592e-01 8.26286454e-02 4.55171452e-01 -2.50660503e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.8307140569999 meters Centerline goodness : 0.994781 Centerline is valid? [True, True] Translation: X:199.90, Y:228.89, Z:-250.66 [[-6.88705040e-02 -9.97310499e-01 2.50723478e-02 1.99902782e+02] [ 4.56277920e-01 -9.13953719e-03 8.89790384e-01 2.28888450e+02] [-8.87168143e-01 7.27202710e-02 4.55680205e-01 -2.50663365e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.8607140569999 meters Centerline goodness : 0.994483 Centerline is valid? [True, True] Translation: X:199.90, Y:228.90, Z:-250.69 [[-6.79285655e-02 -9.97447638e-01 2.19981684e-02 1.99902760e+02] [ 4.54027745e-01 -1.12716973e-02 8.90916245e-01 2.28898865e+02] [-8.88394347e-01 7.05064413e-02 4.53634572e-01 -2.50689621e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.890714057 meters Centerline goodness : 0.994298 Centerline is valid? [True, True] Translation: X:199.90, Y:228.90, Z:-250.68 [[-6.79572374e-02 -9.97215979e-01 3.06937245e-02 1.99897876e+02] [ 4.54696635e-01 -3.57283937e-03 8.90639212e-01 2.28899720e+02] [-8.88049990e-01 7.44817135e-02 4.53673550e-01 -2.50684389e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.9207140569999 meters Centerline goodness : 0.994544 Centerline is valid? [True, True] Translation: X:199.90, Y:228.90, Z:-250.70 [[-6.85582500e-02 -9.97186733e-01 3.03049008e-02 1.99897307e+02] [ 4.54313666e-01 -4.16208155e-03 8.90832066e-01 2.28904907e+02] [-8.88199786e-01 7.48418180e-02 4.53320905e-01 -2.50695111e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.9507140569999 meters Centerline goodness : 0.994286 Centerline is valid? [True, True] Translation: X:199.88, Y:228.93, Z:-250.72 [[-6.88165312e-02 -9.95327775e-01 6.77266954e-02 1.99883599e+02] [ 4.54724369e-01 2.91308550e-02 8.90155684e-01 2.28928650e+02] [-8.87969613e-01 9.20544052e-02 4.50595110e-01 -2.50717786e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.9807140569999 meters Centerline goodness : 0.994180 Centerline is valid? [True, True] Translation: X:199.90, Y:228.92, Z:-250.74 [[-7.45274245e-02 -9.97064544e-01 1.75487125e-02 1.99899409e+02] [ 4.58474141e-01 -1.86313392e-02 8.88512429e-01 2.28920466e+02] [-8.85577284e-01 7.42641738e-02 4.58516856e-01 -2.50738629e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.010714057 meters Centerline goodness : 0.994581 Centerline is valid? [True, True] Translation: X:199.89, Y:228.93, Z:-250.76 [[-8.65848710e-02 -9.96120374e-01 1.57245578e-02 1.99893747e+02] [ 4.62968153e-01 -2.62561647e-02 8.85985950e-01 2.28933490e+02] [-8.82135789e-01 8.39929487e-02 4.63445396e-01 -2.50760213e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.040714057 meters Centerline goodness : 0.994712 Centerline is valid? [True, True] Translation: X:199.90, Y:228.92, Z:-250.76 [[-7.43370403e-02 -9.97227804e-01 3.27281397e-03 1.99904848e+02] [ 4.52218467e-01 -3.07846163e-02 8.91375771e-01 2.28919490e+02] [-8.88803951e-01 6.77422636e-02 4.53253266e-01 -2.50757552e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.0707140569999 meters Centerline goodness : 0.994090 Centerline is valid? [True, True] Translation: X:199.89, Y:228.93, Z:-250.76 [[-7.67968370e-02 -9.96508111e-01 3.27693479e-02 1.99892842e+02] [ 4.55931223e-01 -5.86999604e-03 8.89995653e-01 2.28934514e+02] [-8.86695532e-01 8.32894200e-02 4.54789959e-01 -2.50759445e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.1007140569999 meters Centerline goodness : 0.994088 Centerline is valid? [True, True] Translation: X:199.89, Y:228.94, Z:-250.77 [[-7.83640441e-02 -9.96378061e-01 3.30126691e-02 1.99892040e+02] [ 4.54111043e-01 -6.19665748e-03 8.90923545e-01 2.28937556e+02] [-8.87492106e-01 8.48077895e-02 4.52951875e-01 -2.50770507e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.130714057 meters Centerline goodness : 0.993726 Centerline is valid? [True, True] Translation: X:199.88, Y:228.96, Z:-250.79 [[-8.08176403e-02 -9.95242644e-01 5.44112955e-02 1.99882546e+02] [ 4.57897056e-01 1.14160882e-02 8.88931921e-01 2.28959469e+02] [-8.85324119e-01 9.67561522e-02 4.54796055e-01 -2.50790533e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.160714057 meters Centerline goodness : 0.994587 Centerline is valid? [True, True] Translation: X:199.89, Y:228.95, Z:-250.81 [[-8.07804447e-02 -9.96336482e-01 2.80737383e-02 1.99891374e+02] [ 4.55076209e-01 -1.18083867e-02 8.90374194e-01 2.28954988e+02] [-8.86780787e-01 8.47005138e-02 4.54362916e-01 -2.50808786e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.1907140569999 meters Centerline goodness : 0.994208 Centerline is valid? [True, True] Translation: X:199.88, Y:228.98, Z:-250.83 [[-8.20026252e-02 -9.95089164e-01 5.54357781e-02 1.99878838e+02] [ 4.58487670e-01 1.17219047e-02 8.88623460e-01 2.28978743e+02] [-8.84909388e-01 9.82860773e-02 4.55274886e-01 -2.50828435e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.2207140569999 meters Centerline goodness : 0.995151 Centerline is valid? [True, True] Translation: X:199.89, Y:228.97, Z:-250.83 [[-8.03560349e-02 -9.96305729e-01 3.02952620e-02 1.99887461e+02] [ 4.55386425e-01 -9.65862977e-03 8.90241492e-01 2.28966812e+02] [-8.86660088e-01 8.53323275e-02 4.54480233e-01 -2.50830205e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.250714057 meters Centerline goodness : 0.995033 Centerline is valid? [True, True] Translation: X:199.88, Y:228.99, Z:-250.85 [[-7.97464710e-02 -9.95326043e-01 5.44662148e-02 1.99877648e+02] [ 4.57328055e-01 1.20181500e-02 8.89216854e-01 2.28989676e+02] [-8.85715276e-01 9.58208342e-02 4.54232118e-01 -2.50850034e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.280714057 meters Centerline goodness : 0.994118 Centerline is valid? [True, True] Translation: X:199.88, Y:228.98, Z:-250.86 [[-7.78638510e-02 -9.96334956e-01 3.54101132e-02 1.99883841e+02] [ 4.55347434e-01 -3.94375459e-03 8.90305095e-01 2.28984195e+02] [-8.86902439e-01 8.54464874e-02 4.53985641e-01 -2.50857073e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.3107140569999 meters Centerline goodness : 0.993666 Centerline is valid? [True, True] Translation: X:199.87, Y:229.01, Z:-250.87 [[-7.74690871e-02 -9.94286450e-01 7.34370166e-02 1.99866211e+02] [ 4.58869393e-01 2.98345366e-02 8.88002692e-01 2.29011825e+02] [-8.85120004e-01 1.02490757e-01 4.53936365e-01 -2.50872675e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.3407140569999 meters Centerline goodness : 0.993680 Centerline is valid? [True, True] Translation: X:199.87, Y:229.02, Z:-250.90 [[-7.81752115e-02 -9.95421120e-01 5.50039170e-02 1.99870850e+02] [ 4.57718285e-01 1.31765723e-02 8.88999634e-01 2.29018665e+02] [-8.85653774e-01 9.46740330e-02 4.54592366e-01 -2.50900426e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.370714057 meters Centerline goodness : 0.994019 Centerline is valid? [True, True] Translation: X:199.87, Y:229.03, Z:-250.93 [[-7.80131231e-02 -9.95813864e-01 4.76308802e-02 1.99872240e+02] [ 4.57681027e-01 6.67100701e-03 8.89091433e-01 2.29029611e+02] [-8.85687321e-01 9.11605495e-02 4.55244686e-01 -2.50926925e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.400714057 meters Centerline goodness : 0.993637 Centerline is valid? [True, True] Translation: X:199.88, Y:229.04, Z:-250.95 [[-7.67984679e-02 -9.96638997e-01 2.85079697e-02 1.99877968e+02] [ 4.48609026e-01 -9.00567351e-03 8.93682740e-01 2.29035389e+02] [-8.90422337e-01 8.14223978e-02 4.47792872e-01 -2.50953351e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.4307140569999 meters Centerline goodness : 0.993237 Centerline is valid? [True, True] Translation: X:199.88, Y:229.04, Z:-250.96 [[-7.69936606e-02 -9.96859450e-01 1.85260295e-02 1.99881053e+02] [ 4.50294406e-01 -1.81888464e-02 8.92694860e-01 2.29035664e+02] [-8.89554340e-01 7.70740125e-02 4.50280660e-01 -2.50959776e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.4607140569999 meters Centerline goodness : 0.993947 Centerline is valid? [True, True] Translation: X:199.88, Y:229.04, Z:-250.96 [[-7.57193179e-02 -9.96803373e-01 2.54876549e-02 1.99877479e+02] [ 4.54400784e-01 -1.17420895e-02 8.90719962e-01 2.29040786e+02] [-8.87573385e-01 7.90263183e-02 4.53837337e-01 -2.50964735e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.4907140569999 meters Centerline goodness : 0.993866 Centerline is valid? [True, True] Translation: X:199.87, Y:229.06, Z:-250.98 [[-7.66084864e-02 -9.95851774e-01 4.90956619e-02 1.99867821e+02] [ 4.57621232e-01 8.62934268e-03 8.89105361e-01 2.29063779e+02] [-8.85840814e-01 9.05802333e-02 4.55061835e-01 -2.50983753e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.520714057 meters Centerline goodness : 0.992218 Centerline is valid? [True, True] Translation: X:199.88, Y:229.05, Z:-250.99 [[-7.68329729e-02 -9.96934781e-01 1.47559389e-02 1.99880638e+02] [ 4.52332531e-01 -2.16642674e-02 8.91586194e-01 2.29052269e+02] [-8.88533610e-01 7.51778091e-02 4.52610562e-01 -2.50993253e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.5507140569999 meters Centerline goodness : 0.994152 Centerline is valid? [True, True] Translation: X:199.87, Y:229.07, Z:-251.02 [[-8.78112358e-02 -9.95897191e-01 2.18625845e-02 1.99870671e+02] [ 4.58623546e-01 -2.09358257e-02 8.88384002e-01 2.29071251e+02] [-8.84281420e-01 8.80367931e-02 4.58580301e-01 -2.51017627e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.5807140569999 meters Centerline goodness : 0.994646 Centerline is valid? [True, True] Translation: X:199.88, Y:229.06, Z:-251.02 [[-8.77055121e-02 -9.96099969e-01 -9.62261732e-03 1.99882585e+02] [ 4.56713428e-01 -4.87941114e-02 8.88274721e-01 2.29056860e+02] [-8.85279949e-01 7.35118107e-02 4.59211744e-01 -2.51019089e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.6107140569999 meters Centerline goodness : 0.994169 Centerline is valid? [True, True] Translation: X:199.90, Y:229.04, Z:-251.00 [[-7.54342616e-02 -9.96619799e-01 -3.25368747e-02 1.99897404e+02] [ 4.56701170e-01 -6.35372256e-02 8.87348332e-01 2.29035312e+02] [-8.86416219e-01 5.20768374e-02 4.59950312e-01 -2.50995869e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.640714057 meters Centerline goodness : 0.993521 Centerline is valid? [True, True] Translation: X:199.87, Y:229.08, Z:-251.01 [[-7.47009226e-02 -9.96180004e-01 4.52235811e-02 1.99867203e+02] [ 4.61684494e-01 5.64781960e-03 8.87026229e-01 2.29075017e+02] [-8.83893206e-01 8.71407038e-02 4.59498964e-01 -2.51006464e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.6707140569999 meters Centerline goodness : 0.993580 Centerline is valid? [True, True] Translation: X:199.87, Y:229.08, Z:-251.03 [[-7.65569265e-02 -9.96576914e-01 3.12008311e-02 1.99871058e+02] [ 4.60320749e-01 -7.56903681e-03 8.87720405e-01 2.29082717e+02] [-8.84445501e-01 8.23235357e-02 4.59324494e-01 -2.51033566e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.7007140569999 meters Centerline goodness : 0.993478 Centerline is valid? [True, True] Translation: X:199.88, Y:229.08, Z:-251.04 [[-7.93011350e-02 -9.96832084e-01 6.09308959e-03 1.99878930e+02] [ 4.65978989e-01 -3.16652892e-02 8.84228981e-01 2.29079074e+02] [-8.81234879e-01 7.29596135e-02 4.67013900e-01 -2.51039615e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.7307140569999 meters Centerline goodness : 0.993971 Centerline is valid? [True, True] Translation: X:199.87, Y:229.09, Z:-251.05 [[-7.53572408e-02 -9.96919959e-01 2.17228610e-02 1.99873539e+02] [ 4.60787733e-01 -1.54950917e-02 8.87375100e-01 2.29085439e+02] [-8.84305350e-01 7.68797669e-02 4.60536155e-01 -2.51046209e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.760714057 meters Centerline goodness : 0.993599 Centerline is valid? [True, True] Translation: X:199.87, Y:229.10, Z:-251.07 [[-7.75513122e-02 -9.96660535e-01 2.55650666e-02 1.99869693e+02] [ 4.63036192e-01 -1.32966930e-02 8.86239631e-01 2.29102175e+02] [-8.82940133e-01 8.05665974e-02 4.62521075e-01 -2.51067852e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.790714057 meters Centerline goodness : 0.993450 Centerline is valid? [True, True] Translation: X:199.85, Y:229.12, Z:-251.08 [[-8.23441961e-02 -9.94724570e-01 6.11756805e-02 1.99851085e+02] [ 4.70017937e-01 1.53667676e-02 8.82523088e-01 2.29123331e+02] [-8.78807472e-01 1.01424321e-01 4.66273026e-01 -2.51084887e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.8207140569999 meters Centerline goodness : 0.993489 Centerline is valid? [True, True] Translation: X:199.88, Y:229.12, Z:-251.13 [[-8.06640534e-02 -9.96740352e-01 1.40758984e-03 1.99879605e+02] [ 4.64220049e-01 -3.63185748e-02 8.84974975e-01 2.29115808e+02] [-8.82039147e-01 7.20391001e-02 4.65636459e-01 -2.51130167e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.8507140569999 meters Centerline goodness : 0.994224 Centerline is valid? [True, True] Translation: X:199.88, Y:229.14, Z:-251.17 [[-8.37709342e-02 -9.96477288e-01 3.93008762e-03 1.99877458e+02] [ 4.61745444e-01 -3.53220048e-02 8.86308920e-01 2.29136025e+02] [-8.83047890e-01 7.60616262e-02 4.63077805e-01 -2.51166114e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.880714057 meters Centerline goodness : 0.993746 Centerline is valid? [True, True] Translation: X:199.87, Y:229.12, Z:-251.14 [[-8.21876099e-02 -9.96545373e-01 1.19380298e-02 1.99874933e+02] [ 4.61186131e-01 -2.74108814e-02 8.86879922e-01 2.29123173e+02] [-8.83488851e-01 7.83961948e-02 4.61845740e-01 -2.51135618e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.910714057 meters Centerline goodness : 0.993251 Centerline is valid? [True, True] Translation: X:199.87, Y:229.13, Z:-251.15 [[-8.28363176e-02 -9.96421722e-01 1.67897972e-02 1.99873494e+02] [ 4.60728948e-01 -2.33521773e-02 8.87233629e-01 2.29130024e+02] [-8.83666782e-01 8.12307122e-02 4.61014740e-01 -2.51146021e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.9407140569999 meters Centerline goodness : 0.993301 Centerline is valid? [True, True] Translation: X:199.87, Y:229.13, Z:-251.15 [[-8.26813880e-02 -9.96494512e-01 1.27466153e-02 1.99874927e+02] [ 4.60240031e-01 -2.68361544e-02 8.87388829e-01 2.29130544e+02] [-8.83936028e-01 7.92370427e-02 4.60845516e-01 -2.51150311e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.9707140569999 meters Centerline goodness : 0.993612 Centerline is valid? [True, True] Translation: X:199.87, Y:229.14, Z:-251.16 [[-8.31311555e-02 -9.96105401e-01 2.93809776e-02 1.99868557e+02] [ 4.63104987e-01 -1.25093040e-02 8.86215148e-01 2.29141528e+02] [-8.82396159e-01 8.72785665e-02 4.62341292e-01 -2.51157968e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.000714057 meters Centerline goodness : 0.993967 Centerline is valid? [True, True] Translation: X:199.87, Y:229.15, Z:-251.18 [[-8.22425336e-02 -9.96228203e-01 2.76682851e-02 1.99870133e+02] [ 4.56934068e-01 -1.30202064e-02 8.89405269e-01 2.29152505e+02] [-8.85690365e-01 8.57895247e-02 4.56281420e-01 -2.51182281e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.030714057 meters Centerline goodness : 0.993679 Centerline is valid? [True, True] Translation: X:199.87, Y:229.17, Z:-251.21 [[-8.38560949e-02 -9.96009410e-01 3.05517608e-02 1.99870334e+02] [ 4.55214292e-01 -1.10157993e-02 8.90313765e-01 2.29165510e+02] [-8.86424336e-01 8.85658337e-02 4.54321461e-01 -2.51207837e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.0607140569999 meters Centerline goodness : 0.993679 Centerline is valid? [True, True] Translation: X:199.88, Y:229.16, Z:-251.22 [[-8.34204881e-02 -9.96358639e-01 1.76205720e-02 1.99875108e+02] [ 4.54273301e-01 -2.22842527e-02 8.90583618e-01 2.29162958e+02] [-8.86948020e-01 8.22974755e-02 4.54478091e-01 -2.51215006e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.0907140569999 meters Centerline goodness : 0.994051 Centerline is valid? [True, True] Translation: X:199.87, Y:229.17, Z:-251.21 [[-8.15485529e-02 -9.96146236e-01 3.22879353e-02 1.99870184e+02] [ 4.56744768e-01 -8.55790851e-03 8.89556619e-01 2.29166665e+02] [-8.85852161e-01 8.72894005e-02 4.55682466e-01 -2.51210639e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.120714057 meters Centerline goodness : 0.994226 Centerline is valid? [True, True] Translation: X:199.86, Y:229.19, Z:-251.22 [[-8.66023819e-02 -9.95007764e-01 4.95941162e-02 1.99857065e+02] [ 4.61768728e-01 4.01934119e-03 8.86991255e-01 2.29185810e+02] [-8.82762522e-01 9.97165674e-02 4.59115385e-01 -2.51220925e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.150714057 meters Centerline goodness : 0.994422 Centerline is valid? [True, True] Translation: X:199.87, Y:229.18, Z:-251.25 [[-8.79331812e-02 -9.96102946e-01 6.83207037e-03 1.99874071e+02] [ 4.58595285e-01 -3.43930358e-02 8.87979439e-01 2.29180782e+02] [-8.84283959e-01 8.12160121e-02 4.59832404e-01 -2.51254664e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.1807140569999 meters Centerline goodness : 0.994453 Centerline is valid? [True, True] Translation: X:199.87, Y:229.20, Z:-251.29 [[-8.19972146e-02 -9.96215790e-01 2.88193879e-02 1.99874801e+02] [ 4.55002824e-01 -1.16920450e-02 8.90413234e-01 2.29199284e+02] [-8.86706765e-01 8.61243078e-02 4.54239713e-01 -2.51290703e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.2107140569999 meters Centerline goodness : 0.994667 Centerline is valid? [True, True] Translation: X:199.86, Y:229.23, Z:-251.31 [[-8.23052461e-02 -9.94011047e-01 7.18880035e-02 1.99859675e+02] [ 4.58333409e-01 2.62989259e-02 8.88391160e-01 2.29227549e+02] [-8.84961204e-01 1.06067927e-01 4.53423932e-01 -2.51310420e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.2407140569999 meters Centerline goodness : 0.994344 Centerline is valid? [True, True] Translation: X:199.88, Y:229.22, Z:-251.33 [[-8.22036330e-02 -9.96235008e-01 2.75385316e-02 1.99876616e+02] [ 4.53384409e-01 -1.27749558e-02 8.91223529e-01 2.29216810e+02] [-8.87516276e-01 8.57473527e-02 4.52727568e-01 -2.51333298e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.270714057 meters Centerline goodness : 0.994172 Centerline is valid? [True, True] Translation: X:199.88, Y:229.22, Z:-251.34 [[-8.23225696e-02 -9.96235755e-01 2.71535451e-02 1.99876744e+02] [ 4.55410246e-01 -1.33692885e-02 8.90181313e-01 2.29222280e+02] [-8.86467429e-01 8.56480157e-02 4.54796565e-01 -2.51341467e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.3007140569999 meters Centerline goodness : 0.994380 Centerline is valid? [True, True] Translation: X:199.87, Y:229.23, Z:-251.35 [[-8.35479370e-02 -9.95877125e-01 3.53340518e-02 1.99873223e+02] [ 4.60226981e-01 -7.11172534e-03 8.87772803e-01 2.29234307e+02] [-8.83861340e-01 9.04332702e-02 4.58923693e-01 -2.51353264e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.3307140569999 meters Centerline goodness : 0.994710 Centerline is valid? [True, True] Translation: X:199.88, Y:229.24, Z:-251.38 [[-9.47965845e-02 -9.95374577e-01 1.55903710e-02 1.99875972e+02] [ 4.66893721e-01 -3.06230691e-02 8.83783051e-01 2.29243962e+02] [-8.79217755e-01 9.10586609e-02 4.67637102e-01 -2.51379199e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.3607140569999 meters Centerline goodness : 0.994591 Centerline is valid? [True, True] Translation: X:199.89, Y:229.23, Z:-251.37 [[-8.21413131e-02 -9.96613536e-01 3.77689369e-03 1.99887357e+02] [ 4.55719368e-01 -3.41897487e-02 8.89466649e-01 2.29228088e+02] [-8.86325371e-01 7.47831621e-02 4.56984481e-01 -2.51373811e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.390714057 meters Centerline goodness : 0.994003 Centerline is valid? [True, True] Translation: X:199.87, Y:229.26, Z:-251.39 [[-8.10539712e-02 -9.95444735e-01 5.01999314e-02 1.99870270e+02] [ 4.53942024e-01 7.97042033e-03 8.90995573e-01 2.29255957e+02] [-8.87336967e-01 9.50065880e-02 4.51228163e-01 -2.51388436e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.4207140569999 meters Centerline goodness : 0.993858 Centerline is valid? [True, True] Translation: X:199.87, Y:229.27, Z:-251.42 [[-8.34002741e-02 -9.95494177e-01 4.51191512e-02 1.99871859e+02] [ 4.58900844e-01 1.82347703e-03 8.88485617e-01 2.29268832e+02] [-8.84564531e-01 9.48051605e-02 4.56681039e-01 -2.51415410e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.4507140569999 meters Centerline goodness : 0.994835 Centerline is valid? [True, True] Translation: X:199.88, Y:229.27, Z:-251.44 [[-9.38608320e-02 -9.95552373e-01 8.10048775e-03 1.99880891e+02] [ 4.64640263e-01 -3.66074923e-02 8.84742515e-01 2.29267215e+02] [-8.80510971e-01 8.68064813e-02 4.66009726e-01 -2.51435214e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.4807140569999 meters Centerline goodness : 0.994069 Centerline is valid? [True, True] Translation: X:199.89, Y:229.26, Z:-251.44 [[-8.20316593e-02 -9.96578429e-01 1.01115173e-02 1.99887463e+02] [ 4.52861338e-01 -2.82348600e-02 8.91133773e-01 2.29262236e+02] [-8.87799198e-01 7.76802973e-02 4.53627993e-01 -2.51440864e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.510714057 meters Centerline goodness : 0.994462 Centerline is valid? [True, True] Translation: X:199.87, Y:229.29, Z:-251.46 [[-8.25953769e-02 -9.94788210e-01 5.97864545e-02 1.99870056e+02] [ 4.55309160e-01 1.56969817e-02 8.90195020e-01 2.29291372e+02] [-8.86493978e-01 1.00747314e-01 4.51639687e-01 -2.51457540e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.540714057 meters Centerline goodness : 0.994562 Centerline is valid? [True, True] Translation: X:199.88, Y:229.30, Z:-251.48 [[-8.56385696e-02 -9.95261624e-01 4.60470917e-02 1.99877289e+02] [ 4.55531211e-01 1.99032042e-03 8.90217588e-01 2.29299480e+02] [-8.86091051e-01 9.72128484e-02 4.53202285e-01 -2.51484139e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.5707140569999 meters Centerline goodness : 0.994482 Centerline is valid? [True, True] Translation: X:199.88, Y:229.31, Z:-251.51 [[-8.72211636e-02 -9.95190860e-01 4.45827509e-02 1.99878346e+02] [ 4.56041262e-01 -1.00127261e-04 8.89958627e-01 2.29311634e+02] [-8.85674227e-01 9.79548009e-02 4.53856829e-01 -2.51507526e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.6007140569999 meters Centerline goodness : 0.994694 Centerline is valid? [True, True] Translation: X:199.88, Y:229.32, Z:-251.53 [[-8.93314251e-02 -9.95520711e-01 3.09582177e-02 1.99883033e+02] [ 4.57534582e-01 -1.34076082e-02 8.89090739e-01 2.29321825e+02] [-8.84693169e-01 9.35881979e-02 4.56682873e-01 -2.51534458e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.630714057 meters Centerline goodness : 0.994929 Centerline is valid? [True, True] Translation: X:199.89, Y:229.33, Z:-251.56 [[-1.01546197e-01 -9.94761363e-01 1.17558849e-02 1.99885880e+02] [ 4.57345128e-01 -3.61854970e-02 8.88552781e-01 2.29331128e+02] [-8.83472583e-01 9.56056525e-02 4.58623762e-01 -2.51562721e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.660714057 meters Centerline goodness : 0.994518 Centerline is valid? [True, True] Translation: X:199.90, Y:229.31, Z:-251.55 [[-9.15736594e-02 -9.95728856e-01 -1.17605659e-02 1.99901149e+02] [ 4.54980641e-01 -5.23424972e-02 8.88961686e-01 2.29312506e+02] [-8.85780380e-01 7.60546448e-02 4.57830547e-01 -2.51552049e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.6907140569999 meters Centerline goodness : 0.995077 Centerline is valid? [True, True] Translation: X:199.88, Y:229.34, Z:-251.56 [[-9.56078097e-02 -9.94729262e-01 3.70518925e-02 1.99877192e+02] [ 4.60075967e-01 -1.11506040e-02 8.87809534e-01 2.29341802e+02] [-8.82716971e-01 1.01928210e-01 4.58717112e-01 -2.51560811e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.7207140569999 meters Centerline goodness : 0.994919 Centerline is valid? [True, True] Translation: X:199.89, Y:229.32, Z:-251.56 [[-8.39084688e-02 -9.96422923e-01 1.00362803e-02 1.99894394e+02] [ 4.49669530e-01 -2.88746987e-02 8.92728159e-01 2.29323697e+02] [-8.89245007e-01 7.94204623e-02 4.50483859e-01 -2.51562363e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.750714057 meters Centerline goodness : 0.994617 Centerline is valid? [True, True] Translation: X:199.88, Y:229.35, Z:-251.58 [[-8.39296870e-02 -9.95185573e-01 5.06111053e-02 1.99878465e+02] [ 4.54801599e-01 6.93454875e-03 8.90565785e-01 2.29353305e+02] [-8.86629186e-01 9.77629192e-02 4.52029976e-01 -2.51576635e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.780714057 meters Centerline goodness : 0.994576 Centerline is valid? [True, True] Translation: X:199.88, Y:229.37, Z:-251.60 [[-8.37672709e-02 -9.94830057e-01 5.74125575e-02 1.99876728e+02] [ 4.53880328e-01 1.32005011e-02 8.90964867e-01 2.29367751e+02] [-8.87116504e-01 1.00692126e-01 4.50428023e-01 -2.51601222e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.8107140569999 meters Centerline goodness : 0.994915 Centerline is valid? [True, True] Translation: X:199.88, Y:229.38, Z:-251.63 [[-8.50528572e-02 -9.95513719e-01 4.14541453e-02 1.99882065e+02] [ 4.54313228e-01 -1.71932604e-03 8.90840353e-01 2.29376868e+02] [-8.86772520e-01 9.46016839e-02 4.52421285e-01 -2.51627678e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.8407140569999 meters Centerline goodness : 0.994695 Centerline is valid? [True, True] Translation: X:199.88, Y:229.39, Z:-251.65 [[-8.02325961e-02 -9.95340191e-01 5.34848987e-02 1.99881441e+02] [ 4.50365457e-01 1.16699981e-02 8.92768036e-01 2.29388794e+02] [-8.89232077e-01 9.57168481e-02 4.47330526e-01 -2.51654787e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.870714057 meters Centerline goodness : 0.995001 Centerline is valid? [True, True] Translation: X:199.88, Y:229.40, Z:-251.68 [[-8.35255516e-02 -9.95516489e-01 4.43892148e-02 1.99883259e+02] [ 4.55368166e-01 1.49161611e-03 8.90301976e-01 2.29402128e+02] [-8.86376509e-01 9.45763990e-02 4.53201930e-01 -2.51677187e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.900714057 meters Centerline goodness : 0.994399 Centerline is valid? [True, True] Translation: X:199.88, Y:229.41, Z:-251.70 [[-8.27203431e-02 -9.95420449e-01 4.79111058e-02 1.99883273e+02] [ 4.55015234e-01 5.04747001e-03 8.90469348e-01 2.29414967e+02] [-8.86633228e-01 9.54602130e-02 4.52513940e-01 -2.51704185e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.9307140569999 meters Centerline goodness : 0.993744 Centerline is valid? [True, True] Translation: X:199.89, Y:229.42, Z:-251.73 [[-8.02317353e-02 -9.95711430e-01 4.60610150e-02 1.99885221e+02] [ 4.51864435e-01 4.85676695e-03 8.92073396e-01 2.29423596e+02] [-8.88471385e-01 9.23859311e-02 4.49536915e-01 -2.51727954e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.9607140569999 meters Centerline goodness : 0.994249 Centerline is valid? [True, True] Translation: X:199.89, Y:229.43, Z:-251.76 [[-8.19008347e-02 -9.96159132e-01 3.09715433e-02 1.99892390e+02] [ 4.55123472e-01 -9.73609610e-03 8.90375109e-01 2.29433912e+02] [-8.86653754e-01 8.70183409e-02 4.54172797e-01 -2.51755301e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.9907140569999 meters Centerline goodness : 0.994361 Centerline is valid? [True, True] Translation: X:199.90, Y:229.44, Z:-251.78 [[-8.01708990e-02 -9.96441741e-01 2.60093053e-02 1.99895053e+02] [ 4.49486100e-01 -1.28500498e-02 8.93194896e-01 2.29444681e+02] [-8.89682456e-01 8.32990590e-02 4.48916912e-01 -2.51779171e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.020714057 meters Centerline goodness : 0.994179 Centerline is valid? [True, True] Translation: X:199.89, Y:229.46, Z:-251.80 [[-7.85843513e-02 -9.95893247e-01 4.49571019e-02 1.99888208e+02] [ 4.57007650e-01 4.09039379e-03 8.89453358e-01 2.29462882e+02] [-8.85984485e-01 9.04428547e-02 4.54809391e-01 -2.51800037e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.0507140569999 meters Centerline goodness : 0.994021 Centerline is valid? [True, True] Translation: X:199.90, Y:229.47, Z:-251.83 [[-7.55559845e-02 -9.96929736e-01 2.05522368e-02 1.99899193e+02] [ 4.54871766e-01 -1.61178307e-02 8.90411080e-01 2.29465144e+02] [-8.87346026e-01 7.66245180e-02 4.54692989e-01 -2.51826806e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.0807140569999 meters Centerline goodness : 0.994689 Centerline is valid? [True, True] Translation: X:199.91, Y:229.48, Z:-251.86 [[-7.72325023e-02 -9.96970836e-01 9.18112825e-03 1.99905689e+02] [ 4.51880073e-01 -2.67943998e-02 8.91676208e-01 2.29475197e+02] [-8.88729172e-01 7.30151536e-02 4.52580652e-01 -2.51861028e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.1107140569999 meters Centerline goodness : 0.994704 Centerline is valid? [True, True] Translation: X:199.89, Y:229.50, Z:-251.88 [[-7.71690090e-02 -9.95960822e-01 4.59018986e-02 1.99892802e+02] [ 4.53972552e-01 5.88959458e-03 8.90996204e-01 2.29501072e+02] [-8.87667655e-01 8.95954961e-02 4.51684382e-01 -2.51880319e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.140714057 meters Centerline goodness : 0.994650 Centerline is valid? [True, True] Translation: X:199.90, Y:229.50, Z:-251.89 [[-7.59647827e-02 -9.96694446e-01 2.88016036e-02 1.99902180e+02] [ 4.51817402e-01 -8.65782845e-03 8.92068426e-01 2.29499243e+02] [-8.88870287e-01 8.07788499e-02 4.50981585e-01 -2.51893631e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.1707140569999 meters Centerline goodness : 0.993736 Centerline is valid? [True, True] Translation: X:199.90, Y:229.52, Z:-251.91 [[-7.58371973e-02 -9.95897790e-01 4.93590089e-02 1.99895384e+02] [ 4.53181660e-01 9.66856561e-03 8.91365751e-01 2.29518433e+02] [-8.88186412e-01 8.99672779e-02 4.50589376e-01 -2.51914477e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.2007140569999 meters Centerline goodness : 0.993664 Centerline is valid? [True, True] Translation: X:199.90, Y:229.53, Z:-251.94 [[-7.38718162e-02 -9.96281841e-01 4.43333863e-02 1.99899244e+02] [ 4.46650809e-01 6.69432528e-03 8.94683319e-01 2.29527114e+02] [-8.91653526e-01 8.58934245e-02 4.44495568e-01 -2.51938683e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.2307140569999 meters Centerline goodness : 0.994635 Centerline is valid? [True, True] Translation: X:199.90, Y:229.54, Z:-251.97 [[-7.61887578e-02 -9.96248814e-01 4.10313713e-02 1.99902889e+02] [ 4.52146374e-01 2.15718970e-03 8.91941144e-01 2.29539391e+02] [-8.88683819e-01 8.65080735e-02 4.50285935e-01 -2.51969645e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.260714057 meters Centerline goodness : 0.994953 Centerline is valid? [True, True] Translation: X:199.91, Y:229.54, Z:-251.97 [[-7.51481050e-02 -9.96741155e-01 2.93228845e-02 1.99908527e+02] [ 4.52318566e-01 -7.86572995e-03 8.91821757e-01 2.29537013e+02] [-8.88684802e-01 8.02820001e-02 4.51435624e-01 -2.51974674e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.290714057 meters Centerline goodness : 0.993912 Centerline is valid? [True, True] Translation: X:199.91, Y:229.54, Z:-251.98 [[-7.36354673e-02 -9.97008082e-01 2.35096384e-02 1.99912138e+02] [ 4.49005727e-01 -1.20943153e-02 8.93447024e-01 2.29537751e+02] [-8.90489571e-01 7.63453514e-02 4.48552909e-01 -2.51982672e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.3207140569999 meters Centerline goodness : 0.993492 Centerline is valid? [True, True] Translation: X:199.91, Y:229.53, Z:-251.97 [[-6.81424418e-02 -9.97188278e-01 3.11792671e-02 1.99910725e+02] [ 4.43854902e-01 -2.31225149e-03 8.96095686e-01 2.29531412e+02] [-8.93504020e-01 7.49012187e-02 4.42764468e-01 -2.51972894e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.3507140569999 meters Centerline goodness : 0.994319 Centerline is valid? [True, True] Translation: X:199.90, Y:229.56, Z:-251.99 [[-6.98201744e-02 -9.95123955e-01 6.96667582e-02 1.99897644e+02] [ 4.53576948e-01 3.05318148e-02 8.90693977e-01 2.29560351e+02] [-8.88477966e-01 9.37876444e-02 4.49233550e-01 -2.51992783e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.380714057 meters Centerline goodness : 0.994836 Centerline is valid? [True, True] Translation: X:199.90, Y:229.57, Z:-252.02 [[-6.86067308e-02 -9.94945854e-01 7.33202886e-02 1.99896603e+02] [ 4.53983777e-01 3.43077143e-02 8.90349207e-01 2.29574611e+02] [-8.88364704e-01 9.43701699e-02 4.49335537e-01 -2.52016080e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.410714057 meters Centerline goodness : 0.994736 Centerline is valid? [True, True] Translation: X:199.90, Y:229.59, Z:-252.04 [[-6.88697746e-02 -9.95380730e-01 6.68891391e-02 1.99899212e+02] [ 4.54970331e-01 2.83322347e-02 8.90055775e-01 2.29587015e+02] [-8.87839486e-01 9.17305144e-02 4.50917465e-01 -2.52043085e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.4407140569999 meters Centerline goodness : 0.993567 Centerline is valid? [True, True] Translation: X:199.91, Y:229.57, Z:-252.04 [[-6.25932287e-02 -9.97353454e-01 3.69888512e-02 1.99913184e+02] [ 4.45509652e-01 5.24269247e-03 8.95261786e-01 2.29568862e+02] [-8.93086355e-01 7.25162159e-02 4.44002433e-01 -2.52040303e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.4707140569999 meters Centerline goodness : 0.993372 Centerline is valid? [True, True] Translation: X:199.92, Y:229.57, Z:-252.05 [[-6.13003463e-02 -9.97615468e-01 3.17119063e-02 1.99915512e+02] [ 4.46075946e-01 1.03985160e-03 8.94994508e-01 2.29571312e+02] [-8.92893341e-01 6.90093919e-02 4.44948521e-01 -2.52048305e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.500714057 meters Centerline goodness : 0.993099 Centerline is valid? [True, True] Translation: X:199.92, Y:229.58, Z:-252.06 [[-6.01808661e-02 -9.97651039e-01 3.27210701e-02 1.99915510e+02] [ 4.47052391e-01 2.37071748e-03 8.94504634e-01 2.29576491e+02] [-8.92481049e-01 6.84600961e-02 4.45859610e-01 -2.52056741e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.530714057 meters Centerline goodness : 0.993697 Centerline is valid? [True, True] Translation: X:199.91, Y:229.58, Z:-252.06 [[-5.95400721e-02 -9.97372179e-01 4.12761002e-02 1.99912068e+02] [ 4.50508164e-01 1.00509475e-02 8.92715729e-01 2.29583154e+02] [-8.90784696e-01 7.17475790e-02 4.48725875e-01 -2.52061481e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.5607140569999 meters Centerline goodness : 0.992666 Centerline is valid? [True, True] Translation: X:199.90, Y:229.61, Z:-252.08 [[-5.58921469e-02 -9.95095505e-01 8.16149789e-02 1.99898658e+02] [ 4.43290492e-01 4.85121247e-02 8.95064307e-01 2.29606369e+02] [-8.94633784e-01 8.62062099e-02 4.38404929e-01 -2.52078242e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.5907140569999 meters Centerline goodness : 0.991927 Centerline is valid? [True, True] Translation: X:199.91, Y:229.61, Z:-252.11 [[-5.49708857e-02 -9.96370987e-01 6.49850652e-02 1.99905194e+02] [ 4.42554182e-01 3.40287452e-02 8.96095888e-01 2.29612484e+02] [-8.95055305e-01 7.80185970e-02 4.39077556e-01 -2.52105824e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.620714057 meters Centerline goodness : 0.993011 Centerline is valid? [True, True] Translation: X:199.90, Y:229.63, Z:-252.14 [[-5.84358044e-02 -9.95775477e-01 7.08269422e-02 1.99903446e+02] [ 4.51605725e-01 3.69049253e-02 8.91454035e-01 2.29630209e+02] [-8.90301930e-01 8.40786861e-02 4.47541337e-01 -2.52135270e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.650714057 meters Centerline goodness : 0.991956 Centerline is valid? [True, True] Translation: X:199.92, Y:229.61, Z:-252.14 [[-5.63659754e-02 -9.97836408e-01 3.38434564e-02 1.99919224e+02] [ 4.44065279e-01 5.30432106e-03 8.95978734e-01 2.29612898e+02] [-8.94219719e-01 6.55314192e-02 4.42805520e-01 -2.52137194e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.6807140569999 meters Centerline goodness : 0.992011 Centerline is valid? [True, True] Translation: X:199.92, Y:229.62, Z:-252.16 [[-5.41970934e-02 -9.98109071e-01 2.89992553e-02 1.99921448e+02] [ 4.42066668e-01 2.05690826e-03 8.96979838e-01 2.29619045e+02] [-8.95343362e-01 6.14333042e-02 4.41119273e-01 -2.52155590e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.7107140569999 meters Centerline goodness : 0.991940 Centerline is valid? [True, True] Translation: X:199.92, Y:229.62, Z:-252.17 [[-5.09676636e-02 -9.98071157e-01 3.54437947e-02 1.99919440e+02] [ 4.37810688e-01 9.56881672e-03 8.99016262e-01 2.29623389e+02] [-8.97621356e-01 6.13384305e-02 4.36478519e-01 -2.52165131e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.7407140569999 meters Centerline goodness : 0.993645 Centerline is valid? [True, True] Translation: X:199.92, Y:229.63, Z:-252.17 [[-5.05994950e-02 -9.98130846e-01 3.42710472e-02 1.99918174e+02] [ 4.47344571e-01 8.02907476e-03 8.94325651e-01 2.29626854e+02] [-8.92929183e-01 6.05833932e-02 4.46102148e-01 -2.52165712e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.770714057 meters Centerline goodness : 0.992279 Centerline is valid? [True, True] Translation: X:199.90, Y:229.65, Z:-252.18 [[-4.49882452e-02 -9.95860909e-01 7.89753602e-02 1.99899709e+02] [ 4.40881509e-01 5.11475773e-02 8.96106813e-01 2.29651318e+02] [-8.96437144e-01 7.51330490e-02 4.36755621e-01 -2.52177674e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.8007140569999 meters Centerline goodness : 0.993639 Centerline is valid? [True, True] Translation: X:199.92, Y:229.65, Z:-252.20 [[-5.30338573e-02 -9.98536495e-01 -1.05961234e-02 1.99921723e+02] [ 4.51291261e-01 -3.34317396e-02 8.91750255e-01 2.29647972e+02] [-8.90799421e-01 4.25110178e-02 4.52403808e-01 -2.52195919e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.8307140569999 meters Centerline goodness : 0.994583 Centerline is valid? [True, True] Translation: X:199.91, Y:229.67, Z:-252.22 [[-5.20041575e-02 -9.98592702e-01 1.04010743e-02 1.99914127e+02] [ 4.57416241e-01 -1.45600930e-02 8.89133503e-01 2.29665881e+02] [-8.87730787e-01 5.09962590e-02 4.57529705e-01 -2.52222680e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.8607140569999 meters Centerline goodness : 0.994391 Centerline is valid? [True, True] Translation: X:199.92, Y:229.68, Z:-252.25 [[-4.80874499e-02 -9.98838577e-01 3.01571015e-03 1.99916353e+02] [ 4.55843545e-01 -1.92591874e-02 8.89851531e-01 2.29676274e+02] [-8.88759956e-01 4.41653829e-02 4.56240243e-01 -2.52249032e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.890714057 meters Centerline goodness : 0.994349 Centerline is valid? [True, True] Translation: X:199.92, Y:229.68, Z:-252.27 [[-4.47997418e-02 -9.98781652e-01 -2.06928839e-02 1.99924374e+02] [ 4.48572952e-01 -3.86199173e-02 8.92911423e-01 2.29682761e+02] [-8.92622703e-01 3.07199332e-02 4.49756596e-01 -2.52272198e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.9207140569999 meters Centerline goodness : 0.993349 Centerline is valid? [True, True] Translation: X:199.91, Y:229.70, Z:-252.31 [[-3.26564222e-02 -9.98850566e-01 3.50871179e-02 1.99914766e+02] [ 4.37170781e-01 1.72942102e-02 8.99212221e-01 2.29704244e+02] [-8.98785439e-01 4.47041167e-02 4.36103515e-01 -2.52310420e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.9507140569999 meters Centerline goodness : 0.993349 Centerline is valid? [True, True] Translation: X:199.90, Y:229.73, Z:-252.33 [[-3.36221844e-02 -9.97468213e-01 6.26634891e-02 1.99903784e+02] [ 4.38458679e-01 4.16219089e-02 8.97787059e-01 2.29726534e+02] [-8.98122227e-01 5.76609127e-02 4.35949176e-01 -2.52331021e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.9807140569999 meters Centerline goodness : 0.992951 Centerline is valid? [True, True] Translation: X:199.91, Y:229.74, Z:-252.35 [[-3.30878977e-02 -9.98424149e-01 4.53255942e-02 1.99908843e+02] [ 4.40414485e-01 2.61446247e-02 8.97413807e-01 2.29735998e+02] [-8.97184637e-01 4.96555845e-02 4.38855386e-01 -2.52353899e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.010714057 meters Centerline goodness : 0.993403 Centerline is valid? [True, True] Translation: X:199.91, Y:229.75, Z:-252.38 [[-3.17488533e-02 -9.98606773e-01 4.21488325e-02 1.99911010e+02] [ 4.40667141e-01 2.38649666e-02 8.97353294e-01 2.29747247e+02] [-8.97108957e-01 4.70635436e-02 4.39295506e-01 -2.52380979e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.040714057 meters Centerline goodness : 0.994975 Centerline is valid? [True, True] Translation: X:199.92, Y:229.76, Z:-252.40 [[-4.74566533e-02 -9.98846223e-01 7.35451604e-03 1.99915557e+02] [ 4.58619592e-01 -1.52476421e-02 8.88501874e-01 2.29755077e+02] [-8.87364602e-01 4.55382505e-02 4.58814049e-01 -2.52402144e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.0707140569999 meters Centerline goodness : 0.994356 Centerline is valid? [True, True] Translation: X:199.92, Y:229.93, Z:-252.77 [[-4.34626974e-02 -9.99051380e-01 -2.70810483e-03 1.99922020e+02] [ 4.53938222e-01 -2.21626682e-02 8.90757490e-01 2.29932889e+02] [-8.89972519e-01 3.74854110e-02 4.54470857e-01 -2.52770301e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.1007140569999 meters Centerline goodness : 0.992291 Centerline is valid? [True, True] Translation: X:199.92, Y:230.01, Z:-252.92 [[-5.33080880e-02 -9.98565702e-01 -4.97861392e-03 1.99921426e+02] [ 4.60606200e-01 -2.90123275e-02 8.87130325e-01 2.30009043e+02] [-8.86002357e-01 4.49980409e-02 4.61492145e-01 -2.52916263e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.130714057 meters Centerline goodness : 0.993600 Centerline is valid? [True, True] Translation: X:200.58, Y:230.77, Z:-252.51 [[-2.86927802e-02 9.78581482e-01 2.03850452e-01 2.00584184e+02] [ 4.45888426e-01 1.95050769e-01 -8.73578107e-01 2.30771054e+02] [-8.94628547e-01 6.58291725e-02 -4.41934706e-01 -2.52511837e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.160714057 meters Centerline goodness : 0.994510 Centerline is valid? [True, True] Translation: X:200.04, Y:229.77, Z:-252.54 [[-1.26331246e-01 -9.78741578e-01 -1.61571467e-01 2.00041586e+02] [ 4.39253765e-01 -2.01230868e-01 8.75535418e-01 2.29770421e+02] [-8.89436084e-01 3.96366050e-02 4.55337669e-01 -2.52539390e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.1907140569999 meters Centerline goodness : 0.994512 Centerline is valid? [True, True] Translation: X:200.03, Y:229.78, Z:-252.54 [[-1.28632354e-01 -9.81271399e-01 -1.43388142e-01 2.00033896e+02] [ 4.39821265e-01 -1.86041010e-01 8.78604574e-01 2.29776719e+02] [-8.88825614e-01 4.99518207e-02 4.55514921e-01 -2.52539355e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.2207140569999 meters Centerline goodness : 0.993937 Centerline is valid? [True, True] Translation: X:200.04, Y:229.78, Z:-252.54 [[-1.33304565e-01 -9.80802337e-01 -1.42325923e-01 2.00035230e+02] [ 4.39009394e-01 -1.87186863e-01 8.78767222e-01 2.29779511e+02] [-8.88538488e-01 5.46612647e-02 4.55534303e-01 -2.52543892e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.250714057 meters Centerline goodness : 0.992978 Centerline is valid? [True, True] Translation: X:200.02, Y:229.95, Z:-252.91 [[-1.29539521e-01 -9.80427853e-01 -1.48259025e-01 2.00015203e+02] [ 4.32524593e-01 -1.90414435e-01 8.81285890e-01 2.29952714e+02] [-8.92267891e-01 5.00356779e-02 4.48725353e-01 -2.52907587e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.280714057 meters Centerline goodness : 0.994227 Centerline is valid? [True, True] Translation: X:199.94, Y:230.61, Z:-252.32 [[-6.17252764e-02 1.42169764e-02 9.97991918e-01 1.99938260e+02] [ 4.40307458e-01 8.97730868e-01 1.44440859e-02 2.30608993e+02] [-8.95722799e-01 4.40314850e-01 -6.16725267e-02 -2.52316803e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.3107140569999 meters Centerline goodness : 0.992113 Centerline is valid? [True, True] Translation: X:200.00, Y:230.07, Z:-253.15 [[-1.37129848e-01 -9.76370265e-01 -1.67022485e-01 2.00002103e+02] [ 3.70533682e-01 -2.06935513e-01 9.05473624e-01 2.30068293e+02] [-9.18640406e-01 6.22800042e-02 3.90155105e-01 -2.53147007e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.3407140569999 meters Centerline goodness : 0.994614 Centerline is valid? [True, True] Translation: X:200.82, Y:230.57, Z:-252.59 [[-6.90340750e-02 9.35765884e-01 -3.45798362e-01 2.00824184e+02] [ 3.70669428e-01 -2.97750801e-01 -8.79743506e-01 2.30573954e+02] [-9.26195699e-01 -1.88909160e-01 -3.26304854e-01 -2.52585247e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.370714057 meters Centerline goodness : 0.994636 Centerline is valid? [True, True] Translation: X:200.13, Y:229.88, Z:-252.80 [[-2.06447923e-01 -9.34818628e-01 -2.88952223e-01 2.00127516e+02] [ 3.80400602e-01 -3.48764644e-01 8.56538736e-01 2.29877531e+02] [-9.01484685e-01 6.69130436e-02 4.27607305e-01 -2.52799014e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.400714057 meters Centerline goodness : 0.994766 Centerline is valid? [True, True] Translation: X:200.13, Y:229.88, Z:-252.81 [[-2.07488118e-01 -9.35212865e-01 -2.86924341e-01 2.00125689e+02] [ 3.80172928e-01 -3.47341300e-01 8.57217922e-01 2.29881450e+02] [-9.01341903e-01 6.87816661e-02 4.27611806e-01 -2.52806099e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.4307140569999 meters Centerline goodness : 0.994837 Centerline is valid? [True, True] Translation: X:200.13, Y:229.88, Z:-252.81 [[-2.09430567e-01 -9.35082211e-01 -2.85937225e-01 2.00125657e+02] [ 3.79411282e-01 -3.47222002e-01 8.57603615e-01 2.29884394e+02] [-9.01213580e-01 7.11206027e-02 4.27499641e-01 -2.52812176e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.4607140569999 meters Centerline goodness : 0.994569 Centerline is valid? [True, True] Translation: X:200.12, Y:229.89, Z:-252.82 [[-2.10144668e-01 -9.35250506e-01 -2.84860861e-01 2.00124791e+02] [ 3.79726276e-01 -3.46570761e-01 8.57727616e-01 2.29886482e+02] [-9.00914632e-01 7.20777308e-02 4.27969189e-01 -2.52816391e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.4907140569999 meters Centerline goodness : 0.994805 Centerline is valid? [True, True] Translation: X:200.12, Y:229.89, Z:-252.82 [[-2.10785497e-01 -9.35429177e-01 -2.83798747e-01 2.00123530e+02] [ 3.79959916e-01 -3.45894841e-01 8.57896976e-01 2.29888245e+02] [-9.00666385e-01 7.30000918e-02 4.28335208e-01 -2.52820344e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.520714057 meters Centerline goodness : 0.994850 Centerline is valid? [True, True] Translation: X:200.12, Y:229.88, Z:-252.81 [[-1.88308862e-01 -9.47617209e-01 -2.57994959e-01 2.00123263e+02] [ 3.70646484e-01 -3.11840088e-01 8.74858242e-01 2.29880324e+02] [-9.09483896e-01 6.91186353e-02 4.09953238e-01 -2.52806974e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.5507140569999 meters Centerline goodness : 0.994198 Centerline is valid? [True, True] Translation: X:200.10, Y:229.89, Z:-252.80 [[-1.82156768e-01 -9.61159722e-01 -2.07342470e-01 2.00100340e+02] [ 3.64099638e-01 -2.61815555e-01 8.93803149e-01 2.29885889e+02] [-9.13373070e-01 8.73189748e-02 3.97649382e-01 -2.52803413e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.5807140569999 meters Centerline goodness : 0.994343 Centerline is valid? [True, True] Translation: X:200.06, Y:230.06, Z:-253.21 [[-2.14320658e-01 -9.37633014e-01 -2.73698715e-01 2.00063638e+02] [ 3.89118373e-01 -3.38974406e-01 8.56553118e-01 2.30061891e+02] [-8.95909341e-01 7.70758295e-02 4.37499451e-01 -2.53210765e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.6107140569999 meters Centerline goodness : 0.993996 Centerline is valid? [True, True] Translation: X:200.42, Y:230.91, Z:-252.59 [[-1.32954033e-01 8.05045532e-01 5.78121887e-01 2.00415622e+02] [ 4.04199887e-01 5.76631100e-01 -7.10013399e-01 2.30910788e+02] [-9.04956174e-01 1.39277657e-01 -4.02064743e-01 -2.52590361e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.640714057 meters Centerline goodness : 0.993362 Centerline is valid? [True, True] Translation: X:200.13, Y:230.12, Z:-253.41 [[-2.64087369e-01 -8.54615182e-01 -4.47091436e-01 2.00130115e+02] [ 3.31893625e-01 -5.15760650e-01 7.89833890e-01 2.30115906e+02] [-9.05596204e-01 6.01983567e-02 4.19847203e-01 -2.53413305e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.6707140569999 meters Centerline goodness : 0.993729 Centerline is valid? [True, True] Translation: X:199.78, Y:230.46, Z:-252.81 [[-1.98182333e-01 -6.49251253e-01 7.34300057e-01 1.99781035e+02] [ 3.50537990e-01 6.52664476e-01 6.71678643e-01 2.30460150e+02] [-9.15339763e-01 3.90514906e-01 9.82406609e-02 -2.52809460e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.7007140569999 meters Centerline goodness : 0.993130 Centerline is valid? [True, True] Translation: X:200.10, Y:230.16, Z:-253.51 [[-2.17574138e-01 -8.60294454e-01 -4.61036817e-01 2.00103742e+02] [ 2.89128714e-01 -5.07960203e-01 8.11406815e-01 2.30157289e+02] [-9.32237138e-01 4.32421566e-02 3.59254833e-01 -2.53508559e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.7307140569999 meters Centerline goodness : 0.995314 Centerline is valid? [True, True] Translation: X:199.73, Y:230.57, Z:-252.97 [[-1.47747100e-01 -6.43584699e-01 7.50979048e-01 1.99727795e+02] [ 3.35955720e-01 6.81505270e-01 6.50141770e-01 2.30571652e+02] [-9.30217474e-01 3.48352267e-01 1.15525534e-01 -2.52965570e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.760714057 meters Centerline goodness : 0.995093 Centerline is valid? [True, True] Translation: X:200.05, Y:230.09, Z:-253.14 [[-1.78564968e-01 -9.27500077e-01 -3.28417660e-01 2.00045784e+02] [ 2.52688129e-01 -3.65815565e-01 8.95727460e-01 2.30088198e+02] [-9.50927580e-01 7.69583011e-02 2.99690104e-01 -2.53136482e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.790714057 meters Centerline goodness : 0.993956 Centerline is valid? [True, True] Translation: X:200.04, Y:230.09, Z:-253.14 [[-1.63000934e-01 -9.35846445e-01 -3.12445399e-01 2.00044761e+02] [ 2.47500038e-01 -3.45339846e-01 9.05253623e-01 2.30087910e+02] [-9.55078231e-01 7.02269374e-02 2.87912748e-01 -2.53138674e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.8207140569999 meters Centerline goodness : 0.993863 Centerline is valid? [True, True] Translation: X:200.02, Y:230.10, Z:-253.14 [[-1.66316748e-01 -9.48636624e-01 -2.69123197e-01 2.00020082e+02] [ 2.52271191e-01 -3.04775799e-01 9.18406750e-01 2.30100137e+02] [-9.53256516e-01 8.48543944e-02 2.90003011e-01 -2.53141560e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.8507140569999 meters Centerline goodness : 0.995125 Centerline is valid? [True, True] Translation: X:200.02, Y:230.10, Z:-253.15 [[-1.81868283e-01 -9.40526064e-01 -2.86940153e-01 2.00019211e+02] [ 2.56655194e-01 -3.27094742e-01 9.09470803e-01 2.30099233e+02] [-9.49237609e-01 9.17592133e-02 3.00879058e-01 -2.53146610e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.880714057 meters Centerline goodness : 0.992432 Centerline is valid? [True, True] Translation: X:199.98, Y:230.25, Z:-253.71 [[-1.85324227e-01 -9.28958386e-01 -3.20454751e-01 1.99975737e+02] [ 2.49554691e-01 -3.59903840e-01 8.98994818e-01 2.30249379e+02] [-9.50461671e-01 8.66345332e-02 2.98524824e-01 -2.53710948e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.910714057 meters Centerline goodness : 0.991447 Centerline is valid? [True, True] Translation: X:199.97, Y:230.27, Z:-253.78 [[-1.79941160e-01 -9.27363802e-01 -3.28051151e-01 1.99973510e+02] [ 2.54401859e-01 -3.66021413e-01 8.95158098e-01 2.30268965e+02] [-9.50210963e-01 7.76189637e-02 3.01785392e-01 -2.53780120e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.9407140569999 meters Centerline goodness : 0.994845 Centerline is valid? [True, True] Translation: X:200.51, Y:231.11, Z:-253.04 [[-1.02075746e-01 9.42296924e-01 3.18837026e-01 2.00505033e+02] [ 2.90989873e-01 3.34775795e-01 -8.96242189e-01 2.31107282e+02] [-9.51265177e-01 1.29375556e-03 -3.08371351e-01 -2.53038419e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.9707140569999 meters Centerline goodness : 0.993298 Centerline is valid? [True, True] Translation: X:200.08, Y:230.26, Z:-253.88 [[-2.36349487e-01 -8.19715209e-01 -5.21733549e-01 2.00077990e+02] [ 2.08554948e-01 -5.67228150e-01 7.96716423e-01 2.30258883e+02] [-9.49022526e-01 7.94934043e-02 3.05019745e-01 -2.53881419e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.000714057 meters Centerline goodness : 0.995212 Centerline is valid? [True, True] Translation: X:200.82, Y:230.79, Z:-253.35 [[-1.48985412e-01 8.23321580e-01 -5.47672277e-01 2.00822690e+02] [ 2.67292761e-01 -4.99704377e-01 -8.23923610e-01 2.30785616e+02] [-9.52028323e-01 -2.69141434e-01 -1.45619236e-01 -2.53350860e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.030714057 meters Centerline goodness : 0.995403 Centerline is valid? [True, True] Translation: X:199.79, Y:230.94, Z:-253.30 [[-2.09819990e-01 -2.43231272e-01 9.47002703e-01 1.99786126e+02] [ 3.15558353e-01 8.99885868e-01 3.01045429e-01 2.30935440e+02] [-9.25418012e-01 3.61999962e-01 -1.12060384e-01 -2.53304162e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.0607140569999 meters Centerline goodness : 0.995048 Centerline is valid? [True, True] Translation: X:200.21, Y:230.17, Z:-253.57 [[-2.49691780e-01 -7.59124522e-01 -6.01152206e-01 2.00211697e+02] [ 1.79619555e-01 -6.46352362e-01 7.41596548e-01 2.30171533e+02] [-9.51520273e-01 7.71918704e-02 2.97742481e-01 -2.53565399e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.0907140569999 meters Centerline goodness : 0.995536 Centerline is valid? [True, True] Translation: X:200.18, Y:230.18, Z:-253.57 [[-2.69387229e-01 -7.77877756e-01 -5.67747054e-01 2.00176198e+02] [ 1.84441363e-01 -6.20301914e-01 7.62369280e-01 2.30177779e+02] [-9.45204689e-01 1.00656508e-01 3.10574247e-01 -2.53572577e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.120714057 meters Centerline goodness : 0.995433 Centerline is valid? [True, True] Translation: X:200.21, Y:230.17, Z:-253.58 [[-2.62984661e-01 -7.44999650e-01 -6.13037185e-01 2.00206093e+02] [ 1.82608154e-01 -6.62353910e-01 7.26595871e-01 2.30174681e+02] [-9.47361246e-01 7.91379801e-02 3.10231930e-01 -2.53576577e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.150714057 meters Centerline goodness : 0.994965 Centerline is valid? [True, True] Translation: X:200.21, Y:230.17, Z:-253.57 [[-2.41803247e-01 -7.62216745e-01 -6.00463841e-01 2.00208021e+02] [ 1.84493871e-01 -6.43653567e-01 7.42746321e-01 2.30170925e+02] [-9.52624376e-01 6.88165738e-02 2.96261840e-01 -2.53567556e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.1807140569999 meters Centerline goodness : 0.994413 Centerline is valid? [True, True] Translation: X:200.18, Y:230.17, Z:-253.55 [[-2.40569330e-01 -7.96375202e-01 -5.54899032e-01 2.00178877e+02] [ 1.89213220e-01 -5.99197783e-01 7.77920545e-01 2.30169874e+02] [-9.52010901e-01 8.21495916e-02 2.94833326e-01 -2.53549522e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.2107140569999 meters Centerline goodness : 0.994853 Centerline is valid? [True, True] Translation: X:200.17, Y:230.17, Z:-253.55 [[-2.36613694e-01 -8.02126491e-01 -5.48276438e-01 2.00172357e+02] [ 1.93100346e-01 -5.91866295e-01 7.82564084e-01 2.30169910e+02] [-9.52221727e-01 7.92930088e-02 2.94934573e-01 -2.53549600e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.2407140569999 meters Centerline goodness : 0.994717 Centerline is valid? [True, True] Translation: X:200.17, Y:230.17, Z:-253.56 [[-2.37576848e-01 -7.98339332e-01 -5.53363852e-01 2.00171272e+02] [ 1.96158095e-01 -5.97368123e-01 7.77607438e-01 2.30172935e+02] [-9.51356528e-01 7.61947248e-02 2.98521558e-01 -2.53561590e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.270714057 meters Centerline goodness : 0.994796 Centerline is valid? [True, True] Translation: X:200.17, Y:230.18, Z:-253.59 [[-2.52218968e-01 -7.82781977e-01 -5.68891878e-01 2.00167073e+02] [ 1.96699531e-01 -6.17097818e-01 7.61905229e-01 2.30178092e+02] [-9.47467618e-01 8.02661853e-02 3.09616622e-01 -2.53586671e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.3007140569999 meters Centerline goodness : 0.994550 Centerline is valid? [True, True] Translation: X:200.20, Y:230.17, Z:-253.58 [[-2.29919431e-01 -7.66951259e-01 -5.99101679e-01 2.00198982e+02] [ 1.98332102e-01 -6.39600215e-01 7.42681589e-01 2.30170438e+02] [-9.52786142e-01 5.19358330e-02 2.99167573e-01 -2.53575546e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.3307140569999 meters Centerline goodness : 0.994328 Centerline is valid? [True, True] Translation: X:200.17, Y:230.17, Z:-253.57 [[-2.32140722e-01 -7.97854765e-01 -5.56361806e-01 2.00168193e+02] [ 2.03400856e-01 -5.99159999e-01 7.74361277e-01 2.30174205e+02] [-9.51177574e-01 6.65963184e-02 3.01373776e-01 -2.53571742e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.3607140569999 meters Centerline goodness : 0.994529 Centerline is valid? [True, True] Translation: X:200.17, Y:230.17, Z:-253.56 [[-2.30497539e-01 -7.97125803e-01 -5.58087214e-01 2.00170298e+02] [ 2.05540597e-01 -6.00474125e-01 7.72776739e-01 2.30171365e+02] [-9.51117210e-01 6.34135570e-02 3.02249521e-01 -2.53562336e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.390714057 meters Centerline goodness : 0.994480 Centerline is valid? [True, True] Translation: X:200.17, Y:230.17, Z:-253.56 [[-2.27734169e-01 -7.98552203e-01 -5.57181772e-01 2.00170077e+02] [ 2.05218624e-01 -5.98726909e-01 7.74216640e-01 2.30169697e+02] [-9.51852123e-01 6.19715065e-02 3.00228360e-01 -2.53559517e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.4207140569999 meters Centerline goodness : 0.994505 Centerline is valid? [True, True] Translation: X:200.17, Y:230.17, Z:-253.56 [[-2.23823202e-01 -8.02228938e-01 -5.53472588e-01 2.00166567e+02] [ 2.05203415e-01 -5.93939343e-01 7.77899489e-01 2.30169228e+02] [-9.52782626e-01 6.05374892e-02 2.97557523e-01 -2.53560852e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.4507140569999 meters Centerline goodness : 0.993709 Centerline is valid? [True, True] Translation: X:200.16, Y:230.17, Z:-253.57 [[-2.22951958e-01 -8.08310030e-01 -5.44910378e-01 2.00158723e+02] [ 2.05823337e-01 -5.85411270e-01 7.84174980e-01 2.30173729e+02] [-9.52853178e-01 6.26780753e-02 2.96887656e-01 -2.53574761e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.4807140569999 meters Centerline goodness : 0.995441 Centerline is valid? [True, True] Translation: X:200.16, Y:230.17, Z:-253.58 [[-2.39946288e-01 -7.91031078e-01 -5.62757153e-01 2.00158600e+02] [ 2.03785370e-01 -6.07818540e-01 7.67481691e-01 2.30174362e+02] [-9.49156100e-01 6.94727082e-02 3.07044363e-01 -2.53584601e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.510714057 meters Centerline goodness : 0.994300 Centerline is valid? [True, True] Translation: X:200.19, Y:230.17, Z:-253.59 [[-2.38014280e-01 -7.60164459e-01 -6.04565297e-01 2.00186242e+02] [ 2.01414728e-01 -6.47552889e-01 7.34919970e-01 2.30171935e+02] [-9.50148046e-01 5.31530925e-02 3.07235153e-01 -2.53593963e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.540714057 meters Centerline goodness : 0.994782 Centerline is valid? [True, True] Translation: X:200.18, Y:230.17, Z:-253.60 [[-2.38330781e-01 -7.60847548e-01 -6.03580523e-01 2.00183908e+02] [ 2.01483023e-01 -6.46703599e-01 7.35648725e-01 2.30173140e+02] [-9.50054225e-01 5.37165068e-02 3.07427238e-01 -2.53598874e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.5707140569999 meters Centerline goodness : 0.994637 Centerline is valid? [True, True] Translation: X:200.18, Y:230.17, Z:-253.60 [[-2.40064574e-01 -7.61134964e-01 -6.02530138e-01 2.00182033e+02] [ 2.00756943e-01 -6.46189010e-01 7.36299133e-01 2.30173270e+02] [-9.49771367e-01 5.57972288e-02 3.07930218e-01 -2.53602402e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.6007140569999 meters Centerline goodness : 0.995155 Centerline is valid? [True, True] Translation: X:200.18, Y:230.17, Z:-253.60 [[-2.41001745e-01 -7.61622653e-01 -6.01538938e-01 2.00180913e+02] [ 2.00317711e-01 -6.45497974e-01 7.37024545e-01 2.30173738e+02] [-9.49626755e-01 5.71252981e-02 3.08132645e-01 -2.53604858e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.630714057 meters Centerline goodness : 0.993864 Centerline is valid? [True, True] Translation: X:200.19, Y:230.17, Z:-253.60 [[-2.33528211e-01 -7.66011210e-01 -5.98908508e-01 2.00186411e+02] [ 2.03025776e-01 -6.40776217e-01 7.40396092e-01 2.30174478e+02] [-9.50918035e-01 5.13095096e-02 3.05159344e-01 -2.53600511e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.660714057 meters Centerline goodness : 0.991745 Centerline is valid? [True, True] Translation: X:200.04, Y:230.32, Z:-254.20 [[-2.50849997e-01 -7.78070201e-01 -5.75917565e-01 2.00043958e+02] [ 1.94955538e-01 -6.23356343e-01 7.57244483e-01 2.30320627e+02] [-9.48191235e-01 7.76764570e-02 3.08058032e-01 -2.54198024e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.6907140569999 meters Centerline goodness : 0.994811 Centerline is valid? [True, True] Translation: X:200.22, Y:231.32, Z:-253.51 [[-1.88465960e-01 6.62318242e-01 7.25131112e-01 2.00224812e+02] [ 2.29934617e-01 7.47598615e-01 -6.23078151e-01 2.31322696e+02] [-9.54783040e-01 4.93037228e-02 -2.93186782e-01 -2.53507184e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.7207140569999 meters Centerline goodness : 0.995243 Centerline is valid? [True, True] Translation: X:200.31, Y:230.24, Z:-253.74 [[-2.87513733e-01 -5.83675109e-01 -7.59380814e-01 2.00311294e+02] [ 1.26793739e-01 -8.09075026e-01 5.73864923e-01 2.30238283e+02] [-9.49346723e-01 6.87093131e-02 3.06626531e-01 -2.53742738e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.750714057 meters Centerline goodness : 0.995031 Centerline is valid? [True, True] Translation: X:200.31, Y:230.24, Z:-253.75 [[-2.89693310e-01 -5.83944984e-01 -7.58344277e-01 2.00307847e+02] [ 1.23350685e-01 -8.08490038e-01 5.75437631e-01 2.30238159e+02] [-9.49137711e-01 7.31581460e-02 3.06244169e-01 -2.53749579e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.780714057 meters Centerline goodness : 0.994902 Centerline is valid? [True, True] Translation: X:200.32, Y:230.23, Z:-253.71 [[-2.81380736e-01 -5.87421787e-01 -7.58788855e-01 2.00323121e+02] [ 1.32587221e-01 -8.06952904e-01 5.75541172e-01 2.30234526e+02] [-9.50392293e-01 6.13404929e-02 3.04945624e-01 -2.53710641e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.8107140569999 meters Centerline goodness : 0.994944 Centerline is valid? [True, True] Translation: X:200.27, Y:230.23, Z:-253.74 [[-2.82935813e-01 -6.45328812e-01 -7.09575965e-01 2.00271162e+02] [ 1.30084846e-01 -7.58788070e-01 6.38215166e-01 2.30235000e+02] [-9.50276412e-01 8.82688465e-02 2.98635819e-01 -2.53742161e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.8407140569999 meters Centerline goodness : 0.992656 Centerline is valid? [True, True] Translation: X:200.14, Y:230.35, Z:-254.36 [[-2.95680647e-01 -6.02291350e-01 -7.41497191e-01 2.00139898e+02] [ 1.18004402e-01 -7.93287067e-01 5.97302763e-01 2.30349599e+02] [-9.47970420e-01 8.91109343e-02 3.05632664e-01 -2.54356072e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.870714057 meters Centerline goodness : 0.992656 Centerline is valid? [True, True] Translation: X:200.16, Y:230.35, Z:-254.36 [[-2.93133599e-01 -5.75802022e-01 -7.63233074e-01 2.00158218e+02] [ 1.16938340e-01 -8.13900542e-01 5.69114516e-01 2.30353035e+02] [-9.48893101e-01 7.75753777e-02 3.05914928e-01 -2.54363998e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.900714057 meters Centerline goodness : 0.994580 Centerline is valid? [True, True] Translation: X:200.26, Y:231.39, Z:-253.69 [[-2.38106594e-01 7.08192852e-01 6.64656403e-01 2.00262256e+02] [ 1.79549486e-01 7.04639445e-01 -6.86473041e-01 2.31388952e+02] [-9.54498419e-01 -4.41150424e-02 -2.94934961e-01 -2.53691195e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.9307140569999 meters Centerline goodness : 0.994512 Centerline is valid? [True, True] Translation: X:200.44, Y:230.33, Z:-253.90 [[-3.22030649e-01 -3.50466992e-01 -8.79470948e-01 2.00444270e+02] [ 6.39847499e-02 -9.34890078e-01 3.49122462e-01 2.30332759e+02] [-9.44564563e-01 5.61554043e-02 3.23487801e-01 -2.53903930e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.9607140569999 meters Centerline goodness : 0.995179 Centerline is valid? [True, True] Translation: X:200.40, Y:230.31, Z:-253.90 [[-3.27453788e-01 -4.28797709e-01 -8.41965879e-01 2.00395042e+02] [ 6.62488222e-02 -8.99320703e-01 4.32242254e-01 2.30314713e+02] [-9.42541835e-01 8.57601156e-02 3.22893314e-01 -2.53900929e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.9907140569999 meters Centerline goodness : 0.994534 Centerline is valid? [True, True] Translation: X:200.40, Y:230.31, Z:-253.90 [[-3.27265484e-01 -4.24838467e-01 -8.44043589e-01 2.00398715e+02] [ 6.76457672e-02 -9.01473181e-01 4.27516261e-01 2.30313349e+02] [-9.42508012e-01 8.28153401e-02 3.23759581e-01 -2.53897172e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.020714057 meters Centerline goodness : 0.995238 Centerline is valid? [True, True] Translation: X:200.39, Y:230.31, Z:-253.91 [[-3.32550005e-01 -4.25462737e-01 -8.41660236e-01 2.00389026e+02] [ 5.92660569e-02 -9.00117754e-01 4.31596528e-01 2.30308600e+02] [-9.41221562e-01 9.36455443e-02 3.24549663e-01 -2.53908594e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.0507140569999 meters Centerline goodness : 0.995097 Centerline is valid? [True, True] Translation: X:200.42, Y:230.32, Z:-253.92 [[-3.28842662e-01 -3.73064867e-01 -8.67574267e-01 2.00418889e+02] [ 5.78785149e-02 -9.24900663e-01 3.75777648e-01 2.30319727e+02] [-9.42609453e-01 7.33578118e-02 3.25739236e-01 -2.53922343e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.0807140569999 meters Centerline goodness : 0.995647 Centerline is valid? [True, True] Translation: X:200.41, Y:230.31, Z:-253.92 [[-3.30470994e-01 -3.86751219e-01 -8.60936941e-01 2.00412311e+02] [ 5.90941580e-02 -9.18876176e-01 3.90095442e-01 2.30314490e+02] [-9.41964332e-01 7.80388846e-02 3.26516661e-01 -2.53915720e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.1107140569999 meters Centerline goodness : 0.995813 Centerline is valid? [True, True] Translation: X:200.42, Y:230.31, Z:-253.89 [[-3.29771540e-01 -3.84898735e-01 -8.62034625e-01 2.00424324e+02] [ 7.08305996e-02 -9.20627279e-01 3.83964112e-01 2.30313976e+02] [-9.41399893e-01 6.55620069e-02 3.30859283e-01 -2.53890285e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.140714057 meters Centerline goodness : 0.995031 Centerline is valid? [True, True] Translation: X:200.39, Y:230.30, Z:-253.90 [[-3.34834875e-01 -4.37555971e-01 -8.34524043e-01 2.00386002e+02] [ 7.39418163e-02 -8.95116410e-01 4.39658071e-01 2.30303573e+02] [-9.39371180e-01 8.55066319e-02 3.32069875e-01 -2.53898524e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.1707140569999 meters Centerline goodness : 0.995078 Centerline is valid? [True, True] Translation: X:200.38, Y:230.30, Z:-253.91 [[-3.36123631e-01 -4.36789239e-01 -8.34407614e-01 2.00378426e+02] [ 6.44450206e-02 -8.94544416e-01 4.42308860e-01 2.30299348e+02] [-9.39610422e-01 9.48970439e-02 3.28826408e-01 -2.53913301e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.2007140569999 meters Centerline goodness : 0.994719 Centerline is valid? [True, True] Translation: X:200.42, Y:230.31, Z:-253.91 [[-3.38029749e-01 -3.75771789e-01 -8.62862360e-01 2.00416794e+02] [ 7.31422549e-02 -9.24547466e-01 3.73981543e-01 2.30313821e+02] [-9.38288921e-01 6.33051886e-02 3.40009344e-01 -2.53910759e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.2307140569999 meters Centerline goodness : 0.994830 Centerline is valid? [True, True] Translation: X:200.39, Y:230.30, Z:-253.90 [[-3.31365054e-01 -4.32433880e-01 -8.38569103e-01 2.00388841e+02] [ 7.60530042e-02 -8.98132989e-01 4.33097074e-01 2.30299755e+02] [-9.40432423e-01 7.97375355e-02 3.30497782e-01 -2.53902144e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.260714057 meters Centerline goodness : 0.995134 Centerline is valid? [True, True] Translation: X:200.39, Y:230.30, Z:-253.90 [[-3.31209473e-01 -4.34614190e-01 -8.37502711e-01 2.00386063e+02] [ 7.67974270e-02 -8.97073509e-01 4.35156610e-01 2.30297887e+02] [-9.40426733e-01 7.98099381e-02 3.30496495e-01 -2.53903575e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.290714057 meters Centerline goodness : 0.993824 Centerline is valid? [True, True] Translation: X:200.38, Y:230.30, Z:-253.91 [[-3.29486297e-01 -4.42280169e-01 -8.34162473e-01 2.00376551e+02] [ 7.73634629e-02 -8.93172480e-01 4.43009949e-01 2.30295511e+02] [-9.40985481e-01 8.14320103e-02 3.28504419e-01 -2.53914010e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.3207140569999 meters Centerline goodness : 0.994524 Centerline is valid? [True, True] Translation: X:200.39, Y:230.30, Z:-253.92 [[-3.30483905e-01 -4.16450680e-01 -8.46964710e-01 2.00385320e+02] [ 6.92555018e-02 -9.05668578e-01 4.18291887e-01 2.30295395e+02] [-9.41267265e-01 7.95817699e-02 3.28150389e-01 -2.53924561e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.3507140569999 meters Centerline goodness : 0.994151 Centerline is valid? [True, True] Translation: X:200.41, Y:230.30, Z:-253.91 [[-3.23918615e-01 -3.96626015e-01 -8.58932206e-01 2.00406745e+02] [ 7.77135727e-02 -9.15967149e-01 3.93655664e-01 2.30301092e+02] [-9.42887762e-01 6.07617071e-02 3.27522035e-01 -2.53913519e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.380714057 meters Centerline goodness : 0.994107 Centerline is valid? [True, True] Translation: X:200.36, Y:230.29, Z:-253.93 [[-3.29552414e-01 -4.41066054e-01 -8.34778978e-01 2.00364313e+02] [ 7.10945880e-02 -8.93253843e-01 4.43895407e-01 2.30289248e+02] [-9.41456725e-01 8.69385355e-02 3.25731370e-01 -2.53932826e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.410714057 meters Centerline goodness : 0.993913 Centerline is valid? [True, True] Translation: X:200.40, Y:230.30, Z:-253.92 [[-3.14065139e-01 -4.11607182e-01 -8.55536449e-01 2.00398160e+02] [ 7.65182584e-02 -9.09174992e-01 4.09323577e-01 2.30296594e+02] [-9.46312868e-01 6.30901070e-02 3.17035635e-01 -2.53923239e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.4407140569999 meters Centerline goodness : 0.994259 Centerline is valid? [True, True] Translation: X:200.37, Y:230.29, Z:-253.92 [[-3.15997987e-01 -4.53941313e-01 -8.33116173e-01 2.00370002e+02] [ 7.70191092e-02 -8.87486078e-01 4.54352856e-01 2.30287924e+02] [-9.45628537e-01 7.94087222e-02 3.15405970e-01 -2.53921839e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.4707140569999 meters Centerline goodness : 0.993752 Centerline is valid? [True, True] Translation: X:200.37, Y:230.29, Z:-253.93 [[-3.29373486e-01 -4.31535491e-01 -8.39815591e-01 2.00370678e+02] [ 6.91204132e-02 -8.98080557e-01 4.34365838e-01 2.30288650e+02] [-9.41666329e-01 8.50201899e-02 3.25631836e-01 -2.53930820e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.500714057 meters Centerline goodness : 0.994213 Centerline is valid? [True, True] Translation: X:200.39, Y:230.30, Z:-253.93 [[-3.16166756e-01 -4.13921948e-01 -8.53643487e-01 2.00393108e+02] [ 7.36977039e-02 -9.07796764e-01 4.12884590e-01 2.30295296e+02] [-9.45836789e-01 6.76288165e-02 3.17520255e-01 -2.53933058e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.530714057 meters Centerline goodness : 0.995009 Centerline is valid? [True, True] Translation: X:200.37, Y:230.29, Z:-253.93 [[-3.31857473e-01 -4.33329106e-01 -8.37911991e-01 2.00368575e+02] [ 6.81939787e-02 -8.96945665e-01 4.36850153e-01 2.30287785e+02] [-9.40861413e-01 8.78314354e-02 3.27208557e-01 -2.53932760e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.5607140569999 meters Centerline goodness : 0.994613 Centerline is valid? [True, True] Translation: X:200.39, Y:230.30, Z:-253.95 [[-3.28565826e-01 -3.97954361e-01 -8.56549371e-01 2.00389627e+02] [ 7.05184239e-02 -9.14704551e-01 3.97923029e-01 2.30299915e+02] [-9.41844812e-01 7.03413974e-02 3.28603771e-01 -2.53953342e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.5907140569999 meters Centerline goodness : 0.994408 Centerline is valid? [True, True] Translation: X:200.38, Y:230.29, Z:-253.93 [[-3.29901237e-01 -4.26282112e-01 -8.42287799e-01 2.00377852e+02] [ 7.28586340e-02 -9.01075572e-01 4.27497875e-01 2.30290715e+02] [-9.41199657e-01 7.96641392e-02 3.28324278e-01 -2.53931920e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.620714057 meters Centerline goodness : 0.994516 Centerline is valid? [True, True] Translation: X:200.37, Y:230.29, Z:-253.94 [[-3.29022575e-01 -4.35413865e-01 -8.37949230e-01 2.00369623e+02] [ 7.14983989e-02 -8.96294667e-01 4.37657228e-01 2.30289881e+02] [-9.41611451e-01 8.40870798e-02 3.26032573e-01 -2.53942184e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.650714057 meters Centerline goodness : 0.994443 Centerline is valid? [True, True] Translation: X:200.38, Y:230.29, Z:-253.94 [[-3.30092821e-01 -4.27839397e-01 -8.41422712e-01 2.00375593e+02] [ 7.21018211e-02 -9.00210017e-01 4.29445285e-01 2.30289737e+02] [-9.41190766e-01 8.10886958e-02 3.28000864e-01 -2.53935484e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.6807140569999 meters Centerline goodness : 0.994815 Centerline is valid? [True, True] Translation: X:200.36, Y:230.29, Z:-253.96 [[-3.26297739e-01 -4.38294150e-01 -8.37512999e-01 2.00361640e+02] [ 7.06913674e-02 -8.94840241e-01 4.40753529e-01 2.30290510e+02] [-9.42620027e-01 8.46119411e-02 3.22967961e-01 -2.53964066e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.7107140569999 meters Centerline goodness : 0.994851 Centerline is valid? [True, True] Translation: X:200.37, Y:230.29, Z:-253.95 [[-3.18493024e-01 -4.44208807e-01 -8.37401176e-01 2.00368926e+02] [ 7.20461113e-02 -8.92192600e-01 4.45871868e-01 2.30286082e+02] [-9.45183343e-01 8.16755810e-02 3.16160636e-01 -2.53945119e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.7407140569999 meters Centerline goodness : 0.994207 Centerline is valid? [True, True] Translation: X:200.36, Y:230.29, Z:-253.96 [[-3.24066588e-01 -4.45690845e-01 -8.34470202e-01 2.00358984e+02] [ 7.19911180e-02 -8.91132206e-01 4.47996285e-01 2.30287960e+02] [-9.43291114e-01 8.51061846e-02 3.20871955e-01 -2.53960934e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.770714057 meters Centerline goodness : 0.994753 Centerline is valid? [True, True] Translation: X:200.37, Y:230.28, Z:-253.94 [[-3.18406932e-01 -4.48418924e-01 -8.35187102e-01 2.00366155e+02] [ 7.38012680e-02 -8.90093732e-01 4.49762739e-01 2.30283845e+02] [-9.45076928e-01 8.15697065e-02 3.16505899e-01 -2.53941364e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.8007140569999 meters Centerline goodness : 0.994322 Centerline is valid? [True, True] Translation: X:200.36, Y:230.28, Z:-253.95 [[-3.31829706e-01 -4.38634850e-01 -8.35157778e-01 2.00357727e+02] [ 6.94088544e-02 -8.94273635e-01 4.42105278e-01 2.30284420e+02] [-9.40782364e-01 8.87363200e-02 3.27191700e-01 -2.53952010e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.8307140569999 meters Centerline goodness : 0.994838 Centerline is valid? [True, True] Translation: X:200.38, Y:230.29, Z:-253.96 [[-3.28521335e-01 -4.05828534e-01 -8.52863960e-01 2.00377322e+02] [ 6.88418629e-02 -9.10869479e-01 4.06912264e-01 2.30291085e+02] [-9.41984358e-01 7.49666165e-02 3.27178050e-01 -2.53964354e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.8607140569999 meters Centerline goodness : 0.994735 Centerline is valid? [True, True] Translation: X:200.38, Y:230.29, Z:-253.95 [[-3.15321076e-01 -4.22567287e-01 -8.49711426e-01 2.00380623e+02] [ 7.62717786e-02 -9.03777855e-01 4.21151047e-01 2.30288613e+02] [-9.45915025e-01 6.79887997e-02 3.17210165e-01 -2.53954087e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.890714057 meters Centerline goodness : 0.994732 Centerline is valid? [True, True] Translation: X:200.36, Y:230.28, Z:-253.95 [[-3.19742166e-01 -4.52041826e-01 -8.32720322e-01 2.00357640e+02] [ 7.81545810e-02 -8.88443992e-01 4.52282141e-01 2.30282576e+02] [-9.44275812e-01 7.95327632e-02 3.19402146e-01 -2.53951949e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.9207140569999 meters Centerline goodness : 0.994642 Centerline is valid? [True, True] Translation: X:200.35, Y:230.29, Z:-253.97 [[-3.28797418e-01 -4.40218353e-01 -8.35523824e-01 2.00350865e+02] [ 7.33801486e-02 -8.93947432e-01 4.42123674e-01 2.30285359e+02] [-9.41545332e-01 8.40582602e-02 3.26230896e-01 -2.53972974e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.9507140569999 meters Centerline goodness : 0.994524 Centerline is valid? [True, True] Translation: X:200.37, Y:230.29, Z:-253.98 [[-3.20739434e-01 -4.15076232e-01 -8.51374146e-01 2.00372200e+02] [ 7.74761563e-02 -9.07348507e-01 4.13178087e-01 2.30293163e+02] [-9.43993464e-01 6.65613093e-02 3.23180958e-01 -2.53979750e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.9807140569999 meters Centerline goodness : 0.994913 Centerline is valid? [True, True] Translation: X:200.36, Y:230.28, Z:-253.95 [[-3.22903263e-01 -4.39564373e-01 -8.38162660e-01 2.00364154e+02] [ 8.07848398e-02 -8.95171619e-01 4.38339573e-01 2.30284981e+02] [-9.42977885e-01 7.38304424e-02 3.24563974e-01 -2.53949167e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.010714057 meters Centerline goodness : 0.994948 Centerline is valid? [True, True] Translation: X:200.36, Y:230.28, Z:-253.94 [[-3.23372669e-01 -4.49216842e-01 -8.32847133e-01 2.00362453e+02] [ 8.28635569e-02 -8.90197122e-01 4.47976244e-01 2.30281841e+02] [-9.42636594e-01 7.58505977e-02 3.25089125e-01 -2.53935336e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.040714057 meters Centerline goodness : 0.995312 Centerline is valid? [True, True] Translation: X:200.34, Y:230.28, Z:-253.97 [[-3.29671433e-01 -4.52717464e-01 -8.28470666e-01 2.00344727e+02] [ 7.65246173e-02 -8.87454571e-01 4.54497930e-01 2.30283605e+02] [-9.40989229e-01 8.64365834e-02 3.27212451e-01 -2.53966138e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.0707140569999 meters Centerline goodness : 0.994921 Centerline is valid? [True, True] Translation: X:200.39, Y:230.29, Z:-253.95 [[-3.19913299e-01 -4.08398503e-01 -8.54907097e-01 2.00385830e+02] [ 7.99407604e-02 -9.10744864e-01 4.05158324e-01 2.30291836e+02] [-9.44068300e-01 6.12736129e-02 3.24007081e-01 -2.53952107e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.1007140569999 meters Centerline goodness : 0.994483 Centerline is valid? [True, True] Translation: X:200.36, Y:230.29, Z:-253.97 [[-3.19370254e-01 -4.39106501e-01 -8.39754799e-01 2.00360908e+02] [ 7.98560735e-02 -8.95481897e-01 4.37875757e-01 2.30288229e+02] [-9.44259312e-01 7.27849709e-02 3.21055602e-01 -2.53970348e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.130714057 meters Centerline goodness : 0.995359 Centerline is valid? [True, True] Translation: X:200.35, Y:230.29, Z:-253.97 [[-3.28131649e-01 -4.39597990e-01 -8.36111971e-01 2.00354014e+02] [ 7.87899041e-02 -8.94771504e-01 4.39518039e-01 2.30286953e+02] [-9.41340413e-01 7.83425968e-02 3.28238733e-01 -2.53970351e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.160714057 meters Centerline goodness : 0.995463 Centerline is valid? [True, True] Translation: X:200.37, Y:230.29, Z:-253.98 [[-3.26354204e-01 -4.16591372e-01 -8.48495470e-01 2.00366894e+02] [ 7.84906609e-02 -9.06486958e-01 4.14874211e-01 2.30292473e+02] [-9.41983094e-01 6.87969725e-02 3.28534362e-01 -2.53980444e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.1907140569999 meters Centerline goodness : 0.995472 Centerline is valid? [True, True] Translation: X:200.36, Y:230.30, Z:-253.99 [[-3.21955278e-01 -4.21242628e-01 -8.47879383e-01 2.00364558e+02] [ 8.27750997e-02 -9.04658617e-01 4.18020417e-01 2.30295152e+02] [-9.43129409e-01 6.44005789e-02 3.26128017e-01 -2.53992305e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.2207140569999 meters Centerline goodness : 0.995083 Centerline is valid? [True, True] Translation: X:200.36, Y:230.29, Z:-253.97 [[-3.20928525e-01 -4.45927362e-01 -8.35555904e-01 2.00355652e+02] [ 8.40191650e-02 -8.92148824e-01 4.43859499e-01 2.30287868e+02] [-9.43369314e-01 7.22444652e-02 3.23782451e-01 -2.53971062e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.250714057 meters Centerline goodness : 0.994817 Centerline is valid? [True, True] Translation: X:200.36, Y:230.29, Z:-253.98 [[-3.20667805e-01 -4.44745563e-01 -8.36285563e-01 2.00355337e+02] [ 8.45671204e-02 -8.92827443e-01 4.42388470e-01 2.30289421e+02] [-9.43409011e-01 7.11374779e-02 3.23911868e-01 -2.53975894e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.280714057 meters Centerline goodness : 0.995784 Centerline is valid? [True, True] Translation: X:200.36, Y:230.29, Z:-253.97 [[-3.16790838e-01 -4.50540161e-01 -8.34659888e-01 2.00356238e+02] [ 8.50428004e-02 -8.89930695e-01 4.48097177e-01 2.30287873e+02] [-9.44675228e-01 7.09712661e-02 3.20237088e-01 -2.53969942e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.3107140569999 meters Centerline goodness : 0.995140 Centerline is valid? [True, True] Translation: X:200.36, Y:230.29, Z:-253.98 [[-3.15153965e-01 -4.44482251e-01 -8.38518639e-01 2.00358928e+02] [ 8.32727118e-02 -8.93086950e-01 4.42110116e-01 2.30290266e+02] [-9.45380153e-01 6.95070351e-02 3.18473136e-01 -2.53976062e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.3407140569999 meters Centerline goodness : 0.995244 Centerline is valid? [True, True] Translation: X:200.36, Y:230.29, Z:-253.98 [[-3.16396804e-01 -4.48627417e-01 -8.35838802e-01 2.00356491e+02] [ 8.46589919e-02 -8.90941694e-01 4.46156646e-01 2.30291224e+02] [-9.44841742e-01 7.04012663e-02 3.19871449e-01 -2.53976440e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.370714057 meters Centerline goodness : 0.994664 Centerline is valid? [True, True] Translation: X:200.35, Y:230.29, Z:-253.98 [[-3.13418639e-01 -4.59860548e-01 -8.30841160e-01 2.00352734e+02] [ 8.46196486e-02 -8.84968258e-01 4.57898130e-01 2.30289602e+02] [-9.45837339e-01 7.32083217e-02 3.16278785e-01 -2.53975872e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.400714057 meters Centerline goodness : 0.995584 Centerline is valid? [True, True] Translation: X:200.35, Y:230.30, Z:-253.99 [[-3.27588277e-01 -4.33812401e-01 -8.39340647e-01 2.00354108e+02] [ 8.03047314e-02 -8.97929393e-01 4.32751610e-01 2.30295847e+02] [-9.41401652e-01 7.43613293e-02 3.28988331e-01 -2.53991210e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.4307140569999 meters Centerline goodness : 0.995520 Centerline is valid? [True, True] Translation: X:200.36, Y:230.29, Z:-253.98 [[-3.11036308e-01 -4.47985126e-01 -8.38191948e-01 2.00360609e+02] [ 8.27176108e-02 -8.91351415e-01 4.45702200e-01 2.30294757e+02] [-9.46791536e-01 6.92963315e-02 3.14298913e-01 -2.53984446e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.4607140569999 meters Centerline goodness : 0.995931 Centerline is valid? [True, True] Translation: X:200.34, Y:230.29, Z:-253.98 [[-3.13355197e-01 -4.74119284e-01 -8.22811901e-01 2.00342709e+02] [ 8.30924922e-02 -8.76815593e-01 4.73592709e-01 2.30290602e+02] [-9.45993741e-01 8.00332450e-02 3.14150476e-01 -2.53981439e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.4907140569999 meters Centerline goodness : 0.995219 Centerline is valid? [True, True] Translation: X:200.34, Y:230.30, Z:-254.00 [[-3.28513240e-01 -4.49189239e-01 -8.30847807e-01 2.00341911e+02] [ 7.83997269e-02 -8.89602916e-01 4.49955702e-01 2.30297413e+02] [-9.41239892e-01 8.26781645e-02 3.27462650e-01 -2.53999042e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.520714057 meters Centerline goodness : 0.995226 Centerline is valid? [True, True] Translation: X:200.36, Y:230.30, Z:-253.99 [[-3.04983588e-01 -4.55409468e-01 -8.36413312e-01 2.00360404e+02] [ 8.21989429e-02 -8.87565719e-01 4.53288461e-01 2.30295868e+02] [-9.48803639e-01 6.94932512e-02 3.08127154e-01 -2.53986152e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.5507140569999 meters Centerline goodness : 0.995043 Centerline is valid? [True, True] Translation: X:200.33, Y:230.29, Z:-253.99 [[-3.07410603e-01 -4.93806759e-01 -8.13420928e-01 2.00332764e+02] [ 8.34634857e-02 -8.65511289e-01 4.93886683e-01 2.30291012e+02] [-9.47909578e-01 8.39350570e-02 3.07282181e-01 -2.53989066e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.5807140569999 meters Centerline goodness : 0.995033 Centerline is valid? [True, True] Translation: X:200.34, Y:230.29, Z:-253.98 [[-3.08459088e-01 -4.88171510e-01 -8.16419971e-01 2.00338853e+02] [ 8.46062264e-02 -8.68949465e-01 4.87615231e-01 2.30291365e+02] [-9.47467560e-01 8.13351363e-02 3.09337708e-01 -2.53979970e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.6107140569999 meters Centerline goodness : 0.994725 Centerline is valid? [True, True] Translation: X:200.34, Y:230.30, Z:-253.98 [[-3.18293559e-01 -4.73737098e-01 -8.21134808e-01 2.00341476e+02] [ 8.80397731e-02 -8.77211515e-01 4.71962875e-01 2.30296825e+02] [-9.43895232e-01 7.79302209e-02 3.20918481e-01 -2.53983615e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.640714057 meters Centerline goodness : 0.994367 Centerline is valid? [True, True] Translation: X:200.34, Y:230.30, Z:-253.99 [[-3.18440938e-01 -4.74278283e-01 -8.20765179e-01 2.00339142e+02] [ 8.86311994e-02 -8.76942024e-01 4.72352831e-01 2.30298452e+02] [-9.43790167e-01 7.76710762e-02 3.21290094e-01 -2.53990298e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.6707140569999 meters Centerline goodness : 0.994901 Centerline is valid? [True, True] Translation: X:200.33, Y:230.30, Z:-254.00 [[-3.27731776e-01 -4.64036386e-01 -8.22959364e-01 2.00333547e+02] [ 8.24869825e-02 -8.81795466e-01 4.64362632e-01 2.30299348e+02] [-9.41162994e-01 8.43029553e-02 3.27269355e-01 -2.54001541e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.7007140569999 meters Centerline goodness : 0.993972 Centerline is valid? [True, True] Translation: X:200.37, Y:230.31, Z:-254.00 [[-3.15690065e-01 -4.26288947e-01 -8.47713110e-01 2.00368516e+02] [ 8.60704698e-02 -9.02581432e-01 4.21827729e-01 2.30309886e+02] [-9.44950611e-01 6.02037574e-02 3.21626880e-01 -2.54001327e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.7307140569999 meters Centerline goodness : 0.995329 Centerline is valid? [True, True] Translation: X:200.35, Y:230.31, Z:-254.01 [[-3.21580666e-01 -4.43261066e-01 -8.36723074e-01 2.00350924e+02] [ 8.86760312e-02 -8.93875857e-01 4.39457067e-01 2.30309095e+02] [-9.42720763e-01 6.71236149e-02 3.26759825e-01 -2.54012576e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.760714057 meters Centerline goodness : 0.995329 Centerline is valid? [True, True] Translation: X:200.34, Y:230.31, Z:-254.01 [[-3.22353454e-01 -4.58356448e-01 -8.28249732e-01 2.00340517e+02] [ 8.96507280e-02 -8.85804889e-01 4.55315765e-01 2.30306480e+02] [-9.42364578e-01 7.25194181e-02 3.26634254e-01 -2.54012664e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.790714057 meters Centerline goodness : 0.994883 Centerline is valid? [True, True] Translation: X:200.34, Y:230.31, Z:-254.02 [[-3.24861831e-01 -4.55090946e-01 -8.29069974e-01 2.00340416e+02] [ 9.08869591e-02 -8.87581406e-01 4.51595847e-01 2.30308165e+02] [-9.41384274e-01 7.13546050e-02 3.29703153e-01 -2.54015024e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.8207140569999 meters Centerline goodness : 0.994279 Centerline is valid? [True, True] Translation: X:200.33, Y:230.31, Z:-254.02 [[-3.25046879e-01 -4.59958645e-01 -8.26306584e-01 2.00334816e+02] [ 8.66637659e-02 -8.84564272e-01 4.58296237e-01 2.30305138e+02] [-9.41718598e-01 7.73569210e-02 3.27386604e-01 -2.54016300e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.8507140569999 meters Centerline goodness : 0.994429 Centerline is valid? [True, True] Translation: X:200.36, Y:230.31, Z:-254.02 [[-3.23443163e-01 -4.27830455e-01 -8.44005700e-01 2.00357203e+02] [ 9.14849703e-02 -9.01910388e-01 4.22123386e-01 2.30314671e+02] [-9.41814748e-01 5.93190869e-02 3.30856805e-01 -2.54019426e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.880714057 meters Centerline goodness : 0.994441 Centerline is valid? [True, True] Translation: X:200.34, Y:230.31, Z:-254.00 [[-3.32145984e-01 -4.48172534e-01 -8.29952062e-01 2.00343134e+02] [ 9.56343097e-02 -8.91372962e-01 4.43066948e-01 2.30309925e+02] [-9.38367265e-01 6.77910151e-02 3.38926621e-01 -2.54004746e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.910714057 meters Centerline goodness : 0.994418 Centerline is valid? [True, True] Translation: X:200.34, Y:230.31, Z:-254.02 [[-3.26323679e-01 -4.59644663e-01 -8.25977991e-01 2.00336845e+02] [ 9.56494481e-02 -8.85383635e-01 4.54914280e-01 2.30310568e+02] [-9.40406316e-01 6.94449623e-02 3.32886403e-01 -2.54018069e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.9407140569999 meters Centerline goodness : 0.994114 Centerline is valid? [True, True] Translation: X:200.33, Y:230.31, Z:-254.02 [[-3.24459869e-01 -4.66146924e-01 -8.23063083e-01 2.00332414e+02] [ 9.14508021e-02 -8.81520759e-01 4.63203954e-01 2.30306970e+02] [-9.41468292e-01 7.50213151e-02 3.28647620e-01 -2.54020674e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.9707140569999 meters Centerline goodness : 0.994546 Centerline is valid? [True, True] Translation: X:200.36, Y:230.31, Z:-254.01 [[-3.17108569e-01 -4.42240732e-01 -8.38966799e-01 2.00358338e+02] [ 9.95116811e-02 -8.95255231e-01 4.34298857e-01 2.30313032e+02] [-9.43154060e-01 5.42328925e-02 3.27901224e-01 -2.54009094e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.000714057 meters Centerline goodness : 0.994450 Centerline is valid? [True, True] Translation: X:200.33, Y:230.31, Z:-254.02 [[-3.24150480e-01 -4.78026523e-01 -8.16343745e-01 2.00325117e+02] [ 9.51398049e-02 -8.75035526e-01 4.74616947e-01 2.30306015e+02] [-9.41209267e-01 7.61805266e-02 3.29122536e-01 -2.54020883e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.030714057 meters Centerline goodness : 0.994256 Centerline is valid? [True, True] Translation: X:200.35, Y:230.32, Z:-254.04 [[-3.17417108e-01 -4.42005513e-01 -8.38974079e-01 2.00349954e+02] [ 9.97278883e-02 -8.95380198e-01 4.33991532e-01 2.30317674e+02] [-9.43027427e-01 5.40872236e-02 3.28289269e-01 -2.54035174e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.0607140569999 meters Centerline goodness : 0.994424 Centerline is valid? [True, True] Translation: X:200.33, Y:230.31, Z:-254.02 [[-3.17367519e-01 -4.74888814e-01 -8.20827919e-01 2.00332429e+02] [ 1.01985533e-01 -8.77647987e-01 4.68329972e-01 2.30310273e+02] [-9.42802635e-01 6.49201482e-02 3.26968753e-01 -2.54021871e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.0907140569999 meters Centerline goodness : 0.994226 Centerline is valid? [True, True] Translation: X:200.33, Y:230.31, Z:-254.01 [[-3.09999071e-01 -4.85617867e-01 -8.17359078e-01 2.00334614e+02] [ 1.05054122e-01 -8.71942968e-01 4.78204029e-01 2.30307034e+02] [-9.44914921e-01 6.23758643e-02 3.21317669e-01 -2.54009137e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.120714057 meters Centerline goodness : 0.995347 Centerline is valid? [True, True] Translation: X:200.33, Y:230.31, Z:-254.02 [[-3.15208094e-01 -4.89804422e-01 -8.12856374e-01 2.00325312e+02] [ 1.04369826e-01 -8.69215380e-01 4.83292419e-01 2.30308655e+02] [-9.43266027e-01 6.75000034e-02 3.25104526e-01 -2.54017566e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.150714057 meters Centerline goodness : 0.994258 Centerline is valid? [True, True] Translation: X:200.34, Y:230.31, Z:-254.02 [[-3.06809886e-01 -4.78757392e-01 -8.22592884e-01 2.00336038e+02] [ 1.03065380e-01 -8.75906066e-01 4.71344980e-01 2.30312335e+02] [-9.46173991e-01 5.98324511e-02 3.18079953e-01 -2.54019999e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.1807140569999 meters Centerline goodness : 0.993882 Centerline is valid? [True, True] Translation: X:200.32, Y:230.31, Z:-254.04 [[-3.20445065e-01 -4.74173752e-01 -8.20045251e-01 2.00323790e+02] [ 9.90668037e-02 -8.77724144e-01 4.68813498e-01 2.30312668e+02] [-9.42072571e-01 6.89897099e-02 3.28237248e-01 -2.54040557e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.2107140569999 meters Centerline goodness : 0.994347 Centerline is valid? [True, True] Translation: X:200.35, Y:230.32, Z:-254.03 [[-3.05384263e-01 -4.59689204e-01 -8.33922231e-01 2.00349445e+02] [ 1.05973436e-01 -8.86724510e-01 4.49988081e-01 2.30317314e+02] [-9.46313945e-01 4.90456739e-02 3.19506555e-01 -2.54028681e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.2407140569999 meters Centerline goodness : 0.993930 Centerline is valid? [True, True] Translation: X:200.32, Y:230.31, Z:-254.04 [[-3.14094353e-01 -4.91115719e-01 -8.12496208e-01 2.00322198e+02] [ 1.08101348e-01 -8.68741764e-01 4.83323748e-01 2.30314903e+02] [-9.43217279e-01 6.39773249e-02 3.25957154e-01 -2.54036273e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.270714057 meters Centerline goodness : 0.993291 Centerline is valid? [True, True] Translation: X:200.34, Y:230.32, Z:-254.03 [[-3.06337940e-01 -4.73155701e-01 -8.26002875e-01 2.00339405e+02] [ 1.04404615e-01 -8.79185827e-01 4.64899945e-01 2.30317565e+02] [-9.46180080e-01 5.61779794e-02 3.18727614e-01 -2.54026715e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.3007140569999 meters Centerline goodness : 0.993411 Centerline is valid? [True, True] Translation: X:200.33, Y:230.32, Z:-254.03 [[-3.07025365e-01 -4.79424248e-01 -8.22123966e-01 2.00334253e+02] [ 1.04608669e-01 -8.75612765e-01 4.71549904e-01 2.30318103e+02] [-9.45934697e-01 5.87764878e-02 3.18987261e-01 -2.54032513e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.3307140569999 meters Centerline goodness : 0.993882 Centerline is valid? [True, True] Translation: X:200.34, Y:230.32, Z:-254.03 [[-3.08414870e-01 -4.76955950e-01 -8.23039058e-01 2.00336175e+02] [ 1.04612670e-01 -8.76974894e-01 4.69010901e-01 2.30319825e+02] [-9.45482130e-01 5.85496228e-02 3.20367733e-01 -2.54032575e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.3607140569999 meters Centerline goodness : 0.993721 Centerline is valid? [True, True] Translation: X:200.34, Y:230.32, Z:-254.02 [[-3.09050156e-01 -4.76769152e-01 -8.22908972e-01 2.00338468e+02] [ 1.05543671e-01 -8.77116364e-01 4.68537530e-01 2.30318523e+02] [-9.45171167e-01 5.79487629e-02 3.21392916e-01 -2.54024923e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.390714057 meters Centerline goodness : 0.993774 Centerline is valid? [True, True] Translation: X:200.33, Y:230.32, Z:-254.04 [[-3.11247178e-01 -4.82819225e-01 -8.18541868e-01 2.00329939e+02] [ 1.05632729e-01 -8.73564116e-01 4.75107842e-01 2.30321016e+02] [-9.44440004e-01 6.14111635e-02 3.22895879e-01 -2.54040345e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.4207140569999 meters Centerline goodness : 0.994213 Centerline is valid? [True, True] Translation: X:200.33, Y:230.32, Z:-254.05 [[-3.13400214e-01 -4.76542975e-01 -8.21393389e-01 2.00330757e+02] [ 1.05507132e-01 -8.77087917e-01 4.68599008e-01 2.30323676e+02] [-9.43741782e-01 6.01961692e-02 3.25158224e-01 -2.54047833e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.4507140569999 meters Centerline goodness : 0.993766 Centerline is valid? [True, True] Translation: X:200.34, Y:230.32, Z:-254.04 [[-3.10514911e-01 -4.76648174e-01 -8.22427509e-01 2.00335773e+02] [ 1.05850243e-01 -8.77152780e-01 4.68400178e-01 2.30321717e+02] [-9.44656666e-01 5.83910877e-02 3.22822343e-01 -2.54039693e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.4807140569999 meters Centerline goodness : 0.994165 Centerline is valid? [True, True] Translation: X:200.33, Y:230.32, Z:-254.04 [[-3.09385141e-01 -4.82365655e-01 -8.19514618e-01 2.00333754e+02] [ 1.07699872e-01 -8.74026230e-01 4.73792030e-01 2.30320755e+02] [-9.44818275e-01 5.83225941e-02 3.22361448e-01 -2.54039065e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.510714057 meters Centerline goodness : 0.994726 Centerline is valid? [True, True] Translation: X:200.32, Y:230.32, Z:-254.04 [[-3.14750875e-01 -4.94944290e-01 -8.09914833e-01 2.00321849e+02] [ 1.10555104e-01 -8.66592356e-01 4.86616130e-01 2.30319274e+02] [-9.42713878e-01 6.36226341e-02 3.27479319e-01 -2.54044602e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.540714057 meters Centerline goodness : 0.993813 Centerline is valid? [True, True] Translation: X:200.33, Y:230.32, Z:-254.04 [[-3.10317722e-01 -4.91070421e-01 -8.13973435e-01 2.00326319e+02] [ 1.09477693e-01 -8.69007574e-01 4.82535461e-01 2.30320180e+02] [-9.44307972e-01 6.06273716e-02 3.23429708e-01 -2.54042574e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.5707140569999 meters Centerline goodness : 0.994663 Centerline is valid? [True, True] Translation: X:200.32, Y:230.32, Z:-254.05 [[-3.12317981e-01 -4.94694891e-01 -8.11008288e-01 2.00319639e+02] [ 1.11466920e-01 -8.66899102e-01 4.85861167e-01 2.30320029e+02] [-9.43415394e-01 6.13425832e-02 3.25890293e-01 -2.54054106e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.6007140569999 meters Centerline goodness : 0.995445 Centerline is valid? [True, True] Translation: X:200.31, Y:230.32, Z:-254.06 [[-3.21369860e-01 -4.93423898e-01 -8.08241468e-01 2.00310673e+02] [ 1.05537613e-01 -8.66862746e-01 4.87248183e-01 2.30317380e+02] [-9.41054316e-01 7.12870055e-02 3.30658339e-01 -2.54060927e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.630714057 meters Centerline goodness : 0.994916 Centerline is valid? [True, True] Translation: X:200.34, Y:230.32, Z:-254.06 [[-3.07200316e-01 -4.70918563e-01 -8.26960502e-01 2.00335132e+02] [ 1.09389381e-01 -8.80694171e-01 4.60881482e-01 2.30324574e+02] [-9.45336940e-01 5.11222395e-02 3.22063018e-01 -2.54063457e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.660714057 meters Centerline goodness : 0.994884 Centerline is valid? [True, True] Translation: X:200.32, Y:230.32, Z:-254.06 [[-3.06640698e-01 -5.00311663e-01 -8.09728178e-01 2.00315536e+02] [ 1.07410781e-01 -8.63465636e-01 4.92838736e-01 2.30319824e+02] [-9.45745424e-01 6.41508779e-02 3.18512572e-01 -2.54059960e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.6907140569999 meters Centerline goodness : 0.994156 Centerline is valid? [True, True] Translation: X:200.32, Y:230.32, Z:-254.06 [[-3.05886590e-01 -4.95001584e-01 -8.13269221e-01 2.00319411e+02] [ 1.06066101e-01 -8.66613631e-01 4.87576452e-01 2.30320867e+02] [-9.46141309e-01 6.28828032e-02 3.17588376e-01 -2.54060221e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.7207140569999 meters Centerline goodness : 0.994788 Centerline is valid? [True, True] Translation: X:200.32, Y:230.32, Z:-254.06 [[-3.08307082e-01 -5.00556432e-01 -8.08943757e-01 2.00316341e+02] [ 1.06943096e-01 -8.63214749e-01 4.93379642e-01 2.30319206e+02] [-9.45256535e-01 6.56014879e-02 3.19666275e-01 -2.54057607e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.750714057 meters Centerline goodness : 0.994396 Centerline is valid? [True, True] Translation: X:200.31, Y:230.32, Z:-254.08 [[-3.07376876e-01 -5.09678586e-01 -8.03583969e-01 2.00305159e+02] [ 1.04214783e-01 -8.57417030e-01 5.03959637e-01 2.30320435e+02] [-9.45864015e-01 7.11602101e-02 3.16666211e-01 -2.54075826e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.780714057 meters Centerline goodness : 0.994519 Centerline is valid? [True, True] Translation: X:200.31, Y:230.32, Z:-254.07 [[-3.10599069e-01 -4.93605205e-01 -8.12331287e-01 2.00313923e+02] [ 1.01298453e-01 -8.66920800e-01 4.88044004e-01 2.30323398e+02] [-9.45127950e-01 6.92981107e-02 3.19266237e-01 -2.54069412e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.8107140569999 meters Centerline goodness : 0.994933 Centerline is valid? [True, True] Translation: X:200.31, Y:230.32, Z:-254.08 [[-3.22393735e-01 -4.86637948e-01 -8.11939522e-01 2.00308986e+02] [ 9.52907928e-02 -8.70065013e-01 4.83638851e-01 2.30322203e+02] [-9.41797189e-01 7.85517746e-02 3.26875625e-01 -2.54077670e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.8407140569999 meters Centerline goodness : 0.994951 Centerline is valid? [True, True] Translation: X:200.32, Y:230.33, Z:-254.11 [[-3.14430569e-01 -4.62168597e-01 -8.29176462e-01 2.00323967e+02] [ 9.83400314e-02 -8.84637924e-01 4.55790502e-01 2.30334273e+02] [-9.44173001e-01 6.17732274e-02 3.23606880e-01 -2.54105310e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.870714057 meters Centerline goodness : 0.995178 Centerline is valid? [True, True] Translation: X:200.31, Y:230.32, Z:-254.09 [[-3.23302351e-01 -4.85429023e-01 -8.12301824e-01 2.00308369e+02] [ 9.38312287e-02 -8.70616136e-01 4.82931924e-01 2.30324151e+02] [-9.41632248e-01 7.99137483e-02 3.27020645e-01 -2.54086836e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.900714057 meters Centerline goodness : 0.994816 Centerline is valid? [True, True] Translation: X:200.33, Y:230.33, Z:-254.09 [[-3.15036293e-01 -4.64680808e-01 -8.27540863e-01 2.00329109e+02] [ 9.75024251e-02 -8.83173083e-01 4.58801246e-01 2.30331696e+02] [-9.44057949e-01 6.38518029e-02 3.23539080e-01 -2.54092265e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.9307140569999 meters Centerline goodness : 0.995228 Centerline is valid? [True, True] Translation: X:200.31, Y:230.33, Z:-254.09 [[-3.17734793e-01 -4.94169240e-01 -8.09222691e-01 2.00308215e+02] [ 9.90890924e-02 -8.66081124e-01 4.89984528e-01 2.30326340e+02] [-9.42987780e-01 7.54999906e-02 3.24150888e-01 -2.54092926e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.9607140569999 meters Centerline goodness : 0.994611 Centerline is valid? [True, True] Translation: X:200.31, Y:230.33, Z:-254.10 [[-3.15255392e-01 -4.87551457e-01 -8.14191387e-01 2.00311291e+02] [ 9.76559521e-02 -8.70052408e-01 4.83189530e-01 2.30328769e+02] [-9.43968937e-01 7.28174694e-02 3.21901014e-01 -2.54102888e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.9907140569999 meters Centerline goodness : 0.995433 Centerline is valid? [True, True] Translation: X:200.31, Y:230.33, Z:-254.09 [[-3.17413168e-01 -4.88251451e-01 -8.12932593e-01 2.00313717e+02] [ 1.00426209e-01 -8.69750718e-01 4.83164843e-01 2.30325614e+02] [-9.42954642e-01 7.17231454e-02 3.25103573e-01 -2.54092731e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.020714057 meters Centerline goodness : 0.995682 Centerline is valid? [True, True] Translation: X:200.31, Y:230.32, Z:-254.08 [[-3.16203234e-01 -4.99459060e-01 -8.06570618e-01 2.00309483e+02] [ 1.02027830e-01 -8.63165117e-01 4.94506121e-01 2.30321753e+02] [-9.43189184e-01 7.40717845e-02 3.23894325e-01 -2.54084330e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.0507140569999 meters Centerline goodness : 0.994355 Centerline is valid? [True, True] Translation: X:200.30, Y:230.32, Z:-254.11 [[-3.13180053e-01 -5.05562702e-01 -8.03943163e-01 2.00298542e+02] [ 1.01934096e-01 -8.59533066e-01 5.00811690e-01 2.30324745e+02] [-9.44207443e-01 7.48950119e-02 3.20722688e-01 -2.54112751e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.0807140569999 meters Centerline goodness : 0.995612 Centerline is valid? [True, True] Translation: X:200.31, Y:230.32, Z:-254.09 [[-3.12236860e-01 -5.02297714e-01 -8.06352994e-01 2.00305691e+02] [ 1.03194033e-01 -8.61699189e-01 4.96815358e-01 2.30321522e+02] [-9.44382939e-01 7.19132500e-02 3.20888375e-01 -2.54092734e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.1107140569999 meters Centerline goodness : 0.994713 Centerline is valid? [True, True] Translation: X:200.30, Y:230.32, Z:-254.10 [[-3.12161314e-01 -5.02545454e-01 -8.06227872e-01 2.00301760e+02] [ 1.03080249e-01 -8.61541367e-01 4.97112598e-01 2.30322284e+02] [-9.44420339e-01 7.20731514e-02 3.20742396e-01 -2.54102020e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.140714057 meters Centerline goodness : 0.994970 Centerline is valid? [True, True] Translation: X:200.30, Y:230.32, Z:-254.11 [[-3.09952054e-01 -5.03301971e-01 -8.06608239e-01 2.00299001e+02] [ 1.03906369e-01 -8.61239846e-01 4.97462957e-01 2.30323880e+02] [-9.45057242e-01 7.03779318e-02 3.19239340e-01 -2.54114059e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.1707140569999 meters Centerline goodness : 0.995233 Centerline is valid? [True, True] Translation: X:200.30, Y:230.32, Z:-254.12 [[-3.09023688e-01 -5.06624563e-01 -8.04882546e-01 2.00295790e+02] [ 1.04206093e-01 -8.59246923e-01 5.00835119e-01 2.30322818e+02] [-9.45328224e-01 7.08962497e-02 3.18321019e-01 -2.54117187e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.2007140569999 meters Centerline goodness : 0.994379 Centerline is valid? [True, True] Translation: X:200.30, Y:230.32, Z:-254.11 [[-3.07843176e-01 -5.10444505e-01 -8.02919041e-01 2.00296215e+02] [ 1.05081293e-01 -8.56979331e-01 5.04523882e-01 2.30320835e+02] [-9.45616466e-01 7.09424631e-02 3.17453407e-01 -2.54108664e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.2307140569999 meters Centerline goodness : 0.995619 Centerline is valid? [True, True] Translation: X:200.29, Y:230.32, Z:-254.13 [[-3.19836351e-01 -4.89312111e-01 -8.11343557e-01 2.00294654e+02] [ 9.99234262e-02 -8.68968295e-01 4.84674542e-01 2.30324391e+02] [-9.42188950e-01 7.39443091e-02 3.26821391e-01 -2.54132078e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.260714057 meters Centerline goodness : 0.994908 Centerline is valid? [True, True] Translation: X:200.31, Y:230.32, Z:-254.10 [[-3.09914965e-01 -4.90453893e-01 -8.14498430e-01 2.00311481e+02] [ 1.05397864e-01 -8.69119999e-01 4.83240848e-01 2.30322946e+02] [-9.44904231e-01 6.39171754e-02 3.21046087e-01 -2.54102112e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.290714057 meters Centerline goodness : 0.994941 Centerline is valid? [True, True] Translation: X:200.30, Y:230.32, Z:-254.10 [[-3.11792518e-01 -5.00488328e-01 -8.07648970e-01 2.00303438e+02] [ 1.05092865e-01 -8.62972439e-01 4.94200425e-01 2.30322519e+02] [-9.44320346e-01 6.92098510e-02 3.21666102e-01 -2.54101032e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.3207140569999 meters Centerline goodness : 0.996063 Centerline is valid? [True, True] Translation: X:200.30, Y:230.32, Z:-254.12 [[-3.20481842e-01 -4.87229252e-01 -8.12341705e-01 2.00301464e+02] [ 9.99821565e-02 -8.70183478e-01 4.82477235e-01 2.30323158e+02] [-9.41963353e-01 7.34055176e-02 3.27592235e-01 -2.54117944e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.3507140569999 meters Centerline goodness : 0.995356 Centerline is valid? [True, True] Translation: X:200.32, Y:230.33, Z:-254.11 [[-3.12067993e-01 -4.76322418e-01 -8.22028298e-01 2.00319718e+02] [ 1.06334524e-01 -8.77313484e-01 4.67989338e-01 2.30327449e+02] [-9.44090323e-01 5.86345061e-02 3.24430975e-01 -2.54109320e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.380714057 meters Centerline goodness : 0.995043 Centerline is valid? [True, True] Translation: X:200.30, Y:230.32, Z:-254.11 [[-3.13381872e-01 -5.05182939e-01 -8.04103228e-01 2.00300939e+02] [ 1.07292135e-01 -8.60170655e-01 4.98592862e-01 2.30323254e+02] [-9.43546607e-01 6.99760125e-02 3.23764046e-01 -2.54108948e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.410714057 meters Centerline goodness : 0.995566 Centerline is valid? [True, True] Translation: X:200.29, Y:230.32, Z:-254.12 [[-3.23047978e-01 -5.00683830e-01 -8.03091344e-01 2.00293870e+02] [ 1.02056903e-01 -8.62072514e-01 4.96402427e-01 2.30321060e+02] [-9.40863642e-01 7.84007844e-02 3.29589023e-01 -2.54115137e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.4407140569999 meters Centerline goodness : 0.995527 Centerline is valid? [True, True] Translation: X:200.32, Y:230.33, Z:-254.10 [[-3.16526047e-01 -4.72088983e-01 -8.22765613e-01 2.00324310e+02] [ 1.11024117e-01 -8.79838033e-01 4.62124098e-01 2.30327562e+02] [-9.42064174e-01 5.49274879e-02 3.30904917e-01 -2.54099505e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.4707140569999 meters Centerline goodness : 0.994894 Centerline is valid? [True, True] Translation: X:200.29, Y:230.32, Z:-254.09 [[-3.11777274e-01 -5.28407737e-01 -7.89670941e-01 2.00291963e+02] [ 1.13610447e-01 -8.45866339e-01 5.21155258e-01 2.30316321e+02] [-9.43338538e-01 7.27694975e-02 3.23754540e-01 -2.54089227e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.500714057 meters Centerline goodness : 0.995266 Centerline is valid? [True, True] Translation: X:200.29, Y:230.32, Z:-254.10 [[-3.08699816e-01 -5.34606634e-01 -7.86702085e-01 2.00286002e+02] [ 1.12815686e-01 -8.41838975e-01 5.27806557e-01 2.30316245e+02] [-9.44445364e-01 7.41814517e-02 3.20187551e-01 -2.54098893e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.530714057 meters Centerline goodness : 0.994539 Centerline is valid? [True, True] Translation: X:200.28, Y:230.32, Z:-254.11 [[-3.02794151e-01 -5.39711704e-01 -7.85510649e-01 2.00280831e+02] [ 1.11231610e-01 -8.38581863e-01 5.33299155e-01 2.30316635e+02] [-9.46542778e-01 7.41062506e-02 3.13950685e-01 -2.54114099e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.5607140569999 meters Centerline goodness : 0.994726 Centerline is valid? [True, True] Translation: X:200.28, Y:230.32, Z:-254.13 [[-3.10411864e-01 -5.26255915e-01 -7.91643345e-01 2.00281349e+02] [ 1.11949876e-01 -8.47223486e-01 5.19306837e-01 2.30321602e+02] [-9.43987129e-01 7.25746287e-02 3.21902506e-01 -2.54126412e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.5907140569999 meters Centerline goodness : 0.994743 Centerline is valid? [True, True] Translation: X:200.29, Y:230.32, Z:-254.12 [[-3.05846283e-01 -5.28602016e-01 -7.91857285e-01 2.00285668e+02] [ 1.12026017e-01 -8.45914978e-01 5.21419237e-01 2.30318820e+02] [-9.45467198e-01 7.07655177e-02 3.17937130e-01 -2.54115819e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.620714057 meters Centerline goodness : 0.994787 Centerline is valid? [True, True] Translation: X:200.29, Y:230.32, Z:-254.12 [[-3.11375908e-01 -5.22604716e-01 -7.93680890e-01 2.00285425e+02] [ 1.13779410e-01 -8.49695983e-01 5.14850447e-01 2.30318996e+02] [-9.43450736e-01 7.00074823e-02 3.24036514e-01 -2.54115203e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.650714057 meters Centerline goodness : 0.994525 Centerline is valid? [True, True] Translation: X:200.28, Y:230.31, Z:-254.11 [[-2.99863031e-01 -5.38700092e-01 -7.87327361e-01 2.00282037e+02] [ 1.11898629e-01 -8.39470551e-01 5.31759242e-01 2.30314968e+02] [-9.47396886e-01 7.13540860e-02 3.12005986e-01 -2.54114498e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.6807140569999 meters Centerline goodness : 0.994525 Centerline is valid? [True, True] Translation: X:200.28, Y:230.32, Z:-254.12 [[-2.99709635e-01 -5.38686961e-01 -7.87394751e-01 2.00281325e+02] [ 1.12209247e-01 -8.39510533e-01 5.31630653e-01 2.30315347e+02] [-9.47408687e-01 7.09818565e-02 3.12055053e-01 -2.54117052e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.7107140569999 meters Centerline goodness : 0.994952 Centerline is valid? [True, True] Translation: X:200.28, Y:230.31, Z:-254.11 [[-2.96189755e-01 -5.47835997e-01 -7.82398459e-01 2.00278880e+02] [ 1.12954781e-01 -8.33497223e-01 5.40854507e-01 2.30312367e+02] [-9.48426511e-01 7.18199174e-02 3.08754034e-01 -2.54112144e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.7407140569999 meters Centerline goodness : 0.994899 Centerline is valid? [True, True] Translation: X:200.27, Y:230.32, Z:-254.13 [[-3.06139117e-01 -5.42241310e-01 -7.82466104e-01 2.00271965e+02] [ 1.12585008e-01 -8.36783485e-01 5.35833944e-01 2.30317029e+02] [-9.45306012e-01 7.59457777e-02 3.17220399e-01 -2.54128396e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.770714057 meters Centerline goodness : 0.994824 Centerline is valid? [True, True] Translation: X:200.28, Y:230.32, Z:-254.14 [[-3.19103909e-01 -5.13198822e-01 -7.96743161e-01 2.00278184e+02] [ 1.06012472e-01 -8.54747883e-01 5.08101773e-01 2.30319641e+02] [-9.41771762e-01 7.76725506e-02 3.27158867e-01 -2.54138764e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.8007140569999 meters Centerline goodness : 0.994300 Centerline is valid? [True, True] Translation: X:200.30, Y:230.33, Z:-254.15 [[-3.18263705e-01 -4.80264663e-01 -8.17345746e-01 2.00299342e+02] [ 1.03091221e-01 -8.74597561e-01 4.73762922e-01 2.30326466e+02] [-9.42380186e-01 6.65203720e-02 3.27863730e-01 -2.54149725e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.8307140569999 meters Centerline goodness : 0.993708 Centerline is valid? [True, True] Translation: X:200.30, Y:230.32, Z:-254.14 [[-3.00250242e-01 -5.01907855e-01 -8.11133958e-01 2.00303753e+02] [ 1.09110295e-01 -8.62859787e-01 4.93526019e-01 2.30323954e+02] [-9.47599460e-01 5.96782410e-02 3.13837174e-01 -2.54137331e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.8607140569999 meters Centerline goodness : 0.994469 Centerline is valid? [True, True] Translation: X:200.27, Y:230.31, Z:-254.12 [[-2.90526435e-01 -5.64886002e-01 -7.72332957e-01 2.00272078e+02] [ 1.09343978e-01 -8.21459574e-01 5.59685683e-01 2.30309597e+02] [-9.50598909e-01 7.81535280e-02 3.00422604e-01 -2.54117063e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.890714057 meters Centerline goodness : 0.993924 Centerline is valid? [True, True] Translation: X:200.26, Y:230.32, Z:-254.14 [[-3.11153086e-01 -5.50497085e-01 -7.74684914e-01 2.00262654e+02] [ 1.09683265e-01 -8.30503416e-01 5.46107734e-01 2.30318025e+02] [-9.44009183e-01 8.49531361e-02 3.18794019e-01 -2.54137838e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.9207140569999 meters Centerline goodness : 0.994048 Centerline is valid? [True, True] Translation: X:200.27, Y:230.32, Z:-254.14 [[-3.03818483e-01 -5.47223768e-01 -7.79897735e-01 2.00269390e+02] [ 1.07494320e-01 -8.33054659e-01 5.42646208e-01 2.30317765e+02] [-9.46646344e-01 8.10313711e-02 3.11920850e-01 -2.54140248e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.9507140569999 meters Centerline goodness : 0.994857 Centerline is valid? [True, True] Translation: X:200.27, Y:230.32, Z:-254.14 [[-3.04247787e-01 -5.49529708e-01 -7.78106924e-01 2.00268564e+02] [ 1.06698157e-01 -8.31349360e-01 5.45411537e-01 2.30317795e+02] [-9.46598536e-01 8.29176785e-02 3.11570010e-01 -2.54136096e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.9807140569999 meters Centerline goodness : 0.994516 Centerline is valid? [True, True] Translation: X:200.27, Y:230.32, Z:-254.14 [[-3.11947907e-01 -5.36661836e-01 -7.84016949e-01 2.00270315e+02] [ 1.06231977e-01 -8.39721929e-01 5.32524035e-01 2.30321934e+02] [-9.44141552e-01 8.28320873e-02 3.18960146e-01 -2.54141353e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.010714057 meters Centerline goodness : 0.994673 Centerline is valid? [True, True] Translation: X:200.27, Y:230.32, Z:-254.15 [[-3.10549274e-01 -5.30931296e-01 -7.88461228e-01 2.00273494e+02] [ 1.06301308e-01 -8.43667298e-01 5.26237136e-01 2.30324193e+02] [-9.44594718e-01 7.96081005e-02 3.18438958e-01 -2.54147599e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.040714057 meters Centerline goodness : 0.993910 Centerline is valid? [True, True] Translation: X:200.27, Y:230.32, Z:-254.15 [[-3.09844906e-01 -5.36686922e-01 -7.84833283e-01 2.00269526e+02] [ 1.05999841e-01 -8.39809072e-01 5.32432866e-01 2.30323495e+02] [-9.44859867e-01 8.17794080e-02 3.17099291e-01 -2.54148543e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.0707140569999 meters Centerline goodness : 0.994810 Centerline is valid? [True, True] Translation: X:200.27, Y:230.32, Z:-254.15 [[-3.07247575e-01 -5.38869648e-01 -7.84358611e-01 2.00269853e+02] [ 1.06289883e-01 -8.38501918e-01 5.34431469e-01 2.30323850e+02] [-9.45675097e-01 8.08333879e-02 3.14904072e-01 -2.54150902e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.1007140569999 meters Centerline goodness : 0.994900 Centerline is valid? [True, True] Translation: X:200.26, Y:230.33, Z:-254.17 [[-3.23354833e-01 -5.23451194e-01 -7.88314975e-01 2.00263520e+02] [ 1.01740880e-01 -8.47471736e-01 5.20999473e-01 2.30327446e+02] [-9.40792456e-01 8.82638383e-02 3.27290467e-01 -2.54170121e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.130714057 meters Centerline goodness : 0.994547 Centerline is valid? [True, True] Translation: X:200.29, Y:230.34, Z:-254.17 [[-3.08771638e-01 -4.97368655e-01 -8.10730841e-01 2.00292757e+02] [ 1.06453197e-01 -8.65097192e-01 4.90178095e-01 2.30335036e+02] [-9.45160194e-01 6.50482036e-02 3.20063961e-01 -2.54172210e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.160714057 meters Centerline goodness : 0.994051 Centerline is valid? [True, True] Translation: X:200.27, Y:230.33, Z:-254.16 [[-3.09374752e-01 -5.39201552e-01 -7.83293655e-01 2.00267368e+02] [ 1.08395802e-01 -8.38331576e-01 5.34275696e-01 2.30327121e+02] [-9.44742088e-01 8.03856672e-02 3.17805808e-01 -2.54162718e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.1907140569999 meters Centerline goodness : 0.994429 Centerline is valid? [True, True] Translation: X:200.27, Y:230.33, Z:-254.15 [[-3.09862664e-01 -5.40004699e-01 -7.82547158e-01 2.00269780e+02] [ 1.08879578e-01 -8.37795947e-01 5.35016999e-01 2.30325800e+02] [-9.44526531e-01 8.05783883e-02 3.18397168e-01 -2.54154532e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.2207140569999 meters Centerline goodness : 0.994562 Centerline is valid? [True, True] Translation: X:200.27, Y:230.33, Z:-254.17 [[-3.13690187e-01 -5.30123831e-01 -7.87760871e-01 2.00271565e+02] [ 1.09641509e-01 -8.44309746e-01 5.24518629e-01 2.30330698e+02] [-9.43174006e-01 7.81650558e-02 3.22975259e-01 -2.54166898e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.250714057 meters Centerline goodness : 0.993965 Centerline is valid? [True, True] Translation: X:200.27, Y:230.33, Z:-254.16 [[-3.13241669e-01 -5.37267854e-01 -7.83085506e-01 2.00268844e+02] [ 1.10313487e-01 -8.39587002e-01 5.31906571e-01 2.30329307e+02] [-9.43244715e-01 8.02304092e-02 3.22261524e-01 -2.54161644e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.280714057 meters Centerline goodness : 0.994595 Centerline is valid? [True, True] Translation: X:200.27, Y:230.33, Z:-254.17 [[-3.19661598e-01 -5.34138769e-01 -7.82631611e-01 2.00265751e+02] [ 1.11787244e-01 -8.41459714e-01 5.28629513e-01 2.30331727e+02] [-9.40914489e-01 8.14943239e-02 3.28692257e-01 -2.54165202e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.3107140569999 meters Centerline goodness : 0.994789 Centerline is valid? [True, True] Translation: X:200.26, Y:230.34, Z:-254.19 [[-3.20201543e-01 -5.33387143e-01 -7.82923450e-01 2.00256945e+02] [ 1.09859161e-01 -8.41766582e-01 5.28545160e-01 2.30337896e+02] [-9.40957989e-01 8.32296626e-02 3.28132422e-01 -2.54194942e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.3407140569999 meters Centerline goodness : 0.994437 Centerline is valid? [True, True] Translation: X:200.26, Y:230.34, Z:-254.18 [[-3.20070767e-01 -5.30031669e-01 -7.85252274e-01 2.00263170e+02] [ 1.09978100e-01 -8.44038754e-01 5.24884178e-01 2.30336709e+02] [-9.40988587e-01 8.16395281e-02 3.28444007e-01 -2.54180565e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.370714057 meters Centerline goodness : 0.994690 Centerline is valid? [True, True] Translation: X:200.26, Y:230.34, Z:-254.18 [[-3.14768454e-01 -5.32788163e-01 -7.85530135e-01 2.00264756e+02] [ 1.08126686e-01 -8.42338338e-01 5.27991235e-01 2.30336677e+02] [-9.42989629e-01 8.12582148e-02 3.22750155e-01 -2.54181003e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.400714057 meters Centerline goodness : 0.994247 Centerline is valid? [True, True] Translation: X:200.27, Y:230.33, Z:-254.16 [[-3.12273712e-01 -5.41404630e-01 -7.80619085e-01 2.00267149e+02] [ 1.09935899e-01 -8.36785195e-01 5.36381054e-01 2.30332166e+02] [-9.43609679e-01 8.16796424e-02 3.20825824e-01 -2.54159376e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.4307140569999 meters Centerline goodness : 0.994812 Centerline is valid? [True, True] Translation: X:200.26, Y:230.34, Z:-254.19 [[-3.19260765e-01 -5.38377737e-01 -7.79885874e-01 2.00255736e+02] [ 1.08412273e-01 -8.38299902e-01 5.34322050e-01 2.30338975e+02] [-9.41445348e-01 8.60388661e-02 3.26003022e-01 -2.54187406e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.4607140569999 meters Centerline goodness : 0.994914 Centerline is valid? [True, True] Translation: X:200.26, Y:230.34, Z:-254.19 [[-3.21943181e-01 -5.25549403e-01 -7.87496294e-01 2.00259817e+02] [ 1.00401139e-01 -8.46042719e-01 5.23575523e-01 2.30338237e+02] [-9.41420310e-01 8.94960445e-02 3.25143443e-01 -2.54192222e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.4907140569999 meters Centerline goodness : 0.994529 Centerline is valid? [True, True] Translation: X:200.29, Y:230.35, Z:-254.20 [[-3.16063560e-01 -4.91730655e-01 -8.11359839e-01 2.00287001e+02] [ 1.06552363e-01 -8.68186487e-01 4.84663613e-01 2.30349127e+02] [-9.42735605e-01 6.67321992e-02 3.26797175e-01 -2.54196259e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.520714057 meters Centerline goodness : 0.994806 Centerline is valid? [True, True] Translation: X:200.26, Y:230.34, Z:-254.20 [[-3.19860450e-01 -5.30939624e-01 -7.84724416e-01 2.00260120e+02] [ 1.08297371e-01 -8.43295735e-01 5.26425667e-01 2.30343184e+02] [-9.41254998e-01 8.33991597e-02 3.27236319e-01 -2.54195655e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.5507140569999 meters Centerline goodness : 0.994471 Centerline is valid? [True, True] Translation: X:200.26, Y:230.34, Z:-254.18 [[-3.15112713e-01 -5.35048786e-01 -7.83853797e-01 2.00264991e+02] [ 1.08113367e-01 -8.40792395e-01 5.30452306e-01 2.30339775e+02] [-9.42876173e-01 8.24071918e-02 3.22790298e-01 -2.54184253e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.5807140569999 meters Centerline goodness : 0.994729 Centerline is valid? [True, True] Translation: X:200.26, Y:230.35, Z:-254.20 [[-3.21715242e-01 -5.32956738e-01 -7.82595949e-01 2.00257084e+02] [ 1.08683239e-01 -8.41860678e-01 5.28638395e-01 2.30345378e+02] [-9.40578150e-01 8.50159664e-02 3.28762876e-01 -2.54204868e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.6107140569999 meters Centerline goodness : 0.994859 Centerline is valid? [True, True] Translation: X:200.26, Y:230.35, Z:-254.20 [[-3.23221679e-01 -5.28927919e-01 -7.84705679e-01 2.00261903e+02] [ 1.07941838e-01 -8.44409906e-01 5.24709892e-01 2.30345834e+02] [-9.40146960e-01 8.48950390e-02 3.30025040e-01 -2.54202084e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.640714057 meters Centerline goodness : 0.994858 Centerline is valid? [True, True] Translation: X:200.26, Y:230.35, Z:-254.21 [[-3.23488134e-01 -5.28462829e-01 -7.84909208e-01 2.00260769e+02] [ 1.08552045e-01 -8.44759548e-01 5.24020763e-01 2.30347463e+02] [-9.39985043e-01 8.43109990e-02 3.30635411e-01 -2.54208513e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.6707140569999 meters Centerline goodness : 0.994155 Centerline is valid? [True, True] Translation: X:200.27, Y:230.34, Z:-254.19 [[-3.22481498e-01 -5.21038626e-01 -7.90268584e-01 2.00271551e+02] [ 1.08186999e-01 -8.49688073e-01 5.16067585e-01 2.30344010e+02] [-9.40372935e-01 8.09254612e-02 3.30378288e-01 -2.54185508e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.7007140569999 meters Centerline goodness : 0.995066 Centerline is valid? [True, True] Translation: X:200.27, Y:230.35, Z:-254.20 [[-3.23983308e-01 -5.22498793e-01 -7.88688676e-01 2.00266356e+02] [ 1.10162122e-01 -8.48817942e-01 5.17080660e-01 2.30346050e+02] [-9.39627119e-01 8.06418844e-02 3.32562420e-01 -2.54198438e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.7307140569999 meters Centerline goodness : 0.994741 Centerline is valid? [True, True] Translation: X:200.26, Y:230.34, Z:-254.20 [[-3.21429641e-01 -5.32874175e-01 -7.82769506e-01 2.00258805e+02] [ 1.11298091e-01 -8.42166380e-01 5.27606410e-01 2.30344807e+02] [-9.40369991e-01 8.24675868e-02 3.30005116e-01 -2.54200859e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.760714057 meters Centerline goodness : 0.994879 Centerline is valid? [True, True] Translation: X:200.26, Y:230.34, Z:-254.20 [[-3.19334890e-01 -5.30068419e-01 -7.85527020e-01 2.00262627e+02] [ 1.12559831e-01 -8.44276365e-01 5.23953914e-01 2.30344131e+02] [-9.40933320e-01 7.88979773e-02 3.29271311e-01 -2.54196688e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.790714057 meters Centerline goodness : 0.994820 Centerline is valid? [True, True] Translation: X:200.26, Y:230.35, Z:-254.21 [[-3.16319145e-01 -5.34525936e-01 -7.83724584e-01 2.00255537e+02] [ 1.13748471e-01 -8.41555439e-01 5.28058451e-01 2.30346492e+02] [-9.41808624e-01 7.78875246e-02 3.27001605e-01 -2.54210808e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.8207140569999 meters Centerline goodness : 0.994895 Centerline is valid? [True, True] Translation: X:200.26, Y:230.34, Z:-254.20 [[-3.14052987e-01 -5.31932339e-01 -7.86396025e-01 2.00261219e+02] [ 1.16100393e-01 -8.43604411e-01 5.24263576e-01 2.30344492e+02] [-9.42279906e-01 7.33456547e-02 3.26694038e-01 -2.54199342e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.8507140569999 meters Centerline goodness : 0.994608 Centerline is valid? [True, True] Translation: X:200.25, Y:230.34, Z:-254.21 [[-3.13515499e-01 -5.44625268e-01 -7.77876179e-01 2.00250327e+02] [ 1.16606865e-01 -8.35057562e-01 5.37663192e-01 2.30344197e+02] [-9.42396345e-01 7.78600408e-02 3.25310533e-01 -2.54206776e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.880714057 meters Centerline goodness : 0.994910 Centerline is valid? [True, True] Translation: X:200.25, Y:230.34, Z:-254.21 [[-3.08859620e-01 -5.44845454e-01 -7.79582688e-01 2.00254372e+02] [ 1.18235174e-01 -8.35294527e-01 5.36939007e-01 2.30343301e+02] [-9.43729929e-01 7.36646832e-02 3.22408647e-01 -2.54205817e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.910714057 meters Centerline goodness : 0.994133 Centerline is valid? [True, True] Translation: X:200.25, Y:230.34, Z:-254.21 [[-3.08477307e-01 -5.53098991e-01 -7.73901323e-01 2.00249288e+02] [ 1.20214827e-01 -8.29722906e-01 5.45076412e-01 2.30342805e+02] [-9.43604868e-01 7.51092898e-02 3.22441387e-01 -2.54206676e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.9407140569999 meters Centerline goodness : 0.994251 Centerline is valid? [True, True] Translation: X:200.26, Y:230.34, Z:-254.20 [[-3.03527457e-01 -5.47540800e-01 -7.79788532e-01 2.00258810e+02] [ 1.20011733e-01 -8.33849905e-01 5.38787082e-01 2.30342395e+02] [-9.45234504e-01 6.99529003e-02 3.18807662e-01 -2.54200818e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.9707140569999 meters Centerline goodness : 0.994094 Centerline is valid? [True, True] Translation: X:200.26, Y:230.34, Z:-254.20 [[-3.02264414e-01 -5.48829556e-01 -7.79373044e-01 2.00260880e+02] [ 1.21567059e-01 -8.33136247e-01 5.39541884e-01 2.30341757e+02] [-9.45440466e-01 6.83382232e-02 3.18547035e-01 -2.54197082e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.000714057 meters Centerline goodness : 0.994311 Centerline is valid? [True, True] Translation: X:200.25, Y:230.33, Z:-254.19 [[-2.92469609e-01 -5.72005395e-01 -7.66336320e-01 2.00254802e+02] [ 1.23675226e-01 -8.17271862e-01 5.62824256e-01 2.30334791e+02] [-9.48243622e-01 6.98321724e-02 3.09770078e-01 -2.54186766e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.030714057 meters Centerline goodness : 0.995030 Centerline is valid? [True, True] Translation: X:200.22, Y:230.34, Z:-254.22 [[-2.92394558e-01 -6.04038147e-01 -7.41379350e-01 2.00223219e+02] [ 1.24863188e-01 -7.92737771e-01 5.96637252e-01 2.30336204e+02] [-9.48111073e-01 8.18824969e-02 3.07214339e-01 -2.54218827e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.0607140569999 meters Centerline goodness : 0.994930 Centerline is valid? [True, True] Translation: X:200.24, Y:230.33, Z:-254.17 [[-2.87043364e-01 -6.01601792e-01 -7.45440401e-01 2.00240824e+02] [ 1.27727503e-01 -7.95276882e-01 5.92638479e-01 2.30328519e+02] [-9.49363888e-01 7.48997013e-02 3.05120046e-01 -2.54173364e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.0907140569999 meters Centerline goodness : 0.995215 Centerline is valid? [True, True] Translation: X:200.24, Y:230.33, Z:-254.17 [[-2.87080501e-01 -6.06332673e-01 -7.41583088e-01 2.00237081e+02] [ 1.29423962e-01 -7.91623651e-01 5.97144400e-01 2.30327955e+02] [-9.49122871e-01 7.54498920e-02 3.05733692e-01 -2.54172207e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.120714057 meters Centerline goodness : 0.995078 Centerline is valid? [True, True] Translation: X:200.23, Y:230.33, Z:-254.18 [[-2.81136070e-01 -6.22838146e-01 -7.30092566e-01 2.00226380e+02] [ 1.28260935e-01 -7.78337090e-01 6.14605977e-01 2.30325914e+02] [-9.51058170e-01 7.91455540e-02 2.98704433e-01 -2.54180063e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.150714057 meters Centerline goodness : 0.995094 Centerline is valid? [True, True] Translation: X:200.22, Y:230.34, Z:-254.23 [[-3.15571991e-01 -5.77243097e-01 -7.53129953e-01 2.00220771e+02] [ 1.23225786e-01 -8.11894851e-01 5.70650643e-01 2.30340276e+02] [-9.40866475e-01 8.72763288e-02 3.27342509e-01 -2.54229289e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.1807140569999 meters Centerline goodness : 0.995131 Centerline is valid? [True, True] Translation: X:200.26, Y:230.35, Z:-254.25 [[-3.11954667e-01 -5.13372161e-01 -7.99458135e-01 2.00262867e+02] [ 1.21001051e-01 -8.56064340e-01 5.02506310e-01 2.30352007e+02] [-9.42360351e-01 6.00239141e-02 3.29171838e-01 -2.54245256e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.2107140569999 meters Centerline goodness : 0.995187 Centerline is valid? [True, True] Translation: X:200.27, Y:230.35, Z:-254.23 [[-3.05801952e-01 -5.15191805e-01 -8.00663831e-01 2.00273377e+02] [ 1.30741805e-01 -8.55705702e-01 5.00673878e-01 2.30353636e+02] [-9.43075685e-01 4.84268145e-02 3.29033581e-01 -2.54226672e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.2407140569999 meters Centerline goodness : 0.994785 Centerline is valid? [True, True] Translation: X:200.24, Y:230.34, Z:-254.22 [[-3.02488690e-01 -5.74608367e-01 -7.60477361e-01 2.00236741e+02] [ 1.30468276e-01 -8.15305625e-01 5.64140733e-01 2.30343176e+02] [-9.44181456e-01 7.14280208e-02 3.21588894e-01 -2.54217366e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.270714057 meters Centerline goodness : 0.995152 Centerline is valid? [True, True] Translation: X:200.24, Y:230.35, Z:-254.23 [[-3.09203035e-01 -5.60866311e-01 -7.67999001e-01 2.00236917e+02] [ 1.30278584e-01 -8.24941149e-01 5.49999629e-01 2.30348929e+02] [-9.42030241e-01 7.00077324e-02 3.28143175e-01 -2.54231329e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.3007140569999 meters Centerline goodness : 0.994642 Centerline is valid? [True, True] Translation: X:200.24, Y:230.35, Z:-254.24 [[-3.08904584e-01 -5.57548791e-01 -7.70530534e-01 2.00237713e+02] [ 1.28844936e-01 -8.27215919e-01 5.46912064e-01 2.30350259e+02] [-9.42325284e-01 6.96646866e-02 3.27368128e-01 -2.54235805e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.3307140569999 meters Centerline goodness : 0.995058 Centerline is valid? [True, True] Translation: X:200.24, Y:230.35, Z:-254.24 [[-3.09065636e-01 -5.55975085e-01 -7.71602318e-01 2.00236655e+02] [ 1.26110755e-01 -8.28118087e-01 5.46183588e-01 2.30351654e+02] [-9.42642302e-01 7.14992276e-02 3.26057281e-01 -2.54241152e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.3607140569999 meters Centerline goodness : 0.994781 Centerline is valid? [True, True] Translation: X:200.24, Y:230.35, Z:-254.24 [[-3.08997048e-01 -5.52060756e-01 -7.74435114e-01 2.00240054e+02] [ 1.26122669e-01 -8.30877644e-01 5.41973627e-01 2.30352412e+02] [-9.42663194e-01 6.97944266e-02 3.26366115e-01 -2.54240750e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.390714057 meters Centerline goodness : 0.994961 Centerline is valid? [True, True] Translation: X:200.24, Y:230.35, Z:-254.24 [[-3.12288799e-01 -5.48308334e-01 -7.75779399e-01 2.00239872e+02] [ 1.26575425e-01 -8.33355526e-01 5.38049468e-01 2.30353587e+02] [-9.41517057e-01 6.98322154e-02 3.29649957e-01 -2.54243572e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.4207140569999 meters Centerline goodness : 0.994770 Centerline is valid? [True, True] Translation: X:200.24, Y:230.35, Z:-254.23 [[-3.11881959e-01 -5.52677287e-01 -7.72837280e-01 2.00240771e+02] [ 1.28522614e-01 -8.30473760e-01 5.42028847e-01 2.30350541e+02] [-9.41388114e-01 6.97219518e-02 3.30041313e-01 -2.54233120e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.4507140569999 meters Centerline goodness : 0.994269 Centerline is valid? [True, True] Translation: X:200.24, Y:230.35, Z:-254.23 [[-3.12834488e-01 -5.56604913e-01 -7.69626893e-01 2.00239330e+02] [ 1.27905985e-01 -8.27604494e-01 5.46544472e-01 2.30348964e+02] [-9.41156014e-01 7.25380740e-02 3.30096328e-01 -2.54232533e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.4807140569999 meters Centerline goodness : 0.995242 Centerline is valid? [True, True] Translation: X:200.23, Y:230.36, Z:-254.27 [[-3.17740204e-01 -5.50223361e-01 -7.72201668e-01 2.00230858e+02] [ 1.26562500e-01 -8.31729713e-01 5.40562317e-01 2.30356455e+02] [-9.39693086e-01 7.40266074e-02 3.33911613e-01 -2.54268152e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.510714057 meters Centerline goodness : 0.995431 Centerline is valid? [True, True] Translation: X:200.23, Y:230.35, Z:-254.26 [[-3.21070341e-01 -5.55071546e-01 -7.67339178e-01 2.00227114e+02] [ 1.16807386e-01 -8.27260215e-01 5.49542147e-01 2.30348531e+02] [-9.39824383e-01 8.68108012e-02 3.30445176e-01 -2.54261616e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.540714057 meters Centerline goodness : 0.995580 Centerline is valid? [True, True] Translation: X:200.25, Y:230.35, Z:-254.27 [[-3.20139828e-01 -5.17032531e-01 -7.93843721e-01 2.00251637e+02] [ 1.13898802e-01 -8.52872169e-01 5.09545019e-01 2.30354830e+02] [-9.40498567e-01 7.27078057e-02 3.31927735e-01 -2.54269180e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.5707140569999 meters Centerline goodness : 0.995580 Centerline is valid? [True, True] Translation: X:200.25, Y:230.36, Z:-254.27 [[-3.20000879e-01 -5.18072607e-01 -7.93221414e-01 2.00250264e+02] [ 1.14289294e-01 -8.52240771e-01 5.10513101e-01 2.30355064e+02] [-9.40498482e-01 7.27079261e-02 3.31927948e-01 -2.54271566e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.6007140569999 meters Centerline goodness : 0.994609 Centerline is valid? [True, True] Translation: X:200.25, Y:230.36, Z:-254.29 [[-3.21566542e-01 -5.11850665e-01 -7.96620271e-01 2.00249088e+02] [ 1.21749906e-01 -8.56671494e-01 5.01289249e-01 2.30364409e+02] [-9.39027113e-01 6.42094075e-02 3.37794660e-01 -2.54291647e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.630714057 meters Centerline goodness : 0.995086 Centerline is valid? [True, True] Translation: X:200.23, Y:230.35, Z:-254.26 [[-3.23606620e-01 -5.49063070e-01 -7.70589710e-01 2.00231533e+02] [ 1.22626392e-01 -8.31880265e-01 5.41237464e-01 2.30351272e+02] [-9.38211876e-01 8.06533901e-02 3.36531585e-01 -2.54259294e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.660714057 meters Centerline goodness : 0.995491 Centerline is valid? [True, True] Translation: X:200.22, Y:230.35, Z:-254.27 [[-3.29503973e-01 -5.51947642e-01 -7.66016274e-01 2.00221168e+02] [ 1.19736430e-01 -8.29203309e-01 5.45971666e-01 2.30352231e+02] [-9.36531003e-01 8.81797792e-02 3.39314025e-01 -2.54272331e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.6907140569999 meters Centerline goodness : 0.995226 Centerline is valid? [True, True] Translation: X:200.22, Y:230.35, Z:-254.28 [[-3.28962970e-01 -5.46931522e-01 -7.69837174e-01 2.00221982e+02] [ 1.17982782e-01 -8.32625477e-01 5.41123718e-01 2.30354352e+02] [-9.36943663e-01 8.71821339e-02 3.38431452e-01 -2.54282522e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.7207140569999 meters Centerline goodness : 0.994924 Centerline is valid? [True, True] Translation: X:200.22, Y:230.35, Z:-254.28 [[-3.29983291e-01 -5.48871855e-01 -7.68017392e-01 2.00219446e+02] [ 1.16733236e-01 -8.31070639e-01 5.43778396e-01 2.30354185e+02] [-9.36741362e-01 8.97846296e-02 3.38311012e-01 -2.54283980e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.750714057 meters Centerline goodness : 0.995817 Centerline is valid? [True, True] Translation: X:200.21, Y:230.36, Z:-254.31 [[-3.30227302e-01 -5.45472673e-01 -7.70330768e-01 2.00212465e+02] [ 1.11492362e-01 -8.32941591e-01 5.42012693e-01 2.30357542e+02] [-9.37293648e-01 9.31013923e-02 3.35876091e-01 -2.54312021e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.780714057 meters Centerline goodness : 0.995499 Centerline is valid? [True, True] Translation: X:200.22, Y:230.35, Z:-254.30 [[-3.25960209e-01 -5.44225235e-01 -7.73025767e-01 2.00218802e+02] [ 1.09612635e-01 -8.33926522e-01 5.40880418e-01 2.30353903e+02] [-9.39007461e-01 9.15721029e-02 3.31480826e-01 -2.54300698e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.8107140569999 meters Centerline goodness : 0.995273 Centerline is valid? [True, True] Translation: X:200.21, Y:230.36, Z:-254.33 [[-3.23688738e-01 -5.49190213e-01 -7.70464607e-01 2.00207073e+02] [ 1.07074509e-01 -8.30334662e-01 5.46881522e-01 2.30356602e+02] [-9.40085449e-01 9.45222703e-02 3.27574251e-01 -2.54327073e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.8407140569999 meters Centerline goodness : 0.995708 Centerline is valid? [True, True] Translation: X:200.22, Y:230.35, Z:-254.30 [[-3.25519247e-01 -5.43262213e-01 -7.73888486e-01 2.00215653e+02] [ 1.06400214e-01 -8.34313521e-01 5.40925081e-01 2.30352838e+02] [-9.39529784e-01 9.37396240e-02 3.29388325e-01 -2.54303659e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.870714057 meters Centerline goodness : 0.995211 Centerline is valid? [True, True] Translation: X:200.21, Y:230.35, Z:-254.31 [[-3.23188521e-01 -5.48816936e-01 -7.70940433e-01 2.00210626e+02] [ 1.05163021e-01 -8.30442113e-01 5.47089239e-01 2.30352445e+02] [-9.40473242e-01 9.57385376e-02 3.26104606e-01 -2.54311592e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.900714057 meters Centerline goodness : 0.995291 Centerline is valid? [True, True] Translation: X:200.21, Y:230.35, Z:-254.32 [[-3.21747928e-01 -5.48179178e-01 -7.71996023e-01 2.00210666e+02] [ 1.05304473e-01 -8.31011494e-01 5.46196728e-01 2.30352553e+02] [-9.40951242e-01 9.44430313e-02 3.25101946e-01 -2.54319442e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.9307140569999 meters Centerline goodness : 0.995793 Centerline is valid? [True, True] Translation: X:200.21, Y:230.35, Z:-254.29 [[-3.17405054e-01 -5.57821828e-01 -7.66869507e-01 2.00214623e+02] [ 1.05883657e-01 -8.24477322e-01 5.55900887e-01 2.30345050e+02] [-9.42360166e-01 9.52468036e-02 3.20757484e-01 -2.54290306e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.9607140569999 meters Centerline goodness : 0.996003 Centerline is valid? [True, True] Translation: X:200.21, Y:230.35, Z:-254.31 [[-3.22931417e-01 -5.55490944e-01 -7.66253946e-01 2.00205293e+02] [ 1.05595105e-01 -8.25724576e-01 5.54101613e-01 2.30348398e+02] [-9.40513144e-01 9.80241538e-02 3.25309532e-01 -2.54311540e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.9907140569999 meters Centerline goodness : 0.995698 Centerline is valid? [True, True] Translation: X:200.21, Y:230.35, Z:-254.32 [[-3.19601889e-01 -5.50840349e-01 -7.70992570e-01 2.00208847e+02] [ 1.05270182e-01 -8.29272111e-01 5.48840556e-01 2.30348670e+02] [-9.41686159e-01 9.42479499e-02 3.23023997e-01 -2.54319100e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.020714057 meters Centerline goodness : 0.995346 Centerline is valid? [True, True] Translation: X:200.21, Y:230.35, Z:-254.32 [[-3.20047717e-01 -5.53531214e-01 -7.68877529e-01 2.00206685e+02] [ 1.06926718e-01 -8.27483713e-01 5.51214460e-01 2.30346082e+02] [-9.41348042e-01 9.42013787e-02 3.24021549e-01 -2.54315692e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.0507140569999 meters Centerline goodness : 0.995497 Centerline is valid? [True, True] Translation: X:200.21, Y:230.34, Z:-254.30 [[-3.20224011e-01 -5.50652734e-01 -7.70868439e-01 2.00213028e+02] [ 1.09640423e-01 -8.29791371e-01 5.47197641e-01 2.30342571e+02] [-9.40975856e-01 9.07074814e-02 3.26092920e-01 -2.54301407e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.0807140569999 meters Centerline goodness : 0.995262 Centerline is valid? [True, True] Translation: X:200.21, Y:230.34, Z:-254.30 [[-3.18856781e-01 -5.61038873e-01 -7.63914744e-01 2.00206441e+02] [ 1.10776392e-01 -8.22520612e-01 5.57842660e-01 2.30340045e+02] [-9.41307040e-01 9.32481957e-02 3.24416137e-01 -2.54299728e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.1107140569999 meters Centerline goodness : 0.995240 Centerline is valid? [True, True] Translation: X:200.20, Y:230.34, Z:-254.32 [[-3.17066300e-01 -5.63307407e-01 -7.62989991e-01 2.00198766e+02] [ 1.11079078e-01 -8.21019246e-01 5.59990033e-01 2.30341109e+02] [-9.41876000e-01 9.28017436e-02 3.22889202e-01 -2.54315817e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.140714057 meters Centerline goodness : 0.995981 Centerline is valid? [True, True] Translation: X:200.21, Y:230.34, Z:-254.31 [[-3.19181762e-01 -5.51553272e-01 -7.70656857e-01 2.00206777e+02] [ 1.14007761e-01 -8.29633563e-01 5.46544035e-01 2.30340363e+02] [-9.40810945e-01 8.65860254e-02 3.27685255e-01 -2.54307712e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.1707140569999 meters Centerline goodness : 0.995437 Centerline is valid? [True, True] Translation: X:200.19, Y:230.34, Z:-254.31 [[-3.15835780e-01 -5.64673993e-01 -7.62490027e-01 2.00194425e+02] [ 1.15763248e-01 -8.20553995e-01 5.59723157e-01 2.30337027e+02] [-9.41725348e-01 8.85122778e-02 3.24528806e-01 -2.54311782e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.2007140569999 meters Centerline goodness : 0.995681 Centerline is valid? [True, True] Translation: X:200.20, Y:230.34, Z:-254.31 [[-3.16029139e-01 -5.59133218e-01 -7.66482634e-01 2.00197849e+02] [ 1.17253186e-01 -8.24711600e-01 5.53265277e-01 2.30335834e+02] [-9.41476114e-01 8.49754184e-02 3.26193048e-01 -2.54308191e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.2307140569999 meters Centerline goodness : 0.995474 Centerline is valid? [True, True] Translation: X:200.19, Y:230.34, Z:-254.31 [[-3.15306808e-01 -5.60233021e-01 -7.65976879e-01 2.00194121e+02] [ 1.18777548e-01 -8.24100297e-01 5.53850698e-01 2.30335435e+02] [-9.41527223e-01 8.36520394e-02 3.26387538e-01 -2.54313799e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.260714057 meters Centerline goodness : 0.995258 Centerline is valid? [True, True] Translation: X:200.20, Y:230.33, Z:-254.30 [[-3.18929369e-01 -5.55256723e-01 -7.68097669e-01 2.00195547e+02] [ 1.22735894e-01 -8.27791086e-01 5.47446635e-01 2.30332433e+02] [-9.39797828e-01 8.03236555e-02 3.32156819e-01 -2.54302966e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.290714057 meters Centerline goodness : 0.995910 Centerline is valid? [True, True] Translation: X:200.19, Y:230.33, Z:-254.31 [[-3.18737141e-01 -5.58581259e-01 -7.65763418e-01 2.00190786e+02] [ 1.24222691e-01 -8.25550248e-01 5.50486614e-01 2.30331609e+02] [-9.39667685e-01 8.03353371e-02 3.32521993e-01 -2.54306412e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.3207140569999 meters Centerline goodness : 0.995474 Centerline is valid? [True, True] Translation: X:200.18, Y:230.33, Z:-254.31 [[-3.17706997e-01 -5.63861268e-01 -7.62314066e-01 2.00184674e+02] [ 1.25281425e-01 -8.21882918e-01 5.55709487e-01 2.30329215e+02] [-9.39875965e-01 8.10490002e-02 3.31759297e-01 -2.54308886e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.3507140569999 meters Centerline goodness : 0.996130 Centerline is valid? [True, True] Translation: X:200.18, Y:230.33, Z:-254.31 [[-3.18120920e-01 -5.65644192e-01 -7.60819117e-01 2.00181673e+02] [ 1.25382520e-01 -8.20562200e-01 5.57635095e-01 2.30328500e+02] [-9.39722461e-01 8.20019711e-02 3.31959896e-01 -2.54311139e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.380714057 meters Centerline goodness : 0.995811 Centerline is valid? [True, True] Translation: X:200.18, Y:230.33, Z:-254.30 [[-3.18841940e-01 -5.68184171e-01 -7.58621491e-01 2.00181171e+02] [ 1.26220282e-01 -8.18720617e-01 5.60147295e-01 2.30325883e+02] [-9.39365881e-01 8.28450317e-02 3.32758836e-01 -2.54304639e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.410714057 meters Centerline goodness : 0.995400 Centerline is valid? [True, True] Translation: X:200.18, Y:230.32, Z:-254.30 [[-3.20427458e-01 -5.71961600e-01 -7.55106730e-01 2.00177458e+02] [ 1.26251359e-01 -8.15811658e-01 5.64368614e-01 2.30323700e+02] [-9.38822049e-01 8.55059493e-02 3.33619385e-01 -2.54302881e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.4407140569999 meters Centerline goodness : 0.995328 Centerline is valid? [True, True] Translation: X:200.18, Y:230.32, Z:-254.31 [[-3.19800345e-01 -5.70783014e-01 -7.56263506e-01 2.00177968e+02] [ 1.26801927e-01 -8.16782643e-01 5.62838686e-01 2.30322863e+02] [-9.38961666e-01 8.41003355e-02 3.33583757e-01 -2.54306483e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.4707140569999 meters Centerline goodness : 0.995851 Centerline is valid? [True, True] Translation: X:200.18, Y:230.32, Z:-254.31 [[-3.19994695e-01 -5.70189603e-01 -7.56628847e-01 2.00176916e+02] [ 1.28093636e-01 -8.17325748e-01 5.61756747e-01 2.30323058e+02] [-9.38720094e-01 8.28398388e-02 3.34577563e-01 -2.54308838e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.500714057 meters Centerline goodness : 0.995911 Centerline is valid? [True, True] Translation: X:200.16, Y:230.33, Z:-254.33 [[-3.26604051e-01 -5.77005507e-01 -7.48594977e-01 2.00157831e+02] [ 1.22721753e-01 -8.11212829e-01 5.71728186e-01 2.30325211e+02] [-9.37160160e-01 9.48598537e-02 3.35756523e-01 -2.54333139e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.530714057 meters Centerline goodness : 0.995954 Centerline is valid? [True, True] Translation: X:200.20, Y:230.32, Z:-254.30 [[-3.16859194e-01 -5.41441010e-01 -7.78743786e-01 2.00201308e+02] [ 1.29986887e-01 -8.38092697e-01 5.29815100e-01 2.30323847e+02] [-9.39523103e-01 6.66503047e-02 3.35937608e-01 -2.54297065e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.5607140569999 meters Centerline goodness : 0.996121 Centerline is valid? [True, True] Translation: X:200.15, Y:230.32, Z:-254.33 [[-3.24510831e-01 -5.80662389e-01 -7.46675238e-01 2.00154029e+02] [ 1.24269325e-01 -8.08725790e-01 5.74908454e-01 2.30324034e+02] [-9.37683238e-01 9.37751924e-02 3.34598801e-01 -2.54333957e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.5907140569999 meters Centerline goodness : 0.995743 Centerline is valid? [True, True] Translation: X:200.19, Y:230.33, Z:-254.32 [[-3.16636681e-01 -5.41970707e-01 -7.78465777e-01 2.00193523e+02] [ 1.29503044e-01 -8.37708343e-01 5.30540945e-01 2.30325860e+02] [-9.39664926e-01 6.71750364e-02 3.35436046e-01 -2.54316633e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.620714057 meters Centerline goodness : 0.995243 Centerline is valid? [True, True] Translation: X:200.17, Y:230.32, Z:-254.31 [[-3.17335784e-01 -5.75375353e-01 -7.53817753e-01 2.00169744e+02] [ 1.32341216e-01 -8.13994792e-01 5.65595511e-01 2.30321011e+02] [-9.39033441e-01 7.97225369e-02 3.34455549e-01 -2.54309325e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.650714057 meters Centerline goodness : 0.995263 Centerline is valid? [True, True] Translation: X:200.16, Y:230.33, Z:-254.33 [[-3.17285138e-01 -5.82518405e-01 -7.48333113e-01 2.00156790e+02] [ 1.32640729e-01 -8.08608780e-01 5.73200033e-01 2.30325141e+02] [-9.39008295e-01 8.26084022e-02 3.33825215e-01 -2.54334646e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.6807140569999 meters Centerline goodness : 0.995368 Centerline is valid? [True, True] Translation: X:200.15, Y:230.33, Z:-254.37 [[-3.17415895e-01 -5.77677788e-01 -7.52020959e-01 2.00150373e+02] [ 1.32133695e-01 -8.12238351e-01 5.68163312e-01 2.30332286e+02] [-9.39035588e-01 8.09767582e-02 3.34148064e-01 -2.54371367e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.7107140569999 meters Centerline goodness : 0.995535 Centerline is valid? [True, True] Translation: X:200.16, Y:230.33, Z:-254.35 [[-3.20366372e-01 -5.72326498e-01 -7.54856124e-01 2.00158389e+02] [ 1.26552599e-01 -8.15570389e-01 5.64649785e-01 2.30325146e+02] [-9.38802337e-01 8.53657992e-02 3.33710733e-01 -2.54346081e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.7407140569999 meters Centerline goodness : 0.995437 Centerline is valid? [True, True] Translation: X:200.18, Y:230.33, Z:-254.36 [[-3.18794441e-01 -5.45051647e-01 -7.75428144e-01 2.00176319e+02] [ 1.24046329e-01 -8.35070066e-01 5.35976206e-01 2.30331223e+02] [-9.39671545e-01 7.46772199e-02 3.33827351e-01 -2.54362119e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.770714057 meters Centerline goodness : 0.995583 Centerline is valid? [True, True] Translation: X:200.18, Y:230.34, Z:-254.38 [[-3.15863110e-01 -5.44379978e-01 -7.77097764e-01 2.00175417e+02] [ 1.29458318e-01 -8.36095749e-01 5.33089526e-01 2.30338677e+02] [-9.39931402e-01 6.77815459e-02 3.34566320e-01 -2.54381143e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.8007140569999 meters Centerline goodness : 0.995954 Centerline is valid? [True, True] Translation: X:200.16, Y:230.33, Z:-254.34 [[-3.18004590e-01 -5.77527216e-01 -7.51887888e-01 2.00160977e+02] [ 1.31781109e-01 -8.12283089e-01 5.68181241e-01 2.30329493e+02] [-9.38885947e-01 8.15996224e-02 3.34416927e-01 -2.54341188e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.8307140569999 meters Centerline goodness : 0.995856 Centerline is valid? [True, True] Translation: X:200.16, Y:230.33, Z:-254.35 [[-3.19159494e-01 -5.78995722e-01 -7.50267400e-01 2.00158114e+02] [ 1.30113692e-01 -8.10945058e-01 5.70472207e-01 2.30333183e+02] [-9.38726608e-01 8.44515593e-02 3.34156086e-01 -2.54349410e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.8607140569999 meters Centerline goodness : 0.995688 Centerline is valid? [True, True] Translation: X:200.16, Y:230.34, Z:-254.36 [[-3.20584957e-01 -5.78740111e-01 -7.49856766e-01 2.00155843e+02] [ 1.27668901e-01 -8.10816507e-01 5.71206831e-01 2.30338123e+02] [-9.38576549e-01 8.73869282e-02 3.33822689e-01 -2.54360630e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.890714057 meters Centerline goodness : 0.995086 Centerline is valid? [True, True] Translation: X:200.16, Y:230.34, Z:-254.34 [[-3.19958360e-01 -5.76948908e-01 -7.51502898e-01 2.00164753e+02] [ 1.28143671e-01 -8.12264567e-01 5.69039078e-01 2.30336367e+02] [-9.38725651e-01 8.57684705e-02 3.33823190e-01 -2.54340445e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.9207140569999 meters Centerline goodness : 0.995647 Centerline is valid? [True, True] Translation: X:200.15, Y:230.34, Z:-254.37 [[-3.20001526e-01 -5.85228063e-01 -7.45055124e-01 2.00152013e+02] [ 1.25747484e-01 -8.05684925e-01 5.78843132e-01 2.30342027e+02] [-9.39034927e-01 9.15418784e-02 3.31411362e-01 -2.54368120e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.9507140569999 meters Centerline goodness : 0.995290 Centerline is valid? [True, True] Translation: X:200.16, Y:230.35, Z:-254.36 [[-3.20221159e-01 -5.74141328e-01 -7.53538416e-01 2.00163844e+02] [ 1.25167119e-01 -8.14091376e-01 5.67087669e-01 2.30345020e+02] [-9.39037593e-01 8.72752382e-02 3.32552900e-01 -2.54363362e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.9807140569999 meters Centerline goodness : 0.995568 Centerline is valid? [True, True] Translation: X:200.16, Y:230.35, Z:-254.36 [[-3.19100812e-01 -5.77882383e-01 -7.51150200e-01 2.00163035e+02] [ 1.24745724e-01 -8.11301265e-01 5.71164392e-01 2.30345867e+02] [-9.39474947e-01 8.85562457e-02 3.30975248e-01 -2.54362535e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.010714057 meters Centerline goodness : 0.995464 Centerline is valid? [True, True] Translation: X:200.16, Y:230.35, Z:-254.37 [[-3.19113017e-01 -5.82835790e-01 -7.47308052e-01 2.00158918e+02] [ 1.24313640e-01 -8.07464696e-01 5.76668782e-01 2.30350134e+02] [-9.39528074e-01 9.11219306e-02 3.30126933e-01 -2.54373847e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.040714057 meters Centerline goodness : 0.994826 Centerline is valid? [True, True] Translation: X:200.16, Y:230.35, Z:-254.35 [[-3.17816371e-01 -5.87880383e-01 -7.43901479e-01 2.00163552e+02] [ 1.24551856e-01 -8.03666949e-01 5.81898849e-01 2.30347202e+02] [-9.39935950e-01 9.22826711e-02 3.28640106e-01 -2.54353532e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.0707140569999 meters Centerline goodness : 0.994850 Centerline is valid? [True, True] Translation: X:200.17, Y:230.36, Z:-254.38 [[-3.18216295e-01 -5.70861967e-01 -7.56871855e-01 2.00170176e+02] [ 1.23520279e-01 -8.16533587e-01 5.63928756e-01 2.30355010e+02] [-9.39936770e-01 8.59622968e-02 3.30347322e-01 -2.54378322e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.1007140569999 meters Centerline goodness : 0.995308 Centerline is valid? [True, True] Translation: X:200.15, Y:230.36, Z:-254.41 [[-3.17713596e-01 -5.86768825e-01 -7.44822407e-01 2.00153082e+02] [ 1.24068188e-01 -8.04495550e-01 5.80856260e-01 2.30359974e+02] [-9.40034657e-01 9.21371648e-02 3.28398519e-01 -2.54406313e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.130714057 meters Centerline goodness : 0.995255 Centerline is valid? [True, True] Translation: X:200.16, Y:230.36, Z:-254.40 [[-3.17727381e-01 -5.91078881e-01 -7.41400747e-01 2.00155664e+02] [ 1.23963379e-01 -8.01101506e-01 5.85550559e-01 2.30360526e+02] [-9.40043825e-01 9.41389036e-02 3.27804019e-01 -2.54396615e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.160714057 meters Centerline goodness : 0.995633 Centerline is valid? [True, True] Translation: X:200.17, Y:230.36, Z:-254.37 [[-3.16859471e-01 -5.91598164e-01 -7.41358002e-01 2.00165112e+02] [ 1.25027553e-01 -8.00865370e-01 5.85647308e-01 2.30359054e+02] [-9.40195823e-01 9.28777193e-02 3.27727849e-01 -2.54371040e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.1907140569999 meters Centerline goodness : 0.995569 Centerline is valid? [True, True] Translation: X:200.16, Y:230.36, Z:-254.37 [[-3.16885703e-01 -5.94801393e-01 -7.38779233e-01 2.00164214e+02] [ 1.26317008e-01 -7.98449563e-01 5.88661455e-01 2.30360336e+02] [-9.40014609e-01 9.32180169e-02 3.28150783e-01 -2.54369760e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.2207140569999 meters Centerline goodness : 0.995100 Centerline is valid? [True, True] Translation: X:200.16, Y:230.36, Z:-254.39 [[-3.15539083e-01 -6.00748842e-01 -7.34531086e-01 2.00157374e+02] [ 1.25631912e-01 -7.93710477e-01 5.95180898e-01 2.30364438e+02] [-9.40559254e-01 9.55222903e-02 3.25919902e-01 -2.54386880e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.250714057 meters Centerline goodness : 0.995684 Centerline is valid? [True, True] Translation: X:200.17, Y:230.37, Z:-254.38 [[-3.11633912e-01 -5.98229385e-01 -7.38245154e-01 2.00167529e+02] [ 1.26236157e-01 -7.96113320e-01 5.91834449e-01 2.30366058e+02] [-9.41779559e-01 9.12424531e-02 3.23614087e-01 -2.54377456e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.280714057 meters Centerline goodness : 0.995619 Centerline is valid? [True, True] Translation: X:200.16, Y:230.37, Z:-254.39 [[-3.12434670e-01 -6.05223634e-01 -7.32180941e-01 2.00159736e+02] [ 1.27110959e-01 -7.90470460e-01 5.99165466e-01 2.30369893e+02] [-9.41396506e-01 9.41318430e-02 3.23900934e-01 -2.54390555e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.3107140569999 meters Centerline goodness : 0.995438 Centerline is valid? [True, True] Translation: X:200.17, Y:230.37, Z:-254.38 [[-3.10492054e-01 -6.01182570e-01 -7.36324794e-01 2.00168693e+02] [ 1.27684484e-01 -7.93966001e-01 5.94402778e-01 2.30372902e+02] [-9.41961441e-01 9.05400878e-02 3.23281821e-01 -2.54384817e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.3407140569999 meters Centerline goodness : 0.995237 Centerline is valid? [True, True] Translation: X:200.17, Y:230.38, Z:-254.39 [[-3.12795888e-01 -6.00549643e-01 -7.35866060e-01 2.00167261e+02] [ 1.28287933e-01 -7.94355524e-01 5.93752059e-01 2.30376069e+02] [-9.41116857e-01 9.13204665e-02 3.25514414e-01 -2.54391343e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.370714057 meters Centerline goodness : 0.995345 Centerline is valid? [True, True] Translation: X:200.17, Y:230.38, Z:-254.41 [[-3.12177143e-01 -6.00358377e-01 -7.36284762e-01 2.00166142e+02] [ 1.28358279e-01 -7.94564837e-01 5.93456714e-01 2.30380466e+02] [-9.41312692e-01 9.07553769e-02 3.25105948e-01 -2.54405086e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.400714057 meters Centerline goodness : 0.995091 Centerline is valid? [True, True] Translation: X:200.17, Y:230.39, Z:-254.41 [[-3.16673285e-01 -5.99233058e-01 -7.35280745e-01 2.00167052e+02] [ 1.29419320e-01 -7.95222133e-01 5.92344832e-01 2.30385626e+02] [-9.39664126e-01 9.24202499e-02 3.29377940e-01 -2.54410329e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.4307140569999 meters Centerline goodness : 0.994959 Centerline is valid? [True, True] Translation: X:200.17, Y:230.38, Z:-254.40 [[-3.14516028e-01 -6.00336429e-01 -7.35306630e-01 2.00173506e+02] [ 1.29279189e-01 -7.94489006e-01 5.93358332e-01 2.30384873e+02] [-9.40407656e-01 9.15608612e-02 3.27490533e-01 -2.54398322e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.4607140569999 meters Centerline goodness : 0.994728 Centerline is valid? [True, True] Translation: X:200.17, Y:230.39, Z:-254.41 [[-3.18582016e-01 -5.96933606e-01 -7.36325858e-01 2.00174905e+02] [ 1.29704271e-01 -7.96946674e-01 5.89960000e-01 2.30391025e+02] [-9.38979394e-01 9.24460371e-02 3.31317716e-01 -2.54405544e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.4907140569999 meters Centerline goodness : 0.994728 Centerline is valid? [True, True] Translation: X:200.17, Y:230.39, Z:-254.41 [[-3.18568720e-01 -5.99901183e-01 -7.33915896e-01 2.00172154e+02] [ 1.30215738e-01 -7.94610633e-01 5.92990559e-01 2.30391041e+02] [-9.38913112e-01 9.33408436e-02 3.31254667e-01 -2.54407583e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.520714057 meters Centerline goodness : 0.994778 Centerline is valid? [True, True] Translation: X:200.17, Y:230.39, Z:-254.41 [[-3.21340269e-01 -5.97020152e-01 -7.35056032e-01 2.00172071e+02] [ 1.29984395e-01 -7.96685184e-01 5.90251450e-01 2.30394867e+02] [-9.38000261e-01 9.41257461e-02 3.33610334e-01 -2.54413753e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.5507140569999 meters Centerline goodness : 0.995088 Centerline is valid? [True, True] Translation: X:200.18, Y:230.40, Z:-254.42 [[-3.18636710e-01 -5.96615065e-01 -7.36560324e-01 2.00176355e+02] [ 1.28618270e-01 -7.97090146e-01 5.90003932e-01 2.30398134e+02] [-9.39110211e-01 9.32617977e-02 3.30717779e-01 -2.54416495e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.5807140569999 meters Centerline goodness : 0.994610 Centerline is valid? [True, True] Translation: X:200.18, Y:230.40, Z:-254.42 [[-3.22488384e-01 -5.92354492e-01 -7.38320661e-01 2.00176976e+02] [ 1.29395608e-01 -8.00258080e-01 5.85528634e-01 2.30401546e+02] [-9.37687591e-01 9.32907321e-02 3.34722005e-01 -2.54418535e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.6107140569999 meters Centerline goodness : 0.995091 Centerline is valid? [True, True] Translation: X:200.18, Y:230.40, Z:-254.42 [[-3.18717765e-01 -5.98715119e-01 -7.34819156e-01 2.00178507e+02] [ 1.29505473e-01 -7.95484903e-01 5.91973058e-01 2.30402041e+02] [-9.38960765e-01 9.35092279e-02 3.31072055e-01 -2.54415058e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.640714057 meters Centerline goodness : 0.994988 Centerline is valid? [True, True] Translation: X:200.18, Y:230.40, Z:-254.42 [[-3.16949796e-01 -6.02446247e-01 -7.32530781e-01 2.00177165e+02] [ 1.29570635e-01 -7.92613977e-01 5.95797393e-01 2.30403100e+02] [-9.39550040e-01 9.39233842e-02 3.29278181e-01 -2.54415965e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.6707140569999 meters Centerline goodness : 0.994838 Centerline is valid? [True, True] Translation: X:200.18, Y:230.40, Z:-254.42 [[-3.15953857e-01 -6.04977890e-01 -7.30872707e-01 2.00176008e+02] [ 1.30474288e-01 -7.90719812e-01 5.98112564e-01 2.30404501e+02] [-9.39760406e-01 9.36158751e-02 3.28765034e-01 -2.54418068e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.7007140569999 meters Centerline goodness : 0.994048 Centerline is valid? [True, True] Translation: X:200.18, Y:230.41, Z:-254.42 [[-3.12456350e-01 -6.01845245e-01 -7.34951243e-01 2.00181132e+02] [ 1.30257955e-01 -7.93525104e-01 5.94433154e-01 2.30407155e+02] [-9.40959029e-01 9.00011671e-02 3.26337089e-01 -2.54415166e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.7307140569999 meters Centerline goodness : 0.993843 Centerline is valid? [True, True] Translation: X:200.18, Y:230.41, Z:-254.43 [[-3.15233052e-01 -5.97005417e-01 -7.37707703e-01 2.00177989e+02] [ 1.33586349e-01 -7.97515512e-01 5.88322782e-01 2.30412792e+02] [-9.39565224e-01 8.69111076e-02 3.31155023e-01 -2.54433863e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.760714057 meters Centerline goodness : 0.993899 Centerline is valid? [True, True] Translation: X:200.18, Y:230.41, Z:-254.42 [[-3.11636480e-01 -5.95140177e-01 -7.40736710e-01 2.00184660e+02] [ 1.35193830e-01 -7.99397916e-01 5.85393544e-01 2.30412423e+02] [-9.40534600e-01 8.22869504e-02 3.29580832e-01 -2.54422788e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.790714057 meters Centerline goodness : 0.994206 Centerline is valid? [True, True] Translation: X:200.18, Y:230.41, Z:-254.43 [[-3.10726238e-01 -6.02006546e-01 -7.35552394e-01 2.00181253e+02] [ 1.38292972e-01 -7.94257753e-01 5.91633058e-01 2.30411798e+02] [-9.40385165e-01 8.21141880e-02 3.30049998e-01 -2.54427007e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.8207140569999 meters Centerline goodness : 0.994277 Centerline is valid? [True, True] Translation: X:200.18, Y:230.41, Z:-254.42 [[-3.04807122e-01 -6.12720810e-01 -7.29154186e-01 2.00180402e+02] [ 1.43192010e-01 -7.86364996e-01 6.00937719e-01 2.30409075e+02] [-9.41588374e-01 7.87610437e-02 3.27426376e-01 -2.54417352e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.8507140569999 meters Centerline goodness : 0.994874 Centerline is valid? [True, True] Translation: X:200.17, Y:230.41, Z:-254.43 [[-3.11676364e-01 -6.14623597e-01 -7.24634859e-01 2.00169619e+02] [ 1.38312254e-01 -7.83846027e-01 6.05355372e-01 2.30406646e+02] [-9.40067851e-01 8.84490808e-02 3.29316255e-01 -2.54426137e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.880714057 meters Centerline goodness : 0.994245 Centerline is valid? [True, True] Translation: X:200.20, Y:230.41, Z:-254.40 [[-2.89456817e-01 -5.94642081e-01 -7.50077027e-01 2.00204399e+02] [ 1.43999467e-01 -8.01757059e-01 5.80042906e-01 2.30406199e+02] [-9.46297472e-01 5.98866809e-02 3.17702189e-01 -2.54401277e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.910714057 meters Centerline goodness : 0.994818 Centerline is valid? [True, True] Translation: X:200.17, Y:230.41, Z:-254.42 [[-3.05492413e-01 -6.22060085e-01 -7.20913057e-01 2.00165739e+02] [ 1.45037343e-01 -7.78671667e-01 6.10438043e-01 2.30405323e+02] [-9.41083713e-01 8.19248767e-02 3.28100229e-01 -2.54422562e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.9407140569999 meters Centerline goodness : 0.994991 Centerline is valid? [True, True] Translation: X:200.20, Y:230.41, Z:-254.41 [[-2.86354121e-01 -5.93970006e-01 -7.51798477e-01 2.00202344e+02] [ 1.52028079e-01 -8.02883765e-01 5.76424429e-01 2.30408758e+02] [-9.45985613e-01 5.07670325e-02 3.20209194e-01 -2.54408311e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.9707140569999 meters Centerline goodness : 0.994385 Centerline is valid? [True, True] Translation: X:200.17, Y:230.41, Z:-254.41 [[-2.90679107e-01 -6.34571552e-01 -7.16117729e-01 2.00169198e+02] [ 1.60276827e-01 -7.70152299e-01 6.17395153e-01 2.30405319e+02] [-9.43301116e-01 6.46867945e-02 3.25574298e-01 -2.54408276e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.000714057 meters Centerline goodness : 0.994723 Centerline is valid? [True, True] Translation: X:200.16, Y:230.40, Z:-254.43 [[-2.97409478e-01 -6.29082504e-01 -7.18194128e-01 2.00161095e+02] [ 1.53965878e-01 -7.73988503e-01 6.14195657e-01 2.30404494e+02] [-9.42253740e-01 7.20902204e-02 3.27048757e-01 -2.54425205e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.030714057 meters Centerline goodness : 0.994446 Centerline is valid? [True, True] Translation: X:200.20, Y:230.41, Z:-254.42 [[-2.83952584e-01 -5.91532401e-01 -7.54625966e-01 2.00197953e+02] [ 1.62043288e-01 -8.05305628e-01 5.70284857e-01 2.30412765e+02] [-9.45046508e-01 3.96517862e-02 3.24522469e-01 -2.54421783e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.0607140569999 meters Centerline goodness : 0.994443 Centerline is valid? [True, True] Translation: X:200.08, Y:230.48, Z:-254.78 [[-2.90530105e-01 -6.20503012e-01 -7.28401174e-01 2.00076040e+02] [ 1.59181127e-01 -7.81970948e-01 6.02646502e-01 2.30477039e+02] [-9.43532526e-01 5.91392319e-02 3.25958470e-01 -2.54776296e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.0907140569999 meters Centerline goodness : 0.995113 Centerline is valid? [True, True] Translation: X:200.00, Y:231.49, Z:-254.34 [[-2.64157796e-01 6.40330088e-01 7.21247556e-01 2.00000223e+02] [ 1.70959671e-01 7.67055169e-01 -6.18384313e-01 2.31494242e+02] [-9.49206748e-01 -4.00467924e-02 -3.12094225e-01 -2.54336335e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.120714057 meters Centerline goodness : 0.994363 Centerline is valid? [True, True] Translation: X:200.17, Y:230.55, Z:-254.92 [[-3.26319780e-01 -3.98124270e-01 -8.57328681e-01 2.00173879e+02] [ 1.02295779e-01 -9.16524092e-01 3.86677078e-01 2.30554245e+02] [-9.39707920e-01 3.84792741e-02 3.39806372e-01 -2.54917841e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.150714057 meters Centerline goodness : 0.994250 Centerline is valid? [True, True] Translation: X:200.16, Y:230.55, Z:-254.93 [[-3.25852102e-01 -4.22925660e-01 -8.45549699e-01 2.00156710e+02] [ 1.04372882e-01 -9.04988952e-01 4.12433387e-01 2.30550359e+02] [-9.39641798e-01 4.61398268e-02 3.39034523e-01 -2.54928324e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.1807140569999 meters Centerline goodness : 0.994596 Centerline is valid? [True, True] Translation: X:199.68, Y:231.40, Z:-254.42 [[-2.95237366e-01 8.47381619e-02 9.51658732e-01 1.99675051e+02] [ 1.18006106e-01 9.91666577e-01 -5.16909996e-02 2.31396289e+02] [-9.48108357e-01 9.70404263e-02 -3.02776648e-01 -2.54422433e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.2107140569999 meters Centerline goodness : 0.994837 Centerline is valid? [True, True] Translation: X:200.34, Y:230.61, Z:-254.68 [[-3.18354008e-01 -2.16863757e-01 -9.22833049e-01 2.00340152e+02] [ 3.88918173e-02 -9.75649720e-01 2.15858868e-01 2.30610294e+02] [-9.47173771e-01 3.28288815e-02 3.19036225e-01 -2.54684534e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.2407140569999 meters Centerline goodness : 0.994962 Centerline is valid? [True, True] Translation: X:200.30, Y:230.58, Z:-254.69 [[-3.26505149e-01 -2.73684150e-01 -9.04705131e-01 2.00303136e+02] [ 2.77639936e-02 -9.59525986e-01 2.80248181e-01 2.30584178e+02] [-9.44787568e-01 6.63842467e-02 3.20888740e-01 -2.54693334e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.270714057 meters Centerline goodness : 0.994298 Centerline is valid? [True, True] Translation: X:200.34, Y:230.61, Z:-254.69 [[-3.25413296e-01 -2.07899102e-01 -9.22433819e-01 2.00336516e+02] [ 3.67086716e-02 -9.77572271e-01 2.07376295e-01 2.30612534e+02] [-9.44859069e-01 3.36216835e-02 3.25746715e-01 -2.54691593e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.3007140569999 meters Centerline goodness : 0.994699 Centerline is valid? [True, True] Translation: X:200.31, Y:230.59, Z:-254.68 [[-3.28394271e-01 -2.67690043e-01 -9.05814133e-01 2.00309202e+02] [ 3.82775895e-02 -9.61983391e-01 2.70412245e-01 2.30592097e+02] [-9.43764817e-01 5.41294506e-02 3.26156364e-01 -2.54684404e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.3307140569999 meters Centerline goodness : 0.993880 Centerline is valid? [True, True] Translation: X:200.31, Y:230.59, Z:-254.69 [[-3.29291631e-01 -2.71092764e-01 -9.04475392e-01 2.00306726e+02] [ 3.75942033e-02 -9.60903683e-01 2.74318772e-01 2.30591342e+02] [-9.43479569e-01 5.63278441e-02 3.26609058e-01 -2.54685032e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.3607140569999 meters Centerline goodness : 0.994379 Centerline is valid? [True, True] Translation: X:200.30, Y:230.59, Z:-254.69 [[-3.29856469e-01 -2.71121253e-01 -9.04261011e-01 2.00303687e+02] [ 3.66208627e-02 -9.60825969e-01 2.74722352e-01 2.30591297e+02] [-9.43320530e-01 5.75041267e-02 3.26863356e-01 -2.54691613e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.390714057 meters Centerline goodness : 0.994705 Centerline is valid? [True, True] Translation: X:200.31, Y:230.59, Z:-254.69 [[-3.24899451e-01 -2.74775084e-01 -9.04952485e-01 2.00305695e+02] [ 3.72354189e-02 -9.59838283e-01 2.78071923e-01 2.30590090e+02] [-9.45015275e-01 5.66491305e-02 3.22082297e-01 -2.54689002e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.4207140569999 meters Centerline goodness : 0.994696 Centerline is valid? [True, True] Translation: X:200.30, Y:230.59, Z:-254.69 [[-3.28554729e-01 -2.71097282e-01 -9.04741982e-01 2.00302493e+02] [ 3.61476660e-02 -9.60828507e-01 2.74776140e-01 2.30591195e+02] [-9.43792952e-01 5.75746894e-02 3.25484284e-01 -2.54691734e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.4507140569999 meters Centerline goodness : 0.994648 Centerline is valid? [True, True] Translation: X:200.30, Y:230.59, Z:-254.69 [[-3.27974561e-01 -2.72368422e-01 -9.04570688e-01 2.00301867e+02] [ 3.61911275e-02 -9.60454957e-01 2.76073319e-01 2.30591175e+02] [-9.43993056e-01 5.78075924e-02 3.24862113e-01 -2.54691639e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.4807140569999 meters Centerline goodness : 0.993883 Centerline is valid? [True, True] Translation: X:200.30, Y:230.59, Z:-254.69 [[-3.17468473e-01 -2.92939342e-01 -9.01887083e-01 2.00301435e+02] [ 3.65042170e-02 -9.54158363e-01 2.97067771e-01 2.30585267e+02] [-9.47565940e-01 6.13869696e-02 3.13608720e-01 -2.54685890e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.510714057 meters Centerline goodness : 0.994681 Centerline is valid? [True, True] Translation: X:200.30, Y:230.58, Z:-254.69 [[-3.14647031e-01 -2.98117920e-01 -9.01178646e-01 2.00299047e+02] [ 3.58759143e-02 -9.52456504e-01 3.02554997e-01 2.30584268e+02] [-9.48530529e-01 6.28674237e-02 3.10382865e-01 -2.54693402e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.540714057 meters Centerline goodness : 0.994170 Centerline is valid? [True, True] Translation: X:200.30, Y:230.58, Z:-254.70 [[-3.18302307e-01 -2.96262462e-01 -9.00506632e-01 2.00296671e+02] [ 3.45649257e-02 -9.52907621e-01 3.01284469e-01 2.30584846e+02] [-9.47358912e-01 6.47735967e-02 3.13552984e-01 -2.54699001e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.5707140569999 meters Centerline goodness : 0.994404 Centerline is valid? [True, True] Translation: X:200.29, Y:230.58, Z:-254.70 [[-3.17452656e-01 -3.01628492e-01 -8.99023951e-01 2.00294905e+02] [ 3.49287832e-02 -9.51139350e-01 3.06779916e-01 2.30583080e+02] [-9.47630620e-01 6.59862864e-02 3.12477229e-01 -2.54699956e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.6007140569999 meters Centerline goodness : 0.994495 Centerline is valid? [True, True] Translation: X:200.29, Y:230.59, Z:-254.71 [[-3.21535244e-01 -2.96382143e-01 -8.99317915e-01 2.00291083e+02] [ 3.46638114e-02 -9.52799672e-01 3.01614331e-01 2.30585264e+02] [-9.46262917e-01 6.58058510e-02 3.16632410e-01 -2.54712179e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.630714057 meters Centerline goodness : 0.993706 Centerline is valid? [True, True] Translation: X:200.30, Y:230.58, Z:-254.70 [[-3.16759262e-01 -3.00007717e-01 -8.99810502e-01 2.00295353e+02] [ 3.61694900e-02 -9.51791419e-01 3.04606080e-01 2.30583073e+02] [-9.47816089e-01 6.39411101e-02 3.12339874e-01 -2.54703682e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.660714057 meters Centerline goodness : 0.994488 Centerline is valid? [True, True] Translation: X:200.29, Y:230.58, Z:-254.71 [[-3.23572202e-01 -2.92473995e-01 -8.99866653e-01 2.00292874e+02] [ 3.56445666e-02 -9.54121390e-01 2.97290830e-01 2.30584938e+02] [-9.45531858e-01 6.41196917e-02 3.19152268e-01 -2.54706120e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.6907140569999 meters Centerline goodness : 0.993735 Centerline is valid? [True, True] Translation: X:200.29, Y:230.58, Z:-254.71 [[-3.21726841e-01 -2.94980952e-01 -8.99709996e-01 2.00291599e+02] [ 3.63756221e-02 -9.53380635e-01 2.99569989e-01 2.30583648e+02] [-9.46133529e-01 6.36521953e-02 3.17458256e-01 -2.54709121e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.7207140569999 meters Centerline goodness : 0.993414 Centerline is valid? [True, True] Translation: X:200.29, Y:230.59, Z:-254.72 [[-3.21280302e-01 -2.89138892e-01 -9.01763644e-01 2.00291650e+02] [ 3.58280800e-02 -9.55277435e-01 2.93532573e-01 2.30585211e+02] [-9.46306143e-01 6.19977735e-02 3.17271114e-01 -2.54717775e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.750714057 meters Centerline goodness : 0.994074 Centerline is valid? [True, True] Translation: X:200.30, Y:230.59, Z:-254.71 [[-3.21397102e-01 -2.83362100e-01 -9.03553996e-01 2.00295887e+02] [ 3.71634934e-02 -9.57217720e-01 2.86972317e-01 2.30586222e+02] [-9.46214974e-01 5.86528483e-02 3.18177727e-01 -2.54711236e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.780714057 meters Centerline goodness : 0.994103 Centerline is valid? [True, True] Translation: X:200.28, Y:230.58, Z:-254.73 [[-3.29728392e-01 -2.83770219e-01 -9.00418597e-01 2.00282226e+02] [ 2.54800115e-02 -9.56084113e-01 2.91982769e-01 2.30579210e+02] [-9.43731930e-01 7.33323328e-02 3.22478546e-01 -2.54729353e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.8107140569999 meters Centerline goodness : 0.993552 Centerline is valid? [True, True] Translation: X:200.31, Y:230.59, Z:-254.73 [[-3.07848264e-01 -2.58149345e-01 -9.15744704e-01 2.00308787e+02] [ 3.73056148e-02 -9.65022395e-01 2.59499650e-01 2.30594673e+02] [-9.50703812e-01 4.57240977e-02 3.06710889e-01 -2.54731830e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.8407140569999 meters Centerline goodness : 0.993780 Centerline is valid? [True, True] Translation: X:200.28, Y:230.58, Z:-254.72 [[-3.16940299e-01 -3.06925637e-01 -8.97410441e-01 2.00282288e+02] [ 3.79999690e-02 -9.49540419e-01 3.11334217e-01 2.30577101e+02] [-9.47683940e-01 6.45727908e-02 3.12610789e-01 -2.54722164e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.870714057 meters Centerline goodness : 0.994344 Centerline is valid? [True, True] Translation: X:200.29, Y:230.58, Z:-254.72 [[-3.11724369e-01 -3.05210775e-01 -8.99819038e-01 2.00285408e+02] [ 3.93771840e-02 -9.50341977e-01 3.08706276e-01 2.30577493e+02] [-9.49356285e-01 6.07989292e-02 3.08263094e-01 -2.54724685e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.900714057 meters Centerline goodness : 0.993758 Centerline is valid? [True, True] Translation: X:200.28, Y:230.58, Z:-254.72 [[-3.14192626e-01 -3.05596236e-01 -8.98829202e-01 2.00284465e+02] [ 4.09994653e-02 -9.50259042e-01 3.08750379e-01 2.30575691e+02] [-9.48473531e-01 6.01555756e-02 3.11093666e-01 -2.54720248e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.9307140569999 meters Centerline goodness : 0.994224 Centerline is valid? [True, True] Translation: X:200.28, Y:230.57, Z:-254.73 [[-3.12288422e-01 -3.07193209e-01 -8.98948427e-01 2.00281992e+02] [ 4.12982124e-02 -9.49769521e-01 3.10213339e-01 2.30574743e+02] [-9.49089247e-01 5.97510711e-02 3.09288555e-01 -2.54725031e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.9607140569999 meters Centerline goodness : 0.994077 Centerline is valid? [True, True] Translation: X:200.28, Y:230.57, Z:-254.72 [[-3.14307739e-01 -3.05912427e-01 -8.98681385e-01 2.00280604e+02] [ 4.14280548e-02 -9.50175002e-01 3.08951746e-01 2.30574477e+02] [-9.48416766e-01 5.98753031e-02 3.11320713e-01 -2.54723944e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.9907140569999 meters Centerline goodness : 0.994210 Centerline is valid? [True, True] Translation: X:200.28, Y:230.57, Z:-254.74 [[-3.12321349e-01 -3.05773298e-01 -8.99420961e-01 2.00276692e+02] [ 4.01710855e-02 -9.50186426e-01 3.09082578e-01 2.30574342e+02] [-9.49126788e-01 6.04023713e-02 3.09046751e-01 -2.54736728e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.020714057 meters Centerline goodness : 0.993631 Centerline is valid? [True, True] Translation: X:200.28, Y:230.58, Z:-254.74 [[-3.13677338e-01 -2.99216151e-01 -9.01152719e-01 2.00278731e+02] [ 3.93166730e-02 -9.52330653e-01 3.02523598e-01 2.30576105e+02] [-9.48715304e-01 5.94644699e-02 3.10488727e-01 -2.54736769e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.0507140569999 meters Centerline goodness : 0.993653 Centerline is valid? [True, True] Translation: X:200.28, Y:230.58, Z:-254.74 [[-3.17328984e-01 -2.84114902e-01 -9.04754684e-01 2.00282429e+02] [ 3.84369919e-02 -9.57134468e-01 2.87082232e-01 2.30580113e+02] [-9.47536233e-01 5.63234645e-02 3.14647031e-01 -2.54739849e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.0807140569999 meters Centerline goodness : 0.993929 Centerline is valid? [True, True] Translation: X:200.28, Y:230.58, Z:-254.74 [[-3.15456376e-01 -2.91679287e-01 -9.03000813e-01 2.00278696e+02] [ 3.83775471e-02 -9.54731768e-01 2.94982059e-01 2.30577851e+02] [-9.48163720e-01 5.83990152e-02 3.12370159e-01 -2.54742306e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.1107140569999 meters Centerline goodness : 0.993656 Centerline is valid? [True, True] Translation: X:200.28, Y:230.58, Z:-254.74 [[-3.17784156e-01 -2.91205490e-01 -9.02337294e-01 2.00278818e+02] [ 3.97590151e-02 -9.54924444e-01 2.94174315e-01 2.30577741e+02] [-9.47329114e-01 5.76078944e-02 3.15037902e-01 -2.54737724e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.140714057 meters Centerline goodness : 0.993749 Centerline is valid? [True, True] Translation: X:200.27, Y:230.57, Z:-254.74 [[-3.15463242e-01 -3.04122783e-01 -8.98883906e-01 2.00273974e+02] [ 4.19521721e-02 -9.50796248e-01 3.06963370e-01 2.30573343e+02] [-9.48009999e-01 5.91255276e-02 3.12699878e-01 -2.54738589e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.1707140569999 meters Centerline goodness : 0.993849 Centerline is valid? [True, True] Translation: X:200.28, Y:230.57, Z:-254.74 [[-3.16728392e-01 -3.00366523e-01 -8.99701660e-01 2.00275466e+02] [ 4.37744501e-02 -9.52153965e-01 3.02467558e-01 2.30574098e+02] [-9.47505632e-01 5.64161181e-02 3.14722574e-01 -2.54737807e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.2007140569999 meters Centerline goodness : 0.993994 Centerline is valid? [True, True] Translation: X:200.28, Y:230.57, Z:-254.73 [[-3.14138177e-01 -3.03948744e-01 -8.99406675e-01 2.00277363e+02] [ 4.86982154e-02 -9.51276602e-01 3.04468899e-01 2.30572453e+02] [-9.48127465e-01 5.18458049e-02 3.13634059e-01 -2.54732778e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.2307140569999 meters Centerline goodness : 0.993573 Centerline is valid? [True, True] Translation: X:200.27, Y:230.57, Z:-254.74 [[-3.17934489e-01 -3.01102882e-01 -8.99029874e-01 2.00273646e+02] [ 4.98106677e-02 -9.52226157e-01 3.01304238e-01 2.30573489e+02] [-9.46803337e-01 5.10137308e-02 3.17743673e-01 -2.54738422e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.260714057 meters Centerline goodness : 0.993904 Centerline is valid? [True, True] Translation: X:200.27, Y:230.57, Z:-254.76 [[-3.24620695e-01 -2.90456629e-01 -9.00142406e-01 2.00267309e+02] [ 4.27282702e-02 -9.55213152e-01 2.92817570e-01 2.30571601e+02] [-9.44878669e-01 5.65931149e-02 3.22492666e-01 -2.54755483e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.290714057 meters Centerline goodness : 0.993606 Centerline is valid? [True, True] Translation: X:200.30, Y:230.59, Z:-254.73 [[-3.14050606e-01 -2.50352158e-01 -9.15803480e-01 2.00304266e+02] [ 5.64148863e-02 -9.67822940e-01 2.45226664e-01 2.30589547e+02] [-9.47728641e-01 2.53486333e-02 3.18068970e-01 -2.54731959e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.3207140569999 meters Centerline goodness : 0.993954 Centerline is valid? [True, True] Translation: X:200.28, Y:230.57, Z:-254.72 [[-3.17354673e-01 -3.09345331e-01 -8.96432640e-01 2.00275255e+02] [ 5.89224645e-02 -9.49903873e-01 3.06937739e-01 2.30571017e+02] [-9.46474593e-01 4.45881056e-02 3.19683822e-01 -2.54723728e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.3507140569999 meters Centerline goodness : 0.993547 Centerline is valid? [True, True] Translation: X:200.27, Y:230.57, Z:-254.72 [[-3.19709185e-01 -3.14326012e-01 -8.93859718e-01 2.00272670e+02] [ 6.17641154e-02 -9.48279042e-01 3.11371246e-01 2.30571183e+02] [-9.45500519e-01 4.43397927e-02 3.22587588e-01 -2.54721469e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.380714057 meters Centerline goodness : 0.993547 Centerline is valid? [True, True] Translation: X:200.27, Y:230.57, Z:-254.72 [[-3.19593014e-01 -3.13878639e-01 -8.94058446e-01 2.00272118e+02] [ 6.20690906e-02 -9.48450823e-01 3.10786847e-01 2.30571483e+02] [-9.45519822e-01 4.38319107e-02 3.22600419e-01 -2.54724044e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.410714057 meters Centerline goodness : 0.993749 Centerline is valid? [True, True] Translation: X:200.27, Y:230.57, Z:-254.73 [[-3.17803752e-01 -3.17190439e-01 -8.93527281e-01 2.00271583e+02] [ 6.26922260e-02 -9.47351126e-01 3.13999249e-01 2.30571641e+02] [-9.46081635e-01 4.37729249e-02 3.20957117e-01 -2.54726437e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.4407140569999 meters Centerline goodness : 0.994349 Centerline is valid? [True, True] Translation: X:200.26, Y:230.57, Z:-254.76 [[-3.25707698e-01 -3.12819260e-01 -8.92221164e-01 2.00256045e+02] [ 4.85614258e-02 -9.47968944e-01 3.14637362e-01 2.30569377e+02] [-9.44222582e-01 5.91522790e-02 3.23951732e-01 -2.54760600e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.4707140569999 meters Centerline goodness : 0.992978 Centerline is valid? [True, True] Translation: X:200.30, Y:230.60, Z:-254.75 [[-3.21091967e-01 -2.45651257e-01 -9.14634030e-01 2.00297299e+02] [ 5.97264607e-02 -9.69103717e-01 2.39313051e-01 2.30597714e+02] [-9.45162790e-01 2.22136448e-02 3.25843299e-01 -2.54751331e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.500714057 meters Centerline goodness : 0.993249 Centerline is valid? [True, True] Translation: X:200.26, Y:230.58, Z:-254.75 [[-3.27138323e-01 -3.07067767e-01 -8.93694525e-01 2.00264155e+02] [ 6.05759057e-02 -9.50601279e-01 3.04446658e-01 2.30578765e+02] [-9.43032914e-01 4.54598139e-02 3.29579016e-01 -2.54745212e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.530714057 meters Centerline goodness : 0.993077 Centerline is valid? [True, True] Translation: X:200.26, Y:230.58, Z:-254.74 [[-3.20230640e-01 -3.18653371e-01 -8.92139208e-01 2.00262607e+02] [ 6.01439682e-02 -9.46669856e-01 3.16542079e-01 2.30576964e+02] [-9.45428496e-01 4.77096802e-02 3.22317772e-01 -2.54744188e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.5607140569999 meters Centerline goodness : 0.993356 Centerline is valid? [True, True] Translation: X:200.25, Y:230.58, Z:-254.77 [[-3.25546070e-01 -3.07124226e-01 -8.94256376e-01 2.00254729e+02] [ 4.57021733e-02 -9.49782104e-01 3.09556564e-01 2.30575443e+02] [-9.44421023e-01 5.99054626e-02 3.23234076e-01 -2.54772222e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.5907140569999 meters Centerline goodness : 0.993553 Centerline is valid? [True, True] Translation: X:200.28, Y:230.60, Z:-254.78 [[-3.24127530e-01 -2.46203745e-01 -9.13413959e-01 2.00283131e+02] [ 4.06904534e-02 -9.68274964e-01 2.46551987e-01 2.30596355e+02] [-9.45137890e-01 4.27470583e-02 3.23862715e-01 -2.54782110e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.620714057 meters Centerline goodness : 0.993927 Centerline is valid? [True, True] Translation: X:200.28, Y:230.60, Z:-254.79 [[-3.24771385e-01 -2.46583974e-01 -9.13082631e-01 2.00280508e+02] [ 3.87061650e-02 -9.68071768e-01 2.47666883e-01 2.30597741e+02] [-9.45000201e-01 4.50931896e-02 3.23946329e-01 -2.54788812e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.650714057 meters Centerline goodness : 0.993890 Centerline is valid? [True, True] Translation: X:200.28, Y:230.60, Z:-254.79 [[-3.25458446e-01 -2.46893610e-01 -9.12754264e-01 2.00279557e+02] [ 3.65093604e-02 -9.67870609e-01 2.48784145e-01 2.30598673e+02] [-9.44851241e-01 4.76448267e-02 3.24015592e-01 -2.54791378e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.6807140569999 meters Centerline goodness : 0.993602 Centerline is valid? [True, True] Translation: X:200.28, Y:230.60, Z:-254.80 [[-3.26291550e-01 -2.46678200e-01 -9.12515036e-01 2.00277997e+02] [ 3.26419579e-02 -9.67714029e-01 2.49928112e-01 2.30600615e+02] [-9.44705418e-01 5.17631534e-02 3.23808970e-01 -2.54796246e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.7107140569999 meters Centerline goodness : 0.993736 Centerline is valid? [True, True] Translation: X:200.28, Y:230.60, Z:-254.80 [[-3.26106929e-01 -2.47391788e-01 -9.12387842e-01 2.00277314e+02] [ 3.13841757e-02 -9.67451023e-01 2.51104663e-01 2.30600924e+02] [-9.44811783e-01 5.32524301e-02 3.23256669e-01 -2.54798187e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.7407140569999 meters Centerline goodness : 0.992958 Centerline is valid? [True, True] Translation: X:200.28, Y:230.61, Z:-254.79 [[-3.23064300e-01 -2.50302926e-01 -9.12676232e-01 2.00281673e+02] [ 4.34239910e-02 -9.67294577e-01 2.49911100e-01 2.30608813e+02] [-9.45380249e-01 4.11053101e-02 3.23367497e-01 -2.54791481e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.770714057 meters Centerline goodness : 0.992969 Centerline is valid? [True, True] Translation: X:200.25, Y:230.58, Z:-254.78 [[-3.25546735e-01 -3.25647308e-01 -8.87678520e-01 2.00248120e+02] [ 4.47608485e-02 -9.43075053e-01 3.29554110e-01 2.30584790e+02] [-9.44465876e-01 6.75520206e-02 3.21591254e-01 -2.54779279e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.8007140569999 meters Centerline goodness : 0.993382 Centerline is valid? [True, True] Translation: X:200.25, Y:230.59, Z:-254.78 [[-3.26109403e-01 -3.23758228e-01 -8.88162861e-01 2.00247360e+02] [ 4.38328021e-02 -9.43692882e-01 3.27906130e-01 2.30586077e+02] [-9.44315277e-01 6.80026051e-02 3.21938352e-01 -2.54784508e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.8307140569999 meters Centerline goodness : 0.992941 Centerline is valid? [True, True] Translation: X:200.25, Y:230.59, Z:-254.78 [[-3.24690775e-01 -3.18882440e-01 -8.90443648e-01 2.00250764e+02] [ 4.35515390e-02 -9.45493326e-01 3.22716027e-01 2.30587570e+02] [-9.44817000e-01 6.60027256e-02 3.20880782e-01 -2.54784716e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.8607140569999 meters Centerline goodness : 0.993402 Centerline is valid? [True, True] Translation: X:200.25, Y:230.58, Z:-254.79 [[-3.20294476e-01 -3.29910849e-01 -8.88014798e-01 2.00246266e+02] [ 4.31822274e-02 -9.41509043e-01 3.34209542e-01 2.30584183e+02] [-9.46333315e-01 6.86990131e-02 3.15806431e-01 -2.54789187e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.890714057 meters Centerline goodness : 0.993390 Centerline is valid? [True, True] Translation: X:200.25, Y:230.59, Z:-254.79 [[-3.23192562e-01 -3.22133719e-01 -8.89818204e-01 2.00247434e+02] [ 4.29664614e-02 -9.44305375e-01 3.26253340e-01 2.30587297e+02] [-9.45357314e-01 6.72103133e-02 3.19033419e-01 -2.54791581e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.9207140569999 meters Centerline goodness : 0.993417 Centerline is valid? [True, True] Translation: X:200.25, Y:230.59, Z:-254.80 [[-3.28688259e-01 -3.08996395e-01 -8.92460227e-01 2.00247566e+02] [ 4.31366394e-02 -9.48889434e-01 3.12646882e-01 2.30591541e+02] [-9.43452839e-01 6.42656242e-02 3.25217882e-01 -2.54796298e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.9507140569999 meters Centerline goodness : 0.994137 Centerline is valid? [True, True] Translation: X:200.25, Y:230.59, Z:-254.80 [[-3.29283623e-01 -3.07821616e-01 -8.92646710e-01 2.00245044e+02] [ 4.36534375e-02 -9.49320939e-01 3.11262160e-01 2.30592266e+02] [-9.43221434e-01 6.35264344e-02 3.26033310e-01 -2.54803801e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.9807140569999 meters Centerline goodness : 0.993594 Centerline is valid? [True, True] Translation: X:200.25, Y:230.59, Z:-254.80 [[-3.23937980e-01 -3.15898848e-01 -8.91780300e-01 2.00247641e+02] [ 4.59971235e-02 -9.46751348e-01 3.18663066e-01 2.30589160e+02] [-9.44959496e-01 6.22077413e-02 3.21219158e-01 -2.54797204e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.010714057 meters Centerline goodness : 0.993716 Centerline is valid? [True, True] Translation: X:200.24, Y:230.59, Z:-254.80 [[-3.24544146e-01 -3.18323519e-01 -8.90697050e-01 2.00244249e+02] [ 4.67557373e-02 -9.45916916e-01 3.21021946e-01 2.30588763e+02] [-9.44714242e-01 6.25405962e-02 3.21875248e-01 -2.54803310e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.040714057 meters Centerline goodness : 0.993043 Centerline is valid? [True, True] Translation: X:200.24, Y:230.59, Z:-254.80 [[-3.20940192e-01 -3.22161891e-01 -8.90622877e-01 2.00244910e+02] [ 4.80239876e-02 -9.44694818e-01 3.24415472e-01 2.30587761e+02] [-9.45881118e-01 6.13467017e-02 3.18662035e-01 -2.54804538e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.0707140569999 meters Centerline goodness : 0.993251 Centerline is valid? [True, True] Translation: X:200.25, Y:230.59, Z:-254.80 [[-3.17935589e-01 -3.22985947e-01 -8.91401727e-01 2.00247089e+02] [ 5.07717307e-02 -9.44636730e-01 3.24166131e-01 2.30587244e+02] [-9.46751917e-01 5.78059413e-02 3.16732191e-01 -2.54804606e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.1007140569999 meters Centerline goodness : 0.993624 Centerline is valid? [True, True] Translation: X:200.24, Y:230.59, Z:-254.80 [[-3.18532587e-01 -3.27455074e-01 -8.89556162e-01 2.00244589e+02] [ 5.21307070e-02 -9.43068866e-01 3.28486686e-01 2.30585592e+02] [-9.46477353e-01 5.82605225e-02 3.17468630e-01 -2.54802689e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.130714057 meters Centerline goodness : 0.993058 Centerline is valid? [True, True] Translation: X:200.24, Y:230.58, Z:-254.80 [[-3.11462910e-01 -3.35775054e-01 -8.88957799e-01 2.00242824e+02] [ 5.50011096e-02 -9.40292423e-01 3.35894386e-01 2.30582715e+02] [-9.48665238e-01 5.57249774e-02 3.11334215e-01 -2.54804815e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.160714057 meters Centerline goodness : 0.993772 Centerline is valid? [True, True] Translation: X:200.24, Y:230.58, Z:-254.80 [[-3.07763313e-01 -3.39240097e-01 -8.88930762e-01 2.00242649e+02] [ 5.63169768e-02 -9.39134831e-01 3.38901414e-01 2.30581580e+02] [-9.49794789e-01 5.42395289e-02 3.08136224e-01 -2.54804357e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.1907140569999 meters Centerline goodness : 0.994149 Centerline is valid? [True, True] Translation: X:200.24, Y:230.58, Z:-254.81 [[-3.04582994e-01 -3.38411292e-01 -8.90340945e-01 2.00242902e+02] [ 5.82238840e-02 -9.39622085e-01 3.37224431e-01 2.30581670e+02] [-9.50704570e-01 5.08737191e-02 3.05896528e-01 -2.54807631e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.2207140569999 meters Centerline goodness : 0.994042 Centerline is valid? [True, True] Translation: X:200.24, Y:230.58, Z:-254.82 [[-3.23465884e-01 -3.16229133e-01 -8.91834602e-01 2.00236322e+02] [ 5.14251480e-02 -9.46985793e-01 3.17133036e-01 2.30582483e+02] [-9.44841403e-01 5.67189914e-02 3.22579727e-01 -2.54816970e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.250714057 meters Centerline goodness : 0.993017 Centerline is valid? [True, True] Translation: X:200.27, Y:230.59, Z:-254.81 [[-2.99176299e-01 -2.99366214e-01 -9.06020647e-01 2.00265495e+02] [ 6.24862509e-02 -9.53618780e-01 2.94459998e-01 2.30594061e+02] [-9.52149679e-01 3.14816192e-02 3.04006410e-01 -2.54810402e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.280714057 meters Centerline goodness : 0.994007 Centerline is valid? [True, True] Translation: X:200.24, Y:230.58, Z:-254.81 [[-3.03193878e-01 -3.49565709e-01 -8.86497201e-01 2.00237809e+02] [ 6.22099167e-02 -9.35563202e-01 3.47636911e-01 2.30578652e+02] [-9.50896103e-01 5.02524662e-02 3.05403489e-01 -2.54807628e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.3107140569999 meters Centerline goodness : 0.994167 Centerline is valid? [True, True] Translation: X:200.24, Y:230.58, Z:-254.81 [[-3.04047077e-01 -3.40520733e-01 -8.89719622e-01 2.00242592e+02] [ 6.19931030e-02 -9.39027572e-01 3.38207147e-01 2.30581153e+02] [-9.50637802e-01 4.76744143e-02 3.06618525e-01 -2.54805395e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.3407140569999 meters Centerline goodness : 0.994146 Centerline is valid? [True, True] Translation: X:200.24, Y:230.58, Z:-254.81 [[-3.07007201e-01 -3.38206605e-01 -8.89585786e-01 2.00240587e+02] [ 6.09058254e-02 -9.39792326e-01 3.36274983e-01 2.30582139e+02] [-9.49756316e-01 4.90578846e-02 3.09121764e-01 -2.54809936e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.370714057 meters Centerline goodness : 0.994194 Centerline is valid? [True, True] Translation: X:200.24, Y:230.58, Z:-254.82 [[-3.08550142e-01 -3.36718462e-01 -8.89616484e-01 2.00238416e+02] [ 5.91372355e-02 -9.40230388e-01 3.35364883e-01 2.30583580e+02] [-9.49367999e-01 5.08674226e-02 3.10020818e-01 -2.54816894e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.400714057 meters Centerline goodness : 0.994303 Centerline is valid? [True, True] Translation: X:200.24, Y:230.59, Z:-254.82 [[-3.12710813e-01 -3.30349819e-01 -8.90550922e-01 2.00239154e+02] [ 5.88301754e-02 -9.42507714e-01 3.28965378e-01 2.30585714e+02] [-9.48024767e-01 5.04797640e-02 3.14166892e-01 -2.54816742e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.4307140569999 meters Centerline goodness : 0.994023 Centerline is valid? [True, True] Translation: X:200.24, Y:230.58, Z:-254.82 [[-3.12584813e-01 -3.35148286e-01 -8.88800518e-01 2.00238031e+02] [ 5.72434149e-02 -9.40633747e-01 3.34561423e-01 2.30584615e+02] [-9.48163449e-01 5.37008430e-02 3.13212856e-01 -2.54817494e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.4607140569999 meters Centerline goodness : 0.994841 Centerline is valid? [True, True] Translation: X:200.24, Y:230.59, Z:-254.81 [[-3.14987357e-01 -3.32837496e-01 -8.88820660e-01 2.00239230e+02] [ 5.74973939e-02 -9.41463850e-01 3.32174455e-01 2.30585328e+02] [-9.47352635e-01 5.35258820e-02 3.15686498e-01 -2.54813732e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.4907140569999 meters Centerline goodness : 0.994466 Centerline is valid? [True, True] Translation: X:200.24, Y:230.58, Z:-254.81 [[-3.15336028e-01 -3.39042462e-01 -8.86348350e-01 2.00237676e+02] [ 5.80571222e-02 -9.39143856e-01 3.38582616e-01 2.30583715e+02] [-9.47202492e-01 5.53084628e-02 3.15829723e-01 -2.54810259e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.520714057 meters Centerline goodness : 0.994682 Centerline is valid? [True, True] Translation: X:200.23, Y:230.58, Z:-254.81 [[-3.19367566e-01 -3.39640567e-01 -8.84674315e-01 2.00234915e+02] [ 5.78065812e-02 -9.38808106e-01 3.39555207e-01 2.30583796e+02] [-9.45866141e-01 5.73029223e-02 3.19458320e-01 -2.54810284e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.5507140569999 meters Centerline goodness : 0.994581 Centerline is valid? [True, True] Translation: X:200.24, Y:230.59, Z:-254.81 [[-3.26098889e-01 -3.28875529e-01 -8.86284605e-01 2.00235731e+02] [ 5.83536327e-02 -9.42749310e-01 3.28357416e-01 2.30587511e+02] [-9.43532919e-01 5.53590622e-02 3.26620584e-01 -2.54810747e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.5807140569999 meters Centerline goodness : 0.994481 Centerline is valid? [True, True] Translation: X:200.22, Y:230.58, Z:-254.84 [[-3.26977578e-01 -3.30843223e-01 -8.85227895e-01 2.00220583e+02] [ 4.67092307e-02 -9.41230238e-01 3.34520383e-01 2.30583790e+02] [-9.43877064e-01 6.80323508e-02 3.23214616e-01 -2.54843955e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.6107140569999 meters Centerline goodness : 0.994211 Centerline is valid? [True, True] Translation: X:200.26, Y:230.61, Z:-254.83 [[-3.25430888e-01 -2.63114726e-01 -9.08220996e-01 2.00261076e+02] [ 5.63871035e-02 -9.64196031e-01 2.59126435e-01 2.30609037e+02] [-9.43883060e-01 3.31157945e-02 3.28615448e-01 -2.54829772e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.640714057 meters Centerline goodness : 0.993854 Centerline is valid? [True, True] Translation: X:200.22, Y:230.58, Z:-254.84 [[-3.25465448e-01 -3.32569308e-01 -8.85138349e-01 2.00219787e+02] [ 4.84278549e-02 -9.40739916e-01 3.35653324e-01 2.30582897e+02] [-9.44312970e-01 6.63782081e-02 3.22283956e-01 -2.54843815e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.6707140569999 meters Centerline goodness : 0.994445 Centerline is valid? [True, True] Translation: X:200.26, Y:230.61, Z:-254.84 [[-3.22843877e-01 -2.70120879e-01 -9.07086844e-01 2.00255870e+02] [ 5.74855977e-02 -9.62234402e-01 2.66083375e-01 2.30606715e+02] [-9.44704841e-01 3.37589591e-02 3.26179545e-01 -2.54838038e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.7007140569999 meters Centerline goodness : 0.994695 Centerline is valid? [True, True] Translation: X:200.23, Y:230.59, Z:-254.83 [[-3.25532476e-01 -3.25952325e-01 -8.87571794e-01 2.00228497e+02] [ 5.89319820e-02 -9.43871417e-01 3.25013492e-01 2.30589104e+02] [-9.43692550e-01 5.34960818e-02 3.26469815e-01 -2.54831662e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.7307140569999 meters Centerline goodness : 0.994102 Centerline is valid? [True, True] Translation: X:200.22, Y:230.59, Z:-254.84 [[-3.26888134e-01 -3.26860655e-01 -8.86739116e-01 2.00224344e+02] [ 5.71630279e-02 -9.43406140e-01 3.26676052e-01 2.30588587e+02] [-9.43332675e-01 5.60978323e-02 3.27072618e-01 -2.54838249e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.760714057 meters Centerline goodness : 0.993691 Centerline is valid? [True, True] Translation: X:200.23, Y:230.59, Z:-254.84 [[-3.22848208e-01 -3.26747141e-01 -8.88259726e-01 2.00225576e+02] [ 5.51662888e-02 -9.43417573e-01 3.26986183e-01 2.30588169e+02] [-9.44841635e-01 5.65649106e-02 3.22606100e-01 -2.54841223e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.790714057 meters Centerline goodness : 0.994095 Centerline is valid? [True, True] Translation: X:200.22, Y:230.59, Z:-254.85 [[-3.18857254e-01 -3.33672189e-01 -8.87126216e-01 2.00223082e+02] [ 5.20899374e-02 -9.40736561e-01 3.35113953e-01 2.30585516e+02] [-9.46370271e-01 6.06431657e-02 3.17341640e-01 -2.54848287e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.8207140569999 meters Centerline goodness : 0.993913 Centerline is valid? [True, True] Translation: X:200.22, Y:230.59, Z:-254.85 [[-3.21767357e-01 -3.33601460e-01 -8.86101480e-01 2.00220025e+02] [ 5.05035846e-02 -9.40587273e-01 3.35775178e-01 2.30585179e+02] [-9.45470865e-01 6.32901907e-02 3.19498351e-01 -2.54850967e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.8507140569999 meters Centerline goodness : 0.993745 Centerline is valid? [True, True] Translation: X:200.22, Y:230.59, Z:-254.86 [[-3.23147739e-01 -3.32238119e-01 -8.86111376e-01 2.00216293e+02] [ 4.83951913e-02 -9.40924289e-01 3.35140849e-01 2.30585908e+02] [-9.45110282e-01 6.54164779e-02 3.20136284e-01 -2.54861507e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.880714057 meters Centerline goodness : 0.993219 Centerline is valid? [True, True] Translation: X:200.22, Y:230.58, Z:-254.87 [[-3.17312067e-01 -3.36368290e-01 -8.86661957e-01 2.00216851e+02] [ 4.54047997e-02 -9.39297168e-01 3.40087097e-01 2.30583870e+02] [-9.47233581e-01 6.76550312e-02 3.13323061e-01 -2.54867194e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.910714057 meters Centerline goodness : 0.993842 Centerline is valid? [True, True] Translation: X:200.22, Y:230.59, Z:-254.87 [[-3.20259910e-01 -3.26129029e-01 -8.89423098e-01 2.00218091e+02] [ 4.44681070e-02 -9.43014253e-01 3.29767656e-01 2.30586501e+02] [-9.46285463e-01 6.60603986e-02 3.16512001e-01 -2.54873000e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.9407140569999 meters Centerline goodness : 0.993801 Centerline is valid? [True, True] Translation: X:200.22, Y:230.58, Z:-254.87 [[-3.22226809e-01 -3.24377254e-01 -8.89353294e-01 2.00216990e+02] [ 4.36488184e-02 -9.43553579e-01 3.28331273e-01 2.30584873e+02] [-9.45655680e-01 6.69779182e-02 3.18196943e-01 -2.54872928e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.9707140569999 meters Centerline goodness : 0.993480 Centerline is valid? [True, True] Translation: X:200.22, Y:230.59, Z:-254.88 [[-3.24169526e-01 -3.19529299e-01 -8.90401677e-01 2.00216323e+02] [ 4.37438274e-02 -9.45285283e-01 3.23298951e-01 2.30585173e+02] [-9.44987088e-01 6.58540905e-02 3.20410116e-01 -2.54875460e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.000714057 meters Centerline goodness : 0.994143 Centerline is valid? [True, True] Translation: X:200.21, Y:230.58, Z:-254.88 [[-3.24337822e-01 -3.19302842e-01 -8.90421626e-01 2.00213648e+02] [ 4.41268198e-02 -9.45389827e-01 3.22941013e-01 2.30584428e+02] [-9.44911531e-01 6.54505103e-02 3.20715497e-01 -2.54880594e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.030714057 meters Centerline goodness : 0.994372 Centerline is valid? [True, True] Translation: X:200.21, Y:230.58, Z:-254.87 [[-3.23110685e-01 -3.23451556e-01 -8.89369764e-01 2.00213984e+02] [ 4.59863046e-02 -9.44034484e-01 3.26625402e-01 2.30581307e+02] [-9.45243220e-01 6.46373283e-02 3.19901970e-01 -2.54871672e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.0607140569999 meters Centerline goodness : 0.994369 Centerline is valid? [True, True] Translation: X:200.21, Y:230.58, Z:-254.88 [[-3.25687490e-01 -3.21008685e-01 -8.89314951e-01 2.00209360e+02] [ 4.64770067e-02 -9.44897315e-01 3.24050849e-01 2.30579999e+02] [-9.44334446e-01 6.42066108e-02 3.22660758e-01 -2.54876344e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.0907140569999 meters Centerline goodness : 0.994686 Centerline is valid? [True, True] Translation: X:200.21, Y:230.58, Z:-254.87 [[-3.20427486e-01 -3.22987259e-01 -8.90508538e-01 2.00211442e+02] [ 4.87012585e-02 -9.44449655e-01 3.25027747e-01 2.30576869e+02] [-9.46020303e-01 6.07789371e-02 3.18357514e-01 -2.54873142e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.120714057 meters Centerline goodness : 0.994068 Centerline is valid? [True, True] Translation: X:200.21, Y:230.58, Z:-254.88 [[-3.25684769e-01 -3.22981802e-01 -8.88601253e-01 2.00205969e+02] [ 4.92233044e-02 -9.44360622e-01 3.25207751e-01 2.30576289e+02] [-9.44196218e-01 6.21753213e-02 3.23462103e-01 -2.54877747e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.150714057 meters Centerline goodness : 0.994721 Centerline is valid? [True, True] Translation: X:200.21, Y:230.58, Z:-254.88 [[-3.25801314e-01 -3.20542888e-01 -8.89441263e-01 2.00205894e+02] [ 4.99425823e-02 -9.45292915e-01 3.22377175e-01 2.30576136e+02] [-9.44118235e-01 6.06099138e-02 3.23986413e-01 -2.54880772e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.1807140569999 meters Centerline goodness : 0.995187 Centerline is valid? [True, True] Translation: X:200.21, Y:230.57, Z:-254.88 [[-3.27090096e-01 -3.18659896e-01 -8.89644839e-01 2.00206037e+02] [ 5.20945785e-02 -9.46078715e-01 3.19720536e-01 2.30573628e+02] [-9.43556158e-01 5.82317479e-02 3.26053431e-01 -2.54877296e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.2107140569999 meters Centerline goodness : 0.994878 Centerline is valid? [True, True] Translation: X:200.20, Y:230.57, Z:-254.87 [[-3.18953212e-01 -3.39160068e-01 -8.85008077e-01 2.00200785e+02] [ 5.42176664e-02 -9.38779080e-01 3.40226813e-01 2.30566242e+02] [-9.46218417e-01 6.05333622e-02 3.17815071e-01 -2.54872580e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.2407140569999 meters Centerline goodness : 0.994046 Centerline is valid? [True, True] Translation: X:200.20, Y:230.57, Z:-254.88 [[-3.23559080e-01 -3.27621562e-01 -8.87678790e-01 2.00199534e+02] [ 5.67175791e-02 -9.43171899e-01 3.27429207e-01 2.30567937e+02] [-9.44506558e-01 5.55957012e-02 3.23753734e-01 -2.54880338e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.270714057 meters Centerline goodness : 0.994574 Centerline is valid? [True, True] Translation: X:200.20, Y:230.57, Z:-254.88 [[-3.22554545e-01 -3.21883417e-01 -8.90140232e-01 2.00203312e+02] [ 5.90502859e-02 -9.45415091e-01 3.20473664e-01 2.30568532e+02] [-9.44707166e-01 5.08072015e-02 3.23955242e-01 -2.54876673e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.3007140569999 meters Centerline goodness : 0.994574 Centerline is valid? [True, True] Translation: X:200.20, Y:230.57, Z:-254.88 [[-3.22544892e-01 -3.24990867e-01 -8.89013908e-01 2.00200948e+02] [ 5.94695564e-02 -9.44313003e-01 3.23629920e-01 2.30567868e+02] [-9.44684161e-01 5.15159148e-02 3.23910398e-01 -2.54878786e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.3307140569999 meters Centerline goodness : 0.995048 Centerline is valid? [True, True] Translation: X:200.20, Y:230.57, Z:-254.88 [[-3.18511853e-01 -3.31396895e-01 -8.88102639e-01 2.00198568e+02] [ 6.22256352e-02 -9.42186210e-01 3.29261472e-01 2.30565705e+02] [-9.45874289e-01 4.96109307e-02 3.20718858e-01 -2.54882635e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.3607140569999 meters Centerline goodness : 0.994396 Centerline is valid? [True, True] Translation: X:200.20, Y:230.56, Z:-254.88 [[-3.16289131e-01 -3.36408998e-01 -8.87011934e-01 2.00195760e+02] [ 6.57457031e-02 -9.40537831e-01 3.33265795e-01 2.30562385e+02] [-9.46381893e-01 4.70911256e-02 3.19599340e-01 -2.54881749e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.390714057 meters Centerline goodness : 0.994474 Centerline is valid? [True, True] Translation: X:200.19, Y:230.56, Z:-254.89 [[-3.12008211e-01 -3.45122604e-01 -8.85178663e-01 2.00190942e+02] [ 6.72363557e-02 -9.37374043e-01 3.41773574e-01 2.30559869e+02] [-9.47697288e-01 4.71199741e-02 3.15673184e-01 -2.54887833e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.4207140569999 meters Centerline goodness : 0.994545 Centerline is valid? [True, True] Translation: X:200.19, Y:230.56, Z:-254.89 [[-3.16852694e-01 -3.33127399e-01 -8.88048708e-01 2.00191705e+02] [ 6.31758457e-02 -9.41624602e-01 3.30684021e-01 2.30557752e+02] [-9.46368418e-01 4.86748946e-02 3.19401897e-01 -2.54890928e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.4507140569999 meters Centerline goodness : 0.993947 Centerline is valid? [True, True] Translation: X:200.21, Y:230.57, Z:-254.89 [[-3.07374223e-01 -3.12842394e-01 -8.98693898e-01 2.00209697e+02] [ 7.11400616e-02 -9.49325916e-01 3.06136240e-01 2.30568026e+02] [-9.48925802e-01 3.01652499e-02 3.14053943e-01 -2.54890163e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.4807140569999 meters Centerline goodness : 0.993690 Centerline is valid? [True, True] Translation: X:200.19, Y:230.56, Z:-254.88 [[-3.09351947e-01 -3.49951349e-01 -8.84214582e-01 2.00190302e+02] [ 7.20493555e-02 -9.35777408e-01 3.45151465e-01 2.30556794e+02] [-9.48214250e-01 4.30661868e-02 3.14698332e-01 -2.54884217e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.510714057 meters Centerline goodness : 0.994315 Centerline is valid? [True, True] Translation: X:200.19, Y:230.56, Z:-254.89 [[-3.09808828e-01 -3.48609607e-01 -8.84584553e-01 2.00189661e+02] [ 7.20186920e-02 -9.36290546e-01 3.43763467e-01 2.30558031e+02] [-9.48067402e-01 4.27943346e-02 3.15177485e-01 -2.54888909e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.540714057 meters Centerline goodness : 0.994471 Centerline is valid? [True, True] Translation: X:200.19, Y:230.55, Z:-254.88 [[-3.03330770e-01 -3.64597128e-01 -8.80374567e-01 2.00187593e+02] [ 7.22448915e-02 -9.30044228e-01 3.60275464e-01 2.30552589e+02] [-9.50142684e-01 4.56800689e-02 3.08451312e-01 -2.54879904e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.5707140569999 meters Centerline goodness : 0.994493 Centerline is valid? [True, True] Translation: X:200.18, Y:230.56, Z:-254.89 [[-3.09055151e-01 -3.58142118e-01 -8.81032994e-01 2.00184980e+02] [ 7.03083940e-02 -9.32453977e-01 3.54381588e-01 2.30555643e+02] [-9.48441692e-01 4.75794403e-02 3.13360102e-01 -2.54888371e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.6007140569999 meters Centerline goodness : 0.995306 Centerline is valid? [True, True] Translation: X:200.19, Y:230.56, Z:-254.89 [[-3.10953317e-01 -3.51858011e-01 -8.82895223e-01 2.00185213e+02] [ 6.96106569e-02 -9.34884141e-01 3.48060338e-01 2.30558049e+02] [-9.47872561e-01 4.67716002e-02 3.15198392e-01 -2.54894100e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.630714057 meters Centerline goodness : 0.993629 Centerline is valid? [True, True] Translation: X:200.18, Y:230.56, Z:-254.89 [[-3.08981354e-01 -3.58284140e-01 -8.81001134e-01 2.00184792e+02] [ 6.90234995e-02 -9.32332991e-01 3.54952040e-01 2.30556075e+02] [-9.48560109e-01 4.88637807e-02 3.12803535e-01 -2.54889012e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.660714057 meters Centerline goodness : 0.994110 Centerline is valid? [True, True] Translation: X:200.18, Y:230.56, Z:-254.90 [[-3.16716172e-01 -3.50847540e-01 -8.81247338e-01 2.00183175e+02] [ 6.63509557e-02 -9.34994803e-01 3.48399583e-01 2.30560038e+02] [-9.46196817e-01 5.18721795e-02 3.19407045e-01 -2.54895326e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.6907140569999 meters Centerline goodness : 0.994730 Centerline is valid? [True, True] Translation: X:200.18, Y:230.56, Z:-254.90 [[-3.15534309e-01 -3.51302685e-01 -8.81489945e-01 2.00184298e+02] [ 6.50309895e-02 -9.34767504e-01 3.49257331e-01 2.30560414e+02] [-9.46683194e-01 5.28785073e-02 3.17796780e-01 -2.54896925e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.7207140569999 meters Centerline goodness : 0.994602 Centerline is valid? [True, True] Translation: X:200.18, Y:230.56, Z:-254.90 [[-3.18658833e-01 -3.50655534e-01 -8.80623214e-01 2.00179907e+02] [ 6.25489480e-02 -9.34809444e-01 3.49598245e-01 2.30562287e+02] [-9.45803456e-01 5.63205133e-02 3.19818422e-01 -2.54904292e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.750714057 meters Centerline goodness : 0.994788 Centerline is valid? [True, True] Translation: X:200.18, Y:230.56, Z:-254.90 [[-3.16713031e-01 -3.52395260e-01 -8.80630704e-01 2.00180332e+02] [ 6.21716517e-02 -9.34140661e-01 3.51448305e-01 2.30561781e+02] [-9.46481665e-01 5.65579924e-02 3.17763515e-01 -2.54902610e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.780714057 meters Centerline goodness : 0.994505 Centerline is valid? [True, True] Translation: X:200.18, Y:230.56, Z:-254.90 [[-3.14617624e-01 -3.61196733e-01 -8.77811296e-01 2.00177844e+02] [ 6.23271137e-02 -9.30637827e-01 3.60594738e-01 2.30558755e+02] [-9.47170039e-01 5.87380151e-02 3.15307411e-01 -2.54895919e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.8107140569999 meters Centerline goodness : 0.994482 Centerline is valid? [True, True] Translation: X:200.18, Y:230.56, Z:-254.91 [[-3.20382828e-01 -3.49166133e-01 -8.80589493e-01 2.00177294e+02] [ 6.24637989e-02 -9.35353667e-01 3.48154840e-01 2.30563878e+02] [-9.45226490e-01 5.65378669e-02 3.21481496e-01 -2.54905926e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.8407140569999 meters Centerline goodness : 0.995419 Centerline is valid? [True, True] Translation: X:200.18, Y:230.56, Z:-254.91 [[-3.15761929e-01 -3.56888955e-01 -8.79161350e-01 2.00175422e+02] [ 6.30026389e-02 -9.32407247e-01 3.55875532e-01 2.30562072e+02] [-9.46744460e-01 5.69824593e-02 3.16903656e-01 -2.54907740e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.870714057 meters Centerline goodness : 0.994246 Centerline is valid? [True, True] Translation: X:200.17, Y:230.56, Z:-254.91 [[-3.15847385e-01 -3.61321063e-01 -8.77318368e-01 2.00172764e+02] [ 6.55763447e-02 -9.30753213e-01 3.59719612e-01 2.30561563e+02] [-9.46541163e-01 5.60851671e-02 3.17670083e-01 -2.54910592e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.900714057 meters Centerline goodness : 0.994052 Centerline is valid? [True, True] Translation: X:200.16, Y:230.56, Z:-254.93 [[-3.22595804e-01 -3.58010160e-01 -8.76219534e-01 2.00163939e+02] [ 5.75001648e-02 -9.31413547e-01 3.59391897e-01 2.30558785e+02] [-9.44788695e-01 6.55555505e-02 3.21055746e-01 -2.54927716e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.9307140569999 meters Centerline goodness : 0.993810 Centerline is valid? [True, True] Translation: X:200.20, Y:230.58, Z:-254.93 [[-3.22269759e-01 -3.02798959e-01 -8.96914150e-01 2.00196193e+02] [ 6.76802151e-02 -9.52408611e-01 2.97215791e-01 2.30578582e+02] [-9.44225392e-01 3.50803190e-02 3.27425992e-01 -2.54926823e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.9607140569999 meters Centerline goodness : 0.993997 Centerline is valid? [True, True] Translation: X:200.17, Y:230.56, Z:-254.91 [[-3.12637057e-01 -3.69233968e-01 -8.75171039e-01 2.00172501e+02] [ 7.04938382e-02 -9.27834471e-01 3.66270138e-01 2.30558719e+02] [-9.47253234e-01 5.28154524e-02 3.16104158e-01 -2.54909674e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.9907140569999 meters Centerline goodness : 0.993745 Centerline is valid? [True, True] Translation: X:200.17, Y:230.56, Z:-254.92 [[-3.20708305e-01 -3.64381608e-01 -8.74283837e-01 2.00166705e+02] [ 7.09016294e-02 -9.29686464e-01 3.61463742e-01 2.30561260e+02] [-9.44520588e-01 5.39362757e-02 3.23993420e-01 -2.54920062e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.020714057 meters Centerline goodness : 0.994491 Centerline is valid? [True, True] Translation: X:200.16, Y:230.56, Z:-254.93 [[-3.24227092e-01 -3.60383637e-01 -8.74643029e-01 2.00161574e+02] [ 6.17357760e-02 -9.30680006e-01 3.60587604e-01 2.30557081e+02] [-9.43962651e-01 6.29155041e-02 3.24000235e-01 -2.54931060e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.0507140569999 meters Centerline goodness : 0.994367 Centerline is valid? [True, True] Translation: X:200.19, Y:230.57, Z:-254.94 [[-3.16821211e-01 -3.17322497e-01 -8.93829264e-01 2.00188999e+02] [ 6.92591060e-02 -9.47599550e-01 3.11862581e-01 2.30573975e+02] [-9.45953221e-01 3.68988649e-02 3.22197109e-01 -2.54935217e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.0807140569999 meters Centerline goodness : 0.994341 Centerline is valid? [True, True] Translation: X:200.17, Y:230.56, Z:-254.93 [[-3.17104240e-01 -3.65016169e-01 -8.75333135e-01 2.00165120e+02] [ 7.13000861e-02 -9.29530293e-01 3.61786860e-01 2.30560453e+02] [-9.45706719e-01 5.23128194e-02 3.20783681e-01 -2.54925516e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.1107140569999 meters Centerline goodness : 0.993697 Centerline is valid? [True, True] Translation: X:200.16, Y:230.56, Z:-254.92 [[-3.16003203e-01 -3.68219634e-01 -8.74389088e-01 2.00163221e+02] [ 7.11881481e-02 -9.28218627e-01 3.65160825e-01 2.30557389e+02] [-9.46083624e-01 5.31458504e-02 3.19532933e-01 -2.54923355e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.140714057 meters Centerline goodness : 0.993764 Centerline is valid? [True, True] Translation: X:200.16, Y:230.56, Z:-254.94 [[-3.15827430e-01 -3.64792150e-01 -8.75887962e-01 2.00160807e+02] [ 7.07766815e-02 -9.29623060e-01 3.61651251e-01 2.30558796e+02] [-9.46173185e-01 5.22269420e-02 3.19419240e-01 -2.54935199e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.1707140569999 meters Centerline goodness : 0.993855 Centerline is valid? [True, True] Translation: X:200.16, Y:230.56, Z:-254.93 [[-3.11387550e-01 -3.70756024e-01 -8.74973008e-01 2.00161713e+02] [ 7.10733699e-02 -9.27257433e-01 3.67616959e-01 2.30556261e+02] [-9.47621428e-01 5.22840639e-02 3.15087300e-01 -2.54930361e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.2007140569999 meters Centerline goodness : 0.994052 Centerline is valid? [True, True] Translation: X:200.16, Y:230.55, Z:-254.93 [[-3.12615913e-01 -3.74335191e-01 -8.73008852e-01 2.00158757e+02] [ 7.09008056e-02 -9.25705026e-01 3.71541762e-01 2.30554799e+02] [-9.47229839e-01 5.42528364e-02 3.15930788e-01 -2.54929467e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.2307140569999 meters Centerline goodness : 0.994147 Centerline is valid? [True, True] Translation: X:200.15, Y:230.55, Z:-254.95 [[-3.25048242e-01 -3.61953111e-01 -8.73689639e-01 2.00150180e+02] [ 6.01917089e-02 -9.29902575e-01 3.62847294e-01 2.30552919e+02] [-9.43779952e-01 6.53540026e-02 3.24049774e-01 -2.54947088e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.260714057 meters Centerline goodness : 0.993933 Centerline is valid? [True, True] Translation: X:200.18, Y:230.56, Z:-254.93 [[-3.07128102e-01 -3.39889160e-01 -8.88902519e-01 2.00179432e+02] [ 6.81887903e-02 -9.39505485e-01 3.35678018e-01 2.30561578e+02] [-9.49222112e-01 4.24829654e-02 3.11725167e-01 -2.54934482e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.290714057 meters Centerline goodness : 0.993793 Centerline is valid? [True, True] Translation: X:200.15, Y:230.55, Z:-254.93 [[-3.17738833e-01 -3.86317861e-01 -8.65910240e-01 2.00146460e+02] [ 6.73614128e-02 -9.20125181e-01 3.85787625e-01 2.30549563e+02] [-9.45782467e-01 6.42507726e-02 3.18382418e-01 -2.54934353e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.3207140569999 meters Centerline goodness : 0.994658 Centerline is valid? [True, True] Translation: X:200.14, Y:230.55, Z:-254.96 [[-3.27963052e-01 -3.66281918e-01 -8.70791475e-01 2.00141976e+02] [ 5.53276786e-02 -9.27639444e-01 3.69356074e-01 2.30549636e+02] [-9.43068972e-01 7.29562741e-02 3.24496991e-01 -2.54955478e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.3507140569999 meters Centerline goodness : 0.994327 Centerline is valid? [True, True] Translation: X:200.17, Y:230.56, Z:-254.95 [[-3.16737161e-01 -3.26344756e-01 -8.90604666e-01 2.00174796e+02] [ 6.14003307e-02 -9.44032998e-01 3.24085942e-01 2.30563908e+02] [-9.46523941e-01 4.79666402e-02 3.19048008e-01 -2.54952532e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.380714057 meters Centerline goodness : 0.994533 Centerline is valid? [True, True] Translation: X:200.14, Y:230.55, Z:-254.96 [[-3.29739036e-01 -3.67771281e-01 -8.69492066e-01 2.00137168e+02] [ 5.15106554e-02 -9.26638451e-01 3.72408155e-01 2.30547371e+02] [-9.42665805e-01 7.80093997e-02 3.24493009e-01 -2.54963543e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.410714057 meters Centerline goodness : 0.994660 Centerline is valid? [True, True] Translation: X:200.17, Y:230.56, Z:-254.95 [[-3.14973420e-01 -3.30370516e-01 -8.89745507e-01 2.00173868e+02] [ 5.96794616e-02 -9.42500774e-01 3.28832257e-01 2.30560537e+02] [-9.47222311e-01 5.04738879e-02 3.16579027e-01 -2.54951498e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.4407140569999 meters Centerline goodness : 0.993574 Centerline is valid? [True, True] Translation: X:200.14, Y:230.55, Z:-254.96 [[-3.21433006e-01 -3.75424188e-01 -8.69331641e-01 2.00138713e+02] [ 5.75341370e-02 -9.24097190e-01 3.77801809e-01 2.30548432e+02] [-9.45182864e-01 7.14217254e-02 3.18635044e-01 -2.54964745e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.4707140569999 meters Centerline goodness : 0.993004 Centerline is valid? [True, True] Translation: X:200.14, Y:230.55, Z:-254.97 [[-3.19374632e-01 -3.70353203e-01 -8.72260483e-01 2.00139275e+02] [ 5.64056755e-02 -9.26264181e-01 3.72629932e-01 2.30548870e+02] [-9.45948331e-01 6.98081057e-02 3.16715304e-01 -2.54973697e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.500714057 meters Centerline goodness : 0.994096 Centerline is valid? [True, True] Translation: X:200.14, Y:230.54, Z:-254.96 [[-3.17763819e-01 -3.74905730e-01 -8.70902893e-01 2.00140631e+02] [ 5.59994830e-02 -9.24326561e-01 3.77471147e-01 2.30542595e+02] [-9.46514772e-01 7.11765616e-02 3.14712065e-01 -2.54956281e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.530714057 meters Centerline goodness : 0.994329 Centerline is valid? [True, True] Translation: X:200.14, Y:230.54, Z:-254.96 [[-3.17136355e-01 -3.77559410e-01 -8.69984726e-01 2.00137121e+02] [ 5.64324759e-02 -9.23224974e-01 3.80093440e-01 2.30540989e+02] [-9.46699481e-01 7.14460560e-02 3.14094815e-01 -2.54960738e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.5607140569999 meters Centerline goodness : 0.993978 Centerline is valid? [True, True] Translation: X:200.13, Y:230.54, Z:-254.98 [[-3.18681299e-01 -3.77320674e-01 -8.69523628e-01 2.00128725e+02] [ 5.47698835e-02 -9.23150159e-01 3.80518127e-01 2.30540333e+02] [-9.46278231e-01 7.36403030e-02 3.14856501e-01 -2.54981540e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.5907140569999 meters Centerline goodness : 0.993239 Centerline is valid? [True, True] Translation: X:200.13, Y:230.54, Z:-254.97 [[-3.20336924e-01 -3.71798045e-01 -8.71292413e-01 2.00134337e+02] [ 5.44695113e-02 -9.25467874e-01 3.74889699e-01 2.30539315e+02] [-9.45736394e-01 7.26321410e-02 3.16713190e-01 -2.54970637e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.620714057 meters Centerline goodness : 0.994415 Centerline is valid? [True, True] Translation: X:200.13, Y:230.54, Z:-255.00 [[-3.20090183e-01 -3.68484098e-01 -8.72789634e-01 2.00127383e+02] [ 5.36396838e-02 -9.26830913e-01 3.71627829e-01 2.30541109e+02] [-9.45867358e-01 7.21382596e-02 3.16434847e-01 -2.54999466e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.650714057 meters Centerline goodness : 0.993424 Centerline is valid? [True, True] Translation: X:200.13, Y:230.53, Z:-254.97 [[-3.19900361e-01 -3.80176826e-01 -8.67830248e-01 2.00129181e+02] [ 5.37255587e-02 -9.21768121e-01 3.84001426e-01 2.30532160e+02] [-9.45926701e-01 7.62175301e-02 3.15299167e-01 -2.54972798e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.6807140569999 meters Centerline goodness : 0.993828 Centerline is valid? [True, True] Translation: X:200.13, Y:230.53, Z:-254.96 [[-3.17563076e-01 -3.88224838e-01 -8.65121476e-01 2.00130082e+02] [ 5.54057328e-02 -9.18385274e-01 3.91789094e-01 2.30527129e+02] [-9.46617081e-01 7.64850602e-02 3.13155134e-01 -2.54959611e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.7107140569999 meters Centerline goodness : 0.993673 Centerline is valid? [True, True] Translation: X:200.12, Y:230.52, Z:-254.98 [[-3.36114323e-01 -3.74511027e-01 -8.64157770e-01 2.00116282e+02] [ 4.59860414e-02 -9.22970623e-01 3.82113221e-01 2.30524930e+02] [-9.40697851e-01 8.86945316e-02 3.27445926e-01 -2.54979588e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.7407140569999 meters Centerline goodness : 0.993706 Centerline is valid? [True, True] Translation: X:200.16, Y:230.53, Z:-254.96 [[-3.17221706e-01 -3.39418649e-01 -8.85531123e-01 2.00157982e+02] [ 5.49508838e-02 -9.38768206e-01 3.40139172e-01 2.30534252e+02] [-9.46758042e-01 5.92388104e-02 3.16449007e-01 -2.54960343e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.770714057 meters Centerline goodness : 0.993870 Centerline is valid? [True, True] Translation: X:200.11, Y:230.52, Z:-254.99 [[-3.35588025e-01 -3.71377473e-01 -8.65713261e-01 2.00114578e+02] [ 4.65111063e-02 -9.24419028e-01 3.78531608e-01 2.30523527e+02] [-9.40859923e-01 8.67653931e-02 3.27497133e-01 -2.54987637e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.8007140569999 meters Centerline goodness : 0.993584 Centerline is valid? [True, True] Translation: X:200.15, Y:230.53, Z:-254.96 [[-3.14374007e-01 -3.45491955e-01 -8.84196976e-01 2.00153852e+02] [ 5.65711351e-02 -9.36583668e-01 3.45847856e-01 2.30530378e+02] [-9.47612099e-01 5.87055495e-02 3.13982432e-01 -2.54963185e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.8307140569999 meters Centerline goodness : 0.993475 Centerline is valid? [True, True] Translation: X:200.12, Y:230.51, Z:-254.96 [[-3.16015038e-01 -4.06282462e-01 -8.57361684e-01 2.00115154e+02] [ 5.88620999e-02 -9.10326030e-01 4.09684966e-01 2.30512949e+02] [-9.46926475e-01 7.90005010e-02 3.11591354e-01 -2.54957912e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.8607140569999 meters Centerline goodness : 0.993691 Centerline is valid? [True, True] Translation: X:200.11, Y:230.51, Z:-254.97 [[-3.14161466e-01 -3.99639384e-01 -8.61156743e-01 2.00113973e+02] [ 5.98581419e-02 -9.13616181e-01 4.02147332e-01 2.30511722e+02] [-9.47480647e-01 7.47919527e-02 3.10944670e-01 -2.54966913e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.890714057 meters Centerline goodness : 0.993004 Centerline is valid? [True, True] Translation: X:200.12, Y:230.51, Z:-254.97 [[-3.14801901e-01 -3.89330257e-01 -8.65633707e-01 2.00117906e+02] [ 6.05687154e-02 -9.18383496e-01 3.91028368e-01 2.30512856e+02] [-9.47222885e-01 7.06661521e-02 3.12690104e-01 -2.54967602e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.9207140569999 meters Centerline goodness : 0.993131 Centerline is valid? [True, True] Translation: X:200.12, Y:230.51, Z:-254.97 [[-3.14084113e-01 -3.82247755e-01 -8.69044201e-01 2.00120048e+02] [ 6.16594111e-02 -9.21646515e-01 3.83100272e-01 2.30513678e+02] [-9.47390778e-01 6.67409556e-02 3.13043700e-01 -2.54972069e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.9507140569999 meters Centerline goodness : 0.993173 Centerline is valid? [True, True] Translation: X:200.12, Y:230.51, Z:-254.98 [[-3.13321715e-01 -3.83874155e-01 -8.68602404e-01 2.00115732e+02] [ 6.27780769e-02 -9.21030035e-01 3.84398996e-01 2.30512844e+02] [-9.47569742e-01 6.59113642e-02 3.12677592e-01 -2.54980736e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.9807140569999 meters Centerline goodness : 0.993594 Centerline is valid? [True, True] Translation: X:200.11, Y:230.51, Z:-254.98 [[-3.10021689e-01 -3.93804232e-01 -8.65335068e-01 2.00110338e+02] [ 6.43271117e-02 -9.16782982e-01 3.94171265e-01 2.30508721e+02] [-9.48550776e-01 6.65371358e-02 3.09554897e-01 -2.54979210e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.010714057 meters Centerline goodness : 0.993223 Centerline is valid? [True, True] Translation: X:200.11, Y:230.51, Z:-254.98 [[-3.10630682e-01 -3.86791945e-01 -8.68274479e-01 2.00113074e+02] [ 6.57824992e-02 -9.20020551e-01 3.86309266e-01 2.30508858e+02] [-9.48251677e-01 6.28822456e-02 3.11230752e-01 -2.54982742e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.040714057 meters Centerline goodness : 0.993455 Centerline is valid? [True, True] Translation: X:200.12, Y:230.51, Z:-254.97 [[-3.12039543e-01 -3.84476398e-01 -8.68797573e-01 2.00116454e+02] [ 6.84394284e-02 -9.21178005e-01 3.83075878e-01 2.30507672e+02] [-9.47600849e-01 6.00748124e-02 3.13757308e-01 -2.54973620e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.0707140569999 meters Centerline goodness : 0.994662 Centerline is valid? [True, True] Translation: X:200.11, Y:230.51, Z:-254.98 [[-3.14317572e-01 -3.87443803e-01 -8.66655505e-01 2.00110116e+02] [ 7.04995913e-02 -9.19930202e-01 3.85691885e-01 2.30507393e+02] [-9.46696505e-01 6.01308779e-02 3.16464857e-01 -2.54982826e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.1007140569999 meters Centerline goodness : 0.993891 Centerline is valid? [True, True] Translation: X:200.11, Y:230.51, Z:-254.99 [[-3.20473534e-01 -3.77255188e-01 -8.68893111e-01 2.00110448e+02] [ 7.21989264e-02 -9.24332097e-01 3.74696530e-01 2.30509457e+02] [-9.44502001e-01 5.73471714e-02 3.23461393e-01 -2.54987342e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.130714057 meters Centerline goodness : 0.993448 Centerline is valid? [True, True] Translation: X:200.12, Y:230.51, Z:-254.98 [[-3.19215304e-01 -3.73949969e-01 -8.70782987e-01 2.00117706e+02] [ 7.91042747e-02 -9.26162916e-01 3.68734005e-01 2.30507741e+02] [-9.44374980e-01 4.88228810e-02 3.25226418e-01 -2.54976148e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.160714057 meters Centerline goodness : 0.993689 Centerline is valid? [True, True] Translation: X:200.11, Y:230.51, Z:-254.98 [[-3.19469493e-01 -3.82793289e-01 -8.66838244e-01 2.00109612e+02] [ 8.17965021e-02 -9.22501107e-01 3.77228102e-01 2.30505494e+02] [-9.44059625e-01 4.96085341e-02 3.26022112e-01 -2.54981770e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.1907140569999 meters Centerline goodness : 0.993689 Centerline is valid? [True, True] Translation: X:200.11, Y:230.50, Z:-254.98 [[-3.19507868e-01 -3.88377781e-01 -8.64336405e-01 2.00105446e+02] [ 8.22876123e-02 -9.20074052e-01 3.83004554e-01 2.30504498e+02] [-9.44003957e-01 5.12487892e-02 3.25929579e-01 -2.54983415e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.2207140569999 meters Centerline goodness : 0.993609 Centerline is valid? [True, True] Translation: X:200.10, Y:230.50, Z:-255.00 [[-3.17197697e-01 -3.91515354e-01 -8.63771584e-01 2.00099327e+02] [ 8.69289460e-02 -9.18974963e-01 3.84614581e-01 2.30503942e+02] [-9.44366973e-01 4.69121061e-02 3.25530759e-01 -2.54995700e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.250714057 meters Centerline goodness : 0.993350 Centerline is valid? [True, True] Translation: X:200.11, Y:230.50, Z:-254.99 [[-3.15633995e-01 -3.83999893e-01 -8.67709205e-01 2.00105417e+02] [ 8.91409294e-02 -9.22410750e-01 3.75782255e-01 2.30504490e+02] [-9.44684644e-01 4.12612494e-02 3.25374297e-01 -2.54991688e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.280714057 meters Centerline goodness : 0.993759 Centerline is valid? [True, True] Translation: X:200.11, Y:230.50, Z:-254.98 [[-3.12543444e-01 -3.85907464e-01 -8.67981581e-01 2.00107554e+02] [ 9.20545565e-02 -9.21761758e-01 3.76671236e-01 2.30502855e+02] [-9.45432469e-01 3.78244659e-02 3.23615135e-01 -2.54983852e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.3107140569999 meters Centerline goodness : 0.993456 Centerline is valid? [True, True] Translation: X:200.10, Y:230.50, Z:-255.00 [[-3.14827340e-01 -3.84676304e-01 -8.67702649e-01 2.00096994e+02] [ 8.82096330e-02 -9.22091777e-01 3.76783513e-01 2.30500930e+02] [-9.45041167e-01 4.20820189e-02 3.24231857e-01 -2.55000644e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.3407140569999 meters Centerline goodness : 0.993234 Centerline is valid? [True, True] Translation: X:200.12, Y:230.51, Z:-254.99 [[-2.98735349e-01 -3.65385500e-01 -8.81618187e-01 2.00123714e+02] [ 9.49034737e-02 -9.30597640e-01 3.53527033e-01 2.30507261e+02] [-9.49605456e-01 2.19423932e-02 3.12678764e-01 -2.54992724e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.370714057 meters Centerline goodness : 0.993459 Centerline is valid? [True, True] Translation: X:200.10, Y:230.50, Z:-254.99 [[-2.93646147e-01 -4.06323804e-01 -8.65258867e-01 2.00101724e+02] [ 9.60831193e-02 -9.13125653e-01 3.96193861e-01 2.30497825e+02] [-9.51073065e-01 3.32040296e-02 3.07176688e-01 -2.54985279e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.400714057 meters Centerline goodness : 0.992943 Centerline is valid? [True, True] Translation: X:200.10, Y:230.50, Z:-254.99 [[-2.93802819e-01 -4.09909506e-01 -8.63512652e-01 2.00097436e+02] [ 9.54799995e-02 -9.11449612e-01 4.00178928e-01 2.30498135e+02] [-9.51085419e-01 3.51255095e-02 3.06924625e-01 -2.54992429e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.4307140569999 meters Centerline goodness : 0.992813 Centerline is valid? [True, True] Translation: X:200.10, Y:230.50, Z:-254.99 [[-2.90626152e-01 -4.12033861e-01 -8.63576596e-01 2.00099930e+02] [ 9.34401303e-02 -9.10440600e-01 4.02947708e-01 2.30498922e+02] [-9.52263294e-01 3.64144323e-02 3.03098346e-01 -2.54994012e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.4607140569999 meters Centerline goodness : 0.993241 Centerline is valid? [True, True] Translation: X:200.10, Y:230.50, Z:-255.00 [[-2.95514482e-01 -4.10691596e-01 -8.62556435e-01 2.00096991e+02] [ 9.06461487e-02 -9.10861133e-01 4.02635408e-01 2.30500663e+02] [-9.51028110e-01 4.07971754e-02 3.06400268e-01 -2.54999407e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.4907140569999 meters Centerline goodness : 0.993273 Centerline is valid? [True, True] Translation: X:200.10, Y:230.50, Z:-255.00 [[-3.00439054e-01 -4.00727654e-01 -8.65536667e-01 2.00101197e+02] [ 8.86358819e-02 -9.15263635e-01 3.92983662e-01 2.30503920e+02] [-9.49673657e-01 4.13500339e-02 3.10499790e-01 -2.55000981e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.520714057 meters Centerline goodness : 0.993308 Centerline is valid? [True, True] Translation: X:200.09, Y:230.51, Z:-255.03 [[-3.00526378e-01 -4.09232415e-01 -8.61517688e-01 2.00090520e+02] [ 8.22864482e-02 -9.11029632e-01 4.04046966e-01 2.30506912e+02] [-9.50217258e-01 5.05355406e-02 3.07462717e-01 -2.55029325e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.5507140569999 meters Centerline goodness : 0.993787 Centerline is valid? [True, True] Translation: X:200.10, Y:230.50, Z:-254.99 [[-3.02311255e-01 -4.03965553e-01 -8.63376938e-01 2.00104810e+02] [ 8.24225376e-02 -9.13443757e-01 3.98531089e-01 2.30504676e+02] [-9.49639106e-01 4.93187153e-02 3.09440194e-01 -2.54993879e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.5807140569999 meters Centerline goodness : 0.994243 Centerline is valid? [True, True] Translation: X:200.08, Y:230.51, Z:-255.03 [[-3.24944379e-01 -3.92416763e-01 -8.60476749e-01 2.00083993e+02] [ 6.98662228e-02 -9.17325997e-01 3.91958833e-01 2.30510011e+02] [-9.43148908e-01 6.72465592e-02 3.25496603e-01 -2.55031789e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.6107140569999 meters Centerline goodness : 0.993763 Centerline is valid? [True, True] Translation: X:200.11, Y:230.52, Z:-255.04 [[-3.07383386e-01 -3.68907766e-01 -8.77167324e-01 2.00109397e+02] [ 7.22704733e-02 -9.28183346e-01 3.65037881e-01 2.30519805e+02] [-9.48837411e-01 4.88132821e-02 3.11969278e-01 -2.55043827e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.640714057 meters Centerline goodness : 0.994114 Centerline is valid? [True, True] Translation: X:200.09, Y:230.52, Z:-255.05 [[-3.27091564e-01 -3.80115683e-01 -8.65172339e-01 2.00085725e+02] [ 6.35748583e-02 -9.22310641e-01 3.81184101e-01 2.30516396e+02] [-9.42851710e-01 6.96788948e-02 3.25845831e-01 -2.55048618e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.6707140569999 meters Centerline goodness : 0.994620 Centerline is valid? [True, True] Translation: X:200.11, Y:230.52, Z:-255.04 [[-3.25406417e-01 -3.44666280e-01 -8.80520198e-01 2.00111012e+02] [ 6.07057157e-02 -9.36895412e-01 3.44299004e-01 2.30523685e+02] [-9.43623590e-01 5.85844963e-02 3.25794992e-01 -2.55040412e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.7007140569999 meters Centerline goodness : 0.994346 Centerline is valid? [True, True] Translation: X:200.12, Y:230.52, Z:-255.01 [[-3.09429124e-01 -3.69352549e-01 -8.76260413e-01 2.00118173e+02] [ 6.80235901e-02 -9.27721337e-01 3.67023040e-01 2.30518888e+02] [-9.48486378e-01 5.39612386e-02 3.12188687e-01 -2.55012010e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.7307140569999 meters Centerline goodness : 0.994378 Centerline is valid? [True, True] Translation: X:200.08, Y:230.51, Z:-255.01 [[-3.13782797e-01 -4.19857361e-01 -8.51622072e-01 2.00084025e+02] [ 6.48448568e-02 -9.04303085e-01 4.21937287e-01 2.30508960e+02] [-9.47277943e-01 7.71733509e-02 3.10980342e-01 -2.55011528e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.760714057 meters Centerline goodness : 0.994711 Centerline is valid? [True, True] Translation: X:200.09, Y:230.51, Z:-255.03 [[-3.13244259e-01 -4.06838898e-01 -8.58114296e-01 2.00087274e+02] [ 6.30329180e-02 -9.10503949e-01 4.08667849e-01 2.30514302e+02] [-9.47578432e-01 7.39234096e-02 3.10854378e-01 -2.55030161e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.790714057 meters Centerline goodness : 0.994962 Centerline is valid? [True, True] Translation: X:200.09, Y:230.52, Z:-255.04 [[-3.18830794e-01 -3.93804743e-01 -8.62128035e-01 2.00088840e+02] [ 6.04665555e-02 -9.16196675e-01 3.96140692e-01 2.30519266e+02] [-9.45880923e-01 7.41719386e-02 3.15923730e-01 -2.55038797e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.8207140569999 meters Centerline goodness : 0.994681 Centerline is valid? [True, True] Translation: X:200.08, Y:230.52, Z:-255.05 [[-3.19321682e-01 -3.95822371e-01 -8.61021669e-01 2.00084825e+02] [ 5.93067058e-02 -9.15155746e-01 3.98713775e-01 2.30520252e+02] [-9.45788760e-01 7.62535948e-02 3.15703993e-01 -2.55048343e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.8507140569999 meters Centerline goodness : 0.994821 Centerline is valid? [True, True] Translation: X:200.08, Y:230.52, Z:-255.07 [[-3.23430419e-01 -3.86923721e-01 -8.63529269e-01 2.00081965e+02] [ 5.84148086e-02 -9.19002268e-01 3.89900682e-01 2.30524779e+02] [-9.44447179e-01 7.56628440e-02 3.19835364e-01 -2.55066659e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.880714057 meters Centerline goodness : 0.994525 Centerline is valid? [True, True] Translation: X:200.09, Y:230.52, Z:-255.04 [[-3.20657516e-01 -3.92994842e-01 -8.61820058e-01 2.00090560e+02] [ 5.90021576e-02 -9.16385731e-01 3.95924157e-01 2.30520612e+02] [-9.45355755e-01 7.61068136e-02 3.17033515e-01 -2.55035515e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.910714057 meters Centerline goodness : 0.995360 Centerline is valid? [True, True] Translation: X:200.08, Y:230.52, Z:-255.04 [[-3.24496097e-01 -3.99036483e-01 -8.57596740e-01 2.00084045e+02] [ 5.86249948e-02 -9.13400149e-01 4.02819163e-01 2.30519882e+02] [-9.44068532e-01 8.04366421e-02 3.19788295e-01 -2.55036371e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.9407140569999 meters Centerline goodness : 0.994905 Centerline is valid? [True, True] Translation: X:200.08, Y:230.52, Z:-255.05 [[-3.24529205e-01 -3.94674894e-01 -8.59600211e-01 2.00084489e+02] [ 5.74447825e-02 -9.15334078e-01 3.98576997e-01 2.30522547e+02] [-9.44129701e-01 7.99703287e-02 3.19724654e-01 -2.55047502e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.9707140569999 meters Centerline goodness : 0.994957 Centerline is valid? [True, True] Translation: X:200.08, Y:230.53, Z:-255.07 [[-3.35565964e-01 -3.77686839e-01 -8.62987912e-01 2.00080625e+02] [ 5.10886550e-02 -9.22055096e-01 3.83672189e-01 2.30525625e+02] [-9.40630338e-01 8.46584362e-02 3.28705820e-01 -2.55065479e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.000714057 meters Centerline goodness : 0.994809 Centerline is valid? [True, True] Translation: X:200.10, Y:230.53, Z:-255.07 [[-3.26570448e-01 -3.54888211e-01 -8.76017181e-01 2.00101605e+02] [ 5.49738273e-02 -9.32395592e-01 3.57234291e-01 2.30533398e+02] [-9.43572796e-01 6.85041451e-02 3.24002409e-01 -2.55067699e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.030714057 meters Centerline goodness : 0.994635 Centerline is valid? [True, True] Translation: X:200.09, Y:230.53, Z:-255.07 [[-3.25229695e-01 -3.85031826e-01 -8.63699102e-01 2.00085284e+02] [ 5.63396997e-02 -9.19620637e-01 3.88746346e-01 2.30526203e+02] [-9.43955234e-01 7.77713076e-02 3.20780517e-01 -2.55065001e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.0607140569999 meters Centerline goodness : 0.995010 Centerline is valid? [True, True] Translation: X:200.08, Y:230.53, Z:-255.08 [[-3.27253346e-01 -3.80724629e-01 -8.64843341e-01 2.00081355e+02] [ 5.65129339e-02 -9.21486893e-01 3.84276195e-01 2.30528535e+02] [-9.43245215e-01 7.68808360e-02 3.23075534e-01 -2.55078202e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.0907140569999 meters Centerline goodness : 0.994587 Centerline is valid? [True, True] Translation: X:200.08, Y:230.53, Z:-255.08 [[-3.32711168e-01 -3.72632148e-01 -8.66284342e-01 2.00079960e+02] [ 5.26028597e-02 -9.24522377e-01 3.77480216e-01 2.30526133e+02] [-9.41560523e-01 8.00228499e-02 3.27200437e-01 -2.55075093e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.120714057 meters Centerline goodness : 0.993895 Centerline is valid? [True, True] Translation: X:200.09, Y:230.53, Z:-255.09 [[-3.21873932e-01 -3.60131410e-01 -8.75615520e-01 2.00090116e+02] [ 5.67982360e-02 -9.30511907e-01 3.61830833e-01 2.30533299e+02] [-9.45077316e-01 6.67304962e-02 3.19962355e-01 -2.55092843e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.150714057 meters Centerline goodness : 0.993959 Centerline is valid? [True, True] Translation: X:200.08, Y:230.52, Z:-255.07 [[-3.20417601e-01 -3.83920387e-01 -8.65989433e-01 2.00081464e+02] [ 5.89304927e-02 -9.20496780e-01 3.86280825e-01 2.30524402e+02] [-9.45441568e-01 7.27379911e-02 3.17567987e-01 -2.55068506e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.1807140569999 meters Centerline goodness : 0.994791 Centerline is valid? [True, True] Translation: X:200.08, Y:230.52, Z:-255.06 [[-3.25008401e-01 -3.78777433e-01 -8.66543245e-01 2.00084502e+02] [ 6.13892925e-02 -9.22804871e-01 3.80345270e-01 2.30524061e+02] [-9.43716533e-01 7.04189313e-02 3.23172214e-01 -2.55056651e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.2107140569999 meters Centerline goodness : 0.995599 Centerline is valid? [True, True] Translation: X:200.07, Y:230.52, Z:-255.09 [[-3.28495101e-01 -3.85286813e-01 -8.62348561e-01 2.00065385e+02] [ 5.52681210e-02 -9.19292437e-01 3.89675314e-01 2.30524311e+02] [-9.42887270e-01 8.03460471e-02 3.23277140e-01 -2.55092506e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.2407140569999 meters Centerline goodness : 0.995024 Centerline is valid? [True, True] Translation: X:200.09, Y:230.53, Z:-255.08 [[-3.17027522e-01 -3.66427602e-01 -8.74771035e-01 2.00090494e+02] [ 6.03067888e-02 -9.28271125e-01 3.66982030e-01 2.30529571e+02] [-9.46497037e-01 6.35887714e-02 3.16385566e-01 -2.55083472e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.270714057 meters Centerline goodness : 0.995105 Centerline is valid? [True, True] Translation: X:200.07, Y:230.52, Z:-255.06 [[-3.20250700e-01 -4.03574510e-01 -8.57068903e-01 2.00073606e+02] [ 6.16233977e-02 -9.11676394e-01 4.06261873e-01 2.30518794e+02] [-9.45326423e-01 7.72901514e-02 3.16834636e-01 -2.55059281e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.3007140569999 meters Centerline goodness : 0.994369 Centerline is valid? [True, True] Translation: X:200.07, Y:230.52, Z:-255.09 [[-3.20155188e-01 -3.99747256e-01 -8.58896261e-01 2.00068984e+02] [ 5.90228812e-02 -9.13271138e-01 4.03053506e-01 2.30522389e+02] [-9.45524699e-01 7.83451389e-02 3.15982727e-01 -2.55088858e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.3307140569999 meters Centerline goodness : 0.994385 Centerline is valid? [True, True] Translation: X:200.08, Y:230.52, Z:-255.07 [[-3.22554185e-01 -3.90369281e-01 -8.62305411e-01 2.00078229e+02] [ 5.93914407e-02 -9.17548949e-01 3.93162285e-01 2.30522383e+02] [-9.44685903e-01 7.56025796e-02 3.19143847e-01 -2.55074091e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.3607140569999 meters Centerline goodness : 0.994238 Centerline is valid? [True, True] Translation: X:200.07, Y:230.52, Z:-255.09 [[-3.22630618e-01 -3.96760361e-01 -8.59354816e-01 2.00070916e+02] [ 5.85505357e-02 -9.14532054e-01 4.00253616e-01 2.30521969e+02] [-9.44712294e-01 7.88183865e-02 3.18286574e-01 -2.55086377e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.390714057 meters Centerline goodness : 0.994720 Centerline is valid? [True, True] Translation: X:200.07, Y:230.52, Z:-255.10 [[-3.32710333e-01 -3.79872626e-01 -8.63134186e-01 2.00068822e+02] [ 5.25144843e-02 -9.21321525e-01 3.85238727e-01 2.30524136e+02] [-9.41565751e-01 8.28458587e-02 3.26482007e-01 -2.55100385e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.4207140569999 meters Centerline goodness : 0.995191 Centerline is valid? [True, True] Translation: X:200.09, Y:230.53, Z:-255.10 [[-3.31023679e-01 -3.55682002e-01 -8.74021532e-01 2.00085785e+02] [ 5.13528874e-02 -9.31658405e-01 3.59688055e-01 2.30528658e+02] [-9.42224074e-01 7.41817338e-02 3.26666290e-01 -2.55095471e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.4507140569999 meters Centerline goodness : 0.995240 Centerline is valid? [True, True] Translation: X:200.08, Y:230.53, Z:-255.10 [[-3.30152078e-01 -3.56770573e-01 -8.73907526e-01 2.00082725e+02] [ 5.09429398e-02 -9.31205632e-01 3.60916733e-01 2.30529289e+02] [-9.42552079e-01 7.46379910e-02 3.25614417e-01 -2.55104985e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.4807140569999 meters Centerline goodness : 0.995271 Centerline is valid? [True, True] Translation: X:200.08, Y:230.53, Z:-255.10 [[-3.29837767e-01 -3.57899882e-01 -8.73564378e-01 2.00082524e+02] [ 5.10707862e-02 -9.30758856e-01 3.62049344e-01 2.30528746e+02] [-9.42655198e-01 7.48039277e-02 3.25277651e-01 -2.55102706e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.510714057 meters Centerline goodness : 0.994740 Centerline is valid? [True, True] Translation: X:200.09, Y:230.53, Z:-255.08 [[-3.23161767e-01 -3.65236047e-01 -8.73022968e-01 2.00092123e+02] [ 5.84267257e-02 -9.28462452e-01 3.66802116e-01 2.30527490e+02] [-9.44538401e-01 6.75285465e-02 3.21383113e-01 -2.55078218e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.540714057 meters Centerline goodness : 0.995332 Centerline is valid? [True, True] Translation: X:200.07, Y:230.52, Z:-255.08 [[-3.24278398e-01 -4.01006145e-01 -8.56759939e-01 2.00069430e+02] [ 6.09405021e-02 -9.12677018e-01 4.04112504e-01 2.30520499e+02] [-9.43996703e-01 7.88335746e-02 3.20398957e-01 -2.55080113e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.5707140569999 meters Centerline goodness : 0.994050 Centerline is valid? [True, True] Translation: X:200.06, Y:230.52, Z:-255.09 [[-3.25900895e-01 -4.09709268e-01 -8.52013452e-01 2.00058994e+02] [ 5.94965024e-02 -9.08318202e-01 4.14026822e-01 2.30519718e+02] [-9.43529954e-01 8.42398915e-02 3.20397983e-01 -2.55089889e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.6007140569999 meters Centerline goodness : 0.994540 Centerline is valid? [True, True] Translation: X:200.06, Y:230.52, Z:-255.10 [[-3.30243247e-01 -3.93771582e-01 -8.57836429e-01 2.00059385e+02] [ 5.26084615e-02 -9.15091251e-01 3.99800391e-01 2.30521160e+02] [-9.42428643e-01 8.69019247e-02 3.22918423e-01 -2.55101851e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.630714057 meters Centerline goodness : 0.994901 Centerline is valid? [True, True] Translation: X:200.08, Y:230.53, Z:-255.10 [[-3.22118729e-01 -3.66673594e-01 -8.72805821e-01 2.00083851e+02] [ 5.70158401e-02 -9.27786604e-01 3.68729184e-01 2.30529875e+02] [-9.44980803e-01 6.90108190e-02 3.19763644e-01 -2.55101066e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.660714057 meters Centerline goodness : 0.994942 Centerline is valid? [True, True] Translation: X:200.06, Y:230.52, Z:-255.11 [[-3.29161728e-01 -3.92357335e-01 -8.58899458e-01 2.00059663e+02] [ 5.22872653e-02 -9.15765396e-01 3.98296099e-01 2.30522636e+02] [-9.42824798e-01 8.61943282e-02 3.21950212e-01 -2.55107666e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.6907140569999 meters Centerline goodness : 0.994853 Centerline is valid? [True, True] Translation: X:200.09, Y:230.53, Z:-255.10 [[-3.29235717e-01 -3.53938970e-01 -8.75403363e-01 2.00089058e+02] [ 5.76619902e-02 -9.32896719e-01 3.55497969e-01 2.30533761e+02] [-9.42485511e-01 6.65651284e-02 3.27551745e-01 -2.55096824e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.7207140569999 meters Centerline goodness : 0.994949 Centerline is valid? [True, True] Translation: X:200.06, Y:230.53, Z:-255.11 [[-3.28993916e-01 -3.87110886e-01 -8.61340911e-01 2.00062731e+02] [ 5.18634864e-02 -9.18146817e-01 3.92831517e-01 2.30525309e+02] [-9.42906773e-01 8.45670367e-02 3.22141637e-01 -2.55113991e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.750714057 meters Centerline goodness : 0.995456 Centerline is valid? [True, True] Translation: X:200.09, Y:230.54, Z:-255.11 [[-3.30713855e-01 -3.54430408e-01 -8.74647033e-01 2.00087807e+02] [ 5.84875253e-02 -9.32712836e-01 3.55845437e-01 2.30535659e+02] [-9.41916958e-01 6.65270759e-02 3.29190815e-01 -2.55106650e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.780714057 meters Centerline goodness : 0.995351 Centerline is valid? [True, True] Translation: X:200.06, Y:230.53, Z:-255.10 [[-3.27184024e-01 -4.01615673e-01 -8.55368614e-01 2.00063803e+02] [ 6.05452093e-02 -9.12239315e-01 4.05158871e-01 2.30525324e+02] [-9.43019031e-01 8.07730377e-02 3.22786034e-01 -2.55104244e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.8107140569999 meters Centerline goodness : 0.995234 Centerline is valid? [True, True] Translation: X:200.05, Y:230.53, Z:-255.12 [[-3.28299563e-01 -4.07522032e-01 -8.52141532e-01 2.00054517e+02] [ 6.17262607e-02 -9.09471682e-01 4.11158276e-01 2.30526670e+02] [-9.42554649e-01 8.23835719e-02 3.23733967e-01 -2.55121166e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.8407140569999 meters Centerline goodness : 0.995292 Centerline is valid? [True, True] Translation: X:200.06, Y:230.53, Z:-255.11 [[-3.28274524e-01 -4.02884709e-01 -8.54353409e-01 2.00060776e+02] [ 6.24314422e-02 -9.11753928e-01 4.05964394e-01 2.30526105e+02] [-9.42516924e-01 7.99292529e-02 3.24458261e-01 -2.55108951e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.870714057 meters Centerline goodness : 0.995259 Centerline is valid? [True, True] Translation: X:200.06, Y:230.53, Z:-255.11 [[-3.29085935e-01 -4.06831325e-01 -8.52168247e-01 2.00056637e+02] [ 6.38410252e-02 -9.09954360e-01 4.09765039e-01 2.30525959e+02] [-9.42139465e-01 8.04446163e-02 3.25425710e-01 -2.55111144e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.900714057 meters Centerline goodness : 0.994959 Centerline is valid? [True, True] Translation: X:200.06, Y:230.53, Z:-255.11 [[-3.28067173e-01 -4.08623632e-01 -8.51703386e-01 2.00057307e+02] [ 6.46851167e-02 -9.09204229e-01 4.11294914e-01 2.30525532e+02] [-9.42437142e-01 7.98398270e-02 3.24711928e-01 -2.55107507e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.9307140569999 meters Centerline goodness : 0.995128 Centerline is valid? [True, True] Translation: X:200.05, Y:230.53, Z:-255.14 [[-3.27293913e-01 -4.04757291e-01 -8.53844383e-01 2.00051796e+02] [ 6.46072848e-02 -9.11084088e-01 4.07126127e-01 2.30529983e+02] [-9.42711299e-01 7.80853360e-02 3.24342546e-01 -2.55135241e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.9607140569999 meters Centerline goodness : 0.995028 Centerline is valid? [True, True] Translation: X:200.06, Y:230.53, Z:-255.12 [[-3.26434288e-01 -4.07859647e-01 -8.52696408e-01 2.00056269e+02] [ 6.65628455e-02 -9.09793839e-01 4.09688367e-01 2.30527115e+02] [-9.42873291e-01 7.69784310e-02 3.24136202e-01 -2.55115771e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.9907140569999 meters Centerline goodness : 0.994612 Centerline is valid? [True, True] Translation: X:200.05, Y:230.53, Z:-255.12 [[-3.22079473e-01 -4.16540465e-01 -8.50152254e-01 2.00053276e+02] [ 6.77980275e-02 -9.05847321e-01 4.18143585e-01 2.30525074e+02] [-9.44281865e-01 7.70368198e-02 3.19995450e-01 -2.55117567e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.020714057 meters Centerline goodness : 0.994555 Centerline is valid? [True, True] Translation: X:200.05, Y:230.53, Z:-255.12 [[-3.27038313e-01 -4.12667946e-01 -8.50147698e-01 2.00051681e+02] [ 6.82972862e-02 -9.07585322e-01 4.14275710e-01 2.30526443e+02] [-9.42539879e-01 7.74212484e-02 3.24999273e-01 -2.55118775e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.0507140569999 meters Centerline goodness : 0.994105 Centerline is valid? [True, True] Translation: X:200.05, Y:230.53, Z:-255.12 [[-3.26931108e-01 -4.11200030e-01 -8.50899868e-01 2.00052646e+02] [ 6.75402508e-02 -9.08241241e-01 4.12960243e-01 2.30527394e+02] [-9.42631617e-01 7.75395594e-02 3.24704869e-01 -2.55120811e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.0807140569999 meters Centerline goodness : 0.994375 Centerline is valid? [True, True] Translation: X:200.05, Y:230.54, Z:-255.17 [[-3.25662176e-01 -3.89212348e-01 -8.61659965e-01 2.00053247e+02] [ 6.50628292e-02 -9.18405487e-01 3.90254006e-01 2.30537851e+02] [-9.43244918e-01 7.10289337e-02 3.24413186e-01 -2.55167878e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.1107140569999 meters Centerline goodness : 0.994375 Centerline is valid? [True, True] Translation: X:200.04, Y:230.53, Z:-255.17 [[-3.26944247e-01 -4.11460349e-01 -8.50768970e-01 2.00038909e+02] [ 6.63721156e-02 -9.08017412e-01 4.13641297e-01 2.30533247e+02] [-9.42710031e-01 7.87703059e-02 3.24180563e-01 -2.55166947e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.140714057 meters Centerline goodness : 0.994569 Centerline is valid? [True, True] Translation: X:200.05, Y:230.53, Z:-255.14 [[-3.27911954e-01 -4.12176300e-01 -8.50049674e-01 2.00045442e+02] [ 6.56399983e-02 -9.07567222e-01 4.14744655e-01 2.30530492e+02] [-9.42425138e-01 8.02024714e-02 3.24657393e-01 -2.55142940e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.1707140569999 meters Centerline goodness : 0.994671 Centerline is valid? [True, True] Translation: X:200.05, Y:230.53, Z:-255.14 [[-3.28324605e-01 -4.11697842e-01 -8.50122250e-01 2.00048761e+02] [ 6.39088899e-02 -9.07634509e-01 4.14867753e-01 2.30530147e+02] [-9.42400450e-01 8.18809218e-02 3.24309894e-01 -2.55135254e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.2007140569999 meters Centerline goodness : 0.994684 Centerline is valid? [True, True] Translation: X:200.04, Y:230.53, Z:-255.16 [[-3.29164284e-01 -4.09979944e-01 -8.50627604e-01 2.00040868e+02] [ 6.19256338e-02 -9.08261552e-01 4.13794840e-01 2.30534330e+02] [-9.42239932e-01 8.35308288e-02 3.24355531e-01 -2.55163432e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.2307140569999 meters Centerline goodness : 0.995587 Centerline is valid? [True, True] Translation: X:200.04, Y:230.53, Z:-255.15 [[-3.30366153e-01 -4.11572426e-01 -8.49391749e-01 2.00042862e+02] [ 5.50184786e-02 -9.06786802e-01 4.17984047e-01 2.30529046e+02] [-9.42247936e-01 9.13555400e-02 3.22215756e-01 -2.55148959e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.260714057 meters Centerline goodness : 0.994822 Centerline is valid? [True, True] Translation: X:200.07, Y:230.54, Z:-255.15 [[-3.27350608e-01 -3.71787495e-01 -8.68686156e-01 2.00069614e+02] [ 5.86381952e-02 -9.25560157e-01 3.74032027e-01 2.30542836e+02] [-9.43081726e-01 7.15014231e-02 3.24783628e-01 -2.55152928e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.290714057 meters Centerline goodness : 0.995319 Centerline is valid? [True, True] Translation: X:200.05, Y:230.53, Z:-255.15 [[-3.29088828e-01 -4.10301759e-01 -8.50501623e-01 2.00047077e+02] [ 6.03222759e-02 -9.07964593e-01 4.14682434e-01 2.30534920e+02] [-9.42370292e-01 8.51631624e-02 3.23551339e-01 -2.55149868e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.3207140569999 meters Centerline goodness : 0.995037 Centerline is valid? [True, True] Translation: X:200.05, Y:230.54, Z:-255.15 [[-3.30518197e-01 -4.08181908e-01 -8.50967245e-01 2.00045869e+02] [ 5.93963178e-02 -9.08848451e-01 4.12875975e-01 2.30537191e+02] [-9.41928766e-01 8.59187017e-02 3.24635453e-01 -2.55154558e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.3507140569999 meters Centerline goodness : 0.994880 Centerline is valid? [True, True] Translation: X:200.04, Y:230.54, Z:-255.15 [[-3.25808828e-01 -4.18473329e-01 -8.47778675e-01 2.00043142e+02] [ 5.94643618e-02 -9.04001805e-01 4.23373035e-01 2.30535389e+02] [-9.43563775e-01 8.75260544e-02 3.19416018e-01 -2.55152728e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.380714057 meters Centerline goodness : 0.994923 Centerline is valid? [True, True] Translation: X:200.04, Y:230.54, Z:-255.16 [[-3.26932101e-01 -4.16426029e-01 -8.48354150e-01 2.00040848e+02] [ 5.86816283e-02 -9.04896778e-01 4.21566470e-01 2.30537754e+02] [-9.43224188e-01 8.80408086e-02 3.20276362e-01 -2.55161859e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.410714057 meters Centerline goodness : 0.995158 Centerline is valid? [True, True] Translation: X:200.04, Y:230.54, Z:-255.16 [[-3.25784229e-01 -4.18543875e-01 -8.47753302e-01 2.00040818e+02] [ 5.89055865e-02 -9.03915712e-01 4.23634886e-01 2.30539008e+02] [-9.43607317e-01 8.80761594e-02 3.19136056e-01 -2.55161607e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.4407140569999 meters Centerline goodness : 0.995394 Centerline is valid? [True, True] Translation: X:200.04, Y:230.54, Z:-255.17 [[-3.24955146e-01 -4.22472288e-01 -8.46121339e-01 2.00036755e+02] [ 5.95721834e-02 -9.02043083e-01 4.27515417e-01 2.30540233e+02] [-9.43851317e-01 8.85180391e-02 3.18291138e-01 -2.55172419e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.4707140569999 meters Centerline goodness : 0.994828 Centerline is valid? [True, True] Translation: X:200.04, Y:230.54, Z:-255.16 [[-3.24913965e-01 -4.24949982e-01 -8.44895513e-01 2.00040065e+02] [ 6.06045342e-02 -9.00885667e-01 4.29804730e-01 2.30539396e+02] [-9.43799770e-01 8.84450599e-02 3.18464229e-01 -2.55164936e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.500714057 meters Centerline goodness : 0.994986 Centerline is valid? [True, True] Translation: X:200.04, Y:230.54, Z:-255.16 [[-3.23388430e-01 -4.25555584e-01 -8.45175939e-01 2.00042283e+02] [ 6.18071662e-02 -9.00761249e-01 4.29894227e-01 2.30539295e+02] [-9.44245624e-01 8.67848894e-02 3.17598151e-01 -2.55162457e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.530714057 meters Centerline goodness : 0.994540 Centerline is valid? [True, True] Translation: X:200.04, Y:230.54, Z:-255.17 [[-3.22331629e-01 -4.33489689e-01 -8.41539667e-01 2.00035696e+02] [ 6.25808738e-02 -8.96801126e-01 4.37985588e-01 2.30539091e+02] [-9.44555957e-01 8.85123203e-02 3.16195531e-01 -2.55172151e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.5607140569999 meters Centerline goodness : 0.995272 Centerline is valid? [True, True] Translation: X:200.04, Y:230.54, Z:-255.16 [[-3.20492609e-01 -4.35820369e-01 -8.41038105e-01 2.00036656e+02] [ 6.54558928e-02 -8.95939468e-01 4.39326753e-01 2.30538107e+02] [-9.44986780e-01 8.57500769e-02 3.15668989e-01 -2.55164954e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.5907140569999 meters Centerline goodness : 0.994737 Centerline is valid? [True, True] Translation: X:200.03, Y:230.54, Z:-255.17 [[-3.16047375e-01 -4.40171275e-01 -8.40454226e-01 2.00034758e+02] [ 6.87607996e-02 -8.94157919e-01 4.42440468e-01 2.30537769e+02] [-9.46248387e-01 8.20418437e-02 3.12862792e-01 -2.55167846e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.620714057 meters Centerline goodness : 0.994304 Centerline is valid? [True, True] Translation: X:200.03, Y:230.54, Z:-255.17 [[-3.16293460e-01 -4.38667905e-01 -8.41147381e-01 2.00033424e+02] [ 7.04313770e-02 -8.95079122e-01 4.40309876e-01 2.30538941e+02] [-9.46043270e-01 8.00239661e-02 3.14003657e-01 -2.55171848e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.650714057 meters Centerline goodness : 0.994367 Centerline is valid? [True, True] Translation: X:200.03, Y:230.54, Z:-255.19 [[-3.13356324e-01 -4.40520620e-01 -8.41278431e-01 2.00028228e+02] [ 7.21241081e-02 -8.94377340e-01 4.41460403e-01 2.30540896e+02] [-9.46892775e-01 7.76579526e-02 3.12030952e-01 -2.55189993e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.6807140569999 meters Centerline goodness : 0.993980 Centerline is valid? [True, True] Translation: X:200.03, Y:230.54, Z:-255.18 [[-3.10993218e-01 -4.42683778e-01 -8.41019793e-01 2.00030818e+02] [ 7.55905319e-02 -8.93617784e-01 4.42417594e-01 2.30538851e+02] [-9.47401335e-01 7.40157381e-02 3.11371773e-01 -2.55177790e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.7107140569999 meters Centerline goodness : 0.994620 Centerline is valid? [True, True] Translation: X:200.03, Y:230.54, Z:-255.17 [[-3.11943169e-01 -4.43063545e-01 -8.40467819e-01 2.00031991e+02] [ 7.72673499e-02 -8.93509328e-01 4.42346965e-01 2.30537922e+02] [-9.46953651e-01 7.30463927e-02 3.12958477e-01 -2.55169546e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.7407140569999 meters Centerline goodness : 0.993847 Centerline is valid? [True, True] Translation: X:200.03, Y:230.54, Z:-255.18 [[-3.09825868e-01 -4.45096762e-01 -8.40176650e-01 2.00030427e+02] [ 7.89125347e-02 -8.92647556e-01 4.43794043e-01 2.30538736e+02] [-9.47512925e-01 7.11984055e-02 3.11689017e-01 -2.55177704e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.770714057 meters Centerline goodness : 0.994281 Centerline is valid? [True, True] Translation: X:200.03, Y:230.54, Z:-255.17 [[-3.07971820e-01 -4.50135568e-01 -8.38171420e-01 2.00031152e+02] [ 7.91630953e-02 -8.90060791e-01 4.48915351e-01 2.30537069e+02] [-9.48096284e-01 7.19010337e-02 3.09747766e-01 -2.55171081e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.8007140569999 meters Centerline goodness : 0.994541 Centerline is valid? [True, True] Translation: X:200.03, Y:230.54, Z:-255.19 [[-3.11441218e-01 -4.48725033e-01 -8.37645637e-01 2.00026190e+02] [ 7.90016258e-02 -8.90660937e-01 4.47751984e-01 2.30539837e+02] [-9.46975771e-01 7.32730559e-02 3.12838534e-01 -2.55186251e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.8307140569999 meters Centerline goodness : 0.994064 Centerline is valid? [True, True] Translation: X:200.03, Y:230.54, Z:-255.19 [[-3.13504570e-01 -4.46755936e-01 -8.37928409e-01 2.00027169e+02] [ 7.78744449e-02 -8.91537441e-01 4.46202378e-01 2.30542348e+02] [-9.46388111e-01 7.46332750e-02 3.14291932e-01 -2.55190983e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.8607140569999 meters Centerline goodness : 0.995112 Centerline is valid? [True, True] Translation: X:200.03, Y:230.54, Z:-255.17 [[-3.14044306e-01 -4.51755026e-01 -8.35041059e-01 2.00031466e+02] [ 7.60752945e-02 -8.88683996e-01 4.52165130e-01 2.30540450e+02] [-9.46355496e-01 7.84738896e-02 3.13453545e-01 -2.55172279e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.890714057 meters Centerline goodness : 0.995073 Centerline is valid? [True, True] Translation: X:200.02, Y:230.54, Z:-255.18 [[-3.03647783e-01 -4.72086080e-01 -8.27606644e-01 2.00024488e+02] [ 7.66229217e-02 -8.77904970e-01 4.72664566e-01 2.30537357e+02] [-9.49698348e-01 8.01099083e-02 3.02746512e-01 -2.55177663e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.9207140569999 meters Centerline goodness : 0.994936 Centerline is valid? [True, True] Translation: X:200.01, Y:230.54, Z:-255.19 [[-3.16836981e-01 -4.71027970e-01 -8.23253897e-01 2.00013247e+02] [ 7.48231708e-02 -8.77679374e-01 4.73371323e-01 2.30540831e+02] [-9.45524099e-01 8.83830739e-02 3.13325089e-01 -2.55191436e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.9507140569999 meters Centerline goodness : 0.995210 Centerline is valid? [True, True] Translation: X:200.02, Y:230.55, Z:-255.20 [[-3.30874627e-01 -4.31875888e-01 -8.39050176e-01 2.00024220e+02] [ 6.64217364e-02 -8.97583800e-01 4.35811283e-01 2.30546315e+02] [-9.41334231e-01 8.84677262e-02 3.25673652e-01 -2.55197196e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.9807140569999 meters Centerline goodness : 0.994834 Centerline is valid? [True, True] Translation: X:200.05, Y:230.56, Z:-255.20 [[-3.27969683e-01 -3.94775240e-01 -8.58247282e-01 2.00046169e+02] [ 6.42791682e-02 -9.15717965e-01 3.96646943e-01 2.30556322e+02] [-9.42498847e-01 7.49207507e-02 3.25703554e-01 -2.55204967e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.010714057 meters Centerline goodness : 0.994730 Centerline is valid? [True, True] Translation: X:200.05, Y:230.55, Z:-255.19 [[-3.03908681e-01 -4.29313360e-01 -8.50487832e-01 2.00049354e+02] [ 7.34685731e-02 -9.00614700e-01 4.28363784e-01 2.30551035e+02] [-9.49864139e-01 6.76993449e-02 3.05245665e-01 -2.55187276e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.040714057 meters Centerline goodness : 0.994832 Centerline is valid? [True, True] Translation: X:200.02, Y:230.54, Z:-255.17 [[-3.06265555e-01 -4.83196747e-01 -8.20196509e-01 2.00019189e+02] [ 7.61524189e-02 -8.71274426e-01 4.84852229e-01 2.30538762e+02] [-9.48895262e-01 8.60335888e-02 3.03637947e-01 -2.55170069e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.0707140569999 meters Centerline goodness : 0.994110 Centerline is valid? [True, True] Translation: X:200.01, Y:230.54, Z:-255.19 [[-3.08775268e-01 -4.76846467e-01 -8.22967363e-01 2.00014722e+02] [ 7.54049521e-02 -8.74796881e-01 4.78585950e-01 2.30543693e+02] [-9.48141301e-01 8.57196903e-02 3.06072226e-01 -2.55194083e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.1007140569999 meters Centerline goodness : 0.994492 Centerline is valid? [True, True] Translation: X:200.02, Y:230.55, Z:-255.20 [[-3.12349084e-01 -4.60121494e-01 -8.31099429e-01 2.00022050e+02] [ 7.66919770e-02 -8.84229519e-01 4.60713033e-01 2.30548845e+02] [-9.46866617e-01 8.01646356e-02 3.11475908e-01 -2.55195440e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.130714057 meters Centerline goodness : 0.994244 Centerline is valid? [True, True] Translation: X:200.02, Y:230.55, Z:-255.19 [[-3.10856031e-01 -4.63385590e-01 -8.29844759e-01 2.00023020e+02] [ 7.69982485e-02 -8.82508742e-01 4.63949986e-01 2.30547803e+02] [-9.47332992e-01 8.03250583e-02 3.10013044e-01 -2.55188925e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.160714057 meters Centerline goodness : 0.994270 Centerline is valid? [True, True] Translation: X:200.02, Y:230.55, Z:-255.21 [[-3.10300550e-01 -4.61415752e-01 -8.31149248e-01 2.00019495e+02] [ 7.72171178e-02 -8.83651008e-01 4.61734137e-01 2.30551385e+02] [-9.47497275e-01 7.90974071e-02 3.09826588e-01 -2.55206460e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.1907140569999 meters Centerline goodness : 0.994107 Centerline is valid? [True, True] Translation: X:200.02, Y:230.55, Z:-255.20 [[-3.12589950e-01 -4.61812888e-01 -8.30070105e-01 2.00019680e+02] [ 7.82447772e-02 -8.83409627e-01 4.62022928e-01 2.30551024e+02] [-9.46660065e-01 7.94750734e-02 3.12279418e-01 -2.55199829e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.2207140569999 meters Centerline goodness : 0.994310 Centerline is valid? [True, True] Translation: X:200.02, Y:230.55, Z:-255.20 [[-3.11727659e-01 -4.68854491e-01 -8.26438947e-01 2.00016653e+02] [ 7.94197850e-02 -8.79592041e-01 4.69052598e-01 2.30549587e+02] [-9.46846537e-01 8.05810649e-02 3.11429491e-01 -2.55199333e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.250714057 meters Centerline goodness : 0.993733 Centerline is valid? [True, True] Translation: X:200.02, Y:230.55, Z:-255.20 [[-3.13405771e-01 -4.64024382e-01 -8.28527728e-01 2.00019699e+02] [ 8.04819393e-02 -8.82324145e-01 4.63709781e-01 2.30550113e+02] [-9.46202664e-01 7.86478030e-02 3.13871061e-01 -2.55195008e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.280714057 meters Centerline goodness : 0.993818 Centerline is valid? [True, True] Translation: X:200.01, Y:230.55, Z:-255.21 [[-3.13698332e-01 -4.65239189e-01 -8.27735377e-01 2.00013523e+02] [ 8.05067148e-02 -8.81631335e-01 4.65021353e-01 2.30552457e+02] [-9.46103602e-01 7.92381671e-02 3.14021158e-01 -2.55211709e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.3107140569999 meters Centerline goodness : 0.993110 Centerline is valid? [True, True] Translation: X:200.02, Y:230.55, Z:-255.20 [[-3.06100542e-01 -4.62300620e-01 -8.32214272e-01 2.00022259e+02] [ 7.87962926e-02 -8.83479161e-01 4.61796185e-01 2.30552461e+02] [-9.48732630e-01 7.57806632e-02 3.06861025e-01 -2.55200371e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.3407140569999 meters Centerline goodness : 0.993110 Centerline is valid? [True, True] Translation: X:200.03, Y:230.55, Z:-255.21 [[-3.02786908e-01 -4.54548745e-01 -8.37678654e-01 2.00027304e+02] [ 7.82576034e-02 -8.87827236e-01 4.53473866e-01 2.30554666e+02] [-9.49839900e-01 7.17512259e-02 3.04394359e-01 -2.55206539e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.370714057 meters Centerline goodness : 0.992912 Centerline is valid? [True, True] Translation: X:200.02, Y:230.55, Z:-255.21 [[-3.06598923e-01 -4.65642983e-01 -8.30164871e-01 2.00020677e+02] [ 8.05754275e-02 -8.81735945e-01 4.64811063e-01 2.30552309e+02] [-9.48422217e-01 7.56196819e-02 3.07858674e-01 -2.55205696e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.400714057 meters Centerline goodness : 0.993287 Centerline is valid? [True, True] Translation: X:200.02, Y:230.55, Z:-255.21 [[-3.04681452e-01 -4.75066741e-01 -8.25518506e-01 2.00017036e+02] [ 8.00937324e-02 -8.76437134e-01 4.74808324e-01 2.30550920e+02] [-9.49080717e-01 7.85464310e-02 3.05084007e-01 -2.55207554e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.4307140569999 meters Centerline goodness : 0.993873 Centerline is valid? [True, True] Translation: X:200.02, Y:230.55, Z:-255.21 [[-3.07771570e-01 -4.61435390e-01 -8.32078146e-01 2.00022277e+02] [ 8.03329878e-02 -8.84007160e-01 4.60519220e-01 2.30553617e+02] [-9.48062905e-01 7.48913999e-02 3.09140755e-01 -2.55209047e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.4607140569999 meters Centerline goodness : 0.993456 Centerline is valid? [True, True] Translation: X:200.00, Y:230.55, Z:-255.21 [[-3.09906008e-01 -4.85894240e-01 -8.17230111e-01 2.00004184e+02] [ 8.12352902e-02 -8.69937031e-01 4.86426140e-01 2.30550001e+02] [-9.47290396e-01 8.43584578e-02 3.09070472e-01 -2.55213794e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.4907140569999 meters Centerline goodness : 0.992990 Centerline is valid? [True, True] Translation: X:200.01, Y:230.55, Z:-255.22 [[-3.05537978e-01 -4.73410432e-01 -8.26153198e-01 2.00012285e+02] [ 7.90794080e-02 -8.77262782e-01 4.73451644e-01 2.30552162e+02] [-9.48890400e-01 7.93257522e-02 3.05474113e-01 -2.55215900e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.520714057 meters Centerline goodness : 0.993200 Centerline is valid? [True, True] Translation: X:200.02, Y:230.55, Z:-255.21 [[-3.05843098e-01 -4.60185246e-01 -8.33480377e-01 2.00021050e+02] [ 8.04826968e-02 -8.84792199e-01 4.58982897e-01 2.30554716e+02] [-9.48674093e-01 7.32960027e-02 3.07644537e-01 -2.55213363e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.5507140569999 meters Centerline goodness : 0.993628 Centerline is valid? [True, True] Translation: X:200.01, Y:230.56, Z:-255.22 [[-3.14130640e-01 -4.62832064e-01 -8.28920033e-01 2.00011447e+02] [ 8.30231895e-02 -8.83164696e-01 4.61657091e-01 2.30555140e+02] [-9.45742614e-01 7.62010527e-02 3.15854886e-01 -2.55224846e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.5807140569999 meters Centerline goodness : 0.994068 Centerline is valid? [True, True] Translation: X:200.00, Y:230.55, Z:-255.23 [[-3.25862552e-01 -4.56483893e-01 -8.27910655e-01 2.00003641e+02] [ 7.64188088e-02 -8.85561737e-01 4.58192727e-01 2.30552446e+02] [-9.42323598e-01 8.60399051e-02 3.23455363e-01 -2.55231223e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.6107140569999 meters Centerline goodness : 0.993830 Centerline is valid? [True, True] Translation: X:200.04, Y:230.56, Z:-255.22 [[-3.12564430e-01 -4.21675515e-01 -8.51171685e-01 2.00041695e+02] [ 8.41064364e-02 -9.04833895e-01 4.17374807e-01 2.30561384e+02] [-9.46165728e-01 5.88675015e-02 3.18284516e-01 -2.55215805e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.640714057 meters Centerline goodness : 0.993209 Centerline is valid? [True, True] Translation: X:200.00, Y:230.55, Z:-255.24 [[-3.10588796e-01 -4.76976348e-01 -8.22209318e-01 2.00003164e+02] [ 8.39095881e-02 -8.75368838e-01 4.76118240e-01 2.30552742e+02] [-9.46833555e-01 7.88857459e-02 3.11902643e-01 -2.55235334e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.6707140569999 meters Centerline goodness : 0.993752 Centerline is valid? [True, True] Translation: X:200.00, Y:230.55, Z:-255.23 [[-3.11618631e-01 -4.76749971e-01 -8.21950907e-01 2.00004352e+02] [ 8.40921491e-02 -8.75465375e-01 4.75908486e-01 2.30552029e+02] [-9.46478917e-01 7.91823325e-02 3.12902251e-01 -2.55232137e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.7007140569999 meters Centerline goodness : 0.994275 Centerline is valid? [True, True] Translation: X:200.00, Y:230.55, Z:-255.24 [[-3.27569631e-01 -4.55594548e-01 -8.27726854e-01 2.00002830e+02] [ 7.64630956e-02 -8.85971139e-01 4.57393197e-01 2.30553117e+02] [-9.41727950e-01 8.65375634e-02 3.25053409e-01 -2.55240696e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.7307140569999 meters Centerline goodness : 0.993513 Centerline is valid? [True, True] Translation: X:200.03, Y:230.56, Z:-255.24 [[-3.03785498e-01 -4.43239369e-01 -8.43358306e-01 2.00029067e+02] [ 8.20254076e-02 -8.94072957e-01 4.40346887e-01 2.30558480e+02] [-9.49202931e-01 6.45941895e-02 3.07963289e-01 -2.55239128e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.760714057 meters Centerline goodness : 0.994229 Centerline is valid? [True, True] Translation: X:200.00, Y:230.55, Z:-255.23 [[-3.03615024e-01 -4.94381684e-01 -8.14496573e-01 1.99998911e+02] [ 8.27342833e-02 -8.65300621e-01 4.94378270e-01 2.30547069e+02] [-9.49195952e-01 8.27138800e-02 3.03620583e-01 -2.55230886e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.790714057 meters Centerline goodness : 0.994381 Centerline is valid? [True, True] Translation: X:200.00, Y:230.55, Z:-255.23 [[-3.05678251e-01 -4.89483344e-01 -8.16680392e-01 2.00000353e+02] [ 8.21707620e-02 -8.68097848e-01 4.89544780e-01 2.30547052e+02] [-9.48582507e-01 8.25359423e-02 3.05579852e-01 -2.55228133e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.8207140569999 meters Centerline goodness : 0.993651 Centerline is valid? [True, True] Translation: X:200.00, Y:230.55, Z:-255.24 [[-3.04570422e-01 -4.77980057e-01 -8.23876158e-01 2.00004057e+02] [ 8.06611323e-02 -8.74807138e-01 4.77709382e-01 2.30550703e+02] [-9.49068301e-01 7.90413640e-02 3.04994791e-01 -2.55236779e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.8507140569999 meters Centerline goodness : 0.993813 Centerline is valid? [True, True] Translation: X:200.01, Y:230.56, Z:-255.25 [[-3.05504871e-01 -4.63049834e-01 -8.32016602e-01 2.00007165e+02] [ 8.05524698e-02 -8.83228142e-01 4.61973321e-01 2.30556064e+02] [-9.48777147e-01 7.41141074e-02 3.07130307e-01 -2.55251729e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.880714057 meters Centerline goodness : 0.994612 Centerline is valid? [True, True] Translation: X:200.01, Y:230.55, Z:-255.25 [[-3.09004386e-01 -4.63847064e-01 -8.30278381e-01 2.00007402e+02] [ 8.34110811e-02 -8.82856031e-01 4.62177261e-01 2.30554011e+02] [-9.47395842e-01 7.35603833e-02 3.11496370e-01 -2.55246158e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.910714057 meters Centerline goodness : 0.994637 Centerline is valid? [True, True] Translation: X:200.00, Y:230.55, Z:-255.25 [[-3.09165578e-01 -4.71415196e-01 -8.25944525e-01 1.99999753e+02] [ 8.59862876e-02 -8.78792854e-01 4.69392669e-01 2.30552661e+02] [-9.47112984e-01 7.41001522e-02 3.12227743e-01 -2.55253249e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.9407140569999 meters Centerline goodness : 0.995376 Centerline is valid? [True, True] Translation: X:200.00, Y:230.55, Z:-255.25 [[-3.09955484e-01 -4.71071755e-01 -8.25844416e-01 1.99999191e+02] [ 8.73431876e-02 -8.79058504e-01 4.68644123e-01 2.30552101e+02] [-9.46730567e-01 7.31269324e-02 3.13613913e-01 -2.55251637e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.9707140569999 meters Centerline goodness : 0.995056 Centerline is valid? [True, True] Translation: X:200.00, Y:230.54, Z:-255.23 [[-2.96624595e-01 -4.93583288e-01 -8.17550847e-01 1.99996919e+02] [ 9.08074340e-02 -8.66778154e-01 4.90356648e-01 2.30543042e+02] [-9.50667061e-01 7.12121473e-02 3.01928750e-01 -2.55233327e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.000714057 meters Centerline goodness : 0.995056 Centerline is valid? [True, True] Translation: X:199.99, Y:230.54, Z:-255.23 [[-2.97596239e-01 -5.10190279e-01 -8.06933924e-01 1.99985626e+02] [ 9.12522461e-02 -8.56560994e-01 5.07913666e-01 2.30540078e+02] [-9.50320739e-01 7.75186638e-02 3.01465339e-01 -2.55232230e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.030714057 meters Centerline goodness : 0.993841 Centerline is valid? [True, True] Translation: X:199.99, Y:230.55, Z:-255.25 [[-3.06715432e-01 -4.88610283e-01 -8.16814321e-01 1.99988896e+02] [ 9.18405081e-02 -8.69365862e-01 4.85559800e-01 2.30546209e+02] [-9.47359998e-01 7.39120414e-02 3.11522142e-01 -2.55246285e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.0607140569999 meters Centerline goodness : 0.993943 Centerline is valid? [True, True] Translation: X:200.00, Y:230.55, Z:-255.25 [[-3.06162197e-01 -4.72303689e-01 -8.26555464e-01 1.99997768e+02] [ 9.25567678e-02 -8.78904052e-01 4.67932594e-01 2.30549288e+02] [-9.47469237e-01 6.67599687e-02 3.12802098e-01 -2.55251237e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.0907140569999 meters Centerline goodness : 0.994807 Centerline is valid? [True, True] Translation: X:200.01, Y:230.54, Z:-255.23 [[-2.91615140e-01 -4.82668240e-01 -8.25828057e-01 2.00006018e+02] [ 9.83829678e-02 -8.73909079e-01 4.76029109e-01 2.30541074e+02] [-9.51462770e-01 5.75698803e-02 3.02331452e-01 -2.55228346e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.120714057 meters Centerline goodness : 0.994445 Centerline is valid? [True, True] Translation: X:199.98, Y:230.54, Z:-255.24 [[-2.99593084e-01 -5.15618621e-01 -8.02733718e-01 1.99975128e+02] [ 1.00236291e-01 -8.53735224e-01 5.10968544e-01 2.30536302e+02] [-9.48786947e-01 7.26195913e-02 3.07456867e-01 -2.55237934e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.150714057 meters Centerline goodness : 0.994064 Centerline is valid? [True, True] Translation: X:199.98, Y:230.54, Z:-255.24 [[-3.00344408e-01 -4.94979492e-01 -8.15345656e-01 1.99984590e+02] [ 1.03474052e-01 -8.66674932e-01 4.88024265e-01 2.30538870e+02] [-9.48201644e-01 6.22082405e-02 3.11518503e-01 -2.55242410e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.1807140569999 meters Centerline goodness : 0.994106 Centerline is valid? [True, True] Translation: X:199.98, Y:230.54, Z:-255.25 [[-2.98541773e-01 -4.93346002e-01 -8.16996042e-01 1.99983453e+02] [ 1.04874545e-01 -8.67807972e-01 4.85706344e-01 2.30539719e+02] [-9.48616962e-01 5.93215451e-02 3.10816368e-01 -2.55251143e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.2107140569999 meters Centerline goodness : 0.994140 Centerline is valid? [True, True] Translation: X:199.98, Y:230.54, Z:-255.25 [[-2.94420166e-01 -4.99861809e-01 -8.14527432e-01 1.99980673e+02] [ 1.06194544e-01 -8.64138522e-01 4.91922081e-01 2.30538096e+02] [-9.49757593e-01 5.83334115e-02 3.07502404e-01 -2.55251814e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.2407140569999 meters Centerline goodness : 0.994436 Centerline is valid? [True, True] Translation: X:199.98, Y:230.54, Z:-255.24 [[-2.95444996e-01 -4.99199140e-01 -8.14562749e-01 1.99981157e+02] [ 1.07585974e-01 -8.64585392e-01 4.90833330e-01 2.30536357e+02] [-9.49282630e-01 5.73787250e-02 3.09144254e-01 -2.55243258e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.270714057 meters Centerline goodness : 0.993798 Centerline is valid? [True, True] Translation: X:199.97, Y:230.54, Z:-255.27 [[-2.95545429e-01 -4.95973097e-01 -8.16494695e-01 1.99974745e+02] [ 1.07075759e-01 -8.66486316e-01 4.87582041e-01 2.30539940e+02] [-9.49309055e-01 5.66758543e-02 3.09192766e-01 -2.55266579e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.3007140569999 meters Centerline goodness : 0.993964 Centerline is valid? [True, True] Translation: X:199.98, Y:230.54, Z:-255.25 [[-2.93863359e-01 -4.99675008e-01 -8.14843061e-01 1.99978968e+02] [ 1.07567946e-01 -8.64354763e-01 4.91243301e-01 2.30536138e+02] [-9.49775481e-01 5.67074122e-02 3.07751208e-01 -2.55246275e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.3307140569999 meters Centerline goodness : 0.994018 Centerline is valid? [True, True] Translation: X:199.97, Y:230.54, Z:-255.26 [[-2.93069093e-01 -5.04688438e-01 -8.12034536e-01 1.99971735e+02] [ 1.07305196e-01 -8.61323915e-01 4.96595116e-01 2.30537231e+02] [-9.50050579e-01 5.84011554e-02 3.06583110e-01 -2.55262029e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.3607140569999 meters Centerline goodness : 0.993365 Centerline is valid? [True, True] Translation: X:199.98, Y:230.54, Z:-255.25 [[-2.93811971e-01 -4.90675672e-01 -8.20312082e-01 1.99983270e+02] [ 1.06612416e-01 -8.69657214e-01 4.82006351e-01 2.30538398e+02] [-9.49899110e-01 5.41637832e-02 3.07827819e-01 -2.55250683e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.390714057 meters Centerline goodness : 0.993322 Centerline is valid? [True, True] Translation: X:199.98, Y:230.54, Z:-255.25 [[-2.92411881e-01 -4.94919543e-01 -8.18260312e-01 1.99982126e+02] [ 1.08121262e-01 -8.67282783e-01 4.85932473e-01 2.30537442e+02] [-9.50160557e-01 5.36210912e-02 3.07115116e-01 -2.55253744e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.4207140569999 meters Centerline goodness : 0.993816 Centerline is valid? [True, True] Translation: X:199.97, Y:230.54, Z:-255.27 [[-2.93814997e-01 -5.09574785e-01 -8.08706551e-01 1.99968658e+02] [ 1.08295571e-01 -8.58347777e-01 5.01508886e-01 2.30536359e+02] [-9.49707754e-01 5.97714940e-02 3.07380142e-01 -2.55267667e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.4507140569999 meters Centerline goodness : 0.992664 Centerline is valid? [True, True] Translation: X:199.98, Y:230.54, Z:-255.26 [[-2.92733149e-01 -4.95741575e-01 -8.17647598e-01 1.99979467e+02] [ 1.07300433e-01 -8.66736084e-01 4.87088471e-01 2.30537918e+02] [-9.50154683e-01 5.48530000e-02 3.06915669e-01 -2.55263434e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.4807140569999 meters Centerline goodness : 0.992192 Centerline is valid? [True, True] Translation: X:200.00, Y:230.54, Z:-255.25 [[-3.01339537e-01 -4.79237292e-01 -8.24333732e-01 1.99999210e+02] [ 1.05522270e-01 -8.75969825e-01 4.70682395e-01 2.30538588e+02] [-9.47660031e-01 5.48496481e-02 3.14534548e-01 -2.55247500e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.510714057 meters Centerline goodness : 0.994248 Centerline is valid? [True, True] Translation: X:199.99, Y:230.55, Z:-255.28 [[-2.97234766e-01 -4.65369397e-01 -8.33716270e-01 1.99993752e+02] [ 1.08592217e-01 -8.83991033e-01 4.54717037e-01 2.30546374e+02] [-9.48609100e-01 4.46226137e-02 3.13288362e-01 -2.55280891e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.540714057 meters Centerline goodness : 0.993775 Centerline is valid? [True, True] Translation: X:199.97, Y:230.54, Z:-255.26 [[-2.97473315e-01 -5.12514126e-01 -8.05505368e-01 1.99967754e+02] [ 1.09828132e-01 -8.56468380e-01 5.04380506e-01 2.30535937e+02] [-9.48392012e-01 6.15725909e-02 3.11064957e-01 -2.55263050e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.5707140569999 meters Centerline goodness : 0.993789 Centerline is valid? [True, True] Translation: X:199.97, Y:230.54, Z:-255.26 [[-2.93220638e-01 -5.10740478e-01 -8.08186749e-01 1.99971543e+02] [ 1.10603808e-01 -8.57790042e-01 5.01959203e-01 2.30535584e+02] [-9.49625429e-01 5.77962655e-02 3.08011586e-01 -2.55260547e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.6007140569999 meters Centerline goodness : 0.993077 Centerline is valid? [True, True] Translation: X:199.97, Y:230.54, Z:-255.27 [[-2.93519802e-01 -5.14763320e-01 -8.05521477e-01 1.99965249e+02] [ 1.10786537e-01 -8.55276552e-01 5.06190047e-01 2.30536499e+02] [-9.49511700e-01 5.93358670e-02 3.08069450e-01 -2.55269492e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.630714057 meters Centerline goodness : 0.993243 Centerline is valid? [True, True] Translation: X:199.96, Y:230.54, Z:-255.28 [[-2.90885428e-01 -5.08960546e-01 -8.10151116e-01 1.99964995e+02] [ 1.12297100e-01 -8.59076503e-01 4.99376534e-01 2.30539983e+02] [-9.50144741e-01 5.42837363e-02 3.07047630e-01 -2.55283836e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.660714057 meters Centerline goodness : 0.993433 Centerline is valid? [True, True] Translation: X:199.96, Y:230.53, Z:-255.26 [[-2.85303430e-01 -5.22418220e-01 -8.03542877e-01 1.99964419e+02] [ 1.13497717e-01 -8.50904987e-01 5.12912245e-01 2.30534461e+02] [-9.51693344e-01 5.51353405e-02 3.02059387e-01 -2.55264475e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.6907140569999 meters Centerline goodness : 0.993255 Centerline is valid? [True, True] Translation: X:199.97, Y:230.54, Z:-255.27 [[-2.85476524e-01 -5.14557402e-01 -8.08538085e-01 1.99967472e+02] [ 1.13676776e-01 -8.55870231e-01 5.04543099e-01 2.30537381e+02] [-9.51620064e-01 5.21232076e-02 3.02824084e-01 -2.55268382e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.7207140569999 meters Centerline goodness : 0.993747 Centerline is valid? [True, True] Translation: X:199.97, Y:230.54, Z:-255.27 [[-2.81488521e-01 -5.18335643e-01 -8.07522367e-01 1.99969027e+02] [ 1.17424568e-01 -8.53833151e-01 5.07129590e-01 2.30536489e+02] [-9.52352710e-01 4.79281927e-02 3.01209570e-01 -2.55267219e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.750714057 meters Centerline goodness : 0.993239 Centerline is valid? [True, True] Translation: X:199.96, Y:230.54, Z:-255.28 [[-2.85189044e-01 -5.23707851e-01 -8.02743605e-01 1.99959800e+02] [ 1.19294594e-01 -8.50407274e-01 5.12421964e-01 2.30537696e+02] [-9.51018406e-01 5.03741577e-02 3.05002353e-01 -2.55277856e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.780714057 meters Centerline goodness : 0.992923 Centerline is valid? [True, True] Translation: X:199.96, Y:230.53, Z:-255.26 [[-2.80841789e-01 -5.34997936e-01 -7.96809324e-01 1.99958342e+02] [ 1.19877806e-01 -8.43274573e-01 5.23943992e-01 2.30534238e+02] [-9.52237996e-01 5.16256142e-02 3.00961118e-01 -2.55264915e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.8107140569999 meters Centerline goodness : 0.993050 Centerline is valid? [True, True] Translation: X:199.96, Y:230.54, Z:-255.26 [[-2.81374927e-01 -5.31588756e-01 -7.98900210e-01 1.99960494e+02] [ 1.20908605e-01 -8.45541311e-01 5.20039423e-01 2.30535516e+02] [-9.51950240e-01 4.97321445e-02 3.02187780e-01 -2.55263868e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.8407140569999 meters Centerline goodness : 0.993535 Centerline is valid? [True, True] Translation: X:199.95, Y:230.54, Z:-255.29 [[-3.09564351e-01 -5.00883769e-01 -8.08260703e-01 1.99952872e+02] [ 1.15670216e-01 -8.63538392e-01 4.90837903e-01 2.30543014e+02] [-9.43816886e-01 5.84542265e-02 3.25258035e-01 -2.55289015e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.870714057 meters Centerline goodness : 0.992936 Centerline is valid? [True, True] Translation: X:199.99, Y:230.55, Z:-255.29 [[-2.76337078e-01 -4.91704065e-01 -8.25751132e-01 1.99987362e+02] [ 1.20647871e-01 -8.70159338e-01 4.77772768e-01 2.30547165e+02] [-9.53457871e-01 3.24012145e-02 2.99780337e-01 -2.55286846e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.900714057 meters Centerline goodness : 0.993960 Centerline is valid? [True, True] Translation: X:199.95, Y:230.54, Z:-255.28 [[-2.80575952e-01 -5.46800226e-01 -7.88851474e-01 1.99949639e+02] [ 1.20627568e-01 -8.35435946e-01 5.36186321e-01 2.30537600e+02] [-9.52221679e-01 5.52837531e-02 3.00362417e-01 -2.55277674e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.9307140569999 meters Centerline goodness : 0.993230 Centerline is valid? [True, True] Translation: X:199.95, Y:230.54, Z:-255.28 [[-2.82300134e-01 -5.41243024e-01 -7.92062260e-01 1.99951655e+02] [ 1.20496982e-01 -8.39110878e-01 5.30446427e-01 2.30539719e+02] [-9.51728486e-01 5.43039851e-02 3.02099265e-01 -2.55283258e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.9607140569999 meters Centerline goodness : 0.993345 Centerline is valid? [True, True] Translation: X:199.95, Y:230.54, Z:-255.28 [[-2.84369500e-01 -5.38654714e-01 -7.93085800e-01 1.99952517e+02] [ 1.20899669e-01 -8.40782874e-01 5.27700131e-01 2.30540575e+02] [-9.51061122e-01 5.41780114e-02 3.04216182e-01 -2.55281962e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.9907140569999 meters Centerline goodness : 0.993663 Centerline is valid? [True, True] Translation: X:199.95, Y:230.54, Z:-255.29 [[-2.85360450e-01 -5.40747876e-01 -7.91303449e-01 1.99948448e+02] [ 1.20162949e-01 -8.39304076e-01 5.30216498e-01 2.30541759e+02] [-9.50857655e-01 5.62174619e-02 3.04482048e-01 -2.55290076e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.020714057 meters Centerline goodness : 0.993135 Centerline is valid? [True, True] Translation: X:199.95, Y:230.54, Z:-255.28 [[-2.80437239e-01 -5.49472061e-01 -7.87042190e-01 1.99949728e+02] [ 1.18165354e-01 -8.33470435e-01 5.39781422e-01 2.30539053e+02] [-9.52571207e-01 5.83736926e-02 2.98664708e-01 -2.55280450e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.0507140569999 meters Centerline goodness : 0.993088 Centerline is valid? [True, True] Translation: X:199.95, Y:230.54, Z:-255.29 [[-2.89708707e-01 -5.43943042e-01 -7.87524497e-01 1.99945000e+02] [ 1.16563622e-01 -8.36737755e-01 5.35054065e-01 2.30542977e+02] [-9.49990414e-01 6.32131129e-02 3.05814184e-01 -2.55290002e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.0807140569999 meters Centerline goodness : 0.993213 Centerline is valid? [True, True] Translation: X:199.95, Y:230.55, Z:-255.31 [[-2.91870287e-01 -5.29361078e-01 -7.96610686e-01 1.99950254e+02] [ 1.12914861e-01 -8.46122028e-01 5.20891301e-01 2.30548235e+02] [-9.49769430e-01 6.20835087e-02 3.06730612e-01 -2.55305077e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.1107140569999 meters Centerline goodness : 0.993619 Centerline is valid? [True, True] Translation: X:199.95, Y:230.55, Z:-255.30 [[-2.90055151e-01 -5.37166233e-01 -7.92035635e-01 1.99946922e+02] [ 1.10532856e-01 -8.40880099e-01 5.29814257e-01 2.30547050e+02] [-9.50605332e-01 6.61293929e-02 3.03276122e-01 -2.55303910e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.140714057 meters Centerline goodness : 0.993363 Centerline is valid? [True, True] Translation: X:199.95, Y:230.55, Z:-255.31 [[-2.93428530e-01 -5.34965133e-01 -7.92282781e-01 1.99945447e+02] [ 1.07891726e-01 -8.42000902e-01 5.28577200e-01 2.30549044e+02] [-9.49873188e-01 6.96188744e-02 3.04785398e-01 -2.55309012e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.1707140569999 meters Centerline goodness : 0.993237 Centerline is valid? [True, True] Translation: X:199.95, Y:230.55, Z:-255.32 [[-2.96930585e-01 -5.27111114e-01 -7.96232442e-01 1.99948674e+02] [ 1.03021210e-01 -8.46655914e-01 5.22073168e-01 2.30552771e+02] [-9.49325476e-01 7.29906616e-02 3.05701660e-01 -2.55316094e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.2007140569999 meters Centerline goodness : 0.993807 Centerline is valid? [True, True] Translation: X:199.95, Y:230.55, Z:-255.31 [[-2.99417037e-01 -5.34099990e-01 -7.90624209e-01 1.99945248e+02] [ 9.83960951e-02 -8.41507088e-01 5.31209967e-01 2.30552546e+02] [-9.49035114e-01 8.12589794e-02 3.04514912e-01 -2.55311104e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.2307140569999 meters Centerline goodness : 0.993775 Centerline is valid? [True, True] Translation: X:199.94, Y:230.55, Z:-255.30 [[-2.77280651e-01 -5.61088077e-01 -7.79933081e-01 1.99944352e+02] [ 9.41809524e-02 -8.23726645e-01 5.59110331e-01 2.30545400e+02] [-9.56161801e-01 8.15756364e-02 2.81247270e-01 -2.55304956e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.260714057 meters Centerline goodness : 0.994718 Centerline is valid? [True, True] Translation: X:199.94, Y:230.56, Z:-255.34 [[-3.28864485e-01 -5.02508921e-01 -7.99582976e-01 1.99937627e+02] [ 9.03645868e-02 -8.59536962e-01 5.03021325e-01 2.30560769e+02] [-9.40043824e-01 9.31718639e-02 3.28080192e-01 -2.55337205e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.290714057 meters Centerline goodness : 0.993647 Centerline is valid? [True, True] Translation: X:199.97, Y:230.56, Z:-255.33 [[-2.90422055e-01 -5.00873704e-01 -8.15340765e-01 1.99970257e+02] [ 9.20173992e-02 -8.62735481e-01 4.97212517e-01 2.30559909e+02] [-9.52464083e-01 6.93759442e-02 2.96646507e-01 -2.55326839e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.3207140569999 meters Centerline goodness : 0.994277 Centerline is valid? [True, True] Translation: X:199.93, Y:230.55, Z:-255.32 [[-2.97424288e-01 -5.55132225e-01 -7.76767022e-01 1.99929253e+02] [ 9.21190897e-02 -8.26475442e-01 5.55384928e-01 2.30550923e+02] [-9.50290938e-01 9.36298955e-02 2.96952145e-01 -2.55322784e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.3507140569999 meters Centerline goodness : 0.994067 Centerline is valid? [True, True] Translation: X:199.94, Y:230.56, Z:-255.34 [[-3.04200067e-01 -5.25082389e-01 -7.94827531e-01 1.99939605e+02] [ 9.31493463e-02 -8.46767310e-01 5.23744521e-01 2.30558618e+02] [-9.48042994e-01 8.52854533e-02 3.06497754e-01 -2.55339522e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.380714057 meters Centerline goodness : 0.993957 Centerline is valid? [True, True] Translation: X:199.93, Y:230.55, Z:-255.34 [[-2.89671108e-01 -5.48955502e-01 -7.84052617e-01 1.99932635e+02] [ 9.25209180e-02 -8.31397366e-01 5.47921801e-01 2.30552851e+02] [-9.52643968e-01 8.61758473e-02 2.91621663e-01 -2.55337094e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.410714057 meters Centerline goodness : 0.994127 Centerline is valid? [True, True] Translation: X:199.94, Y:230.56, Z:-255.33 [[-3.07248608e-01 -5.29900186e-01 -7.90445498e-01 1.99935271e+02] [ 9.49791080e-02 -8.43551523e-01 5.28582820e-01 2.30556521e+02] [-9.46877638e-01 8.73305274e-02 3.09509478e-01 -2.55330421e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.4407140569999 meters Centerline goodness : 0.994753 Centerline is valid? [True, True] Translation: X:199.94, Y:230.56, Z:-255.35 [[-3.25084398e-01 -4.88606753e-01 -8.09681156e-01 1.99942178e+02] [ 9.12147967e-02 -8.68393325e-01 4.87414500e-01 2.30562497e+02] [-9.41275728e-01 8.45959470e-02 3.26869287e-01 -2.55346096e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.4707140569999 meters Centerline goodness : 0.993487 Centerline is valid? [True, True] Translation: X:199.96, Y:230.56, Z:-255.34 [[-2.83282264e-01 -5.14828940e-01 -8.09136776e-01 1.99956487e+02] [ 9.55412348e-02 -8.54650067e-01 5.10338255e-01 2.30557442e+02] [-9.54265703e-01 6.72638494e-02 2.91294598e-01 -2.55340821e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.500714057 meters Centerline goodness : 0.993961 Centerline is valid? [True, True] Translation: X:199.92, Y:230.56, Z:-255.35 [[-3.26304213e-01 -5.16283473e-01 -7.91818752e-01 1.99924232e+02] [ 9.54910769e-02 -8.51387393e-01 5.15772200e-01 2.30558407e+02] [-9.40429165e-01 9.26870162e-02 3.27111758e-01 -2.55345202e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.530714057 meters Centerline goodness : 0.993529 Centerline is valid? [True, True] Translation: X:199.96, Y:230.56, Z:-255.33 [[-2.80297775e-01 -5.11933040e-01 -8.12008448e-01 1.99963293e+02] [ 9.69369955e-02 -8.56690196e-01 5.06641025e-01 2.30556504e+02] [-9.55005956e-01 6.32966928e-02 2.89753607e-01 -2.55334810e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.5607140569999 meters Centerline goodness : 0.993307 Centerline is valid? [True, True] Translation: X:199.93, Y:230.55, Z:-255.32 [[-2.87001422e-01 -5.59467462e-01 -7.77577227e-01 1.99931700e+02] [ 9.89411170e-02 -8.24697871e-01 5.56851935e-01 2.30546693e+02] [-9.52806822e-01 8.28829376e-02 2.92043797e-01 -2.55316278e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.5907140569999 meters Centerline goodness : 0.993930 Centerline is valid? [True, True] Translation: X:199.94, Y:230.55, Z:-255.33 [[-2.89280588e-01 -5.44120580e-01 -7.87559227e-01 1.99938087e+02] [ 1.02051924e-01 -8.35577310e-01 5.39811045e-01 2.30550336e+02] [-9.51788919e-01 7.57849221e-02 2.97244847e-01 -2.55326682e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.620714057 meters Centerline goodness : 0.993753 Centerline is valid? [True, True] Translation: X:199.93, Y:230.55, Z:-255.34 [[-2.89775357e-01 -5.47391908e-01 -7.85106580e-01 1.99931974e+02] [ 1.04349076e-01 -8.33481091e-01 5.42605328e-01 2.30551182e+02] [-9.51389254e-01 7.53085069e-02 2.98642121e-01 -2.55337672e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.650714057 meters Centerline goodness : 0.993786 Centerline is valid? [True, True] Translation: X:199.93, Y:230.56, Z:-255.35 [[-3.22452359e-01 -5.03636947e-01 -8.01482565e-01 1.99930946e+02] [ 1.05323386e-01 -8.60540589e-01 4.98374236e-01 2.30559598e+02] [-9.40707957e-01 7.62870901e-02 3.30528092e-01 -2.55354492e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.6807140569999 meters Centerline goodness : 0.993495 Centerline is valid? [True, True] Translation: X:199.96, Y:230.56, Z:-255.34 [[-2.90005705e-01 -4.99966012e-01 -8.16045757e-01 1.99961296e+02] [ 1.09987420e-01 -8.64452068e-01 4.90535819e-01 2.30558398e+02] [-9.50683680e-01 5.25034187e-02 3.05686003e-01 -2.55340658e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.7107140569999 meters Centerline goodness : 0.992925 Centerline is valid? [True, True] Translation: X:199.93, Y:230.55, Z:-255.33 [[-2.92208957e-01 -5.45330629e-01 -7.85638868e-01 1.99929878e+02] [ 1.12433785e-01 -8.35385468e-01 5.38042529e-01 2.30550222e+02] [-9.49722365e-01 6.88884943e-02 3.05420703e-01 -2.55332482e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.7407140569999 meters Centerline goodness : 0.993068 Centerline is valid? [True, True] Translation: X:199.94, Y:230.55, Z:-255.34 [[-2.91289934e-01 -5.32233535e-01 -7.94907314e-01 1.99935443e+02] [ 1.15570500e-01 -8.44433817e-01 5.23043964e-01 2.30553708e+02] [-9.49628156e-01 6.04896063e-02 3.07485567e-01 -2.55338429e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.770714057 meters Centerline goodness : 0.993294 Centerline is valid? [True, True] Translation: X:199.93, Y:230.56, Z:-255.35 [[-2.88590565e-01 -5.31734160e-01 -7.96225011e-01 1.99931725e+02] [ 1.18637355e-01 -8.45058288e-01 5.21346016e-01 2.30555073e+02] [-9.50074031e-01 5.59935126e-02 3.06959383e-01 -2.55351434e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.8007140569999 meters Centerline goodness : 0.993582 Centerline is valid? [True, True] Translation: X:199.93, Y:230.55, Z:-255.35 [[-2.90139509e-01 -5.35046495e-01 -7.93438286e-01 1.99929119e+02] [ 1.20200314e-01 -8.42911482e-01 5.24454115e-01 2.30553809e+02] [-9.49405577e-01 5.67933283e-02 3.08874680e-01 -2.55345923e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.8307140569999 meters Centerline goodness : 0.993276 Centerline is valid? [True, True] Translation: X:199.93, Y:230.55, Z:-255.34 [[-2.89950529e-01 -5.29093921e-01 -7.97488754e-01 1.99934174e+02] [ 1.21026481e-01 -8.46866594e-01 5.17850907e-01 2.30553453e+02] [-9.49358353e-01 5.36338871e-02 3.09583793e-01 -2.55340501e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.8607140569999 meters Centerline goodness : 0.993221 Centerline is valid? [True, True] Translation: X:199.94, Y:230.55, Z:-255.34 [[-2.85859965e-01 -5.31635682e-01 -7.97275098e-01 1.99935422e+02] [ 1.21636382e-01 -8.45393708e-01 5.20109670e-01 2.30552486e+02] [-9.50520211e-01 5.17008735e-02 3.06330456e-01 -2.55338784e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.890714057 meters Centerline goodness : 0.993928 Centerline is valid? [True, True] Translation: X:199.93, Y:230.56, Z:-255.36 [[-3.09727461e-01 -5.06633872e-01 -8.04606127e-01 1.99928216e+02] [ 1.16685757e-01 -8.60075314e-01 4.96643624e-01 2.30557047e+02] [-9.43638349e-01 5.99380938e-02 3.25505900e-01 -2.55357451e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.9207140569999 meters Centerline goodness : 0.993928 Centerline is valid? [True, True] Translation: X:199.95, Y:230.56, Z:-255.37 [[-3.07967594e-01 -4.69253384e-01 -8.27621425e-01 1.99951607e+02] [ 1.15583406e-01 -8.81911661e-01 4.57025490e-01 2.30563908e+02] [-9.44349743e-01 4.50897376e-02 3.25838117e-01 -2.55365997e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.9507140569999 meters Centerline goodness : 0.993539 Centerline is valid? [True, True] Translation: X:199.95, Y:230.56, Z:-255.35 [[-2.81537917e-01 -5.07880889e-01 -8.14121247e-01 1.99953350e+02] [ 1.20855434e-01 -8.60452593e-01 4.94990202e-01 2.30556069e+02] [-9.51908801e-01 4.09675344e-02 3.03630196e-01 -2.55347098e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.9807140569999 meters Centerline goodness : 0.994024 Centerline is valid? [True, True] Translation: X:199.91, Y:230.55, Z:-255.37 [[-2.92061731e-01 -5.49731167e-01 -7.82620975e-01 1.99912368e+02] [ 1.20365207e-01 -8.32920398e-01 5.40144266e-01 2.30554265e+02] [-9.48795111e-01 6.35551332e-02 3.09432679e-01 -2.55367534e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.010714057 meters Centerline goodness : 0.993834 Centerline is valid? [True, True] Translation: X:199.93, Y:230.56, Z:-255.36 [[-2.91554150e-01 -5.32786855e-01 -7.94439642e-01 1.99927409e+02] [ 1.19329451e-01 -8.44292660e-01 5.22427398e-01 2.30555223e+02] [-9.49082009e-01 5.75158294e-02 3.09734192e-01 -2.55357920e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.040714057 meters Centerline goodness : 0.993768 Centerline is valid? [True, True] Translation: X:199.93, Y:230.55, Z:-255.36 [[-2.93798654e-01 -5.33811086e-01 -7.92923751e-01 1.99926282e+02] [ 1.16929628e-01 -8.43374113e-01 5.24449776e-01 2.30554485e+02] [-9.48688470e-01 6.13663590e-02 3.10200511e-01 -2.55355655e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.0707140569999 meters Centerline goodness : 0.993799 Centerline is valid? [True, True] Translation: X:199.92, Y:230.56, Z:-255.37 [[-2.94483632e-01 -5.32804145e-01 -7.93346793e-01 1.99923981e+02] [ 1.15678374e-01 -8.43928319e-01 5.23835380e-01 2.30556468e+02] [-9.48629488e-01 6.24878785e-02 3.10156993e-01 -2.55366471e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.1007140569999 meters Centerline goodness : 0.994269 Centerline is valid? [True, True] Translation: X:199.92, Y:230.56, Z:-255.37 [[-2.91777269e-01 -5.40395718e-01 -7.89201174e-01 1.99919287e+02] [ 1.12875687e-01 -8.38792843e-01 5.32621485e-01 2.30555518e+02] [-9.49802666e-01 6.63252172e-02 3.05738223e-01 -2.55372045e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.130714057 meters Centerline goodness : 0.993850 Centerline is valid? [True, True] Translation: X:199.92, Y:230.56, Z:-255.37 [[-2.94527147e-01 -5.35896497e-01 -7.91245034e-01 1.99919902e+02] [ 1.11427781e-01 -8.41581526e-01 5.28511481e-01 2.30556474e+02] [-9.49124654e-01 6.74943006e-02 3.07582363e-01 -2.55373085e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.160714057 meters Centerline goodness : 0.994334 Centerline is valid? [True, True] Translation: X:199.93, Y:230.56, Z:-255.36 [[-2.93532452e-01 -5.30474773e-01 -7.95257955e-01 1.99926631e+02] [ 1.09466767e-01 -8.45084133e-01 5.23306636e-01 2.30555129e+02] [-9.49660848e-01 6.65531623e-02 3.06128976e-01 -2.55364616e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.1907140569999 meters Centerline goodness : 0.994575 Centerline is valid? [True, True] Translation: X:199.91, Y:230.56, Z:-255.39 [[-2.98988167e-01 -5.32310567e-01 -7.91992131e-01 1.99914891e+02] [ 1.08164869e-01 -8.43512963e-01 5.26104783e-01 2.30558707e+02] [-9.48106765e-01 7.16333795e-02 3.09777697e-01 -2.55387715e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.2207140569999 meters Centerline goodness : 0.994764 Centerline is valid? [True, True] Translation: X:199.92, Y:230.56, Z:-255.38 [[-2.98181626e-01 -5.28619893e-01 -7.94763315e-01 1.99921033e+02] [ 1.07258468e-01 -8.45923730e-01 5.22406608e-01 2.30557225e+02] [-9.48463673e-01 7.05269563e-02 3.08937873e-01 -2.55376570e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.250714057 meters Centerline goodness : 0.993887 Centerline is valid? [True, True] Translation: X:199.92, Y:230.56, Z:-255.38 [[-3.02204445e-01 -5.24424681e-01 -7.96022127e-01 1.99921310e+02] [ 1.05352717e-01 -8.48326310e-01 5.18886575e-01 2.30557076e+02] [-9.47403440e-01 7.29467350e-02 3.11617547e-01 -2.55376217e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.280714057 meters Centerline goodness : 0.994766 Centerline is valid? [True, True] Translation: X:199.92, Y:230.56, Z:-255.38 [[-3.04466181e-01 -5.23856439e-01 -7.95534271e-01 1.99919795e+02] [ 1.04355387e-01 -8.48503806e-01 5.18797884e-01 2.30557413e+02] [-9.46789469e-01 7.49381237e-02 3.13007955e-01 -2.55379108e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.3107140569999 meters Centerline goodness : 0.994532 Centerline is valid? [True, True] Translation: X:199.92, Y:230.55, Z:-255.37 [[-2.97406575e-01 -5.32106457e-01 -7.92724447e-01 1.99921524e+02] [ 1.02380014e-01 -8.43280989e-01 5.27631981e-01 2.30552866e+02] [-9.49245839e-01 7.57620801e-02 3.05274377e-01 -2.55371022e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.3407140569999 meters Centerline goodness : 0.994781 Centerline is valid? [True, True] Translation: X:199.91, Y:230.56, Z:-255.39 [[-3.03873239e-01 -5.35624915e-01 -7.87887685e-01 1.99908374e+02] [ 1.02022413e-01 -8.40533452e-01 5.32066672e-01 2.30556211e+02] [-9.47234122e-01 8.12986202e-02 3.10061369e-01 -2.55392976e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.370714057 meters Centerline goodness : 0.994540 Centerline is valid? [True, True] Translation: X:199.91, Y:230.55, Z:-255.39 [[-3.03934615e-01 -5.33668092e-01 -7.89190799e-01 1.99912374e+02] [ 1.01221646e-01 -8.41779297e-01 5.30246918e-01 2.30554648e+02] [-9.47300337e-01 8.12772010e-02 3.09864629e-01 -2.55385749e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.400714057 meters Centerline goodness : 0.994799 Centerline is valid? [True, True] Translation: X:199.91, Y:230.56, Z:-255.41 [[-3.25267946e-01 -5.08540327e-01 -7.97237417e-01 1.99906056e+02] [ 9.65460770e-02 -8.56536375e-01 5.06975633e-01 2.30559844e+02] [-9.40680402e-01 8.79327779e-02 3.27701401e-01 -2.55405955e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.4307140569999 meters Centerline goodness : 0.994244 Centerline is valid? [True, True] Translation: X:199.93, Y:230.56, Z:-255.40 [[-3.00280604e-01 -5.00342045e-01 -8.12089526e-01 1.99933622e+02] [ 1.00022814e-01 -8.63203128e-01 4.94849267e-01 2.30560130e+02] [-9.48592113e-01 6.73661576e-02 3.09248775e-01 -2.55396338e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.4607140569999 meters Centerline goodness : 0.995711 Centerline is valid? [True, True] Translation: X:199.90, Y:230.56, Z:-255.41 [[-3.24383449e-01 -5.14637682e-01 -7.93677160e-01 1.99899420e+02] [ 9.77846675e-02 -8.52796791e-01 5.13006619e-01 2.30557014e+02] [-9.40857873e-01 8.88013996e-02 3.26956839e-01 -2.55407985e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.4907140569999 meters Centerline goodness : 0.994924 Centerline is valid? [True, True] Translation: X:199.93, Y:230.56, Z:-255.41 [[-3.20727215e-01 -4.72005549e-01 -8.21185007e-01 1.99927748e+02] [ 9.62159557e-02 -8.78737464e-01 4.67507176e-01 2.30562477e+02] [-9.42272012e-01 7.09311743e-02 3.27249484e-01 -2.55411755e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.520714057 meters Centerline goodness : 0.994584 Centerline is valid? [True, True] Translation: X:199.92, Y:230.56, Z:-255.42 [[-3.20105660e-01 -4.73372694e-01 -8.20640396e-01 1.99923300e+02] [ 9.73212681e-02 -8.78067264e-01 4.68536498e-01 2.30561205e+02] [-9.42369852e-01 7.01154212e-02 3.27143532e-01 -2.55417072e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.5507140569999 meters Centerline goodness : 0.994513 Centerline is valid? [True, True] Translation: X:199.92, Y:230.56, Z:-255.42 [[-3.19469128e-01 -4.74550427e-01 -8.20208125e-01 1.99920890e+02] [ 9.76575539e-02 -8.77445914e-01 4.69629290e-01 2.30560855e+02] [-9.42551048e-01 6.99325407e-02 3.26660315e-01 -2.55420653e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.5807140569999 meters Centerline goodness : 0.994720 Centerline is valid? [True, True] Translation: X:199.92, Y:230.56, Z:-255.42 [[-3.19500496e-01 -4.75541950e-01 -8.19621429e-01 1.99920825e+02] [ 9.78215494e-02 -8.76888236e-01 4.70635704e-01 2.30559160e+02] [-9.42523410e-01 7.01917026e-02 3.26684476e-01 -2.55416760e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.6107140569999 meters Centerline goodness : 0.994067 Centerline is valid? [True, True] Translation: X:199.93, Y:230.56, Z:-255.40 [[-2.99636150e-01 -4.90208270e-01 -8.18482761e-01 1.99929048e+02] [ 1.00383150e-01 -8.69337297e-01 4.83917232e-01 2.30556499e+02] [-9.48757820e-01 6.28372186e-02 3.09693531e-01 -2.55404232e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.640714057 meters Centerline goodness : 0.993765 Centerline is valid? [True, True] Translation: X:199.90, Y:230.55, Z:-255.40 [[-2.98789775e-01 -5.34378518e-01 -7.90673302e-01 1.99900927e+02] [ 1.02439268e-01 -8.41693363e-01 5.30149488e-01 2.30548719e+02] [-9.48804968e-01 7.74072521e-02 3.06230714e-01 -2.55404122e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.6707140569999 meters Centerline goodness : 0.994328 Centerline is valid? [True, True] Translation: X:199.89, Y:230.55, Z:-255.42 [[-3.08099287e-01 -5.35423906e-01 -7.86381631e-01 1.99890825e+02] [ 1.01643903e-01 -8.40386663e-01 5.32370899e-01 2.30550111e+02] [-9.45908741e-01 8.40921965e-02 3.13345107e-01 -2.55415675e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.7007140569999 meters Centerline goodness : 0.994259 Centerline is valid? [True, True] Translation: X:199.90, Y:230.55, Z:-255.41 [[-3.03701965e-01 -5.30881189e-01 -7.91157557e-01 1.99898745e+02] [ 1.01334396e-01 -8.43666947e-01 5.27216675e-01 2.30548282e+02] [-9.47362896e-01 7.99452666e-02 3.10019834e-01 -2.55409259e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.7307140569999 meters Centerline goodness : 0.993727 Centerline is valid? [True, True] Translation: X:199.89, Y:230.55, Z:-255.42 [[-3.08361053e-01 -5.31771072e-01 -7.88754073e-01 1.99891418e+02] [ 1.01436639e-01 -8.42813151e-01 5.28560877e-01 2.30550447e+02] [-9.45845690e-01 8.29790269e-02 3.13831821e-01 -2.55421794e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.760714057 meters Centerline goodness : 0.993915 Centerline is valid? [True, True] Translation: X:199.89, Y:230.55, Z:-255.42 [[-3.10167799e-01 -5.25521439e-01 -7.92226706e-01 1.99894093e+02] [ 1.00843659e-01 -8.46810424e-01 5.22247702e-01 2.30549873e+02] [-9.45318197e-01 8.20933803e-02 3.15648830e-01 -2.55420197e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.790714057 meters Centerline goodness : 0.994841 Centerline is valid? [True, True] Translation: X:199.89, Y:230.55, Z:-255.44 [[-3.07781083e-01 -5.24645459e-01 -7.93736699e-01 1.99891573e+02] [ 1.00568164e-01 -8.47498105e-01 5.21184235e-01 2.30551889e+02] [-9.46127290e-01 8.05860055e-02 3.13606516e-01 -2.55435363e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.8207140569999 meters Centerline goodness : 0.994515 Centerline is valid? [True, True] Translation: X:199.89, Y:230.55, Z:-255.44 [[-3.03942328e-01 -5.33929397e-01 -7.89011065e-01 1.99886177e+02] [ 1.00804727e-01 -8.41567319e-01 5.30662656e-01 2.30549125e+02] [-9.47342319e-01 8.17547983e-02 3.09610537e-01 -2.55437948e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.8507140569999 meters Centerline goodness : 0.994730 Centerline is valid? [True, True] Translation: X:199.88, Y:230.55, Z:-255.43 [[-3.02922420e-01 -5.46126470e-01 -7.81014652e-01 1.99879627e+02] [ 1.01207079e-01 -8.33320024e-01 5.43447205e-01 2.30545772e+02] [-9.47626052e-01 8.55781307e-02 3.07703184e-01 -2.55430772e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.880714057 meters Centerline goodness : 0.994545 Centerline is valid? [True, True] Translation: X:199.88, Y:230.54, Z:-255.42 [[-3.04001985e-01 -5.45326239e-01 -7.81154329e-01 1.99882276e+02] [ 1.01767752e-01 -8.33859186e-01 5.42514685e-01 2.30543783e+02] [-9.47220206e-01 8.54292210e-02 3.08991473e-01 -2.55420076e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.910714057 meters Centerline goodness : 0.994157 Centerline is valid? [True, True] Translation: X:199.88, Y:230.54, Z:-255.42 [[-3.06348062e-01 -5.40155302e-01 -7.83825947e-01 1.99883509e+02] [ 1.01488642e-01 -8.37256227e-01 5.37310028e-01 2.30544402e+02] [-9.46494015e-01 8.50544545e-02 3.11311450e-01 -2.55423039e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.9407140569999 meters Centerline goodness : 0.994691 Centerline is valid? [True, True] Translation: X:199.89, Y:230.55, Z:-255.43 [[-3.07813007e-01 -5.31327043e-01 -7.89267208e-01 1.99886276e+02] [ 1.01814702e-01 -8.43175445e-01 5.27909969e-01 2.30546422e+02] [-9.45983572e-01 8.21385498e-02 3.13637274e-01 -2.55430133e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.9707140569999 meters Centerline goodness : 0.993921 Centerline is valid? [True, True] Translation: X:199.88, Y:230.55, Z:-255.44 [[-3.08284226e-01 -5.31987812e-01 -7.88637943e-01 1.99882275e+02] [ 1.01602233e-01 -8.42686908e-01 5.28730329e-01 2.30547170e+02] [-9.45852961e-01 8.28718444e-02 3.13838230e-01 -2.55441809e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.000714057 meters Centerline goodness : 0.994129 Centerline is valid? [True, True] Translation: X:199.88, Y:230.55, Z:-255.44 [[-3.07840620e-01 -5.31611493e-01 -7.89064873e-01 1.99884351e+02] [ 1.02274609e-01 -8.43023401e-01 5.28063869e-01 2.30545670e+02] [-9.45924975e-01 8.18582072e-02 3.13887204e-01 -2.55436607e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.030714057 meters Centerline goodness : 0.994120 Centerline is valid? [True, True] Translation: X:199.88, Y:230.55, Z:-255.44 [[-3.08603035e-01 -5.31852820e-01 -7.88604302e-01 1.99882718e+02] [ 1.02473777e-01 -8.42834803e-01 5.28326244e-01 2.30545648e+02] [-9.45654954e-01 8.22318212e-02 3.14602346e-01 -2.55440817e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.0607140569999 meters Centerline goodness : 0.993687 Centerline is valid? [True, True] Translation: X:199.88, Y:230.55, Z:-255.45 [[-3.13917060e-01 -5.23484146e-01 -7.92098749e-01 1.99882293e+02] [ 1.04447360e-01 -8.48247530e-01 5.19198302e-01 2.30548697e+02] [-9.43687887e-01 8.02525812e-02 3.20955908e-01 -2.55452345e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.0907140569999 meters Centerline goodness : 0.994322 Centerline is valid? [True, True] Translation: X:199.88, Y:230.55, Z:-255.45 [[-3.14042853e-01 -5.23985380e-01 -7.91717379e-01 1.99883160e+02] [ 1.04947729e-01 -8.47954286e-01 5.19576273e-01 2.30546932e+02] [-9.43590516e-01 8.00802743e-02 3.21285059e-01 -2.55445773e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.120714057 meters Centerline goodness : 0.993481 Centerline is valid? [True, True] Translation: X:199.88, Y:230.55, Z:-255.46 [[-3.14623348e-01 -5.22441230e-01 -7.92506978e-01 1.99880390e+02] [ 1.05361251e-01 -8.48968277e-01 5.17833827e-01 2.30549065e+02] [-9.43351025e-01 7.94230857e-02 3.22150304e-01 -2.55457159e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.150714057 meters Centerline goodness : 0.994105 Centerline is valid? [True, True] Translation: X:199.88, Y:230.55, Z:-255.46 [[-3.12091840e-01 -5.22670519e-01 -7.93356296e-01 1.99878980e+02] [ 1.05673509e-01 -8.48982202e-01 5.17747361e-01 2.30548877e+02] [-9.44156657e-01 7.77479825e-02 3.20192846e-01 -2.55461573e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.1807140569999 meters Centerline goodness : 0.994042 Centerline is valid? [True, True] Translation: X:199.88, Y:230.55, Z:-255.47 [[-3.12620010e-01 -5.22701560e-01 -7.93127864e-01 1.99875369e+02] [ 1.06715421e-01 -8.49019147e-01 5.17473002e-01 2.30550165e+02] [-9.43864688e-01 7.71334412e-02 3.21200691e-01 -2.55469516e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.2107140569999 meters Centerline goodness : 0.994171 Centerline is valid? [True, True] Translation: X:199.88, Y:230.55, Z:-255.45 [[-3.08797764e-01 -5.29347817e-01 -7.90211889e-01 1.99876072e+02] [ 1.07020288e-01 -8.44877330e-01 5.24145929e-01 2.30545587e+02] [-9.45087614e-01 7.72863875e-02 3.17547186e-01 -2.55454096e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.2407140569999 meters Centerline goodness : 0.993465 Centerline is valid? [True, True] Translation: X:199.88, Y:230.54, Z:-255.45 [[-3.06361554e-01 -5.31644024e-01 -7.89618408e-01 1.99877141e+02] [ 1.06916853e-01 -8.43474006e-01 5.26422253e-01 2.30544147e+02] [-9.45891846e-01 7.68520244e-02 3.15249713e-01 -2.55449841e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.270714057 meters Centerline goodness : 0.993732 Centerline is valid? [True, True] Translation: X:199.87, Y:230.54, Z:-255.45 [[-3.05669311e-01 -5.36839435e-01 -7.86364861e-01 1.99872365e+02] [ 1.06783821e-01 -8.40012213e-01 5.31955541e-01 2.30543952e+02] [-9.46130799e-01 7.86314393e-02 3.14091720e-01 -2.55454790e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.3007140569999 meters Centerline goodness : 0.993892 Centerline is valid? [True, True] Translation: X:199.87, Y:230.55, Z:-255.46 [[-3.08470009e-01 -5.35678832e-01 -7.86062620e-01 1.99870420e+02] [ 1.06902583e-01 -8.40648141e-01 5.30926116e-01 2.30545384e+02] [-9.45207962e-01 7.97426596e-02 3.16580190e-01 -2.55459872e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.3307140569999 meters Centerline goodness : 0.993727 Centerline is valid? [True, True] Translation: X:199.87, Y:230.54, Z:-255.45 [[-3.06150673e-01 -5.39210863e-01 -7.84553001e-01 1.99871572e+02] [ 1.05685535e-01 -8.38281599e-01 5.34896746e-01 2.30543449e+02] [-9.46098480e-01 8.08430951e-02 3.13627264e-01 -2.55453853e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.3607140569999 meters Centerline goodness : 0.993910 Centerline is valid? [True, True] Translation: X:199.87, Y:230.55, Z:-255.47 [[-3.08366054e-01 -5.40271574e-01 -7.82954024e-01 1.99867527e+02] [ 1.03755019e-01 -8.37255539e-01 5.36878066e-01 2.30545564e+02] [-9.45592551e-01 8.43195614e-02 3.14237074e-01 -2.55466681e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.390714057 meters Centerline goodness : 0.993889 Centerline is valid? [True, True] Translation: X:199.88, Y:230.54, Z:-255.45 [[-3.04453984e-01 -5.40322407e-01 -7.84448513e-01 1.99875872e+02] [ 1.03566387e-01 -8.37439799e-01 5.36627046e-01 2.30542506e+02] [-9.46880022e-01 8.21357441e-02 3.10921122e-01 -2.55451576e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.4207140569999 meters Centerline goodness : 0.994067 Centerline is valid? [True, True] Translation: X:199.87, Y:230.54, Z:-255.47 [[-3.07394937e-01 -5.45222994e-01 -7.79897583e-01 1.99866530e+02] [ 1.02480609e-01 -8.33781231e-01 5.42500308e-01 2.30544883e+02] [-9.46047608e-01 8.68374694e-02 3.12174913e-01 -2.55467664e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.4507140569999 meters Centerline goodness : 0.994402 Centerline is valid? [True, True] Translation: X:199.87, Y:230.54, Z:-255.46 [[-3.05829549e-01 -5.47827339e-01 -7.78687032e-01 1.99867823e+02] [ 1.00899330e-01 -8.31917777e-01 5.45648364e-01 2.30543638e+02] [-9.46724676e-01 8.83063933e-02 3.09700450e-01 -2.55461804e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.4807140569999 meters Centerline goodness : 0.993596 Centerline is valid? [True, True] Translation: X:199.86, Y:230.55, Z:-255.48 [[-3.09625337e-01 -5.47540845e-01 -7.77387402e-01 1.99860884e+02] [ 1.00791850e-01 -8.31856801e-01 5.45761179e-01 2.30547038e+02] [-9.45501536e-01 9.06271743e-02 3.12751598e-01 -2.55478224e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.510714057 meters Centerline goodness : 0.994555 Centerline is valid? [True, True] Translation: X:199.86, Y:230.55, Z:-255.47 [[-3.06362306e-01 -5.51368903e-01 -7.75973241e-01 1.99861398e+02] [ 9.97224134e-02 -8.29275078e-01 5.49871154e-01 2.30545943e+02] [-9.46677124e-01 9.10778704e-02 3.09042463e-01 -2.55474917e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.540714057 meters Centerline goodness : 0.993578 Centerline is valid? [True, True] Translation: X:199.86, Y:230.54, Z:-255.47 [[-3.04372846e-01 -5.55720341e-01 -7.73648546e-01 1.99860648e+02] [ 9.88246922e-02 -8.26224019e-01 5.54605762e-01 2.30544418e+02] [-9.47412714e-01 9.23513546e-02 3.06399048e-01 -2.55470712e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.5707140569999 meters Centerline goodness : 0.993949 Centerline is valid? [True, True] Translation: X:199.86, Y:230.55, Z:-255.50 [[-3.08666647e-01 -5.45957088e-01 -7.78881095e-01 1.99857557e+02] [ 9.76844149e-02 -8.32731514e-01 5.44991725e-01 2.30551250e+02] [-9.46140928e-01 9.21362242e-02 3.10367943e-01 -2.55497124e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.6007140569999 meters Centerline goodness : 0.994103 Centerline is valid? [True, True] Translation: X:199.85, Y:230.55, Z:-255.50 [[-3.05345246e-01 -5.50398823e-01 -7.77062041e-01 1.99854821e+02] [ 9.68516403e-02 -8.29753338e-01 5.49662768e-01 2.30552139e+02] [-9.47303563e-01 9.25771800e-02 3.06668266e-01 -2.55504402e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.630714057 meters Centerline goodness : 0.993984 Centerline is valid? [True, True] Translation: X:199.86, Y:230.55, Z:-255.48 [[-3.03199278e-01 -5.58020752e-01 -7.72452612e-01 1.99856917e+02] [ 9.63386171e-02 -8.24406978e-01 5.57738294e-01 2.30548020e+02] [-9.48044866e-01 9.46888318e-02 3.03718548e-01 -2.55484512e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.660714057 meters Centerline goodness : 0.994038 Centerline is valid? [True, True] Translation: X:199.85, Y:230.55, Z:-255.49 [[-3.03598299e-01 -5.63574245e-01 -7.68252656e-01 1.99852970e+02] [ 9.43838842e-02 -8.20133303e-01 5.64334163e-01 2.30549639e+02] [-9.48113788e-01 9.88202225e-02 3.02183402e-01 -2.55488715e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.6907140569999 meters Centerline goodness : 0.994084 Centerline is valid? [True, True] Translation: X:199.85, Y:230.55, Z:-255.50 [[-3.07328285e-01 -5.53487026e-01 -7.74081027e-01 1.99854430e+02] [ 9.32317196e-02 -8.27048646e-01 5.54345005e-01 2.30554639e+02] [-9.47025434e-01 9.81969945e-02 3.05777989e-01 -2.55503213e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.7207140569999 meters Centerline goodness : 0.994069 Centerline is valid? [True, True] Translation: X:199.86, Y:230.56, Z:-255.52 [[-3.08343402e-01 -5.47358759e-01 -7.78024894e-01 1.99855971e+02] [ 9.22668542e-02 -8.31227967e-01 5.48221575e-01 2.30558707e+02] [-9.46789931e-01 9.72545962e-02 3.06806730e-01 -2.55515378e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.750714057 meters Centerline goodness : 0.994705 Centerline is valid? [True, True] Translation: X:199.85, Y:230.56, Z:-255.52 [[-3.04901466e-01 -5.57969232e-01 -7.71819559e-01 1.99850679e+02] [ 9.24326954e-02 -8.23919078e-01 5.59118548e-01 2.30558400e+02] [-9.47887806e-01 9.91347028e-02 3.02788735e-01 -2.55520002e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.780714057 meters Centerline goodness : 0.993837 Centerline is valid? [True, True] Translation: X:199.85, Y:230.56, Z:-255.51 [[-3.07054656e-01 -5.58513837e-01 -7.70571043e-01 1.99853997e+02] [ 9.28668072e-02 -8.23405277e-01 5.59803095e-01 2.30559129e+02] [-9.47150038e-01 1.00329675e-01 3.04697821e-01 -2.55512045e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.8107140569999 meters Centerline goodness : 0.993837 Centerline is valid? [True, True] Translation: X:199.86, Y:230.56, Z:-255.52 [[-3.06570507e-01 -5.54838818e-01 -7.73413479e-01 1.99855938e+02] [ 9.30228968e-02 -8.26113669e-01 5.55772387e-01 2.30560033e+02] [-9.47291542e-01 9.84382602e-02 3.04874801e-01 -2.55515285e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.8407140569999 meters Centerline goodness : 0.994020 Centerline is valid? [True, True] Translation: X:199.86, Y:230.56, Z:-255.51 [[-3.08248711e-01 -5.56622813e-01 -7.71462103e-01 1.99856239e+02] [ 9.37125682e-02 -8.24773562e-01 5.57643727e-01 2.30560268e+02] [-9.46678766e-01 9.95972653e-02 3.06397941e-01 -2.55510126e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.870714057 meters Centerline goodness : 0.994808 Centerline is valid? [True, True] Translation: X:199.85, Y:230.56, Z:-255.51 [[-3.09544110e-01 -5.57420381e-01 -7.70366771e-01 1.99854959e+02] [ 9.47374079e-02 -8.24205486e-01 5.58310075e-01 2.30561845e+02] [-9.46153934e-01 9.98390442e-02 3.07936516e-01 -2.55513661e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.900714057 meters Centerline goodness : 0.993785 Centerline is valid? [True, True] Translation: X:199.86, Y:230.56, Z:-255.49 [[-3.08978629e-01 -5.58887938e-01 -7.69530038e-01 1.99863129e+02] [ 9.70970418e-02 -8.23430244e-01 5.59048118e-01 2.30559305e+02] [-9.46099557e-01 9.80148308e-02 3.08688713e-01 -2.55491115e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.9307140569999 meters Centerline goodness : 0.993735 Centerline is valid? [True, True] Translation: X:199.86, Y:230.56, Z:-255.50 [[-3.12008094e-01 -5.55293206e-01 -7.70908818e-01 1.99863965e+02] [ 9.72335461e-02 -8.25817677e-01 5.55491496e-01 2.30561927e+02] [-9.45090783e-01 9.83596445e-02 3.11654927e-01 -2.55495144e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.9607140569999 meters Centerline goodness : 0.994837 Centerline is valid? [True, True] Translation: X:199.87, Y:230.57, Z:-255.52 [[-3.29582534e-01 -5.16875195e-01 -7.90073026e-01 1.99867702e+02] [ 9.41259651e-02 -8.50648886e-01 5.17239573e-01 2.30572316e+02] [-9.39423044e-01 9.61067432e-02 3.29010392e-01 -2.55521755e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.9907140569999 meters Centerline goodness : 0.994201 Centerline is valid? [True, True] Translation: X:199.87, Y:230.58, Z:-255.56 [[-3.27339128e-01 -5.02562135e-01 -8.00175228e-01 1.99866872e+02] [ 9.39766123e-02 -8.59946346e-01 5.01657930e-01 2.30582364e+02] [-9.40222044e-01 8.90145123e-02 3.28723174e-01 -2.55562695e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.020714057 meters Centerline goodness : 0.994399 Centerline is valid? [True, True] Translation: X:199.88, Y:230.58, Z:-255.53 [[-3.26003584e-01 -5.04110922e-01 -7.99746111e-01 1.99875915e+02] [ 9.51141466e-02 -8.59159813e-01 5.02789932e-01 2.30577277e+02] [-9.40571615e-01 8.78441509e-02 3.28037258e-01 -2.55530268e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.0507140569999 meters Centerline goodness : 0.994656 Centerline is valid? [True, True] Translation: X:199.87, Y:230.58, Z:-255.53 [[-3.23677244e-01 -5.06098133e-01 -7.99435877e-01 1.99874129e+02] [ 9.71124560e-02 -8.58227731e-01 5.03998346e-01 2.30579680e+02] [-9.41170661e-01 8.54976141e-02 3.26937219e-01 -2.55534816e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.0807140569999 meters Centerline goodness : 0.994642 Centerline is valid? [True, True] Translation: X:199.87, Y:230.58, Z:-255.55 [[-3.21988396e-01 -5.07753540e-01 -7.99068092e-01 1.99870478e+02] [ 9.84348396e-02 -8.57397685e-01 5.05153237e-01 2.30582446e+02] [-9.41612476e-01 8.39973407e-02 3.26052743e-01 -2.55546053e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.1107140569999 meters Centerline goodness : 0.993993 Centerline is valid? [True, True] Translation: X:199.87, Y:230.58, Z:-255.54 [[-2.91254458e-01 -5.46419879e-01 -7.85236370e-01 1.99870734e+02] [ 1.05319918e-01 -8.34148111e-01 5.41391396e-01 2.30577140e+02] [-9.50830456e-01 7.49816273e-02 3.00498252e-01 -2.55536687e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.140714057 meters Centerline goodness : 0.994416 Centerline is valid? [True, True] Translation: X:199.84, Y:230.57, Z:-255.54 [[-2.98711396e-01 -5.87698801e-01 -7.51918627e-01 1.99836649e+02] [ 1.08671734e-01 -8.03712815e-01 5.85009544e-01 2.30574005e+02] [-9.48136043e-01 9.30367164e-02 3.03944424e-01 -2.55538183e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.1707140569999 meters Centerline goodness : 0.993890 Centerline is valid? [True, True] Translation: X:199.85, Y:230.57, Z:-255.50 [[-2.97312421e-01 -5.84653339e-01 -7.54841571e-01 1.99850785e+02] [ 1.09962082e-01 -8.06298723e-01 5.81197651e-01 2.30568100e+02] [-9.48426942e-01 8.97933296e-02 3.04012324e-01 -2.55498615e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.2007140569999 meters Centerline goodness : 0.994241 Centerline is valid? [True, True] Translation: X:199.85, Y:230.57, Z:-255.50 [[-2.95881800e-01 -5.85033550e-01 -7.55109069e-01 1.99852516e+02] [ 1.12416045e-01 -8.06337310e-01 5.80674415e-01 2.30570227e+02] [-9.48586629e-01 8.69246155e-02 3.04347693e-01 -2.55502137e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.2307140569999 meters Centerline goodness : 0.993342 Centerline is valid? [True, True] Translation: X:199.85, Y:230.57, Z:-255.51 [[-3.00233088e-01 -5.79498821e-01 -7.57655073e-01 1.99852058e+02] [ 1.12817422e-01 -8.10297313e-01 5.75056948e-01 2.30574155e+02] [-9.47170693e-01 8.71744311e-02 3.08655627e-01 -2.55512806e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.260714057 meters Centerline goodness : 0.993933 Centerline is valid? [True, True] Translation: X:199.86, Y:230.58, Z:-255.52 [[-2.99845434e-01 -5.72872017e-01 -7.62830497e-01 1.99856248e+02] [ 1.12640268e-01 -8.15289466e-01 5.67992303e-01 2.30577697e+02] [-9.47314566e-01 8.43844671e-02 3.08989281e-01 -2.55520416e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.290714057 meters Centerline goodness : 0.994018 Centerline is valid? [True, True] Translation: X:199.85, Y:230.58, Z:-255.54 [[-3.00828745e-01 -5.77288440e-01 -7.59104817e-01 1.99846977e+02] [ 1.13060376e-01 -8.11950857e-01 5.72671945e-01 2.30582418e+02] [-9.46952701e-01 8.64515068e-02 3.09526605e-01 -2.55543065e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.3207140569999 meters Centerline goodness : 0.993855 Centerline is valid? [True, True] Translation: X:199.85, Y:230.58, Z:-255.52 [[-2.94687746e-01 -5.93361674e-01 -7.49053440e-01 1.99848159e+02] [ 1.12210897e-01 -7.99925665e-01 5.89514755e-01 2.30576829e+02] [-9.48982533e-01 8.96708159e-02 3.02309937e-01 -2.55519304e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.3507140569999 meters Centerline goodness : 0.993561 Centerline is valid? [True, True] Translation: X:199.85, Y:230.58, Z:-255.52 [[-2.96393273e-01 -5.94784351e-01 -7.47250027e-01 1.99846337e+02] [ 1.12317384e-01 -7.98684878e-01 5.91174484e-01 2.30578661e+02] [-9.48438629e-01 9.12909724e-02 3.03529448e-01 -2.55523155e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.380714057 meters Centerline goodness : 0.993818 Centerline is valid? [True, True] Translation: X:199.85, Y:230.59, Z:-255.55 [[-2.99037931e-01 -5.83065268e-01 -7.55388118e-01 1.99847979e+02] [ 1.11776134e-01 -8.07564799e-01 5.79089969e-01 2.30585517e+02] [-9.47672101e-01 8.87355025e-02 3.06665289e-01 -2.55546759e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.410714057 meters Centerline goodness : 0.993997 Centerline is valid? [True, True] Translation: X:199.85, Y:230.58, Z:-255.53 [[-2.95435594e-01 -5.87894019e-01 -7.53059382e-01 1.99852783e+02] [ 1.10643721e-01 -8.03995270e-01 5.84251293e-01 2.30583584e+02] [-9.48934022e-01 8.92873354e-02 3.02575602e-01 -2.55530896e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.4407140569999 meters Centerline goodness : 0.994212 Centerline is valid? [True, True] Translation: X:199.85, Y:230.59, Z:-255.55 [[-2.99641330e-01 -5.86123098e-01 -7.52778047e-01 1.99847591e+02] [ 1.11044772e-01 -8.05095902e-01 5.82657401e-01 2.30588233e+02] [-9.47567482e-01 9.09961718e-02 3.06325912e-01 -2.55546283e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.4707140569999 meters Centerline goodness : 0.994051 Centerline is valid? [True, True] Translation: X:199.85, Y:230.59, Z:-255.54 [[-2.99420655e-01 -5.79090657e-01 -7.58288390e-01 1.99854058e+02] [ 1.10303463e-01 -8.10431019e-01 5.75356160e-01 2.30590159e+02] [-9.47723809e-01 8.86316833e-02 3.06535491e-01 -2.55543389e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.500714057 meters Centerline goodness : 0.993420 Centerline is valid? [True, True] Translation: X:199.85, Y:230.59, Z:-255.55 [[-2.99747779e-01 -5.80670794e-01 -7.56949601e-01 1.99852699e+02] [ 1.10180822e-01 -8.09194256e-01 5.77117702e-01 2.30591637e+02] [-9.47634664e-01 8.95884197e-02 3.06532966e-01 -2.55545979e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.530714057 meters Centerline goodness : 0.993174 Centerline is valid? [True, True] Translation: X:199.86, Y:230.59, Z:-255.54 [[-3.02118877e-01 -5.75309505e-01 -7.60094177e-01 1.99856765e+02] [ 1.09932297e-01 -8.13061365e-01 5.71704563e-01 2.30593495e+02] [-9.46910278e-01 8.91638416e-02 3.08886282e-01 -2.55541859e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.5607140569999 meters Centerline goodness : 0.994015 Centerline is valid? [True, True] Translation: X:199.87, Y:230.60, Z:-255.56 [[-2.99917609e-01 -5.45852681e-01 -7.82364544e-01 1.99874158e+02] [ 1.09981739e-01 -8.34434914e-01 5.40020733e-01 2.30601478e+02] [-9.47604055e-01 7.59159138e-02 3.10295551e-01 -2.55556461e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.5907140569999 meters Centerline goodness : 0.993985 Centerline is valid? [True, True] Translation: X:199.85, Y:230.60, Z:-255.57 [[-3.03824178e-01 -5.77365164e-01 -7.57852450e-01 1.99848727e+02] [ 1.12080311e-01 -8.11591868e-01 5.73373041e-01 2.30600094e+02] [-9.46112505e-01 8.92642546e-02 3.11292499e-01 -2.55565839e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.620714057 meters Centerline goodness : 0.993896 Centerline is valid? [True, True] Translation: X:199.86, Y:230.60, Z:-255.54 [[-3.01826413e-01 -5.79580017e-01 -7.56959590e-01 1.99857637e+02] [ 1.14337798e-01 -8.10264244e-01 5.74803203e-01 2.30595812e+02] [-9.46481740e-01 8.69416964e-02 3.10827054e-01 -2.55539202e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.650714057 meters Centerline goodness : 0.993779 Centerline is valid? [True, True] Translation: X:199.85, Y:230.60, Z:-255.55 [[-3.06193254e-01 -5.76897532e-01 -7.57254864e-01 1.99853685e+02] [ 1.14563781e-01 -8.12010517e-01 5.72288442e-01 2.30600282e+02] [-9.45050703e-01 8.84768794e-02 3.14723705e-01 -2.55551645e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.6807140569999 meters Centerline goodness : 0.992765 Centerline is valid? [True, True] Translation: X:199.85, Y:230.60, Z:-255.56 [[-3.06656861e-01 -5.74441491e-01 -7.58932502e-01 1.99853187e+02] [ 1.14846551e-01 -8.13854067e-01 5.69606730e-01 2.30603241e+02] [-9.44866043e-01 8.75130314e-02 3.15546557e-01 -2.55560556e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.7107140569999 meters Centerline goodness : 0.993365 Centerline is valid? [True, True] Translation: X:199.87, Y:230.61, Z:-255.57 [[-3.05270716e-01 -5.44481740e-01 -7.81248632e-01 1.99871610e+02] [ 1.17498094e-01 -8.35678162e-01 5.36503688e-01 2.30609341e+02] [-9.44988883e-01 7.19836398e-02 3.19083637e-01 -2.55567759e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.7407140569999 meters Centerline goodness : 0.994145 Centerline is valid? [True, True] Translation: X:199.85, Y:230.61, Z:-255.57 [[-3.10497328e-01 -5.63875649e-01 -7.65268359e-01 1.99854240e+02] [ 1.21543688e-01 -8.22001479e-01 5.56363820e-01 2.30608046e+02] [-9.42771733e-01 7.97359412e-02 3.23764789e-01 -2.55568822e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.770714057 meters Centerline goodness : 0.994167 Centerline is valid? [True, True] Translation: X:199.86, Y:230.61, Z:-255.56 [[-3.04218351e-01 -5.66521266e-01 -7.65836046e-01 1.99858398e+02] [ 1.26317191e-01 -8.20832227e-01 5.57026412e-01 2.30605317e+02] [-9.44190215e-01 7.27193981e-02 3.21273601e-01 -2.55556530e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.8007140569999 meters Centerline goodness : 0.993506 Centerline is valid? [True, True] Translation: X:199.85, Y:230.61, Z:-255.56 [[-3.05603624e-01 -5.73989194e-01 -7.59699171e-01 1.99849887e+02] [ 1.29161192e-01 -8.15485796e-01 5.64181090e-01 2.30605441e+02] [-9.43357732e-01 7.42921352e-02 3.23352544e-01 -2.55560663e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.8307140569999 meters Centerline goodness : 0.994215 Centerline is valid? [True, True] Translation: X:199.85, Y:230.61, Z:-255.57 [[-3.05875877e-01 -5.67687099e-01 -7.64311000e-01 1.99851187e+02] [ 1.32199692e-01 -8.20335457e-01 5.56392829e-01 2.30607782e+02] [-9.42848445e-01 6.91454656e-02 3.25968887e-01 -2.55566516e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.8607140569999 meters Centerline goodness : 0.993940 Centerline is valid? [True, True] Translation: X:199.85, Y:230.60, Z:-255.55 [[-2.96775134e-01 -5.75478570e-01 -7.62068852e-01 1.99854411e+02] [ 1.37418573e-01 -8.15452121e-01 5.62275710e-01 2.30602878e+02] [-9.45008284e-01 6.21470353e-02 3.21087356e-01 -2.55552554e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.890714057 meters Centerline goodness : 0.993564 Centerline is valid? [True, True] Translation: X:199.85, Y:230.60, Z:-255.55 [[-2.93458759e-01 -5.88969413e-01 -7.52992024e-01 1.99845234e+02] [ 1.40163552e-01 -8.05667997e-01 5.75546051e-01 2.30601124e+02] [-9.45640596e-01 6.33569932e-02 3.18982375e-01 -2.55554720e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.9207140569999 meters Centerline goodness : 0.993197 Centerline is valid? [True, True] Translation: X:199.85, Y:230.60, Z:-255.55 [[-2.89253880e-01 -5.83504073e-01 -7.58851230e-01 1.99850671e+02] [ 1.45990125e-01 -8.10355615e-01 5.67459832e-01 2.30600436e+02] [-9.46054479e-01 5.33551721e-02 3.19584338e-01 -2.55549373e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.9507140569999 meters Centerline goodness : 0.993803 Centerline is valid? [True, True] Translation: X:199.85, Y:230.60, Z:-255.55 [[-2.85538356e-01 -5.90086900e-01 -7.55159120e-01 1.99847245e+02] [ 1.48402572e-01 -8.05684234e-01 5.73454089e-01 2.30599028e+02] [-9.46807543e-01 5.16755824e-02 3.17624165e-01 -2.55549868e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.9807140569999 meters Centerline goodness : 0.993184 Centerline is valid? [True, True] Translation: X:199.84, Y:230.59, Z:-255.54 [[-2.65343177e-01 -6.17913859e-01 -7.40118546e-01 1.99842059e+02] [ 1.46020158e-01 -7.84535217e-01 6.02646337e-01 2.30590355e+02] [-9.53032587e-01 5.18358668e-02 2.98398946e-01 -2.55538539e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.010714057 meters Centerline goodness : 0.993365 Centerline is valid? [True, True] Translation: X:199.84, Y:230.59, Z:-255.54 [[-2.67347953e-01 -6.20703586e-01 -7.37056396e-01 1.99838082e+02] [ 1.49554263e-01 -7.82357987e-01 6.04606899e-01 2.30590603e+02] [-9.51923629e-01 5.14104913e-02 3.01990674e-01 -2.55537034e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.040714057 meters Centerline goodness : 0.993986 Centerline is valid? [True, True] Translation: X:199.84, Y:230.59, Z:-255.53 [[-2.68582444e-01 -6.18635543e-01 -7.38345133e-01 1.99840957e+02] [ 1.52694731e-01 -7.84160778e-01 6.01478340e-01 2.30590153e+02] [-9.51077174e-01 4.88051112e-02 3.05074206e-01 -2.55528380e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.0707140569999 meters Centerline goodness : 0.993798 Centerline is valid? [True, True] Translation: X:199.75, Y:230.67, Z:-255.93 [[-2.99799319e-01 -5.70951611e-01 -7.64287006e-01 1.99745837e+02] [ 1.51359830e-01 -8.19457007e-01 5.52793285e-01 2.30672765e+02] [-9.41918558e-01 5.00446987e-02 3.32091791e-01 -2.55929638e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.1007140569999 meters Centerline goodness : 0.993951 Centerline is valid? [True, True] Translation: X:199.48, Y:231.64, Z:-255.44 [[-2.67325268e-01 2.73047136e-01 9.24111715e-01 1.99476095e+02] [ 1.50882053e-01 9.59045320e-01 -2.39722091e-01 2.31644529e+02] [-9.51720446e-01 7.53481007e-02 -2.97574960e-01 -2.55437666e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.130714057 meters Centerline goodness : 0.993181 Centerline is valid? [True, True] Translation: X:199.38, Y:231.74, Z:-255.95 [[-2.90479669e-01 3.59781045e-01 8.86667447e-01 1.99384592e+02] [ 7.56866993e-02 9.32358007e-01 -3.53525205e-01 2.31740524e+02] [-9.53883161e-01 -3.55829523e-02 -2.98061685e-01 -2.55947196e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.160714057 meters Centerline goodness : 0.994016 Centerline is valid? [True, True] Translation: X:200.08, Y:230.82, Z:-255.72 [[-3.29943694e-01 -9.85894945e-02 -9.38838256e-01 2.00077300e+02] [-2.07158401e-03 -9.94453391e-01 1.05157797e-01 2.30821602e+02] [-9.43998341e-01 3.66410345e-02 3.27909389e-01 -2.55722738e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.1907140569999 meters Centerline goodness : 0.993648 Centerline is valid? [True, True] Translation: X:199.94, Y:230.84, Z:-256.10 [[-3.31367636e-01 -1.15964574e-01 -9.36348070e-01 1.99943475e+02] [-8.07644870e-04 -9.92382755e-01 1.23190162e-01 2.30835343e+02] [-9.43501371e-01 4.15774695e-02 3.28749869e-01 -2.56099861e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.2207140569999 meters Centerline goodness : 0.992804 Centerline is valid? [True, True] Translation: X:199.91, Y:230.84, Z:-256.17 [[-3.31257781e-01 -1.27060533e-01 -9.34945936e-01 1.99912897e+02] [-3.35556024e-03 -9.90726465e-01 1.35830087e-01 2.30835231e+02] [-9.43534325e-01 4.81320405e-02 3.27759491e-01 -2.56174479e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.250714057 meters Centerline goodness : 0.994215 Centerline is valid? [True, True] Translation: X:199.23, Y:231.50, Z:-255.58 [[-3.03060962e-01 -2.98862372e-01 9.04895207e-01 1.99226382e+02] [ 2.92614109e-02 9.46185419e-01 3.22299431e-01 2.31497378e+02] [-9.52521823e-01 1.24154886e-01 -2.78006728e-01 -2.55581151e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.280714057 meters Centerline goodness : 0.993824 Centerline is valid? [True, True] Translation: X:200.09, Y:230.94, Z:-255.84 [[-2.98707373e-01 9.05051291e-02 -9.50043540e-01 2.00092525e+02] [-7.40900831e-02 -9.94687730e-01 -7.14631325e-02 2.30938741e+02] [-9.51464432e-01 4.90422403e-02 3.03826091e-01 -2.55841023e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.3107140569999 meters Centerline goodness : 0.994158 Centerline is valid? [True, True] Translation: X:200.09, Y:230.94, Z:-255.84 [[-2.99718487e-01 8.92233766e-02 -9.49846313e-01 2.00091386e+02] [-7.46797280e-02 -9.94756308e-01 -6.98772219e-02 2.30940703e+02] [-9.51100293e-01 4.99907691e-02 3.04810033e-01 -2.55842770e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.3407140569999 meters Centerline goodness : 0.994292 Centerline is valid? [True, True] Translation: X:200.09, Y:230.94, Z:-255.85 [[-3.00224774e-01 8.80836724e-02 -9.49792794e-01 2.00089314e+02] [-7.47773826e-02 -9.94836196e-01 -6.86242339e-02 2.30940997e+02] [-9.50932925e-01 5.04203240e-02 3.05261139e-01 -2.55847172e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.370714057 meters Centerline goodness : 0.994042 Centerline is valid? [True, True] Translation: X:200.09, Y:230.94, Z:-255.85 [[-3.00853244e-01 8.73299891e-02 -9.49663519e-01 2.00088044e+02] [-7.61269803e-02 -9.94819869e-01 -6.73655017e-02 2.30942289e+02] [-9.50627166e-01 5.20278863e-02 3.05942953e-01 -2.55850527e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.400714057 meters Centerline goodness : 0.993938 Centerline is valid? [True, True] Translation: X:200.09, Y:230.94, Z:-255.86 [[-3.01304625e-01 8.64150911e-02 -9.49604105e-01 2.00086174e+02] [-7.69659723e-02 -9.94839495e-01 -6.61106475e-02 2.30942414e+02] [-9.50416626e-01 5.31677594e-02 3.06400762e-01 -2.55855077e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.4307140569999 meters Centerline goodness : 0.993934 Centerline is valid? [True, True] Translation: X:200.09, Y:230.94, Z:-255.85 [[-3.01738701e-01 8.54114547e-02 -9.49557076e-01 2.00086017e+02] [-7.75169803e-02 -9.94879315e-01 -6.48557293e-02 2.30942773e+02] [-9.50234116e-01 5.40373136e-02 3.06814430e-01 -2.55854515e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.4607140569999 meters Centerline goodness : 0.994565 Centerline is valid? [True, True] Translation: X:200.08, Y:230.94, Z:-255.86 [[-3.01969485e-01 8.49127760e-02 -9.49528436e-01 2.00083105e+02] [-7.97341791e-02 -9.94784974e-01 -6.36027973e-02 2.30943750e+02] [-9.49977311e-01 5.65037664e-02 3.07165157e-01 -2.55862794e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.4907140569999 meters Centerline goodness : 0.992513 Centerline is valid? [True, True] Translation: X:199.94, Y:230.94, Z:-256.32 [[-2.98315339e-01 7.82373877e-02 -9.51255418e-01 1.99943392e+02] [-7.71329476e-02 -9.95351241e-01 -5.76750876e-02 2.30935605e+02] [-9.51345609e-01 5.61677710e-02 3.02963223e-01 -2.56319709e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.520714057 meters Centerline goodness : 0.993563 Centerline is valid? [True, True] Translation: X:199.53, Y:231.82, Z:-255.85 [[-3.21508877e-01 5.21242800e-01 7.90530193e-01 1.99528075e+02] [-3.26242925e-02 8.28262275e-01 -5.59390078e-01 2.31816118e+02] [-9.46344387e-01 -2.05639364e-01 -2.49288496e-01 -2.55852654e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.5507140569999 meters Centerline goodness : 0.993265 Centerline is valid? [True, True] Translation: X:199.27, Y:230.91, Z:-255.85 [[-3.16663162e-01 -9.48383053e-01 1.71471937e-02 1.99269116e+02] [-8.71014087e-02 4.70745970e-02 9.95086593e-01 2.30907600e+02] [-9.44530458e-01 3.13613722e-01 -9.75122906e-02 -2.55850545e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.5807140569999 meters Centerline goodness : 0.993686 Centerline is valid? [True, True] Translation: X:200.09, Y:231.12, Z:-256.13 [[-2.56194944e-01 4.18822342e-01 -8.71178510e-01 2.00085031e+02] [-1.40263819e-01 -9.07826528e-01 -3.95192429e-01 2.31124045e+02] [-9.56394381e-01 2.09485227e-02 2.91326188e-01 -2.56127144e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.6107140569999 meters Centerline goodness : 0.994226 Centerline is valid? [True, True] Translation: X:200.05, Y:231.05, Z:-256.12 [[-2.64652999e-01 2.85822257e-01 -9.21012718e-01 2.00054193e+02] [-1.43123785e-01 -9.56131371e-01 -2.55594177e-01 2.31051671e+02] [-9.53663658e-01 6.41750604e-02 2.93950998e-01 -2.56121915e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.640714057 meters Centerline goodness : 0.993860 Centerline is valid? [True, True] Translation: X:200.05, Y:231.05, Z:-256.12 [[-2.64403534e-01 2.84661499e-01 -9.21443760e-01 2.00053905e+02] [-1.43314251e-01 -9.56435089e-01 -2.54348080e-01 2.31050919e+02] [-9.53704250e-01 6.48054912e-02 2.93680867e-01 -2.56120990e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.6707140569999 meters Centerline goodness : 0.994860 Centerline is valid? [True, True] Translation: X:200.05, Y:231.05, Z:-256.12 [[-2.63204813e-01 2.83586823e-01 -9.22118073e-01 2.00052789e+02] [-1.43805255e-01 -9.56674655e-01 -2.53167244e-01 2.31050046e+02] [-9.53961884e-01 6.59705876e-02 2.92582649e-01 -2.56122842e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.7007140569999 meters Centerline goodness : 0.994138 Centerline is valid? [True, True] Translation: X:200.06, Y:231.05, Z:-256.11 [[-2.52118546e-01 2.52548993e-01 -9.34160182e-01 2.00059397e+02] [-1.23049851e-01 -9.65874858e-01 -2.27913346e-01 2.31050888e+02] [-9.59841119e-01 5.74870900e-02 2.74591081e-01 -2.56107100e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.7307140569999 meters Centerline goodness : 0.994138 Centerline is valid? [True, True] Translation: X:200.04, Y:231.01, Z:-256.10 [[-2.56248181e-01 1.74649528e-01 -9.50702063e-01 2.00038786e+02] [-1.24372701e-01 -9.81323241e-01 -1.46751930e-01 2.31012802e+02] [-9.58576184e-01 8.06364683e-02 2.73183929e-01 -2.56100088e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.760714057 meters Centerline goodness : 0.994526 Centerline is valid? [True, True] Translation: X:200.03, Y:231.01, Z:-256.13 [[-2.67540534e-01 2.15835610e-01 -9.39061794e-01 2.00030745e+02] [-1.46623081e-01 -9.72358569e-01 -1.81715398e-01 2.31014101e+02] [-9.52325435e-01 8.90718992e-02 2.91791813e-01 -2.56129167e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.790714057 meters Centerline goodness : 0.994078 Centerline is valid? [True, True] Translation: X:200.05, Y:231.05, Z:-256.14 [[-2.63160064e-01 2.81439541e-01 -9.22788473e-01 2.00048016e+02] [-1.46681732e-01 -9.57055130e-01 -2.50059888e-01 2.31045398e+02] [-9.53536182e-01 6.95504352e-02 2.93140729e-01 -2.56135500e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.8207140569999 meters Centerline goodness : 0.994238 Centerline is valid? [True, True] Translation: X:200.05, Y:231.04, Z:-256.14 [[-2.63273928e-01 2.80327723e-01 -9.23094365e-01 2.00047150e+02] [-1.47087996e-01 -9.57328055e-01 -2.48773223e-01 2.31043390e+02] [-9.53442164e-01 7.02805965e-02 2.93272360e-01 -2.56138044e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.8507140569999 meters Centerline goodness : 0.994494 Centerline is valid? [True, True] Translation: X:200.04, Y:231.04, Z:-256.15 [[-2.64258812e-01 2.79290421e-01 -9.23127370e-01 2.00043872e+02] [-1.47755770e-01 -9.57576967e-01 -2.47415815e-01 2.31039969e+02] [-9.53066374e-01 7.10155861e-02 2.94314923e-01 -2.56149258e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.880714057 meters Centerline goodness : 0.993677 Centerline is valid? [True, True] Translation: X:200.05, Y:231.04, Z:-256.14 [[-2.64921330e-01 2.78026788e-01 -9.23318902e-01 2.00045830e+02] [-1.47618151e-01 -9.57938171e-01 -2.46096203e-01 2.31038802e+02] [-9.52903757e-01 7.11024953e-02 2.94820055e-01 -2.56142303e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.910714057 meters Centerline goodness : 0.993889 Centerline is valid? [True, True] Translation: X:200.05, Y:231.04, Z:-256.14 [[-2.65862117e-01 2.76498140e-01 -9.23507506e-01 2.00045526e+02] [-1.46522310e-01 -9.58444295e-01 -2.44776932e-01 2.31035767e+02] [-9.52810867e-01 7.02375402e-02 2.95327175e-01 -2.56142032e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.9407140569999 meters Centerline goodness : 0.994500 Centerline is valid? [True, True] Translation: X:200.05, Y:231.04, Z:-256.13 [[-2.72888272e-01 2.83030989e-01 -9.19470201e-01 2.00046575e+02] [-1.38203180e-01 -9.57364659e-01 -2.53678519e-01 2.31043849e+02] [-9.52067157e-01 5.78478133e-02 3.00369370e-01 -2.56133059e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.9707140569999 meters Centerline goodness : 0.993873 Centerline is valid? [True, True] Translation: X:200.03, Y:231.01, Z:-256.13 [[-2.76332055e-01 2.25491512e-01 -9.34234539e-01 2.00031708e+02] [-1.36691286e-01 -9.71424347e-01 -1.94036672e-01 2.31014262e+02] [-9.51291800e-01 7.40831678e-02 2.99258411e-01 -2.56125743e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.000714057 meters Centerline goodness : 0.994511 Centerline is valid? [True, True] Translation: X:200.02, Y:231.00, Z:-256.15 [[-2.71231787e-01 2.13786748e-01 -9.38471387e-01 2.00024465e+02] [-1.42016122e-01 -9.73238229e-01 -1.80662034e-01 2.30998851e+02] [-9.51979380e-01 8.42767806e-02 2.94334309e-01 -2.56146688e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.030714057 meters Centerline goodness : 0.994574 Centerline is valid? [True, True] Translation: X:200.05, Y:231.04, Z:-256.13 [[-2.74940603e-01 2.80853220e-01 -9.19526582e-01 2.00046382e+02] [-1.33450699e-01 -9.58274559e-01 -2.52786036e-01 2.31036723e+02] [-9.52154702e-01 5.32103197e-02 3.00948643e-01 -2.56129356e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.0607140569999 meters Centerline goodness : 0.994400 Centerline is valid? [True, True] Translation: X:200.03, Y:231.01, Z:-256.13 [[-2.77692573e-01 2.20525738e-01 -9.35016168e-01 2.00029922e+02] [-1.28939581e-01 -9.73045118e-01 -1.91200896e-01 2.31005526e+02] [-9.51977636e-01 6.74655241e-02 2.98641899e-01 -2.56127587e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.0907140569999 meters Centerline goodness : 0.994596 Centerline is valid? [True, True] Translation: X:200.03, Y:231.00, Z:-256.13 [[-2.77527008e-01 2.21029515e-01 -9.34946369e-01 2.00028324e+02] [-1.26996318e-01 -9.73074959e-01 -1.92346197e-01 2.31004003e+02] [-9.52287086e-01 6.53534820e-02 2.98124517e-01 -2.56134400e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.120714057 meters Centerline goodness : 0.994100 Centerline is valid? [True, True] Translation: X:200.03, Y:231.00, Z:-256.12 [[-2.70026706e-01 2.02345781e-01 -9.41351031e-01 2.00032407e+02] [-1.17475533e-01 -9.77288174e-01 -1.76372684e-01 2.30997270e+02] [-9.55659499e-01 6.29603790e-02 2.87664585e-01 -2.56123450e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.150714057 meters Centerline goodness : 0.994925 Centerline is valid? [True, True] Translation: X:200.02, Y:230.99, Z:-256.14 [[-2.74325306e-01 2.04780899e-01 -9.39579911e-01 2.00023586e+02] [-1.30477027e-01 -9.75953787e-01 -1.74613720e-01 2.30986501e+02] [-9.52744127e-01 7.46926315e-02 2.94448024e-01 -2.56142624e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.1807140569999 meters Centerline goodness : 0.994861 Centerline is valid? [True, True] Translation: X:200.05, Y:231.02, Z:-256.13 [[-2.65006026e-01 2.44549441e-01 -9.32720418e-01 2.00045734e+02] [-1.12537103e-01 -9.68538265e-01 -2.21966280e-01 2.31016636e+02] [-9.57657145e-01 4.61432518e-02 2.84189362e-01 -2.56132470e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.2107140569999 meters Centerline goodness : 0.994585 Centerline is valid? [True, True] Translation: X:200.03, Y:230.98, Z:-256.12 [[-2.70318665e-01 1.75481329e-01 -9.46643609e-01 2.00025223e+02] [-1.12261489e-01 -9.82287032e-01 -1.50031814e-01 2.30981942e+02] [-9.56203523e-01 6.57152216e-02 2.85230314e-01 -2.56122494e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.2407140569999 meters Centerline goodness : 0.994402 Centerline is valid? [True, True] Translation: X:200.03, Y:230.99, Z:-256.13 [[-2.71430280e-01 1.87090429e-01 -9.44098922e-01 2.00025372e+02] [-1.12679394e-01 -9.80356183e-01 -1.61879922e-01 2.30985798e+02] [-9.55839400e-01 6.24413815e-02 2.87179589e-01 -2.56131980e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.270714057 meters Centerline goodness : 0.994398 Centerline is valid? [True, True] Translation: X:200.03, Y:230.99, Z:-256.13 [[-2.70499631e-01 1.92902878e-01 -9.43195859e-01 2.00027872e+02] [-1.11524733e-01 -9.79402563e-01 -1.68323655e-01 2.30987788e+02] [-9.56238560e-01 5.96581796e-02 2.86441474e-01 -2.56132172e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.3007140569999 meters Centerline goodness : 0.994049 Centerline is valid? [True, True] Translation: X:200.02, Y:230.98, Z:-256.14 [[-2.62695370e-01 1.72541672e-01 -9.49326348e-01 2.00023640e+02] [-1.07318401e-01 -9.83001576e-01 -1.48965304e-01 2.30979156e+02] [-9.58892019e-01 6.27476902e-02 2.76746859e-01 -2.56142485e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.3307140569999 meters Centerline goodness : 0.994028 Centerline is valid? [True, True] Translation: X:200.03, Y:230.99, Z:-256.14 [[-2.67725946e-01 1.91870976e-01 -9.44197197e-01 2.00027145e+02] [-1.10668639e-01 -9.79608854e-01 -1.67687048e-01 2.30986301e+02] [-9.57118211e-01 5.95988450e-02 2.83500807e-01 -2.56140640e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.3607140569999 meters Centerline goodness : 0.994156 Centerline is valid? [True, True] Translation: X:200.03, Y:230.99, Z:-256.15 [[-2.68525954e-01 1.96301700e-01 -9.43058564e-01 2.00026308e+02] [-1.11737431e-01 -9.78754153e-01 -1.71915838e-01 2.30987608e+02] [-9.56769857e-01 5.92110763e-02 2.84755140e-01 -2.56148618e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.390714057 meters Centerline goodness : 0.994606 Centerline is valid? [True, True] Translation: X:200.02, Y:230.98, Z:-256.15 [[-2.67742327e-01 1.88944970e-01 -9.44782432e-01 2.00023483e+02] [-1.12627081e-01 -9.79998013e-01 -1.64070217e-01 2.30983532e+02] [-9.56885148e-01 6.24795458e-02 2.83667269e-01 -2.56151517e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.4207140569999 meters Centerline goodness : 0.994402 Centerline is valid? [True, True] Translation: X:200.02, Y:230.99, Z:-256.16 [[-2.66914939e-01 1.95763013e-01 -9.43627712e-01 2.00024937e+02] [-1.13549221e-01 -9.78719268e-01 -1.70924452e-01 2.30986473e+02] [-9.57007309e-01 6.15259022e-02 2.83463532e-01 -2.56155165e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.4507140569999 meters Centerline goodness : 0.994367 Centerline is valid? [True, True] Translation: X:200.02, Y:230.98, Z:-256.16 [[-2.66904936e-01 1.90490956e-01 -9.44708924e-01 2.00021783e+02] [-1.14908987e-01 -9.79567633e-01 -1.65055072e-01 2.30982842e+02] [-9.56847783e-01 6.45015323e-02 2.83340559e-01 -2.56159377e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.4807140569999 meters Centerline goodness : 0.994394 Centerline is valid? [True, True] Translation: X:200.02, Y:230.98, Z:-256.16 [[-2.65517169e-01 1.89601168e-01 -9.45278811e-01 2.00020796e+02] [-1.15187793e-01 -9.79687319e-01 -1.64147891e-01 2.30981850e+02] [-9.57200295e-01 6.53004961e-02 2.81963544e-01 -2.56163750e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.510714057 meters Centerline goodness : 0.994164 Centerline is valid? [True, True] Translation: X:200.02, Y:230.98, Z:-256.17 [[-2.65526723e-01 1.91209426e-01 -9.44952123e-01 2.00020362e+02] [-1.16691858e-01 -9.79303622e-01 -1.65370576e-01 2.30980797e+02] [-9.57015449e-01 6.63579117e-02 2.82343865e-01 -2.56167002e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.540714057 meters Centerline goodness : 0.994072 Centerline is valid? [True, True] Translation: X:200.02, Y:230.98, Z:-256.17 [[-2.64918512e-01 1.89888984e-01 -9.45388997e-01 2.00019301e+02] [-1.16551817e-01 -9.79536121e-01 -1.64087360e-01 2.30979701e+02] [-9.57201053e-01 6.67170264e-02 2.81629158e-01 -2.56171263e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.5707140569999 meters Centerline goodness : 0.994755 Centerline is valid? [True, True] Translation: X:200.02, Y:230.98, Z:-256.17 [[-2.64164234e-01 1.88919347e-01 -9.45794237e-01 2.00021261e+02] [-1.16717061e-01 -9.79683167e-01 -1.63088995e-01 2.30978818e+02] [-9.57389359e-01 6.73080440e-02 2.80847364e-01 -2.56165177e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.6007140569999 meters Centerline goodness : 0.993755 Centerline is valid? [True, True] Translation: X:200.02, Y:230.97, Z:-256.16 [[-2.64499446e-01 1.79921523e-01 -9.47453582e-01 2.00020392e+02] [-1.15685037e-01 -9.81267769e-01 -1.54047192e-01 2.30974805e+02] [-9.57422068e-01 6.88608055e-02 2.80359009e-01 -2.56159867e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.630714057 meters Centerline goodness : 0.995004 Centerline is valid? [True, True] Translation: X:200.02, Y:230.97, Z:-256.16 [[-2.65789946e-01 1.74986215e-01 -9.48016629e-01 2.00019583e+02] [-1.14931359e-01 -9.82126277e-01 -1.49059580e-01 2.30971904e+02] [-9.57155415e-01 6.93383018e-02 2.81150694e-01 -2.56155698e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.660714057 meters Centerline goodness : 0.994906 Centerline is valid? [True, True] Translation: X:200.02, Y:230.97, Z:-256.16 [[-2.66169842e-01 1.68901746e-01 -9.49013074e-01 2.00018378e+02] [-1.12005422e-01 -9.83279114e-01 -1.43586108e-01 2.30967534e+02] [-9.57396679e-01 6.80763183e-02 2.80637158e-01 -2.56155312e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.6907140569999 meters Centerline goodness : 0.994548 Centerline is valid? [True, True] Translation: X:200.02, Y:230.97, Z:-256.16 [[-2.64758294e-01 1.79614109e-01 -9.47439612e-01 2.00020565e+02] [-1.09232701e-01 -9.81762693e-01 -1.55596373e-01 2.30971557e+02] [-9.58108169e-01 6.22959576e-02 2.79549550e-01 -2.56158267e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.7207140569999 meters Centerline goodness : 0.995164 Centerline is valid? [True, True] Translation: X:200.02, Y:230.97, Z:-256.15 [[-2.68991349e-01 1.76772945e-01 -9.46781379e-01 2.00020283e+02] [-1.04879082e-01 -9.82543247e-01 -1.53652681e-01 2.30967009e+02] [-9.57415287e-01 5.79663202e-02 2.82835418e-01 -2.56150456e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.750714057 meters Centerline goodness : 0.994003 Centerline is valid? [True, True] Translation: X:200.02, Y:230.96, Z:-256.15 [[-2.69923052e-01 1.64959135e-01 -9.48646420e-01 2.00015646e+02] [-1.02397295e-01 -9.84546595e-01 -1.42066171e-01 2.30959764e+02] [-9.57421715e-01 5.87918932e-02 2.82643191e-01 -2.56149844e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.780714057 meters Centerline goodness : 0.994059 Centerline is valid? [True, True] Translation: X:200.01, Y:230.96, Z:-256.17 [[-2.78077416e-01 1.86772947e-01 -9.42225460e-01 2.00007230e+02] [-1.15630864e-01 -9.80289717e-01 -1.60192304e-01 2.30956212e+02] [-9.53573518e-01 6.44044818e-02 2.94193148e-01 -2.56174822e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.8107140569999 meters Centerline goodness : 0.993948 Centerline is valid? [True, True] Translation: X:200.03, Y:230.97, Z:-256.15 [[-2.49773664e-01 1.82782811e-01 -9.50896188e-01 2.00033723e+02] [-8.05399444e-02 -9.82540921e-01 -1.67710037e-01 2.30972806e+02] [-9.64948928e-01 3.46955758e-02 2.60134163e-01 -2.56151617e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.8407140569999 meters Centerline goodness : 0.994419 Centerline is valid? [True, True] Translation: X:200.00, Y:230.94, Z:-256.16 [[-2.79854693e-01 1.44067076e-01 -9.49171233e-01 1.99995671e+02] [-1.08825027e-01 -9.87064423e-01 -1.17732488e-01 2.30935368e+02] [-9.53854530e-01 7.03455959e-02 2.91912714e-01 -2.56161295e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.870714057 meters Centerline goodness : 0.993878 Centerline is valid? [True, True] Translation: X:200.04, Y:230.98, Z:-256.13 [[-2.48697919e-01 1.85889400e-01 -9.50575866e-01 2.00042399e+02] [-7.55670149e-02 -9.82143109e-01 -1.72292018e-01 2.30975463e+02] [-9.65628796e-01 2.89835143e-02 2.58304054e-01 -2.56133610e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.900714057 meters Centerline goodness : 0.994109 Centerline is valid? [True, True] Translation: X:200.00, Y:230.94, Z:-256.16 [[-2.79694052e-01 1.49562809e-01 -9.48368179e-01 1.99998763e+02] [-1.06650335e-01 -9.86518364e-01 -1.24125836e-01 2.30937151e+02] [-9.54147234e-01 6.64265263e-02 2.91874242e-01 -2.56162979e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.9307140569999 meters Centerline goodness : 0.993394 Centerline is valid? [True, True] Translation: X:200.03, Y:230.98, Z:-256.18 [[-2.76433752e-01 2.42498649e-01 -9.29934829e-01 2.00028332e+02] [-1.06643225e-01 -9.69405110e-01 -2.21090378e-01 2.30980373e+02] [-9.55097693e-01 3.80544069e-02 2.93837129e-01 -2.56179172e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.9607140569999 meters Centerline goodness : 0.994089 Centerline is valid? [True, True] Translation: X:200.03, Y:230.98, Z:-256.18 [[-2.77951096e-01 2.41616756e-01 -9.29712069e-01 2.00028766e+02] [-1.07946036e-01 -9.69575946e-01 -2.19704662e-01 2.30980261e+02] [-9.54510786e-01 3.92915809e-02 2.95576268e-01 -2.56179263e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.9907140569999 meters Centerline goodness : 0.994363 Centerline is valid? [True, True] Translation: X:200.03, Y:230.98, Z:-256.18 [[-2.78127483e-01 2.40538624e-01 -9.29938855e-01 2.00027299e+02] [-1.08421339e-01 -9.69811918e-01 -2.18425404e-01 2.30980161e+02] [-9.54405531e-01 4.00751077e-02 2.95810867e-01 -2.56183510e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.020714057 meters Centerline goodness : 0.993276 Centerline is valid? [True, True] Translation: X:200.03, Y:230.98, Z:-256.17 [[-2.63831871e-01 2.03322666e-01 -9.42895878e-01 2.00032243e+02] [-8.95670711e-02 -9.78471720e-01 -1.85932333e-01 2.30977675e+02] [-9.60401210e-01 3.53975467e-02 2.76363041e-01 -2.56166055e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.0507140569999 meters Centerline goodness : 0.993675 Centerline is valid? [True, True] Translation: X:200.01, Y:230.94, Z:-256.16 [[-2.62101986e-01 1.22175429e-01 -9.57275151e-01 2.00007638e+02] [-8.88607306e-02 -9.90794921e-01 -1.02123428e-01 2.30940760e+02] [-9.60940331e-01 5.82974159e-02 2.70545914e-01 -2.56158342e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.0807140569999 meters Centerline goodness : 0.993692 Centerline is valid? [True, True] Translation: X:200.00, Y:230.95, Z:-256.18 [[-2.82456201e-01 1.72757601e-01 -9.43595944e-01 2.00003182e+02] [-1.12710517e-01 -9.82813419e-01 -1.46198916e-01 2.30947616e+02] [-9.52635730e-01 6.50583961e-02 2.97073343e-01 -2.56182368e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.1107140569999 meters Centerline goodness : 0.994371 Centerline is valid? [True, True] Translation: X:200.02, Y:230.98, Z:-256.19 [[-2.78523354e-01 2.39467911e-01 -9.30096695e-01 2.00023518e+02] [-1.13652475e-01 -9.69830957e-01 -2.15664162e-01 2.30979377e+02] [-9.53681213e-01 4.56402853e-02 2.97336691e-01 -2.56194236e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.140714057 meters Centerline goodness : 0.993931 Centerline is valid? [True, True] Translation: X:200.02, Y:230.98, Z:-256.20 [[-2.78420488e-01 2.38264266e-01 -9.30436549e-01 2.00021622e+02] [-1.13671085e-01 -9.70107148e-01 -2.14408504e-01 2.30978503e+02] [-9.53709032e-01 4.60680113e-02 2.97181463e-01 -2.56197567e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.1707140569999 meters Centerline goodness : 0.993227 Centerline is valid? [True, True] Translation: X:200.02, Y:230.98, Z:-256.19 [[-2.66569462e-01 2.11526252e-01 -9.40317695e-01 2.00024442e+02] [-9.69613030e-02 -9.76555815e-01 -1.92190650e-01 2.30978152e+02] [-9.58926081e-01 3.99422707e-02 2.80829819e-01 -2.56187615e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.2007140569999 meters Centerline goodness : 0.993430 Centerline is valid? [True, True] Translation: X:200.00, Y:230.95, Z:-256.19 [[-2.79933081e-01 1.85641187e-01 -9.41899581e-01 2.00004606e+02] [-1.12788249e-01 -9.80690415e-01 -1.59765833e-01 2.30953561e+02] [-9.53371009e-01 6.15114628e-02 2.95465834e-01 -2.56191699e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.2307140569999 meters Centerline goodness : 0.992601 Centerline is valid? [True, True] Translation: X:200.02, Y:230.98, Z:-256.19 [[-2.65223926e-01 2.10891140e-01 -9.40840686e-01 2.00024939e+02] [-9.52494083e-02 -9.76744440e-01 -1.92088129e-01 2.30977561e+02] [-9.59470593e-01 3.86681510e-02 2.79143251e-01 -2.56188231e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.260714057 meters Centerline goodness : 0.993558 Centerline is valid? [True, True] Translation: X:200.00, Y:230.95, Z:-256.19 [[-2.78993739e-01 1.86547998e-01 -9.41999118e-01 2.00004722e+02] [-1.10979690e-01 -9.80640475e-01 -1.61331233e-01 2.30953407e+02] [-9.53858481e-01 5.95323668e-02 2.94295592e-01 -2.56192735e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.290714057 meters Centerline goodness : 0.992917 Centerline is valid? [True, True] Translation: X:200.02, Y:230.98, Z:-256.20 [[-2.73552067e-01 2.23573700e-01 -9.35512730e-01 2.00021427e+02] [-9.92662377e-02 -9.73979503e-01 -2.03740378e-01 2.30979912e+02] [-9.56721214e-01 3.71312274e-02 2.88627426e-01 -2.56197881e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.3207140569999 meters Centerline goodness : 0.993443 Centerline is valid? [True, True] Translation: X:200.01, Y:230.95, Z:-256.19 [[-2.79527269e-01 1.88403677e-01 -9.41471487e-01 2.00005658e+02] [-1.10300227e-01 -9.80368093e-01 -1.63438866e-01 2.30954877e+02] [-9.53781089e-01 5.81588992e-02 2.94820584e-01 -2.56194718e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.3507140569999 meters Centerline goodness : 0.993391 Centerline is valid? [True, True] Translation: X:200.02, Y:230.98, Z:-256.20 [[-2.80650894e-01 2.33842946e-01 -9.30888045e-01 2.00020919e+02] [-1.02249799e-01 -9.71632123e-01 -2.13251015e-01 2.30982466e+02] [-9.54347974e-01 3.53340279e-02 2.96599818e-01 -2.56197492e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.380714057 meters Centerline goodness : 0.993354 Centerline is valid? [True, True] Translation: X:200.00, Y:230.95, Z:-256.20 [[-2.80605741e-01 1.81239219e-01 -9.42556504e-01 2.00001359e+02] [-1.09233487e-01 -9.81660582e-01 -1.56238754e-01 2.30951204e+02] [-9.53587156e-01 5.91172419e-02 2.95256987e-01 -2.56200536e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.410714057 meters Centerline goodness : 0.993675 Centerline is valid? [True, True] Translation: X:200.02, Y:230.97, Z:-256.21 [[-2.78465608e-01 2.29961040e-01 -9.32509960e-01 2.00016523e+02] [-1.07935027e-01 -9.72255583e-01 -2.07530987e-01 2.30974098e+02] [-9.54362057e-01 4.28602452e-02 2.95560593e-01 -2.56206786e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.4407140569999 meters Centerline goodness : 0.993579 Centerline is valid? [True, True] Translation: X:200.01, Y:230.97, Z:-256.21 [[-2.74163111e-01 2.13607745e-01 -9.37660024e-01 2.00013018e+02] [-9.26417372e-02 -9.76351360e-01 -1.95334408e-01 2.30973278e+02] [-9.57210581e-01 3.33129645e-02 2.87468519e-01 -2.56213792e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.4707140569999 meters Centerline goodness : 0.993286 Centerline is valid? [True, True] Translation: X:200.00, Y:230.95, Z:-256.20 [[-2.74672916e-01 1.65715008e-01 -9.47150107e-01 2.00001235e+02] [-8.90391166e-02 -9.85188030e-01 -1.46548902e-01 2.30951642e+02] [-9.57406301e-01 4.40803947e-02 2.85359587e-01 -2.56199325e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.500714057 meters Centerline goodness : 0.993145 Centerline is valid? [True, True] Translation: X:200.00, Y:230.95, Z:-256.20 [[-2.81112310e-01 1.83634105e-01 -9.41941816e-01 2.00002036e+02] [-9.66754851e-02 -9.81947594e-01 -1.62581590e-01 2.30952339e+02] [-9.54793025e-01 4.53589956e-02 2.93790472e-01 -2.56202706e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.530714057 meters Centerline goodness : 0.992633 Centerline is valid? [True, True] Translation: X:200.02, Y:230.97, Z:-256.20 [[-2.81073653e-01 2.20047052e-01 -9.34118245e-01 2.00015528e+02] [-8.79232672e-02 -9.75168872e-01 -2.03261335e-01 2.30970237e+02] [-9.55650093e-01 2.49993221e-02 2.93441533e-01 -2.56204398e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.5607140569999 meters Centerline goodness : 0.993062 Centerline is valid? [True, True] Translation: X:200.01, Y:230.97, Z:-256.22 [[-2.78138448e-01 2.06971370e-01 -9.37977535e-01 2.00010446e+02] [-7.58426169e-02 -9.78192985e-01 -1.93355585e-01 2.30969135e+02] [-9.57542115e-01 1.73590484e-02 2.87770329e-01 -2.56215806e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.5907140569999 meters Centerline goodness : 0.993222 Centerline is valid? [True, True] Translation: X:200.01, Y:230.96, Z:-256.19 [[-2.75753073e-01 1.72216225e-01 -9.45675322e-01 2.00008645e+02] [-6.32780509e-02 -9.84937724e-01 -1.60914783e-01 2.30958017e+02] [-9.59143436e-01 1.54677452e-02 2.82497111e-01 -2.56194442e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.620714057 meters Centerline goodness : 0.993222 Centerline is valid? [True, True] Translation: X:200.01, Y:230.95, Z:-256.20 [[-2.75876242e-01 1.64758821e-01 -9.46967175e-01 2.00005508e+02] [-6.29382017e-02 -9.86181742e-01 -1.53246058e-01 2.30954343e+02] [-9.59130378e-01 1.73234645e-02 2.82433737e-01 -2.56196094e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.650714057 meters Centerline goodness : 0.993548 Centerline is valid? [True, True] Translation: X:200.00, Y:230.95, Z:-256.20 [[-2.83630897e-01 1.78944279e-01 -9.42089412e-01 2.00004512e+02] [-7.04284140e-02 -9.83668521e-01 -1.65638398e-01 2.30954509e+02] [-9.56343742e-01 1.93696958e-02 2.91601547e-01 -2.56197822e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.6807140569999 meters Centerline goodness : 0.992848 Centerline is valid? [True, True] Translation: X:200.02, Y:230.97, Z:-256.19 [[-2.76838185e-01 1.93835714e-01 -9.41163289e-01 2.00016987e+02] [-5.63733775e-02 -9.81032508e-01 -1.85464982e-01 2.30971870e+02] [-9.59261519e-01 1.71276434e-03 2.82514432e-01 -2.56194384e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.7107140569999 meters Centerline goodness : 0.993309 Centerline is valid? [True, True] Translation: X:200.01, Y:230.96, Z:-256.19 [[-2.78530994e-01 1.58909833e-01 -9.47189607e-01 2.00006984e+02] [-5.19380229e-02 -9.87266000e-01 -1.50360525e-01 2.30960781e+02] [-9.59021860e-01 7.31508914e-03 2.83237642e-01 -2.56188685e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.7407140569999 meters Centerline goodness : 0.993395 Centerline is valid? [True, True] Translation: X:200.00, Y:230.96, Z:-256.19 [[-2.81923190e-01 1.58903657e-01 -9.46186527e-01 2.00004109e+02] [-5.16253055e-02 -9.87273091e-01 -1.50421645e-01 2.30962837e+02] [-9.58047046e-01 6.43981859e-03 2.86538629e-01 -2.56191678e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.770714057 meters Centerline goodness : 0.993912 Centerline is valid? [True, True] Translation: X:200.00, Y:230.97, Z:-256.20 [[-2.85504681e-01 1.65239197e-01 -9.44024939e-01 2.00001786e+02] [-5.80618005e-02 -9.86197187e-01 -1.55061068e-01 2.30965774e+02] [-9.56616906e-01 1.05411269e-02 2.91157998e-01 -2.56197399e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.8007140569999 meters Centerline goodness : 0.993257 Centerline is valid? [True, True] Translation: X:200.02, Y:230.99, Z:-256.19 [[-2.88529390e-01 2.05507076e-01 -9.35156475e-01 2.00015571e+02] [-5.01476956e-02 -9.78597254e-01 -1.99581119e-01 2.30993653e+02] [-9.56156891e-01 -1.06890765e-02 2.92659775e-01 -2.56193714e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.8307140569999 meters Centerline goodness : 0.993082 Centerline is valid? [True, True] Translation: X:200.00, Y:230.97, Z:-256.20 [[-2.84614349e-01 1.61894838e-01 -9.44872866e-01 1.99999469e+02] [-5.52449324e-02 -9.86768644e-01 -1.52432411e-01 2.30971897e+02] [-9.57048938e-01 8.81498608e-03 2.89792385e-01 -2.56199935e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.8607140569999 meters Centerline goodness : 0.993445 Centerline is valid? [True, True] Translation: X:200.01, Y:231.00, Z:-256.21 [[-2.83054101e-01 2.01282638e-01 -9.37744995e-01 2.00010461e+02] [-5.35780281e-02 -9.79521968e-01 -1.94077586e-01 2.30999281e+02] [-9.57606271e-01 -4.69192889e-03 2.88042037e-01 -2.56205938e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.890714057 meters Centerline goodness : 0.993751 Centerline is valid? [True, True] Translation: X:200.01, Y:231.01, Z:-256.21 [[-2.81692840e-01 2.00015385e-01 -9.38425804e-01 2.00007733e+02] [-5.30047688e-02 -9.79781945e-01 -1.92919247e-01 2.31007824e+02] [-9.58039476e-01 -4.60292767e-03 2.86599328e-01 -2.56211654e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.9207140569999 meters Centerline goodness : 0.993230 Centerline is valid? [True, True] Translation: X:200.01, Y:231.02, Z:-256.20 [[-2.97053903e-01 2.22673336e-01 -9.28534094e-01 2.00006408e+02] [-5.28288268e-02 -9.74772010e-01 -2.16860885e-01 2.31024749e+02] [-9.53398182e-01 -1.53660057e-02 3.01323401e-01 -2.56202704e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.9507140569999 meters Centerline goodness : 0.993342 Centerline is valid? [True, True] Translation: X:200.00, Y:231.01, Z:-256.20 [[-2.95724312e-01 1.87141242e-01 -9.36763197e-01 1.99996493e+02] [-5.25852886e-02 -9.82325414e-01 -1.79642892e-01 2.31013375e+02] [-9.53824889e-01 -3.86480772e-03 3.00338383e-01 -2.56196134e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.9807140569999 meters Centerline goodness : 0.993322 Centerline is valid? [True, True] Translation: X:199.99, Y:231.01, Z:-256.21 [[-2.79387086e-01 1.55079688e-01 -9.47572238e-01 1.99992131e+02] [-5.74011580e-02 -9.87803418e-01 -1.44739470e-01 2.31005894e+02] [-9.58461248e-01 1.39534049e-02 2.84881272e-01 -2.56214672e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.010714057 meters Centerline goodness : 0.993606 Centerline is valid? [True, True] Translation: X:200.00, Y:231.04, Z:-256.22 [[-2.85278548e-01 2.06269907e-01 -9.35985510e-01 2.00001126e+02] [-5.29170190e-02 -9.78467268e-01 -1.99503369e-01 2.31039791e+02] [-9.56982727e-01 -7.38446840e-03 2.90050910e-01 -2.56219433e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.040714057 meters Centerline goodness : 0.992487 Centerline is valid? [True, True] Translation: X:199.99, Y:231.02, Z:-256.21 [[-2.71142920e-01 1.26762518e-01 -9.54155533e-01 1.99988104e+02] [-5.18177591e-02 -9.91775004e-01 -1.17035299e-01 2.31018426e+02] [-9.61143297e-01 1.77089089e-02 2.75481320e-01 -2.56212482e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.0707140569999 meters Centerline goodness : 0.992595 Centerline is valid? [True, True] Translation: X:199.99, Y:231.02, Z:-256.23 [[-2.76938201e-01 1.47097956e-01 -9.49561701e-01 1.99985065e+02] [-6.89410374e-02 -9.88707914e-01 -1.33055605e-01 2.31022657e+02] [-9.58411376e-01 2.86155889e-02 2.83952077e-01 -2.56229244e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.1007140569999 meters Centerline goodness : 0.991999 Centerline is valid? [True, True] Translation: X:200.00, Y:231.05, Z:-256.23 [[-2.66808956e-01 1.78749231e-01 -9.47027821e-01 1.99999851e+02] [-5.64528567e-02 -9.83860834e-01 -1.69796744e-01 2.31053216e+02] [-9.62094619e-01 8.15913399e-03 2.72593787e-01 -2.56228291e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.130714057 meters Centerline goodness : 0.992013 Centerline is valid? [True, True] Translation: X:199.98, Y:231.03, Z:-256.24 [[-2.75122881e-01 1.45266650e-01 -9.50370981e-01 1.99979172e+02] [-8.02272158e-02 -9.88540007e-01 -1.27875909e-01 2.31034636e+02] [-9.58055841e-01 4.10640294e-02 2.83624314e-01 -2.56243101e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.160714057 meters Centerline goodness : 0.991567 Centerline is valid? [True, True] Translation: X:199.99, Y:231.07, Z:-256.25 [[-2.70818941e-01 2.03656561e-01 -9.40840638e-01 1.99989535e+02] [-8.65681098e-02 -9.78556850e-01 -1.86902257e-01 2.31069249e+02] [-9.58729922e-01 3.08301244e-02 2.82641893e-01 -2.56254714e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.1907140569999 meters Centerline goodness : 0.991821 Centerline is valid? [True, True] Translation: X:199.99, Y:231.07, Z:-256.26 [[-2.69676314e-01 2.03185483e-01 -9.41270601e-01 1.99987711e+02] [-8.92435129e-02 -9.78552102e-01 -1.85664696e-01 2.31072486e+02] [-9.58806696e-01 3.39329242e-02 2.82025311e-01 -2.56258083e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.2207140569999 meters Centerline goodness : 0.991636 Centerline is valid? [True, True] Translation: X:199.98, Y:231.08, Z:-256.27 [[-2.68744709e-01 2.02704227e-01 -9.41640737e-01 1.99983429e+02] [-9.19220284e-02 -9.78540843e-01 -1.84413014e-01 2.31075042e+02] [-9.58815218e-01 3.69975050e-02 2.81610657e-01 -2.56270168e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.250714057 meters Centerline goodness : 0.990766 Centerline is valid? [True, True] Translation: X:199.98, Y:231.08, Z:-256.27 [[-2.61954821e-01 2.07991710e-01 -9.42400722e-01 1.99984924e+02] [-9.89597607e-02 -9.77141684e-01 -1.88151790e-01 2.31082166e+02] [-9.59993041e-01 4.39724814e-02 2.76549784e-01 -2.56274756e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.280714057 meters Centerline goodness : 0.988756 Centerline is valid? [True, True] Translation: X:200.00, Y:231.10, Z:-256.26 [[-2.44934229e-01 1.96577590e-01 -9.49402167e-01 1.99999098e+02] [-7.49874244e-02 -9.80137508e-01 -1.83595623e-01 2.31098628e+02] [-9.66635459e-01 2.62243710e-02 2.54810072e-01 -2.56258964e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.3107140569999 meters Centerline goodness : 0.990989 Centerline is valid? [True, True] Translation: X:199.97, Y:231.07, Z:-256.28 [[-2.62011811e-01 1.65152503e-01 -9.50828303e-01 1.99973640e+02] [-1.05694811e-01 -9.84232245e-01 -1.41829108e-01 2.31069251e+02] [-9.59259307e-01 6.33367162e-02 2.75336236e-01 -2.56279543e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.3407140569999 meters Centerline goodness : 0.991180 Centerline is valid? [True, True] Translation: X:199.99, Y:231.10, Z:-256.28 [[-2.63292501e-01 2.35294742e-01 -9.35581874e-01 1.99985510e+02] [-1.03600958e-01 -9.71088154e-01 -2.15068917e-01 2.31104813e+02] [-9.59137060e-01 4.03011452e-02 2.80056989e-01 -2.56284287e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.370714057 meters Centerline goodness : 0.990523 Centerline is valid? [True, True] Translation: X:199.99, Y:231.09, Z:-256.26 [[-2.47655791e-01 1.67294226e-01 -9.54295159e-01 1.99993588e+02] [-8.33567301e-02 -9.85006038e-01 -1.51045559e-01 2.31093803e+02] [-9.65255544e-01 4.21396166e-02 2.57887549e-01 -2.56259796e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.400714057 meters Centerline goodness : 0.990836 Centerline is valid? [True, True] Translation: X:199.96, Y:231.06, Z:-256.28 [[-2.67654911e-01 1.31077606e-01 -9.54557232e-01 1.99964465e+02] [-1.07968858e-01 -9.88543735e-01 -1.05470419e-01 2.31060561e+02] [-9.57446382e-01 7.48327787e-02 2.78740885e-01 -2.56280545e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.4307140569999 meters Centerline goodness : 0.990761 Centerline is valid? [True, True] Translation: X:199.98, Y:231.09, Z:-256.29 [[-2.63656105e-01 2.01225581e-01 -9.43394787e-01 1.99977277e+02] [-1.07593661e-01 -9.78031561e-01 -1.78543750e-01 2.31093156e+02] [-9.58597446e-01 5.44291492e-02 2.79514589e-01 -2.56290696e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.4607140569999 meters Centerline goodness : 0.989312 Centerline is valid? [True, True] Translation: X:199.99, Y:231.10, Z:-256.28 [[-2.50979785e-01 1.74426503e-01 -9.52147333e-01 1.99986667e+02] [-8.90085882e-02 -9.83622409e-01 -1.56730429e-01 2.31098157e+02] [-9.63891394e-01 4.54131204e-02 2.62394797e-01 -2.56279447e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.4907140569999 meters Centerline goodness : 0.989212 Centerline is valid? [True, True] Translation: X:199.98, Y:231.07, Z:-256.27 [[-2.52798592e-01 1.11858665e-01 -9.61030963e-01 1.99976035e+02] [-9.03453157e-02 -9.91683395e-01 -9.16611596e-02 2.31069817e+02] [-9.63291543e-01 6.36528336e-02 2.60802072e-01 -2.56274313e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.520714057 meters Centerline goodness : 0.991118 Centerline is valid? [True, True] Translation: X:199.96, Y:231.07, Z:-256.30 [[-2.65674339e-01 1.39895238e-01 -9.53858725e-01 1.99963784e+02] [-1.12530240e-01 -9.87152127e-01 -1.13435546e-01 2.31065529e+02] [-9.57472762e-01 7.72010374e-02 2.78003434e-01 -2.56295464e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.5507140569999 meters Centerline goodness : 0.990475 Centerline is valid? [True, True] Translation: X:199.97, Y:231.09, Z:-256.30 [[-2.61362091e-01 1.99182996e-01 -9.44465982e-01 1.99974813e+02] [-1.12716696e-01 -9.78080729e-01 -1.75080079e-01 2.31091908e+02] [-9.58636951e-01 6.06977898e-02 2.78084474e-01 -2.56304917e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.5807140569999 meters Centerline goodness : 0.988304 Centerline is valid? [True, True] Translation: X:199.99, Y:231.10, Z:-256.28 [[-2.43817231e-01 1.70973263e-01 -9.54631500e-01 1.99988668e+02] [-9.09500150e-02 -9.84030575e-01 -1.53009551e-01 2.31097445e+02] [-9.65547126e-01 4.95173842e-02 2.55473631e-01 -2.56281145e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.6107140569999 meters Centerline goodness : 0.991161 Centerline is valid? [True, True] Translation: X:199.97, Y:231.07, Z:-256.31 [[-2.62414342e-01 1.62269094e-01 -9.51213674e-01 1.99967428e+02] [-1.16696583e-01 -9.83860938e-01 -1.35644987e-01 2.31071719e+02] [-9.57872967e-01 7.54081959e-02 2.77115470e-01 -2.56307343e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.640714057 meters Centerline goodness : 0.990840 Centerline is valid? [True, True] Translation: X:199.97, Y:231.09, Z:-256.31 [[-2.60006929e-01 1.97460722e-01 -9.45201386e-01 1.99974189e+02] [-1.16862527e-01 -9.78107506e-01 -1.72188435e-01 2.31086492e+02] [-9.58509023e-01 6.56884362e-02 2.77390488e-01 -2.56311936e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.6707140569999 meters Centerline goodness : 0.991344 Centerline is valid? [True, True] Translation: X:199.97, Y:231.08, Z:-256.32 [[-2.59461800e-01 1.96833355e-01 -9.45481996e-01 1.99973765e+02] [-1.19233264e-01 -9.78048600e-01 -1.70892847e-01 2.31083078e+02] [-9.58364755e-01 6.83927388e-02 2.77235334e-01 -2.56316887e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.7007140569999 meters Centerline goodness : 0.991344 Centerline is valid? [True, True] Translation: X:199.97, Y:231.08, Z:-256.32 [[-2.59457104e-01 1.96016500e-01 -9.45652972e-01 1.99972618e+02] [-1.20860988e-01 -9.78077813e-01 -1.69577163e-01 2.31080462e+02] [-9.58162112e-01 7.02945529e-02 2.77459985e-01 -2.56322166e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.7307140569999 meters Centerline goodness : 0.990495 Centerline is valid? [True, True] Translation: X:199.98, Y:231.08, Z:-256.31 [[-2.53489307e-01 1.79425156e-01 -9.50552358e-01 1.99980500e+02] [-1.05908791e-01 -9.81887952e-01 -1.57096715e-01 2.31084967e+02] [-9.61523010e-01 6.08495133e-02 2.67900798e-01 -2.56312616e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.760714057 meters Centerline goodness : 0.991447 Centerline is valid? [True, True] Translation: X:199.96, Y:231.04, Z:-256.32 [[-2.64692653e-01 1.27939189e-01 -9.55808225e-01 1.99958390e+02] [-1.28073047e-01 -9.87043829e-01 -9.66528537e-02 2.31043860e+02] [-9.55790298e-01 9.68299714e-02 2.77648811e-01 -2.56321279e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.790714057 meters Centerline goodness : 0.992445 Centerline is valid? [True, True] Translation: X:199.97, Y:231.07, Z:-256.33 [[-2.59135065e-01 1.95421474e-01 -9.45864402e-01 1.99972562e+02] [-1.29208269e-01 -9.77528223e-01 -1.66564692e-01 2.31072976e+02] [-9.57159465e-01 7.90507500e-02 2.78561910e-01 -2.56330735e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.8207140569999 meters Centerline goodness : 0.992002 Centerline is valid? [True, True] Translation: X:199.97, Y:231.07, Z:-256.34 [[-2.58774292e-01 1.95454321e-01 -9.45956381e-01 1.99971306e+02] [-1.34013288e-01 -9.77107653e-01 -1.65230366e-01 2.31068688e+02] [-9.56596208e-01 8.40133540e-02 2.79043818e-01 -2.56339703e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.8507140569999 meters Centerline goodness : 0.990965 Centerline is valid? [True, True] Translation: X:199.98, Y:231.07, Z:-256.33 [[-2.48198784e-01 1.77265271e-01 -9.52352029e-01 1.99978417e+02] [-1.17525068e-01 -9.81362757e-01 -1.52036171e-01 2.31073572e+02] [-9.61553546e-01 7.41900443e-02 2.64406156e-01 -2.56327469e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.880714057 meters Centerline goodness : 0.990015 Centerline is valid? [True, True] Translation: X:199.98, Y:231.05, Z:-256.32 [[-2.47133816e-01 1.41644745e-01 -9.58572711e-01 1.99975543e+02] [-1.19499180e-01 -9.86161741e-01 -1.14912868e-01 2.31053475e+02] [-9.61584538e-01 8.61497976e-02 2.60640346e-01 -2.56320966e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.910714057 meters Centerline goodness : 0.991908 Centerline is valid? [True, True] Translation: X:199.97, Y:231.04, Z:-256.32 [[-2.50267188e-01 1.30421178e-01 -9.59352204e-01 1.99972647e+02] [-1.19813070e-01 -9.87440697e-01 -1.02983970e-01 2.31044386e+02] [-9.60734700e-01 8.91694242e-02 2.62750168e-01 -2.56321377e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.9407140569999 meters Centerline goodness : 0.991396 Centerline is valid? [True, True] Translation: X:199.96, Y:231.02, Z:-256.32 [[-2.54870530e-01 8.89741153e-02 -9.62873107e-01 1.99961107e+02] [-1.20930770e-01 -9.90873044e-01 -5.95513185e-02 2.31017916e+02] [-9.59383532e-01 1.01263110e-01 2.63304046e-01 -2.56318085e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.9707140569999 meters Centerline goodness : 0.990380 Centerline is valid? [True, True] Translation: X:199.96, Y:231.02, Z:-256.32 [[-2.46858576e-01 8.79014000e-02 -9.65056572e-01 1.99961778e+02] [-1.18335181e-01 -9.91158762e-01 -6.00091127e-02 2.31016177e+02] [-9.61799162e-01 9.93863797e-02 2.55077869e-01 -2.56321690e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.000714057 meters Centerline goodness : 0.992177 Centerline is valid? [True, True] Translation: X:199.87, Y:231.02, Z:-256.69 [[-2.56134089e-01 1.59903734e-01 -9.53323725e-01 1.99868725e+02] [-1.30071526e-01 -9.82954930e-01 -1.29926916e-01 2.31018479e+02] [-9.57850054e-01 9.07215598e-02 2.72567188e-01 -2.56693027e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.030714057 meters Centerline goodness : 0.991057 Centerline is valid? [True, True] Translation: X:199.97, Y:231.03, Z:-256.34 [[-2.53214530e-01 1.40523502e-01 -9.57149700e-01 1.99968947e+02] [-1.17924508e-01 -9.86499263e-01 -1.13635445e-01 2.31026195e+02] [-9.60195924e-01 8.40972616e-02 2.66367112e-01 -2.56342613e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.0607140569999 meters Centerline goodness : 0.991780 Centerline is valid? [True, True] Translation: X:199.97, Y:231.01, Z:-256.34 [[-2.53363587e-01 1.17853752e-01 -9.60165291e-01 1.99968859e+02] [-1.15540960e-01 -9.89132786e-01 -9.09209475e-02 2.31014976e+02] [-9.60446344e-01 8.79023618e-02 2.64227166e-01 -2.56337112e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.0907140569999 meters Centerline goodness : 0.993229 Centerline is valid? [True, True] Translation: X:199.97, Y:231.01, Z:-256.36 [[-2.65257070e-01 1.58494660e-01 -9.51061580e-01 1.99966053e+02] [-1.33239261e-01 -9.82958456e-01 -1.26649013e-01 2.31010528e+02] [-9.54927215e-01 9.31241959e-02 2.81854392e-01 -2.56355398e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.120714057 meters Centerline goodness : 0.993814 Centerline is valid? [True, True] Translation: X:199.97, Y:231.02, Z:-256.36 [[-2.63787172e-01 1.86637111e-01 -9.46352428e-01 1.99974754e+02] [-1.32477994e-01 -9.78814872e-01 -1.56112226e-01 2.31020672e+02] [-9.55440165e-01 8.41904691e-02 2.82924117e-01 -2.56356105e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.150714057 meters Centerline goodness : 0.993437 Centerline is valid? [True, True] Translation: X:199.97, Y:231.02, Z:-256.37 [[-2.64364323e-01 1.85438200e-01 -9.46427060e-01 1.99973051e+02] [-1.32578778e-01 -9.79011273e-01 -1.54789519e-01 2.31016701e+02] [-9.55266650e-01 8.45553168e-02 2.83400822e-01 -2.56365046e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.1807140569999 meters Centerline goodness : 0.993146 Centerline is valid? [True, True] Translation: X:199.97, Y:231.01, Z:-256.37 [[-2.65433397e-01 1.84430467e-01 -9.46324741e-01 1.99973979e+02] [-1.33287573e-01 -9.79127802e-01 -1.53437840e-01 2.31010461e+02] [-9.54871476e-01 8.54058005e-02 2.84475507e-01 -2.56367526e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.2107140569999 meters Centerline goodness : 0.992413 Centerline is valid? [True, True] Translation: X:199.98, Y:231.01, Z:-256.36 [[-2.49952674e-01 1.60346916e-01 -9.54888751e-01 1.99983049e+02] [-1.12792049e-01 -9.84300186e-01 -1.35761182e-01 2.31012008e+02] [-9.61666062e-01 7.37699879e-02 2.64114321e-01 -2.56356626e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.2407140569999 meters Centerline goodness : 0.992832 Centerline is valid? [True, True] Translation: X:199.96, Y:230.97, Z:-256.35 [[-2.59036341e-01 9.57574991e-02 -9.61109086e-01 1.99961949e+02] [-1.17095982e-01 -9.90847086e-01 -6.71608720e-02 2.30972646e+02] [-9.58743295e-01 9.51449057e-02 2.67878222e-01 -2.56353624e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.270714057 meters Centerline goodness : 0.992794 Centerline is valid? [True, True] Translation: X:199.96, Y:230.97, Z:-256.35 [[-2.54219296e-01 9.43924827e-02 -9.62529277e-01 1.99962502e+02] [-1.16814938e-01 -9.90936518e-01 -6.63256158e-02 2.30970194e+02] [-9.60066050e-01 9.55765460e-02 2.62941636e-01 -2.56352443e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.3007140569999 meters Centerline goodness : 0.994194 Centerline is valid? [True, True] Translation: X:199.96, Y:230.97, Z:-256.37 [[-2.69558143e-01 1.37783411e-01 -9.53076146e-01 1.99959570e+02] [-1.36302307e-01 -9.85206090e-01 -1.03878016e-01 2.30971493e+02] [-9.53289090e-01 1.01905312e-01 2.84350521e-01 -2.56369339e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.3307140569999 meters Centerline goodness : 0.994377 Centerline is valid? [True, True] Translation: X:199.97, Y:230.99, Z:-256.38 [[-2.64929763e-01 1.81947493e-01 -9.46946319e-01 1.99972479e+02] [-1.36850275e-01 -9.79191075e-01 -1.49856067e-01 2.30987275e+02] [-9.54507320e-01 8.98885323e-02 2.84316424e-01 -2.56376010e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.3607140569999 meters Centerline goodness : 0.993529 Centerline is valid? [True, True] Translation: X:199.98, Y:230.98, Z:-256.36 [[-2.51466440e-01 1.46551958e-01 -9.56706409e-01 1.99978746e+02] [-1.18628940e-01 -9.85683930e-01 -1.19809705e-01 2.30981715e+02] [-9.60568480e-01 8.33649468e-02 2.65251733e-01 -2.56363153e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.390714057 meters Centerline goodness : 0.994657 Centerline is valid? [True, True] Translation: X:199.95, Y:230.94, Z:-256.37 [[-2.72106862e-01 1.01061624e-01 -9.56945351e-01 1.99947292e+02] [-1.41491276e-01 -9.87862444e-01 -6.40937703e-02 2.30942965e+02] [-9.51807793e-01 1.17959064e-01 2.83103488e-01 -2.56372167e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.4207140569999 meters Centerline goodness : 0.993640 Centerline is valid? [True, True] Translation: X:199.98, Y:230.98, Z:-256.36 [[-2.44578274e-01 1.51983932e-01 -9.57644168e-01 1.99983666e+02] [-1.18579051e-01 -9.84914278e-01 -1.26027275e-01 2.30982415e+02] [-9.62351535e-01 8.27330031e-02 2.58910744e-01 -2.56362930e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.4507140569999 meters Centerline goodness : 0.993636 Centerline is valid? [True, True] Translation: X:199.96, Y:230.95, Z:-256.36 [[-2.58857312e-01 1.04274411e-01 -9.60270660e-01 1.99959231e+02] [-1.30062812e-01 -9.88864835e-01 -7.23187655e-02 2.30950140e+02] [-9.57118884e-01 1.06175261e-01 2.69537116e-01 -2.56364848e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.4807140569999 meters Centerline goodness : 0.993565 Centerline is valid? [True, True] Translation: X:199.80, Y:230.94, Z:-256.94 [[-2.63714605e-01 1.57004430e-01 -9.51737472e-01 1.99804427e+02] [-1.45551406e-01 -9.81844367e-01 -1.21640565e-01 2.30935041e+02] [-9.53556184e-01 1.06448334e-01 2.81778915e-01 -2.56936759e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.510714057 meters Centerline goodness : 0.994205 Centerline is valid? [True, True] Translation: X:199.41, Y:231.85, Z:-256.39 [[-3.03026320e-01 5.83607441e-01 7.53377332e-01 1.99405707e+02] [-2.01687379e-02 7.86442616e-01 -6.17333973e-01 2.31847462e+02] [-9.52768740e-01 -2.02263112e-01 -2.26542187e-01 -2.56386321e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.540714057 meters Centerline goodness : 0.994205 Centerline is valid? [True, True] Translation: X:199.09, Y:230.91, Z:-256.34 [[-3.48585697e-01 -9.35667028e-01 5.49110634e-02 1.99090433e+02] [-1.22162671e-01 1.03441861e-01 9.87104890e-01 2.30907575e+02] [-9.29281601e-01 3.37382564e-01 -1.50361936e-01 -2.56338011e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.5707140569999 meters Centerline goodness : 0.992789 Centerline is valid? [True, True] Translation: X:198.80, Y:231.48, Z:-257.02 [[-2.83376145e-01 -2.60150693e-01 9.23049065e-01 1.98800095e+02] [-7.37275663e-02 9.65564398e-01 2.49498778e-01 2.31479556e+02] [-9.56170595e-01 2.64784080e-03 -2.92798195e-01 -2.57016099e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.6007140569999 meters Centerline goodness : 0.994526 Centerline is valid? [True, True] Translation: X:199.97, Y:231.24, Z:-256.66 [[-1.92236695e-01 5.74589183e-01 -7.95545300e-01 1.99971472e+02] [-2.26772252e-01 -8.14733861e-01 -5.33650712e-01 2.31240594e+02] [-9.54787620e-01 7.78203499e-02 2.86922628e-01 -2.56662845e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.630714057 meters Centerline goodness : 0.993968 Centerline is valid? [True, True] Translation: X:199.96, Y:231.19, Z:-256.66 [[-1.96483727e-01 5.01641218e-01 -8.42466755e-01 1.99963083e+02] [-2.33482798e-01 -8.58436911e-01 -4.56696676e-01 2.31188443e+02] [-9.52302435e-01 1.06968030e-01 2.85793478e-01 -2.56657078e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.660714057 meters Centerline goodness : 0.994108 Centerline is valid? [True, True] Translation: X:199.97, Y:231.19, Z:-256.65 [[-1.94307148e-01 4.89393521e-01 -8.50140408e-01 1.99971002e+02] [-2.23620190e-01 -8.65937564e-01 -4.47376961e-01 2.31187658e+02] [-9.55111901e-01 1.03180018e-01 2.77696131e-01 -2.56646368e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.6907140569999 meters Centerline goodness : 0.994206 Centerline is valid? [True, True] Translation: X:199.96, Y:231.17, Z:-256.67 [[-1.99992828e-01 4.84584148e-01 -8.51575641e-01 1.99961580e+02] [-2.33019057e-01 -8.67721066e-01 -4.39047003e-01 2.31174647e+02] [-9.51685341e-01 1.10627101e-01 2.86455331e-01 -2.56665720e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.7207140569999 meters Centerline goodness : 0.995242 Centerline is valid? [True, True] Translation: X:199.96, Y:231.18, Z:-256.69 [[-2.00056152e-01 5.22090164e-01 -8.29095529e-01 1.99960062e+02] [-2.46523946e-01 -8.45800750e-01 -4.73124757e-01 2.31183052e+02] [-9.48263402e-01 1.09740383e-01 2.97915371e-01 -2.56687083e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.750714057 meters Centerline goodness : 0.994813 Centerline is valid? [True, True] Translation: X:199.97, Y:231.21, Z:-256.66 [[-1.96254811e-01 5.33669277e-01 -8.22606317e-01 1.99973827e+02] [-2.25098523e-01 -8.41036661e-01 -4.91922747e-01 2.31206801e+02] [-9.54366127e-01 8.86252611e-02 2.85185657e-01 -2.56660727e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.780714057 meters Centerline goodness : 0.995170 Centerline is valid? [True, True] Translation: X:199.97, Y:231.17, Z:-256.65 [[-2.01177994e-01 4.82670164e-01 -8.52383087e-01 1.99967383e+02] [-2.26484798e-01 -8.69515185e-01 -4.38916826e-01 2.31173252e+02] [-9.53012094e-01 1.04751405e-01 2.84244775e-01 -2.56654807e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.8107140569999 meters Centerline goodness : 0.994233 Centerline is valid? [True, True] Translation: X:199.97, Y:231.18, Z:-256.66 [[-2.02851530e-01 4.91692739e-01 -8.46811377e-01 1.99967677e+02] [-2.26628583e-01 -8.64885076e-01 -4.47898750e-01 2.31176422e+02] [-9.52623085e-01 1.01054716e-01 2.86874890e-01 -2.56659624e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.8407140569999 meters Centerline goodness : 0.995103 Centerline is valid? [True, True] Translation: X:199.97, Y:231.18, Z:-256.65 [[-2.04443876e-01 4.85271457e-01 -8.50126058e-01 1.99972270e+02] [-2.20876898e-01 -8.68941111e-01 -4.42893600e-01 2.31175321e+02] [-9.53633104e-01 9.72263225e-02 2.84834943e-01 -2.56647104e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.870714057 meters Centerline goodness : 0.994678 Centerline is valid? [True, True] Translation: X:199.97, Y:231.18, Z:-256.65 [[-2.04904593e-01 4.85828034e-01 -8.49697140e-01 1.99973118e+02] [-2.17519054e-01 -8.69010779e-01 -4.44416165e-01 2.31175219e+02] [-9.54305805e-01 9.37624047e-02 2.83741155e-01 -2.56650669e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.900714057 meters Centerline goodness : 0.994646 Centerline is valid? [True, True] Translation: X:199.97, Y:231.17, Z:-256.65 [[-2.08465154e-01 4.82449017e-01 -8.50755679e-01 1.99971725e+02] [-2.17721536e-01 -8.70931210e-01 -4.40540760e-01 2.31170812e+02] [-9.53488129e-01 9.33904358e-02 2.86598349e-01 -2.56652159e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.9307140569999 meters Centerline goodness : 0.994443 Centerline is valid? [True, True] Translation: X:199.97, Y:231.17, Z:-256.66 [[-2.10359315e-01 4.82572640e-01 -8.50219152e-01 1.99971829e+02] [-2.14269150e-01 -8.71291860e-01 -4.41519225e-01 2.31170912e+02] [-9.53854124e-01 8.92980532e-02 2.86684788e-01 -2.56656284e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.9607140569999 meters Centerline goodness : 0.994259 Centerline is valid? [True, True] Translation: X:199.97, Y:231.17, Z:-256.65 [[-2.14465641e-01 4.78491962e-01 -8.51498639e-01 1.99974922e+02] [-2.08688561e-01 -8.74100685e-01 -4.38630913e-01 2.31169258e+02] [-9.54176909e-01 8.36267661e-02 2.87320362e-01 -2.56647994e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.9907140569999 meters Centerline goodness : 0.994536 Centerline is valid? [True, True] Translation: X:199.97, Y:231.17, Z:-256.65 [[-2.16259176e-01 4.73465337e-01 -8.53851594e-01 1.99974472e+02] [-2.06395599e-01 -8.76952094e-01 -4.33999865e-01 2.31165081e+02] [-9.54270835e-01 8.23747579e-02 2.87370099e-01 -2.56649001e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.020714057 meters Centerline goodness : 0.994546 Centerline is valid? [True, True] Translation: X:199.97, Y:231.16, Z:-256.66 [[-2.18545817e-01 4.74839032e-01 -8.52505495e-01 1.99973808e+02] [-2.02228751e-01 -8.76696640e-01 -4.36470543e-01 2.31162444e+02] [-9.54641953e-01 7.70123101e-02 2.87624488e-01 -2.56657209e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.0507140569999 meters Centerline goodness : 0.994319 Centerline is valid? [True, True] Translation: X:199.98, Y:231.17, Z:-256.66 [[-2.20245258e-01 4.80826945e-01 -8.48703408e-01 1.99975038e+02] [-1.99771807e-01 -8.73860446e-01 -4.43237121e-01 2.31165859e+02] [-9.54768690e-01 7.19261393e-02 2.88519287e-01 -2.56655974e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.0807140569999 meters Centerline goodness : 0.994714 Centerline is valid? [True, True] Translation: X:199.97, Y:231.16, Z:-256.66 [[-2.21029353e-01 4.76246980e-01 -8.51078633e-01 1.99973220e+02] [-1.98814185e-01 -8.76339916e-01 -4.38749668e-01 2.31161221e+02] [-9.54787382e-01 7.22299496e-02 2.88381499e-01 -2.56659314e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.1107140569999 meters Centerline goodness : 0.994484 Centerline is valid? [True, True] Translation: X:199.98, Y:231.16, Z:-256.66 [[-2.21341510e-01 4.74651215e-01 -8.51888585e-01 1.99975475e+02] [-1.93600913e-01 -8.77556067e-01 -4.38650243e-01 2.31160227e+02] [-9.55785866e-01 6.78349008e-02 2.86132494e-01 -2.56655672e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.140714057 meters Centerline goodness : 0.994397 Centerline is valid? [True, True] Translation: X:199.97, Y:231.15, Z:-256.66 [[-2.22567771e-01 4.64835916e-01 -8.56966253e-01 1.99972124e+02] [-1.95098911e-01 -8.82469842e-01 -4.27999290e-01 2.31151472e+02] [-9.55196316e-01 7.19343345e-02 2.87098327e-01 -2.56656796e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.1707140569999 meters Centerline goodness : 0.994600 Centerline is valid? [True, True] Translation: X:199.97, Y:231.16, Z:-256.66 [[-2.24786394e-01 4.78576646e-01 -8.48784703e-01 1.99971699e+02] [-1.96886732e-01 -8.75417843e-01 -4.41451260e-01 2.31156476e+02] [-9.54309537e-01 6.78822094e-02 2.91007412e-01 -2.56662564e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.2007140569999 meters Centerline goodness : 0.994697 Centerline is valid? [True, True] Translation: X:199.97, Y:231.15, Z:-256.68 [[-2.23248099e-01 4.75399003e-01 -8.50973604e-01 1.99969315e+02] [-1.94458584e-01 -8.77179500e-01 -4.39023900e-01 2.31151627e+02] [-9.55168124e-01 6.74678713e-02 2.88274072e-01 -2.56676942e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.2307140569999 meters Centerline goodness : 0.994805 Centerline is valid? [True, True] Translation: X:199.98, Y:231.16, Z:-256.66 [[-2.24041835e-01 4.79161919e-01 -8.48651349e-01 1.99975343e+02] [-1.95116502e-01 -8.75210252e-01 -4.42647225e-01 2.31155240e+02] [-9.54848055e-01 6.64143862e-02 2.89576108e-01 -2.56657813e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.260714057 meters Centerline goodness : 0.994353 Centerline is valid? [True, True] Translation: X:199.97, Y:231.15, Z:-256.68 [[-2.23946570e-01 4.77282583e-01 -8.49734823e-01 1.99967839e+02] [-1.98555803e-01 -8.75936804e-01 -4.39670682e-01 2.31148392e+02] [-9.54161164e-01 7.02570391e-02 2.90930270e-01 -2.56681419e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.290714057 meters Centerline goodness : 0.994733 Centerline is valid? [True, True] Translation: X:199.97, Y:231.15, Z:-256.67 [[-2.22505167e-01 4.82297838e-01 -8.47278140e-01 1.99973021e+02] [-1.98547697e-01 -8.73268128e-01 -4.44951220e-01 2.31153342e+02] [-9.54500007e-01 6.92211782e-02 2.90065796e-01 -2.56667284e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.3207140569999 meters Centerline goodness : 0.994608 Centerline is valid? [True, True] Translation: X:199.97, Y:231.15, Z:-256.67 [[-2.21763987e-01 4.79578620e-01 -8.49014182e-01 1.99972527e+02] [-2.01909145e-01 -8.74408135e-01 -4.41183761e-01 2.31149956e+02] [-9.53967207e-01 7.35850577e-02 2.90743543e-01 -2.56666895e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.3507140569999 meters Centerline goodness : 0.994879 Centerline is valid? [True, True] Translation: X:199.97, Y:231.14, Z:-256.67 [[-2.20095500e-01 4.69323611e-01 -8.55156898e-01 1.99970305e+02] [-2.03751045e-01 -8.79435488e-01 -4.30207780e-01 2.31142825e+02] [-9.53961992e-01 7.95523151e-02 2.89184970e-01 -2.56670526e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.380714057 meters Centerline goodness : 0.994478 Centerline is valid? [True, True] Translation: X:199.97, Y:231.14, Z:-256.67 [[-2.19638136e-01 4.68768385e-01 -8.55578921e-01 1.99968548e+02] [-2.10974530e-01 -8.79064268e-01 -4.27476035e-01 2.31139821e+02] [-9.52496109e-01 8.66153208e-02 2.91974227e-01 -2.56673729e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.410714057 meters Centerline goodness : 0.994376 Centerline is valid? [True, True] Translation: X:199.97, Y:231.14, Z:-256.68 [[-2.18564475e-01 4.73906301e-01 -8.53019571e-01 1.99967283e+02] [-2.13883634e-01 -8.76163565e-01 -4.31962035e-01 2.31140440e+02] [-9.52094198e-01 8.80353702e-02 2.92859031e-01 -2.56683917e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.4407140569999 meters Centerline goodness : 0.995103 Centerline is valid? [True, True] Translation: X:199.97, Y:231.14, Z:-256.70 [[-2.16643384e-01 4.78872217e-01 -8.50733239e-01 1.99966862e+02] [-2.13774625e-01 -8.73549887e-01 -4.37276806e-01 2.31142784e+02] [-9.52557638e-01 8.71320521e-02 2.91619532e-01 -2.56695371e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.4707140569999 meters Centerline goodness : 0.994409 Centerline is valid? [True, True] Translation: X:199.97, Y:231.14, Z:-256.69 [[-2.16083481e-01 4.76409485e-01 -8.52256963e-01 1.99970360e+02] [-2.16426198e-01 -8.74535572e-01 -4.33989902e-01 2.31141362e+02] [-9.52085937e-01 9.06726856e-02 2.92080184e-01 -2.56685373e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.500714057 meters Centerline goodness : 0.994921 Centerline is valid? [True, True] Translation: X:199.97, Y:231.14, Z:-256.69 [[-2.17425206e-01 4.81507252e-01 -8.49044785e-01 1.99970038e+02] [-2.19661911e-01 -8.71678897e-01 -4.38091937e-01 2.31140145e+02] [-9.51038866e-01 9.12505699e-02 2.95293766e-01 -2.56689111e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.530714057 meters Centerline goodness : 0.994893 Centerline is valid? [True, True] Translation: X:199.97, Y:231.14, Z:-256.70 [[-2.17829174e-01 4.79539244e-01 -8.50054448e-01 1.99967294e+02] [-2.20378393e-01 -8.72641982e-01 -4.35808829e-01 2.31137083e+02] [-9.50780635e-01 9.24017556e-02 2.95766970e-01 -2.56696693e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.5607140569999 meters Centerline goodness : 0.994331 Centerline is valid? [True, True] Translation: X:199.96, Y:231.14, Z:-256.71 [[-2.17015799e-01 4.82781930e-01 -8.48425454e-01 1.99963603e+02] [-2.20841951e-01 -8.70886066e-01 -4.39074360e-01 2.31135294e+02] [-9.50859073e-01 9.20818590e-02 2.95614539e-01 -2.56713000e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.5907140569999 meters Centerline goodness : 0.994507 Centerline is valid? [True, True] Translation: X:199.97, Y:231.13, Z:-256.70 [[-2.16661810e-01 4.80232150e-01 -8.49961612e-01 1.99967379e+02] [-2.20491207e-01 -8.72217069e-01 -4.36601664e-01 2.31134573e+02] [-9.51021182e-01 9.28141546e-02 2.94863095e-01 -2.56702174e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.620714057 meters Centerline goodness : 0.994423 Centerline is valid? [True, True] Translation: X:199.97, Y:231.14, Z:-256.70 [[-2.17908606e-01 4.84969237e-01 -8.46947861e-01 1.99968625e+02] [-2.19985036e-01 -8.69876506e-01 -4.41499093e-01 2.31137108e+02] [-9.50853524e-01 9.01094033e-02 2.96239552e-01 -2.56701791e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.650714057 meters Centerline goodness : 0.994117 Centerline is valid? [True, True] Translation: X:199.97, Y:231.13, Z:-256.71 [[-2.19411159e-01 4.79903499e-01 -8.49441802e-01 1.99966087e+02] [-2.19358543e-01 -8.72631337e-01 -4.36344337e-01 2.31130520e+02] [-9.50652709e-01 9.05934991e-02 2.96735985e-01 -2.56713417e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.6807140569999 meters Centerline goodness : 0.994736 Centerline is valid? [True, True] Translation: X:199.96, Y:231.13, Z:-256.72 [[-2.20952176e-01 4.78464762e-01 -8.49853874e-01 1.99964200e+02] [-2.19727705e-01 -8.73408858e-01 -4.34599474e-01 2.31126910e+02] [-9.50210435e-01 9.07107424e-02 2.98113552e-01 -2.56718670e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.7107140569999 meters Centerline goodness : 0.994957 Centerline is valid? [True, True] Translation: X:199.96, Y:231.13, Z:-256.73 [[-2.22930062e-01 4.82680280e-01 -8.46948602e-01 1.99963387e+02] [-2.19623121e-01 -8.71344766e-01 -4.38775550e-01 2.31126892e+02] [-9.49772537e-01 8.81932348e-02 3.00256692e-01 -2.56725610e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.7407140569999 meters Centerline goodness : 0.994398 Centerline is valid? [True, True] Translation: X:199.96, Y:231.13, Z:-256.74 [[-2.24874517e-01 4.84667183e-01 -8.45298275e-01 1.99963006e+02] [-2.16519803e-01 -8.70683423e-01 -4.41621504e-01 2.31125384e+02] [-9.50026646e-01 8.37143933e-02 3.00734556e-01 -2.56735839e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.770714057 meters Centerline goodness : 0.994154 Centerline is valid? [True, True] Translation: X:199.97, Y:231.13, Z:-256.71 [[-2.25415359e-01 4.79930829e-01 -8.47852767e-01 1.99969238e+02] [-2.13723826e-01 -8.73412061e-01 -4.37576848e-01 2.31125350e+02] [-9.50531453e-01 8.25697946e-02 2.99453146e-01 -2.56712265e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.8007140569999 meters Centerline goodness : 0.994717 Centerline is valid? [True, True] Translation: X:199.96, Y:231.12, Z:-256.74 [[-2.26937127e-01 4.79676648e-01 -8.47590617e-01 1.99962854e+02] [-2.10854204e-01 -8.73854557e-01 -4.38085285e-01 2.31118304e+02] [-9.50810205e-01 7.93002287e-02 2.99451880e-01 -2.56738681e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.8307140569999 meters Centerline goodness : 0.993754 Centerline is valid? [True, True] Translation: X:199.95, Y:231.11, Z:-256.77 [[-2.27532721e-01 4.78034489e-01 -8.48358349e-01 1.99954837e+02] [-2.10365379e-01 -8.74767722e-01 -4.36494948e-01 2.31111175e+02] [-9.50776140e-01 7.91483424e-02 2.99600187e-01 -2.56768521e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.8607140569999 meters Centerline goodness : 0.994407 Centerline is valid? [True, True] Translation: X:199.97, Y:231.11, Z:-256.73 [[-2.27652776e-01 4.86326252e-01 -8.43600018e-01 1.99965754e+02] [-2.20685815e-01 -8.69573693e-01 -4.41745814e-01 2.31113195e+02] [-9.48404969e-01 8.56058969e-02 3.05286170e-01 -2.56731489e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.890714057 meters Centerline goodness : 0.994494 Centerline is valid? [True, True] Translation: X:199.97, Y:231.13, Z:-256.75 [[-2.25373857e-01 5.23670998e-01 -8.21568811e-01 1.99970106e+02] [-2.17701635e-01 -8.49010738e-01 -4.81442380e-01 2.31134935e+02] [-9.49638154e-01 7.03523467e-02 3.05348857e-01 -2.56752660e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.9207140569999 meters Centerline goodness : 0.994167 Centerline is valid? [True, True] Translation: X:199.97, Y:231.14, Z:-256.74 [[-2.26279299e-01 5.22517886e-01 -8.22053975e-01 1.99973986e+02] [-2.17416883e-01 -8.49745666e-01 -4.80273049e-01 2.31135592e+02] [-9.49488061e-01 7.00525634e-02 3.05884064e-01 -2.56739137e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.9507140569999 meters Centerline goodness : 0.994136 Centerline is valid? [True, True] Translation: X:199.98, Y:231.14, Z:-256.73 [[-2.25881157e-01 5.10048605e-01 -8.29956700e-01 1.99978551e+02] [-2.03854895e-01 -8.57861755e-01 -4.71716431e-01 2.31138192e+02] [-9.52586419e-01 6.26388832e-02 2.97750711e-01 -2.56726780e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.9807140569999 meters Centerline goodness : 0.994572 Centerline is valid? [True, True] Translation: X:199.95, Y:231.10, Z:-256.79 [[-2.26559358e-01 4.69474763e-01 -8.53384031e-01 1.99954895e+02] [-2.03916418e-01 -8.79612439e-01 -4.29767438e-01 2.31101267e+02] [-9.52412176e-01 7.66511797e-02 2.95018041e-01 -2.56787621e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.010714057 meters Centerline goodness : 0.994263 Centerline is valid? [True, True] Translation: X:199.97, Y:231.11, Z:-256.74 [[-2.26752178e-01 4.65278677e-01 -8.55627958e-01 1.99967567e+02] [-2.03858898e-01 -8.81724717e-01 -4.25444560e-01 2.31105433e+02] [-9.52378601e-01 7.79568926e-02 2.94784198e-01 -2.56738955e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.040714057 meters Centerline goodness : 0.994292 Centerline is valid? [True, True] Translation: X:199.97, Y:231.10, Z:-256.75 [[-2.25760041e-01 4.63295222e-01 -8.56965542e-01 1.99966488e+02] [-2.02709939e-01 -8.82762109e-01 -4.23839286e-01 2.31103361e+02] [-9.52859425e-01 7.80294583e-02 2.93206957e-01 -2.56749885e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.0707140569999 meters Centerline goodness : 0.994817 Centerline is valid? [True, True] Translation: X:199.97, Y:231.10, Z:-256.76 [[-2.25695253e-01 4.64156423e-01 -8.56516472e-01 1.99965358e+02] [-2.03172447e-01 -8.82295140e-01 -4.24589499e-01 2.31102457e+02] [-9.52776264e-01 7.81927135e-02 2.93433622e-01 -2.56757043e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.1007140569999 meters Centerline goodness : 0.994286 Centerline is valid? [True, True] Translation: X:199.97, Y:231.10, Z:-256.76 [[-2.24314641e-01 4.59737606e-01 -8.59257980e-01 1.99967209e+02] [-2.00568651e-01 -8.84630262e-01 -4.20953104e-01 2.31100709e+02] [-9.53653584e-01 7.79142689e-02 2.90644471e-01 -2.56757232e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.130714057 meters Centerline goodness : 0.994070 Centerline is valid? [True, True] Translation: X:199.97, Y:231.10, Z:-256.74 [[-2.24993123e-01 4.49864204e-01 -8.64291787e-01 1.99970352e+02] [-2.02856332e-01 -8.89225063e-01 -4.10034263e-01 2.31097187e+02] [-9.53009655e-01 8.30721721e-02 2.91327326e-01 -2.56735129e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.160714057 meters Centerline goodness : 0.994066 Centerline is valid? [True, True] Translation: X:199.97, Y:231.11, Z:-256.75 [[-2.21705901e-01 4.68121585e-01 -8.55399717e-01 1.99969276e+02] [-2.05364875e-01 -8.79971112e-01 -4.28341114e-01 2.31106984e+02] [-9.53242761e-01 8.07033033e-02 2.91230520e-01 -2.56753595e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.1907140569999 meters Centerline goodness : 0.994465 Centerline is valid? [True, True] Translation: X:199.97, Y:231.12, Z:-256.75 [[-2.25975404e-01 4.92225736e-01 -8.40624138e-01 1.99969371e+02] [-2.28534739e-01 -8.65650237e-01 -4.45445328e-01 2.31116034e+02] [-9.46946139e-01 9.14521296e-02 3.08106342e-01 -2.56752614e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.2207140569999 meters Centerline goodness : 0.994813 Centerline is valid? [True, True] Translation: X:199.98, Y:231.15, Z:-256.73 [[-2.16405081e-01 4.94350667e-01 -8.41894446e-01 1.99981079e+02] [-2.09588941e-01 -8.65747020e-01 -4.54482753e-01 2.31145966e+02] [-9.53541460e-01 7.80993884e-02 2.90962487e-01 -2.56727317e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.250714057 meters Centerline goodness : 0.995299 Centerline is valid? [True, True] Translation: X:199.98, Y:231.13, Z:-256.70 [[-2.20572718e-01 4.53737703e-01 -8.63405915e-01 1.99977279e+02] [-2.09104649e-01 -8.86624280e-01 -4.12519856e-01 2.31126528e+02] [-9.52692459e-01 8.95515647e-02 2.90443790e-01 -2.56703694e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.280714057 meters Centerline goodness : 0.994388 Centerline is valid? [True, True] Translation: X:199.96, Y:231.10, Z:-256.70 [[-2.20758845e-01 3.97172399e-01 -8.90797181e-01 1.99964260e+02] [-2.08320368e-01 -9.11455066e-01 -3.54756658e-01 2.31097242e+02] [-9.52821157e-01 1.07255526e-01 2.83950869e-01 -2.56697145e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.3107140569999 meters Centerline goodness : 0.994809 Centerline is valid? [True, True] Translation: X:199.97, Y:231.12, Z:-256.69 [[-2.10845260e-01 4.31007427e-01 -8.77369292e-01 1.99970300e+02] [-2.01405155e-01 -8.97443449e-01 -3.92468112e-01 2.31123423e+02] [-9.56545995e-01 9.39566571e-02 2.76028815e-01 -2.56694680e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.3407140569999 meters Centerline goodness : 0.994555 Centerline is valid? [True, True] Translation: X:199.96, Y:231.10, Z:-256.68 [[-2.11789212e-01 3.89078414e-01 -8.96528481e-01 1.99961719e+02] [-2.01595871e-01 -9.15001856e-01 -3.49472044e-01 2.31103544e+02] [-9.56297252e-01 1.06722031e-01 2.72224124e-01 -2.56682365e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.370714057 meters Centerline goodness : 0.994762 Centerline is valid? [True, True] Translation: X:199.96, Y:231.13, Z:-256.72 [[-2.17753874e-01 4.34933731e-01 -8.73736745e-01 1.99955051e+02] [-2.08107231e-01 -8.95322272e-01 -3.93813928e-01 2.31133726e+02] [-9.53558929e-01 9.60764266e-02 2.85472748e-01 -2.56723265e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.400714057 meters Centerline goodness : 0.995268 Centerline is valid? [True, True] Translation: X:199.94, Y:231.12, Z:-256.77 [[-2.25926183e-01 4.51277978e-01 -8.63310805e-01 1.99937707e+02] [-2.33702349e-01 -8.85452490e-01 -4.01692793e-01 2.31124896e+02] [-9.45695814e-01 1.11004844e-01 3.05511625e-01 -2.56765134e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.4307140569999 meters Centerline goodness : 0.995268 Centerline is valid? [True, True] Translation: X:199.95, Y:231.17, Z:-256.78 [[-2.19897041e-01 5.15440153e-01 -8.28231091e-01 1.99947221e+02] [-2.30751974e-01 -8.52401682e-01 -4.69217326e-01 2.31165641e+02] [-9.47839025e-01 8.79364578e-02 3.06379441e-01 -2.56776844e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.4607140569999 meters Centerline goodness : 0.995105 Centerline is valid? [True, True] Translation: X:199.95, Y:231.17, Z:-256.78 [[-2.22074601e-01 5.14180631e-01 -8.28432949e-01 1.99945138e+02] [-2.30189264e-01 -8.53279576e-01 -4.67896216e-01 2.31169395e+02] [-9.47468086e-01 8.67885054e-02 3.07850582e-01 -2.56779373e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.4907140569999 meters Centerline goodness : 0.994772 Centerline is valid? [True, True] Translation: X:199.94, Y:231.17, Z:-256.79 [[-2.25332309e-01 5.12381431e-01 -8.28667980e-01 1.99939389e+02] [-2.27563638e-01 -8.54695120e-01 -4.66595160e-01 2.31171441e+02] [-9.47333173e-01 8.34357358e-02 3.09189807e-01 -2.56786284e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.520714057 meters Centerline goodness : 0.994740 Centerline is valid? [True, True] Translation: X:199.94, Y:231.17, Z:-256.78 [[-2.26978496e-01 5.10806962e-01 -8.29190575e-01 1.99939397e+02] [-2.25631958e-01 -8.55828916e-01 -4.65453634e-01 2.31171922e+02] [-9.47402228e-01 8.14439271e-02 3.09509135e-01 -2.56779349e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.5507140569999 meters Centerline goodness : 0.993765 Centerline is valid? [True, True] Translation: X:199.94, Y:231.19, Z:-256.75 [[-2.34304473e-01 5.02148798e-01 -8.32434982e-01 1.99943083e+02] [-2.03820767e-01 -8.62613810e-01 -4.62984351e-01 2.31188585e+02] [-9.50556947e-01 6.11882320e-02 3.04462628e-01 -2.56750864e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.5807140569999 meters Centerline goodness : 0.994627 Centerline is valid? [True, True] Translation: X:199.93, Y:231.13, Z:-256.77 [[-2.35252457e-01 4.40132129e-01 -8.66567938e-01 1.99925017e+02] [-2.21069794e-01 -8.92452619e-01 -3.93263868e-01 2.31134930e+02] [-9.46458889e-01 9.90557040e-02 3.07251590e-01 -2.56771030e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.6107140569999 meters Centerline goodness : 0.994605 Centerline is valid? [True, True] Translation: X:199.93, Y:231.18, Z:-256.78 [[-2.28430510e-01 5.05839020e-01 -8.31833149e-01 1.99931174e+02] [-2.14551263e-01 -8.59573561e-01 -4.63789876e-01 2.31180787e+02] [-9.49624799e-01 7.25270949e-02 3.04881227e-01 -2.56782410e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.640714057 meters Centerline goodness : 0.994127 Centerline is valid? [True, True] Translation: X:199.93, Y:231.18, Z:-256.78 [[-2.28129075e-01 5.04348148e-01 -8.32820552e-01 1.99929625e+02] [-2.12548497e-01 -8.60542550e-01 -4.62914308e-01 2.31181123e+02] [-9.50147495e-01 7.14105434e-02 3.03513217e-01 -2.56781447e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.6707140569999 meters Centerline goodness : 0.994154 Centerline is valid? [True, True] Translation: X:199.93, Y:231.18, Z:-256.78 [[-2.27336242e-01 5.02985775e-01 -8.33860626e-01 1.99927850e+02] [-2.10978364e-01 -8.61383245e-01 -4.62068214e-01 2.31180430e+02] [-9.50687311e-01 7.08816991e-02 3.01942746e-01 -2.56784210e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.7007140569999 meters Centerline goodness : 0.993717 Centerline is valid? [True, True] Translation: X:199.93, Y:231.18, Z:-256.79 [[-2.26719808e-01 5.01510425e-01 -8.34916416e-01 1.99925515e+02] [-2.08959333e-01 -8.62323722e-01 -4.61230740e-01 2.31181726e+02] [-9.51280256e-01 6.98934328e-02 3.00301153e-01 -2.56785280e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.7307140569999 meters Centerline goodness : 0.994295 Centerline is valid? [True, True] Translation: X:199.92, Y:231.18, Z:-256.79 [[-2.26357485e-01 5.00417847e-01 -8.35669952e-01 1.99924282e+02] [-2.08653974e-01 -8.62934131e-01 -4.60226254e-01 2.31183229e+02] [-9.51433554e-01 7.01901991e-02 2.99745772e-01 -2.56787018e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.760714057 meters Centerline goodness : 0.993991 Centerline is valid? [True, True] Translation: X:199.92, Y:231.18, Z:-256.79 [[-2.25582415e-01 4.99575956e-01 -8.36382950e-01 1.99921976e+02] [-2.09341372e-01 -8.63314150e-01 -4.59200250e-01 2.31184760e+02] [-9.51466639e-01 7.15020533e-02 2.99330407e-01 -2.56792222e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.790714057 meters Centerline goodness : 0.993899 Centerline is valid? [True, True] Translation: X:199.92, Y:231.19, Z:-256.80 [[-2.22875568e-01 4.99262762e-01 -8.37295154e-01 1.99917816e+02] [-2.11925004e-01 -8.63172053e-01 -4.58281355e-01 2.31189135e+02] [-9.51532592e-01 7.53040615e-02 2.98186224e-01 -2.56801482e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.8207140569999 meters Centerline goodness : 0.993764 Centerline is valid? [True, True] Translation: X:199.92, Y:231.19, Z:-256.80 [[-2.21690129e-01 4.98769267e-01 -8.37903756e-01 1.99917042e+02] [-2.14093439e-01 -8.63214797e-01 -4.57191660e-01 2.31190999e+02] [-9.51324070e-01 7.80348185e-02 2.98149428e-01 -2.56800921e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.8507140569999 meters Centerline goodness : 0.992305 Centerline is valid? [True, True] Translation: X:199.92, Y:231.21, Z:-256.77 [[-2.24126102e-01 4.84621283e-01 -8.45523331e-01 1.99919614e+02] [-1.95933367e-01 -8.72286851e-01 -4.48024291e-01 2.31205270e+02] [-9.54660990e-01 6.52522950e-02 2.90455731e-01 -2.56774866e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.880714057 meters Centerline goodness : 0.993032 Centerline is valid? [True, True] Translation: X:199.90, Y:231.15, Z:-256.77 [[-2.33195803e-01 4.00884244e-01 -8.85952335e-01 1.99904900e+02] [-2.06207855e-01 -9.10736905e-01 -3.57822037e-01 2.31152983e+02] [-9.50314705e-01 9.92477331e-02 2.95045504e-01 -2.56770570e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.910714057 meters Centerline goodness : 0.992944 Centerline is valid? [True, True] Translation: X:199.90, Y:231.15, Z:-256.78 [[-2.24947253e-01 3.94111426e-01 -8.91108813e-01 1.99904658e+02] [-2.02276157e-01 -9.13512364e-01 -3.52958236e-01 2.31153372e+02] [-9.53143793e-01 1.00853080e-01 2.85211442e-01 -2.56784734e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.9407140569999 meters Centerline goodness : 0.992702 Centerline is valid? [True, True] Translation: X:199.89, Y:231.16, Z:-256.81 [[-2.35505100e-01 4.26758077e-01 -8.73163726e-01 1.99892902e+02] [-2.22719291e-01 -8.98222882e-01 -3.78935051e-01 2.31161987e+02] [-9.46009231e-01 1.05229269e-01 3.06583326e-01 -2.56809434e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.9707140569999 meters Centerline goodness : 0.992507 Centerline is valid? [True, True] Translation: X:199.89, Y:231.17, Z:-256.82 [[-2.34349928e-01 4.44720067e-01 -8.64467566e-01 1.99890127e+02] [-2.26541306e-01 -8.89731701e-01 -3.96303593e-01 2.31170053e+02] [-9.45388358e-01 1.02963893e-01 3.09256025e-01 -2.56822418e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.000714057 meters Centerline goodness : 0.992548 Centerline is valid? [True, True] Translation: X:199.89, Y:231.17, Z:-256.83 [[-2.32367437e-01 4.45914979e-01 -8.64387185e-01 1.99885912e+02] [-2.29703623e-01 -8.88732745e-01 -3.96724532e-01 2.31170058e+02] [-9.45114607e-01 1.06367006e-01 3.08940836e-01 -2.56832042e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.030714057 meters Centerline goodness : 0.992716 Centerline is valid? [True, True] Translation: X:199.88, Y:231.18, Z:-256.84 [[-2.32965429e-01 4.59702252e-01 -8.56971965e-01 1.99883738e+02] [-2.33182416e-01 -8.81916843e-01 -4.09693352e-01 2.31175598e+02] [-9.44114967e-01 1.04386405e-01 3.12650617e-01 -2.56838581e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.0607140569999 meters Centerline goodness : 0.992513 Centerline is valid? [True, True] Translation: X:199.88, Y:231.18, Z:-256.84 [[-2.34006170e-01 4.61862315e-01 -8.55525753e-01 1.99881980e+02] [-2.35785019e-01 -8.80647707e-01 -4.10931919e-01 2.31175271e+02] [-9.43210760e-01 1.05559552e-01 3.14977212e-01 -2.56841251e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.0907140569999 meters Centerline goodness : 0.992512 Centerline is valid? [True, True] Translation: X:199.88, Y:231.17, Z:-256.85 [[-2.34347379e-01 4.61594816e-01 -8.55576725e-01 1.99877645e+02] [-2.39394921e-01 -8.80383989e-01 -4.09407015e-01 2.31173832e+02] [-9.42216205e-01 1.08877262e-01 3.16819135e-01 -2.56850419e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.120714057 meters Centerline goodness : 0.992693 Centerline is valid? [True, True] Translation: X:199.88, Y:231.18, Z:-256.85 [[-2.34554705e-01 4.72705976e-01 -8.49431075e-01 1.99876709e+02] [-2.41095080e-01 -8.74794707e-01 -4.20246812e-01 2.31179822e+02] [-9.41730988e-01 1.06222786e-01 3.19154299e-01 -2.56854543e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.150714057 meters Centerline goodness : 0.993408 Centerline is valid? [True, True] Translation: X:199.89, Y:231.16, Z:-256.84 [[-2.16781409e-01 4.39039171e-01 -8.71923407e-01 1.99890952e+02] [-2.42452287e-01 -8.89391739e-01 -3.87555445e-01 2.31162266e+02] [-9.45633496e-01 1.27385008e-01 2.99249646e-01 -2.56840756e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.1807140569999 meters Centerline goodness : 0.993463 Centerline is valid? [True, True] Translation: X:199.90, Y:231.20, Z:-256.84 [[-2.11093057e-01 4.99483887e-01 -8.40211621e-01 1.99898453e+02] [-2.40390631e-01 -8.59709414e-01 -4.50679563e-01 2.31198489e+02] [-9.47445020e-01 1.06843675e-01 3.01549935e-01 -2.56844406e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.2107140569999 meters Centerline goodness : 0.993967 Centerline is valid? [True, True] Translation: X:199.90, Y:231.20, Z:-256.85 [[-2.13388426e-01 4.98859020e-01 -8.40003011e-01 1.99898140e+02] [-2.42417542e-01 -8.59953646e-01 -4.49125218e-01 2.31195227e+02] [-9.46413818e-01 1.07793342e-01 3.04436333e-01 -2.56849438e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.2407140569999 meters Centerline goodness : 0.993192 Centerline is valid? [True, True] Translation: X:199.90, Y:231.21, Z:-256.81 [[-2.26020022e-01 5.00341556e-01 -8.35806962e-01 1.99903270e+02] [-2.28829755e-01 -8.61271544e-01 -4.53705049e-01 2.31208279e+02] [-9.46864242e-01 8.87110770e-02 3.09157648e-01 -2.56810456e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.270714057 meters Centerline goodness : 0.993769 Centerline is valid? [True, True] Translation: X:199.89, Y:231.14, Z:-256.84 [[-2.25637313e-01 4.11854321e-01 -8.82872483e-01 1.99886450e+02] [-2.46913258e-01 -9.00829640e-01 -3.57127152e-01 2.31138503e+02] [-9.42402062e-01 1.37411711e-01 3.04953072e-01 -2.56844835e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.3007140569999 meters Centerline goodness : 0.993395 Centerline is valid? [True, True] Translation: X:199.90, Y:231.18, Z:-256.86 [[-2.18316551e-01 4.96558862e-01 -8.40099506e-01 1.99897151e+02] [-2.41816454e-01 -8.61543901e-01 -4.46393222e-01 2.31183866e+02] [-9.45443116e-01 1.05694855e-01 3.08165396e-01 -2.56857115e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.3307140569999 meters Centerline goodness : 0.993136 Centerline is valid? [True, True] Translation: X:199.90, Y:231.18, Z:-256.86 [[-2.20343132e-01 4.95079554e-01 -8.40443419e-01 1.99898106e+02] [-2.40314115e-01 -8.62614367e-01 -4.45135464e-01 2.31180205e+02] [-9.45356034e-01 1.03887874e-01 3.09045756e-01 -2.56855550e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.3607140569999 meters Centerline goodness : 0.992092 Centerline is valid? [True, True] Translation: X:199.90, Y:231.19, Z:-256.83 [[-2.32036034e-01 5.02127681e-01 -8.33082871e-01 1.99903622e+02] [-2.20796959e-01 -8.61290853e-01 -4.57631697e-01 2.31193354e+02] [-9.47316200e-01 7.77551205e-02 3.10718779e-01 -2.56827108e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.390714057 meters Centerline goodness : 0.993044 Centerline is valid? [True, True] Translation: X:199.90, Y:231.15, Z:-256.82 [[-2.43226365e-01 4.33183147e-01 -8.67867096e-01 1.99896140e+02] [-2.20353021e-01 -8.96019150e-01 -3.85479219e-01 2.31146626e+02] [-9.44608639e-01 9.74784274e-02 3.13388696e-01 -2.56821603e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.4207140569999 meters Centerline goodness : 0.993178 Centerline is valid? [True, True] Translation: X:199.90, Y:231.13, Z:-256.82 [[-2.45386404e-01 4.02503744e-01 -8.81916237e-01 1.99895070e+02] [-2.15565520e-01 -9.09609973e-01 -3.55163630e-01 2.31126602e+02] [-9.45154495e-01 1.02958406e-01 3.09971849e-01 -2.56816403e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.4507140569999 meters Centerline goodness : 0.993569 Centerline is valid? [True, True] Translation: X:199.90, Y:231.11, Z:-256.82 [[-2.47197369e-01 3.91194701e-01 -8.86487545e-01 1.99896595e+02] [-2.07656649e-01 -9.15012396e-01 -3.45877192e-01 2.31113063e+02] [-9.46452417e-01 9.85851014e-02 3.07422838e-01 -2.56816362e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.4807140569999 meters Centerline goodness : 0.994024 Centerline is valid? [True, True] Translation: X:199.90, Y:231.10, Z:-256.84 [[-2.44569245e-01 4.03960563e-01 -8.81477026e-01 1.99895775e+02] [-2.26090988e-01 -9.07783833e-01 -3.53286538e-01 2.31097877e+02] [-9.42904423e-01 1.12890990e-01 3.13347849e-01 -2.56835241e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.510714057 meters Centerline goodness : 0.994211 Centerline is valid? [True, True] Translation: X:199.91, Y:231.14, Z:-256.85 [[-2.41024172e-01 4.84814031e-01 -8.40751273e-01 1.99912291e+02] [-2.20765223e-01 -8.70968168e-01 -4.38950074e-01 2.31138205e+02] [-9.45076751e-01 7.98110642e-02 3.16954459e-01 -2.56850690e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.540714057 meters Centerline goodness : 0.993342 Centerline is valid? [True, True] Translation: X:199.92, Y:231.15, Z:-256.82 [[-2.46712592e-01 4.68186239e-01 -8.48489566e-01 1.99921810e+02] [-1.93803340e-01 -8.81703548e-01 -4.30161735e-01 2.31147457e+02] [-9.49512066e-01 5.83137956e-02 3.08263424e-01 -2.56818852e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.5707140569999 meters Centerline goodness : 0.993706 Centerline is valid? [True, True] Translation: X:199.90, Y:231.07, Z:-256.84 [[-2.54127204e-01 3.83104491e-01 -8.88059859e-01 1.99896726e+02] [-2.20210081e-01 -9.17006217e-01 -3.32576486e-01 2.31068604e+02] [-9.41767957e-01 1.11043001e-01 3.17399696e-01 -2.56837468e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.6007140569999 meters Centerline goodness : 0.993878 Centerline is valid? [True, True] Translation: X:199.92, Y:231.12, Z:-256.85 [[-2.46922443e-01 4.81992894e-01 -8.40661738e-01 1.99919193e+02] [-2.18639527e-01 -8.72865340e-01 -4.36237156e-01 2.31120202e+02] [-9.44047703e-01 7.60851402e-02 3.20912740e-01 -2.56851616e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.630714057 meters Centerline goodness : 0.993410 Centerline is valid? [True, True] Translation: X:199.92, Y:231.13, Z:-256.86 [[-2.51932703e-01 5.10936600e-01 -8.21872073e-01 1.99918211e+02] [-2.25214629e-01 -8.56902185e-01 -4.63677708e-01 2.31129178e+02] [-9.41173886e-01 6.82820356e-02 3.30952080e-01 -2.56856098e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.660714057 meters Centerline goodness : 0.985811 Centerline is valid? [True, True] Translation: X:199.71, Y:231.00, Z:-257.64 [[-2.32273228e-01 4.90697944e-01 -8.39800378e-01 1.99712034e+02] [-2.24453711e-01 -8.67151521e-01 -4.44599562e-01 2.30999285e+02] [-9.46398267e-01 8.52277362e-02 3.11555058e-01 -2.57636107e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.6907140569999 meters Centerline goodness : 0.993103 Centerline is valid? [True, True] Translation: X:199.90, Y:231.08, Z:-256.94 [[-2.42695546e-01 4.72743498e-01 -8.47120096e-01 1.99898005e+02] [-2.03379357e-01 -8.78616451e-01 -4.32053203e-01 2.31080293e+02] [-9.48543994e-01 6.74293529e-02 3.09382568e-01 -2.56936315e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.7207140569999 meters Centerline goodness : 0.992856 Centerline is valid? [True, True] Translation: X:199.89, Y:231.05, Z:-256.92 [[-2.45068423e-01 4.27694781e-01 -8.70068183e-01 1.99893345e+02] [-2.08635114e-01 -8.99673628e-01 -3.83482403e-01 2.31047490e+02] [-9.46790821e-01 8.75473467e-02 3.09713746e-01 -2.56915774e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.750714057 meters Centerline goodness : 0.992744 Centerline is valid? [True, True] Translation: X:199.89, Y:231.06, Z:-256.92 [[-2.47588937e-01 4.55171864e-01 -8.55288426e-01 1.99892508e+02] [-2.15166361e-01 -8.86560821e-01 -4.09528202e-01 2.31056580e+02] [-9.44670925e-01 8.26346465e-02 3.17440325e-01 -2.56921421e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.780714057 meters Centerline goodness : 0.992728 Centerline is valid? [True, True] Translation: X:199.88, Y:231.03, Z:-256.93 [[-2.45193127e-01 4.05579230e-01 -8.80559946e-01 1.99884258e+02] [-2.13859519e-01 -9.08538907e-01 -3.58916650e-01 2.31026016e+02] [-9.45592109e-01 1.00312230e-01 3.09504475e-01 -2.56926114e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.8107140569999 meters Centerline goodness : 0.992605 Centerline is valid? [True, True] Translation: X:199.89, Y:231.03, Z:-256.93 [[-2.40915816e-01 4.27707053e-01 -8.71221124e-01 1.99889546e+02] [-2.17015216e-01 -8.98672087e-01 -3.81173026e-01 2.31033961e+02] [-9.45972497e-01 9.72376292e-02 3.09323258e-01 -2.56930081e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.8407140569999 meters Centerline goodness : 0.992929 Centerline is valid? [True, True] Translation: X:199.90, Y:231.05, Z:-256.90 [[-2.47184846e-01 4.22169183e-01 -8.72165599e-01 1.99895948e+02] [-1.95708394e-01 -9.03298490e-01 -3.81772265e-01 2.31048051e+02] [-9.48998354e-01 7.63218104e-02 3.05903752e-01 -2.56899926e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.870714057 meters Centerline goodness : 0.992164 Centerline is valid? [True, True] Translation: X:199.86, Y:230.98, Z:-256.93 [[-2.50856201e-01 3.27305483e-01 -9.11011683e-01 1.99860235e+02] [-2.01332542e-01 -9.38165302e-01 -2.81622218e-01 2.30984193e+02] [-9.46856047e-01 1.12769619e-01 3.01241829e-01 -2.56925549e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.900714057 meters Centerline goodness : 0.991797 Centerline is valid? [True, True] Translation: X:199.87, Y:230.99, Z:-256.91 [[-2.49965904e-01 3.39254202e-01 -9.06875754e-01 1.99869759e+02] [-2.00058353e-01 -9.34494440e-01 -2.94443199e-01 2.30992671e+02] [-9.47361443e-01 1.07827309e-01 3.01462384e-01 -2.56907552e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.9307140569999 meters Centerline goodness : 0.991944 Centerline is valid? [True, True] Translation: X:199.86, Y:230.99, Z:-256.95 [[-2.49730992e-01 3.40691835e-01 -9.06401404e-01 1.99858107e+02] [-2.01153665e-01 -9.33892831e-01 -2.95603424e-01 2.30986319e+02] [-9.47191446e-01 1.08504628e-01 3.01753394e-01 -2.56951526e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.9607140569999 meters Centerline goodness : 0.991534 Centerline is valid? [True, True] Translation: X:199.86, Y:230.98, Z:-256.94 [[-2.52043235e-01 3.34908089e-01 -9.07915624e-01 1.99859505e+02] [-1.99826659e-01 -9.35996364e-01 -2.89793224e-01 2.30983703e+02] [-9.46859818e-01 1.08385324e-01 3.02835116e-01 -2.56935980e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.9907140569999 meters Centerline goodness : 0.991973 Centerline is valid? [True, True] Translation: X:199.86, Y:230.99, Z:-256.94 [[-2.49850873e-01 3.41091576e-01 -9.06218008e-01 1.99861696e+02] [-1.96639955e-01 -9.34272251e-01 -2.97435858e-01 2.30986416e+02] [-9.48107203e-01 1.03884060e-01 3.00500970e-01 -2.56941590e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.020714057 meters Centerline goodness : 0.991506 Centerline is valid? [True, True] Translation: X:199.85, Y:230.98, Z:-256.96 [[-2.53383845e-01 3.28793233e-01 -9.09775597e-01 1.99849974e+02] [-1.97327803e-01 -9.38260229e-01 -2.84129337e-01 2.30975152e+02] [-9.47026064e-01 1.07530236e-01 3.02620031e-01 -2.56958183e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.0507140569999 meters Centerline goodness : 0.991619 Centerline is valid? [True, True] Translation: X:199.88, Y:231.01, Z:-256.92 [[-2.51594671e-01 3.76107459e-01 -8.91764151e-01 1.99876007e+02] [-1.94962052e-01 -9.22210188e-01 -3.33943360e-01 2.31007220e+02] [-9.47992574e-01 8.98417992e-02 3.05349851e-01 -2.56920016e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.0807140569999 meters Centerline goodness : 0.991705 Centerline is valid? [True, True] Translation: X:199.86, Y:230.97, Z:-256.93 [[-2.53554668e-01 3.34722494e-01 -9.07563156e-01 1.99860745e+02] [-2.08915433e-01 -9.35029540e-01 -2.86485777e-01 2.30971390e+02] [-9.44491595e-01 1.16964144e-01 3.07009799e-01 -2.56928606e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.1107140569999 meters Centerline goodness : 0.991652 Centerline is valid? [True, True] Translation: X:199.88, Y:231.04, Z:-256.95 [[-2.51510378e-01 4.38878023e-01 -8.62628895e-01 1.99882353e+02] [-1.95018767e-01 -8.95979019e-01 -3.98985310e-01 2.31041727e+02] [-9.48003275e-01 6.78798776e-02 3.10937473e-01 -2.56952580e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.140714057 meters Centerline goodness : 0.992058 Centerline is valid? [True, True] Translation: X:199.87, Y:231.00, Z:-256.93 [[-2.59798049e-01 3.61270521e-01 -8.95538154e-01 1.99867398e+02] [-1.93784090e-01 -9.28021357e-01 -3.18157332e-01 2.30996660e+02] [-9.46019397e-01 9.08843924e-02 3.11106617e-01 -2.56926394e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.1707140569999 meters Centerline goodness : 0.991250 Centerline is valid? [True, True] Translation: X:199.86, Y:230.99, Z:-256.93 [[-2.71515217e-01 3.59458480e-01 -8.92787258e-01 1.99857470e+02] [-2.02803585e-01 -9.28174696e-01 -3.12029550e-01 2.30991135e+02] [-9.40824210e-01 9.63396857e-02 3.24913022e-01 -2.56926401e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.2007140569999 meters Centerline goodness : 0.991772 Centerline is valid? [True, True] Translation: X:199.86, Y:231.00, Z:-256.94 [[-2.69505041e-01 3.73639084e-01 -8.87558938e-01 1.99857674e+02] [-2.01621689e-01 -9.23127363e-01 -3.27390541e-01 2.30998153e+02] [-9.41655843e-01 9.07177306e-02 3.24121221e-01 -2.56944309e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.2307140569999 meters Centerline goodness : 0.991991 Centerline is valid? [True, True] Translation: X:199.85, Y:230.99, Z:-256.93 [[-2.71357005e-01 3.51620053e-01 -8.95951290e-01 1.99853947e+02] [-1.98729274e-01 -9.31288909e-01 -3.05299270e-01 2.30990047e+02] [-9.41738845e-01 9.52066543e-02 3.22588967e-01 -2.56928464e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.260714057 meters Centerline goodness : 0.991983 Centerline is valid? [True, True] Translation: X:199.86, Y:231.01, Z:-256.94 [[-2.65404637e-01 3.74541803e-01 -8.88413652e-01 1.99860828e+02] [-1.95752499e-01 -9.23200769e-01 -3.30728439e-01 2.31005093e+02] [-9.44055792e-01 8.61323309e-02 3.18339259e-01 -2.56936391e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.290714057 meters Centerline goodness : 0.992088 Centerline is valid? [True, True] Translation: X:199.86, Y:231.00, Z:-256.93 [[-2.67614655e-01 3.63500660e-01 -8.92328228e-01 1.99856841e+02] [-1.94907200e-01 -9.27384114e-01 -3.19327245e-01 2.31000585e+02] [-9.43606687e-01 8.84645461e-02 3.19030475e-01 -2.56931430e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.3207140569999 meters Centerline goodness : 0.992044 Centerline is valid? [True, True] Translation: X:199.85, Y:231.00, Z:-256.93 [[-2.64503384e-01 3.55813127e-01 -8.96345345e-01 1.99854574e+02] [-1.90606614e-01 -9.30401248e-01 -3.13085670e-01 2.30998277e+02] [-9.45360819e-01 8.80371322e-02 3.13914614e-01 -2.56933584e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.3507140569999 meters Centerline goodness : 0.992044 Centerline is valid? [True, True] Translation: X:199.85, Y:231.00, Z:-256.94 [[-2.64296463e-01 3.58996580e-01 -8.95136211e-01 1.99854791e+02] [-1.90257399e-01 -9.29307975e-01 -3.16526159e-01 2.30999736e+02] [-9.45489028e-01 8.66495428e-02 3.13914567e-01 -2.56936573e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.380714057 meters Centerline goodness : 0.992594 Centerline is valid? [True, True] Translation: X:199.85, Y:231.00, Z:-256.94 [[-2.62189863e-01 3.52281508e-01 -8.98417617e-01 1.99853785e+02] [-1.86004755e-01 -9.31977897e-01 -3.11158210e-01 2.30998186e+02] [-9.46920645e-01 8.55274203e-02 3.09881193e-01 -2.56939761e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.410714057 meters Centerline goodness : 0.992420 Centerline is valid? [True, True] Translation: X:199.85, Y:231.00, Z:-256.94 [[-2.64043982e-01 3.51915569e-01 -8.98017933e-01 1.99852341e+02] [-1.81869555e-01 -9.32524802e-01 -3.11963074e-01 2.31000274e+02] [-9.47208658e-01 8.09501494e-02 3.10230290e-01 -2.56938337e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.4407140569999 meters Centerline goodness : 0.991792 Centerline is valid? [True, True] Translation: X:199.85, Y:231.00, Z:-256.93 [[-2.69098530e-01 3.56397165e-01 -8.94744121e-01 1.99852754e+02] [-1.82827523e-01 -9.31023804e-01 -3.15861954e-01 2.31002383e+02] [-9.45600380e-01 7.85858638e-02 3.15696348e-01 -2.56934765e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.4707140569999 meters Centerline goodness : 0.992939 Centerline is valid? [True, True] Translation: X:199.85, Y:231.00, Z:-256.93 [[-2.73482877e-01 3.53269512e-01 -8.94655111e-01 1.99848726e+02] [-1.79300802e-01 -9.32534633e-01 -3.13417262e-01 2.31001452e+02] [-9.45017639e-01 7.46981248e-02 3.18373761e-01 -2.56932440e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.500714057 meters Centerline goodness : 0.992862 Centerline is valid? [True, True] Translation: X:199.85, Y:231.00, Z:-256.93 [[-2.73772949e-01 3.54569592e-01 -8.94051887e-01 1.99851873e+02] [-1.74283161e-01 -9.32466420e-01 -3.16436023e-01 2.31004819e+02] [-9.45871954e-01 6.91865656e-02 3.17079591e-01 -2.56925134e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.530714057 meters Centerline goodness : 0.993134 Centerline is valid? [True, True] Translation: X:199.85, Y:231.00, Z:-256.93 [[-2.78141196e-01 3.56621188e-01 -8.91884972e-01 1.99849011e+02] [-1.73425198e-01 -9.31909491e-01 -3.18541052e-01 2.31003810e+02] [-9.44754559e-01 6.60759385e-02 3.21049520e-01 -2.56930453e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.5607140569999 meters Centerline goodness : 0.993216 Centerline is valid? [True, True] Translation: X:199.85, Y:231.00, Z:-256.93 [[-2.80144763e-01 3.53868815e-01 -8.92354063e-01 1.99846996e+02] [-1.65131633e-01 -9.33484071e-01 -3.18337924e-01 2.31003691e+02] [-9.45648167e-01 5.81751813e-02 3.19945609e-01 -2.56930748e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.5907140569999 meters Centerline goodness : 0.993322 Centerline is valid? [True, True] Translation: X:199.85, Y:231.01, Z:-256.94 [[-2.82282989e-01 3.55590183e-01 -8.90994913e-01 1.99845600e+02] [-1.61422450e-01 -9.33130142e-01 -3.21264580e-01 2.31005189e+02] [-9.45652741e-01 5.31390561e-02 3.20807004e-01 -2.56935210e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.620714057 meters Centerline goodness : 0.992694 Centerline is valid? [True, True] Translation: X:199.85, Y:231.01, Z:-256.92 [[-2.79517122e-01 3.42762905e-01 -8.96874445e-01 1.99851756e+02] [-1.48710555e-01 -9.38290281e-01 -3.12244325e-01 2.31005882e+02] [-9.48554347e-01 4.60970617e-02 3.13240661e-01 -2.56915300e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.650714057 meters Centerline goodness : 0.992619 Centerline is valid? [True, True] Translation: X:199.85, Y:231.00, Z:-256.92 [[-2.82788460e-01 3.35153402e-01 -8.98722918e-01 1.99849820e+02] [-1.44976540e-01 -9.41138236e-01 -3.05353278e-01 2.31003062e+02] [-9.48162692e-01 4.39433558e-02 3.14732413e-01 -2.56916622e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.6807140569999 meters Centerline goodness : 0.993185 Centerline is valid? [True, True] Translation: X:199.85, Y:231.01, Z:-256.92 [[-2.77977189e-01 3.40381728e-01 -8.98258850e-01 1.99854398e+02] [-1.37940045e-01 -9.39566848e-01 -3.13347541e-01 2.31009709e+02] [-9.50632014e-01 3.68023978e-02 3.08130423e-01 -2.56915608e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.7107140569999 meters Centerline goodness : 0.993356 Centerline is valid? [True, True] Translation: X:199.84, Y:231.00, Z:-256.96 [[-2.75382121e-01 3.32517249e-01 -9.01996101e-01 1.99843295e+02] [-1.41523825e-01 -9.42074195e-01 -3.04084229e-01 2.30996772e+02] [-9.50860502e-01 4.39145789e-02 3.06489503e-01 -2.56964762e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.7407140569999 meters Centerline goodness : 0.993214 Centerline is valid? [True, True] Translation: X:199.86, Y:231.02, Z:-256.93 [[-2.76018450e-01 3.68657982e-01 -8.87640190e-01 1.99862278e+02] [-1.41324777e-01 -9.29045636e-01 -3.41908633e-01 2.31021455e+02] [-9.50705592e-01 3.10724609e-02 3.08534244e-01 -2.56930551e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.770714057 meters Centerline goodness : 0.993954 Centerline is valid? [True, True] Translation: X:199.86, Y:231.04, Z:-256.95 [[-2.74249395e-01 3.91643614e-01 -8.78295252e-01 1.99862442e+02] [-1.38782480e-01 -9.19870785e-01 -3.66847602e-01 2.31035173e+02] [-9.51591663e-01 2.12842606e-02 3.06627278e-01 -2.56954779e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.8007140569999 meters Centerline goodness : 0.993470 Centerline is valid? [True, True] Translation: X:199.86, Y:231.02, Z:-256.94 [[-2.75742247e-01 3.67473968e-01 -8.88216807e-01 1.99859200e+02] [-1.38670924e-01 -9.29581768e-01 -3.41537862e-01 2.31023897e+02] [-9.51176423e-01 2.89934283e-02 3.07282921e-01 -2.56935570e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.8307140569999 meters Centerline goodness : 0.993358 Centerline is valid? [True, True] Translation: X:199.86, Y:231.03, Z:-256.94 [[-2.74625782e-01 3.83197745e-01 -8.81895781e-01 1.99862773e+02] [-1.38675212e-01 -9.23355172e-01 -3.58028508e-01 2.31034405e+02] [-9.51498747e-01 2.39732253e-02 3.06717165e-01 -2.56936116e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.8607140569999 meters Centerline goodness : 0.992317 Centerline is valid? [True, True] Translation: X:199.87, Y:231.03, Z:-256.91 [[-2.44460967e-01 3.17787324e-01 -9.16105918e-01 1.99870852e+02] [-9.75554189e-02 -9.48037913e-01 -3.02831729e-01 2.31026312e+02] [-9.64739227e-01 1.53405591e-02 2.62760141e-01 -2.56905501e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.890714057 meters Centerline goodness : 0.992614 Centerline is valid? [True, True] Translation: X:199.84, Y:230.97, Z:-256.90 [[-2.48166727e-01 2.10859349e-01 -9.45490143e-01 1.99839194e+02] [-1.05560478e-01 -9.76096946e-01 -1.89978256e-01 2.30971780e+02] [-9.62948733e-01 5.26601098e-02 2.64493198e-01 -2.56896038e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.9207140569999 meters Centerline goodness : 0.992910 Centerline is valid? [True, True] Translation: X:199.85, Y:231.01, Z:-256.91 [[-2.52098826e-01 2.79190417e-01 -9.26552153e-01 1.99853445e+02] [-1.11312061e-01 -9.59488072e-01 -2.58828642e-01 2.31008453e+02] [-9.61278215e-01 3.78860331e-02 2.72963077e-01 -2.56906789e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.9507140569999 meters Centerline goodness : 0.992818 Centerline is valid? [True, True] Translation: X:199.85, Y:231.00, Z:-256.89 [[-2.36164070e-01 2.36455301e-01 -9.42504866e-01 1.99853060e+02] [-1.00043309e-01 -9.70703731e-01 -2.18461904e-01 2.30996153e+02] [-9.66549465e-01 4.26984532e-02 2.52901115e-01 -2.56891638e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.9807140569999 meters Centerline goodness : 0.992382 Centerline is valid? [True, True] Translation: X:199.84, Y:231.00, Z:-256.91 [[-2.58484823e-01 2.73880857e-01 -9.26377284e-01 1.99843097e+02] [-1.22284016e-01 -9.60530009e-01 -2.49857400e-01 2.31004219e+02] [-9.58244340e-01 4.86967883e-02 2.81773681e-01 -2.56908823e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.010714057 meters Centerline goodness : 0.993116 Centerline is valid? [True, True] Translation: X:199.85, Y:231.02, Z:-256.92 [[-2.63644316e-01 3.07655060e-01 -9.14242877e-01 1.99846080e+02] [-1.26867972e-01 -9.50601371e-01 -2.83304698e-01 2.31020706e+02] [-9.56240656e-01 4.12964670e-02 2.89652222e-01 -2.56924092e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.040714057 meters Centerline goodness : 0.993136 Centerline is valid? [True, True] Translation: X:199.85, Y:231.01, Z:-256.91 [[-2.42944569e-01 2.66007581e-01 -9.32854707e-01 1.99849429e+02] [-1.12121513e-01 -9.62921000e-01 -2.45381163e-01 2.31012151e+02] [-9.63538636e-01 4.49790598e-02 2.63761600e-01 -2.56914063e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.0707140569999 meters Centerline goodness : 0.992539 Centerline is valid? [True, True] Translation: X:199.84, Y:230.99, Z:-256.92 [[-2.41570312e-01 2.26983897e-01 -9.43462821e-01 1.99840494e+02] [-1.11917288e-01 -9.72286897e-01 -2.05262540e-01 2.30994829e+02] [-9.63907830e-01 5.60044643e-02 2.60279071e-01 -2.56917241e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.1007140569999 meters Centerline goodness : 0.992577 Centerline is valid? [True, True] Translation: X:199.84, Y:231.00, Z:-256.92 [[-2.34823165e-01 2.31324130e-01 -9.44111873e-01 1.99842894e+02] [-1.10856127e-01 -9.71306619e-01 -2.10414759e-01 2.31002429e+02] [-9.65696122e-01 5.52503258e-02 2.53728992e-01 -2.56918850e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.130714057 meters Centerline goodness : 0.992715 Centerline is valid? [True, True] Translation: X:199.83, Y:230.98, Z:-256.94 [[-2.20247211e-01 1.86287375e-01 -9.57490564e-01 1.99833074e+02] [-1.00584397e-01 -9.80699214e-01 -1.67665829e-01 2.30984426e+02] [-9.70244271e-01 5.93806797e-02 2.34733870e-01 -2.56939021e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.160714057 meters Centerline goodness : 0.992619 Centerline is valid? [True, True] Translation: X:199.82, Y:230.96, Z:-256.93 [[-2.28893252e-01 1.47722936e-01 -9.62177641e-01 1.99819791e+02] [-1.10859279e-01 -9.85943904e-01 -1.24999358e-01 2.30964450e+02] [-9.67118452e-01 7.80548103e-02 2.42052365e-01 -2.56927339e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.1907140569999 meters Centerline goodness : 0.993757 Centerline is valid? [True, True] Translation: X:199.83, Y:231.02, Z:-256.96 [[-2.69688588e-01 3.17512677e-01 -9.09095026e-01 1.99830368e+02] [-1.54650614e-01 -9.46101966e-01 -2.84559760e-01 2.31019702e+02] [-9.50447923e-01 6.38495844e-02 3.04256433e-01 -2.56962361e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.2207140569999 meters Centerline goodness : 0.991877 Centerline is valid? [True, True] Translation: X:199.86, Y:231.04, Z:-256.94 [[-2.26526594e-01 2.99071661e-01 -9.26952989e-01 1.99859540e+02] [-1.04564373e-01 -9.53659342e-01 -2.82134989e-01 2.31044815e+02] [-9.68375957e-01 3.30151798e-02 2.47301443e-01 -2.56940102e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.250714057 meters Centerline goodness : 0.992688 Centerline is valid? [True, True] Translation: X:199.83, Y:230.99, Z:-256.94 [[-2.32712708e-01 2.00371369e-01 -9.51680677e-01 1.99830300e+02] [-1.14009166e-01 -9.77419657e-01 -1.77912127e-01 2.30989326e+02] [-9.65839897e-01 6.70979079e-02 2.50302148e-01 -2.56938398e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.280714057 meters Centerline goodness : 0.992320 Centerline is valid? [True, True] Translation: X:199.84, Y:231.02, Z:-256.94 [[-2.34543223e-01 2.51536803e-01 -9.38998783e-01 1.99842461e+02] [-1.15648343e-01 -9.66303183e-01 -2.29964386e-01 2.31015132e+02] [-9.65202019e-01 5.46570651e-02 2.55729677e-01 -2.56936689e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.3107140569999 meters Centerline goodness : 0.991659 Centerline is valid? [True, True] Translation: X:199.84, Y:231.02, Z:-256.94 [[-2.34817863e-01 2.67250804e-01 -9.34578825e-01 1.99843624e+02] [-1.16064118e-01 -9.62292188e-01 -2.46013954e-01 2.31023234e+02] [-9.65085329e-01 5.07025964e-02 2.56981624e-01 -2.56941909e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.3407140569999 meters Centerline goodness : 0.992401 Centerline is valid? [True, True] Translation: X:199.85, Y:231.02, Z:-256.94 [[-2.19104174e-01 2.46129271e-01 -9.44147098e-01 1.99847567e+02] [-1.03144948e-01 -9.68080531e-01 -2.28432060e-01 2.31019250e+02] [-9.70234240e-01 4.73335854e-02 2.37497476e-01 -2.56940597e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.370714057 meters Centerline goodness : 0.992592 Centerline is valid? [True, True] Translation: X:199.84, Y:231.00, Z:-256.93 [[-2.27350587e-01 2.10577043e-01 -9.50772854e-01 1.99836795e+02] [-1.11716077e-01 -9.75534247e-01 -1.89347435e-01 2.30997736e+02] [-9.67383703e-01 6.31683630e-02 2.45313125e-01 -2.56930299e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.400714057 meters Centerline goodness : 0.992294 Centerline is valid? [True, True] Translation: X:199.83, Y:231.00, Z:-256.93 [[-2.31885903e-01 2.23084595e-01 -9.46816873e-01 1.99834281e+02] [-1.17871869e-01 -9.72619037e-01 -2.00295860e-01 2.30999851e+02] [-9.65575036e-01 6.51572880e-02 2.51832042e-01 -2.56933140e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.4307140569999 meters Centerline goodness : 0.992746 Centerline is valid? [True, True] Translation: X:199.84, Y:231.01, Z:-256.93 [[-2.27077472e-01 2.31835833e-01 -9.45879468e-01 1.99839987e+02] [-1.13766733e-01 -9.70916727e-01 -2.10660484e-01 2.31006748e+02] [-9.67208846e-01 5.97733673e-02 2.46848521e-01 -2.56934560e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.4607140569999 meters Centerline goodness : 0.992578 Centerline is valid? [True, True] Translation: X:199.83, Y:230.99, Z:-256.95 [[-2.24971399e-01 2.07039206e-01 -9.52114823e-01 1.99829886e+02] [-1.16854978e-01 -9.75844337e-01 -1.84588040e-01 2.30992491e+02] [-9.67332820e-01 6.97323268e-02 2.43730628e-01 -2.56949044e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.4907140569999 meters Centerline goodness : 0.991830 Centerline is valid? [True, True] Translation: X:199.83, Y:231.00, Z:-256.95 [[-2.22581533e-01 2.21510699e-01 -9.49415858e-01 1.99834707e+02] [-1.15621432e-01 -9.72970550e-01 -1.99899959e-01 2.30999820e+02] [-9.68033649e-01 6.52787814e-02 2.42176661e-01 -2.56949020e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.520714057 meters Centerline goodness : 0.992166 Centerline is valid? [True, True] Translation: X:199.83, Y:231.00, Z:-256.95 [[-2.29175728e-01 2.28324751e-01 -9.46227401e-01 1.99832633e+02] [-1.23949011e-01 -9.71031611e-01 -2.04289630e-01 2.30998623e+02] [-9.65461097e-01 7.04657254e-02 2.50837503e-01 -2.56948933e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.5507140569999 meters Centerline goodness : 0.992469 Centerline is valid? [True, True] Translation: X:199.84, Y:231.02, Z:-256.96 [[-2.41728994e-01 2.80811734e-01 -9.28822837e-01 1.99837382e+02] [-1.33038591e-01 -9.57761851e-01 -2.54937187e-01 2.31018611e+02] [-9.61180434e-01 6.19435713e-02 2.68877606e-01 -2.56958129e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.5807140569999 meters Centerline goodness : 0.994352 Centerline is valid? [True, True] Translation: X:199.83, Y:231.02, Z:-256.98 [[-2.62852513e-01 3.31702330e-01 -9.06025452e-01 1.99829123e+02] [-1.64765863e-01 -9.40684135e-01 -2.96589900e-01 2.31020579e+02] [-9.50663330e-01 7.13226647e-02 3.01914410e-01 -2.56982281e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.6107140569999 meters Centerline goodness : 0.993892 Centerline is valid? [True, True] Translation: X:199.83, Y:231.04, Z:-257.04 [[-2.59676326e-01 3.80385624e-01 -8.87623221e-01 1.99827553e+02] [-1.64515558e-01 -9.23143318e-01 -3.47478123e-01 2.31039409e+02] [-9.51579128e-01 5.57959867e-02 3.02297818e-01 -2.57037761e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.640714057 meters Centerline goodness : 0.993404 Centerline is valid? [True, True] Translation: X:199.84, Y:231.04, Z:-257.00 [[-2.60478176e-01 3.78772285e-01 -8.88078080e-01 1.99839453e+02] [-1.62918579e-01 -9.23884318e-01 -3.46259014e-01 2.31041730e+02] [-9.51634729e-01 5.44915023e-02 3.02360744e-01 -2.56995825e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.6707140569999 meters Centerline goodness : 0.993701 Centerline is valid? [True, True] Translation: X:199.84, Y:231.04, Z:-257.00 [[-2.60232211e-01 3.77452683e-01 -8.88711803e-01 1.99839179e+02] [-1.62265931e-01 -9.24429649e-01 -3.45108086e-01 2.31037085e+02] [-9.51813513e-01 5.43994079e-02 3.01814082e-01 -2.56998684e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.7007140569999 meters Centerline goodness : 0.990953 Centerline is valid? [True, True] Translation: X:199.85, Y:231.02, Z:-256.99 [[-2.23516272e-01 3.02379915e-01 -9.26610416e-01 1.99846372e+02] [-1.19501198e-01 -9.51991418e-01 -2.81836484e-01 2.31023933e+02] [-9.67346856e-01 4.77360149e-02 2.48920335e-01 -2.56989595e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.7307140569999 meters Centerline goodness : 0.993685 Centerline is valid? [True, True] Translation: X:199.83, Y:231.01, Z:-256.99 [[-2.60692083e-01 3.31468651e-01 -9.06734896e-01 1.99829439e+02] [-1.64604736e-01 -9.40719486e-01 -2.96567242e-01 2.31007383e+02] [-9.51285929e-01 7.19401266e-02 2.99799432e-01 -2.56994127e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.760714057 meters Centerline goodness : 0.993364 Centerline is valid? [True, True] Translation: X:199.84, Y:231.03, Z:-257.01 [[-2.56929034e-01 3.77439896e-01 -8.89677805e-01 1.99839281e+02] [-1.64923228e-01 -9.24201668e-01 -3.44458425e-01 2.31030728e+02] [-9.52254063e-01 5.82271649e-02 2.99702848e-01 -2.57007310e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.790714057 meters Centerline goodness : 0.993099 Centerline is valid? [True, True] Translation: X:199.84, Y:231.03, Z:-257.01 [[-2.54299315e-01 3.81643141e-01 -8.88639619e-01 1.99841594e+02] [-1.68026310e-01 -9.22306987e-01 -3.48018649e-01 2.31031355e+02] [-9.52417460e-01 6.08139317e-02 2.98668124e-01 -2.57006393e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.8207140569999 meters Centerline goodness : 0.990838 Centerline is valid? [True, True] Translation: X:199.85, Y:231.04, Z:-257.01 [[-2.37229983e-01 3.65287605e-01 -9.00159375e-01 1.99847797e+02] [-1.41218178e-01 -9.29735432e-01 -3.40072716e-01 2.31040878e+02] [-9.61134414e-01 4.64434221e-02 2.72146371e-01 -2.57010145e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.8507140569999 meters Centerline goodness : 0.991580 Centerline is valid? [True, True] Translation: X:199.84, Y:231.02, Z:-257.01 [[-2.37245428e-01 3.31721001e-01 -9.13058478e-01 1.99839032e+02] [-1.45838001e-01 -9.41402887e-01 -3.04124780e-01 2.31017720e+02] [-9.60440464e-01 6.10064093e-02 2.71721059e-01 -2.57012310e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.880714057 meters Centerline goodness : 0.992976 Centerline is valid? [True, True] Translation: X:199.84, Y:231.01, Z:-257.02 [[-2.41922204e-01 3.32215718e-01 -9.11650352e-01 1.99836450e+02] [-1.50347933e-01 -9.41046239e-01 -3.03030486e-01 2.31013232e+02] [-9.58576625e-01 6.37549430e-02 2.77607927e-01 -2.57020636e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.910714057 meters Centerline goodness : 0.992634 Centerline is valid? [True, True] Translation: X:199.84, Y:230.99, Z:-256.99 [[-2.35486859e-01 2.81650657e-01 -9.30171407e-01 1.99837371e+02] [-1.43757781e-01 -9.56653323e-01 -2.53274791e-01 2.30990217e+02] [-9.61186579e-01 7.40764925e-02 2.65768760e-01 -2.56992349e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.9407140569999 meters Centerline goodness : 0.992754 Centerline is valid? [True, True] Translation: X:199.83, Y:230.98, Z:-256.99 [[-2.39359044e-01 2.64684894e-01 -9.34156922e-01 1.99831269e+02] [-1.48902404e-01 -9.60750179e-01 -2.34066587e-01 2.30977750e+02] [-9.59445320e-01 8.30722570e-02 2.69376461e-01 -2.56988131e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.9707140569999 meters Centerline goodness : 0.992071 Centerline is valid? [True, True] Translation: X:199.84, Y:230.99, Z:-256.99 [[-2.32753945e-01 2.75957499e-01 -9.32562631e-01 1.99838007e+02] [-1.46127257e-01 -9.57935571e-01 -2.46994466e-01 2.30985360e+02] [-9.61494891e-01 7.87838829e-02 2.63288196e-01 -2.56989619e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.000714057 meters Centerline goodness : 0.993283 Centerline is valid? [True, True] Translation: X:199.84, Y:230.99, Z:-257.01 [[-2.33849403e-01 3.06459609e-01 -9.22711745e-01 1.99841530e+02] [-1.48425676e-01 -9.49154339e-01 -2.77625394e-01 2.30994148e+02] [-9.60876826e-01 7.20315821e-02 2.67445650e-01 -2.57005070e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.030714057 meters Centerline goodness : 0.993190 Centerline is valid? [True, True] Translation: X:199.82, Y:230.97, Z:-257.01 [[-2.39250805e-01 2.64819417e-01 -9.34146525e-01 1.99824893e+02] [-1.53586191e-01 -9.60297032e-01 -2.32896740e-01 2.30965740e+02] [-9.58733714e-01 8.77512743e-02 2.70424443e-01 -2.57010798e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.0607140569999 meters Centerline goodness : 0.992988 Centerline is valid? [True, True] Translation: X:199.83, Y:230.97, Z:-256.99 [[-2.38446451e-01 2.73521371e-01 -9.31841913e-01 1.99833802e+02] [-1.53255139e-01 -9.58093709e-01 -2.42010965e-01 2.30968094e+02] [-9.58987045e-01 8.51029066e-02 2.70372600e-01 -2.56994368e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.0907140569999 meters Centerline goodness : 0.991918 Centerline is valid? [True, True] Translation: X:199.83, Y:230.97, Z:-257.00 [[-2.36848530e-01 2.83509633e-01 -9.29260492e-01 1.99834919e+02] [-1.54546296e-01 -9.55290954e-01 -2.52060780e-01 2.30970636e+02] [-9.59175801e-01 8.39135417e-02 2.70074622e-01 -2.56997971e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.120714057 meters Centerline goodness : 0.993063 Centerline is valid? [True, True] Translation: X:199.84, Y:230.98, Z:-257.01 [[-2.33918188e-01 3.08638997e-01 -9.21967598e-01 1.99844441e+02] [-1.49426090e-01 -9.48422412e-01 -2.79583212e-01 2.30983335e+02] [-9.60705015e-01 7.23664151e-02 2.67971971e-01 -2.57008851e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.150714057 meters Centerline goodness : 0.992304 Centerline is valid? [True, True] Translation: X:199.83, Y:230.95, Z:-257.03 [[-2.36484693e-01 2.67031618e-01 -9.34221122e-01 1.99826448e+02] [-1.53195090e-01 -9.59714775e-01 -2.35539414e-01 2.30952944e+02] [-9.59482285e-01 8.74166226e-02 2.67865786e-01 -2.57030260e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.1807140569999 meters Centerline goodness : 0.991691 Centerline is valid? [True, True] Translation: X:199.84, Y:230.96, Z:-257.01 [[-2.34338010e-01 2.90376239e-01 -9.27775478e-01 1.99837434e+02] [-1.54337535e-01 -9.53357935e-01 -2.59400412e-01 2.30964284e+02] [-9.59825829e-01 8.24032036e-02 2.68223954e-01 -2.57011241e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.2107140569999 meters Centerline goodness : 0.992123 Centerline is valid? [True, True] Translation: X:199.84, Y:230.97, Z:-257.02 [[-2.39040700e-01 3.15861019e-01 -9.18200065e-01 1.99843207e+02] [-1.57654398e-01 -9.45691711e-01 -2.84275007e-01 2.30971032e+02] [-9.58125584e-01 7.68049823e-02 2.75855688e-01 -2.57015139e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.2407140569999 meters Centerline goodness : 0.992123 Centerline is valid? [True, True] Translation: X:199.83, Y:230.94, Z:-257.01 [[-2.42228377e-01 2.65273054e-01 -9.33250031e-01 1.99827636e+02] [-1.59082147e-01 -9.59737081e-01 -2.31511566e-01 2.30943195e+02] [-9.57088441e-01 9.23847478e-02 2.74675763e-01 -2.57009616e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.270714057 meters Centerline goodness : 0.992584 Centerline is valid? [True, True] Translation: X:199.83, Y:230.94, Z:-257.02 [[-2.37932610e-01 2.69589323e-01 -9.33118251e-01 1.99828758e+02] [-1.56926059e-01 -9.58756249e-01 -2.36982420e-01 2.30944429e+02] [-9.58520884e-01 9.00447236e-02 2.70424967e-01 -2.57024802e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.3007140569999 meters Centerline goodness : 0.992810 Centerline is valid? [True, True] Translation: X:199.83, Y:230.94, Z:-257.04 [[-2.35739079e-01 2.72778516e-01 -9.32748073e-01 1.99828866e+02] [-1.55634738e-01 -9.58007440e-01 -2.40831007e-01 2.30944561e+02] [-9.59273118e-01 8.83947225e-02 2.68293604e-01 -2.57035539e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.3307140569999 meters Centerline goodness : 0.992576 Centerline is valid? [True, True] Translation: X:199.82, Y:230.94, Z:-257.05 [[-2.40254270e-01 2.66694337e-01 -9.33355247e-01 1.99823934e+02] [-1.56097221e-01 -9.59619296e-01 -2.34018085e-01 2.30935548e+02] [-9.58077003e-01 8.94703161e-02 2.72182879e-01 -2.57048257e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.3607140569999 meters Centerline goodness : 0.992880 Centerline is valid? [True, True] Translation: X:199.83, Y:230.93, Z:-257.02 [[-2.40051087e-01 2.50703585e-01 -9.37828976e-01 1.99826748e+02] [-1.52606117e-01 -9.63810644e-01 -2.18587317e-01 2.30928987e+02] [-9.58690174e-01 9.06463157e-02 2.69622693e-01 -2.57024777e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.390714057 meters Centerline goodness : 0.993205 Centerline is valid? [True, True] Translation: X:199.83, Y:230.92, Z:-257.02 [[-2.35747236e-01 2.38203802e-01 -9.42168875e-01 1.99827282e+02] [-1.44671770e-01 -9.67293955e-01 -2.08356626e-01 2.30921565e+02] [-9.60985598e-01 8.71857402e-02 2.62498242e-01 -2.57022425e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.4207140569999 meters Centerline goodness : 0.991625 Centerline is valid? [True, True] Translation: X:199.83, Y:230.93, Z:-257.01 [[-2.42080259e-01 2.48622251e-01 -9.37861464e-01 1.99829961e+02] [-1.49823994e-01 -9.64597119e-01 -2.17037253e-01 2.30925072e+02] [-9.58618756e-01 8.79737163e-02 2.70759499e-01 -2.57010729e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.4507140569999 meters Centerline goodness : 0.991435 Centerline is valid? [True, True] Translation: X:199.86, Y:230.96, Z:-257.01 [[-2.25389445e-01 2.96025593e-01 -9.28207114e-01 1.99857517e+02] [-1.31152919e-01 -9.53268900e-01 -2.72171484e-01 2.30959310e+02] [-9.65400699e-01 6.03924924e-02 2.53681368e-01 -2.57011708e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.4807140569999 meters Centerline goodness : 0.993486 Centerline is valid? [True, True] Translation: X:199.84, Y:230.93, Z:-257.00 [[-2.34563361e-01 2.61313258e-01 -9.36320143e-01 1.99844321e+02] [-1.32510434e-01 -9.62796799e-01 -2.35506496e-01 2.30932755e+02] [-9.63027006e-01 6.88309931e-02 2.60463586e-01 -2.57004309e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.510714057 meters Centerline goodness : 0.992874 Centerline is valid? [True, True] Translation: X:199.81, Y:230.89, Z:-257.02 [[-2.44188239e-01 1.96605194e-01 -9.49588596e-01 1.99811086e+02] [-1.40916557e-01 -9.76032048e-01 -1.65843193e-01 2.30891682e+02] [-9.59434536e-01 9.33157979e-02 2.66040475e-01 -2.57021503e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.540714057 meters Centerline goodness : 0.992688 Centerline is valid? [True, True] Translation: X:199.84, Y:230.92, Z:-257.01 [[-2.40979211e-01 2.58244775e-01 -9.35541905e-01 1.99836803e+02] [-1.35747483e-01 -9.63442165e-01 -2.30980122e-01 2.30923740e+02] [-9.60989928e-01 7.13360511e-02 2.67225610e-01 -2.57013432e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.5707140569999 meters Centerline goodness : 0.991899 Centerline is valid? [True, True] Translation: X:199.84, Y:230.92, Z:-257.01 [[-2.42548740e-01 2.59622046e-01 -9.34754782e-01 1.99837831e+02] [-1.35396859e-01 -9.63155417e-01 -2.32377567e-01 2.30923313e+02] [-9.60644471e-01 7.01999753e-02 2.68764143e-01 -2.57010642e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.6007140569999 meters Centerline goodness : 0.992358 Centerline is valid? [True, True] Translation: X:199.85, Y:230.94, Z:-257.02 [[-2.47434584e-01 3.01342921e-01 -9.20852090e-01 1.99850280e+02] [-1.34331243e-01 -9.51896105e-01 -2.75406833e-01 2.30942818e+02] [-9.59547416e-01 5.55540304e-02 2.76011786e-01 -2.57018222e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.630714057 meters Centerline goodness : 0.992836 Centerline is valid? [True, True] Translation: X:199.83, Y:230.91, Z:-257.02 [[-2.50198554e-01 2.52513119e-01 -9.34685941e-01 1.99830580e+02] [-1.32901346e-01 -9.65209505e-01 -2.25184021e-01 2.30911785e+02] [-9.59029674e-01 6.78803032e-02 2.75053356e-01 -2.57024549e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.660714057 meters Centerline goodness : 0.993148 Centerline is valid? [True, True] Translation: X:199.83, Y:230.91, Z:-257.02 [[-2.50045020e-01 2.55889635e-01 -9.33808322e-01 1.99834119e+02] [-1.30403704e-01 -9.64557697e-01 -2.29397741e-01 2.30913352e+02] [-9.59412509e-01 6.44123010e-02 2.74551805e-01 -2.57019190e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.6907140569999 meters Centerline goodness : 0.992875 Centerline is valid? [True, True] Translation: X:199.82, Y:230.91, Z:-257.06 [[-2.57716876e-01 2.59396746e-01 -9.30749880e-01 1.99819054e+02] [-1.34794525e-01 -9.63521627e-01 -2.31206639e-01 2.30905542e+02] [-9.56771889e-01 6.58741359e-02 2.83281045e-01 -2.57062903e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.7207140569999 meters Centerline goodness : 0.992347 Centerline is valid? [True, True] Translation: X:199.84, Y:230.92, Z:-257.02 [[-2.56613224e-01 2.74964185e-01 -9.26576684e-01 1.99838239e+02] [-1.32099625e-01 -9.59660284e-01 -2.48197155e-01 2.30919043e+02] [-9.57444172e-01 5.87097602e-02 2.82584185e-01 -2.57018146e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.750714057 meters Centerline goodness : 0.993404 Centerline is valid? [True, True] Translation: X:199.84, Y:230.91, Z:-257.01 [[-2.50089453e-01 2.50455171e-01 -9.35268664e-01 1.99841360e+02] [-1.20262727e-01 -9.66519292e-01 -2.26665687e-01 2.30912515e+02] [-9.60724800e-01 5.57912627e-02 2.71836703e-01 -2.57006051e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.780714057 meters Centerline goodness : 0.993136 Centerline is valid? [True, True] Translation: X:199.82, Y:230.89, Z:-257.01 [[-2.55159207e-01 2.20507136e-01 -9.41419345e-01 1.99824997e+02] [-1.23387856e-01 -9.73113454e-01 -1.94488157e-01 2.30892194e+02] [-9.58993856e-01 6.65342704e-02 2.75506759e-01 -2.57011986e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.8107140569999 meters Centerline goodness : 0.992202 Centerline is valid? [True, True] Translation: X:199.83, Y:230.91, Z:-257.03 [[-2.63754021e-01 2.58220405e-01 -9.29384764e-01 1.99826071e+02] [-1.31497048e-01 -9.64132838e-01 -2.30556713e-01 2.30905336e+02] [-9.55584817e-01 6.14010927e-02 2.88249133e-01 -2.57033375e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.8407140569999 meters Centerline goodness : 0.993288 Centerline is valid? [True, True] Translation: X:199.84, Y:230.92, Z:-257.02 [[-2.60794458e-01 2.74640526e-01 -9.25504637e-01 1.99837235e+02] [-1.28352404e-01 -9.60033616e-01 -2.48718951e-01 2.30915862e+02] [-9.56823867e-01 5.39262211e-02 2.85622218e-01 -2.57021276e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.870714057 meters Centerline goodness : 0.992772 Centerline is valid? [True, True] Translation: X:199.83, Y:230.91, Z:-257.03 [[-2.60214617e-01 2.75667131e-01 -9.25362624e-01 1.99833924e+02] [-1.29620759e-01 -9.59676199e-01 -2.49439476e-01 2.30914669e+02] [-9.56810750e-01 5.50384083e-02 2.85453957e-01 -2.57029850e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.900714057 meters Centerline goodness : 0.992746 Centerline is valid? [True, True] Translation: X:199.83, Y:230.92, Z:-257.05 [[-2.61535281e-01 2.87522343e-01 -9.21374082e-01 1.99832122e+02] [-1.31769109e-01 -9.56298432e-01 -2.61017646e-01 2.30918852e+02] [-9.56156995e-01 5.31433184e-02 2.87992342e-01 -2.57046282e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.9307140569999 meters Centerline goodness : 0.993121 Centerline is valid? [True, True] Translation: X:199.83, Y:230.92, Z:-257.05 [[-2.68104954e-01 2.90179149e-01 -9.18648897e-01 1.99828167e+02] [-1.38041364e-01 -9.55290485e-01 -2.61466385e-01 2.30918207e+02] [-9.53448643e-01 5.67111130e-02 2.96174837e-01 -2.57046255e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.9607140569999 meters Centerline goodness : 0.992619 Centerline is valid? [True, True] Translation: X:199.82, Y:230.91, Z:-257.06 [[-2.62896118e-01 2.77046252e-01 -9.24192083e-01 1.99822254e+02] [-1.35558261e-01 -9.58991264e-01 -2.48917081e-01 2.30912169e+02] [-9.55253678e-01 5.98425374e-02 2.89670988e-01 -2.57060346e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.9907140569999 meters Centerline goodness : 0.993573 Centerline is valid? [True, True] Translation: X:199.83, Y:230.92, Z:-257.04 [[-2.66173082e-01 2.93305442e-01 -9.18217735e-01 1.99828129e+02] [-1.41657555e-01 -9.54141775e-01 -2.63716914e-01 2.30920944e+02] [-9.53459505e-01 5.98781353e-02 2.95515789e-01 -2.57043791e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.020714057 meters Centerline goodness : 0.993176 Centerline is valid? [True, True] Translation: X:199.82, Y:230.92, Z:-257.05 [[-2.66574028e-01 2.87987836e-01 -9.19783286e-01 1.99823450e+02] [-1.43534118e-01 -9.55536026e-01 -2.57582724e-01 2.30917426e+02] [-9.53066758e-01 6.33554187e-02 2.96057167e-01 -2.57048827e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.0507140569999 meters Centerline goodness : 0.992682 Centerline is valid? [True, True] Translation: X:199.82, Y:230.92, Z:-257.06 [[-2.65664394e-01 2.92921732e-01 -9.18487501e-01 1.99822262e+02] [-1.45305072e-01 -9.54005585e-01 -2.62220862e-01 2.30920210e+02] [-9.53052394e-01 6.37981461e-02 2.96008329e-01 -2.57058257e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.0807140569999 meters Centerline goodness : 0.992867 Centerline is valid? [True, True] Translation: X:199.83, Y:230.93, Z:-257.06 [[-2.60701645e-01 2.94493014e-01 -9.19406611e-01 1.99825477e+02] [-1.44034181e-01 -9.53545086e-01 -2.64586327e-01 2.30925750e+02] [-9.54614481e-01 6.34478874e-02 2.91007833e-01 -2.57059902e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.1107140569999 meters Centerline goodness : 0.994153 Centerline is valid? [True, True] Translation: X:199.82, Y:230.92, Z:-257.08 [[-2.63852215e-01 3.04452018e-01 -9.15254597e-01 1.99818842e+02] [-1.60384963e-01 -9.49518452e-01 -2.69613375e-01 2.30918509e+02] [-9.51135465e-01 7.56549887e-02 2.99362072e-01 -2.57077558e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.140714057 meters Centerline goodness : 0.993944 Centerline is valid? [True, True] Translation: X:199.84, Y:230.95, Z:-257.07 [[-2.61380176e-01 3.50055795e-01 -8.99522842e-01 1.99835182e+02] [-1.62758571e-01 -9.34560107e-01 -3.16396987e-01 2.30946048e+02] [-9.51414763e-01 6.37051521e-02 3.01250066e-01 -2.57073945e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.1707140569999 meters Centerline goodness : 0.993080 Centerline is valid? [True, True] Translation: X:199.68, Y:230.89, Z:-257.63 [[-2.58657883e-01 3.39863593e-01 -9.04206192e-01 1.99675487e+02] [-1.56453019e-01 -9.38441716e-01 -3.07976620e-01 2.30890920e+02] [-9.53214851e-01 6.18052077e-02 2.95908033e-01 -2.57633402e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.2007140569999 meters Centerline goodness : 0.992095 Centerline is valid? [True, True] Translation: X:199.66, Y:230.88, Z:-257.66 [[-2.59114183e-01 3.31421597e-01 -9.07204258e-01 1.99663795e+02] [-1.57397999e-01 -9.41217160e-01 -2.98891499e-01 2.30883009e+02] [-9.52935313e-01 6.53451082e-02 2.96047812e-01 -2.57661977e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.2307140569999 meters Centerline goodness : 0.993538 Centerline is valid? [True, True] Translation: X:199.03, Y:231.81, Z:-257.10 [[-2.61281416e-01 2.32976860e-01 9.36725042e-01 1.99025744e+02] [-9.71105151e-02 9.59167306e-01 -2.65645679e-01 2.31814684e+02] [-9.60365332e-01 -1.60374130e-01 -2.27988089e-01 -2.57099814e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.260714057 meters Centerline goodness : 0.993207 Centerline is valid? [True, True] Translation: X:199.85, Y:231.07, Z:-257.21 [[-2.63293959e-01 4.86662247e-01 -8.32968276e-01 1.99851586e+02] [-2.02076396e-01 -8.72101075e-01 -4.45651035e-01 2.31073345e+02] [-9.43314063e-01 5.09860013e-02 3.27961898e-01 -2.57206915e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.290714057 meters Centerline goodness : 0.990973 Centerline is valid? [True, True] Translation: X:199.64, Y:230.94, Z:-257.85 [[-2.63092695e-01 4.68253642e-01 -8.43516900e-01 1.99644740e+02] [-2.26248127e-01 -8.79882374e-01 -4.17874136e-01 2.30936509e+02] [-9.37866738e-01 8.09044858e-02 3.37432134e-01 -2.57848558e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.3207140569999 meters Centerline goodness : 0.993515 Centerline is valid? [True, True] Translation: X:198.91, Y:231.79, Z:-257.24 [[-2.79276438e-01 7.57524247e-02 9.57217970e-01 1.98912036e+02] [-1.68706801e-01 9.77504803e-01 -1.26579522e-01 2.31789077e+02] [-9.45273869e-01 -1.96839860e-01 -2.60214110e-01 -2.57238801e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.3507140569999 meters Centerline goodness : 0.993163 Centerline is valid? [True, True] Translation: X:199.83, Y:231.18, Z:-257.37 [[-2.56015920e-01 6.44996390e-01 -7.20024656e-01 1.99833501e+02] [-2.94280760e-01 -7.61497799e-01 -5.77511850e-01 2.31177670e+02] [-9.20790249e-01 6.40371751e-02 3.84765587e-01 -2.57372182e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.380714057 meters Centerline goodness : 0.991192 Centerline is valid? [True, True] Translation: X:199.66, Y:231.04, Z:-257.93 [[-2.53033988e-01 6.32456425e-01 -7.32101544e-01 1.99656544e+02] [-2.82962757e-01 -7.72017808e-01 -5.69140212e-01 2.31035001e+02] [-9.25151814e-01 6.31456538e-02 3.74308359e-01 -2.57934913e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.410714057 meters Centerline goodness : 0.993568 Centerline is valid? [True, True] Translation: X:199.83, Y:231.16, Z:-257.38 [[-2.56043218e-01 6.30881753e-01 -7.32413875e-01 1.99827124e+02] [-2.94284815e-01 -7.72578558e-01 -5.62600052e-01 2.31163466e+02] [-9.20781363e-01 7.14883534e-02 3.83472421e-01 -2.57384518e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.4407140569999 meters Centerline goodness : 0.992902 Centerline is valid? [True, True] Translation: X:199.85, Y:231.19, Z:-257.33 [[-2.59214107e-01 6.17500297e-01 -7.42631422e-01 1.99848214e+02] [-2.63360642e-01 -7.84965892e-01 -5.60775999e-01 2.31194347e+02] [-9.29219683e-01 5.02188379e-02 3.66099508e-01 -2.57325090e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.4707140569999 meters Centerline goodness : 0.993251 Centerline is valid? [True, True] Translation: X:199.82, Y:231.13, Z:-257.37 [[-2.59713971e-01 5.81342542e-01 -7.71096299e-01 1.99820305e+02] [-2.97957665e-01 -8.07777694e-01 -5.08641748e-01 2.31126895e+02] [-9.18569477e-01 9.76526844e-02 3.83006619e-01 -2.57371738e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.500714057 meters Centerline goodness : 0.992526 Centerline is valid? [True, True] Translation: X:199.85, Y:231.20, Z:-257.34 [[-2.58798840e-01 6.28389131e-01 -7.33587255e-01 1.99845210e+02] [-2.66608434e-01 -7.76429287e-01 -5.71031965e-01 2.31199675e+02] [-9.28408910e-01 4.77981390e-02 3.68472841e-01 -2.57339049e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.530714057 meters Centerline goodness : 0.990219 Centerline is valid? [True, True] Translation: X:199.64, Y:231.00, Z:-257.99 [[-2.46405207e-01 6.12398047e-01 -7.51167828e-01 1.99637414e+02] [-3.00252775e-01 -7.85168617e-01 -5.41625806e-01 2.31001312e+02] [-9.21483991e-01 9.20808061e-02 3.77343849e-01 -2.57990087e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.5607140569999 meters Centerline goodness : 0.994130 Centerline is valid? [True, True] Translation: X:199.83, Y:231.19, Z:-257.40 [[-2.50022029e-01 6.66712008e-01 -7.02128253e-01 1.99829334e+02] [-3.08639721e-01 -7.42209222e-01 -5.94867206e-01 2.31192436e+02] [-9.17731174e-01 6.79747623e-02 3.91342464e-01 -2.57397305e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.5907140569999 meters Centerline goodness : 0.993034 Centerline is valid? [True, True] Translation: X:199.84, Y:231.22, Z:-257.34 [[-2.64265227e-01 6.48367989e-01 -7.13990785e-01 1.99843616e+02] [-2.83027955e-01 -7.59849079e-01 -5.85255973e-01 2.31215377e+02] [-9.21986479e-01 4.74165495e-02 3.84307955e-01 -2.57337139e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.620714057 meters Centerline goodness : 0.993526 Centerline is valid? [True, True] Translation: X:199.81, Y:231.12, Z:-257.41 [[-2.56514190e-01 5.88383852e-01 -7.66814784e-01 1.99809364e+02] [-3.13333467e-01 -8.01136999e-01 -5.09903566e-01 2.31122558e+02] [-9.14342720e-01 1.09471235e-01 3.89863361e-01 -2.57409481e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.650714057 meters Centerline goodness : 0.993239 Centerline is valid? [True, True] Translation: X:199.84, Y:231.21, Z:-257.33 [[-2.64433248e-01 6.44701765e-01 -7.17241028e-01 1.99844423e+02] [-2.77742352e-01 -7.63114332e-01 -5.83537232e-01 2.31214900e+02] [-9.23544391e-01 4.49015644e-02 3.80853786e-01 -2.57333449e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.6807140569999 meters Centerline goodness : 0.992642 Centerline is valid? [True, True] Translation: X:199.84, Y:231.15, Z:-257.31 [[-2.67480746e-01 5.55645217e-01 -7.87218168e-01 1.99835702e+02] [-2.77700395e-01 -8.26775140e-01 -4.89208911e-01 2.31149987e+02] [-9.22679002e-01 8.77568312e-02 3.75449328e-01 -2.57307071e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.7107140569999 meters Centerline goodness : 0.993043 Centerline is valid? [True, True] Translation: X:199.84, Y:231.15, Z:-257.31 [[-2.69998509e-01 5.64721956e-01 -7.79865321e-01 1.99836497e+02] [-2.77035367e-01 -8.21259089e-01 -4.98783434e-01 2.31153606e+02] [-9.22145439e-01 8.13794922e-02 3.78186684e-01 -2.57307481e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.7407140569999 meters Centerline goodness : 0.992667 Centerline is valid? [True, True] Translation: X:199.83, Y:231.15, Z:-257.31 [[-2.69192329e-01 5.62402002e-01 -7.81818060e-01 1.99834125e+02] [-2.75828357e-01 -8.22799567e-01 -4.96910043e-01 2.31149336e+02] [-9.22742764e-01 8.18832193e-02 3.76617751e-01 -2.57313435e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.770714057 meters Centerline goodness : 0.991910 Centerline is valid? [True, True] Translation: X:199.82, Y:231.13, Z:-257.35 [[-2.59548060e-01 5.42576811e-01 -7.98902503e-01 1.99824707e+02] [-2.67103347e-01 -8.35313211e-01 -4.80528502e-01 2.31131240e+02] [-9.28057437e-01 8.86692920e-02 3.61728006e-01 -2.57352497e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.8007140569999 meters Centerline goodness : 0.992762 Centerline is valid? [True, True] Translation: X:199.83, Y:231.15, Z:-257.32 [[-2.68513417e-01 5.70990856e-01 -7.75802801e-01 1.99834144e+02] [-2.74574566e-01 -8.17336799e-01 -5.06526766e-01 2.31153318e+02] [-9.23314330e-01 7.70064847e-02 3.76245464e-01 -2.57320129e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.8307140569999 meters Centerline goodness : 0.990013 Centerline is valid? [True, True] Translation: X:199.64, Y:230.99, Z:-257.99 [[-2.44389769e-01 6.12326096e-01 -7.51884561e-01 1.99638909e+02] [-3.02768902e-01 -7.84816557e-01 -5.40734652e-01 2.30994110e+02] [-9.21197391e-01 9.54972459e-02 3.77194437e-01 -2.57985457e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.8607140569999 meters Centerline goodness : 0.992645 Centerline is valid? [True, True] Translation: X:198.64, Y:231.52, Z:-257.23 [[-2.82013504e-01 -5.11076847e-01 8.11953718e-01 1.98643208e+02] [-2.91648095e-01 8.51921953e-01 4.34937209e-01 2.31519361e+02] [-9.14007534e-01 -1.14146589e-01 -3.89308084e-01 -2.57228966e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.890714057 meters Centerline goodness : 0.992256 Centerline is valid? [True, True] Translation: X:199.78, Y:231.36, Z:-257.51 [[-2.11923512e-01 8.06860095e-01 -5.51421085e-01 1.99779024e+02] [-3.35677956e-01 -5.90006434e-01 -7.34311050e-01 2.31359801e+02] [-9.17828271e-01 2.94821263e-02 3.95881383e-01 -2.57510586e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.9207140569999 meters Centerline goodness : 0.992925 Centerline is valid? [True, True] Translation: X:199.78, Y:231.26, Z:-257.48 [[-2.15032932e-01 7.00557619e-01 -6.80426234e-01 1.99784552e+02] [-3.48242009e-01 -7.05928062e-01 -6.16760144e-01 2.31257725e+02] [-9.12407991e-01 1.04329257e-01 3.95761374e-01 -2.57477290e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.9507140569999 meters Centerline goodness : 0.992804 Centerline is valid? [True, True] Translation: X:199.78, Y:231.27, Z:-257.50 [[-2.13936141e-01 7.22980703e-01 -6.56909606e-01 1.99781517e+02] [-3.49182771e-01 -6.84646818e-01 -6.39789127e-01 2.31273182e+02] [-9.12306265e-01 9.25074999e-02 3.98923103e-01 -2.57496088e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.9807140569999 meters Centerline goodness : 0.992154 Centerline is valid? [True, True] Translation: X:199.78, Y:231.27, Z:-257.51 [[-2.14420659e-01 7.30814499e-01 -6.48023109e-01 1.99777093e+02] [-3.55705323e-01 -6.76320777e-01 -6.45030177e-01 2.31272985e+02] [-9.09668898e-01 9.21974732e-02 4.04971754e-01 -2.57506392e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.010714057 meters Centerline goodness : 0.993701 Centerline is valid? [True, True] Translation: X:199.77, Y:231.26, Z:-257.55 [[-1.95623052e-01 7.56191554e-01 -6.24424499e-01 1.99773849e+02] [-3.85473718e-01 -6.44767594e-01 -6.60064211e-01 2.31255898e+02] [-9.01743663e-01 1.11575457e-01 4.17623375e-01 -2.57546902e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.040714057 meters Centerline goodness : 0.989087 Centerline is valid? [True, True] Translation: X:199.60, Y:231.09, Z:-258.19 [[-1.89936800e-01 8.02926341e-01 -5.65007347e-01 1.99600504e+02] [-3.73945424e-01 -5.91269197e-01 -7.14538702e-01 2.31088323e+02] [-9.07793386e-01 7.55647174e-02 4.12554410e-01 -2.58192660e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.0707140569999 meters Centerline goodness : 0.992127 Centerline is valid? [True, True] Translation: X:198.56, Y:231.46, Z:-257.41 [[-2.35244168e-01 -5.86338903e-01 7.75156031e-01 1.98561528e+02] [-3.33967891e-01 7.97741198e-01 5.02070144e-01 2.31463640e+02] [-9.12757158e-01 -1.40768152e-01 -3.83482331e-01 -2.57407653e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.1007140569999 meters Centerline goodness : 0.993327 Centerline is valid? [True, True] Translation: X:199.70, Y:231.41, Z:-257.71 [[-1.29447537e-01 9.12952015e-01 -3.86990896e-01 1.99695425e+02] [-4.30626849e-01 -4.03309085e-01 -8.07404669e-01 2.31413802e+02] [-8.93198664e-01 6.21321247e-02 4.45349016e-01 -2.57711788e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.130714057 meters Centerline goodness : 0.992676 Centerline is valid? [True, True] Translation: X:199.71, Y:231.43, Z:-257.64 [[-1.60181618e-01 8.83717412e-01 -4.39756052e-01 1.99706393e+02] [-4.05880353e-01 -4.65070808e-01 -7.86746645e-01 2.31428011e+02] [-8.99779411e-01 5.24659910e-02 4.33179330e-01 -2.57638239e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.160714057 meters Centerline goodness : 0.992676 Centerline is valid? [True, True] Translation: X:199.72, Y:231.36, Z:-257.61 [[-1.63915991e-01 8.21379678e-01 -5.46321309e-01 1.99721639e+02] [-4.11281787e-01 -5.60286152e-01 -7.18976161e-01 2.31358043e+02] [-8.96648671e-01 1.06840314e-01 4.29658362e-01 -2.57614317e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.1907140569999 meters Centerline goodness : 0.992356 Centerline is valid? [True, True] Translation: X:199.72, Y:231.36, Z:-257.63 [[-1.61267655e-01 8.26398553e-01 -5.39498077e-01 1.99716798e+02] [-4.11030369e-01 -5.53227923e-01 -7.24563938e-01 2.31358513e+02] [-8.97243991e-01 1.04901366e-01 4.28892673e-01 -2.57629394e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.2207140569999 meters Centerline goodness : 0.992684 Centerline is valid? [True, True] Translation: X:199.72, Y:231.36, Z:-257.62 [[-1.60583426e-01 8.24892166e-01 -5.42001732e-01 1.99719847e+02] [-4.13176489e-01 -5.54879544e-01 -7.22076091e-01 2.31361211e+02] [-8.96380585e-01 1.07988920e-01 4.29930507e-01 -2.57615006e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.250714057 meters Centerline goodness : 0.992726 Centerline is valid? [True, True] Translation: X:199.71, Y:231.32, Z:-257.69 [[-1.31656393e-01 8.43199940e-01 -5.21229753e-01 1.99713032e+02] [-4.44876246e-01 -5.20140402e-01 -7.29067272e-01 2.31324574e+02] [-8.85862134e-01 1.35896369e-01 4.43599433e-01 -2.57686490e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.280714057 meters Centerline goodness : 0.992729 Centerline is valid? [True, True] Translation: X:199.70, Y:231.42, Z:-257.67 [[-1.53342512e-01 8.86547445e-01 -4.36485626e-01 1.99696900e+02] [-4.14434498e-01 -4.58682981e-01 -7.86036876e-01 2.31415371e+02] [-8.97067512e-01 6.03618320e-02 4.37751446e-01 -2.57670153e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.3107140569999 meters Centerline goodness : 0.991650 Centerline is valid? [True, True] Translation: X:199.71, Y:231.35, Z:-257.64 [[-1.57079239e-01 8.24771127e-01 -5.43211470e-01 1.99712968e+02] [-4.21947607e-01 -5.53357010e-01 -7.18161706e-01 2.31346678e+02] [-8.92908914e-01 1.16398485e-01 4.34931102e-01 -2.57643837e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.3407140569999 meters Centerline goodness : 0.992153 Centerline is valid? [True, True] Translation: X:199.71, Y:231.36, Z:-257.64 [[-1.58022758e-01 8.37758462e-01 -5.22675394e-01 1.99711669e+02] [-4.29661700e-01 -5.34925878e-01 -7.27492356e-01 2.31356928e+02] [-8.89055471e-01 1.09613250e-01 4.44483188e-01 -2.57640391e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.370714057 meters Centerline goodness : 0.991885 Centerline is valid? [True, True] Translation: X:199.71, Y:231.35, Z:-257.64 [[-1.57561641e-01 8.31026313e-01 -5.33450650e-01 1.99714403e+02] [-4.26805933e-01 -5.44445306e-01 -7.22091410e-01 2.31351641e+02] [-8.90511665e-01 1.13905995e-01 4.40470657e-01 -2.57640867e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.400714057 meters Centerline goodness : 0.991440 Centerline is valid? [True, True] Translation: X:199.71, Y:231.35, Z:-257.64 [[-1.57666749e-01 8.32727702e-01 -5.30759616e-01 1.99714367e+02] [-4.27460705e-01 -5.42069018e-01 -7.23490515e-01 2.31351442e+02] [-8.90178938e-01 1.12808483e-01 4.41424630e-01 -2.57643593e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.4307140569999 meters Centerline goodness : 0.991459 Centerline is valid? [True, True] Translation: X:199.71, Y:231.35, Z:-257.66 [[-1.57603845e-01 8.43188195e-01 -5.13998732e-01 1.99709760e+02] [-4.30148876e-01 -5.27146649e-01 -7.32863121e-01 2.31350164e+02] [-8.88894241e-01 1.05593931e-01 4.45776793e-01 -2.57661083e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.4607140569999 meters Centerline goodness : 0.992448 Centerline is valid? [True, True] Translation: X:199.71, Y:231.33, Z:-257.66 [[-1.61897702e-01 8.30805933e-01 -5.32494728e-01 1.99713171e+02] [-4.30771960e-01 -5.44985325e-01 -7.19323650e-01 2.31333891e+02] [-8.87820169e-01 1.12926951e-01 4.46119772e-01 -2.57659143e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.4907140569999 meters Centerline goodness : 0.991424 Centerline is valid? [True, True] Translation: X:199.71, Y:231.35, Z:-257.66 [[-1.62563344e-01 8.41376617e-01 -5.15420749e-01 1.99713092e+02] [-4.26121201e-01 -5.31010238e-01 -7.32426685e-01 2.31346992e+02] [-8.89940381e-01 1.00565977e-01 4.44851214e-01 -2.57658485e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.520714057 meters Centerline goodness : 0.991786 Centerline is valid? [True, True] Translation: X:199.72, Y:231.34, Z:-257.64 [[-1.66071671e-01 8.31836936e-01 -5.29591836e-01 1.99719309e+02] [-4.24212918e-01 -5.45080824e-01 -7.23139195e-01 2.31342710e+02] [-8.90204246e-01 1.04566763e-01 4.43398457e-01 -2.57640482e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.5507140569999 meters Centerline goodness : 0.992586 Centerline is valid? [True, True] Translation: X:199.72, Y:231.33, Z:-257.65 [[-1.68907254e-01 8.27679635e-01 -5.35179186e-01 1.99719215e+02] [-4.23799596e-01 -5.51212129e-01 -7.18720454e-01 2.31330549e+02] [-8.89867542e-01 1.05411625e-01 4.43874022e-01 -2.57654358e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.5807140569999 meters Centerline goodness : 0.993038 Centerline is valid? [True, True] Translation: X:199.72, Y:231.34, Z:-257.63 [[-1.72581017e-01 8.24818102e-01 -5.38415166e-01 1.99724672e+02] [-4.18778850e-01 -5.56195758e-01 -7.17823483e-01 2.31340875e+02] [-8.91538035e-01 1.01594177e-01 4.41405206e-01 -2.57626352e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.6107140569999 meters Centerline goodness : 0.992452 Centerline is valid? [True, True] Translation: X:199.73, Y:231.33, Z:-257.63 [[-1.74234210e-01 8.16484434e-01 -5.50450369e-01 1.99726952e+02] [-4.17416100e-01 -5.67532507e-01 -7.09697578e-01 2.31331465e+02] [-8.91855504e-01 1.06113250e-01 4.39697327e-01 -2.57625963e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.640714057 meters Centerline goodness : 0.993182 Centerline is valid? [True, True] Translation: X:199.73, Y:231.34, Z:-257.63 [[-1.75839102e-01 8.20277583e-01 -5.44265833e-01 1.99727543e+02] [-4.15426242e-01 -5.63070176e-01 -7.14403958e-01 2.31335205e+02] [-8.92469410e-01 1.00482159e-01 4.39774588e-01 -2.57629941e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.6707140569999 meters Centerline goodness : 0.992602 Centerline is valid? [True, True] Translation: X:199.73, Y:231.33, Z:-257.63 [[-1.76602711e-01 8.17307942e-01 -5.48469881e-01 1.99728056e+02] [-4.13706151e-01 -5.67253647e-01 -7.12088843e-01 2.31332168e+02] [-8.93117407e-01 1.01148543e-01 4.38303855e-01 -2.57629709e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.7007140569999 meters Centerline goodness : 0.992820 Centerline is valid? [True, True] Translation: X:199.73, Y:231.33, Z:-257.63 [[-1.79177209e-01 8.12835261e-01 -5.54251176e-01 1.99732163e+02] [-4.07326452e-01 -5.74105648e-01 -7.10273093e-01 2.31330595e+02] [-8.95533746e-01 9.84964149e-02 4.33955950e-01 -2.57629336e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.7307140569999 meters Centerline goodness : 0.992715 Centerline is valid? [True, True] Translation: X:199.73, Y:231.32, Z:-257.64 [[-1.83067398e-01 8.14231936e-01 -5.50919852e-01 1.99730568e+02] [-4.10721593e-01 -5.72485853e-01 -7.09625057e-01 2.31324170e+02] [-8.93193205e-01 9.63654666e-02 4.39226134e-01 -2.57637898e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.760714057 meters Centerline goodness : 0.992458 Centerline is valid? [True, True] Translation: X:199.73, Y:231.33, Z:-257.65 [[-1.83012195e-01 8.13351791e-01 -5.52236725e-01 1.99731816e+02] [-4.02717366e-01 -5.74455297e-01 -7.12614787e-01 2.31326077e+02] [-8.96841825e-01 9.19781224e-02 4.32683216e-01 -2.57646556e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.790714057 meters Centerline goodness : 0.993542 Centerline is valid? [True, True] Translation: X:199.73, Y:231.31, Z:-257.67 [[-1.74349383e-01 8.24394697e-01 -5.38493896e-01 1.99729069e+02] [-4.19802696e-01 -5.56911214e-01 -7.16669796e-01 2.31309926e+02] [-8.90712069e-01 1.01110253e-01 4.43180243e-01 -2.57670222e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.8207140569999 meters Centerline goodness : 0.993829 Centerline is valid? [True, True] Translation: X:199.73, Y:231.33, Z:-257.68 [[-1.75000966e-01 8.43282993e-01 -5.08181519e-01 1.99727348e+02] [-4.17119411e-01 -5.31038507e-01 -7.37569997e-01 2.31331143e+02] [-8.91844190e-01 8.28969137e-02 4.44681957e-01 -2.57677958e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.8507140569999 meters Centerline goodness : 0.993087 Centerline is valid? [True, True] Translation: X:199.73, Y:231.34, Z:-257.66 [[-1.85938719e-01 8.32638250e-01 -5.21670717e-01 1.99729601e+02] [-3.97693789e-01 -5.49271656e-01 -7.34942377e-01 2.31342655e+02] [-8.98480074e-01 7.08109598e-02 4.33265929e-01 -2.57662929e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.880714057 meters Centerline goodness : 0.993884 Centerline is valid? [True, True] Translation: X:199.73, Y:231.32, Z:-257.65 [[-1.91343393e-01 8.17105467e-01 -5.43807283e-01 1.99730491e+02] [-4.04558638e-01 -5.70448139e-01 -7.14787541e-01 2.31321995e+02] [-8.94270661e-01 8.32320604e-02 4.39718557e-01 -2.57647664e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.910714057 meters Centerline goodness : 0.993323 Centerline is valid? [True, True] Translation: X:199.73, Y:231.33, Z:-257.64 [[-1.93418690e-01 8.17105468e-01 -5.43072614e-01 1.99731126e+02] [-4.02579165e-01 -5.70878542e-01 -7.15561113e-01 2.31325938e+02] [-8.94717400e-01 8.02268271e-02 4.39368217e-01 -2.57642018e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.9407140569999 meters Centerline goodness : 0.993393 Centerline is valid? [True, True] Translation: X:199.73, Y:231.33, Z:-257.64 [[-1.97118435e-01 8.25696940e-01 -5.28553580e-01 1.99728134e+02] [-4.10413229e-01 -5.59116120e-01 -7.20381945e-01 2.31327912e+02] [-8.90339994e-01 7.49248197e-02 4.49089041e-01 -2.57640433e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.9707140569999 meters Centerline goodness : 0.993680 Centerline is valid? [True, True] Translation: X:199.73, Y:231.32, Z:-257.65 [[-1.94145159e-01 8.14795369e-01 -5.46274806e-01 1.99730061e+02] [-4.01594108e-01 -5.74083580e-01 -7.13547626e-01 2.31319079e+02] [-8.95002698e-01 8.08489256e-02 4.38672568e-01 -2.57648517e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.000714057 meters Centerline goodness : 0.994411 Centerline is valid? [True, True] Translation: X:199.73, Y:231.32, Z:-257.65 [[-1.97119044e-01 8.23022339e-01 -5.32708468e-01 1.99728126e+02] [-4.04764372e-01 -5.63217802e-01 -7.20382892e-01 2.31322489e+02] [-8.92922105e-01 7.36202216e-02 4.44151075e-01 -2.57648157e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.030714057 meters Centerline goodness : 0.994716 Centerline is valid? [True, True] Translation: X:199.73, Y:231.30, Z:-257.68 [[-1.86114321e-01 8.18302590e-01 -5.43821966e-01 1.99728997e+02] [-4.04983615e-01 -5.68178300e-01 -7.16353049e-01 2.31297281e+02] [-8.95181396e-01 8.69154243e-02 4.37145260e-01 -2.57682984e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.0607140569999 meters Centerline goodness : 0.994722 Centerline is valid? [True, True] Translation: X:199.73, Y:231.34, Z:-257.65 [[-1.99392639e-01 8.37947599e-01 -5.08022044e-01 1.99729453e+02] [-3.98281209e-01 -5.42979575e-01 -7.39286994e-01 2.31341900e+02] [-8.95329355e-01 5.49272491e-02 4.42004913e-01 -2.57654014e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.0907140569999 meters Centerline goodness : 0.994909 Centerline is valid? [True, True] Translation: X:199.73, Y:231.31, Z:-257.66 [[-2.01064234e-01 8.18852515e-01 -5.37637175e-01 1.99727643e+02] [-4.04774160e-01 -5.69248277e-01 -7.15621603e-01 2.31310775e+02] [-8.92037585e-01 7.37357265e-02 4.45905808e-01 -2.57657541e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.120714057 meters Centerline goodness : 0.995439 Centerline is valid? [True, True] Translation: X:199.73, Y:231.32, Z:-257.65 [[-2.02054768e-01 8.26754873e-01 -5.25024048e-01 1.99728619e+02] [-4.05718088e-01 -5.58578103e-01 -7.23452373e-01 2.31322480e+02] [-8.91384711e-01 6.68347515e-02 4.48292776e-01 -2.57650826e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.150714057 meters Centerline goodness : 0.995297 Centerline is valid? [True, True] Translation: X:199.73, Y:231.31, Z:-257.66 [[-2.00893580e-01 8.18667127e-01 -5.37983182e-01 1.99727026e+02] [-4.02683780e-01 -5.69647950e-01 -7.16482369e-01 2.31312949e+02] [-8.93021580e-01 7.27003931e-02 4.44102590e-01 -2.57660724e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.1807140569999 meters Centerline goodness : 0.994735 Centerline is valid? [True, True] Translation: X:199.73, Y:231.32, Z:-257.65 [[-2.01794870e-01 8.25458591e-01 -5.27159316e-01 1.99727012e+02] [-4.06437205e-01 -5.60276789e-01 -7.21733135e-01 2.31321665e+02] [-8.91115946e-01 6.86151146e-02 4.48558064e-01 -2.57652604e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.2107140569999 meters Centerline goodness : 0.994682 Centerline is valid? [True, True] Translation: X:199.72, Y:231.31, Z:-257.68 [[-1.97077050e-01 8.22765774e-01 -5.33120172e-01 1.99723080e+02] [-3.99219073e-01 -5.64007137e-01 -7.22855505e-01 2.31312785e+02] [-8.95424351e-01 7.03735100e-02 4.39616652e-01 -2.57683858e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.2407140569999 meters Centerline goodness : 0.995281 Centerline is valid? [True, True] Translation: X:199.72, Y:231.32, Z:-257.68 [[-1.99470246e-01 8.32361385e-01 -5.17093943e-01 1.99722291e+02] [-4.06104285e-01 -5.50467910e-01 -7.29427440e-01 2.31321016e+02] [-8.91790856e-01 6.44949948e-02 4.47827495e-01 -2.57682011e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.270714057 meters Centerline goodness : 0.995614 Centerline is valid? [True, True] Translation: X:199.73, Y:231.32, Z:-257.65 [[-2.01413923e-01 8.21710032e-01 -5.33127617e-01 1.99729979e+02] [-4.03176055e-01 -5.65585130e-01 -7.19418188e-01 2.31322672e+02] [-8.92682195e-01 7.00434496e-02 4.45210528e-01 -2.57653819e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.3007140569999 meters Centerline goodness : 0.995302 Centerline is valid? [True, True] Translation: X:199.74, Y:231.30, Z:-257.68 [[-1.83338766e-01 8.21960054e-01 -5.39229605e-01 1.99736262e+02] [-4.13297412e-01 -5.62143158e-01 -7.16366051e-01 2.31302925e+02] [-8.91948511e-01 9.15245330e-02 4.42776596e-01 -2.57677255e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.3307140569999 meters Centerline goodness : 0.995560 Centerline is valid? [True, True] Translation: X:199.72, Y:231.40, Z:-257.68 [[-1.99816329e-01 8.82487583e-01 -4.25780577e-01 1.99719976e+02] [-3.94206280e-01 -4.70227924e-01 -7.89611999e-01 2.31401235e+02] [-8.97036702e-01 1.00680059e-02 4.41841365e-01 -2.57677341e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.3607140569999 meters Centerline goodness : 0.995455 Centerline is valid? [True, True] Translation: X:199.73, Y:231.32, Z:-257.65 [[-2.04293492e-01 8.20688177e-01 -5.33605740e-01 1.99732185e+02] [-4.02640550e-01 -5.67304228e-01 -7.18363766e-01 2.31320925e+02] [-8.92269442e-01 6.80942664e-02 4.46338901e-01 -2.57649120e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.390714057 meters Centerline goodness : 0.994063 Centerline is valid? [True, True] Translation: X:199.74, Y:231.33, Z:-257.64 [[-2.05183966e-01 8.20421113e-01 -5.33674749e-01 1.99737217e+02] [-3.96205723e-01 -5.68226546e-01 -7.21207056e-01 2.31331664e+02] [-8.94941655e-01 6.34648659e-02 4.41646517e-01 -2.57641243e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.4207140569999 meters Centerline goodness : 0.993749 Centerline is valid? [True, True] Translation: X:199.73, Y:231.35, Z:-257.67 [[-2.03400981e-01 8.46282275e-01 -4.92376230e-01 1.99728758e+02] [-3.95558796e-01 -5.31049086e-01 -7.49346454e-01 2.31352817e+02] [-8.95634568e-01 4.23459454e-02 4.42770303e-01 -2.57671444e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.4507140569999 meters Centerline goodness : 0.995609 Centerline is valid? [True, True] Translation: X:199.72, Y:231.34, Z:-257.70 [[-1.95105920e-01 8.55160362e-01 -4.80244142e-01 1.99722445e+02] [-4.02077543e-01 -5.16356338e-01 -7.56114926e-01 2.31339703e+02] [-8.94576620e-01 4.55728866e-02 4.44584955e-01 -2.57701202e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.4807140569999 meters Centerline goodness : 0.994661 Centerline is valid? [True, True] Translation: X:199.73, Y:231.33, Z:-257.68 [[-1.88492794e-01 8.44499345e-01 -5.01289660e-01 1.99733188e+02] [-4.08332100e-01 -5.31619359e-01 -7.42055088e-01 2.31330679e+02] [-8.93160323e-01 6.48206229e-02 4.45042610e-01 -2.57682170e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.510714057 meters Centerline goodness : 0.993653 Centerline is valid? [True, True] Translation: X:199.72, Y:231.39, Z:-257.68 [[-2.02430602e-01 8.77015734e-01 -4.35735303e-01 1.99720035e+02] [-3.93538881e-01 -4.80291120e-01 -7.83867074e-01 2.31392796e+02] [-8.96743554e-01 1.28000995e-02 4.42365411e-01 -2.57681890e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.540714057 meters Centerline goodness : 0.994535 Centerline is valid? [True, True] Translation: X:199.72, Y:231.35, Z:-257.70 [[-1.99989150e-01 8.54294198e-01 -4.79776785e-01 1.99717311e+02] [-3.93904675e-01 -5.18456943e-01 -7.58973982e-01 2.31348706e+02] [-8.97130674e-01 3.71997574e-02 4.40196242e-01 -2.57701688e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.5707140569999 meters Centerline goodness : 0.994116 Centerline is valid? [True, True] Translation: X:199.73, Y:231.32, Z:-257.69 [[-1.87213582e-01 8.38207934e-01 -5.12209464e-01 1.99729789e+02] [-4.08308578e-01 -5.40651083e-01 -7.35513774e-01 2.31321571e+02] [-8.93440082e-01 7.14413496e-02 4.43464716e-01 -2.57686603e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.6007140569999 meters Centerline goodness : 0.994448 Centerline is valid? [True, True] Translation: X:199.71, Y:231.38, Z:-257.71 [[-1.97126164e-01 8.81108585e-01 -4.29870837e-01 1.99709209e+02] [-3.93702706e-01 -4.72711710e-01 -7.88379236e-01 2.31384877e+02] [-8.97852691e-01 1.38311370e-02 4.40078680e-01 -2.57707958e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.630714057 meters Centerline goodness : 0.994070 Centerline is valid? [True, True] Translation: X:199.72, Y:231.34, Z:-257.69 [[-1.98442384e-01 8.39683004e-01 -5.05522574e-01 1.99719957e+02] [-3.94321821e-01 -5.40594398e-01 -7.43147360e-01 2.31335767e+02] [-8.97290879e-01 5.18666487e-02 4.38382172e-01 -2.57688521e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.660714057 meters Centerline goodness : 0.993959 Centerline is valid? [True, True] Translation: X:199.72, Y:231.32, Z:-257.70 [[-1.85791269e-01 8.39062233e-01 -5.11327853e-01 1.99723352e+02] [-4.10678103e-01 -5.39065585e-01 -7.35358274e-01 2.31320906e+02] [-8.92650604e-01 7.33680057e-02 4.44738165e-01 -2.57698586e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.6907140569999 meters Centerline goodness : 0.994249 Centerline is valid? [True, True] Translation: X:199.71, Y:231.38, Z:-257.71 [[-1.82551083e-01 8.82045678e-01 -4.34362204e-01 1.99713530e+02] [-4.09231890e-01 -4.69864161e-01 -7.82148918e-01 2.31375418e+02] [-8.93982305e-01 3.49727338e-02 4.46735432e-01 -2.57713508e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.7207140569999 meters Centerline goodness : 0.993659 Centerline is valid? [True, True] Translation: X:199.70, Y:231.38, Z:-257.73 [[-1.94631912e-01 8.85854812e-01 -4.21164661e-01 1.99700556e+02] [-4.01474554e-01 -4.63708048e-01 -7.89805691e-01 2.31384884e+02] [-8.94950614e-01 1.53655023e-02 4.45900549e-01 -2.57725024e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.750714057 meters Centerline goodness : 0.985887 Centerline is valid? [True, True] Translation: X:199.53, Y:231.00, Z:-258.55 [[-1.63547346e-01 8.67226058e-01 -4.70288454e-01 1.99527099e+02] [-4.03094563e-01 -4.93841012e-01 -7.70477662e-01 2.31004219e+02] [-9.00426032e-01 6.35611424e-02 4.30340496e-01 -2.58551470e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.780714057 meters Centerline goodness : 0.993445 Centerline is valid? [True, True] Translation: X:198.45, Y:231.34, Z:-257.58 [[-1.70161570e-01 -7.25289125e-01 6.67083747e-01 1.98449181e+02] [-3.88353211e-01 6.71526726e-01 6.31057557e-01 2.31344981e+02] [-9.05663748e-01 -1.51682370e-01 -3.95936402e-01 -2.57582135e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.8107140569999 meters Centerline goodness : 0.993737 Centerline is valid? [True, True] Translation: X:199.62, Y:231.46, Z:-257.84 [[-1.11565460e-01 9.49806329e-01 -2.92268857e-01 1.99617467e+02] [-4.52586332e-01 -3.10396364e-01 -8.35954371e-01 2.31457954e+02] [-8.84713943e-01 3.90132565e-02 4.64498876e-01 -2.57841253e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.8407140569999 meters Centerline goodness : 0.994240 Centerline is valid? [True, True] Translation: X:199.61, Y:231.45, Z:-257.88 [[-1.13673624e-01 9.53279908e-01 -2.79885200e-01 1.99606623e+02] [-4.51987913e-01 -3.00490365e-01 -8.39888366e-01 2.31446138e+02] [-8.84751510e-01 3.10315734e-02 4.65028824e-01 -2.57876251e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.870714057 meters Centerline goodness : 0.993969 Centerline is valid? [True, True] Translation: X:199.62, Y:231.42, Z:-257.85 [[-1.12733393e-01 9.35091860e-01 -3.35997613e-01 1.99623683e+02] [-4.54344794e-01 -3.49242688e-01 -8.19512265e-01 2.31424519e+02] [-8.83663958e-01 6.02723682e-02 4.64225432e-01 -2.57847284e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.900714057 meters Centerline goodness : 0.993563 Centerline is valid? [True, True] Translation: X:199.62, Y:231.45, Z:-257.85 [[-1.12378580e-01 9.49491400e-01 -2.92979755e-01 1.99615427e+02] [-4.52759444e-01 -3.11390260e-01 -8.35490869e-01 2.31454397e+02] [-8.84522437e-01 3.87580734e-02 4.64884793e-01 -2.57846064e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.9307140569999 meters Centerline goodness : 0.993391 Centerline is valid? [True, True] Translation: X:199.62, Y:231.47, Z:-257.82 [[-1.30393195e-01 9.37301427e-01 -3.23208369e-01 1.99619218e+02] [-4.17115796e-01 -3.47599035e-01 -8.39755514e-01 2.31474491e+02] [-8.99450959e-01 2.53169116e-02 4.36287779e-01 -2.57820815e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.9607140569999 meters Centerline goodness : 0.993278 Centerline is valid? [True, True] Translation: X:199.64, Y:231.44, Z:-257.80 [[-1.31994993e-01 9.12555759e-01 -3.87064993e-01 1.99636045e+02] [-4.16953552e-01 -4.05370517e-01 -8.13525955e-01 2.31440421e+02] [-8.99292532e-01 5.40067705e-02 4.34000243e-01 -2.57800056e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.9907140569999 meters Centerline goodness : 0.992729 Centerline is valid? [True, True] Translation: X:199.64, Y:231.44, Z:-257.80 [[-1.33822887e-01 9.13677894e-01 -3.83776160e-01 1.99635890e+02] [-4.21485692e-01 -4.02963305e-01 -8.12385614e-01 2.31438655e+02] [-8.96906487e-01 5.30403721e-02 4.39027872e-01 -2.57803837e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.020714057 meters Centerline goodness : 0.992711 Centerline is valid? [True, True] Translation: X:199.62, Y:231.44, Z:-257.84 [[-1.33473167e-01 9.27867629e-01 -3.48204792e-01 1.99623822e+02] [-4.23227146e-01 -3.71064922e-01 -8.26552846e-01 2.31442563e+02] [-8.96138213e-01 3.70470942e-02 4.42225979e-01 -2.57837391e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.0507140569999 meters Centerline goodness : 0.992711 Centerline is valid? [True, True] Translation: X:199.63, Y:231.43, Z:-257.83 [[-1.33481601e-01 9.20010062e-01 -3.68461869e-01 1.99628260e+02] [-4.23588801e-01 -3.89080281e-01 -8.18039768e-01 2.31430105e+02] [-8.95966065e-01 4.68830640e-02 4.41641018e-01 -2.57834116e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.0807140569999 meters Centerline goodness : 0.992663 Centerline is valid? [True, True] Translation: X:199.63, Y:231.43, Z:-257.82 [[-1.34971722e-01 9.20077484e-01 -3.67749993e-01 1.99630683e+02] [-4.30407203e-01 -3.88743694e-01 -8.14633648e-01 2.31432290e+02] [-8.92486568e-01 4.83297398e-02 4.48477382e-01 -2.57821839e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.1107140569999 meters Centerline goodness : 0.993714 Centerline is valid? [True, True] Translation: X:199.63, Y:231.43, Z:-257.84 [[-1.23819399e-01 9.37463310e-01 -3.25317227e-01 1.99626503e+02] [-4.49123798e-01 -3.45282575e-01 -8.24055676e-01 2.31434066e+02] [-8.84848332e-01 4.40736300e-02 4.63789763e-01 -2.57838869e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.140714057 meters Centerline goodness : 0.992484 Centerline is valid? [True, True] Translation: X:199.61, Y:231.45, Z:-257.85 [[-1.35308620e-01 9.43730950e-01 -3.01767247e-01 1.99613521e+02] [-4.37348539e-01 -3.30179780e-01 -8.36485247e-01 2.31454983e+02] [-8.89054460e-01 1.87938008e-02 4.57415523e-01 -2.57848653e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.1707140569999 meters Centerline goodness : 0.993039 Centerline is valid? [True, True] Translation: X:199.62, Y:231.44, Z:-257.84 [[-1.35438081e-01 9.41803670e-01 -3.07672511e-01 1.99615604e+02] [-4.46307996e-01 -3.35236862e-01 -8.29714059e-01 2.31444053e+02] [-8.84570913e-01 2.49418218e-02 4.65738345e-01 -2.57840456e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.2007140569999 meters Centerline goodness : 0.993390 Centerline is valid? [True, True] Translation: X:199.63, Y:231.42, Z:-257.84 [[-1.25980055e-01 9.30996912e-01 -3.42598563e-01 1.99629602e+02] [-4.47807487e-01 -3.61531693e-01 -8.17779488e-01 2.31421684e+02] [-8.85210416e-01 5.03942969e-02 4.62453170e-01 -2.57838867e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.2307140569999 meters Centerline goodness : 0.993556 Centerline is valid? [True, True] Translation: X:199.62, Y:231.47, Z:-257.82 [[-1.38684152e-01 9.46609002e-01 -2.91029384e-01 1.99616411e+02] [-4.44268689e-01 -3.22107095e-01 -8.35985856e-01 2.31467027e+02] [-8.85094367e-01 1.33572532e-02 4.65219890e-01 -2.57820884e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.260714057 meters Centerline goodness : 0.992818 Centerline is valid? [True, True] Translation: X:199.63, Y:231.44, Z:-257.82 [[-1.38975700e-01 9.31686509e-01 -3.35627776e-01 1.99625671e+02] [-4.44838418e-01 -3.61532034e-01 -8.19398176e-01 2.31438560e+02] [-8.84762418e-01 3.54236939e-02 4.64694120e-01 -2.57818668e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.290714057 meters Centerline goodness : 0.992709 Centerline is valid? [True, True] Translation: X:199.62, Y:231.42, Z:-257.86 [[-1.34672744e-01 9.34116520e-01 -3.30589743e-01 1.99618441e+02] [-4.47708897e-01 -3.54994848e-01 -8.20692026e-01 2.31423250e+02] [-8.83979635e-01 3.74831221e-02 4.66020407e-01 -2.57855962e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.3207140569999 meters Centerline goodness : 0.993180 Centerline is valid? [True, True] Translation: X:199.62, Y:231.44, Z:-257.85 [[-1.36360862e-01 9.36859557e-01 -3.22024667e-01 1.99617881e+02] [-4.44825018e-01 -3.48352682e-01 -8.25094608e-01 2.31435926e+02] [-8.85175926e-01 3.07340163e-02 4.64240241e-01 -2.57848565e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.3507140569999 meters Centerline goodness : 0.992822 Centerline is valid? [True, True] Translation: X:199.62, Y:231.44, Z:-257.85 [[-1.34300175e-01 9.38685927e-01 -3.17540854e-01 1.99615798e+02] [-4.42768003e-01 -3.43520492e-01 -8.28221086e-01 2.31436538e+02] [-8.86521268e-01 2.93666929e-02 4.61754955e-01 -2.57853984e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.380714057 meters Centerline goodness : 0.992614 Centerline is valid? [True, True] Translation: X:199.61, Y:231.43, Z:-257.87 [[-1.33823114e-01 9.37686468e-01 -3.20679688e-01 1.99614614e+02] [-4.42793343e-01 -3.46069605e-01 -8.27145625e-01 2.31429549e+02] [-8.86580752e-01 3.13036282e-02 4.61513438e-01 -2.57865136e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.410714057 meters Centerline goodness : 0.992515 Centerline is valid? [True, True] Translation: X:199.62, Y:231.44, Z:-257.84 [[-1.33786604e-01 9.33143590e-01 -3.33682760e-01 1.99621579e+02] [-4.40002592e-01 -3.57633901e-01 -8.23708512e-01 2.31435886e+02] [-8.87974585e-01 3.66201148e-02 4.58432224e-01 -2.57839346e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.4407140569999 meters Centerline goodness : 0.992584 Centerline is valid? [True, True] Translation: X:199.62, Y:231.44, Z:-257.85 [[-1.33712896e-01 9.36171829e-01 -3.25120236e-01 1.99618589e+02] [-4.39753619e-01 -3.50048361e-01 -8.27093042e-01 2.31437331e+02] [-8.88109012e-01 3.23797946e-02 4.58490930e-01 -2.57848918e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.4707140569999 meters Centerline goodness : 0.991457 Centerline is valid? [True, True] Translation: X:199.62, Y:231.44, Z:-257.83 [[-1.35628845e-01 9.35730990e-01 -3.25595349e-01 1.99620791e+02] [-4.41700509e-01 -3.51273592e-01 -8.25534690e-01 2.31443671e+02] [-8.86851440e-01 3.18493149e-02 4.60955686e-01 -2.57829282e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.500714057 meters Centerline goodness : 0.992283 Centerline is valid? [True, True] Translation: X:199.62, Y:231.43, Z:-257.87 [[-1.35494463e-01 9.35565166e-01 -3.26127386e-01 1.99616411e+02] [-4.43189517e-01 -3.51626737e-01 -8.24585769e-01 2.31425248e+02] [-8.86128830e-01 3.28094328e-02 4.62276150e-01 -2.57865386e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.530714057 meters Centerline goodness : 0.992503 Centerline is valid? [True, True] Translation: X:199.62, Y:231.44, Z:-257.84 [[-1.38170695e-01 9.41047736e-01 -3.08768551e-01 1.99617950e+02] [-4.48888015e-01 -3.37401714e-01 -8.27441619e-01 2.31441428e+02] [-8.82841101e-01 2.42743187e-02 4.69044079e-01 -2.57842052e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.5607140569999 meters Centerline goodness : 0.992008 Centerline is valid? [True, True] Translation: X:199.63, Y:231.41, Z:-257.86 [[-1.30285121e-01 9.31943669e-01 -3.38388511e-01 1.99626816e+02] [-4.45734254e-01 -3.59917874e-01 -8.19621924e-01 2.31410516e+02] [-8.85633537e-01 4.40468089e-02 4.62291160e-01 -2.57860940e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.5907140569999 meters Centerline goodness : 0.992462 Centerline is valid? [True, True] Translation: X:199.62, Y:231.43, Z:-257.87 [[-1.31364047e-01 9.45289170e-01 -2.98616597e-01 1.99619237e+02] [-4.43761250e-01 -3.25433833e-01 -8.34966331e-01 2.31433246e+02] [-8.86464574e-01 2.28299183e-02 4.62233009e-01 -2.57869190e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.620714057 meters Centerline goodness : 0.993720 Centerline is valid? [True, True] Translation: X:199.62, Y:231.44, Z:-257.85 [[-1.43473267e-01 9.43912739e-01 -2.97395633e-01 1.99618670e+02] [-4.39137760e-01 -3.30021268e-01 -8.35609951e-01 2.31444925e+02] [-8.86889762e-01 1.07099626e-02 4.61856956e-01 -2.57852362e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.650714057 meters Centerline goodness : 0.993064 Centerline is valid? [True, True] Translation: X:199.63, Y:231.41, Z:-257.86 [[-1.37037640e-01 9.33439979e-01 -3.31527510e-01 1.99629783e+02] [-4.41909245e-01 -3.57143717e-01 -8.22900106e-01 2.31412186e+02] [-8.86530826e-01 3.37367835e-02 4.61437889e-01 -2.57863795e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.6807140569999 meters Centerline goodness : 0.993016 Centerline is valid? [True, True] Translation: X:199.62, Y:231.45, Z:-257.85 [[-1.46431686e-01 9.42761839e-01 -2.99596191e-01 1.99623223e+02] [-4.36220491e-01 -3.33363486e-01 -8.35811264e-01 2.31445771e+02] [-8.87845394e-01 8.30074517e-03 4.60067010e-01 -2.57848578e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.7107140569999 meters Centerline goodness : 0.993983 Centerline is valid? [True, True] Translation: X:199.63, Y:231.43, Z:-257.84 [[-1.49767171e-01 9.32839283e-01 -3.27689893e-01 1.99631168e+02] [-4.35956976e-01 -3.59774827e-01 -8.24926415e-01 2.31428727e+02] [-8.87418340e-01 1.93117997e-02 4.60560251e-01 -2.57843149e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.7407140569999 meters Centerline goodness : 0.994121 Centerline is valid? [True, True] Translation: X:199.63, Y:231.43, Z:-257.84 [[-1.50291661e-01 9.32141547e-01 -3.29430651e-01 1.99632805e+02] [-4.36215187e-01 -3.61549038e-01 -8.24013715e-01 2.31427995e+02] [-8.87202754e-01 1.98602630e-02 4.60952105e-01 -2.57841020e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.770714057 meters Centerline goodness : 0.993940 Centerline is valid? [True, True] Translation: X:199.63, Y:231.41, Z:-257.86 [[-1.41699908e-01 9.33898006e-01 -3.28261559e-01 1.99633979e+02] [-4.42077900e-01 -3.56403455e-01 -8.23130432e-01 2.31413851e+02] [-8.85713423e-01 2.84796743e-02 4.63358006e-01 -2.57863505e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.8007140569999 meters Centerline goodness : 0.993468 Centerline is valid? [True, True] Translation: X:199.62, Y:231.44, Z:-257.86 [[-1.50230786e-01 9.42433746e-01 -2.98746288e-01 1.99624531e+02] [-4.37552783e-01 -3.34350665e-01 -8.34719830e-01 2.31441856e+02] [-8.86554157e-01 5.31665346e-03 4.62594272e-01 -2.57857605e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.8307140569999 meters Centerline goodness : 0.994218 Centerline is valid? [True, True] Translation: X:199.63, Y:231.41, Z:-257.88 [[-1.41136317e-01 9.34246765e-01 -3.27511103e-01 1.99630051e+02] [-4.42699098e-01 -3.55462034e-01 -8.23203651e-01 2.31407795e+02] [-8.85493111e-01 2.88049381e-02 4.63758802e-01 -2.57879092e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.8607140569999 meters Centerline goodness : 0.994379 Centerline is valid? [True, True] Translation: X:199.63, Y:231.44, Z:-257.85 [[-1.49698598e-01 9.42212808e-01 -2.99708783e-01 1.99625061e+02] [-4.37134961e-01 -3.34960137e-01 -8.34694395e-01 2.31444610e+02] [-8.86850244e-01 6.06060687e-03 4.62017222e-01 -2.57849131e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.890714057 meters Centerline goodness : 0.994635 Centerline is valid? [True, True] Translation: X:199.63, Y:231.42, Z:-257.85 [[-1.49764417e-01 9.30399170e-01 -3.34556429e-01 1.99631951e+02] [-4.32888009e-01 -3.65920144e-01 -8.23838832e-01 2.31424443e+02] [-8.88919902e-01 2.14437240e-02 4.57560461e-01 -2.57846668e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.9207140569999 meters Centerline goodness : 0.994868 Centerline is valid? [True, True] Translation: X:199.63, Y:231.42, Z:-257.86 [[-1.49831112e-01 9.32356801e-01 -3.29031052e-01 1.99628324e+02] [-4.34574347e-01 -3.61020698e-01 -8.25111624e-01 2.31418103e+02] [-8.88085455e-01 1.93610626e-02 4.59270481e-01 -2.57861014e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.9507140569999 meters Centerline goodness : 0.994273 Centerline is valid? [True, True] Translation: X:199.63, Y:231.42, Z:-257.85 [[-1.51754688e-01 9.28974681e-01 -3.37604142e-01 1.99632430e+02] [-4.28926676e-01 -3.69617480e-01 -8.24260168e-01 2.31423535e+02] [-8.90501219e-01 1.97220772e-02 4.54553207e-01 -2.57845247e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.9807140569999 meters Centerline goodness : 0.994296 Centerline is valid? [True, True] Translation: X:199.63, Y:231.42, Z:-257.85 [[-1.50348875e-01 9.32454986e-01 -3.28516232e-01 1.99629062e+02] [-4.33768942e-01 -3.60818922e-01 -8.25623528e-01 2.31421976e+02] [-8.88391649e-01 1.83685700e-02 4.58718732e-01 -2.57853726e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.010714057 meters Centerline goodness : 0.995598 Centerline is valid? [True, True] Translation: X:199.63, Y:231.42, Z:-257.86 [[-1.42135698e-01 9.35411787e-01 -3.23731728e-01 1.99628994e+02] [-4.39221251e-01 -3.52692825e-01 -8.26252059e-01 2.31415539e+02] [-8.87063772e-01 2.47499413e-02 4.60982976e-01 -2.57864058e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.040714057 meters Centerline goodness : 0.994931 Centerline is valid? [True, True] Translation: X:199.62, Y:231.43, Z:-257.87 [[-1.41391511e-01 9.43585113e-01 -2.99425407e-01 1.99622507e+02] [-4.39101356e-01 -3.30859889e-01 -8.35297392e-01 2.31428980e+02] [-8.87242041e-01 1.33741418e-02 4.61110282e-01 -2.57871391e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.0707140569999 meters Centerline goodness : 0.994737 Centerline is valid? [True, True] Translation: X:199.62, Y:231.43, Z:-257.86 [[-1.50350116e-01 9.35855585e-01 -3.18699179e-01 1.99622846e+02] [-4.23401840e-01 -3.52257103e-01 -8.34653111e-01 2.31434356e+02] [-8.93378825e-01 9.44762634e-03 4.49204873e-01 -2.57863884e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.1007140569999 meters Centerline goodness : 0.994963 Centerline is valid? [True, True] Translation: X:199.63, Y:231.41, Z:-257.88 [[-1.40009432e-01 9.34420633e-01 -3.27498764e-01 1.99625783e+02] [-4.40843843e-01 -3.54992772e-01 -8.24400896e-01 2.31407813e+02] [-8.86596901e-01 2.89519122e-02 4.61635919e-01 -2.57877149e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.130714057 meters Centerline goodness : 0.995071 Centerline is valid? [True, True] Translation: X:199.62, Y:231.42, Z:-257.89 [[-1.38962472e-01 9.43934019e-01 -2.99462850e-01 1.99617192e+02] [-4.41193635e-01 -3.29739502e-01 -8.34637668e-01 2.31418737e+02] [-8.86587620e-01 1.61377897e-02 4.62279098e-01 -2.57894796e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.160714057 meters Centerline goodness : 0.995094 Centerline is valid? [True, True] Translation: X:199.62, Y:231.43, Z:-257.88 [[-1.37629190e-01 9.44071759e-01 -2.99644322e-01 1.99618416e+02] [-4.41637269e-01 -3.29276915e-01 -8.34585667e-01 2.31425494e+02] [-8.86574717e-01 1.74707502e-02 4.62255388e-01 -2.57881548e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.1907140569999 meters Centerline goodness : 0.994948 Centerline is valid? [True, True] Translation: X:199.62, Y:231.43, Z:-257.87 [[-1.45535874e-01 9.40797198e-01 -3.06137127e-01 1.99616962e+02] [-4.33576612e-01 -3.38784529e-01 -8.35006805e-01 2.31433176e+02] [-8.89286585e-01 1.12104532e-02 4.57212965e-01 -2.57873667e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.2207140569999 meters Centerline goodness : 0.995053 Centerline is valid? [True, True] Translation: X:199.62, Y:231.39, Z:-257.92 [[-1.36055388e-01 9.33046092e-01 -3.33037417e-01 1.99617585e+02] [-4.42611750e-01 -3.57996260e-01 -8.22151760e-01 2.31385446e+02] [-8.86331637e-01 3.55480977e-02 4.61684484e-01 -2.57917759e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.250714057 meters Centerline goodness : 0.994005 Centerline is valid? [True, True] Translation: X:199.61, Y:231.43, Z:-257.89 [[-1.35616774e-01 9.48333279e-01 -2.86831103e-01 1.99614698e+02] [-4.42473453e-01 -3.17003328e-01 -8.38883862e-01 2.31432575e+02] [-8.86467898e-01 1.31484261e-02 4.62603270e-01 -2.57885271e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.280714057 meters Centerline goodness : 0.995012 Centerline is valid? [True, True] Translation: X:199.62, Y:231.42, Z:-257.89 [[-1.35219430e-01 9.44322871e-01 -2.99950030e-01 1.99616807e+02] [-4.42296473e-01 -3.28422940e-01 -8.34573066e-01 2.31421586e+02] [-8.86616905e-01 1.98163461e-02 4.62079838e-01 -2.57888686e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.3107140569999 meters Centerline goodness : 0.993792 Centerline is valid? [True, True] Translation: X:199.62, Y:231.42, Z:-257.89 [[-1.34041561e-01 9.42269607e-01 -3.06856397e-01 1.99617838e+02] [-4.41766937e-01 -3.33997527e-01 -8.32638953e-01 2.31418297e+02] [-8.87059656e-01 2.39507861e-02 4.61033108e-01 -2.57885307e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.3407140569999 meters Centerline goodness : 0.994794 Centerline is valid? [True, True] Translation: X:199.61, Y:231.42, Z:-257.91 [[-1.33922869e-01 9.50118639e-01 -2.81672216e-01 1.99609375e+02] [-4.41089402e-01 -3.11675430e-01 -8.41604757e-01 2.31423843e+02] [-8.87414675e-01 1.15325057e-02 4.60827730e-01 -2.57909146e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.370714057 meters Centerline goodness : 0.995453 Centerline is valid? [True, True] Translation: X:199.61, Y:231.42, Z:-257.90 [[-1.34097759e-01 9.47664583e-01 -2.89740624e-01 1.99613995e+02] [-4.40699126e-01 -3.18907173e-01 -8.39096237e-01 2.31423469e+02] [-8.87582149e-01 1.51675147e-02 4.60399691e-01 -2.57897446e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.400714057 meters Centerline goodness : 0.994988 Centerline is valid? [True, True] Translation: X:199.62, Y:231.42, Z:-257.88 [[-1.42290576e-01 9.39905421e-01 -3.10372665e-01 1.99617500e+02] [-4.31867548e-01 -3.41094887e-01 -8.34951914e-01 2.31424648e+02] [-8.90642360e-01 1.52340929e-02 4.54449237e-01 -2.57880331e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.4307140569999 meters Centerline goodness : 0.994772 Centerline is valid? [True, True] Translation: X:199.62, Y:231.40, Z:-257.89 [[-1.33537654e-01 9.34815841e-01 -3.29069961e-01 1.99622983e+02] [-4.41594929e-01 -3.53385218e-01 -8.24689522e-01 2.31400365e+02] [-8.87221288e-01 3.51885221e-02 4.60000168e-01 -2.57888095e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.4607140569999 meters Centerline goodness : 0.995334 Centerline is valid? [True, True] Translation: X:199.62, Y:231.42, Z:-257.90 [[-1.32629888e-01 9.44192051e-01 -3.01513986e-01 1.99617195e+02] [-4.41639541e-01 -3.28630495e-01 -8.34839214e-01 2.31415599e+02] [-8.87335241e-01 2.24358669e-02 4.60578769e-01 -2.57895057e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.4907140569999 meters Centerline goodness : 0.995522 Centerline is valid? [True, True] Translation: X:199.62, Y:231.42, Z:-257.88 [[-1.41196619e-01 9.36862384e-01 -3.19925599e-01 1.99620990e+02] [-4.28656276e-01 -3.49155119e-01 -8.33273365e-01 2.31419945e+02] [-8.92366131e-01 1.94827338e-02 4.50891463e-01 -2.57881416e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.520714057 meters Centerline goodness : 0.994716 Centerline is valid? [True, True] Translation: X:199.62, Y:231.40, Z:-257.90 [[-1.32460776e-01 9.37529613e-01 -3.21702297e-01 1.99622278e+02] [-4.44003390e-01 -3.46301280e-01 -8.26399669e-01 2.31400944e+02] [-8.86180079e-01 3.33713688e-02 4.62137663e-01 -2.57897016e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.5507140569999 meters Centerline goodness : 0.995432 Centerline is valid? [True, True] Translation: X:199.62, Y:231.41, Z:-257.91 [[-1.31753909e-01 9.44325597e-01 -3.01479808e-01 1.99615797e+02] [-4.44229886e-01 -3.28129433e-01 -8.33661133e-01 2.31408604e+02] [-8.86171945e-01 2.40882277e-02 4.62729987e-01 -2.57910267e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.5807140569999 meters Centerline goodness : 0.994790 Centerline is valid? [True, True] Translation: X:199.62, Y:231.41, Z:-257.90 [[-1.30108656e-01 9.44515098e-01 -3.01600674e-01 1.99615520e+02] [-4.45139490e-01 -3.27451900e-01 -8.33442312e-01 2.31411753e+02] [-8.85958561e-01 2.58163107e-02 4.63045296e-01 -2.57903942e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.6107140569999 meters Centerline goodness : 0.995025 Centerline is valid? [True, True] Translation: X:199.61, Y:231.41, Z:-257.91 [[-1.28783014e-01 9.44620112e-01 -3.01840652e-01 1.99613309e+02] [-4.45770939e-01 -3.27033299e-01 -8.33269159e-01 2.31407778e+02] [-8.85834751e-01 2.72408774e-02 4.63200528e-01 -2.57912372e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.640714057 meters Centerline goodness : 0.994693 Centerline is valid? [True, True] Translation: X:199.62, Y:231.42, Z:-257.88 [[-1.36213428e-01 9.37763755e-01 -3.19444896e-01 1.99617344e+02] [-4.31871723e-01 -3.46406710e-01 -8.32759993e-01 2.31423691e+02] [-8.91589994e-01 2.45261244e-02 4.52178894e-01 -2.57878783e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.6707140569999 meters Centerline goodness : 0.995213 Centerline is valid? [True, True] Translation: X:199.62, Y:231.39, Z:-257.91 [[-1.26155827e-01 9.36311986e-01 -3.27726369e-01 1.99616234e+02] [-4.46671268e-01 -3.48596030e-01 -8.23993682e-01 2.31391734e+02] [-8.85759271e-01 4.24343483e-02 4.62201082e-01 -2.57907725e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.7007140569999 meters Centerline goodness : 0.995186 Centerline is valid? [True, True] Translation: X:199.61, Y:231.41, Z:-257.91 [[-1.24855363e-01 9.44991920e-01 -3.02326661e-01 1.99610899e+02] [-4.45825781e-01 -3.25651385e-01 -8.33780876e-01 2.31408949e+02] [-8.86369286e-01 3.06830057e-02 4.61961082e-01 -2.57907511e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.7307140569999 meters Centerline goodness : 0.995515 Centerline is valid? [True, True] Translation: X:199.60, Y:231.44, Z:-257.88 [[-1.35818636e-01 9.54129075e-01 -2.66816430e-01 1.99604266e+02] [-4.50080158e-01 -2.99338971e-01 -8.41322787e-01 2.31442576e+02] [-8.82599088e-01 5.82146705e-03 4.70090375e-01 -2.57878137e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.760714057 meters Centerline goodness : 0.995767 Centerline is valid? [True, True] Translation: X:199.62, Y:231.41, Z:-257.86 [[-1.40270304e-01 9.34284449e-01 -3.27775549e-01 1.99618851e+02] [-4.50800069e-01 -3.55009027e-01 -8.18991995e-01 2.31408217e+02] [-8.81534764e-01 3.28809838e-02 4.70972718e-01 -2.57864655e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.790714057 meters Centerline goodness : 0.996542 Centerline is valid? [True, True] Translation: X:199.62, Y:231.41, Z:-257.86 [[-1.44910459e-01 9.38824480e-01 -3.12425280e-01 1.99616738e+02] [-4.61416820e-01 -3.43441723e-01 -8.18011187e-01 2.31408188e+02] [-8.75268803e-01 2.56199028e-02 4.82957703e-01 -2.57863412e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.8207140569999 meters Centerline goodness : 0.996549 Centerline is valid? [True, True] Translation: X:199.62, Y:231.41, Z:-257.85 [[-1.48769287e-01 9.32888337e-01 -3.28004648e-01 1.99622174e+02] [-4.56141050e-01 -3.59038031e-01 -8.14264720e-01 2.31405283e+02] [-8.77384204e-01 2.84788029e-02 4.78942498e-01 -2.57853270e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.8507140569999 meters Centerline goodness : 0.995859 Centerline is valid? [True, True] Translation: X:199.63, Y:231.36, Z:-257.89 [[-1.35808961e-01 9.15760526e-01 -3.78072195e-01 1.99631197e+02] [-4.41875192e-01 -3.97538118e-01 -8.04182666e-01 2.31364062e+02] [-8.86736850e-01 5.78455110e-02 4.58641097e-01 -2.57886019e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.880714057 meters Centerline goodness : 0.995620 Centerline is valid? [True, True] Translation: X:199.62, Y:231.41, Z:-257.90 [[-1.36639720e-01 9.43196278e-01 -3.02837197e-01 1.99616624e+02] [-4.39675828e-01 -3.31686468e-01 -8.34667151e-01 2.31407913e+02] [-8.87701951e-01 1.91015092e-02 4.60022151e-01 -2.57903018e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.910714057 meters Centerline goodness : 0.995625 Centerline is valid? [True, True] Translation: X:199.61, Y:231.40, Z:-257.92 [[-1.37967832e-01 9.42934101e-01 -3.03051414e-01 1.99614128e+02] [-4.38452629e-01 -3.32510075e-01 -8.34982839e-01 2.31401333e+02] [-8.88101441e-01 1.76729172e-02 4.59307630e-01 -2.57917389e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.9407140569999 meters Centerline goodness : 0.995024 Centerline is valid? [True, True] Translation: X:199.61, Y:231.40, Z:-257.92 [[-1.38426977e-01 9.42873032e-01 -3.03032040e-01 1.99613307e+02] [-4.38402727e-01 -3.32704206e-01 -8.34931710e-01 2.31399612e+02] [-8.88054627e-01 1.72730003e-02 4.59413346e-01 -2.57920853e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.9707140569999 meters Centerline goodness : 0.995024 Centerline is valid? [True, True] Translation: X:199.61, Y:231.40, Z:-257.92 [[-1.38520617e-01 9.42801956e-01 -3.03210342e-01 1.99613061e+02] [-4.38373157e-01 -3.32905567e-01 -8.34866971e-01 2.31398787e+02] [-8.88054623e-01 1.72729873e-02 4.59413354e-01 -2.57922343e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.000714057 meters Centerline goodness : 0.995510 Centerline is valid? [True, True] Translation: X:199.61, Y:231.40, Z:-257.92 [[-1.39274581e-01 9.42680068e-01 -3.03243930e-01 1.99613073e+02] [-4.38977368e-01 -3.33269381e-01 -8.34404213e-01 2.31401635e+02] [-8.87638137e-01 1.69059252e-02 4.60231168e-01 -2.57917453e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.030714057 meters Centerline goodness : 0.994630 Centerline is valid? [True, True] Translation: X:199.61, Y:231.41, Z:-257.91 [[-1.37582318e-01 9.46149448e-01 -2.93039806e-01 1.99611534e+02] [-4.38503570e-01 -3.23463553e-01 -8.38502206e-01 2.31411165e+02] [-8.88136096e-01 1.31359245e-02 4.59392776e-01 -2.57912376e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.0607140569999 meters Centerline goodness : 0.995476 Centerline is valid? [True, True] Translation: X:199.61, Y:231.40, Z:-257.92 [[-1.39930687e-01 9.42358871e-01 -3.03939403e-01 1.99612049e+02] [-4.39054843e-01 -3.34184661e-01 -8.33997277e-01 2.31402587e+02] [-8.87496619e-01 1.67442546e-02 4.60509915e-01 -2.57916845e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.0907140569999 meters Centerline goodness : 0.995248 Centerline is valid? [True, True] Translation: X:199.61, Y:231.40, Z:-257.91 [[-1.41015765e-01 9.42376980e-01 -3.03381249e-01 1.99611989e+02] [-4.38096134e-01 -3.34205877e-01 -8.34492786e-01 2.31404412e+02] [-8.87798587e-01 1.52335135e-02 4.59980009e-01 -2.57914413e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.120714057 meters Centerline goodness : 0.994706 Centerline is valid? [True, True] Translation: X:199.61, Y:231.41, Z:-257.91 [[-1.41847886e-01 9.42210213e-01 -3.03511272e-01 1.99612603e+02] [-4.38082420e-01 -3.34703145e-01 -8.34300665e-01 2.31405295e+02] [-8.87672784e-01 1.46191673e-02 4.60242663e-01 -2.57911447e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.150714057 meters Centerline goodness : 0.995047 Centerline is valid? [True, True] Translation: X:199.61, Y:231.40, Z:-257.91 [[-1.42947482e-01 9.41983806e-01 -3.03698085e-01 1.99613156e+02] [-4.37628890e-01 -3.35380630e-01 -8.34266617e-01 2.31404445e+02] [-8.87720098e-01 1.36507434e-02 4.60181144e-01 -2.57913759e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.1807140569999 meters Centerline goodness : 0.995191 Centerline is valid? [True, True] Translation: X:199.61, Y:231.40, Z:-257.92 [[-1.42465737e-01 9.41997787e-01 -3.03881033e-01 1.99611142e+02] [-4.37760954e-01 -3.35319428e-01 -8.34221930e-01 2.31399433e+02] [-8.87732427e-01 1.41792085e-02 4.60141379e-01 -2.57923613e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.2107140569999 meters Centerline goodness : 0.994735 Centerline is valid? [True, True] Translation: X:199.61, Y:231.43, Z:-257.87 [[-1.56502676e-01 9.42926342e-01 -2.93933371e-01 1.99611644e+02] [-4.29240615e-01 -3.32960332e-01 -8.39577222e-01 2.31434428e+02] [-8.89527632e-01 -5.22794163e-03 4.56851466e-01 -2.57873230e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.2407140569999 meters Centerline goodness : 0.994673 Centerline is valid? [True, True] Translation: X:199.62, Y:231.37, Z:-257.91 [[-1.40349792e-01 9.24508060e-01 -3.54382257e-01 1.99622153e+02] [-4.37875301e-01 -3.78977484e-01 -8.15255351e-01 2.31371042e+02] [-8.88013039e-01 4.07543189e-02 4.58008656e-01 -2.57908679e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.270714057 meters Centerline goodness : 0.993968 Centerline is valid? [True, True] Translation: X:199.60, Y:231.40, Z:-257.94 [[-1.39974198e-01 9.47328677e-01 -2.88054859e-01 1.99603815e+02] [-4.33046520e-01 -3.20190761e-01 -8.42584469e-01 2.31403976e+02] [-8.90436935e-01 6.80106903e-03 4.55055832e-01 -2.57937443e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.3007140569999 meters Centerline goodness : 0.993910 Centerline is valid? [True, True] Translation: X:199.62, Y:231.40, Z:-257.90 [[-1.50249132e-01 9.29042186e-01 -3.38091430e-01 1.99615171e+02] [-4.12857263e-01 -3.69688884e-01 -8.32393543e-01 2.31404486e+02] [-8.98317360e-01 1.45170952e-02 4.39107248e-01 -2.57901820e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.3307140569999 meters Centerline goodness : 0.994239 Centerline is valid? [True, True] Translation: X:199.63, Y:231.41, Z:-257.86 [[-1.51620215e-01 9.14386567e-01 -3.75377832e-01 1.99627011e+02] [-4.01504021e-01 -4.04000406e-01 -8.21935638e-01 2.31405546e+02] [-9.03219703e-01 2.60936509e-02 4.28384512e-01 -2.57864638e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.3607140569999 meters Centerline goodness : 0.993511 Centerline is valid? [True, True] Translation: X:199.62, Y:231.39, Z:-257.90 [[-1.47258511e-01 9.15354736e-01 -3.74754103e-01 1.99620978e+02] [-4.07772796e-01 -4.01371374e-01 -8.20135578e-01 2.31385477e+02] [-9.01130555e-01 3.20425844e-02 4.32362111e-01 -2.57900441e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.390714057 meters Centerline goodness : 0.994640 Centerline is valid? [True, True] Translation: X:199.62, Y:231.38, Z:-257.92 [[-1.37579457e-01 9.32480522e-01 -3.33993966e-01 1.99615067e+02] [-4.37859869e-01 -3.59720235e-01 -8.23941799e-01 2.31381775e+02] [-8.88454067e-01 3.28850885e-02 4.57785914e-01 -2.57919785e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.4207140569999 meters Centerline goodness : 0.994668 Centerline is valid? [True, True] Translation: X:199.60, Y:231.39, Z:-257.95 [[-1.36690750e-01 9.42292557e-01 -3.05614752e-01 1.99604952e+02] [-4.37077450e-01 -3.34225826e-01 -8.35018802e-01 2.31388059e+02] [-8.88976345e-01 1.94379700e-02 4.57540407e-01 -2.57948749e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.4507140569999 meters Centerline goodness : 0.993897 Centerline is valid? [True, True] Translation: X:199.61, Y:231.41, Z:-257.92 [[-1.35657365e-01 9.45975894e-01 -2.94493951e-01 1.99606497e+02] [-4.35623440e-01 -3.23918824e-01 -8.39826658e-01 2.31407081e+02] [-8.89847908e-01 1.43597969e-02 4.56031247e-01 -2.57923697e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.4807140569999 meters Centerline goodness : 0.994086 Centerline is valid? [True, True] Translation: X:199.61, Y:231.40, Z:-257.92 [[-1.36079813e-01 9.39457398e-01 -3.14487015e-01 1.99610833e+02] [-4.37370803e-01 -3.41798958e-01 -8.31793396e-01 2.31395247e+02] [-8.88925793e-01 2.43571485e-02 4.57403175e-01 -2.57920330e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.510714057 meters Centerline goodness : 0.993809 Centerline is valid? [True, True] Translation: X:199.60, Y:231.40, Z:-257.94 [[-1.33849175e-01 9.45516072e-01 -2.96789078e-01 1.99603306e+02] [-4.35313505e-01 -3.25140249e-01 -8.39515319e-01 2.31399948e+02] [-8.90273301e-01 1.68278613e-02 4.55115669e-01 -2.57937563e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.540714057 meters Centerline goodness : 0.985581 Centerline is valid? [True, True] Translation: X:199.47, Y:231.01, Z:-258.76 [[-1.27305997e-01 9.42990172e-01 -3.07510519e-01 1.99466074e+02] [-4.30162946e-01 -3.31849889e-01 -8.39544812e-01 2.31007572e+02] [-8.93729838e-01 2.54005411e-02 4.47885912e-01 -2.58759253e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.5707140569999 meters Centerline goodness : 0.994545 Centerline is valid? [True, True] Translation: X:199.60, Y:231.40, Z:-257.94 [[-1.34673448e-01 9.44862266e-01 -2.98493486e-01 1.99602951e+02] [-4.34236052e-01 -3.27047969e-01 -8.39332281e-01 2.31396178e+02] [-8.90675089e-01 1.65808606e-02 4.54337937e-01 -2.57939705e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.6007140569999 meters Centerline goodness : 0.994120 Centerline is valid? [True, True] Translation: X:199.61, Y:231.39, Z:-257.93 [[-1.34481481e-01 9.41531229e-01 -3.08923415e-01 1.99605944e+02] [-4.34515817e-01 -3.36215494e-01 -8.35556789e-01 2.31392376e+02] [-8.90567649e-01 2.18651960e-02 4.54324968e-01 -2.57934981e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.630714057 meters Centerline goodness : 0.994676 Centerline is valid? [True, True] Translation: X:199.61, Y:231.39, Z:-257.94 [[-1.34598877e-01 9.41431585e-01 -3.09175862e-01 1.99605004e+02] [-4.34574028e-01 -3.36491243e-01 -8.35415500e-01 2.31391048e+02] [-8.90521508e-01 2.19138117e-02 4.54413059e-01 -2.57937260e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.660714057 meters Centerline goodness : 0.994398 Centerline is valid? [True, True] Translation: X:199.60, Y:231.39, Z:-257.94 [[-1.33382393e-01 9.41465302e-01 -3.09600101e-01 1.99603789e+02] [-4.34076354e-01 -3.36330027e-01 -8.35739093e-01 2.31388628e+02] [-8.90947168e-01 2.29172031e-02 4.53528330e-01 -2.57943123e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.6907140569999 meters Centerline goodness : 0.993709 Centerline is valid? [True, True] Translation: X:199.60, Y:231.39, Z:-257.94 [[-1.32983208e-01 9.41413796e-01 -3.09928269e-01 1.99603615e+02] [-4.33864936e-01 -3.36446536e-01 -8.35801977e-01 2.31389634e+02] [-8.91109804e-01 2.33193807e-02 4.53188176e-01 -2.57940935e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.7207140569999 meters Centerline goodness : 0.993774 Centerline is valid? [True, True] Translation: X:199.60, Y:231.39, Z:-257.95 [[-1.32592852e-01 9.41373887e-01 -3.10216602e-01 1.99602322e+02] [-4.33888692e-01 -3.36525671e-01 -8.35757785e-01 2.31386754e+02] [-8.91156405e-01 2.37839671e-02 4.53072383e-01 -2.57945910e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.750714057 meters Centerline goodness : 0.994365 Centerline is valid? [True, True] Translation: X:199.60, Y:231.39, Z:-257.95 [[-1.31591485e-01 9.41397240e-01 -3.10571920e-01 1.99601747e+02] [-4.33729061e-01 -3.36393776e-01 -8.35893731e-01 2.31386146e+02] [-8.91382512e-01 2.47075695e-02 4.52577898e-01 -2.57947292e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.780714057 meters Centerline goodness : 0.993894 Centerline is valid? [True, True] Translation: X:199.60, Y:231.38, Z:-257.96 [[-1.31344244e-01 9.41371262e-01 -3.10755267e-01 1.99599366e+02] [-4.34332174e-01 -3.36428134e-01 -8.35566678e-01 2.31379837e+02] [-8.91125273e-01 2.52241374e-02 4.53055726e-01 -2.57960913e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.8107140569999 meters Centerline goodness : 0.993767 Centerline is valid? [True, True] Translation: X:199.60, Y:231.38, Z:-257.96 [[-1.30497880e-01 9.41487795e-01 -3.10758806e-01 1.99599845e+02] [-4.35685028e-01 -3.36009739e-01 -8.35030545e-01 2.31383584e+02] [-8.90589052e-01 2.64232437e-02 4.54040695e-01 -2.57955512e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.8407140569999 meters Centerline goodness : 0.994136 Centerline is valid? [True, True] Translation: X:199.60, Y:231.38, Z:-257.96 [[-1.30015275e-01 9.41478566e-01 -3.10988968e-01 1.99599473e+02] [-4.36099066e-01 -3.35983148e-01 -8.34825089e-01 2.31384562e+02] [-8.90456980e-01 2.70819847e-02 4.54260865e-01 -2.57955446e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.870714057 meters Centerline goodness : 0.994433 Centerline is valid? [True, True] Translation: X:199.61, Y:231.44, Z:-257.86 [[-1.58900730e-01 9.29851950e-01 -3.31852239e-01 1.99608034e+02] [-4.08224657e-01 -3.67923871e-01 -8.35454760e-01 2.31437823e+02] [-8.98945598e-01 2.71589495e-03 4.38051865e-01 -2.57864489e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.900714057 meters Centerline goodness : 0.993918 Centerline is valid? [True, True] Translation: X:199.62, Y:231.33, Z:-257.94 [[-1.28375321e-01 9.05868688e-01 -4.03635600e-01 1.99617230e+02] [-4.41199881e-01 -4.16675338e-01 -7.94810876e-01 2.31331324e+02] [-8.88179285e-01 7.60498777e-02 4.53159987e-01 -2.57936507e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.9307140569999 meters Centerline goodness : 0.993454 Centerline is valid? [True, True] Translation: X:199.60, Y:231.38, Z:-257.96 [[-1.25411360e-01 9.42203114e-01 -3.10685182e-01 1.99596920e+02] [-4.39402927e-01 -3.33518911e-01 -8.34080454e-01 2.31384231e+02] [-8.89492585e-01 3.19128143e-02 4.55833866e-01 -2.57962678e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.9607140569999 meters Centerline goodness : 0.993415 Centerline is valid? [True, True] Translation: X:199.60, Y:231.38, Z:-257.97 [[-1.23004703e-01 9.42528156e-01 -3.10661421e-01 1.99595981e+02] [-4.41451732e-01 -3.32328260e-01 -8.33473632e-01 2.31384078e+02] [-8.88813935e-01 3.46208464e-02 4.56958626e-01 -2.57965440e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.9907140569999 meters Centerline goodness : 0.993407 Centerline is valid? [True, True] Translation: X:199.59, Y:231.37, Z:-257.99 [[-1.21982273e-01 9.42574889e-01 -3.10922664e-01 1.99592032e+02] [-4.41865392e-01 -3.32078056e-01 -8.33354150e-01 2.31374761e+02] [-8.88749290e-01 3.57315315e-02 4.56998860e-01 -2.57986374e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.020714057 meters Centerline goodness : 0.993581 Centerline is valid? [True, True] Translation: X:199.59, Y:231.38, Z:-257.98 [[-1.21106688e-01 9.42619668e-01 -3.11129125e-01 1.99593904e+02] [-4.42562202e-01 -3.31833931e-01 -8.33081593e-01 2.31379683e+02] [-8.88522294e-01 3.68022378e-02 4.57355144e-01 -2.57976085e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.0507140569999 meters Centerline goodness : 0.992324 Centerline is valid? [True, True] Translation: X:199.59, Y:231.38, Z:-257.98 [[-1.21362582e-01 9.42492829e-01 -3.11413538e-01 1.99594225e+02] [-4.42405522e-01 -3.32208181e-01 -8.33015653e-01 2.31379986e+02] [-8.88565404e-01 3.66741381e-02 4.57281675e-01 -2.57975587e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.0807140569999 meters Centerline goodness : 0.992551 Centerline is valid? [True, True] Translation: X:199.59, Y:231.38, Z:-257.97 [[-1.23190832e-01 9.42107764e-01 -3.11860514e-01 1.99594739e+02] [-4.40725650e-01 -3.33501695e-01 -8.33389177e-01 2.31380115e+02] [-8.89148425e-01 3.47790213e-02 4.56295408e-01 -2.57974410e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.1107140569999 meters Centerline goodness : 0.993220 Centerline is valid? [True, True] Translation: X:199.59, Y:231.43, Z:-257.90 [[-1.62806439e-01 9.32639018e-01 -3.21991499e-01 1.99593036e+02] [-4.14700161e-01 -3.60802359e-01 -8.35371435e-01 2.31431531e+02] [-8.95275287e-01 -2.47392222e-03 4.45506498e-01 -2.57898049e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.140714057 meters Centerline goodness : 0.989552 Centerline is valid? [True, True] Translation: X:199.53, Y:231.12, Z:-258.43 [[-1.17449240e-01 9.07255740e-01 -4.03847370e-01 1.99530566e+02] [-4.28542540e-01 -4.13152008e-01 -8.03527666e-01 2.31118866e+02] [-8.95855439e-01 7.86920637e-02 4.37322068e-01 -2.58432243e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.1707140569999 meters Centerline goodness : 0.992207 Centerline is valid? [True, True] Translation: X:199.59, Y:231.39, Z:-257.98 [[-1.14994481e-01 9.47280247e-01 -2.99059198e-01 1.99585168e+02] [-4.43225372e-01 -3.18356007e-01 -8.37974178e-01 2.31389110e+02] [-8.89003678e-01 3.61882190e-02 4.56467824e-01 -2.57982933e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.2007140569999 meters Centerline goodness : 0.992988 Centerline is valid? [True, True] Translation: X:199.58, Y:231.44, Z:-257.91 [[-1.56240368e-01 9.34427363e-01 -3.20053825e-01 1.99582693e+02] [-4.05106121e-01 -3.56148662e-01 -8.42049382e-01 2.31443360e+02] [-9.00820725e-01 -1.90634171e-03 4.34187043e-01 -2.57911421e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.2307140569999 meters Centerline goodness : 0.992397 Centerline is valid? [True, True] Translation: X:199.61, Y:231.32, Z:-257.94 [[-1.19929898e-01 8.95868847e-01 -4.27826867e-01 1.99612036e+02] [-4.46672477e-01 -4.33548126e-01 -7.82636391e-01 2.31321260e+02] [-8.86623098e-01 9.72369838e-02 4.52155339e-01 -2.57943880e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.260714057 meters Centerline goodness : 0.991297 Centerline is valid? [True, True] Translation: X:199.58, Y:231.40, Z:-257.98 [[-1.18321653e-01 9.50244694e-01 -2.88157956e-01 1.99581569e+02] [-4.43113649e-01 -3.10228167e-01 -8.41075965e-01 2.31402698e+02] [-8.88622688e-01 2.81692246e-02 4.57773103e-01 -2.57979815e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.290714057 meters Centerline goodness : 0.992095 Centerline is valid? [True, True] Translation: X:199.58, Y:231.40, Z:-257.98 [[-1.19713999e-01 9.50007131e-01 -2.88366103e-01 1.99580762e+02] [-4.43044263e-01 -3.11049698e-01 -8.40809055e-01 2.31401642e+02] [-8.88470787e-01 2.71023334e-02 4.58132213e-01 -2.57982628e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.3207140569999 meters Centerline goodness : 0.991131 Centerline is valid? [True, True] Translation: X:199.58, Y:231.40, Z:-257.98 [[-1.23832011e-01 9.49442856e-01 -2.88485522e-01 1.99581087e+02] [-4.42622154e-01 -3.13048930e-01 -8.40289234e-01 2.31402102e+02] [-8.88116694e-01 2.36353775e-02 4.59009921e-01 -2.57981907e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.3507140569999 meters Centerline goodness : 0.991867 Centerline is valid? [True, True] Translation: X:199.58, Y:231.40, Z:-257.98 [[-1.30758082e-01 9.48347817e-01 -2.89030694e-01 1.99584367e+02] [-4.41372960e-01 -3.16733201e-01 -8.39565358e-01 2.31399299e+02] [-8.87745591e-01 1.77903776e-02 4.59990509e-01 -2.57984984e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.380714057 meters Centerline goodness : 0.991967 Centerline is valid? [True, True] Translation: X:199.59, Y:231.40, Z:-257.99 [[-1.35084362e-01 9.47667366e-01 -2.89272843e-01 1.99586368e+02] [-4.40082856e-01 -3.18956050e-01 -8.39401047e-01 2.31397430e+02] [-8.87738303e-01 1.39140637e-02 4.60138136e-01 -2.57987380e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.410714057 meters Centerline goodness : 0.991479 Centerline is valid? [True, True] Translation: X:199.58, Y:231.45, Z:-257.92 [[-1.79838672e-01 9.35655577e-01 -3.03655550e-01 1.99579351e+02] [-4.05762968e-01 -3.51762217e-01 -8.43575578e-01 2.31449781e+02] [-8.96110744e-01 -2.84953344e-02 4.42914834e-01 -2.57917020e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.4407140569999 meters Centerline goodness : 0.992196 Centerline is valid? [True, True] Translation: X:199.61, Y:231.33, Z:-257.93 [[-1.54092923e-01 8.87278974e-01 -4.34731404e-01 1.99612495e+02] [-4.23997034e-01 -4.56796449e-01 -7.82025268e-01 2.31333530e+02] [-8.92458339e-01 6.38202668e-02 4.46592754e-01 -2.57929281e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.4707140569999 meters Centerline goodness : 0.991139 Centerline is valid? [True, True] Translation: X:199.60, Y:231.37, Z:-257.97 [[-1.41231309e-01 9.26374716e-01 -3.49118323e-01 1.99600827e+02] [-4.33089064e-01 -3.74932211e-01 -8.19670483e-01 2.31370267e+02] [-8.90217715e-01 3.54361925e-02 4.54154926e-01 -2.57967817e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.500714057 meters Centerline goodness : 0.992471 Centerline is valid? [True, True] Translation: X:199.58, Y:231.41, Z:-257.97 [[-1.57535535e-01 9.43691038e-01 -2.90911980e-01 1.99584819e+02] [-4.22896739e-01 -3.30680375e-01 -8.43687642e-01 2.31410095e+02] [-8.92379350e-01 -9.88505619e-03 4.51177772e-01 -2.57972437e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.530714057 meters Centerline goodness : 0.991642 Centerline is valid? [True, True] Translation: X:199.60, Y:231.39, Z:-257.95 [[-1.65183456e-01 9.22022522e-01 -3.50126971e-01 1.99596863e+02] [-4.16866492e-01 -3.87004510e-01 -8.22465706e-01 2.31385909e+02] [-8.93832621e-01 1.00984742e-02 4.48287036e-01 -2.57945990e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.5607140569999 meters Centerline goodness : 0.992188 Centerline is valid? [True, True] Translation: X:199.60, Y:231.37, Z:-257.95 [[-1.58819914e-01 9.15972345e-01 -3.68471027e-01 1.99604645e+02] [-4.19733766e-01 -4.00443273e-01 -8.14535911e-01 2.31367822e+02] [-8.93644113e-01 2.52952085e-02 4.48062889e-01 -2.57951057e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.5907140569999 meters Centerline goodness : 0.990464 Centerline is valid? [True, True] Translation: X:199.59, Y:231.42, Z:-257.92 [[-1.88903080e-01 9.18703823e-01 -3.46841335e-01 1.99592528e+02] [-4.02247017e-01 -3.94600607e-01 -8.26128137e-01 2.31415287e+02] [-8.95830879e-01 -1.65422574e-02 4.44087142e-01 -2.57916307e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.620714057 meters Centerline goodness : 0.992680 Centerline is valid? [True, True] Translation: X:199.61, Y:231.34, Z:-257.94 [[-1.64348506e-01 8.91335659e-01 -4.22504806e-01 1.99614218e+02] [-4.15205002e-01 -4.51046350e-01 -7.90039237e-01 2.31335092e+02] [-8.94759395e-01 4.55843407e-02 4.44215818e-01 -2.57943968e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.650714057 meters Centerline goodness : 0.993209 Centerline is valid? [True, True] Translation: X:199.60, Y:231.38, Z:-257.95 [[-1.71801939e-01 9.18258552e-01 -3.56770691e-01 1.99602434e+02] [-4.13193202e-01 -3.95927577e-01 -8.20068736e-01 2.31382396e+02] [-8.94290485e-01 6.52582535e-03 4.47439317e-01 -2.57945476e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.6807140569999 meters Centerline goodness : 0.991912 Centerline is valid? [True, True] Translation: X:199.60, Y:231.40, Z:-257.91 [[-1.92503213e-01 9.01512496e-01 -3.87579324e-01 1.99604760e+02] [-3.88458788e-01 -4.32710748e-01 -8.13548511e-01 2.31398952e+02] [-9.01133888e-01 -6.05210796e-03 4.33498661e-01 -2.57908944e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.7107140569999 meters Centerline goodness : 0.992759 Centerline is valid? [True, True] Translation: X:199.62, Y:231.34, Z:-257.93 [[-1.72707563e-01 8.84422718e-01 -4.33553404e-01 1.99617738e+02] [-4.10865521e-01 -4.64732070e-01 -7.84355549e-01 2.31335150e+02] [-8.95188037e-01 4.26680094e-02 4.43641544e-01 -2.57931336e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.7407140569999 meters Centerline goodness : 0.992686 Centerline is valid? [True, True] Translation: X:199.60, Y:231.38, Z:-257.94 [[-1.79058639e-01 9.11165161e-01 -3.71101136e-01 1.99603688e+02] [-4.10632643e-01 -4.11986243e-01 -8.13417585e-01 2.31376407e+02] [-8.94046328e-01 6.73679455e-03 4.47923854e-01 -2.57943490e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.770714057 meters Centerline goodness : 0.993889 Centerline is valid? [True, True] Translation: X:199.61, Y:231.36, Z:-257.95 [[-1.72535463e-01 9.03601072e-01 -3.92092612e-01 1.99611922e+02] [-4.14386438e-01 -4.27709176e-01 -8.03336007e-01 2.31356956e+02] [-8.93596885e-01 2.38739109e-02 4.48235031e-01 -2.57947470e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.8007140569999 meters Centerline goodness : 0.990868 Centerline is valid? [True, True] Translation: X:199.53, Y:231.19, Z:-258.36 [[-1.72060429e-01 9.20327834e-01 -3.51271813e-01 1.99531321e+02] [-4.10116356e-01 -3.91141126e-01 -8.23901204e-01 2.31191197e+02] [-8.95656063e-01 2.30152108e-03 4.44741408e-01 -2.58364561e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.8307140569999 meters Centerline goodness : 0.984923 Centerline is valid? [True, True] Translation: X:199.46, Y:230.98, Z:-258.89 [[-1.39855380e-01 9.43900597e-01 -2.99152363e-01 1.99459651e+02] [-4.14104604e-01 -3.30187964e-01 -8.48229501e-01 2.30975303e+02] [-8.99420841e-01 5.25091195e-03 4.37052146e-01 -2.58886847e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.8607140569999 meters Centerline goodness : 0.984923 Centerline is valid? [True, True] Translation: X:199.45, Y:231.00, Z:-258.90 [[-1.41502864e-01 9.57063137e-01 -2.52996229e-01 1.99446594e+02] [-4.14903004e-01 -2.89375060e-01 -8.62622497e-01 2.31000641e+02] [-8.98794992e-01 -1.70946585e-02 4.38035770e-01 -2.58898783e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.890714057 meters Centerline goodness : 0.993514 Centerline is valid? [True, True] Translation: X:198.34, Y:231.27, Z:-257.86 [[-4.39304904e-02 -7.35246264e-01 6.76374928e-01 1.98340146e+02] [-5.13494582e-01 5.97369976e-01 6.16013333e-01 2.31267165e+02] [-8.56967576e-01 -3.20253093e-01 -4.03787729e-01 -2.57857521e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.9207140569999 meters Centerline goodness : 0.994476 Centerline is valid? [True, True] Translation: X:199.45, Y:231.52, Z:-258.13 [[-1.08650220e-01 9.91317367e-01 -7.40608345e-02 1.99453057e+02] [-4.79124266e-01 -1.17498758e-01 -8.69847102e-01 2.31516452e+02] [-8.70996595e-01 -5.90247363e-02 4.87730471e-01 -2.58128553e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.9507140569999 meters Centerline goodness : 0.993174 Centerline is valid? [True, True] Translation: X:199.45, Y:231.23, Z:-258.53 [[-1.02361991e-01 9.79974917e-01 -1.70795738e-01 1.99450705e+02] [-4.76108105e-01 -1.99019280e-01 -8.56570137e-01 2.31234280e+02] [-8.73408894e-01 -6.36298901e-03 4.86946010e-01 -2.58528923e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.9807140569999 meters Centerline goodness : 0.995804 Centerline is valid? [True, True] Translation: X:199.50, Y:231.45, Z:-258.10 [[-1.02255700e-01 9.72491126e-01 -2.09295918e-01 1.99502039e+02] [-4.74442697e-01 -2.32605160e-01 -8.48998802e-01 2.31449886e+02] [-8.74327112e-01 1.24839528e-02 4.85176517e-01 -2.58100514e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.010714057 meters Centerline goodness : 0.993572 Centerline is valid? [True, True] Translation: X:199.50, Y:231.46, Z:-258.11 [[-9.57908270e-02 9.76730792e-01 -1.91888189e-01 1.99500198e+02] [-4.77231384e-01 -2.14238730e-01 -8.52262854e-01 2.31459051e+02] [-8.73541255e-01 9.93610236e-03 4.86648693e-01 -2.58106319e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.040714057 meters Centerline goodness : 0.994127 Centerline is valid? [True, True] Translation: X:199.48, Y:231.49, Z:-258.12 [[-9.69044580e-02 9.87513039e-01 -1.24207582e-01 1.99477682e+02] [-4.78858894e-01 -1.55660338e-01 -8.63981492e-01 2.31491734e+02] [-8.72527184e-01 -2.42457528e-02 4.87963582e-01 -2.58123774e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.0707140569999 meters Centerline goodness : 0.993000 Centerline is valid? [True, True] Translation: X:199.48, Y:231.49, Z:-258.12 [[-9.74206974e-02 9.87445700e-01 -1.24339044e-01 1.99478017e+02] [-4.79188619e-01 -1.56037272e-01 -8.63730651e-01 2.31491371e+02] [-8.72288642e-01 -2.45633875e-02 4.88374001e-01 -2.58124674e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.1007140569999 meters Centerline goodness : 0.993213 Centerline is valid? [True, True] Translation: X:199.45, Y:231.51, Z:-258.10 [[-1.26256785e-01 9.86381836e-01 -1.05404452e-01 1.99454999e+02] [-4.74269325e-01 -1.53345444e-01 -8.66922016e-01 2.31514317e+02] [-8.71279422e-01 -5.94646882e-02 4.87171550e-01 -2.58103103e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.130714057 meters Centerline goodness : 0.994351 Centerline is valid? [True, True] Translation: X:199.52, Y:231.43, Z:-258.09 [[-9.93792150e-02 9.61497879e-01 -2.56213972e-01 1.99519329e+02] [-4.76441284e-01 -2.72033281e-01 -8.36063154e-01 2.31427393e+02] [-8.73571677e-01 3.89836140e-02 4.85131738e-01 -2.58090193e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.160714057 meters Centerline goodness : 0.993826 Centerline is valid? [True, True] Translation: X:199.48, Y:231.49, Z:-258.13 [[-1.00961966e-01 9.87036898e-01 -1.24759146e-01 1.99477407e+02] [-4.79966289e-01 -1.58164749e-01 -8.62911510e-01 2.31492809e+02] [-8.71457998e-01 -2.72410583e-02 4.89713061e-01 -2.58126261e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.1907140569999 meters Centerline goodness : 0.993425 Centerline is valid? [True, True] Translation: X:199.46, Y:231.51, Z:-258.11 [[-1.27721674e-01 9.84654949e-01 -1.18919325e-01 1.99458804e+02] [-4.66176637e-01 -1.65430630e-01 -8.69086906e-01 2.31512512e+02] [-8.75423622e-01 -5.55638231e-02 4.80152209e-01 -2.58110699e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.2207140569999 meters Centerline goodness : 0.995328 Centerline is valid? [True, True] Translation: X:199.50, Y:231.44, Z:-258.09 [[-1.12557927e-01 9.65960790e-01 -2.32917291e-01 1.99503087e+02] [-4.78232119e-01 -2.58135709e-01 -8.39440288e-01 2.31436724e+02] [-8.70990674e-01 1.69028708e-02 4.91008696e-01 -2.58091466e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.250714057 meters Centerline goodness : 0.993579 Centerline is valid? [True, True] Translation: X:199.50, Y:231.46, Z:-258.09 [[-1.22833717e-01 9.65978750e-01 -2.27589396e-01 1.99495166e+02] [-4.59104775e-01 -2.58621436e-01 -8.49904559e-01 2.31459103e+02] [-8.79849239e-01 9.04427162e-05 4.75252888e-01 -2.58090627e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.280714057 meters Centerline goodness : 0.994929 Centerline is valid? [True, True] Translation: X:199.50, Y:231.43, Z:-258.11 [[-1.06396774e-01 9.69623419e-01 -2.20250202e-01 1.99498874e+02] [-4.80281682e-01 -2.44069126e-01 -8.42472414e-01 2.31432989e+02] [-8.70637257e-01 1.61457907e-02 4.91660534e-01 -2.58113082e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.3107140569999 meters Centerline goodness : 0.994758 Centerline is valid? [True, True] Translation: X:199.49, Y:231.45, Z:-258.11 [[-1.02507003e-01 9.74506828e-01 -1.99571434e-01 1.99493333e+02] [-4.81612993e-01 -2.24166288e-01 -8.47229839e-01 2.31446075e+02] [-8.70368450e-01 9.26920343e-03 4.92313765e-01 -2.58112382e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.3407140569999 meters Centerline goodness : 0.985263 Centerline is valid? [True, True] Translation: X:199.42, Y:230.97, Z:-259.06 [[-7.17081160e-02 9.85427553e-01 -1.54241644e-01 1.99423244e+02] [-4.61976442e-01 -1.69866016e-01 -8.70473035e-01 2.30968308e+02] [-8.83988526e-01 8.83602467e-03 4.67425086e-01 -2.59056054e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.370714057 meters Centerline goodness : 0.995154 Centerline is valid? [True, True] Translation: X:198.42, Y:230.77, Z:-257.81 [[ 8.25255786e-02 -9.96231542e-01 -2.66878854e-02 1.98418712e+02] [-4.86118141e-01 -6.36173987e-02 8.71574426e-01 2.30770641e+02] [-8.69987748e-01 -5.89537185e-02 -4.89536288e-01 -2.57811606e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.400714057 meters Centerline goodness : 0.994104 Centerline is valid? [True, True] Translation: X:199.22, Y:231.61, Z:-258.29 [[ 5.24797874e-02 9.57360864e-01 2.84088099e-01 1.99216622e+02] [-4.61256762e-01 2.75554028e-01 -8.43393252e-01 2.31605462e+02] [-8.85713312e-01 -8.67764584e-02 4.56050189e-01 -2.58287931e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.4307140569999 meters Centerline goodness : 0.994958 Centerline is valid? [True, True] Translation: X:199.36, Y:231.49, Z:-258.24 [[ 6.17200254e-02 9.98092943e-01 1.05626674e-03 1.99359783e+02] [-4.61172772e-01 2.94564902e-02 -8.86821284e-01 2.31494503e+02] [-8.85161179e-01 5.42475108e-02 4.62111344e-01 -2.58238519e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.4607140569999 meters Centerline goodness : 0.993241 Centerline is valid? [True, True] Translation: X:199.34, Y:231.49, Z:-258.28 [[ 6.37912846e-02 9.97314004e-01 3.59923517e-02 1.99344065e+02] [-4.59078198e-01 6.13490954e-02 -8.86275068e-01 2.31494051e+02] [-8.86102635e-01 4.00133211e-02 4.61758654e-01 -2.58284274e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.4907140569999 meters Centerline goodness : 0.985774 Centerline is valid? [True, True] Translation: X:198.49, Y:230.63, Z:-257.96 [[ 1.20133002e-01 -9.83963441e-01 -1.31848431e-01 1.98491362e+02] [-4.86585072e-01 -1.74123385e-01 8.56105142e-01 2.30626743e+02] [-8.65334057e-01 -3.86910022e-02 -4.99699887e-01 -2.57957285e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.520714057 meters Centerline goodness : 0.993764 Centerline is valid? [True, True] Translation: X:199.23, Y:231.57, Z:-258.41 [[ 1.34519987e-01 9.29949221e-01 3.42197049e-01 1.99234241e+02] [-4.49767358e-01 3.65015016e-01 -8.15152355e-01 2.31570921e+02] [-8.82957359e-01 -4.42547782e-02 4.67362619e-01 -2.58414272e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.5507140569999 meters Centerline goodness : 0.995530 Centerline is valid? [True, True] Translation: X:199.35, Y:231.51, Z:-258.38 [[ 1.54294830e-01 9.75372534e-01 1.57611946e-01 1.99349538e+02] [-4.52141417e-01 2.11543186e-01 -8.66497328e-01 2.31505275e+02] [-8.78499428e-01 6.24331692e-02 4.73646339e-01 -2.58377254e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.5807140569999 meters Centerline goodness : 0.985185 Centerline is valid? [True, True] Translation: X:198.68, Y:230.50, Z:-258.04 [[ 1.94492876e-01 -9.24245454e-01 -3.28546590e-01 1.98675268e+02] [-4.64267393e-01 -3.81787793e-01 7.99183251e-01 2.30502421e+02] [-8.64076565e-01 -2.90198052e-03 -5.03352033e-01 -2.58044224e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.6107140569999 meters Centerline goodness : 0.994810 Centerline is valid? [True, True] Translation: X:199.21, Y:231.57, Z:-258.51 [[ 2.20178318e-01 8.54816282e-01 4.69904919e-01 1.99214216e+02] [-4.20622674e-01 5.17839528e-01 -7.44928714e-01 2.31574708e+02] [-8.80112535e-01 -3.36355123e-02 4.73572146e-01 -2.58514595e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.640714057 meters Centerline goodness : 0.994118 Centerline is valid? [True, True] Translation: X:199.34, Y:231.53, Z:-258.49 [[ 2.25349946e-01 9.33085326e-01 2.80301939e-01 1.99337628e+02] [-4.19318003e-01 3.52579999e-01 -8.36576211e-01 2.31525087e+02] [-8.79425843e-01 7.09867547e-02 4.70713360e-01 -2.58490488e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.6707140569999 meters Centerline goodness : 0.993645 Centerline is valid? [True, True] Translation: X:199.34, Y:231.52, Z:-258.52 [[ 2.26035996e-01 9.29686666e-01 2.90844344e-01 1.99337663e+02] [-4.18776383e-01 3.62314116e-01 -8.32679303e-01 2.31516508e+02] [-8.79507856e-01 6.64167534e-02 4.71226852e-01 -2.58516532e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.7007140569999 meters Centerline goodness : 0.994234 Centerline is valid? [True, True] Translation: X:199.34, Y:231.51, Z:-258.54 [[ 2.29473371e-01 9.28191203e-01 2.92921600e-01 1.99343997e+02] [-4.18181005e-01 3.65780860e-01 -8.31461972e-01 2.31505700e+02] [-8.78900802e-01 6.83041323e-02 4.72088897e-01 -2.58540240e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.7307140569999 meters Centerline goodness : 0.994593 Centerline is valid? [True, True] Translation: X:199.35, Y:231.50, Z:-258.57 [[ 2.29860256e-01 9.25593002e-01 3.00735527e-01 1.99346606e+02] [-4.19117227e-01 3.73031673e-01 -8.27760908e-01 2.31495083e+02] [-8.78353581e-01 6.42258943e-02 4.73677129e-01 -2.58565380e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.760714057 meters Centerline goodness : 0.994085 Centerline is valid? [True, True] Translation: X:199.35, Y:231.49, Z:-258.59 [[ 2.31104685e-01 9.23431208e-01 3.06374653e-01 1.99351183e+02] [-4.19709422e-01 3.78715367e-01 -8.24874943e-01 2.31485090e+02] [-8.77744055e-01 6.20441350e-02 4.75095674e-01 -2.58590477e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.790714057 meters Centerline goodness : 0.992359 Centerline is valid? [True, True] Translation: X:199.35, Y:231.48, Z:-258.62 [[ 2.30714604e-01 9.16662745e-01 3.26343658e-01 1.99349586e+02] [-4.20076639e-01 3.96361323e-01 -8.16353673e-01 2.31476091e+02] [-8.77671003e-01 5.12553669e-02 4.76514951e-01 -2.58620949e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.8207140569999 meters Centerline goodness : 0.985217 Centerline is valid? [True, True] Translation: X:198.89, Y:230.37, Z:-258.26 [[ 2.75429543e-01 -8.31733492e-01 -4.82035233e-01 1.98891063e+02] [-4.21772432e-01 -5.55144199e-01 7.16884184e-01 2.30367805e+02] [-8.63855649e-01 5.85808893e-03 -5.03705371e-01 -2.58263840e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.8507140569999 meters Centerline goodness : 0.994066 Centerline is valid? [True, True] Translation: X:199.21, Y:231.52, Z:-258.74 [[ 2.75915350e-01 7.50898269e-01 6.00018757e-01 1.99208329e+02] [-3.90866182e-01 6.57959697e-01 -6.43671240e-01 2.31516367e+02] [-8.78119780e-01 -5.69282655e-02 4.75041920e-01 -2.58736150e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.880714057 meters Centerline goodness : 0.985748 Centerline is valid? [True, True] Translation: X:199.10, Y:230.34, Z:-258.31 [[ 3.42697864e-01 -6.68817798e-01 -6.59727919e-01 1.99096496e+02] [-3.64086274e-01 -7.41923164e-01 5.63019719e-01 2.30343038e+02] [-8.66025034e-01 4.72522251e-02 -4.97762863e-01 -2.58314543e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.910714057 meters Centerline goodness : 0.984970 Centerline is valid? [True, True] Translation: X:199.18, Y:231.52, Z:-258.81 [[ 3.20053590e-01 6.51451252e-01 6.87878598e-01 1.99180453e+02] [-3.48165707e-01 7.56140422e-01 -5.54104957e-01 2.31524444e+02] [-8.81105181e-01 -6.21524573e-02 4.68818442e-01 -2.58814045e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.9407140569999 meters Centerline goodness : 0.985511 Centerline is valid? [True, True] Translation: X:199.24, Y:230.35, Z:-258.39 [[ 3.98586425e-01 -5.50659819e-01 -7.33418452e-01 1.99239622e+02] [-2.94708085e-01 -8.34178041e-01 4.66148195e-01 2.30348789e+02] [-8.68490648e-01 3.03440047e-02 -4.94775944e-01 -2.58392633e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.9707140569999 meters Centerline goodness : 0.985649 Centerline is valid? [True, True] Translation: X:199.15, Y:231.53, Z:-258.88 [[ 3.59826441e-01 5.49652805e-01 7.53927534e-01 1.99154779e+02] [-3.04890369e-01 8.32960058e-01 -4.61756867e-01 2.31531953e+02] [-8.81797480e-01 -6.37129144e-02 4.67304899e-01 -2.58877478e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.000714057 meters Centerline goodness : 0.994755 Centerline is valid? [True, True] Translation: X:199.40, Y:230.39, Z:-258.45 [[ 4.33850201e-01 -3.82984036e-01 -8.15534936e-01 1.99399161e+02] [-2.15346968e-01 -9.23002726e-01 3.18891285e-01 2.30391785e+02] [-8.74871240e-01 3.72719277e-02 -4.82919370e-01 -2.58452505e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.030714057 meters Centerline goodness : 0.993343 Centerline is valid? [True, True] Translation: X:199.14, Y:231.52, Z:-258.94 [[ 3.96406968e-01 4.47048901e-01 8.01878293e-01 1.99139866e+02] [-2.65105216e-01 8.91965867e-01 -3.66218674e-01 2.31517966e+02] [-8.78965722e-01 -6.74104835e-02 4.72096480e-01 -2.58937383e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.0607140569999 meters Centerline goodness : 0.993111 Centerline is valid? [True, True] Translation: X:199.23, Y:231.53, Z:-258.93 [[ 3.91243316e-01 5.59338338e-01 7.30800446e-01 1.99233764e+02] [-2.65312884e-01 8.28938533e-01 -4.92412411e-01 2.31534375e+02] [-8.81213789e-01 -1.23770946e-03 4.72716328e-01 -2.58931049e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.0907140569999 meters Centerline goodness : 0.994788 Centerline is valid? [True, True] Translation: X:199.25, Y:231.53, Z:-258.94 [[ 3.97828056e-01 5.50305809e-01 7.34095603e-01 1.99245941e+02] [-2.63612569e-01 8.34962104e-01 -4.83059725e-01 2.31534007e+02] [-8.78772582e-01 -1.34211655e-03 4.77238879e-01 -2.58944084e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.120714057 meters Centerline goodness : 0.992711 Centerline is valid? [True, True] Translation: X:199.24, Y:231.52, Z:-258.99 [[ 3.82257642e-01 5.55888838e-01 7.38150862e-01 1.99243328e+02] [-2.73263703e-01 8.31091750e-01 -4.84369127e-01 2.31518953e+02] [-8.82726483e-01 -1.65560376e-02 4.69595415e-01 -2.58988062e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.150714057 meters Centerline goodness : 0.993402 Centerline is valid? [True, True] Translation: X:199.27, Y:231.51, Z:-259.01 [[ 3.83615852e-01 5.64362589e-01 7.30981359e-01 1.99265274e+02] [-2.73976801e-01 8.25454401e-01 -4.93519751e-01 2.31514329e+02] [-8.81915864e-01 -1.09499343e-02 4.71279650e-01 -2.59007019e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.1807140569999 meters Centerline goodness : 0.992066 Centerline is valid? [True, True] Translation: X:199.28, Y:231.51, Z:-259.03 [[ 3.81268401e-01 5.72959544e-01 7.25501046e-01 1.99279116e+02] [-2.75915777e-01 8.19537525e-01 -5.02223784e-01 2.31508739e+02] [-8.82329242e-01 -8.69512573e-03 4.70552339e-01 -2.59030251e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.2107140569999 meters Centerline goodness : 0.993852 Centerline is valid? [True, True] Translation: X:199.29, Y:231.51, Z:-259.04 [[ 3.93748835e-01 5.49495189e-01 7.36896799e-01 1.99288407e+02] [-2.73013726e-01 8.35390360e-01 -4.77060218e-01 2.31508217e+02] [-8.77738777e-01 -1.33410354e-02 4.78953710e-01 -2.59039324e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.2407140569999 meters Centerline goodness : 0.992688 Centerline is valid? [True, True] Translation: X:199.29, Y:231.50, Z:-259.06 [[ 3.97916362e-01 5.47221242e-01 7.36350108e-01 1.99289881e+02] [-2.83158935e-01 8.36699636e-01 -4.68780051e-01 2.31502500e+02] [-8.72630269e-01 -2.19688602e-02 4.87887059e-01 -2.59063918e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.270714057 meters Centerline goodness : 0.993386 Centerline is valid? [True, True] Translation: X:199.27, Y:231.49, Z:-259.10 [[ 4.00335850e-01 5.05980135e-01 7.64012637e-01 1.99270676e+02] [-2.84183062e-01 8.61185685e-01 -4.21425204e-01 2.31487677e+02] [-8.71189529e-01 -4.84078331e-02 4.88554488e-01 -2.59100401e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.3007140569999 meters Centerline goodness : 0.991326 Centerline is valid? [True, True] Translation: X:199.27, Y:231.47, Z:-259.14 [[ 3.85590319e-01 4.91869566e-01 7.80630794e-01 1.99265170e+02] [-2.85850914e-01 8.68112336e-01 -4.05795795e-01 2.31465205e+02] [-8.77273823e-01 -6.66730956e-02 4.75337078e-01 -2.59141258e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.3307140569999 meters Centerline goodness : 0.992770 Centerline is valid? [True, True] Translation: X:199.33, Y:231.48, Z:-259.13 [[ 3.94831086e-01 5.59690599e-01 7.28597864e-01 1.99334199e+02] [-2.82569642e-01 8.28565251e-01 -4.83357035e-01 2.31482576e+02] [-8.74221260e-01 -1.50352545e-02 4.85294890e-01 -2.59134104e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.3607140569999 meters Centerline goodness : 0.992959 Centerline is valid? [True, True] Translation: X:199.30, Y:231.47, Z:-259.18 [[ 3.97597176e-01 5.05049221e-01 7.66055984e-01 1.99304836e+02] [-2.83698782e-01 8.61640366e-01 -4.20821674e-01 2.31465046e+02] [-8.72600417e-01 -5.00116400e-02 4.85867625e-01 -2.59175226e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.390714057 meters Centerline goodness : 0.991021 Centerline is valid? [True, True] Translation: X:199.30, Y:231.45, Z:-259.21 [[ 3.85760571e-01 5.00361826e-01 7.75130199e-01 1.99303799e+02] [-2.87631598e-01 8.63510784e-01 -4.14267053e-01 2.31445146e+02] [-8.76616704e-01 -6.31440426e-02 4.77028284e-01 -2.59207533e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.4207140569999 meters Centerline goodness : 0.990869 Centerline is valid? [True, True] Translation: X:199.33, Y:231.44, Z:-259.23 [[ 3.84287763e-01 5.25012857e-01 7.59397403e-01 1.99333445e+02] [-2.86188461e-01 8.49783646e-01 -4.42678122e-01 2.31442298e+02] [-8.77735199e-01 -4.72149888e-02 4.76814078e-01 -2.59225862e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.4507140569999 meters Centerline goodness : 0.991661 Centerline is valid? [True, True] Translation: X:199.35, Y:231.44, Z:-259.24 [[ 3.90740356e-01 5.17521653e-01 7.61244582e-01 1.99346477e+02] [-2.78323777e-01 8.54703945e-01 -4.38197492e-01 2.31444997e+02] [-8.77415437e-01 -4.06510230e-02 4.78005905e-01 -2.59240078e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.4807140569999 meters Centerline goodness : 0.992063 Centerline is valid? [True, True] Translation: X:199.35, Y:231.43, Z:-259.27 [[ 3.98244084e-01 5.12080647e-01 7.61035519e-01 1.99352425e+02] [-2.78568130e-01 8.57999082e-01 -4.31552283e-01 2.31433098e+02] [-8.73957348e-01 -4.01370980e-02 4.84342407e-01 -2.59270123e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.510714057 meters Centerline goodness : 0.991114 Centerline is valid? [True, True] Translation: X:199.35, Y:231.42, Z:-259.30 [[ 4.00198424e-01 4.99835021e-01 7.68118594e-01 1.99354735e+02] [-2.76811173e-01 8.64946038e-01 -4.18621458e-01 2.31422026e+02] [-8.73622800e-01 -4.50921613e-02 4.84509959e-01 -2.59298060e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.540714057 meters Centerline goodness : 0.991537 Centerline is valid? [True, True] Translation: X:199.36, Y:231.41, Z:-259.32 [[ 4.03183158e-01 4.97515283e-01 7.68063724e-01 1.99363101e+02] [-2.72817766e-01 8.66486322e-01 -4.18057317e-01 2.31411474e+02] [-8.73506616e-01 -4.09877598e-02 4.85083699e-01 -2.59322590e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.5707140569999 meters Centerline goodness : 0.990026 Centerline is valid? [True, True] Translation: X:199.37, Y:231.39, Z:-259.36 [[ 3.90231893e-01 4.99601745e-01 7.73380351e-01 1.99365695e+02] [-2.75846430e-01 8.64832060e-01 -4.19492855e-01 2.31392737e+02] [-8.78423484e-01 -4.96347177e-02 4.75298409e-01 -2.59359242e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.6007140569999 meters Centerline goodness : 0.988877 Centerline is valid? [True, True] Translation: X:199.41, Y:231.40, Z:-259.38 [[ 3.91030164e-01 5.49140582e-01 7.38606818e-01 1.99407850e+02] [-2.72322205e-01 8.35602717e-01 -4.77083553e-01 2.31395998e+02] [-8.79167804e-01 -1.45849772e-02 4.76289042e-01 -2.59375413e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.630714057 meters Centerline goodness : 0.990354 Centerline is valid? [True, True] Translation: X:199.41, Y:231.38, Z:-259.40 [[ 3.97746037e-01 5.39863149e-01 7.41852998e-01 1.99413828e+02] [-2.65903865e-01 8.41689289e-01 -4.69951354e-01 2.31383149e+02] [-8.78119141e-01 -1.03402907e-02 4.78330277e-01 -2.59404655e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.660714057 meters Centerline goodness : 0.990014 Centerline is valid? [True, True] Translation: X:199.43, Y:231.38, Z:-259.43 [[ 3.97347037e-01 5.50015210e-01 7.34573754e-01 1.99430287e+02] [-2.61857491e-01 8.35154621e-01 -4.83681107e-01 2.31376695e+02] [-8.79514631e-01 -1.64385096e-04 4.75871817e-01 -2.59431070e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.6907140569999 meters Centerline goodness : 0.990111 Centerline is valid? [True, True] Translation: X:199.45, Y:231.37, Z:-259.46 [[ 3.97996562e-01 5.56850045e-01 7.29051963e-01 1.99445178e+02] [-2.57712542e-01 8.30568466e-01 -4.93700587e-01 2.31369677e+02] [-8.80444764e-01 8.60530116e-03 4.74070634e-01 -2.59457162e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.7207140569999 meters Centerline goodness : 0.990836 Centerline is valid? [True, True] Translation: X:199.45, Y:231.36, Z:-259.49 [[ 4.00771571e-01 5.53811075e-01 7.29846176e-01 1.99452240e+02] [-2.50594145e-01 8.32504928e-01 -4.94103349e-01 2.31358628e+02] [-8.81240445e-01 1.51273969e-02 4.72426121e-01 -2.59485442e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.750714057 meters Centerline goodness : 0.992313 Centerline is valid? [True, True] Translation: X:199.45, Y:231.35, Z:-259.49 [[ 4.22810399e-01 5.06458419e-01 7.51486018e-01 1.99452461e+02] [-2.43921098e-01 8.62253311e-01 -4.43871295e-01 2.31349862e+02] [-8.72773662e-01 4.37010426e-03 4.88105560e-01 -2.59494748e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.780714057 meters Centerline goodness : 0.992313 Centerline is valid? [True, True] Translation: X:199.44, Y:231.34, Z:-259.53 [[ 4.23502952e-01 4.77349157e-01 7.69924043e-01 1.99444764e+02] [-2.43765263e-01 8.78605797e-01 -4.10646260e-01 2.31336705e+02] [-8.72481373e-01 -1.37708333e-02 4.88453291e-01 -2.59527501e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.8107140569999 meters Centerline goodness : 0.991045 Centerline is valid? [True, True] Translation: X:199.47, Y:231.33, Z:-259.57 [[ 4.05426353e-01 5.26195665e-01 7.47494211e-01 1.99468027e+02] [-2.43614281e-01 8.50334596e-01 -4.66458099e-01 2.31329007e+02] [-8.81068417e-01 7.01414105e-03 4.72936832e-01 -2.59569450e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.8407140569999 meters Centerline goodness : 0.992728 Centerline is valid? [True, True] Translation: X:199.49, Y:231.33, Z:-259.56 [[ 4.27661037e-01 5.05227316e-01 7.49567473e-01 1.99486350e+02] [-2.33381225e-01 8.62822132e-01 -4.48409603e-01 2.31325577e+02] [-8.73292186e-01 1.68323410e-02 4.86905977e-01 -2.59564088e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.870714057 meters Centerline goodness : 0.992990 Centerline is valid? [True, True] Translation: X:199.47, Y:231.31, Z:-259.60 [[ 4.29252552e-01 4.69618213e-01 7.71492697e-01 1.99474165e+02] [-2.30338971e-01 8.82867266e-01 -4.09254627e-01 2.31309280e+02] [-8.73319074e-01 -2.03124093e-03 4.87144403e-01 -2.59597842e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.900714057 meters Centerline goodness : 0.992299 Centerline is valid? [True, True] Translation: X:199.49, Y:231.30, Z:-259.64 [[ 4.14631409e-01 5.14028605e-01 7.50903048e-01 1.99494995e+02] [-2.29320417e-01 8.57569017e-01 -4.60421034e-01 2.31301763e+02] [-8.80620770e-01 1.87076220e-02 4.73452304e-01 -2.59638777e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.9307140569999 meters Centerline goodness : 0.992866 Centerline is valid? [True, True] Translation: X:199.52, Y:231.30, Z:-259.66 [[ 4.16227753e-01 5.31915955e-01 7.37441438e-01 1.99521987e+02] [-2.28443573e-01 8.46195428e-01 -4.81421677e-01 2.31298181e+02] [-8.80095445e-01 3.19173061e-02 4.73722803e-01 -2.59663318e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.9607140569999 meters Centerline goodness : 0.992312 Centerline is valid? [True, True] Translation: X:199.54, Y:231.29, Z:-259.69 [[ 4.15962038e-01 5.42853559e-01 7.29579054e-01 1.99540406e+02] [-2.27124590e-01 8.38871235e-01 -4.94681181e-01 2.31294352e+02] [-8.80562322e-01 4.00632486e-02 4.72233981e-01 -2.59691378e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.9907140569999 meters Centerline goodness : 0.992781 Centerline is valid? [True, True] Translation: X:199.55, Y:231.28, Z:-259.72 [[ 4.19271152e-01 5.29722204e-01 7.37296472e-01 1.99547884e+02] [-2.27412772e-01 8.47513045e-01 -4.79588437e-01 2.31284100e+02] [-8.78917023e-01 3.34069616e-02 4.75803366e-01 -2.59722970e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.020714057 meters Centerline goodness : 0.993531 Centerline is valid? [True, True] Translation: X:199.55, Y:231.28, Z:-259.73 [[ 4.40619727e-01 4.76961588e-01 7.60501085e-01 1.99547839e+02] [-2.24359547e-01 8.78797033e-01 -4.21163351e-01 2.31275790e+02] [-8.69204838e-01 1.49472021e-02 4.94226194e-01 -2.59729531e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.0507140569999 meters Centerline goodness : 0.993214 Centerline is valid? [True, True] Translation: X:199.55, Y:231.27, Z:-259.76 [[ 4.40637810e-01 4.57323498e-01 7.72459409e-01 1.99547119e+02] [-2.24139760e-01 8.89296850e-01 -3.98638284e-01 2.31265248e+02] [-8.69252374e-01 2.51623409e-03 4.94362195e-01 -2.59759303e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.0807140569999 meters Centerline goodness : 0.994110 Centerline is valid? [True, True] Translation: X:199.56, Y:231.26, Z:-259.78 [[ 4.41061314e-01 4.57011493e-01 7.72402365e-01 1.99558595e+02] [-2.24539827e-01 8.89458237e-01 -3.98052648e-01 2.31259646e+02] [-8.68934281e-01 2.13053043e-03 4.94922900e-01 -2.59783681e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.1107140569999 meters Centerline goodness : 0.993187 Centerline is valid? [True, True] Translation: X:199.57, Y:231.25, Z:-259.81 [[ 4.41225086e-01 4.56674517e-01 7.72508129e-01 1.99570281e+02] [-2.24129465e-01 8.89630555e-01 -3.97898805e-01 2.31253457e+02] [-8.68957080e-01 2.42110094e-03 4.94881534e-01 -2.59808666e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.140714057 meters Centerline goodness : 0.993722 Centerline is valid? [True, True] Translation: X:199.58, Y:231.25, Z:-259.83 [[ 4.41422004e-01 4.55995995e-01 7.72796394e-01 1.99582098e+02] [-2.23477966e-01 8.89977555e-01 -3.97489056e-01 2.31247192e+02] [-8.69024863e-01 2.75744949e-03 4.94760734e-01 -2.59833280e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.1707140569999 meters Centerline goodness : 0.993418 Centerline is valid? [True, True] Translation: X:199.59, Y:231.24, Z:-259.86 [[ 4.40998539e-01 4.55227482e-01 7.73490936e-01 1.99593593e+02] [-2.22272498e-01 8.90369135e-01 -3.97287982e-01 2.31240842e+02] [-8.69548863e-01 3.27765687e-03 4.93836037e-01 -2.59856892e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.2007140569999 meters Centerline goodness : 0.993302 Centerline is valid? [True, True] Translation: X:199.61, Y:231.23, Z:-259.88 [[ 4.41108677e-01 4.54783544e-01 7.73689255e-01 1.99605256e+02] [-2.21859274e-01 8.90595223e-01 -3.97012106e-01 2.31234635e+02] [-8.69598527e-01 3.47534806e-03 4.93747227e-01 -2.59880958e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.2307140569999 meters Centerline goodness : 0.992058 Centerline is valid? [True, True] Translation: X:199.63, Y:231.23, Z:-259.91 [[ 4.29277237e-01 4.94881782e-01 7.55521724e-01 1.99630620e+02] [-2.22478516e-01 8.68684071e-01 -4.42596087e-01 2.31233037e+02] [-8.75342427e-01 2.19090735e-02 4.83006862e-01 -2.59914495e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.260714057 meters Centerline goodness : 0.993260 Centerline is valid? [True, True] Translation: X:199.64, Y:231.23, Z:-259.93 [[ 4.40307108e-01 4.67627251e-01 7.66455743e-01 1.99636363e+02] [-2.21198563e-01 8.83845048e-01 -4.12176089e-01 2.31225003e+02] [-8.70172883e-01 1.19451526e-02 4.92601732e-01 -2.59926431e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.290714057 meters Centerline goodness : 0.993007 Centerline is valid? [True, True] Translation: X:199.64, Y:231.21, Z:-259.95 [[ 4.40045703e-01 4.53872335e-01 7.74828809e-01 1.99638838e+02] [-2.21547274e-01 8.91062762e-01 -3.96136290e-01 2.31214772e+02] [-8.70216401e-01 2.65686196e-03 4.92662518e-01 -2.59954723e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.3207140569999 meters Centerline goodness : 0.992343 Centerline is valid? [True, True] Translation: X:199.65, Y:231.21, Z:-259.98 [[ 4.39896433e-01 4.53674407e-01 7.75029458e-01 1.99650598e+02] [-2.21909743e-01 8.91165079e-01 -3.95703004e-01 2.31208422e+02] [-8.70199514e-01 2.08175244e-03 4.92695111e-01 -2.59979751e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.3507140569999 meters Centerline goodness : 0.991228 Centerline is valid? [True, True] Translation: X:199.67, Y:231.20, Z:-260.02 [[ 4.24210084e-01 4.93583585e-01 7.59223978e-01 1.99671612e+02] [-2.26829969e-01 8.69588217e-01 -4.38593774e-01 2.31201829e+02] [-8.76694913e-01 1.38411502e-02 4.80847640e-01 -2.60021230e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.380714057 meters Centerline goodness : 0.992683 Centerline is valid? [True, True] Translation: X:199.70, Y:231.20, Z:-260.02 [[ 4.38913692e-01 4.84075375e-01 7.56984678e-01 1.99695014e+02] [-2.25653813e-01 8.74855120e-01 -4.28612734e-01 2.31204729e+02] [-8.69732791e-01 1.73075187e-02 4.93219345e-01 -2.60022120e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.410714057 meters Centerline goodness : 0.991056 Centerline is valid? [True, True] Translation: X:199.69, Y:231.19, Z:-260.07 [[ 4.24936159e-01 4.88564221e-01 7.62059225e-01 1.99694180e+02] [-2.31416299e-01 8.72503653e-01 -4.30329958e-01 2.31189970e+02] [-8.75143278e-01 6.50983434e-03 4.83820075e-01 -2.60069049e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.4407140569999 meters Centerline goodness : 0.991909 Centerline is valid? [True, True] Translation: X:199.72, Y:231.19, Z:-260.08 [[ 4.38057197e-01 4.77945629e-01 7.61363164e-01 1.99716535e+02] [-2.30918453e-01 8.78357178e-01 -4.18527581e-01 2.31192448e+02] [-8.68782228e-01 7.52621488e-03 4.95137149e-01 -2.60076858e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.4707140569999 meters Centerline goodness : 0.991552 Centerline is valid? [True, True] Translation: X:199.71, Y:231.18, Z:-260.11 [[ 4.37265545e-01 4.54581074e-01 7.75986398e-01 1.99713635e+02] [-2.32666568e-01 8.90652222e-01 -3.90646757e-01 2.31181340e+02] [-8.68714632e-01 -9.72972466e-03 4.95217347e-01 -2.60107853e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.500714057 meters Centerline goodness : 0.990429 Centerline is valid? [True, True] Translation: X:199.74, Y:231.17, Z:-260.15 [[ 4.21058883e-01 4.89411166e-01 7.63666241e-01 1.99736165e+02] [-2.40036180e-01 8.72045235e-01 -4.26520503e-01 2.31173045e+02] [-8.74695404e-01 -3.71728082e-03 4.84658780e-01 -2.60151835e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.530714057 meters Centerline goodness : 0.992460 Centerline is valid? [True, True] Translation: X:199.77, Y:231.18, Z:-260.15 [[ 4.33630629e-01 4.93474747e-01 7.53954343e-01 1.99768059e+02] [-2.36803584e-01 8.69711022e-01 -4.33043648e-01 2.31182755e+02] [-8.69418507e-01 9.24189859e-03 4.93989926e-01 -2.60150916e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.5607140569999 meters Centerline goodness : 0.992138 Centerline is valid? [True, True] Translation: X:199.75, Y:231.17, Z:-260.19 [[ 4.32308909e-01 4.51826922e-01 7.80359814e-01 1.99752947e+02] [-2.37347964e-01 8.91907286e-01 -3.84925107e-01 2.31167795e+02] [-8.69928130e-01 -1.88102601e-02 4.92819665e-01 -2.60185861e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.5907140569999 meters Centerline goodness : 0.992174 Centerline is valid? [True, True] Translation: X:199.77, Y:231.16, Z:-260.21 [[ 4.33253876e-01 4.55255186e-01 7.77839184e-01 1.99768935e+02] [-2.37236863e-01 8.90216417e-01 -3.88887390e-01 2.31163794e+02] [-8.69488212e-01 -1.60451592e-02 4.93693025e-01 -2.60211404e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.620714057 meters Centerline goodness : 0.990252 Centerline is valid? [True, True] Translation: X:199.78, Y:231.16, Z:-260.24 [[ 4.29831872e-01 4.61809117e-01 7.75871704e-01 1.99783926e+02] [-2.35994807e-01 8.86892735e-01 -3.97149502e-01 2.31159782e+02] [-8.71522239e-01 -1.23941793e-02 4.90199319e-01 -2.60241255e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.650714057 meters Centerline goodness : 0.991023 Centerline is valid? [True, True] Translation: X:199.81, Y:231.16, Z:-260.26 [[ 4.31001753e-01 4.75189179e-01 7.67093693e-01 1.99808253e+02] [-2.33427585e-01 8.79883401e-01 -4.13904292e-01 2.31159727e+02] [-8.71635848e-01 -6.67352790e-04 4.90153551e-01 -2.60263098e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.6807140569999 meters Centerline goodness : 0.991724 Centerline is valid? [True, True] Translation: X:199.82, Y:231.16, Z:-260.28 [[ 4.35757269e-01 4.71594181e-01 7.66625418e-01 1.99823778e+02] [-2.30763110e-01 8.81812671e-01 -4.11284331e-01 2.31158623e+02] [-8.69979304e-01 2.31127093e-03 4.93082821e-01 -2.60280348e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.7107140569999 meters Centerline goodness : 0.992000 Centerline is valid? [True, True] Translation: X:199.82, Y:231.15, Z:-260.31 [[ 4.37148484e-01 4.48463490e-01 7.79603554e-01 1.99822519e+02] [-2.28542792e-01 8.93751254e-01 -3.85975244e-01 2.31149127e+02] [-8.69867458e-01 -9.44427960e-03 4.93195104e-01 -2.60310802e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.7407140569999 meters Centerline goodness : 0.991934 Centerline is valid? [True, True] Translation: X:199.84, Y:231.15, Z:-260.34 [[ 4.39084863e-01 4.45859200e-01 7.80009011e-01 1.99837473e+02] [-2.23253091e-01 8.95090940e-01 -3.85966666e-01 2.31147003e+02] [-8.70265788e-01 -4.66730168e-03 4.92560327e-01 -2.60336282e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.770714057 meters Centerline goodness : 0.992397 Centerline is valid? [True, True] Translation: X:199.85, Y:231.14, Z:-260.36 [[ 4.40026573e-01 4.44607789e-01 7.80192623e-01 1.99850465e+02] [-2.20795221e-01 8.95722008e-01 -3.85916513e-01 2.31143294e+02] [-8.70417190e-01 -2.44928148e-03 4.92308761e-01 -2.60359399e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.8007140569999 meters Centerline goodness : 0.991995 Centerline is valid? [True, True] Translation: X:199.86, Y:231.14, Z:-260.38 [[ 4.41338438e-01 4.43365344e-01 7.80158673e-01 1.99864433e+02] [-2.18730982e-01 8.96340883e-01 -3.85655001e-01 2.31139324e+02] [-8.70274176e-01 -4.40497229e-04 4.92567422e-01 -2.60384407e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.8307140569999 meters Centerline goodness : 0.989691 Centerline is valid? [True, True] Translation: X:199.88, Y:231.14, Z:-260.41 [[ 4.41152928e-01 4.43537812e-01 7.80165561e-01 1.99879015e+02] [-2.14239804e-01 8.96245840e-01 -3.88387307e-01 2.31138738e+02] [-8.71484595e-01 4.19568071e-03 4.90404931e-01 -2.60411872e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.8607140569999 meters Centerline goodness : 0.991523 Centerline is valid? [True, True] Translation: X:199.91, Y:231.14, Z:-260.44 [[ 4.40411525e-01 4.63457304e-01 7.68924584e-01 1.99906291e+02] [-2.14518802e-01 8.85972596e-01 -4.11137743e-01 2.31138175e+02] [-8.71790900e-01 1.61210199e-02 4.89612848e-01 -2.60435728e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.890714057 meters Centerline goodness : 0.991682 Centerline is valid? [True, True] Translation: X:199.93, Y:231.14, Z:-260.46 [[ 4.42378737e-01 4.77124546e-01 7.59376864e-01 1.99934242e+02] [-2.13421826e-01 8.78418101e-01 -4.27589482e-01 2.31138311e+02] [-8.71063820e-01 2.70888983e-02 4.90422281e-01 -2.60458496e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.9207140569999 meters Centerline goodness : 0.991731 Centerline is valid? [True, True] Translation: X:199.94, Y:231.14, Z:-260.48 [[ 4.43655674e-01 4.55770950e-01 7.71649198e-01 1.99941732e+02] [-2.11923755e-01 8.89960029e-01 -4.03806227e-01 2.31135407e+02] [-8.70780090e-01 1.56201284e-02 4.91424507e-01 -2.60482450e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.9507140569999 meters Centerline goodness : 0.992484 Centerline is valid? [True, True] Translation: X:199.96, Y:231.13, Z:-260.51 [[ 4.47942485e-01 4.59912580e-01 7.66699386e-01 1.99963384e+02] [-2.12129633e-01 8.87730299e-01 -4.08577943e-01 2.31132500e+02] [-8.68532411e-01 2.03797597e-02 4.95213203e-01 -2.60512332e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.9807140569999 meters Centerline goodness : 0.992117 Centerline is valid? [True, True] Translation: X:199.98, Y:231.13, Z:-260.54 [[ 4.47597344e-01 4.66023560e-01 7.63202895e-01 1.99983373e+02] [-2.11677306e-01 8.84430126e-01 -4.15903921e-01 2.31131925e+02] [-8.68820658e-01 2.46047580e-02 4.94515187e-01 -2.60537436e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.010714057 meters Centerline goodness : 0.992838 Centerline is valid? [True, True] Translation: X:200.00, Y:231.13, Z:-260.57 [[ 4.48455268e-01 4.58022193e-01 7.67530810e-01 1.99995590e+02] [-2.09164377e-01 8.88656693e-01 -4.08092570e-01 2.31130818e+02] [-8.68986845e-01 2.24711592e-02 4.94324702e-01 -2.60567712e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.040714057 meters Centerline goodness : 0.992181 Centerline is valid? [True, True] Translation: X:200.00, Y:231.12, Z:-260.59 [[ 4.45462421e-01 4.51587427e-01 7.73066638e-01 2.00004633e+02] [-2.04506880e-01 8.91967471e-01 -4.03200901e-01 2.31123351e+02] [-8.71630752e-01 2.15134037e-02 4.89690725e-01 -2.60593512e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.0707140569999 meters Centerline goodness : 0.992936 Centerline is valid? [True, True] Translation: X:200.02, Y:231.12, Z:-260.63 [[ 4.51371245e-01 4.45658717e-01 7.73079755e-01 2.00018430e+02] [-1.99715471e-01 8.94830828e-01 -3.99238675e-01 2.31115899e+02] [-8.69699793e-01 2.58088701e-02 4.92905845e-01 -2.60625109e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.1007140569999 meters Centerline goodness : 0.992831 Centerline is valid? [True, True] Translation: X:200.03, Y:231.11, Z:-260.65 [[ 4.48532752e-01 4.50912147e-01 7.71684266e-01 2.00033080e+02] [-1.91948374e-01 8.91858910e-01 -4.09565022e-01 2.31111061e+02] [-8.72911332e-01 3.55797857e-02 4.86579784e-01 -2.60652027e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.130714057 meters Centerline goodness : 0.992882 Centerline is valid? [True, True] Translation: X:200.04, Y:231.10, Z:-260.68 [[ 4.51258213e-01 4.36756118e-01 7.78209559e-01 2.00039590e+02] [-1.90326496e-01 8.99086677e-01 -3.94232131e-01 2.31099790e+02] [-8.71861142e-01 2.97865887e-02 4.88846509e-01 -2.60682066e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.160714057 meters Centerline goodness : 0.993144 Centerline is valid? [True, True] Translation: X:200.07, Y:231.10, Z:-260.71 [[ 4.55514959e-01 4.58140982e-01 7.63290877e-01 2.00066403e+02] [-1.91109479e-01 8.87745136e-01 -4.18790807e-01 2.31097324e+02] [-8.69472995e-01 4.48933555e-02 4.91936274e-01 -2.60710041e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.1907140569999 meters Centerline goodness : 0.992295 Centerline is valid? [True, True] Translation: X:200.07, Y:231.09, Z:-260.74 [[ 4.51048272e-01 4.49749788e-01 7.70895962e-01 2.00072385e+02] [-1.89224452e-01 8.92302853e-01 -4.09865497e-01 2.31088967e+02] [-8.72209587e-01 3.89967585e-02 4.87575317e-01 -2.60737607e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.2207140569999 meters Centerline goodness : 0.993569 Centerline is valid? [True, True] Translation: X:200.09, Y:231.08, Z:-260.77 [[ 4.55973353e-01 4.61872774e-01 7.60763986e-01 2.00093805e+02] [-1.88986683e-01 8.85551311e-01 -4.24361766e-01 2.31084775e+02] [-8.69696692e-01 4.97233950e-02 4.91075604e-01 -2.60768213e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.250714057 meters Centerline goodness : 0.992419 Centerline is valid? [True, True] Translation: X:200.11, Y:231.08, Z:-260.80 [[ 4.57645485e-01 4.56105277e-01 7.63235604e-01 2.00106064e+02] [-1.88177305e-01 8.88642769e-01 -4.18214455e-01 2.31076794e+02] [-8.68993620e-01 4.77703376e-02 4.92512013e-01 -2.60797497e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.280714057 meters Centerline goodness : 0.992470 Centerline is valid? [True, True] Translation: X:200.12, Y:231.07, Z:-260.82 [[ 4.58140700e-01 4.54182617e-01 7.64084583e-01 2.00120511e+02] [-1.89047113e-01 8.89724627e-01 -4.15513269e-01 2.31069780e+02] [-8.68543775e-01 4.59155554e-02 4.93480976e-01 -2.60822632e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.3107140569999 meters Centerline goodness : 0.992366 Centerline is valid? [True, True] Translation: X:200.14, Y:231.07, Z:-260.85 [[ 4.54259727e-01 4.66608482e-01 7.58896979e-01 2.00138664e+02] [-1.92319730e-01 8.83137738e-01 -4.27879489e-01 2.31067286e+02] [-8.69862760e-01 4.84175581e-02 4.90911925e-01 -2.60845698e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.3407140569999 meters Centerline goodness : 0.993130 Centerline is valid? [True, True] Translation: X:200.14, Y:231.05, Z:-260.89 [[ 4.54873670e-01 4.41668099e-01 7.73317034e-01 2.00139121e+02] [-1.90097711e-01 8.96494186e-01 -4.00201244e-01 2.31053324e+02] [-8.70030347e-01 3.50352109e-02 4.91751695e-01 -2.60886298e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.370714057 meters Centerline goodness : 0.992454 Centerline is valid? [True, True] Translation: X:200.16, Y:231.05, Z:-260.90 [[ 4.48825282e-01 4.57884144e-01 7.67396883e-01 2.00163240e+02] [-1.89991642e-01 8.88012638e-01 -4.18732290e-01 2.31051860e+02] [-8.73189007e-01 4.21386445e-02 4.85556683e-01 -2.60903981e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.400714057 meters Centerline goodness : 0.993395 Centerline is valid? [True, True] Translation: X:200.17, Y:231.04, Z:-260.94 [[ 4.48651216e-01 4.46038039e-01 7.74443126e-01 2.00171212e+02] [-1.91183889e-01 8.94392147e-01 -4.04365439e-01 2.31041839e+02] [-8.73018217e-01 3.33579974e-02 4.86545411e-01 -2.60936604e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.4307140569999 meters Centerline goodness : 0.993170 Centerline is valid? [True, True] Translation: X:200.20, Y:231.04, Z:-260.96 [[ 4.54053136e-01 4.68447855e-01 7.57886770e-01 2.00202143e+02] [-1.91403444e-01 8.82051365e-01 -4.30523066e-01 2.31041116e+02] [-8.70172668e-01 5.04182107e-02 4.90160722e-01 -2.60960862e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.4607140569999 meters Centerline goodness : 0.993701 Centerline is valid? [True, True] Translation: X:200.21, Y:231.04, Z:-260.97 [[ 4.64538206e-01 4.40831499e-01 7.68031149e-01 2.00206904e+02] [-1.85552764e-01 8.96491589e-01 -4.02334441e-01 2.31039354e+02] [-8.65895160e-01 4.43894162e-02 4.98252097e-01 -2.60974756e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.4907140569999 meters Centerline goodness : 0.993139 Centerline is valid? [True, True] Translation: X:200.20, Y:231.01, Z:-261.03 [[ 4.57628009e-01 4.11037328e-01 7.88431938e-01 2.00195485e+02] [-1.90773380e-01 9.11471495e-01 -3.64451960e-01 2.31009928e+02] [-8.68436597e-01 1.63715992e-02 4.95529865e-01 -2.61028749e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.520714057 meters Centerline goodness : 0.992886 Centerline is valid? [True, True] Translation: X:200.24, Y:231.02, Z:-261.04 [[ 4.50321192e-01 4.63213658e-01 7.63311163e-01 2.00241894e+02] [-1.89002457e-01 8.84980082e-01 -4.25544739e-01 2.31016600e+02] [-8.72633311e-01 4.73641294e-02 4.86073805e-01 -2.61038942e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.5507140569999 meters Centerline goodness : 0.992872 Centerline is valid? [True, True] Translation: X:200.26, Y:231.01, Z:-261.07 [[ 4.58531881e-01 4.62451703e-01 7.58872148e-01 2.00259608e+02] [-1.87643631e-01 8.85063519e-01 -4.25972340e-01 2.31008837e+02] [-8.68641688e-01 5.29243734e-02 4.92605957e-01 -2.61068027e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.5807140569999 meters Centerline goodness : 0.991710 Centerline is valid? [True, True] Translation: X:200.26, Y:231.00, Z:-261.09 [[ 4.53869228e-01 4.47906456e-01 7.70313268e-01 2.00259137e+02] [-1.80207021e-01 8.92758653e-01 -4.12925437e-01 2.31004056e+02] [-8.72655805e-01 4.85982901e-02 4.85911569e-01 -2.61091024e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.6107140569999 meters Centerline goodness : 0.992278 Centerline is valid? [True, True] Translation: X:200.26, Y:230.99, Z:-261.12 [[ 4.60381125e-01 4.31907946e-01 7.75567371e-01 2.00262475e+02] [-1.79438958e-01 9.00902963e-01 -3.95190476e-01 2.30994177e+02] [-8.69396849e-01 4.27712353e-02 4.92259831e-01 -2.61123013e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.640714057 meters Centerline goodness : 0.993319 Centerline is valid? [True, True] Translation: X:200.27, Y:230.99, Z:-261.14 [[ 4.65441799e-01 4.22822092e-01 7.77550906e-01 2.00273292e+02] [-1.78371274e-01 9.05296387e-01 -3.85515422e-01 2.30988946e+02] [-8.66918463e-01 4.07422454e-02 4.96782094e-01 -2.61139385e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.6707140569999 meters Centerline goodness : 0.993319 Centerline is valid? [True, True] Translation: X:200.28, Y:230.98, Z:-261.17 [[ 4.64975904e-01 4.07079713e-01 7.86182877e-01 2.00275048e+02] [-1.77901877e-01 9.12866566e-01 -3.67458237e-01 2.30979108e+02] [-8.67264856e-01 3.09958164e-02 4.96881202e-01 -2.61168799e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.7007140569999 meters Centerline goodness : 0.990444 Centerline is valid? [True, True] Translation: X:200.28, Y:230.97, Z:-261.20 [[ 4.56110471e-01 4.04461584e-01 7.92700489e-01 2.00277853e+02] [-1.74140908e-01 9.14095490e-01 -3.66202648e-01 2.30972328e+02] [-8.72718845e-01 2.89872790e-02 4.87361832e-01 -2.61198528e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.7307140569999 meters Centerline goodness : 0.993162 Centerline is valid? [True, True] Translation: X:200.31, Y:230.97, Z:-261.23 [[ 4.63326374e-01 4.30250946e-01 7.74734015e-01 2.00313231e+02] [-1.76966135e-01 9.01544738e-01 -3.94841833e-01 2.30969143e+02] [-8.68338447e-01 4.58389506e-02 4.93849302e-01 -2.61226182e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.760714057 meters Centerline goodness : 0.993227 Centerline is valid? [True, True] Translation: X:200.36, Y:230.99, Z:-261.21 [[ 4.80924720e-01 4.50735384e-01 7.52029938e-01 2.00355758e+02] [-1.67977291e-01 8.89214541e-01 -4.25536285e-01 2.30986982e+02] [-8.60520217e-01 7.83269669e-02 5.03358563e-01 -2.61210958e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.790714057 meters Centerline goodness : 0.993277 Centerline is valid? [True, True] Translation: X:200.31, Y:230.94, Z:-261.28 [[ 4.64469138e-01 3.75046641e-01 8.02252103e-01 2.00309776e+02] [-1.78367492e-01 9.26949672e-01 -3.30074754e-01 2.30941602e+02] [-8.67440752e-01 1.02138411e-02 4.97435644e-01 -2.61284283e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.8207140569999 meters Centerline goodness : 0.993318 Centerline is valid? [True, True] Translation: X:200.40, Y:230.97, Z:-261.29 [[ 4.65717384e-01 4.89631158e-01 7.37135434e-01 2.00398445e+02] [-1.80248646e-01 8.68007356e-01 -4.62680945e-01 2.30966134e+02] [-8.66381985e-01 8.26108953e-02 4.92501468e-01 -2.61286753e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.8507140569999 meters Centerline goodness : 0.993084 Centerline is valid? [True, True] Translation: X:200.41, Y:230.96, Z:-261.31 [[ 4.64346069e-01 4.84893077e-01 7.41121739e-01 2.00407449e+02] [-1.80304072e-01 8.71039319e-01 -4.56925538e-01 2.30961430e+02] [-8.67106205e-01 7.85443102e-02 4.91891880e-01 -2.61311759e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.880714057 meters Centerline goodness : 0.990686 Centerline is valid? [True, True] Translation: X:200.40, Y:230.96, Z:-261.34 [[ 4.69046040e-01 4.52726969e-01 7.58310032e-01 2.00403427e+02] [-1.73774963e-01 8.89143771e-01 -4.23350467e-01 2.30956821e+02] [-8.65908815e-01 6.67955622e-02 4.95721976e-01 -2.61336056e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.910714057 meters Centerline goodness : 0.993078 Centerline is valid? [True, True] Translation: X:200.39, Y:230.94, Z:-261.37 [[ 4.70376793e-01 4.09840835e-01 7.81521697e-01 2.00388363e+02] [-1.75546027e-01 9.11368600e-01 -3.72277944e-01 2.30940947e+02] [-8.64829038e-01 3.79178761e-02 5.00632569e-01 -2.61366274e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.9407140569999 meters Centerline goodness : 0.993932 Centerline is valid? [True, True] Translation: X:200.39, Y:230.91, Z:-261.42 [[ 4.59375187e-01 4.03441194e-01 7.91334089e-01 2.00391074e+02] [-1.87782375e-01 9.14872769e-01 -3.57415159e-01 2.30910417e+02] [-8.68166008e-01 1.55890607e-02 4.96028995e-01 -2.61422677e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.9707140569999 meters Centerline goodness : 0.989795 Centerline is valid? [True, True] Translation: X:200.48, Y:230.93, Z:-261.41 [[ 4.65691152e-01 5.01728439e-01 7.28972102e-01 2.00477762e+02] [-1.85125639e-01 8.60753229e-01 -4.74164925e-01 2.30934033e+02] [-8.65367118e-01 8.58629837e-02 4.93727960e-01 -2.61410089e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.000714057 meters Centerline goodness : 0.992915 Centerline is valid? [True, True] Translation: X:200.43, Y:230.90, Z:-261.46 [[ 4.54140190e-01 4.26938798e-01 7.81971835e-01 2.00428504e+02] [-1.87117100e-01 9.03833386e-01 -3.84801768e-01 2.30904939e+02] [-8.71059056e-01 2.84336458e-02 4.90354616e-01 -2.61464676e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.030714057 meters Centerline goodness : 0.990198 Centerline is valid? [True, True] Translation: X:200.50, Y:230.92, Z:-261.46 [[ 4.66585400e-01 5.00608080e-01 7.29170498e-01 2.00503081e+02] [-1.83416130e-01 8.61252349e-01 -4.73922900e-01 2.30922878e+02] [-8.65249437e-01 8.73838753e-02 4.93667368e-01 -2.61460938e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.0607140569999 meters Centerline goodness : 0.992798 Centerline is valid? [True, True] Translation: X:200.46, Y:230.90, Z:-261.50 [[ 4.68842755e-01 4.24182446e-01 7.74761721e-01 2.00462087e+02] [-1.85296326e-01 9.04855461e-01 -3.83277793e-01 2.30899767e+02] [-8.63627086e-01 3.61365159e-02 5.02834376e-01 -2.61501353e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.0907140569999 meters Centerline goodness : 0.992046 Centerline is valid? [True, True] Translation: X:200.47, Y:230.89, Z:-261.53 [[ 4.68489262e-01 4.10965188e-01 7.82064847e-01 2.00465330e+02] [-1.84758996e-01 9.11221435e-01 -3.68157045e-01 2.30890242e+02] [-8.63933982e-01 2.79841065e-02 5.02826974e-01 -2.61529909e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.120714057 meters Centerline goodness : 0.992003 Centerline is valid? [True, True] Translation: X:200.48, Y:230.86, Z:-261.58 [[ 4.56656459e-01 4.28133704e-01 7.79850248e-01 2.00478680e+02] [-1.96077849e-01 9.03467697e-01 -3.81181844e-01 2.30862892e+02] [-8.67766302e-01 2.11577919e-02 4.96521895e-01 -2.61581768e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.150714057 meters Centerline goodness : 0.992264 Centerline is valid? [True, True] Translation: X:200.56, Y:230.90, Z:-261.55 [[ 4.72590772e-01 5.03874764e-01 7.23027098e-01 2.00557504e+02] [-1.85393428e-01 8.58909626e-01 -4.77392429e-01 2.30898756e+02] [-8.61560932e-01 9.15667841e-02 4.99327833e-01 -2.61548264e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.1807140569999 meters Centerline goodness : 0.992109 Centerline is valid? [True, True] Translation: X:200.50, Y:230.87, Z:-261.60 [[ 4.70220455e-01 4.07838796e-01 7.82662277e-01 2.00498929e+02] [-1.82708571e-01 9.12593437e-01 -3.65774242e-01 2.30870959e+02] [-8.63429384e-01 2.89954241e-02 5.03635745e-01 -2.61603114e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.2107140569999 meters Centerline goodness : 0.992376 Centerline is valid? [True, True] Translation: X:200.51, Y:230.86, Z:-261.63 [[ 4.71282760e-01 4.07033260e-01 7.82442641e-01 2.00511471e+02] [-1.81741412e-01 9.12919755e-01 -3.65441624e-01 2.30864814e+02] [-8.63054239e-01 3.00241070e-02 5.04218141e-01 -2.61627323e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.2407140569999 meters Centerline goodness : 0.991830 Centerline is valid? [True, True] Translation: X:200.52, Y:230.86, Z:-261.65 [[ 4.72038597e-01 4.06138855e-01 7.82451784e-01 2.00523109e+02] [-1.80896098e-01 9.13295025e-01 -3.64923004e-01 2.30858670e+02] [-8.62818732e-01 3.07152687e-02 5.04579436e-01 -2.61651950e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.270714057 meters Centerline goodness : 0.991733 Centerline is valid? [True, True] Translation: X:200.54, Y:230.85, Z:-261.68 [[ 4.74106130e-01 4.05019426e-01 7.81781710e-01 2.00535133e+02] [-1.79691812e-01 9.13737758e-01 -3.64409334e-01 2.30851881e+02] [-8.61936326e-01 3.22889267e-02 5.05987347e-01 -2.61675885e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.3007140569999 meters Centerline goodness : 0.992773 Centerline is valid? [True, True] Translation: X:200.55, Y:230.82, Z:-261.73 [[ 4.62166786e-01 4.12784200e-01 7.84863725e-01 2.00545964e+02] [-1.94069011e-01 9.10684331e-01 -3.64679679e-01 2.30817259e+02] [-8.65297106e-01 1.62251080e-02 5.00996671e-01 -2.61734106e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.3307140569999 meters Centerline goodness : 0.992306 Centerline is valid? [True, True] Translation: X:200.65, Y:230.87, Z:-261.69 [[ 4.80233559e-01 5.23205961e-01 7.04010832e-01 2.00650438e+02] [-1.81389704e-01 8.44508611e-01 -5.03887866e-01 2.30865305e+02] [-8.58180345e-01 1.14283547e-01 5.00465550e-01 -2.61687079e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.3607140569999 meters Centerline goodness : 0.992077 Centerline is valid? [True, True] Translation: X:200.57, Y:230.80, Z:-261.79 [[ 4.64356919e-01 4.10048521e-01 7.85005008e-01 2.00572196e+02] [-1.91449935e-01 9.11879978e-01 -3.63072759e-01 2.30803551e+02] [-8.64707797e-01 1.83061902e-02 5.01941539e-01 -2.61785491e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.390714057 meters Centerline goodness : 0.991573 Centerline is valid? [True, True] Translation: X:200.68, Y:230.85, Z:-261.74 [[ 4.82626341e-01 5.21816361e-01 7.03405644e-01 2.00677275e+02] [-1.79229260e-01 8.44981094e-01 -5.03868856e-01 2.30852574e+02] [-8.57291483e-01 1.17109510e-01 5.01334894e-01 -2.61737661e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.4207140569999 meters Centerline goodness : 0.991052 Centerline is valid? [True, True] Translation: X:200.60, Y:230.82, Z:-261.80 [[ 4.78858203e-01 3.98983097e-01 7.81989328e-01 2.00599374e+02] [-1.74438060e-01 9.16239616e-01 -3.60660962e-01 2.30820494e+02] [-8.60387229e-01 3.62967590e-02 5.08346694e-01 -2.61801426e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.4507140569999 meters Centerline goodness : 0.990563 Centerline is valid? [True, True] Translation: X:200.61, Y:230.81, Z:-261.83 [[ 4.78807335e-01 3.98598853e-01 7.82216396e-01 2.00611708e+02] [-1.73877728e-01 9.16394030e-01 -3.60539205e-01 2.30814447e+02] [-8.60528949e-01 3.66188067e-02 5.08083646e-01 -2.61825944e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.4807140569999 meters Centerline goodness : 0.991840 Centerline is valid? [True, True] Translation: X:200.63, Y:230.78, Z:-261.88 [[ 4.62026167e-01 4.27880030e-01 7.76820765e-01 2.00630239e+02] [-1.87886342e-01 9.03258776e-01 -3.85774942e-01 2.30783759e+02] [-8.66735567e-01 3.22841062e-02 4.97722004e-01 -2.61884965e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.510714057 meters Centerline goodness : 0.990973 Centerline is valid? [True, True] Translation: X:200.72, Y:230.83, Z:-261.83 [[ 4.83629230e-01 5.15198828e-01 7.07582459e-01 2.00722455e+02] [-1.77757083e-01 8.49379836e-01 -4.96946992e-01 2.30828581e+02] [-8.57032781e-01 1.14560297e-01 5.02365157e-01 -2.61831945e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.540714057 meters Centerline goodness : 0.992226 Centerline is valid? [True, True] Translation: X:200.65, Y:230.80, Z:-261.90 [[ 4.79665190e-01 3.96057397e-01 7.82981382e-01 2.00648786e+02] [-1.73552449e-01 9.17530177e-01 -3.57795922e-01 2.30796635e+02] [-8.60116767e-01 3.57339130e-02 5.08844018e-01 -2.61895282e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.5707140569999 meters Centerline goodness : 0.991431 Centerline is valid? [True, True] Translation: X:200.67, Y:230.77, Z:-261.96 [[ 4.61282284e-01 4.28177531e-01 7.77098872e-01 2.00666426e+02] [-1.88677156e-01 9.03153612e-01 -3.85635168e-01 2.30766639e+02] [-8.66959968e-01 3.12658658e-02 4.97396080e-01 -2.61955378e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.6007140569999 meters Centerline goodness : 0.990353 Centerline is valid? [True, True] Translation: X:200.76, Y:230.81, Z:-261.90 [[ 4.84557698e-01 5.18502470e-01 7.04527520e-01 2.00761326e+02] [-1.80081648e-01 8.47272115e-01 -4.99700473e-01 2.30812061e+02] [-8.56022452e-01 1.15261234e-01 5.03925005e-01 -2.61899072e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.630714057 meters Centerline goodness : 0.990577 Centerline is valid? [True, True] Translation: X:200.68, Y:230.78, Z:-261.96 [[ 4.80530938e-01 3.94317051e-01 7.83328846e-01 2.00682379e+02] [-1.75589367e-01 9.18387260e-01 -3.54588796e-01 2.30778385e+02] [-8.59219641e-01 3.28466709e-02 5.10551373e-01 -2.61964800e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.660714057 meters Centerline goodness : 0.990932 Centerline is valid? [True, True] Translation: X:200.69, Y:230.77, Z:-261.99 [[ 4.80165236e-01 3.94739618e-01 7.83340271e-01 2.00693872e+02] [-1.76720079e-01 9.18244746e-01 -3.54396106e-01 2.30772521e+02] [-8.59192272e-01 3.17367356e-02 5.10667621e-01 -2.61987922e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.6907140569999 meters Centerline goodness : 0.990410 Centerline is valid? [True, True] Translation: X:200.71, Y:230.77, Z:-262.01 [[ 4.79898616e-01 3.95556428e-01 7.83091585e-01 2.00705970e+02] [-1.78885246e-01 9.17957231e-01 -3.54054503e-01 2.30766821e+02] [-8.58893118e-01 2.98267348e-02 5.11285614e-01 -2.62010853e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.7207140569999 meters Centerline goodness : 0.990495 Centerline is valid? [True, True] Translation: X:200.72, Y:230.76, Z:-262.03 [[ 4.79588105e-01 3.96186967e-01 7.82963050e-01 2.00719315e+02] [-1.80584722e-01 9.17734474e-01 -3.53769125e-01 2.30761463e+02] [-8.58710899e-01 2.82722999e-02 5.11679850e-01 -2.62034848e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.750714057 meters Centerline goodness : 0.990571 Centerline is valid? [True, True] Translation: X:200.73, Y:230.76, Z:-262.06 [[ 4.79125142e-01 3.97085893e-01 7.82791091e-01 2.00731721e+02] [-1.82783393e-01 9.17404922e-01 -3.53494613e-01 2.30757444e+02] [-8.58504123e-01 2.62869446e-02 5.12132470e-01 -2.62058001e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.780714057 meters Centerline goodness : 0.990468 Centerline is valid? [True, True] Translation: X:200.75, Y:230.75, Z:-262.08 [[ 4.77198956e-01 3.99582745e-01 7.82697123e-01 2.00745553e+02] [-1.88033518e-01 9.16447665e-01 -3.53223830e-01 2.30754195e+02] [-8.58443098e-01 2.13847496e-02 5.12462818e-01 -2.62082406e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.8107140569999 meters Centerline goodness : 0.990398 Centerline is valid? [True, True] Translation: X:200.76, Y:230.75, Z:-262.11 [[ 4.75535243e-01 4.00655901e-01 7.83160956e-01 2.00757464e+02] [-1.90041908e-01 9.16028604e-01 -3.53235997e-01 2.30750087e+02] [-8.58923923e-01 1.91427630e-02 5.11745297e-01 -2.62105792e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.8407140569999 meters Centerline goodness : 0.990679 Centerline is valid? [True, True] Translation: X:200.77, Y:230.72, Z:-262.16 [[ 4.56145316e-01 4.29698376e-01 7.79288622e-01 2.00773097e+02] [-2.05665357e-01 9.02893949e-01 -3.77470896e-01 2.30720754e+02] [-8.65813613e-01 1.19089087e-02 5.00224915e-01 -2.62163935e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.870714057 meters Centerline goodness : 0.991781 Centerline is valid? [True, True] Translation: X:200.87, Y:230.77, Z:-262.11 [[ 4.73350690e-01 5.15734753e-01 7.14112588e-01 2.00865338e+02] [-1.96158922e-01 8.52044947e-01 -4.85325753e-01 2.30766695e+02] [-8.58755379e-01 8.96497247e-02 5.04482037e-01 -2.62113449e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.900714057 meters Centerline goodness : 0.991331 Centerline is valid? [True, True] Translation: X:200.79, Y:230.74, Z:-262.18 [[ 4.70910462e-01 4.01541383e-01 7.85498475e-01 2.00794785e+02] [-1.94315956e-01 9.15749291e-01 -3.51631262e-01 2.30736784e+02] [-8.60514176e-01 1.29519526e-02 5.09261820e-01 -2.62175524e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.9307140569999 meters Centerline goodness : 0.991884 Centerline is valid? [True, True] Translation: X:200.81, Y:230.73, Z:-262.20 [[ 4.70038264e-01 4.02195336e-01 7.85686287e-01 2.00808470e+02] [-1.95772612e-01 9.15482773e-01 -3.51517250e-01 2.30732913e+02] [-8.60660859e-01 1.14107007e-02 5.09050765e-01 -2.62198149e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.9607140569999 meters Centerline goodness : 0.984936 Centerline is valid? [True, True] Translation: X:200.82, Y:230.74, Z:-262.24 [[ 4.65007857e-01 3.94736188e-01 7.92433615e-01 2.00823275e+02] [-1.79524832e-01 9.18542496e-01 -3.52208060e-01 2.30740070e+02] [-8.66913218e-01 2.15180035e-02 4.97994426e-01 -2.62235186e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.9907140569999 meters Centerline goodness : 0.986037 Centerline is valid? [True, True] Translation: X:200.87, Y:230.74, Z:-262.24 [[ 4.66349400e-01 4.51900925e-01 7.60462879e-01 2.00870332e+02] [-1.89216432e-01 8.90730220e-01 -4.13275716e-01 2.30740835e+02] [-8.64126946e-01 4.88388097e-02 5.00898585e-01 -2.62239459e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.020714057 meters Centerline goodness : 0.992925 Centerline is valid? [True, True] Translation: X:200.87, Y:230.73, Z:-262.27 [[ 4.68439749e-01 4.18719410e-01 7.77970602e-01 2.00866868e+02] [-1.78948686e-01 9.07275494e-01 -3.80563458e-01 2.30731102e+02] [-8.65182969e-01 3.90542339e-02 4.99933193e-01 -2.62267942e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.0507140569999 meters Centerline goodness : 0.993960 Centerline is valid? [True, True] Translation: X:200.90, Y:230.73, Z:-262.29 [[ 4.69852948e-01 4.41979392e-01 7.64128539e-01 2.00897995e+02] [-1.76984608e-01 8.95217475e-01 -4.08976920e-01 2.30732846e+02] [-8.64820592e-01 5.69200215e-02 4.98844119e-01 -2.62285496e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.0807140569999 meters Centerline goodness : 0.993161 Centerline is valid? [True, True] Translation: X:200.92, Y:230.74, Z:-262.29 [[ 4.74406703e-01 4.56148046e-01 7.52905865e-01 2.00915393e+02] [-1.79811315e-01 8.87457426e-01 -4.24366833e-01 2.30744412e+02] [-8.61746002e-01 6.59414763e-02 5.03036331e-01 -2.62288531e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.1107140569999 meters Centerline goodness : 0.991782 Centerline is valid? [True, True] Translation: X:200.87, Y:230.70, Z:-262.37 [[ 4.59073540e-01 3.97711561e-01 7.94403550e-01 2.00873666e+02] [-1.87252858e-01 9.17426399e-01 -3.51091398e-01 2.30696464e+02] [-8.68439896e-01 1.24224357e-02 4.95638811e-01 -2.62370182e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.140714057 meters Centerline goodness : 0.993606 Centerline is valid? [True, True] Translation: X:200.95, Y:230.74, Z:-262.33 [[ 4.77159517e-01 4.67549007e-01 7.44121443e-01 2.00951473e+02] [-1.75365584e-01 8.80358690e-01 -4.40698863e-01 2.30738256e+02] [-8.61142095e-01 7.97903654e-02 5.02063532e-01 -2.62331072e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.1707140569999 meters Centerline goodness : 0.993287 Centerline is valid? [True, True] Translation: X:200.89, Y:230.71, Z:-262.39 [[ 4.77359641e-01 3.66225156e-01 7.98753346e-01 2.00892984e+02] [-1.70385240e-01 9.30333989e-01 -3.24726869e-01 2.30709613e+02] [-8.62030535e-01 1.89157209e-02 5.06503260e-01 -2.62387610e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.2007140569999 meters Centerline goodness : 0.986576 Centerline is valid? [True, True] Translation: X:200.91, Y:230.71, Z:-262.42 [[ 4.74476964e-01 3.65363032e-01 8.00862951e-01 2.00905523e+02] [-1.60697108e-01 9.30457656e-01 -3.29279502e-01 2.30705777e+02] [-8.65475621e-01 2.75391783e-02 5.00193506e-01 -2.62422449e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.2307140569999 meters Centerline goodness : 0.994139 Centerline is valid? [True, True] Translation: X:200.94, Y:230.71, Z:-262.43 [[ 4.79971680e-01 3.97222159e-01 7.82203134e-01 2.00940571e+02] [-1.67159200e-01 9.16693213e-01 -3.62948144e-01 2.30708325e+02] [-8.61211350e-01 4.34523803e-02 5.06386120e-01 -2.62427219e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.260714057 meters Centerline goodness : 0.993598 Centerline is valid? [True, True] Translation: X:200.93, Y:230.67, Z:-262.49 [[ 4.76556686e-01 3.45089005e-01 8.08583517e-01 2.00927843e+02] [-1.56113974e-01 9.38340203e-01 -3.08457598e-01 2.30671782e+02] [-8.65171747e-01 2.07663443e-02 5.01045514e-01 -2.62485432e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.290714057 meters Centerline goodness : 0.993541 Centerline is valid? [True, True] Translation: X:201.01, Y:230.71, Z:-262.45 [[ 4.84473467e-01 4.57127019e-01 7.45868855e-01 2.01009977e+02] [-1.63805044e-01 8.84933871e-01 -4.35958657e-01 2.30711988e+02] [-8.59333095e-01 8.90333214e-02 5.03606692e-01 -2.62453477e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.3207140569999 meters Centerline goodness : 0.990277 Centerline is valid? [True, True] Translation: X:200.96, Y:230.68, Z:-262.53 [[ 4.79135342e-01 3.47354710e-01 8.06085621e-01 2.00955638e+02] [-1.41610676e-01 9.36924001e-01 -3.19561940e-01 2.30682192e+02] [-8.66242310e-01 3.89630897e-02 4.98102537e-01 -2.62529962e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.3507140569999 meters Centerline goodness : 0.992363 Centerline is valid? [True, True] Translation: X:201.03, Y:230.69, Z:-262.52 [[ 4.80660449e-01 4.45767702e-01 7.55153421e-01 2.01026112e+02] [-1.58761787e-01 8.91161736e-01 -4.25000535e-01 2.30693564e+02] [-8.62415345e-01 8.43914409e-02 4.99117078e-01 -2.62524261e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.380714057 meters Centerline goodness : 0.993433 Centerline is valid? [True, True] Translation: X:201.02, Y:230.70, Z:-262.53 [[ 4.95129321e-01 4.02660079e-01 7.69877793e-01 2.01023394e+02] [-1.47325805e-01 9.12198341e-01 -3.82347085e-01 2.30700237e+02] [-8.56237153e-01 7.58883866e-02 5.10978366e-01 -2.62527044e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.410714057 meters Centerline goodness : 0.993631 Centerline is valid? [True, True] Translation: X:200.99, Y:230.67, Z:-262.58 [[ 4.93094520e-01 3.28716753e-01 8.05483141e-01 2.00988542e+02] [-1.46106689e-01 9.44008223e-01 -2.95806204e-01 2.30674102e+02] [-8.57619164e-01 2.81739431e-02 5.13512998e-01 -2.62578724e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.4407140569999 meters Centerline goodness : 0.992554 Centerline is valid? [True, True] Translation: X:201.01, Y:230.65, Z:-262.63 [[ 4.80716028e-01 3.52012246e-01 8.03118596e-01 2.01007803e+02] [-1.55278524e-01 9.35584183e-01 -3.17129021e-01 2.30653295e+02] [-8.63018355e-01 2.77419329e-02 5.04410254e-01 -2.62626312e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.4707140569999 meters Centerline goodness : 0.993589 Centerline is valid? [True, True] Translation: X:201.07, Y:230.69, Z:-262.60 [[ 4.94515415e-01 4.12554204e-01 7.65018649e-01 2.01071747e+02] [-1.49724750e-01 9.07449037e-01 -3.92579603e-01 2.30688250e+02] [-8.56175802e-01 7.95944390e-02 5.10517112e-01 -2.62599249e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.500714057 meters Centerline goodness : 0.994169 Centerline is valid? [True, True] Translation: X:201.03, Y:230.64, Z:-262.68 [[ 4.81942789e-01 3.37563792e-01 8.08567768e-01 2.01034099e+02] [-1.47227920e-01 9.40886918e-01 -3.05050401e-01 2.30640557e+02] [-8.63744805e-01 2.79730904e-02 5.03152480e-01 -2.62682305e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.530714057 meters Centerline goodness : 0.992438 Centerline is valid? [True, True] Translation: X:201.12, Y:230.67, Z:-262.66 [[ 4.83736286e-01 4.64240043e-01 7.41943656e-01 2.01124748e+02] [-1.59017679e-01 8.80238317e-01 -4.47094937e-01 2.30674525e+02] [-8.60646608e-01 9.82938860e-02 4.99625588e-01 -2.62657719e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.5607140569999 meters Centerline goodness : 0.993641 Centerline is valid? [True, True] Translation: X:201.09, Y:230.67, Z:-262.68 [[ 4.94195240e-01 3.84715364e-01 7.79592941e-01 2.01094236e+02] [-1.50975054e-01 9.21106475e-01 -3.58844527e-01 2.30670009e+02] [-8.56141109e-01 5.96401710e-02 5.13288858e-01 -2.62681691e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.5907140569999 meters Centerline goodness : 0.993641 Centerline is valid? [True, True] Translation: X:201.07, Y:230.65, Z:-262.72 [[ 4.93024451e-01 3.26210996e-01 8.06544033e-01 2.01068425e+02] [-1.49355834e-01 9.45017908e-01 -2.90919213e-01 2.30648520e+02] [-8.57099601e-01 2.29682288e-02 5.14638451e-01 -2.62724501e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.620714057 meters Centerline goodness : 0.993705 Centerline is valid? [True, True] Translation: X:201.09, Y:230.63, Z:-262.78 [[ 4.80997992e-01 3.37362767e-01 8.09213999e-01 2.01087697e+02] [-1.49076728e-01 9.41030719e-01 -3.03705967e-01 2.30625755e+02] [-8.63954317e-01 2.54469851e-02 5.02926823e-01 -2.62777801e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.650714057 meters Centerline goodness : 0.994565 Centerline is valid? [True, True] Translation: X:201.17, Y:230.67, Z:-262.74 [[ 4.94838027e-01 4.30358341e-01 7.54935114e-01 2.01165470e+02] [-1.52924269e-01 8.98323342e-01 -4.11860827e-01 2.30667725e+02] [-8.55423577e-01 8.83564981e-02 5.10336785e-01 -2.62736484e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.6807140569999 meters Centerline goodness : 0.993810 Centerline is valid? [True, True] Translation: X:201.11, Y:230.63, Z:-262.79 [[ 4.92583142e-01 3.25268224e-01 8.07194171e-01 2.01106433e+02] [-1.51431687e-01 9.45412329e-01 -2.88554974e-01 2.30634686e+02] [-8.56989085e-01 1.99025405e-02 5.14950092e-01 -2.62794956e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.7107140569999 meters Centerline goodness : 0.994454 Centerline is valid? [True, True] Translation: X:201.12, Y:230.63, Z:-262.82 [[ 4.91583363e-01 3.25508952e-01 8.07706456e-01 2.01119609e+02] [-1.52353747e-01 9.45355107e-01 -2.88256930e-01 2.30630711e+02] [-8.57399634e-01 1.86452061e-02 5.14313351e-01 -2.62817855e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.7407140569999 meters Centerline goodness : 0.985471 Centerline is valid? [True, True] Translation: X:201.14, Y:230.64, Z:-262.86 [[ 4.89258537e-01 3.16461460e-01 8.12698116e-01 2.01140208e+02] [-1.31181001e-01 9.47946496e-01 -2.90153383e-01 2.30635725e+02] [-8.62216695e-01 3.53494670e-02 5.05304647e-01 -2.62856724e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.770714057 meters Centerline goodness : 0.993903 Centerline is valid? [True, True] Translation: X:201.20, Y:230.65, Z:-262.86 [[ 4.92197281e-01 3.81832637e-01 7.82269566e-01 2.01197781e+02] [-1.31252359e-01 9.20940127e-01 -3.66936099e-01 2.30651779e+02] [-8.60531612e-01 7.79302241e-02 5.03400660e-01 -2.62856402e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.8007140569999 meters Centerline goodness : 0.992679 Centerline is valid? [True, True] Translation: X:201.21, Y:230.66, Z:-262.87 [[ 4.92361222e-01 3.97016650e-01 7.74569691e-01 2.01212902e+02] [-1.40876618e-01 9.14526162e-01 -3.79204006e-01 2.30655012e+02] [-8.58914551e-01 7.75865897e-02 5.06207582e-01 -2.62868795e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.8307140569999 meters Centerline goodness : 0.991975 Centerline is valid? [True, True] Translation: X:201.19, Y:230.64, Z:-262.90 [[ 4.94949595e-01 3.35749839e-01 8.01434305e-01 2.01188010e+02] [-1.36755887e-01 9.40936851e-01 -3.09734839e-01 2.30640572e+02] [-8.58092493e-01 4.37022737e-02 5.11632080e-01 -2.62901206e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.8607140569999 meters Centerline goodness : 0.992716 Centerline is valid? [True, True] Translation: X:201.19, Y:230.63, Z:-262.94 [[ 4.91441644e-01 3.28224099e-01 8.06693282e-01 2.01194649e+02] [-1.39853048e-01 9.43985392e-01 -2.98885771e-01 2.30627459e+02] [-8.59608187e-01 3.40664000e-02 5.09816874e-01 -2.62940508e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.890714057 meters Centerline goodness : 0.993210 Centerline is valid? [True, True] Translation: X:201.22, Y:230.63, Z:-262.95 [[ 4.93492890e-01 3.48146016e-01 7.97031442e-01 2.01224755e+02] [-1.39976510e-01 9.36237212e-01 -3.22283199e-01 2.30630805e+02] [-8.58412107e-01 4.74787880e-02 5.10758671e-01 -2.62953151e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.9207140569999 meters Centerline goodness : 0.994310 Centerline is valid? [True, True] Translation: X:201.23, Y:230.63, Z:-262.97 [[ 5.04928414e-01 3.15640414e-01 8.03379379e-01 2.01230513e+02] [-1.31422830e-01 9.48002307e-01 -2.89861460e-01 2.30632958e+02] [-8.53097496e-01 4.07768951e-02 5.20155658e-01 -2.62966724e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.9507140569999 meters Centerline goodness : 0.994153 Centerline is valid? [True, True] Translation: X:201.22, Y:230.62, Z:-263.00 [[ 5.03979926e-01 2.75253358e-01 8.18681760e-01 2.01217574e+02] [-1.30932345e-01 9.61253652e-01 -2.42586352e-01 2.30615258e+02] [-8.53733539e-01 1.50667285e-02 5.20492112e-01 -2.63003783e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.9807140569999 meters Centerline goodness : 0.994058 Centerline is valid? [True, True] Translation: X:201.23, Y:230.60, Z:-263.04 [[ 4.94602534e-01 2.91741770e-01 8.18691073e-01 2.01233505e+02] [-1.39467219e-01 9.56412598e-01 -2.56561567e-01 2.30599405e+02] [-8.57856182e-01 1.27154341e-02 5.13732508e-01 -2.63042851e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.010714057 meters Centerline goodness : 0.994240 Centerline is valid? [True, True] Translation: X:201.28, Y:230.62, Z:-263.04 [[ 5.02926735e-01 3.22858744e-01 8.01764885e-01 2.01275721e+02] [-1.34396953e-01 9.45543919e-01 -2.96452620e-01 2.30621377e+02] [-8.53816232e-01 4.13391910e-02 5.18930547e-01 -2.63037276e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.040714057 meters Centerline goodness : 0.992847 Centerline is valid? [True, True] Translation: X:201.26, Y:230.60, Z:-263.08 [[ 4.97620306e-01 2.88014252e-01 8.18182023e-01 2.01263246e+02] [-1.35480992e-01 9.57494558e-01 -2.54654809e-01 2.30602631e+02] [-8.56749049e-01 1.58732917e-02 5.15489191e-01 -2.63082082e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.0707140569999 meters Centerline goodness : 0.994677 Centerline is valid? [True, True] Translation: X:201.28, Y:230.60, Z:-263.10 [[ 4.99747173e-01 2.92983364e-01 8.15115643e-01 2.01284298e+02] [-1.41464032e-01 9.56028120e-01 -2.56901075e-01 2.30603514e+02] [-8.54541216e-01 1.30760411e-02 5.19218958e-01 -2.63096070e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.1007140569999 meters Centerline goodness : 0.995222 Centerline is valid? [True, True] Translation: X:201.29, Y:230.59, Z:-263.13 [[ 4.98619093e-01 2.80785415e-01 8.20084478e-01 2.01291103e+02] [-1.44867097e-01 9.59769907e-01 -2.40531185e-01 2.30594746e+02] [-8.54630051e-01 1.13018331e-03 5.19236168e-01 -2.63127118e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.130714057 meters Centerline goodness : 0.992444 Centerline is valid? [True, True] Translation: X:201.31, Y:230.59, Z:-263.16 [[ 4.92535450e-01 2.95920811e-01 8.18437355e-01 2.01307536e+02] [-1.47701787e-01 9.55196975e-01 -2.56481814e-01 2.30593572e+02] [-8.57667192e-01 5.44172541e-03 5.14176405e-01 -2.63155013e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.160714057 meters Centerline goodness : 0.994816 Centerline is valid? [True, True] Translation: X:201.32, Y:230.59, Z:-263.17 [[ 4.96651698e-01 2.88018041e-01 8.18769015e-01 2.01321235e+02] [-1.51237322e-01 9.57622709e-01 -2.45124498e-01 2.30587590e+02] [-8.54672080e-01 -2.08693539e-03 5.19164021e-01 -2.63174185e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.1907140569999 meters Centerline goodness : 0.994714 Centerline is valid? [True, True] Translation: X:201.33, Y:230.58, Z:-263.20 [[ 4.93374818e-01 2.86946437e-01 8.21123031e-01 2.01333177e+02] [-1.58936865e-01 9.57865401e-01 -2.39234085e-01 2.30579818e+02] [-8.55172709e-01 -1.24746472e-02 5.18193034e-01 -2.63203949e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.2207140569999 meters Centerline goodness : 0.994635 Centerline is valid? [True, True] Translation: X:201.35, Y:230.58, Z:-263.23 [[ 4.91418100e-01 2.89427686e-01 8.21425508e-01 2.01347272e+02] [-1.62885659e-01 9.57066666e-01 -2.39774183e-01 2.30575626e+02] [-8.55556260e-01 -1.59690622e-02 5.17463502e-01 -2.63228595e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.250714057 meters Centerline goodness : 0.994999 Centerline is valid? [True, True] Translation: X:201.36, Y:230.57, Z:-263.26 [[ 4.89681866e-01 2.91565184e-01 8.21706403e-01 2.01363285e+02] [-1.67086876e-01 9.56344205e-01 -2.39766005e-01 2.30570178e+02] [-8.55741577e-01 -1.98872910e-02 5.17021131e-01 -2.63256786e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.280714057 meters Centerline goodness : 0.992797 Centerline is valid? [True, True] Translation: X:201.38, Y:230.56, Z:-263.29 [[ 4.82138284e-01 3.08855833e-01 8.19848004e-01 2.01379938e+02] [-1.77697679e-01 9.50821740e-01 -2.53695789e-01 2.30563083e+02] [-8.57884730e-01 -2.33686351e-02 5.13310527e-01 -2.63288220e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.3107140569999 meters Centerline goodness : 0.994453 Centerline is valid? [True, True] Translation: X:201.41, Y:230.57, Z:-263.30 [[ 4.86207439e-01 3.19977537e-01 8.13152324e-01 2.01405953e+02] [-1.78798515e-01 9.47287786e-01 -2.65851352e-01 2.30568226e+02] [-8.55355726e-01 -1.61315227e-02 5.17789877e-01 -2.63298125e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.3407140569999 meters Centerline goodness : 0.994314 Centerline is valid? [True, True] Translation: X:201.41, Y:230.56, Z:-263.33 [[ 4.85919787e-01 2.99793736e-01 8.20978487e-01 2.01405005e+02] [-1.83435521e-01 9.53391461e-01 -2.39574899e-01 2.30557074e+02] [-8.54536933e-01 -3.41824322e-02 5.18264595e-01 -2.63327898e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.370714057 meters Centerline goodness : 0.994307 Centerline is valid? [True, True] Translation: X:201.42, Y:230.55, Z:-263.35 [[ 4.84136300e-01 3.03300102e-01 8.20744230e-01 2.01418642e+02] [-1.90739437e-01 9.52025778e-01 -2.39301871e-01 2.30551860e+02] [-8.53949946e-01 -4.06935696e-02 5.18761529e-01 -2.63352166e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.400714057 meters Centerline goodness : 0.994318 Centerline is valid? [True, True] Translation: X:201.43, Y:230.55, Z:-263.38 [[ 4.83110900e-01 3.04955321e-01 8.20735104e-01 2.01432563e+02] [-1.94284122e-01 9.51352876e-01 -2.39126296e-01 2.30547701e+02] [-8.53731538e-01 -4.39312789e-02 5.18856921e-01 -2.63376203e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.4307140569999 meters Centerline goodness : 0.993864 Centerline is valid? [True, True] Translation: X:201.45, Y:230.54, Z:-263.40 [[ 4.82451114e-01 3.06412824e-01 8.20580346e-01 2.01446184e+02] [-1.97487396e-01 9.50747926e-01 -2.38908163e-01 2.30543165e+02] [-8.53369587e-01 -4.67927662e-02 5.19202066e-01 -2.63400079e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.4607140569999 meters Centerline goodness : 0.994000 Centerline is valid? [True, True] Translation: X:201.46, Y:230.54, Z:-263.42 [[ 4.81277212e-01 3.07168897e-01 8.20986914e-01 2.01459532e+02] [-1.99147007e-01 9.50416110e-01 -2.38850764e-01 2.30538056e+02] [-8.53646715e-01 -4.85436567e-02 5.18585383e-01 -2.63424664e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.4907140569999 meters Centerline goodness : 0.994160 Centerline is valid? [True, True] Translation: X:201.47, Y:230.53, Z:-263.45 [[ 4.80677810e-01 3.08159274e-01 8.20966933e-01 2.01473070e+02] [-2.01396419e-01 9.49987297e-01 -2.38670521e-01 2.30533527e+02] [-8.53456692e-01 -5.06161772e-02 5.18699987e-01 -2.63447413e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.520714057 meters Centerline goodness : 0.994266 Centerline is valid? [True, True] Translation: X:201.49, Y:230.53, Z:-263.47 [[ 4.80507646e-01 3.07353558e-01 8.21368488e-01 2.01486767e+02] [-2.00019739e-01 9.50299377e-01 -2.38585829e-01 2.30528605e+02] [-8.53876166e-01 -4.96475957e-02 5.18102895e-01 -2.63471400e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.5507140569999 meters Centerline goodness : 0.994114 Centerline is valid? [True, True] Translation: X:201.50, Y:230.52, Z:-263.49 [[ 4.80513017e-01 3.06344710e-01 8.21742149e-01 2.01499754e+02] [-1.98653941e-01 9.50670926e-01 -2.38246517e-01 2.30524240e+02] [-8.54191930e-01 -4.87617637e-02 5.17666338e-01 -2.63494498e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.5807140569999 meters Centerline goodness : 0.993632 Centerline is valid? [True, True] Translation: X:201.51, Y:230.52, Z:-263.52 [[ 4.81579798e-01 3.05202049e-01 8.21542822e-01 2.01513698e+02] [-1.96771942e-01 9.51124971e-01 -2.37995991e-01 2.30520075e+02] [-8.54026757e-01 -4.70425151e-02 5.18097771e-01 -2.63518364e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.6107140569999 meters Centerline goodness : 0.993902 Centerline is valid? [True, True] Translation: X:201.53, Y:230.52, Z:-263.54 [[ 4.83336906e-01 3.02536682e-01 8.21496799e-01 2.01526198e+02] [-1.92276965e-01 9.52160572e-01 -2.37528554e-01 2.30515871e+02] [-8.54057963e-01 -4.31485945e-02 5.18385180e-01 -2.63542843e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.640714057 meters Centerline goodness : 0.993891 Centerline is valid? [True, True] Translation: X:201.54, Y:230.51, Z:-263.57 [[ 4.84503942e-01 3.00991409e-01 8.21376955e-01 2.01540046e+02] [-1.89560707e-01 9.52757142e-01 -2.37319545e-01 2.30511404e+02] [-8.54003904e-01 -4.07185413e-02 5.18670736e-01 -2.63567150e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.6707140569999 meters Centerline goodness : 0.993981 Centerline is valid? [True, True] Translation: X:201.55, Y:230.51, Z:-263.59 [[ 4.85558514e-01 2.99289980e-01 8.21375942e-01 2.01553132e+02] [-1.86502994e-01 9.53403590e-01 -2.37146007e-01 2.30507297e+02] [-8.54078195e-01 -3.80408097e-02 5.18751708e-01 -2.63591275e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.7007140569999 meters Centerline goodness : 0.993517 Centerline is valid? [True, True] Translation: X:201.57, Y:230.50, Z:-263.62 [[ 4.87876500e-01 2.95475162e-01 8.21383558e-01 2.01566583e+02] [-1.79308833e-01 9.54825437e-01 -2.36974106e-01 2.30503503e+02] [-8.54297877e-01 -3.16672299e-02 5.18818199e-01 -2.63615051e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.7307140569999 meters Centerline goodness : 0.994151 Centerline is valid? [True, True] Translation: X:201.58, Y:230.50, Z:-263.64 [[ 4.89191397e-01 2.93346707e-01 8.21364406e-01 2.01580240e+02] [-1.75442169e-01 9.55588209e-01 -2.36793625e-01 2.30500683e+02] [-8.54348771e-01 -2.82645491e-02 5.18930913e-01 -2.63638176e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.760714057 meters Centerline goodness : 0.994097 Centerline is valid? [True, True] Translation: X:201.60, Y:230.49, Z:-263.68 [[ 4.87658587e-01 2.90162113e-01 8.23404549e-01 2.01595680e+02] [-1.78012107e-01 9.56386210e-01 -2.31596863e-01 2.30486142e+02] [-8.54693391e-01 -3.36357797e-02 5.18042317e-01 -2.63676543e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.790714057 meters Centerline goodness : 0.994293 Centerline is valid? [True, True] Translation: X:201.63, Y:230.49, Z:-263.69 [[ 4.94685959e-01 3.12862796e-01 8.10803720e-01 2.01634169e+02] [-1.68787518e-01 9.49776089e-01 -2.63507408e-01 2.30494998e+02] [-8.52523651e-01 -6.50013270e-03 5.22648231e-01 -2.63688729e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.8207140569999 meters Centerline goodness : 0.994086 Centerline is valid? [True, True] Translation: X:201.66, Y:230.51, Z:-263.70 [[ 4.93611272e-01 3.32698839e-01 8.03529337e-01 2.01658123e+02] [-1.58150007e-01 9.42867607e-01 -2.93239239e-01 2.30507411e+02] [-8.55182137e-01 1.76680238e-02 5.18026403e-01 -2.63704826e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.8507140569999 meters Centerline goodness : 0.993551 Centerline is valid? [True, True] Translation: X:201.64, Y:230.48, Z:-263.76 [[ 4.96459956e-01 2.74198731e-01 8.23615546e-01 2.01640804e+02] [-1.53527754e-01 9.61578842e-01 -2.27585938e-01 2.30476883e+02] [-8.54375059e-01 -1.34605397e-02 5.19482505e-01 -2.63757070e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.880714057 meters Centerline goodness : 0.994384 Centerline is valid? [True, True] Translation: X:201.68, Y:230.48, Z:-263.78 [[ 4.97201576e-01 3.04436203e-01 8.12471040e-01 2.01677052e+02] [-1.48929941e-01 9.52467677e-01 -2.65754016e-01 2.30483860e+02] [-8.54757548e-01 1.11320515e-02 5.18908096e-01 -2.63776032e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.910714057 meters Centerline goodness : 0.994102 Centerline is valid? [True, True] Translation: X:201.70, Y:230.48, Z:-263.80 [[ 4.98719735e-01 3.10547604e-01 8.09221114e-01 2.01698463e+02] [-1.44602542e-01 9.50338380e-01 -2.75584957e-01 2.30482990e+02] [-8.54616131e-01 2.04242264e-02 5.18858478e-01 -2.63799709e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.9407140569999 meters Centerline goodness : 0.993562 Centerline is valid? [True, True] Translation: X:201.71, Y:230.49, Z:-263.82 [[ 5.00866108e-01 3.09415696e-01 8.08328565e-01 2.01713554e+02] [-1.35909451e-01 9.50447708e-01 -2.79602889e-01 2.30488680e+02] [-8.54787555e-01 3.01841194e-02 5.18099561e-01 -2.63818419e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.9707140569999 meters Centerline goodness : 0.994393 Centerline is valid? [True, True] Translation: X:201.71, Y:230.47, Z:-263.86 [[ 5.02381334e-01 2.67977266e-01 8.22071275e-01 2.01707004e+02] [-1.29147227e-01 9.63351179e-01 -2.35107423e-01 2.30472702e+02] [-8.54946776e-01 1.19453553e-02 5.18578171e-01 -2.63857989e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.000714057 meters Centerline goodness : 0.994493 Centerline is valid? [True, True] Translation: X:201.72, Y:230.46, Z:-263.90 [[ 5.01030615e-01 2.65017608e-01 8.23853137e-01 2.01721728e+02] [-1.31689613e-01 9.64219695e-01 -2.30083083e-01 2.30458938e+02] [-8.55351488e-01 6.78576795e-03 5.18003653e-01 -2.63895249e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.030714057 meters Centerline goodness : 0.993713 Centerline is valid? [True, True] Translation: X:201.76, Y:230.47, Z:-263.91 [[ 5.01475326e-01 3.06305811e-01 8.09134876e-01 2.01762338e+02] [-1.29983077e-01 9.51288830e-01 -2.79560302e-01 2.30468852e+02] [-8.55351914e-01 3.50187529e-02 5.16862447e-01 -2.63909460e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.0607140569999 meters Centerline goodness : 0.994037 Centerline is valid? [True, True] Translation: X:201.78, Y:230.46, Z:-263.94 [[ 5.02170156e-01 3.02970717e-01 8.09959183e-01 2.01775591e+02] [-1.28510369e-01 9.52364513e-01 -2.76562687e-01 2.30464085e+02] [-8.55166779e-01 3.47933741e-02 5.17183915e-01 -2.63936393e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.0907140569999 meters Centerline goodness : 0.994774 Centerline is valid? [True, True] Translation: X:201.79, Y:230.47, Z:-263.95 [[ 5.05707660e-01 3.00214158e-01 8.08783792e-01 2.01790128e+02] [-1.22701027e-01 9.52996527e-01 -2.77023604e-01 2.30467266e+02] [-8.53934553e-01 4.08543561e-02 5.18774229e-01 -2.63954916e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.120714057 meters Centerline goodness : 0.994093 Centerline is valid? [True, True] Translation: X:201.78, Y:230.44, Z:-264.00 [[ 5.02656165e-01 2.67269948e-01 8.22133539e-01 2.01784228e+02] [-1.26668974e-01 9.63514389e-01 -2.35785905e-01 2.30443112e+02] [-8.55155981e-01 1.43804273e-02 5.18171257e-01 -2.64001403e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.150714057 meters Centerline goodness : 0.994595 Centerline is valid? [True, True] Translation: X:201.82, Y:230.46, Z:-264.01 [[ 5.06839310e-01 3.02360979e-01 8.07274273e-01 2.01821619e+02] [-1.22744129e-01 9.52240149e-01 -2.79593593e-01 2.30458711e+02] [-8.53257167e-01 4.26208467e-02 5.19745775e-01 -2.64008127e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.1807140569999 meters Centerline goodness : 0.994341 Centerline is valid? [True, True] Translation: X:201.81, Y:230.43, Z:-264.06 [[ 5.03606598e-01 2.65901302e-01 8.21995677e-01 2.01813960e+02] [-1.28044013e-01 9.63922141e-01 -2.33364174e-01 2.30432725e+02] [-8.54391670e-01 1.22721124e-02 5.19484619e-01 -2.64056987e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.2107140569999 meters Centerline goodness : 0.993510 Centerline is valid? [True, True] Translation: X:201.86, Y:230.45, Z:-264.06 [[ 5.06634238e-01 3.08596820e-01 8.05040218e-01 2.01855718e+02] [-1.24622415e-01 9.50152967e-01 -2.85794668e-01 2.30451729e+02] [-8.53106677e-01 4.44673072e-02 5.19838105e-01 -2.64059560e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.2407140569999 meters Centerline goodness : 0.994567 Centerline is valid? [True, True] Translation: X:201.85, Y:230.43, Z:-264.11 [[ 5.02256271e-01 2.68366677e-01 8.22020660e-01 2.01845909e+02] [-1.31065669e-01 9.63265045e-01 -2.34397619e-01 2.30426226e+02] [-8.54728278e-01 9.98898655e-03 5.18979567e-01 -2.64107898e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.270714057 meters Centerline goodness : 0.994083 Centerline is valid? [True, True] Translation: X:201.88, Y:230.43, Z:-264.13 [[ 5.01636170e-01 3.00460200e-01 8.11224273e-01 2.01881589e+02] [-1.32157425e-01 9.53355660e-01 -2.71380547e-01 2.30432359e+02] [-8.54924306e-01 2.89249870e-02 5.17945728e-01 -2.64126286e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.3007140569999 meters Centerline goodness : 0.993719 Centerline is valid? [True, True] Translation: X:201.90, Y:230.43, Z:-264.15 [[ 5.02199330e-01 2.93775010e-01 8.13321631e-01 2.01895146e+02] [-1.32948559e-01 9.55573719e-01 -2.63065672e-01 2.30426076e+02] [-8.54470897e-01 2.39814654e-02 5.18945446e-01 -2.64154024e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.3307140569999 meters Centerline goodness : 0.993655 Centerline is valid? [True, True] Translation: X:201.91, Y:230.42, Z:-264.18 [[ 5.01074773e-01 3.00423256e-01 8.11584832e-01 2.01914033e+02] [-1.35438476e-01 9.53477425e-01 -2.69327347e-01 2.30422582e+02] [-8.54740014e-01 2.50333269e-02 5.18452352e-01 -2.64182011e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.3607140569999 meters Centerline goodness : 0.993834 Centerline is valid? [True, True] Translation: X:201.93, Y:230.42, Z:-264.21 [[ 5.01118029e-01 3.02761378e-01 8.10688762e-01 2.01931282e+02] [-1.36552707e-01 9.52730482e-01 -2.71400050e-01 2.30418511e+02] [-8.54537348e-01 2.53017127e-02 5.18773307e-01 -2.64208584e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.390714057 meters Centerline goodness : 0.994229 Centerline is valid? [True, True] Translation: X:201.95, Y:230.41, Z:-264.24 [[ 5.00919082e-01 3.00763111e-01 8.11555066e-01 2.01945585e+02] [-1.37237806e-01 9.53417002e-01 -2.68629495e-01 2.30412551e+02] [-8.54544240e-01 2.31856034e-02 5.18860839e-01 -2.64237745e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.4207140569999 meters Centerline goodness : 0.994213 Centerline is valid? [True, True] Translation: X:201.97, Y:230.41, Z:-264.26 [[ 5.00387899e-01 3.10188921e-01 8.08328389e-01 2.01966107e+02] [-1.37646213e-01 9.50245692e-01 -2.79439878e-01 2.30411044e+02] [-8.54789723e-01 2.85649916e-02 5.18187776e-01 -2.64263045e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.4507140569999 meters Centerline goodness : 0.993625 Centerline is valid? [True, True] Translation: X:201.98, Y:230.41, Z:-264.28 [[ 5.02321175e-01 3.07365873e-01 8.08207682e-01 2.01979688e+02] [-1.33575870e-01 9.51052385e-01 -2.78669783e-01 2.30414428e+02] [-8.54301425e-01 3.20246886e-02 5.18790415e-01 -2.64281164e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.4807140569999 meters Centerline goodness : 0.993625 Centerline is valid? [True, True] Translation: X:201.97, Y:230.40, Z:-264.32 [[ 5.02064365e-01 2.69778483e-01 8.21675693e-01 2.01970950e+02] [-1.33071817e-01 9.62884378e-01 -2.34830932e-01 2.30397853e+02] [-8.54531020e-01 8.55836521e-03 5.19329847e-01 -2.64318566e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.510714057 meters Centerline goodness : 0.993902 Centerline is valid? [True, True] Translation: X:201.99, Y:230.39, Z:-264.36 [[ 4.98361882e-01 2.72934591e-01 8.22886471e-01 2.01986955e+02] [-1.39387866e-01 9.62029963e-01 -2.34668647e-01 2.30385045e+02] [-8.55690632e-01 2.24951993e-03 5.17482833e-01 -2.64355793e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.540714057 meters Centerline goodness : 0.993717 Centerline is valid? [True, True] Translation: X:202.02, Y:230.39, Z:-264.37 [[ 4.97310334e-01 3.10291438e-01 8.10186186e-01 2.02024971e+02] [-1.40320026e-01 9.50326151e-01 -2.77831779e-01 2.30392978e+02] [-8.56149941e-01 2.44832681e-02 5.16147118e-01 -2.64372179e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.5707140569999 meters Centerline goodness : 0.993658 Centerline is valid? [True, True] Translation: X:202.04, Y:230.39, Z:-264.40 [[ 4.95684684e-01 3.07001225e-01 8.12432731e-01 2.02038394e+02] [-1.43260630e-01 9.51529023e-01 -2.72156041e-01 2.30387049e+02] [-8.56605560e-01 1.85139567e-02 5.15639552e-01 -2.64400573e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.6007140569999 meters Centerline goodness : 0.994318 Centerline is valid? [True, True] Translation: X:202.06, Y:230.38, Z:-264.43 [[ 4.95497013e-01 3.08354104e-01 8.12034763e-01 2.02055297e+02] [-1.44383666e-01 9.51100277e-01 -2.73059737e-01 2.30382783e+02] [-8.56525579e-01 1.80557284e-02 5.15788642e-01 -2.64427894e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.630714057 meters Centerline goodness : 0.993916 Centerline is valid? [True, True] Translation: X:202.07, Y:230.38, Z:-264.45 [[ 4.95058670e-01 3.12199255e-01 8.10832004e-01 2.02073375e+02] [-1.45518609e-01 9.49825118e-01 -2.76869246e-01 2.30379445e+02] [-8.56586976e-01 1.90753751e-02 5.15649961e-01 -2.64454199e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.660714057 meters Centerline goodness : 0.994070 Centerline is valid? [True, True] Translation: X:202.09, Y:230.37, Z:-264.48 [[ 4.93979764e-01 3.12263570e-01 8.11465006e-01 2.02088607e+02] [-1.47925577e-01 9.49860080e-01 -2.75470238e-01 2.30373767e+02] [-8.56797536e-01 1.60402939e-02 5.15403427e-01 -2.64483364e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.6907140569999 meters Centerline goodness : 0.993414 Centerline is valid? [True, True] Translation: X:202.11, Y:230.37, Z:-264.51 [[ 4.92754351e-01 3.15627956e-01 8.10908221e-01 2.02105496e+02] [-1.48019648e-01 9.48719654e-01 -2.79322756e-01 2.30369876e+02] [-8.57486637e-01 1.76071538e-02 5.14204877e-01 -2.64510869e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.7207140569999 meters Centerline goodness : 0.993147 Centerline is valid? [True, True] Translation: X:202.12, Y:230.36, Z:-264.54 [[ 4.93261090e-01 3.11277784e-01 8.12280517e-01 2.02118771e+02] [-1.49633252e-01 9.50226567e-01 -2.73275247e-01 2.30363914e+02] [-8.56915041e-01 1.32518708e-02 5.15287299e-01 -2.64537770e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.750714057 meters Centerline goodness : 0.993100 Centerline is valid? [True, True] Translation: X:202.13, Y:230.36, Z:-264.57 [[ 4.92078511e-01 3.11595268e-01 8.12875838e-01 2.02134013e+02] [-1.51158737e-01 9.50147469e-01 -2.72710146e-01 2.30357921e+02] [-8.57327111e-01 1.13215176e-02 5.14647499e-01 -2.64565642e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.780714057 meters Centerline goodness : 0.993030 Centerline is valid? [True, True] Translation: X:202.15, Y:230.36, Z:-264.59 [[ 4.91627546e-01 3.17001223e-01 8.11056459e-01 2.02153174e+02] [-1.53198664e-01 9.48345102e-01 -2.77798014e-01 2.30356102e+02] [-8.57223731e-01 1.23203901e-02 5.14796739e-01 -2.64591121e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.8107140569999 meters Centerline goodness : 0.992311 Centerline is valid? [True, True] Translation: X:202.16, Y:230.35, Z:-264.62 [[ 4.84826620e-01 3.03080018e-01 8.20417974e-01 2.02158722e+02] [-1.55644276e-01 9.52963758e-01 -2.60067175e-01 2.30347818e+02] [-8.60649759e-01 -1.60587204e-03 5.09194868e-01 -2.64620503e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.8407140569999 meters Centerline goodness : 0.993771 Centerline is valid? [True, True] Translation: X:202.19, Y:230.36, Z:-264.63 [[ 4.92745614e-01 3.17314192e-01 8.10255184e-01 2.02185055e+02] [-1.55980369e-01 9.48269170e-01 -2.76506250e-01 2.30358063e+02] [-8.56079368e-01 9.86333904e-03 5.16750259e-01 -2.64634269e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.870714057 meters Centerline goodness : 0.993465 Centerline is valid? [True, True] Translation: X:202.18, Y:230.34, Z:-264.68 [[ 4.91816717e-01 2.78562753e-01 8.24935822e-01 2.02175272e+02] [-1.58590700e-01 9.60252069e-01 -2.29706236e-01 2.30340277e+02] [-8.56133931e-01 -1.78537830e-02 5.16445481e-01 -2.64675444e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.900714057 meters Centerline goodness : 0.992459 Centerline is valid? [True, True] Translation: X:202.18, Y:230.33, Z:-264.70 [[ 4.86528191e-01 2.62248932e-01 8.33376156e-01 2.02181779e+02] [-1.59752404e-01 9.64507283e-01 -2.10249544e-01 2.30330563e+02] [-8.58935090e-01 -3.08415139e-02 5.11154881e-01 -2.64703994e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.9307140569999 meters Centerline goodness : 0.992942 Centerline is valid? [True, True] Translation: X:202.20, Y:230.33, Z:-264.73 [[ 4.85366240e-01 2.70050886e-01 8.31560059e-01 2.02201668e+02] [-1.63981677e-01 9.62342734e-01 -2.16809761e-01 2.30327280e+02] [-8.58795449e-01 -3.11284745e-02 5.11372072e-01 -2.64731089e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.9607140569999 meters Centerline goodness : 0.992184 Centerline is valid? [True, True] Translation: X:202.22, Y:230.32, Z:-264.76 [[ 4.83827523e-01 2.68168046e-01 8.33064720e-01 2.02215196e+02] [-1.63034028e-01 9.62851477e-01 -2.15260165e-01 2.30322148e+02] [-8.59843494e-01 -3.16691048e-02 5.09574562e-01 -2.64758421e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.9907140569999 meters Centerline goodness : 0.993509 Centerline is valid? [True, True] Translation: X:202.24, Y:230.32, Z:-264.79 [[ 4.87768993e-01 2.85168572e-01 8.25081993e-01 2.02239306e+02] [-1.64543204e-01 9.58232487e-01 -2.33914590e-01 2.30322406e+02] [-8.57325460e-01 -2.16653510e-02 5.14318645e-01 -2.64786076e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.020714057 meters Centerline goodness : 0.992670 Centerline is valid? [True, True] Translation: X:202.26, Y:230.31, Z:-264.83 [[ 4.83450972e-01 2.92998484e-01 8.24880019e-01 2.02255085e+02] [-1.68271080e-01 9.55851858e-01 -2.40898462e-01 2.30308568e+02] [-8.59045983e-01 -2.23408564e-02 5.11410681e-01 -2.64825699e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.0507140569999 meters Centerline goodness : 0.992631 Centerline is valid? [True, True] Translation: X:202.28, Y:230.31, Z:-264.84 [[ 4.79409068e-01 3.19328865e-01 8.17432579e-01 2.02284496e+02] [-1.68288470e-01 9.47614978e-01 -2.71486362e-01 2.30314221e+02] [-8.61304787e-01 -7.41145460e-03 5.08034580e-01 -2.64839603e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.0807140569999 meters Centerline goodness : 0.992019 Centerline is valid? [True, True] Translation: X:202.30, Y:230.31, Z:-264.87 [[ 4.81190736e-01 3.11229309e-01 8.19507043e-01 2.02295532e+02] [-1.66498305e-01 9.50284007e-01 -2.63132324e-01 2.30307181e+02] [-8.60658928e-01 -9.82969670e-03 5.09087013e-01 -2.64869697e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.1107140569999 meters Centerline goodness : 0.992579 Centerline is valid? [True, True] Translation: X:202.31, Y:230.30, Z:-264.90 [[ 4.84836985e-01 2.97550156e-01 8.22433585e-01 2.02306491e+02] [-1.63449513e-01 9.54607954e-01 -2.49013878e-01 2.30298671e+02] [-8.59195760e-01 -1.36952310e-02 5.11463671e-01 -2.64900594e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.140714057 meters Centerline goodness : 0.991069 Centerline is valid? [True, True] Translation: X:202.33, Y:230.30, Z:-264.92 [[ 4.87375062e-01 3.08559339e-01 8.16857811e-01 2.02329223e+02] [-1.56021807e-01 9.51202316e-01 -2.66216736e-01 2.30304665e+02] [-8.59140701e-01 2.29976632e-03 5.11734273e-01 -2.64915127e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.1707140569999 meters Centerline goodness : 0.992099 Centerline is valid? [True, True] Translation: X:202.34, Y:230.30, Z:-264.94 [[ 4.97585549e-01 2.89678800e-01 8.17615322e-01 2.02337995e+02] [-1.53406775e-01 9.57118737e-01 -2.45743943e-01 2.30296295e+02] [-8.53741754e-01 -3.14909505e-03 5.20687142e-01 -2.64943057e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.2007140569999 meters Centerline goodness : 0.991104 Centerline is valid? [True, True] Translation: X:202.35, Y:230.28, Z:-264.99 [[ 4.81992767e-01 2.93187774e-01 8.25665732e-01 2.02346273e+02] [-1.60683578e-01 9.55948378e-01 -2.45649113e-01 2.30279026e+02] [-8.61315134e-01 -1.42698289e-02 5.07870665e-01 -2.64987275e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.2307140569999 meters Centerline goodness : 0.990700 Centerline is valid? [True, True] Translation: X:202.38, Y:230.29, Z:-264.99 [[ 4.86126729e-01 3.17008123e-01 8.14362729e-01 2.02380648e+02] [-1.53103574e-01 9.48366309e-01 -2.77778042e-01 2.30290217e+02] [-8.60372070e-01 1.03534863e-02 5.09561288e-01 -2.64993670e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.260714057 meters Centerline goodness : 0.992671 Centerline is valid? [True, True] Translation: X:202.38, Y:230.28, Z:-265.02 [[ 4.97562547e-01 2.79759454e-01 8.21076220e-01 2.02379425e+02] [-1.45033987e-01 9.60070125e-01 -2.39228964e-01 2.30279196e+02] [-8.55217314e-01 -5.25854672e-05 5.18269566e-01 -2.65024871e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.290714057 meters Centerline goodness : 0.991022 Centerline is valid? [True, True] Translation: X:202.38, Y:230.27, Z:-265.05 [[ 4.87164193e-01 2.69794885e-01 8.30591217e-01 2.02381530e+02] [-1.42929314e-01 9.62891002e-01 -2.28936955e-01 2.30268123e+02] [-8.61534828e-01 -7.18594618e-03 5.07647616e-01 -2.65054907e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.3207140569999 meters Centerline goodness : 0.992308 Centerline is valid? [True, True] Translation: X:202.41, Y:230.27, Z:-265.08 [[ 4.98596405e-01 2.90479202e-01 8.16715041e-01 2.02414444e+02] [-1.35640221e-01 9.56719564e-01 -2.57467291e-01 2.30273351e+02] [-8.56156152e-01 1.75928569e-02 5.16417598e-01 -2.65075075e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.3507140569999 meters Centerline goodness : 0.992392 Centerline is valid? [True, True] Translation: X:202.42, Y:230.26, Z:-265.10 [[ 4.90073920e-01 2.81381543e-01 8.25016351e-01 2.02418261e+02] [-1.34829887e-01 9.59544941e-01 -2.47172828e-01 2.30263215e+02] [-8.61190138e-01 9.89609545e-03 5.08186593e-01 -2.65103501e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.380714057 meters Centerline goodness : 0.984043 Centerline is valid? [True, True] Translation: X:202.46, Y:230.28, Z:-265.11 [[ 4.94431527e-01 3.23027768e-01 8.06963770e-01 2.02459338e+02] [-1.29151899e-01 9.45377068e-01 -2.99302500e-01 2.30279193e+02] [-8.59568062e-01 4.37636891e-02 5.09143877e-01 -2.65107341e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.410714057 meters Centerline goodness : 0.993104 Centerline is valid? [True, True] Translation: X:202.43, Y:230.25, Z:-265.16 [[ 5.06472239e-01 2.42317108e-01 8.27507275e-01 2.02433992e+02] [-1.26780769e-01 9.70197050e-01 -2.06505017e-01 2.30246850e+02] [-8.52884815e-01 -3.22950107e-04 5.22099022e-01 -2.65157365e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.4407140569999 meters Centerline goodness : 0.992940 Centerline is valid? [True, True] Translation: X:202.47, Y:230.25, Z:-265.18 [[ 5.07059722e-01 2.69670891e-01 8.18637923e-01 2.02467427e+02] [-1.25415622e-01 9.62769895e-01 -2.39468267e-01 2.30252238e+02] [-8.52737568e-01 1.87547285e-02 5.22002778e-01 -2.65177144e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.4707140569999 meters Centerline goodness : 0.989287 Centerline is valid? [True, True] Translation: X:202.47, Y:230.24, Z:-265.21 [[ 4.96641141e-01 2.62243447e-01 8.27391051e-01 2.02469957e+02] [-1.22877042e-01 9.64906061e-01 -2.32072243e-01 2.30244920e+02] [-8.59214065e-01 1.35892584e-02 5.11435747e-01 -2.65206544e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.500714057 meters Centerline goodness : 0.988595 Centerline is valid? [True, True] Translation: X:202.49, Y:230.24, Z:-265.23 [[ 4.96997767e-01 2.68077387e-01 8.25304631e-01 2.02487892e+02] [-1.19868871e-01 9.63175249e-01 -2.40675909e-01 2.30243896e+02] [-8.59432763e-01 2.06870551e-02 5.10830082e-01 -2.65228978e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.530714057 meters Centerline goodness : 0.988783 Centerline is valid? [True, True] Translation: X:202.50, Y:230.24, Z:-265.25 [[ 4.96976050e-01 2.60866703e-01 8.27625138e-01 2.02497980e+02] [-1.17609269e-01 9.65192536e-01 -2.33605283e-01 2.30238610e+02] [-8.59757446e-01 1.87598433e-02 5.10357916e-01 -2.65254147e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.5607140569999 meters Centerline goodness : 0.988730 Centerline is valid? [True, True] Translation: X:202.51, Y:230.23, Z:-265.28 [[ 4.98442531e-01 2.61568900e-01 8.26520873e-01 2.02512223e+02] [-1.17657389e-01 9.64985661e-01 -2.34434239e-01 2.30233239e+02] [-8.58901498e-01 1.96057073e-02 5.11765409e-01 -2.65277859e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.5907140569999 meters Centerline goodness : 0.989693 Centerline is valid? [True, True] Translation: X:202.52, Y:230.23, Z:-265.30 [[ 4.98854378e-01 2.55786739e-01 8.28080584e-01 2.02523071e+02] [-1.15706668e-01 9.66559025e-01 -2.28857199e-01 2.30227280e+02] [-8.58927399e-01 1.83519699e-02 5.11768433e-01 -2.65303444e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.620714057 meters Centerline goodness : 0.992538 Centerline is valid? [True, True] Translation: X:202.56, Y:230.23, Z:-265.32 [[ 5.11647168e-01 2.75888890e-01 8.13696809e-01 2.02557368e+02] [-1.15477933e-01 9.60533192e-01 -2.53062906e-01 2.30232651e+02] [-8.51400037e-01 3.55148940e-02 5.23313166e-01 -2.65317190e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.650714057 meters Centerline goodness : 0.989201 Centerline is valid? [True, True] Translation: X:202.55, Y:230.22, Z:-265.35 [[ 5.00012635e-01 2.50619550e-01 8.28961523e-01 2.02548787e+02] [-1.14110442e-01 9.67930850e-01 -2.23804997e-01 2.30218631e+02] [-8.58467339e-01 1.73121602e-02 5.12575963e-01 -2.65352920e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.6807140569999 meters Centerline goodness : 0.983079 Centerline is valid? [True, True] Translation: X:202.57, Y:230.23, Z:-265.37 [[ 5.00523780e-01 2.66819434e-01 8.23579587e-01 2.02572507e+02] [-1.10443937e-01 9.63227054e-01 -2.44940360e-01 2.30226119e+02] [-8.58648987e-01 3.16391031e-02 5.11586634e-01 -2.65368194e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.7107140569999 meters Centerline goodness : 0.989141 Centerline is valid? [True, True] Translation: X:202.57, Y:230.21, Z:-265.40 [[ 5.00037170e-01 2.40726536e-01 8.31873526e-01 2.02570466e+02] [-1.15791438e-01 9.70548319e-01 -2.11254123e-01 2.30205858e+02] [-8.58227925e-01 9.31108197e-03 5.13184307e-01 -2.65404256e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.7407140569999 meters Centerline goodness : 0.989559 Centerline is valid? [True, True] Translation: X:202.60, Y:230.21, Z:-265.42 [[ 4.99803904e-01 2.61009433e-01 8.25875374e-01 2.02596487e+02] [-1.14294526e-01 9.65050813e-01 -2.35825551e-01 2.30210665e+02] [-8.58564394e-01 2.34734968e-02 5.12168113e-01 -2.65422642e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.770714057 meters Centerline goodness : 0.989035 Centerline is valid? [True, True] Translation: X:202.61, Y:230.21, Z:-265.45 [[ 4.99513557e-01 2.66400920e-01 8.24328063e-01 2.02613710e+02] [-1.14474381e-01 9.63497331e-01 -2.42009316e-01 2.30208385e+02] [-8.58709394e-01 2.65224897e-02 5.11776060e-01 -2.65445558e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.8007140569999 meters Centerline goodness : 0.988581 Centerline is valid? [True, True] Translation: X:202.63, Y:230.21, Z:-265.47 [[ 4.99860294e-01 2.67994841e-01 8.23600906e-01 2.02628338e+02] [-1.13650303e-01 9.62997176e-01 -2.44376858e-01 2.30206158e+02] [-8.58617083e-01 2.85517955e-02 5.11821746e-01 -2.65468564e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.8307140569999 meters Centerline goodness : 0.992626 Centerline is valid? [True, True] Translation: X:202.65, Y:230.21, Z:-265.49 [[ 5.10969039e-01 2.73064447e-01 8.15074505e-01 2.02653488e+02] [-1.14827242e-01 9.61387661e-01 -2.50096921e-01 2.30205154e+02] [-8.51895150e-01 3.41990256e-02 5.22594566e-01 -2.65486041e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.8607140569999 meters Centerline goodness : 0.993015 Centerline is valid? [True, True] Translation: X:202.66, Y:230.20, Z:-265.52 [[ 5.10884556e-01 2.60712280e-01 8.19161814e-01 2.02662327e+02] [-1.14869969e-01 9.65060437e-01 -2.35506357e-01 2.30196333e+02] [-8.51940057e-01 2.62194686e-02 5.22982484e-01 -2.65518035e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.890714057 meters Centerline goodness : 0.993254 Centerline is valid? [True, True] Translation: X:202.68, Y:230.19, Z:-265.55 [[ 5.11048002e-01 2.61200251e-01 8.18904371e-01 2.02678864e+02] [-1.15154606e-01 9.64927322e-01 -2.35912440e-01 2.30191522e+02] [-8.51803590e-01 2.62619713e-02 5.23202592e-01 -2.65546084e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.9207140569999 meters Centerline goodness : 0.992823 Centerline is valid? [True, True] Translation: X:202.69, Y:230.19, Z:-265.57 [[ 5.10781331e-01 2.61846520e-01 8.18864355e-01 2.02694123e+02] [-1.15604229e-01 9.64757127e-01 -2.36388131e-01 2.30186628e+02] [-8.51902632e-01 2.60784620e-02 5.23050495e-01 -2.65574272e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.9507140569999 meters Centerline goodness : 0.993007 Centerline is valid? [True, True] Translation: X:202.71, Y:230.18, Z:-265.60 [[ 5.11066933e-01 2.62264405e-01 8.18552364e-01 2.02710363e+02] [-1.15832402e-01 9.64640845e-01 -2.36750702e-01 2.30181603e+02] [-8.51700326e-01 2.61805687e-02 5.23374754e-01 -2.65602394e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.9807140569999 meters Centerline goodness : 0.993357 Centerline is valid? [True, True] Translation: X:202.73, Y:230.18, Z:-265.63 [[ 5.11047903e-01 2.62815529e-01 8.18387462e-01 2.02725983e+02] [-1.16172445e-01 9.64491893e-01 -2.37190538e-01 2.30177171e+02] [-8.51665429e-01 2.61416551e-02 5.23433482e-01 -2.65630153e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.010714057 meters Centerline goodness : 0.993961 Centerline is valid? [True, True] Translation: X:202.74, Y:230.17, Z:-265.66 [[ 5.11639510e-01 2.62804862e-01 8.18021159e-01 2.02742556e+02] [-1.15623671e-01 9.64472529e-01 -2.37537170e-01 2.30171719e+02] [-8.51384859e-01 2.69507917e-02 5.23848715e-01 -2.65658773e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.040714057 meters Centerline goodness : 0.993195 Centerline is valid? [True, True] Translation: X:202.73, Y:230.12, Z:-265.71 [[ 5.14368621e-01 1.89708467e-01 8.36322677e-01 2.02730024e+02] [-1.22037684e-01 9.81492113e-01 -1.47580608e-01 2.30123466e+02] [-8.48841402e-01 -2.61520484e-02 5.28000326e-01 -2.65705091e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.0707140569999 meters Centerline goodness : 0.992232 Centerline is valid? [True, True] Translation: X:202.81, Y:230.16, Z:-265.71 [[ 5.15948669e-01 2.98402179e-01 8.02965199e-01 2.02810992e+02] [-1.25125491e-01 9.53564246e-01 -2.73968683e-01 2.30155120e+02] [-8.47431757e-01 4.08823629e-02 5.29327923e-01 -2.65705676e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.1007140569999 meters Centerline goodness : 0.992881 Centerline is valid? [True, True] Translation: X:202.86, Y:230.19, Z:-265.71 [[ 5.15436392e-01 3.74046695e-01 7.70982747e-01 2.02861195e+02] [-1.16194972e-01 9.21903236e-01 -3.69585107e-01 2.30191611e+02] [-8.49013577e-01 1.00913295e-01 5.18644823e-01 -2.65705880e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.130714057 meters Centerline goodness : 0.992735 Centerline is valid? [True, True] Translation: X:202.80, Y:230.15, Z:-265.77 [[ 5.12062995e-01 2.61966347e-01 8.18025136e-01 2.02804497e+02] [-1.13057391e-01 9.64627234e-01 -2.38143497e-01 2.30152728e+02] [-8.51474906e-01 2.94606845e-02 5.23567143e-01 -2.65770716e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.160714057 meters Centerline goodness : 0.993049 Centerline is valid? [True, True] Translation: X:202.82, Y:230.15, Z:-265.80 [[ 5.11933624e-01 2.62227321e-01 8.18022492e-01 2.02821320e+02] [-1.12763150e-01 9.64542238e-01 -2.38626787e-01 2.30147703e+02] [-8.51591708e-01 2.99182823e-02 5.23351182e-01 -2.65799255e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.1907140569999 meters Centerline goodness : 0.992422 Centerline is valid? [True, True] Translation: X:202.84, Y:230.12, Z:-265.85 [[ 5.07731665e-01 2.57140434e-01 8.22245313e-01 2.02835813e+02] [-1.24354005e-01 9.66297108e-01 -2.25401822e-01 2.30117455e+02] [-8.52493190e-01 1.21941444e-02 5.22596082e-01 -2.65847391e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.2207140569999 meters Centerline goodness : 0.992260 Centerline is valid? [True, True] Translation: X:202.91, Y:230.14, Z:-265.85 [[ 5.09843955e-01 3.45732509e-01 7.87736107e-01 2.02908105e+02] [-1.24999405e-01 9.35742769e-01 -3.29788748e-01 2.30142341e+02] [-8.51137057e-01 6.96742553e-02 5.20299153e-01 -2.65848438e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.250714057 meters Centerline goodness : 0.992888 Centerline is valid? [True, True] Translation: X:202.92, Y:230.14, Z:-265.88 [[ 5.10894764e-01 3.42234473e-01 7.88582340e-01 2.02923630e+02] [-1.23685078e-01 9.37056187e-01 -3.26538979e-01 2.30137122e+02] [-8.50698855e-01 6.92911863e-02 5.21066396e-01 -2.65876513e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.280714057 meters Centerline goodness : 0.991949 Centerline is valid? [True, True] Translation: X:202.94, Y:230.14, Z:-265.90 [[ 5.10458391e-01 3.52939308e-01 7.84133966e-01 2.02942713e+02] [-1.23937364e-01 9.32562971e-01 -3.39066121e-01 2.30136389e+02] [-8.50924063e-01 7.58956498e-02 5.19776961e-01 -2.65898420e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.3107140569999 meters Centerline goodness : 0.991859 Centerline is valid? [True, True] Translation: X:202.94, Y:230.13, Z:-265.93 [[ 5.10710848e-01 3.28458593e-01 7.94537213e-01 2.02943527e+02] [-1.20649658e-01 9.42381774e-01 -3.12026043e-01 2.30125699e+02] [-8.51245024e-01 6.34944424e-02 5.20913012e-01 -2.65933120e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.3407140569999 meters Centerline goodness : 0.990992 Centerline is valid? [True, True] Translation: X:202.97, Y:230.13, Z:-265.95 [[ 5.10759129e-01 3.42363505e-01 7.88614192e-01 2.02965885e+02] [-1.21371946e-01 9.36815443e-01 -3.28094006e-01 2.30126054e+02] [-8.51113367e-01 7.18613697e-02 5.20040364e-01 -2.65954990e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.370714057 meters Centerline goodness : 0.991987 Centerline is valid? [True, True] Translation: X:202.98, Y:230.12, Z:-265.99 [[ 5.10744785e-01 3.36284196e-01 7.91234924e-01 2.02977474e+02] [-1.20070317e-01 9.39208321e-01 -3.21668849e-01 2.30119660e+02] [-8.51306575e-01 6.92868590e-02 5.20073502e-01 -2.65985195e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.400714057 meters Centerline goodness : 0.991987 Centerline is valid? [True, True] Translation: X:202.99, Y:230.12, Z:-266.01 [[ 5.10842380e-01 3.35883253e-01 7.91342216e-01 2.02992913e+02] [-1.19362613e-01 9.39310228e-01 -3.21634671e-01 2.30115715e+02] [-8.51347538e-01 6.98479458e-02 5.19931375e-01 -2.66012142e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.4307140569999 meters Centerline goodness : 0.991740 Centerline is valid? [True, True] Translation: X:203.01, Y:230.11, Z:-266.04 [[ 5.13175312e-01 3.31294418e-01 7.91767080e-01 2.03008688e+02] [-1.17565783e-01 9.40938007e-01 -3.17512130e-01 2.30111486e+02] [-8.50193735e-01 6.98546694e-02 5.21815043e-01 -2.66037448e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.4607140569999 meters Centerline goodness : 0.991992 Centerline is valid? [True, True] Translation: X:203.02, Y:230.10, Z:-266.07 [[ 5.12836396e-01 3.20718645e-01 7.96328061e-01 2.03017870e+02] [-1.15708992e-01 9.44954151e-01 -3.06060585e-01 2.30104529e+02] [-8.50652843e-01 6.48166900e-02 5.21716913e-01 -2.66068010e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.4907140569999 meters Centerline goodness : 0.992541 Centerline is valid? [True, True] Translation: X:203.04, Y:230.12, Z:-266.07 [[ 5.18286346e-01 3.32872149e-01 7.87766080e-01 2.03038792e+02] [-1.07420767e-01 9.39184395e-01 -3.26180090e-01 2.30124774e+02] [-8.48433876e-01 8.44322503e-02 5.22523830e-01 -2.66069767e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.520714057 meters Centerline goodness : 0.992978 Centerline is valid? [True, True] Translation: X:203.00, Y:230.09, Z:-266.12 [[ 5.15841448e-01 2.49990468e-01 8.19397563e-01 2.02999642e+02] [-1.05101358e-01 9.67717799e-01 -2.29076333e-01 2.30094382e+02] [-8.50212506e-01 3.20472707e-02 5.25463289e-01 -2.66118272e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.5507140569999 meters Centerline goodness : 0.993425 Centerline is valid? [True, True] Translation: X:203.01, Y:230.09, Z:-266.14 [[ 5.15874281e-01 2.49728208e-01 8.19456862e-01 2.03013208e+02] [-1.05071225e-01 9.67789591e-01 -2.28786683e-01 2.30090286e+02] [-8.50196309e-01 3.19238289e-02 5.25497008e-01 -2.66142003e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.5807140569999 meters Centerline goodness : 0.992813 Centerline is valid? [True, True] Translation: X:203.03, Y:230.09, Z:-266.16 [[ 5.16030806e-01 2.49192457e-01 8.19521401e-01 2.03026987e+02] [-1.04751648e-01 9.67925368e-01 -2.28358433e-01 2.30086354e+02] [-8.50140753e-01 3.19937686e-02 5.25582628e-01 -2.66164847e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.6107140569999 meters Centerline goodness : 0.992708 Centerline is valid? [True, True] Translation: X:203.04, Y:230.08, Z:-266.19 [[ 5.16446875e-01 2.49377104e-01 8.19203079e-01 2.03041025e+02] [-1.05587898e-01 9.67900756e-01 -2.28077449e-01 2.30082939e+02] [-8.49784573e-01 3.12919548e-02 5.26200525e-01 -2.66187820e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.640714057 meters Centerline goodness : 0.992629 Centerline is valid? [True, True] Translation: X:203.05, Y:230.08, Z:-266.21 [[ 5.16827580e-01 2.49217327e-01 8.19011585e-01 2.03054756e+02] [-1.05703833e-01 9.67945589e-01 -2.27833354e-01 2.30078511e+02] [-8.49538671e-01 3.11778969e-02 5.26604203e-01 -2.66211334e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.6707140569999 meters Centerline goodness : 0.992394 Centerline is valid? [True, True] Translation: X:203.07, Y:230.07, Z:-266.24 [[ 5.16867789e-01 2.49232741e-01 8.18981520e-01 2.03070629e+02] [-1.06040807e-01 9.67953190e-01 -2.27644391e-01 2.30073360e+02] [-8.49472211e-01 3.08165916e-02 5.26732666e-01 -2.66239931e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.7007140569999 meters Centerline goodness : 0.992965 Centerline is valid? [True, True] Translation: X:203.09, Y:230.07, Z:-266.27 [[ 5.17658724e-01 2.50574922e-01 8.18071913e-01 2.03087852e+02] [-1.08283585e-01 9.67651417e-01 -2.27871454e-01 2.30069131e+02] [-8.48707318e-01 2.93758862e-02 5.28046349e-01 -2.66267932e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.7307140569999 meters Centerline goodness : 0.993034 Centerline is valid? [True, True] Translation: X:203.10, Y:230.07, Z:-266.30 [[ 5.17792640e-01 2.51601276e-01 8.17672049e-01 2.03104955e+02] [-1.09640637e-01 9.67410255e-01 -2.28246202e-01 2.30065362e+02] [-8.48451361e-01 2.85341189e-02 5.28503635e-01 -2.66296258e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.760714057 meters Centerline goodness : 0.993369 Centerline is valid? [True, True] Translation: X:203.12, Y:230.06, Z:-266.32 [[ 5.17580130e-01 2.53334527e-01 8.17271330e-01 2.03122190e+02] [-1.12318962e-01 9.67014774e-01 -2.28619505e-01 2.30062076e+02] [-8.48230664e-01 2.65338453e-02 5.28961904e-01 -2.66323656e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.790714057 meters Centerline goodness : 0.991978 Centerline is valid? [True, True] Translation: X:203.13, Y:230.03, Z:-266.37 [[ 5.07042835e-01 2.38908220e-01 8.28148794e-01 2.03129748e+02] [-1.17432629e-01 9.71006463e-01 -2.08221100e-01 2.30034856e+02] [-8.53883564e-01 8.32532688e-03 5.20397490e-01 -2.66367480e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.8207140569999 meters Centerline goodness : 0.992458 Centerline is valid? [True, True] Translation: X:203.19, Y:230.06, Z:-266.37 [[ 5.07294233e-01 3.16200053e-01 8.01667068e-01 2.03193616e+02] [-1.18031373e-01 9.46980398e-01 -2.98825568e-01 2.30056685e+02] [-8.53651660e-01 5.69706221e-02 5.17719221e-01 -2.66373113e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.8507140569999 meters Centerline goodness : 0.992564 Centerline is valid? [True, True] Translation: X:203.21, Y:230.06, Z:-266.40 [[ 5.05667898e-01 3.24731642e-01 7.99280513e-01 2.03214314e+02] [-1.19837227e-01 9.43913880e-01 -3.07677795e-01 2.30056122e+02] [-8.54364686e-01 5.97992236e-02 5.16221887e-01 -2.66398094e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.880714057 meters Centerline goodness : 0.992320 Centerline is valid? [True, True] Translation: X:203.23, Y:230.05, Z:-266.43 [[ 5.02175840e-01 3.23650636e-01 8.01916263e-01 2.03227486e+02] [-1.18220689e-01 9.44309709e-01 -3.07088003e-01 2.30053313e+02] [-8.56646540e-01 5.94090824e-02 5.12471722e-01 -2.66426525e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.910714057 meters Centerline goodness : 0.993014 Centerline is valid? [True, True] Translation: X:203.23, Y:230.05, Z:-266.45 [[ 5.09429823e-01 2.91835580e-01 8.09514206e-01 2.03234444e+02] [-1.12775169e-01 9.55263819e-01 -2.73409577e-01 2.30047508e+02] [-8.53090275e-01 4.79898909e-02 5.19551685e-01 -2.66450201e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.9407140569999 meters Centerline goodness : 0.993009 Centerline is valid? [True, True] Translation: X:203.25, Y:230.04, Z:-266.49 [[ 5.05880304e-01 2.88899161e-01 8.12786807e-01 2.03245186e+02] [-1.16575631e-01 9.56501072e-01 -2.67424421e-01 2.30037969e+02] [-8.54690143e-01 4.05336127e-02 5.17553655e-01 -2.66485104e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.9707140569999 meters Centerline goodness : 0.992767 Centerline is valid? [True, True] Translation: X:203.28, Y:230.05, Z:-266.50 [[ 5.02832501e-01 3.24830820e-01 8.01027100e-01 2.03277999e+02] [-1.16996855e-01 9.43751462e-01 -3.09265118e-01 2.30046235e+02] [-8.56429339e-01 6.17909015e-02 5.12553092e-01 -2.66503018e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.000714057 meters Centerline goodness : 0.993438 Centerline is valid? [True, True] Translation: X:203.28, Y:230.04, Z:-266.53 [[ 5.09145226e-01 2.89903213e-01 8.10387109e-01 2.03279386e+02] [-1.10567455e-01 9.55794817e-01 -2.72453860e-01 2.30040588e+02] [-8.53549048e-01 4.91161421e-02 5.18692229e-01 -2.66530532e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.030714057 meters Centerline goodness : 0.992870 Centerline is valid? [True, True] Translation: X:203.29, Y:230.03, Z:-266.56 [[ 5.08404256e-01 2.85644103e-01 8.12362333e-01 2.03291055e+02] [-1.11169841e-01 9.57257731e-01 -2.67018543e-01 2.30034226e+02] [-8.53912396e-01 4.54431724e-02 5.18428914e-01 -2.66560404e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.0607140569999 meters Centerline goodness : 0.983721 Centerline is valid? [True, True] Translation: X:203.30, Y:230.03, Z:-266.59 [[ 5.06887995e-01 2.77436140e-01 8.16145666e-01 2.03302503e+02] [-1.06890611e-01 9.59713967e-01 -2.59852842e-01 2.30031488e+02] [-8.55358964e-01 4.44779773e-02 5.16122807e-01 -2.66593014e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.0907140569999 meters Centerline goodness : 0.992891 Centerline is valid? [True, True] Translation: X:203.31, Y:230.03, Z:-266.61 [[ 5.05758100e-01 2.77122934e-01 8.16952645e-01 2.03311618e+02] [-1.08326930e-01 9.59904381e-01 -2.58551456e-01 2.30025843e+02] [-8.55846961e-01 4.22665210e-02 5.15499292e-01 -2.66613987e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.120714057 meters Centerline goodness : 0.984993 Centerline is valid? [True, True] Translation: X:203.34, Y:230.03, Z:-266.64 [[ 5.07037762e-01 2.95468116e-01 8.09698278e-01 2.03343121e+02] [-1.04704473e-01 9.53565429e-01 -2.82400328e-01 2.30031450e+02] [-8.55540579e-01 5.84085987e-02 5.14430514e-01 -2.66635865e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.150714057 meters Centerline goodness : 0.983752 Centerline is valid? [True, True] Translation: X:203.35, Y:230.02, Z:-266.67 [[ 5.06165662e-01 2.75371182e-01 8.17292503e-01 2.03345213e+02] [-1.02326632e-01 9.60137074e-01 -2.60127007e-01 2.30022046e+02] [-8.56344314e-01 4.80365696e-02 5.14166223e-01 -2.66667265e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.1807140569999 meters Centerline goodness : 0.993411 Centerline is valid? [True, True] Translation: X:203.36, Y:230.02, Z:-266.69 [[ 5.05986225e-01 2.78175473e-01 8.16453518e-01 2.03356529e+02] [-1.03486841e-01 9.59308219e-01 -2.62713181e-01 2.30016945e+02] [-8.56310933e-01 4.84370552e-02 5.14184245e-01 -2.66686733e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.2107140569999 meters Centerline goodness : 0.993396 Centerline is valid? [True, True] Translation: X:203.38, Y:230.02, Z:-266.71 [[ 5.05697971e-01 2.86003356e-01 8.13923610e-01 2.03377053e+02] [-1.02171074e-01 9.56664094e-01 -2.72680918e-01 2.30015007e+02] [-8.56639150e-01 5.47347379e-02 5.13004361e-01 -2.66713015e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.2407140569999 meters Centerline goodness : 0.993399 Centerline is valid? [True, True] Translation: X:203.40, Y:230.02, Z:-266.74 [[ 5.04357716e-01 2.95680339e-01 8.11293061e-01 2.03397092e+02] [-9.95905799e-02 9.53194765e-01 -2.85484599e-01 2.30015180e+02] [-8.57732482e-01 6.31892139e-02 5.10198111e-01 -2.66737956e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.270714057 meters Centerline goodness : 0.993717 Centerline is valid? [True, True] Translation: X:203.40, Y:230.01, Z:-266.76 [[ 5.10928046e-01 2.65545661e-01 8.17580598e-01 2.03403205e+02] [-9.30361223e-02 9.62586614e-01 -2.54502045e-01 2.30010648e+02] [-8.54574053e-01 5.39677044e-02 5.16517837e-01 -2.66760007e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.3007140569999 meters Centerline goodness : 0.993524 Centerline is valid? [True, True] Translation: X:203.42, Y:230.00, Z:-266.80 [[ 5.02140869e-01 2.79875423e-01 8.18244643e-01 2.03417303e+02] [-9.78873918e-02 9.58495777e-01 -2.67775846e-01 2.30004163e+02] [-8.59227913e-01 5.43653619e-02 5.08696178e-01 -2.66797534e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.3307140569999 meters Centerline goodness : 0.994335 Centerline is valid? [True, True] Translation: X:203.44, Y:230.02, Z:-266.80 [[ 5.17169783e-01 2.84228446e-01 8.07310105e-01 2.03440789e+02] [-9.82710535e-02 9.56729808e-01 -2.73881133e-01 2.30016174e+02] [-8.50222451e-01 6.23078317e-02 5.22723176e-01 -2.66798513e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.3607140569999 meters Centerline goodness : 0.993432 Centerline is valid? [True, True] Translation: X:203.42, Y:229.98, Z:-266.86 [[ 5.01582739e-01 2.27551706e-01 8.34646618e-01 2.03417375e+02] [-9.79293982e-02 9.73520340e-01 -2.06562292e-01 2.29981209e+02] [-8.59549062e-01 2.18716390e-02 5.10585000e-01 -2.66863557e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.390714057 meters Centerline goodness : 0.993269 Centerline is valid? [True, True] Translation: X:203.46, Y:229.99, Z:-266.88 [[ 5.03054280e-01 2.76561372e-01 8.18810233e-01 2.03463494e+02] [-9.82782257e-02 9.59577600e-01 -2.63727549e-01 2.29994842e+02] [-8.58648812e-01 5.21980554e-02 5.09899580e-01 -2.66875711e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.4207140569999 meters Centerline goodness : 0.994166 Centerline is valid? [True, True] Translation: X:203.48, Y:230.00, Z:-266.89 [[ 5.10525529e-01 2.87807164e-01 8.10265833e-01 2.03484951e+02] [-1.03122540e-01 9.56012322e-01 -2.74601862e-01 2.29997784e+02] [-8.53656504e-01 5.66345900e-02 5.17748102e-01 -2.66893279e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.4507140569999 meters Centerline goodness : 0.993596 Centerline is valid? [True, True] Translation: X:203.48, Y:229.98, Z:-266.93 [[ 5.09499732e-01 2.55809916e-01 8.21566376e-01 2.03481526e+02] [-1.04405294e-01 9.66111253e-01 -2.36069020e-01 2.29983873e+02] [-8.54113317e-01 3.45012237e-02 5.18941334e-01 -2.66932925e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.4807140569999 meters Centerline goodness : 0.994682 Centerline is valid? [True, True] Translation: X:203.50, Y:229.99, Z:-266.94 [[ 5.15080470e-01 2.53930753e-01 8.18664328e-01 2.03500497e+02] [-9.88366100e-02 9.66334130e-01 -2.37549309e-01 2.29990330e+02] [-8.51424356e-01 4.14430028e-02 5.22837493e-01 -2.66944771e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.510714057 meters Centerline goodness : 0.993477 Centerline is valid? [True, True] Translation: X:203.50, Y:229.97, Z:-266.98 [[ 5.14379945e-01 2.20276479e-01 8.28789205e-01 2.03496248e+02] [-9.84386774e-02 9.75225918e-01 -1.98101579e-01 2.29974683e+02] [-8.51893831e-01 2.03145659e-02 5.23320379e-01 -2.66983494e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.540714057 meters Centerline goodness : 0.994795 Centerline is valid? [True, True] Translation: X:203.51, Y:229.97, Z:-267.01 [[ 5.14420597e-01 2.20852891e-01 8.28610554e-01 2.03512312e+02] [-9.88435438e-02 9.75097379e-01 -1.98532253e-01 2.29970011e+02] [-8.51822402e-01 2.02262764e-02 5.23440058e-01 -2.67012044e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.5707140569999 meters Centerline goodness : 0.993385 Centerline is valid? [True, True] Translation: X:203.53, Y:229.96, Z:-267.05 [[ 5.10177807e-01 2.28795086e-01 8.29078654e-01 2.03529313e+02] [-1.03921719e-01 9.73303576e-01 -2.04647074e-01 2.29959188e+02] [-8.53767464e-01 1.82471164e-02 5.20334662e-01 -2.67049295e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.6007140569999 meters Centerline goodness : 0.994847 Centerline is valid? [True, True] Translation: X:203.56, Y:229.97, Z:-267.06 [[ 5.14900995e-01 2.51424641e-01 8.19550252e-01 2.03561668e+02] [-1.00278728e-01 9.67124851e-01 -2.33695740e-01 2.29971822e+02] [-8.51364283e-01 3.81467120e-02 5.23186091e-01 -2.67056814e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.630714057 meters Centerline goodness : 0.994619 Centerline is valid? [True, True] Translation: X:203.56, Y:229.96, Z:-267.09 [[ 5.13703704e-01 2.22284819e-01 8.28672411e-01 2.03560240e+02] [-1.00418844e-01 9.74794065e-01 -1.99229983e-01 2.29957345e+02] [-8.52070749e-01 1.91308547e-02 5.23076906e-01 -2.67094618e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.660714057 meters Centerline goodness : 0.994661 Centerline is valid? [True, True] Translation: X:203.58, Y:229.95, Z:-267.12 [[ 5.13263838e-01 2.22941971e-01 8.28768430e-01 2.03576622e+02] [-1.00828670e-01 9.74647404e-01 -1.99739875e-01 2.29953238e+02] [-8.52287400e-01 1.89556366e-02 5.22730209e-01 -2.67122424e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.6907140569999 meters Centerline goodness : 0.994412 Centerline is valid? [True, True] Translation: X:203.59, Y:229.94, Z:-267.16 [[ 5.09577262e-01 2.29445523e-01 8.29268211e-01 2.03594308e+02] [-1.06084708e-01 9.73189642e-01 -2.04078305e-01 2.29942961e+02] [-8.53860087e-01 1.60209875e-02 5.20255975e-01 -2.67158143e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.7207140569999 meters Centerline goodness : 0.994920 Centerline is valid? [True, True] Translation: X:203.63, Y:229.95, Z:-267.17 [[ 5.13190813e-01 2.52368874e-01 8.20332336e-01 2.03625810e+02] [-1.02960039e-01 9.66992409e-01 -2.33077048e-01 2.29954637e+02] [-8.52076534e-01 3.51515502e-02 5.22235530e-01 -2.67167715e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.750714057 meters Centerline goodness : 0.994969 Centerline is valid? [True, True] Translation: X:203.62, Y:229.94, Z:-267.20 [[ 5.12282189e-01 2.24385313e-01 8.28986243e-01 2.03624793e+02] [-1.02714215e-01 9.74344449e-01 -2.00256546e-01 2.29941022e+02] [-8.52652772e-01 1.74391907e-02 5.22186868e-01 -2.67203760e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.780714057 meters Centerline goodness : 0.994633 Centerline is valid? [True, True] Translation: X:203.64, Y:229.93, Z:-267.24 [[ 5.06143441e-01 2.41134916e-01 8.28053603e-01 2.03644999e+02] [-1.07973374e-01 9.70281360e-01 -2.16554459e-01 2.29933430e+02] [-8.55663817e-01 2.01998777e-02 5.17137696e-01 -2.67240396e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.8107140569999 meters Centerline goodness : 0.994910 Centerline is valid? [True, True] Translation: X:203.67, Y:229.94, Z:-267.25 [[ 5.12400638e-01 2.49706646e-01 8.21639932e-01 2.03671802e+02] [-1.04618282e-01 9.67814765e-01 -2.28887737e-01 2.29941169e+02] [-8.52350047e-01 3.13236640e-02 5.22032783e-01 -2.67249632e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.8407140569999 meters Centerline goodness : 0.995015 Centerline is valid? [True, True] Translation: X:203.67, Y:229.92, Z:-267.29 [[ 5.04872718e-01 2.20989035e-01 8.34426381e-01 2.03667313e+02] [-1.04700880e-01 9.75213721e-01 -1.94925431e-01 2.29920331e+02] [-8.56820439e-01 1.10473558e-02 5.15496548e-01 -2.67293523e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.870714057 meters Centerline goodness : 0.995130 Centerline is valid? [True, True] Translation: X:203.71, Y:229.94, Z:-267.29 [[ 5.12558479e-01 2.70919380e-01 8.14792302e-01 2.03713095e+02] [-1.07611581e-01 9.61706123e-01 -2.52073562e-01 2.29941375e+02] [-8.51882359e-01 4.15213542e-02 5.22084691e-01 -2.67292468e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.900714057 meters Centerline goodness : 0.994806 Centerline is valid? [True, True] Translation: X:203.70, Y:229.92, Z:-267.33 [[ 5.11608240e-01 2.27718248e-01 8.28493457e-01 2.03699913e+02] [-1.10110630e-01 9.73666013e-01 -1.99625008e-01 2.29924118e+02] [-8.52134179e-01 1.09038630e-02 5.23209755e-01 -2.67329206e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.9307140569999 meters Centerline goodness : 0.996422 Centerline is valid? [True, True] Translation: X:203.71, Y:229.92, Z:-267.36 [[ 5.07662858e-01 2.14449241e-01 8.34439900e-01 2.03708988e+02] [-1.07379479e-01 9.76723994e-01 -1.85687605e-01 2.29916172e+02] [-8.54838038e-01 4.66497800e-03 5.18873942e-01 -2.67360365e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.9607140569999 meters Centerline goodness : 0.996292 Centerline is valid? [True, True] Translation: X:203.75, Y:229.93, Z:-267.37 [[ 5.10132548e-01 2.55973946e-01 8.21122477e-01 2.03746063e+02] [-1.14654418e-01 9.66405193e-01 -2.30033406e-01 2.29926521e+02] [-8.52419585e-01 2.32022076e-02 5.22343287e-01 -2.67373259e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.9907140569999 meters Centerline goodness : 0.995578 Centerline is valid? [True, True] Translation: X:203.74, Y:229.92, Z:-267.40 [[ 5.08264750e-01 2.32295935e-01 8.29280135e-01 2.03744409e+02] [-1.20591408e-01 9.72644731e-01 -1.98544555e-01 2.29915190e+02] [-8.52716047e-01 9.09139092e-04 5.22373925e-01 -2.67404526e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.020714057 meters Centerline goodness : 0.995156 Centerline is valid? [True, True] Translation: X:203.76, Y:229.91, Z:-267.43 [[ 5.07113370e-01 2.34173552e-01 8.29456918e-01 2.03757986e+02] [-1.24450718e-01 9.72191270e-01 -1.98383854e-01 2.29912562e+02] [-8.52847026e-01 -2.62340446e-03 5.22154258e-01 -2.67427263e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.0507140569999 meters Centerline goodness : 0.996022 Centerline is valid? [True, True] Translation: X:203.77, Y:229.91, Z:-267.45 [[ 5.04238563e-01 2.38516501e-01 8.29971897e-01 2.03772137e+02] [-1.32933340e-01 9.71083430e-01 -1.98307083e-01 2.29911335e+02] [-8.53271468e-01 -1.03368578e-02 5.21364509e-01 -2.67450285e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.0807140569999 meters Centerline goodness : 0.995816 Centerline is valid? [True, True] Translation: X:203.79, Y:229.90, Z:-267.49 [[ 4.97891410e-01 2.48411638e-01 8.30900597e-01 2.03788658e+02] [-1.41906600e-01 9.68521080e-01 -2.04522456e-01 2.29899987e+02] [-8.55550502e-01 -1.60803044e-02 5.17469577e-01 -2.67488710e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.1107140569999 meters Centerline goodness : 0.995942 Centerline is valid? [True, True] Translation: X:203.82, Y:229.91, Z:-267.51 [[ 4.95462538e-01 2.80496218e-01 8.22094122e-01 2.03822685e+02] [-1.44441702e-01 9.59855052e-01 -2.40447236e-01 2.29906119e+02] [-8.56535737e-01 3.87924219e-04 5.16087571e-01 -2.67507392e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.140714057 meters Centerline goodness : 0.996368 Centerline is valid? [True, True] Translation: X:203.84, Y:229.91, Z:-267.52 [[ 5.00712815e-01 2.71198400e-01 8.22032910e-01 2.03836037e+02] [-1.42378849e-01 9.62522355e-01 -2.30822399e-01 2.29908270e+02] [-8.53823718e-01 -1.46436608e-03 5.20560194e-01 -2.67523369e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.1707140569999 meters Centerline goodness : 0.996354 Centerline is valid? [True, True] Translation: X:203.83, Y:229.89, Z:-267.56 [[ 5.00977458e-01 2.43433418e-01 8.30518969e-01 2.03832059e+02] [-1.47650884e-01 9.69598738e-01 -1.95134580e-01 2.29893129e+02] [-8.52772422e-01 -2.48688343e-02 5.21690270e-01 -2.67556020e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.2007140569999 meters Centerline goodness : 0.995701 Centerline is valid? [True, True] Translation: X:203.85, Y:229.89, Z:-267.58 [[ 5.00482131e-01 2.44969735e-01 8.30365863e-01 2.03846293e+02] [-1.50952532e-01 9.69132386e-01 -1.94924992e-01 2.29889654e+02] [-8.52485173e-01 -2.77893542e-02 5.22012243e-01 -2.67580047e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.2307140569999 meters Centerline goodness : 0.994847 Centerline is valid? [True, True] Translation: X:203.86, Y:229.88, Z:-267.61 [[ 4.92891085e-01 2.58194531e-01 8.30899490e-01 2.03860178e+02] [-1.60243431e-01 9.65559104e-01 -2.04982098e-01 2.29881110e+02] [-8.55207823e-01 -3.21123366e-02 5.17289452e-01 -2.67612534e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.260714057 meters Centerline goodness : 0.995649 Centerline is valid? [True, True] Translation: X:203.88, Y:229.89, Z:-267.63 [[ 4.98133752e-01 2.61863005e-01 8.26613895e-01 2.03884797e+02] [-1.58942931e-01 9.64731252e-01 -2.09835071e-01 2.29885324e+02] [-8.52408300e-01 -2.68585039e-02 5.22186472e-01 -2.67629159e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.290714057 meters Centerline goodness : 0.995649 Centerline is valid? [True, True] Translation: X:203.89, Y:229.88, Z:-267.66 [[ 4.98711794e-01 2.48443100e-01 8.30399044e-01 2.03893432e+02] [-1.58976190e-01 9.68006883e-01 -1.94137182e-01 2.29876781e+02] [-8.52064034e-01 -3.51951737e-02 5.22252987e-01 -2.67662045e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.3207140569999 meters Centerline goodness : 0.994636 Centerline is valid? [True, True] Translation: X:203.91, Y:229.87, Z:-267.70 [[ 4.87207241e-01 2.65268843e-01 8.32022563e-01 2.03908087e+02] [-1.66943332e-01 9.63469292e-01 -2.09420263e-01 2.29867541e+02] [-8.57180861e-01 -3.68695506e-02 5.13694080e-01 -2.67698505e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.3507140569999 meters Centerline goodness : 0.994260 Centerline is valid? [True, True] Translation: X:203.93, Y:229.87, Z:-267.72 [[ 4.80928523e-01 2.85834822e-01 8.28858378e-01 2.03931941e+02] [-1.68461478e-01 9.57876269e-01 -2.32580702e-01 2.29868496e+02] [-8.60423435e-01 -2.77760135e-02 5.08822175e-01 -2.67722215e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.380714057 meters Centerline goodness : 0.993647 Centerline is valid? [True, True] Translation: X:203.94, Y:229.86, Z:-267.75 [[ 4.87430608e-01 2.61731183e-01 8.33011518e-01 2.03939390e+02] [-1.68126625e-01 9.64298170e-01 -2.04603219e-01 2.29857065e+02] [-8.56822525e-01 -4.03215440e-02 5.14032424e-01 -2.67747788e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.410714057 meters Centerline goodness : 0.995210 Centerline is valid? [True, True] Translation: X:203.97, Y:229.86, Z:-267.77 [[ 4.98464453e-01 2.64690726e-01 8.25513179e-01 2.03966132e+02] [-1.59700411e-01 9.63987323e-01 -2.12659872e-01 2.29863656e+02] [-8.52073335e-01 -2.58314069e-02 5.22784631e-01 -2.67765291e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.4407140569999 meters Centerline goodness : 0.994542 Centerline is valid? [True, True] Translation: X:203.97, Y:229.85, Z:-267.81 [[ 4.92465317e-01 2.59070905e-01 8.30879160e-01 2.03972978e+02] [-1.64549231e-01 9.65166625e-01 -2.03413216e-01 2.29846728e+02] [-8.54635280e-01 -3.65465723e-02 5.17941006e-01 -2.67809177e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.4707140569999 meters Centerline goodness : 0.994201 Centerline is valid? [True, True] Translation: X:204.00, Y:229.85, Z:-267.82 [[ 4.97685914e-01 2.74919251e-01 8.22634874e-01 2.04003565e+02] [-1.62002828e-01 9.61211556e-01 -2.23220582e-01 2.29849508e+02] [-8.52093783e-01 -2.21754366e-02 5.22919148e-01 -2.67824255e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.500714057 meters Centerline goodness : 0.994255 Centerline is valid? [True, True] Translation: X:204.02, Y:229.86, Z:-267.84 [[ 5.00872925e-01 2.81474343e-01 8.18473278e-01 2.04024199e+02] [-1.49814288e-01 9.59563239e-01 -2.38315064e-01 2.29857148e+02] [-8.52456446e-01 -3.25342784e-03 5.22788125e-01 -2.67839161e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.530714057 meters Centerline goodness : 0.994061 Centerline is valid? [True, True] Translation: X:204.01, Y:229.83, Z:-267.89 [[ 5.01007150e-01 2.37621470e-01 8.32182596e-01 2.04014601e+02] [-1.51140443e-01 9.70814585e-01 -1.86213876e-01 2.29828234e+02] [-8.52143417e-01 -3.24819627e-02 5.22299262e-01 -2.67888734e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.5607140569999 meters Centerline goodness : 0.992946 Centerline is valid? [True, True] Translation: X:204.04, Y:229.83, Z:-267.90 [[ 4.97447040e-01 2.59589654e-01 8.27743713e-01 2.04043765e+02] [-1.47427032e-01 9.65595138e-01 -2.14222547e-01 2.29832957e+02] [-8.54875262e-01 -1.54674267e-02 5.18602975e-01 -2.67903083e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.5907140569999 meters Centerline goodness : 0.993984 Centerline is valid? [True, True] Translation: X:204.07, Y:229.84, Z:-267.92 [[ 5.03449720e-01 2.70647127e-01 8.20541597e-01 2.04069053e+02] [-1.32544227e-01 9.62625105e-01 -2.36188349e-01 2.29842864e+02] [-8.53797639e-01 1.01509064e-02 5.20506053e-01 -2.67922234e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.620714057 meters Centerline goodness : 0.993842 Centerline is valid? [True, True] Translation: X:204.06, Y:229.83, Z:-267.96 [[ 5.04944512e-01 2.32486342e-01 8.31252754e-01 2.04063008e+02] [-1.28010123e-01 9.72564041e-01 -1.94248797e-01 2.29827423e+02] [-8.53606729e-01 -8.32390295e-03 5.20851480e-01 -2.67957934e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.650714057 meters Centerline goodness : 0.993551 Centerline is valid? [True, True] Translation: X:204.08, Y:229.82, Z:-267.99 [[ 5.02049048e-01 2.35969596e-01 8.32024701e-01 2.04079216e+02] [-1.29478499e-01 9.71722434e-01 -1.97460956e-01 2.29816086e+02] [-8.55091850e-01 -8.59422455e-03 5.18405312e-01 -2.67994233e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.6807140569999 meters Centerline goodness : 0.994482 Centerline is valid? [True, True] Translation: X:204.11, Y:229.82, Z:-268.01 [[ 5.05068085e-01 2.60408449e-01 8.22857016e-01 2.04112501e+02] [-1.22088362e-01 9.65366085e-01 -2.30570495e-01 2.29823541e+02] [-8.54400762e-01 1.59925328e-02 5.19368441e-01 -2.68012215e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.7107140569999 meters Centerline goodness : 0.993533 Centerline is valid? [True, True] Translation: X:204.13, Y:229.82, Z:-268.04 [[ 5.07912221e-01 2.54114106e-01 8.23074235e-01 2.04126543e+02] [-1.18393436e-01 9.67023312e-01 -2.25497025e-01 2.29819727e+02] [-8.53233948e-01 1.70861086e-02 5.21248400e-01 -2.68037287e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.7407140569999 meters Centerline goodness : 0.993242 Centerline is valid? [True, True] Translation: X:204.14, Y:229.82, Z:-268.07 [[ 5.07114819e-01 2.51980619e-01 8.24221043e-01 2.04140384e+02] [-1.15616823e-01 9.67552803e-01 -2.24664914e-01 2.29816133e+02] [-8.54088585e-01 1.86370885e-02 5.19793564e-01 -2.68067537e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.770714057 meters Centerline goodness : 0.994115 Centerline is valid? [True, True] Translation: X:204.16, Y:229.82, Z:-268.09 [[ 5.08935205e-01 2.51196771e-01 8.23337804e-01 2.04157665e+02] [-1.11271833e-01 9.67647540e-01 -2.26443852e-01 2.29815862e+02] [-8.53582765e-01 2.36309417e-02 5.20421024e-01 -2.68092261e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.8007140569999 meters Centerline goodness : 0.994510 Centerline is valid? [True, True] Translation: X:204.17, Y:229.82, Z:-268.11 [[ 5.10697234e-01 2.49499871e-01 8.22762511e-01 2.04172571e+02] [-1.06097326e-01 9.67941188e-01 -2.27669088e-01 2.29821174e+02] [-8.53189131e-01 2.89770706e-02 5.20796156e-01 -2.68111628e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.8307140569999 meters Centerline goodness : 0.994606 Centerline is valid? [True, True] Translation: X:204.17, Y:229.80, Z:-268.15 [[ 5.09608628e-01 2.19186541e-01 8.32019415e-01 2.04171364e+02] [-1.08620246e-01 9.75659932e-01 -1.90497611e-01 2.29801681e+02] [-8.53522518e-01 6.70507260e-03 5.21012815e-01 -2.68154583e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.8607140569999 meters Centerline goodness : 0.994975 Centerline is valid? [True, True] Translation: X:204.20, Y:229.81, Z:-268.17 [[ 5.10122879e-01 2.44519731e-01 8.24611878e-01 2.04203894e+02] [-1.08573889e-01 9.69375317e-01 -2.20279833e-01 2.29809364e+02] [-8.53221167e-01 2.28384642e-02 5.21048986e-01 -2.68174904e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.890714057 meters Centerline goodness : 0.994890 Centerline is valid? [True, True] Translation: X:204.22, Y:229.81, Z:-268.20 [[ 5.11723548e-01 2.37746012e-01 8.25600293e-01 2.04219256e+02] [-1.08085485e-01 9.71129832e-01 -2.12660240e-01 2.29805404e+02] [-8.52324198e-01 1.95878447e-02 5.22646896e-01 -2.68202527e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.9207140569999 meters Centerline goodness : 0.995198 Centerline is valid? [True, True] Translation: X:204.24, Y:229.80, Z:-268.23 [[ 5.11058117e-01 2.37903471e-01 8.25967033e-01 2.04235671e+02] [-1.08009243e-01 9.71091449e-01 -2.12874144e-01 2.29803457e+02] [-8.52733021e-01 1.95789852e-02 5.21979941e-01 -2.68230371e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.9507140569999 meters Centerline goodness : 0.995185 Centerline is valid? [True, True] Translation: X:204.26, Y:229.81, Z:-268.26 [[ 5.08146730e-01 2.55387401e-01 8.22535213e-01 2.04259122e+02] [-1.10533459e-01 9.66465466e-01 -2.31790548e-01 2.29806091e+02] [-8.54148263e-01 2.68659470e-02 5.19335119e-01 -2.68255734e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.9807140569999 meters Centerline goodness : 0.994865 Centerline is valid? [True, True] Translation: X:204.27, Y:229.80, Z:-268.29 [[ 5.06176400e-01 2.51497842e-01 8.24945021e-01 2.04271038e+02] [-1.09234772e-01 9.67528020e-01 -2.27941428e-01 2.29801413e+02] [-8.55484200e-01 2.52658901e-02 5.17212160e-01 -2.68285987e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.010714057 meters Centerline goodness : 0.995078 Centerline is valid? [True, True] Translation: X:204.28, Y:229.79, Z:-268.31 [[ 5.08654228e-01 2.37985922e-01 8.27425874e-01 2.04282608e+02] [-1.08028993e-01 9.71084618e-01 -2.12895281e-01 2.29793553e+02] [-8.54166619e-01 1.89041009e-02 5.19655676e-01 -2.68314793e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.040714057 meters Centerline goodness : 0.994805 Centerline is valid? [True, True] Translation: X:204.31, Y:229.79, Z:-268.34 [[ 5.09278235e-01 2.46628174e-01 8.24506048e-01 2.04305388e+02] [-1.09045125e-01 9.68828182e-01 -2.22443507e-01 2.29792646e+02] [-8.53665532e-01 2.33772718e-02 5.20296707e-01 -2.68340205e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.0707140569999 meters Centerline goodness : 0.994347 Centerline is valid? [True, True] Translation: X:204.32, Y:229.79, Z:-268.36 [[ 5.09496835e-01 2.53156998e-01 8.22389512e-01 2.04324758e+02] [-1.10455094e-01 9.67076490e-01 -2.29265643e-01 2.29791591e+02] [-8.53353765e-01 2.59730080e-02 5.20684891e-01 -2.68364504e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.1007140569999 meters Centerline goodness : 0.994578 Centerline is valid? [True, True] Translation: X:204.34, Y:229.79, Z:-268.39 [[ 5.06281980e-01 2.54663365e-01 8.23908446e-01 2.04338148e+02] [-1.12087140e-01 9.66730386e-01 -2.29932240e-01 2.29787372e+02] [-8.55052648e-01 2.40610077e-02 5.17982662e-01 -2.68392722e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.130714057 meters Centerline goodness : 0.995292 Centerline is valid? [True, True] Translation: X:204.35, Y:229.78, Z:-268.42 [[ 5.10195373e-01 2.39858050e-01 8.25935105e-01 2.04349029e+02] [-1.14459564e-01 9.70717992e-01 -2.11200352e-01 2.29779458e+02] [-8.52408171e-01 1.32172706e-02 5.22709876e-01 -2.68419888e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.160714057 meters Centerline goodness : 0.994116 Centerline is valid? [True, True] Translation: X:204.37, Y:229.78, Z:-268.44 [[ 5.06454028e-01 2.58240591e-01 8.22688346e-01 2.04369541e+02] [-1.18331219e-01 9.65887646e-01 -2.30344911e-01 2.29780328e+02] [-8.54108916e-01 1.93093930e-02 5.19735613e-01 -2.68443617e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.1907140569999 meters Centerline goodness : 0.993683 Centerline is valid? [True, True] Translation: X:204.38, Y:229.77, Z:-268.47 [[ 5.06582593e-01 2.45442250e-01 8.26518105e-01 2.04376333e+02] [-1.22038960e-01 9.69385436e-01 -2.13068931e-01 2.29771464e+02] [-8.53510731e-01 7.06960174e-03 5.21027305e-01 -2.68473607e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.2207140569999 meters Centerline goodness : 0.994844 Centerline is valid? [True, True] Translation: X:204.39, Y:229.77, Z:-268.51 [[ 4.99155634e-01 2.46821707e-01 8.30615855e-01 2.04389179e+02] [-1.25784545e-01 9.69059705e-01 -2.12371224e-01 2.29765783e+02] [-8.57334183e-01 1.52765579e-03 5.14757967e-01 -2.68509213e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.250714057 meters Centerline goodness : 0.994690 Centerline is valid? [True, True] Translation: X:204.41, Y:229.77, Z:-268.53 [[ 4.97924715e-01 2.64553499e-01 8.25882815e-01 2.04414920e+02] [-1.28185718e-01 9.64324596e-01 -2.31617132e-01 2.29768548e+02] [-8.57694235e-01 9.46151288e-03 5.14073030e-01 -2.68530234e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.280714057 meters Centerline goodness : 0.994743 Centerline is valid? [True, True] Translation: X:204.43, Y:229.77, Z:-268.55 [[ 4.96340042e-01 2.62913962e-01 8.27358937e-01 2.04425809e+02] [-1.28007240e-01 9.64784886e-01 -2.29791798e-01 2.29771247e+02] [-8.58638870e-01 8.14693662e-03 5.12516261e-01 -2.68549856e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.3107140569999 meters Centerline goodness : 0.994195 Centerline is valid? [True, True] Translation: X:204.42, Y:229.75, Z:-268.59 [[ 4.95446945e-01 2.32474240e-01 8.36951643e-01 2.04421732e+02] [-1.36027883e-01 9.72398424e-01 -1.89572465e-01 2.29754512e+02] [-8.57921174e-01 -1.99256616e-02 5.13394807e-01 -2.68587662e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.3407140569999 meters Centerline goodness : 0.993557 Centerline is valid? [True, True] Translation: X:204.45, Y:229.75, Z:-268.63 [[ 4.85199036e-01 2.58342016e-01 8.35368960e-01 2.04445500e+02] [-1.43767386e-01 9.65926310e-01 -2.15214548e-01 2.29748129e+02] [-8.62503817e-01 -1.56769208e-02 5.05807671e-01 -2.68627318e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.370714057 meters Centerline goodness : 0.994409 Centerline is valid? [True, True] Translation: X:204.48, Y:229.75, Z:-268.65 [[ 4.81513277e-01 2.91164572e-01 8.26660847e-01 2.04477448e+02] [-1.46491625e-01 9.56672979e-01 -2.51628726e-01 2.29754393e+02] [-8.64109465e-01 6.36815666e-05 5.03303912e-01 -2.68645760e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.400714057 meters Centerline goodness : 0.993245 Centerline is valid? [True, True] Translation: X:204.48, Y:229.74, Z:-268.67 [[ 4.83267858e-01 2.74109057e-01 8.31454390e-01 2.04482407e+02] [-1.52601545e-01 9.61556206e-01 -2.28303375e-01 2.29743916e+02] [-8.62070152e-01 -1.65495417e-02 5.06518673e-01 -2.68671526e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.4307140569999 meters Centerline goodness : 0.992575 Centerline is valid? [True, True] Translation: X:204.50, Y:229.75, Z:-268.70 [[ 4.78244311e-01 2.97418187e-01 8.26332137e-01 2.04503490e+02] [-1.55836305e-01 9.54717312e-01 -2.53436187e-01 2.29745598e+02] [-8.64290128e-01 -7.56813261e-03 5.02936674e-01 -2.68698218e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.4607140569999 meters Centerline goodness : 0.994137 Centerline is valid? [True, True] Translation: X:204.50, Y:229.73, Z:-268.74 [[ 4.83393717e-01 2.61108069e-01 8.35555558e-01 2.04504875e+02] [-1.54391105e-01 9.64948091e-01 -2.12222922e-01 2.29728551e+02] [-8.61680858e-01 -2.64151193e-02 5.06762607e-01 -2.68738854e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.4907140569999 meters Centerline goodness : 0.993680 Centerline is valid? [True, True] Translation: X:204.54, Y:229.74, Z:-268.76 [[ 4.79565081e-01 3.00124946e-01 8.24586169e-01 2.04540676e+02] [-1.53064694e-01 9.53896866e-01 -2.58170426e-01 2.29736379e+02] [-8.64053548e-01 -2.40550852e-03 5.03394160e-01 -2.68758512e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.520714057 meters Centerline goodness : 0.994097 Centerline is valid? [True, True] Translation: X:204.55, Y:229.73, Z:-268.79 [[ 4.84135451e-01 2.79718361e-01 8.29078105e-01 2.04547514e+02] [-1.51656834e-01 9.60009557e-01 -2.35333497e-01 2.29726558e+02] [-8.61750004e-01 -1.18020720e-02 5.07195861e-01 -2.68786869e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.5507140569999 meters Centerline goodness : 0.994234 Centerline is valid? [True, True] Translation: X:204.57, Y:229.72, Z:-268.81 [[ 4.84117668e-01 2.86711954e-01 8.26696038e-01 2.04567267e+02] [-1.46980359e-01 9.58014009e-01 -2.46182721e-01 2.29724116e+02] [-8.62569915e-01 -2.32667586e-03 5.05932534e-01 -2.68813576e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.5807140569999 meters Centerline goodness : 0.993841 Centerline is valid? [True, True] Translation: X:204.57, Y:229.72, Z:-268.83 [[ 4.97938480e-01 2.49721921e-01 8.30479520e-01 2.04572272e+02] [-1.37828218e-01 9.68259168e-01 -2.08512747e-01 2.29719097e+02] [-8.56189613e-01 -1.06369917e-02 5.16552225e-01 -2.68828711e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.6107140569999 meters Centerline goodness : 0.993363 Centerline is valid? [True, True] Translation: X:204.59, Y:229.71, Z:-268.87 [[ 4.88838991e-01 2.58047013e-01 8.33335575e-01 2.04585737e+02] [-1.40818991e-01 9.66063971e-01 -2.16541949e-01 2.29707202e+02] [-8.60933478e-01 -1.14953268e-02 5.08587657e-01 -2.68872323e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.640714057 meters Centerline goodness : 0.993497 Centerline is valid? [True, True] Translation: X:204.61, Y:229.71, Z:-268.89 [[ 4.91615930e-01 2.71116119e-01 8.27532372e-01 2.04611407e+02] [-1.33447381e-01 9.62530230e-01 -2.36066417e-01 2.29709115e+02] [-8.60526335e-01 5.62198348e-03 5.09374930e-01 -2.68890667e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.6707140569999 meters Centerline goodness : 0.993027 Centerline is valid? [True, True] Translation: X:204.63, Y:229.70, Z:-268.92 [[ 4.95078265e-01 2.62064317e-01 8.28383851e-01 2.04625283e+02] [-1.29150922e-01 9.65032101e-01 -2.28107614e-01 2.29703691e+02] [-8.59195875e-01 5.94458382e-03 5.11612267e-01 -2.68916465e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.7007140569999 meters Centerline goodness : 0.993225 Centerline is valid? [True, True] Translation: X:204.64, Y:229.70, Z:-268.95 [[ 4.94956978e-01 2.62441458e-01 8.28336931e-01 2.04642007e+02] [-1.25817682e-01 9.64897315e-01 -2.30527834e-01 2.29699543e+02] [-8.59760142e-01 9.88192738e-03 5.10602435e-01 -2.68948212e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.7307140569999 meters Centerline goodness : 0.993256 Centerline is valid? [True, True] Translation: X:204.66, Y:229.70, Z:-268.97 [[ 4.98251769e-01 2.60170625e-01 8.27077034e-01 2.04660289e+02] [-1.21633739e-01 9.65458098e-01 -2.30425466e-01 2.29696558e+02] [-8.58458158e-01 1.42094235e-02 5.12686731e-01 -2.68972896e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.760714057 meters Centerline goodness : 0.993183 Centerline is valid? [True, True] Translation: X:204.68, Y:229.69, Z:-269.00 [[ 4.98526304e-01 2.60182235e-01 8.26907933e-01 2.04676545e+02] [-1.16574763e-01 9.65352568e-01 -2.33462512e-01 2.29693685e+02] [-8.59000494e-01 1.99906069e-02 5.11584330e-01 -2.69001218e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.790714057 meters Centerline goodness : 0.992717 Centerline is valid? [True, True] Translation: X:204.69, Y:229.69, Z:-269.02 [[ 4.93550434e-01 2.57138395e-01 8.30835612e-01 2.04687369e+02] [-1.15591328e-01 9.66213170e-01 -2.30370907e-01 2.29690650e+02] [-8.62001516e-01 1.76622695e-02 5.06597899e-01 -2.69024877e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.8207140569999 meters Centerline goodness : 0.993189 Centerline is valid? [True, True] Translation: X:204.70, Y:229.69, Z:-269.06 [[ 4.98273621e-01 2.51365033e-01 8.29782513e-01 2.04703476e+02] [-1.11324334e-01 9.67677802e-01 -2.26288673e-01 2.29686215e+02] [-8.59843179e-01 2.03786912e-02 5.10151367e-01 -2.69058919e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.8507140569999 meters Centerline goodness : 0.992901 Centerline is valid? [True, True] Translation: X:204.72, Y:229.69, Z:-269.08 [[ 5.00094987e-01 2.53422087e-01 8.28059327e-01 2.04720680e+02] [-1.11150309e-01 9.67096292e-01 -2.28845738e-01 2.29686103e+02] [-8.58807669e-01 2.24055570e-02 5.11807951e-01 -2.69079224e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.880714057 meters Centerline goodness : 0.994183 Centerline is valid? [True, True] Translation: X:204.73, Y:229.68, Z:-269.11 [[ 5.00912264e-01 2.46528580e-01 8.29644842e-01 2.04734720e+02] [-1.08960812e-01 9.68910866e-01 -2.22124461e-01 2.29680642e+02] [-8.58611930e-01 2.08660906e-02 5.12201289e-01 -2.69111349e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.910714057 meters Centerline goodness : 0.993324 Centerline is valid? [True, True] Translation: X:204.76, Y:229.68, Z:-269.14 [[ 5.01976045e-01 2.54573920e-01 8.26566495e-01 2.04756396e+02] [-1.07633805e-01 9.66657388e-01 -2.32354167e-01 2.29681703e+02] [-8.58157920e-01 2.76697286e-02 5.12639612e-01 -2.69136370e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.9407140569999 meters Centerline goodness : 0.993141 Centerline is valid? [True, True] Translation: X:204.77, Y:229.68, Z:-269.16 [[ 5.02975858e-01 2.54133423e-01 8.26094117e-01 2.04771243e+02] [-1.05507738e-01 9.66700394e-01 -2.33149021e-01 2.29681539e+02] [-8.57836467e-01 3.01090073e-02 5.13040003e-01 -2.69163655e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.9707140569999 meters Centerline goodness : 0.993570 Centerline is valid? [True, True] Translation: X:204.78, Y:229.68, Z:-269.19 [[ 5.04900730e-01 2.46808100e-01 8.27140263e-01 2.04784743e+02] [-1.04012626e-01 9.68664236e-01 -2.25545941e-01 2.29678064e+02] [-8.56887756e-01 2.78452792e-02 5.14750438e-01 -2.69191962e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.000714057 meters Centerline goodness : 0.994072 Centerline is valid? [True, True] Translation: X:204.80, Y:229.67, Z:-269.22 [[ 5.04168131e-01 2.45719808e-01 8.27910787e-01 2.04798805e+02] [-1.01783668e-01 9.68893049e-01 -2.25580020e-01 2.29674168e+02] [-8.57586486e-01 2.94624602e-02 5.13495261e-01 -2.69223034e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.030714057 meters Centerline goodness : 0.994313 Centerline is valid? [True, True] Translation: X:204.82, Y:229.67, Z:-269.25 [[ 5.06078143e-01 2.45392017e-01 8.26841987e-01 2.04817261e+02] [-9.74336379e-02 9.68800311e-01 -2.27887348e-01 2.29670546e+02] [-8.56966510e-01 3.47665831e-02 5.14198099e-01 -2.69252317e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.0607140569999 meters Centerline goodness : 0.993523 Centerline is valid? [True, True] Translation: X:204.84, Y:229.67, Z:-269.27 [[ 5.08007939e-01 2.52621076e-01 8.23474666e-01 2.04837423e+02] [-9.36602497e-02 9.66557362e-01 -2.38735469e-01 2.29670831e+02] [-8.56245112e-01 4.41526709e-02 5.14679367e-01 -2.69272622e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.0907140569999 meters Centerline goodness : 0.993280 Centerline is valid? [True, True] Translation: X:204.84, Y:229.66, Z:-269.30 [[ 5.11457464e-01 2.29781029e-01 8.28016873e-01 2.04843591e+02] [-9.17507017e-02 9.72679377e-01 -2.13252523e-01 2.29659892e+02] [-8.54396320e-01 3.30984655e-02 5.18566698e-01 -2.69303655e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.120714057 meters Centerline goodness : 0.993555 Centerline is valid? [True, True] Translation: X:204.86, Y:229.66, Z:-269.33 [[ 5.12307480e-01 2.36963507e-01 8.25463108e-01 2.04863594e+02] [-9.12417460e-02 9.70757823e-01 -2.22045476e-01 2.29660028e+02] [-8.53941444e-01 3.84388631e-02 5.18947458e-01 -2.69326266e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.150714057 meters Centerline goodness : 0.993502 Centerline is valid? [True, True] Translation: X:204.87, Y:229.65, Z:-269.36 [[ 5.12830980e-01 2.26072017e-01 8.28188282e-01 2.04874548e+02] [-9.04682422e-02 9.73563790e-01 -2.09735655e-01 2.29653999e+02] [-8.53709484e-01 3.26342035e-02 5.19726010e-01 -2.69355973e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.1807140569999 meters Centerline goodness : 0.993481 Centerline is valid? [True, True] Translation: X:204.89, Y:229.65, Z:-269.38 [[ 5.12289664e-01 2.27767378e-01 8.28058767e-01 2.04891090e+02] [-9.12063268e-02 9.73166360e-01 -2.11254923e-01 2.29651026e+02] [-8.53955916e-01 3.26995151e-02 5.19316893e-01 -2.69382778e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.2107140569999 meters Centerline goodness : 0.993481 Centerline is valid? [True, True] Translation: X:204.91, Y:229.65, Z:-269.41 [[ 5.12327067e-01 2.28923056e-01 8.27716867e-01 2.04908340e+02] [-9.09357994e-02 9.72859500e-01 -2.12779401e-01 2.29648083e+02] [-8.53962328e-01 3.37435512e-02 5.19239555e-01 -2.69410207e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.2407140569999 meters Centerline goodness : 0.994113 Centerline is valid? [True, True] Translation: X:204.92, Y:229.65, Z:-269.44 [[ 5.08114545e-01 2.34680351e-01 8.28700635e-01 2.04924434e+02] [-9.21742325e-02 9.71453625e-01 -2.18590407e-01 2.29645785e+02] [-8.56343109e-01 3.46841204e-02 5.15241197e-01 -2.69440110e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.270714057 meters Centerline goodness : 0.993682 Centerline is valid? [True, True] Translation: X:204.94, Y:229.65, Z:-269.46 [[ 5.12206881e-01 2.27600091e-01 8.28155969e-01 2.04938447e+02] [-8.83208249e-02 9.73094240e-01 -2.12807502e-01 2.29649324e+02] [-8.54308810e-01 3.58580487e-02 5.18527393e-01 -2.69456488e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.3007140569999 meters Centerline goodness : 0.994370 Centerline is valid? [True, True] Translation: X:204.94, Y:229.62, Z:-269.50 [[ 5.09158078e-01 1.95419898e-01 8.38193961e-01 2.04936217e+02] [-9.41059912e-02 9.80683440e-01 -1.71476101e-01 2.29624916e+02] [-8.55512779e-01 8.42936820e-03 5.17713078e-01 -2.69503022e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.3307140569999 meters Centerline goodness : 0.993752 Centerline is valid? [True, True] Translation: X:204.97, Y:229.65, Z:-269.51 [[ 5.10717841e-01 2.36973361e-01 8.26444743e-01 2.04974908e+02] [-9.06946788e-02 9.70749788e-01 -2.22304578e-01 2.29645512e+02] [-8.54951322e-01 3.85807732e-02 5.17271458e-01 -2.69508458e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.3607140569999 meters Centerline goodness : 0.993372 Centerline is valid? [True, True] Translation: X:204.97, Y:229.62, Z:-269.56 [[ 5.07699163e-01 1.97732612e-01 8.38536448e-01 2.04968275e+02] [-9.65662841e-02 9.80233134e-01 -1.72678763e-01 2.29618346e+02] [-8.56105433e-01 6.69451490e-03 5.16757846e-01 -2.69557817e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.390714057 meters Centerline goodness : 0.993885 Centerline is valid? [True, True] Translation: X:205.01, Y:229.63, Z:-269.57 [[ 5.07761545e-01 2.39936277e-01 8.27410900e-01 2.05007426e+02] [-9.71804003e-02 9.70255347e-01 -2.21721742e-01 2.29630248e+02] [-8.55998939e-01 3.21736515e-02 5.15975457e-01 -2.69572306e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.4207140569999 meters Centerline goodness : 0.993707 Centerline is valid? [True, True] Translation: X:205.02, Y:229.62, Z:-269.60 [[ 5.08212780e-01 2.33336850e-01 8.29019713e-01 2.05019998e+02] [-9.70074659e-02 9.71981423e-01 -2.14106670e-01 2.29624601e+02] [-8.55750736e-01 2.83906442e-02 5.16608797e-01 -2.69601089e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.4507140569999 meters Centerline goodness : 0.994143 Centerline is valid? [True, True] Translation: X:205.04, Y:229.62, Z:-269.63 [[ 5.08856889e-01 2.34447085e-01 8.28311071e-01 2.05035699e+02] [-9.76552066e-02 9.71709940e-01 -2.15042445e-01 2.29620618e+02] [-8.55294176e-01 2.85369408e-02 5.17356276e-01 -2.69629091e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.4807140569999 meters Centerline goodness : 0.993087 Centerline is valid? [True, True] Translation: X:205.05, Y:229.62, Z:-269.66 [[ 5.08392176e-01 2.40869059e-01 8.26752376e-01 2.05053905e+02] [-9.80555038e-02 9.70031401e-01 -2.22315539e-01 2.29619473e+02] [-8.55524701e-01 3.19558599e-02 5.16774912e-01 -2.69655052e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.510714057 meters Centerline goodness : 0.993247 Centerline is valid? [True, True] Translation: X:205.07, Y:229.61, Z:-269.68 [[ 5.08425818e-01 2.35994646e-01 8.28136290e-01 2.05066841e+02] [-9.98184919e-02 9.71381433e-01 -2.15532783e-01 2.29613294e+02] [-8.55300799e-01 2.69191160e-02 5.17432030e-01 -2.69684881e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.540714057 meters Centerline goodness : 0.993791 Centerline is valid? [True, True] Translation: X:205.08, Y:229.61, Z:-269.71 [[ 5.07694726e-01 2.37461582e-01 8.28165480e-01 2.05083019e+02] [-1.00755190e-01 9.71033892e-01 -2.16660039e-01 2.29609200e+02] [-8.55625185e-01 2.65551885e-02 5.16914272e-01 -2.69713299e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.5707140569999 meters Centerline goodness : 0.993521 Centerline is valid? [True, True] Translation: X:205.10, Y:229.60, Z:-269.74 [[ 5.11092588e-01 2.31716485e-01 8.27702747e-01 2.05099495e+02] [-1.04122474e-01 9.72575384e-01 -2.07979888e-01 2.29604664e+02] [-8.53195685e-01 2.01145214e-02 5.21202963e-01 -2.69735308e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.6007140569999 meters Centerline goodness : 0.992952 Centerline is valid? [True, True] Translation: X:205.11, Y:229.60, Z:-269.76 [[ 5.10516198e-01 2.30769278e-01 8.28322855e-01 2.05114852e+02] [-1.06889969e-01 9.72873646e-01 -2.05161897e-01 2.29600467e+02] [-8.53198539e-01 1.61990678e-02 5.21334676e-01 -2.69762354e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.630714057 meters Centerline goodness : 0.993340 Centerline is valid? [True, True] Translation: X:205.13, Y:229.60, Z:-269.79 [[ 5.10585925e-01 2.28309301e-01 8.28961324e-01 2.05131024e+02] [-1.08298446e-01 9.73501006e-01 -2.01413103e-01 2.29596578e+02] [-8.52979168e-01 1.30634724e-02 5.21781454e-01 -2.69788115e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.660714057 meters Centerline goodness : 0.993228 Centerline is valid? [True, True] Translation: X:205.16, Y:229.61, Z:-269.80 [[ 5.04984665e-01 2.61429358e-01 8.22584451e-01 2.05156734e+02] [-1.09503332e-01 9.64730814e-01 -2.39381444e-01 2.29611976e+02] [-8.56153905e-01 3.08082198e-02 5.15801653e-01 -2.69802771e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.6907140569999 meters Centerline goodness : 0.993094 Centerline is valid? [True, True] Translation: X:205.13, Y:229.57, Z:-269.86 [[ 5.09085516e-01 1.75945819e-01 8.42540804e-01 2.05131714e+02] [-1.17703177e-01 9.83918709e-01 -1.34350051e-01 2.29568931e+02] [-8.52629990e-01 -3.07740642e-02 5.21608146e-01 -2.69855078e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.7207140569999 meters Centerline goodness : 0.993236 Centerline is valid? [True, True] Translation: X:205.18, Y:229.58, Z:-269.87 [[ 5.07317789e-01 2.30505120e-01 8.30358989e-01 2.05177825e+02] [-1.22138636e-01 9.73068537e-01 -1.95498789e-01 2.29584908e+02] [-8.53059678e-01 -2.23890123e-03 5.21808560e-01 -2.69867060e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.750714057 meters Centerline goodness : 0.992589 Centerline is valid? [True, True] Translation: X:205.19, Y:229.58, Z:-269.89 [[ 4.98185120e-01 2.35271737e-01 8.34541069e-01 2.05191146e+02] [-1.27938768e-01 9.71894031e-01 -1.97620001e-01 2.29582111e+02] [-8.57579884e-01 -8.31881200e-03 5.14283521e-01 -2.69893653e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.780714057 meters Centerline goodness : 0.993302 Centerline is valid? [True, True] Translation: X:205.21, Y:229.58, Z:-269.93 [[ 4.96887506e-01 2.44525302e-01 8.32652498e-01 2.05208610e+02] [-1.34549916e-01 9.69586635e-01 -2.04445784e-01 2.29578580e+02] [-8.57320901e-01 -1.04467677e-02 5.14676344e-01 -2.69926480e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.8107140569999 meters Centerline goodness : 0.992858 Centerline is valid? [True, True] Translation: X:205.23, Y:229.58, Z:-269.95 [[ 4.95252426e-01 2.57231064e-01 8.29793477e-01 2.05229264e+02] [-1.37672972e-01 9.66327534e-01 -2.17387327e-01 2.29578036e+02] [-8.57771058e-01 -6.57853285e-03 5.13989820e-01 -2.69949636e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.8407140569999 meters Centerline goodness : 0.992298 Centerline is valid? [True, True] Translation: X:205.25, Y:229.58, Z:-269.98 [[ 4.88989144e-01 2.72168698e-01 8.28742310e-01 2.05246284e+02] [-1.40961738e-01 9.62244984e-01 -2.32839814e-01 2.29576635e+02] [-8.60824840e-01 -2.96481494e-03 5.08892724e-01 -2.69981736e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.870714057 meters Centerline goodness : 0.991472 Centerline is valid? [True, True] Translation: X:205.25, Y:229.58, Z:-270.00 [[ 4.94948533e-01 2.55021081e-01 8.30656486e-01 2.05252823e+02] [-1.37526829e-01 9.66903459e-01 -2.14904797e-01 2.29577790e+02] [-8.57969884e-01 -7.87073825e-03 5.13639689e-01 -2.69998691e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.900714057 meters Centerline goodness : 0.991618 Centerline is valid? [True, True] Translation: X:205.25, Y:229.56, Z:-270.04 [[ 4.96631321e-01 2.23668087e-01 8.38647672e-01 2.05249054e+02] [-1.40822031e-01 9.74188604e-01 -1.76424827e-01 2.29559990e+02] [-8.56461608e-01 -3.04819733e-02 5.15309968e-01 -2.70036370e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.9307140569999 meters Centerline goodness : 0.991994 Centerline is valid? [True, True] Translation: X:205.27, Y:229.56, Z:-270.07 [[ 4.96541365e-01 2.24262750e-01 8.38542123e-01 2.05265534e+02] [-1.41283513e-01 9.74046200e-01 -1.76841648e-01 2.29555231e+02] [-8.56437763e-01 -3.06629839e-02 5.15338859e-01 -2.70065246e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.9607140569999 meters Centerline goodness : 0.992155 Centerline is valid? [True, True] Translation: X:205.28, Y:229.55, Z:-270.09 [[ 4.97021163e-01 2.24420056e-01 8.38215725e-01 2.05281901e+02] [-1.40886063e-01 9.74030648e-01 -1.77243940e-01 2.29550695e+02] [-8.56224901e-01 -2.99989240e-02 5.15731503e-01 -2.70093299e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.9907140569999 meters Centerline goodness : 0.991822 Centerline is valid? [True, True] Translation: X:205.30, Y:229.54, Z:-270.12 [[ 4.97256924e-01 2.23070682e-01 8.38436058e-01 2.05297073e+02] [-1.37402354e-01 9.74433553e-01 -1.77763448e-01 2.29544069e+02] [-8.56654040e-01 -2.68089824e-02 5.15194268e-01 -2.70121203e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.020714057 meters Centerline goodness : 0.991122 Centerline is valid? [True, True] Translation: X:205.31, Y:229.54, Z:-270.15 [[ 4.97780229e-01 2.21882554e-01 8.38440801e-01 2.05313486e+02] [-1.34341843e-01 9.74779687e-01 -1.78204464e-01 2.29539437e+02] [-8.56835523e-01 -2.39310233e-02 5.15034167e-01 -2.70149516e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.0507140569999 meters Centerline goodness : 0.991562 Centerline is valid? [True, True] Translation: X:205.34, Y:229.53, Z:-270.19 [[ 4.87274441e-01 2.54508904e-01 8.35337559e-01 2.05341159e+02] [-1.34196325e-01 9.67047403e-01 -2.16357727e-01 2.29534569e+02] [-8.62875985e-01 -6.67364041e-03 5.05371642e-01 -2.70188609e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.0807140569999 meters Centerline goodness : 0.991541 Centerline is valid? [True, True] Translation: X:205.36, Y:229.54, Z:-270.19 [[ 5.00212713e-01 2.44225558e-01 8.30747325e-01 2.05360907e+02] [-1.21980235e-01 9.69707893e-01 -2.11630398e-01 2.29541920e+02] [-8.57267790e-01 4.52546189e-03 5.14850907e-01 -2.70194373e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.1107140569999 meters Centerline goodness : 0.992062 Centerline is valid? [True, True] Translation: X:205.37, Y:229.53, Z:-270.24 [[ 4.91934883e-01 2.42745857e-01 8.36106764e-01 2.05369601e+02] [-1.23727374e-01 9.70089659e-01 -2.08848249e-01 2.29525024e+02] [-8.61795572e-01 -7.09555226e-04 5.07255250e-01 -2.70242953e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.140714057 meters Centerline goodness : 0.991957 Centerline is valid? [True, True] Translation: X:205.39, Y:229.53, Z:-270.25 [[ 5.02400252e-01 2.38213712e-01 8.31172795e-01 2.05390604e+02] [-1.13164058e-01 9.71145746e-01 -2.09928168e-01 2.29533703e+02] [-8.57197692e-01 1.14090779e-02 5.14861098e-01 -2.70248613e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.1707140569999 meters Centerline goodness : 0.992377 Centerline is valid? [True, True] Translation: X:205.39, Y:229.52, Z:-270.28 [[ 5.03666379e-01 2.06365136e-01 8.38888318e-01 2.05390654e+02] [-1.04774365e-01 9.78473652e-01 -1.77796638e-01 2.29519228e+02] [-8.57521143e-01 1.65619839e-03 5.14446057e-01 -2.70284136e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.2007140569999 meters Centerline goodness : 0.992618 Centerline is valid? [True, True] Translation: X:205.41, Y:229.52, Z:-270.31 [[ 5.04036432e-01 2.05139408e-01 8.38966685e-01 2.05407033e+02] [-1.01642331e-01 9.78722103e-01 -1.78246691e-01 2.29515611e+02] [-8.57680659e-01 4.56829640e-03 5.14162444e-01 -2.70312256e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.2307140569999 meters Centerline goodness : 0.992794 Centerline is valid? [True, True] Translation: X:205.43, Y:229.51, Z:-270.35 [[ 4.95415106e-01 2.34283895e-01 8.36465737e-01 2.05433660e+02] [-1.04022660e-01 9.72013524e-01 -2.10639491e-01 2.29512614e+02] [-8.62405449e-01 1.73425951e-02 5.05921017e-01 -2.70352265e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.260714057 meters Centerline goodness : 0.992452 Centerline is valid? [True, True] Translation: X:205.47, Y:229.52, Z:-270.37 [[ 4.98756597e-01 2.59578656e-01 8.26958752e-01 2.05466576e+02] [-1.00564571e-01 9.64987291e-01 -2.42252543e-01 2.29521838e+02] [-8.60888276e-01 3.76623024e-02 5.07398194e-01 -2.70367681e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.290714057 meters Centerline goodness : 0.991855 Centerline is valid? [True, True] Translation: X:205.47, Y:229.51, Z:-270.40 [[ 4.92596037e-01 2.41021305e-01 8.36216404e-01 2.05469858e+02] [-1.00706277e-01 9.70215153e-01 -2.20319774e-01 2.29512660e+02] [-8.64411586e-01 2.43164066e-02 5.02196498e-01 -2.70398053e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.3207140569999 meters Centerline goodness : 0.992121 Centerline is valid? [True, True] Translation: X:205.49, Y:229.51, Z:-270.42 [[ 5.04412101e-01 2.41490749e-01 8.29005821e-01 2.05491744e+02] [-9.92397678e-02 9.69945703e-01 -2.22163910e-01 2.29514702e+02] [-8.57741162e-01 2.97918192e-02 5.13217835e-01 -2.70419329e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.3507140569999 meters Centerline goodness : 0.992496 Centerline is valid? [True, True] Translation: X:205.50, Y:229.51, Z:-270.45 [[ 5.04843546e-01 2.34201684e-01 8.30832453e-01 2.05504731e+02] [-9.80001524e-02 9.71818170e-01 -2.14395462e-01 2.29510837e+02] [-8.57629853e-01 2.68144580e-02 5.13567932e-01 -2.70448992e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.380714057 meters Centerline goodness : 0.989028 Centerline is valid? [True, True] Translation: X:205.51, Y:229.51, Z:-270.48 [[ 4.96937628e-01 2.21049138e-01 8.39160457e-01 2.05509315e+02] [-9.88871194e-02 9.75138458e-01 -1.98308660e-01 2.29506314e+02] [-8.62133593e-01 1.55648747e-02 5.06441905e-01 -2.70478064e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.410714057 meters Centerline goodness : 0.992903 Centerline is valid? [True, True] Translation: X:205.54, Y:229.51, Z:-270.49 [[ 5.07627123e-01 2.36966332e-01 8.28348756e-01 2.05536926e+02] [-9.99353843e-02 9.71138241e-01 -2.16572010e-01 2.29514590e+02] [-8.55761429e-01 2.71564749e-02 5.16657433e-01 -2.70491680e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.4407140569999 meters Centerline goodness : 0.993048 Centerline is valid? [True, True] Translation: X:205.54, Y:229.49, Z:-270.54 [[ 5.04417329e-01 2.09509106e-01 8.37656907e-01 2.05535274e+02] [-1.04244565e-01 9.77796908e-01 -1.81786350e-01 2.29493641e+02] [-8.57144229e-01 4.37500546e-03 5.15057890e-01 -2.70536384e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.4707140569999 meters Centerline goodness : 0.992705 Centerline is valid? [True, True] Translation: X:205.57, Y:229.50, Z:-270.55 [[ 5.04863818e-01 2.39820371e-01 8.29215723e-01 2.05569212e+02] [-1.01929581e-01 9.70473091e-01 -2.18614595e-01 2.29501743e+02] [-8.57159778e-01 2.58489878e-02 5.14401540e-01 -2.70554423e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.500714057 meters Centerline goodness : 0.991964 Centerline is valid? [True, True] Translation: X:205.58, Y:229.50, Z:-270.58 [[ 5.07992736e-01 2.34639905e-01 8.28786761e-01 2.05581918e+02] [-9.95979745e-02 9.71729320e-01 -2.14061610e-01 2.29496907e+02] [-8.55583791e-01 2.61962602e-02 5.17001095e-01 -2.70583270e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.530714057 meters Centerline goodness : 0.993784 Centerline is valid? [True, True] Translation: X:205.59, Y:229.49, Z:-270.61 [[ 5.14960251e-01 2.23338255e-01 8.27608582e-01 2.05589227e+02] [-8.70386350e-02 9.74096364e-01 -2.08711641e-01 2.29485729e+02] [-8.52783804e-01 3.54442776e-02 5.21059965e-01 -2.70613824e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.5607140569999 meters Centerline goodness : 0.993304 Centerline is valid? [True, True] Translation: X:205.61, Y:229.48, Z:-270.65 [[ 5.06063255e-01 2.46780343e-01 8.26437804e-01 2.05611752e+02] [-9.22447057e-02 9.68183006e-01 -2.32621109e-01 2.29484178e+02] [-8.57549355e-01 4.14864838e-02 5.12726024e-01 -2.70650360e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.5907140569999 meters Centerline goodness : 0.991647 Centerline is valid? [True, True] Translation: X:205.63, Y:229.49, Z:-270.66 [[ 5.09087174e-01 2.51190572e-01 8.23245738e-01 2.05630470e+02] [-8.83293920e-02 9.66664374e-01 -2.40328746e-01 2.29489187e+02] [-8.56170642e-01 4.96314869e-02 5.14303945e-01 -2.70664097e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.620714057 meters Centerline goodness : 0.991412 Centerline is valid? [True, True] Translation: X:205.63, Y:229.48, Z:-270.70 [[ 5.08863409e-01 2.24132080e-01 8.31157531e-01 2.05628828e+02] [-8.72243712e-02 9.73966289e-01 -2.09240478e-01 2.29476116e+02] [-8.56416920e-01 3.39776298e-02 5.15165586e-01 -2.70695420e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.650714057 meters Centerline goodness : 0.992113 Centerline is valid? [True, True] Translation: X:205.64, Y:229.47, Z:-270.72 [[ 5.09455584e-01 2.21086237e-01 8.31610416e-01 2.05641899e+02] [-8.55906571e-02 9.74657325e-01 -2.06681733e-01 2.29471884e+02] [-8.56229670e-01 3.41170812e-02 5.15467533e-01 -2.70720351e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.6807140569999 meters Centerline goodness : 0.993337 Centerline is valid? [True, True] Translation: X:205.66, Y:229.47, Z:-270.74 [[ 5.11499720e-01 2.19451672e-01 8.30788180e-01 2.05656640e+02] [-8.48746741e-02 9.75013385e-01 -2.05292937e-01 2.29470645e+02] [-8.55081474e-01 3.44944034e-02 5.17344962e-01 -2.70739371e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.7107140569999 meters Centerline goodness : 0.992698 Centerline is valid? [True, True] Translation: X:205.67, Y:229.45, Z:-270.79 [[ 5.04008336e-01 2.25183711e-01 8.33827257e-01 2.05669788e+02] [-9.42549140e-02 9.73988687e-01 -2.06063215e-01 2.29453108e+02] [-8.58540394e-01 2.52652615e-02 5.12123089e-01 -2.70785148e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.7407140569999 meters Centerline goodness : 0.991812 Centerline is valid? [True, True] Translation: X:205.70, Y:229.47, Z:-270.79 [[ 5.08825899e-01 2.55519450e-01 8.22074215e-01 2.05704357e+02] [-8.90289240e-02 9.65433377e-01 -2.44973969e-01 2.29469051e+02] [-8.56253500e-01 5.14607174e-02 5.13986128e-01 -2.70792836e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.770714057 meters Centerline goodness : 0.991330 Centerline is valid? [True, True] Translation: X:205.70, Y:229.46, Z:-270.82 [[ 5.08360319e-01 2.27084378e-01 8.30663874e-01 2.05700929e+02] [-8.82441560e-02 9.73263691e-01 -2.12063096e-01 2.29456000e+02] [-8.56611204e-01 3.45032305e-02 5.14807509e-01 -2.70824023e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.8007140569999 meters Centerline goodness : 0.991929 Centerline is valid? [True, True] Translation: X:205.71, Y:229.45, Z:-270.85 [[ 5.08464649e-01 2.23566794e-01 8.31553720e-01 2.05713321e+02] [-8.82296378e-02 9.74150938e-01 -2.07955477e-01 2.29450311e+02] [-8.56550776e-01 3.23703250e-02 5.15046533e-01 -2.70849587e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.8307140569999 meters Centerline goodness : 0.993112 Centerline is valid? [True, True] Translation: X:205.74, Y:229.45, Z:-270.88 [[ 5.05138412e-01 2.45767012e-01 8.27305119e-01 2.05738430e+02] [-9.20348454e-02 9.68469785e-01 -2.31507802e-01 2.29449868e+02] [-8.58116992e-01 4.08025848e-02 5.11830418e-01 -2.70876796e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.8607140569999 meters Centerline goodness : 0.992286 Centerline is valid? [True, True] Translation: X:205.76, Y:229.46, Z:-270.89 [[ 5.09558564e-01 2.51229523e-01 8.22942159e-01 2.05759399e+02] [-8.74904179e-02 9.66595715e-01 -2.40911085e-01 2.29455820e+02] [-8.55976341e-01 5.07587530e-02 5.14517300e-01 -2.70888945e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.890714057 meters Centerline goodness : 0.993102 Centerline is valid? [True, True] Translation: X:205.77, Y:229.44, Z:-270.93 [[ 5.06300328e-01 2.43068250e-01 8.27392170e-01 2.05768037e+02] [-9.02061837e-02 9.69118356e-01 -2.29504809e-01 2.29443857e+02] [-8.57626272e-01 4.15624702e-02 5.12591201e-01 -2.70926801e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.9207140569999 meters Centerline goodness : 0.991961 Centerline is valid? [True, True] Translation: X:205.79, Y:229.45, Z:-270.94 [[ 5.10319239e-01 2.51420370e-01 8.22412349e-01 2.05788578e+02] [-8.67932624e-02 9.66484542e-01 -2.41608276e-01 2.29450188e+02] [-8.55594065e-01 5.19175009e-02 5.15037251e-01 -2.70936393e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.9507140569999 meters Centerline goodness : 0.992153 Centerline is valid? [True, True] Translation: X:205.79, Y:229.44, Z:-270.97 [[ 5.09869317e-01 2.20683593e-01 8.31463789e-01 2.05785232e+02] [-8.47227376e-02 9.74718251e-01 -2.06752001e-01 2.29436321e+02] [-8.56069704e-01 3.49726129e-02 5.15675847e-01 -2.70969634e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.9807140569999 meters Centerline goodness : 0.992924 Centerline is valid? [True, True] Translation: X:205.80, Y:229.43, Z:-270.99 [[ 5.11638280e-01 2.19034009e-01 8.30813079e-01 2.05799652e+02] [-8.42685648e-02 9.75090553e-01 -2.05176079e-01 2.29434667e+02] [-8.55058524e-01 3.49645102e-02 5.17351335e-01 -2.70988905e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.010714057 meters Centerline goodness : 0.989930 Centerline is valid? [True, True] Translation: X:205.80, Y:229.43, Z:-271.02 [[ 5.09693975e-01 2.05870469e-01 8.35361839e-01 2.05804308e+02] [-8.25724479e-02 9.78172479e-01 -1.90684013e-01 2.29426904e+02] [-8.56384168e-01 2.82126209e-02 5.15567848e-01 -2.71019135e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.040714057 meters Centerline goodness : 0.993271 Centerline is valid? [True, True] Translation: X:205.82, Y:229.42, Z:-271.04 [[ 5.11235486e-01 2.07478332e-01 8.34020995e-01 2.05821492e+02] [-8.32923079e-02 9.77815908e-01 -1.92193759e-01 2.29424575e+02] [-8.55395037e-01 2.87887361e-02 5.17175540e-01 -2.71039874e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.0707140569999 meters Centerline goodness : 0.993231 Centerline is valid? [True, True] Translation: X:205.84, Y:229.41, Z:-271.08 [[ 5.03699143e-01 2.25464114e-01 8.33938311e-01 2.05842656e+02] [-9.27514492e-02 9.73875724e-01 -2.07275766e-01 2.29411052e+02] [-8.58885524e-01 2.70556386e-02 5.11452490e-01 -2.71084185e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.1007140569999 meters Centerline goodness : 0.993231 Centerline is valid? [True, True] Translation: X:205.89, Y:229.43, Z:-271.10 [[ 5.05234437e-01 2.75521914e-01 8.17817729e-01 2.05888060e+02] [-9.22589410e-02 9.59478305e-01 -2.66251143e-01 2.29427209e+02] [-8.58036393e-01 5.90682486e-02 5.10180841e-01 -2.71096414e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.130714057 meters Centerline goodness : 0.991960 Centerline is valid? [True, True] Translation: X:205.89, Y:229.42, Z:-271.12 [[ 5.07564324e-01 2.58757451e-01 8.21841250e-01 2.05894258e+02] [-8.85246609e-02 9.64452750e-01 -2.48986499e-01 2.29423838e+02] [-8.57054165e-01 5.36234459e-02 5.12428223e-01 -2.71117924e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.160714057 meters Centerline goodness : 0.991906 Centerline is valid? [True, True] Translation: X:205.89, Y:229.41, Z:-271.15 [[ 5.07533896e-01 2.27053714e-01 8.31177451e-01 2.05890583e+02] [-8.78626177e-02 9.73264635e-01 -2.12217130e-01 2.29409427e+02] [-8.57140306e-01 3.46779601e-02 5.13914326e-01 -2.71150795e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.1907140569999 meters Centerline goodness : 0.993456 Centerline is valid? [True, True] Translation: X:205.91, Y:229.41, Z:-271.17 [[ 5.08957679e-01 2.26955248e-01 8.30333304e-01 2.05905117e+02] [-8.76116544e-02 9.73264682e-01 -2.12320646e-01 2.29408373e+02] [-8.56321364e-01 3.53153487e-02 5.15234459e-01 -2.71169723e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.2207140569999 meters Centerline goodness : 0.993306 Centerline is valid? [True, True] Translation: X:205.91, Y:229.40, Z:-271.20 [[ 5.09019605e-01 2.10667610e-01 8.34576659e-01 2.05911463e+02] [-8.75574071e-02 9.77230121e-01 -1.93274393e-01 2.29397993e+02] [-8.56290104e-01 2.53070869e-02 5.15874800e-01 -2.71202684e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.250714057 meters Centerline goodness : 0.993486 Centerline is valid? [True, True] Translation: X:205.94, Y:229.39, Z:-271.25 [[ 5.00169239e-01 2.43892255e-01 8.30871411e-01 2.05938527e+02] [-9.71303369e-02 9.69262372e-01 -2.26044580e-01 2.29390506e+02] [-8.60462917e-01 3.23577253e-02 5.08484559e-01 -2.71246028e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.280714057 meters Centerline goodness : 0.990193 Centerline is valid? [True, True] Translation: X:205.97, Y:229.40, Z:-271.25 [[ 5.03793512e-01 2.69186287e-01 8.20811087e-01 2.05968394e+02] [-9.29414920e-02 9.61581692e-01 -2.58307043e-01 2.29402805e+02] [-8.58809628e-01 5.38460052e-02 5.09457193e-01 -2.71252839e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.3107140569999 meters Centerline goodness : 0.993783 Centerline is valid? [True, True] Translation: X:205.96, Y:229.38, Z:-271.28 [[ 5.04474238e-01 2.30291079e-01 8.32148882e-01 2.05960901e+02] [-9.29661537e-02 9.72659276e-01 -2.12817356e-01 2.29384551e+02] [-8.58407268e-01 2.99991927e-02 5.12090823e-01 -2.71284621e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.3407140569999 meters Centerline goodness : 0.992725 Centerline is valid? [True, True] Translation: X:205.98, Y:229.37, Z:-271.33 [[ 4.98068730e-01 2.44739722e-01 8.31883410e-01 2.05978946e+02] [-9.95491094e-02 9.69139627e-01 -2.25517978e-01 2.29370254e+02] [-8.61404385e-01 2.95102004e-02 5.07061765e-01 -2.71328858e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.370714057 meters Centerline goodness : 0.992058 Centerline is valid? [True, True] Translation: X:206.02, Y:229.39, Z:-271.33 [[ 5.03210423e-01 2.82647469e-01 8.16633136e-01 2.06017363e+02] [-9.60842038e-02 9.57438595e-01 -2.72174876e-01 2.29385752e+02] [-8.58805622e-01 5.84956900e-02 5.08951037e-01 -2.71333947e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.400714057 meters Centerline goodness : 0.992187 Centerline is valid? [True, True] Translation: X:206.01, Y:229.37, Z:-271.37 [[ 5.03468774e-01 2.50514866e-01 8.26898721e-01 2.06011499e+02] [-9.44692938e-02 9.67266869e-01 -2.35521456e-01 2.29371111e+02] [-8.58833364e-01 4.04611605e-02 5.10654627e-01 -2.71367206e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.4307140569999 meters Centerline goodness : 0.993351 Centerline is valid? [True, True] Translation: X:206.02, Y:229.37, Z:-271.39 [[ 5.05480367e-01 2.45595585e-01 8.27147149e-01 2.06023728e+02] [-9.42669589e-02 9.68616093e-01 -2.29992619e-01 2.29368018e+02] [-8.57673212e-01 3.82841073e-02 5.12767968e-01 -2.71387339e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.4607140569999 meters Centerline goodness : 0.993506 Centerline is valid? [True, True] Translation: X:206.03, Y:229.36, Z:-271.42 [[ 5.04934174e-01 2.32114937e-01 8.31362819e-01 2.06032664e+02] [-9.41574471e-02 9.72228493e-01 -2.14257167e-01 2.29358963e+02] [-8.58006908e-01 2.99067649e-02 5.12766741e-01 -2.71419763e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.4907140569999 meters Centerline goodness : 0.991657 Centerline is valid? [True, True] Translation: X:206.05, Y:229.36, Z:-271.45 [[ 5.02361127e-01 2.38740101e-01 8.31045404e-01 2.06048524e+02] [-9.39277167e-02 9.70506230e-01 -2.22025320e-01 2.29356312e+02] [-8.59541088e-01 3.34786926e-02 5.09968915e-01 -2.71446834e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.520714057 meters Centerline goodness : 0.993110 Centerline is valid? [True, True] Translation: X:206.07, Y:229.36, Z:-271.46 [[ 5.05060459e-01 2.44449455e-01 8.27742954e-01 2.06068350e+02] [-9.37164973e-02 9.68914636e-01 -2.28957741e-01 2.29357627e+02] [-8.57980857e-01 3.80643317e-02 5.12269417e-01 -2.71463337e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.5507140569999 meters Centerline goodness : 0.991676 Centerline is valid? [True, True] Translation: X:206.08, Y:229.35, Z:-271.50 [[ 5.01963701e-01 2.39649210e-01 8.31023886e-01 2.06077155e+02] [-9.35411177e-02 9.70251598e-01 -2.23297774e-01 2.29349976e+02] [-8.59815389e-01 3.43524737e-02 5.09448138e-01 -2.71495829e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.5807140569999 meters Centerline goodness : 0.993579 Centerline is valid? [True, True] Translation: X:206.10, Y:229.35, Z:-271.51 [[ 5.04910081e-01 2.42745375e-01 8.28335978e-01 2.06095876e+02] [-9.31963892e-02 9.69362991e-01 -2.27265979e-01 2.29350567e+02] [-8.58126007e-01 3.75509615e-02 5.12064139e-01 -2.71512753e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.6107140569999 meters Centerline goodness : 0.993133 Centerline is valid? [True, True] Translation: X:206.10, Y:229.34, Z:-271.54 [[ 5.04019806e-01 2.30767296e-01 8.32292311e-01 2.06103878e+02] [-9.36924524e-02 9.72566584e-01 -2.12922439e-01 2.29341821e+02] [-8.58595225e-01 2.93376188e-02 5.11813974e-01 -2.71544406e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.640714057 meters Centerline goodness : 0.992606 Centerline is valid? [True, True] Translation: X:206.13, Y:229.33, Z:-271.59 [[ 4.95097053e-01 2.55309624e-01 8.30479322e-01 2.06125938e+02] [-1.03723022e-01 9.66383384e-01 -2.35254522e-01 2.29330475e+02] [-8.62624161e-01 3.03339956e-02 5.04935052e-01 -2.71587729e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.6707140569999 meters Centerline goodness : 0.990790 Centerline is valid? [True, True] Translation: X:206.16, Y:229.35, Z:-271.59 [[ 4.97263674e-01 2.95105386e-01 8.15868648e-01 2.06164718e+02] [-1.00583935e-01 9.53642718e-01 -2.83634339e-01 2.29347982e+02] [-8.61749216e-01 5.89777744e-02 5.03894743e-01 -2.71593853e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.7007140569999 meters Centerline goodness : 0.993362 Centerline is valid? [True, True] Translation: X:206.16, Y:229.33, Z:-271.62 [[ 4.97968704e-01 2.51087386e-01 8.30049573e-01 2.06155805e+02] [-1.00627729e-01 9.67430695e-01 -2.32275506e-01 2.29330608e+02] [-8.61336885e-01 3.21399287e-02 5.07016563e-01 -2.71624037e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.7307140569999 meters Centerline goodness : 0.990905 Centerline is valid? [True, True] Translation: X:206.17, Y:229.33, Z:-271.65 [[ 4.93416461e-01 2.56668204e-01 8.31060545e-01 2.06170213e+02] [-9.88000933e-02 9.65824091e-01 -2.39629644e-01 2.29329184e+02] [-8.64163606e-01 3.61283516e-02 5.01912348e-01 -2.71652353e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.760714057 meters Centerline goodness : 0.992433 Centerline is valid? [True, True] Translation: X:206.19, Y:229.32, Z:-271.68 [[ 4.90389012e-01 2.71029119e-01 8.28288497e-01 2.06191000e+02] [-1.02683951e-01 9.61761886e-01 -2.53909593e-01 2.29323573e+02] [-8.65433200e-01 3.94625389e-02 4.99467801e-01 -2.71680660e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.790714057 meters Centerline goodness : 0.993433 Centerline is valid? [True, True] Translation: X:206.22, Y:229.34, Z:-271.68 [[ 5.01686176e-01 2.73569207e-01 8.20652710e-01 2.06218640e+02] [-9.28838567e-02 9.60227965e-01 -2.63315107e-01 2.29339167e+02] [-8.60048586e-01 5.58761600e-02 5.07143258e-01 -2.71678768e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.8207140569999 meters Centerline goodness : 0.993917 Centerline is valid? [True, True] Translation: X:206.21, Y:229.32, Z:-271.72 [[ 5.00236012e-01 2.28746686e-01 8.35128066e-01 2.06206627e+02] [-9.25675980e-02 9.73074951e-01 -2.11083822e-01 2.29318585e+02] [-8.60926926e-01 2.82859300e-02 5.07941664e-01 -2.71719665e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.8507140569999 meters Centerline goodness : 0.992404 Centerline is valid? [True, True] Translation: X:206.23, Y:229.30, Z:-271.76 [[ 4.93631345e-01 2.47722208e-01 8.33643691e-01 2.06225805e+02] [-1.01031106e-01 9.68417753e-01 -2.27946862e-01 2.29303654e+02] [-8.63782849e-01 2.82977720e-02 5.03069007e-01 -2.71763832e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.880714057 meters Centerline goodness : 0.988315 Centerline is valid? [True, True] Translation: X:206.27, Y:229.32, Z:-271.77 [[ 4.96218263e-01 2.94236379e-01 8.16818455e-01 2.06268460e+02] [-9.57052210e-02 9.53625159e-01 -2.85376186e-01 2.29324600e+02] [-8.62906684e-01 6.34350846e-02 5.01366178e-01 -2.71770113e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.910714057 meters Centerline goodness : 0.988536 Centerline is valid? [True, True] Translation: X:206.26, Y:229.31, Z:-271.81 [[ 4.94808925e-01 2.58492338e-01 8.29666101e-01 2.06260840e+02] [-9.51958085e-02 9.65112335e-01 -2.43917894e-01 2.29307472e+02] [-8.63771895e-01 4.17120157e-02 5.02153584e-01 -2.71806193e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.9407140569999 meters Centerline goodness : 0.992439 Centerline is valid? [True, True] Translation: X:206.28, Y:229.30, Z:-271.84 [[ 4.94564184e-01 2.59409319e-01 8.29525812e-01 2.06276607e+02] [-9.70098982e-02 9.64932112e-01 -2.43916172e-01 2.29300004e+02] [-8.63710222e-01 4.01599881e-02 5.02386134e-01 -2.71835163e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.9707140569999 meters Centerline goodness : 0.991838 Centerline is valid? [True, True] Translation: X:206.31, Y:229.31, Z:-271.85 [[ 4.93862960e-01 2.90737709e-01 8.19494333e-01 2.06310071e+02] [-9.69698574e-02 9.54982177e-01 -2.80367417e-01 2.29308055e+02] [-8.64115863e-01 5.89968339e-02 4.99823118e-01 -2.71853200e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.000714057 meters Centerline goodness : 0.992104 Centerline is valid? [True, True] Translation: X:206.33, Y:229.31, Z:-271.88 [[ 4.88984506e-01 3.01569216e-01 8.18504832e-01 2.06325565e+02] [-9.73160396e-02 9.51339879e-01 -2.92373089e-01 2.29308491e+02] [-8.66847011e-01 6.33122620e-02 4.94537983e-01 -2.71880265e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.030714057 meters Centerline goodness : 0.992789 Centerline is valid? [True, True] Translation: X:206.33, Y:229.31, Z:-271.89 [[ 4.98623149e-01 2.57590490e-01 8.27660616e-01 2.06328565e+02] [-8.82553863e-02 9.64949853e-01 -2.47149282e-01 2.29306987e+02] [-8.62314295e-01 5.01888459e-02 5.03880082e-01 -2.71890209e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.0607140569999 meters Centerline goodness : 0.993231 Centerline is valid? [True, True] Translation: X:206.32, Y:229.29, Z:-271.93 [[ 4.95635348e-01 2.23644491e-01 8.39242958e-01 2.06323415e+02] [-8.82590968e-02 9.74246022e-01 -2.07497038e-01 2.29290874e+02] [-8.64034683e-01 2.87720411e-02 5.02609427e-01 -2.71926739e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.0907140569999 meters Centerline goodness : 0.993766 Centerline is valid? [True, True] Translation: X:206.34, Y:229.29, Z:-271.96 [[ 4.94980321e-01 2.23513181e-01 8.39664421e-01 2.06339299e+02] [-8.74490729e-02 9.74256686e-01 -2.07789727e-01 2.29287480e+02] [-8.64492418e-01 2.94239505e-02 5.01783908e-01 -2.71955502e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.120714057 meters Centerline goodness : 0.993302 Centerline is valid? [True, True] Translation: X:206.36, Y:229.28, Z:-271.98 [[ 4.93307095e-01 2.25636313e-01 8.40081165e-01 2.06355975e+02] [-8.55138138e-02 9.73672732e-01 -2.11302624e-01 2.29284989e+02] [-8.65641668e-01 3.23985392e-02 4.99614689e-01 -2.71983758e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.150714057 meters Centerline goodness : 0.993477 Centerline is valid? [True, True] Translation: X:206.37, Y:229.28, Z:-272.01 [[ 4.93062870e-01 2.24918430e-01 8.40416984e-01 2.06370293e+02] [-8.35240407e-02 9.73779295e-01 -2.11607227e-01 2.29281667e+02] [-8.65975023e-01 3.41406443e-02 4.98920510e-01 -2.72010923e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.1807140569999 meters Centerline goodness : 0.993815 Centerline is valid? [True, True] Translation: X:206.39, Y:229.28, Z:-272.04 [[ 4.92580706e-01 2.24694910e-01 8.40759446e-01 2.06385602e+02] [-8.27705387e-02 9.73810459e-01 -2.11759837e-01 2.29278040e+02] [-8.66321699e-01 3.47186975e-02 4.98278362e-01 -2.72039745e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.2107140569999 meters Centerline goodness : 0.994118 Centerline is valid? [True, True] Translation: X:206.40, Y:229.27, Z:-272.07 [[ 4.92767921e-01 2.23818940e-01 8.40883379e-01 2.06400060e+02] [-8.00774296e-02 9.73917491e-01 -2.12302439e-01 2.29274781e+02] [-8.66468338e-01 3.72800518e-02 4.97838143e-01 -2.72069939e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.2407140569999 meters Centerline goodness : 0.994191 Centerline is valid? [True, True] Translation: X:206.41, Y:229.27, Z:-272.10 [[ 4.92843499e-01 2.23342261e-01 8.40965826e-01 2.06413722e+02] [-7.86898412e-02 9.73976331e-01 -2.12551205e-01 2.29271284e+02] [-8.66552477e-01 3.85790124e-02 4.97592670e-01 -2.72096532e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.270714057 meters Centerline goodness : 0.994566 Centerline is valid? [True, True] Translation: X:206.43, Y:229.27, Z:-272.13 [[ 4.92801252e-01 2.22379430e-01 8.41245693e-01 2.06427990e+02] [-7.65597983e-02 9.74123145e-01 -2.12656286e-01 2.29267912e+02] [-8.66767283e-01 4.03916836e-02 4.97074429e-01 -2.72125847e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.3007140569999 meters Centerline goodness : 0.994319 Centerline is valid? [True, True] Translation: X:206.44, Y:229.27, Z:-272.15 [[ 4.92374872e-01 2.22237950e-01 8.41532697e-01 2.06440681e+02] [-7.57031258e-02 9.74123712e-01 -2.12960162e-01 2.29265346e+02] [-8.67084784e-01 4.11495770e-02 4.96458145e-01 -2.72149952e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.3307140569999 meters Centerline goodness : 0.994197 Centerline is valid? [True, True] Translation: X:206.45, Y:229.26, Z:-272.18 [[ 4.91476174e-01 2.21876076e-01 8.42153298e-01 2.06453733e+02] [-7.48428360e-02 9.74185051e-01 -2.12983653e-01 2.29262404e+02] [-8.67669131e-01 4.16472495e-02 4.95394576e-01 -2.72175610e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.3607140569999 meters Centerline goodness : 0.993272 Centerline is valid? [True, True] Translation: X:206.47, Y:229.26, Z:-272.20 [[ 4.89779805e-01 2.22040296e-01 8.43097770e-01 2.06465419e+02] [-7.48321362e-02 9.74163504e-01 -2.13085943e-01 2.29260882e+02] [-8.68628744e-01 4.12743846e-02 4.93741361e-01 -2.72200363e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.390714057 meters Centerline goodness : 0.992783 Centerline is valid? [True, True] Translation: X:206.48, Y:229.26, Z:-272.23 [[ 4.89010228e-01 2.22115616e-01 8.43524540e-01 2.06478524e+02] [-7.51360426e-02 9.74168003e-01 -2.12958395e-01 2.29258230e+02] [-8.69036002e-01 4.07597375e-02 4.93067005e-01 -2.72225500e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.4207140569999 meters Centerline goodness : 0.992718 Centerline is valid? [True, True] Translation: X:206.49, Y:229.26, Z:-272.25 [[ 4.87471898e-01 2.22253899e-01 8.44378087e-01 2.06491598e+02] [-7.52414989e-02 9.74156115e-01 -2.12975540e-01 2.29255135e+02] [-8.69890721e-01 4.02873179e-02 4.91596447e-01 -2.72251400e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.4507140569999 meters Centerline goodness : 0.990629 Centerline is valid? [True, True] Translation: X:206.50, Y:229.25, Z:-272.28 [[ 4.86124132e-01 2.22029292e-01 8.45213773e-01 2.06503560e+02] [-7.45270255e-02 9.74195344e-01 -2.13047306e-01 2.29252099e+02] [-8.70706065e-01 4.05761681e-02 4.90127048e-01 -2.72275881e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.4807140569999 meters Centerline goodness : 0.989523 Centerline is valid? [True, True] Translation: X:206.52, Y:229.25, Z:-272.30 [[ 4.83802693e-01 2.22196804e-01 8.46500759e-01 2.06515321e+02] [-7.45928924e-02 9.74183211e-01 -2.13079731e-01 2.29250386e+02] [-8.71992463e-01 3.99456078e-02 4.87886763e-01 -2.72301284e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.510714057 meters Centerline goodness : 0.986710 Centerline is valid? [True, True] Translation: X:206.53, Y:229.25, Z:-272.32 [[ 4.85938916e-01 2.22360873e-01 8.45233111e-01 2.06531012e+02] [-7.60640386e-02 9.74184227e-01 -2.12554355e-01 2.29247246e+02] [-8.70676537e-01 3.89965890e-02 4.90307694e-01 -2.72324227e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.540714057 meters Centerline goodness : 0.984779 Centerline is valid? [True, True] Translation: X:206.54, Y:229.24, Z:-272.35 [[ 4.85820626e-01 2.21318436e-01 8.45574638e-01 2.06544070e+02] [-7.49234477e-02 9.74395814e-01 -2.11988857e-01 2.29244998e+02] [-8.70841430e-01 3.96351923e-02 4.89963525e-01 -2.72347848e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.5707140569999 meters Centerline goodness : 0.983371 Centerline is valid? [True, True] Translation: X:206.56, Y:229.24, Z:-272.37 [[ 4.85684382e-01 2.21785699e-01 8.45530475e-01 2.06556577e+02] [-7.67599948e-02 9.74361992e-01 -2.11486670e-01 2.29244035e+02] [-8.70757477e-01 3.78128578e-02 4.90256671e-01 -2.72372712e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.6007140569999 meters Centerline goodness : 0.982268 Centerline is valid? [True, True] Translation: X:206.57, Y:229.24, Z:-272.40 [[ 4.86144660e-01 2.21980705e-01 8.45214728e-01 2.06569289e+02] [-7.86126820e-02 9.74386952e-01 -2.10689617e-01 2.29241464e+02] [-8.70335232e-01 3.59810354e-02 4.91143512e-01 -2.72396843e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.630714057 meters Centerline goodness : 0.982786 Centerline is valid? [True, True] Translation: X:206.58, Y:229.24, Z:-272.42 [[ 4.79625455e-01 2.21669396e-01 8.49012428e-01 2.06576553e+02] [-7.70179007e-02 9.74465552e-01 -2.10914986e-01 2.29240212e+02] [-8.74086761e-01 3.57710414e-02 4.84450995e-01 -2.72423276e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.660714057 meters Centerline goodness : 0.976872 Centerline is valid? [True, True] Translation: X:206.59, Y:229.24, Z:-272.45 [[ 4.84637484e-01 2.22090475e-01 8.46051021e-01 2.06593289e+02] [-8.01694031e-02 9.74437148e-01 -2.09869271e-01 2.29237132e+02] [-8.71033510e-01 3.38831101e-02 4.90053628e-01 -2.72445507e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.6907140569999 meters Centerline goodness : 0.728150 Centerline is valid? [True, False] Translation: X:206.53, Y:229.24, Z:-272.35 [[ 4.87364860e-01 2.11085329e-01 8.47300701e-01 2.06526144e+02] [-8.83601065e-02 9.77282575e-01 -1.92642828e-01 2.29241479e+02] [-8.68716286e-01 1.90197648e-02 4.94944708e-01 -2.72347666e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.7207140569999 meters Centerline goodness : 0.800899 Centerline is valid? [False, False] Translation: X:206.46, Y:229.25, Z:-272.25 [[ 4.90183308e-01 1.96751722e-01 8.49122538e-01 2.06456439e+02] [-9.61808013e-02 9.80450221e-01 -1.71658435e-01 2.29247113e+02] [-8.66296472e-01 2.47481362e-03 4.99524071e-01 -2.72246904e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.750714057 meters Centerline goodness : 0.810323 Centerline is valid? [False, False] Translation: X:206.39, Y:229.25, Z:-272.15 [[ 4.93609105e-01 1.84037117e-01 8.49988465e-01 2.06389907e+02] [-1.04289647e-01 9.82826578e-01 -1.52235301e-01 2.29252620e+02] [-8.63408201e-01 -1.35002665e-02 5.04325314e-01 -2.72147915e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.780714057 meters Centerline goodness : 0.736954 Centerline is valid? [False, False] Translation: X:206.33, Y:229.26, Z:-272.05 [[ 4.96383791e-01 1.71466537e-01 8.51000798e-01 2.06325120e+02] [-1.10744187e-01 9.84797268e-01 -1.33828497e-01 2.29257900e+02] [-8.61010370e-01 -2.78130947e-02 5.07826323e-01 -2.72052613e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.8107140569999 meters Centerline goodness : 0.715223 Centerline is valid? [False, False] Translation: X:206.25, Y:229.27, Z:-271.95 [[ 4.98650982e-01 1.59119412e-01 8.52072890e-01 2.06253001e+02] [-1.17571617e-01 9.86338027e-01 -1.15387223e-01 2.29266728e+02] [-8.58792241e-01 -4.26416353e-02 5.10546353e-01 -2.71946870e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.8407140569999 meters Centerline goodness : 0.613982 Centerline is valid? [False, False] Translation: X:206.18, Y:229.28, Z:-271.84 [[ 5.00544628e-01 1.48685704e-01 8.52846784e-01 2.06179399e+02] [-1.25242416e-01 9.87213928e-01 -9.86052603e-02 2.29278329e+02] [-8.56603416e-01 -5.74562585e-02 5.12766385e-01 -2.71838623e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.870714057 meters Centerline goodness : 0.567423 Centerline is valid? [False, False] Translation: X:206.10, Y:229.29, Z:-271.73 [[ 5.04558875e-01 1.38563487e-01 8.52185720e-01 2.06104904e+02] [-1.33293900e-01 9.87705098e-01 -8.16784891e-02 2.29289677e+02] [-8.53025837e-01 -7.23795514e-02 5.16825040e-01 -2.71727475e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.900714057 meters Centerline goodness : 0.157307 Centerline is valid? [False, False] Translation: X:206.02, Y:229.30, Z:-271.61 [[ 5.09294024e-01 1.28143812e-01 8.50998685e-01 2.06023044e+02] [-1.43927855e-01 9.87607567e-01 -6.25784779e-02 2.29302439e+02] [-8.48471785e-01 -9.06115701e-02 5.21426096e-01 -2.71607322e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.9307140569999 meters Centerline goodness : 0.133435 Centerline is valid? [False, False] Translation: X:206.03, Y:229.31, Z:-271.61 [[ 5.10200449e-01 1.31220305e-01 8.49986313e-01 2.06025534e+02] [-1.40160854e-01 9.87766107e-01 -6.83597346e-02 2.29306846e+02] [-8.48557857e-01 -8.42576405e-02 5.22350662e-01 -2.71607639e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.9607140569999 meters Centerline goodness : 0.177457 Centerline is valid? [False, False] Translation: X:206.04, Y:229.31, Z:-271.62 [[ 5.09587481e-01 1.45705262e-01 8.47992085e-01 2.06042179e+02] [-1.40065451e-01 9.86458803e-01 -8.53270201e-02 2.29312246e+02] [-8.48941852e-01 -7.52928123e-02 5.23095329e-01 -2.71619085e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.9907140569999 meters Centerline goodness : 0.174680 Centerline is valid? [False, False] Translation: X:206.04, Y:229.32, Z:-271.62 [[ 5.10436883e-01 1.48754825e-01 8.46951115e-01 2.06044873e+02] [-1.36344098e-01 9.86465110e-01 -9.10871800e-02 2.29317407e+02] [-8.49037382e-01 -6.89825297e-02 5.23810018e-01 -2.71618835e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.020714057 meters Centerline goodness : 0.174680 Centerline is valid? [False, False] Translation: X:206.04, Y:229.32, Z:-271.62 [[ 5.10436883e-01 1.48754825e-01 8.46951115e-01 2.06044873e+02] [-1.36344098e-01 9.86465110e-01 -9.10871800e-02 2.29317407e+02] [-8.49037382e-01 -6.89825297e-02 5.23810018e-01 -2.71618835e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.0507140569999 meters Centerline goodness : 0.176925 Centerline is valid? [False, False] Translation: X:206.07, Y:229.32, Z:-271.64 [[ 5.13666534e-01 1.56257041e-01 8.43641173e-01 2.06069128e+02] [-1.33334988e-01 9.85868384e-01 -1.01416524e-01 2.29321025e+02] [-8.47566205e-01 -6.03926112e-02 5.27242127e-01 -2.71638892e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.0807140569999 meters Centerline goodness : 0.173000 Centerline is valid? [False, False] Translation: X:206.09, Y:229.32, Z:-271.66 [[ 5.17359298e-01 1.63871509e-01 8.39931834e-01 2.06094247e+02] [-1.30137221e-01 9.85144865e-01 -1.12044180e-01 2.29323834e+02] [-8.45815382e-01 -5.13392964e-02 5.30999639e-01 -2.71659563e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.1107140569999 meters Centerline goodness : 0.170063 Centerline is valid? [False, False] Translation: X:206.02, Y:229.33, Z:-271.56 [[ 5.21001501e-01 1.50497712e-01 8.40183238e-01 2.06020402e+02] [-1.35560829e-01 9.86429194e-01 -9.26321047e-02 2.29331825e+02] [-8.42722194e-01 -6.56344708e-02 5.34332686e-01 -2.71560022e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.140714057 meters Centerline goodness : 0.169550 Centerline is valid? [False, False] Translation: X:205.96, Y:229.34, Z:-271.47 [[ 5.25878593e-01 1.37019477e-01 8.39450635e-01 2.05955544e+02] [-1.41134981e-01 9.87314460e-01 -7.27397695e-02 2.29336995e+02] [-8.38768515e-01 -8.02235620e-02 5.38545781e-01 -2.71473836e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.1707140569999 meters Centerline goodness : 0.187367 Centerline is valid? [False, False] Translation: X:205.90, Y:229.34, Z:-271.40 [[ 5.29254000e-01 1.23888563e-01 8.39369899e-01 2.05899671e+02] [-1.44691158e-01 9.87969930e-01 -5.45883293e-02 2.29340773e+02] [-8.36035091e-01 -9.25583109e-02 5.40812617e-01 -2.71402356e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.2007140569999 meters Centerline goodness : 0.180283 Centerline is valid? [False, False] Translation: X:205.87, Y:229.34, Z:-271.36 [[ 5.33858917e-01 1.13044921e-01 8.37982997e-01 2.05867547e+02] [-1.48927334e-01 9.88101565e-01 -3.84180567e-02 2.29338271e+02] [-8.32355276e-01 -1.04288752e-01 5.44342310e-01 -2.71363001e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.2307140569999 meters Centerline goodness : 0.180114 Centerline is valid? [False, False] Translation: X:205.84, Y:229.34, Z:-271.32 [[ 5.38658405e-01 1.03798867e-01 8.36105805e-01 2.05837317e+02] [-1.52931581e-01 9.87942311e-01 -2.41230369e-02 2.29338521e+02] [-8.28528246e-01 -1.14872906e-01 5.48037555e-01 -2.71323466e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.260714057 meters Centerline goodness : 0.182720 Centerline is valid? [False, False] Translation: X:205.86, Y:229.34, Z:-271.34 [[ 5.41530508e-01 1.09822526e-01 8.33476887e-01 2.05860691e+02] [-1.49627484e-01 9.88191863e-01 -3.29917716e-02 2.29340881e+02] [-8.27258318e-01 -1.06844999e-01 5.51568510e-01 -2.71344855e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.290714057 meters Centerline goodness : 0.190789 Centerline is valid? [False, False] Translation: X:205.82, Y:229.34, Z:-271.30 [[ 5.44809633e-01 9.82057127e-02 8.32789350e-01 2.05821978e+02] [-1.54355192e-01 9.87893562e-01 -1.55172446e-02 2.29340773e+02] [-8.24231120e-01 -1.20091415e-01 5.53372490e-01 -2.71298088e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.3207140569999 meters Centerline goodness : 0.199680 Centerline is valid? [False, False] Translation: X:205.85, Y:229.34, Z:-271.32 [[ 5.47868895e-01 1.05281849e-01 8.29912891e-01 2.05847857e+02] [-1.49739053e-01 9.88369476e-01 -2.65329009e-02 2.29342935e+02] [-8.23054002e-01 -1.09733820e-01 5.57261697e-01 -2.71321497e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.3507140569999 meters Centerline goodness : 0.200748 Centerline is valid? [False, False] Translation: X:205.86, Y:229.34, Z:-271.34 [[ 5.46131532e-01 1.03465265e-01 8.31285323e-01 2.05858375e+02] [-1.44527856e-01 9.89100044e-01 -2.81567335e-02 2.29342488e+02] [-8.25137594e-01 -1.04766605e-01 5.55132335e-01 -2.71336555e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.380714057 meters Centerline goodness : 0.197672 Centerline is valid? [False, False] Translation: X:205.86, Y:229.34, Z:-271.34 [[ 5.47240368e-01 1.05010236e-01 8.30361867e-01 2.05860123e+02] [-1.41120503e-01 9.89470972e-01 -3.21278542e-02 2.29344889e+02] [-8.24992717e-01 -9.95994253e-02 5.56297556e-01 -2.71338821e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.410714057 meters Centerline goodness : 0.200625 Centerline is valid? [False, False] Translation: X:205.86, Y:229.35, Z:-271.34 [[ 5.48935181e-01 1.06128420e-01 8.29100070e-01 2.05862475e+02] [-1.37786220e-01 9.89826461e-01 -3.54758323e-02 2.29345847e+02] [-8.24430182e-01 -9.47646326e-02 5.57973601e-01 -2.71343037e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.4407140569999 meters Centerline goodness : 0.204247 Centerline is valid? [False, False] Translation: X:205.86, Y:229.34, Z:-271.34 [[ 5.49544697e-01 1.05707566e-01 8.28749984e-01 2.05863118e+02] [-1.37651399e-01 9.89862835e-01 -3.49808685e-02 2.29344767e+02] [-8.24046551e-01 -9.48550440e-02 5.58524666e-01 -2.71344786e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.4707140569999 meters Centerline goodness : 0.206041 Centerline is valid? [False, False] Translation: X:205.86, Y:229.35, Z:-271.35 [[ 5.50874128e-01 1.07029195e-01 8.27697074e-01 2.05864886e+02] [-1.34340336e-01 9.90182010e-01 -3.86297952e-02 2.29346081e+02] [-8.23705268e-01 -8.99129483e-02 5.59843989e-01 -2.71347643e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.500714057 meters Centerline goodness : 0.195671 Centerline is valid? [False, False] Translation: X:205.87, Y:229.35, Z:-271.35 [[ 5.52645910e-01 1.07626328e-01 8.26437579e-01 2.05866923e+02] [-1.30312681e-01 9.90588787e-01 -4.18624038e-02 2.29345318e+02] [-8.23165295e-01 -8.45602103e-02 5.61469917e-01 -2.71351266e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.530714057 meters Centerline goodness : 0.195848 Centerline is valid? [False, False] Translation: X:205.87, Y:229.35, Z:-271.35 [[ 5.53883222e-01 1.08499823e-01 8.25494497e-01 2.05868179e+02] [-1.26894669e-01 9.90890549e-01 -4.50961468e-02 2.29346322e+02] [-8.22867620e-01 -7.97728518e-02 5.62605699e-01 -2.71354434e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.5607140569999 meters Centerline goodness : 0.184079 Centerline is valid? [False, False] Translation: X:205.78, Y:229.34, Z:-271.24 [[ 5.62297883e-01 8.83081166e-02 8.22206037e-01 2.05780209e+02] [-1.35740313e-01 9.90651535e-01 -1.35684736e-02 2.29343907e+02] [-8.15717879e-01 -1.03976980e-01 5.69028232e-01 -2.71242125e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.5907140569999 meters Centerline goodness : 0.179623 Centerline is valid? [False, False] Translation: X:205.79, Y:229.34, Z:-271.26 [[ 5.64436243e-01 8.37533782e-02 8.21216841e-01 2.05793042e+02] [-1.30057499e-01 9.91437149e-01 -1.17229021e-02 2.29339414e+02] [-8.15166716e-01 -1.00188577e-01 5.70495814e-01 -2.71263006e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.6207140569999 meters Centerline goodness : 0.179353 Centerline is valid? [False, False] Translation: X:205.73, Y:229.34, Z:-271.18 [[ 5.72553364e-01 6.61603233e-02 8.17193647e-01 2.05727030e+02] [-1.36505638e-01 9.90518844e-01 1.54476427e-02 2.29336844e+02] [-8.08423686e-01 -1.20396140e-01 5.76156153e-01 -2.71178834e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.650714057 meters Centerline goodness : 0.174127 Centerline is valid? [False, False] Translation: X:205.73, Y:229.34, Z:-271.18 [[ 5.73239192e-01 6.56950312e-02 8.16750263e-01 2.05727768e+02] [-1.36242301e-01 9.90547173e-01 1.59478357e-02 2.29335690e+02] [-8.07981970e-01 -1.20417859e-01 5.76770903e-01 -2.71181063e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.6807140569999 meters Centerline goodness : 0.173565 Centerline is valid? [False, False] Translation: X:205.66, Y:229.33, Z:-271.10 [[ 5.81571865e-01 4.84045622e-02 8.12053671e-01 2.05663637e+02] [-1.43245247e-01 9.88724030e-01 4.36530898e-02 2.29330565e+02] [-8.00783969e-01 -1.41710238e-01 5.81947801e-01 -2.71099323e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.7107140569999 meters Centerline goodness : 0.169761 Centerline is valid? [False, False] Translation: X:205.61, Y:229.33, Z:-271.02 [[ 5.90670672e-01 3.44065036e-02 8.06178857e-01 2.05606174e+02] [-1.50289498e-01 9.86299302e-01 6.80202513e-02 2.29327995e+02] [-7.92793305e-01 -1.61337783e-01 5.87749008e-01 -2.71022282e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.7407140569999 meters Centerline goodness : 0.180736 Centerline is valid? [False, False] Translation: X:205.54, Y:229.33, Z:-270.93 [[ 6.00181744e-01 2.04714025e-02 7.99601648e-01 2.05539731e+02] [-1.57909673e-01 9.83030274e-01 9.33596055e-02 2.29327184e+02] [-7.84121425e-01 -1.82297566e-01 5.93229457e-01 -2.70933363e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.770714057 meters Centerline goodness : 0.233804 Centerline is valid? [False, False] Translation: X:205.48, Y:229.33, Z:-270.86 [[ 6.07893112e-01 6.92516304e-03 7.93988669e-01 2.05481795e+02] [-1.64435650e-01 9.79382050e-01 1.17352958e-01 2.29325407e+02] [-7.76805562e-01 -2.01898098e-01 5.96498346e-01 -2.70858678e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.8007140569999 meters Centerline goodness : 0.267873 Centerline is valid? [False, False] Translation: X:205.42, Y:229.33, Z:-270.78 [[ 6.15696316e-01 -5.47730178e-03 7.87964495e-01 2.05422531e+02] [-1.70021997e-01 9.75497535e-01 1.39631941e-01 2.29326709e+02] [-7.69422229e-01 -2.19942169e-01 5.99678977e-01 -2.70783304e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.8307140569999 meters Centerline goodness : 0.277602 Centerline is valid? [False, False] Translation: X:205.37, Y:229.33, Z:-270.71 [[ 6.22876348e-01 -1.58911571e-02 7.82158888e-01 2.05366966e+02] [-1.75012857e-01 9.71624192e-01 1.59112942e-01 2.29329743e+02] [-7.62492987e-01 -2.35995550e-01 6.02420572e-01 -2.70713856e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.8607140569999 meters Centerline goodness : 0.295748 Centerline is valid? [False, False] Translation: X:205.31, Y:229.33, Z:-270.65 [[ 6.30510751e-01 -2.61702091e-02 7.75739204e-01 2.05312534e+02] [-1.80019270e-01 9.67248974e-01 1.78948276e-01 2.29331896e+02] [-7.55016063e-01 -2.52476818e-01 6.05149735e-01 -2.70645608e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.890714057 meters Centerline goodness : 0.250199 Centerline is valid? [False, False] Translation: X:205.27, Y:229.33, Z:-270.59 [[ 6.36644396e-01 -3.27691839e-02 7.70460962e-01 2.05267131e+02] [-1.85286025e-01 9.63329213e-01 1.94077090e-01 2.29332874e+02] [-7.48567300e-01 -2.66313740e-01 6.07226473e-01 -2.70587909e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.9207140569999 meters Centerline goodness : 0.264265 Centerline is valid? [False, False] Translation: X:205.22, Y:229.34, Z:-270.53 [[ 6.43871800e-01 -3.76049185e-02 7.64208725e-01 2.05221846e+02] [-1.88983050e-01 9.60029907e-01 2.06465456e-01 2.29338075e+02] [-7.41427348e-01 -2.77359781e-01 6.11029492e-01 -2.70530708e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.9507140569999 meters Centerline goodness : 0.356354 Centerline is valid? [False, False] Translation: X:205.19, Y:229.34, Z:-270.48 [[ 6.53048057e-01 -3.63622620e-02 7.56443006e-01 2.05190016e+02] [-1.93009682e-01 9.57871327e-01 2.12672950e-01 2.29343916e+02] [-7.32308336e-01 -2.84886481e-01 6.18517740e-01 -2.70484252e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.9807140569999 meters Centerline goodness : 0.365760 Centerline is valid? [False, False] Translation: X:205.17, Y:229.35, Z:-270.45 [[ 6.63723439e-01 -3.42782361e-02 7.47192210e-01 2.05167190e+02] [-1.95539857e-01 9.56258035e-01 2.17565471e-01 2.29350597e+02] [-7.21966315e-01 -2.90509161e-01 6.27988110e-01 -2.70445939e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.010714057 meters Centerline goodness : 0.585832 Centerline is valid? [False, False] Translation: X:205.15, Y:229.36, Z:-270.41 [[ 6.72621923e-01 -2.95107374e-02 7.39397637e-01 2.05147132e+02] [-1.98908745e-01 9.55219234e-01 2.19069684e-01 2.29357036e+02] [-7.12751752e-01 -2.94423728e-01 6.36631454e-01 -2.70413718e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.040714057 meters Centerline goodness : 0.293049 Centerline is valid? [False, False] Translation: X:205.12, Y:229.36, Z:-270.38 [[ 6.81188803e-01 -2.72986779e-02 7.31598659e-01 2.05124712e+02] [-2.00988507e-01 9.53935501e-01 2.22734551e-01 2.29363272e+02] [-7.03978292e-01 -2.98767204e-01 6.44323461e-01 -2.70380139e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.0707140569999 meters Centerline goodness : 0.489512 Centerline is valid? [False, False] Translation: X:205.10, Y:229.37, Z:-270.35 [[ 6.88558303e-01 -2.55376006e-02 7.24731188e-01 2.05101520e+02] [-2.03293093e-01 9.52509528e-01 2.26710204e-01 2.29369555e+02] [-6.96102997e-01 -3.03436038e-01 6.50666726e-01 -2.70349211e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.1007140569999 meters Centerline goodness : 0.741557 Centerline is valid? [False, False] Translation: X:205.10, Y:229.38, Z:-270.33 [[ 7.00352728e-01 -1.37366387e-02 7.13664740e-01 2.05095800e+02] [-2.10670036e-01 9.51299200e-01 2.25051034e-01 2.29378006e+02] [-6.82000141e-01 -3.07962882e-01 6.63351092e-01 -2.70329912e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.130714057 meters Centerline goodness : 0.754144 Centerline is valid? [False, False] Translation: X:205.07, Y:229.39, Z:-270.30 [[ 7.08825617e-01 -1.12449139e-02 7.05294121e-01 2.05072899e+02] [-2.14636056e-01 9.49022407e-01 2.30841581e-01 2.29385349e+02] [-6.71935718e-01 -3.15007974e-01 6.70277829e-01 -2.70300912e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.160714057 meters Centerline goodness : 0.767183 Centerline is valid? [False, False] Translation: X:205.06, Y:229.39, Z:-270.28 [[ 7.15898230e-01 -1.39182123e-03 6.98203256e-01 2.05062358e+02] [-2.18306304e-01 9.49414356e-01 2.25731562e-01 2.29392948e+02] [-6.63198373e-01 -3.14022999e-01 6.79380213e-01 -2.70279054e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.1907140569999 meters Centerline goodness : 0.827325 Centerline is valid? [False, False] Translation: X:205.06, Y:229.39, Z:-270.27 [[ 7.20637603e-01 6.48594076e-03 6.93281601e-01 2.05063290e+02] [-2.21588694e-01 9.49662740e-01 2.21447806e-01 2.29394715e+02] [-6.56947407e-01 -3.13206981e-01 6.85799892e-01 -2.70271430e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.2207140569999 meters Centerline goodness : 0.834043 Centerline is valid? [False, False] Translation: X:205.06, Y:229.40, Z:-270.26 [[ 7.27130941e-01 1.18532133e-02 6.86396457e-01 2.05062601e+02] [-2.24076518e-01 9.49187106e-01 2.20983151e-01 2.29396469e+02] [-6.48899306e-01 -3.14489014e-01 6.92839340e-01 -2.70260559e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.250714057 meters Centerline goodness : 0.852517 Centerline is valid? [False, False] Translation: X:205.06, Y:229.40, Z:-270.26 [[ 7.28114393e-01 1.47241148e-02 6.85297476e-01 2.05064707e+02] [-2.24448231e-01 9.49773994e-01 2.18065018e-01 2.29398336e+02] [-6.47666907e-01 -3.12590084e-01 6.94848917e-01 -2.70257080e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.280714057 meters Centerline goodness : 0.856507 Centerline is valid? [False, False] Translation: X:205.07, Y:229.40, Z:-270.25 [[ 7.29223379e-01 1.79350244e-02 6.84040641e-01 2.05065598e+02] [-2.25406885e-01 9.50158840e-01 2.15383180e-01 2.29399680e+02] [-6.46084359e-01 -3.11249921e-01 6.96920718e-01 -2.70252261e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.3107140569999 meters Centerline goodness : 0.858046 Centerline is valid? [False, False] Translation: X:205.06, Y:229.40, Z:-270.24 [[ 7.34605390e-01 2.40845981e-02 6.78066997e-01 2.05064565e+02] [-2.27984016e-01 9.50025277e-01 2.13249296e-01 2.29402146e+02] [-6.39044763e-01 -3.11242520e-01 7.03384592e-01 -2.70241962e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.3407140569999 meters Centerline goodness : 0.850323 Centerline is valid? [False, False] Translation: X:205.06, Y:229.40, Z:-270.24 [[ 7.37154088e-01 3.00704408e-02 6.75055272e-01 2.05064469e+02] [-2.30533257e-01 9.50263990e-01 2.09410521e-01 2.29404105e+02] [-6.35183649e-01 -3.09990512e-01 7.07423221e-01 -2.70237124e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.3707140569999 meters Centerline goodness : 0.856414 Centerline is valid? [False, False] Translation: X:205.07, Y:229.41, Z:-270.24 [[ 7.38062267e-01 3.09139681e-02 6.74024047e-01 2.05067703e+02] [-2.26454897e-01 9.52356859e-01 2.04290464e-01 2.29407738e+02] [-6.35595995e-01 -3.03415129e-01 7.09899282e-01 -2.70239580e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.400714057 meters Centerline goodness : 0.849354 Centerline is valid? [False, False] Translation: X:205.09, Y:229.41, Z:-270.26 [[ 7.38047886e-01 4.27971596e-02 6.73389725e-01 2.05090724e+02] [-2.28830916e-01 9.54719073e-01 1.90126021e-01 2.29409634e+02] [-6.34761160e-01 -2.94414496e-01 7.14421706e-01 -2.70255255e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.4307140569999 meters Centerline goodness : 0.849458 Centerline is valid? [False, False] Translation: X:205.09, Y:229.41, Z:-270.26 [[ 7.39114433e-01 4.40146672e-02 6.72140286e-01 2.05094401e+02] [-2.25632333e-01 9.56391583e-01 1.85486362e-01 2.29414460e+02] [-6.34665192e-01 -2.88752228e-01 7.16813954e-01 -2.70259214e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.4607140569999 meters Centerline goodness : 0.850508 Centerline is valid? [False, False] Translation: X:205.10, Y:229.42, Z:-270.26 [[ 7.39997335e-01 4.52820787e-02 6.71083808e-01 2.05097747e+02] [-2.22501457e-01 9.58038960e-01 1.80705432e-01 2.29419999e+02] [-6.34741716e-01 -2.83038664e-01 7.19021606e-01 -2.70262765e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.4907140569999 meters Centerline goodness : 0.843240 Centerline is valid? [False, False] Translation: X:205.12, Y:229.42, Z:-270.28 [[ 7.40086172e-01 5.79772272e-02 6.70008283e-01 2.05121441e+02] [-2.27089274e-01 9.59303582e-01 1.67830566e-01 2.29424349e+02] [-6.33010995e-01 -2.76360776e-01 7.23133322e-01 -2.70280478e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.520714057 meters Centerline goodness : 0.769933 Centerline is valid? [False, False] Translation: X:205.12, Y:229.43, Z:-270.28 [[ 7.40761369e-01 5.90048584e-02 6.69171892e-01 2.05124047e+02] [-2.24547536e-01 9.60585847e-01 1.63869567e-01 2.29429599e+02] [-6.33127948e-01 -2.71649145e-01 7.24814282e-01 -2.70283903e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.5507140569999 meters Centerline goodness : 0.770924 Centerline is valid? [False, False] Translation: X:205.13, Y:229.43, Z:-270.29 [[ 7.41674356e-01 5.98163002e-02 6.68087689e-01 2.05126894e+02] [-2.21011133e-01 9.62188891e-01 1.59206212e-01 2.29434402e+02] [-6.33303425e-01 -2.65733982e-01 7.26850894e-01 -2.70287118e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.5807140569999 meters Centerline goodness : 0.849690 Centerline is valid? [False, False] Translation: X:205.13, Y:229.44, Z:-270.29 [[ 7.42618494e-01 6.01026519e-02 6.67012326e-01 2.05129404e+02] [-2.16773056e-01 9.63920565e-01 1.54488147e-01 2.29437005e+02] [-6.33661750e-01 -2.59316055e-01 7.28853874e-01 -2.70289529e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.6107140569999 meters Centerline goodness : 0.848937 Centerline is valid? [False, False] Translation: X:205.13, Y:229.44, Z:-270.29 [[ 7.43604658e-01 6.03407685e-02 6.65891211e-01 2.05131859e+02] [-2.12665668e-01 9.65544460e-01 1.49990697e-01 2.29439612e+02] [-6.33897016e-01 -2.53145980e-01 7.30815768e-01 -2.70292651e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.640714057 meters Centerline goodness : 0.767672 Centerline is valid? [False, False] Translation: X:205.15, Y:229.44, Z:-270.31 [[ 7.43402368e-01 6.59469228e-02 6.65585398e-01 2.05145067e+02] [-2.07374353e-01 9.68814130e-01 1.35628388e-01 2.29443434e+02] [-6.35884263e-01 -2.38851807e-01 7.33894419e-01 -2.70305767e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.6707140569999 meters Centerline goodness : 0.786780 Centerline is valid? [False, False] Translation: X:205.15, Y:229.45, Z:-270.31 [[ 7.44557387e-01 6.58013697e-02 6.64307517e-01 2.05147481e+02] [-2.02147680e-01 9.70631697e-01 1.30424014e-01 2.29445322e+02] [-6.36215854e-01 -2.31396386e-01 7.35992594e-01 -2.70309347e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.7007140569999 meters Centerline goodness : 0.787704 Centerline is valid? [False, False] Translation: X:205.15, Y:229.45, Z:-270.31 [[ 7.45698090e-01 6.57595008e-02 6.63030955e-01 2.05149973e+02] [-1.97806357e-01 9.72102151e-01 1.26055759e-01 2.29447442e+02] [-6.36244453e-01 -2.25151276e-01 7.37902364e-01 -2.70312811e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.7307140569999 meters Centerline goodness : 0.738323 Centerline is valid? [False, False] Translation: X:205.17, Y:229.45, Z:-270.32 [[ 7.46612119e-01 7.56605217e-02 6.60943136e-01 2.05171744e+02] [-1.92596331e-01 9.75548528e-01 1.05885424e-01 2.29451591e+02] [-6.36770757e-01 -2.06350564e-01 7.42928293e-01 -2.70324513e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.760714057 meters Centerline goodness : 0.752389 Centerline is valid? [False, False] Translation: X:205.17, Y:229.45, Z:-270.33 [[ 7.47806830e-01 7.57308175e-02 6.59583041e-01 2.05174272e+02] [-1.88572095e-01 9.76785047e-01 1.01644169e-01 2.29453315e+02] [-6.36573256e-01 -2.00389160e-01 7.44727249e-01 -2.70328006e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.790714057 meters Centerline goodness : 0.897772 Centerline is valid? [False, False] Translation: X:205.18, Y:229.46, Z:-270.34 [[ 7.48382853e-01 7.89449462e-02 6.58552048e-01 2.05182957e+02] [-1.84763597e-01 9.78403304e-01 9.26789485e-02 2.29455390e+02] [-6.37012966e-01 -1.91035781e-01 7.46806409e-01 -2.70338199e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.8207140569999 meters Centerline goodness : 0.899452 Centerline is valid? [False, False] Translation: X:205.19, Y:229.46, Z:-270.34 [[ 7.49495324e-01 7.94110751e-02 6.57229519e-01 2.05185684e+02] [-1.81874852e-01 9.79278064e-01 8.90842937e-02 2.29457722e+02] [-6.36536172e-01 -1.86301783e-01 7.48407207e-01 -2.70342103e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.8507140569999 meters Centerline goodness : 0.834043 Centerline is valid? [False, False] Translation: X:205.19, Y:229.46, Z:-270.35 [[ 7.50366340e-01 7.98789637e-02 6.56178107e-01 2.05188050e+02] [-1.80634393e-01 9.79667898e-01 8.73042110e-02 2.29459526e+02] [-6.35862857e-01 -1.84038475e-01 7.49538703e-01 -2.70346692e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.880714057 meters Centerline goodness : 0.898195 Centerline is valid? [False, False] Translation: X:205.19, Y:229.46, Z:-270.35 [[ 7.51252486e-01 8.03362448e-02 6.55107464e-01 2.05190444e+02] [-1.80145835e-01 9.79835663e-01 8.64265665e-02 2.29461189e+02] [-6.34954471e-01 -1.82943054e-01 7.50576218e-01 -2.70350652e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.910714057 meters Centerline goodness : 0.898195 Centerline is valid? [False, False] Translation: X:205.19, Y:229.46, Z:-270.35 [[ 7.51252486e-01 8.03362448e-02 6.55107464e-01 2.05190444e+02] [-1.80145835e-01 9.79835663e-01 8.64265665e-02 2.29461189e+02] [-6.34954471e-01 -1.82943054e-01 7.50576218e-01 -2.70350652e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.9407140569999 meters Centerline goodness : 0.860203 Centerline is valid? [False, False] Translation: X:205.20, Y:229.46, Z:-270.36 [[ 7.52808736e-01 8.17688043e-02 6.53140773e-01 2.05195701e+02] [-1.80843780e-01 9.79763877e-01 8.57803697e-02 2.29464408e+02] [-6.32909578e-01 -1.82692658e-01 7.52362186e-01 -2.70356845e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.9707140569999 meters Centerline goodness : 0.871260 Centerline is valid? [False, False] Translation: X:205.20, Y:229.47, Z:-270.36 [[ 7.53556933e-01 8.23093668e-02 6.52209412e-01 2.05197950e+02] [-1.80981448e-01 9.79766717e-01 8.54569798e-02 2.29465860e+02] [-6.31979165e-01 -1.82434503e-01 7.53206471e-01 -2.70359086e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.000714057 meters Centerline goodness : 0.877775 Centerline is valid? [False, False] Translation: X:205.20, Y:229.47, Z:-270.36 [[ 7.54497733e-01 8.27432551e-02 6.51065837e-01 2.05200418e+02] [-1.80167381e-01 9.80022127e-01 8.42398051e-02 2.29467361e+02] [-6.31088651e-01 -1.80859568e-01 7.54332109e-01 -2.70361831e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.030714057 meters Centerline goodness : 0.881356 Centerline is valid? [False, False] Translation: X:205.22, Y:229.47, Z:-270.37 [[ 7.55330436e-01 9.43752200e-02 6.48513107e-01 2.05222787e+02] [-1.83789281e-01 9.80369622e-01 7.13926032e-02 2.29466432e+02] [-6.29044857e-01 -1.73114764e-01 7.57848169e-01 -2.70374481e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.0607140569999 meters Centerline goodness : 0.873216 Centerline is valid? [False, False] Translation: X:205.23, Y:229.47, Z:-270.38 [[ 7.56254612e-01 9.46782765e-02 6.47390906e-01 2.05225094e+02] [-1.83417273e-01 9.80477241e-01 7.08694898e-02 2.29466988e+02] [-6.28042248e-01 -1.72338053e-01 7.58856067e-01 -2.70378178e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.0907140569999 meters Centerline goodness : 0.895259 Centerline is valid? [False, False] Translation: X:205.22, Y:229.46, Z:-270.37 [[ 7.62275098e-01 9.40946934e-02 6.40377127e-01 2.05223928e+02] [-1.88173912e-01 9.78858719e-01 8.01635067e-02 2.29461675e+02] [-6.19295773e-01 -1.81608914e-01 7.63865792e-01 -2.70373408e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.1207140569999 meters Centerline goodness : 0.913428 Centerline is valid? [False, False] Translation: X:205.22, Y:229.46, Z:-270.37 [[ 7.65292355e-01 1.00299919e-01 6.35820365e-01 2.05223417e+02] [-1.92738604e-01 9.78170508e-01 7.76806784e-02 2.29462968e+02] [-6.14149364e-01 -1.81995559e-01 7.67918078e-01 -2.70367275e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.150714057 meters Centerline goodness : 0.905432 Centerline is valid? [False, False] Translation: X:205.22, Y:229.46, Z:-270.37 [[ 7.64998989e-01 1.02285045e-01 6.35857151e-01 2.05222555e+02] [-1.92666721e-01 9.78439381e-01 7.44037093e-02 2.29463621e+02] [-6.14537291e-01 -1.79427275e-01 7.68212062e-01 -2.70366222e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.1807140569999 meters Centerline goodness : 0.915561 Centerline is valid? [False, False] Translation: X:205.22, Y:229.47, Z:-270.36 [[ 7.67748382e-01 1.08912450e-01 6.31427351e-01 2.05221877e+02] [-1.95467195e-01 9.78285074e-01 6.89266912e-02 2.29465136e+02] [-6.10208979e-01 -1.76341689e-01 7.72365594e-01 -2.70359858e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.2107140569999 meters Centerline goodness : 0.920683 Centerline is valid? [False, False] Translation: X:205.22, Y:229.47, Z:-270.35 [[ 7.70868300e-01 1.15336521e-01 6.26465922e-01 2.05221848e+02] [-1.98625744e-01 9.77959872e-01 6.43607237e-02 2.29465320e+02] [-6.05235390e-01 -1.74045901e-01 7.76787066e-01 -2.70354566e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.2407140569999 meters Centerline goodness : 0.916001 Centerline is valid? [False, False] Translation: X:205.22, Y:229.46, Z:-270.35 [[ 7.77179705e-01 1.18702399e-01 6.17981753e-01 2.05223204e+02] [-2.00904644e-01 9.77458021e-01 6.49087123e-02 2.29462155e+02] [-5.96346402e-01 -1.74601138e-01 7.83508399e-01 -2.70349483e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.270714057 meters Centerline goodness : 0.912492 Centerline is valid? [False, False] Translation: X:205.22, Y:229.47, Z:-270.35 [[ 7.77529686e-01 1.20803837e-01 6.17133713e-01 2.05223289e+02] [-1.99048388e-01 9.78193828e-01 5.93007040e-02 2.29465156e+02] [-5.96512637e-01 -1.68947529e-01 7.84620550e-01 -2.70347538e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.3007140569999 meters Centerline goodness : 0.930146 Centerline is valid? [False, False] Translation: X:205.22, Y:229.47, Z:-270.34 [[ 7.77532586e-01 1.22971300e-01 6.16701822e-01 2.05222519e+02] [-1.97449793e-01 9.78837729e-01 5.37613133e-02 2.29467563e+02] [-5.97039913e-01 -1.63568820e-01 7.85358889e-01 -2.70344393e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.3307140569999 meters Centerline goodness : 0.920755 Centerline is valid? [False, False] Translation: X:205.22, Y:229.47, Z:-270.34 [[ 7.78217918e-01 1.23348899e-01 6.15761254e-01 2.05223566e+02] [-1.94539476e-01 9.79638614e-01 4.96243651e-02 2.29469193e+02] [-5.97102391e-01 -1.58408442e-01 7.86368553e-01 -2.70344450e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.3607140569999 meters Centerline goodness : 0.924436 Centerline is valid? [False, False] Translation: X:205.22, Y:229.47, Z:-270.34 [[ 7.80523643e-01 1.29363352e-01 6.11594609e-01 2.05222594e+02] [-1.96468799e-01 9.79542690e-01 4.35445586e-02 2.29471684e+02] [-5.93449959e-01 -1.54146816e-01 7.89972092e-01 -2.70337389e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.390714057 meters Centerline goodness : 0.939042 Centerline is valid? [False, False] Translation: X:205.22, Y:229.47, Z:-270.33 [[ 7.81283338e-01 1.33056969e-01 6.09829639e-01 2.05222422e+02] [-1.96843507e-01 9.79681375e-01 3.84322378e-02 2.29474124e+02] [-5.92325063e-01 -1.50067472e-01 7.91600135e-01 -2.70334050e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.4207140569999 meters Centerline goodness : 0.930909 Centerline is valid? [False, False] Translation: X:205.22, Y:229.48, Z:-270.33 [[ 7.84023049e-01 1.39202513e-01 6.04921912e-01 2.05221101e+02] [-1.99287599e-01 9.79388003e-01 3.29179678e-02 2.29477483e+02] [-5.87870999e-01 -1.46361881e-01 7.95604103e-01 -2.70326502e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.4507140569999 meters Centerline goodness : 0.933272 Centerline is valid? [False, False] Translation: X:205.22, Y:229.48, Z:-270.33 [[ 7.85457429e-01 1.37344449e-01 6.03484158e-01 2.05223269e+02] [-1.93526176e-01 9.80675423e-01 2.86937883e-02 2.29477471e+02] [-5.87881150e-01 -1.39327730e-01 7.96858543e-01 -2.70326717e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.4807140569999 meters Centerline goodness : 0.934598 Centerline is valid? [False, False] Translation: X:205.22, Y:229.48, Z:-270.32 [[ 7.86259105e-01 1.38332261e-01 6.02213256e-01 2.05224016e+02] [-1.89600713e-01 9.81613368e-01 2.20627663e-02 2.29480921e+02] [-5.88088590e-01 -1.31527114e-01 7.98030343e-01 -2.70324148e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.510714057 meters Centerline goodness : 0.940665 Centerline is valid? [False, False] Translation: X:205.22, Y:229.49, Z:-270.31 [[ 7.88397071e-01 1.43960296e-01 5.98084854e-01 2.05221038e+02] [-1.89016315e-01 9.81890275e-01 1.28187396e-02 2.29485627e+02] [-5.85408312e-01 -1.23154052e-01 8.01330261e-01 -2.70314847e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.540714057 meters Centerline goodness : 0.935519 Centerline is valid? [False, False] Translation: X:205.22, Y:229.49, Z:-270.31 [[ 7.88949605e-01 1.43521719e-01 5.97461326e-01 2.05222573e+02] [-1.88269049e-01 9.82035295e-01 1.27060909e-02 2.29486496e+02] [-5.84904510e-01 -1.22507941e-01 8.01797056e-01 -2.70314493e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.5707140569999 meters Centerline goodness : 0.942521 Centerline is valid? [False, False] Translation: X:205.22, Y:229.49, Z:-270.31 [[ 7.90028426e-01 1.49105079e-01 5.94661889e-01 2.05219403e+02] [-1.90531948e-01 9.81656121e-01 6.98841060e-03 2.29490678e+02] [-5.82711475e-01 -1.18823131e-01 8.03945520e-01 -2.70305212e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.6007140569999 meters Centerline goodness : 0.939757 Centerline is valid? [False, False] Translation: X:205.22, Y:229.49, Z:-270.30 [[ 7.90458010e-01 1.48224654e-01 5.94311018e-01 2.05220857e+02] [-1.88706719e-01 9.82014745e-01 6.06743283e-03 2.29492869e+02] [-5.82722840e-01 -1.16946533e-01 8.04212410e-01 -2.70301318e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.630714057 meters Centerline goodness : 0.941143 Centerline is valid? [False, False] Translation: X:205.22, Y:229.49, Z:-270.30 [[ 7.91379841e-01 1.47167119e-01 5.93346261e-01 2.05222783e+02] [-1.86228815e-01 9.82495175e-01 4.69666067e-03 2.29493604e+02] [-5.82268645e-01 -1.14215014e-01 8.04933634e-01 -2.70300115e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.660714057 meters Centerline goodness : 0.948552 Centerline is valid? [False, False] Translation: X:205.21, Y:229.50, Z:-270.28 [[ 7.93708524e-01 1.53841612e-01 5.88523183e-01 2.05213676e+02] [-1.86742849e-01 9.82396352e-01 -4.95145641e-03 2.29499700e+02] [-5.78924768e-01 -1.05972483e-01 8.08465179e-01 -2.70283412e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.6907140569999 meters Centerline goodness : 0.947262 Centerline is valid? [False, False] Translation: X:205.21, Y:229.50, Z:-270.28 [[ 7.94575307e-01 1.53695300e-01 5.87390702e-01 2.05214965e+02] [-1.83575442e-01 9.82965566e-01 -8.87428745e-03 2.29501304e+02] [-5.78748770e-01 -1.00779218e-01 8.09254849e-01 -2.70282655e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.7207140569999 meters Centerline goodness : 0.953691 Centerline is valid? [False, True] Translation: X:205.21, Y:229.50, Z:-270.27 [[ 7.97796899e-01 1.57126967e-01 5.82092110e-01 2.05214280e+02] [-1.82841703e-01 9.83031601e-01 -1.47575107e-02 2.29503900e+02] [-5.74533741e-01 -9.46572162e-02 8.12988925e-01 -2.70273803e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.750714057 meters Centerline goodness : 0.950636 Centerline is valid? [True, True] Translation: X:205.29, Y:229.56, Z:-270.25 [[ 7.98441180e-01 2.46941475e-01 5.49100711e-01 2.05286850e+02] [-1.95552610e-01 9.68936283e-01 -1.51398999e-01 2.29556594e+02] [-5.69430293e-01 1.35051182e-02 8.21928679e-01 -2.70246246e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.780714057 meters Centerline goodness : 0.952211 Centerline is valid? [True, True] Translation: X:205.30, Y:229.54, Z:-270.28 [[ 8.00083652e-01 2.26319985e-01 5.55558650e-01 2.05301518e+02] [-1.92479630e-01 9.73987918e-01 -1.19578960e-01 2.29537368e+02] [-5.68170521e-01 -1.12605527e-02 8.22833798e-01 -2.70277256e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.8107140569999 meters Centerline goodness : 0.959273 Centerline is valid? [True, True] Translation: X:205.33, Y:229.53, Z:-270.31 [[ 7.96983173e-01 2.21186377e-01 5.62044846e-01 2.05330145e+02] [-1.88194218e-01 9.75150061e-01 -1.16898650e-01 2.29527162e+02] [-5.73934455e-01 -1.26073332e-02 8.18804187e-01 -2.70307349e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.8407140569999 meters Centerline goodness : 0.948603 Centerline is valid? [True, False] Translation: X:205.33, Y:229.52, Z:-270.30 [[ 8.01986856e-01 2.19539915e-01 5.55535155e-01 2.05329509e+02] [-1.93380729e-01 9.75350940e-01 -1.06275289e-01 2.29521796e+02] [-5.65173403e-01 -2.21984085e-02 8.24673423e-01 -2.70301766e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.8707140569999 meters Centerline goodness : 0.957475 Centerline is valid? [False, True] Translation: X:205.33, Y:229.52, Z:-270.29 [[ 8.03765835e-01 2.24160743e-01 5.51101119e-01 2.05326189e+02] [-1.96681068e-01 9.74338400e-01 -1.09458853e-01 2.29524594e+02] [-5.61495360e-01 -2.04118697e-02 8.27228092e-01 -2.70292499e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.900714057 meters Centerline goodness : 0.958081 Centerline is valid? [True, True] Translation: X:205.36, Y:229.53, Z:-270.30 [[ 8.01885560e-01 2.38065823e-01 5.48000194e-01 2.05356277e+02] [-1.98472461e-01 9.71243393e-01 -1.31510278e-01 2.29528946e+02] [-5.63549670e-01 -3.30675404e-03 8.26075562e-01 -2.70304480e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.9307140569999 meters Centerline goodness : 0.963744 Centerline is valid? [True, True] Translation: X:205.38, Y:229.52, Z:-270.33 [[ 8.01885070e-01 2.23033952e-01 5.54288906e-01 2.05378730e+02] [-1.90069846e-01 9.74744745e-01 -1.17243913e-01 2.29515436e+02] [-5.66439572e-01 -1.13374635e-02 8.24025287e-01 -2.70328307e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.9607140569999 meters Centerline goodness : 0.963779 Centerline is valid? [True, True] Translation: X:205.40, Y:229.51, Z:-270.35 [[ 7.99503781e-01 2.29408440e-01 5.55126536e-01 2.05404515e+02] [-1.91950550e-01 9.73311755e-01 -1.25774460e-01 2.29508779e+02] [-5.69164906e-01 -5.99968824e-03 8.22201504e-01 -2.70345119e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.9907140569999 meters Centerline goodness : 0.965016 Centerline is valid? [True, True] Translation: X:205.43, Y:229.50, Z:-270.36 [[ 8.04980808e-01 2.13672209e-01 5.53489012e-01 2.05429560e+02] [-1.87365821e-01 9.76709968e-01 -1.04554715e-01 2.29495965e+02] [-5.62938672e-01 -1.95403840e-02 8.26267647e-01 -2.70360716e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.020714057 meters Centerline goodness : 0.965209 Centerline is valid? [True, True] Translation: X:205.47, Y:229.51, Z:-270.36 [[ 8.06604485e-01 2.39533585e-01 5.40382148e-01 2.05473691e+02] [-1.88099238e-01 9.70703076e-01 -1.49513264e-01 2.29505881e+02] [-5.60364061e-01 1.89525991e-02 8.28029539e-01 -2.70364334e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.0507140569999 meters Centerline goodness : 0.790627 Centerline is valid? [True, False] Translation: X:205.47, Y:229.50, Z:-270.36 [[ 8.11516487e-01 2.38283838e-01 5.33537069e-01 2.05472473e+02] [-1.92711705e-01 9.71130036e-01 -1.40601038e-01 2.29499741e+02] [-5.51636828e-01 1.12812223e-02 8.34008120e-01 -2.70358800e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.0807140569999 meters Centerline goodness : 0.963457 Centerline is valid? [False, True] Translation: X:205.47, Y:229.49, Z:-270.35 [[ 8.16306705e-01 2.37903979e-01 5.26350700e-01 2.05470868e+02] [-1.97687303e-01 9.71280275e-01 -1.32417363e-01 2.29493521e+02] [-5.42736670e-01 4.04033114e-03 8.39893197e-01 -2.70353143e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.1107140569999 meters Centerline goodness : 0.970764 Centerline is valid? [True, True] Translation: X:205.50, Y:229.49, Z:-270.37 [[ 8.17816237e-01 2.28644333e-01 5.28108295e-01 2.05495266e+02] [-1.91928598e-01 9.73509988e-01 -1.24264699e-01 2.29486858e+02] [-5.42531119e-01 2.66604130e-04 8.40035662e-01 -2.70370153e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.140714057 meters Centerline goodness : 0.968872 Centerline is valid? [True, True] Translation: X:205.53, Y:229.49, Z:-270.39 [[ 8.16294011e-01 2.51211905e-01 5.20150619e-01 2.05529756e+02] [-1.97165061e-01 9.67574171e-01 -1.57880217e-01 2.29487041e+02] [-5.42945694e-01 2.63211473e-02 8.39355212e-01 -2.70385841e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.1707140569999 meters Centerline goodness : 0.977718 Centerline is valid? [True, True] Translation: X:205.51, Y:229.45, Z:-270.46 [[ 8.06493761e-01 1.61892872e-01 5.68646209e-01 2.05507535e+02] [-1.68163815e-01 9.84868633e-01 -4.18892153e-02 2.29451446e+02] [-5.66823380e-01 -6.18423252e-02 8.21514931e-01 -2.70462794e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.2007140569999 meters Centerline goodness : 0.971366 Centerline is valid? [True, True] Translation: X:205.61, Y:229.51, Z:-270.39 [[ 8.16248366e-01 2.97336175e-01 4.95307787e-01 2.05613380e+02] [-2.01356873e-01 9.50041725e-01 -2.38487172e-01 2.29505073e+02] [-5.41473927e-01 9.49311369e-02 8.35340688e-01 -2.70389713e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.2307140569999 meters Centerline goodness : 0.972959 Centerline is valid? [True, True] Translation: X:205.60, Y:229.46, Z:-270.45 [[ 8.18347336e-01 2.36682908e-01 5.23725920e-01 2.05602613e+02] [-1.94822849e-01 9.71552744e-01 -1.34645177e-01 2.29459939e+02] [-5.40695567e-01 8.15274599e-03 8.41178838e-01 -2.70449409e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.260714057 meters Centerline goodness : 0.975032 Centerline is valid? [True, True] Translation: X:205.63, Y:229.46, Z:-270.47 [[ 8.21958231e-01 2.37525410e-01 5.17654660e-01 2.05632039e+02] [-1.97718077e-01 9.71363081e-01 -1.31762387e-01 2.29455317e+02] [-5.34127540e-01 5.95349462e-03 8.45382947e-01 -2.70467437e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.290714057 meters Centerline goodness : 0.975125 Centerline is valid? [True, True] Translation: X:205.66, Y:229.45, Z:-270.48 [[ 8.21344621e-01 2.45306402e-01 5.14992992e-01 2.05662027e+02] [-2.00363568e-01 9.69350330e-01 -1.42177280e-01 2.29452625e+02] [-5.34085624e-01 1.35907104e-02 8.45321145e-01 -2.70480506e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.3207140569999 meters Centerline goodness : 0.975885 Centerline is valid? [True, True] Translation: X:205.68, Y:229.44, Z:-270.50 [[ 8.20918844e-01 2.42430916e-01 5.17029498e-01 2.05683270e+02] [-2.02475960e-01 9.70156613e-01 -1.33415259e-01 2.29443821e+02] [-5.33943571e-01 4.83705639e-03 8.45506278e-01 -2.70501150e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.3507140569999 meters Centerline goodness : 0.973559 Centerline is valid? [True, True] Translation: X:205.71, Y:229.46, Z:-270.50 [[ 8.19200442e-01 2.68250662e-01 5.06904545e-01 2.05707340e+02] [-2.04973534e-01 9.62434699e-01 -1.78059825e-01 2.29464432e+02] [-5.35627189e-01 4.19646712e-02 8.43411217e-01 -2.70500556e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.380714057 meters Centerline goodness : 0.979813 Centerline is valid? [True, True] Translation: X:205.71, Y:229.41, Z:-270.56 [[ 8.21416542e-01 2.04397861e-01 5.32443781e-01 2.05706092e+02] [-1.98368319e-01 9.77675427e-01 -6.92875903e-02 2.29409862e+02] [-5.34719436e-01 -4.87060051e-02 8.43624828e-01 -2.70557794e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.410714057 meters Centerline goodness : 0.979342 Centerline is valid? [True, True] Translation: X:205.76, Y:229.43, Z:-270.55 [[ 8.19846582e-01 2.50021201e-01 5.15112591e-01 2.05755302e+02] [-2.05421565e-01 9.68173194e-01 -1.42977783e-01 2.29432960e+02] [-5.34465680e-01 1.14046121e-02 8.45113230e-01 -2.70549068e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.4407140569999 meters Centerline goodness : 0.980687 Centerline is valid? [True, True] Translation: X:205.77, Y:229.42, Z:-270.57 [[ 8.19244813e-01 2.38950075e-01 5.21287635e-01 2.05771927e+02] [-2.03937872e-01 9.71022620e-01 -1.24597017e-01 2.29420171e+02] [-5.35954551e-01 -4.23483089e-03 8.44236214e-01 -2.70568909e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.4707140569999 meters Centerline goodness : 0.978378 Centerline is valid? [True, True] Translation: X:205.81, Y:229.43, Z:-270.58 [[ 8.19273076e-01 2.62385838e-01 5.09848310e-01 2.05812001e+02] [-2.08843420e-01 9.64631415e-01 -1.60843588e-01 2.29425230e+02] [-5.34018776e-01 2.52963564e-02 8.45094102e-01 -2.70579912e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.500714057 meters Centerline goodness : 0.981674 Centerline is valid? [True, True] Translation: X:205.83, Y:229.41, Z:-270.61 [[ 8.16050736e-01 2.43875153e-01 5.24009644e-01 2.05825436e+02] [-2.04898998e-01 9.69806474e-01 -1.32256581e-01 2.29407968e+02] [-5.40442039e-01 5.59029061e-04 8.41381061e-01 -2.70605940e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.530714057 meters Centerline goodness : 0.981040 Centerline is valid? [True, True] Translation: X:205.86, Y:229.43, Z:-270.59 [[ 8.18539967e-01 2.70134555e-01 5.06971050e-01 2.05857809e+02] [-2.07086362e-01 9.61954030e-01 -1.78212464e-01 2.29427202e+02] [-5.35824189e-01 4.08872340e-02 8.43339002e-01 -2.70591095e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.5607140569999 meters Centerline goodness : 0.983119 Centerline is valid? [True, True] Translation: X:205.86, Y:229.38, Z:-270.66 [[ 8.17281189e-01 2.07986138e-01 5.37394850e-01 2.05855861e+02] [-1.98205510e-01 9.77151086e-01 -7.67484941e-02 2.29376433e+02] [-5.41078584e-01 -4.37895198e-02 8.39831199e-01 -2.70656837e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.5907140569999 meters Centerline goodness : 0.977431 Centerline is valid? [True, True] Translation: X:205.93, Y:229.42, Z:-270.61 [[ 8.24102792e-01 2.90179870e-01 4.86467091e-01 2.05925708e+02] [-2.13976500e-01 9.54660663e-01 -2.06971198e-01 2.29418983e+02] [-5.24469871e-01 6.64730165e-02 8.48830191e-01 -2.70607207e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.6207140569999 meters Centerline goodness : 0.980078 Centerline is valid? [True, True] Translation: X:205.91, Y:229.37, Z:-270.68 [[ 8.21906092e-01 2.20810262e-01 5.25083997e-01 2.05912441e+02] [-2.01019158e-01 9.74937485e-01 -9.53320451e-02 2.29370155e+02] [-5.32974365e-01 -2.71979543e-02 8.45694151e-01 -2.70676433e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.650714057 meters Centerline goodness : 0.982303 Centerline is valid? [True, True] Translation: X:205.94, Y:229.37, Z:-270.69 [[ 8.19560310e-01 2.23409013e-01 5.27645062e-01 2.05938094e+02] [-1.98654689e-01 9.74529071e-01 -1.04064424e-01 2.29366701e+02] [-5.37454382e-01 -1.95320944e-02 8.43066595e-01 -2.70694164e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.6807140569999 meters Centerline goodness : 0.981386 Centerline is valid? [True, True] Translation: X:205.99, Y:229.38, Z:-270.69 [[ 8.22198888e-01 2.53533424e-01 5.09617299e-01 2.05986747e+02] [-2.00024580e-01 9.66914363e-01 -1.58324928e-01 2.29378554e+02] [-5.32896948e-01 2.82385940e-02 8.45708830e-01 -2.70686587e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.7107140569999 meters Centerline goodness : 0.982455 Centerline is valid? [True, True] Translation: X:206.00, Y:229.36, Z:-270.72 [[ 8.21064296e-01 2.35109565e-01 5.20170083e-01 2.06002378e+02] [-1.97588965e-01 9.71967116e-01 -1.27430477e-01 2.29357744e+02] [-5.35548339e-01 1.84874623e-03 8.44502551e-01 -2.70719099e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.7407140569999 meters Centerline goodness : 0.992023 Centerline is valid? [True, True] Translation: X:205.98, Y:229.28, Z:-270.81 [[ 7.95982933e-01 1.13624035e-01 5.94559289e-01 2.05983296e+02] [-1.60864487e-01 9.86612196e-01 2.68140243e-02 2.29278681e+02] [-5.83552728e-01 -1.16986981e-01 8.03604542e-01 -2.70806155e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.770714057 meters Centerline goodness : 0.983607 Centerline is valid? [True, True] Translation: X:206.14, Y:229.41, Z:-270.65 [[ 8.22050190e-01 3.55108022e-01 4.45119958e-01 2.06139386e+02] [-2.02643571e-01 9.12982583e-01 -3.54116347e-01 2.29413464e+02] [-5.32136325e-01 2.00900713e-01 8.22477863e-01 -2.70653416e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.8007140569999 meters Centerline goodness : 0.983278 Centerline is valid? [True, True] Translation: X:206.08, Y:229.33, Z:-270.77 [[ 8.23729507e-01 2.30554998e-01 5.17990436e-01 2.06080168e+02] [-1.89307620e-01 9.73000464e-01 -1.32033031e-01 2.29332267e+02] [-5.34445810e-01 1.06999675e-02 8.45135011e-01 -2.70770363e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.8307140569999 meters Centerline goodness : 0.983278 Centerline is valid? [True, True] Translation: X:206.10, Y:229.33, Z:-270.79 [[ 8.24670875e-01 2.30599651e-01 5.16470472e-01 2.06104697e+02] [-1.89678842e-01 9.72991699e-01 -1.31564016e-01 2.29325490e+02] [-5.32860099e-01 1.05334914e-02 8.46137791e-01 -2.70786499e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.8607140569999 meters Centerline goodness : 0.993093 Centerline is valid? [True, True] Translation: X:206.09, Y:229.25, Z:-270.87 [[ 8.00523501e-01 1.12258249e-01 5.88693647e-01 2.06086833e+02] [-1.54266639e-01 9.87797190e-01 2.14129816e-02 2.29246878e+02] [-5.79106146e-01 -1.07957385e-01 8.08072568e-01 -2.70874823e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.890714057 meters Centerline goodness : 0.993760 Centerline is valid? [True, True] Translation: X:206.19, Y:229.32, Z:-270.83 [[ 8.05104497e-01 2.27483749e-01 5.47775403e-01 2.06186670e+02] [-1.52182298e-01 9.71838446e-01 -1.79918267e-01 2.29319349e+02] [-5.73277678e-01 6.14912861e-02 8.17050503e-01 -2.70825609e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.9207140569999 meters Centerline goodness : 0.993544 Centerline is valid? [True, True] Translation: X:206.22, Y:229.32, Z:-270.83 [[ 8.07672292e-01 2.40501883e-01 5.38353335e-01 2.06216421e+02] [-1.53261467e-01 9.67280501e-01 -2.02186434e-01 2.29321456e+02] [-5.69364902e-01 8.07915590e-02 8.18105331e-01 -2.70831402e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.9507140569999 meters Centerline goodness : 0.993932 Centerline is valid? [True, True] Translation: X:206.23, Y:229.31, Z:-270.85 [[ 8.08932737e-01 2.35447361e-01 5.38695060e-01 2.06233892e+02] [-1.52233176e-01 9.68938579e-01 -1.94892509e-01 2.29313025e+02] [-5.67849353e-01 7.56476704e-02 8.19649036e-01 -2.70849277e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.9807140569999 meters Centerline goodness : 0.993569 Centerline is valid? [True, True] Translation: X:206.25, Y:229.31, Z:-270.86 [[ 8.14070377e-01 2.45981241e-01 5.26101370e-01 2.06254687e+02] [-1.57053439e-01 9.65364131e-01 -2.08341815e-01 2.29309957e+02] [-5.59127570e-01 8.69788701e-02 8.24506542e-01 -2.70857700e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.010714057 meters Centerline goodness : 0.992356 Centerline is valid? [True, True] Translation: X:206.26, Y:229.28, Z:-270.90 [[ 8.07333957e-01 2.07748693e-01 5.52315456e-01 2.06257238e+02] [-1.49397635e-01 9.77443732e-01 -1.49278593e-01 2.29280927e+02] [-5.70869713e-01 3.80030543e-02 8.20160679e-01 -2.70901343e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.040714057 meters Centerline goodness : 0.990464 Centerline is valid? [True, True] Translation: X:206.29, Y:229.31, Z:-270.87 [[ 8.14845858e-01 2.68184027e-01 5.13910066e-01 2.06288279e+02] [-1.70871733e-01 9.58277061e-01 -2.29146080e-01 2.29307515e+02] [-5.53921546e-01 9.89060304e-02 8.26673163e-01 -2.70870432e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.0707140569999 meters Centerline goodness : 0.994339 Centerline is valid? [True, True] Translation: X:206.28, Y:229.25, Z:-270.95 [[ 8.07264389e-01 1.76373890e-01 5.63219724e-01 2.06282693e+02] [-1.47166336e-01 9.84313701e-01 -9.73067736e-02 2.29248012e+02] [-5.71547265e-01 -4.33469025e-03 8.20557697e-01 -2.70952821e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.1007140569999 meters Centerline goodness : 0.987289 Centerline is valid? [True, True] Translation: X:206.33, Y:229.29, Z:-270.90 [[ 8.14484421e-01 2.63928339e-01 5.16678778e-01 2.06325413e+02] [-1.74329977e-01 9.60717938e-01 -2.15940046e-01 2.29288628e+02] [-5.53375268e-01 8.58072037e-02 8.28500415e-01 -2.70901650e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.130714057 meters Centerline goodness : 0.993366 Centerline is valid? [True, True] Translation: X:206.32, Y:229.23, Z:-270.99 [[ 8.05640213e-01 1.68971445e-01 5.67796177e-01 2.06323120e+02] [-1.47125252e-01 9.85499961e-01 -8.45221152e-02 2.29226640e+02] [-5.73844934e-01 -1.54427405e-02 8.18818364e-01 -2.70990664e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.160714057 meters Centerline goodness : 0.990744 Centerline is valid? [True, True] Translation: X:206.39, Y:229.27, Z:-270.94 [[ 8.17168835e-01 2.62550361e-01 5.13130006e-01 2.06385646e+02] [-1.68422323e-01 9.60145620e-01 -2.23056739e-01 2.29272766e+02] [-5.51243156e-01 9.58524677e-02 8.28820419e-01 -2.70939511e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.1907140569999 meters Centerline goodness : 0.993533 Centerline is valid? [True, True] Translation: X:206.39, Y:229.23, Z:-271.01 [[ 8.11885903e-01 1.97382313e-01 5.49437443e-01 2.06391351e+02] [-1.50109556e-01 9.80050018e-01 -1.30265435e-01 2.29229662e+02] [-5.64188268e-01 2.32848600e-02 8.25317765e-01 -2.71005777e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.2207140569999 meters Centerline goodness : 0.985874 Centerline is valid? [True, True] Translation: X:206.41, Y:229.25, Z:-270.99 [[ 8.11662623e-01 2.34046703e-01 5.35187749e-01 2.06412129e+02] [-1.59238279e-01 9.70173686e-01 -1.82773603e-01 2.29246293e+02] [-5.62002630e-01 6.31281259e-02 8.24722913e-01 -2.70992886e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.250714057 meters Centerline goodness : 0.987712 Centerline is valid? [True, True] Translation: X:206.43, Y:229.23, Z:-271.02 [[ 8.16137371e-01 2.17303303e-01 5.35442869e-01 2.06431126e+02] [-1.56746057e-01 9.75109305e-01 -1.56820013e-01 2.29225946e+02] [-5.56192831e-01 4.40581149e-02 8.29884581e-01 -2.71018268e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.280714057 meters Centerline goodness : 0.989183 Centerline is valid? [True, True] Translation: X:206.45, Y:229.22, Z:-271.04 [[ 8.18472689e-01 2.01702123e-01 5.37976496e-01 2.06449809e+02] [-1.50171004e-01 9.78903893e-01 -1.38549042e-01 2.29218681e+02] [-5.54572923e-01 3.26101363e-02 8.31495912e-01 -2.71035462e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.3107140569999 meters Centerline goodness : 0.991147 Centerline is valid? [True, True] Translation: X:206.48, Y:229.21, Z:-271.05 [[ 8.17799206e-01 2.14979996e-01 5.33842730e-01 2.06478565e+02] [-1.56250918e-01 9.75707753e-01 -1.53557908e-01 2.29207828e+02] [-5.53886369e-01 4.21661183e-02 8.31523847e-01 -2.71051346e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.3407140569999 meters Centerline goodness : 0.979172 Centerline is valid? [True, True] Translation: X:206.48, Y:229.20, Z:-271.07 [[ 8.10134460e-01 2.09049874e-01 5.47704580e-01 2.06480436e+02] [-1.64809744e-01 9.77796140e-01 -1.29431283e-01 2.29196306e+02] [-5.62601017e-01 1.45896912e-02 8.26599804e-01 -2.71074960e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.3707140569999 meters Centerline goodness : 0.978420 Centerline is valid? [True, True] Translation: X:206.51, Y:229.19, Z:-271.09 [[ 8.13643219e-01 2.13526162e-01 5.40732180e-01 2.06506804e+02] [-1.63152375e-01 9.76596437e-01 -1.40145286e-01 2.29194094e+02] [-5.58001806e-01 2.58065221e-02 8.29438369e-01 -2.71087144e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.400714057 meters Centerline goodness : 0.976554 Centerline is valid? [True, True] Translation: X:206.52, Y:229.18, Z:-271.11 [[ 8.11560744e-01 2.00770965e-01 5.48689510e-01 2.06520229e+02] [-1.63841895e-01 9.79628598e-01 -1.16119093e-01 2.29178307e+02] [-5.60825277e-01 4.33936867e-03 8.27922809e-01 -2.71111776e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.4307140569999 meters Centerline goodness : 0.981938 Centerline is valid? [True, True] Translation: X:206.55, Y:229.16, Z:-271.14 [[ 8.11851603e-01 1.83613743e-01 5.54240894e-01 2.06549664e+02] [-1.51051324e-01 9.82997925e-01 -1.04396246e-01 2.29159796e+02] [-5.63986235e-01 1.03543920e-03 8.25783540e-01 -2.71142216e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.4607140569999 meters Centerline goodness : 0.978600 Centerline is valid? [True, True] Translation: X:206.58, Y:229.17, Z:-271.15 [[ 8.07933049e-01 2.09600204e-01 5.50737635e-01 2.06576282e+02] [-1.58720973e-01 9.77467025e-01 -1.39161304e-01 2.29166491e+02] [-5.67496115e-01 2.50194032e-02 8.22995862e-01 -2.71146916e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.4907140569999 meters Centerline goodness : 0.979687 Centerline is valid? [True, True] Translation: X:206.60, Y:229.15, Z:-271.17 [[ 8.09609788e-01 1.97293692e-01 5.52817502e-01 2.06599583e+02] [-1.55026348e-01 9.80248435e-01 -1.22799991e-01 2.29152021e+02] [-5.66126155e-01 1.37187962e-02 8.24204448e-01 -2.71170722e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.520714057 meters Centerline goodness : 0.978163 Centerline is valid? [True, True] Translation: X:206.62, Y:229.16, Z:-271.17 [[ 8.08941811e-01 2.16970089e-01 5.46385511e-01 2.06624682e+02] [-1.61296156e-01 9.75650304e-01 -1.48627164e-01 2.29156073e+02] [-5.65328839e-01 3.21008452e-02 8.24240766e-01 -2.71174314e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.5507140569999 meters Centerline goodness : 0.978811 Centerline is valid? [True, True] Translation: X:206.63, Y:229.14, Z:-271.20 [[ 8.07574440e-01 1.97937680e-01 5.55557557e-01 2.06633703e+02] [-1.61141273e-01 9.80208901e-01 -1.14995651e-01 2.29138472e+02] [-5.67324435e-01 3.34429642e-03 8.23487584e-01 -2.71201326e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.5807140569999 meters Centerline goodness : 0.976893 Centerline is valid? [True, True] Translation: X:206.66, Y:229.14, Z:-271.20 [[ 8.07193340e-01 2.18852963e-01 5.48217377e-01 2.06658786e+02] [-1.69414230e-01 9.75550112e-01 -1.40002848e-01 2.29140985e+02] [-5.65453562e-01 2.01335411e-02 8.24534359e-01 -2.71202812e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.6107140569999 meters Centerline goodness : 0.978803 Centerline is valid? [True, True] Translation: X:206.68, Y:229.12, Z:-271.24 [[ 8.06588445e-01 1.93013442e-01 5.58713604e-01 2.06681154e+02] [-1.61672728e-01 9.81182413e-01 -1.05560416e-01 2.29117526e+02] [-5.68574542e-01 -5.18494056e-03 8.22615406e-01 -2.71241096e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.640714057 meters Centerline goodness : 0.972725 Centerline is valid? [True, True] Translation: X:206.71, Y:229.13, Z:-271.23 [[ 8.04165929e-01 2.26699799e-01 5.49476441e-01 2.06705538e+02] [-1.73978161e-01 9.73700129e-01 -1.47104240e-01 2.29129970e+02] [-5.68373784e-01 2.26993172e-02 8.22457283e-01 -2.71234621e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.6707140569999 meters Centerline goodness : 0.972796 Centerline is valid? [True, True] Translation: X:206.72, Y:229.11, Z:-271.27 [[ 8.00691059e-01 2.10668339e-01 5.60814299e-01 2.06722847e+02] [-1.74437494e-01 9.77552314e-01 -1.18165283e-01 2.29108333e+02] [-5.73119000e-01 -3.21315559e-03 8.19465855e-01 -2.71269012e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.7007140569999 meters Centerline goodness : 0.939028 Centerline is valid? [True, False] Translation: X:206.73, Y:229.10, Z:-271.28 [[ 7.99912684e-01 2.03785800e-01 5.64456416e-01 2.06728938e+02] [-1.73897074e-01 9.78934728e-01 -1.06988811e-01 2.29102906e+02] [-5.74368788e-01 -1.25756121e-02 8.18500060e-01 -2.71277162e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.7307140569999 meters Centerline goodness : 0.985769 Centerline is valid? [False, True] Translation: X:206.73, Y:229.00, Z:-271.34 [[ 7.92937842e-01 8.98463555e-02 6.02641860e-01 2.06727390e+02] [-2.09942395e-01 9.68789224e-01 1.31801480e-01 2.29000405e+02] [-5.71991057e-01 -2.31030456e-01 7.87052196e-01 -2.71339971e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.760714057 meters Centerline goodness : 0.981105 Centerline is valid? [True, True] Translation: X:206.86, Y:229.16, Z:-271.22 [[ 7.92671819e-01 3.49130956e-01 4.99778914e-01 2.06863357e+02] [-2.36296970e-01 9.31645863e-01 -2.76042983e-01 2.29158755e+02] [-5.61992108e-01 1.00715250e-01 8.20988008e-01 -2.71217686e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.790714057 meters Centerline goodness : 0.974890 Centerline is valid? [True, True] Translation: X:206.82, Y:229.04, Z:-271.31 [[ 7.93095032e-01 2.27584842e-01 5.64982663e-01 2.06820769e+02] [-2.47137032e-01 9.68025153e-01 -4.30184874e-02 2.29040864e+02] [-5.56707784e-01 -1.05510390e-01 8.23980583e-01 -2.71309172e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.8207140569999 meters Centerline goodness : 0.974806 Centerline is valid? [True, True] Translation: X:206.88, Y:229.07, Z:-271.30 [[ 7.91521362e-01 2.86481499e-01 5.39835424e-01 2.06876913e+02] [-2.52116777e-01 9.57721770e-01 -1.38586224e-01 2.29068752e+02] [-5.56714527e-01 -2.64076103e-02 8.30284032e-01 -2.71296762e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.8507140569999 meters Centerline goodness : 0.972135 Centerline is valid? [True, True] Translation: X:206.90, Y:229.06, Z:-271.31 [[ 7.89839742e-01 2.88606886e-01 5.41164714e-01 2.06896774e+02] [-2.56144208e-01 9.56952107e-01 -1.36502049e-01 2.29058580e+02] [-5.57264145e-01 -3.08014637e-02 8.29763787e-01 -2.71312878e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.880714057 meters Centerline goodness : 0.987069 Centerline is valid? [True, True] Translation: X:206.93, Y:229.04, Z:-271.36 [[ 7.92599357e-01 2.56094179e-01 5.53355248e-01 2.06930021e+02] [-2.40852119e-01 9.65216738e-01 -1.01719741e-01 2.29037924e+02] [-5.60157581e-01 -5.26537830e-02 8.26710992e-01 -2.71356157e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.910714057 meters Centerline goodness : 0.987537 Centerline is valid? [True, True] Translation: X:206.99, Y:229.06, Z:-271.35 [[ 7.90557856e-01 3.07743033e-01 5.29445466e-01 2.06985412e+02] [-2.46696170e-01 9.51345922e-01 -1.84612939e-01 2.29058961e+02] [-5.60499130e-01 1.53350402e-02 8.28013020e-01 -2.71346734e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.9407140569999 meters Centerline goodness : 0.984512 Centerline is valid? [True, True] Translation: X:207.01, Y:229.05, Z:-271.37 [[ 7.89247840e-01 3.06654991e-01 5.32024965e-01 2.07008094e+02] [-2.48821100e-01 9.51775583e-01 -1.79475068e-01 2.29047054e+02] [-5.61405296e-01 9.27127264e-03 8.27489055e-01 -2.71369965e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.9707140569999 meters Centerline goodness : 0.974621 Centerline is valid? [True, True] Translation: X:207.03, Y:229.06, Z:-271.35 [[ 7.84466729e-01 3.53891948e-01 5.09286207e-01 2.07029614e+02] [-2.69082732e-01 9.34104316e-01 -2.34613747e-01 2.29057746e+02] [-5.58754360e-01 4.70065554e-02 8.27999969e-01 -2.71348851e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.000714057 meters Centerline goodness : 0.985737 Centerline is valid? [True, True] Translation: X:207.03, Y:229.00, Z:-271.43 [[ 7.85868639e-01 2.67106510e-01 5.57731652e-01 2.07025433e+02] [-2.53324869e-01 9.61809250e-01 -1.03679685e-01 2.28998209e+02] [-5.64124981e-01 -5.98086842e-02 8.23520448e-01 -2.71428010e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.030714057 meters Centerline goodness : 0.988994 Centerline is valid? [True, True] Translation: X:207.08, Y:229.03, Z:-271.40 [[ 7.87211307e-01 3.28916777e-01 5.21643663e-01 2.07084052e+02] [-2.55294866e-01 9.43815852e-01 -2.09847969e-01 2.29034127e+02] [-5.61358076e-01 3.20217452e-02 8.26953275e-01 -2.71402628e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.0607140569999 meters Centerline goodness : 0.977733 Centerline is valid? [True, True] Translation: X:207.10, Y:229.03, Z:-271.41 [[ 7.83665748e-01 3.48522214e-01 5.14198660e-01 2.07095745e+02] [-2.71321846e-01 9.36684768e-01 -2.21373217e-01 2.29027026e+02] [-5.58795536e-01 3.39692780e-02 8.28609460e-01 -2.71407536e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.0907140569999 meters Centerline goodness : 0.989406 Centerline is valid? [True, True] Translation: X:207.10, Y:228.99, Z:-271.46 [[ 7.86236212e-01 2.80202965e-01 5.50743967e-01 2.07095636e+02] [-2.53599380e-01 9.59078930e-01 -1.25916484e-01 2.28986893e+02] [-5.63489106e-01 -4.06682288e-02 8.25121883e-01 -2.71464245e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.1207140569999 meters Centerline goodness : 0.978943 Centerline is valid? [True, True] Translation: X:207.14, Y:229.00, Z:-271.44 [[ 7.85810384e-01 3.37873036e-01 5.18019163e-01 2.07139111e+02] [-2.66347105e-01 9.40811975e-01 -2.09599731e-01 2.29004505e+02] [-5.58176729e-01 2.67327409e-02 8.29291324e-01 -2.71443856e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.150714057 meters Centerline goodness : 0.988993 Centerline is valid? [True, True] Translation: X:207.14, Y:228.97, Z:-271.49 [[ 7.86261120e-01 2.85874405e-01 5.47785794e-01 2.07144141e+02] [-2.49760206e-01 9.57924551e-01 -1.41422746e-01 2.28972988e+02] [-5.65166605e-01 -2.56198863e-02 8.24578881e-01 -2.71492926e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.1807140569999 meters Centerline goodness : 0.983302 Centerline is valid? [True, True] Translation: X:207.17, Y:228.97, Z:-271.49 [[ 7.86181891e-01 3.11915555e-01 5.33504190e-01 2.07169780e+02] [-2.57457014e-01 9.50109208e-01 -1.76091960e-01 2.28974272e+02] [-5.61813065e-01 1.08591429e-03 8.27263502e-01 -2.71488889e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.2107140569999 meters Centerline goodness : 0.987891 Centerline is valid? [True, True] Translation: X:207.20, Y:228.97, Z:-271.51 [[ 7.88690466e-01 3.02003911e-01 5.35500688e-01 2.07199520e+02] [-2.43527481e-01 9.53246522e-01 -1.78928575e-01 2.28969469e+02] [-5.64501297e-01 1.07101275e-02 8.25362695e-01 -2.71511916e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.2407140569999 meters Centerline goodness : 0.987891 Centerline is valid? [True, True] Translation: X:207.23, Y:228.96, Z:-271.53 [[ 7.89744743e-01 3.05829170e-01 5.31762879e-01 2.07227009e+02] [-2.43082756e-01 9.51916417e-01 -1.86456186e-01 2.28962789e+02] [-5.63217555e-01 1.79904064e-02 8.26112784e-01 -2.71527116e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.270714057 meters Centerline goodness : 0.978866 Centerline is valid? [True, True] Translation: X:207.25, Y:228.96, Z:-271.53 [[ 7.91054890e-01 3.25337969e-01 5.18061161e-01 2.07248463e+02] [-2.52742557e-01 9.45013564e-01 -2.07534488e-01 2.28959618e+02] [-5.57093673e-01 3.32350688e-02 8.29784351e-01 -2.71525664e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.3007140569999 meters Centerline goodness : 0.978599 Centerline is valid? [True, True] Translation: X:207.25, Y:228.94, Z:-271.56 [[ 7.91356309e-01 2.98829818e-01 5.33344103e-01 2.07253374e+02] [-2.49967122e-01 9.54299258e-01 -1.63796718e-01 2.28938245e+02] [-5.57917225e-01 -3.69692406e-03 8.29888368e-01 -2.71556340e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.3307140569999 meters Centerline goodness : 0.987808 Centerline is valid? [True, True] Translation: X:207.27, Y:228.92, Z:-271.59 [[ 7.91208472e-01 2.72487211e-01 5.47485044e-01 2.07274931e+02] [-2.36374618e-01 9.61932603e-01 -1.37159421e-01 2.28919563e+02] [-5.64017901e-01 -2.08898718e-02 8.25498286e-01 -2.71591188e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.3607140569999 meters Centerline goodness : 0.987897 Centerline is valid? [True, True] Translation: X:207.32, Y:228.93, Z:-271.59 [[ 7.91760825e-01 2.98387414e-01 5.32991320e-01 2.07315631e+02] [-2.33736881e-01 9.54156896e-01 -1.86953707e-01 2.28928887e+02] [-5.64341977e-01 2.34428921e-02 8.25208195e-01 -2.71590707e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.390714057 meters Centerline goodness : 0.987321 Centerline is valid? [True, True] Translation: X:207.34, Y:228.92, Z:-271.61 [[ 7.91534022e-01 2.97259260e-01 5.33957699e-01 2.07338450e+02] [-2.32128087e-01 9.54487979e-01 -1.87267853e-01 2.28920700e+02] [-5.65323309e-01 2.42822979e-02 8.24511932e-01 -2.71606750e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.4207140569999 meters Centerline goodness : 0.986653 Centerline is valid? [True, True] Translation: X:207.36, Y:228.91, Z:-271.62 [[ 7.90788674e-01 2.96221792e-01 5.35635999e-01 2.07360423e+02] [-2.30442790e-01 9.54789716e-01 -1.87810327e-01 2.28913857e+02] [-5.67053255e-01 2.50848249e-02 8.23299069e-01 -2.71622563e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.4507140569999 meters Centerline goodness : 0.982021 Centerline is valid? [True, True] Translation: X:207.37, Y:228.90, Z:-271.64 [[ 7.85717203e-01 2.94443129e-01 5.44014449e-01 2.07368908e+02] [-2.35833476e-01 9.55611718e-01 -1.76603554e-01 2.28903899e+02] [-5.71866285e-01 1.04636322e-02 8.20280113e-01 -2.71636857e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.4807140569999 meters Centerline goodness : 0.986528 Centerline is valid? [True, True] Translation: X:207.40, Y:228.90, Z:-271.66 [[ 7.90456738e-01 2.91267248e-01 5.38833496e-01 2.07402391e+02] [-2.27678873e-01 9.56389752e-01 -1.82978067e-01 2.28897560e+02] [-5.68630351e-01 2.19552430e-02 8.22300122e-01 -2.71657575e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.510714057 meters Centerline goodness : 0.985601 Centerline is valid? [True, True] Translation: X:207.42, Y:228.89, Z:-271.67 [[ 7.90811614e-01 2.93173528e-01 5.37276720e-01 2.07424962e+02] [-2.26489321e-01 9.55675821e-01 -1.88112499e-01 2.28892019e+02] [-5.68611975e-01 2.70741092e-02 8.22160212e-01 -2.71671632e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.540714057 meters Centerline goodness : 0.982687 Centerline is valid? [True, True] Translation: X:207.43, Y:228.88, Z:-271.69 [[ 7.85490846e-01 2.89638490e-01 5.46912860e-01 2.07433288e+02] [-2.29437832e-01 9.57036725e-01 -1.77310430e-01 2.28883461e+02] [-5.74771618e-01 1.37932187e-02 8.18197613e-01 -2.71687444e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.5707140569999 meters Centerline goodness : 0.980998 Centerline is valid? [True, True] Translation: X:207.45, Y:228.87, Z:-271.70 [[ 7.87821685e-01 2.82749985e-01 5.47164910e-01 2.07452596e+02] [-2.26530225e-01 9.59145902e-01 -1.69479190e-01 2.28873242e+02] [-5.72731219e-01 9.56999027e-03 8.19687359e-01 -2.71704983e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.6007140569999 meters Centerline goodness : 0.981434 Centerline is valid? [True, True] Translation: X:207.48, Y:228.86, Z:-271.72 [[ 7.88596128e-01 2.81447515e-01 5.46720627e-01 2.07477430e+02] [-2.25031866e-01 9.59518841e-01 -1.69364261e-01 2.28862272e+02] [-5.72255893e-01 1.05304378e-02 8.20007502e-01 -2.71723244e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.630714057 meters Centerline goodness : 0.980792 Centerline is valid? [True, True] Translation: X:207.50, Y:228.86, Z:-271.74 [[ 7.90604717e-01 2.82422242e-01 5.43306413e-01 2.07502744e+02] [-2.20267275e-01 9.59058890e-01 -1.78012283e-01 2.28860328e+02] [-5.71337473e-01 2.10647276e-02 8.20444860e-01 -2.71736700e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.660714057 meters Centerline goodness : 0.983274 Centerline is valid? [True, True] Translation: X:207.52, Y:228.85, Z:-271.76 [[ 7.87730605e-01 2.71344979e-01 5.53039236e-01 2.07521689e+02] [-2.16318672e-01 9.62433983e-01 -1.64094670e-01 2.28847763e+02] [-5.76790019e-01 9.62968058e-03 8.16835689e-01 -2.71763336e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.6907140569999 meters Centerline goodness : 0.982986 Centerline is valid? [True, True] Translation: X:207.55, Y:228.85, Z:-271.78 [[ 7.88625951e-01 2.79090076e-01 5.47884877e-01 2.07552589e+02] [-2.13599167e-01 9.59909546e-01 -1.81518756e-01 2.28847985e+02] [-5.76580008e-01 2.61226485e-02 8.16622987e-01 -2.71776317e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.7207140569999 meters Centerline goodness : 0.982986 Centerline is valid? [True, True] Translation: X:207.58, Y:228.84, Z:-271.79 [[ 7.88323394e-01 2.82772096e-01 5.46430387e-01 2.07579494e+02] [-2.13838441e-01 9.58684467e-01 -1.87609205e-01 2.28841108e+02] [-5.76904972e-01 3.10489031e-02 8.16220937e-01 -2.71793174e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.750714057 meters Centerline goodness : 0.986041 Centerline is valid? [True, True] Translation: X:207.62, Y:228.85, Z:-271.80 [[ 7.96664830e-01 2.99965827e-01 5.24733886e-01 2.07621513e+02] [-2.13718329e-01 9.51876725e-01 -2.19670610e-01 2.28845680e+02] [-5.65375649e-01 6.28586000e-02 8.22434905e-01 -2.71796968e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.780714057 meters Centerline goodness : 0.981736 Centerline is valid? [True, True] Translation: X:207.62, Y:228.83, Z:-271.82 [[ 7.88300345e-01 2.84278959e-01 5.45681262e-01 2.07620067e+02] [-2.18784419e-01 9.58414054e-01 -1.83237219e-01 2.28827678e+02] [-5.75079076e-01 2.50594051e-02 8.17713937e-01 -2.71823015e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.8107140569999 meters Centerline goodness : 0.981843 Centerline is valid? [True, True] Translation: X:207.64, Y:228.82, Z:-271.84 [[ 7.87426109e-01 2.79824489e-01 5.49234356e-01 2.07640700e+02] [-2.17612127e-01 9.59845251e-01 -1.77036879e-01 2.28820255e+02] [-5.76719242e-01 1.98834041e-02 8.16700414e-01 -2.71841549e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.8407140569999 meters Centerline goodness : 0.986971 Centerline is valid? [True, True] Translation: X:207.68, Y:228.82, Z:-271.86 [[ 7.94636887e-01 2.80707223e-01 5.38289582e-01 2.07677355e+02] [-2.12138545e-01 9.59175837e-01 -1.87026604e-01 2.28818490e+02] [-5.68814079e-01 3.44262694e-02 8.21745323e-01 -2.71856691e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.8707140569999 meters Centerline goodness : 0.981806 Centerline is valid? [True, True] Translation: X:207.69, Y:228.81, Z:-271.87 [[ 7.86668146e-01 2.84742897e-01 5.47790754e-01 2.07690881e+02] [-2.17841971e-01 9.58240190e-01 -1.85258235e-01 2.28813816e+02] [-5.77666083e-01 2.64049343e-02 8.15845988e-01 -2.71872456e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.900714057 meters Centerline goodness : 0.982340 Centerline is valid? [True, True] Translation: X:207.71, Y:228.81, Z:-271.89 [[ 7.85847680e-01 2.85344521e-01 5.48654653e-01 2.07709668e+02] [-2.18421609e-01 9.58075548e-01 -1.85427195e-01 2.28811914e+02] [-5.78563241e-01 2.58794984e-02 8.15226856e-01 -2.71888197e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.9307140569999 meters Centerline goodness : 0.986773 Centerline is valid? [True, True] Translation: X:207.74, Y:228.80, Z:-271.91 [[ 7.93505493e-01 2.74370875e-01 5.43203144e-01 2.07740446e+02] [-2.13368865e-01 9.61370257e-01 -1.73899272e-01 2.28798377e+02] [-5.69932242e-01 2.20873893e-02 8.21394782e-01 -2.71910704e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.9607140569999 meters Centerline goodness : 0.983289 Centerline is valid? [True, True] Translation: X:207.75, Y:228.80, Z:-271.93 [[ 7.85183777e-01 2.69419399e-01 5.57583737e-01 2.07752117e+02] [-2.11075913e-01 9.62917533e-01 -1.68038044e-01 2.28795788e+02] [-5.82179865e-01 1.42482495e-02 8.12935171e-01 -2.71932373e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.9907140569999 meters Centerline goodness : 0.986190 Centerline is valid? [True, True] Translation: X:207.80, Y:228.80, Z:-271.93 [[ 7.94778575e-01 2.90260332e-01 5.32987763e-01 2.07797598e+02] [-2.13018245e-01 9.55758917e-01 -2.02849992e-01 2.28798893e+02] [-5.68287114e-01 4.76847101e-02 8.21447457e-01 -2.71931803e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.020714057 meters Centerline goodness : 0.987846 Centerline is valid? [True, True] Translation: X:207.82, Y:228.79, Z:-271.95 [[ 7.94468546e-01 2.82089436e-01 5.37815283e-01 2.07815019e+02] [-2.11647105e-01 9.58664089e-01 -1.90180620e-01 2.28789539e+02] [-5.69232142e-01 3.72654730e-02 8.21331877e-01 -2.71952687e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.0507140569999 meters Centerline goodness : 0.983882 Centerline is valid? [True, True] Translation: X:207.83, Y:228.78, Z:-271.97 [[ 7.87079937e-01 2.87363305e-01 5.45827357e-01 2.07827133e+02] [-2.17228481e-01 9.57301339e-01 -1.90750971e-01 2.28781011e+02] [-5.77336089e-01 3.15670148e-02 8.15896172e-01 -2.71969339e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.0807140569999 meters Centerline goodness : 0.986831 Centerline is valid? [True, True] Translation: X:207.85, Y:228.77, Z:-271.99 [[ 7.95245704e-01 2.74478132e-01 5.40597840e-01 2.07854795e+02] [-2.09665198e-01 9.61141941e-01 -1.79573592e-01 2.28772422e+02] [-5.68880281e-01 2.94605740e-02 8.21892511e-01 -2.71989620e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.1107140569999 meters Centerline goodness : 0.983318 Centerline is valid? [True, True] Translation: X:207.87, Y:228.77, Z:-272.00 [[ 7.89833925e-01 2.89227567e-01 5.40841738e-01 2.07871254e+02] [-2.16714222e-01 9.56550789e-01 -1.95052646e-01 2.28771241e+02] [-5.73757193e-01 3.68511004e-02 8.18195991e-01 -2.71998286e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.140714057 meters Centerline goodness : 0.987673 Centerline is valid? [True, True] Translation: X:207.90, Y:228.76, Z:-272.03 [[ 7.96422743e-01 2.66155812e-01 5.43021085e-01 2.07895081e+02] [-2.06787836e-01 9.63671046e-01 -1.69047054e-01 2.28756600e+02] [-5.68286552e-01 2.23427634e-02 8.22527322e-01 -2.72026582e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.1707140569999 meters Centerline goodness : 0.987557 Centerline is valid? [True, True] Translation: X:207.93, Y:228.76, Z:-272.03 [[ 7.97820184e-01 2.76763156e-01 5.35616569e-01 2.07925425e+02] [-2.06282224e-01 9.60098228e-01 -1.88836005e-01 2.28758188e+02] [-5.66507367e-01 4.01689995e-02 8.23077064e-01 -2.72034383e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.2007140569999 meters Centerline goodness : 0.985370 Centerline is valid? [True, True] Translation: X:207.94, Y:228.72, Z:-272.06 [[ 7.92423000e-01 2.58119042e-01 5.52666580e-01 2.07939731e+02] [-2.16569852e-01 9.66078200e-01 -1.40678395e-01 2.28719734e+02] [-5.70230908e-01 -8.21412346e-03 8.21443388e-01 -2.72062915e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.2307140569999 meters Centerline goodness : 0.986054 Centerline is valid? [True, True] Translation: X:207.98, Y:228.75, Z:-272.06 [[ 7.94004478e-01 2.86943332e-01 5.35929485e-01 2.07984167e+02] [-2.09491915e-01 9.56743183e-01 -2.01880212e-01 2.28748825e+02] [-5.70675062e-01 4.80208985e-02 8.19770679e-01 -2.72059280e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.260714057 meters Centerline goodness : 0.987881 Centerline is valid? [True, True] Translation: X:207.99, Y:228.72, Z:-272.09 [[ 7.88371290e-01 2.63595566e-01 5.55866969e-01 2.07987525e+02] [-2.13290821e-01 9.64626648e-01 -1.54927262e-01 2.28721161e+02] [-5.77042230e-01 3.57888370e-03 8.16706469e-01 -2.72094026e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.290714057 meters Centerline goodness : 0.984912 Centerline is valid? [True, True] Translation: X:208.05, Y:228.74, Z:-272.08 [[ 7.87735231e-01 3.22310814e-01 5.24965661e-01 2.08045053e+02] [-2.25529162e-01 9.43926424e-01 -2.41121346e-01 2.28743139e+02] [-5.73244976e-01 7.15447138e-02 8.16254587e-01 -2.72083667e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.3207140569999 meters Centerline goodness : 0.985489 Centerline is valid? [True, True] Translation: X:208.04, Y:228.73, Z:-272.12 [[ 7.81604784e-01 2.89588249e-01 5.52478604e-01 2.08042612e+02] [-2.17695557e-01 9.56651187e-01 -1.93460982e-01 2.28734757e+02] [-5.84553339e-01 3.09378911e-02 8.10765219e-01 -2.72121134e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.3507140569999 meters Centerline goodness : 0.986176 Centerline is valid? [True, True] Translation: X:208.05, Y:228.71, Z:-272.15 [[ 7.79041912e-01 2.74763552e-01 5.63558950e-01 2.08053646e+02] [-2.23180986e-01 9.61511386e-01 -1.60268843e-01 2.28713107e+02] [-5.85904384e-01 -9.19496484e-04 8.10379669e-01 -2.72149372e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.380714057 meters Centerline goodness : 0.989075 Centerline is valid? [True, True] Translation: X:208.12, Y:228.76, Z:-272.13 [[ 7.82244841e-01 3.39328221e-01 5.22445565e-01 2.08119303e+02] [-2.23271601e-01 9.35631318e-01 -2.73393177e-01 2.28756829e+02] [-5.81586453e-01 9.72131443e-02 8.07655126e-01 -2.72130412e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.410714057 meters Centerline goodness : 0.988422 Centerline is valid? [True, True] Translation: X:208.09, Y:228.69, Z:-272.20 [[ 7.80569309e-01 2.53329921e-01 5.71432853e-01 2.08091515e+02] [-2.33794260e-01 9.66161146e-01 -1.08962763e-01 2.28687559e+02] [-5.79699748e-01 -4.85447324e-02 8.13382820e-01 -2.72197649e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.4407140569999 meters Centerline goodness : 0.987751 Centerline is valid? [True, True] Translation: X:208.18, Y:228.75, Z:-272.16 [[ 7.78621230e-01 3.51963203e-01 5.19490986e-01 2.08176043e+02] [-2.30887530e-01 9.30497422e-01 -2.84368593e-01 2.28752384e+02] [-5.83472304e-01 1.01471433e-01 8.05768961e-01 -2.72163663e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.4707140569999 meters Centerline goodness : 0.984213 Centerline is valid? [True, True] Translation: X:208.14, Y:228.72, Z:-272.23 [[ 7.67181868e-01 2.91033113e-01 5.71604504e-01 2.08139534e+02] [-2.31694312e-01 9.56709188e-01 -1.76139931e-01 2.28715407e+02] [-5.98121834e-01 2.69384870e-03 8.01400658e-01 -2.72226542e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.500714057 meters Centerline goodness : 0.985905 Centerline is valid? [True, True] Translation: X:208.18, Y:228.71, Z:-272.25 [[ 7.71946346e-01 2.93259173e-01 5.64001682e-01 2.08176321e+02] [-2.32181401e-01 9.56003881e-01 -1.79299684e-01 2.28708225e+02] [-5.91769074e-01 7.45903486e-03 8.06073028e-01 -2.72247357e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.530714057 meters Centerline goodness : 0.988075 Centerline is valid? [True, True] Translation: X:208.22, Y:228.72, Z:-272.24 [[ 7.72345510e-01 3.27549942e-01 5.44236575e-01 2.08217126e+02] [-2.39145946e-01 9.43694156e-01 -2.28583808e-01 2.28719753e+02] [-5.88465488e-01 4.63937075e-02 8.07190184e-01 -2.72238145e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.5607140569999 meters Centerline goodness : 0.984746 Centerline is valid? [True, True] Translation: X:208.20, Y:228.69, Z:-272.28 [[ 7.63994607e-01 2.87471649e-01 5.77643742e-01 2.08198774e+02] [-2.38945970e-01 9.57666038e-01 -1.60563330e-01 2.28691911e+02] [-5.99347199e-01 -1.53561261e-02 8.00341880e-01 -2.72283846e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.5907140569999 meters Centerline goodness : 0.986271 Centerline is valid? [True, True] Translation: X:208.22, Y:228.69, Z:-272.30 [[ 7.64394334e-01 2.93437972e-01 5.74104049e-01 2.08223909e+02] [-2.37990600e-01 9.55963125e-01 -1.71741019e-01 2.28688362e+02] [-5.99217637e-01 -5.35350582e-03 8.00568275e-01 -2.72296594e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.6207140569999 meters Centerline goodness : 0.985246 Centerline is valid? [True, True] Translation: X:208.25, Y:228.68, Z:-272.31 [[ 7.64103620e-01 2.99979149e-01 5.71102589e-01 2.08249111e+02] [-2.38529841e-01 9.53941682e-01 -1.81930709e-01 2.28682380e+02] [-5.99373984e-01 2.78890389e-03 8.00464271e-01 -2.72310405e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.650714057 meters Centerline goodness : 0.983958 Centerline is valid? [True, True] Translation: X:208.27, Y:228.67, Z:-272.33 [[ 7.64020803e-01 3.02489639e-01 5.69887912e-01 2.08271632e+02] [-2.39495286e-01 9.53140921e-01 -1.84836124e-01 2.28673051e+02] [-5.99094501e-01 4.73317532e-03 8.00664334e-01 -2.72327938e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.6807140569999 meters Centerline goodness : 0.987540 Centerline is valid? [True, True] Translation: X:208.32, Y:228.68, Z:-272.32 [[ 7.71730229e-01 3.30732202e-01 5.43183822e-01 2.08321942e+02] [-2.37508870e-01 9.42217576e-01 -2.36253204e-01 2.28681706e+02] [-5.89933887e-01 5.33127630e-02 8.05689617e-01 -2.72323875e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.7107140569999 meters Centerline goodness : 0.987803 Centerline is valid? [True, True] Translation: X:208.33, Y:228.66, Z:-272.36 [[ 7.72765636e-01 3.05985109e-01 5.56063292e-01 2.08328493e+02] [-2.34823475e-01 9.51782799e-01 -1.97401722e-01 2.28658101e+02] [-5.89653464e-01 2.19685522e-02 8.07357526e-01 -2.72360388e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.7407140569999 meters Centerline goodness : 0.984561 Centerline is valid? [True, True] Translation: X:208.32, Y:228.64, Z:-272.39 [[ 7.66888154e-01 2.77898351e-01 5.78493791e-01 2.08323733e+02] [-2.33157561e-01 9.60440126e-01 -1.52290235e-01 2.28635415e+02] [-5.97929855e-01 -1.80906244e-02 8.01344257e-01 -2.72392713e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.770714057 meters Centerline goodness : 0.983784 Centerline is valid? [True, True] Translation: X:208.36, Y:228.64, Z:-272.39 [[ 7.66475023e-01 3.02381883e-01 5.66640306e-01 2.08363196e+02] [-2.30978988e-01 9.52988697e-01 -1.96115402e-01 2.28640318e+02] [-5.99303552e-01 1.94355526e-02 8.00285894e-01 -2.72394867e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.8007140569999 meters Centerline goodness : 0.982959 Centerline is valid? [True, True] Translation: X:208.38, Y:228.63, Z:-272.42 [[ 7.64642198e-01 3.01159470e-01 5.69758969e-01 2.08381910e+02] [-2.29688700e-01 9.53389221e-01 -1.95683660e-01 2.28630496e+02] [-6.02134047e-01 1.87607872e-02 7.98174556e-01 -2.72415105e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.8307140569999 meters Centerline goodness : 0.985590 Centerline is valid? [True, True] Translation: X:208.42, Y:228.63, Z:-272.42 [[ 7.72539867e-01 3.15042109e-01 5.51299034e-01 2.08420695e+02] [-2.31700073e-01 9.48232269e-01 -2.17188029e-01 2.28627387e+02] [-5.91182908e-01 4.00503844e-02 8.05542510e-01 -2.72420690e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.8607140569999 meters Centerline goodness : 0.982401 Centerline is valid? [True, True] Translation: X:208.41, Y:228.61, Z:-272.46 [[ 7.62238445e-01 2.86953521e-01 5.80215675e-01 2.08411388e+02] [-2.31461584e-01 9.57931673e-01 -1.69683366e-01 2.28606649e+02] [-6.04498212e-01 -4.95845415e-03 7.96591066e-01 -2.72458839e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.890714057 meters Centerline goodness : 0.981990 Centerline is valid? [True, True] Translation: X:208.44, Y:228.60, Z:-272.47 [[ 7.62075396e-01 2.96110324e-01 5.75812267e-01 2.08439476e+02] [-2.34304396e-01 9.55148759e-01 -1.81086439e-01 2.28598584e+02] [-6.03607936e-01 3.08617360e-03 7.97275319e-01 -2.72471356e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.9207140569999 meters Centerline goodness : 0.986562 Centerline is valid? [True, True] Translation: X:208.49, Y:228.61, Z:-272.47 [[ 7.71092633e-01 3.23353584e-01 5.48505799e-01 2.08487253e+02] [-2.35493877e-01 9.45197417e-01 -2.26151445e-01 2.28606217e+02] [-5.91573145e-01 4.52139563e-02 8.04982554e-01 -2.72468481e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.9507140569999 meters Centerline goodness : 0.982269 Centerline is valid? [True, True] Translation: X:208.48, Y:228.61, Z:-272.50 [[ 7.59651349e-01 3.17297017e-01 5.67672820e-01 2.08482075e+02] [-2.32364481e-01 9.47706429e-01 -2.18767621e-01 2.28608414e+02] [-6.07401495e-01 3.42801182e-02 7.93655024e-01 -2.72497411e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.9807140569999 meters Centerline goodness : 0.980833 Centerline is valid? [True, True] Translation: X:208.48, Y:228.58, Z:-272.54 [[ 7.58078240e-01 2.90070819e-01 5.84102989e-01 2.08481479e+02] [-2.35493542e-01 9.56963036e-01 -1.69601121e-01 2.28583283e+02] [-6.08161305e-01 -8.98156241e-03 7.93762659e-01 -2.72535774e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.010714057 meters Centerline goodness : 0.981776 Centerline is valid? [True, True] Translation: X:208.49, Y:228.56, Z:-272.56 [[ 7.60347520e-01 2.74626191e-01 5.88601821e-01 2.08493052e+02] [-2.39168598e-01 9.60921376e-01 -1.39386125e-01 2.28561625e+02] [-6.03879152e-01 -3.47931778e-02 7.96316146e-01 -2.72561247e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.040714057 meters Centerline goodness : 0.985427 Centerline is valid? [True, True] Translation: X:208.55, Y:228.56, Z:-272.56 [[ 7.70737127e-01 2.95726479e-01 5.64367018e-01 2.08546518e+02] [-2.43446527e-01 9.55240397e-01 -1.68076091e-01 2.28555121e+02] [-5.88810725e-01 -7.85070668e-03 8.08232823e-01 -2.72560410e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.0707140569999 meters Centerline goodness : 0.982368 Centerline is valid? [True, True] Translation: X:208.56, Y:228.55, Z:-272.58 [[ 7.63018672e-01 2.87769421e-01 5.78784300e-01 2.08557950e+02] [-2.40464772e-01 9.57534288e-01 -1.59074764e-01 2.28546316e+02] [-5.99982665e-01 -1.78002201e-02 7.99814949e-01 -2.72583251e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.1007140569999 meters Centerline goodness : 0.982434 Centerline is valid? [True, True] Translation: X:208.60, Y:228.55, Z:-272.59 [[ 7.64145545e-01 3.09815781e-01 5.65770066e-01 2.08598359e+02] [-2.38653251e-01 9.50654011e-01 -1.98246253e-01 2.28553327e+02] [-5.99271400e-01 1.64661257e-02 8.00376571e-01 -2.72585635e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.130714057 meters Centerline goodness : 0.982342 Centerline is valid? [True, True] Translation: X:208.62, Y:228.55, Z:-272.60 [[ 7.65847215e-01 3.10811706e-01 5.62915737e-01 2.08621360e+02] [-2.34534139e-01 9.50132586e-01 -2.05528119e-01 2.28553083e+02] [-5.98725129e-01 2.53801801e-02 8.00552351e-01 -2.72599026e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.160714057 meters Centerline goodness : 0.981356 Centerline is valid? [True, True] Translation: X:208.63, Y:228.53, Z:-272.63 [[ 7.63680546e-01 2.90225211e-01 5.76681324e-01 2.08628730e+02] [-2.33660141e-01 9.56952817e-01 -1.72175039e-01 2.28528905e+02] [-6.01826355e-01 -3.26071112e-03 7.98620314e-01 -2.72630522e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.1907140569999 meters Centerline goodness : 0.980838 Centerline is valid? [True, True] Translation: X:208.67, Y:228.53, Z:-272.63 [[ 7.65264646e-01 3.12939029e-01 5.62529276e-01 2.08668962e+02] [-2.33064312e-01 9.49286843e-01 -2.11034395e-01 2.28534122e+02] [-6.00042539e-01 3.03916627e-02 7.99390579e-01 -2.72630302e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.2207140569999 meters Centerline goodness : 0.983928 Centerline is valid? [True, True] Translation: X:208.68, Y:228.53, Z:-272.65 [[ 7.64704467e-01 3.03338629e-01 5.68518033e-01 2.08683223e+02] [-2.29641696e-01 9.52630543e-01 -1.99398446e-01 2.28525736e+02] [-6.02072893e-01 2.19254370e-02 7.98140029e-01 -2.72652555e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.250714057 meters Centerline goodness : 0.987181 Centerline is valid? [True, True] Translation: X:208.73, Y:228.53, Z:-272.65 [[ 7.74176675e-01 3.20581380e-01 5.45782058e-01 2.08726315e+02] [-2.30655267e-01 9.45850733e-01 -2.28395574e-01 2.28526640e+02] [-5.89447728e-01 5.09310201e-02 8.06199359e-01 -2.72654689e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.280714057 meters Centerline goodness : 0.985414 Centerline is valid? [True, True] Translation: X:208.71, Y:228.50, Z:-272.70 [[ 7.65599768e-01 2.77435347e-01 5.80419351e-01 2.08711716e+02] [-2.27125366e-01 9.60696082e-01 -1.59615497e-01 2.28498626e+02] [-6.01889577e-01 -9.62636996e-03 7.98521302e-01 -2.72701203e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.3107140569999 meters Centerline goodness : 0.988501 Centerline is valid? [True, True] Translation: X:208.77, Y:228.51, Z:-272.69 [[ 7.73114132e-01 3.25549830e-01 5.44345338e-01 2.08771948e+02] [-2.33122947e-01 9.44004325e-01 -2.33472750e-01 2.28513991e+02] [-5.89871368e-01 5.36016932e-02 8.05716221e-01 -2.72686446e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.3407140569999 meters Centerline goodness : 0.987479 Centerline is valid? [True, True] Translation: X:208.77, Y:228.46, Z:-272.74 [[ 7.70952332e-01 2.75020051e-01 5.74453194e-01 2.08765323e+02] [-2.41153095e-01 9.60858269e-01 -1.36369247e-01 2.28460779e+02] [-5.89472379e-01 -3.33969762e-02 8.07097860e-01 -2.72736784e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.3707140569999 meters Centerline goodness : 0.986677 Centerline is valid? [True, True] Translation: X:208.83, Y:228.50, Z:-272.72 [[ 7.71028207e-01 3.28025381e-01 5.45815769e-01 2.08826332e+02] [-2.37889735e-01 9.43437491e-01 -2.30941928e-01 2.28497451e+02] [-5.90697874e-01 4.82187721e-02 8.05450788e-01 -2.72718292e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.400714057 meters Centerline goodness : 0.985974 Centerline is valid? [True, True] Translation: X:208.83, Y:228.47, Z:-272.75 [[ 7.68710366e-01 3.04288576e-01 5.62576960e-01 2.08828489e+02] [-2.41414520e-01 9.52556567e-01 -1.85351063e-01 2.28474493e+02] [-5.92286589e-01 6.66703658e-03 8.05699787e-01 -2.72753323e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.4307140569999 meters Centerline goodness : 0.988197 Centerline is valid? [True, True] Translation: X:208.88, Y:228.48, Z:-272.75 [[ 7.73335632e-01 3.37147829e-01 5.36920238e-01 2.08877544e+02] [-2.46713409e-01 9.40161304e-01 -2.35008971e-01 2.28481736e+02] [-5.84024396e-01 4.92753890e-02 8.10239126e-01 -2.72748113e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.4607140569999 meters Centerline goodness : 0.986404 Centerline is valid? [True, True] Translation: X:208.86, Y:228.45, Z:-272.80 [[ 7.64505291e-01 2.94185144e-01 5.73573675e-01 2.08860970e+02] [-2.48099503e-01 9.55529879e-01 -1.59402908e-01 2.28447999e+02] [-5.94960752e-01 -2.04389771e-02 8.03494836e-01 -2.72797150e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.4907140569999 meters Centerline goodness : 0.985632 Centerline is valid? [True, True] Translation: X:208.90, Y:228.46, Z:-272.80 [[ 7.63846498e-01 3.23198257e-01 5.58642475e-01 2.08902687e+02] [-2.48400509e-01 9.46121927e-01 -2.07726953e-01 2.28456459e+02] [-5.95680884e-01 1.99044302e-02 8.02974532e-01 -2.72796750e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.520714057 meters Centerline goodness : 0.984624 Centerline is valid? [True, True] Translation: X:208.92, Y:228.45, Z:-272.81 [[ 7.64485089e-01 3.21027305e-01 5.59020588e-01 2.08921831e+02] [-2.48142269e-01 9.46906967e-01 -2.04432412e-01 2.28446156e+02] [-5.94968875e-01 1.75688937e-02 8.03556701e-01 -2.72814158e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.5507140569999 meters Centerline goodness : 0.985719 Centerline is valid? [True, True] Translation: X:208.93, Y:228.43, Z:-272.84 [[ 7.64721774e-01 3.04008260e-01 5.68136944e-01 2.08931493e+02] [-2.45008903e-01 9.52668117e-01 -1.79983603e-01 2.28429235e+02] [-5.95962454e-01 -1.56122946e-03 8.03010782e-01 -2.72838902e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.5807140569999 meters Centerline goodness : 0.986297 Centerline is valid? [True, True] Translation: X:208.96, Y:228.43, Z:-272.85 [[ 7.65981002e-01 3.12680293e-01 5.61697551e-01 2.08958940e+02] [-2.42839122e-01 9.49741456e-01 -1.97535637e-01 2.28425151e+02] [-5.95232950e-01 1.49064055e-02 8.03414920e-01 -2.72850098e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.6107140569999 meters Centerline goodness : 0.987778 Centerline is valid? [True, True] Translation: X:208.99, Y:228.42, Z:-272.87 [[ 7.73188314e-01 3.11723163e-01 5.52275746e-01 2.08990202e+02] [-2.37534648e-01 9.49811604e-01 -2.03556401e-01 2.28415176e+02] [-5.88011157e-01 2.62028053e-02 8.08428285e-01 -2.72868987e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.640714057 meters Centerline goodness : 0.987778 Centerline is valid? [True, True] Translation: X:209.02, Y:228.41, Z:-272.88 [[ 7.73331309e-01 3.18081710e-01 5.48436607e-01 2.09016331e+02] [-2.37047891e-01 9.47363746e-01 -2.15198116e-01 2.28411921e+02] [-5.88019544e-01 3.64136997e-02 8.08026645e-01 -2.72881074e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.6707140569999 meters Centerline goodness : 0.985437 Centerline is valid? [True, True] Translation: X:209.03, Y:228.40, Z:-272.90 [[ 7.68149097e-01 3.18764284e-01 5.55280376e-01 2.09025077e+02] [-2.38236779e-01 9.47284385e-01 -2.14232425e-01 2.28403893e+02] [-5.94298075e-01 3.22742360e-02 8.03597021e-01 -2.72898030e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.7007140569999 meters Centerline goodness : 0.987260 Centerline is valid? [True, True] Translation: X:209.04, Y:228.39, Z:-272.92 [[ 7.66819080e-01 3.06265653e-01 5.64083193e-01 2.09036668e+02] [-2.36911410e-01 9.51816932e-01 -1.94724193e-01 2.28387961e+02] [-5.96541267e-01 1.56804815e-02 8.02429212e-01 -2.72923087e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.7307140569999 meters Centerline goodness : 0.988644 Centerline is valid? [True, True] Translation: X:209.08, Y:228.40, Z:-272.92 [[ 7.71966038e-01 3.33261979e-01 5.41299261e-01 2.09079840e+02] [-2.39195665e-01 9.41255284e-01 -2.38377691e-01 2.28395373e+02] [-5.88943011e-01 5.45430449e-02 8.06331933e-01 -2.72919420e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.760714057 meters Centerline goodness : 0.985788 Centerline is valid? [True, True] Translation: X:209.07, Y:228.36, Z:-272.96 [[ 7.62532628e-01 2.96567997e-01 5.74970795e-01 2.09068037e+02] [-2.41844348e-01 9.54978051e-01 -1.71837809e-01 2.28362473e+02] [-6.00046084e-01 -8.02150124e-03 7.99925217e-01 -2.72964333e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.790714057 meters Centerline goodness : 0.989007 Centerline is valid? [True, True] Translation: X:209.12, Y:228.38, Z:-272.95 [[ 7.67689641e-01 3.32085807e-01 5.48061705e-01 2.09120058e+02] [-2.42998381e-01 9.42231196e-01 -2.30547521e-01 2.28376762e+02] [-5.92962395e-01 4.38108373e-02 8.04037442e-01 -2.72954994e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.8207140569999 meters Centerline goodness : 0.986034 Centerline is valid? [True, True] Translation: X:209.11, Y:228.35, Z:-273.00 [[ 7.60620719e-01 2.96460709e-01 5.77552743e-01 2.09109868e+02] [-2.42983696e-01 9.54983051e-01 -1.70194878e-01 2.28346594e+02] [-6.02009174e-01 -1.08821499e-02 7.98415013e-01 -2.72999496e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.8507140569999 meters Centerline goodness : 0.990730 Centerline is valid? [True, True] Translation: X:209.16, Y:228.36, Z:-272.99 [[ 7.68121112e-01 3.33188620e-01 5.46786339e-01 2.09163030e+02] [-2.42711273e-01 9.41728729e-01 -2.32891045e-01 2.28361328e+02] [-5.92521050e-01 4.61773204e-02 8.04230353e-01 -2.72988888e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.880714057 meters Centerline goodness : 0.984966 Centerline is valid? [True, True] Translation: X:209.15, Y:228.33, Z:-273.03 [[ 7.61034382e-01 3.02348423e-01 5.73944336e-01 2.09154166e+02] [-2.42931821e-01 9.53194371e-01 -1.80012835e-01 2.28330782e+02] [-6.01507107e-01 -2.43338645e-03 7.98863742e-01 -2.73032122e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.910714057 meters Centerline goodness : 0.983295 Centerline is valid? [True, True] Translation: X:209.19, Y:228.33, Z:-273.04 [[ 7.62190924e-01 3.16699279e-01 5.64594157e-01 2.09185314e+02] [-2.41600295e-01 9.48305791e-01 -2.05780041e-01 2.28332921e+02] [-6.00578299e-01 2.04375648e-02 7.99304706e-01 -2.73038430e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.9407140569999 meters Centerline goodness : 0.988467 Centerline is valid? [True, True] Translation: X:209.20, Y:228.31, Z:-273.06 [[ 7.61787580e-01 3.00214726e-01 5.74065154e-01 2.09196440e+02] [-2.42122985e-01 9.53864280e-01 -1.77537027e-01 2.28313936e+02] [-6.00879475e-01 -3.74886617e-03 7.99330847e-01 -2.73064271e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.9707140569999 meters Centerline goodness : 0.986319 Centerline is valid? [True, True] Translation: X:209.24, Y:228.32, Z:-273.06 [[ 7.62759614e-01 3.25924215e-01 5.58543801e-01 2.09236497e+02] [-2.40509484e-01 9.44724365e-01 -2.22825184e-01 2.28324439e+02] [-6.00294061e-01 3.56269693e-02 7.98985456e-01 -2.73064015e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.000714057 meters Centerline goodness : 0.985319 Centerline is valid? [True, True] Translation: X:209.25, Y:228.31, Z:-273.09 [[ 7.60031979e-01 3.09299538e-01 5.71563808e-01 2.09245349e+02] [-2.36880205e-01 9.50825486e-01 -1.99546142e-01 2.28311279e+02] [-6.05176965e-01 1.62692976e-02 7.95924714e-01 -2.73093143e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.030714057 meters Centerline goodness : 0.985462 Centerline is valid? [True, True] Translation: X:209.27, Y:228.31, Z:-273.11 [[ 7.62608769e-01 3.13385610e-01 5.65877482e-01 2.09268836e+02] [-2.37987292e-01 9.49378052e-01 -2.05044781e-01 2.28305749e+02] [-6.01489745e-01 2.16972984e-02 7.98585821e-01 -2.73105705e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.0607140569999 meters Centerline goodness : 0.986557 Centerline is valid? [True, True] Translation: X:209.28, Y:228.30, Z:-273.13 [[ 7.58266690e-01 3.02984556e-01 5.77262493e-01 2.09281902e+02] [-2.34069250e-01 9.52932022e-01 -1.92697035e-01 2.28295962e+02] [-6.08476141e-01 1.09963444e-02 7.93495978e-01 -2.73132808e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.0907140569999 meters Centerline goodness : 0.985794 Centerline is valid? [True, True] Translation: X:209.32, Y:228.30, Z:-273.14 [[ 7.59097557e-01 3.23644923e-01 5.64822859e-01 2.09316750e+02] [-2.36932036e-01 9.45504135e-01 -2.23349819e-01 2.28299734e+02] [-6.06328384e-01 3.57196714e-02 7.94411730e-01 -2.73135930e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.1207140569999 meters Centerline goodness : 0.987131 Centerline is valid? [True, True] Translation: X:209.32, Y:228.27, Z:-273.17 [[ 7.57385428e-01 3.05628758e-01 5.77025456e-01 2.09324613e+02] [-2.44094147e-01 9.52149504e-01 -1.83927622e-01 2.28272445e+02] [-6.05628072e-01 -1.54443553e-03 7.95746350e-01 -2.73166817e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.150714057 meters Centerline goodness : 0.988174 Centerline is valid? [True, True] Translation: X:209.37, Y:228.30, Z:-273.15 [[ 7.61439792e-01 3.47604117e-01 5.47157035e-01 2.09374762e+02] [-2.38217268e-01 9.35058078e-01 -2.62524141e-01 2.28304689e+02] [-6.02878078e-01 6.95540731e-02 7.94795731e-01 -2.73153169e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.1807140569999 meters Centerline goodness : 0.987336 Centerline is valid? [True, True] Translation: X:209.37, Y:228.28, Z:-273.20 [[ 7.61085940e-01 3.08574810e-01 5.70552170e-01 2.09371869e+02] [-2.35185854e-01 9.51020092e-01 -2.00620036e-01 2.28275784e+02] [-6.04512867e-01 1.85032891e-02 7.96380451e-01 -2.73198794e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.2107140569999 meters Centerline goodness : 0.986375 Centerline is valid? [True, True] Translation: X:209.39, Y:228.26, Z:-273.23 [[ 7.62477080e-01 2.90783898e-01 5.77990854e-01 2.09387422e+02] [-2.26503101e-01 9.56753068e-01 -1.82537426e-01 2.28264343e+02] [-6.06073467e-01 8.26388257e-03 7.95365740e-01 -2.73227528e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.2407140569999 meters Centerline goodness : 0.985328 Centerline is valid? [True, True] Translation: X:209.41, Y:228.26, Z:-273.24 [[ 7.59257099e-01 3.01383630e-01 5.76798548e-01 2.09405917e+02] [-2.32224736e-01 9.53424875e-01 -1.92490724e-01 2.28255887e+02] [-6.07947637e-01 1.22030581e-02 7.93883339e-01 -2.73238223e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.270714057 meters Centerline goodness : 0.987161 Centerline is valid? [True, True] Translation: X:209.45, Y:228.26, Z:-273.24 [[ 7.64363537e-01 3.27695869e-01 5.55305143e-01 2.09449053e+02] [-2.31790702e-01 9.43300993e-01 -2.37605358e-01 2.28264014e+02] [-6.01682187e-01 5.29023031e-02 7.96981739e-01 -2.73237367e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.3007140569999 meters Centerline goodness : 0.984206 Centerline is valid? [True, True] Translation: X:209.43, Y:228.24, Z:-273.28 [[ 7.58456483e-01 2.87978687e-01 5.84646935e-01 2.09434139e+02] [-2.30680998e-01 9.57628124e-01 -1.72437390e-01 2.28238195e+02] [-6.09532641e-01 -4.08068235e-03 7.92750470e-01 -2.73280784e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.3307140569999 meters Centerline goodness : 0.983665 Centerline is valid? [True, True] Translation: X:209.46, Y:228.23, Z:-273.30 [[ 7.54874375e-01 2.95497107e-01 5.85530646e-01 2.09459602e+02] [-2.33377551e-01 9.55343618e-01 -1.81255316e-01 2.28231424e+02] [-6.12943387e-01 1.75285540e-04 7.90126808e-01 -2.73295351e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.3607140569999 meters Centerline goodness : 0.982667 Centerline is valid? [True, True] Translation: X:209.49, Y:228.23, Z:-273.31 [[ 7.53546911e-01 3.05553341e-01 5.82068903e-01 2.09485427e+02] [-2.38322307e-01 9.52159467e-01 -1.91297745e-01 2.28225797e+02] [-6.12674082e-01 5.43182122e-03 7.90317003e-01 -2.73306991e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.390714057 meters Centerline goodness : 0.986919 Centerline is valid? [True, True] Translation: X:209.53, Y:228.23, Z:-273.31 [[ 7.58161795e-01 3.32847953e-01 5.60716446e-01 2.09529102e+02] [-2.42581304e-01 9.42160160e-01 -2.31275904e-01 2.28229574e+02] [-6.05264408e-01 3.93252277e-02 7.95052529e-01 -2.73308295e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.4207140569999 meters Centerline goodness : 0.985459 Centerline is valid? [True, True] Translation: X:209.54, Y:228.21, Z:-273.34 [[ 7.56862894e-01 3.17017494e-01 5.71540435e-01 2.09539089e+02] [-2.45865249e-01 9.48353767e-01 -2.00438051e-01 2.28209485e+02] [-6.05564893e-01 1.11821924e-02 7.95717361e-01 -2.73339150e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.4507140569999 meters Centerline goodness : 0.984957 Centerline is valid? [True, True] Translation: X:209.56, Y:228.20, Z:-273.36 [[ 7.55572019e-01 3.20353309e-01 5.71388381e-01 2.09563718e+02] [-2.50068901e-01 9.47259652e-01 -2.00411320e-01 2.28199909e+02] [-6.05455588e-01 8.53872107e-03 7.95833287e-01 -2.73358538e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.4807140569999 meters Centerline goodness : 0.983461 Centerline is valid? [True, True] Translation: X:209.56, Y:228.18, Z:-273.39 [[ 7.50537881e-01 2.94249738e-01 5.91700922e-01 2.09560888e+02] [-2.52016396e-01 9.55174684e-01 -1.55335314e-01 2.28179052e+02] [-6.10885117e-01 -3.25332962e-02 7.91050541e-01 -2.73390222e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.510714057 meters Centerline goodness : 0.985058 Centerline is valid? [True, True] Translation: X:209.62, Y:228.19, Z:-273.38 [[ 7.52326493e-01 3.46006566e-01 5.60610653e-01 2.09619432e+02] [-2.55997466e-01 9.37637239e-01 -2.35163147e-01 2.28193046e+02] [-6.07017418e-01 3.34045593e-02 7.93986139e-01 -2.73378948e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.540714057 meters Centerline goodness : 0.982892 Centerline is valid? [True, True] Translation: X:209.60, Y:228.16, Z:-273.42 [[ 7.47081590e-01 3.00887862e-01 5.92735685e-01 2.09603336e+02] [-2.58027985e-01 9.53036039e-01 -1.58568181e-01 2.28157357e+02] [-6.12609710e-01 -3.44790261e-02 7.89633168e-01 -2.73420510e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.5707140569999 meters Centerline goodness : 0.985966 Centerline is valid? [True, True] Translation: X:209.66, Y:228.17, Z:-273.41 [[ 7.52507981e-01 3.44496417e-01 5.61296675e-01 2.09660886e+02] [-2.55456394e-01 9.38234555e-01 -2.33362271e-01 2.28173217e+02] [-6.07020403e-01 3.22201468e-02 7.94032803e-01 -2.73411773e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.6007140569999 meters Centerline goodness : 0.985807 Centerline is valid? [True, True] Translation: X:209.67, Y:228.15, Z:-273.44 [[ 7.53458638e-01 3.23225028e-01 5.72560618e-01 2.09669599e+02] [-2.53699424e-01 9.46304946e-01 -2.00358559e-01 2.28149817e+02] [-6.06577846e-01 5.70358816e-03 7.95003639e-01 -2.73444711e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.630714057 meters Centerline goodness : 0.983191 Centerline is valid? [True, True] Translation: X:209.67, Y:228.12, Z:-273.47 [[ 7.49792849e-01 2.97356030e-01 5.91092273e-01 2.09667204e+02] [-2.52954115e-01 9.54290393e-01 -1.59198184e-01 2.28122323e+02] [-6.11412217e-01 -3.01535628e-02 7.90737544e-01 -2.73473378e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.660714057 meters Centerline goodness : 0.986017 Centerline is valid? [True, True] Translation: X:209.72, Y:228.14, Z:-273.47 [[ 7.58107981e-01 3.34109383e-01 5.60038578e-01 2.09722388e+02] [-2.43703351e-01 9.41713207e-01 -2.31915745e-01 2.28137806e+02] [-6.04880952e-01 3.93338992e-02 7.95343874e-01 -2.73467827e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.6907140569999 meters Centerline goodness : 0.986337 Centerline is valid? [True, True] Translation: X:209.73, Y:228.12, Z:-273.50 [[ 7.59027914e-01 3.12593574e-01 5.71105843e-01 2.09732205e+02] [-2.40659395e-01 9.49778241e-01 -2.00010871e-01 2.28116007e+02] [-6.04946016e-01 1.43718473e-02 7.96136777e-01 -2.73499186e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.7207140569999 meters Centerline goodness : 0.983594 Centerline is valid? [True, True] Translation: X:209.73, Y:228.09, Z:-273.53 [[ 7.54729155e-01 2.87263823e-01 5.89799456e-01 2.09731444e+02] [-2.37173812e-01 9.57702444e-01 -1.62955855e-01 2.28089178e+02] [-6.11663702e-01 -1.68974506e-02 7.90937413e-01 -2.73528794e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.750714057 meters Centerline goodness : 0.982885 Centerline is valid? [True, True] Translation: X:209.76, Y:228.09, Z:-273.54 [[ 7.54413592e-01 3.04604028e-01 5.81443478e-01 2.09764965e+02] [-2.29332114e-01 9.52298551e-01 -2.01331196e-01 2.28091270e+02] [-6.15034075e-01 1.85433292e-02 7.88282457e-01 -2.73535676e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.780714057 meters Centerline goodness : 0.983398 Centerline is valid? [True, True] Translation: X:209.79, Y:228.08, Z:-273.55 [[ 7.58423573e-01 3.02785311e-01 5.77160931e-01 2.09785641e+02] [-2.24134940e-01 9.52695330e-01 -2.05268450e-01 2.28084423e+02] [-6.12010795e-01 2.63185010e-02 7.90411363e-01 -2.73548691e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.8107140569999 meters Centerline goodness : 0.982785 Centerline is valid? [True, True] Translation: X:209.80, Y:228.07, Z:-273.58 [[ 7.58392242e-01 2.84120167e-01 5.86614813e-01 2.09797170e+02] [-2.17616897e-01 9.58724043e-01 -1.83005724e-01 2.28068859e+02] [-6.14397342e-01 1.11328267e-02 7.88918225e-01 -2.73575524e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.8407140569999 meters Centerline goodness : 0.984302 Centerline is valid? [True, True] Translation: X:209.82, Y:228.06, Z:-273.59 [[ 7.56832640e-01 2.84599222e-01 5.88394118e-01 2.09817488e+02] [-2.15390451e-01 9.58537259e-01 -1.86583162e-01 2.28063210e+02] [-6.17099108e-01 1.44777531e-02 7.86752239e-01 -2.73590554e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.8707140569999 meters Centerline goodness : 0.982283 Centerline is valid? [True, True] Translation: X:209.85, Y:228.06, Z:-273.60 [[ 7.55977451e-01 3.02416216e-01 5.80553637e-01 2.09846451e+02] [-2.19020850e-01 9.52625789e-01 -2.11030738e-01 2.28059631e+02] [-6.16869484e-01 3.23811285e-02 7.86399073e-01 -2.73600978e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.900714057 meters Centerline goodness : 0.982109 Centerline is valid? [True, True] Translation: X:209.86, Y:228.04, Z:-273.63 [[ 7.54727606e-01 2.92620672e-01 5.87162143e-01 2.09857893e+02] [-2.22710357e-01 9.56142769e-01 -1.90239589e-01 2.28042874e+02] [-6.17078874e-01 1.28119791e-02 7.86796998e-01 -2.73626224e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.9307140569999 meters Centerline goodness : 0.983206 Centerline is valid? [True, True] Translation: X:209.87, Y:228.03, Z:-273.65 [[ 7.53023711e-01 2.88099974e-01 5.91568842e-01 2.09874343e+02] [-2.29853958e-01 9.57586630e-01 -1.73767100e-01 2.28026305e+02] [-6.16540711e-01 -5.12369355e-03 7.87306357e-01 -2.73648970e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.9607140569999 meters Centerline goodness : 0.982491 Centerline is valid? [True, True] Translation: X:209.92, Y:228.06, Z:-273.64 [[ 7.54256989e-01 3.26954160e-01 5.69383326e-01 2.09916148e+02] [-2.25631598e-01 9.43455208e-01 -2.42863444e-01 2.28057831e+02] [-6.16592878e-01 5.47105806e-02 7.85378873e-01 -2.73640137e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.9907140569999 meters Centerline goodness : 0.982629 Centerline is valid? [True, True] Translation: X:209.90, Y:228.01, Z:-273.69 [[ 7.51335822e-01 2.67442567e-01 6.03298397e-01 2.09895694e+02] [-2.35367516e-01 9.62675662e-01 -1.33632717e-01 2.28009253e+02] [-6.16519760e-01 -4.15937974e-02 7.86240002e-01 -2.73692955e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.020714057 meters Centerline goodness : 0.983713 Centerline is valid? [True, True] Translation: X:209.93, Y:228.00, Z:-273.71 [[ 7.47816900e-01 2.87671144e-01 5.98343711e-01 2.09931880e+02] [-2.48250496e-01 9.57034445e-01 -1.49855804e-01 2.27995974e+02] [-6.15744732e-01 -3.64744206e-02 7.87101036e-01 -2.73707116e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.0507140569999 meters Centerline goodness : 0.983011 Centerline is valid? [True, True] Translation: X:209.97, Y:228.03, Z:-273.70 [[ 7.45673233e-01 3.34562913e-01 5.76228328e-01 2.09974673e+02] [-2.45028544e-01 9.41890842e-01 -2.29788281e-01 2.28030693e+02] [-6.19622822e-01 3.01545821e-02 7.84320253e-01 -2.73699865e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.0807140569999 meters Centerline goodness : 0.982466 Centerline is valid? [True, True] Translation: X:209.97, Y:228.00, Z:-273.74 [[ 7.45523473e-01 3.02453251e-01 5.93899640e-01 2.09971897e+02] [-2.49576119e-01 9.52954742e-01 -1.72014593e-01 2.28002068e+02] [-6.17985851e-01 -1.99822509e-02 7.85935237e-01 -2.73736464e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.1107140569999 meters Centerline goodness : 0.988349 Centerline is valid? [True, True] Translation: X:210.00, Y:227.98, Z:-273.76 [[ 7.56588783e-01 2.84558265e-01 5.88727448e-01 2.10002761e+02] [-2.50193827e-01 9.57811423e-01 -1.41422510e-01 2.27976293e+02] [-6.04132819e-01 -4.02972887e-02 7.95864100e-01 -2.73758978e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.140714057 meters Centerline goodness : 0.984189 Centerline is valid? [True, True] Translation: X:210.03, Y:227.98, Z:-273.77 [[ 7.47282162e-01 3.00061604e-01 5.92901681e-01 2.10026464e+02] [-2.51374152e-01 9.53587961e-01 -1.65774051e-01 2.27975717e+02] [-6.15126333e-01 -2.51601660e-02 7.88027005e-01 -2.73769821e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.1707140569999 meters Centerline goodness : 0.984552 Centerline is valid? [True, True] Translation: X:210.06, Y:227.98, Z:-273.77 [[ 7.50323906e-01 3.21656530e-01 5.77538841e-01 2.10061686e+02] [-2.54488963e-01 9.46856211e-01 -1.96719809e-01 2.27975249e+02] [-6.10122450e-01 6.26314855e-04 7.92306887e-01 -2.73773076e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.2007140569999 meters Centerline goodness : 0.982911 Centerline is valid? [True, True] Translation: X:210.09, Y:227.99, Z:-273.78 [[ 7.49283454e-01 3.31047632e-01 5.73569326e-01 2.10085456e+02] [-2.42599524e-01 9.43096603e-01 -2.27407713e-01 2.27990369e+02] [-6.16214068e-01 3.12451912e-02 7.86958678e-01 -2.73782200e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.2307140569999 meters Centerline goodness : 0.988843 Centerline is valid? [True, True] Translation: X:210.10, Y:227.95, Z:-273.81 [[ 7.62590152e-01 2.88269242e-01 5.79100254e-01 2.10099778e+02] [-2.41205317e-01 9.57371071e-01 -1.58935923e-01 2.27949297e+02] [-6.00230168e-01 -1.84790913e-02 7.99613824e-01 -2.73813897e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.260714057 meters Centerline goodness : 0.988584 Centerline is valid? [True, True] Translation: X:210.14, Y:227.95, Z:-273.82 [[ 7.63975967e-01 3.07038203e-01 5.67510585e-01 2.10138547e+02] [-2.37515162e-01 9.51590412e-01 -1.95095453e-01 2.27951530e+02] [-5.99939389e-01 1.42558685e-02 7.99918433e-01 -2.73820934e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.290714057 meters Centerline goodness : 0.983223 Centerline is valid? [True, True] Translation: X:210.15, Y:227.92, Z:-273.85 [[ 7.55272444e-01 2.91550842e-01 5.86993732e-01 2.10146895e+02] [-2.39694455e-01 9.56440198e-01 -1.66639477e-01 2.27924579e+02] [-6.10008282e-01 -1.48409372e-02 7.92256046e-01 -2.73853970e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.3207140569999 meters Centerline goodness : 0.982335 Centerline is valid? [True, True] Translation: X:210.19, Y:227.96, Z:-273.84 [[ 7.59009125e-01 3.27148473e-01 5.62920087e-01 2.10188717e+02] [-2.26335724e-01 9.43250258e-01 -2.43004301e-01 2.27956336e+02] [-6.10473003e-01 5.70335566e-02 7.89980940e-01 -2.73842340e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.3507140569999 meters Centerline goodness : 0.982166 Centerline is valid? [True, True] Translation: X:210.18, Y:227.92, Z:-273.89 [[ 7.56949515e-01 2.78632647e-01 5.91093292e-01 2.10180518e+02] [-2.22496030e-01 9.60387162e-01 -1.67785621e-01 2.27918590e+02] [-6.14428961e-01 -4.51066604e-03 7.88959255e-01 -2.73886676e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.380714057 meters Centerline goodness : 0.982120 Centerline is valid? [True, True] Translation: X:210.20, Y:227.91, Z:-273.91 [[ 7.57522145e-01 2.72227221e-01 5.93340155e-01 2.10200185e+02] [-2.20586442e-01 9.62183006e-01 -1.59829551e-01 2.27907035e+02] [-6.14411768e-01 -9.80836985e-03 7.88924569e-01 -2.73906416e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.410714057 meters Centerline goodness : 0.988463 Centerline is valid? [True, True] Translation: X:210.24, Y:227.89, Z:-273.92 [[ 7.69308821e-01 2.70571666e-01 5.78752894e-01 2.10239333e+02] [-2.22375905e-01 9.62649146e-01 -1.54452512e-01 2.27887834e+02] [-5.98926452e-01 -9.87901912e-03 8.00743098e-01 -2.73917449e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.4407140569999 meters Centerline goodness : 0.983856 Centerline is valid? [True, True] Translation: X:210.26, Y:227.92, Z:-273.92 [[ 7.60823548e-01 3.03869520e-01 5.73420303e-01 2.10262285e+02] [-2.14525446e-01 9.51691006e-01 -2.19688556e-01 2.27915049e+02] [-6.12475601e-01 4.41309799e-02 7.89256672e-01 -2.73922739e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.4707140569999 meters Centerline goodness : 0.984479 Centerline is valid? [True, True] Translation: X:210.25, Y:227.85, Z:-273.97 [[ 7.59528500e-01 2.41835983e-01 6.03847510e-01 2.10251467e+02] [-2.22270529e-01 9.68931980e-01 -1.08474101e-01 2.27850825e+02] [-6.11320104e-01 -5.18283342e-02 7.89684465e-01 -2.73974719e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.500714057 meters Centerline goodness : 0.984215 Centerline is valid? [True, True] Translation: X:210.31, Y:227.88, Z:-273.96 [[ 7.62227822e-01 2.98697797e-01 5.74272038e-01 2.10309722e+02] [-2.23382992e-01 9.54046881e-01 -1.99736297e-01 2.27878439e+02] [-6.07543238e-01 2.39619569e-02 7.93925083e-01 -2.73961927e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.530714057 meters Centerline goodness : 0.984215 Centerline is valid? [True, True] Translation: X:210.33, Y:227.87, Z:-273.98 [[ 7.61822925e-01 2.95676544e-01 5.76368990e-01 2.10327990e+02] [-2.23200166e-01 9.55081598e-01 -1.94938008e-01 2.27869625e+02] [-6.08118013e-01 1.98625893e-02 7.93598110e-01 -2.73980414e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.5607140569999 meters Centerline goodness : 0.983402 Centerline is valid? [True, True] Translation: X:210.35, Y:227.87, Z:-274.00 [[ 7.61033870e-01 3.00213675e-01 5.75064517e-01 2.10350939e+02] [-2.23971157e-01 9.53557828e-01 -2.01406033e-01 2.27868145e+02] [-6.08822117e-01 2.44789477e-02 7.92929008e-01 -2.73996657e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.5907140569999 meters Centerline goodness : 0.982373 Centerline is valid? [True, True] Translation: X:210.38, Y:227.89, Z:-274.00 [[ 7.60467950e-01 3.19649446e-01 5.65254570e-01 2.10379501e+02] [-2.21004895e-01 9.45894935e-01 -2.37570220e-01 2.27887139e+02] [-6.10610623e-01 5.57405114e-02 7.89966874e-01 -2.74001811e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.6207140569999 meters Centerline goodness : 0.984092 Centerline is valid? [True, True] Translation: X:210.37, Y:227.83, Z:-274.06 [[ 7.57637720e-01 2.59857693e-01 5.98714510e-01 2.10367575e+02] [-2.31749306e-01 9.64656333e-01 -1.25420967e-01 2.27829404e+02] [-6.10145347e-01 -4.37280167e-02 7.91081865e-01 -2.74055624e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.650714057 meters Centerline goodness : 0.984355 Centerline is valid? [True, True] Translation: X:210.42, Y:227.86, Z:-274.05 [[ 7.59539768e-01 3.08391855e-01 5.72707434e-01 2.10420620e+02] [-2.32527734e-01 9.51015005e-01 -2.03718711e-01 2.27859802e+02] [-6.07478554e-01 2.15621002e-02 7.94043375e-01 -2.74046069e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.6807140569999 meters Centerline goodness : 0.989070 Centerline is valid? [True, True] Translation: X:210.45, Y:227.86, Z:-274.06 [[ 7.66874529e-01 3.07301923e-01 5.63443862e-01 2.10451117e+02] [-2.31893220e-01 9.51278954e-01 -2.03208972e-01 2.27856844e+02] [-5.98438795e-01 2.51769727e-02 8.00772832e-01 -2.74062103e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.7107140569999 meters Centerline goodness : 0.986322 Centerline is valid? [True, True] Translation: X:210.45, Y:227.84, Z:-274.10 [[ 7.55902357e-01 2.97287042e-01 5.83294129e-01 2.10453405e+02] [-2.38448645e-01 9.54775934e-01 -1.77609572e-01 2.27840769e+02] [-6.09716221e-01 -4.83020031e-03 7.92605071e-01 -2.74097348e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.7407140569999 meters Centerline goodness : 0.986108 Centerline is valid? [True, True] Translation: X:210.49, Y:227.85, Z:-274.10 [[ 7.59758878e-01 3.11565695e-01 5.70695422e-01 2.10488820e+02] [-2.35783237e-01 9.49992624e-01 -2.04744423e-01 2.27847535e+02] [-6.05947780e-01 2.09959791e-02 7.95227299e-01 -2.74096299e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.770714057 meters Centerline goodness : 0.984958 Centerline is valid? [True, True] Translation: X:210.51, Y:227.84, Z:-274.12 [[ 7.58768994e-01 3.04455100e-01 5.75826975e-01 2.10506090e+02] [-2.33222296e-01 9.52414603e-01 -1.96249293e-01 2.27842608e+02] [-6.08175118e-01 1.46121892e-02 7.93668388e-01 -2.74118691e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.8007140569999 meters Centerline goodness : 0.984712 Centerline is valid? [True, True] Translation: X:210.53, Y:227.83, Z:-274.13 [[ 7.59949045e-01 3.04258085e-01 5.74373107e-01 2.10528640e+02] [-2.36308800e-01 9.52535875e-01 -1.91920709e-01 2.27833602e+02] [-6.05504417e-01 1.01205394e-02 7.95777592e-01 -2.74134239e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.8307140569999 meters Centerline goodness : 0.980689 Centerline is valid? [True, True] Translation: X:210.56, Y:227.85, Z:-274.14 [[ 7.59830897e-01 3.20186712e-01 5.65806925e-01 2.10555547e+02] [-2.28100902e-01 9.46281613e-01 -2.29174795e-01 2.27853894e+02] [-6.08791414e-01 4.50730201e-02 7.92048885e-01 -2.74137378e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.8607140569999 meters Centerline goodness : 0.981022 Centerline is valid? [True, True] Translation: X:210.56, Y:227.83, Z:-274.17 [[ 7.58262328e-01 2.90938893e-01 5.83431917e-01 2.10556897e+02] [-2.30083913e-01 9.56741317e-01 -1.78065843e-01 2.27828997e+02] [-6.09999700e-01 7.82321829e-04 7.92401258e-01 -2.74174023e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.890714057 meters Centerline goodness : 0.985868 Centerline is valid? [True, True] Translation: X:210.56, Y:227.79, Z:-274.22 [[ 7.56093591e-01 2.52952354e-01 6.03603834e-01 2.10556751e+02] [-2.37880689e-01 9.65426474e-01 -1.06604417e-01 2.27786391e+02] [-6.09700959e-01 -6.29827794e-02 7.90125249e-01 -2.74216256e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.9207140569999 meters Centerline goodness : 0.985310 Centerline is valid? [True, True] Translation: X:210.63, Y:227.83, Z:-274.19 [[ 7.56441832e-01 3.26034503e-01 5.67007282e-01 2.10628434e+02] [-2.32317899e-01 9.44306933e-01 -2.33051088e-01 2.27834989e+02] [-6.11411604e-01 4.45636514e-02 7.90056917e-01 -2.74191864e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.9507140569999 meters Centerline goodness : 0.989372 Centerline is valid? [True, True] Translation: X:210.65, Y:227.82, Z:-274.22 [[ 7.63960259e-01 3.03536814e-01 5.69412087e-01 2.10645452e+02] [-2.28000424e-01 9.52507702e-01 -2.01853619e-01 2.27821904e+02] [-6.03639403e-01 2.43819460e-02 7.96884553e-01 -2.74215557e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.9807140569999 meters Centerline goodness : 0.989650 Centerline is valid? [True, True] Translation: X:210.67, Y:227.81, Z:-274.24 [[ 7.65107970e-01 2.98626843e-01 5.70466304e-01 2.10668391e+02] [-2.24980596e-01 9.54094656e-01 -1.97704626e-01 2.27814750e+02] [-6.03318760e-01 2.29215362e-02 7.97170670e-01 -2.74237784e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.010714057 meters Centerline goodness : 0.984612 Centerline is valid? [True, True] Translation: X:210.68, Y:227.81, Z:-274.26 [[ 7.61128309e-01 2.98602313e-01 5.75778045e-01 2.10678849e+02] [-2.24543711e-01 9.54137401e-01 -1.97994802e-01 2.27810013e+02] [-6.08493073e-01 2.14121101e-02 7.93270258e-01 -2.74256603e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.040714057 meters Centerline goodness : 0.985499 Centerline is valid? [True, True] Translation: X:210.69, Y:227.80, Z:-274.28 [[ 7.61250894e-01 2.82815817e-01 5.83534309e-01 2.10692353e+02] [-2.21155661e-01 9.59160137e-01 -1.76357606e-01 2.27796557e+02] [-6.09579568e-01 5.20046908e-03 7.92707831e-01 -2.74283678e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.0707140569999 meters Centerline goodness : 0.987109 Centerline is valid? [True, True] Translation: X:210.72, Y:227.79, Z:-274.30 [[ 7.61090995e-01 2.80665814e-01 5.84779615e-01 2.10716196e+02] [-2.22931142e-01 9.59805373e-01 -1.70514958e-01 2.27785130e+02] [-6.09132336e-01 -5.88188095e-04 7.93068377e-01 -2.74300205e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.1007140569999 meters Centerline goodness : 0.985687 Centerline is valid? [True, True] Translation: X:210.76, Y:227.79, Z:-274.30 [[ 7.59750665e-01 3.07615573e-01 5.72845168e-01 2.10760579e+02] [-2.22837405e-01 9.50839438e-01 -2.15053140e-01 2.27794532e+02] [-6.10837473e-01 3.57354355e-02 7.90949151e-01 -2.74304730e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.130714057 meters Centerline goodness : 0.986120 Centerline is valid? [True, True] Translation: X:210.78, Y:227.79, Z:-274.33 [[ 7.59617831e-01 3.04405911e-01 5.74732800e-01 2.10783388e+02] [-2.22880260e-01 9.52032367e-01 -2.09663448e-01 2.27785118e+02] [-6.10987021e-01 3.11674977e-02 7.91026831e-01 -2.74326724e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.160714057 meters Centerline goodness : 0.986206 Centerline is valid? [True, True] Translation: X:210.80, Y:227.78, Z:-274.35 [[ 7.61777226e-01 2.97661855e-01 5.75406707e-01 2.10803149e+02] [-2.25158825e-01 9.54472233e-01 -1.95668750e-01 2.27775774e+02] [-6.07452847e-01 1.94980998e-02 7.94116403e-01 -2.74346086e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.1907140569999 meters Centerline goodness : 0.985597 Centerline is valid? [True, True] Translation: X:210.83, Y:227.77, Z:-274.36 [[ 7.61141352e-01 3.09361236e-01 5.70052162e-01 2.10832237e+02] [-2.28340112e-01 9.50459349e-01 -2.10921360e-01 2.27774478e+02] [-6.07062299e-01 3.03751950e-02 7.94073493e-01 -2.74364972e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.2207140569999 meters Centerline goodness : 0.985738 Centerline is valid? [True, True] Translation: X:210.85, Y:227.77, Z:-274.38 [[ 7.60540526e-01 3.09656166e-01 5.70693584e-01 2.10854920e+02] [-2.31718741e-01 9.50515960e-01 -2.06944039e-01 2.27767543e+02] [-6.06534857e-01 2.51489296e-02 7.94659045e-01 -2.74384281e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.250714057 meters Centerline goodness : 0.985713 Centerline is valid? [True, True] Translation: X:210.88, Y:227.76, Z:-274.41 [[ 7.58117054e-01 3.10742708e-01 5.73321465e-01 2.10878546e+02] [-2.34293480e-01 9.50256191e-01 -2.05230933e-01 2.27760060e+02] [-6.08576288e-01 2.12635896e-02 7.93210415e-01 -2.74408152e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.280714057 meters Centerline goodness : 0.987504 Centerline is valid? [True, True] Translation: X:210.90, Y:227.75, Z:-274.43 [[ 7.55548543e-01 3.13944367e-01 5.74965507e-01 2.10901215e+02] [-2.36136998e-01 9.49200831e-01 -2.07983414e-01 2.27752824e+02] [-6.11052958e-01 2.13709364e-02 7.91301185e-01 -2.74427104e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.3107140569999 meters Centerline goodness : 0.986259 Centerline is valid? [True, True] Translation: X:210.92, Y:227.74, Z:-274.45 [[ 7.56111641e-01 3.10400136e-01 5.76148368e-01 2.10922776e+02] [-2.36184170e-01 9.50458680e-01 -2.02102287e-01 2.27741723e+02] [-6.10337795e-01 1.67347680e-02 7.91964471e-01 -2.74446564e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.3407140569999 meters Centerline goodness : 0.987985 Centerline is valid? [True, True] Translation: X:210.95, Y:227.73, Z:-274.47 [[ 7.55916091e-01 3.10383991e-01 5.76413602e-01 2.10946437e+02] [-2.34240700e-01 9.50408582e-01 -2.04584510e-01 2.27732969e+02] [-6.11328191e-01 1.96291974e-02 7.91133704e-01 -2.74469694e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.3707140569999 meters Centerline goodness : 0.986166 Centerline is valid? [True, True] Translation: X:210.98, Y:227.73, Z:-274.48 [[ 7.57419335e-01 3.22299034e-01 5.67837374e-01 2.10975567e+02] [-2.35144652e-01 9.45968800e-01 -2.23271186e-01 2.27730230e+02] [-6.09116527e-01 3.55859914e-02 7.92281953e-01 -2.74481299e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.400714057 meters Centerline goodness : 0.986095 Centerline is valid? [True, True] Translation: X:210.99, Y:227.72, Z:-274.50 [[ 7.58310230e-01 3.15629984e-01 5.70388735e-01 2.10991068e+02] [-2.36028098e-01 9.48541078e-01 -2.11093726e-01 2.27723096e+02] [-6.07664654e-01 2.54467634e-02 7.93785947e-01 -2.74499681e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.4307140569999 meters Centerline goodness : 0.987048 Centerline is valid? [True, True] Translation: X:211.01, Y:227.71, Z:-274.53 [[ 7.54011883e-01 3.13203722e-01 5.77381597e-01 2.11012709e+02] [-2.36824036e-01 9.49507069e-01 -2.05792860e-01 2.27713717e+02] [-6.12682998e-01 1.84324219e-02 7.90113783e-01 -2.74525190e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.4607140569999 meters Centerline goodness : 0.986649 Centerline is valid? [True, True] Translation: X:211.04, Y:227.71, Z:-274.54 [[ 7.52066991e-01 3.20922128e-01 5.75677191e-01 2.11037991e+02] [-2.40191990e-01 9.46833482e-01 -2.14042438e-01 2.27707834e+02] [-6.13761394e-01 2.27012019e-02 7.89165132e-01 -2.74540838e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.4907140569999 meters Centerline goodness : 0.987422 Centerline is valid? [True, True] Translation: X:211.06, Y:227.70, Z:-274.56 [[ 7.51055685e-01 3.18808954e-01 5.78166246e-01 2.11057736e+02] [-2.40478189e-01 9.47632580e-01 -2.10149314e-01 2.27698577e+02] [-6.14886655e-01 1.87974649e-02 7.88391437e-01 -2.74562320e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.520714057 meters Centerline goodness : 0.986249 Centerline is valid? [True, True] Translation: X:211.08, Y:227.69, Z:-274.58 [[ 7.50370956e-01 3.22598379e-01 5.76952089e-01 2.11082541e+02] [-2.42104602e-01 9.46301229e-01 -2.14241326e-01 2.27691310e+02] [-6.15084376e-01 2.10777129e-02 7.88179510e-01 -2.74580976e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.5507140569999 meters Centerline goodness : 0.987321 Centerline is valid? [True, True] Translation: X:211.10, Y:227.67, Z:-274.61 [[ 7.49201805e-01 3.02255071e-01 5.89354330e-01 2.11098132e+02] [-2.36991600e-01 9.53226678e-01 -1.87600324e-01 2.27674532e+02] [-6.18491420e-01 8.78475559e-04 7.85791061e-01 -2.74608870e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.5807140569999 meters Centerline goodness : 0.986316 Centerline is valid? [True, True] Translation: X:211.14, Y:227.68, Z:-274.61 [[ 7.52410405e-01 3.28764424e-01 5.70782389e-01 2.11136517e+02] [-2.40044983e-01 9.43802369e-01 -2.27190435e-01 2.27679751e+02] [-6.13397904e-01 3.39269981e-02 7.89044974e-01 -2.74609941e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.6107140569999 meters Centerline goodness : 0.986612 Centerline is valid? [True, True] Translation: X:211.15, Y:227.66, Z:-274.64 [[ 7.50872990e-01 3.07405068e-01 5.84544161e-01 2.11146352e+02] [-2.37054924e-01 9.51540571e-01 -1.95896669e-01 2.27660250e+02] [-6.16437114e-01 8.52444604e-03 7.87357999e-01 -2.74643339e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.640714057 meters Centerline goodness : 0.986907 Centerline is valid? [True, True] Translation: X:211.18, Y:227.66, Z:-274.66 [[ 7.47706881e-01 3.17781867e-01 5.83051545e-01 2.11177236e+02] [-2.35728236e-01 9.47889306e-01 -2.14331666e-01 2.27656655e+02] [-6.20779041e-01 2.28155491e-02 7.83653516e-01 -2.74660069e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.6707140569999 meters Centerline goodness : 0.987152 Centerline is valid? [True, True] Translation: X:211.21, Y:227.65, Z:-274.67 [[ 7.52345071e-01 3.23425885e-01 5.73909915e-01 2.11205078e+02] [-2.34925968e-01 9.45627796e-01 -2.24939681e-01 2.27652244e+02] [-6.15456484e-01 3.44059178e-02 7.87419551e-01 -2.74673793e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.7007140569999 meters Centerline goodness : 0.988670 Centerline is valid? [True, True] Translation: X:211.22, Y:227.63, Z:-274.71 [[ 7.55681390e-01 2.97863194e-01 5.83286511e-01 2.11220692e+02] [-2.26931504e-01 9.54508737e-01 -1.93429995e-01 2.27631329e+02] [-6.14367747e-01 1.38053618e-02 7.88899032e-01 -2.74709039e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.7307140569999 meters Centerline goodness : 0.986171 Centerline is valid? [True, True] Translation: X:211.25, Y:227.64, Z:-274.71 [[ 7.54637422e-01 3.27616274e-01 5.68497966e-01 2.11253449e+02] [-2.31928640e-01 9.43679976e-01 -2.35960187e-01 2.27639785e+02] [-6.13784544e-01 4.62134272e-02 7.88119821e-01 -2.74707066e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.760714057 meters Centerline goodness : 0.987112 Centerline is valid? [True, True] Translation: X:211.27, Y:227.63, Z:-274.73 [[ 7.56810438e-01 3.13518816e-01 5.73536323e-01 2.11266426e+02] [-2.27891332e-01 9.48962239e-01 -2.18028003e-01 2.27629056e+02] [-6.12620194e-01 3.43019123e-02 7.89632748e-01 -2.74733715e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.790714057 meters Centerline goodness : 0.985746 Centerline is valid? [True, True] Translation: X:211.28, Y:227.61, Z:-274.76 [[ 7.51865538e-01 2.99106627e-01 5.87565688e-01 2.11278067e+02] [-2.27234735e-01 9.54130466e-01 -1.94934423e-01 2.27611748e+02] [-6.18920502e-01 1.30491415e-02 7.85345231e-01 -2.74761957e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.8207140569999 meters Centerline goodness : 0.988841 Centerline is valid? [True, True] Translation: X:211.31, Y:227.60, Z:-274.78 [[ 7.53845606e-01 3.02324073e-01 5.83366914e-01 2.11313177e+02] [-2.22673639e-01 9.52865597e-01 -2.06066991e-01 2.27604758e+02] [-6.18169275e-01 2.54422620e-02 7.85633145e-01 -2.74781619e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.8507140569999 meters Centerline goodness : 0.987041 Centerline is valid? [True, True] Translation: X:211.34, Y:227.61, Z:-274.78 [[ 7.50606660e-01 3.28380556e-01 5.73372350e-01 2.11343310e+02] [-2.27162122e-01 9.43114813e-01 -2.42758767e-01 2.27611960e+02] [-6.20473216e-01 5.19678679e-02 7.82503884e-01 -2.74782618e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.880714057 meters Centerline goodness : 0.989845 Centerline is valid? [True, True] Translation: X:211.35, Y:227.59, Z:-274.82 [[ 7.54297621e-01 2.95910641e-01 5.86064835e-01 2.11354798e+02] [-2.20786517e-01 9.55006694e-01 -1.98029111e-01 2.27587750e+02] [-6.18294762e-01 1.99776731e-02 7.85692357e-01 -2.74822634e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.910714057 meters Centerline goodness : 0.989465 Centerline is valid? [True, True] Translation: X:211.39, Y:227.59, Z:-274.83 [[ 7.55341215e-01 3.13882435e-01 5.75271645e-01 2.11391108e+02] [-2.20205014e-01 9.48357644e-01 -2.28314544e-01 2.27590427e+02] [-6.17227187e-01 4.57776845e-02 7.85452101e-01 -2.74831999e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.9407140569999 meters Centerline goodness : 0.987879 Centerline is valid? [True, True] Translation: X:211.41, Y:227.59, Z:-274.85 [[ 7.54748589e-01 3.17551148e-01 5.74034699e-01 2.11411713e+02] [-2.22957508e-01 9.47114910e-01 -2.30788423e-01 2.27585883e+02] [-6.16963951e-01 4.62018903e-02 7.85634055e-01 -2.74846813e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.9707140569999 meters Centerline goodness : 0.988932 Centerline is valid? [True, True] Translation: X:211.43, Y:227.57, Z:-274.88 [[ 7.54373669e-01 3.04637159e-01 5.81477918e-01 2.11430134e+02] [-2.19788334e-01 9.51886255e-01 -2.13554786e-01 2.27571930e+02] [-6.18557560e-01 3.32980445e-02 7.85033620e-01 -2.74876226e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.000714057 meters Centerline goodness : 0.986286 Centerline is valid? [True, True] Translation: X:211.45, Y:227.57, Z:-274.89 [[ 7.53178744e-01 3.17194149e-01 5.76289556e-01 2.11454882e+02] [-2.24304034e-01 9.47399359e-01 -2.28302772e-01 2.27570458e+02] [-6.18392659e-01 4.26887229e-02 7.84708986e-01 -2.74885705e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.030714057 meters Centerline goodness : 0.988547 Centerline is valid? [True, True] Translation: X:211.47, Y:227.56, Z:-274.92 [[ 7.54784714e-01 3.05557458e-01 5.80460743e-01 2.11474604e+02] [-2.21828443e-01 9.51648062e-01 -2.12504371e-01 2.27555398e+02] [-6.17326637e-01 3.16323484e-02 7.86070746e-01 -2.74915199e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.0607140569999 meters Centerline goodness : 0.987547 Centerline is valid? [True, True] Translation: X:211.49, Y:227.55, Z:-274.93 [[ 7.53969472e-01 3.04619765e-01 5.82011026e-01 2.11494510e+02] [-2.23209445e-01 9.52068834e-01 -2.09147028e-01 2.27548116e+02] [-6.17824877e-01 2.77801162e-02 7.85824844e-01 -2.74931890e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.0907140569999 meters Centerline goodness : 0.987820 Centerline is valid? [True, True] Translation: X:211.52, Y:227.55, Z:-274.95 [[ 7.55474039e-01 3.15263314e-01 5.74341378e-01 2.11524031e+02] [-2.21522128e-01 9.47902173e-01 -2.28931032e-01 2.27546677e+02] [-6.16592996e-01 4.57221271e-02 7.85953284e-01 -2.74945085e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.1207140569999 meters Centerline goodness : 0.986172 Centerline is valid? [True, True] Translation: X:211.54, Y:227.53, Z:-274.97 [[ 7.54365168e-01 3.02221926e-01 5.82747888e-01 2.11538414e+02] [-2.19849728e-01 9.52767247e-01 -2.09524870e-01 2.27532988e+02] [-6.18546110e-01 2.99412989e-02 7.85177832e-01 -2.74972452e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.150714057 meters Centerline goodness : 0.988254 Centerline is valid? [True, True] Translation: X:211.56, Y:227.52, Z:-275.00 [[ 7.56286105e-01 2.93666411e-01 5.84629256e-01 2.11564440e+02] [-2.15656481e-01 9.55555875e-01 -2.01010577e-01 2.27521581e+02] [-6.17675975e-01 2.59424187e-02 7.86004695e-01 -2.74996032e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.1807140569999 meters Centerline goodness : 0.987330 Centerline is valid? [True, True] Translation: X:211.60, Y:227.52, Z:-275.01 [[ 7.56866229e-01 3.08707333e-01 5.76067092e-01 2.11597801e+02] [-2.17696158e-01 9.50162089e-01 -2.23160004e-01 2.27521607e+02] [-6.16248241e-01 4.34946784e-02 7.86349997e-01 -2.75005211e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.2107140569999 meters Centerline goodness : 0.987562 Centerline is valid? [True, True] Translation: X:211.62, Y:227.51, Z:-275.03 [[ 7.55701824e-01 3.07110652e-01 5.78444294e-01 2.11620099e+02] [-2.18383780e-01 9.50850682e-01 -2.19525638e-01 2.27512727e+02] [-6.17432813e-01 3.95730741e-02 7.85627579e-01 -2.75026527e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.2407140569999 meters Centerline goodness : 0.987466 Centerline is valid? [True, True] Translation: X:211.64, Y:227.51, Z:-275.05 [[ 7.56283951e-01 3.03978662e-01 5.79337172e-01 2.11642931e+02] [-2.18705442e-01 9.52029790e-01 -2.14026188e-01 2.27505232e+02] [-6.16605640e-01 3.51603787e-02 7.86486639e-01 -2.75045526e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.270714057 meters Centerline goodness : 0.987118 Centerline is valid? [True, True] Translation: X:211.66, Y:227.50, Z:-275.06 [[ 7.51366546e-01 3.08599955e-01 5.83278992e-01 2.11661241e+02] [-2.21731204e-01 9.50586050e-01 -2.17304935e-01 2.27499765e+02] [-6.21517166e-01 3.39445049e-02 7.82664796e-01 -2.75062183e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.3007140569999 meters Centerline goodness : 0.987673 Centerline is valid? [True, True] Translation: X:211.69, Y:227.49, Z:-275.09 [[ 7.55942019e-01 3.01877538e-01 5.80880036e-01 2.11688181e+02] [-2.17004700e-01 9.52713399e-01 -2.12711398e-01 2.27488612e+02] [-6.17624987e-01 3.47437853e-02 7.85704935e-01 -2.75088295e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.3307140569999 meters Centerline goodness : 0.987860 Centerline is valid? [True, True] Translation: X:211.71, Y:227.48, Z:-275.11 [[ 7.56604986e-01 3.05076862e-01 5.78339869e-01 2.11714103e+02] [-2.15855588e-01 9.51434641e-01 -2.19495988e-01 2.27482717e+02] [-6.17215733e-01 4.12338664e-02 7.85712738e-01 -2.75106184e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.3607140569999 meters Centerline goodness : 0.988046 Centerline is valid? [True, True] Translation: X:211.73, Y:227.47, Z:-275.13 [[ 7.56311054e-01 2.97697963e-01 5.82554300e-01 2.11732292e+02] [-2.13732869e-01 9.54041747e-01 -2.10053814e-01 2.27471724e+02] [-6.18313715e-01 3.43550199e-02 7.85180159e-01 -2.75129448e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.390714057 meters Centerline goodness : 0.987588 Centerline is valid? [True, True] Translation: X:211.76, Y:227.47, Z:-275.14 [[ 7.54456006e-01 3.09172508e-01 5.78971929e-01 2.11758032e+02] [-2.17513028e-01 9.50034520e-01 -2.23880534e-01 2.27470069e+02] [-6.19261025e-01 4.29740762e-02 7.84008298e-01 -2.75140277e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.4207140569999 meters Centerline goodness : 0.988487 Centerline is valid? [True, True] Translation: X:211.78, Y:227.46, Z:-275.17 [[ 7.52543017e-01 3.02004806e-01 5.85211163e-01 2.11781466e+02] [-2.13523561e-01 9.52535218e-01 -2.16989281e-01 2.27458408e+02] [-6.22966048e-01 3.83373967e-02 7.81308868e-01 -2.75168807e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.4507140569999 meters Centerline goodness : 0.988487 Centerline is valid? [True, True] Translation: X:211.81, Y:227.45, Z:-275.19 [[ 7.52551219e-01 3.04431751e-01 5.83941754e-01 2.11807234e+02] [-2.12982713e-01 9.51589497e-01 -2.21620831e-01 2.27452324e+02] [-6.23141258e-01 4.24115276e-02 7.80958536e-01 -2.75187484e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.4807140569999 meters Centerline goodness : 0.987502 Centerline is valid? [True, True] Translation: X:211.83, Y:227.45, Z:-275.20 [[ 7.53981849e-01 3.06154815e-01 5.81188955e-01 2.11826621e+02] [-2.16888088e-01 9.51158697e-01 -2.19674053e-01 2.27447466e+02] [-6.20057198e-01 3.95772878e-02 7.83557726e-01 -2.75198823e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.510714057 meters Centerline goodness : 0.988904 Centerline is valid? [True, True] Translation: X:211.84, Y:227.43, Z:-275.23 [[ 7.53087089e-01 2.90899293e-01 5.90116462e-01 2.11842470e+02] [-2.13602595e-01 9.56459207e-01 -1.98896249e-01 2.27430341e+02] [-6.22281101e-01 2.37357892e-02 7.82433923e-01 -2.75233606e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.540714057 meters Centerline goodness : 0.988929 Centerline is valid? [True, True] Translation: X:211.87, Y:227.43, Z:-275.25 [[ 7.51856824e-01 3.06689373e-01 5.83654817e-01 2.11874296e+02] [-2.14807170e-01 9.50871780e-01 -2.22936623e-01 2.27430006e+02] [-6.23353188e-01 4.22431816e-02 7.80798513e-01 -2.75247920e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.5707140569999 meters Centerline goodness : 0.989017 Centerline is valid? [True, True] Translation: X:211.90, Y:227.42, Z:-275.27 [[ 7.51286528e-01 3.02661280e-01 5.86485040e-01 2.11896114e+02] [-2.15700852e-01 9.52448788e-01 -2.15207919e-01 2.27421719e+02] [-6.23732070e-01 3.51774877e-02 7.80846239e-01 -2.75269980e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.6007140569999 meters Centerline goodness : 0.989446 Centerline is valid? [True, True] Translation: X:211.92, Y:227.42, Z:-275.28 [[ 7.49871436e-01 3.12705292e-01 5.83016492e-01 2.11923858e+02] [-2.19071445e-01 9.48892997e-01 -2.27177866e-01 2.27420684e+02] [-6.24259987e-01 4.26319271e-02 7.80052554e-01 -2.75284734e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.630714057 meters Centerline goodness : 0.989406 Centerline is valid? [True, True] Translation: X:211.94, Y:227.41, Z:-275.31 [[ 7.48904691e-01 3.09613979e-01 5.85901825e-01 2.11944522e+02] [-2.19888377e-01 9.50153751e-01 -2.21036086e-01 2.27411320e+02] [-6.25132678e-01 3.67019598e-02 7.79655116e-01 -2.75308268e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.660714057 meters Centerline goodness : 0.988558 Centerline is valid? [True, True] Translation: X:211.97, Y:227.40, Z:-275.33 [[ 7.47873676e-01 3.08789362e-01 5.87651337e-01 2.11965890e+02] [-2.20082072e-01 9.50496344e-01 -2.19364039e-01 2.27402479e+02] [-6.26297729e-01 3.47250667e-02 7.78810198e-01 -2.75330312e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.6907140569999 meters Centerline goodness : 0.988254 Centerline is valid? [True, True] Translation: X:211.99, Y:227.39, Z:-275.35 [[ 7.47927501e-01 3.09102786e-01 5.87418012e-01 2.11988018e+02] [-2.20054220e-01 9.50376498e-01 -2.19910553e-01 2.27394837e+02] [-6.26243238e-01 3.52133382e-02 7.78832092e-01 -2.75350420e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.7207140569999 meters Centerline goodness : 0.988604 Centerline is valid? [True, True] Translation: X:212.01, Y:227.39, Z:-275.37 [[ 7.47994755e-01 3.06873654e-01 5.88500133e-01 2.12010850e+02] [-2.18837166e-01 9.51137528e-01 -2.17824922e-01 2.27386014e+02] [-6.26589292e-01 3.41461979e-02 7.78601244e-01 -2.75371491e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.750714057 meters Centerline goodness : 0.987484 Centerline is valid? [True, True] Translation: X:212.02, Y:227.38, Z:-275.39 [[ 7.41303356e-01 2.99849543e-01 6.00466141e-01 2.12021873e+02] [-2.20608958e-01 9.53802947e-01 -2.03940253e-01 2.27375439e+02] [-6.33877766e-01 1.87133844e-02 7.73206820e-01 -2.75394427e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.780714057 meters Centerline goodness : 0.987794 Centerline is valid? [True, True] Translation: X:212.05, Y:227.37, Z:-275.41 [[ 7.40551897e-01 3.01124393e-01 6.00755348e-01 2.12046669e+02] [-2.20699241e-01 9.53378604e-01 -2.05818080e-01 2.27367423e+02] [-6.34724140e-01 1.98327203e-02 7.72484259e-01 -2.75413382e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.8107140569999 meters Centerline goodness : 0.988022 Centerline is valid? [True, True] Translation: X:212.08, Y:227.36, Z:-275.43 [[ 7.46377764e-01 3.08782743e-01 5.89553603e-01 2.12082331e+02] [-2.16273746e-01 9.50306690e-01 -2.23926019e-01 2.27363158e+02] [-6.29401224e-01 3.96284356e-02 7.76069383e-01 -2.75430447e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.8407140569999 meters Centerline goodness : 0.989160 Centerline is valid? [True, True] Translation: X:212.10, Y:227.35, Z:-275.45 [[ 7.46517367e-01 3.04013266e-01 5.91851126e-01 2.12103011e+02] [-2.14849825e-01 9.52002674e-01 -2.18014820e-01 2.27353270e+02] [-6.29723252e-01 3.55927385e-02 7.76003726e-01 -2.75453676e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.8707140569999 meters Centerline goodness : 0.987265 Centerline is valid? [True, True] Translation: X:212.11, Y:227.34, Z:-275.47 [[ 7.42241775e-01 2.95847149e-01 6.01291620e-01 2.12113704e+02] [-2.13439873e-01 9.54912492e-01 -2.06362676e-01 2.27343995e+02] [-6.35232688e-01 2.48313924e-02 7.71921520e-01 -2.75473919e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.900714057 meters Centerline goodness : 0.987154 Centerline is valid? [True, True] Translation: X:212.13, Y:227.33, Z:-275.50 [[ 7.44094819e-01 2.87820596e-01 6.02894855e-01 2.12133281e+02] [-2.07445048e-01 9.57370696e-01 -2.01017171e-01 2.27332505e+02] [-6.35050748e-01 2.45082832e-02 7.72081532e-01 -2.75498179e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.9307140569999 meters Centerline goodness : 0.987562 Centerline is valid? [True, True] Translation: X:212.16, Y:227.33, Z:-275.51 [[ 7.47109561e-01 2.93267977e-01 5.96507500e-01 2.12160507e+02] [-2.04044435e-01 9.55265464e-01 -2.14088209e-01 2.27329185e+02] [-6.32608230e-01 3.82333122e-02 7.73527660e-01 -2.75513910e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.9607140569999 meters Centerline goodness : 0.987026 Centerline is valid? [True, True] Translation: X:212.18, Y:227.32, Z:-275.54 [[ 7.46853996e-01 2.80104438e-01 6.03117412e-01 2.12178239e+02] [-1.98994857e-01 9.59538374e-01 -1.99216355e-01 2.27315479e+02] [-6.34515686e-01 2.87682674e-02 7.72374411e-01 -2.75540898e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.9907140569999 meters Centerline goodness : 0.987094 Centerline is valid? [True, True] Translation: X:212.22, Y:227.32, Z:-275.54 [[ 7.52236467e-01 3.11464174e-01 5.80629284e-01 2.12222083e+02] [-2.02620116e-01 9.47866830e-01 -2.45954386e-01 2.27323547e+02] [-6.26965219e-01 6.73686857e-02 7.76128903e-01 -2.75542237e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.020714057 meters Centerline goodness : 0.987440 Centerline is valid? [True, True] Translation: X:212.23, Y:227.30, Z:-275.59 [[ 7.51195182e-01 2.72458372e-01 6.01225609e-01 2.12226030e+02] [-1.94859077e-01 9.61778345e-01 -1.92385954e-01 2.27296780e+02] [-6.30662935e-01 2.73651348e-02 7.75574246e-01 -2.75587251e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.0507140569999 meters Centerline goodness : 0.985325 Centerline is valid? [True, True] Translation: X:212.26, Y:227.31, Z:-275.59 [[ 7.45742278e-01 3.01085040e-01 5.94319992e-01 2.12256284e+02] [-2.00891985e-01 9.52159566e-01 -2.30292361e-01 2.27305082e+02] [-6.35225051e-01 5.23446272e-02 7.70551215e-01 -2.75590681e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.0807140569999 meters Centerline goodness : 0.988241 Centerline is valid? [True, True] Translation: X:212.28, Y:227.29, Z:-275.62 [[ 7.48410524e-01 2.87053139e-01 5.97898138e-01 2.12280114e+02] [-1.97479457e-01 9.57045097e-01 -2.12288828e-01 2.27289791e+02] [-6.33153656e-01 4.08065935e-02 7.72949720e-01 -2.75623155e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.1107140569999 meters Centerline goodness : 0.988028 Centerline is valid? [True, True] Translation: X:212.31, Y:227.29, Z:-275.64 [[ 7.48119477e-01 2.97538047e-01 5.93117491e-01 2.12310900e+02] [-1.97830613e-01 9.53197685e-01 -2.28642125e-01 2.27288604e+02] [-6.33387951e-01 5.37148305e-02 7.71967889e-01 -2.75638361e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.140714057 meters Centerline goodness : 0.988347 Centerline is valid? [True, True] Translation: X:212.34, Y:227.28, Z:-275.66 [[ 7.45123020e-01 3.04637570e-01 5.93285459e-01 2.12336611e+02] [-1.98905346e-01 9.50604537e-01 -2.38301650e-01 2.27283545e+02] [-6.36575485e-01 5.95563958e-02 7.68911366e-01 -2.75659360e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.1707140569999 meters Centerline goodness : 0.988154 Centerline is valid? [True, True] Translation: X:212.36, Y:227.27, Z:-275.68 [[ 7.44798216e-01 3.02691050e-01 5.94687940e-01 2.12357130e+02] [-1.98574934e-01 9.51362496e-01 -2.35536400e-01 2.27272659e+02] [-6.37058564e-01 5.73369719e-02 7.68679945e-01 -2.75683682e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.2007140569999 meters Centerline goodness : 0.986026 Centerline is valid? [True, True] Translation: X:212.37, Y:227.26, Z:-275.70 [[ 7.39888979e-01 2.97099917e-01 6.03569332e-01 2.12367782e+02] [-2.00872127e-01 9.53834053e-01 -2.23273347e-01 2.27264396e+02] [-6.42039475e-01 4.39572329e-02 7.65410396e-01 -2.75701706e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.2307140569999 meters Centerline goodness : 0.986924 Centerline is valid? [True, True] Translation: X:212.40, Y:227.26, Z:-275.72 [[ 7.46941165e-01 2.97669345e-01 5.94534992e-01 2.12400371e+02] [-1.98318796e-01 9.53226020e-01 -2.28100437e-01 2.27258984e+02] [-6.34624732e-01 5.24701426e-02 7.71037181e-01 -2.75721534e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.260714057 meters Centerline goodness : 0.986427 Centerline is valid? [True, True] Translation: X:212.41, Y:227.25, Z:-275.74 [[ 7.43529813e-01 2.86985901e-01 6.03988833e-01 2.12410063e+02] [-1.99981677e-01 9.57317736e-01 -2.08686564e-01 2.27250147e+02] [-6.38099323e-01 3.43779824e-02 7.69186199e-01 -2.75742438e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.290714057 meters Centerline goodness : 0.987314 Centerline is valid? [True, True] Translation: X:212.43, Y:227.24, Z:-275.77 [[ 7.45688365e-01 2.74669507e-01 6.07046558e-01 2.12429362e+02] [-1.97524516e-01 9.61251751e-01 -1.92299602e-01 2.27238115e+02] [-6.36343404e-01 2.34889984e-02 7.71048208e-01 -2.75765051e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.3207140569999 meters Centerline goodness : 0.987906 Centerline is valid? [True, True] Translation: X:212.47, Y:227.24, Z:-275.78 [[ 7.49586577e-01 2.97920685e-01 5.91069564e-01 2.12471361e+02] [-1.98230342e-01 9.53035519e-01 -2.28971680e-01 2.27241493e+02] [-6.31525689e-01 5.44661758e-02 7.73439552e-01 -2.75775502e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.3507140569999 meters Centerline goodness : 0.986772 Centerline is valid? [True, True] Translation: X:212.48, Y:227.23, Z:-275.80 [[ 7.42049327e-01 2.89378933e-01 6.04667371e-01 2.12479154e+02] [-2.03537045e-01 9.56701827e-01 -2.08072790e-01 2.27229260e+02] [-6.38698260e-01 3.13280638e-02 7.68819280e-01 -2.75798358e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.380714057 meters Centerline goodness : 0.987350 Centerline is valid? [True, True] Translation: X:212.52, Y:227.23, Z:-275.82 [[ 7.43315101e-01 3.07360847e-01 5.94148105e-01 2.12517712e+02] [-2.05067062e-01 9.50126491e-01 -2.34962021e-01 2.27229033e+02] [-6.36733980e-01 5.28106120e-02 7.69272954e-01 -2.75817928e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.410714057 meters Centerline goodness : 0.986031 Centerline is valid? [True, True] Translation: X:212.53, Y:227.22, Z:-275.84 [[ 7.35433896e-01 3.03010684e-01 6.06070549e-01 2.12527849e+02] [-2.13844673e-01 9.52521498e-01 -2.16733135e-01 2.27220351e+02] [-6.42967683e-01 2.97879355e-02 7.65313817e-01 -2.75838975e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.4407140569999 meters Centerline goodness : 0.985605 Centerline is valid? [True, True] Translation: X:212.56, Y:227.22, Z:-275.86 [[ 7.37127875e-01 3.11950498e-01 5.99440892e-01 2.12561135e+02] [-2.16339677e-01 9.49322791e-01 -2.27998645e-01 2.27215999e+02] [-6.40187191e-01 3.83813076e-02 7.67259562e-01 -2.75861643e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.4707140569999 meters Centerline goodness : 0.985364 Centerline is valid? [True, True] Translation: X:212.57, Y:227.20, Z:-275.88 [[ 7.35487597e-01 3.03203739e-01 6.05908812e-01 2.12568643e+02] [-2.23843409e-01 9.52804438e-01 -2.05080063e-01 2.27204241e+02] [-6.39493646e-01 1.52051487e-02 7.68646004e-01 -2.75877102e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.500714057 meters Centerline goodness : 0.986622 Centerline is valid? [True, True] Translation: X:212.60, Y:227.19, Z:-275.90 [[ 7.36770231e-01 3.03010801e-01 6.04445267e-01 2.12598098e+02] [-2.24398850e-01 9.52872530e-01 -2.04154592e-01 2.27194130e+02] [-6.37820337e-01 1.47782034e-02 7.70043390e-01 -2.75901073e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.530714057 meters Centerline goodness : 0.987132 Centerline is valid? [True, True] Translation: X:212.63, Y:227.19, Z:-275.92 [[ 7.35846037e-01 3.12277944e-01 6.00843654e-01 2.12627717e+02] [-2.26381858e-01 9.49707992e-01 -2.16346908e-01 2.27190853e+02] [-6.38186387e-01 2.31779118e-02 7.69532923e-01 -2.75916187e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.5607140569999 meters Centerline goodness : 0.984777 Centerline is valid? [True, True] Translation: X:212.64, Y:227.18, Z:-275.93 [[ 7.28434637e-01 3.15453892e-01 6.08170881e-01 2.12641599e+02] [-2.34023962e-01 9.48864959e-01 -2.11868059e-01 2.27183703e+02] [-6.43906642e-01 1.20054735e-02 7.65009872e-01 -2.75933294e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.5907140569999 meters Centerline goodness : 0.986347 Centerline is valid? [True, True] Translation: X:212.67, Y:227.17, Z:-275.96 [[ 7.33533919e-01 3.06237460e-01 6.06750862e-01 2.12666648e+02] [-2.31149213e-01 9.51927970e-01 -2.01005427e-01 2.27168462e+02] [-6.39138507e-01 7.19431409e-03 7.69058002e-01 -2.75959336e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.6207140569999 meters Centerline goodness : 0.985122 Centerline is valid? [True, True] Translation: X:212.68, Y:227.16, Z:-275.97 [[ 7.31184077e-01 3.06936010e-01 6.09229129e-01 2.12683202e+02] [-2.31007020e-01 9.51703446e-01 -2.02228354e-01 2.27160193e+02] [-6.41876626e-01 7.12994698e-03 7.66774778e-01 -2.75972503e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.650714057 meters Centerline goodness : 0.986761 Centerline is valid? [True, True] Translation: X:212.71, Y:227.15, Z:-276.00 [[ 7.36138469e-01 3.06538354e-01 6.03435492e-01 2.12714471e+02] [-2.21256054e-01 9.51564940e-01 -2.13471131e-01 2.27150578e+02] [-6.39645146e-01 2.36305553e-02 7.68307024e-01 -2.75995268e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.6807140569999 meters Centerline goodness : 0.985202 Centerline is valid? [True, True] Translation: X:212.72, Y:227.14, Z:-276.02 [[ 7.33226610e-01 2.89767214e-01 6.15153395e-01 2.12724192e+02] [-2.14157869e-01 9.57026406e-01 -1.95542491e-01 2.27135004e+02] [-6.45379846e-01 1.16370176e-02 7.63773156e-01 -2.76017013e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.7107140569999 meters Centerline goodness : 0.985954 Centerline is valid? [True, True] Translation: X:212.75, Y:227.14, Z:-276.03 [[ 7.34547744e-01 3.05454314e-01 6.05918537e-01 2.12754205e+02] [-2.12201875e-01 9.51569671e-01 -2.22453422e-01 2.27135002e+02] [-6.44523061e-01 3.48256097e-02 7.63791333e-01 -2.76032824e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.7407140569999 meters Centerline goodness : 0.985165 Centerline is valid? [True, True] Translation: X:212.77, Y:227.12, Z:-276.06 [[ 7.36223911e-01 2.85225691e-01 6.13694270e-01 2.12766023e+02] [-2.04472001e-01 9.58212468e-01 -2.00050160e-01 2.27117486e+02] [-6.45108947e-01 2.17984158e-02 7.63779599e-01 -2.76056678e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.770714057 meters Centerline goodness : 0.985806 Centerline is valid? [True, True] Translation: X:212.79, Y:227.11, Z:-276.08 [[ 7.35002681e-01 2.84130640e-01 6.15662926e-01 2.12789285e+02] [-1.97978576e-01 9.58332770e-01 -2.05919367e-01 2.27108786e+02] [-6.48517958e-01 2.94632176e-02 7.60628935e-01 -2.76079411e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.8007140569999 meters Centerline goodness : 0.988630 Centerline is valid? [True, True] Translation: X:212.82, Y:227.10, Z:-276.10 [[ 7.43591543e-01 2.76960202e-01 6.08575931e-01 2.12817087e+02] [-1.91467555e-01 9.60262721e-01 -2.03065708e-01 2.27098290e+02] [-6.40633899e-01 3.44753978e-02 7.67072131e-01 -2.76102153e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.8307140569999 meters Centerline goodness : 0.987017 Centerline is valid? [True, True] Translation: X:212.84, Y:227.09, Z:-276.12 [[ 7.39061787e-01 2.84073869e-01 6.10810701e-01 2.12835561e+02] [-1.95562815e-01 9.58163074e-01 -2.08994519e-01 2.27094764e+02] [-6.44626141e-01 3.50080025e-02 7.63695999e-01 -2.76116073e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.8607140569999 meters Centerline goodness : 0.987449 Centerline is valid? [True, True] Translation: X:212.86, Y:227.08, Z:-276.14 [[ 7.39325777e-01 2.78740399e-01 6.12944684e-01 2.12856245e+02] [-1.96456379e-01 9.59982672e-01 -1.99594991e-01 2.27084417e+02] [-6.44051463e-01 2.71488288e-02 7.64500265e-01 -2.76142912e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.890714057 meters Centerline goodness : 0.987239 Centerline is valid? [True, True] Translation: X:212.88, Y:227.08, Z:-276.16 [[ 7.37012482e-01 2.89285169e-01 6.10840972e-01 2.12882100e+02] [-1.98644420e-01 9.56569705e-01 -2.13341963e-01 2.27082753e+02] [-6.46028634e-01 3.58955392e-02 7.62468697e-01 -2.76158931e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.9207140569999 meters Centerline goodness : 0.988785 Centerline is valid? [True, True] Translation: X:212.91, Y:227.07, Z:-276.19 [[ 7.40069799e-01 2.84159693e-01 6.09548982e-01 2.12906729e+02] [-1.95874748e-01 9.58131880e-01 -2.08845358e-01 2.27072395e+02] [-6.43373745e-01 3.51648889e-02 7.64744176e-01 -2.76186357e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.9507140569999 meters Centerline goodness : 0.988651 Centerline is valid? [True, True] Translation: X:212.93, Y:227.07, Z:-276.20 [[ 7.39855268e-01 2.96101041e-01 6.04101280e-01 2.12934864e+02] [-1.98689027e-01 9.54052404e-01 -2.24291507e-01 2.27071355e+02] [-6.42757227e-01 4.59149574e-02 7.64692725e-01 -2.76201884e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.9807140569999 meters Centerline goodness : 0.985239 Centerline is valid? [True, True] Translation: X:212.94, Y:227.06, Z:-276.23 [[ 7.30242388e-01 2.80931137e-01 6.22754969e-01 2.12940469e+02] [-1.98987887e-01 9.59481176e-01 -1.99498605e-01 2.27061271e+02] [-6.53567040e-01 2.17616424e-02 7.56555718e-01 -2.76230598e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 934.010714057 meters Centerline goodness : 0.986365 Centerline is valid? [True, True] Translation: X:212.96, Y:227.05, Z:-276.25 [[ 7.28512468e-01 2.80621735e-01 6.24916815e-01 2.12960238e+02] [-2.06335808e-01 9.59768406e-01 -1.90447215e-01 2.27050387e+02] [-6.53219044e-01 9.80045496e-03 7.57105562e-01 -2.76254573e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 934.040714057 meters Centerline goodness : 0.985712 Centerline is valid? [True, True] Translation: X:213.00, Y:227.06, Z:-276.26 [[ 7.30732074e-01 3.04071792e-01 6.11204534e-01 2.12995707e+02] [-2.11136158e-01 9.52090608e-01 -2.21235162e-01 2.27055369e+02] [-6.49193468e-01 3.26162515e-02 7.59923694e-01 -2.76262824e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 934.0707140569999 meters Centerline goodness : 0.985390 Centerline is valid? [True, True] Translation: X:213.01, Y:227.04, Z:-276.29 [[ 7.25301589e-01 2.98317918e-01 6.20438574e-01 2.13011668e+02] [-2.15348602e-01 9.54322091e-01 -2.07109457e-01 2.27044404e+02] [-6.53882699e-01 1.66062384e-02 7.56413676e-01 -2.76289339e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 934.1007140569999 meters Centerline goodness : 0.985859 Centerline is valid? [True, True] Translation: X:213.04, Y:227.04, Z:-276.31 [[ 7.22532920e-01 3.03717732e-01 6.21048886e-01 2.13035077e+02] [-2.19900805e-01 9.52640875e-01 -2.10045229e-01 2.27038079e+02] [-6.55431015e-01 1.51954422e-02 7.55102167e-01 -2.76309679e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 934.130714057 meters Centerline goodness : 0.985624 Centerline is valid? [True, True] Translation: X:213.05, Y:227.03, Z:-276.33 [[ 7.20057296e-01 2.99451658e-01 6.25976193e-01 2.13054233e+02] [-2.20859961e-01 9.54082352e-01 -2.02355485e-01 2.27028605e+02] [-6.57828525e-01 7.45446538e-03 7.53130841e-01 -2.76333359e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 934.160714057 meters Centerline goodness : 0.983625 Centerline is valid? [True, True] Translation: X:213.09, Y:227.03, Z:-276.35 [[ 7.23487541e-01 3.12220857e-01 6.15697909e-01 2.13085708e+02] [-2.20830745e-01 9.49687908e-01 -2.22096060e-01 2.27029901e+02] [-6.54063881e-01 2.47187041e-02 7.56035333e-01 -2.76347867e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 934.1907140569999 meters Centerline goodness : 0.984512 Centerline is valid? [True, True] Translation: X:213.10, Y:227.01, Z:-276.37 [[ 7.23268589e-01 2.97616506e-01 6.23142811e-01 2.13095168e+02] [-2.20510937e-01 9.54657981e-01 -2.00007665e-01 2.27013561e+02] [-6.54413841e-01 7.24945630e-03 7.56101826e-01 -2.76373072e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 934.2207140569999 meters Centerline goodness : 0.982787 Centerline is valid? [True, True] Translation: X:213.12, Y:227.01, Z:-276.39 [[ 7.20107866e-01 3.01225171e-01 6.25066442e-01 2.13117706e+02] [-2.14323826e-01 9.53362285e-01 -2.12522118e-01 2.27011279e+02] [-6.59931783e-01 1.90722175e-02 7.51083412e-01 -2.76391416e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 934.250714057 meters Centerline goodness : 0.985309 Centerline is valid? [True, True] Translation: X:213.13, Y:226.99, Z:-276.42 [[ 7.20613467e-01 2.81968517e-01 6.33411388e-01 2.13127441e+02] [-2.09325309e-01 9.59417014e-01 -1.88949485e-01 2.26993873e+02] [-6.60983469e-01 3.57050961e-03 7.50391968e-01 -2.76418793e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 934.280714057 meters Centerline goodness : 0.984915 Centerline is valid? [True, True] Translation: X:213.16, Y:226.99, Z:-276.43 [[ 7.23276687e-01 2.77645175e-01 6.32284739e-01 2.13155014e+02] [-1.94742262e-01 9.60458763e-01 -1.98983457e-01 2.26991860e+02] [-6.62530215e-01 2.07875355e-02 7.48746681e-01 -2.76433994e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 934.3107140569999 meters Centerline goodness : 0.987366 Centerline is valid? [True, True] Translation: X:213.20, Y:226.99, Z:-276.45 [[ 7.35035412e-01 2.91849765e-01 6.12002172e-01 2.13195790e+02] [-1.87600456e-01 9.54921887e-01 -2.30065769e-01 2.26992167e+02] [-6.51558910e-01 5.42946006e-02 7.56652551e-01 -2.76446652e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 934.3407140569999 meters Centerline goodness : 0.987366 Centerline is valid? [True, True] Translation: X:213.22, Y:226.98, Z:-276.47 [[ 7.34886677e-01 2.85476710e-01 6.15178527e-01 2.13215409e+02] [-1.86847743e-01 9.57209849e-01 -2.20991460e-01 2.26982495e+02] [-6.51942860e-01 4.74589604e-02 7.56781445e-01 -2.76471066e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 934.3707140569999 meters Centerline goodness : 0.986154 Centerline is valid? [True, True] Translation: X:213.22, Y:226.97, Z:-276.49 [[ 7.32280361e-01 2.67199792e-01 6.26394240e-01 2.13224518e+02] [-1.82649348e-01 9.63171160e-01 -1.97333556e-01 2.26971905e+02] [-6.56052352e-01 3.00929883e-02 7.54115193e-01 -2.76488174e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 934.400714057 meters Centerline goodness : 0.985910 Centerline is valid? [True, True] Translation: X:213.25, Y:226.97, Z:-276.51 [[ 7.28974171e-01 2.68756132e-01 6.29576683e-01 2.13248142e+02] [-1.79987605e-01 9.62596961e-01 -2.02513093e-01 2.26966277e+02] [-6.60455237e-01 3.43108148e-02 7.50081094e-01 -2.76511320e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 934.4307140569999 meters Centerline goodness : 0.986444 Centerline is valid? [True, True] Translation: X:213.27, Y:226.96, Z:-276.53 [[ 7.32072217e-01 2.63688578e-01 6.28123079e-01 2.13272794e+02] [-1.75383666e-01 9.63919540e-01 -2.00249072e-01 2.26961846e+02] [-6.58263503e-01 3.64342537e-02 7.51905384e-01 -2.76528588e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 934.4607140569999 meters Centerline goodness : 0.986074 Centerline is valid? [True, True] Translation: X:213.30, Y:226.96, Z:-276.55 [[ 7.32375978e-01 2.70591397e-01 6.24824554e-01 2.13297703e+02] [-1.74738869e-01 9.61603905e-01 -2.11622916e-01 2.26959214e+02] [-6.58097071e-01 4.58064040e-02 7.51538434e-01 -2.76549092e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 934.4907140569999 meters Centerline goodness : 0.987094 Centerline is valid? [True, True] Translation: X:213.31, Y:226.95, Z:-276.57 [[ 7.32429410e-01 2.57393780e-01 6.30313891e-01 2.13313391e+02] [-1.71836448e-01 9.65698530e-01 -1.94675587e-01 2.26949669e+02] [-6.58801484e-01 3.42752251e-02 7.51535637e-01 -2.76574617e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] Total time of SLAM: 28492.46 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%| | 0/31150 [00:00